2025-10-27T04:37:52.942Z,1761539872.942 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize. 2025-10-27T04:37:52.942Z,1761539872.942 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1 2025-10-27T04:37:52.942Z,1761539872.942 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize. 2025-10-27T04:37:52.989Z,1761539872.989 [CommandExec](IMPORTANT): got command restart logs 2025-10-27T04:37:53.276Z,1761539873.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315446,0.947930,0.043859],[-0.946120,0.310608,0.091540],[0.073150,-0.070372,0.994835]] 2025-10-27T04:37:53.453Z,1761539873.453 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-10-27T04:37:53.453Z,1761539873.453 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-10-27T04:37:54.066Z,1761539874.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315134,0.940933,0.123836],[-0.948868,0.314917,0.021838],[-0.018451,-0.124386,0.992062]] 2025-10-27T04:37:54.470Z,1761539874.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335731,0.935082,0.113607],[-0.940976,0.327427,0.085770],[0.043004,-0.135697,0.989817]] 2025-10-27T04:37:54.878Z,1761539874.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352129,0.930787,0.098186],[-0.935932,0.349493,0.043434],[0.006113,-0.107190,0.994220]] 2025-10-27T04:37:55.282Z,1761539875.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326228,0.937790,0.118848],[-0.941491,0.333600,-0.048013],[-0.084674,-0.096231,0.991751]] 2025-10-27T04:37:55.394Z,1761539875.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:37:55.624Z,1761539875.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:37:55.624Z,1761539875.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:37:55.684Z,1761539875.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342707,0.930630,0.128372],[-0.937099,0.348290,-0.023208],[-0.066309,-0.112343,0.991455]] 2025-10-27T04:37:55.877Z,1761539875.877 [DAT](INFO): DAT read: user:130> 2025-10-27T04:37:55.878Z,1761539875.878 [DAT](INFO): DAT read: Tx time:04:37:54.9305 2025-10-27T04:37:55.878Z,1761539875.878 [DAT](INFO): Ping request sent. 2025-10-27T04:37:55.878Z,1761539875.878 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:37:55.879Z,1761539875.879 [DAT](INFO): publishing transmit ping time 2025-10-27T04:37:55.879Z,1761539875.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000863 2025-10-27T04:37:56.128Z,1761539876.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249488 2025-10-27T04:37:56.380Z,1761539876.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501885 2025-10-27T04:37:56.632Z,1761539876.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753553 2025-10-27T04:37:56.888Z,1761539876.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009448 2025-10-27T04:37:56.898Z,1761539876.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374682,0.926547,0.033538],[-0.926749,0.373205,0.043056],[0.027377,-0.047213,0.998510]] 2025-10-27T04:37:57.137Z,1761539877.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258116 2025-10-27T04:37:57.388Z,1761539877.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509434 2025-10-27T04:37:57.641Z,1761539877.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762529 2025-10-27T04:37:57.732Z,1761539877.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321357,0.945952,0.043645],[-0.943352,0.315774,0.101853],[0.082566,-0.073904,0.993842]] 2025-10-27T04:37:57.892Z,1761539877.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013583 2025-10-27T04:37:58.109Z,1761539878.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329315,0.941091,0.076804],[-0.942227,0.322249,0.091454],[0.061317,-0.102484,0.992843]] 2025-10-27T04:37:58.144Z,1761539878.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265538 2025-10-27T04:37:58.396Z,1761539878.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517630 2025-10-27T04:37:58.513Z,1761539878.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344463,0.933241,0.102012],[-0.938254,0.338518,0.071314],[0.032020,-0.120279,0.992224]] 2025-10-27T04:37:58.648Z,1761539878.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769573 2025-10-27T04:37:58.900Z,1761539878.900 [DAT](INFO): DAT read: Rx Time:04:37:57.5169 2025-10-27T04:37:58.900Z,1761539878.900 [DAT](INFO): Rx dataTimestamp_ set to:1761539878.900137 2025-10-27T04:37:58.901Z,1761539878.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022577 2025-10-27T04:37:58.924Z,1761539878.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373833,0.921866,0.102035],[-0.927249,0.368929,0.064033],[0.021386,-0.118550,0.992718]] 2025-10-27T04:37:59.153Z,1761539879.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274361 2025-10-27T04:37:59.322Z,1761539879.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352330,0.933543,0.066035],[-0.935875,0.351331,0.026552],[0.001588,-0.071156,0.997464]] 2025-10-27T04:37:59.405Z,1761539879.405 [DAT](INFO): DAT read: Range 11 to 50 : 136.8 m (Round-trip 182.4 ms) speed -0.3 m/s 2025-10-27T04:37:59.406Z,1761539879.406 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T04:37:59.759Z,1761539879.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342975,0.934561,0.094675],[-0.937783,0.346470,-0.022833],[-0.054141,-0.080953,0.995246]] 2025-10-27T04:38:00.154Z,1761539880.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356961,0.929758,0.090160],[-0.932119,0.360847,-0.030728],[-0.061104,-0.073071,0.995453]] 2025-10-27T04:38:00.448Z,1761539880.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:38:00.962Z,1761539880.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356486,0.933317,-0.042870],[-0.927572,0.359043,0.103430],[0.111925,0.002894,0.993712]] 2025-10-27T04:38:01.366Z,1761539881.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354221,0.935101,-0.010632],[-0.926125,0.352352,0.134686],[0.129691,-0.037862,0.990831]] 2025-10-27T04:38:01.770Z,1761539881.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339059,0.937146,0.082444],[-0.936421,0.327782,0.125200],[0.090307,-0.119653,0.988700]] 2025-10-27T04:38:02.176Z,1761539882.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333515,0.930637,0.150603],[-0.937696,0.310958,0.155020],[0.097436,-0.192922,0.976364]] 2025-10-27T04:38:02.758Z,1761539882.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355625,0.926136,0.125710],[-0.934534,0.354273,0.033715],[-0.013311,-0.129471,0.991494]] 2025-10-27T04:38:03.147Z,1761539883.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367469,0.929962,0.011687],[-0.930034,0.367462,0.002844],[-0.001650,-0.011914,0.999928]] 2025-10-27T04:38:03.667Z,1761539883.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325075,0.941519,-0.088704],[-0.940441,0.331713,0.074416],[0.099489,0.059230,0.993274]] 2025-10-27T04:38:04.124Z,1761539884.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322417,0.945882,-0.036805],[-0.935291,0.324316,0.141597],[0.145871,-0.011230,0.989240]] 2025-10-27T04:38:04.149Z,1761539884.149 [NAL9602](INFO): SBD MO Status=0, MOMSN=3012, MT Status=0, MTMSN=0 2025-10-27T04:38:04.149Z,1761539884.149 [NAL9602](INFO): No messages in MT queue 2025-10-27T04:38:04.607Z,1761539884.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351853,0.932317,0.083576],[-0.923933,0.331587,0.190781],[0.150155,-0.144346,0.978068]] 2025-10-27T04:38:05.011Z,1761539885.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358984,0.921081,0.150802],[-0.918328,0.319701,0.233378],[0.166748,-0.222264,0.960621]] 2025-10-27T04:38:05.403Z,1761539885.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356977,0.924740,0.131996],[-0.918425,0.321670,0.230268],[0.170479,-0.203429,0.964134]] 2025-10-27T04:38:06.148Z,1761539886.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331331,0.943208,-0.024049],[-0.903202,0.324442,0.281005],[0.272849,-0.071385,0.959405]] 2025-10-27T04:38:06.528Z,1761539886.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305271,0.951135,-0.046377],[-0.898576,0.303840,0.316612],[0.315232,-0.054979,0.947421]] 2025-10-27T04:38:06.938Z,1761539886.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303717,0.952588,-0.018236],[-0.879656,0.287715,0.378715],[0.366006,-0.098981,0.925334]] 2025-10-27T04:38:08.350Z,1761539888.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356000,0.932166,-0.065801],[-0.859996,0.354358,0.367201],[0.365610,-0.074135,0.927811]] 2025-10-27T04:38:08.754Z,1761539888.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338904,0.929951,-0.142605],[-0.840666,0.367380,0.397886],[0.422405,-0.014962,0.906284]] 2025-10-27T04:38:09.158Z,1761539889.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320511,0.930554,-0.177036],[-0.820944,0.366122,0.438185],[0.472572,0.004893,0.881279]] 2025-10-27T04:38:10.014Z,1761539890.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299618,0.949844,-0.089588],[-0.831851,0.306066,0.462977],[0.467175,-0.064192,0.881831]] 2025-10-27T04:38:10.406Z,1761539890.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284972,0.958188,-0.025837],[-0.839912,0.262603,0.474961],[0.461887,-0.113650,0.879628]] 2025-10-27T04:38:10.810Z,1761539890.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284944,0.956779,0.058145],[-0.860965,0.228801,0.454301],[0.421362,-0.179511,0.888949]] 2025-10-27T04:38:11.266Z,1761539891.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293009,0.952586,0.082008],[-0.869669,0.229898,0.436832],[0.397266,-0.199316,0.895797]] 2025-10-27T04:38:11.726Z,1761539891.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307121,0.951599,0.011698],[-0.841638,0.265854,0.470071],[0.444209,-0.154214,0.882551]] 2025-10-27T04:38:12.102Z,1761539892.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305826,0.949827,-0.065568],[-0.808870,0.295531,0.508322],[0.502195,-0.102422,0.858667]] 2025-10-27T04:38:12.513Z,1761539892.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287935,0.952367,-0.100456],[-0.794498,0.296128,0.530172],[0.534665,-0.072843,0.841919]] 2025-10-27T04:38:12.919Z,1761539892.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267545,0.958291,-0.100491],[-0.800347,0.279092,0.530615],[0.536530,-0.061536,0.841635]] 2025-10-27T04:38:13.314Z,1761539893.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257710,0.963708,-0.069656],[-0.811701,0.255040,0.525448],[0.524144,-0.078873,0.847970]] 2025-10-27T04:38:13.737Z,1761539893.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262543,0.964697,-0.020761],[-0.814484,0.233096,0.531302],[0.517385,-0.122581,0.846928]] 2025-10-27T04:38:14.122Z,1761539894.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273084,0.961935,0.010333],[-0.814595,0.225515,0.534394],[0.511722,-0.154351,0.845172]] 2025-10-27T04:38:14.526Z,1761539894.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266443,0.963649,0.019730],[-0.823858,0.217071,0.523582],[0.500267,-0.155759,0.851747]] 2025-10-27T04:38:14.930Z,1761539894.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243249,0.969915,0.009776],[-0.837432,0.204917,0.506672],[0.489425,-0.131434,0.862083]] 2025-10-27T04:38:15.334Z,1761539895.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230962,0.972815,0.016976],[-0.843021,0.191375,0.502685],[0.485770,-0.130412,0.864303]] 2025-10-27T04:38:15.740Z,1761539895.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238211,0.969757,0.053175],[-0.845195,0.180020,0.503228],[0.478437,-0.164817,0.862516]] 2025-10-27T04:38:16.144Z,1761539896.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238482,0.969182,0.061747],[-0.849762,0.177472,0.496395],[0.470139,-0.170852,0.865898]] 2025-10-27T04:38:16.546Z,1761539896.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234514,0.971046,0.045522],[-0.850059,0.182127,0.494195],[0.471596,-0.154592,0.868158]] 2025-10-27T04:38:16.951Z,1761539896.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233130,0.972259,0.019057],[-0.842030,0.192022,0.504095],[0.486452,-0.133566,0.863438]] 2025-10-27T04:38:17.354Z,1761539897.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224070,0.974569,-0.002619],[-0.831598,0.192598,0.520914],[0.508171,-0.114543,0.853605]] 2025-10-27T04:38:17.757Z,1761539897.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209306,0.977845,-0.003308],[-0.821530,0.177680,0.541774],[0.530359,-0.110679,0.840518]] 2025-10-27T04:38:18.168Z,1761539898.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199489,0.979687,0.020412],[-0.810195,0.153188,0.565790],[0.551170,-0.129406,0.824297]] 2025-10-27T04:38:18.568Z,1761539898.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193986,0.979739,0.049805],[-0.800256,0.128675,0.585690],[0.567415,-0.153472,0.809004]] 2025-10-27T04:38:18.970Z,1761539898.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185041,0.980114,0.071669],[-0.797941,0.107277,0.593112],[0.573629,-0.166937,0.801924]] 2025-10-27T04:38:19.455Z,1761539899.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177945,0.978837,0.101059],[-0.807399,0.086523,0.583627],[0.562532,-0.185448,0.805709]] 2025-10-27T04:38:19.857Z,1761539899.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198389,0.971645,0.128638],[-0.848565,0.104593,0.518650],[0.490489,-0.212052,0.845254]] 2025-10-27T04:38:20.258Z,1761539900.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210044,0.973717,0.088072],[-0.864247,0.142799,0.482375],[0.457120,-0.177436,0.871526]] 2025-10-27T04:38:20.686Z,1761539900.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209620,0.977381,0.028018],[-0.868227,0.172877,0.465076],[0.449713,-0.121815,0.884827]] 2025-10-27T04:38:21.082Z,1761539901.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201027,0.979475,-0.014749],[-0.861645,0.183966,0.472994],[0.465999,-0.082377,0.880942]] 2025-10-27T04:38:21.470Z,1761539901.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189223,0.981791,-0.016784],[-0.851715,0.172611,0.494759],[0.488647,-0.079325,0.868868]] 2025-10-27T04:38:21.719Z,1761539901.719 [DockingStepper](ERROR): getADC uart error serial timeout 2025-10-27T04:38:21.719Z,1761539901.719 [DockingStepper](FAULT): uart error - getPosition..serial timeout 2025-10-27T04:38:21.719Z,1761539901.719 [DockingStepper] Communications Fault, FailCount= 1 2025-10-27T04:38:21.719Z,1761539901.719 [DockingStepper](ERROR): Communications Fault 2025-10-27T04:38:21.738Z,1761539901.738 [CBIT](ERROR): Communications Fault in component: DockingStepper 2025-10-27T04:38:21.874Z,1761539901.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178288,0.983934,0.009371],[-0.845418,0.148302,0.513103],[0.503470,-0.099402,0.858276]] 2025-10-27T04:38:21.985Z,1761539901.985 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T04:38:21.985Z,1761539901.985 [DockingStepper](INFO): Powering down 2025-10-27T04:38:22.699Z,1761539902.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177858,0.983107,0.043208],[-0.846177,0.130376,0.516707],[0.502346,-0.128462,0.855071]] 2025-10-27T04:38:23.085Z,1761539903.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175531,0.983083,0.052308],[-0.846023,0.123462,0.518654],[0.503422,-0.135294,0.853383]] 2025-10-27T04:38:23.490Z,1761539903.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175429,0.982439,0.063548],[-0.848409,0.118119,0.515994],[0.499426,-0.144435,0.854232]] 2025-10-27T04:38:23.897Z,1761539903.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174236,0.981761,0.076069],[-0.854793,0.112447,0.506641],[0.488847,-0.153298,0.858795]] 2025-10-27T04:38:24.297Z,1761539904.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170546,0.981896,0.082426],[-0.860553,0.107677,0.497849],[0.479961,-0.155838,0.863338]] 2025-10-27T04:38:24.706Z,1761539904.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165630,0.982798,0.081701],[-0.859837,0.103342,0.500002],[0.482957,-0.153064,0.862162]] 2025-10-27T04:38:25.108Z,1761539905.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161818,0.983269,0.083644],[-0.851950,0.096425,0.514668],[0.497992,-0.154543,0.853300]] 2025-10-27T04:38:25.509Z,1761539905.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.161055,0.982818,0.090165],[-0.842053,0.089184,0.531971],[0.514790,-0.161600,0.841948]] 2025-10-27T04:38:25.915Z,1761539905.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162331,0.982197,0.094541],[-0.835583,0.085871,0.542611],[0.524832,-0.167079,0.834647]] 2025-10-27T04:38:26.318Z,1761539906.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162631,0.982417,0.091692],[-0.833596,0.087085,0.545467],[0.527892,-0.165144,0.833101]] 2025-10-27T04:38:26.758Z,1761539906.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159874,0.983353,0.086359],[-0.833688,0.087658,0.545234],[0.528588,-0.159165,0.833823]] 2025-10-27T04:38:27.126Z,1761539907.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157899,0.983741,0.085561],[-0.834703,0.086677,0.543836],[0.527578,-0.157290,0.834818]] 2025-10-27T04:38:27.766Z,1761539907.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160388,0.982790,0.091652],[-0.836968,0.086192,0.540421],[0.523220,-0.163387,0.836388]] 2025-10-27T04:38:28.328Z,1761539908.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170019,0.980435,0.099200],[-0.842305,0.092336,0.531033],[0.511484,-0.173842,0.841524]] 2025-10-27T04:38:28.733Z,1761539908.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174752,0.981218,0.081689],[-0.841540,0.105774,0.529739],[0.511148,-0.161318,0.844218]] 2025-10-27T04:38:29.133Z,1761539909.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177964,0.982282,0.058750],[-0.836515,0.119572,0.534739],[0.518240,-0.144309,0.842972]] 2025-10-27T04:38:29.539Z,1761539909.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178380,0.983211,0.038431],[-0.828482,0.129007,0.544954],[0.530847,-0.129048,0.837584]] 2025-10-27T04:38:29.942Z,1761539909.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178062,0.983717,0.024378],[-0.820781,0.134813,0.555107],[0.542782,-0.118853,0.831422]] 2025-10-27T04:38:30.752Z,1761539910.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182587,0.983011,0.018759],[-0.816130,0.140896,0.560428],[0.548264,-0.117637,0.827991]] 2025-10-27T04:38:31.166Z,1761539911.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188313,0.981783,0.025296],[-0.819963,0.142994,0.554269],[0.540555,-0.125118,0.831953]] 2025-10-27T04:38:31.558Z,1761539911.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195834,0.980198,0.029348],[-0.826203,0.148798,0.543367],[0.528240,-0.130657,0.838982]] 2025-10-27T04:38:31.962Z,1761539911.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201087,0.979151,0.028745],[-0.832382,0.155327,0.531991],[0.516435,-0.130904,0.846262]] 2025-10-27T04:38:32.211Z,1761539912.211 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:38:32.365Z,1761539912.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202822,0.978949,0.022849],[-0.836447,0.161071,0.523843],[0.509136,-0.125359,0.851508]] 2025-10-27T04:38:32.771Z,1761539912.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.203748,0.978932,0.013406],[-0.836919,0.167052,0.521211],[0.507990,-0.117415,0.853323]] 2025-10-27T04:38:33.184Z,1761539913.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204692,0.978816,0.004406],[-0.833388,0.171915,0.525271],[0.513386,-0.111191,0.850924]] 2025-10-27T04:38:33.578Z,1761539913.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204995,0.978755,-0.004048],[-0.827160,0.175452,0.533875],[0.523243,-0.106094,0.845554]] 2025-10-27T04:38:33.983Z,1761539913.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205081,0.978667,-0.012368],[-0.820757,0.178847,0.542560],[0.533197,-0.101118,0.839926]] 2025-10-27T04:38:34.388Z,1761539914.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205783,0.978431,-0.018063],[-0.816597,0.181860,0.547811],[0.539280,-0.097980,0.836407]] 2025-10-27T04:38:34.790Z,1761539914.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205516,0.978488,-0.018033],[-0.815670,0.181442,0.549328],[0.540783,-0.098187,0.835412]] 2025-10-27T04:38:34.793Z,1761539914.793 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-27T04:38:35.198Z,1761539915.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204991,0.978736,-0.007434],[-0.818002,0.175487,0.547793],[0.537449,-0.106212,0.836581]] 2025-10-27T04:38:35.598Z,1761539915.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205725,0.978551,0.010702],[-0.822612,0.166997,0.543527],[0.530082,-0.120621,0.839323]] 2025-10-27T04:38:36.003Z,1761539916.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207776,0.977790,0.027482],[-0.828339,0.160936,0.536614],[0.520273,-0.134260,0.843380]] 2025-10-27T04:38:36.407Z,1761539916.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209850,0.976973,0.038570],[-0.833810,0.158219,0.528894],[0.510612,-0.143149,0.847811]] 2025-10-27T04:38:37.274Z,1761539917.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209525,0.976638,0.047716],[-0.840257,0.154880,0.519597],[0.500068,-0.148963,0.853078]] 2025-10-27T04:38:37.618Z,1761539917.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209117,0.976738,0.047457],[-0.840886,0.154835,0.518591],[0.499180,-0.148353,0.853704]] 2025-10-27T04:38:38.025Z,1761539918.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208717,0.976966,0.044440],[-0.840099,0.155844,0.519563],[0.500670,-0.145776,0.853276]] 2025-10-27T04:38:38.426Z,1761539918.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206341,0.977787,0.036826],[-0.838342,0.157255,0.521972],[0.504586,-0.138577,0.852168]] 2025-10-27T04:38:38.830Z,1761539918.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201124,0.979178,0.027547],[-0.835679,0.156842,0.526347],[0.511067,-0.128882,0.849824]] 2025-10-27T04:38:39.296Z,1761539919.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193717,0.980873,0.019014],[-0.832693,0.154143,0.531848],[0.518745,-0.118861,0.846626]] 2025-10-27T04:38:39.644Z,1761539919.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188010,0.982057,0.014687],[-0.830370,0.150948,0.536378],[0.524537,-0.113040,0.843850]] 2025-10-27T04:38:40.042Z,1761539920.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185315,0.982556,0.015577],[-0.829445,0.147898,0.538653],[0.526953,-0.112741,0.842384]] 2025-10-27T04:38:40.446Z,1761539920.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185468,0.982424,0.021082],[-0.830153,0.145170,0.538305],[0.525783,-0.117340,0.842486]] 2025-10-27T04:38:40.850Z,1761539920.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186844,0.981936,0.029843],[-0.832137,0.142047,0.536069],[0.522147,-0.124995,0.843646]] 2025-10-27T04:38:41.290Z,1761539921.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187337,0.981455,0.040641],[-0.834167,0.137103,0.534199],[0.518720,-0.133976,0.844381]] 2025-10-27T04:38:41.671Z,1761539921.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186094,0.981196,0.051228],[-0.835208,0.130515,0.534223],[0.517491,-0.142201,0.843790]] 2025-10-27T04:38:42.065Z,1761539922.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185750,0.980798,0.059426],[-0.834932,0.125660,0.535816],[0.518060,-0.149145,0.842241]] 2025-10-27T04:38:42.465Z,1761539922.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187834,0.980169,0.063137],[-0.833344,0.125014,0.538432],[0.519862,-0.153751,0.840300]] 2025-10-27T04:38:42.614Z,1761539922.614 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T04:38:42.614Z,1761539922.614 [DockingStepper] No Fault, FailCount= 1 2025-10-27T04:38:42.869Z,1761539922.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192985,0.979332,0.060548],[-0.831369,0.130429,0.540198],[0.521136,-0.154588,0.839357]] 2025-10-27T04:38:42.956Z,1761539922.956 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T04:38:42.956Z,1761539922.956 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T04:38:43.679Z,1761539923.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208259,0.976975,0.046341],[-0.829316,0.151268,0.537915],[0.518520,-0.150457,0.841724]] 2025-10-27T04:38:44.117Z,1761539924.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.216804,0.975499,0.037391],[-0.829882,0.164000,0.533291],[0.514093,-0.146650,0.845105]] 2025-10-27T04:38:44.486Z,1761539924.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224524,0.974056,0.028363],[-0.831116,0.176217,0.527441],[0.508759,-0.141996,0.849118]] 2025-10-27T04:38:44.890Z,1761539924.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229585,0.973059,0.021136],[-0.832228,0.185004,0.522656],[0.504665,-0.137585,0.852281]] 2025-10-27T04:38:45.295Z,1761539925.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232856,0.972421,0.013223],[-0.832634,0.192320,0.519358],[0.502492,-0.131946,0.854454]] 2025-10-27T04:38:45.700Z,1761539925.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235057,0.971974,0.003724],[-0.832229,0.199279,0.517380],[0.502138,-0.124713,0.855748]] 2025-10-27T04:38:46.103Z,1761539926.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237655,0.971324,-0.007104],[-0.831313,0.207171,0.515751],[0.502432,-0.116665,0.856709]] 2025-10-27T04:38:46.507Z,1761539926.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241232,0.970317,-0.017068],[-0.830379,0.215480,0.513847],[0.502273,-0.109783,0.857712]] 2025-10-27T04:38:46.604Z,1761539926.604 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T04:38:46.911Z,1761539926.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245127,0.969201,-0.023688],[-0.829850,0.222391,0.511753],[0.501260,-0.105787,0.858806]] 2025-10-27T04:38:47.314Z,1761539927.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249401,0.967991,-0.028161],[-0.830044,0.228658,0.508667],[0.498824,-0.103487,0.860503]] 2025-10-27T04:38:47.724Z,1761539927.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253427,0.966886,-0.030092],[-0.831093,0.233543,0.504721],[0.495035,-0.102900,0.862758]] 2025-10-27T04:38:48.124Z,1761539928.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256553,0.966106,-0.028617],[-0.832758,0.235977,0.500828],[0.490606,-0.104658,0.865074]] 2025-10-27T04:38:48.527Z,1761539928.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258494,0.965699,-0.024620],[-0.834525,0.236073,0.497833],[0.486569,-0.108141,0.866924]] 2025-10-27T04:38:49.334Z,1761539929.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260127,0.965492,-0.012635],[-0.836823,0.231950,0.495910],[0.481728,-0.118426,0.868282]] 2025-10-27T04:38:49.740Z,1761539929.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261559,0.965159,-0.007379],[-0.836971,0.230614,0.496283],[0.480694,-0.123631,0.868130]] 2025-10-27T04:38:50.178Z,1761539930.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264103,0.964480,-0.005396],[-0.836641,0.231873,0.496253],[0.479877,-0.126547,0.868161]] 2025-10-27T04:38:50.545Z,1761539930.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267603,0.963492,-0.008433],[-0.836146,0.236565,0.494871],[0.478799,-0.125378,0.868926]] 2025-10-27T04:38:50.949Z,1761539930.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272105,0.962164,-0.014095],[-0.835758,0.243566,0.492122],[0.476935,-0.122129,0.870412]] 2025-10-27T04:38:51.354Z,1761539931.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277106,0.960709,-0.015852],[-0.835711,0.249127,0.489411],[0.474131,-0.122371,0.871909]] 2025-10-27T04:38:51.760Z,1761539931.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282314,0.959202,-0.015155],[-0.836313,0.253823,0.485958],[0.469979,-0.124519,0.873851]] 2025-10-27T04:38:52.165Z,1761539932.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286669,0.957933,-0.013601],[-0.837752,0.257540,0.481502],[0.464749,-0.126637,0.876340]] 2025-10-27T04:38:52.566Z,1761539932.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289383,0.957147,-0.011324],[-0.839887,0.259570,0.476668],[0.459181,-0.128429,0.879010]] 2025-10-27T04:38:52.971Z,1761539932.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291096,0.956632,-0.010854],[-0.842489,0.261705,0.470874],[0.453293,-0.127925,0.882134]] 2025-10-27T04:38:53.377Z,1761539933.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292305,0.956248,-0.012158],[-0.845085,0.264234,0.464771],[0.447649,-0.125580,0.885347]] 2025-10-27T04:38:53.777Z,1761539933.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293249,0.955895,-0.016444],[-0.847293,0.267823,0.458656],[0.442830,-0.120568,0.888462]] 2025-10-27T04:38:54.182Z,1761539934.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293799,0.955643,-0.020711],[-0.848709,0.270769,0.454288],[0.439745,-0.115892,0.890614]] 2025-10-27T04:38:54.587Z,1761539934.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293432,0.955664,-0.024572],[-0.849117,0.272354,0.452574],[0.439201,-0.111935,0.891388]] 2025-10-27T04:38:54.990Z,1761539934.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292325,0.955893,-0.028551],[-0.848333,0.272982,0.453665],[0.441449,-0.108397,0.890715]] 2025-10-27T04:38:55.398Z,1761539935.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290066,0.956481,-0.031707],[-0.846545,0.271897,0.457639],[0.446344,-0.105904,0.888572]] 2025-10-27T04:38:55.480Z,1761539935.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:38:55.668Z,1761539935.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:38:55.668Z,1761539935.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:38:55.797Z,1761539935.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287117,0.957366,-0.031835],[-0.843920,0.268538,0.464421],[0.453170,-0.106477,0.885042]] 2025-10-27T04:38:55.920Z,1761539935.920 [DAT](INFO): DAT read: user:131> 2025-10-27T04:38:55.921Z,1761539935.921 [DAT](INFO): DAT read: Tx time:04:38:54.9821 2025-10-27T04:38:55.922Z,1761539935.922 [DAT](INFO): Ping request sent. 2025-10-27T04:38:55.922Z,1761539935.922 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:38:55.922Z,1761539935.922 [DAT](INFO): publishing transmit ping time 2025-10-27T04:38:55.923Z,1761539935.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001236 2025-10-27T04:38:56.172Z,1761539936.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249853 2025-10-27T04:38:56.210Z,1761539936.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283754,0.958385,-0.031337],[-0.840838,0.264395,0.472321],[0.460950,-0.107673,0.880870]] 2025-10-27T04:38:56.424Z,1761539936.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502151 2025-10-27T04:38:56.606Z,1761539936.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281271,0.959135,-0.030757],[-0.837670,0.261035,0.479759],[0.468183,-0.109178,0.876861]] 2025-10-27T04:38:56.676Z,1761539936.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754250 2025-10-27T04:38:56.928Z,1761539936.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005753 2025-10-27T04:38:57.180Z,1761539937.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257769 2025-10-27T04:38:57.417Z,1761539937.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284352,0.958418,-0.024073],[-0.831932,0.259148,0.490645],[0.476481,-0.119489,0.871027]] 2025-10-27T04:38:57.432Z,1761539937.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509890 2025-10-27T04:38:57.684Z,1761539937.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761860 2025-10-27T04:38:57.820Z,1761539937.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289858,0.956810,-0.022287],[-0.829490,0.262767,0.492849],[0.477420,-0.124369,0.869829]] 2025-10-27T04:38:57.936Z,1761539937.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014200 2025-10-27T04:38:58.188Z,1761539938.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265807 2025-10-27T04:38:58.222Z,1761539938.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296385,0.954831,-0.021314],[-0.827417,0.267853,0.493595],[0.477009,-0.128658,0.869431]] 2025-10-27T04:38:58.440Z,1761539938.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517932 2025-10-27T04:38:58.692Z,1761539938.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770211 2025-10-27T04:38:58.944Z,1761539938.944 [DAT](INFO): DAT read: Rx Time:04:38:57.5910 2025-10-27T04:38:58.944Z,1761539938.944 [DAT](INFO): Rx dataTimestamp_ set to:1761539938.944136 2025-10-27T04:38:58.945Z,1761539938.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022894 2025-10-27T04:38:59.029Z,1761539939.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311385,0.950002,-0.023117],[-0.823921,0.282020,0.491548],[0.473491,-0.134014,0.870544]] 2025-10-27T04:38:59.196Z,1761539939.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273917 2025-10-27T04:38:59.461Z,1761539939.461 [DAT](INFO): DAT read: 04:38:57.5910 LVL= 19808, 25313, 25234, 23363, AGC= 65, IDX= 141, 0.19,-2.828, 3.135, 1.860, 2.443, PHS= 1.114, 0.736,-0.627, RAW= 41.9, -15.2, CAL= 44.9, -16.2, ROT= 105.1, 16.2 2025-10-27T04:38:59.462Z,1761539939.462 [DAT](INFO): got valid direction response: 04:38:57.5910 LVL= 19808, 25313, 25234, 23363, AGC= 65, IDX= 141, 0.19,-2.828, 3.135, 1.860, 2.443, PHS= 1.114, 0.736,-0.627, RAW= 41.9, -15.2, CAL= 44.9, -16.2, ROT= 105.1, 16.2 2025-10-27T04:38:59.467Z,1761539939.467 [DAT](INFO): DAT read: Bearing 299.7, 46.7 (Local) 2025-10-27T04:38:59.468Z,1761539939.468 [DAT](INFO): Local bearing/azimuth received: Bearing 299.7, 46.7 (Local) 2025-10-27T04:38:59.469Z,1761539939.469 [DAT](INFO): DAT read: Range 11 to 50 : 153.5 m (Round-trip 204.7 ms) speed 0.0 m/s 2025-10-27T04:38:59.470Z,1761539939.470 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:38:59.471Z,1761539939.471 [DAT](INFO): direction in FSK: [-0.250161,0.927137,-0.278991] 2025-10-27T04:38:59.480Z,1761539939.480 [DAT](INFO): publishing direction and range info 2025-10-27T04:39:00.242Z,1761539940.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330554,0.943217,-0.032807],[-0.819635,0.304131,0.485493],[0.467902,-0.133592,0.873625]] 2025-10-27T04:39:00.356Z,1761539940.356 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.911743 2025-10-27T04:39:00.649Z,1761539940.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334526,0.941646,-0.037342],[-0.818340,0.309915,0.484016],[0.467345,-0.131358,0.874262]] 2025-10-27T04:39:00.666Z,1761539940.666 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T04:39:00.666Z,1761539940.666 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T04:39:00.667Z,1761539940.667 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T04:39:00.667Z,1761539940.667 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:39:00.667Z,1761539940.667 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T04:39:00.667Z,1761539940.667 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T04:39:00.668Z,1761539940.668 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-27T04:39:01.064Z,1761539941.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337198,0.940507,-0.041753],[-0.817103,0.314406,0.483209],[0.467589,-0.128821,0.874509]] 2025-10-27T04:39:01.083Z,1761539941.083 [lineCaptureHoming:MicromodemComms] Stopped 2025-10-27T04:39:01.083Z,1761539941.083 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-10-27T04:39:01.083Z,1761539941.083 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T04:39:01.083Z,1761539941.083 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:39:01.084Z,1761539941.084 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T04:39:01.360Z,1761539941.360 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:39:01.473Z,1761539941.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339135,0.939613,-0.045985],[-0.815876,0.318106,0.482861],[0.468330,-0.126237,0.874489]] 2025-10-27T04:39:01.536Z,1761539941.536 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T04:39:01.536Z,1761539941.536 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T04:39:01.536Z,1761539941.536 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T04:39:01.536Z,1761539941.536 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:39:01.536Z,1761539941.536 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T04:39:01.921Z,1761539941.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342453,0.938036,-0.053056],[-0.813589,0.324316,0.482590],[0.469893,-0.122099,0.874238]] 2025-10-27T04:39:02.323Z,1761539942.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344500,0.937154,-0.055330],[-0.812622,0.327195,0.482275],[0.470069,-0.121181,0.874271]] 2025-10-27T04:39:02.736Z,1761539942.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347084,0.936104,-0.056939],[-0.811946,0.330324,0.481279],[0.469335,-0.120813,0.874716]] 2025-10-27T04:39:03.137Z,1761539943.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349947,0.935020,-0.057232],[-0.811683,0.333153,0.479770],[0.467662,-0.121440,0.875526]] 2025-10-27T04:39:03.534Z,1761539943.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352905,0.933939,-0.056705],[-0.811864,0.335777,0.477631],[0.465118,-0.122521,0.876729]] 2025-10-27T04:39:03.946Z,1761539943.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355094,0.933211,-0.055003],[-0.812650,0.337232,0.475262],[0.462069,-0.124064,0.878123]] 2025-10-27T04:39:04.348Z,1761539944.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356726,0.932667,-0.053657],[-0.813924,0.338475,0.472189],[0.458557,-0.124770,0.879863]] 2025-10-27T04:39:04.747Z,1761539944.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357600,0.932381,-0.052805],[-0.815677,0.339374,0.468504],[0.454745,-0.124465,0.881882]] 2025-10-27T04:39:05.150Z,1761539945.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357401,0.932567,-0.050835],[-0.817732,0.338758,0.465357],[0.451197,-0.124750,0.883662]] 2025-10-27T04:39:05.555Z,1761539945.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356257,0.933035,-0.050258],[-0.819859,0.337940,0.462199],[0.448232,-0.123457,0.885351]] 2025-10-27T04:39:05.963Z,1761539945.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353903,0.933895,-0.050928],[-0.821871,0.336518,0.459656],[0.446408,-0.120818,0.886636]] 2025-10-27T04:39:06.362Z,1761539946.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350615,0.935101,-0.051529],[-0.823557,0.334054,0.458434],[0.445896,-0.118297,0.887233]] 2025-10-27T04:39:06.767Z,1761539946.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346565,0.936554,-0.052527],[-0.824915,0.330954,0.458241],[0.446552,-0.115480,0.887274]] 2025-10-27T04:39:07.172Z,1761539947.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342359,0.938098,-0.052564],[-0.825886,0.327139,0.459230],[0.447999,-0.113809,0.886761]] 2025-10-27T04:39:07.594Z,1761539947.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338980,0.939463,-0.050007],[-0.826544,0.322782,0.461125],[0.449352,-0.114979,0.885925]] 2025-10-27T04:39:07.978Z,1761539947.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336603,0.940539,-0.045651],[-0.827254,0.318524,0.462811],[0.449833,-0.118019,0.885281]] 2025-10-27T04:39:08.383Z,1761539948.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335160,0.941304,-0.040189],[-0.827913,0.314610,0.464306],[0.449697,-0.122344,0.884763]] 2025-10-27T04:39:08.791Z,1761539948.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334148,0.941870,-0.035021],[-0.828549,0.311251,0.465435],[0.449280,-0.126508,0.884389]] 2025-10-27T04:39:09.244Z,1761539949.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333531,0.942297,-0.028882],[-0.829002,0.307742,0.466958],[0.448901,-0.131802,0.883808]] 2025-10-27T04:39:09.608Z,1761539949.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332885,0.942719,-0.021665],[-0.829380,0.303641,0.468969],[0.448684,-0.138144,0.882949]] 2025-10-27T04:39:09.999Z,1761539949.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332682,0.942919,-0.015010],[-0.829491,0.300160,0.471008],[0.448628,-0.144246,0.882001]] 2025-10-27T04:39:10.405Z,1761539950.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332799,0.942934,-0.010971],[-0.829427,0.298234,0.472342],[0.448659,-0.148096,0.881347]] 2025-10-27T04:39:10.806Z,1761539950.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333354,0.942773,-0.007345],[-0.829205,0.296887,0.473579],[0.448658,-0.151779,0.880721]] 2025-10-27T04:39:11.272Z,1761539951.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333934,0.942581,-0.005464],[-0.828888,0.296405,0.474436],[0.448813,-0.153901,0.880273]] 2025-10-27T04:39:11.681Z,1761539951.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335155,0.942155,-0.003731],[-0.828490,0.296602,0.475008],[0.448638,-0.156110,0.879974]] 2025-10-27T04:39:12.105Z,1761539952.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336622,0.941631,-0.004057],[-0.828217,0.298123,0.474532],[0.448043,-0.156378,0.880229]] 2025-10-27T04:39:12.485Z,1761539952.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338515,0.940950,-0.004435],[-0.827855,0.300062,0.473939],[0.447284,-0.156764,0.880547]] 2025-10-27T04:39:12.889Z,1761539952.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340629,0.940188,-0.004338],[-0.827460,0.301972,0.473416],[0.446410,-0.157670,0.880828]] 2025-10-27T04:39:13.294Z,1761539953.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342921,0.939361,-0.002280],[-0.827130,0.303098,0.473273],[0.445265,-0.160410,0.880913]] 2025-10-27T04:39:13.702Z,1761539953.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345105,0.938564,0.000188],[-0.826847,0.303932,0.473233],[0.444102,-0.163471,0.880937]] 2025-10-27T04:39:14.131Z,1761539954.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347291,0.937757,0.000371],[-0.826718,0.305982,0.472136],[0.442635,-0.164275,0.881526]] 2025-10-27T04:39:14.506Z,1761539954.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348603,0.937270,0.000827],[-0.826686,0.307057,0.471493],[0.441662,-0.165048,0.881870]] 2025-10-27T04:39:14.836Z,1761539954.836 [Radio_Surface](INFO): Powering down 2025-10-27T04:39:14.910Z,1761539954.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349438,0.936960,-0.000042],[-0.826709,0.308341,0.470614],[0.440959,-0.164416,0.882339]] 2025-10-27T04:39:15.315Z,1761539955.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349883,0.936792,-0.001685],[-0.826757,0.309631,0.469682],[0.440516,-0.162940,0.882834]] 2025-10-27T04:39:15.729Z,1761539955.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349857,0.936795,-0.003883],[-0.826850,0.310740,0.468786],[0.440363,-0.160798,0.883303]] 2025-10-27T04:39:16.122Z,1761539956.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349543,0.936893,-0.007120],[-0.827070,0.312122,0.467477],[0.440199,-0.157515,0.883976]] 2025-10-27T04:39:16.932Z,1761539956.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347796,0.937501,-0.011399],[-0.828039,0.312845,0.465274],[0.439761,-0.152382,0.885093]] 2025-10-27T04:39:17.333Z,1761539957.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346456,0.937979,-0.012803],[-0.828788,0.312461,0.464196],[0.439407,-0.150213,0.885640]] 2025-10-27T04:39:17.740Z,1761539957.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344364,0.938736,-0.013696],[-0.830125,0.311270,0.462605],[0.438527,-0.147935,0.886459]] 2025-10-27T04:39:18.145Z,1761539958.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341252,0.939879,-0.013182],[-0.832002,0.308550,0.461053],[0.437401,-0.146368,0.887275]] 2025-10-27T04:39:18.547Z,1761539958.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337424,0.941303,-0.009714],[-0.834149,0.303764,0.460352],[0.436281,-0.147231,0.887683]] 2025-10-27T04:39:18.950Z,1761539958.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333290,0.942810,-0.005179],[-0.836435,0.298211,0.459833],[0.435080,-0.148926,0.887990]] 2025-10-27T04:39:19.758Z,1761539959.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324482,0.945873,0.005881],[-0.840734,0.285554,0.460028],[0.433449,-0.154215,0.887885]] 2025-10-27T04:39:20.167Z,1761539960.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320585,0.947149,0.011536],[-0.842347,0.279500,0.460794],[0.433217,-0.157441,0.887432]] 2025-10-27T04:39:20.580Z,1761539960.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317506,0.948140,0.014851],[-0.843353,0.275186,0.461551],[0.433528,-0.159070,0.886989]] 2025-10-27T04:39:20.970Z,1761539960.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314992,0.948945,0.016833],[-0.843752,0.271865,0.462788],[0.434583,-0.159978,0.886309]] 2025-10-27T04:39:21.374Z,1761539961.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314337,0.949199,0.014602],[-0.843620,0.272254,0.462798],[0.435312,-0.157793,0.886343]] 2025-10-27T04:39:21.780Z,1761539961.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315594,0.948835,0.010594],[-0.842987,0.275227,0.462193],[0.435629,-0.154795,0.886716]] 2025-10-27T04:39:22.181Z,1761539962.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318212,0.948004,0.005442],[-0.841736,0.279892,0.461672],[0.436144,-0.151490,0.887034]] 2025-10-27T04:39:22.586Z,1761539962.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322031,0.946728,0.001774],[-0.840032,0.284873,0.461729],[0.436627,-0.150181,0.887019]] 2025-10-27T04:39:22.990Z,1761539962.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326974,0.945033,-0.000756],[-0.838108,0.290348,0.461814],[0.436649,-0.150367,0.886976]] 2025-10-27T04:39:23.396Z,1761539963.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332639,0.943051,-0.002610],[-0.836231,0.296238,0.461477],[0.435970,-0.151323,0.887148]] 2025-10-27T04:39:23.797Z,1761539963.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338922,0.940805,-0.004311],[-0.834471,0.302726,0.460452],[0.434500,-0.152460,0.887674]] 2025-10-27T04:39:24.202Z,1761539964.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344981,0.938576,-0.007918],[-0.832929,0.310017,0.458387],[0.432686,-0.151539,0.888717]] 2025-10-27T04:39:24.607Z,1761539964.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349768,0.936766,-0.011497],[-0.831643,0.316120,0.456550],[0.431315,-0.150125,0.889624]] 2025-10-27T04:39:25.010Z,1761539965.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352972,0.935517,-0.014805],[-0.830751,0.320644,0.455017],[0.430424,-0.148309,0.890359]] 2025-10-27T04:39:25.817Z,1761539965.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355330,0.934379,-0.026008],[-0.829648,0.328076,0.451719],[0.430609,-0.138932,0.891781]] 2025-10-27T04:39:26.228Z,1761539966.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354649,0.934445,-0.032207],[-0.829267,0.330269,0.450820],[0.431904,-0.133175,0.892034]] 2025-10-27T04:39:26.626Z,1761539966.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353037,0.934823,-0.038348],[-0.828832,0.331498,0.450718],[0.434054,-0.127336,0.891842]] 2025-10-27T04:39:27.034Z,1761539967.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350601,0.935524,-0.043299],[-0.828261,0.331318,0.451898],[0.437107,-0.122573,0.891018]] 2025-10-27T04:39:27.434Z,1761539967.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347847,0.936331,-0.047827],[-0.827475,0.330590,0.453867],[0.440781,-0.118300,0.889785]] 2025-10-27T04:39:27.839Z,1761539967.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345229,0.937164,-0.050402],[-0.826438,0.329013,0.456892],[0.444765,-0.116078,0.888093]] 2025-10-27T04:39:28.242Z,1761539968.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343039,0.937887,-0.051891],[-0.825093,0.327266,0.460564],[0.448939,-0.115177,0.886109]] 2025-10-27T04:39:28.646Z,1761539968.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341469,0.938487,-0.051393],[-0.823450,0.325078,0.465032],[0.453133,-0.116474,0.883801]] 2025-10-27T04:39:29.057Z,1761539969.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340085,0.939049,-0.050288],[-0.821566,0.322706,0.469989],[0.457571,-0.118521,0.881238]] 2025-10-27T04:39:29.456Z,1761539969.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339605,0.939351,-0.047828],[-0.819480,0.320460,0.475140],[0.461650,-0.122166,0.878609]] 2025-10-27T04:39:29.858Z,1761539969.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339829,0.939446,-0.044239],[-0.817362,0.318281,0.480225],[0.465226,-0.127036,0.876029]] 2025-10-27T04:39:30.262Z,1761539970.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340561,0.939451,-0.038073],[-0.815463,0.315285,0.485402],[0.468015,-0.134262,0.873462]] 2025-10-27T04:39:31.072Z,1761539971.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343560,0.938842,-0.023287],[-0.812747,0.309658,0.493511],[0.470540,-0.150624,0.869428]] 2025-10-27T04:39:31.475Z,1761539971.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345592,0.938236,-0.016693],[-0.812143,0.307963,0.495562],[0.470095,-0.157705,0.868412]] 2025-10-27T04:39:31.479Z,1761539971.479 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:39:31.878Z,1761539971.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347537,0.937599,-0.011266],[-0.812048,0.306963,0.496338],[0.468824,-0.163347,0.868056]] 2025-10-27T04:39:32.308Z,1761539972.308 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-27T04:39:32.484Z,1761539972.484 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-27T04:39:32.484Z,1761539972.484 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:39:32.686Z,1761539972.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349356,0.936979,-0.004550],[-0.813296,0.305644,0.495108],[0.465296,-0.169268,0.868820]] 2025-10-27T04:39:33.089Z,1761539973.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348442,0.937326,-0.002837],[-0.814542,0.304293,0.493890],[0.463799,-0.169781,0.869520]] 2025-10-27T04:39:33.496Z,1761539973.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346663,0.937988,-0.002009],[-0.815951,0.302616,0.492593],[0.462654,-0.169125,0.870258]] 2025-10-27T04:39:33.899Z,1761539973.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344700,0.938711,-0.001970],[-0.817235,0.301125,0.491376],[0.461854,-0.167768,0.870945]] 2025-10-27T04:39:34.712Z,1761539974.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340362,0.940279,-0.005426],[-0.819154,0.299341,0.489267],[0.461672,-0.162083,0.872117]] 2025-10-27T04:39:35.110Z,1761539975.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338567,0.940903,-0.008623],[-0.819640,0.299409,0.488411],[0.462129,-0.158292,0.872571]] 2025-10-27T04:39:35.534Z,1761539975.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336587,0.941517,-0.015955],[-0.819640,0.301274,0.487263],[0.463573,-0.150929,0.873110]] 2025-10-27T04:39:36.333Z,1761539976.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338065,0.940769,-0.025812],[-0.818195,0.307349,0.485894],[0.465048,-0.143144,0.873636]] 2025-10-27T04:39:36.788Z,1761539976.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340303,0.939750,-0.032611],[-0.817027,0.312674,0.484461],[0.465469,-0.138219,0.874205]] 2025-10-27T04:39:37.138Z,1761539977.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343306,0.938454,-0.038024],[-0.815630,0.317960,0.483373],[0.465713,-0.134931,0.874588]] 2025-10-27T04:39:37.944Z,1761539977.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350443,0.935401,-0.047068],[-0.812647,0.328669,0.481228],[0.465611,-0.130393,0.875331]] 2025-10-27T04:39:38.354Z,1761539978.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354426,0.933660,-0.051582],[-0.811320,0.334473,0.479466],[0.464911,-0.128085,0.876043]] 2025-10-27T04:39:39.560Z,1761539979.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363434,0.929812,-0.058018],[-0.809084,0.345892,0.475123],[0.461843,-0.125734,0.878004]] 2025-10-27T04:39:39.961Z,1761539979.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365163,0.929051,-0.059333],[-0.808822,0.348173,0.473902],[0.460938,-0.125062,0.878576]] 2025-10-27T04:39:40.366Z,1761539980.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366405,0.928520,-0.059991],[-0.808539,0.349639,0.473306],[0.460449,-0.124916,0.878853]] 2025-10-27T04:39:40.770Z,1761539980.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366904,0.928377,-0.059142],[-0.808306,0.349629,0.473710],[0.460459,-0.126001,0.878693]] 2025-10-27T04:39:41.174Z,1761539981.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366750,0.928533,-0.057616],[-0.808165,0.348660,0.474663],[0.460829,-0.127520,0.878280]] 2025-10-27T04:39:41.578Z,1761539981.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366200,0.928945,-0.054400],[-0.808036,0.346442,0.476504],[0.461492,-0.130539,0.877488]] 2025-10-27T04:39:41.983Z,1761539981.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365273,0.929518,-0.050723],[-0.807894,0.343606,0.478792],[0.462475,-0.133911,0.876462]] 2025-10-27T04:39:42.386Z,1761539982.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363749,0.930349,-0.046226],[-0.807815,0.339772,0.481653],[0.463812,-0.137859,0.875142]] 2025-10-27T04:39:42.791Z,1761539982.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361829,0.931380,-0.040126],[-0.807733,0.334703,0.485326],[0.465453,-0.143194,0.873412]] 2025-10-27T04:39:43.199Z,1761539983.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360039,0.932266,-0.035387],[-0.807596,0.330433,0.488470],[0.467077,-0.147290,0.871863]] 2025-10-27T04:39:43.600Z,1761539983.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358322,0.933087,-0.030878],[-0.807488,0.326350,0.491384],[0.468582,-0.151140,0.870395]] 2025-10-27T04:39:44.010Z,1761539984.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356752,0.933772,-0.028244],[-0.807173,0.323323,0.493897],[0.470319,-0.153401,0.869062]] 2025-10-27T04:39:44.410Z,1761539984.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355688,0.934204,-0.027371],[-0.806776,0.321692,0.495607],[0.471803,-0.154199,0.868116]] 2025-10-27T04:39:44.812Z,1761539984.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354874,0.934506,-0.027614],[-0.806087,0.320803,0.497302],[0.473591,-0.154220,0.867138]] 2025-10-27T04:39:45.249Z,1761539985.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355156,0.934376,-0.028375],[-0.804714,0.321036,0.499370],[0.475709,-0.154521,0.865924]] 2025-10-27T04:39:45.618Z,1761539985.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356562,0.933697,-0.032774],[-0.802866,0.324162,0.500325],[0.477776,-0.152084,0.865217]] 2025-10-27T04:39:46.022Z,1761539986.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359169,0.932473,-0.038613],[-0.800590,0.329106,0.500744],[0.479638,-0.148939,0.864734]] 2025-10-27T04:39:46.427Z,1761539986.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362832,0.930743,-0.045504],[-0.797943,0.335541,0.500699],[0.481291,-0.145360,0.864424]] 2025-10-27T04:39:46.829Z,1761539986.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367332,0.928542,-0.053628],[-0.795023,0.343391,0.500022],[0.482707,-0.141038,0.864351]] 2025-10-27T04:39:47.270Z,1761539987.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372078,0.926044,-0.063243],[-0.792136,0.352312,0.498393],[0.483816,-0.135344,0.864641]] 2025-10-27T04:39:47.638Z,1761539987.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377028,0.923046,-0.076392],[-0.789387,0.363382,0.494795],[0.484478,-0.126249,0.865646]] 2025-10-27T04:39:48.043Z,1761539988.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381279,0.920283,-0.087777],[-0.787012,0.372939,0.491456],[0.485014,-0.118300,0.866468]] 2025-10-27T04:39:48.446Z,1761539988.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385110,0.917757,-0.097015],[-0.784950,0.381025,0.488543],[0.485328,-0.111991,0.867130]] 2025-10-27T04:39:48.850Z,1761539988.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387802,0.916058,-0.102210],[-0.783250,0.385961,0.487395],[0.485931,-0.108957,0.867179]] 2025-10-27T04:39:49.660Z,1761539989.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391051,0.914487,-0.103888],[-0.781092,0.389456,0.488078],[0.486801,-0.109717,0.866595]] 2025-10-27T04:39:50.061Z,1761539990.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391592,0.914898,-0.098072],[-0.780510,0.386722,0.491172],[0.487299,-0.115793,0.865524]] 2025-10-27T04:39:50.473Z,1761539990.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392087,0.915636,-0.088765],[-0.779733,0.381984,0.496089],[0.488144,-0.125297,0.863722]] 2025-10-27T04:39:50.870Z,1761539990.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392671,0.916220,-0.079694],[-0.778817,0.377364,0.501039],[0.489135,-0.134676,0.861748]] 2025-10-27T04:39:52.082Z,1761539992.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392897,0.916318,-0.077414],[-0.776976,0.375818,0.505043],[0.491874,-0.138280,0.859615]] 2025-10-27T04:39:52.493Z,1761539992.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392719,0.915983,-0.082140],[-0.776594,0.378143,0.503895],[0.492620,-0.134099,0.859850]] 2025-10-27T04:39:52.892Z,1761539992.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392032,0.915701,-0.088332],[-0.776385,0.380830,0.502190],[0.493496,-0.128295,0.860234]] 2025-10-27T04:39:53.293Z,1761539993.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390960,0.915776,-0.092220],[-0.776481,0.381963,0.501180],[0.494193,-0.124334,0.860415]] 2025-10-27T04:39:53.701Z,1761539993.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389662,0.915979,-0.095636],[-0.776854,0.382687,0.500048],[0.494633,-0.120554,0.860700]] 2025-10-27T04:39:54.102Z,1761539994.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388131,0.916672,-0.095220],[-0.777151,0.381079,0.500815],[0.495369,-0.120382,0.860301]] 2025-10-27T04:39:54.508Z,1761539994.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387440,0.917468,-0.090242],[-0.777227,0.377716,0.503238],[0.495791,-0.124836,0.859423]] 2025-10-27T04:39:54.910Z,1761539994.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387213,0.918062,-0.085015],[-0.776844,0.374527,0.506204],[0.496567,-0.129965,0.858213]] 2025-10-27T04:39:55.314Z,1761539995.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387756,0.918031,-0.082857],[-0.775819,0.373580,0.508471],[0.497746,-0.132881,0.857083]] 2025-10-27T04:39:55.724Z,1761539995.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388601,0.917497,-0.084783],[-0.774290,0.375048,0.509719],[0.499463,-0.132431,0.856153]] 2025-10-27T04:39:55.744Z,1761539995.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:39:55.940Z,1761539995.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:39:55.940Z,1761539995.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:39:56.123Z,1761539996.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390044,0.916237,-0.091515],[-0.772258,0.379633,0.509409],[0.501481,-0.128019,0.855645]] 2025-10-27T04:39:56.192Z,1761539996.192 [DAT](INFO): DAT read: user:132> 2025-10-27T04:39:56.194Z,1761539996.194 [DAT](INFO): DAT read: Tx time:04:39:55.2305 2025-10-27T04:39:56.194Z,1761539996.194 [DAT](INFO): Ping request sent. 2025-10-27T04:39:56.194Z,1761539996.194 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:39:56.194Z,1761539996.194 [DAT](INFO): publishing transmit ping time 2025-10-27T04:39:56.196Z,1761539996.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001181 2025-10-27T04:39:56.445Z,1761539996.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250240 2025-10-27T04:39:56.525Z,1761539996.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392216,0.914527,-0.099028],[-0.769832,0.385261,0.508854],[0.503512,-0.123346,0.855138]] 2025-10-27T04:39:56.697Z,1761539996.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502662 2025-10-27T04:39:56.949Z,1761539996.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754541 2025-10-27T04:39:57.200Z,1761539997.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006107 2025-10-27T04:39:57.454Z,1761539997.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259916 2025-10-27T04:39:57.705Z,1761539997.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510425 2025-10-27T04:39:57.745Z,1761539997.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400104,0.908613,-0.119748],[-0.761877,0.402383,0.507574],[0.509373,-0.111850,0.853246]] 2025-10-27T04:39:57.957Z,1761539997.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763217 2025-10-27T04:39:58.142Z,1761539998.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403022,0.906960,-0.122462],[-0.759223,0.406050,0.508630],[0.511033,-0.112013,0.852232]] 2025-10-27T04:39:58.208Z,1761539998.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013860 2025-10-27T04:39:58.461Z,1761539998.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266268 2025-10-27T04:39:58.545Z,1761539998.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406250,0.905570,-0.122080],[-0.756732,0.408305,0.510532],[0.512169,-0.115021,0.851148]] 2025-10-27T04:39:58.716Z,1761539998.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521954 2025-10-27T04:39:58.962Z,1761539998.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409276,0.904015,-0.123494],[-0.754683,0.411477,0.511020],[0.512784,-0.115949,0.850652]] 2025-10-27T04:39:58.965Z,1761539998.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770645 2025-10-27T04:39:59.218Z,1761539999.218 [DAT](INFO): DAT read: Rx Time:04:39:57.8453 2025-10-27T04:39:59.220Z,1761539999.220 [DAT](INFO): Rx dataTimestamp_ set to:1761539999.219179 2025-10-27T04:39:59.222Z,1761539999.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027468 2025-10-27T04:39:59.469Z,1761539999.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274828 2025-10-27T04:39:59.729Z,1761539999.729 [DAT](INFO): DAT read: 04:39:57.8453 LVL= 27728, 29665, 32754, 32755, AGC= 67, IDX= 489,-0.04, 2.134, 1.267, 0.080, 1.883, PHS= 0.354,-0.571,-1.847, RAW= 54.7, 20.9, CAL= 50.3, 25.4, ROT= 99.7, -25.4 2025-10-27T04:39:59.730Z,1761539999.730 [DAT](INFO): got valid direction response: 04:39:57.8453 LVL= 27728, 29665, 32754, 32755, AGC= 67, IDX= 489,-0.04, 2.134, 1.267, 0.080, 1.883, PHS= 0.354,-0.571,-1.847, RAW= 54.7, 20.9, CAL= 50.3, 25.4, ROT= 99.7, -25.4 2025-10-27T04:39:59.731Z,1761539999.731 [DAT](INFO): DAT read: Bearing 255.2, 39.0 (Local) 2025-10-27T04:39:59.732Z,1761539999.732 [DAT](INFO): Local bearing/azimuth received: Bearing 255.2, 39.0 (Local) 2025-10-27T04:39:59.733Z,1761539999.733 [DAT](INFO): DAT read: Range 11 to 50 : 157.9 m (Round-trip 210.6 ms) speed -0.3 m/s 2025-10-27T04:39:59.734Z,1761539999.734 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:39:59.735Z,1761539999.735 [DAT](INFO): direction in FSK: [-0.152202,0.890421,0.428935] 2025-10-27T04:39:59.735Z,1761539999.735 [DAT](INFO): publishing direction and range info 2025-10-27T04:39:59.775Z,1761539999.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415438,0.901161,-0.123774],[-0.751476,0.416690,0.511520],[0.512538,-0.119492,0.850310]] 2025-10-27T04:40:00.161Z,1761540000.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417992,0.900209,-0.122094],[-0.750276,0.417861,0.512326],[0.512219,-0.122544,0.850068]] 2025-10-27T04:40:00.566Z,1761540000.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420159,0.899513,-0.119761],[-0.749320,0.418349,0.513327],[0.511846,-0.125940,0.849796]] 2025-10-27T04:40:00.980Z,1761540000.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421672,0.899211,-0.116673],[-0.748602,0.417840,0.514786],[0.511651,-0.129730,0.849343]] 2025-10-27T04:40:01.375Z,1761540001.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422288,0.899216,-0.114385],[-0.748186,0.417008,0.516064],[0.511753,-0.132346,0.848878]] 2025-10-27T04:40:01.778Z,1761540001.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422398,0.899689,-0.110176],[-0.748026,0.414651,0.518191],[0.511896,-0.136468,0.848139]] 2025-10-27T04:40:02.182Z,1761540002.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421898,0.900334,-0.106777],[-0.748086,0.412229,0.520033],[0.512220,-0.139522,0.847445]] 2025-10-27T04:40:02.585Z,1761540002.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421057,0.901090,-0.103668],[-0.748222,0.409665,0.521862],[0.512714,-0.142167,0.846707]] 2025-10-27T04:40:02.603Z,1761540002.603 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:40:02.994Z,1761540002.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419779,0.902072,-0.100256],[-0.748381,0.406507,0.524096],[0.513528,-0.144975,0.845737]] 2025-10-27T04:40:03.396Z,1761540003.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418206,0.903028,-0.098201],[-0.748525,0.403848,0.525944],[0.514601,-0.146447,0.844831]] 2025-10-27T04:40:03.608Z,1761540003.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:40:03.797Z,1761540003.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416380,0.904040,-0.096645],[-0.748517,0.401193,0.527984],[0.516092,-0.147501,0.843737]] 2025-10-27T04:40:04.202Z,1761540004.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414729,0.904757,-0.097034],[-0.748261,0.399773,0.529421],[0.517789,-0.146959,0.842791]] 2025-10-27T04:40:04.607Z,1761540004.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413087,0.905358,-0.098418],[-0.747886,0.398916,0.530596],[0.519640,-0.145577,0.841892]] 2025-10-27T04:40:05.013Z,1761540005.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411351,0.905876,-0.100886],[-0.747465,0.398602,0.531425],[0.521619,-0.143193,0.841076]] 2025-10-27T04:40:05.414Z,1761540005.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409760,0.906321,-0.103340],[-0.746798,0.398359,0.532543],[0.523821,-0.141041,0.840071]] 2025-10-27T04:40:05.820Z,1761540005.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408582,0.906496,-0.106421],[-0.745847,0.398810,0.533538],[0.526092,-0.138620,0.839054]] 2025-10-27T04:40:06.222Z,1761540006.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407648,0.906540,-0.109584],[-0.744583,0.399469,0.534809],[0.528601,-0.136420,0.837837]] 2025-10-27T04:40:06.627Z,1761540006.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407661,0.906158,-0.112649],[-0.742838,0.400845,0.536204],[0.531040,-0.134910,0.836538]] 2025-10-27T04:40:07.033Z,1761540007.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408300,0.905385,-0.116487],[-0.740769,0.403193,0.537305],[0.533435,-0.133092,0.835305]] 2025-10-27T04:40:07.455Z,1761540007.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409773,0.904205,-0.120411],[-0.738269,0.406274,0.538425],[0.535766,-0.131736,0.834026]] 2025-10-27T04:40:07.838Z,1761540007.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411914,0.902734,-0.124092],[-0.735487,0.409771,0.539581],[0.537947,-0.130993,0.832739]] 2025-10-27T04:40:08.645Z,1761540008.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417821,0.898636,-0.133713],[-0.729559,0.419572,0.540095],[0.541452,-0.128111,0.830914]] 2025-10-27T04:40:09.054Z,1761540009.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421783,0.895959,-0.139129],[-0.726758,0.425825,0.538976],[0.542145,-0.126218,0.830751]] 2025-10-27T04:40:09.857Z,1761540009.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430232,0.890749,-0.146513],[-0.722474,0.437073,0.535723],[0.541231,-0.124633,0.831586]] 2025-10-27T04:40:10.262Z,1761540010.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434666,0.887977,-0.150206],[-0.720888,0.443029,0.532959],[0.539801,-0.123378,0.832702]] 2025-10-27T04:40:10.666Z,1761540010.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439018,0.885370,-0.152916],[-0.719650,0.448405,0.530130],[0.537929,-0.122691,0.834014]] 2025-10-27T04:40:11.081Z,1761540011.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443676,0.882519,-0.155922],[-0.718322,0.454230,0.526961],[0.535878,-0.121798,0.835464]] 2025-10-27T04:40:11.478Z,1761540011.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448230,0.879859,-0.157920],[-0.716963,0.459359,0.524361],[0.533905,-0.121811,0.836724]] 2025-10-27T04:40:11.877Z,1761540011.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452501,0.877683,-0.157846],[-0.715599,0.462999,0.523020],[0.532129,-0.123712,0.837576]] 2025-10-27T04:40:13.090Z,1761540013.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463107,0.871652,-0.160481],[-0.711839,0.473673,0.518574],[0.528032,-0.125919,0.839837]] 2025-10-27T04:40:13.493Z,1761540013.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466446,0.869395,-0.163035],[-0.710236,0.477973,0.516823],[0.527250,-0.125277,0.840425]] 2025-10-27T04:40:13.898Z,1761540013.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469951,0.866606,-0.167752],[-0.708253,0.483628,0.514278],[0.526806,-0.122875,0.841057]] 2025-10-27T04:40:14.304Z,1761540014.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473944,0.863250,-0.173712],[-0.705808,0.490381,0.511235],[0.526509,-0.119690,0.841702]] 2025-10-27T04:40:14.710Z,1761540014.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478618,0.859108,-0.181266],[-0.702820,0.498603,0.507385],[0.526278,-0.115447,0.842439]] 2025-10-27T04:40:15.141Z,1761540015.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484016,0.854504,-0.188552],[-0.699230,0.507228,0.503783],[0.526123,-0.111997,0.843001]] 2025-10-27T04:40:15.514Z,1761540015.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490029,0.849380,-0.196022],[-0.695055,0.516432,0.500196],[0.526089,-0.108864,0.843433]] 2025-10-27T04:40:15.930Z,1761540015.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496713,0.843753,-0.203364],[-0.690393,0.526111,0.496552],[0.525960,-0.106243,0.843848]] 2025-10-27T04:40:16.322Z,1761540016.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503869,0.837671,-0.210771],[-0.685546,0.536258,0.492397],[0.525494,-0.103610,0.844465]] 2025-10-27T04:40:16.731Z,1761540016.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510918,0.831608,-0.217695],[-0.680773,0.546056,0.488232],[0.524891,-0.101246,0.845126]] 2025-10-27T04:40:17.166Z,1761540017.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517767,0.824605,-0.227911],[-0.676120,0.557633,0.481568],[0.524194,-0.095244,0.846256]] 2025-10-27T04:40:17.540Z,1761540017.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524390,0.816738,-0.240735],[-0.671582,0.570530,0.472730],[0.523443,-0.086221,0.847687]] 2025-10-27T04:40:17.940Z,1761540017.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530280,0.809421,-0.252270],[-0.667544,0.582048,0.464332],[0.522674,-0.077824,0.848973]] 2025-10-27T04:40:18.341Z,1761540018.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535531,0.803394,-0.260316],[-0.664098,0.591038,0.457872],[0.521709,-0.072329,0.850052]] 2025-10-27T04:40:18.746Z,1761540018.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540393,0.798786,-0.264418],[-0.661039,0.597469,0.453937],[0.520579,-0.070514,0.850896]] 2025-10-27T04:40:19.228Z,1761540019.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548836,0.793876,-0.261802],[-0.656021,0.603152,0.453701],[0.518088,-0.077260,0.851830]] 2025-10-27T04:40:19.958Z,1761540019.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552914,0.792591,-0.257071],[-0.653705,0.603928,0.456006],[0.516678,-0.084083,0.852041]] 2025-10-27T04:40:20.767Z,1761540020.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559939,0.790627,-0.247742],[-0.649776,0.604563,0.460754],[0.514061,-0.097018,0.852249]] 2025-10-27T04:40:21.224Z,1761540021.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565456,0.789152,-0.239789],[-0.647128,0.604749,0.464224],[0.511355,-0.107324,0.852642]] 2025-10-27T04:40:21.984Z,1761540021.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569121,0.788067,-0.234632],[-0.645601,0.604989,0.466034],[0.509216,-0.113751,0.853088]] 2025-10-27T04:40:22.396Z,1761540022.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570799,0.787037,-0.234009],[-0.644884,0.606124,0.465551],[0.508245,-0.114827,0.853523]] 2025-10-27T04:40:22.790Z,1761540022.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571866,0.786492,-0.233237],[-0.644425,0.606624,0.465536],[0.507627,-0.115921,0.853743]] 2025-10-27T04:40:23.231Z,1761540023.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572491,0.786073,-0.233117],[-0.644177,0.607119,0.465235],[0.507238,-0.116174,0.853940]] 2025-10-27T04:40:23.594Z,1761540023.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572948,0.785802,-0.232905],[-0.643911,0.607388,0.465250],[0.507058,-0.116594,0.853989]] 2025-10-27T04:40:23.000Z,1761540024.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573627,0.785386,-0.232640],[-0.643495,0.607812,0.465273],[0.506821,-0.117191,0.854049]] 2025-10-27T04:40:24.417Z,1761540024.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574867,0.784587,-0.232274],[-0.642893,0.608695,0.464951],[0.506178,-0.117958,0.854324]] 2025-10-27T04:40:24.806Z,1761540024.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576271,0.783638,-0.231998],[-0.642266,0.609790,0.464382],[0.505377,-0.118605,0.854708]] 2025-10-27T04:40:25.227Z,1761540025.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577711,0.782969,-0.230670],[-0.641718,0.610319,0.464444],[0.504428,-0.120290,0.855034]] 2025-10-27T04:40:25.617Z,1761540025.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579535,0.781569,-0.230846],[-0.640893,0.612061,0.463290],[0.503385,-0.120545,0.855612]] 2025-10-27T04:40:26.018Z,1761540026.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581124,0.780639,-0.229996],[-0.640400,0.613043,0.462673],[0.502178,-0.121581,0.856175]] 2025-10-27T04:40:26.425Z,1761540026.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583013,0.779263,-0.229882],[-0.639754,0.614729,0.461327],[0.500810,-0.121891,0.856932]] 2025-10-27T04:40:26.825Z,1761540026.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584428,0.779119,-0.226751],[-0.639981,0.614369,0.461492],[0.498866,-0.124592,0.857677]] 2025-10-27T04:40:27.245Z,1761540027.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585830,0.778609,-0.224879],[-0.640429,0.614804,0.460290],[0.496643,-0.125633,0.858815]] 2025-10-27T04:40:27.635Z,1761540027.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586820,0.778369,-0.223121],[-0.641385,0.615023,0.458663],[0.494234,-0.126046,0.860143]] 2025-10-27T04:40:28.038Z,1761540028.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587456,0.779035,-0.219088],[-0.642814,0.613671,0.458474],[0.491615,-0.128500,0.861280]] 2025-10-27T04:40:29.855Z,1761540029.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585079,0.786575,-0.197440],[-0.652370,0.601119,0.461594],[0.481763,-0.141266,0.864840]] 2025-10-27T04:40:30.259Z,1761540030.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584036,0.788634,-0.192246],[-0.654939,0.597734,0.462352],[0.479538,-0.144121,0.865605]] 2025-10-27T04:40:30.664Z,1761540030.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582776,0.790849,-0.186897],[-0.657450,0.594026,0.463564],[0.477631,-0.147279,0.866128]] 2025-10-27T04:40:31.066Z,1761540031.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581544,0.792881,-0.182060],[-0.659706,0.590583,0.464758],[0.476020,-0.150171,0.866518]] 2025-10-27T04:40:31.516Z,1761540031.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580425,0.794353,-0.179194],[-0.661595,0.588307,0.464958],[0.474762,-0.151319,0.867009]] 2025-10-27T04:40:31.928Z,1761540031.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579638,0.795607,-0.176152],[-0.663057,0.586155,0.465594],[0.473682,-0.153077,0.867290]] 2025-10-27T04:40:32.820Z,1761540032.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580580,0.795631,-0.172912],[-0.665783,0.586164,0.461677],[0.468679,-0.152919,0.870032]] 2025-10-27T04:40:33.242Z,1761540033.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581707,0.794839,-0.172765],[-0.667085,0.587718,0.457804],[0.465418,-0.151059,0.872105]] 2025-10-27T04:40:33.728Z,1761540033.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:40:34.073Z,1761540034.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585840,0.792179,-0.171011],[-0.669797,0.592075,0.448129],[0.456250,-0.147989,0.877460]] 2025-10-27T04:40:34.731Z,1761540034.731 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:40:34.895Z,1761540034.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590651,0.788876,-0.169725],[-0.672740,0.597562,0.436281],[0.445592,-0.143509,0.883659]] 2025-10-27T04:40:35.294Z,1761540035.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593180,0.786893,-0.170106],[-0.674164,0.601005,0.429296],[0.440045,-0.139970,0.887000]] 2025-10-27T04:40:35.776Z,1761540035.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595835,0.784930,-0.169901],[-0.675458,0.604228,0.422687],[0.434438,-0.137091,0.890207]] 2025-10-27T04:40:36.179Z,1761540036.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598565,0.782846,-0.169919],[-0.676648,0.607628,0.415854],[0.428797,-0.133940,0.893417]] 2025-10-27T04:40:37.103Z,1761540037.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603589,0.779684,-0.166656],[-0.679777,0.612482,0.403446],[0.416634,-0.130227,0.899698]] 2025-10-27T04:40:37.506Z,1761540037.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606431,0.778071,-0.163852],[-0.681302,0.614707,0.397445],[0.409961,-0.129391,0.902879]] 2025-10-27T04:40:37.909Z,1761540037.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609071,0.776830,-0.159898],[-0.682986,0.616217,0.392181],[0.403190,-0.129658,0.905884]] 2025-10-27T04:40:38.318Z,1761540038.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611531,0.775710,-0.155896],[-0.684702,0.617567,0.387033],[0.396501,-0.129940,0.908792]] 2025-10-27T04:40:38.813Z,1761540038.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615991,0.773820,-0.147506],[-0.688103,0.619709,0.377458],[0.383496,-0.131011,0.914203]] 2025-10-27T04:40:39.624Z,1761540039.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620113,0.772355,-0.137574],[-0.691631,0.620993,0.368800],[0.370277,-0.133547,0.919272]] 2025-10-27T04:40:40.027Z,1761540040.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622116,0.771624,-0.132544],[-0.693556,0.621695,0.363972],[0.363251,-0.134506,0.921931]] 2025-10-27T04:40:40.430Z,1761540040.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623517,0.771110,-0.128905],[-0.695951,0.622567,0.357858],[0.356200,-0.133419,0.924836]] 2025-10-27T04:40:40.835Z,1761540040.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625166,0.770470,-0.124671],[-0.698152,0.623443,0.351998],[0.348930,-0.133018,0.927661]] 2025-10-27T04:40:41.238Z,1761540041.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627385,0.769359,-0.120313],[-0.699875,0.624840,0.346050],[0.341413,-0.132903,0.930470]] 2025-10-27T04:40:41.649Z,1761540041.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628989,0.768555,-0.117028],[-0.701996,0.626178,0.339269],[0.334027,-0.131243,0.933382]] 2025-10-27T04:40:42.046Z,1761540042.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629967,0.768263,-0.113636],[-0.704549,0.626911,0.332555],[0.326729,-0.129436,0.936213]] 2025-10-27T04:40:42.450Z,1761540042.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630959,0.768065,-0.109390],[-0.706987,0.627299,0.326597],[0.319468,-0.128732,0.938812]] 2025-10-27T04:40:42.874Z,1761540042.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631760,0.767856,-0.106193],[-0.709517,0.627979,0.319732],[0.312195,-0.126648,0.941538]] 2025-10-27T04:40:43.258Z,1761540043.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632584,0.767601,-0.103086],[-0.711939,0.628722,0.312812],[0.304928,-0.124489,0.944204]] 2025-10-27T04:40:43.662Z,1761540043.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633041,0.767708,-0.099416],[-0.714521,0.628880,0.306545],[0.297858,-0.123021,0.946650]] 2025-10-27T04:40:44.065Z,1761540044.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633591,0.767932,-0.094036],[-0.716895,0.628446,0.301856],[0.290902,-0.123840,0.948704]] 2025-10-27T04:40:44.471Z,1761540044.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634129,0.768021,-0.089575],[-0.719203,0.628394,0.296426],[0.283949,-0.123550,0.950846]] 2025-10-27T04:40:45.277Z,1761540045.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635418,0.768152,-0.078653],[-0.723463,0.627845,0.287075],[0.269899,-0.125510,0.954674]] 2025-10-27T04:40:45.682Z,1761540045.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636345,0.767991,-0.072499],[-0.725269,0.627653,0.282906],[0.262773,-0.127444,0.956404]] 2025-10-27T04:40:46.086Z,1761540046.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636846,0.768109,-0.066610],[-0.727333,0.627197,0.278585],[0.255761,-0.128968,0.958099]] 2025-10-27T04:40:46.502Z,1761540046.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637785,0.767875,-0.059995],[-0.728960,0.626940,0.274886],[0.248691,-0.131585,0.959603]] 2025-10-27T04:40:46.904Z,1761540046.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639017,0.767399,-0.052501],[-0.730323,0.626734,0.271721],[0.241423,-0.135292,0.960943]] 2025-10-27T04:40:47.305Z,1761540047.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640073,0.766846,-0.047485],[-0.731692,0.627251,0.266802],[0.234381,-0.136028,0.962581]] 2025-10-27T04:40:47.715Z,1761540047.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641187,0.766266,-0.041425],[-0.732895,0.627478,0.262939],[0.227474,-0.138233,0.963923]] 2025-10-27T04:40:48.115Z,1761540048.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642163,0.765758,-0.035235],[-0.734153,0.627584,0.259149],[0.220558,-0.140548,0.965194]] 2025-10-27T04:40:48.517Z,1761540048.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643316,0.764974,-0.030965],[-0.735084,0.628474,0.254307],[0.213999,-0.140837,0.966628]] 2025-10-27T04:40:48.921Z,1761540048.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644464,0.764210,-0.025464],[-0.735843,0.628906,0.251025],[0.207850,-0.143039,0.967646]] 2025-10-27T04:40:49.736Z,1761540049.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645614,0.763441,-0.018417],[-0.737728,0.629738,0.243284],[0.197331,-0.143481,0.969780]] 2025-10-27T04:40:50.133Z,1761540050.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646224,0.762976,-0.016198],[-0.738492,0.630557,0.238805],[0.192417,-0.142360,0.970932]] 2025-10-27T04:40:50.538Z,1761540050.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646548,0.762758,-0.013273],[-0.739459,0.630887,0.234908],[0.187552,-0.142065,0.971927]] 2025-10-27T04:40:50.946Z,1761540050.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647139,0.762288,-0.011334],[-0.740166,0.631782,0.230231],[0.182663,-0.140602,0.973070]] 2025-10-27T04:40:51.358Z,1761540051.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647366,0.762115,-0.009909],[-0.741030,0.632391,0.225735],[0.178302,-0.138790,0.974138]] 2025-10-27T04:40:51.750Z,1761540051.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647930,0.761644,-0.009235],[-0.741563,0.633523,0.220754],[0.173987,-0.136185,0.975286]] 2025-10-27T04:40:52.154Z,1761540052.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648431,0.761248,-0.006254],[-0.742081,0.633896,0.217926],[0.169860,-0.136669,0.975945]] 2025-10-27T04:40:52.558Z,1761540052.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648818,0.760936,-0.003334],[-0.742675,0.634189,0.215031],[0.165739,-0.137040,0.976601]] 2025-10-27T04:40:52.969Z,1761540052.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648856,0.760912,-0.000178],[-0.743516,0.634072,0.212454],[0.161772,-0.137720,0.977171]] 2025-10-27T04:40:53.371Z,1761540053.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649279,0.760550,0.000595],[-0.744040,0.635023,0.207727],[0.157608,-0.135315,0.978187]] 2025-10-27T04:40:54.174Z,1761540054.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650366,0.759599,0.005825],[-0.744852,0.636198,0.201118],[0.149063,-0.135139,0.979550]] 2025-10-27T04:40:54.582Z,1761540054.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650647,0.759345,0.007304],[-0.745394,0.636797,0.197174],[0.145072,-0.133735,0.980341]] 2025-10-27T04:40:54.598Z,1761540054.598 [lineCaptureHoming:InitialDive:C.Pitch] Stopped 2025-10-27T04:40:54.599Z,1761540054.599 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive 2025-10-27T04:40:54.599Z,1761540054.599 [lineCaptureHoming:InitialDive] Stopped 2025-10-27T04:40:54.599Z,1761540054.599 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive 2025-10-27T04:40:54.599Z,1761540054.599 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped 2025-10-27T04:40:54.600Z,1761540054.600 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize. 2025-10-27T04:40:54.600Z,1761540054.600 [lineCaptureHoming:InitialDive:B.Mass] Stopped 2025-10-27T04:40:54.600Z,1761540054.600 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize. 2025-10-27T04:40:54.600Z,1761540054.600 [lineCaptureHoming:RepeatHack] Running Loop=1 2025-10-27T04:40:54.600Z,1761540054.600 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack 2025-10-27T04:40:54.600Z,1761540054.600 [lineCaptureHoming:RepeatHack:A] Running Loop=1 2025-10-27T04:40:54.982Z,1761540054.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651591,0.758507,0.009829],[-0.745414,0.637834,0.193715],[0.140665,-0.133549,0.981009]] 2025-10-27T04:40:55.029Z,1761540055.029 [lineCaptureHoming:RepeatHack] Stopped 2025-10-27T04:40:55.029Z,1761540055.029 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack 2025-10-27T04:40:55.029Z,1761540055.029 [lineCaptureHoming:RepeatHack:A] Stopped 2025-10-27T04:40:55.029Z,1761540055.029 [lineCaptureHoming:Lap] Running Loop=1 2025-10-27T04:40:55.029Z,1761540055.029 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap 2025-10-27T04:40:55.029Z,1761540055.029 [lineCaptureHoming:Lap:A] Running Loop=1 2025-10-27T04:40:55.386Z,1761540055.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652311,0.757833,0.013390],[-0.745634,0.638439,0.190854],[0.136087,-0.134480,0.981527]] 2025-10-27T04:40:55.415Z,1761540055.415 [lineCaptureHoming:Lap:A] Stopped 2025-10-27T04:40:55.416Z,1761540055.416 [lineCaptureHoming:Lap:B] Running Loop=1 2025-10-27T04:40:55.416Z,1761540055.416 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B 2025-10-27T04:40:55.789Z,1761540055.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653353,0.756863,0.016950],[-0.745662,0.639492,0.187187],[0.130836,-0.134938,0.982178]] 2025-10-27T04:40:55.875Z,1761540055.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:40:55.876Z,1761540055.876 [lineCaptureHoming:LineCapture] Running Loop=1 2025-10-27T04:40:55.876Z,1761540055.876 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture 2025-10-27T04:40:55.876Z,1761540055.876 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-27T04:40:55.876Z,1761540055.876 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-27T04:40:55.876Z,1761540055.876 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T04:40:55.876Z,1761540055.876 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-27T04:40:55.876Z,1761540055.876 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T04:40:55.876Z,1761540055.876 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize. 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T04:40:55.877Z,1761540055.877 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T04:40:55.878Z,1761540055.878 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T04:40:55.878Z,1761540055.878 [lineCaptureHoming:LineCapture:A] Running Loop=1 2025-10-27T04:40:55.878Z,1761540055.878 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T04:40:55.878Z,1761540055.878 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T04:40:55.878Z,1761540055.878 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-27T04:40:55.878Z,1761540055.878 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-27T04:40:55.882Z,1761540055.882 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-27T04:40:55.882Z,1761540055.882 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-27T04:40:55.895Z,1761540055.895 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-27T04:40:55.895Z,1761540055.895 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-27T04:40:55.895Z,1761540055.895 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T04:40:55.896Z,1761540055.896 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T04:40:55.896Z,1761540055.896 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T04:40:55.897Z,1761540055.897 [lineCaptureHoming:LineCapture:A] Stopped 2025-10-27T04:40:55.897Z,1761540055.897 [lineCaptureHoming:LineCapture:B] Running Loop=1 2025-10-27T04:40:55.953Z,1761540055.953 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:40:55.953Z,1761540055.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:40:56.193Z,1761540056.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652195,0.757896,0.015382],[-0.747345,0.639452,0.180491],[0.126957,-0.129211,0.983456]] 2025-10-27T04:40:56.204Z,1761540056.204 [DAT](INFO): DAT read: user:133> 2025-10-27T04:40:56.205Z,1761540056.205 [DAT](INFO): DAT read: Tx time:04:40:55.2805 2025-10-27T04:40:56.205Z,1761540056.205 [DAT](INFO): Ping request sent. 2025-10-27T04:40:56.205Z,1761540056.205 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:40:56.205Z,1761540056.205 [DAT](INFO): publishing transmit ping time 2025-10-27T04:40:56.206Z,1761540056.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-27T04:40:56.251Z,1761540056.251 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T04:40:56.255Z,1761540056.255 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:40:56.255Z,1761540056.255 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T04:40:56.256Z,1761540056.256 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 157.899994 m (mode 0.000000 count ). 2025-10-27T04:40:56.257Z,1761540056.257 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T04:40:56.257Z,1761540056.257 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T04:40:56.271Z,1761540056.271 [lineCaptureHoming:LineCapture:B] Stopped 2025-10-27T04:40:56.271Z,1761540056.271 [lineCaptureHoming:LineCapture:D] Running Loop=1 2025-10-27T04:40:56.456Z,1761540056.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250721 2025-10-27T04:40:56.598Z,1761540056.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652138,0.758015,0.011394],[-0.748201,0.641128,0.170737],[0.122116,-0.119869,0.985251]] 2025-10-27T04:40:56.614Z,1761540056.614 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T04:40:56.614Z,1761540056.614 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T04:40:56.616Z,1761540056.616 [lineCaptureHoming:LineCapture:D] Stopped 2025-10-27T04:40:56.617Z,1761540056.617 [lineCaptureHoming:LineCapture:E] Running Loop=1 2025-10-27T04:40:56.712Z,1761540056.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506540 2025-10-27T04:40:56.960Z,1761540056.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754689 2025-10-27T04:40:57.013Z,1761540057.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652453,0.757786,0.008126],[-0.748805,0.642996,0.160771],[0.116605,-0.110981,0.986958]] 2025-10-27T04:40:57.071Z,1761540057.071 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T04:40:57.071Z,1761540057.071 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T04:40:57.073Z,1761540057.073 [lineCaptureHoming:LineCapture:E] Stopped 2025-10-27T04:40:57.073Z,1761540057.073 [lineCaptureHoming:LineCapture:F] Running Loop=1 2025-10-27T04:40:57.215Z,1761540057.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009282 2025-10-27T04:40:57.406Z,1761540057.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653153,0.757210,0.004867],[-0.749129,0.645218,0.149999],[0.110441,-0.101618,0.988674]] 2025-10-27T04:40:57.428Z,1761540057.428 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T04:40:57.428Z,1761540057.428 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:40:57.428Z,1761540057.428 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T04:40:57.428Z,1761540057.428 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:40:57.430Z,1761540057.430 [lineCaptureHoming:LineCapture:F] Stopped 2025-10-27T04:40:57.430Z,1761540057.430 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1 2025-10-27T04:40:57.431Z,1761540057.431 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-27T04:40:57.431Z,1761540057.431 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-27T04:40:57.431Z,1761540057.431 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T04:40:57.431Z,1761540057.431 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2025-10-27T04:40:57.431Z,1761540057.431 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T04:40:57.431Z,1761540057.431 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2025-10-27T04:40:57.432Z,1761540057.432 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-27T04:40:57.432Z,1761540057.432 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T04:40:57.432Z,1761540057.432 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T04:40:57.432Z,1761540057.432 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T04:40:57.432Z,1761540057.432 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-27T04:40:57.432Z,1761540057.432 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T04:40:57.432Z,1761540057.432 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T04:40:57.433Z,1761540057.433 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-27T04:40:57.433Z,1761540057.433 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T04:40:57.433Z,1761540057.433 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-27T04:40:57.433Z,1761540057.433 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-27T04:40:57.433Z,1761540057.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T04:40:57.433Z,1761540057.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T04:40:57.434Z,1761540057.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-27T04:40:57.434Z,1761540057.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T04:40:57.434Z,1761540057.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T04:40:57.434Z,1761540057.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T04:40:57.434Z,1761540057.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T04:40:57.434Z,1761540057.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-27T04:40:57.434Z,1761540057.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-27T04:40:57.434Z,1761540057.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T04:40:57.435Z,1761540057.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-27T04:40:57.435Z,1761540057.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-27T04:40:57.435Z,1761540057.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T04:40:57.435Z,1761540057.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T04:40:57.435Z,1761540057.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-27T04:40:57.464Z,1761540057.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259232 2025-10-27T04:40:57.719Z,1761540057.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513128 2025-10-27T04:40:57.809Z,1761540057.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654057,0.756437,0.003547],[-0.749317,0.647244,0.139995],[0.103602,-0.094222,0.990146]] 2025-10-27T04:40:57.870Z,1761540057.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-27T04:40:57.871Z,1761540057.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T04:40:57.871Z,1761540057.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-27T04:40:57.871Z,1761540057.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T04:40:57.871Z,1761540057.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T04:40:57.872Z,1761540057.872 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-27T04:40:57.873Z,1761540057.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T04:40:57.873Z,1761540057.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-27T04:40:57.873Z,1761540057.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-27T04:40:57.873Z,1761540057.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-27T04:40:57.873Z,1761540057.873 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-27T04:40:57.873Z,1761540057.873 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-27T04:40:57.873Z,1761540057.873 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-27T04:40:57.873Z,1761540057.873 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T04:40:57.874Z,1761540057.874 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.463192 m. 2025-10-27T04:40:57.968Z,1761540057.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762825 2025-10-27T04:40:58.214Z,1761540058.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655122,0.755514,0.003678],[-0.749325,0.649118,0.130990],[0.096578,-0.088571,0.991377]] 2025-10-27T04:40:58.220Z,1761540058.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014517 2025-10-27T04:40:58.242Z,1761540058.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:40:58.288Z,1761540058.288 [DockingStepper](INFO): Changing to mode: 3 2025-10-27T04:40:58.472Z,1761540058.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266685 2025-10-27T04:40:58.618Z,1761540058.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656171,0.754593,0.005387],[-0.749308,0.650697,0.123004],[0.089313,-0.084749,0.992392]] 2025-10-27T04:40:58.726Z,1761540058.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520868 2025-10-27T04:40:58.976Z,1761540058.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770903 2025-10-27T04:40:59.022Z,1761540059.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658158,0.752837,0.008056],[-0.748375,0.653014,0.116222],[0.082236,-0.082522,0.993191]] 2025-10-27T04:40:59.228Z,1761540059.228 [DAT](INFO): DAT read: Rx Time:04:40:57.9073 2025-10-27T04:40:59.228Z,1761540059.228 [DAT](INFO): Rx dataTimestamp_ set to:1761540059.228154 2025-10-27T04:40:59.229Z,1761540059.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023768 2025-10-27T04:40:59.480Z,1761540059.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274825 2025-10-27T04:40:59.736Z,1761540059.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530261 2025-10-27T04:40:59.837Z,1761540059.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662060,0.749235,0.017964],[-0.746467,0.657098,0.104930],[0.066813,-0.082880,0.994317]] 2025-10-27T04:40:59.992Z,1761540059.992 [DAT](INFO): DAT read: 04:40:57.9073 LVL= 26608, 31793, 32754, 32755, AGC= 66, IDX= 36, 0.11,-3.030, 2.624, 1.330, 2.844, PHS= 0.511,-0.175,-1.558, RAW= 49.0, 13.3, CAL= 45.5, 15.3, ROT= 104.5, -15.3 2025-10-27T04:40:59.993Z,1761540059.993 [DAT](INFO): got valid direction response: 04:40:57.9073 LVL= 26608, 31793, 32754, 32755, AGC= 66, IDX= 36, 0.11,-3.030, 2.624, 1.330, 2.844, PHS= 0.511,-0.175,-1.558, RAW= 49.0, 13.3, CAL= 45.5, 15.3, ROT= 104.5, -15.3 2025-10-27T04:40:59.994Z,1761540059.994 [DAT](INFO): DAT read: Bearing 264.3, 62.7 (Local) 2025-10-27T04:40:59.994Z,1761540059.994 [DAT](INFO): Local bearing/azimuth received: Bearing 264.3, 62.7 (Local) 2025-10-27T04:40:59.996Z,1761540059.996 [DAT](INFO): DAT read: Range 11 to 50 : 166.9 m (Round-trip 222.6 ms) speed 0.0 m/s 2025-10-27T04:40:59.996Z,1761540059.996 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:40:59.997Z,1761540059.997 [DAT](INFO): direction in FSK: [-0.241506,0.933834,0.263873] 2025-10-27T04:40:59.997Z,1761540059.997 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:00.008Z,1761540060.008 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:00.008Z,1761540060.008 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:00.009Z,1761540060.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:00.234Z,1761540060.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663467,0.747885,0.021902],[-0.745875,0.658809,0.098192],[0.059007,-0.081484,0.994926]] 2025-10-27T04:41:00.236Z,1761540060.236 [DAT](INFO): DAT read: user:134> 2025-10-27T04:41:00.237Z,1761540060.237 [DAT](INFO): DAT read: Tx time:04:40:59.3305 2025-10-27T04:41:00.237Z,1761540060.237 [DAT](INFO): Ping request sent. 2025-10-27T04:41:00.237Z,1761540060.237 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:00.237Z,1761540060.237 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:00.238Z,1761540060.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T04:41:00.488Z,1761540060.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250953 2025-10-27T04:41:00.637Z,1761540060.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664653,0.746670,0.026835],[-0.745397,0.660203,0.092280],[0.051186,-0.081337,0.995371]] 2025-10-27T04:41:00.677Z,1761540060.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:00.741Z,1761540060.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503726 2025-10-27T04:41:00.992Z,1761540060.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754990 2025-10-27T04:41:01.244Z,1761540061.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006906 2025-10-27T04:41:01.445Z,1761540061.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666262,0.744805,0.036895],[-0.744882,0.662358,0.080208],[0.035302,-0.080922,0.996095]] 2025-10-27T04:41:01.496Z,1761540061.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259377 2025-10-27T04:41:01.748Z,1761540061.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510970 2025-10-27T04:41:01.857Z,1761540061.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666785,0.744076,0.041814],[-0.744757,0.663252,0.073724],[0.027123,-0.080299,0.996402]] 2025-10-27T04:41:01.000Z,1761540062.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762907 2025-10-27T04:41:02.252Z,1761540062.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014940 2025-10-27T04:41:02.255Z,1761540062.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667488,0.743058,0.048214],[-0.744379,0.664221,0.068631],[0.018972,-0.081700,0.996476]] 2025-10-27T04:41:02.504Z,1761540062.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267193 2025-10-27T04:41:02.657Z,1761540062.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668165,0.742082,0.053571],[-0.743932,0.665300,0.062768],[0.010938,-0.081793,0.996589]] 2025-10-27T04:41:02.756Z,1761540062.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925 2025-10-27T04:41:03.008Z,1761540063.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770955 2025-10-27T04:41:03.069Z,1761540063.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668789,0.741192,0.057933],[-0.743447,0.666459,0.055848],[0.002784,-0.080421,0.996757]] 2025-10-27T04:41:03.117Z,1761540063.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:03.260Z,1761540063.260 [DAT](INFO): DAT read: Rx Time:04:41:01.9582 2025-10-27T04:41:03.260Z,1761540063.260 [DAT](INFO): Rx dataTimestamp_ set to:1761540063.260171 2025-10-27T04:41:03.261Z,1761540063.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024063 2025-10-27T04:41:03.467Z,1761540063.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669284,0.740420,0.061940],[-0.742990,0.667501,0.049070],[-0.005013,-0.078863,0.996873]] 2025-10-27T04:41:03.512Z,1761540063.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275154 2025-10-27T04:41:03.764Z,1761540063.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526949 2025-10-27T04:41:03.869Z,1761540063.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670168,0.739287,0.065798],[-0.742094,0.668990,0.041822],[-0.013100,-0.076856,0.996956]] 2025-10-27T04:41:04.026Z,1761540064.026 [DAT](INFO): DAT read: 04:41:01.9582 LVL= 25264, 32753, 32754, 32755, AGC= 65, IDX= 445, 0.04,-2.406,-2.940, 2.101,-2.771, PHS= 0.467,-0.125,-1.456, RAW= 47.5, 13.0, CAL= 44.2, 14.8, ROT= 105.8, -14.8 2025-10-27T04:41:04.028Z,1761540064.028 [DAT](INFO): got valid direction response: 04:41:01.9582 LVL= 25264, 32753, 32754, 32755, AGC= 65, IDX= 445, 0.04,-2.406,-2.940, 2.101,-2.771, PHS= 0.467,-0.125,-1.456, RAW= 47.5, 13.0, CAL= 44.2, 14.8, ROT= 105.8, -14.8 2025-10-27T04:41:04.028Z,1761540064.028 [DAT](INFO): DAT read: Bearing 260.4, 65.1 (Local) 2025-10-27T04:41:04.029Z,1761540064.029 [DAT](INFO): Local bearing/azimuth received: Bearing 260.4, 65.1 (Local) 2025-10-27T04:41:04.030Z,1761540064.030 [DAT](INFO): DAT read: Range 11 to 50 : 167.6 m (Round-trip 223.5 ms) speed 0.0 m/s 2025-10-27T04:41:04.038Z,1761540064.038 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:04.039Z,1761540064.039 [DAT](INFO): direction in FSK: [-0.263247,0.930295,0.255446] 2025-10-27T04:41:04.039Z,1761540064.039 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:04.043Z,1761540064.043 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:04.043Z,1761540064.043 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:04.079Z,1761540064.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:04.268Z,1761540064.268 [DAT](INFO): DAT read: user:135> 2025-10-27T04:41:04.269Z,1761540064.269 [DAT](INFO): DAT read: Tx time:04:41:03.3805 2025-10-27T04:41:04.269Z,1761540064.269 [DAT](INFO): Ping request sent. 2025-10-27T04:41:04.269Z,1761540064.269 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:04.269Z,1761540064.269 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:04.270Z,1761540064.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-10-27T04:41:04.278Z,1761540064.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670061,0.738977,0.070219],[-0.742005,0.669477,0.035046],[-0.021112,-0.075585,0.996916]] 2025-10-27T04:41:04.331Z,1761540064.331 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-27T04:41:04.520Z,1761540064.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250916 2025-10-27T04:41:04.679Z,1761540064.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669654,0.739074,0.073028],[-0.742115,0.669719,0.027233],[-0.028781,-0.072432,0.996958]] 2025-10-27T04:41:04.773Z,1761540064.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503565 2025-10-27T04:41:04.852Z,1761540064.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:41:05.024Z,1761540065.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754894 2025-10-27T04:41:05.081Z,1761540065.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669249,0.739082,0.076574],[-0.742151,0.669925,0.020308],[-0.036290,-0.070421,0.996857]] 2025-10-27T04:41:05.117Z,1761540065.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:05.276Z,1761540065.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006885 2025-10-27T04:41:05.485Z,1761540065.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669205,0.738583,0.081608],[-0.741779,0.670486,0.014607],[-0.043928,-0.070310,0.996557]] 2025-10-27T04:41:05.528Z,1761540065.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259056 2025-10-27T04:41:05.780Z,1761540065.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510857 2025-10-27T04:41:05.856Z,1761540065.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:41:05.892Z,1761540065.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669235,0.738002,0.086468],[-0.741264,0.671155,0.008861],[-0.051495,-0.070026,0.996215]] 2025-10-27T04:41:06.033Z,1761540066.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763882 2025-10-27T04:41:06.288Z,1761540066.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018844 2025-10-27T04:41:06.301Z,1761540066.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669673,0.736978,0.091662],[-0.740290,0.672280,0.003231],[-0.059241,-0.070020,0.995785]] 2025-10-27T04:41:06.540Z,1761540066.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270873 2025-10-27T04:41:06.717Z,1761540066.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669847,0.736208,0.096452],[-0.739501,0.673152,-0.002352],[-0.066658,-0.069750,0.995335]] 2025-10-27T04:41:06.792Z,1761540066.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523024 2025-10-27T04:41:07.044Z,1761540067.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774933 2025-10-27T04:41:07.153Z,1761540067.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:07.296Z,1761540067.296 [DAT](INFO): DAT read: Rx Time:04:41:06.0091 2025-10-27T04:41:07.297Z,1761540067.297 [DAT](INFO): Rx dataTimestamp_ set to:1761540067.296219 2025-10-27T04:41:07.297Z,1761540067.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028065 2025-10-27T04:41:07.506Z,1761540067.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671153,0.734400,0.101048],[-0.736793,0.675868,-0.018375],[-0.081790,-0.062120,0.994712]] 2025-10-27T04:41:07.548Z,1761540067.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278985 2025-10-27T04:41:07.800Z,1761540067.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530886 2025-10-27T04:41:07.920Z,1761540067.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671778,0.733337,0.104551],[-0.735341,0.677224,-0.025326],[-0.089377,-0.059868,0.994197]] 2025-10-27T04:41:08.059Z,1761540068.059 [DAT](INFO): DAT read: 04:41:06.0091 LVL= 28656, 23905, 32754, 32755, AGC= 64, IDX= 455,-0.44,-0.760,-1.518,-2.589,-1.152, PHS= 0.494,-0.321,-1.481, RAW= 54.2, 15.1, CAL= 49.9, 18.4, ROT= 100.1, -18.4 2025-10-27T04:41:08.061Z,1761540068.061 [DAT](INFO): got valid direction response: 04:41:06.0091 LVL= 28656, 23905, 32754, 32755, AGC= 64, IDX= 455,-0.44,-0.760,-1.518,-2.589,-1.152, PHS= 0.494,-0.321,-1.481, RAW= 54.2, 15.1, CAL= 49.9, 18.4, ROT= 100.1, -18.4 2025-10-27T04:41:08.062Z,1761540068.062 [DAT](INFO): DAT read: Bearing 236.5, 67.7 (Local) 2025-10-27T04:41:08.062Z,1761540068.062 [DAT](INFO): Local bearing/azimuth received: Bearing 236.5, 67.7 (Local) 2025-10-27T04:41:08.069Z,1761540068.069 [DAT](INFO): DAT read: Range 11 to 50 : 168.3 m (Round-trip 224.5 ms) speed 0.0 m/s 2025-10-27T04:41:08.070Z,1761540068.070 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:08.075Z,1761540068.075 [DAT](INFO): direction in FSK: [-0.166401,0.934171,0.315649] 2025-10-27T04:41:08.075Z,1761540068.075 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:08.087Z,1761540068.087 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:08.087Z,1761540068.087 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:08.087Z,1761540068.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:08.304Z,1761540068.304 [DAT](INFO): DAT read: user:136> 2025-10-27T04:41:08.305Z,1761540068.305 [DAT](INFO): DAT read: Tx time:04:41:07.3805 2025-10-27T04:41:08.305Z,1761540068.305 [DAT](INFO): Ping request sent. 2025-10-27T04:41:08.305Z,1761540068.305 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:08.306Z,1761540068.306 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:08.307Z,1761540068.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001327 2025-10-27T04:41:08.325Z,1761540068.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672666,0.731837,0.109250],[-0.733555,0.678911,-0.031262],[-0.097049,-0.059112,0.993523]] 2025-10-27T04:41:08.556Z,1761540068.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250777 2025-10-27T04:41:08.724Z,1761540068.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673444,0.730354,0.114260],[-0.731803,0.680526,-0.036723],[-0.104578,-0.058885,0.992772]] 2025-10-27T04:41:08.809Z,1761540068.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503710 2025-10-27T04:41:09.060Z,1761540069.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754705 2025-10-27T04:41:09.122Z,1761540069.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674259,0.728904,0.118634],[-0.729986,0.682150,-0.042340],[-0.111788,-0.058053,0.992035]] 2025-10-27T04:41:09.183Z,1761540069.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:09.313Z,1761540069.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007790 2025-10-27T04:41:09.564Z,1761540069.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258807 2025-10-27T04:41:09.817Z,1761540069.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511471 2025-10-27T04:41:09.947Z,1761540069.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676501,0.725367,0.127239],[-0.725574,0.686067,-0.053433],[-0.126053,-0.056174,0.990432]] 2025-10-27T04:41:10.068Z,1761540070.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762936 2025-10-27T04:41:10.321Z,1761540070.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015203 2025-10-27T04:41:10.348Z,1761540070.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677577,0.723574,0.131642],[-0.723341,0.688006,-0.058523],[-0.132916,-0.055568,0.989568]] 2025-10-27T04:41:10.572Z,1761540070.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267017 2025-10-27T04:41:10.740Z,1761540070.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678671,0.721827,0.135541],[-0.721088,0.689918,-0.063599],[-0.139419,-0.054574,0.988728]] 2025-10-27T04:41:10.829Z,1761540070.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523994 2025-10-27T04:41:11.076Z,1761540071.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770725 2025-10-27T04:41:11.142Z,1761540071.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679739,0.720055,0.139555],[-0.718837,0.691819,-0.068260],[-0.145698,-0.053918,0.987859]] 2025-10-27T04:41:11.191Z,1761540071.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:11.329Z,1761540071.329 [DAT](INFO): DAT read: Rx Time:04:41:10.0096 2025-10-27T04:41:11.330Z,1761540071.330 [DAT](INFO): Rx dataTimestamp_ set to:1761540071.329037 2025-10-27T04:41:11.330Z,1761540071.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024985 2025-10-27T04:41:11.546Z,1761540071.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680560,0.718394,0.144044],[-0.716808,0.693527,-0.072160],[-0.151738,-0.054143,0.986937]] 2025-10-27T04:41:11.580Z,1761540071.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274895 2025-10-27T04:41:11.834Z,1761540071.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528568 2025-10-27T04:41:11.973Z,1761540071.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681238,0.716984,0.147809],[-0.714963,0.695008,-0.076109],[-0.157298,-0.053830,0.986083]] 2025-10-27T04:41:12.089Z,1761540072.089 [DAT](INFO): DAT read: 04:41:10.0096 LVL= 32752, 32657, 32754, 32755, AGC= 66, IDX= 444, 0.24,-2.152,-2.979, 2.246,-2.572, PHS= 0.523,-0.362,-1.509, RAW= 55.7, 15.1, CAL= 51.4, 18.8, ROT= 98.6, -18.8 2025-10-27T04:41:12.090Z,1761540072.090 [DAT](INFO): got valid direction response: 04:41:10.0096 LVL= 32752, 32657, 32754, 32755, AGC= 66, IDX= 444, 0.24,-2.152,-2.979, 2.246,-2.572, PHS= 0.523,-0.362,-1.509, RAW= 55.7, 15.1, CAL= 51.4, 18.8, ROT= 98.6, -18.8 2025-10-27T04:41:12.091Z,1761540072.091 [DAT](INFO): DAT read: Bearing 223.2, 67.7 (Local) 2025-10-27T04:41:12.092Z,1761540072.092 [DAT](INFO): Local bearing/azimuth received: Bearing 223.2, 67.7 (Local) 2025-10-27T04:41:12.093Z,1761540072.093 [DAT](INFO): DAT read: Range 11 to 50 : 168.7 m (Round-trip 225.0 ms) speed 0.0 m/s 2025-10-27T04:41:12.094Z,1761540072.094 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:12.094Z,1761540072.094 [DAT](INFO): direction in FSK: [-0.141557,0.936006,0.322266] 2025-10-27T04:41:12.095Z,1761540072.095 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:12.098Z,1761540072.098 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:12.098Z,1761540072.098 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:12.098Z,1761540072.098 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:12.336Z,1761540072.336 [DAT](INFO): DAT read: user:137> 2025-10-27T04:41:12.337Z,1761540072.337 [DAT](INFO): DAT read: Tx time:04:41:11.4305 2025-10-27T04:41:12.337Z,1761540072.337 [DAT](INFO): Ping request sent. 2025-10-27T04:41:12.337Z,1761540072.337 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:12.337Z,1761540072.337 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:12.338Z,1761540072.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T04:41:12.354Z,1761540072.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681672,0.715958,0.150756],[-0.713377,0.696150,-0.080430],[-0.162533,-0.052719,0.985294]] 2025-10-27T04:41:12.588Z,1761540072.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250782 2025-10-27T04:41:12.758Z,1761540072.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681911,0.715123,0.153611],[-0.712039,0.697067,-0.084250],[-0.167326,-0.051926,0.984533]] 2025-10-27T04:41:12.840Z,1761540072.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503190 2025-10-27T04:41:13.092Z,1761540073.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754842 2025-10-27T04:41:13.163Z,1761540073.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681827,0.714432,0.157159],[-0.711017,0.697748,-0.087192],[-0.171950,-0.052293,0.983717]] 2025-10-27T04:41:13.203Z,1761540073.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:13.344Z,1761540073.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006781 2025-10-27T04:41:13.566Z,1761540073.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681549,0.714012,0.160243],[-0.710309,0.698149,-0.089716],[-0.175932,-0.052676,0.982992]] 2025-10-27T04:41:13.596Z,1761540073.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259162 2025-10-27T04:41:13.848Z,1761540073.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510817 2025-10-27T04:41:14.001Z,1761540074.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681094,0.713705,0.163510],[-0.709790,0.698400,-0.091845],[-0.179746,-0.053503,0.982257]] 2025-10-27T04:41:14.100Z,1761540074.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762838 2025-10-27T04:41:14.352Z,1761540074.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015046 2025-10-27T04:41:14.604Z,1761540074.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266862 2025-10-27T04:41:14.783Z,1761540074.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679629,0.714364,0.166698],[-0.709448,0.697876,-0.098242],[-0.186515,-0.051496,0.981102]] 2025-10-27T04:41:14.856Z,1761540074.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518830 2025-10-27T04:41:15.108Z,1761540075.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770734 2025-10-27T04:41:15.181Z,1761540075.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678671,0.715198,0.167027],[-0.709572,0.697189,-0.102153],[-0.189509,-0.049190,0.980646]] 2025-10-27T04:41:15.235Z,1761540075.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:15.360Z,1761540075.360 [DAT](INFO): DAT read: Rx Time:04:41:14.0600 2025-10-27T04:41:15.360Z,1761540075.360 [DAT](INFO): Rx dataTimestamp_ set to:1761540075.360185 2025-10-27T04:41:15.361Z,1761540075.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023913 2025-10-27T04:41:15.585Z,1761540075.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677683,0.715562,0.169458],[-0.709750,0.696763,-0.103812],[-0.192356,-0.049921,0.980055]] 2025-10-27T04:41:15.612Z,1761540075.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274893 2025-10-27T04:41:15.864Z,1761540075.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527187 2025-10-27T04:41:16.023Z,1761540076.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676601,0.716039,0.171752],[-0.710040,0.696223,-0.105439],[-0.195076,-0.050611,0.979481]] 2025-10-27T04:41:16.121Z,1761540076.121 [DAT](INFO): DAT read: 04:41:14.0600 LVL= 25968, 24081, 32754, 31411, AGC= 65, IDX= 448, 0.44, 0.301,-0.520,-1.503,-0.049, PHS= 0.452,-0.426,-1.498, RAW= 56.7, 17.1, CAL= 52.2, 21.6, ROT= 97.8, -21.6 2025-10-27T04:41:16.122Z,1761540076.122 [DAT](INFO): got valid direction response: 04:41:14.0600 LVL= 25968, 24081, 32754, 31411, AGC= 65, IDX= 448, 0.44, 0.301,-0.520,-1.503,-0.049, PHS= 0.452,-0.426,-1.498, RAW= 56.7, 17.1, CAL= 52.2, 21.6, ROT= 97.8, -21.6 2025-10-27T04:41:16.123Z,1761540076.123 [DAT](INFO): DAT read: Bearing 216.4, 65.1 (Local) 2025-10-27T04:41:16.124Z,1761540076.124 [DAT](INFO): Local bearing/azimuth received: Bearing 216.4, 65.1 (Local) 2025-10-27T04:41:16.125Z,1761540076.125 [DAT](INFO): DAT read: Range 11 to 50 : 168.9 m (Round-trip 225.3 ms) speed -0.2 m/s 2025-10-27T04:41:16.126Z,1761540076.126 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:16.127Z,1761540076.127 [DAT](INFO): direction in FSK: [-0.126185,0.921174,0.368125] 2025-10-27T04:41:16.127Z,1761540076.127 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:16.130Z,1761540076.130 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:16.130Z,1761540076.130 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:16.131Z,1761540076.131 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:16.368Z,1761540076.368 [DAT](INFO): DAT read: user:138> 2025-10-27T04:41:16.368Z,1761540076.368 [DAT](INFO): DAT read: Tx time:04:41:15.4305 2025-10-27T04:41:16.369Z,1761540076.369 [DAT](INFO): Ping request sent. 2025-10-27T04:41:16.369Z,1761540076.369 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:16.369Z,1761540076.369 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:16.370Z,1761540076.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761 2025-10-27T04:41:16.394Z,1761540076.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675742,0.716535,0.173060],[-0.710186,0.695743,-0.107603],[-0.197507,-0.050193,0.979016]] 2025-10-27T04:41:16.620Z,1761540076.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250867 2025-10-27T04:41:16.804Z,1761540076.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674827,0.717203,0.173864],[-0.710417,0.695122,-0.110057],[-0.199790,-0.049246,0.978600]] 2025-10-27T04:41:16.872Z,1761540076.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503182 2025-10-27T04:41:17.124Z,1761540077.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754951 2025-10-27T04:41:17.202Z,1761540077.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673803,0.717795,0.175387],[-0.710861,0.694478,-0.111255],[-0.201661,-0.049711,0.978193]] 2025-10-27T04:41:17.258Z,1761540077.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:17.376Z,1761540077.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007235 2025-10-27T04:41:17.607Z,1761540077.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673183,0.717765,0.177870],[-0.710883,0.694393,-0.111636],[-0.203641,-0.051294,0.977701]] 2025-10-27T04:41:17.628Z,1761540077.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259139 2025-10-27T04:41:17.880Z,1761540077.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511096 2025-10-27T04:41:18.054Z,1761540078.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671439,0.719347,0.178072],[-0.711699,0.692912,-0.115574],[-0.206526,-0.049133,0.977207]] 2025-10-27T04:41:18.132Z,1761540078.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763137 2025-10-27T04:41:18.384Z,1761540078.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014979 2025-10-27T04:41:18.636Z,1761540078.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266946 2025-10-27T04:41:18.824Z,1761540078.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671007,0.719724,0.178180],[-0.711789,0.692578,-0.117016],[-0.207622,-0.048308,0.977015]] 2025-10-27T04:41:18.888Z,1761540078.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518987 2025-10-27T04:41:19.140Z,1761540079.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770983 2025-10-27T04:41:19.344Z,1761540079.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:19.392Z,1761540079.392 [DAT](INFO): DAT read: Rx Time:04:41:18.0608 2025-10-27T04:41:19.393Z,1761540079.393 [DAT](INFO): Rx dataTimestamp_ set to:1761540079.392550 2025-10-27T04:41:19.393Z,1761540079.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024468 2025-10-27T04:41:19.644Z,1761540079.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275086 2025-10-27T04:41:19.898Z,1761540079.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528664 2025-10-27T04:41:20.063Z,1761540080.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670684,0.720192,0.177500],[-0.711566,0.692267,-0.120163],[-0.209418,-0.045711,0.976757]] 2025-10-27T04:41:20.162Z,1761540080.162 [DAT](INFO): DAT read: 04:41:18.0608 LVL= 31216, 24897, 32754, 32755, AGC= 65, IDX= 440, 0.29, 1.255, 0.479,-0.576, 0.857, PHS= 0.499,-0.333,-1.477, RAW= 54.8, 15.1, CAL= 50.4, 18.5, ROT= 99.6, -18.5 2025-10-27T04:41:20.175Z,1761540080.175 [DAT](INFO): got valid direction response: 04:41:18.0608 LVL= 31216, 24897, 32754, 32755, AGC= 65, IDX= 440, 0.29, 1.255, 0.479,-0.576, 0.857, PHS= 0.499,-0.333,-1.477, RAW= 54.8, 15.1, CAL= 50.4, 18.5, ROT= 99.6, -18.5 2025-10-27T04:41:20.177Z,1761540080.177 [DAT](INFO): DAT read: Bearing 215.8, 68.4 (Local) 2025-10-27T04:41:20.178Z,1761540080.178 [DAT](INFO): Local bearing/azimuth received: Bearing 215.8, 68.4 (Local) 2025-10-27T04:41:20.180Z,1761540080.180 [DAT](INFO): DAT read: Range 11 to 50 : 169.5 m (Round-trip 226.1 ms) speed 0.0 m/s 2025-10-27T04:41:20.180Z,1761540080.180 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:20.181Z,1761540080.181 [DAT](INFO): direction in FSK: [-0.158151,0.935043,0.317305] 2025-10-27T04:41:20.181Z,1761540080.181 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:20.194Z,1761540080.194 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:20.194Z,1761540080.194 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:20.194Z,1761540080.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:20.400Z,1761540080.400 [DAT](INFO): DAT read: user:139> 2025-10-27T04:41:20.401Z,1761540080.401 [DAT](INFO): DAT read: Tx time:04:41:19.4805 2025-10-27T04:41:20.401Z,1761540080.401 [DAT](INFO): Ping request sent. 2025-10-27T04:41:20.401Z,1761540080.401 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:20.401Z,1761540080.401 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:20.402Z,1761540080.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-10-27T04:41:20.444Z,1761540080.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671014,0.719537,0.178906],[-0.711109,0.692858,-0.119465],[-0.209916,-0.047059,0.976586]] 2025-10-27T04:41:20.652Z,1761540080.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250766 2025-10-27T04:41:20.844Z,1761540080.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671040,0.718947,0.181165],[-0.711083,0.693256,-0.117292],[-0.209921,-0.050115,0.976433]] 2025-10-27T04:41:20.904Z,1761540080.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503114 2025-10-27T04:41:21.156Z,1761540081.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754749 2025-10-27T04:41:21.246Z,1761540081.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671324,0.718333,0.182545],[-0.710787,0.693766,-0.116063],[-0.210015,-0.051835,0.976323]] 2025-10-27T04:41:21.408Z,1761540081.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007184 2025-10-27T04:41:21.650Z,1761540081.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672024,0.717811,0.182021],[-0.710191,0.694354,-0.116192],[-0.209791,-0.051186,0.976406]] 2025-10-27T04:41:21.660Z,1761540081.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258777 2025-10-27T04:41:21.732Z,1761540081.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:21.912Z,1761540081.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510990 2025-10-27T04:41:22.072Z,1761540082.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672580,0.717756,0.180174],[-0.709829,0.694562,-0.117161],[-0.209235,-0.049093,0.976632]] 2025-10-27T04:41:22.165Z,1761540082.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763221 2025-10-27T04:41:22.416Z,1761540082.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014654 2025-10-27T04:41:22.455Z,1761540082.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673360,0.717482,0.178343],[-0.709274,0.694987,-0.117998],[-0.208607,-0.047039,0.976868]] 2025-10-27T04:41:22.668Z,1761540082.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266722 2025-10-27T04:41:22.857Z,1761540082.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674202,0.717041,0.176929],[-0.708763,0.695519,-0.117936],[-0.207622,-0.045888,0.977132]] 2025-10-27T04:41:22.920Z,1761540082.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518781 2025-10-27T04:41:23.172Z,1761540083.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770694 2025-10-27T04:41:23.262Z,1761540083.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675056,0.716328,0.176561],[-0.708287,0.696224,-0.116628],[-0.206470,-0.046325,0.977356]] 2025-10-27T04:41:23.424Z,1761540083.424 [DAT](INFO): DAT read: Rx Time:04:41:22.1110 2025-10-27T04:41:23.425Z,1761540083.425 [DAT](INFO): Rx dataTimestamp_ set to:1761540083.424747 2025-10-27T04:41:23.426Z,1761540083.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024554 2025-10-27T04:41:23.665Z,1761540083.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676127,0.715362,0.176377],[-0.707694,0.697152,-0.114666],[-0.204989,-0.047292,0.977621]] 2025-10-27T04:41:23.676Z,1761540083.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274732 2025-10-27T04:41:23.930Z,1761540083.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528428 2025-10-27T04:41:24.074Z,1761540084.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677160,0.714415,0.176253],[-0.707160,0.698043,-0.112521],[-0.203419,-0.048444,0.977893]] 2025-10-27T04:41:24.153Z,1761540084.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:24.192Z,1761540084.192 [DAT](INFO): DAT read: 04:41:22.1110 LVL= 24992, 26865, 31554, 31331, AGC= 64, IDX= 442, 0.16, 2.868, 2.085, 1.060, 2.500, PHS= 0.470,-0.370,-1.485, RAW= 55.4, 16.1, CAL= 50.7, 20.1, ROT= 99.3, -20.1 2025-10-27T04:41:24.193Z,1761540084.193 [DAT](INFO): got valid direction response: 04:41:22.1110 LVL= 24992, 26865, 31554, 31331, AGC= 64, IDX= 442, 0.16, 2.868, 2.085, 1.060, 2.500, PHS= 0.470,-0.370,-1.485, RAW= 55.4, 16.1, CAL= 50.7, 20.1, ROT= 99.3, -20.1 2025-10-27T04:41:24.199Z,1761540084.199 [DAT](INFO): DAT read: Bearing 216.3, 66.8 (Local) 2025-10-27T04:41:24.200Z,1761540084.200 [DAT](INFO): Local bearing/azimuth received: Bearing 216.3, 66.8 (Local) 2025-10-27T04:41:24.201Z,1761540084.201 [DAT](INFO): DAT read: Range 11 to 50 : 169.7 m (Round-trip 226.3 ms) speed -0.1 m/s 2025-10-27T04:41:24.202Z,1761540084.202 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:24.203Z,1761540084.203 [DAT](INFO): direction in FSK: [-0.151761,0.926751,0.343660] 2025-10-27T04:41:24.204Z,1761540084.204 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:24.211Z,1761540084.211 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:24.211Z,1761540084.211 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:24.211Z,1761540084.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:24.432Z,1761540084.432 [DAT](INFO): DAT read: user:140> 2025-10-27T04:41:24.433Z,1761540084.433 [DAT](INFO): DAT read: Tx time:04:41:23.5305 2025-10-27T04:41:24.433Z,1761540084.433 [DAT](INFO): Ping request sent. 2025-10-27T04:41:24.433Z,1761540084.433 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:24.433Z,1761540084.433 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:24.434Z,1761540084.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000773 2025-10-27T04:41:24.473Z,1761540084.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678335,0.713574,0.175141],[-0.706540,0.698905,-0.111053],[-0.201651,-0.048413,0.978260]] 2025-10-27T04:41:24.562Z,1761540084.562 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 169.70 m. Transitioning docking module to standby. 2025-10-27T04:41:24.687Z,1761540084.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254153 2025-10-27T04:41:24.877Z,1761540084.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679299,0.713098,0.173331],[-0.706217,0.699431,-0.109791],[-0.199525,-0.047829,0.978725]] 2025-10-27T04:41:24.940Z,1761540084.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507182 2025-10-27T04:41:24.960Z,1761540084.960 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T04:41:25.192Z,1761540085.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758882 2025-10-27T04:41:25.286Z,1761540085.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680200,0.712625,0.171739],[-0.706056,0.699906,-0.107786],[-0.197012,-0.047941,0.979228]] 2025-10-27T04:41:25.445Z,1761540085.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011840 2025-10-27T04:41:25.686Z,1761540085.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681136,0.711994,0.170639],[-0.705838,0.700496,-0.105349],[-0.194540,-0.048687,0.979686]] 2025-10-27T04:41:25.697Z,1761540085.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263628 2025-10-27T04:41:25.948Z,1761540085.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514908 2025-10-27T04:41:26.091Z,1761540086.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681547,0.712025,0.168864],[-0.706195,0.700450,-0.103239],[-0.191789,-0.048889,0.980218]] 2025-10-27T04:41:26.200Z,1761540086.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766865 2025-10-27T04:41:26.452Z,1761540086.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018796 2025-10-27T04:41:26.493Z,1761540086.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681794,0.712049,0.167759],[-0.706668,0.700352,-0.100639],[-0.189150,-0.049935,0.980678]] 2025-10-27T04:41:26.541Z,1761540086.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:26.705Z,1761540086.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271495 2025-10-27T04:41:26.897Z,1761540086.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681222,0.713102,0.165593],[-0.707994,0.699278,-0.098770],[-0.186229,-0.049954,0.981236]] 2025-10-27T04:41:26.958Z,1761540086.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524552 2025-10-27T04:41:27.209Z,1761540087.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775442 2025-10-27T04:41:27.309Z,1761540087.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680718,0.714482,0.161676],[-0.709242,0.698036,-0.098596],[-0.183300,-0.047551,0.981906]] 2025-10-27T04:41:27.460Z,1761540087.460 [DAT](INFO): DAT read: Rx Time:04:41:26.1613 2025-10-27T04:41:27.461Z,1761540087.461 [DAT](INFO): Rx dataTimestamp_ set to:1761540087.460243 2025-10-27T04:41:27.461Z,1761540087.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028024 2025-10-27T04:41:27.713Z,1761540087.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279261 2025-10-27T04:41:27.720Z,1761540087.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679702,0.716407,0.157374],[-0.710999,0.696240,-0.098641],[-0.180237,-0.044847,0.982600]] 2025-10-27T04:41:27.964Z,1761540087.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531026 2025-10-27T04:41:28.109Z,1761540088.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678724,0.718036,0.154136],[-0.712693,0.694642,-0.097680],[-0.177207,-0.043553,0.983209]] 2025-10-27T04:41:28.225Z,1761540088.225 [DAT](INFO): DAT read: 04:41:26.1613 LVL= 24352, 31217, 28482, 32755, AGC= 60, IDX= 429, 0.18,-2.195,-2.864, 2.414,-2.493, PHS= 0.400,-0.326,-1.420, RAW= 53.3, 16.7, CAL= 48.6, 20.4, ROT= 101.4, -20.4 2025-10-27T04:41:28.226Z,1761540088.226 [DAT](INFO): got valid direction response: 04:41:26.1613 LVL= 24352, 31217, 28482, 32755, AGC= 60, IDX= 429, 0.18,-2.195,-2.864, 2.414,-2.493, PHS= 0.400,-0.326,-1.420, RAW= 53.3, 16.7, CAL= 48.6, 20.4, ROT= 101.4, -20.4 2025-10-27T04:41:28.227Z,1761540088.227 [DAT](INFO): DAT read: Bearing 224.2, 66.6 (Local) 2025-10-27T04:41:28.228Z,1761540088.228 [DAT](INFO): Local bearing/azimuth received: Bearing 224.2, 66.6 (Local) 2025-10-27T04:41:28.229Z,1761540088.229 [DAT](INFO): DAT read: Range 11 to 50 : 169.9 m (Round-trip 226.6 ms) speed 0.0 m/s 2025-10-27T04:41:28.230Z,1761540088.230 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:28.231Z,1761540088.231 [DAT](INFO): direction in FSK: [-0.185261,0.918791,0.348572] 2025-10-27T04:41:28.232Z,1761540088.232 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:28.239Z,1761540088.239 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:28.239Z,1761540088.239 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:28.240Z,1761540088.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:28.468Z,1761540088.468 [DAT](INFO): DAT read: user:141> 2025-10-27T04:41:28.469Z,1761540088.469 [DAT](INFO): DAT read: Tx time:04:41:27.5305 2025-10-27T04:41:28.469Z,1761540088.469 [DAT](INFO): Ping request sent. 2025-10-27T04:41:28.469Z,1761540088.469 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:28.469Z,1761540088.469 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:28.470Z,1761540088.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-27T04:41:28.513Z,1761540088.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677250,0.719724,0.152743],[-0.714839,0.692809,-0.094977],[-0.174179,-0.044864,0.983691]] 2025-10-27T04:41:28.722Z,1761540088.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253343 2025-10-27T04:41:28.917Z,1761540088.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675713,0.721331,0.151965],[-0.716956,0.691012,-0.092068],[-0.171421,-0.046741,0.984089]] 2025-10-27T04:41:28.934Z,1761540088.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:28.972Z,1761540088.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503045 2025-10-27T04:41:29.242Z,1761540089.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.771481 2025-10-27T04:41:29.322Z,1761540089.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674090,0.723180,0.150375],[-0.719158,0.689017,-0.089817],[-0.168565,-0.047599,0.984541]] 2025-10-27T04:41:29.347Z,1761540089.347 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -64, +263, 2025-10-27T04:41:29.480Z,1761540089.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011011 2025-10-27T04:41:29.732Z,1761540089.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262954 2025-10-27T04:41:29.737Z,1761540089.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672584,0.725083,0.147934],[-0.721199,0.687046,-0.088542],[-0.165838,-0.047138,0.985026]] 2025-10-27T04:41:29.984Z,1761540089.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514832 2025-10-27T04:41:30.129Z,1761540090.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671109,0.726986,0.145273],[-0.723156,0.685096,-0.087684],[-0.163271,-0.046209,0.985498]] 2025-10-27T04:41:30.238Z,1761540090.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768860 2025-10-27T04:41:30.488Z,1761540090.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018954 2025-10-27T04:41:30.534Z,1761540090.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670033,0.728329,0.143505],[-0.724706,0.683660,-0.086082],[-0.160805,-0.046321,0.985899]] 2025-10-27T04:41:30.743Z,1761540090.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274340 2025-10-27T04:41:30.937Z,1761540090.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668331,0.729942,0.143244],[-0.726741,0.681806,-0.083599],[-0.158687,-0.048229,0.986150]] 2025-10-27T04:41:30.958Z,1761540090.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:30.960Z,1761540090.960 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby. 2025-10-27T04:41:30.996Z,1761540090.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527203 2025-10-27T04:41:31.252Z,1761540091.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782502 2025-10-27T04:41:31.342Z,1761540091.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666680,0.731624,0.142352],[-0.728679,0.679937,-0.081931],[-0.156733,-0.049107,0.986419]] 2025-10-27T04:41:31.385Z,1761540091.385 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2025-10-27T04:41:31.385Z,1761540091.385 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2025-10-27T04:41:31.385Z,1761540091.385 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2025-10-27T04:41:31.500Z,1761540091.500 [DAT](INFO): DAT read: Rx Time:04:41:30.1621 2025-10-27T04:41:31.501Z,1761540091.501 [DAT](INFO): Rx dataTimestamp_ set to:1761540091.500617 2025-10-27T04:41:31.502Z,1761540091.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032762 2025-10-27T04:41:31.745Z,1761540091.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665448,0.733132,0.140344],[-0.730210,0.678365,-0.081335],[-0.154834,-0.048357,0.986756]] 2025-10-27T04:41:31.752Z,1761540091.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282910 2025-10-27T04:41:31.811Z,1761540091.811 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2025-10-27T04:41:31.811Z,1761540091.811 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2025-10-27T04:41:31.812Z,1761540091.812 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2025-10-27T04:41:32.006Z,1761540092.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536887 2025-10-27T04:41:32.149Z,1761540092.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664876,0.734110,0.137921],[-0.731057,0.677428,-0.081528],[-0.153282,-0.046622,0.987082]] 2025-10-27T04:41:32.187Z,1761540092.187 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2025-10-27T04:41:32.188Z,1761540092.188 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T04:41:32.188Z,1761540092.188 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2025-10-27T04:41:32.188Z,1761540092.188 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-27T04:41:32.189Z,1761540092.189 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T04:41:32.281Z,1761540092.281 [DAT](INFO): DAT read: 04:41:30.1621 LVL= 31856, 27969, 32754, 32755, AGC= 66, IDX= 453,-0.40,-2.034,-2.670, 2.492,-2.322, PHS= 0.390,-0.302,-1.512, RAW= 51.1, 16.8, CAL= 46.4, 20.3, ROT= 103.6, -20.3 2025-10-27T04:41:32.284Z,1761540092.284 [DAT](INFO): got valid direction response: 04:41:30.1621 LVL= 31856, 27969, 32754, 32755, AGC= 66, IDX= 453,-0.40,-2.034,-2.670, 2.492,-2.322, PHS= 0.390,-0.302,-1.512, RAW= 51.1, 16.8, CAL= 46.4, 20.3, ROT= 103.6, -20.3 2025-10-27T04:41:32.285Z,1761540092.285 [DAT](INFO): DAT read: Bearing 230.3, 66.2 (Local) 2025-10-27T04:41:32.286Z,1761540092.286 [DAT](INFO): Local bearing/azimuth received: Bearing 230.3, 66.2 (Local) 2025-10-27T04:41:32.288Z,1761540092.288 [DAT](INFO): DAT read: Range 11 to 50 : 170.5 m (Round-trip 227.4 ms) speed 0.0 m/s 2025-10-27T04:41:32.289Z,1761540092.289 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:32.291Z,1761540092.291 [DAT](INFO): direction in FSK: [-0.220537,0.911591,0.346936] 2025-10-27T04:41:32.319Z,1761540092.319 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:32.322Z,1761540092.322 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:32.322Z,1761540092.322 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:32.327Z,1761540092.327 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:32.508Z,1761540092.508 [DAT](INFO): DAT read: user:142> 2025-10-27T04:41:32.509Z,1761540092.509 [DAT](INFO): DAT read: Tx time:04:41:31.6305 2025-10-27T04:41:32.509Z,1761540092.509 [DAT](INFO): Ping request sent. 2025-10-27T04:41:32.509Z,1761540092.509 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:32.509Z,1761540092.509 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:32.510Z,1761540092.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-10-27T04:41:32.553Z,1761540092.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664393,0.734929,0.135871],[-0.731834,0.676620,-0.081271],[-0.151661,-0.045439,0.987388]] 2025-10-27T04:41:32.636Z,1761540092.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T04:41:32.636Z,1761540092.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T04:41:32.636Z,1761540092.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-27T04:41:32.636Z,1761540092.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T04:41:32.636Z,1761540092.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T04:41:32.636Z,1761540092.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-27T04:41:32.636Z,1761540092.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T04:41:32.636Z,1761540092.636 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-27T04:41:32.637Z,1761540092.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-27T04:41:32.637Z,1761540092.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-27T04:41:32.637Z,1761540092.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-27T04:41:32.637Z,1761540092.637 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-27T04:41:32.638Z,1761540092.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-10-27T04:41:32.638Z,1761540092.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T04:41:32.638Z,1761540092.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-10-27T04:41:32.638Z,1761540092.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 169.899994 m 2025-10-27T04:41:32.639Z,1761540092.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-10-27T04:41:32.639Z,1761540092.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-10-27T04:41:32.640Z,1761540092.640 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg ) 2025-10-27T04:41:32.640Z,1761540092.640 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-27T04:41:32.640Z,1761540092.640 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-10-27T04:41:32.640Z,1761540092.640 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-10-27T04:41:32.641Z,1761540092.641 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630 2025-10-27T04:41:32.760Z,1761540092.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250932 2025-10-27T04:41:32.958Z,1761540092.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664052,0.735429,0.134833],[-0.732452,0.676074,-0.080237],[-0.150165,-0.045477,0.987614]] 2025-10-27T04:41:33.002Z,1761540093.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:33.004Z,1761540093.004 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630 2025-10-27T04:41:33.005Z,1761540093.005 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-10-27T04:41:33.005Z,1761540093.005 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T04:41:33.006Z,1761540093.006 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-10-27T04:41:33.006Z,1761540093.006 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-27T04:41:33.012Z,1761540093.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502926 2025-10-27T04:41:33.018Z,1761540093.018 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-10-27T04:41:33.019Z,1761540093.019 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-27T04:41:33.268Z,1761540093.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758499 2025-10-27T04:41:33.362Z,1761540093.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663712,0.735791,0.134529],[-0.733037,0.675619,-0.078713],[-0.148806,-0.046372,0.987778]] 2025-10-27T04:41:33.413Z,1761540093.413 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-27T04:41:33.413Z,1761540093.413 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-27T04:41:33.413Z,1761540093.413 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-27T04:41:33.414Z,1761540093.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T04:41:33.415Z,1761540093.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T04:41:33.419Z,1761540093.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-27T04:41:33.419Z,1761540093.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T04:41:33.419Z,1761540093.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T04:41:33.419Z,1761540093.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T04:41:33.419Z,1761540093.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T04:41:33.419Z,1761540093.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-27T04:41:33.420Z,1761540093.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-27T04:41:33.420Z,1761540093.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T04:41:33.420Z,1761540093.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-27T04:41:33.420Z,1761540093.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-27T04:41:33.420Z,1761540093.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T04:41:33.420Z,1761540093.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T04:41:33.420Z,1761540093.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-27T04:41:33.420Z,1761540093.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-27T04:41:33.421Z,1761540093.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-27T04:41:33.421Z,1761540093.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-27T04:41:33.421Z,1761540093.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-27T04:41:33.421Z,1761540093.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-27T04:41:33.421Z,1761540093.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-27T04:41:33.422Z,1761540093.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-27T04:41:33.422Z,1761540093.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-27T04:41:33.422Z,1761540093.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-10-27T04:41:33.422Z,1761540093.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-27T04:41:33.423Z,1761540093.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-10-27T04:41:33.423Z,1761540093.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-10-27T04:41:33.427Z,1761540093.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-10-27T04:41:33.427Z,1761540093.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-27T04:41:33.428Z,1761540093.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-10-27T04:41:33.428Z,1761540093.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00. 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-10-27T04:41:33.429Z,1761540093.429 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-10-27T04:41:33.517Z,1761540093.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007879 2025-10-27T04:41:33.769Z,1761540093.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260100 2025-10-27T04:41:33.783Z,1761540093.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663254,0.736377,0.133578],[-0.733753,0.674969,-0.077610],[-0.147312,-0.046538,0.987995]] 2025-10-27T04:41:33.829Z,1761540093.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T04:41:33.836Z,1761540093.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 169.847244 m, bearing: 52.737611 deg, lat: 36.779481 deg, lon: -121.859788 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T04:41:33.836Z,1761540093.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.85 m. 2025-10-27T04:41:33.843Z,1761540093.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.623169 m, bearing: 50.101170 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 312.158551 deg, new cmd heading: 50.101170 deg. 2025-10-27T04:41:33.844Z,1761540093.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874430 target range: 169.847244 and range: 170.50 m. 2025-10-27T04:41:33.897Z,1761540093.897 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-27T04:41:33.897Z,1761540093.897 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-27T04:41:34.020Z,1761540094.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510818 2025-10-27T04:41:34.169Z,1761540094.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662575,0.737325,0.131707],[-0.734627,0.674016,-0.077622],[-0.146006,-0.045325,0.988245]] 2025-10-27T04:41:34.188Z,1761540094.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.85 m. 2025-10-27T04:41:34.190Z,1761540094.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.641434 m, bearing: 50.123090 deg, approach rate: 0.050781 m/s, LOS rate: nan deg/s, cmd heading: 50.101169 deg, new cmd heading: 50.123090 deg. 2025-10-27T04:41:34.191Z,1761540094.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874813 target range: 169.847244 and range: 170.50 m. 2025-10-27T04:41:34.276Z,1761540094.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766442 2025-10-27T04:41:34.525Z,1761540094.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015528 2025-10-27T04:41:34.593Z,1761540094.593 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050308295285,35.0, 0.0,1498.9, 0 2025-10-27T04:41:34.627Z,1761540094.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.85 m. 2025-10-27T04:41:34.629Z,1761540094.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.663193 m, bearing: 50.149190 deg, approach rate: 0.049610 m/s, LOS rate: nan deg/s, cmd heading: 50.123091 deg, new cmd heading: 50.149190 deg. 2025-10-27T04:41:34.630Z,1761540094.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875268 target range: 169.847244 and range: 170.50 m. 2025-10-27T04:41:34.778Z,1761540094.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268569 2025-10-27T04:41:34.980Z,1761540094.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661200,0.738699,0.130914],[-0.736357,0.672413,-0.075095],[-0.143501,-0.046746,0.988546]] 2025-10-27T04:41:35.003Z,1761540095.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.85 m. 2025-10-27T04:41:35.006Z,1761540095.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.682083 m, bearing: 50.171601 deg, approach rate: 0.050174 m/s, LOS rate: nan deg/s, cmd heading: 50.149189 deg, new cmd heading: 50.171601 deg. 2025-10-27T04:41:35.006Z,1761540095.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875660 target range: 169.847244 and range: 170.50 m. 2025-10-27T04:41:35.028Z,1761540095.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518892 2025-10-27T04:41:35.283Z,1761540095.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773630 2025-10-27T04:41:35.382Z,1761540095.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660084,0.739424,0.132446],[-0.737644,0.671359,-0.071821],[-0.142025,-0.050290,0.988585]] 2025-10-27T04:41:35.425Z,1761540095.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:35.427Z,1761540095.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.85 m. 2025-10-27T04:41:35.430Z,1761540095.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.699890 m, bearing: 50.190708 deg, approach rate: 0.041990 m/s, LOS rate: nan deg/s, cmd heading: 50.171602 deg, new cmd heading: 50.190708 deg. 2025-10-27T04:41:35.431Z,1761540095.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.875993 target range: 169.847244 and range: 170.50 m. 2025-10-27T04:41:35.532Z,1761540095.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023193 2025-10-27T04:41:35.785Z,1761540095.785 [DAT](INFO): DAT read: Rx Time:04:41:34.2623 2025-10-27T04:41:35.786Z,1761540095.786 [DAT](INFO): Rx dataTimestamp_ set to:1761540095.785105 2025-10-27T04:41:35.786Z,1761540095.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277179 2025-10-27T04:41:35.825Z,1761540095.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658674,0.740566,0.133081],[-0.739161,0.669926,-0.069565],[-0.140672,-0.052548,0.988661]] 2025-10-27T04:41:35.864Z,1761540095.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.85 m. 2025-10-27T04:41:35.867Z,1761540095.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.718140 m, bearing: 50.210080 deg, approach rate: 0.041757 m/s, LOS rate: nan deg/s, cmd heading: 50.190709 deg, new cmd heading: 50.210080 deg. 2025-10-27T04:41:35.872Z,1761540095.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876331 target range: 169.847244 and range: 170.50 m. 2025-10-27T04:41:35.984Z,1761540095.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:41:36.036Z,1761540096.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526851 2025-10-27T04:41:36.189Z,1761540096.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657109,0.742268,0.131325],[-0.740837,0.668101,-0.069291],[-0.139171,-0.051759,0.988915]] 2025-10-27T04:41:36.212Z,1761540096.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.85 m. 2025-10-27T04:41:36.214Z,1761540096.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 169.847244 m, nav range: 161.733353 m, bearing: 50.226118 deg, approach rate: 0.043754 m/s, LOS rate: nan deg/s, cmd heading: 50.210080 deg, new cmd heading: 50.226118 deg. 2025-10-27T04:41:36.215Z,1761540096.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876611 target range: 169.847244 and range: 170.50 m. 2025-10-27T04:41:36.334Z,1761540096.334 [DAT](INFO): DAT read: 04:41:34.2623 LVL= 28336, 30641, 32754, 32755, AGC= 63, IDX= 439,-0.04,-2.142,-2.727, 2.426,-2.363, PHS= 0.322,-0.320,-1.539, RAW= 49.8, 18.3, CAL= 45.4, 22.0, ROT= 104.6, -22.0 2025-10-27T04:41:36.352Z,1761540096.352 [DAT](INFO): got valid direction response: 04:41:34.2623 LVL= 28336, 30641, 32754, 32755, AGC= 63, IDX= 439,-0.04,-2.142,-2.727, 2.426,-2.363, PHS= 0.322,-0.320,-1.539, RAW= 49.8, 18.3, CAL= 45.4, 22.0, ROT= 104.6, -22.0 2025-10-27T04:41:36.353Z,1761540096.353 [DAT](INFO): DAT read: Bearing 231.8, 64.0 (Local) 2025-10-27T04:41:36.354Z,1761540096.354 [DAT](INFO): Local bearing/azimuth received: Bearing 231.8, 64.0 (Local) 2025-10-27T04:41:36.368Z,1761540096.368 [DAT](INFO): DAT read: Range 11 to 50 : 170.7 m (Round-trip 227.6 ms) speed 0.0 m/s 2025-10-27T04:41:36.368Z,1761540096.368 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:36.370Z,1761540096.370 [DAT](INFO): direction in FSK: [-0.233715,0.897244,0.374607] 2025-10-27T04:41:36.370Z,1761540096.370 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:36.387Z,1761540096.387 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:36.387Z,1761540096.387 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:36.387Z,1761540096.387 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:36.540Z,1761540096.540 [DAT](INFO): DAT read: user:143> 2025-10-27T04:41:36.541Z,1761540096.541 [DAT](INFO): DAT read: Tx time:04:41:35.6805 2025-10-27T04:41:36.541Z,1761540096.541 [DAT](INFO): Ping request sent. 2025-10-27T04:41:36.541Z,1761540096.541 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:36.541Z,1761540096.541 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:36.542Z,1761540096.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T04:41:36.669Z,1761540096.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.699997 m, deltaT: 4.032915 s, deltaX: 0.199997 m, approachRate: 0.049591 m/s, rangeRepo size: 2 2025-10-27T04:41:36.671Z,1761540096.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.045883 m, bearing: 53.049806 deg, lat: 36.779440 deg, lon: -121.859770 deg, deltaT: 4.032915 s, deltaX: 0.198639 m, approachRate: 0.049254 m/s, posRepo size: 2 2025-10-27T04:41:36.672Z,1761540096.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:36.673Z,1761540096.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 53.049806 deg. 2025-10-27T04:41:36.674Z,1761540096.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.925894 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:36.793Z,1761540096.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252163 2025-10-27T04:41:36.987Z,1761540096.987 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:41:36.999Z,1761540096.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653223,0.746333,0.127618],[-0.744852,0.663680,-0.068734],[-0.135995,-0.050158,0.989439]] 2025-10-27T04:41:37.033Z,1761540097.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:37.035Z,1761540097.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.123566 m, bearing: 51.871483 deg, approach rate: 0.054135 m/s, LOS rate: 0.045543 deg/s, cmd heading: 53.049806 deg, new cmd heading: 53.099562 deg. 2025-10-27T04:41:37.036Z,1761540097.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.926762 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:37.044Z,1761540097.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503229 2025-10-27T04:41:37.299Z,1761540097.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757400 2025-10-27T04:41:37.404Z,1761540097.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652000,0.746090,0.135077],[-0.745993,0.663088,-0.061716],[-0.135614,-0.060528,0.988911]] 2025-10-27T04:41:37.444Z,1761540097.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:37.446Z,1761540097.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:37.465Z,1761540097.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.142975 m, bearing: 51.889385 deg, approach rate: 0.046934 m/s, LOS rate: 0.043284 deg/s, cmd heading: 53.099561 deg, new cmd heading: 53.153261 deg. 2025-10-27T04:41:37.466Z,1761540097.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.927699 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:37.548Z,1761540097.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006862 2025-10-27T04:41:37.800Z,1761540097.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258918 2025-10-27T04:41:37.827Z,1761540097.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649956,0.745586,0.147166],[-0.747884,0.661912,-0.050422],[-0.135005,-0.077291,0.987826]] 2025-10-27T04:41:37.870Z,1761540097.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:37.877Z,1761540097.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.163330 m, bearing: 51.907585 deg, approach rate: 0.047973 m/s, LOS rate: 0.042889 deg/s, cmd heading: 53.153260 deg, new cmd heading: 53.207854 deg. 2025-10-27T04:41:37.878Z,1761540097.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.928652 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:38.055Z,1761540098.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513431 2025-10-27T04:41:38.227Z,1761540098.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646867,0.746669,0.155075],[-0.750854,0.659151,-0.041693],[-0.133349,-0.089468,0.987023]] 2025-10-27T04:41:38.246Z,1761540098.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:38.249Z,1761540098.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.182205 m, bearing: 51.924000 deg, approach rate: 0.050267 m/s, LOS rate: 0.043710 deg/s, cmd heading: 53.207853 deg, new cmd heading: 53.257092 deg. 2025-10-27T04:41:38.250Z,1761540098.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929512 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:38.308Z,1761540098.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765500 2025-10-27T04:41:38.556Z,1761540098.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848 2025-10-27T04:41:38.630Z,1761540098.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642950,0.749898,0.155783],[-0.754580,0.655052,-0.038930],[-0.131240,-0.092521,0.987024]] 2025-10-27T04:41:38.679Z,1761540098.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:38.682Z,1761540098.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.201202 m, bearing: 51.947419 deg, approach rate: 0.043851 m/s, LOS rate: 0.054050 deg/s, cmd heading: 53.257092 deg, new cmd heading: 53.327339 deg. 2025-10-27T04:41:38.683Z,1761540098.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.930738 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:38.808Z,1761540098.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267131 2025-10-27T04:41:39.034Z,1761540099.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639138,0.754158,0.150828],[-0.758189,0.650747,-0.040965],[-0.129045,-0.088173,0.987711]] 2025-10-27T04:41:39.060Z,1761540099.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518756 2025-10-27T04:41:39.069Z,1761540099.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:39.072Z,1761540099.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.217834 m, bearing: 51.967612 deg, approach rate: 0.042692 m/s, LOS rate: 0.051828 deg/s, cmd heading: 53.327341 deg, new cmd heading: 53.387914 deg. 2025-10-27T04:41:39.073Z,1761540099.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.931795 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:39.312Z,1761540099.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770735 2025-10-27T04:41:39.490Z,1761540099.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:39.492Z,1761540099.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:39.495Z,1761540099.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.239151 m, bearing: 51.997277 deg, approach rate: 0.050353 m/s, LOS rate: 0.070063 deg/s, cmd heading: 53.387914 deg, new cmd heading: 53.476896 deg. 2025-10-27T04:41:39.496Z,1761540099.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.933348 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:39.565Z,1761540099.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023900 2025-10-27T04:41:39.816Z,1761540099.816 [DAT](INFO): DAT read: Rx Time:04:41:38.3125 2025-10-27T04:41:39.816Z,1761540099.816 [DAT](INFO): Rx dataTimestamp_ set to:1761540099.816029 2025-10-27T04:41:39.817Z,1761540099.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275817 2025-10-27T04:41:39.842Z,1761540099.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631551,0.761327,0.146713],[-0.765272,0.642480,-0.039729],[-0.124507,-0.087184,0.988381]] 2025-10-27T04:41:39.882Z,1761540099.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:39.889Z,1761540099.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.258575 m, bearing: 52.023159 deg, approach rate: 0.049769 m/s, LOS rate: 0.066309 deg/s, cmd heading: 53.476894 deg, new cmd heading: 53.554534 deg. 2025-10-27T04:41:39.890Z,1761540099.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.934703 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:40.069Z,1761540100.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527535 2025-10-27T04:41:40.247Z,1761540100.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628258,0.763785,0.148066],[-0.768316,0.639036,-0.036374],[-0.122402,-0.090909,0.988308]] 2025-10-27T04:41:40.282Z,1761540100.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.05 m. 2025-10-27T04:41:40.286Z,1761540100.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.045883 m, nav range: 160.279236 m, bearing: 52.050054 deg, approach rate: 0.051755 m/s, LOS rate: 0.067363 deg/s, cmd heading: 53.554533 deg, new cmd heading: 53.635206 deg. 2025-10-27T04:41:40.316Z,1761540100.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.936111 target range: 170.045883 and range: 170.70 m. 2025-10-27T04:41:40.348Z,1761540100.348 [DAT](INFO): DAT read: 04:41:38.3125 LVL= 30992, 32497, 32754, 32355, AGC= 65, IDX= 442,-0.19, 0.490, 0.209,-1.092, 0.441, PHS= 0.152,-0.187,-1.577, RAW= 40.6, 19.8, CAL= 36.9, 23.0, ROT= 113.1, -23.0 2025-10-27T04:41:40.391Z,1761540100.391 [DAT](INFO): got valid direction response: 04:41:38.3125 LVL= 30992, 32497, 32754, 32355, AGC= 65, IDX= 442,-0.19, 0.490, 0.209,-1.092, 0.441, PHS= 0.152,-0.187,-1.577, RAW= 40.6, 19.8, CAL= 36.9, 23.0, ROT= 113.1, -23.0 2025-10-27T04:41:40.392Z,1761540100.392 [DAT](INFO): DAT read: Bearing 244.1, 57.6 (Local) 2025-10-27T04:41:40.393Z,1761540100.393 [DAT](INFO): Local bearing/azimuth received: Bearing 244.1, 57.6 (Local) 2025-10-27T04:41:40.394Z,1761540100.394 [DAT](INFO): DAT read: Range 11 to 50 : 170.9 m (Round-trip 227.9 ms) speed -0.2 m/s 2025-10-27T04:41:40.404Z,1761540100.404 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:40.405Z,1761540100.405 [DAT](INFO): direction in FSK: [-0.361148,0.846700,0.390731] 2025-10-27T04:41:40.405Z,1761540100.405 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:40.420Z,1761540100.420 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:40.420Z,1761540100.420 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:40.421Z,1761540100.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:40.580Z,1761540100.580 [DAT](INFO): DAT read: user:144> 2025-10-27T04:41:40.581Z,1761540100.581 [DAT](INFO): DAT read: Tx time:04:41:39.7305 2025-10-27T04:41:40.582Z,1761540100.582 [DAT](INFO): Ping request sent. 2025-10-27T04:41:40.582Z,1761540100.582 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:40.582Z,1761540100.582 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:40.583Z,1761540100.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001512 2025-10-27T04:41:40.658Z,1761540100.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625165,0.766114,0.149125],[-0.771187,0.635747,-0.033099],[-0.120163,-0.094311,0.988264]] 2025-10-27T04:41:40.714Z,1761540100.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.899994 m, deltaT: 4.040055 s, deltaX: 0.199997 m, approachRate: 0.049504 m/s, rangeRepo size: 3 2025-10-27T04:41:40.733Z,1761540100.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.241180 m, bearing: 59.097112 deg, lat: 36.779419 deg, lon: -121.859758 deg, deltaT: 4.040055 s, deltaX: 0.195297 m, approachRate: 0.048340 m/s, posRepo size: 3 2025-10-27T04:41:40.733Z,1761540100.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:40.740Z,1761540100.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 159.717361 m, bearing: 52.975371 deg, approach rate: 0.000000 m/s, LOS rate: 0.067363 deg/s, cmd heading: 53.635208 deg, new cmd heading: 53.722349 deg. 2025-10-27T04:41:40.741Z,1761540100.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937632 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:40.834Z,1761540100.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251937 2025-10-27T04:41:41.053Z,1761540101.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622236,0.768145,0.150919],[-0.773933,0.632607,-0.028922],[-0.117689,-0.098805,0.988123]] 2025-10-27T04:41:41.072Z,1761540101.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:41.084Z,1761540101.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502082 2025-10-27T04:41:41.091Z,1761540101.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 159.739960 m, bearing: 53.005491 deg, approach rate: 0.062879 m/s, LOS rate: 0.083795 deg/s, cmd heading: 53.722347 deg, new cmd heading: 53.812693 deg. 2025-10-27T04:41:41.092Z,1761540101.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.939209 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:41.338Z,1761540101.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756117 2025-10-27T04:41:41.457Z,1761540101.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620491,0.770083,0.148199],[-0.775681,0.630483,-0.028481],[-0.115369,-0.097283,0.988547]] 2025-10-27T04:41:41.500Z,1761540101.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:41.502Z,1761540101.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:41.506Z,1761540101.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 159.771362 m, bearing: 53.046786 deg, approach rate: 0.073027 m/s, LOS rate: 0.096012 deg/s, cmd heading: 53.812694 deg, new cmd heading: 53.936554 deg. 2025-10-27T04:41:41.507Z,1761540101.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.941370 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:41.588Z,1761540101.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006554 2025-10-27T04:41:41.840Z,1761540101.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258262 2025-10-27T04:41:41.877Z,1761540101.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620125,0.771492,0.142288],[-0.776321,0.629606,-0.030363],[-0.113010,-0.091632,0.989360]] 2025-10-27T04:41:41.908Z,1761540101.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:41.911Z,1761540101.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 159.800537 m, bearing: 53.085096 deg, approach rate: 0.071887 m/s, LOS rate: 0.094380 deg/s, cmd heading: 53.936552 deg, new cmd heading: 54.051463 deg. 2025-10-27T04:41:41.916Z,1761540101.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.943376 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:42.092Z,1761540102.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510079 2025-10-27T04:41:42.285Z,1761540102.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621354,0.771470,0.136944],[-0.775679,0.630340,-0.031528],[-0.110644,-0.086634,0.990077]] 2025-10-27T04:41:42.303Z,1761540102.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:42.306Z,1761540102.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 159.829895 m, bearing: 53.123917 deg, approach rate: 0.074312 m/s, LOS rate: 0.098247 deg/s, cmd heading: 54.051464 deg, new cmd heading: 54.167904 deg. 2025-10-27T04:41:42.307Z,1761540102.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.945408 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:42.344Z,1761540102.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762252 2025-10-27T04:41:42.596Z,1761540102.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014131 2025-10-27T04:41:42.675Z,1761540102.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623609,0.770597,0.131501],[-0.774225,0.632079,-0.032432],[-0.108111,-0.081586,0.990785]] 2025-10-27T04:41:42.748Z,1761540102.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:42.758Z,1761540102.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 159.871918 m, bearing: 53.170991 deg, approach rate: 0.094514 m/s, LOS rate: 0.105848 deg/s, cmd heading: 54.167905 deg, new cmd heading: 54.309091 deg. 2025-10-27T04:41:42.761Z,1761540102.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.947872 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:42.849Z,1761540102.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769 2025-10-27T04:41:43.078Z,1761540103.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627297,0.768688,0.124970],[-0.771596,0.635202,-0.034026],[-0.105537,-0.075081,0.991577]] 2025-10-27T04:41:43.097Z,1761540103.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:43.100Z,1761540103.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518512 2025-10-27T04:41:43.116Z,1761540103.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 159.908264 m, bearing: 53.212436 deg, approach rate: 0.104116 m/s, LOS rate: 0.118694 deg/s, cmd heading: 54.309091 deg, new cmd heading: 54.433397 deg. 2025-10-27T04:41:43.117Z,1761540103.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.950042 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:43.352Z,1761540103.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770218 2025-10-27T04:41:43.482Z,1761540103.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631605,0.766125,0.118858],[-0.768519,0.638905,-0.034335],[-0.102244,-0.069658,0.992317]] 2025-10-27T04:41:43.529Z,1761540103.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:43.532Z,1761540103.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:43.534Z,1761540103.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 159.961243 m, bearing: 53.267837 deg, approach rate: 0.121878 m/s, LOS rate: 0.127409 deg/s, cmd heading: 54.433397 deg, new cmd heading: 54.599546 deg. 2025-10-27T04:41:43.535Z,1761540103.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.952942 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:43.604Z,1761540103.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021970 2025-10-27T04:41:43.856Z,1761540103.856 [DAT](INFO): DAT read: Rx Time:04:41:42.3633 2025-10-27T04:41:43.856Z,1761540103.856 [DAT](INFO): Rx dataTimestamp_ set to:1761540103.856202 2025-10-27T04:41:43.857Z,1761540103.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275249 2025-10-27T04:41:43.898Z,1761540103.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637866,0.762119,0.110917],[-0.763770,0.644485,-0.035977],[-0.098903,-0.061766,0.993178]] 2025-10-27T04:41:43.930Z,1761540103.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:43.932Z,1761540103.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 160.008789 m, bearing: 53.318968 deg, approach rate: 0.119399 m/s, LOS rate: 0.128362 deg/s, cmd heading: 54.599545 deg, new cmd heading: 54.752892 deg. 2025-10-27T04:41:43.933Z,1761540103.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.955618 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:44.108Z,1761540104.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526176 2025-10-27T04:41:44.292Z,1761540104.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645971,0.756613,0.101278],[-0.757376,0.651823,-0.038851],[-0.095410,-0.051609,0.994099]] 2025-10-27T04:41:44.324Z,1761540104.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.24 m. 2025-10-27T04:41:44.327Z,1761540104.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.241180 m, nav range: 160.052505 m, bearing: 53.367864 deg, approach rate: 0.110794 m/s, LOS rate: 0.123888 deg/s, cmd heading: 54.752893 deg, new cmd heading: 54.899542 deg. 2025-10-27T04:41:44.328Z,1761540104.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958178 target range: 170.241180 and range: 170.90 m. 2025-10-27T04:41:44.370Z,1761540104.370 [DAT](INFO): DAT read: 04:41:42.3633 LVL= 24368, 22641, 32754, 32243, AGC= 64, IDX= 434,-0.26,-1.626,-1.846, 3.126,-1.648, PHS= 0.124,-0.153,-1.553, RAW= 38.9, 19.8, CAL= 35.3, 23.0, ROT= 114.7, -23.0 2025-10-27T04:41:44.371Z,1761540104.371 [DAT](INFO): got valid direction response: 04:41:42.3633 LVL= 24368, 22641, 32754, 32243, AGC= 64, IDX= 434,-0.26,-1.626,-1.846, 3.126,-1.648, PHS= 0.124,-0.153,-1.553, RAW= 38.9, 19.8, CAL= 35.3, 23.0, ROT= 114.7, -23.0 2025-10-27T04:41:44.372Z,1761540104.372 [DAT](INFO): DAT read: Bearing 247.7, 56.7 (Local) 2025-10-27T04:41:44.373Z,1761540104.373 [DAT](INFO): Local bearing/azimuth received: Bearing 247.7, 56.7 (Local) 2025-10-27T04:41:44.374Z,1761540104.374 [DAT](INFO): DAT read: Range 11 to 50 : 171.5 m (Round-trip 228.7 ms) speed 0.0 m/s 2025-10-27T04:41:44.374Z,1761540104.374 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:44.376Z,1761540104.376 [DAT](INFO): direction in FSK: [-0.384649,0.836286,0.390731] 2025-10-27T04:41:44.376Z,1761540104.376 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:44.384Z,1761540104.384 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:44.385Z,1761540104.385 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:44.386Z,1761540104.386 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:44.617Z,1761540104.617 [DAT](INFO): DAT read: user:145> 2025-10-27T04:41:44.619Z,1761540104.619 [DAT](INFO): DAT read: Tx time:04:41:43.7305 2025-10-27T04:41:44.619Z,1761540104.619 [DAT](INFO): Ping request sent. 2025-10-27T04:41:44.619Z,1761540104.619 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:44.620Z,1761540104.620 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:44.620Z,1761540104.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T04:41:44.737Z,1761540104.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654906,0.750317,0.090124],[-0.750175,0.659877,-0.042414],[-0.091294,-0.039832,0.995027]] 2025-10-27T04:41:44.808Z,1761540104.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.500000 m, deltaT: 4.030001 s, deltaX: 0.600006 m, approachRate: 0.148885 m/s, rangeRepo size: 4 2025-10-27T04:41:44.810Z,1761540104.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.840027 m, bearing: 63.497795 deg, lat: 36.779409 deg, lon: -121.859747 deg, deltaT: 4.030001 s, deltaX: 0.598846 m, approachRate: 0.148597 m/s, posRepo size: 4 2025-10-27T04:41:44.810Z,1761540104.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:44.813Z,1761540104.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.279053 m, bearing: 53.951043 deg, approach rate: 0.000000 m/s, LOS rate: 0.123888 deg/s, cmd heading: 54.899541 deg, new cmd heading: 55.078872 deg. 2025-10-27T04:41:44.814Z,1761540104.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961308 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:44.865Z,1761540104.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245764 2025-10-27T04:41:45.117Z,1761540105.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497040 2025-10-27T04:41:45.156Z,1761540105.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664682,0.743031,0.078121],[-0.742106,0.668698,-0.046062],[-0.086465,-0.027358,0.995879]] 2025-10-27T04:41:45.195Z,1761540105.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:45.198Z,1761540105.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.331650 m, bearing: 54.007332 deg, approach rate: 0.136873 m/s, LOS rate: 0.146431 deg/s, cmd heading: 55.078871 deg, new cmd heading: 55.247681 deg. 2025-10-27T04:41:45.213Z,1761540105.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964254 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:45.369Z,1761540105.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749033 2025-10-27T04:41:45.620Z,1761540105.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000529 2025-10-27T04:41:45.634Z,1761540105.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:45.636Z,1761540105.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:45.639Z,1761540105.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.409241 m, bearing: 54.081037 deg, approach rate: 0.174337 m/s, LOS rate: 0.165527 deg/s, cmd heading: 55.247679 deg, new cmd heading: 55.468687 deg. 2025-10-27T04:41:45.640Z,1761540105.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968111 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:45.876Z,1761540105.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255311 2025-10-27T04:41:45.976Z,1761540105.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685600,0.725864,0.055436],[-0.724051,0.687821,-0.051500],[-0.075512,-0.004830,0.997133]] 2025-10-27T04:41:45.995Z,1761540105.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:45.998Z,1761540105.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.466385 m, bearing: 54.140506 deg, approach rate: 0.159263 m/s, LOS rate: 0.165682 deg/s, cmd heading: 55.468687 deg, new cmd heading: 55.647029 deg. 2025-10-27T04:41:45.999Z,1761540105.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971224 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:46.125Z,1761540106.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505047 2025-10-27T04:41:46.376Z,1761540106.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756525 2025-10-27T04:41:46.379Z,1761540106.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696776,0.715725,0.047340],[-0.713884,0.698379,-0.051344],[-0.069810,0.001980,0.997558]] 2025-10-27T04:41:46.487Z,1761540106.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:46.490Z,1761540106.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.536362 m, bearing: 54.216977 deg, approach rate: 0.143323 m/s, LOS rate: 0.156555 deg/s, cmd heading: 55.647030 deg, new cmd heading: 55.876341 deg. 2025-10-27T04:41:46.495Z,1761540106.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.975226 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:46.628Z,1761540106.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008385 2025-10-27T04:41:46.849Z,1761540106.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:46.857Z,1761540106.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.600784 m, bearing: 54.285666 deg, approach rate: 0.176172 m/s, LOS rate: 0.187765 deg/s, cmd heading: 55.876340 deg, new cmd heading: 56.082324 deg. 2025-10-27T04:41:46.858Z,1761540106.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.978821 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:46.880Z,1761540106.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260391 2025-10-27T04:41:47.132Z,1761540107.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512535 2025-10-27T04:41:47.189Z,1761540107.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719630,0.693537,0.033763],[-0.691964,0.720335,-0.047995],[-0.057607,0.011176,0.998277]] 2025-10-27T04:41:47.227Z,1761540107.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:47.230Z,1761540107.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.655411 m, bearing: 54.350514 deg, approach rate: 0.144616 m/s, LOS rate: 0.171618 deg/s, cmd heading: 56.082325 deg, new cmd heading: 56.276802 deg. 2025-10-27T04:41:47.234Z,1761540107.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982215 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:47.384Z,1761540107.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764311 2025-10-27T04:41:47.636Z,1761540107.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016363 2025-10-27T04:41:47.668Z,1761540107.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731569,0.681182,0.028233],[-0.679831,0.731985,-0.045028],[-0.051338,0.013748,0.998587]] 2025-10-27T04:41:47.728Z,1761540107.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:47.752Z,1761540107.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:47.760Z,1761540107.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.722977 m, bearing: 54.443745 deg, approach rate: 0.134086 m/s, LOS rate: 0.184940 deg/s, cmd heading: 56.276801 deg, new cmd heading: 56.556372 deg. 2025-10-27T04:41:47.763Z,1761540107.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987095 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:47.892Z,1761540107.892 [DAT](INFO): DAT read: Rx Time:04:41:46.3642 2025-10-27T04:41:47.892Z,1761540107.892 [DAT](INFO): Rx dataTimestamp_ set to:1761540107.892215 2025-10-27T04:41:47.893Z,1761540107.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273567 2025-10-27T04:41:48.145Z,1761540108.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525130 2025-10-27T04:41:48.261Z,1761540108.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756473,0.653815,0.016573],[-0.652870,0.756400,-0.040250],[-0.038852,0.019628,0.999052]] 2025-10-27T04:41:48.285Z,1761540108.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.84 m. 2025-10-27T04:41:48.288Z,1761540108.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.840027 m, nav range: 160.787155 m, bearing: 54.546992 deg, approach rate: 0.115677 m/s, LOS rate: 0.186022 deg/s, cmd heading: 56.556371 deg, new cmd heading: 56.865987 deg. 2025-10-27T04:41:48.289Z,1761540108.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992499 target range: 170.840027 and range: 171.50 m. 2025-10-27T04:41:48.401Z,1761540108.401 [DAT](INFO): DAT read: 04:41:46.3642 LVL= 27536, 26097, 32754, 32755, AGC= 64, IDX= 443,-0.20, 0.766,-0.099,-1.078, 0.304, PHS= 0.564,-0.358,-1.426, RAW= 57.6, 14.0, CAL= 53.7, 17.8, ROT= 96.3, -17.8 2025-10-27T04:41:48.403Z,1761540108.403 [DAT](INFO): got valid direction response: 04:41:46.3642 LVL= 27536, 26097, 32754, 32755, AGC= 64, IDX= 443,-0.20, 0.766,-0.099,-1.078, 0.304, PHS= 0.564,-0.358,-1.426, RAW= 57.6, 14.0, CAL= 53.7, 17.8, ROT= 96.3, -17.8 2025-10-27T04:41:48.404Z,1761540108.404 [DAT](INFO): DAT read: Bearing 233.4, 72.3 (Local) 2025-10-27T04:41:48.404Z,1761540108.404 [DAT](INFO): Local bearing/azimuth received: Bearing 233.4, 72.3 (Local) 2025-10-27T04:41:48.405Z,1761540108.405 [DAT](INFO): DAT read: Range 11 to 50 : 172.1 m (Round-trip 229.5 ms) speed 0.0 m/s 2025-10-27T04:41:48.406Z,1761540108.406 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:48.407Z,1761540108.407 [DAT](INFO): direction in FSK: [-0.104481,0.946379,0.305695] 2025-10-27T04:41:48.407Z,1761540108.407 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:48.438Z,1761540108.438 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:48.438Z,1761540108.438 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:48.438Z,1761540108.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:48.648Z,1761540108.648 [DAT](INFO): DAT read: user:146> 2025-10-27T04:41:48.650Z,1761540108.650 [DAT](INFO): DAT read: Tx time:04:41:47.7805 2025-10-27T04:41:48.650Z,1761540108.650 [DAT](INFO): Ping request sent. 2025-10-27T04:41:48.650Z,1761540108.650 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:48.650Z,1761540108.650 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:48.652Z,1761540108.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001224 2025-10-27T04:41:48.729Z,1761540108.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768575,0.639672,0.010599],[-0.638916,0.768306,-0.038629],[-0.032854,0.022917,0.999197]] 2025-10-27T04:41:48.795Z,1761540108.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.100006 m, deltaT: 4.036008 s, deltaX: 0.600006 m, approachRate: 0.148663 m/s, rangeRepo size: 4 2025-10-27T04:41:48.797Z,1761540108.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.438690 m, bearing: 55.959339 deg, lat: 36.779387 deg, lon: -121.859715 deg, deltaT: 4.036008 s, deltaX: 0.598663 m, approachRate: 0.148331 m/s, posRepo size: 4 2025-10-27T04:41:48.798Z,1761540108.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:48.801Z,1761540108.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.800018 m, bearing: 55.958747 deg, approach rate: 0.000000 m/s, LOS rate: 0.186022 deg/s, cmd heading: 56.865986 deg, new cmd heading: 57.150074 deg. 2025-10-27T04:41:48.802Z,1761540108.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997457 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:48.900Z,1761540108.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249956 2025-10-27T04:41:49.125Z,1761540109.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781124,0.624362,0.004256],[-0.623794,0.780672,-0.037838],[-0.026947,0.026901,0.999275]] 2025-10-27T04:41:49.144Z,1761540109.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:49.147Z,1761540109.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.831268 m, bearing: 56.022635 deg, approach rate: 0.089295 m/s, LOS rate: 0.182520 deg/s, cmd heading: 57.150075 deg, new cmd heading: 57.341700 deg. 2025-10-27T04:41:49.148Z,1761540109.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000801 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:49.152Z,1761540109.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502206 2025-10-27T04:41:49.404Z,1761540109.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753917 2025-10-27T04:41:49.546Z,1761540109.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793607,0.608429,-0.001505],[-0.608065,0.793042,-0.036611],[-0.021082,0.029970,0.999328]] 2025-10-27T04:41:49.590Z,1761540109.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:49.592Z,1761540109.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.852905 m, bearing: 56.100429 deg, approach rate: 0.048593 m/s, LOS rate: 0.174688 deg/s, cmd heading: 57.341699 deg, new cmd heading: 57.575048 deg. 2025-10-27T04:41:49.593Z,1761540109.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.004874 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:49.658Z,1761540109.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007993 2025-10-27T04:41:49.908Z,1761540109.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257810 2025-10-27T04:41:49.946Z,1761540109.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806309,0.591452,-0.007117],[-0.591297,0.805669,-0.035576],[-0.015308,0.032893,0.999342]] 2025-10-27T04:41:49.976Z,1761540109.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:49.978Z,1761540109.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:49.981Z,1761540109.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.868011 m, bearing: 56.168328 deg, approach rate: 0.038884 m/s, LOS rate: 0.174759 deg/s, cmd heading: 57.575045 deg, new cmd heading: 57.778724 deg. 2025-10-27T04:41:49.982Z,1761540109.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008429 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:50.160Z,1761540110.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509867 2025-10-27T04:41:50.338Z,1761540110.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818965,0.573712,-0.012279],[-0.573762,0.818299,-0.034425],[-0.009702,0.035238,0.999332]] 2025-10-27T04:41:50.357Z,1761540110.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:50.380Z,1761540110.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.878983 m, bearing: 56.234799 deg, approach rate: 0.028958 m/s, LOS rate: 0.175436 deg/s, cmd heading: 57.778722 deg, new cmd heading: 57.978119 deg. 2025-10-27T04:41:50.381Z,1761540110.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011909 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:50.412Z,1761540110.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761936 2025-10-27T04:41:50.664Z,1761540110.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014247 2025-10-27T04:41:50.879Z,1761540110.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843590,0.536529,-0.022187],[-0.536986,0.842975,-0.032223],[0.001414,0.039097,0.999234]] 2025-10-27T04:41:50.916Z,1761540110.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266069 2025-10-27T04:41:50.930Z,1761540110.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:50.933Z,1761540110.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.863022 m, bearing: 56.335434 deg, approach rate: -0.027863 m/s, LOS rate: 0.175699 deg/s, cmd heading: 57.978115 deg, new cmd heading: 58.280047 deg. 2025-10-27T04:41:50.934Z,1761540110.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017179 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:51.169Z,1761540111.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518191 2025-10-27T04:41:51.420Z,1761540111.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769940 2025-10-27T04:41:51.420Z,1761540111.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855111,0.517786,-0.026133],[-0.518401,0.854613,-0.029968],[0.006817,0.039174,0.999209]] 2025-10-27T04:41:51.459Z,1761540111.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:51.462Z,1761540111.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.843719 m, bearing: 56.424828 deg, approach rate: -0.037025 m/s, LOS rate: 0.171492 deg/s, cmd heading: 58.280044 deg, new cmd heading: 58.548257 deg. 2025-10-27T04:41:51.467Z,1761540111.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.021860 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:51.673Z,1761540111.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022902 2025-10-27T04:41:51.920Z,1761540111.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866482,0.498329,-0.029613],[-0.499072,0.866105,-0.028080],[0.011655,0.039110,0.999167]] 2025-10-27T04:41:51.924Z,1761540111.924 [DAT](INFO): DAT read: Rx Time:04:41:50.4147 2025-10-27T04:41:51.925Z,1761540111.925 [DAT](INFO): Rx dataTimestamp_ set to:1761540111.924217 2025-10-27T04:41:51.925Z,1761540111.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274998 2025-10-27T04:41:51.994Z,1761540111.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:51.000Z,1761540112.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:52.002Z,1761540112.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.815079 m, bearing: 56.520426 deg, approach rate: -0.052198 m/s, LOS rate: 0.174259 deg/s, cmd heading: 58.548259 deg, new cmd heading: 58.835100 deg. 2025-10-27T04:41:52.004Z,1761540112.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026866 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:52.176Z,1761540112.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525751 2025-10-27T04:41:52.396Z,1761540112.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.44 m. 2025-10-27T04:41:52.398Z,1761540112.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.438690 m, nav range: 161.794037 m, bearing: 56.591629 deg, approach rate: -0.053138 m/s, LOS rate: 0.179837 deg/s, cmd heading: 58.835099 deg, new cmd heading: 59.048737 deg. 2025-10-27T04:41:52.400Z,1761540112.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.030595 target range: 171.438690 and range: 172.10 m. 2025-10-27T04:41:52.433Z,1761540112.433 [DAT](INFO): DAT read: 04:41:50.4147 LVL= 25584, 26497, 32754, 29939, AGC= 64, IDX= 448, 0.22,-2.361, 2.884, 1.808, 3.064, PHS= 0.961,-0.135,-1.299, RAW= 59.0, 4.9, CAL= 58.2, 3.8, ROT= 91.8, -3.8 2025-10-27T04:41:52.434Z,1761540112.434 [DAT](INFO): got valid direction response: 04:41:50.4147 LVL= 25584, 26497, 32754, 29939, AGC= 64, IDX= 448, 0.22,-2.361, 2.884, 1.808, 3.064, PHS= 0.961,-0.135,-1.299, RAW= 59.0, 4.9, CAL= 58.2, 3.8, ROT= 91.8, -3.8 2025-10-27T04:41:52.436Z,1761540112.436 [DAT](INFO): DAT read: Bearing 285.3, 87.0 (Local) 2025-10-27T04:41:52.436Z,1761540112.436 [DAT](INFO): Local bearing/azimuth received: Bearing 285.3, 87.0 (Local) 2025-10-27T04:41:52.438Z,1761540112.438 [DAT](INFO): DAT read: Range 11 to 50 : 172.5 m (Round-trip 230.0 ms) speed -0.1 m/s 2025-10-27T04:41:52.438Z,1761540112.438 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:52.440Z,1761540112.440 [DAT](INFO): direction in FSK: [-0.031342,0.997309,0.066274] 2025-10-27T04:41:52.440Z,1761540112.440 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:52.459Z,1761540112.459 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:52.460Z,1761540112.460 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:52.460Z,1761540112.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:52.680Z,1761540112.680 [DAT](INFO): DAT read: user:147> 2025-10-27T04:41:52.680Z,1761540112.680 [DAT](INFO): DAT read: Tx time:04:41:51.7805 2025-10-27T04:41:52.681Z,1761540112.681 [DAT](INFO): Ping request sent. 2025-10-27T04:41:52.681Z,1761540112.681 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:52.681Z,1761540112.681 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:52.682Z,1761540112.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T04:41:52.866Z,1761540112.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.500000 m, deltaT: 4.031914 s, deltaX: 0.399994 m, approachRate: 0.099207 m/s, rangeRepo size: 4 2025-10-27T04:41:52.873Z,1761540112.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.830826 m, bearing: 61.935690 deg, lat: 36.779311 deg, lon: -121.859654 deg, deltaT: 4.031914 s, deltaX: 0.392136 m, approachRate: 0.097258 m/s, posRepo size: 4 2025-10-27T04:41:52.874Z,1761540112.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:52.932Z,1761540112.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250946 2025-10-27T04:41:52.934Z,1761540112.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.830826 m, nav range: 161.982391 m, bearing: 60.243038 deg, approach rate: 0.000000 m/s, LOS rate: 0.179837 deg/s, cmd heading: 59.048734 deg, new cmd heading: 59.302034 deg. 2025-10-27T04:41:52.943Z,1761540112.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035016 target range: 171.830826 and range: 172.50 m. 2025-10-27T04:41:53.184Z,1761540113.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503021 2025-10-27T04:41:53.318Z,1761540113.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907410,0.418011,-0.043302],[-0.419332,0.907411,-0.027672],[0.027725,0.043268,0.998679]] 2025-10-27T04:41:53.348Z,1761540113.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:53.351Z,1761540113.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.830826 m, nav range: 161.953293 m, bearing: 60.331507 deg, approach rate: -0.060260 m/s, LOS rate: 0.183241 deg/s, cmd heading: 59.302031 deg, new cmd heading: 59.567484 deg. 2025-10-27T04:41:53.352Z,1761540113.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039649 target range: 171.830826 and range: 172.50 m. 2025-10-27T04:41:53.437Z,1761540113.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755810 2025-10-27T04:41:53.688Z,1761540113.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006885 2025-10-27T04:41:53.719Z,1761540113.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916481,0.397311,-0.046980],[-0.398856,0.916533,-0.029691],[0.031262,0.045949,0.998455]] 2025-10-27T04:41:53.786Z,1761540113.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:53.789Z,1761540113.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.830826 m, nav range: 161.935699 m, bearing: 60.415386 deg, approach rate: -0.040204 m/s, LOS rate: 0.191701 deg/s, cmd heading: 59.567487 deg, new cmd heading: 59.819148 deg. 2025-10-27T04:41:53.790Z,1761540113.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044041 target range: 171.830826 and range: 172.50 m. 2025-10-27T04:41:53.940Z,1761540113.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258995 2025-10-27T04:41:54.101Z,1761540114.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924903,0.376853,-0.050366],[-0.378622,0.925008,-0.031700],[0.034643,0.048389,0.998228]] 2025-10-27T04:41:54.139Z,1761540114.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:54.141Z,1761540114.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:54.144Z,1761540114.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.830826 m, nav range: 161.918213 m, bearing: 60.480358 deg, approach rate: -0.049178 m/s, LOS rate: 0.182744 deg/s, cmd heading: 59.819145 deg, new cmd heading: 60.014083 deg. 2025-10-27T04:41:54.145Z,1761540114.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047443 target range: 171.830826 and range: 172.50 m. 2025-10-27T04:41:54.193Z,1761540114.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511205 2025-10-27T04:41:54.444Z,1761540114.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762980 2025-10-27T04:41:54.514Z,1761540114.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933099,0.355645,-0.053319],[-0.357625,0.933261,-0.033580],[0.037818,0.050402,0.998013]] 2025-10-27T04:41:54.598Z,1761540114.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:54.605Z,1761540114.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.830826 m, nav range: 161.891937 m, bearing: 60.559852 deg, approach rate: -0.057519 m/s, LOS rate: 0.174043 deg/s, cmd heading: 60.014086 deg, new cmd heading: 60.252603 deg. 2025-10-27T04:41:54.606Z,1761540114.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051606 target range: 171.830826 and range: 172.50 m. 2025-10-27T04:41:54.697Z,1761540114.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015805 2025-10-27T04:41:54.948Z,1761540114.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266975 2025-10-27T04:41:55.088Z,1761540115.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940619,0.334790,-0.056141],[-0.336942,0.940897,-0.034404],[0.041305,0.051278,0.997830]] 2025-10-27T04:41:55.148Z,1761540115.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:55.155Z,1761540115.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.830826 m, nav range: 161.865631 m, bearing: 60.676201 deg, approach rate: -0.047826 m/s, LOS rate: 0.211563 deg/s, cmd heading: 60.252603 deg, new cmd heading: 60.601702 deg. 2025-10-27T04:41:55.156Z,1761540115.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057699 target range: 171.830826 and range: 172.50 m. 2025-10-27T04:41:55.200Z,1761540115.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519124 2025-10-27T04:41:55.452Z,1761540115.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771371 2025-10-27T04:41:55.526Z,1761540115.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947691,0.313643,-0.059250],[-0.316017,0.948072,-0.035955],[0.044896,0.052798,0.997595]] 2025-10-27T04:41:55.546Z,1761540115.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:55.552Z,1761540115.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.830826 m, nav range: 161.842560 m, bearing: 60.757305 deg, approach rate: -0.058188 m/s, LOS rate: 0.204584 deg/s, cmd heading: 60.601700 deg, new cmd heading: 60.845047 deg. 2025-10-27T04:41:55.553Z,1761540115.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061946 target range: 171.830826 and range: 172.50 m. 2025-10-27T04:41:55.705Z,1761540115.705 [DAT](INFO): DAT read: Rx Time:04:41:54.4148 2025-10-27T04:41:55.706Z,1761540115.706 [DAT](INFO): Rx dataTimestamp_ set to:1761540115.704873 2025-10-27T04:41:55.706Z,1761540115.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025178 2025-10-27T04:41:55.956Z,1761540115.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275161 2025-10-27T04:41:56.064Z,1761540116.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954372,0.292273,-0.061243],[-0.294788,0.954849,-0.036915],[0.047689,0.053285,0.997440]] 2025-10-27T04:41:56.122Z,1761540116.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:56.134Z,1761540116.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.830826 m, nav range: 161.817383 m, bearing: 60.874520 deg, approach rate: -0.043621 m/s, LOS rate: 0.203114 deg/s, cmd heading: 60.845046 deg, new cmd heading: 61.196741 deg. 2025-10-27T04:41:56.136Z,1761540116.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068085 target range: 171.830826 and range: 172.50 m. 2025-10-27T04:41:56.208Z,1761540116.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527141 2025-10-27T04:41:56.466Z,1761540116.466 [DAT](INFO): DAT read: 04:41:54.4148 LVL= 21696, 29745, 31058, 30115, AGC= 61, IDX= 432, 0.32, 0.996,-0.202,-0.928, 0.316, PHS= 0.782,-0.472,-1.288, RAW= 67.0, 10.8, CAL= 65.0, 14.3, ROT= 85.0, -14.3 2025-10-27T04:41:56.467Z,1761540116.467 [DAT](INFO): got valid direction response: 04:41:54.4148 LVL= 21696, 29745, 31058, 30115, AGC= 61, IDX= 432, 0.32, 0.996,-0.202,-0.928, 0.316, PHS= 0.782,-0.472,-1.288, RAW= 67.0, 10.8, CAL= 65.0, 14.3, ROT= 85.0, -14.3 2025-10-27T04:41:56.468Z,1761540116.468 [DAT](INFO): DAT read: Bearing 235.7, 78.0 (Local) 2025-10-27T04:41:56.468Z,1761540116.468 [DAT](INFO): Local bearing/azimuth received: Bearing 235.7, 78.0 (Local) 2025-10-27T04:41:56.469Z,1761540116.469 [DAT](INFO): DAT read: Range 11 to 50 : 172.5 m (Round-trip 230.1 ms) speed 0.0 m/s 2025-10-27T04:41:56.470Z,1761540116.470 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:41:56.480Z,1761540116.480 [DAT](INFO): direction in FSK: [0.084455,0.965328,0.246999] 2025-10-27T04:41:56.480Z,1761540116.480 [DAT](INFO): publishing direction and range info 2025-10-27T04:41:56.484Z,1761540116.484 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:41:56.484Z,1761540116.484 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:41:56.484Z,1761540116.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:41:56.508Z,1761540116.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966217,0.249575,-0.064314],[-0.252440,0.966743,-0.041001],[0.051942,0.055851,0.997087]] 2025-10-27T04:41:56.687Z,1761540116.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.500000 m, deltaT: 4.032262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:41:56.689Z,1761540116.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.827759 m, bearing: 71.220002 deg, lat: 36.779291 deg, lon: -121.859622 deg, deltaT: 4.032262 s, deltaX: -0.003067 m, approachRate: -0.000761 m/s, posRepo size: 4 2025-10-27T04:41:56.690Z,1761540116.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:56.702Z,1761540116.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 163.177887 m, bearing: 62.138129 deg, approach rate: 0.000000 m/s, LOS rate: 0.203114 deg/s, cmd heading: 61.196740 deg, new cmd heading: 61.535728 deg. 2025-10-27T04:41:56.707Z,1761540116.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074001 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:56.713Z,1761540116.713 [DAT](INFO): DAT read: user:148> 2025-10-27T04:41:56.714Z,1761540116.714 [DAT](INFO): DAT read: Tx time:04:41:55.7805 2025-10-27T04:41:56.714Z,1761540116.714 [DAT](INFO): Ping request sent. 2025-10-27T04:41:56.714Z,1761540116.714 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:41:56.715Z,1761540116.715 [DAT](INFO): publishing transmit ping time 2025-10-27T04:41:56.716Z,1761540116.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001184 2025-10-27T04:41:56.964Z,1761540116.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249697 2025-10-27T04:41:57.067Z,1761540117.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971473,0.228021,-0.065164],[-0.231004,0.972021,-0.042564],[0.053636,0.056403,0.996966]] 2025-10-27T04:41:57.110Z,1761540117.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:57.112Z,1761540117.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:57.115Z,1761540117.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 163.153397 m, bearing: 62.236641 deg, approach rate: -0.056402 m/s, LOS rate: 0.226909 deg/s, cmd heading: 61.535729 deg, new cmd heading: 61.831307 deg. 2025-10-27T04:41:57.116Z,1761540117.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079160 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:57.216Z,1761540117.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501789 2025-10-27T04:41:57.468Z,1761540117.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753461 2025-10-27T04:41:57.476Z,1761540117.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976344,0.205864,-0.066130],[-0.209088,0.976807,-0.046160],[0.055094,0.058895,0.996743]] 2025-10-27T04:41:57.495Z,1761540117.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:57.498Z,1761540117.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 163.128540 m, bearing: 62.317107 deg, approach rate: -0.064979 m/s, LOS rate: 0.210383 deg/s, cmd heading: 61.831305 deg, new cmd heading: 62.072738 deg. 2025-10-27T04:41:57.499Z,1761540117.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.083374 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:57.721Z,1761540117.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006028 2025-10-27T04:41:57.877Z,1761540117.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980740,0.183579,-0.066693],[-0.186993,0.981132,-0.049122],[0.056417,0.060647,0.996564]] 2025-10-27T04:41:57.922Z,1761540117.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:57.925Z,1761540117.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 163.096542 m, bearing: 62.407284 deg, approach rate: -0.074947 m/s, LOS rate: 0.211259 deg/s, cmd heading: 62.072739 deg, new cmd heading: 62.343320 deg. 2025-10-27T04:41:57.926Z,1761540117.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.088096 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:57.972Z,1761540117.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257515 2025-10-27T04:41:58.226Z,1761540118.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511610 2025-10-27T04:41:58.303Z,1761540118.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984652,0.161105,-0.067119],[-0.164691,0.984984,-0.051808],[0.057765,0.062067,0.996399]] 2025-10-27T04:41:58.338Z,1761540118.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:58.345Z,1761540118.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 163.061447 m, bearing: 62.491617 deg, approach rate: -0.084381 m/s, LOS rate: 0.202810 deg/s, cmd heading: 62.343317 deg, new cmd heading: 62.596369 deg. 2025-10-27T04:41:58.346Z,1761540118.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.092513 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:58.479Z,1761540118.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764570 2025-10-27T04:41:58.713Z,1761540118.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988058,0.138590,-0.067332],[-0.142331,0.988326,-0.054346],[0.059015,0.063281,0.996249]] 2025-10-27T04:41:58.730Z,1761540118.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014858 2025-10-27T04:41:58.780Z,1761540118.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:58.783Z,1761540118.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 163.018433 m, bearing: 62.584882 deg, approach rate: -0.097252 m/s, LOS rate: 0.210920 deg/s, cmd heading: 62.596368 deg, new cmd heading: 62.876234 deg. 2025-10-27T04:41:58.784Z,1761540118.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097397 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:58.983Z,1761540118.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268760 2025-10-27T04:41:59.106Z,1761540119.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991000,0.115543,-0.067593],[-0.119485,0.991169,-0.057505],[0.060352,0.065064,0.996054]] 2025-10-27T04:41:59.123Z,1761540119.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:41:59.125Z,1761540119.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:59.144Z,1761540119.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 162.981766 m, bearing: 62.654813 deg, approach rate: -0.106272 m/s, LOS rate: 0.202727 deg/s, cmd heading: 62.876235 deg, new cmd heading: 63.086075 deg. 2025-10-27T04:41:59.145Z,1761540119.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101060 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:59.233Z,1761540119.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518746 2025-10-27T04:41:59.484Z,1761540119.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769459 2025-10-27T04:41:59.541Z,1761540119.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:59.543Z,1761540119.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 162.937851 m, bearing: 62.739216 deg, approach rate: -0.105696 m/s, LOS rate: 0.203199 deg/s, cmd heading: 63.086072 deg, new cmd heading: 63.339347 deg. 2025-10-27T04:41:59.544Z,1761540119.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105480 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:59.737Z,1761540119.737 [DAT](INFO): DAT read: Rx Time:04:41:58.4145 2025-10-27T04:41:59.738Z,1761540119.738 [DAT](INFO): Rx dataTimestamp_ set to:1761540119.737061 2025-10-27T04:41:59.739Z,1761540119.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024264 2025-10-27T04:41:59.916Z,1761540119.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995364,0.068325,-0.067695],[-0.072711,0.995260,-0.064588],[0.062961,0.069211,0.995613]] 2025-10-27T04:41:59.969Z,1761540119.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:41:59.976Z,1761540119.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 162.876251 m, bearing: 62.820341 deg, approach rate: -0.143846 m/s, LOS rate: 0.189513 deg/s, cmd heading: 63.339349 deg, new cmd heading: 63.582816 deg. 2025-10-27T04:41:59.977Z,1761540119.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109730 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:41:59.988Z,1761540119.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273551 2025-10-27T04:42:00.244Z,1761540120.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529187 2025-10-27T04:42:00.319Z,1761540120.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996701,0.045156,-0.067445],[-0.049635,0.996566,-0.066281],[0.064221,0.069410,0.995519]] 2025-10-27T04:42:00.337Z,1761540120.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.83 m. 2025-10-27T04:42:00.340Z,1761540120.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.827759 m, nav range: 162.814133 m, bearing: 62.895577 deg, approach rate: -0.168678 m/s, LOS rate: 0.204374 deg/s, cmd heading: 63.582818 deg, new cmd heading: 63.808610 deg. 2025-10-27T04:42:00.341Z,1761540120.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113670 target range: 171.827759 and range: 172.50 m. 2025-10-27T04:42:00.498Z,1761540120.498 [DAT](INFO): DAT read: 04:41:58.4145 LVL= 17760, 29681, 29026, 28531, AGC= 64, IDX= 447, 0.20, 2.628, 1.050, 0.957, 1.978, PHS= 0.751,-0.883,-1.065, RAW= 84.8, 13.7, CAL= 84.7, 17.2, ROT= 65.3, -17.2 2025-10-27T04:42:00.500Z,1761540120.500 [DAT](INFO): got valid direction response: 04:41:58.4145 LVL= 17760, 29681, 29026, 28531, AGC= 64, IDX= 447, 0.20, 2.628, 1.050, 0.957, 1.978, PHS= 0.751,-0.883,-1.065, RAW= 84.8, 13.7, CAL= 84.7, 17.2, ROT= 65.3, -17.2 2025-10-27T04:42:00.501Z,1761540120.501 [DAT](INFO): DAT read: Bearing 205.3, 65.2 (Local) 2025-10-27T04:42:00.501Z,1761540120.501 [DAT](INFO): Local bearing/azimuth received: Bearing 205.3, 65.2 (Local) 2025-10-27T04:42:00.502Z,1761540120.502 [DAT](INFO): DAT read: Range 11 to 50 : 172.4 m (Round-trip 229.9 ms) speed 0.0 m/s 2025-10-27T04:42:00.503Z,1761540120.503 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:00.504Z,1761540120.504 [DAT](INFO): direction in FSK: [0.399179,0.867878,0.295708] 2025-10-27T04:42:00.504Z,1761540120.504 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:00.512Z,1761540120.512 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:00.512Z,1761540120.512 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:00.512Z,1761540120.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:00.745Z,1761540120.745 [DAT](INFO): DAT read: user:149> 2025-10-27T04:42:00.747Z,1761540120.747 [DAT](INFO): DAT read: Tx time:04:41:59.8304 2025-10-27T04:42:00.747Z,1761540120.747 [DAT](INFO): Ping request sent. 2025-10-27T04:42:00.747Z,1761540120.747 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:42:00.748Z,1761540120.748 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:00.749Z,1761540120.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001377 2025-10-27T04:42:00.826Z,1761540120.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997502,0.021777,-0.067199],[-0.026311,0.997383,-0.067342],[0.065557,0.068942,0.995464]] 2025-10-27T04:42:00.889Z,1761540120.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.399994 m, deltaT: 4.032864 s, deltaX: -0.100006 m, approachRate: -0.024798 m/s, rangeRepo size: 4 2025-10-27T04:42:00.895Z,1761540120.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.727188 m, bearing: 64.564582 deg, lat: 36.779240 deg, lon: -121.859622 deg, deltaT: 4.032864 s, deltaX: -0.100571 m, approachRate: -0.024938 m/s, posRepo size: 4 2025-10-27T04:42:00.896Z,1761540120.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:00.899Z,1761540120.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 160.217636 m, bearing: 64.801690 deg, approach rate: 0.000000 m/s, LOS rate: 0.204374 deg/s, cmd heading: 63.808611 deg, new cmd heading: 64.146622 deg. 2025-10-27T04:42:00.904Z,1761540120.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119570 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:00.996Z,1761540120.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248641 2025-10-27T04:42:01.250Z,1761540121.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501743 2025-10-27T04:42:01.393Z,1761540121.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997486,-0.025016,-0.066307],[0.020415,0.997395,-0.069190],[0.067865,0.067662,0.995398]] 2025-10-27T04:42:01.426Z,1761540121.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:01.432Z,1761540121.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:01.439Z,1761540121.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 160.107468 m, bearing: 64.906539 deg, approach rate: -0.202584 m/s, LOS rate: 0.192935 deg/s, cmd heading: 64.146623 deg, new cmd heading: 64.461384 deg. 2025-10-27T04:42:01.440Z,1761540121.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125063 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:01.501Z,1761540121.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753260 2025-10-27T04:42:01.752Z,1761540121.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004416 2025-10-27T04:42:01.981Z,1761540121.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:01.984Z,1761540121.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 159.978119 m, bearing: 65.012947 deg, approach rate: -0.235769 m/s, LOS rate: 0.194111 deg/s, cmd heading: 64.461386 deg, new cmd heading: 64.780864 deg. 2025-10-27T04:42:01.985Z,1761540121.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130639 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:02.004Z,1761540122.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256567 2025-10-27T04:42:02.256Z,1761540122.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508430 2025-10-27T04:42:02.314Z,1761540122.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995271,-0.073368,-0.063666],[0.068554,0.994842,-0.074761],[0.068823,0.070043,0.995167]] 2025-10-27T04:42:02.349Z,1761540122.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:02.358Z,1761540122.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 159.889755 m, bearing: 65.077296 deg, approach rate: -0.240105 m/s, LOS rate: 0.174950 deg/s, cmd heading: 64.780861 deg, new cmd heading: 64.974016 deg. 2025-10-27T04:42:02.376Z,1761540122.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134011 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:02.508Z,1761540122.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760773 2025-10-27T04:42:02.737Z,1761540122.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993285,-0.097629,-0.062081],[0.092861,0.992809,-0.075542],[0.069010,0.069270,0.995208]] 2025-10-27T04:42:02.760Z,1761540122.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012441 2025-10-27T04:42:02.787Z,1761540122.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:02.790Z,1761540122.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 159.757553 m, bearing: 65.159123 deg, approach rate: -0.301747 m/s, LOS rate: 0.186920 deg/s, cmd heading: 64.974019 deg, new cmd heading: 65.219698 deg. 2025-10-27T04:42:02.791Z,1761540122.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138299 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:03.012Z,1761540123.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264545 2025-10-27T04:42:03.124Z,1761540123.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990638,-0.122441,-0.060374],[0.117589,0.989974,-0.078260],[0.069351,0.070428,0.995103]] 2025-10-27T04:42:03.143Z,1761540123.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:03.145Z,1761540123.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 159.649918 m, bearing: 65.222303 deg, approach rate: -0.302656 m/s, LOS rate: 0.177774 deg/s, cmd heading: 65.219701 deg, new cmd heading: 65.409368 deg. 2025-10-27T04:42:03.146Z,1761540123.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141609 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:03.264Z,1761540123.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516484 2025-10-27T04:42:03.516Z,1761540123.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768440 2025-10-27T04:42:03.527Z,1761540123.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987368,-0.147245,-0.058507],[0.142316,0.986501,-0.081003],[0.069645,0.071654,0.994995]] 2025-10-27T04:42:03.544Z,1761540123.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:03.546Z,1761540123.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:03.565Z,1761540123.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 159.523224 m, bearing: 65.292903 deg, approach rate: -0.313812 m/s, LOS rate: 0.175011 deg/s, cmd heading: 65.409368 deg, new cmd heading: 65.621336 deg. 2025-10-27T04:42:03.566Z,1761540123.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145308 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:03.768Z,1761540123.768 [DAT](INFO): DAT read: Rx Time:04:42:02.4631 2025-10-27T04:42:03.768Z,1761540123.768 [DAT](INFO): Rx dataTimestamp_ set to:1761540123.768162 2025-10-27T04:42:03.769Z,1761540123.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021488 2025-10-27T04:42:03.930Z,1761540123.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983455,-0.172118,-0.056495],[0.167161,0.982418,-0.083134],[0.069810,0.072315,0.994936]] 2025-10-27T04:42:03.990Z,1761540123.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:03.994Z,1761540123.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 159.378723 m, bearing: 65.363779 deg, approach rate: -0.325730 m/s, LOS rate: 0.159912 deg/s, cmd heading: 65.621336 deg, new cmd heading: 65.834156 deg. 2025-10-27T04:42:03.994Z,1761540123.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149023 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:04.020Z,1761540124.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272440 2025-10-27T04:42:04.277Z,1761540124.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529133 2025-10-27T04:42:04.348Z,1761540124.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978869,-0.197059,-0.054624],[0.192067,0.977680,-0.085162],[0.070187,0.072871,0.994869]] 2025-10-27T04:42:04.368Z,1761540124.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.73 m. 2025-10-27T04:42:04.370Z,1761540124.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.727188 m, nav range: 159.235962 m, bearing: 65.430427 deg, approach rate: -0.378076 m/s, LOS rate: 0.176665 deg/s, cmd heading: 65.834158 deg, new cmd heading: 66.034283 deg. 2025-10-27T04:42:04.371Z,1761540124.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152516 target range: 171.727188 and range: 172.40 m. 2025-10-27T04:42:04.529Z,1761540124.529 [DAT](INFO): DAT read: 04:42:02.4631 LVL= 31168, 32753, 32754, 32755, AGC= 66, IDX= 433, 0.20, 0.011,-2.026,-1.433,-0.802, PHS= 0.915,-1.179,-0.675, RAW= 103.3, 9.9, CAL= 104.4, 11.1, ROT= 45.6, -11.1 2025-10-27T04:42:04.530Z,1761540124.530 [DAT](INFO): got valid direction response: 04:42:02.4631 LVL= 31168, 32753, 32754, 32755, AGC= 66, IDX= 433, 0.20, 0.011,-2.026,-1.433,-0.802, PHS= 0.915,-1.179,-0.675, RAW= 103.3, 9.9, CAL= 104.4, 11.1, ROT= 45.6, -11.1 2025-10-27T04:42:04.531Z,1761540124.531 [DAT](INFO): DAT read: Bearing 197.5, 48.9 (Local) 2025-10-27T04:42:04.532Z,1761540124.532 [DAT](INFO): Local bearing/azimuth received: Bearing 197.5, 48.9 (Local) 2025-10-27T04:42:04.533Z,1761540124.533 [DAT](INFO): DAT read: Range 11 to 50 : 171.4 m (Round-trip 228.6 ms) speed 0.4 m/s 2025-10-27T04:42:04.534Z,1761540124.534 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:04.535Z,1761540124.535 [DAT](INFO): direction in FSK: [0.686575,0.701107,0.192522] 2025-10-27T04:42:04.535Z,1761540124.535 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:04.538Z,1761540124.538 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:04.539Z,1761540124.539 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:04.539Z,1761540124.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:04.759Z,1761540124.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973709,-0.221493,-0.053203],[0.216508,0.972476,-0.086114],[0.070813,0.072331,0.994864]] 2025-10-27T04:42:04.776Z,1761540124.776 [DAT](INFO): DAT read: user:150> 2025-10-27T04:42:04.777Z,1761540124.777 [DAT](INFO): DAT read: Tx time:04:42:03.8304 2025-10-27T04:42:04.777Z,1761540124.777 [DAT](INFO): Ping request sent. 2025-10-27T04:42:04.777Z,1761540124.777 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:42:04.777Z,1761540124.777 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:04.778Z,1761540124.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T04:42:04.857Z,1761540124.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.399994 m, deltaT: 4.030764 s, deltaX: -1.000000 m, approachRate: -0.248092 m/s, rangeRepo size: 4 2025-10-27T04:42:04.864Z,1761540124.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.729141 m, bearing: 58.283244 deg, lat: 36.779311 deg, lon: -121.859640 deg, deltaT: 4.030764 s, deltaX: -0.998047 m, approachRate: -0.247607 m/s, posRepo size: 4 2025-10-27T04:42:04.864Z,1761540124.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:04.871Z,1761540124.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 161.110565 m, bearing: 62.725502 deg, approach rate: 0.000000 m/s, LOS rate: 0.176665 deg/s, cmd heading: 66.034283 deg, new cmd heading: 66.293549 deg. 2025-10-27T04:42:04.872Z,1761540124.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157041 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:05.029Z,1761540125.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251087 2025-10-27T04:42:05.174Z,1761540125.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968029,-0.245516,-0.051393],[0.240497,0.966655,-0.087970],[0.071277,0.072798,0.994797]] 2025-10-27T04:42:05.201Z,1761540125.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:05.204Z,1761540125.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 160.962509 m, bearing: 62.781083 deg, approach rate: -0.430448 m/s, LOS rate: 0.161740 deg/s, cmd heading: 66.293550 deg, new cmd heading: 66.460444 deg. 2025-10-27T04:42:05.205Z,1761540125.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159954 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:05.284Z,1761540125.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505617 2025-10-27T04:42:05.532Z,1761540125.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754939 2025-10-27T04:42:05.581Z,1761540125.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961726,-0.269493,-0.049573],[0.264471,0.960244,-0.089373],[0.071688,0.072842,0.994764]] 2025-10-27T04:42:05.598Z,1761540125.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:05.600Z,1761540125.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:05.603Z,1761540125.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 160.794678 m, bearing: 62.841215 deg, approach rate: -0.420383 m/s, LOS rate: 0.150776 deg/s, cmd heading: 66.460445 deg, new cmd heading: 66.641030 deg. 2025-10-27T04:42:05.604Z,1761540125.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163105 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:05.784Z,1761540125.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789 2025-10-27T04:42:05.982Z,1761540125.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954773,-0.293528,-0.047435],[0.288399,0.953035,-0.092468],[0.072349,0.074606,0.994585]] 2025-10-27T04:42:06.034Z,1761540126.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:06.036Z,1761540126.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258973 2025-10-27T04:42:06.038Z,1761540126.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 160.614441 m, bearing: 62.906419 deg, approach rate: -0.415528 m/s, LOS rate: 0.150493 deg/s, cmd heading: 66.641029 deg, new cmd heading: 66.836858 deg. 2025-10-27T04:42:06.039Z,1761540126.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166523 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:06.289Z,1761540126.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511595 2025-10-27T04:42:06.385Z,1761540126.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947614,-0.316133,-0.045693],[0.310995,0.945772,-0.093798],[0.072868,0.074674,0.994542]] 2025-10-27T04:42:06.416Z,1761540126.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:06.419Z,1761540126.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 160.452133 m, bearing: 62.962582 deg, approach rate: -0.424468 m/s, LOS rate: 0.147029 deg/s, cmd heading: 66.836857 deg, new cmd heading: 67.005519 deg. 2025-10-27T04:42:06.420Z,1761540126.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169467 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:06.541Z,1761540126.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763193 2025-10-27T04:42:06.792Z,1761540126.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014960 2025-10-27T04:42:06.793Z,1761540126.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939840,-0.338685,-0.044648],[0.333551,0.938014,-0.094200],[0.073785,0.073641,0.994552]] 2025-10-27T04:42:06.845Z,1761540126.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:06.848Z,1761540126.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 160.273163 m, bearing: 63.026324 deg, approach rate: -0.417475 m/s, LOS rate: 0.148852 deg/s, cmd heading: 67.005522 deg, new cmd heading: 67.196959 deg. 2025-10-27T04:42:06.849Z,1761540126.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172808 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:07.044Z,1761540127.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266687 2025-10-27T04:42:07.107Z,1761540127.107 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:42:07.194Z,1761540127.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931547,-0.361021,-0.043398],[0.355824,0.929640,-0.095701],[0.074895,0.073708,0.994464]] 2025-10-27T04:42:07.241Z,1761540127.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:07.243Z,1761540127.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 160.107132 m, bearing: 63.082884 deg, approach rate: -0.419578 m/s, LOS rate: 0.143081 deg/s, cmd heading: 67.196958 deg, new cmd heading: 67.366813 deg. 2025-10-27T04:42:07.244Z,1761540127.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175773 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:07.296Z,1761540127.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519033 2025-10-27T04:42:07.548Z,1761540127.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770809 2025-10-27T04:42:07.601Z,1761540127.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923042,-0.382362,-0.042340],[0.377165,0.921142,-0.096144],[0.075763,0.072776,0.994467]] 2025-10-27T04:42:07.638Z,1761540127.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:07.647Z,1761540127.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:07.649Z,1761540127.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 159.939117 m, bearing: 63.137701 deg, approach rate: -0.413752 m/s, LOS rate: 0.135136 deg/s, cmd heading: 67.366811 deg, new cmd heading: 67.531437 deg. 2025-10-27T04:42:07.650Z,1761540127.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178646 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:07.803Z,1761540127.803 [DAT](INFO): DAT read: Rx Time:04:42:06.4610 2025-10-27T04:42:07.805Z,1761540127.805 [DAT](INFO): Rx dataTimestamp_ set to:1761540127.803746 2025-10-27T04:42:07.807Z,1761540127.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029187 2025-10-27T04:42:08.005Z,1761540128.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913868,-0.403959,-0.040775],[0.398705,0.911851,-0.097784],[0.076681,0.073104,0.994372]] 2025-10-27T04:42:08.052Z,1761540128.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274921 2025-10-27T04:42:08.067Z,1761540128.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:08.074Z,1761540128.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 159.746628 m, bearing: 63.201367 deg, approach rate: -0.458312 m/s, LOS rate: 0.151767 deg/s, cmd heading: 67.531440 deg, new cmd heading: 67.722664 deg. 2025-10-27T04:42:08.074Z,1761540128.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181983 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:08.113Z,1761540128.113 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:42:08.308Z,1761540128.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530658 2025-10-27T04:42:08.443Z,1761540128.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.73 m. 2025-10-27T04:42:08.446Z,1761540128.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.729141 m, nav range: 159.578186 m, bearing: 63.257254 deg, approach rate: -0.447309 m/s, LOS rate: 0.148569 deg/s, cmd heading: 67.722664 deg, new cmd heading: 67.890503 deg. 2025-10-27T04:42:08.447Z,1761540128.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184913 target range: 170.729141 and range: 171.40 m. 2025-10-27T04:42:08.566Z,1761540128.566 [DAT](INFO): DAT read: 04:42:06.4610 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 427, 0.44,-2.136, 2.094, 3.107,-2.797, PHS= 0.763,-1.347,-0.423, RAW= 115.9, 11.0, CAL= 117.1, 12.3, ROT= 32.9, -12.3 2025-10-27T04:42:08.568Z,1761540128.568 [DAT](INFO): got valid direction response: 04:42:06.4610 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 427, 0.44,-2.136, 2.094, 3.107,-2.797, PHS= 0.763,-1.347,-0.423, RAW= 115.9, 11.0, CAL= 117.1, 12.3, ROT= 32.9, -12.3 2025-10-27T04:42:08.569Z,1761540128.569 [DAT](INFO): DAT read: Bearing 211.5, 36.8 (Local) 2025-10-27T04:42:08.569Z,1761540128.569 [DAT](INFO): Local bearing/azimuth received: Bearing 211.5, 36.8 (Local) 2025-10-27T04:42:08.572Z,1761540128.572 [DAT](INFO): DAT read: Range 11 to 50 : 169.8 m (Round-trip 226.4 ms) speed 0.0 m/s 2025-10-27T04:42:08.572Z,1761540128.572 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:08.573Z,1761540128.573 [DAT](INFO): direction in FSK: [0.820347,0.530706,0.213030] 2025-10-27T04:42:08.573Z,1761540128.573 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:08.577Z,1761540128.577 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:08.577Z,1761540128.577 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:08.577Z,1761540128.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:08.808Z,1761540128.808 [DAT](INFO): DAT read: user:151> 2025-10-27T04:42:08.809Z,1761540128.809 [DAT](INFO): DAT read: Tx time:04:42:07.8804 2025-10-27T04:42:08.809Z,1761540128.809 [DAT](INFO): Ping request sent. 2025-10-27T04:42:08.809Z,1761540128.809 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:42:08.809Z,1761540128.809 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:08.810Z,1761540128.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T04:42:08.958Z,1761540128.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883450,-0.467166,-0.035670],[0.461805,0.881099,-0.101982],[0.079072,0.073623,0.994147]] 2025-10-27T04:42:09.025Z,1761540129.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 169.800003 m, deltaT: 4.031962 s, deltaX: -1.599991 m, approachRate: -0.396827 m/s, rangeRepo size: 4 2025-10-27T04:42:09.031Z,1761540129.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 169.131500 m, bearing: 60.363111 deg, lat: 36.779311 deg, lon: -121.859640 deg, deltaT: 4.031962 s, deltaX: -1.597641 m, approachRate: -0.396244 m/s, posRepo size: 4 2025-10-27T04:42:09.032Z,1761540129.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:09.035Z,1761540129.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 159.329010 m, bearing: 63.330942 deg, approach rate: 0.000000 m/s, LOS rate: 0.148569 deg/s, cmd heading: 67.890503 deg, new cmd heading: 68.149545 deg. 2025-10-27T04:42:09.040Z,1761540129.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189434 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:09.060Z,1761540129.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866 2025-10-27T04:42:09.312Z,1761540129.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502762 2025-10-27T04:42:09.399Z,1761540129.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872297,-0.487799,-0.033919],[0.482441,0.869868,-0.102864],[0.079682,0.073364,0.994117]] 2025-10-27T04:42:09.419Z,1761540129.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:09.422Z,1761540129.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 159.135437 m, bearing: 63.385699 deg, approach rate: -0.491025 m/s, LOS rate: 0.139066 deg/s, cmd heading: 68.149544 deg, new cmd heading: 68.314013 deg. 2025-10-27T04:42:09.422Z,1761540129.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.192304 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:09.564Z,1761540129.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754723 2025-10-27T04:42:09.820Z,1761540129.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009616 2025-10-27T04:42:09.856Z,1761540129.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860469,-0.508525,-0.031553],[0.503245,0.857946,-0.103310],[0.079607,0.073016,0.994149]] 2025-10-27T04:42:09.905Z,1761540129.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:09.907Z,1761540129.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:09.910Z,1761540129.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 158.906860 m, bearing: 63.446376 deg, approach rate: -0.467993 m/s, LOS rate: 0.124411 deg/s, cmd heading: 68.314015 deg, new cmd heading: 68.496309 deg. 2025-10-27T04:42:09.911Z,1761540129.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195486 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:10.068Z,1761540130.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258724 2025-10-27T04:42:10.248Z,1761540130.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848348,-0.528617,-0.029496],[0.523497,0.845847,-0.102444],[0.079102,0.071467,0.994301]] 2025-10-27T04:42:10.284Z,1761540130.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:10.286Z,1761540130.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 158.727081 m, bearing: 63.491919 deg, approach rate: -0.477262 m/s, LOS rate: 0.121041 deg/s, cmd heading: 68.496306 deg, new cmd heading: 68.633090 deg. 2025-10-27T04:42:10.287Z,1761540130.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197873 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:10.322Z,1761540130.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512644 2025-10-27T04:42:10.572Z,1761540130.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777 2025-10-27T04:42:10.766Z,1761540130.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:10.780Z,1761540130.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 158.508698 m, bearing: 63.547417 deg, approach rate: -0.452330 m/s, LOS rate: 0.115109 deg/s, cmd heading: 68.633088 deg, new cmd heading: 68.799811 deg. 2025-10-27T04:42:10.783Z,1761540130.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.200783 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:10.827Z,1761540130.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017058 2025-10-27T04:42:11.077Z,1761540131.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267278 2025-10-27T04:42:11.186Z,1761540131.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822503,-0.568300,-0.022900],[0.563530,0.819726,-0.102388],[0.076959,0.071309,0.994481]] 2025-10-27T04:42:11.256Z,1761540131.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:11.258Z,1761540131.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 158.256500 m, bearing: 63.603872 deg, approach rate: -0.515699 m/s, LOS rate: 0.115624 deg/s, cmd heading: 68.799812 deg, new cmd heading: 68.969446 deg. 2025-10-27T04:42:11.259Z,1761540131.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203744 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:11.329Z,1761540131.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519667 2025-10-27T04:42:11.580Z,1761540131.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770794 2025-10-27T04:42:11.601Z,1761540131.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808959,-0.587541,-0.019490],[0.582973,0.806055,-0.102069],[0.075679,0.071208,0.994586]] 2025-10-27T04:42:11.621Z,1761540131.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:11.626Z,1761540131.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 158.074493 m, bearing: 63.642611 deg, approach rate: -0.498511 m/s, LOS rate: 0.106226 deg/s, cmd heading: 68.969447 deg, new cmd heading: 69.085797 deg. 2025-10-27T04:42:11.628Z,1761540131.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205775 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:11.835Z,1761540131.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025187 2025-10-27T04:42:12.054Z,1761540132.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:12.056Z,1761540132.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:12.059Z,1761540132.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 157.853912 m, bearing: 63.686032 deg, approach rate: -0.506467 m/s, LOS rate: 0.099837 deg/s, cmd heading: 69.085799 deg, new cmd heading: 69.216245 deg. 2025-10-27T04:42:12.060Z,1761540132.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208051 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:12.084Z,1761540132.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274850 2025-10-27T04:42:12.336Z,1761540132.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526723 2025-10-27T04:42:12.395Z,1761540132.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779911,-0.625775,-0.012013],[0.621557,0.776624,-0.102577],[0.073519,0.072534,0.994653]] 2025-10-27T04:42:12.414Z,1761540132.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:12.437Z,1761540132.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 157.667969 m, bearing: 63.718608 deg, approach rate: -0.519885 m/s, LOS rate: 0.091189 deg/s, cmd heading: 69.216242 deg, new cmd heading: 69.314087 deg. 2025-10-27T04:42:12.438Z,1761540132.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209759 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:12.588Z,1761540132.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779203 2025-10-27T04:42:12.832Z,1761540132.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764337,-0.644756,-0.008814],[0.640732,0.760961,-0.101988],[0.072465,0.072305,0.994747]] 2025-10-27T04:42:12.859Z,1761540132.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033228 2025-10-27T04:42:12.877Z,1761540132.877 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TSE,-32768,-32768,-32768,V 2025-10-27T04:42:12.914Z,1761540132.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:12.921Z,1761540132.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 157.416428 m, bearing: 63.760050 deg, approach rate: -0.503115 m/s, LOS rate: 0.083022 deg/s, cmd heading: 69.314085 deg, new cmd heading: 69.438609 deg. 2025-10-27T04:42:12.922Z,1761540132.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211932 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:13.092Z,1761540133.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282663 2025-10-27T04:42:13.272Z,1761540133.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748037,-0.663635,-0.005441],[0.659781,0.744528,-0.101818],[0.071621,0.072573,0.994788]] 2025-10-27T04:42:13.303Z,1761540133.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:13.306Z,1761540133.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 157.198792 m, bearing: 63.793647 deg, approach rate: -0.559188 m/s, LOS rate: 0.086442 deg/s, cmd heading: 69.438613 deg, new cmd heading: 69.539543 deg. 2025-10-27T04:42:13.307Z,1761540133.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213694 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:13.344Z,1761540133.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535025 2025-10-27T04:42:13.596Z,1761540133.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786745 2025-10-27T04:42:13.732Z,1761540133.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:13.735Z,1761540133.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 156.974548 m, bearing: 63.828371 deg, approach rate: -0.522340 m/s, LOS rate: 0.081000 deg/s, cmd heading: 69.539542 deg, new cmd heading: 69.643863 deg. 2025-10-27T04:42:13.736Z,1761540133.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215515 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:13.850Z,1761540133.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040971 2025-10-27T04:42:14.100Z,1761540134.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290585 2025-10-27T04:42:14.140Z,1761540134.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:14.142Z,1761540134.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:14.149Z,1761540134.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 156.750443 m, bearing: 63.861999 deg, approach rate: -0.547006 m/s, LOS rate: 0.082198 deg/s, cmd heading: 69.643860 deg, new cmd heading: 69.744888 deg. 2025-10-27T04:42:14.150Z,1761540134.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217278 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:14.352Z,1761540134.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542757 2025-10-27T04:42:14.482Z,1761540134.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696462,-0.717560,0.007036],[0.714257,0.692245,-0.103120],[0.069124,0.076845,0.994644]] 2025-10-27T04:42:14.517Z,1761540134.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:14.520Z,1761540134.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 156.541733 m, bearing: 63.886870 deg, approach rate: -0.556825 m/s, LOS rate: 0.066443 deg/s, cmd heading: 69.744885 deg, new cmd heading: 69.819597 deg. 2025-10-27T04:42:14.521Z,1761540134.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218582 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:14.605Z,1761540134.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795495 2025-10-27T04:42:14.859Z,1761540134.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049243 2025-10-27T04:42:14.965Z,1761540134.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:14.991Z,1761540134.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 156.299240 m, bearing: 63.917643 deg, approach rate: -0.540996 m/s, LOS rate: 0.068760 deg/s, cmd heading: 69.819601 deg, new cmd heading: 69.912063 deg. 2025-10-27T04:42:14.992Z,1761540134.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220196 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:15.109Z,1761540135.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299787 2025-10-27T04:42:15.335Z,1761540135.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643392,-0.765405,0.014216],[0.762554,0.639136,-0.100083],[0.067518,0.075233,0.994877]] 2025-10-27T04:42:15.354Z,1761540135.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:15.357Z,1761540135.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 156.084244 m, bearing: 63.938801 deg, approach rate: -0.552406 m/s, LOS rate: 0.054438 deg/s, cmd heading: 69.912061 deg, new cmd heading: 69.975622 deg. 2025-10-27T04:42:15.358Z,1761540135.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221305 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:15.360Z,1761540135.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550832 2025-10-27T04:42:15.612Z,1761540135.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802774 2025-10-27T04:42:15.738Z,1761540135.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625053,-0.780413,0.016293],[0.777682,0.620797,-0.099101],[0.067225,0.074614,0.994944]] 2025-10-27T04:42:15.774Z,1761540135.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:15.777Z,1761540135.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 155.860428 m, bearing: 63.958803 deg, approach rate: -0.534814 m/s, LOS rate: 0.047864 deg/s, cmd heading: 69.975623 deg, new cmd heading: 70.035715 deg. 2025-10-27T04:42:15.778Z,1761540135.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222354 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:15.870Z,1761540135.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057369 2025-10-27T04:42:16.116Z,1761540136.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306661 2025-10-27T04:42:16.139Z,1761540136.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607001,-0.794519,0.017046],[0.791878,0.602898,-0.097181],[0.066936,0.072487,0.995121]] 2025-10-27T04:42:16.212Z,1761540136.212 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:16.221Z,1761540136.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:16.228Z,1761540136.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 155.613892 m, bearing: 63.979967 deg, approach rate: -0.551773 m/s, LOS rate: 0.047443 deg/s, cmd heading: 70.035715 deg, new cmd heading: 70.099309 deg. 2025-10-27T04:42:16.229Z,1761540136.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223464 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:16.368Z,1761540136.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558756 2025-10-27T04:42:16.567Z,1761540136.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588485,-0.808281,0.019157],[0.805761,0.584368,-0.096248],[0.066601,0.072076,0.995173]] 2025-10-27T04:42:16.585Z,1761540136.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:16.588Z,1761540136.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 155.395432 m, bearing: 63.996822 deg, approach rate: -0.597156 m/s, LOS rate: 0.046136 deg/s, cmd heading: 70.099311 deg, new cmd heading: 70.149945 deg. 2025-10-27T04:42:16.589Z,1761540136.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224347 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:16.621Z,1761540136.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811290 2025-10-27T04:42:16.874Z,1761540136.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064658 2025-10-27T04:42:16.965Z,1761540136.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570091,-0.821329,0.020392],[0.818924,0.566077,-0.094450],[0.066032,0.070545,0.995321]] 2025-10-27T04:42:17.009Z,1761540137.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:17.012Z,1761540137.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 155.159912 m, bearing: 64.015120 deg, approach rate: -0.556144 m/s, LOS rate: 0.043274 deg/s, cmd heading: 70.149943 deg, new cmd heading: 70.204921 deg. 2025-10-27T04:42:17.013Z,1761540137.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225307 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:17.125Z,1761540137.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315420 2025-10-27T04:42:17.369Z,1761540137.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552378,-0.833328,0.021047],[0.831005,0.548498,-0.092632],[0.065649,0.068658,0.995478]] 2025-10-27T04:42:17.376Z,1761540137.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566905 2025-10-27T04:42:17.400Z,1761540137.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:17.403Z,1761540137.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 154.941208 m, bearing: 64.030358 deg, approach rate: -0.558572 m/s, LOS rate: 0.038973 deg/s, cmd heading: 70.204919 deg, new cmd heading: 70.250698 deg. 2025-10-27T04:42:17.404Z,1761540137.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226106 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:17.628Z,1761540137.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819209 2025-10-27T04:42:17.773Z,1761540137.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535122,-0.844525,0.020520],[0.842238,0.531476,-0.090382],[0.065424,0.065648,0.995696]] 2025-10-27T04:42:17.810Z,1761540137.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:17.813Z,1761540137.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 154.717697 m, bearing: 64.044222 deg, approach rate: -0.545756 m/s, LOS rate: 0.033901 deg/s, cmd heading: 70.250695 deg, new cmd heading: 70.292346 deg. 2025-10-27T04:42:17.814Z,1761540137.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226833 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:17.882Z,1761540137.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072333 2025-10-27T04:42:18.132Z,1761540138.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322771 2025-10-27T04:42:18.249Z,1761540138.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:18.251Z,1761540138.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:18.253Z,1761540138.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 154.460159 m, bearing: 64.059017 deg, approach rate: -0.584555 m/s, LOS rate: 0.033639 deg/s, cmd heading: 70.292345 deg, new cmd heading: 70.336806 deg. 2025-10-27T04:42:18.254Z,1761540138.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227609 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:18.384Z,1761540138.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574717 2025-10-27T04:42:18.581Z,1761540138.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501891,-0.864811,0.014381],[0.862490,0.499158,-0.083385],[0.064934,0.054253,0.996414]] 2025-10-27T04:42:18.600Z,1761540138.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:18.603Z,1761540138.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 154.259247 m, bearing: 64.067621 deg, approach rate: -0.574526 m/s, LOS rate: 0.024634 deg/s, cmd heading: 70.336803 deg, new cmd heading: 70.362646 deg. 2025-10-27T04:42:18.604Z,1761540138.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228060 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:18.636Z,1761540138.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826959 2025-10-27T04:42:18.888Z,1761540138.888 [DAT](INFO): Reached modem response timeout 2025-10-27T04:42:18.888Z,1761540138.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:18.888Z,1761540138.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:19.036Z,1761540139.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:19.039Z,1761540139.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 154.005402 m, bearing: 64.076403 deg, approach rate: -0.582168 m/s, LOS rate: 0.020176 deg/s, cmd heading: 70.362649 deg, new cmd heading: 70.389040 deg. 2025-10-27T04:42:19.040Z,1761540139.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228521 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:19.141Z,1761540139.141 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:19.392Z,1761540139.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:19.393Z,1761540139.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471712,-0.881742,0.004234],[0.879388,0.470091,-0.075438],[0.064526,0.039308,0.997141]] 2025-10-27T04:42:19.419Z,1761540139.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:19.422Z,1761540139.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 153.780945 m, bearing: 64.081210 deg, approach rate: -0.586423 m/s, LOS rate: 0.012577 deg/s, cmd heading: 70.389040 deg, new cmd heading: 70.403482 deg. 2025-10-27T04:42:19.423Z,1761540139.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228773 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:19.644Z,1761540139.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:19.794Z,1761540139.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457039,-0.889446,-0.000787],[0.887095,0.455895,-0.072263],[0.064633,0.032329,0.997385]] 2025-10-27T04:42:19.832Z,1761540139.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:19.834Z,1761540139.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 153.539413 m, bearing: 64.084864 deg, approach rate: -0.585312 m/s, LOS rate: 0.008868 deg/s, cmd heading: 70.403479 deg, new cmd heading: 70.414458 deg. 2025-10-27T04:42:19.835Z,1761540139.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228964 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:19.898Z,1761540139.898 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:20.152Z,1761540140.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:20.225Z,1761540140.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443009,-0.896491,-0.006781],[0.894155,0.442378,-0.069200],[0.065036,0.024593,0.997580]] 2025-10-27T04:42:20.265Z,1761540140.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:20.268Z,1761540140.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:20.270Z,1761540140.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 153.269669 m, bearing: 64.082085 deg, approach rate: -0.618555 m/s, LOS rate: -0.006383 deg/s, cmd heading: 70.414456 deg, new cmd heading: 70.406105 deg. 2025-10-27T04:42:20.272Z,1761540140.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228818 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:20.405Z,1761540140.405 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:20.602Z,1761540140.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429800,-0.902827,-0.013267],[0.900551,0.429688,-0.066148],[0.065421,0.016482,0.997722]] 2025-10-27T04:42:20.621Z,1761540140.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:20.624Z,1761540140.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 153.050201 m, bearing: 64.078557 deg, approach rate: -0.620986 m/s, LOS rate: -0.009997 deg/s, cmd heading: 70.406102 deg, new cmd heading: 70.395502 deg. 2025-10-27T04:42:20.625Z,1761540140.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228633 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:20.656Z,1761540140.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:20.910Z,1761540140.910 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:21.006Z,1761540141.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417199,-0.908616,-0.018995],[0.906457,0.417531,-0.063281],[0.065429,0.009183,0.997815]] 2025-10-27T04:42:21.060Z,1761540141.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:21.062Z,1761540141.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 152.765656 m, bearing: 64.068059 deg, approach rate: -0.648743 m/s, LOS rate: -0.023980 deg/s, cmd heading: 70.395502 deg, new cmd heading: 70.363948 deg. 2025-10-27T04:42:21.064Z,1761540141.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228083 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:21.161Z,1761540141.161 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:42:21.161Z,1761540141.161 [DAT](INFO): response not received 2025-10-27T04:42:21.162Z,1761540141.162 [DAT](INFO): DAT read: user:152> 2025-10-27T04:42:21.165Z,1761540141.165 [DAT](INFO): DAT read: Tx time:04:42:20.3304 2025-10-27T04:42:21.165Z,1761540141.165 [DAT](INFO): Ping request sent. 2025-10-27T04:42:21.166Z,1761540141.166 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:42:21.166Z,1761540141.166 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:21.167Z,1761540141.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001118 2025-10-27T04:42:21.412Z,1761540141.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246383 2025-10-27T04:42:21.413Z,1761540141.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405236,-0.913812,-0.027039],[0.911837,0.406137,-0.060044],[0.065851,-0.000323,0.997829]] 2025-10-27T04:42:21.433Z,1761540141.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:21.436Z,1761540141.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 152.519730 m, bearing: 64.057665 deg, approach rate: -0.659100 m/s, LOS rate: -0.027901 deg/s, cmd heading: 70.363946 deg, new cmd heading: 70.332714 deg. 2025-10-27T04:42:21.437Z,1761540141.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227537 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:21.664Z,1761540141.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498343 2025-10-27T04:42:21.809Z,1761540141.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393663,-0.918591,-0.034941],[0.916843,0.395098,-0.057416],[0.066547,-0.009433,0.997739]] 2025-10-27T04:42:21.836Z,1761540141.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:21.838Z,1761540141.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 152.256943 m, bearing: 64.045193 deg, approach rate: -0.652494 m/s, LOS rate: -0.031020 deg/s, cmd heading: 70.332712 deg, new cmd heading: 70.295233 deg. 2025-10-27T04:42:21.839Z,1761540141.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226883 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:21.916Z,1761540141.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750548 2025-10-27T04:42:22.168Z,1761540142.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002273 2025-10-27T04:42:22.232Z,1761540142.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382929,-0.922805,-0.042389],[0.921326,0.384851,-0.055211],[0.067262,-0.017913,0.997575]] 2025-10-27T04:42:22.269Z,1761540142.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:22.271Z,1761540142.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:22.273Z,1761540142.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 151.962494 m, bearing: 64.028223 deg, approach rate: -0.677009 m/s, LOS rate: -0.039094 deg/s, cmd heading: 70.295235 deg, new cmd heading: 70.244225 deg. 2025-10-27T04:42:22.274Z,1761540142.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225993 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:22.421Z,1761540142.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255178 2025-10-27T04:42:22.621Z,1761540142.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373139,-0.926378,-0.050902],[0.925273,0.375599,-0.052877],[0.068103,-0.027368,0.997303]] 2025-10-27T04:42:22.640Z,1761540142.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:22.642Z,1761540142.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 151.712173 m, bearing: 64.012689 deg, approach rate: -0.678395 m/s, LOS rate: -0.042170 deg/s, cmd heading: 70.244227 deg, new cmd heading: 70.197546 deg. 2025-10-27T04:42:22.643Z,1761540142.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225178 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:22.673Z,1761540142.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506988 2025-10-27T04:42:22.924Z,1761540142.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758287 2025-10-27T04:42:23.029Z,1761540143.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364335,-0.929292,-0.060637],[0.928710,0.367386,-0.050253],[0.068977,-0.038006,0.996894]] 2025-10-27T04:42:23.076Z,1761540143.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:23.079Z,1761540143.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 151.410919 m, bearing: 63.993814 deg, approach rate: -0.689961 m/s, LOS rate: -0.043315 deg/s, cmd heading: 70.197549 deg, new cmd heading: 70.140812 deg. 2025-10-27T04:42:23.080Z,1761540143.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224188 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:23.176Z,1761540143.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010624 2025-10-27T04:42:23.428Z,1761540143.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262512 2025-10-27T04:42:23.429Z,1761540143.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356533,-0.931703,-0.069374],[0.931650,0.360117,-0.048409],[0.070086,-0.047373,0.996415]] 2025-10-27T04:42:23.456Z,1761540143.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:23.458Z,1761540143.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 151.149353 m, bearing: 63.976516 deg, approach rate: -0.688981 m/s, LOS rate: -0.045642 deg/s, cmd heading: 70.140811 deg, new cmd heading: 70.088828 deg. 2025-10-27T04:42:23.460Z,1761540143.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.223281 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:23.681Z,1761540143.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515398 2025-10-27T04:42:23.866Z,1761540143.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:23.869Z,1761540143.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 150.866867 m, bearing: 63.957765 deg, approach rate: -0.688501 m/s, LOS rate: -0.045787 deg/s, cmd heading: 70.088826 deg, new cmd heading: 70.032469 deg. 2025-10-27T04:42:23.870Z,1761540143.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222297 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:23.932Z,1761540143.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766555 2025-10-27T04:42:24.186Z,1761540144.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019959 2025-10-27T04:42:24.253Z,1761540144.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344834,-0.934551,-0.087772],[0.935864,0.349516,-0.044687],[0.072440,-0.066733,0.995138]] 2025-10-27T04:42:24.317Z,1761540144.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:24.319Z,1761540144.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:24.322Z,1761540144.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 150.559586 m, bearing: 63.938802 deg, approach rate: -0.678252 m/s, LOS rate: -0.041943 deg/s, cmd heading: 70.032470 deg, new cmd heading: 69.975464 deg. 2025-10-27T04:42:24.339Z,1761540144.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221302 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:24.437Z,1761540144.437 [DAT](INFO): DAT read: Rx Time:04:42:22.9746 2025-10-27T04:42:24.438Z,1761540144.438 [DAT](INFO): Rx dataTimestamp_ set to:1761540144.437088 2025-10-27T04:42:24.438Z,1761540144.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272707 2025-10-27T04:42:24.689Z,1761540144.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523374 2025-10-27T04:42:24.697Z,1761540144.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340575,-0.935144,-0.097546],[0.937315,0.345837,-0.042857],[0.073813,-0.076835,0.994308]] 2025-10-27T04:42:24.749Z,1761540144.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.13 m. 2025-10-27T04:42:24.756Z,1761540144.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.131500 m, nav range: 150.285126 m, bearing: 63.921369 deg, approach rate: -0.638709 m/s, LOS rate: -0.040643 deg/s, cmd heading: 69.975466 deg, new cmd heading: 69.923071 deg. 2025-10-27T04:42:24.757Z,1761540144.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220388 target range: 169.131500 and range: 169.80 m. 2025-10-27T04:42:24.949Z,1761540144.949 [DAT](INFO): DAT read: 04:42:22.9746 LVL= 25840, 32753, 29618, 32755, AGC= 69, IDX= 39,-0.32,-0.368,-2.000,-0.032,-0.448, PHS= 0.181,-1.507, 0.371, RAW= 155.3, 10.7, CAL= 155.2, 11.7, ROT= 354.8, -11.7 2025-10-27T04:42:24.970Z,1761540144.970 [DAT](INFO): got valid direction response: 04:42:22.9746 LVL= 25840, 32753, 29618, 32755, AGC= 69, IDX= 39,-0.32,-0.368,-2.000,-0.032,-0.448, PHS= 0.181,-1.507, 0.371, RAW= 155.3, 10.7, CAL= 155.2, 11.7, ROT= 354.8, -11.7 2025-10-27T04:42:24.972Z,1761540144.972 [DAT](INFO): DAT read: Bearing 256.2, -2.5 (Local) 2025-10-27T04:42:24.973Z,1761540144.973 [DAT](INFO): Local bearing/azimuth received: Bearing 256.2, -2.5 (Local) 2025-10-27T04:42:24.974Z,1761540144.974 [DAT](INFO): DAT read: Range 11 to 50 : 180.0 m (Round-trip 240.0 ms) speed 0.0 m/s 2025-10-27T04:42:24.974Z,1761540144.974 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:24.976Z,1761540144.976 [DAT](INFO): direction in FSK: [0.975193,-0.088750,0.202787] 2025-10-27T04:42:24.976Z,1761540144.976 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:24.981Z,1761540144.981 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:24.981Z,1761540144.981 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:24.982Z,1761540144.982 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:25.103Z,1761540145.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337530,-0.934956,-0.109232],[0.938289,0.343469,-0.040535],[0.075416,-0.088809,0.993189]] 2025-10-27T04:42:25.192Z,1761540145.192 [DAT](INFO): DAT read: user:153> 2025-10-27T04:42:25.194Z,1761540145.194 [DAT](INFO): DAT read: Tx time:04:42:24.2804 2025-10-27T04:42:25.194Z,1761540145.194 [DAT](INFO): Ping request sent. 2025-10-27T04:42:25.194Z,1761540145.194 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:42:25.195Z,1761540145.195 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:25.196Z,1761540145.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001486 2025-10-27T04:42:25.217Z,1761540145.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 180.000000 m, deltaT: 16.384453 s, deltaX: 10.199997 m, approachRate: 0.622541 m/s, rangeRepo size: 4 2025-10-27T04:42:25.223Z,1761540145.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 179.288864 m, bearing: 66.009601 deg, lat: 36.779346 deg, lon: -121.859640 deg, deltaT: 16.384453 s, deltaX: 10.157364 m, approachRate: 0.619939 m/s, posRepo size: 4 2025-10-27T04:42:25.224Z,1761540145.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:25.226Z,1761540145.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 151.768295 m, bearing: 62.567328 deg, approach rate: 0.000000 m/s, LOS rate: -0.040643 deg/s, cmd heading: 69.923071 deg, new cmd heading: 69.866101 deg. 2025-10-27T04:42:25.240Z,1761540145.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219393 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:25.444Z,1761540145.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249489 2025-10-27T04:42:25.579Z,1761540145.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335513,-0.934144,-0.121675],[0.938892,0.342136,-0.037753],[0.076896,-0.101573,0.991852]] 2025-10-27T04:42:25.598Z,1761540145.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:25.601Z,1761540145.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 151.493866 m, bearing: 62.550574 deg, approach rate: -0.717969 m/s, LOS rate: -0.043911 deg/s, cmd heading: 69.866101 deg, new cmd heading: 69.815748 deg. 2025-10-27T04:42:25.602Z,1761540145.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218515 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:25.698Z,1761540145.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503349 2025-10-27T04:42:25.948Z,1761540145.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753653 2025-10-27T04:42:25.987Z,1761540145.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334743,-0.932817,-0.133418],[0.939041,0.342004,-0.035154],[0.078422,-0.113518,0.990436]] 2025-10-27T04:42:26.010Z,1761540146.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:26.070Z,1761540146.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 151.226349 m, bearing: 62.534195 deg, approach rate: -0.650521 m/s, LOS rate: -0.039899 deg/s, cmd heading: 69.815748 deg, new cmd heading: 69.766525 deg. 2025-10-27T04:42:26.077Z,1761540146.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217656 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:26.203Z,1761540146.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007992 2025-10-27T04:42:26.435Z,1761540146.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334484,-0.931516,-0.142825],[0.938988,0.342311,-0.033551],[0.080144,-0.122889,0.989179]] 2025-10-27T04:42:26.452Z,1761540146.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257775 2025-10-27T04:42:26.487Z,1761540146.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:26.489Z,1761540146.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:26.492Z,1761540146.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 150.932571 m, bearing: 62.522008 deg, approach rate: -0.612431 m/s, LOS rate: -0.025455 deg/s, cmd heading: 69.766523 deg, new cmd heading: 69.729892 deg. 2025-10-27T04:42:26.493Z,1761540146.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217016 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:26.705Z,1761540146.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510675 2025-10-27T04:42:26.840Z,1761540146.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335246,-0.930025,-0.150544],[0.938567,0.343571,-0.032406],[0.081861,-0.130432,0.988072]] 2025-10-27T04:42:26.912Z,1761540146.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:26.914Z,1761540146.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 150.676620 m, bearing: 62.511490 deg, approach rate: -0.606196 m/s, LOS rate: -0.024955 deg/s, cmd heading: 69.729893 deg, new cmd heading: 69.698284 deg. 2025-10-27T04:42:26.915Z,1761540146.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216465 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:26.956Z,1761540146.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761676 2025-10-27T04:42:27.208Z,1761540147.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013583 2025-10-27T04:42:27.241Z,1761540147.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336810,-0.928619,-0.155646],[0.937891,0.345482,-0.031675],[0.083187,-0.135311,0.987305]] 2025-10-27T04:42:27.313Z,1761540147.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:27.316Z,1761540147.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 150.442703 m, bearing: 62.505206 deg, approach rate: -0.582202 m/s, LOS rate: -0.015664 deg/s, cmd heading: 69.698283 deg, new cmd heading: 69.679402 deg. 2025-10-27T04:42:27.317Z,1761540147.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216135 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:27.461Z,1761540147.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266446 2025-10-27T04:42:27.649Z,1761540147.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339250,-0.927022,-0.159815],[0.936917,0.348188,-0.030844],[0.084239,-0.139269,0.986665]] 2025-10-27T04:42:27.688Z,1761540147.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:27.713Z,1761540147.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518178 2025-10-27T04:42:27.719Z,1761540147.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 150.226715 m, bearing: 62.499618 deg, approach rate: -0.577678 m/s, LOS rate: -0.014967 deg/s, cmd heading: 69.679404 deg, new cmd heading: 69.662616 deg. 2025-10-27T04:42:27.721Z,1761540147.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215842 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:27.964Z,1761540147.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769755 2025-10-27T04:42:28.122Z,1761540148.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344729,-0.923224,-0.169762],[0.934673,0.354327,-0.028947],[0.086876,-0.148693,0.985060]] 2025-10-27T04:42:28.159Z,1761540148.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:28.161Z,1761540148.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 149.955154 m, bearing: 62.494382 deg, approach rate: -0.576179 m/s, LOS rate: -0.011129 deg/s, cmd heading: 69.662616 deg, new cmd heading: 69.646880 deg. 2025-10-27T04:42:28.162Z,1761540148.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215567 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:28.216Z,1761540148.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021631 2025-10-27T04:42:28.468Z,1761540148.468 [DAT](INFO): DAT read: Rx Time:04:42:26.9485 2025-10-27T04:42:28.468Z,1761540148.468 [DAT](INFO): Rx dataTimestamp_ set to:1761540148.468084 2025-10-27T04:42:28.469Z,1761540148.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274572 2025-10-27T04:42:28.529Z,1761540148.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347634,-0.921186,-0.174834],[0.933456,0.357592,-0.028073],[0.088380,-0.153441,0.984198]] 2025-10-27T04:42:28.554Z,1761540148.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:28.557Z,1761540148.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:28.559Z,1761540148.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 149.729050 m, bearing: 62.490282 deg, approach rate: -0.567917 m/s, LOS rate: -0.010313 deg/s, cmd heading: 69.646879 deg, new cmd heading: 69.634561 deg. 2025-10-27T04:42:28.560Z,1761540148.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215352 target range: 179.288864 and range: 180.00 m. 2025-10-27T04:42:28.721Z,1761540148.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526285 2025-10-27T04:42:28.933Z,1761540148.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350507,-0.919196,-0.179508],[0.932281,0.360737,-0.026838],[0.089424,-0.157945,0.983390]] 2025-10-27T04:42:28.978Z,1761540148.978 [DAT](INFO): DAT read: 04:42:26.9485 LVL= 21152, 21857, 20386, 18979, AGC= 65, IDX= 171, 0.06,-1.449,-2.536,-1.317,-2.544, PHS= 1.197, 0.053, 1.183, RAW= 149.4, -37.1, CAL= 150.4, -36.8, ROT= 359.6, 36.8 2025-10-27T04:42:28.979Z,1761540148.979 [DAT](INFO): got valid direction response: 04:42:26.9485 LVL= 21152, 21857, 20386, 18979, AGC= 65, IDX= 171, 0.06,-1.449,-2.536,-1.317,-2.544, PHS= 1.197, 0.053, 1.183, RAW= 149.4, -37.1, CAL= 150.4, -36.8, ROT= 359.6, 36.8 2025-10-27T04:42:28.980Z,1761540148.980 [DAT](INFO): DAT read: Bearing 208.3, 8.9 (Local) 2025-10-27T04:42:28.980Z,1761540148.980 [DAT](INFO): Local bearing/azimuth received: Bearing 208.3, 8.9 (Local) 2025-10-27T04:42:28.982Z,1761540148.982 [DAT](INFO): DAT read: Range 11 to 50 : 197.9 m (Round-trip 263.9 ms) speed 0.8 m/s 2025-10-27T04:42:28.982Z,1761540148.982 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:28.984Z,1761540148.984 [DAT](INFO): direction in FSK: [0.800712,-0.005590,-0.599024] 2025-10-27T04:42:28.984Z,1761540148.984 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:28.987Z,1761540148.987 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:28.987Z,1761540148.987 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:28.988Z,1761540148.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:28.997Z,1761540148.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 197.899994 m, deltaT: 4.031645 s, deltaX: 17.899994 m, approachRate: 4.439874 m/s, rangeRepo size: 4 2025-10-27T04:42:28.997Z,1761540148.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:29.008Z,1761540149.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 149.500381 m, bearing: 62.486396 deg, approach rate: -0.520571 m/s, LOS rate: -0.008860 deg/s, cmd heading: 69.634564 deg, new cmd heading: 69.622888 deg. 2025-10-27T04:42:29.009Z,1761540149.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215149 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:29.224Z,1761540149.224 [DAT](INFO): DAT read: user:154> 2025-10-27T04:42:29.225Z,1761540149.225 [DAT](INFO): DAT read: Tx time:04:42:28.2804 2025-10-27T04:42:29.225Z,1761540149.225 [DAT](INFO): Ping request sent. 2025-10-27T04:42:29.225Z,1761540149.225 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:42:29.225Z,1761540149.225 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:29.226Z,1761540149.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-27T04:42:29.416Z,1761540149.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352899,-0.917403,-0.183942],[0.931261,0.363430,-0.025936],[0.090644,-0.162146,0.982595]] 2025-10-27T04:42:29.464Z,1761540149.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:29.466Z,1761540149.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 149.213898 m, bearing: 62.478365 deg, approach rate: -0.612272 m/s, LOS rate: -0.017197 deg/s, cmd heading: 69.622891 deg, new cmd heading: 69.598751 deg. 2025-10-27T04:42:29.468Z,1761540149.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214727 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:29.476Z,1761540149.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864 2025-10-27T04:42:29.729Z,1761540149.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503137 2025-10-27T04:42:29.825Z,1761540149.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355068,-0.916043,-0.186525],[0.930321,0.365842,-0.025736],[0.091814,-0.164390,0.982113]] 2025-10-27T04:42:29.844Z,1761540149.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:29.846Z,1761540149.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 148.994217 m, bearing: 62.472378 deg, approach rate: -0.578266 m/s, LOS rate: -0.015782 deg/s, cmd heading: 69.598753 deg, new cmd heading: 69.580767 deg. 2025-10-27T04:42:29.847Z,1761540149.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214414 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:29.980Z,1761540149.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754672 2025-10-27T04:42:30.232Z,1761540150.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791 2025-10-27T04:42:30.283Z,1761540150.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:30.286Z,1761540150.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 148.735718 m, bearing: 62.462425 deg, approach rate: -0.588356 m/s, LOS rate: -0.022693 deg/s, cmd heading: 69.580769 deg, new cmd heading: 69.550858 deg. 2025-10-27T04:42:30.287Z,1761540150.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213892 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:30.485Z,1761540150.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259515 2025-10-27T04:42:30.736Z,1761540150.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511212 2025-10-27T04:42:30.756Z,1761540150.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357915,-0.914010,-0.191006],[0.929000,0.369178,-0.025807],[0.094103,-0.168208,0.981249]] 2025-10-27T04:42:30.773Z,1761540150.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:30.800Z,1761540150.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:30.802Z,1761540150.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 148.441574 m, bearing: 62.451384 deg, approach rate: -0.569223 m/s, LOS rate: -0.021409 deg/s, cmd heading: 69.550860 deg, new cmd heading: 69.517671 deg. 2025-10-27T04:42:30.808Z,1761540150.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213312 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:30.988Z,1761540150.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762874 2025-10-27T04:42:31.158Z,1761540151.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358567,-0.913453,-0.192442],[0.928687,0.369970,-0.025743],[0.094713,-0.169488,0.980971]] 2025-10-27T04:42:31.220Z,1761540151.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:31.222Z,1761540151.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 148.165710 m, bearing: 62.438083 deg, approach rate: -0.656817 m/s, LOS rate: -0.031727 deg/s, cmd heading: 69.517672 deg, new cmd heading: 69.477696 deg. 2025-10-27T04:42:31.224Z,1761540151.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212615 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:31.244Z,1761540151.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018688 2025-10-27T04:42:31.496Z,1761540151.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270677 2025-10-27T04:42:31.631Z,1761540151.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357961,-0.913650,-0.192632],[0.928882,0.369449,-0.026182],[0.095089,-0.169560,0.980922]] 2025-10-27T04:42:31.649Z,1761540151.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:31.652Z,1761540151.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 147.899399 m, bearing: 62.425128 deg, approach rate: -0.620391 m/s, LOS rate: -0.030234 deg/s, cmd heading: 69.477695 deg, new cmd heading: 69.438759 deg. 2025-10-27T04:42:31.653Z,1761540151.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211935 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:31.749Z,1761540151.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523643 2025-10-27T04:42:31.000Z,1761540152.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774720 2025-10-27T04:42:32.040Z,1761540152.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357488,-0.913785,-0.192870],[0.929039,0.369037,-0.026446],[0.095342,-0.169730,0.980868]] 2025-10-27T04:42:32.058Z,1761540152.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:32.061Z,1761540152.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 147.645584 m, bearing: 62.412686 deg, approach rate: -0.620161 m/s, LOS rate: -0.030454 deg/s, cmd heading: 69.438756 deg, new cmd heading: 69.401365 deg. 2025-10-27T04:42:32.062Z,1761540152.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211282 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:32.252Z,1761540152.252 [DAT](INFO): DAT read: Rx Time:04:42:30.9184 2025-10-27T04:42:32.252Z,1761540152.252 [DAT](INFO): Rx dataTimestamp_ set to:1761540152.252176 2025-10-27T04:42:32.253Z,1761540152.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027878 2025-10-27T04:42:32.438Z,1761540152.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356709,-0.914078,-0.192927],[0.929281,0.368373,-0.027154],[0.095890,-0.169597,0.980837]] 2025-10-27T04:42:32.449Z,1761540152.449 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 299.17, 233.89, 207.34 2025-10-27T04:42:32.464Z,1761540152.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:32.467Z,1761540152.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 147.393860 m, bearing: 62.400222 deg, approach rate: -0.619859 m/s, LOS rate: -0.030743 deg/s, cmd heading: 69.401368 deg, new cmd heading: 69.363914 deg. 2025-10-27T04:42:32.468Z,1761540152.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.210629 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:32.504Z,1761540152.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279288 2025-10-27T04:42:32.759Z,1761540152.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533397 2025-10-27T04:42:32.844Z,1761540152.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356082,-0.914350,-0.192792],[0.929516,0.367763,-0.027387],[0.095943,-0.169452,0.980857]] 2025-10-27T04:42:32.861Z,1761540152.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:32.863Z,1761540152.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:32.866Z,1761540152.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 147.147095 m, bearing: 62.387899 deg, approach rate: -0.619111 m/s, LOS rate: -0.030971 deg/s, cmd heading: 69.363911 deg, new cmd heading: 69.326878 deg. 2025-10-27T04:42:32.867Z,1761540152.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209982 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:33.013Z,1761540153.013 [DAT](INFO): DAT read: 04:42:30.9184 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 135, 0.37, 2.448, 0.865, 2.762, 2.345, PHS= 0.204,-1.435, 0.373, RAW= 154.8, 9.9, CAL= 154.6, 10.8, ROT= 355.4, -10.8 2025-10-27T04:42:33.014Z,1761540153.014 [DAT](INFO): got valid direction response: 04:42:30.9184 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 135, 0.37, 2.448, 0.865, 2.762, 2.345, PHS= 0.204,-1.435, 0.373, RAW= 154.8, 9.9, CAL= 154.6, 10.8, ROT= 355.4, -10.8 2025-10-27T04:42:33.020Z,1761540153.020 [DAT](INFO): DAT read: Bearing 253.1, -1.0 (Local) 2025-10-27T04:42:33.021Z,1761540153.021 [DAT](INFO): Local bearing/azimuth received: Bearing 253.1, -1.0 (Local) 2025-10-27T04:42:33.022Z,1761540153.022 [DAT](INFO): DAT read: Range 11 to 50 : 175.3 m (Round-trip 233.8 ms) speed 0.4 m/s 2025-10-27T04:42:33.022Z,1761540153.022 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:33.024Z,1761540153.024 [DAT](INFO): direction in FSK: [0.979123,-0.078779,0.187381] 2025-10-27T04:42:33.024Z,1761540153.024 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:33.028Z,1761540153.028 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:33.028Z,1761540153.028 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:33.028Z,1761540153.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:33.247Z,1761540153.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355296,-0.914847,-0.191882],[0.929840,0.366923,-0.027673],[0.095723,-0.168587,0.981028]] 2025-10-27T04:42:33.260Z,1761540153.260 [DAT](INFO): DAT read: user:155> 2025-10-27T04:42:33.261Z,1761540153.261 [DAT](INFO): DAT read: Tx time:04:42:32.3320 2025-10-27T04:42:33.261Z,1761540153.261 [DAT](INFO): Ping request sent. 2025-10-27T04:42:33.261Z,1761540153.261 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:42:33.261Z,1761540153.261 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:33.262Z,1761540153.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T04:42:33.338Z,1761540153.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 175.300003 m, deltaT: 4.035912 s, deltaX: -22.599991 m, approachRate: -5.599723 m/s, rangeRepo size: 4 2025-10-27T04:42:33.338Z,1761540153.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:33.346Z,1761540153.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 146.857788 m, bearing: 62.371601 deg, approach rate: -0.610175 m/s, LOS rate: -0.034441 deg/s, cmd heading: 69.326878 deg, new cmd heading: 69.277889 deg. 2025-10-27T04:42:33.351Z,1761540153.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209127 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:33.512Z,1761540153.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250731 2025-10-27T04:42:33.651Z,1761540153.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354641,-0.915639,-0.189302],[0.930183,0.366036,-0.027869],[0.094810,-0.166202,0.981523]] 2025-10-27T04:42:33.701Z,1761540153.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:33.719Z,1761540153.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 146.597763 m, bearing: 62.356827 deg, approach rate: -0.715302 m/s, LOS rate: -0.040713 deg/s, cmd heading: 69.277892 deg, new cmd heading: 69.233492 deg. 2025-10-27T04:42:33.721Z,1761540153.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208352 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:33.764Z,1761540153.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503024 2025-10-27T04:42:34.016Z,1761540154.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755240 2025-10-27T04:42:34.063Z,1761540154.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353686,-0.916129,-0.188716],[0.930555,0.365065,-0.028202],[0.094730,-0.165636,0.981627]] 2025-10-27T04:42:34.082Z,1761540154.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:34.085Z,1761540154.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 146.318619 m, bearing: 62.340795 deg, approach rate: -0.732107 m/s, LOS rate: -0.042127 deg/s, cmd heading: 69.233495 deg, new cmd heading: 69.185307 deg. 2025-10-27T04:42:34.086Z,1761540154.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207511 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:34.268Z,1761540154.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006764 2025-10-27T04:42:34.466Z,1761540154.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353385,-0.916387,-0.188024],[0.930707,0.364682,-0.028147],[0.094363,-0.165049,0.981761]] 2025-10-27T04:42:34.510Z,1761540154.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:34.518Z,1761540154.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 146.019989 m, bearing: 62.324372 deg, approach rate: -0.697174 m/s, LOS rate: -0.038419 deg/s, cmd heading: 69.185308 deg, new cmd heading: 69.135939 deg. 2025-10-27T04:42:34.520Z,1761540154.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259197 2025-10-27T04:42:34.522Z,1761540154.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206650 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:34.773Z,1761540154.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511592 2025-10-27T04:42:34.870Z,1761540154.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352689,-0.917132,-0.185687],[0.931018,0.363842,-0.028709],[0.093891,-0.162752,0.982190]] 2025-10-27T04:42:34.887Z,1761540154.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:34.889Z,1761540154.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:34.892Z,1761540154.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 145.756241 m, bearing: 62.309734 deg, approach rate: -0.696661 m/s, LOS rate: -0.038735 deg/s, cmd heading: 69.135940 deg, new cmd heading: 69.091946 deg. 2025-10-27T04:42:34.893Z,1761540154.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205882 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:35.024Z,1761540155.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782 2025-10-27T04:42:35.274Z,1761540155.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351983,-0.917845,-0.183491],[0.931301,0.363051,-0.029550],[0.093738,-0.160484,0.982577]] 2025-10-27T04:42:35.276Z,1761540155.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014848 2025-10-27T04:42:35.330Z,1761540155.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:35.336Z,1761540155.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 145.450104 m, bearing: 62.293071 deg, approach rate: -0.698476 m/s, LOS rate: -0.038098 deg/s, cmd heading: 69.091947 deg, new cmd heading: 69.041852 deg. 2025-10-27T04:42:35.337Z,1761540155.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.205008 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:35.532Z,1761540155.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271242 2025-10-27T04:42:35.699Z,1761540155.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351996,-0.917886,-0.183258],[0.931317,0.363020,-0.029420],[0.093530,-0.160315,0.982625]] 2025-10-27T04:42:35.752Z,1761540155.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:35.760Z,1761540155.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 145.162552 m, bearing: 62.277357 deg, approach rate: -0.676381 m/s, LOS rate: -0.037037 deg/s, cmd heading: 69.041854 deg, new cmd heading: 68.994617 deg. 2025-10-27T04:42:35.761Z,1761540155.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204183 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:35.784Z,1761540155.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523022 2025-10-27T04:42:36.036Z,1761540156.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774902 2025-10-27T04:42:36.096Z,1761540156.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352085,-0.918099,-0.182019],[0.931332,0.362985,-0.029381],[0.093045,-0.159176,0.982856]] 2025-10-27T04:42:36.124Z,1761540156.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:36.176Z,1761540156.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 144.900330 m, bearing: 62.262980 deg, approach rate: -0.704961 m/s, LOS rate: -0.038720 deg/s, cmd heading: 68.994616 deg, new cmd heading: 68.951408 deg. 2025-10-27T04:42:36.185Z,1761540156.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.203429 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:36.292Z,1761540156.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030979 2025-10-27T04:42:36.545Z,1761540156.545 [DAT](INFO): DAT read: 04:42:34.9671 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.04,-0.170,-1.675, 0.116,-0.290, PHS= 0.222,-1.340, 0.363, RAW= 154.3, 9.3, CAL= 154.0, 10.0, ROT= 356.0, -10.0 2025-10-27T04:42:36.546Z,1761540156.546 [DAT](INFO): got valid direction response: 04:42:34.9671 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.04,-0.170,-1.675, 0.116,-0.290, PHS= 0.222,-1.340, 0.363, RAW= 154.3, 9.3, CAL= 154.0, 10.0, ROT= 356.0, -10.0 2025-10-27T04:42:36.547Z,1761540156.547 [DAT](INFO): DAT read: Rx Time:04:42:34.9671 2025-10-27T04:42:36.548Z,1761540156.548 [DAT](INFO): Rx dataTimestamp_ set to:1761540156.547215 2025-10-27T04:42:36.548Z,1761540156.548 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-27T04:42:36.548Z,1761540156.548 [DAT](INFO): Received low SNR in chirp 2025-10-27T04:42:36.559Z,1761540156.559 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:42:36.560Z,1761540156.560 [DAT](INFO): direction in FSK: [0.982409,-0.068697,0.173648] 2025-10-27T04:42:36.563Z,1761540156.563 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:36.563Z,1761540156.563 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:36.563Z,1761540156.563 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:36.598Z,1761540156.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352992,-0.917708,-0.182234],[0.931088,0.363713,-0.028072],[0.092043,-0.159766,0.982854]] 2025-10-27T04:42:36.736Z,1761540156.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:36.738Z,1761540156.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 144.485443 m, bearing: 62.241739 deg, approach rate: -0.678430 m/s, LOS rate: -0.034833 deg/s, cmd heading: 68.951409 deg, new cmd heading: 68.887503 deg. 2025-10-27T04:42:36.740Z,1761540156.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202314 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:36.793Z,1761540156.793 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:36.793Z,1761540156.793 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:36.793Z,1761540156.793 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:37.044Z,1761540157.044 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:37.044Z,1761540157.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:37.044Z,1761540157.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:37.054Z,1761540157.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353721,-0.917329,-0.182729],[0.930862,0.364356,-0.027195],[0.091525,-0.160476,0.982787]] 2025-10-27T04:42:37.071Z,1761540157.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:37.073Z,1761540157.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:37.076Z,1761540157.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 144.228378 m, bearing: 62.228595 deg, approach rate: -0.761292 m/s, LOS rate: -0.038997 deg/s, cmd heading: 68.887505 deg, new cmd heading: 68.848001 deg. 2025-10-27T04:42:37.077Z,1761540157.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201624 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:37.298Z,1761540157.298 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:37.299Z,1761540157.299 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:37.299Z,1761540157.299 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:37.518Z,1761540157.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:37.520Z,1761540157.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 143.915634 m, bearing: 62.211289 deg, approach rate: -0.704349 m/s, LOS rate: -0.039061 deg/s, cmd heading: 68.847999 deg, new cmd heading: 68.795969 deg. 2025-10-27T04:42:37.521Z,1761540157.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.200716 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:37.548Z,1761540157.548 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:37.548Z,1761540157.548 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:37.548Z,1761540157.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:37.800Z,1761540157.800 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:37.800Z,1761540157.800 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:37.800Z,1761540157.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:37.860Z,1761540157.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354813,-0.916933,-0.182598],[0.930548,0.365248,-0.025948],[0.090486,-0.160710,0.982845]] 2025-10-27T04:42:37.895Z,1761540157.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:37.898Z,1761540157.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 143.660172 m, bearing: 62.197213 deg, approach rate: -0.676434 m/s, LOS rate: -0.037336 deg/s, cmd heading: 68.795967 deg, new cmd heading: 68.753666 deg. 2025-10-27T04:42:37.899Z,1761540157.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.199978 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:38.052Z,1761540158.052 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:38.052Z,1761540158.052 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:38.052Z,1761540158.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:38.233Z,1761540158.233 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:42:38.274Z,1761540158.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355345,-0.916671,-0.182876],[0.930387,0.365706,-0.025281],[0.090053,-0.161163,0.982811]] 2025-10-27T04:42:38.304Z,1761540158.304 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:38.304Z,1761540158.304 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:38.304Z,1761540158.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:38.320Z,1761540158.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:38.322Z,1761540158.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 143.347961 m, bearing: 62.177695 deg, approach rate: -0.735635 m/s, LOS rate: -0.046089 deg/s, cmd heading: 68.753668 deg, new cmd heading: 68.694985 deg. 2025-10-27T04:42:38.323Z,1761540158.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198954 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:38.556Z,1761540158.556 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:38.556Z,1761540158.556 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:38.556Z,1761540158.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:38.681Z,1761540158.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356389,-0.916062,-0.183895],[0.930056,0.366637,-0.023929],[0.089343,-0.162505,0.982655]] 2025-10-27T04:42:38.707Z,1761540158.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:38.712Z,1761540158.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 143.076218 m, bearing: 62.160755 deg, approach rate: -0.701859 m/s, LOS rate: -0.043835 deg/s, cmd heading: 68.694983 deg, new cmd heading: 68.644067 deg. 2025-10-27T04:42:38.713Z,1761540158.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198065 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:38.809Z,1761540158.809 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:38.809Z,1761540158.809 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:38.809Z,1761540158.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:39.060Z,1761540159.060 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:39.060Z,1761540159.060 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:39.060Z,1761540159.060 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:39.072Z,1761540159.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356877,-0.915895,-0.183782],[0.929917,0.367026,-0.023349],[0.088838,-0.162569,0.982690]] 2025-10-27T04:42:39.089Z,1761540159.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:39.092Z,1761540159.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:39.094Z,1761540159.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 142.800552 m, bearing: 62.143563 deg, approach rate: -0.716436 m/s, LOS rate: -0.044768 deg/s, cmd heading: 68.644064 deg, new cmd heading: 68.592387 deg. 2025-10-27T04:42:39.095Z,1761540159.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197163 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:39.237Z,1761540159.237 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:42:39.312Z,1761540159.312 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:39.313Z,1761540159.313 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:39.313Z,1761540159.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:39.474Z,1761540159.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357301,-0.915630,-0.184275],[0.929827,0.367322,-0.022264],[0.088074,-0.163389,0.982622]] 2025-10-27T04:42:39.520Z,1761540159.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:39.523Z,1761540159.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 142.493484 m, bearing: 62.123076 deg, approach rate: -0.716524 m/s, LOS rate: -0.047909 deg/s, cmd heading: 68.592386 deg, new cmd heading: 68.530792 deg. 2025-10-27T04:42:39.524Z,1761540159.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.196088 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:39.564Z,1761540159.564 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:39.564Z,1761540159.564 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:39.564Z,1761540159.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:39.816Z,1761540159.816 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:39.816Z,1761540159.816 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:39.816Z,1761540159.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:39.897Z,1761540159.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357517,-0.915564,-0.184183],[0.929790,0.367447,-0.021749],[0.087590,-0.163476,0.982651]] 2025-10-27T04:42:39.924Z,1761540159.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:39.926Z,1761540159.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 142.210312 m, bearing: 62.104129 deg, approach rate: -0.701304 m/s, LOS rate: -0.047015 deg/s, cmd heading: 68.530792 deg, new cmd heading: 68.473840 deg. 2025-10-27T04:42:39.932Z,1761540159.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195094 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:40.068Z,1761540160.068 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:40.068Z,1761540160.068 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:40.068Z,1761540160.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:40.305Z,1761540160.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357634,-0.915538,-0.184086],[0.929801,0.367455,-0.021132],[0.086991,-0.163606,0.982683]] 2025-10-27T04:42:40.320Z,1761540160.320 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:40.320Z,1761540160.320 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:40.320Z,1761540160.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:40.389Z,1761540160.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:40.396Z,1761540160.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 141.894913 m, bearing: 62.082816 deg, approach rate: -0.678091 m/s, LOS rate: -0.045924 deg/s, cmd heading: 68.473842 deg, new cmd heading: 68.409759 deg. 2025-10-27T04:42:40.400Z,1761540160.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193976 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:40.572Z,1761540160.572 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:40.572Z,1761540160.572 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:40.572Z,1761540160.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:40.697Z,1761540160.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357328,-0.915679,-0.183979],[0.929954,0.367085,-0.020836],[0.086616,-0.163647,0.982709]] 2025-10-27T04:42:40.745Z,1761540160.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:40.748Z,1761540160.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 141.634842 m, bearing: 62.065133 deg, approach rate: -0.729460 m/s, LOS rate: -0.049690 deg/s, cmd heading: 68.409761 deg, new cmd heading: 68.356614 deg. 2025-10-27T04:42:40.749Z,1761540160.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193048 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:40.825Z,1761540160.825 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:40.825Z,1761540160.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:40.825Z,1761540160.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:41.076Z,1761540161.076 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:41.076Z,1761540161.076 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:41.076Z,1761540161.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:41.098Z,1761540161.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357411,-0.915619,-0.184119],[0.929966,0.367087,-0.020269],[0.086146,-0.163980,0.982695]] 2025-10-27T04:42:41.143Z,1761540161.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:41.150Z,1761540161.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:41.165Z,1761540161.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 141.353455 m, bearing: 62.045935 deg, approach rate: -0.697458 m/s, LOS rate: -0.047679 deg/s, cmd heading: 68.356615 deg, new cmd heading: 68.298908 deg. 2025-10-27T04:42:41.166Z,1761540161.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.192041 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:41.328Z,1761540161.328 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:41.328Z,1761540161.328 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:41.328Z,1761540161.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:41.502Z,1761540161.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357206,-0.915696,-0.184132],[0.930067,0.366843,-0.020046],[0.085903,-0.164095,0.982697]] 2025-10-27T04:42:41.552Z,1761540161.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:41.555Z,1761540161.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 141.053116 m, bearing: 62.026246 deg, approach rate: -0.744788 m/s, LOS rate: -0.048931 deg/s, cmd heading: 68.298907 deg, new cmd heading: 68.239713 deg. 2025-10-27T04:42:41.556Z,1761540161.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191008 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:41.593Z,1761540161.593 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:41.593Z,1761540161.593 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:41.593Z,1761540161.593 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:41.844Z,1761540161.844 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:41.844Z,1761540161.844 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:41.844Z,1761540161.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:41.910Z,1761540161.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356948,-0.915683,-0.184697],[0.930190,0.366554,-0.019590],[0.085639,-0.164810,0.982600]] 2025-10-27T04:42:41.939Z,1761540161.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:41.942Z,1761540161.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 140.786163 m, bearing: 62.008644 deg, approach rate: -0.689966 m/s, LOS rate: -0.045579 deg/s, cmd heading: 68.239710 deg, new cmd heading: 68.186805 deg. 2025-10-27T04:42:41.943Z,1761540161.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190084 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:42.096Z,1761540162.096 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:42.096Z,1761540162.096 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:42.096Z,1761540162.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:42.327Z,1761540162.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356819,-0.915831,-0.184211],[0.930266,0.366367,-0.019505],[0.085352,-0.164406,0.982693]] 2025-10-27T04:42:42.348Z,1761540162.348 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:42.348Z,1761540162.348 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:42.348Z,1761540162.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:42.366Z,1761540162.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:42.368Z,1761540162.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 140.497650 m, bearing: 61.992692 deg, approach rate: -0.676511 m/s, LOS rate: -0.037482 deg/s, cmd heading: 68.186803 deg, new cmd heading: 68.138848 deg. 2025-10-27T04:42:42.369Z,1761540162.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.189247 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:42.600Z,1761540162.600 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:42.600Z,1761540162.600 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:42.600Z,1761540162.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:42.760Z,1761540162.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:42.763Z,1761540162.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 140.230499 m, bearing: 61.977861 deg, approach rate: -0.676945 m/s, LOS rate: -0.037651 deg/s, cmd heading: 68.138848 deg, new cmd heading: 68.094272 deg. 2025-10-27T04:42:42.764Z,1761540162.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.188469 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:42.852Z,1761540162.852 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:42.852Z,1761540162.852 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:42.853Z,1761540162.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:43.104Z,1761540163.104 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:43.104Z,1761540163.104 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:43.104Z,1761540163.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:42:43.120Z,1761540163.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356908,-0.916022,-0.183088],[0.930308,0.366284,-0.019061],[0.084522,-0.163525,0.982912]] 2025-10-27T04:42:43.138Z,1761540163.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:43.141Z,1761540163.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 139.974518 m, bearing: 61.963601 deg, approach rate: -0.676838 m/s, LOS rate: -0.037774 deg/s, cmd heading: 68.094274 deg, new cmd heading: 68.051415 deg. 2025-10-27T04:42:43.142Z,1761540163.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.187721 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:43.355Z,1761540163.355 [DAT](INFO): Reached modem response timeout 2025-10-27T04:42:43.356Z,1761540163.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:43.356Z,1761540163.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:43.522Z,1761540163.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357325,-0.915733,-0.183715],[0.930163,0.366678,-0.018554],[0.084355,-0.164255,0.982804]] 2025-10-27T04:42:43.570Z,1761540163.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:43.573Z,1761540163.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:43.576Z,1761540163.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 139.692352 m, bearing: 61.952143 deg, approach rate: -0.649699 m/s, LOS rate: -0.026436 deg/s, cmd heading: 68.051415 deg, new cmd heading: 68.016971 deg. 2025-10-27T04:42:43.577Z,1761540163.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.187120 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:43.608Z,1761540163.608 [DAT](INFO): DAT read: 2025-10-27T04:42:43.609Z,1761540163.609 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:43.860Z,1761540163.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:43.926Z,1761540163.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358446,-0.915230,-0.184041],[0.929748,0.367755,-0.018018],[0.084172,-0.164653,0.982753]] 2025-10-27T04:42:43.965Z,1761540163.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:43.974Z,1761540163.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 139.448715 m, bearing: 61.942336 deg, approach rate: -0.620871 m/s, LOS rate: -0.025036 deg/s, cmd heading: 68.016970 deg, new cmd heading: 67.987497 deg. 2025-10-27T04:42:43.976Z,1761540163.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186606 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:44.112Z,1761540164.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:44.360Z,1761540164.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359753,-0.914558,-0.184825],[0.929255,0.369033,-0.017313],[0.084041,-0.165521,0.982619]] 2025-10-27T04:42:44.364Z,1761540164.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:44.371Z,1761540164.371 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050308310290,35.0, +1.0,1497.:RA, 0.00, 290.98, 222.64, 200.17 2025-10-27T04:42:44.386Z,1761540164.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:44.389Z,1761540164.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 139.161102 m, bearing: 61.930884 deg, approach rate: -0.683070 m/s, LOS rate: -0.027252 deg/s, cmd heading: 67.987498 deg, new cmd heading: 67.953074 deg. 2025-10-27T04:42:44.390Z,1761540164.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186005 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:44.617Z,1761540164.617 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:44.740Z,1761540164.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361437,-0.913821,-0.185188],[0.928648,0.370604,-0.016294],[0.083521,-0.166085,0.982568]] 2025-10-27T04:42:44.759Z,1761540164.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:44.761Z,1761540164.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 138.918243 m, bearing: 61.921363 deg, approach rate: -0.652291 m/s, LOS rate: -0.025619 deg/s, cmd heading: 67.953074 deg, new cmd heading: 67.924458 deg. 2025-10-27T04:42:44.762Z,1761540164.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185505 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:44.868Z,1761540164.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:45.120Z,1761540165.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:45.138Z,1761540165.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363496,-0.912701,-0.186676],[0.927847,0.372649,-0.015253],[0.083486,-0.167662,0.982303]] 2025-10-27T04:42:45.245Z,1761540165.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:45.247Z,1761540165.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 138.601105 m, bearing: 61.909179 deg, approach rate: -0.652351 m/s, LOS rate: -0.025119 deg/s, cmd heading: 67.924455 deg, new cmd heading: 67.887821 deg. 2025-10-27T04:42:45.248Z,1761540165.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184866 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:45.372Z,1761540165.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:45.624Z,1761540165.624 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:42:45.624Z,1761540165.624 [DAT](INFO): response not received 2025-10-27T04:42:45.625Z,1761540165.625 [DAT](INFO): DAT read: user:157>Tx time:04:42:44.7804 2025-10-27T04:42:45.625Z,1761540165.625 [DAT](ERROR): No response from remote modem. 2025-10-27T04:42:45.626Z,1761540165.626 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:45.626Z,1761540165.626 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:45.630Z,1761540165.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:45.632Z,1761540165.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:45.635Z,1761540165.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 138.365829 m, bearing: 61.903691 deg, approach rate: -0.607560 m/s, LOS rate: -0.014195 deg/s, cmd heading: 67.887818 deg, new cmd heading: 67.871327 deg. 2025-10-27T04:42:45.657Z,1761540165.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184578 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:45.876Z,1761540165.876 [DAT](INFO): DAT read: 2025-10-27T04:42:45.877Z,1761540165.877 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:45.946Z,1761540165.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367559,-0.910719,-0.188389],[0.926308,0.376542,-0.013010],[0.082785,-0.169724,0.982008]] 2025-10-27T04:42:45.985Z,1761540165.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:45.988Z,1761540165.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 138.143967 m, bearing: 61.898899 deg, approach rate: -0.628581 m/s, LOS rate: -0.013599 deg/s, cmd heading: 67.871330 deg, new cmd heading: 67.856930 deg. 2025-10-27T04:42:45.989Z,1761540165.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184327 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:46.129Z,1761540166.129 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:46.380Z,1761540166.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:46.382Z,1761540166.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369593,-0.909714,-0.189264],[0.925513,0.378524,-0.012075],[0.082626,-0.170704,0.981852]] 2025-10-27T04:42:46.441Z,1761540166.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:46.444Z,1761540166.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 137.860718 m, bearing: 61.891506 deg, approach rate: -0.620992 m/s, LOS rate: -0.016241 deg/s, cmd heading: 67.856932 deg, new cmd heading: 67.834709 deg. 2025-10-27T04:42:46.445Z,1761540166.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183939 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:46.632Z,1761540166.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:46.775Z,1761540166.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371648,-0.908608,-0.190552],[0.924685,0.380570,-0.011186],[0.082681,-0.172043,0.981613]] 2025-10-27T04:42:46.802Z,1761540166.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:46.805Z,1761540166.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 137.636795 m, bearing: 61.885843 deg, approach rate: -0.620144 m/s, LOS rate: -0.015709 deg/s, cmd heading: 67.834707 deg, new cmd heading: 67.817690 deg. 2025-10-27T04:42:46.806Z,1761540166.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183642 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:46.884Z,1761540166.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:47.136Z,1761540167.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:47.187Z,1761540167.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373743,-0.907676,-0.190891],[0.923879,0.382551,-0.010158],[0.082245,-0.172564,0.981559]] 2025-10-27T04:42:47.218Z,1761540167.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:47.225Z,1761540167.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 137.385666 m, bearing: 61.879704 deg, approach rate: -0.604104 m/s, LOS rate: -0.014795 deg/s, cmd heading: 67.817693 deg, new cmd heading: 67.799241 deg. 2025-10-27T04:42:47.225Z,1761540167.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183320 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:47.388Z,1761540167.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:47.584Z,1761540167.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376087,-0.906481,-0.191964],[0.922953,0.384810,-0.008920],[0.081956,-0.173819,0.981361]] 2025-10-27T04:42:47.635Z,1761540167.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:47.637Z,1761540167.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:47.641Z,1761540167.641 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:47.651Z,1761540167.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 137.123703 m, bearing: 61.871212 deg, approach rate: -0.624554 m/s, LOS rate: -0.020285 deg/s, cmd heading: 67.799244 deg, new cmd heading: 67.773720 deg. 2025-10-27T04:42:47.653Z,1761540167.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182875 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:47.892Z,1761540167.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:47.985Z,1761540167.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378360,-0.905366,-0.192757],[0.922048,0.386996,-0.007817],[0.081674,-0.174774,0.981215]] 2025-10-27T04:42:48.019Z,1761540168.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:48.021Z,1761540168.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 136.872559 m, bearing: 61.863294 deg, approach rate: -0.658584 m/s, LOS rate: -0.020803 deg/s, cmd heading: 67.773720 deg, new cmd heading: 67.749921 deg. 2025-10-27T04:42:48.022Z,1761540168.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182459 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:48.145Z,1761540168.145 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:48.398Z,1761540168.398 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:48.414Z,1761540168.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380073,-0.904666,-0.192674],[0.921370,0.388620,-0.007182],[0.081374,-0.174794,0.981237]] 2025-10-27T04:42:48.463Z,1761540168.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:48.466Z,1761540168.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 136.580978 m, bearing: 61.851441 deg, approach rate: -0.656675 m/s, LOS rate: -0.026751 deg/s, cmd heading: 67.749924 deg, new cmd heading: 67.714289 deg. 2025-10-27T04:42:48.466Z,1761540168.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181837 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:48.649Z,1761540168.649 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:48.793Z,1761540168.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381574,-0.903992,-0.192871],[0.920764,0.390065,-0.006616],[0.081213,-0.175065,0.981202]] 2025-10-27T04:42:48.829Z,1761540168.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:48.832Z,1761540168.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 136.350372 m, bearing: 61.842188 deg, approach rate: -0.629657 m/s, LOS rate: -0.025308 deg/s, cmd heading: 67.714291 deg, new cmd heading: 67.686484 deg. 2025-10-27T04:42:48.833Z,1761540168.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181352 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:48.902Z,1761540168.902 [DAT](INFO): DAT read: Rx Time:04:42:47.4056 2025-10-27T04:42:48.902Z,1761540168.902 [DAT](INFO): Rx dataTimestamp_ set to:1761540168.902034 2025-10-27T04:42:48.903Z,1761540168.903 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:49.152Z,1761540169.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:49.198Z,1761540169.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382944,-0.903369,-0.193075],[0.920206,0.391387,-0.006112],[0.081088,-0.175328,0.981165]] 2025-10-27T04:42:49.217Z,1761540169.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.29 m. 2025-10-27T04:42:49.235Z,1761540169.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.288864 m, nav range: 136.084000 m, bearing: 61.831625 deg, approach rate: -0.686623 m/s, LOS rate: -0.027280 deg/s, cmd heading: 67.686485 deg, new cmd heading: 67.654735 deg. 2025-10-27T04:42:49.244Z,1761540169.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180798 target range: 179.288864 and range: 197.90 m. 2025-10-27T04:42:49.414Z,1761540169.414 [DAT](INFO): DAT read: 04:42:47.4056 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 341,-0.34, 0.688,-0.934, 0.969, 0.571, PHS= 0.219,-1.460, 0.354, RAW= 153.8, 10.2, CAL= 153.6, 11.1, ROT= 356.4, -11.1 2025-10-27T04:42:49.416Z,1761540169.416 [DAT](INFO): got valid direction response: 04:42:47.4056 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 341,-0.34, 0.688,-0.934, 0.969, 0.571, PHS= 0.219,-1.460, 0.354, RAW= 153.8, 10.2, CAL= 153.6, 11.1, ROT= 356.4, -11.1 2025-10-27T04:42:49.417Z,1761540169.417 [DAT](INFO): DAT read: Bearing 243.2, -0.9 (Local) 2025-10-27T04:42:49.418Z,1761540169.418 [DAT](INFO): Local bearing/azimuth received: Bearing 243.2, -0.9 (Local) 2025-10-27T04:42:49.420Z,1761540169.420 [DAT](INFO): DAT read: Range 11 to 50 : 165.7 m (Round-trip 221.0 ms) speed 0.5 m/s 2025-10-27T04:42:49.421Z,1761540169.421 [DAT](INFO): DAT read: user:158>Tx time:04:42:48.4804 2025-10-27T04:42:49.422Z,1761540169.422 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:49.423Z,1761540169.423 [DAT](INFO): direction in FSK: [0.979356,-0.061616,0.192522] 2025-10-27T04:42:49.423Z,1761540169.423 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:49.427Z,1761540169.427 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:49.440Z,1761540169.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:49.657Z,1761540169.657 [DAT](INFO): DAT read: 2025-10-27T04:42:49.658Z,1761540169.658 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:49.697Z,1761540169.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 165.699997 m, deltaT: 20.434171 s, deltaX: -32.199997 m, approachRate: -1.575792 m/s, rangeRepo size: 4 2025-10-27T04:42:49.701Z,1761540169.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 165.035934 m, bearing: 65.806707 deg, lat: 36.779354 deg, lon: -121.859388 deg, deltaT: 24.465816 s, deltaX: -14.252930 m, approachRate: -0.582565 m/s, posRepo size: 4 2025-10-27T04:42:49.702Z,1761540169.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:49.706Z,1761540169.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 156.233673 m, bearing: 65.436053 deg, approach rate: 0.000000 m/s, LOS rate: -0.027280 deg/s, cmd heading: 67.654738 deg, new cmd heading: 67.615510 deg. 2025-10-27T04:42:49.709Z,1761540169.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180113 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:49.908Z,1761540169.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:50.027Z,1761540170.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384414,-0.903091,-0.191449],[0.919571,0.392866,-0.006780],[0.081337,-0.173445,0.981479]] 2025-10-27T04:42:50.061Z,1761540170.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:50.067Z,1761540170.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:50.070Z,1761540170.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 155.975525 m, bearing: 65.429975 deg, approach rate: -0.704172 m/s, LOS rate: -0.016608 deg/s, cmd heading: 67.615512 deg, new cmd heading: 67.597247 deg. 2025-10-27T04:42:50.071Z,1761540170.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179795 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:50.161Z,1761540170.161 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:50.423Z,1761540170.423 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:50.449Z,1761540170.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385071,-0.902820,-0.191407],[0.919290,0.393524,-0.006736],[0.081404,-0.173365,0.981488]] 2025-10-27T04:42:50.510Z,1761540170.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:50.517Z,1761540170.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 155.661911 m, bearing: 65.422645 deg, approach rate: -0.700489 m/s, LOS rate: -0.016405 deg/s, cmd heading: 67.597248 deg, new cmd heading: 67.575214 deg. 2025-10-27T04:42:50.518Z,1761540170.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179410 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:50.664Z,1761540170.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:50.835Z,1761540170.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385251,-0.902758,-0.191339],[0.919206,0.393718,-0.006832],[0.081501,-0.173248,0.981500]] 2025-10-27T04:42:50.854Z,1761540170.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:50.857Z,1761540170.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 155.405548 m, bearing: 65.416650 deg, approach rate: -0.746437 m/s, LOS rate: -0.017483 deg/s, cmd heading: 67.575214 deg, new cmd heading: 67.557201 deg. 2025-10-27T04:42:50.858Z,1761540170.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179096 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:50.917Z,1761540170.917 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:51.168Z,1761540171.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:51.237Z,1761540171.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385276,-0.902877,-0.190724],[0.919203,0.393723,-0.007003],[0.081415,-0.172616,0.981619]] 2025-10-27T04:42:51.263Z,1761540171.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:51.265Z,1761540171.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 155.116348 m, bearing: 65.409869 deg, approach rate: -0.707460 m/s, LOS rate: -0.016619 deg/s, cmd heading: 67.557203 deg, new cmd heading: 67.536822 deg. 2025-10-27T04:42:51.266Z,1761540171.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178740 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:51.422Z,1761540171.422 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:51.672Z,1761540171.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:51.717Z,1761540171.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:51.721Z,1761540171.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 154.790558 m, bearing: 65.398688 deg, approach rate: -0.718296 m/s, LOS rate: -0.024704 deg/s, cmd heading: 67.536822 deg, new cmd heading: 67.503208 deg. 2025-10-27T04:42:51.722Z,1761540171.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.178153 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:51.924Z,1761540171.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:52.045Z,1761540172.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385675,-0.902981,-0.189422],[0.919065,0.394041,-0.007133],[0.081081,-0.171340,0.981870]] 2025-10-27T04:42:52.062Z,1761540172.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:52.086Z,1761540172.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:52.089Z,1761540172.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 154.534821 m, bearing: 65.389921 deg, approach rate: -0.690642 m/s, LOS rate: -0.023715 deg/s, cmd heading: 67.503210 deg, new cmd heading: 67.476866 deg. 2025-10-27T04:42:52.090Z,1761540172.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177693 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:52.176Z,1761540172.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:52.431Z,1761540172.431 [DAT](INFO): DAT read: Rx Time:04:42:51.1035 2025-10-27T04:42:52.432Z,1761540172.432 [DAT](INFO): Rx dataTimestamp_ set to:1761540172.431646 2025-10-27T04:42:52.434Z,1761540172.434 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:52.498Z,1761540172.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386024,-0.903000,-0.188620],[0.918950,0.394311,-0.007031],[0.080724,-0.170618,0.982025]] 2025-10-27T04:42:52.541Z,1761540172.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:52.544Z,1761540172.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 154.187668 m, bearing: 65.376666 deg, approach rate: -0.763151 m/s, LOS rate: -0.029204 deg/s, cmd heading: 67.476866 deg, new cmd heading: 67.437012 deg. 2025-10-27T04:42:52.545Z,1761540172.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.176998 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:52.701Z,1761540172.701 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:52.853Z,1761540172.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385863,-0.903217,-0.187908],[0.919021,0.394141,-0.007334],[0.080686,-0.169861,0.982159]] 2025-10-27T04:42:52.888Z,1761540172.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.04 m. 2025-10-27T04:42:52.891Z,1761540172.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.035934 m, nav range: 153.940842 m, bearing: 65.367188 deg, approach rate: -0.711452 m/s, LOS rate: -0.027363 deg/s, cmd heading: 67.437012 deg, new cmd heading: 67.408533 deg. 2025-10-27T04:42:52.892Z,1761540172.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.176501 target range: 165.035934 and range: 165.70 m. 2025-10-27T04:42:52.985Z,1761540172.985 [DAT](INFO): DAT read: 04:42:51.1035 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 110, 0.16, 2.724, 1.199, 2.988, 2.627, PHS= 0.199,-1.383, 0.317, RAW= 153.6, 10.6, CAL= 153.4, 11.6, ROT= 356.6, -11.6 2025-10-27T04:42:52.987Z,1761540172.987 [DAT](INFO): got valid direction response: 04:42:51.1035 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 110, 0.16, 2.724, 1.199, 2.988, 2.627, PHS= 0.199,-1.383, 0.317, RAW= 153.6, 10.6, CAL= 153.4, 11.6, ROT= 356.6, -11.6 2025-10-27T04:42:52.992Z,1761540172.992 [DAT](INFO): DAT read: Bearing 240.8, -0.9 (Local) 2025-10-27T04:42:52.992Z,1761540172.992 [DAT](INFO): Local bearing/azimuth received: Bearing 240.8, -0.9 (Local) 2025-10-27T04:42:52.994Z,1761540172.994 [DAT](INFO): DAT read: Range 11 to 50 : 164.1 m (Round-trip 218.9 ms) speed 0.4 m/s 2025-10-27T04:42:53.019Z,1761540173.019 [DAT](INFO): DAT read: user:159>Tx time:04:42:52.1804 2025-10-27T04:42:53.020Z,1761540173.020 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:53.021Z,1761540173.021 [DAT](INFO): direction in FSK: [0.977851,-0.058095,0.201078] 2025-10-27T04:42:53.021Z,1761540173.021 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:53.033Z,1761540173.033 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:53.033Z,1761540173.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:53.204Z,1761540173.204 [DAT](INFO): DAT read: 2025-10-27T04:42:53.204Z,1761540173.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:53.296Z,1761540173.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 164.100006 m, deltaT: 3.547824 s, deltaX: -1.599991 m, approachRate: -0.450978 m/s, rangeRepo size: 4 2025-10-27T04:42:53.298Z,1761540173.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 163.442215 m, bearing: 65.850054 deg, lat: 36.779354 deg, lon: -121.859382 deg, deltaT: 3.547824 s, deltaX: -1.593719 m, approachRate: -0.449210 m/s, posRepo size: 4 2025-10-27T04:42:53.299Z,1761540173.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:53.302Z,1761540173.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 154.081070 m, bearing: 65.431723 deg, approach rate: 0.000000 m/s, LOS rate: -0.027363 deg/s, cmd heading: 67.408530 deg, new cmd heading: 67.375082 deg. 2025-10-27T04:42:53.303Z,1761540173.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175917 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:53.459Z,1761540173.459 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:53.668Z,1761540173.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385538,-0.903645,-0.186512],[0.919187,0.393746,-0.007639],[0.080342,-0.168494,0.982423]] 2025-10-27T04:42:53.708Z,1761540173.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:53.744Z,1761540173.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:53.747Z,1761540173.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 153.753647 m, bearing: 65.420316 deg, approach rate: -0.730516 m/s, LOS rate: -0.025503 deg/s, cmd heading: 67.375083 deg, new cmd heading: 67.340791 deg. 2025-10-27T04:42:53.752Z,1761540173.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175318 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:53.960Z,1761540173.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:54.081Z,1761540174.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385026,-0.903995,-0.185873],[0.919405,0.393230,-0.007979],[0.080304,-0.167821,0.982541]] 2025-10-27T04:42:54.115Z,1761540174.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:54.117Z,1761540174.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:54.125Z,1761540174.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 153.466537 m, bearing: 65.410213 deg, approach rate: -0.769856 m/s, LOS rate: -0.027142 deg/s, cmd heading: 67.340788 deg, new cmd heading: 67.310422 deg. 2025-10-27T04:42:54.126Z,1761540174.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174788 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:54.212Z,1761540174.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:54.466Z,1761540174.466 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:54.520Z,1761540174.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384422,-0.904351,-0.185386],[0.919651,0.392647,-0.008395],[0.080383,-0.167263,0.982630]] 2025-10-27T04:42:54.575Z,1761540174.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:54.578Z,1761540174.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 153.122925 m, bearing: 65.399696 deg, approach rate: -0.750335 m/s, LOS rate: -0.023017 deg/s, cmd heading: 67.310421 deg, new cmd heading: 67.278799 deg. 2025-10-27T04:42:54.579Z,1761540174.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174237 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:54.716Z,1761540174.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:54.893Z,1761540174.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384106,-0.904631,-0.184674],[0.919808,0.392277,-0.008457],[0.080094,-0.166616,0.982763]] 2025-10-27T04:42:54.912Z,1761540174.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:54.915Z,1761540174.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 152.875122 m, bearing: 65.392047 deg, approach rate: -0.735058 m/s, LOS rate: -0.022726 deg/s, cmd heading: 67.278798 deg, new cmd heading: 67.255814 deg. 2025-10-27T04:42:54.916Z,1761540174.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.173835 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:54.968Z,1761540174.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:55.220Z,1761540175.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:55.294Z,1761540175.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384314,-0.904638,-0.184206],[0.919769,0.392377,-0.008028],[0.079541,-0.166342,0.982855]] 2025-10-27T04:42:55.313Z,1761540175.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:55.316Z,1761540175.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 152.578888 m, bearing: 65.382893 deg, approach rate: -0.738269 m/s, LOS rate: -0.022858 deg/s, cmd heading: 67.255814 deg, new cmd heading: 67.228299 deg. 2025-10-27T04:42:55.317Z,1761540175.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.173355 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:55.474Z,1761540175.474 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:55.724Z,1761540175.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:55.773Z,1761540175.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:55.776Z,1761540175.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 152.244324 m, bearing: 65.372806 deg, approach rate: -0.726961 m/s, LOS rate: -0.021966 deg/s, cmd heading: 67.228295 deg, new cmd heading: 67.197967 deg. 2025-10-27T04:42:55.777Z,1761540175.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172826 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:55.976Z,1761540175.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:56.102Z,1761540176.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385001,-0.904595,-0.182979],[0.919600,0.392794,-0.006957],[0.078167,-0.165589,0.983092]] 2025-10-27T04:42:56.161Z,1761540176.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:56.167Z,1761540176.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:56.170Z,1761540176.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 151.986694 m, bearing: 65.365074 deg, approach rate: -0.661569 m/s, LOS rate: -0.019888 deg/s, cmd heading: 67.197969 deg, new cmd heading: 67.174734 deg. 2025-10-27T04:42:56.183Z,1761540176.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172420 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:56.228Z,1761540176.228 [DAT](INFO): DAT read: Rx Time:04:42:54.7704 2025-10-27T04:42:56.229Z,1761540176.229 [DAT](INFO): Rx dataTimestamp_ set to:1761540176.228222 2025-10-27T04:42:56.229Z,1761540176.229 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:56.483Z,1761540176.483 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:42:56.672Z,1761540176.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:56.674Z,1761540176.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 151.601700 m, bearing: 65.356088 deg, approach rate: -0.756893 m/s, LOS rate: -0.017712 deg/s, cmd heading: 67.174733 deg, new cmd heading: 67.147706 deg. 2025-10-27T04:42:56.675Z,1761540176.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171949 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:56.739Z,1761540176.739 [DAT](INFO): DAT read: 04:42:54.7704 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 107, 0.31,-1.533, 3.115,-1.257,-1.686, PHS= 0.256,-1.437, 0.385, RAW= 153.6, 9.1, CAL= 153.3, 9.8, ROT= 356.7, -9.8 2025-10-27T04:42:56.741Z,1761540176.741 [DAT](INFO): got valid direction response: 04:42:54.7704 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 107, 0.31,-1.533, 3.115,-1.257,-1.686, PHS= 0.256,-1.437, 0.385, RAW= 153.6, 9.1, CAL= 153.3, 9.8, ROT= 356.7, -9.8 2025-10-27T04:42:56.742Z,1761540176.742 [DAT](INFO): DAT read: Bearing 236.8, -0.8 (Local) 2025-10-27T04:42:56.742Z,1761540176.742 [DAT](INFO): Local bearing/azimuth received: Bearing 236.8, -0.8 (Local) 2025-10-27T04:42:56.744Z,1761540176.744 [DAT](INFO): DAT read: Range 11 to 50 : 139.3 m (Round-trip 185.8 ms) speed 0.4 m/s 2025-10-27T04:42:56.744Z,1761540176.744 [DAT](INFO): DAT read: Tx time:04:42:55.8304 2025-10-27T04:42:56.745Z,1761540176.745 [DAT](INFO): Ping request sent. 2025-10-27T04:42:56.745Z,1761540176.745 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:42:56.745Z,1761540176.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:42:56.746Z,1761540176.746 [DAT](INFO): direction in FSK: [0.983774,-0.056724,0.170209] 2025-10-27T04:42:56.746Z,1761540176.746 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:56.747Z,1761540176.747 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:56.750Z,1761540176.750 [DAT](INFO): publishing transmit ping time 2025-10-27T04:42:56.750Z,1761540176.750 [DAT](INFO): publishing direction and range info 2025-10-27T04:42:57.041Z,1761540177.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 139.300003 m, deltaT: 3.778885 s, deltaX: -24.800003 m, approachRate: -6.562783 m/s, rangeRepo size: 4 2025-10-27T04:42:57.042Z,1761540177.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:57.044Z,1761540177.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 151.343155 m, bearing: 65.350027 deg, approach rate: -0.700814 m/s, LOS rate: -0.016455 deg/s, cmd heading: 67.147706 deg, new cmd heading: 67.129494 deg. 2025-10-27T04:42:57.045Z,1761540177.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171631 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:57.396Z,1761540177.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385825,-0.904837,-0.180022],[0.919448,0.393171,-0.005609],[0.075855,-0.163357,0.983647]] 2025-10-27T04:42:57.415Z,1761540177.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:57.418Z,1761540177.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 151.075287 m, bearing: 65.343802 deg, approach rate: -0.715263 m/s, LOS rate: -0.016653 deg/s, cmd heading: 67.129497 deg, new cmd heading: 67.110787 deg. 2025-10-27T04:42:57.419Z,1761540177.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171304 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:57.867Z,1761540177.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386240,-0.904809,-0.179274],[0.919319,0.393478,-0.005270],[0.075309,-0.162775,0.983785]] 2025-10-27T04:42:57.904Z,1761540177.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:57.907Z,1761540177.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 150.736313 m, bearing: 65.338314 deg, approach rate: -0.693163 m/s, LOS rate: -0.011246 deg/s, cmd heading: 67.110789 deg, new cmd heading: 67.094290 deg. 2025-10-27T04:42:57.924Z,1761540177.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171016 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:58.365Z,1761540178.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386630,-0.904353,-0.180728],[0.919151,0.393877,-0.004605],[0.075350,-0.164336,0.983522]] 2025-10-27T04:42:58.389Z,1761540178.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:42:58.392Z,1761540178.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:58.395Z,1761540178.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 150.398895 m, bearing: 65.332890 deg, approach rate: -0.692950 m/s, LOS rate: -0.011166 deg/s, cmd heading: 67.094287 deg, new cmd heading: 67.077976 deg. 2025-10-27T04:42:58.396Z,1761540178.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170732 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:58.498Z,1761540178.498 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:42:58.498Z,1761540178.498 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:42:58.499Z,1761540178.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:42:58.749Z,1761540178.749 [DAT](INFO): DAT read: user:160> 2025-10-27T04:42:58.750Z,1761540178.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004689 2025-10-27T04:42:58.823Z,1761540178.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387134,-0.904177,-0.180528],[0.918967,0.394312,-0.004233],[0.075012,-0.164261,0.983561]] 2025-10-27T04:42:58.869Z,1761540178.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:58.872Z,1761540178.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 150.077057 m, bearing: 65.330303 deg, approach rate: -0.673763 m/s, LOS rate: -0.005427 deg/s, cmd heading: 67.077976 deg, new cmd heading: 67.070200 deg. 2025-10-27T04:42:58.872Z,1761540178.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170596 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:58.000Z,1761540179.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255059 2025-10-27T04:42:59.230Z,1761540179.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387592,-0.903702,-0.181921],[0.918759,0.394802,-0.003738],[0.075200,-0.165693,0.983306]] 2025-10-27T04:42:59.252Z,1761540179.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506993 2025-10-27T04:42:59.353Z,1761540179.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:59.356Z,1761540179.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 149.750397 m, bearing: 65.327734 deg, approach rate: -0.673737 m/s, LOS rate: -0.005309 deg/s, cmd heading: 67.070197 deg, new cmd heading: 67.062474 deg. 2025-10-27T04:42:59.357Z,1761540179.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170461 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:59.506Z,1761540179.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761154 2025-10-27T04:42:59.642Z,1761540179.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388485,-0.903249,-0.182268],[0.918389,0.395666,-0.003317],[0.075113,-0.166104,0.983243]] 2025-10-27T04:42:59.730Z,1761540179.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:42:59.737Z,1761540179.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 149.513107 m, bearing: 65.328454 deg, approach rate: -0.630874 m/s, LOS rate: 0.001916 deg/s, cmd heading: 67.062472 deg, new cmd heading: 67.064634 deg. 2025-10-27T04:42:59.744Z,1761540179.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170499 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:42:59.756Z,1761540179.756 [DAT](INFO): DAT read: Rx Time:04:42:58.4472 2025-10-27T04:42:59.757Z,1761540179.757 [DAT](INFO): Rx dataTimestamp_ set to:1761540179.756284 2025-10-27T04:42:59.757Z,1761540179.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012232 2025-10-27T04:43:00.008Z,1761540180.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262938 2025-10-27T04:43:00.042Z,1761540180.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389072,-0.902961,-0.182439],[0.918123,0.396280,-0.003341],[0.075314,-0.166201,0.983212]] 2025-10-27T04:43:00.096Z,1761540180.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:43:00.099Z,1761540180.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 149.259338 m, bearing: 65.329289 deg, approach rate: -0.691893 m/s, LOS rate: 0.002281 deg/s, cmd heading: 67.064637 deg, new cmd heading: 67.067147 deg. 2025-10-27T04:43:00.100Z,1761540180.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170542 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:43:00.263Z,1761540180.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517153 2025-10-27T04:43:00.438Z,1761540180.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389845,-0.902361,-0.183755],[0.917739,0.397170,-0.003339],[0.075995,-0.167337,0.982966]] 2025-10-27T04:43:00.474Z,1761540180.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:00.476Z,1761540180.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.44 m. 2025-10-27T04:43:00.479Z,1761540180.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.442215 m, nav range: 149.009094 m, bearing: 65.330200 deg, approach rate: -0.659054 m/s, LOS rate: 0.002402 deg/s, cmd heading: 67.067144 deg, new cmd heading: 67.069880 deg. 2025-10-27T04:43:00.480Z,1761540180.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170590 target range: 163.442215 and range: 164.10 m. 2025-10-27T04:43:00.518Z,1761540180.518 [DAT](INFO): DAT read: 04:42:58.4472 LVL= 28400, 32753, 32386, 32755, AGC= 67, IDX= 155,-0.03,-3.053, 1.645,-2.824, 3.104, PHS= 0.229,-1.414, 0.311, RAW= 152.4, 10.4, CAL= 152.2, 11.3, ROT= 357.8, -11.3 2025-10-27T04:43:00.519Z,1761540180.519 [DAT](INFO): got valid direction response: 04:42:58.4472 LVL= 28400, 32753, 32386, 32755, AGC= 67, IDX= 155,-0.03,-3.053, 1.645,-2.824, 3.104, PHS= 0.229,-1.414, 0.311, RAW= 152.4, 10.4, CAL= 152.2, 11.3, ROT= 357.8, -11.3 2025-10-27T04:43:00.521Z,1761540180.521 [DAT](INFO): DAT read: Bearing 236.6, -0.1 (Local) 2025-10-27T04:43:00.522Z,1761540180.522 [DAT](INFO): Local bearing/azimuth received: Bearing 236.6, -0.1 (Local) 2025-10-27T04:43:00.532Z,1761540180.532 [DAT](INFO): DAT read: Range 11 to 50 : 159.4 m (Round-trip 212.6 ms) speed 0.4 m/s 2025-10-27T04:43:00.561Z,1761540180.561 [DAT](INFO): DAT read: user:161>Tx time:04:42:59.5304 2025-10-27T04:43:00.562Z,1761540180.562 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:00.574Z,1761540180.574 [DAT](INFO): direction in FSK: [0.979892,-0.037644,0.195946] 2025-10-27T04:43:00.591Z,1761540180.591 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:00.600Z,1761540180.600 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:00.601Z,1761540180.601 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:00.601Z,1761540180.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:00.764Z,1761540180.764 [DAT](INFO): DAT read: 2025-10-27T04:43:00.764Z,1761540180.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019562 2025-10-27T04:43:00.903Z,1761540180.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.399994 m, deltaT: 7.558134 s, deltaX: -4.700012 m, approachRate: -0.621848 m/s, rangeRepo size: 4 2025-10-27T04:43:00.905Z,1761540180.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.756104 m, bearing: 66.733036 deg, lat: 36.779338 deg, lon: -121.859360 deg, deltaT: 7.558134 s, deltaX: -4.686111 m, approachRate: -0.620009 m/s, posRepo size: 4 2025-10-27T04:43:00.906Z,1761540180.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.76 m. 2025-10-27T04:43:00.909Z,1761540180.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.756104 m, nav range: 149.810959 m, bearing: 66.255183 deg, approach rate: 0.000000 m/s, LOS rate: 0.002402 deg/s, cmd heading: 67.069883 deg, new cmd heading: 67.072955 deg. 2025-10-27T04:43:00.909Z,1761540180.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170644 target range: 158.756104 and range: 159.40 m. 2025-10-27T04:43:01.016Z,1761540181.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271069 2025-10-27T04:43:01.268Z,1761540181.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523170 2025-10-27T04:43:01.318Z,1761540181.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391383,-0.901629,-0.184077],[0.917022,0.398820,-0.003698],[0.076747,-0.167355,0.982905]] 2025-10-27T04:43:01.337Z,1761540181.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.76 m. 2025-10-27T04:43:01.360Z,1761540181.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.756104 m, nav range: 149.525040 m, bearing: 66.258097 deg, approach rate: -0.657085 m/s, LOS rate: 0.006708 deg/s, cmd heading: 67.072956 deg, new cmd heading: 67.081713 deg. 2025-10-27T04:43:01.364Z,1761540181.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170797 target range: 158.756104 and range: 159.40 m. 2025-10-27T04:43:01.521Z,1761540181.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775921 2025-10-27T04:43:01.772Z,1761540181.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027094 2025-10-27T04:43:01.776Z,1761540181.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393745,-0.900373,-0.185182],[0.915912,0.401360,-0.003981],[0.077909,-0.168043,0.982696]] 2025-10-27T04:43:01.813Z,1761540181.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.76 m. 2025-10-27T04:43:01.816Z,1761540181.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.756104 m, nav range: 149.216751 m, bearing: 66.263273 deg, approach rate: -0.648330 m/s, LOS rate: 0.010908 deg/s, cmd heading: 67.081713 deg, new cmd heading: 67.097273 deg. 2025-10-27T04:43:01.817Z,1761540181.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171068 target range: 158.756104 and range: 159.40 m. 2025-10-27T04:43:02.024Z,1761540182.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279135 2025-10-27T04:43:02.263Z,1761540182.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395099,-0.899755,-0.185305],[0.915285,0.402784,-0.004205],[0.078422,-0.167945,0.982672]] 2025-10-27T04:43:02.276Z,1761540182.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531101 2025-10-27T04:43:02.284Z,1761540182.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.76 m. 2025-10-27T04:43:02.286Z,1761540182.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.756104 m, nav range: 148.912415 m, bearing: 66.268580 deg, approach rate: -0.646412 m/s, LOS rate: 0.011295 deg/s, cmd heading: 67.097272 deg, new cmd heading: 67.113225 deg. 2025-10-27T04:43:02.288Z,1761540182.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171347 target range: 158.756104 and range: 159.40 m. 2025-10-27T04:43:02.528Z,1761540182.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782896 2025-10-27T04:43:02.720Z,1761540182.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:02.724Z,1761540182.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.76 m. 2025-10-27T04:43:02.728Z,1761540182.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.756104 m, nav range: 148.629120 m, bearing: 66.268709 deg, approach rate: -0.644971 m/s, LOS rate: 0.000295 deg/s, cmd heading: 67.113227 deg, new cmd heading: 67.113615 deg. 2025-10-27T04:43:02.729Z,1761540182.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171354 target range: 158.756104 and range: 159.40 m. 2025-10-27T04:43:02.780Z,1761540182.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035314 2025-10-27T04:43:03.032Z,1761540183.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.286922 2025-10-27T04:43:03.073Z,1761540183.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396789,-0.898582,-0.187375],[0.914365,0.404856,-0.005260],[0.080586,-0.169242,0.982274]] 2025-10-27T04:43:03.103Z,1761540183.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.76 m. 2025-10-27T04:43:03.106Z,1761540183.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.756104 m, nav range: 148.377975 m, bearing: 66.269004 deg, approach rate: -0.661120 m/s, LOS rate: 0.000777 deg/s, cmd heading: 67.113616 deg, new cmd heading: 67.114502 deg. 2025-10-27T04:43:03.107Z,1761540183.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171369 target range: 158.756104 and range: 159.40 m. 2025-10-27T04:43:03.284Z,1761540183.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539081 2025-10-27T04:43:03.468Z,1761540183.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397792,-0.898114,-0.187491],[0.913885,0.405935,-0.005540],[0.081085,-0.169142,0.982251]] 2025-10-27T04:43:03.486Z,1761540183.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.76 m. 2025-10-27T04:43:03.489Z,1761540183.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.756104 m, nav range: 148.128418 m, bearing: 66.269405 deg, approach rate: -0.650889 m/s, LOS rate: 0.001050 deg/s, cmd heading: 67.114504 deg, new cmd heading: 67.115712 deg. 2025-10-27T04:43:03.490Z,1761540183.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171390 target range: 158.756104 and range: 159.40 m. 2025-10-27T04:43:03.539Z,1761540183.539 [DAT](INFO): DAT read: Rx Time:04:43:02.1442 2025-10-27T04:43:03.540Z,1761540183.540 [DAT](INFO): Rx dataTimestamp_ set to:1761540183.539628 2025-10-27T04:43:03.541Z,1761540183.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795849 2025-10-27T04:43:03.788Z,1761540183.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042950 2025-10-27T04:43:03.869Z,1761540183.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398713,-0.897526,-0.188346],[0.913399,0.407022,-0.005993],[0.082040,-0.169646,0.982084]] 2025-10-27T04:43:03.916Z,1761540183.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.76 m. 2025-10-27T04:43:03.918Z,1761540183.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.756104 m, nav range: 147.841293 m, bearing: 66.268450 deg, approach rate: -0.668940 m/s, LOS rate: -0.002230 deg/s, cmd heading: 67.115713 deg, new cmd heading: 67.112841 deg. 2025-10-27T04:43:03.919Z,1761540183.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171340 target range: 158.756104 and range: 159.40 m. 2025-10-27T04:43:04.046Z,1761540184.046 [DAT](INFO): DAT read: 04:43:02.1442 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 415, 0.43,-0.478,-2.030,-0.252,-0.530, PHS= 0.154,-1.454, 0.234, RAW= 152.4, 12.9, CAL= 152.5, 14.3, ROT= 357.5, -14.3 2025-10-27T04:43:04.047Z,1761540184.047 [DAT](INFO): got valid direction response: 04:43:02.1442 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 415, 0.43,-0.478,-2.030,-0.252,-0.530, PHS= 0.154,-1.454, 0.234, RAW= 152.4, 12.9, CAL= 152.5, 14.3, ROT= 357.5, -14.3 2025-10-27T04:43:04.048Z,1761540184.048 [DAT](INFO): DAT read: Bearing 237.3, -0.3 (Local) 2025-10-27T04:43:04.049Z,1761540184.049 [DAT](INFO): Local bearing/azimuth received: Bearing 237.3, -0.3 (Local) 2025-10-27T04:43:04.050Z,1761540184.050 [DAT](INFO): DAT read: Range 11 to 50 : 157.2 m (Round-trip 209.6 ms) speed 0.6 m/s 2025-10-27T04:43:04.051Z,1761540184.051 [DAT](INFO): DAT read: user:162>Tx time:04:43:03.2304 2025-10-27T04:43:04.052Z,1761540184.052 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:04.053Z,1761540184.053 [DAT](INFO): direction in FSK: [0.968093,-0.042268,0.246999] 2025-10-27T04:43:04.053Z,1761540184.053 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:04.057Z,1761540184.057 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:04.057Z,1761540184.057 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:04.057Z,1761540184.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:04.274Z,1761540184.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399088,-0.897333,-0.188473],[0.913140,0.407587,-0.006996],[0.083096,-0.169310,0.982054]] 2025-10-27T04:43:04.292Z,1761540184.292 [DAT](INFO): DAT read: 2025-10-27T04:43:04.292Z,1761540184.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547408 2025-10-27T04:43:04.358Z,1761540184.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 157.199997 m, deltaT: 3.527916 s, deltaX: -2.199997 m, approachRate: -0.623597 m/s, rangeRepo size: 4 2025-10-27T04:43:04.365Z,1761540184.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 156.559326 m, bearing: 66.411138 deg, lat: 36.779338 deg, lon: -121.859356 deg, deltaT: 3.527916 s, deltaX: -2.196777 m, approachRate: -0.622684 m/s, posRepo size: 4 2025-10-27T04:43:04.365Z,1761540184.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:04.372Z,1761540184.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 147.879272 m, bearing: 66.322143 deg, approach rate: 0.000000 m/s, LOS rate: -0.002230 deg/s, cmd heading: 67.112845 deg, new cmd heading: 67.109885 deg. 2025-10-27T04:43:04.373Z,1761540184.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171288 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:04.549Z,1761540184.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803788 2025-10-27T04:43:04.706Z,1761540184.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398819,-0.897490,-0.188293],[0.913079,0.407678,-0.009208],[0.085027,-0.168254,0.982070]] 2025-10-27T04:43:04.764Z,1761540184.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:04.766Z,1761540184.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:04.768Z,1761540184.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 147.580627 m, bearing: 66.317467 deg, approach rate: -0.732246 m/s, LOS rate: -0.011488 deg/s, cmd heading: 67.109887 deg, new cmd heading: 67.095830 deg. 2025-10-27T04:43:04.769Z,1761540184.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171043 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:04.796Z,1761540184.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051093 2025-10-27T04:43:05.048Z,1761540185.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303066 2025-10-27T04:43:05.117Z,1761540185.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398749,-0.897565,-0.188084],[0.912998,0.407827,-0.010605],[0.086225,-0.167492,0.982096]] 2025-10-27T04:43:05.160Z,1761540185.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:05.163Z,1761540185.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 147.314819 m, bearing: 66.313290 deg, approach rate: -0.673414 m/s, LOS rate: -0.010600 deg/s, cmd heading: 67.095831 deg, new cmd heading: 67.083278 deg. 2025-10-27T04:43:05.164Z,1761540185.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170824 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:05.300Z,1761540185.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554998 2025-10-27T04:43:05.514Z,1761540185.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398266,-0.897800,-0.187988],[0.913071,0.407615,-0.012291],[0.087662,-0.166751,0.982094]] 2025-10-27T04:43:05.552Z,1761540185.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.807190 2025-10-27T04:43:05.556Z,1761540185.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:05.559Z,1761540185.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 147.036819 m, bearing: 66.308858 deg, approach rate: -0.701908 m/s, LOS rate: -0.011210 deg/s, cmd heading: 67.083277 deg, new cmd heading: 67.069957 deg. 2025-10-27T04:43:05.560Z,1761540185.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170592 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:05.804Z,1761540185.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059014 2025-10-27T04:43:05.921Z,1761540185.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397574,-0.898171,-0.187681],[0.913225,0.407208,-0.014215],[0.089193,-0.165744,0.982127]] 2025-10-27T04:43:05.957Z,1761540185.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:05.980Z,1761540185.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 146.741043 m, bearing: 66.299476 deg, approach rate: -0.738551 m/s, LOS rate: -0.023475 deg/s, cmd heading: 67.069958 deg, new cmd heading: 67.041754 deg. 2025-10-27T04:43:05.981Z,1761540185.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170099 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:06.056Z,1761540186.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311594 2025-10-27T04:43:06.308Z,1761540186.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563219 2025-10-27T04:43:06.323Z,1761540186.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397013,-0.898357,-0.187977],[0.913323,0.406930,-0.015786],[0.090675,-0.165416,0.982047]] 2025-10-27T04:43:06.342Z,1761540186.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:06.346Z,1761540186.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 146.465195 m, bearing: 66.290631 deg, approach rate: -0.715716 m/s, LOS rate: -0.022994 deg/s, cmd heading: 67.041756 deg, new cmd heading: 67.015169 deg. 2025-10-27T04:43:06.347Z,1761540186.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169635 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:06.560Z,1761540186.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815062 2025-10-27T04:43:06.736Z,1761540186.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396130,-0.898723,-0.188089],[0.913543,0.406359,-0.017664],[0.092307,-0.164830,0.981993]] 2025-10-27T04:43:06.776Z,1761540186.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:06.778Z,1761540186.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:06.780Z,1761540186.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 146.148727 m, bearing: 66.276907 deg, approach rate: -0.726986 m/s, LOS rate: -0.031594 deg/s, cmd heading: 67.015166 deg, new cmd heading: 66.973905 deg. 2025-10-27T04:43:06.781Z,1761540186.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.168915 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:06.812Z,1761540186.812 [DAT](INFO): Reached modem response timeout 2025-10-27T04:43:06.812Z,1761540186.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:43:06.812Z,1761540186.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:07.064Z,1761540187.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:43:07.147Z,1761540187.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394996,-0.899312,-0.187661],[0.913888,0.405492,-0.019615],[0.093735,-0.163754,0.982038]] 2025-10-27T04:43:07.165Z,1761540187.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:07.168Z,1761540187.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 145.866150 m, bearing: 66.264470 deg, approach rate: -0.728809 m/s, LOS rate: -0.032137 deg/s, cmd heading: 66.973905 deg, new cmd heading: 66.936523 deg. 2025-10-27T04:43:07.169Z,1761540187.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.168263 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:07.316Z,1761540187.316 [DAT](INFO): DAT read: Rx Time:04:43:05.8100 2025-10-27T04:43:07.316Z,1761540187.316 [DAT](INFO): Rx dataTimestamp_ set to:1761540187.316114 2025-10-27T04:43:07.317Z,1761540187.317 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:43:07.534Z,1761540187.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394011,-0.899738,-0.187688],[0.914159,0.404790,-0.021398],[0.095227,-0.163146,0.981995]] 2025-10-27T04:43:07.568Z,1761540187.568 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:43:07.570Z,1761540187.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:07.573Z,1761540187.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 145.584045 m, bearing: 66.251891 deg, approach rate: -0.697191 m/s, LOS rate: -0.031149 deg/s, cmd heading: 66.936523 deg, new cmd heading: 66.898712 deg. 2025-10-27T04:43:07.574Z,1761540187.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167603 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:07.828Z,1761540187.828 [DAT](INFO): DAT read: 04:43:05.8100 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 98,-0.34, 2.898, 1.306,-3.106, 2.776, PHS= 0.224,-1.425, 0.357, RAW= 153.8, 9.8, CAL= 153.6, 10.7, ROT= 356.4, -10.7 2025-10-27T04:43:07.829Z,1761540187.829 [DAT](INFO): got valid direction response: 04:43:05.8100 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 98,-0.34, 2.898, 1.306,-3.106, 2.776, PHS= 0.224,-1.425, 0.357, RAW= 153.8, 9.8, CAL= 153.6, 10.7, ROT= 356.4, -10.7 2025-10-27T04:43:07.830Z,1761540187.830 [DAT](INFO): DAT read: Bearing 231.7, 0.2 (Local) 2025-10-27T04:43:07.830Z,1761540187.830 [DAT](INFO): Local bearing/azimuth received: Bearing 231.7, 0.2 (Local) 2025-10-27T04:43:07.836Z,1761540187.836 [DAT](INFO): DAT read: Range 11 to 50 : 131.5 m (Round-trip 175.4 ms) speed 0.5 m/s 2025-10-27T04:43:07.837Z,1761540187.837 [DAT](INFO): DAT read: user:163> 2025-10-27T04:43:07.838Z,1761540187.838 [DAT](INFO): DAT read: Tx time:04:43:06.8804 2025-10-27T04:43:07.839Z,1761540187.839 [DAT](INFO): Ping request sent. 2025-10-27T04:43:07.839Z,1761540187.839 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:07.840Z,1761540187.840 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:07.841Z,1761540187.841 [DAT](INFO): direction in FSK: [0.980674,-0.061699,0.185667] 2025-10-27T04:43:07.842Z,1761540187.842 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:07.842Z,1761540187.842 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:07.864Z,1761540187.864 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:07.864Z,1761540187.864 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:08.027Z,1761540188.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 131.500000 m, deltaT: 3.780336 s, deltaX: -25.699997 m, approachRate: -6.798337 m/s, rangeRepo size: 4 2025-10-27T04:43:08.028Z,1761540188.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:08.030Z,1761540188.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 145.250397 m, bearing: 66.239491 deg, approach rate: -0.738020 m/s, LOS rate: -0.027492 deg/s, cmd heading: 66.898711 deg, new cmd heading: 66.861425 deg. 2025-10-27T04:43:08.035Z,1761540188.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166952 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:08.343Z,1761540188.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391065,-0.900973,-0.187924],[0.915141,0.402374,-0.024737],[0.097903,-0.162303,0.981872]] 2025-10-27T04:43:08.362Z,1761540188.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:08.365Z,1761540188.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 144.987411 m, bearing: 66.229348 deg, approach rate: -0.773079 m/s, LOS rate: -0.029872 deg/s, cmd heading: 66.861425 deg, new cmd heading: 66.830940 deg. 2025-10-27T04:43:08.366Z,1761540188.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.166420 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:08.746Z,1761540188.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389836,-0.901464,-0.188125],[0.915530,0.401394,-0.026239],[0.099166,-0.162005,0.981795]] 2025-10-27T04:43:08.794Z,1761540188.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:08.796Z,1761540188.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:08.799Z,1761540188.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 144.674164 m, bearing: 66.218304 deg, approach rate: -0.721528 m/s, LOS rate: -0.025493 deg/s, cmd heading: 66.830942 deg, new cmd heading: 66.797739 deg. 2025-10-27T04:43:08.800Z,1761540188.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.165841 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:08.828Z,1761540188.828 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:08.828Z,1761540188.828 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:08.828Z,1761540188.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:09.080Z,1761540189.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240665 2025-10-27T04:43:09.191Z,1761540189.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388786,-0.901900,-0.188206],[0.915853,0.400563,-0.027617],[0.100296,-0.161632,0.981741]] 2025-10-27T04:43:09.210Z,1761540189.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:09.213Z,1761540189.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 144.374741 m, bearing: 66.207569 deg, approach rate: -0.723716 m/s, LOS rate: -0.026001 deg/s, cmd heading: 66.797741 deg, new cmd heading: 66.765468 deg. 2025-10-27T04:43:09.214Z,1761540189.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.165277 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:09.332Z,1761540189.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492687 2025-10-27T04:43:09.356Z,1761540189.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:43:09.575Z,1761540189.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387817,-0.902289,-0.188341],[0.916137,0.399817,-0.028970],[0.101442,-0.161311,0.981676]] 2025-10-27T04:43:09.584Z,1761540189.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744936 2025-10-27T04:43:09.612Z,1761540189.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:09.622Z,1761540189.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 144.096558 m, bearing: 66.197441 deg, approach rate: -0.722621 m/s, LOS rate: -0.026358 deg/s, cmd heading: 66.765468 deg, new cmd heading: 66.735027 deg. 2025-10-27T04:43:09.629Z,1761540189.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164746 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:09.836Z,1761540189.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996731 2025-10-27T04:43:10.088Z,1761540190.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249162 2025-10-27T04:43:10.173Z,1761540190.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386686,-0.902723,-0.188585],[0.916396,0.399056,-0.031178],[0.103401,-0.160763,0.981562]] 2025-10-27T04:43:10.233Z,1761540190.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:10.251Z,1761540190.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 143.641174 m, bearing: 66.185715 deg, approach rate: -0.714401 m/s, LOS rate: -0.018455 deg/s, cmd heading: 66.735026 deg, new cmd heading: 66.699734 deg. 2025-10-27T04:43:10.256Z,1761540190.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164130 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:10.341Z,1761540190.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501438 2025-10-27T04:43:10.363Z,1761540190.363 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:43:10.592Z,1761540190.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752763 2025-10-27T04:43:10.605Z,1761540190.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386692,-0.902484,-0.189716],[0.916264,0.399303,-0.031899],[0.104543,-0.161495,0.981321]] 2025-10-27T04:43:10.685Z,1761540190.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:10.708Z,1761540190.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 143.354752 m, bearing: 66.178310 deg, approach rate: -0.649333 m/s, LOS rate: -0.016819 deg/s, cmd heading: 66.699734 deg, new cmd heading: 66.677477 deg. 2025-10-27T04:43:10.716Z,1761540190.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163741 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:10.844Z,1761540190.844 [DAT](INFO): DAT read: Rx Time:04:43:09.4567 2025-10-27T04:43:10.844Z,1761540190.844 [DAT](INFO): Rx dataTimestamp_ set to:1761540190.844072 2025-10-27T04:43:10.845Z,1761540190.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005710 2025-10-27T04:43:11.098Z,1761540191.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258117 2025-10-27T04:43:11.184Z,1761540191.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386901,-0.902077,-0.191219],[0.915993,0.399844,-0.032897],[0.106134,-0.162428,0.980996]] 2025-10-27T04:43:11.234Z,1761540191.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:11.237Z,1761540191.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.56 m. 2025-10-27T04:43:11.244Z,1761540191.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.559326 m, nav range: 142.944580 m, bearing: 66.175657 deg, approach rate: -0.728309 m/s, LOS rate: -0.004724 deg/s, cmd heading: 66.677475 deg, new cmd heading: 66.669493 deg. 2025-10-27T04:43:11.245Z,1761540191.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163602 target range: 156.559326 and range: 157.20 m. 2025-10-27T04:43:11.359Z,1761540191.359 [DAT](INFO): DAT read: 04:43:09.4567 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.41,-2.361, 2.310,-2.075,-2.504, PHS= 0.244,-1.424, 0.385, RAW= 154.0, 9.2, CAL= 153.7, 9.8, ROT= 356.3, -9.8 2025-10-27T04:43:11.360Z,1761540191.360 [DAT](INFO): got valid direction response: 04:43:09.4567 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.41,-2.361, 2.310,-2.075,-2.504, PHS= 0.244,-1.424, 0.385, RAW= 154.0, 9.2, CAL= 153.7, 9.8, ROT= 356.3, -9.8 2025-10-27T04:43:11.361Z,1761540191.361 [DAT](INFO): DAT read: Bearing 229.8, 0.9 (Local) 2025-10-27T04:43:11.361Z,1761540191.361 [DAT](INFO): Local bearing/azimuth received: Bearing 229.8, 0.9 (Local) 2025-10-27T04:43:11.364Z,1761540191.364 [DAT](INFO): DAT read: Range 11 to 50 : 129.0 m (Round-trip 172.1 ms) speed 0.8 m/s 2025-10-27T04:43:11.364Z,1761540191.364 [DAT](INFO): DAT read: user:164> 2025-10-27T04:43:11.365Z,1761540191.365 [DAT](INFO): DAT read: Tx time:04:43:10.5304 2025-10-27T04:43:11.365Z,1761540191.365 [DAT](INFO): Ping request sent. 2025-10-27T04:43:11.366Z,1761540191.366 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:11.366Z,1761540191.366 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:11.367Z,1761540191.367 [DAT](INFO): direction in FSK: [0.983354,-0.063591,0.170209] 2025-10-27T04:43:11.367Z,1761540191.367 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:11.368Z,1761540191.368 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:11.371Z,1761540191.371 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:11.372Z,1761540191.372 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:11.685Z,1761540191.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387501,-0.901524,-0.192607],[0.915461,0.400907,-0.034710],[0.108510,-0.162874,0.980662]] 2025-10-27T04:43:11.768Z,1761540191.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 7.308062 s, deltaX: -28.199997 m, approachRate: -3.858752 m/s, rangeRepo size: 4 2025-10-27T04:43:11.770Z,1761540191.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.468796 m, bearing: 64.975178 deg, lat: 36.779291 deg, lon: -121.859554 deg, deltaT: 7.308062 s, deltaX: -28.090530 m, approachRate: -3.843773 m/s, posRepo size: 4 2025-10-27T04:43:11.775Z,1761540191.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.47 m. 2025-10-27T04:43:11.778Z,1761540191.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.468796 m, nav range: 124.392342 m, bearing: 65.093152 deg, approach rate: 0.000000 m/s, LOS rate: -0.004724 deg/s, cmd heading: 66.669490 deg, new cmd heading: 66.661965 deg. 2025-10-27T04:43:11.783Z,1761540191.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163471 target range: 128.468796 and range: 129.00 m. 2025-10-27T04:43:12.193Z,1761540192.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.47 m. 2025-10-27T04:43:12.211Z,1761540192.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.468796 m, nav range: 124.095009 m, bearing: 65.093539 deg, approach rate: -0.699865 m/s, LOS rate: 0.000913 deg/s, cmd heading: 66.661963 deg, new cmd heading: 66.663127 deg. 2025-10-27T04:43:12.212Z,1761540192.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163491 target range: 128.468796 and range: 129.00 m. 2025-10-27T04:43:12.519Z,1761540192.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389722,-0.899511,-0.197478],[0.913940,0.404140,-0.037198],[0.113268,-0.165986,0.979601]] 2025-10-27T04:43:12.539Z,1761540192.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.47 m. 2025-10-27T04:43:12.571Z,1761540192.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.468796 m, nav range: 123.863731 m, bearing: 65.094135 deg, approach rate: -0.668633 m/s, LOS rate: 0.001726 deg/s, cmd heading: 66.663124 deg, new cmd heading: 66.664915 deg. 2025-10-27T04:43:12.572Z,1761540192.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163522 target range: 128.468796 and range: 129.00 m. 2025-10-27T04:43:12.923Z,1761540192.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391365,-0.898412,-0.199220],[0.912918,0.406293,-0.038825],[0.115822,-0.166677,0.979185]] 2025-10-27T04:43:12.989Z,1761540192.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.47 m. 2025-10-27T04:43:12.999Z,1761540192.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.468796 m, nav range: 123.581032 m, bearing: 65.097250 deg, approach rate: -0.627918 m/s, LOS rate: 0.006935 deg/s, cmd heading: 66.664914 deg, new cmd heading: 66.674280 deg. 2025-10-27T04:43:13.000Z,1761540193.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163686 target range: 128.468796 and range: 129.00 m. 2025-10-27T04:43:13.330Z,1761540193.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393394,-0.896969,-0.201710],[0.911761,0.408801,-0.039662],[0.118035,-0.168308,0.978642]] 2025-10-27T04:43:13.360Z,1761540193.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:13.362Z,1761540193.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.47 m. 2025-10-27T04:43:13.364Z,1761540193.364 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:13.364Z,1761540193.364 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:13.364Z,1761540193.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:13.368Z,1761540193.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.468796 m, nav range: 123.340446 m, bearing: 65.100173 deg, approach rate: -0.644496 m/s, LOS rate: 0.007846 deg/s, cmd heading: 66.674278 deg, new cmd heading: 66.683064 deg. 2025-10-27T04:43:13.369Z,1761540193.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163839 target range: 128.468796 and range: 129.00 m. 2025-10-27T04:43:13.617Z,1761540193.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250948 2025-10-27T04:43:13.774Z,1761540193.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397563,-0.894137,-0.206067],[0.909330,0.413965,-0.041859],[0.122732,-0.170741,0.977642]] 2025-10-27T04:43:13.868Z,1761540193.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502438 2025-10-27T04:43:13.879Z,1761540193.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.47 m. 2025-10-27T04:43:13.881Z,1761540193.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.468796 m, nav range: 123.009392 m, bearing: 65.100868 deg, approach rate: -0.640837 m/s, LOS rate: 0.001349 deg/s, cmd heading: 66.683062 deg, new cmd heading: 66.685153 deg. 2025-10-27T04:43:13.882Z,1761540193.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163875 target range: 128.468796 and range: 129.00 m. 2025-10-27T04:43:14.121Z,1761540194.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755349 2025-10-27T04:43:14.231Z,1761540194.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399347,-0.892942,-0.207787],[0.908225,0.416242,-0.043231],[0.125092,-0.171453,0.977218]] 2025-10-27T04:43:14.258Z,1761540194.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.47 m. 2025-10-27T04:43:14.285Z,1761540194.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.468796 m, nav range: 122.768784 m, bearing: 65.101609 deg, approach rate: -0.634228 m/s, LOS rate: 0.001956 deg/s, cmd heading: 66.685152 deg, new cmd heading: 66.687378 deg. 2025-10-27T04:43:14.286Z,1761540194.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163914 target range: 128.468796 and range: 129.00 m. 2025-10-27T04:43:14.373Z,1761540194.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007386 2025-10-27T04:43:14.625Z,1761540194.625 [DAT](INFO): DAT read: Rx Time:04:43:13.1037 2025-10-27T04:43:14.626Z,1761540194.626 [DAT](INFO): Rx dataTimestamp_ set to:1761540194.625389 2025-10-27T04:43:14.627Z,1761540194.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261638 2025-10-27T04:43:14.723Z,1761540194.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.47 m. 2025-10-27T04:43:14.727Z,1761540194.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.468796 m, nav range: 122.488281 m, bearing: 65.102476 deg, approach rate: -0.609987 m/s, LOS rate: 0.001890 deg/s, cmd heading: 66.687378 deg, new cmd heading: 66.689986 deg. 2025-10-27T04:43:14.729Z,1761540194.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163960 target range: 128.468796 and range: 129.00 m. 2025-10-27T04:43:14.876Z,1761540194.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510352 2025-10-27T04:43:15.135Z,1761540195.135 [DAT](INFO): DAT read: 04:43:13.1037 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.23, 1.561,-0.037, 1.824, 1.422, PHS= 0.241,-1.415, 0.358, RAW= 153.4, 9.5, CAL= 153.1, 10.3, ROT= 356.9, -10.3 2025-10-27T04:43:15.137Z,1761540195.137 [DAT](INFO): got valid direction response: 04:43:13.1037 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.23, 1.561,-0.037, 1.824, 1.422, PHS= 0.241,-1.415, 0.358, RAW= 153.4, 9.5, CAL= 153.1, 10.3, ROT= 356.9, -10.3 2025-10-27T04:43:15.138Z,1761540195.138 [DAT](INFO): DAT read: Bearing 229.2, 2.7 (Local) 2025-10-27T04:43:15.138Z,1761540195.138 [DAT](INFO): Local bearing/azimuth received: Bearing 229.2, 2.7 (Local) 2025-10-27T04:43:15.140Z,1761540195.140 [DAT](INFO): DAT read: Range 11 to 50 : 126.8 m (Round-trip 169.1 ms) speed 0.4 m/s 2025-10-27T04:43:15.141Z,1761540195.141 [DAT](INFO): DAT read: user:165> 2025-10-27T04:43:15.142Z,1761540195.142 [DAT](INFO): DAT read: Tx time:04:43:14.1804 2025-10-27T04:43:15.142Z,1761540195.142 [DAT](INFO): Ping request sent. 2025-10-27T04:43:15.142Z,1761540195.142 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:15.143Z,1761540195.143 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:15.144Z,1761540195.144 [DAT](INFO): direction in FSK: [0.982445,-0.053207,0.178802] 2025-10-27T04:43:15.144Z,1761540195.144 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:15.144Z,1761540195.144 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:15.162Z,1761540195.162 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:15.162Z,1761540195.162 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:15.328Z,1761540195.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.800003 m, deltaT: 3.779938 s, deltaX: -2.199997 m, approachRate: -0.582019 m/s, rangeRepo size: 4 2025-10-27T04:43:15.330Z,1761540195.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.276657 m, bearing: 64.970035 deg, lat: 36.779291 deg, lon: -121.859568 deg, deltaT: 3.779938 s, deltaX: -2.192139 m, approachRate: -0.579940 m/s, posRepo size: 4 2025-10-27T04:43:15.330Z,1761540195.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:15.337Z,1761540195.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 121.002846 m, bearing: 64.860209 deg, approach rate: 0.000000 m/s, LOS rate: 0.001890 deg/s, cmd heading: 66.689988 deg, new cmd heading: 66.693418 deg. 2025-10-27T04:43:15.338Z,1761540195.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164020 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:15.638Z,1761540195.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403185,-0.889792,-0.213805],[0.905498,0.421694,-0.047412],[0.132347,-0.174485,0.975725]] 2025-10-27T04:43:15.669Z,1761540195.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:15.675Z,1761540195.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:15.677Z,1761540195.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 120.764420 m, bearing: 64.859280 deg, approach rate: -0.685546 m/s, LOS rate: -0.002676 deg/s, cmd heading: 66.693416 deg, new cmd heading: 66.690624 deg. 2025-10-27T04:43:15.678Z,1761540195.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163971 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:15.884Z,1761540195.884 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:15.884Z,1761540195.884 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:15.884Z,1761540195.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:16.122Z,1761540196.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:16.129Z,1761540196.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 120.478668 m, bearing: 64.851831 deg, approach rate: -0.633733 m/s, LOS rate: -0.016559 deg/s, cmd heading: 66.690623 deg, new cmd heading: 66.668224 deg. 2025-10-27T04:43:16.130Z,1761540196.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163580 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:16.136Z,1761540196.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993763 2025-10-27T04:43:16.389Z,1761540196.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246139 2025-10-27T04:43:16.464Z,1761540196.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403817,-0.889469,-0.213954],[0.904705,0.422984,-0.050927],[0.135797,-0.173000,0.975515]] 2025-10-27T04:43:16.483Z,1761540196.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:16.486Z,1761540196.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 120.209900 m, bearing: 64.844918 deg, approach rate: -0.744100 m/s, LOS rate: -0.019182 deg/s, cmd heading: 66.668227 deg, new cmd heading: 66.647441 deg. 2025-10-27T04:43:16.487Z,1761540196.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163217 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:16.640Z,1761540196.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497692 2025-10-27T04:43:16.866Z,1761540196.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403411,-0.889868,-0.213059],[0.904634,0.422851,-0.053233],[0.137462,-0.171265,0.975588]] 2025-10-27T04:43:16.892Z,1761540196.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749980 2025-10-27T04:43:16.911Z,1761540196.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:16.914Z,1761540196.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 119.908768 m, bearing: 64.834061 deg, approach rate: -0.703917 m/s, LOS rate: -0.025443 deg/s, cmd heading: 66.647442 deg, new cmd heading: 66.614789 deg. 2025-10-27T04:43:16.915Z,1761540196.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.162647 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:17.144Z,1761540197.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001680 2025-10-27T04:43:17.272Z,1761540197.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402610,-0.890223,-0.213092],[0.904765,0.422347,-0.054978],[0.138942,-0.170663,0.975484]] 2025-10-27T04:43:17.295Z,1761540197.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:17.298Z,1761540197.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 119.641777 m, bearing: 64.824289 deg, approach rate: -0.695105 m/s, LOS rate: -0.025497 deg/s, cmd heading: 66.614787 deg, new cmd heading: 66.585407 deg. 2025-10-27T04:43:17.299Z,1761540197.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.162135 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:17.396Z,1761540197.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253963 2025-10-27T04:43:17.648Z,1761540197.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505622 2025-10-27T04:43:17.677Z,1761540197.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401876,-0.890607,-0.212875],[0.904878,0.421875,-0.056728],[0.140329,-0.169828,0.975431]] 2025-10-27T04:43:17.702Z,1761540197.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:17.705Z,1761540197.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:17.709Z,1761540197.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 119.352989 m, bearing: 64.813574 deg, approach rate: -0.704405 m/s, LOS rate: -0.026198 deg/s, cmd heading: 66.585404 deg, new cmd heading: 66.553182 deg. 2025-10-27T04:43:17.711Z,1761540197.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161572 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:17.900Z,1761540197.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757660 2025-10-27T04:43:18.078Z,1761540198.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400977,-0.891215,-0.212021],[0.905079,0.421176,-0.058685],[0.141599,-0.168365,0.975501]] 2025-10-27T04:43:18.137Z,1761540198.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:18.140Z,1761540198.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 119.036682 m, bearing: 64.799048 deg, approach rate: -0.731004 m/s, LOS rate: -0.033661 deg/s, cmd heading: 66.553179 deg, new cmd heading: 66.509484 deg. 2025-10-27T04:43:18.141Z,1761540198.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160810 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:18.152Z,1761540198.152 [DAT](INFO): DAT read: Rx Time:04:43:16.7500 2025-10-27T04:43:18.152Z,1761540198.152 [DAT](INFO): Rx dataTimestamp_ set to:1761540198.152090 2025-10-27T04:43:18.153Z,1761540198.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010665 2025-10-27T04:43:18.404Z,1761540198.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261729 2025-10-27T04:43:18.482Z,1761540198.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399903,-0.891854,-0.211362],[0.905353,0.420315,-0.060592],[0.142878,-0.167127,0.975528]] 2025-10-27T04:43:18.508Z,1761540198.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.28 m. 2025-10-27T04:43:18.511Z,1761540198.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.276657 m, nav range: 118.768684 m, bearing: 64.786538 deg, approach rate: -0.723751 m/s, LOS rate: -0.033860 deg/s, cmd heading: 66.509486 deg, new cmd heading: 66.471872 deg. 2025-10-27T04:43:18.512Z,1761540198.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160153 target range: 126.276657 and range: 126.80 m. 2025-10-27T04:43:18.662Z,1761540198.662 [DAT](INFO): DAT read: 04:43:16.7500 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411,-0.09, 2.598, 0.978, 2.853, 2.436, PHS= 0.263,-1.413, 0.372, RAW= 153.1, 9.0, CAL= 152.8, 9.7, ROT= 357.2, -9.7 2025-10-27T04:43:18.663Z,1761540198.663 [DAT](INFO): got valid direction response: 04:43:16.7500 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411,-0.09, 2.598, 0.978, 2.853, 2.436, PHS= 0.263,-1.413, 0.372, RAW= 153.1, 9.0, CAL= 152.8, 9.7, ROT= 357.2, -9.7 2025-10-27T04:43:18.664Z,1761540198.664 [DAT](INFO): DAT read: Bearing 226.9, 4.4 (Local) 2025-10-27T04:43:18.664Z,1761540198.664 [DAT](INFO): Local bearing/azimuth received: Bearing 226.9, 4.4 (Local) 2025-10-27T04:43:18.666Z,1761540198.666 [DAT](INFO): DAT read: Range 11 to 50 : 124.1 m (Round-trip 165.5 ms) speed 0.7 m/s 2025-10-27T04:43:18.666Z,1761540198.666 [DAT](INFO): DAT read: user:166> 2025-10-27T04:43:18.668Z,1761540198.668 [DAT](INFO): DAT read: Tx time:04:43:17.8303 2025-10-27T04:43:18.668Z,1761540198.668 [DAT](INFO): Ping request sent. 2025-10-27T04:43:18.668Z,1761540198.668 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:18.668Z,1761540198.668 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:18.669Z,1761540198.669 [DAT](INFO): direction in FSK: [0.984527,-0.048151,0.168489] 2025-10-27T04:43:18.670Z,1761540198.670 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:18.670Z,1761540198.670 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:18.673Z,1761540198.673 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:18.673Z,1761540198.673 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:18.886Z,1761540198.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398797,-0.892352,-0.211352],[0.905666,0.419433,-0.062004],[0.143977,-0.166688,0.975441]] 2025-10-27T04:43:18.976Z,1761540198.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.099998 m, deltaT: 3.527869 s, deltaX: -2.700005 m, approachRate: -0.765336 m/s, rangeRepo size: 4 2025-10-27T04:43:18.978Z,1761540198.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.587547 m, bearing: 65.082716 deg, lat: 36.779288 deg, lon: -121.859573 deg, deltaT: 3.527869 s, deltaX: -2.689110 m, approachRate: -0.762248 m/s, posRepo size: 4 2025-10-27T04:43:18.985Z,1761540198.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:18.988Z,1761540198.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 117.870064 m, bearing: 64.791706 deg, approach rate: 0.000000 m/s, LOS rate: -0.033860 deg/s, cmd heading: 66.471872 deg, new cmd heading: 66.424868 deg. 2025-10-27T04:43:18.989Z,1761540198.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159333 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:19.291Z,1761540199.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397716,-0.893113,-0.210172],[0.905962,0.418495,-0.063986],[0.145103,-0.164960,0.975568]] 2025-10-27T04:43:19.364Z,1761540199.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:19.366Z,1761540199.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 117.601303 m, bearing: 64.780526 deg, approach rate: -0.693653 m/s, LOS rate: -0.028920 deg/s, cmd heading: 66.424867 deg, new cmd heading: 66.391251 deg. 2025-10-27T04:43:19.372Z,1761540199.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158746 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:19.696Z,1761540199.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396680,-0.893758,-0.209383],[0.906244,0.417617,-0.065713],[0.146173,-0.163685,0.975623]] 2025-10-27T04:43:19.729Z,1761540199.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:19.732Z,1761540199.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:19.736Z,1761540199.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 117.299500 m, bearing: 64.767751 deg, approach rate: -0.805925 m/s, LOS rate: -0.034202 deg/s, cmd heading: 66.391249 deg, new cmd heading: 66.352824 deg. 2025-10-27T04:43:19.737Z,1761540199.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158075 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:19.916Z,1761540199.916 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:19.916Z,1761540199.916 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:19.916Z,1761540199.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:20.110Z,1761540200.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395703,-0.894282,-0.208996],[0.906488,0.416833,-0.067307],[0.147308,-0.162819,0.975598]] 2025-10-27T04:43:20.157Z,1761540200.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:20.165Z,1761540200.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 116.984932 m, bearing: 64.756347 deg, approach rate: -0.740462 m/s, LOS rate: -0.026916 deg/s, cmd heading: 66.352822 deg, new cmd heading: 66.318518 deg. 2025-10-27T04:43:20.166Z,1761540200.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157477 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:20.168Z,1761540200.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500104 2025-10-27T04:43:20.420Z,1761540200.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751939 2025-10-27T04:43:20.637Z,1761540200.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395320,-0.894475,-0.208895],[0.906428,0.416698,-0.068920],[0.148694,-0.162103,0.975506]] 2025-10-27T04:43:20.656Z,1761540200.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:20.659Z,1761540200.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 116.620094 m, bearing: 64.742980 deg, approach rate: -0.731748 m/s, LOS rate: -0.026894 deg/s, cmd heading: 66.318521 deg, new cmd heading: 66.278294 deg. 2025-10-27T04:43:20.672Z,1761540200.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003997 2025-10-27T04:43:20.680Z,1761540200.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156774 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:20.924Z,1761540200.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255947 2025-10-27T04:43:21.064Z,1761540201.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395219,-0.894516,-0.208910],[0.906369,0.416713,-0.069610],[0.149322,-0.161838,0.975454]] 2025-10-27T04:43:21.136Z,1761540201.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:21.139Z,1761540201.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 116.278130 m, bearing: 64.733975 deg, approach rate: -0.711813 m/s, LOS rate: -0.018800 deg/s, cmd heading: 66.278291 deg, new cmd heading: 66.251196 deg. 2025-10-27T04:43:21.140Z,1761540201.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156301 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:21.176Z,1761540201.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508026 2025-10-27T04:43:21.428Z,1761540201.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759835 2025-10-27T04:43:21.563Z,1761540201.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395937,-0.894069,-0.209461],[0.906027,0.417491,-0.069396],[0.149493,-0.162301,0.975351]] 2025-10-27T04:43:21.600Z,1761540201.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:21.605Z,1761540201.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 115.954659 m, bearing: 64.725539 deg, approach rate: -0.698646 m/s, LOS rate: -0.018270 deg/s, cmd heading: 66.251196 deg, new cmd heading: 66.225819 deg. 2025-10-27T04:43:21.608Z,1761540201.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155859 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:21.680Z,1761540201.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011978 2025-10-27T04:43:21.933Z,1761540201.933 [DAT](INFO): DAT read: Rx Time:04:43:20.3964 2025-10-27T04:43:21.933Z,1761540201.933 [DAT](INFO): Rx dataTimestamp_ set to:1761540201.932997 2025-10-27T04:43:21.934Z,1761540201.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265843 2025-10-27T04:43:21.967Z,1761540201.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396955,-0.893638,-0.209375],[0.905657,0.418400,-0.068745],[0.149036,-0.162333,0.975416]] 2025-10-27T04:43:22.028Z,1761540202.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:22.030Z,1761540202.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:22.033Z,1761540202.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 115.652802 m, bearing: 64.721203 deg, approach rate: -0.700392 m/s, LOS rate: -0.010087 deg/s, cmd heading: 66.225822 deg, new cmd heading: 66.212780 deg. 2025-10-27T04:43:22.034Z,1761540202.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155631 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:22.184Z,1761540202.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515898 2025-10-27T04:43:22.370Z,1761540202.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398423,-0.892995,-0.209330],[0.905123,0.419716,-0.067751],[0.148360,-0.162476,0.975495]] 2025-10-27T04:43:22.401Z,1761540202.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.59 m. 2025-10-27T04:43:22.404Z,1761540202.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.587547 m, nav range: 115.397209 m, bearing: 64.717715 deg, approach rate: -0.689767 m/s, LOS rate: -0.009435 deg/s, cmd heading: 66.212783 deg, new cmd heading: 66.202294 deg. 2025-10-27T04:43:22.405Z,1761540202.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155448 target range: 123.587547 and range: 124.10 m. 2025-10-27T04:43:22.446Z,1761540202.446 [DAT](INFO): DAT read: 04:43:20.3964 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 407,-0.01, 1.226,-0.356, 1.478, 1.038, PHS= 0.290,-1.349, 0.396, RAW= 153.1, 7.9, CAL= 152.6, 8.3, ROT= 357.4, -8.3 2025-10-27T04:43:22.451Z,1761540202.451 [DAT](INFO): got valid direction response: 04:43:20.3964 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 407,-0.01, 1.226,-0.356, 1.478, 1.038, PHS= 0.290,-1.349, 0.396, RAW= 153.1, 7.9, CAL= 152.6, 8.3, ROT= 357.4, -8.3 2025-10-27T04:43:22.453Z,1761540202.453 [DAT](INFO): DAT read: Bearing 224.6, 4.9 (Local) 2025-10-27T04:43:22.453Z,1761540202.453 [DAT](INFO): Local bearing/azimuth received: Bearing 224.6, 4.9 (Local) 2025-10-27T04:43:22.460Z,1761540202.460 [DAT](INFO): DAT read: Range 11 to 50 : 121.5 m (Round-trip 162.0 ms) speed 0.3 m/s 2025-10-27T04:43:22.461Z,1761540202.461 [DAT](INFO): DAT read: user:167> 2025-10-27T04:43:22.462Z,1761540202.462 [DAT](INFO): DAT read: Tx time:04:43:21.4803 2025-10-27T04:43:22.462Z,1761540202.462 [DAT](INFO): Ping request sent. 2025-10-27T04:43:22.462Z,1761540202.462 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:22.468Z,1761540202.468 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:22.470Z,1761540202.470 [DAT](INFO): direction in FSK: [0.988507,-0.044888,0.144356] 2025-10-27T04:43:22.470Z,1761540202.470 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:22.470Z,1761540202.470 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:22.478Z,1761540202.478 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:22.478Z,1761540202.478 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:22.773Z,1761540202.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400253,-0.892128,-0.209538],[0.904481,0.421345,-0.066205],[0.147351,-0.163024,0.975557]] 2025-10-27T04:43:22.809Z,1761540202.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 3.780482 s, deltaX: -2.599998 m, approachRate: -0.687743 m/s, rangeRepo size: 4 2025-10-27T04:43:22.812Z,1761540202.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.997322 m, bearing: 64.901827 deg, lat: 36.779287 deg, lon: -121.859573 deg, deltaT: 3.780482 s, deltaX: -2.590225 m, approachRate: -0.685157 m/s, posRepo size: 4 2025-10-27T04:43:22.812Z,1761540202.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.00 m. 2025-10-27T04:43:22.815Z,1761540202.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.997322 m, nav range: 115.071312 m, bearing: 64.764751 deg, approach rate: 0.000000 m/s, LOS rate: -0.009435 deg/s, cmd heading: 66.202292 deg, new cmd heading: 66.190740 deg. 2025-10-27T04:43:22.816Z,1761540202.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155246 target range: 120.997322 and range: 121.50 m. 2025-10-27T04:43:23.178Z,1761540203.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402347,-0.891162,-0.209633],[0.903738,0.423198,-0.064500],[0.146196,-0.163502,0.975650]] 2025-10-27T04:43:23.237Z,1761540203.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.00 m. 2025-10-27T04:43:23.243Z,1761540203.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.997322 m, nav range: 114.797195 m, bearing: 64.764878 deg, approach rate: -0.641001 m/s, LOS rate: 0.000297 deg/s, cmd heading: 66.190742 deg, new cmd heading: 66.191123 deg. 2025-10-27T04:43:23.244Z,1761540203.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155253 target range: 120.997322 and range: 121.50 m. 2025-10-27T04:43:23.586Z,1761540203.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404933,-0.889767,-0.210579],[0.902820,0.425533,-0.061942],[0.144722,-0.165032,0.975613]] 2025-10-27T04:43:23.621Z,1761540203.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.00 m. 2025-10-27T04:43:23.624Z,1761540203.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.997322 m, nav range: 114.527824 m, bearing: 64.765379 deg, approach rate: -0.700198 m/s, LOS rate: 0.001304 deg/s, cmd heading: 66.191124 deg, new cmd heading: 66.192629 deg. 2025-10-27T04:43:23.625Z,1761540203.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155279 target range: 120.997322 and range: 121.50 m. 2025-10-27T04:43:23.985Z,1761540203.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407517,-0.888652,-0.210304],[0.901865,0.427810,-0.060144],[0.143418,-0.165156,0.975784]] 2025-10-27T04:43:24.030Z,1761540204.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:24.032Z,1761540204.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.00 m. 2025-10-27T04:43:24.035Z,1761540204.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.997322 m, nav range: 114.264214 m, bearing: 64.765359 deg, approach rate: -0.641083 m/s, LOS rate: -0.000048 deg/s, cmd heading: 66.192627 deg, new cmd heading: 66.192567 deg. 2025-10-27T04:43:24.036Z,1761540204.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155278 target range: 120.997322 and range: 121.50 m. 2025-10-27T04:43:24.200Z,1761540204.200 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:24.200Z,1761540204.200 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:24.200Z,1761540204.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:24.390Z,1761540204.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410082,-0.887348,-0.210824],[0.900891,0.430142,-0.058088],[0.142228,-0.166108,0.975797]] 2025-10-27T04:43:24.418Z,1761540204.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.00 m. 2025-10-27T04:43:24.421Z,1761540204.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.997322 m, nav range: 114.016449 m, bearing: 64.765683 deg, approach rate: -0.642446 m/s, LOS rate: 0.000843 deg/s, cmd heading: 66.192565 deg, new cmd heading: 66.193541 deg. 2025-10-27T04:43:24.422Z,1761540204.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155295 target range: 120.997322 and range: 121.50 m. 2025-10-27T04:43:24.457Z,1761540204.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993976 2025-10-27T04:43:24.709Z,1761540204.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246391 2025-10-27T04:43:24.797Z,1761540204.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412626,-0.886250,-0.210477],[0.899953,0.432351,-0.056189],[0.140797,-0.166234,0.975983]] 2025-10-27T04:43:24.815Z,1761540204.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.00 m. 2025-10-27T04:43:24.818Z,1761540204.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.997322 m, nav range: 113.761749 m, bearing: 64.766368 deg, approach rate: -0.641829 m/s, LOS rate: 0.001729 deg/s, cmd heading: 66.193542 deg, new cmd heading: 66.195601 deg. 2025-10-27T04:43:24.819Z,1761540204.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155331 target range: 120.997322 and range: 121.50 m. 2025-10-27T04:43:24.961Z,1761540204.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498231 2025-10-27T04:43:25.197Z,1761540205.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415054,-0.885119,-0.210463],[0.899079,0.434442,-0.054009],[0.139238,-0.166806,0.976109]] 2025-10-27T04:43:25.212Z,1761540205.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749693 2025-10-27T04:43:25.251Z,1761540205.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.00 m. 2025-10-27T04:43:25.254Z,1761540205.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.997322 m, nav range: 113.481316 m, bearing: 64.766958 deg, approach rate: -0.642364 m/s, LOS rate: 0.001356 deg/s, cmd heading: 66.195598 deg, new cmd heading: 66.197374 deg. 2025-10-27T04:43:25.256Z,1761540205.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155362 target range: 120.997322 and range: 121.50 m. 2025-10-27T04:43:25.464Z,1761540205.464 [DAT](INFO): DAT read: Rx Time:04:43:24.0433 2025-10-27T04:43:25.464Z,1761540205.464 [DAT](INFO): Rx dataTimestamp_ set to:1761540205.464135 2025-10-27T04:43:25.465Z,1761540205.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002756 2025-10-27T04:43:25.611Z,1761540205.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417295,-0.884240,-0.209727],[0.898296,0.436289,-0.052117],[0.137586,-0.166648,0.976370]] 2025-10-27T04:43:25.630Z,1761540205.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.00 m. 2025-10-27T04:43:25.633Z,1761540205.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.997322 m, nav range: 113.234230 m, bearing: 64.767780 deg, approach rate: -0.652054 m/s, LOS rate: 0.002172 deg/s, cmd heading: 66.197374 deg, new cmd heading: 66.199843 deg. 2025-10-27T04:43:25.634Z,1761540205.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155405 target range: 120.997322 and range: 121.50 m. 2025-10-27T04:43:25.717Z,1761540205.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254831 2025-10-27T04:43:25.974Z,1761540205.974 [DAT](INFO): DAT read: 04:43:24.0433 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407,-0.17, 1.423,-0.220, 1.648, 1.249, PHS= 0.276,-1.425, 0.355, RAW= 152.2, 9.2, CAL= 151.9, 9.9, ROT= 358.1, -9.9 2025-10-27T04:43:25.975Z,1761540205.975 [DAT](INFO): got valid direction response: 04:43:24.0433 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407,-0.17, 1.423,-0.220, 1.648, 1.249, PHS= 0.276,-1.425, 0.355, RAW= 152.2, 9.2, CAL= 151.9, 9.9, ROT= 358.1, -9.9 2025-10-27T04:43:25.976Z,1761540205.976 [DAT](INFO): DAT read: Bearing 224.0, 5.0 (Local) 2025-10-27T04:43:25.976Z,1761540205.976 [DAT](INFO): Local bearing/azimuth received: Bearing 224.0, 5.0 (Local) 2025-10-27T04:43:25.978Z,1761540205.978 [DAT](INFO): DAT read: Range 11 to 50 : 119.1 m (Round-trip 158.8 ms) speed 0.9 m/s 2025-10-27T04:43:25.978Z,1761540205.978 [DAT](INFO): DAT read: user:168> 2025-10-27T04:43:25.979Z,1761540205.979 [DAT](INFO): DAT read: Tx time:04:43:25.1303 2025-10-27T04:43:25.980Z,1761540205.980 [DAT](INFO): Ping request sent. 2025-10-27T04:43:25.980Z,1761540205.980 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:25.980Z,1761540205.980 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:25.981Z,1761540205.981 [DAT](INFO): direction in FSK: [0.984568,-0.032661,0.171929] 2025-10-27T04:43:25.981Z,1761540205.981 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:25.982Z,1761540205.982 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:25.985Z,1761540205.985 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:25.986Z,1761540205.986 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:26.026Z,1761540206.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419331,-0.883644,-0.208171],[0.897559,0.437939,-0.050957],[0.136194,-0.165478,0.976764]] 2025-10-27T04:43:26.140Z,1761540206.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.099998 m, deltaT: 3.531461 s, deltaX: -2.400002 m, approachRate: -0.679606 m/s, rangeRepo size: 4 2025-10-27T04:43:26.142Z,1761540206.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.606094 m, bearing: 64.748666 deg, lat: 36.779287 deg, lon: -121.859574 deg, deltaT: 3.531461 s, deltaX: -2.391228 m, approachRate: -0.677121 m/s, posRepo size: 4 2025-10-27T04:43:26.143Z,1761540206.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:26.154Z,1761540206.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 112.855652 m, bearing: 64.754867 deg, approach rate: 0.000000 m/s, LOS rate: 0.002172 deg/s, cmd heading: 66.199840 deg, new cmd heading: 66.203128 deg. 2025-10-27T04:43:26.155Z,1761540206.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155463 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:26.484Z,1761540206.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420930,-0.883070,-0.207377],[0.897015,0.439214,-0.049552],[0.134841,-0.165162,0.977005]] 2025-10-27T04:43:26.520Z,1761540206.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:26.522Z,1761540206.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:26.524Z,1761540206.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 112.593719 m, bearing: 64.755094 deg, approach rate: -0.677363 m/s, LOS rate: 0.000589 deg/s, cmd heading: 66.203125 deg, new cmd heading: 66.203808 deg. 2025-10-27T04:43:26.525Z,1761540206.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155474 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:26.725Z,1761540206.725 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:26.725Z,1761540206.725 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:26.726Z,1761540206.726 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:26.887Z,1761540206.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422144,-0.883001,-0.205189],[0.896658,0.440023,-0.048841],[0.133414,-0.163366,0.977503]] 2025-10-27T04:43:26.913Z,1761540206.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:26.926Z,1761540206.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 112.319885 m, bearing: 64.755522 deg, approach rate: -0.703776 m/s, LOS rate: 0.001103 deg/s, cmd heading: 66.203808 deg, new cmd heading: 66.205095 deg. 2025-10-27T04:43:26.929Z,1761540206.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155497 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:26.978Z,1761540206.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997665 2025-10-27T04:43:27.228Z,1761540207.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247891 2025-10-27T04:43:27.350Z,1761540207.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:27.353Z,1761540207.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 112.019028 m, bearing: 64.753912 deg, approach rate: -0.684420 m/s, LOS rate: -0.003673 deg/s, cmd heading: 66.205092 deg, new cmd heading: 66.200249 deg. 2025-10-27T04:43:27.354Z,1761540207.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155412 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:27.480Z,1761540207.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500306 2025-10-27T04:43:27.694Z,1761540207.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423729,-0.883310,-0.200542],[0.896388,0.440741,-0.047298],[0.130166,-0.159722,0.978543]] 2025-10-27T04:43:27.732Z,1761540207.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752494 2025-10-27T04:43:27.742Z,1761540207.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:27.749Z,1761540207.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 111.766853 m, bearing: 64.752787 deg, approach rate: -0.643627 m/s, LOS rate: -0.002876 deg/s, cmd heading: 66.200249 deg, new cmd heading: 66.196869 deg. 2025-10-27T04:43:27.750Z,1761540207.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155353 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:27.984Z,1761540207.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004309 2025-10-27T04:43:28.160Z,1761540208.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424331,-0.883495,-0.198445],[0.896359,0.440906,-0.046289],[0.128392,-0.158236,0.979018]] 2025-10-27T04:43:28.222Z,1761540208.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:28.229Z,1761540208.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 111.419754 m, bearing: 64.749301 deg, approach rate: -0.722893 m/s, LOS rate: -0.007283 deg/s, cmd heading: 66.196868 deg, new cmd heading: 66.186377 deg. 2025-10-27T04:43:28.230Z,1761540208.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155170 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:28.236Z,1761540208.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256111 2025-10-27T04:43:28.489Z,1761540208.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508792 2025-10-27T04:43:28.668Z,1761540208.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:28.670Z,1761540208.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:28.673Z,1761540208.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 111.083839 m, bearing: 64.745906 deg, approach rate: -0.749972 m/s, LOS rate: -0.007602 deg/s, cmd heading: 66.186377 deg, new cmd heading: 66.176162 deg. 2025-10-27T04:43:28.674Z,1761540208.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.154992 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:28.740Z,1761540208.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760237 2025-10-27T04:43:28.996Z,1761540208.996 [DAT](INFO): DAT read: Rx Time:04:43:27.6896 2025-10-27T04:43:28.998Z,1761540208.998 [DAT](INFO): Rx dataTimestamp_ set to:1761540208.996989 2025-10-27T04:43:28.000Z,1761540209.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019515 2025-10-27T04:43:29.197Z,1761540209.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:29.204Z,1761540209.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 110.709023 m, bearing: 64.737991 deg, approach rate: -0.711361 m/s, LOS rate: -0.015073 deg/s, cmd heading: 66.176159 deg, new cmd heading: 66.152334 deg. 2025-10-27T04:43:29.205Z,1761540209.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.154576 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:29.244Z,1761540209.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264173 2025-10-27T04:43:29.502Z,1761540209.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518804 2025-10-27T04:43:29.578Z,1761540209.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425084,-0.884309,-0.193137],[0.896805,0.440377,-0.042518],[0.122652,-0.155132,0.980250]] 2025-10-27T04:43:29.617Z,1761540209.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.61 m. 2025-10-27T04:43:29.620Z,1761540209.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.606094 m, nav range: 110.389206 m, bearing: 64.731305 deg, approach rate: -0.762169 m/s, LOS rate: -0.015981 deg/s, cmd heading: 66.152336 deg, new cmd heading: 66.132218 deg. 2025-10-27T04:43:29.621Z,1761540209.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.154225 target range: 118.606094 and range: 119.10 m. 2025-10-27T04:43:29.757Z,1761540209.757 [DAT](INFO): DAT read: 04:43:27.6896 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.28, 1.960, 0.325, 2.174, 1.787, PHS= 0.276,-1.417, 0.343, RAW= 151.9, 9.3, CAL= 151.6, 10.0, ROT= 358.4, -10.0 2025-10-27T04:43:29.758Z,1761540209.758 [DAT](INFO): got valid direction response: 04:43:27.6896 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.28, 1.960, 0.325, 2.174, 1.787, PHS= 0.276,-1.417, 0.343, RAW= 151.9, 9.3, CAL= 151.6, 10.0, ROT= 358.4, -10.0 2025-10-27T04:43:29.759Z,1761540209.759 [DAT](INFO): DAT read: Bearing 223.3, 4.6 (Local) 2025-10-27T04:43:29.760Z,1761540209.760 [DAT](INFO): Local bearing/azimuth received: Bearing 223.3, 4.6 (Local) 2025-10-27T04:43:29.761Z,1761540209.761 [DAT](INFO): DAT read: Range 11 to 50 : 116.3 m (Round-trip 155.1 ms) speed 0.7 m/s 2025-10-27T04:43:29.762Z,1761540209.762 [DAT](INFO): DAT read: user:169> 2025-10-27T04:43:29.763Z,1761540209.763 [DAT](INFO): DAT read: Tx time:04:43:28.7803 2025-10-27T04:43:29.763Z,1761540209.763 [DAT](INFO): Ping request sent. 2025-10-27T04:43:29.763Z,1761540209.763 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:29.764Z,1761540209.764 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:29.765Z,1761540209.765 [DAT](INFO): direction in FSK: [0.984424,-0.027497,0.173648] 2025-10-27T04:43:29.765Z,1761540209.765 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:29.765Z,1761540209.765 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:29.771Z,1761540209.771 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:29.772Z,1761540209.772 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:30.011Z,1761540210.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424327,-0.885340,-0.190053],[0.897218,0.439414,-0.043761],[0.122255,-0.151951,0.980798]] 2025-10-27T04:43:30.087Z,1761540210.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.300003 m, deltaT: 3.780511 s, deltaX: -2.799995 m, approachRate: -0.740639 m/s, rangeRepo size: 4 2025-10-27T04:43:30.107Z,1761540210.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.814445 m, bearing: 64.653590 deg, lat: 36.779287 deg, lon: -121.859574 deg, deltaT: 3.780511 s, deltaX: -2.791649 m, approachRate: -0.738432 m/s, posRepo size: 4 2025-10-27T04:43:30.108Z,1761540210.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.81 m. 2025-10-27T04:43:30.111Z,1761540210.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.814445 m, nav range: 110.050255 m, bearing: 64.722598 deg, approach rate: 0.000000 m/s, LOS rate: -0.015981 deg/s, cmd heading: 66.132221 deg, new cmd heading: 66.109760 deg. 2025-10-27T04:43:30.116Z,1761540210.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.153833 target range: 115.814445 and range: 116.30 m. 2025-10-27T04:43:30.419Z,1761540210.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423814,-0.885831,-0.188902],[0.897501,0.438803,-0.044104],[0.121960,-0.150848,0.981005]] 2025-10-27T04:43:30.450Z,1761540210.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.81 m. 2025-10-27T04:43:30.453Z,1761540210.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.814445 m, nav range: 109.778557 m, bearing: 64.715501 deg, approach rate: -0.744776 m/s, LOS rate: -0.019503 deg/s, cmd heading: 66.109763 deg, new cmd heading: 66.088419 deg. 2025-10-27T04:43:30.454Z,1761540210.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.153461 target range: 115.814445 and range: 116.30 m. 2025-10-27T04:43:30.829Z,1761540210.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423341,-0.886358,-0.187488],[0.897783,0.438193,-0.044422],[0.121530,-0.149517,0.981262]] 2025-10-27T04:43:30.846Z,1761540210.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:30.848Z,1761540210.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.81 m. 2025-10-27T04:43:30.851Z,1761540210.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.814445 m, nav range: 109.473351 m, bearing: 64.707404 deg, approach rate: -0.766802 m/s, LOS rate: -0.020401 deg/s, cmd heading: 66.088419 deg, new cmd heading: 66.064059 deg. 2025-10-27T04:43:30.852Z,1761540210.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.153035 target range: 115.814445 and range: 116.30 m. 2025-10-27T04:43:31.010Z,1761540211.010 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:31.010Z,1761540211.010 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:31.011Z,1761540211.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:31.225Z,1761540211.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423485,-0.886322,-0.187334],[0.897690,0.438357,-0.044664],[0.121706,-0.149253,0.981280]] 2025-10-27T04:43:31.260Z,1761540211.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496710 2025-10-27T04:43:31.270Z,1761540211.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.81 m. 2025-10-27T04:43:31.273Z,1761540211.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.814445 m, nav range: 109.154793 m, bearing: 64.697076 deg, approach rate: -0.755009 m/s, LOS rate: -0.024550 deg/s, cmd heading: 66.064062 deg, new cmd heading: 66.032988 deg. 2025-10-27T04:43:31.274Z,1761540211.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152493 target range: 115.814445 and range: 116.30 m. 2025-10-27T04:43:31.512Z,1761540211.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748694 2025-10-27T04:43:31.629Z,1761540211.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423564,-0.886243,-0.187528],[0.897654,0.438443,-0.044544],[0.121698,-0.149468,0.981249]] 2025-10-27T04:43:31.660Z,1761540211.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.81 m. 2025-10-27T04:43:31.663Z,1761540211.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.814445 m, nav range: 108.860001 m, bearing: 64.687478 deg, approach rate: -0.755265 m/s, LOS rate: -0.024657 deg/s, cmd heading: 66.032985 deg, new cmd heading: 66.004113 deg. 2025-10-27T04:43:31.664Z,1761540211.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151989 target range: 115.814445 and range: 116.30 m. 2025-10-27T04:43:31.764Z,1761540211.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000594 2025-10-27T04:43:32.020Z,1761540212.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256590 2025-10-27T04:43:32.114Z,1761540212.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423254,-0.886437,-0.187311],[0.897787,0.438144,-0.044820],[0.121799,-0.149195,0.981278]] 2025-10-27T04:43:32.151Z,1761540212.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.81 m. 2025-10-27T04:43:32.154Z,1761540212.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.814445 m, nav range: 108.494141 m, bearing: 64.673510 deg, approach rate: -0.745912 m/s, LOS rate: -0.028574 deg/s, cmd heading: 66.004114 deg, new cmd heading: 65.962068 deg. 2025-10-27T04:43:32.155Z,1761540212.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151255 target range: 115.814445 and range: 116.30 m. 2025-10-27T04:43:32.268Z,1761540212.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504639 2025-10-27T04:43:32.520Z,1761540212.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757172 2025-10-27T04:43:32.612Z,1761540212.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422807,-0.886607,-0.187514],[0.898049,0.437651,-0.044387],[0.121420,-0.149630,0.981258]] 2025-10-27T04:43:32.630Z,1761540212.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.81 m. 2025-10-27T04:43:32.633Z,1761540212.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.814445 m, nav range: 108.136398 m, bearing: 64.659662 deg, approach rate: -0.745951 m/s, LOS rate: -0.028971 deg/s, cmd heading: 65.962067 deg, new cmd heading: 65.920386 deg. 2025-10-27T04:43:32.634Z,1761540212.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150528 target range: 115.814445 and range: 116.30 m. 2025-10-27T04:43:32.772Z,1761540212.772 [DAT](INFO): DAT read: Rx Time:04:43:31.3360 2025-10-27T04:43:32.772Z,1761540212.772 [DAT](INFO): Rx dataTimestamp_ set to:1761540212.772156 2025-10-27T04:43:32.773Z,1761540212.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009696 2025-10-27T04:43:33.027Z,1761540213.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262828 2025-10-27T04:43:33.076Z,1761540213.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422489,-0.886769,-0.187467],[0.898211,0.437320,-0.044369],[0.121328,-0.149640,0.981268]] 2025-10-27T04:43:33.136Z,1761540213.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:33.138Z,1761540213.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.81 m. 2025-10-27T04:43:33.146Z,1761540213.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.814445 m, nav range: 107.772415 m, bearing: 64.646421 deg, approach rate: -0.716700 m/s, LOS rate: -0.026159 deg/s, cmd heading: 65.920389 deg, new cmd heading: 65.880533 deg. 2025-10-27T04:43:33.154Z,1761540213.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149832 target range: 115.814445 and range: 116.30 m. 2025-10-27T04:43:33.282Z,1761540213.282 [DAT](INFO): DAT read: 04:43:31.3360 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.35, 2.249, 0.576, 2.445, 2.080, PHS= 0.271,-1.459, 0.321, RAW= 151.4, 9.9, CAL= 151.1, 10.8, ROT= 358.9, -10.8 2025-10-27T04:43:33.287Z,1761540213.287 [DAT](INFO): got valid direction response: 04:43:31.3360 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.35, 2.249, 0.576, 2.445, 2.080, PHS= 0.271,-1.459, 0.321, RAW= 151.4, 9.9, CAL= 151.1, 10.8, ROT= 358.9, -10.8 2025-10-27T04:43:33.289Z,1761540213.289 [DAT](INFO): DAT read: Bearing 223.9, 4.5 (Local) 2025-10-27T04:43:33.289Z,1761540213.289 [DAT](INFO): Local bearing/azimuth received: Bearing 223.9, 4.5 (Local) 2025-10-27T04:43:33.300Z,1761540213.300 [DAT](INFO): DAT read: Range 11 to 50 : 113.6 m (Round-trip 151.5 ms) speed 0.7 m/s 2025-10-27T04:43:33.301Z,1761540213.301 [DAT](INFO): DAT read: user:170> 2025-10-27T04:43:33.302Z,1761540213.302 [DAT](INFO): DAT read: Tx time:04:43:32.4303 2025-10-27T04:43:33.303Z,1761540213.303 [DAT](INFO): Ping request sent. 2025-10-27T04:43:33.303Z,1761540213.303 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:33.312Z,1761540213.312 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:33.313Z,1761540213.313 [DAT](INFO): direction in FSK: [0.982106,-0.018857,0.187381] 2025-10-27T04:43:33.313Z,1761540213.313 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:33.313Z,1761540213.313 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:33.333Z,1761540213.333 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:33.333Z,1761540213.333 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:33.460Z,1761540213.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422098,-0.886899,-0.187731],[0.898405,0.436935,-0.044223],[0.121248,-0.149992,0.981224]] 2025-10-27T04:43:33.512Z,1761540213.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.599998 m, deltaT: 3.527654 s, deltaX: -2.700005 m, approachRate: -0.765382 m/s, rangeRepo size: 4 2025-10-27T04:43:33.514Z,1761540213.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.120453 m, bearing: 65.416605 deg, lat: 36.779287 deg, lon: -121.859569 deg, deltaT: 3.527654 s, deltaX: -2.693993 m, approachRate: -0.763678 m/s, posRepo size: 4 2025-10-27T04:43:33.516Z,1761540213.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:33.518Z,1761540213.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 107.949623 m, bearing: 64.749832 deg, approach rate: 0.000000 m/s, LOS rate: -0.026159 deg/s, cmd heading: 65.880535 deg, new cmd heading: 65.851227 deg. 2025-10-27T04:43:33.529Z,1761540213.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149321 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:33.850Z,1761540213.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421650,-0.887123,-0.187680],[0.898630,0.436473,-0.044215],[0.121141,-0.150012,0.981235]] 2025-10-27T04:43:33.868Z,1761540213.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:33.871Z,1761540213.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 107.669724 m, bearing: 64.739736 deg, approach rate: -0.785007 m/s, LOS rate: -0.028390 deg/s, cmd heading: 65.851227 deg, new cmd heading: 65.820859 deg. 2025-10-27T04:43:33.872Z,1761540213.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148791 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:34.254Z,1761540214.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421023,-0.887434,-0.187619],[0.898933,0.435842,-0.044289],[0.121076,-0.150010,0.981243]] 2025-10-27T04:43:34.302Z,1761540214.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:34.305Z,1761540214.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 107.362953 m, bearing: 64.729255 deg, approach rate: -0.707648 m/s, LOS rate: -0.024246 deg/s, cmd heading: 65.820860 deg, new cmd heading: 65.789328 deg. 2025-10-27T04:43:34.306Z,1761540214.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148240 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:34.697Z,1761540214.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:34.717Z,1761540214.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 107.084679 m, bearing: 64.719696 deg, approach rate: -0.705269 m/s, LOS rate: -0.024291 deg/s, cmd heading: 65.789325 deg, new cmd heading: 65.760572 deg. 2025-10-27T04:43:34.719Z,1761540214.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147738 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:35.100Z,1761540215.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419889,-0.887556,-0.189569],[0.899454,0.434834,-0.043620],[0.121146,-0.152193,0.980898]] 2025-10-27T04:43:35.136Z,1761540215.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:35.159Z,1761540215.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 106.772774 m, bearing: 64.709943 deg, approach rate: -0.708944 m/s, LOS rate: -0.022232 deg/s, cmd heading: 65.760570 deg, new cmd heading: 65.731226 deg. 2025-10-27T04:43:35.160Z,1761540215.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147226 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:35.470Z,1761540215.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419043,-0.887977,-0.189472],[0.899812,0.434042,-0.044115],[0.121412,-0.152003,0.980895]] 2025-10-27T04:43:35.487Z,1761540215.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:35.489Z,1761540215.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:35.492Z,1761540215.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 106.523376 m, bearing: 64.701978 deg, approach rate: -0.706906 m/s, LOS rate: -0.022629 deg/s, cmd heading: 65.731227 deg, new cmd heading: 65.707276 deg. 2025-10-27T04:43:35.493Z,1761540215.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146808 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:35.544Z,1761540215.544 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:35.544Z,1761540215.544 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:35.545Z,1761540215.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:35.796Z,1761540215.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493321 2025-10-27T04:43:35.870Z,1761540215.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418037,-0.888459,-0.189434],[0.900242,0.433097,-0.044629],[0.121695,-0.151880,0.980879]] 2025-10-27T04:43:35.889Z,1761540215.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:35.892Z,1761540215.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 106.240288 m, bearing: 64.692722 deg, approach rate: -0.707888 m/s, LOS rate: -0.023207 deg/s, cmd heading: 65.707274 deg, new cmd heading: 65.679432 deg. 2025-10-27T04:43:35.893Z,1761540215.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146322 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:36.052Z,1761540216.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748441 2025-10-27T04:43:36.275Z,1761540216.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417508,-0.888555,-0.190149],[0.900436,0.432677,-0.044797],[0.122078,-0.152514,0.980733]] 2025-10-27T04:43:36.300Z,1761540216.300 [DAT](INFO): DAT read: Rx Time:04:43:34.9828 2025-10-27T04:43:36.300Z,1761540216.300 [DAT](INFO): Rx dataTimestamp_ set to:1761540216.300192 2025-10-27T04:43:36.301Z,1761540216.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998366 2025-10-27T04:43:36.318Z,1761540216.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:36.345Z,1761540216.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 105.949379 m, bearing: 64.691544 deg, approach rate: -0.678274 m/s, LOS rate: -0.002754 deg/s, cmd heading: 65.679434 deg, new cmd heading: 65.675891 deg. 2025-10-27T04:43:36.346Z,1761540216.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146260 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:36.552Z,1761540216.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249569 2025-10-27T04:43:36.738Z,1761540216.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416502,-0.889245,-0.189129],[0.900788,0.431775,-0.046392],[0.122915,-0.151042,0.980856]] 2025-10-27T04:43:36.762Z,1761540216.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.12 m. 2025-10-27T04:43:36.764Z,1761540216.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.120453 m, nav range: 105.648056 m, bearing: 64.690138 deg, approach rate: -0.679028 m/s, LOS rate: -0.003178 deg/s, cmd heading: 65.675889 deg, new cmd heading: 65.671658 deg. 2025-10-27T04:43:36.765Z,1761540216.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146187 target range: 113.120453 and range: 113.60 m. 2025-10-27T04:43:36.806Z,1761540216.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503149 2025-10-27T04:43:37.075Z,1761540217.075 [DAT](INFO): DAT read: 04:43:34.9828 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411, 0.06,-1.185,-2.755,-0.981,-1.294, PHS= 0.211,-1.416, 0.269, RAW= 151.7, 11.3, CAL= 151.6, 12.4, ROT= 358.4, -12.4 2025-10-27T04:43:37.080Z,1761540217.080 [DAT](INFO): got valid direction response: 04:43:34.9828 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411, 0.06,-1.185,-2.755,-0.981,-1.294, PHS= 0.211,-1.416, 0.269, RAW= 151.7, 11.3, CAL= 151.6, 12.4, ROT= 358.4, -12.4 2025-10-27T04:43:37.084Z,1761540217.084 [DAT](INFO): DAT read: Bearing 224.8, 3.8 (Local) 2025-10-27T04:43:37.086Z,1761540217.086 [DAT](INFO): Local bearing/azimuth received: Bearing 224.8, 3.8 (Local) 2025-10-27T04:43:37.094Z,1761540217.094 [DAT](INFO): DAT read: Range 11 to 50 : 111.2 m (Round-trip 148.3 ms) speed 0.7 m/s 2025-10-27T04:43:37.097Z,1761540217.097 [DAT](INFO): DAT read: user:171> 2025-10-27T04:43:37.101Z,1761540217.101 [DAT](INFO): DAT read: Tx time:04:43:36.0803 2025-10-27T04:43:37.102Z,1761540217.102 [DAT](INFO): Ping request sent. 2025-10-27T04:43:37.102Z,1761540217.102 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:37.147Z,1761540217.147 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:37.148Z,1761540217.148 [DAT](INFO): direction in FSK: [0.976291,-0.027270,0.214735] 2025-10-27T04:43:37.148Z,1761540217.148 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:37.149Z,1761540217.149 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:37.183Z,1761540217.183 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:37.184Z,1761540217.184 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:37.216Z,1761540217.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416235,-0.889294,-0.189487],[0.900876,0.431573,-0.046542],[0.123167,-0.151332,0.980780]] 2025-10-27T04:43:37.325Z,1761540217.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.199997 m, deltaT: 3.779877 s, deltaX: -2.400002 m, approachRate: -0.634942 m/s, rangeRepo size: 4 2025-10-27T04:43:37.326Z,1761540217.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.727150 m, bearing: 65.553844 deg, lat: 36.779287 deg, lon: -121.859569 deg, deltaT: 3.779877 s, deltaX: -2.393303 m, approachRate: -0.633170 m/s, posRepo size: 4 2025-10-27T04:43:37.331Z,1761540217.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m. 2025-10-27T04:43:37.334Z,1761540217.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.727150 m, nav range: 105.292053 m, bearing: 64.690769 deg, approach rate: 0.000000 m/s, LOS rate: -0.003178 deg/s, cmd heading: 65.671661 deg, new cmd heading: 65.666301 deg. 2025-10-27T04:43:37.339Z,1761540217.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146093 target range: 110.727150 and range: 111.20 m. 2025-10-27T04:43:37.803Z,1761540217.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415492,-0.889286,-0.191149],[0.901065,0.431118,-0.047095],[0.124289,-0.152670,0.980431]] 2025-10-27T04:43:37.821Z,1761540217.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:37.824Z,1761540217.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m. 2025-10-27T04:43:37.826Z,1761540217.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.727150 m, nav range: 104.938835 m, bearing: 64.691255 deg, approach rate: -0.706785 m/s, LOS rate: 0.000977 deg/s, cmd heading: 65.666299 deg, new cmd heading: 65.667764 deg. 2025-10-27T04:43:37.828Z,1761540217.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146119 target range: 110.727150 and range: 111.20 m. 2025-10-27T04:43:38.068Z,1761540218.068 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:38.069Z,1761540218.069 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:38.070Z,1761540218.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:38.204Z,1761540218.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415338,-0.889257,-0.191613],[0.901072,0.431070,-0.047400],[0.124750,-0.152970,0.980325]] 2025-10-27T04:43:38.241Z,1761540218.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m. 2025-10-27T04:43:38.260Z,1761540218.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.727150 m, nav range: 104.654655 m, bearing: 64.695238 deg, approach rate: -0.680274 m/s, LOS rate: 0.009560 deg/s, cmd heading: 65.667761 deg, new cmd heading: 65.679742 deg. 2025-10-27T04:43:38.261Z,1761540218.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146328 target range: 110.727150 and range: 111.20 m. 2025-10-27T04:43:38.316Z,1761540218.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214279 2025-10-27T04:43:38.569Z,1761540218.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467144 2025-10-27T04:43:38.714Z,1761540218.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415455,-0.889054,-0.192299],[0.900950,0.431306,-0.047585],[0.125245,-0.153483,0.980182]] 2025-10-27T04:43:38.751Z,1761540218.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m. 2025-10-27T04:43:38.754Z,1761540218.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.727150 m, nav range: 104.309135 m, bearing: 64.700140 deg, approach rate: -0.678561 m/s, LOS rate: 0.009659 deg/s, cmd heading: 65.679741 deg, new cmd heading: 65.694496 deg. 2025-10-27T04:43:38.754Z,1761540218.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146585 target range: 110.727150 and range: 111.20 m. 2025-10-27T04:43:38.820Z,1761540218.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718260 2025-10-27T04:43:39.073Z,1761540219.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970806 2025-10-27T04:43:39.232Z,1761540219.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m. 2025-10-27T04:43:39.235Z,1761540219.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.727150 m, nav range: 103.988663 m, bearing: 64.705965 deg, approach rate: -0.665290 m/s, LOS rate: 0.012130 deg/s, cmd heading: 65.694494 deg, new cmd heading: 65.712024 deg. 2025-10-27T04:43:39.236Z,1761540219.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146891 target range: 110.727150 and range: 111.20 m. 2025-10-27T04:43:39.325Z,1761540219.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222828 2025-10-27T04:43:39.527Z,1761540219.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415727,-0.887917,-0.196912],[0.900460,0.432270,-0.048115],[0.127842,-0.157308,0.979240]] 2025-10-27T04:43:39.546Z,1761540219.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m. 2025-10-27T04:43:39.572Z,1761540219.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.727150 m, nav range: 103.779427 m, bearing: 64.709829 deg, approach rate: -0.666980 m/s, LOS rate: 0.012342 deg/s, cmd heading: 65.712021 deg, new cmd heading: 65.723636 deg. 2025-10-27T04:43:39.573Z,1761540219.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147094 target range: 110.727150 and range: 111.20 m. 2025-10-27T04:43:39.577Z,1761540219.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474646 2025-10-27T04:43:39.829Z,1761540219.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726563 2025-10-27T04:43:39.930Z,1761540219.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416034,-0.887631,-0.197551],[0.900138,0.432827,-0.049114],[0.129101,-0.157390,0.979061]] 2025-10-27T04:43:39.963Z,1761540219.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:39.965Z,1761540219.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m. 2025-10-27T04:43:39.972Z,1761540219.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.727150 m, nav range: 103.508484 m, bearing: 64.714920 deg, approach rate: -0.646032 m/s, LOS rate: 0.012169 deg/s, cmd heading: 65.723639 deg, new cmd heading: 65.738949 deg. 2025-10-27T04:43:39.973Z,1761540219.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147361 target range: 110.727150 and range: 111.20 m. 2025-10-27T04:43:40.081Z,1761540220.081 [DAT](INFO): DAT read: Rx Time:04:43:38.6293 2025-10-27T04:43:40.082Z,1761540220.082 [DAT](INFO): Rx dataTimestamp_ set to:1761540220.081569 2025-10-27T04:43:40.083Z,1761540220.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981481 2025-10-27T04:43:40.332Z,1761540220.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229979 2025-10-27T04:43:40.344Z,1761540220.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416302,-0.887114,-0.199301],[0.899851,0.433386,-0.049439],[0.130232,-0.158760,0.978690]] 2025-10-27T04:43:40.417Z,1761540220.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.73 m. 2025-10-27T04:43:40.424Z,1761540220.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.727150 m, nav range: 103.221886 m, bearing: 64.719443 deg, approach rate: -0.634103 m/s, LOS rate: 0.010035 deg/s, cmd heading: 65.738952 deg, new cmd heading: 65.752559 deg. 2025-10-27T04:43:40.425Z,1761540220.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147599 target range: 110.727150 and range: 111.20 m. 2025-10-27T04:43:40.489Z,1761540220.489 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:43:40.593Z,1761540220.593 [DAT](INFO): DAT read: 04:43:38.6293 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408,-0.28,-2.203, 2.434,-1.958,-2.395, PHS= 0.294,-1.409, 0.394, RAW= 152.8, 8.3, CAL= 152.4, 8.8, ROT= 357.6, -8.8 2025-10-27T04:43:40.594Z,1761540220.594 [DAT](INFO): got valid direction response: 04:43:38.6293 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408,-0.28,-2.203, 2.434,-1.958,-2.395, PHS= 0.294,-1.409, 0.394, RAW= 152.8, 8.3, CAL= 152.4, 8.8, ROT= 357.6, -8.8 2025-10-27T04:43:40.595Z,1761540220.595 [DAT](INFO): DAT read: Bearing 221.1, 4.0 (Local) 2025-10-27T04:43:40.596Z,1761540220.596 [DAT](INFO): Local bearing/azimuth received: Bearing 221.1, 4.0 (Local) 2025-10-27T04:43:40.597Z,1761540220.597 [DAT](INFO): DAT read: Range 11 to 50 : 108.6 m (Round-trip 144.9 ms) speed 0.8 m/s 2025-10-27T04:43:40.598Z,1761540220.598 [DAT](INFO): DAT read: user:172> 2025-10-27T04:43:40.599Z,1761540220.599 [DAT](INFO): DAT read: Tx time:04:43:39.7303 2025-10-27T04:43:40.600Z,1761540220.600 [DAT](INFO): Ping request sent. 2025-10-27T04:43:40.600Z,1761540220.600 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:40.600Z,1761540220.600 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:40.601Z,1761540220.601 [DAT](INFO): direction in FSK: [0.987362,-0.041382,0.152986] 2025-10-27T04:43:40.601Z,1761540220.601 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:40.602Z,1761540220.602 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:40.606Z,1761540220.606 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:40.606Z,1761540220.606 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:40.779Z,1761540220.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416146,-0.887011,-0.200086],[0.899730,0.433512,-0.050531],[0.131561,-0.158995,0.978474]] 2025-10-27T04:43:40.848Z,1761540220.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.531261 s, deltaX: -2.599998 m, approachRate: -0.736280 m/s, rangeRepo size: 4 2025-10-27T04:43:40.850Z,1761540220.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.135689 m, bearing: 64.203055 deg, lat: 36.779287 deg, lon: -121.859569 deg, deltaT: 3.531261 s, deltaX: -2.591461 m, approachRate: -0.733863 m/s, posRepo size: 4 2025-10-27T04:43:40.855Z,1761540220.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:40.858Z,1761540220.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 102.931602 m, bearing: 64.716890 deg, approach rate: 0.000000 m/s, LOS rate: 0.010035 deg/s, cmd heading: 65.752558 deg, new cmd heading: 65.765510 deg. 2025-10-27T04:43:40.867Z,1761540220.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147825 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:41.292Z,1761540221.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415949,-0.887165,-0.199813],[0.899536,0.433643,-0.052812],[0.133500,-0.157772,0.978410]] 2025-10-27T04:43:41.338Z,1761540221.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:41.341Z,1761540221.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 102.571960 m, bearing: 64.716020 deg, approach rate: -0.732967 m/s, LOS rate: -0.001779 deg/s, cmd heading: 65.765508 deg, new cmd heading: 65.762889 deg. 2025-10-27T04:43:41.342Z,1761540221.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147779 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:41.491Z,1761540221.491 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:43:41.694Z,1761540221.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416087,-0.886975,-0.200365],[0.899313,0.433999,-0.053670],[0.134562,-0.157860,0.978250]] 2025-10-27T04:43:41.741Z,1761540221.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:41.748Z,1761540221.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 102.304420 m, bearing: 64.715401 deg, approach rate: -0.663749 m/s, LOS rate: -0.001539 deg/s, cmd heading: 65.762892 deg, new cmd heading: 65.761030 deg. 2025-10-27T04:43:41.749Z,1761540221.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147746 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:42.098Z,1761540222.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416242,-0.886472,-0.202264],[0.898992,0.434559,-0.054510],[0.136217,-0.159145,0.977813]] 2025-10-27T04:43:42.148Z,1761540222.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:42.157Z,1761540222.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:42.191Z,1761540222.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 102.016357 m, bearing: 64.714764 deg, approach rate: -0.697089 m/s, LOS rate: -0.001546 deg/s, cmd heading: 65.761027 deg, new cmd heading: 65.759110 deg. 2025-10-27T04:43:42.192Z,1761540222.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147713 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:42.352Z,1761540222.352 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:42.352Z,1761540222.352 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:42.352Z,1761540222.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:42.567Z,1761540222.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:42.573Z,1761540222.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 101.709244 m, bearing: 64.710144 deg, approach rate: -0.744926 m/s, LOS rate: -0.011239 deg/s, cmd heading: 65.759108 deg, new cmd heading: 65.745208 deg. 2025-10-27T04:43:42.575Z,1761540222.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147470 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:42.604Z,1761540222.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004024 2025-10-27T04:43:42.857Z,1761540222.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257313 2025-10-27T04:43:42.908Z,1761540222.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415793,-0.886339,-0.203763],[0.898736,0.434749,-0.057162],[0.139250,-0.159361,0.977350]] 2025-10-27T04:43:42.941Z,1761540222.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:42.943Z,1761540222.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 101.435196 m, bearing: 64.705947 deg, approach rate: -0.733229 m/s, LOS rate: -0.011261 deg/s, cmd heading: 65.745208 deg, new cmd heading: 65.732582 deg. 2025-10-27T04:43:42.944Z,1761540222.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147250 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:43.108Z,1761540223.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508110 2025-10-27T04:43:43.309Z,1761540223.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415630,-0.885986,-0.205624],[0.898547,0.435012,-0.058124],[0.140946,-0.160605,0.976903]] 2025-10-27T04:43:43.360Z,1761540223.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760146 2025-10-27T04:43:43.453Z,1761540223.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:43.460Z,1761540223.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 101.063301 m, bearing: 64.691574 deg, approach rate: -0.726055 m/s, LOS rate: -0.028163 deg/s, cmd heading: 65.732579 deg, new cmd heading: 65.689303 deg. 2025-10-27T04:43:43.461Z,1761540223.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146495 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:43.612Z,1761540223.612 [DAT](INFO): DAT read: Rx Time:04:43:42.2755 2025-10-27T04:43:43.612Z,1761540223.612 [DAT](INFO): Rx dataTimestamp_ set to:1761540223.612174 2025-10-27T04:43:43.613Z,1761540223.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013259 2025-10-27T04:43:43.767Z,1761540223.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415148,-0.886005,-0.206514],[0.898516,0.434885,-0.059528],[0.142552,-0.160843,0.976631]] 2025-10-27T04:43:43.829Z,1761540223.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:43.836Z,1761540223.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 100.775627 m, bearing: 64.680307 deg, approach rate: -0.765237 m/s, LOS rate: -0.030058 deg/s, cmd heading: 65.689303 deg, new cmd heading: 65.655405 deg. 2025-10-27T04:43:43.837Z,1761540223.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145903 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:43.864Z,1761540223.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264238 2025-10-27T04:43:44.119Z,1761540224.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518827 2025-10-27T04:43:44.283Z,1761540224.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:44.285Z,1761540224.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.14 m. 2025-10-27T04:43:44.288Z,1761540224.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.135689 m, nav range: 100.417999 m, bearing: 64.654692 deg, approach rate: -0.783179 m/s, LOS rate: -0.056294 deg/s, cmd heading: 65.655405 deg, new cmd heading: 65.578288 deg. 2025-10-27T04:43:44.289Z,1761540224.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.144557 target range: 108.135689 and range: 108.60 m. 2025-10-27T04:43:44.378Z,1761540224.378 [DAT](INFO): DAT read: 04:43:42.2755 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.37, 0.926,-0.693, 1.165, 0.737, PHS= 0.292,-1.384, 0.384, RAW= 152.7, 8.3, CAL= 152.2, 8.8, ROT= 357.8, -8.8 2025-10-27T04:43:44.380Z,1761540224.380 [DAT](INFO): got valid direction response: 04:43:42.2755 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.37, 0.926,-0.693, 1.165, 0.737, PHS= 0.292,-1.384, 0.384, RAW= 152.7, 8.3, CAL= 152.2, 8.8, ROT= 357.8, -8.8 2025-10-27T04:43:44.381Z,1761540224.381 [DAT](INFO): DAT read: Bearing 221.4, 5.0 (Local) 2025-10-27T04:43:44.382Z,1761540224.382 [DAT](INFO): Local bearing/azimuth received: Bearing 221.4, 5.0 (Local) 2025-10-27T04:43:44.384Z,1761540224.384 [DAT](INFO): DAT read: Range 11 to 50 : 105.8 m (Round-trip 141.1 ms) speed 0.6 m/s 2025-10-27T04:43:44.385Z,1761540224.385 [DAT](INFO): DAT read: user:173> 2025-10-27T04:43:44.386Z,1761540224.386 [DAT](INFO): DAT read: Tx time:04:43:43.3803 2025-10-27T04:43:44.386Z,1761540224.386 [DAT](INFO): Ping request sent. 2025-10-27T04:43:44.386Z,1761540224.386 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:44.386Z,1761540224.386 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:44.387Z,1761540224.387 [DAT](INFO): direction in FSK: [0.987500,-0.037936,0.152986] 2025-10-27T04:43:44.388Z,1761540224.388 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:44.388Z,1761540224.388 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:44.420Z,1761540224.420 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:44.420Z,1761540224.420 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:44.630Z,1761540224.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412398,-0.886527,-0.209756],[0.898823,0.433477,-0.064914],[0.148472,-0.161763,0.975597]] 2025-10-27T04:43:44.672Z,1761540224.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.800003 m, deltaT: 3.781929 s, deltaX: -2.799995 m, approachRate: -0.740362 m/s, rangeRepo size: 4 2025-10-27T04:43:44.674Z,1761540224.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.346611 m, bearing: 64.608085 deg, lat: 36.779289 deg, lon: -121.859566 deg, deltaT: 3.781929 s, deltaX: -2.789078 m, approachRate: -0.737475 m/s, posRepo size: 4 2025-10-27T04:43:44.674Z,1761540224.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.35 m. 2025-10-27T04:43:44.693Z,1761540224.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.346611 m, nav range: 100.391594 m, bearing: 64.598035 deg, approach rate: 0.000000 m/s, LOS rate: -0.056294 deg/s, cmd heading: 65.578285 deg, new cmd heading: 65.513164 deg. 2025-10-27T04:43:44.694Z,1761540224.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143420 target range: 105.346611 and range: 105.80 m. 2025-10-27T04:43:45.188Z,1761540225.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411026,-0.886967,-0.210588],[0.899109,0.432564,-0.067018],[0.150536,-0.161796,0.975275]] 2025-10-27T04:43:45.261Z,1761540225.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.35 m. 2025-10-27T04:43:45.265Z,1761540225.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.346611 m, nav range: 99.936790 m, bearing: 64.563791 deg, approach rate: -0.770712 m/s, LOS rate: -0.058293 deg/s, cmd heading: 65.513166 deg, new cmd heading: 65.409969 deg. 2025-10-27T04:43:45.266Z,1761540225.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141619 target range: 105.346611 and range: 105.80 m. 2025-10-27T04:43:45.747Z,1761540225.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409722,-0.887389,-0.211347],[0.899341,0.431731,-0.069241],[0.152689,-0.161704,0.974955]] 2025-10-27T04:43:45.766Z,1761540225.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.35 m. 2025-10-27T04:43:45.769Z,1761540225.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.346611 m, nav range: 99.547241 m, bearing: 64.533903 deg, approach rate: -0.771735 m/s, LOS rate: -0.059442 deg/s, cmd heading: 65.409969 deg, new cmd heading: 65.319955 deg. 2025-10-27T04:43:45.770Z,1761540225.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140048 target range: 105.346611 and range: 105.80 m. 2025-10-27T04:43:46.259Z,1761540226.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.35 m. 2025-10-27T04:43:46.262Z,1761540226.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.346611 m, nav range: 99.168701 m, bearing: 64.504633 deg, approach rate: -0.767831 m/s, LOS rate: -0.059599 deg/s, cmd heading: 65.319954 deg, new cmd heading: 65.231807 deg. 2025-10-27T04:43:46.287Z,1761540226.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138510 target range: 105.346611 and range: 105.80 m. 2025-10-27T04:43:46.612Z,1761540226.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404885,-0.889488,-0.211849],[0.900560,0.428032,-0.076024],[0.158300,-0.160002,0.974341]] 2025-10-27T04:43:46.656Z,1761540226.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:46.658Z,1761540226.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.35 m. 2025-10-27T04:43:46.661Z,1761540226.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.346611 m, nav range: 98.862946 m, bearing: 64.479916 deg, approach rate: -0.765495 m/s, LOS rate: -0.062072 deg/s, cmd heading: 65.231810 deg, new cmd heading: 65.157432 deg. 2025-10-27T04:43:46.662Z,1761540226.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137212 target range: 105.346611 and range: 105.80 m. 2025-10-27T04:43:46.888Z,1761540226.888 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:46.888Z,1761540226.888 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:46.888Z,1761540226.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:47.015Z,1761540227.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403095,-0.890096,-0.212703],[0.901148,0.426568,-0.077282],[0.159521,-0.160524,0.974056]] 2025-10-27T04:43:47.035Z,1761540227.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.35 m. 2025-10-27T04:43:47.038Z,1761540227.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.346611 m, nav range: 98.574417 m, bearing: 64.456116 deg, approach rate: -0.765933 m/s, LOS rate: -0.063365 deg/s, cmd heading: 65.157430 deg, new cmd heading: 65.085820 deg. 2025-10-27T04:43:47.040Z,1761540227.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135962 target range: 105.346611 and range: 105.80 m. 2025-10-27T04:43:47.140Z,1761540227.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754194 2025-10-27T04:43:47.395Z,1761540227.395 [DAT](INFO): DAT read: Rx Time:04:43:45.9219 2025-10-27T04:43:47.395Z,1761540227.395 [DAT](INFO): Rx dataTimestamp_ set to:1761540227.394919 2025-10-27T04:43:47.396Z,1761540227.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009776 2025-10-27T04:43:47.437Z,1761540227.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401477,-0.890680,-0.213321],[0.901577,0.425329,-0.079083],[0.161169,-0.160576,0.973776]] 2025-10-27T04:43:47.493Z,1761540227.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.35 m. 2025-10-27T04:43:47.495Z,1761540227.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.346611 m, nav range: 98.205818 m, bearing: 64.426769 deg, approach rate: -0.805579 m/s, LOS rate: -0.064380 deg/s, cmd heading: 65.085822 deg, new cmd heading: 64.997449 deg. 2025-10-27T04:43:47.496Z,1761540227.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134419 target range: 105.346611 and range: 105.80 m. 2025-10-27T04:43:47.648Z,1761540227.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261879 2025-10-27T04:43:47.822Z,1761540227.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400375,-0.890804,-0.214868],[0.901938,0.424516,-0.079338],[0.161889,-0.162033,0.973415]] 2025-10-27T04:43:47.841Z,1761540227.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.35 m. 2025-10-27T04:43:47.844Z,1761540227.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.346611 m, nav range: 97.925079 m, bearing: 64.404076 deg, approach rate: -0.804774 m/s, LOS rate: -0.065238 deg/s, cmd heading: 64.997446 deg, new cmd heading: 64.929173 deg. 2025-10-27T04:43:47.845Z,1761540227.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133228 target range: 105.346611 and range: 105.80 m. 2025-10-27T04:43:47.906Z,1761540227.906 [DAT](INFO): DAT read: 04:43:45.9219 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.22, 2.081, 0.507, 2.320, 1.934, PHS= 0.249,-1.382, 0.342, RAW= 152.8, 9.5, CAL= 152.4, 10.2, ROT= 357.6, -10.2 2025-10-27T04:43:47.907Z,1761540227.907 [DAT](INFO): got valid direction response: 04:43:45.9219 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.22, 2.081, 0.507, 2.320, 1.934, PHS= 0.249,-1.382, 0.342, RAW= 152.8, 9.5, CAL= 152.4, 10.2, ROT= 357.6, -10.2 2025-10-27T04:43:47.909Z,1761540227.909 [DAT](INFO): DAT read: Bearing 222.4, 5.1 (Local) 2025-10-27T04:43:47.909Z,1761540227.909 [DAT](INFO): Local bearing/azimuth received: Bearing 222.4, 5.1 (Local) 2025-10-27T04:43:47.911Z,1761540227.911 [DAT](INFO): DAT read: Range 11 to 50 : 103.1 m (Round-trip 137.5 ms) speed 0.8 m/s 2025-10-27T04:43:47.913Z,1761540227.913 [DAT](INFO): DAT read: user:174> 2025-10-27T04:43:47.914Z,1761540227.914 [DAT](INFO): DAT read: Tx time:04:43:47.0303 2025-10-27T04:43:47.914Z,1761540227.914 [DAT](INFO): Ping request sent. 2025-10-27T04:43:47.914Z,1761540227.914 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:47.915Z,1761540227.915 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:47.916Z,1761540227.916 [DAT](INFO): direction in FSK: [0.983332,-0.041214,0.177085] 2025-10-27T04:43:47.917Z,1761540227.917 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:47.917Z,1761540227.917 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:47.922Z,1761540227.922 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:47.923Z,1761540227.923 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:48.266Z,1761540228.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399265,-0.890990,-0.216158],[0.902222,0.423752,-0.080185],[0.163042,-0.163008,0.973060]] 2025-10-27T04:43:48.322Z,1761540228.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.099998 m, deltaT: 3.530963 s, deltaX: -2.700005 m, approachRate: -0.764665 m/s, rangeRepo size: 4 2025-10-27T04:43:48.324Z,1761540228.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.656677 m, bearing: 65.435162 deg, lat: 36.779276 deg, lon: -121.859566 deg, deltaT: 3.530963 s, deltaX: -2.689934 m, approachRate: -0.761813 m/s, posRepo size: 4 2025-10-27T04:43:48.325Z,1761540228.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.66 m. 2025-10-27T04:43:48.328Z,1761540228.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.656677 m, nav range: 96.941902 m, bearing: 65.136775 deg, approach rate: 0.000000 m/s, LOS rate: -0.065238 deg/s, cmd heading: 64.929172 deg, new cmd heading: 64.835203 deg. 2025-10-27T04:43:48.329Z,1761540228.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131588 target range: 102.656677 and range: 103.10 m. 2025-10-27T04:43:48.629Z,1761540228.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398084,-0.891376,-0.216744],[0.902492,0.422899,-0.081638],[0.164431,-0.163111,0.972809]] 2025-10-27T04:43:48.648Z,1761540228.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.66 m. 2025-10-27T04:43:48.651Z,1761540228.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.656677 m, nav range: 96.680542 m, bearing: 65.119488 deg, approach rate: -0.799443 m/s, LOS rate: -0.053019 deg/s, cmd heading: 64.835202 deg, new cmd heading: 64.783202 deg. 2025-10-27T04:43:48.652Z,1761540228.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130680 target range: 102.656677 and range: 103.10 m. 2025-10-27T04:43:49.034Z,1761540229.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397638,-0.891328,-0.217758],[0.902642,0.422602,-0.081522],[0.164688,-0.164141,0.972592]] 2025-10-27T04:43:49.078Z,1761540229.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:49.081Z,1761540229.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.66 m. 2025-10-27T04:43:49.084Z,1761540229.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.656677 m, nav range: 96.339752 m, bearing: 65.096718 deg, approach rate: -0.788300 m/s, LOS rate: -0.052858 deg/s, cmd heading: 64.783204 deg, new cmd heading: 64.714651 deg. 2025-10-27T04:43:49.085Z,1761540229.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129484 target range: 102.656677 and range: 103.10 m. 2025-10-27T04:43:49.160Z,1761540229.160 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:49.160Z,1761540229.160 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:49.160Z,1761540229.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:49.412Z,1761540229.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497670 2025-10-27T04:43:49.503Z,1761540229.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397793,-0.890758,-0.219797],[0.902551,0.422961,-0.080653],[0.164808,-0.166295,0.972206]] 2025-10-27T04:43:49.564Z,1761540229.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.66 m. 2025-10-27T04:43:49.584Z,1761540229.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.656677 m, nav range: 95.980774 m, bearing: 65.085791 deg, approach rate: -0.744171 m/s, LOS rate: -0.022736 deg/s, cmd heading: 64.714649 deg, new cmd heading: 64.681747 deg. 2025-10-27T04:43:49.588Z,1761540229.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128909 target range: 102.656677 and range: 103.10 m. 2025-10-27T04:43:49.664Z,1761540229.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749725 2025-10-27T04:43:49.916Z,1761540229.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001719 2025-10-27T04:43:50.024Z,1761540230.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397979,-0.890302,-0.221302],[0.902380,0.423370,-0.080430],[0.165300,-0.167689,0.971883]] 2025-10-27T04:43:50.071Z,1761540230.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.66 m. 2025-10-27T04:43:50.074Z,1761540230.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.656677 m, nav range: 95.611382 m, bearing: 65.074531 deg, approach rate: -0.734234 m/s, LOS rate: -0.022467 deg/s, cmd heading: 64.681748 deg, new cmd heading: 64.647838 deg. 2025-10-27T04:43:50.075Z,1761540230.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128318 target range: 102.656677 and range: 103.10 m. 2025-10-27T04:43:50.168Z,1761540230.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253750 2025-10-27T04:43:50.420Z,1761540230.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505691 2025-10-27T04:43:50.569Z,1761540230.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398283,-0.889914,-0.222314],[0.902135,0.423871,-0.080532],[0.165899,-0.168483,0.971643]] 2025-10-27T04:43:50.625Z,1761540230.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.66 m. 2025-10-27T04:43:50.627Z,1761540230.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.656677 m, nav range: 95.204826 m, bearing: 65.077213 deg, approach rate: -0.728248 m/s, LOS rate: 0.004823 deg/s, cmd heading: 64.647836 deg, new cmd heading: 64.655914 deg. 2025-10-27T04:43:50.628Z,1761540230.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128459 target range: 102.656677 and range: 103.10 m. 2025-10-27T04:43:50.673Z,1761540230.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758474 2025-10-27T04:43:50.924Z,1761540230.924 [DAT](INFO): DAT read: Rx Time:04:43:49.5684 2025-10-27T04:43:50.924Z,1761540230.924 [DAT](INFO): Rx dataTimestamp_ set to:1761540230.924150 2025-10-27T04:43:50.925Z,1761540230.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010786 2025-10-27T04:43:50.960Z,1761540230.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398917,-0.889336,-0.223488],[0.901761,0.424692,-0.080392],[0.166409,-0.169463,0.971386]] 2025-10-27T04:43:50.989Z,1761540230.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.66 m. 2025-10-27T04:43:50.999Z,1761540230.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.656677 m, nav range: 94.958000 m, bearing: 65.078970 deg, approach rate: -0.676714 m/s, LOS rate: 0.004830 deg/s, cmd heading: 64.655916 deg, new cmd heading: 64.661201 deg. 2025-10-27T04:43:51.004Z,1761540231.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128551 target range: 102.656677 and range: 103.10 m. 2025-10-27T04:43:51.176Z,1761540231.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261683 2025-10-27T04:43:51.363Z,1761540231.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400115,-0.888559,-0.224435],[0.901178,0.426003,-0.079996],[0.166692,-0.170248,0.971200]] 2025-10-27T04:43:51.442Z,1761540231.442 [DAT](INFO): DAT read: 04:43:49.5684 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 409,-0.45,-2.755, 1.913,-2.523,-2.981, PHS= 0.328,-1.344, 0.414, RAW= 152.5, 7.1, CAL= 151.9, 7.4, ROT= 358.1, -7.4 2025-10-27T04:43:51.444Z,1761540231.444 [DAT](INFO): got valid direction response: 04:43:49.5684 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 409,-0.45,-2.755, 1.913,-2.523,-2.981, PHS= 0.328,-1.344, 0.414, RAW= 152.5, 7.1, CAL= 151.9, 7.4, ROT= 358.1, -7.4 2025-10-27T04:43:51.445Z,1761540231.445 [DAT](INFO): DAT read: Bearing 218.2, 6.2 (Local) 2025-10-27T04:43:51.445Z,1761540231.445 [DAT](INFO): Local bearing/azimuth received: Bearing 218.2, 6.2 (Local) 2025-10-27T04:43:51.446Z,1761540231.446 [DAT](INFO): DAT read: Range 11 to 50 : 100.4 m (Round-trip 133.9 ms) speed 0.5 m/s 2025-10-27T04:43:51.447Z,1761540231.447 [DAT](INFO): DAT read: user:175> 2025-10-27T04:43:51.448Z,1761540231.448 [DAT](INFO): DAT read: Tx time:04:43:50.6819 2025-10-27T04:43:51.448Z,1761540231.448 [DAT](INFO): Ping request sent. 2025-10-27T04:43:51.449Z,1761540231.449 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:51.449Z,1761540231.449 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:51.450Z,1761540231.450 [DAT](INFO): direction in FSK: [0.991126,-0.032879,0.128796] 2025-10-27T04:43:51.450Z,1761540231.450 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:51.450Z,1761540231.450 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:51.456Z,1761540231.456 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:51.457Z,1761540231.457 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:51.525Z,1761540231.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.400002 m, deltaT: 3.529459 s, deltaX: -2.699997 m, approachRate: -0.764989 m/s, rangeRepo size: 4 2025-10-27T04:43:51.544Z,1761540231.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.961754 m, bearing: 65.450586 deg, lat: 36.779275 deg, lon: -121.859566 deg, deltaT: 3.529459 s, deltaX: -2.694923 m, approachRate: -0.763551 m/s, posRepo size: 4 2025-10-27T04:43:51.545Z,1761540231.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:51.562Z,1761540231.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 94.550194 m, bearing: 65.191148 deg, approach rate: 0.000000 m/s, LOS rate: 0.004830 deg/s, cmd heading: 64.661203 deg, new cmd heading: 64.668956 deg. 2025-10-27T04:43:51.568Z,1761540231.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128686 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:51.895Z,1761540231.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403238,-0.886623,-0.226494],[0.899666,0.429363,-0.079046],[0.167332,-0.171894,0.970800]] 2025-10-27T04:43:51.912Z,1761540231.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:51.914Z,1761540231.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:51.917Z,1761540231.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 94.279312 m, bearing: 65.204625 deg, approach rate: -0.694369 m/s, LOS rate: 0.034647 deg/s, cmd heading: 64.668955 deg, new cmd heading: 64.709504 deg. 2025-10-27T04:43:51.918Z,1761540231.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129394 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:51.932Z,1761540231.932 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:51.932Z,1761540231.932 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:51.932Z,1761540231.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:52.184Z,1761540232.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.735898 2025-10-27T04:43:52.333Z,1761540232.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404752,-0.885639,-0.227639],[0.898884,0.431049,-0.078762],[0.167878,-0.172742,0.970555]] 2025-10-27T04:43:52.393Z,1761540232.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:52.400Z,1761540232.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 93.994324 m, bearing: 65.222681 deg, approach rate: -0.595065 m/s, LOS rate: 0.037815 deg/s, cmd heading: 64.709506 deg, new cmd heading: 64.763837 deg. 2025-10-27T04:43:52.401Z,1761540232.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130342 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:52.436Z,1761540232.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987549 2025-10-27T04:43:52.689Z,1761540232.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240301 2025-10-27T04:43:52.743Z,1761540232.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406578,-0.884633,-0.228297],[0.897945,0.433011,-0.078716],[0.168490,-0.172994,0.970404]] 2025-10-27T04:43:52.773Z,1761540232.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:52.776Z,1761540232.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 93.745689 m, bearing: 65.238845 deg, approach rate: -0.654501 m/s, LOS rate: 0.042663 deg/s, cmd heading: 64.763840 deg, new cmd heading: 64.812462 deg. 2025-10-27T04:43:52.777Z,1761540232.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131191 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:52.940Z,1761540232.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491281 2025-10-27T04:43:53.142Z,1761540233.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408819,-0.883384,-0.229128],[0.896853,0.435351,-0.078259],[0.168884,-0.173500,0.970245]] 2025-10-27T04:43:53.160Z,1761540233.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:53.163Z,1761540233.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 93.505470 m, bearing: 65.254923 deg, approach rate: -0.620742 m/s, LOS rate: 0.041652 deg/s, cmd heading: 64.812464 deg, new cmd heading: 64.860820 deg. 2025-10-27T04:43:53.164Z,1761540233.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132035 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:53.192Z,1761540233.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743670 2025-10-27T04:43:53.444Z,1761540233.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995450 2025-10-27T04:43:53.562Z,1761540233.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411320,-0.882024,-0.229892],[0.895619,0.437954,-0.077863],[0.169359,-0.173869,0.970096]] 2025-10-27T04:43:53.600Z,1761540233.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:53.602Z,1761540233.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 93.237717 m, bearing: 65.275921 deg, approach rate: -0.609286 m/s, LOS rate: 0.047921 deg/s, cmd heading: 64.860822 deg, new cmd heading: 64.923999 deg. 2025-10-27T04:43:53.603Z,1761540233.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133138 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:53.697Z,1761540233.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247842 2025-10-27T04:43:53.948Z,1761540233.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499425 2025-10-27T04:43:53.986Z,1761540233.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:53.988Z,1761540233.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:53.991Z,1761540233.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 93.000328 m, bearing: 65.294641 deg, approach rate: -0.611237 m/s, LOS rate: 0.048322 deg/s, cmd heading: 64.924001 deg, new cmd heading: 64.980302 deg. 2025-10-27T04:43:53.992Z,1761540233.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134120 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:54.201Z,1761540234.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752540 2025-10-27T04:43:54.394Z,1761540234.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416769,-0.878616,-0.233105],[0.892801,0.443862,-0.076759],[0.170908,-0.176126,0.969418]] 2025-10-27T04:43:54.413Z,1761540234.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:54.440Z,1761540234.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 92.740906 m, bearing: 65.316214 deg, approach rate: -0.611034 m/s, LOS rate: 0.050954 deg/s, cmd heading: 64.980302 deg, new cmd heading: 65.045202 deg. 2025-10-27T04:43:54.441Z,1761540234.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135253 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:54.452Z,1761540234.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003454 2025-10-27T04:43:54.705Z,1761540234.705 [DAT](INFO): DAT read: Rx Time:04:43:53.2165 2025-10-27T04:43:54.705Z,1761540234.705 [DAT](INFO): Rx dataTimestamp_ set to:1761540234.705053 2025-10-27T04:43:54.706Z,1761540234.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257480 2025-10-27T04:43:54.794Z,1761540234.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419220,-0.877252,-0.233844],[0.891485,0.446493,-0.076797],[0.171780,-0.176274,0.969236]] 2025-10-27T04:43:54.830Z,1761540234.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.96 m. 2025-10-27T04:43:54.833Z,1761540234.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.961754 m, nav range: 92.493195 m, bearing: 65.337371 deg, approach rate: -0.593651 m/s, LOS rate: 0.050840 deg/s, cmd heading: 65.045203 deg, new cmd heading: 65.108844 deg. 2025-10-27T04:43:54.834Z,1761540234.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136364 target range: 99.961754 and range: 100.40 m. 2025-10-27T04:43:54.956Z,1761540234.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507436 2025-10-27T04:43:55.198Z,1761540235.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422535,-0.875278,-0.235272],[0.889731,0.450047,-0.076399],[0.172754,-0.177048,0.968922]] 2025-10-27T04:43:55.214Z,1761540235.214 [DAT](INFO): DAT read: 04:43:53.2165 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 405,-0.45, 1.585,-0.027, 1.811, 1.399, PHS= 0.288,-1.381, 0.368, RAW= 152.3, 8.5, CAL= 151.9, 9.1, ROT= 358.1, -9.1 2025-10-27T04:43:55.215Z,1761540235.215 [DAT](INFO): got valid direction response: 04:43:53.2165 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 405,-0.45, 1.585,-0.027, 1.811, 1.399, PHS= 0.288,-1.381, 0.368, RAW= 152.3, 8.5, CAL= 151.9, 9.1, ROT= 358.1, -9.1 2025-10-27T04:43:55.216Z,1761540235.216 [DAT](INFO): DAT read: Bearing 219.6, 6.6 (Local) 2025-10-27T04:43:55.216Z,1761540235.216 [DAT](INFO): Local bearing/azimuth received: Bearing 219.6, 6.6 (Local) 2025-10-27T04:43:55.218Z,1761540235.218 [DAT](INFO): DAT read: Range 11 to 50 : 97.8 m (Round-trip 130.4 ms) speed 0.8 m/s 2025-10-27T04:43:55.218Z,1761540235.218 [DAT](INFO): DAT read: user:176> 2025-10-27T04:43:55.219Z,1761540235.219 [DAT](INFO): DAT read: Tx time:04:43:54.3303 2025-10-27T04:43:55.220Z,1761540235.220 [DAT](INFO): Ping request sent. 2025-10-27T04:43:55.220Z,1761540235.220 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:55.220Z,1761540235.220 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:55.221Z,1761540235.221 [DAT](INFO): direction in FSK: [0.986871,-0.032738,0.158158] 2025-10-27T04:43:55.221Z,1761540235.221 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:55.221Z,1761540235.221 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:55.241Z,1761540235.241 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:55.241Z,1761540235.241 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:55.299Z,1761540235.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.800003 m, deltaT: 3.778486 s, deltaX: -2.599998 m, approachRate: -0.688106 m/s, rangeRepo size: 4 2025-10-27T04:43:55.301Z,1761540235.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.365959 m, bearing: 64.367769 deg, lat: 36.779286 deg, lon: -121.859566 deg, deltaT: 3.778486 s, deltaX: -2.595795 m, approachRate: -0.686993 m/s, posRepo size: 4 2025-10-27T04:43:55.302Z,1761540235.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:55.309Z,1761540235.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 92.794876 m, bearing: 64.624095 deg, approach rate: 0.000000 m/s, LOS rate: 0.050840 deg/s, cmd heading: 65.108847 deg, new cmd heading: 65.180236 deg. 2025-10-27T04:43:55.310Z,1761540235.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137610 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:55.708Z,1761540235.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424907,-0.873839,-0.236348],[0.888459,0.452601,-0.076110],[0.173479,-0.177646,0.968683]] 2025-10-27T04:43:55.779Z,1761540235.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:55.782Z,1761540235.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 92.462181 m, bearing: 64.651354 deg, approach rate: -0.691721 m/s, LOS rate: 0.056879 deg/s, cmd heading: 65.180236 deg, new cmd heading: 65.262306 deg. 2025-10-27T04:43:55.804Z,1761540235.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139042 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:56.109Z,1761540236.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426604,-0.872733,-0.237371],[0.887424,0.454573,-0.076428],[0.174604,-0.178045,0.968408]] 2025-10-27T04:43:56.137Z,1761540236.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:56.139Z,1761540236.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:56.142Z,1761540236.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 92.243347 m, bearing: 64.669672 deg, approach rate: -0.608026 m/s, LOS rate: 0.051016 deg/s, cmd heading: 65.262307 deg, new cmd heading: 65.317390 deg. 2025-10-27T04:43:56.143Z,1761540236.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140004 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:56.217Z,1761540236.217 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:56.217Z,1761540236.217 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:56.217Z,1761540236.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:56.468Z,1761540236.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248284 2025-10-27T04:43:56.510Z,1761540236.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428269,-0.872036,-0.236936],[0.886365,0.456419,-0.077706],[0.175905,-0.176733,0.968413]] 2025-10-27T04:43:56.578Z,1761540236.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:56.581Z,1761540236.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 91.933601 m, bearing: 64.656469 deg, approach rate: -0.704735 m/s, LOS rate: -0.030141 deg/s, cmd heading: 65.317393 deg, new cmd heading: 65.277651 deg. 2025-10-27T04:43:56.582Z,1761540236.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139310 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:56.720Z,1761540236.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500630 2025-10-27T04:43:56.914Z,1761540236.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429701,-0.871305,-0.237033],[0.885426,0.458072,-0.078687],[0.177139,-0.176063,0.968310]] 2025-10-27T04:43:56.933Z,1761540236.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:56.936Z,1761540236.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 91.680069 m, bearing: 64.645877 deg, approach rate: -0.715684 m/s, LOS rate: -0.029981 deg/s, cmd heading: 65.277648 deg, new cmd heading: 65.245786 deg. 2025-10-27T04:43:56.937Z,1761540236.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138754 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:56.974Z,1761540236.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753996 2025-10-27T04:43:57.224Z,1761540237.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004233 2025-10-27T04:43:57.317Z,1761540237.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430482,-0.871019,-0.236666],[0.884743,0.459100,-0.080362],[0.178650,-0.174794,0.968262]] 2025-10-27T04:43:57.354Z,1761540237.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:57.357Z,1761540237.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 91.385124 m, bearing: 64.633690 deg, approach rate: -0.700490 m/s, LOS rate: -0.029038 deg/s, cmd heading: 65.245785 deg, new cmd heading: 65.209105 deg. 2025-10-27T04:43:57.358Z,1761540237.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138114 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:57.477Z,1761540237.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256722 2025-10-27T04:43:57.729Z,1761540237.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509007 2025-10-27T04:43:57.844Z,1761540237.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:57.847Z,1761540237.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 91.000168 m, bearing: 64.600047 deg, approach rate: -0.785585 m/s, LOS rate: -0.068946 deg/s, cmd heading: 65.209107 deg, new cmd heading: 65.107751 deg. 2025-10-27T04:43:57.848Z,1761540237.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136345 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:57.980Z,1761540237.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760740 2025-10-27T04:43:58.232Z,1761540238.232 [DAT](INFO): DAT read: Rx Time:04:43:56.8611 2025-10-27T04:43:58.232Z,1761540238.232 [DAT](INFO): Rx dataTimestamp_ set to:1761540238.232207 2025-10-27T04:43:58.233Z,1761540238.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013381 2025-10-27T04:43:58.235Z,1761540238.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:43:58.237Z,1761540238.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:58.244Z,1761540238.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 90.699829 m, bearing: 64.573599 deg, approach rate: -0.763692 m/s, LOS rate: -0.067473 deg/s, cmd heading: 65.107754 deg, new cmd heading: 65.028148 deg. 2025-10-27T04:43:58.245Z,1761540238.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134955 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:58.484Z,1761540238.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264660 2025-10-27T04:43:58.571Z,1761540238.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430104,-0.871988,-0.233769],[0.883925,0.459402,-0.087324],[0.183539,-0.169076,0.968363]] 2025-10-27T04:43:58.640Z,1761540238.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.37 m. 2025-10-27T04:43:58.642Z,1761540238.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.365959 m, nav range: 90.358826 m, bearing: 64.531965 deg, approach rate: -0.846690 m/s, LOS rate: -0.103765 deg/s, cmd heading: 65.028148 deg, new cmd heading: 64.902774 deg. 2025-10-27T04:43:58.664Z,1761540238.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132767 target range: 97.365959 and range: 97.80 m. 2025-10-27T04:43:58.744Z,1761540238.744 [DAT](INFO): DAT read: 04:43:56.8611 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 397, 0.38,-1.521,-3.058,-1.320,-1.655, PHS= 0.236,-1.357, 0.291, RAW= 151.7, 10.3, CAL= 151.4, 11.2, ROT= 358.6, -11.2 2025-10-27T04:43:58.745Z,1761540238.745 [DAT](INFO): got valid direction response: 04:43:56.8611 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 397, 0.38,-1.521,-3.058,-1.320,-1.655, PHS= 0.236,-1.357, 0.291, RAW= 151.7, 10.3, CAL= 151.4, 11.2, ROT= 358.6, -11.2 2025-10-27T04:43:58.746Z,1761540238.746 [DAT](INFO): DAT read: Bearing 220.4, 7.4 (Local) 2025-10-27T04:43:58.746Z,1761540238.746 [DAT](INFO): Local bearing/azimuth received: Bearing 220.4, 7.4 (Local) 2025-10-27T04:43:58.748Z,1761540238.748 [DAT](INFO): DAT read: Range 11 to 50 : 94.9 m (Round-trip 126.6 ms) speed 0.7 m/s 2025-10-27T04:43:58.749Z,1761540238.749 [DAT](INFO): DAT read: user:177> 2025-10-27T04:43:58.749Z,1761540238.749 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:43:58.750Z,1761540238.750 [DAT](INFO): direction in FSK: [0.980662,-0.023967,0.194234] 2025-10-27T04:43:58.750Z,1761540238.750 [DAT](INFO): publishing direction and range info 2025-10-27T04:43:58.754Z,1761540238.754 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:43:58.754Z,1761540238.754 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:43:58.754Z,1761540238.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:43:58.988Z,1761540238.988 [DAT](INFO): DAT read: Tx time:04:43:57.9803 2025-10-27T04:43:58.988Z,1761540238.988 [DAT](INFO): Ping request sent. 2025-10-27T04:43:58.988Z,1761540238.988 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:43:58.989Z,1761540238.989 [DAT](INFO): publishing transmit ping time 2025-10-27T04:43:58.989Z,1761540238.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000784 2025-10-27T04:43:59.006Z,1761540239.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429148,-0.872550,-0.233427],[0.883990,0.458800,-0.089807],[0.185457,-0.167807,0.968218]] 2025-10-27T04:43:59.109Z,1761540239.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.900002 m, deltaT: 3.529468 s, deltaX: -2.900002 m, approachRate: -0.821654 m/s, rangeRepo size: 4 2025-10-27T04:43:59.115Z,1761540239.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.474136 m, bearing: 64.695218 deg, lat: 36.779275 deg, lon: -121.859568 deg, deltaT: 3.529468 s, deltaX: -2.891823 m, approachRate: -0.819337 m/s, posRepo size: 4 2025-10-27T04:43:59.116Z,1761540239.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.47 m. 2025-10-27T04:43:59.118Z,1761540239.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.474136 m, nav range: 89.307915 m, bearing: 65.205932 deg, approach rate: 0.000000 m/s, LOS rate: -0.103765 deg/s, cmd heading: 64.902773 deg, new cmd heading: 64.756992 deg. 2025-10-27T04:43:59.124Z,1761540239.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130223 target range: 94.474136 and range: 94.90 m. 2025-10-27T04:43:59.241Z,1761540239.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252197 2025-10-27T04:43:59.464Z,1761540239.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425642,-0.874859,-0.231193],[0.885047,0.455704,-0.094999],[0.188467,-0.164181,0.968259]] 2025-10-27T04:43:59.492Z,1761540239.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503536 2025-10-27T04:43:59.503Z,1761540239.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.47 m. 2025-10-27T04:43:59.505Z,1761540239.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.474136 m, nav range: 88.949013 m, bearing: 65.161204 deg, approach rate: -0.909882 m/s, LOS rate: -0.113852 deg/s, cmd heading: 64.756989 deg, new cmd heading: 64.622263 deg. 2025-10-27T04:43:59.506Z,1761540239.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127871 target range: 94.474136 and range: 94.90 m. 2025-10-27T04:43:59.744Z,1761540239.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755968 2025-10-27T04:43:59.841Z,1761540239.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.47 m. 2025-10-27T04:43:59.844Z,1761540239.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.474136 m, nav range: 88.658371 m, bearing: 65.124711 deg, approach rate: -0.857603 m/s, LOS rate: -0.108032 deg/s, cmd heading: 64.622264 deg, new cmd heading: 64.512428 deg. 2025-10-27T04:43:59.845Z,1761540239.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125954 target range: 94.474136 and range: 94.90 m. 2025-10-27T04:43:59.997Z,1761540239.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008042 2025-10-27T04:44:00.249Z,1761540240.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260138 2025-10-27T04:44:00.292Z,1761540240.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419941,-0.877936,-0.229952],[0.887172,0.450509,-0.099840],[0.191248,-0.162080,0.968067]] 2025-10-27T04:44:00.323Z,1761540240.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:00.325Z,1761540240.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.47 m. 2025-10-27T04:44:00.328Z,1761540240.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.474136 m, nav range: 88.231415 m, bearing: 65.068853 deg, approach rate: -0.883207 m/s, LOS rate: -0.116108 deg/s, cmd heading: 64.512428 deg, new cmd heading: 64.344043 deg. 2025-10-27T04:44:00.329Z,1761540240.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123015 target range: 94.474136 and range: 94.90 m. 2025-10-27T04:44:00.501Z,1761540240.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511819 2025-10-27T04:44:00.752Z,1761540240.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763816 2025-10-27T04:44:00.772Z,1761540240.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416565,-0.879637,-0.229591],[0.888493,0.447397,-0.102057],[0.192492,-0.161477,0.967922]] 2025-10-27T04:44:00.835Z,1761540240.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.47 m. 2025-10-27T04:44:00.841Z,1761540240.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.474136 m, nav range: 87.783424 m, bearing: 65.011635 deg, approach rate: -0.878850 m/s, LOS rate: -0.112821 deg/s, cmd heading: 64.344043 deg, new cmd heading: 64.171514 deg. 2025-10-27T04:44:00.842Z,1761540240.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120004 target range: 94.474136 and range: 94.90 m. 2025-10-27T04:44:01.009Z,1761540241.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020957 2025-10-27T04:44:01.257Z,1761540241.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268019 2025-10-27T04:44:01.340Z,1761540241.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.47 m. 2025-10-27T04:44:01.343Z,1761540241.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.474136 m, nav range: 87.324806 m, bearing: 64.952441 deg, approach rate: -0.906571 m/s, LOS rate: -0.117627 deg/s, cmd heading: 64.171512 deg, new cmd heading: 63.992997 deg. 2025-10-27T04:44:01.344Z,1761540241.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116889 target range: 94.474136 and range: 94.90 m. 2025-10-27T04:44:01.508Z,1761540241.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519784 2025-10-27T04:44:01.700Z,1761540241.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409900,-0.882887,-0.229113],[0.891259,0.441107,-0.105275],[0.194009,-0.161047,0.967690]] 2025-10-27T04:44:01.754Z,1761540241.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.47 m. 2025-10-27T04:44:01.760Z,1761540241.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771524 2025-10-27T04:44:01.773Z,1761540241.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.474136 m, nav range: 86.969315 m, bearing: 64.914052 deg, approach rate: -0.860167 m/s, LOS rate: -0.093266 deg/s, cmd heading: 63.992999 deg, new cmd heading: 63.877363 deg. 2025-10-27T04:44:01.774Z,1761540241.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.114870 target range: 94.474136 and range: 94.90 m. 2025-10-27T04:44:02.013Z,1761540242.013 [DAT](INFO): DAT read: Rx Time:04:44:00.5074 2025-10-27T04:44:02.013Z,1761540242.013 [DAT](INFO): Rx dataTimestamp_ set to:1761540242.013113 2025-10-27T04:44:02.014Z,1761540242.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025446 2025-10-27T04:44:02.104Z,1761540242.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406901,-0.884396,-0.228636],[0.892542,0.438195,-0.106556],[0.194425,-0.160710,0.967663]] 2025-10-27T04:44:02.123Z,1761540242.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.47 m. 2025-10-27T04:44:02.126Z,1761540242.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.474136 m, nav range: 86.652000 m, bearing: 64.878793 deg, approach rate: -0.860252 m/s, LOS rate: -0.095941 deg/s, cmd heading: 63.877363 deg, new cmd heading: 63.771197 deg. 2025-10-27T04:44:02.127Z,1761540242.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113017 target range: 94.474136 and range: 94.90 m. 2025-10-27T04:44:02.264Z,1761540242.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275426 2025-10-27T04:44:02.506Z,1761540242.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404127,-0.885448,-0.229485],[0.893716,0.435660,-0.107110],[0.194818,-0.161809,0.967401]] 2025-10-27T04:44:02.527Z,1761540242.527 [DAT](INFO): DAT read: 04:44:00.5074 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407,-0.04, 1.009,-0.575, 1.197, 0.797, PHS= 0.314,-1.327, 0.356, RAW= 151.2, 8.0, CAL= 150.7, 8.5, ROT= 359.3, -8.5 2025-10-27T04:44:02.529Z,1761540242.529 [DAT](INFO): got valid direction response: 04:44:00.5074 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407,-0.04, 1.009,-0.575, 1.197, 0.797, PHS= 0.314,-1.327, 0.356, RAW= 151.2, 8.0, CAL= 150.7, 8.5, ROT= 359.3, -8.5 2025-10-27T04:44:02.530Z,1761540242.530 [DAT](INFO): DAT read: Bearing 217.3, 8.6 (Local) 2025-10-27T04:44:02.531Z,1761540242.531 [DAT](INFO): Local bearing/azimuth received: Bearing 217.3, 8.6 (Local) 2025-10-27T04:44:02.533Z,1761540242.533 [DAT](INFO): DAT read: Range 11 to 50 : 92.1 m (Round-trip 122.9 ms) speed 0.6 m/s 2025-10-27T04:44:02.534Z,1761540242.534 [DAT](INFO): DAT read: user:178> 2025-10-27T04:44:02.536Z,1761540242.536 [DAT](INFO): DAT read: Tx time:04:44:01.6303 2025-10-27T04:44:02.537Z,1761540242.537 [DAT](INFO): Ping request sent. 2025-10-27T04:44:02.537Z,1761540242.537 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:02.537Z,1761540242.537 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:02.539Z,1761540242.539 [DAT](INFO): direction in FSK: [0.988942,-0.012083,0.147809] 2025-10-27T04:44:02.540Z,1761540242.540 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:02.540Z,1761540242.540 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:02.546Z,1761540242.546 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:02.546Z,1761540242.546 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:02.721Z,1761540242.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.779047 s, deltaX: -2.800003 m, approachRate: -0.740928 m/s, rangeRepo size: 4 2025-10-27T04:44:02.729Z,1761540242.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.686646 m, bearing: 66.427004 deg, lat: 36.779275 deg, lon: -121.859568 deg, deltaT: 3.779047 s, deltaX: -2.787491 m, approachRate: -0.737617 m/s, posRepo size: 4 2025-10-27T04:44:02.730Z,1761540242.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.69 m. 2025-10-27T04:44:02.733Z,1761540242.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.686646 m, nav range: 86.196411 m, bearing: 64.855023 deg, approach rate: 0.000000 m/s, LOS rate: -0.095941 deg/s, cmd heading: 63.771195 deg, new cmd heading: 63.599304 deg. 2025-10-27T04:44:02.734Z,1761540242.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110017 target range: 91.686646 and range: 92.10 m. 2025-10-27T04:44:03.061Z,1761540243.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400379,-0.886573,-0.231702],[0.895260,0.432388,-0.107468],[0.195464,-0.164405,0.966832]] 2025-10-27T04:44:03.098Z,1761540243.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:03.104Z,1761540243.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.69 m. 2025-10-27T04:44:03.115Z,1761540243.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.686646 m, nav range: 85.883514 m, bearing: 64.836349 deg, approach rate: -0.814254 m/s, LOS rate: -0.048771 deg/s, cmd heading: 63.599306 deg, new cmd heading: 63.543083 deg. 2025-10-27T04:44:03.116Z,1761540243.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109036 target range: 91.686646 and range: 92.10 m. 2025-10-27T04:44:03.272Z,1761540243.272 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:03.272Z,1761540243.272 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:03.272Z,1761540243.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:03.512Z,1761540243.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400179,-0.886288,-0.233129],[0.895395,0.432327,-0.106585],[0.195254,-0.166090,0.966587]] 2025-10-27T04:44:03.525Z,1761540243.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988264 2025-10-27T04:44:03.588Z,1761540243.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.69 m. 2025-10-27T04:44:03.592Z,1761540243.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.686646 m, nav range: 85.517914 m, bearing: 64.840328 deg, approach rate: -0.755298 m/s, LOS rate: 0.008256 deg/s, cmd heading: 63.543080 deg, new cmd heading: 63.555069 deg. 2025-10-27T04:44:03.593Z,1761540243.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109245 target range: 91.686646 and range: 92.10 m. 2025-10-27T04:44:03.779Z,1761540243.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242464 2025-10-27T04:44:03.893Z,1761540243.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401133,-0.885371,-0.234969],[0.895024,0.433429,-0.105215],[0.194996,-0.168098,0.966292]] 2025-10-27T04:44:03.913Z,1761540243.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.69 m. 2025-10-27T04:44:03.916Z,1761540243.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.686646 m, nav range: 85.281891 m, bearing: 64.843115 deg, approach rate: -0.725564 m/s, LOS rate: 0.008591 deg/s, cmd heading: 63.555067 deg, new cmd heading: 63.563451 deg. 2025-10-27T04:44:03.917Z,1761540243.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109391 target range: 91.686646 and range: 92.10 m. 2025-10-27T04:44:04.029Z,1761540244.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491900 2025-10-27T04:44:04.280Z,1761540244.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743147 2025-10-27T04:44:04.295Z,1761540244.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403130,-0.883940,-0.236931],[0.894225,0.435523,-0.103353],[0.194547,-0.170204,0.966013]] 2025-10-27T04:44:04.323Z,1761540244.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.69 m. 2025-10-27T04:44:04.329Z,1761540244.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.686646 m, nav range: 84.992599 m, bearing: 64.847025 deg, approach rate: -0.707061 m/s, LOS rate: 0.009587 deg/s, cmd heading: 63.563448 deg, new cmd heading: 63.575216 deg. 2025-10-27T04:44:04.330Z,1761540244.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109597 target range: 91.686646 and range: 92.10 m. 2025-10-27T04:44:04.534Z,1761540244.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996958 2025-10-27T04:44:04.700Z,1761540244.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406413,-0.881539,-0.240246],[0.892887,0.438973,-0.100277],[0.193859,-0.173759,0.965519]] 2025-10-27T04:44:04.757Z,1761540244.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.69 m. 2025-10-27T04:44:04.760Z,1761540244.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.686646 m, nav range: 84.707352 m, bearing: 64.871908 deg, approach rate: -0.656846 m/s, LOS rate: 0.057492 deg/s, cmd heading: 63.575216 deg, new cmd heading: 63.650117 deg. 2025-10-27T04:44:04.761Z,1761540244.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.110904 target range: 91.686646 and range: 92.10 m. 2025-10-27T04:44:04.797Z,1761540244.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260338 2025-10-27T04:44:05.048Z,1761540245.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511330 2025-10-27T04:44:05.101Z,1761540245.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410518,-0.879059,-0.242344],[0.891159,0.443072,-0.097585],[0.193159,-0.175906,0.965270]] 2025-10-27T04:44:05.129Z,1761540245.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:05.131Z,1761540245.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.69 m. 2025-10-27T04:44:05.134Z,1761540245.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.686646 m, nav range: 84.466743 m, bearing: 64.893813 deg, approach rate: -0.643100 m/s, LOS rate: 0.058715 deg/s, cmd heading: 63.650116 deg, new cmd heading: 63.716019 deg. 2025-10-27T04:44:05.135Z,1761540245.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112054 target range: 91.686646 and range: 92.10 m. 2025-10-27T04:44:05.300Z,1761540245.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763511 2025-10-27T04:44:05.553Z,1761540245.553 [DAT](INFO): DAT read: Rx Time:04:44:04.1541 2025-10-27T04:44:05.554Z,1761540245.554 [DAT](INFO): Rx dataTimestamp_ set to:1761540245.553394 2025-10-27T04:44:05.555Z,1761540245.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017951 2025-10-27T04:44:05.636Z,1761540245.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415245,-0.876165,-0.244758],[0.889087,0.447830,-0.094725],[0.192605,-0.178277,0.964946]] 2025-10-27T04:44:05.678Z,1761540245.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.69 m. 2025-10-27T04:44:05.698Z,1761540245.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.686646 m, nav range: 84.160080 m, bearing: 64.942008 deg, approach rate: -0.560746 m/s, LOS rate: 0.088448 deg/s, cmd heading: 63.716021 deg, new cmd heading: 63.861133 deg. 2025-10-27T04:44:05.704Z,1761540245.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.114587 target range: 91.686646 and range: 92.10 m. 2025-10-27T04:44:05.804Z,1761540245.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267221 2025-10-27T04:44:06.068Z,1761540246.068 [DAT](INFO): DAT read: 04:44:04.1541 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.15,-0.816,-2.383,-0.625,-1.015, PHS= 0.301,-1.323, 0.346, RAW= 151.4, 8.3, CAL= 150.9, 8.8, ROT= 359.1, -8.8 2025-10-27T04:44:06.069Z,1761540246.069 [DAT](INFO): got valid direction response: 04:44:04.1541 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.15,-0.816,-2.383,-0.625,-1.015, PHS= 0.301,-1.323, 0.346, RAW= 151.4, 8.3, CAL= 150.9, 8.8, ROT= 359.1, -8.8 2025-10-27T04:44:06.070Z,1761540246.070 [DAT](INFO): DAT read: Bearing 216.6, 8.3 (Local) 2025-10-27T04:44:06.071Z,1761540246.071 [DAT](INFO): Local bearing/azimuth received: Bearing 216.6, 8.3 (Local) 2025-10-27T04:44:06.073Z,1761540246.073 [DAT](INFO): DAT read: Range 11 to 50 : 89.7 m (Round-trip 119.7 ms) speed 0.8 m/s 2025-10-27T04:44:06.075Z,1761540246.075 [DAT](INFO): DAT read: user:179> 2025-10-27T04:44:06.076Z,1761540246.076 [DAT](INFO): DAT read: Tx time:04:44:05.2802 2025-10-27T04:44:06.077Z,1761540246.077 [DAT](INFO): Ping request sent. 2025-10-27T04:44:06.077Z,1761540246.077 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:06.077Z,1761540246.077 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:06.078Z,1761540246.078 [DAT](INFO): direction in FSK: [0.988106,-0.015522,0.152986] 2025-10-27T04:44:06.079Z,1761540246.079 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:06.079Z,1761540246.079 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:06.082Z,1761540246.082 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:06.082Z,1761540246.082 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:06.179Z,1761540246.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420535,-0.873049,-0.246851],[0.886705,0.453105,-0.091925],[0.192104,-0.180226,0.964684]] 2025-10-27T04:44:06.232Z,1761540246.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.541824 s, deltaX: -2.400002 m, approachRate: -0.677617 m/s, rangeRepo size: 4 2025-10-27T04:44:06.234Z,1761540246.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.286232 m, bearing: 65.408736 deg, lat: 36.779275 deg, lon: -121.859564 deg, deltaT: 3.541824 s, deltaX: -2.400414 m, approachRate: -0.677734 m/s, posRepo size: 4 2025-10-27T04:44:06.235Z,1761540246.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:06.241Z,1761540246.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 84.177048 m, bearing: 65.088227 deg, approach rate: 0.000000 m/s, LOS rate: 0.088448 deg/s, cmd heading: 63.861135 deg, new cmd heading: 64.006718 deg. 2025-10-27T04:44:06.242Z,1761540246.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117128 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:06.575Z,1761540246.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426518,-0.869409,-0.249420],[0.883947,0.459097,-0.088700],[0.191624,-0.182642,0.964325]] 2025-10-27T04:44:06.641Z,1761540246.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:06.648Z,1761540246.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 83.959770 m, bearing: 65.127620 deg, approach rate: -0.524073 m/s, LOS rate: 0.095261 deg/s, cmd heading: 64.006720 deg, new cmd heading: 64.125205 deg. 2025-10-27T04:44:06.649Z,1761540246.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119196 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:07.023Z,1761540247.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438648,-0.862486,-0.252398],[0.878134,0.471060,-0.083563],[0.190966,-0.184985,0.964009]] 2025-10-27T04:44:07.061Z,1761540247.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:07.065Z,1761540247.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 83.724892 m, bearing: 65.172781 deg, approach rate: -0.559814 m/s, LOS rate: 0.107940 deg/s, cmd heading: 64.125204 deg, new cmd heading: 64.261067 deg. 2025-10-27T04:44:07.066Z,1761540247.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121567 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:07.437Z,1761540247.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:07.440Z,1761540247.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:07.442Z,1761540247.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 83.525978 m, bearing: 65.211233 deg, approach rate: -0.524700 m/s, LOS rate: 0.101673 deg/s, cmd heading: 64.261070 deg, new cmd heading: 64.376702 deg. 2025-10-27T04:44:07.443Z,1761540247.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123585 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:07.570Z,1761540247.570 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:07.570Z,1761540247.570 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:07.572Z,1761540247.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:07.819Z,1761540247.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449809,-0.856006,-0.254806],[0.872601,0.482018,-0.078908],[0.190366,-0.186850,0.963767]] 2025-10-27T04:44:07.820Z,1761540247.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743400 2025-10-27T04:44:07.882Z,1761540247.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:07.897Z,1761540247.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 83.290344 m, bearing: 65.246484 deg, approach rate: -0.533171 m/s, LOS rate: 0.079988 deg/s, cmd heading: 64.376705 deg, new cmd heading: 64.482757 deg. 2025-10-27T04:44:07.898Z,1761540247.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125436 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:08.073Z,1761540248.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995702 2025-10-27T04:44:08.220Z,1761540248.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454288,-0.853454,-0.255420],[0.870316,0.486392,-0.077280],[0.190189,-0.187189,0.963737]] 2025-10-27T04:44:08.239Z,1761540248.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:08.242Z,1761540248.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 83.092285 m, bearing: 65.276999 deg, approach rate: -0.554446 m/s, LOS rate: 0.085625 deg/s, cmd heading: 64.482757 deg, new cmd heading: 64.574519 deg. 2025-10-27T04:44:08.243Z,1761540248.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127038 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:08.324Z,1761540248.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247450 2025-10-27T04:44:08.577Z,1761540248.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500535 2025-10-27T04:44:08.672Z,1761540248.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457084,-0.851929,-0.255522],[0.868856,0.489116,-0.076514],[0.190164,-0.187039,0.963771]] 2025-10-27T04:44:08.755Z,1761540248.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:08.761Z,1761540248.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 82.787247 m, bearing: 65.297935 deg, approach rate: -0.591652 m/s, LOS rate: 0.040757 deg/s, cmd heading: 64.574521 deg, new cmd heading: 64.637560 deg. 2025-10-27T04:44:08.762Z,1761540248.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128138 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:08.829Z,1761540248.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751982 2025-10-27T04:44:09.081Z,1761540249.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003857 2025-10-27T04:44:09.154Z,1761540249.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:09.157Z,1761540249.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 82.543655 m, bearing: 65.314765 deg, approach rate: -0.609263 m/s, LOS rate: 0.042220 deg/s, cmd heading: 64.637557 deg, new cmd heading: 64.688197 deg. 2025-10-27T04:44:09.158Z,1761540249.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129022 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:09.332Z,1761540249.332 [DAT](INFO): DAT read: Rx Time:04:44:07.8005 2025-10-27T04:44:09.332Z,1761540249.332 [DAT](INFO): Rx dataTimestamp_ set to:1761540249.332146 2025-10-27T04:44:09.333Z,1761540249.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256304 2025-10-27T04:44:09.560Z,1761540249.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459608,-0.851314,-0.253029],[0.867395,0.491470,-0.077989],[0.190750,-0.183632,0.964310]] 2025-10-27T04:44:09.586Z,1761540249.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509172 2025-10-27T04:44:09.676Z,1761540249.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:09.678Z,1761540249.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.29 m. 2025-10-27T04:44:09.685Z,1761540249.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.286232 m, nav range: 82.267365 m, bearing: 65.334666 deg, approach rate: -0.527101 m/s, LOS rate: 0.038093 deg/s, cmd heading: 64.688196 deg, new cmd heading: 64.748098 deg. 2025-10-27T04:44:09.686Z,1761540249.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130067 target range: 89.286232 and range: 89.70 m. 2025-10-27T04:44:09.842Z,1761540249.842 [DAT](INFO): DAT read: 04:44:07.8005 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402,-0.40,-1.154,-2.751,-1.010,-1.383, PHS= 0.330,-1.323, 0.329, RAW= 149.9, 8.1, CAL= 149.4, 8.7, ROT= 0.6, -8.7 2025-10-27T04:44:09.843Z,1761540249.843 [DAT](INFO): got valid direction response: 04:44:07.8005 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 402,-0.40,-1.154,-2.751,-1.010,-1.383, PHS= 0.330,-1.323, 0.329, RAW= 149.9, 8.1, CAL= 149.4, 8.7, ROT= 0.6, -8.7 2025-10-27T04:44:09.844Z,1761540249.844 [DAT](INFO): DAT read: Bearing 215.0, 10.3 (Local) 2025-10-27T04:44:09.844Z,1761540249.844 [DAT](INFO): Local bearing/azimuth received: Bearing 215.0, 10.3 (Local) 2025-10-27T04:44:09.846Z,1761540249.846 [DAT](INFO): DAT read: Range 11 to 50 : 87.1 m (Round-trip 116.2 ms) speed 0.7 m/s 2025-10-27T04:44:09.846Z,1761540249.846 [DAT](INFO): DAT read: user:180> 2025-10-27T04:44:09.848Z,1761540249.848 [DAT](INFO): DAT read: Tx time:04:44:08.9302 2025-10-27T04:44:09.848Z,1761540249.848 [DAT](INFO): Ping request sent. 2025-10-27T04:44:09.848Z,1761540249.848 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:09.849Z,1761540249.849 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:09.850Z,1761540249.850 [DAT](INFO): direction in FSK: [0.988440,0.010351,0.151261] 2025-10-27T04:44:09.850Z,1761540249.850 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:09.850Z,1761540249.850 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:09.853Z,1761540249.853 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:09.854Z,1761540249.854 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:10.176Z,1761540250.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458531,-0.852907,-0.249599],[0.867893,0.490171,-0.080586],[0.191078,-0.179674,0.964990]] 2025-10-27T04:44:10.237Z,1761540250.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.099998 m, deltaT: 3.777660 s, deltaX: -2.599998 m, approachRate: -0.688256 m/s, rangeRepo size: 4 2025-10-27T04:44:10.239Z,1761540250.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.695244 m, bearing: 64.452674 deg, lat: 36.779275 deg, lon: -121.859571 deg, deltaT: 3.777660 s, deltaX: -2.590988 m, approachRate: -0.685871 m/s, posRepo size: 4 2025-10-27T04:44:10.240Z,1761540250.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-10-27T04:44:10.243Z,1761540250.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.695244 m, nav range: 81.285187 m, bearing: 65.143466 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 64.748096 deg, new cmd heading: 64.811880 deg. 2025-10-27T04:44:10.244Z,1761540250.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131181 target range: 86.695244 and range: 87.10 m. 2025-10-27T04:44:10.704Z,1761540250.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452519,-0.858997,-0.239478],[0.870915,0.483427,-0.088344],[0.191658,-0.168588,0.966874]] 2025-10-27T04:44:10.761Z,1761540250.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-10-27T04:44:10.764Z,1761540250.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.695244 m, nav range: 80.872078 m, bearing: 65.105066 deg, approach rate: -0.787133 m/s, LOS rate: -0.073540 deg/s, cmd heading: 64.811877 deg, new cmd heading: 64.696089 deg. 2025-10-27T04:44:10.765Z,1761540250.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129160 target range: 86.695244 and range: 87.10 m. 2025-10-27T04:44:11.170Z,1761540251.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447986,-0.862739,-0.234499],[0.873258,0.478478,-0.092086],[0.191649,-0.163525,0.967745]] 2025-10-27T04:44:11.189Z,1761540251.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-10-27T04:44:11.192Z,1761540251.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.695244 m, nav range: 80.538605 m, bearing: 65.072634 deg, approach rate: -0.780403 m/s, LOS rate: -0.076212 deg/s, cmd heading: 64.696091 deg, new cmd heading: 64.598393 deg. 2025-10-27T04:44:11.193Z,1761540251.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127455 target range: 86.695244 and range: 87.10 m. 2025-10-27T04:44:11.583Z,1761540251.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442639,-0.867118,-0.228424],[0.876015,0.472561,-0.096348],[0.191490,-0.157456,0.968782]] 2025-10-27T04:44:11.616Z,1761540251.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:44:11.789Z,1761540251.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:11.791Z,1761540251.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-10-27T04:44:11.794Z,1761540251.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.695244 m, nav range: 80.022865 m, bearing: 65.003802 deg, approach rate: -0.856293 m/s, LOS rate: -0.115021 deg/s, cmd heading: 64.598392 deg, new cmd heading: 64.390564 deg. 2025-10-27T04:44:11.795Z,1761540251.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123827 target range: 86.695244 and range: 87.10 m. 2025-10-27T04:44:11.852Z,1761540251.852 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:11.852Z,1761540251.852 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:11.852Z,1761540251.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:12.104Z,1761540252.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255588 2025-10-27T04:44:12.146Z,1761540252.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436860,-0.871397,-0.223205],[0.878963,0.466278,-0.100041],[0.191251,-0.152485,0.969624]] 2025-10-27T04:44:12.255Z,1761540252.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-10-27T04:44:12.257Z,1761540252.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.695244 m, nav range: 79.636444 m, bearing: 64.949786 deg, approach rate: -0.833438 m/s, LOS rate: -0.117068 deg/s, cmd heading: 64.390563 deg, new cmd heading: 64.227729 deg. 2025-10-27T04:44:12.258Z,1761540252.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120985 target range: 86.695244 and range: 87.10 m. 2025-10-27T04:44:12.357Z,1761540252.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508151 2025-10-27T04:44:12.543Z,1761540252.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430604,-0.875674,-0.218576],[0.882076,0.459592,-0.103520],[0.191105,-0.148225,0.970313]] 2025-10-27T04:44:12.611Z,1761540252.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762157 2025-10-27T04:44:12.621Z,1761540252.621 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:44:12.654Z,1761540252.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-10-27T04:44:12.661Z,1761540252.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.695244 m, nav range: 79.291924 m, bearing: 64.899376 deg, approach rate: -0.863443 m/s, LOS rate: -0.126886 deg/s, cmd heading: 64.227732 deg, new cmd heading: 64.075846 deg. 2025-10-27T04:44:12.661Z,1761540252.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118335 target range: 86.695244 and range: 87.10 m. 2025-10-27T04:44:12.860Z,1761540252.860 [DAT](INFO): DAT read: Rx Time:04:44:11.4465 2025-10-27T04:44:12.860Z,1761540252.860 [DAT](INFO): Rx dataTimestamp_ set to:1761540252.860089 2025-10-27T04:44:12.861Z,1761540252.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012545 2025-10-27T04:44:13.063Z,1761540253.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.70 m. 2025-10-27T04:44:13.066Z,1761540253.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.695244 m, nav range: 78.907997 m, bearing: 64.843644 deg, approach rate: -0.937968 m/s, LOS rate: -0.136821 deg/s, cmd heading: 64.075849 deg, new cmd heading: 63.907839 deg. 2025-10-27T04:44:13.067Z,1761540253.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115402 target range: 86.695244 and range: 87.10 m. 2025-10-27T04:44:13.112Z,1761540253.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263660 2025-10-27T04:44:13.370Z,1761540253.370 [DAT](INFO): DAT read: 04:44:11.4465 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 393,-0.45, 2.341, 0.680, 2.569, 2.093, PHS= 0.350,-1.368, 0.432, RAW= 152.3, 6.7, CAL= 151.7, 7.0, ROT= 358.3, -7.0 2025-10-27T04:44:13.371Z,1761540253.371 [DAT](INFO): got valid direction response: 04:44:11.4465 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 393,-0.45, 2.341, 0.680, 2.569, 2.093, PHS= 0.350,-1.368, 0.432, RAW= 152.3, 6.7, CAL= 151.7, 7.0, ROT= 358.3, -7.0 2025-10-27T04:44:13.372Z,1761540253.372 [DAT](INFO): DAT read: Bearing 214.1, 8.4 (Local) 2025-10-27T04:44:13.372Z,1761540253.372 [DAT](INFO): Local bearing/azimuth received: Bearing 214.1, 8.4 (Local) 2025-10-27T04:44:13.373Z,1761540253.373 [DAT](INFO): DAT read: Range 11 to 50 : 84.1 m (Round-trip 112.2 ms) speed 0.5 m/s 2025-10-27T04:44:13.374Z,1761540253.374 [DAT](INFO): DAT read: user:181> 2025-10-27T04:44:13.377Z,1761540253.377 [DAT](INFO): DAT read: Tx time:04:44:12.5302 2025-10-27T04:44:13.378Z,1761540253.378 [DAT](INFO): Ping request sent. 2025-10-27T04:44:13.379Z,1761540253.379 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:13.380Z,1761540253.380 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:13.381Z,1761540253.381 [DAT](INFO): direction in FSK: [0.992109,-0.029446,0.121869] 2025-10-27T04:44:13.382Z,1761540253.382 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:13.382Z,1761540253.382 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:13.388Z,1761540253.388 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:13.388Z,1761540253.388 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:13.561Z,1761540253.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.099998 m, deltaT: 3.527909 s, deltaX: -3.000000 m, approachRate: -0.850362 m/s, rangeRepo size: 4 2025-10-27T04:44:13.567Z,1761540253.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.703445 m, bearing: 63.334083 deg, lat: 36.779275 deg, lon: -121.859570 deg, deltaT: 3.527909 s, deltaX: -2.991798 m, approachRate: -0.848037 m/s, posRepo size: 4 2025-10-27T04:44:13.568Z,1761540253.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:13.570Z,1761540253.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 78.535255 m, bearing: 64.800659 deg, approach rate: 0.000000 m/s, LOS rate: -0.136821 deg/s, cmd heading: 63.907840 deg, new cmd heading: 63.703659 deg. 2025-10-27T04:44:13.576Z,1761540253.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111839 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:13.952Z,1761540253.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405270,-0.890992,-0.204672],[0.893961,0.433084,-0.115202],[0.191284,-0.136281,0.972028]] 2025-10-27T04:44:13.988Z,1761540253.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:13.990Z,1761540253.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:13.992Z,1761540253.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 78.119339 m, bearing: 64.732644 deg, approach rate: -0.968951 m/s, LOS rate: -0.159297 deg/s, cmd heading: 63.703658 deg, new cmd heading: 63.498527 deg. 2025-10-27T04:44:13.993Z,1761540253.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108258 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:14.120Z,1761540254.120 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:14.120Z,1761540254.120 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:14.120Z,1761540254.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:14.372Z,1761540254.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993910 2025-10-27T04:44:14.436Z,1761540254.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399847,-0.893632,-0.203823],[0.896389,0.427667,-0.116567],[0.191337,-0.136096,0.972043]] 2025-10-27T04:44:14.456Z,1761540254.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:14.459Z,1761540254.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 77.693863 m, bearing: 64.660291 deg, approach rate: -0.912430 m/s, LOS rate: -0.156010 deg/s, cmd heading: 63.498527 deg, new cmd heading: 63.280281 deg. 2025-10-27T04:44:14.460Z,1761540254.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104449 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:14.630Z,1761540254.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251602 2025-10-27T04:44:14.838Z,1761540254.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395071,-0.895873,-0.203297],[0.898555,0.422883,-0.117346],[0.191098,-0.136313,0.972060]] 2025-10-27T04:44:14.876Z,1761540254.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497882 2025-10-27T04:44:14.891Z,1761540254.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:14.893Z,1761540254.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 77.306343 m, bearing: 64.608595 deg, approach rate: -0.891687 m/s, LOS rate: -0.119548 deg/s, cmd heading: 63.280282 deg, new cmd heading: 63.124418 deg. 2025-10-27T04:44:14.894Z,1761540254.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101729 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:15.128Z,1761540255.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749829 2025-10-27T04:44:15.280Z,1761540255.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:15.282Z,1761540255.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 76.959930 m, bearing: 64.561936 deg, approach rate: -0.890258 m/s, LOS rate: -0.120450 deg/s, cmd heading: 63.124417 deg, new cmd heading: 62.983810 deg. 2025-10-27T04:44:15.283Z,1761540255.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099275 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:15.381Z,1761540255.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002640 2025-10-27T04:44:15.637Z,1761540255.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258012 2025-10-27T04:44:15.718Z,1761540255.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389923,-0.897593,-0.205638],[0.901116,0.417913,-0.115493],[0.189605,-0.140271,0.971789]] 2025-10-27T04:44:15.776Z,1761540255.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:15.783Z,1761540255.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 76.556946 m, bearing: 64.524482 deg, approach rate: -0.811339 m/s, LOS rate: -0.075804 deg/s, cmd heading: 62.983811 deg, new cmd heading: 62.870858 deg. 2025-10-27T04:44:15.784Z,1761540255.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097304 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:15.888Z,1761540255.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510105 2025-10-27T04:44:16.054Z,1761540256.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390040,-0.896525,-0.210029],[0.901284,0.418420,-0.112300],[0.188560,-0.145495,0.971224]] 2025-10-27T04:44:16.074Z,1761540256.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:16.076Z,1761540256.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:16.079Z,1761540256.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 76.314148 m, bearing: 64.501820 deg, approach rate: -0.809880 m/s, LOS rate: -0.075834 deg/s, cmd heading: 62.870860 deg, new cmd heading: 62.802656 deg. 2025-10-27T04:44:16.080Z,1761540256.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096113 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:16.140Z,1761540256.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762187 2025-10-27T04:44:16.392Z,1761540256.392 [DAT](INFO): DAT read: Rx Time:04:44:15.0432 2025-10-27T04:44:16.393Z,1761540256.393 [DAT](INFO): Rx dataTimestamp_ set to:1761540256.392610 2025-10-27T04:44:16.393Z,1761540256.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015402 2025-10-27T04:44:16.546Z,1761540256.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391975,-0.894412,-0.215367],[0.900741,0.420735,-0.107922],[0.187139,-0.151687,0.970551]] 2025-10-27T04:44:16.565Z,1761540256.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:16.568Z,1761540256.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 75.917641 m, bearing: 64.465284 deg, approach rate: -0.811595 m/s, LOS rate: -0.075174 deg/s, cmd heading: 62.802654 deg, new cmd heading: 62.692474 deg. 2025-10-27T04:44:16.569Z,1761540256.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094190 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:16.648Z,1761540256.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269147 2025-10-27T04:44:16.898Z,1761540256.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519887 2025-10-27T04:44:16.941Z,1761540256.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395897,-0.890749,-0.223228],[0.899318,0.425250,-0.101931],[0.185723,-0.160398,0.969422]] 2025-10-27T04:44:16.978Z,1761540256.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.70 m. 2025-10-27T04:44:17.002Z,1761540257.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.703445 m, nav range: 75.617424 m, bearing: 64.458267 deg, approach rate: -0.726521 m/s, LOS rate: -0.017050 deg/s, cmd heading: 62.692476 deg, new cmd heading: 62.671340 deg. 2025-10-27T04:44:17.009Z,1761540257.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093821 target range: 83.703445 and range: 84.10 m. 2025-10-27T04:44:17.016Z,1761540257.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 60.568050 m. 2025-10-27T04:44:17.153Z,1761540257.153 [DAT](INFO): DAT read: 04:44:15.0432 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.15, 3.080, 1.527,-2.942, 2.943, PHS= 0.238,-1.371, 0.354, RAW= 153.4, 9.4, CAL= 153.1, 10.1, ROT= 356.9, -10.1 2025-10-27T04:44:17.155Z,1761540257.155 [DAT](INFO): got valid direction response: 04:44:15.0432 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407,-0.15, 3.080, 1.527,-2.942, 2.943, PHS= 0.238,-1.371, 0.354, RAW= 153.4, 9.4, CAL= 153.1, 10.1, ROT= 356.9, -10.1 2025-10-27T04:44:17.156Z,1761540257.156 [DAT](INFO): DAT read: Bearing 217.5, 5.6 (Local) 2025-10-27T04:44:17.156Z,1761540257.156 [DAT](INFO): Local bearing/azimuth received: Bearing 217.5, 5.6 (Local) 2025-10-27T04:44:17.157Z,1761540257.157 [DAT](INFO): DAT read: Range 11 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.7 m/s 2025-10-27T04:44:17.158Z,1761540257.158 [DAT](INFO): DAT read: user:182> 2025-10-27T04:44:17.159Z,1761540257.159 [DAT](INFO): DAT read: Tx time:04:44:16.1302 2025-10-27T04:44:17.159Z,1761540257.159 [DAT](INFO): Ping request sent. 2025-10-27T04:44:17.159Z,1761540257.159 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:17.160Z,1761540257.160 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:17.161Z,1761540257.161 [DAT](INFO): direction in FSK: [0.983063,-0.053241,0.175367] 2025-10-27T04:44:17.161Z,1761540257.161 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:17.161Z,1761540257.161 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:17.164Z,1761540257.164 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:17.165Z,1761540257.165 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:17.480Z,1761540257.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406898,-0.881337,-0.240164],[0.894730,0.437514,-0.089664],[0.184099,-0.178397,0.966583]] 2025-10-27T04:44:17.548Z,1761540257.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.783935 s, deltaX: -2.500000 m, approachRate: -0.660688 m/s, rangeRepo size: 4 2025-10-27T04:44:17.550Z,1761540257.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.208954 m, bearing: 64.284560 deg, lat: 36.779279 deg, lon: -121.859566 deg, deltaT: 3.783935 s, deltaX: -2.494492 m, approachRate: -0.659232 m/s, posRepo size: 4 2025-10-27T04:44:17.555Z,1761540257.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m. 2025-10-27T04:44:17.558Z,1761540257.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.208954 m, nav range: 75.764420 m, bearing: 64.284288 deg, approach rate: 0.000000 m/s, LOS rate: -0.017050 deg/s, cmd heading: 62.671336 deg, new cmd heading: 62.642197 deg. 2025-10-27T04:44:17.559Z,1761540257.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093313 target range: 81.208954 and range: 81.60 m. 2025-10-27T04:44:18.040Z,1761540258.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413785,-0.875880,-0.248224],[0.891565,0.445021,-0.084072],[0.184102,-0.186520,0.965047]] 2025-10-27T04:44:18.074Z,1761540258.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:18.093Z,1761540258.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m. 2025-10-27T04:44:18.100Z,1761540258.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.208954 m, nav range: 75.393074 m, bearing: 64.304075 deg, approach rate: -0.681420 m/s, LOS rate: 0.036488 deg/s, cmd heading: 62.642199 deg, new cmd heading: 62.701851 deg. 2025-10-27T04:44:18.101Z,1761540258.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094354 target range: 81.208954 and range: 81.60 m. 2025-10-27T04:44:18.156Z,1761540258.156 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:18.156Z,1761540258.156 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:18.156Z,1761540258.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:18.408Z,1761540258.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248635 2025-10-27T04:44:18.447Z,1761540258.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421491,-0.870158,-0.255284],[0.887939,0.453184,-0.078670],[0.184146,-0.193518,0.963660]] 2025-10-27T04:44:18.466Z,1761540258.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m. 2025-10-27T04:44:18.469Z,1761540258.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.208954 m, nav range: 75.139862 m, bearing: 64.319441 deg, approach rate: -0.678445 m/s, LOS rate: 0.041311 deg/s, cmd heading: 62.701854 deg, new cmd heading: 62.748109 deg. 2025-10-27T04:44:18.470Z,1761540258.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.095161 target range: 81.208954 and range: 81.60 m. 2025-10-27T04:44:18.664Z,1761540258.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504376 2025-10-27T04:44:18.848Z,1761540258.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429936,-0.864037,-0.261908],[0.883899,0.461945,-0.072996],[0.184058,-0.200117,0.962328]] 2025-10-27T04:44:18.884Z,1761540258.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m. 2025-10-27T04:44:18.887Z,1761540258.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.208954 m, nav range: 74.895782 m, bearing: 64.345896 deg, approach rate: -0.583589 m/s, LOS rate: 0.063459 deg/s, cmd heading: 62.748108 deg, new cmd heading: 62.827730 deg. 2025-10-27T04:44:18.888Z,1761540258.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096551 target range: 81.208954 and range: 81.60 m. 2025-10-27T04:44:18.912Z,1761540258.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752702 2025-10-27T04:44:19.164Z,1761540259.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004604 2025-10-27T04:44:19.250Z,1761540259.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438027,-0.857898,-0.268594],[0.879875,0.470385,-0.067512],[0.184261,-0.206757,0.960885]] 2025-10-27T04:44:19.271Z,1761540259.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m. 2025-10-27T04:44:19.274Z,1761540259.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.208954 m, nav range: 74.670197 m, bearing: 64.372147 deg, approach rate: -0.583009 m/s, LOS rate: 0.068048 deg/s, cmd heading: 62.827727 deg, new cmd heading: 62.906718 deg. 2025-10-27T04:44:19.275Z,1761540259.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097929 target range: 81.208954 and range: 81.60 m. 2025-10-27T04:44:19.416Z,1761540259.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256581 2025-10-27T04:44:19.654Z,1761540259.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446085,-0.852204,-0.273417],[0.875772,0.478607,-0.062916],[0.184477,-0.211385,0.959836]] 2025-10-27T04:44:19.668Z,1761540259.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508730 2025-10-27T04:44:19.722Z,1761540259.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m. 2025-10-27T04:44:19.759Z,1761540259.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.208954 m, nav range: 74.427460 m, bearing: 64.402348 deg, approach rate: -0.539893 m/s, LOS rate: 0.067391 deg/s, cmd heading: 62.906718 deg, new cmd heading: 62.997615 deg. 2025-10-27T04:44:19.760Z,1761540259.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099516 target range: 81.208954 and range: 81.60 m. 2025-10-27T04:44:19.921Z,1761540259.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761315 2025-10-27T04:44:20.115Z,1761540260.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453625,-0.847382,-0.275984],[0.871851,0.486133,-0.059594],[0.184664,-0.213584,0.959313]] 2025-10-27T04:44:20.159Z,1761540260.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:20.161Z,1761540260.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m. 2025-10-27T04:44:20.164Z,1761540260.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.208954 m, nav range: 74.166084 m, bearing: 64.436273 deg, approach rate: -0.593024 m/s, LOS rate: 0.077243 deg/s, cmd heading: 62.997615 deg, new cmd heading: 63.099748 deg. 2025-10-27T04:44:20.165Z,1761540260.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101298 target range: 81.208954 and range: 81.60 m. 2025-10-27T04:44:20.172Z,1761540260.172 [DAT](INFO): DAT read: Rx Time:04:44:18.6399 2025-10-27T04:44:20.173Z,1761540260.173 [DAT](INFO): Rx dataTimestamp_ set to:1761540260.172237 2025-10-27T04:44:20.173Z,1761540260.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013758 2025-10-27T04:44:20.426Z,1761540260.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266407 2025-10-27T04:44:20.534Z,1761540260.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460819,-0.843615,-0.275606],[0.868063,0.493072,-0.057849],[0.184696,-0.212585,0.959528]] 2025-10-27T04:44:20.557Z,1761540260.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m. 2025-10-27T04:44:20.560Z,1761540260.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.208954 m, nav range: 73.947113 m, bearing: 64.466334 deg, approach rate: -0.552902 m/s, LOS rate: 0.076130 deg/s, cmd heading: 63.099746 deg, new cmd heading: 63.190198 deg. 2025-10-27T04:44:20.561Z,1761540260.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.102877 target range: 81.208954 and range: 81.60 m. 2025-10-27T04:44:20.706Z,1761540260.706 [DAT](INFO): DAT read: 04:44:18.6399 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.22,-0.795,-2.428,-0.652,-1.020, PHS= 0.327,-1.363, 0.324, RAW= 149.9, 8.5, CAL= 149.4, 9.2, ROT= 0.6, -9.2 2025-10-27T04:44:20.714Z,1761540260.714 [DAT](INFO): got valid direction response: 04:44:18.6399 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.22,-0.795,-2.428,-0.652,-1.020, PHS= 0.327,-1.363, 0.324, RAW= 149.9, 8.5, CAL= 149.4, 9.2, ROT= 0.6, -9.2 2025-10-27T04:44:20.729Z,1761540260.729 [DAT](INFO): DAT read: Bearing 214.2, 9.4 (Local) 2025-10-27T04:44:20.730Z,1761540260.730 [DAT](INFO): Local bearing/azimuth received: Bearing 214.2, 9.4 (Local) 2025-10-27T04:44:20.763Z,1761540260.763 [DAT](INFO): DAT read: Range 11 to 50 : 79.1 m (Round-trip 105.5 ms) speed 0.8 m/s 2025-10-27T04:44:20.768Z,1761540260.768 [DAT](INFO): DAT read: user:183> 2025-10-27T04:44:20.768Z,1761540260.768 [DAT](INFO): DAT read: Tx time:04:44:19.7302 2025-10-27T04:44:20.769Z,1761540260.769 [DAT](INFO): Ping request sent. 2025-10-27T04:44:20.769Z,1761540260.769 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:20.769Z,1761540260.769 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:20.770Z,1761540260.770 [DAT](INFO): direction in FSK: [0.987082,0.010337,0.159881] 2025-10-27T04:44:20.770Z,1761540260.770 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:20.770Z,1761540260.770 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:20.782Z,1761540260.782 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:20.782Z,1761540260.782 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:20.922Z,1761540260.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467056,-0.840107,-0.275824],[0.864807,0.499023,-0.055538],[0.184300,-0.212595,0.959602]] 2025-10-27T04:44:20.974Z,1761540260.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.099998 m, deltaT: 3.530530 s, deltaX: -2.500000 m, approachRate: -0.708109 m/s, rangeRepo size: 4 2025-10-27T04:44:20.977Z,1761540260.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.717941 m, bearing: 64.343647 deg, lat: 36.779282 deg, lon: -121.859566 deg, deltaT: 3.530530 s, deltaX: -2.491013 m, approachRate: -0.705563 m/s, posRepo size: 4 2025-10-27T04:44:20.978Z,1761540260.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.72 m. 2025-10-27T04:44:20.980Z,1761540260.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.717941 m, nav range: 73.878601 m, bearing: 64.215718 deg, approach rate: 0.000000 m/s, LOS rate: 0.076130 deg/s, cmd heading: 63.190199 deg, new cmd heading: 63.285277 deg. 2025-10-27T04:44:20.981Z,1761540260.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104536 target range: 78.717941 and range: 79.10 m. 2025-10-27T04:44:21.456Z,1761540261.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478244,-0.837203,-0.265280],[0.860017,0.507644,-0.051654],[0.177912,-0.203442,0.962787]] 2025-10-27T04:44:21.475Z,1761540261.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.72 m. 2025-10-27T04:44:21.477Z,1761540261.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.717941 m, nav range: 73.587410 m, bearing: 64.245452 deg, approach rate: -0.581281 m/s, LOS rate: 0.059591 deg/s, cmd heading: 63.285275 deg, new cmd heading: 63.374830 deg. 2025-10-27T04:44:21.478Z,1761540261.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106099 target range: 78.717941 and range: 79.10 m. 2025-10-27T04:44:21.853Z,1761540261.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483022,-0.837040,-0.257011],[0.858534,0.510425,-0.048851],[0.172075,-0.197056,0.965173]] 2025-10-27T04:44:21.914Z,1761540261.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.72 m. 2025-10-27T04:44:21.921Z,1761540261.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.717941 m, nav range: 73.332146 m, bearing: 64.255011 deg, approach rate: -0.581258 m/s, LOS rate: 0.021844 deg/s, cmd heading: 63.374832 deg, new cmd heading: 63.403611 deg. 2025-10-27T04:44:21.922Z,1761540261.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106602 target range: 78.717941 and range: 79.10 m. 2025-10-27T04:44:22.315Z,1761540262.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487024,-0.837468,-0.247902],[0.857726,0.512132,-0.045023],[0.164664,-0.190704,0.967738]] 2025-10-27T04:44:22.343Z,1761540262.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:22.345Z,1761540262.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.72 m. 2025-10-27T04:44:22.348Z,1761540262.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.717941 m, nav range: 73.056656 m, bearing: 64.266371 deg, approach rate: -0.638212 m/s, LOS rate: 0.026417 deg/s, cmd heading: 63.403608 deg, new cmd heading: 63.437817 deg. 2025-10-27T04:44:22.349Z,1761540262.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107199 target range: 78.717941 and range: 79.10 m. 2025-10-27T04:44:22.440Z,1761540262.440 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:22.440Z,1761540262.440 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:22.440Z,1761540262.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:22.692Z,1761540262.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.923153 2025-10-27T04:44:22.787Z,1761540262.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490145,-0.838866,-0.236776],[0.857497,0.512797,-0.041687],[0.156388,-0.182602,0.970670]] 2025-10-27T04:44:22.853Z,1761540262.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.72 m. 2025-10-27T04:44:22.856Z,1761540262.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.717941 m, nav range: 72.718880 m, bearing: 64.258592 deg, approach rate: -0.665269 m/s, LOS rate: -0.015393 deg/s, cmd heading: 63.437813 deg, new cmd heading: 63.414367 deg. 2025-10-27T04:44:22.857Z,1761540262.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106789 target range: 78.717941 and range: 79.10 m. 2025-10-27T04:44:22.945Z,1761540262.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176005 2025-10-27T04:44:23.122Z,1761540263.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491963,-0.840864,-0.225654],[0.858021,0.512205,-0.038026],[0.147556,-0.174909,0.973465]] 2025-10-27T04:44:23.157Z,1761540263.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.72 m. 2025-10-27T04:44:23.160Z,1761540263.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.717941 m, nav range: 72.526924 m, bearing: 64.254448 deg, approach rate: -0.631308 m/s, LOS rate: -0.013666 deg/s, cmd heading: 63.414365 deg, new cmd heading: 63.401900 deg. 2025-10-27T04:44:23.161Z,1761540263.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106572 target range: 78.717941 and range: 79.10 m. 2025-10-27T04:44:23.196Z,1761540263.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427532 2025-10-27T04:44:23.448Z,1761540263.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.679190 2025-10-27T04:44:23.527Z,1761540263.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492989,-0.843488,-0.213284],[0.858993,0.510813,-0.034651],[0.138176,-0.166127,0.976376]] 2025-10-27T04:44:23.556Z,1761540263.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.72 m. 2025-10-27T04:44:23.559Z,1761540263.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.717941 m, nav range: 72.252617 m, bearing: 64.248747 deg, approach rate: -0.687856 m/s, LOS rate: -0.014350 deg/s, cmd heading: 63.401900 deg, new cmd heading: 63.384732 deg. 2025-10-27T04:44:23.560Z,1761540263.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106272 target range: 78.717941 and range: 79.10 m. 2025-10-27T04:44:23.701Z,1761540263.701 [DAT](INFO): DAT read: Rx Time:04:44:22.2362 2025-10-27T04:44:23.701Z,1761540263.701 [DAT](INFO): Rx dataTimestamp_ set to:1761540263.701187 2025-10-27T04:44:23.702Z,1761540263.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933647 2025-10-27T04:44:23.929Z,1761540263.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492840,-0.846751,-0.200302],[0.860503,0.508434,-0.032084],[0.129008,-0.156548,0.979209]] 2025-10-27T04:44:23.952Z,1761540263.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.183255 2025-10-27T04:44:24.007Z,1761540264.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.72 m. 2025-10-27T04:44:24.016Z,1761540264.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.717941 m, nav range: 71.946014 m, bearing: 64.223356 deg, approach rate: -0.693087 m/s, LOS rate: -0.057642 deg/s, cmd heading: 63.384729 deg, new cmd heading: 63.308232 deg. 2025-10-27T04:44:24.017Z,1761540264.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.104937 target range: 78.717941 and range: 79.10 m. 2025-10-27T04:44:24.210Z,1761540264.210 [DAT](INFO): DAT read: 04:44:22.2362 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 399,-0.43, 1.106,-0.508, 1.240, 0.986, PHS= 0.221,-1.450, 0.210, RAW= 149.7, 12.2, CAL= 149.6, 13.5, ROT= 0.4, -13.5 2025-10-27T04:44:24.211Z,1761540264.211 [DAT](INFO): got valid direction response: 04:44:22.2362 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 399,-0.43, 1.106,-0.508, 1.240, 0.986, PHS= 0.221,-1.450, 0.210, RAW= 149.7, 12.2, CAL= 149.6, 13.5, ROT= 0.4, -13.5 2025-10-27T04:44:24.212Z,1761540264.212 [DAT](INFO): DAT read: Bearing 216.4, 6.9 (Local) 2025-10-27T04:44:24.212Z,1761540264.212 [DAT](INFO): Local bearing/azimuth received: Bearing 216.4, 6.9 (Local) 2025-10-27T04:44:24.214Z,1761540264.214 [DAT](INFO): DAT read: Range 11 to 50 : 76.3 m (Round-trip 101.8 ms) speed 0.8 m/s 2025-10-27T04:44:24.214Z,1761540264.214 [DAT](INFO): DAT read: user:184> 2025-10-27T04:44:24.215Z,1761540264.215 [DAT](INFO): DAT read: Tx time:04:44:23.3302 2025-10-27T04:44:24.215Z,1761540264.215 [DAT](INFO): Ping request sent. 2025-10-27T04:44:24.216Z,1761540264.216 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:24.216Z,1761540264.216 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:24.217Z,1761540264.217 [DAT](INFO): direction in FSK: [0.972346,0.006788,0.233445] 2025-10-27T04:44:24.217Z,1761540264.217 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:24.217Z,1761540264.217 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:24.221Z,1761540264.221 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:24.221Z,1761540264.221 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:24.410Z,1761540264.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491429,-0.850268,-0.188524],[0.862646,0.504984,-0.028870],[0.119749,-0.148442,0.981644]] 2025-10-27T04:44:24.460Z,1761540264.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.300003 m, deltaT: 3.525559 s, deltaX: -2.799995 m, approachRate: -0.794199 m/s, rangeRepo size: 4 2025-10-27T04:44:24.462Z,1761540264.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.929688 m, bearing: 62.871725 deg, lat: 36.779284 deg, lon: -121.859570 deg, deltaT: 3.525559 s, deltaX: -2.788254 m, approachRate: -0.790869 m/s, posRepo size: 4 2025-10-27T04:44:24.464Z,1761540264.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.93 m. 2025-10-27T04:44:24.466Z,1761540264.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.929688 m, nav range: 71.372711 m, bearing: 63.868145 deg, approach rate: 0.000000 m/s, LOS rate: -0.057642 deg/s, cmd heading: 63.308231 deg, new cmd heading: 63.229385 deg. 2025-10-27T04:44:24.475Z,1761540264.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103561 target range: 75.929688 and range: 76.30 m. 2025-10-27T04:44:24.828Z,1761540264.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489476,-0.853840,-0.177118],[0.864962,0.501179,-0.025678],[0.110692,-0.140632,0.983855]] 2025-10-27T04:44:24.866Z,1761540264.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:24.881Z,1761540264.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.93 m. 2025-10-27T04:44:24.888Z,1761540264.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.929688 m, nav range: 71.021049 m, bearing: 63.822938 deg, approach rate: -0.824089 m/s, LOS rate: -0.106463 deg/s, cmd heading: 63.229383 deg, new cmd heading: 63.093091 deg. 2025-10-27T04:44:24.889Z,1761540264.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.101182 target range: 75.929688 and range: 76.30 m. 2025-10-27T04:44:24.960Z,1761540264.960 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:24.961Z,1761540264.961 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:24.961Z,1761540264.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:25.182Z,1761540265.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487147,-0.857231,-0.166861],[0.867352,0.497203,-0.022112],[0.101919,-0.133956,0.985732]] 2025-10-27T04:44:25.208Z,1761540265.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.93 m. 2025-10-27T04:44:25.210Z,1761540265.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.929688 m, nav range: 70.741882 m, bearing: 63.786049 deg, approach rate: -0.854996 m/s, LOS rate: -0.113425 deg/s, cmd heading: 63.093094 deg, new cmd heading: 62.981989 deg. 2025-10-27T04:44:25.212Z,1761540265.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996495 2025-10-27T04:44:25.213Z,1761540265.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.099243 target range: 75.929688 and range: 76.30 m. 2025-10-27T04:44:25.464Z,1761540265.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248315 2025-10-27T04:44:25.586Z,1761540265.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484447,-0.860233,-0.159089],[0.869790,0.493104,-0.017704],[0.093676,-0.129797,0.987106]] 2025-10-27T04:44:25.608Z,1761540265.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.93 m. 2025-10-27T04:44:25.611Z,1761540265.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.929688 m, nav range: 70.414185 m, bearing: 63.741462 deg, approach rate: -0.818070 m/s, LOS rate: -0.111824 deg/s, cmd heading: 62.981987 deg, new cmd heading: 62.847605 deg. 2025-10-27T04:44:25.612Z,1761540265.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096898 target range: 75.929688 and range: 76.30 m. 2025-10-27T04:44:25.717Z,1761540265.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500943 2025-10-27T04:44:25.968Z,1761540265.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752376 2025-10-27T04:44:26.010Z,1761540266.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481657,-0.862972,-0.152594],[0.872177,0.489027,-0.012621],[0.085514,-0.127010,0.988208]] 2025-10-27T04:44:26.060Z,1761540266.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.93 m. 2025-10-27T04:44:26.065Z,1761540266.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.929688 m, nav range: 70.028206 m, bearing: 63.677970 deg, approach rate: -0.853835 m/s, LOS rate: -0.141227 deg/s, cmd heading: 62.847603 deg, new cmd heading: 62.656077 deg. 2025-10-27T04:44:26.066Z,1761540266.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093555 target range: 75.929688 and range: 76.30 m. 2025-10-27T04:44:26.220Z,1761540266.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004654 2025-10-27T04:44:26.394Z,1761540266.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478554,-0.865394,-0.148593],[0.874602,0.484795,-0.006688],[0.077825,-0.126759,0.988876]] 2025-10-27T04:44:26.472Z,1761540266.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256448 2025-10-27T04:44:26.494Z,1761540266.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.93 m. 2025-10-27T04:44:26.498Z,1761540266.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.929688 m, nav range: 69.665939 m, bearing: 63.616555 deg, approach rate: -0.835559 m/s, LOS rate: -0.142388 deg/s, cmd heading: 62.656078 deg, new cmd heading: 62.470876 deg. 2025-10-27T04:44:26.501Z,1761540266.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090322 target range: 75.929688 and range: 76.30 m. 2025-10-27T04:44:26.724Z,1761540266.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508798 2025-10-27T04:44:26.864Z,1761540266.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475325,-0.867785,-0.144969],[0.876981,0.480525,-0.000977],[0.070509,-0.126670,0.989436]] 2025-10-27T04:44:26.941Z,1761540266.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:26.943Z,1761540266.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.93 m. 2025-10-27T04:44:26.946Z,1761540266.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.929688 m, nav range: 69.261513 m, bearing: 63.550899 deg, approach rate: -0.900854 m/s, LOS rate: -0.147103 deg/s, cmd heading: 62.470877 deg, new cmd heading: 62.272759 deg. 2025-10-27T04:44:26.946Z,1761540266.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086865 target range: 75.929688 and range: 76.30 m. 2025-10-27T04:44:26.977Z,1761540266.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761757 2025-10-27T04:44:27.228Z,1761540267.228 [DAT](INFO): DAT read: Rx Time:04:44:25.8326 2025-10-27T04:44:27.228Z,1761540267.228 [DAT](INFO): Rx dataTimestamp_ set to:1761540267.228127 2025-10-27T04:44:27.229Z,1761540267.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013395 2025-10-27T04:44:27.253Z,1761540267.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471690,-0.870270,-0.141910],[0.879472,0.475929,0.004589],[0.063546,-0.126970,0.989869]] 2025-10-27T04:44:27.299Z,1761540267.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.93 m. 2025-10-27T04:44:27.302Z,1761540267.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.929688 m, nav range: 68.946266 m, bearing: 63.497991 deg, approach rate: -0.884443 m/s, LOS rate: -0.149115 deg/s, cmd heading: 62.272761 deg, new cmd heading: 62.113311 deg. 2025-10-27T04:44:27.303Z,1761540267.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084082 target range: 75.929688 and range: 76.30 m. 2025-10-27T04:44:27.481Z,1761540267.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265560 2025-10-27T04:44:27.739Z,1761540267.739 [DAT](INFO): DAT read: 04:44:25.8326 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410,-0.08, 0.961,-0.691, 1.161, 0.926, PHS= 0.137,-1.573, 0.190, RAW= 151.5, 14.2, CAL= 151.8, 15.9, ROT= 358.2, -15.9 2025-10-27T04:44:27.740Z,1761540267.740 [DAT](INFO): got valid direction response: 04:44:25.8326 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410,-0.08, 0.961,-0.691, 1.161, 0.926, PHS= 0.137,-1.573, 0.190, RAW= 151.5, 14.2, CAL= 151.8, 15.9, ROT= 358.2, -15.9 2025-10-27T04:44:27.741Z,1761540267.741 [DAT](INFO): DAT read: Bearing 218.9, 0.4 (Local) 2025-10-27T04:44:27.741Z,1761540267.741 [DAT](INFO): Local bearing/azimuth received: Bearing 218.9, 0.4 (Local) 2025-10-27T04:44:27.747Z,1761540267.747 [DAT](INFO): DAT read: Range 11 to 50 : 73.6 m (Round-trip 98.2 ms) speed 0.7 m/s 2025-10-27T04:44:27.748Z,1761540267.748 [DAT](INFO): DAT read: user:185> 2025-10-27T04:44:27.749Z,1761540267.749 [DAT](INFO): DAT read: Tx time:04:44:26.9302 2025-10-27T04:44:27.749Z,1761540267.749 [DAT](INFO): Ping request sent. 2025-10-27T04:44:27.749Z,1761540267.749 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:27.749Z,1761540267.749 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:27.750Z,1761540267.750 [DAT](INFO): direction in FSK: [0.961267,-0.030209,0.273959] 2025-10-27T04:44:27.751Z,1761540267.751 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:27.751Z,1761540267.751 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:27.754Z,1761540267.754 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:27.754Z,1761540267.754 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:27.780Z,1761540267.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.599998 m, deltaT: 3.529036 s, deltaX: -2.700005 m, approachRate: -0.765083 m/s, rangeRepo size: 4 2025-10-27T04:44:27.782Z,1761540267.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.237930 m, bearing: 62.091435 deg, lat: 36.779294 deg, lon: -121.859570 deg, deltaT: 3.529036 s, deltaX: -2.691757 m, approachRate: -0.762746 m/s, posRepo size: 4 2025-10-27T04:44:27.783Z,1761540267.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:27.785Z,1761540267.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 69.009850 m, bearing: 62.634214 deg, approach rate: 0.000000 m/s, LOS rate: -0.149115 deg/s, cmd heading: 62.113310 deg, new cmd heading: 61.898450 deg. 2025-10-27T04:44:27.786Z,1761540267.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.080332 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:28.116Z,1761540268.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464576,-0.874853,-0.137119],[0.884104,0.467026,0.015712],[0.050292,-0.128527,0.990430]] 2025-10-27T04:44:28.202Z,1761540268.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:28.208Z,1761540268.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 68.651817 m, bearing: 62.571021 deg, approach rate: -0.848414 m/s, LOS rate: -0.150525 deg/s, cmd heading: 61.898453 deg, new cmd heading: 61.707887 deg. 2025-10-27T04:44:28.209Z,1761540268.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077006 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:28.520Z,1761540268.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461261,-0.876860,-0.135476],[0.886181,0.462838,0.021530],[0.043825,-0.129987,0.990547]] 2025-10-27T04:44:28.544Z,1761540268.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:28.546Z,1761540268.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 68.339989 m, bearing: 62.514382 deg, approach rate: -0.913312 m/s, LOS rate: -0.166648 deg/s, cmd heading: 61.707890 deg, new cmd heading: 61.537197 deg. 2025-10-27T04:44:28.576Z,1761540268.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074027 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:28.924Z,1761540268.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458673,-0.878487,-0.133716],[0.887807,0.459420,0.027063],[0.037657,-0.131127,0.990650]] 2025-10-27T04:44:28.964Z,1761540268.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:28.967Z,1761540268.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:28.969Z,1761540268.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 67.991348 m, bearing: 62.462872 deg, approach rate: -0.823100 m/s, LOS rate: -0.122232 deg/s, cmd heading: 61.537197 deg, new cmd heading: 61.381876 deg. 2025-10-27T04:44:28.987Z,1761540268.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071316 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:28.993Z,1761540268.993 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:28.993Z,1761540268.993 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:28.994Z,1761540268.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:29.244Z,1761540269.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494675 2025-10-27T04:44:29.326Z,1761540269.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457101,-0.879613,-0.131682],[0.888855,0.457029,0.032570],[0.031534,-0.131934,0.990757]] 2025-10-27T04:44:29.375Z,1761540269.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:29.397Z,1761540269.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 67.673225 m, bearing: 62.414880 deg, approach rate: -0.827275 m/s, LOS rate: -0.125388 deg/s, cmd heading: 61.381879 deg, new cmd heading: 61.237228 deg. 2025-10-27T04:44:29.398Z,1761540269.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068791 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:29.497Z,1761540269.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748212 2025-10-27T04:44:29.737Z,1761540269.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456613,-0.879998,-0.130795],[0.889308,0.455637,0.039071],[0.025212,-0.134157,0.990639]] 2025-10-27T04:44:29.748Z,1761540269.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998912 2025-10-27T04:44:29.757Z,1761540269.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:29.760Z,1761540269.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 67.338547 m, bearing: 62.363751 deg, approach rate: -0.823800 m/s, LOS rate: -0.126479 deg/s, cmd heading: 61.237229 deg, new cmd heading: 61.083078 deg. 2025-10-27T04:44:29.761Z,1761540269.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066101 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:30.001Z,1761540270.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251351 2025-10-27T04:44:30.134Z,1761540270.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457311,-0.879626,-0.130862],[0.889098,0.455414,0.045854],[0.019262,-0.137318,0.990340]] 2025-10-27T04:44:30.179Z,1761540270.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:30.181Z,1761540270.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 67.020157 m, bearing: 62.332052 deg, approach rate: -0.755815 m/s, LOS rate: -0.075606 deg/s, cmd heading: 61.083078 deg, new cmd heading: 60.987530 deg. 2025-10-27T04:44:30.182Z,1761540270.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.064433 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:30.252Z,1761540270.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502864 2025-10-27T04:44:30.504Z,1761540270.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754852 2025-10-27T04:44:30.597Z,1761540270.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:30.604Z,1761540270.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 66.716118 m, bearing: 62.301498 deg, approach rate: -0.726978 m/s, LOS rate: -0.073391 deg/s, cmd heading: 60.987531 deg, new cmd heading: 60.895450 deg. 2025-10-27T04:44:30.605Z,1761540270.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062826 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:30.756Z,1761540270.756 [DAT](INFO): DAT read: Rx Time:04:44:29.4292 2025-10-27T04:44:30.756Z,1761540270.756 [DAT](INFO): Rx dataTimestamp_ set to:1761540270.756074 2025-10-27T04:44:30.757Z,1761540270.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007762 2025-10-27T04:44:30.953Z,1761540270.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461607,-0.877367,-0.130944],[0.887052,0.457796,0.059676],[0.007588,-0.143701,0.989592]] 2025-10-27T04:44:31.008Z,1761540271.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258854 2025-10-27T04:44:31.026Z,1761540271.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:31.032Z,1761540271.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:31.044Z,1761540271.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 66.420334 m, bearing: 62.291129 deg, approach rate: -0.679059 m/s, LOS rate: -0.023910 deg/s, cmd heading: 60.895446 deg, new cmd heading: 60.864202 deg. 2025-10-27T04:44:31.045Z,1761540271.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062281 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:31.262Z,1761540271.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512692 2025-10-27T04:44:31.384Z,1761540271.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465428,-0.874897,-0.133908],[0.885083,0.460415,0.068158],[0.002022,-0.150243,0.988647]] 2025-10-27T04:44:31.403Z,1761540271.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.24 m. 2025-10-27T04:44:31.406Z,1761540271.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.237930 m, nav range: 66.151672 m, bearing: 62.282797 deg, approach rate: -0.724739 m/s, LOS rate: -0.022568 deg/s, cmd heading: 60.864205 deg, new cmd heading: 60.839107 deg. 2025-10-27T04:44:31.407Z,1761540271.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061843 target range: 73.237930 and range: 73.60 m. 2025-10-27T04:44:31.518Z,1761540271.518 [DAT](INFO): DAT read: 04:44:29.4292 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.23,-2.499, 2.117,-2.277,-2.463, PHS= 0.066,-1.658, 0.142, RAW= 152.2, 16.2, CAL= 152.7, 18.3, ROT= 357.3, -18.3 2025-10-27T04:44:31.519Z,1761540271.519 [DAT](INFO): got valid direction response: 04:44:29.4292 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.23,-2.499, 2.117,-2.277,-2.463, PHS= 0.066,-1.658, 0.142, RAW= 152.2, 16.2, CAL= 152.7, 18.3, ROT= 357.3, -18.3 2025-10-27T04:44:31.520Z,1761540271.520 [DAT](INFO): DAT read: Bearing 221.7, -4.7 (Local) 2025-10-27T04:44:31.520Z,1761540271.520 [DAT](INFO): Local bearing/azimuth received: Bearing 221.7, -4.7 (Local) 2025-10-27T04:44:31.522Z,1761540271.522 [DAT](INFO): DAT read: Range 11 to 50 : 71.1 m (Round-trip 94.9 ms) speed 0.8 m/s 2025-10-27T04:44:31.522Z,1761540271.522 [DAT](INFO): DAT read: user:186> 2025-10-27T04:44:31.528Z,1761540271.528 [DAT](INFO): DAT read: Tx time:04:44:30.5302 2025-10-27T04:44:31.529Z,1761540271.529 [DAT](INFO): Ping request sent. 2025-10-27T04:44:31.529Z,1761540271.529 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:31.529Z,1761540271.529 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:31.530Z,1761540271.530 [DAT](INFO): direction in FSK: [0.948371,-0.044724,0.313992] 2025-10-27T04:44:31.530Z,1761540271.530 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:31.530Z,1761540271.530 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:31.534Z,1761540271.534 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:31.534Z,1761540271.534 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:31.782Z,1761540271.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470488,-0.871976,-0.135274],[0.882399,0.464295,0.076168],[-0.003610,-0.155202,0.987876]] 2025-10-27T04:44:31.806Z,1761540271.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.099998 m, deltaT: 3.778954 s, deltaX: -2.500000 m, approachRate: -0.661559 m/s, rangeRepo size: 4 2025-10-27T04:44:31.808Z,1761540271.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.749893 m, bearing: 62.208403 deg, lat: 36.779294 deg, lon: -121.859566 deg, deltaT: 3.778954 s, deltaX: -2.488037 m, approachRate: -0.658393 m/s, posRepo size: 4 2025-10-27T04:44:31.809Z,1761540271.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.75 m. 2025-10-27T04:44:31.811Z,1761540271.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.749893 m, nav range: 66.217468 m, bearing: 62.429666 deg, approach rate: 0.000000 m/s, LOS rate: -0.022568 deg/s, cmd heading: 60.839104 deg, new cmd heading: 60.811886 deg. 2025-10-27T04:44:31.812Z,1761540271.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061368 target range: 70.749893 and range: 71.10 m. 2025-10-27T04:44:32.181Z,1761540272.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475635,-0.869023,-0.136274],[0.879594,0.468239,0.084061],[-0.009242,-0.159849,0.987098]] 2025-10-27T04:44:32.241Z,1761540272.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.75 m. 2025-10-27T04:44:32.248Z,1761540272.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.749893 m, nav range: 65.951714 m, bearing: 62.443922 deg, approach rate: -0.618187 m/s, LOS rate: 0.033293 deg/s, cmd heading: 60.811886 deg, new cmd heading: 60.854823 deg. 2025-10-27T04:44:32.249Z,1761540272.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062117 target range: 70.749893 and range: 71.10 m. 2025-10-27T04:44:32.587Z,1761540272.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481002,-0.865795,-0.137973],[0.876599,0.472338,0.092036],[-0.014514,-0.165217,0.986150]] 2025-10-27T04:44:32.613Z,1761540272.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.75 m. 2025-10-27T04:44:32.616Z,1761540272.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.749893 m, nav range: 65.701263 m, bearing: 62.458904 deg, approach rate: -0.662482 m/s, LOS rate: 0.039781 deg/s, cmd heading: 60.854820 deg, new cmd heading: 60.899938 deg. 2025-10-27T04:44:32.617Z,1761540272.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062904 target range: 70.749893 and range: 71.10 m. 2025-10-27T04:44:33.033Z,1761540273.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487074,-0.862172,-0.139351],[0.873134,0.477078,0.100163],[-0.019876,-0.170459,0.985164]] 2025-10-27T04:44:33.081Z,1761540273.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:33.083Z,1761540273.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.75 m. 2025-10-27T04:44:33.086Z,1761540273.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.749893 m, nav range: 65.427979 m, bearing: 62.482781 deg, approach rate: -0.581608 m/s, LOS rate: 0.051028 deg/s, cmd heading: 60.899941 deg, new cmd heading: 60.971871 deg. 2025-10-27T04:44:33.087Z,1761540273.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.064160 target range: 70.749893 and range: 71.10 m. 2025-10-27T04:44:33.276Z,1761540273.276 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:33.276Z,1761540273.276 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:33.276Z,1761540273.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:33.433Z,1761540273.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493403,-0.858414,-0.140281],[0.869435,0.482064,0.108152],[-0.025215,-0.175328,0.984187]] 2025-10-27T04:44:33.476Z,1761540273.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.75 m. 2025-10-27T04:44:33.480Z,1761540273.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.749893 m, nav range: 65.203377 m, bearing: 62.504042 deg, approach rate: -0.572670 m/s, LOS rate: 0.054396 deg/s, cmd heading: 60.971869 deg, new cmd heading: 61.035872 deg. 2025-10-27T04:44:33.482Z,1761540273.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065277 target range: 70.749893 and range: 71.10 m. 2025-10-27T04:44:33.528Z,1761540273.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999384 2025-10-27T04:44:33.780Z,1761540273.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251181 2025-10-27T04:44:33.853Z,1761540273.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505500,-0.851924,-0.136727],[0.862095,0.492165,0.120690],[-0.035527,-0.178881,0.983229]] 2025-10-27T04:44:33.891Z,1761540273.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.75 m. 2025-10-27T04:44:33.893Z,1761540273.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.749893 m, nav range: 64.961052 m, bearing: 62.530236 deg, approach rate: -0.583173 m/s, LOS rate: 0.063272 deg/s, cmd heading: 61.035875 deg, new cmd heading: 61.114749 deg. 2025-10-27T04:44:33.894Z,1761540273.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066654 target range: 70.749893 and range: 71.10 m. 2025-10-27T04:44:34.032Z,1761540274.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503323 2025-10-27T04:44:34.252Z,1761540274.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510738,-0.849240,-0.133933],[0.858792,0.496649,0.125762],[-0.040284,-0.179252,0.982978]] 2025-10-27T04:44:34.284Z,1761540274.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755374 2025-10-27T04:44:34.291Z,1761540274.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.75 m. 2025-10-27T04:44:34.294Z,1761540274.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.749893 m, nav range: 64.729736 m, bearing: 62.557602 deg, approach rate: -0.577570 m/s, LOS rate: 0.068576 deg/s, cmd heading: 61.114750 deg, new cmd heading: 61.197144 deg. 2025-10-27T04:44:34.311Z,1761540274.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068092 target range: 70.749893 and range: 71.10 m. 2025-10-27T04:44:34.536Z,1761540274.536 [DAT](INFO): DAT read: Rx Time:04:44:33.0258 2025-10-27T04:44:34.536Z,1761540274.536 [DAT](INFO): Rx dataTimestamp_ set to:1761540274.536108 2025-10-27T04:44:34.537Z,1761540274.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008643 2025-10-27T04:44:34.763Z,1761540274.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515661,-0.846948,-0.129514],[0.855610,0.501089,0.129778],[-0.045017,-0.177735,0.983048]] 2025-10-27T04:44:34.788Z,1761540274.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259331 2025-10-27T04:44:34.795Z,1761540274.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.75 m. 2025-10-27T04:44:34.798Z,1761540274.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.749893 m, nav range: 64.440804 m, bearing: 62.593611 deg, approach rate: -0.573598 m/s, LOS rate: 0.071806 deg/s, cmd heading: 61.197143 deg, new cmd heading: 61.305652 deg. 2025-10-27T04:44:34.800Z,1761540274.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.069986 target range: 70.749893 and range: 71.10 m. 2025-10-27T04:44:35.050Z,1761540275.050 [DAT](INFO): DAT read: 04:44:33.0258 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.11,-1.272,-3.009,-1.079,-1.341, PHS= 0.172,-1.622, 0.219, RAW= 151.3, 13.5, CAL= 151.4, 15.0, ROT= 358.6, -15.0 2025-10-27T04:44:35.051Z,1761540275.051 [DAT](INFO): got valid direction response: 04:44:33.0258 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405, 0.11,-1.272,-3.009,-1.079,-1.341, PHS= 0.172,-1.622, 0.219, RAW= 151.3, 13.5, CAL= 151.4, 15.0, ROT= 358.6, -15.0 2025-10-27T04:44:35.052Z,1761540275.052 [DAT](INFO): DAT read: Bearing 216.5, -5.8 (Local) 2025-10-27T04:44:35.052Z,1761540275.052 [DAT](INFO): Local bearing/azimuth received: Bearing 216.5, -5.8 (Local) 2025-10-27T04:44:35.053Z,1761540275.053 [DAT](INFO): DAT read: Range 11 to 50 : 68.6 m (Round-trip 91.5 ms) speed 0.5 m/s 2025-10-27T04:44:35.054Z,1761540275.054 [DAT](INFO): DAT read: user:187> 2025-10-27T04:44:35.056Z,1761540275.056 [DAT](INFO): DAT read: Tx time:04:44:34.1302 2025-10-27T04:44:35.056Z,1761540275.056 [DAT](INFO): Ping request sent. 2025-10-27T04:44:35.056Z,1761540275.056 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:35.056Z,1761540275.056 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:35.057Z,1761540275.057 [DAT](INFO): direction in FSK: [0.965637,-0.023599,0.258819] 2025-10-27T04:44:35.058Z,1761540275.058 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:35.058Z,1761540275.058 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:35.061Z,1761540275.061 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:35.061Z,1761540275.061 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:35.166Z,1761540275.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519967,-0.844992,-0.124992],[0.852740,0.504988,0.133498],[-0.049686,-0.176000,0.983135]] 2025-10-27T04:44:35.256Z,1761540275.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.599998 m, deltaT: 3.530535 s, deltaX: -2.500000 m, approachRate: -0.708108 m/s, rangeRepo size: 4 2025-10-27T04:44:35.258Z,1761540275.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.261925 m, bearing: 59.938545 deg, lat: 36.779299 deg, lon: -121.859561 deg, deltaT: 3.530535 s, deltaX: -2.487968 m, approachRate: -0.704700 m/s, posRepo size: 4 2025-10-27T04:44:35.263Z,1761540275.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:35.265Z,1761540275.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 64.777199 m, bearing: 62.320394 deg, approach rate: 0.000000 m/s, LOS rate: 0.071806 deg/s, cmd heading: 61.305654 deg, new cmd heading: 61.404884 deg. 2025-10-27T04:44:35.266Z,1761540275.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071717 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:35.712Z,1761540275.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523381,-0.843592,-0.120099],[0.850383,0.508175,0.136404],[-0.054038,-0.173522,0.983346]] 2025-10-27T04:44:35.737Z,1761540275.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:35.740Z,1761540275.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:35.742Z,1761540275.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 64.484779 m, bearing: 62.337094 deg, approach rate: -0.604756 m/s, LOS rate: 0.034694 deg/s, cmd heading: 61.404883 deg, new cmd heading: 61.455210 deg. 2025-10-27T04:44:35.744Z,1761540275.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072596 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:35.796Z,1761540275.796 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:35.796Z,1761540275.796 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:35.796Z,1761540275.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:36.048Z,1761540276.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991863 2025-10-27T04:44:36.160Z,1761540276.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:36.174Z,1761540276.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 64.213631 m, bearing: 62.333596 deg, approach rate: -0.643692 m/s, LOS rate: -0.008340 deg/s, cmd heading: 61.455208 deg, new cmd heading: 61.444668 deg. 2025-10-27T04:44:36.175Z,1761540276.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072412 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:36.300Z,1761540276.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243977 2025-10-27T04:44:36.509Z,1761540276.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526706,-0.843374,-0.106307],[0.847807,0.512119,0.137687],[-0.061679,-0.162648,0.984754]] 2025-10-27T04:44:36.535Z,1761540276.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:36.538Z,1761540276.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 63.972290 m, bearing: 62.331462 deg, approach rate: -0.643767 m/s, LOS rate: -0.005712 deg/s, cmd heading: 61.444669 deg, new cmd heading: 61.438244 deg. 2025-10-27T04:44:36.539Z,1761540276.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072300 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:36.552Z,1761540276.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496013 2025-10-27T04:44:36.804Z,1761540276.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747854 2025-10-27T04:44:36.925Z,1761540276.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526601,-0.844187,-0.100195],[0.847643,0.512435,0.137522],[-0.064751,-0.157349,0.985418]] 2025-10-27T04:44:37.021Z,1761540277.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:37.031Z,1761540277.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 63.697872 m, bearing: 62.329073 deg, approach rate: -0.564482 m/s, LOS rate: -0.004937 deg/s, cmd heading: 61.438241 deg, new cmd heading: 61.431041 deg. 2025-10-27T04:44:37.032Z,1761540277.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.072174 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:37.057Z,1761540277.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000673 2025-10-27T04:44:37.308Z,1761540277.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252026 2025-10-27T04:44:37.325Z,1761540277.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525164,-0.845897,-0.093068],[0.848307,0.511666,0.136279],[-0.067658,-0.150519,0.986289]] 2025-10-27T04:44:37.390Z,1761540277.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:37.396Z,1761540277.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 63.404938 m, bearing: 62.309777 deg, approach rate: -0.795397 m/s, LOS rate: -0.052634 deg/s, cmd heading: 61.431042 deg, new cmd heading: 61.372889 deg. 2025-10-27T04:44:37.397Z,1761540277.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071159 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:37.561Z,1761540277.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504571 2025-10-27T04:44:37.734Z,1761540277.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522807,-0.848004,-0.086959],[0.849562,0.509926,0.134983],[-0.070124,-0.144448,0.987025]] 2025-10-27T04:44:37.751Z,1761540277.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:37.765Z,1761540277.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:37.772Z,1761540277.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 63.134766 m, bearing: 62.291182 deg, approach rate: -0.719764 m/s, LOS rate: -0.049751 deg/s, cmd heading: 61.372890 deg, new cmd heading: 61.316866 deg. 2025-10-27T04:44:37.773Z,1761540277.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.070181 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:37.812Z,1761540277.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756146 2025-10-27T04:44:38.064Z,1761540278.064 [DAT](INFO): DAT read: Rx Time:04:44:36.6221 2025-10-27T04:44:38.064Z,1761540278.064 [DAT](INFO): Rx dataTimestamp_ set to:1761540278.064195 2025-10-27T04:44:38.065Z,1761540278.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009024 2025-10-27T04:44:38.132Z,1761540278.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519622,-0.850549,-0.080987],[0.851334,0.507412,0.133279],[-0.072266,-0.138202,0.987764]] 2025-10-27T04:44:38.181Z,1761540278.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:38.188Z,1761540278.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 62.806507 m, bearing: 62.250866 deg, approach rate: -0.788622 m/s, LOS rate: -0.097364 deg/s, cmd heading: 61.316869 deg, new cmd heading: 61.195288 deg. 2025-10-27T04:44:38.189Z,1761540278.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068059 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:38.317Z,1761540278.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260741 2025-10-27T04:44:38.534Z,1761540278.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516168,-0.853137,-0.075685],[0.853250,0.504530,0.131961],[-0.074395,-0.132692,0.988361]] 2025-10-27T04:44:38.559Z,1761540278.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.26 m. 2025-10-27T04:44:38.561Z,1761540278.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.261925 m, nav range: 62.518036 m, bearing: 62.213982 deg, approach rate: -0.764462 m/s, LOS rate: -0.098196 deg/s, cmd heading: 61.195292 deg, new cmd heading: 61.084128 deg. 2025-10-27T04:44:38.562Z,1761540278.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.066119 target range: 68.261925 and range: 68.60 m. 2025-10-27T04:44:38.574Z,1761540278.574 [DAT](INFO): DAT read: 04:44:36.6221 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 400,-0.01,-2.001, 2.515,-1.843,-2.098, PHS= 0.200,-1.625, 0.212, RAW= 150.3, 13.2, CAL= 150.4, 14.6, ROT= 359.6, -14.6 2025-10-27T04:44:38.575Z,1761540278.575 [DAT](INFO): got valid direction response: 04:44:36.6221 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 400,-0.01,-2.001, 2.515,-1.843,-2.098, PHS= 0.200,-1.625, 0.212, RAW= 150.3, 13.2, CAL= 150.4, 14.6, ROT= 359.6, -14.6 2025-10-27T04:44:38.576Z,1761540278.576 [DAT](INFO): DAT read: Bearing 215.4, -5.9 (Local) 2025-10-27T04:44:38.576Z,1761540278.576 [DAT](INFO): Local bearing/azimuth received: Bearing 215.4, -5.9 (Local) 2025-10-27T04:44:38.578Z,1761540278.578 [DAT](INFO): DAT read: Range 11 to 50 : 65.7 m (Round-trip 87.7 ms) speed 0.5 m/s 2025-10-27T04:44:38.579Z,1761540278.579 [DAT](INFO): DAT read: user:188> 2025-10-27T04:44:38.579Z,1761540278.579 [DAT](INFO): DAT read: Tx time:04:44:37.7302 2025-10-27T04:44:38.580Z,1761540278.580 [DAT](INFO): Ping request sent. 2025-10-27T04:44:38.580Z,1761540278.580 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:38.580Z,1761540278.580 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:38.581Z,1761540278.581 [DAT](INFO): direction in FSK: [0.967686,-0.006756,0.252069] 2025-10-27T04:44:38.581Z,1761540278.581 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:38.582Z,1761540278.582 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:38.605Z,1761540278.605 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:38.605Z,1761540278.605 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:38.942Z,1761540278.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512673,-0.855604,-0.071476],[0.855163,0.501435,0.131373],[-0.076563,-0.128475,0.988753]] 2025-10-27T04:44:39.040Z,1761540279.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.525576 s, deltaX: -2.900002 m, approachRate: -0.822561 m/s, rangeRepo size: 4 2025-10-27T04:44:39.042Z,1761540279.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.375961 m, bearing: 60.557891 deg, lat: 36.779300 deg, lon: -121.859557 deg, deltaT: 3.525576 s, deltaX: -2.885963 m, approachRate: -0.818579 m/s, posRepo size: 4 2025-10-27T04:44:39.051Z,1761540279.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.38 m. 2025-10-27T04:44:39.054Z,1761540279.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.375961 m, nav range: 62.564304 m, bearing: 62.232465 deg, approach rate: 0.000000 m/s, LOS rate: -0.098196 deg/s, cmd heading: 61.084130 deg, new cmd heading: 60.944900 deg. 2025-10-27T04:44:39.055Z,1761540279.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.063689 target range: 65.375961 and range: 65.70 m. 2025-10-27T04:44:39.342Z,1761540279.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508653,-0.858243,-0.068491],[0.857422,0.497733,0.130726],[-0.078105,-0.125220,0.989050]] 2025-10-27T04:44:39.432Z,1761540279.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.38 m. 2025-10-27T04:44:39.439Z,1761540279.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.375961 m, nav range: 62.199036 m, bearing: 62.173962 deg, approach rate: -0.911038 m/s, LOS rate: -0.146771 deg/s, cmd heading: 60.944897 deg, new cmd heading: 60.768360 deg. 2025-10-27T04:44:39.440Z,1761540279.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.060608 target range: 65.375961 and range: 65.70 m. 2025-10-27T04:44:39.768Z,1761540279.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504418,-0.860766,-0.068147],[0.859816,0.493480,0.131127],[-0.079241,-0.124736,0.989021]] 2025-10-27T04:44:39.785Z,1761540279.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:39.787Z,1761540279.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.38 m. 2025-10-27T04:44:39.790Z,1761540279.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.375961 m, nav range: 61.895473 m, bearing: 62.123380 deg, approach rate: -0.855664 m/s, LOS rate: -0.143278 deg/s, cmd heading: 60.768357 deg, new cmd heading: 60.615866 deg. 2025-10-27T04:44:39.791Z,1761540279.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057946 target range: 65.375961 and range: 65.70 m. 2025-10-27T04:44:39.828Z,1761540279.828 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:39.828Z,1761540279.828 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:39.828Z,1761540279.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:40.080Z,1761540280.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500121 2025-10-27T04:44:40.170Z,1761540280.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499925,-0.863390,-0.068068],[0.862377,0.489005,0.131074],[-0.079882,-0.124227,0.989033]] 2025-10-27T04:44:40.215Z,1761540280.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.38 m. 2025-10-27T04:44:40.218Z,1761540280.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.375961 m, nav range: 61.532261 m, bearing: 62.061704 deg, approach rate: -0.848560 m/s, LOS rate: -0.144943 deg/s, cmd heading: 60.615866 deg, new cmd heading: 60.429746 deg. 2025-10-27T04:44:40.219Z,1761540280.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.054698 target range: 65.375961 and range: 65.70 m. 2025-10-27T04:44:40.332Z,1761540280.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752507 2025-10-27T04:44:40.574Z,1761540280.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495415,-0.865940,-0.068644],[0.864909,0.484403,0.131480],[-0.080602,-0.124508,0.988939]] 2025-10-27T04:44:40.584Z,1761540280.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004286 2025-10-27T04:44:40.595Z,1761540280.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.38 m. 2025-10-27T04:44:40.598Z,1761540280.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.375961 m, nav range: 61.207424 m, bearing: 62.004280 deg, approach rate: -0.854784 m/s, LOS rate: -0.151909 deg/s, cmd heading: 60.429744 deg, new cmd heading: 60.256558 deg. 2025-10-27T04:44:40.599Z,1761540280.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.051675 target range: 65.375961 and range: 65.70 m. 2025-10-27T04:44:40.836Z,1761540280.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256091 2025-10-27T04:44:40.996Z,1761540280.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491813,-0.867906,-0.069713],[0.866896,0.480614,0.132297],[-0.081316,-0.125499,0.988756]] 2025-10-27T04:44:41.088Z,1761540281.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508139 2025-10-27T04:44:41.152Z,1761540281.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.38 m. 2025-10-27T04:44:41.155Z,1761540281.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.375961 m, nav range: 60.748390 m, bearing: 61.921232 deg, approach rate: -0.823608 m/s, LOS rate: -0.150131 deg/s, cmd heading: 60.256557 deg, new cmd heading: 60.005534 deg. 2025-10-27T04:44:41.156Z,1761540281.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.047294 target range: 65.375961 and range: 65.70 m. 2025-10-27T04:44:41.343Z,1761540281.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762976 2025-10-27T04:44:41.479Z,1761540281.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485753,-0.870919,-0.074455],[0.870238,0.473857,0.134705],[-0.082036,-0.130226,0.988085]] 2025-10-27T04:44:41.538Z,1761540281.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.38 m. 2025-10-27T04:44:41.545Z,1761540281.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.375961 m, nav range: 60.437054 m, bearing: 61.862179 deg, approach rate: -0.806490 m/s, LOS rate: -0.153759 deg/s, cmd heading: 60.005534 deg, new cmd heading: 59.827464 deg. 2025-10-27T04:44:41.546Z,1761540281.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.044186 target range: 65.375961 and range: 65.70 m. 2025-10-27T04:44:41.593Z,1761540281.593 [DAT](INFO): DAT read: Rx Time:04:44:40.2189 2025-10-27T04:44:41.594Z,1761540281.594 [DAT](INFO): Rx dataTimestamp_ set to:1761540281.593549 2025-10-27T04:44:41.595Z,1761540281.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014940 2025-10-27T04:44:41.844Z,1761540281.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264049 2025-10-27T04:44:41.860Z,1761540281.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483171,-0.872129,-0.077048],[0.871624,0.470852,0.136273],[-0.082570,-0.133000,0.987671]] 2025-10-27T04:44:41.893Z,1761540281.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:41.896Z,1761540281.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.38 m. 2025-10-27T04:44:41.898Z,1761540281.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.375961 m, nav range: 60.138348 m, bearing: 61.804140 deg, approach rate: -0.835752 m/s, LOS rate: -0.163194 deg/s, cmd heading: 59.827464 deg, new cmd heading: 59.652483 deg. 2025-10-27T04:44:41.899Z,1761540281.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041132 target range: 65.375961 and range: 65.70 m. 2025-10-27T04:44:42.105Z,1761540282.105 [DAT](INFO): DAT read: 04:44:40.2189 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.15, 2.795, 0.982, 3.046, 2.652, PHS= 0.246,-1.624, 0.350, RAW= 152.7, 10.7, CAL= 152.5, 11.7, ROT= 357.5, -11.7 2025-10-27T04:44:42.107Z,1761540282.107 [DAT](INFO): got valid direction response: 04:44:40.2189 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.15, 2.795, 0.982, 3.046, 2.652, PHS= 0.246,-1.624, 0.350, RAW= 152.7, 10.7, CAL= 152.5, 11.7, ROT= 357.5, -11.7 2025-10-27T04:44:42.108Z,1761540282.108 [DAT](INFO): DAT read: Bearing 213.0, -8.7 (Local) 2025-10-27T04:44:42.108Z,1761540282.108 [DAT](INFO): Local bearing/azimuth received: Bearing 213.0, -8.7 (Local) 2025-10-27T04:44:42.109Z,1761540282.109 [DAT](INFO): DAT read: Range 11 to 50 : 63.3 m (Round-trip 84.5 ms) speed 0.9 m/s 2025-10-27T04:44:42.110Z,1761540282.110 [DAT](INFO): DAT read: user:189> 2025-10-27T04:44:42.113Z,1761540282.113 [DAT](INFO): DAT read: Tx time:04:44:41.3318 2025-10-27T04:44:42.114Z,1761540282.114 [DAT](INFO): Ping request sent. 2025-10-27T04:44:42.115Z,1761540282.115 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:42.117Z,1761540282.117 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:42.118Z,1761540282.118 [DAT](INFO): direction in FSK: [0.978291,-0.042713,0.202787] 2025-10-27T04:44:42.118Z,1761540282.118 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:42.119Z,1761540282.119 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:42.125Z,1761540282.125 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:42.125Z,1761540282.125 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:42.271Z,1761540282.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481980,-0.872526,-0.079963],[0.872232,0.469149,0.138245],[-0.083107,-0.136378,0.987165]] 2025-10-27T04:44:42.343Z,1761540282.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.299999 m, deltaT: 3.527923 s, deltaX: -2.399998 m, approachRate: -0.680286 m/s, rangeRepo size: 4 2025-10-27T04:44:42.345Z,1761540282.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.987709 m, bearing: 60.234905 deg, lat: 36.779322 deg, lon: -121.859557 deg, deltaT: 3.527923 s, deltaX: -2.388252 m, approachRate: -0.676957 m/s, posRepo size: 4 2025-10-27T04:44:42.346Z,1761540282.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:42.350Z,1761540282.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 61.024467 m, bearing: 59.709974 deg, approach rate: 0.000000 m/s, LOS rate: -0.163194 deg/s, cmd heading: 59.652482 deg, new cmd heading: 59.433683 deg. 2025-10-27T04:44:42.351Z,1761540282.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.037313 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:42.666Z,1761540282.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481574,-0.872462,-0.083045],[0.872398,0.468165,0.140509],[-0.083710,-0.140114,0.986591]] 2025-10-27T04:44:42.698Z,1761540282.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:42.702Z,1761540282.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 60.733521 m, bearing: 59.656115 deg, approach rate: -0.819018 m/s, LOS rate: -0.152340 deg/s, cmd heading: 59.433683 deg, new cmd heading: 59.271333 deg. 2025-10-27T04:44:42.704Z,1761540282.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.034480 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:42.748Z,1761540282.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:44:43.146Z,1761540283.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:43.149Z,1761540283.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 60.397472 m, bearing: 59.605500 deg, approach rate: -0.749457 m/s, LOS rate: -0.113511 deg/s, cmd heading: 59.271330 deg, new cmd heading: 59.118639 deg. 2025-10-27T04:44:43.150Z,1761540283.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031815 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:43.482Z,1761540283.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483245,-0.870615,-0.092217],[0.871318,0.468004,0.147574],[-0.085322,-0.151665,0.984743]] 2025-10-27T04:44:43.506Z,1761540283.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:43.509Z,1761540283.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 60.127392 m, bearing: 59.565265 deg, approach rate: -0.749872 m/s, LOS rate: -0.112212 deg/s, cmd heading: 59.118641 deg, new cmd heading: 58.997395 deg. 2025-10-27T04:44:43.510Z,1761540283.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.029699 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:43.752Z,1761540283.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:44:43.876Z,1761540283.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485500,-0.868950,-0.096003],[0.869989,0.469406,0.150925],[-0.086082,-0.156796,0.983872]] 2025-10-27T04:44:43.894Z,1761540283.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:43.897Z,1761540283.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 59.837029 m, bearing: 59.522509 deg, approach rate: -0.748180 m/s, LOS rate: -0.110704 deg/s, cmd heading: 58.997398 deg, new cmd heading: 58.868509 deg. 2025-10-27T04:44:43.898Z,1761540283.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027449 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:44.278Z,1761540284.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488651,-0.866793,-0.099452],[0.868132,0.471682,0.154473],[-0.086986,-0.161821,0.982979]] 2025-10-27T04:44:44.322Z,1761540284.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:44.324Z,1761540284.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:44.326Z,1761540284.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 59.529354 m, bearing: 59.494155 deg, approach rate: -0.716512 m/s, LOS rate: -0.066373 deg/s, cmd heading: 58.868506 deg, new cmd heading: 58.783003 deg. 2025-10-27T04:44:44.328Z,1761540284.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.025957 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:44.364Z,1761540284.364 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:44.365Z,1761540284.365 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:44.365Z,1761540284.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:44.616Z,1761540284.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501558 2025-10-27T04:44:44.713Z,1761540284.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492297,-0.864255,-0.103474],[0.865976,0.474300,0.158508],[-0.087914,-0.167639,0.981921]] 2025-10-27T04:44:44.755Z,1761540284.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:44.758Z,1761540284.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 59.219696 m, bearing: 59.466780 deg, approach rate: -0.718941 m/s, LOS rate: -0.063889 deg/s, cmd heading: 58.783005 deg, new cmd heading: 58.700452 deg. 2025-10-27T04:44:44.759Z,1761540284.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.024516 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:44.868Z,1761540284.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753667 2025-10-27T04:44:45.120Z,1761540285.120 [DAT](INFO): DAT read: Rx Time:04:44:43.8170 2025-10-27T04:44:45.121Z,1761540285.121 [DAT](INFO): Rx dataTimestamp_ set to:1761540285.120235 2025-10-27T04:44:45.121Z,1761540285.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006801 2025-10-27T04:44:45.129Z,1761540285.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496476,-0.861384,-0.107375],[0.863478,0.477389,0.162802],[-0.088975,-0.173544,0.980799]] 2025-10-27T04:44:45.184Z,1761540285.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:45.187Z,1761540285.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 58.929798 m, bearing: 59.452490 deg, approach rate: -0.674851 m/s, LOS rate: -0.033429 deg/s, cmd heading: 58.700449 deg, new cmd heading: 58.657368 deg. 2025-10-27T04:44:45.188Z,1761540285.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023764 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:45.372Z,1761540285.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257684 2025-10-27T04:44:45.578Z,1761540285.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500730,-0.858642,-0.109560],[0.860874,0.480776,0.166584],[-0.090362,-0.177731,0.979922]] 2025-10-27T04:44:45.597Z,1761540285.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.99 m. 2025-10-27T04:44:45.600Z,1761540285.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.987709 m, nav range: 58.651161 m, bearing: 59.440081 deg, approach rate: -0.675200 m/s, LOS rate: -0.030213 deg/s, cmd heading: 58.657371 deg, new cmd heading: 58.619967 deg. 2025-10-27T04:44:45.601Z,1761540285.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023111 target range: 62.987709 and range: 63.30 m. 2025-10-27T04:44:45.624Z,1761540285.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509799 2025-10-27T04:44:45.882Z,1761540285.882 [DAT](INFO): DAT read: 04:44:43.8170 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411, 0.17, 1.868, 0.079, 2.084, 1.684, PHS= 0.286,-1.560, 0.356, RAW= 151.8, 9.8, CAL= 151.5, 10.6, ROT= 358.5, -10.6 2025-10-27T04:44:45.883Z,1761540285.883 [DAT](INFO): got valid direction response: 04:44:43.8170 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411, 0.17, 1.868, 0.079, 2.084, 1.684, PHS= 0.286,-1.560, 0.356, RAW= 151.8, 9.8, CAL= 151.5, 10.6, ROT= 358.5, -10.6 2025-10-27T04:44:45.884Z,1761540285.884 [DAT](INFO): DAT read: Bearing 211.3, -8.7 (Local) 2025-10-27T04:44:45.884Z,1761540285.884 [DAT](INFO): Local bearing/azimuth received: Bearing 211.3, -8.7 (Local) 2025-10-27T04:44:45.886Z,1761540285.886 [DAT](INFO): DAT read: Range 11 to 50 : 60.8 m (Round-trip 81.1 ms) speed 0.5 m/s 2025-10-27T04:44:45.886Z,1761540285.886 [DAT](INFO): DAT read: user:190> 2025-10-27T04:44:45.888Z,1761540285.888 [DAT](INFO): DAT read: Tx time:04:44:44.9302 2025-10-27T04:44:45.888Z,1761540285.888 [DAT](INFO): Ping request sent. 2025-10-27T04:44:45.888Z,1761540285.888 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:45.889Z,1761540285.889 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:45.890Z,1761540285.890 [DAT](INFO): direction in FSK: [0.982599,-0.025730,0.183951] 2025-10-27T04:44:45.890Z,1761540285.890 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:45.890Z,1761540285.890 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:45.894Z,1761540285.894 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:45.894Z,1761540285.894 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:45.985Z,1761540285.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505316,-0.855703,-0.111480],[0.858028,0.484477,0.170497],[-0.091885,-0.181808,0.979032]] 2025-10-27T04:44:46.044Z,1761540286.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 3.779992 s, deltaX: -2.500000 m, approachRate: -0.661377 m/s, rangeRepo size: 4 2025-10-27T04:44:46.046Z,1761540286.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.499229 m, bearing: 59.982037 deg, lat: 36.779325 deg, lon: -121.859550 deg, deltaT: 3.779992 s, deltaX: -2.488480 m, approachRate: -0.658329 m/s, posRepo size: 4 2025-10-27T04:44:46.046Z,1761540286.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-10-27T04:44:46.053Z,1761540286.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.499229 m, nav range: 59.044346 m, bearing: 59.540928 deg, approach rate: 0.000000 m/s, LOS rate: -0.030213 deg/s, cmd heading: 58.619969 deg, new cmd heading: 58.579892 deg. 2025-10-27T04:44:46.054Z,1761540286.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022412 target range: 60.499229 and range: 60.80 m. 2025-10-27T04:44:46.521Z,1761540286.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509941,-0.852748,-0.113051],[0.855193,0.488398,0.173527],[-0.092761,-0.185169,0.978319]] 2025-10-27T04:44:46.579Z,1761540286.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:46.581Z,1761540286.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-10-27T04:44:46.588Z,1761540286.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.499229 m, nav range: 58.689617 m, bearing: 59.539452 deg, approach rate: -0.654772 m/s, LOS rate: -0.002741 deg/s, cmd heading: 58.579889 deg, new cmd heading: 58.575434 deg. 2025-10-27T04:44:46.589Z,1761540286.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022334 target range: 60.499229 and range: 60.80 m. 2025-10-27T04:44:46.632Z,1761540286.632 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:46.632Z,1761540286.632 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:46.632Z,1761540286.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:46.884Z,1761540286.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995592 2025-10-27T04:44:47.012Z,1761540287.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514632,-0.849942,-0.112925],[0.852325,0.492799,0.175192],[-0.093254,-0.186409,0.978037]] 2025-10-27T04:44:47.046Z,1761540287.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-10-27T04:44:47.060Z,1761540287.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.499229 m, nav range: 58.403042 m, bearing: 59.539815 deg, approach rate: -0.615387 m/s, LOS rate: 0.000784 deg/s, cmd heading: 58.575436 deg, new cmd heading: 58.576531 deg. 2025-10-27T04:44:47.061Z,1761540287.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022353 target range: 60.499229 and range: 60.80 m. 2025-10-27T04:44:47.140Z,1761540287.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251282 2025-10-27T04:44:47.389Z,1761540287.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500332 2025-10-27T04:44:47.450Z,1761540287.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519202,-0.847170,-0.112840],[0.849550,0.497180,0.176284],[-0.093241,-0.187390,0.977850]] 2025-10-27T04:44:47.511Z,1761540287.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-10-27T04:44:47.514Z,1761540287.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.499229 m, nav range: 58.101017 m, bearing: 59.543788 deg, approach rate: -0.650089 m/s, LOS rate: 0.008596 deg/s, cmd heading: 58.576529 deg, new cmd heading: 58.588510 deg. 2025-10-27T04:44:47.515Z,1761540287.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022562 target range: 60.499229 and range: 60.80 m. 2025-10-27T04:44:47.640Z,1761540287.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752091 2025-10-27T04:44:47.846Z,1761540287.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523215,-0.844657,-0.113137],[0.847079,0.500933,0.177550],[-0.093295,-0.188733,0.977587]] 2025-10-27T04:44:47.878Z,1761540287.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-10-27T04:44:47.880Z,1761540287.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.499229 m, nav range: 57.869522 m, bearing: 59.547955 deg, approach rate: -0.631527 m/s, LOS rate: 0.011411 deg/s, cmd heading: 58.588509 deg, new cmd heading: 58.601057 deg. 2025-10-27T04:44:47.881Z,1761540287.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022781 target range: 60.499229 and range: 60.80 m. 2025-10-27T04:44:47.892Z,1761540287.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003809 2025-10-27T04:44:48.147Z,1761540288.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258332 2025-10-27T04:44:48.322Z,1761540288.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-10-27T04:44:48.325Z,1761540288.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.499229 m, nav range: 57.595146 m, bearing: 59.548721 deg, approach rate: -0.617502 m/s, LOS rate: 0.001732 deg/s, cmd heading: 58.601056 deg, new cmd heading: 58.603365 deg. 2025-10-27T04:44:48.326Z,1761540288.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022822 target range: 60.499229 and range: 60.80 m. 2025-10-27T04:44:48.396Z,1761540288.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507794 2025-10-27T04:44:48.651Z,1761540288.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762873 2025-10-27T04:44:48.780Z,1761540288.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533933,-0.838392,-0.109611],[0.840354,0.511870,0.178312],[-0.093389,-0.187319,0.977850]] 2025-10-27T04:44:48.804Z,1761540288.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:48.807Z,1761540288.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-10-27T04:44:48.809Z,1761540288.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.499229 m, nav range: 57.300644 m, bearing: 59.553296 deg, approach rate: -0.607766 m/s, LOS rate: 0.009490 deg/s, cmd heading: 58.603365 deg, new cmd heading: 58.617160 deg. 2025-10-27T04:44:48.810Z,1761540288.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023062 target range: 60.499229 and range: 60.80 m. 2025-10-27T04:44:48.901Z,1761540288.901 [DAT](INFO): DAT read: Rx Time:04:44:47.4117 2025-10-27T04:44:48.902Z,1761540288.902 [DAT](INFO): Rx dataTimestamp_ set to:1761540288.900942 2025-10-27T04:44:48.902Z,1761540288.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013892 2025-10-27T04:44:49.165Z,1761540289.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276429 2025-10-27T04:44:49.195Z,1761540289.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536809,-0.836724,-0.108298],[0.838558,0.514968,0.177841],[-0.093034,-0.186281,0.978082]] 2025-10-27T04:44:49.296Z,1761540289.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.50 m. 2025-10-27T04:44:49.298Z,1761540289.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.499229 m, nav range: 56.996998 m, bearing: 59.554217 deg, approach rate: -0.627974 m/s, LOS rate: 0.001916 deg/s, cmd heading: 58.617162 deg, new cmd heading: 58.619941 deg. 2025-10-27T04:44:49.303Z,1761540289.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023111 target range: 60.499229 and range: 60.80 m. 2025-10-27T04:44:49.418Z,1761540289.418 [DAT](INFO): DAT read: 04:44:47.4117 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 406,-0.08, 2.618, 0.762, 2.797, 2.411, PHS= 0.309,-1.605, 0.342, RAW= 150.8, 9.9, CAL= 150.5, 10.8, ROT= 359.5, -10.8 2025-10-27T04:44:49.419Z,1761540289.419 [DAT](INFO): got valid direction response: 04:44:47.4117 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 406,-0.08, 2.618, 0.762, 2.797, 2.411, PHS= 0.309,-1.605, 0.342, RAW= 150.8, 9.9, CAL= 150.5, 10.8, ROT= 359.5, -10.8 2025-10-27T04:44:49.420Z,1761540289.420 [DAT](INFO): DAT read: Bearing 210.1, -7.9 (Local) 2025-10-27T04:44:49.420Z,1761540289.420 [DAT](INFO): Local bearing/azimuth received: Bearing 210.1, -7.9 (Local) 2025-10-27T04:44:49.421Z,1761540289.421 [DAT](INFO): DAT read: Range 11 to 50 : 58.0 m (Round-trip 77.4 ms) speed 0.4 m/s 2025-10-27T04:44:49.422Z,1761540289.422 [DAT](INFO): DAT read: user:191> 2025-10-27T04:44:49.423Z,1761540289.423 [DAT](INFO): DAT read: Tx time:04:44:48.5301 2025-10-27T04:44:49.423Z,1761540289.423 [DAT](INFO): Ping request sent. 2025-10-27T04:44:49.423Z,1761540289.423 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:44:49.424Z,1761540289.424 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:44:49.425Z,1761540289.425 [DAT](INFO): direction in FSK: [0.982250,-0.008572,0.187381] 2025-10-27T04:44:49.425Z,1761540289.425 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:49.425Z,1761540289.425 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:49.428Z,1761540289.428 [DAT](INFO): publishing transmit ping time 2025-10-27T04:44:49.429Z,1761540289.429 [DAT](INFO): publishing direction and range info 2025-10-27T04:44:49.751Z,1761540289.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539238,-0.835090,-0.108844],[0.837087,0.517344,0.177877],[-0.092233,-0.187030,0.978015]] 2025-10-27T04:44:49.790Z,1761540289.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.000000 m, deltaT: 3.535984 s, deltaX: -2.799999 m, approachRate: -0.791859 m/s, rangeRepo size: 4 2025-10-27T04:44:49.792Z,1761540289.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.715141 m, bearing: 58.752271 deg, lat: 36.779326 deg, lon: -121.859547 deg, deltaT: 3.535984 s, deltaX: -2.784088 m, approachRate: -0.787359 m/s, posRepo size: 4 2025-10-27T04:44:49.793Z,1761540289.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:49.793Z,1761540289.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:49.796Z,1761540289.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 56.997494 m, bearing: 59.523665 deg, approach rate: 0.000000 m/s, LOS rate: 0.001916 deg/s, cmd heading: 58.619941 deg, new cmd heading: 58.622811 deg. 2025-10-27T04:44:49.797Z,1761540289.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023161 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:49.811Z,1761540289.811 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T04:44:50.246Z,1761540290.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:50.247Z,1761540290.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:50.250Z,1761540290.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 56.668221 m, bearing: 59.513663 deg, approach rate: -0.721015 m/s, LOS rate: -0.022029 deg/s, cmd heading: 58.622810 deg, new cmd heading: 58.592630 deg. 2025-10-27T04:44:50.251Z,1761540290.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022634 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:50.580Z,1761540290.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541651,-0.833939,-0.105646],[0.835888,0.521048,0.172627],[-0.088914,-0.181812,0.979305]] 2025-10-27T04:44:50.599Z,1761540290.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:50.599Z,1761540290.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:50.602Z,1761540290.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 56.424057 m, bearing: 59.506832 deg, approach rate: -0.692413 m/s, LOS rate: -0.019454 deg/s, cmd heading: 58.592628 deg, new cmd heading: 58.572047 deg. 2025-10-27T04:44:50.603Z,1761540290.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022275 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:50.988Z,1761540290.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541806,-0.834126,-0.103342],[0.835980,0.522062,0.169079],[-0.087083,-0.178000,0.980170]] 2025-10-27T04:44:51.005Z,1761540291.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:51.008Z,1761540291.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:51.008Z,1761540291.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:51.011Z,1761540291.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 56.141418 m, bearing: 59.498869 deg, approach rate: -0.691261 m/s, LOS rate: -0.019574 deg/s, cmd heading: 58.572048 deg, new cmd heading: 58.548038 deg. 2025-10-27T04:44:51.012Z,1761540291.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.021856 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:51.178Z,1761540291.178 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:44:51.178Z,1761540291.178 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:44:51.180Z,1761540291.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:51.386Z,1761540291.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541624,-0.834432,-0.101812],[0.836320,0.522652,0.165539],[-0.084918,-0.174807,0.980934]] 2025-10-27T04:44:51.428Z,1761540291.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004615 2025-10-27T04:44:51.432Z,1761540291.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:51.433Z,1761540291.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:51.439Z,1761540291.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 55.841869 m, bearing: 59.477838 deg, approach rate: -0.705034 m/s, LOS rate: -0.049766 deg/s, cmd heading: 58.548040 deg, new cmd heading: 58.484608 deg. 2025-10-27T04:44:51.441Z,1761540291.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020749 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:51.681Z,1761540291.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257674 2025-10-27T04:44:51.790Z,1761540291.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540925,-0.835178,-0.099390],[0.837010,0.522943,0.161076],[-0.082552,-0.170320,0.981925]] 2025-10-27T04:44:51.810Z,1761540291.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:51.810Z,1761540291.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:51.813Z,1761540291.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 55.573505 m, bearing: 59.458524 deg, approach rate: -0.710745 m/s, LOS rate: -0.051399 deg/s, cmd heading: 58.484608 deg, new cmd heading: 58.426387 deg. 2025-10-27T04:44:51.814Z,1761540291.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.019733 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:51.932Z,1761540291.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508448 2025-10-27T04:44:52.188Z,1761540292.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763869 2025-10-27T04:44:52.245Z,1761540292.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540212,-0.835826,-0.097808],[0.837720,0.523077,0.156892],[-0.079973,-0.166691,0.982761]] 2025-10-27T04:44:52.294Z,1761540292.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:52.295Z,1761540292.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:52.298Z,1761540292.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 55.206230 m, bearing: 59.419795 deg, approach rate: -0.758468 m/s, LOS rate: -0.080512 deg/s, cmd heading: 58.426388 deg, new cmd heading: 58.309428 deg. 2025-10-27T04:44:52.299Z,1761540292.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017691 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:52.438Z,1761540292.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014123 2025-10-27T04:44:52.639Z,1761540292.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538987,-0.836807,-0.096160],[0.838763,0.522734,0.152400],[-0.077263,-0.162797,0.983630]] 2025-10-27T04:44:52.663Z,1761540292.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:52.664Z,1761540292.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:52.666Z,1761540292.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 54.930359 m, bearing: 59.389880 deg, approach rate: -0.749995 m/s, LOS rate: -0.081736 deg/s, cmd heading: 58.309427 deg, new cmd heading: 58.219232 deg. 2025-10-27T04:44:52.668Z,1761540292.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016117 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:52.688Z,1761540292.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264615 2025-10-27T04:44:52.941Z,1761540292.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517817 2025-10-27T04:44:53.046Z,1761540293.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537627,-0.837640,-0.096519],[0.839875,0.521869,0.149208],[-0.074612,-0.161282,0.984084]] 2025-10-27T04:44:53.073Z,1761540293.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:53.075Z,1761540293.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:53.075Z,1761540293.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:53.078Z,1761540293.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 54.614525 m, bearing: 59.354672 deg, approach rate: -0.765619 m/s, LOS rate: -0.085842 deg/s, cmd heading: 58.219235 deg, new cmd heading: 58.113000 deg. 2025-10-27T04:44:53.079Z,1761540293.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.014263 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:53.196Z,1761540293.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771221 2025-10-27T04:44:53.445Z,1761540293.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021018 2025-10-27T04:44:53.465Z,1761540293.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536147,-0.838631,-0.096143],[0.841061,0.521031,0.145404],[-0.071847,-0.158820,0.984690]] 2025-10-27T04:44:53.526Z,1761540293.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:53.527Z,1761540293.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:53.534Z,1761540293.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 54.269585 m, bearing: 59.307051 deg, approach rate: -0.764021 m/s, LOS rate: -0.106148 deg/s, cmd heading: 58.112998 deg, new cmd heading: 57.969227 deg. 2025-10-27T04:44:53.535Z,1761540293.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011754 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:53.696Z,1761540293.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273115 2025-10-27T04:44:53.847Z,1761540293.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534251,-0.839903,-0.095598],[0.842512,0.519837,0.141224],[-0.068919,-0.155991,0.985351]] 2025-10-27T04:44:53.886Z,1761540293.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:53.886Z,1761540293.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:53.893Z,1761540293.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 53.999096 m, bearing: 59.268563 deg, approach rate: -0.752363 m/s, LOS rate: -0.107592 deg/s, cmd heading: 57.969229 deg, new cmd heading: 57.853186 deg. 2025-10-27T04:44:53.894Z,1761540293.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.009729 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:53.950Z,1761540293.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526296 2025-10-27T04:44:54.202Z,1761540294.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778572 2025-10-27T04:44:54.326Z,1761540294.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:54.343Z,1761540294.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:54.346Z,1761540294.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 53.629417 m, bearing: 59.213914 deg, approach rate: -0.838842 m/s, LOS rate: -0.124860 deg/s, cmd heading: 57.853184 deg, new cmd heading: 57.688107 deg. 2025-10-27T04:44:54.351Z,1761540294.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006847 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:54.453Z,1761540294.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029678 2025-10-27T04:44:54.705Z,1761540294.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281243 2025-10-27T04:44:54.723Z,1761540294.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527549,-0.843818,-0.098307],[0.847358,0.514408,0.131793],[-0.060639,-0.152829,0.986390]] 2025-10-27T04:44:54.767Z,1761540294.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:54.767Z,1761540294.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:54.770Z,1761540294.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 53.286873 m, bearing: 59.159477 deg, approach rate: -0.785003 m/s, LOS rate: -0.125554 deg/s, cmd heading: 57.688106 deg, new cmd heading: 57.523745 deg. 2025-10-27T04:44:54.775Z,1761540294.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003979 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:54.957Z,1761540294.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533495 2025-10-27T04:44:55.116Z,1761540295.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525293,-0.845208,-0.098441],[0.848926,0.512626,0.128606],[-0.058235,-0.151125,0.986798]] 2025-10-27T04:44:55.134Z,1761540295.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:55.136Z,1761540295.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:55.137Z,1761540295.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:55.140Z,1761540295.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 52.979198 m, bearing: 59.109022 deg, approach rate: -0.823262 m/s, LOS rate: -0.135789 deg/s, cmd heading: 57.523744 deg, new cmd heading: 57.371501 deg. 2025-10-27T04:44:55.141Z,1761540295.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001322 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:55.212Z,1761540295.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788203 2025-10-27T04:44:55.464Z,1761540295.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039853 2025-10-27T04:44:55.521Z,1761540295.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523300,-0.846140,-0.101020],[0.850317,0.510725,0.126966],[-0.055837,-0.152340,0.986749]] 2025-10-27T04:44:55.630Z,1761540295.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:55.631Z,1761540295.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:55.634Z,1761540295.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 52.587570 m, bearing: 59.038991 deg, approach rate: -0.792717 m/s, LOS rate: -0.142809 deg/s, cmd heading: 57.371499 deg, new cmd heading: 57.159842 deg. 2025-10-27T04:44:55.635Z,1761540295.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997627 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:55.714Z,1761540295.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290650 2025-10-27T04:44:55.943Z,1761540295.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522132,-0.846638,-0.102872],[0.851182,0.509724,0.125181],[-0.053547,-0.152924,0.986786]] 2025-10-27T04:44:55.964Z,1761540295.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540467 2025-10-27T04:44:56.010Z,1761540296.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:56.010Z,1761540296.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-27T04:44:56.010Z,1761540296.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 58.00 m. 2025-10-27T04:44:56.011Z,1761540296.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T04:44:56.017Z,1761540296.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 52.293926 m, bearing: 58.985335 deg, approach rate: -0.774502 m/s, LOS rate: -0.142316 deg/s, cmd heading: 57.159842 deg, new cmd heading: 56.997969 deg. 2025-10-27T04:44:56.018Z,1761540296.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994802 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:56.219Z,1761540296.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795140 2025-10-27T04:44:56.337Z,1761540296.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520820,-0.847236,-0.104585],[0.852135,0.508634,0.123116],[-0.051113,-0.153242,0.986866]] 2025-10-27T04:44:56.403Z,1761540296.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:56.406Z,1761540296.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 51.979069 m, bearing: 58.929229 deg, approach rate: -0.800964 m/s, LOS rate: -0.143590 deg/s, cmd heading: 56.997970 deg, new cmd heading: 56.828635 deg. 2025-10-27T04:44:56.407Z,1761540296.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991847 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:56.469Z,1761540296.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045261 2025-10-27T04:44:56.720Z,1761540296.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297034 2025-10-27T04:44:56.744Z,1761540296.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519019,-0.848074,-0.106719],[0.853381,0.507029,0.121089],[-0.048582,-0.153920,0.986888]] 2025-10-27T04:44:56.790Z,1761540296.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:56.794Z,1761540296.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 51.675045 m, bearing: 58.873681 deg, approach rate: -0.784294 m/s, LOS rate: -0.144143 deg/s, cmd heading: 56.828636 deg, new cmd heading: 56.661010 deg. 2025-10-27T04:44:56.795Z,1761540296.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988921 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:56.972Z,1761540296.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548555 2025-10-27T04:44:57.146Z,1761540297.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518033,-0.848376,-0.109087],[0.854103,0.506134,0.119733],[-0.046365,-0.155197,0.986795]] 2025-10-27T04:44:57.170Z,1761540297.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:57.172Z,1761540297.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:57.175Z,1761540297.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 51.376350 m, bearing: 58.818095 deg, approach rate: -0.782773 m/s, LOS rate: -0.146519 deg/s, cmd heading: 56.661009 deg, new cmd heading: 56.493282 deg. 2025-10-27T04:44:57.176Z,1761540297.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985994 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:57.225Z,1761540297.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801276 2025-10-27T04:44:57.476Z,1761540297.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052513 2025-10-27T04:44:57.606Z,1761540297.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:57.609Z,1761540297.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 51.050812 m, bearing: 58.767267 deg, approach rate: -0.750433 m/s, LOS rate: -0.117916 deg/s, cmd heading: 56.493280 deg, new cmd heading: 56.339824 deg. 2025-10-27T04:44:57.610Z,1761540297.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983315 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:57.729Z,1761540297.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305248 2025-10-27T04:44:57.980Z,1761540297.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556405 2025-10-27T04:44:58.005Z,1761540298.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:58.008Z,1761540298.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 50.752697 m, bearing: 58.720143 deg, approach rate: -0.746582 m/s, LOS rate: -0.118707 deg/s, cmd heading: 56.339823 deg, new cmd heading: 56.197622 deg. 2025-10-27T04:44:58.009Z,1761540298.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980834 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:58.232Z,1761540298.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808507 2025-10-27T04:44:58.412Z,1761540298.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:58.431Z,1761540298.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 50.460995 m, bearing: 58.687028 deg, approach rate: -0.716946 m/s, LOS rate: -0.081862 deg/s, cmd heading: 56.197622 deg, new cmd heading: 56.097701 deg. 2025-10-27T04:44:58.432Z,1761540298.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.979090 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:58.484Z,1761540298.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060725 2025-10-27T04:44:58.736Z,1761540298.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312534 2025-10-27T04:44:58.762Z,1761540298.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516436,-0.847519,-0.122497],[0.855498,0.504346,0.117292],[-0.037627,-0.165370,0.985514]] 2025-10-27T04:44:58.790Z,1761540298.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:58.792Z,1761540298.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 50.194363 m, bearing: 58.656114 deg, approach rate: -0.705787 m/s, LOS rate: -0.082265 deg/s, cmd heading: 56.097699 deg, new cmd heading: 56.004465 deg. 2025-10-27T04:44:58.793Z,1761540298.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977462 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:58.988Z,1761540298.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564469 2025-10-27T04:44:59.166Z,1761540299.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517035,-0.846512,-0.126854],[0.855220,0.504702,0.117789],[-0.035687,-0.169389,0.984903]] 2025-10-27T04:44:59.190Z,1761540299.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:44:59.192Z,1761540299.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:59.240Z,1761540299.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816589 2025-10-27T04:44:59.248Z,1761540299.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 49.900463 m, bearing: 58.622019 deg, approach rate: -0.730142 m/s, LOS rate: -0.085202 deg/s, cmd heading: 56.004464 deg, new cmd heading: 55.901577 deg. 2025-10-27T04:44:59.249Z,1761540299.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.975667 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:59.492Z,1761540299.492 [DAT](INFO): Reached modem response timeout 2025-10-27T04:44:59.492Z,1761540299.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:44:59.492Z,1761540299.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:44:59.646Z,1761540299.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518660,-0.844927,-0.130730],[0.854303,0.506068,0.118585],[-0.034037,-0.173188,0.984300]] 2025-10-27T04:44:59.684Z,1761540299.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:44:59.686Z,1761540299.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 49.566162 m, bearing: 58.596448 deg, approach rate: -0.680058 m/s, LOS rate: -0.052367 deg/s, cmd heading: 55.901577 deg, new cmd heading: 55.824350 deg. 2025-10-27T04:44:59.706Z,1761540299.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974319 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:44:59.744Z,1761540299.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:44:59.996Z,1761540299.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:45:00.033Z,1761540300.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520083,-0.843511,-0.134179],[0.853515,0.507372,0.118684],[-0.032032,-0.176249,0.983824]] 2025-10-27T04:45:00.052Z,1761540300.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:00.055Z,1761540300.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 49.315994 m, bearing: 58.577643 deg, approach rate: -0.678743 m/s, LOS rate: -0.051281 deg/s, cmd heading: 55.824348 deg, new cmd heading: 55.767645 deg. 2025-10-27T04:45:00.056Z,1761540300.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.973329 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:00.248Z,1761540300.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:45:00.449Z,1761540300.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522211,-0.841778,-0.136768],[0.852272,0.509395,0.118952],[-0.030462,-0.178681,0.983435]] 2025-10-27T04:45:00.492Z,1761540300.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:00.495Z,1761540300.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 49.033627 m, bearing: 58.565148 deg, approach rate: -0.641721 m/s, LOS rate: -0.028559 deg/s, cmd heading: 55.767644 deg, new cmd heading: 55.729945 deg. 2025-10-27T04:45:00.496Z,1761540300.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972671 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:00.500Z,1761540300.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:45:00.752Z,1761540300.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:45:00.842Z,1761540300.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524524,-0.840085,-0.138316],[0.850898,0.511697,0.118911],[-0.029120,-0.180064,0.983224]] 2025-10-27T04:45:00.863Z,1761540300.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:00.865Z,1761540300.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 48.795925 m, bearing: 58.555293 deg, approach rate: -0.641996 m/s, LOS rate: -0.026748 deg/s, cmd heading: 55.729945 deg, new cmd heading: 55.700234 deg. 2025-10-27T04:45:00.866Z,1761540300.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972152 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:01.004Z,1761540301.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:45:01.239Z,1761540301.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527210,-0.838229,-0.139362],[0.849272,0.514373,0.118987],[-0.028054,-0.181087,0.983067]] 2025-10-27T04:45:01.256Z,1761540301.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:45:01.258Z,1761540301.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:01.260Z,1761540301.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:01.283Z,1761540301.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 48.542065 m, bearing: 58.545620 deg, approach rate: -0.638002 m/s, LOS rate: -0.024435 deg/s, cmd heading: 55.700234 deg, new cmd heading: 55.671065 deg. 2025-10-27T04:45:01.284Z,1761540301.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971643 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:01.508Z,1761540301.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:45:01.643Z,1761540301.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529724,-0.836277,-0.141543],[0.847742,0.516730,0.119679],[-0.026946,-0.183389,0.982671]] 2025-10-27T04:45:01.700Z,1761540301.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:01.704Z,1761540301.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 48.273602 m, bearing: 58.540608 deg, approach rate: -0.611917 m/s, LOS rate: -0.011489 deg/s, cmd heading: 55.671065 deg, new cmd heading: 55.655944 deg. 2025-10-27T04:45:01.706Z,1761540301.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971379 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:01.760Z,1761540301.760 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:45:01.760Z,1761540301.760 [DAT](INFO): response not received 2025-10-27T04:45:01.761Z,1761540301.761 [DAT](INFO): DAT read: user:192> 2025-10-27T04:45:01.761Z,1761540301.761 [DAT](INFO): DAT read: Tx time:04:45:00.9801 2025-10-27T04:45:01.762Z,1761540301.762 [DAT](INFO): Ping request sent. 2025-10-27T04:45:01.762Z,1761540301.762 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:45:01.762Z,1761540301.762 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:01.763Z,1761540301.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-10-27T04:45:02.012Z,1761540302.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250012 2025-10-27T04:45:02.054Z,1761540302.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532790,-0.833740,-0.144957],[0.845858,0.519475,0.121117],[-0.025679,-0.187143,0.981997]] 2025-10-27T04:45:02.085Z,1761540302.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:02.092Z,1761540302.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 48.034542 m, bearing: 58.537151 deg, approach rate: -0.619214 m/s, LOS rate: -0.008998 deg/s, cmd heading: 55.655943 deg, new cmd heading: 55.645522 deg. 2025-10-27T04:45:02.093Z,1761540302.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971198 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:02.264Z,1761540302.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501968 2025-10-27T04:45:02.468Z,1761540302.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535369,-0.832012,-0.145379],[0.844267,0.522200,0.120499],[-0.024340,-0.187251,0.982011]] 2025-10-27T04:45:02.505Z,1761540302.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:02.508Z,1761540302.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 47.772259 m, bearing: 58.531045 deg, approach rate: -0.625331 m/s, LOS rate: -0.014639 deg/s, cmd heading: 55.645520 deg, new cmd heading: 55.627100 deg. 2025-10-27T04:45:02.509Z,1761540302.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970876 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:02.532Z,1761540302.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.769995 2025-10-27T04:45:02.784Z,1761540302.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.021970 2025-10-27T04:45:02.889Z,1761540302.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538077,-0.829741,-0.148337],[0.842579,0.524654,0.121648],[-0.023111,-0.190442,0.981426]] 2025-10-27T04:45:02.950Z,1761540302.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:02.957Z,1761540302.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 47.512569 m, bearing: 58.525934 deg, approach rate: -0.582960 m/s, LOS rate: -0.011535 deg/s, cmd heading: 55.627099 deg, new cmd heading: 55.611684 deg. 2025-10-27T04:45:02.958Z,1761540302.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970607 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:03.036Z,1761540303.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274566 2025-10-27T04:45:03.259Z,1761540303.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540709,-0.828034,-0.148302],[0.840930,0.527515,0.120686],[-0.021700,-0.189967,0.981551]] 2025-10-27T04:45:03.288Z,1761540303.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526057 2025-10-27T04:45:03.288Z,1761540303.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:03.291Z,1761540303.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:03.293Z,1761540303.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 47.281132 m, bearing: 58.522204 deg, approach rate: -0.680001 m/s, LOS rate: -0.011014 deg/s, cmd heading: 55.611684 deg, new cmd heading: 55.600438 deg. 2025-10-27T04:45:03.294Z,1761540303.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970411 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:03.540Z,1761540303.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.777955 2025-10-27T04:45:03.674Z,1761540303.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542950,-0.826706,-0.147520],[0.839514,0.530054,0.119412],[-0.020525,-0.188680,0.981824]] 2025-10-27T04:45:03.750Z,1761540303.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:03.761Z,1761540303.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 46.989262 m, bearing: 58.503187 deg, approach rate: -0.639355 m/s, LOS rate: -0.041916 deg/s, cmd heading: 55.600438 deg, new cmd heading: 55.543033 deg. 2025-10-27T04:45:03.762Z,1761540303.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969409 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:03.792Z,1761540303.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030239 2025-10-27T04:45:04.044Z,1761540304.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282402 2025-10-27T04:45:04.086Z,1761540304.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544540,-0.825739,-0.147077],[0.838516,0.531956,0.117955],[-0.019161,-0.187558,0.982067]] 2025-10-27T04:45:04.117Z,1761540304.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:04.120Z,1761540304.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 46.731834 m, bearing: 58.486812 deg, approach rate: -0.695544 m/s, LOS rate: -0.044489 deg/s, cmd heading: 55.543033 deg, new cmd heading: 55.493636 deg. 2025-10-27T04:45:04.121Z,1761540304.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968547 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:04.296Z,1761540304.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533970 2025-10-27T04:45:04.486Z,1761540304.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545819,-0.824916,-0.146951],[0.837715,0.533520,0.116577],[-0.017765,-0.186733,0.982250]] 2025-10-27T04:45:04.529Z,1761540304.529 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +76, +675A 2025-10-27T04:45:04.545Z,1761540304.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:04.548Z,1761540304.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786158 2025-10-27T04:45:04.549Z,1761540304.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 46.448433 m, bearing: 58.469103 deg, approach rate: -0.662862 m/s, LOS rate: -0.041673 deg/s, cmd heading: 55.493634 deg, new cmd heading: 55.440183 deg. 2025-10-27T04:45:04.550Z,1761540304.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967614 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:04.802Z,1761540304.802 [DAT](INFO): DAT read: Rx Time:04:45:03.4465 2025-10-27T04:45:04.802Z,1761540304.802 [DAT](INFO): Rx dataTimestamp_ set to:1761540304.802072 2025-10-27T04:45:04.803Z,1761540304.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041447 2025-10-27T04:45:04.894Z,1761540304.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547149,-0.823936,-0.147502],[0.836873,0.535018,0.115751],[-0.016455,-0.186773,0.982265]] 2025-10-27T04:45:04.929Z,1761540304.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.72 m. 2025-10-27T04:45:04.935Z,1761540304.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.715141 m, nav range: 46.200237 m, bearing: 58.453902 deg, approach rate: -0.646057 m/s, LOS rate: -0.039782 deg/s, cmd heading: 55.440184 deg, new cmd heading: 55.394336 deg. 2025-10-27T04:45:04.937Z,1761540304.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.966814 target range: 57.715141 and range: 58.00 m. 2025-10-27T04:45:05.052Z,1761540305.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289964 2025-10-27T04:45:05.326Z,1761540305.326 [DAT](INFO): DAT read: 04:45:03.4465 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 250, 0.19, 0.362,-1.355, 0.603, 0.239, PHS= 0.225,-1.549, 0.320, RAW= 152.6, 11.0, CAL= 152.5, 12.1, ROT= 357.5, -12.1 2025-10-27T04:45:05.345Z,1761540305.345 [DAT](INFO): got valid direction response: 04:45:03.4465 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 250, 0.19, 0.362,-1.355, 0.603, 0.239, PHS= 0.225,-1.549, 0.320, RAW= 152.6, 11.0, CAL= 152.5, 12.1, ROT= 357.5, -12.1 2025-10-27T04:45:05.346Z,1761540305.346 [DAT](INFO): DAT read: Bearing 211.7, -5.4 (Local) 2025-10-27T04:45:05.347Z,1761540305.347 [DAT](INFO): Local bearing/azimuth received: Bearing 211.7, -5.4 (Local) 2025-10-27T04:45:05.348Z,1761540305.348 [DAT](INFO): DAT read: Range 11 to 50 : 46.7 m (Round-trip 62.3 ms) speed 0.5 m/s 2025-10-27T04:45:05.351Z,1761540305.351 [DAT](INFO): DAT read: user:193> 2025-10-27T04:45:05.353Z,1761540305.353 [DAT](INFO): DAT read: Tx time:04:45:04.5301 2025-10-27T04:45:05.354Z,1761540305.354 [DAT](INFO): Ping request sent. 2025-10-27T04:45:05.355Z,1761540305.355 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:45:05.356Z,1761540305.356 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:45:05.368Z,1761540305.368 [DAT](INFO): direction in FSK: [0.976853,-0.042650,0.209619] 2025-10-27T04:45:05.369Z,1761540305.369 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:05.370Z,1761540305.370 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:05.433Z,1761540305.433 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:05.434Z,1761540305.434 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:05.537Z,1761540305.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 15.893869 s, deltaX: -11.299999 m, approachRate: -0.710966 m/s, rangeRepo size: 4 2025-10-27T04:45:05.539Z,1761540305.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.472183 m, bearing: 56.662935 deg, lat: 36.779326 deg, lon: -121.859547 deg, deltaT: 15.893869 s, deltaX: -11.242958 m, approachRate: -0.707377 m/s, posRepo size: 4 2025-10-27T04:45:05.544Z,1761540305.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:05.546Z,1761540305.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 45.767136 m, bearing: 58.385868 deg, approach rate: 0.000000 m/s, LOS rate: -0.039782 deg/s, cmd heading: 55.394337 deg, new cmd heading: 55.321889 deg. 2025-10-27T04:45:05.556Z,1761540305.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965549 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:05.856Z,1761540305.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547571,-0.823176,-0.150157],[0.836647,0.535671,0.114364],[-0.013707,-0.188251,0.982025]] 2025-10-27T04:45:05.887Z,1761540305.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:05.889Z,1761540305.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:05.892Z,1761540305.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 45.500443 m, bearing: 58.343509 deg, approach rate: -0.754229 m/s, LOS rate: -0.120496 deg/s, cmd heading: 55.321889 deg, new cmd heading: 55.194068 deg. 2025-10-27T04:45:05.893Z,1761540305.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963318 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:06.060Z,1761540306.060 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:45:06.060Z,1761540306.060 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:45:06.060Z,1761540306.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:45:06.259Z,1761540306.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546787,-0.823795,-0.149621],[0.837180,0.535284,0.112251],[-0.012382,-0.186637,0.982351]] 2025-10-27T04:45:06.283Z,1761540306.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:06.286Z,1761540306.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 45.220310 m, bearing: 58.298117 deg, approach rate: -0.712388 m/s, LOS rate: -0.116150 deg/s, cmd heading: 55.194069 deg, new cmd heading: 55.057048 deg. 2025-10-27T04:45:06.287Z,1761540306.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960927 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:06.312Z,1761540306.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957706 2025-10-27T04:45:06.565Z,1761540306.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.210502 2025-10-27T04:45:06.670Z,1761540306.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545960,-0.824300,-0.149855],[0.837735,0.534700,0.110884],[-0.011274,-0.186077,0.982471]] 2025-10-27T04:45:06.744Z,1761540306.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:06.755Z,1761540306.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 44.886768 m, bearing: 58.226816 deg, approach rate: -0.722587 m/s, LOS rate: -0.155615 deg/s, cmd heading: 55.057048 deg, new cmd heading: 54.841556 deg. 2025-10-27T04:45:06.756Z,1761540306.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957166 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:06.817Z,1761540306.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462404 2025-10-27T04:45:07.068Z,1761540307.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713653 2025-10-27T04:45:07.089Z,1761540307.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543639,-0.825824,-0.149905],[0.839274,0.533005,0.107355],[-0.008756,-0.184173,0.982855]] 2025-10-27T04:45:07.108Z,1761540307.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:07.112Z,1761540307.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 44.608353 m, bearing: 58.165420 deg, approach rate: -0.765046 m/s, LOS rate: -0.169760 deg/s, cmd heading: 54.841556 deg, new cmd heading: 54.656220 deg. 2025-10-27T04:45:07.113Z,1761540307.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.953931 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:07.320Z,1761540307.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965504 2025-10-27T04:45:07.482Z,1761540307.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542724,-0.826345,-0.150346],[0.839877,0.532337,0.105940],[-0.007508,-0.183769,0.982941]] 2025-10-27T04:45:07.533Z,1761540307.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:07.536Z,1761540307.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 44.289600 m, bearing: 58.086968 deg, approach rate: -0.750730 m/s, LOS rate: -0.186102 deg/s, cmd heading: 54.656219 deg, new cmd heading: 54.419169 deg. 2025-10-27T04:45:07.537Z,1761540307.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.949794 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:07.573Z,1761540307.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218382 2025-10-27T04:45:07.824Z,1761540307.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469593 2025-10-27T04:45:07.894Z,1761540307.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541477,-0.827108,-0.150648],[0.840693,0.531373,0.104300],[-0.006217,-0.183124,0.983070]] 2025-10-27T04:45:07.918Z,1761540307.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:07.922Z,1761540307.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:07.944Z,1761540307.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 44.003006 m, bearing: 58.014853 deg, approach rate: -0.737736 m/s, LOS rate: -0.186842 deg/s, cmd heading: 54.419170 deg, new cmd heading: 54.201419 deg. 2025-10-27T04:45:07.945Z,1761540307.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.945993 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:08.077Z,1761540308.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721976 2025-10-27T04:45:08.294Z,1761540308.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540409,-0.827762,-0.150893],[0.841387,0.530558,0.102836],[-0.005066,-0.182533,0.983187]] 2025-10-27T04:45:08.313Z,1761540308.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:08.328Z,1761540308.328 [DAT](INFO): DAT read: Rx Time:04:45:06.9934 2025-10-27T04:45:08.329Z,1761540308.329 [DAT](INFO): Rx dataTimestamp_ set to:1761540308.328273 2025-10-27T04:45:08.329Z,1761540308.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974781 2025-10-27T04:45:08.336Z,1761540308.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 43.702744 m, bearing: 57.937735 deg, approach rate: -0.766960 m/s, LOS rate: -0.198337 deg/s, cmd heading: 54.201420 deg, new cmd heading: 53.968476 deg. 2025-10-27T04:45:08.337Z,1761540308.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.941928 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:08.580Z,1761540308.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226015 2025-10-27T04:45:08.693Z,1761540308.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539693,-0.828182,-0.151150],[0.841851,0.530010,0.101861],[-0.004248,-0.182219,0.983249]] 2025-10-27T04:45:08.749Z,1761540308.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.47 m. 2025-10-27T04:45:08.752Z,1761540308.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.472183 m, nav range: 43.376236 m, bearing: 57.861592 deg, approach rate: -0.748704 m/s, LOS rate: -0.175915 deg/s, cmd heading: 53.968477 deg, new cmd heading: 53.738330 deg. 2025-10-27T04:45:08.753Z,1761540308.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.937911 target range: 46.472183 and range: 46.70 m. 2025-10-27T04:45:08.836Z,1761540308.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481071 2025-10-27T04:45:09.090Z,1761540309.090 [DAT](INFO): DAT read: 04:45:06.9934 LVL= 29088, 32753, 31826, 32755, AGC= 67, IDX= 411,-0.33, 1.103,-0.647, 1.355, 0.973, PHS= 0.232,-1.575, 0.339, RAW= 152.8, 10.8, CAL= 152.7, 11.8, ROT= 357.3, -11.8 2025-10-27T04:45:09.091Z,1761540309.091 [DAT](INFO): got valid direction response: 04:45:06.9934 LVL= 29088, 32753, 31826, 32755, AGC= 67, IDX= 411,-0.33, 1.103,-0.647, 1.355, 0.973, PHS= 0.232,-1.575, 0.339, RAW= 152.8, 10.8, CAL= 152.7, 11.8, ROT= 357.3, -11.8 2025-10-27T04:45:09.092Z,1761540309.092 [DAT](INFO): DAT read: Bearing 211.3, -5.1 (Local) 2025-10-27T04:45:09.092Z,1761540309.092 [DAT](INFO): Local bearing/azimuth received: Bearing 211.3, -5.1 (Local) 2025-10-27T04:45:09.094Z,1761540309.094 [DAT](INFO): DAT read: Range 11 to 50 : 44.3 m (Round-trip 59.1 ms) speed 0.7 m/s 2025-10-27T04:45:09.094Z,1761540309.094 [DAT](INFO): DAT read: user:194> 2025-10-27T04:45:09.095Z,1761540309.095 [DAT](INFO): DAT read: Tx time:04:45:08.0801 2025-10-27T04:45:09.096Z,1761540309.096 [DAT](INFO): Ping request sent. 2025-10-27T04:45:09.096Z,1761540309.096 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:45:09.096Z,1761540309.096 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:45:09.097Z,1761540309.097 [DAT](INFO): direction in FSK: [0.977781,-0.046111,0.204496] 2025-10-27T04:45:09.097Z,1761540309.097 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:09.097Z,1761540309.097 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:09.109Z,1761540309.109 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:09.109Z,1761540309.109 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:09.118Z,1761540309.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539325,-0.828101,-0.152895],[0.842091,0.529617,0.101929],[-0.003431,-0.183724,0.982972]] 2025-10-27T04:45:09.195Z,1761540309.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.299999 m, deltaT: 3.778188 s, deltaX: -2.400002 m, approachRate: -0.635226 m/s, rangeRepo size: 4 2025-10-27T04:45:09.197Z,1761540309.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.083450 m, bearing: 56.907991 deg, lat: 36.779332 deg, lon: -121.859547 deg, deltaT: 3.778188 s, deltaX: -2.388733 m, approachRate: -0.632243 m/s, posRepo size: 4 2025-10-27T04:45:09.198Z,1761540309.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.08 m. 2025-10-27T04:45:09.205Z,1761540309.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.083450 m, nav range: 43.402149 m, bearing: 57.135909 deg, approach rate: 0.000000 m/s, LOS rate: -0.175915 deg/s, cmd heading: 53.738330 deg, new cmd heading: 53.505485 deg. 2025-10-27T04:45:09.206Z,1761540309.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.933847 target range: 44.083450 and range: 44.30 m. 2025-10-27T04:45:09.549Z,1761540309.549 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050308332803,35.0, +11.4, 0.0,1495 2025-10-27T04:45:09.581Z,1761540309.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.08 m. 2025-10-27T04:45:09.584Z,1761540309.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.083450 m, nav range: 43.069942 m, bearing: 57.051362 deg, approach rate: -0.849299 m/s, LOS rate: -0.217814 deg/s, cmd heading: 53.505486 deg, new cmd heading: 53.249890 deg. 2025-10-27T04:45:09.585Z,1761540309.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.929386 target range: 44.083450 and range: 44.30 m. 2025-10-27T04:45:09.939Z,1761540309.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538551,-0.828464,-0.153659],[0.842590,0.529039,0.100792],[-0.002211,-0.183753,0.982970]] 2025-10-27T04:45:10.021Z,1761540310.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:10.024Z,1761540310.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.08 m. 2025-10-27T04:45:10.026Z,1761540310.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.083450 m, nav range: 42.739983 m, bearing: 56.965650 deg, approach rate: -0.745716 m/s, LOS rate: -0.195206 deg/s, cmd heading: 53.249890 deg, new cmd heading: 52.990770 deg. 2025-10-27T04:45:10.052Z,1761540310.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.924863 target range: 44.083450 and range: 44.30 m. 2025-10-27T04:45:10.092Z,1761540310.092 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:45:10.092Z,1761540310.092 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:45:10.092Z,1761540310.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:45:10.344Z,1761540310.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248135 2025-10-27T04:45:10.379Z,1761540310.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540109,-0.827101,-0.155519],[0.841593,0.530401,0.101963],[-0.001847,-0.185955,0.982557]] 2025-10-27T04:45:10.458Z,1761540310.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.08 m. 2025-10-27T04:45:10.477Z,1761540310.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.083450 m, nav range: 42.437294 m, bearing: 56.886705 deg, approach rate: -0.714922 m/s, LOS rate: -0.187791 deg/s, cmd heading: 52.990769 deg, new cmd heading: 52.752246 deg. 2025-10-27T04:45:10.485Z,1761540310.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.920700 target range: 44.083450 and range: 44.30 m. 2025-10-27T04:45:10.601Z,1761540310.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505085 2025-10-27T04:45:10.786Z,1761540310.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541616,-0.825771,-0.157334],[0.840626,0.531809,0.102604],[-0.001056,-0.187831,0.982201]] 2025-10-27T04:45:10.852Z,1761540310.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756213 2025-10-27T04:45:10.868Z,1761540310.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.08 m. 2025-10-27T04:45:10.870Z,1761540310.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.083450 m, nav range: 42.141529 m, bearing: 56.839291 deg, approach rate: -0.703209 m/s, LOS rate: -0.113522 deg/s, cmd heading: 52.752245 deg, new cmd heading: 52.609006 deg. 2025-10-27T04:45:10.872Z,1761540310.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.918200 target range: 44.083450 and range: 44.30 m. 2025-10-27T04:45:11.104Z,1761540311.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008116 2025-10-27T04:45:11.303Z,1761540311.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543465,-0.824416,-0.158066],[0.839432,0.533682,0.102652],[-0.000271,-0.188474,0.982078]] 2025-10-27T04:45:11.345Z,1761540311.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.08 m. 2025-10-27T04:45:11.348Z,1761540311.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.083450 m, nav range: 41.788589 m, bearing: 56.782944 deg, approach rate: -0.739484 m/s, LOS rate: -0.119055 deg/s, cmd heading: 52.609006 deg, new cmd heading: 52.438539 deg. 2025-10-27T04:45:11.349Z,1761540311.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915225 target range: 44.083450 and range: 44.30 m. 2025-10-27T04:45:11.356Z,1761540311.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260317 2025-10-27T04:45:11.608Z,1761540311.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512163 2025-10-27T04:45:11.806Z,1761540311.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.08 m. 2025-10-27T04:45:11.813Z,1761540311.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.083450 m, nav range: 41.488270 m, bearing: 56.754540 deg, approach rate: -0.652084 m/s, LOS rate: -0.062120 deg/s, cmd heading: 52.438538 deg, new cmd heading: 52.352709 deg. 2025-10-27T04:45:11.814Z,1761540311.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.913727 target range: 44.083450 and range: 44.30 m. 2025-10-27T04:45:11.860Z,1761540311.860 [DAT](INFO): DAT read: Rx Time:04:45:10.5401 2025-10-27T04:45:11.860Z,1761540311.860 [DAT](INFO): Rx dataTimestamp_ set to:1761540311.860212 2025-10-27T04:45:11.861Z,1761540311.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765314 2025-10-27T04:45:12.112Z,1761540312.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016366 2025-10-27T04:45:12.259Z,1761540312.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550314,-0.818877,-0.163078],[0.834957,0.540009,0.106005],[0.001258,-0.194499,0.980902]] 2025-10-27T04:45:12.293Z,1761540312.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:12.299Z,1761540312.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.08 m. 2025-10-27T04:45:12.302Z,1761540312.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.083450 m, nav range: 41.158131 m, bearing: 56.726838 deg, approach rate: -0.674963 m/s, LOS rate: -0.057091 deg/s, cmd heading: 52.352710 deg, new cmd heading: 52.268937 deg. 2025-10-27T04:45:12.303Z,1761540312.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.912265 target range: 44.083450 and range: 44.30 m. 2025-10-27T04:45:12.366Z,1761540312.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270232 2025-10-27T04:45:12.622Z,1761540312.622 [DAT](INFO): DAT read: 04:45:10.5401 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408, 0.05, 2.866, 1.141, 3.093, 2.772, PHS= 0.196,-1.586, 0.277, RAW= 152.2, 12.2, CAL= 152.2, 13.5, ROT= 357.8, -13.5 2025-10-27T04:45:12.623Z,1761540312.623 [DAT](INFO): got valid direction response: 04:45:10.5401 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408, 0.05, 2.866, 1.141, 3.093, 2.772, PHS= 0.196,-1.586, 0.277, RAW= 152.2, 12.2, CAL= 152.2, 13.5, ROT= 357.8, -13.5 2025-10-27T04:45:12.624Z,1761540312.624 [DAT](INFO): DAT read: Bearing 212.1, -4.8 (Local) 2025-10-27T04:45:12.624Z,1761540312.624 [DAT](INFO): Local bearing/azimuth received: Bearing 212.1, -4.8 (Local) 2025-10-27T04:45:12.626Z,1761540312.626 [DAT](INFO): DAT read: Range 11 to 50 : 41.8 m (Round-trip 55.8 ms) speed 0.5 m/s 2025-10-27T04:45:12.626Z,1761540312.626 [DAT](INFO): DAT read: user:195> 2025-10-27T04:45:12.627Z,1761540312.627 [DAT](INFO): DAT read: Tx time:04:45:11.6301 2025-10-27T04:45:12.628Z,1761540312.628 [DAT](INFO): Ping request sent. 2025-10-27T04:45:12.628Z,1761540312.628 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:45:12.628Z,1761540312.628 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:45:12.629Z,1761540312.629 [DAT](INFO): direction in FSK: [0.971653,-0.037328,0.233445] 2025-10-27T04:45:12.629Z,1761540312.629 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:12.629Z,1761540312.629 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:12.634Z,1761540312.634 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:12.635Z,1761540312.635 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:12.818Z,1761540312.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.799999 m, deltaT: 3.532038 s, deltaX: -2.500000 m, approachRate: -0.707807 m/s, rangeRepo size: 4 2025-10-27T04:45:12.825Z,1761540312.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.595474 m, bearing: 57.129880 deg, lat: 36.779332 deg, lon: -121.859549 deg, deltaT: 3.532038 s, deltaX: -2.487976 m, approachRate: -0.704402 m/s, posRepo size: 4 2025-10-27T04:45:12.825Z,1761540312.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.60 m. 2025-10-27T04:45:12.832Z,1761540312.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.595474 m, nav range: 40.662140 m, bearing: 56.574463 deg, approach rate: 0.000000 m/s, LOS rate: -0.057091 deg/s, cmd heading: 52.268938 deg, new cmd heading: 52.179352 deg. 2025-10-27T04:45:12.833Z,1761540312.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910702 target range: 41.595474 and range: 41.80 m. 2025-10-27T04:45:13.204Z,1761540313.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.60 m. 2025-10-27T04:45:13.207Z,1761540313.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.595474 m, nav range: 40.409637 m, bearing: 56.561471 deg, approach rate: -0.653726 m/s, LOS rate: -0.033846 deg/s, cmd heading: 52.179353 deg, new cmd heading: 52.140133 deg. 2025-10-27T04:45:13.208Z,1761540313.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910017 target range: 41.595474 and range: 41.80 m. 2025-10-27T04:45:13.553Z,1761540313.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567993,-0.804706,-0.172720],[0.822997,0.557293,0.110003],[0.007736,-0.204629,0.978809]] 2025-10-27T04:45:13.590Z,1761540313.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.60 m. 2025-10-27T04:45:13.593Z,1761540313.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.595474 m, nav range: 40.137787 m, bearing: 56.560385 deg, approach rate: -0.703452 m/s, LOS rate: -0.002828 deg/s, cmd heading: 52.140134 deg, new cmd heading: 52.136855 deg. 2025-10-27T04:45:13.594Z,1761540313.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909960 target range: 41.595474 and range: 41.80 m. 2025-10-27T04:45:13.871Z,1761540313.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:45:14.083Z,1761540314.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572480,-0.801137,-0.174486],[0.819862,0.561825,0.110360],[0.009617,-0.206233,0.978456]] 2025-10-27T04:45:14.111Z,1761540314.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.60 m. 2025-10-27T04:45:14.114Z,1761540314.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.595474 m, nav range: 39.793213 m, bearing: 56.561715 deg, approach rate: -0.662398 m/s, LOS rate: 0.002579 deg/s, cmd heading: 52.136856 deg, new cmd heading: 52.140880 deg. 2025-10-27T04:45:14.114Z,1761540314.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910030 target range: 41.595474 and range: 41.80 m. 2025-10-27T04:45:14.490Z,1761540314.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577496,-0.796987,-0.176944],[0.816316,0.566698,0.111722],[0.011233,-0.208961,0.977859]] 2025-10-27T04:45:14.570Z,1761540314.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:14.576Z,1761540314.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.60 m. 2025-10-27T04:45:14.584Z,1761540314.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.595474 m, nav range: 39.523846 m, bearing: 56.565185 deg, approach rate: -0.578673 m/s, LOS rate: 0.007505 deg/s, cmd heading: 52.140879 deg, new cmd heading: 52.151360 deg. 2025-10-27T04:45:14.585Z,1761540314.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910213 target range: 41.595474 and range: 41.80 m. 2025-10-27T04:45:14.632Z,1761540314.632 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:45:14.632Z,1761540314.632 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:45:14.632Z,1761540314.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:45:14.875Z,1761540314.875 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:45:14.884Z,1761540314.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256544 2025-10-27T04:45:15.013Z,1761540315.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582194,-0.793323,-0.178014],[0.812943,0.571550,0.111601],[0.013208,-0.209689,0.977679]] 2025-10-27T04:45:15.051Z,1761540315.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.60 m. 2025-10-27T04:45:15.054Z,1761540315.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.595474 m, nav range: 39.165829 m, bearing: 56.567126 deg, approach rate: -0.754179 m/s, LOS rate: 0.004126 deg/s, cmd heading: 52.151360 deg, new cmd heading: 52.157236 deg. 2025-10-27T04:45:15.055Z,1761540315.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910316 target range: 41.595474 and range: 41.80 m. 2025-10-27T04:45:15.137Z,1761540315.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509028 2025-10-27T04:45:15.390Z,1761540315.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762484 2025-10-27T04:45:15.431Z,1761540315.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585660,-0.790331,-0.179945],[0.810397,0.575339,0.110640],[0.016087,-0.210624,0.977435]] 2025-10-27T04:45:15.462Z,1761540315.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.60 m. 2025-10-27T04:45:15.468Z,1761540315.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.595474 m, nav range: 38.898125 m, bearing: 56.570295 deg, approach rate: -0.651778 m/s, LOS rate: 0.007768 deg/s, cmd heading: 52.157237 deg, new cmd heading: 52.166808 deg. 2025-10-27T04:45:15.469Z,1761540315.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.910483 target range: 41.595474 and range: 41.80 m. 2025-10-27T04:45:15.640Z,1761540315.640 [DAT](INFO): DAT read: Rx Time:04:45:14.0867 2025-10-27T04:45:15.641Z,1761540315.641 [DAT](INFO): Rx dataTimestamp_ set to:1761540315.640514 2025-10-27T04:45:15.641Z,1761540315.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013705 2025-10-27T04:45:15.855Z,1761540315.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589357,-0.787579,-0.179936],[0.807663,0.579477,0.109025],[0.018403,-0.209582,0.977618]] 2025-10-27T04:45:15.892Z,1761540315.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264376 2025-10-27T04:45:15.972Z,1761540315.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.60 m. 2025-10-27T04:45:15.975Z,1761540315.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.595474 m, nav range: 38.570839 m, bearing: 56.557042 deg, approach rate: -0.647496 m/s, LOS rate: -0.026441 deg/s, cmd heading: 52.166809 deg, new cmd heading: 52.126714 deg. 2025-10-27T04:45:15.980Z,1761540315.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909783 target range: 41.595474 and range: 41.80 m. 2025-10-27T04:45:16.150Z,1761540316.150 [DAT](INFO): DAT read: 04:45:14.0867 LVL= 26160, 32753, 30146, 32755, AGC= 67, IDX= 406,-0.23,-2.808, 1.691,-2.667,-3.005, PHS= 0.299,-1.543, 0.294, RAW= 149.9, 10.3, CAL= 149.6, 11.3, ROT= 0.4, -11.3 2025-10-27T04:45:16.152Z,1761540316.152 [DAT](INFO): got valid direction response: 04:45:14.0867 LVL= 26160, 32753, 30146, 32755, AGC= 67, IDX= 406,-0.23,-2.808, 1.691,-2.667,-3.005, PHS= 0.299,-1.543, 0.294, RAW= 149.9, 10.3, CAL= 149.6, 11.3, ROT= 0.4, -11.3 2025-10-27T04:45:16.152Z,1761540316.152 [DAT](INFO): DAT read: Bearing 207.9, -0.9 (Local) 2025-10-27T04:45:16.153Z,1761540316.153 [DAT](INFO): Local bearing/azimuth received: Bearing 207.9, -0.9 (Local) 2025-10-27T04:45:16.154Z,1761540316.154 [DAT](INFO): DAT read: Range 11 to 50 : 39.3 m (Round-trip 52.4 ms) speed 0.6 m/s 2025-10-27T04:45:16.155Z,1761540316.155 [DAT](INFO): DAT read: user:196> 2025-10-27T04:45:16.156Z,1761540316.156 [DAT](INFO): DAT read: Tx time:04:45:15.1801 2025-10-27T04:45:16.156Z,1761540316.156 [DAT](INFO): Ping request sent. 2025-10-27T04:45:16.156Z,1761540316.156 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:45:16.156Z,1761540316.156 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:45:16.157Z,1761540316.157 [DAT](INFO): direction in FSK: [0.980591,0.006846,0.195946] 2025-10-27T04:45:16.158Z,1761540316.158 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:16.158Z,1761540316.158 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:16.162Z,1761540316.162 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:16.162Z,1761540316.162 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:16.262Z,1761540316.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592409,-0.785176,-0.180415],[0.805364,0.583000,0.107237],[0.020983,-0.208828,0.977727]] 2025-10-27T04:45:16.324Z,1761540316.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.528444 s, deltaX: -2.500000 m, approachRate: -0.708528 m/s, rangeRepo size: 4 2025-10-27T04:45:16.326Z,1761540316.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.107697 m, bearing: 56.454932 deg, lat: 36.779332 deg, lon: -121.859550 deg, deltaT: 3.528444 s, deltaX: -2.487778 m, approachRate: -0.705064 m/s, posRepo size: 4 2025-10-27T04:45:16.326Z,1761540316.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:16.333Z,1761540316.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 38.229488 m, bearing: 56.454792 deg, approach rate: 0.000000 m/s, LOS rate: -0.026441 deg/s, cmd heading: 52.126713 deg, new cmd heading: 52.098485 deg. 2025-10-27T04:45:16.334Z,1761540316.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.909290 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:16.736Z,1761540316.736 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T04:45:16.736Z,1761540316.736 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:45:16.736Z,1761540316.736 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T04:45:16.738Z,1761540316.738 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.299999 m (mode 2.000000 count ). 2025-10-27T04:45:16.738Z,1761540316.738 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T04:45:16.738Z,1761540316.738 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T04:45:16.738Z,1761540316.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:16.761Z,1761540316.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:16.768Z,1761540316.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 37.922230 m, bearing: 56.420446 deg, approach rate: -0.702013 m/s, LOS rate: -0.079108 deg/s, cmd heading: 52.098484 deg, new cmd heading: 51.994611 deg. 2025-10-27T04:45:16.769Z,1761540316.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.907477 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:16.903Z,1761540316.903 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:45:16.903Z,1761540316.903 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:45:16.904Z,1761540316.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:45:17.063Z,1761540317.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596552,-0.781721,-0.181765],[0.802139,0.588194,0.102960],[0.026428,-0.207222,0.977937]] 2025-10-27T04:45:17.079Z,1761540317.079 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T04:45:17.080Z,1761540317.080 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T04:45:17.082Z,1761540317.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:17.089Z,1761540317.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 37.678158 m, bearing: 56.394712 deg, approach rate: -0.759911 m/s, LOS rate: -0.080641 deg/s, cmd heading: 51.994610 deg, new cmd heading: 51.916909 deg. 2025-10-27T04:45:17.090Z,1761540317.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.906121 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:17.154Z,1761540317.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998268 2025-10-27T04:45:17.409Z,1761540317.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252040 2025-10-27T04:45:17.466Z,1761540317.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597890,-0.780637,-0.182025],[0.801047,0.590153,0.100218],[0.029189,-0.205730,0.978173]] 2025-10-27T04:45:17.512Z,1761540317.512 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T04:45:17.512Z,1761540317.512 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T04:45:17.518Z,1761540317.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:17.522Z,1761540317.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 37.372837 m, bearing: 56.362849 deg, approach rate: -0.701690 m/s, LOS rate: -0.073827 deg/s, cmd heading: 51.916910 deg, new cmd heading: 51.820539 deg. 2025-10-27T04:45:17.523Z,1761540317.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.904439 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:17.661Z,1761540317.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504190 2025-10-27T04:45:17.879Z,1761540317.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598602,-0.780428,-0.180577],[0.800416,0.591680,0.096174],[0.031787,-0.202106,0.978848]] 2025-10-27T04:45:17.913Z,1761540317.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756974 2025-10-27T04:45:17.949Z,1761540317.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T04:45:17.949Z,1761540317.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:45:17.949Z,1761540317.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T04:45:17.950Z,1761540317.950 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:45:17.952Z,1761540317.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:17.955Z,1761540317.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 37.059189 m, bearing: 56.314101 deg, approach rate: -0.720868 m/s, LOS rate: -0.112988 deg/s, cmd heading: 51.820539 deg, new cmd heading: 51.673058 deg. 2025-10-27T04:45:17.956Z,1761540317.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.901865 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:18.165Z,1761540318.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008380 2025-10-27T04:45:18.282Z,1761540318.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598908,-0.780400,-0.179683],[0.800089,0.592680,0.092677],[0.034170,-0.199267,0.979349]] 2025-10-27T04:45:18.321Z,1761540318.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:18.330Z,1761540318.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 36.804337 m, bearing: 56.274016 deg, approach rate: -0.690449 m/s, LOS rate: -0.109350 deg/s, cmd heading: 51.673059 deg, new cmd heading: 51.551971 deg. 2025-10-27T04:45:18.332Z,1761540318.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899752 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:18.417Z,1761540318.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260725 2025-10-27T04:45:18.668Z,1761540318.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511701 2025-10-27T04:45:18.698Z,1761540318.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598084,-0.780993,-0.179846],[0.800473,0.593113,0.086367],[0.039217,-0.195617,0.979896]] 2025-10-27T04:45:18.758Z,1761540318.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:18.761Z,1761540318.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:18.764Z,1761540318.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 36.465336 m, bearing: 56.210461 deg, approach rate: -0.771224 m/s, LOS rate: -0.145930 deg/s, cmd heading: 51.551973 deg, new cmd heading: 51.359537 deg. 2025-10-27T04:45:18.765Z,1761540318.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.896393 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:18.922Z,1761540318.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765250 2025-10-27T04:45:19.099Z,1761540319.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597352,-0.781565,-0.179796],[0.800888,0.593044,0.082930],[0.041812,-0.193535,0.980202]] 2025-10-27T04:45:19.127Z,1761540319.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:19.130Z,1761540319.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 36.191803 m, bearing: 56.157885 deg, approach rate: -0.746169 m/s, LOS rate: -0.144506 deg/s, cmd heading: 51.359536 deg, new cmd heading: 51.200616 deg. 2025-10-27T04:45:19.131Z,1761540319.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.893619 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:19.173Z,1761540319.173 [DAT](INFO): DAT read: Rx Time:04:45:17.6334 2025-10-27T04:45:19.173Z,1761540319.173 [DAT](INFO): Rx dataTimestamp_ set to:1761540319.173153 2025-10-27T04:45:19.174Z,1761540319.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018159 2025-10-27T04:45:19.424Z,1761540319.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268046 2025-10-27T04:45:19.517Z,1761540319.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597223,-0.781465,-0.180658],[0.800871,0.593339,0.080952],[0.043930,-0.193030,0.980209]] 2025-10-27T04:45:19.544Z,1761540319.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.11 m. 2025-10-27T04:45:19.550Z,1761540319.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.107697 m, nav range: 35.882431 m, bearing: 56.097388 deg, approach rate: -0.744375 m/s, LOS rate: -0.146817 deg/s, cmd heading: 51.200614 deg, new cmd heading: 51.017558 deg. 2025-10-27T04:45:19.551Z,1761540319.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.890424 target range: 39.107697 and range: 39.30 m. 2025-10-27T04:45:19.682Z,1761540319.682 [DAT](INFO): DAT read: 04:45:17.6334 LVL= 30048, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.27, 2.764, 0.935, 2.860, 2.604, PHS= 0.262,-1.624, 0.212, RAW= 148.7, 12.3, CAL= 148.5, 13.5, ROT= 1.5, -13.5 2025-10-27T04:45:19.683Z,1761540319.683 [DAT](INFO): got valid direction response: 04:45:17.6334 LVL= 30048, 32753, 32754, 32755, AGC= 68, IDX= 404, 0.27, 2.764, 0.935, 2.860, 2.604, PHS= 0.262,-1.624, 0.212, RAW= 148.7, 12.3, CAL= 148.5, 13.5, ROT= 1.5, -13.5 2025-10-27T04:45:19.684Z,1761540319.684 [DAT](INFO): DAT read: Bearing 209.1, 0.8 (Local) 2025-10-27T04:45:19.684Z,1761540319.684 [DAT](INFO): Local bearing/azimuth received: Bearing 209.1, 0.8 (Local) 2025-10-27T04:45:19.686Z,1761540319.686 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (Round-trip 49.2 ms) speed 0.6 m/s 2025-10-27T04:45:19.687Z,1761540319.687 [DAT](INFO): DAT read: user:197> 2025-10-27T04:45:19.687Z,1761540319.687 [DAT](INFO): DAT read: Tx time:04:45:18.7301 2025-10-27T04:45:19.688Z,1761540319.688 [DAT](INFO): Ping request sent. 2025-10-27T04:45:19.688Z,1761540319.688 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:45:19.688Z,1761540319.688 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:45:19.689Z,1761540319.689 [DAT](INFO): direction in FSK: [0.972037,0.025454,0.233445] 2025-10-27T04:45:19.689Z,1761540319.689 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:19.690Z,1761540319.690 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:19.693Z,1761540319.693 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:19.694Z,1761540319.694 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:19.921Z,1761540319.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596616,-0.782077,-0.180014],[0.801190,0.593387,0.077375],[0.046305,-0.190389,0.980616]] 2025-10-27T04:45:19.984Z,1761540319.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 3.531591 s, deltaX: -2.399998 m, approachRate: -0.679580 m/s, rangeRepo size: 4 2025-10-27T04:45:19.986Z,1761540319.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.719269 m, bearing: 57.463301 deg, lat: 36.779332 deg, lon: -121.859550 deg, deltaT: 3.531591 s, deltaX: -2.388428 m, approachRate: -0.676304 m/s, posRepo size: 4 2025-10-27T04:45:19.991Z,1761540319.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:19.994Z,1761540319.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 35.571152 m, bearing: 56.045687 deg, approach rate: 0.000000 m/s, LOS rate: -0.146817 deg/s, cmd heading: 51.017558 deg, new cmd heading: 50.823350 deg. 2025-10-27T04:45:19.999Z,1761540319.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.887035 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:20.319Z,1761540320.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596130,-0.782126,-0.181407],[0.801404,0.593373,0.075236],[0.048798,-0.190231,0.980526]] 2025-10-27T04:45:20.338Z,1761540320.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:20.341Z,1761540320.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 35.292942 m, bearing: 55.988395 deg, approach rate: -0.785890 m/s, LOS rate: -0.163113 deg/s, cmd heading: 50.823349 deg, new cmd heading: 50.650120 deg. 2025-10-27T04:45:20.342Z,1761540320.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.884011 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:20.728Z,1761540320.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596215,-0.781937,-0.181938],[0.801190,0.593975,0.072720],[0.051204,-0.189124,0.980617]] 2025-10-27T04:45:20.776Z,1761540320.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:20.778Z,1761540320.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:20.781Z,1761540320.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 34.973248 m, bearing: 55.938176 deg, approach rate: -0.725942 m/s, LOS rate: -0.115076 deg/s, cmd heading: 50.650122 deg, new cmd heading: 50.498088 deg. 2025-10-27T04:45:20.782Z,1761540320.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.881358 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:20.936Z,1761540320.936 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:45:20.936Z,1761540320.936 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:45:20.936Z,1761540320.936 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:45:21.160Z,1761540321.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:21.163Z,1761540321.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 34.695225 m, bearing: 55.893748 deg, approach rate: -0.728148 m/s, LOS rate: -0.117292 deg/s, cmd heading: 50.498088 deg, new cmd heading: 50.363734 deg. 2025-10-27T04:45:21.164Z,1761540321.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.879013 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:21.188Z,1761540321.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500141 2025-10-27T04:45:21.440Z,1761540321.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752028 2025-10-27T04:45:21.530Z,1761540321.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597307,-0.780277,-0.185449],[0.800047,0.595875,0.069700],[0.056120,-0.190000,0.980179]] 2025-10-27T04:45:21.548Z,1761540321.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:21.568Z,1761540321.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 34.412815 m, bearing: 55.848663 deg, approach rate: -0.726890 m/s, LOS rate: -0.116994 deg/s, cmd heading: 50.363735 deg, new cmd heading: 50.227372 deg. 2025-10-27T04:45:21.568Z,1761540321.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.876633 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:21.693Z,1761540321.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004611 2025-10-27T04:45:21.942Z,1761540321.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598862,-0.778557,-0.187651],[0.798719,0.597731,0.069037],[0.058416,-0.191224,0.979807]] 2025-10-27T04:45:21.944Z,1761540321.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256135 2025-10-27T04:45:21.980Z,1761540321.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:21.983Z,1761540321.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 34.105797 m, bearing: 55.810259 deg, approach rate: -0.711020 m/s, LOS rate: -0.089740 deg/s, cmd heading: 50.227370 deg, new cmd heading: 50.111122 deg. 2025-10-27T04:45:21.984Z,1761540321.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874604 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:22.196Z,1761540322.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508042 2025-10-27T04:45:22.343Z,1761540322.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600344,-0.777026,-0.189253],[0.797422,0.599611,0.067712],[0.060864,-0.191565,0.979591]] 2025-10-27T04:45:22.363Z,1761540322.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:22.365Z,1761540322.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 33.833675 m, bearing: 55.776565 deg, approach rate: -0.711946 m/s, LOS rate: -0.088862 deg/s, cmd heading: 50.111121 deg, new cmd heading: 50.009226 deg. 2025-10-27T04:45:22.366Z,1761540322.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872826 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:22.449Z,1761540322.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760876 2025-10-27T04:45:22.701Z,1761540322.701 [DAT](INFO): DAT read: Rx Time:04:45:21.1801 2025-10-27T04:45:22.701Z,1761540322.701 [DAT](INFO): Rx dataTimestamp_ set to:1761540322.700990 2025-10-27T04:45:22.702Z,1761540322.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014171 2025-10-27T04:45:22.758Z,1761540322.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602172,-0.775218,-0.190854],[0.795879,0.601747,0.066917],[0.062971,-0.192192,0.979335]] 2025-10-27T04:45:22.804Z,1761540322.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:22.806Z,1761540322.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:22.809Z,1761540322.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 33.526001 m, bearing: 55.750237 deg, approach rate: -0.694252 m/s, LOS rate: -0.059953 deg/s, cmd heading: 50.009224 deg, new cmd heading: 49.929515 deg. 2025-10-27T04:45:22.810Z,1761540322.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871434 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:22.952Z,1761540322.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264018 2025-10-27T04:45:23.149Z,1761540323.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604763,-0.772565,-0.193404],[0.793740,0.604549,0.067071],[0.065105,-0.194074,0.978824]] 2025-10-27T04:45:23.185Z,1761540323.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:45:23.188Z,1761540323.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.719269 m, nav range: 33.273304 m, bearing: 55.729771 deg, approach rate: -0.666919 m/s, LOS rate: -0.054426 deg/s, cmd heading: 49.929516 deg, new cmd heading: 49.867650 deg. 2025-10-27T04:45:23.189Z,1761540323.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870355 target range: 36.719269 and range: 36.90 m. 2025-10-27T04:45:23.213Z,1761540323.213 [DAT](INFO): DAT read: 04:45:21.1801 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402, 0.11, 2.265, 0.467, 2.369, 2.164, PHS= 0.203,-1.652, 0.160, RAW= 148.8, 14.0, CAL= 148.9, 15.4, ROT= 1.1, -15.4 2025-10-27T04:45:23.214Z,1761540323.214 [DAT](INFO): got valid direction response: 04:45:21.1801 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402, 0.11, 2.265, 0.467, 2.369, 2.164, PHS= 0.203,-1.652, 0.160, RAW= 148.8, 14.0, CAL= 148.9, 15.4, ROT= 1.1, -15.4 2025-10-27T04:45:23.236Z,1761540323.236 [DAT](INFO): DAT read: Bearing 210.5, 1.2 (Local) 2025-10-27T04:45:23.236Z,1761540323.236 [DAT](INFO): Local bearing/azimuth received: Bearing 210.5, 1.2 (Local) 2025-10-27T04:45:23.238Z,1761540323.238 [DAT](INFO): DAT read: Range 11 to 50 : 34.3 m (Round-trip 45.8 ms) speed 0.8 m/s 2025-10-27T04:45:23.251Z,1761540323.251 [DAT](INFO): DAT read: user:198> 2025-10-27T04:45:23.252Z,1761540323.252 [DAT](INFO): DAT read: Tx time:04:45:22.2801 2025-10-27T04:45:23.252Z,1761540323.252 [DAT](INFO): Ping request sent. 2025-10-27T04:45:23.252Z,1761540323.252 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:45:23.253Z,1761540323.253 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:45:23.254Z,1761540323.254 [DAT](INFO): direction in FSK: [0.963918,0.018508,0.265556] 2025-10-27T04:45:23.254Z,1761540323.254 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:23.254Z,1761540323.254 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:23.266Z,1761540323.266 [DAT](INFO): publishing transmit ping time 2025-10-27T04:45:23.281Z,1761540323.281 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:23.291Z,1761540323.291 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.038066 2025-10-27T04:45:23.456Z,1761540323.456 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.203513 2025-10-27T04:45:23.554Z,1761540323.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607275,-0.770086,-0.195410],[0.791634,0.607347,0.066681],[0.067331,-0.195187,0.978452]] 2025-10-27T04:45:23.586Z,1761540323.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.299999 m, deltaT: 3.530223 s, deltaX: -2.600002 m, approachRate: -0.736498 m/s, rangeRepo size: 4 2025-10-27T04:45:23.588Z,1761540323.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.132095 m, bearing: 56.752620 deg, lat: 36.779328 deg, lon: -121.859550 deg, deltaT: 3.530223 s, deltaX: -2.587173 m, approachRate: -0.732864 m/s, posRepo size: 4 2025-10-27T04:45:23.589Z,1761540323.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.13 m. 2025-10-27T04:45:23.609Z,1761540323.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.132095 m, nav range: 32.724586 m, bearing: 56.386528 deg, approach rate: 0.000000 m/s, LOS rate: -0.054426 deg/s, cmd heading: 49.867652 deg, new cmd heading: 49.802251 deg. 2025-10-27T04:45:23.610Z,1761540323.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869213 target range: 34.132095 and range: 34.30 m. 2025-10-27T04:45:23.709Z,1761540323.709 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.456458 2025-10-27T04:45:23.958Z,1761540323.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609891,-0.767489,-0.197467],[0.789442,0.610202,0.066595],[0.069383,-0.196504,0.978045]] 2025-10-27T04:45:23.960Z,1761540323.960 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.707481 2025-10-27T04:45:24.018Z,1761540324.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.13 m. 2025-10-27T04:45:24.021Z,1761540324.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.132095 m, nav range: 32.428688 m, bearing: 56.387101 deg, approach rate: -0.684201 m/s, LOS rate: 0.001338 deg/s, cmd heading: 49.802253 deg, new cmd heading: 49.803988 deg. 2025-10-27T04:45:24.021Z,1761540324.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869244 target range: 34.132095 and range: 34.30 m. 2025-10-27T04:45:24.213Z,1761540324.213 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.960115 2025-10-27T04:45:24.363Z,1761540324.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612750,-0.764804,-0.199029],[0.787057,0.613294,0.066419],[0.071266,-0.197345,0.977740]] 2025-10-27T04:45:24.464Z,1761540324.464 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.211389 2025-10-27T04:45:24.489Z,1761540324.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.13 m. 2025-10-27T04:45:24.492Z,1761540324.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.132095 m, nav range: 32.108849 m, bearing: 56.389881 deg, approach rate: -0.678122 m/s, LOS rate: 0.005951 deg/s, cmd heading: 49.803987 deg, new cmd heading: 49.812408 deg. 2025-10-27T04:45:24.493Z,1761540324.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869391 target range: 34.132095 and range: 34.30 m. 2025-10-27T04:45:24.717Z,1761540324.717 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.464536 2025-10-27T04:45:24.968Z,1761540324.968 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.715513 2025-10-27T04:45:25.019Z,1761540325.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:25.021Z,1761540325.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.13 m. 2025-10-27T04:45:25.024Z,1761540325.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.132095 m, nav range: 31.751755 m, bearing: 56.402602 deg, approach rate: -0.671184 m/s, LOS rate: 0.024180 deg/s, cmd heading: 49.812409 deg, new cmd heading: 49.851002 deg. 2025-10-27T04:45:25.025Z,1761540325.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870064 target range: 34.132095 and range: 34.30 m. 2025-10-27T04:45:25.221Z,1761540325.221 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.968129 2025-10-27T04:45:25.447Z,1761540325.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618336,-0.759639,-0.201517],[0.782329,0.619399,0.065619],[0.074973,-0.198227,0.977284]] 2025-10-27T04:45:25.474Z,1761540325.474 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.221053 2025-10-27T04:45:25.501Z,1761540325.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.13 m. 2025-10-27T04:45:25.504Z,1761540325.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.132095 m, nav range: 31.433146 m, bearing: 56.418457 deg, approach rate: -0.663873 m/s, LOS rate: 0.033372 deg/s, cmd heading: 49.851003 deg, new cmd heading: 49.899052 deg. 2025-10-27T04:45:25.505Z,1761540325.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870903 target range: 34.132095 and range: 34.30 m. 2025-10-27T04:45:25.725Z,1761540325.725 [DAT](INFO): DAT read: Rx Time:04:45:24.4520 2025-10-27T04:45:25.726Z,1761540325.726 [DAT](INFO): Rx dataTimestamp_ set to:1761540325.725598 2025-10-27T04:45:25.728Z,1761540325.728 [DAT](INFO): DAT read: Bearing 212.2, 1.5 (Local) 2025-10-27T04:45:25.729Z,1761540325.729 [DAT](INFO): Local bearing/azimuth received: Bearing 212.2, 1.5 (Local) 2025-10-27T04:45:25.732Z,1761540325.732 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.7 2025-10-27T04:45:25.737Z,1761540325.737 [DAT](INFO): DAT read: 04:45:24.4520 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402,-0.23,-2.605, 1.931,-2.502,-2.625, PHS= 0.122,-1.682, 0.079, RAW= 148.8, 16.4, CAL= 149.0, 18.2, ROT= 1.0, -18.2 2025-10-27T04:45:25.738Z,1761540325.738 [DAT](INFO): got valid direction response: 04:45:24.4520 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402,-0.23,-2.605, 1.931,-2.502,-2.625, PHS= 0.122,-1.682, 0.079, RAW= 148.8, 16.4, CAL= 149.0, 18.2, ROT= 1.0, -18.2 2025-10-27T04:45:25.738Z,1761540325.738 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:45:25.739Z,1761540325.739 [DAT](INFO): direction in FSK: [0.949827,0.016579,0.312335] 2025-10-27T04:45:25.739Z,1761540325.739 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:25.759Z,1761540325.759 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.506476 2025-10-27T04:45:25.928Z,1761540325.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621772,-0.756489,-0.202792],[0.779077,0.623936,0.061180],[0.080247,-0.196031,0.977309]] 2025-10-27T04:45:25.976Z,1761540325.976 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.723487 2025-10-27T04:45:25.999Z,1761540325.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 2.519862 s, deltaX: -2.299999 m, approachRate: -0.912748 m/s, rangeRepo size: 4 2025-10-27T04:45:26.001Z,1761540326.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.843145 m, bearing: 56.220663 deg, lat: 36.779324 deg, lon: -121.859550 deg, deltaT: 2.519862 s, deltaX: -2.288950 m, approachRate: -0.908363 m/s, posRepo size: 4 2025-10-27T04:45:26.002Z,1761540326.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.84 m. 2025-10-27T04:45:26.025Z,1761540326.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.843145 m, nav range: 30.887079 m, bearing: 57.020362 deg, approach rate: 0.000000 m/s, LOS rate: 0.033372 deg/s, cmd heading: 49.899050 deg, new cmd heading: 49.948790 deg. 2025-10-27T04:45:26.026Z,1761540326.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871771 target range: 31.843145 and range: 32.00 m. 2025-10-27T04:45:26.228Z,1761540326.228 [DAT](INFO): DAT read: Rx Time:04:45:24.9517 2025-10-27T04:45:26.229Z,1761540326.229 [DAT](INFO): Rx dataTimestamp_ set to:1761540326.228665 2025-10-27T04:45:26.230Z,1761540326.230 [DAT](INFO): DAT read: Bearing 210.4, 2.7 (Local) 2025-10-27T04:45:26.231Z,1761540326.231 [DAT](INFO): Local bearing/azimuth received: Bearing 210.4, 2.7 (Local) 2025-10-27T04:45:26.233Z,1761540326.233 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.6 2025-10-27T04:45:26.237Z,1761540326.237 [DAT](INFO): DAT read: 04:45:24.9517 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.41, 3.017, 1.227, 3.104, 2.936, PHS= 0.182,-1.665, 0.124, RAW= 148.4, 14.8, CAL= 148.5, 16.4, ROT= 1.5, -16.4 2025-10-27T04:45:26.238Z,1761540326.238 [DAT](INFO): got valid direction response: 04:45:24.9517 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496,-0.41, 3.017, 1.227, 3.104, 2.936, PHS= 0.182,-1.665, 0.124, RAW= 148.4, 14.8, CAL= 148.5, 16.4, ROT= 1.5, -16.4 2025-10-27T04:45:26.239Z,1761540326.239 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T04:45:26.240Z,1761540326.240 [DAT](INFO): direction in FSK: [0.958985,0.025112,0.282341] 2025-10-27T04:45:26.240Z,1761540326.240 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:26.244Z,1761540326.244 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.991345 2025-10-27T04:45:26.330Z,1761540326.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623488,-0.754693,-0.204210],[0.777448,0.626094,0.059847],[0.082688,-0.196076,0.977096]] 2025-10-27T04:45:26.374Z,1761540326.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.503067 s, deltaX: -0.500000 m, approachRate: -0.993903 m/s, rangeRepo size: 4 2025-10-27T04:45:26.386Z,1761540326.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.345596 m, bearing: 56.181660 deg, lat: 36.779324 deg, lon: -121.859552 deg, deltaT: 0.503067 s, deltaX: -0.497549 m, approachRate: -0.989031 m/s, posRepo size: 4 2025-10-27T04:45:26.386Z,1761540326.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.35 m. 2025-10-27T04:45:26.416Z,1761540326.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.345596 m, nav range: 30.444839 m, bearing: 56.840544 deg, approach rate: 0.000000 m/s, LOS rate: 0.033372 deg/s, cmd heading: 49.948791 deg, new cmd heading: 49.986362 deg. 2025-10-27T04:45:26.417Z,1761540326.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872427 target range: 31.345596 and range: 31.50 m. 2025-10-27T04:45:26.481Z,1761540326.481 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.228438 2025-10-27T04:45:26.737Z,1761540326.737 [DAT](INFO): DAT read: Rx Time:04:45:25.4513 2025-10-27T04:45:26.738Z,1761540326.738 [DAT](INFO): Rx dataTimestamp_ set to:1761540326.737434 2025-10-27T04:45:26.743Z,1761540326.743 [DAT](INFO): DAT read: Bearing 210.9, 2.1 (Local) 2025-10-27T04:45:26.744Z,1761540326.744 [DAT](INFO): Local bearing/azimuth received: Bearing 210.9, 2.1 (Local) 2025-10-27T04:45:26.752Z,1761540326.752 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.6 2025-10-27T04:45:26.760Z,1761540326.760 [DAT](INFO): DAT read: 04:45:25.4513 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508, 0.22,-2.244, 2.290,-2.136,-2.292, PHS= 0.149,-1.657, 0.111, RAW= 148.9, 15.4, CAL= 149.1, 17.1, ROT= 0.9, -17.1 2025-10-27T04:45:26.762Z,1761540326.762 [DAT](INFO): got valid direction response: 04:45:25.4513 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508, 0.22,-2.244, 2.290,-2.136,-2.292, PHS= 0.149,-1.657, 0.111, RAW= 148.9, 15.4, CAL= 149.1, 17.1, ROT= 0.9, -17.1 2025-10-27T04:45:26.762Z,1761540326.762 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T04:45:26.791Z,1761540326.791 [DAT](INFO): direction in FSK: [0.955675,0.015013,0.294040] 2025-10-27T04:45:26.791Z,1761540326.791 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:26.795Z,1761540326.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624634,-0.753310,-0.205806],[0.776192,0.627856,0.057654],[0.085785,-0.195758,0.976893]] 2025-10-27T04:45:26.807Z,1761540326.807 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.542272 2025-10-27T04:45:26.926Z,1761540326.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.508769 s, deltaX: -0.400000 m, approachRate: -0.786211 m/s, rangeRepo size: 4 2025-10-27T04:45:26.932Z,1761540326.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.947533 m, bearing: 55.643262 deg, lat: 36.779322 deg, lon: -121.859564 deg, deltaT: 0.508769 s, deltaX: -0.398064 m, approachRate: -0.782405 m/s, posRepo size: 4 2025-10-27T04:45:26.933Z,1761540326.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.95 m. 2025-10-27T04:45:26.940Z,1761540326.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.947533 m, nav range: 29.066139 m, bearing: 56.005480 deg, approach rate: 0.000000 m/s, LOS rate: 0.033372 deg/s, cmd heading: 49.986360 deg, new cmd heading: 50.041625 deg. 2025-10-27T04:45:26.941Z,1761540326.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873391 target range: 30.947533 and range: 31.10 m. 2025-10-27T04:45:26.985Z,1761540326.985 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.732435 2025-10-27T04:45:27.167Z,1761540327.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625398,-0.752625,-0.205993],[0.775241,0.629328,0.054305],[0.088766,-0.193656,0.977045]] 2025-10-27T04:45:27.192Z,1761540327.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:27.194Z,1761540327.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.95 m. 2025-10-27T04:45:27.197Z,1761540327.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.947533 m, nav range: 28.862497 m, bearing: 56.006200 deg, approach rate: -0.758132 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.041627 deg, new cmd heading: 50.043803 deg. 2025-10-27T04:45:27.198Z,1761540327.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873429 target range: 30.947533 and range: 31.10 m. 2025-10-27T04:45:27.237Z,1761540327.237 [DAT](INFO): DAT read: Rx Time:04:45:25.9511 2025-10-27T04:45:27.238Z,1761540327.238 [DAT](INFO): Rx dataTimestamp_ set to:1761540327.237510 2025-10-27T04:45:27.240Z,1761540327.240 [DAT](INFO): DAT read: Bearing 209.7, 3.2 (Local) 2025-10-27T04:45:27.240Z,1761540327.240 [DAT](INFO): Local bearing/azimuth received: Bearing 209.7, 3.2 (Local) 2025-10-27T04:45:27.243Z,1761540327.243 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.7 2025-10-27T04:45:27.250Z,1761540327.250 [DAT](INFO): DAT read: 04:45:25.9511 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.10, 3.019, 1.230, 3.110, 2.927, PHS= 0.194,-1.652, 0.139, RAW= 148.5, 14.4, CAL= 148.5, 15.9, ROT= 1.5, -15.9 2025-10-27T04:45:27.251Z,1761540327.251 [DAT](INFO): got valid direction response: 04:45:25.9511 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.10, 3.019, 1.230, 3.110, 2.927, PHS= 0.194,-1.652, 0.139, RAW= 148.5, 14.4, CAL= 148.5, 15.9, ROT= 1.5, -15.9 2025-10-27T04:45:27.252Z,1761540327.252 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T04:45:27.253Z,1761540327.253 [DAT](INFO): direction in FSK: [0.961412,0.025175,0.273959] 2025-10-27T04:45:27.254Z,1761540327.254 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:27.258Z,1761540327.258 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.005365 2025-10-27T04:45:27.488Z,1761540327.488 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.235368 2025-10-27T04:45:27.569Z,1761540327.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625904,-0.751969,-0.206851],[0.774449,0.630574,0.051043],[0.092052,-0.192143,0.977040]] 2025-10-27T04:45:27.664Z,1761540327.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.500076 s, deltaX: -0.300001 m, approachRate: -0.599911 m/s, rangeRepo size: 4 2025-10-27T04:45:27.672Z,1761540327.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.649002 m, bearing: 55.807388 deg, lat: 36.779322 deg, lon: -121.859564 deg, deltaT: 0.500076 s, deltaX: -0.298531 m, approachRate: -0.596970 m/s, posRepo size: 4 2025-10-27T04:45:27.673Z,1761540327.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.65 m. 2025-10-27T04:45:27.682Z,1761540327.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.649002 m, nav range: 28.561377 m, bearing: 56.007809 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.043802 deg, new cmd heading: 50.047567 deg. 2025-10-27T04:45:27.711Z,1761540327.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873495 target range: 30.649002 and range: 30.80 m. 2025-10-27T04:45:27.745Z,1761540327.745 [DAT](INFO): DAT read: Rx Time:04:45:26.4508 2025-10-27T04:45:27.749Z,1761540327.749 [DAT](INFO): Rx dataTimestamp_ set to:1761540327.748691 2025-10-27T04:45:27.750Z,1761540327.750 [DAT](INFO): DAT read: Bearing 209.4, 4.1 (Local) 2025-10-27T04:45:27.751Z,1761540327.751 [DAT](INFO): Local bearing/azimuth received: Bearing 209.4, 4.1 (Local) 2025-10-27T04:45:27.753Z,1761540327.753 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.6 2025-10-27T04:45:27.757Z,1761540327.757 [DAT](INFO): DAT read: 04:45:26.4508 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.04, 0.201,-1.589, 0.269, 0.092, PHS= 0.211,-1.636, 0.134, RAW= 147.9, 14.2, CAL= 147.8, 15.6, ROT= 2.2, -15.6 2025-10-27T04:45:27.759Z,1761540327.759 [DAT](INFO): got valid direction response: 04:45:26.4508 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.04, 0.201,-1.589, 0.269, 0.092, PHS= 0.211,-1.636, 0.134, RAW= 147.9, 14.2, CAL= 147.8, 15.6, ROT= 2.2, -15.6 2025-10-27T04:45:27.759Z,1761540327.759 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T04:45:27.760Z,1761540327.760 [DAT](INFO): direction in FSK: [0.962453,0.036974,0.268920] 2025-10-27T04:45:27.760Z,1761540327.760 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:27.791Z,1761540327.791 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.538840 2025-10-27T04:45:27.992Z,1761540327.992 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.739838 2025-10-27T04:45:28.196Z,1761540328.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.511181 s, deltaX: -0.500000 m, approachRate: -0.978127 m/s, rangeRepo size: 4 2025-10-27T04:45:28.198Z,1761540328.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.151403 m, bearing: 56.443696 deg, lat: 36.779321 deg, lon: -121.859564 deg, deltaT: 0.511181 s, deltaX: -0.497599 m, approachRate: -0.973429 m/s, posRepo size: 4 2025-10-27T04:45:28.199Z,1761540328.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T04:45:28.201Z,1761540328.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.151403 m, nav range: 28.118778 m, bearing: 56.181856 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.047566 deg, new cmd heading: 50.051913 deg. 2025-10-27T04:45:28.202Z,1761540328.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873571 target range: 30.151403 and range: 30.30 m. 2025-10-27T04:45:28.245Z,1761540328.245 [DAT](INFO): DAT read: Rx Time:04:45:26.9507 2025-10-27T04:45:28.245Z,1761540328.245 [DAT](INFO): Rx dataTimestamp_ set to:1761540328.244781 2025-10-27T04:45:28.246Z,1761540328.246 [DAT](INFO): DAT read: Bearing 210.1, 3.9 (Local) 2025-10-27T04:45:28.247Z,1761540328.247 [DAT](INFO): Local bearing/azimuth received: Bearing 210.1, 3.9 (Local) 2025-10-27T04:45:28.249Z,1761540328.249 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.6 2025-10-27T04:45:28.253Z,1761540328.253 [DAT](INFO): DAT read: 04:45:26.9507 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.21, 1.406,-0.351, 1.483, 1.326, PHS= 0.182,-1.633, 0.113, RAW= 148.1, 14.9, CAL= 148.1, 16.5, ROT= 1.9, -16.5 2025-10-27T04:45:28.255Z,1761540328.255 [DAT](INFO): got valid direction response: 04:45:26.9507 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.21, 1.406,-0.351, 1.483, 1.326, PHS= 0.182,-1.633, 0.113, RAW= 148.1, 14.9, CAL= 148.1, 16.5, ROT= 1.9, -16.5 2025-10-27T04:45:28.255Z,1761540328.255 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T04:45:28.256Z,1761540328.256 [DAT](INFO): direction in FSK: [0.958293,0.031790,0.284015] 2025-10-27T04:45:28.256Z,1761540328.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:28.292Z,1761540328.292 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.039799 2025-10-27T04:45:28.496Z,1761540328.496 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.243537 2025-10-27T04:45:28.659Z,1761540328.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.496090 s, deltaX: -0.099998 m, approachRate: -0.201573 m/s, rangeRepo size: 4 2025-10-27T04:45:28.661Z,1761540328.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.051895 m, bearing: 56.343101 deg, lat: 36.779322 deg, lon: -121.859564 deg, deltaT: 0.496090 s, deltaX: -0.099508 m, approachRate: -0.200585 m/s, posRepo size: 4 2025-10-27T04:45:28.662Z,1761540328.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.05 m. 2025-10-27T04:45:28.685Z,1761540328.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.051895 m, nav range: 27.892092 m, bearing: 56.138249 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.051913 deg, new cmd heading: 50.055598 deg. 2025-10-27T04:45:28.686Z,1761540328.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873635 target range: 30.051895 and range: 30.20 m. 2025-10-27T04:45:28.753Z,1761540328.753 [DAT](INFO): DAT read: Rx Time:04:45:27.4504 2025-10-27T04:45:28.754Z,1761540328.754 [DAT](INFO): Rx dataTimestamp_ set to:1761540328.753189 2025-10-27T04:45:28.759Z,1761540328.759 [DAT](INFO): DAT read: Bearing 210.7, 4.8 (Local) 2025-10-27T04:45:28.760Z,1761540328.760 [DAT](INFO): Local bearing/azimuth received: Bearing 210.7, 4.8 (Local) 2025-10-27T04:45:28.767Z,1761540328.767 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.6 2025-10-27T04:45:28.778Z,1761540328.778 [DAT](INFO): DAT read: 04:45:27.4504 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.36,-0.371,-2.109,-0.321,-0.447, PHS= 0.178,-1.617, 0.082, RAW= 147.3, 15.3, CAL= 147.2, 16.9, ROT= 2.8, -16.9 2025-10-27T04:45:28.779Z,1761540328.779 [DAT](INFO): got valid direction response: 04:45:27.4504 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.36,-0.371,-2.109,-0.321,-0.447, PHS= 0.178,-1.617, 0.082, RAW= 147.3, 15.3, CAL= 147.2, 16.9, ROT= 2.8, -16.9 2025-10-27T04:45:28.780Z,1761540328.780 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T04:45:28.781Z,1761540328.781 [DAT](INFO): direction in FSK: [0.955671,0.046740,0.290702] 2025-10-27T04:45:28.781Z,1761540328.781 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:28.789Z,1761540328.789 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.536908 2025-10-27T04:45:29.001Z,1761540329.001 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.747740 2025-10-27T04:45:29.217Z,1761540329.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625638,-0.751174,-0.210511],[0.773115,0.633089,0.038623],[0.104259,-0.186913,0.976828]] 2025-10-27T04:45:29.253Z,1761540329.253 [DAT](INFO): DAT read: Rx Time:04:45:27.9502 2025-10-27T04:45:29.253Z,1761540329.253 [DAT](INFO): Rx dataTimestamp_ set to:1761540329.252939 2025-10-27T04:45:29.254Z,1761540329.254 [DAT](INFO): DAT read: Bearing 212.2, 3.6 (Local) 2025-10-27T04:45:29.255Z,1761540329.255 [DAT](INFO): Local bearing/azimuth received: Bearing 212.2, 3.6 (Local) 2025-10-27T04:45:29.257Z,1761540329.257 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.7 2025-10-27T04:45:29.262Z,1761540329.262 [DAT](INFO): DAT read: 04:45:27.9502 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.28,-2.418, 2.206,-2.336,-2.424, PHS= 0.109,-1.608, 0.045, RAW= 148.1, 17.0, CAL= 148.3, 18.8, ROT= 1.7, -18.8 2025-10-27T04:45:29.263Z,1761540329.263 [DAT](INFO): got valid direction response: 04:45:27.9502 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.28,-2.418, 2.206,-2.336,-2.424, PHS= 0.109,-1.608, 0.045, RAW= 148.1, 17.0, CAL= 148.3, 18.8, ROT= 1.7, -18.8 2025-10-27T04:45:29.263Z,1761540329.263 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T04:45:29.264Z,1761540329.264 [DAT](INFO): direction in FSK: [0.946233,0.028084,0.322266] 2025-10-27T04:45:29.264Z,1761540329.264 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:29.272Z,1761540329.272 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.019747 2025-10-27T04:45:29.319Z,1761540329.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 1.008158 s, deltaX: -0.800001 m, approachRate: -0.793528 m/s, rangeRepo size: 4 2025-10-27T04:45:29.321Z,1761540329.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.255836 m, bearing: 56.559836 deg, lat: 36.779322 deg, lon: -121.859564 deg, deltaT: 1.008158 s, deltaX: -0.796059 m, approachRate: -0.789617 m/s, posRepo size: 4 2025-10-27T04:45:29.322Z,1761540329.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.26 m. 2025-10-27T04:45:29.337Z,1761540329.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.255836 m, nav range: 27.446823 m, bearing: 56.109057 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.055598 deg, new cmd heading: 50.061012 deg. 2025-10-27T04:45:29.338Z,1761540329.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873729 target range: 29.255836 and range: 29.40 m. 2025-10-27T04:45:29.507Z,1761540329.507 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.254677 2025-10-27T04:45:29.762Z,1761540329.762 [DAT](INFO): DAT read: Rx Time:04:45:28.4500 2025-10-27T04:45:29.764Z,1761540329.764 [DAT](INFO): Rx dataTimestamp_ set to:1761540329.762486 2025-10-27T04:45:29.768Z,1761540329.768 [DAT](INFO): DAT read: Bearing 210.2, 5.6 (Local) 2025-10-27T04:45:29.769Z,1761540329.769 [DAT](INFO): Local bearing/azimuth received: Bearing 210.2, 5.6 (Local) 2025-10-27T04:45:29.805Z,1761540329.805 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.6 2025-10-27T04:45:29.818Z,1761540329.818 [DAT](INFO): DAT read: 04:45:28.4500 LVL= 32496, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.22, 1.759, 0.008, 1.799, 1.666, PHS= 0.194,-1.613, 0.088, RAW= 147.0, 15.0, CAL= 146.9, 16.5, ROT= 3.1, -16.5 2025-10-27T04:45:29.823Z,1761540329.823 [DAT](INFO): got valid direction response: 04:45:28.4500 LVL= 32496, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.22, 1.759, 0.008, 1.799, 1.666, PHS= 0.194,-1.613, 0.088, RAW= 147.0, 15.0, CAL= 146.9, 16.5, ROT= 3.1, -16.5 2025-10-27T04:45:29.824Z,1761540329.824 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T04:45:29.824Z,1761540329.824 [DAT](INFO): direction in FSK: [0.957417,0.051852,0.284015] 2025-10-27T04:45:29.825Z,1761540329.825 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:29.836Z,1761540329.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625264,-0.751015,-0.212182],[0.773035,0.633320,0.036378],[0.107059,-0.186770,0.976553]] 2025-10-27T04:45:29.841Z,1761540329.841 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.588022 2025-10-27T04:45:29.954Z,1761540329.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.509547 s, deltaX: -0.400000 m, approachRate: -0.785010 m/s, rangeRepo size: 4 2025-10-27T04:45:29.960Z,1761540329.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.857864 m, bearing: 57.477888 deg, lat: 36.779321 deg, lon: -121.859562 deg, deltaT: 0.509547 s, deltaX: -0.397972 m, approachRate: -0.781031 m/s, posRepo size: 4 2025-10-27T04:45:29.961Z,1761540329.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.86 m. 2025-10-27T04:45:29.968Z,1761540329.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.857864 m, nav range: 27.119429 m, bearing: 56.380799 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.061011 deg, new cmd heading: 50.066153 deg. 2025-10-27T04:45:29.968Z,1761540329.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873819 target range: 28.857864 and range: 29.00 m. 2025-10-27T04:45:30.008Z,1761540330.008 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.755510 2025-10-27T04:45:30.261Z,1761540330.261 [DAT](INFO): DAT read: Rx Time:04:45:28.9499 2025-10-27T04:45:30.261Z,1761540330.261 [DAT](INFO): Rx dataTimestamp_ set to:1761540330.260723 2025-10-27T04:45:30.262Z,1761540330.262 [DAT](INFO): DAT read: Bearing 211.8, 4.2 (Local) 2025-10-27T04:45:30.263Z,1761540330.263 [DAT](INFO): Local bearing/azimuth received: Bearing 211.8, 4.2 (Local) 2025-10-27T04:45:30.265Z,1761540330.265 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.5 2025-10-27T04:45:30.270Z,1761540330.270 [DAT](INFO): DAT read: 04:45:28.9499 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.01,-2.960, 1.643,-2.882,-2.978, PHS= 0.121,-1.617, 0.053, RAW= 148.0, 16.7, CAL= 148.2, 18.5, ROT= 1.8, -18.5 2025-10-27T04:45:30.271Z,1761540330.271 [DAT](INFO): got valid direction response: 04:45:28.9499 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509, 0.01,-2.960, 1.643,-2.882,-2.978, PHS= 0.121,-1.617, 0.053, RAW= 148.0, 16.7, CAL= 148.2, 18.5, ROT= 1.8, -18.5 2025-10-27T04:45:30.292Z,1761540330.292 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T04:45:30.293Z,1761540330.293 [DAT](INFO): direction in FSK: [0.947856,0.029788,0.317305] 2025-10-27T04:45:30.293Z,1761540330.293 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:30.326Z,1761540330.326 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.073618 2025-10-27T04:45:30.425Z,1761540330.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625211,-0.750365,-0.214625],[0.772385,0.634335,0.032244],[0.111950,-0.185933,0.976164]] 2025-10-27T04:45:30.485Z,1761540330.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.498237 s, deltaX: -0.200001 m, approachRate: -0.401417 m/s, rangeRepo size: 4 2025-10-27T04:45:30.488Z,1761540330.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.658844 m, bearing: 56.588810 deg, lat: 36.779317 deg, lon: -121.859562 deg, deltaT: 0.498237 s, deltaX: -0.199020 m, approachRate: -0.399449 m/s, posRepo size: 4 2025-10-27T04:45:30.488Z,1761540330.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.66 m. 2025-10-27T04:45:30.504Z,1761540330.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.658844 m, nav range: 26.515875 m, bearing: 57.129586 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.066154 deg, new cmd heading: 50.070460 deg. 2025-10-27T04:45:30.505Z,1761540330.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873894 target range: 28.658844 and range: 28.80 m. 2025-10-27T04:45:30.512Z,1761540330.512 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.259562 2025-10-27T04:45:30.769Z,1761540330.769 [DAT](INFO): DAT read: Rx Time:04:45:29.4496 2025-10-27T04:45:30.770Z,1761540330.770 [DAT](INFO): Rx dataTimestamp_ set to:1761540330.769126 2025-10-27T04:45:30.774Z,1761540330.774 [DAT](INFO): DAT read: Bearing 209.7, 6.0 (Local) 2025-10-27T04:45:30.777Z,1761540330.777 [DAT](INFO): Local bearing/azimuth received: Bearing 209.7, 6.0 (Local) 2025-10-27T04:45:30.786Z,1761540330.786 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.6 2025-10-27T04:45:30.818Z,1761540330.818 [DAT](INFO): DAT read: 04:45:29.4496 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.05, 0.411,-1.351, 0.453, 0.307, PHS= 0.206,-1.612, 0.102, RAW= 147.1, 14.6, CAL= 147.0, 16.1, ROT= 3.0, -16.1 2025-10-27T04:45:30.824Z,1761540330.824 [DAT](INFO): got valid direction response: 04:45:29.4496 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.05, 0.411,-1.351, 0.453, 0.307, PHS= 0.206,-1.612, 0.102, RAW= 147.1, 14.6, CAL= 147.0, 16.1, ROT= 3.0, -16.1 2025-10-27T04:45:30.826Z,1761540330.826 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T04:45:30.832Z,1761540330.832 [DAT](INFO): direction in FSK: [0.959462,0.050283,0.277315] 2025-10-27T04:45:30.832Z,1761540330.832 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:30.849Z,1761540330.849 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.596818 2025-10-27T04:45:30.910Z,1761540330.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624981,-0.750638,-0.214339],[0.772153,0.634805,0.028328],[0.114800,-0.183207,0.976348]] 2025-10-27T04:45:31.012Z,1761540331.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.508403 s, deltaX: -0.400000 m, approachRate: -0.786777 m/s, rangeRepo size: 4 2025-10-27T04:45:31.014Z,1761540331.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.260870 m, bearing: 57.232098 deg, lat: 36.779317 deg, lon: -121.859562 deg, deltaT: 0.508403 s, deltaX: -0.397974 m, approachRate: -0.782792 m/s, posRepo size: 4 2025-10-27T04:45:31.014Z,1761540331.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.26 m. 2025-10-27T04:45:31.016Z,1761540331.016 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.763585 2025-10-27T04:45:31.021Z,1761540331.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.260870 m, nav range: 26.160925 m, bearing: 57.125871 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.070460 deg, new cmd heading: 50.074692 deg. 2025-10-27T04:45:31.022Z,1761540331.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873968 target range: 28.260870 and range: 28.40 m. 2025-10-27T04:45:31.269Z,1761540331.269 [DAT](INFO): DAT read: Rx Time:04:45:29.9494 2025-10-27T04:45:31.269Z,1761540331.269 [DAT](INFO): Rx dataTimestamp_ set to:1761540331.268765 2025-10-27T04:45:31.270Z,1761540331.270 [DAT](INFO): DAT read: Bearing 210.3, 5.0 (Local) 2025-10-27T04:45:31.271Z,1761540331.271 [DAT](INFO): Local bearing/azimuth received: Bearing 210.3, 5.0 (Local) 2025-10-27T04:45:31.274Z,1761540331.274 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.6 2025-10-27T04:45:31.280Z,1761540331.280 [DAT](INFO): DAT read: 04:45:29.9494 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 504,-0.22, 0.651,-1.111, 0.727, 0.584, PHS= 0.168,-1.650, 0.098, RAW= 148.1, 15.3, CAL= 148.1, 17.0, ROT= 1.9, -17.0 2025-10-27T04:45:31.281Z,1761540331.281 [DAT](INFO): got valid direction response: 04:45:29.9494 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 504,-0.22, 0.651,-1.111, 0.727, 0.584, PHS= 0.168,-1.650, 0.098, RAW= 148.1, 15.3, CAL= 148.1, 17.0, ROT= 1.9, -17.0 2025-10-27T04:45:31.281Z,1761540331.281 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T04:45:31.282Z,1761540331.282 [DAT](INFO): direction in FSK: [0.955779,0.031706,0.292372] 2025-10-27T04:45:31.282Z,1761540331.282 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:31.292Z,1761540331.292 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.039673 2025-10-27T04:45:31.398Z,1761540331.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624991,-0.750389,-0.215181],[0.771807,0.635316,0.026201],[0.117047,-0.182453,0.976223]] 2025-10-27T04:45:31.442Z,1761540331.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.499639 s, deltaX: -0.299999 m, approachRate: -0.600432 m/s, rangeRepo size: 4 2025-10-27T04:45:31.449Z,1761540331.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.962341 m, bearing: 56.292969 deg, lat: 36.779317 deg, lon: -121.859565 deg, deltaT: 0.499639 s, deltaX: -0.298529 m, approachRate: -0.597489 m/s, posRepo size: 4 2025-10-27T04:45:31.450Z,1761540331.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m. 2025-10-27T04:45:31.457Z,1761540331.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.962341 m, nav range: 25.601925 m, bearing: 56.725824 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.074692 deg, new cmd heading: 50.078216 deg. 2025-10-27T04:45:31.458Z,1761540331.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874030 target range: 27.962341 and range: 28.10 m. 2025-10-27T04:45:31.521Z,1761540331.521 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.268223 2025-10-27T04:45:31.776Z,1761540331.776 [DAT](INFO): DAT read: Rx Time:04:45:30.4490 2025-10-27T04:45:31.778Z,1761540331.778 [DAT](INFO): Rx dataTimestamp_ set to:1761540331.777168 2025-10-27T04:45:31.782Z,1761540331.782 [DAT](INFO): DAT read: Bearing 210.0, 5.9 (Local) 2025-10-27T04:45:31.783Z,1761540331.783 [DAT](INFO): Local bearing/azimuth received: Bearing 210.0, 5.9 (Local) 2025-10-27T04:45:31.789Z,1761540331.789 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.5 2025-10-27T04:45:31.815Z,1761540331.815 [DAT](INFO): DAT read: 04:45:30.4490 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501,-0.50, 0.243,-1.525, 0.297, 0.157, PHS= 0.189,-1.637, 0.096, RAW= 147.4, 15.0, CAL= 147.4, 16.6, ROT= 2.6, -16.6 2025-10-27T04:45:31.816Z,1761540331.816 [DAT](INFO): got valid direction response: 04:45:30.4490 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501,-0.50, 0.243,-1.525, 0.297, 0.157, PHS= 0.189,-1.637, 0.096, RAW= 147.4, 15.0, CAL= 147.4, 16.6, ROT= 2.6, -16.6 2025-10-27T04:45:31.816Z,1761540331.816 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T04:45:31.817Z,1761540331.817 [DAT](INFO): direction in FSK: [0.957336,0.043472,0.285688] 2025-10-27T04:45:31.818Z,1761540331.818 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:31.829Z,1761540331.829 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.576876 2025-10-27T04:45:31.832Z,1761540331.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625184,-0.749716,-0.216958],[0.771305,0.635978,0.024909],[0.119306,-0.182914,0.975863]] 2025-10-27T04:45:31.950Z,1761540331.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.508403 s, deltaX: -0.600000 m, approachRate: -1.180167 m/s, rangeRepo size: 4 2025-10-27T04:45:31.956Z,1761540331.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.365326 m, bearing: 56.904207 deg, lat: 36.779317 deg, lon: -121.859565 deg, deltaT: 0.508403 s, deltaX: -0.597015 m, approachRate: -1.174296 m/s, posRepo size: 4 2025-10-27T04:45:31.957Z,1761540331.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m. 2025-10-27T04:45:31.964Z,1761540331.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.365326 m, nav range: 25.296835 m, bearing: 56.759898 deg, approach rate: 0.000000 m/s, LOS rate: 0.002701 deg/s, cmd heading: 50.078216 deg, new cmd heading: 50.082328 deg. 2025-10-27T04:45:31.965Z,1761540331.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.874102 target range: 27.365326 and range: 27.50 m. 2025-10-27T04:45:32.025Z,1761540332.025 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.771866 2025-10-27T04:45:32.210Z,1761540332.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625109,-0.749497,-0.217930],[0.770976,0.636464,0.022557],[0.121798,-0.182119,0.975704]] 2025-10-27T04:45:32.244Z,1761540332.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:32.246Z,1761540332.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.37 m. 2025-10-27T04:45:32.253Z,1761540332.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.365326 m, nav range: 25.083097 m, bearing: 56.750940 deg, approach rate: -0.720373 m/s, LOS rate: -0.030449 deg/s, cmd heading: 50.082328 deg, new cmd heading: 50.055225 deg. 2025-10-27T04:45:32.254Z,1761540332.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.873628 target range: 27.365326 and range: 27.50 m. 2025-10-27T04:45:32.277Z,1761540332.277 [DAT](INFO): DAT read: Rx Time:04:45:30.9489 2025-10-27T04:45:32.277Z,1761540332.277 [DAT](INFO): Rx dataTimestamp_ set to:1761540332.276828 2025-10-27T04:45:32.278Z,1761540332.278 [DAT](INFO): DAT read: Bearing 211.3, 4.8 (Local) 2025-10-27T04:45:32.279Z,1761540332.279 [DAT](INFO): Local bearing/azimuth received: Bearing 211.3, 4.8 (Local) 2025-10-27T04:45:32.281Z,1761540332.281 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.6 2025-10-27T04:45:32.286Z,1761540332.286 [DAT](INFO): DAT read: 04:45:30.9489 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 499, 0.17,-2.082, 2.481,-1.998,-2.110, PHS= 0.130,-1.646, 0.068, RAW= 148.2, 16.3, CAL= 148.4, 18.1, ROT= 1.6, -18.1 2025-10-27T04:45:32.287Z,1761540332.287 [DAT](INFO): got valid direction response: 04:45:30.9489 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 499, 0.17,-2.082, 2.481,-1.998,-2.110, PHS= 0.130,-1.646, 0.068, RAW= 148.2, 16.3, CAL= 148.4, 18.1, ROT= 1.6, -18.1 2025-10-27T04:45:32.287Z,1761540332.287 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T04:45:32.288Z,1761540332.288 [DAT](INFO): direction in FSK: [0.950145,0.026540,0.310676] 2025-10-27T04:45:32.289Z,1761540332.289 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:32.292Z,1761540332.292 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.039778 2025-10-27T04:45:32.528Z,1761540332.528 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.275500 2025-10-27T04:45:32.639Z,1761540332.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625314,-0.748977,-0.219127],[0.770416,0.637212,0.020511],[0.124268,-0.181645,0.975481]] 2025-10-27T04:45:32.678Z,1761540332.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.499660 s, deltaX: -0.200001 m, approachRate: -0.400274 m/s, rangeRepo size: 4 2025-10-27T04:45:32.681Z,1761540332.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.166306 m, bearing: 56.170653 deg, lat: 36.779317 deg, lon: -121.859565 deg, deltaT: 0.499660 s, deltaX: -0.199020 m, approachRate: -0.398312 m/s, posRepo size: 4 2025-10-27T04:45:32.681Z,1761540332.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.17 m. 2025-10-27T04:45:32.684Z,1761540332.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.166306 m, nav range: 24.769011 m, bearing: 56.676340 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 50.055226 deg, new cmd heading: 50.015781 deg. 2025-10-27T04:45:32.685Z,1761540332.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872940 target range: 27.166306 and range: 27.30 m. 2025-10-27T04:45:32.786Z,1761540332.786 [DAT](INFO): DAT read: Rx Time:04:45:31.4486 2025-10-27T04:45:32.788Z,1761540332.788 [DAT](INFO): Rx dataTimestamp_ set to:1761540332.786093 2025-10-27T04:45:32.792Z,1761540332.792 [DAT](INFO): DAT read: Bearing 210.1, 6.6 (Local) 2025-10-27T04:45:32.794Z,1761540332.794 [DAT](INFO): Local bearing/azimuth received: Bearing 210.1, 6.6 (Local) 2025-10-27T04:45:32.823Z,1761540332.823 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.7 2025-10-27T04:45:32.846Z,1761540332.846 [DAT](INFO): DAT read: 04:45:31.4486 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496, 0.03, 2.248, 0.509, 2.290, 2.159, PHS= 0.191,-1.605, 0.087, RAW= 147.0, 15.0, CAL= 146.9, 16.6, ROT= 3.1, -16.6 2025-10-27T04:45:32.851Z,1761540332.851 [DAT](INFO): got valid direction response: 04:45:31.4486 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496, 0.03, 2.248, 0.509, 2.290, 2.159, PHS= 0.191,-1.605, 0.087, RAW= 147.0, 15.0, CAL= 146.9, 16.6, ROT= 3.1, -16.6 2025-10-27T04:45:32.851Z,1761540332.851 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T04:45:32.852Z,1761540332.852 [DAT](INFO): direction in FSK: [0.956920,0.051825,0.285688] 2025-10-27T04:45:32.853Z,1761540332.852 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:32.870Z,1761540332.870 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.617292 2025-10-27T04:45:33.018Z,1761540333.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625642,-0.748362,-0.220288],[0.769761,0.638062,0.018579],[0.126654,-0.181193,0.975258]] 2025-10-27T04:45:33.032Z,1761540333.032 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.779760 2025-10-27T04:45:33.173Z,1761540333.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.509265 s, deltaX: -0.400000 m, approachRate: -0.785445 m/s, rangeRepo size: 4 2025-10-27T04:45:33.183Z,1761540333.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.768265 m, bearing: 57.328992 deg, lat: 36.779317 deg, lon: -121.859565 deg, deltaT: 0.509265 s, deltaX: -0.398041 m, approachRate: -0.781599 m/s, posRepo size: 4 2025-10-27T04:45:33.184Z,1761540333.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.77 m. 2025-10-27T04:45:33.186Z,1761540333.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.768265 m, nav range: 24.504515 m, bearing: 56.718704 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 50.015781 deg, new cmd heading: 49.970633 deg. 2025-10-27T04:45:33.191Z,1761540333.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.872152 target range: 26.768265 and range: 26.90 m. 2025-10-27T04:45:33.285Z,1761540333.285 [DAT](INFO): DAT read: Rx Time:04:45:31.9485 2025-10-27T04:45:33.285Z,1761540333.285 [DAT](INFO): Rx dataTimestamp_ set to:1761540333.285045 2025-10-27T04:45:33.287Z,1761540333.287 [DAT](INFO): DAT read: Bearing 210.1, 6.1 (Local) 2025-10-27T04:45:33.287Z,1761540333.287 [DAT](INFO): Local bearing/azimuth received: Bearing 210.1, 6.1 (Local) 2025-10-27T04:45:33.289Z,1761540333.289 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.7 2025-10-27T04:45:33.294Z,1761540333.294 [DAT](INFO): DAT read: 04:45:31.9485 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511,-0.06, 1.292,-0.458, 1.355, 1.217, PHS= 0.177,-1.630, 0.094, RAW= 147.7, 15.2, CAL= 147.7, 16.8, ROT= 2.3, -16.8 2025-10-27T04:45:33.295Z,1761540333.295 [DAT](INFO): got valid direction response: 04:45:31.9485 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511,-0.06, 1.292,-0.458, 1.355, 1.217, PHS= 0.177,-1.630, 0.094, RAW= 147.7, 15.2, CAL= 147.7, 16.8, ROT= 2.3, -16.8 2025-10-27T04:45:33.296Z,1761540333.296 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T04:45:33.297Z,1761540333.297 [DAT](INFO): direction in FSK: [0.956548,0.038419,0.289032] 2025-10-27T04:45:33.297Z,1761540333.297 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:33.301Z,1761540333.301 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.048168 2025-10-27T04:45:33.536Z,1761540333.536 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.283607 2025-10-27T04:45:33.544Z,1761540333.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625514,-0.748109,-0.221505],[0.769065,0.639027,0.013536],[0.131422,-0.178819,0.975065]] 2025-10-27T04:45:33.653Z,1761540333.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.498952 s, deltaX: -0.199999 m, approachRate: -0.400838 m/s, rangeRepo size: 4 2025-10-27T04:45:33.654Z,1761540333.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.569244 m, bearing: 56.509558 deg, lat: 36.779319 deg, lon: -121.859565 deg, deltaT: 0.498952 s, deltaX: -0.199020 m, approachRate: -0.398877 m/s, posRepo size: 4 2025-10-27T04:45:33.663Z,1761540333.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.57 m. 2025-10-27T04:45:33.666Z,1761540333.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.569244 m, nav range: 24.237265 m, bearing: 56.396352 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 49.970634 deg, new cmd heading: 49.926802 deg. 2025-10-27T04:45:33.667Z,1761540333.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871387 target range: 26.569244 and range: 26.70 m. 2025-10-27T04:45:33.793Z,1761540333.793 [DAT](INFO): DAT read: Rx Time:04:45:32.4482 2025-10-27T04:45:33.794Z,1761540333.794 [DAT](INFO): Rx dataTimestamp_ set to:1761540333.793444 2025-10-27T04:45:33.801Z,1761540333.801 [DAT](INFO): DAT read: Bearing 210.1, 6.4 (Local) 2025-10-27T04:45:33.802Z,1761540333.802 [DAT](INFO): Local bearing/azimuth received: Bearing 210.1, 6.4 (Local) 2025-10-27T04:45:33.814Z,1761540333.814 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.5 2025-10-27T04:45:33.839Z,1761540333.839 [DAT](INFO): DAT read: 04:45:32.4482 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 508,-0.22, 0.117,-1.629, 0.176, 0.040, PHS= 0.180,-1.624, 0.093, RAW= 147.6, 15.2, CAL= 147.5, 16.7, ROT= 2.5, -16.7 2025-10-27T04:45:33.844Z,1761540333.844 [DAT](INFO): got valid direction response: 04:45:32.4482 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 508,-0.22, 0.117,-1.629, 0.176, 0.040, PHS= 0.180,-1.624, 0.093, RAW= 147.6, 15.2, CAL= 147.5, 16.7, ROT= 2.5, -16.7 2025-10-27T04:45:33.844Z,1761540333.844 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T04:45:33.845Z,1761540333.845 [DAT](INFO): direction in FSK: [0.956911,0.041780,0.287361] 2025-10-27T04:45:33.845Z,1761540333.845 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:33.853Z,1761540333.853 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.600867 2025-10-27T04:45:34.030Z,1761540334.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625518,-0.747726,-0.222786],[0.768651,0.639563,0.011612],[0.133804,-0.178508,0.974798]] 2025-10-27T04:45:34.040Z,1761540334.040 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.787609 2025-10-27T04:45:34.155Z,1761540334.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.508399 s, deltaX: -0.400002 m, approachRate: -0.786787 m/s, rangeRepo size: 4 2025-10-27T04:45:34.161Z,1761540334.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.171156 m, bearing: 56.678677 deg, lat: 36.779318 deg, lon: -121.859564 deg, deltaT: 0.508399 s, deltaX: -0.398088 m, approachRate: -0.783024 m/s, posRepo size: 4 2025-10-27T04:45:34.162Z,1761540334.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.17 m. 2025-10-27T04:45:34.172Z,1761540334.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.171156 m, nav range: 23.966404 m, bearing: 56.659956 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 49.926801 deg, new cmd heading: 49.880935 deg. 2025-10-27T04:45:34.173Z,1761540334.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.870587 target range: 26.171156 and range: 26.30 m. 2025-10-27T04:45:34.293Z,1761540334.293 [DAT](INFO): DAT read: Rx Time:04:45:32.9480 2025-10-27T04:45:34.293Z,1761540334.293 [DAT](INFO): Rx dataTimestamp_ set to:1761540334.292820 2025-10-27T04:45:34.294Z,1761540334.294 [DAT](INFO): DAT read: Bearing 210.8, 5.7 (Local) 2025-10-27T04:45:34.295Z,1761540334.295 [DAT](INFO): Local bearing/azimuth received: Bearing 210.8, 5.7 (Local) 2025-10-27T04:45:34.297Z,1761540334.297 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.5 2025-10-27T04:45:34.306Z,1761540334.306 [DAT](INFO): DAT read: 04:45:32.9480 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507,-0.47, 2.137, 0.418, 2.216, 2.095, PHS= 0.144,-1.632, 0.077, RAW= 148.1, 16.0, CAL= 148.2, 17.7, ROT= 1.8, -17.7 2025-10-27T04:45:34.308Z,1761540334.308 [DAT](INFO): got valid direction response: 04:45:32.9480 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507,-0.47, 2.137, 0.418, 2.216, 2.095, PHS= 0.144,-1.632, 0.077, RAW= 148.1, 16.0, CAL= 148.2, 17.7, ROT= 1.8, -17.7 2025-10-27T04:45:34.309Z,1761540334.309 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T04:45:34.310Z,1761540334.310 [DAT](INFO): direction in FSK: [0.952191,0.029924,0.304033] 2025-10-27T04:45:34.310Z,1761540334.310 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:34.313Z,1761540334.313 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.060979 2025-10-27T04:45:34.492Z,1761540334.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625402,-0.747185,-0.224914],[0.768332,0.639966,0.010419],[0.136153,-0.179325,0.974323]] 2025-10-27T04:45:34.540Z,1761540334.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.499376 s, deltaX: -0.299999 m, approachRate: -0.600748 m/s, rangeRepo size: 4 2025-10-27T04:45:34.542Z,1761540334.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.872625 m, bearing: 56.196898 deg, lat: 36.779318 deg, lon: -121.859564 deg, deltaT: 0.499376 s, deltaX: -0.298531 m, approachRate: -0.597807 m/s, posRepo size: 4 2025-10-27T04:45:34.543Z,1761540334.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T04:45:34.544Z,1761540334.544 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.291676 2025-10-27T04:45:34.549Z,1761540334.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.872625 m, nav range: 23.718529 m, bearing: 56.591415 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 49.880936 deg, new cmd heading: 49.846121 deg. 2025-10-27T04:45:34.550Z,1761540334.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869979 target range: 25.872625 and range: 26.00 m. 2025-10-27T04:45:34.797Z,1761540334.797 [DAT](INFO): DAT read: Rx Time:04:45:33.4477 2025-10-27T04:45:34.797Z,1761540334.797 [DAT](INFO): Rx dataTimestamp_ set to:1761540334.796741 2025-10-27T04:45:34.798Z,1761540334.798 [DAT](INFO): DAT read: Bearing 209.2, 6.7 (Local) 2025-10-27T04:45:34.800Z,1761540334.800 [DAT](INFO): Local bearing/azimuth received: Bearing 209.2, 6.7 (Local) 2025-10-27T04:45:34.805Z,1761540334.805 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.8 2025-10-27T04:45:34.824Z,1761540334.824 [DAT](INFO): DAT read: 04:45:33.4477 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503, 0.28, 2.400, 0.663, 2.468, 2.304, PHS= 0.198,-1.596, 0.120, RAW= 147.8, 14.4, CAL= 147.7, 15.9, ROT= 2.3, -15.9 2025-10-27T04:45:34.828Z,1761540334.828 [DAT](INFO): got valid direction response: 04:45:33.4477 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503, 0.28, 2.400, 0.663, 2.468, 2.304, PHS= 0.198,-1.596, 0.120, RAW= 147.8, 14.4, CAL= 147.7, 15.9, ROT= 2.3, -15.9 2025-10-27T04:45:34.829Z,1761540334.829 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T04:45:34.833Z,1761540334.833 [DAT](INFO): direction in FSK: [0.960967,0.038596,0.273959] 2025-10-27T04:45:34.833Z,1761540334.833 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:34.897Z,1761540334.897 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.644969 2025-10-27T04:45:34.948Z,1761540334.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626050,-0.746552,-0.225216],[0.767470,0.641028,0.008498],[0.138025,-0.178166,0.974272]] 2025-10-27T04:45:35.030Z,1761540335.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503921 s, deltaX: -0.500000 m, approachRate: -0.992219 m/s, rangeRepo size: 4 2025-10-27T04:45:35.037Z,1761540335.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.375040 m, bearing: 56.238570 deg, lat: 36.779318 deg, lon: -121.859564 deg, deltaT: 0.503921 s, deltaX: -0.497585 m, approachRate: -0.987427 m/s, posRepo size: 4 2025-10-27T04:45:35.037Z,1761540335.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.38 m. 2025-10-27T04:45:35.044Z,1761540335.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.375040 m, nav range: 23.382421 m, bearing: 56.583943 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 49.846120 deg, new cmd heading: 49.800950 deg. 2025-10-27T04:45:35.045Z,1761540335.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.869191 target range: 25.375040 and range: 25.50 m. 2025-10-27T04:45:35.048Z,1761540335.048 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.795463 2025-10-27T04:45:35.294Z,1761540335.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626383,-0.745926,-0.226360],[0.766849,0.641788,0.007134],[0.139954,-0.178052,0.974018]] 2025-10-27T04:45:35.301Z,1761540335.301 [DAT](INFO): DAT read: Rx Time:04:45:33.9475 2025-10-27T04:45:35.301Z,1761540335.301 [DAT](INFO): Rx dataTimestamp_ set to:1761540335.300777 2025-10-27T04:45:35.302Z,1761540335.302 [DAT](INFO): DAT read: Bearing 209.0, 6.8 (Local) 2025-10-27T04:45:35.303Z,1761540335.303 [DAT](INFO): Local bearing/azimuth received: Bearing 209.0, 6.8 (Local) 2025-10-27T04:45:35.305Z,1761540335.305 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.7 2025-10-27T04:45:35.309Z,1761540335.309 [DAT](INFO): DAT read: 04:45:33.9475 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.10, 2.351, 0.615, 2.424, 2.252, PHS= 0.201,-1.592, 0.128, RAW= 147.9, 14.3, CAL= 147.9, 15.7, ROT= 2.1, -15.7 2025-10-27T04:45:35.311Z,1761540335.311 [DAT](INFO): got valid direction response: 04:45:33.9475 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.10, 2.351, 0.615, 2.424, 2.252, PHS= 0.201,-1.592, 0.128, RAW= 147.9, 14.3, CAL= 147.9, 15.7, ROT= 2.1, -15.7 2025-10-27T04:45:35.311Z,1761540335.311 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T04:45:35.312Z,1761540335.312 [DAT](INFO): direction in FSK: [0.962045,0.035277,0.270600] 2025-10-27T04:45:35.312Z,1761540335.312 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:35.322Z,1761540335.322 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.069756 2025-10-27T04:45:35.413Z,1761540335.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504036 s, deltaX: -0.299999 m, approachRate: -0.595194 m/s, rangeRepo size: 4 2025-10-27T04:45:35.419Z,1761540335.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.076511 m, bearing: 55.955843 deg, lat: 36.779319 deg, lon: -121.859565 deg, deltaT: 0.504036 s, deltaX: -0.298529 m, approachRate: -0.592277 m/s, posRepo size: 4 2025-10-27T04:45:35.420Z,1761540335.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m. 2025-10-27T04:45:35.422Z,1761540335.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.076511 m, nav range: 23.071112 m, bearing: 56.339284 deg, approach rate: 0.000000 m/s, LOS rate: -0.030449 deg/s, cmd heading: 49.800951 deg, new cmd heading: 49.766003 deg. 2025-10-27T04:45:35.432Z,1761540335.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868581 target range: 25.076511 and range: 25.20 m. 2025-10-27T04:45:35.552Z,1761540335.552 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.299841 2025-10-27T04:45:35.701Z,1761540335.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626784,-0.745193,-0.227660],[0.766146,0.642640,0.005786],[0.141992,-0.178048,0.973723]] 2025-10-27T04:45:35.753Z,1761540335.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:35.760Z,1761540335.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.08 m. 2025-10-27T04:45:35.762Z,1761540335.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.076511 m, nav range: 22.809393 m, bearing: 56.331325 deg, approach rate: -0.763095 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.766001 deg, new cmd heading: 49.741850 deg. 2025-10-27T04:45:35.768Z,1761540335.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.868159 target range: 25.076511 and range: 25.20 m. 2025-10-27T04:45:35.809Z,1761540335.809 [DAT](INFO): DAT read: Rx Time:04:45:34.4472 2025-10-27T04:45:35.810Z,1761540335.810 [DAT](INFO): Rx dataTimestamp_ set to:1761540335.809302 2025-10-27T04:45:35.815Z,1761540335.815 [DAT](INFO): DAT read: Bearing 206.7, 7.4 (Local) 2025-10-27T04:45:35.816Z,1761540335.816 [DAT](INFO): Local bearing/azimuth received: Bearing 206.7, 7.4 (Local) 2025-10-27T04:45:35.850Z,1761540335.850 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.6 2025-10-27T04:45:35.913Z,1761540335.913 [DAT](INFO): DAT read: 04:45:34.4472 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.01,-0.293,-2.035,-0.214,-0.452, PHS= 0.262,-1.538, 0.195, RAW= 148.1, 12.2, CAL= 147.9, 13.4, ROT= 2.1, -13.4 2025-10-27T04:45:35.915Z,1761540335.915 [DAT](INFO): got valid direction response: 04:45:34.4472 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.01,-0.293,-2.035,-0.214,-0.452, PHS= 0.262,-1.538, 0.195, RAW= 148.1, 12.2, CAL= 147.9, 13.4, ROT= 2.1, -13.4 2025-10-27T04:45:35.919Z,1761540335.919 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T04:45:35.920Z,1761540335.920 [DAT](INFO): direction in FSK: [0.972123,0.035646,0.231748] 2025-10-27T04:45:35.920Z,1761540335.920 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:35.925Z,1761540335.925 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.672051 2025-10-27T04:45:36.056Z,1761540336.056 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.803367 2025-10-27T04:45:36.191Z,1761540336.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627122,-0.744535,-0.228879],[0.765499,0.643422,0.004418],[0.143977,-0.177977,0.973445]] 2025-10-27T04:45:36.241Z,1761540336.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.508525 s, deltaX: -0.300001 m, approachRate: -0.589944 m/s, rangeRepo size: 4 2025-10-27T04:45:36.243Z,1761540336.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.777472 m, bearing: 55.391529 deg, lat: 36.779319 deg, lon: -121.859565 deg, deltaT: 0.508525 s, deltaX: -0.299040 m, approachRate: -0.588053 m/s, posRepo size: 4 2025-10-27T04:45:36.244Z,1761540336.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T04:45:36.247Z,1761540336.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.777472 m, nav range: 22.500937 m, bearing: 56.212661 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.741850 deg, new cmd heading: 49.707693 deg. 2025-10-27T04:45:36.248Z,1761540336.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867563 target range: 24.777472 and range: 24.90 m. 2025-10-27T04:45:36.312Z,1761540336.312 [DAT](INFO): DAT read: Rx Time:04:45:34.9471 2025-10-27T04:45:36.313Z,1761540336.313 [DAT](INFO): Rx dataTimestamp_ set to:1761540336.312555 2025-10-27T04:45:36.315Z,1761540336.315 [DAT](INFO): DAT read: Bearing 208.3, 7.0 (Local) 2025-10-27T04:45:36.316Z,1761540336.316 [DAT](INFO): Local bearing/azimuth received: Bearing 208.3, 7.0 (Local) 2025-10-27T04:45:36.318Z,1761540336.318 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.7 2025-10-27T04:45:36.325Z,1761540336.325 [DAT](INFO): DAT read: 04:45:34.9471 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497,-0.15, 0.110,-1.583, 0.193, 0.004, PHS= 0.209,-1.541, 0.146, RAW= 148.2, 13.7, CAL= 148.1, 15.1, ROT= 1.9, -15.1 2025-10-27T04:45:36.326Z,1761540336.326 [DAT](INFO): got valid direction response: 04:45:34.9471 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497,-0.15, 0.110,-1.583, 0.193, 0.004, PHS= 0.209,-1.541, 0.146, RAW= 148.2, 13.7, CAL= 148.1, 15.1, ROT= 1.9, -15.1 2025-10-27T04:45:36.327Z,1761540336.327 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T04:45:36.334Z,1761540336.334 [DAT](INFO): direction in FSK: [0.964942,0.032010,0.260505] 2025-10-27T04:45:36.334Z,1761540336.334 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:36.357Z,1761540336.357 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.104646 2025-10-27T04:45:36.568Z,1761540336.568 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.314978 2025-10-27T04:45:36.636Z,1761540336.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627825,-0.743818,-0.229282],[0.764676,0.644406,0.003325],[0.145277,-0.177414,0.973354]] 2025-10-27T04:45:36.684Z,1761540336.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.503253 s, deltaX: -0.100000 m, approachRate: -0.198708 m/s, rangeRepo size: 4 2025-10-27T04:45:36.686Z,1761540336.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.677963 m, bearing: 55.480477 deg, lat: 36.779320 deg, lon: -121.859565 deg, deltaT: 0.503253 s, deltaX: -0.099508 m, approachRate: -0.197730 m/s, posRepo size: 4 2025-10-27T04:45:36.704Z,1761540336.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.68 m. 2025-10-27T04:45:36.734Z,1761540336.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.677963 m, nav range: 22.253796 m, bearing: 56.046319 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.707692 deg, new cmd heading: 49.676475 deg. 2025-10-27T04:45:36.735Z,1761540336.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867018 target range: 24.677963 and range: 24.80 m. 2025-10-27T04:45:36.819Z,1761540336.819 [DAT](INFO): DAT read: Rx Time:04:45:35.4468 2025-10-27T04:45:36.820Z,1761540336.820 [DAT](INFO): Rx dataTimestamp_ set to:1761540336.819918 2025-10-27T04:45:36.822Z,1761540336.822 [DAT](INFO): DAT read: Bearing 206.5, 7.6 (Local) 2025-10-27T04:45:36.822Z,1761540336.822 [DAT](INFO): Local bearing/azimuth received: Bearing 206.5, 7.6 (Local) 2025-10-27T04:45:36.826Z,1761540336.826 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.6 2025-10-27T04:45:36.838Z,1761540336.838 [DAT](INFO): DAT read: 04:45:35.4468 LVL= 32480, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.23,-2.571, 1.963,-2.486,-2.732, PHS= 0.263,-1.543, 0.203, RAW= 148.3, 12.1, CAL= 148.1, 13.3, ROT= 1.9, -13.3 2025-10-27T04:45:36.850Z,1761540336.850 [DAT](INFO): got valid direction response: 04:45:35.4468 LVL= 32480, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.23,-2.571, 1.963,-2.486,-2.732, PHS= 0.263,-1.543, 0.203, RAW= 148.3, 12.1, CAL= 148.1, 13.3, ROT= 1.9, -13.3 2025-10-27T04:45:36.856Z,1761540336.856 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T04:45:36.864Z,1761540336.864 [DAT](INFO): direction in FSK: [0.972644,0.032266,0.230050] 2025-10-27T04:45:36.865Z,1761540336.865 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:36.914Z,1761540336.914 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.661347 2025-10-27T04:45:37.071Z,1761540337.071 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.817826 2025-10-27T04:45:37.091Z,1761540337.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627921,-0.743571,-0.229821],[0.764456,0.644670,0.002874],[0.146022,-0.177493,0.973229]] 2025-10-27T04:45:37.183Z,1761540337.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.507363 s, deltaX: -0.500000 m, approachRate: -0.985488 m/s, rangeRepo size: 4 2025-10-27T04:45:37.185Z,1761540337.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.180269 m, bearing: 55.089601 deg, lat: 36.779324 deg, lon: -121.859562 deg, deltaT: 0.507363 s, deltaX: -0.497694 m, approachRate: -0.980943 m/s, posRepo size: 4 2025-10-27T04:45:37.186Z,1761540337.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T04:45:37.190Z,1761540337.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.180269 m, nav range: 22.379864 m, bearing: 55.456035 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.676475 deg, new cmd heading: 49.641375 deg. 2025-10-27T04:45:37.211Z,1761540337.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.866405 target range: 24.180269 and range: 24.30 m. 2025-10-27T04:45:37.321Z,1761540337.321 [DAT](INFO): DAT read: Rx Time:04:45:35.9466 2025-10-27T04:45:37.321Z,1761540337.321 [DAT](INFO): Rx dataTimestamp_ set to:1761540337.320793 2025-10-27T04:45:37.322Z,1761540337.322 [DAT](INFO): DAT read: Bearing 206.7, 7.2 (Local) 2025-10-27T04:45:37.323Z,1761540337.323 [DAT](INFO): Local bearing/azimuth received: Bearing 206.7, 7.2 (Local) 2025-10-27T04:45:37.325Z,1761540337.325 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.6 2025-10-27T04:45:37.330Z,1761540337.330 [DAT](INFO): DAT read: 04:45:35.9466 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.49,-0.933,-2.681,-0.834,-1.082, PHS= 0.251,-1.554, 0.204, RAW= 148.7, 12.3, CAL= 148.5, 13.5, ROT= 1.5, -13.5 2025-10-27T04:45:37.331Z,1761540337.331 [DAT](INFO): got valid direction response: 04:45:35.9466 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.49,-0.933,-2.681,-0.834,-1.082, PHS= 0.251,-1.554, 0.204, RAW= 148.7, 12.3, CAL= 148.5, 13.5, ROT= 1.5, -13.5 2025-10-27T04:45:37.331Z,1761540337.331 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T04:45:37.332Z,1761540337.332 [DAT](INFO): direction in FSK: [0.972037,0.025454,0.233445] 2025-10-27T04:45:37.332Z,1761540337.332 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:37.356Z,1761540337.356 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.103667 2025-10-27T04:45:37.503Z,1761540337.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627834,-0.743329,-0.230838],[0.764307,0.644848,0.002269],[0.147169,-0.177856,0.972989]] 2025-10-27T04:45:37.548Z,1761540337.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.500875 s, deltaX: -0.299999 m, approachRate: -0.598950 m/s, rangeRepo size: 4 2025-10-27T04:45:37.550Z,1761540337.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.881748 m, bearing: 54.727879 deg, lat: 36.779325 deg, lon: -121.859562 deg, deltaT: 0.500875 s, deltaX: -0.298521 m, approachRate: -0.595999 m/s, posRepo size: 4 2025-10-27T04:45:37.550Z,1761540337.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T04:45:37.553Z,1761540337.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.881748 m, nav range: 22.185543 m, bearing: 55.256048 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.641374 deg, new cmd heading: 49.616801 deg. 2025-10-27T04:45:37.554Z,1761540337.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865977 target range: 23.881748 and range: 24.00 m. 2025-10-27T04:45:37.577Z,1761540337.577 [DAT](INFO): DAT read: Rx Time:04:45:36.4463 2025-10-27T04:45:37.579Z,1761540337.579 [DAT](INFO): Rx dataTimestamp_ set to:1761540337.578027 2025-10-27T04:45:37.581Z,1761540337.581 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.328039 2025-10-27T04:45:37.826Z,1761540337.826 [DAT](INFO): DAT read: Bearing 208.4, 5.7 (Local) 2025-10-27T04:45:37.827Z,1761540337.827 [DAT](INFO): Local bearing/azimuth received: Bearing 208.4, 5.7 (Local) 2025-10-27T04:45:37.832Z,1761540337.832 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.6 2025-10-27T04:45:37.851Z,1761540337.851 [DAT](INFO): DAT read: 04:45:36.4463 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505, 0.20,-0.306,-2.052,-0.174,-0.385, PHS= 0.182,-1.621, 0.167, RAW= 149.6, 14.1, CAL= 149.7, 15.6, ROT= 0.3, -15.6 2025-10-27T04:45:37.856Z,1761540337.856 [DAT](INFO): got valid direction response: 04:45:36.4463 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505, 0.20,-0.306,-2.052,-0.174,-0.385, PHS= 0.182,-1.621, 0.167, RAW= 149.6, 14.1, CAL= 149.7, 15.6, ROT= 0.3, -15.6 2025-10-27T04:45:37.857Z,1761540337.857 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T04:45:37.863Z,1761540337.863 [DAT](INFO): direction in FSK: [0.963149,0.005043,0.268920] 2025-10-27T04:45:37.931Z,1761540337.931 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:37.951Z,1761540337.951 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.682266 2025-10-27T04:45:37.959Z,1761540337.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627096,-0.743120,-0.233501],[0.764349,0.644802,0.000666],[0.150067,-0.178894,0.972356]] 2025-10-27T04:45:38.072Z,1761540338.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503882 s, deltaX: -0.400000 m, approachRate: -0.793836 m/s, rangeRepo size: 4 2025-10-27T04:45:38.081Z,1761540338.081 [DAT](INFO): DAT read: Rx Time:04:45:36.9462 2025-10-27T04:45:38.083Z,1761540338.083 [DAT](INFO): Rx dataTimestamp_ set to:1761540338.081685 2025-10-27T04:45:38.085Z,1761540338.085 [DAT](INFO): DAT read: Bearing 208.8, 5.4 (Local) 2025-10-27T04:45:38.087Z,1761540338.087 [DAT](INFO): Local bearing/azimuth received: Bearing 208.8, 5.4 (Local) 2025-10-27T04:45:38.089Z,1761540338.089 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.836159 2025-10-27T04:45:38.101Z,1761540338.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.483465 m, bearing: 53.995631 deg, lat: 36.779326 deg, lon: -121.859562 deg, deltaT: 0.503882 s, deltaX: -0.398283 m, approachRate: -0.790429 m/s, posRepo size: 4 2025-10-27T04:45:38.109Z,1761540338.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T04:45:38.131Z,1761540338.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.483465 m, nav range: 21.907089 m, bearing: 54.919478 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.616799 deg, new cmd heading: 49.579198 deg. 2025-10-27T04:45:38.132Z,1761540338.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.865320 target range: 23.483465 and range: 23.60 m. 2025-10-27T04:45:38.329Z,1761540338.329 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.6 2025-10-27T04:45:38.335Z,1761540338.335 [DAT](INFO): DAT read: 04:45:36.9462 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.02, 0.361,-1.375, 0.501, 0.299, PHS= 0.164,-1.629, 0.158, RAW= 149.8, 14.5, CAL= 150.0, 16.1, ROT= 0.0, -16.1 2025-10-27T04:45:38.336Z,1761540338.336 [DAT](INFO): got valid direction response: 04:45:36.9462 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.02, 0.361,-1.375, 0.501, 0.299, PHS= 0.164,-1.629, 0.158, RAW= 149.8, 14.5, CAL= 150.0, 16.1, ROT= 0.0, -16.1 2025-10-27T04:45:38.337Z,1761540338.337 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T04:45:38.338Z,1761540338.338 [DAT](INFO): direction in FSK: [0.960779,0.000000,0.277315] 2025-10-27T04:45:38.338Z,1761540338.338 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:38.344Z,1761540338.344 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.091101 2025-10-27T04:45:38.448Z,1761540338.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626503,-0.743320,-0.234455],[0.764570,0.644540,-0.000402],[0.151415,-0.179005,0.972127]] 2025-10-27T04:45:38.497Z,1761540338.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.502735 s, deltaX: -0.200001 m, approachRate: -0.397825 m/s, rangeRepo size: 4 2025-10-27T04:45:38.499Z,1761540338.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.284452 m, bearing: 53.832458 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.502735 s, deltaX: -0.199013 m, approachRate: -0.395860 m/s, posRepo size: 4 2025-10-27T04:45:38.504Z,1761540338.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T04:45:38.506Z,1761540338.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.284452 m, nav range: 21.560938 m, bearing: 54.678398 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.579199 deg, new cmd heading: 49.549745 deg. 2025-10-27T04:45:38.511Z,1761540338.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864806 target range: 23.284452 and range: 23.40 m. 2025-10-27T04:45:38.586Z,1761540338.586 [DAT](INFO): DAT read: Rx Time:04:45:37.4459 2025-10-27T04:45:38.588Z,1761540338.588 [DAT](INFO): Rx dataTimestamp_ set to:1761540338.586378 2025-10-27T04:45:38.591Z,1761540338.591 [DAT](INFO): DAT read: Bearing 212.0, 4.2 (Local) 2025-10-27T04:45:38.593Z,1761540338.593 [DAT](INFO): Local bearing/azimuth received: Bearing 212.0, 4.2 (Local) 2025-10-27T04:45:38.598Z,1761540338.598 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.7 2025-10-27T04:45:38.602Z,1761540338.602 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T04:45:38.606Z,1761540338.606 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.352760 2025-10-27T04:45:38.836Z,1761540338.836 [DAT](INFO): DAT read: 04:45:37.4459 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.26,-0.926,-2.619,-0.776,-0.889, PHS= 0.065,-1.685, 0.069, RAW= 150.1, 17.4, CAL= 150.6, 19.5, ROT= 359.4, -19.5 2025-10-27T04:45:38.837Z,1761540338.837 [DAT](INFO): got valid direction response: 04:45:37.4459 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.26,-0.926,-2.619,-0.776,-0.889, PHS= 0.065,-1.685, 0.069, RAW= 150.1, 17.4, CAL= 150.6, 19.5, ROT= 359.4, -19.5 2025-10-27T04:45:38.837Z,1761540338.837 [DAT](INFO): #Rx 29: Read direction message, but no range. 2025-10-27T04:45:38.838Z,1761540338.838 [DAT](INFO): direction in FSK: [0.942590,-0.009871,0.333807] 2025-10-27T04:45:38.855Z,1761540338.855 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.602871 2025-10-27T04:45:38.934Z,1761540338.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625917,-0.743586,-0.235175],[0.764772,0.644298,-0.001731],[0.152810,-0.178772,0.971952]] 2025-10-27T04:45:39.028Z,1761540339.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.258968 s, deltaX: -0.400000 m, approachRate: -1.544591 m/s, rangeRepo size: 4 2025-10-27T04:45:39.030Z,1761540339.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.886105 m, bearing: 53.993647 deg, lat: 36.779326 deg, lon: -121.859568 deg, deltaT: 0.258968 s, deltaX: -0.398348 m, approachRate: -1.538213 m/s, posRepo size: 4 2025-10-27T04:45:39.030Z,1761540339.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m. 2025-10-27T04:45:39.037Z,1761540339.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.886105 m, nav range: 20.802088 m, bearing: 53.862653 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.549744 deg, new cmd heading: 49.512066 deg. 2025-10-27T04:45:39.038Z,1761540339.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.864149 target range: 22.886105 and range: 23.00 m. 2025-10-27T04:45:39.088Z,1761540339.088 [DAT](INFO): DAT read: Rx Time:04:45:37.9458 2025-10-27T04:45:39.089Z,1761540339.089 [DAT](INFO): Rx dataTimestamp_ set to:1761540339.088222 2025-10-27T04:45:39.093Z,1761540339.093 [DAT](INFO): DAT read: Bearing 210.1, 5.6 (Local) 2025-10-27T04:45:39.094Z,1761540339.094 [DAT](INFO): Local bearing/azimuth received: Bearing 210.1, 5.6 (Local) 2025-10-27T04:45:39.127Z,1761540339.127 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.6 2025-10-27T04:45:39.136Z,1761540339.136 [DAT](INFO): DAT read: 04:45:37.9458 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.44,-0.527,-2.244,-0.401,-0.560, PHS= 0.135,-1.639, 0.115, RAW= 149.4, 15.5, CAL= 149.7, 17.3, ROT= 0.3, -17.3 2025-10-27T04:45:39.137Z,1761540339.137 [DAT](INFO): got valid direction response: 04:45:37.9458 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.44,-0.527,-2.244,-0.401,-0.560, PHS= 0.135,-1.639, 0.115, RAW= 149.4, 15.5, CAL= 149.7, 17.3, ROT= 0.3, -17.3 2025-10-27T04:45:39.137Z,1761540339.137 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T04:45:39.138Z,1761540339.138 [DAT](INFO): direction in FSK: [0.954748,0.004999,0.297375] 2025-10-27T04:45:39.139Z,1761540339.139 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:39.160Z,1761540339.160 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.907408 2025-10-27T04:45:39.315Z,1761540339.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625768,-0.743701,-0.235209],[0.764688,0.644393,-0.003053],[0.153838,-0.177951,0.971940]] 2025-10-27T04:45:39.336Z,1761540339.336 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.083483 2025-10-27T04:45:39.476Z,1761540339.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.501844 s, deltaX: -0.299999 m, approachRate: -0.597794 m/s, rangeRepo size: 4 2025-10-27T04:45:39.478Z,1761540339.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.587591 m, bearing: 54.428845 deg, lat: 36.779326 deg, lon: -121.859568 deg, deltaT: 0.501844 s, deltaX: -0.298513 m, approachRate: -0.594833 m/s, posRepo size: 4 2025-10-27T04:45:39.479Z,1761540339.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m. 2025-10-27T04:45:39.485Z,1761540339.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.587591 m, nav range: 20.502388 m, bearing: 53.792730 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 49.512065 deg, new cmd heading: 49.480179 deg. 2025-10-27T04:45:39.486Z,1761540339.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.863592 target range: 22.587591 and range: 22.70 m. 2025-10-27T04:45:39.592Z,1761540339.592 [DAT](INFO): DAT read: Rx Time:04:45:38.4454 2025-10-27T04:45:39.594Z,1761540339.594 [DAT](INFO): Rx dataTimestamp_ set to:1761540339.593028 2025-10-27T04:45:39.598Z,1761540339.598 [DAT](INFO): DAT read: Bearing 211.9, 5.1 (Local) 2025-10-27T04:45:39.599Z,1761540339.599 [DAT](INFO): Local bearing/azimuth received: Bearing 211.9, 5.1 (Local) 2025-10-27T04:45:39.607Z,1761540339.607 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.7 2025-10-27T04:45:39.609Z,1761540339.609 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-27T04:45:39.636Z,1761540339.636 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.383327 2025-10-27T04:45:39.807Z,1761540339.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625055,-0.744095,-0.235859],[0.764977,0.644042,-0.004562],[0.155298,-0.177575,0.971777]] 2025-10-27T04:45:39.832Z,1761540339.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:39.835Z,1761540339.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504806 s, deltaX: -0.600000 m, approachRate: -1.188576 m/s, rangeRepo size: 4 2025-10-27T04:45:39.836Z,1761540339.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m. 2025-10-27T04:45:39.839Z,1761540339.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.587591 m, nav range: 20.219517 m, bearing: 53.734598 deg, approach rate: -0.778653 m/s, LOS rate: -0.162257 deg/s, cmd heading: 49.480178 deg, new cmd heading: 49.303344 deg. 2025-10-27T04:45:39.845Z,1761540339.845 [DAT](INFO): DAT read: 04:45:38.4454 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 495, 0.09,-0.710,-2.420,-0.584,-0.690, PHS= 0.081,-1.685, 0.061, RAW= 149.4, 17.3, CAL= 149.9, 19.3, ROT= 0.1, -19.3 2025-10-27T04:45:39.852Z,1761540339.852 [DAT](INFO): got valid direction response: 04:45:38.4454 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 495, 0.09,-0.710,-2.420,-0.584,-0.690, PHS= 0.081,-1.685, 0.061, RAW= 149.4, 17.3, CAL= 149.9, 19.3, ROT= 0.1, -19.3 2025-10-27T04:45:39.852Z,1761540339.852 [DAT](INFO): #Rx 32: Read direction message, but no range. 2025-10-27T04:45:39.853Z,1761540339.853 [DAT](INFO): direction in FSK: [0.943800,0.001647,0.330514] 2025-10-27T04:45:39.856Z,1761540339.856 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.603804 2025-10-27T04:45:39.870Z,1761540339.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.860506 target range: 22.587591 and range: 22.10 m. 2025-10-27T04:45:40.096Z,1761540340.096 [DAT](INFO): DAT read: Rx Time:04:45:38.9453 2025-10-27T04:45:40.097Z,1761540340.097 [DAT](INFO): Rx dataTimestamp_ set to:1761540340.096229 2025-10-27T04:45:40.101Z,1761540340.101 [DAT](INFO): DAT read: Bearing 210.7, 5.2 (Local) 2025-10-27T04:45:40.103Z,1761540340.103 [DAT](INFO): Local bearing/azimuth received: Bearing 210.7, 5.2 (Local) 2025-10-27T04:45:40.116Z,1761540340.116 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.6 2025-10-27T04:45:40.124Z,1761540340.124 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-27T04:45:40.131Z,1761540340.131 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.878723 2025-10-27T04:45:40.322Z,1761540340.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503201 s, deltaX: -0.200001 m, approachRate: -0.397457 m/s, rangeRepo size: 4 2025-10-27T04:45:40.324Z,1761540340.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791485 m, bearing: 54.706938 deg, lat: 36.779324 deg, lon: -121.859568 deg, deltaT: 1.008007 s, deltaX: -0.796106 m, approachRate: -0.789783 m/s, posRepo size: 4 2025-10-27T04:45:40.325Z,1761540340.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T04:45:40.328Z,1761540340.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.791485 m, nav range: 19.714420 m, bearing: 54.303044 deg, approach rate: 0.000000 m/s, LOS rate: -0.162257 deg/s, cmd heading: 49.303345 deg, new cmd heading: 49.066385 deg. 2025-10-27T04:45:40.329Z,1761540340.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.856370 target range: 21.791485 and range: 21.90 m. 2025-10-27T04:45:40.348Z,1761540340.348 [DAT](INFO): DAT read: 04:45:38.9453 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.10,-1.520, 3.070,-1.381,-1.522, PHS= 0.105,-1.645, 0.098, RAW= 149.8, 16.3, CAL= 150.2, 18.2, ROT= 359.8, -18.2 2025-10-27T04:45:40.349Z,1761540340.349 [DAT](INFO): got valid direction response: 04:45:38.9453 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.10,-1.520, 3.070,-1.381,-1.522, PHS= 0.105,-1.645, 0.098, RAW= 149.8, 16.3, CAL= 150.2, 18.2, ROT= 359.8, -18.2 2025-10-27T04:45:40.349Z,1761540340.349 [DAT](INFO): #Rx 34: Read direction message, but no range. 2025-10-27T04:45:40.350Z,1761540340.350 [DAT](INFO): direction in FSK: [0.949966,-0.003316,0.312335] 2025-10-27T04:45:40.354Z,1761540340.354 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.101173 2025-10-27T04:45:40.600Z,1761540340.600 [DAT](INFO): DAT read: Rx Time:04:45:39.4450 2025-10-27T04:45:40.602Z,1761540340.602 [DAT](INFO): Rx dataTimestamp_ set to:1761540340.600553 2025-10-27T04:45:40.605Z,1761540340.605 [DAT](INFO): DAT read: Bearing 211.2, 4.9 (Local) 2025-10-27T04:45:40.607Z,1761540340.607 [DAT](INFO): Local bearing/azimuth received: Bearing 211.2, 4.9 (Local) 2025-10-27T04:45:40.614Z,1761540340.614 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.6 2025-10-27T04:45:40.617Z,1761540340.617 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-27T04:45:40.621Z,1761540340.621 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.367584 2025-10-27T04:45:40.696Z,1761540340.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623414,-0.745197,-0.236722],[0.765754,0.643086,-0.007789],[0.158037,-0.176415,0.971546]] 2025-10-27T04:45:40.807Z,1761540340.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504324 s, deltaX: -0.400000 m, approachRate: -0.793140 m/s, rangeRepo size: 4 2025-10-27T04:45:40.809Z,1761540340.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.393467 m, bearing: 54.231163 deg, lat: 36.779323 deg, lon: -121.859571 deg, deltaT: 0.504324 s, deltaX: -0.398018 m, approachRate: -0.789211 m/s, posRepo size: 4 2025-10-27T04:45:40.810Z,1761540340.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.39 m. 2025-10-27T04:45:40.813Z,1761540340.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.393467 m, nav range: 19.106451 m, bearing: 54.037494 deg, approach rate: 0.000000 m/s, LOS rate: -0.162257 deg/s, cmd heading: 49.066385 deg, new cmd heading: 48.832096 deg. 2025-10-27T04:45:40.814Z,1761540340.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.852281 target range: 21.393467 and range: 21.50 m. 2025-10-27T04:45:40.852Z,1761540340.852 [DAT](INFO): DAT read: 04:45:39.4450 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.49,-0.566,-2.294,-0.422,-0.556, PHS= 0.092,-1.693, 0.090, RAW= 149.9, 16.7, CAL= 150.4, 18.7, ROT= 359.6, -18.7 2025-10-27T04:45:40.853Z,1761540340.853 [DAT](INFO): got valid direction response: 04:45:39.4450 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.49,-0.566,-2.294,-0.422,-0.556, PHS= 0.092,-1.693, 0.090, RAW= 149.9, 16.7, CAL= 150.4, 18.7, ROT= 359.6, -18.7 2025-10-27T04:45:40.854Z,1761540340.854 [DAT](INFO): #Rx 36: Read direction message, but no range. 2025-10-27T04:45:40.855Z,1761540340.855 [DAT](INFO): direction in FSK: [0.947187,-0.006613,0.320613] 2025-10-27T04:45:40.862Z,1761540340.862 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.609343 2025-10-27T04:45:41.105Z,1761540341.105 [DAT](INFO): DAT read: Rx Time:04:45:39.9448 2025-10-27T04:45:41.106Z,1761540341.106 [DAT](INFO): Rx dataTimestamp_ set to:1761540341.105378 2025-10-27T04:45:41.114Z,1761540341.114 [DAT](INFO): DAT read: Bearing 211.8, 5.5 (Local) 2025-10-27T04:45:41.115Z,1761540341.115 [DAT](INFO): Local bearing/azimuth received: Bearing 211.8, 5.5 (Local) 2025-10-27T04:45:41.122Z,1761540341.122 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.7 2025-10-27T04:45:41.176Z,1761540341.176 [DAT](INFO): DAT read: 04:45:39.9448 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.11, 1.176,-0.537, 1.294, 1.193, PHS= 0.085,-1.685, 0.057, RAW= 149.2, 17.3, CAL= 149.6, 19.3, ROT= 0.4, -19.3 2025-10-27T04:45:41.177Z,1761540341.177 [DAT](INFO): got valid direction response: 04:45:39.9448 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.11, 1.176,-0.537, 1.294, 1.193, PHS= 0.085,-1.685, 0.057, RAW= 149.2, 17.3, CAL= 149.6, 19.3, ROT= 0.4, -19.3 2025-10-27T04:45:41.177Z,1761540341.177 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T04:45:41.178Z,1761540341.178 [DAT](INFO): direction in FSK: [0.943778,0.006589,0.330514] 2025-10-27T04:45:41.178Z,1761540341.178 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:41.198Z,1761540341.198 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.945499 2025-10-27T04:45:41.204Z,1761540341.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623590,-0.744485,-0.238493],[0.765175,0.643761,-0.008866],[0.160133,-0.176960,0.971104]] 2025-10-27T04:45:41.295Z,1761540341.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504825 s, deltaX: -0.299999 m, approachRate: -0.594264 m/s, rangeRepo size: 4 2025-10-27T04:45:41.297Z,1761540341.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.094957 m, bearing: 55.094563 deg, lat: 36.779322 deg, lon: -121.859571 deg, deltaT: 0.504825 s, deltaX: -0.298510 m, approachRate: -0.591313 m/s, posRepo size: 4 2025-10-27T04:45:41.298Z,1761540341.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T04:45:41.305Z,1761540341.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.094957 m, nav range: 18.704805 m, bearing: 54.166984 deg, approach rate: 0.000000 m/s, LOS rate: -0.162257 deg/s, cmd heading: 48.832096 deg, new cmd heading: 48.594665 deg. 2025-10-27T04:45:41.306Z,1761540341.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.848137 target range: 21.094957 and range: 21.20 m. 2025-10-27T04:45:41.353Z,1761540341.353 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.100273 2025-10-27T04:45:41.608Z,1761540341.608 [DAT](INFO): DAT read: Rx Time:04:45:40.4445 2025-10-27T04:45:41.610Z,1761540341.610 [DAT](INFO): Rx dataTimestamp_ set to:1761540341.608627 2025-10-27T04:45:41.618Z,1761540341.618 [DAT](INFO): DAT read: Bearing 209.7, 5.4 (Local) 2025-10-27T04:45:41.619Z,1761540341.619 [DAT](INFO): Local bearing/azimuth received: Bearing 209.7, 5.4 (Local) 2025-10-27T04:45:41.648Z,1761540341.648 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.7 2025-10-27T04:45:41.665Z,1761540341.665 [DAT](INFO): DAT read: 04:45:40.4445 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.11,-2.220, 2.350,-2.078,-2.249, PHS= 0.131,-1.639, 0.127, RAW= 149.9, 15.4, CAL= 150.2, 17.2, ROT= 359.8, -17.2 2025-10-27T04:45:41.666Z,1761540341.666 [DAT](INFO): got valid direction response: 04:45:40.4445 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.11,-2.220, 2.350,-2.078,-2.249, PHS= 0.131,-1.639, 0.127, RAW= 149.9, 15.4, CAL= 150.2, 17.2, ROT= 359.8, -17.2 2025-10-27T04:45:41.666Z,1761540341.666 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T04:45:41.675Z,1761540341.675 [DAT](INFO): direction in FSK: [0.955273,-0.003335,0.295708] 2025-10-27T04:45:41.676Z,1761540341.676 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:41.689Z,1761540341.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623799,-0.743712,-0.240350],[0.764878,0.644126,-0.007966],[0.160740,-0.178869,0.970654]] 2025-10-27T04:45:41.720Z,1761540341.720 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.467253 2025-10-27T04:45:41.753Z,1761540341.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503249 s, deltaX: -0.500000 m, approachRate: -0.993544 m/s, rangeRepo size: 4 2025-10-27T04:45:41.760Z,1761540341.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.597433 m, bearing: 54.014676 deg, lat: 36.779322 deg, lon: -121.859571 deg, deltaT: 0.503249 s, deltaX: -0.497524 m, approachRate: -0.988624 m/s, posRepo size: 4 2025-10-27T04:45:41.760Z,1761540341.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m. 2025-10-27T04:45:41.767Z,1761540341.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.597433 m, nav range: 18.437325 m, bearing: 54.217174 deg, approach rate: 0.000000 m/s, LOS rate: -0.162257 deg/s, cmd heading: 48.594665 deg, new cmd heading: 48.369506 deg. 2025-10-27T04:45:41.768Z,1761540341.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.844207 target range: 20.597433 and range: 20.70 m. 2025-10-27T04:45:41.858Z,1761540341.858 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.605005 2025-10-27T04:45:42.112Z,1761540342.112 [DAT](INFO): DAT read: Rx Time:04:45:40.9444 2025-10-27T04:45:42.114Z,1761540342.114 [DAT](INFO): Rx dataTimestamp_ set to:1761540342.113187 2025-10-27T04:45:42.123Z,1761540342.123 [DAT](INFO): DAT read: Bearing 209.3, 5.5 (Local) 2025-10-27T04:45:42.124Z,1761540342.124 [DAT](INFO): Local bearing/azimuth received: Bearing 209.3, 5.5 (Local) 2025-10-27T04:45:42.148Z,1761540342.148 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.7 2025-10-27T04:45:42.161Z,1761540342.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624361,-0.742824,-0.241631],[0.764279,0.644842,-0.007524],[0.161403,-0.179976,0.970339]] 2025-10-27T04:45:42.165Z,1761540342.165 [DAT](INFO): DAT read: 04:45:40.9444 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.47,-0.419,-2.137,-0.278,-0.456, PHS= 0.139,-1.637, 0.134, RAW= 149.9, 15.2, CAL= 150.1, 17.0, ROT= 359.9, -17.0 2025-10-27T04:45:42.166Z,1761540342.166 [DAT](INFO): got valid direction response: 04:45:40.9444 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.47,-0.419,-2.137,-0.278,-0.456, PHS= 0.139,-1.637, 0.134, RAW= 149.9, 15.2, CAL= 150.1, 17.0, ROT= 359.9, -17.0 2025-10-27T04:45:42.166Z,1761540342.166 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T04:45:42.180Z,1761540342.180 [DAT](INFO): direction in FSK: [0.956303,-0.001669,0.292372] 2025-10-27T04:45:42.180Z,1761540342.180 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:42.196Z,1761540342.196 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.943167 2025-10-27T04:45:42.278Z,1761540342.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504560 s, deltaX: -0.100000 m, approachRate: -0.198193 m/s, rangeRepo size: 4 2025-10-27T04:45:42.285Z,1761540342.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.497902 m, bearing: 54.049710 deg, lat: 36.779322 deg, lon: -121.859571 deg, deltaT: 0.504560 s, deltaX: -0.099531 m, approachRate: -0.197263 m/s, posRepo size: 4 2025-10-27T04:45:42.285Z,1761540342.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m. 2025-10-27T04:45:42.296Z,1761540342.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.497902 m, nav range: 18.070187 m, bearing: 54.173966 deg, approach rate: 0.000000 m/s, LOS rate: -0.162257 deg/s, cmd heading: 48.369504 deg, new cmd heading: 48.113983 deg. 2025-10-27T04:45:42.297Z,1761540342.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839747 target range: 20.497902 and range: 20.60 m. 2025-10-27T04:45:42.362Z,1761540342.362 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.109476 2025-10-27T04:45:42.616Z,1761540342.616 [DAT](INFO): DAT read: Rx Time:04:45:41.4440 2025-10-27T04:45:42.618Z,1761540342.618 [DAT](INFO): Rx dataTimestamp_ set to:1761540342.617086 2025-10-27T04:45:42.627Z,1761540342.627 [DAT](INFO): DAT read: Bearing 204.9, 7.9 (Local) 2025-10-27T04:45:42.628Z,1761540342.628 [DAT](INFO): Local bearing/azimuth received: Bearing 204.9, 7.9 (Local) 2025-10-27T04:45:42.630Z,1761540342.630 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.7 2025-10-27T04:45:42.630Z,1761540342.630 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T04:45:42.632Z,1761540342.632 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.379086 2025-10-27T04:45:42.656Z,1761540342.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624884,-0.742272,-0.241977],[0.763710,0.645511,-0.007912],[0.162071,-0.179856,0.970250]] 2025-10-27T04:45:42.738Z,1761540342.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:42.745Z,1761540342.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503899 s, deltaX: -0.600000 m, approachRate: -1.190716 m/s, rangeRepo size: 4 2025-10-27T04:45:42.746Z,1761540342.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m. 2025-10-27T04:45:42.753Z,1761540342.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.497902 m, nav range: 17.750271 m, bearing: 54.135645 deg, approach rate: -0.684978 m/s, LOS rate: -0.083527 deg/s, cmd heading: 48.113984 deg, new cmd heading: 47.996950 deg. 2025-10-27T04:45:42.754Z,1761540342.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837705 target range: 20.497902 and range: 20.00 m. 2025-10-27T04:45:42.871Z,1761540342.871 [DAT](INFO): DAT read: 04:45:41.4440 LVL= 30176, 32753, 32482, 32755, AGC= 62, IDX= 497, 0.18,-0.030,-1.792, 0.078,-0.212, PHS= 0.285,-1.534, 0.246, RAW= 148.9, 11.2, CAL= 148.7, 12.2, ROT= 1.3, -12.2 2025-10-27T04:45:42.873Z,1761540342.873 [DAT](INFO): got valid direction response: 04:45:41.4440 LVL= 30176, 32753, 32482, 32755, AGC= 62, IDX= 497, 0.18,-0.030,-1.792, 0.078,-0.212, PHS= 0.285,-1.534, 0.246, RAW= 148.9, 11.2, CAL= 148.7, 12.2, ROT= 1.3, -12.2 2025-10-27T04:45:42.874Z,1761540342.874 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T04:45:42.875Z,1761540342.875 [DAT](INFO): direction in FSK: [0.977164,0.022175,0.211325] 2025-10-27T04:45:42.884Z,1761540342.884 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.629929 2025-10-27T04:45:43.074Z,1761540343.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625294,-0.741939,-0.241938],[0.763267,0.646027,-0.008458],[0.162574,-0.179375,0.970255]] 2025-10-27T04:45:43.120Z,1761540343.120 [DAT](INFO): DAT read: Rx Time:04:45:41.9438 2025-10-27T04:45:43.122Z,1761540343.122 [DAT](INFO): Rx dataTimestamp_ set to:1761540343.121043 2025-10-27T04:45:43.127Z,1761540343.127 [DAT](INFO): DAT read: Bearing 205.4, 7.8 (Local) 2025-10-27T04:45:43.128Z,1761540343.128 [DAT](INFO): Local bearing/azimuth received: Bearing 205.4, 7.8 (Local) 2025-10-27T04:45:43.130Z,1761540343.130 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.9 2025-10-27T04:45:43.131Z,1761540343.131 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T04:45:43.132Z,1761540343.132 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.879015 2025-10-27T04:45:43.224Z,1761540343.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503957 s, deltaX: -0.299999 m, approachRate: -0.595287 m/s, rangeRepo size: 4 2025-10-27T04:45:43.226Z,1761540343.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.602316 m, bearing: 54.375467 deg, lat: 36.779323 deg, lon: -121.859570 deg, deltaT: 1.007856 s, deltaX: -0.895586 m, approachRate: -0.888605 m/s, posRepo size: 4 2025-10-27T04:45:43.227Z,1761540343.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T04:45:43.233Z,1761540343.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.602316 m, nav range: 17.514414 m, bearing: 53.975613 deg, approach rate: 0.000000 m/s, LOS rate: -0.083527 deg/s, cmd heading: 47.996952 deg, new cmd heading: 47.879156 deg. 2025-10-27T04:45:43.234Z,1761540343.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835649 target range: 19.602316 and range: 19.70 m. 2025-10-27T04:45:43.376Z,1761540343.376 [DAT](INFO): DAT read: 04:45:41.9438 LVL= 30448, 32753, 32578, 32755, AGC= 62, IDX= 511,-0.04,-1.790, 2.750,-1.682,-1.952, PHS= 0.264,-1.537, 0.226, RAW= 149.0, 11.7, CAL= 148.8, 12.9, ROT= 1.2, -12.9 2025-10-27T04:45:43.377Z,1761540343.377 [DAT](INFO): got valid direction response: 04:45:41.9438 LVL= 30448, 32753, 32578, 32755, AGC= 62, IDX= 511,-0.04,-1.790, 2.750,-1.682,-1.952, PHS= 0.264,-1.537, 0.226, RAW= 149.0, 11.7, CAL= 148.8, 12.9, ROT= 1.2, -12.9 2025-10-27T04:45:43.378Z,1761540343.378 [DAT](INFO): #Rx 43: Read direction message, but no range. 2025-10-27T04:45:43.380Z,1761540343.380 [DAT](INFO): direction in FSK: [0.974547,0.020414,0.223250] 2025-10-27T04:45:43.400Z,1761540343.400 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.147705 2025-10-27T04:45:43.516Z,1761540343.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T04:45:43.519Z,1761540343.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.602316 m, nav range: 17.308445 m, bearing: 53.961878 deg, approach rate: -0.689415 m/s, LOS rate: -0.046519 deg/s, cmd heading: 47.879155 deg, new cmd heading: 47.837461 deg. 2025-10-27T04:45:43.520Z,1761540343.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834921 target range: 19.602316 and range: 19.70 m. 2025-10-27T04:45:43.625Z,1761540343.625 [DAT](INFO): DAT read: Rx Time:04:45:42.4435 2025-10-27T04:45:43.626Z,1761540343.626 [DAT](INFO): Rx dataTimestamp_ set to:1761540343.625673 2025-10-27T04:45:43.629Z,1761540343.629 [DAT](INFO): DAT read: Bearing 205.6, 7.7 (Local) 2025-10-27T04:45:43.629Z,1761540343.629 [DAT](INFO): Local bearing/azimuth received: Bearing 205.6, 7.7 (Local) 2025-10-27T04:45:43.631Z,1761540343.631 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.6 2025-10-27T04:45:43.632Z,1761540343.632 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-27T04:45:43.633Z,1761540343.633 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.380203 2025-10-27T04:45:43.880Z,1761540343.880 [DAT](INFO): DAT read: 04:45:42.4435 LVL= 30192, 32753, 32114, 32755, AGC= 62, IDX= 508,-0.25, 2.562, 0.813, 2.669, 2.408, PHS= 0.255,-1.550, 0.217, RAW= 148.9, 12.0, CAL= 148.8, 13.2, ROT= 1.2, -13.2 2025-10-27T04:45:43.881Z,1761540343.881 [DAT](INFO): got valid direction response: 04:45:42.4435 LVL= 30192, 32753, 32114, 32755, AGC= 62, IDX= 508,-0.25, 2.562, 0.813, 2.669, 2.408, PHS= 0.255,-1.550, 0.217, RAW= 148.9, 12.0, CAL= 148.8, 13.2, ROT= 1.2, -13.2 2025-10-27T04:45:43.882Z,1761540343.882 [DAT](INFO): #Rx 45: Read direction message, but no range. 2025-10-27T04:45:43.884Z,1761540343.884 [DAT](INFO): direction in FSK: [0.973365,0.020389,0.228351] 2025-10-27T04:45:43.889Z,1761540343.889 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.636333 2025-10-27T04:45:43.902Z,1761540343.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627851,-0.738794,-0.244923],[0.760924,0.648809,-0.006490],[0.163703,-0.182293,0.969521]] 2025-10-27T04:45:44.022Z,1761540344.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504630 s, deltaX: -0.500000 m, approachRate: -0.990825 m/s, rangeRepo size: 4 2025-10-27T04:45:44.029Z,1761540344.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.104794 m, bearing: 54.326150 deg, lat: 36.779324 deg, lon: -121.859568 deg, deltaT: 0.504630 s, deltaX: -0.497522 m, approachRate: -0.985915 m/s, posRepo size: 4 2025-10-27T04:45:44.030Z,1761540344.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T04:45:44.041Z,1761540344.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.104794 m, nav range: 17.254843 m, bearing: 53.958728 deg, approach rate: 0.000000 m/s, LOS rate: -0.046519 deg/s, cmd heading: 47.837460 deg, new cmd heading: 47.766562 deg. 2025-10-27T04:45:44.042Z,1761540344.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833684 target range: 19.104794 and range: 19.20 m. 2025-10-27T04:45:44.129Z,1761540344.129 [DAT](INFO): DAT read: Rx Time:04:45:42.9433 2025-10-27T04:45:44.129Z,1761540344.129 [DAT](INFO): Rx dataTimestamp_ set to:1761540344.128704 2025-10-27T04:45:44.131Z,1761540344.131 [DAT](INFO): DAT read: Bearing 207.7, 7.3 (Local) 2025-10-27T04:45:44.132Z,1761540344.132 [DAT](INFO): Local bearing/azimuth received: Bearing 207.7, 7.3 (Local) 2025-10-27T04:45:44.134Z,1761540344.134 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.9 2025-10-27T04:45:44.148Z,1761540344.148 [DAT](INFO): DAT read: 04:45:42.9433 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.41,-0.286,-2.015,-0.187,-0.379, PHS= 0.195,-1.591, 0.148, RAW= 148.7, 14.1, CAL= 148.7, 15.5, ROT= 1.3, -15.5 2025-10-27T04:45:44.149Z,1761540344.149 [DAT](INFO): got valid direction response: 04:45:42.9433 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.41,-0.286,-2.015,-0.187,-0.379, PHS= 0.195,-1.591, 0.148, RAW= 148.7, 14.1, CAL= 148.7, 15.5, ROT= 1.3, -15.5 2025-10-27T04:45:44.150Z,1761540344.150 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T04:45:44.155Z,1761540344.155 [DAT](INFO): direction in FSK: [0.963382,0.021862,0.267238] 2025-10-27T04:45:44.156Z,1761540344.156 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:44.165Z,1761540344.165 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.912409 2025-10-27T04:45:44.318Z,1761540344.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630379,-0.736250,-0.246087],[0.758748,0.651364,-0.005151],[0.164085,-0.183471,0.969234]] 2025-10-27T04:45:44.377Z,1761540344.377 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.124315 2025-10-27T04:45:44.440Z,1761540344.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503031 s, deltaX: -0.300001 m, approachRate: -0.596387 m/s, rangeRepo size: 4 2025-10-27T04:45:44.442Z,1761540344.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.806280 m, bearing: 54.762836 deg, lat: 36.779324 deg, lon: -121.859565 deg, deltaT: 0.503031 s, deltaX: -0.298513 m, approachRate: -0.593429 m/s, posRepo size: 4 2025-10-27T04:45:44.447Z,1761540344.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.81 m. 2025-10-27T04:45:44.454Z,1761540344.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.806280 m, nav range: 17.197493 m, bearing: 54.430523 deg, approach rate: 0.000000 m/s, LOS rate: -0.046519 deg/s, cmd heading: 47.766563 deg, new cmd heading: 47.710425 deg. 2025-10-27T04:45:44.461Z,1761540344.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832704 target range: 18.806280 and range: 18.90 m. 2025-10-27T04:45:44.630Z,1761540344.630 [DAT](INFO): DAT read: Rx Time:04:45:43.4430 2025-10-27T04:45:44.631Z,1761540344.631 [DAT](INFO): Rx dataTimestamp_ set to:1761540344.630294 2025-10-27T04:45:44.632Z,1761540344.632 [DAT](INFO): DAT read: Bearing 204.7, 8.4 (Local) 2025-10-27T04:45:44.632Z,1761540344.632 [DAT](INFO): Local bearing/azimuth received: Bearing 204.7, 8.4 (Local) 2025-10-27T04:45:44.634Z,1761540344.634 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.6 2025-10-27T04:45:44.679Z,1761540344.679 [DAT](INFO): DAT read: 04:45:43.4430 LVL= 30192, 32753, 31954, 32755, AGC= 62, IDX= 503, 0.22,-1.493, 3.034,-1.399,-1.672, PHS= 0.281,-1.532, 0.229, RAW= 148.5, 11.4, CAL= 148.3, 12.5, ROT= 1.7, -12.5 2025-10-27T04:45:44.680Z,1761540344.680 [DAT](INFO): got valid direction response: 04:45:43.4430 LVL= 30192, 32753, 31954, 32755, AGC= 62, IDX= 503, 0.22,-1.493, 3.034,-1.399,-1.672, PHS= 0.281,-1.532, 0.229, RAW= 148.5, 11.4, CAL= 148.3, 12.5, ROT= 1.7, -12.5 2025-10-27T04:45:44.681Z,1761540344.681 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T04:45:44.682Z,1761540344.682 [DAT](INFO): direction in FSK: [0.975866,0.028963,0.216440] 2025-10-27T04:45:44.682Z,1761540344.682 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:44.690Z,1761540344.690 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.437170 2025-10-27T04:45:44.762Z,1761540344.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634797,-0.732192,-0.246837],[0.754869,0.655862,-0.004166],[0.164941,-0.183685,0.969048]] 2025-10-27T04:45:44.828Z,1761540344.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.501590 s, deltaX: -0.299999 m, approachRate: -0.598097 m/s, rangeRepo size: 4 2025-10-27T04:45:44.830Z,1761540344.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.507769 m, bearing: 54.174761 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.501590 s, deltaX: -0.298512 m, approachRate: -0.595131 m/s, posRepo size: 4 2025-10-27T04:45:44.835Z,1761540344.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.51 m. 2025-10-27T04:45:44.838Z,1761540344.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.507769 m, nav range: 17.187540 m, bearing: 54.325613 deg, approach rate: 0.000000 m/s, LOS rate: -0.046519 deg/s, cmd heading: 47.710425 deg, new cmd heading: 47.654082 deg. 2025-10-27T04:45:44.843Z,1761540344.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831721 target range: 18.507769 and range: 18.60 m. 2025-10-27T04:45:44.881Z,1761540344.881 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.628536 2025-10-27T04:45:44.997Z,1761540344.997 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:45:45.132Z,1761540345.132 [DAT](INFO): DAT read: Rx Time:04:45:43.9429 2025-10-27T04:45:45.133Z,1761540345.133 [DAT](INFO): Rx dataTimestamp_ set to:1761540345.132544 2025-10-27T04:45:45.134Z,1761540345.134 [DAT](INFO): DAT read: Bearing 204.9, 8.4 (Local) 2025-10-27T04:45:45.134Z,1761540345.134 [DAT](INFO): Local bearing/azimuth received: Bearing 204.9, 8.4 (Local) 2025-10-27T04:45:45.136Z,1761540345.136 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.6 2025-10-27T04:45:45.137Z,1761540345.137 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-27T04:45:45.138Z,1761540345.138 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.885452 2025-10-27T04:45:45.314Z,1761540345.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637047,-0.729523,-0.248934],[0.752837,0.658203,-0.002337],[0.165554,-0.185918,0.968518]] 2025-10-27T04:45:45.350Z,1761540345.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:45.356Z,1761540345.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.502250 s, deltaX: -0.100000 m, approachRate: -0.199105 m/s, rangeRepo size: 4 2025-10-27T04:45:45.357Z,1761540345.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.51 m. 2025-10-27T04:45:45.389Z,1761540345.389 [DAT](INFO): DAT read: 04:45:43.9429 LVL= 29616, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.10,-0.689,-2.442,-0.596,-0.858, PHS= 0.271,-1.539, 0.218, RAW= 148.5, 11.8, CAL= 148.3, 12.9, ROT= 1.7, -12.9 2025-10-27T04:45:45.390Z,1761540345.390 [DAT](INFO): got valid direction response: 04:45:43.9429 LVL= 29616, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.10,-0.689,-2.442,-0.596,-0.858, PHS= 0.271,-1.539, 0.218, RAW= 148.5, 11.8, CAL= 148.3, 12.9, ROT= 1.7, -12.9 2025-10-27T04:45:45.391Z,1761540345.391 [DAT](INFO): #Rx 49: Read direction message, but no range. 2025-10-27T04:45:45.392Z,1761540345.392 [DAT](INFO): direction in FSK: [0.974332,0.028918,0.223250] 2025-10-27T04:45:45.396Z,1761540345.396 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.143293 2025-10-27T04:45:45.396Z,1761540345.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.507769 m, nav range: 16.839529 m, bearing: 54.351741 deg, approach rate: -0.663056 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.654083 deg, new cmd heading: 47.734087 deg. 2025-10-27T04:45:45.397Z,1761540345.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833117 target range: 18.507769 and range: 18.50 m. 2025-10-27T04:45:45.637Z,1761540345.637 [DAT](INFO): DAT read: Rx Time:04:45:44.4426 2025-10-27T04:45:45.637Z,1761540345.637 [DAT](INFO): Rx dataTimestamp_ set to:1761540345.636749 2025-10-27T04:45:45.638Z,1761540345.638 [DAT](INFO): DAT read: Bearing 205.3, 8.3 (Local) 2025-10-27T04:45:45.639Z,1761540345.639 [DAT](INFO): Local bearing/azimuth received: Bearing 205.3, 8.3 (Local) 2025-10-27T04:45:45.641Z,1761540345.641 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.6 2025-10-27T04:45:45.648Z,1761540345.648 [DAT](INFO): DAT read: 04:45:44.4426 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.05,-2.393, 2.158,-2.304,-2.544, PHS= 0.253,-1.536, 0.196, RAW= 148.4, 12.3, CAL= 148.3, 13.5, ROT= 1.7, -13.5 2025-10-27T04:45:45.649Z,1761540345.649 [DAT](INFO): got valid direction response: 04:45:44.4426 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.05,-2.393, 2.158,-2.304,-2.544, PHS= 0.253,-1.536, 0.196, RAW= 148.4, 12.3, CAL= 148.3, 13.5, ROT= 1.7, -13.5 2025-10-27T04:45:45.650Z,1761540345.650 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T04:45:45.651Z,1761540345.651 [DAT](INFO): direction in FSK: [0.971942,0.028847,0.233445] 2025-10-27T04:45:45.652Z,1761540345.652 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:45.656Z,1761540345.656 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.403482 2025-10-27T04:45:45.861Z,1761540345.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639347,-0.726921,-0.250642],[0.750777,0.660556,-0.000658],[0.166041,-0.187755,0.968080]] 2025-10-27T04:45:45.888Z,1761540345.888 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.635588 2025-10-27T04:45:45.929Z,1761540345.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504205 s, deltaX: -0.500000 m, approachRate: -0.991660 m/s, rangeRepo size: 4 2025-10-27T04:45:45.931Z,1761540345.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.910723 m, bearing: 54.098838 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 1.006455 s, deltaX: -0.597046 m, approachRate: -0.593217 m/s, posRepo size: 4 2025-10-27T04:45:45.938Z,1761540345.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.91 m. 2025-10-27T04:45:45.945Z,1761540345.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.910723 m, nav range: 16.520071 m, bearing: 54.307829 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.734088 deg, new cmd heading: 47.821810 deg. 2025-10-27T04:45:45.946Z,1761540345.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834648 target range: 17.910723 and range: 18.00 m. 2025-10-27T04:45:46.001Z,1761540346.001 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:45:46.141Z,1761540346.141 [DAT](INFO): DAT read: Rx Time:04:45:44.9424 2025-10-27T04:45:46.141Z,1761540346.141 [DAT](INFO): Rx dataTimestamp_ set to:1761540346.140814 2025-10-27T04:45:46.142Z,1761540346.142 [DAT](INFO): DAT read: Bearing 204.6, 8.9 (Local) 2025-10-27T04:45:46.143Z,1761540346.143 [DAT](INFO): Local bearing/azimuth received: Bearing 204.6, 8.9 (Local) 2025-10-27T04:45:46.145Z,1761540346.145 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.5 2025-10-27T04:45:46.150Z,1761540346.150 [DAT](INFO): DAT read: 04:45:44.9424 LVL= 30128, 32753, 32562, 32755, AGC= 62, IDX= 497, 0.01, 3.112, 1.367,-3.096, 2.939, PHS= 0.275,-1.527, 0.204, RAW= 148.0, 11.8, CAL= 147.8, 13.0, ROT= 2.2, -13.0 2025-10-27T04:45:46.151Z,1761540346.151 [DAT](INFO): got valid direction response: 04:45:44.9424 LVL= 30128, 32753, 32562, 32755, AGC= 62, IDX= 497, 0.01, 3.112, 1.367,-3.096, 2.939, PHS= 0.275,-1.527, 0.204, RAW= 148.0, 11.8, CAL= 147.8, 13.0, ROT= 2.2, -13.0 2025-10-27T04:45:46.151Z,1761540346.151 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T04:45:46.152Z,1761540346.152 [DAT](INFO): direction in FSK: [0.973652,0.037404,0.224951] 2025-10-27T04:45:46.153Z,1761540346.153 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:46.156Z,1761540346.156 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=22.903860 2025-10-27T04:45:46.329Z,1761540346.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644852,-0.721485,-0.252240],[0.745870,0.666090,0.001594],[0.166865,-0.189166,0.967663]] 2025-10-27T04:45:46.392Z,1761540346.392 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.139927 2025-10-27T04:45:46.451Z,1761540346.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504065 s, deltaX: -0.299999 m, approachRate: -0.595160 m/s, rangeRepo size: 4 2025-10-27T04:45:46.453Z,1761540346.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.612267 m, bearing: 54.092757 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.504065 s, deltaX: -0.298456 m, approachRate: -0.592099 m/s, posRepo size: 4 2025-10-27T04:45:46.454Z,1761540346.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.61 m. 2025-10-27T04:45:46.461Z,1761540346.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.612267 m, nav range: 16.200445 m, bearing: 54.257393 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.821809 deg, new cmd heading: 47.900860 deg. 2025-10-27T04:45:46.462Z,1761540346.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836028 target range: 17.612267 and range: 17.70 m. 2025-10-27T04:45:46.645Z,1761540346.645 [DAT](INFO): DAT read: Rx Time:04:45:45.4421 2025-10-27T04:45:46.645Z,1761540346.645 [DAT](INFO): Rx dataTimestamp_ set to:1761540346.645037 2025-10-27T04:45:46.647Z,1761540346.647 [DAT](INFO): DAT read: Bearing 208.9, 7.6 (Local) 2025-10-27T04:45:46.647Z,1761540346.647 [DAT](INFO): Local bearing/azimuth received: Bearing 208.9, 7.6 (Local) 2025-10-27T04:45:46.649Z,1761540346.649 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.5 2025-10-27T04:45:46.654Z,1761540346.654 [DAT](INFO): DAT read: 04:45:45.4421 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.09, 2.203, 0.453, 2.276, 2.156, PHS= 0.149,-1.658, 0.076, RAW= 148.0, 16.0, CAL= 148.0, 17.7, ROT= 2.0, -17.7 2025-10-27T04:45:46.655Z,1761540346.655 [DAT](INFO): got valid direction response: 04:45:45.4421 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.09, 2.203, 0.453, 2.276, 2.156, PHS= 0.149,-1.658, 0.076, RAW= 148.0, 16.0, CAL= 148.0, 17.7, ROT= 2.0, -17.7 2025-10-27T04:45:46.656Z,1761540346.656 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T04:45:46.657Z,1761540346.657 [DAT](INFO): direction in FSK: [0.952081,0.033247,0.304033] 2025-10-27T04:45:46.657Z,1761540346.657 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:46.661Z,1761540346.661 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.408243 2025-10-27T04:45:46.783Z,1761540346.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647457,-0.718961,-0.252774],[0.743512,0.668719,0.002407],[0.167304,-0.189499,0.967523]] 2025-10-27T04:45:46.832Z,1761540346.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504223 s, deltaX: -0.400002 m, approachRate: -0.793303 m/s, rangeRepo size: 4 2025-10-27T04:45:46.834Z,1761540346.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.214249 m, bearing: 54.793757 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.504223 s, deltaX: -0.398018 m, approachRate: -0.789369 m/s, posRepo size: 4 2025-10-27T04:45:46.839Z,1761540346.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-27T04:45:46.842Z,1761540346.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.214249 m, nav range: 15.954324 m, bearing: 54.275591 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.900861 deg, new cmd heading: 47.959581 deg. 2025-10-27T04:45:46.856Z,1761540346.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837053 target range: 17.214249 and range: 17.30 m. 2025-10-27T04:45:46.896Z,1761540346.896 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.643505 2025-10-27T04:45:47.149Z,1761540347.149 [DAT](INFO): DAT read: Rx Time:04:45:45.9420 2025-10-27T04:45:47.149Z,1761540347.149 [DAT](INFO): Rx dataTimestamp_ set to:1761540347.148761 2025-10-27T04:45:47.150Z,1761540347.150 [DAT](INFO): DAT read: Bearing 205.1, 9.0 (Local) 2025-10-27T04:45:47.151Z,1761540347.151 [DAT](INFO): Local bearing/azimuth received: Bearing 205.1, 9.0 (Local) 2025-10-27T04:45:47.153Z,1761540347.153 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.5 2025-10-27T04:45:47.157Z,1761540347.157 [DAT](INFO): DAT read: 04:45:45.9420 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.00, 2.600, 0.851, 2.667, 2.449, PHS= 0.253,-1.553, 0.174, RAW= 147.8, 12.7, CAL= 147.6, 14.0, ROT= 2.4, -14.0 2025-10-27T04:45:47.158Z,1761540347.158 [DAT](INFO): got valid direction response: 04:45:45.9420 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.00, 2.600, 0.851, 2.667, 2.449, PHS= 0.253,-1.553, 0.174, RAW= 147.8, 12.7, CAL= 147.6, 14.0, ROT= 2.4, -14.0 2025-10-27T04:45:47.159Z,1761540347.159 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T04:45:47.160Z,1761540347.160 [DAT](INFO): direction in FSK: [0.969445,0.040632,0.241922] 2025-10-27T04:45:47.160Z,1761540347.160 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:47.164Z,1761540347.164 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=23.911312 2025-10-27T04:45:47.319Z,1761540347.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503724 s, deltaX: -0.199999 m, approachRate: -0.397041 m/s, rangeRepo size: 4 2025-10-27T04:45:47.321Z,1761540347.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.015242 m, bearing: 54.329102 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.503724 s, deltaX: -0.199007 m, approachRate: -0.395072 m/s, posRepo size: 4 2025-10-27T04:45:47.322Z,1761540347.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.02 m. 2025-10-27T04:45:47.333Z,1761540347.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.015242 m, nav range: 15.673458 m, bearing: 54.314950 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 47.959580 deg, new cmd heading: 48.028867 deg. 2025-10-27T04:45:47.334Z,1761540347.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838262 target range: 17.015242 and range: 17.10 m. 2025-10-27T04:45:47.401Z,1761540347.401 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.148048 2025-10-27T04:45:47.653Z,1761540347.653 [DAT](INFO): DAT read: Rx Time:04:45:46.4417 2025-10-27T04:45:47.653Z,1761540347.653 [DAT](INFO): Rx dataTimestamp_ set to:1761540347.652806 2025-10-27T04:45:47.654Z,1761540347.654 [DAT](INFO): DAT read: Bearing 209.8, 7.8 (Local) 2025-10-27T04:45:47.655Z,1761540347.655 [DAT](INFO): Local bearing/azimuth received: Bearing 209.8, 7.8 (Local) 2025-10-27T04:45:47.657Z,1761540347.657 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.5 2025-10-27T04:45:47.661Z,1761540347.661 [DAT](INFO): DAT read: 04:45:46.4417 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.07, 2.244, 0.501, 2.304, 2.227, PHS= 0.119,-1.681, 0.032, RAW= 147.6, 17.1, CAL= 147.7, 18.9, ROT= 2.3, -18.9 2025-10-27T04:45:47.663Z,1761540347.663 [DAT](INFO): got valid direction response: 04:45:46.4417 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.07, 2.244, 0.501, 2.304, 2.227, PHS= 0.119,-1.681, 0.032, RAW= 147.6, 17.1, CAL= 147.7, 18.9, ROT= 2.3, -18.9 2025-10-27T04:45:47.663Z,1761540347.663 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T04:45:47.664Z,1761540347.664 [DAT](INFO): direction in FSK: [0.945323,0.037968,0.323917] 2025-10-27T04:45:47.664Z,1761540347.664 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:47.676Z,1761540347.676 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.423489 2025-10-27T04:45:47.829Z,1761540347.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504045 s, deltaX: -0.400000 m, approachRate: -0.793579 m/s, rangeRepo size: 4 2025-10-27T04:45:47.835Z,1761540347.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.617224 m, bearing: 55.402271 deg, lat: 36.779326 deg, lon: -121.859563 deg, deltaT: 0.504045 s, deltaX: -0.398018 m, approachRate: -0.789648 m/s, posRepo size: 4 2025-10-27T04:45:47.836Z,1761540347.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.62 m. 2025-10-27T04:45:47.838Z,1761540347.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.617224 m, nav range: 15.317782 m, bearing: 54.291681 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 48.028866 deg, new cmd heading: 48.111458 deg. 2025-10-27T04:45:47.844Z,1761540347.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839703 target range: 16.617224 and range: 16.70 m. 2025-10-27T04:45:47.905Z,1761540347.905 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.652399 2025-10-27T04:45:48.157Z,1761540348.157 [DAT](INFO): DAT read: Rx Time:04:45:46.9416 2025-10-27T04:45:48.157Z,1761540348.157 [DAT](INFO): Rx dataTimestamp_ set to:1761540348.156933 2025-10-27T04:45:48.158Z,1761540348.158 [DAT](INFO): DAT read: Bearing 209.7, 8.1 (Local) 2025-10-27T04:45:48.159Z,1761540348.159 [DAT](INFO): Local bearing/azimuth received: Bearing 209.7, 8.1 (Local) 2025-10-27T04:45:48.161Z,1761540348.161 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.5 2025-10-27T04:45:48.166Z,1761540348.166 [DAT](INFO): DAT read: 04:45:46.9416 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505,-0.05, 2.954, 1.209, 3.005, 2.937, PHS= 0.119,-1.683, 0.025, RAW= 147.3, 17.2, CAL= 147.4, 19.0, ROT= 2.6, -19.0 2025-10-27T04:45:48.167Z,1761540348.167 [DAT](INFO): got valid direction response: 04:45:46.9416 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505,-0.05, 2.954, 1.209, 3.005, 2.937, PHS= 0.119,-1.683, 0.025, RAW= 147.3, 17.2, CAL= 147.4, 19.0, ROT= 2.6, -19.0 2025-10-27T04:45:48.167Z,1761540348.167 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T04:45:48.168Z,1761540348.168 [DAT](INFO): direction in FSK: [0.944545,0.042892,0.325568] 2025-10-27T04:45:48.168Z,1761540348.168 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:48.172Z,1761540348.172 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=24.919552 2025-10-27T04:45:48.192Z,1761540348.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653296,-0.713439,-0.253395],[0.738107,0.674675,0.003407],[0.168528,-0.189258,0.967357]] 2025-10-27T04:45:48.285Z,1761540348.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504127 s, deltaX: -0.200001 m, approachRate: -0.396727 m/s, rangeRepo size: 4 2025-10-27T04:45:48.292Z,1761540348.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.418264 m, bearing: 55.277778 deg, lat: 36.779322 deg, lon: -121.859566 deg, deltaT: 0.504127 s, deltaX: -0.198959 m, approachRate: -0.394661 m/s, posRepo size: 4 2025-10-27T04:45:48.292Z,1761540348.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m. 2025-10-27T04:45:48.299Z,1761540348.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.418264 m, nav range: 14.560669 m, bearing: 55.084615 deg, approach rate: 0.000000 m/s, LOS rate: 0.050810 deg/s, cmd heading: 48.111460 deg, new cmd heading: 48.181026 deg. 2025-10-27T04:45:48.300Z,1761540348.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840918 target range: 16.418264 and range: 16.50 m. 2025-10-27T04:45:48.408Z,1761540348.408 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.155830 2025-10-27T04:45:48.636Z,1761540348.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654418,-0.712207,-0.253967],[0.736985,0.675900,0.003604],[0.169090,-0.189529,0.967206]] 2025-10-27T04:45:48.653Z,1761540348.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:48.655Z,1761540348.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m. 2025-10-27T04:45:48.658Z,1761540348.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.418264 m, nav range: 14.307921 m, bearing: 55.076101 deg, approach rate: -0.682165 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.181025 deg, new cmd heading: 48.155031 deg. 2025-10-27T04:45:48.661Z,1761540348.661 [DAT](INFO): DAT read: Rx Time:04:45:47.4414 2025-10-27T04:45:48.661Z,1761540348.661 [DAT](INFO): Rx dataTimestamp_ set to:1761540348.660826 2025-10-27T04:45:48.662Z,1761540348.662 [DAT](INFO): DAT read: Bearing 209.9, 8.2 (Local) 2025-10-27T04:45:48.663Z,1761540348.663 [DAT](INFO): Local bearing/azimuth received: Bearing 209.9, 8.2 (Local) 2025-10-27T04:45:48.665Z,1761540348.665 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.6 2025-10-27T04:45:48.678Z,1761540348.678 [DAT](INFO): DAT read: 04:45:47.4414 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.05, 1.954, 0.213, 2.001, 1.943, PHS= 0.113,-1.686, 0.014, RAW= 147.2, 17.5, CAL= 147.3, 19.3, ROT= 2.7, -19.3 2025-10-27T04:45:48.679Z,1761540348.679 [DAT](INFO): got valid direction response: 04:45:47.4414 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502,-0.05, 1.954, 0.213, 2.001, 1.943, PHS= 0.113,-1.686, 0.014, RAW= 147.2, 17.5, CAL= 147.3, 19.3, ROT= 2.7, -19.3 2025-10-27T04:45:48.679Z,1761540348.679 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T04:45:48.680Z,1761540348.680 [DAT](INFO): direction in FSK: [0.942753,0.044459,0.330514] 2025-10-27T04:45:48.680Z,1761540348.680 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:48.683Z,1761540348.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840464 target range: 16.418264 and range: 16.50 m. 2025-10-27T04:45:48.697Z,1761540348.697 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.444355 2025-10-27T04:45:48.912Z,1761540348.912 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.659288 2025-10-27T04:45:49.076Z,1761540349.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655354,-0.711346,-0.253964],[0.736068,0.676899,0.003447],[0.169456,-0.189194,0.967208]] 2025-10-27T04:45:49.165Z,1761540349.165 [DAT](INFO): DAT read: Rx Time:04:45:47.9413 2025-10-27T04:45:49.165Z,1761540349.165 [DAT](INFO): Rx dataTimestamp_ set to:1761540349.164812 2025-10-27T04:45:49.166Z,1761540349.166 [DAT](INFO): DAT read: Bearing 206.1, 9.2 (Local) 2025-10-27T04:45:49.167Z,1761540349.167 [DAT](INFO): Local bearing/azimuth received: Bearing 206.1, 9.2 (Local) 2025-10-27T04:45:49.169Z,1761540349.169 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.6 2025-10-27T04:45:49.173Z,1761540349.173 [DAT](INFO): DAT read: 04:45:47.9413 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.02, 3.049, 1.321, 3.102, 2.940, PHS= 0.210,-1.574, 0.117, RAW= 147.3, 14.2, CAL= 147.2, 15.7, ROT= 2.8, -15.7 2025-10-27T04:45:49.175Z,1761540349.175 [DAT](INFO): got valid direction response: 04:45:47.9413 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.02, 3.049, 1.321, 3.102, 2.940, PHS= 0.210,-1.574, 0.117, RAW= 147.3, 14.2, CAL= 147.2, 15.7, ROT= 2.8, -15.7 2025-10-27T04:45:49.175Z,1761540349.175 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T04:45:49.176Z,1761540349.176 [DAT](INFO): direction in FSK: [0.961542,0.047027,0.270600] 2025-10-27T04:45:49.176Z,1761540349.176 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:49.188Z,1761540349.188 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=25.935423 2025-10-27T04:45:49.159Z,1761540349.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503893 s, deltaX: -0.400000 m, approachRate: -0.793819 m/s, rangeRepo size: 4 2025-10-27T04:45:49.190Z,1761540349.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.020243 m, bearing: 55.292231 deg, lat: 36.779322 deg, lon: -121.859566 deg, deltaT: 0.503893 s, deltaX: -0.398022 m, approachRate: -0.789893 m/s, posRepo size: 4 2025-10-27T04:45:49.191Z,1761540349.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.02 m. 2025-10-27T04:45:49.194Z,1761540349.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.020243 m, nav range: 13.971633 m, bearing: 55.020422 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.155033 deg, new cmd heading: 48.119754 deg. 2025-10-27T04:45:49.199Z,1761540349.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839848 target range: 16.020243 and range: 16.10 m. 2025-10-27T04:45:49.417Z,1761540349.417 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.164213 2025-10-27T04:45:49.524Z,1761540349.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656574,-0.710845,-0.252210],[0.734956,0.678111,0.002068],[0.169556,-0.186721,0.967670]] 2025-10-27T04:45:49.605Z,1761540349.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503986 s, deltaX: -0.200001 m, approachRate: -0.396838 m/s, rangeRepo size: 4 2025-10-27T04:45:49.621Z,1761540349.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.821234 m, bearing: 54.375722 deg, lat: 36.779323 deg, lon: -121.859564 deg, deltaT: 0.503986 s, deltaX: -0.199009 m, approachRate: -0.394870 m/s, posRepo size: 4 2025-10-27T04:45:49.622Z,1761540349.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m. 2025-10-27T04:45:49.625Z,1761540349.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.821234 m, nav range: 13.869718 m, bearing: 55.254363 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.119755 deg, new cmd heading: 48.089020 deg. 2025-10-27T04:45:49.626Z,1761540349.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839312 target range: 15.821234 and range: 15.90 m. 2025-10-27T04:45:49.669Z,1761540349.669 [DAT](INFO): DAT read: Rx Time:04:45:48.4410 2025-10-27T04:45:49.669Z,1761540349.669 [DAT](INFO): Rx dataTimestamp_ set to:1761540349.668694 2025-10-27T04:45:49.670Z,1761540349.670 [DAT](INFO): DAT read: Bearing 209.2, 8.4 (Local) 2025-10-27T04:45:49.671Z,1761540349.671 [DAT](INFO): Local bearing/azimuth received: Bearing 209.2, 8.4 (Local) 2025-10-27T04:45:49.673Z,1761540349.673 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.6 2025-10-27T04:45:49.677Z,1761540349.677 [DAT](INFO): DAT read: 04:45:48.4410 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.12, 2.079, 0.345, 2.129, 2.059, PHS= 0.122,-1.670, 0.026, RAW= 147.3, 17.1, CAL= 147.3, 18.9, ROT= 2.7, -18.9 2025-10-27T04:45:49.678Z,1761540349.678 [DAT](INFO): got valid direction response: 04:45:48.4410 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.12, 2.079, 0.345, 2.129, 2.059, PHS= 0.122,-1.670, 0.026, RAW= 147.3, 17.1, CAL= 147.3, 18.9, ROT= 2.7, -18.9 2025-10-27T04:45:49.679Z,1761540349.679 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T04:45:49.680Z,1761540349.680 [DAT](INFO): direction in FSK: [0.945035,0.044567,0.323917] 2025-10-27T04:45:49.680Z,1761540349.680 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:49.684Z,1761540349.684 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.431305 2025-10-27T04:45:49.925Z,1761540349.925 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.672020 2025-10-27T04:45:49.977Z,1761540349.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657311,-0.710787,-0.250447],[0.734087,0.679055,-0.000555],[0.170462,-0.183485,0.968130]] 2025-10-27T04:45:50.053Z,1761540350.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503882 s, deltaX: -0.400000 m, approachRate: -0.793836 m/s, rangeRepo size: 4 2025-10-27T04:45:50.078Z,1761540350.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.423219 m, bearing: 54.917483 deg, lat: 36.779323 deg, lon: -121.859564 deg, deltaT: 0.503882 s, deltaX: -0.398015 m, approachRate: -0.789897 m/s, posRepo size: 4 2025-10-27T04:45:50.085Z,1761540350.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-27T04:45:50.109Z,1761540350.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.423219 m, nav range: 13.564464 m, bearing: 55.209917 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.089019 deg, new cmd heading: 48.057523 deg. 2025-10-27T04:45:50.123Z,1761540350.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838762 target range: 15.423219 and range: 15.50 m. 2025-10-27T04:45:50.174Z,1761540350.174 [DAT](INFO): DAT read: Rx Time:04:45:48.9408 2025-10-27T04:45:50.174Z,1761540350.174 [DAT](INFO): Rx dataTimestamp_ set to:1761540350.174134 2025-10-27T04:45:50.176Z,1761540350.176 [DAT](INFO): DAT read: Bearing 209.5, 7.6 (Local) 2025-10-27T04:45:50.177Z,1761540350.177 [DAT](INFO): Local bearing/azimuth received: Bearing 209.5, 7.6 (Local) 2025-10-27T04:45:50.182Z,1761540350.182 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.6 2025-10-27T04:45:50.200Z,1761540350.200 [DAT](INFO): DAT read: 04:45:48.9408 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.16, 1.838, 0.093, 1.907, 1.840, PHS= 0.100,-1.701, 0.023, RAW= 147.8, 17.5, CAL= 148.0, 19.4, ROT= 2.0, -19.4 2025-10-27T04:45:50.201Z,1761540350.201 [DAT](INFO): got valid direction response: 04:45:48.9408 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.16, 1.838, 0.093, 1.907, 1.840, PHS= 0.100,-1.701, 0.023, RAW= 147.8, 17.5, CAL= 148.0, 19.4, ROT= 2.0, -19.4 2025-10-27T04:45:50.201Z,1761540350.201 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T04:45:50.202Z,1761540350.202 [DAT](INFO): direction in FSK: [0.942648,0.032918,0.332161] 2025-10-27T04:45:50.203Z,1761540350.203 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:50.216Z,1761540350.216 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=26.963354 2025-10-27T04:45:50.424Z,1761540350.424 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.171509 2025-10-27T04:45:50.433Z,1761540350.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657226,-0.711618,-0.248304],[0.734100,0.679035,-0.002996],[0.170739,-0.180311,0.968678]] 2025-10-27T04:45:50.488Z,1761540350.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.505440 s, deltaX: -0.300000 m, approachRate: -0.593543 m/s, rangeRepo size: 4 2025-10-27T04:45:50.490Z,1761540350.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.124705 m, bearing: 54.245337 deg, lat: 36.779323 deg, lon: -121.859564 deg, deltaT: 0.505440 s, deltaX: -0.298513 m, approachRate: -0.590601 m/s, posRepo size: 4 2025-10-27T04:45:50.492Z,1761540350.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T04:45:50.495Z,1761540350.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.124705 m, nav range: 13.270123 m, bearing: 54.746670 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.057522 deg, new cmd heading: 48.026453 deg. 2025-10-27T04:45:50.496Z,1761540350.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838220 target range: 15.124705 and range: 15.20 m. 2025-10-27T04:45:50.677Z,1761540350.677 [DAT](INFO): DAT read: Rx Time:04:45:49.4405 2025-10-27T04:45:50.677Z,1761540350.677 [DAT](INFO): Rx dataTimestamp_ set to:1761540350.676749 2025-10-27T04:45:50.678Z,1761540350.678 [DAT](INFO): DAT read: Bearing 211.3, 5.4 (Local) 2025-10-27T04:45:50.679Z,1761540350.679 [DAT](INFO): Local bearing/azimuth received: Bearing 211.3, 5.4 (Local) 2025-10-27T04:45:50.681Z,1761540350.681 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.6 2025-10-27T04:45:50.685Z,1761540350.685 [DAT](INFO): DAT read: 04:45:49.4405 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.31, 0.507,-1.179, 0.616, 0.566, PHS= 0.043,-1.700, 0.006, RAW= 148.9, 18.7, CAL= 149.9, 21.8, ROT= 0.1, -21.8 2025-10-27T04:45:50.687Z,1761540350.687 [DAT](INFO): got valid direction response: 04:45:49.4405 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.31, 0.507,-1.179, 0.616, 0.566, PHS= 0.043,-1.700, 0.006, RAW= 148.9, 18.7, CAL= 149.9, 21.8, ROT= 0.1, -21.8 2025-10-27T04:45:50.687Z,1761540350.687 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T04:45:50.688Z,1761540350.688 [DAT](INFO): direction in FSK: [0.928484,0.001621,0.371368] 2025-10-27T04:45:50.688Z,1761540350.688 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:50.692Z,1761540350.692 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.439608 2025-10-27T04:45:50.834Z,1761540350.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656605,-0.712967,-0.246066],[0.734573,0.678505,-0.005802],[0.171094,-0.176944,0.969236]] 2025-10-27T04:45:50.888Z,1761540350.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.502615 s, deltaX: -0.500000 m, approachRate: -0.994797 m/s, rangeRepo size: 4 2025-10-27T04:45:50.890Z,1761540350.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.627182 m, bearing: 52.788482 deg, lat: 36.779324 deg, lon: -121.859564 deg, deltaT: 0.502615 s, deltaX: -0.497523 m, approachRate: -0.989870 m/s, posRepo size: 4 2025-10-27T04:45:50.891Z,1761540350.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T04:45:50.897Z,1761540350.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.627182 m, nav range: 13.027523 m, bearing: 54.506691 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 48.026455 deg, new cmd heading: 47.998723 deg. 2025-10-27T04:45:50.898Z,1761540350.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837736 target range: 14.627182 and range: 14.70 m. 2025-10-27T04:45:50.928Z,1761540350.928 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.675650 2025-10-27T04:45:51.182Z,1761540351.182 [DAT](INFO): DAT read: Rx Time:04:45:49.9404 2025-10-27T04:45:51.182Z,1761540351.182 [DAT](INFO): Rx dataTimestamp_ set to:1761540351.182076 2025-10-27T04:45:51.184Z,1761540351.184 [DAT](INFO): DAT read: Bearing 208.6, 7.1 (Local) 2025-10-27T04:45:51.185Z,1761540351.185 [DAT](INFO): Local bearing/azimuth received: Bearing 208.6, 7.1 (Local) 2025-10-27T04:45:51.187Z,1761540351.187 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.6 2025-10-27T04:45:51.192Z,1761540351.192 [DAT](INFO): DAT read: 04:45:49.9404 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.47, 2.952, 1.189, 3.048, 2.945, PHS= 0.109,-1.711, 0.059, RAW= 148.6, 16.9, CAL= 148.9, 18.8, ROT= 1.1, -18.8 2025-10-27T04:45:51.193Z,1761540351.193 [DAT](INFO): got valid direction response: 04:45:49.9404 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.47, 2.952, 1.189, 3.048, 2.945, PHS= 0.109,-1.711, 0.059, RAW= 148.6, 16.9, CAL= 148.9, 18.8, ROT= 1.1, -18.8 2025-10-27T04:45:51.193Z,1761540351.193 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T04:45:51.194Z,1761540351.194 [DAT](INFO): direction in FSK: [0.946475,0.018173,0.322266] 2025-10-27T04:45:51.194Z,1761540351.194 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:51.198Z,1761540351.198 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=27.945850 2025-10-27T04:45:51.238Z,1761540351.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656422,-0.713403,-0.245289],[0.734626,0.678434,-0.007223],[0.171565,-0.175454,0.969423]] 2025-10-27T04:45:51.358Z,1761540351.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.505327 s, deltaX: -0.099999 m, approachRate: -0.197891 m/s, rangeRepo size: 4 2025-10-27T04:45:51.368Z,1761540351.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.527666 m, bearing: 53.114795 deg, lat: 36.779324 deg, lon: -121.859564 deg, deltaT: 0.505327 s, deltaX: -0.099516 m, approachRate: -0.196934 m/s, posRepo size: 4 2025-10-27T04:45:51.370Z,1761540351.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.53 m. 2025-10-27T04:45:51.379Z,1761540351.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.527666 m, nav range: 12.680949 m, bearing: 53.966888 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 47.998724 deg, new cmd heading: 47.965519 deg. 2025-10-27T04:45:51.384Z,1761540351.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837156 target range: 14.527666 and range: 14.60 m. 2025-10-27T04:45:51.433Z,1761540351.433 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.180143 2025-10-27T04:45:51.685Z,1761540351.685 [DAT](INFO): DAT read: Rx Time:04:45:50.4400 2025-10-27T04:45:51.685Z,1761540351.685 [DAT](INFO): Rx dataTimestamp_ set to:1761540351.684744 2025-10-27T04:45:51.686Z,1761540351.686 [DAT](INFO): DAT read: Bearing 209.9, 6.1 (Local) 2025-10-27T04:45:51.687Z,1761540351.687 [DAT](INFO): Local bearing/azimuth received: Bearing 209.9, 6.1 (Local) 2025-10-27T04:45:51.689Z,1761540351.689 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.7 2025-10-27T04:45:51.693Z,1761540351.693 [DAT](INFO): DAT read: 04:45:50.4400 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.14, 2.313, 0.600, 2.427, 2.352, PHS= 0.063,-1.707, 0.031, RAW= 149.1, 18.0, CAL= 149.6, 20.3, ROT= 0.4, -20.3 2025-10-27T04:45:51.695Z,1761540351.695 [DAT](INFO): got valid direction response: 04:45:50.4400 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.14, 2.313, 0.600, 2.427, 2.352, PHS= 0.063,-1.707, 0.031, RAW= 149.1, 18.0, CAL= 149.6, 20.3, ROT= 0.4, -20.3 2025-10-27T04:45:51.696Z,1761540351.696 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T04:45:51.697Z,1761540351.697 [DAT](INFO): direction in FSK: [0.937866,0.006548,0.346936] 2025-10-27T04:45:51.697Z,1761540351.697 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:51.733Z,1761540351.733 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.480797 2025-10-27T04:45:51.766Z,1761540351.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655910,-0.714019,-0.244866],[0.734971,0.678046,-0.008425],[0.172046,-0.174444,0.969520]] 2025-10-27T04:45:51.827Z,1761540351.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.502668 s, deltaX: -0.600000 m, approachRate: -1.193632 m/s, rangeRepo size: 4 2025-10-27T04:45:51.829Z,1761540351.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.930638 m, bearing: 52.738694 deg, lat: 36.779324 deg, lon: -121.859565 deg, deltaT: 0.502668 s, deltaX: -0.597028 m, approachRate: -1.187718 m/s, posRepo size: 4 2025-10-27T04:45:51.830Z,1761540351.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m. 2025-10-27T04:45:51.833Z,1761540351.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.930638 m, nav range: 12.325912 m, bearing: 53.754731 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 47.965519 deg, new cmd heading: 47.932830 deg. 2025-10-27T04:45:51.834Z,1761540351.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836586 target range: 13.930638 and range: 14.00 m. 2025-10-27T04:45:51.936Z,1761540351.936 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.683540 2025-10-27T04:45:52.186Z,1761540352.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655516,-0.714331,-0.245011],[0.735208,0.677781,-0.009060],[0.172536,-0.174195,0.969478]] 2025-10-27T04:45:52.189Z,1761540352.189 [DAT](INFO): DAT read: Rx Time:04:45:50.9399 2025-10-27T04:45:52.189Z,1761540352.189 [DAT](INFO): Rx dataTimestamp_ set to:1761540352.188840 2025-10-27T04:45:52.190Z,1761540352.190 [DAT](INFO): DAT read: Bearing 208.2, 6.1 (Local) 2025-10-27T04:45:52.191Z,1761540352.191 [DAT](INFO): Local bearing/azimuth received: Bearing 208.2, 6.1 (Local) 2025-10-27T04:45:52.193Z,1761540352.193 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.7 2025-10-27T04:45:52.197Z,1761540352.197 [DAT](INFO): DAT read: 04:45:50.9399 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.10, 2.118, 0.356, 2.247, 2.119, PHS= 0.101,-1.718, 0.084, RAW= 149.5, 16.7, CAL= 149.9, 18.6, ROT= 0.1, -18.6 2025-10-27T04:45:52.199Z,1761540352.199 [DAT](INFO): got valid direction response: 04:45:50.9399 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503,-0.10, 2.118, 0.356, 2.247, 2.119, PHS= 0.101,-1.718, 0.084, RAW= 149.5, 16.7, CAL= 149.9, 18.6, ROT= 0.1, -18.6 2025-10-27T04:45:52.199Z,1761540352.199 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T04:45:52.200Z,1761540352.200 [DAT](INFO): direction in FSK: [0.947767,0.001654,0.318959] 2025-10-27T04:45:52.200Z,1761540352.200 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:52.205Z,1761540352.205 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=28.951998 2025-10-27T04:45:52.312Z,1761540352.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504096 s, deltaX: -0.200000 m, approachRate: -0.396749 m/s, rangeRepo size: 4 2025-10-27T04:45:52.314Z,1761540352.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.731667 m, bearing: 52.055133 deg, lat: 36.779325 deg, lon: -121.859565 deg, deltaT: 0.504096 s, deltaX: -0.198972 m, approachRate: -0.394710 m/s, posRepo size: 4 2025-10-27T04:45:52.315Z,1761540352.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-27T04:45:52.328Z,1761540352.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.731667 m, nav range: 11.920043 m, bearing: 53.194005 deg, approach rate: 0.000000 m/s, LOS rate: -0.023386 deg/s, cmd heading: 47.932830 deg, new cmd heading: 47.899100 deg. 2025-10-27T04:45:52.329Z,1761540352.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835997 target range: 13.731667 and range: 13.80 m. 2025-10-27T04:45:52.441Z,1761540352.441 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.188347 2025-10-27T04:45:52.666Z,1761540352.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653943,-0.715503,-0.245794],[0.736522,0.676350,-0.009306],[0.172901,-0.174947,0.969278]] 2025-10-27T04:45:52.684Z,1761540352.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:52.686Z,1761540352.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-27T04:45:52.688Z,1761540352.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.731667 m, nav range: 11.611665 m, bearing: 52.980062 deg, approach rate: -0.806302 m/s, LOS rate: -0.574240 deg/s, cmd heading: 47.899099 deg, new cmd heading: 47.240256 deg. 2025-10-27T04:45:52.689Z,1761540352.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824498 target range: 13.731667 and range: 13.80 m. 2025-10-27T04:45:52.693Z,1761540352.693 [DAT](INFO): DAT read: Rx Time:04:45:51.4395 2025-10-27T04:45:52.693Z,1761540352.693 [DAT](INFO): Rx dataTimestamp_ set to:1761540352.692801 2025-10-27T04:45:52.695Z,1761540352.695 [DAT](INFO): DAT read: Bearing 210.9, 4.2 (Local) 2025-10-27T04:45:52.695Z,1761540352.695 [DAT](INFO): Local bearing/azimuth received: Bearing 210.9, 4.2 (Local) 2025-10-27T04:45:52.698Z,1761540352.698 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.7 2025-10-27T04:45:52.705Z,1761540352.705 [DAT](INFO): DAT read: 04:45:51.4395 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.29,-1.798, 2.816,-1.640,-1.722, PHS= 0.026,-1.700, 0.038, RAW= 150.3, 18.5, CAL= 151.3, 21.6, ROT= 358.7, -21.6 2025-10-27T04:45:52.706Z,1761540352.706 [DAT](INFO): got valid direction response: 04:45:51.4395 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.29,-1.798, 2.816,-1.640,-1.722, PHS= 0.026,-1.700, 0.038, RAW= 150.3, 18.5, CAL= 151.3, 21.6, ROT= 358.7, -21.6 2025-10-27T04:45:52.726Z,1761540352.726 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T04:45:52.735Z,1761540352.735 [DAT](INFO): direction in FSK: [0.929537,-0.021094,0.368125] 2025-10-27T04:45:52.736Z,1761540352.736 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:52.744Z,1761540352.744 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.491142 2025-10-27T04:45:52.944Z,1761540352.944 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.691868 2025-10-27T04:45:53.119Z,1761540353.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652806,-0.716619,-0.245565],[0.737449,0.675324,-0.010338],[0.173244,-0.174343,0.969325]] 2025-10-27T04:45:53.181Z,1761540353.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503961 s, deltaX: -0.600000 m, approachRate: -1.190569 m/s, rangeRepo size: 4 2025-10-27T04:45:53.183Z,1761540353.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.134627 m, bearing: 51.467252 deg, lat: 36.779326 deg, lon: -121.859567 deg, deltaT: 0.503961 s, deltaX: -0.597039 m, approachRate: -1.184693 m/s, posRepo size: 4 2025-10-27T04:45:53.184Z,1761540353.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-27T04:45:53.186Z,1761540353.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.134627 m, nav range: 11.206760 m, bearing: 51.467213 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 47.240255 deg, new cmd heading: 46.388126 deg. 2025-10-27T04:45:53.188Z,1761540353.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809626 target range: 13.134627 and range: 13.20 m. 2025-10-27T04:45:53.196Z,1761540353.196 [DAT](INFO): DAT read: Rx Time:04:45:51.9394 2025-10-27T04:45:53.197Z,1761540353.197 [DAT](INFO): Rx dataTimestamp_ set to:1761540353.196673 2025-10-27T04:45:53.198Z,1761540353.198 [DAT](INFO): DAT read: Bearing 210.7, 3.7 (Local) 2025-10-27T04:45:53.199Z,1761540353.199 [DAT](INFO): Local bearing/azimuth received: Bearing 210.7, 3.7 (Local) 2025-10-27T04:45:53.201Z,1761540353.201 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.6 2025-10-27T04:45:53.205Z,1761540353.205 [DAT](INFO): DAT read: 04:45:51.9394 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.13,-1.214,-2.870,-1.039,-1.132, PHS= 0.020,-1.693, 0.049, RAW= 150.8, 18.4, CAL= 151.8, 21.5, ROT= 358.2, -21.5 2025-10-27T04:45:53.206Z,1761540353.206 [DAT](INFO): got valid direction response: 04:45:51.9394 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.13,-1.214,-2.870,-1.039,-1.132, PHS= 0.020,-1.693, 0.049, RAW= 150.8, 18.4, CAL= 151.8, 21.5, ROT= 358.2, -21.5 2025-10-27T04:45:53.207Z,1761540353.207 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T04:45:53.208Z,1761540353.208 [DAT](INFO): direction in FSK: [0.929958,-0.029225,0.366501] 2025-10-27T04:45:53.208Z,1761540353.208 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:53.212Z,1761540353.212 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=29.959330 2025-10-27T04:45:53.448Z,1761540353.448 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.195501 2025-10-27T04:45:53.481Z,1761540353.481 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T04:45:53.482Z,1761540353.482 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T04:45:53.482Z,1761540353.482 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-27T04:45:53.483Z,1761540353.483 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T04:45:53.484Z,1761540353.484 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T04:45:53.485Z,1761540353.485 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T04:45:53.485Z,1761540353.485 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-27T04:45:53.486Z,1761540353.486 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T04:45:53.487Z,1761540353.487 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T04:45:53.488Z,1761540353.488 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T04:45:53.488Z,1761540353.488 [BPC1](INFO): Calculating totals. Valid battery stick count: 17. Valid reserve battery stick count: 1. 2025-10-27T04:45:53.492Z,1761540353.492 [BPC1](FAULT): Failed to receive data from 10 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 24, 26, 27, 28, 44, 47, 54, 58, 62. 2025-10-27T04:45:53.547Z,1761540353.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503872 s, deltaX: -0.099999 m, approachRate: -0.198462 m/s, rangeRepo size: 4 2025-10-27T04:45:53.549Z,1761540353.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.035123 m, bearing: 50.909801 deg, lat: 36.779327 deg, lon: -121.859566 deg, deltaT: 0.503872 s, deltaX: -0.099504 m, approachRate: -0.197480 m/s, posRepo size: 4 2025-10-27T04:45:53.550Z,1761540353.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.04 m. 2025-10-27T04:45:53.568Z,1761540353.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.035123 m, nav range: 11.037531 m, bearing: 51.456051 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 46.388128 deg, new cmd heading: 45.764479 deg. 2025-10-27T04:45:53.580Z,1761540353.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798741 target range: 13.035123 and range: 13.10 m. 2025-10-27T04:45:53.704Z,1761540353.704 [DAT](INFO): DAT read: Rx Time:04:45:52.4390 2025-10-27T04:45:53.704Z,1761540353.704 [DAT](INFO): Rx dataTimestamp_ set to:1761540353.703856 2025-10-27T04:45:53.706Z,1761540353.706 [DAT](INFO): DAT read: Bearing 209.0, 4.4 (Local) 2025-10-27T04:45:53.707Z,1761540353.707 [DAT](INFO): Local bearing/azimuth received: Bearing 209.0, 4.4 (Local) 2025-10-27T04:45:53.709Z,1761540353.709 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.8 2025-10-27T04:45:53.717Z,1761540353.717 [DAT](INFO): DAT read: 04:45:52.4390 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 494, 0.32,-1.414,-3.101,-1.234,-1.361, PHS= 0.049,-1.695, 0.083, RAW= 150.9, 17.4, CAL= 151.5, 19.6, ROT= 358.5, -19.6 2025-10-27T04:45:53.719Z,1761540353.719 [DAT](INFO): got valid direction response: 04:45:52.4390 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 494, 0.32,-1.414,-3.101,-1.234,-1.361, PHS= 0.049,-1.695, 0.083, RAW= 150.9, 17.4, CAL= 151.5, 19.6, ROT= 358.5, -19.6 2025-10-27T04:45:53.724Z,1761540353.724 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T04:45:53.726Z,1761540353.726 [DAT](INFO): direction in FSK: [0.941735,-0.024660,0.335452] 2025-10-27T04:45:53.726Z,1761540353.726 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:53.734Z,1761540353.734 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.481739 2025-10-27T04:45:53.952Z,1761540353.952 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.699392 2025-10-27T04:45:54.001Z,1761540354.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.507183 s, deltaX: -0.600000 m, approachRate: -1.183006 m/s, rangeRepo size: 4 2025-10-27T04:45:54.003Z,1761540354.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.438124 m, bearing: 50.796306 deg, lat: 36.779327 deg, lon: -121.859566 deg, deltaT: 0.507183 s, deltaX: -0.596999 m, approachRate: -1.177088 m/s, posRepo size: 4 2025-10-27T04:45:54.015Z,1761540354.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m. 2025-10-27T04:45:54.018Z,1761540354.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.438124 m, nav range: 10.749384 m, bearing: 50.731860 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 45.764480 deg, new cmd heading: 44.975989 deg. 2025-10-27T04:45:54.023Z,1761540354.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784979 target range: 12.438124 and range: 12.50 m. 2025-10-27T04:45:54.205Z,1761540354.205 [DAT](INFO): DAT read: Rx Time:04:45:52.9388 2025-10-27T04:45:54.206Z,1761540354.206 [DAT](INFO): Rx dataTimestamp_ set to:1761540354.205285 2025-10-27T04:45:54.207Z,1761540354.207 [DAT](INFO): DAT read: Bearing 207.4, 4.6 (Local) 2025-10-27T04:45:54.207Z,1761540354.207 [DAT](INFO): Local bearing/azimuth received: Bearing 207.4, 4.6 (Local) 2025-10-27T04:45:54.209Z,1761540354.209 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.7 2025-10-27T04:45:54.214Z,1761540354.214 [DAT](INFO): DAT read: 04:45:52.9388 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.07,-2.953, 1.608,-2.762,-2.939, PHS= 0.088,-1.691, 0.133, RAW= 151.2, 16.1, CAL= 151.7, 18.1, ROT= 358.3, -18.1 2025-10-27T04:45:54.215Z,1761540354.215 [DAT](INFO): got valid direction response: 04:45:52.9388 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.07,-2.953, 1.608,-2.762,-2.939, PHS= 0.088,-1.691, 0.133, RAW= 151.2, 16.1, CAL= 151.7, 18.1, ROT= 358.3, -18.1 2025-10-27T04:45:54.215Z,1761540354.215 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T04:45:54.216Z,1761540354.216 [DAT](INFO): direction in FSK: [0.950097,-0.028199,0.310676] 2025-10-27T04:45:54.217Z,1761540354.217 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:54.220Z,1761540354.220 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=30.967663 2025-10-27T04:45:54.335Z,1761540354.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647593,-0.721489,-0.245106],[0.742090,0.670191,-0.012091],[0.172991,-0.174061,0.969421]] 2025-10-27T04:45:54.412Z,1761540354.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.501429 s, deltaX: -0.200000 m, approachRate: -0.398860 m/s, rangeRepo size: 4 2025-10-27T04:45:54.414Z,1761540354.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.239114 m, bearing: 50.653168 deg, lat: 36.779328 deg, lon: -121.859566 deg, deltaT: 0.501429 s, deltaX: -0.199010 m, approachRate: -0.396885 m/s, posRepo size: 4 2025-10-27T04:45:54.414Z,1761540354.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m. 2025-10-27T04:45:54.417Z,1761540354.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.239114 m, nav range: 10.507502 m, bearing: 50.571539 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 44.975990 deg, new cmd heading: 44.268048 deg. 2025-10-27T04:45:54.418Z,1761540354.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772623 target range: 12.239114 and range: 12.30 m. 2025-10-27T04:45:54.457Z,1761540354.457 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.204058 2025-10-27T04:45:54.709Z,1761540354.709 [DAT](INFO): DAT read: Rx Time:04:45:53.4384 2025-10-27T04:45:54.710Z,1761540354.710 [DAT](INFO): Rx dataTimestamp_ set to:1761540354.709570 2025-10-27T04:45:54.712Z,1761540354.712 [DAT](INFO): DAT read: Bearing 205.5, 4.4 (Local) 2025-10-27T04:45:54.712Z,1761540354.712 [DAT](INFO): Local bearing/azimuth received: Bearing 205.5, 4.4 (Local) 2025-10-27T04:45:54.715Z,1761540354.715 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.8 2025-10-27T04:45:54.733Z,1761540354.733 [DAT](INFO): DAT read: 04:45:53.4384 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.40, 2.696, 0.954, 2.913, 2.668, PHS= 0.129,-1.670, 0.201, RAW= 151.9, 14.5, CAL= 152.2, 16.2, ROT= 357.8, -16.2 2025-10-27T04:45:54.734Z,1761540354.734 [DAT](INFO): got valid direction response: 04:45:53.4384 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.40, 2.696, 0.954, 2.913, 2.668, PHS= 0.129,-1.670, 0.201, RAW= 151.9, 14.5, CAL= 152.2, 16.2, ROT= 357.8, -16.2 2025-10-27T04:45:54.748Z,1761540354.748 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T04:45:54.749Z,1761540354.749 [DAT](INFO): direction in FSK: [0.959586,-0.036864,0.278991] 2025-10-27T04:45:54.749Z,1761540354.749 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:54.769Z,1761540354.769 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.516167 2025-10-27T04:45:54.802Z,1761540354.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647023,-0.721676,-0.246061],[0.742673,0.669566,-0.010904],[0.172624,-0.175688,0.969193]] 2025-10-27T04:45:54.897Z,1761540354.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504285 s, deltaX: -0.600000 m, approachRate: -1.189804 m/s, rangeRepo size: 4 2025-10-27T04:45:54.899Z,1761540354.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.642083 m, bearing: 49.799264 deg, lat: 36.779328 deg, lon: -121.859566 deg, deltaT: 0.504285 s, deltaX: -0.597031 m, approachRate: -1.183915 m/s, posRepo size: 4 2025-10-27T04:45:54.903Z,1761540354.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-27T04:45:54.906Z,1761540354.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.642083 m, nav range: 10.171106 m, bearing: 50.248885 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 44.268047 deg, new cmd heading: 43.432703 deg. 2025-10-27T04:45:54.911Z,1761540354.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758044 target range: 11.642083 and range: 11.70 m. 2025-10-27T04:45:54.961Z,1761540354.961 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.708702 2025-10-27T04:45:55.180Z,1761540355.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647050,-0.721126,-0.247594],[0.742658,0.669605,-0.009419],[0.172582,-0.177783,0.968818]] 2025-10-27T04:45:55.213Z,1761540355.213 [DAT](INFO): DAT read: Rx Time:04:45:53.9383 2025-10-27T04:45:55.213Z,1761540355.213 [DAT](INFO): Rx dataTimestamp_ set to:1761540355.212802 2025-10-27T04:45:55.214Z,1761540355.214 [DAT](INFO): DAT read: Bearing 205.7, 3.5 (Local) 2025-10-27T04:45:55.215Z,1761540355.215 [DAT](INFO): Local bearing/azimuth received: Bearing 205.7, 3.5 (Local) 2025-10-27T04:45:55.217Z,1761540355.217 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.7 2025-10-27T04:45:55.221Z,1761540355.221 [DAT](INFO): DAT read: 04:45:53.9383 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.05, 2.364, 0.630, 2.609, 2.359, PHS= 0.108,-1.684, 0.206, RAW= 152.6, 14.7, CAL= 153.0, 16.6, ROT= 357.0, -16.6 2025-10-27T04:45:55.223Z,1761540355.223 [DAT](INFO): got valid direction response: 04:45:53.9383 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.05, 2.364, 0.630, 2.609, 2.359, PHS= 0.108,-1.684, 0.206, RAW= 152.6, 14.7, CAL= 153.0, 16.6, ROT= 357.0, -16.6 2025-10-27T04:45:55.223Z,1761540355.223 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T04:45:55.224Z,1761540355.224 [DAT](INFO): direction in FSK: [0.957009,-0.050155,0.285688] 2025-10-27T04:45:55.224Z,1761540355.224 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:55.232Z,1761540355.232 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=31.979441 2025-10-27T04:45:55.298Z,1761540355.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503232 s, deltaX: -0.099999 m, approachRate: -0.198714 m/s, rangeRepo size: 4 2025-10-27T04:45:55.304Z,1761540355.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.542549 m, bearing: 49.078914 deg, lat: 36.779329 deg, lon: -121.859564 deg, deltaT: 0.503232 s, deltaX: -0.099534 m, approachRate: -0.197790 m/s, posRepo size: 4 2025-10-27T04:45:55.305Z,1761540355.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-27T04:45:55.312Z,1761540355.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.542549 m, nav range: 10.095812 m, bearing: 49.896464 deg, approach rate: 0.000000 m/s, LOS rate: -0.574240 deg/s, cmd heading: 43.432702 deg, new cmd heading: 42.741297 deg. 2025-10-27T04:45:55.313Z,1761540355.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745976 target range: 11.542549 and range: 11.60 m. 2025-10-27T04:45:55.464Z,1761540355.464 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.211540 2025-10-27T04:45:55.640Z,1761540355.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648015,-0.719968,-0.248441],[0.741901,0.670464,-0.007849],[0.172221,-0.179232,0.968615]] 2025-10-27T04:45:55.656Z,1761540355.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:55.658Z,1761540355.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-27T04:45:55.661Z,1761540355.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.542549 m, nav range: 9.815204 m, bearing: 49.714109 deg, approach rate: -0.776789 m/s, LOS rate: -0.519234 deg/s, cmd heading: 42.741299 deg, new cmd heading: 42.178610 deg. 2025-10-27T04:45:55.662Z,1761540355.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736156 target range: 11.542549 and range: 11.60 m. 2025-10-27T04:45:55.718Z,1761540355.718 [DAT](INFO): DAT read: Rx Time:04:45:54.4379 2025-10-27T04:45:55.719Z,1761540355.719 [DAT](INFO): Rx dataTimestamp_ set to:1761540355.718351 2025-10-27T04:45:55.721Z,1761540355.721 [DAT](INFO): DAT read: Bearing 205.2, 2.9 (Local) 2025-10-27T04:45:55.721Z,1761540355.721 [DAT](INFO): Local bearing/azimuth received: Bearing 205.2, 2.9 (Local) 2025-10-27T04:45:55.725Z,1761540355.725 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.7 2025-10-27T04:45:55.764Z,1761540355.764 [DAT](INFO): DAT read: 04:45:54.4379 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.41, 2.795, 1.065, 3.059, 2.790, PHS= 0.106,-1.681, 0.225, RAW= 153.2, 14.5, CAL= 153.6, 16.3, ROT= 356.4, -16.3 2025-10-27T04:45:55.765Z,1761540355.765 [DAT](INFO): got valid direction response: 04:45:54.4379 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.41, 2.795, 1.065, 3.059, 2.790, PHS= 0.106,-1.681, 0.225, RAW= 153.2, 14.5, CAL= 153.6, 16.3, ROT= 356.4, -16.3 2025-10-27T04:45:55.765Z,1761540355.765 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T04:45:55.766Z,1761540355.766 [DAT](INFO): direction in FSK: [0.957911,-0.060267,0.280667] 2025-10-27T04:45:55.766Z,1761540355.766 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:55.789Z,1761540355.789 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.536713 2025-10-27T04:45:55.968Z,1761540355.968 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.715454 2025-10-27T04:45:56.042Z,1761540356.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649628,-0.717823,-0.250427],[0.740502,0.672033,-0.005388],[0.172162,-0.181941,0.968121]] 2025-10-27T04:45:56.180Z,1761540356.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.505549 s, deltaX: -0.600000 m, approachRate: -1.186829 m/s, rangeRepo size: 4 2025-10-27T04:45:56.182Z,1761540356.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.945508 m, bearing: 48.266553 deg, lat: 36.779330 deg, lon: -121.859563 deg, deltaT: 0.505549 s, deltaX: -0.597041 m, approachRate: -1.180976 m/s, posRepo size: 4 2025-10-27T04:45:56.192Z,1761540356.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T04:45:56.194Z,1761540356.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.945508 m, nav range: 9.566494 m, bearing: 49.420454 deg, approach rate: 0.000000 m/s, LOS rate: -0.519234 deg/s, cmd heading: 42.178611 deg, new cmd heading: 41.366647 deg. 2025-10-27T04:45:56.199Z,1761540356.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721984 target range: 10.945508 and range: 11.00 m. 2025-10-27T04:45:56.221Z,1761540356.221 [DAT](INFO): DAT read: Rx Time:04:45:54.9378 2025-10-27T04:45:56.221Z,1761540356.221 [DAT](INFO): Rx dataTimestamp_ set to:1761540356.220806 2025-10-27T04:45:56.222Z,1761540356.222 [DAT](INFO): DAT read: Bearing 205.5, 2.3 (Local) 2025-10-27T04:45:56.223Z,1761540356.223 [DAT](INFO): Local bearing/azimuth received: Bearing 205.5, 2.3 (Local) 2025-10-27T04:45:56.225Z,1761540356.225 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.7 2025-10-27T04:45:56.229Z,1761540356.229 [DAT](INFO): DAT read: 04:45:54.9378 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.01, 3.030, 1.313,-2.977, 3.047, PHS= 0.085,-1.689, 0.215, RAW= 153.5, 14.9, CAL= 154.0, 16.9, ROT= 356.0, -16.9 2025-10-27T04:45:56.231Z,1761540356.231 [DAT](INFO): got valid direction response: 04:45:54.9378 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.01, 3.030, 1.313,-2.977, 3.047, PHS= 0.085,-1.689, 0.215, RAW= 153.5, 14.9, CAL= 154.0, 16.9, ROT= 356.0, -16.9 2025-10-27T04:45:56.231Z,1761540356.231 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T04:45:56.232Z,1761540356.232 [DAT](INFO): direction in FSK: [0.954483,-0.066744,0.290702] 2025-10-27T04:45:56.232Z,1761540356.232 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:56.245Z,1761540356.245 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=32.992775 2025-10-27T04:45:56.476Z,1761540356.476 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.223370 2025-10-27T04:45:56.531Z,1761540356.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652638,-0.714141,-0.253114],[0.737875,0.674936,-0.001714],[0.172060,-0.185648,0.967435]] 2025-10-27T04:45:56.729Z,1761540356.729 [DAT](INFO): DAT read: Rx Time:04:45:55.4375 2025-10-27T04:45:56.730Z,1761540356.730 [DAT](INFO): Rx dataTimestamp_ set to:1761540356.729589 2025-10-27T04:45:56.732Z,1761540356.732 [DAT](INFO): DAT read: Bearing 205.6, 1.9 (Local) 2025-10-27T04:45:56.732Z,1761540356.732 [DAT](INFO): Local bearing/azimuth received: Bearing 205.6, 1.9 (Local) 2025-10-27T04:45:56.734Z,1761540356.734 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.7 2025-10-27T04:45:56.739Z,1761540356.739 [DAT](INFO): DAT read: 04:45:55.4375 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495,-0.40, 1.298,-0.415, 1.582, 1.331, PHS= 0.069,-1.701, 0.207, RAW= 153.7, 15.3, CAL= 154.3, 17.4, ROT= 355.7, -17.4 2025-10-27T04:45:56.740Z,1761540356.740 [DAT](INFO): got valid direction response: 04:45:55.4375 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495,-0.40, 1.298,-0.415, 1.582, 1.331, PHS= 0.069,-1.701, 0.207, RAW= 153.7, 15.3, CAL= 154.3, 17.4, ROT= 355.7, -17.4 2025-10-27T04:45:56.741Z,1761540356.741 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T04:45:56.742Z,1761540356.742 [DAT](INFO): direction in FSK: [0.951554,-0.071547,0.299041] 2025-10-27T04:45:56.742Z,1761540356.742 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:56.746Z,1761540356.746 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.493244 2025-10-27T04:45:56.752Z,1761540356.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 1.011238 s, deltaX: -0.800000 m, approachRate: -0.791110 m/s, rangeRepo size: 4 2025-10-27T04:45:56.754Z,1761540356.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.746498 m, bearing: 47.814108 deg, lat: 36.779332 deg, lon: -121.859563 deg, deltaT: 0.502455 s, deltaX: -0.199010 m, approachRate: -0.396075 m/s, posRepo size: 4 2025-10-27T04:45:56.758Z,1761540356.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.75 m. 2025-10-27T04:45:56.761Z,1761540356.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.746498 m, nav range: 9.343509 m, bearing: 48.520532 deg, approach rate: 0.000000 m/s, LOS rate: -0.519234 deg/s, cmd heading: 41.366648 deg, new cmd heading: 40.476037 deg. 2025-10-27T04:45:56.762Z,1761540356.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706440 target range: 10.746498 and range: 10.20 m. 2025-10-27T04:45:56.976Z,1761540356.976 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.723755 2025-10-27T04:45:56.989Z,1761540356.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656220,-0.709440,-0.257041],[0.734642,0.678449,0.002987],[0.172270,-0.190793,0.966396]] 2025-10-27T04:45:57.050Z,1761540357.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.75 m. 2025-10-27T04:45:57.056Z,1761540357.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.746498 m, nav range: 9.065061 m, bearing: 48.382221 deg, approach rate: -0.934593 m/s, LOS rate: -0.478493 deg/s, cmd heading: 40.476036 deg, new cmd heading: 40.048364 deg. 2025-10-27T04:45:57.057Z,1761540357.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.698976 target range: 10.746498 and range: 10.20 m. 2025-10-27T04:45:57.229Z,1761540357.229 [DAT](INFO): DAT read: Rx Time:04:45:55.9374 2025-10-27T04:45:57.229Z,1761540357.229 [DAT](INFO): Rx dataTimestamp_ set to:1761540357.228970 2025-10-27T04:45:57.231Z,1761540357.231 [DAT](INFO): DAT read: Bearing 203.6, 2.3 (Local) 2025-10-27T04:45:57.231Z,1761540357.231 [DAT](INFO): Local bearing/azimuth received: Bearing 203.6, 2.3 (Local) 2025-10-27T04:45:57.233Z,1761540357.233 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.6 2025-10-27T04:45:57.241Z,1761540357.241 [DAT](INFO): DAT read: 04:45:55.9374 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509, 0.18,-2.584, 1.971,-2.294,-2.593, PHS= 0.111,-1.674, 0.255, RAW= 153.8, 14.0, CAL= 154.2, 15.7, ROT= 355.8, -15.7 2025-10-27T04:45:57.244Z,1761540357.244 [DAT](INFO): got valid direction response: 04:45:55.9374 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 509, 0.18,-2.584, 1.971,-2.294,-2.593, PHS= 0.111,-1.674, 0.255, RAW= 153.8, 14.0, CAL= 154.2, 15.7, ROT= 355.8, -15.7 2025-10-27T04:45:57.244Z,1761540357.244 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T04:45:57.246Z,1761540357.246 [DAT](INFO): direction in FSK: [0.960106,-0.070506,0.270600] 2025-10-27T04:45:57.246Z,1761540357.246 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:57.250Z,1761540357.250 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=33.997181 2025-10-27T04:45:57.452Z,1761540357.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660324,-0.703932,-0.261633],[0.730862,0.682474,0.008372],[0.172665,-0.196745,0.965131]] 2025-10-27T04:45:57.480Z,1761540357.480 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.227589 2025-10-27T04:45:57.525Z,1761540357.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.499381 s, deltaX: -0.099999 m, approachRate: -0.200247 m/s, rangeRepo size: 4 2025-10-27T04:45:57.533Z,1761540357.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.049877 m, bearing: 46.942880 deg, lat: 36.779333 deg, lon: -121.859563 deg, deltaT: 1.008164 s, deltaX: -0.696621 m, approachRate: -0.690980 m/s, posRepo size: 4 2025-10-27T04:45:57.534Z,1761540357.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.05 m. 2025-10-27T04:45:57.540Z,1761540357.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.049877 m, nav range: 8.851264 m, bearing: 47.832342 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 40.048363 deg, new cmd heading: 39.366834 deg. 2025-10-27T04:45:57.541Z,1761540357.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.687081 target range: 10.049877 and range: 10.10 m. 2025-10-27T04:45:57.733Z,1761540357.733 [DAT](INFO): DAT read: Rx Time:04:45:56.4371 2025-10-27T04:45:57.733Z,1761540357.733 [DAT](INFO): Rx dataTimestamp_ set to:1761540357.733192 2025-10-27T04:45:57.735Z,1761540357.735 [DAT](INFO): DAT read: Bearing 204.3, 1.8 (Local) 2025-10-27T04:45:57.735Z,1761540357.735 [DAT](INFO): Local bearing/azimuth received: Bearing 204.3, 1.8 (Local) 2025-10-27T04:45:57.737Z,1761540357.737 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.7 2025-10-27T04:45:57.742Z,1761540357.742 [DAT](INFO): DAT read: 04:45:56.4371 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.06, 0.125,-1.594, 0.416, 0.147, PHS= 0.079,-1.697, 0.224, RAW= 153.9, 14.9, CAL= 154.4, 16.9, ROT= 355.6, -16.9 2025-10-27T04:45:57.743Z,1761540357.743 [DAT](INFO): got valid direction response: 04:45:56.4371 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 506,-0.06, 0.125,-1.594, 0.416, 0.147, PHS= 0.079,-1.697, 0.224, RAW= 153.9, 14.9, CAL= 154.4, 16.9, ROT= 355.6, -16.9 2025-10-27T04:45:57.744Z,1761540357.744 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T04:45:57.745Z,1761540357.745 [DAT](INFO): direction in FSK: [0.953994,-0.073406,0.290702] 2025-10-27T04:45:57.745Z,1761540357.745 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:57.762Z,1761540357.762 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.509270 2025-10-27T04:45:57.872Z,1761540357.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665508,-0.697181,-0.266529],[0.726091,0.687439,0.014824],[0.172887,-0.203389,0.963713]] 2025-10-27T04:45:57.916Z,1761540357.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504222 s, deltaX: -0.500000 m, approachRate: -0.991627 m/s, rangeRepo size: 4 2025-10-27T04:45:57.918Z,1761540357.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.552359 m, bearing: 46.731708 deg, lat: 36.779333 deg, lon: -121.859563 deg, deltaT: 0.504222 s, deltaX: -0.497519 m, approachRate: -0.986705 m/s, posRepo size: 4 2025-10-27T04:45:57.918Z,1761540357.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m. 2025-10-27T04:45:57.923Z,1761540357.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m. 2025-10-27T04:45:57.923Z,1761540357.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T04:45:57.932Z,1761540357.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 8.619572 m, bearing: 47.588750 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 39.366833 deg, new cmd heading: 38.811760 deg. 2025-10-27T04:45:57.933Z,1761540357.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.677393 target range: 9.552359 and range: 9.60 m. 2025-10-27T04:45:57.985Z,1761540357.985 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.732330 2025-10-27T04:45:58.237Z,1761540358.237 [DAT](INFO): DAT read: Rx Time:04:45:56.9369 2025-10-27T04:45:58.237Z,1761540358.237 [DAT](INFO): Rx dataTimestamp_ set to:1761540358.236732 2025-10-27T04:45:58.238Z,1761540358.238 [DAT](INFO): DAT read: Bearing 202.6, 2.4 (Local) 2025-10-27T04:45:58.239Z,1761540358.239 [DAT](INFO): Local bearing/azimuth received: Bearing 202.6, 2.4 (Local) 2025-10-27T04:45:58.241Z,1761540358.241 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.6 2025-10-27T04:45:58.276Z,1761540358.276 [DAT](INFO): DAT read: 04:45:56.9369 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.25,-0.139,-1.873, 0.150,-0.152, PHS= 0.116,-1.676, 0.258, RAW= 153.8, 13.8, CAL= 154.1, 15.6, ROT= 355.9, -15.6 2025-10-27T04:45:58.277Z,1761540358.277 [DAT](INFO): got valid direction response: 04:45:56.9369 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.25,-0.139,-1.873, 0.150,-0.152, PHS= 0.116,-1.676, 0.258, RAW= 153.8, 13.8, CAL= 154.1, 15.6, ROT= 355.9, -15.6 2025-10-27T04:45:58.278Z,1761540358.278 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T04:45:58.279Z,1761540358.279 [DAT](INFO): direction in FSK: [0.960698,-0.068864,0.268920] 2025-10-27T04:45:58.279Z,1761540358.279 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:58.300Z,1761540358.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671367,-0.689670,-0.271333],[0.720655,0.692951,0.021806],[0.172981,-0.210177,0.962239]] 2025-10-27T04:45:58.283Z,1761540358.283 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.030113 2025-10-27T04:45:58.427Z,1761540358.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503540 s, deltaX: -0.300000 m, approachRate: -0.595782 m/s, rangeRepo size: 4 2025-10-27T04:45:58.429Z,1761540358.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.253765 m, bearing: 46.396922 deg, lat: 36.779334 deg, lon: -121.859564 deg, deltaT: 0.503540 s, deltaX: -0.298594 m, approachRate: -0.592989 m/s, posRepo size: 4 2025-10-27T04:45:58.430Z,1761540358.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 9.55 m. 2025-10-27T04:45:58.437Z,1761540358.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 8.293414 m, bearing: 47.523744 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 38.811761 deg, new cmd heading: 38.078052 deg. 2025-10-27T04:45:58.438Z,1761540358.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.664587 target range: 9.552359 and range: 9.30 m. 2025-10-27T04:45:58.489Z,1761540358.489 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.236679 2025-10-27T04:45:58.741Z,1761540358.741 [DAT](INFO): DAT read: Rx Time:04:45:57.4365 2025-10-27T04:45:58.741Z,1761540358.741 [DAT](INFO): Rx dataTimestamp_ set to:1761540358.740749 2025-10-27T04:45:58.742Z,1761540358.742 [DAT](INFO): DAT read: Bearing 202.4, 2.6 (Local) 2025-10-27T04:45:58.743Z,1761540358.743 [DAT](INFO): Local bearing/azimuth received: Bearing 202.4, 2.6 (Local) 2025-10-27T04:45:58.745Z,1761540358.745 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.6 2025-10-27T04:45:58.750Z,1761540358.750 [DAT](INFO): DAT read: 04:45:57.4365 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501,-0.49,-1.592, 2.951,-1.319,-1.604, PHS= 0.114,-1.683, 0.241, RAW= 153.4, 14.1, CAL= 153.7, 15.9, ROT= 356.3, -15.9 2025-10-27T04:45:58.751Z,1761540358.751 [DAT](INFO): got valid direction response: 04:45:57.4365 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501,-0.49,-1.592, 2.951,-1.319,-1.604, PHS= 0.114,-1.683, 0.241, RAW= 153.4, 14.1, CAL= 153.7, 15.9, ROT= 356.3, -15.9 2025-10-27T04:45:58.787Z,1761540358.787 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T04:45:58.788Z,1761540358.788 [DAT](INFO): direction in FSK: [0.959737,-0.062064,0.273959] 2025-10-27T04:45:58.788Z,1761540358.788 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:58.800Z,1761540358.800 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.547844 2025-10-27T04:45:58.808Z,1761540358.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685093,-0.672388,-0.280251],[0.707407,0.705906,0.035672],[0.173845,-0.222690,0.959264]] 2025-10-27T04:45:58.880Z,1761540358.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504017 s, deltaX: -0.600000 m, approachRate: -1.190437 m/s, rangeRepo size: 4 2025-10-27T04:45:58.882Z,1761540358.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.656748 m, bearing: 46.013636 deg, lat: 36.779333 deg, lon: -121.859565 deg, deltaT: 1.007557 s, deltaX: -0.895611 m, approachRate: -0.888893 m/s, posRepo size: 4 2025-10-27T04:45:58.888Z,1761540358.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.66 m. 9.55 m. 2025-10-27T04:45:58.890Z,1761540358.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 8.010141 m, bearing: 47.502355 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 38.078052 deg, new cmd heading: 37.421241 deg. 2025-10-27T04:45:58.895Z,1761540358.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.653124 target range: 9.552359 and range: 8.70 m. 2025-10-27T04:45:58.993Z,1761540358.993 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.740467 2025-10-27T04:45:59.238Z,1761540359.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692029,-0.663804,-0.283654],[0.700400,0.712559,0.041239],[0.174745,-0.227210,0.958040]] 2025-10-27T04:45:59.245Z,1761540359.245 [DAT](INFO): DAT read: Rx Time:04:45:57.9364 2025-10-27T04:45:59.245Z,1761540359.245 [DAT](INFO): Rx dataTimestamp_ set to:1761540359.244939 2025-10-27T04:45:59.246Z,1761540359.246 [DAT](INFO): DAT read: Bearing 201.7, 2.8 (Local) 2025-10-27T04:45:59.247Z,1761540359.247 [DAT](INFO): Local bearing/azimuth received: Bearing 201.7, 2.8 (Local) 2025-10-27T04:45:59.249Z,1761540359.249 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.6 2025-10-27T04:45:59.254Z,1761540359.254 [DAT](INFO): DAT read: 04:45:57.9364 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.32, 0.742,-1.019, 1.011, 0.722, PHS= 0.122,-1.696, 0.244, RAW= 153.2, 14.0, CAL= 153.6, 15.8, ROT= 356.4, -15.8 2025-10-27T04:45:59.255Z,1761540359.255 [DAT](INFO): got valid direction response: 04:45:57.9364 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.32, 0.742,-1.019, 1.011, 0.722, PHS= 0.122,-1.696, 0.244, RAW= 153.2, 14.0, CAL= 153.6, 15.8, ROT= 356.4, -15.8 2025-10-27T04:45:59.256Z,1761540359.256 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T04:45:59.257Z,1761540359.257 [DAT](INFO): direction in FSK: [0.960319,-0.060418,0.272280] 2025-10-27T04:45:59.257Z,1761540359.257 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:59.281Z,1761540359.281 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.028122 2025-10-27T04:45:59.383Z,1761540359.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504190 s, deltaX: -0.099999 m, approachRate: -0.198337 m/s, rangeRepo size: 4 2025-10-27T04:45:59.385Z,1761540359.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.557156 m, bearing: 45.602756 deg, lat: 36.779334 deg, lon: -121.859565 deg, deltaT: 1.511747 s, deltaX: -0.995203 m, approachRate: -0.658313 m/s, posRepo size: 4 2025-10-27T04:45:59.386Z,1761540359.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.56 m. 9.55 m. 2025-10-27T04:45:59.393Z,1761540359.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 7.691093 m, bearing: 47.451557 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 37.421240 deg, new cmd heading: 36.705694 deg. 2025-10-27T04:45:59.394Z,1761540359.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.640635 target range: 9.552359 and range: 8.60 m. 2025-10-27T04:45:59.497Z,1761540359.497 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.243874 2025-10-27T04:45:59.746Z,1761540359.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:45:59.749Z,1761540359.749 [DAT](INFO): DAT read: Rx Time:04:45:58.4361 2025-10-27T04:45:59.749Z,1761540359.749 [DAT](INFO): Rx dataTimestamp_ set to:1761540359.748852 2025-10-27T04:45:59.750Z,1761540359.750 [DAT](INFO): DAT read: Bearing 200.2, 4.3 (Local) 2025-10-27T04:45:59.751Z,1761540359.751 [DAT](INFO): Local bearing/azimuth received: Bearing 200.2, 4.3 (Local) 2025-10-27T04:45:59.753Z,1761540359.753 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.5 2025-10-27T04:45:59.758Z,1761540359.758 [DAT](INFO): DAT read: 04:45:58.4361 LVL= 29168, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.27,-0.785,-2.571,-0.558,-0.856, PHS= 0.173,-1.670, 0.254, RAW= 152.2, 13.1, CAL= 152.3, 14.6, ROT= 357.7, -14.6 2025-10-27T04:45:59.759Z,1761540359.759 [DAT](INFO): got valid direction response: 04:45:58.4361 LVL= 29168, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.27,-0.785,-2.571,-0.558,-0.856, PHS= 0.173,-1.670, 0.254, RAW= 152.2, 13.1, CAL= 152.3, 14.6, ROT= 357.7, -14.6 2025-10-27T04:45:59.759Z,1761540359.759 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T04:45:59.760Z,1761540359.760 [DAT](INFO): direction in FSK: [0.966930,-0.038836,0.252069] 2025-10-27T04:45:59.761Z,1761540359.761 [DAT](INFO): publishing direction and range info 2025-10-27T04:45:59.764Z,1761540359.764 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.511803 2025-10-27T04:45:59.768Z,1761540359.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503913 s, deltaX: -0.500000 m, approachRate: -0.992235 m/s, rangeRepo size: 4 2025-10-27T04:45:59.769Z,1761540359.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-27T04:45:59.772Z,1761540359.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 7.425462 m, bearing: 47.405933 deg, approach rate: -0.682907 m/s, LOS rate: -0.121490 deg/s, cmd heading: 36.705693 deg, new cmd heading: 36.563925 deg. 2025-10-27T04:45:59.773Z,1761540359.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.638161 target range: 9.552359 and range: 8.10 m. 2025-10-27T04:46:00.001Z,1761540360.001 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.748135 2025-10-27T04:46:00.136Z,1761540360.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706173,-0.645706,-0.290490],[0.685486,0.726216,0.052153],[0.177283,-0.235955,0.955456]] 2025-10-27T04:46:00.252Z,1761540360.252 [DAT](INFO): DAT read: Rx Time:04:45:58.9360 2025-10-27T04:46:00.253Z,1761540360.253 [DAT](INFO): Rx dataTimestamp_ set to:1761540360.252677 2025-10-27T04:46:00.254Z,1761540360.254 [DAT](INFO): DAT read: Bearing 198.8, 5.9 (Local) 2025-10-27T04:46:00.255Z,1761540360.255 [DAT](INFO): Local bearing/azimuth received: Bearing 198.8, 5.9 (Local) 2025-10-27T04:46:00.257Z,1761540360.257 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.5 2025-10-27T04:46:00.261Z,1761540360.261 [DAT](INFO): DAT read: 04:45:58.9360 LVL= 27440, 32753, 32754, 32755, AGC= 55, IDX= 511, 0.24, 0.438,-1.373, 0.621, 0.317, PHS= 0.223,-1.645, 0.260, RAW= 151.0, 12.3, CAL= 151.0, 13.6, ROT= 359.0, -13.6 2025-10-27T04:46:00.262Z,1761540360.262 [DAT](INFO): got valid direction response: 04:45:58.9360 LVL= 27440, 32753, 32754, 32755, AGC= 55, IDX= 511, 0.24, 0.438,-1.373, 0.621, 0.317, PHS= 0.223,-1.645, 0.260, RAW= 151.0, 12.3, CAL= 151.0, 13.6, ROT= 359.0, -13.6 2025-10-27T04:46:00.263Z,1761540360.263 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T04:46:00.264Z,1761540360.264 [DAT](INFO): direction in FSK: [0.971813,-0.016963,0.235142] 2025-10-27T04:46:00.264Z,1761540360.264 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:00.268Z,1761540360.268 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.015396 2025-10-27T04:46:00.270Z,1761540360.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503825 s, deltaX: -0.100000 m, approachRate: -0.198482 m/s, rangeRepo size: 4 2025-10-27T04:46:00.280Z,1761540360.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.059513 m, bearing: 45.584702 deg, lat: 36.779334 deg, lon: -121.859565 deg, deltaT: 2.015660 s, deltaX: -1.492846 m, approachRate: -0.740624 m/s, posRepo size: 4 2025-10-27T04:46:00.288Z,1761540360.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.06 m. 9.55 m. 2025-10-27T04:46:00.299Z,1761540360.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 7.163002 m, bearing: 47.401092 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 36.563925 deg, new cmd heading: 35.843439 deg. 2025-10-27T04:46:00.300Z,1761540360.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.625586 target range: 9.552359 and range: 8.00 m. 2025-10-27T04:46:00.504Z,1761540360.504 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.251713 2025-10-27T04:46:00.659Z,1761540360.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713466,-0.636502,-0.292970],[0.677600,0.733202,0.057207],[0.178394,-0.239332,0.954409]] 2025-10-27T04:46:00.753Z,1761540360.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-27T04:46:00.757Z,1761540360.757 [DAT](INFO): DAT read: Rx Time:04:45:59.4357 2025-10-27T04:46:00.757Z,1761540360.757 [DAT](INFO): Rx dataTimestamp_ set to:1761540360.756831 2025-10-27T04:46:00.758Z,1761540360.758 [DAT](INFO): DAT read: Bearing 199.1, 7.1 (Local) 2025-10-27T04:46:00.759Z,1761540360.759 [DAT](INFO): Local bearing/azimuth received: Bearing 199.1, 7.1 (Local) 2025-10-27T04:46:00.761Z,1761540360.761 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.5 2025-10-27T04:46:00.766Z,1761540360.766 [DAT](INFO): DAT read: 04:45:59.4357 LVL= 26912, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.23,-1.037,-2.868,-0.907,-1.165, PHS= 0.230,-1.658, 0.214, RAW= 149.6, 12.9, CAL= 149.6, 14.2, ROT= 0.4, -14.2 2025-10-27T04:46:00.767Z,1761540360.767 [DAT](INFO): got valid direction response: 04:45:59.4357 LVL= 26912, 32753, 32754, 32755, AGC= 55, IDX= 508, 0.23,-1.037,-2.868,-0.907,-1.165, PHS= 0.230,-1.658, 0.214, RAW= 149.6, 12.9, CAL= 149.6, 14.2, ROT= 0.4, -14.2 2025-10-27T04:46:00.767Z,1761540360.767 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T04:46:00.768Z,1761540360.768 [DAT](INFO): direction in FSK: [0.969422,0.006768,0.245307] 2025-10-27T04:46:00.768Z,1761540360.768 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:00.776Z,1761540360.776 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.523750 2025-10-27T04:46:00.777Z,1761540360.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 6.803143 m, bearing: 47.305885 deg, approach rate: -0.744829 m/s, LOS rate: -0.207481 deg/s, cmd heading: 35.843439 deg, new cmd heading: 35.542712 deg. 2025-10-27T04:46:00.778Z,1761540360.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.620337 target range: 9.552359 and range: 8.00 m. 2025-10-27T04:46:01.008Z,1761540361.008 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.755405 2025-10-27T04:46:01.110Z,1761540361.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720672,-0.627254,-0.295270],[0.669577,0.740159,0.061901],[0.179719,-0.242316,0.953407]] 2025-10-27T04:46:01.155Z,1761540361.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504154 s, deltaX: -0.500000 m, approachRate: -0.991760 m/s, rangeRepo size: 4 2025-10-27T04:46:01.157Z,1761540361.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.462405 m, bearing: 47.099602 deg, lat: 36.779335 deg, lon: -121.859563 deg, deltaT: 3.023639 s, deltaX: -2.089953 m, approachRate: -0.691205 m/s, posRepo size: 4 2025-10-27T04:46:01.158Z,1761540361.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.46 m. 9.55 m. 2025-10-27T04:46:01.160Z,1761540361.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 6.528849 m, bearing: 47.252494 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 35.542713 deg, new cmd heading: 34.966006 deg. 2025-10-27T04:46:01.161Z,1761540361.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.610272 target range: 9.552359 and range: 7.50 m. 2025-10-27T04:46:01.261Z,1761540361.261 [DAT](INFO): DAT read: Rx Time:04:45:59.9356 2025-10-27T04:46:01.261Z,1761540361.261 [DAT](INFO): Rx dataTimestamp_ set to:1761540361.260884 2025-10-27T04:46:01.262Z,1761540361.262 [DAT](INFO): DAT read: Bearing 199.2, 8.2 (Local) 2025-10-27T04:46:01.263Z,1761540361.263 [DAT](INFO): Local bearing/azimuth received: Bearing 199.2, 8.2 (Local) 2025-10-27T04:46:01.265Z,1761540361.265 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.5 2025-10-27T04:46:01.269Z,1761540361.269 [DAT](INFO): DAT read: 04:45:59.9356 LVL= 28928, 32753, 32754, 32755, AGC= 55, IDX= 507, 0.23, 0.021,-1.845, 0.103,-0.116, PHS= 0.238,-1.684, 0.174, RAW= 148.3, 13.4, CAL= 148.2, 14.7, ROT= 1.8, -14.7 2025-10-27T04:46:01.270Z,1761540361.270 [DAT](INFO): got valid direction response: 04:45:59.9356 LVL= 28928, 32753, 32754, 32755, AGC= 55, IDX= 507, 0.23, 0.021,-1.845, 0.103,-0.116, PHS= 0.238,-1.684, 0.174, RAW= 148.3, 13.4, CAL= 148.2, 14.7, ROT= 1.8, -14.7 2025-10-27T04:46:01.271Z,1761540361.271 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T04:46:01.272Z,1761540361.272 [DAT](INFO): direction in FSK: [0.966790,0.030383,0.253758] 2025-10-27T04:46:01.272Z,1761540361.272 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:01.277Z,1761540361.277 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.024250 2025-10-27T04:46:01.504Z,1761540361.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727590,-0.618981,-0.295763],[0.661733,0.746945,0.064665],[0.180892,-0.242766,0.953070]] 2025-10-27T04:46:01.512Z,1761540361.512 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.259537 2025-10-27T04:46:01.648Z,1761540361.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504053 s, deltaX: -0.100000 m, approachRate: -0.198392 m/s, rangeRepo size: 4 2025-10-27T04:46:01.650Z,1761540361.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.362907 m, bearing: 48.078440 deg, lat: 36.779335 deg, lon: -121.859561 deg, deltaT: 3.527692 s, deltaX: -2.189452 m, approachRate: -0.620647 m/s, posRepo size: 4 2025-10-27T04:46:01.657Z,1761540361.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.55 m. 2025-10-27T04:46:01.667Z,1761540361.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 6.227891 m, bearing: 47.041766 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 34.966006 deg, new cmd heading: 34.264128 deg. 2025-10-27T04:46:01.668Z,1761540361.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.598022 target range: 9.552359 and range: 7.40 m. 2025-10-27T04:46:01.765Z,1761540361.765 [DAT](INFO): DAT read: Rx Time:04:46:00.4353 2025-10-27T04:46:01.765Z,1761540361.765 [DAT](INFO): Rx dataTimestamp_ set to:1761540361.764843 2025-10-27T04:46:01.767Z,1761540361.767 [DAT](INFO): DAT read: Bearing 198.0, 10.0 (Local) 2025-10-27T04:46:01.768Z,1761540361.768 [DAT](INFO): Local bearing/azimuth received: Bearing 198.0, 10.0 (Local) 2025-10-27T04:46:01.771Z,1761540361.771 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.5 2025-10-27T04:46:01.778Z,1761540361.778 [DAT](INFO): DAT read: 04:46:00.4353 LVL= 27488, 32753, 32370, 32755, AGC= 54, IDX= 504, 0.28,-1.650, 2.743,-1.623,-1.839, PHS= 0.291,-1.656, 0.172, RAW= 146.9, 12.6, CAL= 146.6, 13.8, ROT= 3.4, -13.8 2025-10-27T04:46:01.779Z,1761540361.779 [DAT](INFO): got valid direction response: 04:46:00.4353 LVL= 27488, 32753, 32370, 32755, AGC= 54, IDX= 504, 0.28,-1.650, 2.743,-1.623,-1.839, PHS= 0.291,-1.656, 0.172, RAW= 146.9, 12.6, CAL= 146.6, 13.8, ROT= 3.4, -13.8 2025-10-27T04:46:01.779Z,1761540361.779 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T04:46:01.780Z,1761540361.780 [DAT](INFO): direction in FSK: [0.969425,0.057594,0.238533] 2025-10-27T04:46:01.781Z,1761540361.781 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:01.785Z,1761540361.785 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.532410 2025-10-27T04:46:01.915Z,1761540361.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734014,-0.611418,-0.295621],[0.654238,0.753380,0.066264],[0.182200,-0.242045,0.953004]] 2025-10-27T04:46:02.001Z,1761540362.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503959 s, deltaX: -0.500000 m, approachRate: -0.992144 m/s, rangeRepo size: 4 2025-10-27T04:46:02.007Z,1761540362.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.865412 m, bearing: 48.856735 deg, lat: 36.779335 deg, lon: -121.859560 deg, deltaT: 4.031651 s, deltaX: -2.686947 m, approachRate: -0.666463 m/s, posRepo size: 4 2025-10-27T04:46:02.008Z,1761540362.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.87 m. 9.55 m. 2025-10-27T04:46:02.016Z,1761540362.016 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.763729 2025-10-27T04:46:02.017Z,1761540362.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 5.974646 m, bearing: 46.872350 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 34.264129 deg, new cmd heading: 33.751021 deg. 2025-10-27T04:46:02.018Z,1761540362.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589066 target range: 9.552359 and range: 6.90 m. 2025-10-27T04:46:02.269Z,1761540362.269 [DAT](INFO): DAT read: Rx Time:04:46:00.9351 2025-10-27T04:46:02.269Z,1761540362.269 [DAT](INFO): Rx dataTimestamp_ set to:1761540362.268836 2025-10-27T04:46:02.270Z,1761540362.270 [DAT](INFO): DAT read: Bearing 196.4, 11.9 (Local) 2025-10-27T04:46:02.271Z,1761540362.271 [DAT](INFO): Local bearing/azimuth received: Bearing 196.4, 11.9 (Local) 2025-10-27T04:46:02.273Z,1761540362.273 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5 2025-10-27T04:46:02.277Z,1761540362.277 [DAT](INFO): DAT read: 04:46:00.9351 LVL= 26000, 32753, 28402, 32755, AGC= 53, IDX= 502, 0.26,-1.599, 2.762,-1.622,-1.852, PHS= 0.356,-1.624, 0.187, RAW= 145.6, 11.4, CAL= 145.2, 12.4, ROT= 4.8, -12.4 2025-10-27T04:46:02.279Z,1761540362.279 [DAT](INFO): got valid direction response: 04:46:00.9351 LVL= 26000, 32753, 28402, 32755, AGC= 53, IDX= 502, 0.26,-1.599, 2.762,-1.622,-1.852, PHS= 0.356,-1.624, 0.187, RAW= 145.6, 11.4, CAL= 145.2, 12.4, ROT= 4.8, -12.4 2025-10-27T04:46:02.279Z,1761540362.279 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T04:46:02.280Z,1761540362.280 [DAT](INFO): direction in FSK: [0.973247,0.081726,0.214735] 2025-10-27T04:46:02.280Z,1761540362.280 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:02.286Z,1761540362.286 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.033291 2025-10-27T04:46:02.319Z,1761540362.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740090,-0.603631,-0.296473],[0.647035,0.759312,0.069215],[0.183336,-0.243054,0.952530]] 2025-10-27T04:46:02.442Z,1761540362.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.503993 s, deltaX: -0.300000 m, approachRate: -0.595247 m/s, rangeRepo size: 4 2025-10-27T04:46:02.448Z,1761540362.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.566916 m, bearing: 49.323952 deg, lat: 36.779335 deg, lon: -121.859558 deg, deltaT: 4.535644 s, deltaX: -2.985443 m, approachRate: -0.658218 m/s, posRepo size: 4 2025-10-27T04:46:02.449Z,1761540362.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.57 m. 9.55 m. 2025-10-27T04:46:02.456Z,1761540362.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 5.668011 m, bearing: 46.527071 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 33.751021 deg, new cmd heading: 33.118176 deg. 2025-10-27T04:46:02.457Z,1761540362.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578021 target range: 9.552359 and range: 6.60 m. 2025-10-27T04:46:02.521Z,1761540362.521 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.268192 2025-10-27T04:46:02.770Z,1761540362.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:46:02.773Z,1761540362.773 [DAT](INFO): DAT read: Rx Time:04:46:01.4347 2025-10-27T04:46:02.773Z,1761540362.773 [DAT](INFO): Rx dataTimestamp_ set to:1761540362.772845 2025-10-27T04:46:02.774Z,1761540362.774 [DAT](INFO): DAT read: Bearing 198.9, 11.5 (Local) 2025-10-27T04:46:02.775Z,1761540362.775 [DAT](INFO): Local bearing/azimuth received: Bearing 198.9, 11.5 (Local) 2025-10-27T04:46:02.777Z,1761540362.777 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 2025-10-27T04:46:02.782Z,1761540362.782 [DAT](INFO): DAT read: 04:46:01.4347 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499, 0.21,-2.146, 2.169,-2.200,-2.320, PHS= 0.276,-1.749, 0.077, RAW= 144.9, 14.3, CAL= 144.5, 15.6, ROT= 5.5, -15.6 2025-10-27T04:46:02.783Z,1761540362.783 [DAT](INFO): got valid direction response: 04:46:01.4347 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499, 0.21,-2.146, 2.169,-2.200,-2.320, PHS= 0.276,-1.749, 0.077, RAW= 144.9, 14.3, CAL= 144.5, 15.6, ROT= 5.5, -15.6 2025-10-27T04:46:02.784Z,1761540362.784 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T04:46:02.785Z,1761540362.785 [DAT](INFO): direction in FSK: [0.958728,0.092315,0.268920] 2025-10-27T04:46:02.785Z,1761540362.785 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:02.789Z,1761540362.789 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.536331 2025-10-27T04:46:02.792Z,1761540362.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504009 s, deltaX: -0.400000 m, approachRate: -0.793637 m/s, rangeRepo size: 4 2025-10-27T04:46:02.793Z,1761540362.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-27T04:46:02.803Z,1761540362.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 5.423957 m, bearing: 46.224159 deg, approach rate: -0.698322 m/s, LOS rate: -0.905731 deg/s, cmd heading: 33.118177 deg, new cmd heading: 32.168643 deg. 2025-10-27T04:46:02.804Z,1761540362.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561449 target range: 9.552359 and range: 6.20 m. 2025-10-27T04:46:03.025Z,1761540363.025 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.772312 2025-10-27T04:46:03.185Z,1761540363.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-27T04:46:03.191Z,1761540363.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 5.148590 m, bearing: 45.847627 deg, approach rate: -0.699865 m/s, LOS rate: -1.008162 deg/s, cmd heading: 32.168644 deg, new cmd heading: 30.978810 deg. 2025-10-27T04:46:03.192Z,1761540363.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540682 target range: 9.552359 and range: 6.20 m. 2025-10-27T04:46:03.281Z,1761540363.281 [DAT](INFO): DAT read: Rx Time:04:46:01.9346 2025-10-27T04:46:03.283Z,1761540363.283 [DAT](INFO): Rx dataTimestamp_ set to:1761540363.281533 2025-10-27T04:46:03.290Z,1761540363.290 [DAT](INFO): DAT read: Bearing 196.4, 13.3 (Local) 2025-10-27T04:46:03.291Z,1761540363.291 [DAT](INFO): Local bearing/azimuth received: Bearing 196.4, 13.3 (Local) 2025-10-27T04:46:03.293Z,1761540363.293 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.5 2025-10-27T04:46:03.319Z,1761540363.319 [DAT](INFO): DAT read: 04:46:01.9346 LVL= 29072, 32753, 30066, 32755, AGC= 53, IDX= 498, 0.22,-1.258, 3.020,-1.352,-1.524, PHS= 0.368,-1.694, 0.128, RAW= 143.9, 12.2, CAL= 143.4, 13.3, ROT= 6.6, -13.3 2025-10-27T04:46:03.321Z,1761540363.321 [DAT](INFO): got valid direction response: 04:46:01.9346 LVL= 29072, 32753, 30066, 32755, AGC= 53, IDX= 498, 0.22,-1.258, 3.020,-1.352,-1.524, PHS= 0.368,-1.694, 0.128, RAW= 143.9, 12.2, CAL= 143.4, 13.3, ROT= 6.6, -13.3 2025-10-27T04:46:03.322Z,1761540363.322 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T04:46:03.328Z,1761540363.328 [DAT](INFO): direction in FSK: [0.966729,0.111854,0.230050] 2025-10-27T04:46:03.328Z,1761540363.328 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:03.343Z,1761540363.343 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.089699 2025-10-27T04:46:03.528Z,1761540363.528 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.275562 2025-10-27T04:46:03.542Z,1761540363.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761668,-0.575689,-0.297395],[0.620313,0.780479,0.077876],[0.187278,-0.243794,0.951573]] 2025-10-27T04:46:03.645Z,1761540363.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.508688 s, deltaX: -0.200000 m, approachRate: -0.393168 m/s, rangeRepo size: 4 2025-10-27T04:46:03.663Z,1761540363.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.969986 m, bearing: 49.430276 deg, lat: 36.779334 deg, lon: -121.859557 deg, deltaT: 5.548341 s, deltaX: -3.582373 m, approachRate: -0.645666 m/s, posRepo size: 4 2025-10-27T04:46:03.668Z,1761540363.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.97 m. 9.55 m. 2025-10-27T04:46:03.670Z,1761540363.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 4.809844 m, bearing: 45.360260 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 30.978811 deg, new cmd heading: 30.318217 deg. 2025-10-27T04:46:03.671Z,1761540363.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529153 target range: 9.552359 and range: 6.00 m. 2025-10-27T04:46:03.781Z,1761540363.781 [DAT](INFO): DAT read: Rx Time:04:46:02.4343 2025-10-27T04:46:03.781Z,1761540363.781 [DAT](INFO): Rx dataTimestamp_ set to:1761540363.780852 2025-10-27T04:46:03.782Z,1761540363.782 [DAT](INFO): DAT read: Bearing 200.3, 12.2 (Local) 2025-10-27T04:46:03.783Z,1761540363.783 [DAT](INFO): Local bearing/azimuth received: Bearing 200.3, 12.2 (Local) 2025-10-27T04:46:03.785Z,1761540363.785 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.6 2025-10-27T04:46:03.789Z,1761540363.789 [DAT](INFO): DAT read: 04:46:02.4343 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 511, 0.08,-1.524, 2.730,-1.635,-1.650, PHS= 0.228,-1.858,-0.029, RAW= 143.5, 16.6, CAL= 143.0, 18.0, ROT= 7.0, -18.0 2025-10-27T04:46:03.790Z,1761540363.790 [DAT](INFO): got valid direction response: 04:46:02.4343 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 511, 0.08,-1.524, 2.730,-1.635,-1.650, PHS= 0.228,-1.858,-0.029, RAW= 143.5, 16.6, CAL= 143.0, 18.0, ROT= 7.0, -18.0 2025-10-27T04:46:03.791Z,1761540363.791 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T04:46:03.792Z,1761540363.792 [DAT](INFO): direction in FSK: [0.943967,0.115905,0.309017] 2025-10-27T04:46:03.792Z,1761540363.792 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:03.796Z,1761540363.796 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.543591 2025-10-27T04:46:04.033Z,1761540364.033 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.780121 2025-10-27T04:46:04.130Z,1761540364.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766324,-0.569389,-0.297562],[0.614239,0.785097,0.079582],[0.188302,-0.243759,0.951380]] 2025-10-27T04:46:04.173Z,1761540364.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.499319 s, deltaX: -0.400000 m, approachRate: -0.801091 m/s, rangeRepo size: 4 2025-10-27T04:46:04.175Z,1761540364.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.571882 m, bearing: 50.885418 deg, lat: 36.779334 deg, lon: -121.859555 deg, deltaT: 6.047660 s, deltaX: -3.980476 m, approachRate: -0.658185 m/s, posRepo size: 4 2025-10-27T04:46:04.176Z,1761540364.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.55 m. 2025-10-27T04:46:04.178Z,1761540364.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 4.431015 m, bearing: 44.764845 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 30.318216 deg, new cmd heading: 29.560954 deg. 2025-10-27T04:46:04.179Z,1761540364.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515936 target range: 9.552359 and range: 5.60 m. 2025-10-27T04:46:04.288Z,1761540364.288 [DAT](INFO): DAT read: Rx Time:04:46:02.9345 2025-10-27T04:46:04.288Z,1761540364.288 [DAT](INFO): Rx dataTimestamp_ set to:1761540364.287765 2025-10-27T04:46:04.289Z,1761540364.289 [DAT](INFO): DAT read: Bearing 199.9, 12.8 (Local) 2025-10-27T04:46:04.290Z,1761540364.290 [DAT](INFO): Local bearing/azimuth received: Bearing 199.9, 12.8 (Local) 2025-10-27T04:46:04.292Z,1761540364.292 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.6 2025-10-27T04:46:04.297Z,1761540364.297 [DAT](INFO): DAT read: 04:46:02.9345 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510,-0.04,-0.766,-2.842,-0.906,-0.902, PHS= 0.238,-1.895,-0.049, RAW= 142.9, 16.7, CAL= 142.3, 18.1, ROT= 7.7, -18.1 2025-10-27T04:46:04.298Z,1761540364.298 [DAT](INFO): got valid direction response: 04:46:02.9345 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 510,-0.04,-0.766,-2.842,-0.906,-0.902, PHS= 0.238,-1.895,-0.049, RAW= 142.9, 16.7, CAL= 142.3, 18.1, ROT= 7.7, -18.1 2025-10-27T04:46:04.298Z,1761540364.298 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T04:46:04.299Z,1761540364.299 [DAT](INFO): direction in FSK: [0.941945,0.127356,0.310676] 2025-10-27T04:46:04.299Z,1761540364.299 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:04.303Z,1761540364.303 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.050545 2025-10-27T04:46:04.536Z,1761540364.536 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.283524 2025-10-27T04:46:04.536Z,1761540364.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771064,-0.562835,-0.297787],[0.607935,0.789808,0.081350],[0.189408,-0.243762,0.951160]] 2025-10-27T04:46:04.677Z,1761540364.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.506913 s, deltaX: 0.300000 m, approachRate: 0.591818 m/s, rangeRepo size: 4 2025-10-27T04:46:04.683Z,1761540364.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.870376 m, bearing: 51.175398 deg, lat: 36.779334 deg, lon: -121.859554 deg, deltaT: 6.554573 s, deltaX: -3.681983 m, approachRate: -0.561743 m/s, posRepo size: 4 2025-10-27T04:46:04.684Z,1761540364.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.55 m. 2025-10-27T04:46:04.686Z,1761540364.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 4.088037 m, bearing: 44.006722 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 29.560953 deg, new cmd heading: 28.837458 deg. 2025-10-27T04:46:04.691Z,1761540364.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503309 target range: 9.552359 and range: 5.90 m. 2025-10-27T04:46:04.789Z,1761540364.789 [DAT](INFO): DAT read: Rx Time:04:46:03.4342 2025-10-27T04:46:04.789Z,1761540364.789 [DAT](INFO): Rx dataTimestamp_ set to:1761540364.788948 2025-10-27T04:46:04.790Z,1761540364.790 [DAT](INFO): DAT read: Bearing 199.0, 13.2 (Local) 2025-10-27T04:46:04.791Z,1761540364.791 [DAT](INFO): Local bearing/azimuth received: Bearing 199.0, 13.2 (Local) 2025-10-27T04:46:04.793Z,1761540364.793 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.6 2025-10-27T04:46:04.798Z,1761540364.798 [DAT](INFO): DAT read: 04:46:03.4342 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 507,-0.11,-2.568, 1.616,-2.720,-2.718, PHS= 0.253,-1.903,-0.046, RAW= 142.7, 16.5, CAL= 142.0, 17.8, ROT= 8.0, -17.8 2025-10-27T04:46:04.799Z,1761540364.799 [DAT](INFO): got valid direction response: 04:46:03.4342 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 507,-0.11,-2.568, 1.616,-2.720,-2.718, PHS= 0.253,-1.903,-0.046, RAW= 142.7, 16.5, CAL= 142.0, 17.8, ROT= 8.0, -17.8 2025-10-27T04:46:04.799Z,1761540364.799 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T04:46:04.800Z,1761540364.800 [DAT](INFO): direction in FSK: [0.942863,0.132511,0.305695] 2025-10-27T04:46:04.801Z,1761540364.801 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:04.804Z,1761540364.804 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.551929 2025-10-27T04:46:05.041Z,1761540365.041 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.788120 2025-10-27T04:46:05.149Z,1761540365.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780533,-0.549513,-0.298000],[0.595020,0.799234,0.084710],[0.191622,-0.243435,0.950800]] 2025-10-27T04:46:05.192Z,1761540365.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.501183 s, deltaX: -0.500000 m, approachRate: -0.997640 m/s, rangeRepo size: 4 2025-10-27T04:46:05.194Z,1761540365.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.372880 m, bearing: 50.455629 deg, lat: 36.779335 deg, lon: -121.859554 deg, deltaT: 7.055756 s, deltaX: -4.179479 m, approachRate: -0.592350 m/s, posRepo size: 4 2025-10-27T04:46:05.194Z,1761540365.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.55 m. 2025-10-27T04:46:05.201Z,1761540365.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 3.723181 m, bearing: 43.138321 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 28.837458 deg, new cmd heading: 28.104589 deg. 2025-10-27T04:46:05.202Z,1761540365.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490518 target range: 9.552359 and range: 5.40 m. 2025-10-27T04:46:05.297Z,1761540365.297 [DAT](INFO): DAT read: Rx Time:04:46:03.9341 2025-10-27T04:46:05.298Z,1761540365.298 [DAT](INFO): Rx dataTimestamp_ set to:1761540365.297310 2025-10-27T04:46:05.302Z,1761540365.302 [DAT](INFO): DAT read: Bearing 197.9, 12.6 (Local) 2025-10-27T04:46:05.304Z,1761540365.304 [DAT](INFO): Local bearing/azimuth received: Bearing 197.9, 12.6 (Local) 2025-10-27T04:46:05.310Z,1761540365.310 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.6 2025-10-27T04:46:05.320Z,1761540365.320 [DAT](INFO): DAT read: 04:46:03.9341 LVL= 32752, 30289, 32754, 32755, AGC= 51, IDX= 506,-0.17,-2.316, 1.903,-2.439,-2.458, PHS= 0.244,-1.877,-0.025, RAW= 143.3, 16.3, CAL= 142.8, 17.7, ROT= 7.2, -17.7 2025-10-27T04:46:05.321Z,1761540365.321 [DAT](INFO): got valid direction response: 04:46:03.9341 LVL= 32752, 30289, 32754, 32755, AGC= 51, IDX= 506,-0.17,-2.316, 1.903,-2.439,-2.458, PHS= 0.244,-1.877,-0.025, RAW= 143.3, 16.3, CAL= 142.8, 17.7, ROT= 7.2, -17.7 2025-10-27T04:46:05.321Z,1761540365.321 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T04:46:05.322Z,1761540365.322 [DAT](INFO): direction in FSK: [0.945149,0.119400,0.304033] 2025-10-27T04:46:05.322Z,1761540365.322 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:05.326Z,1761540365.326 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.073608 2025-10-27T04:46:05.544Z,1761540365.544 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.291496 2025-10-27T04:46:05.546Z,1761540365.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785297,-0.542865,-0.297668],[0.588351,0.804039,0.085819],[0.192748,-0.242527,0.950804]] 2025-10-27T04:46:05.661Z,1761540365.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.508362 s, deltaX: -0.100000 m, approachRate: -0.196710 m/s, rangeRepo size: 4 2025-10-27T04:46:05.662Z,1761540365.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.273383 m, bearing: 49.126512 deg, lat: 36.779336 deg, lon: -121.859550 deg, deltaT: 7.564118 s, deltaX: -4.278976 m, approachRate: -0.565694 m/s, posRepo size: 4 2025-10-27T04:46:05.678Z,1761540365.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.55 m. 2025-10-27T04:46:05.689Z,1761540365.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 3.386728 m, bearing: 42.307190 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 28.104589 deg, new cmd heading: 27.425312 deg. 2025-10-27T04:46:05.690Z,1761540365.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478662 target range: 9.552359 and range: 5.30 m. 2025-10-27T04:46:05.798Z,1761540365.798 [DAT](INFO): DAT read: Rx Time:04:46:04.4338 2025-10-27T04:46:05.798Z,1761540365.798 [DAT](INFO): Rx dataTimestamp_ set to:1761540365.797855 2025-10-27T04:46:05.800Z,1761540365.800 [DAT](INFO): DAT read: Bearing 197.8, 10.0 (Local) 2025-10-27T04:46:05.801Z,1761540365.801 [DAT](INFO): Local bearing/azimuth received: Bearing 197.8, 10.0 (Local) 2025-10-27T04:46:05.804Z,1761540365.804 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.6 2025-10-27T04:46:05.810Z,1761540365.810 [DAT](INFO): DAT read: 04:46:04.4338 LVL= 32752, 26801, 31090, 32755, AGC= 50, IDX= 503,-0.18, 0.977,-0.959, 0.945, 0.922, PHS= 0.157,-1.836,-0.021, RAW= 145.4, 17.5, CAL= 145.1, 19.1, ROT= 4.9, -19.1 2025-10-27T04:46:05.823Z,1761540365.823 [DAT](INFO): got valid direction response: 04:46:04.4338 LVL= 32752, 26801, 31090, 32755, AGC= 50, IDX= 503,-0.18, 0.977,-0.959, 0.945, 0.922, PHS= 0.157,-1.836,-0.021, RAW= 145.4, 17.5, CAL= 145.1, 19.1, ROT= 4.9, -19.1 2025-10-27T04:46:05.823Z,1761540365.823 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T04:46:05.824Z,1761540365.824 [DAT](INFO): direction in FSK: [0.941495,0.080715,0.327218] 2025-10-27T04:46:05.825Z,1761540365.825 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:05.841Z,1761540365.841 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.587700 2025-10-27T04:46:06.048Z,1761540366.048 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.795307 2025-10-27T04:46:06.049Z,1761540366.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790362,-0.535747,-0.297159],[0.581137,0.809160,0.086831],[0.193930,-0.241318,0.950872]] 2025-10-27T04:46:06.129Z,1761540366.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.500545 s, deltaX: -0.500000 m, approachRate: -0.998911 m/s, rangeRepo size: 4 2025-10-27T04:46:06.139Z,1761540366.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.775829 m, bearing: 46.712964 deg, lat: 36.779336 deg, lon: -121.859550 deg, deltaT: 8.064663 s, deltaX: -4.776529 m, approachRate: -0.592279 m/s, posRepo size: 4 2025-10-27T04:46:06.140Z,1761540366.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.55 m. 2025-10-27T04:46:06.147Z,1761540366.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 3.083130 m, bearing: 41.450476 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 27.425312 deg, new cmd heading: 26.755537 deg. 2025-10-27T04:46:06.148Z,1761540366.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466972 target range: 9.552359 and range: 4.80 m. 2025-10-27T04:46:06.305Z,1761540366.305 [DAT](INFO): DAT read: Rx Time:04:46:04.9336 2025-10-27T04:46:06.306Z,1761540366.306 [DAT](INFO): Rx dataTimestamp_ set to:1761540366.305081 2025-10-27T04:46:06.311Z,1761540366.311 [DAT](INFO): DAT read: Bearing 196.8, 6.9 (Local) 2025-10-27T04:46:06.312Z,1761540366.312 [DAT](INFO): Local bearing/azimuth received: Bearing 196.8, 6.9 (Local) 2025-10-27T04:46:06.317Z,1761540366.317 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.6 2025-10-27T04:46:06.322Z,1761540366.322 [DAT](INFO): DAT read: 04:46:04.9336 LVL= 31728, 29281, 23858, 32755, AGC= 49, IDX= 501,-0.17,-1.017,-2.678,-0.933,-0.996, PHS= 0.081,-1.638, 0.019, RAW= 148.2, 17.9, CAL= 148.4, 19.8, ROT= 1.6, -19.8 2025-10-27T04:46:06.324Z,1761540366.324 [DAT](INFO): got valid direction response: 04:46:04.9336 LVL= 31728, 29281, 23858, 32755, AGC= 49, IDX= 501,-0.17,-1.017,-2.678,-0.933,-0.996, PHS= 0.081,-1.638, 0.019, RAW= 148.2, 17.9, CAL= 148.4, 19.8, ROT= 1.6, -19.8 2025-10-27T04:46:06.325Z,1761540366.325 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T04:46:06.326Z,1761540366.326 [DAT](INFO): direction in FSK: [0.940514,0.026271,0.338738] 2025-10-27T04:46:06.326Z,1761540366.326 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:06.362Z,1761540366.362 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.109344 2025-10-27T04:46:06.468Z,1761540366.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795681,-0.527956,-0.296907],[0.573319,0.814601,0.087926],[0.195440,-0.240183,0.950850]] 2025-10-27T04:46:06.552Z,1761540366.552 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.299541 2025-10-27T04:46:06.621Z,1761540366.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.507226 s, deltaX: -0.300000 m, approachRate: -0.591453 m/s, rangeRepo size: 4 2025-10-27T04:46:06.623Z,1761540366.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.477340 m, bearing: 42.964802 deg, lat: 36.779338 deg, lon: -121.859550 deg, deltaT: 8.571889 s, deltaX: -5.075019 m, approachRate: -0.592054 m/s, posRepo size: 4 2025-10-27T04:46:06.632Z,1761540366.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.55 m. 2025-10-27T04:46:06.634Z,1761540366.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 2.750478 m, bearing: 40.706169 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 26.755538 deg, new cmd heading: 26.047241 deg. 2025-10-27T04:46:06.635Z,1761540366.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454610 target range: 9.552359 and range: 4.50 m. 2025-10-27T04:46:06.804Z,1761540366.804 [DAT](INFO): DAT read: Rx Time:04:46:05.4333 2025-10-27T04:46:06.805Z,1761540366.805 [DAT](INFO): Rx dataTimestamp_ set to:1761540366.804620 2025-10-27T04:46:06.806Z,1761540366.806 [DAT](INFO): DAT read: Bearing 207.3, -3.6 (Local) 2025-10-27T04:46:06.806Z,1761540366.806 [DAT](INFO): Local bearing/azimuth received: Bearing 207.3, -3.6 (Local) 2025-10-27T04:46:06.809Z,1761540366.809 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.6 2025-10-27T04:46:06.813Z,1761540366.813 [DAT](INFO): DAT read: 04:46:05.4333 LVL= 32752, 28097, 27266, 32755, AGC= 50, IDX= 498,-0.15, 1.994, 0.775, 2.208, 2.234, PHS=-0.139,-1.414,-0.070, RAW= 152.6, 23.6, CAL= 156.2, 33.6, ROT= 353.8, -33.6 2025-10-27T04:46:06.814Z,1761540366.814 [DAT](INFO): got valid direction response: 04:46:05.4333 LVL= 32752, 28097, 27266, 32755, AGC= 50, IDX= 498,-0.15, 1.994, 0.775, 2.208, 2.234, PHS=-0.139,-1.414,-0.070, RAW= 152.6, 23.6, CAL= 156.2, 33.6, ROT= 353.8, -33.6 2025-10-27T04:46:06.815Z,1761540366.815 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T04:46:06.816Z,1761540366.816 [DAT](INFO): direction in FSK: [0.828049,-0.089955,0.553392] 2025-10-27T04:46:06.816Z,1761540366.816 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:06.820Z,1761540366.820 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.567200 2025-10-27T04:46:06.963Z,1761540366.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801515,-0.519427,-0.296260],[0.564753,0.820389,0.089533],[0.196542,-0.239075,0.950902]] 2025-10-27T04:46:07.006Z,1761540367.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.499539 s, deltaX: -0.600000 m, approachRate: -1.201107 m/s, rangeRepo size: 4 2025-10-27T04:46:07.013Z,1761540367.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.880361 m, bearing: 39.054929 deg, lat: 36.779338 deg, lon: -121.859551 deg, deltaT: 9.071428 s, deltaX: -5.671998 m, approachRate: -0.625260 m/s, posRepo size: 4 2025-10-27T04:46:07.014Z,1761540367.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.55 m. 2025-10-27T04:46:07.020Z,1761540367.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 2.438607 m, bearing: 39.900040 deg, approach rate: 0.000000 m/s, LOS rate: -0.478493 deg/s, cmd heading: 26.047241 deg, new cmd heading: 25.493329 deg. 2025-10-27T04:46:07.021Z,1761540367.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444943 target range: 9.552359 and range: 3.90 m. 2025-10-27T04:46:07.061Z,1761540367.061 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.807941 2025-10-27T04:46:07.318Z,1761540367.318 [DAT](INFO): DAT read: Rx Time:04:46:05.9332 2025-10-27T04:46:07.320Z,1761540367.320 [DAT](INFO): Rx dataTimestamp_ set to:1761540367.318264 2025-10-27T04:46:07.324Z,1761540367.324 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.6 2025-10-27T04:46:07.326Z,1761540367.326 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T04:46:07.338Z,1761540367.338 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.084778 2025-10-27T04:46:07.392Z,1761540367.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807340,-0.510496,-0.295967],[0.555921,0.826197,0.091384],[0.197876,-0.238312,0.950817]] 2025-10-27T04:46:07.445Z,1761540367.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:46:07.448Z,1761540367.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.513644 s, deltaX: -0.100000 m, approachRate: -0.194688 m/s, rangeRepo size: 4 2025-10-27T04:46:07.449Z,1761540367.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-27T04:46:07.452Z,1761540367.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 2.128888 m, bearing: 39.247755 deg, approach rate: -0.700890 m/s, LOS rate: -1.690828 deg/s, cmd heading: 25.493329 deg, new cmd heading: 23.252971 deg. 2025-10-27T04:46:07.453Z,1761540367.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405841 target range: 9.552359 and range: 3.80 m. 2025-10-27T04:46:07.569Z,1761540367.569 [DAT](INFO): DAT read: Rx Time:04:46:06.4329 2025-10-27T04:46:07.572Z,1761540367.572 [DAT](INFO): Rx dataTimestamp_ set to:1761540367.570214 2025-10-27T04:46:07.573Z,1761540367.573 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.320042 2025-10-27T04:46:07.767Z,1761540367.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813543,-0.500638,-0.295820],[0.546294,0.832329,0.093766],[0.199277,-0.237887,0.950631]] 2025-10-27T04:46:07.804Z,1761540367.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-27T04:46:07.808Z,1761540367.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 1.899858 m, bearing: 38.708934 deg, approach rate: -0.643120 m/s, LOS rate: -1.695384 deg/s, cmd heading: 23.252971 deg, new cmd heading: 21.442273 deg. 2025-10-27T04:46:07.809Z,1761540367.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374238 target range: 9.552359 and range: 3.80 m. 2025-10-27T04:46:07.817Z,1761540367.817 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.5 2025-10-27T04:46:07.818Z,1761540367.818 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-27T04:46:07.818Z,1761540367.818 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.565948 2025-10-27T04:46:08.071Z,1761540368.071 [DAT](INFO): DAT read: Rx Time:04:46:06.9325 2025-10-27T04:46:08.072Z,1761540368.072 [DAT](INFO): Rx dataTimestamp_ set to:1761540368.071677 2025-10-27T04:46:08.073Z,1761540368.073 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.820343 2025-10-27T04:46:08.170Z,1761540368.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820174,-0.489451,-0.296230],[0.535762,0.838709,0.097599],[0.200681,-0.238757,0.950117]] 2025-10-27T04:46:08.189Z,1761540368.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.497478 s, deltaX: -0.500000 m, approachRate: -1.005070 m/s, rangeRepo size: 4 2025-10-27T04:46:08.190Z,1761540368.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-27T04:46:08.192Z,1761540368.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.552359 m, nav range: 1.627148 m, bearing: 37.992273 deg, approach rate: -0.709829 m/s, LOS rate: -2.177959 deg/s, cmd heading: 21.442274 deg, new cmd heading: 18.933622 deg. 2025-10-27T04:46:08.193Z,1761540368.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.330454 target range: 9.552359 and range: 3.30 m. 2025-10-27T04:46:08.330Z,1761540368.330 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 2025-10-27T04:46:08.334Z,1761540368.334 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-27T04:46:08.351Z,1761540368.351 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.090099 2025-10-27T04:46:08.579Z,1761540368.579 [DAT](INFO): DAT read: Rx Time:04:46:07.4324 2025-10-27T04:46:08.581Z,1761540368.581 [DAT](INFO): Rx dataTimestamp_ set to:1761540368.579704 2025-10-27T04:46:08.585Z,1761540368.585 [DAT](INFO): DAT read: Bearing 203.1, -11.5 (Local) 2025-10-27T04:46:08.587Z,1761540368.587 [DAT](INFO): Local bearing/azimuth received: Bearing 203.1, -11.5 (Local) 2025-10-27T04:46:08.596Z,1761540368.596 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.4 2025-10-27T04:46:08.607Z,1761540368.607 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T04:46:08.611Z,1761540368.611 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.357506 2025-10-27T04:46:08.750Z,1761540368.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.763962 s, deltaX: -0.700000 m, approachRate: -0.916276 m/s, rangeRepo size: 4 2025-10-27T04:46:08.755Z,1761540368.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.60 m. 2025-10-27T04:46:08.756Z,1761540368.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T04:46:08.835Z,1761540368.835 [DAT](INFO): DAT read: 04:46:07.4324 LVL= 24800, 26721, 13090, 32755, AGC= 43, IDX= 506,-0.13, 0.786,-0.831, 1.502, 1.353, PHS=-0.465,-2.140, 0.105, RAW= 164.1, 23.6, CAL= 166.1, 34.7, ROT= 343.9, -34.7 2025-10-27T04:46:08.838Z,1761540368.838 [DAT](INFO): got valid direction response: 04:46:07.4324 LVL= 24800, 26721, 13090, 32755, AGC= 43, IDX= 506,-0.13, 0.786,-0.831, 1.502, 1.353, PHS=-0.465,-2.140, 0.105, RAW= 164.1, 23.6, CAL= 166.1, 34.7, ROT= 343.9, -34.7 2025-10-27T04:46:08.838Z,1761540368.838 [DAT](INFO): #Rx 97: Read direction message, but no range. 2025-10-27T04:46:08.840Z,1761540368.840 [DAT](INFO): direction in FSK: [0.789899,-0.227993,0.569280] 2025-10-27T04:46:08.846Z,1761540368.846 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.593567 2025-10-27T04:46:09.084Z,1761540369.084 [DAT](INFO): DAT read: Rx Time:04:46:07.9324 2025-10-27T04:46:09.085Z,1761540369.085 [DAT](INFO): Rx dataTimestamp_ set to:1761540369.084068 2025-10-27T04:46:09.089Z,1761540369.089 [DAT](INFO): DAT read: Bearing 221.3, -25.4 (Local) 2025-10-27T04:46:09.090Z,1761540369.090 [DAT](INFO): Local bearing/azimuth received: Bearing 221.3, -25.4 (Local) 2025-10-27T04:46:09.100Z,1761540369.100 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.4 2025-10-27T04:46:09.102Z,1761540369.102 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-27T04:46:09.106Z,1761540369.106 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=45.852333 2025-10-27T04:46:09.174Z,1761540369.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842077,-0.450448,-0.296653],[0.499350,0.858980,0.113145],[0.203853,-0.243411,0.948259]] 2025-10-27T04:46:09.226Z,1761540369.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504364 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:09.233Z,1761540369.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.586711 m, bearing: 23.705950 deg, lat: 36.779338 deg, lon: -121.859553 deg, deltaT: 11.350876 s, deltaX: -6.965647 m, approachRate: -0.613666 m/s, posRepo size: 4 2025-10-27T04:46:09.365Z,1761540369.365 [DAT](INFO): DAT read: 04:46:07.9324 LVL= 22224, 24849, 15106, 32755, AGC= 43, IDX= 504, 0.03, 2.015, 1.555, 2.917,-3.096, PHS=-1.070,-1.587,-0.314, RAW= 186.2, 43.5, CAL= 185.2, 53.2, ROT= 324.8, -53.2 2025-10-27T04:46:09.373Z,1761540369.373 [DAT](INFO): got valid direction response: 04:46:07.9324 LVL= 22224, 24849, 15106, 32755, AGC= 43, IDX= 504, 0.03, 2.015, 1.555, 2.917,-3.096, PHS=-1.070,-1.587,-0.314, RAW= 186.2, 43.5, CAL= 185.2, 53.2, ROT= 324.8, -53.2 2025-10-27T04:46:09.375Z,1761540369.375 [DAT](INFO): #Rx 99: Read direction message, but no range. 2025-10-27T04:46:09.387Z,1761540369.387 [DAT](INFO): direction in FSK: [0.489489,-0.345297,0.800731] 2025-10-27T04:46:09.395Z,1761540369.395 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.138145 2025-10-27T04:46:09.589Z,1761540369.589 [DAT](INFO): DAT read: Rx Time:04:46:08.4321 2025-10-27T04:46:09.591Z,1761540369.591 [DAT](INFO): Rx dataTimestamp_ set to:1761540369.590201 2025-10-27T04:46:09.595Z,1761540369.595 [DAT](INFO): DAT read: Bearing 287.2, -30.1 (Local) 2025-10-27T04:46:09.596Z,1761540369.596 [DAT](INFO): Local bearing/azimuth received: Bearing 287.2, -30.1 (Local) 2025-10-27T04:46:09.602Z,1761540369.602 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.4 2025-10-27T04:46:09.606Z,1761540369.606 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-27T04:46:09.610Z,1761540369.610 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.356762 2025-10-27T04:46:09.690Z,1761540369.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850440,-0.433610,-0.297882],[0.484474,0.866223,0.122243],[0.205027,-0.248277,0.946743]] 2025-10-27T04:46:09.763Z,1761540369.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.506133 s, deltaX: -0.500000 m, approachRate: -0.987883 m/s, rangeRepo size: 4 2025-10-27T04:46:09.765Z,1761540369.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.089267 m, bearing: 6.260283 deg, lat: 36.779338 deg, lon: -121.859561 deg, deltaT: 0.506133 s, deltaX: -0.497445 m, approachRate: -0.982834 m/s, posRepo size: 4 2025-10-27T04:46:09.843Z,1761540369.843 [DAT](INFO): DAT read: 04:46:08.4321 LVL= 12512, 15073, 13618, 18083, AGC= 44, IDX= 504,-0.06,-0.354, 0.818, 0.239, 1.602, PHS=-1.854,-0.739,-1.406, RAW= 306.5, 55.5, CAL= 307.6, 58.8, ROT= 202.4, -58.8 2025-10-27T04:46:09.845Z,1761540369.845 [DAT](INFO): got valid direction response: 04:46:08.4321 LVL= 12512, 15073, 13618, 18083, AGC= 44, IDX= 504,-0.06,-0.354, 0.818, 0.239, 1.602, PHS=-1.854,-0.739,-1.406, RAW= 306.5, 55.5, CAL= 307.6, 58.8, ROT= 202.4, -58.8 2025-10-27T04:46:09.846Z,1761540369.846 [DAT](INFO): #Rx 101: Read direction message, but no range. 2025-10-27T04:46:09.848Z,1761540369.848 [DAT](INFO): direction in FSK: [-0.478940,-0.197405,0.855364] 2025-10-27T04:46:09.857Z,1761540369.857 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=46.603882 2025-10-27T04:46:10.083Z,1761540370.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859403,-0.415005,-0.298660],[0.467992,0.873734,0.132558],[0.205937,-0.253691,0.945109]] 2025-10-27T04:46:10.088Z,1761540370.088 [DAT](INFO): DAT read: Rx Time:04:46:08.9321 2025-10-27T04:46:10.089Z,1761540370.089 [DAT](INFO): Rx dataTimestamp_ set to:1761540370.088242 2025-10-27T04:46:10.090Z,1761540370.090 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.3 2025-10-27T04:46:10.090Z,1761540370.090 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T04:46:10.091Z,1761540370.091 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.838806 2025-10-27T04:46:10.156Z,1761540370.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.498041 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:10.158Z,1761540370.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.089190 m, bearing: 205.829036 deg, lat: 36.779335 deg, lon: -121.859562 deg, deltaT: 0.498041 s, deltaX: -0.000077 m, approachRate: -0.000154 m/s, posRepo size: 4 2025-10-27T04:46:10.345Z,1761540370.345 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.091690 2025-10-27T04:46:10.533Z,1761540370.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:46:10.592Z,1761540370.592 [DAT](INFO): DAT read: Rx Time:04:46:09.4320 2025-10-27T04:46:10.593Z,1761540370.593 [DAT](INFO): Rx dataTimestamp_ set to:1761540370.592693 2025-10-27T04:46:10.594Z,1761540370.594 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 2025-10-27T04:46:10.595Z,1761540370.595 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T04:46:10.596Z,1761540370.596 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=47.343582 2025-10-27T04:46:10.845Z,1761540370.845 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=47.592136 2025-10-27T04:46:10.888Z,1761540370.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876990,-0.377722,-0.297010],[0.433306,0.888834,0.149063],[0.207689,-0.259423,0.943168]] 2025-10-27T04:46:10.913Z,1761540370.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504451 s, deltaX: -0.100000 m, approachRate: -0.198235 m/s, rangeRepo size: 4 2025-10-27T04:46:11.099Z,1761540371.099 [DAT](INFO): DAT read: Rx Time:04:46:09.9319 2025-10-27T04:46:11.101Z,1761540371.101 [DAT](INFO): Rx dataTimestamp_ set to:1761540371.100043 2025-10-27T04:46:11.107Z,1761540371.107 [DAT](INFO): DAT read: Bearing 242.2, -53.9 (Local) 2025-10-27T04:46:11.108Z,1761540371.108 [DAT](INFO): Local bearing/azimuth received: Bearing 242.2, -53.9 (Local) 2025-10-27T04:46:11.114Z,1761540371.114 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.1 2025-10-27T04:46:11.117Z,1761540371.117 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-27T04:46:11.118Z,1761540371.118 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.865856 2025-10-27T04:46:11.285Z,1761540371.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885542,-0.358747,-0.295154],[0.415221,0.896151,0.156541],[0.208344,-0.261178,0.942539]] 2025-10-27T04:46:11.320Z,1761540371.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.507350 s, deltaX: -0.200000 m, approachRate: -0.394205 m/s, rangeRepo size: 4 2025-10-27T04:46:11.380Z,1761540371.380 [DAT](INFO): DAT read: 04:46:09.9319 LVL= 32752, 22081, 28050, 32755, AGC= 42, IDX= 501,-0.01, 1.940, 2.869,-2.389,-1.992, PHS=-2.249,-1.377,-0.441, RAW= 238.8, 42.6, CAL= 242.0, 50.6, ROT= 268.0, -50.6 2025-10-27T04:46:11.383Z,1761540371.383 [DAT](INFO): got valid direction response: 04:46:09.9319 LVL= 32752, 22081, 28050, 32755, AGC= 42, IDX= 501,-0.01, 1.940, 2.869,-2.389,-1.992, PHS=-2.249,-1.377,-0.441, RAW= 238.8, 42.6, CAL= 242.0, 50.6, ROT= 268.0, -50.6 2025-10-27T04:46:11.384Z,1761540371.384 [DAT](INFO): #Rx 105: Read direction message, but no range. 2025-10-27T04:46:11.396Z,1761540371.396 [DAT](INFO): direction in FSK: [-0.022152,-0.634344,0.772734] 2025-10-27T04:46:11.413Z,1761540371.413 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=48.160870 2025-10-27T04:46:11.605Z,1761540371.605 [DAT](INFO): DAT read: Rx Time:04:46:10.4318 2025-10-27T04:46:11.608Z,1761540371.608 [DAT](INFO): Rx dataTimestamp_ set to:1761540371.606129 2025-10-27T04:46:11.635Z,1761540371.635 [DAT](INFO): DAT read: Bearing 231.0, -41.7 (Local) 2025-10-27T04:46:11.635Z,1761540371.635 [DAT](INFO): Local bearing/azimuth received: Bearing 231.0, -41.7 (Local) 2025-10-27T04:46:11.637Z,1761540371.637 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed -0.2 2025-10-27T04:46:11.643Z,1761540371.643 [DAT](INFO): DAT read: 04:46:10.4318 LVL= 32752, 30177, 31218, 32755, AGC= 48, IDX= 501, 0.16, 3.119,-2.778,-1.492,-0.861, PHS=-2.201,-1.872,-0.675, RAW= 221.8, 50.4, CAL= 222.0, 58.1, ROT= 288.0, -58.1 2025-10-27T04:46:11.644Z,1761540371.644 [DAT](INFO): got valid direction response: 04:46:10.4318 LVL= 32752, 30177, 31218, 32755, AGC= 48, IDX= 501, 0.16, 3.119,-2.778,-1.492,-0.861, PHS=-2.201,-1.872,-0.675, RAW= 221.8, 50.4, CAL= 222.0, 58.1, ROT= 288.0, -58.1 2025-10-27T04:46:11.644Z,1761540371.644 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T04:46:11.645Z,1761540371.645 [DAT](INFO): direction in FSK: [0.163296,-0.502575,0.848972] 2025-10-27T04:46:11.645Z,1761540371.645 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:11.649Z,1761540371.649 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.396683 2025-10-27T04:46:11.757Z,1761540371.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893590,-0.340803,-0.292147],[0.397383,0.903284,0.161755],[0.208765,-0.260637,0.942595]] 2025-10-27T04:46:11.854Z,1761540371.854 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.601006 2025-10-27T04:46:11.872Z,1761540371.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.506086 s, deltaX: -0.100000 m, approachRate: -0.197595 m/s, rangeRepo size: 4 2025-10-27T04:46:11.874Z,1761540371.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.691185 m, bearing: 285.364139 deg, lat: 36.779335 deg, lon: -121.859563 deg, deltaT: 1.517887 s, deltaX: -0.398005 m, approachRate: -0.262210 m/s, posRepo size: 4 2025-10-27T04:46:12.110Z,1761540372.110 [DAT](INFO): DAT read: Rx Time:04:46:10.9320 2025-10-27T04:46:12.112Z,1761540372.112 [DAT](INFO): Rx dataTimestamp_ set to:1761540372.111063 2025-10-27T04:46:12.119Z,1761540372.119 [DAT](INFO): DAT read: Bearing 246.0, -54.2 (Local) 2025-10-27T04:46:12.119Z,1761540372.119 [DAT](INFO): Local bearing/azimuth received: Bearing 246.0, -54.2 (Local) 2025-10-27T04:46:12.121Z,1761540372.121 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.3 2025-10-27T04:46:12.122Z,1761540372.122 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T04:46:12.122Z,1761540372.122 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.869911 2025-10-27T04:46:12.141Z,1761540372.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900925,-0.324033,-0.288683],[0.380356,0.909869,0.165733],[0.208960,-0.259115,0.942971]] 2025-10-27T04:46:12.204Z,1761540372.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504934 s, deltaX: 0.300000 m, approachRate: 0.594137 m/s, rangeRepo size: 4 2025-10-27T04:46:12.204Z,1761540372.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m. 2025-10-27T04:46:12.371Z,1761540372.371 [DAT](INFO): DAT read: 04:46:10.9320 LVL= 32752, 32753, 22562, 32755, AGC= 44, IDX= 502, 0.42, 2.639,-2.671,-1.917,-1.475, PHS=-2.068,-1.151,-0.486, RAW= 245.3, 43.6, CAL= 248.2, 51.0, ROT= 261.8, -51.0 2025-10-27T04:46:12.374Z,1761540372.374 [DAT](INFO): got valid direction response: 04:46:10.9320 LVL= 32752, 32753, 22562, 32755, AGC= 44, IDX= 502, 0.42, 2.639,-2.671,-1.917,-1.475, PHS=-2.068,-1.151,-0.486, RAW= 245.3, 43.6, CAL= 248.2, 51.0, ROT= 261.8, -51.0 2025-10-27T04:46:12.376Z,1761540372.376 [DAT](INFO): #Rx 108: Read direction message, but no range. 2025-10-27T04:46:12.392Z,1761540372.392 [DAT](INFO): direction in FSK: [-0.089760,-0.622886,0.777146] 2025-10-27T04:46:12.430Z,1761540372.430 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.177612 2025-10-27T04:46:12.613Z,1761540372.613 [DAT](INFO): DAT read: Rx Time:04:46:11.4319 2025-10-27T04:46:12.614Z,1761540372.614 [DAT](INFO): Rx dataTimestamp_ set to:1761540372.613453 2025-10-27T04:46:12.618Z,1761540372.618 [DAT](INFO): DAT read: Bearing 257.1, -60.3 (Local) 2025-10-27T04:46:12.619Z,1761540372.619 [DAT](INFO): Local bearing/azimuth received: Bearing 257.1, -60.3 (Local) 2025-10-27T04:46:12.621Z,1761540372.621 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.4 2025-10-27T04:46:12.621Z,1761540372.621 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-27T04:46:12.622Z,1761540372.622 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.369610 2025-10-27T04:46:12.637Z,1761540372.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.502390 s, deltaX: -0.200000 m, approachRate: -0.398097 m/s, rangeRepo size: 4 2025-10-27T04:46:12.644Z,1761540372.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.790609 m, bearing: 257.648113 deg, lat: 36.779340 deg, lon: -121.859565 deg, deltaT: 1.007324 s, deltaX: 0.099425 m, approachRate: 0.098702 m/s, posRepo size: 4 2025-10-27T04:46:12.645Z,1761540372.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m. 2025-10-27T04:46:12.864Z,1761540372.864 [DAT](INFO): DAT read: 04:46:11.4319 LVL= 23280, 21361, 17490, 28195, AGC= 40, IDX= 502, 0.48, 2.646,-2.299,-1.754,-1.457, PHS=-2.079,-0.797,-0.341, RAW= 255.3, 36.1, CAL= 257.8, 44.6, ROT= 252.2, -44.6 2025-10-27T04:46:12.865Z,1761540372.865 [DAT](INFO): got valid direction response: 04:46:11.4319 LVL= 23280, 21361, 17490, 28195, AGC= 40, IDX= 502, 0.48, 2.646,-2.299,-1.754,-1.457, PHS=-2.079,-0.797,-0.341, RAW= 255.3, 36.1, CAL= 257.8, 44.6, ROT= 252.2, -44.6 2025-10-27T04:46:12.866Z,1761540372.866 [DAT](INFO): #Rx 110: Read direction message, but no range. 2025-10-27T04:46:12.867Z,1761540372.867 [DAT](INFO): direction in FSK: [-0.217663,-0.677941,0.702153] 2025-10-27T04:46:12.870Z,1761540372.870 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.617397 2025-10-27T04:46:12.945Z,1761540372.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914196,-0.292220,-0.280807],[0.347900,0.921259,0.173920],[0.207873,-0.256689,0.943875]] 2025-10-27T04:46:12.968Z,1761540372.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m. 2025-10-27T04:46:13.112Z,1761540373.112 [DAT](INFO): DAT read: Rx Time:04:46:11.9321 2025-10-27T04:46:13.113Z,1761540373.113 [DAT](INFO): Rx dataTimestamp_ set to:1761540373.112235 2025-10-27T04:46:13.114Z,1761540373.114 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.3 2025-10-27T04:46:13.114Z,1761540373.114 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-27T04:46:13.116Z,1761540373.116 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.863243 2025-10-27T04:46:13.354Z,1761540373.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919355,-0.279687,-0.276696],[0.334971,0.925330,0.177647],[0.206350,-0.256006,0.944394]] 2025-10-27T04:46:13.364Z,1761540373.364 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.111561 2025-10-27T04:46:13.440Z,1761540373.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:46:13.447Z,1761540373.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.498782 s, deltaX: 0.300000 m, approachRate: 0.601465 m/s, rangeRepo size: 4 2025-10-27T04:46:13.619Z,1761540373.619 [DAT](INFO): DAT read: Rx Time:04:46:12.4322 2025-10-27T04:46:13.620Z,1761540373.620 [DAT](INFO): Rx dataTimestamp_ set to:1761540373.619420 2025-10-27T04:46:13.621Z,1761540373.621 [DAT](INFO): DAT read: Bearing 315.0, -62.3 (Local) 2025-10-27T04:46:13.621Z,1761540373.621 [DAT](INFO): Local bearing/azimuth received: Bearing 315.0, -62.3 (Local) 2025-10-27T04:46:13.623Z,1761540373.623 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.4 2025-10-27T04:46:13.624Z,1761540373.624 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-27T04:46:13.625Z,1761540373.625 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.372417 2025-10-27T04:46:13.746Z,1761540373.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924410,-0.267964,-0.271406],[0.322148,0.929514,0.179509],[0.204174,-0.253373,0.945577]] 2025-10-27T04:46:13.794Z,1761540373.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.507185 s, deltaX: 0.200000 m, approachRate: 0.394334 m/s, rangeRepo size: 4 2025-10-27T04:46:13.794Z,1761540373.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m. 2025-10-27T04:46:13.874Z,1761540373.874 [DAT](INFO): DAT read: 04:46:12.4322 LVL= 32752, 20161, 20514, 31987, AGC= 44, IDX= 505, 0.39,-2.717,-0.383,-0.757,-0.677, PHS=-1.938, 0.340,-0.123, RAW= 281.1, 16.3, CAL= 280.3, 23.6, ROT= 229.7, -23.6 2025-10-27T04:46:13.876Z,1761540373.876 [DAT](INFO): got valid direction response: 04:46:12.4322 LVL= 32752, 20161, 20514, 31987, AGC= 44, IDX= 505, 0.39,-2.717,-0.383,-0.757,-0.677, PHS=-1.938, 0.340,-0.123, RAW= 281.1, 16.3, CAL= 280.3, 23.6, ROT= 229.7, -23.6 2025-10-27T04:46:13.877Z,1761540373.877 [DAT](INFO): #Rx 113: Read direction message, but no range. 2025-10-27T04:46:13.878Z,1761540373.878 [DAT](INFO): direction in FSK: [-0.592694,-0.698881,0.400349] 2025-10-27T04:46:13.882Z,1761540373.882 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.629498 2025-10-27T04:46:14.121Z,1761540374.121 [DAT](INFO): DAT read: Rx Time:04:46:12.9324 2025-10-27T04:46:14.121Z,1761540374.121 [DAT](INFO): Rx dataTimestamp_ set to:1761540374.120694 2025-10-27T04:46:14.122Z,1761540374.122 [DAT](INFO): DAT read: Bearing 306.7, -57.1 (Local) 2025-10-27T04:46:14.123Z,1761540374.123 [DAT](INFO): Local bearing/azimuth received: Bearing 306.7, -57.1 (Local) 2025-10-27T04:46:14.125Z,1761540374.125 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.5 2025-10-27T04:46:14.125Z,1761540374.125 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-27T04:46:14.126Z,1761540374.126 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=50.873619 2025-10-27T04:46:14.149Z,1761540374.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928464,-0.260956,-0.264302],[0.312141,0.933880,0.174461],[0.201300,-0.244480,0.948529]] 2025-10-27T04:46:14.237Z,1761540374.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.501274 s, deltaX: 0.300000 m, approachRate: 0.598475 m/s, rangeRepo size: 4 2025-10-27T04:46:14.243Z,1761540374.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.586342 m, bearing: 238.326456 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 1.507241 s, deltaX: 0.795733 m, approachRate: 0.527940 m/s, posRepo size: 4 2025-10-27T04:46:14.386Z,1761540374.386 [DAT](INFO): DAT read: 04:46:12.9324 LVL= 27456, 18161, 19378, 31923, AGC= 43, IDX= 507, 0.27, 2.576,-1.542,-1.989,-1.695, PHS=-1.910, 0.198,-0.338, RAW= 284.2, 20.9, CAL= 284.3, 28.1, ROT= 225.7, -28.1 2025-10-27T04:46:14.390Z,1761540374.390 [DAT](INFO): got valid direction response: 04:46:12.9324 LVL= 27456, 18161, 19378, 31923, AGC= 43, IDX= 507, 0.27, 2.576,-1.542,-1.989,-1.695, PHS=-1.910, 0.198,-0.338, RAW= 284.2, 20.9, CAL= 284.3, 28.1, ROT= 225.7, -28.1 2025-10-27T04:46:14.404Z,1761540374.404 [DAT](INFO): #Rx 115: Read direction message, but no range. 2025-10-27T04:46:14.409Z,1761540374.409 [DAT](INFO): direction in FSK: [-0.616091,-0.631332,0.471012] 2025-10-27T04:46:14.440Z,1761540374.440 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.187462 2025-10-27T04:46:14.553Z,1761540374.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932037,-0.255382,-0.257073],[0.303700,0.937528,0.169726],[0.197668,-0.236264,0.951371]] 2025-10-27T04:46:14.625Z,1761540374.625 [DAT](INFO): DAT read: Rx Time:04:46:13.4325 2025-10-27T04:46:14.625Z,1761540374.625 [DAT](INFO): Rx dataTimestamp_ set to:1761540374.624753 2025-10-27T04:46:14.626Z,1761540374.626 [DAT](INFO): DAT read: Bearing 312.7, -45.6 (Local) 2025-10-27T04:46:14.627Z,1761540374.627 [DAT](INFO): Local bearing/azimuth received: Bearing 312.7, -45.6 (Local) 2025-10-27T04:46:14.629Z,1761540374.629 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.5 2025-10-27T04:46:14.637Z,1761540374.637 [DAT](INFO): DAT read: 04:46:13.4325 LVL= 22560, 14689, 13282, 23923, AGC= 43, IDX= 508, 0.20, 0.879, 2.977, 2.094, 2.617, PHS=-1.636, 0.406,-0.567, RAW= 298.4, 19.8, CAL= 297.5, 26.1, ROT= 212.5, -26.1 2025-10-27T04:46:14.638Z,1761540374.638 [DAT](INFO): got valid direction response: 04:46:13.4325 LVL= 22560, 14689, 13282, 23923, AGC= 43, IDX= 508, 0.20, 0.879, 2.977, 2.094, 2.617, PHS=-1.636, 0.406,-0.567, RAW= 298.4, 19.8, CAL= 297.5, 26.1, ROT= 212.5, -26.1 2025-10-27T04:46:14.638Z,1761540374.638 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T04:46:14.655Z,1761540374.655 [DAT](INFO): direction in FSK: [-0.757389,-0.482510,0.439939] 2025-10-27T04:46:14.656Z,1761540374.656 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:14.668Z,1761540374.668 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.415024 2025-10-27T04:46:14.732Z,1761540374.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504059 s, deltaX: 0.100000 m, approachRate: 0.198390 m/s, rangeRepo size: 4 2025-10-27T04:46:14.734Z,1761540374.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.685817 m, bearing: 221.134708 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 0.504059 s, deltaX: 0.099475 m, approachRate: 0.197348 m/s, posRepo size: 4 2025-10-27T04:46:14.876Z,1761540374.876 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.623951 2025-10-27T04:46:14.961Z,1761540374.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935160,-0.250968,-0.249980],[0.296545,0.940661,0.164979],[0.193742,-0.228412,0.954092]] 2025-10-27T04:46:15.129Z,1761540375.129 [DAT](INFO): DAT read: Rx Time:04:46:13.9328 2025-10-27T04:46:15.130Z,1761540375.130 [DAT](INFO): Rx dataTimestamp_ set to:1761540375.129234 2025-10-27T04:46:15.131Z,1761540375.131 [DAT](INFO): DAT read: Bearing 317.6, -38.9 (Local) 2025-10-27T04:46:15.131Z,1761540375.131 [DAT](INFO): Local bearing/azimuth received: Bearing 317.6, -38.9 (Local) 2025-10-27T04:46:15.133Z,1761540375.133 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.5 2025-10-27T04:46:15.138Z,1761540375.138 [DAT](INFO): DAT read: 04:46:13.9328 LVL= 22480, 15473, 12786, 20723, AGC= 42, IDX= 511, 0.19, 2.077,-2.082, 3.064,-2.638, PHS=-1.466, 0.600,-0.626, RAW= 306.2, 16.3, CAL= 304.5, 22.1, ROT= 205.5, -22.1 2025-10-27T04:46:15.139Z,1761540375.139 [DAT](INFO): got valid direction response: 04:46:13.9328 LVL= 22480, 15473, 12786, 20723, AGC= 42, IDX= 511, 0.19, 2.077,-2.082, 3.064,-2.638, PHS=-1.466, 0.600,-0.626, RAW= 306.2, 16.3, CAL= 304.5, 22.1, ROT= 205.5, -22.1 2025-10-27T04:46:15.139Z,1761540375.139 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T04:46:15.140Z,1761540375.140 [DAT](INFO): direction in FSK: [-0.836271,-0.398881,0.376224] 2025-10-27T04:46:15.141Z,1761540375.141 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:15.150Z,1761540375.150 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=51.896255 2025-10-27T04:46:15.366Z,1761540375.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937759,-0.248579,-0.242520],[0.291285,0.943244,0.159511],[0.189105,-0.220225,0.956943]] 2025-10-27T04:46:15.380Z,1761540375.380 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.127800 2025-10-27T04:46:15.474Z,1761540375.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504481 s, deltaX: 0.500000 m, approachRate: 0.991118 m/s, rangeRepo size: 4 2025-10-27T04:46:15.480Z,1761540375.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.183121 m, bearing: 215.796658 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 0.504481 s, deltaX: 0.497304 m, approachRate: 0.985774 m/s, posRepo size: 4 2025-10-27T04:46:15.635Z,1761540375.635 [DAT](INFO): DAT read: Rx Time:04:46:14.4329 2025-10-27T04:46:15.635Z,1761540375.635 [DAT](INFO): Rx dataTimestamp_ set to:1761540375.634856 2025-10-27T04:46:15.637Z,1761540375.637 [DAT](INFO): DAT read: Bearing 337.5, -48.0 (Local) 2025-10-27T04:46:15.638Z,1761540375.638 [DAT](INFO): Local bearing/azimuth received: Bearing 337.5, -48.0 (Local) 2025-10-27T04:46:15.649Z,1761540375.649 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed -0.5 2025-10-27T04:46:15.653Z,1761540375.653 [DAT](INFO): DAT read: 04:46:14.4329 LVL= 24736, 15025, 14882, 25571, AGC= 43, IDX= 512, 0.24, 2.994,-0.771,-1.757,-1.625, PHS=-1.562, 0.900,-0.175, RAW= 295.8, 7.9, CAL= 293.4, 7.9, ROT= 216.6, -7.9 2025-10-27T04:46:15.655Z,1761540375.655 [DAT](INFO): got valid direction response: 04:46:14.4329 LVL= 24736, 15025, 14882, 25571, AGC= 43, IDX= 512, 0.24, 2.994,-0.771,-1.757,-1.625, PHS=-1.562, 0.900,-0.175, RAW= 295.8, 7.9, CAL= 293.4, 7.9, ROT= 216.6, -7.9 2025-10-27T04:46:15.703Z,1761540375.703 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T04:46:15.705Z,1761540375.705 [DAT](INFO): direction in FSK: [-0.795198,-0.590567,0.137445] 2025-10-27T04:46:15.705Z,1761540375.705 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:15.732Z,1761540375.732 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.479656 2025-10-27T04:46:15.766Z,1761540375.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939783,-0.248624,-0.234507],[0.288056,0.945475,0.151991],[0.183932,-0.210390,0.960159]] 2025-10-27T04:46:15.884Z,1761540375.884 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.631538 2025-10-27T04:46:15.890Z,1761540375.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.505622 s, deltaX: 0.100000 m, approachRate: 0.197776 m/s, rangeRepo size: 4 2025-10-27T04:46:15.896Z,1761540375.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.282594 m, bearing: 230.462972 deg, lat: 36.779340 deg, lon: -121.859566 deg, deltaT: 0.505622 s, deltaX: 0.099473 m, approachRate: 0.196733 m/s, posRepo size: 4 2025-10-27T04:46:16.131Z,1761540376.131 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:46:16.137Z,1761540376.137 [DAT](INFO): DAT read: Rx Time:04:46:14.9333 2025-10-27T04:46:16.137Z,1761540376.137 [DAT](INFO): Rx dataTimestamp_ set to:1761540376.137045 2025-10-27T04:46:16.139Z,1761540376.139 [DAT](INFO): DAT read: Bearing 327.3, -31.3 (Local) 2025-10-27T04:46:16.139Z,1761540376.139 [DAT](INFO): Local bearing/azimuth received: Bearing 327.3, -31.3 (Local) 2025-10-27T04:46:16.141Z,1761540376.141 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.6 2025-10-27T04:46:16.146Z,1761540376.146 [DAT](INFO): DAT read: 04:46:14.9333 LVL= 21312, 12273, 14738, 23443, AGC= 47, IDX= 3, 0.24, 2.407,-1.774,-3.102,-2.563, PHS=-1.211, 0.834,-0.583, RAW= 312.6, 10.6, CAL= 310.9, 12.9, ROT= 199.1, -12.9 2025-10-27T04:46:16.147Z,1761540376.147 [DAT](INFO): got valid direction response: 04:46:14.9333 LVL= 21312, 12273, 14738, 23443, AGC= 47, IDX= 3, 0.24, 2.407,-1.774,-3.102,-2.563, PHS=-1.211, 0.834,-0.583, RAW= 312.6, 10.6, CAL= 310.9, 12.9, ROT= 199.1, -12.9 2025-10-27T04:46:16.147Z,1761540376.147 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T04:46:16.148Z,1761540376.148 [DAT](INFO): direction in FSK: [-0.921100,-0.318959,0.223250] 2025-10-27T04:46:16.149Z,1761540376.149 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:16.168Z,1761540376.168 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=52.915363 2025-10-27T04:46:16.208Z,1761540376.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941390,-0.249636,-0.226863],[0.286173,0.947090,0.145345],[0.178576,-0.201748,0.963020]] 2025-10-27T04:46:16.259Z,1761540376.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502189 s, deltaX: 0.600000 m, approachRate: 1.194770 m/s, rangeRepo size: 4 2025-10-27T04:46:16.261Z,1761540376.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.879407 m, bearing: 212.464812 deg, lat: 36.779336 deg, lon: -121.859566 deg, deltaT: 0.502189 s, deltaX: 0.596813 m, approachRate: 1.188424 m/s, posRepo size: 4 2025-10-27T04:46:16.389Z,1761540376.389 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.136539 2025-10-27T04:46:16.626Z,1761540376.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942417,-0.252104,-0.219758],[0.285886,0.948248,0.138181],[0.173549,-0.193050,0.965719]] 2025-10-27T04:46:16.641Z,1761540376.641 [DAT](INFO): DAT read: Rx Time:04:46:15.4333 2025-10-27T04:46:16.641Z,1761540376.641 [DAT](INFO): Rx dataTimestamp_ set to:1761540376.640712 2025-10-27T04:46:16.642Z,1761540376.642 [DAT](INFO): DAT read: Bearing 328.1, -30.3 (Local) 2025-10-27T04:46:16.643Z,1761540376.643 [DAT](INFO): Local bearing/azimuth received: Bearing 328.1, -30.3 (Local) 2025-10-27T04:46:16.653Z,1761540376.653 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.6 2025-10-27T04:46:16.658Z,1761540376.658 [DAT](INFO): DAT read: 04:46:15.4333 LVL= 30320, 16433, 15538, 31011, AGC= 45, IDX= 500, 0.39, 0.339, 2.507, 1.117, 1.667, PHS=-1.226, 0.885,-0.594, RAW= 313.0, 10.0, CAL= 311.3, 11.8, ROT= 198.7, -11.8 2025-10-27T04:46:16.659Z,1761540376.659 [DAT](INFO): got valid direction response: 04:46:15.4333 LVL= 30320, 16433, 15538, 31011, AGC= 45, IDX= 500, 0.39, 0.339, 2.507, 1.117, 1.667, PHS=-1.226, 0.885,-0.594, RAW= 313.0, 10.0, CAL= 311.3, 11.8, ROT= 198.7, -11.8 2025-10-27T04:46:16.659Z,1761540376.659 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T04:46:16.660Z,1761540376.660 [DAT](INFO): direction in FSK: [-0.927193,-0.313838,0.204496] 2025-10-27T04:46:16.660Z,1761540376.660 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:16.680Z,1761540376.680 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:46:16.680Z,1761540376.680 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:46:16.681Z,1761540376.681 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:16.780Z,1761540376.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503667 s, deltaX: 0.200000 m, approachRate: 0.397087 m/s, rangeRepo size: 4 2025-10-27T04:46:16.782Z,1761540376.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.078351 m, bearing: 212.476279 deg, lat: 36.779334 deg, lon: -121.859565 deg, deltaT: 0.503667 s, deltaX: 0.198944 m, approachRate: 0.394990 m/s, posRepo size: 4 2025-10-27T04:46:16.893Z,1761540376.893 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:17.125Z,1761540377.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943257,-0.254748,-0.213001],[0.286231,0.948937,0.132631],[0.168337,-0.186073,0.968008]] 2025-10-27T04:46:17.135Z,1761540377.135 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:46:17.145Z,1761540377.145 [DAT](INFO): DAT read: Rx Time:04:46:15.9335 2025-10-27T04:46:17.145Z,1761540377.145 [DAT](INFO): Rx dataTimestamp_ set to:1761540377.144844 2025-10-27T04:46:17.149Z,1761540377.149 [DAT](INFO): DAT read: Bearing 331.7, -34.3 (Local) 2025-10-27T04:46:17.150Z,1761540377.150 [DAT](INFO): Local bearing/azimuth received: Bearing 331.7, -34.3 (Local) 2025-10-27T04:46:17.157Z,1761540377.157 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.6 2025-10-27T04:46:17.162Z,1761540377.162 [DAT](INFO): DAT read: 04:46:15.9335 LVL= 32752, 20081, 17090, 32755, AGC= 48, IDX= 503,-0.45,-0.015, 2.269, 0.952, 1.374, PHS=-1.286, 0.940,-0.466, RAW= 308.6, 8.4, CAL= 306.5, 9.2, ROT= 203.5, -9.2 2025-10-27T04:46:17.172Z,1761540377.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:46:17.163Z,1761540377.163 [DAT](INFO): got valid direction response: 04:46:15.9335 LVL= 32752, 20081, 17090, 32755, AGC= 48, IDX= 503,-0.45,-0.015, 2.269, 0.952, 1.374, PHS=-1.286, 0.940,-0.466, RAW= 308.6, 8.4, CAL= 306.5, 9.2, ROT= 203.5, -9.2 2025-10-27T04:46:17.179Z,1761540377.179 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:17.180Z,1761540377.180 [DAT](INFO): direction in FSK: [-0.905263,-0.393620,0.159881] 2025-10-27T04:46:17.180Z,1761540377.180 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:17.212Z,1761540377.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:17.212Z,1761540377.212 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:17.397Z,1761540377.397 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:17.641Z,1761540377.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943786,-0.263546,-0.199530],[0.290546,0.949243,0.120500],[0.157645,-0.171699,0.972454]] 2025-10-27T04:46:17.649Z,1761540377.649 [DAT](INFO): DAT read: Rx Time:04:46:16.4336 2025-10-27T04:46:17.649Z,1761540377.649 [DAT](INFO): Rx dataTimestamp_ set to:1761540377.648810 2025-10-27T04:46:17.650Z,1761540377.650 [DAT](INFO): DAT read: Bearing 335.9, -37.8 (Local) 2025-10-27T04:46:17.651Z,1761540377.651 [DAT](INFO): Local bearing/azimuth received: Bearing 335.9, -37.8 (Local) 2025-10-27T04:46:17.653Z,1761540377.653 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed -0.6 2025-10-27T04:46:17.658Z,1761540377.658 [DAT](INFO): DAT read: 04:46:16.4336 LVL= 31024, 16785, 17650, 32755, AGC= 49, IDX= 504,-0.20,-1.448, 0.876,-0.320,-0.041, PHS=-1.304, 0.963,-0.323, RAW= 304.4, 6.8, CAL= 302.1, 6.2, ROT= 207.9, -6.2 2025-10-27T04:46:17.659Z,1761540377.659 [DAT](INFO): got valid direction response: 04:46:16.4336 LVL= 31024, 16785, 17650, 32755, AGC= 49, IDX= 504,-0.20,-1.448, 0.876,-0.320,-0.041, PHS=-1.304, 0.963,-0.323, RAW= 304.4, 6.8, CAL= 302.1, 6.2, ROT= 207.9, -6.2 2025-10-27T04:46:17.659Z,1761540377.659 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:17.660Z,1761540377.660 [DAT](INFO): direction in FSK: [-0.878597,-0.465193,0.107999] 2025-10-27T04:46:17.660Z,1761540377.660 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:17.664Z,1761540377.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:17.665Z,1761540377.665 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:17.796Z,1761540377.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 1.008098 s, deltaX: 0.400000 m, approachRate: 0.396787 m/s, rangeRepo size: 4 2025-10-27T04:46:17.798Z,1761540377.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.476235 m, bearing: 223.202314 deg, lat: 36.779334 deg, lon: -121.859565 deg, deltaT: 1.008098 s, deltaX: 0.397884 m, approachRate: 0.394688 m/s, posRepo size: 4 2025-10-27T04:46:17.900Z,1761540377.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:18.138Z,1761540378.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943992,-0.267861,-0.192691],[0.292861,0.949182,0.115261],[0.152025,-0.165237,0.974467]] 2025-10-27T04:46:18.153Z,1761540378.153 [DAT](INFO): DAT read: Rx Time:04:46:16.9339 2025-10-27T04:46:18.153Z,1761540378.153 [DAT](INFO): Rx dataTimestamp_ set to:1761540378.152789 2025-10-27T04:46:18.154Z,1761540378.154 [DAT](INFO): DAT read: Bearing 341.2, -40.8 (Local) 2025-10-27T04:46:18.155Z,1761540378.155 [DAT](INFO): Local bearing/azimuth received: Bearing 341.2, -40.8 (Local) 2025-10-27T04:46:18.157Z,1761540378.157 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed -0.6 2025-10-27T04:46:18.162Z,1761540378.162 [DAT](INFO): DAT read: 04:46:16.9339 LVL= 32752, 18161, 20050, 32755, AGC= 51, IDX= 507, 0.04, 0.671, 3.006, 1.944, 2.077, PHS=-1.305, 0.974,-0.177, RAW= 300.3, 5.2, CAL= 298.0, 2.5, ROT= 212.0, -2.5 2025-10-27T04:46:18.163Z,1761540378.163 [DAT](INFO): got valid direction response: 04:46:16.9339 LVL= 32752, 18161, 20050, 32755, AGC= 51, IDX= 507, 0.04, 0.671, 3.006, 1.944, 2.077, PHS=-1.305, 0.974,-0.177, RAW= 300.3, 5.2, CAL= 298.0, 2.5, ROT= 212.0, -2.5 2025-10-27T04:46:18.164Z,1761540378.164 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:18.165Z,1761540378.165 [DAT](INFO): direction in FSK: [-0.847241,-0.529415,0.043619] 2025-10-27T04:46:18.165Z,1761540378.165 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:18.184Z,1761540378.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:18.185Z,1761540378.185 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:18.208Z,1761540378.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.503979 s, deltaX: 0.500000 m, approachRate: 0.992105 m/s, rangeRepo size: 4 2025-10-27T04:46:18.210Z,1761540378.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.973572 m, bearing: 228.211357 deg, lat: 36.779339 deg, lon: -121.859571 deg, deltaT: 0.503979 s, deltaX: 0.497337 m, approachRate: 0.986821 m/s, posRepo size: 4 2025-10-27T04:46:18.210Z,1761540378.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 5.00 m. Rolling out. 2025-10-27T04:46:18.211Z,1761540378.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T04:46:18.269Z,1761540378.269 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T04:46:18.404Z,1761540378.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:18.625Z,1761540378.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944114,-0.272095,-0.186047],[0.295271,0.949007,0.110457],[0.146505,-0.159218,0.976312]] 2025-10-27T04:46:18.657Z,1761540378.657 [DAT](INFO): DAT read: Rx Time:04:46:17.4341 2025-10-27T04:46:18.657Z,1761540378.657 [DAT](INFO): Rx dataTimestamp_ set to:1761540378.656912 2025-10-27T04:46:18.658Z,1761540378.658 [DAT](INFO): DAT read: Bearing 344.5, -40.6 (Local) 2025-10-27T04:46:18.659Z,1761540378.659 [DAT](INFO): Local bearing/azimuth received: Bearing 344.5, -40.6 (Local) 2025-10-27T04:46:18.661Z,1761540378.661 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.6 2025-10-27T04:46:18.666Z,1761540378.666 [DAT](INFO): DAT read: 04:46:17.4341 LVL= 32752, 17169, 24386, 32755, AGC= 51, IDX= 508, 0.40,-1.254, 1.072, 0.042, 0.118, PHS=-1.270, 0.999,-0.120, RAW= 299.5, 4.0, CAL= 297.3, -0.0, ROT= 212.7, 0.0 2025-10-27T04:46:18.667Z,1761540378.667 [DAT](INFO): got valid direction response: 04:46:17.4341 LVL= 32752, 17169, 24386, 32755, AGC= 51, IDX= 508, 0.40,-1.254, 1.072, 0.042, 0.118, PHS=-1.270, 0.999,-0.120, RAW= 299.5, 4.0, CAL= 297.3, -0.0, ROT= 212.7, 0.0 2025-10-27T04:46:18.667Z,1761540378.667 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:18.668Z,1761540378.668 [DAT](INFO): direction in FSK: [-0.841511,-0.540240,-0.000000] 2025-10-27T04:46:18.668Z,1761540378.668 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:18.672Z,1761540378.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:18.672Z,1761540378.672 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:18.756Z,1761540378.756 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T04:46:18.756Z,1761540378.756 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T04:46:18.756Z,1761540378.756 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T04:46:18.757Z,1761540378.757 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 5.000000 m (mode 5.000000 count ). 2025-10-27T04:46:18.758Z,1761540378.758 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T04:46:18.758Z,1761540378.758 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T04:46:18.758Z,1761540378.758 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T04:46:18.758Z,1761540378.758 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T04:46:18.759Z,1761540378.759 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T04:46:18.768Z,1761540378.768 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 5.000000 m (mode 5.000000 count ). 2025-10-27T04:46:18.768Z,1761540378.768 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T04:46:18.768Z,1761540378.768 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T04:46:18.783Z,1761540378.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504123 s, deltaX: 0.300000 m, approachRate: 0.595093 m/s, rangeRepo size: 4 2025-10-27T04:46:18.785Z,1761540378.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.271986 m, bearing: 229.613860 deg, lat: 36.779339 deg, lon: -121.859571 deg, deltaT: 0.504123 s, deltaX: 0.298415 m, approachRate: 0.591948 m/s, posRepo size: 4 2025-10-27T04:46:18.786Z,1761540378.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-27T04:46:18.792Z,1761540378.792 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T04:46:18.792Z,1761540378.792 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T04:46:18.792Z,1761540378.792 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T04:46:18.792Z,1761540378.792 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T04:46:18.908Z,1761540378.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:19.159Z,1761540379.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943226,-0.282890,-0.174061],[0.303206,0.947289,0.103487],[0.135611,-0.150389,0.979282]] 2025-10-27T04:46:19.161Z,1761540379.161 [DAT](INFO): DAT read: Rx Time:04:46:17.9344 2025-10-27T04:46:19.161Z,1761540379.161 [DAT](INFO): Rx dataTimestamp_ set to:1761540379.160800 2025-10-27T04:46:19.162Z,1761540379.162 [DAT](INFO): DAT read: Bearing 203.7, -15.4 (Local) 2025-10-27T04:46:19.163Z,1761540379.163 [DAT](INFO): Local bearing/azimuth received: Bearing 203.7, -15.4 (Local) 2025-10-27T04:46:19.165Z,1761540379.165 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.6 2025-10-27T04:46:19.169Z,1761540379.169 [DAT](INFO): DAT read: 04:46:17.9344 LVL= 32752, 23457, 30386, 32755, AGC= 51, IDX= 512,-0.08,-0.200,-1.166, 0.479, 0.685, PHS=-0.783,-1.806,-0.249, RAW= 169.7, 36.2, CAL= 170.8, 47.8, ROT= 339.2, -47.8 2025-10-27T04:46:19.171Z,1761540379.171 [DAT](INFO): got valid direction response: 04:46:17.9344 LVL= 32752, 23457, 30386, 32755, AGC= 51, IDX= 512,-0.08,-0.200,-1.166, 0.479, 0.685, PHS=-0.783,-1.806,-0.249, RAW= 169.7, 36.2, CAL= 170.8, 47.8, ROT= 339.2, -47.8 2025-10-27T04:46:19.171Z,1761540379.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:19.172Z,1761540379.172 [DAT](INFO): direction in FSK: [0.627942,-0.238533,0.740805] 2025-10-27T04:46:19.172Z,1761540379.172 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:19.184Z,1761540379.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:19.185Z,1761540379.185 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:19.266Z,1761540379.266 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T04:46:19.266Z,1761540379.266 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T04:46:19.267Z,1761540379.267 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T04:46:19.267Z,1761540379.267 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T04:46:19.282Z,1761540379.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503888 s, deltaX: 0.400000 m, approachRate: 0.793826 m/s, rangeRepo size: 4 2025-10-27T04:46:19.288Z,1761540379.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.669868 m, bearing: 4.427460 deg, lat: 36.779341 deg, lon: -121.859571 deg, deltaT: 0.503888 s, deltaX: 0.397882 m, approachRate: 0.789624 m/s, posRepo size: 4 2025-10-27T04:46:19.289Z,1761540379.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.67 m. 2025-10-27T04:46:19.412Z,1761540379.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:19.664Z,1761540379.664 [DAT](INFO): DAT read: Rx Time:04:46:18.4345 2025-10-27T04:46:19.665Z,1761540379.665 [DAT](INFO): Rx dataTimestamp_ set to:1761540379.664327 2025-10-27T04:46:19.666Z,1761540379.666 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.7 2025-10-27T04:46:19.666Z,1761540379.666 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T04:46:19.667Z,1761540379.667 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:19.668Z,1761540379.668 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:19.738Z,1761540379.738 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000508,35.0, +11.2, 0.0,14 2025-10-27T04:46:19.782Z,1761540379.782 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T04:46:19.782Z,1761540379.782 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T04:46:19.787Z,1761540379.787 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T04:46:19.787Z,1761540379.787 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T04:46:19.790Z,1761540379.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503527 s, deltaX: 0.200000 m, approachRate: 0.397199 m/s, rangeRepo size: 4 2025-10-27T04:46:19.790Z,1761540379.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.67 m. 2025-10-27T04:46:19.916Z,1761540379.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:20.155Z,1761540380.155 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T04:46:20.156Z,1761540380.156 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T04:46:20.156Z,1761540380.156 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T04:46:20.156Z,1761540380.156 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T04:46:20.157Z,1761540380.157 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T04:46:20.157Z,1761540380.157 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T04:46:20.157Z,1761540380.157 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T04:46:20.157Z,1761540380.157 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T04:46:20.159Z,1761540380.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.67 m. 2025-10-27T04:46:20.200Z,1761540380.200 [DAT](INFO): DAT read: Rx Time:04:46:18.9348 2025-10-27T04:46:20.200Z,1761540380.200 [DAT](INFO): Rx dataTimestamp_ set to:1761540380.200171 2025-10-27T04:46:20.202Z,1761540380.202 [DAT](INFO): DAT read: Bearing 340.7, -32.7 (Local) 2025-10-27T04:46:20.202Z,1761540380.202 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, -32.7 (Local) 2025-10-27T04:46:20.204Z,1761540380.204 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.6 2025-10-27T04:46:20.209Z,1761540380.209 [DAT](INFO): DAT read: 04:46:18.9348 LVL= 32752, 20689, 32146, 32755, AGC= 55, IDX= 5,-0.42,-2.869,-0.657,-1.864,-1.634, PHS=-1.132, 1.022,-0.274, RAW= 306.7, 4.1, CAL= 304.3, 1.3, ROT= 205.7, -1.3 2025-10-27T04:46:20.210Z,1761540380.210 [DAT](INFO): got valid direction response: 04:46:18.9348 LVL= 32752, 20689, 32146, 32755, AGC= 55, IDX= 5,-0.42,-2.869,-0.657,-1.864,-1.634, PHS=-1.132, 1.022,-0.274, RAW= 306.7, 4.1, CAL= 304.3, 1.3, ROT= 205.7, -1.3 2025-10-27T04:46:20.210Z,1761540380.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:20.227Z,1761540380.227 [DAT](INFO): direction in FSK: [-0.900845,-0.433547,0.022687] 2025-10-27T04:46:20.228Z,1761540380.228 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:20.243Z,1761540380.243 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:20.244Z,1761540380.244 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:20.436Z,1761540380.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:20.578Z,1761540380.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941981,-0.298614,-0.153301],[0.312630,0.946765,0.076799],[0.122207,-0.120270,0.985191]] 2025-10-27T04:46:20.673Z,1761540380.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.535844 s, deltaX: 0.300000 m, approachRate: 0.559864 m/s, rangeRepo size: 4 2025-10-27T04:46:20.679Z,1761540380.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.167222 m, bearing: 223.692994 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 1.039371 s, deltaX: 0.497354 m, approachRate: 0.478514 m/s, posRepo size: 4 2025-10-27T04:46:20.680Z,1761540380.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.17 m. 2025-10-27T04:46:20.688Z,1761540380.688 [DAT](INFO): DAT read: Rx Time:04:46:19.4349 2025-10-27T04:46:20.689Z,1761540380.689 [DAT](INFO): Rx dataTimestamp_ set to:1761540380.688685 2025-10-27T04:46:20.690Z,1761540380.690 [DAT](INFO): DAT read: Bearing 340.1, -29.9 (Local) 2025-10-27T04:46:20.691Z,1761540380.691 [DAT](INFO): Local bearing/azimuth received: Bearing 340.1, -29.9 (Local) 2025-10-27T04:46:20.693Z,1761540380.693 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.6 2025-10-27T04:46:20.699Z,1761540380.699 [DAT](INFO): DAT read: 04:46:19.4349 LVL= 32752, 23761, 32754, 32755, AGC= 53, IDX= 502,-0.13, 2.463,-1.624,-2.907,-2.627, PHS=-1.091, 1.047,-0.324, RAW= 309.3, 4.0, CAL= 306.9, 1.3, ROT= 203.1, -1.3 2025-10-27T04:46:20.700Z,1761540380.700 [DAT](INFO): got valid direction response: 04:46:19.4349 LVL= 32752, 23761, 32754, 32755, AGC= 53, IDX= 502,-0.13, 2.463,-1.624,-2.907,-2.627, PHS=-1.091, 1.047,-0.324, RAW= 309.3, 4.0, CAL= 306.9, 1.3, ROT= 203.1, -1.3 2025-10-27T04:46:20.701Z,1761540380.701 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:20.702Z,1761540380.702 [DAT](INFO): direction in FSK: [-0.919585,-0.392236,0.022687] 2025-10-27T04:46:20.703Z,1761540380.703 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:20.708Z,1761540380.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:20.708Z,1761540380.708 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:20.940Z,1761540380.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:21.193Z,1761540381.193 [DAT](INFO): DAT read: Rx Time:04:46:19.9352 2025-10-27T04:46:21.193Z,1761540381.193 [DAT](INFO): Rx dataTimestamp_ set to:1761540381.192787 2025-10-27T04:46:21.194Z,1761540381.194 [DAT](INFO): DAT read: Bearing 340.3, -29.2 (Local) 2025-10-27T04:46:21.195Z,1761540381.195 [DAT](INFO): Local bearing/azimuth received: Bearing 340.3, -29.2 (Local) 2025-10-27T04:46:21.198Z,1761540381.198 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.7 2025-10-27T04:46:21.204Z,1761540381.204 [DAT](INFO): DAT read: 04:46:19.9352 LVL= 32752, 25969, 32754, 32755, AGC= 54, IDX= 504, 0.00,-2.860,-0.703,-1.972,-1.696, PHS=-1.062, 1.038,-0.319, RAW= 309.6, 3.8, CAL= 307.2, 1.0, ROT= 202.8, -1.0 2025-10-27T04:46:21.206Z,1761540381.206 [DAT](INFO): got valid direction response: 04:46:19.9352 LVL= 32752, 25969, 32754, 32755, AGC= 54, IDX= 504, 0.00,-2.860,-0.703,-1.972,-1.696, PHS=-1.062, 1.038,-0.319, RAW= 309.6, 3.8, CAL= 307.2, 1.0, ROT= 202.8, -1.0 2025-10-27T04:46:21.206Z,1761540381.206 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:21.207Z,1761540381.207 [DAT](INFO): direction in FSK: [-0.921723,-0.387457,0.017452] 2025-10-27T04:46:21.207Z,1761540381.207 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:21.211Z,1761540381.211 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:21.211Z,1761540381.211 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:21.265Z,1761540381.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941792,-0.305692,-0.139927],[0.316412,0.946619,0.061605],[0.113626,-0.102294,0.988243]] 2025-10-27T04:46:21.338Z,1761540381.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.992616 s, deltaX: 0.600000 m, approachRate: 0.604464 m/s, rangeRepo size: 4 2025-10-27T04:46:21.345Z,1761540381.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.764037 m, bearing: 221.154893 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 0.992616 s, deltaX: 0.596815 m, approachRate: 0.601255 m/s, posRepo size: 4 2025-10-27T04:46:21.346Z,1761540381.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-27T04:46:21.444Z,1761540381.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:21.697Z,1761540381.697 [DAT](INFO): DAT read: Rx Time:04:46:20.4353 2025-10-27T04:46:21.698Z,1761540381.698 [DAT](INFO): Rx dataTimestamp_ set to:1761540381.697500 2025-10-27T04:46:21.700Z,1761540381.700 [DAT](INFO): DAT read: Bearing 338.3, -28.7 (Local) 2025-10-27T04:46:21.700Z,1761540381.700 [DAT](INFO): Local bearing/azimuth received: Bearing 338.3, -28.7 (Local) 2025-10-27T04:46:21.703Z,1761540381.703 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.6 2025-10-27T04:46:21.710Z,1761540381.710 [DAT](INFO): DAT read: 04:46:20.4353 LVL= 32752, 30897, 32754, 32755, AGC= 54, IDX= 505, 0.07,-2.956,-0.850,-2.095,-1.794, PHS=-1.061, 0.988,-0.345, RAW= 309.9, 4.7, CAL= 307.6, 2.7, ROT= 202.4, -2.7 2025-10-27T04:46:21.712Z,1761540381.712 [DAT](INFO): got valid direction response: 04:46:20.4353 LVL= 32752, 30897, 32754, 32755, AGC= 54, IDX= 505, 0.07,-2.956,-0.850,-2.095,-1.794, PHS=-1.061, 0.988,-0.345, RAW= 309.9, 4.7, CAL= 307.6, 2.7, ROT= 202.4, -2.7 2025-10-27T04:46:21.712Z,1761540381.712 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:21.714Z,1761540381.714 [DAT](INFO): direction in FSK: [-0.923520,-0.380647,0.047106] 2025-10-27T04:46:21.714Z,1761540381.714 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:21.737Z,1761540381.737 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:21.738Z,1761540381.738 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:21.764Z,1761540381.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941767,-0.307962,-0.135038],[0.317799,0.946377,0.058090],[0.109907,-0.097622,0.989136]] 2025-10-27T04:46:21.876Z,1761540381.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504713 s, deltaX: 0.100000 m, approachRate: 0.198132 m/s, rangeRepo size: 4 2025-10-27T04:46:21.878Z,1761540381.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.863508 m, bearing: 220.624253 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 0.504713 s, deltaX: 0.099471 m, approachRate: 0.197084 m/s, posRepo size: 4 2025-10-27T04:46:21.878Z,1761540381.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-27T04:46:21.948Z,1761540381.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:22.200Z,1761540382.200 [DAT](INFO): DAT read: Rx Time:04:46:20.9356 2025-10-27T04:46:22.201Z,1761540382.201 [DAT](INFO): Rx dataTimestamp_ set to:1761540382.200671 2025-10-27T04:46:22.202Z,1761540382.202 [DAT](INFO): DAT read: Bearing 341.7, -28.8 (Local) 2025-10-27T04:46:22.203Z,1761540382.203 [DAT](INFO): Local bearing/azimuth received: Bearing 341.7, -28.8 (Local) 2025-10-27T04:46:22.205Z,1761540382.205 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.5 2025-10-27T04:46:22.209Z,1761540382.209 [DAT](INFO): DAT read: 04:46:20.9356 LVL= 32752, 24225, 28946, 32755, AGC= 54, IDX= 508, 0.10,-0.721, 1.418, 0.169, 0.412, PHS=-1.032, 1.050,-0.288, RAW= 309.3, 3.0, CAL= 306.9, -0.2, ROT= 203.1, 0.2 2025-10-27T04:46:22.210Z,1761540382.210 [DAT](INFO): got valid direction response: 04:46:20.9356 LVL= 32752, 24225, 28946, 32755, AGC= 54, IDX= 508, 0.10,-0.721, 1.418, 0.169, 0.412, PHS=-1.032, 1.050,-0.288, RAW= 309.3, 3.0, CAL= 306.9, -0.2, ROT= 203.1, 0.2 2025-10-27T04:46:22.211Z,1761540382.211 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:22.212Z,1761540382.212 [DAT](INFO): direction in FSK: [-0.919816,-0.392335,-0.003491] 2025-10-27T04:46:22.212Z,1761540382.212 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:22.229Z,1761540382.229 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:22.237Z,1761540382.237 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:22.277Z,1761540382.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941889,-0.309396,-0.130839],[0.318479,0.946341,0.054861],[0.106844,-0.093343,0.989885]] 2025-10-27T04:46:22.350Z,1761540382.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503171 s, deltaX: 0.500000 m, approachRate: 0.993698 m/s, rangeRepo size: 4 2025-10-27T04:46:22.361Z,1761540382.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.360752 m, bearing: 221.745971 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 0.503171 s, deltaX: 0.497244 m, approachRate: 0.988220 m/s, posRepo size: 4 2025-10-27T04:46:22.362Z,1761540382.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-27T04:46:22.452Z,1761540382.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:22.705Z,1761540382.705 [DAT](INFO): DAT read: Rx Time:04:46:21.4357 2025-10-27T04:46:22.706Z,1761540382.706 [DAT](INFO): Rx dataTimestamp_ set to:1761540382.705245 2025-10-27T04:46:22.708Z,1761540382.708 [DAT](INFO): DAT read: Bearing 341.1, -28.0 (Local) 2025-10-27T04:46:22.708Z,1761540382.708 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, -28.0 (Local) 2025-10-27T04:46:22.711Z,1761540382.711 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.5 2025-10-27T04:46:22.717Z,1761540382.717 [DAT](INFO): DAT read: 04:46:21.4357 LVL= 32752, 31729, 32754, 32755, AGC= 55, IDX= 509, 0.08,-1.573, 0.544,-0.712,-0.447, PHS=-1.024, 1.036,-0.309, RAW= 310.0, 3.3, CAL= 307.6, 0.3, ROT= 202.4, -0.3 2025-10-27T04:46:22.718Z,1761540382.718 [DAT](INFO): got valid direction response: 04:46:21.4357 LVL= 32752, 31729, 32754, 32755, AGC= 55, IDX= 509, 0.08,-1.573, 0.544,-0.712,-0.447, PHS=-1.024, 1.036,-0.309, RAW= 310.0, 3.3, CAL= 307.6, 0.3, ROT= 202.4, -0.3 2025-10-27T04:46:22.719Z,1761540382.719 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:22.721Z,1761540382.721 [DAT](INFO): direction in FSK: [-0.924533,-0.381065,0.005236] 2025-10-27T04:46:22.721Z,1761540382.721 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:22.726Z,1761540382.726 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:22.726Z,1761540382.726 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:22.818Z,1761540382.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942326,-0.310773,-0.124267],[0.319018,0.946286,0.052624],[0.101238,-0.089232,0.990852]] 2025-10-27T04:46:22.937Z,1761540382.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504574 s, deltaX: 0.100000 m, approachRate: 0.198187 m/s, rangeRepo size: 4 2025-10-27T04:46:22.938Z,1761540382.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.460222 m, bearing: 221.013451 deg, lat: 36.779343 deg, lon: -121.859576 deg, deltaT: 0.504574 s, deltaX: 0.099470 m, approachRate: 0.197136 m/s, posRepo size: 4 2025-10-27T04:46:22.943Z,1761540382.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-27T04:46:22.956Z,1761540382.956 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:23.208Z,1761540383.208 [DAT](INFO): DAT read: Rx Time:04:46:21.9360 2025-10-27T04:46:23.209Z,1761540383.209 [DAT](INFO): Rx dataTimestamp_ set to:1761540383.208344 2025-10-27T04:46:23.210Z,1761540383.210 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.5 2025-10-27T04:46:23.210Z,1761540383.210 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T04:46:23.211Z,1761540383.211 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:23.212Z,1761540383.212 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:23.368Z,1761540383.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503099 s, deltaX: 0.500000 m, approachRate: 0.993840 m/s, rangeRepo size: 4 2025-10-27T04:46:23.369Z,1761540383.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-27T04:46:23.460Z,1761540383.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:23.720Z,1761540383.720 [DAT](INFO): DAT read: Rx Time:04:46:22.4361 2025-10-27T04:46:23.720Z,1761540383.720 [DAT](INFO): Rx dataTimestamp_ set to:1761540383.719734 2025-10-27T04:46:23.722Z,1761540383.722 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.5 2025-10-27T04:46:23.723Z,1761540383.723 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T04:46:23.724Z,1761540383.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:23.725Z,1761540383.725 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:23.755Z,1761540383.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942865,-0.310684,-0.120336],[0.318826,0.946206,0.055171],[0.096722,-0.090385,0.991199]] 2025-10-27T04:46:23.866Z,1761540383.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.511390 s, deltaX: 0.100000 m, approachRate: 0.195546 m/s, rangeRepo size: 4 2025-10-27T04:46:23.866Z,1761540383.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-27T04:46:23.964Z,1761540383.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:24.216Z,1761540384.216 [DAT](INFO): DAT read: Rx Time:04:46:22.9363 2025-10-27T04:46:24.217Z,1761540384.217 [DAT](INFO): Rx dataTimestamp_ set to:1761540384.216676 2025-10-27T04:46:24.218Z,1761540384.218 [DAT](INFO): DAT read: Bearing 340.8, -27.1 (Local) 2025-10-27T04:46:24.219Z,1761540384.219 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, -27.1 (Local) 2025-10-27T04:46:24.221Z,1761540384.221 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-27T04:46:24.225Z,1761540384.225 [DAT](INFO): DAT read: 04:46:22.9363 LVL= 32752, 27825, 32754, 32755, AGC= 59, IDX= 4,-0.21,-0.002, 2.110, 0.846, 1.123, PHS=-1.023, 1.032,-0.321, RAW= 310.4, 3.5, CAL= 308.0, 0.6, ROT= 202.0, -0.6 2025-10-27T04:46:24.226Z,1761540384.226 [DAT](INFO): got valid direction response: 04:46:22.9363 LVL= 32752, 27825, 32754, 32755, AGC= 59, IDX= 4,-0.21,-0.002, 2.110, 0.846, 1.123, PHS=-1.023, 1.032,-0.321, RAW= 310.4, 3.5, CAL= 308.0, 0.6, ROT= 202.0, -0.6 2025-10-27T04:46:24.227Z,1761540384.227 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:24.228Z,1761540384.228 [DAT](INFO): direction in FSK: [-0.927133,-0.374586,0.010472] 2025-10-27T04:46:24.228Z,1761540384.228 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:24.231Z,1761540384.231 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:24.232Z,1761540384.232 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:24.301Z,1761540384.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943306,-0.310024,-0.118571],[0.318123,0.946369,0.056423],[0.094719,-0.090945,0.991341]] 2025-10-27T04:46:24.370Z,1761540384.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.496942 s, deltaX: 0.299999 m, approachRate: 0.603691 m/s, rangeRepo size: 4 2025-10-27T04:46:24.377Z,1761540384.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.355215 m, bearing: 220.500856 deg, lat: 36.779343 deg, lon: -121.859578 deg, deltaT: 1.511431 s, deltaX: 0.894993 m, approachRate: 0.592150 m/s, posRepo size: 4 2025-10-27T04:46:24.377Z,1761540384.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.36 m. 2025-10-27T04:46:24.469Z,1761540384.469 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:24.722Z,1761540384.722 [DAT](INFO): DAT read: Rx Time:04:46:23.4364 2025-10-27T04:46:24.722Z,1761540384.722 [DAT](INFO): Rx dataTimestamp_ set to:1761540384.721897 2025-10-27T04:46:24.724Z,1761540384.724 [DAT](INFO): DAT read: Bearing 342.5, -27.1 (Local) 2025-10-27T04:46:24.725Z,1761540384.725 [DAT](INFO): Local bearing/azimuth received: Bearing 342.5, -27.1 (Local) 2025-10-27T04:46:24.728Z,1761540384.728 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.5 2025-10-27T04:46:24.734Z,1761540384.734 [DAT](INFO): DAT read: 04:46:23.4364 LVL= 32752, 25313, 30386, 32755, AGC= 57, IDX= 501,-0.41,-0.947, 1.197,-0.078, 0.163, PHS=-1.008, 1.079,-0.286, RAW= 310.1, 2.4, CAL= 307.8, -0.8, ROT= 202.2, 0.8 2025-10-27T04:46:24.767Z,1761540384.767 [DAT](INFO): got valid direction response: 04:46:23.4364 LVL= 32752, 25313, 30386, 32755, AGC= 57, IDX= 501,-0.41,-0.947, 1.197,-0.078, 0.163, PHS=-1.008, 1.079,-0.286, RAW= 310.1, 2.4, CAL= 307.8, -0.8, ROT= 202.2, 0.8 2025-10-27T04:46:24.768Z,1761540384.768 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:24.769Z,1761540384.769 [DAT](INFO): direction in FSK: [-0.925780,-0.377804,-0.013962] 2025-10-27T04:46:24.769Z,1761540384.769 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:24.777Z,1761540384.777 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:24.777Z,1761540384.777 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:24.791Z,1761540384.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944477,-0.307502,-0.115781],[0.315368,0.947271,0.056743],[0.092228,-0.090107,0.991653]] 2025-10-27T04:46:24.896Z,1761540384.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.505221 s, deltaX: 0.200001 m, approachRate: 0.395868 m/s, rangeRepo size: 4 2025-10-27T04:46:24.898Z,1761540384.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.554150 m, bearing: 220.694338 deg, lat: 36.779344 deg, lon: -121.859579 deg, deltaT: 0.505221 s, deltaX: 0.198935 m, approachRate: 0.393757 m/s, posRepo size: 4 2025-10-27T04:46:24.903Z,1761540384.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m. 2025-10-27T04:46:24.972Z,1761540384.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:25.224Z,1761540385.224 [DAT](INFO): DAT read: Rx Time:04:46:23.9367 2025-10-27T04:46:25.225Z,1761540385.225 [DAT](INFO): Rx dataTimestamp_ set to:1761540385.224658 2025-10-27T04:46:25.226Z,1761540385.226 [DAT](INFO): DAT read: Bearing 341.7, -26.0 (Local) 2025-10-27T04:46:25.227Z,1761540385.227 [DAT](INFO): Local bearing/azimuth received: Bearing 341.7, -26.0 (Local) 2025-10-27T04:46:25.229Z,1761540385.229 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 2025-10-27T04:46:25.233Z,1761540385.233 [DAT](INFO): DAT read: 04:46:23.9367 LVL= 32752, 26353, 32754, 32755, AGC= 57, IDX= 503, 0.33, 1.528,-2.654, 2.342, 2.618, PHS=-0.988, 1.057,-0.320, RAW= 311.3, 2.8, CAL= 308.9, -0.3, ROT= 201.1, 0.3 2025-10-27T04:46:25.234Z,1761540385.234 [DAT](INFO): got valid direction response: 04:46:23.9367 LVL= 32752, 26353, 32754, 32755, AGC= 57, IDX= 503, 0.33, 1.528,-2.654, 2.342, 2.618, PHS=-0.988, 1.057,-0.320, RAW= 311.3, 2.8, CAL= 308.9, -0.3, ROT= 201.1, 0.3 2025-10-27T04:46:25.235Z,1761540385.235 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:25.236Z,1761540385.236 [DAT](INFO): direction in FSK: [-0.932941,-0.359992,-0.005236] 2025-10-27T04:46:25.236Z,1761540385.236 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:25.240Z,1761540385.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:25.240Z,1761540385.240 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:46:25.312Z,1761540385.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944672,-0.307105,-0.115247],[0.314957,0.947385,0.057129],[0.091639,-0.090266,0.991693]] 2025-10-27T04:46:25.385Z,1761540385.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.502761 s, deltaX: 0.400000 m, approachRate: 0.795606 m/s, rangeRepo size: 4 2025-10-27T04:46:25.392Z,1761540385.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.951987 m, bearing: 219.513826 deg, lat: 36.779344 deg, lon: -121.859580 deg, deltaT: 0.502761 s, deltaX: 0.397838 m, approachRate: 0.791306 m/s, posRepo size: 4 2025-10-27T04:46:25.392Z,1761540385.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-27T04:46:25.476Z,1761540385.476 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:46:25.704Z,1761540385.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944833,-0.306918,-0.114419],[0.314666,0.947500,0.056825],[0.090972,-0.089694,0.991806]] 2025-10-27T04:46:25.729Z,1761540385.729 [DAT](INFO): DAT read: user:199> 2025-10-27T04:46:25.729Z,1761540385.729 [DAT](INFO): DAT read: 50 2025-10-27T04:46:25.730Z,1761540385.730 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T04:46:25.730Z,1761540385.730 [DAT](INFO): DAT read: Ok 2025-10-27T04:46:25.731Z,1761540385.731 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T04:46:25.731Z,1761540385.731 [DAT](INFO): DAT read: user:200> 2025-10-27T04:46:25.732Z,1761540385.732 [DAT](INFO): DAT read: Tx time:04:46:24.8799 2025-10-27T04:46:25.733Z,1761540385.733 [DAT](INFO): Ping request sent. 2025-10-27T04:46:25.733Z,1761540385.733 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:46:25.733Z,1761540385.733 [DAT](INFO): publishing transmit ping time 2025-10-27T04:46:25.733Z,1761540385.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T04:46:25.798Z,1761540385.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-27T04:46:25.980Z,1761540385.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247272 2025-10-27T04:46:26.128Z,1761540386.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944704,-0.307796,-0.113116],[0.315307,0.947366,0.055488],[0.090084,-0.088086,0.992031]] 2025-10-27T04:46:26.157Z,1761540386.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-27T04:46:26.233Z,1761540386.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500737 2025-10-27T04:46:26.500Z,1761540386.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.767252 2025-10-27T04:46:26.623Z,1761540386.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-27T04:46:26.752Z,1761540386.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.019277 2025-10-27T04:46:27.004Z,1761540387.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271305 2025-10-27T04:46:27.012Z,1761540387.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944407,-0.309087,-0.112075],[0.316545,0.946929,0.055898],[0.088849,-0.088267,0.992126]] 2025-10-27T04:46:27.049Z,1761540387.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-27T04:46:27.257Z,1761540387.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523827 2025-10-27T04:46:27.451Z,1761540387.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944246,-0.309876,-0.111246],[0.317214,0.946738,0.055343],[0.088171,-0.087546,0.992251]] 2025-10-27T04:46:27.485Z,1761540387.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-27T04:46:27.508Z,1761540387.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775270 2025-10-27T04:46:27.760Z,1761540387.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027196 2025-10-27T04:46:27.857Z,1761540387.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943956,-0.311046,-0.110443],[0.318241,0.946442,0.054492],[0.087578,-0.086586,0.992388]] 2025-10-27T04:46:27.909Z,1761540387.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-27T04:46:28.013Z,1761540388.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279648 2025-10-27T04:46:28.259Z,1761540388.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943900,-0.311466,-0.109738],[0.318575,0.946347,0.054203],[0.086967,-0.086122,0.992482]] 2025-10-27T04:46:28.265Z,1761540388.265 [DAT](INFO): DAT read: Rx Time:04:46:27.0219 2025-10-27T04:46:28.265Z,1761540388.265 [DAT](INFO): Rx dataTimestamp_ set to:1761540388.264725 2025-10-27T04:46:28.266Z,1761540388.266 [DAT](INFO): DAT read: Bearing 342.7, -25.8 (Local) 2025-10-27T04:46:28.267Z,1761540388.267 [DAT](INFO): Local bearing/azimuth received: Bearing 342.7, -25.8 (Local) 2025-10-27T04:46:28.269Z,1761540388.269 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.5 2025-10-27T04:46:28.273Z,1761540388.273 [DAT](INFO): DAT read: 04:46:27.0219 LVL= 32752, 25329, 32754, 32755, AGC= 60, IDX= 64, 0.20,-0.284, 1.842, 0.549, 0.802, PHS=-0.984, 1.086,-0.296, RAW= 311.0, 2.2, CAL= 308.7, -1.0, ROT= 201.3, 1.0 2025-10-27T04:46:28.275Z,1761540388.275 [DAT](INFO): got valid direction response: 04:46:27.0219 LVL= 32752, 25329, 32754, 32755, AGC= 60, IDX= 64, 0.20,-0.284, 1.842, 0.549, 0.802, PHS=-0.984, 1.086,-0.296, RAW= 311.0, 2.2, CAL= 308.7, -1.0, ROT= 201.3, 1.0 2025-10-27T04:46:28.275Z,1761540388.275 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:46:28.276Z,1761540388.276 [DAT](INFO): direction in FSK: [-0.931549,-0.363196,-0.017452] 2025-10-27T04:46:28.276Z,1761540388.276 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:28.284Z,1761540388.284 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.551269 2025-10-27T04:46:28.343Z,1761540388.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 3.040067 s, deltaX: 0.600000 m, approachRate: 0.197364 m/s, rangeRepo size: 4 2025-10-27T04:46:28.346Z,1761540388.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.548676 m, bearing: 220.006190 deg, lat: 36.779344 deg, lon: -121.859580 deg, deltaT: 3.040067 s, deltaX: 0.596689 m, approachRate: 0.196275 m/s, posRepo size: 4 2025-10-27T04:46:28.347Z,1761540388.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m. 2025-10-27T04:46:28.517Z,1761540388.517 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.783915 2025-10-27T04:46:28.756Z,1761540388.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943769,-0.312192,-0.108791],[0.319081,0.946267,0.052600],[0.086524,-0.084356,0.992672]] 2025-10-27T04:46:28.769Z,1761540388.769 [DAT](INFO): DAT read: Rx Time:04:46:27.5220 2025-10-27T04:46:28.769Z,1761540388.769 [DAT](INFO): Rx dataTimestamp_ set to:1761540388.768907 2025-10-27T04:46:28.770Z,1761540388.770 [DAT](INFO): DAT read: Bearing 341.7, -23.7 (Local) 2025-10-27T04:46:28.771Z,1761540388.771 [DAT](INFO): Local bearing/azimuth received: Bearing 341.7, -23.7 (Local) 2025-10-27T04:46:28.773Z,1761540388.773 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 2025-10-27T04:46:28.778Z,1761540388.778 [DAT](INFO): DAT read: 04:46:27.5220 LVL= 32752, 26817, 32754, 32755, AGC= 57, IDX= 513,-0.01, 0.475, 2.936, 1.335, 1.713, PHS=-1.136, 1.268,-0.422, RAW= 313.2, 2.7, CAL= 310.8, -0.2, ROT= 199.2, 0.2 2025-10-27T04:46:28.779Z,1761540388.779 [DAT](INFO): got valid direction response: 04:46:27.5220 LVL= 32752, 26817, 32754, 32755, AGC= 57, IDX= 513,-0.01, 0.475, 2.936, 1.335, 1.713, PHS=-1.136, 1.268,-0.422, RAW= 313.2, 2.7, CAL= 310.8, -0.2, ROT= 199.2, 0.2 2025-10-27T04:46:28.779Z,1761540388.779 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:46:28.780Z,1761540388.780 [DAT](INFO): direction in FSK: [-0.944371,-0.328865,-0.003491] 2025-10-27T04:46:28.780Z,1761540388.780 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:28.788Z,1761540388.788 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.055457 2025-10-27T04:46:28.920Z,1761540388.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504182 s, deltaX: 0.200000 m, approachRate: 0.396682 m/s, rangeRepo size: 4 2025-10-27T04:46:28.922Z,1761540388.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.747607 m, bearing: 217.859041 deg, lat: 36.779345 deg, lon: -121.859580 deg, deltaT: 0.504182 s, deltaX: 0.198931 m, approachRate: 0.394561 m/s, posRepo size: 4 2025-10-27T04:46:28.922Z,1761540388.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.75 m. 2025-10-27T04:46:29.020Z,1761540389.020 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.287432 2025-10-27T04:46:29.276Z,1761540389.276 [DAT](INFO): DAT read: Rx Time:04:46:28.0222 2025-10-27T04:46:29.276Z,1761540389.276 [DAT](INFO): Rx dataTimestamp_ set to:1761540389.275712 2025-10-27T04:46:29.277Z,1761540389.277 [DAT](INFO): DAT read: Bearing 342.7, -25.8 (Local) 2025-10-27T04:46:29.278Z,1761540389.278 [DAT](INFO): Local bearing/azimuth received: Bearing 342.7, -25.8 (Local) 2025-10-27T04:46:29.280Z,1761540389.280 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.4 2025-10-27T04:46:29.286Z,1761540389.286 [DAT](INFO): DAT read: 04:46:28.0222 LVL= 32752, 23265, 31282, 32755, AGC= 62, IDX= 4,-0.26,-1.872, 0.249,-1.041,-0.782, PHS=-0.988, 1.076,-0.303, RAW= 311.0, 2.4, CAL= 308.7, -0.7, ROT= 201.3, 0.7 2025-10-27T04:46:29.287Z,1761540389.287 [DAT](INFO): got valid direction response: 04:46:28.0222 LVL= 32752, 23265, 31282, 32755, AGC= 62, IDX= 4,-0.26,-1.872, 0.249,-1.041,-0.782, PHS=-0.988, 1.076,-0.303, RAW= 311.0, 2.4, CAL= 308.7, -0.7, ROT= 201.3, 0.7 2025-10-27T04:46:29.288Z,1761540389.288 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T04:46:29.289Z,1761540389.289 [DAT](INFO): direction in FSK: [-0.931622,-0.363224,-0.012217] 2025-10-27T04:46:29.290Z,1761540389.290 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:29.347Z,1761540389.347 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.613860 2025-10-27T04:46:29.381Z,1761540389.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943748,-0.312739,-0.107394],[0.319447,0.946184,0.051860],[0.085395,-0.083250,0.992863]] 2025-10-27T04:46:29.452Z,1761540389.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.506805 s, deltaX: 0.300000 m, approachRate: 0.591944 m/s, rangeRepo size: 4 2025-10-27T04:46:29.454Z,1761540389.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.046088 m, bearing: 220.025586 deg, lat: 36.779348 deg, lon: -121.859574 deg, deltaT: 0.506805 s, deltaX: 0.298481 m, approachRate: 0.588946 m/s, posRepo size: 4 2025-10-27T04:46:29.454Z,1761540389.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.05 m. 2025-10-27T04:46:29.525Z,1761540389.525 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.792168 2025-10-27T04:46:29.776Z,1761540389.776 [DAT](INFO): DAT read: Rx Time:04:46:28.5223 2025-10-27T04:46:29.777Z,1761540389.777 [DAT](INFO): Rx dataTimestamp_ set to:1761540389.776611 2025-10-27T04:46:29.778Z,1761540389.778 [DAT](INFO): DAT read: Bearing 342.9, -25.1 (Local) 2025-10-27T04:46:29.778Z,1761540389.778 [DAT](INFO): Local bearing/azimuth received: Bearing 342.9, -25.1 (Local) 2025-10-27T04:46:29.781Z,1761540389.781 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 2025-10-27T04:46:29.785Z,1761540389.785 [DAT](INFO): DAT read: 04:46:28.5223 LVL= 32752, 23777, 32754, 32755, AGC= 58, IDX= 500, 0.28,-1.064, 1.046,-0.258, 0.005, PHS=-0.968, 1.085,-0.307, RAW= 311.6, 2.1, CAL= 309.4, -1.0, ROT= 200.6, 1.0 2025-10-27T04:46:29.786Z,1761540389.786 [DAT](INFO): got valid direction response: 04:46:28.5223 LVL= 32752, 23777, 32754, 32755, AGC= 58, IDX= 500, 0.28,-1.064, 1.046,-0.258, 0.005, PHS=-0.968, 1.085,-0.307, RAW= 311.6, 2.1, CAL= 309.4, -1.0, ROT= 200.6, 1.0 2025-10-27T04:46:29.787Z,1761540389.787 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T04:46:29.788Z,1761540389.788 [DAT](INFO): direction in FSK: [-0.935917,-0.351788,-0.017452] 2025-10-27T04:46:29.788Z,1761540389.788 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:29.791Z,1761540389.791 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.058784 2025-10-27T04:46:29.968Z,1761540389.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.500899 s, deltaX: 0.099999 m, approachRate: 0.199640 m/s, rangeRepo size: 4 2025-10-27T04:46:29.970Z,1761540389.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.145555 m, bearing: 219.360955 deg, lat: 36.779350 deg, lon: -121.859574 deg, deltaT: 0.500899 s, deltaX: 0.099466 m, approachRate: 0.198576 m/s, posRepo size: 4 2025-10-27T04:46:29.970Z,1761540389.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m. 2025-10-27T04:46:30.028Z,1761540390.028 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.295443 2025-10-27T04:46:30.281Z,1761540390.281 [DAT](INFO): DAT read: Rx Time:04:46:29.0225 2025-10-27T04:46:30.281Z,1761540390.281 [DAT](INFO): Rx dataTimestamp_ set to:1761540390.280726 2025-10-27T04:46:30.282Z,1761540390.282 [DAT](INFO): DAT read: Bearing 342.6, -25.4 (Local) 2025-10-27T04:46:30.283Z,1761540390.283 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, -25.4 (Local) 2025-10-27T04:46:30.285Z,1761540390.285 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 2025-10-27T04:46:30.290Z,1761540390.290 [DAT](INFO): DAT read: 04:46:29.0225 LVL= 32752, 27201, 32754, 32755, AGC= 58, IDX= 502,-0.05,-2.479,-0.373,-1.666,-1.397, PHS=-0.980, 1.069,-0.313, RAW= 311.4, 2.5, CAL= 309.0, -0.6, ROT= 201.0, 0.6 2025-10-27T04:46:30.296Z,1761540390.296 [DAT](INFO): got valid direction response: 04:46:29.0225 LVL= 32752, 27201, 32754, 32755, AGC= 58, IDX= 502,-0.05,-2.479,-0.373,-1.666,-1.397, PHS=-0.980, 1.069,-0.313, RAW= 311.4, 2.5, CAL= 309.0, -0.6, ROT= 201.0, 0.6 2025-10-27T04:46:30.296Z,1761540390.296 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T04:46:30.297Z,1761540390.297 [DAT](INFO): direction in FSK: [-0.933529,-0.358348,-0.010472] 2025-10-27T04:46:30.298Z,1761540390.298 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:30.305Z,1761540390.305 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.572770 2025-10-27T04:46:30.382Z,1761540390.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944217,-0.312135,-0.105002],[0.318455,0.946638,0.049631],[0.083907,-0.080301,0.993233]] 2025-10-27T04:46:30.448Z,1761540390.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504115 s, deltaX: 0.300000 m, approachRate: 0.595103 m/s, rangeRepo size: 4 2025-10-27T04:46:30.450Z,1761540390.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.443872 m, bearing: 219.656274 deg, lat: 36.779350 deg, lon: -121.859574 deg, deltaT: 0.504115 s, deltaX: 0.298318 m, approachRate: 0.591766 m/s, posRepo size: 4 2025-10-27T04:46:30.450Z,1761540390.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-27T04:46:30.532Z,1761540390.532 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.799548 2025-10-27T04:46:30.785Z,1761540390.785 [DAT](INFO): DAT read: Rx Time:04:46:29.5225 2025-10-27T04:46:30.785Z,1761540390.785 [DAT](INFO): Rx dataTimestamp_ set to:1761540390.784749 2025-10-27T04:46:30.786Z,1761540390.786 [DAT](INFO): DAT read: Bearing 342.5, -25.3 (Local) 2025-10-27T04:46:30.787Z,1761540390.787 [DAT](INFO): Local bearing/azimuth received: Bearing 342.5, -25.3 (Local) 2025-10-27T04:46:30.789Z,1761540390.789 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 2025-10-27T04:46:30.793Z,1761540390.793 [DAT](INFO): DAT read: 04:46:29.5225 LVL= 32752, 26097, 32754, 32755, AGC= 57, IDX= 502, 0.46,-1.947, 0.160,-1.137,-0.864, PHS=-0.981, 1.070,-0.317, RAW= 311.5, 2.5, CAL= 309.1, -0.5, ROT= 200.9, 0.5 2025-10-27T04:46:30.795Z,1761540390.795 [DAT](INFO): got valid direction response: 04:46:29.5225 LVL= 32752, 26097, 32754, 32755, AGC= 57, IDX= 502, 0.46,-1.947, 0.160,-1.137,-0.864, PHS=-0.981, 1.070,-0.317, RAW= 311.5, 2.5, CAL= 309.1, -0.5, ROT= 200.9, 0.5 2025-10-27T04:46:30.795Z,1761540390.795 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T04:46:30.796Z,1761540390.796 [DAT](INFO): direction in FSK: [-0.934169,-0.356724,-0.008727] 2025-10-27T04:46:30.796Z,1761540390.796 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:30.804Z,1761540390.804 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.071213 2025-10-27T04:46:30.910Z,1761540390.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504023 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:30.921Z,1761540390.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.443872 m, bearing: 219.546115 deg, lat: 36.779350 deg, lon: -121.859572 deg, deltaT: 0.504023 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:30.921Z,1761540390.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-27T04:46:31.037Z,1761540391.037 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.304079 2025-10-27T04:46:31.211Z,1761540391.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945096,-0.309939,-0.103595],[0.316020,0.947528,0.048198],[0.083221,-0.078290,0.993451]] 2025-10-27T04:46:31.229Z,1761540391.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-27T04:46:31.289Z,1761540391.289 [DAT](INFO): DAT read: Rx Time:04:46:30.0228 2025-10-27T04:46:31.290Z,1761540391.290 [DAT](INFO): Rx dataTimestamp_ set to:1761540391.289243 2025-10-27T04:46:31.291Z,1761540391.291 [DAT](INFO): DAT read: Bearing 342.4, -25.7 (Local) 2025-10-27T04:46:31.292Z,1761540391.292 [DAT](INFO): Local bearing/azimuth received: Bearing 342.4, -25.7 (Local) 2025-10-27T04:46:31.294Z,1761540391.294 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 2025-10-27T04:46:31.298Z,1761540391.298 [DAT](INFO): DAT read: 04:46:30.0228 LVL= 32752, 26705, 32754, 32755, AGC= 57, 08, PHS=-0.989, 1.059,-0.316, RAW= 311.2, 2.8, CAL= 308.8, -0.3, ROT= 201.2, 0.3 2025-10-27T04:46:31.299Z,1761540391.299 [DAT](INFO): unknown deviceResponse_: 04:46:30.0228 LVL= 32752, 26705, 32754, 32755, AGC= 57, 08, PHS=-0.989, 1.059,-0.316, RAW= 311.2, 2.8, CAL= 308.8, -0.3, ROT= 201.2, 0.3 2025-10-27T04:46:31.299Z,1761540391.299 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-10-27T04:46:31.300Z,1761540391.300 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.567562 2025-10-27T04:46:31.540Z,1761540391.540 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.807223 2025-10-27T04:46:31.597Z,1761540391.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945566,-0.308644,-0.103168],[0.314675,0.947982,0.048048],[0.082972,-0.077897,0.993503]] 2025-10-27T04:46:31.632Z,1761540391.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504494 s, deltaX: 0.500000 m, approachRate: 0.991092 m/s, rangeRepo size: 4 2025-10-27T04:46:31.632Z,1761540391.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-27T04:46:31.793Z,1761540391.793 [DAT](INFO): DAT read: Rx Time:04:46:30.5228 2025-10-27T04:46:31.793Z,1761540391.793 [DAT](INFO): Rx dataTimestamp_ set to:1761540391.792753 2025-10-27T04:46:31.794Z,1761540391.794 [DAT](INFO): DAT read: Bearing 343.8, -25.9 (Local) 2025-10-27T04:46:31.795Z,1761540391.795 [DAT](INFO): Local bearing/azimuth received: Bearing 343.8, -25.9 (Local) 2025-10-27T04:46:31.797Z,1761540391.797 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 2025-10-27T04:46:31.802Z,1761540391.802 [DAT](INFO): DAT read: 04:46:30.5228 LVL= 32752, 24977, 32754, 32755, AGC= 56, IDX= 506,-0.45,-2.679,-0.534,-1.828,-1.597, PHS=-0.980, 1.108,-0.275, RAW= 310.6, 1.6, CAL= 308.5, -1.6, ROT= 201.5, 1.6 2025-10-27T04:46:31.803Z,1761540391.803 [DAT](INFO): got valid direction response: 04:46:30.5228 LVL= 32752, 24977, 32754, 32755, AGC= 56, IDX= 506,-0.45,-2.679,-0.534,-1.828,-1.597, PHS=-0.980, 1.108,-0.275, RAW= 310.6, 1.6, CAL= 308.5, -1.6, ROT= 201.5, 1.6 2025-10-27T04:46:31.803Z,1761540391.803 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T04:46:31.804Z,1761540391.804 [DAT](INFO): direction in FSK: [-0.930055,-0.366358,-0.027922] 2025-10-27T04:46:31.804Z,1761540391.804 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:31.809Z,1761540391.809 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.075583 2025-10-27T04:46:32.044Z,1761540392.044 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.311277 2025-10-27T04:46:32.076Z,1761540392.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946346,-0.306335,-0.102900],[0.312371,0.948725,0.048430],[0.082788,-0.077974,0.993512]] 2025-10-27T04:46:32.134Z,1761540392.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503510 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:32.136Z,1761540392.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.941345 m, bearing: 219.889636 deg, lat: 36.779351 deg, lon: -121.859574 deg, deltaT: 1.008004 s, deltaX: 0.497473 m, approachRate: 0.493523 m/s, posRepo size: 4 2025-10-27T04:46:32.137Z,1761540392.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-27T04:46:32.297Z,1761540392.297 [DAT](INFO): DAT read: Rx Time:04:46:31.0231 2025-10-27T04:46:32.297Z,1761540392.297 [DAT](INFO): Rx dataTimestamp_ set to:1761540392.297007 2025-10-27T04:46:32.299Z,1761540392.299 [DAT](INFO): DAT read: Bearing 341.1, -25.7 (Local) 2025-10-27T04:46:32.299Z,1761540392.299 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, -25.7 (Local) 2025-10-27T04:46:32.301Z,1761540392.301 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-27T04:46:32.306Z,1761540392.306 [DAT](INFO): DAT read: 04:46:31.0231 LVL= 32752, 26273, 32754, 32755, AGC= 57, IDX= 508,-0.03,-1.076, 1.019,-0.264, 0.034, PHS=-1.009, 1.029,-0.342, RAW= 311.3, 3.6, CAL= 308.9, 1.0, ROT= 201.1, -1.0 2025-10-27T04:46:32.307Z,1761540392.307 [DAT](INFO): got valid direction response: 04:46:31.0231 LVL= 32752, 26273, 32754, 32755, AGC= 57, IDX= 508,-0.03,-1.076, 1.019,-0.264, 0.034, PHS=-1.009, 1.029,-0.342, RAW= 311.3, 3.6, CAL= 308.9, 1.0, ROT= 201.1, -1.0 2025-10-27T04:46:32.307Z,1761540392.307 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T04:46:32.309Z,1761540392.309 [DAT](INFO): direction in FSK: [-0.932811,-0.359942,0.017452] 2025-10-27T04:46:32.310Z,1761540392.310 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:32.369Z,1761540392.369 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.636533 2025-10-27T04:46:32.548Z,1761540392.548 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.815337 2025-10-27T04:46:32.606Z,1761540392.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504254 s, deltaX: 0.400000 m, approachRate: 0.793250 m/s, rangeRepo size: 4 2025-10-27T04:46:32.608Z,1761540392.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.339211 m, bearing: 219.223281 deg, lat: 36.779351 deg, lon: -121.859574 deg, deltaT: 0.504254 s, deltaX: 0.397866 m, approachRate: 0.789020 m/s, posRepo size: 4 2025-10-27T04:46:32.608Z,1761540392.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-27T04:46:32.800Z,1761540392.800 [DAT](INFO): DAT read: Rx Time:04:46:31.5231 2025-10-27T04:46:32.801Z,1761540392.801 [DAT](INFO): Rx dataTimestamp_ set to:1761540392.800676 2025-10-27T04:46:32.802Z,1761540392.802 [DAT](INFO): DAT read: Bearing 343.5, -25.9 (Local) 2025-10-27T04:46:32.803Z,1761540392.803 [DAT](INFO): Local bearing/azimuth received: Bearing 343.5, -25.9 (Local) 2025-10-27T04:46:32.805Z,1761540392.805 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-27T04:46:32.812Z,1761540392.812 [DAT](INFO): DAT read: 04:46:31.5231 LVL= 32752, 24753, 32754, 32755, AGC= 56, IDX= 508, 0.42,-1.484, 0.652,-0.640,-0.398, PHS=-0.984, 1.095,-0.286, RAW= 310.7, 1.9, CAL= 308.5, -1.2, ROT= 201.5, 1.2 2025-10-27T04:46:32.814Z,1761540392.814 [DAT](INFO): got valid direction response: 04:46:31.5231 LVL= 32752, 24753, 32754, 32755, AGC= 56, IDX= 508, 0.42,-1.484, 0.652,-0.640,-0.398, PHS=-0.984, 1.095,-0.286, RAW= 310.7, 1.9, CAL= 308.5, -1.2, ROT= 201.5, 1.2 2025-10-27T04:46:32.814Z,1761540392.814 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T04:46:32.817Z,1761540392.817 [DAT](INFO): direction in FSK: [-0.930213,-0.366421,-0.020942] 2025-10-27T04:46:32.817Z,1761540392.817 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:32.829Z,1761540392.829 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.096070 2025-10-27T04:46:32.968Z,1761540392.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947864,-0.301649,-0.102765],[0.307693,0.950234,0.048788],[0.082934,-0.077865,0.993508]] 2025-10-27T04:46:33.039Z,1761540393.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:33.041Z,1761540393.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.339211 m, bearing: 219.565821 deg, lat: 36.779352 deg, lon: -121.859574 deg, deltaT: 0.503669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:33.042Z,1761540393.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-27T04:46:33.052Z,1761540393.052 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.319309 2025-10-27T04:46:33.304Z,1761540393.304 [DAT](INFO): DAT read: Rx Time:04:46:32.0234 2025-10-27T04:46:33.305Z,1761540393.305 [DAT](INFO): Rx dataTimestamp_ set to:1761540393.304682 2025-10-27T04:46:33.306Z,1761540393.306 [DAT](INFO): DAT read: Bearing 343.5, -26.2 (Local) 2025-10-27T04:46:33.307Z,1761540393.307 [DAT](INFO): Local bearing/azimuth received: Bearing 343.5, -26.2 (Local) 2025-10-27T04:46:33.310Z,1761540393.310 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4 2025-10-27T04:46:33.318Z,1761540393.318 [DAT](INFO): DAT read: 04:46:32.0234 LVL= 32752, 25521, 32754, 32755, AGC= 57, IDX= 511,-0.11,-2.030, 0.105,-1.180,-0.940, PHS=-0.988, 1.090,-0.284, RAW= 310.6, 2.0, CAL= 308.3, -1.2, ROT= 201.7, 1.2 2025-10-27T04:46:33.320Z,1761540393.320 [DAT](INFO): got valid direction response: 04:46:32.0234 LVL= 32752, 25521, 32754, 32755, AGC= 57, IDX= 511,-0.11,-2.030, 0.105,-1.180,-0.940, PHS=-0.988, 1.090,-0.284, RAW= 310.6, 2.0, CAL= 308.3, -1.2, ROT= 201.7, 1.2 2025-10-27T04:46:33.320Z,1761540393.320 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T04:46:33.322Z,1761540393.322 [DAT](INFO): direction in FSK: [-0.928929,-0.369666,-0.020942] 2025-10-27T04:46:33.323Z,1761540393.323 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:33.330Z,1761540393.330 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.597025 2025-10-27T04:46:33.382Z,1761540393.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948513,-0.299487,-0.103102],[0.305552,0.950924,0.048796],[0.083429,-0.077787,0.993473]] 2025-10-27T04:46:33.447Z,1761540393.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504006 s, deltaX: 0.500000 m, approachRate: 0.992052 m/s, rangeRepo size: 4 2025-10-27T04:46:33.449Z,1761540393.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.836515 m, bearing: 219.637392 deg, lat: 36.779352 deg, lon: -121.859575 deg, deltaT: 0.504006 s, deltaX: 0.497304 m, approachRate: 0.986702 m/s, posRepo size: 4 2025-10-27T04:46:33.450Z,1761540393.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-27T04:46:33.557Z,1761540393.557 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.824648 2025-10-27T04:46:33.771Z,1761540393.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949126,-0.297409,-0.103475],[0.303375,0.951694,0.047340],[0.084397,-0.076324,0.993505]] 2025-10-27T04:46:33.820Z,1761540393.820 [DAT](INFO): DAT read: Rx Time:04:46:32.5234 2025-10-27T04:46:33.820Z,1761540393.820 [DAT](INFO): Rx dataTimestamp_ set to:1761540393.820014 2025-10-27T04:46:33.823Z,1761540393.823 [DAT](INFO): DAT read: Bearing 343.1, -25.7 (Local) 2025-10-27T04:46:33.823Z,1761540393.823 [DAT](INFO): Local bearing/azimuth received: Bearing 343.1, -25.7 (Local) 2025-10-27T04:46:33.826Z,1761540393.826 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.4 2025-10-27T04:46:33.841Z,1761540393.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-27T04:46:33.849Z,1761540393.849 [DAT](INFO): DAT read: 04:46:32.5234 LVL= 32752, 27617, 32754, 32755, AGC= 57, IDX= 511, 0.17,-0.802, 1.319, 0.025, 0.285, PHS=-0.985, 1.080,-0.304, RAW= 311.1, 2.3, CAL= 308.8, -0.8, ROT= 201.2, 0.8 2025-10-27T04:46:33.850Z,1761540393.850 [DAT](INFO): got valid direction response: 04:46:32.5234 LVL= 32752, 27617, 32754, 32755, AGC= 57, IDX= 511, 0.17,-0.802, 1.319, 0.025, 0.285, PHS=-0.985, 1.080,-0.304, RAW= 311.1, 2.3, CAL= 308.8, -0.8, ROT= 201.2, 0.8 2025-10-27T04:46:33.859Z,1761540393.859 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T04:46:33.860Z,1761540393.860 [DAT](INFO): direction in FSK: [-0.932233,-0.361589,-0.013962] 2025-10-27T04:46:33.860Z,1761540393.860 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:33.873Z,1761540393.873 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.139818 2025-10-27T04:46:34.060Z,1761540394.060 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.327278 2025-10-27T04:46:34.178Z,1761540394.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949543,-0.295960,-0.103805],[0.301845,0.952240,0.046138],[0.085193,-0.075143,0.993527]] 2025-10-27T04:46:34.213Z,1761540394.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.515332 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:34.215Z,1761540394.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.836443 m, bearing: 218.882632 deg, lat: 36.779352 deg, lon: -121.859575 deg, deltaT: 0.515332 s, deltaX: -0.000072 m, approachRate: -0.000141 m/s, posRepo size: 4 2025-10-27T04:46:34.216Z,1761540394.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-27T04:46:34.314Z,1761540394.314 [DAT](INFO): DAT read: Rx Time:04:46:33.0235 2025-10-27T04:46:34.315Z,1761540394.315 [DAT](INFO): Rx dataTimestamp_ set to:1761540394.314598 2025-10-27T04:46:34.317Z,1761540394.317 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 2025-10-27T04:46:34.318Z,1761540394.318 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-27T04:46:34.325Z,1761540394.325 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.592681 2025-10-27T04:46:34.564Z,1761540394.564 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.831182 2025-10-27T04:46:34.587Z,1761540394.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949963,-0.294544,-0.103989],[0.300293,0.952811,0.044452],[0.085989,-0.073455,0.993585]] 2025-10-27T04:46:34.612Z,1761540394.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.494584 s, deltaX: 0.100000 m, approachRate: 0.202191 m/s, rangeRepo size: 4 2025-10-27T04:46:34.613Z,1761540394.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-27T04:46:34.818Z,1761540394.818 [DAT](INFO): DAT read: Rx Time:04:46:33.5236 2025-10-27T04:46:34.819Z,1761540394.819 [DAT](INFO): Rx dataTimestamp_ set to:1761540394.818040 2025-10-27T04:46:34.821Z,1761540394.821 [DAT](INFO): DAT read: Bearing 342.4, -31.9 (Local) 2025-10-27T04:46:34.821Z,1761540394.821 [DAT](INFO): Local bearing/azimuth received: Bearing 342.4, -31.9 (Local) 2025-10-27T04:46:34.825Z,1761540394.825 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.4 2025-10-27T04:46:34.843Z,1761540394.843 [DAT](INFO): DAT read: 04:46:33.5236 LVL= 32752, 25665, 32754, 32755, AGC= 58, IDX= 513, 0.00,-0.249, 2.119, 0.869, 1.073, PHS=-1.220, 1.091,-0.248, RAW= 305.2, 3.8, CAL= 302.8, 0.5, ROT= 207.2, -0.5 2025-10-27T04:46:34.844Z,1761540394.844 [DAT](INFO): got valid direction response: 04:46:33.5236 LVL= 32752, 25665, 32754, 32755, AGC= 58, IDX= 513, 0.00,-0.249, 2.119, 0.869, 1.073, PHS=-1.220, 1.091,-0.248, RAW= 305.2, 3.8, CAL= 302.8, 0.5, ROT= 207.2, -0.5 2025-10-27T04:46:34.845Z,1761540394.845 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T04:46:34.846Z,1761540394.846 [DAT](INFO): direction in FSK: [-0.889383,-0.457080,0.008727] 2025-10-27T04:46:34.846Z,1761540394.846 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:34.867Z,1761540394.867 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.134482 2025-10-27T04:46:34.986Z,1761540394.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950229,-0.293563,-0.104333],[0.299169,0.953251,0.042552],[0.086964,-0.071648,0.993632]] 2025-10-27T04:46:35.036Z,1761540395.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503442 s, deltaX: 0.200000 m, approachRate: 0.397265 m/s, rangeRepo size: 4 2025-10-27T04:46:35.038Z,1761540395.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.134841 m, bearing: 224.577195 deg, lat: 36.779352 deg, lon: -121.859576 deg, deltaT: 0.998026 s, deltaX: 0.298398 m, approachRate: 0.298988 m/s, posRepo size: 4 2025-10-27T04:46:35.038Z,1761540395.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-27T04:46:35.068Z,1761540395.068 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.335262 2025-10-27T04:46:35.322Z,1761540395.322 [DAT](INFO): DAT read: Rx Time:04:46:34.0238 2025-10-27T04:46:35.322Z,1761540395.322 [DAT](INFO): Rx dataTimestamp_ set to:1761540395.322211 2025-10-27T04:46:35.325Z,1761540395.325 [DAT](INFO): DAT read: Bearing 343.6, -25.7 (Local) 2025-10-27T04:46:35.325Z,1761540395.325 [DAT](INFO): Local bearing/azimuth received: Bearing 343.6, -25.7 (Local) 2025-10-27T04:46:35.329Z,1761540395.329 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-27T04:46:35.336Z,1761540395.336 [DAT](INFO): DAT read: 04:46:34.0238 LVL= 32752, 22097, 32754, 32755, AGC= 61, IDX= 3, 0.29,-0.607, 1.511, 0.214, 0.468, PHS=-0.972, 1.088,-0.297, RAW= 311.3, 2.0, CAL= 309.0, -1.1, ROT= 201.0, 1.1 2025-10-27T04:46:35.338Z,1761540395.338 [DAT](INFO): got valid direction response: 04:46:34.0238 LVL= 32752, 22097, 32754, 32755, AGC= 61, IDX= 3, 0.29,-0.607, 1.511, 0.214, 0.468, PHS=-0.972, 1.088,-0.297, RAW= 311.3, 2.0, CAL= 309.0, -1.1, ROT= 201.0, 1.1 2025-10-27T04:46:35.339Z,1761540395.339 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T04:46:35.340Z,1761540395.340 [DAT](INFO): direction in FSK: [-0.933408,-0.358302,-0.019197] 2025-10-27T04:46:35.340Z,1761540395.340 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:35.344Z,1761540395.344 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.611496 2025-10-27T04:46:35.447Z,1761540395.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950437,-0.292833,-0.104492],[0.298379,0.953533,0.041762],[0.087407,-0.070871,0.993649]] 2025-10-27T04:46:35.509Z,1761540395.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504171 s, deltaX: 0.300000 m, approachRate: 0.595037 m/s, rangeRepo size: 4 2025-10-27T04:46:35.516Z,1761540395.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.433179 m, bearing: 218.515795 deg, lat: 36.779352 deg, lon: -121.859577 deg, deltaT: 0.504171 s, deltaX: 0.298338 m, approachRate: 0.591740 m/s, posRepo size: 4 2025-10-27T04:46:35.516Z,1761540395.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-27T04:46:35.573Z,1761540395.573 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.840024 2025-10-27T04:46:35.825Z,1761540395.825 [DAT](INFO): DAT read: Rx Time:04:46:34.5238 2025-10-27T04:46:35.826Z,1761540395.826 [DAT](INFO): Rx dataTimestamp_ set to:1761540395.825456 2025-10-27T04:46:35.828Z,1761540395.828 [DAT](INFO): DAT read: Bearing 343.0, -26.2 (Local) 2025-10-27T04:46:35.829Z,1761540395.829 [DAT](INFO): Local bearing/azimuth received: Bearing 343.0, -26.2 (Local) 2025-10-27T04:46:35.832Z,1761540395.832 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-27T04:46:35.839Z,1761540395.839 [DAT](INFO): DAT read: 04:46:34.5238 LVL= 32752, 24769, 32754, 32755, AGC= 59, IDX= 500,-0.24, 2.153,-2.013, 2.985,-3.034, PHS=-0066,-0.308, RAW= 310.9, 2.6, CAL= 308.5, -0.5, ROT= 201.5, 0.5 2025-10-27T04:46:35.840Z,1761540395.840 [DAT](INFO): unknown deviceResponse_: 04:46:34.5238 LVL= 32752, 24769, 32754, 32755, AGC= 59, IDX= 500,-0.24, 2.153,-2.013, 2.985,-3.034, PHS=-0066,-0.308, RAW= 310.9, 2.6, CAL= 308.5, -0.5, ROT= 201.5, 0.5 2025-10-27T04:46:35.840Z,1761540395.840 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T04:46:35.841Z,1761540395.841 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.108539 2025-10-27T04:46:35.940Z,1761540395.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950687,-0.291915,-0.104788],[0.297443,0.953843,0.041364],[0.087876,-0.070493,0.993634]] 2025-10-27T04:46:36.022Z,1761540396.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:36.027Z,1761540396.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-27T04:46:36.076Z,1761540396.076 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.343403 2025-10-27T04:46:36.330Z,1761540396.330 [DAT](INFO): DAT read: Rx Time:04:46:35.0241 2025-10-27T04:46:36.330Z,1761540396.330 [DAT](INFO): Rx dataTimestamp_ set to:1761540396.329924 2025-10-27T04:46:36.333Z,1761540396.333 [DAT](INFO): DAT read: Bearing 344.5, -26.6 (Local) 2025-10-27T04:46:36.333Z,1761540396.333 [DAT](INFO): Local bearing/azimuth received: Bearing 344.5, -26.6 (Local) 2025-10-27T04:46:36.337Z,1761540396.337 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 2025-10-27T04:46:36.366Z,1761540396.366 [DAT](INFO): DAT read: 04:46:35.0241 LVL= 32752, 26849, 31858, 32755, AGC= 59, IDX= 502, 0.03,-1.204, 0.936,-0.343,-0.122, PHS=-0.980, 1.103,-0.265, RAW= 310.3, 1.6, CAL= 308.1, -1.7, ROT= 201.9, 1.7 2025-10-27T04:46:36.399Z,1761540396.399 [DAT](INFO): got valid direction response: 04:46:35.0241 LVL= 32752, 26849, 31858, 32755, AGC= 59, IDX= 502, 0.03,-1.204, 0.936,-0.343,-0.122, PHS=-0.980, 1.103,-0.265, RAW= 310.3, 1.6, CAL= 308.1, -1.7, ROT= 201.9, 1.7 2025-10-27T04:46:36.399Z,1761540396.399 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T04:46:36.400Z,1761540396.400 [DAT](INFO): direction in FSK: [-0.927428,-0.372824,-0.029666] 2025-10-27T04:46:36.401Z,1761540396.401 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:36.417Z,1761540396.417 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.683850 2025-10-27T04:46:36.435Z,1761540396.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950462,-0.292107,-0.106280],[0.297524,0.953920,0.038948],[0.090005,-0.068640,0.993573]] 2025-10-27T04:46:36.493Z,1761540396.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504468 s, deltaX: 0.300000 m, approachRate: 0.594686 m/s, rangeRepo size: 4 2025-10-27T04:46:36.495Z,1761540396.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.731580 m, bearing: 219.431824 deg, lat: 36.779352 deg, lon: -121.859578 deg, deltaT: 1.007713 s, deltaX: 0.298401 m, approachRate: 0.296117 m/s, posRepo size: 4 2025-10-27T04:46:36.499Z,1761540396.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T04:46:36.581Z,1761540396.581 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.848035 2025-10-27T04:46:36.804Z,1761540396.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950254,-0.292444,-0.107211],[0.297811,0.953881,0.037669],[0.091251,-0.067723,0.993522]] 2025-10-27T04:46:36.834Z,1761540396.834 [DAT](INFO): DAT read: Rx Time:04:46:35.5240 2025-10-27T04:46:36.834Z,1761540396.834 [DAT](INFO): Rx dataTimestamp_ set to:1761540396.834111 2025-10-27T04:46:36.837Z,1761540396.837 [DAT](INFO): DAT read: Bearing 343.6, -26.0 (Local) 2025-10-27T04:46:36.837Z,1761540396.837 [DAT](INFO): Local bearing/azimuth received: Bearing 343.6, -26.0 (Local) 2025-10-27T04:46:36.840Z,1761540396.840 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.4 2025-10-27T04:46:36.849Z,1761540396.849 [DAT](INFO): DAT read: 04:46:35.5240 LVL= 32752, 28305, 32754, 32755, AGC= 58, IDX= 502, 0.27,-1.591, 0.518,-0.772,-0.514, PHS=-0.974, 1.077,-0.301, RAW= 311.2, 2.2, CAL= 309.0, -0.9, ROT= 201.0, 0.9 2025-10-27T04:46:36.850Z,1761540396.850 [DAT](INFO): got valid direction response: 04:46:35.5240 LVL= 32752, 28305, 32754, 32755, AGC= 58, IDX= 502, 0.27,-1.591, 0.518,-0.772,-0.514, PHS=-0.974, 1.077,-0.301, RAW= 311.2, 2.2, CAL= 309.0, -0.9, ROT= 201.0, 0.9 2025-10-27T04:46:36.850Z,1761540396.850 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T04:46:36.851Z,1761540396.851 [DAT](INFO): direction in FSK: [-0.933465,-0.358324,-0.015707] 2025-10-27T04:46:36.851Z,1761540396.851 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:36.867Z,1761540396.867 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.134598 2025-10-27T04:46:36.960Z,1761540396.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504187 s, deltaX: -0.200000 m, approachRate: -0.396678 m/s, rangeRepo size: 4 2025-10-27T04:46:36.962Z,1761540396.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.532649 m, bearing: 218.477712 deg, lat: 36.779353 deg, lon: -121.859577 deg, deltaT: 0.504187 s, deltaX: -0.198931 m, approachRate: -0.394557 m/s, posRepo size: 4 2025-10-27T04:46:36.962Z,1761540396.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-27T04:46:37.085Z,1761540397.085 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.352156 2025-10-27T04:46:37.228Z,1761540397.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949860,-0.293368,-0.108170],[0.298664,0.953673,0.036165],[0.092549,-0.066659,0.993474]] 2025-10-27T04:46:37.246Z,1761540397.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-27T04:46:37.338Z,1761540397.338 [DAT](INFO): DAT read: Rx Time:04:46:36.0242 2025-10-27T04:46:37.338Z,1761540397.338 [DAT](INFO): Rx dataTimestamp_ set to:1761540397.337936 2025-10-27T04:46:37.340Z,1761540397.340 [DAT](INFO): DAT read: Bearing 343.7, -26.7 (Local) 2025-10-27T04:46:37.340Z,1761540397.340 [DAT](INFO): Local bearing/azimuth received: Bearing 343.7, -26.7 (Local) 2025-10-27T04:46:37.344Z,1761540397.344 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 2025-10-27T04:46:37.350Z,1761540397.350 [DAT](INFO): DAT read: 04:46:36.0242 LVL= 32752, 28545, 32754, 32755, AGC= 60, IDX= 505,-0.24, 3.042,-1.124,-2.400,-2.150, PHS=-0.988, 1.071,-0.293, RAW= 310.6, 2.3, CAL= 308.3, -0.8, ROT= 201.7, 0.8 2025-10-27T04:46:37.375Z,1761540397.375 [DAT](INFO): got valid direction response: 04:46:36.0242 LVL= 32752, 28545, 32754, 32755, AGC= 60, IDX= 505,-0.24, 3.042,-1.124,-2.400,-2.150, PHS=-0.988, 1.071,-0.293, RAW= 310.6, 2.3, CAL= 308.3, -0.8, ROT= 201.7, 0.8 2025-10-27T04:46:37.376Z,1761540397.376 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T04:46:37.377Z,1761540397.377 [DAT](INFO): direction in FSK: [-0.929042,-0.369711,-0.013962] 2025-10-27T04:46:37.377Z,1761540397.377 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:37.402Z,1761540397.402 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.669079 2025-10-27T04:46:37.588Z,1761540397.588 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.855206 2025-10-27T04:46:37.631Z,1761540397.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949402,-0.294186,-0.109951],[0.299580,0.953396,0.035884],[0.094271,-0.067008,0.993289]] 2025-10-27T04:46:37.713Z,1761540397.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503825 s, deltaX: 0.299999 m, approachRate: 0.595443 m/s, rangeRepo size: 4 2025-10-27T04:46:37.721Z,1761540397.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.831002 m, bearing: 219.284239 deg, lat: 36.779354 deg, lon: -121.859577 deg, deltaT: 0.503825 s, deltaX: 0.298353 m, approachRate: 0.592176 m/s, posRepo size: 4 2025-10-27T04:46:37.722Z,1761540397.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-27T04:46:37.841Z,1761540397.841 [DAT](INFO): DAT read: Rx Time:04:46:36.5243 2025-10-27T04:46:37.841Z,1761540397.841 [DAT](INFO): Rx dataTimestamp_ set to:1761540397.841007 2025-10-27T04:46:37.843Z,1761540397.843 [DAT](INFO): DAT read: Bearing 343.7, -26.3 (Local) 2025-10-27T04:46:37.843Z,1761540397.843 [DAT](INFO): Local bearing/azimuth received: Bearing 343.7, -26.3 (Local) 2025-10-27T04:46:37.845Z,1761540397.845 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4 2025-10-27T04:46:37.850Z,1761540397.850 [DAT](INFO): DAT read: 04:46:36.5243 LVL= 32752, 26785, 32450, 32755, AGC= 59, IDX= 505,-0.01,-3.132,-1.028,-2.312,-2.051, PHS=-0.979, 1.068,-0.306, RAW= 311.2, 2.4, CAL= 308.8, -0.7, ROT= 201.2, 0.7 2025-10-27T04:46:37.851Z,1761540397.851 [DAT](INFO): got valid direction response: 04:46:36.5243 LVL= 32752, 26785, 32450, 32755, AGC= 59, IDX= 505,-0.01,-3.132,-1.028,-2.312,-2.051, PHS=-0.979, 1.068,-0.306, RAW= 311.2, 2.4, CAL= 308.8, -0.7, ROT= 201.2, 0.7 2025-10-27T04:46:37.851Z,1761540397.851 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T04:46:37.852Z,1761540397.852 [DAT](INFO): direction in FSK: [-0.932254,-0.361598,-0.012217] 2025-10-27T04:46:37.852Z,1761540397.852 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:37.857Z,1761540397.857 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.124092 2025-10-27T04:46:38.092Z,1761540398.092 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.359195 2025-10-27T04:46:38.209Z,1761540398.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949065,-0.294833,-0.111130],[0.300219,0.953230,0.034949],[0.095628,-0.066532,0.993191]] 2025-10-27T04:46:38.257Z,1761540398.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503071 s, deltaX: 0.200001 m, approachRate: 0.397560 m/s, rangeRepo size: 4 2025-10-27T04:46:38.259Z,1761540398.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.029963 m, bearing: 218.819235 deg, lat: 36.779354 deg, lon: -121.859576 deg, deltaT: 0.503071 s, deltaX: 0.198960 m, approachRate: 0.395492 m/s, posRepo size: 4 2025-10-27T04:46:38.259Z,1761540398.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-27T04:46:38.345Z,1761540398.345 [DAT](INFO): DAT read: Rx Time:04:46:37.0244 2025-10-27T04:46:38.345Z,1761540398.345 [DAT](INFO): Rx dataTimestamp_ set to:1761540398.344802 2025-10-27T04:46:38.346Z,1761540398.346 [DAT](INFO): DAT read: Bearing 343.7, -26.6 (Local) 2025-10-27T04:46:38.347Z,1761540398.347 [DAT](INFO): Local bearing/azimuth received: Bearing 343.7, -26.6 (Local) 2025-10-27T04:46:38.349Z,1761540398.349 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 2025-10-27T04:46:38.354Z,1761540398.354 [DAT](INFO): DAT read: 04:46:37.0244 LVL= 32752, 27361, 32754, 32755, AGC= 59, IDX= 506, 0.25,-2.553,-0.442,-1.724,-1.461, PHS=-0.989, 1.064,-0.307, RAW= 311.0, 2.6, CAL= 308.6, -0.5, ROT= 201.4, 0.5 2025-10-27T04:46:38.355Z,1761540398.355 [DAT](INFO): got valid direction response: 04:46:37.0244 LVL= 32752, 27361, 32754, 32755, AGC= 59, IDX= 506, 0.25,-2.553,-0.442,-1.724,-1.461, PHS=-0.989, 1.064,-0.307, RAW= 311.0, 2.6, CAL= 308.6, -0.5, ROT= 201.4, 0.5 2025-10-27T04:46:38.355Z,1761540398.355 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T04:46:38.356Z,1761540398.356 [DAT](INFO): direction in FSK: [-0.931020,-0.364863,-0.008727] 2025-10-27T04:46:38.357Z,1761540398.357 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:38.360Z,1761540398.360 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.627746 2025-10-27T04:46:38.596Z,1761540398.596 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.863253 2025-10-27T04:46:38.625Z,1761540398.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948707,-0.295616,-0.112100],[0.300962,0.953036,0.033823],[0.096836,-0.065825,0.993121]] 2025-10-27T04:46:38.657Z,1761540398.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503795 s, deltaX: 0.099999 m, approachRate: 0.198492 m/s, rangeRepo size: 4 2025-10-27T04:46:38.685Z,1761540398.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.129427 m, bearing: 219.049336 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.503795 s, deltaX: 0.099464 m, approachRate: 0.197430 m/s, posRepo size: 4 2025-10-27T04:46:38.687Z,1761540398.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-27T04:46:38.854Z,1761540398.854 [DAT](INFO): DAT read: Rx Time:04:46:37.5244 2025-10-27T04:46:38.854Z,1761540398.854 [DAT](INFO): Rx dataTimestamp_ set to:1761540398.853714 2025-10-27T04:46:38.855Z,1761540398.855 [DAT](INFO): DAT read: Bearing 344.5, -26.9 (Local) 2025-10-27T04:46:38.856Z,1761540398.856 [DAT](INFO): Local bearing/azimuth received: Bearing 344.5, -26.9 (Local) 2025-10-27T04:46:38.858Z,1761540398.858 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 2025-10-27T04:46:38.865Z,1761540398.865 [DAT](INFO): DAT read: 04:46:37.5244 LVL= 32752, 26097, 32754, 32755, AGC= 58, IDX= 507,-0.39, 1.834,-2.329, 2.679, 2.919, PHS=-0.983, 1.080,-0.284, RAW= 310.5, 2.1, CAL= 308.3, -1.1, ROT= 201.7, 1.1 2025-10-27T04:46:38.866Z,1761540398.866 [DAT](INFO): got valid direction response: 04:46:37.5244 LVL= 32752, 26097, 32754, 32755, AGC= 58, IDX= 507,-0.39, 1.834,-2.329, 2.679, 2.919, PHS=-0.983, 1.080,-0.284, RAW= 310.5, 2.1, CAL= 308.3, -1.1, ROT= 201.7, 1.1 2025-10-27T04:46:38.867Z,1761540398.867 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T04:46:38.868Z,1761540398.868 [DAT](INFO): direction in FSK: [-0.928961,-0.369679,-0.019197] 2025-10-27T04:46:38.869Z,1761540398.869 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:38.878Z,1761540398.878 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.144984 2025-10-27T04:46:39.077Z,1761540399.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.508912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:39.079Z,1761540399.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.129427 m, bearing: 219.407287 deg, lat: 36.779355 deg, lon: -121.859575 deg, deltaT: 0.508912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:39.079Z,1761540399.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-27T04:46:39.104Z,1761540399.104 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.371286 2025-10-27T04:46:39.357Z,1761540399.357 [DAT](INFO): DAT read: Rx Time:04:46:38.0247 2025-10-27T04:46:39.357Z,1761540399.357 [DAT](INFO): Rx dataTimestamp_ set to:1761540399.356722 2025-10-27T04:46:39.358Z,1761540399.358 [DAT](INFO): DAT read: Bearing 345.3, -27.1 (Local) 2025-10-27T04:46:39.359Z,1761540399.359 [DAT](INFO): Local bearing/azimuth received: Bearing 345.3, -27.1 (Local) 2025-10-27T04:46:39.361Z,1761540399.361 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 2025-10-27T04:46:39.365Z,1761540399.365 [DAT](INFO): DAT read: 04:46:38.0247 LVL= 32752, 26721, 31602, 32755, AGC= 59, IDX= 509,-0.11, 2.836,-1.317,-2.594,-2.369, PHS=-0.976, 1.097,-0.269, RAW= 310.4, 1.6, CAL= 308.2, -1.6, ROT= 201.8, 1.6 2025-10-27T04:46:39.366Z,1761540399.366 [DAT](INFO): got valid direction response: 04:46:38.0247 LVL= 32752, 26721, 31602, 32755, AGC= 59, IDX= 509,-0.11, 2.836,-1.317,-2.594,-2.369, PHS=-0.976, 1.097,-0.269, RAW= 310.4, 1.6, CAL= 308.2, -1.6, ROT= 201.8, 1.6 2025-10-27T04:46:39.367Z,1761540399.367 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T04:46:39.368Z,1761540399.368 [DAT](INFO): direction in FSK: [-0.928124,-0.371223,-0.027922] 2025-10-27T04:46:39.368Z,1761540399.368 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:39.372Z,1761540399.372 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.639198 2025-10-27T04:46:39.452Z,1761540399.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947832,-0.297535,-0.114396],[0.302849,0.952505,0.031879],[0.099478,-0.064860,0.992924]] 2025-10-27T04:46:39.529Z,1761540399.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503008 s, deltaX: 0.500000 m, approachRate: 0.994020 m/s, rangeRepo size: 4 2025-10-27T04:46:39.531Z,1761540399.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.626765 m, bearing: 219.680888 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.503008 s, deltaX: 0.497338 m, approachRate: 0.988728 m/s, posRepo size: 4 2025-10-27T04:46:39.532Z,1761540399.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m. 2025-10-27T04:46:39.608Z,1761540399.608 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.875421 2025-10-27T04:46:39.860Z,1761540399.860 [DAT](INFO): DAT read: Rx Time:04:46:38.5249 2025-10-27T04:46:39.861Z,1761540399.861 [DAT](INFO): Rx dataTimestamp_ set to:1761540399.860674 2025-10-27T04:46:39.862Z,1761540399.862 [DAT](INFO): DAT read: Bearing 345.7, -27.2 (Local) 2025-10-27T04:46:39.863Z,1761540399.863 [DAT](INFO): Local bearing/azimuth received: Bearing 345.7, -27.2 (Local) 2025-10-27T04:46:39.865Z,1761540399.865 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.4 2025-10-27T04:46:39.869Z,1761540399.869 [DAT](INFO): DAT read: 04:46:38.5249 LVL= 32752, 25137, 32754, 32755, AGC= 60, IDX= 509, 0.11,-2.747,-0.617,-1.891,-1.674, PHS=-0.972, 1.101,-0.262, RAW= 310.3, 1.5, CAL= 308.2, -1.8, ROT= 201.8, 1.8 2025-10-27T04:46:39.870Z,1761540399.870 [DAT](INFO): got valid direction response: 04:46:38.5249 LVL= 32752, 25137, 32754, 32755, AGC= 60, IDX= 509, 0.11,-2.747,-0.617,-1.891,-1.674, PHS=-0.972, 1.101,-0.262, RAW= 310.3, 1.5, CAL= 308.2, -1.8, ROT= 201.8, 1.8 2025-10-27T04:46:39.871Z,1761540399.871 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T04:46:39.876Z,1761540399.876 [DAT](INFO): direction in FSK: [-0.928028,-0.371185,-0.031411] 2025-10-27T04:46:39.877Z,1761540399.877 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:39.921Z,1761540399.921 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.188710 2025-10-27T04:46:39.941Z,1761540399.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947275,-0.298863,-0.115545],[0.304137,0.952135,0.030661],[0.100851,-0.064186,0.992829]] 2025-10-27T04:46:40.056Z,1761540400.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503952 s, deltaX: 0.300000 m, approachRate: 0.595295 m/s, rangeRepo size: 4 2025-10-27T04:46:40.058Z,1761540400.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.925161 m, bearing: 219.784148 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.503952 s, deltaX: 0.298396 m, approachRate: 0.592112 m/s, posRepo size: 4 2025-10-27T04:46:40.059Z,1761540400.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m. 2025-10-27T04:46:40.112Z,1761540400.112 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.379401 2025-10-27T04:46:40.364Z,1761540400.364 [DAT](INFO): DAT read: Rx Time:04:46:39.0250 2025-10-27T04:46:40.365Z,1761540400.365 [DAT](INFO): Rx dataTimestamp_ set to:1761540400.364620 2025-10-27T04:46:40.366Z,1761540400.366 [DAT](INFO): DAT read: Bearing 345.4, -27.6 (Local) 2025-10-27T04:46:40.366Z,1761540400.366 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, -27.6 (Local) 2025-10-27T04:46:40.369Z,1761540400.369 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 2025-10-27T04:46:40.378Z,1761540400.378 [DAT](INFO): DAT read: 04:46:39.0250 LVL= 32752, 25921, 32242, 32755, AGC= 62, IDX= 511, 0.40,-1.843, 0.291,-0.981,-0.755, PHS=-0.985, 1.092,-0.270, RAW= 310.2, 1.8, CAL= 308.0, -1.4, ROT= 202.0, 1.4 2025-10-27T04:46:40.379Z,1761540400.379 [DAT](INFO): got valid direction response: 04:46:39.0250 LVL= 32752, 25921, 32242, 32755, AGC= 62, IDX= 511, 0.40,-1.843, 0.291,-0.981,-0.755, PHS=-0.985, 1.092,-0.270, RAW= 310.2, 1.8, CAL= 308.0, -1.4, ROT= 202.0, 1.4 2025-10-27T04:46:40.379Z,1761540400.379 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T04:46:40.380Z,1761540400.380 [DAT](INFO): direction in FSK: [-0.926907,-0.374495,-0.024432] 2025-10-27T04:46:40.381Z,1761540400.381 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:40.384Z,1761540400.384 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.651598 2025-10-27T04:46:40.472Z,1761540400.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946129,-0.301515,-0.118022],[0.306755,0.951357,0.028654],[0.103642,-0.063315,0.992597]] 2025-10-27T04:46:40.544Z,1761540400.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503946 s, deltaX: 0.300000 m, approachRate: 0.595302 m/s, rangeRepo size: 4 2025-10-27T04:46:40.546Z,1761540400.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.223478 m, bearing: 220.115151 deg, lat: 36.779355 deg, lon: -121.859578 deg, deltaT: 0.503946 s, deltaX: 0.298317 m, approachRate: 0.591962 m/s, posRepo size: 4 2025-10-27T04:46:40.546Z,1761540400.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-27T04:46:40.616Z,1761540400.616 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.883387 2025-10-27T04:46:40.846Z,1761540400.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945707,-0.302319,-0.119337],[0.307589,0.951104,0.028093],[0.105009,-0.063275,0.992456]] 2025-10-27T04:46:40.869Z,1761540400.869 [DAT](INFO): DAT read: Rx Time:04:46:39.5249 2025-10-27T04:46:40.869Z,1761540400.869 [DAT](INFO): Rx dataTimestamp_ set to:1761540400.868812 2025-10-27T04:46:40.870Z,1761540400.870 [DAT](INFO): DAT read: Bearing 356.5, -21.8 (Local) 2025-10-27T04:46:40.871Z,1761540400.871 [DAT](INFO): Local bearing/azimuth received: Bearing 356.5, -21.8 (Local) 2025-10-27T04:46:40.873Z,1761540400.873 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.3 2025-10-27T04:46:40.877Z,1761540400.877 [DAT](INFO): DAT read: 04:46:39.5249 LVL= 32752, 24561, 32754, 32755, AGC= 61, IDX= 512,-0.23,-1.397, 0.664,-0.643,-0.671, PHS=-0.624, 1.380,-0.015, RAW= 312.8, -8.4, CAL= 312.6, -12.0, ROT= 197.4, 12.0 2025-10-27T04:46:40.879Z,1761540400.879 [DAT](INFO): got valid direction response: 04:46:39.5249 LVL= 32752, 24561, 32754, 32755, AGC= 61, IDX= 512,-0.23,-1.397, 0.664,-0.643,-0.671, PHS=-0.624, 1.380,-0.015, RAW= 312.8, -8.4, CAL= 312.6, -12.0, ROT= 197.4, 12.0 2025-10-27T04:46:40.912Z,1761540400.912 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T04:46:40.913Z,1761540400.913 [DAT](INFO): direction in FSK: [-0.933388,-0.292506,-0.207912] 2025-10-27T04:46:40.913Z,1761540400.913 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:40.921Z,1761540400.921 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.188335 2025-10-27T04:46:40.984Z,1761540400.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504192 s, deltaX: -0.300000 m, approachRate: -0.595012 m/s, rangeRepo size: 4 2025-10-27T04:46:40.986Z,1761540400.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.925084 m, bearing: 216.584923 deg, lat: 36.779355 deg, lon: -121.859578 deg, deltaT: 0.504192 s, deltaX: -0.298394 m, approachRate: -0.591827 m/s, posRepo size: 4 2025-10-27T04:46:40.986Z,1761540400.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m. 2025-10-27T04:46:41.121Z,1761540401.121 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.387646 2025-10-27T04:46:41.268Z,1761540401.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945311,-0.302941,-0.120890],[0.308293,0.950883,0.027884],[0.106505,-0.063628,0.992274]] 2025-10-27T04:46:41.286Z,1761540401.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m. 2025-10-27T04:46:41.373Z,1761540401.373 [DAT](INFO): DAT read: Rx Time:04:46:40.0250 2025-10-27T04:46:41.374Z,1761540401.374 [DAT](INFO): Rx dataTimestamp_ set to:1761540401.373962 2025-10-27T04:46:41.376Z,1761540401.376 [DAT](INFO): DAT read: Bearing 348.0, -30.2 (Local) 2025-10-27T04:46:41.377Z,1761540401.377 [DAT](INFO): Local bearing/azimuth received: Bearing 348.0, -30.2 (Local) 2025-10-27T04:46:41.381Z,1761540401.381 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.3 2025-10-27T04:46:41.388Z,1761540401.388 [DAT](INFO): DAT read: 04:46:40.0250 LVL= 32752, 27345, 31842, 32755, AGC= 60, IDX= 513,-0.05,-1.069, 1.140,-0.085, 0.041, PHS=-1.009, 1.143,-0.171, RAW= 307.3, 0.4, CAL= 305.5, -3.1, ROT= 204.5, 3.1 2025-10-27T04:46:41.389Z,1761540401.389 [DAT](INFO): got valid direction response: 04:46:40.0250 LVL= 32752, 27345, 31842, 32755, AGC= 60, IDX= 513,-0.05,-1.069, 1.140,-0.085, 0.041, PHS=-1.009, 1.143,-0.171, RAW= 307.3, 0.4, CAL= 305.5, -3.1, ROT= 204.5, 3.1 2025-10-27T04:46:41.389Z,1761540401.389 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T04:46:41.390Z,1761540401.390 [DAT](INFO): direction in FSK: [-0.908630,-0.414086,-0.054079] 2025-10-27T04:46:41.390Z,1761540401.390 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:41.395Z,1761540401.395 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.661850 2025-10-27T04:46:41.624Z,1761540401.624 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.891238 2025-10-27T04:46:41.674Z,1761540401.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944987,-0.303334,-0.122426],[0.308784,0.950724,0.027858],[0.107943,-0.064129,0.992087]] 2025-10-27T04:46:41.727Z,1761540401.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.505150 s, deltaX: 0.300000 m, approachRate: 0.593883 m/s, rangeRepo size: 4 2025-10-27T04:46:41.730Z,1761540401.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.223392 m, bearing: 222.930938 deg, lat: 36.779355 deg, lon: -121.859579 deg, deltaT: 0.505150 s, deltaX: 0.298308 m, approachRate: 0.590534 m/s, posRepo size: 4 2025-10-27T04:46:41.730Z,1761540401.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-27T04:46:41.876Z,1761540401.876 [DAT](INFO): DAT read: Rx Time:04:46:40.5250 2025-10-27T04:46:41.877Z,1761540401.877 [DAT](INFO): Rx dataTimestamp_ set to:1761540401.876418 2025-10-27T04:46:41.878Z,1761540401.878 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.3 2025-10-27T04:46:41.879Z,1761540401.879 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T04:46:41.880Z,1761540401.880 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.146816 2025-10-27T04:46:42.128Z,1761540402.128 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.395115 2025-10-27T04:46:42.140Z,1761540402.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944572,-0.304047,-0.123850],[0.309573,0.950474,0.027655],[0.109308,-0.064463,0.991915]] 2025-10-27T04:46:42.244Z,1761540402.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502456 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:42.254Z,1761540402.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-27T04:46:42.381Z,1761540402.381 [DAT](INFO): DAT read: Rx Time:04:46:41.0252 2025-10-27T04:46:42.381Z,1761540402.381 [DAT](INFO): Rx dataTimestamp_ set to:1761540402.380736 2025-10-27T04:46:42.382Z,1761540402.382 [DAT](INFO): DAT read: Bearing 344.9, -27.6 (Local) 2025-10-27T04:46:42.383Z,1761540402.383 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, -27.6 (Local) 2025-10-27T04:46:42.385Z,1761540402.385 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3 2025-10-27T04:46:42.389Z,1761540402.389 [DAT](INFO): DAT read: 04:46:41.0252 LVL= 32752, 24561, 30162, 32755, AGC= 64, IDX= 3, 0.22,-2.042, 0.054,-1.217,-0.952, PHS=-0.988, 1.050,-0.309, RAW= 310.9, 2.8, CAL= 308.5, -0.3, ROT= 201.5, 0.3 2025-10-27T04:46:42.390Z,1761540402.390 [DAT](INFO): got valid direction response: 04:46:41.0252 LVL= 32752, 24561, 30162, 32755, AGC= 64, IDX= 3, 0.22,-2.042, 0.054,-1.217,-0.952, PHS=-0.988, 1.050,-0.309, RAW= 310.9, 2.8, CAL= 308.5, -0.3, ROT= 201.5, 0.3 2025-10-27T04:46:42.391Z,1761540402.391 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T04:46:42.392Z,1761540402.392 [DAT](INFO): direction in FSK: [-0.930405,-0.366496,-0.005236] 2025-10-27T04:46:42.392Z,1761540402.392 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:42.396Z,1761540402.396 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.663534 2025-10-27T04:46:42.632Z,1761540402.632 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.899265 2025-10-27T04:46:42.637Z,1761540402.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944204,-0.304657,-0.125156],[0.310249,0.950259,0.027455],[0.110566,-0.064752,0.991757]] 2025-10-27T04:46:42.746Z,1761540402.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504318 s, deltaX: 0.300000 m, approachRate: 0.594863 m/s, rangeRepo size: 4 2025-10-27T04:46:42.752Z,1761540402.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.521792 m, bearing: 219.743008 deg, lat: 36.779355 deg, lon: -121.859579 deg, deltaT: 1.006774 s, deltaX: 0.298400 m, approachRate: 0.296392 m/s, posRepo size: 4 2025-10-27T04:46:42.752Z,1761540402.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-27T04:46:42.885Z,1761540402.885 [DAT](INFO): DAT read: Rx Time:04:46:41.5252 2025-10-27T04:46:42.885Z,1761540402.885 [DAT](INFO): Rx dataTimestamp_ set to:1761540402.885048 2025-10-27T04:46:42.887Z,1761540402.887 [DAT](INFO): DAT read: Bearing 346.4, -28.2 (Local) 2025-10-27T04:46:42.887Z,1761540402.887 [DAT](INFO): Local bearing/azimuth received: Bearing 346.4, -28.2 (Local) 2025-10-27T04:46:42.889Z,1761540402.889 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3 2025-10-27T04:46:42.894Z,1761540402.894 [DAT](INFO): DAT read: 04:46:41.5252 LVL= 32752, 23601, 30930, 32755, AGC= 61, IDX= 499, 0.33, 2.948,-1.207,-2.474,-2.253, PHS=-0.980, 1.091,-0.265, RAW= 310.1, 1.7, CAL= 308.0, -1.5, ROT= 202.0, 1.5 2025-10-27T04:46:42.895Z,1761540402.895 [DAT](INFO): got valid direction response: 04:46:41.5252 LVL= 32752, 23601, 30930, 32755, AGC= 61, IDX= 499, 0.33, 2.948,-1.207,-2.474,-2.253, PHS=-0.980, 1.091,-0.265, RAW= 310.1, 1.7, CAL= 308.0, -1.5, ROT= 202.0, 1.5 2025-10-27T04:46:42.896Z,1761540402.896 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T04:46:42.897Z,1761540402.897 [DAT](INFO): direction in FSK: [-0.926866,-0.374478,-0.026177] 2025-10-27T04:46:42.897Z,1761540402.897 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:42.921Z,1761540402.921 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.188040 2025-10-27T04:46:43.136Z,1761540403.136 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.403238 2025-10-27T04:46:43.234Z,1761540403.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943519,-0.305657,-0.127851],[0.311353,0.949918,0.026735],[0.113276,-0.065032,0.991433]] 2025-10-27T04:46:43.293Z,1761540403.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504312 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:43.299Z,1761540403.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.521651 m, bearing: 220.443776 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.504312 s, deltaX: -0.000141 m, approachRate: -0.000280 m/s, posRepo size: 4 2025-10-27T04:46:43.301Z,1761540403.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-27T04:46:43.389Z,1761540403.389 [DAT](INFO): DAT read: Rx Time:04:46:42.0254 2025-10-27T04:46:43.389Z,1761540403.389 [DAT](INFO): Rx dataTimestamp_ set to:1761540403.388823 2025-10-27T04:46:43.390Z,1761540403.390 [DAT](INFO): DAT read: Bearing 345.4, -28.0 (Local) 2025-10-27T04:46:43.391Z,1761540403.391 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, -28.0 (Local) 2025-10-27T04:46:43.393Z,1761540403.393 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.3 2025-10-27T04:46:43.398Z,1761540403.398 [DAT](INFO): DAT read: 04:46:42.0254 LVL= 32752, 28801, 32754, 32755, AGC= 62, IDX= 501, 0.42,-1.933, 0.169,-1.100,-0.845, PHS=-0.986, 1.059,-0.299, RAW= 310.7, 2.5, CAL= 308.4, -0.6, ROT= 201.6, 0.6 2025-10-27T04:46:43.400Z,1761540403.400 [DAT](INFO): got valid direction response: 04:46:42.0254 LVL= 32752, 28801, 32754, 32755, AGC= 62, IDX= 501, 0.42,-1.933, 0.169,-1.100,-0.845, PHS=-0.986, 1.059,-0.299, RAW= 310.7, 2.5, CAL= 308.4, -0.6, ROT= 201.6, 0.6 2025-10-27T04:46:43.400Z,1761540403.400 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T04:46:43.401Z,1761540403.401 [DAT](INFO): direction in FSK: [-0.929726,-0.368104,-0.010472] 2025-10-27T04:46:43.401Z,1761540403.401 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:43.406Z,1761540403.406 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.673492 2025-10-27T04:46:43.640Z,1761540403.640 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.907125 2025-10-27T04:46:43.726Z,1761540403.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943148,-0.306259,-0.129138],[0.311905,0.949770,0.025527],[0.114834,-0.064354,0.991298]] 2025-10-27T04:46:43.751Z,1761540403.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503775 s, deltaX: 0.299999 m, approachRate: 0.595502 m/s, rangeRepo size: 4 2025-10-27T04:46:43.769Z,1761540403.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.820041 m, bearing: 219.991981 deg, lat: 36.779355 deg, lon: -121.859576 deg, deltaT: 0.503775 s, deltaX: 0.298389 m, approachRate: 0.592307 m/s, posRepo size: 4 2025-10-27T04:46:43.769Z,1761540403.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-27T04:46:43.893Z,1761540403.893 [DAT](INFO): DAT read: Rx Time:04:46:42.5254 2025-10-27T04:46:43.893Z,1761540403.893 [DAT](INFO): Rx dataTimestamp_ set to:1761540403.892831 2025-10-27T04:46:43.894Z,1761540403.894 [DAT](INFO): DAT read: Bearing 346.6, -28.9 (Local) 2025-10-27T04:46:43.895Z,1761540403.895 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, -28.9 (Local) 2025-10-27T04:46:43.897Z,1761540403.897 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.3 2025-10-27T04:46:43.902Z,1761540403.902 [DAT](INFO): DAT read: 04:46:42.5254 LVL= 32752, 24785, 31618, 32755, AGC= 60, IDX= 501, 0.47, 2.992,-1.153,-2.413,-2.198, PHS=-0.991, 1.089,-0.259, RAW= 309.7, 1.8, CAL= 307.6, -1.5, ROT= 202.4, 1.5 2025-10-27T04:46:43.903Z,1761540403.903 [DAT](INFO): got valid direction response: 04:46:42.5254 LVL= 32752, 24785, 31618, 32755, AGC= 60, IDX= 501, 0.47, 2.992,-1.153,-2.413,-2.198, PHS=-0.991, 1.089,-0.259, RAW= 309.7, 1.8, CAL= 307.6, -1.5, ROT= 202.4, 1.5 2025-10-27T04:46:43.903Z,1761540403.903 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T04:46:43.904Z,1761540403.904 [DAT](INFO): direction in FSK: [-0.924229,-0.380940,-0.026177] 2025-10-27T04:46:43.905Z,1761540403.905 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:43.908Z,1761540403.908 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.175650 2025-10-27T04:46:44.106Z,1761540404.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942825,-0.306733,-0.130364],[0.312363,0.949642,0.024676],[0.116231,-0.063986,0.991159]] 2025-10-27T04:46:44.144Z,1761540404.144 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.411297 2025-10-27T04:46:44.208Z,1761540404.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:44.210Z,1761540404.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.820041 m, bearing: 220.919610 deg, lat: 36.779357 deg, lon: -121.859577 deg, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:44.215Z,1761540404.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-27T04:46:44.398Z,1761540404.398 [DAT](INFO): DAT read: Rx Time:04:46:43.0256 2025-10-27T04:46:44.398Z,1761540404.398 [DAT](INFO): Rx dataTimestamp_ set to:1761540404.397728 2025-10-27T04:46:44.399Z,1761540404.399 [DAT](INFO): DAT read: Bearing 345.7, -29.2 (Local) 2025-10-27T04:46:44.400Z,1761540404.400 [DAT](INFO): Local bearing/azimuth received: Bearing 345.7, -29.2 (Local) 2025-10-27T04:46:44.402Z,1761540404.402 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 2025-10-27T04:46:44.406Z,1761540404.406 [DAT](INFO): DAT read: 04:46:43.0256 LVL= 32752, 31505, 32754, 32755, AGC= 62, IDX= 504,-0.48, 2.928,-1.228,-2.482,-2.244, PHS=-1.010, 1.061,-0.282, RAW= 309.7, 2.6, CAL= 307.4, -0.6, ROT= 202.6, 0.6 2025-10-27T04:46:44.408Z,1761540404.408 [DAT](INFO): got valid direction response: 04:46:43.0256 LVL= 32752, 31505, 32754, 32755, AGC= 62, IDX= 504,-0.48, 2.928,-1.228,-2.482,-2.244, PHS=-1.010, 1.061,-0.282, RAW= 309.7, 2.6, CAL= 307.4, -0.6, ROT= 202.6, 0.6 2025-10-27T04:46:44.408Z,1761540404.408 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T04:46:44.409Z,1761540404.409 [DAT](INFO): direction in FSK: [-0.923160,-0.384274,-0.010472] 2025-10-27T04:46:44.409Z,1761540404.409 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:44.413Z,1761540404.413 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.680458 2025-10-27T04:46:44.526Z,1761540404.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942681,-0.306592,-0.131732],[0.312256,0.949689,0.024220],[0.117679,-0.063966,0.990989]] 2025-10-27T04:46:44.597Z,1761540404.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504897 s, deltaX: 0.300000 m, approachRate: 0.594181 m/s, rangeRepo size: 4 2025-10-27T04:46:44.603Z,1761540404.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.118552 m, bearing: 221.025136 deg, lat: 36.779356 deg, lon: -121.859577 deg, deltaT: 0.504897 s, deltaX: 0.298512 m, approachRate: 0.591232 m/s, posRepo size: 4 2025-10-27T04:46:44.604Z,1761540404.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T04:46:44.651Z,1761540404.651 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.917675 2025-10-27T04:46:44.901Z,1761540404.901 [DAT](INFO): DAT read: Rx Time:04:46:43.5256 2025-10-27T04:46:44.901Z,1761540404.901 [DAT](INFO): Rx dataTimestamp_ set to:1761540404.900813 2025-10-27T04:46:44.902Z,1761540404.902 [DAT](INFO): DAT read: Bearing 346.7, -28.8 (Local) 2025-10-27T04:46:44.903Z,1761540404.903 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, -28.8 (Local) 2025-10-27T04:46:44.905Z,1761540404.905 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.3 2025-10-27T04:46:44.910Z,1761540404.910 [DAT](INFO): DAT read: 04:46:43.5256 LVL= 32752, 24433, 29682, 32755, AGC= 62, IDX= 503, 0.45, 2.949,-1.206,-2.470,-2.251, PHS=-0.982, 1.090,-0.264, RAW= 310.0, 1.7, CAL= 307.9, -1.5, ROT= 202.1, 1.5 2025-10-27T04:46:44.911Z,1761540404.911 [DAT](INFO): got valid direction response: 04:46:43.5256 LVL= 32752, 24433, 29682, 32755, AGC= 62, IDX= 503, 0.45, 2.949,-1.206,-2.470,-2.251, PHS=-0.982, 1.090,-0.264, RAW= 310.0, 1.7, CAL= 307.9, -1.5, ROT= 202.1, 1.5 2025-10-27T04:46:44.911Z,1761540404.911 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T04:46:44.912Z,1761540404.912 [DAT](INFO): direction in FSK: [-0.926211,-0.376096,-0.026177] 2025-10-27T04:46:44.912Z,1761540404.912 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:44.922Z,1761540404.922 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.189447 2025-10-27T04:46:44.941Z,1761540404.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942707,-0.305913,-0.133116],[0.311639,0.949897,0.024025],[0.119096,-0.064133,0.990809]] 2025-10-27T04:46:45.053Z,1761540405.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:45.055Z,1761540405.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.118552 m, bearing: 220.588881 deg, lat: 36.779357 deg, lon: -121.859578 deg, deltaT: 0.503085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:45.055Z,1761540405.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T04:46:45.170Z,1761540405.170 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.436903 2025-10-27T04:46:45.405Z,1761540405.405 [DAT](INFO): DAT read: Rx Time:04:46:44.0257 2025-10-27T04:46:45.405Z,1761540405.405 [DAT](INFO): Rx dataTimestamp_ set to:1761540405.404884 2025-10-27T04:46:45.406Z,1761540405.406 [DAT](INFO): DAT read: Bearing 346.9, -29.2 (Local) 2025-10-27T04:46:45.407Z,1761540405.407 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, -29.2 (Local) 2025-10-27T04:46:45.409Z,1761540405.409 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 2025-10-27T04:46:45.415Z,1761540405.415 [DAT](INFO): DAT read: 04:46:44.0257 LVL= 32752, 26993, 31666, 32755, AGC= 62, IDX= 504, 0.36,-2.388,-0.248,-1.513,-1.298, PHS=-0.988, 1.095,-0.259, RAW= 309.8, 1.7, CAL= 307.7, -1.6, ROT= 202.3, 1.6 2025-10-27T04:46:45.416Z,1761540405.416 [DAT](INFO): got valid direction response: 04:46:44.0257 LVL= 32752, 26993, 31666, 32755, AGC= 62, IDX= 504, 0.36,-2.388,-0.248,-1.513,-1.298, PHS=-0.988, 1.095,-0.259, RAW= 309.8, 1.7, CAL= 307.7, -1.6, ROT= 202.3, 1.6 2025-10-27T04:46:45.417Z,1761540405.417 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T04:46:45.418Z,1761540405.418 [DAT](INFO): direction in FSK: [-0.924849,-0.379308,-0.027922] 2025-10-27T04:46:45.418Z,1761540405.418 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:45.451Z,1761540405.451 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.714006 2025-10-27T04:46:45.453Z,1761540405.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942592,-0.305683,-0.134457],[0.311406,0.949991,0.023299],[0.120611,-0.063833,0.990645]] 2025-10-27T04:46:45.518Z,1761540405.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504071 s, deltaX: 0.100000 m, approachRate: 0.198386 m/s, rangeRepo size: 4 2025-10-27T04:46:45.526Z,1761540405.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.218027 m, bearing: 220.792999 deg, lat: 36.779357 deg, lon: -121.859578 deg, deltaT: 0.504071 s, deltaX: 0.099475 m, approachRate: 0.197343 m/s, posRepo size: 4 2025-10-27T04:46:45.539Z,1761540405.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.22 m. 2025-10-27T04:46:45.660Z,1761540405.660 [DAT](INFO): DAT read: Rx Time:04:46:44.5257 2025-10-27T04:46:45.661Z,1761540405.661 [DAT](INFO): Rx dataTimestamp_ set to:1761540405.660174 2025-10-27T04:46:45.665Z,1761540405.665 [DAT](INFO): DAT read: Bearing 346.6, -29.6 (Local) 2025-10-27T04:46:45.666Z,1761540405.666 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, -29.6 (Local) 2025-10-27T04:46:45.669Z,1761540405.669 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.935398 2025-10-27T04:46:45.915Z,1761540405.915 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.3 2025-10-27T04:46:45.920Z,1761540405.920 [DAT](INFO): DAT read: 04:46:44.5257 LVL= 32752, 28721, 30802, 32755, AGC= 60, IDX= 504, 0.28, 2.565,-1.583,-2.836,-2.617, PHS=-0.999, 1.079,-0.263, RAW= 309.6, 2.0, CAL= 307.3, -1.2, ROT= 202.7, 1.2 2025-10-27T04:46:45.921Z,1761540405.921 [DAT](INFO): got valid direction response: 04:46:44.5257 LVL= 32752, 28721, 30802, 32755, AGC= 60, IDX= 504, 0.28, 2.565,-1.583,-2.836,-2.617, PHS=-0.999, 1.079,-0.263, RAW= 309.6, 2.0, CAL= 307.3, -1.2, ROT= 202.7, 1.2 2025-10-27T04:46:45.922Z,1761540405.922 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T04:46:45.923Z,1761540405.923 [DAT](INFO): direction in FSK: [-0.922336,-0.385821,-0.020942] 2025-10-27T04:46:45.923Z,1761540405.923 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:45.927Z,1761540405.927 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.193941 2025-10-27T04:46:46.072Z,1761540406.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503866 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:46.074Z,1761540406.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.218027 m, bearing: 221.150542 deg, lat: 36.779357 deg, lon: -121.859579 deg, deltaT: 0.503866 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:46.075Z,1761540406.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.22 m. 2025-10-27T04:46:46.164Z,1761540406.164 [DAT](INFO): DAT read: Rx Time:04:46:45.0259 2025-10-27T04:46:46.165Z,1761540406.165 [DAT](INFO): Rx dataTimestamp_ set to:1761540406.164468 2025-10-27T04:46:46.168Z,1761540406.168 [DAT](INFO): DAT read: Bearing 346.9, -29.9 (Local) 2025-10-27T04:46:46.169Z,1761540406.169 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, -29.9 (Local) 2025-10-27T04:46:46.172Z,1761540406.172 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.437838 2025-10-27T04:46:46.414Z,1761540406.414 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 2025-10-27T04:46:46.418Z,1761540406.418 [DAT](INFO): DAT read: 04:46:45.0259 LVL= 32752, 26209, 30818, 32755, AGC= 63, IDX= 506, 0.20,-2.776,-0.641,-1.886,-1.678, PHS=-0.996, 1.081,-0.253, RAW= 309.3, 1.9, CAL= 307.2, -1.4, ROT= 202.8, 1.4 2025-10-27T04:46:46.419Z,1761540406.419 [DAT](INFO): got valid direction response: 04:46:45.0259 LVL= 32752, 26209, 30818, 32755, AGC= 63, IDX= 506, 0.20,-2.776,-0.641,-1.886,-1.678, PHS=-0.996, 1.081,-0.253, RAW= 309.3, 1.9, CAL= 307.2, -1.4, ROT= 202.8, 1.4 2025-10-27T04:46:46.420Z,1761540406.420 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T04:46:46.421Z,1761540406.421 [DAT](INFO): direction in FSK: [-0.921588,-0.387400,-0.024432] 2025-10-27T04:46:46.421Z,1761540406.421 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:46.425Z,1761540406.425 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.691992 2025-10-27T04:46:46.443Z,1761540406.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942558,-0.303986,-0.138482],[0.309690,0.950602,0.021161],[0.125208,-0.062832,0.990139]] 2025-10-27T04:46:46.508Z,1761540406.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.502696 s, deltaX: 0.300000 m, approachRate: 0.596783 m/s, rangeRepo size: 4 2025-10-27T04:46:46.510Z,1761540406.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.516466 m, bearing: 221.191246 deg, lat: 36.779357 deg, lon: -121.859579 deg, deltaT: 0.502696 s, deltaX: 0.298439 m, approachRate: 0.593677 m/s, posRepo size: 4 2025-10-27T04:46:46.510Z,1761540406.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m. 2025-10-27T04:46:46.668Z,1761540406.668 [DAT](INFO): DAT read: Rx Time:04:46:45.5259 2025-10-27T04:46:46.670Z,1761540406.670 [DAT](INFO): Rx dataTimestamp_ set to:1761540406.668531 2025-10-27T04:46:46.673Z,1761540406.673 [DAT](INFO): DAT read: Bearing 346.8, -29.8 (Local) 2025-10-27T04:46:46.674Z,1761540406.674 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, -29.8 (Local) 2025-10-27T04:46:46.678Z,1761540406.678 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 2025-10-27T04:46:46.686Z,1761540406.686 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-27T04:46:46.689Z,1761540406.689 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.956142 2025-10-27T04:46:46.921Z,1761540406.921 [DAT](INFO): DAT read: 04:46:45.5259 LVL= 32752, 23633, 30258, 32755, AGC= 61, IDX= 506, 0.14, 2.258,-1.887, 3.140,-2.925, PHS=-0.998, 1.083,-0.262, RAW= 309.6, 2.0, CAL= 307.4, -1.3, ROT= 202.6, 1.3 2025-10-27T04:46:46.922Z,1761540406.922 [DAT](INFO): got valid direction response: 04:46:45.5259 LVL= 32752, 23633, 30258, 32755, AGC= 61, IDX= 506, 0.14, 2.258,-1.887, 3.140,-2.925, PHS=-0.998, 1.083,-0.262, RAW= 309.6, 2.0, CAL= 307.4, -1.3, ROT= 202.6, 1.3 2025-10-27T04:46:46.922Z,1761540406.922 [DAT](INFO): #Rx 39: Read direction message, but no range. 2025-10-27T04:46:46.923Z,1761540406.923 [DAT](INFO): direction in FSK: [-0.922973,-0.384197,-0.022687] 2025-10-27T04:46:46.927Z,1761540406.927 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.193853 2025-10-27T04:46:47.050Z,1761540407.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.257085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:47.056Z,1761540407.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.516466 m, bearing: 220.980360 deg, lat: 36.779358 deg, lon: -121.859579 deg, deltaT: 0.257085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:47.057Z,1761540407.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m. 2025-10-27T04:46:47.172Z,1761540407.172 [DAT](INFO): DAT read: Rx Time:04:46:46.0261 2025-10-27T04:46:47.173Z,1761540407.173 [DAT](INFO): Rx dataTimestamp_ set to:1761540407.172219 2025-10-27T04:46:47.192Z,1761540407.192 [DAT](INFO): DAT read: Bearing 345.5, -30.1 (Local) 2025-10-27T04:46:47.193Z,1761540407.193 [DAT](INFO): Local bearing/azimuth received: Bearing 345.5, -30.1 (Local) 2025-10-27T04:46:47.198Z,1761540407.198 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.3 2025-10-27T04:46:47.209Z,1761540407.209 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T04:46:47.210Z,1761540407.210 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.477089 2025-10-27T04:46:47.256Z,1761540407.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:46:47.424Z,1761540407.424 [DAT](INFO): DAT read: 04:46:46.0261 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.13, 2.839,-1.346,-2.579,-2.329, PHS=-1.014, 1.028,-0.295, RAW= 309.7, 3.2, CAL= 307.3, -0.0, ROT= 202.7, 0.0 2025-10-27T04:46:47.425Z,1761540407.425 [DAT](INFO): got valid direction response: 04:46:46.0261 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.13, 2.839,-1.346,-2.579,-2.329, PHS=-1.014, 1.028,-0.295, RAW= 309.7, 3.2, CAL= 307.3, -0.0, ROT= 202.7, 0.0 2025-10-27T04:46:47.425Z,1761540407.425 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T04:46:47.426Z,1761540407.426 [DAT](INFO): direction in FSK: [-0.922538,-0.385906,-0.000000] 2025-10-27T04:46:47.429Z,1761540407.429 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.696743 2025-10-27T04:46:47.444Z,1761540407.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942764,-0.302138,-0.141096],[0.307886,0.951206,0.020329],[0.128070,-0.062607,0.989787]] 2025-10-27T04:46:47.484Z,1761540407.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503688 s, deltaX: 0.299999 m, approachRate: 0.595605 m/s, rangeRepo size: 4 2025-10-27T04:46:47.486Z,1761540407.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.814836 m, bearing: 220.844476 deg, lat: 36.779358 deg, lon: -121.859579 deg, deltaT: 0.503688 s, deltaX: 0.298369 m, approachRate: 0.592369 m/s, posRepo size: 4 2025-10-27T04:46:47.486Z,1761540407.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-27T04:46:47.676Z,1761540407.676 [DAT](INFO): DAT read: Rx Time:04:46:46.5261 2025-10-27T04:46:47.677Z,1761540407.677 [DAT](INFO): Rx dataTimestamp_ set to:1761540407.676209 2025-10-27T04:46:47.680Z,1761540407.680 [DAT](INFO): DAT read: Bearing 346.6, -30.9 (Local) 2025-10-27T04:46:47.681Z,1761540407.681 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, -30.9 (Local) 2025-10-27T04:46:47.701Z,1761540407.701 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.2 2025-10-27T04:46:47.704Z,1761540407.704 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T04:46:47.717Z,1761540407.717 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.983927 2025-10-27T04:46:47.951Z,1761540407.951 [DAT](INFO): DAT read: 04:46:46.5261 LVL= 32752, 28657, 32754, 32755, AGC= 62, IDX= 508, 0.10, 2.082,-2.068, 2.985,-3.083, PHS=-1.016, 1.060,-0.259, RAW= 308.9, 2.4, CAL= 306.6, -0.9, ROT= 203.4, 0.9 2025-10-27T04:46:47.952Z,1761540407.952 [DAT](INFO): got valid direction response: 04:46:46.5261 LVL= 32752, 28657, 32754, 32755, AGC= 62, IDX= 508, 0.10, 2.082,-2.068, 2.985,-3.083, PHS=-1.016, 1.060,-0.259, RAW= 308.9, 2.4, CAL= 306.6, -0.9, ROT= 203.4, 0.9 2025-10-27T04:46:47.953Z,1761540407.953 [DAT](INFO): #Rx 43: Read direction message, but no range. 2025-10-27T04:46:47.954Z,1761540407.954 [DAT](INFO): direction in FSK: [-0.917641,-0.397099,-0.015707] 2025-10-27T04:46:47.993Z,1761540407.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942796,-0.301384,-0.142489],[0.307147,0.951456,0.019820],[0.129598,-0.062452,0.989598]] 2025-10-27T04:46:47.995Z,1761540407.995 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.262697 2025-10-27T04:46:48.082Z,1761540408.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:48.085Z,1761540408.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.814836 m, bearing: 221.604842 deg, lat: 36.779359 deg, lon: -121.859581 deg, deltaT: 0.503990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:48.085Z,1761540408.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-27T04:46:48.197Z,1761540408.197 [DAT](INFO): DAT read: Rx Time:04:46:47.0263 2025-10-27T04:46:48.199Z,1761540408.199 [DAT](INFO): Rx dataTimestamp_ set to:1761540408.197729 2025-10-27T04:46:48.203Z,1761540408.203 [DAT](INFO): DAT read: Bearing 346.8, -30.8 (Local) 2025-10-27T04:46:48.204Z,1761540408.204 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, -30.8 (Local) 2025-10-27T04:46:48.210Z,1761540408.210 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 2025-10-27T04:46:48.215Z,1761540408.215 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-27T04:46:48.220Z,1761540408.220 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.487009 2025-10-27T04:46:48.262Z,1761540408.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:46:48.432Z,1761540408.432 [DAT](INFO): DAT read: 04:46:47.0263 LVL= 32752, 24545, 32754, 32755, AGC= 62, IDX= 510, 0.11,-3.123,-0.981,-2.222,-2.005, PHS=-1.016, 1.069,-0.261, RAW= 309.0, 2.3, CAL= 306.8, -1.0, ROT= 203.2, 1.0 2025-10-27T04:46:48.433Z,1761540408.433 [DAT](INFO): got valid direction response: 04:46:47.0263 LVL= 32752, 24545, 32754, 32755, AGC= 62, IDX= 510, 0.11,-3.123,-0.981,-2.222,-2.005, PHS=-1.016, 1.069,-0.261, RAW= 309.0, 2.3, CAL= 306.8, -1.0, ROT= 203.2, 1.0 2025-10-27T04:46:48.433Z,1761540408.433 [DAT](INFO): #Rx 45: Read direction message, but no range. 2025-10-27T04:46:48.434Z,1761540408.434 [DAT](INFO): direction in FSK: [-0.918995,-0.393882,-0.017452] 2025-10-27T04:46:48.440Z,1761540408.440 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.706093 2025-10-27T04:46:48.493Z,1761540408.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942577,-0.300851,-0.145042],[0.306569,0.951673,0.018292],[0.132529,-0.061707,0.989256]] 2025-10-27T04:46:48.552Z,1761540408.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.521520 s, deltaX: 0.300001 m, approachRate: 0.575244 m/s, rangeRepo size: 4 2025-10-27T04:46:48.554Z,1761540408.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.113140 m, bearing: 221.396753 deg, lat: 36.779358 deg, lon: -121.859581 deg, deltaT: 0.521520 s, deltaX: 0.298305 m, approachRate: 0.571991 m/s, posRepo size: 4 2025-10-27T04:46:48.560Z,1761540408.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-27T04:46:48.683Z,1761540408.683 [DAT](INFO): DAT read: Rx Time:04:46:47.5263 2025-10-27T04:46:48.685Z,1761540408.685 [DAT](INFO): Rx dataTimestamp_ set to:1761540408.684084 2025-10-27T04:46:48.692Z,1761540408.692 [DAT](INFO): DAT read: Bearing 346.9, -31.2 (Local) 2025-10-27T04:46:48.693Z,1761540408.693 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, -31.2 (Local) 2025-10-27T04:46:48.703Z,1761540408.703 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 2025-10-27T04:46:48.706Z,1761540408.706 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-27T04:46:48.728Z,1761540408.728 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.995209 2025-10-27T04:46:48.946Z,1761540408.946 [DAT](INFO): DAT read: 04:46:47.5263 LVL= 32752, 26833, 32098, 32755, AGC= 63, IDX= 510, 0.17, 1.365,-2.773, 2.278, 2.487, PHS=-1.021, 1.067,-0.254, RAW= 308.7, 2.3, CAL= 306.5, -1.0, ROT= 203.5, 1.0 2025-10-27T04:46:48.947Z,1761540408.947 [DAT](INFO): got valid direction response: 04:46:47.5263 LVL= 32752, 26833, 32098, 32755, AGC= 63, IDX= 510, 0.17, 1.365,-2.773, 2.278, 2.487, PHS=-1.021, 1.067,-0.254, RAW= 308.7, 2.3, CAL= 306.5, -1.0, ROT= 203.5, 1.0 2025-10-27T04:46:48.947Z,1761540408.947 [DAT](INFO): #Rx 47: Read direction message, but no range. 2025-10-27T04:46:48.948Z,1761540408.948 [DAT](INFO): direction in FSK: [-0.916920,-0.398688,-0.017452] 2025-10-27T04:46:48.968Z,1761540408.968 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.235098 2025-10-27T04:46:49.004Z,1761540409.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942440,-0.300704,-0.146232],[0.306404,0.951739,0.017614],[0.133878,-0.061406,0.989093]] 2025-10-27T04:46:49.085Z,1761540409.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.486355 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:49.087Z,1761540409.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.113140 m, bearing: 221.694339 deg, lat: 36.779359 deg, lon: -121.859582 deg, deltaT: 0.486355 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:49.091Z,1761540409.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-27T04:46:49.189Z,1761540409.189 [DAT](INFO): DAT read: Rx Time:04:46:48.0264 2025-10-27T04:46:49.190Z,1761540409.190 [DAT](INFO): Rx dataTimestamp_ set to:1761540409.189299 2025-10-27T04:46:49.193Z,1761540409.193 [DAT](INFO): DAT read: Bearing 347.3, -31.4 (Local) 2025-10-27T04:46:49.194Z,1761540409.194 [DAT](INFO): Local bearing/azimuth received: Bearing 347.3, -31.4 (Local) 2025-10-27T04:46:49.199Z,1761540409.199 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3 2025-10-27T04:46:49.210Z,1761540409.210 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-27T04:46:49.211Z,1761540409.211 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.478500 2025-10-27T04:46:49.440Z,1761540409.440 [DAT](INFO): DAT read: 04:46:48.0264 LVL= 32752, 25873, 30882, 32755, AGC= 63, IDX= 511, 0.24, 0.853, 3.010, 1.775, 1.977, PHS=-1.022, 1.078,-0.246, RAW= 308.6, 2.1, CAL= 306.4, -1.3, ROT= 203.6, 1.3 2025-10-27T04:46:49.441Z,1761540409.441 [DAT](INFO): got valid direction response: 04:46:48.0264 LVL= 32752, 25873, 30882, 32755, AGC= 63, IDX= 511, 0.24, 0.853, 3.010, 1.775, 1.977, PHS=-1.022, 1.078,-0.246, RAW= 308.6, 2.1, CAL= 306.4, -1.3, ROT= 203.6, 1.3 2025-10-27T04:46:49.441Z,1761540409.441 [DAT](INFO): #Rx 49: Read direction message, but no range. 2025-10-27T04:46:49.442Z,1761540409.442 [DAT](INFO): direction in FSK: [-0.916127,-0.400246,-0.022687] 2025-10-27T04:46:49.445Z,1761540409.445 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.712690 2025-10-27T04:46:49.531Z,1761540409.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942171,-0.300923,-0.147510],[0.306593,0.951692,0.016795],[0.135330,-0.061049,0.988918]] 2025-10-27T04:46:49.588Z,1761540409.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.505215 s, deltaX: 0.199999 m, approachRate: 0.395869 m/s, rangeRepo size: 4 2025-10-27T04:46:49.590Z,1761540409.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.311832 m, bearing: 221.847672 deg, lat: 36.779359 deg, lon: -121.859582 deg, deltaT: 0.505215 s, deltaX: 0.198692 m, approachRate: 0.393283 m/s, posRepo size: 4 2025-10-27T04:46:49.595Z,1761540409.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-27T04:46:49.692Z,1761540409.692 [DAT](INFO): DAT read: Rx Time:04:46:48.5264 2025-10-27T04:46:49.694Z,1761540409.694 [DAT](INFO): Rx dataTimestamp_ set to:1761540409.692821 2025-10-27T04:46:49.698Z,1761540409.698 [DAT](INFO): DAT read: Bearing 347.5, -31.6 (Local) 2025-10-27T04:46:49.699Z,1761540409.699 [DAT](INFO): Local bearing/azimuth received: Bearing 347.5, -31.6 (Local) 2025-10-27T04:46:49.710Z,1761540409.710 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3 2025-10-27T04:46:49.711Z,1761540409.711 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-27T04:46:49.728Z,1761540409.728 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.995525 2025-10-27T04:46:49.958Z,1761540409.958 [DAT](INFO): DAT read: 04:46:48.5264 LVL= 32752, 23025, 28610, 32755, AGC= 63, IDX= 511, 0.31,-0.524, 1.631, 0.403, 0.599, PHS=-1.021, 1.077,-0.240, RAW= 308.4, 2.0, CAL= 306.2, -1.3, ROT= 203.8, 1.3 2025-10-27T04:46:49.976Z,1761540409.976 [DAT](INFO): got valid direction response: 04:46:48.5264 LVL= 32752, 23025, 28610, 32755, AGC= 63, IDX= 511, 0.31,-0.524, 1.631, 0.403, 0.599, PHS=-1.021, 1.077,-0.240, RAW= 308.4, 2.0, CAL= 306.2, -1.3, ROT= 203.8, 1.3 2025-10-27T04:46:49.977Z,1761540409.977 [DAT](INFO): #Rx 51: Read direction message, but no range. 2025-10-27T04:46:49.978Z,1761540409.978 [DAT](INFO): direction in FSK: [-0.914724,-0.403441,-0.022687] 2025-10-27T04:46:49.989Z,1761540409.989 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.256454 2025-10-27T04:46:50.034Z,1761540410.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941388,-0.302260,-0.149760],[0.307853,0.951314,0.015125],[0.137898,-0.060342,0.988607]] 2025-10-27T04:46:50.098Z,1761540410.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503522 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:50.100Z,1761540410.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.311832 m, bearing: 222.139669 deg, lat: 36.779360 deg, lon: -121.859582 deg, deltaT: 0.503522 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:50.100Z,1761540410.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-27T04:46:50.197Z,1761540410.197 [DAT](INFO): DAT read: Rx Time:04:46:49.0266 2025-10-27T04:46:50.198Z,1761540410.198 [DAT](INFO): Rx dataTimestamp_ set to:1761540410.197431 2025-10-27T04:46:50.202Z,1761540410.202 [DAT](INFO): DAT read: Bearing 346.9, -25.3 (Local) 2025-10-27T04:46:50.212Z,1761540410.212 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, -25.3 (Local) 2025-10-27T04:46:50.214Z,1761540410.214 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 2025-10-27T04:46:50.218Z,1761540410.218 [DAT](INFO): DAT read: 04:46:49.0266 LVL= 32752, 20945, 28066, 32755, AGC= 63, IDX= 513, 0.38,-2.543,-0.073,-1.740,-1.352, PHS=-1.089, 1.325,-0.432, RAW= 314.7, 1.8, CAL= 312.6, -1.2, ROT= 197.4, 1.2 2025-10-27T04:46:50.220Z,1761540410.220 [DAT](INFO): got valid direction response: 04:46:49.0266 LVL= 32752, 20945, 28066, 32755, AGC= 63, IDX= 513, 0.38,-2.543,-0.073,-1.740,-1.352, PHS=-1.089, 1.325,-0.432, RAW= 314.7, 1.8, CAL= 312.6, -1.2, ROT= 197.4, 1.2 2025-10-27T04:46:50.220Z,1761540410.220 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T04:46:50.221Z,1761540410.221 [DAT](INFO): direction in FSK: [-0.954031,-0.298975,-0.020942] 2025-10-27T04:46:50.221Z,1761540410.221 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:50.225Z,1761540410.225 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.492344 2025-10-27T04:46:50.444Z,1761540410.444 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.711697 2025-10-27T04:46:50.476Z,1761540410.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940909,-0.303216,-0.150832],[0.308797,0.951017,0.014495],[0.139049,-0.060215,0.988453]] 2025-10-27T04:46:50.503Z,1761540410.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504610 s, deltaX: 0.300001 m, approachRate: 0.594521 m/s, rangeRepo size: 4 2025-10-27T04:46:50.505Z,1761540410.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.610493 m, bearing: 215.775902 deg, lat: 36.779359 deg, lon: -121.859582 deg, deltaT: 0.504610 s, deltaX: 0.298660 m, approachRate: 0.591864 m/s, posRepo size: 4 2025-10-27T04:46:50.506Z,1761540410.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.61 m. 2025-10-27T04:46:50.700Z,1761540410.700 [DAT](INFO): DAT read: Rx Time:04:46:49.5266 2025-10-27T04:46:50.702Z,1761540410.702 [DAT](INFO): Rx dataTimestamp_ set to:1761540410.701125 2025-10-27T04:46:50.707Z,1761540410.707 [DAT](INFO): DAT read: Bearing 343.5, -33.2 (Local) 2025-10-27T04:46:50.708Z,1761540410.708 [DAT](INFO): Local bearing/azimuth received: Bearing 343.5, -33.2 (Local) 2025-10-27T04:46:50.712Z,1761540410.712 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 2025-10-27T04:46:50.719Z,1761540410.719 [DAT](INFO): DAT read: 04:46:49.5266 LVL= 32752, 22641, 27026, 32755, AGC= 63, IDX= 514,-0.49, 0.898,-2.910, 1.981, 2.281, PHS=-1.281, 1.137,-0.344, RAW= 307.4, 4.7, CAL= 305.0, 2.4, ROT= 205.0, -2.4 2025-10-27T04:46:50.721Z,1761540410.721 [DAT](INFO): got valid direction response: 04:46:49.5266 LVL= 32752, 22641, 27026, 32755, AGC= 63, IDX= 514,-0.49, 0.898,-2.910, 1.981, 2.281, PHS=-1.281, 1.137,-0.344, RAW= 307.4, 4.7, CAL= 305.0, 2.4, ROT= 205.0, -2.4 2025-10-27T04:46:50.721Z,1761540410.721 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T04:46:50.724Z,1761540410.724 [DAT](INFO): direction in FSK: [-0.905513,-0.422248,0.041876] 2025-10-27T04:46:50.724Z,1761540410.724 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:50.729Z,1761540410.729 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.996534 2025-10-27T04:46:50.904Z,1761540410.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940351,-0.304353,-0.152016],[0.309921,0.950662,0.013797],[0.140317,-0.060087,0.988282]] 2025-10-27T04:46:50.951Z,1761540410.951 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.217381 2025-10-27T04:46:51.046Z,1761540411.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503694 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:51.048Z,1761540411.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.610493 m, bearing: 223.056297 deg, lat: 36.779360 deg, lon: -121.859582 deg, deltaT: 0.503694 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:51.049Z,1761540411.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.61 m. 2025-10-27T04:46:51.205Z,1761540411.205 [DAT](INFO): DAT read: Rx Time:04:46:50.0268 2025-10-27T04:46:51.206Z,1761540411.206 [DAT](INFO): Rx dataTimestamp_ set to:1761540411.205040 2025-10-27T04:46:51.214Z,1761540411.214 [DAT](INFO): DAT read: Bearing 347.7, -32.2 (Local) 2025-10-27T04:46:51.214Z,1761540411.214 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, -32.2 (Local) 2025-10-27T04:46:51.217Z,1761540411.217 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.3 2025-10-27T04:46:51.221Z,1761540411.221 [DAT](INFO): DAT read: 04:46:50.0268 LVL= 32752, 23089, 28866, 32755, AGC= 67, IDX= 4,-0.40,-1.292, 0.863,-0.354,-0.158, PHS=-1.032, 1.066,-0.240, RAW= 308.0, 2.3, CAL= 305.8, -1.1, ROT= 204.2, 1.1 2025-10-27T04:46:51.222Z,1761540411.222 [DAT](INFO): got valid direction response: 04:46:50.0268 LVL= 32752, 23089, 28866, 32755, AGC= 67, IDX= 4,-0.40,-1.292, 0.863,-0.354,-0.158, PHS=-1.032, 1.066,-0.240, RAW= 308.0, 2.3, CAL= 305.8, -1.1, ROT= 204.2, 1.1 2025-10-27T04:46:51.223Z,1761540411.223 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T04:46:51.224Z,1761540411.224 [DAT](INFO): direction in FSK: [-0.911952,-0.409847,-0.019197] 2025-10-27T04:46:51.224Z,1761540411.224 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:51.228Z,1761540411.228 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.495478 2025-10-27T04:46:51.347Z,1761540411.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939810,-0.305538,-0.152985],[0.311106,0.950282,0.013288],[0.141319,-0.060083,0.988139]] 2025-10-27T04:46:51.429Z,1761540411.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503915 s, deltaX: 0.299999 m, approachRate: 0.595337 m/s, rangeRepo size: 4 2025-10-27T04:46:51.435Z,1761540411.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.908987 m, bearing: 222.735179 deg, lat: 36.779360 deg, lon: -121.859583 deg, deltaT: 0.503915 s, deltaX: 0.298494 m, approachRate: 0.592351 m/s, posRepo size: 4 2025-10-27T04:46:51.436Z,1761540411.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-27T04:46:51.452Z,1761540411.452 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.719336 2025-10-27T04:46:51.708Z,1761540411.708 [DAT](INFO): DAT read: Rx Time:04:46:50.5268 2025-10-27T04:46:51.710Z,1761540411.710 [DAT](INFO): Rx dataTimestamp_ set to:1761540411.708819 2025-10-27T04:46:51.712Z,1761540411.712 [DAT](INFO): DAT read: Bearing 347.5, -32.2 (Local)0.3 2025-10-27T04:46:51.712Z,1761540411.712 [DAT](INFO): Local bearing/azimuth received: Bearing 347.5, -32.2 (Local)0.3 2025-10-27T04:46:51.718Z,1761540411.718 [DAT](INFO): DAT read: 04:46:50.5268 LVL= 32752, 27457, 32754, 32755, AGC= 62, IDX= 500,-0.43,-1.759, 0.387,-0.831,-0.625, PHS=-1.032, 1.057,-0.249, RAW= 308.2, 2.5, CAL= 306.0, -0.9, ROT= 204.0, 0.9 2025-10-27T04:46:51.721Z,1761540411.721 [DAT](INFO): got valid direction response: 04:46:50.5268 LVL= 32752, 27457, 32754, 32755, AGC= 62, IDX= 500,-0.43,-1.759, 0.387,-0.831,-0.625, PHS=-1.032, 1.057,-0.249, RAW= 308.2, 2.5, CAL= 306.0, -0.9, ROT= 204.0, 0.9 2025-10-27T04:46:51.721Z,1761540411.721 [DAT](INFO): #Rx 55: Read direction message, but no range. 2025-10-27T04:46:51.723Z,1761540411.723 [DAT](INFO): direction in FSK: [-0.913433,-0.406687,-0.015707] 2025-10-27T04:46:51.729Z,1761540411.729 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.995764 2025-10-27T04:46:51.842Z,1761540411.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939159,-0.307094,-0.153864],[0.312642,0.949787,0.012655],[0.142252,-0.059989,0.988011]] 2025-10-27T04:46:51.861Z,1761540411.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-27T04:46:51.960Z,1761540411.960 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.226545 2025-10-27T04:46:52.216Z,1761540412.216 [DAT](INFO): DAT read: Rx Time:04:46:51.0270 2025-10-27T04:46:52.216Z,1761540412.216 [DAT](INFO): Rx dataTimestamp_ set to:1761540412.215938 2025-10-27T04:46:52.218Z,1761540412.218 [DAT](INFO): DAT read: Bearing 347.3, -32.6 (Local) 2025-10-27T04:46:52.218Z,1761540412.218 [DAT](INFO): Local bearing/azimuth received: Bearing 347.3, -32.6 (Local) 2025-10-27T04:46:52.220Z,1761540412.220 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.3 2025-10-27T04:46:52.229Z,1761540412.229 [DAT](INFO): DAT read: 04:46:51.0270 LVL= 32752, 25521, 32754, 32755, AGC= 63, IDX= 502,-0.38, 0.315, 2.472, 1.258, 1.468, PHS=-1.051, 1.050,-0.254, RAW= 307.9, 2.8, CAL= 305.6, -0.5, ROT= 204.4, 0.5 2025-10-27T04:46:52.230Z,1761540412.230 [DAT](INFO): got valid direction response: 04:46:51.0270 LVL= 32752, 25521, 32754, 32755, AGC= 63, IDX= 502,-0.38, 0.315, 2.472, 1.258, 1.468, PHS=-1.051, 1.050,-0.254, RAW= 307.9, 2.8, CAL= 305.6, -0.5, ROT= 204.4, 0.5 2025-10-27T04:46:52.231Z,1761540412.231 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T04:46:52.232Z,1761540412.232 [DAT](INFO): direction in FSK: [-0.910649,-0.413089,-0.008727] 2025-10-27T04:46:52.232Z,1761540412.232 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:52.252Z,1761540412.252 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.519072 2025-10-27T04:46:52.253Z,1761540412.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938558,-0.308421,-0.154874],[0.313990,0.949347,0.012269],[0.143245,-0.060144,0.987858]] 2025-10-27T04:46:52.397Z,1761540412.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 1.010898 s, deltaX: 0.299999 m, approachRate: 0.296765 m/s, rangeRepo size: 4 2025-10-27T04:46:52.398Z,1761540412.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.207321 m, bearing: 223.052985 deg, lat: 36.779360 deg, lon: -121.859585 deg, deltaT: 1.010898 s, deltaX: 0.298334 m, approachRate: 0.295118 m/s, posRepo size: 4 2025-10-27T04:46:52.404Z,1761540412.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-27T04:46:52.460Z,1761540412.460 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.727373 2025-10-27T04:46:52.713Z,1761540412.713 [DAT](INFO): DAT read: Rx Time:04:46:51.5270 2025-10-27T04:46:52.714Z,1761540412.714 [DAT](INFO): Rx dataTimestamp_ set to:1761540412.713289 2025-10-27T04:46:52.715Z,1761540412.715 [DAT](INFO): DAT read: Bearing 346.7, -32.8 (Local) 2025-10-27T04:46:52.716Z,1761540412.716 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, -32.8 (Local) 2025-10-27T04:46:52.719Z,1761540412.719 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.4 2025-10-27T04:46:52.720Z,1761540412.720 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-27T04:46:52.721Z,1761540412.721 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.988031 2025-10-27T04:46:52.818Z,1761540412.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937176,-0.311717,-0.156631],[0.317283,0.948264,0.011242],[0.145023,-0.060232,0.987593]] 2025-10-27T04:46:52.856Z,1761540412.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.497351 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:52.856Z,1761540412.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-27T04:46:52.988Z,1761540412.988 [DAT](INFO): DAT read: 04:46:51.5270 LVL= 32752, 27633, 32754, 32755, AGC= 65, IDX= 502,-0.23,-1.797, 0.353,-0.856,-0.630, PHS=-1.065, 1.028,-0.270, RAW= 307.9, 3.4, CAL= 305.5, 0.1, ROT= 204.5, -0.1 2025-10-27T04:46:52.996Z,1761540412.996 [DAT](INFO): got valid direction response: 04:46:51.5270 LVL= 32752, 27633, 32754, 32755, AGC= 65, IDX= 502,-0.23,-1.797, 0.353,-0.856,-0.630, PHS=-1.065, 1.028,-0.270, RAW= 307.9, 3.4, CAL= 305.5, 0.1, ROT= 204.5, -0.1 2025-10-27T04:46:52.997Z,1761540412.997 [DAT](INFO): #Rx 58: Read direction message, but no range. 2025-10-27T04:46:53.005Z,1761540413.005 [DAT](INFO): direction in FSK: [-0.909960,-0.414693,0.001745] 2025-10-27T04:46:53.018Z,1761540413.018 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.284868 2025-10-27T04:46:53.214Z,1761540413.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936508,-0.313358,-0.157353],[0.318903,0.947727,0.010658],[0.145788,-0.060162,0.987485]] 2025-10-27T04:46:53.216Z,1761540413.216 [DAT](INFO): DAT read: Rx Time:04:46:52.0272 2025-10-27T04:46:53.217Z,1761540413.217 [DAT](INFO): Rx dataTimestamp_ set to:1761540413.216678 2025-10-27T04:46:53.218Z,1761540413.218 [DAT](INFO): DAT read: Bearing 346.3, -32.4 (Local) 2025-10-27T04:46:53.219Z,1761540413.219 [DAT](INFO): Local bearing/azimuth received: Bearing 346.3, -32.4 (Local) 2025-10-27T04:46:53.221Z,1761540413.221 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.3 2025-10-27T04:46:53.226Z,1761540413.226 [DAT](INFO): DAT read: 04:46:52.0272 LVL= 32752, 28529, 32754, 32755, AGC= 65, IDX= 503,-0.09,-1.756, 0.385,-0.836,-0.595, PHS=-1.059, 1.025,-0.285, RAW= 308.4, 3.6, CAL= 306.0, 0.5, ROT= 204.0, -0.5 2025-10-27T04:46:53.227Z,1761540413.227 [DAT](INFO): got valid direction response: 04:46:52.0272 LVL= 32752, 28529, 32754, 32755, AGC= 65, IDX= 503,-0.09,-1.756, 0.385,-0.836,-0.595, PHS=-1.059, 1.025,-0.285, RAW= 308.4, 3.6, CAL= 306.0, 0.5, ROT= 204.0, -0.5 2025-10-27T04:46:53.228Z,1761540413.228 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T04:46:53.229Z,1761540413.229 [DAT](INFO): direction in FSK: [-0.913511,-0.406721,0.008727] 2025-10-27T04:46:53.229Z,1761540413.229 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:53.233Z,1761540413.233 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.499846 2025-10-27T04:46:53.370Z,1761540413.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503389 s, deltaX: 0.300001 m, approachRate: 0.595963 m/s, rangeRepo size: 4 2025-10-27T04:46:53.376Z,1761540413.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.505589 m, bearing: 222.851811 deg, lat: 36.779360 deg, lon: -121.859585 deg, deltaT: 1.000740 s, deltaX: 0.298267 m, approachRate: 0.298047 m/s, posRepo size: 4 2025-10-27T04:46:53.377Z,1761540413.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T04:46:53.468Z,1761540413.468 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.735353 2025-10-27T04:46:53.722Z,1761540413.722 [DAT](INFO): DAT read: Rx Time:04:46:52.5272 2025-10-27T04:46:53.722Z,1761540413.722 [DAT](INFO): Rx dataTimestamp_ set to:1761540413.721694 2025-10-27T04:46:53.724Z,1761540413.724 [DAT](INFO): DAT read: Bearing 347.4, -32.7 (Local) 2025-10-27T04:46:53.725Z,1761540413.725 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, -32.7 (Local) 2025-10-27T04:46:53.727Z,1761540413.727 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.3 2025-10-27T04:46:53.744Z,1761540413.744 [DAT](INFO): DAT read: 04:46:52.5272 LVL= 32752, 26289, 32754, 32755, AGC= 64, IDX= 503,-0.04,-2.454,-0.296,-1.516,-1.296, PHS=-1.056, 1.045,-0.263, RAW= 308.1, 3.0, CAL= 305.7, -0.3, ROT= 204.3, 0.3 2025-10-27T04:46:53.745Z,1761540413.745 [DAT](INFO): got valid direction response: 04:46:52.5272 LVL= 32752, 26289, 32754, 32755, AGC= 64, IDX= 503,-0.04,-2.454,-0.296,-1.516,-1.296, PHS=-1.056, 1.045,-0.263, RAW= 308.1, 3.0, CAL= 305.7, -0.3, ROT= 204.3, 0.3 2025-10-27T04:46:53.746Z,1761540413.746 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T04:46:53.747Z,1761540413.747 [DAT](INFO): direction in FSK: [-0.911391,-0.411509,-0.005236] 2025-10-27T04:46:53.779Z,1761540413.779 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:53.783Z,1761540413.783 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.049900 2025-10-27T04:46:53.796Z,1761540413.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935762,-0.315334,-0.157842],[0.320802,0.947096,0.009776],[0.146409,-0.059784,0.987416]] 2025-10-27T04:46:53.858Z,1761540413.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.505016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:53.865Z,1761540413.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.505589 m, bearing: 223.364891 deg, lat: 36.779360 deg, lon: -121.859585 deg, deltaT: 0.505016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:53.865Z,1761540413.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T04:46:53.976Z,1761540413.976 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.242559 2025-10-27T04:46:54.225Z,1761540414.225 [DAT](INFO): DAT read: Rx Time:04:46:53.0274 2025-10-27T04:46:54.225Z,1761540414.225 [DAT](INFO): Rx dataTimestamp_ set to:1761540414.224752 2025-10-27T04:46:54.226Z,1761540414.226 [DAT](INFO): DAT read: Bearing 347.1, -32.4 (Local) 2025-10-27T04:46:54.227Z,1761540414.227 [DAT](INFO): Local bearing/azimuth received: Bearing 347.1, -32.4 (Local) 2025-10-27T04:46:54.229Z,1761540414.229 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.3 2025-10-27T04:46:54.233Z,1761540414.233 [DAT](INFO): DAT read: 04:46:53.0274 LVL= 32752, 24641, 32754, 32755, AGC= 65, IDX= 505, 0.01,-0.439, 1.720, 0.487, 0.722, PHS=-1.059, 1.043,-0.279, RAW= 308.5, 3.2, CAL= 306.1, -0.1, ROT= 203.9, 0.1 2025-10-27T04:46:54.235Z,1761540414.235 [DAT](INFO): got valid direction response: 04:46:53.0274 LVL= 32752, 24641, 32754, 32755, AGC= 65, IDX= 505, 0.01,-0.439, 1.720, 0.487, 0.722, PHS=-1.059, 1.043,-0.279, RAW= 308.5, 3.2, CAL= 306.1, -0.1, ROT= 203.9, 0.1 2025-10-27T04:46:54.240Z,1761540414.240 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T04:46:54.241Z,1761540414.241 [DAT](INFO): direction in FSK: [-0.914253,-0.405141,-0.001745] 2025-10-27T04:46:54.241Z,1761540414.241 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:54.244Z,1761540414.244 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.511757 2025-10-27T04:46:54.308Z,1761540414.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935174,-0.316789,-0.158413],[0.322225,0.946618,0.009203],[0.147041,-0.059651,0.987330]] 2025-10-27T04:46:54.417Z,1761540414.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503058 s, deltaX: 0.299999 m, approachRate: 0.596351 m/s, rangeRepo size: 4 2025-10-27T04:46:54.424Z,1761540414.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.804214 m, bearing: 223.032834 deg, lat: 36.779360 deg, lon: -121.859584 deg, deltaT: 0.503058 s, deltaX: 0.298626 m, approachRate: 0.593621 m/s, posRepo size: 4 2025-10-27T04:46:54.424Z,1761540414.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T04:46:54.477Z,1761540414.477 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.743858 2025-10-27T04:46:54.714Z,1761540414.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934767,-0.317735,-0.158921],[0.323185,0.946293,0.009014],[0.147522,-0.059787,0.987250]] 2025-10-27T04:46:54.729Z,1761540414.729 [DAT](INFO): DAT read: Rx Time:04:46:53.5274 2025-10-27T04:46:54.730Z,1761540414.730 [DAT](INFO): Rx dataTimestamp_ set to:1761540414.729412 2025-10-27T04:46:54.732Z,1761540414.732 [DAT](INFO): DAT read: Bearing 347.7, -32.2 (Local) 2025-10-27T04:46:54.732Z,1761540414.732 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, -32.2 (Local) 2025-10-27T04:46:54.734Z,1761540414.734 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.2 2025-10-27T04:46:54.740Z,1761540414.740 [DAT](INFO): DAT read: 04:46:53.5274 LVL= 32752, 25249, 32754, 32755, AGC= 64, IDX= 505, 0.01,-1.111, 1.042,-0.191, 0.033, PHS=-1.042, 1.054,-0.268, RAW= 308.6, 2.8, CAL= 306.2, -0.5, ROT= 203.8, 0.5 2025-10-27T04:46:54.741Z,1761540414.741 [DAT](INFO): got valid direction response: 04:46:53.5274 LVL= 32752, 25249, 32754, 32755, AGC= 64, IDX= 505, 0.01,-1.111, 1.042,-0.191, 0.033, PHS=-1.042, 1.054,-0.268, RAW= 308.6, 2.8, CAL= 306.2, -0.5, ROT= 203.8, 0.5 2025-10-27T04:46:54.741Z,1761540414.741 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T04:46:54.742Z,1761540414.742 [DAT](INFO): direction in FSK: [-0.914925,-0.403530,-0.008727] 2025-10-27T04:46:54.742Z,1761540414.742 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:54.777Z,1761540414.777 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.018019 2025-10-27T04:46:54.824Z,1761540414.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:54.826Z,1761540414.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.804214 m, bearing: 223.040396 deg, lat: 36.779360 deg, lon: -121.859584 deg, deltaT: 0.504660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:54.827Z,1761540414.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T04:46:54.983Z,1761540414.983 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.249723 2025-10-27T04:46:55.083Z,1761540415.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934483,-0.318171,-0.159714],[0.323673,0.946126,0.009001],[0.148245,-0.060106,0.987122]] 2025-10-27T04:46:55.141Z,1761540415.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T04:46:55.233Z,1761540415.233 [DAT](INFO): DAT read: Rx Time:04:46:54.0276 2025-10-27T04:46:55.233Z,1761540415.233 [DAT](INFO): Rx dataTimestamp_ set to:1761540415.232803 2025-10-27T04:46:55.234Z,1761540415.234 [DAT](INFO): DAT read: Bearing 347.4, -32.2 (Local) 2025-10-27T04:46:55.235Z,1761540415.235 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, -32.2 (Local) 2025-10-27T04:46:55.237Z,1761540415.237 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.3 2025-10-27T04:46:55.249Z,1761540415.249 [DAT](INFO): DAT read: 04:46:54.0276 LVL= 32752, 25313, 32050, 32755, AGC= 64, IDX= 507, 0.02, 0.127, 2.278, 1.041, 1.277, PHS=-1.048, 1.046,-0.280, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T04:46:55.250Z,1761540415.250 [DAT](INFO): got valid direction response: 04:46:54.0276 LVL= 32752, 25313, 32050, 32755, AGC= 64, IDX= 507, 0.02, 0.127, 2.278, 1.041, 1.277, PHS=-1.048, 1.046,-0.280, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T04:46:55.251Z,1761540415.251 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T04:46:55.253Z,1761540415.253 [DAT](INFO): direction in FSK: [-0.915657,-0.401945,-0.003491] 2025-10-27T04:46:55.253Z,1761540415.253 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:55.273Z,1761540415.273 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.540714 2025-10-27T04:46:55.484Z,1761540415.484 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.751072 2025-10-27T04:46:55.487Z,1761540415.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934269,-0.318463,-0.160384],[0.324014,0.946009,0.009023],[0.148852,-0.060396,0.987013]] 2025-10-27T04:46:55.510Z,1761540415.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503391 s, deltaX: 0.300001 m, approachRate: 0.595960 m/s, rangeRepo size: 4 2025-10-27T04:46:55.513Z,1761540415.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.102587 m, bearing: 222.962501 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.503391 s, deltaX: 0.298372 m, approachRate: 0.592725 m/s, posRepo size: 4 2025-10-27T04:46:55.513Z,1761540415.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T04:46:55.736Z,1761540415.736 [DAT](INFO): DAT read: Rx Time:04:46:54.5276 2025-10-27T04:46:55.737Z,1761540415.737 [DAT](INFO): Rx dataTimestamp_ set to:1761540415.736644 2025-10-27T04:46:55.738Z,1761540415.738 [DAT](INFO): DAT read: Bearing 347.7, -32.3 (Local) 2025-10-27T04:46:55.738Z,1761540415.738 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, -32.3 (Local) 2025-10-27T04:46:55.741Z,1761540415.741 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.3 2025-10-27T04:46:55.745Z,1761540415.745 [DAT](INFO): DAT read: 04:46:54.5276 LVL= 32752, 25393, 32482, 32755, AGC= 64, IDX= 507, 0.01,-1.219, 0.939,-0.300,-0.070, PHS=-1.047, 1.054,-0.274, RAW= 308.7, 2.9, CAL= 306.3, -0.4, ROT= 203.7, 0.4 2025-10-27T04:46:55.746Z,1761540415.746 [DAT](INFO): got valid direction response: 04:46:54.5276 LVL= 32752, 25393, 32482, 32755, AGC= 64, IDX= 507, 0.01,-1.219, 0.939,-0.300,-0.070, PHS=-1.047, 1.054,-0.274, RAW= 308.7, 2.9, CAL= 306.3, -0.4, ROT= 203.7, 0.4 2025-10-27T04:46:55.747Z,1761540415.747 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T04:46:55.748Z,1761540415.748 [DAT](INFO): direction in FSK: [-0.915640,-0.401938,-0.006981] 2025-10-27T04:46:55.748Z,1761540415.748 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:55.752Z,1761540415.752 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.018883 2025-10-27T04:46:55.890Z,1761540415.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934110,-0.318697,-0.160847],[0.324272,0.945921,0.008976],[0.149288,-0.060543,0.986939]] 2025-10-27T04:46:55.917Z,1761540415.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503841 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:55.919Z,1761540415.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.102587 m, bearing: 223.003885 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.503841 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:55.920Z,1761540415.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T04:46:55.993Z,1761540415.993 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.259682 2025-10-27T04:46:56.241Z,1761540416.241 [DAT](INFO): DAT read: Rx Time:04:46:55.0278 2025-10-27T04:46:56.241Z,1761540416.241 [DAT](INFO): Rx dataTimestamp_ set to:1761540416.240807 2025-10-27T04:46:56.242Z,1761540416.242 [DAT](INFO): DAT read: Bearing 347.5, -32.3 (Local) 2025-10-27T04:46:56.247Z,1761540416.247 [DAT](INFO): Local bearing/azimuth received: Bearing 347.5, -32.3 (Local) 2025-10-27T04:46:56.249Z,1761540416.249 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.1 2025-10-27T04:46:56.253Z,1761540416.253 [DAT](INFO): DAT read: 04:46:55.0278 LVL= 32752, 28657, 32754, 32755, AGC= 64, IDX= 509,-0.04,-0.628, 1.517, 0.282, 0.521, PHS=-1.047, 1.041,-0.283, RAW= 308.8, 3.2, CAL= 306.4, -0.1, ROT= 203.6, 0.1 2025-10-27T04:46:56.254Z,1761540416.254 [DAT](INFO): got valid direction response: 04:46:55.0278 LVL= 32752, 28657, 32754, 32755, AGC= 64, IDX= 509,-0.04,-0.628, 1.517, 0.282, 0.521, PHS=-1.047, 1.041,-0.283, RAW= 308.8, 3.2, CAL= 306.4, -0.1, ROT= 203.6, 0.1 2025-10-27T04:46:56.255Z,1761540416.255 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T04:46:56.256Z,1761540416.256 [DAT](INFO): direction in FSK: [-0.916361,-0.400348,-0.001745] 2025-10-27T04:46:56.256Z,1761540416.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:56.260Z,1761540416.260 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.527210 2025-10-27T04:46:56.342Z,1761540416.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934053,-0.318661,-0.161244],[0.324180,0.945958,0.008449],[0.149838,-0.060164,0.986878]] 2025-10-27T04:46:56.461Z,1761540416.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504163 s, deltaX: 0.299999 m, approachRate: 0.595044 m/s, rangeRepo size: 4 2025-10-27T04:46:56.463Z,1761540416.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.400570 m, bearing: 222.867298 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.504163 s, deltaX: 0.297983 m, approachRate: 0.591045 m/s, posRepo size: 4 2025-10-27T04:46:56.464Z,1761540416.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m. 2025-10-27T04:46:56.492Z,1761540416.492 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.759108 2025-10-27T04:46:56.733Z,1761540416.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934018,-0.318577,-0.161614],[0.324013,0.946021,0.007754],[0.150420,-0.059608,0.986823]] 2025-10-27T04:46:56.745Z,1761540416.745 [DAT](INFO): DAT read: Rx Time:04:46:55.5278 2025-10-27T04:46:56.745Z,1761540416.745 [DAT](INFO): Rx dataTimestamp_ set to:1761540416.744870 2025-10-27T04:46:56.746Z,1761540416.746 [DAT](INFO): DAT read: Bearing 346.8, -32.2 (Local) 2025-10-27T04:46:56.747Z,1761540416.747 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, -32.2 (Local) 2025-10-27T04:46:56.749Z,1761540416.749 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 2025-10-27T04:46:56.754Z,1761540416.754 [DAT](INFO): DAT read: 04:46:55.5278 LVL= 32752, 29329, 32754, 32755, AGC= 63, IDX= 509,-0.12,-2.258,-0.107,-1.352,-1.098, PHS=-1.058, 1.036,-0.298, RAW= 309.0, 3.5, CAL= 306.6, 0.5, ROT= 203.4, -0.5 2025-10-27T04:46:56.755Z,1761540416.755 [DAT](INFO): got valid direction response: 04:46:55.5278 LVL= 32752, 29329, 32754, 32755, AGC= 63, IDX= 509,-0.12,-2.258,-0.107,-1.352,-1.098, PHS=-1.058, 1.036,-0.298, RAW= 309.0, 3.5, CAL= 306.6, 0.5, ROT= 203.4, -0.5 2025-10-27T04:46:56.755Z,1761540416.755 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T04:46:56.756Z,1761540416.756 [DAT](INFO): direction in FSK: [-0.917720,-0.397133,0.008727] 2025-10-27T04:46:56.757Z,1761540416.757 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:56.761Z,1761540416.761 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.028746 2025-10-27T04:46:56.860Z,1761540416.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:56.862Z,1761540416.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.400570 m, bearing: 222.592261 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.504063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:56.862Z,1761540416.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m. 2025-10-27T04:46:56.997Z,1761540416.997 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.263800 2025-10-27T04:46:57.138Z,1761540417.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934102,-0.318034,-0.162196],[0.323514,0.946191,0.007855],[0.150970,-0.059810,0.986727]] 2025-10-27T04:46:57.242Z,1761540417.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m. 2025-10-27T04:46:57.249Z,1761540417.249 [DAT](INFO): DAT read: Rx Time:04:46:56.0278 2025-10-27T04:46:57.249Z,1761540417.249 [DAT](INFO): Rx dataTimestamp_ set to:1761540417.248749 2025-10-27T04:46:57.250Z,1761540417.250 [DAT](INFO): DAT read: Bearing 347.2, -32.5 (Local) 2025-10-27T04:46:57.251Z,1761540417.251 [DAT](INFO): Local bearing/azimuth received: Bearing 347.2, -32.5 (Local) 2025-10-27T04:46:57.253Z,1761540417.253 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 2025-10-27T04:46:57.257Z,1761540417.257 [DAT](INFO): DAT read: 04:46:56.0278 LVL= 32752, 27121, 30626, 32755, AGC= 64, IDX= 510,-0.27,-1.892, 0.267,-0.974,-0.729, PHS=-1.061, 1.041,-0.289, RAW= 308.7, 3.4, CAL= 306.3, 0.2, ROT= 203.7, -0.2 2025-10-27T04:46:57.258Z,1761540417.258 [DAT](INFO): got valid direction response: 04:46:56.0278 LVL= 32752, 27121, 30626, 32755, AGC= 64, IDX= 510,-0.27,-1.892, 0.267,-0.974,-0.729, PHS=-1.061, 1.041,-0.289, RAW= 308.7, 3.4, CAL= 306.3, 0.2, ROT= 203.7, -0.2 2025-10-27T04:46:57.259Z,1761540417.259 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T04:46:57.260Z,1761540417.260 [DAT](INFO): direction in FSK: [-0.915657,-0.401945,0.003491] 2025-10-27T04:46:57.260Z,1761540417.260 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:57.264Z,1761540417.264 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.531328 2025-10-27T04:46:57.500Z,1761540417.500 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.767714 2025-10-27T04:46:57.535Z,1761540417.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934294,-0.317172,-0.162781],[0.322709,0.946464,0.008066],[0.151507,-0.060067,0.986629]] 2025-10-27T04:46:57.574Z,1761540417.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503879 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:57.581Z,1761540417.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.400511 m, bearing: 222.851649 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.503879 s, deltaX: -0.000059 m, approachRate: -0.000117 m/s, posRepo size: 4 2025-10-27T04:46:57.581Z,1761540417.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m. 2025-10-27T04:46:57.752Z,1761540417.752 [DAT](INFO): DAT read: Rx Time:04:46:56.5278 2025-10-27T04:46:57.753Z,1761540417.753 [DAT](INFO): Rx dataTimestamp_ set to:1761540417.752661 2025-10-27T04:46:57.754Z,1761540417.754 [DAT](INFO): DAT read: Bearing 347.7, -32.5 (Local) 2025-10-27T04:46:57.755Z,1761540417.755 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, -32.5 (Local) 2025-10-27T04:46:57.757Z,1761540417.757 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 2025-10-27T04:46:57.761Z,1761540417.761 [DAT](INFO): DAT read: 04:46:56.5278 LVL= 32752, 25441, 31906, 32755, AGC= 64, IDX= 509, 0.43,-1.059, 1.101,-0.141, 0.095, PHS=-1.053, 1.051,-0.280, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T04:46:57.762Z,1761540417.762 [DAT](INFO): got valid direction response: 04:46:56.5278 LVL= 32752, 25441, 31906, 32755, AGC= 64, IDX= 509, 0.43,-1.059, 1.101,-0.141, 0.095, PHS=-1.053, 1.051,-0.280, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T04:46:57.768Z,1761540417.768 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T04:46:57.769Z,1761540417.769 [DAT](INFO): direction in FSK: [-0.915657,-0.401945,-0.003491] 2025-10-27T04:46:57.769Z,1761540417.769 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:57.773Z,1761540417.773 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.040363 2025-10-27T04:46:57.937Z,1761540417.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934430,-0.316623,-0.163065],[0.322042,0.946698,0.007233],[0.152083,-0.059272,0.986589]] 2025-10-27T04:46:57.970Z,1761540417.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:57.972Z,1761540417.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.400511 m, bearing: 222.863169 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.503912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:46:57.973Z,1761540417.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m. 2025-10-27T04:46:58.005Z,1761540418.005 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.272018 2025-10-27T04:46:58.257Z,1761540418.257 [DAT](INFO): DAT read: Rx Time:04:46:57.0280 2025-10-27T04:46:58.257Z,1761540418.257 [DAT](INFO): Rx dataTimestamp_ set to:1761540418.256731 2025-10-27T04:46:58.258Z,1761540418.258 [DAT](INFO): DAT read: Bearing 347.0, -33.1 (Local) 2025-10-27T04:46:58.259Z,1761540418.259 [DAT](INFO): Local bearing/azimuth received: Bearing 347.0, -33.1 (Local) 2025-10-27T04:46:58.261Z,1761540418.261 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-27T04:46:58.265Z,1761540418.265 [DAT](INFO): DAT read: 04:46:57.0280 LVL= 32752, 28449, 32754, 32755, AGC= 65, IDX= 511, 0.17, 0.215, 2.366, 1.144, 1.384, PHS=-1.067, 1.027,-0.284, RAW= 308.3, 3.6, CAL= 305.9, 0.5, ROT= 204.1, -0.5 2025-10-27T04:46:58.267Z,1761540418.267 [DAT](INFO): got valid direction response: 04:46:57.0280 LVL= 32752, 28449, 32754, 32755, AGC= 65, IDX= 511, 0.17, 0.215, 2.366, 1.144, 1.384, PHS=-1.067, 1.027,-0.284, RAW= 308.3, 3.6, CAL= 305.9, 0.5, ROT= 204.1, -0.5 2025-10-27T04:46:58.272Z,1761540418.272 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T04:46:58.273Z,1761540418.273 [DAT](INFO): direction in FSK: [-0.912799,-0.408315,0.008727] 2025-10-27T04:46:58.273Z,1761540418.273 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:58.277Z,1761540418.277 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.544453 2025-10-27T04:46:58.342Z,1761540418.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934701,-0.315673,-0.163354],[0.320978,0.947065,0.006464],[0.152666,-0.058475,0.986546]] 2025-10-27T04:46:58.473Z,1761540418.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504070 s, deltaX: 0.299999 m, approachRate: 0.595154 m/s, rangeRepo size: 4 2025-10-27T04:46:58.475Z,1761540418.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.699053 m, bearing: 223.121454 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 0.504070 s, deltaX: 0.298542 m, approachRate: 0.592263 m/s, posRepo size: 4 2025-10-27T04:46:58.476Z,1761540418.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T04:46:58.517Z,1761540418.517 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.784245 2025-10-27T04:46:58.747Z,1761540418.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934821,-0.315086,-0.163801],[0.320359,0.947276,0.006133],[0.153232,-0.058208,0.986474]] 2025-10-27T04:46:58.765Z,1761540418.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T04:46:58.769Z,1761540418.769 [DAT](INFO): DAT read: Rx Time:04:46:57.5280 2025-10-27T04:46:58.769Z,1761540418.769 [DAT](INFO): Rx dataTimestamp_ set to:1761540418.768815 2025-10-27T04:46:58.770Z,1761540418.770 [DAT](INFO): DAT read: Bearing 347.8, -33.0 (Local) 2025-10-27T04:46:58.771Z,1761540418.771 [DAT](INFO): Local bearing/azimuth received: Bearing 347.8, -33.0 (Local) 2025-10-27T04:46:58.773Z,1761540418.773 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-27T04:46:58.778Z,1761540418.778 [DAT](INFO): DAT read: 04:46:57.5280 LVL= 32752, 26721, 32754, 32755, AGC= 63, IDX= 511,-0.04,-2.420,-0.269,-1.494,-1.266, PHS=-1.052, 1.041,-0.272, RAW= 308.4, 3.1, CAL= 306.0, -0.2, ROT= 204.0, 0.2 2025-10-27T04:46:58.779Z,1761540418.779 [DAT](INFO): got valid direction response: 04:46:57.5280 LVL= 32752, 26721, 32754, 32755, AGC= 63, IDX= 511,-0.04,-2.420,-0.269,-1.494,-1.266, PHS=-1.052, 1.041,-0.272, RAW= 308.4, 3.1, CAL= 306.0, -0.2, ROT= 204.0, 0.2 2025-10-27T04:46:58.779Z,1761540418.779 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T04:46:58.780Z,1761540418.780 [DAT](INFO): direction in FSK: [-0.913540,-0.406734,-0.003491] 2025-10-27T04:46:58.781Z,1761540418.781 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:58.785Z,1761540418.785 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.052166 2025-10-27T04:46:59.021Z,1761540419.021 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.287601 2025-10-27T04:46:59.238Z,1761540419.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934886,-0.314229,-0.165068],[0.319465,0.947582,0.005487],[0.154692,-0.057863,0.986267]] 2025-10-27T04:46:59.273Z,1761540419.273 [DAT](INFO): DAT read: Rx Time:04:46:58.0281 2025-10-27T04:46:59.273Z,1761540419.273 [DAT](INFO): Rx dataTimestamp_ set to:1761540419.272777 2025-10-27T04:46:59.274Z,1761540419.274 [DAT](INFO): DAT read: Bearing 344.3, -30.3 (Local) 2025-10-27T04:46:59.275Z,1761540419.275 [DAT](INFO): Local bearing/azimuth received: Bearing 344.3, -30.3 (Local) 2025-10-27T04:46:59.277Z,1761540419.277 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-27T04:46:59.282Z,1761540419.282 [DAT](INFO): DAT read: 04:46:58.0281 LVL= 32752, 26193, 32498, 32755, AGC= 65, IDX= 513,-0.23, 2.124,-2.447, 2.815, 3.071, PHS=-0.845, 0.810,-0.300, RAW= 311.2, 4.6, CAL= 308.9, 2.7, ROT= 201.1, -2.7 2025-10-27T04:46:59.283Z,1761540419.283 [DAT](INFO): got valid direction response: 04:46:58.0281 LVL= 32752, 26193, 32498, 32755, AGC= 65, IDX= 513,-0.23, 2.124,-2.447, 2.815, 3.071, PHS=-0.845, 0.810,-0.300, RAW= 311.2, 4.6, CAL= 308.9, 2.7, ROT= 201.1, -2.7 2025-10-27T04:46:59.283Z,1761540419.283 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T04:46:59.285Z,1761540419.285 [DAT](INFO): direction in FSK: [-0.931918,-0.359597,0.047106] 2025-10-27T04:46:59.285Z,1761540419.285 [DAT](INFO): publishing direction and range info 2025-10-27T04:46:59.300Z,1761540419.300 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.566071 2025-10-27T04:46:59.360Z,1761540419.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.016046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:46:59.362Z,1761540419.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.699121 m, bearing: 219.799236 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 1.016046 s, deltaX: 0.000069 m, approachRate: 0.000068 m/s, posRepo size: 4 2025-10-27T04:46:59.362Z,1761540419.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T04:46:59.525Z,1761540419.525 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.792576 2025-10-27T04:46:59.744Z,1761540419.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934790,-0.314248,-0.165577],[0.319423,0.947600,0.004904],[0.155360,-0.057473,0.986185]] 2025-10-27T04:46:59.770Z,1761540419.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T04:46:59.776Z,1761540419.776 [DAT](INFO): DAT read: Rx Time:04:46:58.5281 2025-10-27T04:46:59.777Z,1761540419.777 [DAT](INFO): Rx dataTimestamp_ set to:1761540419.776528 2025-10-27T04:46:59.778Z,1761540419.778 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-27T04:46:59.779Z,1761540419.779 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-27T04:46:59.780Z,1761540419.780 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.047199 2025-10-27T04:47:00.028Z,1761540420.028 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.295174 2025-10-27T04:47:00.146Z,1761540420.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934691,-0.314262,-0.166109],[0.319392,0.947612,0.004419],[0.156018,-0.057184,0.986098]] 2025-10-27T04:47:00.244Z,1761540420.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:00.245Z,1761540420.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T04:47:00.281Z,1761540420.281 [DAT](INFO): DAT read: Rx Time:04:46:59.0283 2025-10-27T04:47:00.282Z,1761540420.282 [DAT](INFO): Rx dataTimestamp_ set to:1761540420.281660 2025-10-27T04:47:00.285Z,1761540420.285 [DAT](INFO): DAT read: Bearing 348.0, -34.0 (Local) 2025-10-27T04:47:00.286Z,1761540420.286 [DAT](INFO): Local bearing/azimuth received: Bearing 348.0, -34.0 (Local) 2025-10-27T04:47:00.291Z,1761540420.291 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.3 2025-10-27T04:47:00.309Z,1761540420.309 [DAT](INFO): DAT read: 04:46:59.0283 LVL= 32752, 22769, 32114, 32755, AGC= 68, IDX= 2, 0.23, 0.519, 2.672, 1.474, 1.689, PHS=-1.068, 1.029,-0.259, RAW= 307.5, 3.3, CAL= 305.1, -0.1, ROT= 204.9, 0.1 2025-10-27T04:47:00.317Z,1761540420.317 [DAT](INFO): got valid direction response: 04:46:59.0283 LVL= 32752, 22769, 32114, 32755, AGC= 68, IDX= 2, 0.23, 0.519, 2.672, 1.474, 1.689, PHS=-1.068, 1.029,-0.259, RAW= 307.5, 3.3, CAL= 305.1, -0.1, ROT= 204.9, 0.1 2025-10-27T04:47:00.317Z,1761540420.317 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T04:47:00.318Z,1761540420.318 [DAT](INFO): direction in FSK: [-0.907043,-0.421035,-0.001745] 2025-10-27T04:47:00.319Z,1761540420.319 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:00.322Z,1761540420.322 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.589546 2025-10-27T04:47:00.532Z,1761540420.532 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.799232 2025-10-27T04:47:00.550Z,1761540420.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934567,-0.314294,-0.166744],[0.319410,0.947608,0.004098],[0.156720,-0.057090,0.985992]] 2025-10-27T04:47:00.594Z,1761540420.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.505132 s, deltaX: 0.300001 m, approachRate: 0.593906 m/s, rangeRepo size: 4 2025-10-27T04:47:00.597Z,1761540420.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.997517 m, bearing: 223.923782 deg, lat: 36.779359 deg, lon: -121.859584 deg, deltaT: 1.008883 s, deltaX: 0.298395 m, approachRate: 0.295768 m/s, posRepo size: 4 2025-10-27T04:47:00.597Z,1761540420.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m. 2025-10-27T04:47:00.786Z,1761540420.786 [DAT](INFO): DAT read: Rx Time:04:46:59.5283 2025-10-27T04:47:00.788Z,1761540420.788 [DAT](INFO): Rx dataTimestamp_ set to:1761540420.787282 2025-10-27T04:47:00.790Z,1761540420.790 [DAT](INFO): DAT read: Bearing 348.0, -34.2 (Local) 2025-10-27T04:47:00.791Z,1761540420.791 [DAT](INFO): Local bearing/azimuth received: Bearing 348.0, -34.2 (Local) 2025-10-27T04:47:00.800Z,1761540420.800 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.2 2025-10-27T04:47:00.814Z,1761540420.814 [DAT](INFO): DAT read: 04:46:59.5283 LVL= 32752, 29329, 32754, 32755, AGC= 66, IDX= 498, 0.12,-1.169, 0.988,-0.209, 0.005, PHS=-1.071, 1.028,-0.258, RAW= 307.4, 3.3, CAL= 305.0, -0.1, ROT= 205.0, 0.1 2025-10-27T04:47:00.820Z,1761540420.820 [DAT](INFO): got valid direction response: 04:46:59.5283 LVL= 32752, 29329, 32754, 32755, AGC= 66, IDX= 498, 0.12,-1.169, 0.988,-0.209, 0.005, PHS=-1.071, 1.028,-0.258, RAW= 307.4, 3.3, CAL= 305.0, -0.1, ROT= 205.0, 0.1 2025-10-27T04:47:00.820Z,1761540420.820 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T04:47:00.822Z,1761540420.822 [DAT](INFO): direction in FSK: [-0.906306,-0.422618,-0.001745] 2025-10-27T04:47:00.822Z,1761540420.822 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:00.865Z,1761540420.865 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.131859 2025-10-27T04:47:00.954Z,1761540420.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934438,-0.314396,-0.167272],[0.319558,0.947557,0.004182],[0.157185,-0.057361,0.985902]] 2025-10-27T04:47:00.989Z,1761540420.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.505622 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:00.992Z,1761540420.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.997517 m, bearing: 224.034956 deg, lat: 36.779360 deg, lon: -121.859586 deg, deltaT: 0.505622 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:00.992Z,1761540420.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m. 2025-10-27T04:47:01.037Z,1761540421.037 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.303909 2025-10-27T04:47:01.290Z,1761540421.290 [DAT](INFO): DAT read: Rx Time:04:47:00.0284 2025-10-27T04:47:01.292Z,1761540421.292 [DAT](INFO): Rx dataTimestamp_ set to:1761540421.291293 2025-10-27T04:47:01.293Z,1761540421.293 [DAT](INFO): DAT read: Bearing 349.1, -34.4 (Local) 2025-10-27T04:47:01.294Z,1761540421.294 [DAT](INFO): Local bearing/azimuth received: Bearing 349.1, -34.4 (Local) 2025-10-27T04:47:01.304Z,1761540421.304 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.3 2025-10-27T04:47:01.315Z,1761540421.315 [DAT](INFO): DAT read: 04:47:00.0284 LVL= 32752, 22417, 28402, 32755, AGC= 64, IDX= 499, 0.05,-2.115, 0.051,-1.137,-0.953, PHS=-1.060, 1.049,-0.228, RAW= 307.0, 2.6, CAL= 304.7, -0.8, ROT= 205.3, 0.8 2025-10-27T04:47:01.317Z,1761540421.317 [DAT](INFO): got valid direction response: 04:47:00.0284 LVL= 32752, 22417, 28402, 32755, AGC= 64, IDX= 499, 0.05,-2.115, 0.051,-1.137,-0.953, PHS=-1.060, 1.049,-0.228, RAW= 307.0, 2.6, CAL= 304.7, -0.8, ROT= 205.3, 0.8 2025-10-27T04:47:01.317Z,1761540421.317 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T04:47:01.318Z,1761540421.318 [DAT](INFO): direction in FSK: [-0.903994,-0.427316,-0.013962] 2025-10-27T04:47:01.318Z,1761540421.318 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:01.342Z,1761540421.342 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.609253 2025-10-27T04:47:01.359Z,1761540421.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934014,-0.315395,-0.167763],[0.320496,0.947243,0.003528],[0.157799,-0.057062,0.985821]] 2025-10-27T04:47:01.472Z,1761540421.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504011 s, deltaX: 0.100000 m, approachRate: 0.198409 m/s, rangeRepo size: 4 2025-10-27T04:47:01.474Z,1761540421.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.096962 m, bearing: 224.481776 deg, lat: 36.779362 deg, lon: -121.859587 deg, deltaT: 0.504011 s, deltaX: 0.099445 m, approachRate: 0.197308 m/s, posRepo size: 4 2025-10-27T04:47:01.474Z,1761540421.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T04:47:01.541Z,1761540421.541 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.807915 2025-10-27T04:47:01.765Z,1761540421.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933553,-0.316603,-0.168052],[0.321633,0.946860,0.002871],[0.158213,-0.056731,0.985774]] 2025-10-27T04:47:01.793Z,1761540421.793 [DAT](INFO): DAT read: Rx Time:04:47:00.5284 2025-10-27T04:47:01.794Z,1761540421.794 [DAT](INFO): Rx dataTimestamp_ set to:1761540421.793939 2025-10-27T04:47:01.797Z,1761540421.797 [DAT](INFO): DAT read: Bearing 349.2, -34.7 (Local) 2025-10-27T04:47:01.798Z,1761540421.798 [DAT](INFO): Local bearing/azimuth received: Bearing 349.2, -34.7 (Local) 2025-10-27T04:47:01.801Z,1761540421.801 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.2 2025-10-27T04:47:01.822Z,1761540421.822 [DAT](INFO): DAT read: 04:47:00.5284 LVL= 32752, 23265, 28850, 32755, AGC= 65, IDX= 499, 0.00, 1.535,-2.579, 2.519, 2.701, PHS=-1.064, 1.048,-0.225, RAW= 306.8, 2.6, CAL= 304.5, -0.8, ROT= 205.5, 0.8 2025-10-27T04:47:01.832Z,1761540421.832 [DAT](INFO): got valid direction response: 04:47:00.5284 LVL= 32752, 23265, 28850, 32755, AGC= 65, IDX= 499, 0.00, 1.535,-2.579, 2.519, 2.701, PHS=-1.064, 1.048,-0.225, RAW= 306.8, 2.6, CAL= 304.5, -0.8, ROT= 205.5, 0.8 2025-10-27T04:47:01.832Z,1761540421.832 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T04:47:01.833Z,1761540421.833 [DAT](INFO): direction in FSK: [-0.902497,-0.430469,-0.013962] 2025-10-27T04:47:01.833Z,1761540421.833 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:01.845Z,1761540421.845 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.112228 2025-10-27T04:47:01.858Z,1761540421.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.502646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:01.865Z,1761540421.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.096962 m, bearing: 224.755257 deg, lat: 36.779363 deg, lon: -121.859587 deg, deltaT: 0.502646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:01.865Z,1761540421.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T04:47:02.044Z,1761540422.044 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.311375 2025-10-27T04:47:02.218Z,1761540422.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932998,-0.318089,-0.168327],[0.323081,0.946368,0.002405],[0.158534,-0.056627,0.985728]] 2025-10-27T04:47:02.268Z,1761540422.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T04:47:02.298Z,1761540422.298 [DAT](INFO): DAT read: Rx Time:04:47:01.0286 2025-10-27T04:47:02.306Z,1761540422.306 [DAT](INFO): Rx dataTimestamp_ set to:1761540422.298127 2025-10-27T04:47:02.308Z,1761540422.308 [DAT](INFO): DAT read: Bearing 348.7, -34.8 (Local) 2025-10-27T04:47:02.309Z,1761540422.309 [DAT](INFO): Local bearing/azimuth received: Bearing 348.7, -34.8 (Local) 2025-10-27T04:47:02.313Z,1761540422.313 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 2025-10-27T04:47:02.328Z,1761540422.328 [DAT](INFO): DAT read: 04:47:01.0286 LVL= 32752, 26609, 32370, 32755, AGC= 67, IDX= 501,-0.05, 1.632,-2.483, 2.616, 2.810, PHS=-1.076, 1.034,-0.238, RAW= 306.8, 3.1, CAL= 304.4, -0.4, ROT= 205.6, 0.4 2025-10-27T04:47:02.330Z,1761540422.330 [DAT](INFO): got valid direction response: 04:47:01.0286 LVL= 32752, 26609, 32370, 32755, AGC= 67, IDX= 501,-0.05, 1.632,-2.483, 2.616, 2.810, PHS=-1.076, 1.034,-0.238, RAW= 306.8, 3.1, CAL= 304.4, -0.4, ROT= 205.6, 0.4 2025-10-27T04:47:02.331Z,1761540422.331 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T04:47:02.332Z,1761540422.332 [DAT](INFO): direction in FSK: [-0.901811,-0.432075,-0.006981] 2025-10-27T04:47:02.332Z,1761540422.332 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:02.348Z,1761540422.348 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.614948 2025-10-27T04:47:02.548Z,1761540422.548 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.815208 2025-10-27T04:47:02.583Z,1761540422.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932407,-0.319748,-0.168461],[0.324775,0.945788,0.002427],[0.158552,-0.056975,0.985705]] 2025-10-27T04:47:02.611Z,1761540422.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504188 s, deltaX: 0.299999 m, approachRate: 0.595015 m/s, rangeRepo size: 4 2025-10-27T04:47:02.613Z,1761540422.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.395252 m, bearing: 225.001292 deg, lat: 36.779365 deg, lon: -121.859588 deg, deltaT: 0.504188 s, deltaX: 0.298290 m, approachRate: 0.591625 m/s, posRepo size: 4 2025-10-27T04:47:02.614Z,1761540422.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T04:47:02.802Z,1761540422.802 [DAT](INFO): DAT read: Rx Time:04:47:01.5286 2025-10-27T04:47:02.804Z,1761540422.804 [DAT](INFO): Rx dataTimestamp_ set to:1761540422.804159 2025-10-27T04:47:02.807Z,1761540422.807 [DAT](INFO): DAT read: Bearing 348.9, -34.7 (Local) 2025-10-27T04:47:02.807Z,1761540422.807 [DAT](INFO): Local bearing/azimuth received: Bearing 348.9, -34.7 (Local) 2025-10-27T04:47:02.811Z,1761540422.811 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.3 2025-10-27T04:47:02.817Z,1761540422.817 [DAT](INFO): DAT read: 04:47:01.5286 LVL= 32752, 24417, 31810, 32755, AGC= 66, IDX= 501,-0.07, 0.659, 2.832, 1.642, 1.837, PHS=-1.076, 1.040,-0.239, RAW= 306.9, 3.0, CAL= 304.5, -0.4, ROT= 205.5, 0.4 2025-10-27T04:47:02.818Z,1761540422.818 [DAT](INFO): got valid direction response: 04:47:01.5286 LVL= 32752, 24417, 31810, 32755, AGC= 66, IDX= 501,-0.07, 0.659, 2.832, 1.642, 1.837, PHS=-1.076, 1.040,-0.239, RAW= 306.9, 3.0, CAL= 304.5, -0.4, ROT= 205.5, 0.4 2025-10-27T04:47:02.819Z,1761540422.819 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T04:47:02.820Z,1761540422.820 [DAT](INFO): direction in FSK: [-0.902563,-0.430501,-0.006981] 2025-10-27T04:47:02.820Z,1761540422.820 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:02.829Z,1761540422.829 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.095921 2025-10-27T04:47:02.982Z,1761540422.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931706,-0.321671,-0.168677],[0.326770,0.945100,0.002620],[0.158574,-0.057560,0.985668]] 2025-10-27T04:47:03.025Z,1761540423.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.506032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:03.027Z,1761540423.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.395252 m, bearing: 225.022397 deg, lat: 36.779365 deg, lon: -121.859588 deg, deltaT: 0.506032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:03.028Z,1761540423.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T04:47:03.052Z,1761540423.052 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.319134 2025-10-27T04:47:03.305Z,1761540423.305 [DAT](INFO): DAT read: Rx Time:04:47:02.0288 2025-10-27T04:47:03.306Z,1761540423.306 [DAT](INFO): Rx dataTimestamp_ set to:1761540423.305475 2025-10-27T04:47:03.308Z,1761540423.308 [DAT](INFO): DAT read: Bearing 348.5, -34.8 (Local) 2025-10-27T04:47:03.309Z,1761540423.309 [DAT](INFO): Local bearing/azimuth received: Bearing 348.5, -34.8 (Local) 2025-10-27T04:47:03.312Z,1761540423.312 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.3 2025-10-27T04:47:03.317Z,1761540423.317 [DAT](INFO): DAT read: 04:47:02.0288 LVL= 32752, 26353, 32754, 32755, AGC= 67, IDX= 503,-0.06, 0.965, 3.122, 1.943, 2.148, PHS=-1.080, 1.019,-0.249, RAW= 306.9, 3.4, CAL= 304.4, 0.0, ROT= 205.6, -0.0 2025-10-27T04:47:03.318Z,1761540423.318 [DAT](INFO): got valid direction response: 04:47:02.0288 LVL= 32752, 26353, 32754, 32755, AGC= 67, IDX= 503,-0.06, 0.965, 3.122, 1.943, 2.148, PHS=-1.080, 1.019,-0.249, RAW= 306.9, 3.4, CAL= 304.4, 0.0, ROT= 205.6, -0.0 2025-10-27T04:47:03.322Z,1761540423.322 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T04:47:03.323Z,1761540423.323 [DAT](INFO): direction in FSK: [-0.901832,-0.432086,0.000000] 2025-10-27T04:47:03.336Z,1761540423.336 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:03.340Z,1761540423.340 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.607075 2025-10-27T04:47:03.386Z,1761540423.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931031,-0.323514,-0.168877],[0.328647,0.944449,0.002599],[0.158655,-0.057921,0.985634]] 2025-10-27T04:47:03.489Z,1761540423.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.501316 s, deltaX: 0.299999 m, approachRate: 0.598423 m/s, rangeRepo size: 4 2025-10-27T04:47:03.495Z,1761540423.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.693544 m, bearing: 225.188468 deg, lat: 36.779365 deg, lon: -121.859588 deg, deltaT: 0.501316 s, deltaX: 0.298292 m, approachRate: 0.595018 m/s, posRepo size: 4 2025-10-27T04:47:03.496Z,1761540423.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-27T04:47:03.557Z,1761540423.557 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.824039 2025-10-27T04:47:03.799Z,1761540423.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930279,-0.325697,-0.168828],[0.330688,0.943739,0.001539],[0.158828,-0.057261,0.985644]] 2025-10-27T04:47:03.810Z,1761540423.810 [DAT](INFO): DAT read: Rx Time:04:47:02.5288 2025-10-27T04:47:03.811Z,1761540423.811 [DAT](INFO): Rx dataTimestamp_ set to:1761540423.810141 2025-10-27T04:47:03.813Z,1761540423.813 [DAT](INFO): DAT read: Bearing 347.8, -34.5 (Local) 2025-10-27T04:47:03.813Z,1761540423.813 [DAT](INFO): Local bearing/azimuth received: Bearing 347.8, -34.5 (Local) 2025-10-27T04:47:03.825Z,1761540423.825 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 2025-10-27T04:47:03.834Z,1761540423.834 [DAT](INFO): DAT read: 04:47:02.5288 LVL= 32752, 26017, 32754, 32755, AGC= 65, IDX= 503,-0.12, 0.443, 2.606, 1.411, 1.635, PHS=-1.091, 1.016,-0.269, RAW= 307.2, 3.8, CAL= 304.8, 0.7, ROT= 205.2, -0.7 2025-10-27T04:47:03.844Z,1761540423.844 [DAT](INFO): got valid direction response: 04:47:02.5288 LVL= 32752, 26017, 32754, 32755, AGC= 65, IDX= 503,-0.12, 0.443, 2.606, 1.411, 1.635, PHS=-1.091, 1.016,-0.269, RAW= 307.2, 3.8, CAL= 304.8, 0.7, ROT= 205.2, -0.7 2025-10-27T04:47:03.844Z,1761540423.844 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T04:47:03.845Z,1761540423.845 [DAT](INFO): direction in FSK: [-0.904760,-0.425748,0.012217] 2025-10-27T04:47:03.845Z,1761540423.845 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:03.862Z,1761540423.862 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.128967 2025-10-27T04:47:03.881Z,1761540423.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504666 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:03.888Z,1761540423.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.693544 m, bearing: 224.832624 deg, lat: 36.779365 deg, lon: -121.859588 deg, deltaT: 0.504666 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:03.888Z,1761540423.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-27T04:47:04.060Z,1761540424.060 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.327469 2025-10-27T04:47:04.273Z,1761540424.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929584,-0.327728,-0.168728],[0.332612,0.943064,0.000725],[0.158884,-0.056795,0.985662]] 2025-10-27T04:47:04.313Z,1761540424.313 [DAT](INFO): DAT read: Rx Time:04:47:03.0289 2025-10-27T04:47:04.314Z,1761540424.314 [DAT](INFO): Rx dataTimestamp_ set to:1761540424.313619 2025-10-27T04:47:04.315Z,1761540424.315 [DAT](INFO): DAT read: Bearing 349.0, -34.5 (Local) 2025-10-27T04:47:04.316Z,1761540424.316 [DAT](INFO): Local bearing/azimuth received: Bearing 349.0, -34.5 (Local) 2025-10-27T04:47:04.318Z,1761540424.318 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.3 2025-10-27T04:47:04.322Z,1761540424.322 [DAT](INFO): DAT read: 04:47:03.0289 LVL= 32752, 28081, 31778, 32755, AGC= 65, IDX= 505,-0.16, 2.548,-1.565,-2.761,-2.555, PHS=-1.078, 1.035,-0.250, RAW= 307.1, 3.2, CAL= 304.7, -0.2, ROT= 205.3, 0.2 2025-10-27T04:47:04.323Z,1761540424.323 [DAT](INFO): got valid direction response: 04:47:03.0289 LVL= 32752, 28081, 31778, 32755, AGC= 65, IDX= 505,-0.16, 2.548,-1.565,-2.761,-2.555, PHS=-1.078, 1.035,-0.250, RAW= 307.1, 3.2, CAL= 304.7, -0.2, ROT= 205.3, 0.2 2025-10-27T04:47:04.324Z,1761540424.324 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T04:47:04.325Z,1761540424.325 [DAT](INFO): direction in FSK: [-0.904077,-0.427355,-0.003491] 2025-10-27T04:47:04.325Z,1761540424.325 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:04.337Z,1761540424.337 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.604649 2025-10-27T04:47:04.426Z,1761540424.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503478 s, deltaX: 0.200001 m, approachRate: 0.397238 m/s, rangeRepo size: 4 2025-10-27T04:47:04.433Z,1761540424.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.892370 m, bearing: 225.161759 deg, lat: 36.779365 deg, lon: -121.859589 deg, deltaT: 0.503478 s, deltaX: 0.198826 m, approachRate: 0.394905 m/s, posRepo size: 4 2025-10-27T04:47:04.433Z,1761540424.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m. 2025-10-27T04:47:04.564Z,1761540424.564 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.831326 2025-10-27T04:47:04.813Z,1761540424.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928385,-0.331461,-0.168032],[0.336183,0.941797,-0.000365],[0.158373,-0.056150,0.985782]] 2025-10-27T04:47:04.817Z,1761540424.817 [DAT](INFO): DAT read: Rx Time:04:47:03.5290 2025-10-27T04:47:04.817Z,1761540424.817 [DAT](INFO): Rx dataTimestamp_ set to:1761540424.816807 2025-10-27T04:47:04.818Z,1761540424.818 [DAT](INFO): DAT read: Bearing 349.0, -34.6 (Local) 2025-10-27T04:47:04.819Z,1761540424.819 [DAT](INFO): Local bearing/azimuth received: Bearing 349.0, -34.6 (Local) 2025-10-27T04:47:04.821Z,1761540424.821 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.3 2025-10-27T04:47:04.826Z,1761540424.826 [DAT](INFO): DAT read: 04:47:03.5290 LVL= 32752, 26481, 30786, 32755, AGC= 65, IDX= 505,-0.11, 1.216,-2.905, 2.190, 2.398, PHS=-1.080, 1.025,-0.253, RAW= 307.0, 3.4, CAL= 304.6, -0.0, ROT= 205.4, 0.0 2025-10-27T04:47:04.827Z,1761540424.827 [DAT](INFO): got valid direction response: 04:47:03.5290 LVL= 32752, 26481, 30786, 32755, AGC= 65, IDX= 505,-0.11, 1.216,-2.905, 2.190, 2.398, PHS=-1.080, 1.025,-0.253, RAW= 307.0, 3.4, CAL= 304.6, -0.0, ROT= 205.4, 0.0 2025-10-27T04:47:04.827Z,1761540424.827 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T04:47:04.828Z,1761540424.828 [DAT](INFO): direction in FSK: [-0.903335,-0.428935,-0.000000] 2025-10-27T04:47:04.828Z,1761540424.828 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:04.852Z,1761540424.852 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.119438 2025-10-27T04:47:04.916Z,1761540424.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503188 s, deltaX: 0.100000 m, approachRate: 0.198734 m/s, rangeRepo size: 4 2025-10-27T04:47:04.918Z,1761540424.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.991833 m, bearing: 225.456481 deg, lat: 36.779365 deg, lon: -121.859589 deg, deltaT: 0.503188 s, deltaX: 0.099463 m, approachRate: 0.197665 m/s, posRepo size: 4 2025-10-27T04:47:04.923Z,1761540424.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m. 2025-10-27T04:47:05.068Z,1761540425.068 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.335300 2025-10-27T04:47:05.321Z,1761540425.321 [DAT](INFO): DAT read: Rx Time:04:47:04.0291 2025-10-27T04:47:05.321Z,1761540425.321 [DAT](INFO): Rx dataTimestamp_ set to:1761540425.320771 2025-10-27T04:47:05.322Z,1761540425.322 [DAT](INFO): DAT read: Bearing 349.9, -34.2 (Local) 2025-10-27T04:47:05.323Z,1761540425.323 [DAT](INFO): Local bearing/azimuth received: Bearing 349.9, -34.2 (Local) 2025-10-27T04:47:05.325Z,1761540425.325 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.3 2025-10-27T04:47:05.330Z,1761540425.330 [DAT](INFO): DAT read: 04:47:04.0291 LVL= 32752, 23649, 28706, 32755, AGC= 64, IDX= 506,-0.07, 2.027,-2.090, 2.994,-3.095, PHS=-1.060, 1.049,-0.238, RAW= 307.3, 2.7, CAL= 305.0, -0.7, ROT= 205.0, 0.7 2025-10-27T04:47:05.331Z,1761540425.331 [DAT](INFO): got valid direction response: 04:47:04.0291 LVL= 32752, 23649, 28706, 32755, AGC= 64, IDX= 506,-0.07, 2.027,-2.090, 2.994,-3.095, PHS=-1.060, 1.049,-0.238, RAW= 307.3, 2.7, CAL= 305.0, -0.7, ROT= 205.0, 0.7 2025-10-27T04:47:05.347Z,1761540425.347 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T04:47:05.348Z,1761540425.348 [DAT](INFO): direction in FSK: [-0.906240,-0.422587,-0.012217] 2025-10-27T04:47:05.348Z,1761540425.348 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:05.356Z,1761540425.356 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.623615 2025-10-27T04:47:05.358Z,1761540425.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927948,-0.332875,-0.167652],[0.337585,0.941295,-0.000429],[0.157953,-0.056198,0.985846]] 2025-10-27T04:47:05.450Z,1761540425.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503964 s, deltaX: 0.199999 m, approachRate: 0.396851 m/s, rangeRepo size: 4 2025-10-27T04:47:05.456Z,1761540425.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.190804 m, bearing: 225.223976 deg, lat: 36.779365 deg, lon: -121.859589 deg, deltaT: 0.503964 s, deltaX: 0.198971 m, approachRate: 0.394812 m/s, posRepo size: 4 2025-10-27T04:47:05.457Z,1761540425.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m. 2025-10-27T04:47:05.574Z,1761540425.574 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.841675 2025-10-27T04:47:05.747Z,1761540425.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927719,-0.333696,-0.167283],[0.338462,0.940980,-0.000021],[0.157417,-0.056600,0.985909]] 2025-10-27T04:47:05.788Z,1761540425.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m. 2025-10-27T04:47:05.829Z,1761540425.829 [DAT](INFO): DAT read: Rx Time:04:47:04.5291 2025-10-27T04:47:05.829Z,1761540425.829 [DAT](INFO): Rx dataTimestamp_ set to:1761540425.828806 2025-10-27T04:47:05.830Z,1761540425.830 [DAT](INFO): DAT read: Bearing 348.3, -34.0 (Local) 2025-10-27T04:47:05.831Z,1761540425.831 [DAT](INFO): Local bearing/azimuth received: Bearing 348.3, -34.0 (Local) 2025-10-27T04:47:05.833Z,1761540425.833 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.3 2025-10-27T04:47:05.838Z,1761540425.838 [DAT](INFO): DAT read: 04:47:04.5291 LVL= 32752, 27825, 32754, 32755, AGC= 66, IDX= 506, 0.00, 0.859, 3.017, 1.812, 2.043, PHS=-1.082, 1.019,-0.275, RAW= 307.6, 3.7, CAL= 305.2, 0.7, ROT= 204.8, -0.7 2025-10-27T04:47:05.839Z,1761540425.839 [DAT](INFO): got valid direction response: 04:47:04.5291 LVL= 32752, 27825, 32754, 32755, AGC= 66, IDX= 506, 0.00, 0.859, 3.017, 1.812, 2.043, PHS=-1.082, 1.019,-0.275, RAW= 307.6, 3.7, CAL= 305.2, 0.7, ROT= 204.8, -0.7 2025-10-27T04:47:05.839Z,1761540425.839 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T04:47:05.840Z,1761540425.840 [DAT](INFO): direction in FSK: [-0.907710,-0.419421,0.012217] 2025-10-27T04:47:05.840Z,1761540425.840 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:05.849Z,1761540425.849 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.116207 2025-10-27T04:47:06.080Z,1761540426.080 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.347561 2025-10-27T04:47:06.166Z,1761540426.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927404,-0.334759,-0.166905],[0.339543,0.940591,0.000131],[0.156945,-0.056792,0.985973]] 2025-10-27T04:47:06.237Z,1761540426.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.508035 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:06.239Z,1761540426.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.190804 m, bearing: 224.969828 deg, lat: 36.779364 deg, lon: -121.859588 deg, deltaT: 0.508035 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:06.239Z,1761540426.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m. 2025-10-27T04:47:06.334Z,1761540426.334 [DAT](INFO): DAT read: Rx Time:04:47:05.0292 2025-10-27T04:47:06.334Z,1761540426.334 [DAT](INFO): Rx dataTimestamp_ set to:1761540426.333900 2025-10-27T04:47:06.336Z,1761540426.336 [DAT](INFO): DAT read: Bearing 349.4, -33.8 (Local) 2025-10-27T04:47:06.337Z,1761540426.337 [DAT](INFO): Local bearing/azimuth received: Bearing 349.4, -33.8 (Local) 2025-10-27T04:47:06.347Z,1761540426.347 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.3 2025-10-27T04:47:06.354Z,1761540426.354 [DAT](INFO): DAT read: 04:47:05.0292 LVL= 32752, 24561, 32754, 32755, AGC= 65, IDX= 508,-0.00, 2.344,-1.779,-2.989,-2.771, PHS=-1.067, 1.037,-0.262, RAW= 307.7, 3.2, CAL= 305.3, -0.1, ROT= 204.7, 0.1 2025-10-27T04:47:06.356Z,1761540426.356 [DAT](INFO): got valid direction response: 04:47:05.0292 LVL= 32752, 24561, 32754, 32755, AGC= 65, IDX= 508,-0.00, 2.344,-1.779,-2.989,-2.771, PHS=-1.067, 1.037,-0.262, RAW= 307.7, 3.2, CAL= 305.3, -0.1, ROT= 204.7, 0.1 2025-10-27T04:47:06.356Z,1761540426.356 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T04:47:06.358Z,1761540426.358 [DAT](INFO): direction in FSK: [-0.908507,-0.417866,-0.001745] 2025-10-27T04:47:06.358Z,1761540426.358 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:06.374Z,1761540426.374 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.641121 2025-10-27T04:47:06.544Z,1761540426.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927284,-0.335382,-0.166325],[0.340198,0.940354,0.000495],[0.156239,-0.057042,0.986071]] 2025-10-27T04:47:06.584Z,1761540426.584 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.851379 2025-10-27T04:47:06.604Z,1761540426.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.505094 s, deltaX: 0.300001 m, approachRate: 0.593951 m/s, rangeRepo size: 4 2025-10-27T04:47:06.606Z,1761540426.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.488705 m, bearing: 225.000283 deg, lat: 36.779364 deg, lon: -121.859588 deg, deltaT: 0.505094 s, deltaX: 0.297901 m, approachRate: 0.589794 m/s, posRepo size: 4 2025-10-27T04:47:06.606Z,1761540426.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-27T04:47:06.837Z,1761540426.837 [DAT](INFO): DAT read: Rx Time:04:47:05.5292 2025-10-27T04:47:06.838Z,1761540426.838 [DAT](INFO): Rx dataTimestamp_ set to:1761540426.837426 2025-10-27T04:47:06.839Z,1761540426.839 [DAT](INFO): DAT read: Bearing 348.6, -33.7 (Local) 2025-10-27T04:47:06.839Z,1761540426.839 [DAT](INFO): Local bearing/azimuth received: Bearing 348.6, -33.7 (Local) 2025-10-27T04:47:06.841Z,1761540426.841 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.3 2025-10-27T04:47:06.846Z,1761540426.846 [DAT](INFO): DAT read: 04:47:05.5292 LVL= 32752, 24305, 32754, 32755, AGC= 65, IDX= 508,-0.02, 0.967,-3.141, 1.918, 2.156, PHS=-1.086, 1.031,-0.282, RAW= 307.9, 3.7, CAL= 305.5, 0.6, ROT= 204.5, -0.6 2025-10-27T04:47:06.847Z,1761540426.847 [DAT](INFO): got valid direction response: 04:47:05.5292 LVL= 32752, 24305, 32754, 32755, AGC= 65, IDX= 508,-0.02, 0.967,-3.141, 1.918, 2.156, PHS=-1.086, 1.031,-0.282, RAW= 307.9, 3.7, CAL= 305.5, 0.6, ROT= 204.5, -0.6 2025-10-27T04:47:06.848Z,1761540426.848 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T04:47:06.849Z,1761540426.849 [DAT](INFO): direction in FSK: [-0.909911,-0.414671,0.010472] 2025-10-27T04:47:06.849Z,1761540426.849 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:06.859Z,1761540426.859 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.126102 2025-10-27T04:47:07.023Z,1761540427.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503526 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:07.025Z,1761540427.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.488705 m, bearing: 224.717472 deg, lat: 36.779364 deg, lon: -121.859588 deg, deltaT: 0.503526 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:07.026Z,1761540427.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-27T04:47:07.088Z,1761540427.088 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.355328 2025-10-27T04:47:07.341Z,1761540427.341 [DAT](INFO): DAT read: Rx Time:04:47:06.0294 2025-10-27T04:47:07.341Z,1761540427.341 [DAT](INFO): Rx dataTimestamp_ set to:1761540427.340796 2025-10-27T04:47:07.342Z,1761540427.342 [DAT](INFO): DAT read: Bearing 349.3, -33.6 (Local) 2025-10-27T04:47:07.348Z,1761540427.348 [DAT](INFO): Local bearing/azimuth received: Bearing 349.3, -33.6 (Local) 2025-10-27T04:47:07.350Z,1761540427.350 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.2 2025-10-27T04:47:07.354Z,1761540427.354 [DAT](INFO): DAT read: 04:47:06.0294 LVL= 32752, 23409, 32754, 32755, AGC= 65, IDX= 510,-0.07, 2.107,-2.016, 3.050,-3.006, PHS=-1.068, 1.035,-0.271, RAW= 308.0, 3.3, CAL= 305.5, 0.0, ROT= 204.5, -0.0 2025-10-27T04:47:07.355Z,1761540427.355 [DAT](INFO): got valid direction response: 04:47:06.0294 LVL= 32752, 23409, 32754, 32755, AGC= 65, IDX= 510,-0.07, 2.107,-2.016, 3.050,-3.006, PHS=-1.068, 1.035,-0.271, RAW= 308.0, 3.3, CAL= 305.5, 0.0, ROT= 204.5, -0.0 2025-10-27T04:47:07.356Z,1761540427.356 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T04:47:07.357Z,1761540427.357 [DAT](INFO): direction in FSK: [-0.909961,-0.414693,0.000000] 2025-10-27T04:47:07.357Z,1761540427.357 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:07.361Z,1761540427.361 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.627914 2025-10-27T04:47:07.513Z,1761540427.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503370 s, deltaX: 0.299999 m, approachRate: 0.595982 m/s, rangeRepo size: 4 2025-10-27T04:47:07.519Z,1761540427.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.787136 m, bearing: 224.788402 deg, lat: 36.779363 deg, lon: -121.859588 deg, deltaT: 0.503370 s, deltaX: 0.298431 m, approachRate: 0.592867 m/s, posRepo size: 4 2025-10-27T04:47:07.520Z,1761540427.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T04:47:07.592Z,1761540427.592 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.859367 2025-10-27T04:47:07.753Z,1761540427.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927247,-0.336276,-0.164717],[0.341141,0.940011,0.001332],[0.154389,-0.057427,0.986340]] 2025-10-27T04:47:07.772Z,1761540427.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T04:47:07.845Z,1761540427.845 [DAT](INFO): DAT read: Rx Time:04:47:06.5293 2025-10-27T04:47:07.846Z,1761540427.846 [DAT](INFO): Rx dataTimestamp_ set to:1761540427.845633 2025-10-27T04:47:07.848Z,1761540427.848 [DAT](INFO): DAT read: Bearing 349.3, -33.5 (Local) 2025-10-27T04:47:07.848Z,1761540427.848 [DAT](INFO): Local bearing/azimuth received: Bearing 349.3, -33.5 (Local) 2025-10-27T04:47:07.852Z,1761540427.852 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2 2025-10-27T04:47:07.858Z,1761540427.858 [DAT](INFO): DAT read: 04:47:06.5293 LVL= 32752, 24497, 30354, 32755, AGC= 65, IDX= 510,-0.15, 0.341, 2.504, 1.283, 1.513, PHS=-1.070, 1.036,-0.274, RAW= 308.0, 3.4, CAL= 305.6, 0.1, ROT= 204.4, -0.1 2025-10-27T04:47:07.860Z,1761540427.860 [DAT](INFO): got valid direction response: 04:47:06.5293 LVL= 32752, 24497, 30354, 32755, AGC= 65, IDX= 510,-0.15, 0.341, 2.504, 1.283, 1.513, PHS=-1.070, 1.036,-0.274, RAW= 308.0, 3.4, CAL= 305.6, 0.1, ROT= 204.4, -0.1 2025-10-27T04:47:07.861Z,1761540427.861 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T04:47:07.862Z,1761540427.862 [DAT](INFO): direction in FSK: [-0.910682,-0.413104,0.001745] 2025-10-27T04:47:07.862Z,1761540427.862 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:07.869Z,1761540427.869 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.136097 2025-10-27T04:47:08.096Z,1761540428.096 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.363255 2025-10-27T04:47:08.208Z,1761540428.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927477,-0.335983,-0.164019],[0.340777,0.940143,0.001166],[0.153809,-0.056975,0.986457]] 2025-10-27T04:47:08.272Z,1761540428.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504837 s, deltaX: -0.199999 m, approachRate: -0.396165 m/s, rangeRepo size: 4 2025-10-27T04:47:08.274Z,1761540428.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.588217 m, bearing: 224.697668 deg, lat: 36.779363 deg, lon: -121.859587 deg, deltaT: 0.504837 s, deltaX: -0.198919 m, approachRate: -0.394027 m/s, posRepo size: 4 2025-10-27T04:47:08.275Z,1761540428.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.59 m. 2025-10-27T04:47:08.349Z,1761540428.349 [DAT](INFO): DAT read: Rx Time:04:47:07.0295 2025-10-27T04:47:08.350Z,1761540428.350 [DAT](INFO): Rx dataTimestamp_ set to:1761540428.349613 2025-10-27T04:47:08.353Z,1761540428.353 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 2025-10-27T04:47:08.354Z,1761540428.354 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-27T04:47:08.356Z,1761540428.356 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.622936 2025-10-27T04:47:08.600Z,1761540428.600 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.867271 2025-10-27T04:47:08.629Z,1761540428.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503980 s, deltaX: 0.299999 m, approachRate: 0.595260 m/s, rangeRepo size: 4 2025-10-27T04:47:08.630Z,1761540428.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.59 m. 2025-10-27T04:47:08.853Z,1761540428.853 [DAT](INFO): DAT read: Rx Time:04:47:07.5295 2025-10-27T04:47:08.853Z,1761540428.853 [DAT](INFO): Rx dataTimestamp_ set to:1761540428.852723 2025-10-27T04:47:08.854Z,1761540428.854 [DAT](INFO): DAT read: Bearing 349.3, -33.3 (Local) 2025-10-27T04:47:08.855Z,1761540428.855 [DAT](INFO): Local bearing/azimuth received: Bearing 349.3, -33.3 (Local) 2025-10-27T04:47:08.857Z,1761540428.857 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.2 2025-10-27T04:47:08.861Z,1761540428.861 [DAT](INFO): DAT read: 04:47:07.5295 LVL= 32752, 26929, 32306, 32755, AGC= 65, IDX= 511, 0.43, 1.897,-2.233, 2.831, 3.063, PHS=-1.064, 1.033,-0.276, RAW= 308.2, 3.4, CAL= 305.7, 0.1, ROT= 204.3, -0.1 2025-10-27T04:47:08.862Z,1761540428.862 [DAT](INFO): got valid direction response: 04:47:07.5295 LVL= 32752, 26929, 32306, 32755, AGC= 65, IDX= 511, 0.43, 1.897,-2.233, 2.831, 3.063, PHS=-1.064, 1.033,-0.276, RAW= 308.2, 3.4, CAL= 305.7, 0.1, ROT= 204.3, -0.1 2025-10-27T04:47:08.863Z,1761540428.863 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T04:47:08.864Z,1761540428.864 [DAT](INFO): direction in FSK: [-0.911402,-0.411514,0.001745] 2025-10-27T04:47:08.864Z,1761540428.864 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:08.885Z,1761540428.885 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.152691 2025-10-27T04:47:08.965Z,1761540428.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927813,-0.335547,-0.163007],[0.340278,0.940324,0.001175],[0.152885,-0.056558,0.986624]] 2025-10-27T04:47:09.013Z,1761540429.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503110 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:09.019Z,1761540429.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.886772 m, bearing: 224.562450 deg, lat: 36.779363 deg, lon: -121.859587 deg, deltaT: 1.007090 s, deltaX: 0.298555 m, approachRate: 0.296454 m/s, posRepo size: 4 2025-10-27T04:47:09.020Z,1761540429.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T04:47:09.104Z,1761540429.104 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.371326 2025-10-27T04:47:09.356Z,1761540429.356 [DAT](INFO): DAT read: Rx Time:04:47:08.0296 2025-10-27T04:47:09.356Z,1761540429.356 [DAT](INFO): Rx dataTimestamp_ set to:1761540429.356210 2025-10-27T04:47:09.358Z,1761540429.358 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.2 2025-10-27T04:47:09.358Z,1761540429.358 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-27T04:47:09.364Z,1761540429.364 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.631203 2025-10-27T04:47:09.397Z,1761540429.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928042,-0.335049,-0.162728],[0.339786,0.940502,0.001359],[0.152590,-0.056554,0.986670]] 2025-10-27T04:47:09.454Z,1761540429.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503487 s, deltaX: 0.200001 m, approachRate: 0.397231 m/s, rangeRepo size: 4 2025-10-27T04:47:09.454Z,1761540429.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T04:47:09.608Z,1761540429.608 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.875725 2025-10-27T04:47:09.794Z,1761540429.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928233,-0.334666,-0.162424],[0.339386,0.940646,0.001401],[0.152314,-0.056425,0.986720]] 2025-10-27T04:47:09.819Z,1761540429.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T04:47:09.861Z,1761540429.861 [DAT](INFO): DAT read: Rx Time:04:47:08.5294 2025-10-27T04:47:09.862Z,1761540429.862 [DAT](INFO): Rx dataTimestamp_ set to:1761540429.861140 2025-10-27T04:47:09.863Z,1761540429.863 [DAT](INFO): DAT read: Bearing 352.1, -33.3 (Local) 2025-10-27T04:47:09.864Z,1761540429.864 [DAT](INFO): Local bearing/azimuth received: Bearing 352.1, -33.3 (Local) 2025-10-27T04:47:09.867Z,1761540429.867 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.1 2025-10-27T04:47:09.873Z,1761540429.873 [DAT](INFO): DAT read: 04:47:08.5294 LVL= 32752, 23153, 30434, 32755, AGC= 65, IDX= 512,-0.21,-2.113, 0.096,-1.141,-0.978, PHS=-1.033, 1.119,-0.207, RAW= 307.6, 1.3, CAL= 305.6, -2.1, ROT= 204.4, 2.1 2025-10-27T04:47:09.874Z,1761540429.874 [DAT](INFO): got valid direction response: 04:47:08.5294 LVL= 32752, 23153, 30434, 32755, AGC= 65, IDX= 512,-0.21,-2.113, 0.096,-1.141,-0.978, PHS=-1.033, 1.119,-0.207, RAW= 307.6, 1.3, CAL= 305.6, -2.1, ROT= 204.4, 2.1 2025-10-27T04:47:09.875Z,1761540429.875 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T04:47:09.876Z,1761540429.876 [DAT](INFO): direction in FSK: [-0.910072,-0.412827,-0.036644] 2025-10-27T04:47:09.877Z,1761540429.877 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:09.881Z,1761540429.881 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.148361 2025-10-27T04:47:10.112Z,1761540430.112 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.379196 2025-10-27T04:47:10.350Z,1761540430.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504930 s, deltaX: -0.300001 m, approachRate: -0.594144 m/s, rangeRepo size: 4 2025-10-27T04:47:10.352Z,1761540430.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.787642 m, bearing: 224.860340 deg, lat: 36.779363 deg, lon: -121.859587 deg, deltaT: 1.008417 s, deltaX: -0.099131 m, approachRate: -0.098303 m/s, posRepo size: 4 2025-10-27T04:47:10.352Z,1761540430.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T04:47:10.365Z,1761540430.365 [DAT](INFO): DAT read: Rx Time:04:47:09.0296 2025-10-27T04:47:10.365Z,1761540430.365 [DAT](INFO): Rx dataTimestamp_ set to:1761540430.364858 2025-10-27T04:47:10.366Z,1761540430.366 [DAT](INFO): DAT read: Bearing 354.8, -38.2 (Local) 2025-10-27T04:47:10.368Z,1761540430.368 [DAT](INFO): Local bearing/azimuth received: Bearing 354.8, -38.2 (Local) 2025-10-27T04:47:10.370Z,1761540430.370 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.1 2025-10-27T04:47:10.375Z,1761540430.375 [DAT](INFO): DAT read: 04:47:09.0296 LVL= 32752, 26001, 32754, 32755, AGC= 65, IDX= 513, 0.25, 1.607,-2.193, 2.884, 2.900, PHS=-1.191, 1.235,-0.060, RAW= 302.2, 0.2, CAL= 300.6, -3.8, ROT= 209.4, 3.8 2025-10-27T04:47:10.376Z,1761540430.376 [DAT](INFO): got valid direction response: 04:47:09.0296 LVL= 32752, 26001, 32754, 32755, AGC= 65, IDX= 513, 0.25, 1.607,-2.193, 2.884, 2.900, PHS=-1.191, 1.235,-0.060, RAW= 302.2, 0.2, CAL= 300.6, -3.8, ROT= 209.4, 3.8 2025-10-27T04:47:10.376Z,1761540430.376 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T04:47:10.377Z,1761540430.377 [DAT](INFO): direction in FSK: [-0.869298,-0.489824,-0.066274] 2025-10-27T04:47:10.378Z,1761540430.378 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:10.389Z,1761540430.389 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.656673 2025-10-27T04:47:10.616Z,1761540430.616 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.883301 2025-10-27T04:47:10.729Z,1761540430.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503718 s, deltaX: 0.300001 m, approachRate: 0.595574 m/s, rangeRepo size: 4 2025-10-27T04:47:10.736Z,1761540430.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.086037 m, bearing: 230.090502 deg, lat: 36.779364 deg, lon: -121.859587 deg, deltaT: 0.503718 s, deltaX: 0.298395 m, approachRate: 0.592385 m/s, posRepo size: 4 2025-10-27T04:47:10.736Z,1761540430.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T04:47:10.868Z,1761540430.868 [DAT](INFO): DAT read: Rx Time:04:47:09.5296 2025-10-27T04:47:10.869Z,1761540430.869 [DAT](INFO): Rx dataTimestamp_ set to:1761540430.868660 2025-10-27T04:47:10.870Z,1761540430.870 [DAT](INFO): DAT read: Bearing 351.3, -33.3 (Local) 2025-10-27T04:47:10.871Z,1761540430.871 [DAT](INFO): Local bearing/azimuth received: Bearing 351.3, -33.3 (Local) 2025-10-27T04:47:10.873Z,1761540430.873 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.1 2025-10-27T04:47:10.877Z,1761540430.877 [DAT](INFO): DAT read: 04:47:09.5296 LVL= 32752, 24481, 32754, 32755, AGC= 65, IDX= 513,-0.09,-1.137, 1.000,-0.201,-0.021, PHS=-1.014, 1.065,-0.224, RAW= 307.9, 1.9, CAL= 305.7, -1.5, ROT= 204.3, 1.5 2025-10-27T04:47:10.878Z,1761540430.878 [DAT](INFO): got valid direction response: 04:47:09.5296 LVL= 32752, 24481, 32754, 32755, AGC= 65, IDX= 513,-0.09,-1.137, 1.000,-0.201,-0.021, PHS=-1.014, 1.065,-0.224, RAW= 307.9, 1.9, CAL= 305.7, -1.5, ROT= 204.3, 1.5 2025-10-27T04:47:10.879Z,1761540430.879 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T04:47:10.880Z,1761540430.880 [DAT](INFO): direction in FSK: [-0.911091,-0.411373,-0.026177] 2025-10-27T04:47:10.880Z,1761540430.880 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:10.889Z,1761540430.889 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.155308 2025-10-27T04:47:11.120Z,1761540431.120 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.387360 2025-10-27T04:47:11.294Z,1761540431.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:11.302Z,1761540431.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.086037 m, bearing: 224.689956 deg, lat: 36.779364 deg, lon: -121.859586 deg, deltaT: 0.503802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:11.304Z,1761540431.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T04:47:11.374Z,1761540431.374 [DAT](INFO): DAT read: Rx Time:04:47:10.0297 2025-10-27T04:47:11.374Z,1761540431.374 [DAT](INFO): Rx dataTimestamp_ set to:1761540431.373802 2025-10-27T04:47:11.376Z,1761540431.376 [DAT](INFO): DAT read: Bearing 349.5, -34.6 (Local) 2025-10-27T04:47:11.377Z,1761540431.377 [DAT](INFO): Local bearing/azimuth received: Bearing 349.5, -34.6 (Local) 2025-10-27T04:47:11.379Z,1761540431.379 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 2025-10-27T04:47:11.384Z,1761540431.384 [DAT](INFO): DAT read: 04:47:10.0297 LVL= 32752, 25585, 31954, 32755, AGC= 69, IDX= 2, 0.48,-2.938,-0.778,-1.968,-1.754, PHS=-1.082, 1.021,-0.258, RAW= 307.1, 3.5, CAL= 304.7, 0.2, ROT= 205.3, -0.2 2025-10-27T04:47:11.385Z,1761540431.385 [DAT](INFO): got valid direction response: 04:47:10.0297 LVL= 32752, 25585, 31954, 32755, AGC= 69, IDX= 2, 0.48,-2.938,-0.778,-1.968,-1.754, PHS=-1.082, 1.021,-0.258, RAW= 307.1, 3.5, CAL= 304.7, 0.2, ROT= 205.3, -0.2 2025-10-27T04:47:11.385Z,1761540431.385 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T04:47:11.386Z,1761540431.386 [DAT](INFO): direction in FSK: [-0.904077,-0.427355,0.003491] 2025-10-27T04:47:11.387Z,1761540431.387 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:11.390Z,1761540431.390 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.657597 2025-10-27T04:47:11.624Z,1761540431.624 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.891567 2025-10-27T04:47:11.746Z,1761540431.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927955,-0.335614,-0.162059],[0.340065,0.940402,-0.000294],[0.152499,-0.054838,0.986781]] 2025-10-27T04:47:11.818Z,1761540431.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.505142 s, deltaX: 0.099998 m, approachRate: 0.197961 m/s, rangeRepo size: 4 2025-10-27T04:47:11.820Z,1761540431.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.185690 m, bearing: 225.540164 deg, lat: 36.779366 deg, lon: -121.859587 deg, deltaT: 0.505142 s, deltaX: 0.099653 m, approachRate: 0.197278 m/s, posRepo size: 4 2025-10-27T04:47:11.820Z,1761540431.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T04:47:11.878Z,1761540431.878 [DAT](INFO): DAT read: Rx Time:04:47:10.5297 2025-10-27T04:47:11.878Z,1761540431.878 [DAT](INFO): Rx dataTimestamp_ set to:1761540431.877700 2025-10-27T04:47:11.880Z,1761540431.880 [DAT](INFO): DAT read: Bearing 350.4, -34.2 (Local) 2025-10-27T04:47:11.881Z,1761540431.881 [DAT](INFO): Local bearing/azimuth received: Bearing 350.4, -34.2 (Local) 2025-10-27T04:47:11.884Z,1761540431.884 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 2025-10-27T04:47:11.890Z,1761540431.890 [DAT](INFO): DAT read: 04:47:10.5297 LVL= 32752, 26465, 28994, 32755, AGC= 64, IDX= 498, 0.07, 2.143,-1.982, 3.105,-2.978, PHS=-1.060, 1.042,-0.243, RAW= 307.3, 2.9, CAL= 305.0, -0.5, ROT= 205.0, 0.5 2025-10-27T04:47:11.892Z,1761540431.892 [DAT](INFO): got valid direction response: 04:47:10.5297 LVL= 32752, 26465, 28994, 32755, AGC= 64, IDX= 498, 0.07, 2.143,-1.982, 3.105,-2.978, PHS=-1.060, 1.042,-0.243, RAW= 307.3, 2.9, CAL= 305.0, -0.5, ROT= 205.0, 0.5 2025-10-27T04:47:11.893Z,1761540431.893 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T04:47:11.894Z,1761540431.894 [DAT](INFO): direction in FSK: [-0.906273,-0.422602,-0.008727] 2025-10-27T04:47:11.894Z,1761540431.894 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:11.908Z,1761540431.908 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.175201 2025-10-27T04:47:12.128Z,1761540432.128 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.395096 2025-10-27T04:47:12.135Z,1761540432.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927679,-0.336322,-0.162173],[0.340760,0.940150,-0.000477],[0.152627,-0.054819,0.986762]] 2025-10-27T04:47:12.240Z,1761540432.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:12.256Z,1761540432.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.185690 m, bearing: 225.365090 deg, lat: 36.779366 deg, lon: -121.859587 deg, deltaT: 0.503898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:12.257Z,1761540432.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T04:47:12.381Z,1761540432.381 [DAT](INFO): DAT read: Rx Time:04:47:11.0298 2025-10-27T04:47:12.381Z,1761540432.381 [DAT](INFO): Rx dataTimestamp_ set to:1761540432.380752 2025-10-27T04:47:12.382Z,1761540432.382 [DAT](INFO): DAT read: Bearing 349.9, -34.5 (Local) 2025-10-27T04:47:12.383Z,1761540432.383 [DAT](INFO): Local bearing/azimuth received: Bearing 349.9, -34.5 (Local) 2025-10-27T04:47:12.385Z,1761540432.385 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.2 2025-10-27T04:47:12.392Z,1761540432.392 [DAT](INFO): DAT read: 04:47:11.0298 LVL= 32752, 24417, 32754, 32755, AGC= 65, IDX= 499,-0.11,-0.436, 1.734, 0.535, 0.749, PHS=-1.083, 1.030,-0.258, RAW= 307.2, 3.4, CAL= 304.8, 0.0, ROT= 205.2, -0.0 2025-10-27T04:47:12.393Z,1761540432.393 [DAT](INFO): got valid direction response: 04:47:11.0298 LVL= 32752, 24417, 32754, 32755, AGC= 65, IDX= 499,-0.11,-0.436, 1.734, 0.535, 0.749, PHS=-1.083, 1.030,-0.258, RAW= 307.2, 3.4, CAL= 304.8, 0.0, ROT= 205.2, -0.0 2025-10-27T04:47:12.394Z,1761540432.394 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T04:47:12.401Z,1761540432.401 [DAT](INFO): direction in FSK: [-0.904827,-0.425779,0.000000] 2025-10-27T04:47:12.401Z,1761540432.401 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:12.409Z,1761540432.409 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.675636 2025-10-27T04:47:12.536Z,1761540432.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927258,-0.337300,-0.162545],[0.341722,0.939801,-0.000801],[0.153030,-0.054803,0.986701]] 2025-10-27T04:47:12.619Z,1761540432.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503052 s, deltaX: 0.200001 m, approachRate: 0.397575 m/s, rangeRepo size: 4 2025-10-27T04:47:12.621Z,1761540432.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.384941 m, bearing: 225.569153 deg, lat: 36.779366 deg, lon: -121.859589 deg, deltaT: 0.503052 s, deltaX: 0.199251 m, approachRate: 0.396085 m/s, posRepo size: 4 2025-10-27T04:47:12.622Z,1761540432.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-27T04:47:12.632Z,1761540432.632 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.899357 2025-10-27T04:47:12.885Z,1761540432.885 [DAT](INFO): DAT read: Rx Time:04:47:11.5297 2025-10-27T04:47:12.885Z,1761540432.885 [DAT](INFO): Rx dataTimestamp_ set to:1761540432.884696 2025-10-27T04:47:12.886Z,1761540432.886 [DAT](INFO): DAT read: Bearing 350.6, -34.6 (Local) 2025-10-27T04:47:12.887Z,1761540432.887 [DAT](INFO): Local bearing/azimuth received: Bearing 350.6, -34.6 (Local) 2025-10-27T04:47:12.889Z,1761540432.889 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.0 2025-10-27T04:47:12.893Z,1761540432.893 [DAT](INFO): DAT read: 04:47:11.5297 LVL= 32752, 24177, 32658, 32755, AGC= 67, IDX= 499,-0.33,-2.190,-0.021,-1.212,-1.015, PHS=-1.073, 1.039,-0.241, RAW= 307.0, 3.0, CAL= 304.6, -0.4, ROT= 205.4, 0.4 2025-10-27T04:47:12.894Z,1761540432.894 [DAT](INFO): got valid direction response: 04:47:11.5297 LVL= 32752, 24177, 32658, 32755, AGC= 67, IDX= 499,-0.33,-2.190,-0.021,-1.212,-1.015, PHS=-1.073, 1.039,-0.241, RAW= 307.0, 3.0, CAL= 304.6, -0.4, ROT= 205.4, 0.4 2025-10-27T04:47:12.895Z,1761540432.895 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T04:47:12.896Z,1761540432.896 [DAT](INFO): direction in FSK: [-0.903313,-0.428925,-0.006981] 2025-10-27T04:47:12.896Z,1761540432.896 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:12.900Z,1761540432.900 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.167183 2025-10-27T04:47:12.955Z,1761540432.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926628,-0.338883,-0.162843],[0.343226,0.939252,-0.001558],[0.153479,-0.054448,0.986651]] 2025-10-27T04:47:13.028Z,1761540433.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503944 s, deltaX: -0.200001 m, approachRate: -0.396871 m/s, rangeRepo size: 4 2025-10-27T04:47:13.030Z,1761540433.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.186010 m, bearing: 225.912525 deg, lat: 36.779366 deg, lon: -121.859587 deg, deltaT: 0.503944 s, deltaX: -0.198931 m, approachRate: -0.394748 m/s, posRepo size: 4 2025-10-27T04:47:13.034Z,1761540433.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T04:47:13.137Z,1761540433.137 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.403595 2025-10-27T04:47:13.337Z,1761540433.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925925,-0.340752,-0.162945],[0.344980,0.938607,-0.002493],[0.153791,-0.053904,0.986632]] 2025-10-27T04:47:13.389Z,1761540433.389 [DAT](INFO): DAT read: Rx Time:04:47:12.0299 2025-10-27T04:47:13.389Z,1761540433.389 [DAT](INFO): Rx dataTimestamp_ set to:1761540433.388868 2025-10-27T04:47:13.390Z,1761540433.390 [DAT](INFO): DAT read: Bearing 351.0, -35.0 (Local) 2025-10-27T04:47:13.391Z,1761540433.391 [DAT](INFO): Local bearing/azimuth received: Bearing 351.0, -35.0 (Local) 2025-10-27T04:47:13.394Z,1761540433.394 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.2 2025-10-27T04:47:13.398Z,1761540433.398 [DAT](INFO): DAT read: 04:47:12.0299 LVL= 32752, 24881, 29682, 32755, AGC= 66, IDX= 500, 0.28, 0.771, 2.940, 1.765, 1.944, PHS=-1.071, 1.041,-0.223, RAW= 306.5, 2.8, CAL= 304.2, -0.7, ROT= 205.8, 0.7 2025-10-27T04:47:13.405Z,1761540433.405 [DAT](INFO): got valid direction response: 04:47:12.0299 LVL= 32752, 24881, 29682, 32755, AGC= 66, IDX= 500, 0.28, 0.771, 2.940, 1.765, 1.944, PHS=-1.071, 1.041,-0.223, RAW= 306.5, 2.8, CAL= 304.2, -0.7, ROT= 205.8, 0.7 2025-10-27T04:47:13.406Z,1761540433.406 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T04:47:13.407Z,1761540433.407 [DAT](INFO): direction in FSK: [-0.900252,-0.435199,-0.012217] 2025-10-27T04:47:13.407Z,1761540433.407 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:13.410Z,1761540433.410 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.677692 2025-10-27T04:47:13.437Z,1761540433.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504172 s, deltaX: 0.300001 m, approachRate: 0.595037 m/s, rangeRepo size: 4 2025-10-27T04:47:13.444Z,1761540433.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.484129 m, bearing: 226.459922 deg, lat: 36.779366 deg, lon: -121.859589 deg, deltaT: 0.504172 s, deltaX: 0.298119 m, approachRate: 0.591303 m/s, posRepo size: 4 2025-10-27T04:47:13.444Z,1761540433.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.48 m. 2025-10-27T04:47:13.640Z,1761540433.640 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.907146 2025-10-27T04:47:13.743Z,1761540433.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925314,-0.342194,-0.163396],[0.346384,0.938088,-0.003023],[0.154315,-0.053801,0.986556]] 2025-10-27T04:47:13.812Z,1761540433.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.48 m. 2025-10-27T04:47:13.893Z,1761540433.893 [DAT](INFO): DAT read: Rx Time:04:47:12.5299 2025-10-27T04:47:13.894Z,1761540433.894 [DAT](INFO): Rx dataTimestamp_ set to:1761540433.893466 2025-10-27T04:47:13.895Z,1761540433.895 [DAT](INFO): DAT read: Bearing 350.5, -35.2 (Local) 2025-10-27T04:47:13.896Z,1761540433.896 [DAT](INFO): Local bearing/azimuth received: Bearing 350.5, -35.2 (Local) 2025-10-27T04:47:13.898Z,1761540433.898 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.1 2025-10-27T04:47:13.903Z,1761540433.903 [DAT](INFO): DAT read: 04:47:12.5299 LVL= 32752, 27057, 32754, 32755, AGC= 67, IDX= 500, 0.09,-0.817, 1.356, 0.177, 0.373, PHS=-1.088, 1.028,-0.240, RAW= 306.5, 3.3, CAL= 304.1, -0.2, ROT= 205.9, 0.2 2025-10-27T04:47:13.904Z,1761540433.904 [DAT](INFO): got valid direction response: 04:47:12.5299 LVL= 32752, 27057, 32754, 32755, AGC= 67, IDX= 500, 0.09,-0.817, 1.356, 0.177, 0.373, PHS=-1.088, 1.028,-0.240, RAW= 306.5, 3.3, CAL= 304.1, -0.2, ROT= 205.9, 0.2 2025-10-27T04:47:13.904Z,1761540433.904 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T04:47:13.905Z,1761540433.905 [DAT](INFO): direction in FSK: [-0.899552,-0.436799,-0.003491] 2025-10-27T04:47:13.905Z,1761540433.905 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:13.951Z,1761540433.951 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.217510 2025-10-27T04:47:14.144Z,1761540434.144 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.411160 2025-10-27T04:47:14.147Z,1761540434.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924668,-0.343728,-0.163829],[0.347902,0.937525,-0.003420],[0.154769,-0.053835,0.986483]] 2025-10-27T04:47:14.238Z,1761540434.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504598 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:14.244Z,1761540434.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.484129 m, bearing: 226.688702 deg, lat: 36.779368 deg, lon: -121.859589 deg, deltaT: 0.504598 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:14.245Z,1761540434.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.48 m. 2025-10-27T04:47:14.398Z,1761540434.398 [DAT](INFO): DAT read: Rx Time:04:47:13.0301 2025-10-27T04:47:14.398Z,1761540434.398 [DAT](INFO): Rx dataTimestamp_ set to:1761540434.397812 2025-10-27T04:47:14.400Z,1761540434.400 [DAT](INFO): DAT read: Bearing 350.6, -35.1 (Local) 2025-10-27T04:47:14.400Z,1761540434.400 [DAT](INFO): Local bearing/azimuth received: Bearing 350.6, -35.1 (Local) 2025-10-27T04:47:14.402Z,1761540434.402 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.2 2025-10-27T04:47:14.420Z,1761540434.420 [DAT](INFO): DAT read: 04:47:13.0301 LVL= 32752, 25537, 32754, 32755, AGC= 67, IDX= 502,-0.01,-0.797, 1.380, 0.195, 0.395, PHS=-1.090, 1.031,-0.243, RAW= 306.6, 3.3, CAL= 304.2, -0.1, ROT= 205.8, 0.1 2025-10-27T04:47:14.421Z,1761540434.421 [DAT](INFO): got valid direction response: 04:47:13.0301 LVL= 32752, 25537, 32754, 32755, AGC= 67, IDX= 502,-0.01,-0.797, 1.380, 0.195, 0.395, PHS=-1.090, 1.031,-0.243, RAW= 306.6, 3.3, CAL= 304.2, -0.1, ROT= 205.8, 0.1 2025-10-27T04:47:14.421Z,1761540434.421 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T04:47:14.422Z,1761540434.422 [DAT](INFO): direction in FSK: [-0.900317,-0.435231,-0.001745] 2025-10-27T04:47:14.422Z,1761540434.422 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:14.426Z,1761540434.426 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.693737 2025-10-27T04:47:14.549Z,1761540434.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923941,-0.345469,-0.164271],[0.349632,0.936879,-0.003792],[0.155212,-0.053931,0.986408]] 2025-10-27T04:47:14.622Z,1761540434.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504346 s, deltaX: 0.299999 m, approachRate: 0.594828 m/s, rangeRepo size: 4 2025-10-27T04:47:14.636Z,1761540434.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.782631 m, bearing: 226.686779 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.504346 s, deltaX: 0.298502 m, approachRate: 0.591860 m/s, posRepo size: 4 2025-10-27T04:47:14.637Z,1761540434.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-27T04:47:14.648Z,1761540434.648 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.915337 2025-10-27T04:47:14.901Z,1761540434.901 [DAT](INFO): DAT read: Rx Time:04:47:13.5301 2025-10-27T04:47:14.902Z,1761540434.902 [DAT](INFO): Rx dataTimestamp_ set to:1761540434.901465 2025-10-27T04:47:14.903Z,1761540434.903 [DAT](INFO): DAT read: Bearing 351.1, -34.7 (Local) 2025-10-27T04:47:14.904Z,1761540434.904 [DAT](INFO): Local bearing/azimuth received: Bearing 351.1, -34.7 (Local) 2025-10-27T04:47:14.906Z,1761540434.906 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.3 2025-10-27T04:47:14.910Z,1761540434.910 [DAT](INFO): DAT read: 04:47:13.5301 LVL= 32752, 23793, 27986, 32755, AGC= 65, IDX= 502,-0.07,-2.407,-0.243,-1.429,-1.234, PHS=-1.071, 1.036,-0.239, RAW= 306.9, 3.0, CAL= 304.6, -0.4, ROT= 205.4, 0.4 2025-10-27T04:47:14.911Z,1761540434.911 [DAT](INFO): got valid direction response: 04:47:13.5301 LVL= 32752, 23793, 27986, 32755, AGC= 65, IDX= 502,-0.07,-2.407,-0.243,-1.429,-1.234, PHS=-1.071, 1.036,-0.239, RAW= 306.9, 3.0, CAL= 304.6, -0.4, ROT= 205.4, 0.4 2025-10-27T04:47:14.912Z,1761540434.912 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T04:47:14.913Z,1761540434.913 [DAT](INFO): direction in FSK: [-0.903313,-0.428925,-0.006981] 2025-10-27T04:47:14.913Z,1761540434.913 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:14.942Z,1761540434.942 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.209175 2025-10-27T04:47:14.999Z,1761540434.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923292,-0.346936,-0.164826],[0.351134,0.936317,-0.003899],[0.155681,-0.054276,0.986315]] 2025-10-27T04:47:15.051Z,1761540435.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503653 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:15.053Z,1761540435.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.782631 m, bearing: 226.417132 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.503653 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:15.054Z,1761540435.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-27T04:47:15.153Z,1761540435.153 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.419582 2025-10-27T04:47:15.405Z,1761540435.405 [DAT](INFO): DAT read: Rx Time:04:47:14.0303 2025-10-27T04:47:15.405Z,1761540435.405 [DAT](INFO): Rx dataTimestamp_ set to:1761540435.404761 2025-10-27T04:47:15.406Z,1761540435.406 [DAT](INFO): DAT read: Bearing 351.5, -34.3 (Local) 2025-10-27T04:47:15.407Z,1761540435.407 [DAT](INFO): Local bearing/azimuth received: Bearing 351.5, -34.3 (Local) 2025-10-27T04:47:15.414Z,1761540435.414 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.3 2025-10-27T04:47:15.418Z,1761540435.418 [DAT](INFO): DAT read: 04:47:14.0303 LVL= 32752, 20321, 28466, 32755, AGC= 65, IDX= 504,-0.11,-1.934, 0.240,-0.961,-0.770, PHS=-1.062, 1.055,-0.235, RAW= 307.2, 2.7, CAL= 304.9, -0.8, ROT= 205.1, 0.8 2025-10-27T04:47:15.420Z,1761540435.420 [DAT](INFO): got valid direction response: 04:47:14.0303 LVL= 32752, 20321, 28466, 32755, AGC= 65, IDX= 504,-0.11,-1.934, 0.240,-0.961,-0.770, PHS=-1.062, 1.055,-0.235, RAW= 307.2, 2.7, CAL= 304.9, -0.8, ROT= 205.1, 0.8 2025-10-27T04:47:15.420Z,1761540435.420 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T04:47:15.421Z,1761540435.421 [DAT](INFO): direction in FSK: [-0.905480,-0.424158,-0.013962] 2025-10-27T04:47:15.421Z,1761540435.421 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:15.429Z,1761540435.429 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.696247 2025-10-27T04:47:15.557Z,1761540435.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503296 s, deltaX: 0.300001 m, approachRate: 0.596073 m/s, rangeRepo size: 4 2025-10-27T04:47:15.563Z,1761540435.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.081081 m, bearing: 226.163707 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.503296 s, deltaX: 0.298450 m, approachRate: 0.592992 m/s, posRepo size: 4 2025-10-27T04:47:15.564Z,1761540435.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-27T04:47:15.659Z,1761540435.659 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.926121 2025-10-27T04:47:15.822Z,1761540435.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922162,-0.349448,-0.165842],[0.353756,0.935330,-0.003795],[0.156443,-0.055168,0.986145]] 2025-10-27T04:47:15.859Z,1761540435.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-27T04:47:15.908Z,1761540435.908 [DAT](INFO): DAT read: Rx Time:04:47:14.5302 2025-10-27T04:47:15.909Z,1761540435.909 [DAT](INFO): Rx dataTimestamp_ set to:1761540435.908648 2025-10-27T04:47:15.910Z,1761540435.910 [DAT](INFO): DAT read: Bearing 348.7, -34.3 (Local) 2025-10-27T04:47:15.911Z,1761540435.911 [DAT](INFO): Local bearing/azimuth received: Bearing 348.7, -34.3 (Local) 2025-10-27T04:47:15.913Z,1761540435.913 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.2 2025-10-27T04:47:15.917Z,1761540435.917 [DAT](INFO): DAT read: 04:47:14.5302 LVL= 32752, 25041, 30642, 32755, AGC= 66, IDX= 504,-0.22,-2.171,-0.026,-1.221,-0.976, PHS=-1.093, 0.995,-0.289, RAW= 307.6, 4.3, CAL= 305.2, 1.7, ROT= 204.8, -1.7 2025-10-27T04:47:15.918Z,1761540435.918 [DAT](INFO): got valid direction response: 04:47:14.5302 LVL= 32752, 25041, 30642, 32755, AGC= 66, IDX= 504,-0.22,-2.171,-0.026,-1.221,-0.976, PHS=-1.093, 0.995,-0.289, RAW= 307.6, 4.3, CAL= 305.2, 1.7, ROT= 204.8, -1.7 2025-10-27T04:47:15.919Z,1761540435.919 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T04:47:15.920Z,1761540435.920 [DAT](INFO): direction in FSK: [-0.907378,-0.419267,0.029666] 2025-10-27T04:47:15.920Z,1761540435.920 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:15.924Z,1761540435.924 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.190907 2025-10-27T04:47:16.164Z,1761540436.164 [DAT](INFO): DAT read: Rx Time:04:47:15.0303 2025-10-27T04:47:16.165Z,1761540436.165 [DAT](INFO): Rx dataTimestamp_ set to:1761540436.164106 2025-10-27T04:47:16.167Z,1761540436.167 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.433605 2025-10-27T04:47:16.253Z,1761540436.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921471,-0.351118,-0.166152],[0.355395,0.934707,-0.004251],[0.156796,-0.055133,0.986091]] 2025-10-27T04:47:16.369Z,1761540436.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503887 s, deltaX: -0.100000 m, approachRate: -0.198458 m/s, rangeRepo size: 4 2025-10-27T04:47:16.375Z,1761540436.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.981617 m, bearing: 225.840286 deg, lat: 36.779368 deg, lon: -121.859590 deg, deltaT: 0.503887 s, deltaX: -0.099464 m, approachRate: -0.197394 m/s, posRepo size: 4 2025-10-27T04:47:16.376Z,1761540436.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m. 2025-10-27T04:47:16.417Z,1761540436.417 [DAT](INFO): DAT read: Bearing 350.1, -34.4 (Local) 2025-10-27T04:47:16.425Z,1761540436.425 [DAT](INFO): Local bearing/azimuth received: Bearing 350.1, -34.4 (Local) 2025-10-27T04:47:16.427Z,1761540436.427 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.3 2025-10-27T04:47:16.432Z,1761540436.432 [DAT](INFO): DAT read: 04:47:15.0303 LVL= 32752, 25713, 30018, 32755, AGC= 65, IDX= 505,-0.23,-2.590,-0.426,-1.628,-1.403, PHS=-1.085, 1.022,-0.270, RAW= 307.4, 3.7, CAL= 305.0, 0.5, ROT= 205.0, -0.5 2025-10-27T04:47:16.433Z,1761540436.433 [DAT](INFO): got valid direction response: 04:47:15.0303 LVL= 32752, 25713, 30018, 32755, AGC= 65, IDX= 505,-0.23,-2.590,-0.426,-1.628,-1.403, PHS=-1.085, 1.022,-0.270, RAW= 307.4, 3.7, CAL= 305.0, 0.5, ROT= 205.0, -0.5 2025-10-27T04:47:16.434Z,1761540436.434 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T04:47:16.435Z,1761540436.435 [DAT](INFO): direction in FSK: [-0.906273,-0.422602,0.008727] 2025-10-27T04:47:16.435Z,1761540436.435 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:16.447Z,1761540436.447 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.705982 2025-10-27T04:47:16.671Z,1761540436.671 [DAT](INFO): DAT read: Rx Time:04:47:15.5303 2025-10-27T04:47:16.672Z,1761540436.672 [DAT](INFO): Rx dataTimestamp_ set to:1761540436.671482 2025-10-27T04:47:16.674Z,1761540436.674 [DAT](INFO): DAT read: Bearing 347.6, -34.3 (Local) 2025-10-27T04:47:16.676Z,1761540436.676 [DAT](INFO): Local bearing/azimuth received: Bearing 347.6, -34.3 (Local) 2025-10-27T04:47:16.678Z,1761540436.678 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.944611 2025-10-27T04:47:16.776Z,1761540436.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920747,-0.352952,-0.166281],[0.357138,0.934038,-0.005035],[0.157090,-0.054750,0.986066]] 2025-10-27T04:47:16.844Z,1761540436.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.507312 s, deltaX: 0.100000 m, approachRate: 0.197118 m/s, rangeRepo size: 4 2025-10-27T04:47:16.846Z,1761540436.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.080980 m, bearing: 226.292098 deg, lat: 36.779367 deg, lon: -121.859589 deg, deltaT: 0.507312 s, deltaX: 0.099363 m, approachRate: 0.195862 m/s, posRepo size: 4 2025-10-27T04:47:16.847Z,1761540436.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-27T04:47:16.922Z,1761540436.922 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.2 2025-10-27T04:47:16.926Z,1761540436.926 [DAT](INFO): DAT read: 04:47:15.5303 LVL= 32752, 26577, 32754, 32755, AGC= 67, IDX= 505,-0.25, 2.093,-2.056, 3.037,-2.987, PHS=-1.101, 0.976,-0.303, RAW= 307.6, 4.8, CAL= 305.3, 2.6, ROT= 204.7, -2.6 2025-10-27T04:47:16.928Z,1761540436.928 [DAT](INFO): got valid direction response: 04:47:15.5303 LVL= 32752, 26577, 32754, 32755, AGC= 67, IDX= 505,-0.25, 2.093,-2.056, 3.037,-2.987, PHS=-1.101, 0.976,-0.303, RAW= 307.6, 4.8, CAL= 305.3, 2.6, ROT= 204.7, -2.6 2025-10-27T04:47:16.928Z,1761540436.928 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T04:47:16.929Z,1761540436.929 [DAT](INFO): direction in FSK: [-0.907573,-0.417437,0.045363] 2025-10-27T04:47:16.929Z,1761540436.929 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:16.933Z,1761540436.933 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.200397 2025-10-27T04:47:17.114Z,1761540437.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920120,-0.354525,-0.166407],[0.358605,0.933471,-0.005888],[0.157424,-0.054257,0.986040]] 2025-10-27T04:47:17.137Z,1761540437.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503658 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:17.139Z,1761540437.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.080980 m, bearing: 225.843484 deg, lat: 36.779366 deg, lon: -121.859588 deg, deltaT: 0.503658 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:17.139Z,1761540437.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-27T04:47:17.175Z,1761540437.175 [DAT](INFO): DAT read: Rx Time:04:47:16.0305 2025-10-27T04:47:17.176Z,1761540437.176 [DAT](INFO): Rx dataTimestamp_ set to:1761540437.175552 2025-10-27T04:47:17.179Z,1761540437.179 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.445213 2025-10-27T04:47:17.425Z,1761540437.425 [DAT](INFO): DAT read: Bearing 350.9, -34.8 (Local) 2025-10-27T04:47:17.425Z,1761540437.425 [DAT](INFO): Local bearing/azimuth received: Bearing 350.9, -34.8 (Local) 2025-10-27T04:47:17.427Z,1761540437.427 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 2025-10-27T04:47:17.432Z,1761540437.432 [DAT](INFO): DAT read: 04:47:16.0305 LVL= 32752, 25265, 30162, 32755, AGC= 66, IDX= 507,-0.29,-3.072,-0.906,-2.096,-1.886, PHS=-1.084, 1.026,-0.253, RAW= 307.0, 3.4, CAL= 304.6, 0.0, ROT= 205.4, -0.0 2025-10-27T04:47:17.433Z,1761540437.433 [DAT](INFO): got valid direction response: 04:47:16.0305 LVL= 32752, 25265, 30162, 32755, AGC= 66, IDX= 507,-0.29,-3.072,-0.906,-2.096,-1.886, PHS=-1.084, 1.026,-0.253, RAW= 307.0, 3.4, CAL= 304.6, 0.0, ROT= 205.4, -0.0 2025-10-27T04:47:17.433Z,1761540437.433 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T04:47:17.434Z,1761540437.434 [DAT](INFO): direction in FSK: [-0.903335,-0.428935,0.000000] 2025-10-27T04:47:17.434Z,1761540437.434 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:17.438Z,1761540437.438 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.705097 2025-10-27T04:47:17.514Z,1761540437.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919735,-0.355387,-0.166695],[0.359430,0.933151,-0.006295],[0.157789,-0.054126,0.985988]] 2025-10-27T04:47:17.603Z,1761540437.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503610 s, deltaX: 0.299999 m, approachRate: 0.595698 m/s, rangeRepo size: 4 2025-10-27T04:47:17.605Z,1761540437.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.379597 m, bearing: 226.900068 deg, lat: 36.779366 deg, lon: -121.859588 deg, deltaT: 0.503610 s, deltaX: 0.298616 m, approachRate: 0.592952 m/s, posRepo size: 4 2025-10-27T04:47:17.606Z,1761540437.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-27T04:47:17.680Z,1761540437.680 [DAT](INFO): DAT read: Rx Time:04:47:16.5305 2025-10-27T04:47:17.681Z,1761540437.681 [DAT](INFO): Rx dataTimestamp_ set to:1761540437.680252 2025-10-27T04:47:17.684Z,1761540437.684 [DAT](INFO): DAT read: Bearing 348.4, -34.2 (Local) 2025-10-27T04:47:17.685Z,1761540437.685 [DAT](INFO): Local bearing/azimuth received: Bearing 348.4, -34.2 (Local) 2025-10-27T04:47:17.689Z,1761540437.689 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 2025-10-27T04:47:17.712Z,1761540437.712 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-27T04:47:17.732Z,1761540437.732 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.981560 2025-10-27T04:47:17.917Z,1761540437.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919521,-0.355810,-0.166974],[0.359848,0.932988,-0.006457],[0.158082,-0.054148,0.985940]] 2025-10-27T04:47:17.932Z,1761540437.932 [DAT](INFO): DAT read: 04:47:16.5305 LVL= 32752, 28145, 32754, 32755, AGC= 66, IDX= 507,-0.43, 2.394,-1.741,-2.941,-2.688, PHS=-1.100, 0.991,-0.297, RAW= 307.7, 4.5, CAL= 305.3, 2.1, ROT= 204.7, -2.1 2025-10-27T04:47:17.933Z,1761540437.933 [DAT](INFO): got valid direction response: 04:47:16.5305 LVL= 32752, 28145, 32754, 32755, AGC= 66, IDX= 507,-0.43, 2.394,-1.741,-2.941,-2.688, PHS=-1.100, 0.991,-0.297, RAW= 307.7, 4.5, CAL= 305.3, 2.1, ROT= 204.7, -2.1 2025-10-27T04:47:17.933Z,1761540437.933 [DAT](INFO): #Rx 109: Read direction message, but no range. 2025-10-27T04:47:17.934Z,1761540437.934 [DAT](INFO): direction in FSK: [-0.907898,-0.417586,0.036644] 2025-10-27T04:47:17.938Z,1761540437.938 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.205345 2025-10-27T04:47:17.974Z,1761540437.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.257024 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:17.985Z,1761540437.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.379597 m, bearing: 225.983083 deg, lat: 36.779366 deg, lon: -121.859588 deg, deltaT: 0.257024 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:17.985Z,1761540437.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-27T04:47:18.183Z,1761540438.183 [DAT](INFO): DAT read: Rx Time:04:47:17.0307 2025-10-27T04:47:18.185Z,1761540438.185 [DAT](INFO): Rx dataTimestamp_ set to:1761540438.183905 2025-10-27T04:47:18.188Z,1761540438.188 [DAT](INFO): DAT read: Bearing 350.8, -34.7 (Local) 2025-10-27T04:47:18.189Z,1761540438.189 [DAT](INFO): Local bearing/azimuth received: Bearing 350.8, -34.7 (Local) 2025-10-27T04:47:18.200Z,1761540438.200 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2 2025-10-27T04:47:18.232Z,1761540438.232 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-27T04:47:18.233Z,1761540438.233 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.499973 2025-10-27T04:47:18.326Z,1761540438.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919385,-0.356110,-0.167086],[0.360145,0.932873,-0.006546],[0.158201,-0.054157,0.985921]] 2025-10-27T04:47:18.409Z,1761540438.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:47:18.417Z,1761540438.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503653 s, deltaX: 0.299999 m, approachRate: 0.595647 m/s, rangeRepo size: 4 2025-10-27T04:47:18.418Z,1761540438.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-27T04:47:18.423Z,1761540438.423 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:47:18.436Z,1761540438.436 [DAT](INFO): DAT read: 04:47:17.0307 LVL= 32752, 27489, 32754, 32755, AGC= 67, IDX= 508, 0.38,-1.446, 0.717,-0.474,-0.261, PHS=-1.084, 1.023,-0.258, RAW= 307.1, 3.5, CAL= 304.7, 0.2, ROT= 205.3, -0.2 2025-10-27T04:47:18.437Z,1761540438.437 [DAT](INFO): got valid direction response: 04:47:17.0307 LVL= 32752, 27489, 32754, 32755, AGC= 67, IDX= 508, 0.38,-1.446, 0.717,-0.474,-0.261, PHS=-1.084, 1.023,-0.258, RAW= 307.1, 3.5, CAL= 304.7, 0.2, ROT= 205.3, -0.2 2025-10-27T04:47:18.438Z,1761540438.438 [DAT](INFO): #Rx 111: Read direction message, but no range. 2025-10-27T04:47:18.439Z,1761540438.439 [DAT](INFO): direction in FSK: [-0.904077,-0.427355,0.003491] 2025-10-27T04:47:18.442Z,1761540438.442 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.709328 2025-10-27T04:47:18.687Z,1761540438.687 [DAT](INFO): DAT read: Rx Time:04:47:17.5307 2025-10-27T04:47:18.689Z,1761540438.689 [DAT](INFO): Rx dataTimestamp_ set to:1761540438.687913 2025-10-27T04:47:18.692Z,1761540438.692 [DAT](INFO): DAT read: Bearing 348.5, -34.3 (Local) 2025-10-27T04:47:18.693Z,1761540438.693 [DAT](INFO): Local bearing/azimuth received: Bearing 348.5, -34.3 (Local) 2025-10-27T04:47:18.699Z,1761540438.699 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2 2025-10-27T04:47:18.701Z,1761540438.701 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-27T04:47:18.720Z,1761540438.720 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.987141 2025-10-27T04:47:18.754Z,1761540438.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919177,-0.356649,-0.167077],[0.360637,0.932681,-0.006889],[0.158287,-0.053922,0.985920]] 2025-10-27T04:47:18.876Z,1761540438.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:18.878Z,1761540438.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.678064 m, bearing: 226.855546 deg, lat: 36.779367 deg, lon: -121.859588 deg, deltaT: 1.007661 s, deltaX: 0.298468 m, approachRate: 0.296198 m/s, posRepo size: 4 2025-10-27T04:47:18.878Z,1761540438.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T04:47:18.940Z,1761540438.940 [DAT](INFO): DAT read: 04:47:17.5307 LVL= 32752, 27617, 32754, 32755, AGC= 69, IDX= 508, 0.19,-2.409,-0.271,-1.463,-1.212, PHS=-1.094, 0.986,-0.295, RAW= 307.6, 4.5, CAL= 305.2, 2.0, ROT= 204.8, -2.0 2025-10-27T04:47:18.941Z,1761540438.941 [DAT](INFO): got valid direction response: 04:47:17.5307 LVL= 32752, 27617, 32754, 32755, AGC= 69, IDX= 508, 0.19,-2.409,-0.271,-1.463,-1.212, PHS=-1.094, 0.986,-0.295, RAW= 307.6, 4.5, CAL= 305.2, 2.0, ROT= 204.8, -2.0 2025-10-27T04:47:18.942Z,1761540438.942 [DAT](INFO): #Rx 113: Read direction message, but no range. 2025-10-27T04:47:18.944Z,1761540438.944 [DAT](INFO): direction in FSK: [-0.907224,-0.419197,0.034899] 2025-10-27T04:47:18.949Z,1761540438.949 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.215580 2025-10-27T04:47:19.144Z,1761540439.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918965,-0.357201,-0.167064],[0.361133,0.932486,-0.007283],[0.158386,-0.053640,0.985919]] 2025-10-27T04:47:19.193Z,1761540439.193 [DAT](INFO): DAT read: Rx Time:04:47:18.0309 2025-10-27T04:47:19.194Z,1761540439.194 [DAT](INFO): Rx dataTimestamp_ set to:1761540439.193189 2025-10-27T04:47:19.198Z,1761540439.198 [DAT](INFO): DAT read: Bearing 351.6, -35.4 (Local) 2025-10-27T04:47:19.199Z,1761540439.199 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, -35.4 (Local) 2025-10-27T04:47:19.213Z,1761540439.213 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-27T04:47:19.216Z,1761540439.216 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-27T04:47:19.218Z,1761540439.218 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.485458 2025-10-27T04:47:19.225Z,1761540439.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.505276 s, deltaX: 0.300001 m, approachRate: 0.593737 m/s, rangeRepo size: 4 2025-10-27T04:47:19.225Z,1761540439.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T04:47:19.433Z,1761540439.433 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:47:19.444Z,1761540439.444 [DAT](INFO): DAT read: 04:47:18.0309 LVL= 32752, 23537, 26978, 32755, AGC= 66, IDX= 510,-0.02,-1.789, 0.393,-0.785,-0.599, PHS=-1.089, 1.037,-0.231, RAW= 306.3, 3.1, CAL= 304.0, -0.4, ROT= 206.0, 0.4 2025-10-27T04:47:19.445Z,1761540439.445 [DAT](INFO): got valid direction response: 04:47:18.0309 LVL= 32752, 23537, 26978, 32755, AGC= 66, IDX= 510,-0.02,-1.789, 0.393,-0.785,-0.599, PHS=-1.089, 1.037,-0.231, RAW= 306.3, 3.1, CAL= 304.0, -0.4, ROT= 206.0, 0.4 2025-10-27T04:47:19.445Z,1761540439.445 [DAT](INFO): #Rx 115: Read direction message, but no range. 2025-10-27T04:47:19.446Z,1761540439.446 [DAT](INFO): direction in FSK: [-0.898772,-0.438360,-0.006981] 2025-10-27T04:47:19.455Z,1761540439.455 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.722649 2025-10-27T04:47:19.557Z,1761540439.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918856,-0.357550,-0.166919],[0.361428,0.932369,-0.007602],[0.158348,-0.053344,0.985941]] 2025-10-27T04:47:19.605Z,1761540439.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T04:47:19.696Z,1761540439.696 [DAT](INFO): DAT read: Rx Time:04:47:18.5308 2025-10-27T04:47:19.698Z,1761540439.698 [DAT](INFO): Rx dataTimestamp_ set to:1761540439.696612 2025-10-27T04:47:19.704Z,1761540439.704 [DAT](INFO): DAT read: Bearing 347.8, -34.4 (Local) 2025-10-27T04:47:19.705Z,1761540439.705 [DAT](INFO): Local bearing/azimuth received: Bearing 347.8, -34.4 (Local) 2025-10-27T04:47:19.721Z,1761540439.721 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.2 2025-10-27T04:47:19.741Z,1761540439.741 [DAT](INFO): DAT read: 04:47:18.5308 LVL= 32752, 30881, 32754, 32755, AGC= 68, IDX= 510,-0.27, 3.105,-1.046,-2.231,-1.973, PHS=-1.103, 0.972,-0.302, RAW= 307.5, 4.8, CAL= 305.1, 2.7, ROT= 204.9, -2.7 2025-10-27T04:47:19.742Z,1761540439.742 [DAT](INFO): got valid direction response: 04:47:18.5308 LVL= 32752, 30881, 32754, 32755, AGC= 68, IDX= 510,-0.27, 3.105,-1.046,-2.231,-1.973, PHS=-1.103, 0.972,-0.302, RAW= 307.5, 4.8, CAL= 305.1, 2.7, ROT= 204.9, -2.7 2025-10-27T04:47:19.742Z,1761540439.742 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T04:47:19.748Z,1761540439.748 [DAT](INFO): direction in FSK: [-0.906037,-0.420568,0.047106] 2025-10-27T04:47:19.748Z,1761540439.748 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:19.760Z,1761540439.760 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.027729 2025-10-27T04:47:19.944Z,1761540439.944 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.211113 2025-10-27T04:47:19.956Z,1761540439.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918754,-0.357868,-0.166797],[0.361678,0.932269,-0.008009],[0.158366,-0.052969,0.985959]] 2025-10-27T04:47:19.985Z,1761540439.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503423 s, deltaX: -0.100000 m, approachRate: -0.198641 m/s, rangeRepo size: 4 2025-10-27T04:47:19.987Z,1761540439.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.877031 m, bearing: 226.234336 deg, lat: 36.779367 deg, lon: -121.859591 deg, deltaT: 1.008699 s, deltaX: 0.198967 m, approachRate: 0.197251 m/s, posRepo size: 4 2025-10-27T04:47:19.988Z,1761540439.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.88 m. 2025-10-27T04:47:20.200Z,1761540440.200 [DAT](INFO): DAT read: Rx Time:04:47:19.0309 2025-10-27T04:47:20.201Z,1761540440.201 [DAT](INFO): Rx dataTimestamp_ set to:1761540440.200433 2025-10-27T04:47:20.204Z,1761540440.204 [DAT](INFO): DAT read: Bearing 351.7, -35.5 (Local) 2025-10-27T04:47:20.206Z,1761540440.206 [DAT](INFO): Local bearing/azimuth received: Bearing 351.7, -35.5 (Local) 2025-10-27T04:47:20.212Z,1761540440.212 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 2025-10-27T04:47:20.214Z,1761540440.214 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-27T04:47:20.234Z,1761540440.234 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.501076 2025-10-27T04:47:20.357Z,1761540440.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918792,-0.357721,-0.166904],[0.361528,0.932327,-0.008052],[0.158489,-0.052942,0.985940]] 2025-10-27T04:47:20.452Z,1761540440.452 [DAT](INFO): DAT read: 04:47:19.0309 LVL= 32752, 25153, 29842, 32755, AGC= 66, IDX= 510, 0.22,-0.632, 1.551, 0.376, 0.563, PHS=-1.092, 1.033,-0.231, RAW= 306.2, 3.2, CAL= 303.9, -0.3, ROT= 206.1, 0.3 2025-10-27T04:47:20.453Z,1761540440.453 [DAT](INFO): got valid direction response: 04:47:19.0309 LVL= 32752, 25153, 29842, 32755, AGC= 66, IDX= 510, 0.22,-0.632, 1.551, 0.376, 0.563, PHS=-1.092, 1.033,-0.231, RAW= 306.2, 3.2, CAL= 303.9, -0.3, ROT= 206.1, 0.3 2025-10-27T04:47:20.453Z,1761540440.453 [DAT](INFO): #Rx 118: Read direction message, but no range. 2025-10-27T04:47:20.454Z,1761540440.454 [DAT](INFO): direction in FSK: [-0.898015,-0.439933,-0.005236] 2025-10-27T04:47:20.458Z,1761540440.458 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.724930 2025-10-27T04:47:20.465Z,1761540440.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503821 s, deltaX: 0.100000 m, approachRate: 0.198484 m/s, rangeRepo size: 4 2025-10-27T04:47:20.465Z,1761540440.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.88 m. 2025-10-27T04:47:20.704Z,1761540440.704 [DAT](INFO): DAT read: Rx Time:04:47:19.5309 2025-10-27T04:47:20.706Z,1761540440.706 [DAT](INFO): Rx dataTimestamp_ set to:1761540440.704547 2025-10-27T04:47:20.710Z,1761540440.710 [DAT](INFO): DAT read: Bearing 349.8, -35.9 (Local) 2025-10-27T04:47:20.711Z,1761540440.711 [DAT](INFO): Local bearing/azimuth received: Bearing 349.8, -35.9 (Local) 2025-10-27T04:47:20.720Z,1761540440.720 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 2025-10-27T04:47:20.726Z,1761540440.726 [DAT](INFO): DAT read: 04:47:19.5309 LVL= 32752, 27633, 32754, 32755, AGC= 68, IDX= 510,-0.07, 3.139,-0.986,-2.140,-1.930, PHS=-1.113, 0.988,-0.254, RAW= 306.0, 4.2, CAL= 303.6, 1.3, ROT= 206.4, -1.3 2025-10-27T04:47:20.760Z,1761540440.760 [DAT](INFO): got valid direction response: 04:47:19.5309 LVL= 32752, 27633, 32754, 32755, AGC= 68, IDX= 510,-0.07, 3.139,-0.986,-2.140,-1.930, PHS=-1.113, 0.988,-0.254, RAW= 306.0, 4.2, CAL= 303.6, 1.3, ROT= 206.4, -1.3 2025-10-27T04:47:20.760Z,1761540440.760 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T04:47:20.761Z,1761540440.761 [DAT](INFO): direction in FSK: [-0.895481,-0.444521,0.022687] 2025-10-27T04:47:20.761Z,1761540440.761 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:20.784Z,1761540440.784 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.051422 2025-10-27T04:47:20.798Z,1761540440.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918667,-0.358109,-0.166762],[0.361863,0.932194,-0.008370],[0.158452,-0.052656,0.985962]] 2025-10-27T04:47:20.908Z,1761540440.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:20.910Z,1761540440.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.976439 m, bearing: 227.906010 deg, lat: 36.779367 deg, lon: -121.859591 deg, deltaT: 1.007935 s, deltaX: 0.099407 m, approachRate: 0.098625 m/s, posRepo size: 4 2025-10-27T04:47:20.911Z,1761540440.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-27T04:47:20.953Z,1761540440.953 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.220039 2025-10-27T04:47:21.208Z,1761540441.208 [DAT](INFO): DAT read: Rx Time:04:47:20.0310 2025-10-27T04:47:21.209Z,1761540441.209 [DAT](INFO): Rx dataTimestamp_ set to:1761540441.208307 2025-10-27T04:47:21.213Z,1761540441.213 [DAT](INFO): DAT read: Bearing 350.7, -36.3 (Local) 2025-10-27T04:47:21.214Z,1761540441.214 [DAT](INFO): Local bearing/azimuth received: Bearing 350.7, -36.3 (Local) 2025-10-27T04:47:21.221Z,1761540441.221 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T04:47:21.222Z,1761540441.222 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-27T04:47:21.222Z,1761540441.222 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:47:21.222Z,1761540441.222 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:47:21.223Z,1761540441.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:21.320Z,1761540441.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918359,-0.359009,-0.166519],[0.362689,0.931869,-0.008835],[0.158346,-0.052281,0.985999]] 2025-10-27T04:47:21.420Z,1761540441.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503760 s, deltaX: 0.199999 m, approachRate: 0.397012 m/s, rangeRepo size: 4 2025-10-27T04:47:21.422Z,1761540441.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-27T04:47:21.460Z,1761540441.460 [DAT](INFO): DAT read: 04:47:20.0310 LVL= 32752, 26609, 32754, 32755, AGC= 67, IDX= 511, 0.38,-0.310, 1.877, 0.723, 0.915, PHS=-1.123, 1.007,-0.237, RAW= 305.5, 3.8, CAL= 303.1, 0.6, ROT= 206.9, -0.6 2025-10-27T04:47:21.461Z,1761540441.461 [DAT](INFO): got valid direction response: 04:47:20.0310 LVL= 32752, 26609, 32754, 32755, AGC= 67, IDX= 511, 0.38,-0.310, 1.877, 0.723, 0.915, PHS=-1.123, 1.007,-0.237, RAW= 305.5, 3.8, CAL= 303.1, 0.6, ROT= 206.9, -0.6 2025-10-27T04:47:21.461Z,1761540441.461 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:47:21.462Z,1761540441.462 [DAT](INFO): direction in FSK: [-0.891749,-0.452410,0.010472] 2025-10-27T04:47:21.465Z,1761540441.465 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:21.713Z,1761540441.713 [DAT](INFO): DAT read: Rx Time:04:47:20.5310 2025-10-27T04:47:21.714Z,1761540441.714 [DAT](INFO): Rx dataTimestamp_ set to:1761540441.713323 2025-10-27T04:47:21.718Z,1761540441.718 [DAT](INFO): DAT read: Bearing 351.9, -36.5 (Local) 2025-10-27T04:47:21.718Z,1761540441.718 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, -36.5 (Local) 2025-10-27T04:47:21.721Z,1761540441.721 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.2 2025-10-27T04:47:21.728Z,1761540441.728 [DAT](INFO): DAT read: 04:47:20.5310 LVL= 32752, 25073, 32754, 32755, AGC= 67, IDX= 511,-0.03,-2.288,-0.092,-1.241,-1.071, PHS=-1.115, 1.024,-0.214, RAW= 305.2, 3.3, CAL= 302.8, -0.3, ROT= 207.2, 0.3 2025-10-27T04:47:21.729Z,1761540441.729 [DAT](INFO): got valid direction response: 04:47:20.5310 LVL= 32752, 25073, 32754, 32755, AGC= 67, IDX= 511,-0.03,-2.288,-0.092,-1.241,-1.071, PHS=-1.115, 1.024,-0.214, RAW= 305.2, 3.3, CAL= 302.8, -0.3, ROT= 207.2, 0.3 2025-10-27T04:47:21.730Z,1761540441.730 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:47:21.731Z,1761540441.731 [DAT](INFO): direction in FSK: [-0.889404,-0.457092,-0.005236] 2025-10-27T04:47:21.732Z,1761540441.732 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:21.758Z,1761540441.758 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:47:21.758Z,1761540441.758 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:47:21.758Z,1761540441.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:21.768Z,1761540441.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918215,-0.359450,-0.166364],[0.363108,0.931704,-0.008956],[0.158222,-0.052184,0.986024]] 2025-10-27T04:47:21.888Z,1761540441.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:21.890Z,1761540441.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.175341 m, bearing: 228.974297 deg, lat: 36.779369 deg, lon: -121.859595 deg, deltaT: 1.008776 s, deltaX: 0.198902 m, approachRate: 0.197172 m/s, posRepo size: 4 2025-10-27T04:47:21.890Z,1761540441.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T04:47:21.960Z,1761540441.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:22.135Z,1761540442.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917889,-0.360381,-0.166147],[0.363973,0.931362,-0.009381],[0.158123,-0.051862,0.986056]] 2025-10-27T04:47:22.216Z,1761540442.216 [DAT](INFO): DAT read: Rx Time:04:47:21.0311 2025-10-27T04:47:22.217Z,1761540442.217 [DAT](INFO): Rx dataTimestamp_ set to:1761540442.216658 2025-10-27T04:47:22.218Z,1761540442.218 [DAT](INFO): DAT read: Bearing 323.3, -41.0 (Local) 2025-10-27T04:47:22.218Z,1761540442.218 [DAT](INFO): Local bearing/azimuth received: Bearing 323.3, -41.0 (Local) 2025-10-27T04:47:22.221Z,1761540442.221 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T04:47:22.225Z,1761540442.225 [DAT](INFO): DAT read: 04:47:21.0311 LVL= 32752, 23441, 31314, 32755, AGC= 67, IDX= 513,-0.49, 3.064,-1.521,-2.214,-1.927, PHS=-1.190, 0.450,-0.331, RAW= 298.4, 14.9, CAL= 296.1, 21.5, ROT= 213.9, -21.5 2025-10-27T04:47:22.227Z,1761540442.227 [DAT](INFO): got valid direction response: 04:47:21.0311 LVL= 32752, 23441, 31314, 32755, AGC= 67, IDX= 513,-0.49, 3.064,-1.521,-2.214,-1.927, PHS=-1.190, 0.450,-0.331, RAW= 298.4, 14.9, CAL= 296.1, 21.5, ROT= 213.9, -21.5 2025-10-27T04:47:22.227Z,1761540442.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T04:47:22.231Z,1761540442.231 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:22.232Z,1761540442.232 [DAT](INFO): direction in FSK: [-0.772258,-0.518936,0.366501] 2025-10-27T04:47:22.233Z,1761540442.233 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:22.245Z,1761540442.245 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:22.245Z,1761540442.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:22.464Z,1761540442.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:22.614Z,1761540442.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503335 s, deltaX: 0.100000 m, approachRate: 0.198676 m/s, rangeRepo size: 4 2025-10-27T04:47:22.621Z,1761540442.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.274805 m, bearing: 232.804438 deg, lat: 36.779370 deg, lon: -121.859595 deg, deltaT: 0.503335 s, deltaX: 0.099464 m, approachRate: 0.197611 m/s, posRepo size: 4 2025-10-27T04:47:22.622Z,1761540442.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-27T04:47:22.718Z,1761540442.718 [DAT](INFO): DAT read: Rx Time:04:47:21.5311 2025-10-27T04:47:22.720Z,1761540442.720 [DAT](INFO): Rx dataTimestamp_ set to:1761540442.718952 2025-10-27T04:47:22.721Z,1761540442.721 [DAT](INFO): DAT read: Bearing 327.6, -49.9 (Local) 2025-10-27T04:47:22.722Z,1761540442.722 [DAT](INFO): Local bearing/azimuth received: Bearing 327.6, -49.9 (Local) 2025-10-27T04:47:22.726Z,1761540442.726 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.2 2025-10-27T04:47:22.732Z,1761540442.732 [DAT](INFO): DAT read: 04:47:21.5311 LVL= 32752, 23185, 32754, 32755, AGC= 67, IDX= 512, 0.07, 2.134,-1.652,-2.424,-2.301, PHS=-1.746, 0.694,-0.167, RAW= 290.4, 11.4, CAL= 287.8, 16.2, ROT= 222.2, -16.2 2025-10-27T04:47:22.733Z,1761540442.733 [DAT](INFO): got valid direction response: 04:47:21.5311 LVL= 32752, 23185, 32754, 32755, AGC= 67, IDX= 512, 0.07, 2.134,-1.652,-2.424,-2.301, PHS=-1.746, 0.694,-0.167, RAW= 290.4, 11.4, CAL= 287.8, 16.2, ROT= 222.2, -16.2 2025-10-27T04:47:22.734Z,1761540442.734 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:22.735Z,1761540442.735 [DAT](INFO): direction in FSK: [-0.711390,-0.645049,0.278991] 2025-10-27T04:47:22.735Z,1761540442.735 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:22.738Z,1761540442.738 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:22.739Z,1761540442.739 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:22.968Z,1761540442.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:22.970Z,1761540442.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917243,-0.362232,-0.165692],[0.365744,0.930663,-0.009899],[0.157789,-0.051521,0.986128]] 2025-10-27T04:47:22.994Z,1761540442.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.502294 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:22.996Z,1761540442.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.274805 m, bearing: 241.686485 deg, lat: 36.779373 deg, lon: -121.859598 deg, deltaT: 0.502294 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:22.996Z,1761540442.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-27T04:47:23.223Z,1761540443.223 [DAT](INFO): DAT read: Rx Time:04:47:22.0312 2025-10-27T04:47:23.223Z,1761540443.223 [DAT](INFO): Rx dataTimestamp_ set to:1761540443.222872 2025-10-27T04:47:23.224Z,1761540443.224 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T04:47:23.225Z,1761540443.225 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T04:47:23.226Z,1761540443.226 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:23.226Z,1761540443.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:23.365Z,1761540443.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916839,-0.363313,-0.165559],[0.366812,0.930241,-0.010034],[0.157655,-0.051530,0.986149]] 2025-10-27T04:47:23.468Z,1761540443.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503920 s, deltaX: 0.200001 m, approachRate: 0.396890 m/s, rangeRepo size: 4 2025-10-27T04:47:23.468Z,1761540443.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-27T04:47:23.472Z,1761540443.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:23.725Z,1761540443.725 [DAT](INFO): DAT read: Rx Time:04:47:22.5312 2025-10-27T04:47:23.725Z,1761540443.725 [DAT](INFO): Rx dataTimestamp_ set to:1761540443.724905 2025-10-27T04:47:23.727Z,1761540443.727 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T04:47:23.728Z,1761540443.728 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T04:47:23.729Z,1761540443.729 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:23.729Z,1761540443.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:23.814Z,1761540443.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916389,-0.364516,-0.165407],[0.368018,0.929764,-0.010077],[0.157463,-0.051638,0.986174]] 2025-10-27T04:47:23.877Z,1761540443.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.502033 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:23.878Z,1761540443.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-27T04:47:23.976Z,1761540443.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:24.210Z,1761540444.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915801,-0.366027,-0.165327],[0.369517,0.929167,-0.010263],[0.157373,-0.051692,0.986185]] 2025-10-27T04:47:24.229Z,1761540444.229 [DAT](INFO): DAT read: Rx Time:04:47:23.0313 2025-10-27T04:47:24.229Z,1761540444.229 [DAT](INFO): Rx dataTimestamp_ set to:1761540444.228729 2025-10-27T04:47:24.230Z,1761540444.230 [DAT](INFO): DAT read: Bearing 352.8, -36.4 (Local) 2025-10-27T04:47:24.231Z,1761540444.231 [DAT](INFO): Local bearing/azimuth received: Bearing 352.8, -36.4 (Local) 2025-10-27T04:47:24.233Z,1761540444.233 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T04:47:24.237Z,1761540444.237 [DAT](INFO): DAT read: 04:47:23.0313 LVL= 32752, 24561, 32754, 32755, AGC= 71, IDX= 2,-0.06, 2.276,-1.812,-2.959,-2.802, PHS=-1.103, 1.035,-0.202, RAW= 305.2, 2.9, CAL= 302.9, -0.7, ROT= 207.1, 0.7 2025-10-27T04:47:24.239Z,1761540444.239 [DAT](INFO): got valid direction response: 04:47:23.0313 LVL= 32752, 24561, 32754, 32755, AGC= 71, IDX= 2,-0.06, 2.276,-1.812,-2.959,-2.802, PHS=-1.103, 1.035,-0.202, RAW= 305.2, 2.9, CAL= 302.9, -0.7, ROT= 207.1, 0.7 2025-10-27T04:47:24.239Z,1761540444.239 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:24.240Z,1761540444.240 [DAT](INFO): direction in FSK: [-0.890146,-0.455511,-0.012217] 2025-10-27T04:47:24.240Z,1761540444.240 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:24.253Z,1761540444.253 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:24.253Z,1761540444.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:24.322Z,1761540444.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503824 s, deltaX: 0.100000 m, approachRate: 0.198483 m/s, rangeRepo size: 4 2025-10-27T04:47:24.328Z,1761540444.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.573486 m, bearing: 229.318081 deg, lat: 36.779373 deg, lon: -121.859599 deg, deltaT: 1.509777 s, deltaX: 0.298681 m, approachRate: 0.197831 m/s, posRepo size: 4 2025-10-27T04:47:24.329Z,1761540444.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-27T04:47:24.482Z,1761540444.482 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:24.578Z,1761540444.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915210,-0.367645,-0.165007],[0.371125,0.928525,-0.010366],[0.157024,-0.051751,0.986238]] 2025-10-27T04:47:24.646Z,1761540444.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-27T04:47:24.733Z,1761540444.733 [DAT](INFO): DAT read: Rx Time:04:47:23.5312 2025-10-27T04:47:24.734Z,1761540444.734 [DAT](INFO): Rx dataTimestamp_ set to:1761540444.733483 2025-10-27T04:47:24.735Z,1761540444.735 [DAT](INFO): DAT read: Bearing 353.2, -36.7 (Local) 2025-10-27T04:47:24.735Z,1761540444.735 [DAT](INFO): Local bearing/azimuth received: Bearing 353.2, -36.7 (Local) 2025-10-27T04:47:24.738Z,1761540444.738 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T04:47:24.742Z,1761540444.742 [DAT](INFO): DAT read: 04:47:23.5312 LVL= 32752, 24385, 30194, 32755, AGC= 67, IDX= 498,-0.31, 0.659, 2.879, 1.730, 1.875, PHS=-1.114, 1.049,-0.189, RAW= 304.8, 2.7, CAL= 302.6, -0.9, ROT= 207.4, 0.9 2025-10-27T04:47:24.743Z,1761540444.743 [DAT](INFO): got valid direction response: 04:47:23.5312 LVL= 32752, 24385, 30194, 32755, AGC= 67, IDX= 498,-0.31, 0.659, 2.879, 1.730, 1.875, PHS=-1.114, 1.049,-0.189, RAW= 304.8, 2.7, CAL= 302.6, -0.9, ROT= 207.4, 0.9 2025-10-27T04:47:24.744Z,1761540444.744 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:24.745Z,1761540444.745 [DAT](INFO): direction in FSK: [-0.887706,-0.460143,-0.015707] 2025-10-27T04:47:24.745Z,1761540444.745 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:24.748Z,1761540444.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:24.749Z,1761540444.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:24.982Z,1761540444.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914637,-0.369138,-0.164855],[0.372629,0.927922,-0.010380],[0.156804,-0.051936,0.986263]] 2025-10-27T04:47:24.984Z,1761540444.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:25.017Z,1761540445.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504754 s, deltaX: -0.100000 m, approachRate: -0.198117 m/s, rangeRepo size: 4 2025-10-27T04:47:25.019Z,1761540445.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.473715 m, bearing: 229.832576 deg, lat: 36.779376 deg, lon: -121.859599 deg, deltaT: 0.504754 s, deltaX: -0.099771 m, approachRate: -0.197664 m/s, posRepo size: 4 2025-10-27T04:47:25.019Z,1761540445.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m. 2025-10-27T04:47:25.236Z,1761540445.236 [DAT](INFO): DAT read: Rx Time:04:47:24.0314 2025-10-27T04:47:25.237Z,1761540445.237 [DAT](INFO): Rx dataTimestamp_ set to:1761540445.236631 2025-10-27T04:47:25.238Z,1761540445.238 [DAT](INFO): DAT read: Bearing 353.1, -36.1 (Local) 2025-10-27T04:47:25.238Z,1761540445.238 [DAT](INFO): Local bearing/azimuth received: Bearing 353.1, -36.1 (Local) 2025-10-27T04:47:25.241Z,1761540445.241 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.2 2025-10-27T04:47:25.245Z,1761540445.245 [DAT](INFO): DAT read: 04:47:24.0314 LVL= 32752, 23009, 30258, 32755, AGC= 70, IDX= 3, 0.21,-2.351,-0.167,-1.314,-1.156, PHS=-1.094, 1.033,-0.202, RAW= 305.3, 2.9, CAL= 303.1, -0.7, ROT= 206.9, 0.7 2025-10-27T04:47:25.246Z,1761540445.246 [DAT](INFO): got valid direction response: 04:47:24.0314 LVL= 32752, 23009, 30258, 32755, AGC= 70, IDX= 3, 0.21,-2.351,-0.167,-1.314,-1.156, PHS=-1.094, 1.033,-0.202, RAW= 305.3, 2.9, CAL= 303.1, -0.7, ROT= 206.9, 0.7 2025-10-27T04:47:25.247Z,1761540445.247 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:25.248Z,1761540445.248 [DAT](INFO): direction in FSK: [-0.891731,-0.452401,-0.012217] 2025-10-27T04:47:25.248Z,1761540445.248 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:25.251Z,1761540445.251 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:25.252Z,1761540445.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:25.488Z,1761540445.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:25.502Z,1761540445.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503148 s, deltaX: 0.299999 m, approachRate: 0.596245 m/s, rangeRepo size: 4 2025-10-27T04:47:25.509Z,1761540445.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.772081 m, bearing: 229.307990 deg, lat: 36.779376 deg, lon: -121.859599 deg, deltaT: 0.503148 s, deltaX: 0.298367 m, approachRate: 0.593000 m/s, posRepo size: 4 2025-10-27T04:47:25.509Z,1761540445.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-27T04:47:25.741Z,1761540445.741 [DAT](INFO): DAT read: Rx Time:04:47:24.5314 2025-10-27T04:47:25.742Z,1761540445.742 [DAT](INFO): Rx dataTimestamp_ set to:1761540445.741307 2025-10-27T04:47:25.744Z,1761540445.744 [DAT](INFO): DAT read: Bearing 353.1, -36.4 (Local) 2025-10-27T04:47:25.744Z,1761540445.744 [DAT](INFO): Local bearing/azimuth received: Bearing 353.1, -36.4 (Local) 2025-10-27T04:47:25.747Z,1761540445.747 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.2 2025-10-27T04:47:25.751Z,1761540445.751 [DAT](INFO): DAT read: 04:47:24.5314 LVL= 32752, 22497, 28882, 32755, AGC= 67, IDX= 499, 0.01, 1.715,-2.362, 2.771, 2.928, PHS=-1.111, 1.038,-0.200, RAW= 305.0, 3.0, CAL= 302.8, -0.6, ROT= 207.2, 0.6 2025-10-27T04:47:25.752Z,1761540445.752 [DAT](INFO): got valid direction response: 04:47:24.5314 LVL= 32752, 22497, 28882, 32755, AGC= 67, IDX= 499, 0.01, 1.715,-2.362, 2.771, 2.928, PHS=-1.111, 1.038,-0.200, RAW= 305.0, 3.0, CAL= 302.8, -0.6, ROT= 207.2, 0.6 2025-10-27T04:47:25.753Z,1761540445.753 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:25.754Z,1761540445.754 [DAT](INFO): direction in FSK: [-0.889368,-0.457073,-0.010472] 2025-10-27T04:47:25.754Z,1761540445.754 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:25.758Z,1761540445.758 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:25.758Z,1761540445.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:25.836Z,1761540445.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913177,-0.372978,-0.164300],[0.376407,0.926390,-0.010934],[0.156284,-0.051859,0.986350]] 2025-10-27T04:47:25.914Z,1761540445.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504676 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:25.920Z,1761540445.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.772081 m, bearing: 229.829686 deg, lat: 36.779375 deg, lon: -121.859598 deg, deltaT: 0.504676 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:25.921Z,1761540445.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-27T04:47:25.992Z,1761540445.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:26.245Z,1761540446.245 [DAT](INFO): DAT read: Rx Time:04:47:25.0316 2025-10-27T04:47:26.245Z,1761540446.245 [DAT](INFO): Rx dataTimestamp_ set to:1761540446.244719 2025-10-27T04:47:26.246Z,1761540446.246 [DAT](INFO): DAT read: Bearing 353.2, -36.1 (Local) 2025-10-27T04:47:26.247Z,1761540446.247 [DAT](INFO): Local bearing/azimuth received: Bearing 353.2, -36.1 (Local) 2025-10-27T04:47:26.249Z,1761540446.249 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.2 2025-10-27T04:47:26.253Z,1761540446.253 [DAT](INFO): DAT read: 04:47:25.0316 LVL= 32752, 23665, 29234, 32755, AGC= 66, IDX= 501,-0.16, 1.598,-2.472, 2.649, 2.811, PHS=-1.111, 1.045,-0.206, RAW= 305.3, 2.9, CAL= 303.0, -0.6, ROT= 207.0, 0.6 2025-10-27T04:47:26.254Z,1761540446.254 [DAT](INFO): got valid direction response: 04:47:25.0316 LVL= 32752, 23665, 29234, 32755, AGC= 66, IDX= 501,-0.16, 1.598,-2.472, 2.649, 2.811, PHS=-1.111, 1.045,-0.206, RAW= 305.3, 2.9, CAL= 303.0, -0.6, ROT= 207.0, 0.6 2025-10-27T04:47:26.255Z,1761540446.255 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:26.256Z,1761540446.256 [DAT](INFO): direction in FSK: [-0.890958,-0.453966,-0.010472] 2025-10-27T04:47:26.256Z,1761540446.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:26.260Z,1761540446.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:26.261Z,1761540446.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:26.361Z,1761540446.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912474,-0.374789,-0.164084],[0.378181,0.925663,-0.011265],[0.156109,-0.051774,0.986382]] 2025-10-27T04:47:26.401Z,1761540446.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503412 s, deltaX: 0.300001 m, approachRate: 0.595936 m/s, rangeRepo size: 4 2025-10-27T04:47:26.407Z,1761540446.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.070477 m, bearing: 229.739818 deg, lat: 36.779373 deg, lon: -121.859598 deg, deltaT: 0.503412 s, deltaX: 0.298395 m, approachRate: 0.592745 m/s, posRepo size: 4 2025-10-27T04:47:26.408Z,1761540446.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.07 m. 2025-10-27T04:47:26.498Z,1761540446.498 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:26.749Z,1761540446.749 [DAT](INFO): DAT read: Rx Time:04:47:25.5315 2025-10-27T04:47:26.749Z,1761540446.749 [DAT](INFO): Rx dataTimestamp_ set to:1761540446.748797 2025-10-27T04:47:26.750Z,1761540446.750 [DAT](INFO): DAT read: Bearing 353.2, -35.9 (Local) 2025-10-27T04:47:26.751Z,1761540446.751 [DAT](INFO): Local bearing/azimuth received: Bearing 353.2, -35.9 (Local) 2025-10-27T04:47:26.753Z,1761540446.753 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.3 2025-10-27T04:47:26.758Z,1761540446.758 [DAT](INFO): DAT read: 04:47:25.5315 LVL= 32752, 20145, 27954, 32755, AGC= 66, IDX= 501,-0.38, 1.076,-3.000, 2.120, 2.284, PHS=-1.107, 1.043,-0.208, RAW= 305.4, 2.9, CAL= 303.1, -0.6, ROT= 206.9, 0.6 2025-10-27T04:47:26.759Z,1761540446.759 [DAT](INFO): got valid direction response: 04:47:25.5315 LVL= 32752, 20145, 27954, 32755, AGC= 66, IDX= 501,-0.38, 1.076,-3.000, 2.120, 2.284, PHS=-1.107, 1.043,-0.208, RAW= 305.4, 2.9, CAL= 303.1, -0.6, ROT= 206.9, 0.6 2025-10-27T04:47:26.760Z,1761540446.760 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:26.761Z,1761540446.761 [DAT](INFO): direction in FSK: [-0.891749,-0.452410,-0.010472] 2025-10-27T04:47:26.762Z,1761540446.762 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:26.788Z,1761540446.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:26.789Z,1761540446.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:26.848Z,1761540446.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911164,-0.378357,-0.163173],[0.381640,0.924234,-0.011972],[0.155340,-0.051365,0.986525]] 2025-10-27T04:47:26.939Z,1761540446.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504078 s, deltaX: -0.200001 m, approachRate: -0.396766 m/s, rangeRepo size: 4 2025-10-27T04:47:26.941Z,1761540446.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.871719 m, bearing: 229.852638 deg, lat: 36.779375 deg, lon: -121.859598 deg, deltaT: 0.504078 s, deltaX: -0.198757 m, approachRate: -0.394298 m/s, posRepo size: 4 2025-10-27T04:47:26.942Z,1761540446.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m. 2025-10-27T04:47:27.000Z,1761540447.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:27.248Z,1761540447.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m. 2025-10-27T04:47:27.253Z,1761540447.253 [DAT](INFO): DAT read: Rx Time:04:47:26.0317 2025-10-27T04:47:27.253Z,1761540447.253 [DAT](INFO): Rx dataTimestamp_ set to:1761540447.252789 2025-10-27T04:47:27.254Z,1761540447.254 [DAT](INFO): DAT read: Bearing 353.3, -35.7 (Local) 2025-10-27T04:47:27.255Z,1761540447.255 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, -35.7 (Local) 2025-10-27T04:47:27.257Z,1761540447.257 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.3 2025-10-27T04:47:27.265Z,1761540447.265 [DAT](INFO): DAT read: 04:47:26.0317 LVL= 32752, 23537, 30626, 32755, AGC= 67, IDX= 502, 0.39, 3.126,-0.976,-2.129,-1.964, PHS=-1.092, 1.032,-0.210, RAW= 305.6, 2.9, CAL= 303.3, -0.6, ROT= 206.7, 0.6 2025-10-27T04:47:27.271Z,1761540447.271 [DAT](INFO): got valid direction response: 04:47:26.0317 LVL= 32752, 23537, 30626, 32755, AGC= 67, IDX= 502, 0.39, 3.126,-0.976,-2.129,-1.964, PHS=-1.092, 1.032,-0.210, RAW= 305.6, 2.9, CAL= 303.3, -0.6, ROT= 206.7, 0.6 2025-10-27T04:47:27.272Z,1761540447.272 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:27.273Z,1761540447.273 [DAT](INFO): direction in FSK: [-0.893322,-0.449294,-0.010472] 2025-10-27T04:47:27.273Z,1761540447.273 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:27.302Z,1761540447.302 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:27.302Z,1761540447.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:27.507Z,1761540447.507 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:27.605Z,1761540447.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910636,-0.379772,-0.162836],[0.383031,0.923656,-0.012140],[0.155015,-0.051317,0.986578]] 2025-10-27T04:47:27.712Z,1761540447.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503992 s, deltaX: 0.299999 m, approachRate: 0.595246 m/s, rangeRepo size: 4 2025-10-27T04:47:27.721Z,1761540447.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.170048 m, bearing: 229.737717 deg, lat: 36.779374 deg, lon: -121.859598 deg, deltaT: 0.503992 s, deltaX: 0.298328 m, approachRate: 0.591931 m/s, posRepo size: 4 2025-10-27T04:47:27.722Z,1761540447.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:27.760Z,1761540447.760 [DAT](INFO): DAT read: Rx Time:04:47:26.5317 2025-10-27T04:47:27.761Z,1761540447.761 [DAT](INFO): Rx dataTimestamp_ set to:1761540447.760396 2025-10-27T04:47:27.764Z,1761540447.764 [DAT](INFO): DAT read: Bearing 353.3, -35.8 (Local) 2025-10-27T04:47:27.764Z,1761540447.764 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, -35.8 (Local) 2025-10-27T04:47:27.768Z,1761540447.768 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.3 2025-10-27T04:47:27.784Z,1761540447.784 [DAT](INFO): DAT read: 04:47:26.5317 LVL= 32752, 22929, 31346, 32755, AGC= 67, IDX= 502, 0.23, 2.166,-1.920,-3.079,-2.912, PHS=-1.104, 1.036,-0.211, RAW= 305.5, 3.0, CAL= 303.2, -0.5, ROT= 206.8, 0.5 2025-10-27T04:47:27.785Z,1761540447.785 [DAT](INFO): got valid direction response: 04:47:26.5317 LVL= 32752, 22929, 31346, 32755, AGC= 67, IDX= 502, 0.23, 2.166,-1.920,-3.079,-2.912, PHS=-1.104, 1.036,-0.211, RAW= 305.5, 3.0, CAL= 303.2, -0.5, ROT= 206.8, 0.5 2025-10-27T04:47:27.786Z,1761540447.786 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:27.793Z,1761540447.793 [DAT](INFO): direction in FSK: [-0.892552,-0.450860,-0.008727] 2025-10-27T04:47:27.793Z,1761540447.793 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:27.818Z,1761540447.818 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:27.818Z,1761540447.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:47:28.008Z,1761540448.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:47:28.011Z,1761540448.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910254,-0.380838,-0.162483],[0.384104,0.923211,-0.012071],[0.154603,-0.051422,0.986638]] 2025-10-27T04:47:28.041Z,1761540448.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.507607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:47:28.044Z,1761540448.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.170048 m, bearing: 229.890411 deg, lat: 36.779374 deg, lon: -121.859598 deg, deltaT: 0.507607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:47:28.045Z,1761540448.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:28.261Z,1761540448.261 [DAT](INFO): DAT read: user:201> 2025-10-27T04:47:28.262Z,1761540448.262 [DAT](INFO): DAT read: 50 2025-10-27T04:47:28.263Z,1761540448.263 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T04:47:28.263Z,1761540448.263 [DAT](INFO): DAT read: Ok 2025-10-27T04:47:28.264Z,1761540448.264 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T04:47:28.265Z,1761540448.265 [DAT](INFO): DAT read: user:202> 2025-10-27T04:47:28.267Z,1761540448.267 [DAT](INFO): DAT read: Tx time:04:47:27.4297 2025-10-27T04:47:28.267Z,1761540448.267 [DAT](INFO): Ping request sent. 2025-10-27T04:47:28.268Z,1761540448.268 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:47:28.268Z,1761540448.268 [DAT](INFO): publishing transmit ping time 2025-10-27T04:47:28.268Z,1761540448.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000791 2025-10-27T04:47:28.417Z,1761540448.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909943,-0.381736,-0.162114],[0.385017,0.922832,-0.011935],[0.154160,-0.051556,0.986700]] 2025-10-27T04:47:28.456Z,1761540448.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:28.515Z,1761540448.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246608 2025-10-27T04:47:28.765Z,1761540448.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497241 2025-10-27T04:47:28.870Z,1761540448.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:29.016Z,1761540449.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748285 2025-10-27T04:47:29.221Z,1761540449.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909523,-0.382975,-0.161548],[0.386308,0.922298,-0.011522],[0.153408,-0.051928,0.986798]] 2025-10-27T04:47:29.262Z,1761540449.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:29.269Z,1761540449.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001179 2025-10-27T04:47:29.524Z,1761540449.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256135 2025-10-27T04:47:29.633Z,1761540449.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909163,-0.384265,-0.160507],[0.387539,0.921779,-0.011656],[0.152431,-0.051606,0.986966]] 2025-10-27T04:47:29.674Z,1761540449.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:29.773Z,1761540449.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505857 2025-10-27T04:47:30.028Z,1761540450.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759095 2025-10-27T04:47:30.036Z,1761540450.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909183,-0.384400,-0.160069],[0.387667,0.921727,-0.011564],[0.151985,-0.051540,0.987038]] 2025-10-27T04:47:30.078Z,1761540450.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:30.276Z,1761540450.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008886 2025-10-27T04:47:30.438Z,1761540450.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909297,-0.384273,-0.159730],[0.387545,0.921780,-0.011408],[0.151620,-0.051529,0.987095]] 2025-10-27T04:47:30.456Z,1761540450.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:30.531Z,1761540450.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262989 2025-10-27T04:47:30.780Z,1761540450.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512608 2025-10-27T04:47:30.844Z,1761540450.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909288,-0.384476,-0.159289],[0.387691,0.921716,-0.011643],[0.151295,-0.051168,0.987163]] 2025-10-27T04:47:30.883Z,1761540450.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:31.032Z,1761540451.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764311 2025-10-27T04:47:31.244Z,1761540451.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909366,-0.384498,-0.158791],[0.387656,0.921728,-0.011848],[0.150918,-0.050782,0.987241]] 2025-10-27T04:47:31.285Z,1761540451.285 [DAT](INFO): DAT read: Rx Time:04:47:29.8677 2025-10-27T04:47:31.286Z,1761540451.286 [DAT](INFO): Rx dataTimestamp_ set to:1761540451.285630 2025-10-27T04:47:31.287Z,1761540451.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019612 2025-10-27T04:47:31.296Z,1761540451.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:31.538Z,1761540451.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270217 2025-10-27T04:47:31.645Z,1761540451.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909497,-0.384387,-0.158312],[0.387496,0.921793,-0.011994],[0.150542,-0.050437,0.987316]] 2025-10-27T04:47:31.794Z,1761540451.794 [DAT](INFO): DAT read: 04:47:29.8677 LVL= 32752, 30065, 28146, 32755, AGC= 70, IDX= 72,-0.36, 1.923,-2.112, 2.978,-3.137, PHS=-1.121, 1.070,-0.212, RAW= 305.6, 2.8, CAL= 303.3, -0.8, ROT= 206.7, 0.8 2025-10-27T04:47:31.796Z,1761540451.796 [DAT](INFO): got valid direction response: 04:47:29.8677 LVL= 32752, 30065, 28146, 32755, AGC= 70, IDX= 72,-0.36, 1.923,-2.112, 2.978,-3.137, PHS=-1.121, 1.070,-0.212, RAW= 305.6, 2.8, CAL= 303.3, -0.8, ROT= 206.7, 0.8 2025-10-27T04:47:31.797Z,1761540451.797 [DAT](INFO): DAT read: Bearing 353.0, -35.4 (Local) 2025-10-27T04:47:31.797Z,1761540451.797 [DAT](INFO): Local bearing/azimuth received: Bearing 353.0, -35.4 (Local) 2025-10-27T04:47:31.799Z,1761540451.799 [DAT](INFO): DAT read: Range 11 to 50 : 25.3 m (Round-trip 33.8 ms) speed 0.0 m/s 2025-10-27T04:47:31.799Z,1761540451.799 [DAT](INFO): DAT read: user:203> 2025-10-27T04:47:31.800Z,1761540451.800 [DAT](INFO): DAT read: Tx time:04:47:30.9813 2025-10-27T04:47:31.800Z,1761540451.800 [DAT](INFO): Ping request sent. 2025-10-27T04:47:31.800Z,1761540451.800 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:47:31.801Z,1761540451.801 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:47:31.802Z,1761540451.802 [DAT](INFO): direction in FSK: [-0.893284,-0.449275,-0.013962] 2025-10-27T04:47:31.802Z,1761540451.802 [DAT](INFO): publishing transmit ping time 2025-10-27T04:47:31.802Z,1761540451.802 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:31.810Z,1761540451.810 [DAT](INFO): publishing transmit ping time 2025-10-27T04:47:31.810Z,1761540451.810 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:31.816Z,1761540451.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.299999 m, deltaT: 4.027869 s, deltaX: 1.000000 m, approachRate: 0.248270 m/s, rangeRepo size: 4 2025-10-27T04:47:31.817Z,1761540451.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:32.057Z,1761540452.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909608,-0.384311,-0.157854],[0.387370,0.921844,-0.012160],[0.150191,-0.050087,0.987387]] 2025-10-27T04:47:32.100Z,1761540452.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:32.451Z,1761540452.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909845,-0.383950,-0.157367],[0.387008,0.921999,-0.011970],[0.149688,-0.050011,0.987468]] 2025-10-27T04:47:32.486Z,1761540452.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:32.854Z,1761540452.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909883,-0.383969,-0.157102],[0.387014,0.921996,-0.011972],[0.149444,-0.049908,0.987510]] 2025-10-27T04:47:32.923Z,1761540452.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:33.265Z,1761540453.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909996,-0.383823,-0.156805],[0.386891,0.922051,-0.011708],[0.149076,-0.050012,0.987560]] 2025-10-27T04:47:33.293Z,1761540453.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:33.661Z,1761540453.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909962,-0.384065,-0.156408],[0.387117,0.921956,-0.011695],[0.148693,-0.049906,0.987623]] 2025-10-27T04:47:33.713Z,1761540453.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:34.132Z,1761540454.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909753,-0.384748,-0.155947],[0.387743,0.921690,-0.011975],[0.148342,-0.049573,0.987693]] 2025-10-27T04:47:34.158Z,1761540454.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:34.550Z,1761540454.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909487,-0.385565,-0.155479],[0.388508,0.921364,-0.012239],[0.147971,-0.049274,0.987763]] 2025-10-27T04:47:34.640Z,1761540454.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:34.820Z,1761540454.820 [DAT](INFO): DAT read: Rx Time:04:47:33.4198 2025-10-27T04:47:34.820Z,1761540454.820 [DAT](INFO): Rx dataTimestamp_ set to:1761540454.820100 2025-10-27T04:47:34.938Z,1761540454.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909225,-0.386315,-0.155149],[0.389242,0.921054,-0.012302],[0.147653,-0.049206,0.987814]] 2025-10-27T04:47:34.993Z,1761540454.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T04:47:35.334Z,1761540455.334 [DAT](INFO): DAT read: 04:47:33.4198 LVL= 32752, 24705, 32738, 32755, AGC= 67, IDX= 446,-0.29,-1.368, 0.807,-0.315,-0.185, PHS=-1.081, 1.037,-0.174, RAW= 304.7, 2.4, CAL= 302.6, -1.3, ROT= 207.4, 1.3 2025-10-27T04:47:35.335Z,1761540455.335 [DAT](INFO): got valid direction response: 04:47:33.4198 LVL= 32752, 24705, 32738, 32755, AGC= 67, IDX= 446,-0.29,-1.368, 0.807,-0.315,-0.185, PHS=-1.081, 1.037,-0.174, RAW= 304.7, 2.4, CAL= 302.6, -1.3, ROT= 207.4, 1.3 2025-10-27T04:47:35.336Z,1761540455.336 [DAT](INFO): DAT read: Bearing 354.1, -35.8 (Local) 2025-10-27T04:47:35.336Z,1761540455.336 [DAT](INFO): Local bearing/azimuth received: Bearing 354.1, -35.8 (Local) 2025-10-27T04:47:35.338Z,1761540455.338 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (Round-trip 34.4 ms) speed -0.2 m/s 2025-10-27T04:47:35.338Z,1761540455.338 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:47:35.353Z,1761540455.353 [DAT](INFO): direction in FSK: [-0.887587,-0.460081,-0.022687] 2025-10-27T04:47:35.353Z,1761540455.353 [DAT](INFO): publishing direction and range info 2025-10-27T04:47:35.378Z,1761540455.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908898,-0.387190,-0.154880],[0.390110,0.920686,-0.012333],[0.147371,-0.049210,0.987856]] 2025-10-27T04:47:35.438Z,1761540455.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 3.535079 s, deltaX: 0.500000 m, approachRate: 0.141440 m/s, rangeRepo size: 4 2025-10-27T04:47:35.441Z,1761540455.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.662884 m, bearing: 230.915108 deg, lat: 36.779374 deg, lon: -121.859598 deg, deltaT: 7.562948 s, deltaX: 1.492836 m, approachRate: 0.197388 m/s, posRepo size: 4 2025-10-27T04:47:35.441Z,1761540455.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:35.765Z,1761540455.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908552,-0.388131,-0.154556],[0.391057,0.920285,-0.012265],[0.146996,-0.049297,0.987908]] 2025-10-27T04:47:35.809Z,1761540455.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:36.190Z,1761540456.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:36.558Z,1761540456.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907724,-0.390311,-0.153933],[0.393233,0.919357,-0.012264],[0.146306,-0.049399,0.988005]] 2025-10-27T04:47:36.576Z,1761540456.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:36.960Z,1761540456.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907302,-0.391376,-0.153714],[0.394295,0.918901,-0.012305],[0.146064,-0.049444,0.988039]] 2025-10-27T04:47:36.996Z,1761540456.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:37.362Z,1761540457.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906958,-0.392306,-0.153375],[0.395226,0.918502,-0.012265],[0.145687,-0.049494,0.988092]] 2025-10-27T04:47:37.393Z,1761540457.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:37.778Z,1761540457.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906559,-0.393317,-0.153141],[0.396230,0.918069,-0.012312],[0.145437,-0.049518,0.988128]] 2025-10-27T04:47:37.823Z,1761540457.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:38.170Z,1761540458.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906286,-0.393974,-0.153070],[0.396903,0.917779,-0.012242],[0.145308,-0.049659,0.988139]] 2025-10-27T04:47:38.189Z,1761540458.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:38.575Z,1761540458.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906095,-0.394480,-0.152899],[0.397427,0.917554,-0.012098],[0.145065,-0.049804,0.988168]] 2025-10-27T04:47:38.603Z,1761540458.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:38.979Z,1761540458.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905904,-0.395043,-0.152575],[0.397972,0.917317,-0.012157],[0.144762,-0.049708,0.988217]] 2025-10-27T04:47:39.022Z,1761540459.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:39.382Z,1761540459.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905940,-0.395069,-0.152295],[0.398008,0.917304,-0.012001],[0.144442,-0.049742,0.988262]] 2025-10-27T04:47:39.401Z,1761540459.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:39.847Z,1761540459.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:40.190Z,1761540460.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906115,-0.394858,-0.151801],[0.397811,0.917393,-0.011707],[0.143884,-0.049780,0.988342]] 2025-10-27T04:47:40.214Z,1761540460.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:40.594Z,1761540460.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906431,-0.394240,-0.151515],[0.397231,0.917649,-0.011299],[0.143492,-0.049945,0.988390]] 2025-10-27T04:47:40.626Z,1761540460.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:40.999Z,1761540460.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906563,-0.393962,-0.151449],[0.396934,0.917777,-0.011379],[0.143480,-0.049800,0.988400]] 2025-10-27T04:47:41.070Z,1761540461.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:41.403Z,1761540461.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906805,-0.393496,-0.151217],[0.396437,0.917990,-0.011468],[0.143328,-0.049549,0.988434]] 2025-10-27T04:47:41.421Z,1761540461.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:41.806Z,1761540461.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907046,-0.393113,-0.150762],[0.395984,0.918182,-0.011763],[0.143051,-0.049030,0.988500]] 2025-10-27T04:47:41.865Z,1761540461.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:42.210Z,1761540462.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907366,-0.392479,-0.150490],[0.395293,0.918477,-0.012006],[0.142933,-0.048593,0.988539]] 2025-10-27T04:47:42.238Z,1761540462.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:42.614Z,1761540462.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907801,-0.391529,-0.150343],[0.394327,0.918892,-0.011989],[0.142843,-0.048400,0.988561]] 2025-10-27T04:47:42.652Z,1761540462.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:43.019Z,1761540463.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908252,-0.390525,-0.150229],[0.393322,0.919324,-0.011870],[0.142745,-0.048308,0.988580]] 2025-10-27T04:47:43.085Z,1761540463.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:43.424Z,1761540463.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908666,-0.389482,-0.150430],[0.392310,0.919759,-0.011636],[0.142891,-0.048442,0.988552]] 2025-10-27T04:47:43.450Z,1761540463.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:43.826Z,1761540463.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909195,-0.388183,-0.150593],[0.391068,0.920294,-0.011189],[0.142933,-0.048719,0.988533]] 2025-10-27T04:47:43.872Z,1761540463.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:44.230Z,1761540464.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909575,-0.387327,-0.150501],[0.390209,0.920659,-0.011108],[0.142862,-0.048623,0.988547]] 2025-10-27T04:47:44.253Z,1761540464.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:44.635Z,1761540464.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909875,-0.386637,-0.150462],[0.389482,0.920965,-0.011292],[0.142936,-0.048328,0.988551]] 2025-10-27T04:47:44.660Z,1761540464.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:45.039Z,1761540465.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910039,-0.386273,-0.150404],[0.389056,0.921140,-0.011670],[0.143051,-0.047895,0.988556]] 2025-10-27T04:47:45.076Z,1761540465.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:45.442Z,1761540465.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910274,-0.385695,-0.150470],[0.388457,0.921391,-0.011788],[0.143189,-0.047721,0.988544]] 2025-10-27T04:47:45.474Z,1761540465.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:45.846Z,1761540465.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910633,-0.384799,-0.150588],[0.387586,0.921761,-0.011582],[0.143263,-0.047819,0.988529]] 2025-10-27T04:47:45.893Z,1761540465.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:46.257Z,1761540466.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910909,-0.384079,-0.150758],[0.386893,0.922054,-0.011394],[0.143384,-0.047948,0.988505]] 2025-10-27T04:47:46.296Z,1761540466.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:46.654Z,1761540466.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911168,-0.383355,-0.151039],[0.386215,0.922342,-0.011107],[0.143567,-0.048213,0.988465]] 2025-10-27T04:47:46.686Z,1761540466.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:47.058Z,1761540467.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911270,-0.383142,-0.150961],[0.385988,0.922436,-0.011161],[0.143528,-0.048099,0.988477]] 2025-10-27T04:47:47.104Z,1761540467.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:47.463Z,1761540467.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911425,-0.382765,-0.150982],[0.385609,0.922595,-0.011151],[0.143563,-0.048057,0.988474]] 2025-10-27T04:47:47.484Z,1761540467.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:47.867Z,1761540467.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911557,-0.382451,-0.150977],[0.385290,0.922728,-0.011157],[0.143578,-0.048000,0.988474]] 2025-10-27T04:47:47.904Z,1761540467.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:48.279Z,1761540468.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911843,-0.381715,-0.151116],[0.384593,0.923022,-0.010872],[0.143633,-0.048205,0.988456]] 2025-10-27T04:47:48.298Z,1761540468.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:48.674Z,1761540468.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912041,-0.381220,-0.151167],[0.384119,0.923222,-0.010705],[0.143642,-0.048303,0.988450]] 2025-10-27T04:47:48.719Z,1761540468.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:49.078Z,1761540469.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912301,-0.380533,-0.151334],[0.383479,0.923491,-0.010380],[0.143705,-0.048563,0.988428]] 2025-10-27T04:47:49.130Z,1761540469.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:49.484Z,1761540469.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912700,-0.379544,-0.151412],[0.382552,0.923881,-0.009896],[0.143642,-0.048890,0.988421]] 2025-10-27T04:47:49.505Z,1761540469.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:49.552Z,1761540469.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:47:49.886Z,1761540469.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912956,-0.378883,-0.151520],[0.381911,0.924148,-0.009745],[0.143719,-0.048970,0.988406]] 2025-10-27T04:47:49.929Z,1761540469.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:50.290Z,1761540470.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913323,-0.378067,-0.151346],[0.381105,0.924483,-0.009545],[0.143525,-0.048961,0.988435]] 2025-10-27T04:47:50.308Z,1761540470.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:50.555Z,1761540470.555 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:47:50.696Z,1761540470.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913739,-0.377134,-0.151169],[0.380174,0.924868,-0.009389],[0.143352,-0.048892,0.988463]] 2025-10-27T04:47:50.724Z,1761540470.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:51.169Z,1761540471.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:51.502Z,1761540471.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914928,-0.374288,-0.151046],[0.377374,0.926019,-0.008787],[0.143160,-0.048961,0.988488]] 2025-10-27T04:47:51.546Z,1761540471.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:51.906Z,1761540471.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915658,-0.372469,-0.151123],[0.375606,0.926742,-0.008310],[0.143147,-0.049154,0.988480]] 2025-10-27T04:47:51.958Z,1761540471.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:52.312Z,1761540472.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916484,-0.370507,-0.150935],[0.373693,0.927520,-0.007744],[0.142865,-0.049307,0.988513]] 2025-10-27T04:47:52.330Z,1761540472.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:52.724Z,1761540472.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917357,-0.368353,-0.150906],[0.371592,0.928368,-0.007185],[0.142743,-0.049484,0.988522]] 2025-10-27T04:47:52.760Z,1761540472.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:53.118Z,1761540473.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918205,-0.366316,-0.150704],[0.369573,0.929177,-0.006824],[0.142530,-0.049431,0.988555]] 2025-10-27T04:47:53.165Z,1761540473.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:53.523Z,1761540473.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919186,-0.363892,-0.150596],[0.367179,0.930129,-0.006382],[0.142396,-0.049430,0.988575]] 2025-10-27T04:47:53.544Z,1761540473.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:53.928Z,1761540473.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920282,-0.361117,-0.150585],[0.364453,0.931204,-0.005808],[0.142323,-0.049536,0.988580]] 2025-10-27T04:47:53.969Z,1761540473.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:54.330Z,1761540474.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921306,-0.358541,-0.150480],[0.361897,0.932202,-0.005416],[0.142220,-0.049468,0.988598]] 2025-10-27T04:47:54.357Z,1761540474.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:54.742Z,1761540474.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922463,-0.355516,-0.150565],[0.358937,0.933350,-0.004750],[0.142218,-0.049662,0.988589]] 2025-10-27T04:47:54.790Z,1761540474.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:55.138Z,1761540475.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923500,-0.352807,-0.150580],[0.356257,0.934378,-0.004330],[0.142226,-0.049646,0.988588]] 2025-10-27T04:47:55.190Z,1761540475.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:55.546Z,1761540475.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924684,-0.349687,-0.150594],[0.353201,0.935540,-0.003632],[0.142157,-0.049831,0.988589]] 2025-10-27T04:47:55.565Z,1761540475.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:56.021Z,1761540476.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:56.350Z,1761540476.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927027,-0.343356,-0.150759],[0.346997,0.937864,-0.002293],[0.142179,-0.050187,0.988568]] 2025-10-27T04:47:56.387Z,1761540476.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:56.766Z,1761540476.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928146,-0.340343,-0.150707],[0.344024,0.938959,-0.001752],[0.142104,-0.050221,0.988577]] 2025-10-27T04:47:56.804Z,1761540476.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:57.160Z,1761540477.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929330,-0.337026,-0.150861],[0.340776,0.940144,-0.001055],[0.142187,-0.050429,0.988554]] 2025-10-27T04:47:57.201Z,1761540477.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:57.566Z,1761540477.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930521,-0.333655,-0.151016],[0.337474,0.941335,-0.000364],[0.142278,-0.050625,0.988531]] 2025-10-27T04:47:57.612Z,1761540477.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:57.976Z,1761540477.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931689,-0.330408,-0.150951],[0.334277,0.942475,0.000266],[0.142180,-0.050708,0.988541]] 2025-10-27T04:47:58.020Z,1761540478.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:58.372Z,1761540478.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932900,-0.326958,-0.150982],[0.330893,0.943668,0.000996],[0.142151,-0.050888,0.988536]] 2025-10-27T04:47:58.390Z,1761540478.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:58.779Z,1761540478.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934080,-0.323569,-0.150988],[0.327556,0.944830,0.001632],[0.142130,-0.050982,0.988534]] 2025-10-27T04:47:58.798Z,1761540478.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:59.178Z,1761540479.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935239,-0.320238,-0.150916],[0.324264,0.945964,0.002190],[0.142060,-0.050984,0.988544]] 2025-10-27T04:47:59.222Z,1761540479.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:47:59.602Z,1761540479.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936462,-0.316693,-0.150816],[0.320770,0.947153,0.002864],[0.141939,-0.051059,0.988558]] 2025-10-27T04:47:59.648Z,1761540479.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:00.004Z,1761540480.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937805,-0.312733,-0.150732],[0.316902,0.948451,0.003850],[0.141758,-0.051378,0.988567]] 2025-10-27T04:48:00.046Z,1761540480.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:00.393Z,1761540480.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938938,-0.309350,-0.150661],[0.313552,0.949561,0.004380],[0.141707,-0.051353,0.988576]] 2025-10-27T04:48:00.412Z,1761540480.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:00.794Z,1761540480.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940221,-0.305488,-0.150535],[0.309765,0.950799,0.005248],[0.141526,-0.051565,0.988591]] 2025-10-27T04:48:00.830Z,1761540480.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:01.198Z,1761540481.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941424,-0.301836,-0.150387],[0.306164,0.951960,0.005946],[0.141368,-0.051641,0.988609]] 2025-10-27T04:48:01.266Z,1761540481.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:01.610Z,1761540481.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942542,-0.298444,-0.150151],[0.302794,0.953034,0.006455],[0.141172,-0.051549,0.988642]] 2025-10-27T04:48:01.632Z,1761540481.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:02.048Z,1761540482.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943745,-0.294720,-0.149952],[0.299123,0.954187,0.007193],[0.140962,-0.051642,0.988667]] 2025-10-27T04:48:02.102Z,1761540482.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:02.449Z,1761540482.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944975,-0.290781,-0.149892],[0.295266,0.955381,0.008088],[0.140852,-0.051901,0.988669]] 2025-10-27T04:48:02.490Z,1761540482.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:02.854Z,1761540482.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946203,-0.286872,-0.149682],[0.291440,0.956546,0.009057],[0.140579,-0.052193,0.988693]] 2025-10-27T04:48:02.877Z,1761540482.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:03.271Z,1761540483.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948494,-0.279456,-0.149212],[0.284172,0.958712,0.010840],[0.140022,-0.052683,0.988746]] 2025-10-27T04:48:03.325Z,1761540483.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:03.696Z,1761540483.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:04.075Z,1761540484.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950672,-0.272305,-0.148567],[0.277127,0.960753,0.012378],[0.139365,-0.052939,0.988825]] 2025-10-27T04:48:04.123Z,1761540484.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:04.475Z,1761540484.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951794,-0.268600,-0.148128],[0.273483,0.961786,0.013255],[0.138907,-0.053126,0.988879]] 2025-10-27T04:48:04.493Z,1761540484.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:04.880Z,1761540484.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952920,-0.264762,-0.147799],[0.269715,0.962836,0.014169],[0.138554,-0.053365,0.988916]] 2025-10-27T04:48:04.898Z,1761540484.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:05.281Z,1761540485.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954112,-0.260635,-0.147447],[0.265679,0.963941,0.015263],[0.138152,-0.053736,0.988952]] 2025-10-27T04:48:05.325Z,1761540485.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:05.690Z,1761540485.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955334,-0.256420,-0.146922],[0.261555,0.965049,0.016435],[0.137572,-0.054129,0.989012]] 2025-10-27T04:48:05.729Z,1761540485.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:06.098Z,1761540486.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956592,-0.251954,-0.146460],[0.257199,0.966196,0.017731],[0.137042,-0.054631,0.989058]] 2025-10-27T04:48:06.154Z,1761540486.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:06.489Z,1761540486.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957784,-0.247681,-0.145956],[0.252999,0.967284,0.018774],[0.136531,-0.054908,0.989113]] 2025-10-27T04:48:06.526Z,1761540486.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:06.894Z,1761540486.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959045,-0.243099,-0.145378],[0.248500,0.968426,0.019947],[0.135939,-0.055256,0.989175]] 2025-10-27T04:48:06.912Z,1761540486.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:07.299Z,1761540487.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960318,-0.238435,-0.144697],[0.243905,0.969571,0.021054],[0.135274,-0.055511,0.989252]] 2025-10-27T04:48:07.335Z,1761540487.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:07.709Z,1761540487.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961570,-0.233792,-0.143961],[0.239304,0.970696,0.021995],[0.134600,-0.055600,0.989339]] 2025-10-27T04:48:07.741Z,1761540487.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:08.125Z,1761540488.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962783,-0.229205,-0.143225],[0.234736,0.971792,0.022768],[0.133966,-0.055541,0.989428]] 2025-10-27T04:48:08.164Z,1761540488.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:08.550Z,1761540488.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:08.914Z,1761540488.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965286,-0.219437,-0.141672],[0.225013,0.974050,0.024413],[0.132638,-0.055443,0.989613]] 2025-10-27T04:48:08.933Z,1761540488.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:09.319Z,1761540489.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966543,-0.214364,-0.140864],[0.219955,0.975184,0.025210],[0.131964,-0.055351,0.989708]] 2025-10-27T04:48:09.362Z,1761540489.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:09.763Z,1761540489.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967860,-0.208865,-0.140080],[0.214497,0.976373,0.026219],[0.131294,-0.055423,0.989793]] 2025-10-27T04:48:09.781Z,1761540489.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:10.167Z,1761540490.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969115,-0.203469,-0.139344],[0.209131,0.977512,0.027114],[0.130694,-0.055418,0.989873]] 2025-10-27T04:48:10.225Z,1761540490.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:10.567Z,1761540490.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970318,-0.198110,-0.138690],[0.203796,0.978615,0.027931],[0.130190,-0.055367,0.989942]] 2025-10-27T04:48:10.585Z,1761540490.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:10.969Z,1761540490.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971523,-0.192657,-0.137934],[0.198370,0.979704,0.028811],[0.129584,-0.055352,0.990022]] 2025-10-27T04:48:10.998Z,1761540490.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:11.405Z,1761540491.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972651,-0.187430,-0.137187],[0.193148,0.980726,0.029508],[0.129012,-0.055198,0.990106]] 2025-10-27T04:48:11.441Z,1761540491.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:11.802Z,1761540491.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973749,-0.182225,-0.136407],[0.187944,0.981716,0.030182],[0.128413,-0.055026,0.990193]] 2025-10-27T04:48:11.833Z,1761540491.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:12.206Z,1761540492.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974800,-0.177131,-0.135607],[0.182841,0.982661,0.030777],[0.127804,-0.054796,0.990285]] 2025-10-27T04:48:12.275Z,1761540492.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:12.610Z,1761540492.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975788,-0.172290,-0.134739],[0.177975,0.983539,0.031256],[0.127136,-0.054479,0.990388]] 2025-10-27T04:48:12.629Z,1761540492.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:13.017Z,1761540493.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976846,-0.166902,-0.133850],[0.172630,0.984456,0.032314],[0.126376,-0.054672,0.990475]] 2025-10-27T04:48:13.035Z,1761540493.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:13.418Z,1761540493.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977800,-0.162053,-0.132836],[0.167815,0.985255,0.033319],[0.125478,-0.054871,0.990578]] 2025-10-27T04:48:13.467Z,1761540493.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:13.822Z,1761540493.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978603,-0.158178,-0.131591],[0.163931,0.985885,0.034030],[0.124351,-0.054874,0.990720]] 2025-10-27T04:48:13.865Z,1761540493.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:14.237Z,1761540494.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979280,-0.155008,-0.130317],[0.160735,0.986392,0.034578],[0.123184,-0.054808,0.990869]] 2025-10-27T04:48:14.284Z,1761540494.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:14.633Z,1761540494.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979901,-0.152309,-0.128824],[0.157990,0.986819,0.035029],[0.121791,-0.054678,0.991049]] 2025-10-27T04:48:14.651Z,1761540494.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:15.034Z,1761540495.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980554,-0.149328,-0.127341],[0.154984,0.987273,0.035673],[0.120393,-0.054715,0.991217]] 2025-10-27T04:48:15.066Z,1761540495.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:15.438Z,1761540495.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981189,-0.146622,-0.125579],[0.152226,0.987683,0.036199],[0.118725,-0.054635,0.991423]] 2025-10-27T04:48:15.483Z,1761540495.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:15.841Z,1761540495.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981802,-0.144081,-0.123717],[0.149618,0.988065,0.036647],[0.116960,-0.054491,0.991641]] 2025-10-27T04:48:15.863Z,1761540495.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:16.260Z,1761540496.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982469,-0.141240,-0.121679],[0.146731,0.988470,0.037371],[0.114998,-0.054569,0.991866]] 2025-10-27T04:48:16.318Z,1761540496.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:16.649Z,1761540496.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983110,-0.138567,-0.119559],[0.144000,0.988847,0.038020],[0.112957,-0.054595,0.992099]] 2025-10-27T04:48:16.678Z,1761540496.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:17.053Z,1761540497.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983766,-0.135818,-0.117298],[0.141194,0.989222,0.038777],[0.110767,-0.054709,0.992339]] 2025-10-27T04:48:17.087Z,1761540497.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:17.460Z,1761540497.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984380,-0.133143,-0.115192],[0.138450,0.989588,0.039324],[0.108757,-0.054659,0.992565]] 2025-10-27T04:48:17.514Z,1761540497.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:17.863Z,1761540497.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984986,-0.130539,-0.112966],[0.135756,0.989944,0.039759],[0.106640,-0.054498,0.992803]] 2025-10-27T04:48:17.881Z,1761540497.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:18.283Z,1761540498.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985582,-0.127947,-0.110719],[0.133072,0.990292,0.040176],[0.104504,-0.054330,0.993039]] 2025-10-27T04:48:18.335Z,1761540498.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:18.670Z,1761540498.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986162,-0.125381,-0.108466],[0.130408,0.990631,0.040541],[0.102366,-0.054125,0.993273]] 2025-10-27T04:48:18.709Z,1761540498.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:48:18.718Z,1761540498.718 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:48:18.718Z,1761540498.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:48:18.722Z,1761540498.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:18.968Z,1761540498.968 [DAT](INFO): DAT read: user:204> 2025-10-27T04:48:18.969Z,1761540498.969 [DAT](INFO): DAT read: Tx time:04:48:18.0295 2025-10-27T04:48:18.969Z,1761540498.969 [DAT](INFO): Ping request sent. 2025-10-27T04:48:18.969Z,1761540498.969 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:48:18.969Z,1761540498.969 [DAT](INFO): publishing transmit ping time 2025-10-27T04:48:18.970Z,1761540498.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-27T04:48:19.074Z,1761540499.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986749,-0.122575,-0.106310],[0.127514,0.990991,0.040944],[0.100334,-0.053958,0.993490]] 2025-10-27T04:48:19.092Z,1761540499.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:19.221Z,1761540499.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251969 2025-10-27T04:48:19.472Z,1761540499.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502982 2025-10-27T04:48:19.479Z,1761540499.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987336,-0.119643,-0.104179],[0.124506,0.991352,0.041471],[0.098316,-0.053916,0.993694]] 2025-10-27T04:48:19.528Z,1761540499.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:19.724Z,1761540499.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755259 2025-10-27T04:48:19.881Z,1761540499.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987892,-0.116801,-0.102112],[0.121587,0.991693,0.041963],[0.096362,-0.053870,0.993887]] 2025-10-27T04:48:19.903Z,1761540499.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:19.977Z,1761540499.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007334 2025-10-27T04:48:20.230Z,1761540500.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260533 2025-10-27T04:48:20.312Z,1761540500.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988460,-0.113626,-0.100178],[0.118354,0.992059,0.042565],[0.094546,-0.053931,0.994059]] 2025-10-27T04:48:20.354Z,1761540500.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:20.483Z,1761540500.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514444 2025-10-27T04:48:20.679Z,1761540500.679 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:48:20.690Z,1761540500.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989001,-0.110427,-0.098397],[0.115089,0.992423,0.043015],[0.092901,-0.053866,0.994217]] 2025-10-27T04:48:20.733Z,1761540500.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764486 2025-10-27T04:48:20.772Z,1761540500.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:20.984Z,1761540500.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015191 2025-10-27T04:48:21.156Z,1761540501.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989537,-0.106995,-0.096794],[0.111599,0.992802,0.043463],[0.091447,-0.053810,0.994355]] 2025-10-27T04:48:21.189Z,1761540501.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:21.237Z,1761540501.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267779 2025-10-27T04:48:21.488Z,1761540501.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941 2025-10-27T04:48:21.558Z,1761540501.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990072,-0.103312,-0.095310],[0.107866,0.993195,0.043925],[0.090123,-0.053769,0.994478]] 2025-10-27T04:48:21.594Z,1761540501.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:21.684Z,1761540501.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:48:21.741Z,1761540501.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771396 2025-10-27T04:48:21.992Z,1761540501.992 [DAT](INFO): DAT read: Rx Time:04:48:20.4762 2025-10-27T04:48:21.992Z,1761540501.992 [DAT](INFO): Rx dataTimestamp_ set to:1761540501.992214 2025-10-27T04:48:21.993Z,1761540501.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024067 2025-10-27T04:48:22.002Z,1761540502.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990571,-0.099628,-0.094033],[0.104135,0.993576,0.044293],[0.089016,-0.053668,0.994583]] 2025-10-27T04:48:22.045Z,1761540502.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:22.247Z,1761540502.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277137 2025-10-27T04:48:22.453Z,1761540502.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T04:48:22.501Z,1761540502.501 [DAT](INFO): DAT read: 04:48:20.4762 LVL= 29040, 20881, 22882, 32755, AGC= 56, IDX= 512,-0.37,-1.774, 0.322,-0.785,-0.188, PHS=-1.484, 0.555,-0.641, RAW= 305.7, 17.4, CAL= 304.3, 23.2, ROT= 205.7, -23.2 2025-10-27T04:48:22.502Z,1761540502.502 [DAT](INFO): got valid direction response: 04:48:20.4762 LVL= 29040, 20881, 22882, 32755, AGC= 56, IDX= 512,-0.37,-1.774, 0.322,-0.785,-0.188, PHS=-1.484, 0.555,-0.641, RAW= 305.7, 17.4, CAL= 304.3, 23.2, ROT= 205.7, -23.2 2025-10-27T04:48:22.504Z,1761540502.504 [DAT](INFO): DAT read: Bearing 307.7, -29.2 (Local) 2025-10-27T04:48:22.504Z,1761540502.504 [DAT](INFO): Local bearing/azimuth received: Bearing 307.7, -29.2 (Local) 2025-10-27T04:48:22.506Z,1761540502.506 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (Round-trip 42.5 ms) speed 0.0 m/s 2025-10-27T04:48:22.506Z,1761540502.506 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:48:22.508Z,1761540502.508 [DAT](INFO): direction in FSK: [-0.828212,-0.398591,0.393942] 2025-10-27T04:48:22.508Z,1761540502.508 [DAT](INFO): publishing direction and range info 2025-10-27T04:48:22.805Z,1761540502.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991456,-0.092197,-0.092275],[0.096653,0.994299,0.045038],[0.087597,-0.053572,0.994714]] 2025-10-27T04:48:22.837Z,1761540502.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 47.172117 s, deltaX: 6.000000 m, approachRate: 0.127194 m/s, rangeRepo size: 4 2025-10-27T04:48:22.843Z,1761540502.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.640242 m, bearing: 209.196309 deg, lat: 36.779374 deg, lon: -121.859598 deg, deltaT: 47.172117 s, deltaX: 5.977358 m, approachRate: 0.126714 m/s, posRepo size: 4 2025-10-27T04:48:22.843Z,1761540502.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:23.213Z,1761540503.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991820,-0.089036,-0.091462],[0.093466,0.994589,0.045350],[0.086930,-0.053528,0.994775]] 2025-10-27T04:48:23.254Z,1761540503.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:23.613Z,1761540503.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992085,-0.086687,-0.090845],[0.091076,0.994812,0.045330],[0.086444,-0.053245,0.994833]] 2025-10-27T04:48:23.665Z,1761540503.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:24.020Z,1761540504.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992310,-0.084587,-0.090362],[0.088950,0.995001,0.045389],[0.086071,-0.053078,0.994874]] 2025-10-27T04:48:24.038Z,1761540504.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:24.422Z,1761540504.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992520,-0.082573,-0.089915],[0.086926,0.995170,0.045618],[0.085714,-0.053093,0.994904]] 2025-10-27T04:48:24.467Z,1761540504.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:24.826Z,1761540504.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992704,-0.080627,-0.089659],[0.084993,0.995320,0.045987],[0.085531,-0.053272,0.994910]] 2025-10-27T04:48:24.863Z,1761540504.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:25.238Z,1761540505.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992844,-0.079010,-0.089541],[0.083396,0.995438,0.046349],[0.085470,-0.053484,0.994904]] 2025-10-27T04:48:25.257Z,1761540505.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:25.635Z,1761540505.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992957,-0.077809,-0.089338],[0.082200,0.995527,0.046566],[0.085316,-0.053582,0.994912]] 2025-10-27T04:48:25.671Z,1761540505.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:26.038Z,1761540506.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993056,-0.076702,-0.089203],[0.081099,0.995609,0.046751],[0.085226,-0.053661,0.994916]] 2025-10-27T04:48:26.073Z,1761540506.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:26.442Z,1761540506.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993097,-0.076121,-0.089245],[0.080506,0.995664,0.046610],[0.085311,-0.053473,0.994918]] 2025-10-27T04:48:26.504Z,1761540506.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:26.845Z,1761540506.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993139,-0.075525,-0.089281],[0.079901,0.995718,0.046491],[0.085387,-0.053306,0.994921]] 2025-10-27T04:48:26.875Z,1761540506.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:27.254Z,1761540507.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993188,-0.074741,-0.089395],[0.079121,0.995780,0.046492],[0.085543,-0.053248,0.994911]] 2025-10-27T04:48:27.298Z,1761540507.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:27.757Z,1761540507.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:28.100Z,1761540508.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:28.465Z,1761540508.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993336,-0.072212,-0.089831],[0.076655,0.995948,0.047028],[0.086071,-0.053600,0.994846]] 2025-10-27T04:48:28.518Z,1761540508.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:28.869Z,1761540508.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993354,-0.071523,-0.090175],[0.075983,0.995999,0.047035],[0.086450,-0.053574,0.994815]] 2025-10-27T04:48:28.907Z,1761540508.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:29.273Z,1761540509.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993386,-0.070741,-0.090445],[0.075213,0.996058,0.047027],[0.086762,-0.053519,0.994790]] 2025-10-27T04:48:29.296Z,1761540509.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:29.678Z,1761540509.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993409,-0.069929,-0.090816],[0.074408,0.996124,0.046906],[0.087184,-0.053355,0.994762]] 2025-10-27T04:48:29.760Z,1761540509.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:30.083Z,1761540510.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993445,-0.069082,-0.091076],[0.073562,0.996193,0.046783],[0.087497,-0.053176,0.994744]] 2025-10-27T04:48:30.106Z,1761540510.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:30.485Z,1761540510.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993479,-0.067901,-0.091592],[0.072407,0.996276,0.046804],[0.088073,-0.053131,0.994696]] 2025-10-27T04:48:30.533Z,1761540510.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:30.928Z,1761540510.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:31.350Z,1761540511.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:31.711Z,1761540511.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993564,-0.063584,-0.093737],[0.068215,0.996560,0.047052],[0.090423,-0.053144,0.994484]] 2025-10-27T04:48:31.773Z,1761540511.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:32.106Z,1761540512.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993573,-0.062649,-0.094278],[0.067290,0.996632,0.046875],[0.091023,-0.052918,0.994442]] 2025-10-27T04:48:32.130Z,1761540512.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:32.509Z,1761540512.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993555,-0.061891,-0.094961],[0.066542,0.996694,0.046617],[0.091762,-0.052635,0.994389]] 2025-10-27T04:48:32.552Z,1761540512.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:32.954Z,1761540512.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:33.316Z,1761540513.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993533,-0.060404,-0.096139],[0.065079,0.996808,0.046250],[0.093039,-0.052207,0.994293]] 2025-10-27T04:48:33.334Z,1761540513.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:33.734Z,1761540513.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993542,-0.059502,-0.096616],[0.064209,0.996859,0.046363],[0.093554,-0.052267,0.994241]] 2025-10-27T04:48:33.791Z,1761540513.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:34.154Z,1761540514.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:34.526Z,1761540514.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993530,-0.058036,-0.097623],[0.062816,0.996935,0.046626],[0.094618,-0.052456,0.994131]] 2025-10-27T04:48:34.620Z,1761540514.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:34.931Z,1761540514.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993517,-0.057438,-0.098112],[0.062256,0.996964,0.046772],[0.095128,-0.052577,0.994076]] 2025-10-27T04:48:34.955Z,1761540514.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:35.376Z,1761540515.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:35.742Z,1761540515.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993467,-0.057304,-0.098688],[0.062132,0.996981,0.046562],[0.095722,-0.052390,0.994028]] 2025-10-27T04:48:35.813Z,1761540515.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:36.143Z,1761540516.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993449,-0.057214,-0.098924],[0.062044,0.996992,0.046455],[0.095969,-0.052288,0.994010]] 2025-10-27T04:48:36.161Z,1761540516.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:36.552Z,1761540516.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993435,-0.057209,-0.099071],[0.062038,0.996996,0.046371],[0.096120,-0.052212,0.993999]] 2025-10-27T04:48:36.588Z,1761540516.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:36.949Z,1761540516.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993426,-0.057309,-0.099094],[0.062138,0.996990,0.046356],[0.096139,-0.052209,0.993998]] 2025-10-27T04:48:36.984Z,1761540516.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:37.354Z,1761540517.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993380,-0.058037,-0.099131],[0.062845,0.996959,0.046080],[0.096155,-0.052005,0.994007]] 2025-10-27T04:48:37.401Z,1761540517.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:37.759Z,1761540517.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993366,-0.058464,-0.099022],[0.063264,0.996934,0.046046],[0.096026,-0.052005,0.994019]] 2025-10-27T04:48:37.819Z,1761540517.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:38.162Z,1761540518.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993339,-0.059017,-0.098970],[0.063807,0.996904,0.045945],[0.095952,-0.051954,0.994029]] 2025-10-27T04:48:38.188Z,1761540518.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:38.575Z,1761540518.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993309,-0.059821,-0.098784],[0.064581,0.996865,0.045709],[0.095740,-0.051783,0.994059]] 2025-10-27T04:48:38.618Z,1761540518.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:38.970Z,1761540518.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993300,-0.060450,-0.098491],[0.065187,0.996830,0.045608],[0.095422,-0.051723,0.994092]] 2025-10-27T04:48:38.988Z,1761540518.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:39.377Z,1761540519.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993283,-0.061369,-0.098094],[0.066071,0.996781,0.045417],[0.094991,-0.051593,0.994140]] 2025-10-27T04:48:39.404Z,1761540519.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:39.778Z,1761540519.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993276,-0.061974,-0.097782],[0.066665,0.996739,0.045460],[0.094646,-0.051673,0.994169]] 2025-10-27T04:48:39.829Z,1761540519.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:40.182Z,1761540520.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993254,-0.062692,-0.097553],[0.067374,0.996691,0.045467],[0.094380,-0.051733,0.994191]] 2025-10-27T04:48:40.225Z,1761540520.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:40.616Z,1761540520.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993267,-0.063002,-0.097223],[0.067697,0.996656,0.045762],[0.094014,-0.052035,0.994210]] 2025-10-27T04:48:40.664Z,1761540520.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:41.018Z,1761540521.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993247,-0.063697,-0.096972],[0.068382,0.996608,0.045788],[0.093727,-0.052110,0.994233]] 2025-10-27T04:48:41.061Z,1761540521.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:41.425Z,1761540521.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993268,-0.063880,-0.096636],[0.068578,0.996580,0.046101],[0.093361,-0.052417,0.994252]] 2025-10-27T04:48:41.443Z,1761540521.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:41.831Z,1761540521.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993285,-0.064064,-0.096340],[0.068760,0.996561,0.046236],[0.093047,-0.052550,0.994274]] 2025-10-27T04:48:41.868Z,1761540521.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:42.233Z,1761540522.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993306,-0.064350,-0.095931],[0.069017,0.996548,0.046141],[0.092631,-0.052453,0.994318]] 2025-10-27T04:48:42.257Z,1761540522.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:42.637Z,1761540522.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993336,-0.064562,-0.095470],[0.069190,0.996543,0.045986],[0.092171,-0.052285,0.994370]] 2025-10-27T04:48:42.681Z,1761540522.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:43.037Z,1761540523.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993411,-0.063922,-0.095126],[0.068551,0.996577,0.046214],[0.091846,-0.052430,0.994392]] 2025-10-27T04:48:43.055Z,1761540523.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:43.452Z,1761540523.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993506,-0.063388,-0.094488],[0.067992,0.996610,0.046323],[0.091232,-0.052447,0.994448]] 2025-10-27T04:48:43.470Z,1761540523.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:43.846Z,1761540523.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993601,-0.062736,-0.093919],[0.067316,0.996651,0.046419],[0.090692,-0.052444,0.994497]] 2025-10-27T04:48:43.895Z,1761540523.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:44.249Z,1761540524.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993710,-0.061834,-0.093363],[0.066389,0.996710,0.046499],[0.090181,-0.052405,0.994546]] 2025-10-27T04:48:44.269Z,1761540524.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:44.693Z,1761540524.693 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.63, 85.31, 78.17 2025-10-27T04:48:44.725Z,1761540524.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:45.059Z,1761540525.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993962,-0.059701,-0.092061],[0.064207,0.996839,0.046784],[0.088977,-0.052412,0.994654]] 2025-10-27T04:48:45.083Z,1761540525.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:45.465Z,1761540525.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994073,-0.059141,-0.091218],[0.063587,0.996886,0.046636],[0.088176,-0.052160,0.994738]] 2025-10-27T04:48:45.495Z,1761540525.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:45.865Z,1761540525.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994198,-0.058227,-0.090439],[0.062633,0.996945,0.046663],[0.087445,-0.052057,0.994808]] 2025-10-27T04:48:45.914Z,1761540525.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:46.269Z,1761540526.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994300,-0.057724,-0.089645],[0.062074,0.996987,0.046519],[0.086690,-0.051818,0.994887]] 2025-10-27T04:48:46.287Z,1761540526.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:46.749Z,1761540526.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994389,-0.057296,-0.088930],[0.061604,0.997018,0.046480],[0.086002,-0.051698,0.994953]] 2025-10-27T04:48:46.802Z,1761540526.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:47.078Z,1761540527.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994485,-0.056970,-0.088058],[0.061237,0.997037,0.046544],[0.085145,-0.051679,0.995027]] 2025-10-27T04:48:47.109Z,1761540527.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:47.482Z,1761540527.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994573,-0.056641,-0.087271],[0.060887,0.997047,0.046789],[0.084363,-0.051848,0.995085]] 2025-10-27T04:48:47.500Z,1761540527.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:47.912Z,1761540527.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994615,-0.056963,-0.086581],[0.061173,0.997031,0.046773],[0.083660,-0.051818,0.995146]] 2025-10-27T04:48:47.958Z,1761540527.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:48.314Z,1761540528.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994650,-0.057499,-0.085821],[0.061663,0.997005,0.046682],[0.082880,-0.051724,0.995216]] 2025-10-27T04:48:48.332Z,1761540528.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:48.734Z,1761540528.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994679,-0.058072,-0.085096],[0.062199,0.996971,0.046685],[0.082127,-0.051730,0.995278]] 2025-10-27T04:48:48.783Z,1761540528.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:49.123Z,1761540529.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994675,-0.058904,-0.084569],[0.062993,0.996929,0.046530],[0.081568,-0.051610,0.995331]] 2025-10-27T04:48:49.141Z,1761540529.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:49.526Z,1761540529.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994645,-0.059671,-0.084389],[0.063742,0.996887,0.046396],[0.081358,-0.051526,0.995352]] 2025-10-27T04:48:49.576Z,1761540529.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:49.929Z,1761540529.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994600,-0.060537,-0.084294],[0.064592,0.996840,0.046244],[0.081228,-0.051439,0.995367]] 2025-10-27T04:48:49.982Z,1761540529.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:50.334Z,1761540530.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994604,-0.060958,-0.083950],[0.065016,0.996801,0.046483],[0.080848,-0.051690,0.995385]] 2025-10-27T04:48:50.353Z,1761540530.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:50.755Z,1761540530.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994591,-0.061718,-0.083547],[0.065764,0.996748,0.046569],[0.080401,-0.051811,0.995415]] 2025-10-27T04:48:50.811Z,1761540530.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:51.141Z,1761540531.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994587,-0.062372,-0.083102],[0.066407,0.996699,0.046699],[0.079915,-0.051964,0.995446]] 2025-10-27T04:48:51.179Z,1761540531.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:51.546Z,1761540531.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994607,-0.062529,-0.082749],[0.066571,0.996674,0.047015],[0.079534,-0.052270,0.995461]] 2025-10-27T04:48:51.564Z,1761540531.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:51.803Z,1761540531.803 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:48:51.951Z,1761540531.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994606,-0.062735,-0.082600],[0.066777,0.996655,0.047113],[0.079368,-0.052375,0.995469]] 2025-10-27T04:48:51.994Z,1761540531.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:52.353Z,1761540532.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994609,-0.062856,-0.082474],[0.066890,0.996648,0.047095],[0.079238,-0.052358,0.995480]] 2025-10-27T04:48:52.380Z,1761540532.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:52.781Z,1761540532.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994642,-0.062529,-0.082330],[0.066562,0.996666,0.047181],[0.079105,-0.052408,0.995488]] 2025-10-27T04:48:52.807Z,1761540532.807 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:48:52.850Z,1761540532.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:53.162Z,1761540533.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994684,-0.061998,-0.082221],[0.066022,0.996703,0.047157],[0.079026,-0.052335,0.995498]] 2025-10-27T04:48:53.181Z,1761540533.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:53.565Z,1761540533.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994742,-0.061155,-0.082151],[0.065175,0.996758,0.047173],[0.079000,-0.052279,0.995503]] 2025-10-27T04:48:53.589Z,1761540533.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:53.969Z,1761540533.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994806,-0.060035,-0.082198],[0.064058,0.996829,0.047206],[0.079103,-0.052226,0.995497]] 2025-10-27T04:48:54.030Z,1761540534.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:54.374Z,1761540534.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994893,-0.058574,-0.082196],[0.062603,0.996916,0.047327],[0.079170,-0.052231,0.995492]] 2025-10-27T04:48:54.392Z,1761540534.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:54.808Z,1761540534.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994973,-0.057147,-0.082244],[0.061180,0.997002,0.047371],[0.079290,-0.052165,0.995486]] 2025-10-27T04:48:54.896Z,1761540534.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:55.280Z,1761540535.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995058,-0.055495,-0.082344],[0.059534,0.997099,0.047432],[0.079473,-0.052100,0.995475]] 2025-10-27T04:48:55.310Z,1761540535.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:55.725Z,1761540535.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995211,-0.052375,-0.082537],[0.056423,0.997276,0.047501],[0.079824,-0.051931,0.995455]] 2025-10-27T04:48:55.746Z,1761540535.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:56.217Z,1761540536.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995269,-0.050864,-0.082783],[0.054923,0.997359,0.047519],[0.080147,-0.051841,0.995434]] 2025-10-27T04:48:56.254Z,1761540536.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:56.609Z,1761540536.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995294,-0.049506,-0.083303],[0.053589,0.997432,0.047508],[0.080737,-0.051749,0.995391]] 2025-10-27T04:48:56.639Z,1761540536.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:57.013Z,1761540537.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995308,-0.048868,-0.083511],[0.052936,0.997481,0.047216],[0.080993,-0.051416,0.995388]] 2025-10-27T04:48:57.077Z,1761540537.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:57.418Z,1761540537.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995334,-0.048212,-0.083585],[0.052273,0.997521,0.047101],[0.081107,-0.051251,0.995387]] 2025-10-27T04:48:57.436Z,1761540537.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:57.868Z,1761540537.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995363,-0.047567,-0.083601],[0.051629,0.997554,0.047113],[0.081156,-0.051211,0.995385]] 2025-10-27T04:48:57.915Z,1761540537.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:58.226Z,1761540538.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995380,-0.047216,-0.083601],[0.051278,0.997572,0.047124],[0.081173,-0.051193,0.995384]] 2025-10-27T04:48:58.260Z,1761540538.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:58.631Z,1761540538.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995383,-0.047176,-0.083585],[0.051231,0.997578,0.047053],[0.081163,-0.051118,0.995389]] 2025-10-27T04:48:58.649Z,1761540538.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:59.036Z,1761540539.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995385,-0.047124,-0.083599],[0.051190,0.997574,0.047183],[0.081172,-0.051245,0.995382]] 2025-10-27T04:48:59.077Z,1761540539.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:59.437Z,1761540539.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995375,-0.047268,-0.083627],[0.051347,0.997559,0.047325],[0.081186,-0.051400,0.995373]] 2025-10-27T04:48:59.464Z,1761540539.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:48:59.950Z,1761540539.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:00.246Z,1761540540.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995378,-0.047461,-0.083481],[0.051562,0.997532,0.047667],[0.081012,-0.051751,0.995369]] 2025-10-27T04:49:00.264Z,1761540540.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:00.653Z,1761540540.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995383,-0.047856,-0.083200],[0.051938,0.997515,0.047602],[0.080715,-0.051703,0.995395]] 2025-10-27T04:49:00.671Z,1761540540.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:01.054Z,1761540541.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995423,-0.047900,-0.082691],[0.051967,0.997507,0.047747],[0.080197,-0.051825,0.995431]] 2025-10-27T04:49:01.103Z,1761540541.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:01.493Z,1761540541.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:01.889Z,1761540541.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995491,-0.047935,-0.081858],[0.051953,0.997510,0.047688],[0.079368,-0.051726,0.995502]] 2025-10-27T04:49:01.962Z,1761540541.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:01.967Z,1761540541.967 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T04:39:01.5Z 2025-10-27T04:49:01.967Z,1761540541.967 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T04:49:01.967Z,1761540541.967 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:49:01.967Z,1761540541.967 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T04:49:01.967Z,1761540541.967 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:49:01.968Z,1761540541.968 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T04:49:02.267Z,1761540542.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995536,-0.047620,-0.081490],[0.051619,0.997528,0.047682],[0.079018,-0.051676,0.995533]] 2025-10-27T04:49:02.286Z,1761540542.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:02.289Z,1761540542.289 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T04:49:02.289Z,1761540542.289 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T04:49:02.290Z,1761540542.290 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T04:49:02.290Z,1761540542.290 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:49:02.290Z,1761540542.290 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T04:49:02.761Z,1761540542.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995606,-0.046991,-0.081002],[0.050970,0.997557,0.047775],[0.078559,-0.051693,0.995568]] 2025-10-27T04:49:02.797Z,1761540542.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:03.161Z,1761540543.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995670,-0.046333,-0.080587],[0.050291,0.997590,0.047802],[0.078178,-0.051647,0.995601]] 2025-10-27T04:49:03.225Z,1761540543.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:03.567Z,1761540543.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995739,-0.045521,-0.080202],[0.049461,0.997629,0.047852],[0.077833,-0.051615,0.995629]] 2025-10-27T04:49:03.585Z,1761540543.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:03.970Z,1761540543.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995813,-0.044872,-0.079644],[0.048776,0.997667,0.047775],[0.077314,-0.051459,0.995678]] 2025-10-27T04:49:04.014Z,1761540544.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:04.373Z,1761540544.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995892,-0.043834,-0.079232],[0.047721,0.997714,0.047850],[0.076954,-0.051434,0.995707]] 2025-10-27T04:49:04.396Z,1761540544.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:04.779Z,1761540544.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995973,-0.042858,-0.078741],[0.046715,0.997763,0.047820],[0.076515,-0.051306,0.995748]] 2025-10-27T04:49:04.803Z,1761540544.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:05.196Z,1761540545.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996086,-0.041443,-0.078070],[0.045284,0.997816,0.048089],[0.075906,-0.051436,0.995787]] 2025-10-27T04:49:05.234Z,1761540545.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:05.586Z,1761540545.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996171,-0.040415,-0.077521],[0.044219,0.997868,0.047996],[0.075416,-0.051240,0.995835]] 2025-10-27T04:49:05.624Z,1761540545.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:05.997Z,1761540545.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996269,-0.038972,-0.076997],[0.042754,0.997927,0.048100],[0.074962,-0.051213,0.995870]] 2025-10-27T04:49:06.047Z,1761540546.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:06.431Z,1761540546.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:06.797Z,1761540546.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996445,-0.036595,-0.075877],[0.040320,0.998026,0.048146],[0.073965,-0.051035,0.995954]] 2025-10-27T04:49:06.822Z,1761540546.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:07.207Z,1761540547.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996526,-0.035803,-0.075193],[0.039486,0.998063,0.048083],[0.073326,-0.050885,0.996009]] 2025-10-27T04:49:07.250Z,1761540547.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:07.606Z,1761540547.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996622,-0.034593,-0.074482],[0.038259,0.998096,0.048372],[0.072667,-0.051058,0.996048]] 2025-10-27T04:49:07.636Z,1761540547.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:08.025Z,1761540548.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996675,-0.033916,-0.074086],[0.037560,0.998124,0.048358],[0.072306,-0.050980,0.996079]] 2025-10-27T04:49:08.077Z,1761540548.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:08.414Z,1761540548.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996733,-0.033708,-0.073401],[0.037314,0.998135,0.048315],[0.071635,-0.050896,0.996131]] 2025-10-27T04:49:08.445Z,1761540548.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:08.818Z,1761540548.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996775,-0.033757,-0.072804],[0.037324,0.998140,0.048205],[0.071041,-0.050767,0.996181]] 2025-10-27T04:49:08.836Z,1761540548.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:09.221Z,1761540549.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996814,-0.033702,-0.072293],[0.037249,0.998139,0.048288],[0.070531,-0.050827,0.996214]] 2025-10-27T04:49:09.281Z,1761540549.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:09.662Z,1761540549.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996860,-0.033703,-0.071654],[0.037221,0.998137,0.048351],[0.069891,-0.050866,0.996257]] 2025-10-27T04:49:09.707Z,1761540549.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:10.079Z,1761540550.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996889,-0.034075,-0.071073],[0.037559,0.998128,0.048270],[0.069295,-0.050789,0.996302]] 2025-10-27T04:49:10.125Z,1761540550.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:10.481Z,1761540550.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996911,-0.034403,-0.070603],[0.037861,0.998119,0.048226],[0.068811,-0.050750,0.996338]] 2025-10-27T04:49:10.501Z,1761540550.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:10.887Z,1761540550.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996935,-0.034538,-0.070191],[0.037985,0.998106,0.048384],[0.068387,-0.050902,0.996360]] 2025-10-27T04:49:10.906Z,1761540550.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:11.291Z,1761540551.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996956,-0.034705,-0.069811],[0.038141,0.998094,0.048506],[0.067994,-0.051021,0.996380]] 2025-10-27T04:49:11.356Z,1761540551.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:11.701Z,1761540551.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996970,-0.034883,-0.069532],[0.038313,0.998082,0.048624],[0.067702,-0.051141,0.996394]] 2025-10-27T04:49:11.745Z,1761540551.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:12.098Z,1761540552.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996975,-0.035260,-0.069266],[0.038673,0.998071,0.048561],[0.067420,-0.051093,0.996416]] 2025-10-27T04:49:12.158Z,1761540552.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:12.502Z,1761540552.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996979,-0.035624,-0.069027],[0.039018,0.998063,0.048450],[0.067167,-0.050997,0.996438]] 2025-10-27T04:49:12.521Z,1761540552.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:12.908Z,1761540552.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996994,-0.035754,-0.068729],[0.039128,0.998062,0.048386],[0.066866,-0.050930,0.996461]] 2025-10-27T04:49:12.931Z,1761540552.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:13.310Z,1761540553.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997019,-0.035789,-0.068357],[0.039141,0.998064,0.048338],[0.066494,-0.050870,0.996489]] 2025-10-27T04:49:13.359Z,1761540553.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:13.722Z,1761540553.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997049,-0.035481,-0.068074],[0.038829,0.998068,0.048509],[0.066221,-0.051009,0.996500]] 2025-10-27T04:49:13.762Z,1761540553.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:14.119Z,1761540554.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997073,-0.035355,-0.067785],[0.038686,0.998075,0.048478],[0.065940,-0.050958,0.996522]] 2025-10-27T04:49:14.202Z,1761540554.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:14.524Z,1761540554.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997104,-0.035161,-0.067441],[0.038474,0.998083,0.048474],[0.065607,-0.050929,0.996545]] 2025-10-27T04:49:14.547Z,1761540554.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:14.926Z,1761540554.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997151,-0.034593,-0.067035],[0.037894,0.998098,0.048617],[0.065226,-0.051019,0.996565]] 2025-10-27T04:49:14.968Z,1761540554.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:15.329Z,1761540555.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997184,-0.034131,-0.066782],[0.037411,0.998122,0.048502],[0.065001,-0.050864,0.996588]] 2025-10-27T04:49:15.390Z,1761540555.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:15.751Z,1761540555.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997272,-0.032666,-0.066191],[0.035914,0.998178,0.048484],[0.064486,-0.050729,0.996628]] 2025-10-27T04:49:15.769Z,1761540555.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:16.152Z,1761540556.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997314,-0.032198,-0.065784],[0.035414,0.998204,0.048311],[0.064111,-0.050511,0.996664]] 2025-10-27T04:49:16.234Z,1761540556.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:16.547Z,1761540556.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997356,-0.031462,-0.065511],[0.034667,0.998228,0.048368],[0.063873,-0.050511,0.996679]] 2025-10-27T04:49:16.581Z,1761540556.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:16.995Z,1761540556.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:17.356Z,1761540557.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997429,-0.030443,-0.064872],[0.033617,0.998262,0.048405],[0.063285,-0.050461,0.996719]] 2025-10-27T04:49:17.393Z,1761540557.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:17.757Z,1761540557.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997462,-0.030057,-0.064546],[0.033211,0.998277,0.048372],[0.062981,-0.050393,0.996742]] 2025-10-27T04:49:17.782Z,1761540557.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:18.178Z,1761540558.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997481,-0.029986,-0.064291],[0.033116,0.998289,0.048198],[0.062735,-0.050206,0.996767]] 2025-10-27T04:49:18.229Z,1761540558.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:18.562Z,1761540558.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997507,-0.029843,-0.063939],[0.032952,0.998297,0.048140],[0.062394,-0.050127,0.996792]] 2025-10-27T04:49:18.580Z,1761540558.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:18.974Z,1761540558.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997532,-0.029993,-0.063491],[0.033074,0.998298,0.048036],[0.061942,-0.050017,0.996826]] 2025-10-27T04:49:18.998Z,1761540558.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:49:19.000Z,1761540559.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:19.232Z,1761540559.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:49:19.232Z,1761540559.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:49:19.370Z,1761540559.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997566,-0.029864,-0.063016],[0.032927,0.998297,0.048147],[0.061471,-0.050105,0.996850]] 2025-10-27T04:49:19.416Z,1761540559.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:19.484Z,1761540559.484 [DAT](INFO): DAT read: user:205> 2025-10-27T04:49:19.485Z,1761540559.485 [DAT](INFO): DAT read: Tx time:04:49:18.5294 2025-10-27T04:49:19.486Z,1761540559.486 [DAT](INFO): Ping request sent. 2025-10-27T04:49:19.486Z,1761540559.486 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:49:19.486Z,1761540559.486 [DAT](INFO): publishing transmit ping time 2025-10-27T04:49:19.487Z,1761540559.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001208 2025-10-27T04:49:19.736Z,1761540559.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250107 2025-10-27T04:49:19.774Z,1761540559.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997589,-0.030005,-0.062580],[0.033051,0.998290,0.048226],[0.061026,-0.050178,0.996874]] 2025-10-27T04:49:19.792Z,1761540559.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:19.988Z,1761540559.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501960 2025-10-27T04:49:20.201Z,1761540560.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997596,-0.030913,-0.062015],[0.033914,0.998275,0.047937],[0.060427,-0.049925,0.996923]] 2025-10-27T04:49:20.240Z,1761540560.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754369 2025-10-27T04:49:20.250Z,1761540560.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:20.492Z,1761540560.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006058 2025-10-27T04:49:20.584Z,1761540560.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997609,-0.031577,-0.061483],[0.034549,0.998255,0.047888],[0.059863,-0.049898,0.996959]] 2025-10-27T04:49:20.602Z,1761540560.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:20.744Z,1761540560.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258091 2025-10-27T04:49:20.996Z,1761540560.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510088 2025-10-27T04:49:21.018Z,1761540561.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:21.248Z,1761540561.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762037 2025-10-27T04:49:21.389Z,1761540561.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997637,-0.032957,-0.060279],[0.035870,0.998208,0.047902],[0.058592,-0.049951,0.997032]] 2025-10-27T04:49:21.440Z,1761540561.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:21.512Z,1761540561.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026163 2025-10-27T04:49:21.764Z,1761540561.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277963 2025-10-27T04:49:21.881Z,1761540561.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997642,-0.034094,-0.059571],[0.036963,0.998175,0.047743],[0.057835,-0.049832,0.997082]] 2025-10-27T04:49:21.921Z,1761540561.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:22.017Z,1761540562.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531208 2025-10-27T04:49:22.231Z,1761540562.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997652,-0.034809,-0.058985],[0.037649,0.998150,0.047738],[0.057214,-0.049846,0.997117]] 2025-10-27T04:49:22.268Z,1761540562.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782052 2025-10-27T04:49:22.289Z,1761540562.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:22.520Z,1761540562.520 [DAT](INFO): DAT read: Rx Time:04:49:20.9829 2025-10-27T04:49:22.521Z,1761540562.521 [DAT](INFO): Rx dataTimestamp_ set to:1761540562.520269 2025-10-27T04:49:22.521Z,1761540562.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035214 2025-10-27T04:49:22.609Z,1761540562.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997666,-0.035621,-0.058251],[0.038428,0.998117,0.047802],[0.056438,-0.049929,0.997157]] 2025-10-27T04:49:22.638Z,1761540562.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T04:49:22.772Z,1761540562.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286037 2025-10-27T04:49:22.927Z,1761540562.927 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:49:23.029Z,1761540563.029 [DAT](INFO): DAT read: 04:49:20.9829 LVL= 27536, 23745, 26210, 31939, AGC= 59, IDX= 5, 0.28, 1.840,-2.476,-2.998,-2.894, PHS=-1.447, 0.463,-0.148, RAW= 288.3, 13.3, CAL= 285.9, 20.5, ROT= 224.1, -20.5 2025-10-27T04:49:23.030Z,1761540563.030 [DAT](INFO): got valid direction response: 04:49:20.9829 LVL= 27536, 23745, 26210, 31939, AGC= 59, IDX= 5, 0.28, 1.840,-2.476,-2.998,-2.894, PHS=-1.447, 0.463,-0.148, RAW= 288.3, 13.3, CAL= 285.9, 20.5, ROT= 224.1, -20.5 2025-10-27T04:49:23.031Z,1761540563.031 [DAT](INFO): DAT read: Bearing 310.6, -44.9 (Local) 2025-10-27T04:49:23.032Z,1761540563.032 [DAT](INFO): Local bearing/azimuth received: Bearing 310.6, -44.9 (Local) 2025-10-27T04:49:23.033Z,1761540563.033 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (Round-trip 49.3 ms) speed 0.0 m/s 2025-10-27T04:49:23.034Z,1761540563.034 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:49:23.035Z,1761540563.035 [DAT](INFO): direction in FSK: [-0.672649,-0.651842,0.350207] 2025-10-27T04:49:23.035Z,1761540563.035 [DAT](INFO): publishing direction and range info 2025-10-27T04:49:23.114Z,1761540563.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 60.527910 s, deltaX: 5.100002 m, approachRate: 0.084259 m/s, rangeRepo size: 4 2025-10-27T04:49:23.128Z,1761540563.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.717377 m, bearing: 224.631724 deg, lat: 36.779373 deg, lon: -121.859598 deg, deltaT: 60.527910 s, deltaX: 5.077135 m, approachRate: 0.083881 m/s, posRepo size: 4 2025-10-27T04:49:23.128Z,1761540563.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:23.421Z,1761540563.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997654,-0.037817,-0.057070],[0.040553,0.998045,0.047566],[0.055160,-0.049768,0.997236]] 2025-10-27T04:49:23.457Z,1761540563.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:23.822Z,1761540563.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997654,-0.038714,-0.056455],[0.041424,0.998005,0.047649],[0.054498,-0.049876,0.997267]] 2025-10-27T04:49:23.852Z,1761540563.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:23.932Z,1761540563.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:49:24.262Z,1761540564.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997654,-0.039691,-0.055782],[0.042369,0.997964,0.047678],[0.053776,-0.049929,0.997304]] 2025-10-27T04:49:24.315Z,1761540564.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:24.659Z,1761540564.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997660,-0.040314,-0.055230],[0.042975,0.997929,0.047866],[0.053186,-0.050127,0.997326]] 2025-10-27T04:49:24.697Z,1761540564.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:25.035Z,1761540565.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997656,-0.041174,-0.054662],[0.043808,0.997892,0.047885],[0.052575,-0.050167,0.997356]] 2025-10-27T04:49:25.054Z,1761540565.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:25.438Z,1761540565.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997652,-0.041881,-0.054182],[0.044493,0.997859,0.047937],[0.052058,-0.050235,0.997380]] 2025-10-27T04:49:25.488Z,1761540565.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:25.842Z,1761540565.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997640,-0.042693,-0.053775],[0.045281,0.997827,0.047866],[0.051615,-0.050188,0.997405]] 2025-10-27T04:49:25.884Z,1761540565.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:26.290Z,1761540566.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997619,-0.043529,-0.053495],[0.046094,0.997798,0.047687],[0.051302,-0.050039,0.997429]] 2025-10-27T04:49:26.328Z,1761540566.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:26.671Z,1761540566.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997609,-0.043989,-0.053306],[0.046545,0.997776,0.047709],[0.051089,-0.050076,0.997438]] 2025-10-27T04:49:26.787Z,1761540566.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:27.055Z,1761540567.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997605,-0.044403,-0.053034],[0.046950,0.997754,0.047780],[0.050793,-0.050156,0.997449]] 2025-10-27T04:49:27.081Z,1761540567.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:27.459Z,1761540567.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997579,-0.044957,-0.053062],[0.047500,0.997733,0.047677],[0.050798,-0.050082,0.997452]] 2025-10-27T04:49:27.501Z,1761540567.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:27.862Z,1761540567.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997568,-0.045322,-0.052950],[0.047860,0.997714,0.047699],[0.050667,-0.050118,0.997457]] 2025-10-27T04:49:27.881Z,1761540567.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:28.323Z,1761540568.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997541,-0.046002,-0.052867],[0.048530,0.997687,0.047588],[0.050555,-0.050036,0.997467]] 2025-10-27T04:49:28.360Z,1761540568.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:28.681Z,1761540568.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997522,-0.046440,-0.052851],[0.048970,0.997664,0.047635],[0.050515,-0.050105,0.997466]] 2025-10-27T04:49:28.700Z,1761540568.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:29.116Z,1761540569.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:29.477Z,1761540569.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997459,-0.047393,-0.053196],[0.049937,0.997619,0.047558],[0.050816,-0.050093,0.997451]] 2025-10-27T04:49:29.533Z,1761540569.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:29.883Z,1761540569.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997432,-0.047680,-0.053433],[0.050237,0.997603,0.047583],[0.051037,-0.050145,0.997437]] 2025-10-27T04:49:29.901Z,1761540569.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:30.385Z,1761540570.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:30.691Z,1761540570.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997374,-0.048332,-0.053937],[0.050910,0.997573,0.047498],[0.051511,-0.050120,0.997414]] 2025-10-27T04:49:30.736Z,1761540570.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:31.135Z,1761540571.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:31.498Z,1761540571.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997330,-0.048642,-0.054464],[0.051235,0.997568,0.047257],[0.052033,-0.049921,0.997397]] 2025-10-27T04:49:31.555Z,1761540571.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:31.903Z,1761540571.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997330,-0.048484,-0.054604],[0.051086,0.997573,0.047310],[0.052178,-0.049973,0.997387]] 2025-10-27T04:49:31.921Z,1761540571.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:32.317Z,1761540572.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997326,-0.048500,-0.054659],[0.051105,0.997572,0.047311],[0.052232,-0.049978,0.997384]] 2025-10-27T04:49:32.404Z,1761540572.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:32.717Z,1761540572.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997310,-0.048739,-0.054739],[0.051344,0.997563,0.047235],[0.052304,-0.049918,0.997383]] 2025-10-27T04:49:32.774Z,1761540572.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:33.116Z,1761540573.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997319,-0.048734,-0.054597],[0.051335,0.997561,0.047306],[0.052158,-0.049982,0.997387]] 2025-10-27T04:49:33.139Z,1761540573.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:33.517Z,1761540573.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997311,-0.049117,-0.054391],[0.051700,0.997549,0.047150],[0.051942,-0.049835,0.997406]] 2025-10-27T04:49:33.560Z,1761540573.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:33.922Z,1761540573.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997287,-0.049838,-0.054182],[0.052394,0.997528,0.046825],[0.051714,-0.049537,0.997433]] 2025-10-27T04:49:33.940Z,1761540573.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:34.330Z,1761540574.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997269,-0.050567,-0.053836],[0.053097,0.997499,0.046653],[0.051342,-0.049384,0.997459]] 2025-10-27T04:49:34.413Z,1761540574.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:34.811Z,1761540574.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997231,-0.051720,-0.053430],[0.054215,0.997452,0.046363],[0.050896,-0.049132,0.997495]] 2025-10-27T04:49:34.913Z,1761540574.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:35.214Z,1761540575.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997203,-0.052674,-0.053033],[0.055149,0.997402,0.046343],[0.050454,-0.049138,0.997517]] 2025-10-27T04:49:35.232Z,1761540575.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:35.618Z,1761540575.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997158,-0.054048,-0.052493],[0.056498,0.997325,0.046375],[0.049846,-0.049209,0.997544]] 2025-10-27T04:49:35.691Z,1761540575.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:36.030Z,1761540576.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997086,-0.055777,-0.052052],[0.058205,0.997228,0.046350],[0.049322,-0.049244,0.997568]] 2025-10-27T04:49:36.088Z,1761540576.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:36.445Z,1761540576.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997010,-0.057703,-0.051393],[0.060100,0.997114,0.046385],[0.048568,-0.049335,0.997601]] 2025-10-27T04:49:36.524Z,1761540576.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:36.830Z,1761540576.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996917,-0.059812,-0.050775],[0.062177,0.996988,0.046350],[0.047849,-0.049364,0.997634]] 2025-10-27T04:49:36.849Z,1761540576.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:37.233Z,1761540577.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996817,-0.061990,-0.050139],[0.064326,0.996849,0.046403],[0.047104,-0.049481,0.997664]] 2025-10-27T04:49:37.252Z,1761540577.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:37.644Z,1761540577.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996712,-0.064231,-0.049385],[0.066534,0.996701,0.046480],[0.046237,-0.049613,0.997698]] 2025-10-27T04:49:37.715Z,1761540577.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:38.058Z,1761540578.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996577,-0.066730,-0.048797],[0.069000,0.996536,0.046414],[0.045531,-0.049622,0.997730]] 2025-10-27T04:49:38.084Z,1761540578.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:38.475Z,1761540578.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996442,-0.069228,-0.048068],[0.071461,0.996363,0.046406],[0.044681,-0.049676,0.997765]] 2025-10-27T04:49:38.513Z,1761540578.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:38.850Z,1761540578.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996296,-0.071621,-0.047586],[0.073830,0.996191,0.046392],[0.044082,-0.049733,0.997789]] 2025-10-27T04:49:38.868Z,1761540578.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:39.255Z,1761540579.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996175,-0.073609,-0.047077],[0.075798,0.996036,0.046548],[0.043464,-0.049939,0.997806]] 2025-10-27T04:49:39.273Z,1761540579.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:39.689Z,1761540579.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996062,-0.075397,-0.046650],[0.077570,0.995894,0.046672],[0.042939,-0.050106,0.997820]] 2025-10-27T04:49:39.751Z,1761540579.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:40.062Z,1761540580.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995955,-0.077035,-0.046264],[0.079188,0.995767,0.046664],[0.042473,-0.050139,0.997839]] 2025-10-27T04:49:40.080Z,1761540580.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:40.497Z,1761540580.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995877,-0.078212,-0.045950],[0.080352,0.995671,0.046730],[0.042096,-0.050230,0.997850]] 2025-10-27T04:49:40.539Z,1761540580.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:40.871Z,1761540580.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995825,-0.079023,-0.045696],[0.081149,0.995607,0.046713],[0.041804,-0.050226,0.997863]] 2025-10-27T04:49:40.893Z,1761540580.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:41.274Z,1761540581.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995814,-0.079319,-0.045418],[0.081435,0.995579,0.046803],[0.041505,-0.050306,0.997871]] 2025-10-27T04:49:41.305Z,1761540581.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:41.680Z,1761540581.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995795,-0.079629,-0.045295],[0.081735,0.995559,0.046712],[0.041374,-0.050218,0.997881]] 2025-10-27T04:49:41.739Z,1761540581.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:42.082Z,1761540582.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995827,-0.079275,-0.045218],[0.081379,0.995585,0.046775],[0.041310,-0.050259,0.997882]] 2025-10-27T04:49:42.100Z,1761540582.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:42.526Z,1761540582.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995879,-0.078619,-0.045209],[0.080722,0.995639,0.046763],[0.041335,-0.050219,0.997882]] 2025-10-27T04:49:42.574Z,1761540582.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:42.890Z,1761540582.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995947,-0.077785,-0.045148],[0.079890,0.995701,0.046866],[0.041309,-0.050283,0.997880]] 2025-10-27T04:49:42.921Z,1761540582.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:43.294Z,1761540583.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996015,-0.076887,-0.045200],[0.078996,0.995771,0.046894],[0.041403,-0.050278,0.997877]] 2025-10-27T04:49:43.328Z,1761540583.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:43.735Z,1761540583.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996051,-0.076245,-0.045486],[0.078360,0.995832,0.046682],[0.041738,-0.050062,0.997874]] 2025-10-27T04:49:43.775Z,1761540583.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:44.121Z,1761540584.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996092,-0.075635,-0.045619],[0.077752,0.995884,0.046574],[0.041909,-0.049939,0.997873]] 2025-10-27T04:49:44.164Z,1761540584.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:44.559Z,1761540584.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996142,-0.074830,-0.045844],[0.076957,0.995948,0.046540],[0.042175,-0.049888,0.997864]] 2025-10-27T04:49:44.605Z,1761540584.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:44.933Z,1761540584.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996162,-0.074402,-0.046097],[0.076536,0.995986,0.046414],[0.042458,-0.049764,0.997858]] 2025-10-27T04:49:44.977Z,1761540584.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:45.333Z,1761540585.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996174,-0.074092,-0.046339],[0.076235,0.996013,0.046329],[0.042722,-0.049684,0.997851]] 2025-10-27T04:49:45.394Z,1761540585.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:45.809Z,1761540585.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:46.161Z,1761540586.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996130,-0.074364,-0.046855],[0.076523,0.996000,0.046122],[0.043238,-0.049529,0.997836]] 2025-10-27T04:49:46.184Z,1761540586.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:46.589Z,1761540586.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996018,-0.075560,-0.047323],[0.077743,0.995906,0.046120],[0.043644,-0.049616,0.997814]] 2025-10-27T04:49:46.652Z,1761540586.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:46.000Z,1761540587.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:47.356Z,1761540587.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995930,-0.076459,-0.047729],[0.078662,0.995834,0.046121],[0.044004,-0.049688,0.997795]] 2025-10-27T04:49:47.381Z,1761540587.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:47.757Z,1761540587.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995815,-0.077696,-0.048124],[0.079919,0.995733,0.046130],[0.044334,-0.049783,0.997776]] 2025-10-27T04:49:47.809Z,1761540587.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:48.166Z,1761540588.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995677,-0.079212,-0.048513],[0.081446,0.995617,0.045964],[0.044659,-0.049716,0.997764]] 2025-10-27T04:49:48.205Z,1761540588.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:48.624Z,1761540588.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995437,-0.081694,-0.049314],[0.083963,0.995414,0.045835],[0.045343,-0.049766,0.997731]] 2025-10-27T04:49:48.681Z,1761540588.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:49.014Z,1761540589.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995317,-0.082906,-0.049711],[0.085189,0.995316,0.045712],[0.045689,-0.049733,0.997717]] 2025-10-27T04:49:49.055Z,1761540589.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:49.408Z,1761540589.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:49.799Z,1761540589.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995150,-0.084503,-0.050348],[0.086831,0.995161,0.045994],[0.046218,-0.050143,0.997672]] 2025-10-27T04:49:49.835Z,1761540589.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:50.186Z,1761540590.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995033,-0.085648,-0.050726],[0.087987,0.995067,0.045815],[0.046552,-0.050051,0.997661]] 2025-10-27T04:49:50.231Z,1761540590.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:50.660Z,1761540590.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994955,-0.086340,-0.051095],[0.088702,0.995000,0.045904],[0.046876,-0.050204,0.997638]] 2025-10-27T04:49:50.754Z,1761540590.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:51.021Z,1761540591.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994848,-0.087271,-0.051584],[0.089648,0.994924,0.045705],[0.047334,-0.050094,0.997622]] 2025-10-27T04:49:51.038Z,1761540591.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:51.413Z,1761540591.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994793,-0.087641,-0.052017],[0.090045,0.994883,0.045824],[0.047735,-0.050269,0.997594]] 2025-10-27T04:49:51.442Z,1761540591.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:51.815Z,1761540591.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994716,-0.088392,-0.052217],[0.090798,0.994823,0.045651],[0.047911,-0.050151,0.997592]] 2025-10-27T04:49:51.865Z,1761540591.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:52.217Z,1761540592.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994656,-0.088849,-0.052580],[0.091268,0.994784,0.045542],[0.048259,-0.050097,0.997578]] 2025-10-27T04:49:52.239Z,1761540592.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:52.650Z,1761540592.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994607,-0.089163,-0.052976],[0.091599,0.994757,0.045477],[0.048643,-0.050085,0.997560]] 2025-10-27T04:49:52.693Z,1761540592.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:53.023Z,1761540593.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994604,-0.089031,-0.053256],[0.091484,0.994764,0.045546],[0.048922,-0.050172,0.997542]] 2025-10-27T04:49:53.071Z,1761540593.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:53.427Z,1761540593.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994581,-0.089144,-0.053488],[0.091603,0.994758,0.045440],[0.049157,-0.050093,0.997534]] 2025-10-27T04:49:53.445Z,1761540593.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:53.831Z,1761540593.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994568,-0.089188,-0.053667],[0.091653,0.994757,0.045376],[0.049339,-0.050048,0.997527]] 2025-10-27T04:49:53.867Z,1761540593.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:54.054Z,1761540594.054 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:49:54.232Z,1761540594.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994578,-0.088965,-0.053860],[0.091442,0.994774,0.045415],[0.049538,-0.050094,0.997515]] 2025-10-27T04:49:54.263Z,1761540594.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:54.717Z,1761540594.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994574,-0.088946,-0.053963],[0.091423,0.994781,0.045308],[0.049652,-0.049996,0.997514]] 2025-10-27T04:49:54.764Z,1761540594.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:55.048Z,1761540595.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994578,-0.088807,-0.054114],[0.091291,0.994793,0.045300],[0.049809,-0.049994,0.997507]] 2025-10-27T04:49:55.055Z,1761540595.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:49:55.067Z,1761540595.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:55.443Z,1761540595.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994574,-0.088727,-0.054323],[0.091217,0.994804,0.045225],[0.050028,-0.049935,0.997499]] 2025-10-27T04:49:55.469Z,1761540595.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:55.848Z,1761540595.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994549,-0.088963,-0.054388],[0.091447,0.994791,0.045028],[0.050099,-0.049756,0.997504]] 2025-10-27T04:49:55.891Z,1761540595.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:56.251Z,1761540596.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994530,-0.089247,-0.054276],[0.091718,0.994773,0.044883],[0.049987,-0.049616,0.997517]] 2025-10-27T04:49:56.276Z,1761540596.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:56.666Z,1761540596.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994518,-0.089408,-0.054228],[0.091875,0.994760,0.044848],[0.049934,-0.049585,0.997521]] 2025-10-27T04:49:56.745Z,1761540596.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:57.061Z,1761540597.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994523,-0.089309,-0.054298],[0.091790,0.994759,0.045039],[0.049991,-0.049776,0.997509]] 2025-10-27T04:49:57.138Z,1761540597.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:57.464Z,1761540597.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994499,-0.089578,-0.054295],[0.092058,0.994735,0.045036],[0.049975,-0.049786,0.997509]] 2025-10-27T04:49:57.498Z,1761540597.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:57.867Z,1761540597.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994504,-0.089605,-0.054159],[0.092088,0.994723,0.045242],[0.049819,-0.049981,0.997507]] 2025-10-27T04:49:57.922Z,1761540597.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:58.273Z,1761540598.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994458,-0.090203,-0.054012],[0.092675,0.994672,0.045150],[0.049651,-0.049905,0.997519]] 2025-10-27T04:49:58.296Z,1761540598.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:58.675Z,1761540598.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994411,-0.090746,-0.053961],[0.093216,0.994622,0.045151],[0.049574,-0.049929,0.997522]] 2025-10-27T04:49:58.755Z,1761540598.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:59.085Z,1761540599.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994365,-0.091352,-0.053791],[0.093820,0.994559,0.045283],[0.049362,-0.050075,0.997525]] 2025-10-27T04:49:59.148Z,1761540599.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:59.514Z,1761540599.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994306,-0.092071,-0.053652],[0.094529,0.994494,0.045231],[0.049192,-0.050045,0.997535]] 2025-10-27T04:49:59.542Z,1761540599.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:49:59.907Z,1761540599.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994259,-0.092755,-0.053343],[0.095201,0.994426,0.045309],[0.048843,-0.050127,0.997548]] 2025-10-27T04:49:59.943Z,1761540599.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:00.294Z,1761540600.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994199,-0.093501,-0.053169],[0.095937,0.994357,0.045271],[0.048637,-0.050109,0.997559]] 2025-10-27T04:50:00.312Z,1761540600.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:00.702Z,1761540600.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994158,-0.094072,-0.052915],[0.096499,0.994300,0.045342],[0.048348,-0.050184,0.997569]] 2025-10-27T04:50:00.755Z,1761540600.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:01.106Z,1761540601.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994146,-0.094338,-0.052663],[0.096757,0.994270,0.045441],[0.048074,-0.050271,0.997578]] 2025-10-27T04:50:01.192Z,1761540601.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:01.503Z,1761540601.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994132,-0.094692,-0.052306],[0.097090,0.994241,0.045377],[0.047708,-0.050189,0.997600]] 2025-10-27T04:50:01.522Z,1761540601.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:01.965Z,1761540601.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:02.319Z,1761540602.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994161,-0.094781,-0.051581],[0.097139,0.994240,0.045290],[0.046991,-0.050037,0.997641]] 2025-10-27T04:50:02.343Z,1761540602.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:02.735Z,1761540602.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994194,-0.094643,-0.051188],[0.096980,0.994256,0.045276],[0.046609,-0.049977,0.997662]] 2025-10-27T04:50:02.757Z,1761540602.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:03.159Z,1761540603.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994222,-0.094611,-0.050711],[0.096921,0.994265,0.045213],[0.046143,-0.049867,0.997689]] 2025-10-27T04:50:03.233Z,1761540603.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:03.524Z,1761540603.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994262,-0.094477,-0.050177],[0.096764,0.994276,0.045304],[0.045610,-0.049899,0.997712]] 2025-10-27T04:50:03.542Z,1761540603.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:03.939Z,1761540603.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994288,-0.094495,-0.049615],[0.096754,0.994278,0.045283],[0.045052,-0.049825,0.997741]] 2025-10-27T04:50:03.975Z,1761540603.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:04.346Z,1761540604.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994297,-0.094607,-0.049229],[0.096845,0.994270,0.045254],[0.044666,-0.049763,0.997762]] 2025-10-27T04:50:04.375Z,1761540604.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:04.779Z,1761540604.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994298,-0.094837,-0.048767],[0.097053,0.994249,0.045263],[0.044194,-0.049738,0.997784]] 2025-10-27T04:50:04.864Z,1761540604.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:05.165Z,1761540605.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994293,-0.095130,-0.048294],[0.097322,0.994223,0.045261],[0.043710,-0.049703,0.997807]] 2025-10-27T04:50:05.202Z,1761540605.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:05.553Z,1761540605.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994263,-0.095638,-0.047901],[0.097809,0.994176,0.045250],[0.043295,-0.049676,0.997827]] 2025-10-27T04:50:05.571Z,1761540605.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:06.027Z,1761540606.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:06.354Z,1761540606.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994167,-0.097020,-0.047106],[0.099153,0.994041,0.045282],[0.042432,-0.049689,0.997863]] 2025-10-27T04:50:06.389Z,1761540606.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:06.778Z,1761540606.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994099,-0.097888,-0.046740],[0.100008,0.993950,0.045415],[0.042012,-0.049822,0.997874]] 2025-10-27T04:50:06.817Z,1761540606.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:07.174Z,1761540607.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994011,-0.098869,-0.046554],[0.100980,0.993850,0.045433],[0.041776,-0.049862,0.997882]] 2025-10-27T04:50:07.218Z,1761540607.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:07.566Z,1761540607.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993896,-0.100094,-0.046383],[0.102198,0.993726,0.045436],[0.041544,-0.049899,0.997890]] 2025-10-27T04:50:07.585Z,1761540607.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:07.969Z,1761540607.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993750,-0.101631,-0.046175],[0.103718,0.993575,0.045302],[0.041274,-0.049808,0.997906]] 2025-10-27T04:50:08.012Z,1761540608.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:08.372Z,1761540608.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993613,-0.102993,-0.046114],[0.105075,0.993434,0.045259],[0.041150,-0.049815,0.997910]] 2025-10-27T04:50:08.389Z,1761540608.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:08.776Z,1761540608.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993481,-0.104305,-0.045995],[0.106382,0.993294,0.045285],[0.040963,-0.049883,0.997915]] 2025-10-27T04:50:08.799Z,1761540608.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:09.194Z,1761540609.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993346,-0.105535,-0.046112],[0.107618,0.993159,0.045310],[0.041015,-0.049971,0.997908]] 2025-10-27T04:50:09.230Z,1761540609.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:09.583Z,1761540609.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993198,-0.106853,-0.046262],[0.108939,0.993020,0.045197],[0.041110,-0.049929,0.997906]] 2025-10-27T04:50:09.630Z,1761540609.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:09.987Z,1761540609.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993087,-0.107751,-0.046569],[0.109854,0.992917,0.045247],[0.041364,-0.050050,0.997890]] 2025-10-27T04:50:10.037Z,1761540610.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:10.394Z,1761540610.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992975,-0.108683,-0.046791],[0.110800,0.992809,0.045308],[0.041531,-0.050174,0.997877]] 2025-10-27T04:50:10.419Z,1761540610.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:10.797Z,1761540610.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992899,-0.109210,-0.047165],[0.111349,0.992743,0.045406],[0.041863,-0.050335,0.997855]] 2025-10-27T04:50:10.816Z,1761540610.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:11.201Z,1761540611.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992777,-0.110132,-0.047595],[0.112283,0.992649,0.045176],[0.042270,-0.050194,0.997845]] 2025-10-27T04:50:11.251Z,1761540611.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:11.604Z,1761540611.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992707,-0.110541,-0.048092],[0.112715,0.992603,0.045109],[0.042750,-0.050201,0.997824]] 2025-10-27T04:50:11.655Z,1761540611.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:12.009Z,1761540612.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992681,-0.110585,-0.048539],[0.112785,0.992592,0.045179],[0.043184,-0.050323,0.997799]] 2025-10-27T04:50:12.045Z,1761540612.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:12.412Z,1761540612.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992657,-0.110600,-0.048995],[0.112822,0.992588,0.045175],[0.043635,-0.050371,0.997777]] 2025-10-27T04:50:12.437Z,1761540612.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:12.816Z,1761540612.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992679,-0.110189,-0.049468],[0.112440,0.992625,0.045299],[0.044112,-0.050530,0.997748]] 2025-10-27T04:50:12.851Z,1761540612.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:13.283Z,1761540613.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:13.662Z,1761540613.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992703,-0.109397,-0.050729],[0.111707,0.992713,0.045189],[0.045416,-0.050526,0.997690]] 2025-10-27T04:50:13.693Z,1761540613.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:14.046Z,1761540614.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992755,-0.108654,-0.051298],[0.110991,0.992795,0.045148],[0.046023,-0.050515,0.997662]] 2025-10-27T04:50:14.090Z,1761540614.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:14.435Z,1761540614.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992828,-0.107702,-0.051899],[0.110066,0.992902,0.045073],[0.046676,-0.050462,0.997635]] 2025-10-27T04:50:14.454Z,1761540614.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:14.837Z,1761540614.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992888,-0.106873,-0.052449],[0.109257,0.992999,0.044899],[0.047284,-0.050311,0.997614]] 2025-10-27T04:50:14.866Z,1761540614.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:15.245Z,1761540615.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992966,-0.105849,-0.053060],[0.108260,0.993111,0.044842],[0.047948,-0.050271,0.997584]] 2025-10-27T04:50:15.289Z,1761540615.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:15.647Z,1761540615.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993053,-0.104754,-0.053591],[0.107191,0.993228,0.044809],[0.048534,-0.050242,0.997557]] 2025-10-27T04:50:15.666Z,1761540615.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:16.049Z,1761540616.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993135,-0.103743,-0.054039],[0.106202,0.993334,0.044809],[0.049030,-0.050240,0.997533]] 2025-10-27T04:50:16.085Z,1761540616.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:16.458Z,1761540616.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993204,-0.102823,-0.054532],[0.105302,0.993435,0.044712],[0.049577,-0.050151,0.997510]] 2025-10-27T04:50:16.484Z,1761540616.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:16.864Z,1761540616.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993280,-0.101859,-0.054950],[0.104359,0.993534,0.044706],[0.050041,-0.050140,0.997488]] 2025-10-27T04:50:16.896Z,1761540616.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:17.278Z,1761540617.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993315,-0.101385,-0.055201],[0.103888,0.993591,0.044535],[0.050332,-0.049972,0.997482]] 2025-10-27T04:50:17.365Z,1761540617.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:17.745Z,1761540617.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993345,-0.100990,-0.055376],[0.103496,0.993637,0.044420],[0.050538,-0.049855,0.997477]] 2025-10-27T04:50:17.777Z,1761540617.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:18.145Z,1761540618.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993336,-0.100871,-0.055762],[0.103388,0.993656,0.044255],[0.050945,-0.049725,0.997463]] 2025-10-27T04:50:18.209Z,1761540618.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:18.547Z,1761540618.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993313,-0.101020,-0.055900],[0.103543,0.993641,0.044231],[0.051076,-0.049723,0.997456]] 2025-10-27T04:50:18.569Z,1761540618.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:18.950Z,1761540618.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993243,-0.101618,-0.056057],[0.104143,0.993583,0.044131],[0.051213,-0.049671,0.997452]] 2025-10-27T04:50:18.993Z,1761540618.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:19.425Z,1761540619.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993029,-0.103652,-0.056123],[0.106170,0.993377,0.043926],[0.051198,-0.049578,0.997457]] 2025-10-27T04:50:19.469Z,1761540619.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:50:19.471Z,1761540619.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:19.512Z,1761540619.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:50:19.512Z,1761540619.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:50:19.764Z,1761540619.764 [DAT](INFO): DAT read: user:206> 2025-10-27T04:50:19.764Z,1761540619.764 [DAT](INFO): DAT read: Tx time:04:50:18.8292 2025-10-27T04:50:19.765Z,1761540619.765 [DAT](INFO): Ping request sent. 2025-10-27T04:50:19.765Z,1761540619.765 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:50:19.765Z,1761540619.765 [DAT](INFO): publishing transmit ping time 2025-10-27T04:50:19.766Z,1761540619.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-27T04:50:19.837Z,1761540619.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992882,-0.105007,-0.056208],[0.107524,0.993237,0.043805],[0.051228,-0.049537,0.997458]] 2025-10-27T04:50:19.884Z,1761540619.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:20.018Z,1761540620.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252891 2025-10-27T04:50:20.230Z,1761540620.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992717,-0.106625,-0.056069],[0.109129,0.993068,0.043668],[0.051025,-0.049468,0.997472]] 2025-10-27T04:50:20.268Z,1761540620.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503206 2025-10-27T04:50:20.309Z,1761540620.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:20.521Z,1761540620.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756011 2025-10-27T04:50:20.680Z,1761540620.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992542,-0.108313,-0.055942],[0.110807,0.992886,0.043574],[0.050825,-0.049448,0.997483]] 2025-10-27T04:50:20.699Z,1761540620.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:20.772Z,1761540620.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007348 2025-10-27T04:50:21.024Z,1761540621.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258993 2025-10-27T04:50:21.129Z,1761540621.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992385,-0.109752,-0.055913],[0.112248,0.992721,0.043639],[0.050717,-0.049583,0.997482]] 2025-10-27T04:50:21.166Z,1761540621.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:21.276Z,1761540621.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511402 2025-10-27T04:50:21.531Z,1761540621.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766054 2025-10-27T04:50:21.572Z,1761540621.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992235,-0.111258,-0.055605],[0.113742,0.992549,0.043700],[0.050329,-0.049685,0.997496]] 2025-10-27T04:50:21.615Z,1761540621.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:21.780Z,1761540621.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015531 2025-10-27T04:50:22.011Z,1761540622.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992077,-0.112743,-0.055424],[0.115225,0.992373,0.043818],[0.050061,-0.049857,0.997501]] 2025-10-27T04:50:22.035Z,1761540622.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269092 2025-10-27T04:50:22.074Z,1761540622.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:22.284Z,1761540622.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519068 2025-10-27T04:50:22.493Z,1761540622.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991873,-0.114534,-0.055409],[0.117012,0.992167,0.043746],[0.049964,-0.049874,0.997505]] 2025-10-27T04:50:22.536Z,1761540622.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771029 2025-10-27T04:50:22.552Z,1761540622.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:22.788Z,1761540622.788 [DAT](INFO): DAT read: Rx Time:04:50:21.2889 2025-10-27T04:50:22.788Z,1761540622.788 [DAT](INFO): Rx dataTimestamp_ set to:1761540622.788170 2025-10-27T04:50:22.789Z,1761540622.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024076 2025-10-27T04:50:22.944Z,1761540622.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991697,-0.116107,-0.055274],[0.118584,0.991975,0.043848],[0.049739,-0.050039,0.997508]] 2025-10-27T04:50:22.971Z,1761540622.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.72 m. 2025-10-27T04:50:23.040Z,1761540623.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274956 2025-10-27T04:50:23.298Z,1761540623.298 [DAT](INFO): DAT read: 04:50:21.2889 LVL= 32720, 20721, 23170, 32755, AGC= 55, IDX= 501, 0.11, 0.847, 2.807, 2.337, 2.397, PHS=-1.448, 0.455,-0.104, RAW= 286.6, 12.9, CAL= 284.4, 20.1, ROT= 225.6, -20.1 2025-10-27T04:50:23.300Z,1761540623.300 [DAT](INFO): got valid direction response: 04:50:21.2889 LVL= 32720, 20721, 23170, 32755, AGC= 55, IDX= 501, 0.11, 0.847, 2.807, 2.337, 2.397, PHS=-1.448, 0.455,-0.104, RAW= 286.6, 12.9, CAL= 284.4, 20.1, ROT= 225.6, -20.1 2025-10-27T04:50:23.301Z,1761540623.301 [DAT](INFO): DAT read: Bearing 315.9, -46.1 (Local) 2025-10-27T04:50:23.301Z,1761540623.301 [DAT](INFO): Local bearing/azimuth received: Bearing 315.9, -46.1 (Local) 2025-10-27T04:50:23.302Z,1761540623.302 [DAT](INFO): DAT read: Range 11 to 50 : 41.6 m (Round-trip 55.5 ms) speed -0.2 m/s 2025-10-27T04:50:23.303Z,1761540623.303 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:50:23.304Z,1761540623.304 [DAT](INFO): direction in FSK: [-0.657050,-0.670957,0.343660] 2025-10-27T04:50:23.304Z,1761540623.304 [DAT](INFO): publishing direction and range info 2025-10-27T04:50:23.377Z,1761540623.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991537,-0.117485,-0.055246],[0.119966,0.991804,0.043969],[0.049627,-0.050224,0.997504]] 2025-10-27T04:50:23.476Z,1761540623.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 60.269120 s, deltaX: 4.699997 m, approachRate: 0.077983 m/s, rangeRepo size: 4 2025-10-27T04:50:23.478Z,1761540623.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.394077 m, bearing: 230.944246 deg, lat: 36.779315 deg, lon: -121.859508 deg, deltaT: 60.269120 s, deltaX: 4.676701 m, approachRate: 0.077597 m/s, posRepo size: 4 2025-10-27T04:50:23.479Z,1761540623.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:23.865Z,1761540623.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991213,-0.120253,-0.055106],[0.122724,0.991470,0.043880],[0.049359,-0.050257,0.997516]] 2025-10-27T04:50:23.885Z,1761540623.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:24.279Z,1761540624.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991087,-0.121269,-0.055133],[0.123740,0.991345,0.043858],[0.049338,-0.050290,0.997515]] 2025-10-27T04:50:24.333Z,1761540624.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:24.670Z,1761540624.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991020,-0.121808,-0.055160],[0.124288,0.991270,0.044010],[0.049318,-0.050471,0.997507]] 2025-10-27T04:50:24.726Z,1761540624.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:25.179Z,1761540625.179 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:50:25.222Z,1761540625.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:25.637Z,1761540625.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:26.019Z,1761540626.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990981,-0.121769,-0.055943],[0.124288,0.991271,0.043974],[0.050100,-0.050531,0.997465]] 2025-10-27T04:50:26.055Z,1761540626.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:26.183Z,1761540626.183 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:50:26.422Z,1761540626.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991054,-0.121066,-0.056167],[0.123591,0.991362,0.043889],[0.050368,-0.050438,0.997456]] 2025-10-27T04:50:26.472Z,1761540626.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:26.832Z,1761540626.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991151,-0.120174,-0.056370],[0.122705,0.991476,0.043810],[0.050625,-0.050339,0.997448]] 2025-10-27T04:50:26.850Z,1761540626.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:27.301Z,1761540627.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:27.636Z,1761540627.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991344,-0.118188,-0.057178],[0.120752,0.991722,0.043672],[0.051543,-0.050198,0.997408]] 2025-10-27T04:50:27.667Z,1761540627.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:28.038Z,1761540628.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991465,-0.116909,-0.057703],[0.119504,0.991869,0.043766],[0.052117,-0.050288,0.997374]] 2025-10-27T04:50:28.056Z,1761540628.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:28.442Z,1761540628.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991534,-0.116041,-0.058256],[0.118659,0.991974,0.043682],[0.052719,-0.050225,0.997346]] 2025-10-27T04:50:28.506Z,1761540628.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:28.846Z,1761540628.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991605,-0.115172,-0.058772],[0.117816,0.992073,0.043703],[0.053273,-0.050260,0.997314]] 2025-10-27T04:50:28.874Z,1761540628.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:29.254Z,1761540629.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991641,-0.114557,-0.059377],[0.117232,0.992142,0.043704],[0.053903,-0.050299,0.997278]] 2025-10-27T04:50:29.306Z,1761540629.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:29.653Z,1761540629.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991602,-0.114549,-0.060029],[0.117237,0.992158,0.043342],[0.054593,-0.050016,0.997255]] 2025-10-27T04:50:29.672Z,1761540629.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:30.098Z,1761540630.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991590,-0.114268,-0.060768],[0.116989,0.992190,0.043276],[0.055348,-0.050021,0.997213]] 2025-10-27T04:50:30.137Z,1761540630.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:30.494Z,1761540630.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991529,-0.114469,-0.061375],[0.117210,0.992172,0.043083],[0.055963,-0.049912,0.997185]] 2025-10-27T04:50:30.542Z,1761540630.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:30.898Z,1761540630.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991435,-0.114925,-0.062042],[0.117686,0.992126,0.042855],[0.056629,-0.049789,0.997153]] 2025-10-27T04:50:30.917Z,1761540630.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:31.302Z,1761540631.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991372,-0.115043,-0.062829],[0.117848,0.992103,0.042926],[0.057395,-0.049960,0.997101]] 2025-10-27T04:50:31.353Z,1761540631.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:31.710Z,1761540631.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991239,-0.115736,-0.063635],[0.118579,0.992019,0.042857],[0.058167,-0.050027,0.997053]] 2025-10-27T04:50:31.743Z,1761540631.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:32.121Z,1761540632.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991089,-0.116599,-0.064406],[0.119477,0.991914,0.042805],[0.058894,-0.050118,0.997005]] 2025-10-27T04:50:32.158Z,1761540632.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:32.517Z,1761540632.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990854,-0.118166,-0.065155],[0.121069,0.991732,0.042547],[0.059588,-0.050047,0.996968]] 2025-10-27T04:50:32.553Z,1761540632.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:32.918Z,1761540632.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990616,-0.119711,-0.065952],[0.122647,0.991543,0.042419],[0.060317,-0.050110,0.996921]] 2025-10-27T04:50:32.949Z,1761540632.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:33.322Z,1761540633.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990331,-0.121631,-0.066710],[0.124584,0.991318,0.042035],[0.061018,-0.049940,0.996887]] 2025-10-27T04:50:33.389Z,1761540633.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:33.735Z,1761540633.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990102,-0.123072,-0.067459],[0.126059,0.991136,0.041947],[0.061699,-0.050036,0.996840]] 2025-10-27T04:50:33.753Z,1761540633.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:34.132Z,1761540634.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989904,-0.124302,-0.068111],[0.127324,0.990973,0.041961],[0.062280,-0.050210,0.996795]] 2025-10-27T04:50:34.160Z,1761540634.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:34.589Z,1761540634.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:34.938Z,1761540634.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989508,-0.126744,-0.069348],[0.129826,0.990651,0.041891],[0.063390,-0.050454,0.996713]] 2025-10-27T04:50:34.956Z,1761540634.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:35.342Z,1761540635.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989267,-0.128226,-0.070061],[0.131329,0.990464,0.041634],[0.064054,-0.050388,0.996674]] 2025-10-27T04:50:35.402Z,1761540635.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:35.746Z,1761540635.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989086,-0.129368,-0.070512],[0.132491,0.990312,0.041564],[0.064452,-0.050453,0.996645]] 2025-10-27T04:50:35.772Z,1761540635.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:36.150Z,1761540636.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988858,-0.130798,-0.071071],[0.133932,0.990131,0.041260],[0.064973,-0.050319,0.996618]] 2025-10-27T04:50:36.169Z,1761540636.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:36.633Z,1761540636.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:36.958Z,1761540636.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988553,-0.132654,-0.071867],[0.135821,0.989880,0.041114],[0.065686,-0.050405,0.996566]] 2025-10-27T04:50:36.992Z,1761540636.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:37.362Z,1761540637.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988465,-0.133176,-0.072117],[0.136359,0.989804,0.041151],[0.065901,-0.050510,0.996547]] 2025-10-27T04:50:37.430Z,1761540637.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:37.767Z,1761540637.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988411,-0.133501,-0.072254],[0.136699,0.989753,0.041268],[0.066005,-0.050667,0.996532]] 2025-10-27T04:50:37.785Z,1761540637.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:38.173Z,1761540638.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988333,-0.134036,-0.072332],[0.137227,0.989687,0.041093],[0.066078,-0.050539,0.996534]] 2025-10-27T04:50:38.195Z,1761540638.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:38.574Z,1761540638.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988313,-0.134290,-0.072130],[0.137465,0.989657,0.041006],[0.065877,-0.050442,0.996552]] 2025-10-27T04:50:38.654Z,1761540638.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:39.049Z,1761540639.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988348,-0.134152,-0.071909],[0.137305,0.989686,0.040840],[0.065688,-0.050238,0.996575]] 2025-10-27T04:50:39.074Z,1761540639.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:39.449Z,1761540639.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988399,-0.133932,-0.071626],[0.137074,0.989717,0.040889],[0.065413,-0.050233,0.996593]] 2025-10-27T04:50:39.497Z,1761540639.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:39.853Z,1761540639.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988447,-0.133714,-0.071370],[0.136849,0.989744,0.040981],[0.065158,-0.050275,0.996608]] 2025-10-27T04:50:39.872Z,1761540639.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:40.261Z,1761540640.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988507,-0.133517,-0.070904],[0.136638,0.989767,0.041132],[0.064686,-0.050347,0.996635]] 2025-10-27T04:50:40.278Z,1761540640.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:40.697Z,1761540640.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988494,-0.133917,-0.070326],[0.136999,0.989723,0.040981],[0.064115,-0.050144,0.996682]] 2025-10-27T04:50:40.755Z,1761540640.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:41.108Z,1761540641.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988517,-0.133996,-0.069857],[0.137057,0.989714,0.041011],[0.063643,-0.050114,0.996714]] 2025-10-27T04:50:41.130Z,1761540641.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:41.504Z,1761540641.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988468,-0.134627,-0.069330],[0.137652,0.989638,0.040859],[0.063111,-0.049931,0.996757]] 2025-10-27T04:50:41.546Z,1761540641.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:41.906Z,1761540641.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988424,-0.135286,-0.068678],[0.138274,0.989554,0.040781],[0.062444,-0.049805,0.996805]] 2025-10-27T04:50:41.967Z,1761540641.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:42.310Z,1761540642.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988314,-0.136347,-0.068150],[0.139299,0.989418,0.040598],[0.061893,-0.049617,0.996849]] 2025-10-27T04:50:42.407Z,1761540642.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:42.725Z,1761540642.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988227,-0.137302,-0.067501],[0.140230,0.989281,0.040717],[0.061187,-0.049704,0.996888]] 2025-10-27T04:50:42.779Z,1761540642.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:43.123Z,1761540643.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988145,-0.138183,-0.066891],[0.141103,0.989143,0.041072],[0.060489,-0.050023,0.996915]] 2025-10-27T04:50:43.142Z,1761540643.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:43.522Z,1761540643.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987969,-0.139727,-0.066278],[0.142621,0.988923,0.041122],[0.059798,-0.050080,0.996953]] 2025-10-27T04:50:43.568Z,1761540643.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:43.928Z,1761540643.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987750,-0.141530,-0.065724],[0.144398,0.988665,0.041123],[0.059159,-0.050109,0.996990]] 2025-10-27T04:50:43.946Z,1761540643.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:44.337Z,1761540644.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987489,-0.143648,-0.065046],[0.146481,0.988361,0.041070],[0.058389,-0.050085,0.997037]] 2025-10-27T04:50:44.385Z,1761540644.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:44.801Z,1761540644.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987265,-0.145425,-0.064495],[0.148236,0.988095,0.041156],[0.057742,-0.050193,0.997069]] 2025-10-27T04:50:44.862Z,1761540644.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:45.233Z,1761540645.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987061,-0.147089,-0.063841],[0.149870,0.987847,0.041195],[0.057006,-0.050230,0.997109]] 2025-10-27T04:50:45.270Z,1761540645.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:45.651Z,1761540645.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986846,-0.148739,-0.063337],[0.151492,0.987603,0.041116],[0.056437,-0.050170,0.997145]] 2025-10-27T04:50:45.697Z,1761540645.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:46.074Z,1761540646.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986686,-0.149964,-0.062945],[0.152704,0.987412,0.041224],[0.055971,-0.050287,0.997165]] 2025-10-27T04:50:46.156Z,1761540646.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:46.532Z,1761540646.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986555,-0.151010,-0.062499],[0.153736,0.987246,0.041360],[0.055456,-0.050413,0.997188]] 2025-10-27T04:50:46.593Z,1761540646.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:46.934Z,1761540646.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986444,-0.151899,-0.062090],[0.154613,0.987103,0.041501],[0.054985,-0.050538,0.997207]] 2025-10-27T04:50:46.955Z,1761540646.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:47.346Z,1761540647.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986312,-0.152898,-0.061735],[0.155592,0.986951,0.041468],[0.054589,-0.050506,0.997231]] 2025-10-27T04:50:47.365Z,1761540647.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:47.799Z,1761540647.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:48.146Z,1761540648.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986180,-0.153956,-0.061215],[0.156633,0.986780,0.041619],[0.053998,-0.050632,0.997257]] 2025-10-27T04:50:48.165Z,1761540648.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:48.551Z,1761540648.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986108,-0.154511,-0.060976],[0.157171,0.986698,0.041522],[0.053749,-0.050529,0.997275]] 2025-10-27T04:50:48.621Z,1761540648.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:48.954Z,1761540648.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986075,-0.154769,-0.060850],[0.157422,0.986659,0.041496],[0.053616,-0.050497,0.997284]] 2025-10-27T04:50:48.991Z,1761540648.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:49.358Z,1761540649.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986128,-0.154474,-0.060732],[0.157133,0.986695,0.041730],[0.053478,-0.050694,0.997281]] 2025-10-27T04:50:49.376Z,1761540649.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:49.764Z,1761540649.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986137,-0.154416,-0.060738],[0.157074,0.986705,0.041713],[0.053489,-0.050675,0.997282]] 2025-10-27T04:50:49.830Z,1761540649.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:50.167Z,1761540650.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986186,-0.154124,-0.060681],[0.156781,0.986751,0.041745],[0.053443,-0.050682,0.997284]] 2025-10-27T04:50:50.185Z,1761540650.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:50.568Z,1761540650.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986189,-0.154159,-0.060554],[0.156797,0.986758,0.041514],[0.053352,-0.050435,0.997301]] 2025-10-27T04:50:50.628Z,1761540650.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:50.970Z,1761540650.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986259,-0.153697,-0.060582],[0.156334,0.986834,0.041466],[0.053411,-0.050367,0.997302]] 2025-10-27T04:50:50.992Z,1761540650.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:51.427Z,1761540651.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:51.808Z,1761540651.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986414,-0.152663,-0.060677],[0.155301,0.986999,0.041406],[0.053567,-0.050267,0.997298]] 2025-10-27T04:50:51.858Z,1761540651.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:52.209Z,1761540652.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986478,-0.152230,-0.060715],[0.154867,0.987069,0.041356],[0.053634,-0.050200,0.997298]] 2025-10-27T04:50:52.229Z,1761540652.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:52.616Z,1761540652.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986503,-0.152004,-0.060884],[0.154641,0.987110,0.041223],[0.053833,-0.050082,0.997293]] 2025-10-27T04:50:52.659Z,1761540652.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:53.018Z,1761540653.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986523,-0.151873,-0.060893],[0.154506,0.987135,0.041140],[0.053861,-0.049994,0.997296]] 2025-10-27T04:50:53.057Z,1761540653.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:53.422Z,1761540653.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986499,-0.152015,-0.060921],[0.154641,0.987121,0.040975],[0.053908,-0.049843,0.997301]] 2025-10-27T04:50:53.461Z,1761540653.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:53.827Z,1761540653.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986449,-0.152300,-0.061021],[0.154922,0.987084,0.040793],[0.054020,-0.049694,0.997303]] 2025-10-27T04:50:53.887Z,1761540653.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:54.301Z,1761540654.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:54.745Z,1761540654.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986086,-0.154318,-0.061809],[0.157011,0.986731,0.041352],[0.054607,-0.050482,0.997231]] 2025-10-27T04:50:54.786Z,1761540654.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:55.114Z,1761540655.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985837,-0.155633,-0.062473],[0.158393,0.986486,0.041928],[0.055103,-0.051229,0.997166]] 2025-10-27T04:50:55.133Z,1761540655.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:55.513Z,1761540655.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985523,-0.157309,-0.063238],[0.160134,0.986185,0.042378],[0.055698,-0.051891,0.997098]] 2025-10-27T04:50:55.613Z,1761540655.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:55.991Z,1761540655.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985074,-0.159877,-0.063779],[0.162735,0.985758,0.042420],[0.056089,-0.052166,0.997062]] 2025-10-27T04:50:56.040Z,1761540656.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:56.304Z,1761540656.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:50:56.440Z,1761540656.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984553,-0.162804,-0.064421],[0.165689,0.985271,0.042282],[0.056589,-0.052303,0.997027]] 2025-10-27T04:50:56.457Z,1761540656.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:56.841Z,1761540656.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984046,-0.165555,-0.065154],[0.168480,0.984799,0.042255],[0.057169,-0.052558,0.996980]] 2025-10-27T04:50:56.923Z,1761540656.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:57.245Z,1761540657.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983519,-0.168323,-0.066008],[0.171291,0.984317,0.042186],[0.057872,-0.052797,0.996927]] 2025-10-27T04:50:57.276Z,1761540657.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:57.307Z,1761540657.307 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:50:57.650Z,1761540657.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982943,-0.171248,-0.067064],[0.174253,0.983812,0.041826],[0.058816,-0.052799,0.996872]] 2025-10-27T04:50:57.717Z,1761540657.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:58.060Z,1761540658.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982396,-0.173959,-0.068099],[0.177002,0.983335,0.041502],[0.059744,-0.052825,0.996815]] 2025-10-27T04:50:58.115Z,1761540658.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:58.457Z,1761540658.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981857,-0.176665,-0.068888],[0.179704,0.982879,0.040694],[0.060519,-0.052335,0.996794]] 2025-10-27T04:50:58.482Z,1761540658.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:58.861Z,1761540658.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981460,-0.178679,-0.069360],[0.181693,0.982547,0.039850],[0.061029,-0.051713,0.996795]] 2025-10-27T04:50:58.904Z,1761540658.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:59.265Z,1761540659.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981126,-0.180166,-0.070234],[0.183190,0.982294,0.039251],[0.061918,-0.051377,0.996758]] 2025-10-27T04:50:59.283Z,1761540659.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:50:59.677Z,1761540659.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980863,-0.181171,-0.071310],[0.184228,0.982115,0.038863],[0.062994,-0.051256,0.996697]] 2025-10-27T04:50:59.783Z,1761540659.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:00.094Z,1761540660.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980642,-0.181904,-0.072474],[0.185000,0.981983,0.038534],[0.064159,-0.051196,0.996626]] 2025-10-27T04:51:00.112Z,1761540660.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:00.477Z,1761540660.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980479,-0.182225,-0.073852],[0.185371,0.981926,0.038189],[0.065558,-0.051134,0.996538]] 2025-10-27T04:51:00.504Z,1761540660.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:00.881Z,1761540660.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980397,-0.182116,-0.075206],[0.185312,0.981949,0.037894],[0.066947,-0.051088,0.996448]] 2025-10-27T04:51:00.924Z,1761540660.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:01.287Z,1761540661.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980370,-0.181667,-0.076627],[0.184915,0.982035,0.037610],[0.068418,-0.051041,0.996350]] 2025-10-27T04:51:01.305Z,1761540661.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:01.708Z,1761540661.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980417,-0.180828,-0.077995],[0.184130,0.982190,0.037392],[0.069844,-0.051021,0.996252]] 2025-10-27T04:51:01.816Z,1761540661.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:02.101Z,1761540662.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980536,-0.179542,-0.079465],[0.182903,0.982426,0.037208],[0.071388,-0.051018,0.996143]] 2025-10-27T04:51:02.139Z,1761540662.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:02.531Z,1761540662.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:03.031Z,1761540663.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:03.363Z,1761540663.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981047,-0.174877,-0.083451],[0.178385,0.983281,0.036560],[0.075663,-0.050753,0.995841]] 2025-10-27T04:51:03.400Z,1761540663.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:03.765Z,1761540663.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981240,-0.173275,-0.084522],[0.176820,0.983571,0.036371],[0.076831,-0.050634,0.995758]] 2025-10-27T04:51:03.821Z,1761540663.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:04.171Z,1761540664.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981364,-0.172117,-0.085446],[0.175677,0.983790,0.035996],[0.077866,-0.050336,0.995692]] 2025-10-27T04:51:04.189Z,1761540664.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:04.590Z,1761540664.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981488,-0.170966,-0.086328],[0.174549,0.983999,0.035766],[0.078832,-0.050172,0.995625]] 2025-10-27T04:51:04.611Z,1761540664.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:05.014Z,1761540665.014 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +11.11, , +5.04, 8.16, 0.00 2025-10-27T04:51:05.030Z,1761540665.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:05.381Z,1761540665.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981623,-0.169339,-0.087981],[0.172990,0.984279,0.035618],[0.080567,-0.050184,0.995485]] 2025-10-27T04:51:05.405Z,1761540665.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:05.788Z,1761540665.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981507,-0.169838,-0.088314],[0.173483,0.984204,0.035315],[0.080922,-0.049983,0.995466]] 2025-10-27T04:51:05.825Z,1761540665.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:06.188Z,1761540666.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981395,-0.170429,-0.088414],[0.174113,0.984078,0.035714],[0.080920,-0.050444,0.995443]] 2025-10-27T04:51:06.217Z,1761540666.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:06.596Z,1761540666.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981080,-0.172322,-0.088241],[0.176060,0.983705,0.036441],[0.080524,-0.051287,0.995432]] 2025-10-27T04:51:06.634Z,1761540666.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:07.113Z,1761540667.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:07.433Z,1761540667.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980180,-0.177461,-0.088061],[0.181277,0.982722,0.037351],[0.079911,-0.052574,0.995415]] 2025-10-27T04:51:07.467Z,1761540667.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:07.837Z,1761540667.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979633,-0.180578,-0.087815],[0.184420,0.982122,0.037747],[0.079429,-0.053173,0.995421]] 2025-10-27T04:51:07.898Z,1761540667.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:08.243Z,1761540668.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979018,-0.184153,-0.087246],[0.187989,0.981438,0.037939],[0.078640,-0.053544,0.995464]] 2025-10-27T04:51:08.266Z,1761540668.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:08.646Z,1761540668.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978412,-0.187711,-0.086451],[0.191523,0.980750,0.038068],[0.077641,-0.053804,0.995529]] 2025-10-27T04:51:08.686Z,1761540668.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:09.052Z,1761540669.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977895,-0.190755,-0.085640],[0.194538,0.980152,0.038166],[0.076660,-0.053982,0.995595]] 2025-10-27T04:51:09.128Z,1761540669.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:09.454Z,1761540669.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977361,-0.193884,-0.084704],[0.197619,0.979538,0.038108],[0.075582,-0.053984,0.995677]] 2025-10-27T04:51:09.490Z,1761540669.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:09.864Z,1761540669.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976295,-0.200031,-0.082680],[0.203630,0.978326,0.037583],[0.073370,-0.053528,0.995867]] 2025-10-27T04:51:09.907Z,1761540669.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:10.266Z,1761540670.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975878,-0.202497,-0.081592],[0.206035,0.977827,0.037474],[0.072194,-0.053380,0.995961]] 2025-10-27T04:51:10.285Z,1761540670.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:10.689Z,1761540670.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975451,-0.204973,-0.080512],[0.208430,0.977334,0.037090],[0.071085,-0.052960,0.996063]] 2025-10-27T04:51:10.742Z,1761540670.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:11.087Z,1761540671.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975169,-0.206800,-0.079242],[0.210180,0.976966,0.036901],[0.069785,-0.052640,0.996172]] 2025-10-27T04:51:11.124Z,1761540671.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:11.476Z,1761540671.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974928,-0.208410,-0.077976],[0.211700,0.976652,0.036519],[0.068545,-0.052111,0.996286]] 2025-10-27T04:51:11.506Z,1761540671.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:11.878Z,1761540671.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974773,-0.209525,-0.076917],[0.212736,0.976441,0.036151],[0.067530,-0.051602,0.996382]] 2025-10-27T04:51:11.934Z,1761540671.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:12.283Z,1761540672.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974738,-0.210135,-0.075694],[0.213260,0.976340,0.035784],[0.066384,-0.051022,0.996489]] 2025-10-27T04:51:12.301Z,1761540672.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:12.686Z,1761540672.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974855,-0.210012,-0.074520],[0.213065,0.976389,0.035618],[0.065281,-0.050600,0.996583]] 2025-10-27T04:51:12.734Z,1761540672.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:13.145Z,1761540673.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:13.494Z,1761540673.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975317,-0.208632,-0.072309],[0.211572,0.976712,0.035637],[0.063190,-0.050056,0.996745]] 2025-10-27T04:51:13.512Z,1761540673.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:13.899Z,1761540673.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975589,-0.207687,-0.071355],[0.210579,0.976927,0.035649],[0.062305,-0.049805,0.996814]] 2025-10-27T04:51:13.936Z,1761540673.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:14.306Z,1761540674.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975865,-0.206709,-0.070417],[0.209556,0.977145,0.035687],[0.061431,-0.049582,0.996879]] 2025-10-27T04:51:14.345Z,1761540674.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:14.710Z,1761540674.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976101,-0.205907,-0.069496],[0.208715,0.977320,0.035828],[0.060542,-0.049477,0.996939]] 2025-10-27T04:51:14.784Z,1761540674.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:15.110Z,1761540675.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976347,-0.204956,-0.068852],[0.207742,0.977521,0.036014],[0.059922,-0.049466,0.996977]] 2025-10-27T04:51:15.162Z,1761540675.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:15.516Z,1761540675.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976565,-0.203974,-0.068676],[0.206767,0.977717,0.036291],[0.059743,-0.049640,0.996979]] 2025-10-27T04:51:15.534Z,1761540675.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:15.932Z,1761540675.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976713,-0.203226,-0.068782],[0.206038,0.977862,0.036537],[0.059834,-0.049858,0.996962]] 2025-10-27T04:51:16.003Z,1761540676.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:16.322Z,1761540676.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976782,-0.202912,-0.068729],[0.205725,0.977925,0.036602],[0.059785,-0.049891,0.996964]] 2025-10-27T04:51:16.352Z,1761540676.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:16.777Z,1761540676.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:17.131Z,1761540677.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976763,-0.203259,-0.067963],[0.206043,0.977852,0.036766],[0.058984,-0.049915,0.997010]] 2025-10-27T04:51:17.168Z,1761540677.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:17.533Z,1761540677.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976696,-0.203703,-0.067608],[0.206478,0.977755,0.036899],[0.058588,-0.049999,0.997029]] 2025-10-27T04:51:17.578Z,1761540677.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:17.945Z,1761540677.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976483,-0.204796,-0.067383],[0.207555,0.977531,0.036794],[0.058334,-0.049914,0.997049]] 2025-10-27T04:51:17.989Z,1761540677.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:18.341Z,1761540678.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976231,-0.206077,-0.067114],[0.208823,0.977262,0.036777],[0.058009,-0.049918,0.997067]] 2025-10-27T04:51:18.359Z,1761540678.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:18.360Z,1761540678.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 41.60 m and bearing: 236.647318 deg. Not drifting fast enough. 2025-10-27T04:51:18.754Z,1761540678.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975931,-0.207534,-0.066999],[0.210276,0.976950,0.036778],[0.057822,-0.049981,0.997075]] 2025-10-27T04:51:18.772Z,1761540678.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:18.774Z,1761540678.774 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T04:51:18.774Z,1761540678.774 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T04:51:18.774Z,1761540678.774 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T04:51:18.775Z,1761540678.775 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T04:51:19.149Z,1761540679.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975547,-0.209347,-0.066946],[0.212083,0.976563,0.036690],[0.057696,-0.049991,0.997082]] 2025-10-27T04:51:19.198Z,1761540679.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:19.565Z,1761540679.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975082,-0.211502,-0.066942],[0.214229,0.976102,0.036494],[0.057623,-0.049926,0.997089]] 2025-10-27T04:51:19.650Z,1761540679.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:51:19.652Z,1761540679.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:19.760Z,1761540679.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:51:19.760Z,1761540679.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:51:19.972Z,1761540679.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974673,-0.213354,-0.067024],[0.216090,0.975689,0.036556],[0.057596,-0.050113,0.997081]] 2025-10-27T04:51:20.012Z,1761540680.012 [DAT](INFO): DAT read: user:207> 2025-10-27T04:51:20.013Z,1761540680.013 [DAT](INFO): DAT read: Tx time:04:51:19.0791 2025-10-27T04:51:20.013Z,1761540680.013 [DAT](INFO): Ping request sent. 2025-10-27T04:51:20.013Z,1761540680.013 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:51:20.013Z,1761540680.013 [DAT](INFO): publishing transmit ping time 2025-10-27T04:51:20.014Z,1761540680.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771 2025-10-27T04:51:20.020Z,1761540680.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:20.264Z,1761540680.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250672 2025-10-27T04:51:20.362Z,1761540680.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974159,-0.215609,-0.067280],[0.218350,0.975192,0.036375],[0.057769,-0.050125,0.997071]] 2025-10-27T04:51:20.384Z,1761540680.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:20.517Z,1761540680.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503654 2025-10-27T04:51:20.765Z,1761540680.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973619,-0.217892,-0.067748],[0.220647,0.974682,0.036178],[0.058150,-0.050171,0.997046]] 2025-10-27T04:51:20.768Z,1761540680.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754862 2025-10-27T04:51:20.809Z,1761540680.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:21.020Z,1761540681.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006786 2025-10-27T04:51:21.206Z,1761540681.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973057,-0.220237,-0.068233],[0.223002,0.974158,0.035872],[0.058570,-0.050121,0.997024]] 2025-10-27T04:51:21.272Z,1761540681.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258873 2025-10-27T04:51:21.277Z,1761540681.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:21.524Z,1761540681.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510800 2025-10-27T04:51:21.606Z,1761540681.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972561,-0.222270,-0.068710],[0.225051,0.973693,0.035703],[0.058967,-0.050186,0.996998]] 2025-10-27T04:51:21.637Z,1761540681.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:21.776Z,1761540681.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762697 2025-10-27T04:51:22.010Z,1761540682.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972060,-0.224281,-0.069261],[0.227077,0.973231,0.035446],[0.059457,-0.050183,0.996969]] 2025-10-27T04:51:22.028Z,1761540682.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014825 2025-10-27T04:51:22.100Z,1761540682.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:22.280Z,1761540682.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266789 2025-10-27T04:51:22.462Z,1761540682.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:22.533Z,1761540682.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520216 2025-10-27T04:51:22.784Z,1761540682.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770726 2025-10-27T04:51:22.824Z,1761540682.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971115,-0.227981,-0.070436],[0.230844,0.972343,0.035502],[0.060394,-0.050736,0.996884]] 2025-10-27T04:51:22.846Z,1761540682.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:23.036Z,1761540683.036 [DAT](INFO): DAT read: Rx Time:04:51:21.5452 2025-10-27T04:51:23.037Z,1761540683.037 [DAT](INFO): Rx dataTimestamp_ set to:1761540683.036878 2025-10-27T04:51:23.039Z,1761540683.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025183 2025-10-27T04:51:23.222Z,1761540683.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970728,-0.229347,-0.071321],[0.232755,0.971552,0.043731],[0.059263,-0.059051,0.996494]] 2025-10-27T04:51:23.267Z,1761540683.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.39 m. 2025-10-27T04:51:23.288Z,1761540683.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274716 2025-10-27T04:51:23.551Z,1761540683.551 [DAT](INFO): DAT read: 04:51:21.5452 LVL= 32752, 21121, 25330, 32755, AGC= 56, IDX= 487,-0.18,-2.771,-0.820,-1.352,-1.251, PHS=-1.419, 0.476,-0.145, RAW= 288.7, 12.9, CAL= 286.3, 20.1, ROT= 223.7, -20.1 2025-10-27T04:51:23.553Z,1761540683.553 [DAT](INFO): got valid direction response: 04:51:21.5452 LVL= 32752, 21121, 25330, 32755, AGC= 56, IDX= 487,-0.18,-2.771,-0.820,-1.352,-1.251, PHS=-1.419, 0.476,-0.145, RAW= 288.7, 12.9, CAL= 286.3, 20.1, ROT= 223.7, -20.1 2025-10-27T04:51:23.554Z,1761540683.554 [DAT](INFO): DAT read: Bearing 321.0, -45.1 (Local) 2025-10-27T04:51:23.575Z,1761540683.575 [DAT](INFO): Local bearing/azimuth received: Bearing 321.0, -45.1 (Local) 2025-10-27T04:51:23.577Z,1761540683.577 [DAT](INFO): DAT read: Range 11 to 50 : 46.5 m (Round-trip 62.0 ms) speed -0.2 m/s 2025-10-27T04:51:23.577Z,1761540683.577 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:51:23.578Z,1761540683.578 [DAT](INFO): direction in FSK: [-0.678934,-0.648804,0.343660] 2025-10-27T04:51:23.578Z,1761540683.578 [DAT](INFO): publishing direction and range info 2025-10-27T04:51:23.646Z,1761540683.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970599,-0.228795,-0.074768],[0.233400,0.970528,0.060001],[0.058836,-0.075688,0.995394]] 2025-10-27T04:51:23.686Z,1761540683.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 60.248618 s, deltaX: 4.900002 m, approachRate: 0.081330 m/s, rangeRepo size: 4 2025-10-27T04:51:23.689Z,1761540683.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.269421 m, bearing: 235.060280 deg, lat: 36.779313 deg, lon: -121.859507 deg, deltaT: 60.248618 s, deltaX: 4.875343 m, approachRate: 0.080920 m/s, posRepo size: 4 2025-10-27T04:51:23.689Z,1761540683.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:24.046Z,1761540684.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970552,-0.227806,-0.078318],[0.233531,0.969537,0.073894],[0.059099,-0.090008,0.994186]] 2025-10-27T04:51:24.113Z,1761540684.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:24.434Z,1761540684.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970490,-0.227475,-0.080026],[0.233594,0.969214,0.077838],[0.059856,-0.094235,0.993749]] 2025-10-27T04:51:24.469Z,1761540684.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:24.837Z,1761540684.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970151,-0.229054,-0.079630],[0.234739,0.969439,0.071316],[0.060861,-0.087880,0.994270]] 2025-10-27T04:51:24.866Z,1761540684.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:25.308Z,1761540685.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969672,-0.231563,-0.078196],[0.236476,0.969738,0.060731],[0.061767,-0.077381,0.995086]] 2025-10-27T04:51:25.358Z,1761540685.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:25.820Z,1761540685.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969031,-0.234420,-0.077629],[0.238839,0.969585,0.053481],[0.062731,-0.070366,0.995547]] 2025-10-27T04:51:25.854Z,1761540685.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:26.288Z,1761540686.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967685,-0.238962,-0.080518],[0.243809,0.968155,0.056854],[0.064368,-0.074648,0.995130]] 2025-10-27T04:51:26.340Z,1761540686.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:26.688Z,1761540686.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966929,-0.241411,-0.082273],[0.246637,0.967212,0.060585],[0.064950,-0.078873,0.994767]] 2025-10-27T04:51:26.713Z,1761540686.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:27.092Z,1761540687.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965967,-0.244888,-0.083294],[0.250208,0.966284,0.060761],[0.065606,-0.079534,0.994671]] 2025-10-27T04:51:27.128Z,1761540687.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:27.435Z,1761540687.435 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:51:27.497Z,1761540687.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964693,-0.249768,-0.083563],[0.254921,0.965228,0.057879],[0.066201,-0.077137,0.994820]] 2025-10-27T04:51:27.525Z,1761540687.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:27.894Z,1761540687.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963198,-0.255477,-0.083557],[0.260416,0.963949,0.054642],[0.066585,-0.074391,0.995004]] 2025-10-27T04:51:27.912Z,1761540687.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:28.302Z,1761540688.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961507,-0.261738,-0.083651],[0.266527,0.962413,0.052206],[0.066842,-0.072492,0.995127]] 2025-10-27T04:51:28.356Z,1761540688.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:28.439Z,1761540688.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:51:28.706Z,1761540688.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959537,-0.268746,-0.084046],[0.273457,0.960556,0.050537],[0.067150,-0.071475,0.995179]] 2025-10-27T04:51:28.740Z,1761540688.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:29.157Z,1761540689.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:29.581Z,1761540689.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954961,-0.284623,-0.083906],[0.289126,0.956121,0.047322],[0.066756,-0.069451,0.995349]] 2025-10-27T04:51:29.609Z,1761540689.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:30.078Z,1761540690.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:30.576Z,1761540690.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948848,-0.304940,-0.081842],[0.308763,0.950351,0.038713],[0.065973,-0.062003,0.995893]] 2025-10-27T04:51:30.619Z,1761540690.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:30.971Z,1761540690.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945261,-0.316359,-0.079998],[0.319696,0.946955,0.032725],[0.065401,-0.056509,0.996258]] 2025-10-27T04:51:30.996Z,1761540690.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:31.426Z,1761540691.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:31.778Z,1761540691.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936977,-0.341300,-0.074755],[0.343522,0.938956,0.018817],[0.063769,-0.043311,0.997024]] 2025-10-27T04:51:31.812Z,1761540691.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:32.182Z,1761540692.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932171,-0.354755,-0.072158],[0.356485,0.934220,0.012276],[0.063056,-0.037166,0.997318]] 2025-10-27T04:51:32.238Z,1761540692.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:32.676Z,1761540692.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927086,-0.368300,-0.069761],[0.369673,0.929132,0.007445],[0.062075,-0.032691,0.997536]] 2025-10-27T04:51:32.714Z,1761540692.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:33.189Z,1761540693.189 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050308395170,35.0, +11.0, 0.0 0 2025-10-27T04:51:33.220Z,1761540693.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:33.644Z,1761540693.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910116,-0.409618,-0.062465],[0.410143,0.912009,-0.004768],[0.058921,-0.021280,0.998036]] 2025-10-27T04:51:33.662Z,1761540693.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:34.060Z,1761540694.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903637,-0.424072,-0.060023],[0.424311,0.905468,-0.009334],[0.058308,-0.017034,0.998153]] 2025-10-27T04:51:34.080Z,1761540694.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:34.449Z,1761540694.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896781,-0.438709,-0.057596],[0.438689,0.898535,-0.013666],[0.057748,-0.013011,0.998246]] 2025-10-27T04:51:34.470Z,1761540694.470 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V 2025-10-27T04:51:34.487Z,1761540694.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:34.858Z,1761540694.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889565,-0.453458,-0.055234],[0.453202,0.891230,-0.017794],[0.057295,-0.009204,0.998315]] 2025-10-27T04:51:34.900Z,1761540694.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:35.258Z,1761540695.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882199,-0.467881,-0.053027],[0.467421,0.883773,-0.021536],[0.056940,-0.005787,0.998361]] 2025-10-27T04:51:35.316Z,1761540695.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:35.755Z,1761540695.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874387,-0.482562,-0.050816],[0.481934,0.875857,-0.024768],[0.056460,-0.002833,0.998401]] 2025-10-27T04:51:35.783Z,1761540695.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:36.248Z,1761540696.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:36.612Z,1761540696.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857393,-0.512534,-0.046757],[0.511631,0.858664,-0.030496],[0.055779,0.002224,0.998441]] 2025-10-27T04:51:36.631Z,1761540696.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:37.016Z,1761540697.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847895,-0.528352,-0.043798],[0.527228,0.849000,-0.035071],[0.055714,0.006645,0.998425]] 2025-10-27T04:51:37.048Z,1761540697.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:37.426Z,1761540697.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838039,-0.544061,-0.041089],[0.542746,0.838978,-0.039272],[0.055839,0.010610,0.998383]] 2025-10-27T04:51:37.463Z,1761540697.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:37.822Z,1761540697.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827503,-0.560128,-0.038670],[0.558630,0.828283,-0.043344],[0.056308,0.014265,0.998312]] 2025-10-27T04:51:37.856Z,1761540697.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:38.244Z,1761540698.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816535,-0.576166,-0.036107],[0.574506,0.817139,-0.047186],[0.056692,0.017785,0.998233]] 2025-10-27T04:51:38.292Z,1761540698.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:38.632Z,1761540698.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805112,-0.592148,-0.034003],[0.590345,0.805565,-0.050583],[0.057344,0.020651,0.998141]] 2025-10-27T04:51:38.656Z,1761540698.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:39.050Z,1761540699.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793321,-0.607974,-0.031754],[0.606037,0.793608,-0.053897],[0.057968,0.023513,0.998042]] 2025-10-27T04:51:39.071Z,1761540699.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:39.439Z,1761540699.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780677,-0.624244,-0.029384],[0.622156,0.780775,-0.057551],[0.058868,0.026648,0.997910]] 2025-10-27T04:51:39.485Z,1761540699.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:39.842Z,1761540699.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767215,-0.640826,-0.026901],[0.638584,0.767105,-0.061324],[0.059934,0.029871,0.997755]] 2025-10-27T04:51:39.861Z,1761540699.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:40.270Z,1761540700.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753503,-0.656978,-0.024762],[0.654629,0.753225,-0.064132],[0.060785,0.032114,0.997634]] 2025-10-27T04:51:40.317Z,1761540700.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:40.649Z,1761540700.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739315,-0.672972,-0.022849],[0.670514,0.738883,-0.066801],[0.061838,0.034066,0.997505]] 2025-10-27T04:51:40.680Z,1761540700.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:41.061Z,1761540701.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724514,-0.688915,-0.021790],[0.686365,0.724005,-0.068698],[0.063103,0.034817,0.997399]] 2025-10-27T04:51:41.093Z,1761540701.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:41.569Z,1761540701.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695812,-0.717805,-0.024507],[0.715156,0.695588,-0.068624],[0.066306,0.030223,0.997342]] 2025-10-27T04:51:41.629Z,1761540701.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:41.999Z,1761540701.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:42.362Z,1761540702.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668116,-0.743461,-0.029780],[0.740721,0.668373,-0.067905],[0.070389,0.023310,0.997247]] 2025-10-27T04:51:42.406Z,1761540702.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:42.765Z,1761540702.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654971,-0.754857,-0.034684],[0.752089,0.655648,-0.066998],[0.073315,0.017796,0.997150]] 2025-10-27T04:51:42.784Z,1761540702.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:43.170Z,1761540703.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642541,-0.765198,-0.040171],[0.762428,0.643686,-0.066113],[0.076447,0.011853,0.997003]] 2025-10-27T04:51:43.189Z,1761540703.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:43.578Z,1761540703.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630199,-0.775129,-0.044992],[0.772307,0.631763,-0.066460],[0.079939,0.007135,0.996774]] 2025-10-27T04:51:43.614Z,1761540703.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:43.978Z,1761540703.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619151,-0.783614,-0.051002],[0.780835,0.621247,-0.065942],[0.083358,0.001004,0.996519]] 2025-10-27T04:51:44.012Z,1761540704.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:44.439Z,1761540704.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:44.788Z,1761540704.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600914,-0.796589,-0.065940],[0.794201,0.604351,-0.063276],[0.090256,-0.014346,0.995815]] 2025-10-27T04:51:44.811Z,1761540704.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:45.191Z,1761540705.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594011,-0.801031,-0.074162],[0.798993,0.598190,-0.061468],[0.093601,-0.022742,0.995350]] 2025-10-27T04:51:45.209Z,1761540705.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:45.594Z,1761540705.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588576,-0.804265,-0.082067],[0.802621,0.593480,-0.059842],[0.096834,-0.030647,0.994829]] 2025-10-27T04:51:45.643Z,1761540705.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:45.998Z,1761540705.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584492,-0.806310,-0.090733],[0.805202,0.590185,-0.057726],[0.100094,-0.039318,0.994201]] 2025-10-27T04:51:46.017Z,1761540706.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:46.469Z,1761540706.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:46.805Z,1761540706.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579600,-0.807462,-0.109859],[0.807926,0.586994,-0.051904],[0.106397,-0.058674,0.992591]] 2025-10-27T04:51:46.830Z,1761540706.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:47.209Z,1761540707.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578385,-0.806965,-0.119488],[0.808342,0.586655,-0.049186],[0.109790,-0.068139,0.991617]] 2025-10-27T04:51:47.244Z,1761540707.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:47.614Z,1761540707.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577505,-0.805797,-0.131069],[0.808446,0.586808,-0.045523],[0.113595,-0.079672,0.990328]] 2025-10-27T04:51:47.665Z,1761540707.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:48.035Z,1761540708.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577008,-0.804278,-0.142123],[0.808262,0.587313,-0.042143],[0.117366,-0.090556,0.988951]] 2025-10-27T04:51:48.074Z,1761540708.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:48.423Z,1761540708.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576339,-0.802831,-0.152631],[0.808132,0.587670,-0.039582],[0.121474,-0.100533,0.987490]] 2025-10-27T04:51:48.468Z,1761540708.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:48.825Z,1761540708.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575656,-0.801450,-0.162166],[0.807934,0.588036,-0.038164],[0.125946,-0.109050,0.986025]] 2025-10-27T04:51:48.856Z,1761540708.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:49.230Z,1761540709.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574245,-0.800954,-0.169454],[0.808197,0.587636,-0.038748],[0.130613,-0.114701,0.984776]] 2025-10-27T04:51:49.248Z,1761540709.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:49.637Z,1761540709.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572456,-0.800868,-0.175800],[0.808690,0.586863,-0.040160],[0.135333,-0.119178,0.983606]] 2025-10-27T04:51:49.689Z,1761540709.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:50.050Z,1761540710.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570486,-0.801275,-0.180290],[0.809285,0.585846,-0.042920],[0.140013,-0.121421,0.982677]] 2025-10-27T04:51:50.069Z,1761540710.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:50.442Z,1761540710.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568076,-0.802233,-0.183611],[0.810146,0.584366,-0.046691],[0.144753,-0.122227,0.981889]] 2025-10-27T04:51:50.488Z,1761540710.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:50.846Z,1761540710.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565654,-0.803301,-0.186395],[0.811007,0.582838,-0.050673],[0.149343,-0.122504,0.981167]] 2025-10-27T04:51:50.864Z,1761540710.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:51.251Z,1761540711.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563255,-0.804445,-0.188709],[0.811859,0.581283,-0.054722],[0.153714,-0.122383,0.980507]] 2025-10-27T04:51:51.269Z,1761540711.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:51.654Z,1761540711.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560209,-0.806066,-0.190849],[0.813047,0.579149,-0.059501],[0.158492,-0.121836,0.979814]] 2025-10-27T04:51:51.725Z,1761540711.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:52.059Z,1761540712.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557498,-0.807418,-0.193061],[0.814013,0.577324,-0.063873],[0.163031,-0.121545,0.979106]] 2025-10-27T04:51:52.090Z,1761540712.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:52.462Z,1761540712.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555064,-0.808544,-0.195348],[0.814816,0.575744,-0.067773],[0.167268,-0.121554,0.978390]] 2025-10-27T04:51:52.534Z,1761540712.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:52.869Z,1761540712.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552560,-0.809512,-0.198411],[0.815661,0.574157,-0.070992],[0.171388,-0.122609,0.977545]] 2025-10-27T04:51:52.887Z,1761540712.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:53.270Z,1761540713.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550062,-0.810284,-0.202168],[0.816510,0.572631,-0.073515],[0.175336,-0.124634,0.976588]] 2025-10-27T04:51:53.295Z,1761540713.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:53.674Z,1761540713.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547652,-0.811183,-0.205085],[0.817324,0.571099,-0.076341],[0.179051,-0.125813,0.975762]] 2025-10-27T04:51:53.732Z,1761540713.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:54.078Z,1761540714.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546152,-0.811057,-0.209534],[0.817553,0.570592,-0.077671],[0.182554,-0.128884,0.974712]] 2025-10-27T04:51:54.096Z,1761540714.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:54.489Z,1761540714.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545092,-0.810878,-0.212958],[0.817489,0.570426,-0.079540],[0.185974,-0.130734,0.973818]] 2025-10-27T04:51:54.571Z,1761540714.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:54.883Z,1761540714.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544308,-0.810391,-0.216785],[0.817257,0.570564,-0.080913],[0.189262,-0.133128,0.972860]] 2025-10-27T04:51:54.914Z,1761540714.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:55.378Z,1761540715.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:55.800Z,1761540715.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:56.151Z,1761540716.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543441,-0.808126,-0.227164],[0.815814,0.572196,-0.083904],[0.197787,-0.139727,0.970235]] 2025-10-27T04:51:56.169Z,1761540716.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:56.566Z,1761540716.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543073,-0.807316,-0.230894],[0.815466,0.572644,-0.084225],[0.200216,-0.142546,0.969327]] 2025-10-27T04:51:56.602Z,1761540716.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:56.954Z,1761540716.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542858,-0.806865,-0.232968],[0.815114,0.573004,-0.085183],[0.202223,-0.143653,0.968746]] 2025-10-27T04:51:56.988Z,1761540716.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:57.357Z,1761540717.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542859,-0.806238,-0.235129],[0.814650,0.573562,-0.085859],[0.204083,-0.144938,0.968165]] 2025-10-27T04:51:57.376Z,1761540717.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:57.826Z,1761540717.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:58.165Z,1761540718.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544463,-0.804325,-0.237955],[0.812707,0.576051,-0.087595],[0.207529,-0.145695,0.967318]] 2025-10-27T04:51:58.191Z,1761540718.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:58.559Z,1761540718.559 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:51:58.570Z,1761540718.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546091,-0.802494,-0.240390],[0.811255,0.578161,-0.087157],[0.208927,-0.147422,0.966755]] 2025-10-27T04:51:58.629Z,1761540718.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:58.973Z,1761540718.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547635,-0.800779,-0.242587],[0.809772,0.580219,-0.087259],[0.210629,-0.148654,0.966197]] 2025-10-27T04:51:58.992Z,1761540718.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:59.379Z,1761540719.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549487,-0.799196,-0.243617],[0.808119,0.582421,-0.087915],[0.212149,-0.148564,0.965879]] 2025-10-27T04:51:59.397Z,1761540719.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:51:59.563Z,1761540719.563 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:51:59.786Z,1761540719.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550817,-0.797861,-0.244987],[0.806752,0.584194,-0.088711],[0.213899,-0.148780,0.965459]] 2025-10-27T04:51:59.831Z,1761540719.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:00.185Z,1761540720.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552198,-0.796863,-0.245125],[0.805359,0.585867,-0.090314],[0.215579,-0.147543,0.965276]] 2025-10-27T04:52:00.219Z,1761540720.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:00.590Z,1761540720.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553391,-0.795326,-0.247416],[0.804168,0.587547,-0.090015],[0.216960,-0.149150,0.964719]] 2025-10-27T04:52:00.654Z,1761540720.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:00.999Z,1761540720.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554620,-0.793377,-0.250898],[0.802914,0.589420,-0.088961],[0.218464,-0.152110,0.963917]] 2025-10-27T04:52:01.032Z,1761540721.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:01.398Z,1761540721.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555634,-0.792085,-0.252730],[0.801756,0.590932,-0.089366],[0.220131,-0.152973,0.963401]] 2025-10-27T04:52:01.422Z,1761540721.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:01.856Z,1761540721.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:02.205Z,1761540722.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557231,-0.789333,-0.257773],[0.799909,0.593572,-0.088417],[0.222798,-0.156926,0.962151]] 2025-10-27T04:52:02.227Z,1761540722.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:02.617Z,1761540722.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557543,-0.788679,-0.259097],[0.799334,0.594276,-0.088884],[0.224076,-0.157548,0.961753]] 2025-10-27T04:52:02.673Z,1761540722.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:03.060Z,1761540723.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:03.417Z,1761540723.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556932,-0.788754,-0.260182],[0.799182,0.594209,-0.090682],[0.226128,-0.157429,0.961292]] 2025-10-27T04:52:03.452Z,1761540723.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:03.877Z,1761540723.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:04.229Z,1761540724.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554996,-0.789532,-0.261951],[0.799942,0.592936,-0.092299],[0.228194,-0.158320,0.960657]] 2025-10-27T04:52:04.246Z,1761540724.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:04.648Z,1761540724.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553929,-0.790111,-0.262463],[0.800340,0.592194,-0.093605],[0.229387,-0.158209,0.960391]] 2025-10-27T04:52:04.701Z,1761540724.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:05.164Z,1761540725.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551659,-0.791742,-0.262331],[0.801174,0.590469,-0.097296],[0.231932,-0.156499,0.960060]] 2025-10-27T04:52:05.182Z,1761540725.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:05.590Z,1761540725.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550360,-0.792652,-0.262310],[0.801799,0.589382,-0.098727],[0.232857,-0.155985,0.959920]] 2025-10-27T04:52:05.671Z,1761540725.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:06.136Z,1761540726.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549086,-0.794267,-0.260087],[0.802658,0.587872,-0.100732],[0.232906,-0.153451,0.960316]] 2025-10-27T04:52:06.170Z,1761540726.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:06.584Z,1761540726.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547385,-0.795947,-0.258531],[0.803869,0.585984,-0.102063],[0.232732,-0.151958,0.960596]] 2025-10-27T04:52:06.678Z,1761540726.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:06.994Z,1761540726.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546046,-0.797571,-0.256347],[0.804921,0.584307,-0.103386],[0.232243,-0.149886,0.961040]] 2025-10-27T04:52:07.060Z,1761540727.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:07.394Z,1761540727.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544746,-0.798994,-0.254678],[0.806015,0.582685,-0.104006],[0.231497,-0.148618,0.961416]] 2025-10-27T04:52:07.421Z,1761540727.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:07.797Z,1761540727.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543440,-0.800181,-0.253741],[0.807126,0.581143,-0.104025],[0.230698,-0.148270,0.961662]] 2025-10-27T04:52:07.840Z,1761540727.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:08.279Z,1761540728.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542203,-0.801665,-0.251693],[0.808177,0.579530,-0.104862],[0.229928,-0.146556,0.962109]] 2025-10-27T04:52:08.305Z,1761540728.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:08.709Z,1761540728.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540960,-0.802983,-0.250161],[0.809316,0.577922,-0.104945],[0.228843,-0.145688,0.962500]] 2025-10-27T04:52:08.777Z,1761540728.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:09.236Z,1761540729.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539277,-0.805060,-0.247100],[0.811415,0.575258,-0.103361],[0.225358,-0.144760,0.963462]] 2025-10-27T04:52:09.254Z,1761540729.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:09.788Z,1761540729.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:10.054Z,1761540730.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538634,-0.806366,-0.244227],[0.813285,0.573330,-0.099295],[0.220091,-0.145143,0.964621]] 2025-10-27T04:52:10.079Z,1761540730.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:10.464Z,1761540730.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538716,-0.806608,-0.243247],[0.813995,0.572783,-0.096604],[0.217250,-0.145960,0.965142]] 2025-10-27T04:52:10.490Z,1761540730.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:10.868Z,1761540730.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539198,-0.806436,-0.242750],[0.814485,0.572645,-0.093236],[0.214198,-0.147444,0.965598]] 2025-10-27T04:52:10.916Z,1761540730.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:11.291Z,1761540731.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540085,-0.806394,-0.240907],[0.814737,0.572720,-0.090535],[0.210980,-0.147379,0.966316]] 2025-10-27T04:52:11.337Z,1761540731.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:11.738Z,1761540731.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540915,-0.806386,-0.239067],[0.814984,0.572766,-0.087979],[0.207875,-0.147247,0.967009]] 2025-10-27T04:52:11.780Z,1761540731.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:12.106Z,1761540732.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541737,-0.806382,-0.237212],[0.815151,0.572862,-0.085780],[0.205061,-0.146894,0.967663]] 2025-10-27T04:52:12.124Z,1761540732.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:12.524Z,1761540732.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542305,-0.806102,-0.236863],[0.815393,0.572933,-0.082962],[0.202583,-0.148145,0.967994]] 2025-10-27T04:52:12.542Z,1761540732.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:12.921Z,1761540732.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542979,-0.806038,-0.235532],[0.815474,0.573068,-0.081217],[0.200440,-0.147971,0.968467]] 2025-10-27T04:52:12.969Z,1761540732.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:13.315Z,1761540733.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543553,-0.805900,-0.234682],[0.815612,0.573158,-0.079168],[0.198312,-0.148378,0.968843]] 2025-10-27T04:52:13.333Z,1761540733.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:13.764Z,1761540733.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544310,-0.805963,-0.232702],[0.815671,0.573283,-0.077640],[0.195979,-0.147548,0.969444]] 2025-10-27T04:52:13.808Z,1761540733.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:14.122Z,1761540734.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545592,-0.806173,-0.228943],[0.815413,0.573728,-0.077055],[0.193471,-0.144643,0.970385]] 2025-10-27T04:52:14.141Z,1761540734.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:14.579Z,1761540734.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:14.982Z,1761540734.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:15.333Z,1761540735.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552025,-0.803665,-0.222243],[0.812825,0.578099,-0.071537],[0.185970,-0.141154,0.972363]] 2025-10-27T04:52:15.351Z,1761540735.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:15.790Z,1761540735.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554087,-0.802075,-0.222851],[0.811946,0.579771,-0.067895],[0.183659,-0.143323,0.972485]] 2025-10-27T04:52:15.842Z,1761540735.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:16.143Z,1761540736.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556116,-0.800498,-0.223468],[0.811068,0.581408,-0.064298],[0.181396,-0.145490,0.972588]] 2025-10-27T04:52:16.161Z,1761540736.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:16.542Z,1761540736.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557815,-0.799197,-0.223891],[0.810388,0.582711,-0.060987],[0.179204,-0.147419,0.972704]] 2025-10-27T04:52:16.570Z,1761540736.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:16.946Z,1761540736.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559462,-0.797790,-0.224795],[0.809750,0.583977,-0.057238],[0.176939,-0.150005,0.972724]] 2025-10-27T04:52:17.003Z,1761540737.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:17.396Z,1761540737.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:17.817Z,1761540737.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561797,-0.796101,-0.224960],[0.808919,0.585597,-0.052214],[0.173303,-0.152641,0.972968]] 2025-10-27T04:52:17.854Z,1761540737.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:18.157Z,1761540738.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562550,-0.796165,-0.222843],[0.808692,0.585936,-0.051926],[0.171914,-0.151001,0.973470]] 2025-10-27T04:52:18.191Z,1761540738.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:18.609Z,1761540738.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:18.967Z,1761540738.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563211,-0.796062,-0.221539],[0.808751,0.586041,-0.049778],[0.169458,-0.151134,0.973880]] 2025-10-27T04:52:19.044Z,1761540739.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:19.369Z,1761540739.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563270,-0.796668,-0.219198],[0.808897,0.585786,-0.050407],[0.168561,-0.148915,0.974378]] 2025-10-27T04:52:19.400Z,1761540739.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:19.862Z,1761540739.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563195,-0.797362,-0.216851],[0.809134,0.585400,-0.051072],[0.167668,-0.146698,0.974868]] 2025-10-27T04:52:19.894Z,1761540739.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:52:19.896Z,1761540739.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:20.028Z,1761540740.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:52:20.028Z,1761540740.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:52:20.229Z,1761540740.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563251,-0.797487,-0.216246],[0.809294,0.585242,-0.050345],[0.166706,-0.146650,0.975040]] 2025-10-27T04:52:20.247Z,1761540740.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:20.280Z,1761540740.280 [DAT](INFO): DAT read: user:208> 2025-10-27T04:52:20.282Z,1761540740.282 [DAT](INFO): DAT read: Tx time:04:52:19.3290 2025-10-27T04:52:20.282Z,1761540740.282 [DAT](INFO): Ping request sent. 2025-10-27T04:52:20.282Z,1761540740.282 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:52:20.282Z,1761540740.282 [DAT](INFO): publishing transmit ping time 2025-10-27T04:52:20.284Z,1761540740.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001208 2025-10-27T04:52:20.532Z,1761540740.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249623 2025-10-27T04:52:20.631Z,1761540740.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563051,-0.797336,-0.217321],[0.809471,0.585080,-0.049382],[0.166524,-0.148110,0.974850]] 2025-10-27T04:52:20.650Z,1761540740.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:20.786Z,1761540740.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503628 2025-10-27T04:52:21.034Z,1761540741.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562496,-0.797999,-0.216321],[0.809931,0.584407,-0.049804],[0.166163,-0.147190,0.975051]] 2025-10-27T04:52:21.036Z,1761540741.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753656 2025-10-27T04:52:21.084Z,1761540741.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:21.089Z,1761540741.089 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.960000m. At depth:68.617615m. 2025-10-27T04:52:21.091Z,1761540741.091 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.960000m. At depth:68.617615m. 2025-10-27T04:52:21.288Z,1761540741.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005604 2025-10-27T04:52:21.438Z,1761540741.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561843,-0.798624,-0.215713],[0.810552,0.583579,-0.049407],[0.165343,-0.147088,0.975206]] 2025-10-27T04:52:21.456Z,1761540741.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:21.541Z,1761540741.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258285 2025-10-27T04:52:21.792Z,1761540741.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509873 2025-10-27T04:52:21.929Z,1761540741.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:22.045Z,1761540742.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762311 2025-10-27T04:52:22.251Z,1761540742.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560274,-0.800252,-0.213749],[0.811999,0.581595,-0.049033],[0.163554,-0.146092,0.975657]] 2025-10-27T04:52:22.279Z,1761540742.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:22.298Z,1761540742.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015508 2025-10-27T04:52:22.548Z,1761540742.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265507 2025-10-27T04:52:22.772Z,1761540742.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558116,-0.801888,-0.213264],[0.813945,0.579031,-0.047089],[0.161247,-0.147304,0.975859]] 2025-10-27T04:52:22.800Z,1761540742.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517701 2025-10-27T04:52:22.825Z,1761540742.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:23.052Z,1761540743.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769564 2025-10-27T04:52:23.294Z,1761540743.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556667,-0.803372,-0.211458],[0.815242,0.577222,-0.046847],[0.159694,-0.146311,0.976264]] 2025-10-27T04:52:23.304Z,1761540743.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021883 2025-10-27T04:52:23.369Z,1761540743.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:23.556Z,1761540743.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273623 2025-10-27T04:52:23.746Z,1761540743.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:23.809Z,1761540743.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526440 2025-10-27T04:52:24.061Z,1761540744.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778827 2025-10-27T04:52:24.117Z,1761540744.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554912,-0.807613,-0.199584],[0.818723,0.572713,-0.041142],[0.147531,-0.140574,0.979017]] 2025-10-27T04:52:24.173Z,1761540744.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:24.313Z,1761540744.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030573 2025-10-27T04:52:24.539Z,1761540744.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555966,-0.809836,-0.187262],[0.820348,0.570892,-0.033344],[0.133910,-0.135082,0.981744]] 2025-10-27T04:52:24.558Z,1761540744.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:24.564Z,1761540744.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281682 2025-10-27T04:52:24.816Z,1761540744.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533914 2025-10-27T04:52:25.049Z,1761540745.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557074,-0.812647,-0.171096],[0.822421,0.568446,-0.022192],[0.115293,-0.128350,0.985004]] 2025-10-27T04:52:25.068Z,1761540745.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785698 2025-10-27T04:52:25.108Z,1761540745.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:25.321Z,1761540745.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038170 2025-10-27T04:52:25.572Z,1761540745.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289612 2025-10-27T04:52:25.601Z,1761540745.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560756,-0.816463,-0.137629],[0.825362,0.564417,0.014544],[0.065805,-0.121749,0.990377]] 2025-10-27T04:52:25.633Z,1761540745.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:25.824Z,1761540745.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541648 2025-10-27T04:52:26.077Z,1761540746.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794644 2025-10-27T04:52:26.120Z,1761540746.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563856,-0.816747,-0.122433],[0.825071,0.563617,0.039925],[0.036397,-0.123527,0.991673]] 2025-10-27T04:52:26.165Z,1761540746.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:26.328Z,1761540746.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045597 2025-10-27T04:52:26.524Z,1761540746.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567196,-0.816474,-0.107978],[0.823565,0.563165,0.067722],[0.005516,-0.127339,0.991844]] 2025-10-27T04:52:26.542Z,1761540746.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:26.580Z,1761540746.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297676 2025-10-27T04:52:26.675Z,1761540746.675 [MassServo](FAULT): Overload Error 2025-10-27T04:52:26.675Z,1761540746.675 [MassServo] Hardware Fault, FailCount= 1 2025-10-27T04:52:26.675Z,1761540746.675 [MassServo](ERROR): Hardware Fault 2025-10-27T04:52:26.832Z,1761540746.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549651 2025-10-27T04:52:26.986Z,1761540746.986 [CBIT](ERROR): Hardware Fault in component: MassServo 2025-10-27T04:52:27.014Z,1761540747.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570849,-0.815946,-0.091453],[0.820630,0.563420,0.095516],[-0.026410,-0.129574,0.991218]] 2025-10-27T04:52:27.084Z,1761540747.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801458 2025-10-27T04:52:27.090Z,1761540747.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:27.181Z,1761540747.181 [MassServo](DEBUG): Uninitialize Mass Servo. 2025-10-27T04:52:27.181Z,1761540747.181 [MassServo](INFO): Powering down 2025-10-27T04:52:27.336Z,1761540747.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053577 2025-10-27T04:52:27.408Z,1761540747.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574658,-0.815034,-0.074085],[0.816287,0.564332,0.123309],[-0.058692,-0.131335,0.989599]] 2025-10-27T04:52:27.426Z,1761540747.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:27.588Z,1761540747.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305492 2025-10-27T04:52:27.840Z,1761540747.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557529 2025-10-27T04:52:27.905Z,1761540747.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578079,-0.814143,-0.054738],[0.810916,0.565734,0.149533],[-0.090774,-0.130830,0.987240]] 2025-10-27T04:52:27.969Z,1761540747.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:28.088Z,1761540748.088 [MassServo](DEBUG): Initializing EZServoServo. 2025-10-27T04:52:28.092Z,1761540748.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809680 2025-10-27T04:52:28.208Z,1761540748.208 [MassServo](DEBUG): Initializing MassServo. 2025-10-27T04:52:28.344Z,1761540748.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061524 2025-10-27T04:52:28.362Z,1761540748.362 [CBIT](INFO): Clearing failed state for component MassServo 2025-10-27T04:52:28.362Z,1761540748.362 [MassServo] No Fault, FailCount= 1 2025-10-27T04:52:28.399Z,1761540748.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582637,-0.812611,-0.014064],[0.798097,0.568790,0.198797],[-0.153545,-0.127051,0.979940]] 2025-10-27T04:52:28.455Z,1761540748.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:28.596Z,1761540748.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313555 2025-10-27T04:52:28.848Z,1761540748.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565693 2025-10-27T04:52:28.985Z,1761540748.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583997,-0.811723,0.007286],[0.791014,0.571068,0.219495],[-0.182330,-0.122421,0.975586]] 2025-10-27T04:52:29.041Z,1761540749.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:29.049Z,1761540749.049 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](ERROR): Faild to read a valid mass position measurement. 2025-10-27T04:52:29.100Z,1761540749.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818110 2025-10-27T04:52:29.328Z,1761540749.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584752,-0.810735,0.027827],[0.783712,0.573452,0.238637],[-0.209429,-0.117735,0.970710]] 2025-10-27T04:52:29.347Z,1761540749.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:29.352Z,1761540749.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069687 2025-10-27T04:52:29.604Z,1761540749.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321635 2025-10-27T04:52:29.684Z,1761540749.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:52:29.823Z,1761540749.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585400,-0.809441,0.045953],[0.776250,0.575949,0.256356],[-0.233972,-0.114400,0.965489]] 2025-10-27T04:52:29.856Z,1761540749.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573653 2025-10-27T04:52:29.871Z,1761540749.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:30.109Z,1761540750.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826307 2025-10-27T04:52:30.363Z,1761540750.363 [DAT](INFO): Reached modem response timeout 2025-10-27T04:52:30.387Z,1761540750.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:30.689Z,1761540750.689 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:52:30.797Z,1761540750.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583084,-0.807028,0.093379],[0.757452,0.581593,0.296675],[-0.293733,-0.102256,0.950402]] 2025-10-27T04:52:30.815Z,1761540750.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:31.200Z,1761540751.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580495,-0.807528,0.104519],[0.753067,0.581247,0.308289],[-0.309703,-0.100250,0.945534]] 2025-10-27T04:52:31.237Z,1761540751.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:31.239Z,1761540751.239 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](ERROR): Faild to read a valid mass position measurement. 2025-10-27T04:52:31.602Z,1761540751.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577878,-0.807873,0.115750],[0.748936,0.581297,0.318102],[-0.324271,-0.097135,0.940964]] 2025-10-27T04:52:31.629Z,1761540751.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:32.022Z,1761540752.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574226,-0.809144,0.124698],[0.745896,0.579849,0.327740],[-0.337496,-0.095185,0.936502]] 2025-10-27T04:52:32.064Z,1761540752.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:32.505Z,1761540752.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569744,-0.810936,0.133324],[0.743568,0.577754,0.336612],[-0.349999,-0.092647,0.932157]] 2025-10-27T04:52:32.524Z,1761540752.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:32.633Z,1761540752.633 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:52:32.633Z,1761540752.633 [DAT](INFO): response not received 2025-10-27T04:52:32.634Z,1761540752.634 [DAT](ERROR): No response from remote modem. 2025-10-27T04:52:32.882Z,1761540752.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564870,-0.812947,0.141562],[0.741460,0.575327,0.345306],[-0.362160,-0.090090,0.927752]] 2025-10-27T04:52:32.905Z,1761540752.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:33.380Z,1761540753.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560103,-0.814787,0.149689],[0.739694,0.573241,0.352489],[-0.373011,-0.086706,0.923767]] 2025-10-27T04:52:33.426Z,1761540753.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:33.864Z,1761540753.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554360,-0.817230,0.157545],[0.739404,0.570490,0.357522],[-0.382056,-0.081707,0.920520]] 2025-10-27T04:52:33.882Z,1761540753.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:34.267Z,1761540754.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548850,-0.819623,0.164265],[0.739363,0.567669,0.362069],[-0.390008,-0.077271,0.917563]] 2025-10-27T04:52:34.305Z,1761540754.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:34.669Z,1761540754.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543860,-0.821893,0.169437],[0.739838,0.564896,0.365419],[-0.396050,-0.073381,0.915292]] 2025-10-27T04:52:34.704Z,1761540754.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:35.086Z,1761540755.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539192,-0.824510,0.171624],[0.741766,0.561439,0.366836],[-0.398817,-0.070490,0.914317]] 2025-10-27T04:52:35.132Z,1761540755.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:35.510Z,1761540755.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535557,-0.827259,0.169766],[0.744936,0.557467,0.366470],[-0.397804,-0.069801,0.914811]] 2025-10-27T04:52:35.535Z,1761540755.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:36.077Z,1761540756.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531389,-0.832925,0.154471],[0.754649,0.548288,0.360395],[-0.384876,-0.074938,0.919921]] 2025-10-27T04:52:36.125Z,1761540756.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:36.638Z,1761540756.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:37.011Z,1761540757.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529289,-0.838417,0.130039],[0.767231,0.538407,0.348533],[-0.362230,-0.084704,0.928232]] 2025-10-27T04:52:37.033Z,1761540757.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:37.416Z,1761540757.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529088,-0.840866,0.114066],[0.773566,0.533200,0.342481],[-0.348800,-0.092964,0.932575]] 2025-10-27T04:52:37.464Z,1761540757.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:37.818Z,1761540757.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528759,-0.843225,0.096882],[0.779794,0.527686,0.336850],[-0.335164,-0.102564,0.936561]] 2025-10-27T04:52:37.836Z,1761540757.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:38.224Z,1761540758.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529194,-0.844720,0.080014],[0.785276,0.523299,0.330908],[-0.321395,-0.112282,0.940265]] 2025-10-27T04:52:38.280Z,1761540758.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:38.630Z,1761540758.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529344,-0.845828,0.066107],[0.790588,0.520042,0.323306],[-0.307840,-0.118877,0.943983]] 2025-10-27T04:52:38.648Z,1761540758.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:39.072Z,1761540759.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:39.445Z,1761540759.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529327,-0.847334,0.042864],[0.800773,0.515656,0.304731],[-0.280312,-0.126978,0.951473]] 2025-10-27T04:52:39.528Z,1761540759.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:39.883Z,1761540759.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529277,-0.847817,0.032741],[0.805336,0.514153,0.295094],[-0.267020,-0.129819,0.954907]] 2025-10-27T04:52:39.913Z,1761540759.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:40.286Z,1761540760.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528587,-0.848519,0.024747],[0.809926,0.512846,0.284622],[-0.254198,-0.130404,0.958320]] 2025-10-27T04:52:40.340Z,1761540760.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:40.693Z,1761540760.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527844,-0.849211,0.014890],[0.814145,0.510887,0.275975],[-0.241968,-0.133549,0.961049]] 2025-10-27T04:52:40.722Z,1761540760.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:41.120Z,1761540761.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526905,-0.849911,0.004735],[0.818230,0.508756,0.267706],[-0.229935,-0.137182,0.963489]] 2025-10-27T04:52:41.202Z,1761540761.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:41.536Z,1761540761.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525800,-0.850597,-0.004413],[0.822126,0.506856,0.259240],[-0.218272,-0.139936,0.965803]] 2025-10-27T04:52:41.637Z,1761540761.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:42.022Z,1761540762.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523297,-0.851943,-0.018771],[0.829410,0.504154,0.240642],[-0.195549,-0.141496,0.970432]] 2025-10-27T04:52:42.049Z,1761540762.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:42.390Z,1761540762.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522851,-0.851946,-0.028553],[0.832032,0.502774,0.234395],[-0.185336,-0.146311,0.971722]] 2025-10-27T04:52:42.435Z,1761540762.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:42.792Z,1761540762.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522557,-0.851758,-0.037977],[0.834388,0.501727,0.228181],[-0.175301,-0.150925,0.972878]] 2025-10-27T04:52:42.814Z,1761540762.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:43.262Z,1761540763.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:43.593Z,1761540763.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523045,-0.850518,-0.055166],[0.837575,0.500946,0.217994],[-0.157773,-0.160226,0.974390]] 2025-10-27T04:52:43.619Z,1761540763.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:44.044Z,1761540764.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:44.402Z,1761540764.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523948,-0.848794,-0.070909],[0.839901,0.501027,0.208656],[-0.141578,-0.168882,0.975415]] 2025-10-27T04:52:44.452Z,1761540764.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:44.830Z,1761540764.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523964,-0.848257,-0.076957],[0.841172,0.501156,0.203156],[-0.133761,-0.171181,0.976117]] 2025-10-27T04:52:44.872Z,1761540764.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:45.233Z,1761540765.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523967,-0.847838,-0.081419],[0.842279,0.501567,0.197476],[-0.126590,-0.172048,0.976921]] 2025-10-27T04:52:45.289Z,1761540765.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:45.638Z,1761540765.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524307,-0.847202,-0.085735],[0.843023,0.502236,0.192536],[-0.120058,-0.173224,0.977537]] 2025-10-27T04:52:45.656Z,1761540765.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:46.038Z,1761540766.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524516,-0.846668,-0.089644],[0.843766,0.502855,0.187607],[-0.113763,-0.174042,0.978145]] 2025-10-27T04:52:46.073Z,1761540766.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:46.441Z,1761540766.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524268,-0.846547,-0.092203],[0.844680,0.503248,0.182366],[-0.107981,-0.173491,0.978898]] 2025-10-27T04:52:46.520Z,1761540766.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:46.859Z,1761540766.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524369,-0.846376,-0.093191],[0.845277,0.504217,0.176841],[-0.102686,-0.171502,0.979818]] 2025-10-27T04:52:46.893Z,1761540766.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:47.268Z,1761540767.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524679,-0.845885,-0.095862],[0.845651,0.504932,0.172971],[-0.097910,-0.171820,0.980251]] 2025-10-27T04:52:47.317Z,1761540767.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:47.669Z,1761540767.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525232,-0.845090,-0.099769],[0.845792,0.505542,0.170480],[-0.093634,-0.173925,0.980297]] 2025-10-27T04:52:47.687Z,1761540767.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:48.069Z,1761540768.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525992,-0.844145,-0.103694],[0.845721,0.506247,0.168729],[-0.089937,-0.176446,0.980193]] 2025-10-27T04:52:48.100Z,1761540768.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:48.486Z,1761540768.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526716,-0.843138,-0.108115],[0.845641,0.506810,0.167438],[-0.086380,-0.179619,0.979936]] 2025-10-27T04:52:48.534Z,1761540768.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:48.878Z,1761540768.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527619,-0.842149,-0.111366],[0.845387,0.507689,0.166051],[-0.083301,-0.181759,0.979808]] 2025-10-27T04:52:48.896Z,1761540768.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:49.294Z,1761540769.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528109,-0.841655,-0.112773],[0.845352,0.508483,0.163780],[-0.080503,-0.181827,0.980030]] 2025-10-27T04:52:49.345Z,1761540769.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:49.689Z,1761540769.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528496,-0.841255,-0.113941],[0.845328,0.509130,0.161886],[-0.078176,-0.181874,0.980209]] 2025-10-27T04:52:49.716Z,1761540769.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:50.089Z,1761540770.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529079,-0.840892,-0.113911],[0.845138,0.510102,0.159803],[-0.076270,-0.180819,0.980555]] 2025-10-27T04:52:50.120Z,1761540770.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:50.591Z,1761540770.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529451,-0.840773,-0.113058],[0.845032,0.510924,0.157724],[-0.074846,-0.179045,0.980990]] 2025-10-27T04:52:50.647Z,1761540770.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:51.135Z,1761540771.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529364,-0.841137,-0.110738],[0.845201,0.511544,0.154787],[-0.073549,-0.175535,0.981722]] 2025-10-27T04:52:51.230Z,1761540771.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:51.794Z,1761540771.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528380,-0.842368,-0.105974],[0.846012,0.511922,0.148993],[-0.071256,-0.168380,0.983143]] 2025-10-27T04:52:51.831Z,1761540771.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:52.190Z,1761540772.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527918,-0.842993,-0.103268],[0.846349,0.512064,0.146575],[-0.070682,-0.164780,0.983794]] 2025-10-27T04:52:52.225Z,1761540772.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:52.645Z,1761540772.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:53.001Z,1761540773.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526495,-0.844381,-0.099117],[0.847340,0.511642,0.142260],[-0.069409,-0.158884,0.984854]] 2025-10-27T04:52:53.028Z,1761540773.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:53.450Z,1761540773.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:53.808Z,1761540773.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524436,-0.846196,-0.094448],[0.848681,0.510566,0.138066],[-0.068609,-0.152563,0.985909]] 2025-10-27T04:52:53.828Z,1761540773.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:54.210Z,1761540774.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523463,-0.846965,-0.092936],[0.849305,0.509919,0.136616],[-0.068319,-0.150445,0.986255]] 2025-10-27T04:52:54.236Z,1761540774.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:54.651Z,1761540774.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522938,-0.847365,-0.092241],[0.849654,0.509578,0.135710],[-0.067992,-0.149341,0.986445]] 2025-10-27T04:52:54.696Z,1761540774.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:55.054Z,1761540775.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522007,-0.847988,-0.091783],[0.850245,0.508786,0.134983],[-0.067766,-0.148500,0.986588]] 2025-10-27T04:52:55.073Z,1761540775.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:55.497Z,1761540775.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521457,-0.848362,-0.091463],[0.850598,0.508335,0.134459],[-0.067576,-0.147913,0.986689]] 2025-10-27T04:52:55.541Z,1761540775.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:55.899Z,1761540775.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520487,-0.848988,-0.091172],[0.851234,0.507531,0.133463],[-0.067036,-0.147074,0.986851]] 2025-10-27T04:52:55.933Z,1761540775.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:56.380Z,1761540776.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:56.790Z,1761540776.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:57.132Z,1761540777.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520525,-0.848224,-0.097825],[0.851512,0.507216,0.132890],[-0.063102,-0.152472,0.986291]] 2025-10-27T04:52:57.166Z,1761540777.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:57.526Z,1761540777.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521236,-0.847285,-0.102085],[0.851179,0.507492,0.133965],[-0.061699,-0.156720,0.985714]] 2025-10-27T04:52:57.576Z,1761540777.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:57.930Z,1761540777.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522145,-0.846320,-0.105391],[0.850692,0.508029,0.135015],[-0.060724,-0.160153,0.985223]] 2025-10-27T04:52:57.949Z,1761540777.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:58.662Z,1761540778.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:59.156Z,1761540779.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:52:59.620Z,1761540779.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524419,-0.843346,-0.117270],[0.849608,0.509214,0.137355],[-0.056122,-0.171666,0.983555]] 2025-10-27T04:52:59.668Z,1761540779.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:00.022Z,1761540780.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524420,-0.842966,-0.119967],[0.849719,0.509122,0.137013],[-0.054420,-0.173790,0.983278]] 2025-10-27T04:53:00.040Z,1761540780.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:00.444Z,1761540780.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524044,-0.842867,-0.122286],[0.850100,0.508870,0.135579],[-0.052048,-0.175005,0.983191]] 2025-10-27T04:53:00.505Z,1761540780.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:00.811Z,1761540780.811 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:53:00.850Z,1761540780.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523663,-0.842742,-0.124755],[0.850493,0.508659,0.133890],[-0.049377,-0.176217,0.983112]] 2025-10-27T04:53:00.869Z,1761540780.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:01.288Z,1761540781.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:01.766Z,1761540781.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521733,-0.843386,-0.128433],[0.852039,0.507605,0.127932],[-0.042703,-0.176177,0.983432]] 2025-10-27T04:53:01.806Z,1761540781.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:01.816Z,1761540781.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:53:02.192Z,1761540782.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520589,-0.843603,-0.131606],[0.852931,0.506861,0.124899],[-0.038659,-0.177272,0.983402]] 2025-10-27T04:53:02.222Z,1761540782.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:02.728Z,1761540782.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519678,-0.843796,-0.133956],[0.853680,0.506573,0.120890],[-0.034148,-0.177179,0.983586]] 2025-10-27T04:53:02.782Z,1761540782.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:03.231Z,1761540783.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516971,-0.843983,-0.142948],[0.855714,0.505202,0.111917],[-0.022238,-0.180180,0.983382]] 2025-10-27T04:53:03.249Z,1761540783.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:03.631Z,1761540783.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515534,-0.843815,-0.148998],[0.856728,0.504435,0.107532],[-0.015577,-0.183087,0.982973]] 2025-10-27T04:53:03.678Z,1761540783.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:04.034Z,1761540784.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513969,-0.843702,-0.154929],[0.857768,0.503729,0.102427],[-0.008376,-0.185537,0.982602]] 2025-10-27T04:53:04.068Z,1761540784.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:04.541Z,1761540784.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:04.844Z,1761540784.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511313,-0.843047,-0.166826],[0.859369,0.503072,0.091676],[0.006638,-0.190240,0.981715]] 2025-10-27T04:53:04.872Z,1761540784.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:05.245Z,1761540785.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510330,-0.842541,-0.172303],[0.859857,0.503278,0.085775],[0.014447,-0.191930,0.981302]] 2025-10-27T04:53:05.269Z,1761540785.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:05.690Z,1761540785.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510055,-0.841475,-0.178225],[0.859857,0.504151,0.080482],[0.022128,-0.194298,0.980693]] 2025-10-27T04:53:05.765Z,1761540785.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:06.127Z,1761540786.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509841,-0.840127,-0.185066],[0.859738,0.505150,0.075323],[0.030206,-0.197511,0.979835]] 2025-10-27T04:53:06.153Z,1761540786.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:06.587Z,1761540786.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509804,-0.838623,-0.191863],[0.859421,0.506486,0.069764],[0.038670,-0.200457,0.978939]] 2025-10-27T04:53:06.639Z,1761540786.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:07.042Z,1761540787.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510151,-0.837042,-0.197755],[0.858771,0.508429,0.063344],[0.047523,-0.202141,0.978203]] 2025-10-27T04:53:07.060Z,1761540787.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:07.450Z,1761540787.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510161,-0.835486,-0.204202],[0.858201,0.510172,0.056702],[0.056804,-0.204173,0.977285]] 2025-10-27T04:53:07.481Z,1761540787.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:07.868Z,1761540787.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510749,-0.833487,-0.210794],[0.857199,0.512502,0.050523],[0.065922,-0.206497,0.976224]] 2025-10-27T04:53:07.924Z,1761540787.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:08.285Z,1761540788.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511164,-0.831725,-0.216667],[0.856198,0.514783,0.043848],[0.075067,-0.207924,0.975260]] 2025-10-27T04:53:08.303Z,1761540788.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:08.693Z,1761540788.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511488,-0.829955,-0.222608],[0.855148,0.517053,0.037138],[0.084277,-0.209358,0.974200]] 2025-10-27T04:53:08.765Z,1761540788.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:09.087Z,1761540789.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511792,-0.828459,-0.227430],[0.854017,0.519388,0.029843],[0.093401,-0.209503,0.973337]] 2025-10-27T04:53:09.113Z,1761540789.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:09.489Z,1761540789.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511964,-0.827132,-0.231829],[0.852860,0.521668,0.022194],[0.102581,-0.209080,0.972503]] 2025-10-27T04:53:09.586Z,1761540789.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:09.957Z,1761540789.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512142,-0.825877,-0.235874],[0.851604,0.523989,0.014378],[0.111722,-0.208235,0.971677]] 2025-10-27T04:53:10.011Z,1761540790.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:10.339Z,1761540790.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512200,-0.824677,-0.239916],[0.850331,0.526206,0.006628],[0.120779,-0.207402,0.970771]] 2025-10-27T04:53:10.369Z,1761540790.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:10.744Z,1761540790.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512197,-0.823106,-0.245257],[0.849026,0.528350,-0.000079],[0.129646,-0.208189,0.969458]] 2025-10-27T04:53:10.808Z,1761540790.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:11.149Z,1761540791.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512067,-0.821715,-0.250144],[0.847671,0.530472,-0.007327],[0.138715,-0.208288,0.968181]] 2025-10-27T04:53:11.166Z,1761540791.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:11.569Z,1761540791.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511760,-0.820332,-0.255259],[0.846316,0.532484,-0.014508],[0.147823,-0.208605,0.966764]] 2025-10-27T04:53:11.632Z,1761540791.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:12.021Z,1761540792.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:12.513Z,1761540792.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508739,-0.817495,-0.269976],[0.842756,0.536963,-0.037863],[0.175920,-0.208262,0.962122]] 2025-10-27T04:53:12.536Z,1761540792.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:12.954Z,1761540792.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507561,-0.816347,-0.275607],[0.841408,0.538486,-0.045447],[0.185511,-0.208830,0.960196]] 2025-10-27T04:53:13.012Z,1761540793.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:13.504Z,1761540793.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505838,-0.815655,-0.280774],[0.840280,0.539511,-0.053459],[0.195085,-0.208887,0.958284]] 2025-10-27T04:53:13.521Z,1761540793.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:13.999Z,1761540793.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:14.476Z,1761540794.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500462,-0.813847,-0.295280],[0.836661,0.542323,-0.076712],[0.222569,-0.208658,0.952326]] 2025-10-27T04:53:14.494Z,1761540794.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:14.956Z,1761540794.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498846,-0.813252,-0.299621],[0.835392,0.543250,-0.083661],[0.230807,-0.208567,0.950383]] 2025-10-27T04:53:15.013Z,1761540795.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:15.350Z,1761540795.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497314,-0.812763,-0.303471],[0.834047,0.544192,-0.090670],[0.238840,-0.208018,0.948517]] 2025-10-27T04:53:15.368Z,1761540795.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:15.751Z,1761540795.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495938,-0.811873,-0.308072],[0.832600,0.545345,-0.096836],[0.246624,-0.208476,0.946422]] 2025-10-27T04:53:15.799Z,1761540795.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:16.153Z,1761540796.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494628,-0.811564,-0.310979],[0.831050,0.546377,-0.104056],[0.254360,-0.206970,0.944703]] 2025-10-27T04:53:16.187Z,1761540796.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:16.602Z,1761540796.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493268,-0.811158,-0.314180],[0.829411,0.547452,-0.111236],[0.262228,-0.205715,0.942824]] 2025-10-27T04:53:16.681Z,1761540796.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:17.073Z,1761540797.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491885,-0.810432,-0.318196],[0.827711,0.548641,-0.117844],[0.270080,-0.205408,0.940672]] 2025-10-27T04:53:17.129Z,1761540797.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:17.602Z,1761540797.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490548,-0.808911,-0.324077],[0.823745,0.551770,-0.130360],[0.284266,-0.203009,0.937006]] 2025-10-27T04:53:17.620Z,1761540797.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:18.035Z,1761540798.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490438,-0.807532,-0.327663],[0.821505,0.553881,-0.135442],[0.290860,-0.202751,0.935036]] 2025-10-27T04:53:18.080Z,1761540798.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:18.447Z,1761540798.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490814,-0.805936,-0.331011],[0.819018,0.556370,-0.140218],[0.297172,-0.202283,0.933151]] 2025-10-27T04:53:18.482Z,1761540798.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:18.844Z,1761540798.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491244,-0.804333,-0.334257],[0.816424,0.558926,-0.145096],[0.303531,-0.201618,0.931246]] 2025-10-27T04:53:18.902Z,1761540798.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:19.382Z,1761540799.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491979,-0.802158,-0.338378],[0.813594,0.561951,-0.149249],[0.309873,-0.201875,0.929099]] 2025-10-27T04:53:19.417Z,1761540799.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:19.786Z,1761540799.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492719,-0.800198,-0.341923],[0.810681,0.564913,-0.153848],[0.316265,-0.201387,0.927049]] 2025-10-27T04:53:19.889Z,1761540799.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:20.291Z,1761540800.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494341,-0.797005,-0.347002],[0.807448,0.568861,-0.156284],[0.321955,-0.202928,0.924751]] 2025-10-27T04:53:20.311Z,1761540800.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:53:20.313Z,1761540800.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:20.524Z,1761540800.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:53:20.524Z,1761540800.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:53:20.739Z,1761540800.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496157,-0.793741,-0.351858],[0.804178,0.572896,-0.158396],[0.327303,-0.204367,0.922555]] 2025-10-27T04:53:20.776Z,1761540800.776 [DAT](INFO): DAT read: user:209> 2025-10-27T04:53:20.777Z,1761540800.777 [DAT](INFO): DAT read: Tx time:04:53:19.8288 2025-10-27T04:53:20.777Z,1761540800.777 [DAT](INFO): Ping request sent. 2025-10-27T04:53:20.777Z,1761540800.777 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:53:20.778Z,1761540800.778 [DAT](INFO): publishing transmit ping time 2025-10-27T04:53:20.778Z,1761540800.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T04:53:20.798Z,1761540800.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:21.028Z,1761540801.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250551 2025-10-27T04:53:21.159Z,1761540801.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498082,-0.790904,-0.355509],[0.800763,0.576831,-0.161383],[0.332707,-0.204296,0.920635]] 2025-10-27T04:53:21.186Z,1761540801.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:21.281Z,1761540801.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503319 2025-10-27T04:53:21.532Z,1761540801.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754537 2025-10-27T04:53:21.561Z,1761540801.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500184,-0.787562,-0.359948],[0.797221,0.581095,-0.163608],[0.338015,-0.205124,0.918515]] 2025-10-27T04:53:21.604Z,1761540801.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:21.784Z,1761540801.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006568 2025-10-27T04:53:21.984Z,1761540801.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502849,-0.784022,-0.363940],[0.793245,0.585832,-0.166024],[0.343374,-0.205209,0.916506]] 2025-10-27T04:53:22.036Z,1761540802.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258620 2025-10-27T04:53:22.036Z,1761540802.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:22.289Z,1761540802.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511154 2025-10-27T04:53:22.501Z,1761540802.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508380,-0.777091,-0.371052],[0.784866,0.595421,-0.171638],[0.354310,-0.203969,0.912612]] 2025-10-27T04:53:22.536Z,1761540802.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:22.540Z,1761540802.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762695 2025-10-27T04:53:22.792Z,1761540802.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014392 2025-10-27T04:53:22.910Z,1761540802.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510889,-0.773415,-0.375263],[0.780605,0.600222,-0.174325],[0.360067,-0.203871,0.910378]] 2025-10-27T04:53:22.988Z,1761540802.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:23.044Z,1761540803.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266531 2025-10-27T04:53:23.296Z,1761540803.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518573 2025-10-27T04:53:23.455Z,1761540803.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513507,-0.769416,-0.379881],[0.776471,0.605089,-0.175955],[0.365245,-0.204613,0.908147]] 2025-10-27T04:53:23.494Z,1761540803.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:23.548Z,1761540803.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770636 2025-10-27T04:53:23.800Z,1761540803.800 [DAT](INFO): DAT read: Rx Time:04:53:22.4041 2025-10-27T04:53:23.801Z,1761540803.801 [DAT](INFO): Rx dataTimestamp_ set to:1761540803.800399 2025-10-27T04:53:23.801Z,1761540803.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023868 2025-10-27T04:53:23.855Z,1761540803.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516147,-0.765500,-0.384190],[0.772500,0.609794,-0.177189],[0.369915,-0.205331,0.906092]] 2025-10-27T04:53:23.911Z,1761540803.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:24.052Z,1761540804.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274587 2025-10-27T04:53:24.302Z,1761540804.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518389,-0.762575,-0.386977],[0.769021,0.613634,-0.179054],[0.374004,-0.204773,0.904538]] 2025-10-27T04:53:24.310Z,1761540804.310 [DAT](INFO): DAT read: 04:53:22.4041 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 484, 0.24, 2.678,-1.912, 2.918,-2.954, PHS=-0.549, 1.087,-0.455, RAW= 327.1, -1.1, CAL= 326.0, -4.0, ROT= 184.0, 4.0 2025-10-27T04:53:24.312Z,1761540804.312 [DAT](INFO): got valid direction response: 04:53:22.4041 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 484, 0.24, 2.678,-1.912, 2.918,-2.954, PHS=-0.549, 1.087,-0.455, RAW= 327.1, -1.1, CAL= 326.0, -4.0, ROT= 184.0, 4.0 2025-10-27T04:53:24.312Z,1761540804.312 [DAT](INFO): DAT read: $Error in header 2025-10-27T04:53:24.313Z,1761540804.313 [DAT](INFO): Received a bad header 2025-10-27T04:53:24.331Z,1761540804.331 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:53:24.332Z,1761540804.332 [DAT](INFO): direction in FSK: [-0.995134,-0.069586,-0.069756] 2025-10-27T04:53:24.362Z,1761540804.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:24.715Z,1761540804.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520647,-0.759740,-0.389514],[0.765792,0.617273,-0.180378],[0.377477,-0.204373,0.903185]] 2025-10-27T04:53:24.828Z,1761540804.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:25.128Z,1761540805.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522378,-0.757795,-0.390983],[0.763111,0.620051,-0.182206],[0.380504,-0.203183,0.902183]] 2025-10-27T04:53:25.184Z,1761540805.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:25.529Z,1761540805.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523603,-0.756923,-0.391034],[0.761043,0.621858,-0.184676],[0.382953,-0.200897,0.901658]] 2025-10-27T04:53:25.553Z,1761540805.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:26.035Z,1761540806.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524423,-0.757627,-0.388564],[0.758907,0.622823,-0.190136],[0.386059,-0.195172,0.901591]] 2025-10-27T04:53:26.078Z,1761540806.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:26.450Z,1761540806.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523138,-0.759828,-0.385989],[0.759265,0.621234,-0.193867],[0.387095,-0.191648,0.901903]] 2025-10-27T04:53:26.489Z,1761540806.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:26.963Z,1761540806.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521788,-0.761484,-0.384551],[0.760051,0.619673,-0.195775],[0.387376,-0.190125,0.902105]] 2025-10-27T04:53:27.014Z,1761540807.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:27.379Z,1761540807.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520149,-0.763380,-0.383009],[0.761025,0.617814,-0.197855],[0.387667,-0.188566,0.902307]] 2025-10-27T04:53:27.398Z,1761540807.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:27.973Z,1761540807.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519019,-0.765571,-0.380159],[0.762397,0.615725,-0.199081],[0.386484,-0.186505,0.903242]] 2025-10-27T04:53:28.025Z,1761540808.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:28.378Z,1761540808.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517885,-0.768000,-0.376790],[0.764130,0.613323,-0.199849],[0.384578,-0.184418,0.904483]] 2025-10-27T04:53:28.412Z,1761540808.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:28.782Z,1761540808.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516692,-0.770188,-0.373952],[0.765942,0.610986,-0.200075],[0.382574,-0.183049,0.905610]] 2025-10-27T04:53:28.868Z,1761540808.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:29.242Z,1761540809.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:29.625Z,1761540809.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513777,-0.780247,-0.356718],[0.770884,0.602337,-0.207192],[0.376525,-0.168537,0.910947]] 2025-10-27T04:53:29.662Z,1761540809.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:30.028Z,1761540810.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513082,-0.783990,-0.349438],[0.772433,0.599261,-0.210317],[0.374291,-0.162007,0.913050]] 2025-10-27T04:53:30.036Z,1761540810.036 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050308414844,35.0, +10.8, .9, 0 2025-10-27T04:53:30.052Z,1761540810.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:30.468Z,1761540810.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512948,-0.786950,-0.342921],[0.773829,0.596824,-0.212109],[0.371583,-0.156561,0.915104]] 2025-10-27T04:53:30.494Z,1761540810.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:30.858Z,1761540810.858 [DAT](INFO): Reached modem response timeout 2025-10-27T04:53:30.981Z,1761540810.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:31.305Z,1761540811.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513964,-0.790826,-0.332318],[0.776330,0.593616,-0.211970],[0.364901,-0.149043,0.919039]] 2025-10-27T04:53:31.333Z,1761540811.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:31.717Z,1761540811.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514531,-0.792425,-0.327598],[0.777618,0.592216,-0.211167],[0.361343,-0.146094,0.920917]] 2025-10-27T04:53:31.750Z,1761540811.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:31.951Z,1761540811.951 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:53:32.113Z,1761540812.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515675,-0.792977,-0.324448],[0.778552,0.591780,-0.208935],[0.357682,-0.144857,0.922540]] 2025-10-27T04:53:32.168Z,1761540812.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:32.591Z,1761540812.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517771,-0.792613,-0.321991],[0.778834,0.592445,-0.205976],[0.354021,-0.144129,0.924065]] 2025-10-27T04:53:32.609Z,1761540812.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:32.955Z,1761540812.955 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:53:33.002Z,1761540813.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520806,-0.791173,-0.320634],[0.778564,0.594259,-0.201727],[0.350141,-0.144573,0.925473]] 2025-10-27T04:53:33.061Z,1761540813.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:33.124Z,1761540813.124 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:53:33.124Z,1761540813.124 [DAT](INFO): response not received 2025-10-27T04:53:33.125Z,1761540813.125 [DAT](ERROR): No response from remote modem. 2025-10-27T04:53:33.499Z,1761540813.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523568,-0.789542,-0.320154],[0.778264,0.596117,-0.197358],[0.346672,-0.145834,0.926580]] 2025-10-27T04:53:33.528Z,1761540813.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:33.970Z,1761540813.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527027,-0.787051,-0.320614],[0.777638,0.598792,-0.191646],[0.342816,-0.148319,0.927620]] 2025-10-27T04:53:34.017Z,1761540814.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:34.423Z,1761540814.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:34.773Z,1761540814.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533718,-0.782904,-0.319697],[0.776244,0.603550,-0.182131],[0.335545,-0.150956,0.929850]] 2025-10-27T04:53:34.791Z,1761540814.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:35.173Z,1761540815.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536610,-0.780419,-0.320931],[0.775700,0.605930,-0.176459],[0.332174,-0.154257,0.930519]] 2025-10-27T04:53:35.227Z,1761540815.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:35.709Z,1761540815.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:36.066Z,1761540816.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544540,-0.773591,-0.324089],[0.773966,0.612354,-0.161242],[0.323193,-0.163031,0.932184]] 2025-10-27T04:53:36.125Z,1761540816.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:36.541Z,1761540816.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546511,-0.772949,-0.322295],[0.774015,0.613140,-0.157987],[0.319728,-0.163120,0.933363]] 2025-10-27T04:53:36.574Z,1761540816.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:36.992Z,1761540816.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548082,-0.773576,-0.318097],[0.774371,0.613043,-0.156610],[0.316157,-0.160490,0.935034]] 2025-10-27T04:53:37.049Z,1761540817.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:37.456Z,1761540817.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549728,-0.774001,-0.314198],[0.775002,0.612925,-0.153931],[0.311723,-0.158884,0.936795]] 2025-10-27T04:53:37.477Z,1761540817.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:37.841Z,1761540817.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551513,-0.773900,-0.311307],[0.775578,0.613125,-0.150190],[0.307103,-0.158611,0.938366]] 2025-10-27T04:53:37.861Z,1761540817.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:38.245Z,1761540818.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553834,-0.774219,-0.306355],[0.776238,0.613207,-0.146395],[0.301200,-0.156726,0.940593]] 2025-10-27T04:53:38.310Z,1761540818.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:38.765Z,1761540818.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557277,-0.774960,-0.298125],[0.777201,0.613206,-0.141196],[0.292234,-0.153018,0.944026]] 2025-10-27T04:53:38.782Z,1761540818.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:39.256Z,1761540819.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567590,-0.777981,-0.269419],[0.781196,0.612226,-0.122119],[0.259952,-0.141155,0.955249]] 2025-10-27T04:53:39.306Z,1761540819.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:39.778Z,1761540819.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574561,-0.778109,-0.253823],[0.783755,0.612422,-0.103286],[0.235815,-0.139591,0.961720]] 2025-10-27T04:53:39.796Z,1761540819.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:40.349Z,1761540820.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:40.700Z,1761540820.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588705,-0.778454,-0.217797],[0.788786,0.612130,-0.055796],[0.176755,-0.138948,0.974398]] 2025-10-27T04:53:40.729Z,1761540820.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:41.117Z,1761540821.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596021,-0.778723,-0.195829],[0.790039,0.612306,-0.030317],[0.143516,-0.136643,0.980169]] 2025-10-27T04:53:41.152Z,1761540821.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:41.509Z,1761540821.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601816,-0.779828,-0.172296],[0.791106,0.611657,-0.005148],[0.109401,-0.133206,0.985032]] 2025-10-27T04:53:41.545Z,1761540821.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:41.921Z,1761540821.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606255,-0.781495,-0.147379],[0.791800,0.610448,0.020155],[0.074216,-0.128914,0.988875]] 2025-10-27T04:53:41.963Z,1761540821.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:42.431Z,1761540822.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:42.767Z,1761540822.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611852,-0.784744,-0.099064],[0.790960,0.607710,0.071209],[0.004321,-0.121925,0.992530]] 2025-10-27T04:53:42.802Z,1761540822.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:43.276Z,1761540823.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611599,-0.789253,-0.055014],[0.788889,0.603088,0.118064],[-0.060004,-0.115608,0.991481]] 2025-10-27T04:53:43.337Z,1761540823.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:43.687Z,1761540823.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610197,-0.791449,-0.035610],[0.787244,0.600684,0.139378],[-0.088920,-0.113081,0.989599]] 2025-10-27T04:53:43.713Z,1761540823.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:44.202Z,1761540824.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608134,-0.793646,-0.017281],[0.785384,0.598350,0.158584],[-0.115519,-0.110012,0.987194]] 2025-10-27T04:53:44.260Z,1761540824.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:44.604Z,1761540824.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605976,-0.795483,0.000535],[0.782942,0.596541,0.176468],[-0.140696,-0.106517,0.984306]] 2025-10-27T04:53:44.629Z,1761540824.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:45.021Z,1761540825.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602814,-0.797713,0.016423],[0.780926,0.594100,0.192872],[-0.163614,-0.103441,0.981086]] 2025-10-27T04:53:45.112Z,1761540825.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:45.431Z,1761540825.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599252,-0.799917,0.032111],[0.778839,0.591803,0.207794],[-0.185222,-0.099511,0.977645]] 2025-10-27T04:53:45.490Z,1761540825.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:45.820Z,1761540825.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594097,-0.803091,0.045765],[0.777625,0.587951,0.222741],[-0.205789,-0.096741,0.973803]] 2025-10-27T04:53:45.846Z,1761540825.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:46.224Z,1761540826.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588299,-0.806691,0.056149],[0.776431,0.582904,0.239539],[-0.225963,-0.097325,0.969262]] 2025-10-27T04:53:46.252Z,1761540826.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:46.748Z,1761540826.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581849,-0.810500,0.067397],[0.775246,0.577770,0.255295],[-0.245857,-0.096294,0.964511]] 2025-10-27T04:53:46.766Z,1761540826.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:47.153Z,1761540827.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575147,-0.814197,0.079311],[0.773786,0.572922,0.270215],[-0.265447,-0.094043,0.959528]] 2025-10-27T04:53:47.189Z,1761540827.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:47.688Z,1761540827.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563221,-0.819916,0.102571],[0.769879,0.565785,0.295250],[-0.300113,-0.087324,0.949898]] 2025-10-27T04:53:47.714Z,1761540827.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:48.163Z,1761540828.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558115,-0.822057,0.112824],[0.767759,0.563187,0.305560],[-0.314729,-0.083916,0.945465]] 2025-10-27T04:53:48.207Z,1761540828.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:48.683Z,1761540828.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554085,-0.823469,0.122020],[0.765280,0.561556,0.314647],[-0.327623,-0.080962,0.941333]] 2025-10-27T04:53:48.721Z,1761540828.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:49.195Z,1761540829.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550732,-0.824442,0.130345],[0.763060,0.560587,0.321687],[-0.338282,-0.077702,0.937831]] 2025-10-27T04:53:49.255Z,1761540829.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:49.692Z,1761540829.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546869,-0.826450,0.133844],[0.758493,0.556753,0.338696],[-0.354433,-0.083703,0.931327]] 2025-10-27T04:53:49.734Z,1761540829.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:50.094Z,1761540830.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546109,-0.826943,0.133906],[0.756067,0.555378,0.346291],[-0.360731,-0.087871,0.928521]] 2025-10-27T04:53:50.189Z,1761540830.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:50.552Z,1761540830.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545465,-0.827365,0.133926],[0.753845,0.554143,0.353050],[-0.366315,-0.091617,0.925970]] 2025-10-27T04:53:50.607Z,1761540830.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:50.953Z,1761540830.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544665,-0.827481,0.136437],[0.751704,0.553827,0.358074],[-0.371862,-0.092470,0.923671]] 2025-10-27T04:53:50.971Z,1761540830.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:51.447Z,1761540831.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544259,-0.826831,0.141888],[0.748892,0.555078,0.362008],[-0.378078,-0.090767,0.921313]] 2025-10-27T04:53:51.500Z,1761540831.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:51.989Z,1761540831.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543788,-0.826276,0.146844],[0.746050,0.556088,0.366299],[-0.384322,-0.089635,0.918837]] 2025-10-27T04:53:52.030Z,1761540832.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:52.598Z,1761540832.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540225,-0.827045,0.155415],[0.742086,0.555284,0.375456],[-0.396818,-0.087499,0.913717]] 2025-10-27T04:53:52.650Z,1761540832.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:53.023Z,1761540833.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537373,-0.828932,0.155248],[0.740861,0.551956,0.382712],[-0.402933,-0.090642,0.910730]] 2025-10-27T04:53:53.042Z,1761540833.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:53.442Z,1761540833.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534844,-0.830772,0.154142],[0.740349,0.548687,0.388362],[-0.407216,-0.093594,0.908524]] 2025-10-27T04:53:53.486Z,1761540833.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:53.972Z,1761540833.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532506,-0.832591,0.152409],[0.741911,0.545799,0.389450],[-0.407437,-0.094311,0.908350]] 2025-10-27T04:53:54.000Z,1761540834.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:54.373Z,1761540834.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530204,-0.834825,0.148157],[0.745637,0.542283,0.387238],[-0.403620,-0.094844,0.909998]] 2025-10-27T04:53:54.457Z,1761540834.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:54.933Z,1761540834.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525274,-0.839894,0.136622],[0.758394,0.534891,0.372465],[-0.385909,-0.092032,0.917935]] 2025-10-27T04:53:54.952Z,1761540834.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:55.367Z,1761540835.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:55.725Z,1761540835.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520653,-0.845893,0.115699],[0.774003,0.524850,0.354193],[-0.360333,-0.094860,0.927988]] 2025-10-27T04:53:55.746Z,1761540835.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:56.134Z,1761540836.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519350,-0.848587,0.100875],[0.781035,0.519249,0.346935],[-0.346784,-0.101394,0.932449]] 2025-10-27T04:53:56.164Z,1761540836.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:56.526Z,1761540836.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519107,-0.850355,0.086168],[0.786930,0.514852,0.340102],[-0.333571,-0.108741,0.936433]] 2025-10-27T04:53:56.570Z,1761540836.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:56.936Z,1761540836.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518281,-0.852182,0.071906],[0.792916,0.510330,0.332939],[-0.320420,-0.115541,0.940203]] 2025-10-27T04:53:56.967Z,1761540836.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:57.388Z,1761540837.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:57.742Z,1761540837.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516846,-0.854886,0.045165],[0.804523,0.503075,0.315687],[-0.292598,-0.126825,0.947788]] 2025-10-27T04:53:57.760Z,1761540837.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:58.141Z,1761540838.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516386,-0.855783,0.031320],[0.809996,0.499974,0.306485],[-0.277944,-0.132895,0.951360]] 2025-10-27T04:53:58.172Z,1761540838.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:58.639Z,1761540838.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515251,-0.856871,0.016958],[0.815724,0.496386,0.296976],[-0.262888,-0.139184,0.954734]] 2025-10-27T04:53:58.706Z,1761540838.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:59.084Z,1761540839.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514362,-0.857569,0.002537],[0.821137,0.493360,0.286933],[-0.247316,-0.145504,0.957947]] 2025-10-27T04:53:59.103Z,1761540839.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:59.560Z,1761540839.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513548,-0.858005,-0.009793],[0.826176,0.491350,0.275696],[-0.231737,-0.149674,0.961195]] 2025-10-27T04:53:59.597Z,1761540839.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:53:59.958Z,1761540839.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513160,-0.857989,-0.022848],[0.830628,0.489740,0.264974],[-0.216155,-0.154953,0.963985]] 2025-10-27T04:53:59.988Z,1761540839.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:00.362Z,1761540840.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513702,-0.857169,-0.037031],[0.834179,0.488899,0.255193],[-0.200639,-0.161983,0.966181]] 2025-10-27T04:54:00.427Z,1761540840.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:00.780Z,1761540840.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514378,-0.856264,-0.047198],[0.837343,0.489607,0.243192],[-0.185128,-0.164613,0.968829]] 2025-10-27T04:54:00.817Z,1761540840.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:01.329Z,1761540841.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515946,-0.853650,-0.071285],[0.842485,0.490616,0.222518],[-0.154979,-0.174863,0.972319]] 2025-10-27T04:54:01.369Z,1761540841.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:01.767Z,1761540841.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517419,-0.851319,-0.086796],[0.844022,0.490984,0.215780],[-0.141082,-0.184906,0.972577]] 2025-10-27T04:54:01.785Z,1761540841.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:02.288Z,1761540842.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519292,-0.848621,-0.100889],[0.844944,0.492141,0.209445],[-0.128088,-0.194009,0.972602]] 2025-10-27T04:54:02.365Z,1761540842.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:02.750Z,1761540842.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520703,-0.846299,-0.112458],[0.845869,0.493564,0.202239],[-0.115649,-0.200431,0.972858]] 2025-10-27T04:54:02.806Z,1761540842.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:03.079Z,1761540843.079 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:54:03.264Z,1761540843.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522101,-0.844061,-0.122356],[0.847864,0.498119,0.181670],[-0.092393,-0.198591,0.975718]] 2025-10-27T04:54:03.287Z,1761540843.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:03.665Z,1761540843.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522334,-0.843450,-0.125538],[0.848840,0.500213,0.171049],[-0.081475,-0.195907,0.977232]] 2025-10-27T04:54:03.726Z,1761540843.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:04.063Z,1761540844.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522690,-0.842458,-0.130611],[0.849607,0.502094,0.161460],[-0.070444,-0.195362,0.978198]] 2025-10-27T04:54:04.081Z,1761540844.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:04.083Z,1761540844.083 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:54:04.467Z,1761540844.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523089,-0.841380,-0.135860],[0.850211,0.504050,0.151903],[-0.059328,-0.194969,0.979013]] 2025-10-27T04:54:04.509Z,1761540844.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:04.898Z,1761540844.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523484,-0.840070,-0.142294],[0.850686,0.505918,0.142759],[-0.047939,-0.195779,0.979476]] 2025-10-27T04:54:04.928Z,1761540844.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:05.418Z,1761540845.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523623,-0.839136,-0.147206],[0.851185,0.507963,0.132127],[-0.036097,-0.194484,0.980241]] 2025-10-27T04:54:05.471Z,1761540845.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:05.933Z,1761540845.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523475,-0.838179,-0.153066],[0.851689,0.509587,0.122256],[-0.024472,-0.194363,0.980624]] 2025-10-27T04:54:05.951Z,1761540845.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:06.446Z,1761540846.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523140,-0.837268,-0.159082],[0.852148,0.511039,0.112617],[-0.012994,-0.194475,0.980821]] 2025-10-27T04:54:06.488Z,1761540846.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:06.787Z,1761540846.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522962,-0.836164,-0.165350],[0.852354,0.512617,0.103523],[-0.001801,-0.195075,0.980787]] 2025-10-27T04:54:06.805Z,1761540846.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:07.204Z,1761540847.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522525,-0.835298,-0.171011],[0.852575,0.514031,0.094278],[0.009155,-0.195062,0.980748]] 2025-10-27T04:54:07.222Z,1761540847.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:07.593Z,1761540847.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522056,-0.834567,-0.175942],[0.852684,0.515455,0.085070],[0.019694,-0.194434,0.980718]] 2025-10-27T04:54:07.654Z,1761540847.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:08.124Z,1761540848.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521345,-0.832454,-0.187669],[0.852388,0.518430,0.068303],[0.040434,-0.195576,0.979855]] 2025-10-27T04:54:08.151Z,1761540848.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:08.579Z,1761540848.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:09.016Z,1761540849.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520996,-0.830018,-0.199084],[0.851552,0.521422,0.054578],[0.058506,-0.197966,0.978461]] 2025-10-27T04:54:09.035Z,1761540849.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:09.471Z,1761540849.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521162,-0.829118,-0.202370],[0.850940,0.523006,0.048643],[0.065510,-0.197555,0.978100]] 2025-10-27T04:54:09.516Z,1761540849.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:09.962Z,1761540849.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521416,-0.828211,-0.205409],[0.850291,0.524504,0.043599],[0.071629,-0.197390,0.977705]] 2025-10-27T04:54:09.987Z,1761540849.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:10.542Z,1761540850.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:10.987Z,1761540850.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523643,-0.825229,-0.211649],[0.847732,0.529378,0.033312],[0.084552,-0.196866,0.976778]] 2025-10-27T04:54:11.014Z,1761540851.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:11.487Z,1761540851.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524881,-0.824351,-0.212004],[0.846705,0.531163,0.030914],[0.087124,-0.195731,0.976780]] 2025-10-27T04:54:11.539Z,1761540851.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:11.854Z,1761540851.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526694,-0.823187,-0.212032],[0.845387,0.533349,0.029310],[0.088960,-0.194686,0.976823]] 2025-10-27T04:54:11.872Z,1761540851.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:12.265Z,1761540852.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528479,-0.821798,-0.212974],[0.844099,0.535428,0.028525],[0.090590,-0.194846,0.976641]] 2025-10-27T04:54:12.283Z,1761540852.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:12.664Z,1761540852.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530588,-0.820365,-0.213253],[0.842602,0.537836,0.027445],[0.092180,-0.194249,0.976611]] 2025-10-27T04:54:12.702Z,1761540852.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:13.066Z,1761540853.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532441,-0.818932,-0.214141],[0.841265,0.539959,0.026778],[0.093698,-0.194407,0.976436]] 2025-10-27T04:54:13.091Z,1761540853.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:13.513Z,1761540853.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534322,-0.817159,-0.216222],[0.839894,0.542086,0.026840],[0.095279,-0.195944,0.975975]] 2025-10-27T04:54:13.564Z,1761540853.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:13.874Z,1761540853.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536196,-0.815666,-0.217217],[0.838548,0.544183,0.026491],[0.096598,-0.196351,0.975764]] 2025-10-27T04:54:13.929Z,1761540853.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:14.281Z,1761540854.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538157,-0.814397,-0.217128],[0.837158,0.546358,0.025656],[0.097736,-0.195578,0.975806]] 2025-10-27T04:54:14.315Z,1761540854.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:14.767Z,1761540854.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539762,-0.812855,-0.218913],[0.835989,0.548131,0.025967],[0.098885,-0.197025,0.975399]] 2025-10-27T04:54:14.818Z,1761540854.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:15.251Z,1761540855.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:15.694Z,1761540855.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544046,-0.809932,-0.219144],[0.833009,0.552676,0.025399],[0.100544,-0.196367,0.975362]] 2025-10-27T04:54:15.807Z,1761540855.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:16.109Z,1761540856.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544979,-0.809440,-0.218642],[0.832453,0.553492,0.025844],[0.100098,-0.196094,0.975463]] 2025-10-27T04:54:16.164Z,1761540856.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:16.542Z,1761540856.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545898,-0.809261,-0.217007],[0.831939,0.554264,0.025847],[0.099362,-0.194646,0.975828]] 2025-10-27T04:54:16.588Z,1761540856.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:16.918Z,1761540856.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546831,-0.809053,-0.215427],[0.831458,0.554964,0.026327],[0.098254,-0.193515,0.976165]] 2025-10-27T04:54:16.966Z,1761540856.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:17.318Z,1761540857.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547341,-0.809054,-0.214126],[0.831283,0.555184,0.027190],[0.096881,-0.192882,0.976427]] 2025-10-27T04:54:17.360Z,1761540857.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:17.729Z,1761540857.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547781,-0.809694,-0.210549],[0.831202,0.555315,0.026983],[0.095073,-0.189790,0.977211]] 2025-10-27T04:54:17.793Z,1761540857.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:18.128Z,1761540858.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548083,-0.809836,-0.209214],[0.831200,0.555258,0.028195],[0.093334,-0.189352,0.977463]] 2025-10-27T04:54:18.149Z,1761540858.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:18.534Z,1761540858.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548792,-0.810077,-0.206404],[0.830969,0.555564,0.028972],[0.091201,-0.187415,0.978038]] 2025-10-27T04:54:18.637Z,1761540858.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:19.078Z,1761540859.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549589,-0.810430,-0.202870],[0.830695,0.555944,0.029511],[0.088868,-0.184743,0.978761]] 2025-10-27T04:54:19.097Z,1761540859.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:19.477Z,1761540859.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550575,-0.810305,-0.200683],[0.830299,0.556448,0.031139],[0.086437,-0.183772,0.979161]] 2025-10-27T04:54:19.506Z,1761540859.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:19.939Z,1761540859.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551840,-0.810129,-0.197897],[0.829764,0.557133,0.033087],[0.083450,-0.182467,0.979664]] 2025-10-27T04:54:19.986Z,1761540859.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:20.414Z,1761540860.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553943,-0.809417,-0.194915],[0.828684,0.558592,0.035451],[0.080183,-0.181161,0.980179]] 2025-10-27T04:54:20.438Z,1761540860.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:20.440Z,1761540860.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:20.524Z,1761540860.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:20.524Z,1761540860.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:54:20.776Z,1761540860.776 [DAT](INFO): DAT read: 2025-10-27T04:54:20.776Z,1761540860.776 [DAT](INFO): DAT read: Tx time:04:54:19.8287 2025-10-27T04:54:20.777Z,1761540860.777 [DAT](INFO): Ping request sent. 2025-10-27T04:54:20.777Z,1761540860.777 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:54:20.777Z,1761540860.777 [DAT](INFO): publishing transmit ping time 2025-10-27T04:54:20.778Z,1761540860.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761 2025-10-27T04:54:20.830Z,1761540860.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555778,-0.809002,-0.191382],[0.827767,0.559825,0.037384],[0.076897,-0.179197,0.980803]] 2025-10-27T04:54:20.910Z,1761540860.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:21.028Z,1761540861.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251462 2025-10-27T04:54:21.225Z,1761540861.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558122,-0.808085,-0.188412],[0.826515,0.561478,0.040200],[0.073304,-0.178162,0.981267]] 2025-10-27T04:54:21.247Z,1761540861.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:21.280Z,1761540861.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503144 2025-10-27T04:54:21.532Z,1761540861.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755119 2025-10-27T04:54:21.642Z,1761540861.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559970,-0.807560,-0.185149],[0.825543,0.562756,0.042235],[0.070086,-0.176499,0.981803]] 2025-10-27T04:54:21.704Z,1761540861.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:21.784Z,1761540861.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007595 2025-10-27T04:54:22.027Z,1761540862.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562586,-0.806428,-0.182130],[0.824059,0.564709,0.045060],[0.066513,-0.175436,0.982241]] 2025-10-27T04:54:22.036Z,1761540862.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259183 2025-10-27T04:54:22.063Z,1761540862.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:22.289Z,1761540862.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512294 2025-10-27T04:54:22.430Z,1761540862.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565048,-0.805100,-0.180377],[0.822622,0.566540,0.048228],[0.063363,-0.175633,0.982414]] 2025-10-27T04:54:22.448Z,1761540862.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:22.540Z,1761540862.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101 2025-10-27T04:54:22.792Z,1761540862.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015335 2025-10-27T04:54:22.904Z,1761540862.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570933,-0.802242,-0.174478],[0.819018,0.571291,0.053250],[0.056959,-0.173303,0.983220]] 2025-10-27T04:54:22.969Z,1761540862.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:23.044Z,1761540863.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267462 2025-10-27T04:54:23.273Z,1761540863.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573509,-0.801238,-0.170603],[0.817437,0.573382,0.055055],[0.053708,-0.171031,0.983801]] 2025-10-27T04:54:23.291Z,1761540863.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:23.304Z,1761540863.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527155 2025-10-27T04:54:23.556Z,1761540863.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779007 2025-10-27T04:54:23.677Z,1761540863.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576081,-0.800081,-0.167336],[0.815852,0.575379,0.057649],[0.050158,-0.169732,0.984213]] 2025-10-27T04:54:23.742Z,1761540863.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:23.809Z,1761540863.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032270 2025-10-27T04:54:24.063Z,1761540864.063 [DAT](INFO): DAT read: Rx Time:04:54:22.5226 2025-10-27T04:54:24.063Z,1761540864.063 [DAT](INFO): Rx dataTimestamp_ set to:1761540864.063054 2025-10-27T04:54:24.064Z,1761540864.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287072 2025-10-27T04:54:24.080Z,1761540864.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578476,-0.799062,-0.163906],[0.814368,0.577227,0.060110],[0.046580,-0.168252,0.984643]] 2025-10-27T04:54:24.119Z,1761540864.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:24.312Z,1761540864.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535035 2025-10-27T04:54:24.482Z,1761540864.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580405,-0.798279,-0.160873],[0.813197,0.578582,0.062869],[0.042891,-0.167311,0.984971]] 2025-10-27T04:54:24.526Z,1761540864.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.27 m. 2025-10-27T04:54:24.572Z,1761540864.572 [DAT](INFO): DAT read: 04:54:22.5226 LVL= 25040, 22497, 25010, 21491, AGC= 71, IDX= 116, 0.02, 0.909, 2.224, 1.125, 0.853, PHS= 0.158, 1.417, 0.228, RAW= 327.2, -27.5, CAL= 326.9, -31.1, ROT= 183.1, 31.1 2025-10-27T04:54:24.574Z,1761540864.574 [DAT](INFO): got valid direction response: 04:54:22.5226 LVL= 25040, 22497, 25010, 21491, AGC= 71, IDX= 116, 0.02, 0.909, 2.224, 1.125, 0.853, PHS= 0.158, 1.417, 0.228, RAW= 327.2, -27.5, CAL= 326.9, -31.1, ROT= 183.1, 31.1 2025-10-27T04:54:24.575Z,1761540864.575 [DAT](INFO): DAT read: Bearing 51.4, -0.3 (Local) 2025-10-27T04:54:24.576Z,1761540864.576 [DAT](INFO): Local bearing/azimuth received: Bearing 51.4, -0.3 (Local) 2025-10-27T04:54:24.578Z,1761540864.578 [DAT](INFO): DAT read: Range 11 to 50 : 217.3 m (Round-trip 289.8 ms) speed -0.6 m/s 2025-10-27T04:54:24.579Z,1761540864.579 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:54:24.580Z,1761540864.580 [DAT](INFO): direction in FSK: [-0.855014,-0.046306,-0.516533] 2025-10-27T04:54:24.581Z,1761540864.581 [DAT](INFO): publishing direction and range info 2025-10-27T04:54:24.914Z,1761540864.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581880,-0.798077,-0.156488],[0.812325,0.579634,0.064435],[0.039282,-0.164612,0.985576]] 2025-10-27T04:54:24.982Z,1761540864.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 217.300003 m, deltaT: 181.022792 s, deltaX: 170.800003 m, approachRate: 0.943528 m/s, rangeRepo size: 4 2025-10-27T04:54:24.985Z,1761540864.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 216.160736 m, bearing: 243.289814 deg, lat: 36.779313 deg, lon: -121.859507 deg, deltaT: 181.022792 s, deltaX: 169.891312 m, approachRate: 0.938508 m/s, posRepo size: 4 2025-10-27T04:54:24.985Z,1761540864.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.16 m. 2025-10-27T04:54:24.986Z,1761540864.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 217.30 m. Resuming terminal guidance. 2025-10-27T04:54:24.986Z,1761540864.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T04:54:25.291Z,1761540865.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581872,-0.798850,-0.152525],[0.812482,0.579293,0.065520],[0.036016,-0.162048,0.986125]] 2025-10-27T04:54:25.307Z,1761540865.307 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T04:54:25.307Z,1761540865.307 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:54:25.307Z,1761540865.307 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T04:54:25.309Z,1761540865.309 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 217.300003 m (mode 1.000000 count ). 2025-10-27T04:54:25.309Z,1761540865.309 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T04:54:25.309Z,1761540865.309 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T04:54:25.709Z,1761540865.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581579,-0.799818,-0.148516],[0.812838,0.578653,0.066747],[0.032554,-0.159538,0.986655]] 2025-10-27T04:54:25.756Z,1761540865.756 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T04:54:25.756Z,1761540865.756 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T04:54:25.757Z,1761540865.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:25.824Z,1761540865.824 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:54:25.824Z,1761540865.824 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:54:25.824Z,1761540865.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:54:26.076Z,1761540866.076 [DAT](INFO): DAT read: user:211> 2025-10-27T04:54:26.077Z,1761540866.077 [DAT](INFO): DAT read: Tx time:04:54:25.1287 2025-10-27T04:54:26.077Z,1761540866.077 [DAT](INFO): Ping request sent. 2025-10-27T04:54:26.077Z,1761540866.077 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:54:26.077Z,1761540866.077 [DAT](INFO): publishing transmit ping time 2025-10-27T04:54:26.078Z,1761540866.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000776 2025-10-27T04:54:26.098Z,1761540866.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580061,-0.801818,-0.143589],[0.814050,0.576927,0.066918],[0.029185,-0.155705,0.987372]] 2025-10-27T04:54:26.143Z,1761540866.143 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T04:54:26.147Z,1761540866.147 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T04:54:26.328Z,1761540866.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834 2025-10-27T04:54:26.502Z,1761540866.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577307,-0.804944,-0.137044],[0.816115,0.574162,0.065530],[0.025938,-0.149675,0.988395]] 2025-10-27T04:54:26.534Z,1761540866.534 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T04:54:26.534Z,1761540866.534 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:54:26.534Z,1761540866.534 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T04:54:26.534Z,1761540866.534 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T04:54:26.581Z,1761540866.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503483 2025-10-27T04:54:26.832Z,1761540866.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754910 2025-10-27T04:54:26.913Z,1761540866.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573625,-0.808957,-0.128620],[0.818802,0.570654,0.062595],[0.022761,-0.141220,0.989717]] 2025-10-27T04:54:27.084Z,1761540867.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006842 2025-10-27T04:54:27.313Z,1761540867.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569749,-0.813084,-0.119499],[0.821593,0.566949,0.059617],[0.019277,-0.132146,0.991043]] 2025-10-27T04:54:27.336Z,1761540867.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259220 2025-10-27T04:54:27.588Z,1761540867.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511035 2025-10-27T04:54:27.786Z,1761540867.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:27.841Z,1761540867.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763590 2025-10-27T04:54:28.092Z,1761540868.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014856 2025-10-27T04:54:28.344Z,1761540868.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266925 2025-10-27T04:54:28.521Z,1761540868.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535614,-0.841784,-0.067220],[0.844423,0.534662,0.032957],[0.008197,-0.074414,0.997194]] 2025-10-27T04:54:28.596Z,1761540868.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518933 2025-10-27T04:54:28.848Z,1761540868.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770860 2025-10-27T04:54:28.926Z,1761540868.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517015,-0.855074,-0.039295],[0.855966,0.516693,0.018738],[0.004281,-0.043323,0.999052]] 2025-10-27T04:54:29.101Z,1761540869.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023487 2025-10-27T04:54:29.331Z,1761540869.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496431,-0.867959,-0.014238],[0.868075,0.496381,0.007100],[0.000905,-0.015884,0.999873]] 2025-10-27T04:54:29.352Z,1761540869.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274955 2025-10-27T04:54:29.605Z,1761540869.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527915 2025-10-27T04:54:29.760Z,1761540869.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474482,-0.880210,0.009864],[0.880263,0.474476,-0.003106],[-0.001946,0.010157,0.999947]] 2025-10-27T04:54:29.807Z,1761540869.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:29.857Z,1761540869.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779588 2025-10-27T04:54:30.108Z,1761540870.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031186 2025-10-27T04:54:30.193Z,1761540870.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450389,-0.892147,0.034991],[0.892820,0.450240,-0.012456],[-0.004641,0.036851,0.999310]] 2025-10-27T04:54:30.360Z,1761540870.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282858 2025-10-27T04:54:30.612Z,1761540870.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534908 2025-10-27T04:54:30.687Z,1761540870.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424459,-0.903545,0.058665],[0.905417,0.424085,-0.019300],[-0.007441,0.061308,0.998091]] 2025-10-27T04:54:30.867Z,1761540870.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788774 2025-10-27T04:54:31.116Z,1761540871.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038824 2025-10-27T04:54:31.205Z,1761540871.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397817,-0.914185,0.077507],[0.917407,0.397318,-0.022427],[-0.010293,0.080027,0.996740]] 2025-10-27T04:54:31.370Z,1761540871.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292581 2025-10-27T04:54:31.609Z,1761540871.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370974,-0.924119,0.091552],[0.928555,0.370488,-0.022881],[-0.012774,0.093499,0.995537]] 2025-10-27T04:54:31.620Z,1761540871.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542922 2025-10-27T04:54:31.881Z,1761540871.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803488 2025-10-27T04:54:32.010Z,1761540872.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344858,-0.933281,0.100302],[0.938528,0.344593,-0.020502],[-0.015430,0.101206,0.994746]] 2025-10-27T04:54:32.057Z,1761540872.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:32.125Z,1761540872.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047479 2025-10-27T04:54:32.378Z,1761540872.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300913 2025-10-27T04:54:32.417Z,1761540872.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319196,-0.941947,0.104161],[0.947518,0.319291,-0.016212],[-0.017987,0.103869,0.994428]] 2025-10-27T04:54:32.628Z,1761540872.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550870 2025-10-27T04:54:32.824Z,1761540872.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294465,-0.949961,0.104235],[0.955439,0.294999,-0.010604],[-0.020676,0.102713,0.994496]] 2025-10-27T04:54:32.881Z,1761540872.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803681 2025-10-27T04:54:33.132Z,1761540873.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054831 2025-10-27T04:54:33.223Z,1761540873.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269848,-0.957164,0.104974],[0.962619,0.270807,-0.005279],[-0.023374,0.102475,0.994461]] 2025-10-27T04:54:33.385Z,1761540873.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308126 2025-10-27T04:54:33.641Z,1761540873.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563517 2025-10-27T04:54:33.892Z,1761540873.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814972 2025-10-27T04:54:34.030Z,1761540874.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221066,-0.970672,0.094477],[0.974821,0.222829,0.008408],[-0.029214,0.090239,0.995492]] 2025-10-27T04:54:34.080Z,1761540874.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:34.146Z,1761540874.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068511 2025-10-27T04:54:34.203Z,1761540874.203 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:54:34.396Z,1761540874.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318928 2025-10-27T04:54:34.648Z,1761540874.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570921 2025-10-27T04:54:34.856Z,1761540874.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172762,-0.981690,0.080241],[0.984298,0.175065,0.022563],[-0.036197,0.075083,0.996520]] 2025-10-27T04:54:34.900Z,1761540874.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823249 2025-10-27T04:54:35.152Z,1761540875.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074899 2025-10-27T04:54:35.208Z,1761540875.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:54:35.264Z,1761540875.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148259,-0.986209,0.073555],[0.988138,0.150737,0.029343],[-0.040026,0.068332,0.996859]] 2025-10-27T04:54:35.404Z,1761540875.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326872 2025-10-27T04:54:35.656Z,1761540875.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578941 2025-10-27T04:54:35.664Z,1761540875.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124029,-0.989991,0.067342],[0.991297,0.126639,0.035966],[-0.044134,0.062295,0.997082]] 2025-10-27T04:54:35.914Z,1761540875.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833725 2025-10-27T04:54:36.066Z,1761540876.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099459,-0.992938,0.064664],[0.993871,0.102283,0.041939],[-0.048257,0.060096,0.997025]] 2025-10-27T04:54:36.120Z,1761540876.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:36.160Z,1761540876.160 [DAT](INFO): Reached modem response timeout 2025-10-27T04:54:36.161Z,1761540876.161 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:36.161Z,1761540876.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:54:36.412Z,1761540876.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:36.485Z,1761540876.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050209,-0.996710,0.063624],[0.997142,0.053628,0.053209],[-0.056446,0.060771,0.996554]] 2025-10-27T04:54:36.664Z,1761540876.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:36.895Z,1761540876.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025523,-0.997577,0.064719],[0.997834,0.029348,0.058869],[-0.060626,0.063076,0.996166]] 2025-10-27T04:54:36.916Z,1761540876.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:37.168Z,1761540877.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:37.283Z,1761540877.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001203,-0.997730,0.067334],[0.997897,0.005562,0.064585],[-0.064813,0.067115,0.995638]] 2025-10-27T04:54:37.421Z,1761540877.421 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:37.675Z,1761540877.675 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:37.688Z,1761540877.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022581,-0.997439,0.067869],[0.997384,-0.017813,0.070060],[-0.068671,0.069273,0.995231]] 2025-10-27T04:54:37.925Z,1761540877.925 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:38.176Z,1761540878.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:54:38.185Z,1761540878.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046302,-0.996672,0.067096],[0.996296,-0.041204,0.075473],[-0.072457,0.070342,0.994888]] 2025-10-27T04:54:38.225Z,1761540878.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:38.429Z,1761540878.429 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:54:38.429Z,1761540878.429 [DAT](INFO): response not received 2025-10-27T04:54:38.430Z,1761540878.430 [DAT](INFO): DAT read: user:212> 2025-10-27T04:54:38.437Z,1761540878.437 [DAT](INFO): DAT read: Tx time:04:54:37.5787 2025-10-27T04:54:38.437Z,1761540878.437 [DAT](INFO): Ping request sent. 2025-10-27T04:54:38.438Z,1761540878.438 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:54:38.438Z,1761540878.438 [DAT](INFO): publishing transmit ping time 2025-10-27T04:54:38.439Z,1761540878.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001137 2025-10-27T04:54:38.680Z,1761540878.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242588 2025-10-27T04:54:38.694Z,1761540878.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070378,-0.995334,0.066016],[0.994648,-0.065002,0.080315],[-0.075649,0.071315,0.994581]] 2025-10-27T04:54:38.932Z,1761540878.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494625 2025-10-27T04:54:39.184Z,1761540879.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746451 2025-10-27T04:54:39.436Z,1761540879.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998554 2025-10-27T04:54:39.569Z,1761540879.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118015,-0.991231,0.059448],[0.989680,-0.112509,0.088740],[-0.081273,0.069307,0.994279]] 2025-10-27T04:54:39.688Z,1761540879.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250547 2025-10-27T04:54:39.940Z,1761540879.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502432 2025-10-27T04:54:39.981Z,1761540879.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140818,-0.988542,0.054354],[0.986449,-0.135427,0.092619],[-0.084197,0.066659,0.994217]] 2025-10-27T04:54:40.192Z,1761540880.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754467 2025-10-27T04:54:40.390Z,1761540880.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164130,-0.985293,0.047532],[0.982626,-0.159074,0.095610],[-0.086643,0.062399,0.994283]] 2025-10-27T04:54:40.407Z,1761540880.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:40.445Z,1761540880.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007297 2025-10-27T04:54:40.696Z,1761540880.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258749 2025-10-27T04:54:40.781Z,1761540880.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187520,-0.981323,0.042901],[0.978215,-0.182609,0.098740],[-0.089061,0.060482,0.994188]] 2025-10-27T04:54:40.948Z,1761540880.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510779 2025-10-27T04:54:41.186Z,1761540881.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210844,-0.976698,0.040086],[0.973243,-0.205913,0.101966],[-0.091336,0.060513,0.993980]] 2025-10-27T04:54:41.200Z,1761540881.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762624 2025-10-27T04:54:41.452Z,1761540881.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014486 2025-10-27T04:54:41.590Z,1761540881.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234373,-0.971462,0.036470],[0.967653,-0.229523,0.104720],[-0.093361,0.059834,0.993833]] 2025-10-27T04:54:41.706Z,1761540881.706 [DAT](INFO): DAT read: Rx Time:04:54:40.2282 2025-10-27T04:54:41.707Z,1761540881.707 [DAT](INFO): Rx dataTimestamp_ set to:1761540881.706548 2025-10-27T04:54:41.708Z,1761540881.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270435 2025-10-27T04:54:41.956Z,1761540881.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518517 2025-10-27T04:54:42.214Z,1761540882.214 [DAT](INFO): DAT read: 04:54:40.2282 LVL= 30896, 25361, 32754, 32755, AGC= 63, IDX= 440,-0.10, 2.850,-2.386, 2.093,-3.104, PHS=-0.227, 0.763,-1.130, RAW= 358.5, 7.3, CAL= 358.5, 6.8, ROT= 151.5, -6.8 2025-10-27T04:54:42.215Z,1761540882.215 [DAT](INFO): got valid direction response: 04:54:40.2282 LVL= 30896, 25361, 32754, 32755, AGC= 63, IDX= 440,-0.10, 2.850,-2.386, 2.093,-3.104, PHS=-0.227, 0.763,-1.130, RAW= 358.5, 7.3, CAL= 358.5, 6.8, ROT= 151.5, -6.8 2025-10-27T04:54:42.217Z,1761540882.217 [DAT](INFO): DAT read: Bearing 62.7, 33.9 (Local) 2025-10-27T04:54:42.217Z,1761540882.217 [DAT](INFO): Local bearing/azimuth received: Bearing 62.7, 33.9 (Local) 2025-10-27T04:54:42.220Z,1761540882.220 [DAT](INFO): DAT read: Range 11 to 50 : 184.0 m (Round-trip 245.4 ms) speed -0.4 m/s 2025-10-27T04:54:42.221Z,1761540882.221 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:54:42.222Z,1761540882.222 [DAT](INFO): direction in FSK: [-0.872635,0.473802,0.118404] 2025-10-27T04:54:42.223Z,1761540882.223 [DAT](INFO): publishing direction and range info 2025-10-27T04:54:42.226Z,1761540882.226 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:54:42.227Z,1761540882.227 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:54:42.227Z,1761540882.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:54:42.420Z,1761540882.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281588,-0.958953,0.033436],[0.954639,-0.276465,0.110599],[-0.096815,0.063063,0.993303]] 2025-10-27T04:54:42.443Z,1761540882.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 184.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T04:54:42.445Z,1761540882.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 183.035141 m, bearing: 257.853582 deg, lat: 36.779315 deg, lon: -121.859508 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T04:54:42.446Z,1761540882.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:42.449Z,1761540882.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 176.975998 m, bearing: 241.152221 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 236.647318 deg, new cmd heading: 241.152221 deg. 2025-10-27T04:54:42.450Z,1761540882.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.208900 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:42.460Z,1761540882.460 [DAT](INFO): DAT read: user:213> 2025-10-27T04:54:42.461Z,1761540882.461 [DAT](INFO): DAT read: Tx time:04:54:41.5287 2025-10-27T04:54:42.461Z,1761540882.461 [DAT](INFO): Ping request sent. 2025-10-27T04:54:42.461Z,1761540882.461 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:54:42.461Z,1761540882.461 [DAT](INFO): publishing transmit ping time 2025-10-27T04:54:42.462Z,1761540882.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T04:54:42.713Z,1761540882.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251186 2025-10-27T04:54:42.822Z,1761540882.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304949,-0.951787,0.033289],[0.947297,-0.299538,0.113600],[-0.098152,0.066177,0.992969]] 2025-10-27T04:54:42.848Z,1761540882.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:42.850Z,1761540882.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:42.854Z,1761540882.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.179047 m, bearing: 241.222416 deg, approach rate: 0.497260 m/s, LOS rate: 0.171710 deg/s, cmd heading: 241.152232 deg, new cmd heading: 241.222416 deg. 2025-10-27T04:54:42.856Z,1761540882.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.210125 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:42.965Z,1761540882.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503569 2025-10-27T04:54:43.216Z,1761540883.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754747 2025-10-27T04:54:43.227Z,1761540883.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328879,-0.943826,0.032096],[0.939174,-0.323318,0.115835],[-0.098951,0.068240,0.992750]] 2025-10-27T04:54:43.286Z,1761540883.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:43.293Z,1761540883.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.396439 m, bearing: 241.301381 deg, approach rate: 0.498850 m/s, LOS rate: 0.180977 deg/s, cmd heading: 241.222419 deg, new cmd heading: 241.301381 deg. 2025-10-27T04:54:43.294Z,1761540883.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211504 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:43.468Z,1761540883.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006738 2025-10-27T04:54:43.648Z,1761540883.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352413,-0.935401,0.028805],[0.930486,-0.346940,0.117594],[-0.100004,0.068244,0.992644]] 2025-10-27T04:54:43.670Z,1761540883.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:43.688Z,1761540883.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.588150 m, bearing: 241.374381 deg, approach rate: 0.500100 m/s, LOS rate: 0.190223 deg/s, cmd heading: 241.301376 deg, new cmd heading: 241.374381 deg. 2025-10-27T04:54:43.689Z,1761540883.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.212778 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:43.721Z,1761540883.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259856 2025-10-27T04:54:43.972Z,1761540883.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510655 2025-10-27T04:54:44.039Z,1761540884.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375761,-0.926478,0.021028],[0.921195,-0.370953,0.117448],[-0.101012,0.063504,0.992856]] 2025-10-27T04:54:44.091Z,1761540884.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:44.093Z,1761540884.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.790680 m, bearing: 241.450933 deg, approach rate: 0.499797 m/s, LOS rate: 0.188698 deg/s, cmd heading: 241.374377 deg, new cmd heading: 241.450933 deg. 2025-10-27T04:54:44.094Z,1761540884.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214114 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:44.224Z,1761540884.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762724 2025-10-27T04:54:44.437Z,1761540884.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398993,-0.916856,0.013368],[0.911277,-0.394861,0.116871],[-0.101876,0.058812,0.993057]] 2025-10-27T04:54:44.463Z,1761540884.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:44.466Z,1761540884.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 177.979172 m, bearing: 241.525654 deg, approach rate: 0.485550 m/s, LOS rate: 0.192276 deg/s, cmd heading: 241.450930 deg, new cmd heading: 241.525654 deg. 2025-10-27T04:54:44.466Z,1761540884.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.215418 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:44.476Z,1761540884.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014742 2025-10-27T04:54:44.729Z,1761540884.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267398 2025-10-27T04:54:44.842Z,1761540884.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421466,-0.906833,0.004486],[0.900987,-0.418177,0.115547],[-0.102906,0.052741,0.993292]] 2025-10-27T04:54:44.910Z,1761540884.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:44.917Z,1761540884.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:44.923Z,1761540884.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 178.166718 m, bearing: 241.603566 deg, approach rate: 0.413296 m/s, LOS rate: 0.171515 deg/s, cmd heading: 241.525652 deg, new cmd heading: 241.603566 deg. 2025-10-27T04:54:44.925Z,1761540884.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216778 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:44.982Z,1761540884.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520749 2025-10-27T04:54:45.232Z,1761540885.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770605 2025-10-27T04:54:45.309Z,1761540885.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466350,-0.884571,-0.007158],[0.878327,-0.463990,0.115126],[-0.105158,0.047402,0.993325]] 2025-10-27T04:54:45.350Z,1761540885.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:45.375Z,1761540885.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 178.394989 m, bearing: 241.705235 deg, approach rate: 0.527373 m/s, LOS rate: 0.234584 deg/s, cmd heading: 241.603571 deg, new cmd heading: 241.705235 deg. 2025-10-27T04:54:45.377Z,1761540885.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218552 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:45.485Z,1761540885.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023476 2025-10-27T04:54:45.711Z,1761540885.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487789,-0.872920,-0.008478],[0.866475,-0.485324,0.116971],[-0.106221,0.049711,0.993099]] 2025-10-27T04:54:45.736Z,1761540885.736 [DAT](INFO): DAT read: Rx Time:04:54:44.1811 2025-10-27T04:54:45.737Z,1761540885.737 [DAT](INFO): Rx dataTimestamp_ set to:1761540885.736253 2025-10-27T04:54:45.737Z,1761540885.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275874 2025-10-27T04:54:45.759Z,1761540885.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:45.762Z,1761540885.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 178.568863 m, bearing: 241.786491 deg, approach rate: 0.429044 m/s, LOS rate: 0.200308 deg/s, cmd heading: 241.705232 deg, new cmd heading: 241.786491 deg. 2025-10-27T04:54:45.762Z,1761540885.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.219970 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:45.991Z,1761540885.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528715 2025-10-27T04:54:46.109Z,1761540886.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508882,-0.860769,-0.010806],[0.854103,-0.506428,0.118481],[-0.107457,0.051063,0.992898]] 2025-10-27T04:54:46.153Z,1761540886.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.04 m. 2025-10-27T04:54:46.156Z,1761540886.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.035141 m, nav range: 178.750183 m, bearing: 241.872358 deg, approach rate: 0.454861 m/s, LOS rate: 0.215188 deg/s, cmd heading: 241.786484 deg, new cmd heading: 241.872358 deg. 2025-10-27T04:54:46.157Z,1761540886.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221469 target range: 183.035141 and range: 184.00 m. 2025-10-27T04:54:46.247Z,1761540886.247 [DAT](INFO): DAT read: 04:54:44.1811 LVL= 32752, 28065, 32754, 32755, AGC= 68, IDX= 459, 0.03, 1.451, 1.948, 0.184, 1.595, PHS=-0.042, 0.397,-1.455, RAW= 16.9, 13.1, CAL= 16.2, 15.2, ROT= 133.8, -15.2 2025-10-27T04:54:46.248Z,1761540886.248 [DAT](INFO): got valid direction response: 04:54:44.1811 LVL= 32752, 28065, 32754, 32755, AGC= 68, IDX= 459, 0.03, 1.451, 1.948, 0.184, 1.595, PHS=-0.042, 0.397,-1.455, RAW= 16.9, 13.1, CAL= 16.2, 15.2, ROT= 133.8, -15.2 2025-10-27T04:54:46.249Z,1761540886.249 [DAT](INFO): DAT read: Bearing 59.9, 50.7 (Local) 2025-10-27T04:54:46.250Z,1761540886.250 [DAT](INFO): Local bearing/azimuth received: Bearing 59.9, 50.7 (Local) 2025-10-27T04:54:46.253Z,1761540886.253 [DAT](INFO): DAT read: Range 11 to 50 : 186.2 m (Round-trip 248.3 ms) speed -0.4 m/s 2025-10-27T04:54:46.254Z,1761540886.254 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:54:46.256Z,1761540886.256 [DAT](INFO): direction in FSK: [-0.667930,0.696510,0.262189] 2025-10-27T04:54:46.256Z,1761540886.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:54:46.265Z,1761540886.265 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:54:46.265Z,1761540886.265 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:54:46.265Z,1761540886.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:54:46.492Z,1761540886.492 [DAT](INFO): DAT read: user:214> 2025-10-27T04:54:46.493Z,1761540886.493 [DAT](INFO): DAT read: Tx time:04:54:45.5787 2025-10-27T04:54:46.493Z,1761540886.493 [DAT](INFO): Ping request sent. 2025-10-27T04:54:46.493Z,1761540886.493 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:54:46.493Z,1761540886.493 [DAT](INFO): publishing transmit ping time 2025-10-27T04:54:46.494Z,1761540886.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-27T04:54:46.514Z,1761540886.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529662,-0.848129,-0.011593],[0.841210,-0.526995,0.121000],[-0.108733,0.054337,0.992585]] 2025-10-27T04:54:46.546Z,1761540886.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 186.199997 m, deltaT: 4.033383 s, deltaX: 2.199997 m, approachRate: 0.545447 m/s, rangeRepo size: 2 2025-10-27T04:54:46.552Z,1761540886.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 185.211807 m, bearing: 255.024508 deg, lat: 36.779325 deg, lon: -121.859601 deg, deltaT: 4.033383 s, deltaX: 2.176666 m, approachRate: 0.539663 m/s, posRepo size: 2 2025-10-27T04:54:46.553Z,1761540886.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:46.560Z,1761540886.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 185.763733 m, bearing: 243.450098 deg, approach rate: 0.000000 m/s, LOS rate: 0.215188 deg/s, cmd heading: 241.872353 deg, new cmd heading: 242.125204 deg. 2025-10-27T04:54:46.561Z,1761540886.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.225882 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:46.749Z,1761540886.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254789 2025-10-27T04:54:46.917Z,1761540886.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550476,-0.834753,-0.012807],[0.827586,-0.547641,0.123250],[-0.109897,0.057247,0.992293]] 2025-10-27T04:54:46.944Z,1761540886.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:46.947Z,1761540886.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:46.949Z,1761540886.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 185.935638 m, bearing: 243.531996 deg, approach rate: 0.428269 m/s, LOS rate: 0.203844 deg/s, cmd heading: 242.125206 deg, new cmd heading: 242.370671 deg. 2025-10-27T04:54:46.950Z,1761540886.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230166 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:47.008Z,1761540887.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505441 2025-10-27T04:54:47.248Z,1761540887.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754992 2025-10-27T04:54:47.321Z,1761540887.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570436,-0.821248,-0.012434],[0.813731,-0.567142,0.127248],[-0.111554,0.062469,0.991793]] 2025-10-27T04:54:47.406Z,1761540887.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:47.413Z,1761540887.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 186.117386 m, bearing: 243.623699 deg, approach rate: 0.395710 m/s, LOS rate: 0.199465 deg/s, cmd heading: 242.370683 deg, new cmd heading: 242.645522 deg. 2025-10-27T04:54:47.414Z,1761540887.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234963 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:47.501Z,1761540887.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007541 2025-10-27T04:54:47.744Z,1761540887.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590211,-0.807112,-0.014884],[0.799268,-0.586863,0.129469],[-0.113231,0.064518,0.991472]] 2025-10-27T04:54:47.752Z,1761540887.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258977 2025-10-27T04:54:47.763Z,1761540887.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:47.766Z,1761540887.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 186.257339 m, bearing: 243.698098 deg, approach rate: 0.392028 m/s, LOS rate: 0.208245 deg/s, cmd heading: 242.645530 deg, new cmd heading: 242.868558 deg. 2025-10-27T04:54:47.767Z,1761540887.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238856 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:48.007Z,1761540888.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513118 2025-10-27T04:54:48.141Z,1761540888.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609648,-0.792439,-0.019199],[0.784337,-0.606564,0.129987],[-0.114652,0.064188,0.991330]] 2025-10-27T04:54:48.186Z,1761540888.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:48.189Z,1761540888.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 186.404816 m, bearing: 243.782034 deg, approach rate: 0.348233 m/s, LOS rate: 0.198039 deg/s, cmd heading: 242.868550 deg, new cmd heading: 243.120157 deg. 2025-10-27T04:54:48.190Z,1761540888.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243247 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:48.256Z,1761540888.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762988 2025-10-27T04:54:48.508Z,1761540888.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905 2025-10-27T04:54:48.557Z,1761540888.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628626,-0.777363,-0.023165],[0.769004,-0.625759,0.130607],[-0.116025,0.064289,0.991164]] 2025-10-27T04:54:48.580Z,1761540888.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:48.583Z,1761540888.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 186.536270 m, bearing: 243.861122 deg, approach rate: 0.333731 m/s, LOS rate: 0.200644 deg/s, cmd heading: 243.120146 deg, new cmd heading: 243.357242 deg. 2025-10-27T04:54:48.584Z,1761540888.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247385 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:48.761Z,1761540888.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267735 2025-10-27T04:54:48.950Z,1761540888.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647059,-0.761899,-0.028710],[0.753314,-0.644670,0.130071],[-0.117609,0.062536,0.991089]] 2025-10-27T04:54:49.010Z,1761540889.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:49.028Z,1761540889.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521067 2025-10-27T04:54:49.046Z,1761540889.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:49.054Z,1761540889.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 186.667374 m, bearing: 243.944593 deg, approach rate: 0.282338 m/s, LOS rate: 0.179632 deg/s, cmd heading: 243.357236 deg, new cmd heading: 243.607470 deg. 2025-10-27T04:54:49.059Z,1761540889.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251752 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:49.264Z,1761540889.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771045 2025-10-27T04:54:49.434Z,1761540889.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:49.437Z,1761540889.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 186.800354 m, bearing: 244.027390 deg, approach rate: 0.341259 m/s, LOS rate: 0.212325 deg/s, cmd heading: 243.607467 deg, new cmd heading: 243.855679 deg. 2025-10-27T04:54:49.438Z,1761540889.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256084 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:49.517Z,1761540889.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023765 2025-10-27T04:54:49.762Z,1761540889.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682567,-0.729938,-0.035959],[0.720868,-0.680547,0.131169],[-0.120217,0.063610,0.990708]] 2025-10-27T04:54:49.768Z,1761540889.768 [DAT](INFO): DAT read: Rx Time:04:54:48.2334 2025-10-27T04:54:49.768Z,1761540889.768 [DAT](INFO): Rx dataTimestamp_ set to:1761540889.768168 2025-10-27T04:54:49.769Z,1761540889.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275984 2025-10-27T04:54:49.805Z,1761540889.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:49.808Z,1761540889.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 186.900955 m, bearing: 244.098226 deg, approach rate: 0.271541 m/s, LOS rate: 0.191097 deg/s, cmd heading: 243.855676 deg, new cmd heading: 244.068069 deg. 2025-10-27T04:54:49.809Z,1761540889.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259791 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:50.034Z,1761540890.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539916 2025-10-27T04:54:50.166Z,1761540890.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699487,-0.713591,-0.038804],[0.704237,-0.697516,0.132367],[-0.121522,0.065261,0.990441]] 2025-10-27T04:54:50.217Z,1761540890.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.21 m. 2025-10-27T04:54:50.220Z,1761540890.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.211807 m, nav range: 186.994308 m, bearing: 244.173874 deg, approach rate: 0.226626 m/s, LOS rate: 0.183553 deg/s, cmd heading: 244.068067 deg, new cmd heading: 244.294897 deg. 2025-10-27T04:54:50.221Z,1761540890.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263750 target range: 185.211807 and range: 186.20 m. 2025-10-27T04:54:50.281Z,1761540890.281 [DAT](INFO): DAT read: 04:54:48.2334 LVL= 24032, 26481, 31218, 28051, AGC= 66, IDX= 451,-0.13,-0.359,-0.596,-2.073,-0.659, PHS= 0.402, 0.108,-1.457, RAW= 38.5, 11.0, CAL= 36.3, 11.8, ROT= 113.7, -11.8 2025-10-27T04:54:50.282Z,1761540890.282 [DAT](INFO): got valid direction response: 04:54:48.2334 LVL= 24032, 26481, 31218, 28051, AGC= 66, IDX= 451,-0.13,-0.359,-0.596,-2.073,-0.659, PHS= 0.402, 0.108,-1.457, RAW= 38.5, 11.0, CAL= 36.3, 11.8, ROT= 113.7, -11.8 2025-10-27T04:54:50.283Z,1761540890.283 [DAT](INFO): DAT read: Bearing 64.3, 71.6 (Local) 2025-10-27T04:54:50.283Z,1761540890.283 [DAT](INFO): Local bearing/azimuth received: Bearing 64.3, 71.6 (Local) 2025-10-27T04:54:50.285Z,1761540890.285 [DAT](INFO): DAT read: Range 11 to 50 : 187.9 m (Round-trip 250.6 ms) speed -0.2 m/s 2025-10-27T04:54:50.285Z,1761540890.285 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:54:50.286Z,1761540890.286 [DAT](INFO): direction in FSK: [-0.393453,0.896312,0.204496] 2025-10-27T04:54:50.286Z,1761540890.286 [DAT](INFO): publishing direction and range info 2025-10-27T04:54:50.290Z,1761540890.290 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:54:50.290Z,1761540890.290 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:54:50.290Z,1761540890.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:54:50.524Z,1761540890.524 [DAT](INFO): DAT read: user:215> 2025-10-27T04:54:50.525Z,1761540890.525 [DAT](INFO): DAT read: Tx time:04:54:49.5787 2025-10-27T04:54:50.525Z,1761540890.525 [DAT](INFO): Ping request sent. 2025-10-27T04:54:50.525Z,1761540890.525 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:54:50.525Z,1761540890.525 [DAT](INFO): publishing transmit ping time 2025-10-27T04:54:50.526Z,1761540890.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T04:54:50.569Z,1761540890.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715842,-0.696891,-0.043738],[0.687384,-0.714320,0.131336],[-0.122770,0.063951,0.990373]] 2025-10-27T04:54:50.625Z,1761540890.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.899994 m, deltaT: 4.031364 s, deltaX: 1.699997 m, approachRate: 0.421693 m/s, rangeRepo size: 3 2025-10-27T04:54:50.632Z,1761540890.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.885635 m, bearing: 248.288883 deg, lat: 36.779464 deg, lon: -121.859601 deg, deltaT: 4.031364 s, deltaX: 1.673828 m, approachRate: 0.415201 m/s, posRepo size: 3 2025-10-27T04:54:50.632Z,1761540890.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:50.639Z,1761540890.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 180.876373 m, bearing: 248.678045 deg, approach rate: 0.000000 m/s, LOS rate: 0.183553 deg/s, cmd heading: 244.294884 deg, new cmd heading: 244.519671 deg. 2025-10-27T04:54:50.640Z,1761540890.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.267673 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:50.776Z,1761540890.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250896 2025-10-27T04:54:50.974Z,1761540890.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731724,-0.679770,-0.049929],[0.670143,-0.730866,0.129395],[-0.124450,0.061222,0.990335]] 2025-10-27T04:54:51.012Z,1761540891.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:51.016Z,1761540891.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 180.974625 m, bearing: 248.752794 deg, approach rate: 0.253884 m/s, LOS rate: 0.193048 deg/s, cmd heading: 244.519679 deg, new cmd heading: 244.743803 deg. 2025-10-27T04:54:51.022Z,1761540891.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271585 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:51.047Z,1761540891.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505266 2025-10-27T04:54:51.280Z,1761540891.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754870 2025-10-27T04:54:51.384Z,1761540891.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747282,-0.662096,-0.056547],[0.652450,-0.747199,0.126500],[-0.126008,0.057637,0.990353]] 2025-10-27T04:54:51.430Z,1761540891.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:51.433Z,1761540891.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:51.436Z,1761540891.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 181.064087 m, bearing: 248.831266 deg, approach rate: 0.212596 m/s, LOS rate: 0.186387 deg/s, cmd heading: 244.743792 deg, new cmd heading: 244.979090 deg. 2025-10-27T04:54:51.436Z,1761540891.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275692 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:51.532Z,1761540891.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007365 2025-10-27T04:54:51.781Z,1761540891.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762272,-0.644323,-0.061560],[0.634555,-0.762675,0.125169],[-0.127600,0.056349,0.990224]] 2025-10-27T04:54:51.784Z,1761540891.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983 2025-10-27T04:54:51.813Z,1761540891.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:51.816Z,1761540891.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 181.139557 m, bearing: 248.902331 deg, approach rate: 0.198448 m/s, LOS rate: 0.186787 deg/s, cmd heading: 244.979078 deg, new cmd heading: 245.192182 deg. 2025-10-27T04:54:51.817Z,1761540891.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279411 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:52.039Z,1761540892.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513385 2025-10-27T04:54:52.185Z,1761540892.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776693,-0.625971,-0.070054],[0.616442,-0.778258,0.119636],[-0.129409,0.049736,0.990343]] 2025-10-27T04:54:52.240Z,1761540892.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:52.243Z,1761540892.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 181.215652 m, bearing: 248.981993 deg, approach rate: 0.178082 m/s, LOS rate: 0.186350 deg/s, cmd heading: 245.192180 deg, new cmd heading: 245.431064 deg. 2025-10-27T04:54:52.244Z,1761540892.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283580 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:52.289Z,1761540892.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763640 2025-10-27T04:54:52.540Z,1761540892.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015002 2025-10-27T04:54:52.589Z,1761540892.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790676,-0.607355,-0.077145],[0.597990,-0.793147,0.115440],[-0.131300,0.045144,0.990314]] 2025-10-27T04:54:52.619Z,1761540892.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:52.622Z,1761540892.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 181.278183 m, bearing: 249.053009 deg, approach rate: 0.165151 m/s, LOS rate: 0.187498 deg/s, cmd heading: 245.431073 deg, new cmd heading: 245.644047 deg. 2025-10-27T04:54:52.623Z,1761540892.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287297 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:52.792Z,1761540892.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266868 2025-10-27T04:54:52.994Z,1761540892.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804307,-0.588303,-0.083603],[0.579067,-0.807573,0.111833],[-0.133308,0.041536,0.990204]] 2025-10-27T04:54:53.013Z,1761540893.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:53.036Z,1761540893.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 181.338013 m, bearing: 249.127243 deg, approach rate: 0.151904 m/s, LOS rate: 0.188414 deg/s, cmd heading: 245.644038 deg, new cmd heading: 245.866666 deg. 2025-10-27T04:54:53.037Z,1761540893.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291183 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:53.044Z,1761540893.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519027 2025-10-27T04:54:53.296Z,1761540893.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770918 2025-10-27T04:54:53.398Z,1761540893.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817663,-0.568988,-0.087635],[0.559526,-0.821260,0.111633],[-0.135489,0.042244,0.989878]] 2025-10-27T04:54:53.444Z,1761540893.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:53.446Z,1761540893.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:53.449Z,1761540893.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 181.391129 m, bearing: 249.204821 deg, approach rate: 0.122474 m/s, LOS rate: 0.178825 deg/s, cmd heading: 245.866675 deg, new cmd heading: 246.099338 deg. 2025-10-27T04:54:53.450Z,1761540893.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.295244 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:53.549Z,1761540893.549 [DAT](INFO): DAT read: Rx Time:04:54:52.2342 2025-10-27T04:54:53.550Z,1761540893.550 [DAT](INFO): Rx dataTimestamp_ set to:1761540893.549230 2025-10-27T04:54:53.550Z,1761540893.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025390 2025-10-27T04:54:53.800Z,1761540893.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274787 2025-10-27T04:54:53.804Z,1761540893.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830801,-0.549062,-0.091107],[0.539303,-0.834625,0.112039],[-0.137557,0.043948,0.989518]] 2025-10-27T04:54:53.823Z,1761540893.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:53.826Z,1761540893.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 181.432419 m, bearing: 249.272668 deg, approach rate: 0.109719 m/s, LOS rate: 0.180244 deg/s, cmd heading: 246.099338 deg, new cmd heading: 246.302830 deg. 2025-10-27T04:54:53.827Z,1761540893.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.298795 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:54.071Z,1761540894.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545552 2025-10-27T04:54:54.262Z,1761540894.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.89 m. 2025-10-27T04:54:54.265Z,1761540894.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.885635 m, nav range: 181.486130 m, bearing: 249.351945 deg, approach rate: 0.122207 m/s, LOS rate: 0.180324 deg/s, cmd heading: 246.302823 deg, new cmd heading: 246.540584 deg. 2025-10-27T04:54:54.266Z,1761540894.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302945 target range: 186.885635 and range: 187.90 m. 2025-10-27T04:54:54.312Z,1761540894.312 [DAT](INFO): DAT read: 04:54:52.2342 LVL= 22080, 24737, 32754, 27699, AGC= 65, IDX= 427, 0.14,-2.150,-2.912, 2.376,-2.610, PHS= 0.562,-0.257,-1.341, RAW= 55.4, 12.5, CAL= 52.0, 15.0, ROT= 98.0, -15.0 2025-10-27T04:54:54.313Z,1761540894.313 [DAT](INFO): got valid direction response: 04:54:52.2342 LVL= 22080, 24737, 32754, 27699, AGC= 65, IDX= 427, 0.14,-2.150,-2.912, 2.376,-2.610, PHS= 0.562,-0.257,-1.341, RAW= 55.4, 12.5, CAL= 52.0, 15.0, ROT= 98.0, -15.0 2025-10-27T04:54:54.314Z,1761540894.314 [DAT](INFO): DAT read: Bearing 16.9, 76.4 (Local) 2025-10-27T04:54:54.315Z,1761540894.315 [DAT](INFO): Local bearing/azimuth received: Bearing 16.9, 76.4 (Local) 2025-10-27T04:54:54.317Z,1761540894.317 [DAT](INFO): DAT read: Range 11 to 50 : 188.5 m (Round-trip 251.4 ms) speed -0.2 m/s 2025-10-27T04:54:54.318Z,1761540894.318 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:54:54.320Z,1761540894.320 [DAT](INFO): direction in FSK: [-0.134431,0.956526,0.258819] 2025-10-27T04:54:54.320Z,1761540894.320 [DAT](INFO): publishing direction and range info 2025-10-27T04:54:54.328Z,1761540894.328 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:54:54.328Z,1761540894.328 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:54:54.329Z,1761540894.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:54:54.556Z,1761540894.556 [DAT](INFO): DAT read: user:216> 2025-10-27T04:54:54.557Z,1761540894.557 [DAT](INFO): DAT read: Tx time:04:54:53.6287 2025-10-27T04:54:54.557Z,1761540894.557 [DAT](INFO): Ping request sent. 2025-10-27T04:54:54.557Z,1761540894.557 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:54:54.557Z,1761540894.557 [DAT](INFO): publishing transmit ping time 2025-10-27T04:54:54.558Z,1761540894.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T04:54:54.620Z,1761540894.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856256,-0.507354,-0.097048],[0.496755,-0.860290,0.114608],[-0.141636,0.049925,0.988659]] 2025-10-27T04:54:54.685Z,1761540894.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 188.500000 m, deltaT: 4.031548 s, deltaX: 0.600006 m, approachRate: 0.148828 m/s, rangeRepo size: 4 2025-10-27T04:54:54.688Z,1761540894.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 187.477554 m, bearing: 245.313804 deg, lat: 36.779464 deg, lon: -121.859601 deg, deltaT: 4.031548 s, deltaX: 0.591919 m, approachRate: 0.146822 m/s, posRepo size: 4 2025-10-27T04:54:54.688Z,1761540894.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:54.695Z,1761540894.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.523972 m, bearing: 249.425074 deg, approach rate: 0.000000 m/s, LOS rate: 0.180324 deg/s, cmd heading: 246.540596 deg, new cmd heading: 246.769101 deg. 2025-10-27T04:54:54.696Z,1761540894.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306933 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:54.808Z,1761540894.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251078 2025-10-27T04:54:55.048Z,1761540895.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:55.051Z,1761540895.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.560287 m, bearing: 249.494694 deg, approach rate: 0.099918 m/s, LOS rate: 0.191510 deg/s, cmd heading: 246.769107 deg, new cmd heading: 246.977924 deg. 2025-10-27T04:54:55.052Z,1761540895.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310578 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:55.062Z,1761540895.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504618 2025-10-27T04:54:55.312Z,1761540895.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754939 2025-10-27T04:54:55.418Z,1761540895.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879744,-0.464178,-0.102900],[0.452612,-0.883909,0.117673],[-0.145576,0.056948,0.987707]] 2025-10-27T04:54:55.458Z,1761540895.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:55.460Z,1761540895.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:55.472Z,1761540895.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.586441 m, bearing: 249.566923 deg, approach rate: 0.063493 m/s, LOS rate: 0.175323 deg/s, cmd heading: 246.977919 deg, new cmd heading: 247.194572 deg. 2025-10-27T04:54:55.473Z,1761540895.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314359 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:55.565Z,1761540895.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007336 2025-10-27T04:54:55.816Z,1761540895.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259105 2025-10-27T04:54:55.830Z,1761540895.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890676,-0.441968,-0.106582],[0.430045,-0.895077,0.117892],[-0.147503,0.059169,0.987290]] 2025-10-27T04:54:55.855Z,1761540895.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:55.860Z,1761540895.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.607544 m, bearing: 249.640958 deg, approach rate: 0.053531 m/s, LOS rate: 0.187779 deg/s, cmd heading: 247.194573 deg, new cmd heading: 247.416651 deg. 2025-10-27T04:54:55.861Z,1761540895.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318235 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:56.068Z,1761540896.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510950 2025-10-27T04:54:56.226Z,1761540896.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901426,-0.418212,-0.111935],[0.406377,-0.906522,0.114349],[-0.149294,0.057589,0.987114]] 2025-10-27T04:54:56.239Z,1761540896.239 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS00 2025-10-27T04:54:56.320Z,1761540896.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762889 2025-10-27T04:54:56.333Z,1761540896.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:56.336Z,1761540896.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.622849 m, bearing: 249.715432 deg, approach rate: 0.031977 m/s, LOS rate: 0.155591 deg/s, cmd heading: 247.416663 deg, new cmd heading: 247.640064 deg. 2025-10-27T04:54:56.337Z,1761540896.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322134 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:56.572Z,1761540896.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853 2025-10-27T04:54:56.638Z,1761540896.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911742,-0.393824,-0.116744],[0.382093,-0.917449,0.110869],[-0.150769,0.056477,0.986954]] 2025-10-27T04:54:56.657Z,1761540896.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:56.662Z,1761540896.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.632065 m, bearing: 249.789290 deg, approach rate: 0.028395 m/s, LOS rate: 0.227541 deg/s, cmd heading: 247.640065 deg, new cmd heading: 247.861627 deg. 2025-10-27T04:54:56.663Z,1761540896.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326002 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:56.824Z,1761540896.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266958 2025-10-27T04:54:57.034Z,1761540897.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921561,-0.368934,-0.120887],[0.357301,-0.927768,0.107624],[-0.151861,0.055989,0.986815]] 2025-10-27T04:54:57.073Z,1761540897.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:57.076Z,1761540897.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519072 2025-10-27T04:54:57.077Z,1761540897.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.635239 m, bearing: 249.862697 deg, approach rate: 0.007647 m/s, LOS rate: 0.176860 deg/s, cmd heading: 247.861636 deg, new cmd heading: 248.081854 deg. 2025-10-27T04:54:57.078Z,1761540897.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329845 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:57.328Z,1761540897.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804 2025-10-27T04:54:57.437Z,1761540897.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930906,-0.343033,-0.125469],[0.331745,-0.937780,0.102542],[-0.152838,0.053834,0.986784]] 2025-10-27T04:54:57.484Z,1761540897.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:57.486Z,1761540897.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:57.489Z,1761540897.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.675720 m, bearing: 249.956213 deg, approach rate: 0.097972 m/s, LOS rate: 0.226272 deg/s, cmd heading: 248.081842 deg, new cmd heading: 248.362324 deg. 2025-10-27T04:54:57.489Z,1761540897.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334740 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:57.581Z,1761540897.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024078 2025-10-27T04:54:57.832Z,1761540897.832 [DAT](INFO): DAT read: Rx Time:04:54:56.2849 2025-10-27T04:54:57.833Z,1761540897.833 [DAT](INFO): Rx dataTimestamp_ set to:1761540897.832246 2025-10-27T04:54:57.833Z,1761540897.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276068 2025-10-27T04:54:57.850Z,1761540897.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939640,-0.316731,-0.129455],[0.305623,-0.947024,0.098696],[-0.153857,0.053174,0.986661]] 2025-10-27T04:54:57.904Z,1761540897.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:57.906Z,1761540897.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.705536 m, bearing: 250.041818 deg, approach rate: 0.071350 m/s, LOS rate: 0.204821 deg/s, cmd heading: 248.362317 deg, new cmd heading: 248.619088 deg. 2025-10-27T04:54:57.911Z,1761540897.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339221 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:58.084Z,1761540898.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526796 2025-10-27T04:54:58.245Z,1761540898.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947750,-0.290094,-0.132719],[0.279024,-0.955479,0.095947],[-0.154644,0.053902,0.986499]] 2025-10-27T04:54:58.301Z,1761540898.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T04:54:58.304Z,1761540898.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.477554 m, nav range: 181.753403 m, bearing: 250.138455 deg, approach rate: 0.120384 m/s, LOS rate: 0.242975 deg/s, cmd heading: 248.619077 deg, new cmd heading: 248.908909 deg. 2025-10-27T04:54:58.305Z,1761540898.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344280 target range: 187.477554 and range: 188.50 m. 2025-10-27T04:54:58.346Z,1761540898.346 [DAT](INFO): DAT read: 04:54:56.2849 LVL= 23056, 32753, 32754, 32755, AGC= 67, IDX= 434,-0.02,-0.551,-1.563,-2.366,-1.163, PHS= 0.714,-0.355,-1.247, RAW= 63.0, 10.5, CAL= 60.5, 13.5, ROT= 89.5, -13.5 2025-10-27T04:54:58.349Z,1761540898.349 [DAT](INFO): got valid direction response: 04:54:56.2849 LVL= 23056, 32753, 32754, 32755, AGC= 67, IDX= 434,-0.02,-0.551,-1.563,-2.366,-1.163, PHS= 0.714,-0.355,-1.247, RAW= 63.0, 10.5, CAL= 60.5, 13.5, ROT= 89.5, -13.5 2025-10-27T04:54:58.350Z,1761540898.350 [DAT](INFO): DAT read: Bearing 352.9, 75.2 (Local) 2025-10-27T04:54:58.350Z,1761540898.350 [DAT](INFO): Local bearing/azimuth received: Bearing 352.9, 75.2 (Local) 2025-10-27T04:54:58.353Z,1761540898.353 [DAT](INFO): DAT read: Range 11 to 50 : 189.0 m (Round-trip 252.1 ms) speed -0.2 m/s 2025-10-27T04:54:58.354Z,1761540898.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:54:58.356Z,1761540898.356 [DAT](INFO): direction in FSK: [0.008485,0.972333,0.233445] 2025-10-27T04:54:58.356Z,1761540898.356 [DAT](INFO): publishing direction and range info 2025-10-27T04:54:58.366Z,1761540898.366 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:54:58.366Z,1761540898.366 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:54:58.367Z,1761540898.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:54:58.588Z,1761540898.588 [DAT](INFO): DAT read: user:217> 2025-10-27T04:54:58.589Z,1761540898.589 [DAT](INFO): DAT read: Tx time:04:54:57.6787 2025-10-27T04:54:58.589Z,1761540898.589 [DAT](INFO): Ping request sent. 2025-10-27T04:54:58.589Z,1761540898.589 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:54:58.589Z,1761540898.589 [DAT](INFO): publishing transmit ping time 2025-10-27T04:54:58.590Z,1761540898.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-10-27T04:54:58.651Z,1761540898.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955081,-0.262946,-0.136672],[0.252230,-0.963391,0.090868],[-0.155562,0.052314,0.986440]] 2025-10-27T04:54:58.684Z,1761540898.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 189.000000 m, deltaT: 4.031855 s, deltaX: 0.500000 m, approachRate: 0.124012 m/s, rangeRepo size: 4 2025-10-27T04:54:58.686Z,1761540898.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 187.994431 m, bearing: 252.062208 deg, lat: 36.779517 deg, lon: -121.859601 deg, deltaT: 4.031855 s, deltaX: 0.516876 m, approachRate: 0.128198 m/s, posRepo size: 4 2025-10-27T04:54:58.687Z,1761540898.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:54:58.689Z,1761540898.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 179.872177 m, bearing: 251.999664 deg, approach rate: 0.000000 m/s, LOS rate: 0.242975 deg/s, cmd heading: 248.908896 deg, new cmd heading: 249.187217 deg. 2025-10-27T04:54:58.690Z,1761540898.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349137 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:54:58.841Z,1761540898.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251947 2025-10-27T04:54:59.054Z,1761540899.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961662,-0.236054,-0.139588],[0.225509,-0.970323,0.087290],[-0.156051,0.052465,0.986355]] 2025-10-27T04:54:59.072Z,1761540899.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:54:59.075Z,1761540899.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 179.910355 m, bearing: 252.090412 deg, approach rate: 0.098170 m/s, LOS rate: 0.233300 deg/s, cmd heading: 249.187212 deg, new cmd heading: 249.459395 deg. 2025-10-27T04:54:59.076Z,1761540899.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353888 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:54:59.092Z,1761540899.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502891 2025-10-27T04:54:59.345Z,1761540899.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755876 2025-10-27T04:54:59.459Z,1761540899.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967478,-0.208405,-0.143368],[0.198543,-0.976812,0.080119],[-0.156741,0.049048,0.986421]] 2025-10-27T04:54:59.494Z,1761540899.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:54:59.496Z,1761540899.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:54:59.499Z,1761540899.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 179.957581 m, bearing: 252.188431 deg, approach rate: 0.111326 m/s, LOS rate: 0.230999 deg/s, cmd heading: 249.459409 deg, new cmd heading: 249.753385 deg. 2025-10-27T04:54:59.500Z,1761540899.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359019 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:54:59.596Z,1761540899.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932 2025-10-27T04:54:59.848Z,1761540899.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259300 2025-10-27T04:54:59.873Z,1761540899.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972520,-0.180745,-0.146752],[0.171576,-0.982462,0.073008],[-0.157374,0.045822,0.986475]] 2025-10-27T04:54:59.892Z,1761540899.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:54:59.939Z,1761540899.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 179.994339 m, bearing: 252.280578 deg, approach rate: 0.093078 m/s, LOS rate: 0.233284 deg/s, cmd heading: 249.753380 deg, new cmd heading: 250.029763 deg. 2025-10-27T04:54:59.940Z,1761540899.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363842 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:55:00.101Z,1761540900.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511780 2025-10-27T04:55:00.267Z,1761540900.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976807,-0.153279,-0.149514],[0.144639,-0.987206,0.067107],[-0.157888,0.043925,0.986480]] 2025-10-27T04:55:00.306Z,1761540900.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:55:00.309Z,1761540900.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 180.033386 m, bearing: 252.376090 deg, approach rate: 0.094016 m/s, LOS rate: 0.229918 deg/s, cmd heading: 250.029757 deg, new cmd heading: 250.316227 deg. 2025-10-27T04:55:00.310Z,1761540900.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368842 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:55:00.353Z,1761540900.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763566 2025-10-27T04:55:00.604Z,1761540900.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014855 2025-10-27T04:55:00.670Z,1761540900.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980334,-0.126540,-0.151433],[0.118186,-0.990992,0.062986],[-0.158040,0.043851,0.986459]] 2025-10-27T04:55:00.718Z,1761540900.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:55:00.735Z,1761540900.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 180.062820 m, bearing: 252.465768 deg, approach rate: 0.071507 m/s, LOS rate: 0.217827 deg/s, cmd heading: 250.316215 deg, new cmd heading: 250.585203 deg. 2025-10-27T04:55:00.736Z,1761540900.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373537 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:55:00.857Z,1761540900.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268049 2025-10-27T04:55:01.073Z,1761540901.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983148,-0.099935,-0.153077],[0.091601,-0.993951,0.060577],[-0.158205,0.045534,0.986356]] 2025-10-27T04:55:01.091Z,1761540901.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:55:01.094Z,1761540901.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 180.085434 m, bearing: 252.557319 deg, approach rate: 0.060618 m/s, LOS rate: 0.245381 deg/s, cmd heading: 250.585215 deg, new cmd heading: 250.859832 deg. 2025-10-27T04:55:01.095Z,1761540901.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378330 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:55:01.108Z,1761540901.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518944 2025-10-27T04:55:01.361Z,1761540901.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771706 2025-10-27T04:55:01.477Z,1761540901.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985179,-0.073496,-0.154987],[0.065335,-0.996228,0.057113],[-0.158600,0.046141,0.986264]] 2025-10-27T04:55:01.525Z,1761540901.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:01.527Z,1761540901.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:55:01.529Z,1761540901.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 180.100540 m, bearing: 252.658622 deg, approach rate: 0.034691 m/s, LOS rate: 0.232622 deg/s, cmd heading: 250.859844 deg, new cmd heading: 251.163726 deg. 2025-10-27T04:55:01.530Z,1761540901.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383634 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:55:01.613Z,1761540901.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023672 2025-10-27T04:55:01.865Z,1761540901.865 [DAT](INFO): DAT read: Rx Time:04:55:00.3358 2025-10-27T04:55:01.866Z,1761540901.866 [DAT](INFO): Rx dataTimestamp_ set to:1761540901.864967 2025-10-27T04:55:01.866Z,1761540901.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277410 2025-10-27T04:55:01.883Z,1761540901.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986490,-0.047325,-0.156838],[0.039180,-0.997738,0.054624],[-0.159068,0.047741,0.986113]] 2025-10-27T04:55:01.907Z,1761540901.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:55:01.910Z,1761540901.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 180.106827 m, bearing: 252.747786 deg, approach rate: 0.016520 m/s, LOS rate: 0.234293 deg/s, cmd heading: 251.163732 deg, new cmd heading: 251.431212 deg. 2025-10-27T04:55:01.931Z,1761540901.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388302 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:55:02.116Z,1761540902.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526845 2025-10-27T04:55:02.287Z,1761540902.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987107,-0.021078,-0.158670],[0.012934,-0.998554,0.052184],[-0.159540,0.049459,0.985952]] 2025-10-27T04:55:02.326Z,1761540902.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.99 m. 2025-10-27T04:55:02.328Z,1761540902.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.994431 m, nav range: 180.091461 m, bearing: 252.839025 deg, approach rate: -0.036717 m/s, LOS rate: 0.218038 deg/s, cmd heading: 251.431203 deg, new cmd heading: 251.704942 deg. 2025-10-27T04:55:02.329Z,1761540902.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393080 target range: 187.994431 and range: 189.00 m. 2025-10-27T04:55:02.375Z,1761540902.375 [DAT](INFO): DAT read: 04:55:00.3358 LVL= 20976, 32753, 32242, 32755, AGC= 65, IDX= 427,-0.41, 1.179,-0.305,-0.616, 0.546, PHS= 0.735,-0.806,-1.206, RAW= 78.7, 14.3, CAL= 78.5, 19.4, ROT= 71.5, -19.4 2025-10-27T04:55:02.376Z,1761540902.376 [DAT](INFO): got valid direction response: 04:55:00.3358 LVL= 20976, 32753, 32242, 32755, AGC= 65, IDX= 427,-0.41, 1.179,-0.305,-0.616, 0.546, PHS= 0.735,-0.806,-1.206, RAW= 78.7, 14.3, CAL= 78.5, 19.4, ROT= 71.5, -19.4 2025-10-27T04:55:02.377Z,1761540902.377 [DAT](INFO): DAT read: Bearing 350.6, 57.5 (Local) 2025-10-27T04:55:02.377Z,1761540902.377 [DAT](INFO): Local bearing/azimuth received: Bearing 350.6, 57.5 (Local) 2025-10-27T04:55:02.379Z,1761540902.379 [DAT](INFO): DAT read: Range 11 to 50 : 189.7 m (Round-trip 253.0 ms) speed 0.1 m/s 2025-10-27T04:55:02.379Z,1761540902.379 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:02.380Z,1761540902.380 [DAT](INFO): direction in FSK: [0.299289,0.894480,0.332161] 2025-10-27T04:55:02.381Z,1761540902.381 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:02.388Z,1761540902.388 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:02.388Z,1761540902.388 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:02.389Z,1761540902.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:02.620Z,1761540902.620 [DAT](INFO): DAT read: user:218> 2025-10-27T04:55:02.621Z,1761540902.621 [DAT](INFO): DAT read: Tx time:04:55:01.6787 2025-10-27T04:55:02.621Z,1761540902.621 [DAT](INFO): Ping request sent. 2025-10-27T04:55:02.621Z,1761540902.621 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:55:02.621Z,1761540902.621 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:02.622Z,1761540902.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000772 2025-10-27T04:55:02.694Z,1761540902.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987062,0.005010,-0.160264],[-0.012984,-0.998727,0.048749],[-0.159816,0.050199,0.985870]] 2025-10-27T04:55:02.756Z,1761540902.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 189.699997 m, deltaT: 4.032857 s, deltaX: 0.699997 m, approachRate: 0.173573 m/s, rangeRepo size: 4 2025-10-27T04:55:02.758Z,1761540902.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 188.695724 m, bearing: 248.662316 deg, lat: 36.779464 deg, lon: -121.859564 deg, deltaT: 4.032857 s, deltaX: 0.701294 m, approachRate: 0.173895 m/s, posRepo size: 4 2025-10-27T04:55:02.758Z,1761540902.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:02.765Z,1761540902.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.761246 m, bearing: 250.801567 deg, approach rate: 0.000000 m/s, LOS rate: 0.218038 deg/s, cmd heading: 251.704929 deg, new cmd heading: 251.983092 deg. 2025-10-27T04:55:02.766Z,1761540902.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397934 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:02.872Z,1761540902.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251116 2025-10-27T04:55:03.094Z,1761540903.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986313,0.030718,-0.161995],[-0.039086,-0.998047,0.048724],[-0.160182,0.054389,0.985588]] 2025-10-27T04:55:03.124Z,1761540903.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502971 2025-10-27T04:55:03.140Z,1761540903.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:03.142Z,1761540903.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.724075 m, bearing: 250.885727 deg, approach rate: -0.095619 m/s, LOS rate: 0.216539 deg/s, cmd heading: 251.983082 deg, new cmd heading: 252.235610 deg. 2025-10-27T04:55:03.148Z,1761540903.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402342 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:03.376Z,1761540903.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754861 2025-10-27T04:55:03.499Z,1761540903.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984959,0.056108,-0.163427],[-0.064349,-0.996886,0.045576],[-0.160361,0.055407,0.985502]] 2025-10-27T04:55:03.540Z,1761540903.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:03.542Z,1761540903.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:03.545Z,1761540903.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.666534 m, bearing: 250.969311 deg, approach rate: -0.142860 m/s, LOS rate: 0.207587 deg/s, cmd heading: 252.235608 deg, new cmd heading: 252.486440 deg. 2025-10-27T04:55:03.546Z,1761540903.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406720 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:03.630Z,1761540903.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008721 2025-10-27T04:55:03.880Z,1761540903.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258966 2025-10-27T04:55:03.902Z,1761540903.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982862,0.082306,-0.164951],[-0.090208,-0.995079,0.040985],[-0.160766,0.055162,0.985450]] 2025-10-27T04:55:03.920Z,1761540903.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:03.923Z,1761540903.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.609146 m, bearing: 251.043828 deg, approach rate: -0.151827 m/s, LOS rate: 0.197207 deg/s, cmd heading: 252.486439 deg, new cmd heading: 252.710062 deg. 2025-10-27T04:55:03.924Z,1761540903.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410623 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:04.132Z,1761540904.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 2025-10-27T04:55:04.384Z,1761540904.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762950 2025-10-27T04:55:04.394Z,1761540904.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:04.401Z,1761540904.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.511047 m, bearing: 251.126768 deg, approach rate: -0.207311 m/s, LOS rate: 0.175372 deg/s, cmd heading: 252.710060 deg, new cmd heading: 252.959014 deg. 2025-10-27T04:55:04.402Z,1761540904.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414968 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:04.636Z,1761540904.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015136 2025-10-27T04:55:04.718Z,1761540904.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976912,0.132146,-0.167868],[-0.139722,-0.989604,0.034095],[-0.161617,0.056763,0.985220]] 2025-10-27T04:55:04.742Z,1761540904.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:04.744Z,1761540904.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.419083 m, bearing: 251.194303 deg, approach rate: -0.264185 m/s, LOS rate: 0.194105 deg/s, cmd heading: 252.959007 deg, new cmd heading: 253.161714 deg. 2025-10-27T04:55:04.745Z,1761540904.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418506 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:04.888Z,1761540904.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266862 2025-10-27T04:55:05.113Z,1761540905.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973114,0.156298,-0.169175],[-0.163678,-0.986042,0.030508],[-0.162045,0.057378,0.985114]] 2025-10-27T04:55:05.140Z,1761540905.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519246 2025-10-27T04:55:05.144Z,1761540905.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:05.146Z,1761540905.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.314743 m, bearing: 251.266341 deg, approach rate: -0.259387 m/s, LOS rate: 0.179192 deg/s, cmd heading: 253.161727 deg, new cmd heading: 253.377967 deg. 2025-10-27T04:55:05.148Z,1761540905.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422280 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:05.367Z,1761540905.367 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:55:05.392Z,1761540905.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771354 2025-10-27T04:55:05.518Z,1761540905.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968890,0.179429,-0.170461],[-0.186516,-0.982098,0.026383],[-0.162675,0.057356,0.985011]] 2025-10-27T04:55:05.567Z,1761540905.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:05.569Z,1761540905.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:05.573Z,1761540905.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.182770 m, bearing: 251.336875 deg, approach rate: -0.310281 m/s, LOS rate: 0.165953 deg/s, cmd heading: 253.377970 deg, new cmd heading: 253.589726 deg. 2025-10-27T04:55:05.574Z,1761540905.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425976 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:05.644Z,1761540905.644 [DAT](INFO): DAT read: Rx Time:04:55:04.3344 2025-10-27T04:55:05.645Z,1761540905.645 [DAT](INFO): Rx dataTimestamp_ set to:1761540905.644326 2025-10-27T04:55:05.645Z,1761540905.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024154 2025-10-27T04:55:05.896Z,1761540905.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885 2025-10-27T04:55:05.922Z,1761540905.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964127,0.203062,-0.170950],[-0.209347,-0.977649,0.019383],[-0.163194,0.054475,0.985089]] 2025-10-27T04:55:05.940Z,1761540905.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.70 m. 2025-10-27T04:55:05.943Z,1761540905.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.695724 m, nav range: 178.063736 m, bearing: 251.397434 deg, approach rate: -0.320623 m/s, LOS rate: 0.163227 deg/s, cmd heading: 253.589734 deg, new cmd heading: 253.771531 deg. 2025-10-27T04:55:05.944Z,1761540905.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429149 target range: 188.695724 and range: 189.70 m. 2025-10-27T04:55:06.150Z,1761540906.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528903 2025-10-27T04:55:06.326Z,1761540906.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958765,0.226971,-0.171036],[-0.232483,-0.972518,0.012645],[-0.163466,0.051887,0.985184]] 2025-10-27T04:55:06.371Z,1761540906.371 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:55:06.405Z,1761540906.405 [DAT](INFO): DAT read: 04:55:04.3344 LVL= 24736, 32753, 32754, 32755, AGC= 67, IDX= 430,-0.44, 1.099,-0.957,-0.456, 0.400, PHS= 0.801,-1.313,-0.901, RAW= 100.6, 14.4, CAL= 101.6, 17.0, ROT= 48.4, -17.0 2025-10-27T04:55:06.406Z,1761540906.406 [DAT](INFO): got valid direction response: 04:55:04.3344 LVL= 24736, 32753, 32754, 32755, AGC= 67, IDX= 430,-0.44, 1.099,-0.957,-0.456, 0.400, PHS= 0.801,-1.313,-0.901, RAW= 100.6, 14.4, CAL= 101.6, 17.0, ROT= 48.4, -17.0 2025-10-27T04:55:06.408Z,1761540906.408 [DAT](INFO): DAT read: Bearing 350.8, 37.5 (Local) 2025-10-27T04:55:06.408Z,1761540906.408 [DAT](INFO): Local bearing/azimuth received: Bearing 350.8, 37.5 (Local) 2025-10-27T04:55:06.409Z,1761540906.409 [DAT](INFO): DAT read: Range 11 to 50 : 188.7 m (Round-trip 251.6 ms) speed 0.4 m/s 2025-10-27T04:55:06.410Z,1761540906.410 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:06.411Z,1761540906.411 [DAT](INFO): direction in FSK: [0.634916,0.715123,0.292372] 2025-10-27T04:55:06.411Z,1761540906.411 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:06.414Z,1761540906.414 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:06.414Z,1761540906.414 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:06.419Z,1761540906.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:06.462Z,1761540906.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 188.699997 m, deltaT: 4.031034 s, deltaX: -1.000000 m, approachRate: -0.248075 m/s, rangeRepo size: 4 2025-10-27T04:55:06.472Z,1761540906.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 187.713623 m, bearing: 239.398945 deg, lat: 36.779409 deg, lon: -121.859535 deg, deltaT: 4.031034 s, deltaX: -0.982101 m, approachRate: -0.243635 m/s, posRepo size: 4 2025-10-27T04:55:06.473Z,1761540906.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:06.480Z,1761540906.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 177.553497 m, bearing: 249.317080 deg, approach rate: 0.000000 m/s, LOS rate: 0.163227 deg/s, cmd heading: 253.771526 deg, new cmd heading: 254.026464 deg. 2025-10-27T04:55:06.481Z,1761540906.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433598 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:06.652Z,1761540906.652 [DAT](INFO): DAT read: user:219> 2025-10-27T04:55:06.653Z,1761540906.653 [DAT](INFO): DAT read: Tx time:04:55:05.7287 2025-10-27T04:55:06.653Z,1761540906.653 [DAT](INFO): Ping request sent. 2025-10-27T04:55:06.653Z,1761540906.653 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:55:06.653Z,1761540906.653 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:06.654Z,1761540906.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T04:55:06.736Z,1761540906.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952948,0.249979,-0.171467],[-0.255074,-0.966889,0.007992],[-0.163792,0.051352,0.985157]] 2025-10-27T04:55:06.780Z,1761540906.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:06.783Z,1761540906.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 177.408188 m, bearing: 249.373400 deg, approach rate: -0.455627 m/s, LOS rate: 0.176738 deg/s, cmd heading: 254.026456 deg, new cmd heading: 254.195552 deg. 2025-10-27T04:55:06.788Z,1761540906.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436549 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:06.907Z,1761540906.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253426 2025-10-27T04:55:07.134Z,1761540907.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946618,0.272967,-0.171472],[-0.277378,-0.960759,0.001841],[-0.164240,0.049305,0.985187]] 2025-10-27T04:55:07.152Z,1761540907.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:07.154Z,1761540907.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 177.259460 m, bearing: 249.428525 deg, approach rate: -0.400701 m/s, LOS rate: 0.148641 deg/s, cmd heading: 254.195544 deg, new cmd heading: 254.361056 deg. 2025-10-27T04:55:07.156Z,1761540907.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502765 2025-10-27T04:55:07.157Z,1761540907.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439438 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:07.408Z,1761540907.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754684 2025-10-27T04:55:07.585Z,1761540907.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:07.587Z,1761540907.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:07.589Z,1761540907.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 177.097229 m, bearing: 249.491687 deg, approach rate: -0.372595 m/s, LOS rate: 0.145197 deg/s, cmd heading: 254.361053 deg, new cmd heading: 254.550713 deg. 2025-10-27T04:55:07.590Z,1761540907.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442748 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:07.661Z,1761540907.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007732 2025-10-27T04:55:07.912Z,1761540907.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258624 2025-10-27T04:55:07.948Z,1761540907.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931780,0.320942,-0.169651],[-0.323342,-0.946178,-0.014054],[-0.165031,0.041760,0.985404]] 2025-10-27T04:55:07.968Z,1761540907.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:07.970Z,1761540907.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 176.946960 m, bearing: 249.544829 deg, approach rate: -0.394439 m/s, LOS rate: 0.139610 deg/s, cmd heading: 254.550714 deg, new cmd heading: 254.710275 deg. 2025-10-27T04:55:07.971Z,1761540907.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445533 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:08.164Z,1761540908.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946 2025-10-27T04:55:08.356Z,1761540908.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923427,0.344539,-0.169044],[-0.346310,-0.937910,-0.019843],[-0.165385,0.040218,0.985409]] 2025-10-27T04:55:08.405Z,1761540908.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:08.408Z,1761540908.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 176.776596 m, bearing: 249.607548 deg, approach rate: -0.389804 m/s, LOS rate: 0.143644 deg/s, cmd heading: 254.710267 deg, new cmd heading: 254.898606 deg. 2025-10-27T04:55:08.408Z,1761540908.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448820 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:08.436Z,1761540908.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.782756 2025-10-27T04:55:08.688Z,1761540908.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.034604 2025-10-27T04:55:08.752Z,1761540908.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914480,0.367632,-0.169034],[-0.369001,-0.929108,-0.024411],[-0.166025,0.040050,0.985308]] 2025-10-27T04:55:08.770Z,1761540908.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:08.772Z,1761540908.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 176.630142 m, bearing: 249.659001 deg, approach rate: -0.401204 m/s, LOS rate: 0.141070 deg/s, cmd heading: 254.898616 deg, new cmd heading: 255.053103 deg. 2025-10-27T04:55:08.773Z,1761540908.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451517 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:08.940Z,1761540908.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.286639 2025-10-27T04:55:09.153Z,1761540909.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904925,0.390761,-0.168572],[-0.391652,-0.919645,-0.029341],[-0.166492,0.039470,0.985252]] 2025-10-27T04:55:09.196Z,1761540909.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.542343 2025-10-27T04:55:09.204Z,1761540909.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:09.208Z,1761540909.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 176.461258 m, bearing: 249.715602 deg, approach rate: -0.388484 m/s, LOS rate: 0.130323 deg/s, cmd heading: 255.053115 deg, new cmd heading: 255.223079 deg. 2025-10-27T04:55:09.209Z,1761540909.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454483 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:09.448Z,1761540909.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.794640 2025-10-27T04:55:09.557Z,1761540909.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894612,0.414345,-0.167292],[-0.414573,-0.909333,-0.035241],[-0.166726,0.037828,0.985277]] 2025-10-27T04:55:09.607Z,1761540909.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:09.609Z,1761540909.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:09.613Z,1761540909.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 176.295700 m, bearing: 249.779769 deg, approach rate: -0.409009 m/s, LOS rate: 0.158672 deg/s, cmd heading: 255.223078 deg, new cmd heading: 255.415758 deg. 2025-10-27T04:55:09.614Z,1761540909.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457846 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:09.701Z,1761540909.701 [DAT](INFO): DAT read: Rx Time:04:55:08.4093 2025-10-27T04:55:09.702Z,1761540909.702 [DAT](INFO): Rx dataTimestamp_ set to:1761540909.701415 2025-10-27T04:55:09.703Z,1761540909.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.049328 2025-10-27T04:55:09.952Z,1761540909.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.298765 2025-10-27T04:55:09.963Z,1761540909.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883733,0.437613,-0.165862],[-0.437165,-0.898438,-0.041185],[-0.167039,0.036112,0.985289]] 2025-10-27T04:55:10.002Z,1761540910.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:10.005Z,1761540910.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 176.139297 m, bearing: 249.837529 deg, approach rate: -0.398269 m/s, LOS rate: 0.147213 deg/s, cmd heading: 255.415771 deg, new cmd heading: 255.589205 deg. 2025-10-27T04:55:10.006Z,1761540910.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460873 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:10.204Z,1761540910.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.550677 2025-10-27T04:55:10.371Z,1761540910.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872326,0.460317,-0.164789],[-0.459328,-0.887055,-0.046378],[-0.167525,0.035235,0.985238]] 2025-10-27T04:55:10.425Z,1761540910.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:10.428Z,1761540910.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 175.981873 m, bearing: 249.903643 deg, approach rate: -0.372211 m/s, LOS rate: 0.156459 deg/s, cmd heading: 255.589203 deg, new cmd heading: 255.787723 deg. 2025-10-27T04:55:10.429Z,1761540910.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464338 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:10.462Z,1761540910.462 [DAT](INFO): DAT read: 04:55:08.4093 LVL= 14576, 23153, 23778, 26755, AGC= 68, IDX= 189,-0.00,-0.852,-2.164,-1.609,-1.708, PHS= 0.958,-0.411, 0.055, RAW= 109.6, -10.0, CAL= 108.9, -10.9, ROT= 41.1, 10.9 2025-10-27T04:55:10.464Z,1761540910.464 [DAT](INFO): got valid direction response: 04:55:08.4093 LVL= 14576, 23153, 23778, 26755, AGC= 68, IDX= 189,-0.00,-0.852,-2.164,-1.609,-1.708, PHS= 0.958,-0.411, 0.055, RAW= 109.6, -10.0, CAL= 108.9, -10.9, ROT= 41.1, 10.9 2025-10-27T04:55:10.465Z,1761540910.465 [DAT](INFO): DAT read: $Error in header 2025-10-27T04:55:10.465Z,1761540910.465 [DAT](INFO): Received a bad header 2025-10-27T04:55:10.480Z,1761540910.480 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:55:10.481Z,1761540910.481 [DAT](INFO): direction in FSK: [0.739968,0.645515,-0.189095] 2025-10-27T04:55:10.485Z,1761540910.485 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:10.486Z,1761540910.486 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:10.486Z,1761540910.486 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:10.708Z,1761540910.708 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:10.709Z,1761540910.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:10.709Z,1761540910.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:10.770Z,1761540910.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860055,0.483609,-0.162567],[-0.481802,-0.874673,-0.053044],[-0.167845,0.032705,0.985271]] 2025-10-27T04:55:10.804Z,1761540910.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:10.807Z,1761540910.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 175.838730 m, bearing: 249.960810 deg, approach rate: -0.377550 m/s, LOS rate: 0.150904 deg/s, cmd heading: 255.787716 deg, new cmd heading: 255.959355 deg. 2025-10-27T04:55:10.812Z,1761540910.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467333 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:10.960Z,1761540910.960 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:10.960Z,1761540910.960 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:10.960Z,1761540910.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:11.173Z,1761540911.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847591,0.505495,-0.161445],[-0.503416,-0.862187,-0.056617],[-0.167816,0.033286,0.985256]] 2025-10-27T04:55:11.196Z,1761540911.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:11.198Z,1761540911.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 175.680511 m, bearing: 250.021007 deg, approach rate: -0.403779 m/s, LOS rate: 0.153764 deg/s, cmd heading: 255.959345 deg, new cmd heading: 256.140099 deg. 2025-10-27T04:55:11.212Z,1761540911.212 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:11.212Z,1761540911.212 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:11.212Z,1761540911.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:11.220Z,1761540911.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470488 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:11.464Z,1761540911.464 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:11.464Z,1761540911.464 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:11.464Z,1761540911.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:11.578Z,1761540911.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834169,0.527689,-0.160331],[-0.525274,-0.848771,-0.060628],[-0.168077,0.033644,0.985200]] 2025-10-27T04:55:11.624Z,1761540911.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:11.626Z,1761540911.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:11.628Z,1761540911.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 175.528427 m, bearing: 250.087067 deg, approach rate: -0.353818 m/s, LOS rate: 0.153820 deg/s, cmd heading: 256.140099 deg, new cmd heading: 256.338451 deg. 2025-10-27T04:55:11.629Z,1761540911.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473950 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:11.716Z,1761540911.716 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:11.716Z,1761540911.716 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:11.716Z,1761540911.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:11.968Z,1761540911.968 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:11.968Z,1761540911.968 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:11.968Z,1761540911.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:11.996Z,1761540911.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820548,0.548912,-0.159367],[-0.546352,-0.835148,-0.063467],[-0.167932,0.034993,0.985177]] 2025-10-27T04:55:12.014Z,1761540912.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:12.017Z,1761540912.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 175.386322 m, bearing: 250.145803 deg, approach rate: -0.366073 m/s, LOS rate: 0.151430 deg/s, cmd heading: 256.338448 deg, new cmd heading: 256.514797 deg. 2025-10-27T04:55:12.018Z,1761540912.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477028 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:12.220Z,1761540912.220 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:12.220Z,1761540912.220 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:12.220Z,1761540912.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:12.394Z,1761540912.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806280,0.569887,-0.158560],[-0.567209,-0.820909,-0.066195],[-0.167887,0.036564,0.985128]] 2025-10-27T04:55:12.437Z,1761540912.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:12.444Z,1761540912.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 175.239822 m, bearing: 250.210928 deg, approach rate: -0.346210 m/s, LOS rate: 0.154033 deg/s, cmd heading: 256.514803 deg, new cmd heading: 256.710341 deg. 2025-10-27T04:55:12.445Z,1761540912.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480441 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:12.472Z,1761540912.472 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:12.472Z,1761540912.472 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:12.472Z,1761540912.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:12.724Z,1761540912.724 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:12.725Z,1761540912.725 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:12.725Z,1761540912.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:12.792Z,1761540912.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791619,0.589861,-0.159386],[-0.587559,-0.806457,-0.066350],[-0.167675,0.041125,0.984984]] 2025-10-27T04:55:12.811Z,1761540912.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:12.813Z,1761540912.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 175.106522 m, bearing: 250.267295 deg, approach rate: -0.356773 m/s, LOS rate: 0.150978 deg/s, cmd heading: 256.710338 deg, new cmd heading: 256.879567 deg. 2025-10-27T04:55:12.814Z,1761540912.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483394 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:12.976Z,1761540912.976 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:12.976Z,1761540912.976 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:12.976Z,1761540912.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:13.194Z,1761540913.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777074,0.608702,-0.160115],[-0.606820,-0.792080,-0.066178],[-0.167107,0.045736,0.984877]] 2025-10-27T04:55:13.212Z,1761540913.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:13.214Z,1761540913.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 174.958664 m, bearing: 250.326913 deg, approach rate: -0.368710 m/s, LOS rate: 0.148794 deg/s, cmd heading: 256.879562 deg, new cmd heading: 257.058567 deg. 2025-10-27T04:55:13.215Z,1761540913.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486518 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:13.228Z,1761540913.228 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:13.228Z,1761540913.228 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:13.228Z,1761540913.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:13.480Z,1761540913.480 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:13.480Z,1761540913.480 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:13.480Z,1761540913.480 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:13.598Z,1761540913.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761519,0.628293,-0.159175],[-0.626393,-0.776512,-0.068274],[-0.166497,0.047714,0.984887]] 2025-10-27T04:55:13.642Z,1761540913.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:13.644Z,1761540913.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:13.647Z,1761540913.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 174.799332 m, bearing: 250.389981 deg, approach rate: -0.368539 m/s, LOS rate: 0.146010 deg/s, cmd heading: 257.058568 deg, new cmd heading: 257.247943 deg. 2025-10-27T04:55:13.648Z,1761540913.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489824 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:13.734Z,1761540913.734 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:13.734Z,1761540913.734 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:13.734Z,1761540913.734 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:13.984Z,1761540913.984 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:13.984Z,1761540913.984 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:13.984Z,1761540913.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:14.016Z,1761540914.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746025,0.646698,-0.158837],[-0.644927,-0.761071,-0.069579],[-0.165883,0.050530,0.984850]] 2025-10-27T04:55:14.034Z,1761540914.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:14.037Z,1761540914.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 174.650467 m, bearing: 250.446205 deg, approach rate: -0.381255 m/s, LOS rate: 0.144116 deg/s, cmd heading: 257.247956 deg, new cmd heading: 257.416769 deg. 2025-10-27T04:55:14.038Z,1761540914.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492770 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:14.236Z,1761540914.236 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:14.236Z,1761540914.236 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:14.236Z,1761540914.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:14.421Z,1761540914.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730387,0.664012,-0.160071],[-0.662739,-0.745652,-0.069134],[-0.165263,0.055591,0.984681]] 2025-10-27T04:55:14.468Z,1761540914.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:14.472Z,1761540914.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 174.484024 m, bearing: 250.504764 deg, approach rate: -0.383556 m/s, LOS rate: 0.135074 deg/s, cmd heading: 257.416770 deg, new cmd heading: 257.592615 deg. 2025-10-27T04:55:14.473Z,1761540914.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495839 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:14.488Z,1761540914.488 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:14.488Z,1761540914.488 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:14.488Z,1761540914.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:14.740Z,1761540914.740 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:14.740Z,1761540914.740 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:14.740Z,1761540914.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:14.810Z,1761540914.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714440,0.681580,-0.158192],[-0.680082,-0.729589,-0.072036],[-0.164514,0.056118,0.984777]] 2025-10-27T04:55:14.870Z,1761540914.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:14.873Z,1761540914.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 174.332275 m, bearing: 250.555793 deg, approach rate: -0.380705 m/s, LOS rate: 0.128133 deg/s, cmd heading: 257.592607 deg, new cmd heading: 257.745828 deg. 2025-10-27T04:55:14.874Z,1761540914.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498513 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:14.992Z,1761540914.992 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:14.992Z,1761540914.992 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:14.992Z,1761540914.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:15.244Z,1761540915.244 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:15.244Z,1761540915.244 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:15.244Z,1761540915.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:15.277Z,1761540915.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:15.284Z,1761540915.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 174.177856 m, bearing: 250.607862 deg, approach rate: -0.376785 m/s, LOS rate: 0.127163 deg/s, cmd heading: 257.745822 deg, new cmd heading: 257.902168 deg. 2025-10-27T04:55:15.285Z,1761540915.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501242 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:15.496Z,1761540915.496 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:15.496Z,1761540915.496 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:15.496Z,1761540915.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:15.619Z,1761540915.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681703,0.714832,-0.155872],[-0.713322,-0.696747,-0.075600],[-0.162644,0.059650,0.984880]] 2025-10-27T04:55:15.654Z,1761540915.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:15.657Z,1761540915.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:15.659Z,1761540915.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 174.006256 m, bearing: 250.656368 deg, approach rate: -0.451933 m/s, LOS rate: 0.127872 deg/s, cmd heading: 257.902178 deg, new cmd heading: 258.047839 deg. 2025-10-27T04:55:15.660Z,1761540915.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503784 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:15.748Z,1761540915.748 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:15.748Z,1761540915.748 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:15.748Z,1761540915.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:15.000Z,1761540916.000 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:15.000Z,1761540916.000 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:15.000Z,1761540916.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:16.022Z,1761540916.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665220,0.730428,-0.154782],[-0.728953,-0.680211,-0.077080],[-0.161586,0.061553,0.984937]] 2025-10-27T04:55:16.065Z,1761540916.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:16.071Z,1761540916.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 173.841782 m, bearing: 250.700835 deg, approach rate: -0.403075 m/s, LOS rate: 0.109077 deg/s, cmd heading: 258.047825 deg, new cmd heading: 258.181351 deg. 2025-10-27T04:55:16.072Z,1761540916.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506114 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:16.252Z,1761540916.252 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:16.252Z,1761540916.252 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:16.252Z,1761540916.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:16.448Z,1761540916.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648124,0.745908,-0.153483],[-0.744448,-0.663034,-0.078632],[-0.160417,0.063297,0.985018]] 2025-10-27T04:55:16.499Z,1761540916.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:16.502Z,1761540916.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 173.634155 m, bearing: 250.749499 deg, approach rate: -0.478208 m/s, LOS rate: 0.112217 deg/s, cmd heading: 258.181342 deg, new cmd heading: 258.327508 deg. 2025-10-27T04:55:16.502Z,1761540916.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508666 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:16.504Z,1761540916.504 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:16.504Z,1761540916.504 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:16.504Z,1761540916.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:16.756Z,1761540916.756 [DAT](INFO): Reached modem response timeout 2025-10-27T04:55:16.756Z,1761540916.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:16.756Z,1761540916.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:16.837Z,1761540916.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631094,0.760871,-0.150981],[-0.759310,-0.645747,-0.080370],[-0.158647,0.063920,0.985264]] 2025-10-27T04:55:16.870Z,1761540916.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:16.873Z,1761540916.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 173.462967 m, bearing: 250.787801 deg, approach rate: -0.460555 m/s, LOS rate: 0.103149 deg/s, cmd heading: 258.327508 deg, new cmd heading: 258.442529 deg. 2025-10-27T04:55:16.874Z,1761540916.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510673 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:17.009Z,1761540917.009 [DAT](INFO): DAT read: 2025-10-27T04:55:17.009Z,1761540917.009 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:17.233Z,1761540917.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613728,0.775354,-0.148877],[-0.773840,-0.628141,-0.081308],[-0.156558,0.065306,0.985507]] 2025-10-27T04:55:17.252Z,1761540917.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:17.254Z,1761540917.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 173.284668 m, bearing: 250.825835 deg, approach rate: -0.467473 m/s, LOS rate: 0.099820 deg/s, cmd heading: 258.442528 deg, new cmd heading: 258.556745 deg. 2025-10-27T04:55:17.260Z,1761540917.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:17.275Z,1761540917.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512667 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:17.512Z,1761540917.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:17.638Z,1761540917.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596250,0.789171,-0.147293],[-0.787878,-0.610443,-0.081285],[-0.154062,0.067583,0.985747]] 2025-10-27T04:55:17.680Z,1761540917.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:17.682Z,1761540917.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:17.685Z,1761540917.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 173.071182 m, bearing: 250.863077 deg, approach rate: -0.495858 m/s, LOS rate: 0.086609 deg/s, cmd heading: 258.556756 deg, new cmd heading: 258.668621 deg. 2025-10-27T04:55:17.686Z,1761540917.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514619 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:17.764Z,1761540917.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:18.016Z,1761540918.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:18.042Z,1761540918.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578445,0.802618,-0.145625],[-0.801552,-0.592396,-0.081124],[-0.151380,0.069801,0.986008]] 2025-10-27T04:55:18.085Z,1761540918.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:18.088Z,1761540918.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 172.877579 m, bearing: 250.895081 deg, approach rate: -0.503183 m/s, LOS rate: 0.083274 deg/s, cmd heading: 258.668635 deg, new cmd heading: 258.764756 deg. 2025-10-27T04:55:18.089Z,1761540918.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516297 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:18.268Z,1761540918.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:18.479Z,1761540918.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560297,0.815855,-0.143000],[-0.814901,-0.573879,-0.081229],[-0.148336,0.071018,0.986384]] 2025-10-27T04:55:18.520Z,1761540918.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:18.532Z,1761540918.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:18.555Z,1761540918.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 172.630249 m, bearing: 250.930497 deg, approach rate: -0.531745 m/s, LOS rate: 0.076251 deg/s, cmd heading: 258.764749 deg, new cmd heading: 258.871148 deg. 2025-10-27T04:55:18.556Z,1761540918.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518154 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:18.772Z,1761540918.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:18.858Z,1761540918.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542091,0.828539,-0.140217],[-0.827708,-0.555270,-0.081088],[-0.145042,0.072102,0.986795]] 2025-10-27T04:55:18.882Z,1761540918.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:18.885Z,1761540918.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 172.442001 m, bearing: 250.955861 deg, approach rate: -0.537471 m/s, LOS rate: 0.072497 deg/s, cmd heading: 258.871136 deg, new cmd heading: 258.947312 deg. 2025-10-27T04:55:18.886Z,1761540918.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519483 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:19.024Z,1761540919.024 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:55:19.024Z,1761540919.024 [DAT](INFO): response not received 2025-10-27T04:55:19.025Z,1761540919.025 [DAT](INFO): DAT read: user:221>Tx time:04:55:18.1787 2025-10-27T04:55:19.025Z,1761540919.025 [DAT](ERROR): No response from remote modem. 2025-10-27T04:55:19.026Z,1761540919.026 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:19.026Z,1761540919.026 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:19.254Z,1761540919.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523626,0.840947,-0.136471],[-0.840057,-0.536320,-0.081636],[-0.141843,0.071897,0.987275]] 2025-10-27T04:55:19.276Z,1761540919.276 [DAT](INFO): DAT read: 2025-10-27T04:55:19.276Z,1761540919.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:19.277Z,1761540919.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:19.281Z,1761540919.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 172.230820 m, bearing: 250.982562 deg, approach rate: -0.534649 m/s, LOS rate: 0.067682 deg/s, cmd heading: 258.947307 deg, new cmd heading: 259.027508 deg. 2025-10-27T04:55:19.282Z,1761540919.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520883 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:19.528Z,1761540919.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:19.659Z,1761540919.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504931,0.853048,-0.131735],[-0.851968,-0.517042,-0.082567],[-0.138547,0.070543,0.987840]] 2025-10-27T04:55:19.694Z,1761540919.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:19.697Z,1761540919.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:19.701Z,1761540919.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 171.986404 m, bearing: 251.006822 deg, approach rate: -0.582653 m/s, LOS rate: 0.057914 deg/s, cmd heading: 259.027520 deg, new cmd heading: 259.100403 deg. 2025-10-27T04:55:19.703Z,1761540919.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522155 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:19.782Z,1761540919.782 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:20.036Z,1761540920.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:20.062Z,1761540920.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485576,0.864819,-0.127690],[-0.863627,-0.497204,-0.083289],[-0.135518,0.069834,0.988311]] 2025-10-27T04:55:20.100Z,1761540920.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:20.102Z,1761540920.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 171.758743 m, bearing: 251.027607 deg, approach rate: -0.565153 m/s, LOS rate: 0.051667 deg/s, cmd heading: 259.100412 deg, new cmd heading: 259.162851 deg. 2025-10-27T04:55:20.104Z,1761540920.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523245 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:20.288Z,1761540920.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:20.514Z,1761540920.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466631,0.875702,-0.124108],[-0.874490,-0.477812,-0.083449],[-0.132376,0.069591,0.988753]] 2025-10-27T04:55:20.540Z,1761540920.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:20.572Z,1761540920.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:20.574Z,1761540920.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 171.464859 m, bearing: 251.049329 deg, approach rate: -0.622519 m/s, LOS rate: 0.046091 deg/s, cmd heading: 259.162840 deg, new cmd heading: 259.228117 deg. 2025-10-27T04:55:20.576Z,1761540920.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524384 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:20.792Z,1761540920.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:20.872Z,1761540920.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447102,0.886392,-0.120042],[-0.885067,-0.457814,-0.084037],[-0.129447,0.068673,0.989206]] 2025-10-27T04:55:20.890Z,1761540920.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:20.893Z,1761540920.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 171.270935 m, bearing: 251.062188 deg, approach rate: -0.610144 m/s, LOS rate: 0.040504 deg/s, cmd heading: 259.228109 deg, new cmd heading: 259.266730 deg. 2025-10-27T04:55:20.893Z,1761540920.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525058 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:21.044Z,1761540921.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:21.274Z,1761540921.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427679,0.896279,-0.117364],[-0.895045,-0.438051,-0.083702],[-0.126431,0.069248,0.989555]] 2025-10-27T04:55:21.300Z,1761540921.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:21.311Z,1761540921.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:21.314Z,1761540921.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 171.024445 m, bearing: 251.076689 deg, approach rate: -0.585114 m/s, LOS rate: 0.034473 deg/s, cmd heading: 259.266741 deg, new cmd heading: 259.310308 deg. 2025-10-27T04:55:21.319Z,1761540921.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525819 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:21.553Z,1761540921.553 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:21.678Z,1761540921.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408141,0.905783,-0.113923],[-0.904511,-0.418118,-0.083883],[-0.123613,0.068809,0.989942]] 2025-10-27T04:55:21.748Z,1761540921.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:21.750Z,1761540921.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:21.757Z,1761540921.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 170.748611 m, bearing: 251.093010 deg, approach rate: -0.628453 m/s, LOS rate: 0.037245 deg/s, cmd heading: 259.310318 deg, new cmd heading: 259.359359 deg. 2025-10-27T04:55:21.758Z,1761540921.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526675 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:21.804Z,1761540921.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:22.056Z,1761540922.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:22.082Z,1761540922.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388306,0.915031,-0.109253],[-0.913548,-0.397798,-0.084777],[-0.121035,0.066888,0.990392]] 2025-10-27T04:55:22.116Z,1761540922.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:22.124Z,1761540922.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 170.517014 m, bearing: 251.105004 deg, approach rate: -0.632961 m/s, LOS rate: 0.032823 deg/s, cmd heading: 259.359358 deg, new cmd heading: 259.395388 deg. 2025-10-27T04:55:22.125Z,1761540922.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527304 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:22.311Z,1761540922.311 [DAT](INFO): DAT read: Rx Time:04:55:20.8802 2025-10-27T04:55:22.311Z,1761540922.311 [DAT](INFO): Rx dataTimestamp_ set to:1761540922.311030 2025-10-27T04:55:22.312Z,1761540922.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:22.559Z,1761540922.559 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:22.598Z,1761540922.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.71 m. 2025-10-27T04:55:22.601Z,1761540922.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.713623 m, nav range: 170.228806 m, bearing: 251.120962 deg, approach rate: -0.597622 m/s, LOS rate: 0.033147 deg/s, cmd heading: 259.395394 deg, new cmd heading: 259.443350 deg. 2025-10-27T04:55:22.602Z,1761540922.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528141 target range: 187.713623 and range: 188.70 m. 2025-10-27T04:55:22.820Z,1761540922.820 [DAT](INFO): DAT read: 04:55:20.8802 LVL= 32752, 32753, 32754, 30035, AGC= 71, IDX= 145, 0.47, 0.909,-0.476, 1.051, 0.307, PHS= 0.704,-0.738, 0.700, RAW= 149.9, -9.3, CAL= 150.3, -11.0, ROT= 359.7, 11.0 2025-10-27T04:55:22.822Z,1761540922.822 [DAT](INFO): got valid direction response: 04:55:20.8802 LVL= 32752, 32753, 32754, 30035, AGC= 71, IDX= 145, 0.47, 0.909,-0.476, 1.051, 0.307, PHS= 0.704,-0.738, 0.700, RAW= 149.9, -9.3, CAL= 150.3, -11.0, ROT= 359.7, 11.0 2025-10-27T04:55:22.825Z,1761540922.825 [DAT](INFO): DAT read: Bearing 20.8, -8.1 (Local) 2025-10-27T04:55:22.825Z,1761540922.825 [DAT](INFO): Local bearing/azimuth received: Bearing 20.8, -8.1 (Local) 2025-10-27T04:55:22.828Z,1761540922.828 [DAT](INFO): DAT read: Range 11 to 50 : 223.0 m (Round-trip 297.4 ms) speed 0.3 m/s 2025-10-27T04:55:22.830Z,1761540922.830 [DAT](INFO): DAT read: user:222>Tx time:04:55:21.9787 2025-10-27T04:55:22.830Z,1761540922.830 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:22.833Z,1761540922.833 [DAT](INFO): direction in FSK: [0.981614,-0.005140,-0.190809] 2025-10-27T04:55:22.833Z,1761540922.833 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:22.859Z,1761540922.859 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:22.859Z,1761540922.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:22.957Z,1761540922.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 223.000000 m, deltaT: 16.411945 s, deltaX: 34.300003 m, approachRate: 2.089942 m/s, rangeRepo size: 4 2025-10-27T04:55:22.964Z,1761540922.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 221.884689 m, bearing: 247.437473 deg, lat: 36.779371 deg, lon: -121.859535 deg, deltaT: 16.411945 s, deltaX: 34.171066 m, approachRate: 2.082085 m/s, posRepo size: 4 2025-10-27T04:55:22.964Z,1761540922.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:22.971Z,1761540922.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 171.424637 m, bearing: 249.816343 deg, approach rate: 0.000000 m/s, LOS rate: 0.033147 deg/s, cmd heading: 259.443342 deg, new cmd heading: 259.479014 deg. 2025-10-27T04:55:22.972Z,1761540922.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528763 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:23.064Z,1761540923.064 [DAT](INFO): DAT read: 2025-10-27T04:55:23.064Z,1761540923.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:23.294Z,1761540923.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335577,0.938433,-0.082040],[-0.935074,-0.342391,-0.091681],[-0.114126,0.045948,0.992403]] 2025-10-27T04:55:23.314Z,1761540923.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:23.316Z,1761540923.316 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:23.340Z,1761540923.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 171.188171 m, bearing: 249.822938 deg, approach rate: -0.661383 m/s, LOS rate: 0.018472 deg/s, cmd heading: 259.479023 deg, new cmd heading: 259.498836 deg. 2025-10-27T04:55:23.341Z,1761540923.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529109 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:23.568Z,1761540923.568 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:23.704Z,1761540923.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319193,0.944949,-0.072017],[-0.941084,-0.325008,-0.093432],[-0.111695,0.037951,0.993018]] 2025-10-27T04:55:23.767Z,1761540923.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:23.769Z,1761540923.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:23.772Z,1761540923.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 170.935059 m, bearing: 249.829629 deg, approach rate: -0.556867 m/s, LOS rate: 0.014743 deg/s, cmd heading: 259.498831 deg, new cmd heading: 259.518934 deg. 2025-10-27T04:55:23.773Z,1761540923.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529460 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:23.822Z,1761540923.822 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:24.072Z,1761540924.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:24.102Z,1761540924.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303323,0.950843,-0.062392],[-0.946561,-0.308195,-0.095065],[-0.109621,0.030222,0.993514]] 2025-10-27T04:55:24.136Z,1761540924.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:24.139Z,1761540924.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 170.721497 m, bearing: 249.834066 deg, approach rate: -0.581678 m/s, LOS rate: 0.012100 deg/s, cmd heading: 259.518939 deg, new cmd heading: 259.532266 deg. 2025-10-27T04:55:24.144Z,1761540924.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529693 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:24.325Z,1761540924.325 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:24.576Z,1761540924.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:24.608Z,1761540924.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:24.610Z,1761540924.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 170.454681 m, bearing: 249.844354 deg, approach rate: -0.565555 m/s, LOS rate: 0.021840 deg/s, cmd heading: 259.532271 deg, new cmd heading: 259.563182 deg. 2025-10-27T04:55:24.628Z,1761540924.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530232 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:24.828Z,1761540924.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:25.005Z,1761540925.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:25.008Z,1761540925.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 170.237686 m, bearing: 249.852744 deg, approach rate: -0.546026 m/s, LOS rate: 0.021140 deg/s, cmd heading: 259.563171 deg, new cmd heading: 259.588374 deg. 2025-10-27T04:55:25.009Z,1761540925.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530672 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:25.082Z,1761540925.082 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:25.337Z,1761540925.337 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:25.366Z,1761540925.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249886,0.967887,-0.027419],[-0.962861,-0.251379,-0.098526],[-0.102255,0.001780,0.994757]] 2025-10-27T04:55:25.386Z,1761540925.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:25.389Z,1761540925.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 170.028046 m, bearing: 249.856799 deg, approach rate: -0.550428 m/s, LOS rate: 0.010659 deg/s, cmd heading: 259.588361 deg, new cmd heading: 259.600540 deg. 2025-10-27T04:55:25.390Z,1761540925.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530884 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:25.590Z,1761540925.590 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:25.765Z,1761540925.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238236,0.971048,-0.017579],[-0.965970,-0.238789,-0.099406],[-0.100726,-0.006701,0.994892]] 2025-10-27T04:55:25.809Z,1761540925.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:25.811Z,1761540925.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:25.814Z,1761540925.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 169.804520 m, bearing: 249.863152 deg, approach rate: -0.526304 m/s, LOS rate: 0.014977 deg/s, cmd heading: 259.600546 deg, new cmd heading: 259.619629 deg. 2025-10-27T04:55:25.817Z,1761540925.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531217 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:25.841Z,1761540925.841 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:26.092Z,1761540926.092 [DAT](INFO): DAT read: Rx Time:04:55:24.6781 2025-10-27T04:55:26.092Z,1761540926.092 [DAT](INFO): Rx dataTimestamp_ set to:1761540926.092041 2025-10-27T04:55:26.093Z,1761540926.093 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:26.170Z,1761540926.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226807,0.973912,-0.007364],[-0.968865,-0.226390,-0.100246],[-0.099298,-0.015602,0.994935]] 2025-10-27T04:55:26.192Z,1761540926.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.88 m. 2025-10-27T04:55:26.194Z,1761540926.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.884689 m, nav range: 169.603226 m, bearing: 249.868045 deg, approach rate: -0.528236 m/s, LOS rate: 0.012855 deg/s, cmd heading: 259.619616 deg, new cmd heading: 259.634312 deg. 2025-10-27T04:55:26.196Z,1761540926.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531474 target range: 221.884689 and range: 223.00 m. 2025-10-27T04:55:26.344Z,1761540926.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:26.602Z,1761540926.602 [DAT](INFO): DAT read: 04:55:24.6781 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.21,-1.680,-3.072,-1.413,-2.258, PHS= 0.680,-0.769, 0.801, RAW= 154.0, -9.4, CAL= 154.6, -11.2, ROT= 355.4, 11.2 2025-10-27T04:55:26.603Z,1761540926.603 [DAT](INFO): got valid direction response: 04:55:24.6781 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411, 0.21,-1.680,-3.072,-1.413,-2.258, PHS= 0.680,-0.769, 0.801, RAW= 154.0, -9.4, CAL= 154.6, -11.2, ROT= 355.4, 11.2 2025-10-27T04:55:26.604Z,1761540926.604 [DAT](INFO): DAT read: Bearing 29.7, -10.5 (Local) 2025-10-27T04:55:26.604Z,1761540926.604 [DAT](INFO): Local bearing/azimuth received: Bearing 29.7, -10.5 (Local) 2025-10-27T04:55:26.606Z,1761540926.606 [DAT](INFO): DAT read: Range 11 to 50 : 221.4 m (Round-trip 295.3 ms) speed 0.7 m/s 2025-10-27T04:55:26.607Z,1761540926.607 [DAT](INFO): DAT read: user:223>Tx time:04:55:25.7787 2025-10-27T04:55:26.607Z,1761540926.607 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:26.608Z,1761540926.608 [DAT](INFO): direction in FSK: [0.977795,-0.078672,-0.194234] 2025-10-27T04:55:26.609Z,1761540926.609 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:26.616Z,1761540926.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:26.617Z,1761540926.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:26.619Z,1761540926.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217075,0.976152,0.002479],[-0.971254,-0.215731,-0.100629],[-0.097694,-0.024252,0.994921]] 2025-10-27T04:55:26.751Z,1761540926.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.399994 m, deltaT: 3.784112 s, deltaX: -1.600006 m, approachRate: -0.422822 m/s, rangeRepo size: 4 2025-10-27T04:55:26.753Z,1761540926.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 220.298935 m, bearing: 252.408107 deg, lat: 36.779322 deg, lon: -121.859609 deg, deltaT: 3.784112 s, deltaX: -1.585754 m, approachRate: -0.419056 m/s, posRepo size: 4 2025-10-27T04:55:26.754Z,1761540926.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:26.767Z,1761540926.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 177.399765 m, bearing: 248.928133 deg, approach rate: 0.000000 m/s, LOS rate: 0.012855 deg/s, cmd heading: 259.634314 deg, new cmd heading: 259.655703 deg. 2025-10-27T04:55:26.768Z,1761540926.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531847 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:26.850Z,1761540926.850 [DAT](INFO): DAT read: 2025-10-27T04:55:26.850Z,1761540926.850 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:27.078Z,1761540927.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208702,0.977893,0.012984],[-0.973244,-0.206369,-0.101032],[-0.096119,-0.033722,0.994798]] 2025-10-27T04:55:27.097Z,1761540927.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:27.100Z,1761540927.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 177.221725 m, bearing: 248.932194 deg, approach rate: -0.507879 m/s, LOS rate: 0.011596 deg/s, cmd heading: 259.655707 deg, new cmd heading: 259.667902 deg. 2025-10-27T04:55:27.101Z,1761540927.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532060 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:27.104Z,1761540927.104 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:27.356Z,1761540927.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:27.478Z,1761540927.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201580,0.979177,0.024037],[-0.974887,-0.198205,-0.101534],[-0.094655,-0.043901,0.994542]] 2025-10-27T04:55:27.514Z,1761540927.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:27.520Z,1761540927.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 177.028595 m, bearing: 248.936103 deg, approach rate: -0.463610 m/s, LOS rate: 0.009393 deg/s, cmd heading: 259.667892 deg, new cmd heading: 259.679631 deg. 2025-10-27T04:55:27.521Z,1761540927.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532265 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:27.610Z,1761540927.610 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:27.860Z,1761540927.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:27.901Z,1761540927.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195284,0.980069,0.036458],[-0.976311,-0.190735,-0.102160],[-0.093170,-0.055544,0.994100]] 2025-10-27T04:55:27.952Z,1761540927.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:27.957Z,1761540927.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:27.960Z,1761540927.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 176.815948 m, bearing: 248.942925 deg, approach rate: -0.479721 m/s, LOS rate: 0.015409 deg/s, cmd heading: 259.679639 deg, new cmd heading: 259.700130 deg. 2025-10-27T04:55:27.960Z,1761540927.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532622 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:28.112Z,1761540928.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:28.294Z,1761540928.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189927,0.980535,0.049778],[-0.977549,-0.184150,-0.102403],[-0.091243,-0.068110,0.993497]] 2025-10-27T04:55:28.314Z,1761540928.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:28.321Z,1761540928.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 176.634888 m, bearing: 248.948375 deg, approach rate: -0.508308 m/s, LOS rate: 0.015317 deg/s, cmd heading: 259.700130 deg, new cmd heading: 259.716498 deg. 2025-10-27T04:55:28.322Z,1761540928.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532908 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:28.364Z,1761540928.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:28.622Z,1761540928.622 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:28.700Z,1761540928.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185396,0.980667,0.062620],[-0.978583,-0.178449,-0.102626],[-0.089468,-0.080306,0.992747]] 2025-10-27T04:55:28.755Z,1761540928.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:28.757Z,1761540928.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 176.412613 m, bearing: 248.951386 deg, approach rate: -0.503323 m/s, LOS rate: 0.006825 deg/s, cmd heading: 259.716495 deg, new cmd heading: 259.725537 deg. 2025-10-27T04:55:28.758Z,1761540928.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533066 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:28.873Z,1761540928.873 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:29.103Z,1761540929.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181447,0.980445,0.076193],[-0.979477,-0.173265,-0.102977],[-0.087762,-0.093314,0.991761]] 2025-10-27T04:55:29.124Z,1761540929.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:29.125Z,1761540929.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:29.128Z,1761540929.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 176.226395 m, bearing: 248.953634 deg, approach rate: -0.503169 m/s, LOS rate: 0.006081 deg/s, cmd heading: 259.725538 deg, new cmd heading: 259.732290 deg. 2025-10-27T04:55:29.129Z,1761540929.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533184 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:29.376Z,1761540929.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:29.550Z,1761540929.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:29.553Z,1761540929.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 176.011597 m, bearing: 248.956233 deg, approach rate: -0.505173 m/s, LOS rate: 0.006120 deg/s, cmd heading: 259.732287 deg, new cmd heading: 259.740093 deg. 2025-10-27T04:55:29.554Z,1761540929.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533320 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:29.631Z,1761540929.631 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:29.880Z,1761540929.880 [DAT](INFO): DAT read: Rx Time:04:55:28.4743 2025-10-27T04:55:29.880Z,1761540929.880 [DAT](INFO): Rx dataTimestamp_ set to:1761540929.880068 2025-10-27T04:55:29.881Z,1761540929.881 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:29.910Z,1761540929.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177116,0.979213,0.098848],[-0.980650,-0.167077,-0.102029],[-0.083393,-0.115007,0.989858]] 2025-10-27T04:55:29.996Z,1761540929.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:29.998Z,1761540929.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.30 m. 2025-10-27T04:55:30.001Z,1761540930.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.298935 m, nav range: 175.772186 m, bearing: 248.955649 deg, approach rate: -0.534206 m/s, LOS rate: -0.001304 deg/s, cmd heading: 259.740100 deg, new cmd heading: 259.738347 deg. 2025-10-27T04:55:30.002Z,1761540930.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533289 target range: 220.298935 and range: 221.40 m. 2025-10-27T04:55:30.132Z,1761540930.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:30.370Z,1761540930.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175595,0.978529,0.107918],[-0.981106,-0.164897,-0.101196],[-0.081227,-0.123649,0.988996]] 2025-10-27T04:55:30.390Z,1761540930.390 [DAT](INFO): DAT read: 04:55:28.4743 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 119, 0.14, 2.498, 0.985, 2.978, 2.448, PHS= 0.152,-1.418, 0.486, RAW= 159.5, 8.9, CAL= 159.2, 9.4, ROT= 350.8, -9.4 2025-10-27T04:55:30.392Z,1761540930.392 [DAT](INFO): got valid direction response: 04:55:28.4743 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 119, 0.14, 2.498, 0.985, 2.978, 2.448, PHS= 0.152,-1.418, 0.486, RAW= 159.5, 8.9, CAL= 159.2, 9.4, ROT= 350.8, -9.4 2025-10-27T04:55:30.393Z,1761540930.393 [DAT](INFO): DAT read: Bearing 52.8, -14.9 (Local) 2025-10-27T04:55:30.393Z,1761540930.393 [DAT](INFO): Local bearing/azimuth received: Bearing 52.8, -14.9 (Local) 2025-10-27T04:55:30.395Z,1761540930.395 [DAT](INFO): DAT read: Range 11 to 50 : 218.6 m (Round-trip 291.5 ms) speed 0.4 m/s 2025-10-27T04:55:30.396Z,1761540930.396 [DAT](INFO): DAT read: user:224>Tx time:04:55:29.5787 2025-10-27T04:55:30.396Z,1761540930.396 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:30.397Z,1761540930.397 [DAT](INFO): direction in FSK: [0.973881,-0.157734,0.163326] 2025-10-27T04:55:30.397Z,1761540930.397 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:30.401Z,1761540930.401 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:30.401Z,1761540930.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:30.414Z,1761540930.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 218.600006 m, deltaT: 3.787971 s, deltaX: -2.799988 m, approachRate: -0.739179 m/s, rangeRepo size: 4 2025-10-27T04:55:30.432Z,1761540930.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 217.522354 m, bearing: 251.980426 deg, lat: 36.779287 deg, lon: -121.859917 deg, deltaT: 3.787971 s, deltaX: -2.776581 m, approachRate: -0.733000 m/s, posRepo size: 4 2025-10-27T04:55:30.433Z,1761540930.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:30.443Z,1761540930.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 202.727722 m, bearing: 250.720436 deg, approach rate: 0.000000 m/s, LOS rate: -0.001304 deg/s, cmd heading: 259.738352 deg, new cmd heading: 259.736728 deg. 2025-10-27T04:55:30.444Z,1761540930.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533261 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:30.638Z,1761540930.638 [DAT](INFO): DAT read: 2025-10-27T04:55:30.639Z,1761540930.639 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:30.841Z,1761540930.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174839,0.977917,0.114495],[-0.981436,-0.163785,-0.099791],[-0.078834,-0.129817,0.988399]] 2025-10-27T04:55:30.888Z,1761540930.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:30.912Z,1761540930.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:30.915Z,1761540930.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 202.420990 m, bearing: 250.719508 deg, approach rate: -0.614338 m/s, LOS rate: -0.001861 deg/s, cmd heading: 259.736740 deg, new cmd heading: 259.733953 deg. 2025-10-27T04:55:30.916Z,1761540930.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533213 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:31.140Z,1761540931.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:31.235Z,1761540931.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175055,0.977409,0.118438],[-0.981595,-0.163934,-0.097966],[-0.076337,-0.133408,0.988117]] 2025-10-27T04:55:31.261Z,1761540931.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:31.264Z,1761540931.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 202.216614 m, bearing: 250.718896 deg, approach rate: -0.585397 m/s, LOS rate: -0.001755 deg/s, cmd heading: 259.733953 deg, new cmd heading: 259.732115 deg. 2025-10-27T04:55:31.265Z,1761540931.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533181 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:31.392Z,1761540931.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:31.646Z,1761540931.646 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:31.699Z,1761540931.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175900,0.977058,0.120067],[-0.981632,-0.164942,-0.095876],[-0.073873,-0.134726,0.988125]] 2025-10-27T04:55:31.758Z,1761540931.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:31.762Z,1761540931.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 201.907257 m, bearing: 250.714452 deg, approach rate: -0.622362 m/s, LOS rate: -0.008954 deg/s, cmd heading: 259.732123 deg, new cmd heading: 259.718770 deg. 2025-10-27T04:55:31.763Z,1761540931.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532948 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:31.896Z,1761540931.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:32.065Z,1761540932.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177092,0.976727,0.121006],[-0.981599,-0.166362,-0.093744],[-0.071432,-0.135381,0.988215]] 2025-10-27T04:55:32.082Z,1761540932.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:32.084Z,1761540932.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:32.093Z,1761540932.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 201.704895 m, bearing: 250.711604 deg, approach rate: -0.621335 m/s, LOS rate: -0.008752 deg/s, cmd heading: 259.718763 deg, new cmd heading: 259.710211 deg. 2025-10-27T04:55:32.094Z,1761540932.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532798 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:32.148Z,1761540932.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:32.400Z,1761540932.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:32.465Z,1761540932.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178426,0.976532,0.120618],[-0.981518,-0.168022,-0.091604],[-0.069188,-0.134733,0.988464]] 2025-10-27T04:55:32.500Z,1761540932.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:32.504Z,1761540932.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 201.447647 m, bearing: 250.708073 deg, approach rate: -0.617844 m/s, LOS rate: -0.008492 deg/s, cmd heading: 259.710211 deg, new cmd heading: 259.699604 deg. 2025-10-27T04:55:32.505Z,1761540932.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532613 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:32.654Z,1761540932.654 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:32.904Z,1761540932.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:32.960Z,1761540932.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182302,0.975566,0.122625],[-0.981076,-0.172207,-0.088509],[-0.065229,-0.136440,0.988499]] 2025-10-27T04:55:33.015Z,1761540933.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:33.018Z,1761540933.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 201.116409 m, bearing: 250.702074 deg, approach rate: -0.646988 m/s, LOS rate: -0.011738 deg/s, cmd heading: 259.699611 deg, new cmd heading: 259.681583 deg. 2025-10-27T04:55:33.019Z,1761540933.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532299 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:33.156Z,1761540933.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:33.408Z,1761540933.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:33.461Z,1761540933.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184297,0.974995,0.124177],[-0.980840,-0.174326,-0.086962],[-0.063140,-0.137825,0.988442]] 2025-10-27T04:55:33.480Z,1761540933.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:33.496Z,1761540933.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 200.795395 m, bearing: 250.696421 deg, approach rate: -0.685949 m/s, LOS rate: -0.012098 deg/s, cmd heading: 259.681579 deg, new cmd heading: 259.664595 deg. 2025-10-27T04:55:33.497Z,1761540933.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532002 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:33.664Z,1761540933.664 [DAT](INFO): DAT read: Rx Time:04:55:32.2156 2025-10-27T04:55:33.666Z,1761540933.666 [DAT](INFO): Rx dataTimestamp_ set to:1761540933.665001 2025-10-27T04:55:33.667Z,1761540933.667 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:33.912Z,1761540933.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:34.014Z,1761540934.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:34.016Z,1761540934.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 200.434692 m, bearing: 250.688825 deg, approach rate: -0.676560 m/s, LOS rate: -0.014274 deg/s, cmd heading: 259.664586 deg, new cmd heading: 259.641756 deg. 2025-10-27T04:55:34.017Z,1761540934.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531603 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:34.173Z,1761540934.173 [DAT](INFO): DAT read: 04:55:32.2156 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 349,-0.38,-2.765, 2.005,-2.281,-2.790, PHS= 0.127,-1.444, 0.465, RAW= 159.6, 9.7, CAL= 159.4, 10.4, ROT= 350.6, -10.4 2025-10-27T04:55:34.174Z,1761540934.174 [DAT](INFO): got valid direction response: 04:55:32.2156 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 349,-0.38,-2.765, 2.005,-2.281,-2.790, PHS= 0.127,-1.444, 0.465, RAW= 159.6, 9.7, CAL= 159.4, 10.4, ROT= 350.6, -10.4 2025-10-27T04:55:34.175Z,1761540934.175 [DAT](INFO): DAT read: Bearing 53.5, -14.4 (Local) 2025-10-27T04:55:34.175Z,1761540934.175 [DAT](INFO): Local bearing/azimuth received: Bearing 53.5, -14.4 (Local) 2025-10-27T04:55:34.177Z,1761540934.177 [DAT](INFO): DAT read: Range 11 to 50 : 174.6 m (Round-trip 232.9 ms) speed 0.8 m/s 2025-10-27T04:55:34.178Z,1761540934.178 [DAT](INFO): DAT read: Tx time:04:55:33.2786 2025-10-27T04:55:34.178Z,1761540934.178 [DAT](INFO): Ping request sent. 2025-10-27T04:55:34.178Z,1761540934.178 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:55:34.178Z,1761540934.178 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:34.180Z,1761540934.180 [DAT](INFO): direction in FSK: [0.970364,-0.160643,0.180519] 2025-10-27T04:55:34.180Z,1761540934.180 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:34.180Z,1761540934.180 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:34.184Z,1761540934.184 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:34.184Z,1761540934.184 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:34.382Z,1761540934.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187826,0.973805,0.128162],[-0.980467,-0.178138,-0.083372],[-0.058358,-0.141318,0.988243]] 2025-10-27T04:55:34.409Z,1761540934.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 174.600006 m, deltaT: 3.780345 s, deltaX: -44.000000 m, approachRate: -11.639150 m/s, rangeRepo size: 4 2025-10-27T04:55:34.410Z,1761540934.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:34.413Z,1761540934.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 200.170563 m, bearing: 250.683503 deg, approach rate: -0.669077 m/s, LOS rate: -0.013500 deg/s, cmd heading: 259.641746 deg, new cmd heading: 259.625757 deg. 2025-10-27T04:55:34.414Z,1761540934.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531324 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:34.782Z,1761540934.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189563,0.973205,0.130148],[-0.980276,-0.180039,-0.081517],[-0.055901,-0.143034,0.988138]] 2025-10-27T04:55:34.842Z,1761540934.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:34.845Z,1761540934.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:34.847Z,1761540934.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 199.883347 m, bearing: 250.677287 deg, approach rate: -0.658457 m/s, LOS rate: -0.014270 deg/s, cmd heading: 259.625763 deg, new cmd heading: 259.607090 deg. 2025-10-27T04:55:34.848Z,1761540934.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530999 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:34.920Z,1761540934.920 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:34.920Z,1761540934.920 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:34.920Z,1761540934.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:35.172Z,1761540935.172 [DAT](INFO): DAT read: user:225> 2025-10-27T04:55:35.173Z,1761540935.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994425 2025-10-27T04:55:35.190Z,1761540935.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190908,0.972737,0.131672],[-0.980161,-0.181623,-0.079356],[-0.053278,-0.144209,0.988112]] 2025-10-27T04:55:35.208Z,1761540935.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:35.212Z,1761540935.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 199.639206 m, bearing: 250.672079 deg, approach rate: -0.671144 m/s, LOS rate: -0.014333 deg/s, cmd heading: 259.607103 deg, new cmd heading: 259.591461 deg. 2025-10-27T04:55:35.213Z,1761540935.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530725 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:35.424Z,1761540935.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245665 2025-10-27T04:55:35.631Z,1761540935.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:35.634Z,1761540935.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 199.360336 m, bearing: 250.666115 deg, approach rate: -0.660215 m/s, LOS rate: -0.014140 deg/s, cmd heading: 259.591448 deg, new cmd heading: 259.573531 deg. 2025-10-27T04:55:35.634Z,1761540935.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530413 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:35.679Z,1761540935.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499948 2025-10-27T04:55:35.928Z,1761540935.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749766 2025-10-27T04:55:35.997Z,1761540935.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191729,0.972063,0.135399],[-0.980248,-0.182842,-0.075389],[-0.048526,-0.147179,0.987919]] 2025-10-27T04:55:36.054Z,1761540936.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:36.073Z,1761540936.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 199.092972 m, bearing: 250.662397 deg, approach rate: -0.630876 m/s, LOS rate: -0.008786 deg/s, cmd heading: 259.573526 deg, new cmd heading: 259.562355 deg. 2025-10-27T04:55:36.074Z,1761540936.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530218 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:36.181Z,1761540936.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002818 2025-10-27T04:55:36.402Z,1761540936.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191644,0.971815,0.137289],[-0.980373,-0.182953,-0.073467],[-0.046279,-0.148674,0.987803]] 2025-10-27T04:55:36.432Z,1761540936.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253789 2025-10-27T04:55:36.440Z,1761540936.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:36.442Z,1761540936.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 198.860275 m, bearing: 250.659137 deg, approach rate: -0.604032 m/s, LOS rate: -0.008472 deg/s, cmd heading: 259.562351 deg, new cmd heading: 259.552560 deg. 2025-10-27T04:55:36.444Z,1761540936.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530047 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:36.492Z,1761540936.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:55:36.687Z,1761540936.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508265 2025-10-27T04:55:36.812Z,1761540936.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190989,0.971758,0.138595],[-0.980597,-0.182526,-0.071515],[-0.044198,-0.149564,0.987764]] 2025-10-27T04:55:36.869Z,1761540936.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:36.872Z,1761540936.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:36.874Z,1761540936.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 198.585510 m, bearing: 250.657531 deg, approach rate: -0.636254 m/s, LOS rate: -0.003722 deg/s, cmd heading: 259.552571 deg, new cmd heading: 259.547748 deg. 2025-10-27T04:55:36.876Z,1761540936.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529963 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:36.938Z,1761540936.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760285 2025-10-27T04:55:37.189Z,1761540937.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010684 2025-10-27T04:55:37.210Z,1761540937.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190169,0.971824,0.139259],[-0.980845,-0.181977,-0.069482],[-0.042183,-0.149805,0.987815]] 2025-10-27T04:55:37.228Z,1761540937.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:37.247Z,1761540937.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 198.366013 m, bearing: 250.656191 deg, approach rate: -0.615702 m/s, LOS rate: -0.003763 deg/s, cmd heading: 259.547735 deg, new cmd heading: 259.543710 deg. 2025-10-27T04:55:37.248Z,1761540937.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529892 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:37.443Z,1761540937.443 [DAT](INFO): DAT read: Rx Time:04:55:35.9125 2025-10-27T04:55:37.444Z,1761540937.444 [DAT](INFO): Rx dataTimestamp_ set to:1761540937.443386 2025-10-27T04:55:37.444Z,1761540937.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266030 2025-10-27T04:55:37.495Z,1761540937.495 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:55:37.614Z,1761540937.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189121,0.971947,0.139827],[-0.981128,-0.181199,-0.067486],[-0.040257,-0.149951,0.987873]] 2025-10-27T04:55:37.638Z,1761540937.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:37.641Z,1761540937.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 198.114273 m, bearing: 250.654571 deg, approach rate: -0.614312 m/s, LOS rate: -0.003958 deg/s, cmd heading: 259.543719 deg, new cmd heading: 259.538853 deg. 2025-10-27T04:55:37.642Z,1761540937.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529808 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:37.694Z,1761540937.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516156 2025-10-27T04:55:37.950Z,1761540937.950 [DAT](INFO): DAT read: 04:55:35.9125 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.48,-2.521, 2.303,-2.090,-2.597, PHS= 0.178,-1.338, 0.463, RAW= 158.4, 8.4, CAL= 158.1, 8.7, ROT= 351.9, -8.7 2025-10-27T04:55:37.951Z,1761540937.951 [DAT](INFO): got valid direction response: 04:55:35.9125 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.48,-2.521, 2.303,-2.090,-2.597, PHS= 0.178,-1.338, 0.463, RAW= 158.4, 8.4, CAL= 158.1, 8.7, ROT= 351.9, -8.7 2025-10-27T04:55:37.952Z,1761540937.952 [DAT](INFO): DAT read: Bearing 51.0, -11.8 (Local) 2025-10-27T04:55:37.952Z,1761540937.952 [DAT](INFO): Local bearing/azimuth received: Bearing 51.0, -11.8 (Local) 2025-10-27T04:55:37.954Z,1761540937.954 [DAT](INFO): DAT read: Range 11 to 50 : 172.3 m (Round-trip 229.8 ms) speed 0.6 m/s 2025-10-27T04:55:37.955Z,1761540937.955 [DAT](INFO): DAT read: user:226>Tx time:04:55:36.9786 2025-10-27T04:55:37.955Z,1761540937.955 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:37.956Z,1761540937.956 [DAT](INFO): direction in FSK: [0.978632,-0.139280,0.151261] 2025-10-27T04:55:37.956Z,1761540937.956 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:37.960Z,1761540937.960 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:37.960Z,1761540937.960 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:37.960Z,1761540937.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:38.132Z,1761540938.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 172.300003 m, deltaT: 7.559893 s, deltaX: -46.300003 m, approachRate: -6.124426 m/s, rangeRepo size: 4 2025-10-27T04:55:38.139Z,1761540938.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:38.142Z,1761540938.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 197.830566 m, bearing: 250.655193 deg, approach rate: -0.574591 m/s, LOS rate: 0.001262 deg/s, cmd heading: 259.538856 deg, new cmd heading: 259.540725 deg. 2025-10-27T04:55:38.142Z,1761540938.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529840 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:38.196Z,1761540938.196 [DAT](INFO): DAT read: 2025-10-27T04:55:38.197Z,1761540938.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018358 2025-10-27T04:55:38.448Z,1761540938.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270042 2025-10-27T04:55:38.479Z,1761540938.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186094,0.972536,0.139794],[-0.981837,-0.178722,-0.063671],[-0.036938,-0.149104,0.988131]] 2025-10-27T04:55:38.498Z,1761540938.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:38.501Z,1761540938.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 197.604736 m, bearing: 250.655494 deg, approach rate: -0.616877 m/s, LOS rate: 0.000822 deg/s, cmd heading: 259.540713 deg, new cmd heading: 259.541616 deg. 2025-10-27T04:55:38.502Z,1761540938.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529856 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:38.701Z,1761540938.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522416 2025-10-27T04:55:38.874Z,1761540938.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183918,0.972845,0.140523],[-0.982298,-0.176736,-0.062095],[-0.035573,-0.149455,0.988128]] 2025-10-27T04:55:38.920Z,1761540938.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:38.922Z,1761540938.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:38.925Z,1761540938.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 197.354263 m, bearing: 250.657012 deg, approach rate: -0.589912 m/s, LOS rate: 0.003580 deg/s, cmd heading: 259.541615 deg, new cmd heading: 259.546175 deg. 2025-10-27T04:55:38.926Z,1761540938.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529935 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:38.952Z,1761540938.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.773751 2025-10-27T04:55:39.204Z,1761540939.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026141 2025-10-27T04:55:39.284Z,1761540939.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182390,0.973218,0.139933],[-0.982642,-0.175519,-0.060072],[-0.033902,-0.148461,0.988337]] 2025-10-27T04:55:39.302Z,1761540939.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:39.310Z,1761540939.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 197.130157 m, bearing: 250.658278 deg, approach rate: -0.590947 m/s, LOS rate: 0.003342 deg/s, cmd heading: 259.546178 deg, new cmd heading: 259.549979 deg. 2025-10-27T04:55:39.312Z,1761540939.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530002 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:39.456Z,1761540939.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.277806 2025-10-27T04:55:39.681Z,1761540939.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180940,0.973431,0.140329],[-0.982971,-0.174342,-0.058070],[-0.032061,-0.148447,0.988401]] 2025-10-27T04:55:39.704Z,1761540939.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:39.709Z,1761540939.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530175 2025-10-27T04:55:39.710Z,1761540939.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 196.895004 m, bearing: 250.659509 deg, approach rate: -0.585407 m/s, LOS rate: 0.003068 deg/s, cmd heading: 259.549975 deg, new cmd heading: 259.553672 deg. 2025-10-27T04:55:39.728Z,1761540939.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530066 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:39.960Z,1761540939.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.781790 2025-10-27T04:55:40.180Z,1761540940.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:40.183Z,1761540940.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 196.610703 m, bearing: 250.659782 deg, approach rate: -0.596079 m/s, LOS rate: 0.000575 deg/s, cmd heading: 259.553663 deg, new cmd heading: 259.554486 deg. 2025-10-27T04:55:40.184Z,1761540940.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530080 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:40.212Z,1761540940.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.033636 2025-10-27T04:55:40.464Z,1761540940.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.285753 2025-10-27T04:55:40.518Z,1761540940.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177702,0.974017,0.140404],[-0.983688,-0.171764,-0.053436],[-0.027931,-0.147610,0.988651]] 2025-10-27T04:55:40.549Z,1761540940.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:40.557Z,1761540940.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 196.390823 m, bearing: 250.659787 deg, approach rate: -0.595517 m/s, LOS rate: 0.000013 deg/s, cmd heading: 259.554483 deg, new cmd heading: 259.554498 deg. 2025-10-27T04:55:40.558Z,1761540940.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530081 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:40.716Z,1761540940.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538230 2025-10-27T04:55:40.922Z,1761540940.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176319,0.974383,0.139606],[-0.983995,-0.170762,-0.050929],[-0.025785,-0.146352,0.988897]] 2025-10-27T04:55:40.968Z,1761540940.968 [DAT](INFO): DAT read: Rx Time:04:55:39.6097 2025-10-27T04:55:40.969Z,1761540940.969 [DAT](INFO): Rx dataTimestamp_ set to:1761540940.968239 2025-10-27T04:55:40.969Z,1761540940.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790879 2025-10-27T04:55:40.982Z,1761540940.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:40.985Z,1761540940.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:40.988Z,1761540940.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 196.129425 m, bearing: 250.659266 deg, approach rate: -0.600394 m/s, LOS rate: -0.001200 deg/s, cmd heading: 259.554510 deg, new cmd heading: 259.552944 deg. 2025-10-27T04:55:40.989Z,1761540940.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530054 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:41.220Z,1761540941.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041702 2025-10-27T04:55:41.379Z,1761540941.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.52 m. 2025-10-27T04:55:41.382Z,1761540941.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.522354 m, nav range: 195.893402 m, bearing: 250.658794 deg, approach rate: -0.598674 m/s, LOS rate: -0.001199 deg/s, cmd heading: 259.552953 deg, new cmd heading: 259.551535 deg. 2025-10-27T04:55:41.383Z,1761540941.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530029 target range: 217.522354 and range: 218.60 m. 2025-10-27T04:55:41.484Z,1761540941.484 [DAT](INFO): DAT read: 04:55:39.6097 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.11,-1.867, 2.888,-1.404,-1.927, PHS= 0.161,-1.424, 0.478, RAW= 158.9, 8.9, CAL= 158.7, 9.4, ROT= 351.3, -9.4 2025-10-27T04:55:41.485Z,1761540941.485 [DAT](INFO): got valid direction response: 04:55:39.6097 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.11,-1.867, 2.888,-1.404,-1.927, PHS= 0.161,-1.424, 0.478, RAW= 158.9, 8.9, CAL= 158.7, 9.4, ROT= 351.3, -9.4 2025-10-27T04:55:41.486Z,1761540941.486 [DAT](INFO): DAT read: Bearing 52.1, -11.2 (Local) 2025-10-27T04:55:41.486Z,1761540941.486 [DAT](INFO): Local bearing/azimuth received: Bearing 52.1, -11.2 (Local) 2025-10-27T04:55:41.486Z,1761540941.486 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:55:41.487Z,1761540941.487 [DAT](INFO): direction in FSK: [0.975221,-0.149230,0.163326] 2025-10-27T04:55:41.490Z,1761540941.490 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:41.491Z,1761540941.491 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:41.491Z,1761540941.491 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:55:41.726Z,1761540941.726 [DAT](INFO): DAT read: Range 11 to 50 : 170.2 m (Round-trip 227.0 ms) speed 0.7 m/s 2025-10-27T04:55:41.728Z,1761540941.728 [DAT](INFO): DAT read: user:227>Tx time:04:55:40.6786 2025-10-27T04:55:41.729Z,1761540941.729 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T04:55:41.730Z,1761540941.730 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:41.730Z,1761540941.730 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:41.730Z,1761540941.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:41.860Z,1761540941.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173813,0.974824,0.139665],[-0.984603,-0.169345,-0.043357],[-0.018614,-0.145050,0.989249]] 2025-10-27T04:55:41.912Z,1761540941.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.199997 m, deltaT: 11.340320 s, deltaX: -48.400009 m, approachRate: -4.267958 m/s, rangeRepo size: 4 2025-10-27T04:55:41.914Z,1761540941.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 169.377075 m, bearing: 252.768575 deg, lat: 36.779389 deg, lon: -121.859641 deg, deltaT: 11.340320 s, deltaX: -48.145279 m, approachRate: -4.245496 m/s, posRepo size: 4 2025-10-27T04:55:41.915Z,1761540941.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:41.917Z,1761540941.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 168.603058 m, bearing: 251.538328 deg, approach rate: 0.000000 m/s, LOS rate: -0.001199 deg/s, cmd heading: 259.551532 deg, new cmd heading: 259.549619 deg. 2025-10-27T04:55:41.918Z,1761540941.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529995 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:41.976Z,1761540941.976 [DAT](INFO): DAT read: 2025-10-27T04:55:41.977Z,1761540941.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798973 2025-10-27T04:55:42.215Z,1761540942.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175056,0.974658,0.139273],[-0.984430,-0.170990,-0.040742],[-0.015895,-0.144237,0.989415]] 2025-10-27T04:55:42.228Z,1761540942.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.049619 2025-10-27T04:55:42.243Z,1761540942.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:42.247Z,1761540942.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 168.397614 m, bearing: 251.537719 deg, approach rate: -0.619805 m/s, LOS rate: -0.001840 deg/s, cmd heading: 259.549620 deg, new cmd heading: 259.547790 deg. 2025-10-27T04:55:42.248Z,1761540942.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529963 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:42.480Z,1761540942.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.301769 2025-10-27T04:55:42.622Z,1761540942.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176711,0.974193,0.140431],[-0.984173,-0.172962,-0.038564],[-0.013279,-0.145023,0.989339]] 2025-10-27T04:55:42.640Z,1761540942.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:42.643Z,1761540942.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 168.154297 m, bearing: 251.537132 deg, approach rate: -0.612053 m/s, LOS rate: -0.001478 deg/s, cmd heading: 259.547790 deg, new cmd heading: 259.546027 deg. 2025-10-27T04:55:42.644Z,1761540942.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529933 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:42.733Z,1761540942.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554340 2025-10-27T04:55:42.984Z,1761540942.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.805658 2025-10-27T04:55:43.077Z,1761540943.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:43.080Z,1761540943.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:43.082Z,1761540943.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 167.878632 m, bearing: 251.534204 deg, approach rate: -0.626979 m/s, LOS rate: -0.006671 deg/s, cmd heading: 259.546041 deg, new cmd heading: 259.537242 deg. 2025-10-27T04:55:43.084Z,1761540943.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529779 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:43.236Z,1761540943.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.057782 2025-10-27T04:55:43.428Z,1761540943.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179393,0.973058,0.144835],[-0.983747,-0.176266,-0.034252],[-0.007800,-0.148625,0.988863]] 2025-10-27T04:55:43.447Z,1761540943.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:43.450Z,1761540943.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 167.648026 m, bearing: 251.531949 deg, approach rate: -0.628394 m/s, LOS rate: -0.006154 deg/s, cmd heading: 259.537244 deg, new cmd heading: 259.530469 deg. 2025-10-27T04:55:43.450Z,1761540943.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529661 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:43.488Z,1761540943.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.309777 2025-10-27T04:55:43.744Z,1761540943.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565644 2025-10-27T04:55:43.883Z,1761540943.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180377,0.972452,0.147655],[-0.983584,-0.177556,-0.032177],[-0.005073,-0.151036,0.988515]] 2025-10-27T04:55:43.975Z,1761540943.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:43.978Z,1761540943.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 167.319443 m, bearing: 251.527059 deg, approach rate: -0.651859 m/s, LOS rate: -0.009719 deg/s, cmd heading: 259.530468 deg, new cmd heading: 259.515771 deg. 2025-10-27T04:55:43.979Z,1761540943.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529405 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:43.992Z,1761540943.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.813886 2025-10-27T04:55:44.244Z,1761540944.244 [DAT](INFO): Reached modem response timeout 2025-10-27T04:55:44.245Z,1761540944.245 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:44.245Z,1761540944.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:44.311Z,1761540944.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181317,0.971925,0.149955],[-0.983422,-0.178842,-0.029940],[-0.002281,-0.152898,0.988239]] 2025-10-27T04:55:44.338Z,1761540944.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:44.341Z,1761540944.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 167.058044 m, bearing: 251.523235 deg, approach rate: -0.674223 m/s, LOS rate: -0.009879 deg/s, cmd heading: 259.515770 deg, new cmd heading: 259.504280 deg. 2025-10-27T04:55:44.342Z,1761540944.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529204 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:44.496Z,1761540944.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:44.745Z,1761540944.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:44.748Z,1761540944.748 [DAT](INFO): DAT read: Rx Time:04:55:43.3064 2025-10-27T04:55:44.749Z,1761540944.749 [DAT](INFO): Rx dataTimestamp_ set to:1761540944.748324 2025-10-27T04:55:44.749Z,1761540944.749 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:44.750Z,1761540944.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 166.788483 m, bearing: 251.519279 deg, approach rate: -0.662734 m/s, LOS rate: -0.009742 deg/s, cmd heading: 259.504268 deg, new cmd heading: 259.492380 deg. 2025-10-27T04:55:44.752Z,1761540944.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528996 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:45.001Z,1761540945.001 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:55:45.199Z,1761540945.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:45.201Z,1761540945.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.38 m. 2025-10-27T04:55:45.204Z,1761540945.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.377075 m, nav range: 166.484207 m, bearing: 251.512728 deg, approach rate: -0.667050 m/s, LOS rate: -0.014388 deg/s, cmd heading: 259.492383 deg, new cmd heading: 259.472694 deg. 2025-10-27T04:55:45.205Z,1761540945.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528653 target range: 169.377075 and range: 170.20 m. 2025-10-27T04:55:45.258Z,1761540945.258 [DAT](INFO): DAT read: 04:55:43.3064 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.13, 1.240,-0.287, 1.712, 1.159, PHS= 0.183,-1.401, 0.509, RAW= 159.2, 8.1, CAL= 158.8, 8.3, ROT= 351.2, -8.3 2025-10-27T04:55:45.260Z,1761540945.260 [DAT](INFO): got valid direction response: 04:55:43.3064 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.13, 1.240,-0.287, 1.712, 1.159, PHS= 0.183,-1.401, 0.509, RAW= 159.2, 8.1, CAL= 158.8, 8.3, ROT= 351.2, -8.3 2025-10-27T04:55:45.261Z,1761540945.261 [DAT](INFO): DAT read: Bearing 51.0, -10.0 (Local) 2025-10-27T04:55:45.262Z,1761540945.262 [DAT](INFO): Local bearing/azimuth received: Bearing 51.0, -10.0 (Local) 2025-10-27T04:55:45.264Z,1761540945.264 [DAT](INFO): DAT read: Range 11 to 50 : 167.7 m (Round-trip 223.7 ms) speed 0.6 m/s 2025-10-27T04:55:45.265Z,1761540945.265 [DAT](INFO): DAT read: user:228> 2025-10-27T04:55:45.266Z,1761540945.266 [DAT](INFO): DAT read: Tx time:04:55:44.3786 2025-10-27T04:55:45.266Z,1761540945.266 [DAT](INFO): Ping request sent. 2025-10-27T04:55:45.266Z,1761540945.266 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:55:45.280Z,1761540945.280 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:45.282Z,1761540945.282 [DAT](INFO): direction in FSK: [0.977878,-0.151383,0.144356] 2025-10-27T04:55:45.282Z,1761540945.282 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:45.282Z,1761540945.282 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:45.290Z,1761540945.290 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:45.300Z,1761540945.300 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:45.532Z,1761540945.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183974,0.970647,0.154910],[-0.982914,-0.182593,-0.023226],[0.005741,-0.156536,0.987656]] 2025-10-27T04:55:45.604Z,1761540945.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 167.699997 m, deltaT: 3.527759 s, deltaX: -2.500000 m, approachRate: -0.708665 m/s, rangeRepo size: 4 2025-10-27T04:55:45.606Z,1761540945.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 166.887466 m, bearing: 251.996087 deg, lat: 36.779406 deg, lon: -121.859637 deg, deltaT: 3.527759 s, deltaX: -2.489609 m, approachRate: -0.705720 m/s, posRepo size: 4 2025-10-27T04:55:45.606Z,1761540945.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:45.613Z,1761540945.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 165.284225 m, bearing: 252.095789 deg, approach rate: 0.000000 m/s, LOS rate: -0.014388 deg/s, cmd heading: 259.472685 deg, new cmd heading: 259.455525 deg. 2025-10-27T04:55:45.614Z,1761540945.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528353 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:45.927Z,1761540945.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185169,0.970227,0.156112],[-0.982671,-0.184160,-0.021030],[0.008346,-0.157301,0.987515]] 2025-10-27T04:55:45.972Z,1761540945.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:45.975Z,1761540945.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 165.029938 m, bearing: 252.091283 deg, approach rate: -0.680953 m/s, LOS rate: -0.012086 deg/s, cmd heading: 259.455527 deg, new cmd heading: 259.441988 deg. 2025-10-27T04:55:45.976Z,1761540945.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528117 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:46.337Z,1761540946.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186072,0.969761,0.157924],[-0.982476,-0.185416,-0.019009],[0.010847,-0.158694,0.987268]] 2025-10-27T04:55:46.356Z,1761540946.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:46.359Z,1761540946.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 164.782059 m, bearing: 252.086951 deg, approach rate: -0.645623 m/s, LOS rate: -0.011300 deg/s, cmd heading: 259.441976 deg, new cmd heading: 259.428960 deg. 2025-10-27T04:55:46.360Z,1761540946.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527890 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:46.738Z,1761540946.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186721,0.969543,0.158500],[-0.982323,-0.186439,-0.016783],[0.013279,-0.158832,0.987216]] 2025-10-27T04:55:46.773Z,1761540946.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:46.784Z,1761540946.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 164.523392 m, bearing: 252.082477 deg, approach rate: -0.620580 m/s, LOS rate: -0.010751 deg/s, cmd heading: 259.428972 deg, new cmd heading: 259.415528 deg. 2025-10-27T04:55:46.785Z,1761540946.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527655 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:47.138Z,1761540947.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186966,0.969396,0.159109],[-0.982245,-0.187019,-0.014780],[0.015428,-0.159048,0.987150]] 2025-10-27T04:55:47.189Z,1761540947.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:47.192Z,1761540947.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 164.246231 m, bearing: 252.078840 deg, approach rate: -0.666744 m/s, LOS rate: -0.008764 deg/s, cmd heading: 259.415530 deg, new cmd heading: 259.404601 deg. 2025-10-27T04:55:47.193Z,1761540947.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527464 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:47.550Z,1761540947.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187622,0.969179,0.159655],[-0.982079,-0.188051,-0.012552],[0.017858,-0.159148,0.987093]] 2025-10-27T04:55:47.566Z,1761540947.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:47.568Z,1761540947.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:47.571Z,1761540947.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 164.001572 m, bearing: 252.075678 deg, approach rate: -0.645017 m/s, LOS rate: -0.008348 deg/s, cmd heading: 259.404601 deg, new cmd heading: 259.395102 deg. 2025-10-27T04:55:47.572Z,1761540947.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527298 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:47.773Z,1761540947.773 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:47.773Z,1761540947.773 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:47.773Z,1761540947.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:47.946Z,1761540947.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187292,0.969004,0.161098],[-0.982100,-0.188058,-0.010618],[0.020007,-0.160203,0.986881]] 2025-10-27T04:55:47.993Z,1761540947.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:47.996Z,1761540947.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 163.732605 m, bearing: 252.074407 deg, approach rate: -0.632509 m/s, LOS rate: -0.002994 deg/s, cmd heading: 259.395094 deg, new cmd heading: 259.391274 deg. 2025-10-27T04:55:47.997Z,1761540947.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527232 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:48.024Z,1761540948.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757487 2025-10-27T04:55:48.276Z,1761540948.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009453 2025-10-27T04:55:48.351Z,1761540948.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187107,0.968914,0.161854],[-0.982092,-0.188204,-0.008663],[0.022068,-0.160576,0.986777]] 2025-10-27T04:55:48.369Z,1761540948.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:48.372Z,1761540948.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 163.494553 m, bearing: 252.073263 deg, approach rate: -0.633883 m/s, LOS rate: -0.003051 deg/s, cmd heading: 259.391269 deg, new cmd heading: 259.387832 deg. 2025-10-27T04:55:48.373Z,1761540948.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527172 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:48.528Z,1761540948.528 [DAT](INFO): DAT read: Rx Time:04:55:47.0034 2025-10-27T04:55:48.528Z,1761540948.528 [DAT](INFO): Rx dataTimestamp_ set to:1761540948.528161 2025-10-27T04:55:48.529Z,1761540948.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262532 2025-10-27T04:55:48.755Z,1761540948.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187352,0.968594,0.163478],[-0.981988,-0.188827,-0.006613],[0.024464,-0.161772,0.986525]] 2025-10-27T04:55:48.780Z,1761540948.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513502 2025-10-27T04:55:48.786Z,1761540948.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.89 m. 2025-10-27T04:55:48.789Z,1761540948.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.887466 m, nav range: 163.231873 m, bearing: 252.072015 deg, approach rate: -0.630273 m/s, LOS rate: -0.002999 deg/s, cmd heading: 259.387826 deg, new cmd heading: 259.384077 deg. 2025-10-27T04:55:48.789Z,1761540948.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527106 target range: 166.887466 and range: 167.70 m. 2025-10-27T04:55:49.039Z,1761540949.039 [DAT](INFO): DAT read: 04:55:47.0034 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 416,-0.11,-2.756, 2.031,-2.319,-2.820, PHS= 0.165,-1.387, 0.456, RAW= 158.4, 9.0, CAL= 158.2, 9.5, ROT= 351.8, -9.5 2025-10-27T04:55:49.041Z,1761540949.041 [DAT](INFO): got valid direction response: 04:55:47.0034 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 416,-0.11,-2.756, 2.031,-2.319,-2.820, PHS= 0.165,-1.387, 0.456, RAW= 158.4, 9.0, CAL= 158.2, 9.5, ROT= 351.8, -9.5 2025-10-27T04:55:49.042Z,1761540949.042 [DAT](INFO): DAT read: Bearing 51.4, -8.4 (Local) 2025-10-27T04:55:49.042Z,1761540949.042 [DAT](INFO): Local bearing/azimuth received: Bearing 51.4, -8.4 (Local) 2025-10-27T04:55:49.044Z,1761540949.044 [DAT](INFO): DAT read: Range 11 to 50 : 165.5 m (Round-trip 220.7 ms) speed 0.8 m/s 2025-10-27T04:55:49.045Z,1761540949.045 [DAT](INFO): DAT read: user:229> 2025-10-27T04:55:49.046Z,1761540949.046 [DAT](INFO): DAT read: Tx time:04:55:48.0786 2025-10-27T04:55:49.046Z,1761540949.046 [DAT](INFO): Ping request sent. 2025-10-27T04:55:49.046Z,1761540949.046 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:55:49.046Z,1761540949.046 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:49.048Z,1761540949.048 [DAT](INFO): direction in FSK: [0.976202,-0.140673,0.165048] 2025-10-27T04:55:49.048Z,1761540949.048 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:49.048Z,1761540949.048 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:49.068Z,1761540949.068 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:49.068Z,1761540949.068 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:49.162Z,1761540949.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187030,0.968651,0.163511],[-0.981993,-0.188865,-0.004393],[0.026626,-0.161388,0.986532]] 2025-10-27T04:55:49.243Z,1761540949.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 165.500000 m, deltaT: 3.779909 s, deltaX: -2.199997 m, approachRate: -0.582024 m/s, rangeRepo size: 4 2025-10-27T04:55:49.245Z,1761540949.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 164.697662 m, bearing: 252.625777 deg, lat: 36.779415 deg, lon: -121.859627 deg, deltaT: 3.779909 s, deltaX: -2.189804 m, approachRate: -0.579327 m/s, posRepo size: 4 2025-10-27T04:55:49.246Z,1761540949.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:49.253Z,1761540949.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 161.797180 m, bearing: 252.277502 deg, approach rate: 0.000000 m/s, LOS rate: -0.002999 deg/s, cmd heading: 259.384084 deg, new cmd heading: 259.380083 deg. 2025-10-27T04:55:49.254Z,1761540949.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527037 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:49.575Z,1761540949.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186770,0.968651,0.163803],[-0.981983,-0.188955,-0.002279],[0.028744,-0.161278,0.986490]] 2025-10-27T04:55:49.592Z,1761540949.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:49.594Z,1761540949.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:49.601Z,1761540949.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 161.559784 m, bearing: 252.276621 deg, approach rate: -0.652988 m/s, LOS rate: -0.002426 deg/s, cmd heading: 259.380095 deg, new cmd heading: 259.377449 deg. 2025-10-27T04:55:49.602Z,1761540949.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526990 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:49.788Z,1761540949.788 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:49.788Z,1761540949.788 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:49.788Z,1761540949.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:49.982Z,1761540949.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186612,0.968752,0.163387],[-0.981949,-0.189148,-0.000038],[0.030868,-0.160445,0.986562]] 2025-10-27T04:55:49.000Z,1761540950.000 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, 66, +518.24 +6.45, 10.0 2025-10-27T04:55:50.040Z,1761540950.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993913 2025-10-27T04:55:50.042Z,1761540950.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:50.044Z,1761540950.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 161.277542 m, bearing: 252.275564 deg, approach rate: -0.630677 m/s, LOS rate: -0.002367 deg/s, cmd heading: 259.377445 deg, new cmd heading: 259.374267 deg. 2025-10-27T04:55:50.045Z,1761540950.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526935 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:50.296Z,1761540950.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249840 2025-10-27T04:55:50.374Z,1761540950.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185943,0.968816,0.163770],[-0.982009,-0.188825,0.002072],[0.032932,-0.160439,0.986496]] 2025-10-27T04:55:50.401Z,1761540950.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:50.404Z,1761540950.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 161.049103 m, bearing: 252.274653 deg, approach rate: -0.634811 m/s, LOS rate: -0.002535 deg/s, cmd heading: 259.374275 deg, new cmd heading: 259.371538 deg. 2025-10-27T04:55:50.405Z,1761540950.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526887 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:50.544Z,1761540950.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497680 2025-10-27T04:55:50.778Z,1761540950.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185650,0.968883,0.163707],[-0.981986,-0.188903,0.004393],[0.035181,-0.159943,0.986499]] 2025-10-27T04:55:50.798Z,1761540950.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751301 2025-10-27T04:55:50.826Z,1761540950.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:50.833Z,1761540950.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 160.799683 m, bearing: 252.273635 deg, approach rate: -0.587902 m/s, LOS rate: -0.002403 deg/s, cmd heading: 259.371543 deg, new cmd heading: 259.368485 deg. 2025-10-27T04:55:50.834Z,1761540950.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526834 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:51.048Z,1761540951.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001740 2025-10-27T04:55:51.185Z,1761540951.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184670,0.968906,0.164677],[-0.982107,-0.188226,0.006120],[0.036926,-0.160600,0.986329]] 2025-10-27T04:55:51.221Z,1761540951.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:51.244Z,1761540951.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 160.543945 m, bearing: 252.274344 deg, approach rate: -0.646085 m/s, LOS rate: 0.001794 deg/s, cmd heading: 259.368483 deg, new cmd heading: 259.370614 deg. 2025-10-27T04:55:51.245Z,1761540951.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526871 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:51.301Z,1761540951.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254701 2025-10-27T04:55:51.552Z,1761540951.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505762 2025-10-27T04:55:51.596Z,1761540951.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184119,0.969066,0.164349],[-0.982136,-0.187992,0.008193],[0.038836,-0.159905,0.986368]] 2025-10-27T04:55:51.617Z,1761540951.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:51.619Z,1761540951.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:51.622Z,1761540951.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 160.305038 m, bearing: 252.274968 deg, approach rate: -0.600838 m/s, LOS rate: 0.001571 deg/s, cmd heading: 259.370614 deg, new cmd heading: 259.372488 deg. 2025-10-27T04:55:51.623Z,1761540951.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526904 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:51.805Z,1761540951.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758753 2025-10-27T04:55:52.002Z,1761540952.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183522,0.969066,0.165017],[-0.982173,-0.187710,0.010019],[0.040684,-0.160236,0.986240]] 2025-10-27T04:55:52.056Z,1761540952.056 [DAT](INFO): DAT read: Rx Time:04:55:50.7002 2025-10-27T04:55:52.056Z,1761540952.056 [DAT](INFO): Rx dataTimestamp_ set to:1761540952.056203 2025-10-27T04:55:52.057Z,1761540952.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010906 2025-10-27T04:55:52.073Z,1761540952.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:52.085Z,1761540952.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 160.043030 m, bearing: 252.278765 deg, approach rate: -0.577244 m/s, LOS rate: 0.008379 deg/s, cmd heading: 259.372500 deg, new cmd heading: 259.383910 deg. 2025-10-27T04:55:52.086Z,1761540952.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527103 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:52.309Z,1761540952.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262951 2025-10-27T04:55:52.420Z,1761540952.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183158,0.969206,0.164600],[-0.982164,-0.187642,0.011984],[0.042501,-0.159470,0.986288]] 2025-10-27T04:55:52.438Z,1761540952.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.70 m. 2025-10-27T04:55:52.441Z,1761540952.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.697662 m, nav range: 159.816238 m, bearing: 252.282039 deg, approach rate: -0.621234 m/s, LOS rate: 0.008982 deg/s, cmd heading: 259.383920 deg, new cmd heading: 259.393757 deg. 2025-10-27T04:55:52.442Z,1761540952.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527275 target range: 164.697662 and range: 165.50 m. 2025-10-27T04:55:52.585Z,1761540952.585 [DAT](INFO): DAT read: 04:55:50.7002 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.09, 2.876, 1.466,-2.965, 2.835, PHS= 0.144,-1.324, 0.440, RAW= 159.0, 9.1, CAL= 158.8, 9.6, ROT= 351.2, -9.6 2025-10-27T04:55:52.586Z,1761540952.586 [DAT](INFO): got valid direction response: 04:55:50.7002 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.09, 2.876, 1.466,-2.965, 2.835, PHS= 0.144,-1.324, 0.440, RAW= 159.0, 9.1, CAL= 158.8, 9.6, ROT= 351.2, -9.6 2025-10-27T04:55:52.591Z,1761540952.591 [DAT](INFO): DAT read: Bearing 50.9, -7.7 (Local) 2025-10-27T04:55:52.592Z,1761540952.592 [DAT](INFO): Local bearing/azimuth received: Bearing 50.9, -7.7 (Local) 2025-10-27T04:55:52.593Z,1761540952.593 [DAT](INFO): DAT read: Range 11 to 50 : 163.1 m (Round-trip 217.5 ms) speed 0.5 m/s 2025-10-27T04:55:52.594Z,1761540952.594 [DAT](INFO): DAT read: user:230> 2025-10-27T04:55:52.595Z,1761540952.595 [DAT](INFO): DAT read: Tx time:04:55:51.7786 2025-10-27T04:55:52.599Z,1761540952.599 [DAT](INFO): Ping request sent. 2025-10-27T04:55:52.599Z,1761540952.599 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:55:52.600Z,1761540952.600 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:52.601Z,1761540952.601 [DAT](INFO): direction in FSK: [0.974389,-0.150843,0.166769] 2025-10-27T04:55:52.601Z,1761540952.601 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:52.601Z,1761540952.601 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:52.617Z,1761540952.617 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:52.617Z,1761540952.617 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:52.831Z,1761540952.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182693,0.969238,0.164927],[-0.982184,-0.187434,0.013521],[0.044018,-0.159519,0.986213]] 2025-10-27T04:55:52.854Z,1761540952.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 163.100006 m, deltaT: 3.530035 s, deltaX: -2.399994 m, approachRate: -0.679878 m/s, rangeRepo size: 4 2025-10-27T04:55:52.856Z,1761540952.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.309814 m, bearing: 252.242334 deg, lat: 36.779418 deg, lon: -121.859627 deg, deltaT: 3.530035 s, deltaX: -2.387848 m, approachRate: -0.676437 m/s, posRepo size: 4 2025-10-27T04:55:52.857Z,1761540952.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:52.860Z,1761540952.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 159.451309 m, bearing: 252.420853 deg, approach rate: 0.000000 m/s, LOS rate: 0.008982 deg/s, cmd heading: 259.393755 deg, new cmd heading: 259.404950 deg. 2025-10-27T04:55:52.861Z,1761540952.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527471 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:53.221Z,1761540953.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182531,0.969219,0.165216],[-0.982167,-0.187447,0.014537],[0.045059,-0.159617,0.986150]] 2025-10-27T04:55:53.269Z,1761540953.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:53.272Z,1761540953.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 159.194397 m, bearing: 252.424151 deg, approach rate: -0.618709 m/s, LOS rate: 0.007955 deg/s, cmd heading: 259.404957 deg, new cmd heading: 259.414866 deg. 2025-10-27T04:55:53.273Z,1761540953.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527644 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:53.636Z,1761540953.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182832,0.969218,0.164891],[-0.982056,-0.187933,0.015747],[0.046251,-0.159053,0.986186]] 2025-10-27T04:55:53.653Z,1761540953.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:53.656Z,1761540953.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:53.658Z,1761540953.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 158.958344 m, bearing: 252.427221 deg, approach rate: -0.611568 m/s, LOS rate: 0.007968 deg/s, cmd heading: 259.414874 deg, new cmd heading: 259.424100 deg. 2025-10-27T04:55:53.659Z,1761540953.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527805 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:53.821Z,1761540953.821 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:53.821Z,1761540953.821 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:53.821Z,1761540953.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:54.030Z,1761540954.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183459,0.969126,0.164737],[-0.981886,-0.188729,0.016790],[0.047362,-0.158673,0.986195]] 2025-10-27T04:55:54.072Z,1761540954.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472732 2025-10-27T04:55:54.094Z,1761540954.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:54.108Z,1761540954.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 158.681839 m, bearing: 252.426403 deg, approach rate: -0.629489 m/s, LOS rate: -0.001867 deg/s, cmd heading: 259.424108 deg, new cmd heading: 259.421648 deg. 2025-10-27T04:55:54.109Z,1761540954.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527762 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:54.324Z,1761540954.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724623 2025-10-27T04:55:54.434Z,1761540954.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183913,0.968968,0.165158],[-0.981734,-0.189404,0.017998],[0.048721,-0.158831,0.986103]] 2025-10-27T04:55:54.458Z,1761540954.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:54.461Z,1761540954.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 158.447968 m, bearing: 252.425748 deg, approach rate: -0.642855 m/s, LOS rate: -0.001801 deg/s, cmd heading: 259.421650 deg, new cmd heading: 259.419684 deg. 2025-10-27T04:55:54.462Z,1761540954.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527728 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:54.576Z,1761540954.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976751 2025-10-27T04:55:54.828Z,1761540954.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228628 2025-10-27T04:55:54.840Z,1761540954.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184204,0.968911,0.165168],[-0.981614,-0.189901,0.019252],[0.050019,-0.158585,0.986078]] 2025-10-27T04:55:54.889Z,1761540954.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:54.892Z,1761540954.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 158.173950 m, bearing: 252.425012 deg, approach rate: -0.635112 m/s, LOS rate: -0.001709 deg/s, cmd heading: 259.419682 deg, new cmd heading: 259.417470 deg. 2025-10-27T04:55:54.893Z,1761540954.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527689 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:55.080Z,1761540955.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480647 2025-10-27T04:55:55.241Z,1761540955.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184325,0.968899,0.165103],[-0.981527,-0.190220,0.020497],[0.051265,-0.158275,0.986063]] 2025-10-27T04:55:55.254Z,1761540955.254 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,4., 0.0,1492.7, 0 2025-10-27T04:55:55.270Z,1761540955.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:55.273Z,1761540955.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 157.932373 m, bearing: 252.424375 deg, approach rate: -0.634839 m/s, LOS rate: -0.001677 deg/s, cmd heading: 259.417470 deg, new cmd heading: 259.415555 deg. 2025-10-27T04:55:55.274Z,1761540955.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527656 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:55.333Z,1761540955.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733497 2025-10-27T04:55:55.584Z,1761540955.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984647 2025-10-27T04:55:55.645Z,1761540955.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184734,0.968848,0.164948],[-0.981372,-0.190859,0.021948],[0.052746,-0.157821,0.986058]] 2025-10-27T04:55:55.670Z,1761540955.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:55.677Z,1761540955.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:55.684Z,1761540955.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 157.681961 m, bearing: 252.423755 deg, approach rate: -0.614443 m/s, LOS rate: -0.001525 deg/s, cmd heading: 259.415557 deg, new cmd heading: 259.413693 deg. 2025-10-27T04:55:55.685Z,1761540955.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527623 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:55.836Z,1761540955.836 [DAT](INFO): DAT read: Rx Time:04:55:54.3971 2025-10-27T04:55:55.836Z,1761540955.836 [DAT](INFO): Rx dataTimestamp_ set to:1761540955.836091 2025-10-27T04:55:55.837Z,1761540955.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237687 2025-10-27T04:55:56.058Z,1761540956.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184452,0.968881,0.165066],[-0.981363,-0.190768,0.023129],[0.053898,-0.157724,0.986011]] 2025-10-27T04:55:56.088Z,1761540956.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488770 2025-10-27T04:55:56.136Z,1761540956.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-27T04:55:56.138Z,1761540956.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.309814 m, nav range: 157.401596 m, bearing: 252.424616 deg, approach rate: -0.611580 m/s, LOS rate: 0.001882 deg/s, cmd heading: 259.413699 deg, new cmd heading: 259.416288 deg. 2025-10-27T04:55:56.140Z,1761540956.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527668 target range: 162.309814 and range: 163.10 m. 2025-10-27T04:55:56.346Z,1761540956.346 [DAT](INFO): DAT read: 04:55:54.3971 LVL= 31824, 32753, 30834, 32755, AGC= 66, IDX= 416,-0.26, 1.450,-0.067, 1.976, 1.374, PHS= 0.178,-1.396, 0.558, RAW= 160.6, 7.4, CAL= 160.1, 7.4, ROT= 349.9, -7.4 2025-10-27T04:55:56.347Z,1761540956.347 [DAT](INFO): got valid direction response: 04:55:54.3971 LVL= 31824, 32753, 30834, 32755, AGC= 66, IDX= 416,-0.26, 1.450,-0.067, 1.976, 1.374, PHS= 0.178,-1.396, 0.558, RAW= 160.6, 7.4, CAL= 160.1, 7.4, ROT= 349.9, -7.4 2025-10-27T04:55:56.348Z,1761540956.348 [DAT](INFO): DAT read: Bearing 48.7, -7.9 (Local) 2025-10-27T04:55:56.348Z,1761540956.348 [DAT](INFO): Local bearing/azimuth received: Bearing 48.7, -7.9 (Local) 2025-10-27T04:55:56.350Z,1761540956.350 [DAT](INFO): DAT read: Range 11 to 50 : 160.8 m (Round-trip 214.4 ms) speed 0.3 m/s 2025-10-27T04:55:56.350Z,1761540956.350 [DAT](INFO): DAT read: user:231> 2025-10-27T04:55:56.351Z,1761540956.351 [DAT](INFO): DAT read: Tx time:04:55:55.4786 2025-10-27T04:55:56.351Z,1761540956.351 [DAT](INFO): Ping request sent. 2025-10-27T04:55:56.352Z,1761540956.352 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:55:56.352Z,1761540956.352 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:55:56.353Z,1761540956.353 [DAT](INFO): direction in FSK: [0.976303,-0.173906,0.128796] 2025-10-27T04:55:56.353Z,1761540956.353 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:56.353Z,1761540956.353 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:56.357Z,1761540956.357 [DAT](INFO): publishing transmit ping time 2025-10-27T04:55:56.358Z,1761540956.358 [DAT](INFO): publishing direction and range info 2025-10-27T04:55:56.565Z,1761540956.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.800003 m, deltaT: 3.777832 s, deltaX: -2.300003 m, approachRate: -0.608816 m/s, rangeRepo size: 4 2025-10-27T04:55:56.571Z,1761540956.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.021332 m, bearing: 250.453905 deg, lat: 36.779418 deg, lon: -121.859621 deg, deltaT: 3.777832 s, deltaX: -2.288483 m, approachRate: -0.605766 m/s, posRepo size: 4 2025-10-27T04:55:56.572Z,1761540956.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:56.575Z,1761540956.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 156.641937 m, bearing: 252.371292 deg, approach rate: 0.000000 m/s, LOS rate: 0.001882 deg/s, cmd heading: 259.416295 deg, new cmd heading: 259.418718 deg. 2025-10-27T04:55:56.576Z,1761540956.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527711 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:56.891Z,1761540956.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184622,0.968891,0.164819],[-0.981202,-0.191298,0.025459],[0.056197,-0.157021,0.985995]] 2025-10-27T04:55:56.925Z,1761540956.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:56.932Z,1761540956.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 156.414795 m, bearing: 252.371939 deg, approach rate: -0.630679 m/s, LOS rate: 0.001800 deg/s, cmd heading: 259.418726 deg, new cmd heading: 259.420671 deg. 2025-10-27T04:55:56.933Z,1761540956.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527745 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:57.306Z,1761540957.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185029,0.968799,0.164900],[-0.981049,-0.191911,0.026687],[0.057501,-0.156837,0.985949]] 2025-10-27T04:55:57.361Z,1761540957.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:57.364Z,1761540957.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 156.129745 m, bearing: 252.373523 deg, approach rate: -0.653858 m/s, LOS rate: 0.003641 deg/s, cmd heading: 259.420666 deg, new cmd heading: 259.425428 deg. 2025-10-27T04:55:57.365Z,1761540957.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527828 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:57.705Z,1761540957.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185108,0.968664,0.165607],[-0.980968,-0.192187,0.027654],[0.058615,-0.157336,0.985804]] 2025-10-27T04:55:57.732Z,1761540957.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:57.735Z,1761540957.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:57.737Z,1761540957.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 155.889801 m, bearing: 252.374869 deg, approach rate: -0.642262 m/s, LOS rate: 0.003607 deg/s, cmd heading: 259.425420 deg, new cmd heading: 259.429463 deg. 2025-10-27T04:55:57.738Z,1761540957.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527898 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:57.864Z,1761540957.864 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:55:57.864Z,1761540957.864 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:55:57.864Z,1761540957.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:55:58.106Z,1761540958.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185382,0.968573,0.165829],[-0.980849,-0.192644,0.028694],[0.059738,-0.157334,0.985737]] 2025-10-27T04:55:58.116Z,1761540958.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764676 2025-10-27T04:55:58.185Z,1761540958.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:58.188Z,1761540958.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 155.600143 m, bearing: 252.374507 deg, approach rate: -0.643400 m/s, LOS rate: -0.000806 deg/s, cmd heading: 259.429463 deg, new cmd heading: 259.428375 deg. 2025-10-27T04:55:58.189Z,1761540958.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527879 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:58.368Z,1761540958.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016322 2025-10-27T04:55:58.509Z,1761540958.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185636,0.968423,0.166423],[-0.980740,-0.193073,0.029539],[0.060738,-0.157734,0.985612]] 2025-10-27T04:55:58.535Z,1761540958.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:58.538Z,1761540958.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 155.377182 m, bearing: 252.374249 deg, approach rate: -0.635707 m/s, LOS rate: -0.000737 deg/s, cmd heading: 259.428370 deg, new cmd heading: 259.427595 deg. 2025-10-27T04:55:58.539Z,1761540958.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527866 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:58.620Z,1761540958.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268593 2025-10-27T04:55:58.872Z,1761540958.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520348 2025-10-27T04:55:58.912Z,1761540958.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185680,0.968315,0.167002],[-0.980676,-0.193278,0.030313],[0.061630,-0.158146,0.985490]] 2025-10-27T04:55:58.931Z,1761540958.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:58.934Z,1761540958.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 155.125473 m, bearing: 252.373961 deg, approach rate: -0.636680 m/s, LOS rate: -0.000730 deg/s, cmd heading: 259.427606 deg, new cmd heading: 259.426740 deg. 2025-10-27T04:55:58.935Z,1761540958.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527851 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:59.124Z,1761540959.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772328 2025-10-27T04:55:59.323Z,1761540959.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185815,0.968116,0.167999],[-0.980588,-0.193600,0.031070],[0.062604,-0.158964,0.985297]] 2025-10-27T04:55:59.376Z,1761540959.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024209 2025-10-27T04:55:59.385Z,1761540959.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:59.394Z,1761540959.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 154.859161 m, bearing: 252.376714 deg, approach rate: -0.586165 m/s, LOS rate: 0.006071 deg/s, cmd heading: 259.426731 deg, new cmd heading: 259.435006 deg. 2025-10-27T04:55:59.399Z,1761540959.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527995 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:59.628Z,1761540959.628 [DAT](INFO): DAT read: Rx Time:04:55:58.0940 2025-10-27T04:55:59.629Z,1761540959.629 [DAT](INFO): Rx dataTimestamp_ set to:1761540959.628701 2025-10-27T04:55:59.630Z,1761540959.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278331 2025-10-27T04:55:59.738Z,1761540959.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185944,0.967777,0.169802],[-0.980506,-0.193932,0.031588],[0.063500,-0.160619,0.984972]] 2025-10-27T04:55:59.756Z,1761540959.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:55:59.776Z,1761540959.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.02 m. 2025-10-27T04:55:59.784Z,1761540959.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.021332 m, nav range: 154.612106 m, bearing: 252.379282 deg, approach rate: -0.631528 m/s, LOS rate: 0.006575 deg/s, cmd heading: 259.435009 deg, new cmd heading: 259.442726 deg. 2025-10-27T04:55:59.786Z,1761540959.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528130 target range: 160.021332 and range: 160.80 m. 2025-10-27T04:55:59.882Z,1761540959.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530594 2025-10-27T04:56:00.118Z,1761540960.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185930,0.967773,0.169839],[-0.980459,-0.194045,0.032351],[0.064265,-0.160506,0.984941]] 2025-10-27T04:56:00.141Z,1761540960.141 [DAT](INFO): DAT read: 04:55:58.0940 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.28,-0.360,-1.800, 0.154,-0.409, PHS= 0.152,-1.346, 0.520, RAW= 160.7, 7.9, CAL= 160.3, 8.1, ROT= 349.7, -8.1 2025-10-27T04:56:00.143Z,1761540960.143 [DAT](INFO): got valid direction response: 04:55:58.0940 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.28,-0.360,-1.800, 0.154,-0.409, PHS= 0.152,-1.346, 0.520, RAW= 160.7, 7.9, CAL= 160.3, 8.1, ROT= 349.7, -8.1 2025-10-27T04:56:00.152Z,1761540960.152 [DAT](INFO): DAT read: Bearing 49.6, -8.1 (Local) 2025-10-27T04:56:00.152Z,1761540960.152 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -8.1 (Local) 2025-10-27T04:56:00.154Z,1761540960.154 [DAT](INFO): DAT read: Range 11 to 50 : 158.4 m (Round-trip 211.3 ms) speed 0.6er:232> 2025-10-27T04:56:00.155Z,1761540960.155 [DAT](INFO): DAT read: Tx time:04:55:59.1786 2025-10-27T04:56:00.156Z,1761540960.156 [DAT](INFO): Ping request sent. 2025-10-27T04:56:00.157Z,1761540960.157 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:00.158Z,1761540960.158 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:00.180Z,1761540960.180 [DAT](INFO): direction in FSK: [0.974069,-0.177018,0.140901] 2025-10-27T04:56:00.180Z,1761540960.180 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:00.181Z,1761540960.181 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:00.190Z,1761540960.190 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:00.190Z,1761540960.190 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:00.232Z,1761540960.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.399994 m, deltaT: 3.796081 s, deltaX: -2.400009 m, approachRate: -0.632233 m/s, rangeRepo size: 4 2025-10-27T04:56:00.234Z,1761540960.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.632614 m, bearing: 250.273909 deg, lat: 36.779406 deg, lon: -121.859608 deg, deltaT: 3.796081 s, deltaX: -2.388718 m, approachRate: -0.629259 m/s, posRepo size: 4 2025-10-27T04:56:00.244Z,1761540960.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:00.246Z,1761540960.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 153.657898 m, bearing: 251.788843 deg, approach rate: 0.000000 m/s, LOS rate: 0.006575 deg/s, cmd heading: 259.442714 deg, new cmd heading: 259.451672 deg. 2025-10-27T04:56:00.253Z,1761540960.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528286 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:00.521Z,1761540960.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185819,0.967564,0.171148],[-0.980423,-0.194123,0.032984],[0.065138,-0.161669,0.984693]] 2025-10-27T04:56:00.562Z,1761540960.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:00.565Z,1761540960.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 153.429062 m, bearing: 251.789981 deg, approach rate: -0.697992 m/s, LOS rate: 0.003477 deg/s, cmd heading: 259.451675 deg, new cmd heading: 259.455095 deg. 2025-10-27T04:56:00.566Z,1761540960.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528346 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:00.926Z,1761540960.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186025,0.967505,0.171254],[-0.980340,-0.194436,0.033579],[0.065786,-0.161641,0.984654]] 2025-10-27T04:56:00.968Z,1761540960.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:00.970Z,1761540960.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 153.182663 m, bearing: 251.791232 deg, approach rate: -0.608720 m/s, LOS rate: 0.003095 deg/s, cmd heading: 259.455090 deg, new cmd heading: 259.458849 deg. 2025-10-27T04:56:00.980Z,1761540960.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528411 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:01.330Z,1761540961.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185784,0.967583,0.171079],[-0.980356,-0.194266,0.034102],[0.066232,-0.161383,0.984667]] 2025-10-27T04:56:01.378Z,1761540961.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:01.381Z,1761540961.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 152.916824 m, bearing: 251.793455 deg, approach rate: -0.640720 m/s, LOS rate: 0.005366 deg/s, cmd heading: 259.458860 deg, new cmd heading: 259.465540 deg. 2025-10-27T04:56:01.382Z,1761540961.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528528 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:01.739Z,1761540961.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185417,0.967567,0.171568],[-0.980391,-0.194004,0.034570],[0.066733,-0.161794,0.984566]] 2025-10-27T04:56:01.772Z,1761540961.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:01.774Z,1761540961.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:01.788Z,1761540961.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 152.683823 m, bearing: 251.795376 deg, approach rate: -0.588982 m/s, LOS rate: 0.004863 deg/s, cmd heading: 259.465527 deg, new cmd heading: 259.471298 deg. 2025-10-27T04:56:01.790Z,1761540961.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528628 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:01.900Z,1761540961.900 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:01.900Z,1761540961.900 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:01.901Z,1761540961.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:02.152Z,1761540962.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995834 2025-10-27T04:56:02.155Z,1761540962.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184885,0.967498,0.172527],[-0.980474,-0.193559,0.034736],[0.067001,-0.162736,0.984392]] 2025-10-27T04:56:02.207Z,1761540962.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:02.210Z,1761540962.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 152.407761 m, bearing: 251.797676 deg, approach rate: -0.637276 m/s, LOS rate: 0.005320 deg/s, cmd heading: 259.471291 deg, new cmd heading: 259.478205 deg. 2025-10-27T04:56:02.211Z,1761540962.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528749 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:02.404Z,1761540962.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247640 2025-10-27T04:56:02.542Z,1761540962.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184326,0.967704,0.171968],[-0.980554,-0.193046,0.035301],[0.067358,-0.162118,0.984470]] 2025-10-27T04:56:02.581Z,1761540962.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:02.591Z,1761540962.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 152.190613 m, bearing: 251.799448 deg, approach rate: -0.579962 m/s, LOS rate: 0.004738 deg/s, cmd heading: 259.478204 deg, new cmd heading: 259.483526 deg. 2025-10-27T04:56:02.592Z,1761540962.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528842 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:02.656Z,1761540962.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500096 2025-10-27T04:56:02.908Z,1761540962.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751738 2025-10-27T04:56:02.995Z,1761540962.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:02.998Z,1761540962.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 151.930252 m, bearing: 251.801578 deg, approach rate: -0.629041 m/s, LOS rate: 0.005157 deg/s, cmd heading: 259.483531 deg, new cmd heading: 259.489934 deg. 2025-10-27T04:56:02.999Z,1761540962.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528954 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:03.160Z,1761540963.160 [DAT](INFO): DAT read: Rx Time:04:56:01.7909 2025-10-27T04:56:03.160Z,1761540963.160 [DAT](INFO): Rx dataTimestamp_ set to:1761540963.160105 2025-10-27T04:56:03.161Z,1761540963.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004758 2025-10-27T04:56:03.354Z,1761540963.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183067,0.967880,0.172319],[-0.980758,-0.191897,0.035916],[0.067830,-0.162428,0.984386]] 2025-10-27T04:56:03.412Z,1761540963.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255598 2025-10-27T04:56:03.424Z,1761540963.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.63 m. 2025-10-27T04:56:03.427Z,1761540963.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.632614 m, nav range: 151.673248 m, bearing: 251.801730 deg, approach rate: -0.599076 m/s, LOS rate: 0.000354 deg/s, cmd heading: 259.489924 deg, new cmd heading: 259.490380 deg. 2025-10-27T04:56:03.428Z,1761540963.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528962 target range: 157.632614 and range: 158.40 m. 2025-10-27T04:56:03.676Z,1761540963.676 [DAT](INFO): DAT read: 04:56:01.7909 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.03, 0.039,-1.427, 0.545,-0.059, PHS= 0.201,-1.322, 0.561, RAW= 160.4, 6.5, CAL= 159.7, 6.3, ROT= 350.3, -6.3 2025-10-27T04:56:03.677Z,1761540963.677 [DAT](INFO): got valid direction response: 04:56:01.7909 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.03, 0.039,-1.427, 0.545,-0.059, PHS= 0.201,-1.322, 0.561, RAW= 160.4, 6.5, CAL= 159.7, 6.3, ROT= 350.3, -6.3 2025-10-27T04:56:03.678Z,1761540963.678 [DAT](INFO): DAT read: Bearing 47.4, -6.9 (Local) 2025-10-27T04:56:03.678Z,1761540963.678 [DAT](INFO): Local bearing/azimuth received: Bearing 47.4, -6.9 (Local) 2025-10-27T04:56:03.680Z,1761540963.680 [DAT](INFO): DAT read: Range 11 to 50 : 156.1 m (Round-trip 208.2 ms) speed 0.4 m/s 2025-10-27T04:56:03.680Z,1761540963.680 [DAT](INFO): DAT read: user:233> 2025-10-27T04:56:03.681Z,1761540963.681 [DAT](INFO): DAT read: Tx time:04:56:02.8786 2025-10-27T04:56:03.681Z,1761540963.681 [DAT](INFO): Ping request sent. 2025-10-27T04:56:03.681Z,1761540963.681 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:03.682Z,1761540963.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:03.686Z,1761540963.686 [DAT](INFO): direction in FSK: [0.979751,-0.167472,0.109734] 2025-10-27T04:56:03.686Z,1761540963.686 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:03.686Z,1761540963.686 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:03.698Z,1761540963.698 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:03.699Z,1761540963.699 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:03.794Z,1761540963.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182531,0.968048,0.171948],[-0.980824,-0.191435,0.036566],[0.068314,-0.161976,0.984427]] 2025-10-27T04:56:03.858Z,1761540963.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.100006 m, deltaT: 3.529600 s, deltaX: -2.299988 m, approachRate: -0.651628 m/s, rangeRepo size: 4 2025-10-27T04:56:03.865Z,1761540963.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.345978 m, bearing: 250.799658 deg, lat: 36.779382 deg, lon: -121.859607 deg, deltaT: 3.529600 s, deltaX: -2.286636 m, approachRate: -0.647846 m/s, posRepo size: 4 2025-10-27T04:56:03.865Z,1761540963.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:03.872Z,1761540963.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 152.141357 m, bearing: 250.800193 deg, approach rate: 0.000000 m/s, LOS rate: 0.000354 deg/s, cmd heading: 259.490389 deg, new cmd heading: 259.490849 deg. 2025-10-27T04:56:03.873Z,1761540963.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528970 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:04.187Z,1761540964.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182639,0.968052,0.171809],[-0.980783,-0.191587,0.036882],[0.068620,-0.161771,0.984440]] 2025-10-27T04:56:04.235Z,1761540964.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:04.237Z,1761540964.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:04.240Z,1761540964.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 151.898605 m, bearing: 250.797024 deg, approach rate: -0.638996 m/s, LOS rate: -0.008356 deg/s, cmd heading: 259.490853 deg, new cmd heading: 259.481329 deg. 2025-10-27T04:56:04.241Z,1761540964.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528803 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:04.420Z,1761540964.420 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:04.420Z,1761540964.420 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:04.420Z,1761540964.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:04.590Z,1761540964.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182632,0.967950,0.172389],[-0.980791,-0.191585,0.036671],[0.068523,-0.162380,0.984346]] 2025-10-27T04:56:04.629Z,1761540964.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:04.638Z,1761540964.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 151.663025 m, bearing: 250.793936 deg, approach rate: -0.602053 m/s, LOS rate: -0.007904 deg/s, cmd heading: 259.481318 deg, new cmd heading: 259.472040 deg. 2025-10-27T04:56:04.640Z,1761540964.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528641 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:04.672Z,1761540964.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990537 2025-10-27T04:56:04.924Z,1761540964.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242415 2025-10-27T04:56:04.996Z,1761540964.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182966,0.968010,0.171694],[-0.980727,-0.191891,0.036765],[0.068535,-0.161659,0.984464]] 2025-10-27T04:56:05.014Z,1761540965.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:05.017Z,1761540965.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 151.421280 m, bearing: 250.790790 deg, approach rate: -0.628242 m/s, LOS rate: -0.008188 deg/s, cmd heading: 259.472029 deg, new cmd heading: 259.462577 deg. 2025-10-27T04:56:05.017Z,1761540965.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528476 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:05.176Z,1761540965.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494475 2025-10-27T04:56:05.400Z,1761540965.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183312,0.968021,0.171267],[-0.980655,-0.192232,0.036898],[0.068641,-0.161190,0.984534]] 2025-10-27T04:56:05.428Z,1761540965.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746521 2025-10-27T04:56:05.437Z,1761540965.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:05.440Z,1761540965.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 151.149582 m, bearing: 250.785620 deg, approach rate: -0.641071 m/s, LOS rate: -0.012221 deg/s, cmd heading: 259.462576 deg, new cmd heading: 259.447037 deg. 2025-10-27T04:56:05.441Z,1761540965.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528205 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:05.680Z,1761540965.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998302 2025-10-27T04:56:05.811Z,1761540965.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183731,0.967934,0.171311],[-0.980564,-0.192677,0.037004],[0.068826,-0.161183,0.984522]] 2025-10-27T04:56:05.829Z,1761540965.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:05.848Z,1761540965.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 150.898331 m, bearing: 250.780863 deg, approach rate: -0.641500 m/s, LOS rate: -0.012166 deg/s, cmd heading: 259.447031 deg, new cmd heading: 259.432736 deg. 2025-10-27T04:56:05.849Z,1761540965.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527956 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:05.933Z,1761540965.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250912 2025-10-27T04:56:06.187Z,1761540966.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505049 2025-10-27T04:56:06.206Z,1761540966.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184410,0.967639,0.172241],[-0.980452,-0.193346,0.036480],[0.068602,-0.162147,0.984379]] 2025-10-27T04:56:06.257Z,1761540966.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:06.276Z,1761540966.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:06.286Z,1761540966.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 150.614914 m, bearing: 250.773616 deg, approach rate: -0.658864 m/s, LOS rate: -0.016878 deg/s, cmd heading: 259.432742 deg, new cmd heading: 259.410961 deg. 2025-10-27T04:56:06.299Z,1761540966.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527575 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:06.436Z,1761540966.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754721 2025-10-27T04:56:06.632Z,1761540966.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185233,0.967493,0.172180],[-0.980281,-0.194192,0.036584],[0.068831,-0.162008,0.984386]] 2025-10-27T04:56:06.650Z,1761540966.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:06.653Z,1761540966.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 150.356766 m, bearing: 250.767075 deg, approach rate: -0.660477 m/s, LOS rate: -0.016766 deg/s, cmd heading: 259.410967 deg, new cmd heading: 259.391309 deg. 2025-10-27T04:56:06.654Z,1761540966.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527232 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:06.688Z,1761540966.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006792 2025-10-27T04:56:06.941Z,1761540966.941 [DAT](INFO): DAT read: Rx Time:04:56:05.4876 2025-10-27T04:56:06.942Z,1761540966.942 [DAT](INFO): Rx dataTimestamp_ set to:1761540966.941420 2025-10-27T04:56:06.943Z,1761540966.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261111 2025-10-27T04:56:07.031Z,1761540967.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186115,0.967383,0.171849],[-0.980109,-0.195061,0.036576],[0.068904,-0.161623,0.984444]] 2025-10-27T04:56:07.053Z,1761540967.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.35 m. 2025-10-27T04:56:07.056Z,1761540967.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.345978 m, nav range: 150.090668 m, bearing: 250.760401 deg, approach rate: -0.659774 m/s, LOS rate: -0.016576 deg/s, cmd heading: 259.391296 deg, new cmd heading: 259.371239 deg. 2025-10-27T04:56:07.057Z,1761540967.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526882 target range: 155.345978 and range: 156.10 m. 2025-10-27T04:56:07.193Z,1761540967.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511518 2025-10-27T04:56:07.434Z,1761540967.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187306,0.967484,0.169975],[-0.979895,-0.196133,0.036565],[0.068713,-0.159709,0.984770]] 2025-10-27T04:56:07.449Z,1761540967.449 [DAT](INFO): DAT read: 04:56:05.4876 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.28,-2.136, 2.702,-1.608,-2.180, PHS= 0.146,-1.356, 0.528, RAW= 161.1, 7.9, CAL= 160.6, 8.1, ROT= 349.4, -8.1 2025-10-27T04:56:07.451Z,1761540967.451 [DAT](INFO): got valid direction response: 04:56:05.4876 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.28,-2.136, 2.702,-1.608,-2.180, PHS= 0.146,-1.356, 0.528, RAW= 161.1, 7.9, CAL= 160.6, 8.1, ROT= 349.4, -8.1 2025-10-27T04:56:07.452Z,1761540967.452 [DAT](INFO): DAT read: Bearing 48.1, -8.0 (Local) 2025-10-27T04:56:07.452Z,1761540967.452 [DAT](INFO): Local bearing/azimuth received: Bearing 48.1, -8.0 (Local) 2025-10-27T04:56:07.453Z,1761540967.453 [DAT](INFO): DAT read: Range 11 to 50 : 153.6 m (Round-trip 204.9 ms) speed 0.4 m/s 2025-10-27T04:56:07.454Z,1761540967.454 [DAT](INFO): DAT read: user:234> 2025-10-27T04:56:07.455Z,1761540967.455 [DAT](INFO): DAT read: Tx time:04:56:06.5786 2025-10-27T04:56:07.455Z,1761540967.455 [DAT](INFO): Ping request sent. 2025-10-27T04:56:07.455Z,1761540967.455 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:07.456Z,1761540967.456 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:07.457Z,1761540967.457 [DAT](INFO): direction in FSK: [0.973129,-0.182116,0.140901] 2025-10-27T04:56:07.457Z,1761540967.457 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:07.457Z,1761540967.457 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:07.460Z,1761540967.460 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:07.461Z,1761540967.461 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:07.589Z,1761540967.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 153.600006 m, deltaT: 3.778212 s, deltaX: -2.500000 m, approachRate: -0.661689 m/s, rangeRepo size: 4 2025-10-27T04:56:07.595Z,1761540967.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.859528 m, bearing: 249.871234 deg, lat: 36.779374 deg, lon: -121.859601 deg, deltaT: 3.778212 s, deltaX: -2.486450 m, approachRate: -0.658102 m/s, posRepo size: 4 2025-10-27T04:56:07.596Z,1761540967.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:07.598Z,1761540967.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 149.590118 m, bearing: 250.375528 deg, approach rate: 0.000000 m/s, LOS rate: -0.016576 deg/s, cmd heading: 259.371243 deg, new cmd heading: 259.344638 deg. 2025-10-27T04:56:07.604Z,1761540967.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526418 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:07.615Z,1761540967.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:56:07.919Z,1761540967.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188438,0.967418,0.169099],[-0.979666,-0.197245,0.036731],[0.068888,-0.158739,0.984914]] 2025-10-27T04:56:07.937Z,1761540967.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:07.940Z,1761540967.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 149.344528 m, bearing: 250.369452 deg, approach rate: -0.703447 m/s, LOS rate: -0.017435 deg/s, cmd heading: 259.344632 deg, new cmd heading: 259.326371 deg. 2025-10-27T04:56:07.941Z,1761540967.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526099 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:08.320Z,1761540968.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189261,0.967146,0.169732],[-0.979506,-0.198083,0.036483],[0.068905,-0.159349,0.984815]] 2025-10-27T04:56:08.370Z,1761540968.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:08.377Z,1761540968.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:08.384Z,1761540968.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 149.078461 m, bearing: 250.364293 deg, approach rate: -0.605898 m/s, LOS rate: -0.011769 deg/s, cmd heading: 259.326382 deg, new cmd heading: 259.310878 deg. 2025-10-27T04:56:08.384Z,1761540968.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525829 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:08.452Z,1761540968.452 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:08.452Z,1761540968.452 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:08.453Z,1761540968.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:08.619Z,1761540968.619 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:56:08.704Z,1761540968.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248799 2025-10-27T04:56:08.741Z,1761540968.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189863,0.966988,0.169961],[-0.979392,-0.198679,0.036302],[0.068871,-0.159566,0.984782]] 2025-10-27T04:56:08.767Z,1761540968.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:08.769Z,1761540968.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 148.817596 m, bearing: 250.359278 deg, approach rate: -0.669041 m/s, LOS rate: -0.012884 deg/s, cmd heading: 259.310891 deg, new cmd heading: 259.295821 deg. 2025-10-27T04:56:08.770Z,1761540968.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525566 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:08.956Z,1761540968.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500718 2025-10-27T04:56:09.127Z,1761540969.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190194,0.966892,0.170135],[-0.979328,-0.199011,0.036203],[0.068863,-0.159732,0.984756]] 2025-10-27T04:56:09.150Z,1761540969.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:09.153Z,1761540969.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 148.576675 m, bearing: 250.354662 deg, approach rate: -0.628312 m/s, LOS rate: -0.012057 deg/s, cmd heading: 259.295810 deg, new cmd heading: 259.281940 deg. 2025-10-27T04:56:09.156Z,1761540969.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525323 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:09.210Z,1761540969.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754380 2025-10-27T04:56:09.460Z,1761540969.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004601 2025-10-27T04:56:09.530Z,1761540969.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190447,0.966782,0.170477],[-0.979281,-0.199269,0.036070],[0.068842,-0.160076,0.984701]] 2025-10-27T04:56:09.591Z,1761540969.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:09.594Z,1761540969.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 148.307281 m, bearing: 250.350241 deg, approach rate: -0.616148 m/s, LOS rate: -0.010130 deg/s, cmd heading: 259.281931 deg, new cmd heading: 259.268643 deg. 2025-10-27T04:56:09.595Z,1761540969.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525092 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:09.713Z,1761540969.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257537 2025-10-27T04:56:09.936Z,1761540969.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190602,0.966654,0.171029],[-0.979252,-0.199439,0.035908],[0.068821,-0.160636,0.984611]] 2025-10-27T04:56:09.964Z,1761540969.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508610 2025-10-27T04:56:10.000Z,1761540970.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:10.007Z,1761540970.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 148.059937 m, bearing: 250.346180 deg, approach rate: -0.598966 m/s, LOS rate: -0.009852 deg/s, cmd heading: 259.268653 deg, new cmd heading: 259.256449 deg. 2025-10-27T04:56:10.008Z,1761540970.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524879 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:10.222Z,1761540970.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765757 2025-10-27T04:56:10.339Z,1761540970.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191055,0.966318,0.172417],[-0.979169,-0.199924,0.035462],[0.068738,-0.162050,0.984385]] 2025-10-27T04:56:10.374Z,1761540970.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:10.377Z,1761540970.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:10.380Z,1761540970.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 147.787231 m, bearing: 250.344432 deg, approach rate: -0.724235 m/s, LOS rate: -0.004651 deg/s, cmd heading: 259.256441 deg, new cmd heading: 259.251187 deg. 2025-10-27T04:56:10.381Z,1761540970.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524787 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:10.468Z,1761540970.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012776 2025-10-27T04:56:10.721Z,1761540970.721 [DAT](INFO): DAT read: Rx Time:04:56:09.1843 2025-10-27T04:56:10.721Z,1761540970.721 [DAT](INFO): Rx dataTimestamp_ set to:1761540970.720856 2025-10-27T04:56:10.722Z,1761540970.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266672 2025-10-27T04:56:10.788Z,1761540970.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:10.792Z,1761540970.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 147.527161 m, bearing: 250.342759 deg, approach rate: -0.634471 m/s, LOS rate: -0.004088 deg/s, cmd heading: 259.251195 deg, new cmd heading: 259.246168 deg. 2025-10-27T04:56:10.794Z,1761540970.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524699 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:10.973Z,1761540970.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517580 2025-10-27T04:56:11.145Z,1761540971.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190205,0.966121,0.174446],[-0.979378,-0.199057,0.034568],[0.068121,-0.164274,0.984060]] 2025-10-27T04:56:11.164Z,1761540971.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.86 m. 2025-10-27T04:56:11.166Z,1761540971.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.859528 m, nav range: 147.278702 m, bearing: 250.341059 deg, approach rate: -0.658990 m/s, LOS rate: -0.004515 deg/s, cmd heading: 259.246168 deg, new cmd heading: 259.241062 deg. 2025-10-27T04:56:11.167Z,1761540971.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524610 target range: 152.859528 and range: 153.60 m. 2025-10-27T04:56:11.256Z,1761540971.256 [DAT](INFO): DAT read: 04:56:09.1843 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.40, 2.140, 0.655, 2.696, 2.094, PHS= 0.147,-1.394, 0.558, RAW= 161.5, 7.8, CAL= 161.1, 7.9, ROT= 348.9, -7.9 2025-10-27T04:56:11.257Z,1761540971.257 [DAT](INFO): got valid direction response: 04:56:09.1843 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.40, 2.140, 0.655, 2.696, 2.094, PHS= 0.147,-1.394, 0.558, RAW= 161.5, 7.8, CAL= 161.1, 7.9, ROT= 348.9, -7.9 2025-10-27T04:56:11.258Z,1761540971.258 [DAT](INFO): DAT read: Bearing 47.2, -8.4 (Local) 2025-10-27T04:56:11.258Z,1761540971.258 [DAT](INFO): Local bearing/azimuth received: Bearing 47.2, -8.4 (Local) 2025-10-27T04:56:11.268Z,1761540971.268 [DAT](INFO): DAT read: Range 11 to 50 : 151.2 m (Round-trip 201.6 ms) speed 0.7 m/s 2025-10-27T04:56:11.268Z,1761540971.268 [DAT](INFO): DAT read: user:235> 2025-10-27T04:56:11.269Z,1761540971.269 [DAT](INFO): DAT read: Tx time:04:56:10.2786 2025-10-27T04:56:11.270Z,1761540971.270 [DAT](INFO): Ping request sent. 2025-10-27T04:56:11.270Z,1761540971.270 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:11.270Z,1761540971.270 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:11.280Z,1761540971.280 [DAT](INFO): direction in FSK: [0.971980,-0.190695,0.137445] 2025-10-27T04:56:11.280Z,1761540971.280 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:11.281Z,1761540971.281 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:11.311Z,1761540971.311 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:11.311Z,1761540971.311 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:11.567Z,1761540971.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189919,0.966369,0.173381],[-0.979460,-0.198673,0.034452],[0.067740,-0.163276,0.984252]] 2025-10-27T04:56:11.624Z,1761540971.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 151.199997 m, deltaT: 3.781966 s, deltaX: -2.400009 m, approachRate: -0.634593 m/s, rangeRepo size: 4 2025-10-27T04:56:11.626Z,1761540971.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 150.472717 m, bearing: 249.221860 deg, lat: 36.779373 deg, lon: -121.859591 deg, deltaT: 3.781966 s, deltaX: -2.386810 m, approachRate: -0.631103 m/s, posRepo size: 4 2025-10-27T04:56:11.627Z,1761540971.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:11.630Z,1761540971.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 146.165375 m, bearing: 250.172158 deg, approach rate: 0.000000 m/s, LOS rate: -0.004515 deg/s, cmd heading: 259.241059 deg, new cmd heading: 259.234840 deg. 2025-10-27T04:56:11.630Z,1761540971.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524501 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:11.970Z,1761540971.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189697,0.966517,0.172802],[-0.979504,-0.198432,0.034598],[0.067729,-0.162697,0.984349]] 2025-10-27T04:56:11.994Z,1761540971.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:11.997Z,1761540971.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 145.932526 m, bearing: 250.173058 deg, approach rate: -0.627695 m/s, LOS rate: 0.002431 deg/s, cmd heading: 259.234830 deg, new cmd heading: 259.237536 deg. 2025-10-27T04:56:11.998Z,1761540971.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524549 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:12.374Z,1761540972.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189006,0.966987,0.170916],[-0.979645,-0.197665,0.034992],[0.067621,-0.160824,0.984664]] 2025-10-27T04:56:12.419Z,1761540972.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:12.421Z,1761540972.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:12.424Z,1761540972.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 145.663879 m, bearing: 250.173781 deg, approach rate: -0.628461 m/s, LOS rate: 0.001695 deg/s, cmd heading: 259.237535 deg, new cmd heading: 259.239708 deg. 2025-10-27T04:56:12.425Z,1761540972.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524587 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:12.485Z,1761540972.485 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:12.485Z,1761540972.485 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:12.485Z,1761540972.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:12.736Z,1761540972.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466347 2025-10-27T04:56:12.793Z,1761540972.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187997,0.967352,0.169963],[-0.979862,-0.196581,0.035016],[0.067284,-0.159958,0.984828]] 2025-10-27T04:56:12.832Z,1761540972.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:12.835Z,1761540972.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 145.410248 m, bearing: 250.174367 deg, approach rate: -0.616847 m/s, LOS rate: 0.001427 deg/s, cmd heading: 259.239721 deg, new cmd heading: 259.241481 deg. 2025-10-27T04:56:12.836Z,1761540972.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524617 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:12.988Z,1761540972.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718340 2025-10-27T04:56:13.183Z,1761540973.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186879,0.967339,0.171262],[-0.980092,-0.195487,0.034704],[0.067050,-0.161368,0.984614]] 2025-10-27T04:56:13.206Z,1761540973.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:13.208Z,1761540973.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 145.173233 m, bearing: 250.174802 deg, approach rate: -0.635215 m/s, LOS rate: 0.001167 deg/s, cmd heading: 259.241469 deg, new cmd heading: 259.242775 deg. 2025-10-27T04:56:13.209Z,1761540973.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524640 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:13.242Z,1761540973.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972140 2025-10-27T04:56:13.492Z,1761540973.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222271 2025-10-27T04:56:13.586Z,1761540973.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186195,0.967415,0.171578],[-0.980233,-0.194798,0.034596],[0.066891,-0.161745,0.984563]] 2025-10-27T04:56:13.637Z,1761540973.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:13.641Z,1761540973.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 144.900650 m, bearing: 250.177954 deg, approach rate: -0.631715 m/s, LOS rate: 0.007320 deg/s, cmd heading: 259.242781 deg, new cmd heading: 259.252256 deg. 2025-10-27T04:56:13.642Z,1761540973.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524806 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:13.744Z,1761540973.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474342 2025-10-27T04:56:13.990Z,1761540973.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185344,0.967737,0.170681],[-0.980397,-0.193919,0.034874],[0.066847,-0.160871,0.984709]] 2025-10-27T04:56:13.996Z,1761540973.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726096 2025-10-27T04:56:14.029Z,1761540974.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:14.036Z,1761540974.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 144.664581 m, bearing: 250.180617 deg, approach rate: -0.602640 m/s, LOS rate: 0.006808 deg/s, cmd heading: 259.252261 deg, new cmd heading: 259.260262 deg. 2025-10-27T04:56:14.041Z,1761540974.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524945 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:14.251Z,1761540974.251 [DAT](INFO): DAT read: Rx Time:04:56:12.8811 2025-10-27T04:56:14.253Z,1761540974.253 [DAT](INFO): Rx dataTimestamp_ set to:1761540974.251873 2025-10-27T04:56:14.254Z,1761540974.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984353 2025-10-27T04:56:14.394Z,1761540974.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184659,0.967840,0.170839],[-0.980533,-0.193235,0.034864],[0.066755,-0.161075,0.984682]] 2025-10-27T04:56:14.439Z,1761540974.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:14.441Z,1761540974.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:14.444Z,1761540974.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 144.392960 m, bearing: 250.184202 deg, approach rate: -0.658868 m/s, LOS rate: 0.008714 deg/s, cmd heading: 259.260266 deg, new cmd heading: 259.271042 deg. 2025-10-27T04:56:14.445Z,1761540974.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525133 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:14.501Z,1761540974.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231272 2025-10-27T04:56:14.761Z,1761540974.761 [DAT](INFO): DAT read: 04:56:12.8811 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412, 0.29,-0.302,-1.755, 0.191,-0.388, PHS= 0.187,-1.323, 0.534, RAW= 160.1, 7.1, CAL= 159.6, 7.0, ROT= 350.4, -7.0 2025-10-27T04:56:14.762Z,1761540974.762 [DAT](INFO): got valid direction response: 04:56:12.8811 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412, 0.29,-0.302,-1.755, 0.191,-0.388, PHS= 0.187,-1.323, 0.534, RAW= 160.1, 7.1, CAL= 159.6, 7.0, ROT= 350.4, -7.0 2025-10-27T04:56:14.762Z,1761540974.762 [DAT](INFO): DAT read: Bearing 47.5, -6.8 (Local) 2025-10-27T04:56:14.763Z,1761540974.763 [DAT](INFO): Local bearing/azimuth received: Bearing 47.5, -6.8 (Local) 2025-10-27T04:56:14.763Z,1761540974.763 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:56:14.764Z,1761540974.764 [DAT](INFO): direction in FSK: [0.978647,-0.165526,0.121869] 2025-10-27T04:56:14.772Z,1761540974.772 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:14.772Z,1761540974.772 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:14.773Z,1761540974.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:56:14.836Z,1761540974.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183601,0.968085,0.170592],[-0.980729,-0.192190,0.035135],[0.066800,-0.160853,0.984715]] 2025-10-27T04:56:14.875Z,1761540974.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:14.878Z,1761540974.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 144.124680 m, bearing: 250.187643 deg, approach rate: -0.623964 m/s, LOS rate: 0.008016 deg/s, cmd heading: 259.271030 deg, new cmd heading: 259.281370 deg. 2025-10-27T04:56:14.883Z,1761540974.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525313 target range: 150.472717 and range: 151.20 m. 2025-10-27T04:56:15.006Z,1761540975.006 [DAT](INFO): DAT read: Range 11 to 50 : 148.8 m (Round-trip 198.4 ms) speed 0.4 m/s 2025-10-27T04:56:15.008Z,1761540975.008 [DAT](INFO): DAT read: user:236> 2025-10-27T04:56:15.009Z,1761540975.009 [DAT](INFO): DAT read: Tx time:04:56:13.9786 2025-10-27T04:56:15.009Z,1761540975.009 [DAT](INFO): Ping request sent. 2025-10-27T04:56:15.010Z,1761540975.010 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:15.010Z,1761540975.010 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T04:56:15.010Z,1761540975.010 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:15.011Z,1761540975.011 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:15.211Z,1761540975.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182787,0.968370,0.169845],[-0.980871,-0.191385,0.035565],[0.066946,-0.160095,0.984829]] 2025-10-27T04:56:15.234Z,1761540975.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 148.800003 m, deltaT: 3.779165 s, deltaX: -2.399994 m, approachRate: -0.635059 m/s, rangeRepo size: 4 2025-10-27T04:56:15.234Z,1761540975.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:15.238Z,1761540975.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 143.892120 m, bearing: 250.190562 deg, approach rate: -0.648131 m/s, LOS rate: 0.008149 deg/s, cmd heading: 259.281357 deg, new cmd heading: 259.290130 deg. 2025-10-27T04:56:15.273Z,1761540975.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525466 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:15.617Z,1761540975.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182205,0.968473,0.169886],[-0.980978,-0.190813,0.035660],[0.066953,-0.160157,0.984818]] 2025-10-27T04:56:15.655Z,1761540975.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:15.657Z,1761540975.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 143.613831 m, bearing: 250.189500 deg, approach rate: -0.655228 m/s, LOS rate: -0.002506 deg/s, cmd heading: 259.290127 deg, new cmd heading: 259.286934 deg. 2025-10-27T04:56:15.658Z,1761540975.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525411 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:16.021Z,1761540976.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181749,0.968717,0.168981],[-0.981065,-0.190325,0.035882],[0.066921,-0.159260,0.984966]] 2025-10-27T04:56:16.040Z,1761540976.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:16.042Z,1761540976.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 143.360214 m, bearing: 250.188483 deg, approach rate: -0.658499 m/s, LOS rate: -0.002645 deg/s, cmd heading: 259.286931 deg, new cmd heading: 259.283875 deg. 2025-10-27T04:56:16.044Z,1761540976.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525357 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:16.422Z,1761540976.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181362,0.968830,0.168746],[-0.981131,-0.189948,0.036074],[0.067003,-0.159020,0.984999]] 2025-10-27T04:56:16.462Z,1761540976.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:16.465Z,1761540976.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:16.467Z,1761540976.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 143.082855 m, bearing: 250.184717 deg, approach rate: -0.652786 m/s, LOS rate: -0.008880 deg/s, cmd heading: 259.283871 deg, new cmd heading: 259.272552 deg. 2025-10-27T04:56:16.468Z,1761540976.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525160 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:16.517Z,1761540976.517 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:16.517Z,1761540976.517 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:16.517Z,1761540976.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:16.769Z,1761540976.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760018 2025-10-27T04:56:16.828Z,1761540976.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181147,0.968948,0.168302],[-0.981164,-0.189735,0.036292],[0.067098,-0.158557,0.985067]] 2025-10-27T04:56:16.852Z,1761540976.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:16.854Z,1761540976.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 142.829666 m, bearing: 250.181245 deg, approach rate: -0.654335 m/s, LOS rate: -0.008988 deg/s, cmd heading: 259.272560 deg, new cmd heading: 259.262127 deg. 2025-10-27T04:56:16.855Z,1761540976.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524978 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:17.020Z,1761540977.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010635 2025-10-27T04:56:17.230Z,1761540977.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181064,0.969010,0.168034],[-0.981165,-0.189679,0.036580],[0.067319,-0.158246,0.985102]] 2025-10-27T04:56:17.248Z,1761540977.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:17.251Z,1761540977.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 142.570129 m, bearing: 250.177666 deg, approach rate: -0.654229 m/s, LOS rate: -0.009039 deg/s, cmd heading: 259.262124 deg, new cmd heading: 259.251367 deg. 2025-10-27T04:56:17.252Z,1761540977.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524790 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:17.274Z,1761540977.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264229 2025-10-27T04:56:17.524Z,1761540977.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514599 2025-10-27T04:56:17.635Z,1761540977.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181433,0.969124,0.166977],[-0.981086,-0.190027,0.036881],[0.067473,-0.157128,0.985271]] 2025-10-27T04:56:17.687Z,1761540977.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:17.690Z,1761540977.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 142.284470 m, bearing: 250.170477 deg, approach rate: -0.675430 m/s, LOS rate: -0.017033 deg/s, cmd heading: 259.251359 deg, new cmd heading: 259.229747 deg. 2025-10-27T04:56:17.695Z,1761540977.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524413 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:17.781Z,1761540977.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771298 2025-10-27T04:56:18.032Z,1761540978.032 [DAT](INFO): DAT read: Rx Time:04:56:16.5781 2025-10-27T04:56:18.032Z,1761540978.032 [DAT](INFO): Rx dataTimestamp_ set to:1761540978.032105 2025-10-27T04:56:18.033Z,1761540978.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023700 2025-10-27T04:56:18.040Z,1761540978.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181528,0.969207,0.166388],[-0.981059,-0.190119,0.037110],[0.067601,-0.156500,0.985362]] 2025-10-27T04:56:18.086Z,1761540978.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:18.089Z,1761540978.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 142.004257 m, bearing: 250.163409 deg, approach rate: -0.675354 m/s, LOS rate: -0.017067 deg/s, cmd heading: 259.229749 deg, new cmd heading: 259.208505 deg. 2025-10-27T04:56:18.090Z,1761540978.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524042 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:18.285Z,1761540978.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275368 2025-10-27T04:56:18.464Z,1761540978.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182095,0.969214,0.165726],[-0.980933,-0.190702,0.037461],[0.067912,-0.155745,0.985460]] 2025-10-27T04:56:18.505Z,1761540978.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:18.508Z,1761540978.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.47 m. 2025-10-27T04:56:18.510Z,1761540978.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.472717 m, nav range: 141.724487 m, bearing: 250.153435 deg, approach rate: -0.663449 m/s, LOS rate: -0.023701 deg/s, cmd heading: 259.208493 deg, new cmd heading: 259.178510 deg. 2025-10-27T04:56:18.512Z,1761540978.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523519 target range: 150.472717 and range: 148.80 m. 2025-10-27T04:56:18.541Z,1761540978.541 [DAT](INFO): DAT read: 04:56:16.5781 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.22,-1.331,-2.769,-0.840,-1.380, PHS= 0.151,-1.344, 0.496, RAW= 160.1, 8.3, CAL= 159.8, 8.5, ROT= 350.2, -8.5 2025-10-27T04:56:18.543Z,1761540978.543 [DAT](INFO): got valid direction response: 04:56:16.5781 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.22,-1.331,-2.769,-0.840,-1.380, PHS= 0.151,-1.344, 0.496, RAW= 160.1, 8.3, CAL= 159.8, 8.5, ROT= 350.2, -8.5 2025-10-27T04:56:18.544Z,1761540978.544 [DAT](INFO): DAT read: Bearing 50.7, -7.4 (Local) 2025-10-27T04:56:18.544Z,1761540978.544 [DAT](INFO): Local bearing/azimuth received: Bearing 50.7, -7.4 (Local) 2025-10-27T04:56:18.545Z,1761540978.545 [DAT](INFO): DAT read: Range 11 to 50 : 146.5 m (Round-trip 195.4 ms) speed 0.6 m/s 2025-10-27T04:56:18.546Z,1761540978.546 [DAT](INFO): DAT read: user:237> 2025-10-27T04:56:18.547Z,1761540978.547 [DAT](INFO): DAT read: Tx time:04:56:17.6786 2025-10-27T04:56:18.547Z,1761540978.547 [DAT](INFO): Ping request sent. 2025-10-27T04:56:18.547Z,1761540978.547 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:18.548Z,1761540978.548 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:18.549Z,1761540978.549 [DAT](INFO): direction in FSK: [0.974584,-0.168340,0.147809] 2025-10-27T04:56:18.549Z,1761540978.549 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:18.549Z,1761540978.549 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:18.552Z,1761540978.552 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:18.553Z,1761540978.553 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:18.853Z,1761540978.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182432,0.969245,0.165173],[-0.980868,-0.191018,0.037546],[0.067942,-0.155163,0.985550]] 2025-10-27T04:56:18.880Z,1761540978.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.500000 m, deltaT: 3.530910 s, deltaX: -2.300003 m, approachRate: -0.651391 m/s, rangeRepo size: 4 2025-10-27T04:56:18.882Z,1761540978.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.795258 m, bearing: 250.979293 deg, lat: 36.779373 deg, lon: -121.859591 deg, deltaT: 7.310075 s, deltaX: -4.677460 m, approachRate: -0.639865 m/s, posRepo size: 4 2025-10-27T04:56:18.882Z,1761540978.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:18.886Z,1761540978.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 141.479950 m, bearing: 250.144720 deg, approach rate: 0.000000 m/s, LOS rate: -0.023701 deg/s, cmd heading: 259.178522 deg, new cmd heading: 259.152127 deg. 2025-10-27T04:56:18.887Z,1761540978.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523058 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:19.250Z,1761540979.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182915,0.969240,0.164671],[-0.980767,-0.191500,0.037727],[0.068101,-0.154603,0.985627]] 2025-10-27T04:56:19.274Z,1761540979.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:19.278Z,1761540979.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 141.218979 m, bearing: 250.135440 deg, approach rate: -0.661395 m/s, LOS rate: -0.023561 deg/s, cmd heading: 259.152130 deg, new cmd heading: 259.124241 deg. 2025-10-27T04:56:19.297Z,1761540979.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522571 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:19.669Z,1761540979.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183626,0.969228,0.163949],[-0.980620,-0.192207,0.037968],[0.068312,-0.153800,0.985738]] 2025-10-27T04:56:19.742Z,1761540979.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:19.749Z,1761540979.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 140.924667 m, bearing: 250.122080 deg, approach rate: -0.637619 m/s, LOS rate: -0.029005 deg/s, cmd heading: 259.124236 deg, new cmd heading: 259.084072 deg. 2025-10-27T04:56:19.750Z,1761540979.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521870 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:20.114Z,1761540980.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:20.117Z,1761540980.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 140.651230 m, bearing: 250.109617 deg, approach rate: -0.722193 m/s, LOS rate: -0.032981 deg/s, cmd heading: 259.084074 deg, new cmd heading: 259.046612 deg. 2025-10-27T04:56:20.118Z,1761540980.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521216 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:20.483Z,1761540980.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184602,0.968617,0.166443],[-0.980445,-0.193247,0.037189],[0.068186,-0.156323,0.985350]] 2025-10-27T04:56:20.517Z,1761540980.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:20.520Z,1761540980.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:20.522Z,1761540980.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 140.385468 m, bearing: 250.097722 deg, approach rate: -0.654774 m/s, LOS rate: -0.029363 deg/s, cmd heading: 259.046618 deg, new cmd heading: 259.010864 deg. 2025-10-27T04:56:20.539Z,1761540980.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520592 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:20.552Z,1761540980.552 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:20.552Z,1761540980.552 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:20.552Z,1761540980.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:20.805Z,1761540980.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257840 2025-10-27T04:56:20.885Z,1761540980.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185180,0.968330,0.167467],[-0.980345,-0.193836,0.036765],[0.068061,-0.157367,0.985192]] 2025-10-27T04:56:20.913Z,1761540980.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:20.916Z,1761540980.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 140.126923 m, bearing: 250.086166 deg, approach rate: -0.657256 m/s, LOS rate: -0.029431 deg/s, cmd heading: 259.010855 deg, new cmd heading: 258.976123 deg. 2025-10-27T04:56:20.917Z,1761540980.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519986 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:21.056Z,1761540981.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508606 2025-10-27T04:56:21.298Z,1761540981.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185445,0.968246,0.167661],[-0.980314,-0.194060,0.036404],[0.067784,-0.157610,0.985172]] 2025-10-27T04:56:21.308Z,1761540981.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760659 2025-10-27T04:56:21.349Z,1761540981.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:21.382Z,1761540981.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 139.859100 m, bearing: 250.074178 deg, approach rate: -0.623190 m/s, LOS rate: -0.027947 deg/s, cmd heading: 258.976130 deg, new cmd heading: 258.940098 deg. 2025-10-27T04:56:21.390Z,1761540981.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519357 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:21.560Z,1761540981.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012697 2025-10-27T04:56:21.798Z,1761540981.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:21.801Z,1761540981.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 139.552582 m, bearing: 250.061387 deg, approach rate: -0.672904 m/s, LOS rate: -0.028143 deg/s, cmd heading: 258.940094 deg, new cmd heading: 258.901636 deg. 2025-10-27T04:56:21.802Z,1761540981.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518686 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:21.812Z,1761540981.812 [DAT](INFO): DAT read: Rx Time:04:56:20.2748 2025-10-27T04:56:21.812Z,1761540981.812 [DAT](INFO): Rx dataTimestamp_ set to:1761540981.812193 2025-10-27T04:56:21.813Z,1761540981.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265717 2025-10-27T04:56:22.065Z,1761540982.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516983 2025-10-27T04:56:22.161Z,1761540982.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185362,0.967937,0.169527],[-0.980377,-0.193937,0.035357],[0.067101,-0.159646,0.984891]] 2025-10-27T04:56:22.203Z,1761540982.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.80 m. 2025-10-27T04:56:22.206Z,1761540982.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.795258 m, nav range: 139.298477 m, bearing: 250.050722 deg, approach rate: -0.634294 m/s, LOS rate: -0.026669 deg/s, cmd heading: 258.901626 deg, new cmd heading: 258.869574 deg. 2025-10-27T04:56:22.207Z,1761540982.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518126 target range: 145.795258 and range: 146.50 m. 2025-10-27T04:56:22.322Z,1761540982.322 [DAT](INFO): DAT read: 04:56:20.2748 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411, 0.30,-0.385,-1.826, 0.109,-0.475, PHS= 0.191,-1.307, 0.539, RAW= 160.2, 6.8, CAL= 159.6, 6.7, ROT= 350.4, -6.7 2025-10-27T04:56:22.323Z,1761540982.323 [DAT](INFO): got valid direction response: 04:56:20.2748 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411, 0.30,-0.385,-1.826, 0.109,-0.475, PHS= 0.191,-1.307, 0.539, RAW= 160.2, 6.8, CAL= 159.6, 6.7, ROT= 350.4, -6.7 2025-10-27T04:56:22.324Z,1761540982.324 [DAT](INFO): DAT read: Bearing 49.9, -7.0 (Local) 2025-10-27T04:56:22.324Z,1761540982.324 [DAT](INFO): Local bearing/azimuth received: Bearing 49.9, -7.0 (Local) 2025-10-27T04:56:22.326Z,1761540982.326 [DAT](INFO): DAT read: Range 11 to 50 : 144.0 m (Round-trip 192.0 ms) speed 0.8 m/s 2025-10-27T04:56:22.326Z,1761540982.326 [DAT](INFO): DAT read: user:238> 2025-10-27T04:56:22.327Z,1761540982.327 [DAT](INFO): DAT read: Tx time:04:56:21.3786 2025-10-27T04:56:22.328Z,1761540982.328 [DAT](INFO): Ping request sent. 2025-10-27T04:56:22.328Z,1761540982.328 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:22.328Z,1761540982.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:22.329Z,1761540982.329 [DAT](INFO): direction in FSK: [0.979262,-0.165630,0.116671] 2025-10-27T04:56:22.329Z,1761540982.329 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:22.329Z,1761540982.329 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:22.333Z,1761540982.333 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:22.333Z,1761540982.333 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:22.554Z,1761540982.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184941,0.967963,0.169838],[-0.980479,-0.193479,0.035032],[0.066769,-0.160044,0.984849]] 2025-10-27T04:56:22.627Z,1761540982.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.000000 m, deltaT: 3.780344 s, deltaX: -2.500000 m, approachRate: -0.661316 m/s, rangeRepo size: 4 2025-10-27T04:56:22.629Z,1761540982.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 143.307800 m, bearing: 250.808921 deg, lat: 36.779382 deg, lon: -121.859600 deg, deltaT: 3.780344 s, deltaX: -2.487457 m, approachRate: -0.657998 m/s, posRepo size: 4 2025-10-27T04:56:22.631Z,1761540982.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.31 m. 2025-10-27T04:56:22.634Z,1761540982.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.307800 m, nav range: 139.455750 m, bearing: 250.544074 deg, approach rate: 0.000000 m/s, LOS rate: -0.026669 deg/s, cmd heading: 258.869579 deg, new cmd heading: 258.836649 deg. 2025-10-27T04:56:22.635Z,1761540982.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517552 target range: 143.307800 and range: 144.00 m. 2025-10-27T04:56:23.048Z,1761540983.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184254,0.967860,0.171165],[-0.980641,-0.192770,0.034396],[0.066286,-0.161514,0.984642]] 2025-10-27T04:56:23.087Z,1761540983.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:23.089Z,1761540983.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.31 m. 2025-10-27T04:56:23.108Z,1761540983.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.307800 m, nav range: 139.159973 m, bearing: 250.535944 deg, approach rate: -0.618325 m/s, LOS rate: -0.017032 deg/s, cmd heading: 258.836658 deg, new cmd heading: 258.812216 deg. 2025-10-27T04:56:23.109Z,1761540983.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517125 target range: 143.307800 and range: 144.00 m. 2025-10-27T04:56:23.324Z,1761540983.324 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:23.324Z,1761540983.324 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:23.324Z,1761540983.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:23.541Z,1761540983.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.31 m. 2025-10-27T04:56:23.544Z,1761540983.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.307800 m, nav range: 138.876541 m, bearing: 250.533277 deg, approach rate: -0.626658 m/s, LOS rate: -0.005908 deg/s, cmd heading: 258.812205 deg, new cmd heading: 258.804189 deg. 2025-10-27T04:56:23.545Z,1761540983.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516985 target range: 143.307800 and range: 144.00 m. 2025-10-27T04:56:23.576Z,1761540983.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248364 2025-10-27T04:56:23.828Z,1761540983.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500182 2025-10-27T04:56:23.943Z,1761540983.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183246,0.968051,0.171168],[-0.980870,-0.191677,0.033961],[0.065685,-0.161671,0.984656]] 2025-10-27T04:56:23.961Z,1761540983.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.31 m. 2025-10-27T04:56:23.987Z,1761540983.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.307800 m, nav range: 138.613892 m, bearing: 250.530682 deg, approach rate: -0.625489 m/s, LOS rate: -0.006192 deg/s, cmd heading: 258.804200 deg, new cmd heading: 258.796401 deg. 2025-10-27T04:56:23.988Z,1761540983.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516850 target range: 143.307800 and range: 144.00 m. 2025-10-27T04:56:24.080Z,1761540984.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752252 2025-10-27T04:56:24.332Z,1761540984.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004163 2025-10-27T04:56:24.358Z,1761540984.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182092,0.968182,0.171654],[-0.981117,-0.190477,0.033570],[0.065199,-0.162300,0.984585]] 2025-10-27T04:56:24.376Z,1761540984.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.31 m. 2025-10-27T04:56:24.382Z,1761540984.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.307800 m, nav range: 138.353577 m, bearing: 250.527969 deg, approach rate: -0.626699 m/s, LOS rate: -0.006543 deg/s, cmd heading: 258.796414 deg, new cmd heading: 258.788261 deg. 2025-10-27T04:56:24.402Z,1761540984.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516707 target range: 143.307800 and range: 144.00 m. 2025-10-27T04:56:24.587Z,1761540984.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258848 2025-10-27T04:56:24.794Z,1761540984.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181325,0.968327,0.171653],[-0.981287,-0.189652,0.033279],[0.064780,-0.162406,0.984595]] 2025-10-27T04:56:24.837Z,1761540984.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508902 2025-10-27T04:56:24.846Z,1761540984.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.31 m. 2025-10-27T04:56:24.849Z,1761540984.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.307800 m, nav range: 138.075089 m, bearing: 250.527836 deg, approach rate: -0.592899 m/s, LOS rate: -0.000285 deg/s, cmd heading: 258.788272 deg, new cmd heading: 258.787872 deg. 2025-10-27T04:56:24.850Z,1761540984.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516700 target range: 143.307800 and range: 144.00 m. 2025-10-27T04:56:25.089Z,1761540985.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761080 2025-10-27T04:56:25.217Z,1761540985.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:25.220Z,1761540985.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.31 m. 2025-10-27T04:56:25.222Z,1761540985.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.307800 m, nav range: 137.861099 m, bearing: 250.527733 deg, approach rate: -0.573088 m/s, LOS rate: -0.000276 deg/s, cmd heading: 258.787863 deg, new cmd heading: 258.787554 deg. 2025-10-27T04:56:25.223Z,1761540985.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516695 target range: 143.307800 and range: 144.00 m. 2025-10-27T04:56:25.340Z,1761540985.340 [DAT](INFO): DAT read: Rx Time:04:56:23.9716 2025-10-27T04:56:25.341Z,1761540985.341 [DAT](INFO): Rx dataTimestamp_ set to:1761540985.340324 2025-10-27T04:56:25.341Z,1761540985.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013451 2025-10-27T04:56:25.582Z,1761540985.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179244,0.968712,0.171662],[-0.981735,-0.187434,0.032621],[0.063776,-0.162679,0.984616]] 2025-10-27T04:56:25.592Z,1761540985.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264323 2025-10-27T04:56:25.620Z,1761540985.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.31 m. 2025-10-27T04:56:25.623Z,1761540985.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.307800 m, nav range: 137.607544 m, bearing: 250.529862 deg, approach rate: -0.632806 m/s, LOS rate: 0.005323 deg/s, cmd heading: 258.787562 deg, new cmd heading: 258.793961 deg. 2025-10-27T04:56:25.624Z,1761540985.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516807 target range: 143.307800 and range: 144.00 m. 2025-10-27T04:56:25.855Z,1761540985.855 [DAT](INFO): DAT read: 04:56:23.9716 LVL= 32752, 32753, 31186, 32755, AGC= 69, IDX= 411, 0.08, 1.443,-0.060, 1.989, 1.350, PHS= 0.195,-1.365, 0.595, RAW= 161.1, 6.5, CAL= 160.4, 6.1, ROT= 349.6, -6.1 2025-10-27T04:56:25.857Z,1761540985.857 [DAT](INFO): got valid direction response: 04:56:23.9716 LVL= 32752, 32753, 31186, 32755, AGC= 69, IDX= 411, 0.08, 1.443,-0.060, 1.989, 1.350, PHS= 0.195,-1.365, 0.595, RAW= 161.1, 6.5, CAL= 160.4, 6.1, ROT= 349.6, -6.1 2025-10-27T04:56:25.858Z,1761540985.858 [DAT](INFO): DAT read: Bearing 49.6, -7.7 (Local) 2025-10-27T04:56:25.858Z,1761540985.858 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -7.7 (Local) 2025-10-27T04:56:25.862Z,1761540985.862 [DAT](INFO): DAT read: Range 11 to 50 : 141.6 m (Round-trip 188.9 ms) speed 0.4 m/s 2025-10-27T04:56:25.863Z,1761540985.863 [DAT](INFO): DAT read: user:239> 2025-10-27T04:56:25.863Z,1761540985.863 [DAT](INFO): DAT read: Tx time:04:56:25.0786 2025-10-27T04:56:25.864Z,1761540985.864 [DAT](INFO): Ping request sent. 2025-10-27T04:56:25.864Z,1761540985.864 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:25.864Z,1761540985.864 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:25.865Z,1761540985.865 [DAT](INFO): direction in FSK: [0.978002,-0.179497,0.106264] 2025-10-27T04:56:25.865Z,1761540985.865 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:25.866Z,1761540985.866 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:25.903Z,1761540985.903 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:25.903Z,1761540985.903 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:26.029Z,1761540986.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 141.600006 m, deltaT: 3.529372 s, deltaX: -2.399994 m, approachRate: -0.680006 m/s, rangeRepo size: 4 2025-10-27T04:56:26.043Z,1761540986.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 140.920807 m, bearing: 250.275341 deg, lat: 36.779374 deg, lon: -121.859600 deg, deltaT: 3.529372 s, deltaX: -2.386993 m, approachRate: -0.676322 m/s, posRepo size: 4 2025-10-27T04:56:26.044Z,1761540986.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:26.046Z,1761540986.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 137.651932 m, bearing: 250.196688 deg, approach rate: 0.000000 m/s, LOS rate: 0.005323 deg/s, cmd heading: 258.793955 deg, new cmd heading: 258.800475 deg. 2025-10-27T04:56:26.052Z,1761540986.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516921 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:26.386Z,1761540986.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178816,0.968950,0.170764],[-0.981852,-0.186884,0.032270],[0.063181,-0.161895,0.984783]] 2025-10-27T04:56:26.465Z,1761540986.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:26.475Z,1761540986.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 137.408066 m, bearing: 250.198108 deg, approach rate: -0.560054 m/s, LOS rate: 0.003268 deg/s, cmd heading: 258.800485 deg, new cmd heading: 258.804754 deg. 2025-10-27T04:56:26.478Z,1761540986.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516995 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:26.798Z,1761540986.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178422,0.969012,0.170826],[-0.981953,-0.186421,0.031862],[0.062720,-0.162058,0.984786]] 2025-10-27T04:56:26.855Z,1761540986.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:26.858Z,1761540986.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 137.141617 m, bearing: 250.198005 deg, approach rate: -0.681937 m/s, LOS rate: -0.000265 deg/s, cmd heading: 258.804747 deg, new cmd heading: 258.804436 deg. 2025-10-27T04:56:26.858Z,1761540986.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516990 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:27.194Z,1761540987.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178231,0.969077,0.170656],[-0.982016,-0.186155,0.031484],[0.062279,-0.161976,0.984828]] 2025-10-27T04:56:27.228Z,1761540987.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:27.231Z,1761540987.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 136.920395 m, bearing: 250.197900 deg, approach rate: -0.591778 m/s, LOS rate: -0.000281 deg/s, cmd heading: 258.804446 deg, new cmd heading: 258.804131 deg. 2025-10-27T04:56:27.232Z,1761540987.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516984 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:27.598Z,1761540987.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178166,0.969150,0.170308],[-0.982049,-0.186023,0.031217],[0.061935,-0.161689,0.984896]] 2025-10-27T04:56:27.649Z,1761540987.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:27.655Z,1761540987.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:27.658Z,1761540987.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 136.647171 m, bearing: 250.194585 deg, approach rate: -0.639920 m/s, LOS rate: -0.007780 deg/s, cmd heading: 258.804119 deg, new cmd heading: 258.794153 deg. 2025-10-27T04:56:27.664Z,1761540987.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516810 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:27.860Z,1761540987.860 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:27.860Z,1761540987.860 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:27.860Z,1761540987.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:28.005Z,1761540988.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178188,0.969215,0.169915],[-0.982072,-0.185963,0.030862],[0.061510,-0.161369,0.984975]] 2025-10-27T04:56:28.028Z,1761540988.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:28.030Z,1761540988.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 136.392944 m, bearing: 250.191491 deg, approach rate: -0.682825 m/s, LOS rate: -0.008326 deg/s, cmd heading: 258.794146 deg, new cmd heading: 258.784847 deg. 2025-10-27T04:56:28.032Z,1761540988.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516648 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:28.112Z,1761540988.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248191 2025-10-27T04:56:28.364Z,1761540988.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500114 2025-10-27T04:56:28.406Z,1761540988.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178420,0.969273,0.169343],[-0.982051,-0.186117,0.030590],[0.061168,-0.160846,0.985082]] 2025-10-27T04:56:28.425Z,1761540988.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:28.448Z,1761540988.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 136.136139 m, bearing: 250.188381 deg, approach rate: -0.646815 m/s, LOS rate: -0.007848 deg/s, cmd heading: 258.784857 deg, new cmd heading: 258.775510 deg. 2025-10-27T04:56:28.449Z,1761540988.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516485 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:28.616Z,1761540988.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752215 2025-10-27T04:56:28.810Z,1761540988.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178998,0.969281,0.168681],[-0.981958,-0.186634,0.030427],[0.060974,-0.160191,0.985201]] 2025-10-27T04:56:28.855Z,1761540988.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:28.858Z,1761540988.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 135.853012 m, bearing: 250.182234 deg, approach rate: -0.658534 m/s, LOS rate: -0.014327 deg/s, cmd heading: 258.775514 deg, new cmd heading: 258.757034 deg. 2025-10-27T04:56:28.858Z,1761540988.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516162 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:28.876Z,1761540988.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012075 2025-10-27T04:56:29.132Z,1761540989.132 [DAT](INFO): DAT read: Rx Time:04:56:27.6687 2025-10-27T04:56:29.133Z,1761540989.133 [DAT](INFO): Rx dataTimestamp_ set to:1761540989.132068 2025-10-27T04:56:29.133Z,1761540989.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269421 2025-10-27T04:56:29.214Z,1761540989.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179160,0.969159,0.169209],[-0.981947,-0.186761,0.029995],[0.060672,-0.160781,0.985124]] 2025-10-27T04:56:29.240Z,1761540989.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.92 m. 2025-10-27T04:56:29.243Z,1761540989.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.920807 m, nav range: 135.599152 m, bearing: 250.176716 deg, approach rate: -0.658931 m/s, LOS rate: -0.014352 deg/s, cmd heading: 258.757045 deg, new cmd heading: 258.740457 deg. 2025-10-27T04:56:29.261Z,1761540989.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515873 target range: 140.920807 and range: 141.60 m. 2025-10-27T04:56:29.380Z,1761540989.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516141 2025-10-27T04:56:29.620Z,1761540989.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179595,0.969073,0.169243],[-0.981876,-0.187171,0.029792],[0.060548,-0.160825,0.985124]] 2025-10-27T04:56:29.638Z,1761540989.638 [DAT](INFO): DAT read: 04:56:27.6687 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.43, 1.370,-0.097, 1.853, 1.293, PHS= 0.179,-1.345, 0.517, RAW= 159.8, 7.6, CAL= 159.3, 7.7, ROT= 350.7, -7.7 2025-10-27T04:56:29.640Z,1761540989.640 [DAT](INFO): got valid direction response: 04:56:27.6687 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.43, 1.370,-0.097, 1.853, 1.293, PHS= 0.179,-1.345, 0.517, RAW= 159.8, 7.6, CAL= 159.3, 7.7, ROT= 350.7, -7.7 2025-10-27T04:56:29.640Z,1761540989.640 [DAT](INFO): DAT read: Bearing 51.4, -6.9 (Local) 2025-10-27T04:56:29.641Z,1761540989.641 [DAT](INFO): Local bearing/azimuth received: Bearing 51.4, -6.9 (Local) 2025-10-27T04:56:29.642Z,1761540989.642 [DAT](INFO): DAT read: Range 11 to 50 : 139.5 m (Round-trip 186.0 ms) speed 0.8 m/s 2025-10-27T04:56:29.643Z,1761540989.643 [DAT](INFO): DAT read: user:240> 2025-10-27T04:56:29.644Z,1761540989.644 [DAT](INFO): DAT read: Tx time:04:56:28.7786 2025-10-27T04:56:29.644Z,1761540989.644 [DAT](INFO): Ping request sent. 2025-10-27T04:56:29.644Z,1761540989.644 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:29.645Z,1761540989.645 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:29.646Z,1761540989.646 [DAT](INFO): direction in FSK: [0.977958,-0.160146,0.133986] 2025-10-27T04:56:29.646Z,1761540989.646 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:29.646Z,1761540989.646 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:29.650Z,1761540989.649 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:29.650Z,1761540989.650 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:29.783Z,1761540989.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.500000 m, deltaT: 3.786419 s, deltaX: -2.100006 m, approachRate: -0.554615 m/s, rangeRepo size: 4 2025-10-27T04:56:29.796Z,1761540989.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 138.830185 m, bearing: 251.598577 deg, lat: 36.779385 deg, lon: -121.859606 deg, deltaT: 3.786419 s, deltaX: -2.090622 m, approachRate: -0.552137 m/s, posRepo size: 4 2025-10-27T04:56:29.796Z,1761540989.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:29.803Z,1761540989.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 135.390991 m, bearing: 250.732714 deg, approach rate: 0.000000 m/s, LOS rate: -0.014352 deg/s, cmd heading: 258.740461 deg, new cmd heading: 258.717636 deg. 2025-10-27T04:56:29.804Z,1761540989.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515475 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:30.083Z,1761540990.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180018,0.968754,0.170616],[-0.981795,-0.187638,0.029507],[0.060599,-0.162198,0.984896]] 2025-10-27T04:56:30.099Z,1761540990.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:30.101Z,1761540990.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:30.120Z,1761540990.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 135.139832 m, bearing: 250.727138 deg, approach rate: -0.759132 m/s, LOS rate: -0.016882 deg/s, cmd heading: 258.717648 deg, new cmd heading: 258.700892 deg. 2025-10-27T04:56:30.121Z,1761540990.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515182 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:30.136Z,1761540990.136 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:30.136Z,1761540990.136 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:30.136Z,1761540990.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:30.388Z,1761540990.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743386 2025-10-27T04:56:30.504Z,1761540990.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180853,0.968613,0.170530],[-0.981632,-0.188484,0.029538],[0.060753,-0.162056,0.984910]] 2025-10-27T04:56:30.576Z,1761540990.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:30.583Z,1761540990.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 134.837067 m, bearing: 250.720501 deg, approach rate: -0.637161 m/s, LOS rate: -0.014000 deg/s, cmd heading: 258.700901 deg, new cmd heading: 258.680943 deg. 2025-10-27T04:56:30.584Z,1761540990.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514834 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:30.640Z,1761540990.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995627 2025-10-27T04:56:30.892Z,1761540990.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247465 2025-10-27T04:56:30.896Z,1761540990.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181576,0.968694,0.169297],[-0.981484,-0.189196,0.029882],[0.060977,-0.160737,0.985112]] 2025-10-27T04:56:30.948Z,1761540990.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:30.951Z,1761540990.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 134.564087 m, bearing: 250.709795 deg, approach rate: -0.733164 m/s, LOS rate: -0.028813 deg/s, cmd heading: 258.680957 deg, new cmd heading: 258.648773 deg. 2025-10-27T04:56:30.952Z,1761540990.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514273 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:31.144Z,1761540991.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499454 2025-10-27T04:56:31.298Z,1761540991.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182343,0.968617,0.168916],[-0.981335,-0.189961,0.029955],[0.061103,-0.160301,0.985175]] 2025-10-27T04:56:31.316Z,1761540991.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:31.319Z,1761540991.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 134.313919 m, bearing: 250.700031 deg, approach rate: -0.680610 m/s, LOS rate: -0.026614 deg/s, cmd heading: 258.648773 deg, new cmd heading: 258.619426 deg. 2025-10-27T04:56:31.320Z,1761540991.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513761 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:31.396Z,1761540991.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751910 2025-10-27T04:56:31.648Z,1761540991.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003540 2025-10-27T04:56:31.698Z,1761540991.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183039,0.968363,0.169616],[-0.981196,-0.190692,0.029843],[0.061243,-0.160964,0.985058]] 2025-10-27T04:56:31.762Z,1761540991.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:31.799Z,1761540991.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 134.014709 m, bearing: 250.685512 deg, approach rate: -0.671185 m/s, LOS rate: -0.032641 deg/s, cmd heading: 258.619430 deg, new cmd heading: 258.575777 deg. 2025-10-27T04:56:31.800Z,1761540991.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512999 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:31.905Z,1761540991.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260687 2025-10-27T04:56:32.131Z,1761540992.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183928,0.968129,0.169988],[-0.981021,-0.191603,0.029762],[0.061384,-0.161288,0.984997]] 2025-10-27T04:56:32.148Z,1761540992.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:32.150Z,1761540992.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:32.153Z,1761540992.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 133.746933 m, bearing: 250.672568 deg, approach rate: -0.690073 m/s, LOS rate: -0.033425 deg/s, cmd heading: 258.575772 deg, new cmd heading: 258.536861 deg. 2025-10-27T04:56:32.154Z,1761540992.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512320 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:32.156Z,1761540992.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511640 2025-10-27T04:56:32.408Z,1761540992.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763584 2025-10-27T04:56:32.628Z,1761540992.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:32.631Z,1761540992.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 133.428574 m, bearing: 250.655461 deg, approach rate: -0.665571 m/s, LOS rate: -0.035850 deg/s, cmd heading: 258.536867 deg, new cmd heading: 258.485424 deg. 2025-10-27T04:56:32.632Z,1761540992.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511422 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:32.660Z,1761540992.660 [DAT](INFO): DAT read: Rx Time:04:56:31.3652 2025-10-27T04:56:32.660Z,1761540992.660 [DAT](INFO): Rx dataTimestamp_ set to:1761540992.660190 2025-10-27T04:56:32.661Z,1761540992.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016649 2025-10-27T04:56:32.912Z,1761540992.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267521 2025-10-27T04:56:32.938Z,1761540992.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.185987,0.967591,0.170809],[-0.980606,-0.193729,0.029688],[0.061816,-0.161975,0.984857]] 2025-10-27T04:56:32.980Z,1761540992.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:32.982Z,1761540992.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 133.195145 m, bearing: 250.643078 deg, approach rate: -0.664141 m/s, LOS rate: -0.035291 deg/s, cmd heading: 258.485422 deg, new cmd heading: 258.448210 deg. 2025-10-27T04:56:32.983Z,1761540992.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510772 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:33.164Z,1761540993.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519563 2025-10-27T04:56:33.342Z,1761540993.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187469,0.967055,0.172219],[-0.980308,-0.195274,0.029400],[0.062062,-0.163316,0.984620]] 2025-10-27T04:56:33.372Z,1761540993.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.83 m. 2025-10-27T04:56:33.374Z,1761540993.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.830185 m, nav range: 132.941818 m, bearing: 250.629756 deg, approach rate: -0.646186 m/s, LOS rate: -0.034046 deg/s, cmd heading: 258.448211 deg, new cmd heading: 258.408169 deg. 2025-10-27T04:56:33.379Z,1761540993.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510073 target range: 138.830185 and range: 139.50 m. 2025-10-27T04:56:33.422Z,1761540993.422 [DAT](INFO): DAT read: 04:56:31.3652 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.02, 2.523, 1.069, 3.044, 2.498, PHS= 0.127,-1.384, 0.502, RAW= 160.8, 8.8, CAL= 160.6, 9.2, ROT= 349.4, -9.2 2025-10-27T04:56:33.423Z,1761540993.423 [DAT](INFO): got valid direction response: 04:56:31.3652 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.02, 2.523, 1.069, 3.044, 2.498, PHS= 0.127,-1.384, 0.502, RAW= 160.8, 8.8, CAL= 160.6, 9.2, ROT= 349.4, -9.2 2025-10-27T04:56:33.424Z,1761540993.424 [DAT](INFO): DAT read: Bearing 52.1, -8.3 (Local) 2025-10-27T04:56:33.424Z,1761540993.424 [DAT](INFO): Local bearing/azimuth received: Bearing 52.1, -8.3 (Local) 2025-10-27T04:56:33.426Z,1761540993.426 [DAT](INFO): DAT read: Range 11 to 50 : 136.8 m (Round-trip 182.5 ms) speed 0.5 m/s 2025-10-27T04:56:33.426Z,1761540993.426 [DAT](INFO): DAT read: user:241> 2025-10-27T04:56:33.427Z,1761540993.427 [DAT](INFO): DAT read: Tx time:04:56:32.4786 2025-10-27T04:56:33.428Z,1761540993.428 [DAT](INFO): Ping request sent. 2025-10-27T04:56:33.428Z,1761540993.428 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:33.428Z,1761540993.428 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:33.429Z,1761540993.429 [DAT](INFO): direction in FSK: [0.970291,-0.181585,0.159881] 2025-10-27T04:56:33.429Z,1761540993.429 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:33.430Z,1761540993.430 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:33.437Z,1761540993.437 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:33.437Z,1761540993.437 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:33.747Z,1761540993.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188810,0.966667,0.172933],[-0.980029,-0.196674,0.029374],[0.062406,-0.163933,0.984495]] 2025-10-27T04:56:33.825Z,1761540993.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.800003 m, deltaT: 3.784082 s, deltaX: -2.699997 m, approachRate: -0.713514 m/s, rangeRepo size: 4 2025-10-27T04:56:33.828Z,1761540993.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.133026 m, bearing: 250.017360 deg, lat: 36.779385 deg, lon: -121.859606 deg, deltaT: 3.784082 s, deltaX: -2.697159 m, approachRate: -0.712764 m/s, posRepo size: 4 2025-10-27T04:56:33.828Z,1761540993.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T04:56:33.831Z,1761540993.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.133026 m, nav range: 132.636871 m, bearing: 250.615012 deg, approach rate: 0.000000 m/s, LOS rate: -0.034046 deg/s, cmd heading: 258.408159 deg, new cmd heading: 258.361874 deg. 2025-10-27T04:56:33.832Z,1761540993.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509265 target range: 136.133026 and range: 136.80 m. 2025-10-27T04:56:34.150Z,1761540994.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190719,0.966325,0.172748],[-0.979628,-0.198632,0.029580],[0.062897,-0.163587,0.984522]] 2025-10-27T04:56:34.166Z,1761540994.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:34.168Z,1761540994.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T04:56:34.172Z,1761540994.172 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:34.172Z,1761540994.172 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:34.172Z,1761540994.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:34.174Z,1761540994.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.133026 m, nav range: 132.407028 m, bearing: 250.604052 deg, approach rate: -0.669402 m/s, LOS rate: -0.031978 deg/s, cmd heading: 258.361877 deg, new cmd heading: 258.328938 deg. 2025-10-27T04:56:34.193Z,1761540994.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508690 target range: 136.133026 and range: 136.80 m. 2025-10-27T04:56:34.424Z,1761540994.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996341 2025-10-27T04:56:34.581Z,1761540994.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192082,0.966027,0.172905],[-0.979348,-0.200015,0.029523],[0.063104,-0.163663,0.984496]] 2025-10-27T04:56:34.630Z,1761540994.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T04:56:34.634Z,1761540994.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.133026 m, nav range: 132.100952 m, bearing: 250.589584 deg, approach rate: -0.662501 m/s, LOS rate: -0.031387 deg/s, cmd heading: 258.328929 deg, new cmd heading: 258.285426 deg. 2025-10-27T04:56:34.635Z,1761540994.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507931 target range: 136.133026 and range: 136.80 m. 2025-10-27T04:56:34.677Z,1761540994.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248456 2025-10-27T04:56:34.928Z,1761540994.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500091 2025-10-27T04:56:35.036Z,1761540995.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T04:56:35.039Z,1761540995.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.133026 m, nav range: 131.838074 m, bearing: 250.577844 deg, approach rate: -0.647468 m/s, LOS rate: -0.028974 deg/s, cmd heading: 258.285434 deg, new cmd heading: 258.250143 deg. 2025-10-27T04:56:35.040Z,1761540995.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507315 target range: 136.133026 and range: 136.80 m. 2025-10-27T04:56:35.180Z,1761540995.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752705 2025-10-27T04:56:35.407Z,1761540995.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T04:56:35.409Z,1761540995.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.133026 m, nav range: 131.598328 m, bearing: 250.567096 deg, approach rate: -0.647369 m/s, LOS rate: -0.029076 deg/s, cmd heading: 258.250136 deg, new cmd heading: 258.217832 deg. 2025-10-27T04:56:35.410Z,1761540995.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506752 target range: 136.133026 and range: 136.80 m. 2025-10-27T04:56:35.432Z,1761540995.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004263 2025-10-27T04:56:35.684Z,1761540995.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256499 2025-10-27T04:56:35.777Z,1761540995.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195513,0.965238,0.173466],[-0.978650,-0.203461,0.029109],[0.063391,-0.164071,0.984410]] 2025-10-27T04:56:35.839Z,1761540995.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T04:56:35.842Z,1761540995.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.133026 m, nav range: 131.324905 m, bearing: 250.560029 deg, approach rate: -0.632755 m/s, LOS rate: -0.016388 deg/s, cmd heading: 258.217842 deg, new cmd heading: 258.196598 deg. 2025-10-27T04:56:35.842Z,1761540995.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506381 target range: 136.133026 and range: 136.80 m. 2025-10-27T04:56:35.937Z,1761540995.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508575 2025-10-27T04:56:36.188Z,1761540996.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760281 2025-10-27T04:56:36.189Z,1761540996.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196720,0.964809,0.174483],[-0.978400,-0.204703,0.028822],[0.063525,-0.165045,0.984238]] 2025-10-27T04:56:36.211Z,1761540996.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:36.213Z,1761540996.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T04:56:36.216Z,1761540996.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.133026 m, nav range: 131.088272 m, bearing: 250.554012 deg, approach rate: -0.632332 m/s, LOS rate: -0.016106 deg/s, cmd heading: 258.196587 deg, new cmd heading: 258.178505 deg. 2025-10-27T04:56:36.217Z,1761540996.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506065 target range: 136.133026 and range: 136.80 m. 2025-10-27T04:56:36.441Z,1761540996.441 [DAT](INFO): DAT read: Rx Time:04:56:35.0618 2025-10-27T04:56:36.441Z,1761540996.441 [DAT](INFO): Rx dataTimestamp_ set to:1761540996.441009 2025-10-27T04:56:36.442Z,1761540996.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014115 2025-10-27T04:56:36.643Z,1761540996.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198969,0.964143,0.175612],[-0.977947,-0.206947,0.028163],[0.063495,-0.166135,0.984057]] 2025-10-27T04:56:36.675Z,1761540996.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T04:56:36.678Z,1761540996.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.133026 m, nav range: 130.795517 m, bearing: 250.546827 deg, approach rate: -0.633300 m/s, LOS rate: -0.015579 deg/s, cmd heading: 258.178501 deg, new cmd heading: 258.156896 deg. 2025-10-27T04:56:36.679Z,1761540996.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505688 target range: 136.133026 and range: 136.80 m. 2025-10-27T04:56:36.692Z,1761540996.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264166 2025-10-27T04:56:36.950Z,1761540996.950 [DAT](INFO): DAT read: 04:56:35.0618 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 406, 0.50,-3.016, 1.833,-2.534,-3.052, PHS= 0.138,-1.354, 0.474, RAW= 160.0, 8.9, CAL= 159.7, 9.3, ROT= 350.3, -9.3 2025-10-27T04:56:36.951Z,1761540996.951 [DAT](INFO): got valid direction response: 04:56:35.0618 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 406, 0.50,-3.016, 1.833,-2.534,-3.052, PHS= 0.138,-1.354, 0.474, RAW= 160.0, 8.9, CAL= 159.7, 9.3, ROT= 350.3, -9.3 2025-10-27T04:56:36.952Z,1761540996.952 [DAT](INFO): DAT read: Bearing 51.5, -7.4 (Local) 2025-10-27T04:56:36.953Z,1761540996.953 [DAT](INFO): Local bearing/azimuth received: Bearing 51.5, -7.4 (Local) 2025-10-27T04:56:36.954Z,1761540996.954 [DAT](INFO): DAT read: Range 11 to 50 : 134.3 m (Round-trip 179.1 ms) speed 0.5 m/s 2025-10-27T04:56:36.955Z,1761540996.955 [DAT](INFO): DAT read: user:242> 2025-10-27T04:56:36.956Z,1761540996.956 [DAT](INFO): DAT read: Tx time:04:56:36.1786 2025-10-27T04:56:36.956Z,1761540996.956 [DAT](INFO): Ping request sent. 2025-10-27T04:56:36.956Z,1761540996.956 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:36.956Z,1761540996.956 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:36.957Z,1761540996.957 [DAT](INFO): direction in FSK: [0.972747,-0.166275,0.161604] 2025-10-27T04:56:36.958Z,1761540996.958 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:36.958Z,1761540996.958 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:36.966Z,1761540996.966 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:36.966Z,1761540996.966 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:37.041Z,1761540997.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199416,0.964023,0.175763],[-0.977884,-0.207317,0.027604],[0.063049,-0.166372,0.984045]] 2025-10-27T04:56:37.100Z,1761540997.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.300003 m, deltaT: 3.528342 s, deltaX: -2.500000 m, approachRate: -0.708548 m/s, rangeRepo size: 4 2025-10-27T04:56:37.102Z,1761540997.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.640137 m, bearing: 250.343478 deg, lat: 36.779384 deg, lon: -121.859606 deg, deltaT: 3.528342 s, deltaX: -2.492889 m, approachRate: -0.706533 m/s, posRepo size: 4 2025-10-27T04:56:37.111Z,1761540997.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:37.114Z,1761540997.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 130.559738 m, bearing: 250.515475 deg, approach rate: 0.000000 m/s, LOS rate: -0.015579 deg/s, cmd heading: 258.156890 deg, new cmd heading: 258.137041 deg. 2025-10-27T04:56:37.119Z,1761540997.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505341 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:37.424Z,1761540997.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200401,0.963724,0.176284],[-0.977693,-0.208275,0.027161],[0.062891,-0.166908,0.983965]] 2025-10-27T04:56:37.451Z,1761540997.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:37.454Z,1761540997.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 130.325348 m, bearing: 250.509778 deg, approach rate: -0.667423 m/s, LOS rate: -0.016250 deg/s, cmd heading: 258.137028 deg, new cmd heading: 258.119907 deg. 2025-10-27T04:56:37.456Z,1761540997.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505042 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:37.826Z,1761540997.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201290,0.963575,0.176082],[-0.977530,-0.209092,0.026741],[0.062585,-0.166743,0.984012]] 2025-10-27T04:56:37.870Z,1761540997.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:37.874Z,1761540997.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 130.081833 m, bearing: 250.510936 deg, approach rate: -0.580566 m/s, LOS rate: 0.002766 deg/s, cmd heading: 258.119897 deg, new cmd heading: 258.123378 deg. 2025-10-27T04:56:37.875Z,1761540997.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505103 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:38.231Z,1761540998.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201697,0.963145,0.177959],[-0.977478,-0.209459,0.025762],[0.062087,-0.168755,0.983701]] 2025-10-27T04:56:38.252Z,1761540998.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:38.256Z,1761540998.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:38.261Z,1761540998.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 129.862228 m, bearing: 250.512008 deg, approach rate: -0.570036 m/s, LOS rate: 0.002785 deg/s, cmd heading: 258.123367 deg, new cmd heading: 258.126586 deg. 2025-10-27T04:56:38.262Z,1761540998.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505159 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:38.460Z,1761540998.460 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:38.460Z,1761540998.460 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:38.460Z,1761540998.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:38.673Z,1761540998.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202037,0.963186,0.177355],[-0.977435,-0.209703,0.025402],[0.061659,-0.168220,0.983819]] 2025-10-27T04:56:38.709Z,1761540998.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752439 2025-10-27T04:56:38.738Z,1761540998.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:38.739Z,1761540998.739 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:56:38.751Z,1761540998.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 129.591537 m, bearing: 250.516640 deg, approach rate: -0.561150 m/s, LOS rate: 0.009624 deg/s, cmd heading: 258.126591 deg, new cmd heading: 258.140518 deg. 2025-10-27T04:56:38.753Z,1761540998.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505402 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:38.960Z,1761540998.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003862 2025-10-27T04:56:39.060Z,1761540999.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202182,0.963095,0.177679],[-0.977437,-0.209767,0.024794],[0.061150,-0.168657,0.983776]] 2025-10-27T04:56:39.078Z,1761540999.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:39.081Z,1761540999.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 129.376099 m, bearing: 250.520351 deg, approach rate: -0.634030 m/s, LOS rate: 0.010938 deg/s, cmd heading: 258.140525 deg, new cmd heading: 258.151675 deg. 2025-10-27T04:56:39.082Z,1761540999.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505597 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:39.212Z,1761540999.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255978 2025-10-27T04:56:39.464Z,1761540999.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508014 2025-10-27T04:56:39.466Z,1761540999.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202228,0.963408,0.175923],[-0.977448,-0.209711,0.024840],[0.060824,-0.166933,0.984090]] 2025-10-27T04:56:39.503Z,1761540999.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:39.506Z,1761540999.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 129.126541 m, bearing: 250.524682 deg, approach rate: -0.586842 m/s, LOS rate: 0.010204 deg/s, cmd heading: 258.151672 deg, new cmd heading: 258.164690 deg. 2025-10-27T04:56:39.507Z,1761540999.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505824 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:39.716Z,1761540999.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760474 2025-10-27T04:56:39.746Z,1761540999.746 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:56:39.882Z,1761540999.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202583,0.963537,0.174804],[-0.977395,-0.209975,0.024684],[0.060488,-0.165852,0.984294]] 2025-10-27T04:56:39.927Z,1761540999.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:39.930Z,1761540999.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 128.896347 m, bearing: 250.528872 deg, approach rate: -0.542861 m/s, LOS rate: 0.009899 deg/s, cmd heading: 258.164676 deg, new cmd heading: 258.177269 deg. 2025-10-27T04:56:39.931Z,1761540999.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506043 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:39.968Z,1761540999.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012035 2025-10-27T04:56:40.221Z,1761541000.221 [DAT](INFO): DAT read: Rx Time:04:56:38.7591 2025-10-27T04:56:40.222Z,1761541000.222 [DAT](INFO): Rx dataTimestamp_ set to:1761541000.221238 2025-10-27T04:56:40.222Z,1761541000.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266069 2025-10-27T04:56:40.327Z,1761541000.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202378,0.963583,0.174790],[-0.977476,-0.209667,0.024097],[0.059867,-0.165976,0.984311]] 2025-10-27T04:56:40.344Z,1761541000.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:40.346Z,1761541000.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.64 m. 2025-10-27T04:56:40.349Z,1761541000.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.640137 m, nav range: 128.668945 m, bearing: 250.533001 deg, approach rate: -0.542897 m/s, LOS rate: 0.009876 deg/s, cmd heading: 258.177271 deg, new cmd heading: 258.189681 deg. 2025-10-27T04:56:40.350Z,1761541000.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506260 target range: 133.640137 and range: 134.30 m. 2025-10-27T04:56:40.472Z,1761541000.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515906 2025-10-27T04:56:40.738Z,1761541000.738 [DAT](INFO): DAT read: 04:56:38.7591 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411,-0.44,-0.585,-2.055,-0.071,-0.631, PHS= 0.148,-1.379, 0.517, RAW= 160.6, 8.3, CAL= 160.2, 8.5, ROT= 349.8, -8.5 2025-10-27T04:56:40.741Z,1761541000.741 [DAT](INFO): got valid direction response: 04:56:38.7591 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411,-0.44,-0.585,-2.055,-0.071,-0.631, PHS= 0.148,-1.379, 0.517, RAW= 160.6, 8.3, CAL= 160.2, 8.5, ROT= 349.8, -8.5 2025-10-27T04:56:40.741Z,1761541000.741 [DAT](INFO): DAT read: Bearing 49.8, -7.7 (Local) 2025-10-27T04:56:40.742Z,1761541000.742 [DAT](INFO): Local bearing/azimuth received: Bearing 49.8, -7.7 (Local) 2025-10-27T04:56:40.745Z,1761541000.745 [DAT](INFO): DAT read: Range 11 to 50 : 132.3 m (Round-trip 176.4 ms) speed 0.4 m/s 2025-10-27T04:56:40.749Z,1761541000.749 [DAT](INFO): DAT read: user:243> 2025-10-27T04:56:40.752Z,1761541000.752 [DAT](INFO): DAT read: Tx time:04:56:39.8786 2025-10-27T04:56:40.752Z,1761541000.752 [DAT](INFO): Ping request sent. 2025-10-27T04:56:40.752Z,1761541000.752 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:40.753Z,1761541000.753 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:40.755Z,1761541000.755 [DAT](INFO): direction in FSK: [0.973385,-0.175140,0.147809] 2025-10-27T04:56:40.755Z,1761541000.755 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:40.756Z,1761541000.756 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:40.761Z,1761541000.761 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:40.762Z,1761541000.762 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:40.830Z,1761541000.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201770,0.963900,0.173740],[-0.977669,-0.208855,0.023312],[0.058757,-0.165157,0.984516]] 2025-10-27T04:56:40.932Z,1761541000.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.300003 m, deltaT: 3.782157 s, deltaX: -2.000000 m, approachRate: -0.528799 m/s, rangeRepo size: 4 2025-10-27T04:56:40.934Z,1761541000.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.649658 m, bearing: 249.572004 deg, lat: 36.779375 deg, lon: -121.859595 deg, deltaT: 3.782157 s, deltaX: -1.990479 m, approachRate: -0.526281 m/s, posRepo size: 4 2025-10-27T04:56:40.935Z,1761541000.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:40.941Z,1761541000.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 127.740692 m, bearing: 249.971942 deg, approach rate: 0.000000 m/s, LOS rate: 0.009876 deg/s, cmd heading: 258.189675 deg, new cmd heading: 258.207007 deg. 2025-10-27T04:56:40.942Z,1761541000.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506562 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:41.284Z,1761541001.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201406,0.964015,0.173527],[-0.977795,-0.208346,0.022564],[0.057906,-0.165129,0.984571]] 2025-10-27T04:56:41.302Z,1761541001.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:41.305Z,1761541001.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 127.525955 m, bearing: 249.974910 deg, approach rate: -0.579215 m/s, LOS rate: 0.008020 deg/s, cmd heading: 258.206996 deg, new cmd heading: 258.215916 deg. 2025-10-27T04:56:41.306Z,1761541001.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506718 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:41.716Z,1761541001.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201321,0.964076,0.173282],[-0.977866,-0.208103,0.021713],[0.056993,-0.165076,0.984633]] 2025-10-27T04:56:41.813Z,1761541001.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:41.820Z,1761541001.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 127.238937 m, bearing: 249.977546 deg, approach rate: -0.561618 m/s, LOS rate: 0.005170 deg/s, cmd heading: 258.215903 deg, new cmd heading: 258.223830 deg. 2025-10-27T04:56:41.821Z,1761541001.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506856 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:42.152Z,1761541002.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201049,0.964369,0.171962],[-0.978006,-0.207560,0.020570],[0.055530,-0.164045,0.984889]] 2025-10-27T04:56:42.170Z,1761541002.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:42.173Z,1761541002.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 127.017151 m, bearing: 249.979564 deg, approach rate: -0.620288 m/s, LOS rate: 0.005653 deg/s, cmd heading: 258.223826 deg, new cmd heading: 258.229889 deg. 2025-10-27T04:56:42.174Z,1761541002.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506962 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:42.587Z,1761541002.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:42.589Z,1761541002.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:42.592Z,1761541002.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 126.772324 m, bearing: 249.981799 deg, approach rate: -0.585153 m/s, LOS rate: 0.005353 deg/s, cmd heading: 258.229891 deg, new cmd heading: 258.236610 deg. 2025-10-27T04:56:42.593Z,1761541002.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507079 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:42.740Z,1761541002.740 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:42.740Z,1761541002.740 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:42.740Z,1761541002.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:42.958Z,1761541002.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201221,0.964592,0.170508],[-0.978097,-0.207319,0.018560],[0.053253,-0.163038,0.985182]] 2025-10-27T04:56:42.992Z,1761541002.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239698 2025-10-27T04:56:43.022Z,1761541003.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:43.029Z,1761541003.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 126.509598 m, bearing: 249.981412 deg, approach rate: -0.606077 m/s, LOS rate: -0.000896 deg/s, cmd heading: 258.236612 deg, new cmd heading: 258.235446 deg. 2025-10-27T04:56:43.030Z,1761541003.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507059 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:43.246Z,1761541003.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493251 2025-10-27T04:56:43.365Z,1761541003.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201753,0.964645,0.169578],[-0.978045,-0.207650,0.017603],[0.052194,-0.162303,0.985360]] 2025-10-27T04:56:43.383Z,1761541003.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:43.386Z,1761541003.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 126.267212 m, bearing: 249.981112 deg, approach rate: -0.672295 m/s, LOS rate: -0.000834 deg/s, cmd heading: 258.235437 deg, new cmd heading: 258.234535 deg. 2025-10-27T04:56:43.387Z,1761541003.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507043 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:43.496Z,1761541003.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743631 2025-10-27T04:56:43.749Z,1761541003.749 [DAT](INFO): DAT read: Rx Time:04:56:42.4563 2025-10-27T04:56:43.750Z,1761541003.750 [DAT](INFO): Rx dataTimestamp_ set to:1761541003.749400 2025-10-27T04:56:43.758Z,1761541003.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998217 2025-10-27T04:56:43.776Z,1761541003.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201820,0.964777,0.168745],[-0.978105,-0.207470,0.016364],[0.050797,-0.161747,0.985524]] 2025-10-27T04:56:43.856Z,1761541003.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:43.863Z,1761541003.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 125.969711 m, bearing: 249.975142 deg, approach rate: -0.628358 m/s, LOS rate: -0.012638 deg/s, cmd heading: 258.234535 deg, new cmd heading: 258.216584 deg. 2025-10-27T04:56:43.864Z,1761541003.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506730 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:44.000Z,1761541004.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247745 2025-10-27T04:56:44.193Z,1761541004.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202136,0.964967,0.167271],[-0.978111,-0.207527,0.015217],[0.049398,-0.160533,0.985793]] 2025-10-27T04:56:44.216Z,1761541004.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.65 m. 2025-10-27T04:56:44.219Z,1761541004.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.649658 m, nav range: 125.743187 m, bearing: 249.970610 deg, approach rate: -0.628956 m/s, LOS rate: -0.012606 deg/s, cmd heading: 258.216586 deg, new cmd heading: 258.202965 deg. 2025-10-27T04:56:44.220Z,1761541004.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506492 target range: 131.649658 and range: 132.30 m. 2025-10-27T04:56:44.253Z,1761541004.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500262 2025-10-27T04:56:44.510Z,1761541004.510 [DAT](INFO): DAT read: 04:56:42.4563 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 415,-0.42,-1.169,-2.632,-0.667,-1.250, PHS= 0.183,-1.337, 0.539, RAW= 160.3, 7.2, CAL= 159.7, 7.1, ROT= 350.3, -7.1 2025-10-27T04:56:44.512Z,1761541004.512 [DAT](INFO): got valid direction response: 04:56:42.4563 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 415,-0.42,-1.169,-2.632,-0.667,-1.250, PHS= 0.183,-1.337, 0.539, RAW= 160.3, 7.2, CAL= 159.7, 7.1, ROT= 350.3, -7.1 2025-10-27T04:56:44.513Z,1761541004.513 [DAT](INFO): DAT read: Bearing 48.5, -7.4 (Local) 2025-10-27T04:56:44.513Z,1761541004.513 [DAT](INFO): Local bearing/azimuth received: Bearing 48.5, -7.4 (Local) 2025-10-27T04:56:44.515Z,1761541004.515 [DAT](INFO): DAT read: Range 11 to 50 : 130.2 m (Round-trip 173.6 ms) speed 0.5 m/s 2025-10-27T04:56:44.515Z,1761541004.515 [DAT](INFO): DAT read: user:244> 2025-10-27T04:56:44.516Z,1761541004.516 [DAT](INFO): DAT read: Tx time:04:56:43.5786 2025-10-27T04:56:44.516Z,1761541004.516 [DAT](INFO): Ping request sent. 2025-10-27T04:56:44.516Z,1761541004.516 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:44.517Z,1761541004.517 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:44.518Z,1761541004.518 [DAT](INFO): direction in FSK: [0.978145,-0.167197,0.123601] 2025-10-27T04:56:44.518Z,1761541004.518 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:44.518Z,1761541004.518 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:44.561Z,1761541004.561 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:44.561Z,1761541004.561 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:44.634Z,1761541004.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203884,0.964970,0.165122],[-0.977840,-0.208915,0.013511],[0.047534,-0.158708,0.986181]] 2025-10-27T04:56:44.692Z,1761541004.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.199997 m, deltaT: 3.777887 s, deltaX: -2.100006 m, approachRate: -0.555868 m/s, rangeRepo size: 4 2025-10-27T04:56:44.694Z,1761541004.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.559601 m, bearing: 249.695145 deg, lat: 36.779375 deg, lon: -121.859595 deg, deltaT: 3.777887 s, deltaX: -2.090057 m, approachRate: -0.553234 m/s, posRepo size: 4 2025-10-27T04:56:44.701Z,1761541004.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:44.738Z,1761541004.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 125.458473 m, bearing: 249.965121 deg, approach rate: 0.000000 m/s, LOS rate: -0.012606 deg/s, cmd heading: 258.202953 deg, new cmd heading: 258.185160 deg. 2025-10-27T04:56:44.751Z,1761541004.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506181 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:45.081Z,1761541005.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205155,0.964884,0.164042],[-0.977609,-0.210040,0.012821],[0.046827,-0.157739,0.986370]] 2025-10-27T04:56:45.119Z,1761541005.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:45.122Z,1761541005.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:45.124Z,1761541005.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 125.159592 m, bearing: 249.953036 deg, approach rate: -0.687697 m/s, LOS rate: -0.027874 deg/s, cmd heading: 258.185167 deg, new cmd heading: 258.148823 deg. 2025-10-27T04:56:45.125Z,1761541005.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505547 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:45.261Z,1761541005.261 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:45.261Z,1761541005.261 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:45.262Z,1761541005.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:45.512Z,1761541005.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995698 2025-10-27T04:56:45.535Z,1761541005.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:45.537Z,1761541005.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 124.899071 m, bearing: 249.942454 deg, approach rate: -0.636715 m/s, LOS rate: -0.025916 deg/s, cmd heading: 258.148830 deg, new cmd heading: 258.117018 deg. 2025-10-27T04:56:45.538Z,1761541005.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504992 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:45.765Z,1761541005.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248408 2025-10-27T04:56:45.882Z,1761541005.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208457,0.964432,0.162533],[-0.976952,-0.213138,0.011716],[0.045941,-0.156345,0.986634]] 2025-10-27T04:56:45.927Z,1761541005.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:45.929Z,1761541005.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 124.609718 m, bearing: 249.930401 deg, approach rate: -0.730836 m/s, LOS rate: -0.030513 deg/s, cmd heading: 258.117029 deg, new cmd heading: 258.080787 deg. 2025-10-27T04:56:45.930Z,1761541005.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504359 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:46.017Z,1761541006.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500862 2025-10-27T04:56:46.269Z,1761541006.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751828 2025-10-27T04:56:46.293Z,1761541006.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210792,0.963860,0.162911],[-0.976452,-0.215443,0.011224],[0.045916,-0.156709,0.986577]] 2025-10-27T04:56:46.310Z,1761541006.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:46.313Z,1761541006.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 124.339874 m, bearing: 249.919409 deg, approach rate: -0.703032 m/s, LOS rate: -0.028699 deg/s, cmd heading: 258.080774 deg, new cmd heading: 258.047727 deg. 2025-10-27T04:56:46.314Z,1761541006.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503782 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:46.521Z,1761541006.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004146 2025-10-27T04:56:46.690Z,1761541006.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212683,0.963519,0.162472],[-0.976055,-0.217259,0.010727],[0.045634,-0.156300,0.986655]] 2025-10-27T04:56:46.765Z,1761541006.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:46.775Z,1761541006.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257700 2025-10-27T04:56:46.792Z,1761541006.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 124.047508 m, bearing: 249.907710 deg, approach rate: -0.669858 m/s, LOS rate: -0.026868 deg/s, cmd heading: 258.047716 deg, new cmd heading: 258.012535 deg. 2025-10-27T04:56:46.793Z,1761541006.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503168 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:47.024Z,1761541007.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507822 2025-10-27T04:56:47.100Z,1761541007.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215308,0.962998,0.162103],[-0.975468,-0.219886,0.010632],[0.045883,-0.155837,0.986716]] 2025-10-27T04:56:47.155Z,1761541007.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:47.157Z,1761541007.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:47.164Z,1761541007.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 123.760674 m, bearing: 249.893707 deg, approach rate: -0.699433 m/s, LOS rate: -0.034224 deg/s, cmd heading: 258.012527 deg, new cmd heading: 257.970422 deg. 2025-10-27T04:56:47.165Z,1761541007.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502433 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:47.276Z,1761541007.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759775 2025-10-27T04:56:47.528Z,1761541007.528 [DAT](INFO): DAT read: Rx Time:04:56:46.1525 2025-10-27T04:56:47.528Z,1761541007.528 [DAT](INFO): Rx dataTimestamp_ set to:1761541007.528073 2025-10-27T04:56:47.529Z,1761541007.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012389 2025-10-27T04:56:47.543Z,1761541007.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:47.546Z,1761541007.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 123.476486 m, bearing: 249.879770 deg, approach rate: -0.736653 m/s, LOS rate: -0.036211 deg/s, cmd heading: 257.970426 deg, new cmd heading: 257.928517 deg. 2025-10-27T04:56:47.547Z,1761541007.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501702 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:47.783Z,1761541007.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265866 2025-10-27T04:56:47.906Z,1761541007.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219880,0.961740,0.163432],[-0.974436,-0.224452,0.009822],[0.046129,-0.157094,0.986506]] 2025-10-27T04:56:47.950Z,1761541007.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.56 m. 2025-10-27T04:56:47.953Z,1761541007.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.559601 m, nav range: 123.189041 m, bearing: 249.863105 deg, approach rate: -0.705808 m/s, LOS rate: -0.041016 deg/s, cmd heading: 257.928516 deg, new cmd heading: 257.878403 deg. 2025-10-27T04:56:47.954Z,1761541007.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500827 target range: 129.559601 and range: 130.20 m. 2025-10-27T04:56:48.042Z,1761541008.042 [DAT](INFO): DAT read: 04:56:46.1525 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 408, 0.41,-1.747, 3.034,-1.262,-1.844, PHS= 0.199,-1.360, 0.539, RAW= 159.7, 7.1, CAL= 159.1, 7.1, ROT= 350.9, -7.1 2025-10-27T04:56:48.044Z,1761541008.044 [DAT](INFO): got valid direction response: 04:56:46.1525 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 408, 0.41,-1.747, 3.034,-1.262,-1.844, PHS= 0.199,-1.360, 0.539, RAW= 159.7, 7.1, CAL= 159.1, 7.1, ROT= 350.9, -7.1 2025-10-27T04:56:48.046Z,1761541008.046 [DAT](INFO): DAT read: Bearing 48.5, -7.2 (Local) 2025-10-27T04:56:48.046Z,1761541008.046 [DAT](INFO): Local bearing/azimuth received: Bearing 48.5, -7.2 (Local) 2025-10-27T04:56:48.056Z,1761541008.056 [DAT](INFO): DAT read: Range 11 to 50 : 127.4 m (Round-trip 169.9 ms) speed 0.4 m/s 2025-10-27T04:56:48.057Z,1761541008.057 [DAT](INFO): DAT read: user:245> 2025-10-27T04:56:48.058Z,1761541008.058 [DAT](INFO): DAT read: Tx time:04:56:47.2785 2025-10-27T04:56:48.058Z,1761541008.058 [DAT](INFO): Ping request sent. 2025-10-27T04:56:48.058Z,1761541008.058 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:48.058Z,1761541008.058 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:48.065Z,1761541008.065 [DAT](INFO): direction in FSK: [0.979842,-0.156946,0.123601] 2025-10-27T04:56:48.065Z,1761541008.065 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:48.065Z,1761541008.065 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:48.073Z,1761541008.073 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:48.073Z,1761541008.073 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:48.310Z,1761541008.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221982,0.961154,0.164036],[-0.973958,-0.226536,0.009357],[0.046153,-0.157687,0.986410]] 2025-10-27T04:56:48.334Z,1761541008.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.400002 m, deltaT: 3.528149 s, deltaX: -2.799995 m, approachRate: -0.793616 m/s, rangeRepo size: 4 2025-10-27T04:56:48.348Z,1761541008.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.773277 m, bearing: 249.226659 deg, lat: 36.779367 deg, lon: -121.859595 deg, deltaT: 3.528149 s, deltaX: -2.786324 m, approachRate: -0.789741 m/s, posRepo size: 4 2025-10-27T04:56:48.349Z,1761541008.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:48.355Z,1761541008.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 123.252434 m, bearing: 249.433038 deg, approach rate: 0.000000 m/s, LOS rate: -0.041016 deg/s, cmd heading: 257.878409 deg, new cmd heading: 257.831292 deg. 2025-10-27T04:56:48.356Z,1761541008.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500005 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:48.722Z,1761541008.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224286,0.960520,0.164613],[-0.973424,-0.228836,0.008965],[0.046280,-0.158227,0.986318]] 2025-10-27T04:56:48.824Z,1761541008.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:48.839Z,1761541008.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 122.939827 m, bearing: 249.414389 deg, approach rate: -0.636127 m/s, LOS rate: -0.038045 deg/s, cmd heading: 257.831281 deg, new cmd heading: 257.775193 deg. 2025-10-27T04:56:48.840Z,1761541008.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499026 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:49.158Z,1761541009.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226192,0.960035,0.164831],[-0.972985,-0.230710,0.008543],[0.046230,-0.158446,0.986285]] 2025-10-27T04:56:49.193Z,1761541009.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:49.195Z,1761541009.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:49.198Z,1761541009.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 122.652985 m, bearing: 249.402033 deg, approach rate: -0.773627 m/s, LOS rate: -0.033402 deg/s, cmd heading: 257.775192 deg, new cmd heading: 257.738037 deg. 2025-10-27T04:56:49.215Z,1761541009.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498377 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:49.293Z,1761541009.293 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:49.293Z,1761541009.293 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:49.293Z,1761541009.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:49.544Z,1761541009.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485846 2025-10-27T04:56:49.560Z,1761541009.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228213,0.959551,0.164866],[-0.972515,-0.232697,0.008147],[0.046182,-0.158476,0.986282]] 2025-10-27T04:56:49.594Z,1761541009.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:49.601Z,1761541009.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 122.393059 m, bearing: 249.391041 deg, approach rate: -0.651135 m/s, LOS rate: -0.027595 deg/s, cmd heading: 257.738035 deg, new cmd heading: 257.704989 deg. 2025-10-27T04:56:49.602Z,1761541009.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497800 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:49.799Z,1761541009.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740306 2025-10-27T04:56:50.045Z,1761541010.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:50.048Z,1761541010.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990213 2025-10-27T04:56:50.050Z,1761541010.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 122.105690 m, bearing: 249.382097 deg, approach rate: -0.637642 m/s, LOS rate: -0.019893 deg/s, cmd heading: 257.704977 deg, new cmd heading: 257.678082 deg. 2025-10-27T04:56:50.050Z,1761541010.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497331 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:50.300Z,1761541010.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241922 2025-10-27T04:56:50.380Z,1761541010.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230059,0.958983,0.165605],[-0.972135,-0.234333,0.006480],[0.045021,-0.159500,0.986171]] 2025-10-27T04:56:50.415Z,1761541010.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:50.418Z,1761541010.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 121.883553 m, bearing: 249.375344 deg, approach rate: -0.600862 m/s, LOS rate: -0.018300 deg/s, cmd heading: 257.678094 deg, new cmd heading: 257.657798 deg. 2025-10-27T04:56:50.418Z,1761541010.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496977 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:50.552Z,1761541010.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494006 2025-10-27T04:56:50.807Z,1761541010.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748410 2025-10-27T04:56:50.809Z,1761541010.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230719,0.958836,0.165534],[-0.972013,-0.234858,0.005611],[0.044257,-0.159607,0.986188]] 2025-10-27T04:56:50.878Z,1761541010.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:50.881Z,1761541010.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 121.585030 m, bearing: 249.366323 deg, approach rate: -0.643769 m/s, LOS rate: -0.019501 deg/s, cmd heading: 257.657794 deg, new cmd heading: 257.630666 deg. 2025-10-27T04:56:50.882Z,1761541010.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496503 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:51.056Z,1761541011.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997756 2025-10-27T04:56:51.183Z,1761541011.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230622,0.958872,0.165464],[-0.972087,-0.234578,0.004507],[0.043136,-0.159806,0.986205]] 2025-10-27T04:56:51.232Z,1761541011.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:51.237Z,1761541011.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:51.242Z,1761541011.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 121.383049 m, bearing: 249.364251 deg, approach rate: -0.564485 m/s, LOS rate: -0.005801 deg/s, cmd heading: 257.630665 deg, new cmd heading: 257.624437 deg. 2025-10-27T04:56:51.245Z,1761541011.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496395 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:51.309Z,1761541011.309 [DAT](INFO): DAT read: Rx Time:04:56:49.8491 2025-10-27T04:56:51.309Z,1761541011.309 [DAT](INFO): Rx dataTimestamp_ set to:1761541011.309051 2025-10-27T04:56:51.310Z,1761541011.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252207 2025-10-27T04:56:51.560Z,1761541011.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501923 2025-10-27T04:56:51.585Z,1761541011.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229382,0.959382,0.164226],[-0.972447,-0.233100,0.003474],[0.041614,-0.158904,0.986417]] 2025-10-27T04:56:51.625Z,1761541011.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.77 m. 2025-10-27T04:56:51.632Z,1761541011.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.773277 m, nav range: 121.171738 m, bearing: 249.361953 deg, approach rate: -0.544048 m/s, LOS rate: -0.005927 deg/s, cmd heading: 257.624436 deg, new cmd heading: 257.617530 deg. 2025-10-27T04:56:51.633Z,1761541011.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496274 target range: 126.773277 and range: 127.40 m. 2025-10-27T04:56:51.834Z,1761541011.834 [DAT](INFO): DAT read: 04:56:49.8491 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.49,-0.739,-2.231,-0.282,-0.883, PHS= 0.245,-1.303, 0.557, RAW= 159.0, 5.9, CAL= 158.2, 5.5, ROT= 351.8, -5.5 2025-10-27T04:56:51.840Z,1761541011.840 [DAT](INFO): got valid direction response: 04:56:49.8491 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.49,-0.739,-2.231,-0.282,-0.883, PHS= 0.245,-1.303, 0.557, RAW= 159.0, 5.9, CAL= 158.2, 5.5, ROT= 351.8, -5.5 2025-10-27T04:56:51.843Z,1761541011.843 [DAT](INFO): DAT read: Bearing 46.7, -6.5 (Local) 2025-10-27T04:56:51.854Z,1761541011.854 [DAT](INFO): Local bearing/azimuth received: Bearing 46.7, -6.5 (Local) 2025-10-27T04:56:51.872Z,1761541011.872 [DAT](INFO): DAT read: Range 11 to 50 : 124.8 m (Round-trip 166.5 ms) speed 0.4 m/s 2025-10-27T04:56:51.872Z,1761541011.872 [DAT](INFO): DAT read: user:246> 2025-10-27T04:56:51.873Z,1761541011.873 [DAT](INFO): DAT read: Tx time:04:56:50.9785 2025-10-27T04:56:51.873Z,1761541011.873 [DAT](INFO): Ping request sent. 2025-10-27T04:56:51.874Z,1761541011.874 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:51.874Z,1761541011.874 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:51.877Z,1761541011.877 [DAT](INFO): direction in FSK: [0.985219,-0.141973,0.095846] 2025-10-27T04:56:51.878Z,1761541011.878 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:51.878Z,1761541011.878 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:51.889Z,1761541011.889 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:51.889Z,1761541011.889 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:52.056Z,1761541012.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.781806 s, deltaX: -2.599998 m, approachRate: -0.687502 m/s, rangeRepo size: 4 2025-10-27T04:56:52.058Z,1761541012.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.182602 m, bearing: 249.459479 deg, lat: 36.779365 deg, lon: -121.859606 deg, deltaT: 3.781806 s, deltaX: -2.590675 m, approachRate: -0.685037 m/s, posRepo size: 4 2025-10-27T04:56:52.059Z,1761541012.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:52.062Z,1761541012.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 121.866631 m, bearing: 249.450389 deg, approach rate: 0.000000 m/s, LOS rate: -0.005927 deg/s, cmd heading: 257.617523 deg, new cmd heading: 257.609858 deg. 2025-10-27T04:56:52.064Z,1761541012.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496140 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:52.394Z,1761541012.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226623,0.960079,0.163985],[-0.973212,-0.229907,0.001078],[0.038736,-0.159348,0.986462]] 2025-10-27T04:56:52.428Z,1761541012.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:52.431Z,1761541012.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 121.671730 m, bearing: 249.455346 deg, approach rate: -0.522987 m/s, LOS rate: 0.013321 deg/s, cmd heading: 257.609846 deg, new cmd heading: 257.624740 deg. 2025-10-27T04:56:52.432Z,1761541012.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496400 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:52.798Z,1761541012.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224856,0.960467,0.164141],[-0.973680,-0.227920,-0.000175],[0.037243,-0.159860,0.986437]] 2025-10-27T04:56:52.887Z,1761541012.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:52.890Z,1761541012.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 121.453178 m, bearing: 249.460723 deg, approach rate: -0.476157 m/s, LOS rate: 0.011736 deg/s, cmd heading: 257.624736 deg, new cmd heading: 257.640897 deg. 2025-10-27T04:56:52.895Z,1761541012.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496682 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:53.204Z,1761541013.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222131,0.961244,0.163304],[-0.974366,-0.224965,-0.001169],[0.035614,-0.159378,0.986575]] 2025-10-27T04:56:53.262Z,1761541013.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:53.265Z,1761541013.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:53.268Z,1761541013.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 121.229729 m, bearing: 249.473600 deg, approach rate: -0.591029 m/s, LOS rate: 0.034123 deg/s, cmd heading: 257.640910 deg, new cmd heading: 257.679613 deg. 2025-10-27T04:56:53.269Z,1761541013.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497358 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:53.324Z,1761541013.324 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:53.324Z,1761541013.324 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:53.324Z,1761541013.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:53.576Z,1761541013.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702481 2025-10-27T04:56:53.618Z,1761541013.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218898,0.962184,0.162131],[-0.975166,-0.221465,-0.002295],[0.033698,-0.158607,0.986767]] 2025-10-27T04:56:53.636Z,1761541013.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:53.638Z,1761541013.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 121.036415 m, bearing: 249.484471 deg, approach rate: -0.521891 m/s, LOS rate: 0.029396 deg/s, cmd heading: 257.679623 deg, new cmd heading: 257.712289 deg. 2025-10-27T04:56:53.640Z,1761541013.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497928 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:53.832Z,1761541013.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957832 2025-10-27T04:56:54.009Z,1761541014.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215841,0.962928,0.161809],[-0.975910,-0.218144,-0.003614],[0.031817,-0.158691,0.986815]] 2025-10-27T04:56:54.066Z,1761541014.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:54.073Z,1761541014.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 120.828835 m, bearing: 249.498899 deg, approach rate: -0.482609 m/s, LOS rate: 0.033600 deg/s, cmd heading: 257.712299 deg, new cmd heading: 257.755656 deg. 2025-10-27T04:56:54.074Z,1761541014.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498685 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:54.080Z,1761541014.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206398 2025-10-27T04:56:54.332Z,1761541014.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458252 2025-10-27T04:56:54.448Z,1761541014.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:54.450Z,1761541014.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 120.626915 m, bearing: 249.512981 deg, approach rate: -0.528873 m/s, LOS rate: 0.036946 deg/s, cmd heading: 257.755657 deg, new cmd heading: 257.797975 deg. 2025-10-27T04:56:54.452Z,1761541014.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499424 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:54.584Z,1761541014.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710384 2025-10-27T04:56:54.839Z,1761541014.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964562 2025-10-27T04:56:54.918Z,1761541014.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:54.925Z,1761541014.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 120.407845 m, bearing: 249.528314 deg, approach rate: -0.465550 m/s, LOS rate: 0.032643 deg/s, cmd heading: 257.797977 deg, new cmd heading: 257.844059 deg. 2025-10-27T04:56:54.926Z,1761541014.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500228 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:55.088Z,1761541015.088 [DAT](INFO): DAT read: Rx Time:04:56:53.5467 2025-10-27T04:56:55.088Z,1761541015.088 [DAT](INFO): Rx dataTimestamp_ set to:1761541015.088094 2025-10-27T04:56:55.089Z,1761541015.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215336 2025-10-27T04:56:55.222Z,1761541015.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207094,0.965646,0.156971],[-0.977954,-0.208729,-0.006179],[0.026798,-0.154791,0.987584]] 2025-10-27T04:56:55.282Z,1761541015.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:55.301Z,1761541015.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.18 m. 2025-10-27T04:56:55.304Z,1761541015.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.182602 m, nav range: 120.186440 m, bearing: 249.542375 deg, approach rate: -0.579106 m/s, LOS rate: 0.036846 deg/s, cmd heading: 257.844067 deg, new cmd heading: 257.886328 deg. 2025-10-27T04:56:55.305Z,1761541015.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500966 target range: 124.182602 and range: 124.80 m. 2025-10-27T04:56:55.340Z,1761541015.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466449 2025-10-27T04:56:55.598Z,1761541015.598 [DAT](INFO): DAT read: 04:56:53.5467 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 413, 0.47,-2.225, 2.599,-1.789,-2.303, PHS= 0.179,-1.336, 0.470, RAW= 158.6, 8.2, CAL= 158.2, 8.5, ROT= 351.8, -8.5 2025-10-27T04:56:55.599Z,1761541015.599 [DAT](INFO): got valid direction response: 04:56:53.5467 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 413, 0.47,-2.225, 2.599,-1.789,-2.303, PHS= 0.179,-1.336, 0.470, RAW= 158.6, 8.2, CAL= 158.2, 8.5, ROT= 351.8, -8.5 2025-10-27T04:56:55.600Z,1761541015.600 [DAT](INFO): DAT read: Bearing 50.2, -7.4 (Local) 2025-10-27T04:56:55.600Z,1761541015.600 [DAT](INFO): Local bearing/azimuth received: Bearing 50.2, -7.4 (Local) 2025-10-27T04:56:55.602Z,1761541015.602 [DAT](INFO): DAT read: Range 11 to 50 : 123.0 m (Round-trip 164.1 ms) speed 0.4 m/s 2025-10-27T04:56:55.602Z,1761541015.602 [DAT](INFO): DAT read: user:247> 2025-10-27T04:56:55.603Z,1761541015.603 [DAT](INFO): DAT read: Tx time:04:56:54.6785 2025-10-27T04:56:55.603Z,1761541015.603 [DAT](INFO): Ping request sent. 2025-10-27T04:56:55.604Z,1761541015.604 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:55.604Z,1761541015.604 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:55.605Z,1761541015.605 [DAT](INFO): direction in FSK: [0.978904,-0.141063,0.147809] 2025-10-27T04:56:55.605Z,1761541015.605 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:55.605Z,1761541015.605 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:55.609Z,1761541015.609 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:55.610Z,1761541015.610 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:55.626Z,1761541015.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204886,0.966195,0.156491],[-0.978461,-0.206303,-0.007308],[0.025223,-0.154618,0.987652]] 2025-10-27T04:56:55.776Z,1761541015.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 3.777561 s, deltaX: -1.800003 m, approachRate: -0.476499 m/s, rangeRepo size: 4 2025-10-27T04:56:55.778Z,1761541015.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.388191 m, bearing: 251.354894 deg, lat: 36.779365 deg, lon: -121.859610 deg, deltaT: 3.777561 s, deltaX: -1.794411 m, approachRate: -0.475018 m/s, posRepo size: 4 2025-10-27T04:56:55.778Z,1761541015.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.39 m. 2025-10-27T04:56:55.801Z,1761541015.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.388191 m, nav range: 120.308060 m, bearing: 249.620114 deg, approach rate: 0.000000 m/s, LOS rate: 0.036846 deg/s, cmd heading: 257.886332 deg, new cmd heading: 257.938299 deg. 2025-10-27T04:56:55.802Z,1761541015.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501873 target range: 122.388191 and range: 123.00 m. 2025-10-27T04:56:56.192Z,1761541016.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203074,0.966882,0.154593],[-0.978871,-0.204325,-0.007927],[0.023923,-0.152937,0.987946]] 2025-10-27T04:56:56.374Z,1761541016.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.39 m. 2025-10-27T04:56:56.377Z,1761541016.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.388191 m, nav range: 119.916801 m, bearing: 249.632262 deg, approach rate: -0.648895 m/s, LOS rate: 0.020212 deg/s, cmd heading: 257.938296 deg, new cmd heading: 257.974858 deg. 2025-10-27T04:56:56.378Z,1761541016.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502511 target range: 122.388191 and range: 123.00 m. 2025-10-27T04:56:56.726Z,1761541016.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201856,0.967382,0.153053],[-0.979168,-0.202840,-0.009321],[0.022029,-0.151746,0.988174]] 2025-10-27T04:56:56.762Z,1761541016.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.39 m. 2025-10-27T04:56:56.781Z,1761541016.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.388191 m, nav range: 119.691689 m, bearing: 249.639153 deg, approach rate: -0.579310 m/s, LOS rate: 0.017768 deg/s, cmd heading: 257.974852 deg, new cmd heading: 257.995564 deg. 2025-10-27T04:56:56.782Z,1761541016.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502872 target range: 122.388191 and range: 123.00 m. 2025-10-27T04:56:57.128Z,1761541017.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202147,0.967306,0.153152],[-0.979118,-0.203054,-0.009862],[0.021559,-0.151947,0.988154]] 2025-10-27T04:56:57.179Z,1761541017.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.39 m. 2025-10-27T04:56:57.182Z,1761541017.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.388191 m, nav range: 119.421043 m, bearing: 249.637509 deg, approach rate: -0.649730 m/s, LOS rate: -0.003957 deg/s, cmd heading: 257.995561 deg, new cmd heading: 257.990616 deg. 2025-10-27T04:56:57.199Z,1761541017.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502786 target range: 122.388191 and range: 123.00 m. 2025-10-27T04:56:57.533Z,1761541017.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203123,0.967092,0.153212],[-0.978918,-0.204000,-0.010138],[0.021451,-0.152041,0.988141]] 2025-10-27T04:56:57.551Z,1761541017.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:57.553Z,1761541017.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.39 m. 2025-10-27T04:56:57.556Z,1761541017.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.388191 m, nav range: 119.181801 m, bearing: 249.636163 deg, approach rate: -0.638890 m/s, LOS rate: -0.003600 deg/s, cmd heading: 257.990616 deg, new cmd heading: 257.986571 deg. 2025-10-27T04:56:57.557Z,1761541017.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502715 target range: 122.388191 and range: 123.00 m. 2025-10-27T04:56:57.609Z,1761541017.609 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:57.609Z,1761541017.609 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:57.609Z,1761541017.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:57.863Z,1761541017.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258753 2025-10-27T04:56:57.953Z,1761541017.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204319,0.966838,0.153223],[-0.978668,-0.205191,-0.010267],[0.021513,-0.152053,0.988138]] 2025-10-27T04:56:57.990Z,1761541017.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.39 m. 2025-10-27T04:56:58.009Z,1761541018.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.388191 m, nav range: 118.879272 m, bearing: 249.627833 deg, approach rate: -0.692196 m/s, LOS rate: -0.019108 deg/s, cmd heading: 257.986572 deg, new cmd heading: 257.961519 deg. 2025-10-27T04:56:58.010Z,1761541018.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502278 target range: 122.388191 and range: 123.00 m. 2025-10-27T04:56:58.112Z,1761541018.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508702 2025-10-27T04:56:58.341Z,1761541018.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205890,0.966551,0.152934],[-0.978338,-0.206752,-0.010422],[0.021547,-0.151767,0.988181]] 2025-10-27T04:56:58.360Z,1761541018.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.39 m. 2025-10-27T04:56:58.364Z,1761541018.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760501 2025-10-27T04:56:58.365Z,1761541018.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.388191 m, nav range: 118.623474 m, bearing: 249.620956 deg, approach rate: -0.691824 m/s, LOS rate: -0.018640 deg/s, cmd heading: 257.961519 deg, new cmd heading: 257.940843 deg. 2025-10-27T04:56:58.366Z,1761541018.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501917 target range: 122.388191 and range: 123.00 m. 2025-10-27T04:56:58.621Z,1761541018.621 [DAT](INFO): DAT read: Rx Time:04:56:57.2439 2025-10-27T04:56:58.621Z,1761541018.621 [DAT](INFO): Rx dataTimestamp_ set to:1761541018.621000 2025-10-27T04:56:58.622Z,1761541018.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018212 2025-10-27T04:56:58.761Z,1761541018.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207994,0.965986,0.153654],[-0.977887,-0.208861,-0.010663],[0.021792,-0.152474,0.988067]] 2025-10-27T04:56:58.780Z,1761541018.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.39 m. 2025-10-27T04:56:58.783Z,1761541018.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.388191 m, nav range: 118.332993 m, bearing: 249.613414 deg, approach rate: -0.691652 m/s, LOS rate: -0.018003 deg/s, cmd heading: 257.940837 deg, new cmd heading: 257.918154 deg. 2025-10-27T04:56:58.784Z,1761541018.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501521 target range: 122.388191 and range: 123.00 m. 2025-10-27T04:56:58.869Z,1761541018.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265424 2025-10-27T04:56:59.125Z,1761541019.125 [DAT](INFO): DAT read: 04:56:57.2439 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.24,-2.019, 2.733,-1.524,-2.118, PHS= 0.201,-1.387, 0.551, RAW= 159.8, 7.2, CAL= 159.2, 7.1, ROT= 350.8, -7.1 2025-10-27T04:56:59.126Z,1761541019.126 [DAT](INFO): got valid direction response: 04:56:57.2439 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.24,-2.019, 2.733,-1.524,-2.118, PHS= 0.201,-1.387, 0.551, RAW= 159.8, 7.2, CAL= 159.2, 7.1, ROT= 350.8, -7.1 2025-10-27T04:56:59.128Z,1761541019.128 [DAT](INFO): DAT read: Bearing 49.7, -8.6 (Local) 2025-10-27T04:56:59.128Z,1761541019.128 [DAT](INFO): Local bearing/azimuth received: Bearing 49.7, -8.6 (Local) 2025-10-27T04:56:59.130Z,1761541019.130 [DAT](INFO): DAT read: Range 11 to 50 : 120.9 m (Round-trip 161.3 ms) speed 0.5 m/s 2025-10-27T04:56:59.130Z,1761541019.130 [DAT](INFO): DAT read: user:248> 2025-10-27T04:56:59.135Z,1761541019.135 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:56:59.151Z,1761541019.151 [DAT](INFO): direction in FSK: [0.979567,-0.158655,0.123601] 2025-10-27T04:56:59.152Z,1761541019.152 [DAT](INFO): publishing direction and range info 2025-10-27T04:56:59.155Z,1761541019.155 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:56:59.155Z,1761541019.155 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:56:59.155Z,1761541019.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:56:59.184Z,1761541019.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210407,0.965271,0.154856],[-0.977362,-0.211293,-0.010904],[0.022195,-0.153645,0.987877]] 2025-10-27T04:56:59.292Z,1761541019.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.900002 m, deltaT: 3.528006 s, deltaX: -2.099998 m, approachRate: -0.595237 m/s, rangeRepo size: 4 2025-10-27T04:56:59.294Z,1761541019.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.296967 m, bearing: 249.816396 deg, lat: 36.779365 deg, lon: -121.859614 deg, deltaT: 3.528006 s, deltaX: -2.091225 m, approachRate: -0.592750 m/s, posRepo size: 4 2025-10-27T04:56:59.295Z,1761541019.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:56:59.313Z,1761541019.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 118.280083 m, bearing: 249.653635 deg, approach rate: 0.000000 m/s, LOS rate: -0.018003 deg/s, cmd heading: 257.918161 deg, new cmd heading: 257.890569 deg. 2025-10-27T04:56:59.314Z,1761541019.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501040 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:56:59.373Z,1761541019.373 [DAT](INFO): DAT read: Tx time:04:56:58.3785 2025-10-27T04:56:59.374Z,1761541019.374 [DAT](INFO): Ping request sent. 2025-10-27T04:56:59.374Z,1761541019.374 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:56:59.374Z,1761541019.374 [DAT](INFO): publishing transmit ping time 2025-10-27T04:56:59.375Z,1761541019.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001428 2025-10-27T04:56:59.624Z,1761541019.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250202 2025-10-27T04:56:59.642Z,1761541019.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212928,0.964735,0.154750],[-0.976803,-0.213872,-0.010718],[0.022757,-0.153443,0.987895]] 2025-10-27T04:56:59.659Z,1761541019.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:56:59.661Z,1761541019.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:56:59.665Z,1761541019.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 117.988754 m, bearing: 249.641203 deg, approach rate: -0.787061 m/s, LOS rate: -0.033670 deg/s, cmd heading: 257.890567 deg, new cmd heading: 257.853179 deg. 2025-10-27T04:56:59.666Z,1761541019.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500387 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:56:59.876Z,1761541019.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502136 2025-10-27T04:57:00.040Z,1761541020.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216155,0.963708,0.156665],[-0.976079,-0.217134,-0.011043],[0.023375,-0.155304,0.987590]] 2025-10-27T04:57:00.097Z,1761541020.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:57:00.104Z,1761541020.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 117.678810 m, bearing: 249.623051 deg, approach rate: -0.710422 m/s, LOS rate: -0.041716 deg/s, cmd heading: 257.853192 deg, new cmd heading: 257.798592 deg. 2025-10-27T04:57:00.105Z,1761541020.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499434 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:57:00.128Z,1761541020.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754290 2025-10-27T04:57:00.381Z,1761541020.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006758 2025-10-27T04:57:00.484Z,1761541020.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:57:00.487Z,1761541020.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 117.375793 m, bearing: 249.605211 deg, approach rate: -0.783220 m/s, LOS rate: -0.046231 deg/s, cmd heading: 257.798605 deg, new cmd heading: 257.744948 deg. 2025-10-27T04:57:00.488Z,1761541020.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498498 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:57:00.632Z,1761541020.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258272 2025-10-27T04:57:00.848Z,1761541020.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221854,0.961774,0.160533],[-0.974766,-0.222936,-0.011475],[0.024752,-0.159027,0.986964]] 2025-10-27T04:57:00.873Z,1761541020.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:57:00.877Z,1761541020.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 117.086090 m, bearing: 249.588901 deg, approach rate: -0.744530 m/s, LOS rate: -0.042021 deg/s, cmd heading: 257.744947 deg, new cmd heading: 257.695895 deg. 2025-10-27T04:57:00.877Z,1761541020.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497642 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:57:00.884Z,1761541020.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510251 2025-10-27T04:57:01.137Z,1761541021.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762723 2025-10-27T04:57:01.259Z,1761541021.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224183,0.960840,0.162876],[-0.974224,-0.225257,-0.012091],[0.025072,-0.161388,0.986573]] 2025-10-27T04:57:01.314Z,1761541021.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:57:01.317Z,1761541021.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 116.769730 m, bearing: 249.571584 deg, approach rate: -0.718557 m/s, LOS rate: -0.039438 deg/s, cmd heading: 257.695907 deg, new cmd heading: 257.643816 deg. 2025-10-27T04:57:01.318Z,1761541021.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496733 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:57:01.389Z,1761541021.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015032 2025-10-27T04:57:01.640Z,1761541021.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266071 2025-10-27T04:57:01.670Z,1761541021.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225891,0.960249,0.163996],[-0.973830,-0.226925,-0.012651],[0.025067,-0.162562,0.986380]] 2025-10-27T04:57:01.729Z,1761541021.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:01.733Z,1761541021.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:57:01.739Z,1761541021.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 116.474747 m, bearing: 249.555603 deg, approach rate: -0.703971 m/s, LOS rate: -0.038235 deg/s, cmd heading: 257.643806 deg, new cmd heading: 257.595741 deg. 2025-10-27T04:57:01.740Z,1761541021.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495894 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:57:01.892Z,1761541021.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518157 2025-10-27T04:57:02.087Z,1761541022.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227039,0.959958,0.164117],[-0.973569,-0.228017,-0.013108],[0.024839,-0.162756,0.986354]] 2025-10-27T04:57:02.124Z,1761541022.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:57:02.144Z,1761541022.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770234 2025-10-27T04:57:02.147Z,1761541022.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 116.197456 m, bearing: 249.544494 deg, approach rate: -0.708608 m/s, LOS rate: -0.028455 deg/s, cmd heading: 257.595749 deg, new cmd heading: 257.562344 deg. 2025-10-27T04:57:02.148Z,1761541022.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495311 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:57:02.396Z,1761541022.396 [DAT](INFO): DAT read: Rx Time:04:57:00.9400 2025-10-27T04:57:02.396Z,1761541022.396 [DAT](INFO): Rx dataTimestamp_ set to:1761541022.396190 2025-10-27T04:57:02.397Z,1761541022.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023303 2025-10-27T04:57:02.486Z,1761541022.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228372,0.959429,0.165354],[-0.973256,-0.229324,-0.013572],[0.024898,-0.164031,0.986141]] 2025-10-27T04:57:02.506Z,1761541022.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.30 m. 2025-10-27T04:57:02.525Z,1761541022.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.296967 m, nav range: 115.932999 m, bearing: 249.534021 deg, approach rate: -0.692958 m/s, LOS rate: -0.027506 deg/s, cmd heading: 257.562335 deg, new cmd heading: 257.530844 deg. 2025-10-27T04:57:02.526Z,1761541022.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494761 target range: 120.296967 and range: 120.90 m. 2025-10-27T04:57:02.649Z,1761541022.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274540 2025-10-27T04:57:02.896Z,1761541022.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229505,0.959127,0.165540],[-0.972994,-0.230404,-0.014016],[0.024698,-0.164287,0.986103]] 2025-10-27T04:57:02.906Z,1761541022.906 [DAT](INFO): DAT read: 04:57:00.9400 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.43,-0.633,-2.141,-0.136,-0.689, PHS= 0.159,-1.407, 0.510, RAW= 159.9, 8.4, CAL= 159.6, 8.7, ROT= 350.4, -8.7 2025-10-27T04:57:02.907Z,1761541022.907 [DAT](INFO): got valid direction response: 04:57:00.9400 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.43,-0.633,-2.141,-0.136,-0.689, PHS= 0.159,-1.407, 0.510, RAW= 159.9, 8.4, CAL= 159.6, 8.7, ROT= 350.4, -8.7 2025-10-27T04:57:02.908Z,1761541022.908 [DAT](INFO): DAT read: Bearing 51.6, -9.7 (Local) 2025-10-27T04:57:02.908Z,1761541022.908 [DAT](INFO): Local bearing/azimuth received: Bearing 51.6, -9.7 (Local) 2025-10-27T04:57:02.910Z,1761541022.910 [DAT](INFO): DAT read: Range 11 to 50 : 118.0 m (Round-trip 157.4 ms) speed 0.2 m/s 2025-10-27T04:57:02.910Z,1761541022.910 [DAT](INFO): DAT read: user:249> 2025-10-27T04:57:02.911Z,1761541022.911 [DAT](INFO): DAT read: Tx time:04:57:02.0285 2025-10-27T04:57:02.912Z,1761541022.912 [DAT](INFO): Ping request sent. 2025-10-27T04:57:02.912Z,1761541022.912 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:02.912Z,1761541022.912 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:02.913Z,1761541022.913 [DAT](INFO): direction in FSK: [0.974651,-0.164850,0.151261] 2025-10-27T04:57:02.913Z,1761541022.913 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:02.913Z,1761541022.913 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:02.921Z,1761541022.921 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:02.921Z,1761541022.921 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:03.025Z,1761541023.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.000000 m, deltaT: 3.780106 s, deltaX: -2.900002 m, approachRate: -0.767175 m/s, rangeRepo size: 4 2025-10-27T04:57:03.033Z,1761541023.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.409866 m, bearing: 248.645339 deg, lat: 36.779363 deg, lon: -121.859614 deg, deltaT: 3.780106 s, deltaX: -2.887100 m, approachRate: -0.763762 m/s, posRepo size: 4 2025-10-27T04:57:03.033Z,1761541023.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:03.045Z,1761541023.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 115.721069 m, bearing: 249.408358 deg, approach rate: 0.000000 m/s, LOS rate: -0.027506 deg/s, cmd heading: 257.530835 deg, new cmd heading: 257.489718 deg. 2025-10-27T04:57:03.046Z,1761541023.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494043 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:03.343Z,1761541023.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230068,0.958985,0.165579],[-0.972873,-0.230879,-0.014601],[0.024227,-0.164447,0.986088]] 2025-10-27T04:57:03.387Z,1761541023.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:03.390Z,1761541023.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 115.431587 m, bearing: 249.402458 deg, approach rate: -0.756650 m/s, LOS rate: -0.015461 deg/s, cmd heading: 257.489717 deg, new cmd heading: 257.471972 deg. 2025-10-27T04:57:03.390Z,1761541023.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493733 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:03.757Z,1761541023.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230546,0.958851,0.165693],[-0.972772,-0.231268,-0.015187],[0.023757,-0.164683,0.986061]] 2025-10-27T04:57:03.774Z,1761541023.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:03.776Z,1761541023.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:03.779Z,1761541023.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 115.182068 m, bearing: 249.397406 deg, approach rate: -0.640726 m/s, LOS rate: -0.013000 deg/s, cmd heading: 257.471958 deg, new cmd heading: 257.456770 deg. 2025-10-27T04:57:03.780Z,1761541023.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493468 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:03.908Z,1761541023.908 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:03.908Z,1761541023.908 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:03.908Z,1761541023.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:04.154Z,1761541024.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230196,0.958795,0.166497],[-0.972872,-0.230784,-0.016076],[0.023011,-0.165682,0.985911]] 2025-10-27T04:57:04.160Z,1761541024.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248198 2025-10-27T04:57:04.209Z,1761541024.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:04.212Z,1761541024.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 114.919151 m, bearing: 249.398158 deg, approach rate: -0.607536 m/s, LOS rate: 0.001741 deg/s, cmd heading: 257.456768 deg, new cmd heading: 257.459028 deg. 2025-10-27T04:57:04.213Z,1761541024.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493508 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:04.412Z,1761541024.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500208 2025-10-27T04:57:04.553Z,1761541024.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229370,0.959264,0.164929],[-0.973083,-0.229880,-0.016252],[0.022324,-0.164217,0.986172]] 2025-10-27T04:57:04.589Z,1761541024.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:04.592Z,1761541024.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 114.698112 m, bearing: 249.398711 deg, approach rate: -0.581582 m/s, LOS rate: 0.001458 deg/s, cmd heading: 257.459036 deg, new cmd heading: 257.460698 deg. 2025-10-27T04:57:04.593Z,1761541024.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493537 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:04.664Z,1761541024.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752498 2025-10-27T04:57:04.916Z,1761541024.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004438 2025-10-27T04:57:04.958Z,1761541024.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227963,0.959925,0.163022],[-0.973430,-0.228403,-0.016297],[0.021591,-0.162406,0.986488]] 2025-10-27T04:57:05.065Z,1761541025.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:05.074Z,1761541025.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 114.440811 m, bearing: 249.399189 deg, approach rate: -0.540092 m/s, LOS rate: 0.001007 deg/s, cmd heading: 257.460702 deg, new cmd heading: 257.462141 deg. 2025-10-27T04:57:05.079Z,1761541025.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493562 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:05.168Z,1761541025.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256267 2025-10-27T04:57:05.405Z,1761541025.405 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503084523 +10.8, 0.0,1492.9, 0 2025-10-27T04:57:05.420Z,1761541025.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508233 2025-10-27T04:57:05.422Z,1761541025.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:05.429Z,1761541025.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 114.183662 m, bearing: 249.399670 deg, approach rate: -0.721355 m/s, LOS rate: 0.001351 deg/s, cmd heading: 257.462150 deg, new cmd heading: 257.463595 deg. 2025-10-27T04:57:05.430Z,1761541025.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493587 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:05.673Z,1761541025.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760748 2025-10-27T04:57:05.788Z,1761541025.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224964,0.961205,0.159615],[-0.974168,-0.225194,-0.016886],[0.019713,-0.159291,0.987035]] 2025-10-27T04:57:05.805Z,1761541025.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:05.808Z,1761541025.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:05.811Z,1761541025.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 113.948860 m, bearing: 249.399774 deg, approach rate: -0.607250 m/s, LOS rate: 0.000270 deg/s, cmd heading: 257.463598 deg, new cmd heading: 257.463911 deg. 2025-10-27T04:57:05.812Z,1761541025.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493593 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:05.924Z,1761541025.924 [DAT](INFO): DAT read: Rx Time:04:57:04.5869 2025-10-27T04:57:05.925Z,1761541025.925 [DAT](INFO): Rx dataTimestamp_ set to:1761541025.924406 2025-10-27T04:57:05.925Z,1761541025.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013486 2025-10-27T04:57:06.176Z,1761541026.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264062 2025-10-27T04:57:06.202Z,1761541026.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222679,0.961987,0.158098],[-0.974714,-0.222792,-0.017239],[0.018639,-0.157939,0.987273]] 2025-10-27T04:57:06.280Z,1761541026.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.41 m. 2025-10-27T04:57:06.307Z,1761541026.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.409866 m, nav range: 113.683701 m, bearing: 249.409753 deg, approach rate: -0.561786 m/s, LOS rate: 0.021193 deg/s, cmd heading: 257.463899 deg, new cmd heading: 257.493908 deg. 2025-10-27T04:57:06.308Z,1761541026.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494116 target range: 117.409866 and range: 118.00 m. 2025-10-27T04:57:06.437Z,1761541026.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524439 2025-10-27T04:57:06.686Z,1761541026.686 [DAT](INFO): DAT read: 04:57:04.5869 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.29, 0.469,-1.088, 0.960, 0.442, PHS= 0.129,-1.485, 0.474, RAW= 159.5, 9.8, CAL= 159.4, 10.5, ROT= 350.6, -10.5 2025-10-27T04:57:06.691Z,1761541026.691 [DAT](INFO): got valid direction response: 04:57:04.5869 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.29, 0.469,-1.088, 0.960, 0.442, PHS= 0.129,-1.485, 0.474, RAW= 159.5, 9.8, CAL= 159.4, 10.5, ROT= 350.6, -10.5 2025-10-27T04:57:06.692Z,1761541026.692 [DAT](INFO): DAT read: Bearing 52.9, -10.0 (Local) 2025-10-27T04:57:06.692Z,1761541026.692 [DAT](INFO): Local bearing/azimuth received: Bearing 52.9, -10.0 (Local) 2025-10-27T04:57:06.694Z,1761541026.694 [DAT](INFO): DAT read: Range 11 to 50 : 115.6 m (Round-trip 154.2 ms) speed 0.4 m/s 2025-10-27T04:57:06.694Z,1761541026.694 [DAT](INFO): DAT read: user:250> 2025-10-27T04:57:06.700Z,1761541026.700 [DAT](INFO): DAT read: Tx time:04:57:05.6785 2025-10-27T04:57:06.700Z,1761541026.700 [DAT](INFO): Ping request sent. 2025-10-27T04:57:06.700Z,1761541026.700 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:06.701Z,1761541026.701 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:06.702Z,1761541026.702 [DAT](INFO): direction in FSK: [0.970052,-0.160591,0.182236] 2025-10-27T04:57:06.708Z,1761541026.708 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:06.708Z,1761541026.708 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:06.729Z,1761541026.729 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:06.730Z,1761541026.730 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:06.753Z,1761541026.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219306,0.963147,0.155735],[-0.975502,-0.219295,-0.017468],[0.017328,-0.155751,0.987644]] 2025-10-27T04:57:06.813Z,1761541026.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.599998 m, deltaT: 3.779828 s, deltaX: -2.400002 m, approachRate: -0.634950 m/s, rangeRepo size: 4 2025-10-27T04:57:06.814Z,1761541026.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.022209 m, bearing: 249.653836 deg, lat: 36.779367 deg, lon: -121.859614 deg, deltaT: 3.779828 s, deltaX: -2.387657 m, approachRate: -0.631684 m/s, posRepo size: 4 2025-10-27T04:57:06.819Z,1761541026.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:06.822Z,1761541026.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 113.232437 m, bearing: 249.636882 deg, approach rate: 0.000000 m/s, LOS rate: 0.021193 deg/s, cmd heading: 257.493897 deg, new cmd heading: 257.527692 deg. 2025-10-27T04:57:06.827Z,1761541026.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494706 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:07.146Z,1761541027.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217575,0.963732,0.154538],[-0.975892,-0.217588,-0.017039],[0.017204,-0.154520,0.987840]] 2025-10-27T04:57:07.208Z,1761541027.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:07.210Z,1761541027.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 113.013664 m, bearing: 249.646797 deg, approach rate: -0.557606 m/s, LOS rate: 0.025322 deg/s, cmd heading: 257.527693 deg, new cmd heading: 257.557498 deg. 2025-10-27T04:57:07.211Z,1761541027.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495226 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:07.584Z,1761541027.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:07.587Z,1761541027.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 112.799034 m, bearing: 249.656562 deg, approach rate: -0.565184 m/s, LOS rate: 0.025763 deg/s, cmd heading: 257.557500 deg, new cmd heading: 257.586851 deg. 2025-10-27T04:57:07.588Z,1761541027.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495739 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:07.952Z,1761541027.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214229,0.964645,0.153509],[-0.976638,-0.214249,-0.016612],[0.016864,-0.153482,0.988008]] 2025-10-27T04:57:07.970Z,1761541027.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:07.972Z,1761541027.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:07.974Z,1761541027.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 112.588806 m, bearing: 249.665802 deg, approach rate: -0.542118 m/s, LOS rate: 0.023872 deg/s, cmd heading: 257.586842 deg, new cmd heading: 257.614614 deg. 2025-10-27T04:57:07.976Z,1761541027.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496223 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:08.194Z,1761541028.194 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:08.195Z,1761541028.195 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:08.195Z,1761541028.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:08.354Z,1761541028.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212325,0.965336,0.151806],[-0.977058,-0.212353,-0.016217],[0.016582,-0.151766,0.988277]] 2025-10-27T04:57:08.397Z,1761541028.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:08.400Z,1761541028.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 112.361130 m, bearing: 249.677651 deg, approach rate: -0.535219 m/s, LOS rate: 0.027910 deg/s, cmd heading: 257.614627 deg, new cmd heading: 257.650246 deg. 2025-10-27T04:57:08.401Z,1761541028.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496845 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:08.444Z,1761541028.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743680 2025-10-27T04:57:08.697Z,1761541028.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995974 2025-10-27T04:57:08.768Z,1761541028.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211652,0.965414,0.152249],[-0.977212,-0.211607,-0.016686],[0.016108,-0.152311,0.988201]] 2025-10-27T04:57:08.799Z,1761541028.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:08.802Z,1761541028.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 112.152092 m, bearing: 249.688493 deg, approach rate: -0.536256 m/s, LOS rate: 0.027864 deg/s, cmd heading: 257.650254 deg, new cmd heading: 257.682839 deg. 2025-10-27T04:57:08.807Z,1761541028.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497414 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:08.952Z,1761541028.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252061 2025-10-27T04:57:09.164Z,1761541029.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211214,0.965437,0.152708],[-0.977308,-0.211159,-0.016765],[0.016061,-0.152784,0.988129]] 2025-10-27T04:57:09.200Z,1761541029.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499674 2025-10-27T04:57:09.297Z,1761541029.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:09.300Z,1761541029.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 111.877136 m, bearing: 249.695673 deg, approach rate: -0.539602 m/s, LOS rate: 0.014125 deg/s, cmd heading: 257.682847 deg, new cmd heading: 257.704440 deg. 2025-10-27T04:57:09.301Z,1761541029.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497791 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:09.452Z,1761541029.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751662 2025-10-27T04:57:09.567Z,1761541029.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210516,0.965277,0.154671],[-0.977455,-0.210470,-0.016861],[0.016278,-0.154733,0.987822]] 2025-10-27T04:57:09.613Z,1761541029.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:09.620Z,1761541029.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 111.708557 m, bearing: 249.700021 deg, approach rate: -0.533021 m/s, LOS rate: 0.013769 deg/s, cmd heading: 257.704431 deg, new cmd heading: 257.717495 deg. 2025-10-27T04:57:09.621Z,1761541029.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498019 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:09.705Z,1761541029.705 [DAT](INFO): DAT read: Rx Time:04:57:08.2345 2025-10-27T04:57:09.706Z,1761541029.706 [DAT](INFO): Rx dataTimestamp_ set to:1761541029.705636 2025-10-27T04:57:09.707Z,1761541029.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006394 2025-10-27T04:57:09.871Z,1761541029.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:57:09.956Z,1761541029.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255693 2025-10-27T04:57:09.972Z,1761541029.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210231,0.965141,0.155902],[-0.977513,-0.210197,-0.016894],[0.016465,-0.155948,0.987628]] 2025-10-27T04:57:10.097Z,1761541030.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:10.120Z,1761541030.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.02 m. 2025-10-27T04:57:10.128Z,1761541030.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.022209 m, nav range: 111.470840 m, bearing: 249.706131 deg, approach rate: -0.474749 m/s, LOS rate: 0.012229 deg/s, cmd heading: 257.717490 deg, new cmd heading: 257.735860 deg. 2025-10-27T04:57:10.129Z,1761541030.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498339 target range: 115.022209 and range: 115.60 m. 2025-10-27T04:57:10.217Z,1761541030.217 [DAT](INFO): DAT read: 04:57:08.2345 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 416, 0.36,-2.270, 2.563,-1.858,-2.258, PHS= 0.090,-1.417, 0.356, RAW= 158.0, 11.7, CAL= 158.2, 13.1, ROT= 351.8, -13.1 2025-10-27T04:57:10.220Z,1761541030.220 [DAT](INFO): got valid direction response: 04:57:08.2345 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 416, 0.36,-2.270, 2.563,-1.858,-2.258, PHS= 0.090,-1.417, 0.356, RAW= 158.0, 11.7, CAL= 158.2, 13.1, ROT= 351.8, -13.1 2025-10-27T04:57:10.222Z,1761541030.222 [DAT](INFO): DAT read: Bearing 56.0, -9.2 (Local) 2025-10-27T04:57:10.223Z,1761541030.223 [DAT](INFO): Local bearing/azimuth received: Bearing 56.0, -9.2 (Local) 2025-10-27T04:57:10.241Z,1761541030.241 [DAT](INFO): DAT read: Range 11 to 50 : 113.9 m (Round-trip 151.9 ms) speed 0.4 m/s 2025-10-27T04:57:10.248Z,1761541030.248 [DAT](INFO): DAT read: user:251> 2025-10-27T04:57:10.249Z,1761541030.249 [DAT](INFO): DAT read: Tx time:04:57:09.3285 2025-10-27T04:57:10.249Z,1761541030.249 [DAT](INFO): Ping request sent. 2025-10-27T04:57:10.249Z,1761541030.249 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:10.250Z,1761541030.250 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:10.255Z,1761541030.255 [DAT](INFO): direction in FSK: [0.964018,-0.138917,0.226651] 2025-10-27T04:57:10.256Z,1761541030.256 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:10.256Z,1761541030.256 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:10.261Z,1761541030.261 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:10.261Z,1761541030.261 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:10.464Z,1761541030.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209878,0.965026,0.157086],[-0.977586,-0.209853,-0.016939],[0.016618,-0.157120,0.987440]] 2025-10-27T04:57:10.542Z,1761541030.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.900002 m, deltaT: 3.528504 s, deltaX: -1.699997 m, approachRate: -0.481790 m/s, rangeRepo size: 4 2025-10-27T04:57:10.544Z,1761541030.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.329086 m, bearing: 251.842001 deg, lat: 36.779371 deg, lon: -121.859610 deg, deltaT: 3.528504 s, deltaX: -1.693123 m, approachRate: -0.479842 m/s, posRepo size: 4 2025-10-27T04:57:10.544Z,1761541030.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.33 m. 2025-10-27T04:57:10.547Z,1761541030.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.329086 m, nav range: 110.716583 m, bearing: 249.841428 deg, approach rate: 0.000000 m/s, LOS rate: 0.012229 deg/s, cmd heading: 257.735850 deg, new cmd heading: 257.751530 deg. 2025-10-27T04:57:10.548Z,1761541030.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498613 target range: 113.329086 and range: 113.90 m. 2025-10-27T04:57:10.862Z,1761541030.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209909,0.964912,0.157745],[-0.977576,-0.209905,-0.016876],[0.016827,-0.157750,0.987336]] 2025-10-27T04:57:10.875Z,1761541030.875 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:57:10.882Z,1761541030.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.33 m. 2025-10-27T04:57:10.885Z,1761541030.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.329086 m, nav range: 110.524368 m, bearing: 249.844242 deg, approach rate: -0.563200 m/s, LOS rate: 0.008260 deg/s, cmd heading: 257.751532 deg, new cmd heading: 257.759989 deg. 2025-10-27T04:57:10.886Z,1761541030.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498761 target range: 113.329086 and range: 113.90 m. 2025-10-27T04:57:11.267Z,1761541031.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209791,0.964823,0.158445],[-0.977599,-0.209796,-0.016890],[0.016946,-0.158439,0.987223]] 2025-10-27T04:57:11.311Z,1761541031.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.33 m. 2025-10-27T04:57:11.314Z,1761541031.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.329086 m, nav range: 110.273376 m, bearing: 249.843807 deg, approach rate: -0.585688 m/s, LOS rate: -0.001018 deg/s, cmd heading: 257.760001 deg, new cmd heading: 257.758692 deg. 2025-10-27T04:57:11.315Z,1761541031.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498738 target range: 113.329086 and range: 113.90 m. 2025-10-27T04:57:11.671Z,1761541031.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210135,0.964617,0.159242],[-0.977521,-0.210165,-0.016846],[0.017217,-0.159202,0.987096]] 2025-10-27T04:57:11.690Z,1761541031.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.33 m. 2025-10-27T04:57:11.693Z,1761541031.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.329086 m, nav range: 110.051697 m, bearing: 249.843460 deg, approach rate: -0.584290 m/s, LOS rate: -0.000917 deg/s, cmd heading: 257.758690 deg, new cmd heading: 257.757646 deg. 2025-10-27T04:57:11.694Z,1761541031.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498720 target range: 113.329086 and range: 113.90 m. 2025-10-27T04:57:12.081Z,1761541032.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210657,0.964288,0.160540],[-0.977401,-0.210722,-0.016814],[0.017616,-0.160454,0.986886]] 2025-10-27T04:57:12.160Z,1761541032.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:12.162Z,1761541032.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.33 m. 2025-10-27T04:57:12.165Z,1761541032.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.329086 m, nav range: 109.776405 m, bearing: 249.843099 deg, approach rate: -0.583358 m/s, LOS rate: -0.000765 deg/s, cmd heading: 257.757652 deg, new cmd heading: 257.756568 deg. 2025-10-27T04:57:12.166Z,1761541032.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498701 target range: 113.329086 and range: 113.90 m. 2025-10-27T04:57:12.225Z,1761541032.225 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:12.225Z,1761541032.225 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:12.226Z,1761541032.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:12.476Z,1761541032.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226760 2025-10-27T04:57:12.491Z,1761541032.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211122,0.964099,0.161059],[-0.977294,-0.211237,-0.016607],[0.018011,-0.160908,0.986805]] 2025-10-27T04:57:12.498Z,1761541032.498 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS-612, +0, +4,A 2025-10-27T04:57:12.514Z,1761541032.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.33 m. 2025-10-27T04:57:12.517Z,1761541032.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.329086 m, nav range: 109.570747 m, bearing: 249.842879 deg, approach rate: -0.584957 m/s, LOS rate: -0.000627 deg/s, cmd heading: 257.756559 deg, new cmd heading: 257.755898 deg. 2025-10-27T04:57:12.517Z,1761541032.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498689 target range: 113.329086 and range: 113.90 m. 2025-10-27T04:57:12.731Z,1761541032.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482146 2025-10-27T04:57:12.890Z,1761541032.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212129,0.963774,0.161681],[-0.977065,-0.212317,-0.016318],[0.018601,-0.161435,0.986708]] 2025-10-27T04:57:12.910Z,1761541032.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.33 m. 2025-10-27T04:57:12.913Z,1761541032.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.329086 m, nav range: 109.339127 m, bearing: 249.842755 deg, approach rate: -0.584125 m/s, LOS rate: -0.000314 deg/s, cmd heading: 257.755903 deg, new cmd heading: 257.755529 deg. 2025-10-27T04:57:12.914Z,1761541032.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498682 target range: 113.329086 and range: 113.90 m. 2025-10-27T04:57:12.981Z,1761541032.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731629 2025-10-27T04:57:13.233Z,1761541033.233 [DAT](INFO): DAT read: Rx Time:04:57:11.8816 2025-10-27T04:57:13.234Z,1761541033.234 [DAT](INFO): Rx dataTimestamp_ set to:1761541033.233554 2025-10-27T04:57:13.236Z,1761541033.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986512 2025-10-27T04:57:13.297Z,1761541033.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213059,0.963634,0.161295],[-0.976856,-0.213298,-0.016037],[0.018950,-0.160979,0.986776]] 2025-10-27T04:57:13.341Z,1761541033.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.33 m. 2025-10-27T04:57:13.344Z,1761541033.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.329086 m, nav range: 109.067230 m, bearing: 249.832755 deg, approach rate: -0.630625 m/s, LOS rate: -0.023252 deg/s, cmd heading: 257.755521 deg, new cmd heading: 257.725445 deg. 2025-10-27T04:57:13.345Z,1761541033.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498158 target range: 113.329086 and range: 113.90 m. 2025-10-27T04:57:13.484Z,1761541033.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234713 2025-10-27T04:57:13.716Z,1761541033.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213961,0.963432,0.161306],[-0.976651,-0.214250,-0.015808],[0.019330,-0.160922,0.986778]] 2025-10-27T04:57:13.766Z,1761541033.766 [DAT](INFO): DAT read: 04:57:11.8816 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.13, 0.253,-1.248, 0.728, 0.194, PHS= 0.161,-1.397, 0.490, RAW= 159.4, 8.6, CAL= 159.1, 9.0, ROT= 350.9, -9.0 2025-10-27T04:57:13.783Z,1761541033.783 [DAT](INFO): got valid direction response: 04:57:11.8816 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.13, 0.253,-1.248, 0.728, 0.194, PHS= 0.161,-1.397, 0.490, RAW= 159.4, 8.6, CAL= 159.1, 9.0, ROT= 350.9, -9.0 2025-10-27T04:57:13.784Z,1761541033.784 [DAT](INFO): DAT read: Bearing 51.7, -9.5 (Local) 2025-10-27T04:57:13.785Z,1761541033.785 [DAT](INFO): Local bearing/azimuth received: Bearing 51.7, -9.5 (Local) 2025-10-27T04:57:13.786Z,1761541033.786 [DAT](INFO): DAT read: Range 11 to 50 : 111.7 m (Round-trip 149.0 ms) speed 0.4 m/s 2025-10-27T04:57:13.799Z,1761541033.799 [DAT](INFO): DAT read: user:252> 2025-10-27T04:57:13.800Z,1761541033.800 [DAT](INFO): DAT read: Tx time:04:57:12.9785 2025-10-27T04:57:13.800Z,1761541033.800 [DAT](INFO): Ping request sent. 2025-10-27T04:57:13.800Z,1761541033.800 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:13.801Z,1761541033.801 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:13.801Z,1761541033.801 [DAT](INFO): direction in FSK: [0.975257,-0.156211,0.156434] 2025-10-27T04:57:13.802Z,1761541033.802 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:13.802Z,1761541033.802 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:13.817Z,1761541033.817 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:13.818Z,1761541033.818 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:13.984Z,1761541033.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.699997 m, deltaT: 3.529639 s, deltaX: -2.200005 m, approachRate: -0.623294 m/s, rangeRepo size: 4 2025-10-27T04:57:13.986Z,1761541033.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.141273 m, bearing: 250.080386 deg, lat: 36.779371 deg, lon: -121.859610 deg, deltaT: 3.529639 s, deltaX: -2.187813 m, approachRate: -0.619840 m/s, posRepo size: 4 2025-10-27T04:57:13.991Z,1761541033.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:13.997Z,1761541033.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 108.679810 m, bearing: 249.818610 deg, approach rate: 0.000000 m/s, LOS rate: -0.023252 deg/s, cmd heading: 257.725440 deg, new cmd heading: 257.680649 deg. 2025-10-27T04:57:13.998Z,1761541033.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497376 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:14.304Z,1761541034.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216977,0.962842,0.160802],[-0.975968,-0.217374,-0.015336],[0.020188,-0.160265,0.986868]] 2025-10-27T04:57:14.382Z,1761541034.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:14.389Z,1761541034.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:14.400Z,1761541034.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 108.413033 m, bearing: 249.807944 deg, approach rate: -0.658278 m/s, LOS rate: -0.026382 deg/s, cmd heading: 257.680662 deg, new cmd heading: 257.648587 deg. 2025-10-27T04:57:14.401Z,1761541034.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496816 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:14.492Z,1761541034.492 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:14.492Z,1761541034.492 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:14.492Z,1761541034.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:14.744Z,1761541034.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.944183 2025-10-27T04:57:14.746Z,1761541034.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218212,0.962594,0.160612],[-0.975688,-0.218628,-0.015299],[0.020388,-0.160045,0.986899]] 2025-10-27T04:57:14.800Z,1761541034.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:14.803Z,1761541034.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 108.134193 m, bearing: 249.796929 deg, approach rate: -0.677570 m/s, LOS rate: -0.026835 deg/s, cmd heading: 257.648587 deg, new cmd heading: 257.615457 deg. 2025-10-27T04:57:14.804Z,1761541034.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496238 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:14.996Z,1761541034.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195587 2025-10-27T04:57:15.141Z,1761541035.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219068,0.962343,0.160951],[-0.975496,-0.219474,-0.015474],[0.020434,-0.160397,0.986841]] 2025-10-27T04:57:15.248Z,1761541035.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447840 2025-10-27T04:57:15.250Z,1761541035.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:15.257Z,1761541035.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 107.855331 m, bearing: 249.785986 deg, approach rate: -0.619571 m/s, LOS rate: -0.024377 deg/s, cmd heading: 257.615447 deg, new cmd heading: 257.582532 deg. 2025-10-27T04:57:15.258Z,1761541035.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495663 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:15.500Z,1761541035.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700004 2025-10-27T04:57:15.567Z,1761541035.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219967,0.962331,0.159791],[-0.975303,-0.220306,-0.015815],[0.019984,-0.159324,0.987024]] 2025-10-27T04:57:15.620Z,1761541035.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:15.623Z,1761541035.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 107.612869 m, bearing: 249.779112 deg, approach rate: -0.656176 m/s, LOS rate: -0.018645 deg/s, cmd heading: 257.582526 deg, new cmd heading: 257.561857 deg. 2025-10-27T04:57:15.624Z,1761541035.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495302 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:15.754Z,1761541035.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953704 2025-10-27T04:57:15.979Z,1761541035.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220523,0.962197,0.159834],[-0.975183,-0.220805,-0.016218],[0.019687,-0.159444,0.987011]] 2025-10-27T04:57:15.999Z,1761541035.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:16.002Z,1761541036.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 107.375725 m, bearing: 249.772429 deg, approach rate: -0.625435 m/s, LOS rate: -0.017663 deg/s, cmd heading: 257.561844 deg, new cmd heading: 257.541752 deg. 2025-10-27T04:57:16.004Z,1761541036.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203854 2025-10-27T04:57:16.005Z,1761541036.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494952 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:16.256Z,1761541036.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455934 2025-10-27T04:57:16.378Z,1761541036.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221173,0.961981,0.160237],[-0.975041,-0.221396,-0.016690],[0.019421,-0.159929,0.986938]] 2025-10-27T04:57:16.425Z,1761541036.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:16.427Z,1761541036.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:16.429Z,1761541036.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 107.107468 m, bearing: 249.768287 deg, approach rate: -0.627352 m/s, LOS rate: -0.009712 deg/s, cmd heading: 257.541763 deg, new cmd heading: 257.529304 deg. 2025-10-27T04:57:16.430Z,1761541036.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494734 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:16.509Z,1761541036.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708423 2025-10-27T04:57:16.760Z,1761541036.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959612 2025-10-27T04:57:16.799Z,1761541036.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221169,0.961872,0.160895],[-0.975056,-0.221262,-0.017568],[0.018702,-0.160767,0.986815]] 2025-10-27T04:57:16.848Z,1761541036.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:16.851Z,1761541036.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 106.844780 m, bearing: 249.764202 deg, approach rate: -0.623450 m/s, LOS rate: -0.009719 deg/s, cmd heading: 257.529305 deg, new cmd heading: 257.517020 deg. 2025-10-27T04:57:16.852Z,1761541036.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494520 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:17.012Z,1761541037.012 [DAT](INFO): DAT read: Rx Time:04:57:15.5283 2025-10-27T04:57:17.012Z,1761541037.012 [DAT](INFO): Rx dataTimestamp_ set to:1761541037.012129 2025-10-27T04:57:17.013Z,1761541037.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212716 2025-10-27T04:57:17.242Z,1761541037.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221432,0.961692,0.161608],[-0.975010,-0.221391,-0.018495],[0.017992,-0.161665,0.986682]] 2025-10-27T04:57:17.264Z,1761541037.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463969 2025-10-27T04:57:17.305Z,1761541037.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.14 m. 2025-10-27T04:57:17.312Z,1761541037.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.141273 m, nav range: 106.572548 m, bearing: 249.762638 deg, approach rate: -0.595403 m/s, LOS rate: -0.003428 deg/s, cmd heading: 257.517010 deg, new cmd heading: 257.512308 deg. 2025-10-27T04:57:17.316Z,1761541037.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494438 target range: 111.141273 and range: 111.70 m. 2025-10-27T04:57:17.525Z,1761541037.525 [DAT](INFO): DAT read: 04:57:15.5283 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 400,-0.23, 0.717,-0.754, 1.196, 0.688, PHS= 0.131,-1.397, 0.464, RAW= 159.7, 9.4, CAL= 159.5, 10.0, ROT= 350.5, -10.0 2025-10-27T04:57:17.526Z,1761541037.526 [DAT](INFO): got valid direction response: 04:57:15.5283 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 400,-0.23, 0.717,-0.754, 1.196, 0.688, PHS= 0.131,-1.397, 0.464, RAW= 159.7, 9.4, CAL= 159.5, 10.0, ROT= 350.5, -10.0 2025-10-27T04:57:17.544Z,1761541037.544 [DAT](INFO): DAT read: Bearing 51.8, -10.1 (Local) 2025-10-27T04:57:17.544Z,1761541037.544 [DAT](INFO): Local bearing/azimuth received: Bearing 51.8, -10.1 (Local) 2025-10-27T04:57:17.546Z,1761541037.546 [DAT](INFO): DAT read: Range 11 to 50 : 109.2 m (Round-trip 145.7 ms) speed 0.6 m/s 2025-10-27T04:57:17.560Z,1761541037.560 [DAT](INFO): DAT read: user:253> 2025-10-27T04:57:17.561Z,1761541037.561 [DAT](INFO): DAT read: Tx time:04:57:16.6285 2025-10-27T04:57:17.561Z,1761541037.561 [DAT](INFO): Ping request sent. 2025-10-27T04:57:17.561Z,1761541037.561 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:17.561Z,1761541037.561 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:17.562Z,1761541037.562 [DAT](INFO): direction in FSK: [0.971302,-0.162540,0.173648] 2025-10-27T04:57:17.563Z,1761541037.563 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:17.577Z,1761541037.577 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:17.593Z,1761541037.593 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:17.593Z,1761541037.593 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:17.643Z,1761541037.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221744,0.961577,0.161864],[-0.974954,-0.221556,-0.019443],[0.017166,-0.162121,0.986622]] 2025-10-27T04:57:17.701Z,1761541037.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.199997 m, deltaT: 3.780266 s, deltaX: -2.500000 m, approachRate: -0.661329 m/s, rangeRepo size: 4 2025-10-27T04:57:17.709Z,1761541037.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.655411 m, bearing: 249.406018 deg, lat: 36.779371 deg, lon: -121.859605 deg, deltaT: 3.780266 s, deltaX: -2.485863 m, approachRate: -0.657589 m/s, posRepo size: 4 2025-10-27T04:57:17.717Z,1761541037.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:17.726Z,1761541037.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 105.939812 m, bearing: 249.682106 deg, approach rate: 0.000000 m/s, LOS rate: -0.003428 deg/s, cmd heading: 257.512311 deg, new cmd heading: 257.508302 deg. 2025-10-27T04:57:17.732Z,1761541037.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494368 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:18.058Z,1761541038.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221894,0.961475,0.162259],[-0.974935,-0.221542,-0.020490],[0.016246,-0.162739,0.986535]] 2025-10-27T04:57:18.083Z,1761541038.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:18.086Z,1761541038.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 105.682808 m, bearing: 249.680470 deg, approach rate: -0.662844 m/s, LOS rate: -0.004228 deg/s, cmd heading: 257.508295 deg, new cmd heading: 257.503378 deg. 2025-10-27T04:57:18.087Z,1761541038.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494282 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:18.513Z,1761541038.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:18.515Z,1761541038.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:18.518Z,1761541038.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 105.418724 m, bearing: 249.681580 deg, approach rate: -0.611162 m/s, LOS rate: 0.002574 deg/s, cmd heading: 257.503377 deg, new cmd heading: 257.506713 deg. 2025-10-27T04:57:18.519Z,1761541038.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494340 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:18.528Z,1761541038.528 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:18.528Z,1761541038.528 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:18.528Z,1761541038.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:18.784Z,1761541038.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222698 2025-10-27T04:57:18.867Z,1761541038.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222353,0.961249,0.162972],[-0.974856,-0.221716,-0.022321],[0.014678,-0.163837,0.986378]] 2025-10-27T04:57:18.886Z,1761541038.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:18.889Z,1761541038.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 105.191063 m, bearing: 249.682587 deg, approach rate: -0.613277 m/s, LOS rate: 0.002719 deg/s, cmd heading: 257.506710 deg, new cmd heading: 257.509739 deg. 2025-10-27T04:57:18.890Z,1761541038.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494393 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:19.032Z,1761541039.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470881 2025-10-27T04:57:19.284Z,1761541039.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722991 2025-10-27T04:57:19.286Z,1761541039.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221974,0.961424,0.162455],[-0.974955,-0.221204,-0.023045],[0.013780,-0.163502,0.986447]] 2025-10-27T04:57:19.388Z,1761541039.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:19.390Z,1761541039.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 104.890762 m, bearing: 249.686039 deg, approach rate: -0.598673 m/s, LOS rate: 0.006901 deg/s, cmd heading: 257.509743 deg, new cmd heading: 257.520128 deg. 2025-10-27T04:57:19.392Z,1761541039.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494574 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:19.536Z,1761541039.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974927 2025-10-27T04:57:19.735Z,1761541039.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221681,0.961473,0.162567],[-0.975033,-0.220775,-0.023849],[0.012960,-0.163795,0.986409]] 2025-10-27T04:57:19.756Z,1761541039.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:19.759Z,1761541039.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 104.669830 m, bearing: 249.688551 deg, approach rate: -0.599769 m/s, LOS rate: 0.006834 deg/s, cmd heading: 257.520125 deg, new cmd heading: 257.527677 deg. 2025-10-27T04:57:19.760Z,1761541039.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494706 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:19.788Z,1761541039.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227078 2025-10-27T04:57:20.041Z,1761541040.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480175 2025-10-27T04:57:20.118Z,1761541040.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221894,0.961393,0.162749],[-0.974991,-0.220893,-0.024455],[0.012439,-0.164106,0.986364]] 2025-10-27T04:57:20.137Z,1761541040.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:20.140Z,1761541040.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 104.441666 m, bearing: 249.691180 deg, approach rate: -0.599137 m/s, LOS rate: 0.006919 deg/s, cmd heading: 257.527665 deg, new cmd heading: 257.535570 deg. 2025-10-27T04:57:20.141Z,1761541040.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494843 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:20.292Z,1761541040.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731043 2025-10-27T04:57:20.522Z,1761541040.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221620,0.961578,0.162024],[-0.975062,-0.220535,-0.024883],[0.011805,-0.163498,0.986473]] 2025-10-27T04:57:20.544Z,1761541040.544 [DAT](INFO): DAT read: Rx Time:04:57:19.1753 2025-10-27T04:57:20.544Z,1761541040.544 [DAT](INFO): Rx dataTimestamp_ set to:1761541040.544214 2025-10-27T04:57:20.545Z,1761541040.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984042 2025-10-27T04:57:20.576Z,1761541040.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:20.578Z,1761541040.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:20.582Z,1761541040.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 104.185486 m, bearing: 249.693230 deg, approach rate: -0.580023 m/s, LOS rate: 0.004653 deg/s, cmd heading: 257.535561 deg, new cmd heading: 257.541727 deg. 2025-10-27T04:57:20.582Z,1761541040.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494951 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:20.796Z,1761541040.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234814 2025-10-27T04:57:20.985Z,1761541040.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.66 m. 2025-10-27T04:57:20.994Z,1761541040.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.655411 m, nav range: 103.961525 m, bearing: 249.695031 deg, approach rate: -0.551592 m/s, LOS rate: 0.004444 deg/s, cmd heading: 257.541736 deg, new cmd heading: 257.547149 deg. 2025-10-27T04:57:21.009Z,1761541041.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495046 target range: 108.655411 and range: 109.20 m. 2025-10-27T04:57:21.060Z,1761541041.060 [DAT](INFO): DAT read: 04:57:19.1753 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.19, 1.376,-0.124, 1.832, 1.324, PHS= 0.154,-1.403, 0.464, RAW= 158.9, 9.1, CAL= 158.7, 9.6, ROT= 351.3, -9.6 2025-10-27T04:57:21.061Z,1761541041.061 [DAT](INFO): got valid direction response: 04:57:19.1753 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.19, 1.376,-0.124, 1.832, 1.324, PHS= 0.154,-1.403, 0.464, RAW= 158.9, 9.1, CAL= 158.7, 9.6, ROT= 351.3, -9.6 2025-10-27T04:57:21.062Z,1761541041.062 [DAT](INFO): DAT read: Bearing 51.5, -9.5 (Local) 2025-10-27T04:57:21.062Z,1761541041.062 [DAT](INFO): Local bearing/azimuth received: Bearing 51.5, -9.5 (Local) 2025-10-27T04:57:21.064Z,1761541041.064 [DAT](INFO): DAT read: Range 11 to 50 : 107.0 m (Round-trip 142.7 ms) speed 0.4 m/s 2025-10-27T04:57:21.064Z,1761541041.064 [DAT](INFO): DAT read: user:254> 2025-10-27T04:57:21.065Z,1761541041.065 [DAT](INFO): DAT read: Tx time:04:57:20.2785 2025-10-27T04:57:21.065Z,1761541041.065 [DAT](INFO): Ping request sent. 2025-10-27T04:57:21.065Z,1761541041.065 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:21.066Z,1761541041.066 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:21.067Z,1761541041.067 [DAT](INFO): direction in FSK: [0.974651,-0.149143,0.166769] 2025-10-27T04:57:21.067Z,1761541041.067 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:21.067Z,1761541041.067 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:21.071Z,1761541041.071 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:21.071Z,1761541041.071 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:21.396Z,1761541041.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221603,0.961789,0.160791],[-0.975076,-0.220396,-0.025533],[0.010880,-0.162441,0.986658]] 2025-10-27T04:57:21.452Z,1761541041.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.000000 m, deltaT: 3.531361 s, deltaX: -2.199997 m, approachRate: -0.622988 m/s, rangeRepo size: 4 2025-10-27T04:57:21.454Z,1761541041.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.465584 m, bearing: 250.157882 deg, lat: 36.779374 deg, lon: -121.859610 deg, deltaT: 3.531361 s, deltaX: -2.189827 m, approachRate: -0.620108 m/s, posRepo size: 4 2025-10-27T04:57:21.455Z,1761541041.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.47 m. 2025-10-27T04:57:21.458Z,1761541041.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.465584 m, nav range: 103.946175 m, bearing: 249.978741 deg, approach rate: 0.000000 m/s, LOS rate: 0.004444 deg/s, cmd heading: 257.547145 deg, new cmd heading: 257.553371 deg. 2025-10-27T04:57:21.459Z,1761541041.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495154 target range: 106.465584 and range: 107.00 m. 2025-10-27T04:57:21.809Z,1761541041.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221550,0.961968,0.159791],[-0.975093,-0.220295,-0.025753],[0.010428,-0.161517,0.986815]] 2025-10-27T04:57:21.828Z,1761541041.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.47 m. 2025-10-27T04:57:21.831Z,1761541041.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.465584 m, nav range: 103.718880 m, bearing: 249.984104 deg, approach rate: -0.603122 m/s, LOS rate: 0.014261 deg/s, cmd heading: 257.553374 deg, new cmd heading: 257.569498 deg. 2025-10-27T04:57:21.832Z,1761541041.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495436 target range: 106.465584 and range: 107.00 m. 2025-10-27T04:57:22.201Z,1761541042.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221635,0.961958,0.159731],[-0.975078,-0.220313,-0.026163],[0.010023,-0.161549,0.986814]] 2025-10-27T04:57:22.310Z,1761541042.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.47 m. 2025-10-27T04:57:22.317Z,1761541042.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.465584 m, nav range: 103.465416 m, bearing: 249.990123 deg, approach rate: -0.526625 m/s, LOS rate: 0.012537 deg/s, cmd heading: 257.569494 deg, new cmd heading: 257.587596 deg. 2025-10-27T04:57:22.317Z,1761541042.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495752 target range: 106.465584 and range: 107.00 m. 2025-10-27T04:57:22.606Z,1761541042.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222156,0.961879,0.159483],[-0.974960,-0.220827,-0.026235],[0.009983,-0.161318,0.986852]] 2025-10-27T04:57:22.661Z,1761541042.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:22.668Z,1761541042.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.47 m. 2025-10-27T04:57:22.671Z,1761541042.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.465584 m, nav range: 103.239319 m, bearing: 249.994721 deg, approach rate: -0.631468 m/s, LOS rate: 0.012868 deg/s, cmd heading: 257.587607 deg, new cmd heading: 257.601429 deg. 2025-10-27T04:57:22.676Z,1761541042.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495993 target range: 106.465584 and range: 107.00 m. 2025-10-27T04:57:22.812Z,1761541042.812 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:22.812Z,1761541042.812 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:22.813Z,1761541042.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:23.010Z,1761541043.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222105,0.961897,0.159450],[-0.974973,-0.220752,-0.026378],[0.009826,-0.161318,0.986854]] 2025-10-27T04:57:23.064Z,1761541043.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998384 2025-10-27T04:57:23.105Z,1761541043.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.47 m. 2025-10-27T04:57:23.108Z,1761541043.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.465584 m, nav range: 102.967369 m, bearing: 250.000269 deg, approach rate: -0.622418 m/s, LOS rate: 0.012732 deg/s, cmd heading: 257.601431 deg, new cmd heading: 257.618120 deg. 2025-10-27T04:57:23.109Z,1761541043.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496284 target range: 106.465584 and range: 107.00 m. 2025-10-27T04:57:23.319Z,1761541043.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253049 2025-10-27T04:57:23.568Z,1761541043.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502547 2025-10-27T04:57:23.570Z,1761541043.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221979,0.961905,0.159572],[-0.975001,-0.220636,-0.026316],[0.009893,-0.161425,0.986835]] 2025-10-27T04:57:23.646Z,1761541043.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.47 m. 2025-10-27T04:57:23.653Z,1761541043.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.465584 m, nav range: 102.660904 m, bearing: 250.005520 deg, approach rate: -0.566626 m/s, LOS rate: 0.009738 deg/s, cmd heading: 257.618124 deg, new cmd heading: 257.633924 deg. 2025-10-27T04:57:23.653Z,1761541043.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496560 target range: 106.465584 and range: 107.00 m. 2025-10-27T04:57:23.820Z,1761541043.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754470 2025-10-27T04:57:23.976Z,1761541043.976 [CTD_Seabird](ERROR): Failed to parse device response: .93 2025-10-27T04:57:24.072Z,1761541044.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006364 2025-10-27T04:57:24.195Z,1761541044.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221788,0.962020,0.159147],[-0.975045,-0.220456,-0.026201],[0.009879,-0.160986,0.986907]] 2025-10-27T04:57:24.279Z,1761541044.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.47 m. 2025-10-27T04:57:24.331Z,1761541044.331 [DAT](INFO): DAT read: Rx Time:04:57:22.8226 2025-10-27T04:57:24.332Z,1761541044.332 [DAT](INFO): Rx dataTimestamp_ set to:1761541044.331353 2025-10-27T04:57:24.332Z,1761541044.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266705 2025-10-27T04:57:24.335Z,1761541044.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.465584 m, nav range: 102.316307 m, bearing: 250.011429 deg, approach rate: -0.548843 m/s, LOS rate: 0.009443 deg/s, cmd heading: 257.633916 deg, new cmd heading: 257.651703 deg. 2025-10-27T04:57:24.336Z,1761541044.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496871 target range: 106.465584 and range: 107.00 m. 2025-10-27T04:57:24.581Z,1761541044.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514658 2025-10-27T04:57:24.792Z,1761541044.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221328,0.962208,0.158647],[-0.975149,-0.220016,-0.026016],[0.009872,-0.160463,0.986993]] 2025-10-27T04:57:24.838Z,1761541044.838 [DAT](INFO): DAT read: 04:57:22.8226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.26, 2.691, 1.161,-3.099, 2.667, PHS= 0.126,-1.461, 0.473, RAW= 159.7, 9.7, CAL= 159.6, 10.4, ROT= 350.4, -10.4 2025-10-27T04:57:24.839Z,1761541044.839 [DAT](INFO): got valid direction response: 04:57:22.8226 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.26, 2.691, 1.161,-3.099, 2.667, PHS= 0.126,-1.461, 0.473, RAW= 159.7, 9.7, CAL= 159.6, 10.4, ROT= 350.4, -10.4 2025-10-27T04:57:24.840Z,1761541044.840 [DAT](INFO): DAT read: Bearing 52.7, -10.5 (Local) 2025-10-27T04:57:24.840Z,1761541044.840 [DAT](INFO): Local bearing/azimuth received: Bearing 52.7, -10.5 (Local) 2025-10-27T04:57:24.842Z,1761541044.842 [DAT](INFO): DAT read: Range 11 to 50 : 105.0 m (Round-trip 140.0 ms) speed 0.4 m/s 2025-10-27T04:57:24.842Z,1761541044.842 [DAT](INFO): DAT read: user:255> 2025-10-27T04:57:24.843Z,1761541044.843 [DAT](INFO): DAT read: Tx time:04:57:23.9285 2025-10-27T04:57:24.844Z,1761541044.844 [DAT](INFO): Ping request sent. 2025-10-27T04:57:24.844Z,1761541044.844 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:24.844Z,1761541044.844 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:24.845Z,1761541044.845 [DAT](INFO): direction in FSK: [0.969798,-0.164029,0.180519] 2025-10-27T04:57:24.845Z,1761541044.845 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:24.846Z,1761541044.846 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:24.849Z,1761541044.849 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:24.849Z,1761541044.849 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:24.995Z,1761541044.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.000000 m, deltaT: 3.782533 s, deltaX: -2.000000 m, approachRate: -0.528746 m/s, rangeRepo size: 4 2025-10-27T04:57:24.997Z,1761541044.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.475029 m, bearing: 249.390639 deg, lat: 36.779374 deg, lon: -121.859610 deg, deltaT: 3.782533 s, deltaX: -1.990555 m, approachRate: -0.526249 m/s, posRepo size: 4 2025-10-27T04:57:24.998Z,1761541044.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:25.040Z,1761541045.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 101.902573 m, bearing: 250.015532 deg, approach rate: 0.000000 m/s, LOS rate: 0.009443 deg/s, cmd heading: 257.651702 deg, new cmd heading: 257.672014 deg. 2025-10-27T04:57:25.041Z,1761541045.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497225 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:25.383Z,1761541045.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220729,0.962461,0.157947],[-0.975291,-0.219353,-0.026315],[0.009319,-0.159852,0.987097]] 2025-10-27T04:57:25.436Z,1761541045.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:25.439Z,1761541045.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:25.450Z,1761541045.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 101.636185 m, bearing: 250.019179 deg, approach rate: -0.594433 m/s, LOS rate: 0.008158 deg/s, cmd heading: 257.672001 deg, new cmd heading: 257.682969 deg. 2025-10-27T04:57:25.460Z,1761541045.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497416 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:25.588Z,1761541045.588 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:25.588Z,1761541045.588 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:25.588Z,1761541045.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:25.804Z,1761541045.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219829,0.962810,0.157075],[-0.975502,-0.218355,-0.026796],[0.008499,-0.159117,0.987223]] 2025-10-27T04:57:25.827Z,1761541045.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:25.830Z,1761541045.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 101.402550 m, bearing: 250.022275 deg, approach rate: -0.601794 m/s, LOS rate: 0.007995 deg/s, cmd heading: 257.682957 deg, new cmd heading: 257.692268 deg. 2025-10-27T04:57:25.831Z,1761541045.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497579 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:25.840Z,1761541045.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996290 2025-10-27T04:57:26.092Z,1761541046.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248025 2025-10-27T04:57:26.214Z,1761541046.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219044,0.963104,0.156369],[-0.975685,-0.217457,-0.027397],[0.007618,-0.158568,0.987319]] 2025-10-27T04:57:26.262Z,1761541046.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:26.265Z,1761541046.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 101.158806 m, bearing: 250.025413 deg, approach rate: -0.559855 m/s, LOS rate: 0.007225 deg/s, cmd heading: 257.692273 deg, new cmd heading: 257.701710 deg. 2025-10-27T04:57:26.266Z,1761541046.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497743 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:26.347Z,1761541046.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502496 2025-10-27T04:57:26.596Z,1761541046.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752144 2025-10-27T04:57:26.618Z,1761541046.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218204,0.963379,0.155849],[-0.975880,-0.216495,-0.028069],[0.006699,-0.158214,0.987382]] 2025-10-27T04:57:26.739Z,1761541046.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:26.742Z,1761541046.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 100.908081 m, bearing: 250.028957 deg, approach rate: -0.530016 m/s, LOS rate: 0.007510 deg/s, cmd heading: 257.701699 deg, new cmd heading: 257.712356 deg. 2025-10-27T04:57:26.748Z,1761541046.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497929 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:26.849Z,1761541046.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004560 2025-10-27T04:57:27.038Z,1761541047.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216888,0.963652,0.155995],[-0.976180,-0.215020,-0.028963],[0.005631,-0.158561,0.987333]] 2025-10-27T04:57:27.095Z,1761541047.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:27.098Z,1761541047.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 100.648903 m, bearing: 250.032436 deg, approach rate: -0.719903 m/s, LOS rate: 0.009688 deg/s, cmd heading: 257.712354 deg, new cmd heading: 257.722817 deg. 2025-10-27T04:57:27.100Z,1761541047.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256293 2025-10-27T04:57:27.136Z,1761541047.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498112 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:27.356Z,1761541047.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511586 2025-10-27T04:57:27.541Z,1761541047.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:27.544Z,1761541047.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:27.546Z,1761541047.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 100.371330 m, bearing: 250.036439 deg, approach rate: -0.619087 m/s, LOS rate: 0.008953 deg/s, cmd heading: 257.722818 deg, new cmd heading: 257.734859 deg. 2025-10-27T04:57:27.547Z,1761541047.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498322 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:27.605Z,1761541047.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760705 2025-10-27T04:57:27.856Z,1761541047.856 [DAT](INFO): DAT read: Rx Time:04:57:26.4698 2025-10-27T04:57:27.856Z,1761541047.856 [DAT](INFO): Rx dataTimestamp_ set to:1761541047.856217 2025-10-27T04:57:27.857Z,1761541047.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013307 2025-10-27T04:57:27.862Z,1761541047.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213235,0.964521,0.155658],[-0.976999,-0.210816,-0.032082],[0.001872,-0.158919,0.987290]] 2025-10-27T04:57:27.914Z,1761541047.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:27.921Z,1761541047.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 100.146309 m, bearing: 250.039212 deg, approach rate: -0.607841 m/s, LOS rate: 0.007508 deg/s, cmd heading: 257.734866 deg, new cmd heading: 257.743205 deg. 2025-10-27T04:57:27.922Z,1761541047.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498467 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:28.108Z,1761541048.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264329 2025-10-27T04:57:28.254Z,1761541048.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211919,0.964695,0.156376],[-0.977287,-0.209245,-0.033564],[0.000342,-0.159937,0.987127]] 2025-10-27T04:57:28.392Z,1761541048.392 [DAT](INFO): DAT read: 04:57:26.4698 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.44, 2.280, 0.777, 2.780, 2.243, PHS= 0.139,-1.421, 0.494, RAW= 160.0, 9.0, CAL= 159.8, 9.4, ROT= 350.2, -9.4 2025-10-27T04:57:28.394Z,1761541048.394 [DAT](INFO): got valid direction response: 04:57:26.4698 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.44, 2.280, 0.777, 2.780, 2.243, PHS= 0.139,-1.421, 0.494, RAW= 160.0, 9.0, CAL= 159.8, 9.4, ROT= 350.2, -9.4 2025-10-27T04:57:28.395Z,1761541048.395 [DAT](INFO): DAT read: Bearing 52.2, -11.0 (Local) 2025-10-27T04:57:28.398Z,1761541048.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.48 m. 2025-10-27T04:57:28.403Z,1761541048.403 [DAT](INFO): Local bearing/azimuth received: Bearing 52.2, -11.0 (Local) 2025-10-27T04:57:28.405Z,1761541048.405 [DAT](INFO): DAT read: Range 11 to 50 : 102.9 m (Round-trip 137.2 ms) speed 0.8 m/s 2025-10-27T04:57:28.405Z,1761541048.405 [DAT](INFO): DAT read: user:256> 2025-10-27T04:57:28.406Z,1761541048.406 [DAT](INFO): DAT read: Tx time:04:57:27.5785 2025-10-27T04:57:28.406Z,1761541048.406 [DAT](INFO): Ping request sent. 2025-10-27T04:57:28.406Z,1761541048.406 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:28.409Z,1761541048.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.475029 m, nav range: 99.896118 m, bearing: 250.042109 deg, approach rate: -0.516563 m/s, LOS rate: 0.005996 deg/s, cmd heading: 257.743199 deg, new cmd heading: 257.751911 deg. 2025-10-27T04:57:28.410Z,1761541048.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498620 target range: 104.475029 and range: 105.00 m. 2025-10-27T04:57:28.415Z,1761541048.415 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:28.416Z,1761541048.416 [DAT](INFO): direction in FSK: [0.972176,-0.167924,0.163326] 2025-10-27T04:57:28.416Z,1761541048.416 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:28.417Z,1761541048.417 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:28.428Z,1761541048.428 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:28.428Z,1761541048.428 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:28.672Z,1761541048.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210831,0.964974,0.156124],[-0.977522,-0.207972,-0.034619],[-0.000937,-0.159913,0.987131]] 2025-10-27T04:57:28.758Z,1761541048.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.900002 m, deltaT: 3.529243 s, deltaX: -2.099998 m, approachRate: -0.595028 m/s, rangeRepo size: 4 2025-10-27T04:57:28.760Z,1761541048.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.385483 m, bearing: 249.656241 deg, lat: 36.779366 deg, lon: -121.859614 deg, deltaT: 3.529243 s, deltaX: -2.089546 m, approachRate: -0.592066 m/s, posRepo size: 4 2025-10-27T04:57:28.761Z,1761541048.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:28.764Z,1761541048.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 100.324295 m, bearing: 249.628153 deg, approach rate: 0.000000 m/s, LOS rate: 0.005996 deg/s, cmd heading: 257.751914 deg, new cmd heading: 257.758373 deg. 2025-10-27T04:57:28.765Z,1761541048.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498732 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:29.087Z,1761541049.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209809,0.965366,0.155073],[-0.977739,-0.206743,-0.035830],[-0.002529,-0.159139,0.987253]] 2025-10-27T04:57:29.128Z,1761541049.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:29.131Z,1761541049.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 100.092140 m, bearing: 249.629731 deg, approach rate: -0.625920 m/s, LOS rate: 0.004266 deg/s, cmd heading: 257.758362 deg, new cmd heading: 257.763109 deg. 2025-10-27T04:57:29.132Z,1761541049.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498815 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:29.572Z,1761541049.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:29.574Z,1761541049.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:29.585Z,1761541049.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 99.810905 m, bearing: 249.629080 deg, approach rate: -0.630081 m/s, LOS rate: -0.001464 deg/s, cmd heading: 257.763116 deg, new cmd heading: 257.761156 deg. 2025-10-27T04:57:29.586Z,1761541049.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498781 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:29.620Z,1761541049.620 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:29.620Z,1761541049.620 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:29.620Z,1761541049.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:29.872Z,1761541049.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465363 2025-10-27T04:57:29.896Z,1761541049.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209809,0.965932,0.151510],[-0.977728,-0.206441,-0.037807],[-0.005241,-0.156067,0.987733]] 2025-10-27T04:57:29.943Z,1761541049.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:29.946Z,1761541049.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 99.568588 m, bearing: 249.628529 deg, approach rate: -0.657194 m/s, LOS rate: -0.001499 deg/s, cmd heading: 257.761149 deg, new cmd heading: 257.759491 deg. 2025-10-27T04:57:29.947Z,1761541049.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498752 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:30.124Z,1761541050.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717301 2025-10-27T04:57:30.298Z,1761541050.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210058,0.965931,0.151173],[-0.977666,-0.206460,-0.039299],[-0.006749,-0.156052,0.987726]] 2025-10-27T04:57:30.348Z,1761541050.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:30.351Z,1761541050.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 99.310867 m, bearing: 249.627977 deg, approach rate: -0.636054 m/s, LOS rate: -0.001365 deg/s, cmd heading: 257.759482 deg, new cmd heading: 257.757822 deg. 2025-10-27T04:57:30.352Z,1761541050.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498723 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:30.379Z,1761541050.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971745 2025-10-27T04:57:30.628Z,1761541050.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221914 2025-10-27T04:57:30.790Z,1761541050.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:30.809Z,1761541050.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 99.023766 m, bearing: 249.621777 deg, approach rate: -0.650339 m/s, LOS rate: -0.014086 deg/s, cmd heading: 257.757816 deg, new cmd heading: 257.739160 deg. 2025-10-27T04:57:30.810Z,1761541050.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498397 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:30.881Z,1761541050.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474056 2025-10-27T04:57:31.132Z,1761541051.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725504 2025-10-27T04:57:31.136Z,1761541051.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211251,0.965958,0.149325],[-0.977386,-0.207285,-0.041822],[-0.009445,-0.154783,0.987903]] 2025-10-27T04:57:31.154Z,1761541051.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:31.157Z,1761541051.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 98.788055 m, bearing: 249.616831 deg, approach rate: -0.646600 m/s, LOS rate: -0.013598 deg/s, cmd heading: 257.739155 deg, new cmd heading: 257.724284 deg. 2025-10-27T04:57:31.158Z,1761541051.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498137 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:31.386Z,1761541051.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978861 2025-10-27T04:57:31.587Z,1761541051.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:31.589Z,1761541051.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:31.592Z,1761541051.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 98.504036 m, bearing: 249.608089 deg, approach rate: -0.652954 m/s, LOS rate: -0.020157 deg/s, cmd heading: 257.724293 deg, new cmd heading: 257.697990 deg. 2025-10-27T04:57:31.593Z,1761541051.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497678 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:31.637Z,1761541051.637 [DAT](INFO): DAT read: Rx Time:04:57:30.1166 2025-10-27T04:57:31.638Z,1761541051.638 [DAT](INFO): Rx dataTimestamp_ set to:1761541051.636935 2025-10-27T04:57:31.638Z,1761541051.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231556 2025-10-27T04:57:31.888Z,1761541051.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481550 2025-10-27T04:57:31.980Z,1761541051.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213740,0.965375,0.149555],[-0.976817,-0.209332,-0.044808],[-0.011950,-0.155665,0.987738]] 2025-10-27T04:57:32.019Z,1761541052.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:32.022Z,1761541052.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 98.223007 m, bearing: 249.599804 deg, approach rate: -0.654394 m/s, LOS rate: -0.019348 deg/s, cmd heading: 257.697983 deg, new cmd heading: 257.673057 deg. 2025-10-27T04:57:32.022Z,1761541052.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497243 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:32.147Z,1761541052.147 [DAT](INFO): DAT read: 04:57:30.1166 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.19,-0.847,-2.316,-0.389,-0.858, PHS= 0.113,-1.413, 0.425, RAW= 159.1, 10.3, CAL= 159.1, 11.2, ROT= 350.9, -11.2 2025-10-27T04:57:32.149Z,1761541052.149 [DAT](INFO): got valid direction response: 04:57:30.1166 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.19,-0.847,-2.316,-0.389,-0.858, PHS= 0.113,-1.413, 0.425, RAW= 159.1, 10.3, CAL= 159.1, 11.2, ROT= 350.9, -11.2 2025-10-27T04:57:32.149Z,1761541052.149 [DAT](INFO): DAT read: $Error in header 2025-10-27T04:57:32.150Z,1761541052.150 [DAT](INFO): Received a bad header 2025-10-27T04:57:32.166Z,1761541052.166 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T04:57:32.172Z,1761541052.172 [DAT](INFO): direction in FSK: [0.968609,-0.155146,0.194234] 2025-10-27T04:57:32.175Z,1761541052.175 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:32.175Z,1761541052.175 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:32.175Z,1761541052.175 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:32.342Z,1761541052.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214790,0.965189,0.149250],[-0.976572,-0.210190,-0.046129],[-0.013152,-0.155661,0.987723]] 2025-10-27T04:57:32.360Z,1761541052.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:32.363Z,1761541052.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 97.999474 m, bearing: 249.593320 deg, approach rate: -0.654662 m/s, LOS rate: -0.019031 deg/s, cmd heading: 257.673067 deg, new cmd heading: 257.653572 deg. 2025-10-27T04:57:32.364Z,1761541052.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496903 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:32.396Z,1761541052.396 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:32.397Z,1761541052.397 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:32.397Z,1761541052.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:32.649Z,1761541052.649 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:32.649Z,1761541052.649 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:32.649Z,1761541052.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:32.744Z,1761541052.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216330,0.964641,0.150564],[-0.976212,-0.211421,-0.048076],[-0.014544,-0.157382,0.987431]] 2025-10-27T04:57:32.790Z,1761541052.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:32.793Z,1761541052.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 97.712227 m, bearing: 249.584785 deg, approach rate: -0.668695 m/s, LOS rate: -0.019929 deg/s, cmd heading: 257.653559 deg, new cmd heading: 257.627878 deg. 2025-10-27T04:57:32.794Z,1761541052.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496455 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:32.900Z,1761541052.900 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:32.900Z,1761541052.900 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:32.900Z,1761541052.900 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:33.148Z,1761541053.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216829,0.964530,0.150555],[-0.976081,-0.211698,-0.049504],[-0.015876,-0.157688,0.987361]] 2025-10-27T04:57:33.152Z,1761541053.152 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:33.152Z,1761541053.152 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:33.152Z,1761541053.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:33.168Z,1761541053.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:33.171Z,1761541053.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 97.458824 m, bearing: 249.577289 deg, approach rate: -0.669283 m/s, LOS rate: -0.019851 deg/s, cmd heading: 257.627878 deg, new cmd heading: 257.605331 deg. 2025-10-27T04:57:33.172Z,1761541053.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496061 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:33.404Z,1761541053.404 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:33.404Z,1761541053.404 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:33.405Z,1761541053.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:33.550Z,1761541053.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217640,0.964401,0.150211],[-0.975879,-0.212313,-0.050829],[-0.017128,-0.157650,0.987346]] 2025-10-27T04:57:33.605Z,1761541053.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:33.611Z,1761541053.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:33.614Z,1761541053.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 97.183456 m, bearing: 249.569575 deg, approach rate: -0.628230 m/s, LOS rate: -0.017649 deg/s, cmd heading: 257.605338 deg, new cmd heading: 257.582131 deg. 2025-10-27T04:57:33.617Z,1761541053.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495656 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:33.656Z,1761541053.656 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:33.656Z,1761541053.656 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:33.656Z,1761541053.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:33.908Z,1761541053.908 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:33.908Z,1761541053.908 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:33.909Z,1761541053.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:33.959Z,1761541053.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218969,0.963982,0.150969],[-0.975554,-0.213336,-0.052754],[-0.018646,-0.158830,0.987130]] 2025-10-27T04:57:33.995Z,1761541053.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:33.998Z,1761541053.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 96.924591 m, bearing: 249.562486 deg, approach rate: -0.673909 m/s, LOS rate: -0.018504 deg/s, cmd heading: 257.582143 deg, new cmd heading: 257.560820 deg. 2025-10-27T04:57:33.999Z,1761541053.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495285 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:34.160Z,1761541054.160 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:34.160Z,1761541054.160 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:34.160Z,1761541054.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:34.362Z,1761541054.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219927,0.963766,0.150953],[-0.975312,-0.214067,-0.054236],[-0.019957,-0.159154,0.987052]] 2025-10-27T04:57:34.387Z,1761541054.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:34.390Z,1761541054.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 96.655540 m, bearing: 249.555233 deg, approach rate: -0.679356 m/s, LOS rate: -0.018364 deg/s, cmd heading: 257.560833 deg, new cmd heading: 257.539015 deg. 2025-10-27T04:57:34.391Z,1761541054.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494904 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:34.412Z,1761541054.412 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:34.412Z,1761541054.412 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:34.412Z,1761541054.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:34.664Z,1761541054.664 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:34.664Z,1761541054.664 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:34.664Z,1761541054.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:34.766Z,1761541054.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221063,0.963396,0.151652],[-0.975027,-0.214927,-0.055936],[-0.021294,-0.160230,0.986850]] 2025-10-27T04:57:34.817Z,1761541054.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:34.820Z,1761541054.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 96.385056 m, bearing: 249.550093 deg, approach rate: -0.629266 m/s, LOS rate: -0.011993 deg/s, cmd heading: 257.539004 deg, new cmd heading: 257.523539 deg. 2025-10-27T04:57:34.820Z,1761541054.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494634 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:34.916Z,1761541054.916 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:34.917Z,1761541054.917 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:34.917Z,1761541054.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:35.168Z,1761541055.168 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:35.168Z,1761541055.168 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:35.168Z,1761541055.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:35.171Z,1761541055.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221662,0.963268,0.151596],[-0.974854,-0.215250,-0.057681],[-0.022931,-0.160570,0.986758]] 2025-10-27T04:57:35.191Z,1761541055.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:35.221Z,1761541055.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 96.150009 m, bearing: 249.545687 deg, approach rate: -0.628665 m/s, LOS rate: -0.011814 deg/s, cmd heading: 257.523540 deg, new cmd heading: 257.510289 deg. 2025-10-27T04:57:35.222Z,1761541055.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494402 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:35.420Z,1761541055.420 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:35.420Z,1761541055.420 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:35.420Z,1761541055.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:35.574Z,1761541055.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222493,0.963078,0.151584],[-0.974630,-0.215836,-0.059252],[-0.024347,-0.160921,0.986667]] 2025-10-27T04:57:35.628Z,1761541055.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:35.630Z,1761541055.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:35.637Z,1761541055.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 95.888145 m, bearing: 249.543292 deg, approach rate: -0.595441 m/s, LOS rate: -0.005460 deg/s, cmd heading: 257.510289 deg, new cmd heading: 257.503086 deg. 2025-10-27T04:57:35.638Z,1761541055.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494277 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:35.672Z,1761541055.672 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:35.672Z,1761541055.672 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:35.672Z,1761541055.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:35.924Z,1761541055.924 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:35.924Z,1761541055.924 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:35.924Z,1761541055.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:35.980Z,1761541055.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223110,0.962929,0.151624],[-0.974448,-0.216174,-0.060994],[-0.025956,-0.161358,0.986554]] 2025-10-27T04:57:36.003Z,1761541056.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:36.006Z,1761541056.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 95.647575 m, bearing: 249.541169 deg, approach rate: -0.645386 m/s, LOS rate: -0.005711 deg/s, cmd heading: 257.503077 deg, new cmd heading: 257.496690 deg. 2025-10-27T04:57:36.007Z,1761541056.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494165 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:36.176Z,1761541056.176 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:36.176Z,1761541056.176 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:36.176Z,1761541056.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:36.382Z,1761541056.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223544,0.962794,0.151838],[-0.974303,-0.216315,-0.062783],[-0.027602,-0.161971,0.986409]] 2025-10-27T04:57:36.405Z,1761541056.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:36.424Z,1761541056.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 95.399307 m, bearing: 249.539028 deg, approach rate: -0.617896 m/s, LOS rate: -0.005342 deg/s, cmd heading: 257.496684 deg, new cmd heading: 257.490245 deg. 2025-10-27T04:57:36.425Z,1761541056.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494052 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:36.428Z,1761541056.428 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:36.428Z,1761541056.428 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:36.429Z,1761541056.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:36.680Z,1761541056.680 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:36.680Z,1761541056.680 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:36.680Z,1761541056.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:36.786Z,1761541056.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223772,0.962691,0.152157],[-0.974201,-0.216235,-0.064617],[-0.029304,-0.162691,0.986242]] 2025-10-27T04:57:36.850Z,1761541056.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:36.857Z,1761541056.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 95.154526 m, bearing: 249.539229 deg, approach rate: -0.550034 m/s, LOS rate: 0.000453 deg/s, cmd heading: 257.490236 deg, new cmd heading: 257.490841 deg. 2025-10-27T04:57:36.858Z,1761541056.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494063 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:36.932Z,1761541056.932 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:36.933Z,1761541056.933 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:36.933Z,1761541056.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:37.184Z,1761541057.184 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:37.184Z,1761541057.184 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:37.184Z,1761541057.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:37.195Z,1761541057.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224166,0.962813,0.150798],[-0.974068,-0.216483,-0.065780],[-0.030688,-0.161633,0.986374]] 2025-10-27T04:57:37.255Z,1761541057.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:37.258Z,1761541057.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 94.927681 m, bearing: 249.539482 deg, approach rate: -0.565691 m/s, LOS rate: 0.000633 deg/s, cmd heading: 257.490837 deg, new cmd heading: 257.491598 deg. 2025-10-27T04:57:37.264Z,1761541057.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494076 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:37.436Z,1761541057.436 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:37.436Z,1761541057.436 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:37.436Z,1761541057.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:37.594Z,1761541057.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224665,0.962696,0.150804],[-0.973904,-0.216722,-0.067405],[-0.032208,-0.162012,0.986263]] 2025-10-27T04:57:37.637Z,1761541057.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:37.639Z,1761541057.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:37.641Z,1761541057.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 94.687164 m, bearing: 249.542693 deg, approach rate: -0.620507 m/s, LOS rate: 0.008306 deg/s, cmd heading: 257.491602 deg, new cmd heading: 257.501261 deg. 2025-10-27T04:57:37.642Z,1761541057.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494245 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:37.689Z,1761541057.689 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:37.689Z,1761541057.689 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:37.689Z,1761541057.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:37.940Z,1761541057.940 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:37.940Z,1761541057.940 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:37.940Z,1761541057.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:37.999Z,1761541057.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224885,0.962633,0.150879],[-0.973801,-0.216677,-0.069013],[-0.033742,-0.162446,0.986140]] 2025-10-27T04:57:38.024Z,1761541058.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:38.031Z,1761541058.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 94.463638 m, bearing: 249.545719 deg, approach rate: -0.579416 m/s, LOS rate: 0.007863 deg/s, cmd heading: 257.501274 deg, new cmd heading: 257.510374 deg. 2025-10-27T04:57:38.032Z,1761541058.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494404 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:38.193Z,1761541058.193 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:38.193Z,1761541058.193 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:38.193Z,1761541058.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T04:57:38.402Z,1761541058.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224810,0.962533,0.151627],[-0.973771,-0.216323,-0.070535],[-0.035092,-0.163507,0.985918]] 2025-10-27T04:57:38.442Z,1761541058.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:38.444Z,1761541058.444 [DAT](INFO): Reached modem response timeout 2025-10-27T04:57:38.444Z,1761541058.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:38.444Z,1761541058.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:38.448Z,1761541058.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 94.233864 m, bearing: 249.548825 deg, approach rate: -0.550698 m/s, LOS rate: 0.007461 deg/s, cmd heading: 257.510371 deg, new cmd heading: 257.519710 deg. 2025-10-27T04:57:38.449Z,1761541058.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494567 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:38.699Z,1761541058.699 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:38.807Z,1761541058.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224628,0.962948,0.149243],[-0.973766,-0.216108,-0.071256],[-0.036363,-0.161334,0.986230]] 2025-10-27T04:57:38.845Z,1761541058.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:38.848Z,1761541058.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 93.992531 m, bearing: 249.556555 deg, approach rate: -0.597856 m/s, LOS rate: 0.019200 deg/s, cmd heading: 257.519715 deg, new cmd heading: 257.542966 deg. 2025-10-27T04:57:38.849Z,1761541058.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494973 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:38.949Z,1761541058.949 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:39.200Z,1761541059.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:39.222Z,1761541059.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224392,0.963071,0.148805],[-0.973764,-0.215661,-0.072626],[-0.037853,-0.161198,0.986196]] 2025-10-27T04:57:39.241Z,1761541059.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:39.269Z,1761541059.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 93.766983 m, bearing: 249.563784 deg, approach rate: -0.570153 m/s, LOS rate: 0.018318 deg/s, cmd heading: 257.542965 deg, new cmd heading: 257.564704 deg. 2025-10-27T04:57:39.269Z,1761541059.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495352 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:39.452Z,1761541059.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:39.616Z,1761541059.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224544,0.963112,0.148309],[-0.973681,-0.215650,-0.073756],[-0.039052,-0.160967,0.986187]] 2025-10-27T04:57:39.652Z,1761541059.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:39.654Z,1761541059.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:39.657Z,1761541059.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 93.524902 m, bearing: 249.571491 deg, approach rate: -0.585901 m/s, LOS rate: 0.018700 deg/s, cmd heading: 257.564712 deg, new cmd heading: 257.587892 deg. 2025-10-27T04:57:39.658Z,1761541059.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495757 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:39.704Z,1761541059.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:39.956Z,1761541059.956 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:40.018Z,1761541060.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224551,0.963278,0.147215],[-0.973634,-0.215558,-0.074646],[-0.040171,-0.160095,0.986284]] 2025-10-27T04:57:40.081Z,1761541060.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:40.088Z,1761541060.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 93.278648 m, bearing: 249.579381 deg, approach rate: -0.576678 m/s, LOS rate: 0.018525 deg/s, cmd heading: 257.587880 deg, new cmd heading: 257.611612 deg. 2025-10-27T04:57:40.089Z,1761541060.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496171 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:40.208Z,1761541060.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:40.422Z,1761541060.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224169,0.963602,0.145666],[-0.973678,-0.215128,-0.075311],[-0.041233,-0.158714,0.986463]] 2025-10-27T04:57:40.445Z,1761541060.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:40.448Z,1761541060.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 93.062622 m, bearing: 249.586295 deg, approach rate: -0.593120 m/s, LOS rate: 0.019029 deg/s, cmd heading: 257.611622 deg, new cmd heading: 257.632414 deg. 2025-10-27T04:57:40.449Z,1761541060.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496534 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:40.460Z,1761541060.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:40.713Z,1761541060.713 [DAT](DEBUG): Acoustic response timeout 2025-10-27T04:57:40.826Z,1761541060.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224382,0.963615,0.145255],[-0.973583,-0.215195,-0.076342],[-0.042307,-0.158548,0.986444]] 2025-10-27T04:57:40.922Z,1761541060.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:40.925Z,1761541060.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 92.778557 m, bearing: 249.591698 deg, approach rate: -0.595415 m/s, LOS rate: 0.011360 deg/s, cmd heading: 257.632413 deg, new cmd heading: 257.648672 deg. 2025-10-27T04:57:40.926Z,1761541060.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496818 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:40.964Z,1761541060.964 [DAT](INFO): DAT read: Response Not Received 2025-10-27T04:57:40.965Z,1761541060.965 [DAT](INFO): response not received 2025-10-27T04:57:40.965Z,1761541060.965 [DAT](INFO): DAT read: user:258> 2025-10-27T04:57:40.966Z,1761541060.966 [DAT](INFO): DAT read: Tx time:04:57:40.0299 2025-10-27T04:57:40.966Z,1761541060.966 [DAT](INFO): Ping request sent. 2025-10-27T04:57:40.966Z,1761541060.966 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:40.966Z,1761541060.966 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:40.967Z,1761541060.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001003 2025-10-27T04:57:41.000Z,1761541061.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:57:41.217Z,1761541061.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250476 2025-10-27T04:57:41.260Z,1761541061.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224976,0.963826,0.142914],[-0.973425,-0.215889,-0.076394],[-0.042777,-0.156303,0.986782]] 2025-10-27T04:57:41.306Z,1761541061.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:41.313Z,1761541061.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 92.554306 m, bearing: 249.596085 deg, approach rate: -0.584705 m/s, LOS rate: 0.011466 deg/s, cmd heading: 257.648669 deg, new cmd heading: 257.661861 deg. 2025-10-27T04:57:41.314Z,1761541061.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497048 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:41.469Z,1761541061.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502367 2025-10-27T04:57:41.721Z,1761541061.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754679 2025-10-27T04:57:41.874Z,1761541061.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:41.877Z,1761541061.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:41.880Z,1761541061.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 92.212128 m, bearing: 249.597964 deg, approach rate: -0.599304 m/s, LOS rate: 0.003303 deg/s, cmd heading: 257.661865 deg, new cmd heading: 257.667522 deg. 2025-10-27T04:57:41.881Z,1761541061.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497147 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:41.972Z,1761541061.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005773 2025-10-27T04:57:42.003Z,1761541062.003 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:57:42.224Z,1761541062.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258163 2025-10-27T04:57:42.297Z,1761541062.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226521,0.963693,0.141364],[-0.972945,-0.217104,-0.079024],[-0.045464,-0.155440,0.986799]] 2025-10-27T04:57:42.391Z,1761541062.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:42.394Z,1761541062.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 91.905243 m, bearing: 249.599977 deg, approach rate: -0.597390 m/s, LOS rate: 0.003932 deg/s, cmd heading: 257.667520 deg, new cmd heading: 257.673580 deg. 2025-10-27T04:57:42.396Z,1761541062.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497252 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:42.476Z,1761541062.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509919 2025-10-27T04:57:42.729Z,1761541062.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763140 2025-10-27T04:57:42.806Z,1761541062.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227362,0.963564,0.140893],[-0.972727,-0.217898,-0.079512],[-0.045914,-0.155128,0.986827]] 2025-10-27T04:57:42.875Z,1761541062.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:42.878Z,1761541062.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 91.622833 m, bearing: 249.599780 deg, approach rate: -0.587634 m/s, LOS rate: -0.000410 deg/s, cmd heading: 257.673586 deg, new cmd heading: 257.672994 deg. 2025-10-27T04:57:42.883Z,1761541062.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497242 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:42.981Z,1761541062.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014270 2025-10-27T04:57:43.218Z,1761541063.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227605,0.963497,0.140961],[-0.972645,-0.218046,-0.080109],[-0.046449,-0.155339,0.986769]] 2025-10-27T04:57:43.232Z,1761541063.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265740 2025-10-27T04:57:43.256Z,1761541063.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:43.259Z,1761541063.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 91.374367 m, bearing: 249.599645 deg, approach rate: -0.645155 m/s, LOS rate: -0.000352 deg/s, cmd heading: 257.672985 deg, new cmd heading: 257.672578 deg. 2025-10-27T04:57:43.260Z,1761541063.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497235 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:43.484Z,1761541063.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517668 2025-10-27T04:57:43.635Z,1761541063.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228526,0.963328,0.140625],[-0.972421,-0.218951,-0.080364],[-0.046627,-0.155112,0.986796]] 2025-10-27T04:57:43.683Z,1761541063.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:43.689Z,1761541063.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 91.109695 m, bearing: 249.597436 deg, approach rate: -0.620930 m/s, LOS rate: -0.005197 deg/s, cmd heading: 257.672575 deg, new cmd heading: 257.665929 deg. 2025-10-27T04:57:43.707Z,1761541063.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497119 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:43.736Z,1761541063.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769886 2025-10-27T04:57:43.988Z,1761541063.988 [DAT](INFO): DAT read: Rx Time:04:57:42.5581 2025-10-27T04:57:43.988Z,1761541063.988 [DAT](INFO): Rx dataTimestamp_ set to:1761541063.988164 2025-10-27T04:57:43.989Z,1761541063.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022836 2025-10-27T04:57:44.068Z,1761541064.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:44.070Z,1761541064.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:44.073Z,1761541064.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 90.879211 m, bearing: 249.595502 deg, approach rate: -0.595246 m/s, LOS rate: -0.005008 deg/s, cmd heading: 257.665936 deg, new cmd heading: 257.660119 deg. 2025-10-27T04:57:44.074Z,1761541064.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497017 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:44.240Z,1761541064.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274075 2025-10-27T04:57:44.437Z,1761541064.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228726,0.963561,0.138688],[-0.972362,-0.219271,-0.080205],[-0.046872,-0.153200,0.987083]] 2025-10-27T04:57:44.467Z,1761541064.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.39 m. 2025-10-27T04:57:44.470Z,1761541064.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.385483 m, nav range: 90.629639 m, bearing: 249.593441 deg, approach rate: -0.628250 m/s, LOS rate: -0.005203 deg/s, cmd heading: 257.660116 deg, new cmd heading: 257.653916 deg. 2025-10-27T04:57:44.474Z,1761541064.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496909 target range: 102.385483 and range: 102.90 m. 2025-10-27T04:57:44.499Z,1761541064.499 [DAT](INFO): DAT read: 04:57:42.5581 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 338, 0.31,-1.115,-2.648,-0.700,-1.101, PHS= 0.088,-1.502, 0.357, RAW= 157.7, 12.1, CAL= 157.9, 13.6, ROT= 352.1, -13.6 2025-10-27T04:57:44.500Z,1761541064.500 [DAT](INFO): got valid direction response: 04:57:42.5581 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 338, 0.31,-1.115,-2.648,-0.700,-1.101, PHS= 0.088,-1.502, 0.357, RAW= 157.7, 12.1, CAL= 157.9, 13.6, ROT= 352.1, -13.6 2025-10-27T04:57:44.501Z,1761541064.501 [DAT](INFO): DAT read: Bearing 55.8, -12.4 (Local) 2025-10-27T04:57:44.501Z,1761541064.501 [DAT](INFO): Local bearing/azimuth received: Bearing 55.8, -12.4 (Local) 2025-10-27T04:57:44.507Z,1761541064.507 [DAT](INFO): DAT read: Range 11 to 50 : 93.0 m (Round-trip 124.0 ms) speed 0.8 m/s 2025-10-27T04:57:44.508Z,1761541064.508 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:44.509Z,1761541064.509 [DAT](INFO): direction in FSK: [0.962737,-0.133591,0.235142] 2025-10-27T04:57:44.510Z,1761541064.510 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:44.523Z,1761541064.523 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:44.523Z,1761541064.523 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:44.524Z,1761541064.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:44.748Z,1761541064.748 [DAT](INFO): DAT read: user:259> 2025-10-27T04:57:44.749Z,1761541064.749 [DAT](INFO): DAT read: Tx time:04:57:43.8284 2025-10-27T04:57:44.749Z,1761541064.749 [DAT](INFO): Ping request sent. 2025-10-27T04:57:44.749Z,1761541064.749 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:44.749Z,1761541064.749 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:44.750Z,1761541064.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T04:57:44.826Z,1761541064.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229151,0.963668,0.137234],[-0.972262,-0.219811,-0.079934],[-0.046864,-0.151744,0.987308]] 2025-10-27T04:57:44.878Z,1761541064.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.000000 m, deltaT: 16.132409 s, deltaX: -9.900002 m, approachRate: -0.613672 m/s, rangeRepo size: 4 2025-10-27T04:57:44.880Z,1761541064.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.534912 m, bearing: 251.087644 deg, lat: 36.779366 deg, lon: -121.859615 deg, deltaT: 16.132409 s, deltaX: -9.850571 m, approachRate: -0.610608 m/s, posRepo size: 4 2025-10-27T04:57:44.881Z,1761541064.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:44.884Z,1761541064.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 90.416588 m, bearing: 249.600877 deg, approach rate: 0.000000 m/s, LOS rate: -0.005203 deg/s, cmd heading: 257.653915 deg, new cmd heading: 257.647508 deg. 2025-10-27T04:57:44.885Z,1761541064.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496797 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:45.000Z,1761541065.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250745 2025-10-27T04:57:45.228Z,1761541065.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230042,0.963496,0.136957],[-0.972054,-0.220717,-0.079973],[-0.046824,-0.151527,0.987343]] 2025-10-27T04:57:45.246Z,1761541065.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:45.252Z,1761541065.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502740 2025-10-27T04:57:45.265Z,1761541065.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 90.173851 m, bearing: 249.595452 deg, approach rate: -0.657713 m/s, LOS rate: -0.014741 deg/s, cmd heading: 257.647494 deg, new cmd heading: 257.631174 deg. 2025-10-27T04:57:45.266Z,1761541065.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496512 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:45.505Z,1761541065.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755536 2025-10-27T04:57:45.741Z,1761541065.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:45.756Z,1761541065.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006500 2025-10-27T04:57:45.764Z,1761541065.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 89.870277 m, bearing: 249.590675 deg, approach rate: -0.613633 m/s, LOS rate: -0.009688 deg/s, cmd heading: 257.631184 deg, new cmd heading: 257.616806 deg. 2025-10-27T04:57:45.765Z,1761541065.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496262 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:46.008Z,1761541066.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259176 2025-10-27T04:57:46.088Z,1761541066.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230664,0.963337,0.137022],[-0.971897,-0.221296,-0.080270],[-0.047005,-0.151687,0.987310]] 2025-10-27T04:57:46.105Z,1761541066.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:46.108Z,1761541066.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:46.110Z,1761541066.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 89.643806 m, bearing: 249.587183 deg, approach rate: -0.618089 m/s, LOS rate: -0.009555 deg/s, cmd heading: 257.616813 deg, new cmd heading: 257.606310 deg. 2025-10-27T04:57:46.111Z,1761541066.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496078 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:46.260Z,1761541066.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510664 2025-10-27T04:57:46.493Z,1761541066.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230966,0.963146,0.137858],[-0.971844,-0.221584,-0.080122],[-0.046622,-0.152482,0.987206]] 2025-10-27T04:57:46.512Z,1761541066.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762661 2025-10-27T04:57:46.526Z,1761541066.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:46.529Z,1761541066.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 89.385277 m, bearing: 249.583220 deg, approach rate: -0.617945 m/s, LOS rate: -0.009499 deg/s, cmd heading: 257.606322 deg, new cmd heading: 257.594399 deg. 2025-10-27T04:57:46.530Z,1761541066.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495871 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:46.764Z,1761541066.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014623 2025-10-27T04:57:46.894Z,1761541066.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231064,0.963126,0.137835],[-0.971815,-0.221662,-0.080265],[-0.046752,-0.152497,0.987198]] 2025-10-27T04:57:46.937Z,1761541066.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:46.941Z,1761541066.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 89.133148 m, bearing: 249.578648 deg, approach rate: -0.612757 m/s, LOS rate: -0.011143 deg/s, cmd heading: 257.594410 deg, new cmd heading: 257.580656 deg. 2025-10-27T04:57:46.941Z,1761541066.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495631 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:47.016Z,1761541067.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266873 2025-10-27T04:57:47.268Z,1761541067.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518581 2025-10-27T04:57:47.298Z,1761541067.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231135,0.963083,0.138012],[-0.971799,-0.221722,-0.080284],[-0.046719,-0.152676,0.987171]] 2025-10-27T04:57:47.330Z,1761541067.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:47.333Z,1761541067.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 88.892685 m, bearing: 249.574274 deg, approach rate: -0.612397 m/s, LOS rate: -0.011170 deg/s, cmd heading: 257.580668 deg, new cmd heading: 257.567509 deg. 2025-10-27T04:57:47.334Z,1761541067.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495401 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:47.522Z,1761541067.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772491 2025-10-27T04:57:47.722Z,1761541067.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231267,0.963048,0.138038],[-0.971772,-0.221865,-0.080212],[-0.046623,-0.152692,0.987173]] 2025-10-27T04:57:47.764Z,1761541067.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:47.772Z,1761541067.772 [DAT](INFO): DAT read: Rx Time:04:57:46.3533 2025-10-27T04:57:47.773Z,1761541067.773 [DAT](INFO): Rx dataTimestamp_ set to:1761541067.772301 2025-10-27T04:57:47.773Z,1761541067.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023863 2025-10-27T04:57:47.783Z,1761541067.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 88.627449 m, bearing: 249.570861 deg, approach rate: -0.611116 m/s, LOS rate: -0.007887 deg/s, cmd heading: 257.567499 deg, new cmd heading: 257.557230 deg. 2025-10-27T04:57:47.784Z,1761541067.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495222 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:48.024Z,1761541068.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274666 2025-10-27T04:57:48.105Z,1761541068.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231179,0.963259,0.136708],[-0.971815,-0.221958,-0.079440],[-0.046177,-0.151220,0.987421]] 2025-10-27T04:57:48.123Z,1761541068.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:48.125Z,1761541068.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.53 m. 2025-10-27T04:57:48.128Z,1761541068.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.534912 m, nav range: 88.407455 m, bearing: 249.568010 deg, approach rate: -0.609188 m/s, LOS rate: -0.007914 deg/s, cmd heading: 257.557227 deg, new cmd heading: 257.548653 deg. 2025-10-27T04:57:48.129Z,1761541068.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495072 target range: 92.534912 and range: 93.00 m. 2025-10-27T04:57:48.281Z,1761541068.281 [DAT](INFO): DAT read: 04:57:46.3533 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 401, 0.30,-0.405,-1.936, 0.065,-0.410, PHS= 0.107,-1.481, 0.431, RAW= 159.1, 10.7, CAL= 159.2, 11.7, ROT= 350.8, -11.7 2025-10-27T04:57:48.282Z,1761541068.282 [DAT](INFO): got valid direction response: 04:57:46.3533 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 401, 0.30,-0.405,-1.936, 0.065,-0.410, PHS= 0.107,-1.481, 0.431, RAW= 159.1, 10.7, CAL= 159.2, 11.7, ROT= 350.8, -11.7 2025-10-27T04:57:48.283Z,1761541068.283 [DAT](INFO): DAT read: Bearing 53.7, -13.5 (Local) 2025-10-27T04:57:48.284Z,1761541068.284 [DAT](INFO): Local bearing/azimuth received: Bearing 53.7, -13.5 (Local) 2025-10-27T04:57:48.285Z,1761541068.285 [DAT](INFO): DAT read: Range 11 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.5 m/s 2025-10-27T04:57:48.286Z,1761541068.286 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:48.287Z,1761541068.287 [DAT](INFO): direction in FSK: [0.966626,-0.156559,0.202787] 2025-10-27T04:57:48.287Z,1761541068.287 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:48.290Z,1761541068.290 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:48.291Z,1761541068.291 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:48.306Z,1761541068.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:48.529Z,1761541068.529 [DAT](INFO): DAT read: user:260> 2025-10-27T04:57:48.530Z,1761541068.530 [DAT](INFO): DAT read: Tx time:04:57:47.6284 2025-10-27T04:57:48.531Z,1761541068.531 [DAT](INFO): Ping request sent. 2025-10-27T04:57:48.531Z,1761541068.531 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:48.531Z,1761541068.531 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:48.532Z,1761541068.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001540 2025-10-27T04:57:48.618Z,1761541068.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231524,0.963248,0.136201],[-0.971740,-0.222364,-0.079220],[-0.046022,-0.150693,0.987509]] 2025-10-27T04:57:48.740Z,1761541068.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.782153 s, deltaX: -2.400002 m, approachRate: -0.634560 m/s, rangeRepo size: 4 2025-10-27T04:57:48.742Z,1761541068.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.147049 m, bearing: 249.347272 deg, lat: 36.779366 deg, lon: -121.859617 deg, deltaT: 3.782153 s, deltaX: -2.387863 m, approachRate: -0.631350 m/s, posRepo size: 4 2025-10-27T04:57:48.747Z,1761541068.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.15 m. 2025-10-27T04:57:48.750Z,1761541068.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.147049 m, nav range: 88.246223 m, bearing: 249.582053 deg, approach rate: 0.000000 m/s, LOS rate: -0.007914 deg/s, cmd heading: 257.548648 deg, new cmd heading: 257.534058 deg. 2025-10-27T04:57:48.755Z,1761541068.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494817 target range: 90.147049 and range: 90.60 m. 2025-10-27T04:57:48.780Z,1761541068.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249267 2025-10-27T04:57:49.032Z,1761541069.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501397 2025-10-27T04:57:49.220Z,1761541069.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231442,0.963225,0.136497],[-0.971792,-0.222365,-0.078580],[-0.045338,-0.150834,0.987519]] 2025-10-27T04:57:49.258Z,1761541069.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.15 m. 2025-10-27T04:57:49.261Z,1761541069.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.147049 m, nav range: 87.907585 m, bearing: 249.576946 deg, approach rate: -0.653273 m/s, LOS rate: -0.009891 deg/s, cmd heading: 257.534059 deg, new cmd heading: 257.518677 deg. 2025-10-27T04:57:49.262Z,1761541069.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494549 target range: 90.147049 and range: 90.60 m. 2025-10-27T04:57:49.284Z,1761541069.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753152 2025-10-27T04:57:49.536Z,1761541069.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005075 2025-10-27T04:57:49.735Z,1761541069.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230725,0.963307,0.137132],[-0.971962,-0.221606,-0.078622],[-0.045348,-0.151427,0.987428]] 2025-10-27T04:57:49.778Z,1761541069.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.15 m. 2025-10-27T04:57:49.782Z,1761541069.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.147049 m, nav range: 87.590927 m, bearing: 249.577684 deg, approach rate: -0.608672 m/s, LOS rate: 0.001425 deg/s, cmd heading: 257.518677 deg, new cmd heading: 257.520901 deg. 2025-10-27T04:57:49.782Z,1761541069.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494587 target range: 90.147049 and range: 90.60 m. 2025-10-27T04:57:49.788Z,1761541069.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257331 2025-10-27T04:57:50.041Z,1761541070.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509741 2025-10-27T04:57:50.122Z,1761541070.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230191,0.963355,0.137690],[-0.972096,-0.221059,-0.078506],[-0.045192,-0.151919,0.987359]] 2025-10-27T04:57:50.140Z,1761541070.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:50.142Z,1761541070.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.15 m. 2025-10-27T04:57:50.144Z,1761541070.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.147049 m, nav range: 87.369690 m, bearing: 249.578119 deg, approach rate: -0.609194 m/s, LOS rate: 0.001200 deg/s, cmd heading: 257.520890 deg, new cmd heading: 257.522198 deg. 2025-10-27T04:57:50.145Z,1761541070.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494610 target range: 90.147049 and range: 90.60 m. 2025-10-27T04:57:50.292Z,1761541070.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761666 2025-10-27T04:57:50.517Z,1761541070.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229677,0.963505,0.137499],[-0.972246,-0.220667,-0.077739],[-0.044560,-0.151538,0.987447]] 2025-10-27T04:57:50.540Z,1761541070.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.15 m. 2025-10-27T04:57:50.544Z,1761541070.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013358 2025-10-27T04:57:50.545Z,1761541070.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.147049 m, nav range: 87.126503 m, bearing: 249.578518 deg, approach rate: -0.609707 m/s, LOS rate: 0.001003 deg/s, cmd heading: 257.522201 deg, new cmd heading: 257.523402 deg. 2025-10-27T04:57:50.546Z,1761541070.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494631 target range: 90.147049 and range: 90.60 m. 2025-10-27T04:57:50.796Z,1761541070.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265269 2025-10-27T04:57:50.922Z,1761541070.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229135,0.963526,0.138256],[-0.972393,-0.220136,-0.077414],[-0.044155,-0.152178,0.987366]] 2025-10-27T04:57:50.968Z,1761541070.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.15 m. 2025-10-27T04:57:50.970Z,1761541070.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.147049 m, nav range: 86.875671 m, bearing: 249.581038 deg, approach rate: -0.587313 m/s, LOS rate: 0.005917 deg/s, cmd heading: 257.523403 deg, new cmd heading: 257.530985 deg. 2025-10-27T04:57:50.972Z,1761541070.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494763 target range: 90.147049 and range: 90.60 m. 2025-10-27T04:57:51.050Z,1761541071.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518955 2025-10-27T04:57:51.300Z,1761541071.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769209 2025-10-27T04:57:51.326Z,1761541071.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228282,0.963345,0.140901],[-0.972627,-0.219201,-0.077122],[-0.043409,-0.154650,0.987015]] 2025-10-27T04:57:51.356Z,1761541071.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.15 m. 2025-10-27T04:57:51.358Z,1761541071.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.147049 m, nav range: 86.647736 m, bearing: 249.583183 deg, approach rate: -0.586963 m/s, LOS rate: 0.005538 deg/s, cmd heading: 257.530971 deg, new cmd heading: 257.537423 deg. 2025-10-27T04:57:51.360Z,1761541071.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494876 target range: 90.147049 and range: 90.60 m. 2025-10-27T04:57:51.553Z,1761541071.553 [DAT](INFO): DAT read: Rx Time:04:57:50.1501 2025-10-27T04:57:51.553Z,1761541071.553 [DAT](INFO): Rx dataTimestamp_ set to:1761541071.552985 2025-10-27T04:57:51.554Z,1761541071.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023198 2025-10-27T04:57:51.804Z,1761541071.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273177 2025-10-27T04:57:51.830Z,1761541071.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227725,0.963476,0.140911],[-0.972777,-0.218724,-0.076577],[-0.042960,-0.154514,0.987056]] 2025-10-27T04:57:51.910Z,1761541071.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.15 m. 2025-10-27T04:57:51.913Z,1761541071.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.147049 m, nav range: 86.326912 m, bearing: 249.591041 deg, approach rate: -0.579229 m/s, LOS rate: 0.014241 deg/s, cmd heading: 257.537419 deg, new cmd heading: 257.561083 deg. 2025-10-27T04:57:51.914Z,1761541071.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495289 target range: 90.147049 and range: 90.60 m. 2025-10-27T04:57:52.062Z,1761541072.062 [DAT](INFO): DAT read: 04:57:50.1501 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.07,-2.759, 2.007,-2.321,-2.774, PHS= 0.117,-1.457, 0.410, RAW= 158.4, 10.7, CAL= 158.4, 11.7, ROT= 351.6, -11.7 2025-10-27T04:57:52.063Z,1761541072.063 [DAT](INFO): got valid direction response: 04:57:50.1501 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.07,-2.759, 2.007,-2.321,-2.774, PHS= 0.117,-1.457, 0.410, RAW= 158.4, 10.7, CAL= 158.4, 11.7, ROT= 351.6, -11.7 2025-10-27T04:57:52.064Z,1761541072.064 [DAT](INFO): DAT read: Bearing 53.7, -12.5 (Local) 2025-10-27T04:57:52.065Z,1761541072.065 [DAT](INFO): Local bearing/azimuth received: Bearing 53.7, -12.5 (Local) 2025-10-27T04:57:52.066Z,1761541072.066 [DAT](INFO): DAT read: Range 11 to 50 : 88.2 m (Round-trip 117.6 ms) speed 0.4 m/s 2025-10-27T04:57:52.067Z,1761541072.067 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:52.068Z,1761541072.068 [DAT](INFO): direction in FSK: [0.968718,-0.143048,0.202787] 2025-10-27T04:57:52.068Z,1761541072.068 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:52.089Z,1761541072.089 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:52.089Z,1761541072.089 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:52.089Z,1761541072.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:52.234Z,1761541072.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226898,0.963592,0.141445],[-0.972980,-0.217901,-0.076351],[-0.042750,-0.154947,0.986997]] 2025-10-27T04:57:52.258Z,1761541072.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.199997 m, deltaT: 3.780237 s, deltaX: -2.400002 m, approachRate: -0.634881 m/s, rangeRepo size: 4 2025-10-27T04:57:52.261Z,1761541072.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.760040 m, bearing: 250.459345 deg, lat: 36.779366 deg, lon: -121.859620 deg, deltaT: 3.780237 s, deltaX: -2.387009 m, approachRate: -0.631444 m/s, posRepo size: 4 2025-10-27T04:57:52.261Z,1761541072.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:52.264Z,1761541072.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 86.394394 m, bearing: 249.661539 deg, approach rate: 0.000000 m/s, LOS rate: 0.014241 deg/s, cmd heading: 257.561079 deg, new cmd heading: 257.575941 deg. 2025-10-27T04:57:52.265Z,1761541072.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495548 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:52.309Z,1761541072.309 [DAT](INFO): DAT read: user:261> 2025-10-27T04:57:52.310Z,1761541072.310 [DAT](INFO): DAT read: Tx time:04:57:51.3784 2025-10-27T04:57:52.310Z,1761541072.310 [DAT](INFO): Ping request sent. 2025-10-27T04:57:52.310Z,1761541072.310 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:52.311Z,1761541072.311 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:52.311Z,1761541072.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000881 2025-10-27T04:57:52.560Z,1761541072.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249548 2025-10-27T04:57:52.630Z,1761541072.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225829,0.963755,0.142045],[-0.973253,-0.216889,-0.075754],[-0.042200,-0.155353,0.986957]] 2025-10-27T04:57:52.680Z,1761541072.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:52.686Z,1761541072.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:52.698Z,1761541072.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 86.161781 m, bearing: 249.667148 deg, approach rate: -0.545322 m/s, LOS rate: 0.013185 deg/s, cmd heading: 257.575941 deg, new cmd heading: 257.592814 deg. 2025-10-27T04:57:52.732Z,1761541072.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495843 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:52.813Z,1761541072.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502301 2025-10-27T04:57:53.064Z,1761541073.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753672 2025-10-27T04:57:53.094Z,1761541073.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224105,0.964364,0.140635],[-0.973718,-0.215551,-0.073564],[-0.040628,-0.153425,0.987325]] 2025-10-27T04:57:53.171Z,1761541073.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:53.174Z,1761541073.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 85.864632 m, bearing: 249.671540 deg, approach rate: -0.631540 m/s, LOS rate: 0.009366 deg/s, cmd heading: 257.592825 deg, new cmd heading: 257.606046 deg. 2025-10-27T04:57:53.179Z,1761541073.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496074 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:53.316Z,1761541073.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005663 2025-10-27T04:57:53.517Z,1761541073.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222904,0.964574,0.141107],[-0.974011,-0.214398,-0.073053],[-0.040212,-0.153724,0.987295]] 2025-10-27T04:57:53.536Z,1761541073.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:53.540Z,1761541073.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 85.637474 m, bearing: 249.674727 deg, approach rate: -0.594871 m/s, LOS rate: 0.008368 deg/s, cmd heading: 257.606049 deg, new cmd heading: 257.615635 deg. 2025-10-27T04:57:53.541Z,1761541073.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496241 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:53.568Z,1761541073.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257460 2025-10-27T04:57:53.820Z,1761541073.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509976 2025-10-27T04:57:53.918Z,1761541073.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221779,0.964764,0.141578],[-0.974289,-0.213339,-0.072436],[-0.039680,-0.154003,0.987273]] 2025-10-27T04:57:53.962Z,1761541073.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:53.977Z,1761541073.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 85.393524 m, bearing: 249.678405 deg, approach rate: -0.573137 m/s, LOS rate: 0.008666 deg/s, cmd heading: 257.615638 deg, new cmd heading: 257.626704 deg. 2025-10-27T04:57:53.978Z,1761541073.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496434 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:54.073Z,1761541074.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762847 2025-10-27T04:57:54.324Z,1761541074.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013468 2025-10-27T04:57:54.326Z,1761541074.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220700,0.964957,0.141951],[-0.974560,-0.212347,-0.071712],[-0.039057,-0.154166,0.987273]] 2025-10-27T04:57:54.421Z,1761541074.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:54.424Z,1761541074.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 85.130898 m, bearing: 249.682190 deg, approach rate: -0.572632 m/s, LOS rate: 0.008279 deg/s, cmd heading: 257.626703 deg, new cmd heading: 257.638094 deg. 2025-10-27T04:57:54.425Z,1761541074.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496633 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:54.576Z,1761541074.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265599 2025-10-27T04:57:54.801Z,1761541074.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219941,0.965106,0.142114],[-0.974762,-0.211713,-0.070822],[-0.038263,-0.154104,0.987313]] 2025-10-27T04:57:54.828Z,1761541074.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517591 2025-10-27T04:57:54.901Z,1761541074.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:54.912Z,1761541074.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:54.914Z,1761541074.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 84.856949 m, bearing: 249.684162 deg, approach rate: -0.568372 m/s, LOS rate: 0.004104 deg/s, cmd heading: 257.638096 deg, new cmd heading: 257.644030 deg. 2025-10-27T04:57:54.924Z,1761541074.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496737 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:55.080Z,1761541075.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769914 2025-10-27T04:57:55.214Z,1761541075.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218552,0.965420,0.142123],[-0.975095,-0.210426,-0.070072],[-0.037742,-0.153898,0.987366]] 2025-10-27T04:57:55.246Z,1761541075.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:55.249Z,1761541075.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 84.661217 m, bearing: 249.685391 deg, approach rate: -0.569693 m/s, LOS rate: 0.003586 deg/s, cmd heading: 257.644025 deg, new cmd heading: 257.647720 deg. 2025-10-27T04:57:55.250Z,1761541075.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496801 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:55.333Z,1761541075.333 [DAT](INFO): DAT read: Rx Time:04:57:53.8973 2025-10-27T04:57:55.334Z,1761541075.334 [DAT](INFO): Rx dataTimestamp_ set to:1761541075.333369 2025-10-27T04:57:55.335Z,1761541075.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024227 2025-10-27T04:57:55.584Z,1761541075.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273539 2025-10-27T04:57:55.741Z,1761541075.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.76 m. 2025-10-27T04:57:55.766Z,1761541075.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.760040 m, nav range: 84.405235 m, bearing: 249.687007 deg, approach rate: -0.524081 m/s, LOS rate: 0.003319 deg/s, cmd heading: 257.647713 deg, new cmd heading: 257.652576 deg. 2025-10-27T04:57:55.774Z,1761541075.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496886 target range: 87.760040 and range: 88.20 m. 2025-10-27T04:57:55.841Z,1761541075.841 [DAT](INFO): DAT read: 04:57:53.8973 LVL= 32752, 32753, 32562, 32755, AGC= 67, IDX= 420, 0.11,-2.743, 2.005,-2.269,-2.779, PHS= 0.137,-1.454, 0.465, RAW= 159.2, 9.6, CAL= 159.1, 10.3, ROT= 350.9, -10.3 2025-10-27T04:57:55.842Z,1761541075.842 [DAT](INFO): got valid direction response: 04:57:53.8973 LVL= 32752, 32753, 32562, 32755, AGC= 67, IDX= 420, 0.11,-2.743, 2.005,-2.269,-2.779, PHS= 0.137,-1.454, 0.465, RAW= 159.2, 9.6, CAL= 159.1, 10.3, ROT= 350.9, -10.3 2025-10-27T04:57:55.843Z,1761541075.843 [DAT](INFO): DAT read: Bearing 52.3, -12.6 (Local) 2025-10-27T04:57:55.844Z,1761541075.844 [DAT](INFO): Local bearing/azimuth received: Bearing 52.3, -12.6 (Local) 2025-10-27T04:57:55.845Z,1761541075.845 [DAT](INFO): DAT read: Range 11 to 50 : 86.1 m (Round-trip 114.8 ms) speed 0.4 m/s 2025-10-27T04:57:55.846Z,1761541075.846 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:55.848Z,1761541075.848 [DAT](INFO): direction in FSK: [0.971502,-0.155610,0.178802] 2025-10-27T04:57:55.848Z,1761541075.848 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:55.851Z,1761541075.851 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:55.851Z,1761541075.851 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:55.852Z,1761541075.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:56.088Z,1761541076.088 [DAT](INFO): DAT read: user:262> 2025-10-27T04:57:56.089Z,1761541076.089 [DAT](INFO): DAT read: Tx time:04:57:55.1784 2025-10-27T04:57:56.089Z,1761541076.089 [DAT](INFO): Ping request sent. 2025-10-27T04:57:56.089Z,1761541076.089 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:56.089Z,1761541076.089 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:56.090Z,1761541076.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T04:57:56.231Z,1761541076.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 3.779755 s, deltaX: -2.099998 m, approachRate: -0.555591 m/s, rangeRepo size: 4 2025-10-27T04:57:56.233Z,1761541076.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.670685 m, bearing: 250.016035 deg, lat: 36.779368 deg, lon: -121.859624 deg, deltaT: 3.779755 s, deltaX: -2.089355 m, approachRate: -0.552775 m/s, posRepo size: 4 2025-10-27T04:57:56.234Z,1761541076.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.67 m. 2025-10-27T04:57:56.237Z,1761541076.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.670685 m, nav range: 84.295250 m, bearing: 249.962415 deg, approach rate: 0.000000 m/s, LOS rate: 0.003319 deg/s, cmd heading: 257.652576 deg, new cmd heading: 257.657509 deg. 2025-10-27T04:57:56.238Z,1761541076.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496972 target range: 85.670685 and range: 86.10 m. 2025-10-27T04:57:56.341Z,1761541076.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251696 2025-10-27T04:57:56.548Z,1761541076.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215827,0.965709,0.144307],[-0.975790,-0.207960,-0.067723],[-0.035391,-0.155430,0.987213]] 2025-10-27T04:57:56.592Z,1761541076.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502946 2025-10-27T04:57:56.606Z,1761541076.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.67 m. 2025-10-27T04:57:56.609Z,1761541076.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.670685 m, nav range: 84.069458 m, bearing: 249.960608 deg, approach rate: -0.600929 m/s, LOS rate: -0.004823 deg/s, cmd heading: 257.657521 deg, new cmd heading: 257.652085 deg. 2025-10-27T04:57:56.610Z,1761541076.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496877 target range: 85.670685 and range: 86.10 m. 2025-10-27T04:57:56.845Z,1761541076.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755609 2025-10-27T04:57:56.953Z,1761541076.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215155,0.965816,0.144596],[-0.975968,-0.207407,-0.066857],[-0.034582,-0.155506,0.987229]] 2025-10-27T04:57:57.020Z,1761541077.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:57.022Z,1761541077.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.67 m. 2025-10-27T04:57:57.025Z,1761541077.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.670685 m, nav range: 83.824127 m, bearing: 249.954737 deg, approach rate: -0.590119 m/s, LOS rate: -0.014162 deg/s, cmd heading: 257.652084 deg, new cmd heading: 257.634421 deg. 2025-10-27T04:57:57.026Z,1761541077.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496569 target range: 85.670685 and range: 86.10 m. 2025-10-27T04:57:57.097Z,1761541077.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008142 2025-10-27T04:57:57.348Z,1761541077.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946 2025-10-27T04:57:57.356Z,1761541077.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214770,0.965974,0.144109],[-0.976093,-0.207246,-0.065518],[-0.033422,-0.154735,0.987391]] 2025-10-27T04:57:57.379Z,1761541077.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.67 m. 2025-10-27T04:57:57.382Z,1761541077.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.670685 m, nav range: 83.612717 m, bearing: 249.949596 deg, approach rate: -0.591696 m/s, LOS rate: -0.014426 deg/s, cmd heading: 257.634408 deg, new cmd heading: 257.618945 deg. 2025-10-27T04:57:57.383Z,1761541077.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496299 target range: 85.670685 and range: 86.10 m. 2025-10-27T04:57:57.600Z,1761541077.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510856 2025-10-27T04:57:57.759Z,1761541077.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214131,0.966084,0.144327],[-0.976262,-0.206737,-0.064595],[-0.032567,-0.154733,0.987419]] 2025-10-27T04:57:57.842Z,1761541077.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.67 m. 2025-10-27T04:57:57.849Z,1761541077.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.670685 m, nav range: 83.361244 m, bearing: 249.943332 deg, approach rate: -0.542853 m/s, LOS rate: -0.013562 deg/s, cmd heading: 257.618944 deg, new cmd heading: 257.600096 deg. 2025-10-27T04:57:57.850Z,1761541077.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495970 target range: 85.670685 and range: 86.10 m. 2025-10-27T04:57:57.852Z,1761541077.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762943 2025-10-27T04:57:58.105Z,1761541078.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015289 2025-10-27T04:57:58.312Z,1761541078.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213015,0.966147,0.145552],[-0.976568,-0.205860,-0.062743],[-0.030655,-0.155507,0.987359]] 2025-10-27T04:57:58.356Z,1761541078.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266919 2025-10-27T04:57:58.360Z,1761541078.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.67 m. 2025-10-27T04:57:58.363Z,1761541078.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.670685 m, nav range: 83.027786 m, bearing: 249.936004 deg, approach rate: -0.644452 m/s, LOS rate: -0.014221 deg/s, cmd heading: 257.600093 deg, new cmd heading: 257.578018 deg. 2025-10-27T04:57:58.364Z,1761541078.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495584 target range: 85.670685 and range: 86.10 m. 2025-10-27T04:57:58.609Z,1761541078.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520391 2025-10-27T04:57:58.732Z,1761541078.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212116,0.966235,0.146275],[-0.976789,-0.205060,-0.061911],[-0.029825,-0.156012,0.987305]] 2025-10-27T04:57:58.768Z,1761541078.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.67 m. 2025-10-27T04:57:58.770Z,1761541078.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.670685 m, nav range: 82.790222 m, bearing: 249.930591 deg, approach rate: -0.582322 m/s, LOS rate: -0.013306 deg/s, cmd heading: 257.578018 deg, new cmd heading: 257.561733 deg. 2025-10-27T04:57:58.777Z,1761541078.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495300 target range: 85.670685 and range: 86.10 m. 2025-10-27T04:57:58.860Z,1761541078.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771013 2025-10-27T04:57:59.112Z,1761541079.112 [DAT](INFO): DAT read: Rx Time:04:57:57.6945 2025-10-27T04:57:59.112Z,1761541079.112 [DAT](INFO): Rx dataTimestamp_ set to:1761541079.112122 2025-10-27T04:57:59.113Z,1761541079.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023892 2025-10-27T04:57:59.271Z,1761541079.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212224,0.966099,0.147016],[-0.976808,-0.205343,-0.060675],[-0.028429,-0.156483,0.987271]] 2025-10-27T04:57:59.316Z,1761541079.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:57:59.318Z,1761541079.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.67 m. 2025-10-27T04:57:59.320Z,1761541079.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.670685 m, nav range: 82.446892 m, bearing: 249.918793 deg, approach rate: -0.624356 m/s, LOS rate: -0.021545 deg/s, cmd heading: 257.561734 deg, new cmd heading: 257.526193 deg. 2025-10-27T04:57:59.321Z,1761541079.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494680 target range: 85.670685 and range: 86.10 m. 2025-10-27T04:57:59.365Z,1761541079.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275376 2025-10-27T04:57:59.623Z,1761541079.623 [DAT](INFO): DAT read: 04:57:57.6945 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.07,-1.845, 2.966,-1.357,-1.840, PHS= 0.098,-1.432, 0.440, RAW= 159.9, 10.4, CAL= 159.9, 11.3, ROT= 350.1, -11.3 2025-10-27T04:57:59.624Z,1761541079.624 [DAT](INFO): got valid direction response: 04:57:57.6945 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.07,-1.845, 2.966,-1.357,-1.840, PHS= 0.098,-1.432, 0.440, RAW= 159.9, 10.4, CAL= 159.9, 11.3, ROT= 350.1, -11.3 2025-10-27T04:57:59.625Z,1761541079.625 [DAT](INFO): DAT read: Bearing 53.0, -12.9 (Local) 2025-10-27T04:57:59.625Z,1761541079.625 [DAT](INFO): Local bearing/azimuth received: Bearing 53.0, -12.9 (Local) 2025-10-27T04:57:59.635Z,1761541079.635 [DAT](INFO): DAT read: Range 11 to 50 : 84.0 m (Round-trip 112.0 ms) speed 0.7 m/s 2025-10-27T04:57:59.636Z,1761541079.636 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:57:59.637Z,1761541079.637 [DAT](INFO): direction in FSK: [0.966013,-0.168596,0.195946] 2025-10-27T04:57:59.637Z,1761541079.637 [DAT](INFO): publishing direction and range info 2025-10-27T04:57:59.641Z,1761541079.641 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:57:59.641Z,1761541079.641 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:57:59.641Z,1761541079.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:57:59.709Z,1761541079.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212489,0.965662,0.149485],[-0.976805,-0.205770,-0.059245],[-0.026451,-0.158606,0.986988]] 2025-10-27T04:57:59.796Z,1761541079.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.779962 s, deltaX: -2.099998 m, approachRate: -0.555561 m/s, rangeRepo size: 4 2025-10-27T04:57:59.798Z,1761541079.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.581123 m, bearing: 249.794710 deg, lat: 36.779368 deg, lon: -121.859624 deg, deltaT: 3.779962 s, deltaX: -2.089561 m, approachRate: -0.552800 m/s, posRepo size: 4 2025-10-27T04:57:59.798Z,1761541079.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:57:59.822Z,1761541079.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 82.175514 m, bearing: 249.909434 deg, approach rate: 0.000000 m/s, LOS rate: -0.021545 deg/s, cmd heading: 257.526190 deg, new cmd heading: 257.495654 deg. 2025-10-27T04:57:59.830Z,1761541079.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494147 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:57:59.871Z,1761541079.871 [DAT](INFO): DAT read: user:263> 2025-10-27T04:57:59.872Z,1761541079.872 [DAT](INFO): DAT read: Tx time:04:57:58.9284 2025-10-27T04:57:59.872Z,1761541079.872 [DAT](INFO): Ping request sent. 2025-10-27T04:57:59.872Z,1761541079.872 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:57:59.872Z,1761541079.872 [DAT](INFO): publishing transmit ping time 2025-10-27T04:57:59.873Z,1761541079.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000781 2025-10-27T04:58:00.120Z,1761541080.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247644 2025-10-27T04:58:00.176Z,1761541080.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212712,0.965463,0.150445],[-0.976798,-0.206187,-0.057901],[-0.024882,-0.159270,0.986921]] 2025-10-27T04:58:00.232Z,1761541080.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:58:00.236Z,1761541080.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 81.882118 m, bearing: 249.897560 deg, approach rate: -0.663412 m/s, LOS rate: -0.026946 deg/s, cmd heading: 257.495646 deg, new cmd heading: 257.459894 deg. 2025-10-27T04:58:00.237Z,1761541080.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493523 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:58:00.372Z,1761541080.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500180 2025-10-27T04:58:00.577Z,1761541080.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213445,0.964967,0.152575],[-0.976689,-0.207127,-0.056360],[-0.022783,-0.161048,0.986684]] 2025-10-27T04:58:00.596Z,1761541080.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:58:00.598Z,1761541080.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 81.654068 m, bearing: 249.888383 deg, approach rate: -0.627384 m/s, LOS rate: -0.025317 deg/s, cmd heading: 257.459883 deg, new cmd heading: 257.432275 deg. 2025-10-27T04:58:00.603Z,1761541080.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493041 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:58:00.624Z,1761541080.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751726 2025-10-27T04:58:00.877Z,1761541080.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004679 2025-10-27T04:58:00.978Z,1761541080.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214051,0.964624,0.153890],[-0.976599,-0.207959,-0.054841],[-0.020898,-0.162028,0.986565]] 2025-10-27T04:58:01.038Z,1761541081.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:58:01.041Z,1761541081.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 81.389427 m, bearing: 249.877639 deg, approach rate: -0.602316 m/s, LOS rate: -0.024532 deg/s, cmd heading: 257.432289 deg, new cmd heading: 257.399952 deg. 2025-10-27T04:58:01.042Z,1761541081.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492476 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:58:01.129Z,1761541081.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256377 2025-10-27T04:58:01.380Z,1761541081.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507816 2025-10-27T04:58:01.385Z,1761541081.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214868,0.964397,0.154174],[-0.976463,-0.209107,-0.052854],[-0.018734,-0.161902,0.986629]] 2025-10-27T04:58:01.406Z,1761541081.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:01.408Z,1761541081.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:58:01.411Z,1761541081.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 81.141594 m, bearing: 249.867661 deg, approach rate: -0.664406 m/s, LOS rate: -0.026833 deg/s, cmd heading: 257.399941 deg, new cmd heading: 257.369914 deg. 2025-10-27T04:58:01.412Z,1761541081.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491952 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:58:01.632Z,1761541081.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760197 2025-10-27T04:58:01.787Z,1761541081.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215899,0.964087,0.154675],[-0.976274,-0.210441,-0.051031],[-0.016648,-0.162022,0.986647]] 2025-10-27T04:58:01.812Z,1761541081.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:58:01.815Z,1761541081.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 80.886261 m, bearing: 249.857506 deg, approach rate: -0.631851 m/s, LOS rate: -0.025208 deg/s, cmd heading: 257.369915 deg, new cmd heading: 257.339356 deg. 2025-10-27T04:58:01.816Z,1761541081.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491419 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:58:01.888Z,1761541081.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015321 2025-10-27T04:58:02.136Z,1761541082.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263818 2025-10-27T04:58:02.258Z,1761541082.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:58:02.289Z,1761541082.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 80.602455 m, bearing: 249.848050 deg, approach rate: -0.636959 m/s, LOS rate: -0.021299 deg/s, cmd heading: 257.339343 deg, new cmd heading: 257.310874 deg. 2025-10-27T04:58:02.290Z,1761541082.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490922 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:58:02.388Z,1761541082.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515772 2025-10-27T04:58:02.611Z,1761541082.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217145,0.963628,0.155786],[-0.976061,-0.212324,-0.047150],[-0.012358,-0.162295,0.986665]] 2025-10-27T04:58:02.634Z,1761541082.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:58:02.637Z,1761541082.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 80.363098 m, bearing: 249.840238 deg, approach rate: -0.636106 m/s, LOS rate: -0.020822 deg/s, cmd heading: 257.310875 deg, new cmd heading: 257.287370 deg. 2025-10-27T04:58:02.638Z,1761541082.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490512 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:58:02.640Z,1761541082.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767869 2025-10-27T04:58:02.897Z,1761541082.897 [DAT](INFO): DAT read: Rx Time:04:58:01.4411 2025-10-27T04:58:02.899Z,1761541082.899 [DAT](INFO): Rx dataTimestamp_ set to:1761541082.897847 2025-10-27T04:58:02.901Z,1761541082.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028665 2025-10-27T04:58:03.013Z,1761541083.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217851,0.963238,0.157208],[-0.975929,-0.213309,-0.045413],[-0.010210,-0.163317,0.986521]] 2025-10-27T04:58:03.060Z,1761541083.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.58 m. 2025-10-27T04:58:03.064Z,1761541083.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.581123 m, nav range: 80.093651 m, bearing: 249.832130 deg, approach rate: -0.632037 m/s, LOS rate: -0.019083 deg/s, cmd heading: 257.287379 deg, new cmd heading: 257.262974 deg. 2025-10-27T04:58:03.065Z,1761541083.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490086 target range: 83.581123 and range: 84.00 m. 2025-10-27T04:58:03.145Z,1761541083.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272683 2025-10-27T04:58:03.401Z,1761541083.401 [DAT](INFO): DAT read: 04:58:01.4411 LVL= 32752, 32753, 31906, 32755, AGC= 69, IDX= 404, 0.11,-1.852, 2.935,-1.326,-1.883, PHS= 0.133,-1.420, 0.513, RAW= 160.7, 8.8, CAL= 160.4, 9.2, ROT= 349.6, -9.2 2025-10-27T04:58:03.402Z,1761541083.402 [DAT](INFO): got valid direction response: 04:58:01.4411 LVL= 32752, 32753, 31906, 32755, AGC= 69, IDX= 404, 0.11,-1.852, 2.935,-1.326,-1.883, PHS= 0.133,-1.420, 0.513, RAW= 160.7, 8.8, CAL= 160.4, 9.2, ROT= 349.6, -9.2 2025-10-27T04:58:03.404Z,1761541083.404 [DAT](INFO): DAT read: Bearing 50.5, -12.2 (Local) 2025-10-27T04:58:03.404Z,1761541083.404 [DAT](INFO): Local bearing/azimuth received: Bearing 50.5, -12.2 (Local) 2025-10-27T04:58:03.405Z,1761541083.405 [DAT](INFO): DAT read: Range 11 to 50 : 81.3 m (Round-trip 108.5 ms) speed 0.1 m/s 2025-10-27T04:58:03.406Z,1761541083.406 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:03.407Z,1761541083.407 [DAT](INFO): direction in FSK: [0.970919,-0.178197,0.159881] 2025-10-27T04:58:03.407Z,1761541083.407 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:03.410Z,1761541083.410 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:03.411Z,1761541083.411 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:03.422Z,1761541083.422 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:03.462Z,1761541083.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218276,0.963156,0.157117],[-0.975853,-0.214073,-0.043403],[-0.008169,-0.162797,0.986626]] 2025-10-27T04:58:03.543Z,1761541083.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.300003 m, deltaT: 3.780086 s, deltaX: -2.699997 m, approachRate: -0.714269 m/s, rangeRepo size: 4 2025-10-27T04:58:03.549Z,1761541083.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.895012 m, bearing: 248.634755 deg, lat: 36.779368 deg, lon: -121.859621 deg, deltaT: 3.780086 s, deltaX: -2.686111 m, approachRate: -0.710595 m/s, posRepo size: 4 2025-10-27T04:58:03.549Z,1761541083.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:03.565Z,1761541083.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 79.615990 m, bearing: 249.705516 deg, approach rate: 0.000000 m/s, LOS rate: -0.019083 deg/s, cmd heading: 257.262982 deg, new cmd heading: 257.235626 deg. 2025-10-27T04:58:03.566Z,1761541083.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489609 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:03.650Z,1761541083.650 [DAT](INFO): DAT read: user:264> 2025-10-27T04:58:03.651Z,1761541083.651 [DAT](INFO): DAT read: Tx time:04:58:02.7284 2025-10-27T04:58:03.651Z,1761541083.651 [DAT](INFO): Ping request sent. 2025-10-27T04:58:03.651Z,1761541083.651 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:03.651Z,1761541083.651 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:03.652Z,1761541083.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000797 2025-10-27T04:58:03.903Z,1761541083.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251321 2025-10-27T04:58:03.993Z,1761541083.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:03.995Z,1761541083.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:03.998Z,1761541083.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 79.322708 m, bearing: 249.695330 deg, approach rate: -0.642515 m/s, LOS rate: -0.022399 deg/s, cmd heading: 257.235634 deg, new cmd heading: 257.204962 deg. 2025-10-27T04:58:03.998Z,1761541083.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489073 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:04.152Z,1761541084.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501087 2025-10-27T04:58:04.309Z,1761541084.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217891,0.963226,0.157222],[-0.975969,-0.214556,-0.038091],[-0.002957,-0.161744,0.986828]] 2025-10-27T04:58:04.348Z,1761541084.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:04.351Z,1761541084.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 79.111755 m, bearing: 249.687911 deg, approach rate: -0.596648 m/s, LOS rate: -0.021039 deg/s, cmd heading: 257.204953 deg, new cmd heading: 257.182636 deg. 2025-10-27T04:58:04.352Z,1761541084.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488684 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:04.405Z,1761541084.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753605 2025-10-27T04:58:04.656Z,1761541084.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004771 2025-10-27T04:58:04.728Z,1761541084.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217631,0.963029,0.158784],[-0.976030,-0.214504,-0.036786],[-0.001366,-0.162984,0.986628]] 2025-10-27T04:58:04.767Z,1761541084.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:04.770Z,1761541084.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 78.855835 m, bearing: 249.678793 deg, approach rate: -0.611072 m/s, LOS rate: -0.021842 deg/s, cmd heading: 257.182632 deg, new cmd heading: 257.155189 deg. 2025-10-27T04:58:04.771Z,1761541084.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488205 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:04.911Z,1761541084.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259478 2025-10-27T04:58:05.115Z,1761541085.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217270,0.962836,0.160438],[-0.976111,-0.214307,-0.035759],[-0.000047,-0.164375,0.986398]] 2025-10-27T04:58:05.160Z,1761541085.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508769 2025-10-27T04:58:05.211Z,1761541085.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:05.214Z,1761541085.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 78.598221 m, bearing: 249.674391 deg, approach rate: -0.585553 m/s, LOS rate: -0.010039 deg/s, cmd heading: 257.155202 deg, new cmd heading: 257.141952 deg. 2025-10-27T04:58:05.219Z,1761541085.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487974 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:05.412Z,1761541085.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760819 2025-10-27T04:58:05.525Z,1761541085.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216990,0.963010,0.159771],[-0.976173,-0.214274,-0.034250],[0.001252,-0.163397,0.986560]] 2025-10-27T04:58:05.546Z,1761541085.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:05.548Z,1761541085.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 78.381332 m, bearing: 249.670630 deg, approach rate: -0.640679 m/s, LOS rate: -0.011140 deg/s, cmd heading: 257.141951 deg, new cmd heading: 257.130637 deg. 2025-10-27T04:58:05.549Z,1761541085.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487776 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:05.665Z,1761541085.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013416 2025-10-27T04:58:05.919Z,1761541085.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267335 2025-10-27T04:58:05.970Z,1761541085.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216566,0.963029,0.160235],[-0.976265,-0.214029,-0.033135],[0.002385,-0.163607,0.986523]] 2025-10-27T04:58:06.012Z,1761541086.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:06.014Z,1761541086.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:06.017Z,1761541086.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 78.110107 m, bearing: 249.668267 deg, approach rate: -0.579390 m/s, LOS rate: -0.005066 deg/s, cmd heading: 257.130640 deg, new cmd heading: 257.123526 deg. 2025-10-27T04:58:06.018Z,1761541086.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487652 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:06.169Z,1761541086.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518303 2025-10-27T04:58:06.330Z,1761541086.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215810,0.963021,0.161299],[-0.976429,-0.213431,-0.032141],[0.003473,-0.164433,0.986382]] 2025-10-27T04:58:06.354Z,1761541086.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:06.357Z,1761541086.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 77.912338 m, bearing: 249.666414 deg, approach rate: -0.580513 m/s, LOS rate: -0.005451 deg/s, cmd heading: 257.123537 deg, new cmd heading: 257.117965 deg. 2025-10-27T04:58:06.358Z,1761541086.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487555 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:06.420Z,1761541086.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769124 2025-10-27T04:58:06.673Z,1761541086.673 [DAT](INFO): DAT read: Rx Time:04:58:05.2382 2025-10-27T04:58:06.674Z,1761541086.674 [DAT](INFO): Rx dataTimestamp_ set to:1761541086.673040 2025-10-27T04:58:06.675Z,1761541086.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023709 2025-10-27T04:58:06.746Z,1761541086.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214462,0.963448,0.160540],[-0.976722,-0.212281,-0.030822],[0.004384,-0.163413,0.986548]] 2025-10-27T04:58:06.778Z,1761541086.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.90 m. 2025-10-27T04:58:06.784Z,1761541086.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.895012 m, nav range: 77.669655 m, bearing: 249.663894 deg, approach rate: -0.573524 m/s, LOS rate: -0.005974 deg/s, cmd heading: 257.117963 deg, new cmd heading: 257.110380 deg. 2025-10-27T04:58:06.785Z,1761541086.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487422 target range: 80.895012 and range: 81.30 m. 2025-10-27T04:58:06.928Z,1761541086.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275569 2025-10-27T04:58:07.138Z,1761541087.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213146,0.963739,0.160549],[-0.977006,-0.211151,-0.029585],[0.005388,-0.163163,0.986584]] 2025-10-27T04:58:07.185Z,1761541087.185 [DAT](INFO): DAT read: 04:58:05.2382 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.40,-0.682,-2.138,-0.195,-0.675, PHS= 0.094,-1.418, 0.435, RAW= 159.9, 10.4, CAL= 160.0, 11.4, ROT= 350.0, -11.4 2025-10-27T04:58:07.187Z,1761541087.187 [DAT](INFO): got valid direction response: 04:58:05.2382 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.40,-0.682,-2.138,-0.195,-0.675, PHS= 0.094,-1.418, 0.435, RAW= 159.9, 10.4, CAL= 160.0, 11.4, ROT= 350.0, -11.4 2025-10-27T04:58:07.189Z,1761541087.189 [DAT](INFO): DAT read: Bearing 52.8, -11.1 (Local) 2025-10-27T04:58:07.189Z,1761541087.189 [DAT](INFO): Local bearing/azimuth received: Bearing 52.8, -11.1 (Local) 2025-10-27T04:58:07.196Z,1761541087.196 [DAT](INFO): DAT read: Range 11 to 50 : 79.2 m (Round-trip 105.7 ms) speed 0.7 m/s 2025-10-27T04:58:07.197Z,1761541087.197 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:07.198Z,1761541087.198 [DAT](INFO): direction in FSK: [0.965379,-0.170222,0.197657] 2025-10-27T04:58:07.198Z,1761541087.198 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:07.209Z,1761541087.209 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:07.209Z,1761541087.209 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:07.210Z,1761541087.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:07.317Z,1761541087.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.780024 s, deltaX: -2.100006 m, approachRate: -0.555554 m/s, rangeRepo size: 4 2025-10-27T04:58:07.324Z,1761541087.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.806282 m, bearing: 249.682247 deg, lat: 36.779368 deg, lon: -121.859621 deg, deltaT: 3.780024 s, deltaX: -2.088730 m, approachRate: -0.552571 m/s, posRepo size: 4 2025-10-27T04:58:07.332Z,1761541087.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:07.334Z,1761541087.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 77.354439 m, bearing: 249.725133 deg, approach rate: 0.000000 m/s, LOS rate: -0.005974 deg/s, cmd heading: 257.110368 deg, new cmd heading: 257.100707 deg. 2025-10-27T04:58:07.339Z,1761541087.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487254 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:07.429Z,1761541087.429 [DAT](INFO): DAT read: user:265> 2025-10-27T04:58:07.430Z,1761541087.430 [DAT](INFO): DAT read: Tx time:04:58:06.5284 2025-10-27T04:58:07.431Z,1761541087.431 [DAT](INFO): Ping request sent. 2025-10-27T04:58:07.431Z,1761541087.431 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:07.431Z,1761541087.431 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:07.432Z,1761541087.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001147 2025-10-27T04:58:07.681Z,1761541087.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250193 2025-10-27T04:58:07.685Z,1761541087.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212051,0.963849,0.161335],[-0.977237,-0.210245,-0.028385],[0.006561,-0.163681,0.986492]] 2025-10-27T04:58:07.789Z,1761541087.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:07.792Z,1761541087.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 77.062805 m, bearing: 249.725376 deg, approach rate: -0.617136 m/s, LOS rate: 0.000516 deg/s, cmd heading: 257.100697 deg, new cmd heading: 257.101428 deg. 2025-10-27T04:58:07.793Z,1761541087.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487267 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:07.935Z,1761541087.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503218 2025-10-27T04:58:08.185Z,1761541088.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753893 2025-10-27T04:58:08.206Z,1761541088.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:08.212Z,1761541088.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:08.220Z,1761541088.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 76.816223 m, bearing: 249.721394 deg, approach rate: -0.582811 m/s, LOS rate: -0.009443 deg/s, cmd heading: 257.101434 deg, new cmd heading: 257.089449 deg. 2025-10-27T04:58:08.221Z,1761541088.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487057 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:08.437Z,1761541088.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005422 2025-10-27T04:58:08.540Z,1761541088.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210145,0.964010,0.162863],[-0.977628,-0.208746,-0.025857],[0.009071,-0.164653,0.986310]] 2025-10-27T04:58:08.588Z,1761541088.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:08.590Z,1761541088.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 76.588165 m, bearing: 249.717353 deg, approach rate: -0.607285 m/s, LOS rate: -0.010792 deg/s, cmd heading: 257.089441 deg, new cmd heading: 257.077283 deg. 2025-10-27T04:58:08.592Z,1761541088.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486845 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:08.692Z,1761541088.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261016 2025-10-27T04:58:08.943Z,1761541088.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511331 2025-10-27T04:58:09.022Z,1761541089.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209225,0.964121,0.163388],[-0.977814,-0.208027,-0.024601],[0.010271,-0.164910,0.986255]] 2025-10-27T04:58:09.137Z,1761541089.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:09.160Z,1761541089.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 76.258934 m, bearing: 249.708909 deg, approach rate: -0.599857 m/s, LOS rate: -0.015453 deg/s, cmd heading: 257.077283 deg, new cmd heading: 257.051839 deg. 2025-10-27T04:58:09.162Z,1761541089.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486401 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:09.194Z,1761541089.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762579 2025-10-27T04:58:09.444Z,1761541089.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013369 2025-10-27T04:58:09.498Z,1761541089.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209101,0.964354,0.162167],[-0.977804,-0.208438,-0.021284],[0.013276,-0.163018,0.986534]] 2025-10-27T04:58:09.544Z,1761541089.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:09.551Z,1761541089.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 76.026756 m, bearing: 249.702896 deg, approach rate: -0.569726 m/s, LOS rate: -0.014800 deg/s, cmd heading: 257.051847 deg, new cmd heading: 257.033753 deg. 2025-10-27T04:58:09.552Z,1761541089.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486085 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:09.696Z,1761541089.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265482 2025-10-27T04:58:09.901Z,1761541089.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209744,0.964170,0.162431],[-0.977639,-0.209379,-0.019562],[0.015148,-0.162902,0.986526]] 2025-10-27T04:58:09.948Z,1761541089.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516811 2025-10-27T04:58:09.968Z,1761541089.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:09.985Z,1761541089.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 75.778267 m, bearing: 249.696546 deg, approach rate: -0.594192 m/s, LOS rate: -0.015234 deg/s, cmd heading: 257.033761 deg, new cmd heading: 257.014648 deg. 2025-10-27T04:58:09.993Z,1761541089.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485752 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:10.203Z,1761541090.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772050 2025-10-27T04:58:10.371Z,1761541090.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210592,0.963922,0.162806],[-0.977425,-0.210524,-0.017871],[0.017049,-0.162894,0.986496]] 2025-10-27T04:58:10.426Z,1761541090.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:10.429Z,1761541090.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:10.432Z,1761541090.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 75.465912 m, bearing: 249.684263 deg, approach rate: -0.669749 m/s, LOS rate: -0.026445 deg/s, cmd heading: 257.014636 deg, new cmd heading: 256.977636 deg. 2025-10-27T04:58:10.433Z,1761541090.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485106 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:10.456Z,1761541090.456 [DAT](INFO): DAT read: Rx Time:04:58:09.0351 2025-10-27T04:58:10.457Z,1761541090.457 [DAT](INFO): Rx dataTimestamp_ set to:1761541090.456275 2025-10-27T04:58:10.457Z,1761541090.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026116 2025-10-27T04:58:10.711Z,1761541090.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280441 2025-10-27T04:58:10.774Z,1761541090.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211956,0.963623,0.162806],[-0.977093,-0.212204,-0.016069],[0.019063,-0.162483,0.986527]] 2025-10-27T04:58:10.798Z,1761541090.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.81 m. 2025-10-27T04:58:10.801Z,1761541090.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.806282 m, nav range: 75.229790 m, bearing: 249.675166 deg, approach rate: -0.639386 m/s, LOS rate: -0.024710 deg/s, cmd heading: 256.977644 deg, new cmd heading: 256.950269 deg. 2025-10-27T04:58:10.802Z,1761541090.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484628 target range: 78.806282 and range: 79.20 m. 2025-10-27T04:58:10.987Z,1761541090.987 [DAT](INFO): DAT read: 04:58:09.0351 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.12, 2.528, 1.072, 3.053, 2.545, PHS= 0.085,-1.427, 0.464, RAW= 160.9, 10.2, CAL= 160.9, 11.0, ROT= 349.1, -11.0 2025-10-27T04:58:10.992Z,1761541090.992 [DAT](INFO): got valid direction response: 04:58:09.0351 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.12, 2.528, 1.072, 3.053, 2.545, PHS= 0.085,-1.427, 0.464, RAW= 160.9, 10.2, CAL= 160.9, 11.0, ROT= 349.1, -11.0 2025-10-27T04:58:10.994Z,1761541090.994 [DAT](INFO): DAT read: Bearing 52.5, -10.9 (Local) 2025-10-27T04:58:10.996Z,1761541090.996 [DAT](INFO): Local bearing/azimuth received: Bearing 52.5, -10.9 (Local) 2025-10-27T04:58:11.001Z,1761541091.001 [DAT](INFO): DAT read: Range 11 to 50 : 76.9 m (Round-trip 102.6 ms) speed 0.7 m/s 2025-10-27T04:58:11.007Z,1761541091.007 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:11.012Z,1761541091.012 [DAT](INFO): direction in FSK: [0.963917,-0.185621,0.190809] 2025-10-27T04:58:11.014Z,1761541091.014 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:11.060Z,1761541091.060 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:11.060Z,1761541091.060 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:11.061Z,1761541091.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:11.197Z,1761541091.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213459,0.963320,0.162635],[-0.976724,-0.214025,-0.014240],[0.021090,-0.161889,0.986584]] 2025-10-27T04:58:11.212Z,1761541091.212 [DAT](INFO): DAT read: user:266> 2025-10-27T04:58:11.213Z,1761541091.213 [DAT](INFO): DAT read: Tx time:04:58:10.3784 2025-10-27T04:58:11.213Z,1761541091.213 [DAT](INFO): Ping request sent. 2025-10-27T04:58:11.213Z,1761541091.213 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:11.213Z,1761541091.213 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:11.214Z,1761541091.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000800 2025-10-27T04:58:11.304Z,1761541091.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.785513 s, deltaX: -2.299995 m, approachRate: -0.607578 m/s, rangeRepo size: 4 2025-10-27T04:58:11.306Z,1761541091.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.517776 m, bearing: 248.650606 deg, lat: 36.779368 deg, lon: -121.859615 deg, deltaT: 3.785513 s, deltaX: -2.288506 m, approachRate: -0.604543 m/s, posRepo size: 4 2025-10-27T04:58:11.306Z,1761541091.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:11.313Z,1761541091.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 74.425941 m, bearing: 249.448740 deg, approach rate: 0.000000 m/s, LOS rate: -0.024710 deg/s, cmd heading: 256.950269 deg, new cmd heading: 256.913143 deg. 2025-10-27T04:58:11.314Z,1761541091.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483980 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:11.464Z,1761541091.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250770 2025-10-27T04:58:11.639Z,1761541091.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215014,0.962919,0.162960],[-0.976334,-0.215916,-0.012366],[0.023278,-0.161762,0.986555]] 2025-10-27T04:58:11.681Z,1761541091.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:11.686Z,1761541091.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 74.170700 m, bearing: 249.435826 deg, approach rate: -0.671778 m/s, LOS rate: -0.034105 deg/s, cmd heading: 256.913140 deg, new cmd heading: 256.874265 deg. 2025-10-27T04:58:11.690Z,1761541091.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483302 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:11.717Z,1761541091.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503593 2025-10-27T04:58:11.972Z,1761541091.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757976 2025-10-27T04:58:12.062Z,1761541092.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216938,0.962467,0.163081],[-0.975853,-0.218174,-0.010511],[0.025464,-0.161423,0.986557]] 2025-10-27T04:58:12.112Z,1761541092.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:12.114Z,1761541092.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 73.885643 m, bearing: 249.422536 deg, approach rate: -0.658796 m/s, LOS rate: -0.030834 deg/s, cmd heading: 256.874262 deg, new cmd heading: 256.834238 deg. 2025-10-27T04:58:12.115Z,1761541092.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482603 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:12.123Z,1761541092.123 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:58:12.220Z,1761541092.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007009 2025-10-27T04:58:12.448Z,1761541092.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218798,0.962007,0.163312],[-0.975379,-0.220363,-0.008696],[0.027622,-0.161194,0.986536]] 2025-10-27T04:58:12.465Z,1761541092.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:12.467Z,1761541092.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:12.470Z,1761541092.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 73.654984 m, bearing: 249.412056 deg, approach rate: -0.648620 m/s, LOS rate: -0.029562 deg/s, cmd heading: 256.834237 deg, new cmd heading: 256.802700 deg. 2025-10-27T04:58:12.472Z,1761541092.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258925 2025-10-27T04:58:12.473Z,1761541092.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482053 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:12.725Z,1761541092.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511320 2025-10-27T04:58:12.884Z,1761541092.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:12.887Z,1761541092.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 73.384117 m, bearing: 249.399666 deg, approach rate: -0.649410 m/s, LOS rate: -0.029816 deg/s, cmd heading: 256.802709 deg, new cmd heading: 256.765401 deg. 2025-10-27T04:58:12.888Z,1761541092.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481401 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:12.977Z,1761541092.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764018 2025-10-27T04:58:13.127Z,1761541093.127 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:58:13.228Z,1761541093.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014802 2025-10-27T04:58:13.266Z,1761541093.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221667,0.961056,0.165029],[-0.974630,-0.223736,-0.006181],[0.030982,-0.162212,0.986269]] 2025-10-27T04:58:13.323Z,1761541093.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:13.326Z,1761541093.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 73.114067 m, bearing: 249.387749 deg, approach rate: -0.620865 m/s, LOS rate: -0.027498 deg/s, cmd heading: 256.765389 deg, new cmd heading: 256.729508 deg. 2025-10-27T04:58:13.327Z,1761541093.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480775 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:13.480Z,1761541093.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266849 2025-10-27T04:58:13.662Z,1761541093.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222771,0.960495,0.166803],[-0.974329,-0.225067,-0.005254],[0.032496,-0.163691,0.985976]] 2025-10-27T04:58:13.700Z,1761541093.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:13.709Z,1761541093.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 72.859093 m, bearing: 249.376631 deg, approach rate: -0.669050 m/s, LOS rate: -0.029276 deg/s, cmd heading: 256.729517 deg, new cmd heading: 256.696046 deg. 2025-10-27T04:58:13.710Z,1761541093.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480191 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:13.733Z,1761541093.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519428 2025-10-27T04:58:13.984Z,1761541093.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771185 2025-10-27T04:58:14.086Z,1761541094.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223630,0.960210,0.167295],[-0.974084,-0.226151,-0.004071],[0.033924,-0.163870,0.985899]] 2025-10-27T04:58:14.130Z,1761541094.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:14.133Z,1761541094.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 72.603264 m, bearing: 249.370403 deg, approach rate: -0.595714 m/s, LOS rate: -0.014555 deg/s, cmd heading: 256.696049 deg, new cmd heading: 256.677297 deg. 2025-10-27T04:58:14.134Z,1761541094.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479864 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:14.237Z,1761541094.237 [DAT](INFO): DAT read: Rx Time:04:58:12.8817 2025-10-27T04:58:14.238Z,1761541094.238 [DAT](INFO): Rx dataTimestamp_ set to:1761541094.237228 2025-10-27T04:58:14.238Z,1761541094.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025308 2025-10-27T04:58:14.466Z,1761541094.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223710,0.960054,0.168080],[-0.974035,-0.226373,-0.003397],[0.034788,-0.164476,0.985767]] 2025-10-27T04:58:14.482Z,1761541094.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:14.488Z,1761541094.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274829 2025-10-27T04:58:14.505Z,1761541094.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.52 m. 2025-10-27T04:58:14.509Z,1761541094.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.517776 m, nav range: 72.392708 m, bearing: 249.365251 deg, approach rate: -0.561510 m/s, LOS rate: -0.013779 deg/s, cmd heading: 256.677307 deg, new cmd heading: 256.661807 deg. 2025-10-27T04:58:14.510Z,1761541094.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479594 target range: 76.517776 and range: 76.90 m. 2025-10-27T04:58:14.761Z,1761541094.761 [DAT](INFO): DAT read: 04:58:12.8817 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404,-0.36, 1.911, 0.452, 2.420, 1.904, PHS= 0.109,-1.407, 0.472, RAW= 160.5, 9.6, CAL= 160.4, 10.3, ROT= 349.6, -10.3 2025-10-27T04:58:14.762Z,1761541094.762 [DAT](INFO): got valid direction response: 04:58:12.8817 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404,-0.36, 1.911, 0.452, 2.420, 1.904, PHS= 0.109,-1.407, 0.472, RAW= 160.5, 9.6, CAL= 160.4, 10.3, ROT= 349.6, -10.3 2025-10-27T04:58:14.765Z,1761541094.765 [DAT](INFO): DAT read: Bearing 52.0, -9.8 (Local) 2025-10-27T04:58:14.765Z,1761541094.765 [DAT](INFO): Local bearing/azimuth received: Bearing 52.0, -9.8 (Local) 2025-10-27T04:58:14.767Z,1761541094.767 [DAT](INFO): DAT read: Range 11 to 50 : 74.4 m (Round-trip 99.2 ms) speed 0.4 m/s 2025-10-27T04:58:14.768Z,1761541094.768 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:14.769Z,1761541094.769 [DAT](INFO): direction in FSK: [0.967721,-0.177610,0.178802] 2025-10-27T04:58:14.769Z,1761541094.769 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:14.772Z,1761541094.772 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:14.773Z,1761541094.773 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:14.773Z,1761541094.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:14.870Z,1761541094.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223670,0.959552,0.170970],[-0.974014,-0.226465,-0.003234],[0.035615,-0.167250,0.985271]] 2025-10-27T04:58:14.923Z,1761541094.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.779875 s, deltaX: -2.500000 m, approachRate: -0.661398 m/s, rangeRepo size: 4 2025-10-27T04:58:14.925Z,1761541094.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.029823 m, bearing: 248.465221 deg, lat: 36.779359 deg, lon: -121.859614 deg, deltaT: 3.779875 s, deltaX: -2.487953 m, approachRate: -0.658210 m/s, posRepo size: 4 2025-10-27T04:58:14.926Z,1761541094.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:14.933Z,1761541094.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 72.426918 m, bearing: 248.659855 deg, approach rate: 0.000000 m/s, LOS rate: -0.013779 deg/s, cmd heading: 256.661816 deg, new cmd heading: 256.644720 deg. 2025-10-27T04:58:14.934Z,1761541094.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479295 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:14.993Z,1761541094.993 [DAT](INFO): DAT read: user:267> 2025-10-27T04:58:14.994Z,1761541094.994 [DAT](INFO): DAT read: Tx time:04:58:14.0784 2025-10-27T04:58:14.995Z,1761541094.995 [DAT](INFO): Ping request sent. 2025-10-27T04:58:14.995Z,1761541094.995 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:14.995Z,1761541094.995 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:14.996Z,1761541094.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001286 2025-10-27T04:58:15.245Z,1761541095.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249576 2025-10-27T04:58:15.325Z,1761541095.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:15.328Z,1761541095.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 72.176102 m, bearing: 248.651174 deg, approach rate: -0.616261 m/s, LOS rate: -0.021404 deg/s, cmd heading: 256.644713 deg, new cmd heading: 256.618579 deg. 2025-10-27T04:58:15.329Z,1761541095.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478839 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:15.499Z,1761541095.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504595 2025-10-27T04:58:15.698Z,1761541095.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222972,0.959239,0.173623],[-0.974118,-0.226031,-0.002213],[0.037122,-0.169622,0.984810]] 2025-10-27T04:58:15.748Z,1761541095.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753286 2025-10-27T04:58:15.756Z,1761541095.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:15.767Z,1761541095.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 71.940208 m, bearing: 248.642786 deg, approach rate: -0.547531 m/s, LOS rate: -0.019534 deg/s, cmd heading: 256.618567 deg, new cmd heading: 256.593320 deg. 2025-10-27T04:58:15.768Z,1761541095.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478398 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:15.000Z,1761541096.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005162 2025-10-27T04:58:16.117Z,1761541096.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222084,0.959276,0.174551],[-0.974298,-0.225256,-0.001680],[0.037707,-0.170438,0.984647]] 2025-10-27T04:58:16.210Z,1761541096.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:16.213Z,1761541096.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 71.651146 m, bearing: 248.632206 deg, approach rate: -0.636892 m/s, LOS rate: -0.023404 deg/s, cmd heading: 256.593323 deg, new cmd heading: 256.561457 deg. 2025-10-27T04:58:16.214Z,1761541096.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477842 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:16.252Z,1761541096.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257430 2025-10-27T04:58:16.504Z,1761541096.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509417 2025-10-27T04:58:16.539Z,1761541096.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221165,0.959303,0.175568],[-0.974487,-0.224442,-0.001218],[0.038236,-0.171358,0.984467]] 2025-10-27T04:58:16.569Z,1761541096.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:16.572Z,1761541096.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:16.574Z,1761541096.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 71.437210 m, bearing: 248.624147 deg, approach rate: -0.592694 m/s, LOS rate: -0.022394 deg/s, cmd heading: 256.561467 deg, new cmd heading: 256.537217 deg. 2025-10-27T04:58:16.576Z,1761541096.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477419 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:16.761Z,1761541096.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766430 2025-10-27T04:58:16.942Z,1761541096.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220223,0.959485,0.175757],[-0.974685,-0.223584,-0.000697],[0.038628,-0.171461,0.984433]] 2025-10-27T04:58:16.961Z,1761541096.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:16.980Z,1761541096.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 71.205765 m, bearing: 248.615193 deg, approach rate: -0.593559 m/s, LOS rate: -0.023038 deg/s, cmd heading: 256.537206 deg, new cmd heading: 256.510256 deg. 2025-10-27T04:58:16.981Z,1761541096.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476949 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:17.012Z,1761541097.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017279 2025-10-27T04:58:17.264Z,1761541097.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269282 2025-10-27T04:58:17.423Z,1761541097.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:17.426Z,1761541097.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 70.952164 m, bearing: 248.619098 deg, approach rate: -0.548703 m/s, LOS rate: 0.008480 deg/s, cmd heading: 256.510268 deg, new cmd heading: 256.522026 deg. 2025-10-27T04:58:17.427Z,1761541097.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477154 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:17.517Z,1761541097.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521873 2025-10-27T04:58:17.752Z,1761541097.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218959,0.959769,0.175787],[-0.974925,-0.222532,0.000632],[0.039725,-0.171241,0.984428]] 2025-10-27T04:58:17.768Z,1761541097.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773157 2025-10-27T04:58:17.793Z,1761541097.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:17.796Z,1761541097.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 70.760696 m, bearing: 248.621870 deg, approach rate: -0.517464 m/s, LOS rate: 0.007512 deg/s, cmd heading: 256.522016 deg, new cmd heading: 256.530355 deg. 2025-10-27T04:58:17.797Z,1761541097.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477299 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:18.020Z,1761541098.020 [DAT](INFO): DAT read: Rx Time:04:58:16.5789 2025-10-27T04:58:18.020Z,1761541098.020 [DAT](INFO): Rx dataTimestamp_ set to:1761541098.020179 2025-10-27T04:58:18.021Z,1761541098.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026306 2025-10-27T04:58:18.165Z,1761541098.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218127,0.960050,0.175285],[-0.975091,-0.221801,0.001405],[0.040227,-0.170612,0.984517]] 2025-10-27T04:58:18.272Z,1761541098.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277230 2025-10-27T04:58:18.273Z,1761541098.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.03 m. 2025-10-27T04:58:18.275Z,1761541098.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.029823 m, nav range: 70.490471 m, bearing: 248.626309 deg, approach rate: -0.584887 m/s, LOS rate: 0.009644 deg/s, cmd heading: 256.530349 deg, new cmd heading: 256.543715 deg. 2025-10-27T04:58:18.276Z,1761541098.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477532 target range: 74.029823 and range: 74.40 m. 2025-10-27T04:58:18.529Z,1761541098.529 [DAT](INFO): DAT read: 04:58:16.5789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407, 0.48,-2.761, 2.065,-2.256,-2.783, PHS= 0.125,-1.390, 0.483, RAW= 160.4, 9.1, CAL= 160.2, 9.6, ROT= 349.8, -9.6 2025-10-27T04:58:18.530Z,1761541098.530 [DAT](INFO): got valid direction response: 04:58:16.5789 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407, 0.48,-2.761, 2.065,-2.256,-2.783, PHS= 0.125,-1.390, 0.483, RAW= 160.4, 9.1, CAL= 160.2, 9.6, ROT= 349.8, -9.6 2025-10-27T04:58:18.531Z,1761541098.531 [DAT](INFO): DAT read: Bearing 51.6, -9.1 (Local) 2025-10-27T04:58:18.532Z,1761541098.532 [DAT](INFO): Local bearing/azimuth received: Bearing 51.6, -9.1 (Local) 2025-10-27T04:58:18.533Z,1761541098.533 [DAT](INFO): DAT read: Range 11 to 50 : 72.2 m (Round-trip 96.3 ms) speed 0.4 m/s 2025-10-27T04:58:18.534Z,1761541098.534 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:18.535Z,1761541098.535 [DAT](INFO): direction in FSK: [0.970413,-0.174605,0.166769] 2025-10-27T04:58:18.535Z,1761541098.535 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:18.538Z,1761541098.538 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:18.538Z,1761541098.538 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:18.539Z,1761541098.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:18.558Z,1761541098.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217587,0.960283,0.174677],[-0.975190,-0.221361,0.002180],[0.040760,-0.169869,0.984623]] 2025-10-27T04:58:18.636Z,1761541098.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.199997 m, deltaT: 3.782503 s, deltaX: -2.200005 m, approachRate: -0.581627 m/s, rangeRepo size: 4 2025-10-27T04:58:18.638Z,1761541098.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.840736 m, bearing: 248.922978 deg, lat: 36.779359 deg, lon: -121.859611 deg, deltaT: 3.782503 s, deltaX: -2.189087 m, approachRate: -0.578740 m/s, posRepo size: 4 2025-10-27T04:58:18.638Z,1761541098.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:18.645Z,1761541098.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 70.035789 m, bearing: 248.545530 deg, approach rate: 0.000000 m/s, LOS rate: 0.009644 deg/s, cmd heading: 256.543708 deg, new cmd heading: 256.554224 deg. 2025-10-27T04:58:18.646Z,1761541098.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477716 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:18.776Z,1761541098.776 [DAT](INFO): DAT read: user:268> 2025-10-27T04:58:18.777Z,1761541098.777 [DAT](INFO): DAT read: Tx time:04:58:17.8284 2025-10-27T04:58:18.777Z,1761541098.777 [DAT](INFO): Ping request sent. 2025-10-27T04:58:18.777Z,1761541098.777 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:18.777Z,1761541098.777 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:18.778Z,1761541098.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000774 2025-10-27T04:58:18.962Z,1761541098.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217396,0.960755,0.172304],[-0.975207,-0.221269,0.003359],[0.041353,-0.167302,0.985038]] 2025-10-27T04:58:18.994Z,1761541098.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:18.997Z,1761541098.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:19.000Z,1761541099.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 69.795601 m, bearing: 248.549138 deg, approach rate: -0.635154 m/s, LOS rate: 0.009573 deg/s, cmd heading: 256.554227 deg, new cmd heading: 256.565088 deg. 2025-10-27T04:58:19.001Z,1761541099.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477906 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:19.028Z,1761541099.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250754 2025-10-27T04:58:19.280Z,1761541099.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502813 2025-10-27T04:58:19.366Z,1761541099.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217874,0.960934,0.170694],[-0.975067,-0.221868,0.004447],[0.042145,-0.165469,0.985314]] 2025-10-27T04:58:19.414Z,1761541099.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:19.417Z,1761541099.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 69.552086 m, bearing: 248.550509 deg, approach rate: -0.583734 m/s, LOS rate: 0.003299 deg/s, cmd heading: 256.565101 deg, new cmd heading: 256.569230 deg. 2025-10-27T04:58:19.418Z,1761541099.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477978 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:19.532Z,1761541099.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755198 2025-10-27T04:58:19.776Z,1761541099.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218485,0.961061,0.169193],[-0.974888,-0.222624,0.005657],[0.043103,-0.163709,0.985567]] 2025-10-27T04:58:19.784Z,1761541099.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006725 2025-10-27T04:58:19.796Z,1761541099.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:19.799Z,1761541099.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 69.328545 m, bearing: 248.551911 deg, approach rate: -0.584877 m/s, LOS rate: 0.003680 deg/s, cmd heading: 256.569226 deg, new cmd heading: 256.573445 deg. 2025-10-27T04:58:19.800Z,1761541099.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478051 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:20.036Z,1761541100.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258662 2025-10-27T04:58:20.249Z,1761541100.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:20.272Z,1761541100.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 69.048012 m, bearing: 248.544799 deg, approach rate: -0.619621 m/s, LOS rate: -0.015772 deg/s, cmd heading: 256.573433 deg, new cmd heading: 256.552011 deg. 2025-10-27T04:58:20.273Z,1761541100.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477677 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:20.288Z,1761541100.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510847 2025-10-27T04:58:20.542Z,1761541100.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765016 2025-10-27T04:58:20.586Z,1761541100.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220051,0.960656,0.169462],[-0.974422,-0.224589,0.007848],[0.045598,-0.163401,0.985505]] 2025-10-27T04:58:20.612Z,1761541100.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:20.615Z,1761541100.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 68.822823 m, bearing: 248.539361 deg, approach rate: -0.619821 m/s, LOS rate: -0.015017 deg/s, cmd heading: 256.552014 deg, new cmd heading: 256.535647 deg. 2025-10-27T04:58:20.616Z,1761541100.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477392 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:20.792Z,1761541100.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014959 2025-10-27T04:58:20.982Z,1761541100.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221281,0.960428,0.169152],[-0.974075,-0.226040,0.009164],[0.047037,-0.162739,0.985547]] 2025-10-27T04:58:21.044Z,1761541101.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266829 2025-10-27T04:58:21.076Z,1761541101.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:21.078Z,1761541101.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:21.081Z,1761541101.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 68.534164 m, bearing: 248.532656 deg, approach rate: -0.619061 m/s, LOS rate: -0.014440 deg/s, cmd heading: 256.535649 deg, new cmd heading: 256.515450 deg. 2025-10-27T04:58:21.082Z,1761541101.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477039 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:21.296Z,1761541101.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518772 2025-10-27T04:58:21.387Z,1761541101.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222653,0.960159,0.168879],[-0.973688,-0.227640,0.010516],[0.048541,-0.162094,0.985581]] 2025-10-27T04:58:21.432Z,1761541101.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:21.435Z,1761541101.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 68.309410 m, bearing: 248.528794 deg, approach rate: -0.635873 m/s, LOS rate: -0.010963 deg/s, cmd heading: 256.515459 deg, new cmd heading: 256.503834 deg. 2025-10-27T04:58:21.484Z,1761541101.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476836 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:21.549Z,1761541101.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771170 2025-10-27T04:58:21.800Z,1761541101.800 [DAT](INFO): DAT read: Rx Time:04:58:20.3259 2025-10-27T04:58:21.800Z,1761541101.800 [DAT](INFO): Rx dataTimestamp_ set to:1761541101.800195 2025-10-27T04:58:21.801Z,1761541101.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023802 2025-10-27T04:58:21.845Z,1761541101.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.84 m. 2025-10-27T04:58:21.848Z,1761541101.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.840736 m, nav range: 68.046951 m, bearing: 248.524251 deg, approach rate: -0.635080 m/s, LOS rate: -0.011034 deg/s, cmd heading: 256.503820 deg, new cmd heading: 256.490140 deg. 2025-10-27T04:58:21.849Z,1761541101.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476597 target range: 71.840736 and range: 72.20 m. 2025-10-27T04:58:22.055Z,1761541102.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277818 2025-10-27T04:58:22.210Z,1761541102.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225893,0.959039,0.170930],[-0.972795,-0.231337,0.012365],[0.051401,-0.163487,0.985206]] 2025-10-27T04:58:22.312Z,1761541102.312 [DAT](INFO): DAT read: 04:58:20.3259 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409, 0.25, 0.331,-1.158, 0.863, 0.298, PHS= 0.135,-1.411, 0.521, RAW= 160.9, 8.6, CAL= 160.6, 8.9, ROT= 349.4, -8.9 2025-10-27T04:58:22.313Z,1761541102.313 [DAT](INFO): got valid direction response: 04:58:20.3259 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409, 0.25, 0.331,-1.158, 0.863, 0.298, PHS= 0.135,-1.411, 0.521, RAW= 160.9, 8.6, CAL= 160.6, 8.9, ROT= 349.4, -8.9 2025-10-27T04:58:22.314Z,1761541102.314 [DAT](INFO): DAT read: Bearing 50.5, -8.8 (Local) 2025-10-27T04:58:22.314Z,1761541102.314 [DAT](INFO): Local bearing/azimuth received: Bearing 50.5, -8.8 (Local) 2025-10-27T04:58:22.316Z,1761541102.316 [DAT](INFO): DAT read: Range 11 to 50 : 70.0 m (Round-trip 93.4 ms) speed 0.5 m/s 2025-10-27T04:58:22.316Z,1761541102.316 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:22.317Z,1761541102.317 [DAT](INFO): direction in FSK: [0.971101,-0.181737,0.154710] 2025-10-27T04:58:22.318Z,1761541102.318 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:22.322Z,1761541102.322 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:22.322Z,1761541102.322 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:22.322Z,1761541102.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:22.455Z,1761541102.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.000000 m, deltaT: 3.782503 s, deltaX: -2.199997 m, approachRate: -0.581625 m/s, rangeRepo size: 4 2025-10-27T04:58:22.457Z,1761541102.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.651169 m, bearing: 247.820016 deg, lat: 36.779359 deg, lon: -121.859610 deg, deltaT: 3.782503 s, deltaX: -2.189568 m, approachRate: -0.578867 m/s, posRepo size: 4 2025-10-27T04:58:22.458Z,1761541102.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:22.465Z,1761541102.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 67.536598 m, bearing: 248.461476 deg, approach rate: 0.000000 m/s, LOS rate: -0.011034 deg/s, cmd heading: 256.490132 deg, new cmd heading: 256.470099 deg. 2025-10-27T04:58:22.466Z,1761541102.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476248 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:22.556Z,1761541102.556 [DAT](INFO): DAT read: user:269> 2025-10-27T04:58:22.557Z,1761541102.557 [DAT](INFO): DAT read: Tx time:04:58:21.6284 2025-10-27T04:58:22.557Z,1761541102.557 [DAT](INFO): Ping request sent. 2025-10-27T04:58:22.558Z,1761541102.558 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:22.558Z,1761541102.558 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:22.559Z,1761541102.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001529 2025-10-27T04:58:22.756Z,1761541102.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228502,0.957986,0.173347],[-0.972063,-0.234323,0.013614],[0.053661,-0.165393,0.984767]] 2025-10-27T04:58:22.808Z,1761541102.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250779 2025-10-27T04:58:22.827Z,1761541102.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:22.830Z,1761541102.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 67.297829 m, bearing: 248.450831 deg, approach rate: -0.633198 m/s, LOS rate: -0.028331 deg/s, cmd heading: 256.470106 deg, new cmd heading: 256.438057 deg. 2025-10-27T04:58:22.831Z,1761541102.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475688 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:23.060Z,1761541103.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502754 2025-10-27T04:58:23.204Z,1761541103.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229791,0.957346,0.175169],[-0.971713,-0.235762,0.013785],[0.054495,-0.167047,0.984442]] 2025-10-27T04:58:23.273Z,1761541103.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:23.276Z,1761541103.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:23.278Z,1761541103.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 67.015160 m, bearing: 248.441483 deg, approach rate: -0.630700 m/s, LOS rate: -0.020945 deg/s, cmd heading: 256.438059 deg, new cmd heading: 256.409898 deg. 2025-10-27T04:58:23.283Z,1761541103.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475197 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:23.312Z,1761541103.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754993 2025-10-27T04:58:23.561Z,1761541103.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230459,0.957065,0.175829],[-0.971506,-0.236578,0.014378],[0.055358,-0.167506,0.984316]] 2025-10-27T04:58:23.564Z,1761541103.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006764 2025-10-27T04:58:23.600Z,1761541103.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:23.603Z,1761541103.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 66.817070 m, bearing: 248.435001 deg, approach rate: -0.610489 m/s, LOS rate: -0.020036 deg/s, cmd heading: 256.409891 deg, new cmd heading: 256.390387 deg. 2025-10-27T04:58:23.604Z,1761541103.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474856 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:23.816Z,1761541103.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258752 2025-10-27T04:58:23.966Z,1761541103.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231005,0.956894,0.176040],[-0.971339,-0.237232,0.014894],[0.056014,-0.167554,0.984270]] 2025-10-27T04:58:23.993Z,1761541103.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:23.996Z,1761541103.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 66.578125 m, bearing: 248.427249 deg, approach rate: -0.608475 m/s, LOS rate: -0.019812 deg/s, cmd heading: 256.390384 deg, new cmd heading: 256.367045 deg. 2025-10-27T04:58:23.997Z,1761541103.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474449 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:24.068Z,1761541104.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510850 2025-10-27T04:58:24.320Z,1761541104.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762709 2025-10-27T04:58:24.369Z,1761541104.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231274,0.956661,0.176954],[-0.971255,-0.237570,0.014963],[0.056353,-0.168407,0.984105]] 2025-10-27T04:58:24.417Z,1761541104.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:24.420Z,1761541104.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 66.318390 m, bearing: 248.421272 deg, approach rate: -0.612617 m/s, LOS rate: -0.014153 deg/s, cmd heading: 256.367052 deg, new cmd heading: 256.349051 deg. 2025-10-27T04:58:24.421Z,1761541104.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474135 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:24.572Z,1761541104.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014711 2025-10-27T04:58:24.774Z,1761541104.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231085,0.956529,0.177910],[-0.971284,-0.237448,0.015047],[0.056637,-0.169323,0.983932]] 2025-10-27T04:58:24.796Z,1761541104.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:24.799Z,1761541104.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 66.088364 m, bearing: 248.415890 deg, approach rate: -0.606550 m/s, LOS rate: -0.014241 deg/s, cmd heading: 256.349048 deg, new cmd heading: 256.332846 deg. 2025-10-27T04:58:24.800Z,1761541104.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473852 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:24.824Z,1761541104.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833 2025-10-27T04:58:25.078Z,1761541105.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520059 2025-10-27T04:58:25.222Z,1761541105.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230903,0.956439,0.178629],[-0.971313,-0.237322,0.015138],[0.056871,-0.170009,0.983800]] 2025-10-27T04:58:25.278Z,1761541105.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:25.280Z,1761541105.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:25.283Z,1761541105.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 65.798447 m, bearing: 248.410986 deg, approach rate: -0.599084 m/s, LOS rate: -0.010179 deg/s, cmd heading: 256.332847 deg, new cmd heading: 256.318068 deg. 2025-10-27T04:58:25.284Z,1761541105.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473594 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:25.328Z,1761541105.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871 2025-10-27T04:58:25.580Z,1761541105.580 [DAT](INFO): DAT read: Rx Time:04:58:24.1227 2025-10-27T04:58:25.581Z,1761541105.581 [DAT](INFO): Rx dataTimestamp_ set to:1761541105.580620 2025-10-27T04:58:25.581Z,1761541105.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024285 2025-10-27T04:58:25.602Z,1761541105.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230891,0.956347,0.179136],[-0.971299,-0.237369,0.015314],[0.057167,-0.170459,0.983705]] 2025-10-27T04:58:25.621Z,1761541105.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:25.640Z,1761541105.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 65.595078 m, bearing: 248.407513 deg, approach rate: -0.596719 m/s, LOS rate: -0.010220 deg/s, cmd heading: 256.318066 deg, new cmd heading: 256.307617 deg. 2025-10-27T04:58:25.641Z,1761541105.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473412 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:25.832Z,1761541105.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274707 2025-10-27T04:58:26.013Z,1761541106.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230560,0.956389,0.179337],[-0.971376,-0.237051,0.015350],[0.057193,-0.170664,0.983668]] 2025-10-27T04:58:26.032Z,1761541106.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.65 m. 2025-10-27T04:58:26.035Z,1761541106.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.651169 m, nav range: 65.350021 m, bearing: 248.403225 deg, approach rate: -0.595256 m/s, LOS rate: -0.010456 deg/s, cmd heading: 256.307630 deg, new cmd heading: 256.294716 deg. 2025-10-27T04:58:26.036Z,1761541106.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473186 target range: 69.651169 and range: 70.00 m. 2025-10-27T04:58:26.092Z,1761541106.092 [DAT](INFO): DAT read: 04:58:24.1227 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 408,-0.05, 1.343,-0.113, 1.848, 1.328, PHS= 0.117,-1.396, 0.476, RAW= 160.4, 9.4, CAL= 160.3, 9.9, ROT= 349.7, -9.9 2025-10-27T04:58:26.094Z,1761541106.094 [DAT](INFO): got valid direction response: 04:58:24.1227 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 408,-0.05, 1.343,-0.113, 1.848, 1.328, PHS= 0.117,-1.396, 0.476, RAW= 160.4, 9.4, CAL= 160.3, 9.9, ROT= 349.7, -9.9 2025-10-27T04:58:26.096Z,1761541106.096 [DAT](INFO): DAT read: Bearing 51.0, -8.3 (Local) 2025-10-27T04:58:26.096Z,1761541106.096 [DAT](INFO): Local bearing/azimuth received: Bearing 51.0, -8.3 (Local) 2025-10-27T04:58:26.098Z,1761541106.098 [DAT](INFO): DAT read: Range 11 to 50 : 67.6 m (Round-trip 90.2 ms) speed 0.5 m/s 2025-10-27T04:58:26.100Z,1761541106.100 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:26.101Z,1761541106.101 [DAT](INFO): direction in FSK: [0.969234,-0.176140,0.171929] 2025-10-27T04:58:26.102Z,1761541106.102 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:26.125Z,1761541106.125 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:26.125Z,1761541106.125 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:26.126Z,1761541106.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:26.336Z,1761541106.336 [DAT](INFO): DAT read: user:270> 2025-10-27T04:58:26.337Z,1761541106.337 [DAT](INFO): DAT read: Tx time:04:58:25.4284 2025-10-27T04:58:26.337Z,1761541106.337 [DAT](INFO): Ping request sent. 2025-10-27T04:58:26.337Z,1761541106.337 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:26.337Z,1761541106.337 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:26.338Z,1761541106.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-27T04:58:26.414Z,1761541106.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230689,0.956286,0.179724],[-0.971328,-0.237237,0.015533],[0.057491,-0.170987,0.983594]] 2025-10-27T04:58:26.465Z,1761541106.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.599998 m, deltaT: 3.778045 s, deltaX: -2.400002 m, approachRate: -0.635250 m/s, rangeRepo size: 4 2025-10-27T04:58:26.467Z,1761541106.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.263641 m, bearing: 248.070033 deg, lat: 36.779359 deg, lon: -121.859609 deg, deltaT: 3.778045 s, deltaX: -2.387527 m, approachRate: -0.631948 m/s, posRepo size: 4 2025-10-27T04:58:26.468Z,1761541106.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:26.470Z,1761541106.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 65.013969 m, bearing: 248.354871 deg, approach rate: 0.000000 m/s, LOS rate: -0.010456 deg/s, cmd heading: 256.294707 deg, new cmd heading: 256.281160 deg. 2025-10-27T04:58:26.472Z,1761541106.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472950 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:26.588Z,1761541106.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251011 2025-10-27T04:58:26.824Z,1761541106.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231000,0.956221,0.179670],[-0.971222,-0.237635,0.016023],[0.058017,-0.170798,0.983597]] 2025-10-27T04:58:26.840Z,1761541106.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503284 2025-10-27T04:58:26.850Z,1761541106.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:26.853Z,1761541106.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 64.771912 m, bearing: 248.350842 deg, approach rate: -0.627649 m/s, LOS rate: -0.010487 deg/s, cmd heading: 256.281156 deg, new cmd heading: 256.269023 deg. 2025-10-27T04:58:26.854Z,1761541106.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472738 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:27.092Z,1761541107.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755013 2025-10-27T04:58:27.273Z,1761541107.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231368,0.956110,0.179785],[-0.971098,-0.238107,0.016551],[0.058633,-0.170760,0.983567]] 2025-10-27T04:58:27.332Z,1761541107.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:27.334Z,1761541107.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:27.341Z,1761541107.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 64.496513 m, bearing: 248.349226 deg, approach rate: -0.568734 m/s, LOS rate: -0.003351 deg/s, cmd heading: 256.269026 deg, new cmd heading: 256.264157 deg. 2025-10-27T04:58:27.342Z,1761541107.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472653 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:27.344Z,1761541107.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007022 2025-10-27T04:58:27.596Z,1761541107.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258946 2025-10-27T04:58:27.634Z,1761541107.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231248,0.956385,0.178472],[-0.971098,-0.238046,0.017365],[0.059093,-0.169299,0.983792]] 2025-10-27T04:58:27.663Z,1761541107.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:27.684Z,1761541107.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 64.289352 m, bearing: 248.347995 deg, approach rate: -0.631582 m/s, LOS rate: -0.003766 deg/s, cmd heading: 256.264162 deg, new cmd heading: 256.260456 deg. 2025-10-27T04:58:27.685Z,1761541107.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472589 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:27.848Z,1761541107.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510903 2025-10-27T04:58:28.070Z,1761541108.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:28.073Z,1761541108.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 64.045609 m, bearing: 248.346536 deg, approach rate: -0.598043 m/s, LOS rate: -0.003593 deg/s, cmd heading: 256.260447 deg, new cmd heading: 256.256053 deg. 2025-10-27T04:58:28.074Z,1761541108.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472512 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:28.100Z,1761541108.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762994 2025-10-27T04:58:28.352Z,1761541108.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014854 2025-10-27T04:58:28.434Z,1761541108.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231257,0.956682,0.176861],[-0.971053,-0.238149,0.018488],[0.059806,-0.167466,0.984062]] 2025-10-27T04:58:28.483Z,1761541108.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:28.485Z,1761541108.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 63.799225 m, bearing: 248.343991 deg, approach rate: -0.596860 m/s, LOS rate: -0.006189 deg/s, cmd heading: 256.256048 deg, new cmd heading: 256.248384 deg. 2025-10-27T04:58:28.486Z,1761541108.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472378 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:28.604Z,1761541108.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267029 2025-10-27T04:58:28.843Z,1761541108.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231865,0.956880,0.174986],[-0.970871,-0.238813,0.019456],[0.060406,-0.165377,0.984379]] 2025-10-27T04:58:28.856Z,1761541108.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519002 2025-10-27T04:58:28.883Z,1761541108.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:28.886Z,1761541108.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 63.576698 m, bearing: 248.341827 deg, approach rate: -0.555823 m/s, LOS rate: -0.005423 deg/s, cmd heading: 256.248371 deg, new cmd heading: 256.241857 deg. 2025-10-27T04:58:28.895Z,1761541108.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472264 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:29.113Z,1761541109.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774877 2025-10-27T04:58:29.351Z,1761541109.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:29.353Z,1761541109.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:29.356Z,1761541109.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 63.291191 m, bearing: 248.336206 deg, approach rate: -0.607071 m/s, LOS rate: -0.012006 deg/s, cmd heading: 256.241869 deg, new cmd heading: 256.224929 deg. 2025-10-27T04:58:29.357Z,1761541109.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471969 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:29.360Z,1761541109.360 [DAT](INFO): DAT read: Rx Time:04:58:27.9196 2025-10-27T04:58:29.361Z,1761541109.361 [DAT](INFO): Rx dataTimestamp_ set to:1761541109.360307 2025-10-27T04:58:29.361Z,1761541109.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024160 2025-10-27T04:58:29.612Z,1761541109.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274951 2025-10-27T04:58:29.686Z,1761541109.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232241,0.956679,0.175581],[-0.970724,-0.239350,0.020158],[0.061310,-0.165759,0.984259]] 2025-10-27T04:58:29.711Z,1761541109.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.26 m. 2025-10-27T04:58:29.716Z,1761541109.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.263641 m, nav range: 63.086433 m, bearing: 248.332216 deg, approach rate: -0.572749 m/s, LOS rate: -0.011197 deg/s, cmd heading: 256.224930 deg, new cmd heading: 256.212921 deg. 2025-10-27T04:58:29.717Z,1761541109.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471759 target range: 67.263641 and range: 67.60 m. 2025-10-27T04:58:29.872Z,1761541109.872 [DAT](INFO): DAT read: 04:58:27.9196 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.32, 2.978, 1.520,-2.784, 2.950, PHS= 0.130,-1.385, 0.505, RAW= 160.8, 8.7, CAL= 160.5, 9.1, ROT= 349.5, -9.1 2025-10-27T04:58:29.873Z,1761541109.873 [DAT](INFO): got valid direction response: 04:58:27.9196 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408, 0.32, 2.978, 1.520,-2.784, 2.950, PHS= 0.130,-1.385, 0.505, RAW= 160.8, 8.7, CAL= 160.5, 9.1, ROT= 349.5, -9.1 2025-10-27T04:58:29.874Z,1761541109.874 [DAT](INFO): DAT read: Bearing 50.1, -8.2 (Local) 2025-10-27T04:58:29.874Z,1761541109.874 [DAT](INFO): Local bearing/azimuth received: Bearing 50.1, -8.2 (Local) 2025-10-27T04:58:29.875Z,1761541109.875 [DAT](INFO): DAT read: Range 11 to 50 : 65.3 m (Round-trip 87.1 ms) speed 0.5 m/s 2025-10-27T04:58:29.876Z,1761541109.876 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:29.877Z,1761541109.877 [DAT](INFO): direction in FSK: [0.970879,-0.179942,0.158158] 2025-10-27T04:58:29.877Z,1761541109.877 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:29.885Z,1761541109.885 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:29.885Z,1761541109.885 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:29.885Z,1761541109.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:30.116Z,1761541110.116 [DAT](INFO): DAT read: user:271> 2025-10-27T04:58:30.117Z,1761541110.117 [DAT](INFO): DAT read: Tx time:04:58:29.1784 2025-10-27T04:58:30.117Z,1761541110.117 [DAT](INFO): Ping request sent. 2025-10-27T04:58:30.117Z,1761541110.117 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:30.117Z,1761541110.117 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:30.118Z,1761541110.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-27T04:58:30.192Z,1761541110.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.300003 m, deltaT: 3.780146 s, deltaX: -2.299995 m, approachRate: -0.608441 m/s, rangeRepo size: 4 2025-10-27T04:58:30.194Z,1761541110.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.974998 m, bearing: 247.574395 deg, lat: 36.779356 deg, lon: -121.859608 deg, deltaT: 3.780146 s, deltaX: -2.288643 m, approachRate: -0.605438 m/s, posRepo size: 4 2025-10-27T04:58:30.195Z,1761541110.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:30.198Z,1761541110.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 62.835899 m, bearing: 248.032179 deg, approach rate: 0.000000 m/s, LOS rate: -0.011197 deg/s, cmd heading: 256.212909 deg, new cmd heading: 256.196773 deg. 2025-10-27T04:58:30.199Z,1761541110.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471477 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:30.368Z,1761541110.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250960 2025-10-27T04:58:30.493Z,1761541110.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233108,0.956682,0.174412],[-0.970454,-0.240345,0.021293],[0.062289,-0.164295,0.984442]] 2025-10-27T04:58:30.545Z,1761541110.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:30.552Z,1761541110.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 62.632305 m, bearing: 248.027831 deg, approach rate: -0.574941 m/s, LOS rate: -0.012318 deg/s, cmd heading: 256.196762 deg, new cmd heading: 256.183677 deg. 2025-10-27T04:58:30.553Z,1761541110.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471249 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:30.621Z,1761541110.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503698 2025-10-27T04:58:30.872Z,1761541110.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754958 2025-10-27T04:58:30.896Z,1761541110.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233249,0.956651,0.174395],[-0.970396,-0.240548,0.021659],[0.062671,-0.164180,0.984437]] 2025-10-27T04:58:30.916Z,1761541110.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:30.918Z,1761541110.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 62.404888 m, bearing: 248.022975 deg, approach rate: -0.613872 m/s, LOS rate: -0.013156 deg/s, cmd heading: 256.183675 deg, new cmd heading: 256.169054 deg. 2025-10-27T04:58:30.936Z,1761541110.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470994 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:31.124Z,1761541111.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006887 2025-10-27T04:58:31.331Z,1761541111.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233310,0.956667,0.174228],[-0.970358,-0.240664,0.022047],[0.063022,-0.163919,0.984459]] 2025-10-27T04:58:31.376Z,1761541111.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258940 2025-10-27T04:58:31.378Z,1761541111.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:31.381Z,1761541111.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:31.383Z,1761541111.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 62.137867 m, bearing: 248.019500 deg, approach rate: -0.574369 m/s, LOS rate: -0.007507 deg/s, cmd heading: 256.169059 deg, new cmd heading: 256.158589 deg. 2025-10-27T04:58:31.384Z,1761541111.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470811 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:31.628Z,1761541111.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511371 2025-10-27T04:58:31.704Z,1761541111.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233674,0.956619,0.174000],[-0.970253,-0.241064,0.022317],[0.063294,-0.163609,0.984493]] 2025-10-27T04:58:31.750Z,1761541111.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:31.759Z,1761541111.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 61.928276 m, bearing: 248.016829 deg, approach rate: -0.567999 m/s, LOS rate: -0.007263 deg/s, cmd heading: 256.158595 deg, new cmd heading: 256.150555 deg. 2025-10-27T04:58:31.760Z,1761541111.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470671 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:31.880Z,1761541111.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762704 2025-10-27T04:58:32.106Z,1761541112.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233678,0.956491,0.174700],[-0.970235,-0.241126,0.022393],[0.063544,-0.164267,0.984367]] 2025-10-27T04:58:32.126Z,1761541112.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:32.129Z,1761541112.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 61.705658 m, bearing: 248.013967 deg, approach rate: -0.591854 m/s, LOS rate: -0.007636 deg/s, cmd heading: 256.150563 deg, new cmd heading: 256.141947 deg. 2025-10-27T04:58:32.130Z,1761541112.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470520 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:32.132Z,1761541112.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014956 2025-10-27T04:58:32.384Z,1761541112.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266961 2025-10-27T04:58:32.575Z,1761541112.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:32.578Z,1761541112.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 61.445210 m, bearing: 248.015171 deg, approach rate: -0.579741 m/s, LOS rate: 0.002691 deg/s, cmd heading: 256.141957 deg, new cmd heading: 256.145584 deg. 2025-10-27T04:58:32.579Z,1761541112.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470584 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:32.636Z,1761541112.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519106 2025-10-27T04:58:32.888Z,1761541112.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770773 2025-10-27T04:58:32.952Z,1761541112.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233642,0.955977,0.177536],[-0.970200,-0.241272,0.022366],[0.064216,-0.167020,0.983860]] 2025-10-27T04:58:32.971Z,1761541112.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:32.974Z,1761541112.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 61.215702 m, bearing: 248.016205 deg, approach rate: -0.579481 m/s, LOS rate: 0.002621 deg/s, cmd heading: 256.145590 deg, new cmd heading: 256.148704 deg. 2025-10-27T04:58:32.991Z,1761541112.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470638 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:33.142Z,1761541113.142 [DAT](INFO): DAT read: Rx Time:04:58:31.6667 2025-10-27T04:58:33.143Z,1761541113.143 [DAT](INFO): Rx dataTimestamp_ set to:1761541113.142198 2025-10-27T04:58:33.144Z,1761541113.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027126 2025-10-27T04:58:33.363Z,1761541113.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233665,0.955881,0.178025],[-0.970168,-0.241373,0.022636],[0.064607,-0.167425,0.983766]] 2025-10-27T04:58:33.392Z,1761541113.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275293 2025-10-27T04:58:33.405Z,1761541113.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:33.407Z,1761541113.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.97 m. 2025-10-27T04:58:33.410Z,1761541113.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.974998 m, nav range: 60.960976 m, bearing: 248.018030 deg, approach rate: -0.584637 m/s, LOS rate: 0.004207 deg/s, cmd heading: 256.148705 deg, new cmd heading: 256.154203 deg. 2025-10-27T04:58:33.427Z,1761541113.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470734 target range: 64.974998 and range: 65.30 m. 2025-10-27T04:58:33.655Z,1761541113.655 [DAT](INFO): DAT read: 04:58:31.6667 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 411, 0.17, 1.307,-0.149, 1.814, 1.261, PHS= 0.148,-1.365, 0.510, RAW= 160.5, 8.3, CAL= 160.1, 8.5, ROT= 349.9, -8.5 2025-10-27T04:58:33.657Z,1761541113.657 [DAT](INFO): got valid direction response: 04:58:31.6667 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 411, 0.17, 1.307,-0.149, 1.814, 1.261, PHS= 0.148,-1.365, 0.510, RAW= 160.5, 8.3, CAL= 160.1, 8.5, ROT= 349.9, -8.5 2025-10-27T04:58:33.658Z,1761541113.658 [DAT](INFO): DAT read: Bearing 49.4, -7.6 (Local) 2025-10-27T04:58:33.659Z,1761541113.659 [DAT](INFO): Local bearing/azimuth received: Bearing 49.4, -7.6 (Local) 2025-10-27T04:58:33.661Z,1761541113.661 [DAT](INFO): DAT read: Range 11 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.5 m/s 2025-10-27T04:58:33.662Z,1761541113.662 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:33.666Z,1761541113.666 [DAT](INFO): direction in FSK: [0.973689,-0.173441,0.147809] 2025-10-27T04:58:33.667Z,1761541113.667 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:33.673Z,1761541113.673 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:33.673Z,1761541113.673 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:33.673Z,1761541113.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:33.862Z,1761541113.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233327,0.955919,0.178262],[-0.970249,-0.241048,0.022647],[0.064618,-0.167674,0.983722]] 2025-10-27T04:58:33.896Z,1761541113.896 [DAT](INFO): DAT read: user:272> 2025-10-27T04:58:33.897Z,1761541113.897 [DAT](INFO): DAT read: Tx time:04:58:32.9799 2025-10-27T04:58:33.897Z,1761541113.897 [DAT](INFO): Ping request sent. 2025-10-27T04:58:33.897Z,1761541113.897 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:33.897Z,1761541113.897 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:33.898Z,1761541113.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T04:58:33.922Z,1761541113.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.099998 m, deltaT: 3.780123 s, deltaX: -2.200005 m, approachRate: -0.581993 m/s, rangeRepo size: 4 2025-10-27T04:58:33.928Z,1761541113.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.786587 m, bearing: 247.825742 deg, lat: 36.779354 deg, lon: -121.859609 deg, deltaT: 3.780123 s, deltaX: -2.188412 m, approachRate: -0.578926 m/s, posRepo size: 4 2025-10-27T04:58:33.931Z,1761541113.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:33.934Z,1761541113.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 60.881523 m, bearing: 247.783705 deg, approach rate: 0.000000 m/s, LOS rate: 0.004207 deg/s, cmd heading: 256.154196 deg, new cmd heading: 256.160693 deg. 2025-10-27T04:58:33.935Z,1761541113.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470848 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:34.148Z,1761541114.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251076 2025-10-27T04:58:34.272Z,1761541114.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233270,0.955794,0.179007],[-0.970249,-0.241045,0.022677],[0.064823,-0.168392,0.983586]] 2025-10-27T04:58:34.400Z,1761541114.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502878 2025-10-27T04:58:34.444Z,1761541114.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:34.447Z,1761541114.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 60.554272 m, bearing: 247.785721 deg, approach rate: -0.626319 m/s, LOS rate: 0.003881 deg/s, cmd heading: 256.160699 deg, new cmd heading: 256.166781 deg. 2025-10-27T04:58:34.448Z,1761541114.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470954 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:34.654Z,1761541114.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756799 2025-10-27T04:58:34.738Z,1761541114.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234093,0.955830,0.177732],[-0.970032,-0.241873,0.023138],[0.065104,-0.166989,0.983807]] 2025-10-27T04:58:34.771Z,1761541114.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:34.774Z,1761541114.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 60.361076 m, bearing: 247.787090 deg, approach rate: -0.591454 m/s, LOS rate: 0.004202 deg/s, cmd heading: 256.166791 deg, new cmd heading: 256.170909 deg. 2025-10-27T04:58:34.774Z,1761541114.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471026 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:34.904Z,1761541114.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006830 2025-10-27T04:58:35.144Z,1761541115.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234131,0.955979,0.176880],[-0.970026,-0.241882,0.023299],[0.065057,-0.166123,0.983957]] 2025-10-27T04:58:35.157Z,1761541115.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259467 2025-10-27T04:58:35.209Z,1761541115.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:35.212Z,1761541115.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 60.101646 m, bearing: 247.788958 deg, approach rate: -0.591960 m/s, LOS rate: 0.004283 deg/s, cmd heading: 256.170917 deg, new cmd heading: 256.176547 deg. 2025-10-27T04:58:35.213Z,1761541115.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471124 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:35.408Z,1761541115.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510981 2025-10-27T04:58:35.534Z,1761541115.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234231,0.956146,0.175843],[-0.970012,-0.241929,0.023389],[0.064905,-0.165092,0.984140]] 2025-10-27T04:58:35.661Z,1761541115.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763143 2025-10-27T04:58:35.730Z,1761541115.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:35.733Z,1761541115.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:35.736Z,1761541115.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 59.798798 m, bearing: 247.786132 deg, approach rate: -0.578056 m/s, LOS rate: -0.005422 deg/s, cmd heading: 256.176545 deg, new cmd heading: 256.168023 deg. 2025-10-27T04:58:35.737Z,1761541115.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470975 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:35.912Z,1761541115.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014807 2025-10-27T04:58:35.993Z,1761541115.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234542,0.956140,0.175462],[-0.969935,-0.242232,0.023465],[0.064938,-0.164683,0.984207]] 2025-10-27T04:58:36.018Z,1761541116.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:36.021Z,1761541116.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 59.608620 m, bearing: 247.784404 deg, approach rate: -0.666781 m/s, LOS rate: -0.006078 deg/s, cmd heading: 256.168021 deg, new cmd heading: 256.162820 deg. 2025-10-27T04:58:36.022Z,1761541116.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470885 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:36.165Z,1761541116.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268287 2025-10-27T04:58:36.423Z,1761541116.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525862 2025-10-27T04:58:36.512Z,1761541116.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:36.515Z,1761541116.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 59.307888 m, bearing: 247.776842 deg, approach rate: -0.608806 m/s, LOS rate: -0.015387 deg/s, cmd heading: 256.162830 deg, new cmd heading: 256.140027 deg. 2025-10-27T04:58:36.516Z,1761541116.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470487 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:36.676Z,1761541116.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778760 2025-10-27T04:58:36.833Z,1761541116.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236369,0.955822,0.174739],[-0.969474,-0.244057,0.023585],[0.065189,-0.163830,0.984332]] 2025-10-27T04:58:36.877Z,1761541116.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:36.880Z,1761541116.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 59.085541 m, bearing: 247.771615 deg, approach rate: -0.608915 m/s, LOS rate: -0.014368 deg/s, cmd heading: 256.140017 deg, new cmd heading: 256.124277 deg. 2025-10-27T04:58:36.881Z,1761541116.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470212 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:36.929Z,1761541116.929 [DAT](INFO): DAT read: Rx Time:04:58:35.4653 2025-10-27T04:58:36.929Z,1761541116.929 [DAT](INFO): Rx dataTimestamp_ set to:1761541116.928746 2025-10-27T04:58:36.930Z,1761541116.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032821 2025-10-27T04:58:37.180Z,1761541117.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282926 2025-10-27T04:58:37.247Z,1761541117.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237385,0.955861,0.173144],[-0.969225,-0.245019,0.023824],[0.065196,-0.162160,0.984608]] 2025-10-27T04:58:37.328Z,1761541117.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-27T04:58:37.337Z,1761541117.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.786587 m, nav range: 58.843987 m, bearing: 247.766151 deg, approach rate: -0.543444 m/s, LOS rate: -0.012342 deg/s, cmd heading: 256.124280 deg, new cmd heading: 256.107822 deg. 2025-10-27T04:58:37.338Z,1761541117.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469925 target range: 62.786587 and range: 63.10 m. 2025-10-27T04:58:37.440Z,1761541117.440 [DAT](INFO): DAT read: 04:58:35.4653 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.46, 2.640, 1.150, 3.129, 2.620, PHS= 0.121,-1.426, 0.465, RAW= 159.8, 9.7, CAL= 159.7, 10.3, ROT= 350.3, -10.3 2025-10-27T04:58:37.442Z,1761541117.442 [DAT](INFO): got valid direction response: 04:58:35.4653 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.46, 2.640, 1.150, 3.129, 2.620, PHS= 0.121,-1.426, 0.465, RAW= 159.8, 9.7, CAL= 159.7, 10.3, ROT= 350.3, -10.3 2025-10-27T04:58:37.443Z,1761541117.443 [DAT](INFO): DAT read: Bearing 51.7, -7.5 (Local) 2025-10-27T04:58:37.444Z,1761541117.444 [DAT](INFO): Local bearing/azimuth received: Bearing 51.7, -7.5 (Local) 2025-10-27T04:58:37.446Z,1761541117.446 [DAT](INFO): DAT read: Range 11 to 50 : 60.9 m (Round-trip 81.2 ms) speed 0.5 m/s 2025-10-27T04:58:37.447Z,1761541117.447 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:37.449Z,1761541117.449 [DAT](INFO): direction in FSK: [0.969819,-0.165774,0.178802] 2025-10-27T04:58:37.449Z,1761541117.449 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:37.454Z,1761541117.454 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:37.454Z,1761541117.454 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:37.454Z,1761541117.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:37.684Z,1761541117.684 [DAT](INFO): DAT read: user:273> 2025-10-27T04:58:37.685Z,1761541117.685 [DAT](INFO): DAT read: Tx time:04:58:36.7784 2025-10-27T04:58:37.685Z,1761541117.685 [DAT](INFO): Ping request sent. 2025-10-27T04:58:37.685Z,1761541117.685 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:37.685Z,1761541117.685 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:37.686Z,1761541117.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-27T04:58:37.707Z,1761541117.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238319,0.955746,0.172495],[-0.968991,-0.245937,0.023910],[0.065274,-0.161448,0.984720]] 2025-10-27T04:58:37.806Z,1761541117.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 3.787687 s, deltaX: -2.199997 m, approachRate: -0.580829 m/s, rangeRepo size: 4 2025-10-27T04:58:37.812Z,1761541117.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.596741 m, bearing: 248.152151 deg, lat: 36.779354 deg, lon: -121.859609 deg, deltaT: 3.787687 s, deltaX: -2.189846 m, approachRate: -0.578149 m/s, posRepo size: 4 2025-10-27T04:58:37.813Z,1761541117.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:37.820Z,1761541117.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 58.524628 m, bearing: 247.756812 deg, approach rate: 0.000000 m/s, LOS rate: -0.012342 deg/s, cmd heading: 256.107833 deg, new cmd heading: 256.089918 deg. 2025-10-27T04:58:37.821Z,1761541117.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469612 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:37.936Z,1761541117.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251283 2025-10-27T04:58:38.170Z,1761541118.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239330,0.955272,0.173714],[-0.968732,-0.246988,0.023568],[0.065420,-0.162641,0.984514]] 2025-10-27T04:58:38.188Z,1761541118.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502835 2025-10-27T04:58:38.198Z,1761541118.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:38.200Z,1761541118.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:38.203Z,1761541118.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 58.270088 m, bearing: 247.749545 deg, approach rate: -0.644913 m/s, LOS rate: -0.018494 deg/s, cmd heading: 256.089911 deg, new cmd heading: 256.068013 deg. 2025-10-27T04:58:38.204Z,1761541118.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469230 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:38.442Z,1761541118.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756704 2025-10-27T04:58:38.565Z,1761541118.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240558,0.954948,0.173799],[-0.968404,-0.248259,0.023688],[0.065768,-0.162609,0.984496]] 2025-10-27T04:58:38.602Z,1761541118.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:38.605Z,1761541118.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 58.022423 m, bearing: 247.742788 deg, approach rate: -0.615905 m/s, LOS rate: -0.016875 deg/s, cmd heading: 256.067999 deg, new cmd heading: 256.047642 deg. 2025-10-27T04:58:38.606Z,1761541118.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468874 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:38.693Z,1761541118.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007610 2025-10-27T04:58:38.944Z,1761541118.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258722 2025-10-27T04:58:38.966Z,1761541118.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241465,0.954743,0.173665],[-0.968168,-0.249174,0.023713],[0.065913,-0.162411,0.984519]] 2025-10-27T04:58:39.006Z,1761541119.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:39.013Z,1761541119.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 57.785885 m, bearing: 247.736503 deg, approach rate: -0.585462 m/s, LOS rate: -0.015618 deg/s, cmd heading: 256.047645 deg, new cmd heading: 256.028715 deg. 2025-10-27T04:58:39.014Z,1761541119.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468544 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:39.196Z,1761541119.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510746 2025-10-27T04:58:39.382Z,1761541119.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242266,0.954560,0.173556],[-0.967968,-0.249961,0.023604],[0.065914,-0.162279,0.984541]] 2025-10-27T04:58:39.448Z,1761541119.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762793 2025-10-27T04:58:39.467Z,1761541119.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:39.470Z,1761541119.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 57.497322 m, bearing: 247.729007 deg, approach rate: -0.632006 m/s, LOS rate: -0.016501 deg/s, cmd heading: 256.028712 deg, new cmd heading: 256.006109 deg. 2025-10-27T04:58:39.471Z,1761541119.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468150 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:39.700Z,1761541119.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015042 2025-10-27T04:58:39.774Z,1761541119.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243221,0.954028,0.175142],[-0.967738,-0.250918,0.022892],[0.065786,-0.163924,0.984277]] 2025-10-27T04:58:39.833Z,1761541119.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:39.836Z,1761541119.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 57.267628 m, bearing: 247.725165 deg, approach rate: -0.621101 m/s, LOS rate: -0.010431 deg/s, cmd heading: 256.006118 deg, new cmd heading: 255.994546 deg. 2025-10-27T04:58:39.837Z,1761541119.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467947 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:39.952Z,1761541119.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266883 2025-10-27T04:58:40.182Z,1761541120.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244299,0.953549,0.176246],[-0.967472,-0.251991,0.022317],[0.065693,-0.165061,0.984093]] 2025-10-27T04:58:40.199Z,1761541120.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:40.201Z,1761541120.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:40.204Z,1761541120.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518834 2025-10-27T04:58:40.205Z,1761541120.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 57.043743 m, bearing: 247.721626 deg, approach rate: -0.607623 m/s, LOS rate: -0.009643 deg/s, cmd heading: 255.994534 deg, new cmd heading: 255.983874 deg. 2025-10-27T04:58:40.206Z,1761541120.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467762 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:40.458Z,1761541120.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772943 2025-10-27T04:58:40.583Z,1761541120.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244864,0.953350,0.176538],[-0.967339,-0.252531,0.022001],[0.065556,-0.165385,0.984048]] 2025-10-27T04:58:40.684Z,1761541120.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:40.687Z,1761541120.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 56.762707 m, bearing: 247.713952 deg, approach rate: -0.582143 m/s, LOS rate: -0.015974 deg/s, cmd heading: 255.983879 deg, new cmd heading: 255.960744 deg. 2025-10-27T04:58:40.688Z,1761541120.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467358 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:40.709Z,1761541120.709 [DAT](INFO): DAT read: Rx Time:04:58:39.2606 2025-10-27T04:58:40.710Z,1761541120.710 [DAT](INFO): Rx dataTimestamp_ set to:1761541120.709590 2025-10-27T04:58:40.711Z,1761541120.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025588 2025-10-27T04:58:40.960Z,1761541120.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274659 2025-10-27T04:58:41.005Z,1761541121.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245767,0.952704,0.178755],[-0.967109,-0.253472,0.021258],[0.065562,-0.167651,0.983664]] 2025-10-27T04:58:41.024Z,1761541121.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m. 2025-10-27T04:58:41.026Z,1761541121.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.596741 m, nav range: 56.551270 m, bearing: 247.708305 deg, approach rate: -0.621999 m/s, LOS rate: -0.016674 deg/s, cmd heading: 255.960738 deg, new cmd heading: 255.943734 deg. 2025-10-27T04:58:41.028Z,1761541121.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467061 target range: 60.596741 and range: 60.90 m. 2025-10-27T04:58:41.217Z,1761541121.217 [DAT](INFO): DAT read: 04:58:39.2606 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412,-0.06,-0.573,-2.032,-0.056,-0.610, PHS= 0.140,-1.377, 0.510, RAW= 160.7, 8.4, CAL= 160.4, 8.7, ROT= 349.6, -8.7 2025-10-27T04:58:41.218Z,1761541121.218 [DAT](INFO): got valid direction response: 04:58:39.2606 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 412,-0.06,-0.573,-2.032,-0.056,-0.610, PHS= 0.140,-1.377, 0.510, RAW= 160.7, 8.4, CAL= 160.4, 8.7, ROT= 349.6, -8.7 2025-10-27T04:58:41.219Z,1761541121.219 [DAT](INFO): DAT read: Bearing 50.3, -8.0 (Local) 2025-10-27T04:58:41.220Z,1761541121.220 [DAT](INFO): Local bearing/azimuth received: Bearing 50.3, -8.0 (Local) 2025-10-27T04:58:41.221Z,1761541121.221 [DAT](INFO): DAT read: Range 11 to 50 : 58.5 m (Round-trip 78.1 ms) speed 0.5 m/s 2025-10-27T04:58:41.221Z,1761541121.221 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:41.222Z,1761541121.222 [DAT](INFO): direction in FSK: [0.972254,-0.178442,0.151261] 2025-10-27T04:58:41.223Z,1761541121.223 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:41.226Z,1761541121.226 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:41.226Z,1761541121.226 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:41.226Z,1761541121.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:41.395Z,1761541121.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246035,0.952539,0.179267],[-0.967056,-0.253710,0.020855],[0.065347,-0.168230,0.983579]] 2025-10-27T04:58:41.466Z,1761541121.466 [DAT](INFO): DAT read: user:274> 2025-10-27T04:58:41.469Z,1761541121.469 [DAT](INFO): DAT read: Tx time:04:58:40.5284 2025-10-27T04:58:41.470Z,1761541121.470 [DAT](INFO): Ping request sent. 2025-10-27T04:58:41.470Z,1761541121.470 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:41.470Z,1761541121.470 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:41.471Z,1761541121.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001160 2025-10-27T04:58:41.508Z,1761541121.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 3.779404 s, deltaX: -2.400002 m, approachRate: -0.635021 m/s, rangeRepo size: 4 2025-10-27T04:58:41.510Z,1761541121.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.208458 m, bearing: 246.808639 deg, lat: 36.779354 deg, lon: -121.859608 deg, deltaT: 3.779404 s, deltaX: -2.388283 m, approachRate: -0.631920 m/s, posRepo size: 4 2025-10-27T04:58:41.525Z,1761541121.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:41.526Z,1761541121.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:41.533Z,1761541121.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 56.188923 m, bearing: 247.664286 deg, approach rate: 0.000000 m/s, LOS rate: -0.016674 deg/s, cmd heading: 255.943745 deg, new cmd heading: 255.919545 deg. 2025-10-27T04:58:41.534Z,1761541121.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466639 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:41.564Z,1761541121.564 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T04:58:41.717Z,1761541121.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246560 2025-10-27T04:58:41.884Z,1761541121.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246126,0.952488,0.179413],[-0.967052,-0.253752,0.020508],[0.065060,-0.168454,0.983560]] 2025-10-27T04:58:41.947Z,1761541121.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:41.948Z,1761541121.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:41.950Z,1761541121.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 55.929287 m, bearing: 247.671823 deg, approach rate: -0.596778 m/s, LOS rate: 0.017404 deg/s, cmd heading: 255.919538 deg, new cmd heading: 255.942253 deg. 2025-10-27T04:58:41.955Z,1761541121.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467035 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:41.968Z,1761541121.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497811 2025-10-27T04:58:42.221Z,1761541122.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750326 2025-10-27T04:58:42.288Z,1761541122.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246164,0.952468,0.179464],[-0.967078,-0.253698,0.019948],[0.064530,-0.168646,0.983562]] 2025-10-27T04:58:42.311Z,1761541122.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:42.313Z,1761541122.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:42.314Z,1761541122.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:42.317Z,1761541122.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 55.699036 m, bearing: 247.678567 deg, approach rate: -0.621624 m/s, LOS rate: 0.018282 deg/s, cmd heading: 255.942242 deg, new cmd heading: 255.962557 deg. 2025-10-27T04:58:42.317Z,1761541122.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467390 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:42.474Z,1761541122.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003479 2025-10-27T04:58:42.690Z,1761541122.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245944,0.952467,0.179773],[-0.967165,-0.253407,0.019434],[0.064066,-0.169090,0.983516]] 2025-10-27T04:58:42.727Z,1761541122.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256896 2025-10-27T04:58:42.766Z,1761541122.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:42.771Z,1761541122.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:42.774Z,1761541122.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 55.442257 m, bearing: 247.687917 deg, approach rate: -0.566504 m/s, LOS rate: 0.020723 deg/s, cmd heading: 255.962569 deg, new cmd heading: 255.990748 deg. 2025-10-27T04:58:42.779Z,1761541122.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467881 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:42.976Z,1761541122.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506112 2025-10-27T04:58:43.103Z,1761541123.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245721,0.952756,0.178540],[-0.967250,-0.253087,0.019363],[0.063635,-0.167935,0.983742]] 2025-10-27T04:58:43.146Z,1761541123.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:43.147Z,1761541123.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:43.153Z,1761541123.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 55.214390 m, bearing: 247.696246 deg, approach rate: -0.600421 m/s, LOS rate: 0.022039 deg/s, cmd heading: 255.990736 deg, new cmd heading: 256.015828 deg. 2025-10-27T04:58:43.154Z,1761541123.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468319 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:43.228Z,1761541123.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757813 2025-10-27T04:58:43.260Z,1761541123.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:58:43.483Z,1761541123.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012831 2025-10-27T04:58:43.528Z,1761541123.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245252,0.953104,0.177322],[-0.967397,-0.252527,0.019336],[0.063208,-0.166799,0.983963]] 2025-10-27T04:58:43.580Z,1761541123.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:43.581Z,1761541123.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:43.584Z,1761541123.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 54.954124 m, bearing: 247.703822 deg, approach rate: -0.598958 m/s, LOS rate: 0.017516 deg/s, cmd heading: 256.015817 deg, new cmd heading: 256.038651 deg. 2025-10-27T04:58:43.585Z,1761541123.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468718 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:43.733Z,1761541123.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262346 2025-10-27T04:58:43.932Z,1761541123.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243931,0.953967,0.174483],[-0.967776,-0.251048,0.019605],[0.062506,-0.164078,0.984465]] 2025-10-27T04:58:43.951Z,1761541123.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:43.952Z,1761541123.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:43.955Z,1761541123.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 54.735718 m, bearing: 247.709949 deg, approach rate: -0.589151 m/s, LOS rate: 0.016595 deg/s, cmd heading: 256.038657 deg, new cmd heading: 256.057112 deg. 2025-10-27T04:58:43.956Z,1761541123.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469040 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:43.984Z,1761541123.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513634 2025-10-27T04:58:44.236Z,1761541124.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766310 2025-10-27T04:58:44.263Z,1761541124.263 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:58:44.352Z,1761541124.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:44.354Z,1761541124.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:44.354Z,1761541124.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:44.357Z,1761541124.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 54.498726 m, bearing: 247.716653 deg, approach rate: -0.588576 m/s, LOS rate: 0.016723 deg/s, cmd heading: 256.057126 deg, new cmd heading: 256.077326 deg. 2025-10-27T04:58:44.358Z,1761541124.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469392 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:44.491Z,1761541124.491 [DAT](INFO): DAT read: Rx Time:04:58:43.0074 2025-10-27T04:58:44.493Z,1761541124.493 [DAT](INFO): Rx dataTimestamp_ set to:1761541124.492089 2025-10-27T04:58:44.494Z,1761541124.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023798 2025-10-27T04:58:44.740Z,1761541124.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269859 2025-10-27T04:58:44.742Z,1761541124.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243216,0.954440,0.172887],[-0.967990,-0.250221,0.019606],[0.061972,-0.162584,0.984747]] 2025-10-27T04:58:44.790Z,1761541124.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.21 m. 2025-10-27T04:58:44.791Z,1761541124.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T04:58:44.794Z,1761541124.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.208458 m, nav range: 54.239418 m, bearing: 247.722272 deg, approach rate: -0.594211 m/s, LOS rate: 0.012938 deg/s, cmd heading: 256.077316 deg, new cmd heading: 256.094254 deg. 2025-10-27T04:58:44.795Z,1761541124.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469688 target range: 58.208458 and range: 58.50 m. 2025-10-27T04:58:44.998Z,1761541124.998 [DAT](INFO): DAT read: 04:58:43.0074 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 412,-0.08,-2.354, 2.486,-1.876,-2.435, PHS= 0.183,-1.317, 0.515, RAW= 159.8, 7.4, CAL= 159.3, 7.4, ROT= 350.7, -7.4 2025-10-27T04:58:45.000Z,1761541125.000 [DAT](INFO): got valid direction response: 04:58:43.0074 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 412,-0.08,-2.354, 2.486,-1.876,-2.435, PHS= 0.183,-1.317, 0.515, RAW= 159.8, 7.4, CAL= 159.3, 7.4, ROT= 350.7, -7.4 2025-10-27T04:58:45.002Z,1761541125.002 [DAT](INFO): DAT read: Bearing 48.9, -6.6 (Local) 2025-10-27T04:58:45.002Z,1761541125.002 [DAT](INFO): Local bearing/azimuth received: Bearing 48.9, -6.6 (Local) 2025-10-27T04:58:45.003Z,1761541125.003 [DAT](INFO): DAT read: Range 11 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.4 m/s 2025-10-27T04:58:45.004Z,1761541125.004 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:45.005Z,1761541125.005 [DAT](INFO): direction in FSK: [0.978636,-0.160257,0.128796] 2025-10-27T04:58:45.005Z,1761541125.005 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:45.014Z,1761541125.014 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:45.014Z,1761541125.014 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:45.016Z,1761541125.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:45.162Z,1761541125.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242525,0.955150,0.169913],[-0.968181,-0.249431,0.020221],[0.061696,-0.159602,0.985252]] 2025-10-27T04:58:45.219Z,1761541125.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.200001 m, deltaT: 3.780233 s, deltaX: -2.299999 m, approachRate: -0.608428 m/s, rangeRepo size: 4 2025-10-27T04:58:45.225Z,1761541125.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.919971 m, bearing: 247.841343 deg, lat: 36.779352 deg, lon: -121.859609 deg, deltaT: 3.780233 s, deltaX: -2.288486 m, approachRate: -0.605382 m/s, posRepo size: 4 2025-10-27T04:58:45.226Z,1761541125.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:45.226Z,1761541125.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:58:45.233Z,1761541125.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 54.180145 m, bearing: 247.643954 deg, approach rate: 0.000000 m/s, LOS rate: 0.012938 deg/s, cmd heading: 256.094255 deg, new cmd heading: 256.110857 deg. 2025-10-27T04:58:45.234Z,1761541125.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469978 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:45.244Z,1761541125.244 [DAT](INFO): DAT read: user:275> 2025-10-27T04:58:45.245Z,1761541125.245 [DAT](INFO): DAT read: Tx time:04:58:44.3283 2025-10-27T04:58:45.245Z,1761541125.245 [DAT](INFO): Ping request sent. 2025-10-27T04:58:45.245Z,1761541125.245 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:45.245Z,1761541125.245 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:45.246Z,1761541125.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000778 2025-10-27T04:58:45.499Z,1761541125.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253048 2025-10-27T04:58:45.608Z,1761541125.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:45.608Z,1761541125.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:58:45.611Z,1761541125.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 53.933765 m, bearing: 247.644032 deg, approach rate: -0.632161 m/s, LOS rate: 0.000202 deg/s, cmd heading: 256.110866 deg, new cmd heading: 256.111102 deg. 2025-10-27T04:58:45.612Z,1761541125.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469982 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:45.748Z,1761541125.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502797 2025-10-27T04:58:45.962Z,1761541125.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240981,0.956288,0.165655],[-0.968618,-0.247686,0.020772],[0.060894,-0.155451,0.985965]] 2025-10-27T04:58:45.982Z,1761541125.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:45.982Z,1761541125.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:58:45.000Z,1761541126.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754810 2025-10-27T04:58:46.003Z,1761541126.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 53.707031 m, bearing: 247.643748 deg, approach rate: -0.605737 m/s, LOS rate: -0.000763 deg/s, cmd heading: 256.111112 deg, new cmd heading: 256.110254 deg. 2025-10-27T04:58:46.004Z,1761541126.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469967 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:46.252Z,1761541126.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761 2025-10-27T04:58:46.370Z,1761541126.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240050,0.956905,0.163427],[-0.968856,-0.246699,0.021374],[0.060770,-0.153206,0.986324]] 2025-10-27T04:58:46.389Z,1761541126.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:46.391Z,1761541126.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:46.392Z,1761541126.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:58:46.396Z,1761541126.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 53.458767 m, bearing: 247.643197 deg, approach rate: -0.607603 m/s, LOS rate: -0.001355 deg/s, cmd heading: 256.110265 deg, new cmd heading: 256.108604 deg. 2025-10-27T04:58:46.396Z,1761541126.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469938 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:46.506Z,1761541126.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260666 2025-10-27T04:58:46.756Z,1761541126.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736 2025-10-27T04:58:46.777Z,1761541126.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238981,0.957591,0.160960],[-0.969128,-0.245568,0.022061],[0.060652,-0.150719,0.986714]] 2025-10-27T04:58:46.835Z,1761541126.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:46.836Z,1761541126.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:58:46.838Z,1761541126.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 53.204647 m, bearing: 247.637754 deg, approach rate: -0.577120 m/s, LOS rate: -0.012420 deg/s, cmd heading: 256.108598 deg, new cmd heading: 256.092192 deg. 2025-10-27T04:58:46.844Z,1761541126.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469652 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:47.008Z,1761541127.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762728 2025-10-27T04:58:47.174Z,1761541127.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237648,0.958026,0.160342],[-0.969498,-0.244132,0.021739],[0.059971,-0.150285,0.986822]] 2025-10-27T04:58:47.199Z,1761541127.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:47.200Z,1761541127.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:58:47.203Z,1761541127.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 52.974918 m, bearing: 247.632446 deg, approach rate: -0.623969 m/s, LOS rate: -0.014479 deg/s, cmd heading: 256.092178 deg, new cmd heading: 256.076186 deg. 2025-10-27T04:58:47.204Z,1761541127.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469373 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:47.260Z,1761541127.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015022 2025-10-27T04:58:47.516Z,1761541127.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270371 2025-10-27T04:58:47.630Z,1761541127.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235754,0.958821,0.158376],[-0.970025,-0.242055,0.021468],[0.058920,-0.148567,0.987145]] 2025-10-27T04:58:47.764Z,1761541127.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518582 2025-10-27T04:58:47.774Z,1761541127.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:47.774Z,1761541127.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-27T04:58:47.774Z,1761541127.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.20 m. 2025-10-27T04:58:47.775Z,1761541127.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T04:58:47.790Z,1761541127.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 52.647522 m, bearing: 247.614924 deg, approach rate: -0.569893 m/s, LOS rate: -0.030690 deg/s, cmd heading: 256.076196 deg, new cmd heading: 256.023303 deg. 2025-10-27T04:58:47.795Z,1761541127.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468450 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:48.019Z,1761541128.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773363 2025-10-27T04:58:48.106Z,1761541128.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234302,0.959442,0.156760],[-0.970456,-0.240383,0.020754],[0.057595,-0.147266,0.987419]] 2025-10-27T04:58:48.181Z,1761541128.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:48.188Z,1761541128.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 52.400356 m, bearing: 247.601149 deg, approach rate: -0.607030 m/s, LOS rate: -0.033991 deg/s, cmd heading: 256.023303 deg, new cmd heading: 255.981782 deg. 2025-10-27T04:58:48.189Z,1761541128.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467725 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:48.268Z,1761541128.268 [DAT](INFO): DAT read: Rx Time:04:58:46.8045 2025-10-27T04:58:48.269Z,1761541128.269 [DAT](INFO): Rx dataTimestamp_ set to:1761541128.268314 2025-10-27T04:58:48.269Z,1761541128.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023987 2025-10-27T04:58:48.520Z,1761541128.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274804 2025-10-27T04:58:48.521Z,1761541128.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233030,0.960175,0.154143],[-0.970849,-0.238849,0.020109],[0.056125,-0.144963,0.987844]] 2025-10-27T04:58:48.748Z,1761541128.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:48.750Z,1761541128.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.92 m. 2025-10-27T04:58:48.757Z,1761541128.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.919971 m, nav range: 52.065216 m, bearing: 247.576515 deg, approach rate: -0.589177 m/s, LOS rate: -0.043586 deg/s, cmd heading: 255.981775 deg, new cmd heading: 255.907396 deg. 2025-10-27T04:58:48.757Z,1761541128.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466427 target range: 55.919971 and range: 56.20 m. 2025-10-27T04:58:48.777Z,1761541128.777 [DAT](INFO): DAT read: 04:58:46.8045 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 415, 0.49,-0.181,-1.628, 0.337,-0.227, PHS= 0.148,-1.356, 0.520, RAW= 160.8, 8.0, CAL= 160.4, 8.2, ROT= 349.6, -8.2 2025-10-27T04:58:48.778Z,1761541128.778 [DAT](INFO): got valid direction response: 04:58:46.8045 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 415, 0.49,-0.181,-1.628, 0.337,-0.227, PHS= 0.148,-1.356, 0.520, RAW= 160.8, 8.0, CAL= 160.4, 8.2, ROT= 349.6, -8.2 2025-10-27T04:58:48.780Z,1761541128.780 [DAT](INFO): DAT read: Bearing 51.2, -8.2 (Local) 2025-10-27T04:58:48.780Z,1761541128.780 [DAT](INFO): Local bearing/azimuth received: Bearing 51.2, -8.2 (Local) 2025-10-27T04:58:48.781Z,1761541128.781 [DAT](INFO): DAT read: Range 11 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.5 m/s 2025-10-27T04:58:48.782Z,1761541128.782 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:48.783Z,1761541128.783 [DAT](INFO): direction in FSK: [0.973516,-0.178673,0.142629] 2025-10-27T04:58:48.783Z,1761541128.783 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:48.787Z,1761541128.787 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:48.787Z,1761541128.787 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:48.791Z,1761541128.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:49.024Z,1761541129.024 [DAT](INFO): DAT read: user:276> 2025-10-27T04:58:49.026Z,1761541129.026 [DAT](INFO): DAT read: Tx time:04:58:48.0783 2025-10-27T04:58:49.026Z,1761541129.026 [DAT](INFO): Ping request sent. 2025-10-27T04:58:49.026Z,1761541129.026 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:49.026Z,1761541129.026 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:49.028Z,1761541129.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001231 2025-10-27T04:58:49.112Z,1761541129.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231706,0.960657,0.153132],[-0.971248,-0.237302,0.019080],[0.054668,-0.144308,0.988021]] 2025-10-27T04:58:49.189Z,1761541129.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.779980 s, deltaX: -2.200001 m, approachRate: -0.582014 m/s, rangeRepo size: 4 2025-10-27T04:58:49.196Z,1761541129.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.730484 m, bearing: 247.369075 deg, lat: 36.779352 deg, lon: -121.859610 deg, deltaT: 3.779980 s, deltaX: -2.189487 m, approachRate: -0.579233 m/s, posRepo size: 4 2025-10-27T04:58:49.196Z,1761541129.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:49.203Z,1761541129.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 51.866085 m, bearing: 247.586870 deg, approach rate: 0.000000 m/s, LOS rate: -0.043586 deg/s, cmd heading: 255.907408 deg, new cmd heading: 255.849987 deg. 2025-10-27T04:58:49.204Z,1761541129.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465425 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:49.277Z,1761541129.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250381 2025-10-27T04:58:49.526Z,1761541129.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230419,0.960716,0.154698],[-0.971638,-0.235835,0.017372],[0.053173,-0.146308,0.987809]] 2025-10-27T04:58:49.533Z,1761541129.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505776 2025-10-27T04:58:49.648Z,1761541129.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:49.668Z,1761541129.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 51.588146 m, bearing: 247.570223 deg, approach rate: -0.605605 m/s, LOS rate: -0.036468 deg/s, cmd heading: 255.849980 deg, new cmd heading: 255.799769 deg. 2025-10-27T04:58:49.669Z,1761541129.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464548 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:49.781Z,1761541129.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754330 2025-10-27T04:58:50.016Z,1761541130.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227549,0.961420,0.154574],[-0.972491,-0.232492,0.014443],[0.049823,-0.147035,0.987876]] 2025-10-27T04:58:50.034Z,1761541130.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008363 2025-10-27T04:58:50.064Z,1761541130.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:50.066Z,1761541130.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 51.338631 m, bearing: 247.554273 deg, approach rate: -0.599921 m/s, LOS rate: -0.038536 deg/s, cmd heading: 255.799764 deg, new cmd heading: 255.751681 deg. 2025-10-27T04:58:50.067Z,1761541130.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463709 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:50.288Z,1761541130.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261783 2025-10-27T04:58:50.455Z,1761541130.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:50.458Z,1761541130.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 51.107838 m, bearing: 247.539380 deg, approach rate: -0.589615 m/s, LOS rate: -0.038218 deg/s, cmd heading: 255.751680 deg, new cmd heading: 255.706801 deg. 2025-10-27T04:58:50.460Z,1761541130.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462925 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:50.543Z,1761541130.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516774 2025-10-27T04:58:50.792Z,1761541130.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765854 2025-10-27T04:58:50.822Z,1761541130.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224812,0.962223,0.153580],[-0.973302,-0.229238,0.011509],[0.046281,-0.146892,0.988069]] 2025-10-27T04:58:50.868Z,1761541130.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:50.870Z,1761541130.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:50.873Z,1761541130.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 50.872078 m, bearing: 247.528938 deg, approach rate: -0.568466 m/s, LOS rate: -0.025296 deg/s, cmd heading: 255.706792 deg, new cmd heading: 255.675319 deg. 2025-10-27T04:58:50.874Z,1761541130.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462376 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:51.044Z,1761541131.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017821 2025-10-27T04:58:51.225Z,1761541131.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223607,0.962394,0.154265],[-0.973657,-0.227806,0.009866],[0.044638,-0.147995,0.987980]] 2025-10-27T04:58:51.250Z,1761541131.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:51.253Z,1761541131.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 50.654449 m, bearing: 247.518884 deg, approach rate: -0.571873 m/s, LOS rate: -0.026532 deg/s, cmd heading: 255.675318 deg, new cmd heading: 255.645028 deg. 2025-10-27T04:58:51.254Z,1761541131.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461847 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:51.297Z,1761541131.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271033 2025-10-27T04:58:51.548Z,1761541131.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521824 2025-10-27T04:58:51.650Z,1761541131.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221823,0.962294,0.157434],[-0.974147,-0.225791,0.007550],[0.042812,-0.151689,0.987501]] 2025-10-27T04:58:51.690Z,1761541131.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:51.715Z,1761541131.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 50.398914 m, bearing: 247.510021 deg, approach rate: -0.581623 m/s, LOS rate: -0.020276 deg/s, cmd heading: 255.645019 deg, new cmd heading: 255.618295 deg. 2025-10-27T04:58:51.717Z,1761541131.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461381 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:51.801Z,1761541131.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774883 2025-10-27T04:58:52.036Z,1761541132.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220625,0.962454,0.158134],[-0.974483,-0.224380,0.006075],[0.041329,-0.152758,0.987399]] 2025-10-27T04:58:52.052Z,1761541132.052 [DAT](INFO): DAT read: Rx Time:04:58:50.5515 2025-10-27T04:58:52.053Z,1761541132.053 [DAT](INFO): Rx dataTimestamp_ set to:1761541132.052280 2025-10-27T04:58:52.053Z,1761541132.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027072 2025-10-27T04:58:52.057Z,1761541132.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:52.064Z,1761541132.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 50.186066 m, bearing: 247.502248 deg, approach rate: -0.578838 m/s, LOS rate: -0.021227 deg/s, cmd heading: 255.618300 deg, new cmd heading: 255.594883 deg. 2025-10-27T04:58:52.065Z,1761541132.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460972 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:52.304Z,1761541132.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277819 2025-10-27T04:58:52.438Z,1761541132.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219655,0.962755,0.157656],[-0.974771,-0.223159,0.004657],[0.039666,-0.152655,0.987483]] 2025-10-27T04:58:52.469Z,1761541132.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.73 m. 2025-10-27T04:58:52.472Z,1761541132.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.730484 m, nav range: 49.944923 m, bearing: 247.493078 deg, approach rate: -0.586500 m/s, LOS rate: -0.022411 deg/s, cmd heading: 255.594886 deg, new cmd heading: 255.567243 deg. 2025-10-27T04:58:52.472Z,1761541132.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460490 target range: 53.730484 and range: 54.00 m. 2025-10-27T04:58:52.569Z,1761541132.569 [DAT](INFO): DAT read: 04:58:50.5515 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416, 0.30, 2.053, 0.606, 2.622, 2.014, PHS= 0.141,-1.363, 0.565, RAW= 162.1, 7.5, CAL= 161.6, 7.5, ROT= 348.4, -7.5 2025-10-27T04:58:52.573Z,1761541132.573 [DAT](INFO): got valid direction response: 04:58:50.5515 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416, 0.30, 2.053, 0.606, 2.622, 2.014, PHS= 0.141,-1.363, 0.565, RAW= 162.1, 7.5, CAL= 161.6, 7.5, ROT= 348.4, -7.5 2025-10-27T04:58:52.574Z,1761541132.574 [DAT](INFO): DAT read: Bearing 51.7, -10.3 (Local) 2025-10-27T04:58:52.574Z,1761541132.574 [DAT](INFO): Local bearing/azimuth received: Bearing 51.7, -10.3 (Local) 2025-10-27T04:58:52.576Z,1761541132.576 [DAT](INFO): DAT read: Range 11 to 50 : 51.8 m (Round-trip 69.1 ms) speed 0.5 m/s 2025-10-27T04:58:52.576Z,1761541132.576 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:52.577Z,1761541132.577 [DAT](INFO): direction in FSK: [0.971195,-0.199358,0.130526] 2025-10-27T04:58:52.578Z,1761541132.578 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:52.615Z,1761541132.615 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:52.616Z,1761541132.616 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:52.617Z,1761541132.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:52.808Z,1761541132.808 [DAT](INFO): DAT read: user:277> 2025-10-27T04:58:52.809Z,1761541132.809 [DAT](INFO): DAT read: Tx time:04:58:51.9283 2025-10-27T04:58:52.809Z,1761541132.809 [DAT](INFO): Ping request sent. 2025-10-27T04:58:52.809Z,1761541132.809 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:52.809Z,1761541132.809 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:52.810Z,1761541132.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769 2025-10-27T04:58:52.842Z,1761541132.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218348,0.962829,0.159010],[-0.975130,-0.221613,0.002878],[0.038009,-0.154428,0.987273]] 2025-10-27T04:58:52.925Z,1761541132.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 3.784451 s, deltaX: -2.200001 m, approachRate: -0.581326 m/s, rangeRepo size: 4 2025-10-27T04:58:52.928Z,1761541132.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.541580 m, bearing: 246.990950 deg, lat: 36.779349 deg, lon: -121.859615 deg, deltaT: 3.784451 s, deltaX: -2.188904 m, approachRate: -0.578394 m/s, posRepo size: 4 2025-10-27T04:58:52.928Z,1761541132.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:52.931Z,1761541132.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 50.228035 m, bearing: 247.254924 deg, approach rate: 0.000000 m/s, LOS rate: -0.022411 deg/s, cmd heading: 255.567237 deg, new cmd heading: 255.536565 deg. 2025-10-27T04:58:52.932Z,1761541132.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459954 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:53.060Z,1761541133.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251004 2025-10-27T04:58:53.248Z,1761541133.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216671,0.962823,0.161323],[-0.975568,-0.219696,0.000932],[0.036339,-0.157179,0.986901]] 2025-10-27T04:58:53.264Z,1761541133.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:53.266Z,1761541133.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:53.269Z,1761541133.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 50.030468 m, bearing: 247.247054 deg, approach rate: -0.578361 m/s, LOS rate: -0.023131 deg/s, cmd heading: 255.536556 deg, new cmd heading: 255.512851 deg. 2025-10-27T04:58:53.270Z,1761541133.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459540 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:53.312Z,1761541133.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503002 2025-10-27T04:58:53.564Z,1761541133.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755353 2025-10-27T04:58:53.662Z,1761541133.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215906,0.962705,0.163044],[-0.975782,-0.218744,-0.000555],[0.035131,-0.159215,0.986619]] 2025-10-27T04:58:53.716Z,1761541133.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:53.720Z,1761541133.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 49.788525 m, bearing: 247.239432 deg, approach rate: -0.539083 m/s, LOS rate: -0.017064 deg/s, cmd heading: 255.512842 deg, new cmd heading: 255.489866 deg. 2025-10-27T04:58:53.722Z,1761541133.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459139 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:53.817Z,1761541133.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007599 2025-10-27T04:58:54.068Z,1761541134.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259093 2025-10-27T04:58:54.094Z,1761541134.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:54.097Z,1761541134.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 49.579330 m, bearing: 247.232782 deg, approach rate: -0.552109 m/s, LOS rate: -0.017624 deg/s, cmd heading: 255.489865 deg, new cmd heading: 255.469831 deg. 2025-10-27T04:58:54.098Z,1761541134.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458790 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:54.320Z,1761541134.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511076 2025-10-27T04:58:54.457Z,1761541134.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214008,0.962783,0.165074],[-0.976297,-0.216407,-0.003528],[0.032327,-0.161916,0.986275]] 2025-10-27T04:58:54.488Z,1761541134.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:54.491Z,1761541134.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 49.364632 m, bearing: 247.225365 deg, approach rate: -0.544679 m/s, LOS rate: -0.018899 deg/s, cmd heading: 255.469839 deg, new cmd heading: 255.447490 deg. 2025-10-27T04:58:54.492Z,1761541134.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458400 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:54.573Z,1761541134.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763587 2025-10-27T04:58:54.824Z,1761541134.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014879 2025-10-27T04:58:54.861Z,1761541134.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213251,0.962765,0.166156],[-0.976502,-0.215455,-0.004856],[0.031124,-0.163287,0.986088]] 2025-10-27T04:58:54.913Z,1761541134.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:54.916Z,1761541134.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 49.135880 m, bearing: 247.216563 deg, approach rate: -0.538480 m/s, LOS rate: -0.020817 deg/s, cmd heading: 255.447490 deg, new cmd heading: 255.420960 deg. 2025-10-27T04:58:54.917Z,1761541134.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457937 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:55.076Z,1761541135.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266915 2025-10-27T04:58:55.269Z,1761541135.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212345,0.962824,0.166972],[-0.976735,-0.214362,-0.006059],[0.029959,-0.164374,0.985943]] 2025-10-27T04:58:55.285Z,1761541135.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:55.288Z,1761541135.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:55.290Z,1761541135.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 48.934364 m, bearing: 247.208502 deg, approach rate: -0.537724 m/s, LOS rate: -0.021597 deg/s, cmd heading: 255.420962 deg, new cmd heading: 255.396681 deg. 2025-10-27T04:58:55.292Z,1761541135.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457513 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:55.328Z,1761541135.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519343 2025-10-27T04:58:55.580Z,1761541135.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770878 2025-10-27T04:58:55.692Z,1761541135.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211681,0.962869,0.167553],[-0.976911,-0.213529,-0.007121],[0.028921,-0.165192,0.985837]] 2025-10-27T04:58:55.748Z,1761541135.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:55.751Z,1761541135.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 48.682804 m, bearing: 247.192892 deg, approach rate: -0.546726 m/s, LOS rate: -0.034101 deg/s, cmd heading: 255.396674 deg, new cmd heading: 255.349602 deg. 2025-10-27T04:58:55.768Z,1761541135.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456691 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:55.833Z,1761541135.833 [DAT](INFO): DAT read: Rx Time:04:58:54.3985 2025-10-27T04:58:55.834Z,1761541135.834 [DAT](INFO): Rx dataTimestamp_ set to:1761541135.833062 2025-10-27T04:58:55.834Z,1761541135.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025191 2025-10-27T04:58:56.073Z,1761541136.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211435,0.962778,0.168383],[-0.976993,-0.213109,-0.008281],[0.027911,-0.166260,0.985687]] 2025-10-27T04:58:56.084Z,1761541136.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274966 2025-10-27T04:58:56.113Z,1761541136.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.54 m. 2025-10-27T04:58:56.121Z,1761541136.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.541580 m, nav range: 48.485863 m, bearing: 247.180485 deg, approach rate: -0.540020 m/s, LOS rate: -0.034160 deg/s, cmd heading: 255.349600 deg, new cmd heading: 255.312227 deg. 2025-10-27T04:58:56.127Z,1761541136.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456039 target range: 51.541580 and range: 51.80 m. 2025-10-27T04:58:56.346Z,1761541136.346 [DAT](INFO): DAT read: 04:58:54.3985 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 417, 0.19, 3.021, 1.663,-2.749, 3.039, PHS= 0.084,-1.331, 0.451, RAW= 161.2, 9.8, CAL= 161.2, 10.5, ROT= 348.8, -10.5 2025-10-27T04:58:56.347Z,1761541136.347 [DAT](INFO): got valid direction response: 04:58:54.3985 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 417, 0.19, 3.021, 1.663,-2.749, 3.039, PHS= 0.084,-1.331, 0.451, RAW= 161.2, 9.8, CAL= 161.2, 10.5, ROT= 348.8, -10.5 2025-10-27T04:58:56.348Z,1761541136.348 [DAT](INFO): DAT read: Bearing 55.6, -11.3 (Local) 2025-10-27T04:58:56.349Z,1761541136.349 [DAT](INFO): Local bearing/azimuth received: Bearing 55.6, -11.3 (Local) 2025-10-27T04:58:56.350Z,1761541136.350 [DAT](INFO): DAT read: Range 11 to 50 : 49.5 m (Round-trip 66.1 ms) speed 0.1 m/s 2025-10-27T04:58:56.352Z,1761541136.352 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:58:56.353Z,1761541136.353 [DAT](INFO): direction in FSK: [0.964529,-0.190982,0.182236] 2025-10-27T04:58:56.354Z,1761541136.354 [DAT](INFO): publishing direction and range info 2025-10-27T04:58:56.381Z,1761541136.381 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:58:56.381Z,1761541136.381 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:58:56.381Z,1761541136.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:58:56.478Z,1761541136.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210920,0.962713,0.169397],[-0.977142,-0.212364,-0.009757],[0.026581,-0.167583,0.985500]] 2025-10-27T04:58:56.509Z,1761541136.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.500000 m, deltaT: 3.782040 s, deltaX: -2.299999 m, approachRate: -0.608137 m/s, rangeRepo size: 4 2025-10-27T04:58:56.512Z,1761541136.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.253181 m, bearing: 248.475213 deg, lat: 36.779349 deg, lon: -121.859615 deg, deltaT: 3.782040 s, deltaX: -2.288399 m, approachRate: -0.605070 m/s, posRepo size: 4 2025-10-27T04:58:56.512Z,1761541136.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:56.531Z,1761541136.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 48.277431 m, bearing: 247.170423 deg, approach rate: 0.000000 m/s, LOS rate: -0.034160 deg/s, cmd heading: 255.312225 deg, new cmd heading: 255.271623 deg. 2025-10-27T04:58:56.532Z,1761541136.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455330 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:56.589Z,1761541136.589 [DAT](INFO): DAT read: user:278> 2025-10-27T04:58:56.590Z,1761541136.590 [DAT](INFO): DAT read: Tx time:04:58:55.6783 2025-10-27T04:58:56.590Z,1761541136.590 [DAT](INFO): Ping request sent. 2025-10-27T04:58:56.590Z,1761541136.590 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:58:56.591Z,1761541136.591 [DAT](INFO): publishing transmit ping time 2025-10-27T04:58:56.592Z,1761541136.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001234 2025-10-27T04:58:56.840Z,1761541136.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249557 2025-10-27T04:58:56.950Z,1761541136.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:56.961Z,1761541136.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 48.045223 m, bearing: 247.145903 deg, approach rate: -0.526644 m/s, LOS rate: -0.055878 deg/s, cmd heading: 255.271627 deg, new cmd heading: 255.197713 deg. 2025-10-27T04:58:56.961Z,1761541136.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454041 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:57.092Z,1761541137.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501719 2025-10-27T04:58:57.285Z,1761541137.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210571,0.962665,0.170105],[-0.977270,-0.211665,-0.011885],[0.024564,-0.168741,0.985354]] 2025-10-27T04:58:57.319Z,1761541137.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:57.321Z,1761541137.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:57.329Z,1761541137.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 47.844624 m, bearing: 247.124428 deg, approach rate: -0.540302 m/s, LOS rate: -0.058084 deg/s, cmd heading: 255.197724 deg, new cmd heading: 255.133029 deg. 2025-10-27T04:58:57.330Z,1761541137.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452911 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:57.344Z,1761541137.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753623 2025-10-27T04:58:57.596Z,1761541137.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005700 2025-10-27T04:58:57.720Z,1761541137.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210991,0.962432,0.170899],[-0.977205,-0.211889,-0.013185],[0.023522,-0.169785,0.985200]] 2025-10-27T04:58:57.762Z,1761541137.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:57.781Z,1761541137.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 47.591175 m, bearing: 247.087304 deg, approach rate: -0.574488 m/s, LOS rate: -0.084597 deg/s, cmd heading: 255.133028 deg, new cmd heading: 255.021063 deg. 2025-10-27T04:58:57.782Z,1761541137.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450957 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:57.849Z,1761541137.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258462 2025-10-27T04:58:58.094Z,1761541138.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211212,0.962346,0.171112],[-0.977181,-0.211926,-0.014300],[0.022502,-0.170228,0.985148]] 2025-10-27T04:58:58.100Z,1761541138.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509600 2025-10-27T04:58:58.162Z,1761541138.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:58.165Z,1761541138.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 47.378029 m, bearing: 247.055828 deg, approach rate: -0.533486 m/s, LOS rate: -0.079136 deg/s, cmd heading: 255.021068 deg, new cmd heading: 254.926216 deg. 2025-10-27T04:58:58.166Z,1761541138.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449302 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:58.352Z,1761541138.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761387 2025-10-27T04:58:58.498Z,1761541138.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211630,0.961955,0.172790],[-0.977116,-0.212112,-0.015885],[0.021371,-0.172197,0.984831]] 2025-10-27T04:58:58.517Z,1761541138.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:58.536Z,1761541138.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 47.171890 m, bearing: 247.025211 deg, approach rate: -0.579445 m/s, LOS rate: -0.086439 deg/s, cmd heading: 254.926210 deg, new cmd heading: 254.833958 deg. 2025-10-27T04:58:58.537Z,1761541138.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447691 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:58.604Z,1761541138.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013752 2025-10-27T04:58:58.856Z,1761541138.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265497 2025-10-27T04:58:58.907Z,1761541138.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211948,0.961869,0.172876],[-0.977063,-0.212296,-0.016690],[0.020647,-0.172448,0.984802]] 2025-10-27T04:58:58.969Z,1761541138.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:58.972Z,1761541138.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 46.931366 m, bearing: 246.994408 deg, approach rate: -0.533096 m/s, LOS rate: -0.068623 deg/s, cmd heading: 254.833948 deg, new cmd heading: 254.741063 deg. 2025-10-27T04:58:58.973Z,1761541138.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446070 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:59.108Z,1761541139.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517366 2025-10-27T04:58:59.307Z,1761541139.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212464,0.961652,0.173449],[-0.976962,-0.212695,-0.017474],[0.020088,-0.173166,0.984688]] 2025-10-27T04:58:59.325Z,1761541139.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:58:59.327Z,1761541139.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:59.330Z,1761541139.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 46.716240 m, bearing: 246.966721 deg, approach rate: -0.600912 m/s, LOS rate: -0.077694 deg/s, cmd heading: 254.741058 deg, new cmd heading: 254.657614 deg. 2025-10-27T04:58:59.330Z,1761541139.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444614 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:59.361Z,1761541139.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769946 2025-10-27T04:58:59.612Z,1761541139.612 [DAT](INFO): DAT read: Rx Time:04:58:58.1459 2025-10-27T04:58:59.612Z,1761541139.612 [DAT](INFO): Rx dataTimestamp_ set to:1761541139.612170 2025-10-27T04:58:59.613Z,1761541139.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022594 2025-10-27T04:58:59.749Z,1761541139.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213138,0.961240,0.174900],[-0.976831,-0.213198,-0.018666],[0.019346,-0.174826,0.984409]] 2025-10-27T04:58:59.787Z,1761541139.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.25 m. 2025-10-27T04:58:59.790Z,1761541139.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.253181 m, nav range: 46.450024 m, bearing: 246.927730 deg, approach rate: -0.578371 m/s, LOS rate: -0.085196 deg/s, cmd heading: 254.657620 deg, new cmd heading: 254.539977 deg. 2025-10-27T04:58:59.807Z,1761541139.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442561 target range: 49.253181 and range: 49.50 m. 2025-10-27T04:58:59.865Z,1761541139.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274256 2025-10-27T04:59:00.127Z,1761541140.127 [DAT](INFO): DAT read: 04:58:58.1459 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 423, 0.24,-0.281,-1.685, 0.284,-0.286, PHS= 0.107,-1.353, 0.526, RAW= 162.3, 8.5, CAL= 162.0, 8.8, ROT= 348.0, -8.8 2025-10-27T04:59:00.130Z,1761541140.130 [DAT](INFO): got valid direction response: 04:58:58.1459 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 423, 0.24,-0.281,-1.685, 0.284,-0.286, PHS= 0.107,-1.353, 0.526, RAW= 162.3, 8.5, CAL= 162.0, 8.8, ROT= 348.0, -8.8 2025-10-27T04:59:00.148Z,1761541140.148 [DAT](INFO): DAT read: Bearing 53.8, -12.5 (Local) 2025-10-27T04:59:00.149Z,1761541140.149 [DAT](INFO): Local bearing/azimuth received: Bearing 53.8, -12.5 (Local) 2025-10-27T04:59:00.150Z,1761541140.150 [DAT](INFO): DAT read: Range 11 to 50 : 47.6 m (Round-trip 63.5 ms) speed 0.5 m/s 2025-10-27T04:59:00.155Z,1761541140.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:59:00.156Z,1761541140.156 [DAT](INFO): direction in FSK: [0.966633,-0.205464,0.152986] 2025-10-27T04:59:00.156Z,1761541140.156 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:00.168Z,1761541140.168 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:59:00.168Z,1761541140.168 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:59:00.168Z,1761541140.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:59:00.178Z,1761541140.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213813,0.961002,0.175384],[-0.976694,-0.213751,-0.019472],[0.018776,-0.175460,0.984307]] 2025-10-27T04:59:00.252Z,1761541140.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 3.778393 s, deltaX: -1.900002 m, approachRate: -0.502860 m/s, rangeRepo size: 4 2025-10-27T04:59:00.254Z,1761541140.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.362858 m, bearing: 247.327188 deg, lat: 36.779351 deg, lon: -121.859615 deg, deltaT: 3.778393 s, deltaX: -1.890324 m, approachRate: -0.500298 m/s, posRepo size: 4 2025-10-27T04:59:00.263Z,1761541140.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:00.266Z,1761541140.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 46.114227 m, bearing: 247.200174 deg, approach rate: 0.000000 m/s, LOS rate: -0.085196 deg/s, cmd heading: 254.539977 deg, new cmd heading: 254.424671 deg. 2025-10-27T04:59:00.271Z,1761541140.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440548 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:00.369Z,1761541140.369 [DAT](INFO): DAT read: user:279> 2025-10-27T04:59:00.370Z,1761541140.370 [DAT](INFO): DAT read: Tx time:04:58:59.4783 2025-10-27T04:59:00.370Z,1761541140.370 [DAT](INFO): Ping request sent. 2025-10-27T04:59:00.370Z,1761541140.370 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:59:00.371Z,1761541140.371 [DAT](INFO): publishing transmit ping time 2025-10-27T04:59:00.372Z,1761541140.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001639 2025-10-27T04:59:00.564Z,1761541140.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214820,0.960683,0.175897],[-0.976486,-0.214607,-0.020463],[0.018090,-0.176157,0.984196]] 2025-10-27T04:59:00.596Z,1761541140.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:00.599Z,1761541140.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 45.900681 m, bearing: 247.170078 deg, approach rate: -0.596794 m/s, LOS rate: -0.084501 deg/s, cmd heading: 254.424683 deg, new cmd heading: 254.333974 deg. 2025-10-27T04:59:00.600Z,1761541140.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438965 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:00.622Z,1761541140.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250763 2025-10-27T04:59:00.872Z,1761541140.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501406 2025-10-27T04:59:00.965Z,1761541140.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216194,0.960205,0.176825],[-0.976192,-0.215848,-0.021426],[0.017594,-0.177247,0.984009]] 2025-10-27T04:59:01.062Z,1761541141.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:01.105Z,1761541141.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 45.622547 m, bearing: 247.136468 deg, approach rate: -0.596407 m/s, LOS rate: -0.072510 deg/s, cmd heading: 254.333978 deg, new cmd heading: 254.232534 deg. 2025-10-27T04:59:01.106Z,1761541141.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437195 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:01.125Z,1761541141.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754608 2025-10-27T04:59:01.377Z,1761541141.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006067 2025-10-27T04:59:01.447Z,1761541141.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217758,0.959728,0.177495],[-0.975850,-0.217310,-0.022198],[0.017268,-0.178042,0.983871]] 2025-10-27T04:59:01.499Z,1761541141.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:01.501Z,1761541141.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:01.509Z,1761541141.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 45.370380 m, bearing: 247.106143 deg, approach rate: -0.574304 m/s, LOS rate: -0.069449 deg/s, cmd heading: 254.232536 deg, new cmd heading: 254.141055 deg. 2025-10-27T04:59:01.510Z,1761541141.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435598 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:01.629Z,1761541141.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258676 2025-10-27T04:59:01.850Z,1761541141.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219180,0.959393,0.177553],[-0.975543,-0.218586,-0.023145],[0.016605,-0.178284,0.983839]] 2025-10-27T04:59:01.880Z,1761541141.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509576 2025-10-27T04:59:01.923Z,1761541141.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:01.926Z,1761541141.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 45.128662 m, bearing: 247.086703 deg, approach rate: -0.573880 m/s, LOS rate: -0.046399 deg/s, cmd heading: 254.141066 deg, new cmd heading: 254.082436 deg. 2025-10-27T04:59:01.946Z,1761541141.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434575 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:02.132Z,1761541142.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761792 2025-10-27T04:59:02.266Z,1761541142.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220261,0.959029,0.178182],[-0.975313,-0.219490,-0.024277],[0.015827,-0.179130,0.983698]] 2025-10-27T04:59:02.376Z,1761541142.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:02.379Z,1761541142.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 44.878365 m, bearing: 247.066691 deg, approach rate: -0.551761 m/s, LOS rate: -0.044363 deg/s, cmd heading: 254.082436 deg, new cmd heading: 254.022063 deg. 2025-10-27T04:59:02.380Z,1761541142.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433521 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:02.384Z,1761541142.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013558 2025-10-27T04:59:02.393Z,1761541142.393 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T04:49:02.3Z 2025-10-27T04:59:02.393Z,1761541142.393 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T04:59:02.393Z,1761541142.393 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:59:02.393Z,1761541142.393 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T04:59:02.393Z,1761541142.393 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:59:02.393Z,1761541142.393 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T04:59:02.637Z,1761541142.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266000 2025-10-27T04:59:02.709Z,1761541142.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221637,0.958606,0.178748],[-0.975012,-0.220697,-0.025386],[0.015114,-0.179908,0.983567]] 2025-10-27T04:59:02.813Z,1761541142.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:02.820Z,1761541142.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 44.629154 m, bearing: 247.046978 deg, approach rate: -0.570324 m/s, LOS rate: -0.045364 deg/s, cmd heading: 254.022057 deg, new cmd heading: 253.962590 deg. 2025-10-27T04:59:02.821Z,1761541142.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432483 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:02.829Z,1761541142.829 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T04:59:02.829Z,1761541142.829 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T04:59:02.829Z,1761541142.829 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T04:59:02.829Z,1761541142.829 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T04:59:02.830Z,1761541142.830 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T04:59:02.889Z,1761541142.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518196 2025-10-27T04:59:03.141Z,1761541143.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770761 2025-10-27T04:59:03.354Z,1761541143.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225885,0.957736,0.178095],[-0.974051,-0.224708,-0.027025],[0.014136,-0.179579,0.983642]] 2025-10-27T04:59:03.393Z,1761541143.393 [DAT](INFO): DAT read: Rx Time:04:59:01.9430 2025-10-27T04:59:03.393Z,1761541143.393 [DAT](INFO): Rx dataTimestamp_ set to:1761541143.392871 2025-10-27T04:59:03.394Z,1761541143.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023252 2025-10-27T04:59:03.418Z,1761541143.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:03.445Z,1761541143.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 44.270187 m, bearing: 247.025847 deg, approach rate: -0.593549 m/s, LOS rate: -0.035224 deg/s, cmd heading: 253.962580 deg, new cmd heading: 253.898672 deg. 2025-10-27T04:59:03.446Z,1761541143.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.431368 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:03.645Z,1761541143.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274159 2025-10-27T04:59:03.817Z,1761541143.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227333,0.957350,0.178326],[-0.973726,-0.225971,-0.028186],[0.013313,-0.180049,0.983568]] 2025-10-27T04:59:03.877Z,1761541143.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:03.880Z,1761541143.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.36 m. 2025-10-27T04:59:03.882Z,1761541143.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.362858 m, nav range: 44.012878 m, bearing: 247.005212 deg, approach rate: -0.557123 m/s, LOS rate: -0.044939 deg/s, cmd heading: 253.898677 deg, new cmd heading: 253.836411 deg. 2025-10-27T04:59:03.884Z,1761541143.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430281 target range: 47.362858 and range: 47.60 m. 2025-10-27T04:59:03.901Z,1761541143.901 [DAT](INFO): DAT read: 04:59:01.9430 LVL= 32752, 32753, 29410, 32755, AGC= 64, IDX= 409, 0.35, 1.675, 0.193, 2.260, 1.643, PHS= 0.134,-1.405, 0.573, RAW= 162.2, 7.8, CAL= 161.8, 7.9, ROT= 348.2, -7.9 2025-10-27T04:59:03.902Z,1761541143.902 [DAT](INFO): got valid direction response: 04:59:01.9430 LVL= 32752, 32753, 29410, 32755, AGC= 64, IDX= 409, 0.35, 1.675, 0.193, 2.260, 1.643, PHS= 0.134,-1.405, 0.573, RAW= 162.2, 7.8, CAL= 161.8, 7.9, ROT= 348.2, -7.9 2025-10-27T04:59:03.904Z,1761541143.904 [DAT](INFO): DAT read: Bearing 51.9, -12.7 (Local) 2025-10-27T04:59:03.905Z,1761541143.905 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -12.7 (Local) 2025-10-27T04:59:03.906Z,1761541143.906 [DAT](INFO): DAT read: Range 11 to 50 : 45.4 m (Round-trip 60.6 ms) speed 0.4 m/s 2025-10-27T04:59:03.907Z,1761541143.907 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:59:03.908Z,1761541143.908 [DAT](INFO): direction in FSK: [0.969577,-0.202555,0.137445] 2025-10-27T04:59:03.908Z,1761541143.908 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:03.912Z,1761541143.912 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:59:03.912Z,1761541143.912 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:59:03.912Z,1761541143.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:59:04.150Z,1761541144.150 [DAT](INFO): DAT read: user:280> 2025-10-27T04:59:04.151Z,1761541144.151 [DAT](INFO): DAT read: Tx time:04:59:03.2283 2025-10-27T04:59:04.151Z,1761541144.151 [DAT](INFO): Ping request sent. 2025-10-27T04:59:04.151Z,1761541144.151 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:59:04.152Z,1761541144.152 [DAT](INFO): publishing transmit ping time 2025-10-27T04:59:04.153Z,1761541144.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001115 2025-10-27T04:59:04.243Z,1761541144.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228795,0.956871,0.179028],[-0.973392,-0.227273,-0.029250],[0.012700,-0.180956,0.983409]] 2025-10-27T04:59:04.266Z,1761541144.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 3.779081 s, deltaX: -2.199997 m, approachRate: -0.582151 m/s, rangeRepo size: 4 2025-10-27T04:59:04.268Z,1761541144.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.173618 m, bearing: 246.556166 deg, lat: 36.779349 deg, lon: -121.859617 deg, deltaT: 3.779081 s, deltaX: -2.189240 m, approachRate: -0.579305 m/s, posRepo size: 4 2025-10-27T04:59:04.269Z,1761541144.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:04.272Z,1761541144.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 44.060192 m, bearing: 246.759219 deg, approach rate: 0.000000 m/s, LOS rate: -0.044939 deg/s, cmd heading: 253.836413 deg, new cmd heading: 253.784431 deg. 2025-10-27T04:59:04.273Z,1761541144.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429374 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:04.400Z,1761541144.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248649 2025-10-27T04:59:04.649Z,1761541144.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230209,0.956626,0.178520],[-0.973068,-0.228538,-0.030155],[0.011952,-0.180654,0.983474]] 2025-10-27T04:59:04.652Z,1761541144.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500502 2025-10-27T04:59:04.674Z,1761541144.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:04.697Z,1761541144.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 43.832180 m, bearing: 246.740333 deg, approach rate: -0.558024 m/s, LOS rate: -0.046460 deg/s, cmd heading: 253.784421 deg, new cmd heading: 253.727470 deg. 2025-10-27T04:59:04.703Z,1761541144.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428380 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:04.904Z,1761541144.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752493 2025-10-27T04:59:05.045Z,1761541145.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231165,0.956241,0.179346],[-0.972848,-0.229338,-0.031147],[0.011346,-0.181676,0.983293]] 2025-10-27T04:59:05.143Z,1761541145.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:05.153Z,1761541145.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 43.600761 m, bearing: 246.735335 deg, approach rate: -0.542602 m/s, LOS rate: -0.011782 deg/s, cmd heading: 253.727457 deg, new cmd heading: 253.712382 deg. 2025-10-27T04:59:05.154Z,1761541145.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428116 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:05.156Z,1761541145.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004996 2025-10-27T04:59:05.408Z,1761541145.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256442 2025-10-27T04:59:05.459Z,1761541145.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231904,0.955917,0.180122],[-0.972683,-0.229871,-0.032375],[0.010457,-0.182709,0.983111]] 2025-10-27T04:59:05.478Z,1761541145.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:05.481Z,1761541145.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 43.385876 m, bearing: 246.730835 deg, approach rate: -0.568740 m/s, LOS rate: -0.011969 deg/s, cmd heading: 253.712376 deg, new cmd heading: 253.698810 deg. 2025-10-27T04:59:05.482Z,1761541145.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427879 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:05.660Z,1761541145.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508811 2025-10-27T04:59:05.853Z,1761541145.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232591,0.955757,0.180082],[-0.972527,-0.230390,-0.033342],[0.009622,-0.182889,0.983086]] 2025-10-27T04:59:05.905Z,1761541145.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:05.907Z,1761541145.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:05.910Z,1761541145.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 43.159115 m, bearing: 246.723480 deg, approach rate: -0.529312 m/s, LOS rate: -0.017259 deg/s, cmd heading: 253.698798 deg, new cmd heading: 253.676617 deg. 2025-10-27T04:59:05.911Z,1761541145.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427492 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:05.912Z,1761541145.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760537 2025-10-27T04:59:06.164Z,1761541146.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012420 2025-10-27T04:59:06.259Z,1761541146.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233109,0.955568,0.180417],[-0.972413,-0.230691,-0.034567],[0.008589,-0.183497,0.982983]] 2025-10-27T04:59:06.277Z,1761541146.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:06.280Z,1761541146.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 42.962242 m, bearing: 246.717154 deg, approach rate: -0.531012 m/s, LOS rate: -0.017140 deg/s, cmd heading: 253.676614 deg, new cmd heading: 253.657550 deg. 2025-10-27T04:59:06.281Z,1761541146.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427159 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:06.416Z,1761541146.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264473 2025-10-27T04:59:06.668Z,1761541146.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516480 2025-10-27T04:59:06.744Z,1761541146.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233318,0.955404,0.181014],[-0.972372,-0.230650,-0.035955],[0.007400,-0.184402,0.982823]] 2025-10-27T04:59:06.857Z,1761541146.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:06.865Z,1761541146.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 42.693794 m, bearing: 246.708481 deg, approach rate: -0.464133 m/s, LOS rate: -0.015091 deg/s, cmd heading: 253.657544 deg, new cmd heading: 253.631359 deg. 2025-10-27T04:59:06.866Z,1761541146.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426702 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:06.921Z,1761541146.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769970 2025-10-27T04:59:07.172Z,1761541147.172 [DAT](INFO): DAT read: Rx Time:04:59:05.6901 2025-10-27T04:59:07.172Z,1761541147.172 [DAT](INFO): Rx dataTimestamp_ set to:1761541147.172175 2025-10-27T04:59:07.173Z,1761541147.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021541 2025-10-27T04:59:07.191Z,1761541147.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235032,0.954973,0.181072],[-0.971973,-0.231919,-0.038485],[0.005242,-0.185043,0.982717]] 2025-10-27T04:59:07.272Z,1761541147.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:07.279Z,1761541147.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 42.438671 m, bearing: 246.702963 deg, approach rate: -0.612461 m/s, LOS rate: -0.013325 deg/s, cmd heading: 253.631370 deg, new cmd heading: 253.614718 deg. 2025-10-27T04:59:07.280Z,1761541147.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426412 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:07.424Z,1761541147.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272409 2025-10-27T04:59:07.657Z,1761541147.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.17 m. 2025-10-27T04:59:07.660Z,1761541147.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.173618 m, nav range: 42.230206 m, bearing: 246.698405 deg, approach rate: -0.542180 m/s, LOS rate: -0.011913 deg/s, cmd heading: 253.614705 deg, new cmd heading: 253.600963 deg. 2025-10-27T04:59:07.661Z,1761541147.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426172 target range: 45.173618 and range: 45.40 m. 2025-10-27T04:59:07.681Z,1761541147.681 [DAT](INFO): DAT read: 04:59:05.6901 LVL= 32752, 32753, 30258, 32755, AGC= 63, IDX= 412,-0.43, 2.477, 1.027, 2.994, 2.440, PHS= 0.140,-1.368, 0.510, RAW= 160.7, 8.4, CAL= 160.4, 8.7, ROT= 349.6, -8.7 2025-10-27T04:59:07.682Z,1761541147.682 [DAT](INFO): got valid direction response: 04:59:05.6901 LVL= 32752, 32753, 30258, 32755, AGC= 63, IDX= 412,-0.43, 2.477, 1.027, 2.994, 2.440, PHS= 0.140,-1.368, 0.510, RAW= 160.7, 8.4, CAL= 160.4, 8.7, ROT= 349.6, -8.7 2025-10-27T04:59:07.683Z,1761541147.683 [DAT](INFO): DAT read: Bearing 51.8, -11.7 (Local) 2025-10-27T04:59:07.684Z,1761541147.684 [DAT](INFO): Local bearing/azimuth received: Bearing 51.8, -11.7 (Local) 2025-10-27T04:59:07.685Z,1761541147.685 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m (Round-trip 57.7 ms) speed 0.4 m/s 2025-10-27T04:59:07.686Z,1761541147.686 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:59:07.687Z,1761541147.687 [DAT](INFO): direction in FSK: [0.972254,-0.178442,0.151261] 2025-10-27T04:59:07.687Z,1761541147.687 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:07.690Z,1761541147.690 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:59:07.690Z,1761541147.690 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:59:07.691Z,1761541147.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:59:07.929Z,1761541147.929 [DAT](INFO): DAT read: user:281> 2025-10-27T04:59:07.930Z,1761541147.930 [DAT](INFO): DAT read: Tx time:04:59:07.0283 2025-10-27T04:59:07.930Z,1761541147.930 [DAT](INFO): Ping request sent. 2025-10-27T04:59:07.930Z,1761541147.930 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:59:07.931Z,1761541147.931 [DAT](INFO): publishing transmit ping time 2025-10-27T04:59:07.932Z,1761541147.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001223 2025-10-27T04:59:08.029Z,1761541148.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236169,0.954602,0.181547],[-0.971707,-0.232639,-0.040810],[0.003277,-0.186049,0.982535]] 2025-10-27T04:59:08.072Z,1761541148.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.779909 s, deltaX: -2.200001 m, approachRate: -0.582025 m/s, rangeRepo size: 4 2025-10-27T04:59:08.074Z,1761541148.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.984646 m, bearing: 247.725818 deg, lat: 36.779351 deg, lon: -121.859618 deg, deltaT: 3.779909 s, deltaX: -2.188972 m, approachRate: -0.579107 m/s, posRepo size: 4 2025-10-27T04:59:08.075Z,1761541148.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:08.097Z,1761541148.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 41.997505 m, bearing: 247.075703 deg, approach rate: 0.000000 m/s, LOS rate: -0.011913 deg/s, cmd heading: 253.600962 deg, new cmd heading: 253.586158 deg. 2025-10-27T04:59:08.098Z,1761541148.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425913 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:08.181Z,1761541148.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250694 2025-10-27T04:59:08.408Z,1761541148.408 [CTD_Seabird](ERROR): Failed to parse device response: .03 2025-10-27T04:59:08.422Z,1761541148.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236803,0.954500,0.181259],[-0.971555,-0.233114,-0.041703],[0.002448,-0.185978,0.982551]] 2025-10-27T04:59:08.432Z,1761541148.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501790 2025-10-27T04:59:08.440Z,1761541148.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:08.442Z,1761541148.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:08.445Z,1761541148.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 41.799389 m, bearing: 247.073457 deg, approach rate: -0.533530 m/s, LOS rate: -0.006079 deg/s, cmd heading: 253.586155 deg, new cmd heading: 253.579383 deg. 2025-10-27T04:59:08.446Z,1761541148.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425795 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:08.685Z,1761541148.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754176 2025-10-27T04:59:08.844Z,1761541148.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237231,0.954614,0.180090],[-0.971451,-0.233488,-0.042020],[0.001936,-0.184917,0.982752]] 2025-10-27T04:59:08.904Z,1761541148.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:08.907Z,1761541148.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 41.555336 m, bearing: 247.070829 deg, approach rate: -0.528609 m/s, LOS rate: -0.005726 deg/s, cmd heading: 253.579379 deg, new cmd heading: 253.571448 deg. 2025-10-27T04:59:08.908Z,1761541148.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425657 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:08.936Z,1761541148.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005790 2025-10-27T04:59:09.189Z,1761541149.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258655 2025-10-27T04:59:09.227Z,1761541149.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238080,0.954516,0.179490],[-0.971245,-0.234221,-0.042711],[0.001272,-0.184498,0.982832]] 2025-10-27T04:59:09.356Z,1761541149.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:09.359Z,1761541149.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 41.315075 m, bearing: 247.063010 deg, approach rate: -0.531646 m/s, LOS rate: -0.017402 deg/s, cmd heading: 253.571456 deg, new cmd heading: 253.547863 deg. 2025-10-27T04:59:09.360Z,1761541149.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425245 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:09.440Z,1761541149.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509812 2025-10-27T04:59:09.692Z,1761541149.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761735 2025-10-27T04:59:09.698Z,1761541149.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:09.703Z,1761541149.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 41.134087 m, bearing: 247.057059 deg, approach rate: -0.529430 m/s, LOS rate: -0.017482 deg/s, cmd heading: 253.547851 deg, new cmd heading: 253.529921 deg. 2025-10-27T04:59:09.705Z,1761541149.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.424932 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:09.944Z,1761541149.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013650 2025-10-27T04:59:10.062Z,1761541150.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240187,0.954271,0.177978],[-0.970726,-0.236109,-0.044077],[-0.000039,-0.183355,0.983047]] 2025-10-27T04:59:10.159Z,1761541150.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:10.162Z,1761541150.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 40.880299 m, bearing: 247.041074 deg, approach rate: -0.555029 m/s, LOS rate: -0.035176 deg/s, cmd heading: 253.529928 deg, new cmd heading: 253.481675 deg. 2025-10-27T04:59:10.167Z,1761541150.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.424090 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:10.196Z,1761541150.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265832 2025-10-27T04:59:10.452Z,1761541150.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521714 2025-10-27T04:59:10.469Z,1761541150.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241351,0.954049,0.177594],[-0.970438,-0.237158,-0.044795],[-0.000619,-0.183155,0.983084]] 2025-10-27T04:59:10.507Z,1761541150.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:10.513Z,1761541150.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:10.520Z,1761541150.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 40.688148 m, bearing: 247.029165 deg, approach rate: -0.537044 m/s, LOS rate: -0.033444 deg/s, cmd heading: 253.481680 deg, new cmd heading: 253.445782 deg. 2025-10-27T04:59:10.521Z,1761541150.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423463 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:10.704Z,1761541150.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774088 2025-10-27T04:59:10.916Z,1761541150.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242823,0.953657,0.177692],[-0.970070,-0.238531,-0.045463],[-0.000971,-0.183414,0.983035]] 2025-10-27T04:59:10.956Z,1761541150.956 [DAT](INFO): DAT read: Rx Time:04:59:09.4876 2025-10-27T04:59:10.957Z,1761541150.957 [DAT](INFO): Rx dataTimestamp_ set to:1761541150.956296 2025-10-27T04:59:10.957Z,1761541150.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026918 2025-10-27T04:59:10.965Z,1761541150.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:10.968Z,1761541150.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 40.413109 m, bearing: 246.998328 deg, approach rate: -0.608713 m/s, LOS rate: -0.068712 deg/s, cmd heading: 253.445780 deg, new cmd heading: 253.352641 deg. 2025-10-27T04:59:10.969Z,1761541150.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.421838 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:11.208Z,1761541151.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277896 2025-10-27T04:59:11.280Z,1761541151.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244308,0.953373,0.177180],[-0.969697,-0.239929,-0.046074],[-0.001415,-0.183067,0.983099]] 2025-10-27T04:59:11.303Z,1761541151.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.98 m. 2025-10-27T04:59:11.315Z,1761541151.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.984646 m, nav range: 40.217266 m, bearing: 246.976545 deg, approach rate: -0.582126 m/s, LOS rate: -0.065064 deg/s, cmd heading: 253.352644 deg, new cmd heading: 253.286976 deg. 2025-10-27T04:59:11.322Z,1761541151.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420691 target range: 42.984646 and range: 43.20 m. 2025-10-27T04:59:11.465Z,1761541151.465 [DAT](INFO): DAT read: 04:59:09.4876 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 418, 0.12, 1.190,-0.276, 1.693, 1.164, PHS= 0.128,-1.395, 0.485, RAW= 160.3, 9.1, CAL= 160.1, 9.6, ROT= 349.9, -9.6 2025-10-27T04:59:11.466Z,1761541151.466 [DAT](INFO): got valid direction response: 04:59:09.4876 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 418, 0.12, 1.190,-0.276, 1.693, 1.164, PHS= 0.128,-1.395, 0.485, RAW= 160.3, 9.1, CAL= 160.1, 9.6, ROT= 349.9, -9.6 2025-10-27T04:59:11.468Z,1761541151.468 [DAT](INFO): DAT read: Bearing 51.9, -11.7 (Local) 2025-10-27T04:59:11.468Z,1761541151.468 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -11.7 (Local) 2025-10-27T04:59:11.469Z,1761541151.469 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.2 ms) speed 0.4 m/s 2025-10-27T04:59:11.470Z,1761541151.470 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:59:11.471Z,1761541151.471 [DAT](INFO): direction in FSK: [0.970716,-0.172911,0.166769] 2025-10-27T04:59:11.471Z,1761541151.471 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:11.475Z,1761541151.475 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:59:11.475Z,1761541151.475 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:59:11.475Z,1761541151.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:59:11.678Z,1761541151.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246289,0.952860,0.177201],[-0.969195,-0.241861,-0.046515],[-0.001464,-0.183198,0.983075]] 2025-10-27T04:59:11.713Z,1761541151.713 [DAT](INFO): DAT read: user:282> 2025-10-27T04:59:11.714Z,1761541151.714 [DAT](INFO): DAT read: Tx time:04:59:10.7783 2025-10-27T04:59:11.714Z,1761541151.714 [DAT](INFO): Ping request sent. 2025-10-27T04:59:11.714Z,1761541151.714 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:59:11.715Z,1761541151.715 [DAT](INFO): publishing transmit ping time 2025-10-27T04:59:11.716Z,1761541151.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001687 2025-10-27T04:59:11.785Z,1761541151.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.783988 s, deltaX: -1.799999 m, approachRate: -0.475688 m/s, rangeRepo size: 4 2025-10-27T04:59:11.791Z,1761541151.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.193485 m, bearing: 247.570307 deg, lat: 36.779353 deg, lon: -121.859620 deg, deltaT: 3.783988 s, deltaX: -1.791161 m, approachRate: -0.473353 m/s, posRepo size: 4 2025-10-27T04:59:11.792Z,1761541151.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:11.799Z,1761541151.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 40.001488 m, bearing: 247.329151 deg, approach rate: 0.000000 m/s, LOS rate: -0.065064 deg/s, cmd heading: 253.286965 deg, new cmd heading: 253.192610 deg. 2025-10-27T04:59:11.804Z,1761541151.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419044 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:11.964Z,1761541151.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249912 2025-10-27T04:59:12.085Z,1761541152.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248436,0.952234,0.177568],[-0.968647,-0.243936,-0.047092],[-0.001527,-0.183700,0.982981]] 2025-10-27T04:59:12.162Z,1761541152.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:12.165Z,1761541152.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 39.784424 m, bearing: 247.297576 deg, approach rate: -0.575759 m/s, LOS rate: -0.084209 deg/s, cmd heading: 253.192599 deg, new cmd heading: 253.097358 deg. 2025-10-27T04:59:12.166Z,1761541152.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417382 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:12.217Z,1761541152.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502496 2025-10-27T04:59:12.468Z,1761541152.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753849 2025-10-27T04:59:12.526Z,1761541152.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:12.529Z,1761541152.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:12.532Z,1761541152.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 39.551102 m, bearing: 247.263248 deg, approach rate: -0.635459 m/s, LOS rate: -0.094045 deg/s, cmd heading: 253.097359 deg, new cmd heading: 252.993767 deg. 2025-10-27T04:59:12.533Z,1761541152.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415574 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:12.721Z,1761541152.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006242 2025-10-27T04:59:12.921Z,1761541152.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252848,0.951285,0.176420],[-0.967505,-0.248318,-0.047673],[-0.001542,-0.182741,0.983160]] 2025-10-27T04:59:12.968Z,1761541152.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:12.972Z,1761541152.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257912 2025-10-27T04:59:12.973Z,1761541152.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 39.290340 m, bearing: 247.226153 deg, approach rate: -0.593354 m/s, LOS rate: -0.084970 deg/s, cmd heading: 252.993759 deg, new cmd heading: 252.881734 deg. 2025-10-27T04:59:12.974Z,1761541152.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413619 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:13.225Z,1761541153.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510458 2025-10-27T04:59:13.294Z,1761541153.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255675,0.950557,0.176272],[-0.966762,-0.251149,-0.047909],[-0.001270,-0.182662,0.983175]] 2025-10-27T04:59:13.345Z,1761541153.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:13.348Z,1761541153.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 39.054489 m, bearing: 247.191334 deg, approach rate: -0.625118 m/s, LOS rate: -0.092844 deg/s, cmd heading: 252.881743 deg, new cmd heading: 252.776656 deg. 2025-10-27T04:59:13.349Z,1761541153.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411785 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:13.476Z,1761541153.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761756 2025-10-27T04:59:13.698Z,1761541153.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257833,0.949982,0.176229],[-0.966188,-0.253216,-0.048597],[-0.001542,-0.182801,0.983149]] 2025-10-27T04:59:13.729Z,1761541153.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015021 2025-10-27T04:59:13.753Z,1761541153.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:13.764Z,1761541153.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 38.817268 m, bearing: 247.156673 deg, approach rate: -0.582314 m/s, LOS rate: -0.085604 deg/s, cmd heading: 252.776668 deg, new cmd heading: 252.672049 deg. 2025-10-27T04:59:13.765Z,1761541153.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409959 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:13.980Z,1761541153.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265862 2025-10-27T04:59:14.110Z,1761541154.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260938,0.948961,0.177156],[-0.965355,-0.256240,-0.049312],[-0.001401,-0.183886,0.982947]] 2025-10-27T04:59:14.217Z,1761541154.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:14.220Z,1761541154.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 38.515846 m, bearing: 247.118013 deg, approach rate: -0.649450 m/s, LOS rate: -0.083949 deg/s, cmd heading: 252.672057 deg, new cmd heading: 252.555170 deg. 2025-10-27T04:59:14.221Z,1761541154.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407919 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:14.232Z,1761541154.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517855 2025-10-27T04:59:14.403Z,1761541154.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:59:14.484Z,1761541154.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769767 2025-10-27T04:59:14.507Z,1761541154.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263804,0.948176,0.177117],[-0.964575,-0.259054,-0.049855],[-0.001388,-0.183995,0.982926]] 2025-10-27T04:59:14.546Z,1761541154.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:14.553Z,1761541154.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:14.560Z,1761541154.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 38.316959 m, bearing: 247.093058 deg, approach rate: -0.592587 m/s, LOS rate: -0.074738 deg/s, cmd heading: 252.555178 deg, new cmd heading: 252.479926 deg. 2025-10-27T04:59:14.561Z,1761541154.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406606 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:14.736Z,1761541154.736 [DAT](INFO): DAT read: Rx Time:04:59:13.2346 2025-10-27T04:59:14.737Z,1761541154.737 [DAT](INFO): Rx dataTimestamp_ set to:1761541154.736260 2025-10-27T04:59:14.737Z,1761541154.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022974 2025-10-27T04:59:14.916Z,1761541154.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266494,0.947242,0.178083],[-0.963836,-0.261615,-0.050783],[-0.001515,-0.185176,0.982704]] 2025-10-27T04:59:14.988Z,1761541154.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273860 2025-10-27T04:59:14.996Z,1761541154.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.19 m. 2025-10-27T04:59:14.999Z,1761541154.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.193485 m, nav range: 38.039543 m, bearing: 247.058967 deg, approach rate: -0.625699 m/s, LOS rate: -0.077453 deg/s, cmd heading: 252.479937 deg, new cmd heading: 252.376916 deg. 2025-10-27T04:59:14.000Z,1761541155.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404808 target range: 41.193485 and range: 41.40 m. 2025-10-27T04:59:15.245Z,1761541155.246 [DAT](INFO): DAT read: 04:59:13.2346 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403, 0.24, 1.932, 0.481, 2.483, 1.933, PHS= 0.100,-1.407, 0.506, RAW= 161.6, 9.2, CAL= 161.4, 9.8, ROT= 348.6, -9.8 2025-10-27T04:59:15.247Z,1761541155.247 [DAT](INFO): got valid direction response: 04:59:13.2346 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 403, 0.24, 1.932, 0.481, 2.483, 1.933, PHS= 0.100,-1.407, 0.506, RAW= 161.6, 9.2, CAL= 161.4, 9.8, ROT= 348.6, -9.8 2025-10-27T04:59:15.248Z,1761541155.248 [DAT](INFO): DAT read: Bearing 50.7, -13.2 (Local) 2025-10-27T04:59:15.248Z,1761541155.248 [DAT](INFO): Local bearing/azimuth received: Bearing 50.7, -13.2 (Local) 2025-10-27T04:59:15.249Z,1761541155.249 [DAT](INFO): DAT read: Range 11 to 50 : 39.1 m (Round-trip 52.2 ms) speed 0.8 m/s 2025-10-27T04:59:15.250Z,1761541155.250 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:59:15.251Z,1761541155.251 [DAT](INFO): direction in FSK: [0.965967,-0.194773,0.170209] 2025-10-27T04:59:15.251Z,1761541155.251 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:15.261Z,1761541155.261 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:59:15.261Z,1761541155.261 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:59:15.261Z,1761541155.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T04:59:15.329Z,1761541155.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269094,0.946495,0.178147],[-0.963112,-0.264132,-0.051468],[-0.001660,-0.185425,0.982657]] 2025-10-27T04:59:15.407Z,1761541155.407 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:59:15.429Z,1761541155.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.099998 m, deltaT: 3.780331 s, deltaX: -2.300003 m, approachRate: -0.608413 m/s, rangeRepo size: 4 2025-10-27T04:59:15.443Z,1761541155.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.905041 m, bearing: 244.997476 deg, lat: 36.779351 deg, lon: -121.859620 deg, deltaT: 3.780331 s, deltaX: -2.288445 m, approachRate: -0.605356 m/s, posRepo size: 4 2025-10-27T04:59:15.444Z,1761541155.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:15.447Z,1761541155.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 37.875858 m, bearing: 246.723060 deg, approach rate: 0.000000 m/s, LOS rate: -0.077453 deg/s, cmd heading: 252.376911 deg, new cmd heading: 252.276429 deg. 2025-10-27T04:59:15.452Z,1761541155.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403054 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:15.492Z,1761541155.492 [DAT](INFO): DAT read: user:283> 2025-10-27T04:59:15.493Z,1761541155.493 [DAT](INFO): DAT read: Tx time:04:59:14.5783 2025-10-27T04:59:15.493Z,1761541155.493 [DAT](INFO): Ping request sent. 2025-10-27T04:59:15.494Z,1761541155.494 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:59:15.494Z,1761541155.494 [DAT](INFO): publishing transmit ping time 2025-10-27T04:59:15.495Z,1761541155.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001093 2025-10-27T04:59:15.725Z,1761541155.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271071,0.945875,0.178443],[-0.962557,-0.265971,-0.052376],[-0.002081,-0.185959,0.982555]] 2025-10-27T04:59:15.744Z,1761541155.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250263 2025-10-27T04:59:15.822Z,1761541155.822 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T04:59:15.822Z,1761541155.822 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:59:15.822Z,1761541155.822 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T04:59:15.824Z,1761541155.824 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.099998 m (mode 2.000000 count ). 2025-10-27T04:59:15.824Z,1761541155.824 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T04:59:15.824Z,1761541155.824 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T04:59:15.826Z,1761541155.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:15.829Z,1761541155.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 37.627941 m, bearing: 246.697624 deg, approach rate: -0.623464 m/s, LOS rate: -0.064390 deg/s, cmd heading: 252.276425 deg, new cmd heading: 252.199611 deg. 2025-10-27T04:59:15.830Z,1761541155.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401713 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:15.996Z,1761541155.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502333 2025-10-27T04:59:16.135Z,1761541156.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273468,0.945291,0.177879],[-0.961878,-0.268296,-0.052985],[-0.002362,-0.185587,0.982625]] 2025-10-27T04:59:16.193Z,1761541156.193 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T04:59:16.193Z,1761541156.193 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T04:59:16.199Z,1761541156.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:16.202Z,1761541156.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 37.425369 m, bearing: 246.692052 deg, approach rate: -0.549021 m/s, LOS rate: -0.015183 deg/s, cmd heading: 252.199599 deg, new cmd heading: 252.182793 deg. 2025-10-27T04:59:16.208Z,1761541156.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401420 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:16.249Z,1761541156.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754969 2025-10-27T04:59:16.500Z,1761541156.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006372 2025-10-27T04:59:16.526Z,1761541156.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274917,0.944619,0.179210],[-0.961464,-0.269529,-0.054242],[-0.002935,-0.187216,0.982314]] 2025-10-27T04:59:16.568Z,1761541156.568 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T04:59:16.568Z,1761541156.568 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T04:59:16.569Z,1761541156.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:16.571Z,1761541156.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:16.574Z,1761541156.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 37.201496 m, bearing: 246.686286 deg, approach rate: -0.595933 m/s, LOS rate: -0.015442 deg/s, cmd heading: 252.182797 deg, new cmd heading: 252.165394 deg. 2025-10-27T04:59:16.575Z,1761541156.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401116 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:16.752Z,1761541156.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258541 2025-10-27T04:59:17.006Z,1761541157.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512145 2025-10-27T04:59:17.024Z,1761541157.024 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T04:59:17.024Z,1761541157.024 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:59:17.024Z,1761541157.024 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T04:59:17.024Z,1761541157.024 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T04:59:17.026Z,1761541157.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:17.029Z,1761541157.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 36.940922 m, bearing: 246.679486 deg, approach rate: -0.571735 m/s, LOS rate: -0.015024 deg/s, cmd heading: 252.165393 deg, new cmd heading: 252.144851 deg. 2025-10-27T04:59:17.030Z,1761541157.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400758 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:17.256Z,1761541157.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762331 2025-10-27T04:59:17.340Z,1761541157.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276811,0.944028,0.179405],[-0.960914,-0.271062,-0.056308],[-0.004526,-0.187979,0.982163]] 2025-10-27T04:59:17.378Z,1761541157.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:17.401Z,1761541157.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 36.748287 m, bearing: 246.693682 deg, approach rate: -0.547721 m/s, LOS rate: 0.040574 deg/s, cmd heading: 252.144848 deg, new cmd heading: 252.187658 deg. 2025-10-27T04:59:17.402Z,1761541157.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401505 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:17.509Z,1761541157.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015241 2025-10-27T04:59:17.741Z,1761541157.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276870,0.944230,0.178247],[-0.960892,-0.271026,-0.056837],[-0.005357,-0.187013,0.982343]] 2025-10-27T04:59:17.760Z,1761541157.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266438 2025-10-27T04:59:17.763Z,1761541157.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:17.766Z,1761541157.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 36.538670 m, bearing: 246.709352 deg, approach rate: -0.544897 m/s, LOS rate: 0.040967 deg/s, cmd heading: 252.187660 deg, new cmd heading: 252.234939 deg. 2025-10-27T04:59:17.767Z,1761541157.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402330 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:18.012Z,1761541158.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518600 2025-10-27T04:59:18.143Z,1761541158.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276778,0.944546,0.176714],[-0.960914,-0.270863,-0.057249],[-0.006209,-0.185652,0.982596]] 2025-10-27T04:59:18.187Z,1761541158.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:18.190Z,1761541158.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 36.323574 m, bearing: 246.736335 deg, approach rate: -0.507206 m/s, LOS rate: 0.064006 deg/s, cmd heading: 252.234952 deg, new cmd heading: 252.316382 deg. 2025-10-27T04:59:18.191Z,1761541158.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403752 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:18.264Z,1761541158.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770406 2025-10-27T04:59:18.516Z,1761541158.516 [DAT](INFO): DAT read: Rx Time:04:59:17.0313 2025-10-27T04:59:18.516Z,1761541158.516 [DAT](INFO): Rx dataTimestamp_ set to:1761541158.516172 2025-10-27T04:59:18.517Z,1761541158.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023402 2025-10-27T04:59:18.563Z,1761541158.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276589,0.944529,0.177099],[-0.960959,-0.270405,-0.058640],[-0.007499,-0.186404,0.982444]] 2025-10-27T04:59:18.585Z,1761541158.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:18.605Z,1761541158.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:18.628Z,1761541158.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 36.121265 m, bearing: 246.761907 deg, approach rate: -0.484604 m/s, LOS rate: 0.061598 deg/s, cmd heading: 252.316395 deg, new cmd heading: 252.393541 deg. 2025-10-27T04:59:18.630Z,1761541158.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405098 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:18.768Z,1761541158.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274289 2025-10-27T04:59:18.967Z,1761541158.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276059,0.944635,0.177358],[-0.961100,-0.269607,-0.059990],[-0.008852,-0.187019,0.982316]] 2025-10-27T04:59:19.042Z,1761541159.042 [DAT](INFO): DAT read: 04:59:17.0313 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 402, 0.23,-1.399,-2.877,-0.892,-1.407, PHS= 0.110,-1.425, 0.471, RAW= 160.3, 9.7, CAL= 160.2, 10.4, ROT= 349.8, -10.4 2025-10-27T04:59:19.047Z,1761541159.047 [DAT](INFO): got valid direction response: 04:59:17.0313 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 402, 0.23,-1.399,-2.877,-0.892,-1.407, PHS= 0.110,-1.425, 0.471, RAW= 160.3, 9.7, CAL= 160.2, 10.4, ROT= 349.8, -10.4 2025-10-27T04:59:19.048Z,1761541159.048 [DAT](INFO): DAT read: Bearing 50.5, -12.3 (Local) 2025-10-27T04:59:19.049Z,1761541159.049 [DAT](INFO): Local bearing/azimuth received: Bearing 50.5, -12.3 (Local) 2025-10-27T04:59:19.050Z,1761541159.050 [DAT](INFO): DAT read: Range 11 to 50 : 36.7 m (Round-trip 49.0 ms) speed 0.4 m/s 2025-10-27T04:59:19.051Z,1761541159.051 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:59:19.060Z,1761541159.060 [DAT](INFO): direction in FSK: [0.968027,-0.174176,0.180519] 2025-10-27T04:59:19.060Z,1761541159.060 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:19.064Z,1761541159.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.91 m. 2025-10-27T04:59:19.066Z,1761541159.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.905041 m, nav range: 35.911850 m, bearing: 246.788462 deg, approach rate: -0.464576 m/s, LOS rate: 0.059254 deg/s, cmd heading: 252.393549 deg, new cmd heading: 252.473678 deg. 2025-10-27T04:59:19.072Z,1761541159.072 [DAT](INFO): ****** received valid address query ****** 2025-10-27T04:59:19.072Z,1761541159.072 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T04:59:19.072Z,1761541159.072 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T04:59:19.076Z,1761541159.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406497 target range: 38.905041 and range: 39.10 m. 2025-10-27T04:59:19.272Z,1761541159.272 [DAT](INFO): DAT read: user:284> 2025-10-27T04:59:19.273Z,1761541159.273 [DAT](INFO): DAT read: Tx time:04:59:18.3782 2025-10-27T04:59:19.273Z,1761541159.273 [DAT](INFO): Ping request sent. 2025-10-27T04:59:19.273Z,1761541159.273 [DAT](INFO): transmitted an acoustic signal 2025-10-27T04:59:19.273Z,1761541159.273 [DAT](INFO): publishing transmit ping time 2025-10-27T04:59:19.274Z,1761541159.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T04:59:19.419Z,1761541159.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275518,0.944766,0.177500],[-0.961245,-0.268872,-0.060952],[-0.009861,-0.187414,0.982231]] 2025-10-27T04:59:19.475Z,1761541159.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.700001 m, deltaT: 3.781249 s, deltaX: -2.399998 m, approachRate: -0.634710 m/s, rangeRepo size: 4 2025-10-27T04:59:19.477Z,1761541159.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.517120 m, bearing: 245.952815 deg, lat: 36.779346 deg, lon: -121.859620 deg, deltaT: 3.781249 s, deltaX: -2.387920 m, approachRate: -0.631516 m/s, posRepo size: 4 2025-10-27T04:59:19.478Z,1761541159.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.52 m. 2025-10-27T04:59:19.481Z,1761541159.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.517120 m, nav range: 35.892265 m, bearing: 246.035519 deg, approach rate: 0.000000 m/s, LOS rate: 0.059254 deg/s, cmd heading: 252.473681 deg, new cmd heading: 252.548177 deg. 2025-10-27T04:59:19.482Z,1761541159.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407797 target range: 36.517120 and range: 36.70 m. 2025-10-27T04:59:19.524Z,1761541159.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250875 2025-10-27T04:59:19.776Z,1761541159.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503114 2025-10-27T04:59:19.837Z,1761541159.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275511,0.944821,0.177219],[-0.961240,-0.268739,-0.061629],[-0.010603,-0.187329,0.982240]] 2025-10-27T04:59:19.856Z,1761541159.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.52 m. 2025-10-27T04:59:19.860Z,1761541159.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.517120 m, nav range: 35.698196 m, bearing: 246.063012 deg, approach rate: -0.508009 m/s, LOS rate: 0.072359 deg/s, cmd heading: 252.548184 deg, new cmd heading: 252.631112 deg. 2025-10-27T04:59:19.861Z,1761541159.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409245 target range: 36.517120 and range: 36.70 m. 2025-10-27T04:59:20.031Z,1761541160.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756847 2025-10-27T04:59:20.225Z,1761541160.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274814,0.945195,0.176306],[-0.961433,-0.268012,-0.061776],[-0.011138,-0.186484,0.982395]] 2025-10-27T04:59:20.278Z,1761541160.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.52 m. 2025-10-27T04:59:20.280Z,1761541160.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006872 2025-10-27T04:59:20.283Z,1761541160.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.517120 m, nav range: 35.485928 m, bearing: 246.089304 deg, approach rate: -0.502839 m/s, LOS rate: 0.062654 deg/s, cmd heading: 252.631103 deg, new cmd heading: 252.710449 deg. 2025-10-27T04:59:20.284Z,1761541160.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410629 target range: 36.517120 and range: 36.70 m. 2025-10-27T04:59:20.532Z,1761541160.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258771 2025-10-27T04:59:20.671Z,1761541160.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:20.673Z,1761541160.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.52 m. 2025-10-27T04:59:20.676Z,1761541160.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.517120 m, nav range: 35.286995 m, bearing: 246.114232 deg, approach rate: -0.503769 m/s, LOS rate: 0.063482 deg/s, cmd heading: 252.710442 deg, new cmd heading: 252.785647 deg. 2025-10-27T04:59:20.677Z,1761541160.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411942 target range: 36.517120 and range: 36.70 m. 2025-10-27T04:59:20.784Z,1761541160.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885 2025-10-27T04:59:21.039Z,1761541161.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765377 2025-10-27T04:59:21.078Z,1761541161.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273290,0.946336,0.172513],[-0.961857,-0.266603,-0.061270],[-0.011989,-0.182677,0.983100]] 2025-10-27T04:59:21.138Z,1761541161.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.52 m. 2025-10-27T04:59:21.141Z,1761541161.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.517120 m, nav range: 35.034267 m, bearing: 246.121613 deg, approach rate: -0.544418 m/s, LOS rate: 0.016015 deg/s, cmd heading: 252.785656 deg, new cmd heading: 252.807960 deg. 2025-10-27T04:59:21.141Z,1761541161.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412331 target range: 36.517120 and range: 36.70 m. 2025-10-27T04:59:21.288Z,1761541161.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014776 2025-10-27T04:59:21.441Z,1761541161.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273144,0.946855,0.169876],[-0.961894,-0.266559,-0.060887],[-0.012369,-0.180034,0.983583]] 2025-10-27T04:59:21.464Z,1761541161.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.52 m. 2025-10-27T04:59:21.467Z,1761541161.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.517120 m, nav range: 34.858585 m, bearing: 246.126786 deg, approach rate: -0.537525 m/s, LOS rate: 0.015907 deg/s, cmd heading: 252.807950 deg, new cmd heading: 252.823547 deg. 2025-10-27T04:59:21.468Z,1761541161.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412603 target range: 36.517120 and range: 36.70 m. 2025-10-27T04:59:21.541Z,1761541161.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267558 2025-10-27T04:59:21.793Z,1761541161.793 [DAT](INFO): DAT read: Rx Time:04:59:20.5540 2025-10-27T04:59:21.793Z,1761541161.793 [DAT](INFO): Rx dataTimestamp_ set to:1761541161.792709 2025-10-27T04:59:21.794Z,1761541161.794 [DAT](INFO): DAT read: Bearing 52.2, -11.2 (Local) 2025-10-27T04:59:21.795Z,1761541161.795 [DAT](INFO): Local bearing/azimuth received: Bearing 52.2, -11.2 (Local) 2025-10-27T04:59:21.797Z,1761541161.797 [DAT](INFO): DAT read: Range 11 to 50 : 35.0 m (trip time 23.3 ms) speed 0.4 2025-10-27T04:59:21.801Z,1761541161.801 [DAT](INFO): DAT read: 04:59:20.5540 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 154, 0.42, 2.817, 1.325,-3.016, 2.816, PHS= 0.103,-1.446, 0.407, RAW= 158.8, 10.9, CAL= 158.9, 12.0, ROT= 351.1, -12.0 2025-10-27T04:59:21.802Z,1761541161.802 [DAT](INFO): got valid direction response: 04:59:20.5540 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 154, 0.42, 2.817, 1.325,-3.016, 2.816, PHS= 0.103,-1.446, 0.407, RAW= 158.8, 10.9, CAL= 158.9, 12.0, ROT= 351.1, -12.0 2025-10-27T04:59:21.803Z,1761541161.803 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T04:59:21.804Z,1761541161.804 [DAT](INFO): direction in FSK: [0.966371,-0.151330,0.207912] 2025-10-27T04:59:21.804Z,1761541161.804 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:21.843Z,1761541161.843 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.553520 2025-10-27T04:59:21.861Z,1761541161.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273258,0.947203,0.167739],[-0.961858,-0.266763,-0.060552],[-0.012608,-0.177887,0.983970]] 2025-10-27T04:59:21.914Z,1761541161.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 2.771763 s, deltaX: -1.700001 m, approachRate: -0.613328 m/s, rangeRepo size: 4 2025-10-27T04:59:21.920Z,1761541161.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.825565 m, bearing: 247.552970 deg, lat: 36.779353 deg, lon: -121.859618 deg, deltaT: 2.771763 s, deltaX: -1.691555 m, approachRate: -0.610281 m/s, posRepo size: 4 2025-10-27T04:59:21.921Z,1761541161.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.83 m. 2025-10-27T04:59:21.928Z,1761541161.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.825565 m, nav range: 34.202454 m, bearing: 247.216770 deg, approach rate: 0.000000 m/s, LOS rate: 0.015907 deg/s, cmd heading: 252.823550 deg, new cmd heading: 252.844973 deg. 2025-10-27T04:59:21.929Z,1761541161.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412977 target range: 34.825565 and range: 35.00 m. 2025-10-27T04:59:22.048Z,1761541162.048 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.773590 2025-10-27T04:59:22.251Z,1761541162.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273843,0.947609,0.164463],[-0.961690,-0.267524,-0.059859],[-0.012725,-0.174554,0.984565]] 2025-10-27T04:59:22.289Z,1761541162.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.83 m. 2025-10-27T04:59:22.292Z,1761541162.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.825565 m, nav range: 33.982376 m, bearing: 247.206743 deg, approach rate: -0.586428 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.844970 deg, new cmd heading: 252.814694 deg. 2025-10-27T04:59:22.293Z,1761541162.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412449 target range: 34.825565 and range: 35.00 m. 2025-10-27T04:59:22.297Z,1761541162.297 [DAT](INFO): DAT read: Rx Time:04:59:21.0539 2025-10-27T04:59:22.297Z,1761541162.297 [DAT](INFO): Rx dataTimestamp_ set to:1761541162.296873 2025-10-27T04:59:22.298Z,1761541162.298 [DAT](INFO): DAT read: Bearing 51.7, -11.2 (Local) 2025-10-27T04:59:22.301Z,1761541162.301 [DAT](INFO): Local bearing/azimuth received: Bearing 51.7, -11.2 (Local) 2025-10-27T04:59:22.303Z,1761541162.303 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.6 2025-10-27T04:59:22.324Z,1761541162.324 [DAT](INFO): DAT read: 04:59:21.0539 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.09, 0.988,-0.519, 1.447, 0.975, PHS= 0.115,-1.449, 0.428, RAW= 158.9, 10.4, CAL= 159.0, 11.3, ROT= 351.0, -11.3 2025-10-27T04:59:22.325Z,1761541162.325 [DAT](INFO): got valid direction response: 04:59:21.0539 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.09, 0.988,-0.519, 1.447, 0.975, PHS= 0.115,-1.449, 0.428, RAW= 158.9, 10.4, CAL= 159.0, 11.3, ROT= 351.0, -11.3 2025-10-27T04:59:22.325Z,1761541162.325 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T04:59:22.326Z,1761541162.326 [DAT](INFO): direction in FSK: [0.968542,-0.153402,0.195946] 2025-10-27T04:59:22.327Z,1761541162.327 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:22.358Z,1761541162.358 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.084891 2025-10-27T04:59:22.548Z,1761541162.548 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274743 2025-10-27T04:59:22.671Z,1761541162.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275872,0.947289,0.162907],[-0.961115,-0.269683,-0.059399],[-0.012335,-0.172959,0.984852]] 2025-10-27T04:59:22.756Z,1761541162.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.504164 s, deltaX: -0.200001 m, approachRate: -0.396698 m/s, rangeRepo size: 4 2025-10-27T04:59:22.758Z,1761541162.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.626637 m, bearing: 247.103910 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.504164 s, deltaX: -0.198929 m, approachRate: -0.394572 m/s, posRepo size: 4 2025-10-27T04:59:22.765Z,1761541162.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.63 m. 2025-10-27T04:59:22.777Z,1761541162.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.626637 m, nav range: 33.775146 m, bearing: 247.034230 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.814698 deg, new cmd heading: 252.777005 deg. 2025-10-27T04:59:22.778Z,1761541162.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411791 target range: 34.626637 and range: 34.80 m. 2025-10-27T04:59:22.801Z,1761541162.801 [DAT](INFO): DAT read: Rx Time:04:59:21.5536 2025-10-27T04:59:22.801Z,1761541162.801 [DAT](INFO): Rx dataTimestamp_ set to:1761541162.800746 2025-10-27T04:59:22.802Z,1761541162.802 [DAT](INFO): DAT read: Bearing 52.3, -11.4 (Local) 2025-10-27T04:59:22.803Z,1761541162.803 [DAT](INFO): Local bearing/azimuth received: Bearing 52.3, -11.4 (Local) 2025-10-27T04:59:22.805Z,1761541162.805 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 2025-10-27T04:59:22.809Z,1761541162.809 [DAT](INFO): DAT read: 04:59:21.5536 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.13, 1.215,-0.280, 1.670, 1.215, PHS= 0.102,-1.450, 0.411, RAW= 158.9, 10.9, CAL= 159.0, 11.9, ROT= 351.0, -11.9 2025-10-27T04:59:22.810Z,1761541162.810 [DAT](INFO): got valid direction response: 04:59:21.5536 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502, 0.13, 1.215,-0.280, 1.670, 1.215, PHS= 0.102,-1.450, 0.411, RAW= 158.9, 10.9, CAL= 159.0, 11.9, ROT= 351.0, -11.9 2025-10-27T04:59:22.811Z,1761541162.811 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T04:59:22.812Z,1761541162.812 [DAT](INFO): direction in FSK: [0.966462,-0.153072,0.206204] 2025-10-27T04:59:22.812Z,1761541162.812 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:22.816Z,1761541162.816 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.542605 2025-10-27T04:59:23.057Z,1761541163.057 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.783519 2025-10-27T04:59:23.138Z,1761541163.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276909,0.946921,0.163283],[-0.960818,-0.270699,-0.059582],[-0.012218,-0.173384,0.984778]] 2025-10-27T04:59:23.256Z,1761541163.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.503873 s, deltaX: -0.399998 m, approachRate: -0.793846 m/s, rangeRepo size: 4 2025-10-27T04:59:23.258Z,1761541163.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.228630 m, bearing: 247.156224 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.503873 s, deltaX: -0.398006 m, approachRate: -0.789894 m/s, posRepo size: 4 2025-10-27T04:59:23.258Z,1761541163.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.23 m. 2025-10-27T04:59:23.265Z,1761541163.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.228630 m, nav range: 33.450840 m, bearing: 246.978594 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.776996 deg, new cmd heading: 252.736739 deg. 2025-10-27T04:59:23.266Z,1761541163.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411088 target range: 34.228630 and range: 34.40 m. 2025-10-27T04:59:23.305Z,1761541163.305 [DAT](INFO): DAT read: Rx Time:04:59:22.0535 2025-10-27T04:59:23.305Z,1761541163.305 [DAT](INFO): Rx dataTimestamp_ set to:1761541163.304823 2025-10-27T04:59:23.306Z,1761541163.306 [DAT](INFO): DAT read: Bearing 51.4, -11.3 (Local) 2025-10-27T04:59:23.307Z,1761541163.307 [DAT](INFO): Local bearing/azimuth received: Bearing 51.4, -11.3 (Local) 2025-10-27T04:59:23.309Z,1761541163.309 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.8 2025-10-27T04:59:23.316Z,1761541163.316 [DAT](INFO): DAT read: 04:59:22.0535 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.37, 2.631, 1.121, 3.095, 2.615, PHS= 0.118,-1.448, 0.436, RAW= 159.1, 10.2, CAL= 159.0, 11.1, ROT= 351.0, -11.1 2025-10-27T04:59:23.317Z,1761541163.317 [DAT](INFO): got valid direction response: 04:59:22.0535 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.37, 2.631, 1.121, 3.095, 2.615, PHS= 0.118,-1.448, 0.436, RAW= 159.1, 10.2, CAL= 159.0, 11.1, ROT= 351.0, -11.1 2025-10-27T04:59:23.318Z,1761541163.318 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T04:59:23.336Z,1761541163.336 [DAT](INFO): direction in FSK: [0.969211,-0.153508,0.192522] 2025-10-27T04:59:23.336Z,1761541163.336 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:23.361Z,1761541163.361 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.088103 2025-10-27T04:59:23.556Z,1761541163.556 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283223 2025-10-27T04:59:23.582Z,1761541163.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281814,0.945977,0.160336],[-0.959406,-0.275919,-0.058384],[-0.010990,-0.170280,0.985334]] 2025-10-27T04:59:23.648Z,1761541163.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.504077 s, deltaX: -0.200001 m, approachRate: -0.396766 m/s, rangeRepo size: 4 2025-10-27T04:59:23.650Z,1761541163.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.029621 m, bearing: 246.677371 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.504077 s, deltaX: -0.199009 m, approachRate: -0.394799 m/s, posRepo size: 4 2025-10-27T04:59:23.651Z,1761541163.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.03 m. 2025-10-27T04:59:23.658Z,1761541163.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.029621 m, nav range: 33.232033 m, bearing: 246.973430 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.736752 deg, new cmd heading: 252.705427 deg. 2025-10-27T04:59:23.658Z,1761541163.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410542 target range: 34.029621 and range: 34.20 m. 2025-10-27T04:59:23.809Z,1761541163.809 [DAT](INFO): DAT read: Rx Time:04:59:22.5532 2025-10-27T04:59:23.810Z,1761541163.810 [DAT](INFO): Rx dataTimestamp_ set to:1761541163.808911 2025-10-27T04:59:23.812Z,1761541163.812 [DAT](INFO): DAT read: Bearing 52.0, -11.2 (Local) 2025-10-27T04:59:23.812Z,1761541163.812 [DAT](INFO): Local bearing/azimuth received: Bearing 52.0, -11.2 (Local) 2025-10-27T04:59:23.815Z,1761541163.815 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.5 2025-10-27T04:59:23.822Z,1761541163.822 [DAT](INFO): DAT read: 04:59:22.5532 LVL= 32752, 32753, 31730, 32755, AGC= 61, IDX= 499,-0.49,-0.166,-1.662, 0.285,-0.173, PHS= 0.109,-1.444, 0.414, RAW= 158.8, 10.7, CAL= 158.9, 11.7, ROT= 351.1, -11.7 2025-10-27T04:59:23.824Z,1761541163.824 [DAT](INFO): got valid direction response: 04:59:22.5532 LVL= 32752, 32753, 31730, 32755, AGC= 61, IDX= 499,-0.49,-0.166,-1.662, 0.285,-0.173, PHS= 0.109,-1.444, 0.414, RAW= 158.8, 10.7, CAL= 158.9, 11.7, ROT= 351.1, -11.7 2025-10-27T04:59:23.824Z,1761541163.824 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T04:59:23.825Z,1761541163.825 [DAT](INFO): direction in FSK: [0.967433,-0.151496,0.202787] 2025-10-27T04:59:23.825Z,1761541163.825 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:23.830Z,1761541163.830 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.556701 2025-10-27T04:59:24.032Z,1761541164.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284350,0.945263,0.160070],[-0.958666,-0.278559,-0.058006],[-0.010242,-0.169948,0.985400]] 2025-10-27T04:59:24.062Z,1761541164.062 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.788796 2025-10-27T04:59:24.152Z,1761541164.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.504088 s, deltaX: -0.400002 m, approachRate: -0.793515 m/s, rangeRepo size: 4 2025-10-27T04:59:24.154Z,1761541164.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.631611 m, bearing: 246.725867 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.504088 s, deltaX: -0.398010 m, approachRate: -0.789565 m/s, posRepo size: 4 2025-10-27T04:59:24.154Z,1761541164.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T04:59:24.161Z,1761541164.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.631611 m, nav range: 32.901546 m, bearing: 246.922464 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.705415 deg, new cmd heading: 252.664777 deg. 2025-10-27T04:59:24.162Z,1761541164.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409832 target range: 33.631611 and range: 33.80 m. 2025-10-27T04:59:24.313Z,1761541164.313 [DAT](INFO): DAT read: Rx Time:04:59:23.0531 2025-10-27T04:59:24.313Z,1761541164.313 [DAT](INFO): Rx dataTimestamp_ set to:1761541164.312718 2025-10-27T04:59:24.316Z,1761541164.316 [DAT](INFO): DAT read: Bearing 51.5, -11.2 (Local) 2025-10-27T04:59:24.316Z,1761541164.316 [DAT](INFO): Local bearing/azimuth received: Bearing 51.5, -11.2 (Local) 2025-10-27T04:59:24.319Z,1761541164.319 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.8 2025-10-27T04:59:24.325Z,1761541164.325 [DAT](INFO): DAT read: 04:59:23.0531 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.45, 2.549, 1.053, 3.003, 2.533, PHS= 0.118,-1.435, 0.426, RAW= 158.9, 10.3, CAL= 158.9, 11.2, ROT= 351.1, -11.2 2025-10-27T04:59:24.326Z,1761541164.326 [DAT](INFO): got valid direction response: 04:59:23.0531 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.45, 2.549, 1.053, 3.003, 2.533, PHS= 0.118,-1.435, 0.426, RAW= 158.9, 10.3, CAL= 158.9, 11.2, ROT= 351.1, -11.2 2025-10-27T04:59:24.327Z,1761541164.327 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T04:59:24.328Z,1761541164.328 [DAT](INFO): direction in FSK: [0.969144,-0.151764,0.194234] 2025-10-27T04:59:24.329Z,1761541164.329 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:24.372Z,1761541164.372 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.098701 2025-10-27T04:59:24.527Z,1761541164.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285998,0.944785,0.159958],[-0.958179,-0.280239,-0.057962],[-0.009935,-0.169845,0.985421]] 2025-10-27T04:59:24.564Z,1761541164.564 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290921 2025-10-27T04:59:24.580Z,1761541164.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.503807 s, deltaX: -0.200001 m, approachRate: -0.396979 m/s, rangeRepo size: 4 2025-10-27T04:59:24.582Z,1761541164.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.432579 m, bearing: 246.536920 deg, lat: 36.779352 deg, lon: -121.859618 deg, deltaT: 0.503807 s, deltaX: -0.199032 m, approachRate: -0.395056 m/s, posRepo size: 4 2025-10-27T04:59:24.582Z,1761541164.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.43 m. 2025-10-27T04:59:24.585Z,1761541164.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.432579 m, nav range: 32.651352 m, bearing: 246.753201 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.664789 deg, new cmd heading: 252.629922 deg. 2025-10-27T04:59:24.586Z,1761541164.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409224 target range: 33.432579 and range: 33.60 m. 2025-10-27T04:59:24.817Z,1761541164.817 [DAT](INFO): DAT read: Rx Time:04:59:23.5528 2025-10-27T04:59:24.818Z,1761541164.818 [DAT](INFO): Rx dataTimestamp_ set to:1761541164.817644 2025-10-27T04:59:24.819Z,1761541164.819 [DAT](INFO): DAT read: Bearing 52.2, -11.7 (Local) 2025-10-27T04:59:24.820Z,1761541164.820 [DAT](INFO): Local bearing/azimuth received: Bearing 52.2, -11.7 (Local) 2025-10-27T04:59:24.822Z,1761541164.822 [DAT](INFO): DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.5 2025-10-27T04:59:24.826Z,1761541164.826 [DAT](INFO): DAT read: 04:59:23.5528 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.25, 2.824, 1.333,-2.997, 2.829, PHS= 0.097,-1.451, 0.413, RAW= 159.1, 10.9, CAL= 159.2, 12.0, ROT= 350.8, -12.0 2025-10-27T04:59:24.827Z,1761541164.827 [DAT](INFO): got valid direction response: 04:59:23.5528 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.25, 2.824, 1.333,-2.997, 2.829, PHS= 0.097,-1.451, 0.413, RAW= 159.1, 10.9, CAL= 159.2, 12.0, ROT= 350.8, -12.0 2025-10-27T04:59:24.828Z,1761541164.828 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T04:59:24.829Z,1761541164.829 [DAT](INFO): direction in FSK: [0.965565,-0.156388,0.207912] 2025-10-27T04:59:24.829Z,1761541164.829 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:24.838Z,1761541164.838 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.564908 2025-10-27T04:59:24.947Z,1761541164.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288340,0.944102,0.159785],[-0.957483,-0.282668,-0.057662],[-0.009273,-0.169618,0.985466]] 2025-10-27T04:59:25.003Z,1761541165.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504926 s, deltaX: -0.399998 m, approachRate: -0.792191 m/s, rangeRepo size: 4 2025-10-27T04:59:25.005Z,1761541165.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.034576 m, bearing: 246.238354 deg, lat: 36.779351 deg, lon: -121.859618 deg, deltaT: 0.504926 s, deltaX: -0.398003 m, approachRate: -0.788240 m/s, posRepo size: 4 2025-10-27T04:59:25.006Z,1761541165.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.03 m. 2025-10-27T04:59:25.013Z,1761541165.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.034576 m, nav range: 32.434650 m, bearing: 246.539019 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.629928 deg, new cmd heading: 252.596114 deg. 2025-10-27T04:59:25.014Z,1761541165.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408634 target range: 33.034576 and range: 33.20 m. 2025-10-27T04:59:25.071Z,1761541165.071 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.797450 2025-10-27T04:59:25.321Z,1761541165.321 [DAT](INFO): DAT read: Rx Time:04:59:24.0526 2025-10-27T04:59:25.322Z,1761541165.322 [DAT](INFO): Rx dataTimestamp_ set to:1761541165.321395 2025-10-27T04:59:25.324Z,1761541165.324 [DAT](INFO): DAT read: Bearing 50.6, -11.6 (Local) 2025-10-27T04:59:25.324Z,1761541165.324 [DAT](INFO): Local bearing/azimuth received: Bearing 50.6, -11.6 (Local) 2025-10-27T04:59:25.328Z,1761541165.328 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4 2025-10-27T04:59:25.332Z,1761541165.332 [DAT](INFO): DAT read: 04:59:24.0526 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.06,-1.847, 2.942,-1.370,-1.871, PHS= 0.126,-1.425, 0.457, RAW= 159.5, 9.7, CAL= 159.4, 10.4, ROT= 350.6, -10.4 2025-10-27T04:59:25.333Z,1761541165.333 [DAT](INFO): got valid direction response: 04:59:24.0526 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.06,-1.847, 2.942,-1.370,-1.871, PHS= 0.126,-1.425, 0.457, RAW= 159.5, 9.7, CAL= 159.4, 10.4, ROT= 350.6, -10.4 2025-10-27T04:59:25.334Z,1761541165.334 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T04:59:25.336Z,1761541165.336 [DAT](INFO): direction in FSK: [0.970364,-0.160643,0.180519] 2025-10-27T04:59:25.336Z,1761541165.336 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:25.340Z,1761541165.340 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.066475 2025-10-27T04:59:25.423Z,1761541165.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289915,0.943372,0.161243],[-0.957012,-0.284218,-0.057857],[-0.008752,-0.171085,0.985217]] 2025-10-27T04:59:25.459Z,1761541165.459 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +634, +10,A 2025-10-27T04:59:25.508Z,1761541165.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.503751 s, deltaX: -0.299999 m, approachRate: -0.595531 m/s, rangeRepo size: 4 2025-10-27T04:59:25.510Z,1761541165.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.736065 m, bearing: 245.680860 deg, lat: 36.779350 deg, lon: -121.859617 deg, deltaT: 0.503751 s, deltaX: -0.298512 m, approachRate: -0.592578 m/s, posRepo size: 4 2025-10-27T04:59:25.515Z,1761541165.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.74 m. 2025-10-27T04:59:25.518Z,1761541165.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.736065 m, nav range: 32.035652 m, bearing: 246.373724 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.596105 deg, new cmd heading: 252.554992 deg. 2025-10-27T04:59:25.523Z,1761541165.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407916 target range: 32.736065 and range: 32.90 m. 2025-10-27T04:59:25.573Z,1761541165.573 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299353 2025-10-27T04:59:25.825Z,1761541165.825 [DAT](INFO): DAT read: Rx Time:04:59:24.5523 2025-10-27T04:59:25.825Z,1761541165.825 [DAT](INFO): Rx dataTimestamp_ set to:1761541165.824780 2025-10-27T04:59:25.826Z,1761541165.826 [DAT](INFO): DAT read: Bearing 51.9, -11.8 (Local) 2025-10-27T04:59:25.827Z,1761541165.827 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -11.8 (Local) 2025-10-27T04:59:25.829Z,1761541165.829 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.5 2025-10-27T04:59:25.834Z,1761541165.834 [DAT](INFO): DAT read: 04:59:24.5523 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.09, 2.300, 0.823, 2.764, 2.303, PHS= 0.099,-1.435, 0.418, RAW= 159.3, 10.7, CAL= 159.3, 11.8, ROT= 350.7, -11.8 2025-10-27T04:59:25.835Z,1761541165.835 [DAT](INFO): got valid direction response: 04:59:24.5523 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.09, 2.300, 0.823, 2.764, 2.303, PHS= 0.099,-1.435, 0.418, RAW= 159.3, 10.7, CAL= 159.3, 11.8, ROT= 350.7, -11.8 2025-10-27T04:59:25.835Z,1761541165.835 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T04:59:25.836Z,1761541165.836 [DAT](INFO): direction in FSK: [0.966001,-0.158188,0.204496] 2025-10-27T04:59:25.836Z,1761541165.836 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:25.846Z,1761541165.846 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.573185 2025-10-27T04:59:25.975Z,1761541165.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503385 s, deltaX: -0.500000 m, approachRate: -0.993276 m/s, rangeRepo size: 4 2025-10-27T04:59:25.977Z,1761541165.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.238556 m, bearing: 246.028854 deg, lat: 36.779350 deg, lon: -121.859616 deg, deltaT: 0.503385 s, deltaX: -0.497509 m, approachRate: -0.988327 m/s, posRepo size: 4 2025-10-27T04:59:25.978Z,1761541165.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m. 2025-10-27T04:59:25.985Z,1761541165.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.238556 m, nav range: 31.659922 m, bearing: 246.199275 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.554987 deg, new cmd heading: 252.517820 deg. 2025-10-27T04:59:25.986Z,1761541165.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407268 target range: 32.238556 and range: 32.40 m. 2025-10-27T04:59:26.080Z,1761541166.080 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.806181 2025-10-27T04:59:26.306Z,1761541166.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293160,0.942463,0.160689],[-0.956029,-0.287552,-0.057642],[-0.008120,-0.170521,0.985321]] 2025-10-27T04:59:26.329Z,1761541166.329 [DAT](INFO): DAT read: Rx Time:04:59:25.0522 2025-10-27T04:59:26.329Z,1761541166.329 [DAT](INFO): Rx dataTimestamp_ set to:1761541166.328753 2025-10-27T04:59:26.330Z,1761541166.330 [DAT](INFO): DAT read: Bearing 53.3, -11.7 (Local) 2025-10-27T04:59:26.331Z,1761541166.331 [DAT](INFO): Local bearing/azimuth received: Bearing 53.3, -11.7 (Local) 2025-10-27T04:59:26.333Z,1761541166.333 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.5 2025-10-27T04:59:26.337Z,1761541166.337 [DAT](INFO): DAT read: 04:59:25.0522 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.27,-2.504, 2.329,-2.064,-2.480, PHS= 0.078,-1.430, 0.372, RAW= 158.8, 11.7, CAL= 159.0, 13.0, ROT= 351.0, -13.0 2025-10-27T04:59:26.338Z,1761541166.338 [DAT](INFO): got valid direction response: 04:59:25.0522 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.27,-2.504, 2.329,-2.064,-2.480, PHS= 0.078,-1.430, 0.372, RAW= 158.8, 11.7, CAL= 159.0, 13.0, ROT= 351.0, -13.0 2025-10-27T04:59:26.339Z,1761541166.339 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T04:59:26.340Z,1761541166.340 [DAT](INFO): direction in FSK: [0.962374,-0.152425,0.224951] 2025-10-27T04:59:26.340Z,1761541166.340 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:26.360Z,1761541166.360 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.086829 2025-10-27T04:59:26.418Z,1761541166.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.503973 s, deltaX: -0.100002 m, approachRate: -0.198428 m/s, rangeRepo size: 4 2025-10-27T04:59:26.428Z,1761541166.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.139050 m, bearing: 246.337358 deg, lat: 36.779350 deg, lon: -121.859615 deg, deltaT: 0.503973 s, deltaX: -0.099506 m, approachRate: -0.197444 m/s, posRepo size: 4 2025-10-27T04:59:26.429Z,1761541166.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m. 2025-10-27T04:59:26.440Z,1761541166.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.139050 m, nav range: 31.320642 m, bearing: 246.109210 deg, approach rate: 0.000000 m/s, LOS rate: -0.026892 deg/s, cmd heading: 252.517831 deg, new cmd heading: 252.481613 deg. 2025-10-27T04:59:26.441Z,1761541166.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406635 target range: 32.139050 and range: 32.30 m. 2025-10-27T04:59:26.580Z,1761541166.580 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307066 2025-10-27T04:59:26.759Z,1761541166.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294820,0.941951,0.160655],[-0.955520,-0.289225,-0.057703],[-0.007888,-0.170521,0.985322]] 2025-10-27T04:59:26.794Z,1761541166.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:26.797Z,1761541166.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.14 m. 2025-10-27T04:59:26.800Z,1761541166.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.139050 m, nav range: 31.077442 m, bearing: 246.076857 deg, approach rate: -0.640677 m/s, LOS rate: -0.085897 deg/s, cmd heading: 252.481604 deg, new cmd heading: 252.383785 deg. 2025-10-27T04:59:26.801Z,1761541166.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404928 target range: 32.139050 and range: 32.30 m. 2025-10-27T04:59:26.834Z,1761541166.834 [DAT](INFO): DAT read: Rx Time:04:59:25.5518 2025-10-27T04:59:26.834Z,1761541166.834 [DAT](INFO): Rx dataTimestamp_ set to:1761541166.833820 2025-10-27T04:59:26.836Z,1761541166.836 [DAT](INFO): DAT read: Bearing 52.0, -12.2 (Local) 2025-10-27T04:59:26.837Z,1761541166.837 [DAT](INFO): Local bearing/azimuth received: Bearing 52.0, -12.2 (Local) 2025-10-27T04:59:26.841Z,1761541166.841 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.5 2025-10-27T04:59:26.851Z,1761541166.851 [DAT](INFO): DAT read: 04:59:25.5518 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.49,-2.238, 2.584,-1.769,-2.226, PHS= 0.090,-1.428, 0.414, RAW= 159.5, 10.9, CAL= 159.6, 11.9, ROT= 350.4, -11.9 2025-10-27T04:59:26.853Z,1761541166.853 [DAT](INFO): got valid direction response: 04:59:25.5518 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.49,-2.238, 2.584,-1.769,-2.226, PHS= 0.090,-1.428, 0.414, RAW= 159.5, 10.9, CAL= 159.6, 11.9, ROT= 350.4, -11.9 2025-10-27T04:59:26.853Z,1761541166.853 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T04:59:26.862Z,1761541166.862 [DAT](INFO): direction in FSK: [0.964806,-0.163185,0.206204] 2025-10-27T04:59:26.867Z,1761541166.867 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:26.883Z,1761541166.883 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.597654 2025-10-27T04:59:27.084Z,1761541167.084 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810826 2025-10-27T04:59:27.182Z,1761541167.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296370,0.941410,0.160971],[-0.955039,-0.290687,-0.058327],[-0.008118,-0.171020,0.985234]] 2025-10-27T04:59:27.326Z,1761541167.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.505067 s, deltaX: -0.599998 m, approachRate: -1.187958 m/s, rangeRepo size: 4 2025-10-27T04:59:27.328Z,1761541167.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.542074 m, bearing: 245.361564 deg, lat: 36.779350 deg, lon: -121.859614 deg, deltaT: 0.505067 s, deltaX: -0.596975 m, approachRate: -1.181973 m/s, posRepo size: 4 2025-10-27T04:59:27.329Z,1761541167.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.54 m. 2025-10-27T04:59:27.334Z,1761541167.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.542074 m, nav range: 30.711411 m, bearing: 245.996289 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 252.383795 deg, new cmd heading: 252.247643 deg. 2025-10-27T04:59:27.335Z,1761541167.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402552 target range: 31.542074 and range: 31.70 m. 2025-10-27T04:59:27.337Z,1761541167.337 [DAT](INFO): DAT read: Rx Time:04:59:26.0517 2025-10-27T04:59:27.337Z,1761541167.337 [DAT](INFO): Rx dataTimestamp_ set to:1761541167.337125 2025-10-27T04:59:27.339Z,1761541167.339 [DAT](INFO): DAT read: Bearing 51.3, -11.9 (Local) 2025-10-27T04:59:27.339Z,1761541167.339 [DAT](INFO): Local bearing/azimuth received: Bearing 51.3, -11.9 (Local) 2025-10-27T04:59:27.341Z,1761541167.341 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.5 2025-10-27T04:59:27.346Z,1761541167.346 [DAT](INFO): DAT read: 04:59:26.0517 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 499, 0.40,-2.118, 2.694,-1.649,-2.124, PHS= 0.108,-1.420, 0.431, RAW= 159.4, 10.3, CAL= 159.4, 11.2, ROT= 350.6, -11.2 2025-10-27T04:59:27.364Z,1761541167.364 [DAT](INFO): got valid direction response: 04:59:26.0517 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 499, 0.40,-2.118, 2.694,-1.649,-2.124, PHS= 0.108,-1.420, 0.431, RAW= 159.4, 10.3, CAL= 159.4, 11.2, ROT= 350.6, -11.2 2025-10-27T04:59:27.364Z,1761541167.364 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T04:59:27.365Z,1761541167.365 [DAT](INFO): direction in FSK: [0.967783,-0.160215,0.194234] 2025-10-27T04:59:27.365Z,1761541167.365 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:27.373Z,1761541167.373 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.100007 2025-10-27T04:59:27.590Z,1761541167.590 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317007 2025-10-27T04:59:27.796Z,1761541167.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.503305 s, deltaX: -0.200001 m, approachRate: -0.397375 m/s, rangeRepo size: 4 2025-10-27T04:59:27.798Z,1761541167.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.343048 m, bearing: 245.434350 deg, lat: 36.779347 deg, lon: -121.859614 deg, deltaT: 0.503305 s, deltaX: -0.199026 m, approachRate: -0.395438 m/s, posRepo size: 4 2025-10-27T04:59:27.799Z,1761541167.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.34 m. 2025-10-27T04:59:27.802Z,1761541167.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.343048 m, nav range: 30.570400 m, bearing: 245.417490 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 252.247656 deg, new cmd heading: 252.126433 deg. 2025-10-27T04:59:27.804Z,1761541167.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400436 target range: 31.343048 and range: 31.50 m. 2025-10-27T04:59:27.841Z,1761541167.841 [DAT](INFO): DAT read: Rx Time:04:59:26.5514 2025-10-27T04:59:27.841Z,1761541167.841 [DAT](INFO): Rx dataTimestamp_ set to:1761541167.840796 2025-10-27T04:59:27.842Z,1761541167.842 [DAT](INFO): DAT read: Bearing 51.7, -12.5 (Local) 2025-10-27T04:59:27.843Z,1761541167.843 [DAT](INFO): Local bearing/azimuth received: Bearing 51.7, -12.5 (Local) 2025-10-27T04:59:27.845Z,1761541167.845 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-27T04:59:27.849Z,1761541167.849 [DAT](INFO): DAT read: 04:59:26.5514 LVL= 32752, 32753, 32578, 32755, AGC= 60, IDX= 496, 0.47, 1.071,-0.403, 1.560, 1.083, PHS= 0.091,-1.441, 0.433, RAW= 159.9, 10.6, CAL= 159.9, 11.6, ROT= 350.1, -11.6 2025-10-27T04:59:27.851Z,1761541167.851 [DAT](INFO): got valid direction response: 04:59:26.5514 LVL= 32752, 32753, 32578, 32755, AGC= 60, IDX= 496, 0.47, 1.071,-0.403, 1.560, 1.083, PHS= 0.091,-1.441, 0.433, RAW= 159.9, 10.6, CAL= 159.9, 11.6, ROT= 350.1, -11.6 2025-10-27T04:59:27.851Z,1761541167.851 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T04:59:27.852Z,1761541167.852 [DAT](INFO): direction in FSK: [0.964989,-0.168417,0.201078] 2025-10-27T04:59:27.852Z,1761541167.852 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:27.864Z,1761541167.864 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.590869 2025-10-27T04:59:28.094Z,1761541168.094 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.820897 2025-10-27T04:59:28.166Z,1761541168.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297037,0.941170,0.161145],[-0.954826,-0.291226,-0.059107],[-0.008700,-0.171423,0.985159]] 2025-10-27T04:59:28.274Z,1761541168.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503671 s, deltaX: -0.299999 m, approachRate: -0.595625 m/s, rangeRepo size: 4 2025-10-27T04:59:28.277Z,1761541168.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.044544 m, bearing: 244.977733 deg, lat: 36.779347 deg, lon: -121.859613 deg, deltaT: 0.503671 s, deltaX: -0.298504 m, approachRate: -0.592656 m/s, posRepo size: 4 2025-10-27T04:59:28.277Z,1761541168.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.04 m. 2025-10-27T04:59:28.280Z,1761541168.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.044544 m, nav range: 30.215117 m, bearing: 245.335766 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 252.126434 deg, new cmd heading: 252.003421 deg. 2025-10-27T04:59:28.281Z,1761541168.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398289 target range: 31.044544 and range: 31.20 m. 2025-10-27T04:59:28.346Z,1761541168.346 [DAT](INFO): DAT read: Rx Time:04:59:27.0514 2025-10-27T04:59:28.347Z,1761541168.347 [DAT](INFO): Rx dataTimestamp_ set to:1761541168.346502 2025-10-27T04:59:28.349Z,1761541168.349 [DAT](INFO): DAT read: Bearing 47.1, -4.3 (Local) 2025-10-27T04:59:28.349Z,1761541168.349 [DAT](INFO): Local bearing/azimuth received: Bearing 47.1, -4.3 (Local) 2025-10-27T04:59:28.352Z,1761541168.352 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.5 2025-10-27T04:59:28.359Z,1761541168.359 [DAT](INFO): DAT read: 04:59:27.0514 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512,-0.31,-0.005,-1.993, 0.274,-0.336, PHS= 0.433,-1.612, 0.566, RAW= 153.1, 5.9, CAL= 152.4, 5.9, ROT= 357.6, -5.9 2025-10-27T04:59:28.360Z,1761541168.360 [DAT](INFO): got valid direction response: 04:59:27.0514 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512,-0.31,-0.005,-1.993, 0.274,-0.336, PHS= 0.433,-1.612, 0.566, RAW= 153.1, 5.9, CAL= 152.4, 5.9, ROT= 357.6, -5.9 2025-10-27T04:59:28.361Z,1761541168.361 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T04:59:28.362Z,1761541168.362 [DAT](INFO): direction in FSK: [0.993830,-0.041654,0.102793] 2025-10-27T04:59:28.362Z,1761541168.362 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:28.366Z,1761541168.366 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.092684 2025-10-27T04:59:28.597Z,1761541168.597 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323584 2025-10-27T04:59:28.625Z,1761541168.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.505706 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:59:28.631Z,1761541168.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.044552 m, bearing: 251.371175 deg, lat: 36.779347 deg, lon: -121.859614 deg, deltaT: 0.505706 s, deltaX: 0.000008 m, approachRate: 0.000015 m/s, posRepo size: 4 2025-10-27T04:59:28.632Z,1761541168.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.04 m. 2025-10-27T04:59:28.643Z,1761541168.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.044552 m, nav range: 30.128542 m, bearing: 245.411784 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 252.003408 deg, new cmd heading: 251.912884 deg. 2025-10-27T04:59:28.644Z,1761541168.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396709 target range: 31.044552 and range: 31.20 m. 2025-10-27T04:59:28.852Z,1761541168.852 [DAT](INFO): DAT read: Rx Time:04:59:27.5511 2025-10-27T04:59:28.852Z,1761541168.852 [DAT](INFO): Rx dataTimestamp_ set to:1761541168.851834 2025-10-27T04:59:28.853Z,1761541168.853 [DAT](INFO): DAT read: Bearing 51.9, -12.5 (Local) 2025-10-27T04:59:28.854Z,1761541168.854 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -12.5 (Local) 2025-10-27T04:59:28.856Z,1761541168.856 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.5 2025-10-27T04:59:28.862Z,1761541168.862 [DAT](INFO): DAT read: 04:59:27.5511 LVL= 32752, 32753, 31938, 32755, AGC= 60, IDX= 509,-0.15,-3.079, 1.737,-2.599,-3.066, PHS= 0.089,-1.435, 0.423, RAW= 159.7, 10.8, CAL= 159.8, 11.8, ROT= 350.2, -11.8 2025-10-27T04:59:28.864Z,1761541168.864 [DAT](INFO): got valid direction response: 04:59:27.5511 LVL= 32752, 32753, 31938, 32755, AGC= 60, IDX= 509,-0.15,-3.079, 1.737,-2.599,-3.066, PHS= 0.089,-1.435, 0.423, RAW= 159.7, 10.8, CAL= 159.8, 11.8, ROT= 350.2, -11.8 2025-10-27T04:59:28.864Z,1761541168.864 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T04:59:28.866Z,1761541168.866 [DAT](INFO): direction in FSK: [0.964584,-0.166613,0.204496] 2025-10-27T04:59:28.866Z,1761541168.866 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:28.870Z,1761541168.870 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.596420 2025-10-27T04:59:28.978Z,1761541168.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296971,0.941278,0.160636],[-0.954837,-0.291013,-0.059977],[-0.009708,-0.171193,0.985190]] 2025-10-27T04:59:29.101Z,1761541169.101 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828150 2025-10-27T04:59:29.230Z,1761541169.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.505332 s, deltaX: -0.400002 m, approachRate: -0.791562 m/s, rangeRepo size: 4 2025-10-27T04:59:29.244Z,1761541169.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.646544 m, bearing: 245.114775 deg, lat: 36.779347 deg, lon: -121.859614 deg, deltaT: 0.505332 s, deltaX: -0.398008 m, approachRate: -0.787618 m/s, posRepo size: 4 2025-10-27T04:59:29.245Z,1761541169.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.65 m. 2025-10-27T04:59:29.252Z,1761541169.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.646544 m, nav range: 29.829811 m, bearing: 245.371061 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.912895 deg, new cmd heading: 251.759211 deg. 2025-10-27T04:59:29.253Z,1761541169.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394027 target range: 30.646544 and range: 30.80 m. 2025-10-27T04:59:29.353Z,1761541169.353 [DAT](INFO): DAT read: Rx Time:04:59:28.0509 2025-10-27T04:59:29.354Z,1761541169.354 [DAT](INFO): Rx dataTimestamp_ set to:1761541169.353318 2025-10-27T04:59:29.355Z,1761541169.355 [DAT](INFO): DAT read: Bearing 49.6, -12.0 (Local) 2025-10-27T04:59:29.356Z,1761541169.356 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -12.0 (Local) 2025-10-27T04:59:29.358Z,1761541169.358 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-27T04:59:29.362Z,1761541169.362 [DAT](INFO): DAT read: 04:59:28.0509 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 507,-0.00,-2.368, 2.435,-1.882,-2.403, PHS= 0.136,-1.401, 0.476, RAW= 159.8, 9.1, CAL= 159.6, 9.7, ROT= 350.4, -9.7 2025-10-27T04:59:29.363Z,1761541169.363 [DAT](INFO): got valid direction response: 04:59:28.0509 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 507,-0.00,-2.368, 2.435,-1.882,-2.403, PHS= 0.136,-1.401, 0.476, RAW= 159.8, 9.1, CAL= 159.6, 9.7, ROT= 350.4, -9.7 2025-10-27T04:59:29.364Z,1761541169.364 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T04:59:29.365Z,1761541169.365 [DAT](INFO): direction in FSK: [0.971900,-0.164385,0.168489] 2025-10-27T04:59:29.365Z,1761541169.365 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:29.369Z,1761541169.369 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.095676 2025-10-27T04:59:29.606Z,1761541169.606 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.332340 2025-10-27T04:59:29.640Z,1761541169.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294990,0.941916,0.160548],[-0.955432,-0.288769,-0.061331],[-0.011407,-0.171485,0.985121]] 2025-10-27T04:59:29.762Z,1761541169.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.501484 s, deltaX: -0.299999 m, approachRate: -0.598223 m/s, rangeRepo size: 4 2025-10-27T04:59:29.768Z,1761541169.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.348061 m, bearing: 245.063526 deg, lat: 36.779346 deg, lon: -121.859615 deg, deltaT: 0.501484 s, deltaX: -0.298483 m, approachRate: -0.595199 m/s, posRepo size: 4 2025-10-27T04:59:29.769Z,1761541169.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.35 m. 2025-10-27T04:59:29.779Z,1761541169.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.348061 m, nav range: 29.630510 m, bearing: 245.183984 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.759216 deg, new cmd heading: 251.620045 deg. 2025-10-27T04:59:29.780Z,1761541169.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391598 target range: 30.348061 and range: 30.50 m. 2025-10-27T04:59:29.857Z,1761541169.857 [DAT](INFO): DAT read: Rx Time:04:59:28.5506 2025-10-27T04:59:29.857Z,1761541169.857 [DAT](INFO): Rx dataTimestamp_ set to:1761541169.856885 2025-10-27T04:59:29.858Z,1761541169.858 [DAT](INFO): DAT read: Bearing 50.5, -12.6 (Local) 2025-10-27T04:59:29.859Z,1761541169.859 [DAT](INFO): Local bearing/azimuth received: Bearing 50.5, -12.6 (Local) 2025-10-27T04:59:29.861Z,1761541169.861 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T04:59:29.865Z,1761541169.865 [DAT](INFO): DAT read: 04:59:28.5506 LVL= 32752, 32753, 30050, 32755, AGC= 58, IDX= 504, 0.15,-1.931, 2.868,-1.434,-1.942, PHS= 0.113,-1.428, 0.464, RAW= 160.0, 9.8, CAL= 160.0, 10.5, ROT= 350.0, -10.5 2025-10-27T04:59:29.866Z,1761541169.866 [DAT](INFO): got valid direction response: 04:59:28.5506 LVL= 32752, 32753, 30050, 32755, AGC= 58, IDX= 504, 0.15,-1.931, 2.868,-1.434,-1.942, PHS= 0.113,-1.428, 0.464, RAW= 160.0, 9.8, CAL= 160.0, 10.5, ROT= 350.0, -10.5 2025-10-27T04:59:29.867Z,1761541169.867 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T04:59:29.868Z,1761541169.868 [DAT](INFO): direction in FSK: [0.968317,-0.170740,0.182236] 2025-10-27T04:59:29.869Z,1761541169.869 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:29.872Z,1761541169.872 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.599281 2025-10-27T04:59:30.116Z,1761541170.116 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.842404 2025-10-27T04:59:30.195Z,1761541170.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294240,0.942282,0.159774],[-0.955656,-0.287978,-0.061560],[-0.011996,-0.170803,0.985232]] 2025-10-27T04:59:30.252Z,1761541170.252 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 93.11, 73.06, 82.91 2025-10-27T04:59:30.272Z,1761541170.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503567 s, deltaX: -0.500000 m, approachRate: -0.992917 m/s, rangeRepo size: 4 2025-10-27T04:59:30.274Z,1761541170.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.850552 m, bearing: 244.847842 deg, lat: 36.779345 deg, lon: -121.859614 deg, deltaT: 0.503567 s, deltaX: -0.497509 m, approachRate: -0.987970 m/s, posRepo size: 4 2025-10-27T04:59:30.275Z,1761541170.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.85 m. 2025-10-27T04:59:30.278Z,1761541170.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.850552 m, nav range: 29.312012 m, bearing: 245.073777 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.620044 deg, new cmd heading: 251.488392 deg. 2025-10-27T04:59:30.291Z,1761541170.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389300 target range: 29.850552 and range: 30.00 m. 2025-10-27T04:59:30.362Z,1761541170.362 [DAT](INFO): DAT read: Rx Time:04:59:29.0505 2025-10-27T04:59:30.363Z,1761541170.363 [DAT](INFO): Rx dataTimestamp_ set to:1761541170.362264 2025-10-27T04:59:30.365Z,1761541170.365 [DAT](INFO): DAT read: Bearing 51.0, -13.0 (Local) 2025-10-27T04:59:30.365Z,1761541170.365 [DAT](INFO): Local bearing/azimuth received: Bearing 51.0, -13.0 (Local) 2025-10-27T04:59:30.367Z,1761541170.367 [DAT](INFO): DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.4 2025-10-27T04:59:30.377Z,1761541170.377 [DAT](INFO): DAT read: 04:59:29.0505 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.38, 0.513,-0.957, 1.021, 0.521, PHS= 0.094,-1.433, 0.455, RAW= 160.4, 10.2, CAL= 160.4, 11.1, ROT= 349.6, -11.1 2025-10-27T04:59:30.378Z,1761541170.378 [DAT](INFO): got valid direction response: 04:59:29.0505 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.38, 0.513,-0.957, 1.021, 0.521, PHS= 0.094,-1.433, 0.455, RAW= 160.4, 10.2, CAL= 160.4, 11.1, ROT= 349.6, -11.1 2025-10-27T04:59:30.378Z,1761541170.378 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T04:59:30.379Z,1761541170.379 [DAT](INFO): direction in FSK: [0.965171,-0.177142,0.192522] 2025-10-27T04:59:30.379Z,1761541170.379 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:30.404Z,1761541170.404 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.109695 2025-10-27T04:59:30.613Z,1761541170.613 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.339784 2025-10-27T04:59:30.636Z,1761541170.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292622,0.942746,0.160006],[-0.956142,-0.286221,-0.062215],[-0.012856,-0.171194,0.985153]] 2025-10-27T04:59:30.739Z,1761541170.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.505379 s, deltaX: -0.100000 m, approachRate: -0.197872 m/s, rangeRepo size: 4 2025-10-27T04:59:30.741Z,1761541170.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.751083 m, bearing: 244.662625 deg, lat: 36.779344 deg, lon: -121.859614 deg, deltaT: 0.505379 s, deltaX: -0.099468 m, approachRate: -0.196819 m/s, posRepo size: 4 2025-10-27T04:59:30.742Z,1761541170.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.75 m. 2025-10-27T04:59:30.749Z,1761541170.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.751083 m, nav range: 29.134745 m, bearing: 244.930789 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.488385 deg, new cmd heading: 251.369784 deg. 2025-10-27T04:59:30.750Z,1761541170.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387230 target range: 29.751083 and range: 29.90 m. 2025-10-27T04:59:30.865Z,1761541170.865 [DAT](INFO): DAT read: Rx Time:04:59:29.5503 2025-10-27T04:59:30.865Z,1761541170.865 [DAT](INFO): Rx dataTimestamp_ set to:1761541170.864868 2025-10-27T04:59:30.866Z,1761541170.866 [DAT](INFO): DAT read: Bearing 51.0, -12.4 (Local) 2025-10-27T04:59:30.867Z,1761541170.867 [DAT](INFO): Local bearing/azimuth received: Bearing 51.0, -12.4 (Local) 2025-10-27T04:59:30.869Z,1761541170.869 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 2025-10-27T04:59:30.874Z,1761541170.874 [DAT](INFO): DAT read: 04:59:29.5503 LVL= 32752, 32753, 32338, 32755, AGC= 62, IDX= 501,-0.11,-1.904, 2.912,-1.420,-1.907, PHS= 0.105,-1.419, 0.443, RAW= 159.8, 10.2, CAL= 159.8, 11.0, ROT= 350.2, -11.0 2025-10-27T04:59:30.875Z,1761541170.875 [DAT](INFO): got valid direction response: 04:59:29.5503 LVL= 32752, 32753, 32338, 32755, AGC= 62, IDX= 501,-0.11,-1.904, 2.912,-1.420,-1.907, PHS= 0.105,-1.419, 0.443, RAW= 159.8, 10.2, CAL= 159.8, 11.0, ROT= 350.2, -11.0 2025-10-27T04:59:30.875Z,1761541170.875 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T04:59:30.876Z,1761541170.876 [DAT](INFO): direction in FSK: [0.967303,-0.167082,0.190809] 2025-10-27T04:59:30.877Z,1761541170.877 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:30.881Z,1761541170.881 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.607729 2025-10-27T04:59:31.054Z,1761541171.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291216,0.943058,0.160733],[-0.956562,-0.284670,-0.062871],[-0.013535,-0.172060,0.984993]] 2025-10-27T04:59:31.116Z,1761541171.116 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.842904 2025-10-27T04:59:31.124Z,1761541171.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.502604 s, deltaX: -0.299999 m, approachRate: -0.596890 m/s, rangeRepo size: 4 2025-10-27T04:59:31.126Z,1761541171.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.452578 m, bearing: 245.333578 deg, lat: 36.779344 deg, lon: -121.859614 deg, deltaT: 0.502604 s, deltaX: -0.298506 m, approachRate: -0.593918 m/s, posRepo size: 4 2025-10-27T04:59:31.126Z,1761541171.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.45 m. 2025-10-27T04:59:31.133Z,1761541171.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.452578 m, nav range: 28.917391 m, bearing: 244.937356 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.369785 deg, new cmd heading: 251.270117 deg. 2025-10-27T04:59:31.134Z,1761541171.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385491 target range: 29.452578 and range: 29.60 m. 2025-10-27T04:59:31.368Z,1761541171.368 [DAT](INFO): DAT read: Rx Time:04:59:30.0502 2025-10-27T04:59:31.369Z,1761541171.369 [DAT](INFO): Rx dataTimestamp_ set to:1761541171.368678 2025-10-27T04:59:31.370Z,1761541171.370 [DAT](INFO): DAT read: Bearing 51.9, -13.2 (Local) 2025-10-27T04:59:31.371Z,1761541171.371 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -13.2 (Local) 2025-10-27T04:59:31.373Z,1761541171.373 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.4 2025-10-27T04:59:31.377Z,1761541171.377 [DAT](INFO): DAT read: 04:59:30.0502 LVL= 32752, 32753, 31410, 32755, AGC= 64, IDX= 500, 0.27, 1.632, 0.170, 2.136, 1.661, PHS= 0.073,-1.445, 0.432, RAW= 160.4, 10.9, CAL= 160.5, 12.0, ROT= 349.5, -12.0 2025-10-27T04:59:31.378Z,1761541171.378 [DAT](INFO): got valid direction response: 04:59:30.0502 LVL= 32752, 32753, 31410, 32755, AGC= 64, IDX= 500, 0.27, 1.632, 0.170, 2.136, 1.661, PHS= 0.073,-1.445, 0.432, RAW= 160.4, 10.9, CAL= 160.5, 12.0, ROT= 349.5, -12.0 2025-10-27T04:59:31.379Z,1761541171.379 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T04:59:31.380Z,1761541171.380 [DAT](INFO): direction in FSK: [0.961768,-0.178253,0.207912] 2025-10-27T04:59:31.380Z,1761541171.380 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:31.384Z,1761541171.384 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.110489 2025-10-27T04:59:31.530Z,1761541171.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289835,0.943529,0.160465],[-0.956969,-0.283188,-0.063361],[-0.014341,-0.171925,0.985006]] 2025-10-27T04:59:31.589Z,1761541171.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.503810 s, deltaX: -0.200001 m, approachRate: -0.396977 m/s, rangeRepo size: 4 2025-10-27T04:59:31.593Z,1761541171.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.253605 m, bearing: 244.904484 deg, lat: 36.779344 deg, lon: -121.859613 deg, deltaT: 0.503810 s, deltaX: -0.198973 m, approachRate: -0.394936 m/s, posRepo size: 4 2025-10-27T04:59:31.594Z,1761541171.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.25 m. 2025-10-27T04:59:31.598Z,1761541171.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.253605 m, nav range: 28.597374 m, bearing: 244.915937 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.270119 deg, new cmd heading: 251.149626 deg. 2025-10-27T04:59:31.616Z,1761541171.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383388 target range: 29.253605 and range: 29.40 m. 2025-10-27T04:59:31.620Z,1761541171.620 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.346912 2025-10-27T04:59:31.872Z,1761541171.872 [DAT](INFO): DAT read: Rx Time:04:59:30.5500 2025-10-27T04:59:31.873Z,1761541171.873 [DAT](INFO): Rx dataTimestamp_ set to:1761541171.872672 2025-10-27T04:59:31.874Z,1761541171.874 [DAT](INFO): DAT read: Bearing 48.9, -12.3 (Local) 2025-10-27T04:59:31.875Z,1761541171.875 [DAT](INFO): Local bearing/azimuth received: Bearing 48.9, -12.3 (Local) 2025-10-27T04:59:31.877Z,1761541171.877 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 2025-10-27T04:59:31.881Z,1761541171.881 [DAT](INFO): DAT read: 04:59:30.5500 LVL= 32144, 32689, 27634, 32755, AGC= 63, IDX= 498,-0.04,-1.673, 3.138,-1.169,-1.713, PHS= 0.142,-1.387, 0.500, RAW= 160.3, 8.6, CAL= 160.0, 9.0, ROT= 350.0, -9.0 2025-10-27T04:59:31.882Z,1761541171.882 [DAT](INFO): got valid direction response: 04:59:30.5500 LVL= 32144, 32689, 27634, 32755, AGC= 63, IDX= 498,-0.04,-1.673, 3.138,-1.169,-1.713, PHS= 0.142,-1.387, 0.500, RAW= 160.3, 8.6, CAL= 160.0, 9.0, ROT= 350.0, -9.0 2025-10-27T04:59:31.883Z,1761541171.883 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T04:59:31.884Z,1761541171.884 [DAT](INFO): direction in FSK: [0.972683,-0.171510,0.156434] 2025-10-27T04:59:31.884Z,1761541171.884 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:31.892Z,1761541171.892 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.618779 2025-10-27T04:59:32.029Z,1761541172.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503994 s, deltaX: -0.299999 m, approachRate: -0.595244 m/s, rangeRepo size: 4 2025-10-27T04:59:32.036Z,1761541172.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.955099 m, bearing: 244.862227 deg, lat: 36.779344 deg, lon: -121.859613 deg, deltaT: 0.503994 s, deltaX: -0.298506 m, approachRate: -0.592280 m/s, posRepo size: 4 2025-10-27T04:59:32.036Z,1761541172.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.96 m. 2025-10-27T04:59:32.043Z,1761541172.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.955099 m, nav range: 28.382616 m, bearing: 244.962504 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.149635 deg, new cmd heading: 251.035655 deg. 2025-10-27T04:59:32.044Z,1761541172.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381399 target range: 28.955099 and range: 29.10 m. 2025-10-27T04:59:32.124Z,1761541172.124 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.850973 2025-10-27T04:59:32.378Z,1761541172.378 [DAT](INFO): DAT read: Rx Time:04:59:31.0499 2025-10-27T04:59:32.379Z,1761541172.379 [DAT](INFO): Rx dataTimestamp_ set to:1761541172.378365 2025-10-27T04:59:32.380Z,1761541172.380 [DAT](INFO): DAT read: Bearing 52.7, -12.2 (Local) 2025-10-27T04:59:32.380Z,1761541172.380 [DAT](INFO): Local bearing/azimuth received: Bearing 52.7, -12.2 (Local) 2025-10-27T04:59:32.382Z,1761541172.382 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 2025-10-27T04:59:32.417Z,1761541172.417 [DAT](INFO): DAT read: 04:59:31.0499 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496, 0.42, 0.425,-1.041, 0.887, 0.448, PHS= 0.079,-1.444, 0.395, RAW= 159.2, 11.4, CAL= 159.4, 12.7, ROT= 350.6, -12.7 2025-10-27T04:59:32.418Z,1761541172.418 [DAT](INFO): got valid direction response: 04:59:31.0499 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496, 0.42, 0.425,-1.041, 0.887, 0.448, PHS= 0.079,-1.444, 0.395, RAW= 159.2, 11.4, CAL= 159.4, 12.7, ROT= 350.6, -12.7 2025-10-27T04:59:32.418Z,1761541172.418 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T04:59:32.427Z,1761541172.427 [DAT](INFO): direction in FSK: [0.962435,-0.159330,0.219846] 2025-10-27T04:59:32.427Z,1761541172.427 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:32.435Z,1761541172.435 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.162006 2025-10-27T04:59:32.519Z,1761541172.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.505693 s, deltaX: -0.300001 m, approachRate: -0.593248 m/s, rangeRepo size: 4 2025-10-27T04:59:32.521Z,1761541172.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.656591 m, bearing: 246.116999 deg, lat: 36.779345 deg, lon: -121.859613 deg, deltaT: 0.505693 s, deltaX: -0.298508 m, approachRate: -0.590294 m/s, posRepo size: 4 2025-10-27T04:59:32.522Z,1761541172.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.66 m. 2025-10-27T04:59:32.525Z,1761541172.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.656591 m, nav range: 28.126301 m, bearing: 245.052631 deg, approach rate: 0.000000 m/s, LOS rate: -0.085897 deg/s, cmd heading: 251.035653 deg, new cmd heading: 250.910510 deg. 2025-10-27T04:59:32.526Z,1761541172.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379214 target range: 28.656591 and range: 28.80 m. 2025-10-27T04:59:32.629Z,1761541172.629 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.355405 2025-10-27T04:59:32.832Z,1761541172.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285127,0.944340,0.164088],[-0.958357,-0.278036,-0.065168],[-0.015918,-0.175836,0.984291]] 2025-10-27T04:59:32.857Z,1761541172.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:32.860Z,1761541172.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.66 m. 2025-10-27T04:59:32.862Z,1761541172.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.656591 m, nav range: 27.940798 m, bearing: 245.084440 deg, approach rate: -0.537386 m/s, LOS rate: 0.092759 deg/s, cmd heading: 250.910496 deg, new cmd heading: 251.006555 deg. 2025-10-27T04:59:32.863Z,1761541172.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380891 target range: 28.656591 and range: 28.80 m. 2025-10-27T04:59:32.883Z,1761541172.883 [DAT](INFO): DAT read: Rx Time:04:59:31.5497 2025-10-27T04:59:32.884Z,1761541172.884 [DAT](INFO): Rx dataTimestamp_ set to:1761541172.883601 2025-10-27T04:59:32.885Z,1761541172.885 [DAT](INFO): DAT read: Bearing 51.9, -12.2 (Local) 2025-10-27T04:59:32.886Z,1761541172.886 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -12.2 (Local) 2025-10-27T04:59:32.904Z,1761541172.904 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T04:59:32.915Z,1761541172.915 [DAT](INFO): DAT read: 04:59:31.5497 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.00,-1.516,-2.978,-1.051,-1.506, PHS= 0.092,-1.427, 0.411, RAW= 159.3, 10.9, CAL= 159.4, 12.0, ROT= 350.6, -12.0 2025-10-27T04:59:32.917Z,1761541172.917 [DAT](INFO): got valid direction response: 04:59:31.5497 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.00,-1.516,-2.978,-1.051,-1.506, PHS= 0.092,-1.427, 0.411, RAW= 159.3, 10.9, CAL= 159.4, 12.0, ROT= 350.6, -12.0 2025-10-27T04:59:32.918Z,1761541172.918 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T04:59:32.936Z,1761541172.936 [DAT](INFO): direction in FSK: [0.965013,-0.159757,0.207912] 2025-10-27T04:59:32.937Z,1761541172.937 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:32.950Z,1761541172.950 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.676112 2025-10-27T04:59:33.132Z,1761541173.132 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.858719 2025-10-27T04:59:33.257Z,1761541173.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284366,0.944275,0.165771],[-0.958582,-0.277160,-0.065594],[-0.015994,-0.177558,0.983980]] 2025-10-27T04:59:33.305Z,1761541173.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.505236 s, deltaX: -0.299999 m, approachRate: -0.593780 m/s, rangeRepo size: 4 2025-10-27T04:59:33.307Z,1761541173.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.358082 m, bearing: 246.397279 deg, lat: 36.779346 deg, lon: -121.859614 deg, deltaT: 0.505236 s, deltaX: -0.298510 m, approachRate: -0.590832 m/s, posRepo size: 4 2025-10-27T04:59:33.308Z,1761541173.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.36 m. 2025-10-27T04:59:33.310Z,1761541173.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.358082 m, nav range: 27.723677 m, bearing: 245.556222 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.006556 deg, new cmd heading: 251.130237 deg. 2025-10-27T04:59:33.328Z,1761541173.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383049 target range: 28.358082 and range: 28.50 m. 2025-10-27T04:59:33.386Z,1761541173.386 [DAT](INFO): DAT read: Rx Time:04:59:32.0496 2025-10-27T04:59:33.386Z,1761541173.386 [DAT](INFO): Rx dataTimestamp_ set to:1761541173.386022 2025-10-27T04:59:33.388Z,1761541173.388 [DAT](INFO): DAT read: Bearing 51.5, -11.9 (Local) 2025-10-27T04:59:33.389Z,1761541173.389 [DAT](INFO): Local bearing/azimuth received: Bearing 51.5, -11.9 (Local) 2025-10-27T04:59:33.393Z,1761541173.393 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.3 2025-10-27T04:59:33.399Z,1761541173.399 [DAT](INFO): DAT read: 04:59:32.0496 LVL= 32752, 32753, 29554, 32755, AGC= 62, IDX= 510,-0.37,-2.027, 2.791,-1.568,-2.028, PHS= 0.103,-1.419, 0.417, RAW= 159.2, 10.6, CAL= 159.2, 11.6, ROT= 350.8, -11.6 2025-10-27T04:59:33.401Z,1761541173.401 [DAT](INFO): got valid direction response: 04:59:32.0496 LVL= 32752, 32753, 29554, 32755, AGC= 62, IDX= 510,-0.37,-2.027, 2.791,-1.568,-2.028, PHS= 0.103,-1.419, 0.417, RAW= 159.2, 10.6, CAL= 159.2, 11.6, ROT= 350.8, -11.6 2025-10-27T04:59:33.401Z,1761541173.401 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T04:59:33.402Z,1761541173.402 [DAT](INFO): direction in FSK: [0.966974,-0.156616,0.201078] 2025-10-27T04:59:33.402Z,1761541173.402 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:33.438Z,1761541173.438 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.165232 2025-10-27T04:59:33.636Z,1761541173.636 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.362912 2025-10-27T04:59:33.644Z,1761541173.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284228,0.944135,0.166806],[-0.958624,-0.276962,-0.065812],[-0.015937,-0.178610,0.983791]] 2025-10-27T04:59:33.714Z,1761541173.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.502421 s, deltaX: -0.100000 m, approachRate: -0.199037 m/s, rangeRepo size: 4 2025-10-27T04:59:33.740Z,1761541173.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.258543 m, bearing: 246.542076 deg, lat: 36.779350 deg, lon: -121.859614 deg, deltaT: 0.502421 s, deltaX: -0.099539 m, approachRate: -0.198118 m/s, posRepo size: 4 2025-10-27T04:59:33.740Z,1761541173.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.26 m. 2025-10-27T04:59:33.747Z,1761541173.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.258543 m, nav range: 27.392555 m, bearing: 246.330015 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.130237 deg, new cmd heading: 251.243319 deg. 2025-10-27T04:59:33.752Z,1761541173.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385023 target range: 28.258543 and range: 28.40 m. 2025-10-27T04:59:33.888Z,1761541173.888 [DAT](INFO): DAT read: Rx Time:04:59:32.5494 2025-10-27T04:59:33.889Z,1761541173.889 [DAT](INFO): Rx dataTimestamp_ set to:1761541173.888670 2025-10-27T04:59:33.890Z,1761541173.890 [DAT](INFO): DAT read: Bearing 50.7, -12.6 (Local) 2025-10-27T04:59:33.891Z,1761541173.891 [DAT](INFO): Local bearing/azimuth received: Bearing 50.7, -12.6 (Local) 2025-10-27T04:59:33.893Z,1761541173.893 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.1 2025-10-27T04:59:33.900Z,1761541173.900 [DAT](INFO): DAT read: 04:59:32.5494 LVL= 32752, 32753, 32018, 32755, AGC= 62, IDX= 507, 0.10,-1.490,-2.972,-0.996,-1.491, PHS= 0.103,-1.436, 0.451, RAW= 160.0, 10.2, CAL= 160.0, 11.0, ROT= 350.0, -11.0 2025-10-27T04:59:33.901Z,1761541173.901 [DAT](INFO): got valid direction response: 04:59:32.5494 LVL= 32752, 32753, 32018, 32755, AGC= 62, IDX= 507, 0.10,-1.490,-2.972,-0.996,-1.491, PHS= 0.103,-1.436, 0.451, RAW= 160.0, 10.2, CAL= 160.0, 11.0, ROT= 350.0, -11.0 2025-10-27T04:59:33.902Z,1761541173.902 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T04:59:33.941Z,1761541173.941 [DAT](INFO): direction in FSK: [0.966714,-0.170458,0.190809] 2025-10-27T04:59:33.943Z,1761541173.943 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:33.987Z,1761541173.987 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.713952 2025-10-27T04:59:34.059Z,1761541174.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284231,0.944040,0.167336],[-0.958625,-0.276941,-0.065897],[-0.015867,-0.179143,0.983695]] 2025-10-27T04:59:34.100Z,1761541174.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.502648 s, deltaX: -0.299999 m, approachRate: -0.596838 m/s, rangeRepo size: 4 2025-10-27T04:59:34.104Z,1761541174.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.960037 m, bearing: 245.648344 deg, lat: 36.779350 deg, lon: -121.859615 deg, deltaT: 0.502648 s, deltaX: -0.298506 m, approachRate: -0.593866 m/s, posRepo size: 4 2025-10-27T04:59:34.106Z,1761541174.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m. 2025-10-27T04:59:34.127Z,1761541174.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.960037 m, nav range: 27.219498 m, bearing: 246.398765 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.243318 deg, new cmd heading: 251.351182 deg. 2025-10-27T04:59:34.128Z,1761541174.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386906 target range: 27.960037 and range: 28.10 m. 2025-10-27T04:59:34.140Z,1761541174.140 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.866798 2025-10-27T04:59:34.397Z,1761541174.397 [DAT](INFO): DAT read: Rx Time:04:59:33.0494 2025-10-27T04:59:34.398Z,1761541174.398 [DAT](INFO): Rx dataTimestamp_ set to:1761541174.397128 2025-10-27T04:59:34.400Z,1761541174.400 [DAT](INFO): DAT read: Bearing 51.6, -11.7 (Local) 2025-10-27T04:59:34.400Z,1761541174.400 [DAT](INFO): Local bearing/azimuth received: Bearing 51.6, -11.7 (Local) 2025-10-27T04:59:34.403Z,1761541174.403 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 2025-10-27T04:59:34.408Z,1761541174.408 [DAT](INFO): DAT read: 04:59:33.0494 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.32,-1.559,-3.035,-1.111,-1.560, PHS= 0.103,-1.429, 0.406, RAW= 158.8, 10.8, CAL= 158.9, 11.9, ROT= 351.1, -11.9 2025-10-27T04:59:34.409Z,1761541174.409 [DAT](INFO): got valid direction response: 04:59:33.0494 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.32,-1.559,-3.035,-1.111,-1.560, PHS= 0.103,-1.429, 0.406, RAW= 158.8, 10.8, CAL= 158.9, 11.9, ROT= 351.1, -11.9 2025-10-27T04:59:34.409Z,1761541174.409 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T04:59:34.410Z,1761541174.410 [DAT](INFO): direction in FSK: [0.966728,-0.151385,0.206204] 2025-10-27T04:59:34.410Z,1761541174.410 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:34.414Z,1761541174.414 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.141038 2025-10-27T04:59:34.520Z,1761541174.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285166,0.943895,0.166562],[-0.958353,-0.277979,-0.065477],[-0.015503,-0.178297,0.983855]] 2025-10-27T04:59:34.642Z,1761541174.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.508458 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:59:34.648Z,1761541174.648 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.374854 2025-10-27T04:59:34.650Z,1761541174.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.960045 m, bearing: 246.832915 deg, lat: 36.779350 deg, lon: -121.859616 deg, deltaT: 0.508458 s, deltaX: 0.000008 m, approachRate: 0.000015 m/s, posRepo size: 4 2025-10-27T04:59:34.650Z,1761541174.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.96 m. 2025-10-27T04:59:34.653Z,1761541174.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.960045 m, nav range: 26.993372 m, bearing: 246.492992 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.351180 deg, new cmd heading: 251.502360 deg. 2025-10-27T04:59:34.654Z,1761541174.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389544 target range: 27.960045 and range: 28.10 m. 2025-10-27T04:59:34.901Z,1761541174.901 [DAT](INFO): DAT read: Rx Time:04:59:33.5491 2025-10-27T04:59:34.901Z,1761541174.901 [DAT](INFO): Rx dataTimestamp_ set to:1761541174.900943 2025-10-27T04:59:34.902Z,1761541174.902 [DAT](INFO): DAT read: Bearing 52.1, -12.0 (Local) 2025-10-27T04:59:34.903Z,1761541174.903 [DAT](INFO): Local bearing/azimuth received: Bearing 52.1, -12.0 (Local) 2025-10-27T04:59:34.905Z,1761541174.905 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-27T04:59:34.910Z,1761541174.910 [DAT](INFO): DAT read: 04:59:33.5491 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.03,-1.298,-2.777,-0.842,-1.283, PHS= 0.087,-1.449, 0.397, RAW= 159.0, 11.3, CAL= 159.2, 12.5, ROT= 350.8, -12.5 2025-10-27T04:59:34.911Z,1761541174.911 [DAT](INFO): got valid direction response: 04:59:33.5491 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.03,-1.298,-2.777,-0.842,-1.283, PHS= 0.087,-1.449, 0.397, RAW= 159.0, 11.3, CAL= 159.2, 12.5, ROT= 350.8, -12.5 2025-10-27T04:59:34.911Z,1761541174.911 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T04:59:34.912Z,1761541174.912 [DAT](INFO): direction in FSK: [0.963737,-0.156092,0.216440] 2025-10-27T04:59:34.912Z,1761541174.912 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:34.921Z,1761541174.921 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.647858 2025-10-27T04:59:35.059Z,1761541175.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285766,0.943593,0.167244],[-0.958180,-0.278589,-0.065412],[-0.015130,-0.178943,0.983743]] 2025-10-27T04:59:35.142Z,1761541175.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.503815 s, deltaX: -0.500000 m, approachRate: -0.992428 m/s, rangeRepo size: 4 2025-10-27T04:59:35.148Z,1761541175.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.462536 m, bearing: 246.622829 deg, lat: 36.779350 deg, lon: -121.859616 deg, deltaT: 0.503815 s, deltaX: -0.497509 m, approachRate: -0.987484 m/s, posRepo size: 4 2025-10-27T04:59:35.149Z,1761541175.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.46 m. 2025-10-27T04:59:35.152Z,1761541175.152 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.878887 2025-10-27T04:59:35.156Z,1761541175.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.462536 m, nav range: 26.761984 m, bearing: 246.565073 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.502373 deg, new cmd heading: 251.641568 deg. 2025-10-27T04:59:35.157Z,1761541175.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391974 target range: 27.462536 and range: 27.60 m. 2025-10-27T04:59:35.405Z,1761541175.405 [DAT](INFO): DAT read: Rx Time:04:59:34.0490 2025-10-27T04:59:35.405Z,1761541175.405 [DAT](INFO): Rx dataTimestamp_ set to:1761541175.404720 2025-10-27T04:59:35.406Z,1761541175.406 [DAT](INFO): DAT read: Bearing 51.7, -12.1 (Local) 2025-10-27T04:59:35.407Z,1761541175.407 [DAT](INFO): Local bearing/azimuth received: Bearing 51.7, -12.1 (Local) 2025-10-27T04:59:35.409Z,1761541175.409 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 2025-10-27T04:59:35.413Z,1761541175.413 [DAT](INFO): DAT read: 04:59:34.0490 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.31, 1.029,-0.470, 1.500, 1.040, PHS= 0.091,-1.465, 0.416, RAW= 159.3, 11.0, CAL= 159.4, 12.1, ROT= 350.6, -12.1 2025-10-27T04:59:35.414Z,1761541175.414 [DAT](INFO): got valid direction response: 04:59:34.0490 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.31, 1.029,-0.470, 1.500, 1.040, PHS= 0.091,-1.465, 0.416, RAW= 159.3, 11.0, CAL= 159.4, 12.1, ROT= 350.6, -12.1 2025-10-27T04:59:35.425Z,1761541175.425 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T04:59:35.426Z,1761541175.426 [DAT](INFO): direction in FSK: [0.964654,-0.159697,0.209619] 2025-10-27T04:59:35.426Z,1761541175.426 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:35.460Z,1761541175.460 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.186464 2025-10-27T04:59:35.588Z,1761541175.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287240,0.943188,0.167004],[-0.957751,-0.280193,-0.064847],[-0.014370,-0.178574,0.983822]] 2025-10-27T04:59:35.656Z,1761541175.656 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.382902 2025-10-27T04:59:35.661Z,1761541175.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.503777 s, deltaX: -0.100000 m, approachRate: -0.198501 m/s, rangeRepo size: 4 2025-10-27T04:59:35.663Z,1761541175.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.363035 m, bearing: 246.256075 deg, lat: 36.779350 deg, lon: -121.859617 deg, deltaT: 0.503777 s, deltaX: -0.099501 m, approachRate: -0.197509 m/s, posRepo size: 4 2025-10-27T04:59:35.663Z,1761541175.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.36 m. 2025-10-27T04:59:35.666Z,1761541175.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.363035 m, nav range: 26.543631 m, bearing: 246.645414 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.641572 deg, new cmd heading: 251.785841 deg. 2025-10-27T04:59:35.667Z,1761541175.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394492 target range: 27.363035 and range: 27.50 m. 2025-10-27T04:59:35.909Z,1761541175.909 [DAT](INFO): DAT read: Rx Time:04:59:34.5488 2025-10-27T04:59:35.909Z,1761541175.909 [DAT](INFO): Rx dataTimestamp_ set to:1761541175.908715 2025-10-27T04:59:35.910Z,1761541175.910 [DAT](INFO): DAT read: Bearing 51.9, -11.5 (Local) 2025-10-27T04:59:35.911Z,1761541175.911 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -11.5 (Local) 2025-10-27T04:59:35.913Z,1761541175.913 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.5 2025-10-27T04:59:35.917Z,1761541175.917 [DAT](INFO): DAT read: 04:59:34.5488 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501,-0.26,-2.679, 2.111,-2.235,-2.676, PHS= 0.099,-1.450, 0.397, RAW= 158.6, 11.1, CAL= 158.8, 12.3, ROT= 351.2, -12.3 2025-10-27T04:59:35.918Z,1761541175.918 [DAT](INFO): got valid direction response: 04:59:34.5488 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501,-0.26,-2.679, 2.111,-2.235,-2.676, PHS= 0.099,-1.450, 0.397, RAW= 158.6, 11.1, CAL= 158.8, 12.3, ROT= 351.2, -12.3 2025-10-27T04:59:35.923Z,1761541175.923 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T04:59:35.924Z,1761541175.924 [DAT](INFO): direction in FSK: [0.965544,-0.149474,0.213030] 2025-10-27T04:59:35.924Z,1761541175.924 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:35.928Z,1761541175.928 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.654533 2025-10-27T04:59:36.126Z,1761541176.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503995 s, deltaX: -0.299999 m, approachRate: -0.595243 m/s, rangeRepo size: 4 2025-10-27T04:59:36.128Z,1761541176.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.064529 m, bearing: 246.884893 deg, lat: 36.779350 deg, lon: -121.859618 deg, deltaT: 0.503995 s, deltaX: -0.298506 m, approachRate: -0.592279 m/s, posRepo size: 4 2025-10-27T04:59:36.129Z,1761541176.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.06 m. 2025-10-27T04:59:36.132Z,1761541176.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.064529 m, nav range: 26.314634 m, bearing: 246.741476 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.785853 deg, new cmd heading: 251.915302 deg. 2025-10-27T04:59:36.133Z,1761541176.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396751 target range: 27.064529 and range: 27.20 m. 2025-10-27T04:59:36.160Z,1761541176.160 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.886835 2025-10-27T04:59:36.413Z,1761541176.413 [DAT](INFO): DAT read: Rx Time:04:59:35.0486 2025-10-27T04:59:36.413Z,1761541176.413 [DAT](INFO): Rx dataTimestamp_ set to:1761541176.412806 2025-10-27T04:59:36.414Z,1761541176.414 [DAT](INFO): DAT read: Bearing 50.7, -11.3 (Local) 2025-10-27T04:59:36.415Z,1761541176.415 [DAT](INFO): Local bearing/azimuth received: Bearing 50.7, -11.3 (Local) 2025-10-27T04:59:36.418Z,1761541176.418 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 2025-10-27T04:59:36.424Z,1761541176.424 [DAT](INFO): DAT read: 04:59:35.0486 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.08,-2.585, 2.199,-2.136,-2.605, PHS= 0.122,-1.434, 0.425, RAW= 158.7, 10.3, CAL= 158.7, 11.2, ROT= 351.3, -11.2 2025-10-27T04:59:36.425Z,1761541176.425 [DAT](INFO): got valid direction response: 04:59:35.0486 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.08,-2.585, 2.199,-2.136,-2.605, PHS= 0.122,-1.434, 0.425, RAW= 158.7, 10.3, CAL= 158.7, 11.2, ROT= 351.3, -11.2 2025-10-27T04:59:36.425Z,1761541176.425 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T04:59:36.426Z,1761541176.426 [DAT](INFO): direction in FSK: [0.969668,-0.148380,0.194234] 2025-10-27T04:59:36.427Z,1761541176.427 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:36.462Z,1761541176.462 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.188330 2025-10-27T04:59:36.661Z,1761541176.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504091 s, deltaX: -0.300001 m, approachRate: -0.595133 m/s, rangeRepo size: 4 2025-10-27T04:59:36.664Z,1761541176.664 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.390942 2025-10-27T04:59:36.669Z,1761541176.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.765995 m, bearing: 246.777473 deg, lat: 36.779350 deg, lon: -121.859619 deg, deltaT: 0.504091 s, deltaX: -0.298534 m, approachRate: -0.592223 m/s, posRepo size: 4 2025-10-27T04:59:36.669Z,1761541176.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.77 m. 2025-10-27T04:59:36.685Z,1761541176.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.765995 m, nav range: 26.070166 m, bearing: 246.788812 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 251.915299 deg, new cmd heading: 252.062636 deg. 2025-10-27T04:59:36.693Z,1761541176.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399323 target range: 26.765995 and range: 26.90 m. 2025-10-27T04:59:36.918Z,1761541176.918 [DAT](INFO): DAT read: Rx Time:04:59:35.5483 2025-10-27T04:59:36.918Z,1761541176.918 [DAT](INFO): Rx dataTimestamp_ set to:1761541176.917772 2025-10-27T04:59:36.920Z,1761541176.920 [DAT](INFO): DAT read: Bearing 51.1, -11.8 (Local) 2025-10-27T04:59:36.921Z,1761541176.921 [DAT](INFO): Local bearing/azimuth received: Bearing 51.1, -11.8 (Local) 2025-10-27T04:59:36.924Z,1761541176.924 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.5 2025-10-27T04:59:36.929Z,1761541176.929 [DAT](INFO): DAT read: 04:59:35.5483 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 496,-0.01,-3.100, 1.678,-2.636,-3.101, PHS= 0.103,-1.459, 0.421, RAW= 159.1, 10.7, CAL= 159.2, 11.8, ROT= 350.8, -11.8 2025-10-27T04:59:36.930Z,1761541176.930 [DAT](INFO): got valid direction response: 04:59:35.5483 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 496,-0.01,-3.100, 1.678,-2.636,-3.101, PHS= 0.103,-1.459, 0.421, RAW= 159.1, 10.7, CAL= 159.2, 11.8, ROT= 350.8, -11.8 2025-10-27T04:59:36.930Z,1761541176.930 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T04:59:36.948Z,1761541176.948 [DAT](INFO): direction in FSK: [0.966275,-0.156503,0.204496] 2025-10-27T04:59:36.948Z,1761541176.948 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:36.954Z,1761541176.954 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.680593 2025-10-27T04:59:37.160Z,1761541177.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296314,0.940725,0.165029],[-0.955032,-0.289924,-0.062112],[-0.010584,-0.176013,0.984331]] 2025-10-27T04:59:37.168Z,1761541177.168 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.894875 2025-10-27T04:59:37.265Z,1761541177.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504966 s, deltaX: -0.500000 m, approachRate: -0.990166 m/s, rangeRepo size: 4 2025-10-27T04:59:37.288Z,1761541177.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.268486 m, bearing: 245.813456 deg, lat: 36.779350 deg, lon: -121.859618 deg, deltaT: 0.504966 s, deltaX: -0.497509 m, approachRate: -0.985233 m/s, posRepo size: 4 2025-10-27T04:59:37.290Z,1761541177.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.27 m. 2025-10-27T04:59:37.312Z,1761541177.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.268486 m, nav range: 25.661081 m, bearing: 246.561785 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.062640 deg, new cmd heading: 252.230278 deg. 2025-10-27T04:59:37.313Z,1761541177.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402249 target range: 26.268486 and range: 26.40 m. 2025-10-27T04:59:37.421Z,1761541177.421 [DAT](INFO): DAT read: Rx Time:04:59:36.0482 2025-10-27T04:59:37.421Z,1761541177.421 [DAT](INFO): Rx dataTimestamp_ set to:1761541177.420965 2025-10-27T04:59:37.423Z,1761541177.423 [DAT](INFO): DAT read: Bearing 51.9, -11.7 (Local) 2025-10-27T04:59:37.423Z,1761541177.423 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -11.7 (Local) 2025-10-27T04:59:37.425Z,1761541177.425 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 2025-10-27T04:59:37.430Z,1761541177.430 [DAT](INFO): DAT read: 04:59:36.0482 LVL= 32752, 32753, 32562, 32755, AGC= 61, IDX= 511,-0.04,-1.345,-2.828,-0.896,-1.329, PHS= 0.086,-1.454, 0.389, RAW= 158.8, 11.4, CAL= 159.0, 12.7, ROT= 351.0, -12.7 2025-10-27T04:59:37.431Z,1761541177.431 [DAT](INFO): got valid direction response: 04:59:36.0482 LVL= 32752, 32753, 32562, 32755, AGC= 61, IDX= 511,-0.04,-1.345,-2.828,-0.896,-1.329, PHS= 0.086,-1.454, 0.389, RAW= 158.8, 11.4, CAL= 159.0, 12.7, ROT= 351.0, -12.7 2025-10-27T04:59:37.431Z,1761541177.431 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T04:59:37.432Z,1761541177.432 [DAT](INFO): direction in FSK: [0.963524,-0.152607,0.219846] 2025-10-27T04:59:37.433Z,1761541177.433 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:37.436Z,1761541177.436 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.163303 2025-10-27T04:59:37.676Z,1761541177.676 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.402596 2025-10-27T04:59:37.754Z,1761541177.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301683,0.939283,0.163511],[-0.953369,-0.295646,-0.060666],[-0.008642,-0.174188,0.984675]] 2025-10-27T04:59:37.803Z,1761541177.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503193 s, deltaX: -0.100000 m, approachRate: -0.198732 m/s, rangeRepo size: 4 2025-10-27T04:59:37.805Z,1761541177.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.168982 m, bearing: 245.825659 deg, lat: 36.779348 deg, lon: -121.859618 deg, deltaT: 0.503193 s, deltaX: -0.099504 m, approachRate: -0.197746 m/s, posRepo size: 4 2025-10-27T04:59:37.806Z,1761541177.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.17 m. 2025-10-27T04:59:37.809Z,1761541177.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.168982 m, nav range: 25.375240 m, bearing: 246.142542 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.230280 deg, new cmd heading: 252.381984 deg. 2025-10-27T04:59:37.810Z,1761541177.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404897 target range: 26.168982 and range: 26.30 m. 2025-10-27T04:59:37.925Z,1761541177.925 [DAT](INFO): DAT read: Rx Time:04:59:36.5479 2025-10-27T04:59:37.925Z,1761541177.925 [DAT](INFO): Rx dataTimestamp_ set to:1761541177.924806 2025-10-27T04:59:37.926Z,1761541177.926 [DAT](INFO): DAT read: Bearing 51.4, -11.8 (Local) 2025-10-27T04:59:37.927Z,1761541177.927 [DAT](INFO): Local bearing/azimuth received: Bearing 51.4, -11.8 (Local) 2025-10-27T04:59:37.929Z,1761541177.929 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.5 2025-10-27T04:59:37.934Z,1761541177.934 [DAT](INFO): DAT read: 04:59:36.5479 LVL= 32752, 32753, 31154, 32755, AGC= 62, IDX= 508,-0.08,-1.833, 2.969,-1.376,-1.823, PHS= 0.092,-1.446, 0.403, RAW= 159.0, 11.1, CAL= 159.2, 12.3, ROT= 350.8, -12.3 2025-10-27T04:59:37.935Z,1761541177.935 [DAT](INFO): got valid direction response: 04:59:36.5479 LVL= 32752, 32753, 31154, 32755, AGC= 62, IDX= 508,-0.08,-1.833, 2.969,-1.376,-1.823, PHS= 0.092,-1.446, 0.403, RAW= 159.0, 11.1, CAL= 159.2, 12.3, ROT= 350.8, -12.3 2025-10-27T04:59:37.935Z,1761541177.935 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T04:59:37.936Z,1761541177.936 [DAT](INFO): direction in FSK: [0.964477,-0.156211,0.213030] 2025-10-27T04:59:37.936Z,1761541177.936 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:37.948Z,1761541177.948 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.675047 2025-10-27T04:59:38.179Z,1761541178.179 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.905321 2025-10-27T04:59:38.270Z,1761541178.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.503841 s, deltaX: -0.500000 m, approachRate: -0.992377 m/s, rangeRepo size: 4 2025-10-27T04:59:38.286Z,1761541178.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.671473 m, bearing: 245.554858 deg, lat: 36.779347 deg, lon: -121.859618 deg, deltaT: 0.503841 s, deltaX: -0.497509 m, approachRate: -0.987433 m/s, posRepo size: 4 2025-10-27T04:59:38.292Z,1761541178.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.67 m. 2025-10-27T04:59:38.310Z,1761541178.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.671473 m, nav range: 25.157938 m, bearing: 245.881241 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.381992 deg, new cmd heading: 252.510018 deg. 2025-10-27T04:59:38.315Z,1761541178.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407131 target range: 25.671473 and range: 25.80 m. 2025-10-27T04:59:38.429Z,1761541178.429 [DAT](INFO): DAT read: Rx Time:04:59:37.0478 2025-10-27T04:59:38.429Z,1761541178.429 [DAT](INFO): Rx dataTimestamp_ set to:1761541178.428872 2025-10-27T04:59:38.430Z,1761541178.430 [DAT](INFO): DAT read: Bearing 52.0, -12.1 (Local) 2025-10-27T04:59:38.431Z,1761541178.431 [DAT](INFO): Local bearing/azimuth received: Bearing 52.0, -12.1 (Local) 2025-10-27T04:59:38.433Z,1761541178.433 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 2025-10-27T04:59:38.438Z,1761541178.438 [DAT](INFO): DAT read: 04:59:37.0478 LVL= 32752, 32753, 31890, 32755, AGC= 61, IDX= 507,-0.20, 0.068,-1.414, 0.531, 0.097, PHS= 0.073,-1.466, 0.389, RAW= 159.2, 11.7, CAL= 159.4, 13.0, ROT= 350.6, -13.0 2025-10-27T04:59:38.439Z,1761541178.439 [DAT](INFO): got valid direction response: 04:59:37.0478 LVL= 32752, 32753, 31890, 32755, AGC= 61, IDX= 507,-0.20, 0.068,-1.414, 0.531, 0.097, PHS= 0.073,-1.466, 0.389, RAW= 159.2, 11.7, CAL= 159.4, 13.0, ROT= 350.6, -13.0 2025-10-27T04:59:38.439Z,1761541178.439 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T04:59:38.440Z,1761541178.440 [DAT](INFO): direction in FSK: [0.961286,-0.159140,0.224951] 2025-10-27T04:59:38.440Z,1761541178.440 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:38.444Z,1761541178.444 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.171120 2025-10-27T04:59:38.640Z,1761541178.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504066 s, deltaX: -0.099998 m, approachRate: -0.198384 m/s, rangeRepo size: 4 2025-10-27T04:59:38.642Z,1761541178.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.572044 m, bearing: 245.485714 deg, lat: 36.779346 deg, lon: -121.859617 deg, deltaT: 0.504066 s, deltaX: -0.099428 m, approachRate: -0.197252 m/s, posRepo size: 4 2025-10-27T04:59:38.643Z,1761541178.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T04:59:38.646Z,1761541178.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.572044 m, nav range: 24.794268 m, bearing: 245.610685 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.510017 deg, new cmd heading: 252.614976 deg. 2025-10-27T04:59:38.647Z,1761541178.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408963 target range: 25.572044 and range: 25.70 m. 2025-10-27T04:59:38.683Z,1761541178.683 [DAT](INFO): DAT read: Rx Time:04:59:37.5475 2025-10-27T04:59:38.685Z,1761541178.685 [DAT](INFO): Rx dataTimestamp_ set to:1761541178.683848 2025-10-27T04:59:38.687Z,1761541178.687 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.413321 2025-10-27T04:59:38.933Z,1761541178.933 [DAT](INFO): DAT read: Bearing 50.9, -11.2 (Local) 2025-10-27T04:59:38.933Z,1761541178.933 [DAT](INFO): Local bearing/azimuth received: Bearing 50.9, -11.2 (Local) 2025-10-27T04:59:38.935Z,1761541178.935 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 2025-10-27T04:59:38.952Z,1761541178.952 [DAT](INFO): DAT read: 04:59:37.5475 LVL= 32752, 32753, 30242, 32755, AGC= 62, IDX= 504,-0.24,-2.096, 2.708,-1.655,-2.101, PHS= 0.107,-1.429, 0.402, RAW= 158.6, 10.8, CAL= 158.7, 11.9, ROT= 351.3, -11.9 2025-10-27T04:59:38.953Z,1761541178.953 [DAT](INFO): got valid direction response: 04:59:37.5475 LVL= 32752, 32753, 30242, 32755, AGC= 62, IDX= 504,-0.24,-2.096, 2.708,-1.655,-2.101, PHS= 0.107,-1.429, 0.402, RAW= 158.6, 10.8, CAL= 158.7, 11.9, ROT= 351.3, -11.9 2025-10-27T04:59:38.953Z,1761541178.953 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T04:59:38.954Z,1761541178.954 [DAT](INFO): direction in FSK: [0.967250,-0.148010,0.206204] 2025-10-27T04:59:38.955Z,1761541178.955 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:38.958Z,1761541178.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309003,0.937170,0.161956],[-0.951048,-0.303589,-0.057808],[-0.005008,-0.171891,0.985103]] 2025-10-27T04:59:38.966Z,1761541178.966 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.693274 2025-10-27T04:59:39.014Z,1761541179.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.502516 s, deltaX: -0.500000 m, approachRate: -0.994993 m/s, rangeRepo size: 4 2025-10-27T04:59:39.021Z,1761541179.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.074533 m, bearing: 245.498902 deg, lat: 36.779346 deg, lon: -121.859616 deg, deltaT: 0.502516 s, deltaX: -0.497511 m, approachRate: -0.990040 m/s, posRepo size: 4 2025-10-27T04:59:39.021Z,1761541179.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T04:59:39.028Z,1761541179.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.074533 m, nav range: 24.481144 m, bearing: 245.476862 deg, approach rate: 0.000000 m/s, LOS rate: 0.092759 deg/s, cmd heading: 252.614984 deg, new cmd heading: 252.719126 deg. 2025-10-27T04:59:39.029Z,1761541179.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410781 target range: 25.074533 and range: 25.20 m. 2025-10-27T04:59:39.190Z,1761541179.190 [DAT](INFO): DAT read: Rx Time:04:59:38.0473 2025-10-27T04:59:39.193Z,1761541179.193 [DAT](INFO): Rx dataTimestamp_ set to:1761541179.190309 2025-10-27T04:59:39.196Z,1761541179.196 [DAT](INFO): DAT read: Bearing 50.9, -11.3 (Local) 2025-10-27T04:59:39.198Z,1761541179.198 [DAT](INFO): Local bearing/azimuth received: Bearing 50.9, -11.3 (Local) 2025-10-27T04:59:39.212Z,1761541179.212 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.929611 2025-10-27T04:59:39.358Z,1761541179.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310147,0.937194,0.159613],[-0.950681,-0.305061,-0.056070],[-0.003857,-0.169131,0.985586]] 2025-10-27T04:59:39.437Z,1761541179.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:39.442Z,1761541179.442 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-27T04:59:39.446Z,1761541179.446 [DAT](INFO): DAT read: 04:59:38.0473 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.46, 0.547,-0.932, 0.992, 0.546, PHS= 0.103,-1.432, 0.402, RAW= 158.7, 10.9, CAL= 158.8, 12.0, ROT= 351.2, -12.0 2025-10-27T04:59:39.447Z,1761541179.447 [DAT](INFO): got valid direction response: 04:59:38.0473 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.46, 0.547,-0.932, 0.992, 0.546, PHS= 0.103,-1.432, 0.402, RAW= 158.7, 10.9, CAL= 158.8, 12.0, ROT= 351.2, -12.0 2025-10-27T04:59:39.448Z,1761541179.448 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T04:59:39.449Z,1761541179.449 [DAT](INFO): direction in FSK: [0.966633,-0.149642,0.207912] 2025-10-27T04:59:39.449Z,1761541179.449 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:39.453Z,1761541179.453 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.179646 2025-10-27T04:59:39.456Z,1761541179.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.508096 s, deltaX: -0.300001 m, approachRate: -0.590442 m/s, rangeRepo size: 4 2025-10-27T04:59:39.457Z,1761541179.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T04:59:39.465Z,1761541179.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.074533 m, nav range: 24.205217 m, bearing: 245.431879 deg, approach rate: -0.624072 m/s, LOS rate: -0.102899 deg/s, cmd heading: 252.719130 deg, new cmd heading: 252.582644 deg. 2025-10-27T04:59:39.466Z,1761541179.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408399 target range: 25.074533 and range: 24.90 m. 2025-10-27T04:59:39.695Z,1761541179.695 [DAT](INFO): DAT read: Rx Time:04:59:38.5470 2025-10-27T04:59:39.696Z,1761541179.696 [DAT](INFO): Rx dataTimestamp_ set to:1761541179.695394 2025-10-27T04:59:39.698Z,1761541179.698 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.424616 2025-10-27T04:59:39.762Z,1761541179.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311147,0.937101,0.158204],[-0.950357,-0.306279,-0.054904],[-0.002995,-0.167434,0.985879]] 2025-10-27T04:59:39.803Z,1761541179.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T04:59:39.806Z,1761541179.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.074533 m, nav range: 23.978460 m, bearing: 245.394747 deg, approach rate: -0.653153 m/s, LOS rate: -0.107969 deg/s, cmd heading: 252.582636 deg, new cmd heading: 252.470185 deg. 2025-10-27T04:59:39.807Z,1761541179.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406436 target range: 25.074533 and range: 24.90 m. 2025-10-27T04:59:39.945Z,1761541179.945 [DAT](INFO): DAT read: Bearing 49.5, -12.6 (Local) 2025-10-27T04:59:39.945Z,1761541179.945 [DAT](INFO): Local bearing/azimuth received: Bearing 49.5, -12.6 (Local) 2025-10-27T04:59:39.947Z,1761541179.947 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.7 2025-10-27T04:59:39.952Z,1761541179.952 [DAT](INFO): DAT read: 04:59:38.5470 LVL= 32752, 32753, 29762, 32755, AGC= 62, IDX= 499, 0.36, 0.732,-0.757, 1.248, 0.734, PHS= 0.100,-1.446, 0.470, RAW= 160.5, 10.0, CAL= 160.4, 10.8, ROT= 349.6, -10.8 2025-10-27T04:59:39.953Z,1761541179.953 [DAT](INFO): got valid direction response: 04:59:38.5470 LVL= 32752, 32753, 29762, 32755, AGC= 62, IDX= 499, 0.36, 0.732,-0.757, 1.248, 0.734, PHS= 0.100,-1.446, 0.470, RAW= 160.5, 10.0, CAL= 160.4, 10.8, ROT= 349.6, -10.8 2025-10-27T04:59:39.953Z,1761541179.953 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T04:59:39.954Z,1761541179.954 [DAT](INFO): direction in FSK: [0.966150,-0.177322,0.187381] 2025-10-27T04:59:39.954Z,1761541179.954 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:39.959Z,1761541179.959 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.685345 2025-10-27T04:59:40.169Z,1761541180.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311634,0.937292,0.156104],[-0.950200,-0.307059,-0.053241],[-0.001969,-0.164922,0.986305]] 2025-10-27T04:59:40.200Z,1761541180.200 [DAT](INFO): DAT read: Rx Time:04:59:39.0468 2025-10-27T04:59:40.201Z,1761541180.201 [DAT](INFO): Rx dataTimestamp_ set to:1761541180.200435 2025-10-27T04:59:40.211Z,1761541180.211 [DAT](INFO): DAT read: Bearing 50.0, -12.5 (Local) 2025-10-27T04:59:40.212Z,1761541180.212 [DAT](INFO): Local bearing/azimuth received: Bearing 50.0, -12.5 (Local) 2025-10-27T04:59:40.226Z,1761541180.226 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.5 2025-10-27T04:59:40.233Z,1761541180.233 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-27T04:59:40.234Z,1761541180.234 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.960350 2025-10-27T04:59:40.314Z,1761541180.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.760951 s, deltaX: -0.600000 m, approachRate: -0.788488 m/s, rangeRepo size: 4 2025-10-27T04:59:40.330Z,1761541180.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.179186 m, bearing: 243.369160 deg, lat: 36.779346 deg, lon: -121.859616 deg, deltaT: 1.269047 s, deltaX: -0.895348 m, approachRate: -0.705528 m/s, posRepo size: 4 2025-10-27T04:59:40.337Z,1761541180.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T04:59:40.349Z,1761541180.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.179186 m, nav range: 23.699448 m, bearing: 245.201456 deg, approach rate: 0.000000 m/s, LOS rate: -0.107969 deg/s, cmd heading: 252.470184 deg, new cmd heading: 252.317628 deg. 2025-10-27T04:59:40.350Z,1761541180.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403773 target range: 24.179186 and range: 24.30 m. 2025-10-27T04:59:40.454Z,1761541180.454 [DAT](INFO): DAT read: 04:59:39.0468 LVL= 32752, 32753, 32018, 32755, AGC= 61, IDX= 497, 0.22, 0.708,-0.769, 1.212, 0.716, PHS= 0.093,-1.440, 0.452, RAW= 160.3, 10.3, CAL= 160.3, 11.2, ROT= 349.7, -11.2 2025-10-27T04:59:40.455Z,1761541180.455 [DAT](INFO): got valid direction response: 04:59:39.0468 LVL= 32752, 32753, 32018, 32755, AGC= 61, IDX= 497, 0.22, 0.708,-0.769, 1.212, 0.716, PHS= 0.093,-1.440, 0.452, RAW= 160.3, 10.3, CAL= 160.3, 11.2, ROT= 349.7, -11.2 2025-10-27T04:59:40.455Z,1761541180.455 [DAT](INFO): #Rx 39: Read direction message, but no range. 2025-10-27T04:59:40.456Z,1761541180.456 [DAT](INFO): direction in FSK: [0.965147,-0.175397,0.194234] 2025-10-27T04:59:40.461Z,1761541180.461 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.187904 2025-10-27T04:59:40.696Z,1761541180.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310800,0.937918,0.153994],[-0.950474,-0.306461,-0.051770],[-0.001363,-0.162457,0.986715]] 2025-10-27T04:59:40.705Z,1761541180.705 [DAT](INFO): DAT read: Rx Time:04:59:39.5465 2025-10-27T04:59:40.706Z,1761541180.706 [DAT](INFO): Rx dataTimestamp_ set to:1761541180.705334 2025-10-27T04:59:40.710Z,1761541180.710 [DAT](INFO): DAT read: Bearing 50.2, -13.2 (Local) 2025-10-27T04:59:40.715Z,1761541180.715 [DAT](INFO): Local bearing/azimuth received: Bearing 50.2, -13.2 (Local) 2025-10-27T04:59:40.730Z,1761541180.730 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.6 2025-10-27T04:59:40.748Z,1761541180.748 [DAT](INFO): DAT read: 04:59:39.5465 LVL= 32752, 32753, 30322, 32755, AGC= 59, IDX= 510, 0.16,-1.012,-2.485,-0.476,-0.984, PHS= 0.074,-1.456, 0.464, RAW= 161.1, 10.5, CAL= 161.1, 11.5, ROT= 348.9, -11.5 2025-10-27T04:59:40.749Z,1761541180.749 [DAT](INFO): got valid direction response: 04:59:39.5465 LVL= 32752, 32753, 30322, 32755, AGC= 59, IDX= 510, 0.16,-1.012,-2.485,-0.476,-0.984, PHS= 0.074,-1.456, 0.464, RAW= 161.1, 10.5, CAL= 161.1, 11.5, ROT= 348.9, -11.5 2025-10-27T04:59:40.749Z,1761541180.749 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T04:59:40.750Z,1761541180.750 [DAT](INFO): direction in FSK: [0.961593,-0.188657,0.199368] 2025-10-27T04:59:40.750Z,1761541180.750 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:40.766Z,1761541180.766 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.492933 2025-10-27T04:59:40.944Z,1761541180.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504899 s, deltaX: -0.400000 m, approachRate: -0.792237 m/s, rangeRepo size: 4 2025-10-27T04:59:40.946Z,1761541180.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.781397 m, bearing: 242.810523 deg, lat: 36.779345 deg, lon: -121.859616 deg, deltaT: 0.504899 s, deltaX: -0.397789 m, approachRate: -0.787859 m/s, posRepo size: 4 2025-10-27T04:59:40.952Z,1761541180.952 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.678869 2025-10-27T04:59:40.953Z,1761541180.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T04:59:40.960Z,1761541180.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.781397 m, nav range: 23.286083 m, bearing: 244.995139 deg, approach rate: 0.000000 m/s, LOS rate: -0.107969 deg/s, cmd heading: 252.317624 deg, new cmd heading: 252.100662 deg. 2025-10-27T04:59:40.961Z,1761541180.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399987 target range: 23.781397 and range: 23.90 m. 2025-10-27T04:59:41.208Z,1761541181.208 [DAT](INFO): DAT read: Rx Time:04:59:40.0464 2025-10-27T04:59:41.209Z,1761541181.209 [DAT](INFO): Rx dataTimestamp_ set to:1761541181.208298 2025-10-27T04:59:41.214Z,1761541181.214 [DAT](INFO): DAT read: Bearing 49.8, -12.7 (Local) 2025-10-27T04:59:41.220Z,1761541181.220 [DAT](INFO): Local bearing/azimuth received: Bearing 49.8, -12.7 (Local) 2025-10-27T04:59:41.253Z,1761541181.253 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 2025-10-27T04:59:41.272Z,1761541181.272 [DAT](INFO): DAT read: 04:59:40.0464 LVL= 32752, 32753, 30050, 32755, AGC= 58, IDX= 509, 0.14,-0.664,-2.141,-0.142,-0.654, PHS= 0.092,-1.442, 0.468, RAW= 160.7, 10.1, CAL= 160.7, 10.9, ROT= 349.3, -10.9 2025-10-27T04:59:41.274Z,1761541181.274 [DAT](INFO): got valid direction response: 04:59:40.0464 LVL= 32752, 32753, 30050, 32755, AGC= 58, IDX= 509, 0.14,-0.664,-2.141,-0.142,-0.654, PHS= 0.092,-1.442, 0.468, RAW= 160.7, 10.1, CAL= 160.7, 10.9, ROT= 349.3, -10.9 2025-10-27T04:59:41.274Z,1761541181.274 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T04:59:41.309Z,1761541181.309 [DAT](INFO): direction in FSK: [0.964885,-0.182317,0.189095] 2025-10-27T04:59:41.310Z,1761541181.310 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:41.368Z,1761541181.368 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.094631 2025-10-27T04:59:41.456Z,1761541181.456 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.182796 2025-10-27T04:59:41.541Z,1761541181.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.502964 s, deltaX: -0.199999 m, approachRate: -0.397640 m/s, rangeRepo size: 4 2025-10-27T04:59:41.547Z,1761541181.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.582390 m, bearing: 243.106603 deg, lat: 36.779340 deg, lon: -121.859613 deg, deltaT: 0.502964 s, deltaX: -0.199007 m, approachRate: -0.395669 m/s, posRepo size: 4 2025-10-27T04:59:41.548Z,1761541181.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T04:59:41.550Z,1761541181.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.582390 m, nav range: 22.968893 m, bearing: 243.416222 deg, approach rate: 0.000000 m/s, LOS rate: -0.107969 deg/s, cmd heading: 252.100670 deg, new cmd heading: 251.907526 deg. 2025-10-27T04:59:41.555Z,1761541181.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396616 target range: 23.582390 and range: 23.70 m. 2025-10-27T04:59:41.713Z,1761541181.713 [DAT](INFO): DAT read: Rx Time:04:59:40.5461 2025-10-27T04:59:41.715Z,1761541181.715 [DAT](INFO): Rx dataTimestamp_ set to:1761541181.713845 2025-10-27T04:59:41.721Z,1761541181.721 [DAT](INFO): DAT read: Bearing 52.2, -11.4 (Local) 2025-10-27T04:59:41.722Z,1761541181.722 [DAT](INFO): Local bearing/azimuth received: Bearing 52.2, -11.4 (Local) 2025-10-27T04:59:41.731Z,1761541181.731 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 2025-10-27T04:59:41.733Z,1761541181.733 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T04:59:41.734Z,1761541181.734 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.460869 2025-10-27T04:59:41.897Z,1761541181.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306659,0.940207,0.148223],[-0.951819,-0.302909,-0.047810],[-0.000054,-0.155743,0.987798]] 2025-10-27T04:59:41.943Z,1761541181.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:41.950Z,1761541181.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505547 s, deltaX: -0.400002 m, approachRate: -0.791225 m/s, rangeRepo size: 4 2025-10-27T04:59:41.950Z,1761541181.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T04:59:41.957Z,1761541181.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.582390 m, nav range: 22.738707 m, bearing: 243.407069 deg, approach rate: -0.563040 m/s, LOS rate: -0.022615 deg/s, cmd heading: 251.907513 deg, new cmd heading: 251.879776 deg. 2025-10-27T04:59:41.958Z,1761541181.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396132 target range: 23.582390 and range: 23.30 m. 2025-10-27T04:59:41.964Z,1761541181.964 [DAT](INFO): DAT read: 04:59:40.5461 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.07,-1.398,-2.861,-0.945,-1.371, PHS= 0.076,-1.444, 0.382, RAW= 159.0, 11.6, CAL= 159.2, 13.0, ROT= 350.8, -13.0 2025-10-27T04:59:41.965Z,1761541181.965 [DAT](INFO): got valid direction response: 04:59:40.5461 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.07,-1.398,-2.861,-0.945,-1.371, PHS= 0.076,-1.444, 0.382, RAW= 159.0, 11.6, CAL= 159.2, 13.0, ROT= 350.8, -13.0 2025-10-27T04:59:41.965Z,1761541181.965 [DAT](INFO): #Rx 43: Read direction message, but no range. 2025-10-27T04:59:41.966Z,1761541181.966 [DAT](INFO): direction in FSK: [0.961836,-0.155784,0.224951] 2025-10-27T04:59:41.970Z,1761541181.970 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.696627 2025-10-27T04:59:42.216Z,1761541182.216 [DAT](INFO): DAT read: Rx Time:04:59:41.0460 2025-10-27T04:59:42.218Z,1761541182.218 [DAT](INFO): Rx dataTimestamp_ set to:1761541182.216790 2025-10-27T04:59:42.221Z,1761541182.221 [DAT](INFO): DAT read: Bearing 49.7, -12.9 (Local) 2025-10-27T04:59:42.222Z,1761541182.222 [DAT](INFO): Local bearing/azimuth received: Bearing 49.7, -12.9 (Local) 2025-10-27T04:59:42.227Z,1761541182.227 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.6 2025-10-27T04:59:42.230Z,1761541182.230 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-27T04:59:42.233Z,1761541182.233 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.959431 2025-10-27T04:59:42.357Z,1761541182.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304408,0.941271,0.146095],[-0.952542,-0.300825,-0.046568],[0.000116,-0.153337,0.988174]] 2025-10-27T04:59:42.468Z,1761541182.468 [DAT](INFO): DAT read: 04:59:41.0460 LVL= 32752, 32753, 30338, 32755, AGC= 60, IDX= 505, 0.21,-1.284,-2.758,-0.742,-1.273, PHS= 0.091,-1.440, 0.486, RAW= 161.2, 9.8, CAL= 161.1, 10.6, ROT= 348.9, -10.6 2025-10-27T04:59:42.469Z,1761541182.469 [DAT](INFO): got valid direction response: 04:59:41.0460 LVL= 32752, 32753, 30338, 32755, AGC= 60, IDX= 505, 0.21,-1.284,-2.758,-0.742,-1.273, PHS= 0.091,-1.440, 0.486, RAW= 161.2, 9.8, CAL= 161.1, 10.6, ROT= 348.9, -10.6 2025-10-27T04:59:42.469Z,1761541182.469 [DAT](INFO): #Rx 45: Read direction message, but no range. 2025-10-27T04:59:42.470Z,1761541182.470 [DAT](INFO): direction in FSK: [0.964547,-0.189237,0.183951] 2025-10-27T04:59:42.474Z,1761541182.474 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.200436 2025-10-27T04:59:42.536Z,1761541182.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.502945 s, deltaX: -0.199999 m, approachRate: -0.397656 m/s, rangeRepo size: 4 2025-10-27T04:59:42.538Z,1761541182.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.985659 m, bearing: 242.928525 deg, lat: 36.779339 deg, lon: -121.859612 deg, deltaT: 1.008492 s, deltaX: -0.596731 m, approachRate: -0.591706 m/s, posRepo size: 4 2025-10-27T04:59:42.538Z,1761541182.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m. 2025-10-27T04:59:42.546Z,1761541182.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.985659 m, nav range: 22.446053 m, bearing: 243.041661 deg, approach rate: 0.000000 m/s, LOS rate: -0.022615 deg/s, cmd heading: 251.879782 deg, new cmd heading: 251.840328 deg. 2025-10-27T04:59:42.547Z,1761541182.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395443 target range: 22.985659 and range: 23.10 m. 2025-10-27T04:59:42.720Z,1761541182.720 [DAT](INFO): DAT read: Rx Time:04:59:41.5458 2025-10-27T04:59:42.722Z,1761541182.722 [DAT](INFO): Rx dataTimestamp_ set to:1761541182.720534 2025-10-27T04:59:42.725Z,1761541182.725 [DAT](INFO): DAT read: Bearing 51.6, -12.3 (Local) 2025-10-27T04:59:42.726Z,1761541182.726 [DAT](INFO): Local bearing/azimuth received: Bearing 51.6, -12.3 (Local) 2025-10-27T04:59:42.731Z,1761541182.731 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4 2025-10-27T04:59:42.733Z,1761541182.733 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-27T04:59:42.734Z,1761541182.734 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.461222 2025-10-27T04:59:42.833Z,1761541182.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299622,0.942900,0.145485],[-0.954058,-0.296239,-0.044901],[0.000762,-0.152254,0.988341]] 2025-10-27T04:59:42.891Z,1761541182.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503744 s, deltaX: -0.400000 m, approachRate: -0.794053 m/s, rangeRepo size: 4 2025-10-27T04:59:42.892Z,1761541182.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m. 2025-10-27T04:59:42.894Z,1761541182.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.985659 m, nav range: 22.224636 m, bearing: 243.049847 deg, approach rate: -0.622495 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.840331 deg, new cmd heading: 251.865134 deg. 2025-10-27T04:59:42.900Z,1761541182.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395876 target range: 22.985659 and range: 22.70 m. 2025-10-27T04:59:42.972Z,1761541182.972 [DAT](INFO): DAT read: 04:59:41.5458 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.25,-1.831, 2.996,-1.333,-1.799, PHS= 0.070,-1.443, 0.422, RAW= 160.2, 11.1, CAL= 160.4, 12.3, ROT= 349.6, -12.3 2025-10-27T04:59:42.974Z,1761541182.974 [DAT](INFO): got valid direction response: 04:59:41.5458 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.25,-1.831, 2.996,-1.333,-1.799, PHS= 0.070,-1.443, 0.422, RAW= 160.2, 11.1, CAL= 160.4, 12.3, ROT= 349.6, -12.3 2025-10-27T04:59:42.974Z,1761541182.974 [DAT](INFO): #Rx 47: Read direction message, but no range. 2025-10-27T04:59:42.976Z,1761541182.976 [DAT](INFO): direction in FSK: [0.960994,-0.176375,0.213030] 2025-10-27T04:59:42.979Z,1761541182.979 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.705832 2025-10-27T04:59:43.226Z,1761541183.226 [DAT](INFO): DAT read: Rx Time:04:59:42.0457 2025-10-27T04:59:43.228Z,1761541183.228 [DAT](INFO): Rx dataTimestamp_ set to:1761541183.226828 2025-10-27T04:59:43.233Z,1761541183.233 [DAT](INFO): DAT read: Bearing 49.4, -13.0 (Local) 2025-10-27T04:59:43.233Z,1761541183.233 [DAT](INFO): Local bearing/azimuth received: Bearing 49.4, -13.0 (Local) 2025-10-27T04:59:43.235Z,1761541183.235 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 2025-10-27T04:59:43.236Z,1761541183.236 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-27T04:59:43.237Z,1761541183.237 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.963423 2025-10-27T04:59:43.262Z,1761541183.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297165,0.943746,0.145039],[-0.954826,-0.293865,-0.044173],[0.000933,-0.151614,0.988439]] 2025-10-27T04:59:43.336Z,1761541183.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.506294 s, deltaX: -0.200001 m, approachRate: -0.395029 m/s, rangeRepo size: 4 2025-10-27T04:59:43.352Z,1761541183.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.388819 m, bearing: 244.303052 deg, lat: 36.779339 deg, lon: -121.859612 deg, deltaT: 1.010038 s, deltaX: -0.596840 m, approachRate: -0.590908 m/s, posRepo size: 4 2025-10-27T04:59:43.355Z,1761541183.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m. 2025-10-27T04:59:43.378Z,1761541183.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.388819 m, nav range: 21.981703 m, bearing: 243.046079 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.865138 deg, new cmd heading: 251.896107 deg. 2025-10-27T04:59:43.386Z,1761541183.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396417 target range: 22.388819 and range: 22.50 m. 2025-10-27T04:59:43.478Z,1761541183.478 [DAT](INFO): DAT read: 04:59:42.0457 LVL= 32752, 32753, 31266, 32755, AGC= 59, IDX= 501, 0.47,-0.840,-2.299,-0.290,-0.834, PHS= 0.096,-1.420, 0.500, RAW= 161.5, 9.4, CAL= 161.4, 10.1, ROT= 348.6, -10.1 2025-10-27T04:59:43.480Z,1761541183.480 [DAT](INFO): got valid direction response: 04:59:42.0457 LVL= 32752, 32753, 31266, 32755, AGC= 59, IDX= 501, 0.47,-0.840,-2.299,-0.290,-0.834, PHS= 0.096,-1.420, 0.500, RAW= 161.5, 9.4, CAL= 161.4, 10.1, ROT= 348.6, -10.1 2025-10-27T04:59:43.481Z,1761541183.481 [DAT](INFO): #Rx 49: Read direction message, but no range. 2025-10-27T04:59:43.482Z,1761541183.482 [DAT](INFO): direction in FSK: [0.965080,-0.194594,0.175367] 2025-10-27T04:59:43.497Z,1761541183.497 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.223387 2025-10-27T04:59:43.729Z,1761541183.729 [DAT](INFO): DAT read: Rx Time:04:59:42.5455 2025-10-27T04:59:43.730Z,1761541183.730 [DAT](INFO): Rx dataTimestamp_ set to:1761541183.729553 2025-10-27T04:59:43.734Z,1761541183.734 [DAT](INFO): DAT read: Bearing 50.3, -12.6 (Local) 2025-10-27T04:59:43.734Z,1761541183.734 [DAT](INFO): Local bearing/azimuth received: Bearing 50.3, -12.6 (Local) 2025-10-27T04:59:43.736Z,1761541183.736 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 2025-10-27T04:59:43.737Z,1761541183.737 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-27T04:59:43.738Z,1761541183.738 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.464647 2025-10-27T04:59:43.753Z,1761541183.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295478,0.944314,0.144787],[-0.955349,-0.292243,-0.043614],[0.001128,-0.151209,0.988501]] 2025-10-27T04:59:43.869Z,1761541183.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.502725 s, deltaX: -0.299999 m, approachRate: -0.596746 m/s, rangeRepo size: 4 2025-10-27T04:59:43.879Z,1761541183.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.090454 m, bearing: 243.061039 deg, lat: 36.779339 deg, lon: -121.859612 deg, deltaT: 0.502725 s, deltaX: -0.298365 m, approachRate: -0.593495 m/s, posRepo size: 4 2025-10-27T04:59:43.880Z,1761541183.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T04:59:43.882Z,1761541183.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.090454 m, nav range: 21.681324 m, bearing: 243.094898 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.896120 deg, new cmd heading: 251.933639 deg. 2025-10-27T04:59:43.888Z,1761541183.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397071 target range: 22.090454 and range: 22.20 m. 2025-10-27T04:59:43.983Z,1761541183.983 [DAT](INFO): DAT read: 04:59:42.5455 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 499,-0.19, 2.756, 1.297,-3.001, 2.769, PHS= 0.089,-1.427, 0.469, RAW= 160.9, 10.0, CAL= 160.9, 10.9, ROT= 349.1, -10.9 2025-10-27T04:59:43.989Z,1761541183.989 [DAT](INFO): got valid direction response: 04:59:42.5455 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 499,-0.19, 2.756, 1.297,-3.001, 2.769, PHS= 0.089,-1.427, 0.469, RAW= 160.9, 10.0, CAL= 160.9, 10.9, ROT= 349.1, -10.9 2025-10-27T04:59:43.989Z,1761541183.989 [DAT](INFO): #Rx 51: Read direction message, but no range. 2025-10-27T04:59:43.990Z,1761541183.990 [DAT](INFO): direction in FSK: [0.964243,-0.185684,0.189095] 2025-10-27T04:59:43.993Z,1761541183.993 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.720161 2025-10-27T04:59:44.232Z,1761541184.232 [DAT](INFO): DAT read: Rx Time:04:59:43.0453 2025-10-27T04:59:44.233Z,1761541184.233 [DAT](INFO): Rx dataTimestamp_ set to:1761541184.233139 2025-10-27T04:59:44.235Z,1761541184.235 [DAT](INFO): DAT read: Bearing 49.2, -12.7 (Local) 2025-10-27T04:59:44.235Z,1761541184.235 [DAT](INFO): Local bearing/azimuth received: Bearing 49.2, -12.7 (Local) 2025-10-27T04:59:44.237Z,1761541184.237 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T04:59:44.242Z,1761541184.242 [DAT](INFO): DAT read: 04:59:43.0453 LVL= 32752, 32753, 30834, 32755, AGC= 60, IDX= 497, 0.04,-2.362, 2.458,-1.819,-2.368, PHS= 0.107,-1.413, 0.505, RAW= 161.3, 9.2, CAL= 161.1, 9.7, ROT= 348.9, -9.7 2025-10-27T04:59:44.251Z,1761541184.251 [DAT](INFO): got valid direction response: 04:59:43.0453 LVL= 32752, 32753, 30834, 32755, AGC= 60, IDX= 497, 0.04,-2.362, 2.458,-1.819,-2.368, PHS= 0.107,-1.413, 0.505, RAW= 161.3, 9.2, CAL= 161.1, 9.7, ROT= 348.9, -9.7 2025-10-27T04:59:44.252Z,1761541184.252 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T04:59:44.253Z,1761541184.253 [DAT](INFO): direction in FSK: [0.967264,-0.189770,0.168489] 2025-10-27T04:59:44.253Z,1761541184.253 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:44.289Z,1761541184.289 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.015602 2025-10-27T04:59:44.354Z,1761541184.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503586 s, deltaX: -0.300001 m, approachRate: -0.595730 m/s, rangeRepo size: 4 2025-10-27T04:59:44.380Z,1761541184.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791933 m, bearing: 243.297485 deg, lat: 36.779339 deg, lon: -121.859612 deg, deltaT: 0.503586 s, deltaX: -0.298521 m, approachRate: -0.592791 m/s, posRepo size: 4 2025-10-27T04:59:44.382Z,1761541184.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T04:59:44.406Z,1761541184.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.791933 m, nav range: 21.436426 m, bearing: 243.166686 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.933631 deg, new cmd heading: 251.966968 deg. 2025-10-27T04:59:44.407Z,1761541184.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397653 target range: 21.791933 and range: 21.90 m. 2025-10-27T04:59:44.481Z,1761541184.481 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.207844 2025-10-27T04:59:44.734Z,1761541184.734 [DAT](INFO): DAT read: Rx Time:04:59:43.5449 2025-10-27T04:59:44.735Z,1761541184.735 [DAT](INFO): Rx dataTimestamp_ set to:1761541184.734625 2025-10-27T04:59:44.736Z,1761541184.736 [DAT](INFO): DAT read: Bearing 49.3, -13.0 (Local) 2025-10-27T04:59:44.737Z,1761541184.737 [DAT](INFO): Local bearing/azimuth received: Bearing 49.3, -13.0 (Local) 2025-10-27T04:59:44.739Z,1761541184.739 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 2025-10-27T04:59:44.744Z,1761541184.744 [DAT](INFO): DAT read: 04:59:43.5449 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.46, 1.605, 0.134, 2.163, 1.607, PHS= 0.100,-1.429, 0.512, RAW= 161.6, 9.3, CAL= 161.4, 9.8, ROT= 348.6, -9.8 2025-10-27T04:59:44.745Z,1761541184.745 [DAT](INFO): got valid direction response: 04:59:43.5449 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.46, 1.605, 0.134, 2.163, 1.607, PHS= 0.100,-1.429, 0.512, RAW= 161.6, 9.3, CAL= 161.4, 9.8, ROT= 348.6, -9.8 2025-10-27T04:59:44.745Z,1761541184.745 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T04:59:44.746Z,1761541184.746 [DAT](INFO): direction in FSK: [0.965967,-0.194773,0.170209] 2025-10-27T04:59:44.746Z,1761541184.746 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:44.750Z,1761541184.750 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.476816 2025-10-27T04:59:44.778Z,1761541184.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292123,0.944570,0.149837],[-0.956380,-0.288707,-0.044558],[0.001171,-0.156317,0.987706]] 2025-10-27T04:59:44.895Z,1761541184.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.501486 s, deltaX: -0.600000 m, approachRate: -1.196445 m/s, rangeRepo size: 4 2025-10-27T04:59:44.897Z,1761541184.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.194967 m, bearing: 243.274793 deg, lat: 36.779340 deg, lon: -121.859612 deg, deltaT: 0.501486 s, deltaX: -0.596966 m, approachRate: -1.190394 m/s, posRepo size: 4 2025-10-27T04:59:44.898Z,1761541184.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T04:59:44.905Z,1761541184.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.194967 m, nav range: 21.081627 m, bearing: 243.377756 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 251.966963 deg, new cmd heading: 252.005161 deg. 2025-10-27T04:59:44.906Z,1761541184.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398320 target range: 21.194967 and range: 21.30 m. 2025-10-27T04:59:44.985Z,1761541184.985 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.711519 2025-10-27T04:59:45.237Z,1761541185.237 [DAT](INFO): DAT read: Rx Time:04:59:44.0449 2025-10-27T04:59:45.237Z,1761541185.237 [DAT](INFO): Rx dataTimestamp_ set to:1761541185.236769 2025-10-27T04:59:45.238Z,1761541185.238 [DAT](INFO): DAT read: Bearing 49.1, -11.8 (Local) 2025-10-27T04:59:45.239Z,1761541185.239 [DAT](INFO): Local bearing/azimuth received: Bearing 49.1, -11.8 (Local) 2025-10-27T04:59:45.241Z,1761541185.241 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 2025-10-27T04:59:45.249Z,1761541185.249 [DAT](INFO): DAT read: 04:59:44.0449 LVL= 32752, 32753, 27570, 32755, AGC= 58, IDX= 510,-0.13, 2.168, 0.703, 2.678, 2.143, PHS= 0.126,-1.395, 0.490, RAW= 160.5, 9.0, CAL= 160.3, 9.5, ROT= 349.7, -9.5 2025-10-27T04:59:45.251Z,1761541185.251 [DAT](INFO): got valid direction response: 04:59:44.0449 LVL= 32752, 32753, 27570, 32755, AGC= 58, IDX= 510,-0.13, 2.168, 0.703, 2.678, 2.143, PHS= 0.126,-1.395, 0.490, RAW= 160.5, 9.0, CAL= 160.3, 9.5, ROT= 349.7, -9.5 2025-10-27T04:59:45.252Z,1761541185.252 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T04:59:45.253Z,1761541185.253 [DAT](INFO): direction in FSK: [0.970392,-0.176350,0.165048] 2025-10-27T04:59:45.253Z,1761541185.253 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:45.265Z,1761541185.265 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.991711 2025-10-27T04:59:45.286Z,1761541185.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289847,0.944689,0.153465],[-0.957072,-0.286271,-0.045398],[0.001046,-0.160035,0.987111]] 2025-10-27T04:59:45.342Z,1761541185.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.502144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:59:45.366Z,1761541185.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.194967 m, bearing: 244.497171 deg, lat: 36.779341 deg, lon: -121.859612 deg, deltaT: 0.502144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:59:45.373Z,1761541185.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T04:59:45.396Z,1761541185.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.194967 m, nav range: 20.809780 m, bearing: 243.704364 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.005157 deg, new cmd heading: 252.036369 deg. 2025-10-27T04:59:45.404Z,1761541185.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398864 target range: 21.194967 and range: 21.30 m. 2025-10-27T04:59:45.489Z,1761541185.489 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.215618 2025-10-27T04:59:45.531Z,1761541185.531 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T04:59:45.741Z,1761541185.741 [DAT](INFO): DAT read: Rx Time:04:59:44.5446 2025-10-27T04:59:45.741Z,1761541185.741 [DAT](INFO): Rx dataTimestamp_ set to:1761541185.740852 2025-10-27T04:59:45.742Z,1761541185.742 [DAT](INFO): DAT read: Bearing 50.5, -12.8 (Local) 2025-10-27T04:59:45.743Z,1761541185.743 [DAT](INFO): Local bearing/azimuth received: Bearing 50.5, -12.8 (Local) 2025-10-27T04:59:45.745Z,1761541185.745 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 2025-10-27T04:59:45.750Z,1761541185.750 [DAT](INFO): DAT read: 04:59:44.5446 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.19, 2.075, 0.612, 2.614, 2.095, PHS= 0.082,-1.438, 0.475, RAW= 161.2, 10.1, CAL= 161.2, 11.0, ROT= 348.8, -11.0 2025-10-27T04:59:45.751Z,1761541185.751 [DAT](INFO): got valid direction response: 04:59:44.5446 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.19, 2.075, 0.612, 2.614, 2.095, PHS= 0.082,-1.438, 0.475, RAW= 161.2, 10.1, CAL= 161.2, 11.0, ROT= 348.8, -11.0 2025-10-27T04:59:45.763Z,1761541185.763 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T04:59:45.764Z,1761541185.764 [DAT](INFO): direction in FSK: [0.962932,-0.190666,0.190809] 2025-10-27T04:59:45.764Z,1761541185.764 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:45.788Z,1761541185.788 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.514606 2025-10-27T04:59:45.791Z,1761541185.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288394,0.944732,0.155917],[-0.957511,-0.284755,-0.045686],[0.001237,-0.162468,0.986713]] 2025-10-27T04:59:45.891Z,1761541185.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504083 s, deltaX: -0.400000 m, approachRate: -0.793519 m/s, rangeRepo size: 4 2025-10-27T04:59:45.893Z,1761541185.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.796944 m, bearing: 243.967679 deg, lat: 36.779341 deg, lon: -121.859612 deg, deltaT: 0.504083 s, deltaX: -0.398024 m, approachRate: -0.789599 m/s, posRepo size: 4 2025-10-27T04:59:45.894Z,1761541185.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m. 2025-10-27T04:59:45.901Z,1761541185.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.796944 m, nav range: 20.517406 m, bearing: 243.757662 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.036357 deg, new cmd heading: 252.074055 deg. 2025-10-27T04:59:45.902Z,1761541185.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399522 target range: 20.796944 and range: 20.90 m. 2025-10-27T04:59:45.993Z,1761541185.993 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.719074 2025-10-27T04:59:46.241Z,1761541186.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287857,0.944775,0.156649],[-0.957672,-0.284220,-0.045635],[0.001408,-0.163155,0.986599]] 2025-10-27T04:59:46.245Z,1761541186.245 [DAT](INFO): DAT read: Rx Time:04:59:45.0446 2025-10-27T04:59:46.245Z,1761541186.245 [DAT](INFO): Rx dataTimestamp_ set to:1761541186.244759 2025-10-27T04:59:46.246Z,1761541186.246 [DAT](INFO): DAT read: Bearing 49.6, -12.0 (Local) 2025-10-27T04:59:46.247Z,1761541186.247 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -12.0 (Local) 2025-10-27T04:59:46.249Z,1761541186.249 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 2025-10-27T04:59:46.257Z,1761541186.257 [DAT](INFO): DAT read: 04:59:45.0446 LVL= 32752, 32753, 29682, 32755, AGC= 60, IDX= 507,-0.30, 1.668, 0.207, 2.188, 1.659, PHS= 0.111,-1.407, 0.485, RAW= 160.7, 9.4, CAL= 160.6, 10.0, ROT= 349.4, -10.0 2025-10-27T04:59:46.259Z,1761541186.259 [DAT](INFO): got valid direction response: 04:59:45.0446 LVL= 32752, 32753, 29682, 32755, AGC= 60, IDX= 507,-0.30, 1.668, 0.207, 2.188, 1.659, PHS= 0.111,-1.407, 0.485, RAW= 160.7, 9.4, CAL= 160.6, 10.0, ROT= 349.4, -10.0 2025-10-27T04:59:46.259Z,1761541186.259 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T04:59:46.260Z,1761541186.260 [DAT](INFO): direction in FSK: [0.968002,-0.181157,0.173648] 2025-10-27T04:59:46.260Z,1761541186.260 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:46.284Z,1761541186.284 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.010969 2025-10-27T04:59:46.336Z,1761541186.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503907 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:59:46.338Z,1761541186.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.796944 m, bearing: 244.436329 deg, lat: 36.779342 deg, lon: -121.859612 deg, deltaT: 0.503907 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T04:59:46.358Z,1761541186.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m. 2025-10-27T04:59:46.380Z,1761541186.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.796944 m, nav range: 20.240005 m, bearing: 244.264045 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.074060 deg, new cmd heading: 252.105669 deg. 2025-10-27T04:59:46.387Z,1761541186.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400074 target range: 20.796944 and range: 20.90 m. 2025-10-27T04:59:46.496Z,1761541186.496 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.223299 2025-10-27T04:59:46.535Z,1761541186.535 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T04:59:46.749Z,1761541186.749 [DAT](INFO): DAT read: Rx Time:04:59:45.5443 2025-10-27T04:59:46.749Z,1761541186.749 [DAT](INFO): Rx dataTimestamp_ set to:1761541186.748849 2025-10-27T04:59:46.750Z,1761541186.750 [DAT](INFO): DAT read: Bearing 50.3, -12.3 (Local) 2025-10-27T04:59:46.751Z,1761541186.751 [DAT](INFO): Local bearing/azimuth received: Bearing 50.3, -12.3 (Local) 2025-10-27T04:59:46.753Z,1761541186.753 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-27T04:59:46.758Z,1761541186.758 [DAT](INFO): DAT read: 04:59:45.5443 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.07, 1.863, 0.399, 2.391, 1.870, PHS= 0.095,-1.426, 0.477, RAW= 160.9, 9.8, CAL= 160.9, 10.6, ROT= 349.1, -10.6 2025-10-27T04:59:46.759Z,1761541186.759 [DAT](INFO): got valid direction response: 04:59:45.5443 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.07, 1.863, 0.399, 2.391, 1.870, PHS= 0.095,-1.426, 0.477, RAW= 160.9, 9.8, CAL= 160.9, 10.6, ROT= 349.1, -10.6 2025-10-27T04:59:46.759Z,1761541186.759 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T04:59:46.760Z,1761541186.760 [DAT](INFO): direction in FSK: [0.965202,-0.185868,0.183951] 2025-10-27T04:59:46.761Z,1761541186.761 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:46.765Z,1761541186.765 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.491741 2025-10-27T04:59:46.822Z,1761541186.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286845,0.944826,0.158190],[-0.957975,-0.283215,-0.045526],[0.001788,-0.164600,0.986359]] 2025-10-27T04:59:46.933Z,1761541186.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504090 s, deltaX: -0.500000 m, approachRate: -0.991886 m/s, rangeRepo size: 4 2025-10-27T04:59:46.940Z,1761541186.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.299314 m, bearing: 244.316764 deg, lat: 36.779342 deg, lon: -121.859611 deg, deltaT: 0.504090 s, deltaX: -0.497629 m, approachRate: -0.987183 m/s, posRepo size: 4 2025-10-27T04:59:46.940Z,1761541186.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T04:59:46.951Z,1761541186.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.299314 m, nav range: 19.842867 m, bearing: 244.240404 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.105670 deg, new cmd heading: 252.147296 deg. 2025-10-27T04:59:46.952Z,1761541186.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400801 target range: 20.299314 and range: 20.40 m. 2025-10-27T04:59:47.000Z,1761541187.000 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.727219 2025-10-27T04:59:47.265Z,1761541187.265 [DAT](INFO): DAT read: Rx Time:04:59:46.0442 2025-10-27T04:59:47.265Z,1761541187.265 [DAT](INFO): Rx dataTimestamp_ set to:1761541187.264844 2025-10-27T04:59:47.266Z,1761541187.266 [DAT](INFO): DAT read: Bearing 49.6, -12.0 (Local) 2025-10-27T04:59:47.267Z,1761541187.267 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -12.0 (Local) 2025-10-27T04:59:47.269Z,1761541187.269 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.4 2025-10-27T04:59:47.277Z,1761541187.277 [DAT](INFO): DAT read: 04:59:46.0442 LVL= 32752, 32753, 29010, 32755, AGC= 59, IDX= 503, 0.49,-2.754, 2.063,-2.227,-2.762, PHS= 0.111,-1.413, 0.491, RAW= 160.9, 9.3, CAL= 160.7, 9.9, ROT= 349.3, -9.9 2025-10-27T04:59:47.279Z,1761541187.279 [DAT](INFO): got valid direction response: 04:59:46.0442 LVL= 32752, 32753, 29010, 32755, AGC= 59, IDX= 503, 0.49,-2.754, 2.063,-2.227,-2.762, PHS= 0.111,-1.413, 0.491, RAW= 160.9, 9.3, CAL= 160.7, 9.9, ROT= 349.3, -9.9 2025-10-27T04:59:47.284Z,1761541187.284 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T04:59:47.285Z,1761541187.285 [DAT](INFO): direction in FSK: [0.967981,-0.182902,0.171929] 2025-10-27T04:59:47.285Z,1761541187.285 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:47.289Z,1761541187.289 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.015495 2025-10-27T04:59:47.293Z,1761541187.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286578,0.944812,0.158753],[-0.958055,-0.282980,-0.045316],[0.002109,-0.165081,0.986278]] 2025-10-27T04:59:47.350Z,1761541187.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.515995 s, deltaX: -0.100000 m, approachRate: -0.193801 m/s, rangeRepo size: 4 2025-10-27T04:59:47.368Z,1761541187.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.199808 m, bearing: 244.418174 deg, lat: 36.779342 deg, lon: -121.859613 deg, deltaT: 0.515995 s, deltaX: -0.099506 m, approachRate: -0.192844 m/s, posRepo size: 4 2025-10-27T04:59:47.369Z,1761541187.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m. 2025-10-27T04:59:47.376Z,1761541187.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.199808 m, nav range: 19.771200 m, bearing: 244.497177 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.147307 deg, new cmd heading: 252.176370 deg. 2025-10-27T04:59:47.383Z,1761541187.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401308 target range: 20.199808 and range: 20.30 m. 2025-10-27T04:59:47.516Z,1761541187.516 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.242977 2025-10-27T04:59:47.749Z,1761541187.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286346,0.944783,0.159344],[-0.958123,-0.282766,-0.045195],[0.002358,-0.165612,0.986188]] 2025-10-27T04:59:47.769Z,1761541187.769 [DAT](INFO): DAT read: Rx Time:04:59:46.5440 2025-10-27T04:59:47.769Z,1761541187.769 [DAT](INFO): Rx dataTimestamp_ set to:1761541187.768765 2025-10-27T04:59:47.770Z,1761541187.770 [DAT](INFO): DAT read: Bearing 47.9, -11.5 (Local) 2025-10-27T04:59:47.771Z,1761541187.771 [DAT](INFO): Local bearing/azimuth received: Bearing 47.9, -11.5 (Local) 2025-10-27T04:59:47.773Z,1761541187.773 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 2025-10-27T04:59:47.777Z,1761541187.777 [DAT](INFO): DAT read: 04:59:46.5440 LVL= 32752, 32753, 27538, 32755, AGC= 59, IDX= 501,-0.05, 0.692,-0.780, 1.218, 0.643, PHS= 0.150,-1.379, 0.530, RAW= 160.8, 8.0, CAL= 160.4, 8.2, ROT= 349.6, -8.2 2025-10-27T04:59:47.779Z,1761541187.779 [DAT](INFO): got valid direction response: 04:59:46.5440 LVL= 32752, 32753, 27538, 32755, AGC= 59, IDX= 501,-0.05, 0.692,-0.780, 1.218, 0.643, PHS= 0.150,-1.379, 0.530, RAW= 160.8, 8.0, CAL= 160.4, 8.2, ROT= 349.6, -8.2 2025-10-27T04:59:47.779Z,1761541187.779 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T04:59:47.780Z,1761541187.780 [DAT](INFO): direction in FSK: [0.973516,-0.178673,0.142629] 2025-10-27T04:59:47.780Z,1761541187.780 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:47.788Z,1761541187.788 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.514902 2025-10-27T04:59:47.853Z,1761541187.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503921 s, deltaX: -0.299999 m, approachRate: -0.595330 m/s, rangeRepo size: 4 2025-10-27T04:59:47.860Z,1761541187.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.901106 m, bearing: 244.449169 deg, lat: 36.779342 deg, lon: -121.859613 deg, deltaT: 0.503921 s, deltaX: -0.298702 m, approachRate: -0.592756 m/s, posRepo size: 4 2025-10-27T04:59:47.860Z,1761541187.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m. 2025-10-27T04:59:47.876Z,1761541187.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.901106 m, nav range: 19.509054 m, bearing: 244.523993 deg, approach rate: 0.000000 m/s, LOS rate: 0.023244 deg/s, cmd heading: 252.176376 deg, new cmd heading: 252.211468 deg. 2025-10-27T04:59:47.877Z,1761541187.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401920 target range: 19.901106 and range: 20.00 m. 2025-10-27T04:59:48.020Z,1761541188.020 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.747047 2025-10-27T04:59:48.236Z,1761541188.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286156,0.944557,0.161020],[-0.958179,-0.282584,-0.045164],[0.002842,-0.167209,0.985917]] 2025-10-27T04:59:48.253Z,1761541188.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:48.256Z,1761541188.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m. 2025-10-27T04:59:48.258Z,1761541188.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.901106 m, nav range: 19.268984 m, bearing: 244.549195 deg, approach rate: -0.595665 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.211456 deg, new cmd heading: 252.288005 deg. 2025-10-27T04:59:48.260Z,1761541188.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403256 target range: 19.901106 and range: 20.00 m. 2025-10-27T04:59:48.272Z,1761541188.272 [DAT](INFO): DAT read: Rx Time:04:59:47.0438 2025-10-27T04:59:48.273Z,1761541188.273 [DAT](INFO): Rx dataTimestamp_ set to:1761541188.272594 2025-10-27T04:59:48.274Z,1761541188.274 [DAT](INFO): DAT read: Bearing 49.4, -12.2 (Local) 2025-10-27T04:59:48.274Z,1761541188.274 [DAT](INFO): Local bearing/azimuth received: Bearing 49.4, -12.2 (Local) 2025-10-27T04:59:48.277Z,1761541188.277 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4 2025-10-27T04:59:48.281Z,1761541188.281 [DAT](INFO): DAT read: 04:59:47.0438 LVL= 32752, 32753, 28322, 32755, AGC= 59, IDX= 499, 0.24, 2.904, 1.424,-2.838, 2.896, PHS= 0.111,-1.427, 0.505, RAW= 161.1, 9.2, CAL= 161.0, 9.8, ROT= 349.0, -9.8 2025-10-27T04:59:48.282Z,1761541188.282 [DAT](INFO): got valid direction response: 04:59:47.0438 LVL= 32752, 32753, 28322, 32755, AGC= 59, IDX= 499, 0.24, 2.904, 1.424,-2.838, 2.896, PHS= 0.111,-1.427, 0.505, RAW= 161.1, 9.2, CAL= 161.0, 9.8, ROT= 349.0, -9.8 2025-10-27T04:59:48.283Z,1761541188.283 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T04:59:48.284Z,1761541188.284 [DAT](INFO): direction in FSK: [0.967303,-0.188025,0.170209] 2025-10-27T04:59:48.284Z,1761541188.284 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:48.288Z,1761541188.288 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.014538 2025-10-27T04:59:48.524Z,1761541188.524 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.250898 2025-10-27T04:59:48.617Z,1761541188.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286538,0.944325,0.161698],[-0.958063,-0.283038,-0.044780],[0.003479,-0.167748,0.985824]] 2025-10-27T04:59:48.753Z,1761541188.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503829 s, deltaX: -0.299999 m, approachRate: -0.595439 m/s, rangeRepo size: 4 2025-10-27T04:59:48.759Z,1761541188.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.602417 m, bearing: 244.134536 deg, lat: 36.779342 deg, lon: -121.859613 deg, deltaT: 0.503829 s, deltaX: -0.298689 m, approachRate: -0.592838 m/s, posRepo size: 4 2025-10-27T04:59:48.760Z,1761541188.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T04:59:48.767Z,1761541188.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.602417 m, nav range: 19.059002 m, bearing: 244.512692 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.288009 deg, new cmd heading: 252.382366 deg. 2025-10-27T04:59:48.768Z,1761541188.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404903 target range: 19.602417 and range: 19.70 m. 2025-10-27T04:59:48.777Z,1761541188.777 [DAT](INFO): DAT read: Rx Time:04:59:47.5436 2025-10-27T04:59:48.777Z,1761541188.777 [DAT](INFO): Rx dataTimestamp_ set to:1761541188.776966 2025-10-27T04:59:48.779Z,1761541188.779 [DAT](INFO): DAT read: Bearing 53.4, -12.5 (Local) 2025-10-27T04:59:48.779Z,1761541188.779 [DAT](INFO): Local bearing/azimuth received: Bearing 53.4, -12.5 (Local) 2025-10-27T04:59:48.781Z,1761541188.781 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 2025-10-27T04:59:48.801Z,1761541188.801 [DAT](INFO): DAT read: 04:59:47.5436 LVL= 32752, 32753, 27922, 32755, AGC= 58, IDX= 497,-0.24,-1.337,-2.771,-0.838,-1.270, PHS= 0.035,-1.456, 0.388, RAW= 160.4, 12.2, CAL= 160.7, 13.7, ROT= 349.3, -13.7 2025-10-27T04:59:48.802Z,1761541188.802 [DAT](INFO): got valid direction response: 04:59:47.5436 LVL= 32752, 32753, 27922, 32755, AGC= 58, IDX= 497,-0.24,-1.337,-2.771,-0.838,-1.270, PHS= 0.035,-1.456, 0.388, RAW= 160.4, 12.2, CAL= 160.7, 13.7, ROT= 349.3, -13.7 2025-10-27T04:59:48.802Z,1761541188.802 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T04:59:48.807Z,1761541188.807 [DAT](INFO): direction in FSK: [0.954657,-0.180384,0.236838] 2025-10-27T04:59:48.808Z,1761541188.808 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:48.816Z,1761541188.816 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.542475 2025-10-27T04:59:49.029Z,1761541189.029 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.755747 2025-10-27T04:59:49.115Z,1761541189.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286544,0.944268,0.162020],[-0.958059,-0.283105,-0.044432],[0.003913,-0.167956,0.985787]] 2025-10-27T04:59:49.138Z,1761541189.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504372 s, deltaX: -0.300001 m, approachRate: -0.594801 m/s, rangeRepo size: 4 2025-10-27T04:59:49.157Z,1761541189.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.303902 m, bearing: 245.111941 deg, lat: 36.779342 deg, lon: -121.859613 deg, deltaT: 0.504372 s, deltaX: -0.298515 m, approachRate: -0.591855 m/s, posRepo size: 4 2025-10-27T04:59:49.157Z,1761541189.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.30 m. 2025-10-27T04:59:49.164Z,1761541189.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.303902 m, nav range: 18.788347 m, bearing: 244.433701 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.382375 deg, new cmd heading: 252.455563 deg. 2025-10-27T04:59:49.172Z,1761541189.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406181 target range: 19.303902 and range: 19.40 m. 2025-10-27T04:59:49.282Z,1761541189.282 [DAT](INFO): DAT read: Rx Time:04:59:48.0435 2025-10-27T04:59:49.282Z,1761541189.282 [DAT](INFO): Rx dataTimestamp_ set to:1761541189.281907 2025-10-27T04:59:49.284Z,1761541189.284 [DAT](INFO): DAT read: Bearing 47.6, -4.7 (Local) 2025-10-27T04:59:49.285Z,1761541189.285 [DAT](INFO): Local bearing/azimuth received: Bearing 47.6, -4.7 (Local) 2025-10-27T04:59:49.288Z,1761541189.288 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4 2025-10-27T04:59:49.296Z,1761541189.296 [DAT](INFO): DAT read: 04:59:48.0435 LVL= 32752, 32753, 29906, 32755, AGC= 57, IDX= 512, 0.09, 1.639,-0.230, 1.964, 1.384, PHS= 0.356,-1.570, 0.535, RAW= 154.4, 6.8, CAL= 153.8, 6.9, ROT= 356.2, -6.9 2025-10-27T04:59:49.298Z,1761541189.298 [DAT](INFO): got valid direction response: 04:59:48.0435 LVL= 32752, 32753, 29906, 32755, AGC= 57, IDX= 512, 0.09, 1.639,-0.230, 1.964, 1.384, PHS= 0.356,-1.570, 0.535, RAW= 154.4, 6.8, CAL= 153.8, 6.9, ROT= 356.2, -6.9 2025-10-27T04:59:49.298Z,1761541189.298 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T04:59:49.304Z,1761541189.304 [DAT](INFO): direction in FSK: [0.990575,-0.065794,0.120137] 2025-10-27T04:59:49.305Z,1761541189.305 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:49.321Z,1761541189.321 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.047564 2025-10-27T04:59:49.532Z,1761541189.532 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.258768 2025-10-27T04:59:49.533Z,1761541189.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287401,0.944102,0.161467],[-0.957799,-0.284095,-0.043705],[0.004611,-0.167214,0.985910]] 2025-10-27T04:59:49.651Z,1761541189.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504941 s, deltaX: -0.199999 m, approachRate: -0.396084 m/s, rangeRepo size: 4 2025-10-27T04:59:49.657Z,1761541189.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.104824 m, bearing: 250.707576 deg, lat: 36.779342 deg, lon: -121.859614 deg, deltaT: 0.504941 s, deltaX: -0.199078 m, approachRate: -0.394259 m/s, posRepo size: 4 2025-10-27T04:59:49.658Z,1761541189.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T04:59:49.664Z,1761541189.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.104824 m, nav range: 18.553385 m, bearing: 244.484617 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.455567 deg, new cmd heading: 252.552846 deg. 2025-10-27T04:59:49.672Z,1761541189.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407879 target range: 19.104824 and range: 19.20 m. 2025-10-27T04:59:49.786Z,1761541189.786 [DAT](INFO): DAT read: Rx Time:04:59:48.5432 2025-10-27T04:59:49.786Z,1761541189.786 [DAT](INFO): Rx dataTimestamp_ set to:1761541189.786160 2025-10-27T04:59:49.789Z,1761541189.789 [DAT](INFO): DAT read: Bearing 53.7, -12.3 (Local) 2025-10-27T04:59:49.789Z,1761541189.789 [DAT](INFO): Local bearing/azimuth received: Bearing 53.7, -12.3 (Local) 2025-10-27T04:59:49.792Z,1761541189.792 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-27T04:59:49.799Z,1761541189.799 [DAT](INFO): DAT read: 04:59:48.5432 LVL= 32752, 32753, 32098, 32755, AGC= 56, IDX= 509, 0.44,-1.483,-2.927,-0.993,-1.414, PHS= 0.033,-1.468, 0.377, RAW= 160.1, 12.4, CAL= 160.5, 14.0, ROT= 349.5, -14.0 2025-10-27T04:59:49.801Z,1761541189.801 [DAT](INFO): got valid direction response: 04:59:48.5432 LVL= 32752, 32753, 32098, 32755, AGC= 56, IDX= 509, 0.44,-1.483,-2.927,-0.993,-1.414, PHS= 0.033,-1.468, 0.377, RAW= 160.1, 12.4, CAL= 160.5, 14.0, ROT= 349.5, -14.0 2025-10-27T04:59:49.801Z,1761541189.801 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T04:59:49.802Z,1761541189.802 [DAT](INFO): direction in FSK: [0.954048,-0.176823,0.241922] 2025-10-27T04:59:49.802Z,1761541189.802 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:49.807Z,1761541189.807 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.534000 2025-10-27T04:59:50.036Z,1761541190.036 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.762865 2025-10-27T04:59:50.044Z,1761541190.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288935,0.943628,0.161499],[-0.957329,-0.285881,-0.042355],[0.006202,-0.166845,0.985964]] 2025-10-27T04:59:50.116Z,1761541190.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504253 s, deltaX: -0.400002 m, approachRate: -0.793256 m/s, rangeRepo size: 4 2025-10-27T04:59:50.118Z,1761541190.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.706806 m, bearing: 245.197610 deg, lat: 36.779344 deg, lon: -121.859614 deg, deltaT: 0.504253 s, deltaX: -0.398018 m, approachRate: -0.789322 m/s, posRepo size: 4 2025-10-27T04:59:50.123Z,1761541190.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T04:59:50.150Z,1761541190.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.706806 m, nav range: 18.173653 m, bearing: 245.242737 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.552856 deg, new cmd heading: 252.640334 deg. 2025-10-27T04:59:50.155Z,1761541190.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409406 target range: 18.706806 and range: 18.80 m. 2025-10-27T04:59:50.290Z,1761541190.290 [DAT](INFO): DAT read: Rx Time:04:59:49.0432 2025-10-27T04:59:50.290Z,1761541190.290 [DAT](INFO): Rx dataTimestamp_ set to:1761541190.290177 2025-10-27T04:59:50.293Z,1761541190.293 [DAT](INFO): DAT read: Bearing 53.6, -12.3 (Local) 2025-10-27T04:59:50.293Z,1761541190.293 [DAT](INFO): Local bearing/azimuth received: Bearing 53.6, -12.3 (Local) 2025-10-27T04:59:50.296Z,1761541190.296 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T04:59:50.300Z,1761541190.300 [DAT](INFO): DAT read: 04:59:49.0432 LVL= 32752, 32753, 32706, 32755, AGC= 56, IDX= 509,-0.22,-1.759, 3.092,-1.267,-1.692, PHS= 0.035,-1.454, 0.381, RAW= 160.2, 12.3, CAL= 160.5, 13.8, ROT= 349.5, -13.8 2025-10-27T04:59:50.301Z,1761541190.301 [DAT](INFO): got valid direction response: 04:59:49.0432 LVL= 32752, 32753, 32706, 32755, AGC= 56, IDX= 509,-0.22,-1.759, 3.092,-1.267,-1.692, PHS= 0.035,-1.454, 0.381, RAW= 160.2, 12.3, CAL= 160.5, 13.8, ROT= 349.5, -13.8 2025-10-27T04:59:50.302Z,1761541190.302 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T04:59:50.303Z,1761541190.303 [DAT](INFO): direction in FSK: [0.954873,-0.176975,0.238533] 2025-10-27T04:59:50.303Z,1761541190.303 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:50.307Z,1761541190.307 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.033541 2025-10-27T04:59:50.532Z,1761541190.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289764,0.943376,0.161492],[-0.957073,-0.286828,-0.041726],[0.006957,-0.166650,0.985992]] 2025-10-27T04:59:50.540Z,1761541190.540 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.266811 2025-10-27T04:59:50.626Z,1761541190.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504017 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T04:59:50.637Z,1761541190.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.706753 m, bearing: 245.107939 deg, lat: 36.779344 deg, lon: -121.859614 deg, deltaT: 0.504017 s, deltaX: -0.000053 m, approachRate: -0.000106 m/s, posRepo size: 4 2025-10-27T04:59:50.638Z,1761541190.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T04:59:50.644Z,1761541190.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.706753 m, nav range: 17.875711 m, bearing: 245.219421 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.640337 deg, new cmd heading: 252.738138 deg. 2025-10-27T04:59:50.645Z,1761541190.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411113 target range: 18.706753 and range: 18.80 m. 2025-10-27T04:59:50.796Z,1761541190.796 [DAT](INFO): DAT read: Rx Time:04:59:49.5429 2025-10-27T04:59:50.797Z,1761541190.797 [DAT](INFO): Rx dataTimestamp_ set to:1761541190.796806 2025-10-27T04:59:50.799Z,1761541190.799 [DAT](INFO): DAT read: Bearing 52.9, -12.0 (Local) 2025-10-27T04:59:50.800Z,1761541190.800 [DAT](INFO): Local bearing/azimuth received: Bearing 52.9, -12.0 (Local) 2025-10-27T04:59:50.802Z,1761541190.802 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.5 2025-10-27T04:59:50.810Z,1761541190.810 [DAT](INFO): DAT read: 04:59:49.5429 LVL= 32752, 32753, 31650, 32755, AGC= 55, IDX= 506,-0.11,-2.219, 2.629,-1.730,-2.169, PHS= 0.052,-1.441, 0.395, RAW= 160.1, 11.7, CAL= 160.4, 13.1, ROT= 349.6, -13.1 2025-10-27T04:59:50.812Z,1761541190.812 [DAT](INFO): got valid direction response: 04:59:49.5429 LVL= 32752, 32753, 31650, 32755, AGC= 55, IDX= 506,-0.11,-2.219, 2.629,-1.730,-2.169, PHS= 0.052,-1.441, 0.395, RAW= 160.1, 11.7, CAL= 160.4, 13.1, ROT= 349.6, -13.1 2025-10-27T04:59:50.812Z,1761541190.812 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T04:59:50.813Z,1761541190.813 [DAT](INFO): direction in FSK: [0.957975,-0.175821,0.226651] 2025-10-27T04:59:50.813Z,1761541190.813 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:50.817Z,1761541190.817 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.543655 2025-10-27T04:59:51.044Z,1761541191.044 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.770943 2025-10-27T04:59:51.094Z,1761541191.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.506629 s, deltaX: -0.299999 m, approachRate: -0.592148 m/s, rangeRepo size: 4 2025-10-27T04:59:51.101Z,1761541191.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.408241 m, bearing: 245.084926 deg, lat: 36.779344 deg, lon: -121.859615 deg, deltaT: 0.506629 s, deltaX: -0.298512 m, approachRate: -0.589211 m/s, posRepo size: 4 2025-10-27T04:59:51.101Z,1761541191.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m. 2025-10-27T04:59:51.108Z,1761541191.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.408241 m, nav range: 17.699987 m, bearing: 245.292802 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.738146 deg, new cmd heading: 252.824950 deg. 2025-10-27T04:59:51.109Z,1761541191.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412628 target range: 18.408241 and range: 18.50 m. 2025-10-27T04:59:51.297Z,1761541191.297 [DAT](INFO): DAT read: Rx Time:04:59:50.0428 2025-10-27T04:59:51.297Z,1761541191.297 [DAT](INFO): Rx dataTimestamp_ set to:1761541191.296703 2025-10-27T04:59:51.298Z,1761541191.298 [DAT](INFO): DAT read: Bearing 52.4, -12.8 (Local) 2025-10-27T04:59:51.299Z,1761541191.299 [DAT](INFO): Local bearing/azimuth received: Bearing 52.4, -12.8 (Local) 2025-10-27T04:59:51.301Z,1761541191.301 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4 2025-10-27T04:59:51.305Z,1761541191.305 [DAT](INFO): DAT read: 04:59:50.0428 LVL= 32752, 32753, 28658, 32755, AGC= 55, IDX= 505,-0.03,-0.303,-1.743, 0.224,-0.245, PHS= 0.044,-1.453, 0.425, RAW= 161.1, 11.4, CAL= 161.3, 12.8, ROT= 348.7, -12.8 2025-10-27T04:59:51.306Z,1761541191.306 [DAT](INFO): got valid direction response: 04:59:50.0428 LVL= 32752, 32753, 28658, 32755, AGC= 55, IDX= 505,-0.03,-0.303,-1.743, 0.224,-0.245, PHS= 0.044,-1.453, 0.425, RAW= 161.1, 11.4, CAL= 161.3, 12.8, ROT= 348.7, -12.8 2025-10-27T04:59:51.307Z,1761541191.307 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T04:59:51.308Z,1761541191.308 [DAT](INFO): direction in FSK: [0.956246,-0.191077,0.221548] 2025-10-27T04:59:51.308Z,1761541191.308 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:51.328Z,1761541191.328 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.055058 2025-10-27T04:59:51.464Z,1761541191.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292258,0.942570,0.161702],[-0.956298,-0.289614,-0.040223],[0.008918,-0.166391,0.986019]] 2025-10-27T04:59:51.548Z,1761541191.548 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.274891 2025-10-27T04:59:51.569Z,1761541191.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.499897 s, deltaX: -0.200001 m, approachRate: -0.400084 m/s, rangeRepo size: 4 2025-10-27T04:59:51.577Z,1761541191.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.209232 m, bearing: 243.979617 deg, lat: 36.779344 deg, lon: -121.859615 deg, deltaT: 0.499897 s, deltaX: -0.199009 m, approachRate: -0.398100 m/s, posRepo size: 4 2025-10-27T04:59:51.583Z,1761541191.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.21 m. 2025-10-27T04:59:51.586Z,1761541191.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.209232 m, nav range: 17.443504 m, bearing: 244.976452 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.824944 deg, new cmd heading: 252.915417 deg. 2025-10-27T04:59:51.599Z,1761541191.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414207 target range: 18.209232 and range: 18.30 m. 2025-10-27T04:59:51.801Z,1761541191.801 [DAT](INFO): DAT read: Rx Time:04:59:50.5425 2025-10-27T04:59:51.801Z,1761541191.801 [DAT](INFO): Rx dataTimestamp_ set to:1761541191.800816 2025-10-27T04:59:51.802Z,1761541191.802 [DAT](INFO): DAT read: Bearing 52.1, -13.0 (Local) 2025-10-27T04:59:51.803Z,1761541191.803 [DAT](INFO): Local bearing/azimuth received: Bearing 52.1, -13.0 (Local) 2025-10-27T04:59:51.805Z,1761541191.805 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 2025-10-27T04:59:51.811Z,1761541191.811 [DAT](INFO): DAT read: 04:59:50.5425 LVL= 32752, 32753, 27634, 32755, AGC= 55, IDX= 502, 0.01,-0.609,-2.047,-0.068,-0.549, PHS= 0.043,-1.453, 0.438, RAW= 161.4, 11.3, CAL= 161.6, 12.6, ROT= 348.4, -12.6 2025-10-27T04:59:51.813Z,1761541191.813 [DAT](INFO): got valid direction response: 04:59:50.5425 LVL= 32752, 32753, 27634, 32755, AGC= 55, IDX= 502, 0.01,-0.609,-2.047,-0.068,-0.549, PHS= 0.043,-1.453, 0.438, RAW= 161.4, 11.3, CAL= 161.6, 12.6, ROT= 348.4, -12.6 2025-10-27T04:59:51.813Z,1761541191.813 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T04:59:51.814Z,1761541191.814 [DAT](INFO): direction in FSK: [0.955984,-0.196235,0.218143] 2025-10-27T04:59:51.814Z,1761541191.814 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:51.842Z,1761541191.842 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.569187 2025-10-27T04:59:51.922Z,1761541191.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293839,0.942181,0.161099],[-0.955804,-0.291356,-0.039369],[0.009845,-0.165547,0.986153]] 2025-10-27T04:59:52.037Z,1761541192.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504113 s, deltaX: -0.400000 m, approachRate: -0.793472 m/s, rangeRepo size: 4 2025-10-27T04:59:52.044Z,1761541192.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.811140 m, bearing: 243.536822 deg, lat: 36.779344 deg, lon: -121.859615 deg, deltaT: 0.504113 s, deltaX: -0.398092 m, approachRate: -0.789689 m/s, posRepo size: 4 2025-10-27T04:59:52.044Z,1761541192.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m. 2025-10-27T04:59:52.054Z,1761541192.054 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.780228 2025-10-27T04:59:52.059Z,1761541192.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.811140 m, nav range: 17.143038 m, bearing: 244.853255 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 252.915430 deg, new cmd heading: 253.006200 deg. 2025-10-27T04:59:52.065Z,1761541192.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415791 target range: 17.811140 and range: 17.90 m. 2025-10-27T04:59:52.305Z,1761541192.305 [DAT](INFO): DAT read: Rx Time:04:59:51.0423 2025-10-27T04:59:52.305Z,1761541192.305 [DAT](INFO): Rx dataTimestamp_ set to:1761541192.304746 2025-10-27T04:59:52.306Z,1761541192.306 [DAT](INFO): DAT read: Bearing 52.3, -12.8 (Local) 2025-10-27T04:59:52.307Z,1761541192.307 [DAT](INFO): Local bearing/azimuth received: Bearing 52.3, -12.8 (Local) 2025-10-27T04:59:52.309Z,1761541192.309 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 2025-10-27T04:59:52.313Z,1761541192.313 [DAT](INFO): DAT read: 04:59:51.0423 LVL= 32752, 32753, 27410, 32755, AGC= 55, IDX= 500,-0.01,-0.127,-1.558, 0.404,-0.068, PHS= 0.044,-1.445, 0.429, RAW= 161.2, 11.3, CAL= 161.4, 12.7, ROT= 348.6, -12.7 2025-10-27T04:59:52.314Z,1761541192.314 [DAT](INFO): got valid direction response: 04:59:51.0423 LVL= 32752, 32753, 27410, 32755, AGC= 55, IDX= 500,-0.01,-0.127,-1.558, 0.404,-0.068, PHS= 0.044,-1.445, 0.429, RAW= 161.2, 11.3, CAL= 161.4, 12.7, ROT= 348.6, -12.7 2025-10-27T04:59:52.316Z,1761541192.316 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T04:59:52.317Z,1761541192.317 [DAT](INFO): direction in FSK: [0.956288,-0.192821,0.219846] 2025-10-27T04:59:52.317Z,1761541192.317 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:52.321Z,1761541192.321 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.047615 2025-10-27T04:59:52.402Z,1761541192.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295358,0.941810,0.160493],[-0.955327,-0.293020,-0.038598],[0.010676,-0.164724,0.986282]] 2025-10-27T04:59:52.501Z,1761541192.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503930 s, deltaX: -0.299999 m, approachRate: -0.595319 m/s, rangeRepo size: 4 2025-10-27T04:59:52.520Z,1761541192.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.512630 m, bearing: 243.647816 deg, lat: 36.779341 deg, lon: -121.859615 deg, deltaT: 0.503930 s, deltaX: -0.298510 m, approachRate: -0.592363 m/s, posRepo size: 4 2025-10-27T04:59:52.521Z,1761541192.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T04:59:52.532Z,1761541192.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.512630 m, nav range: 17.022415 m, bearing: 243.825192 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 253.006189 deg, new cmd heading: 253.092801 deg. 2025-10-27T04:59:52.533Z,1761541192.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417303 target range: 17.512630 and range: 17.60 m. 2025-10-27T04:59:52.558Z,1761541192.558 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.284443 2025-10-27T04:59:52.809Z,1761541192.809 [DAT](INFO): DAT read: Rx Time:04:59:51.5420 2025-10-27T04:59:52.810Z,1761541192.810 [DAT](INFO): Rx dataTimestamp_ set to:1761541192.809671 2025-10-27T04:59:52.812Z,1761541192.812 [DAT](INFO): DAT read: Bearing 52.3, -13.5 (Local) 2025-10-27T04:59:52.813Z,1761541192.813 [DAT](INFO): Local bearing/azimuth received: Bearing 52.3, -13.5 (Local) 2025-10-27T04:59:52.815Z,1761541192.815 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-27T04:59:52.820Z,1761541192.820 [DAT](INFO): DAT read: 04:59:51.5420 LVL= 32752, 32753, 27682, 32755, AGC= 56, IDX= 497,-0.03,-1.186,-2.604,-0.631,-1.113, PHS= 0.030,-1.445, 0.438, RAW= 161.9, 11.4, CAL= 162.1, 12.8, ROT= 347.9, -12.8 2025-10-27T04:59:52.821Z,1761541192.821 [DAT](INFO): got valid direction response: 04:59:51.5420 LVL= 32752, 32753, 27682, 32755, AGC= 56, IDX= 497,-0.03,-1.186,-2.604,-0.631,-1.113, PHS= 0.030,-1.445, 0.438, RAW= 161.9, 11.4, CAL= 162.1, 12.8, ROT= 347.9, -12.8 2025-10-27T04:59:52.821Z,1761541192.821 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T04:59:52.822Z,1761541192.822 [DAT](INFO): direction in FSK: [0.953485,-0.204409,0.221548] 2025-10-27T04:59:52.822Z,1761541192.822 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:52.829Z,1761541192.829 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.555519 2025-10-27T04:59:52.906Z,1761541192.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297167,0.941517,0.158861],[-0.954750,-0.295097,-0.037024],[0.012021,-0.162674,0.986607]] 2025-10-27T04:59:52.978Z,1761541192.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504925 s, deltaX: -0.500000 m, approachRate: -0.990246 m/s, rangeRepo size: 4 2025-10-27T04:59:52.980Z,1761541192.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.015039 m, bearing: 242.824400 deg, lat: 36.779341 deg, lon: -121.859614 deg, deltaT: 0.504925 s, deltaX: -0.497591 m, approachRate: -0.985475 m/s, posRepo size: 4 2025-10-27T04:59:52.981Z,1761541192.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.02 m. 2025-10-27T04:59:52.984Z,1761541192.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.015039 m, nav range: 16.607861 m, bearing: 243.457353 deg, approach rate: 0.000000 m/s, LOS rate: 0.063312 deg/s, cmd heading: 253.092796 deg, new cmd heading: 253.184890 deg. 2025-10-27T04:59:52.985Z,1761541192.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418910 target range: 17.015039 and range: 17.10 m. 2025-10-27T04:59:53.061Z,1761541193.061 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.787701 2025-10-27T04:59:53.309Z,1761541193.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:53.313Z,1761541193.313 [DAT](INFO): DAT read: Rx Time:04:59:52.0419 2025-10-27T04:59:53.313Z,1761541193.313 [DAT](INFO): Rx dataTimestamp_ set to:1761541193.312869 2025-10-27T04:59:53.314Z,1761541193.314 [DAT](INFO): DAT read: Bearing 52.1, -9.2 (Local) 2025-10-27T04:59:53.315Z,1761541193.315 [DAT](INFO): Local bearing/azimuth received: Bearing 52.1, -9.2 (Local) 2025-10-27T04:59:53.317Z,1761541193.317 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.5 2025-10-27T04:59:53.322Z,1761541193.322 [DAT](INFO): DAT read: 04:59:52.0419 LVL= 32752, 32753, 26242, 32755, AGC= 55, IDX= 512,-0.06, 2.095, 0.455, 2.532, 2.065, PHS= 0.133,-1.564, 0.423, RAW= 157.8, 10.9, CAL= 157.8, 11.9, ROT= 352.2, -11.9 2025-10-27T04:59:53.323Z,1761541193.323 [DAT](INFO): got valid direction response: 04:59:52.0419 LVL= 32752, 32753, 26242, 32755, AGC= 55, IDX= 512,-0.06, 2.095, 0.455, 2.532, 2.065, PHS= 0.133,-1.564, 0.423, RAW= 157.8, 10.9, CAL= 157.8, 11.9, ROT= 352.2, -11.9 2025-10-27T04:59:53.323Z,1761541193.323 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T04:59:53.324Z,1761541193.324 [DAT](INFO): direction in FSK: [0.969456,-0.132799,0.206204] 2025-10-27T04:59:53.324Z,1761541193.324 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:53.327Z,1761541193.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.02 m. 2025-10-27T04:59:53.330Z,1761541193.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.015039 m, nav range: 16.400978 m, bearing: 243.368485 deg, approach rate: -0.621077 m/s, LOS rate: -0.270151 deg/s, cmd heading: 253.184895 deg, new cmd heading: 252.914933 deg. 2025-10-27T04:59:53.331Z,1761541193.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414198 target range: 17.015039 and range: 17.10 m. 2025-10-27T04:59:53.333Z,1761541193.333 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.059547 2025-10-27T04:59:53.565Z,1761541193.565 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.291943 2025-10-27T04:59:53.724Z,1761541193.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298226,0.941474,0.157122],[-0.954411,-0.296322,-0.035960],[0.012703,-0.160683,0.986924]] 2025-10-27T04:59:53.796Z,1761541193.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503198 s, deltaX: -0.100000 m, approachRate: -0.198730 m/s, rangeRepo size: 4 2025-10-27T04:59:53.798Z,1761541193.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.915470 m, bearing: 246.861524 deg, lat: 36.779341 deg, lon: -121.859614 deg, deltaT: 0.503198 s, deltaX: -0.099569 m, approachRate: -0.197873 m/s, posRepo size: 4 2025-10-27T04:59:53.798Z,1761541193.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m. 2025-10-27T04:59:53.805Z,1761541193.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.915470 m, nav range: 16.123928 m, bearing: 243.274270 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 252.914938 deg, new cmd heading: 252.525897 deg. 2025-10-27T04:59:53.806Z,1761541193.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407408 target range: 16.915470 and range: 17.00 m. 2025-10-27T04:59:53.817Z,1761541193.817 [DAT](INFO): DAT read: Rx Time:04:59:52.5416 2025-10-27T04:59:53.817Z,1761541193.817 [DAT](INFO): Rx dataTimestamp_ set to:1761541193.816856 2025-10-27T04:59:53.818Z,1761541193.818 [DAT](INFO): DAT read: Bearing 51.9, -13.5 (Local) 2025-10-27T04:59:53.819Z,1761541193.819 [DAT](INFO): Local bearing/azimuth received: Bearing 51.9, -13.5 (Local) 2025-10-27T04:59:53.821Z,1761541193.821 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-27T04:59:53.826Z,1761541193.826 [DAT](INFO): DAT read: 04:59:52.5416 LVL= 32752, 32753, 26498, 32755, AGC= 55, IDX= 509,-0.06,-1.510,-2.915,-0.950,-1.446, PHS= 0.038,-1.424, 0.452, RAW= 162.1, 10.9, CAL= 162.2, 12.2, ROT= 347.8, -12.2 2025-10-27T04:59:53.827Z,1761541193.827 [DAT](INFO): got valid direction response: 04:59:52.5416 LVL= 32752, 32753, 26498, 32755, AGC= 55, IDX= 509,-0.06,-1.510,-2.915,-0.950,-1.446, PHS= 0.038,-1.424, 0.452, RAW= 162.1, 10.9, CAL= 162.2, 12.2, ROT= 347.8, -12.2 2025-10-27T04:59:53.827Z,1761541193.827 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T04:59:53.828Z,1761541193.828 [DAT](INFO): direction in FSK: [0.955342,-0.206553,0.211325] 2025-10-27T04:59:53.828Z,1761541193.828 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:53.844Z,1761541193.844 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.571178 2025-10-27T04:59:54.072Z,1761541194.072 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.799000 2025-10-27T04:59:54.127Z,1761541194.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297885,0.941766,0.156017],[-0.954515,-0.296055,-0.035387],[0.012863,-0.159461,0.987120]] 2025-10-27T04:59:54.267Z,1761541194.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503987 s, deltaX: -0.500000 m, approachRate: -0.992089 m/s, rangeRepo size: 4 2025-10-27T04:59:54.269Z,1761541194.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.417957 m, bearing: 242.532738 deg, lat: 36.779340 deg, lon: -121.859614 deg, deltaT: 0.503987 s, deltaX: -0.497513 m, approachRate: -0.987154 m/s, posRepo size: 4 2025-10-27T04:59:54.269Z,1761541194.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m. 2025-10-27T04:59:54.272Z,1761541194.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.417957 m, nav range: 15.842915 m, bearing: 242.982223 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 252.525891 deg, new cmd heading: 252.140771 deg. 2025-10-27T04:59:54.273Z,1761541194.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400687 target range: 16.417957 and range: 16.50 m. 2025-10-27T04:59:54.321Z,1761541194.321 [DAT](INFO): DAT read: Rx Time:04:59:53.0416 2025-10-27T04:59:54.322Z,1761541194.322 [DAT](INFO): Rx dataTimestamp_ set to:1761541194.321974 2025-10-27T04:59:54.324Z,1761541194.324 [DAT](INFO): DAT read: Bearing 51.3, -14.1 (Local) 2025-10-27T04:59:54.325Z,1761541194.325 [DAT](INFO): Local bearing/azimuth received: Bearing 51.3, -14.1 (Local) 2025-10-27T04:59:54.328Z,1761541194.328 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5 2025-10-27T04:59:54.333Z,1761541194.333 [DAT](INFO): DAT read: 04:59:53.0416 LVL= 32752, 32753, 23762, 32755, AGC= 53, IDX= 508,-0.03,-0.383,-1.791, 0.210,-0.318, PHS= 0.037,-1.428, 0.484, RAW= 162.9, 10.5, CAL= 162.9, 11.6, ROT= 347.1, -11.6 2025-10-27T04:59:54.334Z,1761541194.334 [DAT](INFO): got valid direction response: 04:59:53.0416 LVL= 32752, 32753, 23762, 32755, AGC= 53, IDX= 508,-0.03,-0.383,-1.791, 0.210,-0.318, PHS= 0.037,-1.428, 0.484, RAW= 162.9, 10.5, CAL= 162.9, 11.6, ROT= 347.1, -11.6 2025-10-27T04:59:54.342Z,1761541194.342 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T04:59:54.352Z,1761541194.352 [DAT](INFO): direction in FSK: [0.954852,-0.218690,0.201078] 2025-10-27T04:59:54.352Z,1761541194.352 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:54.390Z,1761541194.390 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.116566 2025-10-27T04:59:54.574Z,1761541194.574 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.300243 2025-10-27T04:59:54.581Z,1761541194.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297576,0.941880,0.155916],[-0.954609,-0.295785,-0.035111],[0.013048,-0.159287,0.987146]] 2025-10-27T04:59:54.734Z,1761541194.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.505118 s, deltaX: -0.100000 m, approachRate: -0.197974 m/s, rangeRepo size: 4 2025-10-27T04:59:54.740Z,1761541194.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.318333 m, bearing: 241.752046 deg, lat: 36.779340 deg, lon: -121.859614 deg, deltaT: 0.505118 s, deltaX: -0.099625 m, approachRate: -0.197230 m/s, posRepo size: 4 2025-10-27T04:59:54.741Z,1761541194.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.32 m. 2025-10-27T04:59:54.748Z,1761541194.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.318333 m, nav range: 15.617330 m, bearing: 242.860839 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 252.140777 deg, new cmd heading: 251.762467 deg. 2025-10-27T04:59:54.749Z,1761541194.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394084 target range: 16.318333 and range: 16.40 m. 2025-10-27T04:59:54.825Z,1761541194.825 [DAT](INFO): DAT read: Rx Time:04:59:53.5413 2025-10-27T04:59:54.825Z,1761541194.825 [DAT](INFO): Rx dataTimestamp_ set to:1761541194.824869 2025-10-27T04:59:54.826Z,1761541194.826 [DAT](INFO): DAT read: Bearing 51.3, -14.2 (Local) 2025-10-27T04:59:54.831Z,1761541194.831 [DAT](INFO): Local bearing/azimuth received: Bearing 51.3, -14.2 (Local) 2025-10-27T04:59:54.834Z,1761541194.834 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.7 2025-10-27T04:59:54.839Z,1761541194.839 [DAT](INFO): DAT read: 04:59:53.5413 LVL= 32752, 32753, 26226, 32755, AGC= 52, IDX= 505, 0.00,-1.307,-2.707,-0.709,-1.239, PHS= 0.034,-1.423, 0.486, RAW= 163.1, 10.5, CAL= 163.1, 11.6, ROT= 346.9, -11.6 2025-10-27T04:59:54.840Z,1761541194.840 [DAT](INFO): got valid direction response: 04:59:53.5413 LVL= 32752, 32753, 26226, 32755, AGC= 52, IDX= 505, 0.00,-1.307,-2.707,-0.709,-1.239, PHS= 0.034,-1.423, 0.486, RAW= 163.1, 10.5, CAL= 163.1, 11.6, ROT= 346.9, -11.6 2025-10-27T04:59:54.841Z,1761541194.841 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T04:59:54.842Z,1761541194.842 [DAT](INFO): direction in FSK: [0.954083,-0.222022,0.201078] 2025-10-27T04:59:54.851Z,1761541194.851 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:54.867Z,1761541194.867 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.594162 2025-10-27T04:59:55.012Z,1761541195.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296807,0.942149,0.155757],[-0.954848,-0.295033,-0.034930],[0.013044,-0.159091,0.987178]] 2025-10-27T04:59:55.077Z,1761541195.077 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.804222 2025-10-27T04:59:55.088Z,1761541195.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.502895 s, deltaX: -0.500000 m, approachRate: -0.994243 m/s, rangeRepo size: 4 2025-10-27T04:59:55.090Z,1761541195.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.820822 m, bearing: 241.595881 deg, lat: 36.779339 deg, lon: -121.859614 deg, deltaT: 0.502895 s, deltaX: -0.497511 m, approachRate: -0.989294 m/s, posRepo size: 4 2025-10-27T04:59:55.090Z,1761541195.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m. 2025-10-27T04:59:55.097Z,1761541195.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.820822 m, nav range: 15.416745 m, bearing: 242.421975 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 251.762467 deg, new cmd heading: 251.478829 deg. 2025-10-27T04:59:55.098Z,1761541195.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389133 target range: 15.820822 and range: 15.90 m. 2025-10-27T04:59:55.328Z,1761541195.328 [DAT](INFO): DAT read: Rx Time:04:59:54.0411 2025-10-27T04:59:55.329Z,1761541195.329 [DAT](INFO): Rx dataTimestamp_ set to:1761541195.328680 2025-10-27T04:59:55.330Z,1761541195.330 [DAT](INFO): DAT read: Bearing 50.8, -14.7 (Local) 2025-10-27T04:59:55.331Z,1761541195.331 [DAT](INFO): Local bearing/azimuth received: Bearing 50.8, -14.7 (Local) 2025-10-27T04:59:55.333Z,1761541195.333 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.5 2025-10-27T04:59:55.338Z,1761541195.338 [DAT](INFO): DAT read: 04:59:54.0411 LVL= 32752, 32753, 25442, 32755, AGC= 53, IDX= 503, 0.07,-1.509,-2.906,-0.885,-1.443, PHS= 0.036,-1.419, 0.513, RAW= 163.7, 10.0, CAL= 163.7, 10.9, ROT= 346.3, -10.9 2025-10-27T04:59:55.339Z,1761541195.339 [DAT](INFO): got valid direction response: 04:59:54.0411 LVL= 32752, 32753, 25442, 32755, AGC= 53, IDX= 503, 0.07,-1.509,-2.906,-0.885,-1.443, PHS= 0.036,-1.419, 0.513, RAW= 163.7, 10.0, CAL= 163.7, 10.9, ROT= 346.3, -10.9 2025-10-27T04:59:55.340Z,1761541195.340 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T04:59:55.341Z,1761541195.341 [DAT](INFO): direction in FSK: [0.954021,-0.232565,0.189095] 2025-10-27T04:59:55.341Z,1761541195.341 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:55.345Z,1761541195.345 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.071400 2025-10-27T04:59:55.403Z,1761541195.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295747,0.942627,0.154879],[-0.955179,-0.293994,-0.034637],[0.012883,-0.158181,0.987326]] 2025-10-27T04:59:55.481Z,1761541195.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503811 s, deltaX: -0.299999 m, approachRate: -0.595460 m/s, rangeRepo size: 4 2025-10-27T04:59:55.487Z,1761541195.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.522317 m, bearing: 240.936411 deg, lat: 36.779337 deg, lon: -121.859614 deg, deltaT: 0.503811 s, deltaX: -0.298505 m, approachRate: -0.592494 m/s, posRepo size: 4 2025-10-27T04:59:55.488Z,1761541195.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m. 2025-10-27T04:59:55.490Z,1761541195.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.522317 m, nav range: 15.254801 m, bearing: 241.840439 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 251.478823 deg, new cmd heading: 251.156731 deg. 2025-10-27T04:59:55.495Z,1761541195.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383512 target range: 15.522317 and range: 15.60 m. 2025-10-27T04:59:55.582Z,1761541195.582 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.308094 2025-10-27T04:59:55.806Z,1761541195.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293996,0.943028,0.155774],[-0.955723,-0.292192,-0.034878],[0.012624,-0.159131,0.987177]] 2025-10-27T04:59:55.832Z,1761541195.832 [DAT](INFO): DAT read: Rx Time:04:59:54.5408 2025-10-27T04:59:55.833Z,1761541195.833 [DAT](INFO): Rx dataTimestamp_ set to:1761541195.832639 2025-10-27T04:59:55.834Z,1761541195.834 [DAT](INFO): DAT read: Bearing 51.1, -15.1 (Local) 2025-10-27T04:59:55.834Z,1761541195.834 [DAT](INFO): Local bearing/azimuth received: Bearing 51.1, -15.1 (Local) 2025-10-27T04:59:55.837Z,1761541195.837 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.8 2025-10-27T04:59:55.841Z,1761541195.841 [DAT](INFO): DAT read: 04:59:54.5408 LVL= 32752, 32753, 23314, 32755, AGC= 53, IDX= 500, 0.15,-2.404, 2.482,-1.764,-2.326, PHS= 0.023,-1.430, 0.518, RAW= 164.1, 10.2, CAL= 164.1, 11.2, ROT= 345.9, -11.2 2025-10-27T04:59:55.842Z,1761541195.842 [DAT](INFO): got valid direction response: 04:59:54.5408 LVL= 32752, 32753, 23314, 32755, AGC= 53, IDX= 500, 0.15,-2.404, 2.482,-1.764,-2.326, PHS= 0.023,-1.430, 0.518, RAW= 164.1, 10.2, CAL= 164.1, 11.2, ROT= 345.9, -11.2 2025-10-27T04:59:55.843Z,1761541195.843 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T04:59:55.844Z,1761541195.844 [DAT](INFO): direction in FSK: [0.951401,-0.238976,0.194234] 2025-10-27T04:59:55.844Z,1761541195.844 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:55.848Z,1761541195.848 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.574909 2025-10-27T04:59:55.904Z,1761541195.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503959 s, deltaX: -0.400001 m, approachRate: -0.793716 m/s, rangeRepo size: 4 2025-10-27T04:59:55.906Z,1761541195.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.124274 m, bearing: 240.703446 deg, lat: 36.779337 deg, lon: -121.859612 deg, deltaT: 0.503959 s, deltaX: -0.398043 m, approachRate: -0.789831 m/s, posRepo size: 4 2025-10-27T04:59:55.907Z,1761541195.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T04:59:55.914Z,1761541195.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.124274 m, nav range: 14.917091 m, bearing: 241.222745 deg, approach rate: 0.000000 m/s, LOS rate: -0.270151 deg/s, cmd heading: 251.156738 deg, new cmd heading: 250.820593 deg. 2025-10-27T04:59:55.915Z,1761541195.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377645 target range: 15.124274 and range: 15.20 m. 2025-10-27T04:59:56.084Z,1761541196.084 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.810894 2025-10-27T04:59:56.266Z,1761541196.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:56.269Z,1761541196.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T04:59:56.272Z,1761541196.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.124274 m, nav range: 14.692493 m, bearing: 241.189363 deg, approach rate: -0.600725 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.820584 deg, new cmd heading: 250.718906 deg. 2025-10-27T04:59:56.273Z,1761541196.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375870 target range: 15.124274 and range: 15.20 m. 2025-10-27T04:59:56.337Z,1761541196.337 [DAT](INFO): DAT read: Rx Time:04:59:55.0407 2025-10-27T04:59:56.338Z,1761541196.338 [DAT](INFO): Rx dataTimestamp_ set to:1761541196.337347 2025-10-27T04:59:56.339Z,1761541196.339 [DAT](INFO): DAT read: Bearing 51.3, -15.5 (Local) 2025-10-27T04:59:56.339Z,1761541196.339 [DAT](INFO): Local bearing/azimuth received: Bearing 51.3, -15.5 (Local) 2025-10-27T04:59:56.341Z,1761541196.341 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5 2025-10-27T04:59:56.347Z,1761541196.347 [DAT](INFO): DAT read: 04:59:55.0407 LVL= 32752, 32753, 23826, 32755, AGC= 53, IDX= 499, 0.28,-1.141,-2.534,-0.488,-1.053, PHS= 0.015,-1.436, 0.521, RAW= 164.4, 10.3, CAL= 164.4, 11.3, ROT= 345.6, -11.3 2025-10-27T04:59:56.348Z,1761541196.348 [DAT](INFO): got valid direction response: 04:59:55.0407 LVL= 32752, 32753, 23826, 32755, AGC= 53, IDX= 499, 0.28,-1.141,-2.534,-0.488,-1.053, PHS= 0.015,-1.436, 0.521, RAW= 164.4, 10.3, CAL= 164.4, 11.3, ROT= 345.6, -11.3 2025-10-27T04:59:56.349Z,1761541196.349 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T04:59:56.350Z,1761541196.350 [DAT](INFO): direction in FSK: [0.949807,-0.243869,0.195946] 2025-10-27T04:59:56.359Z,1761541196.359 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:56.369Z,1761541196.369 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.095497 2025-10-27T04:59:56.588Z,1761541196.588 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.314804 2025-10-27T04:59:56.634Z,1761541196.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290690,0.943603,0.158468],[-0.956742,-0.288729,-0.035779],[0.011993,-0.162014,0.986716]] 2025-10-27T04:59:56.752Z,1761541196.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504708 s, deltaX: -0.200000 m, approachRate: -0.396268 m/s, rangeRepo size: 4 2025-10-27T04:59:56.754Z,1761541196.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.925263 m, bearing: 240.659159 deg, lat: 36.779337 deg, lon: -121.859611 deg, deltaT: 0.504708 s, deltaX: -0.199011 m, approachRate: -0.394309 m/s, posRepo size: 4 2025-10-27T04:59:56.759Z,1761541196.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.93 m. 2025-10-27T04:59:56.762Z,1761541196.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.925263 m, nav range: 14.423224 m, bearing: 241.014616 deg, approach rate: 0.000000 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.718896 deg, new cmd heading: 250.587547 deg. 2025-10-27T04:59:56.767Z,1761541196.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373578 target range: 14.925263 and range: 15.00 m. 2025-10-27T04:59:56.842Z,1761541196.842 [DAT](INFO): DAT read: Rx Time:04:59:55.5405 2025-10-27T04:59:56.842Z,1761541196.842 [DAT](INFO): Rx dataTimestamp_ set to:1761541196.841804 2025-10-27T04:59:56.844Z,1761541196.844 [DAT](INFO): DAT read: Bearing 50.7, -15.6 (Local) 2025-10-27T04:59:56.845Z,1761541196.845 [DAT](INFO): Local bearing/azimuth received: Bearing 50.7, -15.6 (Local) 2025-10-27T04:59:56.848Z,1761541196.848 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.5 2025-10-27T04:59:56.855Z,1761541196.855 [DAT](INFO): DAT read: 04:59:55.5405 LVL= 32752, 32753, 24050, 32755, AGC= 53, IDX= 497,-0.49, 2.473, 1.095, 3.135, 2.552, PHS= 0.023,-1.412, 0.539, RAW= 164.8, 9.8, CAL= 164.7, 10.6, ROT= 345.3, -10.6 2025-10-27T04:59:56.856Z,1761541196.856 [DAT](INFO): got valid direction response: 04:59:55.5405 LVL= 32752, 32753, 24050, 32755, AGC= 53, IDX= 497,-0.49, 2.473, 1.095, 3.135, 2.552, PHS= 0.023,-1.412, 0.539, RAW= 164.8, 9.8, CAL= 164.7, 10.6, ROT= 345.3, -10.6 2025-10-27T04:59:56.857Z,1761541196.857 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T04:59:56.858Z,1761541196.858 [DAT](INFO): direction in FSK: [0.950762,-0.249428,0.183951] 2025-10-27T04:59:56.858Z,1761541196.858 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:56.880Z,1761541196.880 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.606907 2025-10-27T04:59:57.026Z,1761541197.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289401,0.943597,0.160847],[-0.957134,-0.287359,-0.036334],[0.011936,-0.164467,0.986310]] 2025-10-27T04:59:57.078Z,1761541197.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504457 s, deltaX: -0.300000 m, approachRate: -0.594699 m/s, rangeRepo size: 4 2025-10-27T04:59:57.084Z,1761541197.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.626759 m, bearing: 240.354542 deg, lat: 36.779336 deg, lon: -121.859611 deg, deltaT: 0.504457 s, deltaX: -0.298505 m, approachRate: -0.591735 m/s, posRepo size: 4 2025-10-27T04:59:57.085Z,1761541197.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T04:59:57.092Z,1761541197.092 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.819057 2025-10-27T04:59:57.093Z,1761541197.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.626759 m, nav range: 14.216590 m, bearing: 240.803484 deg, approach rate: 0.000000 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.587538 deg, new cmd heading: 250.499052 deg. 2025-10-27T04:59:57.094Z,1761541197.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372033 target range: 14.626759 and range: 14.70 m. 2025-10-27T04:59:57.345Z,1761541197.345 [DAT](INFO): DAT read: Rx Time:04:59:56.0404 2025-10-27T04:59:57.345Z,1761541197.345 [DAT](INFO): Rx dataTimestamp_ set to:1761541197.344696 2025-10-27T04:59:57.346Z,1761541197.346 [DAT](INFO): DAT read: Bearing 55.7, -14.1 (Local) 2025-10-27T04:59:57.347Z,1761541197.347 [DAT](INFO): Local bearing/azimuth received: Bearing 55.7, -14.1 (Local) 2025-10-27T04:59:57.349Z,1761541197.349 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 2025-10-27T04:59:57.353Z,1761541197.353 [DAT](INFO): DAT read: 04:59:56.0404 LVL= 32752, 32753, 24850, 32755, AGC= 54, IDX= 512,-0.33,-0.577,-2.041, 0.000,-0.453, PHS=-0.022,-1.544, 0.409, RAW= 162.1, 13.0, CAL= 162.6, 15.0, ROT= 347.4, -15.0 2025-10-27T04:59:57.354Z,1761541197.354 [DAT](INFO): got valid direction response: 04:59:56.0404 LVL= 32752, 32753, 24850, 32755, AGC= 54, IDX= 512,-0.33,-0.577,-2.041, 0.000,-0.453, PHS=-0.022,-1.544, 0.409, RAW= 162.1, 13.0, CAL= 162.6, 15.0, ROT= 347.4, -15.0 2025-10-27T04:59:57.355Z,1761541197.355 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T04:59:57.356Z,1761541197.356 [DAT](INFO): direction in FSK: [0.942663,-0.210710,0.258819] 2025-10-27T04:59:57.356Z,1761541197.356 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:57.360Z,1761541197.360 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.086601 2025-10-27T04:59:57.483Z,1761541197.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502892 s, deltaX: -0.099999 m, approachRate: -0.198849 m/s, rangeRepo size: 4 2025-10-27T04:59:57.489Z,1761541197.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.527257 m, bearing: 243.195914 deg, lat: 36.779336 deg, lon: -121.859611 deg, deltaT: 0.502892 s, deltaX: -0.099502 m, approachRate: -0.197859 m/s, posRepo size: 4 2025-10-27T04:59:57.490Z,1761541197.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.53 m. 2025-10-27T04:59:57.502Z,1761541197.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.527257 m, nav range: 13.987820 m, bearing: 240.769866 deg, approach rate: 0.000000 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.499046 deg, new cmd heading: 250.388968 deg. 2025-10-27T04:59:57.504Z,1761541197.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370112 target range: 14.527257 and range: 14.60 m. 2025-10-27T04:59:57.596Z,1761541197.596 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.322784 2025-10-27T04:59:57.849Z,1761541197.849 [DAT](INFO): DAT read: Rx Time:04:59:56.5401 2025-10-27T04:59:57.849Z,1761541197.849 [DAT](INFO): Rx dataTimestamp_ set to:1761541197.848805 2025-10-27T04:59:57.850Z,1761541197.850 [DAT](INFO): DAT read: Bearing 50.4, -16.3 (Local) 2025-10-27T04:59:57.851Z,1761541197.851 [DAT](INFO): Local bearing/azimuth received: Bearing 50.4, -16.3 (Local) 2025-10-27T04:59:57.853Z,1761541197.853 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 2025-10-27T04:59:57.858Z,1761541197.858 [DAT](INFO): DAT read: 04:59:56.5401 LVL= 32752, 32753, 23826, 32755, AGC= 56, IDX= 509,-0.19,-0.932,-2.312,-0.231,-0.843, PHS= 0.014,-1.424, 0.568, RAW= 165.6, 9.5, CAL= 165.5, 10.3, ROT= 344.5, -10.3 2025-10-27T04:59:57.859Z,1761541197.859 [DAT](INFO): got valid direction response: 04:59:56.5401 LVL= 32752, 32753, 23826, 32755, AGC= 56, IDX= 509,-0.19,-0.932,-2.312,-0.231,-0.843, PHS= 0.014,-1.424, 0.568, RAW= 165.6, 9.5, CAL= 165.5, 10.3, ROT= 344.5, -10.3 2025-10-27T04:59:57.859Z,1761541197.859 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T04:59:57.860Z,1761541197.860 [DAT](INFO): direction in FSK: [0.948102,-0.262932,0.178802] 2025-10-27T04:59:57.860Z,1761541197.860 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:57.868Z,1761541197.868 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.594906 2025-10-27T04:59:57.958Z,1761541197.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504109 s, deltaX: -0.500000 m, approachRate: -0.991849 m/s, rangeRepo size: 4 2025-10-27T04:59:57.965Z,1761541197.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.029736 m, bearing: 239.506726 deg, lat: 36.779336 deg, lon: -121.859610 deg, deltaT: 0.504109 s, deltaX: -0.497521 m, approachRate: -0.986932 m/s, posRepo size: 4 2025-10-27T04:59:57.965Z,1761541197.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T04:59:57.972Z,1761541197.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.029736 m, nav range: 13.741155 m, bearing: 240.410513 deg, approach rate: 0.000000 m/s, LOS rate: -0.090651 deg/s, cmd heading: 250.388970 deg, new cmd heading: 250.259537 deg. 2025-10-27T04:59:57.973Z,1761541197.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367853 target range: 14.029736 and range: 14.10 m. 2025-10-27T04:59:58.100Z,1761541198.100 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.826637 2025-10-27T04:59:58.299Z,1761541198.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285813,0.943791,0.166041],[-0.958218,-0.283530,-0.037811],[0.011392,-0.169910,0.985394]] 2025-10-27T04:59:58.316Z,1761541198.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T04:59:58.318Z,1761541198.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T04:59:58.321Z,1761541198.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.029736 m, nav range: 13.535054 m, bearing: 240.413570 deg, approach rate: -0.571706 m/s, LOS rate: 0.008608 deg/s, cmd heading: 250.259525 deg, new cmd heading: 250.268834 deg. 2025-10-27T04:59:58.322Z,1761541198.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368015 target range: 14.029736 and range: 14.10 m. 2025-10-27T04:59:58.353Z,1761541198.353 [DAT](INFO): DAT read: Rx Time:04:59:57.0400 2025-10-27T04:59:58.353Z,1761541198.353 [DAT](INFO): Rx dataTimestamp_ set to:1761541198.352734 2025-10-27T04:59:58.354Z,1761541198.354 [DAT](INFO): DAT read: Bearing 50.7, -16.2 (Local) 2025-10-27T04:59:58.354Z,1761541198.354 [DAT](INFO): Local bearing/azimuth received: Bearing 50.7, -16.2 (Local) 2025-10-27T04:59:58.356Z,1761541198.356 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-27T04:59:58.359Z,1761541198.359 [DAT](INFO): DAT read: 04:59:57.0400 LVL= 32752,311, 2.407, 1.800, PHS= 0.012,-1.444, 0.563, RAW= 165.4, 9.7, CAL= 165.3, 10.6, ROT= 344.7, -10.6 2025-10-27T04:59:58.360Z,1761541198.360 [DAT](INFO): unknown deviceResponse_: 04:59:57.0400 LVL= 32752,311, 2.407, 1.800, PHS= 0.012,-1.444, 0.563, RAW= 165.4, 9.7, CAL= 165.3, 10.6, ROT= 344.7, -10.6 2025-10-27T04:59:58.360Z,1761541198.360 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-27T04:59:58.361Z,1761541198.361 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.088215 2025-10-27T04:59:58.608Z,1761541198.608 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.334015 2025-10-27T04:59:58.740Z,1761541198.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285746,0.943385,0.168448],[-0.958236,-0.283387,-0.038405],[0.011505,-0.172387,0.984962]] 2025-10-27T04:59:58.804Z,1761541198.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503929 s, deltaX: -0.100000 m, approachRate: -0.198441 m/s, rangeRepo size: 4 2025-10-27T04:59:58.805Z,1761541198.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T04:59:58.812Z,1761541198.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.029736 m, nav range: 13.286739 m, bearing: 240.418359 deg, approach rate: -0.517642 m/s, LOS rate: 0.010171 deg/s, cmd heading: 250.268841 deg, new cmd heading: 250.283478 deg. 2025-10-27T04:59:58.813Z,1761541198.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368271 target range: 14.029736 and range: 14.00 m. 2025-10-27T04:59:58.857Z,1761541198.857 [DAT](INFO): DAT read: Rx Time:04:59:57.5398 2025-10-27T04:59:58.857Z,1761541198.857 [DAT](INFO): Rx dataTimestamp_ set to:1761541198.856831 2025-10-27T04:59:58.858Z,1761541198.858 [DAT](INFO): DAT read: Bearing 50.5, -16.0 (Local) 2025-10-27T04:59:58.859Z,1761541198.859 [DAT](INFO): Local bearing/azimuth received: Bearing 50.5, -16.0 (Local) 2025-10-27T04:59:58.861Z,1761541198.861 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-27T04:59:58.869Z,1761541198.869 [DAT](INFO): DAT read: 04:59:57.5398 LVL= 32752, 32753, 23394, 32755, AGC= 54, IDX= 505, 0.46,-0.433,-1.821, 0.254,-0.350, PHS= 0.019,-1.426, 0.560, RAW= 165.3, 9.6, CAL= 165.1, 10.3, ROT= 344.9, -10.3 2025-10-27T04:59:58.870Z,1761541198.870 [DAT](INFO): got valid direction response: 04:59:57.5398 LVL= 32752, 32753, 23394, 32755, AGC= 54, IDX= 505, 0.46,-0.433,-1.821, 0.254,-0.350, PHS= 0.019,-1.426, 0.560, RAW= 165.3, 9.6, CAL= 165.1, 10.3, ROT= 344.9, -10.3 2025-10-27T04:59:58.875Z,1761541198.875 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T04:59:58.877Z,1761541198.877 [DAT](INFO): direction in FSK: [0.949914,-0.256307,0.178802] 2025-10-27T04:59:58.877Z,1761541198.877 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:58.908Z,1761541198.908 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.633369 2025-10-27T04:59:59.108Z,1761541199.108 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.834835 2025-10-27T04:59:59.120Z,1761541199.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286135,0.942869,0.170662],[-0.958119,-0.283696,-0.039045],[0.011602,-0.174687,0.984556]] 2025-10-27T04:59:59.178Z,1761541199.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504097 s, deltaX: -0.300000 m, approachRate: -0.595124 m/s, rangeRepo size: 4 2025-10-27T04:59:59.211Z,1761541199.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.631720 m, bearing: 240.232662 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 1.008026 s, deltaX: -0.398016 m, approachRate: -0.394847 m/s, posRepo size: 4 2025-10-27T04:59:59.214Z,1761541199.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m. 2025-10-27T04:59:59.229Z,1761541199.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.631720 m, nav range: 13.173215 m, bearing: 240.533015 deg, approach rate: 0.000000 m/s, LOS rate: 0.010171 deg/s, cmd heading: 250.283485 deg, new cmd heading: 250.294948 deg. 2025-10-27T04:59:59.230Z,1761541199.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368471 target range: 13.631720 and range: 13.70 m. 2025-10-27T04:59:59.361Z,1761541199.361 [DAT](INFO): DAT read: Rx Time:04:59:58.0396 2025-10-27T04:59:59.361Z,1761541199.361 [DAT](INFO): Rx dataTimestamp_ set to:1761541199.361000 2025-10-27T04:59:59.363Z,1761541199.363 [DAT](INFO): DAT read: Bearing 50.1, -15.7 (Local) 2025-10-27T04:59:59.363Z,1761541199.363 [DAT](INFO): Local bearing/azimuth received: Bearing 50.1, -15.7 (Local) 2025-10-27T04:59:59.365Z,1761541199.365 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 2025-10-27T04:59:59.370Z,1761541199.370 [DAT](INFO): DAT read: 04:59:58.0396 LVL= 32752, 32753, 23058, 32755, AGC= 55, IDX= 504,-0.11,-1.860, 3.041,-1.185,-1.787, PHS= 0.028,-1.410, 0.557, RAW= 165.1, 9.4, CAL= 164.9, 10.1, ROT= 345.1, -10.1 2025-10-27T04:59:59.371Z,1761541199.371 [DAT](INFO): got valid direction response: 04:59:58.0396 LVL= 32752, 32753, 23058, 32755, AGC= 55, IDX= 504,-0.11,-1.860, 3.041,-1.185,-1.787, PHS= 0.028,-1.410, 0.557, RAW= 165.1, 9.4, CAL= 164.9, 10.1, ROT= 345.1, -10.1 2025-10-27T04:59:59.371Z,1761541199.371 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T04:59:59.372Z,1761541199.372 [DAT](INFO): direction in FSK: [0.951400,-0.253148,0.175367] 2025-10-27T04:59:59.373Z,1761541199.373 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:59.376Z,1761541199.376 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.103321 2025-10-27T04:59:59.518Z,1761541199.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286282,0.942588,0.171962],[-0.958078,-0.283748,-0.039676],[0.011395,-0.176111,0.984304]] 2025-10-27T04:59:59.615Z,1761541199.615 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.341274 2025-10-27T04:59:59.649Z,1761541199.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504169 s, deltaX: -0.300000 m, approachRate: -0.595039 m/s, rangeRepo size: 4 2025-10-27T04:59:59.655Z,1761541199.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.333215 m, bearing: 240.406847 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.504169 s, deltaX: -0.298505 m, approachRate: -0.592073 m/s, posRepo size: 4 2025-10-27T04:59:59.656Z,1761541199.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m. 2025-10-27T04:59:59.658Z,1761541199.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.333215 m, nav range: 12.981918 m, bearing: 240.406894 deg, approach rate: 0.000000 m/s, LOS rate: 0.010171 deg/s, cmd heading: 250.294960 deg, new cmd heading: 250.309438 deg. 2025-10-27T04:59:59.664Z,1761541199.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368724 target range: 13.333215 and range: 13.40 m. 2025-10-27T04:59:59.864Z,1761541199.864 [DAT](INFO): DAT read: Rx Time:04:59:58.5393 2025-10-27T04:59:59.865Z,1761541199.865 [DAT](INFO): Rx dataTimestamp_ set to:1761541199.864690 2025-10-27T04:59:59.866Z,1761541199.866 [DAT](INFO): DAT read: Bearing 51.4, -16.0 (Local) 2025-10-27T04:59:59.867Z,1761541199.867 [DAT](INFO): Local bearing/azimuth received: Bearing 51.4, -16.0 (Local) 2025-10-27T04:59:59.869Z,1761541199.869 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-27T04:59:59.873Z,1761541199.873 [DAT](INFO): DAT read: 04:59:58.5393 LVL= 32752, 32753, 24050, 32755, AGC= 56, IDX= 501, 0.16,-1.008,-2.404,-0.325,-0.906, PHS=-0.001,-1.453, 0.536, RAW= 165.1, 10.3, CAL= 165.1, 11.4, ROT= 344.9, -11.4 2025-10-27T04:59:59.874Z,1761541199.874 [DAT](INFO): got valid direction response: 04:59:58.5393 LVL= 32752, 32753, 24050, 32755, AGC= 56, IDX= 501, 0.16,-1.008,-2.404,-0.325,-0.906, PHS=-0.001,-1.453, 0.536, RAW= 165.1, 10.3, CAL= 165.1, 11.4, ROT= 344.9, -11.4 2025-10-27T04:59:59.875Z,1761541199.875 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T04:59:59.876Z,1761541199.876 [DAT](INFO): direction in FSK: [0.946425,-0.255365,0.197657] 2025-10-27T04:59:59.876Z,1761541199.876 [DAT](INFO): publishing direction and range info 2025-10-27T04:59:59.916Z,1761541199.916 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.642895 2025-10-27T05:00:00.035Z,1761541200.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503690 s, deltaX: -0.500000 m, approachRate: -0.992674 m/s, rangeRepo size: 4 2025-10-27T05:00:00.040Z,1761541200.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.835717 m, bearing: 240.437997 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.503690 s, deltaX: -0.497498 m, approachRate: -0.987706 m/s, posRepo size: 4 2025-10-27T05:00:00.041Z,1761541200.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m. 2025-10-27T05:00:00.062Z,1761541200.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.835717 m, nav range: 12.728203 m, bearing: 240.377577 deg, approach rate: 0.000000 m/s, LOS rate: 0.010171 deg/s, cmd heading: 250.309440 deg, new cmd heading: 250.321206 deg. 2025-10-27T05:00:00.069Z,1761541200.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368929 target range: 12.835717 and range: 12.90 m. 2025-10-27T05:00:00.116Z,1761541200.116 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.842949 2025-10-27T05:00:00.362Z,1761541200.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287610,0.941664,0.174787],[-0.957675,-0.285004,-0.040387],[0.011784,-0.179005,0.983778]] 2025-10-27T05:00:00.369Z,1761541200.369 [DAT](INFO): DAT read: Rx Time:04:59:59.0393 2025-10-27T05:00:00.369Z,1761541200.369 [DAT](INFO): Rx dataTimestamp_ set to:1761541200.368728 2025-10-27T05:00:00.370Z,1761541200.370 [DAT](INFO): DAT read: Bearing 49.6, -15.5 (Local) 2025-10-27T05:00:00.371Z,1761541200.371 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -15.5 (Local) 2025-10-27T05:00:00.373Z,1761541200.373 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-27T05:00:00.377Z,1761541200.377 [DAT](INFO): DAT read: 04:59:59.0393 LVL= 32752, 32753, 21170, 32755, AGC= 55, IDX= 501,-0.35,-1.872, 3.013,-1.192,-1.806, PHS= 0.036,-1.419, 0.570, RAW= 165.0, 9.2, CAL= 164.8, 9.8, ROT= 345.2, -9.8 2025-10-27T05:00:00.378Z,1761541200.378 [DAT](INFO): got valid direction response: 04:59:59.0393 LVL= 32752, 32753, 21170, 32755, AGC= 55, IDX= 501,-0.35,-1.872, 3.013,-1.192,-1.806, PHS= 0.036,-1.419, 0.570, RAW= 165.0, 9.2, CAL= 164.8, 9.8, ROT= 345.2, -9.8 2025-10-27T05:00:00.379Z,1761541200.379 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:00:00.384Z,1761541200.384 [DAT](INFO): direction in FSK: [0.952715,-0.251718,0.170209] 2025-10-27T05:00:00.384Z,1761541200.384 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:00.392Z,1761541200.392 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.119057 2025-10-27T05:00:00.440Z,1761541200.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:00.442Z,1761541200.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.835717 m, bearing: 240.408580 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.504038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:00:00.447Z,1761541200.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m. 2025-10-27T05:00:00.450Z,1761541200.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.835717 m, nav range: 12.517552 m, bearing: 240.350524 deg, approach rate: 0.000000 m/s, LOS rate: 0.010171 deg/s, cmd heading: 250.321215 deg, new cmd heading: 250.333457 deg. 2025-10-27T05:00:00.459Z,1761541200.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369143 target range: 12.835717 and range: 12.90 m. 2025-10-27T05:00:00.623Z,1761541200.623 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.349430 2025-10-27T05:00:00.787Z,1761541200.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288853,0.941061,0.175976],[-0.957295,-0.286267,-0.040476],[0.012285,-0.180152,0.983562]] 2025-10-27T05:00:00.860Z,1761541200.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:00.862Z,1761541200.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m. 2025-10-27T05:00:00.869Z,1761541200.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.835717 m, nav range: 12.274501 m, bearing: 240.262866 deg, approach rate: -0.569206 m/s, LOS rate: -0.209352 deg/s, cmd heading: 250.333455 deg, new cmd heading: 250.065276 deg. 2025-10-27T05:00:00.870Z,1761541200.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364462 target range: 12.835717 and range: 12.90 m. 2025-10-27T05:00:00.873Z,1761541200.873 [DAT](INFO): DAT read: Rx Time:04:59:59.5390 2025-10-27T05:00:00.873Z,1761541200.873 [DAT](INFO): Rx dataTimestamp_ set to:1761541200.872881 2025-10-27T05:00:00.874Z,1761541200.874 [DAT](INFO): DAT read: Bearing 50.9, -15.7 (Local) 2025-10-27T05:00:00.875Z,1761541200.875 [DAT](INFO): Local bearing/azimuth received: Bearing 50.9, -15.7 (Local) 2025-10-27T05:00:00.877Z,1761541200.877 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T05:00:00.881Z,1761541200.881 [DAT](INFO): DAT read: 04:59:59.5390 LVL= 32752, 32753, 24082, 32755, AGC= 55, IDX= 498,-0.06,-2.268, 2.623,-1.598,-2.177, PHS= 0.011,-1.438, 0.534, RAW= 164.8, 10.1, CAL= 164.8, 11.1, ROT= 345.2, -11.1 2025-10-27T05:00:00.883Z,1761541200.883 [DAT](INFO): got valid direction response: 04:59:59.5390 LVL= 32752, 32753, 24082, 32755, AGC= 55, IDX= 498,-0.06,-2.268, 2.623,-1.598,-2.177, PHS= 0.011,-1.438, 0.534, RAW= 164.8, 10.1, CAL= 164.8, 11.1, ROT= 345.2, -11.1 2025-10-27T05:00:00.883Z,1761541200.883 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:00:00.884Z,1761541200.884 [DAT](INFO): direction in FSK: [0.948737,-0.250667,0.192522] 2025-10-27T05:00:00.884Z,1761541200.884 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:00.892Z,1761541200.892 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.619064 2025-10-27T05:00:01.124Z,1761541201.124 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.850849 2025-10-27T05:00:01.235Z,1761541201.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291001,0.939903,0.178608],[-0.956635,-0.288394,-0.040978],[0.012994,-0.182787,0.983067]] 2025-10-27T05:00:01.258Z,1761541201.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504153 s, deltaX: -0.400000 m, approachRate: -0.793409 m/s, rangeRepo size: 4 2025-10-27T05:00:01.261Z,1761541201.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.437716 m, bearing: 240.487433 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.504153 s, deltaX: -0.398001 m, approachRate: -0.789444 m/s, posRepo size: 4 2025-10-27T05:00:01.261Z,1761541201.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m. 2025-10-27T05:00:01.265Z,1761541201.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.437716 m, nav range: 12.043923 m, bearing: 240.244590 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 250.065274 deg, new cmd heading: 249.816830 deg. 2025-10-27T05:00:01.266Z,1761541201.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360126 target range: 12.437716 and range: 12.50 m. 2025-10-27T05:00:01.377Z,1761541201.377 [DAT](INFO): DAT read: Rx Time:05:00:00.0389 2025-10-27T05:00:01.378Z,1761541201.378 [DAT](INFO): Rx dataTimestamp_ set to:1761541201.377316 2025-10-27T05:00:01.379Z,1761541201.379 [DAT](INFO): DAT read: Bearing 50.8, -15.8 (Local) 2025-10-27T05:00:01.379Z,1761541201.379 [DAT](INFO): Local bearing/azimuth received: Bearing 50.8, -15.8 (Local) 2025-10-27T05:00:01.381Z,1761541201.381 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T05:00:01.386Z,1761541201.386 [DAT](INFO): DAT read: 05:00:00.0389 LVL= 32752, 32753, 22770, 32755, AGC= 55, IDX= 497, 0.31, 0.443,-0.967, 1.125, 0.538, PHS= 0.007,-1.460, 0.543, RAW= 165.0, 10.1, CAL= 164.9, 11.2, ROT= 345.1, -11.2 2025-10-27T05:00:01.387Z,1761541201.387 [DAT](INFO): got valid direction response: 05:00:00.0389 LVL= 32752, 32753, 22770, 32755, AGC= 55, IDX= 497, 0.31, 0.443,-0.967, 1.125, 0.538, PHS= 0.007,-1.460, 0.543, RAW= 165.0, 10.1, CAL= 164.9, 11.2, ROT= 345.1, -11.2 2025-10-27T05:00:01.388Z,1761541201.388 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:00:01.388Z,1761541201.388 [DAT](INFO): direction in FSK: [0.947972,-0.252236,0.194234] 2025-10-27T05:00:01.389Z,1761541201.389 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:01.413Z,1761541201.413 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.139408 2025-10-27T05:00:01.644Z,1761541201.644 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.357445 2025-10-27T05:00:01.733Z,1761541201.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292775,0.939017,0.180361],[-0.956081,-0.290228,-0.040961],[0.013883,-0.184432,0.982747]] 2025-10-27T05:00:01.804Z,1761541201.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504435 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:01.806Z,1761541201.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.437711 m, bearing: 240.319745 deg, lat: 36.779335 deg, lon: -121.859611 deg, deltaT: 0.504435 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T05:00:01.806Z,1761541201.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m. 2025-10-27T05:00:01.813Z,1761541201.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.437711 m, nav range: 11.729137 m, bearing: 240.075248 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 249.816819 deg, new cmd heading: 249.476969 deg. 2025-10-27T05:00:01.814Z,1761541201.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354195 target range: 12.437711 and range: 12.50 m. 2025-10-27T05:00:01.881Z,1761541201.881 [DAT](INFO): DAT read: Rx Time:05:00:00.5387 2025-10-27T05:00:01.881Z,1761541201.881 [DAT](INFO): Rx dataTimestamp_ set to:1761541201.880918 2025-10-27T05:00:01.882Z,1761541201.882 [DAT](INFO): DAT read: Bearing 49.6, -15.4 (Local) 2025-10-27T05:00:01.883Z,1761541201.883 [DAT](INFO): Local bearing/azimuth received: Bearing 49.6, -15.4 (Local) 2025-10-27T05:00:01.885Z,1761541201.885 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 2025-10-27T05:00:01.891Z,1761541201.891 [DAT](INFO): DAT read: 05:00:00.5387 LVL= 32752, 32753, 20946, 32755, AGC= 52, IDX= 511,-0.16, 2.852, 1.455,-2.761, 2.922, PHS= 0.031,-1.422, 0.556, RAW= 164.8, 9.4, CAL= 164.7, 10.2, ROT= 345.3, -10.2 2025-10-27T05:00:01.892Z,1761541201.892 [DAT](INFO): got valid direction response: 05:00:00.5387 LVL= 32752, 32753, 20946, 32755, AGC= 52, IDX= 511,-0.16, 2.852, 1.455,-2.761, 2.922, PHS= 0.031,-1.422, 0.556, RAW= 164.8, 9.4, CAL= 164.7, 10.2, ROT= 345.3, -10.2 2025-10-27T05:00:01.893Z,1761541201.893 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:00:01.894Z,1761541201.894 [DAT](INFO): direction in FSK: [0.951981,-0.249748,0.177085] 2025-10-27T05:00:01.895Z,1761541201.895 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:01.902Z,1761541201.902 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.628948 2025-10-27T05:00:02.132Z,1761541202.132 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.858829 2025-10-27T05:00:02.220Z,1761541202.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294946,0.938349,0.180301],[-0.955403,-0.292488,-0.040691],[0.014554,-0.184262,0.982769]] 2025-10-27T05:00:02.255Z,1761541202.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503602 s, deltaX: -0.300000 m, approachRate: -0.595709 m/s, rangeRepo size: 4 2025-10-27T05:00:02.257Z,1761541202.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.139205 m, bearing: 240.198824 deg, lat: 36.779335 deg, lon: -121.859612 deg, deltaT: 0.503602 s, deltaX: -0.298506 m, approachRate: -0.592741 m/s, posRepo size: 4 2025-10-27T05:00:02.258Z,1761541202.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.14 m. 2025-10-27T05:00:02.261Z,1761541202.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.139205 m, nav range: 11.478285 m, bearing: 239.999744 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 249.476976 deg, new cmd heading: 249.190952 deg. 2025-10-27T05:00:02.262Z,1761541202.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349203 target range: 12.139205 and range: 12.20 m. 2025-10-27T05:00:02.385Z,1761541202.385 [DAT](INFO): DAT read: Rx Time:05:00:01.0386 2025-10-27T05:00:02.385Z,1761541202.385 [DAT](INFO): Rx dataTimestamp_ set to:1761541202.384743 2025-10-27T05:00:02.386Z,1761541202.386 [DAT](INFO): DAT read: Bearing 49.9, -15.5 (Local) 2025-10-27T05:00:02.387Z,1761541202.387 [DAT](INFO): Local bearing/azimuth received: Bearing 49.9, -15.5 (Local) 2025-10-27T05:00:02.389Z,1761541202.389 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 2025-10-27T05:00:02.394Z,1761541202.394 [DAT](INFO): DAT read: 05:00:01.0386 LVL= 32752, 32753, 22290, 32755, AGC= 51, IDX= 510, 0.19,-1.659,-3.058,-0.983,-1.577, PHS= 0.020,-1.436, 0.551, RAW= 164.9, 9.7, CAL= 164.8, 10.6, ROT= 345.2, -10.6 2025-10-27T05:00:02.395Z,1761541202.395 [DAT](INFO): got valid direction response: 05:00:01.0386 LVL= 32752, 32753, 22290, 32755, AGC= 51, IDX= 510, 0.19,-1.659,-3.058,-0.983,-1.577, PHS= 0.020,-1.436, 0.551, RAW= 164.9, 9.7, CAL= 164.8, 10.6, ROT= 345.2, -10.6 2025-10-27T05:00:02.395Z,1761541202.395 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:00:02.396Z,1761541202.396 [DAT](INFO): direction in FSK: [0.950325,-0.251087,0.183951] 2025-10-27T05:00:02.397Z,1761541202.397 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:02.401Z,1761541202.401 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.127361 2025-10-27T05:00:02.581Z,1761541202.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297410,0.937498,0.180680],[-0.954626,-0.295043,-0.040476],[0.015363,-0.184520,0.982709]] 2025-10-27T05:00:02.641Z,1761541202.641 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.365215 2025-10-27T05:00:02.737Z,1761541202.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503825 s, deltaX: -0.200000 m, approachRate: -0.396963 m/s, rangeRepo size: 4 2025-10-27T05:00:02.763Z,1761541202.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.940202 m, bearing: 240.026058 deg, lat: 36.779334 deg, lon: -121.859614 deg, deltaT: 0.503825 s, deltaX: -0.199003 m, approachRate: -0.394985 m/s, posRepo size: 4 2025-10-27T05:00:02.764Z,1761541202.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:00:02.766Z,1761541202.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.940202 m, nav range: 11.552707 m, bearing: 240.064626 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 249.190955 deg, new cmd heading: 248.888355 deg. 2025-10-27T05:00:02.774Z,1761541202.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343921 target range: 11.940202 and range: 12.00 m. 2025-10-27T05:00:02.889Z,1761541202.889 [DAT](INFO): DAT read: Rx Time:05:00:01.5384 2025-10-27T05:00:02.890Z,1761541202.890 [DAT](INFO): Rx dataTimestamp_ set to:1761541202.889240 2025-10-27T05:00:02.891Z,1761541202.891 [DAT](INFO): DAT read: Bearing 50.1, -14.9 (Local) 2025-10-27T05:00:02.891Z,1761541202.891 [DAT](INFO): Local bearing/azimuth received: Bearing 50.1, -14.9 (Local) 2025-10-27T05:00:02.893Z,1761541202.893 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 2025-10-27T05:00:02.898Z,1761541202.898 [DAT](INFO): DAT read: 05:00:01.5384 LVL= 32752, 32753, 23762, 32755, AGC= 50, IDX= 508,-0.29, 0.990,-0.414, 1.637, 1.061, PHS= 0.030,-1.431, 0.531, RAW= 164.2, 9.9, CAL= 164.1, 10.8, ROT= 345.9, -10.8 2025-10-27T05:00:02.900Z,1761541202.900 [DAT](INFO): got valid direction response: 05:00:01.5384 LVL= 32752, 32753, 23762, 32755, AGC= 50, IDX= 508,-0.29, 0.990,-0.414, 1.637, 1.061, PHS= 0.030,-1.431, 0.531, RAW= 164.2, 9.9, CAL= 164.1, 10.8, ROT= 345.9, -10.8 2025-10-27T05:00:02.900Z,1761541202.900 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:00:02.901Z,1761541202.901 [DAT](INFO): direction in FSK: [0.952693,-0.239300,0.187381] 2025-10-27T05:00:02.901Z,1761541202.901 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:02.913Z,1761541202.913 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.639797 2025-10-27T05:00:03.107Z,1761541203.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300424,0.936430,0.181231],[-0.953666,-0.298166,-0.040239],[0.016356,-0.184923,0.982617]] 2025-10-27T05:00:03.140Z,1761541203.140 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.866924 2025-10-27T05:00:03.189Z,1761541203.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504497 s, deltaX: -0.300000 m, approachRate: -0.594652 m/s, rangeRepo size: 4 2025-10-27T05:00:03.212Z,1761541203.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.641696 m, bearing: 240.581776 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.504497 s, deltaX: -0.298506 m, approachRate: -0.591690 m/s, posRepo size: 4 2025-10-27T05:00:03.219Z,1761541203.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-27T05:00:03.227Z,1761541203.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.641696 m, nav range: 11.244534 m, bearing: 239.854008 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 248.888350 deg, new cmd heading: 248.619557 deg. 2025-10-27T05:00:03.228Z,1761541203.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339230 target range: 11.641696 and range: 11.70 m. 2025-10-27T05:00:03.393Z,1761541203.393 [DAT](INFO): DAT read: Rx Time:05:00:02.0382 2025-10-27T05:00:03.393Z,1761541203.393 [DAT](INFO): Rx dataTimestamp_ set to:1761541203.393194 2025-10-27T05:00:03.396Z,1761541203.396 [DAT](INFO): DAT read: Bearing 50.0, -15.3 (Local) 2025-10-27T05:00:03.396Z,1761541203.396 [DAT](INFO): Local bearing/azimuth received: Bearing 50.0, -15.3 (Local) 2025-10-27T05:00:03.398Z,1761541203.398 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4 2025-10-27T05:00:03.402Z,1761541203.402 [DAT](INFO): DAT read: 05:00:02.0382 LVL= 32752, 32753, 22930, 32755, AGC= 51, IDX= 506,-0.01, 1.565, 0.161, 2.231, 1.649, PHS= 0.018,-1.443, 0.538, RAW= 164.7, 10.0, CAL= 164.6, 11.0, ROT= 345.4, -11.0 2025-10-27T05:00:03.404Z,1761541203.404 [DAT](INFO): got valid direction response: 05:00:02.0382 LVL= 32752, 32753, 22930, 32755, AGC= 51, IDX= 506,-0.01, 1.565, 0.161, 2.231, 1.649, PHS= 0.018,-1.443, 0.538, RAW= 164.7, 10.0, CAL= 164.6, 11.0, ROT= 345.4, -11.0 2025-10-27T05:00:03.404Z,1761541203.404 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:00:03.405Z,1761541203.405 [DAT](INFO): direction in FSK: [0.949930,-0.247438,0.190809] 2025-10-27T05:00:03.405Z,1761541203.405 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:03.421Z,1761541203.421 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.147926 2025-10-27T05:00:03.531Z,1761541203.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303227,0.935353,0.182121],[-0.952764,-0.301031,-0.040268],[0.017160,-0.185729,0.982451]] 2025-10-27T05:00:03.596Z,1761541203.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503954 s, deltaX: -0.300000 m, approachRate: -0.595293 m/s, rangeRepo size: 4 2025-10-27T05:00:03.598Z,1761541203.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.343191 m, bearing: 239.960560 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.503954 s, deltaX: -0.298505 m, approachRate: -0.592326 m/s, posRepo size: 4 2025-10-27T05:00:03.599Z,1761541203.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-27T05:00:03.602Z,1761541203.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.343191 m, nav range: 11.004647 m, bearing: 239.671135 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 248.619569 deg, new cmd heading: 248.348655 deg. 2025-10-27T05:00:03.606Z,1761541203.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334502 target range: 11.343191 and range: 11.40 m. 2025-10-27T05:00:03.666Z,1761541203.666 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.392494 2025-10-27T05:00:03.896Z,1761541203.896 [DAT](INFO): DAT read: Rx Time:05:00:02.5379 2025-10-27T05:00:03.897Z,1761541203.897 [DAT](INFO): Rx dataTimestamp_ set to:1761541203.896675 2025-10-27T05:00:03.898Z,1761541203.898 [DAT](INFO): DAT read: Bearing 49.5, -15.9 (Local) 2025-10-27T05:00:03.899Z,1761541203.899 [DAT](INFO): Local bearing/azimuth received: Bearing 49.5, -15.9 (Local) 2025-10-27T05:00:03.901Z,1761541203.901 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 2025-10-27T05:00:03.905Z,1761541203.905 [DAT](INFO): DAT read: 05:00:02.5379 LVL= 32752, 32753, 21826, 32755, AGC= 49, IDX= 503, 0.21, 1.202,-0.197, 1.897, 1.293, PHS= 0.011,-1.445, 0.560, RAW= 165.4, 9.8, CAL= 165.3, 10.6, ROT= 344.7, -10.6 2025-10-27T05:00:03.906Z,1761541203.906 [DAT](INFO): got valid direction response: 05:00:02.5379 LVL= 32752, 32753, 21826, 32755, AGC= 49, IDX= 503, 0.21, 1.202,-0.197, 1.897, 1.293, PHS= 0.011,-1.445, 0.560, RAW= 165.4, 9.8, CAL= 165.3, 10.6, ROT= 344.7, -10.6 2025-10-27T05:00:03.907Z,1761541203.907 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:00:03.908Z,1761541203.908 [DAT](INFO): direction in FSK: [0.948098,-0.259370,0.183951] 2025-10-27T05:00:03.909Z,1761541203.909 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:03.912Z,1761541203.912 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.639137 2025-10-27T05:00:04.056Z,1761541204.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310961,0.932339,0.184518],[-0.950224,-0.308955,-0.040277],[0.019456,-0.187858,0.982003]] 2025-10-27T05:00:04.111Z,1761541204.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503481 s, deltaX: -0.400000 m, approachRate: -0.794468 m/s, rangeRepo size: 4 2025-10-27T05:00:04.113Z,1761541204.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.945172 m, bearing: 238.742541 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.503481 s, deltaX: -0.398019 m, approachRate: -0.790534 m/s, posRepo size: 4 2025-10-27T05:00:04.114Z,1761541204.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T05:00:04.118Z,1761541204.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.945172 m, nav range: 10.678940 m, bearing: 239.293517 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 248.348656 deg, new cmd heading: 248.025140 deg. 2025-10-27T05:00:04.119Z,1761541204.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328856 target range: 10.945172 and range: 11.00 m. 2025-10-27T05:00:04.148Z,1761541204.148 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.874882 2025-10-27T05:00:04.401Z,1761541204.401 [DAT](INFO): DAT read: Rx Time:05:00:03.0379 2025-10-27T05:00:04.401Z,1761541204.401 [DAT](INFO): Rx dataTimestamp_ set to:1761541204.400733 2025-10-27T05:00:04.402Z,1761541204.402 [DAT](INFO): DAT read: Bearing 48.9, -16.2 (Local) 2025-10-27T05:00:04.403Z,1761541204.403 [DAT](INFO): Local bearing/azimuth received: Bearing 48.9, -16.2 (Local) 2025-10-27T05:00:04.412Z,1761541204.412 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 2025-10-27T05:00:04.428Z,1761541204.428 [DAT](INFO): DAT read: 05:00:03.0379 LVL= 32752, 32753, 22626, 32755, AGC= 49, IDX= 502, 0.40, 2.712, 1.319,-2.861, 2.805, PHS= 0.010,-1.441, 0.573, RAW= 165.7, 9.6, CAL= 165.6, 10.4, ROT= 344.4, -10.4 2025-10-27T05:00:04.429Z,1761541204.429 [DAT](INFO): got valid direction response: 05:00:03.0379 LVL= 32752, 32753, 22626, 32755, AGC= 49, IDX= 502, 0.40, 2.712, 1.319,-2.861, 2.805, PHS= 0.010,-1.441, 0.573, RAW= 165.7, 9.6, CAL= 165.6, 10.4, ROT= 344.4, -10.4 2025-10-27T05:00:04.430Z,1761541204.430 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:00:04.431Z,1761541204.431 [DAT](INFO): direction in FSK: [0.947339,-0.264502,0.180519] 2025-10-27T05:00:04.431Z,1761541204.431 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:04.437Z,1761541204.437 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.163033 2025-10-27T05:00:04.563Z,1761541204.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314963,0.930632,0.186342],[-0.948889,-0.312945,-0.040938],[0.020217,-0.189712,0.981632]] 2025-10-27T05:00:04.611Z,1761541204.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:04.618Z,1761541204.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.945172 m, bearing: 238.185997 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:00:04.623Z,1761541204.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T05:00:04.629Z,1761541204.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.945172 m, nav range: 10.385515 m, bearing: 238.991809 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 248.025151 deg, new cmd heading: 247.711465 deg. 2025-10-27T05:00:04.630Z,1761541204.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323380 target range: 10.945172 and range: 11.00 m. 2025-10-27T05:00:04.655Z,1761541204.655 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.381008 2025-10-27T05:00:04.904Z,1761541204.904 [DAT](INFO): DAT read: Rx Time:05:00:03.5376 2025-10-27T05:00:04.905Z,1761541204.905 [DAT](INFO): Rx dataTimestamp_ set to:1761541204.904649 2025-10-27T05:00:04.906Z,1761541204.906 [DAT](INFO): DAT read: Bearing 47.1, -16.6 (Local) 2025-10-27T05:00:04.907Z,1761541204.907 [DAT](INFO): Local bearing/azimuth received: Bearing 47.1, -16.6 (Local) 2025-10-27T05:00:04.909Z,1761541204.909 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 2025-10-27T05:00:04.913Z,1761541204.913 [DAT](INFO): DAT read: 05:00:03.5376 LVL= 32752, 32753, 20626, 32755, AGC= 49, IDX= 500,-0.42, 0.749,-0.636, 1.490, 0.827, PHS= 0.024,-1.418, 0.620, RAW= 166.5, 8.6, CAL= 166.2, 9.0, ROT= 343.8, -9.0 2025-10-27T05:00:04.914Z,1761541204.914 [DAT](INFO): got valid direction response: 05:00:03.5376 LVL= 32752, 32753, 20626, 32755, AGC= 49, IDX= 500,-0.42, 0.749,-0.636, 1.490, 0.827, PHS= 0.024,-1.418, 0.620, RAW= 166.5, 8.6, CAL= 166.2, 9.0, ROT= 343.8, -9.0 2025-10-27T05:00:04.914Z,1761541204.914 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T05:00:04.916Z,1761541204.916 [DAT](INFO): direction in FSK: [0.948471,-0.275557,0.156434] 2025-10-27T05:00:04.916Z,1761541204.916 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:04.924Z,1761541204.924 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.650410 2025-10-27T05:00:05.069Z,1761541205.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318884,0.928954,0.188034],[-0.947558,-0.316895,-0.041375],[0.021151,-0.191366,0.981291]] 2025-10-27T05:00:05.122Z,1761541205.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503916 s, deltaX: -0.500000 m, approachRate: -0.992229 m/s, rangeRepo size: 4 2025-10-27T05:00:05.125Z,1761541205.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.447663 m, bearing: 237.104646 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.503916 s, deltaX: -0.497509 m, approachRate: -0.987286 m/s, posRepo size: 4 2025-10-27T05:00:05.125Z,1761541205.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m. 2025-10-27T05:00:05.128Z,1761541205.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.447663 m, nav range: 10.090847 m, bearing: 238.476147 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 247.711454 deg, new cmd heading: 247.390089 deg. 2025-10-27T05:00:05.129Z,1761541205.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317771 target range: 10.447663 and range: 10.50 m. 2025-10-27T05:00:05.156Z,1761541205.156 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.882854 2025-10-27T05:00:05.409Z,1761541205.409 [DAT](INFO): DAT read: Rx Time:05:00:04.0375 2025-10-27T05:00:05.410Z,1761541205.410 [DAT](INFO): Rx dataTimestamp_ set to:1761541205.409368 2025-10-27T05:00:05.412Z,1761541205.412 [DAT](INFO): DAT read: Bearing 45.4, -16.8 (Local) 2025-10-27T05:00:05.412Z,1761541205.412 [DAT](INFO): Local bearing/azimuth received: Bearing 45.4, -16.8 (Local) 2025-10-27T05:00:05.415Z,1761541205.415 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 2025-10-27T05:00:05.420Z,1761541205.420 [DAT](INFO): DAT read: 05:00:04.0375 LVL= 29680, 32081, 17842, 32755, AGC= 50, IDX= 499,-0.38,-2.777, 2.127,-2.011,-2.717, PHS= 0.042,-1.394, 0.662, RAW= 167.1, 7.6, CAL= 166.7, 7.6, ROT= 343.3, -7.6 2025-10-27T05:00:05.421Z,1761541205.421 [DAT](INFO): got valid direction response: 05:00:04.0375 LVL= 29680, 32081, 17842, 32755, AGC= 50, IDX= 499,-0.38,-2.777, 2.127,-2.011,-2.717, PHS= 0.042,-1.394, 0.662, RAW= 167.1, 7.6, CAL= 166.7, 7.6, ROT= 343.3, -7.6 2025-10-27T05:00:05.421Z,1761541205.421 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:00:05.422Z,1761541205.422 [DAT](INFO): direction in FSK: [0.949408,-0.284837,0.132256] 2025-10-27T05:00:05.422Z,1761541205.422 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:05.460Z,1761541205.460 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.186726 2025-10-27T05:00:05.589Z,1761541205.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504719 s, deltaX: -0.100000 m, approachRate: -0.198131 m/s, rangeRepo size: 4 2025-10-27T05:00:05.596Z,1761541205.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.348162 m, bearing: 236.345782 deg, lat: 36.779332 deg, lon: -121.859615 deg, deltaT: 0.504719 s, deltaX: -0.099502 m, approachRate: -0.197143 m/s, posRepo size: 4 2025-10-27T05:00:05.597Z,1761541205.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.35 m. 2025-10-27T05:00:05.603Z,1761541205.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.348162 m, nav range: 9.929600 m, bearing: 237.203599 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 247.390080 deg, new cmd heading: 247.096744 deg. 2025-10-27T05:00:05.605Z,1761541205.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312652 target range: 10.348162 and range: 10.40 m. 2025-10-27T05:00:05.663Z,1761541205.663 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.388535 2025-10-27T05:00:05.915Z,1761541205.915 [DAT](INFO): DAT read: Rx Time:05:00:04.5373 2025-10-27T05:00:05.916Z,1761541205.916 [DAT](INFO): Rx dataTimestamp_ set to:1761541205.915417 2025-10-27T05:00:05.918Z,1761541205.918 [DAT](INFO): DAT read: Bearing 46.0, -17.9 (Local) 2025-10-27T05:00:05.918Z,1761541205.918 [DAT](INFO): Local bearing/azimuth received: Bearing 46.0, -17.9 (Local) 2025-10-27T05:00:05.920Z,1761541205.920 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.5 2025-10-27T05:00:05.926Z,1761541205.926 [DAT](INFO): DAT read: 05:00:04.5373 LVL= 32752, 32753, 20034, 32755, AGC= 51, IDX= 496,-0.40,-2.654, 2.265,-1.854,-2.556, PHS= 0.004,-1.418, 0.658, RAW= 167.9, 8.3, CAL= 167.6, 8.6, ROT= 342.4, -8.6 2025-10-27T05:00:05.927Z,1761541205.927 [DAT](INFO): got valid direction response: 05:00:04.5373 LVL= 32752, 32753, 20034, 32755, AGC= 51, IDX= 496,-0.40,-2.654, 2.265,-1.854,-2.556, PHS= 0.004,-1.418, 0.658, RAW= 167.9, 8.3, CAL= 167.6, 8.6, ROT= 342.4, -8.6 2025-10-27T05:00:05.927Z,1761541205.927 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:00:05.928Z,1761541205.928 [DAT](INFO): direction in FSK: [0.942473,-0.298970,0.149535] 2025-10-27T05:00:05.929Z,1761541205.929 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:05.932Z,1761541205.932 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.659325 2025-10-27T05:00:05.975Z,1761541205.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327398,0.925651,0.189685],[-0.944615,-0.325449,-0.042242],[0.022632,-0.193010,0.980936]] 2025-10-27T05:00:06.000Z,1761541206.000 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050308482429,35.0, +10.91493.1, 0 2025-10-27T05:00:06.073Z,1761541206.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.506049 s, deltaX: -0.500000 m, approachRate: -0.988047 m/s, rangeRepo size: 4 2025-10-27T05:00:06.079Z,1761541206.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.850656 m, bearing: 235.131476 deg, lat: 36.779331 deg, lon: -121.859614 deg, deltaT: 0.506049 s, deltaX: -0.497506 m, approachRate: -0.983119 m/s, posRepo size: 4 2025-10-27T05:00:06.080Z,1761541206.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-27T05:00:06.081Z,1761541206.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-27T05:00:06.081Z,1761541206.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T05:00:06.088Z,1761541206.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 9.629608 m, bearing: 236.436568 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 247.096737 deg, new cmd heading: 246.792899 deg. 2025-10-27T05:00:06.089Z,1761541206.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307349 target range: 9.850656 and range: 9.90 m. 2025-10-27T05:00:06.167Z,1761541206.167 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.893242 2025-10-27T05:00:06.360Z,1761541206.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331469,0.923680,0.192209],[-0.943177,-0.329460,-0.043280],[0.023348,-0.195633,0.980399]] 2025-10-27T05:00:06.377Z,1761541206.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:06.379Z,1761541206.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:00:06.382Z,1761541206.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 9.420485 m, bearing: 236.171640 deg, approach rate: -0.682899 m/s, LOS rate: -0.884332 deg/s, cmd heading: 246.792903 deg, new cmd heading: 245.980534 deg. 2025-10-27T05:00:06.383Z,1761541206.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293170 target range: 9.850656 and range: 9.90 m. 2025-10-27T05:00:06.418Z,1761541206.418 [DAT](INFO): DAT read: Rx Time:05:00:05.0372 2025-10-27T05:00:06.419Z,1761541206.419 [DAT](INFO): Rx dataTimestamp_ set to:1761541206.418779 2025-10-27T05:00:06.420Z,1761541206.420 [DAT](INFO): DAT read: Bearing 45.9, -19.2 (Local) 2025-10-27T05:00:06.421Z,1761541206.421 [DAT](INFO): Local bearing/azimuth received: Bearing 45.9, -19.2 (Local) 2025-10-27T05:00:06.423Z,1761541206.423 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.5 2025-10-27T05:00:06.428Z,1761541206.428 [DAT](INFO): DAT read: 05:00:05.0372 LVL= 32752, 32753, 25234, 32755, AGC= 52, IDX= 511,-0.35,-1.284,-2.616,-0.439,-1.148, PHS=-0.033,-1.423, 0.666, RAW= 169.2, 8.6, CAL= 168.9, 9.1, ROT= 341.1, -9.1 2025-10-27T05:00:06.430Z,1761541206.430 [DAT](INFO): got valid direction response: 05:00:05.0372 LVL= 32752, 32753, 25234, 32755, AGC= 52, IDX= 511,-0.35,-1.284,-2.616,-0.439,-1.148, PHS=-0.033,-1.423, 0.666, RAW= 169.2, 8.6, CAL= 168.9, 9.1, ROT= 341.1, -9.1 2025-10-27T05:00:06.430Z,1761541206.430 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:00:06.432Z,1761541206.432 [DAT](INFO): direction in FSK: [0.934178,-0.319840,0.158158] 2025-10-27T05:00:06.433Z,1761541206.433 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:06.442Z,1761541206.442 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.168926 2025-10-27T05:00:06.672Z,1761541206.672 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.398064 2025-10-27T05:00:06.763Z,1761541206.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334965,0.922200,0.193249],[-0.941930,-0.332922,-0.043948],[0.023808,-0.196748,0.980165]] 2025-10-27T05:00:06.828Z,1761541206.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503362 s, deltaX: -0.099999 m, approachRate: -0.198663 m/s, rangeRepo size: 4 2025-10-27T05:00:06.830Z,1761541206.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.751177 m, bearing: 233.507325 deg, lat: 36.779330 deg, lon: -121.859614 deg, deltaT: 0.503362 s, deltaX: -0.099479 m, approachRate: -0.197629 m/s, posRepo size: 4 2025-10-27T05:00:06.831Z,1761541206.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.85 m. 2025-10-27T05:00:06.837Z,1761541206.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 9.179534 m, bearing: 235.936180 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 245.980520 deg, new cmd heading: 245.710229 deg. 2025-10-27T05:00:06.838Z,1761541206.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.288453 target range: 9.850656 and range: 9.80 m. 2025-10-27T05:00:06.921Z,1761541206.921 [DAT](INFO): DAT read: Rx Time:05:00:05.5369 2025-10-27T05:00:06.921Z,1761541206.921 [DAT](INFO): Rx dataTimestamp_ set to:1761541206.921058 2025-10-27T05:00:06.923Z,1761541206.923 [DAT](INFO): DAT read: Bearing 45.1, -19.6 (Local) 2025-10-27T05:00:06.924Z,1761541206.924 [DAT](INFO): Local bearing/azimuth received: Bearing 45.1, -19.6 (Local) 2025-10-27T05:00:06.926Z,1761541206.926 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.5 2025-10-27T05:00:06.930Z,1761541206.930 [DAT](INFO): DAT read: 05:00:05.5369 LVL= 32752, 32753, 22610, 32755, AGC= 53, IDX= 508,-0.26,-2.461, 2.488,-1.589,-2.324, PHS=-0.034,-1.426, 0.691, RAW= 169.7, 8.3, CAL= 169.4, 8.6, ROT= 340.6, -8.6 2025-10-27T05:00:06.932Z,1761541206.932 [DAT](INFO): got valid direction response: 05:00:05.5369 LVL= 32752, 32753, 22610, 32755, AGC= 53, IDX= 508,-0.26,-2.461, 2.488,-1.589,-2.324, PHS=-0.034,-1.426, 0.691, RAW= 169.7, 8.3, CAL= 169.4, 8.6, ROT= 340.6, -8.6 2025-10-27T05:00:06.932Z,1761541206.932 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:00:06.933Z,1761541206.933 [DAT](INFO): direction in FSK: [0.932617,-0.328426,0.149535] 2025-10-27T05:00:06.933Z,1761541206.933 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:06.937Z,1761541206.937 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.664143 2025-10-27T05:00:07.175Z,1761541207.175 [DAT](INFO): DAT read: Rx Time:05:00:06.0367 2025-10-27T05:00:07.177Z,1761541207.177 [DAT](INFO): Rx dataTimestamp_ set to:1761541207.176003 2025-10-27T05:00:07.179Z,1761541207.179 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.905479 2025-10-27T05:00:07.216Z,1761541207.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338602,0.920671,0.194198],[-0.940621,-0.336487,-0.044812],[0.024088,-0.197840,0.979938]] 2025-10-27T05:00:07.323Z,1761541207.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.502279 s, deltaX: -0.500000 m, approachRate: -0.995463 m/s, rangeRepo size: 4 2025-10-27T05:00:07.325Z,1761541207.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.253668 m, bearing: 232.703556 deg, lat: 36.779330 deg, lon: -121.859614 deg, deltaT: 1.005641 s, deltaX: -0.596988 m, approachRate: -0.593639 m/s, posRepo size: 4 2025-10-27T05:00:07.326Z,1761541207.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 9.85 m. 2025-10-27T05:00:07.329Z,1761541207.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 8.886447 m, bearing: 235.639658 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 245.710236 deg, new cmd heading: 245.387953 deg. 2025-10-27T05:00:07.330Z,1761541207.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282828 target range: 9.850656 and range: 9.30 m. 2025-10-27T05:00:07.425Z,1761541207.425 [DAT](INFO): DAT read: Bearing 44.5, -20.7 (Local) 2025-10-27T05:00:07.425Z,1761541207.425 [DAT](INFO): Local bearing/azimuth received: Bearing 44.5, -20.7 (Local) 2025-10-27T05:00:07.427Z,1761541207.427 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 2025-10-27T05:00:07.432Z,1761541207.432 [DAT](INFO): DAT read: 05:00:06.0367 LVL= 32752, 32753, 26098, 32755, AGC= 52, IDX= 506,-0.18,-2.910, 2.057,-1.993,-2.752, PHS=-0.055,-1.429, 0.716, RAW= 170.8, 8.2, CAL= 170.5, 8.5, ROT= 339.5, -8.5 2025-10-27T05:00:07.433Z,1761541207.433 [DAT](INFO): got valid direction response: 05:00:06.0367 LVL= 32752, 32753, 26098, 32755, AGC= 52, IDX= 506,-0.18,-2.910, 2.057,-1.993,-2.752, PHS=-0.055,-1.429, 0.716, RAW= 170.8, 8.2, CAL= 170.5, 8.5, ROT= 339.5, -8.5 2025-10-27T05:00:07.433Z,1761541207.433 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:00:07.434Z,1761541207.434 [DAT](INFO): direction in FSK: [0.926384,-0.346361,0.147809] 2025-10-27T05:00:07.435Z,1761541207.435 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:07.438Z,1761541207.438 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.165127 2025-10-27T05:00:07.621Z,1761541207.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344696,0.918072,0.195776],[-0.938406,-0.342352,-0.046796],[0.024062,-0.199848,0.979531]] 2025-10-27T05:00:07.700Z,1761541207.700 [DAT](INFO): DAT read: Rx Time:05:00:06.5364 2025-10-27T05:00:07.702Z,1761541207.702 [DAT](INFO): Rx dataTimestamp_ set to:1761541207.700557 2025-10-27T05:00:07.707Z,1761541207.707 [DAT](INFO): DAT read: Bearing 43.7, -21.0 (Local) 2025-10-27T05:00:07.709Z,1761541207.709 [DAT](INFO): Local bearing/azimuth received: Bearing 43.7, -21.0 (Local) 2025-10-27T05:00:07.718Z,1761541207.718 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.5 2025-10-27T05:00:07.722Z,1761541207.722 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-27T05:00:07.726Z,1761541207.726 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.452099 2025-10-27T05:00:07.793Z,1761541207.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.779499 s, deltaX: -0.700000 m, approachRate: -0.898012 m/s, rangeRepo size: 4 2025-10-27T05:00:07.799Z,1761541207.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.557165 m, bearing: 231.237189 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 1.785140 s, deltaX: -1.293490 m, approachRate: -0.724588 m/s, posRepo size: 4 2025-10-27T05:00:07.800Z,1761541207.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.56 m. 9.85 m. 2025-10-27T05:00:07.806Z,1761541207.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 8.629580 m, bearing: 235.374053 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 245.387960 deg, new cmd heading: 245.092619 deg. 2025-10-27T05:00:07.811Z,1761541207.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277673 target range: 9.850656 and range: 8.60 m. 2025-10-27T05:00:07.952Z,1761541207.952 [DAT](INFO): DAT read: 05:00:06.5364 LVL= 32752, 32753, 25714, 32755, AGC= 52, IDX= 503,-0.09, 2.670, 1.352,-2.675, 2.827, PHS=-0.056,-1.430, 0.737, RAW= 171.2, 7.9, CAL= 170.8, 8.1, ROT= 339.2, -8.1 2025-10-27T05:00:07.953Z,1761541207.953 [DAT](INFO): got valid direction response: 05:00:06.5364 LVL= 32752, 32753, 25714, 32755, AGC= 52, IDX= 503,-0.09, 2.670, 1.352,-2.675, 2.827, PHS=-0.056,-1.430, 0.737, RAW= 171.2, 7.9, CAL= 170.8, 8.1, ROT= 339.2, -8.1 2025-10-27T05:00:07.953Z,1761541207.953 [DAT](INFO): #Rx 100: Read direction message, but no range. 2025-10-27T05:00:07.954Z,1761541207.954 [DAT](INFO): direction in FSK: [0.925500,-0.351564,0.140901] 2025-10-27T05:00:07.962Z,1761541207.962 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.689098 2025-10-27T05:00:08.054Z,1761541208.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347154,0.916871,0.197056],[-0.937503,-0.344650,-0.048000],[0.023906,-0.201404,0.979216]] 2025-10-27T05:00:08.145Z,1761541208.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:00:08.152Z,1761541208.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 8.425472 m, bearing: 235.219475 deg, approach rate: -0.579842 m/s, LOS rate: -0.449773 deg/s, cmd heading: 245.092623 deg, new cmd heading: 244.617667 deg. 2025-10-27T05:00:08.153Z,1761541208.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.269384 target range: 9.850656 and range: 8.60 m. 2025-10-27T05:00:08.205Z,1761541208.205 [DAT](INFO): DAT read: Rx Time:05:00:07.0363 2025-10-27T05:00:08.206Z,1761541208.206 [DAT](INFO): Rx dataTimestamp_ set to:1761541208.205398 2025-10-27T05:00:08.211Z,1761541208.211 [DAT](INFO): DAT read: Bearing 45.0, -22.0 (Local) 2025-10-27T05:00:08.212Z,1761541208.212 [DAT](INFO): Local bearing/azimuth received: Bearing 45.0, -22.0 (Local) 2025-10-27T05:00:08.222Z,1761541208.222 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-27T05:00:08.234Z,1761541208.234 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T05:00:08.244Z,1761541208.244 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.970512 2025-10-27T05:00:08.456Z,1761541208.456 [DAT](INFO): DAT read: 05:00:07.0363 LVL= 32752, 32753, 25314, 32755, AGC= 50, IDX= 502, 0.01,-1.671,-2.972,-0.712,-1.465, PHS=-0.104,-1.462, 0.710, RAW= 171.8, 9.1, CAL= 171.6, 9.8, ROT= 338.4, -9.8 2025-10-27T05:00:08.457Z,1761541208.457 [DAT](INFO): got valid direction response: 05:00:07.0363 LVL= 32752, 32753, 25314, 32755, AGC= 50, IDX= 502, 0.01,-1.671,-2.972,-0.712,-1.465, PHS=-0.104,-1.462, 0.710, RAW= 171.8, 9.1, CAL= 171.6, 9.8, ROT= 338.4, -9.8 2025-10-27T05:00:08.457Z,1761541208.457 [DAT](INFO): #Rx 102: Read direction message, but no range. 2025-10-27T05:00:08.458Z,1761541208.458 [DAT](INFO): direction in FSK: [0.916209,-0.362753,0.170209] 2025-10-27T05:00:08.462Z,1761541208.462 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.188370 2025-10-27T05:00:08.540Z,1761541208.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349679,0.915596,0.198514],[-0.936566,-0.347026,-0.049171],[0.023869,-0.203116,0.978864]] 2025-10-27T05:00:08.606Z,1761541208.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504841 s, deltaX: -0.200001 m, approachRate: -0.396166 m/s, rangeRepo size: 4 2025-10-27T05:00:08.612Z,1761541208.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.358161 m, bearing: 230.122380 deg, lat: 36.779327 deg, lon: -121.859612 deg, deltaT: 2.289981 s, deltaX: -1.492495 m, approachRate: -0.651750 m/s, posRepo size: 4 2025-10-27T05:00:08.613Z,1761541208.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.36 m. 9.85 m. 2025-10-27T05:00:08.620Z,1761541208.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 8.173950 m, bearing: 235.022788 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 244.617679 deg, new cmd heading: 244.328413 deg. 2025-10-27T05:00:08.621Z,1761541208.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264335 target range: 9.850656 and range: 8.40 m. 2025-10-27T05:00:08.710Z,1761541208.710 [DAT](INFO): DAT read: Rx Time:05:00:07.5360 2025-10-27T05:00:08.713Z,1761541208.713 [DAT](INFO): Rx dataTimestamp_ set to:1761541208.711352 2025-10-27T05:00:08.718Z,1761541208.718 [DAT](INFO): DAT read: Bearing 44.7, -22.3 (Local) 2025-10-27T05:00:08.722Z,1761541208.722 [DAT](INFO): Local bearing/azimuth received: Bearing 44.7, -22.3 (Local) 2025-10-27T05:00:08.732Z,1761541208.732 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-27T05:00:08.762Z,1761541208.762 [DAT](INFO): DAT read: 05:00:07.5360 LVL= 32752, 32753, 24098, 32755, AGC= 49, IDX= 499, 0.18,-2.279, 2.700,-1.301,-2.065, PHS=-0.112,-1.473, 0.720, RAW= 172.1, 9.1, CAL= 171.9, 9.8, ROT= 338.1, -9.8 2025-10-27T05:00:08.776Z,1761541208.776 [DAT](INFO): got valid direction response: 05:00:07.5360 LVL= 32752, 32753, 24098, 32755, AGC= 49, IDX= 499, 0.18,-2.279, 2.700,-1.301,-2.065, PHS=-0.112,-1.473, 0.720, RAW= 172.1, 9.1, CAL= 171.9, 9.8, ROT= 338.1, -9.8 2025-10-27T05:00:08.776Z,1761541208.776 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:00:08.777Z,1761541208.777 [DAT](INFO): direction in FSK: [0.914297,-0.367545,0.170209] 2025-10-27T05:00:08.778Z,1761541208.778 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:08.786Z,1761541208.786 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.512966 2025-10-27T05:00:08.956Z,1761541208.956 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.682945 2025-10-27T05:00:08.997Z,1761541208.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352456,0.914101,0.200486],[-0.935527,-0.349602,-0.050680],[0.023764,-0.205423,0.978385]] 2025-10-27T05:00:09.069Z,1761541209.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.505954 s, deltaX: -0.400000 m, approachRate: -0.790585 m/s, rangeRepo size: 4 2025-10-27T05:00:09.075Z,1761541209.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.960166 m, bearing: 229.683495 deg, lat: 36.779327 deg, lon: -121.859609 deg, deltaT: 2.795935 s, deltaX: -1.890489 m, approachRate: -0.676156 m/s, posRepo size: 4 2025-10-27T05:00:09.076Z,1761541209.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.85 m. 2025-10-27T05:00:09.079Z,1761541209.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 7.930039 m, bearing: 234.916514 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 244.328407 deg, new cmd heading: 244.037444 deg. 2025-10-27T05:00:09.084Z,1761541209.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259257 target range: 9.850656 and range: 8.00 m. 2025-10-27T05:00:09.216Z,1761541209.216 [DAT](INFO): DAT read: Rx Time:05:00:08.0359 2025-10-27T05:00:09.218Z,1761541209.218 [DAT](INFO): Rx dataTimestamp_ set to:1761541209.216828 2025-10-27T05:00:09.222Z,1761541209.222 [DAT](INFO): DAT read: Bearing 43.9, -23.1 (Local) 2025-10-27T05:00:09.222Z,1761541209.222 [DAT](INFO): Local bearing/azimuth received: Bearing 43.9, -23.1 (Local) 2025-10-27T05:00:09.233Z,1761541209.233 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-27T05:00:09.258Z,1761541209.258 [DAT](INFO): DAT read: 05:00:08.0359 LVL= 32752, 32753, 25858, 32755, AGC= 48, IDX= 498, 0.45,-2.103, 2.889,-1.085,-1.874, PHS=-0.127,-1.475, 0.745, RAW= 172.9, 8.9, CAL= 172.7, 9.6, ROT= 337.3, -9.6 2025-10-27T05:00:09.263Z,1761541209.263 [DAT](INFO): got valid direction response: 05:00:08.0359 LVL= 32752, 32753, 25858, 32755, AGC= 48, IDX= 498, 0.45,-2.103, 2.889,-1.085,-1.874, PHS=-0.127,-1.475, 0.745, RAW= 172.9, 8.9, CAL= 172.7, 9.6, ROT= 337.3, -9.6 2025-10-27T05:00:09.263Z,1761541209.263 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T05:00:09.264Z,1761541209.264 [DAT](INFO): direction in FSK: [0.909619,-0.380502,0.166769] 2025-10-27T05:00:09.265Z,1761541209.265 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:09.272Z,1761541209.272 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.999264 2025-10-27T05:00:09.401Z,1761541209.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354535,0.912962,0.202002],[-0.934755,-0.351415,-0.052350],[0.023193,-0.207383,0.977985]] 2025-10-27T05:00:09.453Z,1761541209.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.505476 s, deltaX: -0.200000 m, approachRate: -0.395666 m/s, rangeRepo size: 4 2025-10-27T05:00:09.460Z,1761541209.460 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.186844 2025-10-27T05:00:09.461Z,1761541209.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.761163 m, bearing: 228.744267 deg, lat: 36.779327 deg, lon: -121.859607 deg, deltaT: 3.301411 s, deltaX: -2.089493 m, approachRate: -0.632909 m/s, posRepo size: 4 2025-10-27T05:00:09.462Z,1761541209.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.85 m. 2025-10-27T05:00:09.468Z,1761541209.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 7.715862 m, bearing: 234.820791 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 244.037441 deg, new cmd heading: 243.796228 deg. 2025-10-27T05:00:09.469Z,1761541209.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.255047 target range: 9.850656 and range: 7.80 m. 2025-10-27T05:00:09.717Z,1761541209.717 [DAT](INFO): DAT read: Rx Time:05:00:08.5357 2025-10-27T05:00:09.718Z,1761541209.718 [DAT](INFO): Rx dataTimestamp_ set to:1761541209.717260 2025-10-27T05:00:09.722Z,1761541209.722 [DAT](INFO): DAT read: Bearing 42.5, -23.9 (Local) 2025-10-27T05:00:09.741Z,1761541209.741 [DAT](INFO): Local bearing/azimuth received: Bearing 42.5, -23.9 (Local) 2025-10-27T05:00:09.765Z,1761541209.765 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-10-27T05:00:09.807Z,1761541209.807 [DAT](INFO): DAT read: 05:00:08.5357 LVL= 32752, 32753, 25506, 32755, AGC= 49, IDX= 496,-0.18, 1.292, 0.013, 2.362, 1.530, PHS=-0.136,-1.472, 0.787, RAW= 174.0, 8.4, CAL= 173.7, 8.8, ROT= 336.3, -8.8 2025-10-27T05:00:09.809Z,1761541209.809 [DAT](INFO): got valid direction response: 05:00:08.5357 LVL= 32752, 32753, 25506, 32755, AGC= 49, IDX= 496,-0.18, 1.292, 0.013, 2.362, 1.530, PHS=-0.136,-1.472, 0.787, RAW= 174.0, 8.4, CAL= 173.7, 8.8, ROT= 336.3, -8.8 2025-10-27T05:00:09.809Z,1761541209.809 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:00:09.810Z,1761541209.810 [DAT](INFO): direction in FSK: [0.904884,-0.397216,0.152986] 2025-10-27T05:00:09.810Z,1761541209.810 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:09.834Z,1761541209.834 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.560776 2025-10-27T05:00:09.844Z,1761541209.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356743,0.911604,0.204235],[-0.933920,-0.353382,-0.053983],[0.022962,-0.209997,0.977432]] 2025-10-27T05:00:09.944Z,1761541209.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.500432 s, deltaX: -0.300000 m, approachRate: -0.599482 m/s, rangeRepo size: 4 2025-10-27T05:00:09.946Z,1761541209.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.462656 m, bearing: 227.484906 deg, lat: 36.779327 deg, lon: -121.859607 deg, deltaT: 3.801843 s, deltaX: -2.388000 m, approachRate: -0.628116 m/s, posRepo size: 4 2025-10-27T05:00:09.951Z,1761541209.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.46 m. 9.85 m. 2025-10-27T05:00:09.954Z,1761541209.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 7.463575 m, bearing: 234.787351 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 243.796226 deg, new cmd heading: 243.490517 deg. 2025-10-27T05:00:09.955Z,1761541209.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249711 target range: 9.850656 and range: 7.50 m. 2025-10-27T05:00:09.964Z,1761541209.964 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.691044 2025-10-27T05:00:10.224Z,1761541210.224 [DAT](INFO): DAT read: Rx Time:05:00:09.0356 2025-10-27T05:00:10.224Z,1761541210.224 [DAT](INFO): Rx dataTimestamp_ set to:1761541210.224212 2025-10-27T05:00:10.226Z,1761541210.226 [DAT](INFO): DAT read: Bearing 46.2, -23.3 (Local) 2025-10-27T05:00:10.228Z,1761541210.228 [DAT](INFO): Local bearing/azimuth received: Bearing 46.2, -23.3 (Local) 2025-10-27T05:00:10.230Z,1761541210.230 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T05:00:10.237Z,1761541210.237 [DAT](INFO): DAT read: 05:00:09.0356 LVL= 32752, 32753, 28274, 32755, AGC= 50, IDX= 511, 0.05,-1.327,-2.610,-0.338,-1.048, PHS=-0.177,-1.516, 0.666, RAW= 172.5, 10.8, CAL= 172.5, 12.5, ROT= 337.5, -12.5 2025-10-27T05:00:10.239Z,1761541210.239 [DAT](INFO): got valid direction response: 05:00:09.0356 LVL= 32752, 32753, 28274, 32755, AGC= 50, IDX= 511, 0.05,-1.327,-2.610,-0.338,-1.048, PHS=-0.177,-1.516, 0.666, RAW= 172.5, 10.8, CAL= 172.5, 12.5, ROT= 337.5, -12.5 2025-10-27T05:00:10.239Z,1761541210.239 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:00:10.240Z,1761541210.240 [DAT](INFO): direction in FSK: [0.901980,-0.373612,0.216440] 2025-10-27T05:00:10.240Z,1761541210.240 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:10.244Z,1761541210.244 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.971249 2025-10-27T05:00:10.295Z,1761541210.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359177,0.909984,0.207174],[-0.932989,-0.355551,-0.055813],[0.022872,-0.213338,0.976711]] 2025-10-27T05:00:10.374Z,1761541210.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.506952 s, deltaX: -0.100000 m, approachRate: -0.197257 m/s, rangeRepo size: 4 2025-10-27T05:00:10.380Z,1761541210.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.363153 m, bearing: 229.339166 deg, lat: 36.779327 deg, lon: -121.859607 deg, deltaT: 4.308795 s, deltaX: -2.487502 m, approachRate: -0.577308 m/s, posRepo size: 4 2025-10-27T05:00:10.381Z,1761541210.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.85 m. 2025-10-27T05:00:10.388Z,1761541210.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 7.246667 m, bearing: 234.760497 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 243.490507 deg, new cmd heading: 243.217860 deg. 2025-10-27T05:00:10.389Z,1761541210.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244953 target range: 9.850656 and range: 7.40 m. 2025-10-27T05:00:10.468Z,1761541210.468 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.194962 2025-10-27T05:00:10.725Z,1761541210.725 [DAT](INFO): DAT read: Rx Time:05:00:09.5353 2025-10-27T05:00:10.727Z,1761541210.727 [DAT](INFO): Rx dataTimestamp_ set to:1761541210.725748 2025-10-27T05:00:10.731Z,1761541210.731 [DAT](INFO): DAT read: Bearing 44.8, -23.4 (Local) 2025-10-27T05:00:10.732Z,1761541210.732 [DAT](INFO): Local bearing/azimuth received: Bearing 44.8, -23.4 (Local) 2025-10-27T05:00:10.745Z,1761541210.745 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 2025-10-27T05:00:10.804Z,1761541210.804 [DAT](INFO): DAT read: 05:00:09.5353 LVL= 32752, 32753, 29826, 32755, AGC= 50, IDX= 509,-0.48, 2.049, 0.772, 3.055, 2.316, PHS=-0.165,-1.500, 0.695, RAW= 172.9, 10.2, CAL= 172.8, 11.5, ROT= 337.2, -11.5 2025-10-27T05:00:10.805Z,1761541210.805 [DAT](INFO): got valid direction response: 05:00:09.5353 LVL= 32752, 32753, 29826, 32755, AGC= 50, IDX= 509,-0.48, 2.049, 0.772, 3.055, 2.316, PHS=-0.165,-1.500, 0.695, RAW= 172.9, 10.2, CAL= 172.8, 11.5, ROT= 337.2, -11.5 2025-10-27T05:00:10.806Z,1761541210.806 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:00:10.838Z,1761541210.838 [DAT](INFO): direction in FSK: [0.903357,-0.379736,0.199368] 2025-10-27T05:00:10.839Z,1761541210.839 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:10.842Z,1761541210.842 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.569313 2025-10-27T05:00:10.947Z,1761541210.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.501536 s, deltaX: -0.500000 m, approachRate: -0.996937 m/s, rangeRepo size: 4 2025-10-27T05:00:10.949Z,1761541210.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.865639 m, bearing: 228.829973 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 4.810331 s, deltaX: -2.985016 m, approachRate: -0.620543 m/s, posRepo size: 4 2025-10-27T05:00:10.950Z,1761541210.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.87 m. 9.85 m. 2025-10-27T05:00:10.957Z,1761541210.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 6.950575 m, bearing: 234.685510 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 243.217873 deg, new cmd heading: 242.862860 deg. 2025-10-27T05:00:10.958Z,1761541210.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238757 target range: 9.850656 and range: 6.90 m. 2025-10-27T05:00:10.972Z,1761541210.972 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.698837 2025-10-27T05:00:11.225Z,1761541211.225 [DAT](INFO): DAT read: Rx Time:05:00:10.0352 2025-10-27T05:00:11.225Z,1761541211.225 [DAT](INFO): Rx dataTimestamp_ set to:1761541211.225025 2025-10-27T05:00:11.227Z,1761541211.227 [DAT](INFO): DAT read: Bearing 43.8, -23.5 (Local) 2025-10-27T05:00:11.227Z,1761541211.227 [DAT](INFO): Local bearing/azimuth received: Bearing 43.8, -23.5 (Local) 2025-10-27T05:00:11.229Z,1761541211.229 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 2025-10-27T05:00:11.244Z,1761541211.244 [DAT](INFO): DAT read: 05:00:10.0352 LVL= 32752, 32753, 28274, 32755, AGC= 50, IDX= 507,-0.03, 1.858, 0.584, 2.878, 2.120, PHS=-0.161,-1.491, 0.714, RAW= 173.2, 9.8, CAL= 173.1, 10.9, ROT= 336.9, -10.9 2025-10-27T05:00:11.245Z,1761541211.245 [DAT](INFO): got valid direction response: 05:00:10.0352 LVL= 32752, 32753, 28274, 32755, AGC= 50, IDX= 507,-0.03, 1.858, 0.584, 2.878, 2.120, PHS=-0.161,-1.491, 0.714, RAW= 173.2, 9.8, CAL= 173.1, 10.9, ROT= 336.9, -10.9 2025-10-27T05:00:11.245Z,1761541211.245 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:00:11.246Z,1761541211.246 [DAT](INFO): direction in FSK: [0.903227,-0.385259,0.189095] 2025-10-27T05:00:11.247Z,1761541211.247 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:11.258Z,1761541211.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368028,0.905923,0.209426],[-0.929540,-0.363939,-0.059189],[0.022597,-0.216453,0.976031]] 2025-10-27T05:00:11.265Z,1761541211.265 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.992069 2025-10-27T05:00:11.340Z,1761541211.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.499277 s, deltaX: -0.100000 m, approachRate: -0.200289 m/s, rangeRepo size: 4 2025-10-27T05:00:11.342Z,1761541211.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.766138 m, bearing: 227.909769 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 5.309608 s, deltaX: -3.084518 m, approachRate: -0.580931 m/s, posRepo size: 4 2025-10-27T05:00:11.348Z,1761541211.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.77 m. 9.85 m. 2025-10-27T05:00:11.350Z,1761541211.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 6.753591 m, bearing: 234.647421 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 242.862867 deg, new cmd heading: 242.610839 deg. 2025-10-27T05:00:11.355Z,1761541211.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234358 target range: 9.850656 and range: 6.80 m. 2025-10-27T05:00:11.476Z,1761541211.476 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.202812 2025-10-27T05:00:11.654Z,1761541211.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371857,0.904205,0.210086],[-0.928007,-0.367689,-0.060072],[0.022929,-0.217299,0.975836]] 2025-10-27T05:00:11.729Z,1761541211.729 [DAT](INFO): DAT read: Rx Time:05:00:10.5348 2025-10-27T05:00:11.730Z,1761541211.730 [DAT](INFO): Rx dataTimestamp_ set to:1761541211.729948 2025-10-27T05:00:11.733Z,1761541211.733 [DAT](INFO): DAT read: Bearing 46.2, -23.4 (Local) 2025-10-27T05:00:11.733Z,1761541211.733 [DAT](INFO): Local bearing/azimuth received: Bearing 46.2, -23.4 (Local) 2025-10-27T05:00:11.736Z,1761541211.736 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T05:00:11.744Z,1761541211.744 [DAT](INFO): DAT read: 05:00:10.5348 LVL= 32752, 32753, 31138, 32755, AGC= 50, IDX= 504, 0.32, 2.227, 0.958,-3.075, 2.525, PHS=-0.196,-1.522, 0.639, RAW= 172.5, 11.4, CAL= 172.6, 13.4, ROT= 337.4, -13.4 2025-10-27T05:00:11.745Z,1761541211.745 [DAT](INFO): got valid direction response: 05:00:10.5348 LVL= 32752, 32753, 31138, 32755, AGC= 50, IDX= 504, 0.32, 2.227, 0.958,-3.075, 2.525, PHS=-0.196,-1.522, 0.639, RAW= 172.5, 11.4, CAL= 172.6, 13.4, ROT= 337.4, -13.4 2025-10-27T05:00:11.746Z,1761541211.746 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:00:11.751Z,1761541211.751 [DAT](INFO): direction in FSK: [0.898077,-0.373833,0.231748] 2025-10-27T05:00:11.752Z,1761541211.752 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:11.810Z,1761541211.810 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.536526 2025-10-27T05:00:11.838Z,1761541211.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504923 s, deltaX: -0.600000 m, approachRate: -1.188301 m/s, rangeRepo size: 4 2025-10-27T05:00:11.848Z,1761541211.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.169149 m, bearing: 228.716448 deg, lat: 36.779328 deg, lon: -121.859606 deg, deltaT: 5.814531 s, deltaX: -3.681507 m, approachRate: -0.633156 m/s, posRepo size: 4 2025-10-27T05:00:11.849Z,1761541211.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.85 m. 2025-10-27T05:00:11.860Z,1761541211.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 6.552144 m, bearing: 234.613260 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 242.610833 deg, new cmd heading: 242.298172 deg. 2025-10-27T05:00:11.861Z,1761541211.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228901 target range: 9.850656 and range: 6.20 m. 2025-10-27T05:00:11.980Z,1761541211.980 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.706825 2025-10-27T05:00:12.156Z,1761541212.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376220,0.902384,0.210146],[-0.926238,-0.372001,-0.060820],[0.023292,-0.217527,0.975776]] 2025-10-27T05:00:12.232Z,1761541212.232 [DAT](INFO): DAT read: Rx Time:05:00:11.0348 2025-10-27T05:00:12.233Z,1761541212.233 [DAT](INFO): Rx dataTimestamp_ set to:1761541212.232533 2025-10-27T05:00:12.234Z,1761541212.234 [DAT](INFO): DAT read: Bearing 45.0, -23.4 (Local) 2025-10-27T05:00:12.234Z,1761541212.234 [DAT](INFO): Local bearing/azimuth received: Bearing 45.0, -23.4 (Local) 2025-10-27T05:00:12.236Z,1761541212.236 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T05:00:12.237Z,1761541212.237 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-27T05:00:12.238Z,1761541212.238 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.964451 2025-10-27T05:00:12.312Z,1761541212.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:12.314Z,1761541212.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502585 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:12.320Z,1761541212.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:00:12.322Z,1761541212.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 6.220159 m, bearing: 234.463700 deg, approach rate: -0.697358 m/s, LOS rate: -0.330929 deg/s, cmd heading: 242.298174 deg, new cmd heading: 241.825558 deg. 2025-10-27T05:00:12.327Z,1761541212.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220652 target range: 9.850656 and range: 6.20 m. 2025-10-27T05:00:12.488Z,1761541212.488 [DAT](INFO): DAT read: 05:00:11.0348 LVL= 32752, 32753, 32098, 32755, AGC= 50, IDX= 504,-0.14, 2.198, 0.937,-3.099, 2.485, PHS=-0.185,-1.503, 0.655, RAW= 172.7, 11.0, CAL= 172.7, 12.8, ROT= 337.3, -12.8 2025-10-27T05:00:12.489Z,1761541212.489 [DAT](INFO): got valid direction response: 05:00:11.0348 LVL= 32752, 32753, 32098, 32755, AGC= 50, IDX= 504,-0.14, 2.198, 0.937,-3.099, 2.485, PHS=-0.185,-1.503, 0.655, RAW= 172.7, 11.0, CAL= 172.7, 12.8, ROT= 337.3, -12.8 2025-10-27T05:00:12.489Z,1761541212.489 [DAT](INFO): #Rx 111: Read direction message, but no range. 2025-10-27T05:00:12.490Z,1761541212.490 [DAT](INFO): direction in FSK: [0.899612,-0.376316,0.221548] 2025-10-27T05:00:12.493Z,1761541212.493 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.220333 2025-10-27T05:00:12.631Z,1761541212.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380514,0.900603,0.210055],[-0.924479,-0.376196,-0.061763],[0.023397,-0.217693,0.975737]] 2025-10-27T05:00:12.650Z,1761541212.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:00:12.654Z,1761541212.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 6.029111 m, bearing: 234.378589 deg, approach rate: -0.568158 m/s, LOS rate: -0.261132 deg/s, cmd heading: 241.825552 deg, new cmd heading: 241.562131 deg. 2025-10-27T05:00:12.655Z,1761541212.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216054 target range: 9.850656 and range: 6.20 m. 2025-10-27T05:00:12.737Z,1761541212.737 [DAT](INFO): DAT read: Rx Time:05:00:11.5345 2025-10-27T05:00:12.740Z,1761541212.740 [DAT](INFO): Rx dataTimestamp_ set to:1761541212.737982 2025-10-27T05:00:12.743Z,1761541212.743 [DAT](INFO): DAT read: Bearing 44.2, -23.6 (Local) 2025-10-27T05:00:12.743Z,1761541212.743 [DAT](INFO): Local bearing/azimuth received: Bearing 44.2, -23.6 (Local) 2025-10-27T05:00:12.745Z,1761541212.745 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-27T05:00:12.750Z,1761541212.750 [DAT](INFO): DAT read: 05:00:11.5345 LVL= 32752, 32753, 26610, 32755, AGC= 49, IDX= 501, 0.23, 2.623, 1.352,-2.646, 2.914, PHS=-0.189,-1.517, 0.680, RAW= 173.1, 10.7, CAL= 173.1, 12.4, ROT= 336.9, -12.4 2025-10-27T05:00:12.751Z,1761541212.751 [DAT](INFO): got valid direction response: 05:00:11.5345 LVL= 32752, 32753, 26610, 32755, AGC= 49, IDX= 501, 0.23, 2.623, 1.352,-2.646, 2.914, PHS=-0.189,-1.517, 0.680, RAW= 173.1, 10.7, CAL= 173.1, 12.4, ROT= 336.9, -12.4 2025-10-27T05:00:12.751Z,1761541212.751 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:00:12.754Z,1761541212.754 [DAT](INFO): direction in FSK: [0.898364,-0.383185,0.214735] 2025-10-27T05:00:12.762Z,1761541212.762 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:12.821Z,1761541212.821 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.547787 2025-10-27T05:00:12.988Z,1761541212.988 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.714905 2025-10-27T05:00:13.112Z,1761541213.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.505449 s, deltaX: -0.300000 m, approachRate: -0.593531 m/s, rangeRepo size: 4 2025-10-27T05:00:13.114Z,1761541213.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.870624 m, bearing: 227.467104 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 6.822565 s, deltaX: -3.980032 m, approachRate: -0.583363 m/s, posRepo size: 4 2025-10-27T05:00:13.115Z,1761541213.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.85 m. 2025-10-27T05:00:13.118Z,1761541213.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 5.764901 m, bearing: 234.164696 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 241.562126 deg, new cmd heading: 241.272524 deg. 2025-10-27T05:00:13.118Z,1761541213.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211000 target range: 9.850656 and range: 5.90 m. 2025-10-27T05:00:13.242Z,1761541213.242 [DAT](INFO): DAT read: Rx Time:05:00:12.0344 2025-10-27T05:00:13.242Z,1761541213.242 [DAT](INFO): Rx dataTimestamp_ set to:1761541213.241795 2025-10-27T05:00:13.243Z,1761541213.243 [DAT](INFO): DAT read: Bearing 42.3, -24.3 (Local) 2025-10-27T05:00:13.244Z,1761541213.244 [DAT](INFO): Local bearing/azimuth received: Bearing 42.3, -24.3 (Local) 2025-10-27T05:00:13.247Z,1761541213.247 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.4 2025-10-27T05:00:13.252Z,1761541213.252 [DAT](INFO): DAT read: 05:00:12.0344 LVL= 32752, 32753, 25954, 32755, AGC= 50, IDX= 501,-0.25, 1.746, 0.486, 2.811, 2.036, PHS=-0.188,-1.505, 0.731, RAW= 174.1, 9.9, CAL= 174.0, 11.2, ROT= 336.0, -11.2 2025-10-27T05:00:13.253Z,1761541213.253 [DAT](INFO): got valid direction response: 05:00:12.0344 LVL= 32752, 32753, 25954, 32755, AGC= 50, IDX= 501,-0.25, 1.746, 0.486, 2.811, 2.036, PHS=-0.188,-1.505, 0.731, RAW= 174.1, 9.9, CAL= 174.0, 11.2, ROT= 336.0, -11.2 2025-10-27T05:00:13.253Z,1761541213.253 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:00:13.254Z,1761541213.254 [DAT](INFO): direction in FSK: [0.896147,-0.398990,0.194234] 2025-10-27T05:00:13.255Z,1761541213.255 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:13.258Z,1761541213.258 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.985134 2025-10-27T05:00:13.441Z,1761541213.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391833,0.895640,0.210467],[-0.919710,-0.387400,-0.063675],[0.024505,-0.218519,0.975525]] 2025-10-27T05:00:13.472Z,1761541213.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503813 s, deltaX: -0.200000 m, approachRate: -0.396973 m/s, rangeRepo size: 4 2025-10-27T05:00:13.474Z,1761541213.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.671619 m, bearing: 225.610574 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 7.326378 s, deltaX: -4.179037 m, approachRate: -0.570410 m/s, posRepo size: 4 2025-10-27T05:00:13.476Z,1761541213.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.85 m. 2025-10-27T05:00:13.478Z,1761541213.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 5.556499 m, bearing: 234.008114 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 241.272526 deg, new cmd heading: 241.046012 deg. 2025-10-27T05:00:13.479Z,1761541213.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207047 target range: 9.850656 and range: 5.70 m. 2025-10-27T05:00:13.492Z,1761541213.492 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.218887 2025-10-27T05:00:13.745Z,1761541213.745 [DAT](INFO): DAT read: Rx Time:05:00:12.5342 2025-10-27T05:00:13.745Z,1761541213.745 [DAT](INFO): Rx dataTimestamp_ set to:1761541213.744780 2025-10-27T05:00:13.746Z,1761541213.746 [DAT](INFO): DAT read: Bearing 43.8, -24.4 (Local) 2025-10-27T05:00:13.747Z,1761541213.747 [DAT](INFO): Local bearing/azimuth received: Bearing 43.8, -24.4 (Local) 2025-10-27T05:00:13.749Z,1761541213.749 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-27T05:00:13.753Z,1761541213.753 [DAT](INFO): DAT read: 05:00:12.5342 LVL= 32752, 32753, 25730, 32755, AGC= 50, IDX= 498, 0.05, 2.974, 1.713,-2.256,-2.987, PHS=-0.220,-1.538, 0.688, RAW= 173.9, 11.0, CAL= 173.9, 12.9, ROT= 336.1, -12.9 2025-10-27T05:00:13.754Z,1761541213.754 [DAT](INFO): got valid direction response: 05:00:12.5342 LVL= 32752, 32753, 25730, 32755, AGC= 50, IDX= 498, 0.05, 2.974, 1.713,-2.256,-2.987, PHS=-0.220,-1.538, 0.688, RAW= 173.9, 11.0, CAL= 173.9, 12.9, ROT= 336.1, -12.9 2025-10-27T05:00:13.755Z,1761541213.755 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:00:13.756Z,1761541213.756 [DAT](INFO): direction in FSK: [0.891179,-0.394916,0.223250] 2025-10-27T05:00:13.756Z,1761541213.756 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:13.760Z,1761541213.760 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.486721 2025-10-27T05:00:13.858Z,1761541213.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398014,0.892879,0.210599],[-0.917030,-0.393571,-0.064479],[0.025313,-0.218789,0.975444]] 2025-10-27T05:00:13.966Z,1761541213.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.502985 s, deltaX: -0.300000 m, approachRate: -0.596439 m/s, rangeRepo size: 4 2025-10-27T05:00:13.973Z,1761541213.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.373089 m, bearing: 225.681943 deg, lat: 36.779328 deg, lon: -121.859607 deg, deltaT: 7.829363 s, deltaX: -4.477567 m, approachRate: -0.571894 m/s, posRepo size: 4 2025-10-27T05:00:13.974Z,1761541213.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.85 m. 2025-10-27T05:00:13.981Z,1761541213.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 5.260949 m, bearing: 233.614106 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 241.046009 deg, new cmd heading: 240.735738 deg. 2025-10-27T05:00:13.982Z,1761541213.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201631 target range: 9.850656 and range: 5.40 m. 2025-10-27T05:00:13.996Z,1761541213.996 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.722843 2025-10-27T05:00:14.248Z,1761541214.248 [DAT](INFO): DAT read: Rx Time:05:00:13.0341 2025-10-27T05:00:14.249Z,1761541214.249 [DAT](INFO): Rx dataTimestamp_ set to:1761541214.248686 2025-10-27T05:00:14.250Z,1761541214.250 [DAT](INFO): DAT read: Bearing 41.7, -25.9 (Local) 2025-10-27T05:00:14.251Z,1761541214.251 [DAT](INFO): Local bearing/azimuth received: Bearing 41.7, -25.9 (Local) 2025-10-27T05:00:14.253Z,1761541214.253 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 2025-10-27T05:00:14.265Z,1761541214.265 [DAT](INFO): DAT read: 05:00:13.0341 LVL= 32752, 32753, 25746, 32755, AGC= 50, IDX= 497, 0.42,-2.165, 2.868,-1.011,-1.821, PHS=-0.242,-1.549, 0.766, RAW= 175.7, 10.2, CAL= 175.6, 11.7, ROT= 334.4, -11.7 2025-10-27T05:00:14.266Z,1761541214.266 [DAT](INFO): got valid direction response: 05:00:13.0341 LVL= 32752, 32753, 25746, 32755, AGC= 50, IDX= 497, 0.42,-2.165, 2.868,-1.011,-1.821, PHS=-0.242,-1.549, 0.766, RAW= 175.7, 10.2, CAL= 175.6, 11.7, ROT= 334.4, -11.7 2025-10-27T05:00:14.271Z,1761541214.271 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:00:14.272Z,1761541214.272 [DAT](INFO): direction in FSK: [0.883095,-0.423108,0.202787] 2025-10-27T05:00:14.272Z,1761541214.272 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:14.291Z,1761541214.291 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.018017 2025-10-27T05:00:14.341Z,1761541214.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.503906 s, deltaX: -0.100000 m, approachRate: -0.198450 m/s, rangeRepo size: 4 2025-10-27T05:00:14.352Z,1761541214.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.273587 m, bearing: 223.712415 deg, lat: 36.779328 deg, lon: -121.859608 deg, deltaT: 8.333269 s, deltaX: -4.577068 m, approachRate: -0.549252 m/s, posRepo size: 4 2025-10-27T05:00:14.353Z,1761541214.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.85 m. 2025-10-27T05:00:14.359Z,1761541214.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 5.038334 m, bearing: 233.286542 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 240.735727 deg, new cmd heading: 240.500202 deg. 2025-10-27T05:00:14.360Z,1761541214.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197520 target range: 9.850656 and range: 5.30 m. 2025-10-27T05:00:14.500Z,1761541214.500 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.227058 2025-10-27T05:00:14.658Z,1761541214.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411353,0.886815,0.210590],[-0.911072,-0.406927,-0.066022],[0.027145,-0.219021,0.975342]] 2025-10-27T05:00:14.732Z,1761541214.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:14.739Z,1761541214.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:00:14.742Z,1761541214.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 4.802172 m, bearing: 232.947441 deg, approach rate: -0.599158 m/s, LOS rate: -0.902625 deg/s, cmd heading: 240.500195 deg, new cmd heading: 239.432991 deg. 2025-10-27T05:00:14.753Z,1761541214.753 [DAT](INFO): DAT read: Rx Time:05:00:13.5338 2025-10-27T05:00:14.753Z,1761541214.753 [DAT](INFO): Rx dataTimestamp_ set to:1761541214.752795 2025-10-27T05:00:14.754Z,1761541214.754 [DAT](INFO): DAT read: Bearing 40.9, -27.2 (Local) 2025-10-27T05:00:14.755Z,1761541214.755 [DAT](INFO): Local bearing/azimuth received: Bearing 40.9, -27.2 (Local) 2025-10-27T05:00:14.757Z,1761541214.757 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.5 2025-10-27T05:00:14.761Z,1761541214.761 [DAT](INFO): DAT read: 05:00:13.5338 LVL= 32752, 32753, 29106, 32755, AGC= 48, IDX= 511,-0.17, 1.167,-0.083, 2.411, 1.549, PHS=-0.280,-1.587, 0.818, RAW= 177.1, 10.1, CAL= 177.0, 11.6, ROT= 333.0, -11.6 2025-10-27T05:00:14.763Z,1761541214.763 [DAT](INFO): got valid direction response: 05:00:13.5338 LVL= 32752, 32753, 29106, 32755, AGC= 48, IDX= 511,-0.17, 1.167,-0.083, 2.411, 1.549, PHS=-0.280,-1.587, 0.818, RAW= 177.1, 10.1, CAL= 177.0, 11.6, ROT= 333.0, -11.6 2025-10-27T05:00:14.763Z,1761541214.763 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:00:14.764Z,1761541214.764 [DAT](INFO): direction in FSK: [0.872808,-0.444718,0.201078] 2025-10-27T05:00:14.764Z,1761541214.764 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:14.768Z,1761541214.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178894 target range: 9.850656 and range: 5.30 m. 2025-10-27T05:00:14.785Z,1761541214.785 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.511009 2025-10-27T05:00:15.004Z,1761541215.004 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.730778 2025-10-27T05:00:15.237Z,1761541215.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425158,0.880403,0.210075],[-0.904671,-0.420648,-0.068015],[0.028487,-0.218966,0.975317]] 2025-10-27T05:00:15.257Z,1761541215.257 [DAT](INFO): DAT read: Rx Time:05:00:14.0336 2025-10-27T05:00:15.257Z,1761541215.257 [DAT](INFO): Rx dataTimestamp_ set to:1761541215.256785 2025-10-27T05:00:15.258Z,1761541215.258 [DAT](INFO): DAT read: Bearing 38.9, -28.5 (Local) 2025-10-27T05:00:15.259Z,1761541215.259 [DAT](INFO): Local bearing/azimuth received: Bearing 38.9, -28.5 (Local) 2025-10-27T05:00:15.261Z,1761541215.261 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 2025-10-27T05:00:15.266Z,1761541215.266 [DAT](INFO): DAT read: 05:00:14.0336 LVL= 32752, 32753, 26162, 32755, AGC= 48, IDX= 509, 0.11, 2.701, 1.483,-2.254, 3.103, PHS=-0.300,-1.575, 0.882, RAW= 178.7, 9.4, CAL= 178.6, 10.5, ROT= 331.4, -10.5 2025-10-27T05:00:15.268Z,1761541215.268 [DAT](INFO): got valid direction response: 05:00:14.0336 LVL= 32752, 32753, 26162, 32755, AGC= 48, IDX= 509, 0.11, 2.701, 1.483,-2.254, 3.103, PHS=-0.300,-1.575, 0.882, RAW= 178.7, 9.4, CAL= 178.6, 10.5, ROT= 331.4, -10.5 2025-10-27T05:00:15.268Z,1761541215.268 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:00:15.269Z,1761541215.269 [DAT](INFO): direction in FSK: [0.863281,-0.470676,0.182236] 2025-10-27T05:00:15.269Z,1761541215.269 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:15.273Z,1761541215.273 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.999901 2025-10-27T05:00:15.347Z,1761541215.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 1.008099 s, deltaX: -0.800000 m, approachRate: -0.793573 m/s, rangeRepo size: 4 2025-10-27T05:00:15.349Z,1761541215.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.477574 m, bearing: 218.701377 deg, lat: 36.779327 deg, lon: -121.859608 deg, deltaT: 9.341368 s, deltaX: -5.373082 m, approachRate: -0.575192 m/s, posRepo size: 4 2025-10-27T05:00:15.350Z,1761541215.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.85 m. 2025-10-27T05:00:15.365Z,1761541215.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 4.421535 m, bearing: 232.268785 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 239.432992 deg, new cmd heading: 239.054177 deg. 2025-10-27T05:00:15.366Z,1761541215.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172283 target range: 9.850656 and range: 4.50 m. 2025-10-27T05:00:15.508Z,1761541215.508 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.234997 2025-10-27T05:00:15.729Z,1761541215.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432132,0.876755,0.211099],[-0.901332,-0.427523,-0.069456],[0.029354,-0.220285,0.974994]] 2025-10-27T05:00:15.753Z,1761541215.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:00:15.756Z,1761541215.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 4.160280 m, bearing: 231.758585 deg, approach rate: -0.630354 m/s, LOS rate: -1.308294 deg/s, cmd heading: 239.054189 deg, new cmd heading: 237.427932 deg. 2025-10-27T05:00:15.757Z,1761541215.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143899 target range: 9.850656 and range: 4.50 m. 2025-10-27T05:00:15.761Z,1761541215.761 [DAT](INFO): DAT read: Rx Time:05:00:14.5334 2025-10-27T05:00:15.761Z,1761541215.761 [DAT](INFO): Rx dataTimestamp_ set to:1761541215.760819 2025-10-27T05:00:15.762Z,1761541215.762 [DAT](INFO): DAT read: Bearing 37.1, -30.0 (Local) 2025-10-27T05:00:15.763Z,1761541215.763 [DAT](INFO): Local bearing/azimuth received: Bearing 37.1, -30.0 (Local) 2025-10-27T05:00:15.765Z,1761541215.765 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 2025-10-27T05:00:15.769Z,1761541215.769 [DAT](INFO): DAT read: 05:00:14.5334 LVL= 31088, 29153, 21698, 32755, AGC= 48, IDX= 506, 0.46, 0.966,-0.230, 2.405, 1.402, PHS=-0.334,-1.587, 0.959, RAW= 180.5, 8.8, CAL= 180.3, 9.6, ROT= 329.7, -9.6 2025-10-27T05:00:15.771Z,1761541215.771 [DAT](INFO): got valid direction response: 05:00:14.5334 LVL= 31088, 29153, 21698, 32755, AGC= 48, IDX= 506, 0.46, 0.966,-0.230, 2.405, 1.402, PHS=-0.334,-1.587, 0.959, RAW= 180.5, 8.8, CAL= 180.3, 9.6, ROT= 329.7, -9.6 2025-10-27T05:00:15.772Z,1761541215.772 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:00:15.773Z,1761541215.773 [DAT](INFO): direction in FSK: [0.851305,-0.497462,0.166769] 2025-10-27T05:00:15.773Z,1761541215.773 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:15.782Z,1761541215.782 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.509144 2025-10-27T05:00:16.012Z,1761541216.012 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.738949 2025-10-27T05:00:16.093Z,1761541216.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439190,0.873123,0.211587],[-0.897885,-0.434524,-0.070652],[0.030252,-0.221010,0.974802]] 2025-10-27T05:00:16.149Z,1761541216.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504034 s, deltaX: -0.300000 m, approachRate: -0.595198 m/s, rangeRepo size: 4 2025-10-27T05:00:16.152Z,1761541216.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.179065 m, bearing: 215.923293 deg, lat: 36.779326 deg, lon: -121.859607 deg, deltaT: 9.845402 s, deltaX: -5.671591 m, approachRate: -0.576065 m/s, posRepo size: 4 2025-10-27T05:00:16.153Z,1761541216.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.85 m. 2025-10-27T05:00:16.160Z,1761541216.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 3.921026 m, bearing: 231.242610 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 237.427921 deg, new cmd heading: 237.179038 deg. 2025-10-27T05:00:16.165Z,1761541216.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139555 target range: 9.850656 and range: 4.20 m. 2025-10-27T05:00:16.264Z,1761541216.264 [DAT](INFO): DAT read: Rx Time:05:00:15.0333 2025-10-27T05:00:16.265Z,1761541216.265 [DAT](INFO): Rx dataTimestamp_ set to:1761541216.264358 2025-10-27T05:00:16.266Z,1761541216.266 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4 2025-10-27T05:00:16.266Z,1761541216.266 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-27T05:00:16.268Z,1761541216.268 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.994392 2025-10-27T05:00:16.500Z,1761541216.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445971,0.869784,0.211153],[-0.894524,-0.441199,-0.071909],[0.030615,-0.220951,0.974804]] 2025-10-27T05:00:16.518Z,1761541216.518 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.244034 2025-10-27T05:00:16.541Z,1761541216.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503539 s, deltaX: -0.100000 m, approachRate: -0.198594 m/s, rangeRepo size: 4 2025-10-27T05:00:16.542Z,1761541216.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:00:16.565Z,1761541216.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 3.684655 m, bearing: 230.694755 deg, approach rate: -0.605955 m/s, LOS rate: -1.494543 deg/s, cmd heading: 237.179029 deg, new cmd heading: 235.430598 deg. 2025-10-27T05:00:16.566Z,1761541216.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109039 target range: 9.850656 and range: 4.10 m. 2025-10-27T05:00:16.669Z,1761541216.669 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:00:16.768Z,1761541216.768 [DAT](INFO): DAT read: Rx Time:05:00:15.5332 2025-10-27T05:00:16.769Z,1761541216.769 [DAT](INFO): Rx dataTimestamp_ set to:1761541216.768685 2025-10-27T05:00:16.770Z,1761541216.770 [DAT](INFO): DAT read: Bearing 45.4, -33.2 (Local) 2025-10-27T05:00:16.771Z,1761541216.771 [DAT](INFO): Local bearing/azimuth received: Bearing 45.4, -33.2 (Local) 2025-10-27T05:00:16.773Z,1761541216.773 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-27T05:00:16.777Z,1761541216.777 [DAT](INFO): DAT read: 05:00:15.5332 LVL= 24400, 21793, 19426, 31667, AGC= 47, IDX= 503, 0.25,-0.041,-1.134, 1.453, 0.632, PHS=-0.571,-1.721, 0.777, RAW= 182.6, 13.9, CAL= 182.6, 17.9, ROT= 327.4, -17.9 2025-10-27T05:00:16.778Z,1761541216.778 [DAT](INFO): got valid direction response: 05:00:15.5332 LVL= 24400, 21793, 19426, 31667, AGC= 47, IDX= 503, 0.25,-0.041,-1.134, 1.453, 0.632, PHS=-0.571,-1.721, 0.777, RAW= 182.6, 13.9, CAL= 182.6, 17.9, ROT= 327.4, -17.9 2025-10-27T05:00:16.779Z,1761541216.779 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:00:16.780Z,1761541216.780 [DAT](INFO): direction in FSK: [0.801673,-0.512692,0.307357] 2025-10-27T05:00:16.780Z,1761541216.780 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:16.783Z,1761541216.783 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:00:16.783Z,1761541216.783 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:00:16.784Z,1761541216.784 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:17.021Z,1761541217.021 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:17.046Z,1761541217.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504327 s, deltaX: -0.300000 m, approachRate: -0.594852 m/s, rangeRepo size: 4 2025-10-27T05:00:17.048Z,1761541217.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.781054 m, bearing: 214.784807 deg, lat: 36.779326 deg, lon: -121.859607 deg, deltaT: 10.853268 s, deltaX: -6.069602 m, approachRate: -0.559242 m/s, posRepo size: 4 2025-10-27T05:00:17.049Z,1761541217.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.85 m. 2025-10-27T05:00:17.052Z,1761541217.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 3.400054 m, bearing: 230.073362 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 235.430610 deg, new cmd heading: 235.112579 deg. 2025-10-27T05:00:17.053Z,1761541217.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103488 target range: 9.850656 and range: 3.80 m. 2025-10-27T05:00:17.272Z,1761541217.272 [DAT](INFO): DAT read: Rx Time:05:00:16.0333 2025-10-27T05:00:17.273Z,1761541217.273 [DAT](INFO): Rx dataTimestamp_ set to:1761541217.272632 2025-10-27T05:00:17.274Z,1761541217.274 [DAT](INFO): DAT read: Bearing 54.4, -34.7 (Local) 2025-10-27T05:00:17.275Z,1761541217.275 [DAT](INFO): Local bearing/azimuth received: Bearing 54.4, -34.7 (Local) 2025-10-27T05:00:17.277Z,1761541217.277 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 2025-10-27T05:00:17.281Z,1761541217.281 [DAT](INFO): DAT read: 05:00:16.0333 LVL= 23776, 22705, 21282, 32595, AGC= 45, IDX= 504,-0.08,-1.805,-2.743,-0.360,-0.970, PHS=-0.733,-1.728, 0.566, RAW= 184.4, 18.6, CAL= 184.0, 25.8, ROT= 326.0, -25.8 2025-10-27T05:00:17.282Z,1761541217.282 [DAT](INFO): got valid direction response: 05:00:16.0333 LVL= 23776, 22705, 21282, 32595, AGC= 45, IDX= 504,-0.08,-1.805,-2.743,-0.360,-0.970, PHS=-0.733,-1.728, 0.566, RAW= 184.4, 18.6, CAL= 184.0, 25.8, ROT= 326.0, -25.8 2025-10-27T05:00:17.283Z,1761541217.283 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:00:17.284Z,1761541217.284 [DAT](INFO): direction in FSK: [0.746398,-0.503452,0.435231] 2025-10-27T05:00:17.284Z,1761541217.284 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:17.290Z,1761541217.290 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:17.295Z,1761541217.295 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:17.373Z,1761541217.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458645,0.862819,0.212576],[-0.888054,-0.453578,-0.075010],[0.031700,-0.223182,0.974261]] 2025-10-27T05:00:17.426Z,1761541217.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503947 s, deltaX: 0.100000 m, approachRate: 0.198434 m/s, rangeRepo size: 4 2025-10-27T05:00:17.432Z,1761541217.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.880556 m, bearing: 214.323136 deg, lat: 36.779326 deg, lon: -121.859607 deg, deltaT: 11.357215 s, deltaX: -5.970100 m, approachRate: -0.525666 m/s, posRepo size: 4 2025-10-27T05:00:17.433Z,1761541217.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.85 m. 2025-10-27T05:00:17.440Z,1761541217.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 3.161647 m, bearing: 229.527725 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 235.112569 deg, new cmd heading: 234.873829 deg. 2025-10-27T05:00:17.441Z,1761541217.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099322 target range: 9.850656 and range: 3.90 m. 2025-10-27T05:00:17.524Z,1761541217.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:17.673Z,1761541217.673 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:00:17.762Z,1761541217.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465147,0.859202,0.213098],[-0.884650,-0.459908,-0.076669],[0.032131,-0.224180,0.974018]] 2025-10-27T05:00:17.777Z,1761541217.777 [DAT](INFO): DAT read: Rx Time:05:00:16.5330 2025-10-27T05:00:17.777Z,1761541217.777 [DAT](INFO): Rx dataTimestamp_ set to:1761541217.776779 2025-10-27T05:00:17.778Z,1761541217.778 [DAT](INFO): DAT read: Bearing 63.0, -38.3 (Local) 2025-10-27T05:00:17.779Z,1761541217.779 [DAT](INFO): Local bearing/azimuth received: Bearing 63.0, -38.3 (Local) 2025-10-27T05:00:17.781Z,1761541217.781 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 2025-10-27T05:00:17.785Z,1761541217.785 [DAT](INFO): DAT read: 05:00:16.5330 LVL= 29552, 27633, 22850, 32755, AGC= 47, IDX= 501, 0.46, 2.553, 1.906,-2.252,-2.716, PHS=-0.912,-1.615, 0.420, RAW= 190.1, 22.6, CAL= 188.8, 32.9, ROT= 321.2, -32.9 2025-10-27T05:00:17.787Z,1761541217.787 [DAT](INFO): got valid direction response: 05:00:16.5330 LVL= 29552, 27633, 22850, 32755, AGC= 47, IDX= 501, 0.46, 2.553, 1.906,-2.252,-2.716, PHS=-0.912,-1.615, 0.420, RAW= 190.1, 22.6, CAL= 188.8, 32.9, ROT= 321.2, -32.9 2025-10-27T05:00:17.787Z,1761541217.787 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:00:17.788Z,1761541217.788 [DAT](INFO): direction in FSK: [0.654348,-0.526109,0.543174] 2025-10-27T05:00:17.788Z,1761541217.788 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:17.800Z,1761541217.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:17.800Z,1761541217.800 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:17.933Z,1761541217.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504147 s, deltaX: -0.400000 m, approachRate: -0.793420 m/s, rangeRepo size: 4 2025-10-27T05:00:17.935Z,1761541217.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.482556 m, bearing: 210.578206 deg, lat: 36.779326 deg, lon: -121.859606 deg, deltaT: 11.861362 s, deltaX: -6.368100 m, approachRate: -0.536878 m/s, posRepo size: 4 2025-10-27T05:00:17.944Z,1761541217.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.85 m. 2025-10-27T05:00:17.946Z,1761541217.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 2.903106 m, bearing: 228.871475 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 234.873840 deg, new cmd heading: 234.561328 deg. 2025-10-27T05:00:17.952Z,1761541217.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093867 target range: 9.850656 and range: 3.50 m. 2025-10-27T05:00:18.034Z,1761541218.034 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:18.228Z,1761541218.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471989,0.854990,0.214983],[-0.881001,-0.466446,-0.079151],[0.032605,-0.226759,0.973405]] 2025-10-27T05:00:18.269Z,1761541218.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:18.272Z,1761541218.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:00:18.274Z,1761541218.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 2.650413 m, bearing: 228.190857 deg, approach rate: -0.724893 m/s, LOS rate: -2.138567 deg/s, cmd heading: 234.561318 deg, new cmd heading: 232.325978 deg. 2025-10-27T05:00:18.276Z,1761541218.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.054853 target range: 9.850656 and range: 3.50 m. 2025-10-27T05:00:18.285Z,1761541218.285 [DAT](INFO): DAT read: Rx Time:05:00:17.0329 2025-10-27T05:00:18.285Z,1761541218.285 [DAT](INFO): Rx dataTimestamp_ set to:1761541218.284871 2025-10-27T05:00:18.286Z,1761541218.286 [DAT](INFO): DAT read: Bearing 75.8, -45.6 (Local) 2025-10-27T05:00:18.288Z,1761541218.288 [DAT](INFO): Local bearing/azimuth received: Bearing 75.8, -45.6 (Local) 2025-10-27T05:00:18.290Z,1761541218.290 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4 2025-10-27T05:00:18.294Z,1761541218.294 [DAT](INFO): DAT read: 05:00:17.0329 LVL= 32752, 32753, 31426, 32755, AGC= 48, IDX= 500,-0.08, 2.523, 2.396,-2.022,-2.361, PHS=-1.297,-1.481, 0.295, RAW= 204.6, 27.4, CAL= 201.0, 40.4, ROT= 309.0, -40.4 2025-10-27T05:00:18.295Z,1761541218.295 [DAT](INFO): got valid direction response: 05:00:17.0329 LVL= 32752, 32753, 31426, 32755, AGC= 48, IDX= 500,-0.08, 2.523, 2.396,-2.022,-2.361, PHS=-1.297,-1.481, 0.295, RAW= 204.6, 27.4, CAL= 201.0, 40.4, ROT= 309.0, -40.4 2025-10-27T05:00:18.296Z,1761541218.296 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:00:18.297Z,1761541218.297 [DAT](INFO): direction in FSK: [0.479252,-0.591826,0.648120] 2025-10-27T05:00:18.297Z,1761541218.297 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:18.301Z,1761541218.301 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:18.301Z,1761541218.301 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:18.536Z,1761541218.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:18.626Z,1761541218.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478261,0.850812,0.217680],[-0.877606,-0.472262,-0.082316],[0.032767,-0.230406,0.972543]] 2025-10-27T05:00:18.731Z,1761541218.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.508092 s, deltaX: -0.200000 m, approachRate: -0.393630 m/s, rangeRepo size: 4 2025-10-27T05:00:18.737Z,1761541218.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.283552 m, bearing: 198.193008 deg, lat: 36.779326 deg, lon: -121.859606 deg, deltaT: 12.369454 s, deltaX: -6.567103 m, approachRate: -0.530913 m/s, posRepo size: 4 2025-10-27T05:00:18.738Z,1761541218.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.28 m. 9.85 m. 2025-10-27T05:00:18.752Z,1761541218.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.850656 m, nav range: 2.425320 m, bearing: 227.501025 deg, approach rate: 0.000000 m/s, LOS rate: -0.209352 deg/s, cmd heading: 232.325989 deg, new cmd heading: 232.038331 deg. 2025-10-27T05:00:18.753Z,1761541218.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.049833 target range: 9.850656 and range: 3.30 m. 2025-10-27T05:00:18.789Z,1761541218.789 [DAT](INFO): DAT read: Rx Time:05:00:17.5326 2025-10-27T05:00:18.789Z,1761541218.789 [DAT](INFO): Rx dataTimestamp_ set to:1761541218.788807 2025-10-27T05:00:18.790Z,1761541218.790 [DAT](INFO): DAT read: Bearing 62.7, -64.7 (Local) 2025-10-27T05:00:18.791Z,1761541218.791 [DAT](INFO): Local bearing/azimuth received: Bearing 62.7, -64.7 (Local) 2025-10-27T05:00:18.793Z,1761541218.793 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 2025-10-27T05:00:18.798Z,1761541218.798 [DAT](INFO): DAT read: 05:00:17.5326 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.23,-1.661,-1.348, 0.665,-0.037, PHS=-1.522,-1.266, 0.658, RAW= 216.2, 20.0, CAL= 218.0, 26.1, ROT= 292.0, -26.1 2025-10-27T05:00:18.800Z,1761541218.800 [DAT](INFO): got valid direction response: 05:00:17.5326 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.23,-1.661,-1.348, 0.665,-0.037, PHS=-1.522,-1.266, 0.658, RAW= 216.2, 20.0, CAL= 218.0, 26.1, ROT= 292.0, -26.1 2025-10-27T05:00:18.800Z,1761541218.800 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:00:18.802Z,1761541218.802 [DAT](INFO): direction in FSK: [0.336407,-0.832637,0.439939] 2025-10-27T05:00:18.802Z,1761541218.802 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:18.816Z,1761541218.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:18.817Z,1761541218.817 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:19.042Z,1761541219.042 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:19.071Z,1761541219.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484669,0.846664,0.219675],[-0.874088,-0.478183,-0.085504],[0.032652,-0.233456,0.971819]] 2025-10-27T05:00:19.187Z,1761541219.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503936 s, deltaX: -0.400000 m, approachRate: -0.793751 m/s, rangeRepo size: 4 2025-10-27T05:00:19.189Z,1761541219.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.885557 m, bearing: 175.073660 deg, lat: 36.779326 deg, lon: -121.859605 deg, deltaT: 12.873390 s, deltaX: -6.965098 m, approachRate: -0.541046 m/s, posRepo size: 4 2025-10-27T05:00:19.190Z,1761541219.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-27T05:00:19.190Z,1761541219.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T05:00:19.292Z,1761541219.292 [DAT](INFO): DAT read: Rx Time:05:00:18.0328 2025-10-27T05:00:19.293Z,1761541219.293 [DAT](INFO): Rx dataTimestamp_ set to:1761541219.292391 2025-10-27T05:00:19.295Z,1761541219.295 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3 2025-10-27T05:00:19.296Z,1761541219.296 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:00:19.297Z,1761541219.297 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:19.297Z,1761541219.297 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:19.503Z,1761541219.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503584 s, deltaX: 0.300000 m, approachRate: 0.595730 m/s, rangeRepo size: 4 2025-10-27T05:00:19.544Z,1761541219.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:19.796Z,1761541219.796 [DAT](INFO): DAT read: Rx Time:05:00:18.5325 2025-10-27T05:00:19.797Z,1761541219.797 [DAT](INFO): Rx dataTimestamp_ set to:1761541219.796334 2025-10-27T05:00:19.798Z,1761541219.798 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.3 2025-10-27T05:00:19.798Z,1761541219.798 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:00:19.799Z,1761541219.799 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:19.800Z,1761541219.800 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:19.942Z,1761541219.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498341,0.837712,0.223371],[-0.866364,-0.490898,-0.091832],[0.032723,-0.239284,0.970398]] 2025-10-27T05:00:20.005Z,1761541220.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503943 s, deltaX: -0.500000 m, approachRate: -0.992176 m/s, rangeRepo size: 4 2025-10-27T05:00:20.048Z,1761541220.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:20.300Z,1761541220.300 [DAT](INFO): DAT read: Rx Ti:19.0325 2025-10-27T05:00:20.301Z,1761541220.301 [DAT](INFO): unknown deviceResponse_: Rx Ti:19.0325 2025-10-27T05:00:20.302Z,1761541220.302 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.2 2025-10-27T05:00:20.303Z,1761541220.303 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:00:20.304Z,1761541220.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:20.304Z,1761541220.304 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:20.376Z,1761541220.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505846,0.832876,0.224580],[-0.862005,-0.497910,-0.095040],[0.032665,-0.241665,0.969810]] 2025-10-27T05:00:20.498Z,1761541220.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:20.501Z,1761541220.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503078 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:20.552Z,1761541220.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:20.762Z,1761541220.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513528,0.827643,0.226487],[-0.857458,-0.504952,-0.098938],[0.032480,-0.245011,0.968976]] 2025-10-27T05:00:20.804Z,1761541220.804 [DAT](INFO): DAT read: Rx Time:05:00:19.5324 2025-10-27T05:00:20.805Z,1761541220.805 [DAT](INFO): Rx dataTimestamp_ set to:1761541220.804661 2025-10-27T05:00:20.806Z,1761541220.806 [DAT](INFO): DAT read: Bearing 88.3, -40.3 (Local) 2025-10-27T05:00:20.807Z,1761541220.807 [DAT](INFO): Local bearing/azimuth received: Bearing 88.3, -40.3 (Local) 2025-10-27T05:00:20.809Z,1761541220.809 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1 2025-10-27T05:00:20.813Z,1761541220.813 [DAT](INFO): DAT read: 05:00:19.5324 LVL= 28240, 18161, 21490, 28147, AGC= 44, IDX= 510, 0.07, 1.855, 1.770,-2.893,-2.561, PHS=-1.765,-1.907,-0.376, RAW= 205.2, 44.3, CAL= 202.6, 53.8, ROT= 307.4, -53.8 2025-10-27T05:00:20.814Z,1761541220.814 [DAT](INFO): got valid direction response: 05:00:19.5324 LVL= 28240, 18161, 21490, 28147, AGC= 44, IDX= 510, 0.07, 1.855, 1.770,-2.893,-2.561, PHS=-1.765,-1.907,-0.376, RAW= 205.2, 44.3, CAL= 202.6, 53.8, ROT= 307.4, -53.8 2025-10-27T05:00:20.815Z,1761541220.815 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:00:20.816Z,1761541220.816 [DAT](INFO): direction in FSK: [0.358719,-0.469186,0.806960] 2025-10-27T05:00:20.816Z,1761541220.816 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:20.820Z,1761541220.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:20.821Z,1761541220.821 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:21.056Z,1761541221.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:21.186Z,1761541221.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521552,0.822389,0.227287],[-0.852603,-0.512468,-0.102203],[0.032427,-0.247090,0.968450]] 2025-10-27T05:00:21.267Z,1761541221.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505249 s, deltaX: -0.100000 m, approachRate: -0.197922 m/s, rangeRepo size: 4 2025-10-27T05:00:21.285Z,1761541221.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.587053 m, bearing: 200.788039 deg, lat: 36.779329 deg, lon: -121.859605 deg, deltaT: 2.015854 s, deltaX: -0.298504 m, approachRate: -0.148078 m/s, posRepo size: 4 2025-10-27T05:00:21.310Z,1761541221.310 [DAT](INFO): DAT read: Rx Time:05:00:20.0324 2025-10-27T05:00:21.311Z,1761541221.311 [DAT](INFO): Rx dataTimestamp_ set to:1761541221.310343 2025-10-27T05:00:21.312Z,1761541221.312 [DAT](INFO): DAT read: Bearing 103.0, -43.8 (Local) 2025-10-27T05:00:21.312Z,1761541221.312 [DAT](INFO): Local bearing/azimuth received: Bearing 103.0, -43.8 (Local) 2025-10-27T05:00:21.314Z,1761541221.314 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.2 2025-10-27T05:00:21.319Z,1761541221.319 [DAT](INFO): DAT read: 05:00:20.0324 LVL= 32752, 32753, 32050, 32755, AGC= 51, IDX= 511, 0.14, 2.376, 2.694,-2.582,-2.068, PHS=-1.737,-1.477,-0.558, RAW= 222.1, 51.2, CAL= 222.4, 58.7, ROT= 287.6, -58.7 2025-10-27T05:00:21.321Z,1761541221.321 [DAT](INFO): got valid direction response: 05:00:20.0324 LVL= 32752, 32753, 32050, 32755, AGC= 51, IDX= 511, 0.14, 2.376, 2.694,-2.582,-2.068, PHS=-1.737,-1.477,-0.558, RAW= 222.1, 51.2, CAL= 222.4, 58.7, ROT= 287.6, -58.7 2025-10-27T05:00:21.321Z,1761541221.321 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:00:21.324Z,1761541221.324 [DAT](INFO): direction in FSK: [0.157087,-0.495201,0.854459] 2025-10-27T05:00:21.324Z,1761541221.324 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:21.330Z,1761541221.330 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:21.332Z,1761541221.332 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:00:21.560Z,1761541221.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:00:21.567Z,1761541221.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530164,0.816610,0.228198],[-0.847257,-0.520653,-0.105240],[0.032872,-0.249137,0.967910]] 2025-10-27T05:00:21.602Z,1761541221.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:21.604Z,1761541221.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.587053 m, bearing: 173.217081 deg, lat: 36.779329 deg, lon: -121.859605 deg, deltaT: 0.505682 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:00:21.812Z,1761541221.812 [DAT](INFO): DAT read: user:285> 2025-10-27T05:00:21.813Z,1761541221.813 [DAT](INFO): DAT read: Tx time:05:00:20.9280 2025-10-27T05:00:21.813Z,1761541221.813 [DAT](INFO): Ping request sent. 2025-10-27T05:00:21.813Z,1761541221.813 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:00:21.813Z,1761541221.813 [DAT](INFO): publishing transmit ping time 2025-10-27T05:00:21.814Z,1761541221.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-27T05:00:21.980Z,1761541221.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538665,0.811073,0.228038],[-0.841864,-0.528834,-0.107699],[0.033243,-0.249991,0.967677]] 2025-10-27T05:00:22.064Z,1761541222.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251049 2025-10-27T05:00:22.316Z,1761541222.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502890 2025-10-27T05:00:22.384Z,1761541222.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546994,0.805605,0.227590],[-0.836460,-0.536891,-0.109919],[0.033640,-0.250495,0.967533]] 2025-10-27T05:00:22.568Z,1761541222.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755360 2025-10-27T05:00:22.784Z,1761541222.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555399,0.800510,0.225200],[-0.830888,-0.545276,-0.110902],[0.034018,-0.248711,0.967980]] 2025-10-27T05:00:22.806Z,1761541222.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:22.820Z,1761541222.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007067 2025-10-27T05:00:23.072Z,1761541223.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258879 2025-10-27T05:00:23.325Z,1761541223.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512061 2025-10-27T05:00:23.576Z,1761541223.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763053 2025-10-27T05:00:23.587Z,1761541223.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571418,0.790594,0.220096],[-0.819923,-0.561348,-0.112314],[0.034755,-0.244640,0.968991]] 2025-10-27T05:00:23.828Z,1761541223.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014901 2025-10-27T05:00:24.014Z,1761541224.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579386,0.785716,0.216709],[-0.814285,-0.569546,-0.112059],[0.035379,-0.241388,0.969783]] 2025-10-27T05:00:24.080Z,1761541224.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267006 2025-10-27T05:00:24.333Z,1761541224.333 [DAT](INFO): DAT read: Rx Time:05:00:23.0601 2025-10-27T05:00:24.333Z,1761541224.333 [DAT](INFO): Rx dataTimestamp_ set to:1761541224.332716 2025-10-27T05:00:24.334Z,1761541224.334 [DAT](INFO): DAT read: Bearing 154.5, -50.8 (Local) 2025-10-27T05:00:24.335Z,1761541224.335 [DAT](INFO): Local bearing/azimuth received: Bearing 154.5, -50.8 (Local) 2025-10-27T05:00:24.337Z,1761541224.337 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.3 2025-10-27T05:00:24.341Z,1761541224.341 [DAT](INFO): DAT read: 05:00:23.0601 LVL= 22864, 23985, 18450, 27603, AGC= 49, IDX= 250, 0.43,-2.455,-0.704,-0.701,-0.268, PHS=-2.085,-0.391,-0.477, RAW= 272.6, 32.3, CAL= 275.5, 40.7, ROT= 234.5, -40.7 2025-10-27T05:00:24.342Z,1761541224.342 [DAT](INFO): got valid direction response: 05:00:23.0601 LVL= 22864, 23985, 18450, 27603, AGC= 49, IDX= 250, 0.43,-2.455,-0.704,-0.701,-0.268, PHS=-2.085,-0.391,-0.477, RAW= 272.6, 32.3, CAL= 275.5, 40.7, ROT= 234.5, -40.7 2025-10-27T05:00:24.350Z,1761541224.350 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:00:24.351Z,1761541224.351 [DAT](INFO): direction in FSK: [-0.440251,-0.617209,0.652098] 2025-10-27T05:00:24.351Z,1761541224.351 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:24.363Z,1761541224.363 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.541715 2025-10-27T05:00:24.398Z,1761541224.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586638,0.781405,0.212750],[-0.809075,-0.576978,-0.111778],[0.035408,-0.237704,0.970692]] 2025-10-27T05:00:24.473Z,1761541224.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 3.022373 s, deltaX: -0.300000 m, approachRate: -0.099260 m/s, rangeRepo size: 4 2025-10-27T05:00:24.479Z,1761541224.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.288540 m, bearing: 97.597477 deg, lat: 36.779329 deg, lon: -121.859607 deg, deltaT: 3.022373 s, deltaX: -0.298513 m, approachRate: -0.098768 m/s, posRepo size: 4 2025-10-27T05:00:24.480Z,1761541224.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m. 2025-10-27T05:00:24.585Z,1761541224.585 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771685 2025-10-27T05:00:24.802Z,1761541224.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593562,0.777049,0.209473],[-0.804006,-0.584019,-0.111788],[0.035472,-0.234771,0.971403]] 2025-10-27T05:00:24.837Z,1761541224.837 [DAT](INFO): DAT read: Rx Time:05:00:23.5601 2025-10-27T05:00:24.837Z,1761541224.837 [DAT](INFO): Rx dataTimestamp_ set to:1761541224.836815 2025-10-27T05:00:24.838Z,1761541224.838 [DAT](INFO): DAT read: Bearing 184.6, -50.5 (Local) 2025-10-27T05:00:24.839Z,1761541224.839 [DAT](INFO): Local bearing/azimuth received: Bearing 184.6, -50.5 (Local) 2025-10-27T05:00:24.841Z,1761541224.841 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.4 2025-10-27T05:00:24.845Z,1761541224.845 [DAT](INFO): DAT read: 05:00:23.5601 LVL= 32752, 20257, 16978, 23795, AGC= 46, IDX= 507,-0.00,-1.032, 1.382, 0.869, 0.976, PHS=-1.906, 0.450,-0.151, RAW= 284.2, 15.0, CAL= 282.8, 22.2, ROT= 227.2, -22.2 2025-10-27T05:00:24.847Z,1761541224.847 [DAT](INFO): got valid direction response: 05:00:23.5601 LVL= 32752, 20257, 16978, 23795, AGC= 46, IDX= 507,-0.00,-1.032, 1.382, 0.869, 0.976, PHS=-1.906, 0.450,-0.151, RAW= 284.2, 15.0, CAL= 282.8, 22.2, ROT= 227.2, -22.2 2025-10-27T05:00:24.856Z,1761541224.856 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:00:24.857Z,1761541224.857 [DAT](INFO): direction in FSK: [-0.629075,-0.679339,0.377841] 2025-10-27T05:00:24.857Z,1761541224.857 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:24.861Z,1761541224.861 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.047668 2025-10-27T05:00:24.855Z,1761541224.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:24.869Z,1761541224.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504099 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:25.093Z,1761541225.093 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.278944 2025-10-27T05:00:25.254Z,1761541225.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605708,0.769329,0.203102],[-0.794894,-0.596454,-0.111297],[0.035517,-0.228858,0.972812]] 2025-10-27T05:00:25.304Z,1761541225.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m. 2025-10-27T05:00:25.341Z,1761541225.341 [DAT](INFO): DAT read: Rx Time:05:00:24.0603 2025-10-27T05:00:25.342Z,1761541225.342 [DAT](INFO): Rx dataTimestamp_ set to:1761541225.341585 2025-10-27T05:00:25.344Z,1761541225.344 [DAT](INFO): DAT read: Bearing 220.7, -50.6 (Local) 2025-10-27T05:00:25.344Z,1761541225.344 [DAT](INFO): Local bearing/azimuth received: Bearing 220.7, -50.6 (Local) 2025-10-27T05:00:25.348Z,1761541225.348 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.4 2025-10-27T05:00:25.354Z,1761541225.354 [DAT](INFO): DAT read: 05:00:24.0603 LVL= 28080, 13473, 13298, 26563, AGC= 45, IDX= 510,-0.20, 2.934,-0.903,-1.278,-1.635, PHS=-1.613, 0.777, 0.313, RAW= 280.6, 4.8, CAL= 278.8, -0.6, ROT= 231.2, 0.6 2025-10-27T05:00:25.356Z,1761541225.356 [DAT](INFO): got valid direction response: 05:00:24.0603 LVL= 28080, 13473, 13298, 26563, AGC= 45, IDX= 510,-0.20, 2.934,-0.903,-1.278,-1.635, PHS=-1.613, 0.777, 0.313, RAW= 280.6, 4.8, CAL= 278.8, -0.6, ROT= 231.2, 0.6 2025-10-27T05:00:25.356Z,1761541225.356 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:00:25.358Z,1761541225.358 [DAT](INFO): direction in FSK: [-0.626570,-0.779295,-0.010472] 2025-10-27T05:00:25.358Z,1761541225.358 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:25.363Z,1761541225.363 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.549613 2025-10-27T05:00:25.592Z,1761541225.592 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779068 2025-10-27T05:00:25.666Z,1761541225.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504770 s, deltaX: 0.300000 m, approachRate: 0.594330 m/s, rangeRepo size: 4 2025-10-27T05:00:25.668Z,1761541225.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.587040 m, bearing: 102.976179 deg, lat: 36.779325 deg, lon: -121.859607 deg, deltaT: 1.008869 s, deltaX: 0.298500 m, approachRate: 0.295876 m/s, posRepo size: 4 2025-10-27T05:00:25.669Z,1761541225.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-27T05:00:25.844Z,1761541225.844 [DAT](INFO): DAT read: Rx Time:05:00:24.5604 2025-10-27T05:00:25.845Z,1761541225.845 [DAT](INFO): Rx dataTimestamp_ set to:1761541225.844311 2025-10-27T05:00:25.846Z,1761541225.846 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.4 2025-10-27T05:00:25.846Z,1761541225.846 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T05:00:25.847Z,1761541225.847 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.034406 2025-10-27T05:00:26.096Z,1761541226.096 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283122 2025-10-27T05:00:26.104Z,1761541226.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502726 s, deltaX: 0.100000 m, approachRate: 0.198916 m/s, rangeRepo size: 4 2025-10-27T05:00:26.104Z,1761541226.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m. 2025-10-27T05:00:26.349Z,1761541226.349 [DAT](INFO): DAT read: Rx Time:05:00:25.0606 2025-10-27T05:00:26.349Z,1761541226.349 [DAT](INFO): Rx dataTimestamp_ set to:1761541226.348691 2025-10-27T05:00:26.350Z,1761541226.350 [DAT](INFO): DAT read: Bearing 165.2, -69.7 (Local) 2025-10-27T05:00:26.351Z,1761541226.351 [DAT](INFO): Local bearing/azimuth received: Bearing 165.2, -69.7 (Local) 2025-10-27T05:00:26.353Z,1761541226.353 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.5 2025-10-27T05:00:26.357Z,1761541226.357 [DAT](INFO): DAT read: 05:00:25.0606 LVL= 27120, 13905, 12114, 21907, AGC= 45, IDX= 512, 0.49, 2.102,-2.646,-2.124,-2.391, PHS=-1.688,-0.210, 0.224, RAW= 257.5, 18.8, CAL= 259.9, 24.7, ROT= 250.1, -24.7 2025-10-27T05:00:26.358Z,1761541226.358 [DAT](INFO): got valid direction response: 05:00:25.0606 LVL= 27120, 13905, 12114, 21907, AGC= 45, IDX= 512, 0.49, 2.102,-2.646,-2.124,-2.391, PHS=-1.688,-0.210, 0.224, RAW= 257.5, 18.8, CAL= 259.9, 24.7, ROT= 250.1, -24.7 2025-10-27T05:00:26.359Z,1761541226.359 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:00:26.360Z,1761541226.360 [DAT](INFO): direction in FSK: [-0.309238,-0.854259,0.417867] 2025-10-27T05:00:26.360Z,1761541226.360 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:26.408Z,1761541226.408 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.594751 2025-10-27T05:00:26.443Z,1761541226.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616769,0.763316,0.192212],[-0.786394,-0.608186,-0.108136],[0.034359,-0.217849,0.975377]] 2025-10-27T05:00:26.536Z,1761541226.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504380 s, deltaX: 0.300000 m, approachRate: 0.594790 m/s, rangeRepo size: 4 2025-10-27T05:00:26.538Z,1761541226.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.985048 m, bearing: 117.968690 deg, lat: 36.779323 deg, lon: -121.859607 deg, deltaT: 1.007106 s, deltaX: 0.398008 m, approachRate: 0.395199 m/s, posRepo size: 4 2025-10-27T05:00:26.601Z,1761541226.601 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.787995 2025-10-27T05:00:26.853Z,1761541226.853 [DAT](INFO): DAT read: Rx Time:05:00:25.5607 2025-10-27T05:00:26.853Z,1761541226.853 [DAT](INFO): Rx dataTimestamp_ set to:1761541226.852779 2025-10-27T05:00:26.854Z,1761541226.854 [DAT](INFO): DAT read: Bearing 65.2, -84.0 (Local) 2025-10-27T05:00:26.855Z,1761541226.855 [DAT](INFO): Local bearing/azimuth received: Bearing 65.2, -84.0 (Local) 2025-10-27T05:00:26.857Z,1761541226.857 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.5 2025-10-27T05:00:26.862Z,1761541226.862 [DAT](INFO): DAT read: 05:00:25.5607 LVL= 25696, 15969, 11154, 18019, AGC= 48, IDX= 514,-0.43,-3.029,-1.942,-0.410,-1.206, PHS=-1.721,-0.691, 0.752, RAW= 234.5, 15.3, CAL= 237.4, 17.5, ROT= 272.6, -17.5 2025-10-27T05:00:26.863Z,1761541226.863 [DAT](INFO): got valid direction response: 05:00:25.5607 LVL= 25696, 15969, 11154, 18019, AGC= 48, IDX= 514,-0.43,-3.029,-1.942,-0.410,-1.206, PHS=-1.721,-0.691, 0.752, RAW= 234.5, 15.3, CAL= 237.4, 17.5, ROT= 272.6, -17.5 2025-10-27T05:00:26.864Z,1761541226.864 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:00:26.865Z,1761541226.865 [DAT](INFO): direction in FSK: [0.043264,-0.952735,0.300706] 2025-10-27T05:00:26.865Z,1761541226.865 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:26.868Z,1761541226.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618972,0.762461,0.188488],[-0.784685,-0.610660,-0.106604],[0.033821,-0.213888,0.976272]] 2025-10-27T05:00:26.873Z,1761541226.873 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.059709 2025-10-27T05:00:26.926Z,1761541226.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504088 s, deltaX: 0.200000 m, approachRate: 0.396756 m/s, rangeRepo size: 4 2025-10-27T05:00:26.932Z,1761541226.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.184052 m, bearing: 143.479116 deg, lat: 36.779317 deg, lon: -121.859607 deg, deltaT: 0.504088 s, deltaX: 0.199005 m, approachRate: 0.394782 m/s, posRepo size: 4 2025-10-27T05:00:27.105Z,1761541227.105 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.291484 2025-10-27T05:00:27.262Z,1761541227.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620417,0.762106,0.185141],[-0.783573,-0.612310,-0.105310],[0.033107,-0.210407,0.977053]] 2025-10-27T05:00:27.317Z,1761541227.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:00:27.358Z,1761541227.358 [DAT](INFO): DAT read: Rx Time:05:00:26.0610 2025-10-27T05:00:27.359Z,1761541227.359 [DAT](INFO): Rx dataTimestamp_ set to:1761541227.358422 2025-10-27T05:00:27.361Z,1761541227.361 [DAT](INFO): DAT read: Bearing 190.2, -15.3 (Local) 2025-10-27T05:00:27.361Z,1761541227.361 [DAT](INFO): Local bearing/azimuth received: Bearing 190.2, -15.3 (Local) 2025-10-27T05:00:27.364Z,1761541227.364 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed -0.5 2025-10-27T05:00:27.372Z,1761541227.372 [DAT](INFO): DAT read: 05:00:26.0610 LVL= 15792, 10225, 4978, 7923, AGC= 50, IDX= 4, 0.04, 1.787,-2.502, 2.287, 2.985, PHS=-1.096, 0.841,-0.742, RAW= 320.1, 11.2, CAL= 318.9, 13.3, ROT= 191.1, -13.3 2025-10-27T05:00:27.374Z,1761541227.374 [DAT](INFO): got valid direction response: 05:00:26.0610 LVL= 15792, 10225, 4978, 7923, AGC= 50, IDX= 4, 0.04, 1.787,-2.502, 2.287, 2.985, PHS=-1.096, 0.841,-0.742, RAW= 320.1, 11.2, CAL= 318.9, 13.3, ROT= 191.1, -13.3 2025-10-27T05:00:27.374Z,1761541227.374 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:00:27.388Z,1761541227.388 [DAT](INFO): direction in FSK: [-0.954973,-0.187358,0.230050] 2025-10-27T05:00:27.388Z,1761541227.388 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:27.396Z,1761541227.396 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.583253 2025-10-27T05:00:27.608Z,1761541227.608 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794838 2025-10-27T05:00:27.658Z,1761541227.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620733,0.762929,0.180639],[-0.783358,-0.613006,-0.102831],[0.032280,-0.205335,0.978159]] 2025-10-27T05:00:27.702Z,1761541227.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.505643 s, deltaX: 0.400000 m, approachRate: 0.791072 m/s, rangeRepo size: 4 2025-10-27T05:00:27.705Z,1761541227.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.582058 m, bearing: 59.651099 deg, lat: 36.779317 deg, lon: -121.859605 deg, deltaT: 0.505643 s, deltaX: 0.398006 m, approachRate: 0.787129 m/s, posRepo size: 4 2025-10-27T05:00:27.860Z,1761541227.860 [DAT](INFO): DAT read: Rx Time:05:00:26.5611 2025-10-27T05:00:27.860Z,1761541227.860 [DAT](INFO): Rx dataTimestamp_ set to:1761541227.860207 2025-10-27T05:00:27.862Z,1761541227.862 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.6 2025-10-27T05:00:27.862Z,1761541227.862 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-27T05:00:27.863Z,1761541227.863 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.050315 2025-10-27T05:00:28.070Z,1761541228.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620883,0.763934,0.175808],[-0.783273,-0.613569,-0.100078],[0.031417,-0.199842,0.979324]] 2025-10-27T05:00:28.112Z,1761541228.112 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299082 2025-10-27T05:00:28.118Z,1761541228.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.501785 s, deltaX: 0.200000 m, approachRate: 0.398577 m/s, rangeRepo size: 4 2025-10-27T05:00:28.119Z,1761541228.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 3.80 m. Rolling out. 2025-10-27T05:00:28.119Z,1761541228.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T05:00:28.133Z,1761541228.133 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T05:00:28.365Z,1761541228.365 [DAT](INFO): DAT read: Rx Time:05:00:27.0615 2025-10-27T05:00:28.366Z,1761541228.366 [DAT](INFO): Rx dataTimestamp_ set to:1761541228.364885 2025-10-27T05:00:28.367Z,1761541228.367 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.5 2025-10-27T05:00:28.368Z,1761541228.368 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-27T05:00:28.370Z,1761541228.370 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.556346 2025-10-27T05:00:28.465Z,1761541228.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620900,0.765108,0.170563],[-0.783300,-0.614007,-0.097145],[0.030400,-0.193920,0.980546]] 2025-10-27T05:00:28.498Z,1761541228.498 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T05:00:28.498Z,1761541228.498 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:00:28.499Z,1761541228.499 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T05:00:28.502Z,1761541228.502 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 3.800000 m (mode 5.000000 count ). 2025-10-27T05:00:28.502Z,1761541228.502 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T05:00:28.502Z,1761541228.502 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T05:00:28.504Z,1761541228.504 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T05:00:28.504Z,1761541228.504 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:00:28.504Z,1761541228.504 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T05:00:28.506Z,1761541228.506 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 3.800000 m (mode 5.000000 count ). 2025-10-27T05:00:28.506Z,1761541228.506 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T05:00:28.506Z,1761541228.506 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T05:00:28.512Z,1761541228.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504678 s, deltaX: 0.600000 m, approachRate: 1.188877 m/s, rangeRepo size: 4 2025-10-27T05:00:28.513Z,1761541228.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.58 m. 2025-10-27T05:00:28.518Z,1761541228.518 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T05:00:28.518Z,1761541228.518 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:00:28.518Z,1761541228.518 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T05:00:28.518Z,1761541228.518 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T05:00:28.616Z,1761541228.616 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803050 2025-10-27T05:00:28.869Z,1761541228.869 [DAT](INFO): DAT read: Rx Time:05:00:27.5615 2025-10-27T05:00:28.870Z,1761541228.870 [DAT](INFO): Rx dataTimestamp_ set to:1761541228.869389 2025-10-27T05:00:28.871Z,1761541228.871 [DAT](INFO): DAT read: Bearing 69.7, -22.1 (Local) 2025-10-27T05:00:28.871Z,1761541228.871 [DAT](INFO): Local bearing/azimuth received: Bearing 69.7, -22.1 (Local) 2025-10-27T05:00:28.873Z,1761541228.873 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.5 2025-10-27T05:00:28.878Z,1761541228.878 [DAT](INFO): DAT read: 05:00:27.5615 LVL= 14400, 12593, 16594, 19667, AGC= 51, IDX= 508,-0.16, 1.879, 0.805, 2.674, 2.998, PHS=-1.017,-2.148,-0.368, RAW= 171.1, 38.7, CAL= 172.0, 49.7, ROT= 338.0, -49.7 2025-10-27T05:00:28.879Z,1761541228.879 [DAT](INFO): got valid direction response: 05:00:27.5615 LVL= 14400, 12593, 16594, 19667, AGC= 51, IDX= 508,-0.16, 1.879, 0.805, 2.674, 2.998, PHS=-1.017,-2.148,-0.368, RAW= 171.1, 38.7, CAL= 172.0, 49.7, ROT= 338.0, -49.7 2025-10-27T05:00:28.880Z,1761541228.880 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:00:28.881Z,1761541228.881 [DAT](INFO): direction in FSK: [0.599693,-0.242292,0.762668] 2025-10-27T05:00:28.881Z,1761541228.881 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:28.893Z,1761541228.893 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.079719 2025-10-27T05:00:28.909Z,1761541228.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621280,0.765588,0.166991],[-0.783040,-0.614556,-0.095753],[0.029318,-0.190250,0.981298]] 2025-10-27T05:00:28.966Z,1761541228.966 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T05:00:28.966Z,1761541228.966 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T05:00:28.967Z,1761541228.967 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T05:00:28.967Z,1761541228.967 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T05:00:29.000Z,1761541229.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504504 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:29.018Z,1761541229.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.378070 m, bearing: 222.430021 deg, lat: 36.779309 deg, lon: -121.859609 deg, deltaT: 1.510967 s, deltaX: 0.796011 m, approachRate: 0.526823 m/s, posRepo size: 4 2025-10-27T05:00:29.024Z,1761541229.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.38 m. 2025-10-27T05:00:29.121Z,1761541229.121 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.308175 2025-10-27T05:00:29.306Z,1761541229.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622525,0.766152,0.159604],[-0.782017,-0.616858,-0.089083],[0.030202,-0.180269,0.983153]] 2025-10-27T05:00:29.350Z,1761541229.350 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T05:00:29.350Z,1761541229.350 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T05:00:29.351Z,1761541229.351 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T05:00:29.351Z,1761541229.351 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T05:00:29.353Z,1761541229.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.38 m. 2025-10-27T05:00:29.372Z,1761541229.372 [DAT](INFO): DAT read: Rx Time:05:00:28.0618 2025-10-27T05:00:29.373Z,1761541229.373 [DAT](INFO): Rx dataTimestamp_ set to:1761541229.372410 2025-10-27T05:00:29.374Z,1761541229.374 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.5 2025-10-27T05:00:29.374Z,1761541229.374 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-27T05:00:29.375Z,1761541229.375 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.562496 2025-10-27T05:00:29.626Z,1761541229.626 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813154 2025-10-27T05:00:29.751Z,1761541229.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623475,0.767550,0.148815],[-0.781267,-0.618932,-0.080901],[0.030011,-0.166704,0.985550]] 2025-10-27T05:00:29.774Z,1761541229.774 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T05:00:29.774Z,1761541229.774 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:00:29.774Z,1761541229.774 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T05:00:29.774Z,1761541229.774 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:00:29.775Z,1761541229.775 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T05:00:29.775Z,1761541229.775 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:00:29.775Z,1761541229.775 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T05:00:29.775Z,1761541229.775 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:00:29.778Z,1761541229.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503021 s, deltaX: 0.400000 m, approachRate: 0.795196 m/s, rangeRepo size: 4 2025-10-27T05:00:29.799Z,1761541229.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.38 m. 2025-10-27T05:00:29.881Z,1761541229.881 [DAT](INFO): DAT read: Rx Time:05:00:28.5621 2025-10-27T05:00:29.882Z,1761541229.882 [DAT](INFO): Rx dataTimestamp_ set to:1761541229.881272 2025-10-27T05:00:29.883Z,1761541229.883 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.7 2025-10-27T05:00:29.884Z,1761541229.884 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-27T05:00:29.886Z,1761541229.886 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.072682 2025-10-27T05:00:30.132Z,1761541230.132 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.318870 2025-10-27T05:00:30.238Z,1761541230.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.508862 s, deltaX: 0.500000 m, approachRate: 0.982585 m/s, rangeRepo size: 4 2025-10-27T05:00:30.239Z,1761541230.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.38 m. 2025-10-27T05:00:30.384Z,1761541230.384 [DAT](INFO): DAT read: Rx Time:05:00:29.0620 2025-10-27T05:00:30.385Z,1761541230.385 [DAT](INFO): Rx dataTimestamp_ set to:1761541230.384326 2025-10-27T05:00:30.386Z,1761541230.386 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.6 2025-10-27T05:00:30.386Z,1761541230.386 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-27T05:00:30.387Z,1761541230.387 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.574455 2025-10-27T05:00:30.600Z,1761541230.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623202,0.770784,0.132329],[-0.781573,-0.619809,-0.070571],[0.027624,-0.147405,0.988690]] 2025-10-27T05:00:30.636Z,1761541230.636 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.823066 2025-10-27T05:00:30.637Z,1761541230.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503054 s, deltaX: -0.200000 m, approachRate: -0.397572 m/s, rangeRepo size: 4 2025-10-27T05:00:30.638Z,1761541230.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.38 m. 2025-10-27T05:00:30.888Z,1761541230.888 [DAT](INFO): DAT read: Rx Time:05:00:29.5621 2025-10-27T05:00:30.889Z,1761541230.889 [DAT](INFO): Rx dataTimestamp_ set to:1761541230.888691 2025-10-27T05:00:30.890Z,1761541230.890 [DAT](INFO): DAT read: Bearing 192.3, -25.6 (Local) 2025-10-27T05:00:30.891Z,1761541230.891 [DAT](INFO): Local bearing/azimuth received: Bearing 192.3, -25.6 (Local) 2025-10-27T05:00:30.893Z,1761541230.893 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.5 2025-10-27T05:00:30.897Z,1761541230.897 [DAT](INFO): DAT read: 05:00:29.5621 LVL= 23536, 25937, 32754, 32739, AGC= 58, IDX= 511, 0.23, 1.437,-2.513, 2.410, 2.895, PHS=-1.356, 0.920,-0.529, RAW= 308.9, 9.7, CAL= 306.9, 11.5, ROT= 203.1, -11.5 2025-10-27T05:00:30.898Z,1761541230.898 [DAT](INFO): got valid direction response: 05:00:29.5621 LVL= 23536, 25937, 32754, 32739, AGC= 58, IDX= 511, 0.23, 1.437,-2.513, 2.410, 2.895, PHS=-1.356, 0.920,-0.529, RAW= 308.9, 9.7, CAL= 306.9, 11.5, ROT= 203.1, -11.5 2025-10-27T05:00:30.899Z,1761541230.899 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:00:30.900Z,1761541230.900 [DAT](INFO): direction in FSK: [-0.901356,-0.384461,0.199368] 2025-10-27T05:00:30.900Z,1761541230.900 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:30.929Z,1761541230.929 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.116349 2025-10-27T05:00:31.021Z,1761541231.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622874,0.772332,0.124622],[-0.781878,-0.619936,-0.065917],[0.026348,-0.138497,0.990012]] 2025-10-27T05:00:31.115Z,1761541231.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504365 s, deltaX: 0.200000 m, approachRate: 0.396539 m/s, rangeRepo size: 4 2025-10-27T05:00:31.117Z,1761541231.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.273583 m, bearing: 72.716981 deg, lat: 36.779309 deg, lon: -121.859609 deg, deltaT: 2.019302 s, deltaX: 0.895513 m, approachRate: 0.443477 m/s, posRepo size: 4 2025-10-27T05:00:31.118Z,1761541231.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-27T05:00:31.140Z,1761541231.140 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.326976 2025-10-27T05:00:31.393Z,1761541231.393 [DAT](INFO): DAT read: Rx Time:05:00:30.0624 2025-10-27T05:00:31.393Z,1761541231.393 [DAT](INFO): Rx dataTimestamp_ set to:1761541231.393084 2025-10-27T05:00:31.395Z,1761541231.395 [DAT](INFO): DAT read: Bearing 190.9, -16.6 (Local) 2025-10-27T05:00:31.395Z,1761541231.395 [DAT](INFO): Local bearing/azimuth received: Bearing 190.9, -16.6 (Local) 2025-10-27T05:00:31.397Z,1761541231.397 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.5 2025-10-27T05:00:31.402Z,1761541231.402 [DAT](INFO): DAT read: 05:00:30.0624 LVL= 16864, 22241, 20338, 32755, AGC= 62, IDX= 2,-0.08,-2.852,-0.738,-2.235,-1.592, PHS=-1.159, 0.899,-0.687, RAW= 317.4, 10.2, CAL= 315.9, 11.8, ROT= 194.1, -11.8 2025-10-27T05:00:31.403Z,1761541231.403 [DAT](INFO): got valid direction response: 05:00:30.0624 LVL= 16864, 22241, 20338, 32755, AGC= 62, IDX= 2,-0.08,-2.852,-0.738,-2.235,-1.592, PHS=-1.159, 0.899,-0.687, RAW= 317.4, 10.2, CAL= 315.9, 11.8, ROT= 194.1, -11.8 2025-10-27T05:00:31.404Z,1761541231.404 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:00:31.405Z,1761541231.405 [DAT](INFO): direction in FSK: [-0.949376,-0.238467,0.204496] 2025-10-27T05:00:31.405Z,1761541231.405 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:31.409Z,1761541231.409 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.595627 2025-10-27T05:00:31.456Z,1761541231.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622625,0.773696,0.117188],[-0.782118,-0.620086,-0.061515],[0.025073,-0.129956,0.991203]] 2025-10-27T05:00:31.567Z,1761541231.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504393 s, deltaX: 0.400000 m, approachRate: 0.793032 m/s, rangeRepo size: 4 2025-10-27T05:00:31.569Z,1761541231.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.671589 m, bearing: 63.872003 deg, lat: 36.779315 deg, lon: -121.859605 deg, deltaT: 0.504393 s, deltaX: 0.398006 m, approachRate: 0.789079 m/s, posRepo size: 4 2025-10-27T05:00:31.570Z,1761541231.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.67 m. 2025-10-27T05:00:31.645Z,1761541231.645 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.831970 2025-10-27T05:00:31.830Z,1761541231.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622610,0.774671,0.110641],[-0.782167,-0.620384,-0.057776],[0.023883,-0.122512,0.992180]] 2025-10-27T05:00:31.848Z,1761541231.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.67 m. 2025-10-27T05:00:31.898Z,1761541231.898 [DAT](INFO): DAT read: Rx Time:05:00:30.5625 2025-10-27T05:00:31.898Z,1761541231.898 [DAT](INFO): Rx dataTimestamp_ set to:1761541231.897762 2025-10-27T05:00:31.900Z,1761541231.900 [DAT](INFO): DAT read: Bearing 187.3, -11.7 (Local) 2025-10-27T05:00:31.901Z,1761541231.901 [DAT](INFO): Local bearing/azimuth received: Bearing 187.3, -11.7 (Local) 2025-10-27T05:00:31.904Z,1761541231.904 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 2025-10-27T05:00:31.910Z,1761541231.910 [DAT](INFO): DAT read: 05:00:30.5625 LVL= 24816, 22769, 28658, 32755, AGC= 58, IDX= 499,-0.36, 2.567,-1.738, 2.998,-2.515, PHS=-1.100, 0.821,-0.814, RAW= 322.1, 12.1, CAL= 321.1, 14.8, ROT= 188.9, -14.8 2025-10-27T05:00:31.912Z,1761541231.912 [DAT](INFO): got valid direction response: 05:00:30.5625 LVL= 24816, 22769, 28658, 32755, AGC= 58, IDX= 499,-0.36, 2.567,-1.738, 2.998,-2.515, PHS=-1.100, 0.821,-0.814, RAW= 322.1, 12.1, CAL= 321.1, 14.8, ROT= 188.9, -14.8 2025-10-27T05:00:31.913Z,1761541231.913 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:00:31.914Z,1761541231.914 [DAT](INFO): direction in FSK: [-0.955183,-0.149577,0.255446] 2025-10-27T05:00:31.915Z,1761541231.915 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:31.924Z,1761541231.924 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.110575 2025-10-27T05:00:32.148Z,1761541232.148 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.334941 2025-10-27T05:00:32.258Z,1761541232.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622409,0.775606,0.105083],[-0.782360,-0.620425,-0.054641],[0.022817,-0.116221,0.992961]] 2025-10-27T05:00:32.320Z,1761541232.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504678 s, deltaX: 0.200000 m, approachRate: 0.396293 m/s, rangeRepo size: 4 2025-10-27T05:00:32.322Z,1761541232.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.870589 m, bearing: 58.546204 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.504678 s, deltaX: 0.199000 m, approachRate: 0.394312 m/s, posRepo size: 4 2025-10-27T05:00:32.323Z,1761541232.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.87 m. 2025-10-27T05:00:32.401Z,1761541232.401 [DAT](INFO): DAT read: Rx Time:05:00:31.0626 2025-10-27T05:00:32.402Z,1761541232.402 [DAT](INFO): Rx dataTimestamp_ set to:1761541232.401902 2025-10-27T05:00:32.404Z,1761541232.404 [DAT](INFO): DAT read: Bearing 188.9, -7.5 (Local) 2025-10-27T05:00:32.404Z,1761541232.404 [DAT](INFO): Local bearing/azimuth received: Bearing 188.9, -7.5 (Local) 2025-10-27T05:00:32.406Z,1761541232.406 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-27T05:00:32.420Z,1761541232.420 [DAT](INFO): DAT read: 05:00:31.0626 LVL= 27744, 26785, 30034, 32755, AGC= 62, IDX= 501, 0.33,-1.330, 0.638,-1.031,-0.206, PHS=-1.022, 0.889,-0.868, RAW= 325.8, 10.9, CAL= 325.0, 12.7, ROT= 185.0, -12.7 2025-10-27T05:00:32.422Z,1761541232.422 [DAT](INFO): got valid direction response: 05:00:31.0626 LVL= 27744, 26785, 30034, 32755, AGC= 62, IDX= 501, 0.33,-1.330, 0.638,-1.031,-0.206, PHS=-1.022, 0.889,-0.868, RAW= 325.8, 10.9, CAL= 325.0, 12.7, ROT= 185.0, -12.7 2025-10-27T05:00:32.422Z,1761541232.422 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:00:32.448Z,1761541232.448 [DAT](INFO): direction in FSK: [-0.971822,-0.085024,0.219846] 2025-10-27T05:00:32.448Z,1761541232.448 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:32.455Z,1761541232.455 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.642494 2025-10-27T05:00:32.637Z,1761541232.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622854,0.775816,0.100807],[-0.782033,-0.621019,-0.052534],[0.021846,-0.111556,0.993518]] 2025-10-27T05:00:32.652Z,1761541232.652 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.838831 2025-10-27T05:00:32.683Z,1761541232.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504140 s, deltaX: 0.300000 m, approachRate: 0.595072 m/s, rangeRepo size: 4 2025-10-27T05:00:32.685Z,1761541232.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.169094 m, bearing: 54.977830 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.504140 s, deltaX: 0.298504 m, approachRate: 0.592106 m/s, posRepo size: 4 2025-10-27T05:00:32.685Z,1761541232.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.17 m. 2025-10-27T05:00:32.904Z,1761541232.904 [DAT](INFO): DAT read: Rx Time:05:00:31.5625 2025-10-27T05:00:32.905Z,1761541232.905 [DAT](INFO): Rx dataTimestamp_ set to:1761541232.904683 2025-10-27T05:00:32.906Z,1761541232.906 [DAT](INFO): DAT read: Bearing 190.0, -4.0 (Local) 2025-10-27T05:00:32.907Z,1761541232.907 [DAT](INFO): Local bearing/azimuth received: Bearing 190.0, -4.0 (Local) 2025-10-27T05:00:32.909Z,1761541232.909 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-27T05:00:32.914Z,1761541232.914 [DAT](INFO): DAT read: 05:00:31.5625 LVL= 27760, 28065, 32754, 32755, AGC= 61, IDX= 502, 0.08,-3.108,-1.146,-2.925,-2.048, PHS=-0.958, 0.947,-0.921, RAW= 329.0, 9.9, CAL= 328.4, 11.1, ROT= 181.6, -11.1 2025-10-27T05:00:32.915Z,1761541232.915 [DAT](INFO): got valid direction response: 05:00:31.5625 LVL= 27760, 28065, 32754, 32755, AGC= 61, IDX= 502, 0.08,-3.108,-1.146,-2.925,-2.048, PHS=-0.958, 0.947,-0.921, RAW= 329.0, 9.9, CAL= 328.4, 11.1, ROT= 181.6, -11.1 2025-10-27T05:00:32.916Z,1761541232.916 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:00:32.917Z,1761541232.917 [DAT](INFO): direction in FSK: [-0.980910,-0.027399,0.192522] 2025-10-27T05:00:32.917Z,1761541232.917 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:32.921Z,1761541232.921 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.107632 2025-10-27T05:00:33.046Z,1761541233.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622695,0.776155,0.099166],[-0.782180,-0.620866,-0.052144],[0.021097,-0.110035,0.993704]] 2025-10-27T05:00:33.148Z,1761541233.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.502781 s, deltaX: -0.200000 m, approachRate: -0.397787 m/s, rangeRepo size: 4 2025-10-27T05:00:33.150Z,1761541233.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.970084 m, bearing: 51.828288 deg, lat: 36.779323 deg, lon: -121.859603 deg, deltaT: 0.502781 s, deltaX: -0.199010 m, approachRate: -0.395818 m/s, posRepo size: 4 2025-10-27T05:00:33.150Z,1761541233.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.97 m. 2025-10-27T05:00:33.156Z,1761541233.156 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.343053 2025-10-27T05:00:33.409Z,1761541233.409 [DAT](INFO): DAT read: Rx Time:05:00:32.0628 2025-10-27T05:00:33.409Z,1761541233.409 [DAT](INFO): Rx dataTimestamp_ set to:1761541233.408733 2025-10-27T05:00:33.410Z,1761541233.410 [DAT](INFO): DAT read: Bearing 190.4, -1.5 (Local) 2025-10-27T05:00:33.411Z,1761541233.411 [DAT](INFO): Local bearing/azimuth received: Bearing 190.4, -1.5 (Local) 2025-10-27T05:00:33.413Z,1761541233.413 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-27T05:00:33.417Z,1761541233.417 [DAT](INFO): DAT read: 05:00:32.0628 LVL= 29232, 26833, 32754, 32755, AGC= 62, IDX= 505,-0.13, 2.626,-1.803, 2.724,-2.685, PHS=-0.870, 0.927,-0.918, RAW= 331.3, 9.5, CAL= 330.8, 10.5, ROT= 179.2, -10.5 2025-10-27T05:00:33.418Z,1761541233.418 [DAT](INFO): got valid direction response: 05:00:32.0628 LVL= 29232, 26833, 32754, 32755, AGC= 62, IDX= 505,-0.13, 2.626,-1.803, 2.724,-2.685, PHS=-0.870, 0.927,-0.918, RAW= 331.3, 9.5, CAL= 330.8, 10.5, ROT= 179.2, -10.5 2025-10-27T05:00:33.419Z,1761541233.419 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:00:33.420Z,1761541233.420 [DAT](INFO): direction in FSK: [-0.983159,0.013728,0.182236] 2025-10-27T05:00:33.420Z,1761541233.420 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:33.424Z,1761541233.424 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.610859 2025-10-27T05:00:33.465Z,1761541233.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622855,0.776356,0.096554],[-0.782062,-0.621150,-0.050520],[0.020753,-0.106978,0.994045]] 2025-10-27T05:00:33.576Z,1761541233.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504050 s, deltaX: 0.300000 m, approachRate: 0.595179 m/s, rangeRepo size: 4 2025-10-27T05:00:33.578Z,1761541233.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.268588 m, bearing: 49.541036 deg, lat: 36.779326 deg, lon: -121.859603 deg, deltaT: 0.504050 s, deltaX: 0.298504 m, approachRate: 0.592212 m/s, posRepo size: 4 2025-10-27T05:00:33.578Z,1761541233.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-27T05:00:33.660Z,1761541233.660 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.847035 2025-10-27T05:00:33.849Z,1761541233.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623073,0.776510,0.093875],[-0.781904,-0.621457,-0.049176],[0.020153,-0.104042,0.994369]] 2025-10-27T05:00:33.913Z,1761541233.913 [DAT](INFO): DAT read: Rx Time:05:00:32.5628 2025-10-27T05:00:33.913Z,1761541233.913 [DAT](INFO): Rx dataTimestamp_ set to:1761541233.912739 2025-10-27T05:00:33.914Z,1761541233.914 [DAT](INFO): DAT read: Bearing 195.6, 0.9 (Local) 2025-10-27T05:00:33.915Z,1761541233.915 [DAT](INFO): Local bearing/azimuth received: Bearing 195.6, 0.9 (Local) 2025-10-27T05:00:33.917Z,1761541233.917 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-27T05:00:33.921Z,1761541233.921 [DAT](INFO): DAT read: 05:00:32.5628 LVL= 32416, 28945, 32754, 32755, AGC= 62, IDX= 506,-0.50, 0.728, 2.657, 0.746, 1.602, PHS=-0.772, 1.101,-0.900, RAW= 333.3, 5.9, CAL= 332.6, 4.9, ROT= 177.4, -4.9 2025-10-27T05:00:33.922Z,1761541233.922 [DAT](INFO): got valid direction response: 05:00:32.5628 LVL= 32416, 28945, 32754, 32755, AGC= 62, IDX= 506,-0.50, 0.728, 2.657, 0.746, 1.602, PHS=-0.772, 1.101,-0.900, RAW= 333.3, 5.9, CAL= 332.6, 4.9, ROT= 177.4, -4.9 2025-10-27T05:00:33.923Z,1761541233.923 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:00:33.924Z,1761541233.924 [DAT](INFO): direction in FSK: [-0.995320,0.045197,0.085417] 2025-10-27T05:00:33.924Z,1761541233.924 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:33.928Z,1761541233.928 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.114805 2025-10-27T05:00:34.044Z,1761541234.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:34.046Z,1761541234.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.268574 m, bearing: 48.357877 deg, lat: 36.779326 deg, lon: -121.859608 deg, deltaT: 0.504006 s, deltaX: -0.000014 m, approachRate: -0.000027 m/s, posRepo size: 4 2025-10-27T05:00:34.051Z,1761541234.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-27T05:00:34.164Z,1761541234.164 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.351295 2025-10-27T05:00:34.296Z,1761541234.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622349,0.777325,0.091908],[-0.782489,-0.620816,-0.047931],[0.019800,-0.101747,0.994613]] 2025-10-27T05:00:34.360Z,1761541234.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-27T05:00:34.417Z,1761541234.417 [DAT](INFO): DAT read: Rx Time:05:00:33.0630 2025-10-27T05:00:34.418Z,1761541234.418 [DAT](INFO): Rx dataTimestamp_ set to:1761541234.417748 2025-10-27T05:00:34.420Z,1761541234.420 [DAT](INFO): DAT read: Bearing 193.3, 2.0 (Local) 2025-10-27T05:00:34.420Z,1761541234.420 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 2.0 (Local) 2025-10-27T05:00:34.422Z,1761541234.422 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-27T05:00:34.441Z,1761541234.441 [DAT](INFO): DAT read: 05:00:33.0630 LVL= 32752, 22033, 29938, 32755, AGC= 63, IDX= 507, 0.04, 2.335,-2.123, 2.319,-3.088, PHS=-0.758, 1.010,-0.920, RAW= 334.3, 7.3, CAL= 333.8, 7.0, ROT= 176.2, -7.0 2025-10-27T05:00:34.442Z,1761541234.442 [DAT](INFO): got valid direction response: 05:00:33.0630 LVL= 32752, 22033, 29938, 32755, AGC= 63, IDX= 507, 0.04, 2.335,-2.123, 2.319,-3.088, PHS=-0.758, 1.010,-0.920, RAW= 334.3, 7.3, CAL= 333.8, 7.0, ROT= 176.2, -7.0 2025-10-27T05:00:34.451Z,1761541234.451 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:00:34.452Z,1761541234.452 [DAT](INFO): direction in FSK: [-0.990364,0.065780,0.121869] 2025-10-27T05:00:34.453Z,1761541234.453 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:34.460Z,1761541234.460 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.647380 2025-10-27T05:00:34.668Z,1761541234.668 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.854913 2025-10-27T05:00:34.686Z,1761541234.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621524,0.778235,0.089760],[-0.783154,-0.620082,-0.046559],[0.019425,-0.099233,0.994875]] 2025-10-27T05:00:34.797Z,1761541234.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.505009 s, deltaX: 0.300000 m, approachRate: 0.594048 m/s, rangeRepo size: 4 2025-10-27T05:00:34.803Z,1761541234.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.567077 m, bearing: 47.095623 deg, lat: 36.779328 deg, lon: -121.859609 deg, deltaT: 0.505009 s, deltaX: 0.298503 m, approachRate: 0.591084 m/s, posRepo size: 4 2025-10-27T05:00:34.804Z,1761541234.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.57 m. 2025-10-27T05:00:34.921Z,1761541234.921 [DAT](INFO): DAT read: Rx Time:05:00:33.5631 2025-10-27T05:00:34.921Z,1761541234.921 [DAT](INFO): Rx dataTimestamp_ set to:1761541234.920755 2025-10-27T05:00:34.922Z,1761541234.922 [DAT](INFO): DAT read: Bearing 194.5, 3.3 (Local) 2025-10-27T05:00:34.923Z,1761541234.923 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 3.3 (Local) 2025-10-27T05:00:34.925Z,1761541234.925 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4 2025-10-27T05:00:34.929Z,1761541234.929 [DAT](INFO): DAT read: 05:00:33.5631 LVL= 32752, 22897, 28770, 32755, AGC= 63, IDX= 508,-0.32,-0.231, 1.579,-0.294, 0.581, PHS=-0.710, 1.043,-0.919, RAW= 335.6, 6.3, CAL= 335.0, 5.5, ROT= 175.0, -5.5 2025-10-27T05:00:34.930Z,1761541234.930 [DAT](INFO): got valid direction response: 05:00:33.5631 LVL= 32752, 22897, 28770, 32755, AGC= 63, IDX= 508,-0.32,-0.231, 1.579,-0.294, 0.581, PHS=-0.710, 1.043,-0.919, RAW= 335.6, 6.3, CAL= 335.0, 5.5, ROT= 175.0, -5.5 2025-10-27T05:00:34.931Z,1761541234.931 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:00:34.932Z,1761541234.932 [DAT](INFO): direction in FSK: [-0.991608,0.086754,0.095846] 2025-10-27T05:00:34.932Z,1761541234.932 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:34.941Z,1761541234.941 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.127902 2025-10-27T05:00:35.114Z,1761541235.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620990,0.778745,0.089035],[-0.783581,-0.619577,-0.046098],[0.019265,-0.098392,0.994961]] 2025-10-27T05:00:35.173Z,1761541235.173 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.359812 2025-10-27T05:00:35.286Z,1761541235.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503007 s, deltaX: 0.200000 m, approachRate: 0.397609 m/s, rangeRepo size: 4 2025-10-27T05:00:35.293Z,1761541235.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.766077 m, bearing: 46.095017 deg, lat: 36.779328 deg, lon: -121.859611 deg, deltaT: 0.503007 s, deltaX: 0.198999 m, approachRate: 0.395620 m/s, posRepo size: 4 2025-10-27T05:00:35.293Z,1761541235.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.77 m. 2025-10-27T05:00:35.425Z,1761541235.425 [DAT](INFO): DAT read: Rx Time:05:00:34.0634 2025-10-27T05:00:35.425Z,1761541235.425 [DAT](INFO): Rx dataTimestamp_ set to:1761541235.424987 2025-10-27T05:00:35.427Z,1761541235.427 [DAT](INFO): DAT read: Bearing 195.1, 5.3 (Local) 2025-10-27T05:00:35.427Z,1761541235.427 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 5.3 (Local) 2025-10-27T05:00:35.429Z,1761541235.429 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4 2025-10-27T05:00:35.434Z,1761541235.434 [DAT](INFO): DAT read: 05:00:34.0634 LVL= 32752, 26481, 30082, 32755, AGC= 63, IDX= 510, 0.13, 2.077,-2.421, 1.943, 2.840, PHS=-0.661, 1.067,-0.941, RAW= 337.4, 5.7, CAL= 336.9, 4.5, ROT= 173.1, -4.5 2025-10-27T05:00:35.435Z,1761541235.435 [DAT](INFO): got valid direction response: 05:00:34.0634 LVL= 32752, 26481, 30082, 32755, AGC= 63, IDX= 510, 0.13, 2.077,-2.421, 1.943, 2.840, PHS=-0.661, 1.067,-0.941, RAW= 337.4, 5.7, CAL= 336.9, 4.5, ROT= 173.1, -4.5 2025-10-27T05:00:35.439Z,1761541235.439 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:00:35.440Z,1761541235.440 [DAT](INFO): direction in FSK: [-0.989697,0.119766,0.078459] 2025-10-27T05:00:35.441Z,1761541235.441 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:35.444Z,1761541235.444 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.631272 2025-10-27T05:00:35.559Z,1761541235.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620190,0.779368,0.089168],[-0.784220,-0.618751,-0.046324],[0.019069,-0.098657,0.994939]] 2025-10-27T05:00:35.608Z,1761541235.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504232 s, deltaX: 0.400000 m, approachRate: 0.793285 m/s, rangeRepo size: 4 2025-10-27T05:00:35.610Z,1761541235.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.164081 m, bearing: 44.361670 deg, lat: 36.779328 deg, lon: -121.859612 deg, deltaT: 0.504232 s, deltaX: 0.398004 m, approachRate: 0.789327 m/s, posRepo size: 4 2025-10-27T05:00:35.610Z,1761541235.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m. 2025-10-27T05:00:35.677Z,1761541235.677 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.863812 2025-10-27T05:00:35.928Z,1761541235.928 [DAT](INFO): DAT read: Rx Time:05:00:34.5634 2025-10-27T05:00:35.929Z,1761541235.929 [DAT](INFO): Rx dataTimestamp_ set to:1761541235.928677 2025-10-27T05:00:35.930Z,1761541235.930 [DAT](INFO): DAT read: Bearing 196.2, 6.7 (Local) 2025-10-27T05:00:35.931Z,1761541235.931 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 6.7 (Local) 2025-10-27T05:00:35.938Z,1761541235.938 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4 2025-10-27T05:00:35.969Z,1761541235.969 [DAT](INFO): DAT read: 05:00:34.5634 LVL= 32752, 23025, 30850, 32755, AGC= 63, IDX= 511,-0.25,-0.380, 1.408,-0.566, 0.342, PHS=-0.620, 1.111,-0.952, RAW= 338.6, 4.9, CAL= 338.2, 3.2, ROT= 171.8, -3.2 2025-10-27T05:00:35.970Z,1761541235.970 [DAT](INFO): got valid direction response: 05:00:34.5634 LVL= 32752, 23025, 30850, 32755, AGC= 63, IDX= 511,-0.25,-0.380, 1.408,-0.566, 0.342, PHS=-0.620, 1.111,-0.952, RAW= 338.6, 4.9, CAL= 338.2, 3.2, ROT= 171.8, -3.2 2025-10-27T05:00:35.970Z,1761541235.970 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:00:35.977Z,1761541235.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620128,0.779443,0.088940],[-0.784268,-0.618707,-0.046095],[0.019100,-0.098338,0.994970]] 2025-10-27T05:00:35.980Z,1761541235.980 [DAT](INFO): direction in FSK: [-0.988233,0.142406,0.055822] 2025-10-27T05:00:35.980Z,1761541235.980 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:36.001Z,1761541236.001 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.187371 2025-10-27T05:00:36.074Z,1761541236.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:36.078Z,1761541236.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.164060 m, bearing: 43.198999 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 0.503690 s, deltaX: -0.000021 m, approachRate: -0.000041 m/s, posRepo size: 4 2025-10-27T05:00:36.091Z,1761541236.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m. 2025-10-27T05:00:36.181Z,1761541236.181 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.367790 2025-10-27T05:00:36.433Z,1761541236.433 [DAT](INFO): DAT read: Rx Time:05:00:35.0637 2025-10-27T05:00:36.433Z,1761541236.433 [DAT](INFO): Rx dataTimestamp_ set to:1761541236.432743 2025-10-27T05:00:36.434Z,1761541236.434 [DAT](INFO): DAT read: Bearing 66.2, -13.8 (Local) 2025-10-27T05:00:36.435Z,1761541236.435 [DAT](INFO): Local bearing/azimuth received: Bearing 66.2, -13.8 (Local) 2025-10-27T05:00:36.441Z,1761541236.441 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 2025-10-27T05:00:36.446Z,1761541236.446 [DAT](INFO): DAT read: 05:00:35.0637 LVL= 32752, 19665, 27762, 32755, AGC= 61, IDX= 513, 0.13,-1.489,-2.900,-0.905,-0.624, PHS=-0.763,-2.231,-0.325, RAW= 162.7, 34.2, CAL= 165.0, 46.2, ROT= 345.0, -46.2 2025-10-27T05:00:36.448Z,1761541236.448 [DAT](INFO): got valid direction response: 05:00:35.0637 LVL= 32752, 19665, 27762, 32755, AGC= 61, IDX= 513, 0.13,-1.489,-2.900,-0.905,-0.624, PHS=-0.763,-2.231,-0.325, RAW= 162.7, 34.2, CAL= 165.0, 46.2, ROT= 345.0, -46.2 2025-10-27T05:00:36.448Z,1761541236.448 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:00:36.449Z,1761541236.449 [DAT](INFO): direction in FSK: [0.668559,-0.179140,0.721760] 2025-10-27T05:00:36.449Z,1761541236.449 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:36.482Z,1761541236.482 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.669059 2025-10-27T05:00:36.536Z,1761541236.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621733,0.778515,0.085804],[-0.782979,-0.620562,-0.042976],[0.019790,-0.093903,0.995385]] 2025-10-27T05:00:36.630Z,1761541236.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504066 s, deltaX: 0.500000 m, approachRate: 0.991934 m/s, rangeRepo size: 4 2025-10-27T05:00:36.636Z,1761541236.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.661564 m, bearing: 221.951280 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 0.504066 s, deltaX: 0.497504 m, approachRate: 0.986982 m/s, posRepo size: 4 2025-10-27T05:00:36.636Z,1761541236.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m. 2025-10-27T05:00:36.685Z,1761541236.685 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.871516 2025-10-27T05:00:36.910Z,1761541236.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622068,0.778224,0.086019],[-0.782705,-0.620919,-0.042803],[0.020101,-0.093953,0.995374]] 2025-10-27T05:00:36.937Z,1761541236.937 [DAT](INFO): DAT read: Rx Time:05:00:35.5638 2025-10-27T05:00:36.937Z,1761541236.937 [DAT](INFO): Rx dataTimestamp_ set to:1761541236.936697 2025-10-27T05:00:36.938Z,1761541236.938 [DAT](INFO): DAT read: Bearing 197.6, 8.5 (Local) 2025-10-27T05:00:36.939Z,1761541236.939 [DAT](INFO): Local bearing/azimuth received: Bearing 197.6, 8.5 (Local) 2025-10-27T05:00:36.941Z,1761541236.941 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4 2025-10-27T05:00:36.945Z,1761541236.945 [DAT](INFO): DAT read: 05:00:35.5638 LVL= 20192, 13745, 15698, 19171, AGC= 65, IDX= 2,-0.26,-0.640, 1.120,-0.898, 0.012, PHS=-0.551, 1.152,-0.954, RAW= 340.4, 3.7, CAL= 339.9, 1.3, ROT= 170.1, -1.3 2025-10-27T05:00:36.946Z,1761541236.946 [DAT](INFO): got valid direction response: 05:00:35.5638 LVL= 20192, 13745, 15698, 19171, AGC= 65, IDX= 2,-0.26,-0.640, 1.120,-0.898, 0.012, PHS=-0.551, 1.152,-0.954, RAW= 340.4, 3.7, CAL= 339.9, 1.3, ROT= 170.1, -1.3 2025-10-27T05:00:36.947Z,1761541236.947 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:00:36.948Z,1761541236.948 [DAT](INFO): direction in FSK: [-0.984856,0.171885,0.022687] 2025-10-27T05:00:36.948Z,1761541236.948 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:36.952Z,1761541236.952 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.138947 2025-10-27T05:00:36.981Z,1761541236.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503954 s, deltaX: 0.100000 m, approachRate: 0.198432 m/s, rangeRepo size: 4 2025-10-27T05:00:36.993Z,1761541236.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.761061 m, bearing: 41.545406 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.503954 s, deltaX: 0.099496 m, approachRate: 0.197431 m/s, posRepo size: 4 2025-10-27T05:00:36.993Z,1761541236.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.76 m. 2025-10-27T05:00:37.188Z,1761541237.188 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.375184 2025-10-27T05:00:37.313Z,1761541237.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623264,0.777293,0.085776],[-0.781738,-0.622190,-0.042029],[0.020700,-0.093249,0.995428]] 2025-10-27T05:00:37.361Z,1761541237.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.76 m. 2025-10-27T05:00:37.442Z,1761541237.442 [DAT](INFO): DAT read: Rx Time:05:00:36.0640 2025-10-27T05:00:37.442Z,1761541237.442 [DAT](INFO): Rx dataTimestamp_ set to:1761541237.441823 2025-10-27T05:00:37.443Z,1761541237.443 [DAT](INFO): DAT read: Bearing 198.5, 8.8 (Local) 2025-10-27T05:00:37.444Z,1761541237.444 [DAT](INFO): Local bearing/azimuth received: Bearing 198.5, 8.8 (Local) 2025-10-27T05:00:37.446Z,1761541237.446 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4 2025-10-27T05:00:37.450Z,1761541237.450 [DAT](INFO): DAT read: 05:00:36.0640 LVL= 28400, 17633, 22386, 29459, AGC= 63, IDX= 500, 0.13, 1.637,-2.870, 1.367, 2.271, PHS=-0.531, 1.188,-0.948, RAW= 340.6, 3.0, CAL= 340.1, 0.2, ROT= 169.9, -0.2 2025-10-27T05:00:37.452Z,1761541237.452 [DAT](INFO): got valid direction response: 05:00:36.0640 LVL= 28400, 17633, 22386, 29459, AGC= 63, IDX= 500, 0.13, 1.637,-2.870, 1.367, 2.271, PHS=-0.531, 1.188,-0.948, RAW= 340.6, 3.0, CAL= 340.1, 0.2, ROT= 169.9, -0.2 2025-10-27T05:00:37.452Z,1761541237.452 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:00:37.453Z,1761541237.453 [DAT](INFO): direction in FSK: [-0.984497,0.175366,0.003491] 2025-10-27T05:00:37.453Z,1761541237.453 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:37.461Z,1761541237.461 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.648341 2025-10-27T05:00:37.693Z,1761541237.693 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.879603 2025-10-27T05:00:37.763Z,1761541237.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624981,0.776007,0.084926],[-0.780352,-0.623997,-0.040966],[0.021204,-0.091875,0.995545]] 2025-10-27T05:00:37.787Z,1761541237.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.505126 s, deltaX: 0.300000 m, approachRate: 0.593912 m/s, rangeRepo size: 4 2025-10-27T05:00:37.789Z,1761541237.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.059563 m, bearing: 41.227778 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.505126 s, deltaX: 0.298502 m, approachRate: 0.590946 m/s, posRepo size: 4 2025-10-27T05:00:37.789Z,1761541237.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m. 2025-10-27T05:00:37.945Z,1761541237.945 [DAT](INFO): DAT read: Rx Time:05:00:36.5641 2025-10-27T05:00:37.945Z,1761541237.945 [DAT](INFO): Rx dataTimestamp_ set to:1761541237.944720 2025-10-27T05:00:37.946Z,1761541237.946 [DAT](INFO): DAT read: Bearing 199.3, 9.5 (Local) 2025-10-27T05:00:37.947Z,1761541237.947 [DAT](INFO): Local bearing/azimuth received: Bearing 199.3, 9.5 (Local) 2025-10-27T05:00:37.949Z,1761541237.949 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.4 2025-10-27T05:00:37.953Z,1761541237.953 [DAT](INFO): DAT read: 05:00:36.5641 LVL= 32064, 20673, 26898, 32755, AGC= 63, IDX= 501,-0.30,-1.262, 0.516,-1.558,-0.666, PHS=-0.494, 1.226,-0.937, RAW= 341.2, 2.1, CAL= 340.7, -0.8, ROT= 169.3, 0.8 2025-10-27T05:00:37.954Z,1761541237.954 [DAT](INFO): got valid direction response: 05:00:36.5641 LVL= 32064, 20673, 26898, 32755, AGC= 63, IDX= 501,-0.30,-1.262, 0.516,-1.558,-0.666, PHS=-0.494, 1.226,-0.937, RAW= 341.2, 2.1, CAL= 340.7, -0.8, ROT= 169.3, 0.8 2025-10-27T05:00:37.955Z,1761541237.955 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:00:37.956Z,1761541237.956 [DAT](INFO): direction in FSK: [-0.982517,0.185648,-0.013962] 2025-10-27T05:00:37.956Z,1761541237.956 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:37.960Z,1761541237.960 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.147179 2025-10-27T05:00:38.122Z,1761541238.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626877,0.774574,0.084020],[-0.778812,-0.625997,-0.039742],[0.021813,-0.090349,0.995671]] 2025-10-27T05:00:38.201Z,1761541238.201 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.387180 2025-10-27T05:00:38.259Z,1761541238.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.502897 s, deltaX: 0.200000 m, approachRate: 0.397695 m/s, rangeRepo size: 4 2025-10-27T05:00:38.265Z,1761541238.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.258587 m, bearing: 40.573252 deg, lat: 36.779333 deg, lon: -121.859616 deg, deltaT: 0.502897 s, deltaX: 0.199024 m, approachRate: 0.395755 m/s, posRepo size: 4 2025-10-27T05:00:38.265Z,1761541238.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.26 m. 2025-10-27T05:00:38.448Z,1761541238.448 [DAT](INFO): DAT read: Rx Time:05:00:37.0642 2025-10-27T05:00:38.449Z,1761541238.449 [DAT](INFO): Rx dataTimestamp_ set to:1761541238.448646 2025-10-27T05:00:38.450Z,1761541238.450 [DAT](INFO): DAT read: Bearing 199.8, 10.1 (Local) 2025-10-27T05:00:38.451Z,1761541238.451 [DAT](INFO): Local bearing/azimuth received: Bearing 199.8, 10.1 (Local) 2025-10-27T05:00:38.453Z,1761541238.453 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-27T05:00:38.457Z,1761541238.457 [DAT](INFO): DAT read: 05:00:37.0642 LVL= 28048, 17937, 24514, 31443, AGC= 64, IDX= 502, 0.11, 0.541, 2.315, 0.219, 1.107, PHS=-0.464, 1.253,-0.932, RAW= 341.7, 1.5, CAL= 341.3, -1.4, ROT= 168.7, 1.4 2025-10-27T05:00:38.458Z,1761541238.458 [DAT](INFO): got valid direction response: 05:00:37.0642 LVL= 28048, 17937, 24514, 31443, AGC= 64, IDX= 502, 0.11, 0.541, 2.315, 0.219, 1.107, PHS=-0.464, 1.253,-0.932, RAW= 341.7, 1.5, CAL= 341.3, -1.4, ROT= 168.7, 1.4 2025-10-27T05:00:38.459Z,1761541238.459 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:00:38.460Z,1761541238.460 [DAT](INFO): direction in FSK: [-0.980322,0.195888,-0.024432] 2025-10-27T05:00:38.460Z,1761541238.460 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:38.468Z,1761541238.468 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.655329 2025-10-27T05:00:38.557Z,1761541238.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628726,0.773153,0.083295],[-0.777305,-0.627930,-0.038730],[0.022360,-0.089096,0.995772]] 2025-10-27T05:00:38.644Z,1761541238.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503926 s, deltaX: 0.099999 m, approachRate: 0.198441 m/s, rangeRepo size: 4 2025-10-27T05:00:38.646Z,1761541238.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.358088 m, bearing: 39.885419 deg, lat: 36.779334 deg, lon: -121.859617 deg, deltaT: 0.503926 s, deltaX: 0.099501 m, approachRate: 0.197451 m/s, posRepo size: 4 2025-10-27T05:00:38.646Z,1761541238.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.36 m. 2025-10-27T05:00:38.704Z,1761541238.704 [DAT](INFO): DAT read: Rx Time:05:00:37.5643 2025-10-27T05:00:38.706Z,1761541238.706 [DAT](INFO): Rx dataTimestamp_ set to:1761541238.704397 2025-10-27T05:00:38.710Z,1761541238.710 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.895880 2025-10-27T05:00:38.934Z,1761541238.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630863,0.771532,0.082154],[-0.775560,-0.630152,-0.037613],[0.022749,-0.087444,0.995910]] 2025-10-27T05:00:38.953Z,1761541238.953 [DAT](INFO): DAT read: Bearing 200.0, 9.6 (Local) 2025-10-27T05:00:38.953Z,1761541238.953 [DAT](INFO): Local bearing/azimuth received: Bearing 200.0, 9.6 (Local) 2025-10-27T05:00:38.955Z,1761541238.955 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4 2025-10-27T05:00:38.968Z,1761541238.968 [DAT](INFO): DAT read: 05:00:37.5643 LVL= 31632, 21361, 28450, 32755, AGC= 64, IDX= 503,-0.29,-2.907,-1.141, 3.082,-2.347, PHS=-0.458, 1.250,-0.898, RAW= 341.2, 1.1, CAL= 340.7, -1.8, ROT= 169.3, 1.8 2025-10-27T05:00:38.969Z,1761541238.969 [DAT](INFO): got valid direction response: 05:00:37.5643 LVL= 31632, 21361, 28450, 32755, AGC= 64, IDX= 503,-0.29,-2.907,-1.141, 3.082,-2.347, PHS=-0.458, 1.250,-0.898, RAW= 341.2, 1.1, CAL= 340.7, -1.8, ROT= 169.3, 1.8 2025-10-27T05:00:38.969Z,1761541238.969 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T05:00:38.970Z,1761541238.970 [DAT](INFO): direction in FSK: [-0.982128,0.185575,-0.031411] 2025-10-27T05:00:38.971Z,1761541238.971 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:38.974Z,1761541238.974 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.161297 2025-10-27T05:00:38.990Z,1761541238.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.502799 s, deltaX: 0.200001 m, approachRate: 0.397775 m/s, rangeRepo size: 4 2025-10-27T05:00:38.990Z,1761541238.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.36 m. 2025-10-27T05:00:39.209Z,1761541239.209 [DAT](INFO): DAT read: Rx Time:05:00:38.0645 2025-10-27T05:00:39.212Z,1761541239.212 [DAT](INFO): Rx dataTimestamp_ set to:1761541239.209754 2025-10-27T05:00:39.216Z,1761541239.216 [DAT](INFO): DAT read: Bearing 200.3, 10.3 (Local) 2025-10-27T05:00:39.218Z,1761541239.218 [DAT](INFO): Local bearing/azimuth received: Bearing 200.3, 10.3 (Local) 2025-10-27T05:00:39.225Z,1761541239.225 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.411339 2025-10-27T05:00:39.337Z,1761541239.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633175,0.769749,0.081091],[-0.773659,-0.632554,-0.036435],[0.023249,-0.085807,0.996041]] 2025-10-27T05:00:39.392Z,1761541239.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.36 m. 2025-10-27T05:00:39.458Z,1761541239.458 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 2025-10-27T05:00:39.462Z,1761541239.462 [DAT](INFO): DAT read: 05:00:38.0645 LVL= 27376, 17793, 26978, 32755, AGC= 64, IDX= 505, 0.14,-0.386, 1.381,-0.712, 0.149, PHS=-0.432, 1.277,-0.905, RAW= 341.9, 0.6, CAL= 341.4, -2.3, ROT= 168.6, 2.3 2025-10-27T05:00:39.464Z,1761541239.464 [DAT](INFO): got valid direction response: 05:00:38.0645 LVL= 27376, 17793, 26978, 32755, AGC= 64, IDX= 505, 0.14,-0.386, 1.381,-0.712, 0.149, PHS=-0.432, 1.277,-0.905, RAW= 341.9, 0.6, CAL= 341.4, -2.3, ROT= 168.6, 2.3 2025-10-27T05:00:39.464Z,1761541239.464 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T05:00:39.465Z,1761541239.465 [DAT](INFO): direction in FSK: [-0.979481,0.197498,-0.040132] 2025-10-27T05:00:39.465Z,1761541239.465 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:39.469Z,1761541239.469 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.655920 2025-10-27T05:00:39.712Z,1761541239.712 [DAT](INFO): DAT read: Rx Time:05:00:38.5646 2025-10-27T05:00:39.713Z,1761541239.713 [DAT](INFO): Rx dataTimestamp_ set to:1761541239.712106 2025-10-27T05:00:39.718Z,1761541239.718 [DAT](INFO): DAT read: Bearing 200.3, 9.4 (Local) 2025-10-27T05:00:39.719Z,1761541239.719 [DAT](INFO): Local bearing/azimuth received: Bearing 200.3, 9.4 (Local) 2025-10-27T05:00:39.724Z,1761541239.724 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 2025-10-27T05:00:39.726Z,1761541239.726 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-27T05:00:39.768Z,1761541239.768 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.955227 2025-10-27T05:00:39.789Z,1761541239.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635310,0.768015,0.080832],[-0.771893,-0.634735,-0.035948],[0.023698,-0.085232,0.996079]] 2025-10-27T05:00:39.852Z,1761541239.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.760661 s, deltaX: 0.400000 m, approachRate: 0.525858 m/s, rangeRepo size: 4 2025-10-27T05:00:39.854Z,1761541239.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.955122 m, bearing: 39.358638 deg, lat: 36.779334 deg, lon: -121.859619 deg, deltaT: 1.263460 s, deltaX: 0.597034 m, approachRate: 0.472539 m/s, posRepo size: 4 2025-10-27T05:00:39.854Z,1761541239.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.96 m. 2025-10-27T05:00:39.964Z,1761541239.964 [DAT](INFO): DAT read: 05:00:38.5646 LVL= 32752, 23921, 32754, 32755, AGC= 64, IDX= 506,-0.18, 2.087,-2.430, 1.801, 2.631, PHS=-0.442, 1.267,-0.874, RAW= 341.0, 0.5, CAL= 340.5, -2.4, ROT= 169.5, 2.4 2025-10-27T05:00:39.965Z,1761541239.965 [DAT](INFO): got valid direction response: 05:00:38.5646 LVL= 32752, 23921, 32754, 32755, AGC= 64, IDX= 506,-0.18, 2.087,-2.430, 1.801, 2.631, PHS=-0.442, 1.267,-0.874, RAW= 341.0, 0.5, CAL= 340.5, -2.4, ROT= 169.5, 2.4 2025-10-27T05:00:39.966Z,1761541239.966 [DAT](INFO): #Rx 33: Read direction message, but no range. 2025-10-27T05:00:39.967Z,1761541239.967 [DAT](INFO): direction in FSK: [-0.982392,0.182076,-0.041876] 2025-10-27T05:00:39.971Z,1761541239.971 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.157730 2025-10-27T05:00:40.146Z,1761541240.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637266,0.766441,0.080375],[-0.770265,-0.636750,-0.035239],[0.024171,-0.084367,0.996142]] 2025-10-27T05:00:40.217Z,1761541240.217 [DAT](INFO): DAT read: Rx Time:05:00:39.0649 2025-10-27T05:00:40.221Z,1761541240.221 [DAT](INFO): Rx dataTimestamp_ set to:1761541240.217751 2025-10-27T05:00:40.225Z,1761541240.225 [DAT](INFO): DAT read: Bearing 200.3, 9.9 (Local) 2025-10-27T05:00:40.227Z,1761541240.227 [DAT](INFO): Local bearing/azimuth received: Bearing 200.3, 9.9 (Local) 2025-10-27T05:00:40.245Z,1761541240.245 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.4 2025-10-27T05:00:40.255Z,1761541240.255 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T05:00:40.256Z,1761541240.256 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.443039 2025-10-27T05:00:40.273Z,1761541240.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.505645 s, deltaX: 0.500000 m, approachRate: 0.988836 m/s, rangeRepo size: 4 2025-10-27T05:00:40.279Z,1761541240.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.452628 m, bearing: 40.116900 deg, lat: 36.779334 deg, lon: -121.859619 deg, deltaT: 0.505645 s, deltaX: 0.497506 m, approachRate: 0.983904 m/s, posRepo size: 4 2025-10-27T05:00:40.280Z,1761541240.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m. 2025-10-27T05:00:40.468Z,1761541240.468 [DAT](INFO): DAT read: 05:00:39.0649 LVL= 31728, 21217, 30706, 32755, AGC= 64, IDX= 508, 0.26,-1.319, 0.435,-1.622,-0.794, PHS=-0.424, 1.273,-0.872, RAW= 341.4, 0.2, CAL= 341.0, -2.7, ROT= 169.0, 2.7 2025-10-27T05:00:40.469Z,1761541240.469 [DAT](INFO): got valid direction response: 05:00:39.0649 LVL= 31728, 21217, 30706, 32755, AGC= 64, IDX= 508, 0.26,-1.319, 0.435,-1.622,-0.794, PHS=-0.424, 1.273,-0.872, RAW= 341.4, 0.2, CAL= 341.0, -2.7, ROT= 169.0, 2.7 2025-10-27T05:00:40.469Z,1761541240.469 [DAT](INFO): #Rx 35: Read direction message, but no range. 2025-10-27T05:00:40.470Z,1761541240.470 [DAT](INFO): direction in FSK: [-0.980537,0.190597,-0.047106] 2025-10-27T05:00:40.475Z,1761541240.475 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.661655 2025-10-27T05:00:40.678Z,1761541240.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639229,0.764883,0.079621],[-0.768627,-0.638765,-0.034518],[0.024457,-0.083264,0.996227]] 2025-10-27T05:00:40.720Z,1761541240.720 [DAT](INFO): DAT read: Rx Time:05:00:39.5649 2025-10-27T05:00:40.721Z,1761541240.721 [DAT](INFO): Rx dataTimestamp_ set to:1761541240.720471 2025-10-27T05:00:40.725Z,1761541240.725 [DAT](INFO): DAT read: Bearing 200.8, 9.0 (Local) 2025-10-27T05:00:40.726Z,1761541240.726 [DAT](INFO): Local bearing/azimuth received: Bearing 200.8, 9.0 (Local) 2025-10-27T05:00:40.730Z,1761541240.730 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.4 2025-10-27T05:00:40.741Z,1761541240.741 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-27T05:00:40.744Z,1761541240.744 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.930462 2025-10-27T05:00:40.808Z,1761541240.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.502720 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:40.810Z,1761541240.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.452628 m, bearing: 39.490174 deg, lat: 36.779335 deg, lon: -121.859619 deg, deltaT: 0.502720 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:00:40.810Z,1761541240.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m. 2025-10-27T05:00:40.972Z,1761541240.972 [DAT](INFO): DAT read: 05:00:39.5649 LVL= 29936, 20593, 30706, 32755, AGC= 65, IDX= 509,-0.09, 2.105,-2.394, 1.841, 2.637, PHS=-0.429, 1.297,-0.839, RAW= 340.4, -0.3, CAL= 340.0, -3.2, ROT= 170.0, 3.2 2025-10-27T05:00:40.973Z,1761541240.973 [DAT](INFO): got valid direction response: 05:00:39.5649 LVL= 29936, 20593, 30706, 32755, AGC= 65, IDX= 509,-0.09, 2.105,-2.394, 1.841, 2.637, PHS=-0.429, 1.297,-0.839, RAW= 340.4, -0.3, CAL= 340.0, -3.2, ROT= 170.0, 3.2 2025-10-27T05:00:40.973Z,1761541240.973 [DAT](INFO): #Rx 37: Read direction message, but no range. 2025-10-27T05:00:40.974Z,1761541240.974 [DAT](INFO): direction in FSK: [-0.983272,0.173378,-0.055822] 2025-10-27T05:00:40.979Z,1761541240.979 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.166332 2025-10-27T05:00:41.225Z,1761541241.225 [DAT](INFO): DAT read: Rx Time:05:00:40.0652 2025-10-27T05:00:41.228Z,1761541241.228 [DAT](INFO): Rx dataTimestamp_ set to:1761541241.226132 2025-10-27T05:00:41.232Z,1761541241.232 [DAT](INFO): DAT read: Bearing 200.5, 9.0 (Local) 2025-10-27T05:00:41.234Z,1761541241.234 [DAT](INFO): Local bearing/azimuth received: Bearing 200.5, 9.0 (Local) 2025-10-27T05:00:41.254Z,1761541241.254 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4 2025-10-27T05:00:41.267Z,1761541241.267 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-27T05:00:41.268Z,1761541241.268 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.455036 2025-10-27T05:00:41.297Z,1761541241.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642704,0.762134,0.077998],[-0.765709,-0.642338,-0.033038],[0.024922,-0.080958,0.996406]] 2025-10-27T05:00:41.392Z,1761541241.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.505661 s, deltaX: 0.400000 m, approachRate: 0.791043 m/s, rangeRepo size: 4 2025-10-27T05:00:41.394Z,1761541241.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.850644 m, bearing: 40.259404 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 0.505661 s, deltaX: 0.398016 m, approachRate: 0.787120 m/s, posRepo size: 4 2025-10-27T05:00:41.394Z,1761541241.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-27T05:00:41.477Z,1761541241.477 [DAT](INFO): DAT read: 05:00:40.0652 LVL= 28624, 17217, 27026, 32755, AGC= 64, IDX= 511, 0.40,-1.896,-0.139,-2.155,-1.369, PHS=-0.425, 1.275,-0.830, RAW= 340.4, -0.2, CAL= 340.0, -3.1, ROT= 170.0, 3.1 2025-10-27T05:00:41.480Z,1761541241.480 [DAT](INFO): got valid direction response: 05:00:40.0652 LVL= 28624, 17217, 27026, 32755, AGC= 64, IDX= 511, 0.40,-1.896,-0.139,-2.155,-1.369, PHS=-0.425, 1.275,-0.830, RAW= 340.4, -0.2, CAL= 340.0, -3.1, ROT= 170.0, 3.1 2025-10-27T05:00:41.480Z,1761541241.480 [DAT](INFO): #Rx 39: Read direction message, but no range. 2025-10-27T05:00:41.482Z,1761541241.482 [DAT](INFO): direction in FSK: [-0.983367,0.173394,-0.054079] 2025-10-27T05:00:41.490Z,1761541241.490 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.677277 2025-10-27T05:00:41.672Z,1761541241.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-27T05:00:41.728Z,1761541241.728 [DAT](INFO): DAT read: Rx Time:05:00:40.5652 2025-10-27T05:00:41.729Z,1761541241.729 [DAT](INFO): Rx dataTimestamp_ set to:1761541241.728132 2025-10-27T05:00:41.733Z,1761541241.733 [DAT](INFO): DAT read: Bearing 207.7, 10.2 (Local) 2025-10-27T05:00:41.734Z,1761541241.734 [DAT](INFO): Local bearing/azimuth received: Bearing 207.7, 10.2 (Local) 2025-10-27T05:00:41.739Z,1761541241.739 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4 2025-10-27T05:00:41.741Z,1761541241.741 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T05:00:41.749Z,1761541241.749 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.935875 2025-10-27T05:00:41.982Z,1761541241.982 [DAT](INFO): DAT read: 05:00:40.5652 LVL= 29840, 21393, 31666, 32755, AGC= 65, IDX= 512,-0.01,-0.483, 0.883,-0.668,-0.237, PHS=-0.144, 1.165,-0.475, RAW= 341.0, -7.3, CAL= 340.6, -10.3, ROT= 169.4, 10.3 2025-10-27T05:00:41.985Z,1761541241.985 [DAT](INFO): got valid direction response: 05:00:40.5652 LVL= 29840, 21393, 31666, 32755, AGC= 65, IDX= 512,-0.01,-0.483, 0.883,-0.668,-0.237, PHS=-0.144, 1.165,-0.475, RAW= 341.0, -7.3, CAL= 340.6, -10.3, ROT= 169.4, 10.3 2025-10-27T05:00:41.986Z,1761541241.986 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T05:00:41.987Z,1761541241.987 [DAT](INFO): direction in FSK: [-0.967095,0.180987,-0.178802] 2025-10-27T05:00:41.993Z,1761541241.993 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.179844 2025-10-27T05:00:42.035Z,1761541242.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643878,0.761219,0.077243],[-0.764721,-0.643540,-0.032528],[0.024948,-0.080014,0.996482]] 2025-10-27T05:00:42.108Z,1761541242.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.502000 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:42.110Z,1761541242.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.850658 m, bearing: 40.107309 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 0.502000 s, deltaX: 0.000014 m, approachRate: 0.000028 m/s, posRepo size: 4 2025-10-27T05:00:42.115Z,1761541242.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-27T05:00:42.234Z,1761541242.234 [DAT](INFO): DAT read: Rx Time:05:00:41.0654 2025-10-27T05:00:42.236Z,1761541242.236 [DAT](INFO): Rx dataTimestamp_ set to:1761541242.235137 2025-10-27T05:00:42.244Z,1761541242.244 [DAT](INFO): DAT read: Bearing 200.9, 8.9 (Local) 2025-10-27T05:00:42.246Z,1761541242.246 [DAT](INFO): Local bearing/azimuth received: Bearing 200.9, 8.9 (Local) 2025-10-27T05:00:42.257Z,1761541242.257 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 2025-10-27T05:00:42.276Z,1761541242.276 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T05:00:42.277Z,1761541242.277 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.463541 2025-10-27T05:00:42.432Z,1761541242.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644556,0.760742,0.076279],[-0.764159,-0.644225,-0.032167],[0.024670,-0.079023,0.996567]] 2025-10-27T05:00:42.488Z,1761541242.488 [DAT](INFO): DAT read: 05:00:41.0654 LVL= 18832, 15521, 16322, 20339, AGC= 68, IDX= 1, 0.40,-2.865,-1.100,-3.119,-2.353, PHS=-0.410, 1.298,-0.810, RAW= 340.3, -0.8, CAL= 339.8, -3.7, ROT= 170.2, 3.7 2025-10-27T05:00:42.489Z,1761541242.489 [DAT](INFO): got valid direction response: 05:00:41.0654 LVL= 18832, 15521, 16322, 20339, AGC= 68, IDX= 1, 0.40,-2.865,-1.100,-3.119,-2.353, PHS=-0.410, 1.298,-0.810, RAW= 340.3, -0.8, CAL= 339.8, -3.7, ROT= 170.2, 3.7 2025-10-27T05:00:42.490Z,1761541242.490 [DAT](INFO): #Rx 43: Read direction message, but no range. 2025-10-27T05:00:42.492Z,1761541242.492 [DAT](INFO): direction in FSK: [-0.983354,0.169855,-0.064532] 2025-10-27T05:00:42.497Z,1761541242.497 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.683842 2025-10-27T05:00:42.539Z,1761541242.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.507005 s, deltaX: 0.300000 m, approachRate: 0.591711 m/s, rangeRepo size: 4 2025-10-27T05:00:42.541Z,1761541242.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.149163 m, bearing: 40.350830 deg, lat: 36.779336 deg, lon: -121.859617 deg, deltaT: 0.507005 s, deltaX: 0.298505 m, approachRate: 0.588761 m/s, posRepo size: 4 2025-10-27T05:00:42.541Z,1761541242.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m. 2025-10-27T05:00:42.736Z,1761541242.736 [DAT](INFO): DAT read: Rx Time:05:00:41.5654 2025-10-27T05:00:42.737Z,1761541242.737 [DAT](INFO): Rx dataTimestamp_ set to:1761541242.736587 2025-10-27T05:00:42.741Z,1761541242.741 [DAT](INFO): DAT read: Bearing 200.8, 9.1 (Local) 2025-10-27T05:00:42.742Z,1761541242.742 [DAT](INFO): Local bearing/azimuth received: Bearing 200.8, 9.1 (Local) 2025-10-27T05:00:42.749Z,1761541242.749 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 2025-10-27T05:00:42.752Z,1761541242.752 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-27T05:00:42.754Z,1761541242.754 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.940893 2025-10-27T05:00:42.838Z,1761541242.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645142,0.760357,0.075162],[-0.763674,-0.644825,-0.031679],[0.024379,-0.077836,0.996668]] 2025-10-27T05:00:42.865Z,1761541242.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.501450 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:42.866Z,1761541242.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m. 2025-10-27T05:00:42.990Z,1761541242.990 [DAT](INFO): DAT read: 05:00:41.5654 LVL= 32752, 23473, 32754, 32755, AGC= 65, IDX= 498,-0.15, 1.529,-2.988, 1.263, 2.038, PHS=-0.407, 1.303,-0.819, RAW= 340.5, -0.8, CAL= 340.1, -3.7, ROT= 169.9, 3.7 2025-10-27T05:00:42.992Z,1761541242.992 [DAT](INFO): got valid direction response: 05:00:41.5654 LVL= 32752, 23473, 32754, 32755, AGC= 65, IDX= 498,-0.15, 1.529,-2.988, 1.263, 2.038, PHS=-0.407, 1.303,-0.819, RAW= 340.5, -0.8, CAL= 340.1, -3.7, ROT= 169.9, 3.7 2025-10-27T05:00:42.993Z,1761541242.993 [DAT](INFO): #Rx 45: Read direction message, but no range. 2025-10-27T05:00:42.994Z,1761541242.994 [DAT](INFO): direction in FSK: [-0.982451,0.175001,-0.064532] 2025-10-27T05:00:42.000Z,1761541243.000 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.186680 2025-10-27T05:00:43.242Z,1761541243.242 [DAT](INFO): DAT read: Rx Time:05:00:42.0656 2025-10-27T05:00:43.244Z,1761541243.244 [DAT](INFO): Rx dataTimestamp_ set to:1761541243.242327 2025-10-27T05:00:43.249Z,1761541243.249 [DAT](INFO): DAT read: Bearing 200.7, 10.5 (Local) 2025-10-27T05:00:43.256Z,1761541243.256 [DAT](INFO): Local bearing/azimuth received: Bearing 200.7, 10.5 (Local) 2025-10-27T05:00:43.273Z,1761541243.273 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.3 2025-10-27T05:00:43.277Z,1761541243.277 [DAT](INFO): DAT read: 05:00:42.0656 LVL= 29536, 19345, 31282, 32755, AGC= 65, IDX= 500, 0.06,-1.000, 0.721,-1.313,-0.523, PHS=-0.374, 1.290,-0.834, RAW= 341.9, -0.9, CAL= 341.4, -3.8, ROT= 168.6, 3.8 2025-10-27T05:00:43.278Z,1761541243.278 [DAT](INFO): got valid direction response: 05:00:42.0656 LVL= 29536, 19345, 31282, 32755, AGC= 65, IDX= 500, 0.06,-1.000, 0.721,-1.313,-0.523, PHS=-0.374, 1.290,-0.834, RAW= 341.9, -0.9, CAL= 341.4, -3.8, ROT= 168.6, 3.8 2025-10-27T05:00:43.302Z,1761541243.302 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:00:43.303Z,1761541243.303 [DAT](INFO): direction in FSK: [-0.978116,0.197223,-0.066274] 2025-10-27T05:00:43.303Z,1761541243.303 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:43.327Z,1761541243.327 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.493729 2025-10-27T05:00:43.432Z,1761541243.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.505740 s, deltaX: 0.300000 m, approachRate: 0.593191 m/s, rangeRepo size: 4 2025-10-27T05:00:43.434Z,1761541243.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.447657 m, bearing: 38.708656 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 1.007190 s, deltaX: 0.298493 m, approachRate: 0.296363 m/s, posRepo size: 4 2025-10-27T05:00:43.434Z,1761541243.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m. 2025-10-27T05:00:43.489Z,1761541243.489 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.676130 2025-10-27T05:00:43.677Z,1761541243.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643300,0.762306,0.071103],[-0.765279,-0.642987,-0.030251],[0.022658,-0.073874,0.997010]] 2025-10-27T05:00:43.710Z,1761541243.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.45 m. 2025-10-27T05:00:43.744Z,1761541243.744 [DAT](INFO): DAT read: Rx Time:05:00:42.5657 2025-10-27T05:00:43.745Z,1761541243.745 [DAT](INFO): Rx dataTimestamp_ set to:1761541243.744336 2025-10-27T05:00:43.749Z,1761541243.749 [DAT](INFO): DAT read: Bearing 201.0, 11.8 (Local) 2025-10-27T05:00:43.750Z,1761541243.750 [DAT](INFO): Local bearing/azimuth received: Bearing 201.0, 11.8 (Local) 2025-10-27T05:00:43.755Z,1761541243.755 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 2025-10-27T05:00:43.756Z,1761541243.756 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-27T05:00:43.757Z,1761541243.757 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.943905 2025-10-27T05:00:43.998Z,1761541243.998 [DAT](INFO): DAT read: 05:00:42.5657 LVL= 27488, 19825, 32594, 32755, AGC= 65, IDX= 500, 0.35,-2.468,-0.776,-2.831,-2.033, PHS=-0.334, 1.301,-0.842, RAW= 343.1, -1.3, CAL= 342.7, -4.3, ROT= 167.3, 4.3 2025-10-27T05:00:44.001Z,1761541244.001 [DAT](INFO): got valid direction response: 05:00:42.5657 LVL= 27488, 19825, 32594, 32755, AGC= 65, IDX= 500, 0.35,-2.468,-0.776,-2.831,-2.033, PHS=-0.334, 1.301,-0.842, RAW= 343.1, -1.3, CAL= 342.7, -4.3, ROT= 167.3, 4.3 2025-10-27T05:00:44.001Z,1761541244.001 [DAT](INFO): #Rx 48: Read direction message, but no range. 2025-10-27T05:00:44.003Z,1761541244.003 [DAT](INFO): direction in FSK: [-0.972789,0.219227,-0.074979] 2025-10-27T05:00:44.009Z,1761541244.009 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.195829 2025-10-27T05:00:44.086Z,1761541244.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641364,0.764087,0.069456],[-0.766926,-0.641049,-0.029686],[0.021842,-0.072307,0.997143]] 2025-10-27T05:00:44.131Z,1761541244.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.502009 s, deltaX: 0.200000 m, approachRate: 0.398399 m/s, rangeRepo size: 4 2025-10-27T05:00:44.137Z,1761541244.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.646658 m, bearing: 37.704254 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 0.502009 s, deltaX: 0.199001 m, approachRate: 0.396410 m/s, posRepo size: 4 2025-10-27T05:00:44.137Z,1761541244.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m. 2025-10-27T05:00:44.255Z,1761541244.255 [DAT](INFO): DAT read: Rx Time:05:00:43.0659 2025-10-27T05:00:44.256Z,1761541244.256 [DAT](INFO): Rx dataTimestamp_ set to:1761541244.255535 2025-10-27T05:00:44.259Z,1761541244.259 [DAT](INFO): DAT read: Bearing 201.3, 12.3 (Local) 2025-10-27T05:00:44.260Z,1761541244.260 [DAT](INFO): Local bearing/azimuth received: Bearing 201.3, 12.3 (Local) 2025-10-27T05:00:44.265Z,1761541244.265 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3 2025-10-27T05:00:44.267Z,1761541244.267 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T05:00:44.270Z,1761541244.270 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.456146 2025-10-27T05:00:44.488Z,1761541244.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639318,0.765891,0.068441],[-0.768651,-0.638990,-0.029445],[0.021181,-0.071432,0.997221]] 2025-10-27T05:00:44.509Z,1761541244.509 [DAT](INFO): DAT read: 05:00:43.0659 LVL= 25136, 14577, 28194, 30707, AGC= 65, IDX= 503,-0.38,-2.494,-0.785,-2.886,-2.072, PHS=-0.320, 1.332,-0.858, RAW= 343.6, -1.6, CAL= 343.2, -4.5, ROT= 166.8, 4.5 2025-10-27T05:00:44.511Z,1761541244.511 [DAT](INFO): got valid direction response: 05:00:43.0659 LVL= 25136, 14577, 28194, 30707, AGC= 65, IDX= 503,-0.38,-2.494,-0.785,-2.886,-2.072, PHS=-0.320, 1.332,-0.858, RAW= 343.6, -1.6, CAL= 343.2, -4.5, ROT= 166.8, 4.5 2025-10-27T05:00:44.511Z,1761541244.511 [DAT](INFO): #Rx 50: Read direction message, but no range. 2025-10-27T05:00:44.512Z,1761541244.512 [DAT](INFO): direction in FSK: [-0.970578,0.227647,-0.078459] 2025-10-27T05:00:44.516Z,1761541244.516 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.702612 2025-10-27T05:00:44.640Z,1761541244.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.511199 s, deltaX: 0.300000 m, approachRate: 0.586856 m/s, rangeRepo size: 4 2025-10-27T05:00:44.642Z,1761541244.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.945163 m, bearing: 37.366591 deg, lat: 36.779336 deg, lon: -121.859619 deg, deltaT: 0.511199 s, deltaX: 0.298505 m, approachRate: 0.583931 m/s, posRepo size: 4 2025-10-27T05:00:44.651Z,1761541244.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T05:00:44.757Z,1761541244.757 [DAT](INFO): DAT read: Rx Time:05:00:43.5659 2025-10-27T05:00:44.758Z,1761541244.758 [DAT](INFO): Rx dataTimestamp_ set to:1761541244.757285 2025-10-27T05:00:44.760Z,1761541244.760 [DAT](INFO): DAT read: Bearing 201.3, 13.6 (Local) 2025-10-27T05:00:44.760Z,1761541244.760 [DAT](INFO): Local bearing/azimuth received: Bearing 201.3, 13.6 (Local) 2025-10-27T05:00:44.763Z,1761541244.763 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3 2025-10-27T05:00:44.769Z,1761541244.769 [DAT](INFO): DAT read: 05:00:43.5659 LVL= 25200, 17217, 29858, 32755, AGC= 65, IDX= 503,-0.26, 2.557,-2.073, 2.120, 2.940, PHS=-0.281, 1.315,-0.865, RAW= 345.0, -1.7, CAL= 344.6, -4.7, ROT= 165.4, 4.7 2025-10-27T05:00:44.770Z,1761541244.770 [DAT](INFO): got valid direction response: 05:00:43.5659 LVL= 25200, 17217, 29858, 32755, AGC= 65, IDX= 503,-0.26, 2.557,-2.073, 2.120, 2.940, PHS=-0.281, 1.315,-0.865, RAW= 345.0, -1.7, CAL= 344.6, -4.7, ROT= 165.4, 4.7 2025-10-27T05:00:44.772Z,1761541244.772 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:00:44.773Z,1761541244.773 [DAT](INFO): direction in FSK: [-0.964455,0.251222,-0.081939] 2025-10-27T05:00:44.773Z,1761541244.773 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:44.777Z,1761541244.777 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=22.963661 2025-10-27T05:00:44.897Z,1761541244.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637313,0.767593,0.068073],[-0.770331,-0.636953,-0.029690],[0.020569,-0.071360,0.997239]] 2025-10-27T05:00:44.954Z,1761541244.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.501750 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:44.960Z,1761541244.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.945170 m, bearing: 36.127844 deg, lat: 36.779337 deg, lon: -121.859619 deg, deltaT: 0.501750 s, deltaX: 0.000008 m, approachRate: 0.000015 m/s, posRepo size: 4 2025-10-27T05:00:44.961Z,1761541244.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.95 m. 2025-10-27T05:00:45.009Z,1761541245.009 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.195831 2025-10-27T05:00:45.264Z,1761541245.264 [DAT](INFO): DAT read: Rx Time:05:00:44.0661 2025-10-27T05:00:45.265Z,1761541245.265 [DAT](INFO): Rx dataTimestamp_ set to:1761541245.264713 2025-10-27T05:00:45.270Z,1761541245.270 [DAT](INFO): DAT read: Bearing 201.1, 14.9 (Local) 2025-10-27T05:00:45.271Z,1761541245.271 [DAT](INFO): Local bearing/azimuth received: Bearing 201.1, 14.9 (Local) 2025-10-27T05:00:45.293Z,1761541245.293 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.2 2025-10-27T05:00:45.312Z,1761541245.312 [DAT](INFO): DAT read: 05:00:44.0661 LVL= 23904, 20881, 30066, 32755, AGC= 65, IDX= 505,-0.36,-1.387, 0.225,-1.875,-1.029, PHS=-0.256, 1.299,-0.890, RAW= 346.3, -1.6, CAL= 345.9, -4.6, ROT= 164.1, 4.6 2025-10-27T05:00:45.313Z,1761541245.313 [DAT](INFO): got valid direction response: 05:00:44.0661 LVL= 23904, 20881, 30066, 32755, AGC= 65, IDX= 505,-0.36,-1.387, 0.225,-1.875,-1.029, PHS=-0.256, 1.299,-0.890, RAW= 346.3, -1.6, CAL= 345.9, -4.6, ROT= 164.1, 4.6 2025-10-27T05:00:45.313Z,1761541245.313 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:00:45.314Z,1761541245.314 [DAT](INFO): direction in FSK: [-0.958643,0.273077,-0.080199] 2025-10-27T05:00:45.314Z,1761541245.314 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:45.335Z,1761541245.335 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.517656 2025-10-27T05:00:45.454Z,1761541245.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.507428 s, deltaX: 0.300000 m, approachRate: 0.591217 m/s, rangeRepo size: 4 2025-10-27T05:00:45.465Z,1761541245.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.243675 m, bearing: 34.819039 deg, lat: 36.779338 deg, lon: -121.859620 deg, deltaT: 0.507428 s, deltaX: 0.298505 m, approachRate: 0.588270 m/s, posRepo size: 4 2025-10-27T05:00:45.466Z,1761541245.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-27T05:00:45.512Z,1761541245.512 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.699043 2025-10-27T05:00:45.762Z,1761541245.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633350,0.771000,0.066533],[-0.773630,-0.632934,-0.029857],[0.019091,-0.070382,0.997337]] 2025-10-27T05:00:45.765Z,1761541245.765 [DAT](INFO): DAT read: Rx Time:05:00:44.5661 2025-10-27T05:00:45.765Z,1761541245.765 [DAT](INFO): Rx dataTimestamp_ set to:1761541245.764787 2025-10-27T05:00:45.766Z,1761541245.766 [DAT](INFO): DAT read: Bearing 201.2, 18.3 (Local) 2025-10-27T05:00:45.767Z,1761541245.767 [DAT](INFO): Local bearing/azimuth received: Bearing 201.2, 18.3 (Local) 2025-10-27T05:00:45.769Z,1761541245.769 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.3 2025-10-27T05:00:45.774Z,1761541245.774 [DAT](INFO): DAT read: 05:00:44.5661 LVL= 21952, 18641, 32018, 32755, AGC= 66, IDX= 504, 0.43, 0.498, 1.982,-0.100, 0.771, PHS=-0.171, 1.255,-0.915, RAW= 349.7, -1.8, CAL= 349.3, -4.8, ROT= 160.7, 4.8 2025-10-27T05:00:45.775Z,1761541245.775 [DAT](INFO): got valid direction response: 05:00:44.5661 LVL= 21952, 18641, 32018, 32755, AGC= 66, IDX= 504, 0.43, 0.498, 1.982,-0.100, 0.771, PHS=-0.171, 1.255,-0.915, RAW= 349.7, -1.8, CAL= 349.3, -4.8, ROT= 160.7, 4.8 2025-10-27T05:00:45.792Z,1761541245.792 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:00:45.793Z,1761541245.793 [DAT](INFO): direction in FSK: [-0.940491,0.329355,-0.083678] 2025-10-27T05:00:45.793Z,1761541245.793 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:45.797Z,1761541245.797 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=23.984039 2025-10-27T05:00:45.878Z,1761541245.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.500074 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:45.884Z,1761541245.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.243663 m, bearing: 31.717139 deg, lat: 36.779338 deg, lon: -121.859621 deg, deltaT: 0.500074 s, deltaX: -0.000012 m, approachRate: -0.000025 m/s, posRepo size: 4 2025-10-27T05:00:45.884Z,1761541245.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-27T05:00:46.016Z,1761541246.016 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.203186 2025-10-27T05:00:46.138Z,1761541246.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631701,0.772439,0.065522],[-0.774991,-0.631279,-0.029579],[0.018515,-0.069464,0.997413]] 2025-10-27T05:00:46.157Z,1761541246.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-27T05:00:46.273Z,1761541246.273 [DAT](INFO): DAT read: Rx Time:05:00:45.0662 2025-10-27T05:00:46.274Z,1761541246.274 [DAT](INFO): Rx dataTimestamp_ set to:1761541246.273363 2025-10-27T05:00:46.279Z,1761541246.279 [DAT](INFO): DAT read: Bearing 200.2, 18.8 (Local) 2025-10-27T05:00:46.280Z,1761541246.280 [DAT](INFO): Local bearing/azimuth received: Bearing 200.2, 18.8 (Local) 2025-10-27T05:00:46.305Z,1761541246.305 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.2 2025-10-27T05:00:46.349Z,1761541246.349 [DAT](INFO): DAT read: 05:00:45.0662 LVL= 19184, 19249, 30514, 32051, AGC= 65, IDX= 505, 0.29, 0.597, 2.004, 0.014, 0.883, PHS=-0.184, 1.166,-0.913, RAW= 350.2, -0.8, CAL= 349.8, -3.8, ROT= 160.2, 3.8 2025-10-27T05:00:46.351Z,1761541246.351 [DAT](INFO): got valid direction response: 05:00:45.0662 LVL= 19184, 19249, 30514, 32051, AGC= 65, IDX= 505, 0.29, 0.597, 2.004, 0.014, 0.883, PHS=-0.184, 1.166,-0.913, RAW= 350.2, -0.8, CAL= 349.8, -3.8, ROT= 160.2, 3.8 2025-10-27T05:00:46.359Z,1761541246.359 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:00:46.360Z,1761541246.360 [DAT](INFO): direction in FSK: [-0.938812,0.337993,-0.066274] 2025-10-27T05:00:46.361Z,1761541246.361 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:46.379Z,1761541246.379 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.566252 2025-10-27T05:00:46.520Z,1761541246.520 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.706932 2025-10-27T05:00:46.542Z,1761541246.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630359,0.773685,0.063709],[-0.776097,-0.629959,-0.028726],[0.017909,-0.067552,0.997555]] 2025-10-27T05:00:46.632Z,1761541246.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.508576 s, deltaX: 0.099999 m, approachRate: 0.196626 m/s, rangeRepo size: 4 2025-10-27T05:00:46.634Z,1761541246.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.343163 m, bearing: 31.366490 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.508576 s, deltaX: 0.099501 m, approachRate: 0.195646 m/s, posRepo size: 4 2025-10-27T05:00:46.634Z,1761541246.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-27T05:00:46.773Z,1761541246.773 [DAT](INFO): DAT read: Rx Time:05:00:45.5662 2025-10-27T05:00:46.773Z,1761541246.773 [DAT](INFO): Rx dataTimestamp_ set to:1761541246.772789 2025-10-27T05:00:46.774Z,1761541246.774 [DAT](INFO): DAT read: Bearing 199.9, 17.1 (Local) 2025-10-27T05:00:46.775Z,1761541246.775 [DAT](INFO): Local bearing/azimuth received: Bearing 199.9, 17.1 (Local) 2025-10-27T05:00:46.777Z,1761541246.777 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.2 2025-10-27T05:00:46.781Z,1761541246.781 [DAT](INFO): DAT read: 05:00:45.5662 LVL= 21232, 20513, 30610, 31299, AGC= 66, IDX= 505, 0.17,-1.131, 0.330,-1.660,-0.797, PHS=-0.232, 1.172,-0.907, RAW= 348.6, -0.4, CAL= 348.1, -3.4, ROT= 161.9, 3.4 2025-10-27T05:00:46.783Z,1761541246.783 [DAT](INFO): got valid direction response: 05:00:45.5662 LVL= 21232, 20513, 30610, 31299, AGC= 66, IDX= 505, 0.17,-1.131, 0.330,-1.660,-0.797, PHS=-0.232, 1.172,-0.907, RAW= 348.6, -0.4, CAL= 348.1, -3.4, ROT= 161.9, 3.4 2025-10-27T05:00:46.783Z,1761541246.783 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:00:46.784Z,1761541246.784 [DAT](INFO): direction in FSK: [-0.948843,0.310130,-0.059306] 2025-10-27T05:00:46.784Z,1761541246.784 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:46.788Z,1761541246.788 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=24.975346 2025-10-27T05:00:46.946Z,1761541246.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629509,0.774462,0.062662],[-0.776798,-0.629107,-0.028438],[0.017396,-0.066578,0.997630]] 2025-10-27T05:00:47.024Z,1761541247.024 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.210974 2025-10-27T05:00:47.063Z,1761541247.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.499426 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:47.065Z,1761541247.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.343141 m, bearing: 33.105376 deg, lat: 36.779341 deg, lon: -121.859626 deg, deltaT: 0.499426 s, deltaX: -0.000023 m, approachRate: -0.000046 m/s, posRepo size: 4 2025-10-27T05:00:47.066Z,1761541247.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-27T05:00:47.282Z,1761541247.282 [DAT](INFO): DAT read: Rx Time:05:00:46.0664 2025-10-27T05:00:47.283Z,1761541247.283 [DAT](INFO): Rx dataTimestamp_ set to:1761541247.282291 2025-10-27T05:00:47.296Z,1761541247.296 [DAT](INFO): DAT read: Bearing 199.0, 15.3 (Local) 2025-10-27T05:00:47.296Z,1761541247.296 [DAT](INFO): Local bearing/azimuth received: Bearing 199.0, 15.3 (Local) 2025-10-27T05:00:47.333Z,1761541247.333 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.1 2025-10-27T05:00:47.345Z,1761541247.345 [DAT](INFO): DAT read: 05:00:46.0664 LVL= 23120, 15857, 28594, 31411, AGC= 66, IDX= 507, 0.03,-0.571, 0.931,-1.034,-0.173, PHS=-0.296, 1.149,-0.906, RAW= 346.8, 0.6, CAL= 346.3, -2.4, ROT= 163.7, 2.4 2025-10-27T05:00:47.347Z,1761541247.347 [DAT](INFO): got valid direction response: 05:00:46.0664 LVL= 23120, 15857, 28594, 31411, AGC= 66, IDX= 507, 0.03,-0.571, 0.931,-1.034,-0.173, PHS=-0.296, 1.149,-0.906, RAW= 346.8, 0.6, CAL= 346.3, -2.4, ROT= 163.7, 2.4 2025-10-27T05:00:47.363Z,1761541247.363 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:00:47.364Z,1761541247.364 [DAT](INFO): direction in FSK: [-0.958963,0.280421,-0.041876] 2025-10-27T05:00:47.365Z,1761541247.365 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:47.384Z,1761541247.384 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.571392 2025-10-27T05:00:47.524Z,1761541247.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.509502 s, deltaX: 0.300000 m, approachRate: 0.588811 m/s, rangeRepo size: 4 2025-10-27T05:00:47.526Z,1761541247.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.641644 m, bearing: 34.847870 deg, lat: 36.779341 deg, lon: -121.859626 deg, deltaT: 0.509502 s, deltaX: 0.298504 m, approachRate: 0.585874 m/s, posRepo size: 4 2025-10-27T05:00:47.526Z,1761541247.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-27T05:00:47.528Z,1761541247.528 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.715059 2025-10-27T05:00:47.776Z,1761541247.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628835,0.774998,0.062810],[-0.777352,-0.628399,-0.028947],[0.017036,-0.067028,0.997606]] 2025-10-27T05:00:47.781Z,1761541247.781 [DAT](INFO): DAT read: Rx Time:05:00:46.5664 2025-10-27T05:00:47.781Z,1761541247.781 [DAT](INFO): Rx dataTimestamp_ set to:1761541247.780779 2025-10-27T05:00:47.782Z,1761541247.782 [DAT](INFO): DAT read: Bearing 199.0, 12.9 (Local) 2025-10-27T05:00:47.783Z,1761541247.783 [DAT](INFO): Local bearing/azimuth received: Bearing 199.0, 12.9 (Local) 2025-10-27T05:00:47.785Z,1761541247.785 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.3 2025-10-27T05:00:47.799Z,1761541247.799 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:00:47.804Z,1761541247.804 [DAT](INFO): DAT read: 05:00:46.5664 LVL= 21024, 19729, 32354, 32755, AGC= 65, IDX= 507,-0.06, 2.658,-2.067, 2.281, 3.109, PHS=-0.349, 1.152,-0.871, RAW= 344.4, 0.8, CAL= 343.9, -2.2, ROT= 166.1, 2.2 2025-10-27T05:00:47.805Z,1761541247.805 [DAT](INFO): got valid direction response: 05:00:46.5664 LVL= 21024, 19729, 32354, 32755, AGC= 65, IDX= 507,-0.06, 2.658,-2.067, 2.281, 3.109, PHS=-0.349, 1.152,-0.871, RAW= 344.4, 0.8, CAL= 343.9, -2.2, ROT= 166.1, 2.2 2025-10-27T05:00:47.805Z,1761541247.805 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:00:47.806Z,1761541247.806 [DAT](INFO): direction in FSK: [-0.970001,0.240051,-0.038388] 2025-10-27T05:00:47.806Z,1761541247.806 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:47.862Z,1761541247.862 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.049236 2025-10-27T05:00:47.889Z,1761541247.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.498488 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:47.896Z,1761541247.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.641610 m, bearing: 37.287958 deg, lat: 36.779340 deg, lon: -121.859626 deg, deltaT: 0.498488 s, deltaX: -0.000034 m, approachRate: -0.000069 m/s, posRepo size: 4 2025-10-27T05:00:47.896Z,1761541247.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-27T05:00:48.032Z,1761541248.032 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.219032 2025-10-27T05:00:48.180Z,1761541248.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628758,0.775062,0.062789],[-0.777418,-0.628309,-0.029138],[0.016867,-0.067134,0.997601]] 2025-10-27T05:00:48.279Z,1761541248.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-27T05:00:48.285Z,1761541248.285 [DAT](INFO): DAT read: Rx Time:05:00:47.0666 2025-10-27T05:00:48.285Z,1761541248.285 [DAT](INFO): Rx dataTimestamp_ set to:1761541248.284778 2025-10-27T05:00:48.286Z,1761541248.286 [DAT](INFO): DAT read: Bearing 199.0, 11.9 (Local) 2025-10-27T05:00:48.287Z,1761541248.287 [DAT](INFO): Local bearing/azimuth received: Bearing 199.0, 11.9 (Local) 2025-10-27T05:00:48.289Z,1761541248.289 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 2025-10-27T05:00:48.297Z,1761541248.297 [DAT](INFO): DAT read: 05:00:47.0666 LVL= 21296, 17137, 28578, 31859, AGC= 64, IDX= 509,-0.16,-2.737,-1.147,-3.077,-2.262, PHS=-0.373, 1.160,-0.859, RAW= 343.3, 0.8, CAL= 342.9, -2.1, ROT= 167.1, 2.1 2025-10-27T05:00:48.301Z,1761541248.301 [DAT](INFO): got valid direction response: 05:00:47.0666 LVL= 21296, 17137, 28578, 31859, AGC= 64, IDX= 509,-0.16,-2.737,-1.147,-3.077,-2.262, PHS=-0.373, 1.160,-0.859, RAW= 343.3, 0.8, CAL= 342.9, -2.1, ROT= 167.1, 2.1 2025-10-27T05:00:48.302Z,1761541248.302 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:00:48.308Z,1761541248.308 [DAT](INFO): direction in FSK: [-0.974107,0.223100,-0.036644] 2025-10-27T05:00:48.308Z,1761541248.308 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:48.348Z,1761541248.348 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.534548 2025-10-27T05:00:48.536Z,1761541248.536 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.723045 2025-10-27T05:00:48.582Z,1761541248.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629199,0.774743,0.062298],[-0.777060,-0.628769,-0.028747],[0.016900,-0.066497,0.997643]] 2025-10-27T05:00:48.661Z,1761541248.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503999 s, deltaX: 0.300000 m, approachRate: 0.595240 m/s, rangeRepo size: 4 2025-10-27T05:00:48.664Z,1761541248.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.940113 m, bearing: 38.253461 deg, lat: 36.779339 deg, lon: -121.859622 deg, deltaT: 0.503999 s, deltaX: 0.298503 m, approachRate: 0.592269 m/s, posRepo size: 4 2025-10-27T05:00:48.664Z,1761541248.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:00:48.789Z,1761541248.789 [DAT](INFO): DAT read: Rx Time:05:00:47.5666 2025-10-27T05:00:48.789Z,1761541248.789 [DAT](INFO): Rx dataTimestamp_ set to:1761541248.788871 2025-10-27T05:00:48.790Z,1761541248.790 [DAT](INFO): DAT read: Bearing 198.7, 11.1 (Local) 2025-10-27T05:00:48.791Z,1761541248.791 [DAT](INFO): Local bearing/azimuth received: Bearing 198.7, 11.1 (Local) 2025-10-27T05:00:48.793Z,1761541248.793 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.1 2025-10-27T05:00:48.798Z,1761541248.798 [DAT](INFO): DAT read: 05:00:47.5666 LVL= 20032, 20897, 32754, 32755, AGC= 64, IDX= 509,-0.24, 1.686,-2.977, 1.369, 2.190, PHS=-0.401, 1.162,-0.864, RAW= 342.6, 1.1, CAL= 342.1, -1.8, ROT= 167.9, 1.8 2025-10-27T05:00:48.799Z,1761541248.799 [DAT](INFO): got valid direction response: 05:00:47.5666 LVL= 20032, 20897, 32754, 32755, AGC= 64, IDX= 509,-0.24, 1.686,-2.977, 1.369, 2.190, PHS=-0.401, 1.162,-0.864, RAW= 342.6, 1.1, CAL= 342.1, -1.8, ROT= 167.9, 1.8 2025-10-27T05:00:48.799Z,1761541248.799 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:00:48.800Z,1761541248.800 [DAT](INFO): direction in FSK: [-0.977301,0.209515,-0.031411] 2025-10-27T05:00:48.801Z,1761541248.801 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:48.803Z,1761541248.803 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:00:48.806Z,1761541248.806 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=26.992512 2025-10-27T05:00:48.998Z,1761541248.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630182,0.773960,0.062103],[-0.776261,-0.629764,-0.028573],[0.016996,-0.066215,0.997661]] 2025-10-27T05:00:49.027Z,1761541249.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504093 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:49.029Z,1761541249.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.940093 m, bearing: 38.961338 deg, lat: 36.779336 deg, lon: -121.859618 deg, deltaT: 0.504093 s, deltaX: -0.000020 m, approachRate: -0.000040 m/s, posRepo size: 4 2025-10-27T05:00:49.030Z,1761541249.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:00:49.040Z,1761541249.040 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.227028 2025-10-27T05:00:49.296Z,1761541249.296 [DAT](INFO): DAT read: Rx Time:05:00:48.0666 2025-10-27T05:00:49.298Z,1761541249.298 [DAT](INFO): Rx dataTimestamp_ set to:1761541249.296560 2025-10-27T05:00:49.302Z,1761541249.302 [DAT](INFO): DAT read: Bearing 198.2, 10.7 (Local) 2025-10-27T05:00:49.303Z,1761541249.303 [DAT](INFO): Local bearing/azimuth received: Bearing 198.2, 10.7 (Local) 2025-10-27T05:00:49.309Z,1761541249.309 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 2025-10-27T05:00:49.354Z,1761541249.354 [DAT](INFO): DAT read: 05:00:48.0666 LVL= 23424, 18593, 29810, 32435, AGC= 65, IDX= 510,-0.37, 1.985,-2.674, 1.682, 2.510, PHS=-0.423, 1.145,-0.871, RAW= 342.2, 1.7, CAL= 341.7, -1.2, ROT= 168.3, 1.2 2025-10-27T05:00:49.360Z,1761541249.360 [DAT](INFO): got valid direction response: 05:00:48.0666 LVL= 23424, 18593, 29810, 32435, AGC= 65, IDX= 510,-0.37, 1.985,-2.674, 1.682, 2.510, PHS=-0.423, 1.145,-0.871, RAW= 342.2, 1.7, CAL= 341.7, -1.2, ROT= 168.3, 1.2 2025-10-27T05:00:49.360Z,1761541249.360 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:00:49.361Z,1761541249.361 [DAT](INFO): direction in FSK: [-0.979008,0.202743,-0.020942] 2025-10-27T05:00:49.362Z,1761541249.362 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:49.374Z,1761541249.374 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.560562 2025-10-27T05:00:49.390Z,1761541249.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631255,0.773032,0.062750],[-0.775380,-0.630841,-0.028721],[0.017382,-0.066785,0.997616]] 2025-10-27T05:00:49.518Z,1761541249.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.507689 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:49.524Z,1761541249.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.940093 m, bearing: 39.245491 deg, lat: 36.779335 deg, lon: -121.859615 deg, deltaT: 0.507689 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:00:49.525Z,1761541249.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:00:49.544Z,1761541249.544 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.731016 2025-10-27T05:00:49.793Z,1761541249.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632458,0.772049,0.062749],[-0.774391,-0.632072,-0.028351],[0.017774,-0.066523,0.997627]] 2025-10-27T05:00:49.797Z,1761541249.797 [DAT](INFO): DAT read: Rx Time:05:00:48.5666 2025-10-27T05:00:49.797Z,1761541249.797 [DAT](INFO): Rx dataTimestamp_ set to:1761541249.796766 2025-10-27T05:00:49.798Z,1761541249.798 [DAT](INFO): DAT read: Bearing 197.6, 10.4 (Local) 2025-10-27T05:00:49.799Z,1761541249.799 [DAT](INFO): Local bearing/azimuth received: Bearing 197.6, 10.4 (Local) 2025-10-27T05:00:49.801Z,1761541249.801 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.3 2025-10-27T05:00:49.805Z,1761541249.805 [DAT](INFO): DAT read: 05:00:48.5666 LVL= 24720, 21713, 32754, 32755, AGC= 65, IDX= 510,-0.42, 0.769, 2.390, 0.481, 1.311, PHS=-0.440, 1.124,-0.874, RAW= 341.9, 2.1, CAL= 341.4, -0.8, ROT= 168.6, 0.8 2025-10-27T05:00:49.806Z,1761541249.806 [DAT](INFO): got valid direction response: 05:00:48.5666 LVL= 24720, 21713, 32754, 32755, AGC= 65, IDX= 510,-0.42, 0.769, 2.390, 0.481, 1.311, PHS=-0.440, 1.124,-0.874, RAW= 341.9, 2.1, CAL= 341.4, -0.8, ROT= 168.6, 0.8 2025-10-27T05:00:49.808Z,1761541249.808 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:00:49.809Z,1761541249.809 [DAT](INFO): direction in FSK: [-0.980176,0.197638,-0.013962] 2025-10-27T05:00:49.809Z,1761541249.809 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:49.819Z,1761541249.819 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.005587 2025-10-27T05:00:49.899Z,1761541249.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.500206 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:49.905Z,1761541249.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.940085 m, bearing: 39.430542 deg, lat: 36.779334 deg, lon: -121.859615 deg, deltaT: 0.500206 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 2025-10-27T05:00:49.905Z,1761541249.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:00:50.048Z,1761541250.048 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.235134 2025-10-27T05:00:50.225Z,1761541250.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633787,0.770943,0.062927],[-0.773295,-0.633419,-0.028190],[0.018126,-0.066527,0.997620]] 2025-10-27T05:00:50.244Z,1761541250.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:00:50.301Z,1761541250.301 [DAT](INFO): DAT read: Rx Time:05:00:49.0667 2025-10-27T05:00:50.301Z,1761541250.301 [DAT](INFO): Rx dataTimestamp_ set to:1761541250.300905 2025-10-27T05:00:50.303Z,1761541250.303 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.6 2025-10-27T05:00:50.304Z,1761541250.304 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-27T05:00:50.305Z,1761541250.305 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.492222 2025-10-27T05:00:50.552Z,1761541250.552 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.738934 2025-10-27T05:00:50.620Z,1761541250.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635180,0.769781,0.063115],[-0.772143,-0.634832,-0.028011],[0.018505,-0.066526,0.997613]] 2025-10-27T05:00:50.668Z,1761541250.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504139 s, deltaX: 0.300000 m, approachRate: 0.595074 m/s, rangeRepo size: 4 2025-10-27T05:00:50.668Z,1761541250.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:00:50.805Z,1761541250.805 [DAT](INFO): DAT read: Rx Time:05:00:49.5667 2025-10-27T05:00:50.805Z,1761541250.805 [DAT](INFO): Rx dataTimestamp_ set to:1761541250.805215 2025-10-27T05:00:50.807Z,1761541250.807 [DAT](INFO): DAT read: Bearing 200.3, 6.3 (Local) 2025-10-27T05:00:50.807Z,1761541250.807 [DAT](INFO): Local bearing/azimuth received: Bearing 200.3, 6.3 (Local) 2025-10-27T05:00:50.809Z,1761541250.809 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4 2025-10-27T05:00:50.815Z,1761541250.815 [DAT](INFO): DAT read: 05:00:49.5667 LVL= 27184, 24177, 32754, 32755, AGC= 66, IDX= 512,-0.36,-2.179,-0.565,-2.301,-1.658, PHS=-0.420, 1.138,-0.687, RAW= 337.8, -0.4, CAL= 337.2, -3.3, ROT= 172.8, 3.3 2025-10-27T05:00:50.816Z,1761541250.816 [DAT](INFO): got valid direction response: 05:00:49.5667 LVL= 27184, 24177, 32754, 32755, AGC= 66, IDX= 512,-0.36,-2.179,-0.565,-2.301,-1.658, PHS=-0.420, 1.138,-0.687, RAW= 337.8, -0.4, CAL= 337.2, -3.3, ROT= 172.8, 3.3 2025-10-27T05:00:50.817Z,1761541250.817 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:00:50.818Z,1761541250.818 [DAT](INFO): direction in FSK: [-0.990470,0.125125,-0.057564] 2025-10-27T05:00:50.818Z,1761541250.818 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:50.822Z,1761541250.822 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.008623 2025-10-27T05:00:51.024Z,1761541251.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636473,0.768709,0.063150],[-0.771071,-0.636139,-0.027875],[0.018744,-0.066435,0.997615]] 2025-10-27T05:00:51.049Z,1761541251.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504310 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:51.051Z,1761541251.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.238483 m, bearing: 43.486175 deg, lat: 36.779332 deg, lon: -121.859615 deg, deltaT: 1.008449 s, deltaX: 0.298398 m, approachRate: 0.295898 m/s, posRepo size: 4 2025-10-27T05:00:51.052Z,1761541251.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m. 2025-10-27T05:00:51.056Z,1761541251.056 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.243042 2025-10-27T05:00:51.311Z,1761541251.311 [DAT](INFO): DAT read: Rx Time:05:00:50.0670 2025-10-27T05:00:51.312Z,1761541251.312 [DAT](INFO): Rx dataTimestamp_ set to:1761541251.311638 2025-10-27T05:00:51.313Z,1761541251.313 [DAT](INFO): DAT read: Bearing 197.7, 10.2 (Local) 2025-10-27T05:00:51.313Z,1761541251.313 [DAT](INFO): Local bearing/azimuth received: Bearing 197.7, 10.2 (Local) 2025-10-27T05:00:51.316Z,1761541251.316 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3 2025-10-27T05:00:51.320Z,1761541251.320 [DAT](INFO): DAT read: 05:00:50.0670 LVL= 21552, 19105, 21346, 27491, AGC= 68, IDX= 2,-0.23, 0.808, 2.454, 0.522, 1.352, PHS=-0.442, 1.147,-0.874, RAW= 341.7, 1.9, CAL= 341.2, -1.0, ROT= 168.8, 1.0 2025-10-27T05:00:51.322Z,1761541251.322 [DAT](INFO): got valid direction response: 05:00:50.0670 LVL= 21552, 19105, 21346, 27491, AGC= 68, IDX= 2,-0.23, 0.808, 2.454, 0.522, 1.352, PHS=-0.442, 1.147,-0.874, RAW= 341.7, 1.9, CAL= 341.2, -1.0, ROT= 168.8, 1.0 2025-10-27T05:00:51.323Z,1761541251.323 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:00:51.326Z,1761541251.326 [DAT](INFO): direction in FSK: [-0.980806,0.194205,-0.017452] 2025-10-27T05:00:51.328Z,1761541251.328 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:51.382Z,1761541251.382 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.568235 2025-10-27T05:00:51.461Z,1761541251.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637760,0.767709,0.062331],[-0.769999,-0.637477,-0.026929],[0.019061,-0.065169,0.997692]] 2025-10-27T05:00:51.560Z,1761541251.560 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.747084 2025-10-27T05:00:51.572Z,1761541251.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.506423 s, deltaX: 0.300000 m, approachRate: 0.592391 m/s, rangeRepo size: 4 2025-10-27T05:00:51.574Z,1761541251.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.536983 m, bearing: 39.245233 deg, lat: 36.779332 deg, lon: -121.859615 deg, deltaT: 0.506423 s, deltaX: 0.298499 m, approachRate: 0.589426 m/s, posRepo size: 4 2025-10-27T05:00:51.574Z,1761541251.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m. 2025-10-27T05:00:51.812Z,1761541251.812 [DAT](INFO): DAT read: Rx Time:05:00:50.5670 2025-10-27T05:00:51.813Z,1761541251.813 [DAT](INFO): Rx dataTimestamp_ set to:1761541251.812796 2025-10-27T05:00:51.816Z,1761541251.816 [DAT](INFO): DAT read: Bearing 197.0, 10.2 (Local) 2025-10-27T05:00:51.817Z,1761541251.817 [DAT](INFO): Local bearing/azimuth received: Bearing 197.0, 10.2 (Local) 2025-10-27T05:00:51.820Z,1761541251.820 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3 2025-10-27T05:00:51.825Z,1761541251.825 [DAT](INFO): DAT read: 05:00:50.5670 LVL= 31088, 21025, 32754, 32755, AGC= 67, IDX= 498,-0.13, 0.190, 1.833,-0.099, 0.752, PHS=-0.461, 1.126,-0.896, RAW= 341.8, 2.5, CAL= 341.3, -0.3, ROT= 168.7, 0.3 2025-10-27T05:00:51.826Z,1761541251.826 [DAT](INFO): got valid direction response: 05:00:50.5670 LVL= 31088, 21025, 32754, 32755, AGC= 67, IDX= 498,-0.13, 0.190, 1.833,-0.099, 0.752, PHS=-0.461, 1.126,-0.896, RAW= 341.8, 2.5, CAL= 341.3, -0.3, ROT= 168.7, 0.3 2025-10-27T05:00:51.827Z,1761541251.827 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:00:51.828Z,1761541251.828 [DAT](INFO): direction in FSK: [-0.980601,0.195943,-0.005236] 2025-10-27T05:00:51.828Z,1761541251.828 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:51.846Z,1761541251.846 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.032625 2025-10-27T05:00:52.015Z,1761541252.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.501158 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:52.017Z,1761541252.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.536948 m, bearing: 39.103119 deg, lat: 36.779332 deg, lon: -121.859616 deg, deltaT: 0.501158 s, deltaX: -0.000034 m, approachRate: -0.000069 m/s, posRepo size: 4 2025-10-27T05:00:52.018Z,1761541252.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.54 m. 2025-10-27T05:00:52.064Z,1761541252.064 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.250998 2025-10-27T05:00:52.317Z,1761541252.317 [DAT](INFO): DAT read: Rx Time:05:00:51.0672 2025-10-27T05:00:52.317Z,1761541252.317 [DAT](INFO): Rx dataTimestamp_ set to:1761541252.316720 2025-10-27T05:00:52.318Z,1761541252.318 [DAT](INFO): DAT read: Bearing 197.4, 10.5 (Local) 2025-10-27T05:00:52.319Z,1761541252.319 [DAT](INFO): Local bearing/azimuth received: Bearing 197.4, 10.5 (Local) 2025-10-27T05:00:52.321Z,1761541252.321 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 2025-10-27T05:00:52.325Z,1761541252.325 [DAT](INFO): DAT read: 05:00:51.0672 LVL= 23936, 19505, 31170, 32755, AGC= 66, IDX= 500,-0.02, 1.690,-2.968, 1.397, 2.227, PHS=-0.435, 1.133,-0.874, RAW= 342.0, 1.9, CAL= 341.5, -0.9, ROT= 168.5, 0.9 2025-10-27T05:00:52.326Z,1761541252.326 [DAT](INFO): got valid direction response: 05:00:51.0672 LVL= 23936, 19505, 31170, 32755, AGC= 66, IDX= 500,-0.02, 1.690,-2.968, 1.397, 2.227, PHS=-0.435, 1.133,-0.874, RAW= 342.0, 1.9, CAL= 341.5, -0.9, ROT= 168.5, 0.9 2025-10-27T05:00:52.327Z,1761541252.327 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:00:52.328Z,1761541252.328 [DAT](INFO): direction in FSK: [-0.979804,0.199343,-0.015707] 2025-10-27T05:00:52.328Z,1761541252.328 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:52.332Z,1761541252.332 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.518894 2025-10-27T05:00:52.420Z,1761541252.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639361,0.766456,0.061345],[-0.768662,-0.639132,-0.025847],[0.019397,-0.063679,0.997782]] 2025-10-27T05:00:52.545Z,1761541252.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503924 s, deltaX: 0.299999 m, approachRate: 0.595326 m/s, rangeRepo size: 4 2025-10-27T05:00:52.552Z,1761541252.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.835446 m, bearing: 38.817466 deg, lat: 36.779332 deg, lon: -121.859616 deg, deltaT: 0.503924 s, deltaX: 0.298498 m, approachRate: 0.592348 m/s, posRepo size: 4 2025-10-27T05:00:52.552Z,1761541252.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m. 2025-10-27T05:00:52.568Z,1761541252.568 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.755064 2025-10-27T05:00:52.820Z,1761541252.820 [DAT](INFO): DAT read: Rx Time:05:00:51.5672 2025-10-27T05:00:52.821Z,1761541252.821 [DAT](INFO): Rx dataTimestamp_ set to:1761541252.820652 2025-10-27T05:00:52.822Z,1761541252.822 [DAT](INFO): DAT read: Bearing 197.3, 10.5 (Local) 2025-10-27T05:00:52.823Z,1761541252.823 [DAT](INFO): Local bearing/azimuth received: Bearing 197.3, 10.5 (Local) 2025-10-27T05:00:52.825Z,1761541252.825 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 2025-10-27T05:00:52.829Z,1761541252.829 [DAT](INFO): DAT read: 05:00:51.5672 LVL= 25328, 20465, 32674, 32755, AGC= 66, IDX= 500, 0.10, 1.760,-2.901, 1.467, 2.298, PHS=-0.436, 1.129,-0.875, RAW= 342.0, 2.0, CAL= 341.5, -0.9, ROT= 168.5, 0.9 2025-10-27T05:00:52.830Z,1761541252.830 [DAT](INFO): got valid direction response: 05:00:51.5672 LVL= 25328, 20465, 32674, 32755, AGC= 66, IDX= 500, 0.10, 1.760,-2.901, 1.467, 2.298, PHS=-0.436, 1.129,-0.875, RAW= 342.0, 2.0, CAL= 341.5, -0.9, ROT= 168.5, 0.9 2025-10-27T05:00:52.831Z,1761541252.831 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:00:52.832Z,1761541252.832 [DAT](INFO): direction in FSK: [-0.979804,0.199343,-0.015707] 2025-10-27T05:00:52.832Z,1761541252.832 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:52.836Z,1761541252.836 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.022642 2025-10-27T05:00:52.938Z,1761541252.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639848,0.766106,0.060632],[-0.768263,-0.639623,-0.025594],[0.019174,-0.062958,0.997832]] 2025-10-27T05:00:53.018Z,1761541253.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503932 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:53.028Z,1761541253.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.835322 m, bearing: 38.780347 deg, lat: 36.779332 deg, lon: -121.859617 deg, deltaT: 0.503932 s, deltaX: -0.000124 m, approachRate: -0.000246 m/s, posRepo size: 4 2025-10-27T05:00:53.029Z,1761541253.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.84 m. 2025-10-27T05:00:53.072Z,1761541253.072 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.259272 2025-10-27T05:00:53.324Z,1761541253.324 [DAT](INFO): DAT read: Rx Time:05:00:52.0673 2025-10-27T05:00:53.325Z,1761541253.325 [DAT](INFO): Rx dataTimestamp_ set to:1761541253.324664 2025-10-27T05:00:53.326Z,1761541253.326 [DAT](INFO): DAT read: Bearing 197.2, 10.5 (Local) 2025-10-27T05:00:53.327Z,1761541253.327 [DAT](INFO): Local bearing/azimuth received: Bearing 197.2, 10.5 (Local) 2025-10-27T05:00:53.329Z,1761541253.329 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4 2025-10-27T05:00:53.333Z,1761541253.333 [DAT](INFO): DAT read: 05:00:52.0673 LVL= 23600, 15921, 29154, 31651, AGC= 65, IDX= 501, 0.27, 1.825,-2.817, 1.528, 2.367, PHS=-0.440, 1.144,-0.883, RAW= 342.0, 2.0, CAL= 341.5, -0.9, ROT= 168.5, 0.9 2025-10-27T05:00:53.334Z,1761541253.334 [DAT](INFO): got valid direction response: 05:00:52.0673 LVL= 23600, 15921, 29154, 31651, AGC= 65, IDX= 501, 0.27, 1.825,-2.817, 1.528, 2.367, PHS=-0.440, 1.144,-0.883, RAW= 342.0, 2.0, CAL= 341.5, -0.9, ROT= 168.5, 0.9 2025-10-27T05:00:53.335Z,1761541253.335 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:00:53.336Z,1761541253.336 [DAT](INFO): direction in FSK: [-0.979804,0.199343,-0.015707] 2025-10-27T05:00:53.336Z,1761541253.336 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:53.344Z,1761541253.344 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.531179 2025-10-27T05:00:53.470Z,1761541253.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639909,0.766063,0.060534],[-0.768213,-0.639681,-0.025625],[0.019092,-0.062900,0.997837]] 2025-10-27T05:00:53.576Z,1761541253.576 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.763037 2025-10-27T05:00:53.590Z,1761541253.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504012 s, deltaX: 0.200001 m, approachRate: 0.396817 m/s, rangeRepo size: 4 2025-10-27T05:00:53.597Z,1761541253.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.034320 m, bearing: 38.775792 deg, lat: 36.779332 deg, lon: -121.859618 deg, deltaT: 0.504012 s, deltaX: 0.198997 m, approachRate: 0.394827 m/s, posRepo size: 4 2025-10-27T05:00:53.597Z,1761541253.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-27T05:00:53.829Z,1761541253.829 [DAT](INFO): DAT read: Rx Time:05:00:52.5674 2025-10-27T05:00:53.830Z,1761541253.830 [DAT](INFO): Rx dataTimestamp_ set to:1761541253.829579 2025-10-27T05:00:53.832Z,1761541253.832 [DAT](INFO): DAT read: Bearing 197.2, 10.7 (Local) 2025-10-27T05:00:53.832Z,1761541253.832 [DAT](INFO): Local bearing/azimuth received: Bearing 197.2, 10.7 (Local) 2025-10-27T05:00:53.835Z,1761541253.835 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.0 2025-10-27T05:00:53.841Z,1761541253.841 [DAT](INFO): DAT read: 05:00:52.5674 LVL= 28112, 20065, 32754, 32755, AGC= 67, IDX= 502,-0.44,-0.687, 0.938,-0.990,-0.152, PHS=-0.433, 1.135,-0.882, RAW= 342.2, 2.0, CAL= 341.8, -0.9, ROT= 168.2, 0.9 2025-10-27T05:00:53.842Z,1761541253.842 [DAT](INFO): got valid direction response: 05:00:52.5674 LVL= 28112, 20065, 32754, 32755, AGC= 67, IDX= 502,-0.44,-0.687, 0.938,-0.990,-0.152, PHS=-0.433, 1.135,-0.882, RAW= 342.2, 2.0, CAL= 341.8, -0.9, ROT= 168.2, 0.9 2025-10-27T05:00:53.842Z,1761541253.842 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:00:53.843Z,1761541253.843 [DAT](INFO): direction in FSK: [-0.978747,0.204471,-0.015707] 2025-10-27T05:00:53.844Z,1761541253.844 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:53.859Z,1761541253.859 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.046425 2025-10-27T05:00:53.980Z,1761541253.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639555,0.766362,0.060490],[-0.768516,-0.639302,-0.025989],[0.018754,-0.063109,0.997830]] 2025-10-27T05:00:54.010Z,1761541254.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504915 s, deltaX: 0.099999 m, approachRate: 0.198052 m/s, rangeRepo size: 4 2025-10-27T05:00:54.029Z,1761541254.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.133789 m, bearing: 38.503196 deg, lat: 36.779332 deg, lon: -121.859618 deg, deltaT: 0.504915 s, deltaX: 0.099469 m, approachRate: 0.197002 m/s, posRepo size: 4 2025-10-27T05:00:54.029Z,1761541254.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-27T05:00:54.080Z,1761541254.080 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.267063 2025-10-27T05:00:54.332Z,1761541254.332 [DAT](INFO): DAT read: Rx Time:05:00:53.0676 2025-10-27T05:00:54.333Z,1761541254.333 [DAT](INFO): Rx dataTimestamp_ set to:1761541254.332638 2025-10-27T05:00:54.334Z,1761541254.334 [DAT](INFO): DAT read: Bearing 197.5, 10.6 (Local) 2025-10-27T05:00:54.335Z,1761541254.335 [DAT](INFO): Local bearing/azimuth received: Bearing 197.5, 10.6 (Local) 2025-10-27T05:00:54.337Z,1761541254.337 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3 2025-10-27T05:00:54.341Z,1761541254.341 [DAT](INFO): DAT read: 05:00:53.0676 LVL= 27792, 21825, 32210, 32755, AGC= 66, IDX= 504,-0.16,-0.859, 0.778,-1.158,-0.331, PHS=-0.426, 1.154,-0.871, RAW= 342.1, 1.6, CAL= 341.6, -1.3, ROT= 168.4, 1.3 2025-10-27T05:00:54.342Z,1761541254.342 [DAT](INFO): got valid direction response: 05:00:53.0676 LVL= 27792, 21825, 32210, 32755, AGC= 66, IDX= 504,-0.16,-0.859, 0.778,-1.158,-0.331, PHS=-0.426, 1.154,-0.871, RAW= 342.1, 1.6, CAL= 341.6, -1.3, ROT= 168.4, 1.3 2025-10-27T05:00:54.343Z,1761541254.343 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:00:54.344Z,1761541254.344 [DAT](INFO): direction in FSK: [-0.979323,0.201026,-0.022687] 2025-10-27T05:00:54.344Z,1761541254.344 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:54.348Z,1761541254.348 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.534718 2025-10-27T05:00:54.512Z,1761541254.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638951,0.766891,0.060154],[-0.769033,-0.638662,-0.026441],[0.018141,-0.063155,0.997839]] 2025-10-27T05:00:54.580Z,1761541254.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503059 s, deltaX: 0.300000 m, approachRate: 0.596352 m/s, rangeRepo size: 4 2025-10-27T05:00:54.582Z,1761541254.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.432284 m, bearing: 38.772337 deg, lat: 36.779332 deg, lon: -121.859618 deg, deltaT: 0.503059 s, deltaX: 0.298495 m, approachRate: 0.593360 m/s, posRepo size: 4 2025-10-27T05:00:54.582Z,1761541254.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-27T05:00:54.584Z,1761541254.584 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.771091 2025-10-27T05:00:54.837Z,1761541254.837 [DAT](INFO): DAT read: Rx Time:05:00:53.5676 2025-10-27T05:00:54.838Z,1761541254.838 [DAT](INFO): Rx dataTimestamp_ set to:1761541254.837480 2025-10-27T05:00:54.840Z,1761541254.840 [DAT](INFO): DAT read: Bearing 197.2, 10.7 (Local) 2025-10-27T05:00:54.840Z,1761541254.840 [DAT](INFO): Local bearing/azimuth received: Bearing 197.2, 10.7 (Local) 2025-10-27T05:00:54.844Z,1761541254.844 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 2025-10-27T05:00:54.849Z,1761541254.849 [DAT](INFO): DAT read: 05:00:53.5676 LVL= 26224, 18753, 31794, 32755, AGC= 66, IDX= 504,-0.05,-1.678,-0.054,-1.977,-1.147, PHS=-0.430, 1.138,-0.874, RAW= 342.1, 1.8, CAL= 341.7, -1.1, ROT= 168.3, 1.1 2025-10-27T05:00:54.850Z,1761541254.850 [DAT](INFO): got valid direction response: 05:00:53.5676 LVL= 26224, 18753, 31794, 32755, AGC= 66, IDX= 504,-0.05,-1.678,-0.054,-1.977,-1.147, PHS=-0.430, 1.138,-0.874, RAW= 342.1, 1.8, CAL= 341.7, -1.1, ROT= 168.3, 1.1 2025-10-27T05:00:54.850Z,1761541254.850 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:00:54.851Z,1761541254.851 [DAT](INFO): direction in FSK: [-0.979042,0.202750,-0.019197] 2025-10-27T05:00:54.851Z,1761541254.851 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:54.864Z,1761541254.864 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.050678 2025-10-27T05:00:54.000Z,1761541255.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638707,0.767119,0.059846],[-0.769242,-0.638408,-0.026485],[0.017889,-0.062952,0.997856]] 2025-10-27T05:00:55.039Z,1761541255.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504842 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:55.041Z,1761541255.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.432330 m, bearing: 38.678936 deg, lat: 36.779332 deg, lon: -121.859618 deg, deltaT: 0.504842 s, deltaX: 0.000046 m, approachRate: 0.000091 m/s, posRepo size: 4 2025-10-27T05:00:55.042Z,1761541255.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-27T05:00:55.088Z,1761541255.088 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.274818 2025-10-27T05:00:55.341Z,1761541255.341 [DAT](INFO): DAT read: Rx Time:05:00 2025-10-27T05:00:55.341Z,1761541255.341 [DAT](INFO): Rx dataTimestamp_ set to:1761541255.340712 2025-10-27T05:00:55.342Z,1761541255.342 [DAT](INFO): DAT read: Bearing 197.3, 10.6 (Local) 2025-10-27T05:00:55.343Z,1761541255.343 [DAT](INFO): Local bearing/azimuth received: Bearing 197.3, 10.6 (Local) 2025-10-27T05:00:55.345Z,1761541255.345 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.2 2025-10-27T05:00:55.349Z,1761541255.349 [DAT](INFO): DAT read: 05:00:54.0678 LVL= 22144, 20625, 32466, 32755, AGC= 65, IDX= 506,-0.01, 0.785, 2.423, 0.490, 1.320, PHS=-0.433, 1.148,-0.874, RAW= 342.0, 1.8, CAL= 341.5, -1.1, ROT= 168.5, 1.1 2025-10-27T05:00:55.350Z,1761541255.350 [DAT](INFO): got valid direction response: 05:00:54.0678 LVL= 22144, 20625, 32466, 32755, AGC= 65, IDX= 506,-0.01, 0.785, 2.423, 0.490, 1.320, PHS=-0.433, 1.148,-0.874, RAW= 342.0, 1.8, CAL= 341.5, -1.1, ROT= 168.5, 1.1 2025-10-27T05:00:55.351Z,1761541255.351 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:00:55.352Z,1761541255.352 [DAT](INFO): direction in FSK: [-0.979744,0.199331,-0.019197] 2025-10-27T05:00:55.352Z,1761541255.352 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:55.356Z,1761541255.356 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.543037 2025-10-27T05:00:55.538Z,1761541255.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638219,0.767573,0.059220],[-0.769661,-0.637895,-0.026697],[0.017284,-0.062618,0.997888]] 2025-10-27T05:00:55.592Z,1761541255.592 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.778778 2025-10-27T05:00:55.693Z,1761541255.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503232 s, deltaX: 0.300000 m, approachRate: 0.596147 m/s, rangeRepo size: 4 2025-10-27T05:00:55.712Z,1761541255.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.730826 m, bearing: 38.915388 deg, lat: 36.779332 deg, lon: -121.859617 deg, deltaT: 0.503232 s, deltaX: 0.298496 m, approachRate: 0.593158 m/s, posRepo size: 4 2025-10-27T05:00:55.714Z,1761541255.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-27T05:00:55.845Z,1761541255.845 [DAT](INFO): DAT read: Rx Time:05:00:54.5678 2025-10-27T05:00:55.846Z,1761541255.846 [DAT](INFO): Rx dataTimestamp_ set to:1761541255.845538 2025-10-27T05:00:55.849Z,1761541255.849 [DAT](INFO): DAT read: Bearing 197.0, 10.5 (Local) 2025-10-27T05:00:55.849Z,1761541255.849 [DAT](INFO): Local bearing/azimuth received: Bearing 197.0, 10.5 (Local) 2025-10-27T05:00:55.851Z,1761541255.851 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3 2025-10-27T05:00:55.864Z,1761541255.864 [DAT](INFO): DAT read: 05:00:54.5678 LVL= 24400, 18993, 32754, 32755, AGC= 66, IDX= 506,-0.02, 0.400, 2.039, 0.109, 0.940, PHS=-0.438, 1.144,-0.875, RAW= 341.9, 1.9, CAL= 341.4, -1.0, ROT= 168.6, 1.0 2025-10-27T05:00:55.865Z,1761541255.865 [DAT](INFO): got valid direction response: 05:00:54.5678 LVL= 24400, 18993, 32754, 32755, AGC= 66, IDX= 506,-0.02, 0.400, 2.039, 0.109, 0.940, PHS=-0.438, 1.144,-0.875, RAW= 341.9, 1.9, CAL= 341.4, -1.0, ROT= 168.6, 1.0 2025-10-27T05:00:55.865Z,1761541255.865 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:00:55.866Z,1761541255.866 [DAT](INFO): direction in FSK: [-0.980122,0.197627,-0.017452] 2025-10-27T05:00:55.866Z,1761541255.866 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:55.888Z,1761541255.888 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.074818 2025-10-27T05:00:56.073Z,1761541256.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637054,0.768618,0.058213],[-0.770644,-0.636700,-0.026850],[0.016427,-0.061966,0.997943]] 2025-10-27T05:00:56.096Z,1761541256.096 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.283138 2025-10-27T05:00:56.113Z,1761541256.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504826 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:56.115Z,1761541256.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.730836 m, bearing: 39.096290 deg, lat: 36.779332 deg, lon: -121.859616 deg, deltaT: 0.504826 s, deltaX: 0.000010 m, approachRate: 0.000019 m/s, posRepo size: 4 2025-10-27T05:00:56.116Z,1761541256.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-27T05:00:56.348Z,1761541256.348 [DAT](INFO): DAT read: Rx Time:05:00:55.0680 2025-10-27T05:00:56.349Z,1761541256.349 [DAT](INFO): Rx dataTimestamp_ set to:1761541256.348612 2025-10-27T05:00:56.350Z,1761541256.350 [DAT](INFO): DAT read: Bearing 196.9, 9.9 (Local) 2025-10-27T05:00:56.350Z,1761541256.350 [DAT](INFO): Local bearing/azimuth received: Bearing 196.9, 9.9 (Local) 2025-10-27T05:00:56.353Z,1761541256.353 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 2025-10-27T05:00:56.357Z,1761541256.357 [DAT](INFO): DAT read: 05:00:55.0680 LVL= 22640, 20753, 32754, 32755, AGC= 65, IDX= 508,-0.02, 1.564,-3.068, 1.295, 2.119, PHS=-0.453, 1.142,-0.868, RAW= 341.3, 2.0, CAL= 340.8, -0.9, ROT= 169.2, 0.9 2025-10-27T05:00:56.358Z,1761541256.358 [DAT](INFO): got valid direction response: 05:00:55.0680 LVL= 22640, 20753, 32754, 32755, AGC= 65, IDX= 508,-0.02, 1.564,-3.068, 1.295, 2.119, PHS=-0.453, 1.142,-0.868, RAW= 341.3, 2.0, CAL= 340.8, -0.9, ROT= 169.2, 0.9 2025-10-27T05:00:56.359Z,1761541256.359 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:00:56.360Z,1761541256.360 [DAT](INFO): direction in FSK: [-0.982166,0.187358,-0.015707] 2025-10-27T05:00:56.360Z,1761541256.360 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:56.364Z,1761541256.364 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.550579 2025-10-27T05:00:56.509Z,1761541256.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636420,0.769193,0.057555],[-0.771177,-0.636057,-0.026789],[0.016003,-0.061434,0.997983]] 2025-10-27T05:00:56.595Z,1761541256.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503074 s, deltaX: 0.300000 m, approachRate: 0.596334 m/s, rangeRepo size: 4 2025-10-27T05:00:56.597Z,1761541256.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.029333 m, bearing: 39.736870 deg, lat: 36.779332 deg, lon: -121.859615 deg, deltaT: 0.503074 s, deltaX: 0.298497 m, approachRate: 0.593346 m/s, posRepo size: 4 2025-10-27T05:00:56.598Z,1761541256.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T05:00:56.600Z,1761541256.600 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.787300 2025-10-27T05:00:56.853Z,1761541256.853 [DAT](INFO): DAT read: Rx Time:05:00:55.5679 2025-10-27T05:00:56.853Z,1761541256.853 [DAT](INFO): Rx dataTimestamp_ set to:1761541256.852832 2025-10-27T05:00:56.854Z,1761541256.854 [DAT](INFO): DAT read: Bearing 196.9, 9.8 (Local) 2025-10-27T05:00:56.855Z,1761541256.855 [DAT](INFO): Local bearing/azimuth received: Bearing 196.9, 9.8 (Local) 2025-10-27T05:00:56.861Z,1761541256.861 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0 2025-10-27T05:00:56.866Z,1761541256.866 [DAT](INFO): DAT read: 05:00:55.5679 LVL= 23328, 21761, 32482, 32755, AGC= 65, IDX= 508,-0.08, 0.405, 2.062, 0.137, 0.963, PHS=-0.456, 1.144,-0.870, RAW= 341.2, 2.0, CAL= 340.7, -0.9, ROT= 169.3, 0.9 2025-10-27T05:00:56.868Z,1761541256.868 [DAT](INFO): got valid direction response: 05:00:55.5679 LVL= 23328, 21761, 32482, 32755, AGC= 65, IDX= 508,-0.08, 0.405, 2.062, 0.137, 0.963, PHS=-0.456, 1.144,-0.870, RAW= 341.2, 2.0, CAL= 340.7, -0.9, ROT= 169.3, 0.9 2025-10-27T05:00:56.869Z,1761541256.869 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:00:56.870Z,1761541256.870 [DAT](INFO): direction in FSK: [-0.982492,0.185644,-0.015707] 2025-10-27T05:00:56.870Z,1761541256.870 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:56.873Z,1761541256.873 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.060501 2025-10-27T05:00:56.908Z,1761541256.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635563,0.769952,0.056870],[-0.771895,-0.635182,-0.026864],[0.015438,-0.060971,0.998020]] 2025-10-27T05:00:56.998Z,1761541256.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504220 s, deltaX: -0.100000 m, approachRate: -0.198327 m/s, rangeRepo size: 4 2025-10-27T05:00:57.005Z,1761541257.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.929875 m, bearing: 39.900422 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.504220 s, deltaX: -0.099458 m, approachRate: -0.197251 m/s, posRepo size: 4 2025-10-27T05:00:57.005Z,1761541257.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m. 2025-10-27T05:00:57.105Z,1761541257.105 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.291786 2025-10-27T05:00:57.294Z,1761541257.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634595,0.770767,0.056638],[-0.772697,-0.634201,-0.026993],[0.015115,-0.060894,0.998030]] 2025-10-27T05:00:57.313Z,1761541257.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m. 2025-10-27T05:00:57.357Z,1761541257.357 [DAT](INFO): DAT read: Rx Time:05:00:56.0680 2025-10-27T05:00:57.358Z,1761541257.358 [DAT](INFO): Rx dataTimestamp_ set to:1761541257.357256 2025-10-27T05:00:57.359Z,1761541257.359 [DAT](INFO): DAT read: Bearing 196.5, 9.9 (Local) 2025-10-27T05:00:57.359Z,1761541257.359 [DAT](INFO): Local bearing/azimuth received: Bearing 196.5, 9.9 (Local) 2025-10-27T05:00:57.361Z,1761541257.361 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.2 2025-10-27T05:00:57.366Z,1761541257.366 [DAT](INFO): DAT read: 05:00:56.0680 LVL= 24976, 17313, 29586, 32755, AGC= 65, IDX= 6,-0.312, 1.349,-0.586, 0.256, PHS=-0.466, 1.137,-0.886, RAW= 341.3, 2.3, CAL= 340.8, -0.5, ROT= 169.2, 0.5 2025-10-27T05:00:57.376Z,1761541257.376 [DAT](INFO): unknown deviceResponse_: 05:00:56.0680 LVL= 24976, 17313, 29586, 32755, AGC= 65, IDX= 6,-0.312, 1.349,-0.586, 0.256, PHS=-0.466, 1.137,-0.886, RAW= 341.3, 2.3, CAL= 340.8, -0.5, ROT= 169.2, 0.5 2025-10-27T05:00:57.377Z,1761541257.377 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-27T05:00:57.378Z,1761541257.378 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.564785 2025-10-27T05:00:57.608Z,1761541257.608 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.794994 2025-10-27T05:00:57.718Z,1761541257.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633238,0.771859,0.056953],[-0.773814,-0.632819,-0.027421],[0.014876,-0.061435,0.998000]] 2025-10-27T05:00:57.787Z,1761541257.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504424 s, deltaX: 0.100000 m, approachRate: 0.198247 m/s, rangeRepo size: 4 2025-10-27T05:00:57.788Z,1761541257.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m. 2025-10-27T05:00:57.861Z,1761541257.861 [DAT](INFO): DAT read: Rx Time:05:00:56.5680 2025-10-27T05:00:57.862Z,1761541257.862 [DAT](INFO): Rx dataTimestamp_ set to:1761541257.861640 2025-10-27T05:00:57.864Z,1761541257.864 [DAT](INFO): DAT read: Bearing 196.6, 9.7 (Local) 2025-10-27T05:00:57.865Z,1761541257.865 [DAT](INFO): Local bearing/azimuth received: Bearing 196.6, 9.7 (Local) 2025-10-27T05:00:57.868Z,1761541257.868 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.3 2025-10-27T05:00:57.874Z,1761541257.874 [DAT](INFO): DAT read: 05:00:56.5680 LVL= 26016, 19265, 32690, 32755, AGC= 65, IDX= 509,-0.30,-2.315,-0.647,-2.584,-1.746, PHS=-0.468, 1.144,-0.883, RAW= 341.2, 2.3, CAL= 340.7, -0.6, ROT= 169.3, 0.6 2025-10-27T05:00:57.875Z,1761541257.875 [DAT](INFO): got valid direction response: 05:00:56.5680 LVL= 26016, 19265, 32690, 32755, AGC= 65, IDX= 509,-0.30,-2.315,-0.647,-2.584,-1.746, PHS=-0.468, 1.144,-0.883, RAW= 341.2, 2.3, CAL= 340.7, -0.6, ROT= 169.3, 0.6 2025-10-27T05:00:57.875Z,1761541257.875 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:00:57.876Z,1761541257.876 [DAT](INFO): direction in FSK: [-0.982559,0.185656,-0.010472] 2025-10-27T05:00:57.877Z,1761541257.877 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:57.881Z,1761541257.881 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.067570 2025-10-27T05:00:58.101Z,1761541258.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631931,0.772928,0.056961],[-0.774890,-0.631483,-0.027848],[0.014446,-0.061737,0.997988]] 2025-10-27T05:00:58.112Z,1761541258.112 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.299072 2025-10-27T05:00:58.134Z,1761541258.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504384 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:00:58.137Z,1761541258.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.029424 m, bearing: 40.154294 deg, lat: 36.779331 deg, lon: -121.859612 deg, deltaT: 1.008808 s, deltaX: 0.099548 m, approachRate: 0.098679 m/s, posRepo size: 4 2025-10-27T05:00:58.138Z,1761541258.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T05:00:58.365Z,1761541258.365 [DAT](INFO): DAT read: Rx Time:05:00:57.0682 2025-10-27T05:00:58.366Z,1761541258.366 [DAT](INFO): Rx dataTimestamp_ set to:1761541258.365557 2025-10-27T05:00:58.367Z,1761541258.367 [DAT](INFO): DAT read: Bearing 196.3, 9.7 (Local) 2025-10-27T05:00:58.368Z,1761541258.368 [DAT](INFO): Local bearing/azimuth received: Bearing 196.3, 9.7 (Local) 2025-10-27T05:00:58.370Z,1761541258.370 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 2025-10-27T05:00:58.374Z,1761541258.374 [DAT](INFO): DAT read: 05:00:57.0682 LVL= 26416, 19409, 32402, 32755, AGC= 65, IDX= 510, 0.30, 1.411, 3.082, 1.143, 1.992, PHS=-0.479, 1.135,-0.894, RAW= 341.2, 2.6, CAL= 340.7, -0.3, ROT= 169.3, 0.3 2025-10-27T05:00:58.382Z,1761541258.382 [DAT](INFO): got valid direction response: 05:00:57.0682 LVL= 26416, 19409, 32402, 32755, AGC= 65, IDX= 510, 0.30, 1.411, 3.082, 1.143, 1.992, PHS=-0.479, 1.135,-0.894, RAW= 341.2, 2.6, CAL= 340.7, -0.3, ROT= 169.3, 0.3 2025-10-27T05:00:58.382Z,1761541258.382 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:00:58.400Z,1761541258.400 [DAT](INFO): direction in FSK: [-0.982599,0.185664,-0.005236] 2025-10-27T05:00:58.401Z,1761541258.401 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:58.404Z,1761541258.404 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.591362 2025-10-27T05:00:58.589Z,1761541258.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503917 s, deltaX: 0.299999 m, approachRate: 0.595335 m/s, rangeRepo size: 4 2025-10-27T05:00:58.591Z,1761541258.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.327921 m, bearing: 40.136880 deg, lat: 36.779330 deg, lon: -121.859611 deg, deltaT: 0.503917 s, deltaX: 0.298497 m, approachRate: 0.592354 m/s, posRepo size: 4 2025-10-27T05:00:58.591Z,1761541258.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.33 m. 2025-10-27T05:00:58.625Z,1761541258.625 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.811852 2025-10-27T05:00:58.876Z,1761541258.876 [DAT](INFO): DAT read: Rx Time:05:00:57.5681 2025-10-27T05:00:58.877Z,1761541258.877 [DAT](INFO): Rx dataTimestamp_ set to:1761541258.876629 2025-10-27T05:00:58.878Z,1761541258.878 [DAT](INFO): DAT read: Bearing 196.3, 10.0 (Local) 2025-10-27T05:00:58.878Z,1761541258.878 [DAT](INFO): Local bearing/azimuth received: Bearing 196.3, 10.0 (Local) 2025-10-27T05:00:58.881Z,1761541258.881 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.2 2025-10-27T05:00:58.885Z,1761541258.885 [DAT](INFO): DAT read: 05:00:57.5681 LVL= 28256, 19825, 31906, 32755, AGC= 65, IDX= 510, 0.03,-0.151, 1.520,-0.436, 0.423, PHS=-0.472, 1.142,-0.903, RAW= 341.5, 2.5, CAL= 341.0, -0.4, ROT= 169.0, 0.4 2025-10-27T05:00:58.886Z,1761541258.886 [DAT](INFO): got valid direction response: 05:00:57.5681 LVL= 28256, 19825, 31906, 32755, AGC= 65, IDX= 510, 0.03,-0.151, 1.520,-0.436, 0.423, PHS=-0.472, 1.142,-0.903, RAW= 341.5, 2.5, CAL= 341.0, -0.4, ROT= 169.0, 0.4 2025-10-27T05:00:58.887Z,1761541258.887 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:00:58.888Z,1761541258.888 [DAT](INFO): direction in FSK: [-0.981603,0.190804,-0.006981] 2025-10-27T05:00:58.888Z,1761541258.888 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:58.909Z,1761541258.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630508,0.774120,0.056549],[-0.776051,-0.630070,-0.027516],[0.014329,-0.061234,0.998021]] 2025-10-27T05:00:58.912Z,1761541258.912 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.098541 2025-10-27T05:00:59.008Z,1761541259.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.511072 s, deltaX: -0.099999 m, approachRate: -0.195666 m/s, rangeRepo size: 4 2025-10-27T05:00:59.010Z,1761541259.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.228479 m, bearing: 39.947822 deg, lat: 36.779329 deg, lon: -121.859611 deg, deltaT: 0.511072 s, deltaX: -0.099442 m, approachRate: -0.194574 m/s, posRepo size: 4 2025-10-27T05:00:59.014Z,1761541259.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.23 m. 2025-10-27T05:00:59.128Z,1761541259.128 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.315147 2025-10-27T05:00:59.315Z,1761541259.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629683,0.774810,0.056280],[-0.776720,-0.629256,-0.027247],[0.014303,-0.060870,0.998043]] 2025-10-27T05:00:59.334Z,1761541259.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.23 m. 2025-10-27T05:00:59.381Z,1761541259.381 [DAT](INFO): DAT read: Rx Time:05:00:58.0683 2025-10-27T05:00:59.382Z,1761541259.382 [DAT](INFO): Rx dataTimestamp_ set to:1761541259.381530 2025-10-27T05:00:59.385Z,1761541259.385 [DAT](INFO): DAT read: Bearing 160.5, -0.2 (Local) 2025-10-27T05:00:59.386Z,1761541259.386 [DAT](INFO): Local bearing/azimuth received: Bearing 160.5, -0.2 (Local) 2025-10-27T05:00:59.388Z,1761541259.388 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.2 2025-10-27T05:00:59.411Z,1761541259.411 [DAT](INFO): DAT read: 05:00:58.0683 LVL= 24912, 21073, 32306, 32755, AGC= 64, IDX= 512,-0.19,-2.603,-1.343,-2.566,-1.429, PHS=-1.072, 0.131,-1.181, RAW= 334.3, 30.7, CAL= 333.5, 36.0, ROT= 176.5, -36.0 2025-10-27T05:00:59.413Z,1761541259.413 [DAT](INFO): got valid direction response: 05:00:58.0683 LVL= 24912, 21073, 32306, 32755, AGC= 64, IDX= 512,-0.19,-2.603,-1.343,-2.566,-1.429, PHS=-1.072, 0.131,-1.181, RAW= 334.3, 30.7, CAL= 333.5, 36.0, ROT= 176.5, -36.0 2025-10-27T05:00:59.413Z,1761541259.413 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:00:59.414Z,1761541259.414 [DAT](INFO): direction in FSK: [-0.807508,0.049389,0.587785] 2025-10-27T05:00:59.414Z,1761541259.414 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:59.430Z,1761541259.430 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.616547 2025-10-27T05:00:59.632Z,1761541259.632 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.818920 2025-10-27T05:00:59.752Z,1761541259.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628951,0.775414,0.056151],[-0.777311,-0.628542,-0.026895],[0.014438,-0.060562,0.998060]] 2025-10-27T05:00:59.801Z,1761541259.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504901 s, deltaX: 0.300000 m, approachRate: 0.594176 m/s, rangeRepo size: 4 2025-10-27T05:00:59.803Z,1761541259.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.526979 m, bearing: 45.081385 deg, lat: 36.779328 deg, lon: -121.859611 deg, deltaT: 0.504901 s, deltaX: 0.298500 m, approachRate: 0.591205 m/s, posRepo size: 4 2025-10-27T05:00:59.803Z,1761541259.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.53 m. 2025-10-27T05:00:59.885Z,1761541259.885 [DAT](INFO): DAT read: Rx Time:05:00:58.5683 2025-10-27T05:00:59.885Z,1761541259.885 [DAT](INFO): Rx dataTimestamp_ set to:1761541259.885006 2025-10-27T05:00:59.887Z,1761541259.887 [DAT](INFO): DAT read: Bearing 196.4, 10.2 (Local) 2025-10-27T05:00:59.887Z,1761541259.887 [DAT](INFO): Local bearing/azimuth received: Bearing 196.4, 10.2 (Local) 2025-10-27T05:00:59.889Z,1761541259.889 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 2025-10-27T05:00:59.894Z,1761541259.894 [DAT](INFO): DAT read: 05:00:58.5683 LVL= 26288, 18001, 31122, 32755, AGC= 64, IDX= 511, 0.40,-0.033, 1.644,-0.330, 0.537, PHS=-0.468, 1.152,-0.911, RAW= 341.8, 2.4, CAL= 341.3, -0.4, ROT= 168.7, 0.4 2025-10-27T05:00:59.900Z,1761541259.900 [DAT](INFO): got valid direction response: 05:00:58.5683 LVL= 26288, 18001, 31122, 32755, AGC= 64, IDX= 511, 0.40,-0.033, 1.644,-0.330, 0.537, PHS=-0.468, 1.152,-0.911, RAW= 341.8, 2.4, CAL= 341.3, -0.4, ROT= 168.7, 0.4 2025-10-27T05:00:59.900Z,1761541259.900 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:00:59.901Z,1761541259.901 [DAT](INFO): direction in FSK: [-0.980591,0.195941,-0.006981] 2025-10-27T05:00:59.902Z,1761541259.902 [DAT](INFO): publishing direction and range info 2025-10-27T05:00:59.906Z,1761541259.906 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.093098 2025-10-27T05:01:00.122Z,1761541260.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627939,0.776221,0.056333],[-0.778125,-0.627542,-0.026707],[0.014621,-0.060605,0.998055]] 2025-10-27T05:01:00.136Z,1761541260.136 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.322750 2025-10-27T05:01:00.252Z,1761541260.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503476 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:00.254Z,1761541260.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.526981 m, bearing: 39.836576 deg, lat: 36.779328 deg, lon: -121.859611 deg, deltaT: 0.503476 s, deltaX: 0.000002 m, approachRate: 0.000004 m/s, posRepo size: 4 2025-10-27T05:01:00.255Z,1761541260.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.53 m. 2025-10-27T05:01:00.388Z,1761541260.388 [DAT](INFO): DAT read: Rx Time:05:00:59.0684 2025-10-27T05:01:00.389Z,1761541260.389 [DAT](INFO): Rx dataTimestamp_ set to:1761541260.388370 2025-10-27T05:01:00.390Z,1761541260.390 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.2 2025-10-27T05:01:00.390Z,1761541260.390 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-27T05:01:00.392Z,1761541260.392 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.579082 2025-10-27T05:01:00.548Z,1761541260.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627258,0.776771,0.056349],[-0.778670,-0.626879,-0.026359],[0.014849,-0.060411,0.998063]] 2025-10-27T05:01:00.617Z,1761541260.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503364 s, deltaX: 0.099999 m, approachRate: 0.198662 m/s, rangeRepo size: 4 2025-10-27T05:01:00.617Z,1761541260.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.53 m. 2025-10-27T05:01:00.640Z,1761541260.640 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.827068 2025-10-27T05:01:00.892Z,1761541260.892 [DAT](INFO): DAT read: Rx Time:05:00:59.5684 2025-10-27T05:01:00.893Z,1761541260.893 [DAT](INFO): Rx dataTimestamp_ set to:1761541260.892652 2025-10-27T05:01:00.894Z,1761541260.894 [DAT](INFO): DAT read: Bearing 189.4, 3.8 (Local) 2025-10-27T05:01:00.895Z,1761541260.895 [DAT](INFO): Local bearing/azimuth received: Bearing 189.4, 3.8 (Local) 2025-10-27T05:01:00.897Z,1761541260.897 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.3 2025-10-27T05:01:00.905Z,1761541260.905 [DAT](INFO): DAT read: 05:00:59.5684 LVL= 26752, 22769, 32754, 32755, AGC= 64, IDX= 513,-0.09, 2.284,-2.600, 2.262, 2.950, PHS=-0.564, 0.779,-0.732, RAW= 335.8, 7.3, CAL= 335.4, 7.0, ROT= 174.6, -7.0 2025-10-27T05:01:00.906Z,1761541260.906 [DAT](INFO): got valid direction response: 05:00:59.5684 LVL= 26752, 22769, 32754, 32755, AGC= 64, IDX= 513,-0.09, 2.284,-2.600, 2.262, 2.950, PHS=-0.564, 0.779,-0.732, RAW= 335.8, 7.3, CAL= 335.4, 7.0, ROT= 174.6, -7.0 2025-10-27T05:01:00.920Z,1761541260.920 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:01:00.921Z,1761541260.921 [DAT](INFO): direction in FSK: [-0.988141,0.093407,0.121869] 2025-10-27T05:01:00.921Z,1761541260.921 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:00.925Z,1761541260.925 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.111523 2025-10-27T05:01:00.966Z,1761541260.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626755,0.777182,0.056269],[-0.779070,-0.626403,-0.025887],[0.015128,-0.060062,0.998080]] 2025-10-27T05:01:01.079Z,1761541261.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504282 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:01.081Z,1761541261.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.626513 m, bearing: 45.382475 deg, lat: 36.779328 deg, lon: -121.859610 deg, deltaT: 1.007646 s, deltaX: 0.099531 m, approachRate: 0.098776 m/s, posRepo size: 4 2025-10-27T05:01:01.082Z,1761541261.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T05:01:01.145Z,1761541261.145 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.331627 2025-10-27T05:01:01.337Z,1761541261.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626276,0.777556,0.056435],[-0.779445,-0.625958,-0.025350],[0.015615,-0.059864,0.998084]] 2025-10-27T05:01:01.375Z,1761541261.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T05:01:01.397Z,1761541261.397 [DAT](INFO): DAT read: Rx Time:05:01:00.0684 2025-10-27T05:01:01.397Z,1761541261.397 [DAT](INFO): Rx dataTimestamp_ set to:1761541261.396799 2025-10-27T05:01:01.398Z,1761541261.398 [DAT](INFO): DAT read: Bearing 196.5, 10.9 (Local) 2025-10-27T05:01:01.399Z,1761541261.399 [DAT](INFO): Local bearing/azimuth received: Bearing 196.5, 10.9 (Local) 2025-10-27T05:01:01.401Z,1761541261.401 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-27T05:01:01.405Z,1761541261.405 [DAT](INFO): DAT read: 05:01:00.0684 LVL= 29680, 21985, 24130, 30483, AGC= 68, IDX= 2,-0.41,-1.700,-0.032,-2.026,-1.144, PHS=-0.455, 1.156,-0.926, RAW= 342.5, 2.4, CAL= 342.0, -0.5, ROT= 168.0, 0.5 2025-10-27T05:01:01.406Z,1761541261.406 [DAT](INFO): got valid direction response: 05:01:00.0684 LVL= 29680, 21985, 24130, 30483, AGC= 68, IDX= 2,-0.41,-1.700,-0.032,-2.026,-1.144, PHS=-0.455, 1.156,-0.926, RAW= 342.5, 2.4, CAL= 342.0, -0.5, ROT= 168.0, 0.5 2025-10-27T05:01:01.407Z,1761541261.407 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:01:01.408Z,1761541261.408 [DAT](INFO): direction in FSK: [-0.978110,0.207904,-0.008727] 2025-10-27T05:01:01.408Z,1761541261.408 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:01.412Z,1761541261.412 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.598892 2025-10-27T05:01:01.648Z,1761541261.648 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.834972 2025-10-27T05:01:01.762Z,1761541261.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625628,0.778044,0.056890],[-0.779954,-0.625337,-0.024990],[0.016132,-0.060006,0.998068]] 2025-10-27T05:01:01.812Z,1761541261.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:01.814Z,1761541261.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.626513 m, bearing: 39.310502 deg, lat: 36.779326 deg, lon: -121.859611 deg, deltaT: 0.504147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:01.814Z,1761541261.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T05:01:01.901Z,1761541261.901 [DAT](INFO): DAT read: Rx Time:05:01:00.5684 2025-10-27T05:01:01.901Z,1761541261.901 [DAT](INFO): Rx dataTimestamp_ set to:1761541261.900980 2025-10-27T05:01:01.903Z,1761541261.903 [DAT](INFO): DAT read: Bearing 196.0, 11.6 (Local) 2025-10-27T05:01:01.907Z,1761541261.907 [DAT](INFO): Local bearing/azimuth received: Bearing 196.0, 11.6 (Local) 2025-10-27T05:01:01.909Z,1761541261.909 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.2 2025-10-27T05:01:01.914Z,1761541261.914 [DAT](INFO): DAT read: 05:01:00.5684 LVL= 28512, 21825, 32754, 32755, AGC= 65, IDX= 497, 0.20,-1.172, 0.466,-1.525,-0.622, PHS=-0.449, 1.132,-0.947, RAW= 343.3, 2.8, CAL= 342.8, -0.1, ROT= 167.2, 0.1 2025-10-27T05:01:01.915Z,1761541261.915 [DAT](INFO): got valid direction response: 05:01:00.5684 LVL= 28512, 21825, 32754, 32755, AGC= 65, IDX= 497, 0.20,-1.172, 0.466,-1.525,-0.622, PHS=-0.449, 1.132,-0.947, RAW= 343.3, 2.8, CAL= 342.8, -0.1, ROT= 167.2, 0.1 2025-10-27T05:01:01.915Z,1761541261.915 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:01:01.916Z,1761541261.916 [DAT](INFO): direction in FSK: [-0.975148,0.221548,-0.001745] 2025-10-27T05:01:01.917Z,1761541261.917 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:01.925Z,1761541261.925 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.112202 2025-10-27T05:01:02.148Z,1761541262.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625431,0.778178,0.057235],[-0.780100,-0.625178,-0.024442],[0.016762,-0.059936,0.998061]] 2025-10-27T05:01:02.152Z,1761541262.152 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.338848 2025-10-27T05:01:02.178Z,1761541262.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504181 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:02.181Z,1761541262.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.626533 m, bearing: 38.502923 deg, lat: 36.779326 deg, lon: -121.859612 deg, deltaT: 0.504181 s, deltaX: 0.000020 m, approachRate: 0.000040 m/s, posRepo size: 4 2025-10-27T05:01:02.181Z,1761541262.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T05:01:02.405Z,1761541262.405 [DAT](INFO): DAT read: Rx Time:05:01:01.0685 2025-10-27T05:01:02.405Z,1761541262.405 [DAT](INFO): Rx dataTimestamp_ set to:1761541262.404813 2025-10-27T05:01:02.406Z,1761541262.406 [DAT](INFO): DAT read: Bearing 196.4, 11.7 (Local) 2025-10-27T05:01:02.407Z,1761541262.407 [DAT](INFO): Local bearing/azimuth received: Bearing 196.4, 11.7 (Local) 2025-10-27T05:01:02.409Z,1761541262.409 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.2 2025-10-27T05:01:02.413Z,1761541262.413 [DAT](INFO): DAT read: 05:01:01.0685 LVL= 26192, 19953, 29938, 32755, AGC= 65, IDX= 499, 0.00,-0.841, 0.809,-1.201,-0.298, PHS=-0.441, 1.152,-0.947, RAW= 343.4, 2.5, CAL= 342.9, -0.4, ROT= 167.1, 0.4 2025-10-27T05:01:02.415Z,1761541262.415 [DAT](INFO): got valid direction response: 05:01:01.0685 LVL= 26192, 19953, 29938, 32755, AGC= 65, IDX= 499, 0.00,-0.841, 0.809,-1.201,-0.298, PHS=-0.441, 1.152,-0.947, RAW= 343.4, 2.5, CAL= 342.9, -0.4, ROT= 167.1, 0.4 2025-10-27T05:01:02.415Z,1761541262.415 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:01:02.416Z,1761541262.416 [DAT](INFO): direction in FSK: [-0.974737,0.223245,-0.006981] 2025-10-27T05:01:02.416Z,1761541262.416 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:02.433Z,1761541262.433 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.620258 2025-10-27T05:01:02.577Z,1761541262.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625121,0.778396,0.057654],[-0.780334,-0.624905,-0.023926],[0.017405,-0.059946,0.998050]] 2025-10-27T05:01:02.618Z,1761541262.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503833 s, deltaX: 0.200000 m, approachRate: 0.396957 m/s, rangeRepo size: 4 2025-10-27T05:01:02.620Z,1761541262.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.825532 m, bearing: 38.441430 deg, lat: 36.779327 deg, lon: -121.859612 deg, deltaT: 0.503833 s, deltaX: 0.198999 m, approachRate: 0.394971 m/s, posRepo size: 4 2025-10-27T05:01:02.620Z,1761541262.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.83 m. 2025-10-27T05:01:02.656Z,1761541262.656 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.843044 2025-10-27T05:01:02.908Z,1761541262.908 [DAT](INFO): DAT read: Rx Time:05:01:01.5685 2025-10-27T05:01:02.909Z,1761541262.909 [DAT](INFO): Rx dataTimestamp_ set to:1761541262.908677 2025-10-27T05:01:02.910Z,1761541262.910 [DAT](INFO): DAT read: Bearing 196.5, 11.7 (Local) 2025-10-27T05:01:02.911Z,1761541262.911 [DAT](INFO): Local bearing/azimuth received: Bearing 196.5, 11.7 (Local) 2025-10-27T05:01:02.913Z,1761541262.913 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.3 2025-10-27T05:01:02.917Z,1761541262.917 [DAT](INFO): DAT read: 05:01:01.5685 LVL= 28608, 20401, 32754, 32755, AGC= 65, IDX= 499,-0.17, 3.025,-1.602, 2.661,-2.717, PHS=-0.440, 1.160,-0.949, RAW= 343.4, 2.4, CAL= 342.9, -0.5, ROT= 167.1, 0.5 2025-10-27T05:01:02.918Z,1761541262.918 [DAT](INFO): got valid direction response: 05:01:01.5685 LVL= 28608, 20401, 32754, 32755, AGC= 65, IDX= 499,-0.17, 3.025,-1.602, 2.661,-2.717, PHS=-0.440, 1.160,-0.949, RAW= 343.4, 2.4, CAL= 342.9, -0.5, ROT= 167.1, 0.5 2025-10-27T05:01:02.919Z,1761541262.919 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:01:02.920Z,1761541262.920 [DAT](INFO): direction in FSK: [-0.974724,0.223242,-0.008727] 2025-10-27T05:01:02.920Z,1761541262.920 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:02.928Z,1761541262.928 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.115303 2025-10-27T05:01:03.041Z,1761541263.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503864 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:03.044Z,1761541263.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.825544 m, bearing: 38.446893 deg, lat: 36.779327 deg, lon: -121.859613 deg, deltaT: 0.503864 s, deltaX: 0.000012 m, approachRate: 0.000025 m/s, posRepo size: 4 2025-10-27T05:01:03.044Z,1761541263.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.83 m. 2025-10-27T05:01:03.160Z,1761541263.160 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.347076 2025-10-27T05:01:03.358Z,1761541263.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624936,0.778507,0.058150],[-0.780450,-0.624812,-0.022545],[0.018782,-0.059472,0.998053]] 2025-10-27T05:01:03.400Z,1761541263.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.83 m. 2025-10-27T05:01:03.413Z,1761541263.413 [DAT](INFO): DAT read: Rx Time:05:01:02.0687 2025-10-27T05:01:03.413Z,1761541263.413 [DAT](INFO): Rx dataTimestamp_ set to:1761541263.412822 2025-10-27T05:01:03.414Z,1761541263.414 [DAT](INFO): DAT read: Bearing 196.3, 11.7 (Local) 2025-10-27T05:01:03.415Z,1761541263.415 [DAT](INFO): Local bearing/azimuth received: Bearing 196.3, 11.7 (Local) 2025-10-27T05:01:03.417Z,1761541263.417 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 2025-10-27T05:01:03.422Z,1761541263.422 [DAT](INFO): DAT read: 05:01:02.0687 LVL= 26992, 23137, 32754, 32755, AGC= 63, IDX= 501,-0.36,-2.356,-0.704,-2.716,-1.807, PHS=-0.447, 1.149,-0.953, RAW= 343.3, 2.7, CAL= 342.8, -0.2, ROT= 167.2, 0.2 2025-10-27T05:01:03.423Z,1761541263.423 [DAT](INFO): got valid direction response: 05:01:02.0687 LVL= 26992, 23137, 32754, 32755, AGC= 63, IDX= 501,-0.36,-2.356,-0.704,-2.716,-1.807, PHS=-0.447, 1.149,-0.953, RAW= 343.3, 2.7, CAL= 342.8, -0.2, ROT= 167.2, 0.2 2025-10-27T05:01:03.423Z,1761541263.423 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:01:03.424Z,1761541263.424 [DAT](INFO): direction in FSK: [-0.975143,0.221547,-0.003491] 2025-10-27T05:01:03.424Z,1761541263.424 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:03.432Z,1761541263.432 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.619190 2025-10-27T05:01:03.668Z,1761541263.668 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.854675 2025-10-27T05:01:03.769Z,1761541263.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625172,0.778310,0.058251],[-0.780242,-0.625101,-0.021688],[0.019533,-0.059009,0.998066]] 2025-10-27T05:01:03.820Z,1761541263.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504145 s, deltaX: 0.300000 m, approachRate: 0.595067 m/s, rangeRepo size: 4 2025-10-27T05:01:03.822Z,1761541263.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.124045 m, bearing: 38.523044 deg, lat: 36.779327 deg, lon: -121.859613 deg, deltaT: 0.504145 s, deltaX: 0.298501 m, approachRate: 0.592094 m/s, posRepo size: 4 2025-10-27T05:01:03.822Z,1761541263.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T05:01:03.917Z,1761541263.917 [DAT](INFO): DAT read: Rx Time:05:01:02.5687 2025-10-27T05:01:03.917Z,1761541263.917 [DAT](INFO): Rx dataTimestamp_ set to:1761541263.916894 2025-10-27T05:01:03.919Z,1761541263.919 [DAT](INFO): DAT read: Bearing 196.2, 12.5 (Local) 2025-10-27T05:01:03.920Z,1761541263.920 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 12.5 (Local) 2025-10-27T05:01:03.923Z,1761541263.923 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.3 2025-10-27T05:01:03.930Z,1761541263.930 [DAT](INFO): DAT read: 05:01:02.5687 LVL= 27808, 23489, 32754, 32755, AGC= 63, IDX= 500, 0.39,-2.019,-0.393,-2.408,-1.488, PHS=-0.429, 1.140,-0.964, RAW= 344.1, 2.7, CAL= 343.7, -0.2, ROT= 166.3, 0.2 2025-10-27T05:01:03.936Z,1761541263.936 [DAT](INFO): got valid direction response: 05:01:02.5687 LVL= 27808, 23489, 32754, 32755, AGC= 63, IDX= 500, 0.39,-2.019,-0.393,-2.408,-1.488, PHS=-0.429, 1.140,-0.964, RAW= 344.1, 2.7, CAL= 343.7, -0.2, ROT= 166.3, 0.2 2025-10-27T05:01:03.937Z,1761541263.937 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:01:03.938Z,1761541263.938 [DAT](INFO): direction in FSK: [-0.971543,0.236837,-0.003491] 2025-10-27T05:01:03.938Z,1761541263.938 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:03.942Z,1761541263.942 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.128750 2025-10-27T05:01:04.166Z,1761541264.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625378,0.778120,0.058581],[-0.780056,-0.625362,-0.020884],[0.020384,-0.058757,0.998064]] 2025-10-27T05:01:04.168Z,1761541264.168 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.355003 2025-10-27T05:01:04.273Z,1761541264.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504072 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:04.302Z,1761541264.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.124084 m, bearing: 37.607177 deg, lat: 36.779328 deg, lon: -121.859614 deg, deltaT: 0.504072 s, deltaX: 0.000038 m, approachRate: 0.000076 m/s, posRepo size: 4 2025-10-27T05:01:04.303Z,1761541264.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T05:01:04.421Z,1761541264.421 [DAT](INFO): DAT read: Rx Time:05:01:03.0689 2025-10-27T05:01:04.421Z,1761541264.421 [DAT](INFO): Rx dataTimestamp_ set to:1761541264.420717 2025-10-27T05:01:04.422Z,1761541264.422 [DAT](INFO): DAT read: Bearing 196.7, 12.4 (Local) 2025-10-27T05:01:04.423Z,1761541264.423 [DAT](INFO): Local bearing/azimuth received: Bearing 196.7, 12.4 (Local) 2025-10-27T05:01:04.425Z,1761541264.425 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T05:01:04.429Z,1761541264.429 [DAT](INFO): DAT read: 05:01:03.0689 LVL= 27296, 21441, 32754, 32755, AGC= 64, IDX= 502, 0.25,-1.236, 0.408,-1.629,-0.713, PHS=-0.421, 1.166,-0.961, RAW= 344.1, 2.3, CAL= 343.6, -0.6, ROT= 166.4, 0.6 2025-10-27T05:01:04.430Z,1761541264.430 [DAT](INFO): got valid direction response: 05:01:03.0689 LVL= 27296, 21441, 32754, 32755, AGC= 64, IDX= 502, 0.25,-1.236, 0.408,-1.629,-0.713, PHS=-0.421, 1.166,-0.961, RAW= 344.1, 2.3, CAL= 343.6, -0.6, ROT= 166.4, 0.6 2025-10-27T05:01:04.431Z,1761541264.431 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:01:04.432Z,1761541264.432 [DAT](INFO): direction in FSK: [-0.971908,0.235129,-0.010472] 2025-10-27T05:01:04.432Z,1761541264.432 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:04.436Z,1761541264.436 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.623016 2025-10-27T05:01:04.628Z,1761541264.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625664,0.777807,0.059679],[-0.779803,-0.625685,-0.020646],[0.021282,-0.059455,0.998004]] 2025-10-27T05:01:04.672Z,1761541264.672 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.859005 2025-10-27T05:01:04.697Z,1761541264.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503823 s, deltaX: 0.300000 m, approachRate: 0.595448 m/s, rangeRepo size: 4 2025-10-27T05:01:04.720Z,1761541264.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.422585 m, bearing: 37.706602 deg, lat: 36.779328 deg, lon: -121.859614 deg, deltaT: 0.503823 s, deltaX: 0.298502 m, approachRate: 0.592474 m/s, posRepo size: 4 2025-10-27T05:01:04.722Z,1761541264.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-27T05:01:04.924Z,1761541264.924 [DAT](INFO): DAT read: Rx Time:05:01:03.5689 2025-10-27T05:01:04.925Z,1761541264.925 [DAT](INFO): Rx dataTimestamp_ set to:1761541264.924638 2025-10-27T05:01:04.926Z,1761541264.926 [DAT](INFO): DAT read: Bearing 196.2, 12.5 (Local) 2025-10-27T05:01:04.926Z,1761541264.926 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 12.5 (Local) 2025-10-27T05:01:04.929Z,1761541264.929 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.2 2025-10-27T05:01:04.933Z,1761541264.933 [DAT](INFO): DAT read: 05:01:03.5689 LVL= 28096, 23601, 32754, 32755, AGC= 64, IDX= 502, 0.13,-2.497,-0.870,-2.891,-1.966, PHS=-0.428, 1.141,-0.968, RAW= 344.3, 2.7, CAL= 343.8, -0.2, ROT= 166.2, 0.2 2025-10-27T05:01:04.934Z,1761541264.934 [DAT](INFO): got valid direction response: 05:01:03.5689 LVL= 28096, 23601, 32754, 32755, AGC= 64, IDX= 502, 0.13,-2.497,-0.870,-2.891,-1.966, PHS=-0.428, 1.141,-0.968, RAW= 344.3, 2.7, CAL= 343.8, -0.2, ROT= 166.2, 0.2 2025-10-27T05:01:04.940Z,1761541264.940 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:01:04.941Z,1761541264.941 [DAT](INFO): direction in FSK: [-0.971128,0.238532,-0.003491] 2025-10-27T05:01:04.942Z,1761541264.942 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:04.946Z,1761541264.946 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.132648 2025-10-27T05:01:05.016Z,1761541265.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625876,0.777556,0.060706],[-0.779608,-0.625936,-0.020400],[0.022136,-0.060094,0.997947]] 2025-10-27T05:01:05.072Z,1761541265.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503921 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:05.074Z,1761541265.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.422666 m, bearing: 37.469220 deg, lat: 36.779329 deg, lon: -121.859614 deg, deltaT: 0.503921 s, deltaX: 0.000080 m, approachRate: 0.000159 m/s, posRepo size: 4 2025-10-27T05:01:05.087Z,1761541265.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-27T05:01:05.177Z,1761541265.177 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.363918 2025-10-27T05:01:05.406Z,1761541265.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626118,0.777311,0.061347],[-0.779391,-0.626221,-0.019928],[0.022927,-0.060290,0.997918]] 2025-10-27T05:01:05.429Z,1761541265.429 [DAT](INFO): DAT read: Rx Time:05:01:04.0689 2025-10-27T05:01:05.429Z,1761541265.429 [DAT](INFO): Rx dataTimestamp_ set to:1761541265.428792 2025-10-27T05:01:05.430Z,1761541265.430 [DAT](INFO): DAT read: Bearing 196.9, 12.3 (Local) 2025-10-27T05:01:05.431Z,1761541265.431 [DAT](INFO): Local bearing/azimuth received: Bearing 196.9, 12.3 (Local) 2025-10-27T05:01:05.433Z,1761541265.433 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.4 2025-10-27T05:01:05.438Z,1761541265.438 [DAT](INFO): DAT read: 05:01:04.0689 LVL= 27184, 20433, 32754, 32755, AGC= 64, IDX= 503, 0.06,-3.016,-1.380, 2.876,-2.503, PHS=-0.412, 1.167,-0.949, RAW= 344.1, 2.1, CAL= 343.7, -0.9, ROT= 166.3, 0.9 2025-10-27T05:01:05.439Z,1761541265.439 [DAT](INFO): got valid direction response: 05:01:04.0689 LVL= 27184, 20433, 32754, 32755, AGC= 64, IDX= 503, 0.06,-3.016,-1.380, 2.876,-2.503, PHS=-0.412, 1.167,-0.949, RAW= 344.1, 2.1, CAL= 343.7, -0.9, ROT= 166.3, 0.9 2025-10-27T05:01:05.439Z,1761541265.439 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:01:05.440Z,1761541265.440 [DAT](INFO): direction in FSK: [-0.971429,0.236809,-0.015707] 2025-10-27T05:01:05.440Z,1761541265.440 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:05.448Z,1761541265.448 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.635139 2025-10-27T05:01:05.479Z,1761541265.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:05.483Z,1761541265.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.422666 m, bearing: 37.587594 deg, lat: 36.779329 deg, lon: -121.859615 deg, deltaT: 0.504154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:05.492Z,1761541265.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-27T05:01:05.680Z,1761541265.680 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.867340 2025-10-27T05:01:05.810Z,1761541265.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626570,0.776913,0.061769],[-0.779005,-0.626720,-0.019328],[0.023695,-0.060229,0.997903]] 2025-10-27T05:01:05.857Z,1761541265.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-27T05:01:05.933Z,1761541265.933 [DAT](INFO): DAT read: Rx Time:05:01:04.5689 2025-10-27T05:01:05.933Z,1761541265.933 [DAT](INFO): Rx dataTimestamp_ set to:1761541265.932750 2025-10-27T05:01:05.935Z,1761541265.935 [DAT](INFO): DAT read: Bearing 197.1, 12.2 (Local) 2025-10-27T05:01:05.936Z,1761541265.936 [DAT](INFO): Local bearing/azimuth received: Bearing 197.1, 12.2 (Local) 2025-10-27T05:01:05.939Z,1761541265.939 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 2025-10-27T05:01:05.951Z,1761541265.951 [DAT](INFO): DAT read: 05:01:04.5689 LVL= 26864, 18801, 32562, 32755, AGC= 64, IDX= 503,-0.00, 1.894,-2.749, 1.507, 2.405, PHS=-0.409, 1.174,-0.943, RAW= 344.0, 1.9, CAL= 343.5, -1.0, ROT= 166.5, 1.0 2025-10-27T05:01:05.953Z,1761541265.953 [DAT](INFO): got valid direction response: 05:01:04.5689 LVL= 26864, 18801, 32562, 32755, AGC= 64, IDX= 503,-0.00, 1.894,-2.749, 1.507, 2.405, PHS=-0.409, 1.174,-0.943, RAW= 344.0, 1.9, CAL= 343.5, -1.0, ROT= 166.5, 1.0 2025-10-27T05:01:05.954Z,1761541265.954 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T05:01:05.956Z,1761541265.956 [DAT](INFO): direction in FSK: [-0.972222,0.233410,-0.017452] 2025-10-27T05:01:05.957Z,1761541265.957 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:05.964Z,1761541265.964 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.149685 2025-10-27T05:01:06.184Z,1761541266.184 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.370888 2025-10-27T05:01:06.273Z,1761541266.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627308,0.776312,0.061847],[-0.778390,-0.627505,-0.018605],[0.024366,-0.059812,0.997912]] 2025-10-27T05:01:06.304Z,1761541266.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503958 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:06.306Z,1761541266.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.422660 m, bearing: 37.702017 deg, lat: 36.779329 deg, lon: -121.859616 deg, deltaT: 0.503958 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T05:01:06.307Z,1761541266.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-27T05:01:06.436Z,1761541266.436 [DAT](INFO): DAT read: Rx Time:05:01:05.0691 2025-10-27T05:01:06.437Z,1761541266.437 [DAT](INFO): Rx dataTimestamp_ set to:1761541266.436683 2025-10-27T05:01:06.438Z,1761541266.438 [DAT](INFO): DAT read: Bearing 196.9, 11.9 (Local) 2025-10-27T05:01:06.439Z,1761541266.439 [DAT](INFO): Local bearing/azimuth received: Bearing 196.9, 11.9 (Local) 2025-10-27T05:01:06.441Z,1761541266.441 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2 2025-10-27T05:01:06.446Z,1761541266.446 [DAT](INFO): DAT read: 05:01:05.0691 LVL= 27168, 24113, 32754, 32755, AGC= 64, IDX= 505,-0.05, 2.432,-2.205, 2.058, 2.956, PHS=-0.422, 1.167,-0.942, RAW= 343.7, 2.1, CAL= 343.2, -0.8, ROT= 166.8, 0.8 2025-10-27T05:01:06.448Z,1761541266.448 [DAT](INFO): got valid direction response: 05:01:05.0691 LVL= 27168, 24113, 32754, 32755, AGC= 64, IDX= 505,-0.05, 2.432,-2.205, 2.058, 2.956, PHS=-0.422, 1.167,-0.942, RAW= 343.7, 2.1, CAL= 343.2, -0.8, ROT= 166.8, 0.8 2025-10-27T05:01:06.449Z,1761541266.449 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:01:06.450Z,1761541266.450 [DAT](INFO): direction in FSK: [-0.973484,0.228328,-0.013962] 2025-10-27T05:01:06.451Z,1761541266.451 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:06.458Z,1761541266.458 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.644966 2025-10-27T05:01:06.705Z,1761541266.705 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.891407 2025-10-27T05:01:06.770Z,1761541266.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503933 s, deltaX: 0.300000 m, approachRate: 0.595318 m/s, rangeRepo size: 4 2025-10-27T05:01:06.776Z,1761541266.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.721164 m, bearing: 37.991454 deg, lat: 36.779329 deg, lon: -121.859615 deg, deltaT: 0.503933 s, deltaX: 0.298504 m, approachRate: 0.592348 m/s, posRepo size: 4 2025-10-27T05:01:06.777Z,1761541266.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m. 2025-10-27T05:01:06.940Z,1761541266.940 [DAT](INFO): DAT read: Rx Time:05:01:05.5691 2025-10-27T05:01:06.941Z,1761541266.941 [DAT](INFO): Rx dataTimestamp_ set to:1761541266.940661 2025-10-27T05:01:06.942Z,1761541266.942 [DAT](INFO): DAT read: Bearing 196.8, 11.9 (Local) 2025-10-27T05:01:06.943Z,1761541266.943 [DAT](INFO): Local bearing/azimuth received: Bearing 196.8, 11.9 (Local) 2025-10-27T05:01:06.952Z,1761541266.952 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2 2025-10-27T05:01:06.961Z,1761541266.961 [DAT](INFO): DAT read: 05:01:05.5691 LVL= 27792, 23265, 32754, 32755, AGC= 65, IDX= 505,-0.10, 1.437, 3.083, 1.058, 1.962, PHS=-0.423, 1.167,-0.948, RAW= 343.8, 2.2, CAL= 343.3, -0.8, ROT= 166.7, 0.8 2025-10-27T05:01:06.963Z,1761541266.963 [DAT](INFO): got valid direction response: 05:01:05.5691 LVL= 27792, 23265, 32754, 32755, AGC= 65, IDX= 505,-0.10, 1.437, 3.083, 1.058, 1.962, PHS=-0.423, 1.167,-0.948, RAW= 343.8, 2.2, CAL= 343.3, -0.8, ROT= 166.7, 0.8 2025-10-27T05:01:06.964Z,1761541266.964 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:01:06.965Z,1761541266.965 [DAT](INFO): direction in FSK: [-0.973084,0.230027,-0.013962] 2025-10-27T05:01:06.966Z,1761541266.966 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:07.001Z,1761541267.001 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.187763 2025-10-27T05:01:07.022Z,1761541267.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627787,0.775894,0.062223],[-0.777978,-0.628037,-0.017898],[0.025192,-0.059644,0.997902]] 2025-10-27T05:01:07.066Z,1761541267.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:07.093Z,1761541267.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.721231 m, bearing: 37.854427 deg, lat: 36.779328 deg, lon: -121.859615 deg, deltaT: 0.503978 s, deltaX: 0.000068 m, approachRate: 0.000134 m/s, posRepo size: 4 2025-10-27T05:01:07.093Z,1761541267.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m. 2025-10-27T05:01:07.195Z,1761541267.195 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.381283 2025-10-27T05:01:07.425Z,1761541267.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627819,0.775841,0.062555],[-0.777942,-0.628084,-0.017807],[0.025475,-0.059844,0.997883]] 2025-10-27T05:01:07.455Z,1761541267.455 [DAT](INFO): DAT read: Rx Time:05:01:06.0693 2025-10-27T05:01:07.456Z,1761541267.456 [DAT](INFO): Rx dataTimestamp_ set to:1761541267.455180 2025-10-27T05:01:07.457Z,1761541267.457 [DAT](INFO): DAT read: Bearing 196.6, 11.8 (Local) 2025-10-27T05:01:07.458Z,1761541267.458 [DAT](INFO): Local bearing/azimuth received: Bearing 196.6, 11.8 (Local) 2025-10-27T05:01:07.462Z,1761541267.462 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.2 2025-10-27T05:01:07.473Z,1761541267.473 [DAT](INFO): DAT read: 05:01:06.0693 LVL= 27856, 23249, 32754, 32755, AGC= 65, IDX= 507,-0.13, 2.798,-1.842, 2.427,-2.954, PHS=-0.429, 1.157,-0.947, RAW= 343.7, 2.3, CAL= 343.2, -0.6, ROT= 166.8, 0.6 2025-10-27T05:01:07.483Z,1761541267.483 [DAT](INFO): got valid direction response: 05:01:06.0693 LVL= 27856, 23249, 32754, 32755, AGC= 65, IDX= 507,-0.13, 2.798,-1.842, 2.427,-2.954, PHS=-0.429, 1.157,-0.947, RAW= 343.7, 2.3, CAL= 343.2, -0.6, ROT= 166.8, 0.6 2025-10-27T05:01:07.483Z,1761541267.483 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:01:07.484Z,1761541267.484 [DAT](INFO): direction in FSK: [-0.973526,0.228338,-0.010472] 2025-10-27T05:01:07.485Z,1761541267.485 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:07.496Z,1761541267.496 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.683434 2025-10-27T05:01:07.508Z,1761541267.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.514519 s, deltaX: 0.300000 m, approachRate: 0.583069 m/s, rangeRepo size: 4 2025-10-27T05:01:07.510Z,1761541267.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.019735 m, bearing: 37.941278 deg, lat: 36.779328 deg, lon: -121.859615 deg, deltaT: 0.514519 s, deltaX: 0.298504 m, approachRate: 0.580161 m/s, posRepo size: 4 2025-10-27T05:01:07.510Z,1761541267.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.02 m. 2025-10-27T05:01:07.708Z,1761541267.708 [DAT](INFO): DAT read: Rx Time:05:01:06.5693 2025-10-27T05:01:07.709Z,1761541267.709 [DAT](INFO): Rx dataTimestamp_ set to:1761541267.708439 2025-10-27T05:01:07.712Z,1761541267.712 [DAT](INFO): DAT read: Bearing 196.5, 11.5 (Local) 2025-10-27T05:01:07.713Z,1761541267.713 [DAT](INFO): Local bearing/azimuth received: Bearing 196.5, 11.5 (Local) 2025-10-27T05:01:07.727Z,1761541267.727 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.901802 2025-10-27T05:01:07.830Z,1761541267.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627979,0.775715,0.062523],[-0.777810,-0.628251,-0.017673],[0.025570,-0.059729,0.997887]] 2025-10-27T05:01:07.896Z,1761541267.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.02 m. 2025-10-27T05:01:07.959Z,1761541267.959 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-27T05:01:07.967Z,1761541267.967 [DAT](INFO): DAT read: 05:01:06.5693 LVL= 29424, 25057, 32754, 32755, AGC= 65, IDX= 507,-0.17, 0.947, 2.614, 0.584, 1.494, PHS=-0.444, 1.166,-0.954, RAW= 343.3, 2.5, CAL= 342.8, -0.5, ROT= 167.2, 0.5 2025-10-27T05:01:07.969Z,1761541267.969 [DAT](INFO): got valid direction response: 05:01:06.5693 LVL= 29424, 25057, 32754, 32755, AGC= 65, IDX= 507,-0.17, 0.947, 2.614, 0.584, 1.494, PHS=-0.444, 1.166,-0.954, RAW= 343.3, 2.5, CAL= 342.8, -0.5, ROT= 167.2, 0.5 2025-10-27T05:01:07.970Z,1761541267.970 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:01:07.972Z,1761541267.972 [DAT](INFO): direction in FSK: [-0.975112,0.221540,-0.008727] 2025-10-27T05:01:07.972Z,1761541267.972 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:07.981Z,1761541267.981 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.167828 2025-10-27T05:01:08.212Z,1761541268.212 [DAT](INFO): DAT read: Rx Time:05:01:07.0695 2025-10-27T05:01:08.214Z,1761541268.214 [DAT](INFO): Rx dataTimestamp_ set to:1761541268.212657 2025-10-27T05:01:08.216Z,1761541268.216 [DAT](INFO): DAT read: Bearing 196.6, 11.6 (Local) 2025-10-27T05:01:08.217Z,1761541268.217 [DAT](INFO): Local bearing/azimuth received: Bearing 196.6, 11.6 (Local) 2025-10-27T05:01:08.247Z,1761541268.247 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.405308 2025-10-27T05:01:08.287Z,1761541268.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628128,0.775606,0.062371],[-0.777689,-0.628406,-0.017519],[0.025606,-0.059510,0.997899]] 2025-10-27T05:01:08.334Z,1761541268.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.500557 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:08.341Z,1761541268.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.019751 m, bearing: 38.312522 deg, lat: 36.779328 deg, lon: -121.859615 deg, deltaT: 0.500557 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 2025-10-27T05:01:08.342Z,1761541268.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.02 m. 2025-10-27T05:01:08.463Z,1761541268.463 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3 2025-10-27T05:01:08.478Z,1761541268.478 [DAT](INFO): DAT read: 05:01:07.0695 LVL= 27936, 22449, 32754, 32755, AGC= 64, IDX= 509,-0.20, 1.989,-2.643, 1.625, 2.524, PHS=-0.434, 1.160,-0.943, RAW= 343.4, 2.3, CAL= 342.9, -0.6, ROT= 167.1, 0.6 2025-10-27T05:01:08.487Z,1761541268.487 [DAT](INFO): got valid direction response: 05:01:07.0695 LVL= 27936, 22449, 32754, 32755, AGC= 64, IDX= 509,-0.20, 1.989,-2.643, 1.625, 2.524, PHS=-0.434, 1.160,-0.943, RAW= 343.4, 2.3, CAL= 342.9, -0.6, ROT= 167.1, 0.6 2025-10-27T05:01:08.488Z,1761541268.488 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:01:08.489Z,1761541268.489 [DAT](INFO): direction in FSK: [-0.974708,0.223238,-0.010472] 2025-10-27T05:01:08.489Z,1761541268.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:08.501Z,1761541268.501 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.687920 2025-10-27T05:01:08.666Z,1761541268.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627654,0.776000,0.062244],[-0.778082,-0.627911,-0.017790],[0.025279,-0.059597,0.997902]] 2025-10-27T05:01:08.716Z,1761541268.716 [DAT](INFO): DAT read: Rx Time:05:01:07.5695 2025-10-27T05:01:08.718Z,1761541268.718 [DAT](INFO): Rx dataTimestamp_ set to:1761541268.716681 2025-10-27T05:01:08.721Z,1761541268.721 [DAT](INFO): DAT read: Bearing 196.5, 11.6 (Local) 2025-10-27T05:01:08.722Z,1761541268.722 [DAT](INFO): Local bearing/azimuth received: Bearing 196.5, 11.6 (Local) 2025-10-27T05:01:08.750Z,1761541268.750 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.2 2025-10-27T05:01:08.792Z,1761541268.792 [DAT](INFO): DAT read: 05:01:07.5695 LVL= 27936, 23713, 32754, 32755, AGC= 64, IDX= 509,-0.37, 1.046, 2.703, 0.681, 1.586, PHS=-0.437, 1.162,-0.949, RAW= 343.4, 2.4, CAL= 342.9, -0.5, ROT= 167.1, 0.5 2025-10-27T05:01:08.793Z,1761541268.793 [DAT](INFO): got valid direction response: 05:01:07.5695 LVL= 27936, 23713, 32754, 32755, AGC= 64, IDX= 509,-0.37, 1.046, 2.703, 0.681, 1.586, PHS=-0.437, 1.162,-0.949, RAW= 343.4, 2.4, CAL= 342.9, -0.5, ROT= 167.1, 0.5 2025-10-27T05:01:08.793Z,1761541268.793 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:01:08.794Z,1761541268.794 [DAT](INFO): direction in FSK: [-0.974724,0.223242,-0.008727] 2025-10-27T05:01:08.794Z,1761541268.794 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:08.814Z,1761541268.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.760944 s, deltaX: 0.299999 m, approachRate: 0.394246 m/s, rangeRepo size: 4 2025-10-27T05:01:08.822Z,1761541268.822 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.008816 2025-10-27T05:01:08.825Z,1761541268.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.318254 m, bearing: 38.248150 deg, lat: 36.779328 deg, lon: -121.859613 deg, deltaT: 0.504401 s, deltaX: 0.298504 m, approachRate: 0.591799 m/s, posRepo size: 4 2025-10-27T05:01:08.825Z,1761541268.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.32 m. 2025-10-27T05:01:08.965Z,1761541268.965 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.151428 2025-10-27T05:01:09.062Z,1761541269.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626997,0.776520,0.062388],[-0.778618,-0.627236,-0.018109],[0.025070,-0.059931,0.997888]] 2025-10-27T05:01:09.082Z,1761541269.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.32 m. 2025-10-27T05:01:09.219Z,1761541269.219 [DAT](INFO): DAT read: Rx Time:05:01:08.0696 2025-10-27T05:01:09.220Z,1761541269.220 [DAT](INFO): Rx dataTimestamp_ set to:1761541269.219103 2025-10-27T05:01:09.222Z,1761541269.222 [DAT](INFO): DAT read: Bearing 196.3, 12.3 (Local) 2025-10-27T05:01:09.223Z,1761541269.223 [DAT](INFO): Local bearing/azimuth received: Bearing 196.3, 12.3 (Local) 2025-10-27T05:01:09.225Z,1761541269.225 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.411812 2025-10-27T05:01:09.472Z,1761541269.472 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 2025-10-27T05:01:09.478Z,1761541269.478 [DAT](INFO): DAT read: 05:01:08.0696 LVL= 28624, 21073, 32754, 32755, AGC= 66, IDX= 509, 0.28,-1.873,-0.250,-2.263,-1.349, PHS=-0.422, 1.144,-0.958, RAW= 344.2, 2.5, CAL= 343.7, -0.4, ROT= 166.3, 0.4 2025-10-27T05:01:09.480Z,1761541269.480 [DAT](INFO): got valid direction response: 05:01:08.0696 LVL= 28624, 21073, 32754, 32755, AGC= 66, IDX= 509, 0.28,-1.873,-0.250,-2.263,-1.349, PHS=-0.422, 1.144,-0.958, RAW= 344.2, 2.5, CAL= 343.7, -0.4, ROT= 166.3, 0.4 2025-10-27T05:01:09.480Z,1761541269.480 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:01:09.481Z,1761541269.481 [DAT](INFO): direction in FSK: [-0.971525,0.236832,-0.006981] 2025-10-27T05:01:09.481Z,1761541269.481 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:09.485Z,1761541269.485 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.671883 2025-10-27T05:01:09.489Z,1761541269.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626485,0.776947,0.062204],[-0.779040,-0.626706,-0.018313],[0.024756,-0.059932,0.997895]] 2025-10-27T05:01:09.576Z,1761541269.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.751412 s, deltaX: 0.100000 m, approachRate: 0.133083 m/s, rangeRepo size: 4 2025-10-27T05:01:09.584Z,1761541269.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.417753 m, bearing: 37.530506 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 1.007955 s, deltaX: 0.099499 m, approachRate: 0.098713 m/s, posRepo size: 4 2025-10-27T05:01:09.585Z,1761541269.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m. 2025-10-27T05:01:09.724Z,1761541269.724 [DAT](INFO): DAT read: Rx Time:05:01:08.5695 2025-10-27T05:01:09.725Z,1761541269.725 [DAT](INFO): Rx dataTimestamp_ set to:1761541269.724238 2025-10-27T05:01:09.750Z,1761541269.750 [DAT](INFO): DAT read: Bearing 196.4, 12.4 (Local) 2025-10-27T05:01:09.751Z,1761541269.751 [DAT](INFO): Local bearing/azimuth received: Bearing 196.4, 12.4 (Local) 2025-10-27T05:01:09.754Z,1761541269.754 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.1 2025-10-27T05:01:09.755Z,1761541269.755 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T05:01:09.769Z,1761541269.769 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.955357 2025-10-27T05:01:09.908Z,1761541269.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626020,0.777364,0.061679],[-0.779426,-0.626226,-0.018333],[0.024374,-0.059551,0.997928]] 2025-10-27T05:01:09.978Z,1761541269.978 [DAT](INFO): DAT read: 05:01:08.5695 LVL= 26352, 20401, 32658, 32755, AGC= 66, IDX= 509, 0.09,-3.028,-1.398, 2.858,-2.507, PHS=-0.418, 1.154,-0.962, RAW= 344.3, 2.4, CAL= 343.8, -0.5, ROT= 166.2, 0.5 2025-10-27T05:01:09.979Z,1761541269.979 [DAT](INFO): got valid direction response: 05:01:08.5695 LVL= 26352, 20401, 32658, 32755, AGC= 66, IDX= 509, 0.09,-3.028,-1.398, 2.858,-2.507, PHS=-0.418, 1.154,-0.962, RAW= 344.3, 2.4, CAL= 343.8, -0.5, ROT= 166.2, 0.5 2025-10-27T05:01:09.979Z,1761541269.979 [DAT](INFO): #Rx 102: Read direction message, but no range. 2025-10-27T05:01:09.980Z,1761541269.980 [DAT](INFO): direction in FSK: [-0.971097,0.238525,-0.008727] 2025-10-27T05:01:09.984Z,1761541269.984 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.170841 2025-10-27T05:01:09.997Z,1761541269.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.256145 s, deltaX: -0.100000 m, approachRate: -0.390405 m/s, rangeRepo size: 4 2025-10-27T05:01:09.997Z,1761541269.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.42 m. 2025-10-27T05:01:10.229Z,1761541270.229 [DAT](INFO): DAT read: Rx Time:05:01:09.0697 2025-10-27T05:01:10.230Z,1761541270.230 [DAT](INFO): Rx dataTimestamp_ set to:1761541270.229506 2025-10-27T05:01:10.233Z,1761541270.233 [DAT](INFO): DAT read: Bearing 196.3, 12.1 (Local) 2025-10-27T05:01:10.235Z,1761541270.235 [DAT](INFO): Local bearing/azimuth received: Bearing 196.3, 12.1 (Local) 2025-10-27T05:01:10.253Z,1761541270.253 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.1 2025-10-27T05:01:10.254Z,1761541270.254 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T05:01:10.254Z,1761541270.254 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.441410 2025-10-27T05:01:10.330Z,1761541270.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625361,0.777935,0.061167],[-0.779968,-0.625549,-0.018397],[0.023951,-0.059213,0.997958]] 2025-10-27T05:01:10.378Z,1761541270.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.505268 s, deltaX: 0.300001 m, approachRate: 0.593747 m/s, rangeRepo size: 4 2025-10-27T05:01:10.388Z,1761541270.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.616730 m, bearing: 37.518972 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 0.761413 s, deltaX: 0.198977 m, approachRate: 0.261325 m/s, posRepo size: 4 2025-10-27T05:01:10.389Z,1761541270.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.62 m. 2025-10-27T05:01:10.483Z,1761541270.483 [DAT](INFO): DAT read: 05:01:09.0697 LVL= 28656, 22577, 32754, 32755, AGC= 66, IDX= 511,-0.12, 3.138,-1.506, 2.750,-2.613, PHS=-0.430, 1.152,-0.964, RAW= 344.0, 2.6, CAL= 343.5, -0.3, ROT= 166.5, 0.3 2025-10-27T05:01:10.484Z,1761541270.484 [DAT](INFO): got valid direction response: 05:01:09.0697 LVL= 28656, 22577, 32754, 32755, AGC= 66, IDX= 511,-0.12, 3.138,-1.506, 2.750,-2.613, PHS=-0.430, 1.152,-0.964, RAW= 344.0, 2.6, CAL= 343.5, -0.3, ROT= 166.5, 0.3 2025-10-27T05:01:10.485Z,1761541270.485 [DAT](INFO): #Rx 104: Read direction message, but no range. 2025-10-27T05:01:10.486Z,1761541270.486 [DAT](INFO): direction in FSK: [-0.972357,0.233442,-0.005236] 2025-10-27T05:01:10.489Z,1761541270.489 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.676090 2025-10-27T05:01:10.732Z,1761541270.732 [DAT](INFO): DAT read: Rx Time:05:01:09.5697 2025-10-27T05:01:10.733Z,1761541270.733 [DAT](INFO): Rx dataTimestamp_ set to:1761541270.732349 2025-10-27T05:01:10.749Z,1761541270.749 [DAT](INFO): DAT read: Bearing 195.4, 12.3 (Local) 2025-10-27T05:01:10.750Z,1761541270.750 [DAT](INFO): Local bearing/azimuth received: Bearing 195.4, 12.3 (Local) 2025-10-27T05:01:10.773Z,1761541270.773 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2 2025-10-27T05:01:10.790Z,1761541270.790 [DAT](INFO): DAT read: 05:01:09.5697 LVL= 28880, 26209, 32754, 32755, AGC= 66, IDX= 511,-0.47, 2.901,-1.755, 2.510,-2.835, PHS=-0.444, 1.125,-0.982, RAW= 344.2, 3.2, CAL= 343.7, 0.5, ROT= 166.3, -0.5 2025-10-27T05:01:10.798Z,1761541270.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624547,0.778621,0.060753],[-0.780632,-0.624716,-0.018501],[0.023548,-0.058981,0.997981]] 2025-10-27T05:01:10.799Z,1761541270.799 [DAT](INFO): got valid direction response: 05:01:09.5697 LVL= 28880, 26209, 32754, 32755, AGC= 66, IDX= 511,-0.47, 2.901,-1.755, 2.510,-2.835, PHS=-0.444, 1.125,-0.982, RAW= 344.2, 3.2, CAL= 343.7, 0.5, ROT= 166.3, -0.5 2025-10-27T05:01:10.799Z,1761541270.799 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:01:10.800Z,1761541270.800 [DAT](INFO): direction in FSK: [-0.971512,0.236829,0.008727] 2025-10-27T05:01:10.801Z,1761541270.801 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:10.817Z,1761541270.817 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.003670 2025-10-27T05:01:10.921Z,1761541270.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.502843 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:10.928Z,1761541270.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.616730 m, bearing: 37.627334 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 0.502843 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:10.928Z,1761541270.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.62 m. 2025-10-27T05:01:10.980Z,1761541270.980 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.167019 2025-10-27T05:01:11.187Z,1761541271.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623684,0.779325,0.060583],[-0.781332,-0.623834,-0.018734],[0.023194,-0.059020,0.997987]] 2025-10-27T05:01:11.236Z,1761541271.236 [DAT](INFO): DAT read: Rx Time:05:01:10.0699 2025-10-27T05:01:11.237Z,1761541271.237 [DAT](INFO): Rx dataTimestamp_ set to:1761541271.236609 2025-10-27T05:01:11.253Z,1761541271.253 [DAT](INFO): DAT read: Bearing 195.1, -1.4 (Local) 2025-10-27T05:01:11.254Z,1761541271.254 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, -1.4 (Local) 2025-10-27T05:01:11.256Z,1761541271.256 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.2 2025-10-27T05:01:11.261Z,1761541271.261 [DAT](INFO): DAT read: 05:01:10.0699 LVL= 31072, 26721, 32754, 32755, AGC= 66, IDX= 512, 0.19, 2.755,-2.064, 2.867,-2.878, PHS=-0.549, 0.859,-0.583, RAW= 331.2, 3.9, CAL= 330.1, 1.7, ROT= 179.9, -1.7 2025-10-27T05:01:11.262Z,1761541271.262 [DAT](INFO): got valid direction response: 05:01:10.0699 LVL= 31072, 26721, 32754, 32755, AGC= 66, IDX= 512, 0.19, 2.755,-2.064, 2.867,-2.878, PHS=-0.549, 0.859,-0.583, RAW= 331.2, 3.9, CAL= 330.1, 1.7, ROT= 179.9, -1.7 2025-10-27T05:01:11.262Z,1761541271.262 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:01:11.268Z,1761541271.268 [DAT](INFO): direction in FSK: [-0.999558,0.001745,0.029666] 2025-10-27T05:01:11.268Z,1761541271.268 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:11.278Z,1761541271.278 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.464867 2025-10-27T05:01:11.316Z,1761541271.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504260 s, deltaX: 0.299999 m, approachRate: 0.594930 m/s, rangeRepo size: 4 2025-10-27T05:01:11.318Z,1761541271.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.915272 m, bearing: 51.201896 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 0.504260 s, deltaX: 0.298542 m, approachRate: 0.592040 m/s, posRepo size: 4 2025-10-27T05:01:11.319Z,1761541271.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m. 2025-10-27T05:01:11.484Z,1761541271.484 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.671051 2025-10-27T05:01:11.661Z,1761541271.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.92 m. 2025-10-27T05:01:11.741Z,1761541271.741 [DAT](INFO): DAT read: Rx Time:05:01:10.5698 2025-10-27T05:01:11.742Z,1761541271.742 [DAT](INFO): Rx dataTimestamp_ set to:1761541271.741486 2025-10-27T05:01:11.746Z,1761541271.746 [DAT](INFO): DAT read: Bearing 201.4, 4.8 (Local) 2025-10-27T05:01:11.754Z,1761541271.754 [DAT](INFO): Local bearing/azimuth received: Bearing 201.4, 4.8 (Local) 2025-10-27T05:01:11.756Z,1761541271.756 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2 2025-10-27T05:01:11.757Z,1761541271.757 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T05:01:11.758Z,1761541271.758 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=49.944817 2025-10-27T05:01:11.992Z,1761541271.992 [DAT](INFO): DAT read: 05:01:10.5698 LVL= 27712, 20465, 32754, 32755, AGC= 63, IDX= 512, 0.01,-0.370, 1.293,-0.450, 0.134, PHS=-0.401, 1.204,-0.628, RAW= 336.5, -2.0, CAL= 335.9, -5.0, ROT= 174.1, 5.0 2025-10-27T05:01:11.993Z,1761541271.993 [DAT](INFO): got valid direction response: 05:01:10.5698 LVL= 27712, 20465, 32754, 32755, AGC= 63, IDX= 512, 0.01,-0.370, 1.293,-0.450, 0.134, PHS=-0.401, 1.204,-0.628, RAW= 336.5, -2.0, CAL= 335.9, -5.0, ROT= 174.1, 5.0 2025-10-27T05:01:11.993Z,1761541271.993 [DAT](INFO): #Rx 108: Read direction message, but no range. 2025-10-27T05:01:11.994Z,1761541271.994 [DAT](INFO): direction in FSK: [-0.990918,0.102401,-0.087156] 2025-10-27T05:01:11.997Z,1761541271.997 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.184467 2025-10-27T05:01:12.034Z,1761541272.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621503,0.781081,0.060383],[-0.783091,-0.621606,-0.019362],[0.022411,-0.059318,0.997987]] 2025-10-27T05:01:12.113Z,1761541272.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504877 s, deltaX: -0.200001 m, approachRate: -0.396138 m/s, rangeRepo size: 4 2025-10-27T05:01:12.115Z,1761541272.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.716280 m, bearing: 45.955780 deg, lat: 36.779328 deg, lon: -121.859612 deg, deltaT: 0.504877 s, deltaX: -0.198992 m, approachRate: -0.394139 m/s, posRepo size: 4 2025-10-27T05:01:12.116Z,1761541272.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.72 m. 2025-10-27T05:01:12.245Z,1761541272.245 [DAT](INFO): DAT read: Rx Time:05:01:11.0700 2025-10-27T05:01:12.246Z,1761541272.246 [DAT](INFO): Rx dataTimestamp_ set to:1761541272.245280 2025-10-27T05:01:12.250Z,1761541272.250 [DAT](INFO): DAT read: Bearing 196.1, 13.7 (Local) 2025-10-27T05:01:12.257Z,1761541272.257 [DAT](INFO): Local bearing/azimuth received: Bearing 196.1, 13.7 (Local) 2025-10-27T05:01:12.260Z,1761541272.260 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.2 2025-10-27T05:01:12.264Z,1761541272.264 [DAT](INFO): DAT read: 05:01:11.0700 LVL= 23440, 19537, 23826, 22899, AGC= 67, IDX= 2,-0.39, 2.587,-2.104, 2.144, 3.088, PHS=-0.398, 1.137,-0.988, RAW= 345.6, 2.7, CAL= 345.1, -0.3, ROT= 164.9, 0.3 2025-10-27T05:01:12.265Z,1761541272.265 [DAT](INFO): got valid direction response: 05:01:11.0700 LVL= 23440, 19537, 23826, 22899, AGC= 67, IDX= 2,-0.39, 2.587,-2.104, 2.144, 3.088, PHS=-0.398, 1.137,-0.988, RAW= 345.6, 2.7, CAL= 345.1, -0.3, ROT= 164.9, 0.3 2025-10-27T05:01:12.266Z,1761541272.266 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:01:12.295Z,1761541272.295 [DAT](INFO): direction in FSK: [-0.965459,0.260501,-0.005236] 2025-10-27T05:01:12.295Z,1761541272.295 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:12.305Z,1761541272.305 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=50.491703 2025-10-27T05:01:12.398Z,1761541272.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620835,0.781642,0.060000],[-0.783628,-0.620931,-0.019305],[0.022166,-0.059002,0.998012]] 2025-10-27T05:01:12.479Z,1761541272.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503794 s, deltaX: 0.300001 m, approachRate: 0.595484 m/s, rangeRepo size: 4 2025-10-27T05:01:12.481Z,1761541272.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.014788 m, bearing: 36.543577 deg, lat: 36.779328 deg, lon: -121.859612 deg, deltaT: 0.503794 s, deltaX: 0.298508 m, approachRate: 0.592519 m/s, posRepo size: 4 2025-10-27T05:01:12.482Z,1761541272.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:01:12.492Z,1761541272.492 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=50.679054 2025-10-27T05:01:12.748Z,1761541272.748 [DAT](INFO): DAT read: Rx Time:05:01:11.5700 2025-10-27T05:01:12.749Z,1761541272.749 [DAT](INFO): Rx dataTimestamp_ set to:1761541272.748342 2025-10-27T05:01:12.753Z,1761541272.753 [DAT](INFO): DAT read: Bearing 196.2, 14.3 (Local) 2025-10-27T05:01:12.754Z,1761541272.754 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 14.3 (Local) 2025-10-27T05:01:12.759Z,1761541272.759 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-27T05:01:12.764Z,1761541272.764 [DAT](INFO): DAT read: 05:01:11.5700 LVL= 30336, 22881, 32754, 32755, AGC= 64, IDX= 497, 0.07, 2.829,-1.873, 2.362,-2.970, PHS=-0.382, 1.142,-0.996, RAW= 346.2, 2.5, CAL= 345.7, -0.4, ROT= 164.3, 0.4 2025-10-27T05:01:12.765Z,1761541272.765 [DAT](INFO): got valid direction response: 05:01:11.5700 LVL= 30336, 22881, 32754, 32755, AGC= 64, IDX= 497, 0.07, 2.829,-1.873, 2.362,-2.970, PHS=-0.382, 1.142,-0.996, RAW= 346.2, 2.5, CAL= 345.7, -0.4, ROT= 164.3, 0.4 2025-10-27T05:01:12.765Z,1761541272.765 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:01:12.766Z,1761541272.766 [DAT](INFO): direction in FSK: [-0.962668,0.270594,-0.006981] 2025-10-27T05:01:12.766Z,1761541272.766 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:12.770Z,1761541272.770 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.956955 2025-10-27T05:01:12.805Z,1761541272.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620162,0.782205,0.059613],[-0.784167,-0.620252,-0.019225],[0.021937,-0.058669,0.998036]] 2025-10-27T05:01:12.927Z,1761541272.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:12.937Z,1761541272.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.014788 m, bearing: 35.998118 deg, lat: 36.779328 deg, lon: -121.859612 deg, deltaT: 0.503062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:12.938Z,1761541272.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:01:12.996Z,1761541272.996 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.183022 2025-10-27T05:01:13.252Z,1761541273.252 [DAT](INFO): DAT read: Rx Time:05:01:12.0700 2025-10-27T05:01:13.253Z,1761541273.253 [DAT](INFO): Rx dataTimestamp_ set to:1761541273.252930 2025-10-27T05:01:13.263Z,1761541273.263 [DAT](INFO): DAT read: Bearing 195.6, 14.0 (Local) 2025-10-27T05:01:13.263Z,1761541273.263 [DAT](INFO): Local bearing/azimuth received: Bearing 195.6, 14.0 (Local) 2025-10-27T05:01:13.265Z,1761541273.265 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-27T05:01:13.266Z,1761541273.266 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-27T05:01:13.268Z,1761541273.268 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=51.453861 2025-10-27T05:01:13.311Z,1761541273.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619444,0.782802,0.059249],[-0.784740,-0.619529,-0.019142],[0.021722,-0.058353,0.998060]] 2025-10-27T05:01:13.372Z,1761541273.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504588 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:13.372Z,1761541273.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:01:13.504Z,1761541273.504 [DAT](INFO): DAT read: 05:01:12.0700 LVL= 28576, 25713, 32754, 32755, AGC= 64, IDX= 498,-0.36, 2.097,-2.594, 1.634, 2.604, PHS=-0.404, 1.130,-1.013, RAW= 346.0, 3.0, CAL= 345.5, 0.1, ROT= 164.5, -0.1 2025-10-27T05:01:13.505Z,1761541273.505 [DAT](INFO): got valid direction response: 05:01:12.0700 LVL= 28576, 25713, 32754, 32755, AGC= 64, IDX= 498,-0.36, 2.097,-2.594, 1.634, 2.604, PHS=-0.404, 1.130,-1.013, RAW= 346.0, 3.0, CAL= 345.5, 0.1, ROT= 164.5, -0.1 2025-10-27T05:01:13.505Z,1761541273.505 [DAT](INFO): #Rx 112: Read direction message, but no range. 2025-10-27T05:01:13.506Z,1761541273.506 [DAT](INFO): direction in FSK: [-0.963629,0.267238,0.001745] 2025-10-27T05:01:13.510Z,1761541273.510 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.696651 2025-10-27T05:01:13.607Z,1761541273.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618908,0.783232,0.059171],[-0.785165,-0.618992,-0.019107],[0.021661,-0.058285,0.998065]] 2025-10-27T05:01:13.626Z,1761541273.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:01:13.754Z,1761541273.754 [DAT](INFO): DAT read: Rx Time:05:01:12.5700 2025-10-27T05:01:13.755Z,1761541273.755 [DAT](INFO): Rx dataTimestamp_ set to:1761541273.754533 2025-10-27T05:01:13.756Z,1761541273.756 [DAT](INFO): DAT read: Bearing 196.0, 14.9 (Local) 2025-10-27T05:01:13.756Z,1761541273.756 [DAT](INFO): Local bearing/azimuth received: Bearing 196.0, 14.9 (Local) 2025-10-27T05:01:13.758Z,1761541273.758 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.2 2025-10-27T05:01:13.776Z,1761541273.776 [DAT](INFO): DAT read: 05:01:12.5700 LVL= 29104, 25873, 32754, 32755, AGC= 64, IDX= 497, 0.15, 2.429,-2.299, 1.943, 2.900, PHS=-0.369, 1.130,-1.002, RAW= 346.8, 2.6, CAL= 346.3, -0.4, ROT= 163.7, 0.4 2025-10-27T05:01:13.778Z,1761541273.778 [DAT](INFO): got valid direction response: 05:01:12.5700 LVL= 29104, 25873, 32754, 32755, AGC= 64, IDX= 497, 0.15, 2.429,-2.299, 1.943, 2.900, PHS=-0.369, 1.130,-1.002, RAW= 346.8, 2.6, CAL= 346.3, -0.4, ROT= 163.7, 0.4 2025-10-27T05:01:13.779Z,1761541273.779 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:01:13.785Z,1761541273.785 [DAT](INFO): direction in FSK: [-0.959782,0.280660,-0.006981] 2025-10-27T05:01:13.786Z,1761541273.786 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:13.804Z,1761541273.804 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.990505 2025-10-27T05:01:14.004Z,1761541274.004 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.191143 2025-10-27T05:01:14.012Z,1761541274.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618490,0.783559,0.059212],[-0.785495,-0.618571,-0.019149],[0.021623,-0.058354,0.998062]] 2025-10-27T05:01:14.025Z,1761541274.025 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3276,-32768,V 2025-10-27T05:01:14.095Z,1761541274.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.501603 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:14.097Z,1761541274.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.014839 m, bearing: 35.520535 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 1.006191 s, deltaX: 0.000051 m, approachRate: 0.000051 m/s, posRepo size: 4 2025-10-27T05:01:14.098Z,1761541274.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:01:14.257Z,1761541274.257 [DAT](INFO): DAT read: Rx Time:05:01:13.0701 2025-10-27T05:01:14.257Z,1761541274.257 [DAT](INFO): Rx dataTimestamp_ set to:1761541274.256800 2025-10-27T05:01:14.258Z,1761541274.258 [DAT](INFO): DAT read: Bearing 195.4, 14.4 (Local) 2025-10-27T05:01:14.259Z,1761541274.259 [DAT](INFO): Local bearing/azimuth received: Bearing 195.4, 14.4 (Local) 2025-10-27T05:01:14.261Z,1761541274.261 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2 2025-10-27T05:01:14.266Z,1761541274.266 [DAT](INFO): DAT read: 05:01:13.0701 LVL= 29376, 24049, 32754, 32755, AGC= 66, IDX= 499,-0.17, 1.798,-2.903, 1.325, 2.300, PHS=-0.400, 1.126,-1.019, RAW= 346.3, 3.1, CAL= 345.8, 0.2, ROT= 164.2, -0.2 2025-10-27T05:01:14.270Z,1761541274.270 [DAT](INFO): got valid direction response: 05:01:13.0701 LVL= 29376, 24049, 32754, 32755, AGC= 66, IDX= 499,-0.17, 1.798,-2.903, 1.325, 2.300, PHS=-0.400, 1.126,-1.019, RAW= 346.3, 3.1, CAL= 345.8, 0.2, ROT= 164.2, -0.2 2025-10-27T05:01:14.271Z,1761541274.271 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:01:14.272Z,1761541274.272 [DAT](INFO): direction in FSK: [-0.962212,0.272279,0.003491] 2025-10-27T05:01:14.272Z,1761541274.272 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:14.276Z,1761541274.276 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.462975 2025-10-27T05:01:14.417Z,1761541274.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618432,0.783597,0.059313],[-0.785535,-0.618527,-0.018964],[0.021827,-0.058320,0.998059]] 2025-10-27T05:01:14.501Z,1761541274.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.502267 s, deltaX: 0.199999 m, approachRate: 0.398192 m/s, rangeRepo size: 4 2025-10-27T05:01:14.504Z,1761541274.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.213840 m, bearing: 35.994068 deg, lat: 36.779329 deg, lon: -121.859613 deg, deltaT: 0.502267 s, deltaX: 0.199001 m, approachRate: 0.396206 m/s, posRepo size: 4 2025-10-27T05:01:14.504Z,1761541274.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-27T05:01:14.508Z,1761541274.508 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.695026 2025-10-27T05:01:14.760Z,1761541274.760 [DAT](INFO): DAT read: Rx Time:05:01:13.5701 2025-10-27T05:01:14.761Z,1761541274.761 [DAT](INFO): Rx dataTimestamp_ set to:1761541274.760693 2025-10-27T05:01:14.762Z,1761541274.762 [DAT](INFO): DAT read: Bearing 195.0, 15.6 (Local) 2025-10-27T05:01:14.763Z,1761541274.763 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 15.6 (Local) 2025-10-27T05:01:14.765Z,1761541274.765 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-27T05:01:14.769Z,1761541274.769 [DAT](INFO): DAT read: 05:01:13.5701 LVL= 28144, 25825, 32754, 32755, AGC= 64, IDX= 498, 0.35, 2.559,-2.192, 2.049, 3.037, PHS=-0.376, 1.099,-1.032, RAW= 347.5, 3.3, CAL= 347.0, 0.5, ROT= 163.0, -0.5 2025-10-27T05:01:14.770Z,1761541274.770 [DAT](INFO): got valid direction response: 05:01:13.5701 LVL= 28144, 25825, 32754, 32755, AGC= 64, IDX= 498, 0.35, 2.559,-2.192, 2.049, 3.037, PHS=-0.376, 1.099,-1.032, RAW= 347.5, 3.3, CAL= 347.0, 0.5, ROT= 163.0, -0.5 2025-10-27T05:01:14.774Z,1761541274.774 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:01:14.775Z,1761541274.775 [DAT](INFO): direction in FSK: [-0.956268,0.292360,0.008727] 2025-10-27T05:01:14.775Z,1761541274.775 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:14.779Z,1761541274.779 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.965549 2025-10-27T05:01:14.837Z,1761541274.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618697,0.783412,0.058993],[-0.785324,-0.618805,-0.018605],[0.021930,-0.057840,0.998085]] 2025-10-27T05:01:15.012Z,1761541275.012 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.199097 2025-10-27T05:01:15.017Z,1761541275.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:15.023Z,1761541275.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.213837 m, bearing: 34.760436 deg, lat: 36.779330 deg, lon: -121.859614 deg, deltaT: 0.503893 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 2025-10-27T05:01:15.024Z,1761541275.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-27T05:01:15.265Z,1761541275.265 [DAT](INFO): DAT read: Rx Time:05:01:14.0703 2025-10-27T05:01:15.265Z,1761541275.265 [DAT](INFO): Rx dataTimestamp_ set to:1761541275.264728 2025-10-27T05:01:15.266Z,1761541275.266 [DAT](INFO): DAT read: Bearing 195.5,Local) 2025-10-27T05:01:15.266Z,1761541275.266 [DAT](INFO): unknown deviceResponse_: Bearing 195.5,Local) 2025-10-27T05:01:15.269Z,1761541275.269 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 2025-10-27T05:01:15.273Z,1761541275.273 [DAT](INFO): DAT read: 05:01:14.0703 LVL= 30416, 26609, 32754, 32755, AGC= 63, IDX= 500, 0.05,-3.102,-1.574, 2.698,-2.628, PHS=-0.372, 1.099,-1.002, RAW= 347.0, 3.0, CAL= 346.5, 0.0, ROT= 163.5, -0.0 2025-10-27T05:01:15.283Z,1761541275.283 [DAT](INFO): got valid direction response: 05:01:14.0703 LVL= 30416, 26609, 32754, 32755, AGC= 63, IDX= 500, 0.05,-3.102,-1.574, 2.698,-2.628, PHS=-0.372, 1.099,-1.002, RAW= 347.0, 3.0, CAL= 346.5, 0.0, ROT= 163.5, -0.0 2025-10-27T05:01:15.283Z,1761541275.283 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:01:15.284Z,1761541275.284 [DAT](INFO): direction in FSK: [-0.958820,0.284015,0.000000] 2025-10-27T05:01:15.284Z,1761541275.284 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:15.300Z,1761541275.300 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.487312 2025-10-27T05:01:15.428Z,1761541275.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504035 s, deltaX: 0.300001 m, approachRate: 0.595199 m/s, rangeRepo size: 4 2025-10-27T05:01:15.430Z,1761541275.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.512344 m, bearing: 35.284663 deg, lat: 36.779330 deg, lon: -121.859614 deg, deltaT: 0.504035 s, deltaX: 0.298508 m, approachRate: 0.592236 m/s, posRepo size: 4 2025-10-27T05:01:15.430Z,1761541275.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T05:01:15.517Z,1761541275.517 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.703674 2025-10-27T05:01:15.763Z,1761541275.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620556,0.781952,0.058834],[-0.783828,-0.620733,-0.017433],[0.022888,-0.056934,0.998116]] 2025-10-27T05:01:15.769Z,1761541275.769 [DAT](INFO): DAT read: Rx Time:05:01:14.5702 2025-10-27T05:01:15.769Z,1761541275.769 [DAT](INFO): Rx dataTimestamp_ set to:1761541275.768696 2025-10-27T05:01:15.770Z,1761541275.770 [DAT](INFO): DAT read: Bearing 196.3, 15.3 (Local) 2025-10-27T05:01:15.771Z,1761541275.771 [DAT](INFO): Local bearing/azimuth received: Bearing 196.3, 15.3 (Local) 2025-10-27T05:01:15.773Z,1761541275.773 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-27T05:01:15.777Z,1761541275.777 [DAT](INFO): DAT read: 05:01:14.5702 LVL= 27760, 23633, 32754, 32755, AGC= 64, IDX= 500,-0.19, 0.259, 1.826,-0.249, 0.716, PHS=-0.355, 1.155,-1.009, RAW= 347.1, 2.2, CAL= 346.7, -0.8, ROT= 163.3, 0.8 2025-10-27T05:01:15.778Z,1761541275.778 [DAT](INFO): got valid direction response: 05:01:14.5702 LVL= 27760, 23633, 32754, 32755, AGC= 64, IDX= 500,-0.19, 0.259, 1.826,-0.249, 0.716, PHS=-0.355, 1.155,-1.009, RAW= 347.1, 2.2, CAL= 346.7, -0.8, ROT= 163.3, 0.8 2025-10-27T05:01:15.782Z,1761541275.782 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:01:15.783Z,1761541275.783 [DAT](INFO): direction in FSK: [-0.957729,0.287332,-0.013962] 2025-10-27T05:01:15.784Z,1761541275.784 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:15.788Z,1761541275.788 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.974777 2025-10-27T05:01:15.884Z,1761541275.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503968 s, deltaX: -0.200001 m, approachRate: -0.396852 m/s, rangeRepo size: 4 2025-10-27T05:01:15.886Z,1761541275.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.313339 m, bearing: 34.985141 deg, lat: 36.779330 deg, lon: -121.859615 deg, deltaT: 0.503968 s, deltaX: -0.199005 m, approachRate: -0.394877 m/s, posRepo size: 4 2025-10-27T05:01:15.887Z,1761541275.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-27T05:01:16.020Z,1761541276.020 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.207134 2025-10-27T05:01:16.139Z,1761541276.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620993,0.781581,0.059148],[-0.783477,-0.621173,-0.017529],[0.023041,-0.057226,0.998095]] 2025-10-27T05:01:16.166Z,1761541276.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-27T05:01:16.273Z,1761541276.273 [DAT](INFO): DAT read: Rx Time:05:01:15.0703 2025-10-27T05:01:16.273Z,1761541276.273 [DAT](INFO): Rx dataTimestamp_ set to:1761541276.272846 2025-10-27T05:01:16.274Z,1761541276.274 [DAT](INFO): DAT read: Bearing 195.6, 15.9 (Local) 2025-10-27T05:01:16.275Z,1761541276.275 [DAT](INFO): Local bearing/azimuth received: Bearing 195.6, 15.9 (Local) 2025-10-27T05:01:16.277Z,1761541276.277 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 2025-10-27T05:01:16.289Z,1761541276.289 [DAT](INFO): DAT read: 05:01:15.0703 LVL= 28000, 26273, 32754, 32755, AGC= 66, IDX= 500, 0.37, 2.381,-2.379, 1.861, 2.838, PHS=-0.355, 1.111,-1.021, RAW= 347.8, 2.8, CAL= 347.3, -0.2, ROT= 162.7, 0.2 2025-10-27T05:01:16.290Z,1761541276.290 [DAT](INFO): got valid direction response: 05:01:15.0703 LVL= 28000, 26273, 32754, 32755, AGC= 66, IDX= 500, 0.37, 2.381,-2.379, 1.861, 2.838, PHS=-0.355, 1.111,-1.021, RAW= 347.8, 2.8, CAL= 347.3, -0.2, ROT= 162.7, 0.2 2025-10-27T05:01:16.290Z,1761541276.290 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:01:16.297Z,1761541276.297 [DAT](INFO): direction in FSK: [-0.954755,0.297373,-0.003491] 2025-10-27T05:01:16.298Z,1761541276.298 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:16.302Z,1761541276.302 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.489071 2025-10-27T05:01:16.524Z,1761541276.524 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.710960 2025-10-27T05:01:16.541Z,1761541276.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621898,0.780838,0.059459],[-0.782749,-0.622094,-0.017417],[0.023389,-0.057372,0.998079]] 2025-10-27T05:01:16.582Z,1761541276.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504150 s, deltaX: 0.200001 m, approachRate: 0.396709 m/s, rangeRepo size: 4 2025-10-27T05:01:16.584Z,1761541276.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.512344 m, bearing: 34.257826 deg, lat: 36.779330 deg, lon: -121.859617 deg, deltaT: 0.504150 s, deltaX: 0.199005 m, approachRate: 0.394734 m/s, posRepo size: 4 2025-10-27T05:01:16.584Z,1761541276.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T05:01:16.780Z,1761541276.780 [DAT](INFO): DAT read: Rx Time:05:01:15.5703 2025-10-27T05:01:16.780Z,1761541276.780 [DAT](INFO): Rx dataTimestamp_ set to:1761541276.780206 2025-10-27T05:01:16.782Z,1761541276.782 [DAT](INFO): DAT read: Bearing 194.8, 15.4 (Local) 2025-10-27T05:01:16.782Z,1761541276.782 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 15.4 (Local) 2025-10-27T05:01:16.784Z,1761541276.784 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.3 2025-10-27T05:01:16.794Z,1761541276.794 [DAT](INFO): DAT read: 05:01:15.5703 LVL= 28464, 23025, 32754, 32755, AGC= 66, IDX= 500, 0.09, 0.792, 2.350, 0.285, 1.282, PHS=-0.387, 1.113,-1.041, RAW= 347.2, 3.3, CAL= 346.8, 0.6, ROT= 163.2, -0.6 2025-10-27T05:01:16.796Z,1761541276.796 [DAT](INFO): got valid direction response: 05:01:15.5703 LVL= 28464, 23025, 32754, 32755, AGC= 66, IDX= 500, 0.09, 0.792, 2.350, 0.285, 1.282, PHS=-0.387, 1.113,-1.041, RAW= 347.2, 3.3, CAL= 346.8, 0.6, ROT= 163.2, -0.6 2025-10-27T05:01:16.796Z,1761541276.796 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:01:16.797Z,1761541276.797 [DAT](INFO): direction in FSK: [-0.957267,0.289016,0.010472] 2025-10-27T05:01:16.797Z,1761541276.797 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:16.835Z,1761541276.835 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.022358 2025-10-27T05:01:16.956Z,1761541276.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622975,0.779962,0.059677],[-0.781881,-0.623190,-0.017225],[0.023756,-0.057391,0.998069]] 2025-10-27T05:01:17.016Z,1761541277.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.507360 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:17.018Z,1761541277.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.512327 m, bearing: 34.639693 deg, lat: 36.779330 deg, lon: -121.859617 deg, deltaT: 0.507360 s, deltaX: -0.000017 m, approachRate: -0.000034 m/s, posRepo size: 4 2025-10-27T05:01:17.018Z,1761541277.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T05:01:17.028Z,1761541277.028 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.214844 2025-10-27T05:01:17.283Z,1761541277.283 [DAT](INFO): DAT read: Rx Time:05:01:16.0705 2025-10-27T05:01:17.284Z,1761541277.284 [DAT](INFO): Rx dataTimestamp_ set to:1761541277.283586 2025-10-27T05:01:17.285Z,1761541277.285 [DAT](INFO): DAT read: Bearing 195.4, 15.0 (Local) 2025-10-27T05:01:17.285Z,1761541277.285 [DAT](INFO): Local bearing/azimuth received: Bearing 195.4, 15.0 (Local) 2025-10-27T05:01:17.288Z,1761541277.288 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:01:17.296Z,1761541277.296 [DAT](INFO): DAT read: 05:01:16.0705 LVL= 31344, 26001, 32754, 32755, AGC= 65, IDX= 502,-0.09, 0.671, 2.231, 0.183, 1.154, PHS=-0.381, 1.123,-1.014, RAW= 346.8, 2.9, CAL= 346.3, -0.1, ROT= 163.7, 0.1 2025-10-27T05:01:17.297Z,1761541277.297 [DAT](INFO): got valid direction response: 05:01:16.0705 LVL= 31344, 26001, 32754, 32755, AGC= 65, IDX= 502,-0.09, 0.671, 2.231, 0.183, 1.154, PHS=-0.381, 1.123,-1.014, RAW= 346.8, 2.9, CAL= 346.3, -0.1, ROT= 163.7, 0.1 2025-10-27T05:01:17.298Z,1761541277.298 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:01:17.299Z,1761541277.299 [DAT](INFO): direction in FSK: [-0.959804,0.280666,-0.001745] 2025-10-27T05:01:17.304Z,1761541277.304 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:17.323Z,1761541277.323 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:01:17.324Z,1761541277.324 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:01:17.324Z,1761541277.324 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:17.354Z,1761541277.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623944,0.779164,0.059977],[-0.781099,-0.624170,-0.017197],[0.024037,-0.057578,0.998052]] 2025-10-27T05:01:17.430Z,1761541277.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503380 s, deltaX: 0.299999 m, approachRate: 0.595970 m/s, rangeRepo size: 4 2025-10-27T05:01:17.451Z,1761541277.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.810831 m, bearing: 35.101808 deg, lat: 36.779331 deg, lon: -121.859617 deg, deltaT: 0.503380 s, deltaX: 0.298504 m, approachRate: 0.592999 m/s, posRepo size: 4 2025-10-27T05:01:17.452Z,1761541277.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m. 2025-10-27T05:01:17.533Z,1761541277.533 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:17.785Z,1761541277.785 [DAT](INFO): DAT read: Rx Time:05:01:16.5704 2025-10-27T05:01:17.785Z,1761541277.785 [DAT](INFO): Rx dataTimestamp_ set to:1761541277.785055 2025-10-27T05:01:17.787Z,1761541277.787 [DAT](INFO): DAT read: Bearing 195.4, 15.0 (Local) 2025-10-27T05:01:17.787Z,1761541277.787 [DAT](INFO): Local bearing/azimuth received: Bearing 195.4, 15.0 (Local) 2025-10-27T05:01:17.789Z,1761541277.789 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.2 2025-10-27T05:01:17.794Z,1761541277.794 [DAT](INFO): DAT read: 05:01:16.5704 LVL= 26528, 23697, 32754, 32755, AGC= 65, IDX= 502,-0.30,-0.716, 0.850,-1.207,-0.232, PHS=-0.382, 1.127,-1.019, RAW= 346.8, 2.9, CAL= 346.3, -0.1, ROT= 163.7, 0.1 2025-10-27T05:01:17.798Z,1761541277.798 [DAT](INFO): got valid direction response: 05:01:16.5704 LVL= 26528, 23697, 32754, 32755, AGC= 65, IDX= 502,-0.30,-0.716, 0.850,-1.207,-0.232, PHS=-0.382, 1.127,-1.019, RAW= 346.8, 2.9, CAL= 346.3, -0.1, ROT= 163.7, 0.1 2025-10-27T05:01:17.798Z,1761541277.798 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:17.820Z,1761541277.820 [DAT](INFO): direction in FSK: [-0.959804,0.280666,-0.001745] 2025-10-27T05:01:17.820Z,1761541277.820 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:17.824Z,1761541277.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625264,0.778101,0.060024],[-0.780033,-0.625508,-0.016968],[0.024343,-0.057430,0.998053]] 2025-10-27T05:01:17.832Z,1761541277.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:17.832Z,1761541277.832 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:17.932Z,1761541277.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.501469 s, deltaX: -0.199999 m, approachRate: -0.398826 m/s, rangeRepo size: 4 2025-10-27T05:01:17.940Z,1761541277.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.611830 m, bearing: 35.004241 deg, lat: 36.779330 deg, lon: -121.859617 deg, deltaT: 0.501469 s, deltaX: -0.199001 m, approachRate: -0.396837 m/s, posRepo size: 4 2025-10-27T05:01:17.941Z,1761541277.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.61 m. 2025-10-27T05:01:18.036Z,1761541278.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:18.232Z,1761541278.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626219,0.777324,0.060138],[-0.779261,-0.626470,-0.016926],[0.024518,-0.057463,0.998047]] 2025-10-27T05:01:18.273Z,1761541278.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.61 m. 2025-10-27T05:01:18.289Z,1761541278.289 [DAT](INFO): DAT read: Rx Time:05:01:17.0706 2025-10-27T05:01:18.289Z,1761541278.289 [DAT](INFO): Rx dataTimestamp_ set to:1761541278.288732 2025-10-27T05:01:18.290Z,1761541278.290 [DAT](INFO): DAT read: Bearing 194.3, 15.3 (Local) 2025-10-27T05:01:18.291Z,1761541278.291 [DAT](INFO): Local bearing/azimuth received: Bearing 194.3, 15.3 (Local) 2025-10-27T05:01:18.293Z,1761541278.293 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2 2025-10-27T05:01:18.297Z,1761541278.297 [DAT](INFO): DAT read: 05:01:17.0706 LVL= 28864, 28433, 32754, 32755, AGC= 65, IDX= 503, 0.39, 2.547,-2.202, 2.057, 3.038, PHS=-0.389, 1.088,-1.026, RAW= 347.1, 3.5, CAL= 346.7, 0.9, ROT= 163.3, -0.9 2025-10-27T05:01:18.299Z,1761541278.299 [DAT](INFO): got valid direction response: 05:01:17.0706 LVL= 28864, 28433, 32754, 32755, AGC= 65, IDX= 503, 0.39, 2.547,-2.202, 2.057, 3.038, PHS=-0.389, 1.088,-1.026, RAW= 347.1, 3.5, CAL= 346.7, 0.9, ROT= 163.3, -0.9 2025-10-27T05:01:18.304Z,1761541278.304 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:18.304Z,1761541278.304 [DAT](INFO): direction in FSK: [-0.957704,0.287325,0.015707] 2025-10-27T05:01:18.305Z,1761541278.305 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:18.308Z,1761541278.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:18.309Z,1761541278.309 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:18.540Z,1761541278.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:18.602Z,1761541278.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627121,0.776601,0.060082],[-0.778534,-0.627375,-0.016895],[0.024574,-0.057371,0.998050]] 2025-10-27T05:01:18.641Z,1761541278.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503677 s, deltaX: 0.299999 m, approachRate: 0.595618 m/s, rangeRepo size: 4 2025-10-27T05:01:18.648Z,1761541278.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.910337 m, bearing: 34.419480 deg, lat: 36.779331 deg, lon: -121.859618 deg, deltaT: 0.503677 s, deltaX: 0.298508 m, approachRate: 0.592657 m/s, posRepo size: 4 2025-10-27T05:01:18.648Z,1761541278.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.91 m. 2025-10-27T05:01:18.797Z,1761541278.797 [DAT](INFO): DAT read: Rx Time:05:01:17.5706 2025-10-27T05:01:18.799Z,1761541278.799 [DAT](INFO): Rx dataTimestamp_ set to:1761541278.797900 2025-10-27T05:01:18.811Z,1761541278.811 [DAT](INFO): DAT read: Bearing 194.7, 15.0 (Local) 2025-10-27T05:01:18.811Z,1761541278.811 [DAT](INFO): Local bearing/azimuth received: Bearing 194.7, 15.0 (Local) 2025-10-27T05:01:18.813Z,1761541278.813 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.3 2025-10-27T05:01:18.830Z,1761541278.830 [DAT](INFO): DAT read: 05:01:17.5706 LVL= 29008, 28401, 32754, 32755, AGC= 65, IDX= 503, 0.19, 1.410, 2.953, 0.929, 1.898, PHS=-0.385, 1.101,-1.012, RAW= 346.8, 3.2, CAL= 346.3, 0.4, ROT= 163.7, -0.4 2025-10-27T05:01:18.839Z,1761541278.839 [DAT](INFO): got valid direction response: 05:01:17.5706 LVL= 29008, 28401, 32754, 32755, AGC= 65, IDX= 503, 0.19, 1.410, 2.953, 0.929, 1.898, PHS=-0.385, 1.101,-1.012, RAW= 346.8, 3.2, CAL= 346.3, 0.4, ROT= 163.7, -0.4 2025-10-27T05:01:18.840Z,1761541278.840 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:18.841Z,1761541278.841 [DAT](INFO): direction in FSK: [-0.959782,0.280660,0.006981] 2025-10-27T05:01:18.841Z,1761541278.841 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:18.849Z,1761541278.849 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:18.850Z,1761541278.850 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:18.995Z,1761541278.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:01:19.010Z,1761541279.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628060,0.775849,0.060002],[-0.777775,-0.628317,-0.016839],[0.024636,-0.057244,0.998056]] 2025-10-27T05:01:19.044Z,1761541279.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:19.089Z,1761541279.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.509168 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:19.093Z,1761541279.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.910353 m, bearing: 34.773890 deg, lat: 36.779330 deg, lon: -121.859617 deg, deltaT: 0.509168 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 2025-10-27T05:01:19.093Z,1761541279.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.91 m. 2025-10-27T05:01:19.297Z,1761541279.297 [DAT](INFO): DAT read: Rx Time:05:01:18.0708 2025-10-27T05:01:19.298Z,1761541279.298 [DAT](INFO): Rx dataTimestamp_ set to:1761541279.297458 2025-10-27T05:01:19.300Z,1761541279.300 [DAT](INFO): DAT read: Bearing 194.2, 15.0 (Local) 2025-10-27T05:01:19.300Z,1761541279.300 [DAT](INFO): Local bearing/azimuth received: Bearing 194.2, 15.0 (Local) 2025-10-27T05:01:19.303Z,1761541279.303 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 2025-10-27T05:01:19.311Z,1761541279.311 [DAT](INFO): DAT read: 05:01:18.0708 LVL= 31104, 29729, 32754, 32755, AGC= 66, IDX= 505, 0.05, 2.615,-2.139, 2.137, 3.107, PHS=-0.390, 1.082,-1.013, RAW= 346.8, 3.5, CAL= 346.4, 0.8, ROT= 163.6, -0.8 2025-10-27T05:01:19.312Z,1761541279.312 [DAT](INFO): got valid direction response: 05:01:18.0708 LVL= 31104, 29729, 32754, 32755, AGC= 66, IDX= 505, 0.05, 2.615,-2.139, 2.137, 3.107, PHS=-0.390, 1.082,-1.013, RAW= 346.8, 3.5, CAL= 346.4, 0.8, ROT= 163.6, -0.8 2025-10-27T05:01:19.312Z,1761541279.312 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:19.313Z,1761541279.313 [DAT](INFO): direction in FSK: [-0.959221,0.282314,0.013962] 2025-10-27T05:01:19.314Z,1761541279.314 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:19.317Z,1761541279.317 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:19.317Z,1761541279.317 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:19.414Z,1761541279.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628627,0.775388,0.060022],[-0.777320,-0.628874,-0.017046],[0.024530,-0.057372,0.998051]] 2025-10-27T05:01:19.489Z,1761541279.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.499558 s, deltaX: 0.299999 m, approachRate: 0.600529 m/s, rangeRepo size: 4 2025-10-27T05:01:19.499Z,1761541279.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.208858 m, bearing: 34.613157 deg, lat: 36.779331 deg, lon: -121.859617 deg, deltaT: 0.499558 s, deltaX: 0.298506 m, approachRate: 0.597540 m/s, posRepo size: 4 2025-10-27T05:01:19.499Z,1761541279.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.21 m. 2025-10-27T05:01:19.548Z,1761541279.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:19.804Z,1761541279.804 [DAT](INFO): DAT read: Rx Time:05:01:18.5708 2025-10-27T05:01:19.805Z,1761541279.805 [DAT](INFO): Rx dataTimestamp_ set to:1761541279.804016 2025-10-27T05:01:19.809Z,1761541279.809 [DAT](INFO): DAT read: Bearing 194.8, 14.8 (Local) 2025-10-27T05:01:19.809Z,1761541279.809 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 14.8 (Local) 2025-10-27T05:01:19.814Z,1761541279.814 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 2025-10-27T05:01:19.818Z,1761541279.818 [DAT](INFO): DAT read: 05:01:18.5708 LVL= 29216, 23153, 32754, 32755, AGC= 65, IDX= 505,-0.05,-0.639, 0.927,-1.117,-0.147, PHS=-0.390, 1.118,-1.014, RAW= 346.5, 3.0, CAL= 346.1, 0.1, ROT= 163.9, -0.1 2025-10-27T05:01:19.820Z,1761541279.820 [DAT](INFO): got valid direction response: 05:01:18.5708 LVL= 29216, 23153, 32754, 32755, AGC= 65, IDX= 505,-0.05,-0.639, 0.927,-1.117,-0.147, PHS=-0.390, 1.118,-1.014, RAW= 346.5, 3.0, CAL= 346.1, 0.1, ROT= 163.9, -0.1 2025-10-27T05:01:19.820Z,1761541279.820 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:19.821Z,1761541279.821 [DAT](INFO): direction in FSK: [-0.960778,0.277314,0.001745] 2025-10-27T05:01:19.821Z,1761541279.821 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:19.837Z,1761541279.837 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:19.837Z,1761541279.837 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:19.877Z,1761541279.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628946,0.775110,0.060253],[-0.777066,-0.629178,-0.017438],[0.024394,-0.057788,0.998031]] 2025-10-27T05:01:19.999Z,1761541279.999 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:01:20.005Z,1761541280.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.506558 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:20.012Z,1761541280.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.208858 m, bearing: 34.923670 deg, lat: 36.779331 deg, lon: -121.859617 deg, deltaT: 0.506558 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:20.012Z,1761541280.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.21 m. 2025-10-27T05:01:20.052Z,1761541280.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:20.292Z,1761541280.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629068,0.775007,0.060311],[-0.776977,-0.629276,-0.017875],[0.024099,-0.058104,0.998020]] 2025-10-27T05:01:20.305Z,1761541280.305 [DAT](INFO): DAT read: Rx Time:05:01:19.0708 2025-10-27T05:01:20.305Z,1761541280.305 [DAT](INFO): Rx dataTimestamp_ set to:1761541280.304860 2025-10-27T05:01:20.306Z,1761541280.306 [DAT](INFO): DAT read: Bearing 195.1, 14.5 (Local) 2025-10-27T05:01:20.307Z,1761541280.307 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 14.5 (Local) 2025-10-27T05:01:20.309Z,1761541280.309 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2 2025-10-27T05:01:20.314Z,1761541280.314 [DAT](INFO): DAT read: 05:01:19.0708 LVL= 29712, 25441, 32754, 32755, AGC= 65, IDX= 506,-0.18,-1.556, 0.020,-2.024,-1.063, PHS=-0.391, 1.128,-1.005, RAW= 346.2, 2.8, CAL= 345.8, -0.1, ROT= 164.2, 0.1 2025-10-27T05:01:20.318Z,1761541280.318 [DAT](INFO): got valid direction response: 05:01:19.0708 LVL= 29712, 25441, 32754, 32755, AGC= 65, IDX= 506,-0.18,-1.556, 0.020,-2.024,-1.063, PHS=-0.391, 1.128,-1.005, RAW= 346.2, 2.8, CAL= 345.8, -0.1, ROT= 164.2, 0.1 2025-10-27T05:01:20.319Z,1761541280.319 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:20.320Z,1761541280.320 [DAT](INFO): direction in FSK: [-0.962217,0.272280,-0.001745] 2025-10-27T05:01:20.320Z,1761541280.320 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:20.328Z,1761541280.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:20.328Z,1761541280.328 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:20.364Z,1761541280.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.500844 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:20.366Z,1761541280.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.208855 m, bearing: 35.225163 deg, lat: 36.779331 deg, lon: -121.859616 deg, deltaT: 0.500844 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 2025-10-27T05:01:20.366Z,1761541280.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.21 m. 2025-10-27T05:01:20.556Z,1761541280.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:20.682Z,1761541280.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629280,0.774850,0.060118],[-0.776812,-0.629474,-0.018042],[0.023863,-0.058054,0.998028]] 2025-10-27T05:01:20.761Z,1761541280.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.21 m. 2025-10-27T05:01:20.813Z,1761541280.813 [DAT](INFO): DAT read: Rx Time:05:01:19.5708 2025-10-27T05:01:20.814Z,1761541280.814 [DAT](INFO): Rx dataTimestamp_ set to:1761541280.813136 2025-10-27T05:01:20.818Z,1761541280.818 [DAT](INFO): DAT read: Bearing 195.4, 15.2 (Local) 2025-10-27T05:01:20.829Z,1761541280.829 [DAT](INFO): Local bearing/azimuth received: Bearing 195.4, 15.2 (Local) 2025-10-27T05:01:20.851Z,1761541280.851 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.3 2025-10-27T05:01:20.872Z,1761541280.872 [DAT](INFO): DAT read: 05:01:19.5708 LVL= 28096, 21521, 32754, 32755, AGC= 63, IDX= 506,-0.32,-3.119,-1.551, 2.669,-2.649, PHS=-0.368, 1.142,-1.010, RAW= 346.9, 2.5, CAL= 346.4, -0.5, ROT= 163.6, 0.5 2025-10-27T05:01:20.873Z,1761541280.873 [DAT](INFO): got valid direction response: 05:01:19.5708 LVL= 28096, 21521, 32754, 32755, AGC= 63, IDX= 506,-0.32,-3.119,-1.551, 2.669,-2.649, PHS=-0.368, 1.142,-1.010, RAW= 346.9, 2.5, CAL= 346.4, -0.5, ROT= 163.6, 0.5 2025-10-27T05:01:20.874Z,1761541280.874 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:20.891Z,1761541280.891 [DAT](INFO): direction in FSK: [-0.959277,0.282331,-0.008727] 2025-10-27T05:01:20.892Z,1761541280.892 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:20.908Z,1761541280.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:20.909Z,1761541280.909 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:21.060Z,1761541281.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:21.090Z,1761541281.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629526,0.774694,0.059552],[-0.776624,-0.629705,-0.018073],[0.023499,-0.057627,0.998062]] 2025-10-27T05:01:21.152Z,1761541281.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.508276 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:21.154Z,1761541281.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.208874 m, bearing: 34.611725 deg, lat: 36.779330 deg, lon: -121.859616 deg, deltaT: 0.508276 s, deltaX: 0.000019 m, approachRate: 0.000038 m/s, posRepo size: 4 2025-10-27T05:01:21.159Z,1761541281.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.21 m. 2025-10-27T05:01:21.313Z,1761541281.313 [DAT](INFO): DAT read: Rx Time:05:01:20.0710 2025-10-27T05:01:21.313Z,1761541281.313 [DAT](INFO): Rx dataTimestamp_ set to:1761541281.312738 2025-10-27T05:01:21.314Z,1761541281.314 [DAT](INFO): DAT read: Bearing 194.6, 15.4 (Local) 2025-10-27T05:01:21.315Z,1761541281.315 [DAT](INFO): Local bearing/azimuth received: Bearing 194.6, 15.4 (Local) 2025-10-27T05:01:21.317Z,1761541281.317 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-27T05:01:21.352Z,1761541281.352 [DAT](INFO): DAT read: 05:01:20.0710 LVL= 28848, 23921, 32754, 32755, AGC= 65, IDX= 508, 0.25, 1.370, 2.919, 0.870, 1.853, PHS=-0.381, 1.111,-1.027, RAW= 347.1, 3.2, CAL= 346.7, 0.3, ROT= 163.3, -0.3 2025-10-27T05:01:21.353Z,1761541281.353 [DAT](INFO): got valid direction response: 05:01:20.0710 LVL= 28848, 23921, 32754, 32755, AGC= 65, IDX= 508, 0.25, 1.370, 2.919, 0.870, 1.853, PHS=-0.381, 1.111,-1.027, RAW= 347.1, 3.2, CAL= 346.7, 0.3, ROT= 163.3, -0.3 2025-10-27T05:01:21.353Z,1761541281.353 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:21.354Z,1761541281.354 [DAT](INFO): direction in FSK: [-0.957809,0.287357,0.005236] 2025-10-27T05:01:21.355Z,1761541281.355 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:21.381Z,1761541281.381 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:21.381Z,1761541281.381 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:21.491Z,1761541281.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629447,0.774801,0.058985],[-0.776701,-0.629608,-0.018157],[0.023069,-0.057243,0.998094]] 2025-10-27T05:01:21.521Z,1761541281.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.499602 s, deltaX: 0.500000 m, approachRate: 1.000797 m/s, rangeRepo size: 4 2025-10-27T05:01:21.524Z,1761541281.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.706383 m, bearing: 34.279275 deg, lat: 36.779331 deg, lon: -121.859616 deg, deltaT: 0.499602 s, deltaX: 0.497509 m, approachRate: 0.995811 m/s, posRepo size: 4 2025-10-27T05:01:21.524Z,1761541281.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:21.564Z,1761541281.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:21.820Z,1761541281.820 [DAT](INFO): DAT read: Rx Time:05:01:20.5709 2025-10-27T05:01:21.822Z,1761541281.822 [DAT](INFO): Rx dataTimestamp_ set to:1761541281.820785 2025-10-27T05:01:21.826Z,1761541281.826 [DAT](INFO): DAT read: Bearing 195.4, 15.0 (Local) 2025-10-27T05:01:21.826Z,1761541281.826 [DAT](INFO): Local bearing/azimuth received: Bearing 195.4, 15.0 (Local) 2025-10-27T05:01:21.840Z,1761541281.840 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-27T05:01:21.844Z,1761541281.844 [DAT](INFO): DAT read: 05:01:20.5709 LVL= 30416, 21489, 32754, 32755, AGC= 67, IDX= 508,-0.03,-0.042, 1.536,-0.537, 0.431, PHS=-0.371, 1.150,-1.012, RAW= 346.8, 2.5, CAL= 346.3, -0.5, ROT= 163.7, 0.5 2025-10-27T05:01:21.845Z,1761541281.845 [DAT](INFO): got valid direction response: 05:01:20.5709 LVL= 30416, 21489, 32754, 32755, AGC= 67, IDX= 508,-0.03,-0.042, 1.536,-0.537, 0.431, PHS=-0.371, 1.150,-1.012, RAW= 346.8, 2.5, CAL= 346.3, -0.5, ROT= 163.7, 0.5 2025-10-27T05:01:21.846Z,1761541281.846 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:21.848Z,1761541281.848 [DAT](INFO): direction in FSK: [-0.959769,0.280656,-0.008727] 2025-10-27T05:01:21.848Z,1761541281.848 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:21.851Z,1761541281.851 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:21.852Z,1761541281.852 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:21.929Z,1761541281.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629271,0.774982,0.058488],[-0.776854,-0.629417,-0.018198],[0.022710,-0.056888,0.998122]] 2025-10-27T05:01:22.039Z,1761541282.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.508047 s, deltaX: -0.199999 m, approachRate: -0.393662 m/s, rangeRepo size: 4 2025-10-27T05:01:22.041Z,1761541282.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.507418 m, bearing: 34.731055 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.508047 s, deltaX: -0.198965 m, approachRate: -0.391627 m/s, posRepo size: 4 2025-10-27T05:01:22.041Z,1761541282.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.51 m. 2025-10-27T05:01:22.068Z,1761541282.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:22.300Z,1761541282.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628988,0.775235,0.058179],[-0.777093,-0.629118,-0.018355],[0.022372,-0.056755,0.998137]] 2025-10-27T05:01:22.321Z,1761541282.321 [DAT](INFO): DAT read: Rx Time:05:01:21.0711 2025-10-27T05:01:22.321Z,1761541282.321 [DAT](INFO): Rx dataTimestamp_ set to:1761541282.320812 2025-10-27T05:01:22.322Z,1761541282.322 [DAT](INFO): DAT read: Bearing 194.4, 15.0 (Local) 2025-10-27T05:01:22.323Z,1761541282.323 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 15.0 (Local) 2025-10-27T05:01:22.325Z,1761541282.325 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-27T05:01:22.329Z,1761541282.329 [DAT](INFO): DAT read: 05:01:21.0711 LVL= 28432, 25441, 32754, 32755, AGC= 67, IDX= 510,-0.40, 1.784,-2.932, 1.293, 2.277, PHS=-0.391, 1.119,-1.028, RAW= 346.8, 3.2, CAL= 346.3, 0.3, ROT= 163.7, -0.3 2025-10-27T05:01:22.331Z,1761541282.331 [DAT](INFO): got valid direction response: 05:01:21.0711 LVL= 28432, 25441, 32754, 32755, AGC= 67, IDX= 510,-0.40, 1.784,-2.932, 1.293, 2.277, PHS=-0.391, 1.119,-1.028, RAW= 346.8, 3.2, CAL= 346.3, 0.3, ROT= 163.7, -0.3 2025-10-27T05:01:22.351Z,1761541282.351 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:22.352Z,1761541282.352 [DAT](INFO): direction in FSK: [-0.959792,0.280663,0.005236] 2025-10-27T05:01:22.352Z,1761541282.352 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:22.319Z,1761541282.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.51 m. 2025-10-27T05:01:22.368Z,1761541282.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:22.369Z,1761541282.369 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:22.572Z,1761541282.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:22.730Z,1761541282.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628273,0.775825,0.058040],[-0.777683,-0.628378,-0.018709],[0.021956,-0.056891,0.998139]] 2025-10-27T05:01:22.784Z,1761541282.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.500027 s, deltaX: 0.199999 m, approachRate: 0.399976 m/s, rangeRepo size: 4 2025-10-27T05:01:22.788Z,1761541282.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.706421 m, bearing: 34.767115 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.500027 s, deltaX: 0.199003 m, approachRate: 0.397985 m/s, posRepo size: 4 2025-10-27T05:01:22.790Z,1761541282.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:22.828Z,1761541282.828 [DAT](INFO): DAT read: Rx Time:05:01:21.5711 2025-10-27T05:01:22.830Z,1761541282.830 [DAT](INFO): Rx dataTimestamp_ set to:1761541282.829164 2025-10-27T05:01:22.834Z,1761541282.834 [DAT](INFO): DAT read: Bearing 194.7, 16.1 (Local) 2025-10-27T05:01:22.844Z,1761541282.844 [DAT](INFO): Local bearing/azimuth received: Bearing 194.7, 16.1 (Local) 2025-10-27T05:01:22.850Z,1761541282.850 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 2025-10-27T05:01:22.877Z,1761541282.877 [DAT](INFO): DAT read: 05:01:21.5711 LVL= 26864, 25057, 32754, 32755, AGC= 66, IDX= 509, 0.18, 2.168,-2.582, 1.639, 2.631, PHS=-0.362, 1.115,-1.036, RAW= 347.8, 3.0, CAL= 347.4, 0.0, ROT= 162.6, -0.0 2025-10-27T05:01:22.878Z,1761541282.878 [DAT](INFO): got valid direction response: 05:01:21.5711 LVL= 26864, 25057, 32754, 32755, AGC= 66, IDX= 509, 0.18, 2.168,-2.582, 1.639, 2.631, PHS=-0.362, 1.115,-1.036, RAW= 347.8, 3.0, CAL= 347.4, 0.0, ROT= 162.6, -0.0 2025-10-27T05:01:22.878Z,1761541282.878 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:22.891Z,1761541282.891 [DAT](INFO): direction in FSK: [-0.954240,0.299041,0.000000] 2025-10-27T05:01:22.892Z,1761541282.892 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:22.901Z,1761541282.901 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:22.901Z,1761541282.901 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:23.076Z,1761541283.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:23.106Z,1761541283.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627637,0.776358,0.057788],[-0.778208,-0.627719,-0.019005],[0.021520,-0.056900,0.998148]] 2025-10-27T05:01:23.160Z,1761541283.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.508352 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:23.162Z,1761541283.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.706451 m, bearing: 33.729732 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.508352 s, deltaX: 0.000031 m, approachRate: 0.000060 m/s, posRepo size: 4 2025-10-27T05:01:23.163Z,1761541283.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:23.329Z,1761541283.329 [DAT](INFO): DAT read: Rx Time:05:01:22.0711 2025-10-27T05:01:23.329Z,1761541283.329 [DAT](INFO): Rx dataTimestamp_ set to:1761541283.328765 2025-10-27T05:01:23.330Z,1761541283.330 [DAT](INFO): DAT read: Bearing 195.2, 14.8 (Local) 2025-10-27T05:01:23.331Z,1761541283.331 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 14.8 (Local) 2025-10-27T05:01:23.333Z,1761541283.333 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-27T05:01:23.338Z,1761541283.338 [DAT](INFO): DAT read: 05:01:22.0711 LVL= 28784, 28401, 32754, 32755, AGC= 64, IDX= 510,-0.05,-0.900, 0.677,-1.382,-0.420, PHS=-0.378, 1.143,-1.005, RAW= 346.5, 2.5, CAL= 346.0, -0.4, ROT= 164.0, 0.4 2025-10-27T05:01:23.343Z,1761541283.343 [DAT](INFO): got valid direction response: 05:01:22.0711 LVL= 28784, 28401, 32754, 32755, AGC= 64, IDX= 510,-0.05,-0.900, 0.677,-1.382,-0.420, PHS=-0.378, 1.143,-1.005, RAW= 346.5, 2.5, CAL= 346.0, -0.4, ROT= 164.0, 0.4 2025-10-27T05:01:23.344Z,1761541283.344 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:23.345Z,1761541283.345 [DAT](INFO): direction in FSK: [-0.961238,0.275631,-0.006981] 2025-10-27T05:01:23.345Z,1761541283.345 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:23.348Z,1761541283.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:23.349Z,1761541283.349 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:23.510Z,1761541283.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626971,0.776918,0.057495],[-0.778758,-0.627026,-0.019329],[0.021034,-0.056893,0.998159]] 2025-10-27T05:01:23.540Z,1761541283.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.499601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:23.542Z,1761541283.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.706451 m, bearing: 35.198414 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.499601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:23.543Z,1761541283.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:23.580Z,1761541283.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:23.837Z,1761541283.837 [DAT](INFO): DAT read: Rx Time:05:01:22.5711 2025-10-27T05:01:23.838Z,1761541283.838 [DAT](INFO): Rx dataTimestamp_ set to:1761541283.837654 2025-10-27T05:01:23.842Z,1761541283.842 [DAT](INFO): DAT read: Bearing 194.9, 15.9 (Local) 2025-10-27T05:01:23.852Z,1761541283.852 [DAT](INFO): Local bearing/azimuth received: Bearing 194.9, 15.9 (Local) 2025-10-27T05:01:23.858Z,1761541283.858 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.3 2025-10-27T05:01:23.879Z,1761541283.879 [DAT](INFO): DAT read: 05:01:22.5711 LVL= 27360, 24609, 32754, 32755, AGC= 64, IDX= 509, 0.43,-0.151, 1.378,-0.666, 0.308, PHS=-0.358, 1.115,-1.018, RAW= 347.6, 2.8, CAL= 347.1, -0.2, ROT= 162.9, 0.2 2025-10-27T05:01:23.880Z,1761541283.880 [DAT](INFO): got valid direction response: 05:01:22.5711 LVL= 27360, 24609, 32754, 32755, AGC= 64, IDX= 509, 0.43,-0.151, 1.378,-0.666, 0.308, PHS=-0.358, 1.115,-1.018, RAW= 347.6, 2.8, CAL= 347.1, -0.2, ROT= 162.9, 0.2 2025-10-27T05:01:23.881Z,1761541283.881 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:23.882Z,1761541283.882 [DAT](INFO): direction in FSK: [-0.955787,0.294039,-0.003491] 2025-10-27T05:01:23.882Z,1761541283.882 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:23.890Z,1761541283.890 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:23.890Z,1761541283.890 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:01:23.918Z,1761541283.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626159,0.777571,0.057519],[-0.779419,-0.626194,-0.019649],[0.020740,-0.057135,0.998151]] 2025-10-27T05:01:24.049Z,1761541284.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.508889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:24.056Z,1761541284.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.706438 m, bearing: 34.149485 deg, lat: 36.779331 deg, lon: -121.859615 deg, deltaT: 0.508889 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 2025-10-27T05:01:24.056Z,1761541284.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:24.088Z,1761541284.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:01:24.318Z,1761541284.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625614,0.778027,0.057283],[-0.779864,-0.625637,-0.019763],[0.020462,-0.057037,0.998162]] 2025-10-27T05:01:24.336Z,1761541284.336 [DAT](INFO): DAT read: user:286> 2025-10-27T05:01:24.336Z,1761541284.336 [DAT](INFO): DAT read: 120 2025-10-27T05:01:24.337Z,1761541284.337 [DAT](INFO): unknown deviceResponse_: 120 2025-10-27T05:01:24.337Z,1761541284.337 [DAT](INFO): DAT read: Ok 2025-10-27T05:01:24.337Z,1761541284.337 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T05:01:24.338Z,1761541284.338 [DAT](INFO): DAT read: user:287> 2025-10-27T05:01:24.338Z,1761541284.338 [DAT](INFO): DAT read: Tx time:05:01:23.5278 2025-10-27T05:01:24.339Z,1761541284.339 [DAT](INFO): Ping request sent. 2025-10-27T05:01:24.339Z,1761541284.339 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:01:24.339Z,1761541284.339 [DAT](INFO): publishing transmit ping time 2025-10-27T05:01:24.340Z,1761541284.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000776 2025-10-27T05:01:24.342Z,1761541284.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:24.588Z,1761541284.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248967 2025-10-27T05:01:24.729Z,1761541284.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624771,0.778722,0.057033],[-0.780551,-0.624772,-0.020017],[0.020045,-0.057024,0.998172]] 2025-10-27T05:01:24.750Z,1761541284.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:24.844Z,1761541284.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504507 2025-10-27T05:01:25.092Z,1761541285.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752909 2025-10-27T05:01:25.125Z,1761541285.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624358,0.779082,0.056643],[-0.780887,-0.624352,-0.019988],[0.019793,-0.056711,0.998194]] 2025-10-27T05:01:25.174Z,1761541285.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:25.344Z,1761541285.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004899 2025-10-27T05:01:25.530Z,1761541285.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623930,0.779445,0.056360],[-0.781234,-0.623920,-0.019948],[0.019615,-0.056477,0.998211]] 2025-10-27T05:01:25.548Z,1761541285.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:25.596Z,1761541285.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257041 2025-10-27T05:01:25.850Z,1761541285.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-27T05:01:25.946Z,1761541285.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623628,0.779693,0.056271],[-0.781474,-0.623625,-0.019773],[0.019675,-0.056305,0.998220]] 2025-10-27T05:01:25.997Z,1761541285.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:26.100Z,1761541286.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760954 2025-10-27T05:01:26.339Z,1761541286.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622960,0.780224,0.056308],[-0.782008,-0.622952,-0.019853],[0.019587,-0.056401,0.998216]] 2025-10-27T05:01:26.352Z,1761541286.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013058 2025-10-27T05:01:26.359Z,1761541286.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:26.604Z,1761541286.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264943 2025-10-27T05:01:26.744Z,1761541286.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622648,0.780473,0.056314],[-0.782256,-0.622643,-0.019779],[0.019626,-0.056367,0.998217]] 2025-10-27T05:01:26.770Z,1761541286.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:01:26.863Z,1761541286.863 [DAT](INFO): DAT read: Rx Time:05:01:25.6827 2025-10-27T05:01:26.865Z,1761541286.865 [DAT](INFO): Rx dataTimestamp_ set to:1761541286.863889 2025-10-27T05:01:26.870Z,1761541286.870 [DAT](INFO): DAT read: Bearing 193.8, 14.2 (Local) 2025-10-27T05:01:26.895Z,1761541286.895 [DAT](INFO): Local bearing/azimuth received: Bearing 193.8, 14.2 (Local) 2025-10-27T05:01:26.906Z,1761541286.906 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.0 2025-10-27T05:01:26.939Z,1761541286.939 [DAT](INFO): DAT read: 05:01:25.6827 LVL= 29088, 23777, 32754, 32755, AGC= 70, IDX= 84,-0.29, 2.585,-2.122, 2.136, 3.099, PHS=-0.412, 1.107,-1.007, RAW= 345.8, 3.3, CAL= 345.4, 0.6, ROT= 164.6, -0.6 2025-10-27T05:01:26.941Z,1761541286.941 [DAT](INFO): got valid direction response: 05:01:25.6827 LVL= 29088, 23777, 32754, 32755, AGC= 70, IDX= 84,-0.29, 2.585,-2.122, 2.136, 3.099, PHS=-0.412, 1.107,-1.007, RAW= 345.8, 3.3, CAL= 345.4, 0.6, ROT= 164.6, -0.6 2025-10-27T05:01:26.942Z,1761541286.942 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:01:26.948Z,1761541286.948 [DAT](INFO): direction in FSK: [-0.964043,0.265541,0.010472] 2025-10-27T05:01:26.948Z,1761541286.948 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:26.956Z,1761541286.956 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.617261 2025-10-27T05:01:27.112Z,1761541287.112 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.772937 2025-10-27T05:01:27.146Z,1761541287.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622550,0.780554,0.056272],[-0.782330,-0.622556,-0.019561],[0.019765,-0.056201,0.998224]] 2025-10-27T05:01:27.228Z,1761541287.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 3.026235 s, deltaX: 0.400002 m, approachRate: 0.132178 m/s, rangeRepo size: 4 2025-10-27T05:01:27.230Z,1761541287.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.104465 m, bearing: 36.074971 deg, lat: 36.779330 deg, lon: -121.859614 deg, deltaT: 3.026235 s, deltaX: 0.398027 m, approachRate: 0.131526 m/s, posRepo size: 4 2025-10-27T05:01:27.230Z,1761541287.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T05:01:27.368Z,1761541287.368 [DAT](INFO): DAT read: Rx Time:05:01:26.1828 2025-10-27T05:01:27.370Z,1761541287.370 [DAT](INFO): Rx dataTimestamp_ set to:1761541287.368968 2025-10-27T05:01:27.374Z,1761541287.374 [DAT](INFO): DAT read: Bearing 193.9, 14.9 (Local) 2025-10-27T05:01:27.374Z,1761541287.374 [DAT](INFO): Local bearing/azimuth received: Bearing 193.9, 14.9 (Local) 2025-10-27T05:01:27.376Z,1761541287.376 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.1 2025-10-27T05:01:27.377Z,1761541287.377 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:01:27.378Z,1761541287.378 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.038663 2025-10-27T05:01:27.551Z,1761541287.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622492,0.780595,0.056346],[-0.782371,-0.622512,-0.019348],[0.019973,-0.056128,0.998224]] 2025-10-27T05:01:27.568Z,1761541287.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:01:27.571Z,1761541287.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.505079 s, deltaX: 0.199999 m, approachRate: 0.395975 m/s, rangeRepo size: 4 2025-10-27T05:01:27.572Z,1761541287.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T05:01:27.622Z,1761541287.622 [DAT](INFO): DAT read: 05:01:26.1828 LVL= 26128, 26049, 32754, 32755, AGC= 66, IDX= 500, 0.20,-2.403,-0.856,-2.875,-1.909, PHS=-0.391, 1.099,-1.009, RAW= 346.6, 3.3, CAL= 346.1, 0.5, ROT= 163.9, -0.5 2025-10-27T05:01:27.624Z,1761541287.624 [DAT](INFO): got valid direction response: 05:01:26.1828 LVL= 26128, 26049, 32754, 32755, AGC= 66, IDX= 500, 0.20,-2.403,-0.856,-2.875,-1.909, PHS=-0.391, 1.099,-1.009, RAW= 346.6, 3.3, CAL= 346.1, 0.5, ROT= 163.9, -0.5 2025-10-27T05:01:27.625Z,1761541287.625 [DAT](INFO): #Rx 3: Read direction message, but no range. 2025-10-27T05:01:27.626Z,1761541287.626 [DAT](INFO): direction in FSK: [-0.960743,0.277304,0.008727] 2025-10-27T05:01:27.632Z,1761541287.632 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.292834 2025-10-27T05:01:27.874Z,1761541287.874 [DAT](INFO): DAT read: Rx Time:05:01:26.6827 2025-10-27T05:01:27.882Z,1761541287.882 [DAT](INFO): Rx dataTimestamp_ set to:1761541287.874534 2025-10-27T05:01:27.886Z,1761541287.886 [DAT](INFO): DAT read: Bearing 193.7, 14.1 (Local) 2025-10-27T05:01:27.932Z,1761541287.932 [DAT](INFO): Local bearing/azimuth received: Bearing 193.7, 14.1 (Local) 2025-10-27T05:01:27.963Z,1761541287.963 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.1 2025-10-27T05:01:27.980Z,1761541287.980 [DAT](INFO): DAT read: 05:01:26.6827 LVL= 26960, 23313, 32754, 32755, AGC= 67, IDX= 500,-0.12, 0.586, 2.170, 0.138, 1.104, PHS=-0.416, 1.111,-1.010, RAW= 345.8, 3.4, CAL= 345.3, 0.6, ROT= 164.7, -0.6 2025-10-27T05:01:27.981Z,1761541287.981 [DAT](INFO): got valid direction response: 05:01:26.6827 LVL= 26960, 23313, 32754, 32755, AGC= 67, IDX= 500,-0.12, 0.586, 2.170, 0.138, 1.104, PHS=-0.416, 1.111,-1.010, RAW= 345.8, 3.4, CAL= 345.3, 0.6, ROT= 164.7, -0.6 2025-10-27T05:01:27.982Z,1761541287.982 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:01:27.982Z,1761541287.982 [DAT](INFO): direction in FSK: [-0.964505,0.263859,0.010472] 2025-10-27T05:01:27.995Z,1761541287.995 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:27.999Z,1761541287.999 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.659628 2025-10-27T05:01:28.120Z,1761541288.120 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.780975 2025-10-27T05:01:28.127Z,1761541288.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.505566 s, deltaX: -0.199999 m, approachRate: -0.395594 m/s, rangeRepo size: 4 2025-10-27T05:01:28.129Z,1761541288.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.104460 m, bearing: 36.178822 deg, lat: 36.779329 deg, lon: -121.859612 deg, deltaT: 1.010645 s, deltaX: -0.000006 m, approachRate: -0.000006 m/s, posRepo size: 4 2025-10-27T05:01:28.130Z,1761541288.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T05:01:28.374Z,1761541288.374 [DAT](INFO): DAT read: Rx Time:05:01:27.1828 2025-10-27T05:01:28.375Z,1761541288.375 [DAT](INFO): Rx dataTimestamp_ set to:1761541288.374385 2025-10-27T05:01:28.376Z,1761541288.376 [DAT](INFO): DAT read: Bearing 193.9, 14.7 (Local) 2025-10-27T05:01:28.376Z,1761541288.376 [DAT](INFO): Local bearing/azimuth received: Bearing 193.9, 14.7 (Local) 2025-10-27T05:01:28.378Z,1761541288.378 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.0 2025-10-27T05:01:28.383Z,1761541288.383 [DAT](INFO): DAT read: 05:01:27.1828 LVL= 25120, 25185, 32754, 32755, AGC= 65, IDX= 501, 0.42,-2.950,-1.388, 2.867,-2.450, PHS=-0.398, 1.107,-1.010, RAW= 346.3, 3.2, CAL= 345.9, 0.4, ROT= 164.1, -0.4 2025-10-27T05:01:28.384Z,1761541288.384 [DAT](INFO): got valid direction response: 05:01:27.1828 LVL= 25120, 25185, 32754, 32755, AGC= 65, IDX= 501, 0.42,-2.950,-1.388, 2.867,-2.450, PHS=-0.398, 1.107,-1.010, RAW= 346.3, 3.2, CAL= 345.9, 0.4, ROT= 164.1, -0.4 2025-10-27T05:01:28.385Z,1761541288.385 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:01:28.386Z,1761541288.386 [DAT](INFO): direction in FSK: [-0.961718,0.273952,0.006981] 2025-10-27T05:01:28.386Z,1761541288.386 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:28.436Z,1761541288.436 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.097157 2025-10-27T05:01:28.437Z,1761541288.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622969,0.780217,0.056304],[-0.781979,-0.623022,-0.018764],[0.020439,-0.055718,0.998237]] 2025-10-27T05:01:28.533Z,1761541288.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.499851 s, deltaX: 0.199999 m, approachRate: 0.400117 m/s, rangeRepo size: 4 2025-10-27T05:01:28.540Z,1761541288.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.303463 m, bearing: 35.553405 deg, lat: 36.779325 deg, lon: -121.859607 deg, deltaT: 0.499851 s, deltaX: 0.199003 m, approachRate: 0.398125 m/s, posRepo size: 4 2025-10-27T05:01:28.540Z,1761541288.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.30 m. 2025-10-27T05:01:28.624Z,1761541288.624 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.284991 2025-10-27T05:01:28.880Z,1761541288.880 [DAT](INFO): DAT read: Rx Time:05:01:27.6828 2025-10-27T05:01:28.881Z,1761541288.881 [DAT](INFO): Rx dataTimestamp_ set to:1761541288.880749 2025-10-27T05:01:28.882Z,1761541288.882 [DAT](INFO): DAT read: Bearing 193.1, 14.1 (Local) 2025-10-27T05:01:28.883Z,1761541288.883 [DAT](INFO): Local bearing/azimuth received: Bearing 193.1, 14.1 (Local) 2025-10-27T05:01:28.885Z,1761541288.885 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.0 2025-10-27T05:01:28.908Z,1761541288.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.30 m. 2025-10-27T05:01:28.916Z,1761541288.916 [DAT](INFO): DAT read: 05:01:27.6828 LVL= 26144, 25377, 32754, 32755, AGC= 66, IDX= 501, 0.04, 1.787,-2.929, 1.344, 2.312, PHS=-0.423, 1.087,-1.012, RAW= 345.8, 3.8, CAL= 345.4, 1.3, ROT= 164.6, -1.3 2025-10-27T05:01:28.929Z,1761541288.929 [DAT](INFO): got valid direction response: 05:01:27.6828 LVL= 26144, 25377, 32754, 32755, AGC= 66, IDX= 501, 0.04, 1.787,-2.929, 1.344, 2.312, PHS=-0.423, 1.087,-1.012, RAW= 345.8, 3.8, CAL= 345.4, 1.3, ROT= 164.6, -1.3 2025-10-27T05:01:28.930Z,1761541288.930 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:01:28.942Z,1761541288.942 [DAT](INFO): direction in FSK: [-0.963847,0.265488,0.022687] 2025-10-27T05:01:28.951Z,1761541288.951 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:28.965Z,1761541288.965 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.626506 2025-10-27T05:01:29.128Z,1761541289.128 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.788893 2025-10-27T05:01:29.199Z,1761541289.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623371,0.779874,0.056621],[-0.781647,-0.623447,-0.018472],[0.020894,-0.055772,0.998225]] 2025-10-27T05:01:29.250Z,1761541289.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.506364 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:29.252Z,1761541289.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.303463 m, bearing: 35.979550 deg, lat: 36.779325 deg, lon: -121.859607 deg, deltaT: 0.506364 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:29.252Z,1761541289.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.30 m. 2025-10-27T05:01:29.382Z,1761541289.382 [DAT](INFO): DAT read: Rx Time:05:01:28.1829 2025-10-27T05:01:29.382Z,1761541289.382 [DAT](INFO): Rx dataTimestamp_ set to:1761541289.381717 2025-10-27T05:01:29.383Z,1761541289.383 [DAT](INFO): DAT read: Bearing 193.2, 13.2 (Local) 2025-10-27T05:01:29.384Z,1761541289.384 [DAT](INFO): Local bearing/azimuth received: Bearing 193.2, 13.2 (Local) 2025-10-27T05:01:29.386Z,1761541289.386 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.1 2025-10-27T05:01:29.392Z,1761541289.392 [DAT](INFO): DAT read: 05:01:28.1829 LVL= 25632, 26465, 32754, 32755, AGC= 66, IDX= 503,-0.29, 1.427, 3.034, 1.013, 1.974, PHS=-0.445, 1.105,-1.005, RAW= 344.9, 3.7, CAL= 344.4, 1.2, ROT= 165.6, -1.2 2025-10-27T05:01:29.393Z,1761541289.393 [DAT](INFO): got valid direction response: 05:01:28.1829 LVL= 25632, 26465, 32754, 32755, AGC= 66, IDX= 503,-0.29, 1.427, 3.034, 1.013, 1.974, PHS=-0.445, 1.105,-1.005, RAW= 344.9, 3.7, CAL= 344.4, 1.2, ROT= 165.6, -1.2 2025-10-27T05:01:29.393Z,1761541289.393 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:01:29.394Z,1761541289.394 [DAT](INFO): direction in FSK: [-0.968371,0.248635,0.020942] 2025-10-27T05:01:29.394Z,1761541289.394 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:29.398Z,1761541289.398 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.058878 2025-10-27T05:01:29.602Z,1761541289.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623550,0.779717,0.056805],[-0.781500,-0.623634,-0.018409],[0.021071,-0.055872,0.998216]] 2025-10-27T05:01:29.632Z,1761541289.632 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.293015 2025-10-27T05:01:29.656Z,1761541289.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.500968 s, deltaX: 0.100000 m, approachRate: 0.199614 m/s, rangeRepo size: 4 2025-10-27T05:01:29.658Z,1761541289.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.402966 m, bearing: 36.969690 deg, lat: 36.779323 deg, lon: -121.859607 deg, deltaT: 0.500968 s, deltaX: 0.099503 m, approachRate: 0.198621 m/s, posRepo size: 4 2025-10-27T05:01:29.659Z,1761541289.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T05:01:29.885Z,1761541289.885 [DAT](INFO): DAT read: Rx Time:05:01:28.6829 2025-10-27T05:01:29.885Z,1761541289.885 [DAT](INFO): Rx dataTimestamp_ set to:1761541289.884858 2025-10-27T05:01:29.886Z,1761541289.886 [DAT](INFO): DAT read: Bearing 193.6, 13.9 (Local) 2025-10-27T05:01:29.887Z,1761541289.887 [DAT](INFO): Local bearing/azimuth received: Bearing 193.6, 13.9 (Local) 2025-10-27T05:01:29.889Z,1761541289.889 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.1 2025-10-27T05:01:29.900Z,1761541289.900 [DAT](INFO): DAT read: 05:01:28.6829 LVL= 30048, 23233, 32754, 32755, AGC= 65, IDX= 502, 0.26, 1.649,-3.051, 1.207, 2.171, PHS=-0.421, 1.106,-1.008, RAW= 345.6, 3.4, CAL= 345.2, 0.8, ROT= 164.8, -0.8 2025-10-27T05:01:29.916Z,1761541289.916 [DAT](INFO): got valid direction response: 05:01:28.6829 LVL= 30048, 23233, 32754, 32755, AGC= 65, IDX= 502, 0.26, 1.649,-3.051, 1.207, 2.171, PHS=-0.421, 1.106,-1.008, RAW= 345.6, 3.4, CAL= 345.2, 0.8, ROT= 164.8, -0.8 2025-10-27T05:01:29.917Z,1761541289.917 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:01:29.930Z,1761541289.930 [DAT](INFO): direction in FSK: [-0.964922,0.262164,0.013962] 2025-10-27T05:01:29.931Z,1761541289.931 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:29.965Z,1761541289.965 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.625622 2025-10-27T05:01:30.006Z,1761541290.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623819,0.779488,0.057005],[-0.781281,-0.623909,-0.018389],[0.021232,-0.056008,0.998205]] 2025-10-27T05:01:30.113Z,1761541290.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:30.119Z,1761541290.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.402958 m, bearing: 36.170176 deg, lat: 36.779323 deg, lon: -121.859606 deg, deltaT: 0.503141 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 2025-10-27T05:01:30.120Z,1761541290.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T05:01:30.136Z,1761541290.136 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.797046 2025-10-27T05:01:30.388Z,1761541290.388 [DAT](INFO): DAT read: Rx Time:05:01:29.1829 2025-10-27T05:01:30.389Z,1761541290.389 [DAT](INFO): Rx dataTimestamp_ set to:1761541290.388674 2025-10-27T05:01:30.390Z,1761541290.390 [DAT](INFO): DAT read: Bearing 193.3, 13.1 (Local) 2025-10-27T05:01:30.391Z,1761541290.391 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 13.1 (Local) 2025-10-27T05:01:30.393Z,1761541290.393 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 2025-10-27T05:01:30.403Z,1761541290.403 [DAT](INFO): DAT read: 05:01:29.1829 LVL= 25712, 26913, 32754, 32755, AGC= 66, IDX= 503,-0.04, 0.420, 2.032, 0.009, 0.969, PHS=-0.447, 1.108,-1.004, RAW= 344.7, 3.7, CAL= 344.3, 1.2, ROT= 165.7, -1.2 2025-10-27T05:01:30.404Z,1761541290.404 [DAT](INFO): got valid direction response: 05:01:29.1829 LVL= 25712, 26913, 32754, 32755, AGC= 66, IDX= 503,-0.04, 0.420, 2.032, 0.009, 0.969, PHS=-0.447, 1.108,-1.004, RAW= 344.7, 3.7, CAL= 344.3, 1.2, ROT= 165.7, -1.2 2025-10-27T05:01:30.405Z,1761541290.405 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:01:30.406Z,1761541290.406 [DAT](INFO): direction in FSK: [-0.968803,0.246945,0.020942] 2025-10-27T05:01:30.406Z,1761541290.406 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:30.418Z,1761541290.418 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.078732 2025-10-27T05:01:30.457Z,1761541290.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624239,0.779155,0.056953],[-0.780943,-0.624334,-0.018314],[0.021289,-0.055909,0.998209]] 2025-10-27T05:01:30.527Z,1761541290.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:30.530Z,1761541290.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.402958 m, bearing: 37.018715 deg, lat: 36.779323 deg, lon: -121.859606 deg, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:30.530Z,1761541290.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T05:01:30.640Z,1761541290.640 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.301138 2025-10-27T05:01:30.877Z,1761541290.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T05:01:30.896Z,1761541290.896 [DAT](INFO): DAT read: Rx Time:05:01:29.6829 2025-10-27T05:01:30.897Z,1761541290.897 [DAT](INFO): Rx dataTimestamp_ set to:1761541290.896587 2025-10-27T05:01:30.898Z,1761541290.898 [DAT](INFO): DAT read: Bearing 192.8, 13.1 (Local) 2025-10-27T05:01:30.898Z,1761541290.898 [DAT](INFO): Local bearing/azimuth received: Bearing 192.8, 13.1 (Local) 2025-10-27T05:01:30.901Z,1761541290.901 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.0 2025-10-27T05:01:30.905Z,1761541290.905 [DAT](INFO): DAT read: 05:01:29.6829 LVL= 24480, 26337, 32754, 32755, AGC= 65, IDX= 503,-0.44, 0.109, 1.711,-0.301, 0.663, PHS=-0.452, 1.094,-1.008, RAW= 344.8, 3.9, CAL= 344.4, 1.6, ROT= 165.6, -1.6 2025-10-27T05:01:30.916Z,1761541290.916 [DAT](INFO): got valid direction response: 05:01:29.6829 LVL= 24480, 26337, 32754, 32755, AGC= 65, IDX= 503,-0.44, 0.109, 1.711,-0.301, 0.663, PHS=-0.452, 1.094,-1.008, RAW= 344.8, 3.9, CAL= 344.4, 1.6, ROT= 165.6, -1.6 2025-10-27T05:01:30.917Z,1761541290.917 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:01:30.927Z,1761541290.927 [DAT](INFO): direction in FSK: [-0.968206,0.248593,0.027922] 2025-10-27T05:01:30.929Z,1761541290.929 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:30.972Z,1761541290.972 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.623722 2025-10-27T05:01:31.144Z,1761541291.144 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.804882 2025-10-27T05:01:31.221Z,1761541291.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624797,0.778675,0.057386],[-0.780488,-0.624903,-0.018308],[0.021605,-0.056228,0.998184]] 2025-10-27T05:01:31.279Z,1761541291.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.507913 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:31.285Z,1761541291.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.402943 m, bearing: 36.857738 deg, lat: 36.779322 deg, lon: -121.859605 deg, deltaT: 0.507913 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 2025-10-27T05:01:31.285Z,1761541291.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T05:01:31.398Z,1761541291.398 [DAT](INFO): DAT read: Rx Time:05:01:30.1831 2025-10-27T05:01:31.398Z,1761541291.398 [DAT](INFO): Rx dataTimestamp_ set to:1761541291.398205 2025-10-27T05:01:31.400Z,1761541291.400 [DAT](INFO): DAT read: Bearing 192.5, 13.9 (Local) 2025-10-27T05:01:31.400Z,1761541291.400 [DAT](INFO): Local bearing/azimuth received: Bearing 192.5, 13.9 (Local) 2025-10-27T05:01:31.403Z,1761541291.403 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 2025-10-27T05:01:31.409Z,1761541291.409 [DAT](INFO): DAT read: 05:01:30.1831 LVL= 28144, 29489, 32754, 32755, AGC= 67, IDX= 504, 0.12, 2.678,-2.050, 2.252,-3.071, PHS=-0.433, 1.066,-1.005, RAW= 345.5, 4.1, CAL= 345.1, 1.8, ROT= 164.9, -1.8 2025-10-27T05:01:31.411Z,1761541291.411 [DAT](INFO): got valid direction response: 05:01:30.1831 LVL= 28144, 29489, 32754, 32755, AGC= 67, IDX= 504, 0.12, 2.678,-2.050, 2.252,-3.071, PHS=-0.433, 1.066,-1.005, RAW= 345.5, 4.1, CAL= 345.1, 1.8, ROT= 164.9, -1.8 2025-10-27T05:01:31.412Z,1761541291.412 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:01:31.414Z,1761541291.414 [DAT](INFO): direction in FSK: [-0.964996,0.260376,0.031411] 2025-10-27T05:01:31.429Z,1761541291.429 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:31.463Z,1761541291.463 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.111722 2025-10-27T05:01:31.622Z,1761541291.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625109,0.778418,0.057487],[-0.780237,-0.625215,-0.018333],[0.021671,-0.056313,0.998178]] 2025-10-27T05:01:31.648Z,1761541291.648 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.309088 2025-10-27T05:01:31.656Z,1761541291.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.501618 s, deltaX: 0.299999 m, approachRate: 0.598063 m/s, rangeRepo size: 4 2025-10-27T05:01:31.658Z,1761541291.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.701448 m, bearing: 36.126072 deg, lat: 36.779322 deg, lon: -121.859605 deg, deltaT: 0.501618 s, deltaX: 0.298506 m, approachRate: 0.595086 m/s, posRepo size: 4 2025-10-27T05:01:31.658Z,1761541291.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-27T05:01:31.900Z,1761541291.900 [DAT](INFO): DAT read: Rx Time:05:01:30.6830 2025-10-27T05:01:31.901Z,1761541291.901 [DAT](INFO): Rx dataTimestamp_ set to:1761541291.900650 2025-10-27T05:01:31.902Z,1761541291.902 [DAT](INFO): DAT read: Bearing 194.5, 13.4 (Local) 2025-10-27T05:01:31.903Z,1761541291.903 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 13.4 (Local) 2025-10-27T05:01:31.905Z,1761541291.905 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.0 2025-10-27T05:01:31.924Z,1761541291.924 [DAT](INFO): DAT read: 05:01:30.6830 LVL= 23952, 23089, 32754, 32755, AGC= 66, IDX= 504,-0.10,-1.290, 0.336,-1.719,-0.769, PHS=-0.419, 1.150,-0.993, RAW= 345.0, 2.8, CAL= 344.5, -0.2, ROT= 165.5, 0.2 2025-10-27T05:01:31.960Z,1761541291.960 [DAT](INFO): got valid direction response: 05:01:30.6830 LVL= 23952, 23089, 32754, 32755, AGC= 66, IDX= 504,-0.10,-1.290, 0.336,-1.719,-0.769, PHS=-0.419, 1.150,-0.993, RAW= 345.0, 2.8, CAL= 344.5, -0.2, ROT= 165.5, 0.2 2025-10-27T05:01:31.961Z,1761541291.961 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:01:31.969Z,1761541291.969 [DAT](INFO): direction in FSK: [-0.968142,0.250378,-0.003491] 2025-10-27T05:01:31.969Z,1761541291.969 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:31.992Z,1761541291.992 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.653018 2025-10-27T05:01:32.133Z,1761541292.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.502445 s, deltaX: -0.099998 m, approachRate: -0.199024 m/s, rangeRepo size: 4 2025-10-27T05:01:32.135Z,1761541292.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.601942 m, bearing: 36.823310 deg, lat: 36.779321 deg, lon: -121.859605 deg, deltaT: 0.502445 s, deltaX: -0.099506 m, approachRate: -0.198044 m/s, posRepo size: 4 2025-10-27T05:01:32.139Z,1761541292.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T05:01:32.152Z,1761541292.152 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.813044 2025-10-27T05:01:32.405Z,1761541292.405 [DAT](INFO): DAT read: Rx Time:05:01:31.1832 2025-10-27T05:01:32.405Z,1761541292.405 [DAT](INFO): Rx dataTimestamp_ set to:1761541292.404873 2025-10-27T05:01:32.407Z,1761541292.407 [DAT](INFO): DAT read: Bearing 191.8, 13.2 (Local) 2025-10-27T05:01:32.408Z,1761541292.408 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 13.2 (Local) 2025-10-27T05:01:32.412Z,1761541292.412 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2 2025-10-27T05:01:32.437Z,1761541292.437 [DAT](INFO): DAT read: 05:01:31.1832 LVL= 27936, 28273, 32754, 32755, AGC= 66, IDX= 505, 0.37, 2.546,-2.157, 2.138, 3.109, PHS=-0.461, 1.062,-1.015, RAW= 344.9, 4.5, CAL= 344.6, 2.5, ROT= 165.4, -2.5 2025-10-27T05:01:32.439Z,1761541292.439 [DAT](INFO): got valid direction response: 05:01:31.1832 LVL= 27936, 28273, 32754, 32755, AGC= 66, IDX= 505, 0.37, 2.546,-2.157, 2.138, 3.109, PHS=-0.461, 1.062,-1.015, RAW= 344.9, 4.5, CAL= 344.6, 2.5, ROT= 165.4, -2.5 2025-10-27T05:01:32.440Z,1761541292.440 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:01:32.441Z,1761541292.441 [DAT](INFO): direction in FSK: [-0.966788,0.251829,0.043619] 2025-10-27T05:01:32.441Z,1761541292.441 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:32.481Z,1761541292.481 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.141948 2025-10-27T05:01:32.482Z,1761541292.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626146,0.777602,0.057230],[-0.779401,-0.626265,-0.018069],[0.021790,-0.055919,0.998197]] 2025-10-27T05:01:32.565Z,1761541292.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504223 s, deltaX: 0.299999 m, approachRate: 0.594973 m/s, rangeRepo size: 4 2025-10-27T05:01:32.571Z,1761541292.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.900448 m, bearing: 36.515233 deg, lat: 36.779321 deg, lon: -121.859604 deg, deltaT: 0.504223 s, deltaX: 0.298506 m, approachRate: 0.592011 m/s, posRepo size: 4 2025-10-27T05:01:32.572Z,1761541292.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m. 2025-10-27T05:01:32.656Z,1761541292.656 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.317039 2025-10-27T05:01:32.868Z,1761541292.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626397,0.777398,0.057260],[-0.779197,-0.626519,-0.018028],[0.021860,-0.055909,0.998197]] 2025-10-27T05:01:32.888Z,1761541292.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m. 2025-10-27T05:01:32.910Z,1761541292.910 [DAT](INFO): DAT read: Rx Time:05:01:31.6832 2025-10-27T05:01:32.911Z,1761541292.911 [DAT](INFO): Rx dataTimestamp_ set to:1761541292.910591 2025-10-27T05:01:32.914Z,1761541292.914 [DAT](INFO): DAT read: Bearing 193.3, 13.7 (Local) 2025-10-27T05:01:32.914Z,1761541292.914 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 13.7 (Local) 2025-10-27T05:01:32.932Z,1761541292.932 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.0 2025-10-27T05:01:32.964Z,1761541292.964 [DAT](INFO): DAT read: 05:01:31.6832 LVL= 26592, 25249, 32754, 32755, AGC= 65, IDX= 505, 0.10,-0.125, 1.464,-0.560, 0.405, PHS=-0.428, 1.105,-1.009, RAW= 345.4, 3.6, CAL= 345.0, 1.0, ROT= 165.0, -1.0 2025-10-27T05:01:32.973Z,1761541292.973 [DAT](INFO): got valid direction response: 05:01:31.6832 LVL= 26592, 25249, 32754, 32755, AGC= 65, IDX= 505, 0.10,-0.125, 1.464,-0.560, 0.405, PHS=-0.428, 1.105,-1.009, RAW= 345.4, 3.6, CAL= 345.0, 1.0, ROT= 165.0, -1.0 2025-10-27T05:01:32.974Z,1761541292.974 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:01:32.982Z,1761541292.982 [DAT](INFO): direction in FSK: [-0.965779,0.258780,0.017452] 2025-10-27T05:01:32.987Z,1761541292.987 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:33.024Z,1761541293.024 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.685315 2025-10-27T05:01:33.160Z,1761541293.160 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.821115 2025-10-27T05:01:33.239Z,1761541293.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626652,0.777192,0.057261],[-0.778990,-0.626778,-0.017972],[0.021922,-0.055868,0.998197]] 2025-10-27T05:01:33.286Z,1761541293.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.505718 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:33.306Z,1761541293.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.900469 m, bearing: 36.151264 deg, lat: 36.779323 deg, lon: -121.859605 deg, deltaT: 0.505718 s, deltaX: 0.000021 m, approachRate: 0.000041 m/s, posRepo size: 4 2025-10-27T05:01:33.313Z,1761541293.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m. 2025-10-27T05:01:33.414Z,1761541293.414 [DAT](INFO): DAT read: Rx Time:05:01:32.1833 2025-10-27T05:01:33.415Z,1761541293.415 [DAT](INFO): Rx dataTimestamp_ set to:1761541293.414751 2025-10-27T05:01:33.417Z,1761541293.417 [DAT](INFO): DAT read: Bearing 189.8, 11.5 (Local) 2025-10-27T05:01:33.418Z,1761541293.418 [DAT](INFO): Local bearing/azimuth received: Bearing 189.8, 11.5 (Local) 2025-10-27T05:01:33.422Z,1761541293.422 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 2025-10-27T05:01:33.435Z,1761541293.435 [DAT](INFO): DAT read: 05:01:32.1833 LVL= 32576, 32753, 32754, 32755, AGC= 66, IDX= 507,-0.31, 0.297, 1.900,-0.045, 0.928, PHS=-0.528, 1.018,-1.017, RAW= 343.3, 5.8, CAL= 343.0, 4.5, ROT= 167.0, -4.5 2025-10-27T05:01:33.440Z,1761541293.440 [DAT](INFO): got valid direction response: 05:01:32.1833 LVL= 32576, 32753, 32754, 32755, AGC= 66, IDX= 507,-0.31, 0.297, 1.900,-0.045, 0.928, PHS=-0.528, 1.018,-1.017, RAW= 343.3, 5.8, CAL= 343.0, 4.5, ROT= 167.0, -4.5 2025-10-27T05:01:33.440Z,1761541293.440 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:01:33.441Z,1761541293.441 [DAT](INFO): direction in FSK: [-0.971366,0.224258,0.078459] 2025-10-27T05:01:33.441Z,1761541293.441 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:33.454Z,1761541293.454 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.115092 2025-10-27T05:01:33.641Z,1761541293.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626616,0.777213,0.057375],[-0.779023,-0.626732,-0.018192],[0.021820,-0.056096,0.998187]] 2025-10-27T05:01:33.664Z,1761541293.664 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.325166 2025-10-27T05:01:33.712Z,1761541293.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504160 s, deltaX: 0.100000 m, approachRate: 0.198350 m/s, rangeRepo size: 4 2025-10-27T05:01:33.720Z,1761541293.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.999971 m, bearing: 37.977393 deg, lat: 36.779323 deg, lon: -121.859604 deg, deltaT: 0.504160 s, deltaX: 0.099503 m, approachRate: 0.197363 m/s, posRepo size: 4 2025-10-27T05:01:33.721Z,1761541293.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:01:33.918Z,1761541293.918 [DAT](INFO): DAT read: Rx Time:05:01:32.6833 2025-10-27T05:01:33.919Z,1761541293.919 [DAT](INFO): Rx dataTimestamp_ set to:1761541293.917974 2025-10-27T05:01:33.921Z,1761541293.921 [DAT](INFO): DAT read: Bearing 192.2, 13.4 (Local) 2025-10-27T05:01:33.921Z,1761541293.921 [DAT](INFO): Local bearing/azimuth received: Bearing 192.2, 13.4 (Local) 2025-10-27T05:01:33.924Z,1761541293.924 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.0 2025-10-27T05:01:33.942Z,1761541293.942 [DAT](INFO): DAT read: 05:01:32.6833 LVL= 30288, 25329, 32754, 32755, AGC= 65, IDX= 506, 0.27, 0.266, 1.853,-0.151, 0.819, PHS=-0.451, 1.079,-1.014, RAW= 345.1, 4.2, CAL= 344.7, 1.9, ROT= 165.3, -1.9 2025-10-27T05:01:33.943Z,1761541293.943 [DAT](INFO): got valid direction response: 05:01:32.6833 LVL= 30288, 25329, 32754, 32755, AGC= 65, IDX= 506, 0.27, 0.266, 1.853,-0.151, 0.819, PHS=-0.451, 1.079,-1.014, RAW= 345.1, 4.2, CAL= 344.7, 1.9, ROT= 165.3, -1.9 2025-10-27T05:01:33.944Z,1761541293.944 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:01:33.945Z,1761541293.945 [DAT](INFO): direction in FSK: [-0.966736,0.253618,0.033155] 2025-10-27T05:01:33.946Z,1761541293.946 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:34.027Z,1761541294.027 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.679171 2025-10-27T05:01:34.067Z,1761541294.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626725,0.777112,0.057558],[-0.778935,-0.626835,-0.018366],[0.021807,-0.056344,0.998173]] 2025-10-27T05:01:34.162Z,1761541294.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503223 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:34.168Z,1761541294.168 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.828982 2025-10-27T05:01:34.173Z,1761541294.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.999994 m, bearing: 36.401538 deg, lat: 36.779322 deg, lon: -121.859603 deg, deltaT: 0.503223 s, deltaX: 0.000023 m, approachRate: 0.000045 m/s, posRepo size: 4 2025-10-27T05:01:34.173Z,1761541294.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:01:34.421Z,1761541294.421 [DAT](INFO): DAT read: Rx Time:05:01:33.1833 2025-10-27T05:01:34.422Z,1761541294.422 [DAT](INFO): Rx dataTimestamp_ set to:1761541294.421812 2025-10-27T05:01:34.424Z,1761541294.424 [DAT](INFO): DAT read: Bearing 191.7, 13.0 (Local) 2025-10-27T05:01:34.425Z,1761541294.425 [DAT](INFO): Local bearing/azimuth received: Bearing 191.7, 13.0 (Local) 2025-10-27T05:01:34.428Z,1761541294.428 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.0 2025-10-27T05:01:34.440Z,1761541294.440 [DAT](INFO): DAT read: 05:01:33.1833 LVL= 32752, 28273, 32754, 32755, AGC= 67, IDX= 507,-0.09,-0.770, 0.833,-1.178,-0.198, PHS=-0.470, 1.076,-1.024, RAW= 344.7, 4.5, CAL= 344.4, 2.5, ROT= 165.6, -2.5 2025-10-27T05:01:34.441Z,1761541294.441 [DAT](INFO): got valid direction response: 05:01:33.1833 LVL= 32752, 28273, 32754, 32755, AGC= 67, IDX= 507,-0.09,-0.770, 0.833,-1.178,-0.198, PHS=-0.470, 1.076,-1.024, RAW= 344.7, 4.5, CAL= 344.4, 2.5, ROT= 165.6, -2.5 2025-10-27T05:01:34.442Z,1761541294.442 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:01:34.443Z,1761541294.443 [DAT](INFO): direction in FSK: [-0.967661,0.248453,0.043619] 2025-10-27T05:01:34.443Z,1761541294.443 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:34.447Z,1761541294.447 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.107591 2025-10-27T05:01:34.486Z,1761541294.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627029,0.776863,0.057605],[-0.778691,-0.627137,-0.018434],[0.021805,-0.056416,0.998169]] 2025-10-27T05:01:34.544Z,1761541294.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503838 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:34.546Z,1761541294.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.999994 m, bearing: 36.649064 deg, lat: 36.779322 deg, lon: -121.859603 deg, deltaT: 0.503838 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:34.552Z,1761541294.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:01:34.672Z,1761541294.672 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.333108 2025-10-27T05:01:34.874Z,1761541294.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627108,0.776788,0.057757],[-0.778627,-0.627214,-0.018540],[0.021824,-0.056597,0.998159]] 2025-10-27T05:01:34.893Z,1761541294.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:01:34.926Z,1761541294.926 [DAT](INFO): DAT read: Rx Time:05:01:33.6833 2025-10-27T05:01:34.926Z,1761541294.926 [DAT](INFO): Rx dataTimestamp_ set to:1761541294.925903 2025-10-27T05:01:34.929Z,1761541294.929 [DAT](INFO): DAT read: Bearing 194.0, 13.8 (Local) 2025-10-27T05:01:34.929Z,1761541294.929 [DAT](INFO): Local bearing/azimuth received: Bearing 194.0, 13.8 (Local) 2025-10-27T05:01:34.932Z,1761541294.932 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 2025-10-27T05:01:34.938Z,1761541294.938 [DAT](INFO): DAT read: 05:01:33.6833 LVL= 26496, 23713, 32754, 32755, AGC= 66, IDX= 506, 0.44,-1.079, 0.516,-1.517,-0.563, PHS=-0.414, 1.124,-0.998, RAW= 345.4, 3.1, CAL= 345.0, 0.2, ROT= 165.0, -0.2 2025-10-27T05:01:34.939Z,1761541294.939 [DAT](INFO): got valid direction response: 05:01:33.6833 LVL= 26496, 23713, 32754, 32755, AGC= 66, IDX= 506, 0.44,-1.079, 0.516,-1.517,-0.563, PHS=-0.414, 1.124,-0.998, RAW= 345.4, 3.1, CAL= 345.0, 0.2, ROT= 165.0, -0.2 2025-10-27T05:01:34.940Z,1761541294.940 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:01:34.941Z,1761541294.941 [DAT](INFO): direction in FSK: [-0.965920,0.258818,0.003491] 2025-10-27T05:01:34.941Z,1761541294.941 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:34.945Z,1761541294.945 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.606255 2025-10-27T05:01:35.176Z,1761541295.176 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.836858 2025-10-27T05:01:35.257Z,1761541295.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627660,0.776360,0.057513],[-0.778181,-0.627772,-0.018358],[0.021853,-0.056278,0.998176]] 2025-10-27T05:01:35.377Z,1761541295.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504091 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:35.384Z,1761541295.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.000015 m, bearing: 36.116080 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.504091 s, deltaX: 0.000021 m, approachRate: 0.000042 m/s, posRepo size: 4 2025-10-27T05:01:35.384Z,1761541295.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:01:35.430Z,1761541295.430 [DAT](INFO): DAT read: Rx Time:05:01:34.1833 2025-10-27T05:01:35.432Z,1761541295.432 [DAT](INFO): Rx dataTimestamp_ set to:1761541295.431516 2025-10-27T05:01:35.434Z,1761541295.434 [DAT](INFO): DAT read: Bearing 191.0, 12.5 (Local) 2025-10-27T05:01:35.435Z,1761541295.435 [DAT](INFO): Local bearing/azimuth received: Bearing 191.0, 12.5 (Local) 2025-10-27T05:01:35.437Z,1761541295.437 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.0 2025-10-27T05:01:35.442Z,1761541295.442 [DAT](INFO): DAT read: 05:01:34.1833 LVL= 32752, 26753, 32754, 32755, AGC= 68, IDX= 508,-0.04, 0.191, 1.793,-0.191, 0.784, PHS=-0.491, 1.054,-1.019, RAW= 344.2, 4.9, CAL= 343.8, 3.2, ROT= 166.2, -3.2 2025-10-27T05:01:35.443Z,1761541295.443 [DAT](INFO): got valid direction response: 05:01:34.1833 LVL= 32752, 26753, 32754, 32755, AGC= 68, IDX= 508,-0.04, 0.191, 1.793,-0.191, 0.784, PHS=-0.491, 1.054,-1.019, RAW= 344.2, 4.9, CAL= 343.8, 3.2, ROT= 166.2, -3.2 2025-10-27T05:01:35.443Z,1761541295.443 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:01:35.444Z,1761541295.444 [DAT](INFO): direction in FSK: [-0.969620,0.238162,0.055822] 2025-10-27T05:01:35.445Z,1761541295.445 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:35.452Z,1761541295.452 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.113029 2025-10-27T05:01:35.674Z,1761541295.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628037,0.776085,0.057102],[-0.777880,-0.628149,-0.018210],[0.021736,-0.055855,0.998202]] 2025-10-27T05:01:35.680Z,1761541295.680 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.340943 2025-10-27T05:01:35.706Z,1761541295.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.505613 s, deltaX: 0.199999 m, approachRate: 0.395557 m/s, rangeRepo size: 4 2025-10-27T05:01:35.710Z,1761541295.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.199020 m, bearing: 37.140209 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.505613 s, deltaX: 0.199005 m, approachRate: 0.393592 m/s, posRepo size: 4 2025-10-27T05:01:35.710Z,1761541295.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m. 2025-10-27T05:01:35.934Z,1761541295.934 [DAT](INFO): DAT read: Rx Time:05:01:34.6833 2025-10-27T05:01:35.935Z,1761541295.935 [DAT](INFO): Rx dataTimestamp_ set to:1761541295.934472 2025-10-27T05:01:35.937Z,1761541295.937 [DAT](INFO): DAT read: Bearing 193.8, 13.2 (Local) 2025-10-27T05:01:35.937Z,1761541295.937 [DAT](INFO): Local bearing/azimuth received: Bearing 193.8, 13.2 (Local) 2025-10-27T05:01:35.939Z,1761541295.939 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-27T05:01:35.944Z,1761541295.944 [DAT](INFO): DAT read: 05:01:34.6833 LVL= 23792, 23633, 32754, 32755, AGC= 64, IDX= 508,-0.39,-1.731,-0.118,-2.150,-1.198, PHS=-0.432, 1.125,-0.996, RAW= 344.9, 3.2, CAL= 344.4, 0.5, ROT= 165.6, -0.5 2025-10-27T05:01:35.945Z,1761541295.945 [DAT](INFO): got valid direction response: 05:01:34.6833 LVL= 23792, 23633, 32754, 32755, AGC= 64, IDX= 508,-0.39,-1.731,-0.118,-2.150,-1.198, PHS=-0.432, 1.125,-0.996, RAW= 344.9, 3.2, CAL= 344.4, 0.5, ROT= 165.6, -0.5 2025-10-27T05:01:35.945Z,1761541295.945 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:01:35.946Z,1761541295.946 [DAT](INFO): direction in FSK: [-0.968546,0.248680,0.008727] 2025-10-27T05:01:35.947Z,1761541295.947 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:35.950Z,1761541295.950 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.611336 2025-10-27T05:01:36.170Z,1761541296.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.502956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:36.177Z,1761541296.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.199034 m, bearing: 36.673252 deg, lat: 36.779321 deg, lon: -121.859603 deg, deltaT: 0.502956 s, deltaX: 0.000013 m, approachRate: 0.000027 m/s, posRepo size: 4 2025-10-27T05:01:36.179Z,1761541296.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.20 m. 2025-10-27T05:01:36.184Z,1761541296.184 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.845088 2025-10-27T05:01:36.436Z,1761541296.436 [DAT](INFO): DAT read: Rx Time:05:01:35.1834 2025-10-27T05:01:36.437Z,1761541296.437 [DAT](INFO): Rx dataTimestamp_ set to:1761541296.436643 2025-10-27T05:01:36.438Z,1761541296.438 [DAT](INFO): DAT read: Bearing 190.8, 12.5 (Local) 2025-10-27T05:01:36.439Z,1761541296.439 [DAT](INFO): Local bearing/azimuth received: Bearing 190.8, 12.5 (Local) 2025-10-27T05:01:36.441Z,1761541296.441 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 2025-10-27T05:01:36.445Z,1761541296.445 [DAT](INFO): DAT read: 05:01:35.1834 LVL= 30800, 31841, 32754, 32755, AGC= 67, IDX= 509, 0.07, 0.652, 2.245, 0.270, 1.247, PHS=-0.493, 1.043,-1.021, RAW= 344.3, 5.1, CAL= 343.9, 3.5, ROT= 166.1, -3.5 2025-10-27T05:01:36.446Z,1761541296.446 [DAT](INFO): got valid direction response: 05:01:35.1834 LVL= 30800, 31841, 32754, 32755, AGC= 67, IDX= 509, 0.07, 0.652, 2.245, 0.270, 1.247, PHS=-0.493, 1.043,-1.021, RAW= 344.3, 5.1, CAL= 343.9, 3.5, ROT= 166.1, -3.5 2025-10-27T05:01:36.447Z,1761541296.447 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:01:36.448Z,1761541296.448 [DAT](INFO): direction in FSK: [-0.968906,0.239780,0.061049] 2025-10-27T05:01:36.448Z,1761541296.448 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:36.452Z,1761541296.452 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.113079 2025-10-27T05:01:36.493Z,1761541296.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628045,0.776113,0.056635],[-0.777885,-0.628138,-0.018376],[0.021313,-0.055597,0.998226]] 2025-10-27T05:01:36.553Z,1761541296.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.502171 s, deltaX: 0.100000 m, approachRate: 0.199136 m/s, rangeRepo size: 4 2025-10-27T05:01:36.560Z,1761541296.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.298538 m, bearing: 37.026159 deg, lat: 36.779321 deg, lon: -121.859601 deg, deltaT: 0.502171 s, deltaX: 0.099504 m, approachRate: 0.198149 m/s, posRepo size: 4 2025-10-27T05:01:36.560Z,1761541296.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:01:36.688Z,1761541296.688 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.349047 2025-10-27T05:01:36.884Z,1761541296.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627797,0.776315,0.056622],[-0.778093,-0.627870,-0.018713],[0.021024,-0.055804,0.998220]] 2025-10-27T05:01:36.912Z,1761541296.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:01:36.941Z,1761541296.941 [DAT](INFO): DAT read: Rx Time:05:01:35.6834 2025-10-27T05:01:36.941Z,1761541296.941 [DAT](INFO): Rx dataTimestamp_ set to:1761541296.940714 2025-10-27T05:01:36.942Z,1761541296.942 [DAT](INFO): DAT read: Bearing 194.0, 12.6 (Local) 2025-10-27T05:01:36.943Z,1761541296.943 [DAT](INFO): Local bearing/azimuth received: Bearing 194.0, 12.6 (Local) 2025-10-27T05:01:36.945Z,1761541296.945 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 2025-10-27T05:01:36.949Z,1761541296.949 [DAT](INFO): DAT read: 05:01:35.6834 LVL= 25792, 22961, 32754, 32755, AGC= 64, IDX= 509,-0.21,-2.937,-1.308, 2.946,-2.396, PHS=-0.439, 1.134,-0.985, RAW= 344.4, 3.1, CAL= 343.9, 0.2, ROT= 166.1, -0.2 2025-10-27T05:01:36.950Z,1761541296.950 [DAT](INFO): got valid direction response: 05:01:35.6834 LVL= 25792, 22961, 32754, 32755, AGC= 64, IDX= 509,-0.21,-2.937,-1.308, 2.946,-2.396, PHS=-0.439, 1.134,-0.985, RAW= 344.4, 3.1, CAL= 343.9, 0.2, ROT= 166.1, -0.2 2025-10-27T05:01:36.951Z,1761541296.951 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:01:36.952Z,1761541296.952 [DAT](INFO): direction in FSK: [-0.970711,0.240226,0.003491] 2025-10-27T05:01:36.952Z,1761541296.952 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:36.956Z,1761541296.956 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.617473 2025-10-27T05:01:37.192Z,1761541297.192 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.852887 2025-10-27T05:01:37.287Z,1761541297.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627412,0.776618,0.056726],[-0.778412,-0.627461,-0.019166],[0.020708,-0.056181,0.998206]] 2025-10-27T05:01:37.408Z,1761541297.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:37.415Z,1761541297.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.298555 m, bearing: 37.235122 deg, lat: 36.779321 deg, lon: -121.859600 deg, deltaT: 0.504071 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 2025-10-27T05:01:37.416Z,1761541297.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:01:37.445Z,1761541297.445 [DAT](INFO): DAT read: Rx Time:05:01:36.1836 2025-10-27T05:01:37.445Z,1761541297.445 [DAT](INFO): Rx dataTimestamp_ set to:1761541297.444797 2025-10-27T05:01:37.446Z,1761541297.446 [DAT](INFO): DAT read: Bearing 192.6, 13.2 (Local) 2025-10-27T05:01:37.447Z,1761541297.447 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 13.2 (Local) 2025-10-27T05:01:37.449Z,1761541297.449 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.0 2025-10-27T05:01:37.454Z,1761541297.454 [DAT](INFO): DAT read: 05:01:36.1836 LVL= 30176, 26321, 32754, 32755, AGC= 65, IDX= 510, 0.18, 0.533, 2.137, 0.112, 1.083, PHS=-0.449, 1.099,-1.015, RAW= 345.0, 3.9, CAL= 344.6, 1.5, ROT= 165.4, -1.5 2025-10-27T05:01:37.455Z,1761541297.455 [DAT](INFO): got valid direction response: 05:01:36.1836 LVL= 30176, 26321, 32754, 32755, AGC= 65, IDX= 510, 0.18, 0.533, 2.137, 0.112, 1.083, PHS=-0.449, 1.099,-1.015, RAW= 345.0, 3.9, CAL= 344.6, 1.5, ROT= 165.4, -1.5 2025-10-27T05:01:37.455Z,1761541297.455 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:01:37.456Z,1761541297.456 [DAT](INFO): direction in FSK: [-0.967378,0.251983,0.026177] 2025-10-27T05:01:37.456Z,1761541297.456 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:37.474Z,1761541297.474 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.135031 2025-10-27T05:01:37.690Z,1761541297.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627064,0.776895,0.056791],[-0.778699,-0.627094,-0.019512],[0.020454,-0.056458,0.998195]] 2025-10-27T05:01:37.696Z,1761541297.696 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.357039 2025-10-27T05:01:37.757Z,1761541297.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504083 s, deltaX: 0.300001 m, approachRate: 0.595142 m/s, rangeRepo size: 4 2025-10-27T05:01:37.759Z,1761541297.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.597065 m, bearing: 36.497450 deg, lat: 36.779321 deg, lon: -121.859600 deg, deltaT: 0.504083 s, deltaX: 0.298510 m, approachRate: 0.592183 m/s, posRepo size: 4 2025-10-27T05:01:37.760Z,1761541297.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m. 2025-10-27T05:01:37.949Z,1761541297.949 [DAT](INFO): DAT read: Rx Time:05:01:36.6835 2025-10-27T05:01:37.950Z,1761541297.950 [DAT](INFO): Rx dataTimestamp_ set to:1761541297.949523 2025-10-27T05:01:37.952Z,1761541297.952 [DAT](INFO): DAT read: Bearing 193.3, 12.6 (Local) 2025-10-27T05:01:37.952Z,1761541297.952 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 12.6 (Local) 2025-10-27T05:01:37.955Z,1761541297.955 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.0 2025-10-27T05:01:37.964Z,1761541297.964 [DAT](INFO): DAT read: 05:01:36.6835 LVL= 25968, 22801, 32754, 32755, AGC= 66, IDX= 510,-0.24,-2.770,-1.132, 3.110,-2.214, PHS=-0.454, 1.128,-1.003, RAW= 344.4, 3.5, CAL= 343.9, 0.9, ROT= 166.1, -0.9 2025-10-27T05:01:37.965Z,1761541297.965 [DAT](INFO): got valid direction response: 05:01:36.6835 LVL= 25968, 22801, 32754, 32755, AGC= 66, IDX= 510,-0.24,-2.770,-1.132, 3.110,-2.214, PHS=-0.454, 1.128,-1.003, RAW= 344.4, 3.5, CAL= 343.9, 0.9, ROT= 166.1, -0.9 2025-10-27T05:01:37.966Z,1761541297.966 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:01:37.971Z,1761541297.971 [DAT](INFO): direction in FSK: [-0.970597,0.240198,0.015707] 2025-10-27T05:01:37.971Z,1761541297.971 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:37.980Z,1761541297.980 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.635658 2025-10-27T05:01:38.096Z,1761541298.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626678,0.777215,0.056669],[-0.779017,-0.626693,-0.019708],[0.020196,-0.056497,0.998198]] 2025-10-27T05:01:38.200Z,1761541298.200 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.861055 2025-10-27T05:01:38.205Z,1761541298.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504726 s, deltaX: -0.100000 m, approachRate: -0.198128 m/s, rangeRepo size: 4 2025-10-27T05:01:38.216Z,1761541298.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.497534 m, bearing: 37.255007 deg, lat: 36.779320 deg, lon: -121.859599 deg, deltaT: 0.504726 s, deltaX: -0.099531 m, approachRate: -0.197198 m/s, posRepo size: 4 2025-10-27T05:01:38.216Z,1761541298.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m. 2025-10-27T05:01:38.453Z,1761541298.453 [DAT](INFO): DAT read: Rx Time:05:01:37.1836 2025-10-27T05:01:38.453Z,1761541298.453 [DAT](INFO): Rx dataTimestamp_ set to:1761541298.452716 2025-10-27T05:01:38.454Z,1761541298.454 [DAT](INFO): DAT read: Bearing 192.5, 13.1 (Local) 2025-10-27T05:01:38.455Z,1761541298.455 [DAT](INFO): Local bearing/azimuth received: Bearing 192.5, 13.1 (Local) 2025-10-27T05:01:38.457Z,1761541298.457 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2 2025-10-27T05:01:38.466Z,1761541298.466 [DAT](INFO): DAT read: 05:01:37.1836 LVL= 28336, 24545, 32754, 32755, AGC= 67, IDX= 510, 0.13,-0.859, 0.754,-1.274,-0.300, PHS=-0.456, 1.100,-1.018, RAW= 344.8, 4.0, CAL= 344.4, 1.7, ROT= 165.6, -1.7 2025-10-27T05:01:38.476Z,1761541298.476 [DAT](INFO): got valid direction response: 05:01:37.1836 LVL= 28336, 24545, 32754, 32755, AGC= 67, IDX= 510, 0.13,-0.859, 0.754,-1.274,-0.300, PHS=-0.456, 1.100,-1.018, RAW= 344.8, 4.0, CAL= 344.4, 1.7, ROT= 165.6, -1.7 2025-10-27T05:01:38.476Z,1761541298.476 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:01:38.477Z,1761541298.477 [DAT](INFO): direction in FSK: [-0.968157,0.248580,0.029666] 2025-10-27T05:01:38.477Z,1761541298.477 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:38.481Z,1761541298.481 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.141868 2025-10-27T05:01:38.519Z,1761541298.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626450,0.777434,0.056187],[-0.779206,-0.626461,-0.019607],[0.019955,-0.056064,0.998228]] 2025-10-27T05:01:38.568Z,1761541298.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503193 s, deltaX: 0.100000 m, approachRate: 0.198732 m/s, rangeRepo size: 4 2025-10-27T05:01:38.570Z,1761541298.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.597036 m, bearing: 36.733261 deg, lat: 36.779320 deg, lon: -121.859599 deg, deltaT: 0.503193 s, deltaX: 0.099503 m, approachRate: 0.197742 m/s, posRepo size: 4 2025-10-27T05:01:38.570Z,1761541298.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m. 2025-10-27T05:01:38.705Z,1761541298.705 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.365745 2025-10-27T05:01:38.914Z,1761541298.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625475,0.778283,0.055296],[-0.780002,-0.625474,-0.019458],[0.019443,-0.055302,0.998280]] 2025-10-27T05:01:38.939Z,1761541298.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m. 2025-10-27T05:01:38.956Z,1761541298.956 [DAT](INFO): DAT read: Rx Time:05:01:37.6835 2025-10-27T05:01:38.957Z,1761541298.957 [DAT](INFO): Rx dataTimestamp_ set to:1761541298.956581 2025-10-27T05:01:38.958Z,1761541298.958 [DAT](INFO): DAT read: Bearing 192.9, 12.2 (Local) 2025-10-27T05:01:38.958Z,1761541298.958 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 12.2 (Local) 2025-10-27T05:01:38.961Z,1761541298.961 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.0 2025-10-27T05:01:38.965Z,1761541298.965 [DAT](INFO): DAT read: 05:01:37.6835 LVL= 24096, 25521, 32754, 32755, AGC= 66, IDX= 510,-0.35,-3.020,-1.381, 2.879,-2.450, PHS=-0.468, 1.114,-0.998, RAW= 344.0, 3.7, CAL= 343.5, 1.3, ROT= 166.5, -1.3 2025-10-27T05:01:38.966Z,1761541298.966 [DAT](INFO): got valid direction response: 05:01:37.6835 LVL= 24096, 25521, 32754, 32755, AGC= 66, IDX= 510,-0.35,-3.020,-1.381, 2.879,-2.450, PHS=-0.468, 1.114,-0.998, RAW= 344.0, 3.7, CAL= 343.5, 1.3, ROT= 166.5, -1.3 2025-10-27T05:01:38.967Z,1761541298.967 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:01:38.968Z,1761541298.968 [DAT](INFO): direction in FSK: [-0.972120,0.233385,0.022687] 2025-10-27T05:01:38.968Z,1761541298.968 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:38.971Z,1761541298.971 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.632478 2025-10-27T05:01:39.208Z,1761541299.208 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.868951 2025-10-27T05:01:39.320Z,1761541299.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624513,0.779060,0.055221],[-0.780780,-0.624494,-0.019725],[0.019118,-0.055434,0.998279]] 2025-10-27T05:01:39.432Z,1761541299.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503865 s, deltaX: -0.100000 m, approachRate: -0.198467 m/s, rangeRepo size: 4 2025-10-27T05:01:39.434Z,1761541299.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.497524 m, bearing: 37.795177 deg, lat: 36.779319 deg, lon: -121.859598 deg, deltaT: 0.503865 s, deltaX: -0.099512 m, approachRate: -0.197498 m/s, posRepo size: 4 2025-10-27T05:01:39.434Z,1761541299.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m. 2025-10-27T05:01:39.461Z,1761541299.461 [DAT](INFO): DAT read: Rx Time:05:01:38.1837 2025-10-27T05:01:39.461Z,1761541299.461 [DAT](INFO): Rx dataTimestamp_ set to:1761541299.460896 2025-10-27T05:01:39.462Z,1761541299.462 [DAT](INFO): DAT read: Bearing 193.5, 12.8 (Local) 2025-10-27T05:01:39.463Z,1761541299.463 [DAT](INFO): Local bearing/azimuth received: Bearing 193.5, 12.8 (Local) 2025-10-27T05:01:39.465Z,1761541299.465 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 2025-10-27T05:01:39.470Z,1761541299.470 [DAT](INFO): DAT read: 05:01:38.1837 LVL= 23088, 22193, 32754, 32755, AGC= 65, IDX= 511, 0.08,-0.851, 0.781,-1.261,-0.303, PHS=-0.446, 1.130,-1.002, RAW= 344.6, 3.4, CAL= 344.1, 0.7, ROT= 165.9, -0.7 2025-10-27T05:01:39.472Z,1761541299.472 [DAT](INFO): got valid direction response: 05:01:38.1837 LVL= 23088, 22193, 32754, 32755, AGC= 65, IDX= 511, 0.08,-0.851, 0.781,-1.261,-0.303, PHS=-0.446, 1.130,-1.002, RAW= 344.6, 3.4, CAL= 344.1, 0.7, ROT= 165.9, -0.7 2025-10-27T05:01:39.472Z,1761541299.472 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:01:39.473Z,1761541299.473 [DAT](INFO): direction in FSK: [-0.969800,0.243597,0.012217] 2025-10-27T05:01:39.473Z,1761541299.473 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:39.477Z,1761541299.477 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.138105 2025-10-27T05:01:39.712Z,1761541299.712 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.373115 2025-10-27T05:01:39.733Z,1761541299.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623437,0.779910,0.055368],[-0.781645,-0.623403,-0.020014],[0.018908,-0.055756,0.998265]] 2025-10-27T05:01:39.757Z,1761541299.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504315 s, deltaX: 0.299999 m, approachRate: 0.594865 m/s, rangeRepo size: 4 2025-10-27T05:01:39.759Z,1761541299.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.796032 m, bearing: 37.304652 deg, lat: 36.779320 deg, lon: -121.859597 deg, deltaT: 0.504315 s, deltaX: 0.298508 m, approachRate: 0.591907 m/s, posRepo size: 4 2025-10-27T05:01:39.759Z,1761541299.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m. 2025-10-27T05:01:39.965Z,1761541299.965 [DAT](INFO): DAT read: Rx Time:05:01:38.6836 2025-10-27T05:01:39.965Z,1761541299.965 [DAT](INFO): Rx dataTimestamp_ set to:1761541299.964722 2025-10-27T05:01:39.966Z,1761541299.966 [DAT](INFO): DAT read: Bearing 193.5, 12.1 (Local) 2025-10-27T05:01:39.967Z,1761541299.967 [DAT](INFO): Local bearing/azimuth received: Bearing 193.5, 12.1 (Local) 2025-10-27T05:01:39.969Z,1761541299.969 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.1 2025-10-27T05:01:39.974Z,1761541299.974 [DAT](INFO): DAT read: 05:01:38.6836 LVL= 23792, 22513, 32754, 32755, AGC= 64, IDX= 511,-0.41, 3.097,-1.534, 2.710,-2.622, PHS=-0.462, 1.132,-0.995, RAW= 343.9, 3.4, CAL= 343.5, 0.8, ROT= 166.5, -0.8 2025-10-27T05:01:39.979Z,1761541299.979 [DAT](INFO): got valid direction response: 05:01:38.6836 LVL= 23792, 22513, 32754, 32755, AGC= 64, IDX= 511,-0.41, 3.097,-1.534, 2.710,-2.622, PHS=-0.462, 1.132,-0.995, RAW= 343.9, 3.4, CAL= 343.5, 0.8, ROT= 166.5, -0.8 2025-10-27T05:01:39.980Z,1761541299.980 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:01:39.981Z,1761541299.981 [DAT](INFO): direction in FSK: [-0.972275,0.233423,0.013962] 2025-10-27T05:01:39.981Z,1761541299.981 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:39.994Z,1761541299.994 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.654968 2025-10-27T05:01:40.121Z,1761541300.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622502,0.780656,0.055379],[-0.782394,-0.622458,-0.020162],[0.018732,-0.055879,0.998262]] 2025-10-27T05:01:40.202Z,1761541300.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503826 s, deltaX: -0.199999 m, approachRate: -0.396960 m/s, rangeRepo size: 4 2025-10-27T05:01:40.206Z,1761541300.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.597006 m, bearing: 37.967691 deg, lat: 36.779319 deg, lon: -121.859595 deg, deltaT: 0.503826 s, deltaX: -0.199026 m, approachRate: -0.395029 m/s, posRepo size: 4 2025-10-27T05:01:40.206Z,1761541300.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m. 2025-10-27T05:01:40.218Z,1761541300.218 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.879035 2025-10-27T05:01:40.469Z,1761541300.469 [DAT](INFO): DAT read: Rx Time:05:01:39.1837 2025-10-27T05:01:40.469Z,1761541300.469 [DAT](INFO): Rx dataTimestamp_ set to:1761541300.468782 2025-10-27T05:01:40.470Z,1761541300.470 [DAT](INFO): DAT read: Bearing 183.3, 12.7 (Local) 2025-10-27T05:01:40.471Z,1761541300.471 [DAT](INFO): Local bearing/azimuth received: Bearing 183.3, 12.7 (Local) 2025-10-27T05:01:40.473Z,1761541300.473 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 2025-10-27T05:01:40.493Z,1761541300.493 [DAT](INFO): DAT read: 05:01:39.1837 LVL= 23168, 25249, 32754, 32755, AGC= 64, IDX= 512, 0.01,-2.512,-0.852,-2.944,-1.752, PHS=-0.658, 0.945,-1.236, RAW= 344.8, 9.7, CAL= 344.9, 10.7, ROT= 165.1, -10.7 2025-10-27T05:01:40.494Z,1761541300.494 [DAT](INFO): got valid direction response: 05:01:39.1837 LVL= 23168, 25249, 32754, 32755, AGC= 64, IDX= 512, 0.01,-2.512,-0.852,-2.944,-1.752, PHS=-0.658, 0.945,-1.236, RAW= 344.8, 9.7, CAL= 344.9, 10.7, ROT= 165.1, -10.7 2025-10-27T05:01:40.499Z,1761541300.499 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:01:40.527Z,1761541300.527 [DAT](INFO): direction in FSK: [-0.949574,0.252662,0.185667] 2025-10-27T05:01:40.527Z,1761541300.527 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:40.535Z,1761541300.535 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.191837 2025-10-27T05:01:40.553Z,1761541300.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621641,0.781344,0.055356],[-0.783080,-0.621594,-0.020164],[0.018654,-0.055883,0.998263]] 2025-10-27T05:01:40.612Z,1761541300.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504060 s, deltaX: 0.199999 m, approachRate: 0.396776 m/s, rangeRepo size: 4 2025-10-27T05:01:40.614Z,1761541300.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.796009 m, bearing: 36.141848 deg, lat: 36.779319 deg, lon: -121.859595 deg, deltaT: 0.504060 s, deltaX: 0.199003 m, approachRate: 0.394801 m/s, posRepo size: 4 2025-10-27T05:01:40.615Z,1761541300.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m. 2025-10-27T05:01:40.721Z,1761541300.721 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.381397 2025-10-27T05:01:40.929Z,1761541300.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620919,0.781930,0.055184],[-0.783654,-0.620876,-0.019985],[0.018635,-0.055654,0.998276]] 2025-10-27T05:01:40.972Z,1761541300.972 [DAT](INFO): DAT read: Rx Time:05:01:39.6837 2025-10-27T05:01:40.973Z,1761541300.973 [DAT](INFO): Rx dataTimestamp_ set to:1761541300.972577 2025-10-27T05:01:40.974Z,1761541300.974 [DAT](INFO): DAT read: Bearing 193.6, 12.7 (Local) 2025-10-27T05:01:40.974Z,1761541300.974 [DAT](INFO): Local bearing/azimuth received: Bearing 193.6, 12.7 (Local) 2025-10-27T05:01:40.977Z,1761541300.977 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 2025-10-27T05:01:40.981Z,1761541300.981 [DAT](INFO): DAT read: 05:01:39.6837 LVL= 23472, 23969, 32754, 32755, AGC= 64, IDX= 511, 0.47,-2.064,-0.432,-2.472,-1.516, PHS=-0.447, 1.129,-1.000, RAW= 344.5, 3.4, CAL= 344.1, 0.7, ROT= 165.9, -0.7 2025-10-27T05:01:40.982Z,1761541300.982 [DAT](INFO): got valid direction response: 05:01:39.6837 LVL= 23472, 23969, 32754, 32755, AGC= 64, IDX= 511, 0.47,-2.064,-0.432,-2.472,-1.516, PHS=-0.447, 1.129,-1.000, RAW= 344.5, 3.4, CAL= 344.1, 0.7, ROT= 165.9, -0.7 2025-10-27T05:01:40.983Z,1761541300.983 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T05:01:40.984Z,1761541300.984 [DAT](INFO): direction in FSK: [-0.969800,0.243597,0.012217] 2025-10-27T05:01:40.984Z,1761541300.984 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:40.988Z,1761541300.988 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.648571 2025-10-27T05:01:40.990Z,1761541300.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503795 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:40.991Z,1761541300.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m. 2025-10-27T05:01:41.224Z,1761541301.224 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.884996 2025-10-27T05:01:41.368Z,1761541301.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620394,0.782361,0.054971],[-0.784065,-0.620370,-0.019565],[0.018795,-0.055238,0.998296]] 2025-10-27T05:01:41.450Z,1761541301.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.80 m. 2025-10-27T05:01:41.477Z,1761541301.477 [DAT](INFO): DAT read: Rx Time:05:01:40.1838 2025-10-27T05:01:41.477Z,1761541301.477 [DAT](INFO): Rx dataTimestamp_ set to:1761541301.476821 2025-10-27T05:01:41.478Z,1761541301.478 [DAT](INFO): DAT read: Bearing 197.6, 15.2 (Local) 2025-10-27T05:01:41.479Z,1761541301.479 [DAT](INFO): Local bearing/azimuth received: Bearing 197.6, 15.2 (Local) 2025-10-27T05:01:41.481Z,1761541301.481 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 2025-10-27T05:01:41.486Z,1761541301.486 [DAT](INFO): DAT read: 05:01:40.1838 LVL= 23872, 24561, 32754, 32755, AGC= 64, IDX= 513,-0.02,-3.073,-1.935, 2.899,-2.768, PHS=-0.204, 0.878,-0.660, RAW= 346.8, -0.2, CAL= 346.4, -3.2, ROT= 163.6, 3.2 2025-10-27T05:01:41.487Z,1761541301.487 [DAT](INFO): got valid direction response: 05:01:40.1838 LVL= 23872, 24561, 32754, 32755, AGC= 64, IDX= 513,-0.02,-3.073,-1.935, 2.899,-2.768, PHS=-0.204, 0.878,-0.660, RAW= 346.8, -0.2, CAL= 346.4, -3.2, ROT= 163.6, 3.2 2025-10-27T05:01:41.487Z,1761541301.487 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T05:01:41.488Z,1761541301.488 [DAT](INFO): direction in FSK: [-0.957818,0.281901,-0.055822] 2025-10-27T05:01:41.489Z,1761541301.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:41.492Z,1761541301.492 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.153337 2025-10-27T05:01:41.728Z,1761541301.728 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.389303 2025-10-27T05:01:41.744Z,1761541301.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619910,0.782749,0.054920],[-0.784442,-0.619905,-0.019184],[0.019029,-0.054975,0.998306]] 2025-10-27T05:01:41.768Z,1761541301.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504244 s, deltaX: 0.100000 m, approachRate: 0.198317 m/s, rangeRepo size: 4 2025-10-27T05:01:41.770Z,1761541301.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.895496 m, bearing: 35.450353 deg, lat: 36.779319 deg, lon: -121.859594 deg, deltaT: 1.008039 s, deltaX: 0.099487 m, approachRate: 0.098694 m/s, posRepo size: 4 2025-10-27T05:01:41.770Z,1761541301.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m. 2025-10-27T05:01:41.981Z,1761541301.981 [DAT](INFO): DAT read: Rx Time:05:01:40.6838 2025-10-27T05:01:41.981Z,1761541301.981 [DAT](INFO): Rx dataTimestamp_ set to:1761541301.980800 2025-10-27T05:01:41.982Z,1761541301.982 [DAT](INFO): DAT read: Bearing 177.4, 9.5 (Local) 2025-10-27T05:01:41.983Z,1761541301.983 [DAT](INFO): Local bearing/azimuth received: Bearing 177.4, 9.5 (Local) 2025-10-27T05:01:41.985Z,1761541301.985 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 2025-10-27T05:01:41.989Z,1761541301.989 [DAT](INFO): DAT read: 05:01:40.6838 LVL= 23136, 24689, 32754, 32755, AGC= 64, IDX= 512, 0.35,-3.099,-1.490, 2.897,-2.211, PHS=-0.786, 0.766,-1.220, RAW= 342.0, 13.6, CAL= 342.3, 16.9, ROT= 167.7, -16.9 2025-10-27T05:01:41.990Z,1761541301.990 [DAT](INFO): got valid direction response: 05:01:40.6838 LVL= 23136, 24689, 32754, 32755, AGC= 64, IDX= 512, 0.35,-3.099,-1.490, 2.897,-2.211, PHS=-0.786, 0.766,-1.220, RAW= 342.0, 13.6, CAL= 342.3, 16.9, ROT= 167.7, -16.9 2025-10-27T05:01:41.991Z,1761541301.991 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T05:01:41.992Z,1761541301.992 [DAT](INFO): direction in FSK: [-0.934850,0.203830,0.290702] 2025-10-27T05:01:41.992Z,1761541301.992 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:41.996Z,1761541301.996 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.656740 2025-10-27T05:01:42.170Z,1761541302.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619575,0.783007,0.055015],[-0.784699,-0.619591,-0.018827],[0.019345,-0.054834,0.998308]] 2025-10-27T05:01:42.232Z,1761541302.232 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.893072 2025-10-27T05:01:42.258Z,1761541302.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503979 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:42.260Z,1761541302.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.895512 m, bearing: 38.565688 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.503979 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 2025-10-27T05:01:42.261Z,1761541302.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m. 2025-10-27T05:01:42.484Z,1761541302.484 [DAT](INFO): DAT read: Rx Time:05:01:41.1838 2025-10-27T05:01:42.485Z,1761541302.485 [DAT](INFO): Rx dataTimestamp_ set to:1761541302.484626 2025-10-27T05:01:42.486Z,1761541302.486 [DAT](INFO): DAT read: Bearing 198.9, 18.1 (Local) 2025-10-27T05:01:42.486Z,1761541302.486 [DAT](INFO): Local bearing/azimuth received: Bearing 198.9, 18.1 (Local) 2025-10-27T05:01:42.489Z,1761541302.489 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 2025-10-27T05:01:42.493Z,1761541302.493 [DAT](INFO): DAT read: 05:01:41.1838 LVL= 24736, 23313, 32754, 32755, AGC= 63, IDX= 513,-0.05, 0.904, 2.542, 0.226, 1.205, PHS=-0.199, 1.382,-1.023, RAW= 349.7, -1.5, CAL= 349.3, -4.6, ROT= 160.7, 4.6 2025-10-27T05:01:42.494Z,1761541302.494 [DAT](INFO): got valid direction response: 05:01:41.1838 LVL= 24736, 23313, 32754, 32755, AGC= 63, IDX= 513,-0.05, 0.904, 2.542, 0.226, 1.205, PHS=-0.199, 1.382,-1.023, RAW= 349.7, -1.5, CAL= 349.3, -4.6, ROT= 160.7, 4.6 2025-10-27T05:01:42.495Z,1761541302.495 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:01:42.496Z,1761541302.496 [DAT](INFO): direction in FSK: [-0.940761,0.329450,-0.080199] 2025-10-27T05:01:42.496Z,1761541302.496 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:42.500Z,1761541302.500 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.160631 2025-10-27T05:01:42.578Z,1761541302.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619455,0.783084,0.055273],[-0.784783,-0.619495,-0.018485],[0.019766,-0.054827,0.998300]] 2025-10-27T05:01:42.627Z,1761541302.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503826 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:42.629Z,1761541302.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.895512 m, bearing: 32.640752 deg, lat: 36.779319 deg, lon: -121.859599 deg, deltaT: 0.503826 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:42.630Z,1761541302.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m. 2025-10-27T05:01:42.737Z,1761541302.737 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.397644 2025-10-27T05:01:42.980Z,1761541302.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m. 2025-10-27T05:01:43.005Z,1761541303.005 [DAT](INFO): DAT read: Rx Time:05:01:41.6838 2025-10-27T05:01:43.005Z,1761541303.005 [DAT](INFO): Rx dataTimestamp_ set to:1761541303.004760 2025-10-27T05:01:43.006Z,1761541303.006 [DAT](INFO): DAT read: Bearing 158.6, 11.9 (Local) 2025-10-27T05:01:43.007Z,1761541303.007 [DAT](INFO): Local bearing/azimuth received: Bearing 158.6, 11.9 (Local) 2025-10-27T05:01:43.012Z,1761541303.012 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 2025-10-27T05:01:43.016Z,1761541303.016 [DAT](INFO): DAT read: 05:01:41.6838 LVL= 25648, 24561, 32754, 32755, AGC= 63, IDX= 512, 0.34, 1.727, 2.633, 1.442, 2.577, PHS=-0.748, 0.101,-1.179, RAW= 349.3, 29.8, CAL= 348.3, 34.8, ROT= 161.7, -34.8 2025-10-27T05:01:43.017Z,1761541303.017 [DAT](INFO): got valid direction response: 05:01:41.6838 LVL= 25648, 24561, 32754, 32755, AGC= 63, IDX= 512, 0.34, 1.727, 2.633, 1.442, 2.577, PHS=-0.748, 0.101,-1.179, RAW= 349.3, 29.8, CAL= 348.3, 34.8, ROT= 161.7, -34.8 2025-10-27T05:01:43.018Z,1761541303.018 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T05:01:43.019Z,1761541303.019 [DAT](INFO): direction in FSK: [-0.779620,0.257835,0.570714] 2025-10-27T05:01:43.019Z,1761541303.019 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:43.023Z,1761541303.023 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.683681 2025-10-27T05:01:43.256Z,1761541303.256 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.917412 2025-10-27T05:01:43.372Z,1761541303.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619981,0.782597,0.056265],[-0.784334,-0.620087,-0.017663],[0.021067,-0.055081,0.998260]] 2025-10-27T05:01:43.454Z,1761541303.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.520134 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:43.457Z,1761541303.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.895496 m, bearing: 31.615800 deg, lat: 36.779317 deg, lon: -121.859600 deg, deltaT: 0.520134 s, deltaX: -0.000015 m, approachRate: -0.000029 m/s, posRepo size: 4 2025-10-27T05:01:43.458Z,1761541303.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m. 2025-10-27T05:01:43.510Z,1761541303.510 [DAT](INFO): DAT read: Rx Time:05:01:42.1839 2025-10-27T05:01:43.510Z,1761541303.510 [DAT](INFO): Rx dataTimestamp_ set to:1761541303.510205 2025-10-27T05:01:43.518Z,1761541303.518 [DAT](INFO): DAT read: Bearing 193.7, 12.9 (Local) 2025-10-27T05:01:43.518Z,1761541303.518 [DAT](INFO): Local bearing/azimuth received: Bearing 193.7, 12.9 (Local) 2025-10-27T05:01:43.521Z,1761541303.521 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.2 2025-10-27T05:01:43.526Z,1761541303.526 [DAT](INFO): DAT read: 05:01:42.1839 LVL= 16224, 12785, 19266, 22483, AGC= 66, IDX= 2,-0.03, 2.505,-2.146, 2.085, 3.050, PHS=-0.443, 1.132,-1.009, RAW= 344.8, 3.4, CAL= 344.3, 0.7, ROT= 165.7, -0.7 2025-10-27T05:01:43.527Z,1761541303.527 [DAT](INFO): got valid direction response: 05:01:42.1839 LVL= 16224, 12785, 19266, 22483, AGC= 66, IDX= 2,-0.03, 2.505,-2.146, 2.085, 3.050, PHS=-0.443, 1.132,-1.009, RAW= 344.8, 3.4, CAL= 344.3, 0.7, ROT= 165.7, -0.7 2025-10-27T05:01:43.527Z,1761541303.527 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T05:01:43.528Z,1761541303.528 [DAT](INFO): direction in FSK: [-0.968943,0.246981,0.012217] 2025-10-27T05:01:43.528Z,1761541303.528 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:43.532Z,1761541303.532 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.193224 2025-10-27T05:01:43.771Z,1761541303.771 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.432150 2025-10-27T05:01:43.790Z,1761541303.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.505445 s, deltaX: 0.200001 m, approachRate: 0.395692 m/s, rangeRepo size: 4 2025-10-27T05:01:43.792Z,1761541303.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.094503 m, bearing: 37.355221 deg, lat: 36.779317 deg, lon: -121.859600 deg, deltaT: 0.505445 s, deltaX: 0.199007 m, approachRate: 0.393726 m/s, posRepo size: 4 2025-10-27T05:01:43.792Z,1761541303.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T05:01:44.025Z,1761541304.025 [DAT](INFO): DAT read: Rx Time:05:01:42.6839 2025-10-27T05:01:44.025Z,1761541304.025 [DAT](INFO): Rx dataTimestamp_ set to:1761541304.024828 2025-10-27T05:01:44.026Z,1761541304.026 [DAT](INFO): DAT read: Bearing 192.9, 13.4 (Local) 2025-10-27T05:01:44.027Z,1761541304.027 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 13.4 (Local) 2025-10-27T05:01:44.029Z,1761541304.029 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.0 2025-10-27T05:01:44.034Z,1761541304.034 [DAT](INFO): DAT read: 05:01:42.6839 LVL= 24288, 23953, 32754, 32755, AGC= 64, IDX= 497, 0.43, 3.115,-1.566, 2.680,-2.624, PHS=-0.442, 1.103,-1.023, RAW= 345.3, 3.8, CAL= 344.9, 1.4, ROT= 165.1, -1.4 2025-10-27T05:01:44.043Z,1761541304.043 [DAT](INFO): got valid direction response: 05:01:42.6839 LVL= 24288, 23953, 32754, 32755, AGC= 64, IDX= 497, 0.43, 3.115,-1.566, 2.680,-2.624, PHS=-0.442, 1.103,-1.023, RAW= 345.3, 3.8, CAL= 344.9, 1.4, ROT= 165.1, -1.4 2025-10-27T05:01:44.044Z,1761541304.044 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:01:44.045Z,1761541304.045 [DAT](INFO): direction in FSK: [-0.966088,0.257056,0.024432] 2025-10-27T05:01:44.045Z,1761541304.045 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:44.050Z,1761541304.050 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.711241 2025-10-27T05:01:44.184Z,1761541304.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621072,0.781668,0.057139],[-0.783434,-0.621248,-0.016786],[0.022377,-0.055190,0.998225]] 2025-10-27T05:01:44.266Z,1761541304.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.514623 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:44.272Z,1761541304.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.094498 m, bearing: 36.641005 deg, lat: 36.779317 deg, lon: -121.859595 deg, deltaT: 0.514623 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T05:01:44.273Z,1761541304.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T05:01:44.276Z,1761541304.276 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.937038 2025-10-27T05:01:44.529Z,1761541304.529 [DAT](INFO): DAT read: Rx Time:05:01:43.1840 2025-10-27T05:01:44.529Z,1761541304.529 [DAT](INFO): Rx dataTimestamp_ set to:1761541304.528746 2025-10-27T05:01:44.530Z,1761541304.530 [DAT](INFO): DAT read: Bearing 193.5, 13.2 (Local) 2025-10-27T05:01:44.531Z,1761541304.531 [DAT](INFO): Local bearing/azimuth received: Bearing 193.5, 13.2 (Local) 2025-10-27T05:01:44.533Z,1761541304.533 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 2025-10-27T05:01:44.537Z,1761541304.537 [DAT](INFO): DAT read: 05:01:43.1840 LVL= 23888, 22353, 32754, 32755, AGC= 63, IDX= 499, 0.02,-2.730,-1.111, 3.124,-2.189, PHS=-0.439, 1.123,-1.014, RAW= 345.1, 3.5, CAL= 344.6, 0.9, ROT= 165.4, -0.9 2025-10-27T05:01:44.539Z,1761541304.539 [DAT](INFO): got valid direction response: 05:01:43.1840 LVL= 23888, 22353, 32754, 32755, AGC= 63, IDX= 499, 0.02,-2.730,-1.111, 3.124,-2.189, PHS=-0.439, 1.123,-1.014, RAW= 345.1, 3.5, CAL= 344.6, 0.9, ROT= 165.4, -0.9 2025-10-27T05:01:44.539Z,1761541304.539 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T05:01:44.540Z,1761541304.540 [DAT](INFO): direction in FSK: [-0.967590,0.252038,0.015707] 2025-10-27T05:01:44.540Z,1761541304.540 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:44.548Z,1761541304.548 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.208963 2025-10-27T05:01:44.559Z,1761541304.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621986,0.780931,0.057269],[-0.782692,-0.622198,-0.016242],[0.022949,-0.054926,0.998227]] 2025-10-27T05:01:44.622Z,1761541304.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503918 s, deltaX: 0.099998 m, approachRate: 0.198442 m/s, rangeRepo size: 4 2025-10-27T05:01:44.628Z,1761541304.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.193998 m, bearing: 36.896847 deg, lat: 36.779317 deg, lon: -121.859595 deg, deltaT: 0.503918 s, deltaX: 0.099501 m, approachRate: 0.197454 m/s, posRepo size: 4 2025-10-27T05:01:44.629Z,1761541304.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T05:01:44.780Z,1761541304.780 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.441034 2025-10-27T05:01:44.963Z,1761541304.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623034,0.780096,0.057267],[-0.781844,-0.623275,-0.015740],[0.023414,-0.054581,0.998235]] 2025-10-27T05:01:44.982Z,1761541304.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T05:01:45.033Z,1761541305.033 [DAT](INFO): DAT read: Rx Time:05:01:43.6840 2025-10-27T05:01:45.034Z,1761541305.034 [DAT](INFO): Rx dataTimestamp_ set to:1761541305.033170 2025-10-27T05:01:45.035Z,1761541305.035 [DAT](INFO): DAT read: Bearing 192.9, 12.6 (Local) 2025-10-27T05:01:45.036Z,1761541305.036 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 12.6 (Local) 2025-10-27T05:01:45.039Z,1761541305.039 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.1 2025-10-27T05:01:45.044Z,1761541305.044 [DAT](INFO): DAT read: 05:01:43.6840 LVL= 25136, 27889, 32754, 32755, AGC= 64, IDX= 499,-0.43, 1.864,-2.785, 1.457, 2.431, PHS=-0.465, 1.113,-1.017, RAW= 344.5, 3.9, CAL= 344.1, 1.5, ROT= 165.9, -1.5 2025-10-27T05:01:45.045Z,1761541305.045 [DAT](INFO): got valid direction response: 05:01:43.6840 LVL= 25136, 27889, 32754, 32755, AGC= 64, IDX= 499,-0.43, 1.864,-2.785, 1.457, 2.431, PHS=-0.465, 1.113,-1.017, RAW= 344.5, 3.9, CAL= 344.1, 1.5, ROT= 165.9, -1.5 2025-10-27T05:01:45.045Z,1761541305.045 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T05:01:45.046Z,1761541305.046 [DAT](INFO): direction in FSK: [-0.969540,0.243532,0.026177] 2025-10-27T05:01:45.047Z,1761541305.047 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:45.050Z,1761541305.050 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.711262 2025-10-27T05:01:45.284Z,1761541305.284 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.944956 2025-10-27T05:01:45.378Z,1761541305.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623967,0.779313,0.057759],[-0.781080,-0.624242,-0.015370],[0.024077,-0.054705,0.998212]] 2025-10-27T05:01:45.450Z,1761541305.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504424 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:45.452Z,1761541305.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.193991 m, bearing: 37.221362 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.504424 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 2025-10-27T05:01:45.452Z,1761541305.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T05:01:45.538Z,1761541305.538 [DAT](INFO): DAT read: Rx Time:05:01:44.1842 2025-10-27T05:01:45.538Z,1761541305.538 [DAT](INFO): Rx dataTimestamp_ set to:1761541305.537814 2025-10-27T05:01:45.541Z,1761541305.541 [DAT](INFO): DAT read: Bearing 192.4, 12.8 (Local) 2025-10-27T05:01:45.541Z,1761541305.541 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 12.8 (Local) 2025-10-27T05:01:45.544Z,1761541305.544 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.0 2025-10-27T05:01:45.549Z,1761541305.549 [DAT](INFO): DAT read: 05:01:44.1842 LVL= 27824, 27729, 32754, 32755, AGC= 64, IDX= 500, 0.10,-1.474, 0.136,-1.888,-0.910, PHS=-0.461, 1.091,-1.021, RAW= 344.8, 4.2, CAL= 344.4, 2.0, ROT= 165.6, -2.0 2025-10-27T05:01:45.550Z,1761541305.550 [DAT](INFO): got valid direction response: 05:01:44.1842 LVL= 27824, 27729, 32754, 32755, AGC= 64, IDX= 500, 0.10,-1.474, 0.136,-1.888,-0.910, PHS=-0.461, 1.091,-1.021, RAW= 344.8, 4.2, CAL= 344.4, 2.0, ROT= 165.6, -2.0 2025-10-27T05:01:45.551Z,1761541305.551 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:01:45.552Z,1761541305.552 [DAT](INFO): direction in FSK: [-0.967993,0.248538,0.034899] 2025-10-27T05:01:45.552Z,1761541305.552 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:45.556Z,1761541305.556 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.217091 2025-10-27T05:01:45.770Z,1761541305.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624883,0.778546,0.058205],[-0.780331,-0.625183,-0.015155],[0.024590,-0.054889,0.998190]] 2025-10-27T05:01:45.788Z,1761541305.788 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.448992 2025-10-27T05:01:45.807Z,1761541305.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504644 s, deltaX: 0.300001 m, approachRate: 0.594481 m/s, rangeRepo size: 4 2025-10-27T05:01:45.814Z,1761541305.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.492500 m, bearing: 36.830264 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.504644 s, deltaX: 0.298510 m, approachRate: 0.591525 m/s, posRepo size: 4 2025-10-27T05:01:45.816Z,1761541305.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.49 m. 2025-10-27T05:01:46.041Z,1761541306.041 [DAT](INFO): DAT read: Rx Time:05:01:44.6841 2025-10-27T05:01:46.041Z,1761541306.041 [DAT](INFO): Rx dataTimestamp_ set to:1761541306.040710 2025-10-27T05:01:46.042Z,1761541306.042 [DAT](INFO): DAT read: Bearing 192.4, 11.9 (Local) 2025-10-27T05:01:46.043Z,1761541306.043 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 11.9 (Local) 2025-10-27T05:01:46.045Z,1761541306.045 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.1 2025-10-27T05:01:46.049Z,1761541306.049 [DAT](INFO): DAT read: 05:01:44.6841 LVL= 27888, 27057, 32754, 32755, AGC= 64, IDX= 500,-0.24, 2.011,-2.642, 1.630, 2.593, PHS=-0.480, 1.093,-1.006, RAW= 344.0, 4.2, CAL= 343.6, 2.0, ROT= 166.4, -2.0 2025-10-27T05:01:46.050Z,1761541306.050 [DAT](INFO): got valid direction response: 05:01:44.6841 LVL= 27888, 27057, 32754, 32755, AGC= 64, IDX= 500,-0.24, 2.011,-2.642, 1.630, 2.593, PHS=-0.480, 1.093,-1.006, RAW= 344.0, 4.2, CAL= 343.6, 2.0, ROT= 166.4, -2.0 2025-10-27T05:01:46.051Z,1761541306.051 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T05:01:46.052Z,1761541306.052 [DAT](INFO): direction in FSK: [-0.971369,0.234999,0.034899] 2025-10-27T05:01:46.052Z,1761541306.052 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:46.056Z,1761541306.056 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.717001 2025-10-27T05:01:46.210Z,1761541306.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625454,0.778062,0.058547],[-0.779867,-0.625760,-0.015229],[0.024787,-0.055184,0.998168]] 2025-10-27T05:01:46.292Z,1761541306.292 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.952950 2025-10-27T05:01:46.297Z,1761541306.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.502896 s, deltaX: -0.100000 m, approachRate: -0.198849 m/s, rangeRepo size: 4 2025-10-27T05:01:46.303Z,1761541306.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.393028 m, bearing: 37.586320 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.502896 s, deltaX: -0.099472 m, approachRate: -0.197798 m/s, posRepo size: 4 2025-10-27T05:01:46.304Z,1761541306.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.39 m. 2025-10-27T05:01:46.545Z,1761541306.545 [DAT](INFO): DAT read: Rx Time:05:01:45.1842 2025-10-27T05:01:46.545Z,1761541306.545 [DAT](INFO): Rx dataTimestamp_ set to:1761541306.544792 2025-10-27T05:01:46.546Z,1761541306.546 [DAT](INFO): DAT read: Bearing 192.2, 13.0 (Local) 2025-10-27T05:01:46.547Z,1761541306.547 [DAT](INFO): Local bearing/azimuth received: Bearing 192.2, 13.0 (Local) 2025-10-27T05:01:46.550Z,1761541306.550 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.0 2025-10-27T05:01:46.556Z,1761541306.556 [DAT](INFO): DAT read: 05:01:45.1842 LVL= 26608, 26289, 32754, 32755, AGC= 64, IDX= 500, 0.24,-1.664,-0.060,-2.083,-1.102, PHS=-0.461, 1.086,-1.025, RAW= 345.0, 4.3, CAL= 344.6, 2.1, ROT= 165.4, -2.1 2025-10-27T05:01:46.557Z,1761541306.557 [DAT](INFO): got valid direction response: 05:01:45.1842 LVL= 26608, 26289, 32754, 32755, AGC= 64, IDX= 500, 0.24,-1.664,-0.060,-2.083,-1.102, PHS=-0.461, 1.086,-1.025, RAW= 345.0, 4.3, CAL= 344.6, 2.1, ROT= 165.4, -2.1 2025-10-27T05:01:46.557Z,1761541306.557 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:01:46.558Z,1761541306.558 [DAT](INFO): direction in FSK: [-0.967059,0.251900,0.036644] 2025-10-27T05:01:46.559Z,1761541306.559 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:46.562Z,1761541306.562 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.223175 2025-10-27T05:01:46.653Z,1761541306.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625968,0.777623,0.058882],[-0.779448,-0.626282,-0.015253],[0.025016,-0.055443,0.998148]] 2025-10-27T05:01:46.701Z,1761541306.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504082 s, deltaX: 0.100000 m, approachRate: 0.198381 m/s, rangeRepo size: 4 2025-10-27T05:01:46.708Z,1761541306.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.492531 m, bearing: 36.544955 deg, lat: 36.779317 deg, lon: -121.859594 deg, deltaT: 0.504082 s, deltaX: 0.099503 m, approachRate: 0.197394 m/s, posRepo size: 4 2025-10-27T05:01:46.709Z,1761541306.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.49 m. 2025-10-27T05:01:46.796Z,1761541306.796 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.457190 2025-10-27T05:01:47.042Z,1761541307.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.49 m. 2025-10-27T05:01:47.049Z,1761541307.049 [DAT](INFO): DAT read: Rx Time:05:01:45.6841 2025-10-27T05:01:47.049Z,1761541307.049 [DAT](INFO): Rx dataTimestamp_ set to:1761541307.048748 2025-10-27T05:01:47.050Z,1761541307.050 [DAT](INFO): DAT read: Bearing 193.2, 12.4 (Local) 2025-10-27T05:01:47.051Z,1761541307.051 [DAT](INFO): Local bearing/azimuth received: Bearing 193.2, 12.4 (Local) 2025-10-27T05:01:47.053Z,1761541307.053 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.0 2025-10-27T05:01:47.057Z,1761541307.057 [DAT](INFO): DAT read: 05:01:45.6841 LVL= 23728, 24689, 32754, 32755, AGC= 65, IDX= 500,-0.05, 1.124, 2.767, 0.723, 1.688, PHS=-0.461, 1.125,-1.008, RAW= 344.3, 3.6, CAL= 343.9, 1.1, ROT= 166.1, -1.1 2025-10-27T05:01:47.058Z,1761541307.058 [DAT](INFO): got valid direction response: 05:01:45.6841 LVL= 23728, 24689, 32754, 32755, AGC= 65, IDX= 500,-0.05, 1.124, 2.767, 0.723, 1.688, PHS=-0.461, 1.125,-1.008, RAW= 344.3, 3.6, CAL= 343.9, 1.1, ROT= 166.1, -1.1 2025-10-27T05:01:47.059Z,1761541307.059 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:01:47.060Z,1761541307.060 [DAT](INFO): direction in FSK: [-0.970538,0.240184,0.019197] 2025-10-27T05:01:47.060Z,1761541307.060 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:47.072Z,1761541307.072 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.732872 2025-10-27T05:01:47.300Z,1761541307.300 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.961010 2025-10-27T05:01:47.416Z,1761541307.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626847,0.776913,0.058906],[-0.778740,-0.627161,-0.015300],[0.025056,-0.055463,0.998146]] 2025-10-27T05:01:47.471Z,1761541307.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503956 s, deltaX: -0.100000 m, approachRate: -0.198431 m/s, rangeRepo size: 4 2025-10-27T05:01:47.473Z,1761541307.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.393009 m, bearing: 37.226835 deg, lat: 36.779316 deg, lon: -121.859593 deg, deltaT: 0.503956 s, deltaX: -0.099522 m, approachRate: -0.197481 m/s, posRepo size: 4 2025-10-27T05:01:47.474Z,1761541307.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.39 m. 2025-10-27T05:01:47.553Z,1761541307.553 [DAT](INFO): DAT read: Rx Time:05:01:46.1843 2025-10-27T05:01:47.553Z,1761541307.553 [DAT](INFO): Rx dataTimestamp_ set to:1761541307.552938 2025-10-27T05:01:47.555Z,1761541307.555 [DAT](INFO): DAT read: Bearing 192.4, 12.2 (Local) 2025-10-27T05:01:47.555Z,1761541307.555 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 12.2 (Local) 2025-10-27T05:01:47.557Z,1761541307.557 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.1 2025-10-27T05:01:47.565Z,1761541307.565 [DAT](INFO): DAT read: 05:01:46.1843 LVL= 25552, 25105, 32754, 32755, AGC= 64, IDX= 502,-0.49, 2.797,-1.852, 2.408,-2.908, PHS=-0.475, 1.102,-1.011, RAW= 344.1, 4.1, CAL= 343.7, 1.8, ROT= 166.3, -1.8 2025-10-27T05:01:47.566Z,1761541307.566 [DAT](INFO): got valid direction response: 05:01:46.1843 LVL= 25552, 25105, 32754, 32755, AGC= 64, IDX= 502,-0.49, 2.797,-1.852, 2.408,-2.908, PHS=-0.475, 1.102,-1.011, RAW= 344.1, 4.1, CAL= 343.7, 1.8, ROT= 166.3, -1.8 2025-10-27T05:01:47.591Z,1761541307.591 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:01:47.592Z,1761541307.592 [DAT](INFO): direction in FSK: [-0.971070,0.236721,0.031411] 2025-10-27T05:01:47.592Z,1761541307.592 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:47.600Z,1761541307.600 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.261002 2025-10-27T05:01:47.804Z,1761541307.804 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.464888 2025-10-27T05:01:47.895Z,1761541307.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504190 s, deltaX: 0.299999 m, approachRate: 0.595012 m/s, rangeRepo size: 4 2025-10-27T05:01:47.898Z,1761541307.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.691515 m, bearing: 37.393019 deg, lat: 36.779317 deg, lon: -121.859593 deg, deltaT: 0.504190 s, deltaX: 0.298506 m, approachRate: 0.592050 m/s, posRepo size: 4 2025-10-27T05:01:47.900Z,1761541307.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:01:48.057Z,1761541308.057 [DAT](INFO): DAT read: Rx Time:05:01:46.6843 2025-10-27T05:01:48.057Z,1761541308.057 [DAT](INFO): Rx dataTimestamp_ set to:1761541308.056944 2025-10-27T05:01:48.058Z,1761541308.059 [DAT](INFO): DAT read: Bearing 192.4, 12.8 (Local) 2025-10-27T05:01:48.059Z,1761541308.059 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 12.8 (Local) 2025-10-27T05:01:48.061Z,1761541308.061 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 2025-10-27T05:01:48.066Z,1761541308.066 [DAT](INFO): DAT read: 05:01:46.6843 LVL= 24928, 24945, 32754, 32755, AGC= 64, IDX= 501, 0.15, 2.105,-2.563, 1.694, 2.669, PHS=-0.462, 1.096,-1.019, RAW= 344.7, 4.1, CAL= 344.3, 1.8, ROT= 165.7, -1.8 2025-10-27T05:01:48.067Z,1761541308.067 [DAT](INFO): got valid direction response: 05:01:46.6843 LVL= 24928, 24945, 32754, 32755, AGC= 64, IDX= 501, 0.15, 2.105,-2.563, 1.694, 2.669, PHS=-0.462, 1.096,-1.019, RAW= 344.7, 4.1, CAL= 344.3, 1.8, ROT= 165.7, -1.8 2025-10-27T05:01:48.067Z,1761541308.067 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:01:48.068Z,1761541308.068 [DAT](INFO): direction in FSK: [-0.968538,0.246877,0.031411] 2025-10-27T05:01:48.069Z,1761541308.069 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:48.072Z,1761541308.072 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.733255 2025-10-27T05:01:48.246Z,1761541308.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626592,0.777114,0.058960],[-0.778956,-0.626880,-0.015778],[0.024699,-0.055814,0.998136]] 2025-10-27T05:01:48.309Z,1761541308.309 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.969809 2025-10-27T05:01:48.334Z,1761541308.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:48.365Z,1761541308.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.691504 m, bearing: 36.812767 deg, lat: 36.779317 deg, lon: -121.859593 deg, deltaT: 0.504006 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 2025-10-27T05:01:48.366Z,1761541308.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:01:48.561Z,1761541308.561 [DAT](INFO): DAT read: Rx Time:05:01:47.1844 2025-10-27T05:01:48.561Z,1761541308.561 [DAT](INFO): Rx dataTimestamp_ set to:1761541308.560710 2025-10-27T05:01:48.562Z,1761541308.562 [DAT](INFO): DAT read: Bearing 193.1, 12.2 (Local) 2025-10-27T05:01:48.563Z,1761541308.563 [DAT](INFO): Local bearing/azimuth received: Bearing 193.1, 12.2 (Local) 2025-10-27T05:01:48.565Z,1761541308.565 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.2 2025-10-27T05:01:48.570Z,1761541308.570 [DAT](INFO): DAT read: 05:01:47.1844 LVL= 23344, 22769, 32754, 32755, AGC= 64, IDX= 503,-0.09, 0.899, 2.554, 0.503, 1.469, PHS=-0.468, 1.130,-1.010, RAW= 344.1, 3.7, CAL= 343.7, 1.2, ROT= 166.3, -1.2 2025-10-27T05:01:48.579Z,1761541308.579 [DAT](INFO): got valid direction response: 05:01:47.1844 LVL= 23344, 22769, 32754, 32755, AGC= 64, IDX= 503,-0.09, 0.899, 2.554, 0.503, 1.469, PHS=-0.468, 1.130,-1.010, RAW= 344.1, 3.7, CAL= 343.7, 1.2, ROT= 166.3, -1.2 2025-10-27T05:01:48.580Z,1761541308.580 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:01:48.581Z,1761541308.581 [DAT](INFO): direction in FSK: [-0.971336,0.236786,0.020942] 2025-10-27T05:01:48.581Z,1761541308.581 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:48.593Z,1761541308.593 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.253658 2025-10-27T05:01:48.652Z,1761541308.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626274,0.777394,0.058647],[-0.779228,-0.626532,-0.016156],[0.024185,-0.055817,0.998148]] 2025-10-27T05:01:48.717Z,1761541308.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503766 s, deltaX: 0.100000 m, approachRate: 0.198506 m/s, rangeRepo size: 4 2025-10-27T05:01:48.724Z,1761541308.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791006 m, bearing: 37.464944 deg, lat: 36.779317 deg, lon: -121.859593 deg, deltaT: 0.503766 s, deltaX: 0.099503 m, approachRate: 0.197517 m/s, posRepo size: 4 2025-10-27T05:01:48.724Z,1761541308.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:48.815Z,1761541308.815 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.475382 2025-10-27T05:01:49.065Z,1761541309.065 [DAT](INFO): DAT read: Rx Time:05:01:47.6844 2025-10-27T05:01:49.065Z,1761541309.065 [DAT](INFO): Rx dataTimestamp_ set to:1761541309.064843 2025-10-27T05:01:49.066Z,1761541309.066 [DAT](INFO): DAT read: Bearing 193.2, 12.8 (Local) 2025-10-27T05:01:49.067Z,1761541309.067 [DAT](INFO): Local bearing/azimuth received: Bearing 193.2, 12.8 (Local) 2025-10-27T05:01:49.069Z,1761541309.069 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.1 2025-10-27T05:01:49.074Z,1761541309.074 [DAT](INFO): DAT read: 05:01:47.6844 LVL= 23152, 21809, 32754, 32755, AGC= 64, IDX= 502, 0.44, 0.530, 2.168, 0.112, 1.085, PHS=-0.453, 1.128,-1.017, RAW= 344.7, 3.6, CAL= 344.3, 1.0, ROT= 165.7, -1.0 2025-10-27T05:01:49.075Z,1761541309.075 [DAT](INFO): got valid direction response: 05:01:47.6844 LVL= 23152, 21809, 32754, 32755, AGC= 64, IDX= 502, 0.44, 0.530, 2.168, 0.112, 1.085, PHS=-0.453, 1.128,-1.017, RAW= 344.7, 3.6, CAL= 344.3, 1.0, ROT= 165.7, -1.0 2025-10-27T05:01:49.075Z,1761541309.075 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:01:49.076Z,1761541309.076 [DAT](INFO): direction in FSK: [-0.968868,0.246962,0.017452] 2025-10-27T05:01:49.076Z,1761541309.076 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:49.096Z,1761541309.096 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.757128 2025-10-27T05:01:49.105Z,1761541309.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:49.120Z,1761541309.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791006 m, bearing: 36.875320 deg, lat: 36.779317 deg, lon: -121.859592 deg, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:49.120Z,1761541309.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:49.319Z,1761541309.319 [DAT](INFO): DAT read: Rx Time:05:01:48.1844 2025-10-27T05:01:49.321Z,1761541309.321 [DAT](INFO): Rx dataTimestamp_ set to:1761541309.319824 2025-10-27T05:01:49.323Z,1761541309.323 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.983122 2025-10-27T05:01:49.433Z,1761541309.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625020,0.778442,0.058119],[-0.780260,-0.625233,-0.016693],[0.023344,-0.055781,0.998170]] 2025-10-27T05:01:49.501Z,1761541309.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:49.570Z,1761541309.570 [DAT](INFO): DAT read: Bearing 193.0, 12.4 (Local) 2025-10-27T05:01:49.571Z,1761541309.571 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 12.4 (Local) 2025-10-27T05:01:49.574Z,1761541309.574 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.0 2025-10-27T05:01:49.578Z,1761541309.578 [DAT](INFO): DAT read: 05:01:48.1844 LVL= 24480, 26337, 32754, 32755, AGC= 64, IDX= 504,-0.03, 1.529,-3.118, 1.125, 2.093, PHS=-0.462, 1.118,-1.012, RAW= 344.4, 3.8, CAL= 344.0, 1.3, ROT= 166.0, -1.3 2025-10-27T05:01:49.580Z,1761541309.580 [DAT](INFO): got valid direction response: 05:01:48.1844 LVL= 24480, 26337, 32754, 32755, AGC= 64, IDX= 504,-0.03, 1.529,-3.118, 1.125, 2.093, PHS=-0.462, 1.118,-1.012, RAW= 344.4, 3.8, CAL= 344.0, 1.3, ROT= 166.0, -1.3 2025-10-27T05:01:49.580Z,1761541309.580 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:01:49.581Z,1761541309.581 [DAT](INFO): direction in FSK: [-0.970046,0.241860,0.022687] 2025-10-27T05:01:49.581Z,1761541309.581 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:49.585Z,1761541309.585 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.246111 2025-10-27T05:01:49.831Z,1761541309.831 [DAT](INFO): DAT read: Rx Time:05:01:48.6844 2025-10-27T05:01:49.833Z,1761541309.833 [DAT](INFO): Rx dataTimestamp_ set to:1761541309.831752 2025-10-27T05:01:49.835Z,1761541309.835 [DAT](INFO): DAT read: Bearing 193.3, 13.2 (Local) 2025-10-27T05:01:49.836Z,1761541309.836 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 13.2 (Local) 2025-10-27T05:01:49.838Z,1761541309.838 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.498762 2025-10-27T05:01:49.906Z,1761541309.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624258,0.779085,0.057700],[-0.780881,-0.624454,-0.016789],[0.022950,-0.055537,0.998193]] 2025-10-27T05:01:49.953Z,1761541309.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503546 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:49.959Z,1761541309.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791021 m, bearing: 37.310287 deg, lat: 36.779317 deg, lon: -121.859591 deg, deltaT: 0.503546 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 2025-10-27T05:01:49.960Z,1761541309.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:50.074Z,1761541310.074 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.0 2025-10-27T05:01:50.078Z,1761541310.078 [DAT](INFO): DAT read: 05:01:48.6844 LVL= 23072, 21121, 32754, 32755, AGC= 64, IDX= 503, 0.36, 2.494,-2.169, 2.060, 3.036, PHS=-0.440, 1.123,-1.020, RAW= 345.2, 3.6, CAL= 344.7, 1.0, ROT= 165.3, -1.0 2025-10-27T05:01:50.080Z,1761541310.080 [DAT](INFO): got valid direction response: 05:01:48.6844 LVL= 23072, 21121, 32754, 32755, AGC= 64, IDX= 503, 0.36, 2.494,-2.169, 2.060, 3.036, PHS=-0.440, 1.123,-1.020, RAW= 345.2, 3.6, CAL= 344.7, 1.0, ROT= 165.3, -1.0 2025-10-27T05:01:50.080Z,1761541310.080 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:01:50.081Z,1761541310.081 [DAT](INFO): direction in FSK: [-0.967120,0.253719,0.017452] 2025-10-27T05:01:50.081Z,1761541310.081 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:50.085Z,1761541310.085 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.746231 2025-10-27T05:01:50.128Z,1761541310.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:01:50.282Z,1761541310.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623379,0.779824,0.057218],[-0.781597,-0.623554,-0.016926],[0.022479,-0.055273,0.998218]] 2025-10-27T05:01:50.315Z,1761541310.315 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-27T05:01:50.316Z,1761541310.316 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-27T05:01:50.316Z,1761541310.316 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-27T05:01:50.327Z,1761541310.327 [DAT](INFO): DAT read: Rx Time:05:01:49.1844 2025-10-27T05:01:50.328Z,1761541310.328 [DAT](INFO): Rx dataTimestamp_ set to:1761541310.327374 2025-10-27T05:01:50.330Z,1761541310.330 [DAT](INFO): DAT read: Bearing 193.5, 12.7 (Local) 2025-10-27T05:01:50.334Z,1761541310.334 [DAT](INFO): Local bearing/azimuth received: Bearing 193.5, 12.7 (Local) 2025-10-27T05:01:50.340Z,1761541310.340 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.000467 2025-10-27T05:01:50.424Z,1761541310.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503113 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:50.426Z,1761541310.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791080 m, bearing: 36.690761 deg, lat: 36.779316 deg, lon: -121.859591 deg, deltaT: 0.503113 s, deltaX: 0.000059 m, approachRate: 0.000118 m/s, posRepo size: 4 2025-10-27T05:01:50.426Z,1761541310.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:50.578Z,1761541310.578 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.0 2025-10-27T05:01:50.582Z,1761541310.582 [DAT](INFO): DAT read: 05:01:49.1844 LVL= 22288, 20913, 32754, 32755, AGC= 64, IDX= 504,-0.07, 0.849, 2.501, 0.428, 1.406, PHS=-0.454, 1.140,-1.022, RAW= 344.7, 3.5, CAL= 344.2, 0.9, ROT= 165.8, -0.9 2025-10-27T05:01:50.584Z,1761541310.584 [DAT](INFO): got valid direction response: 05:01:49.1844 LVL= 22288, 20913, 32754, 32755, AGC= 64, IDX= 504,-0.07, 0.849, 2.501, 0.428, 1.406, PHS=-0.454, 1.140,-1.022, RAW= 344.7, 3.5, CAL= 344.2, 0.9, ROT= 165.8, -0.9 2025-10-27T05:01:50.584Z,1761541310.584 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:01:50.585Z,1761541310.585 [DAT](INFO): direction in FSK: [-0.969326,0.245277,0.015707] 2025-10-27T05:01:50.585Z,1761541310.585 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:50.589Z,1761541310.589 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.250086 2025-10-27T05:01:50.647Z,1761541310.647 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-27T05:01:50.672Z,1761541310.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622243,0.780756,0.056869],[-0.782517,-0.622392,-0.017218],[0.021952,-0.055214,0.998233]] 2025-10-27T05:01:50.681Z,1761541310.681 [RDI_Pathfinder](INFO): Powering down 2025-10-27T05:01:50.743Z,1761541310.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:50.745Z,1761541310.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791080 m, bearing: 37.278918 deg, lat: 36.779316 deg, lon: -121.859590 deg, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:50.746Z,1761541310.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:50.832Z,1761541310.832 [DAT](INFO): DAT read: Rx Time:05:01:49.6844 2025-10-27T05:01:50.833Z,1761541310.833 [DAT](INFO): Rx dataTimestamp_ set to:1761541310.832628 2025-10-27T05:01:50.837Z,1761541310.837 [DAT](INFO): DAT read: Bearing 192.9, 13.2 (Local) 2025-10-27T05:01:50.838Z,1761541310.838 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 13.2 (Local) 2025-10-27T05:01:50.849Z,1761541310.849 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.0 2025-10-27T05:01:50.852Z,1761541310.852 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-27T05:01:50.858Z,1761541310.858 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.515274 2025-10-27T05:01:51.066Z,1761541311.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621139,0.781648,0.056678],[-0.783404,-0.621267,-0.017473],[0.021554,-0.055255,0.998240]] 2025-10-27T05:01:51.084Z,1761541311.084 [DAT](INFO): DAT read: 05:01:49.6844 LVL= 25456, 25793, 32754, 32755, AGC= 64, IDX= 503, 0.32, 0.504, 2.124, 0.068, 1.055, PHS=-0.449, 1.115,-1.031, RAW= 345.2, 3.8, CAL= 344.8, 1.4, ROT= 165.2, -1.4 2025-10-27T05:01:51.085Z,1761541311.085 [DAT](INFO): got valid direction response: 05:01:49.6844 LVL= 25456, 25793, 32754, 32755, AGC= 64, IDX= 503, 0.32, 0.504, 2.124, 0.068, 1.055, PHS=-0.449, 1.115,-1.031, RAW= 345.2, 3.8, CAL= 344.8, 1.4, ROT= 165.2, -1.4 2025-10-27T05:01:51.085Z,1761541311.085 [DAT](INFO): #Rx 51: Read direction message, but no range. 2025-10-27T05:01:51.086Z,1761541311.086 [DAT](INFO): direction in FSK: [-0.966535,0.255370,0.024432] 2025-10-27T05:01:51.090Z,1761541311.090 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.750700 2025-10-27T05:01:51.131Z,1761541311.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:01:51.146Z,1761541311.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.257188 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:51.156Z,1761541311.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791080 m, bearing: 36.736851 deg, lat: 36.779315 deg, lon: -121.859591 deg, deltaT: 0.257188 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:51.157Z,1761541311.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:51.335Z,1761541311.335 [DAT](INFO): DAT read: Rx Time:05:01:50.1845 2025-10-27T05:01:51.337Z,1761541311.337 [DAT](INFO): Rx dataTimestamp_ set to:1761541311.336008 2025-10-27T05:01:51.340Z,1761541311.340 [DAT](INFO): DAT read: Bearing 193.7, 13.2 (Local) 2025-10-27T05:01:51.341Z,1761541311.341 [DAT](INFO): Local bearing/azimuth received: Bearing 193.7, 13.2 (Local) 2025-10-27T05:01:51.342Z,1761541311.342 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.003054 2025-10-27T05:01:51.469Z,1761541311.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620153,0.782443,0.056508],[-0.784193,-0.620267,-0.017621],[0.021262,-0.055241,0.998247]] 2025-10-27T05:01:51.498Z,1761541311.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:51.587Z,1761541311.587 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.0 2025-10-27T05:01:51.592Z,1761541311.592 [DAT](INFO): DAT read: 05:01:50.1845 LVL= 23600, 20513, 32754, 32755, AGC= 64, IDX= 505,-0.14, 0.093, 1.725,-0.345, 0.634, PHS=-0.438, 1.137,-1.022, RAW= 345.2, 3.4, CAL= 344.7, 0.7, ROT= 165.3, -0.7 2025-10-27T05:01:51.593Z,1761541311.593 [DAT](INFO): got valid direction response: 05:01:50.1845 LVL= 23600, 20513, 32754, 32755, AGC= 64, IDX= 505,-0.14, 0.093, 1.725,-0.345, 0.634, PHS=-0.438, 1.137,-1.022, RAW= 345.2, 3.4, CAL= 344.7, 0.7, ROT= 165.3, -0.7 2025-10-27T05:01:51.593Z,1761541311.593 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:01:51.594Z,1761541311.594 [DAT](INFO): direction in FSK: [-0.967196,0.253739,0.012217] 2025-10-27T05:01:51.595Z,1761541311.595 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:51.598Z,1761541311.598 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.259268 2025-10-27T05:01:51.714Z,1761541311.714 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-27T05:01:51.715Z,1761541311.715 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-27T05:01:51.839Z,1761541311.839 [DAT](INFO): DAT read: Rx Time:05:01:50.6844 2025-10-27T05:01:51.841Z,1761541311.841 [DAT](INFO): Rx dataTimestamp_ set to:1761541311.840006 2025-10-27T05:01:51.844Z,1761541311.844 [DAT](INFO): DAT read: Bearing 192.9, 13.6 (Local) 2025-10-27T05:01:51.845Z,1761541311.845 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 13.6 (Local) 2025-10-27T05:01:51.872Z,1761541311.872 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.0 2025-10-27T05:01:51.879Z,1761541311.879 [DAT](INFO): DAT read: 05:01:50.6844 LVL= 23216, 24369, 32754, 32755, AGC= 63, IDX= 504, 0.09, 1.099, 2.709, 0.651, 1.644, PHS=-0.442, 1.111,-1.036, RAW= 345.5, 3.9, CAL= 345.1, 1.5, ROT= 164.9, -1.5 2025-10-27T05:01:51.909Z,1761541311.909 [DAT](INFO): got valid direction response: 05:01:50.6844 LVL= 23216, 24369, 32754, 32755, AGC= 63, IDX= 504, 0.09, 1.099, 2.709, 0.651, 1.644, PHS=-0.442, 1.111,-1.036, RAW= 345.5, 3.9, CAL= 345.1, 1.5, ROT= 164.9, -1.5 2025-10-27T05:01:51.909Z,1761541311.909 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:01:51.910Z,1761541311.910 [DAT](INFO): direction in FSK: [-0.965142,0.260415,0.026177] 2025-10-27T05:01:51.911Z,1761541311.911 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:51.922Z,1761541311.922 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.583286 2025-10-27T05:01:51.925Z,1761541311.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618982,0.783381,0.056360],[-0.785128,-0.619076,-0.017875],[0.020888,-0.055314,0.998251]] 2025-10-27T05:01:51.937Z,1761541311.937 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-27T05:01:51.978Z,1761541311.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 1.007378 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:51.985Z,1761541311.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.791073 m, bearing: 36.590785 deg, lat: 36.779315 deg, lon: -121.859590 deg, deltaT: 1.007378 s, deltaX: -0.000008 m, approachRate: -0.000008 m/s, posRepo size: 4 2025-10-27T05:01:51.985Z,1761541311.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:52.088Z,1761541312.088 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.749420 2025-10-27T05:01:52.277Z,1761541312.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618166,0.784043,0.056101],[-0.785775,-0.618254,-0.017861],[0.020681,-0.055124,0.998265]] 2025-10-27T05:01:52.296Z,1761541312.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:01:52.344Z,1761541312.344 [DAT](INFO): DAT read: Rx Time:05:01:51.1846 2025-10-27T05:01:52.345Z,1761541312.345 [DAT](INFO): Rx dataTimestamp_ set to:1761541312.344454 2025-10-27T05:01:52.349Z,1761541312.349 [DAT](INFO): DAT read: Bearing 192.6, 14.2 (Local) 2025-10-27T05:01:52.350Z,1761541312.350 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 14.2 (Local) 2025-10-27T05:01:52.354Z,1761541312.354 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.0 2025-10-27T05:01:52.361Z,1761541312.361 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-27T05:01:52.368Z,1761541312.368 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.028828 2025-10-27T05:01:52.596Z,1761541312.596 [DAT](INFO): DAT read: 05:01:51.1846 LVL= 24816, 24129, 32754, 32755, AGC= 63, IDX= 505, 0.34,-2.841,-1.276, 2.981,-2.312, PHS=-0.428, 1.081,-1.035, RAW= 346.2, 4.1, CAL= 345.8, 1.8, ROT= 164.2, -1.8 2025-10-27T05:01:52.597Z,1761541312.597 [DAT](INFO): got valid direction response: 05:01:51.1846 LVL= 24816, 24129, 32754, 32755, AGC= 63, IDX= 505, 0.34,-2.841,-1.276, 2.981,-2.312, PHS=-0.428, 1.081,-1.035, RAW= 346.2, 4.1, CAL= 345.8, 1.8, ROT= 164.2, -1.8 2025-10-27T05:01:52.597Z,1761541312.597 [DAT](INFO): #Rx 55: Read direction message, but no range. 2025-10-27T05:01:52.598Z,1761541312.598 [DAT](INFO): direction in FSK: [-0.961743,0.272146,0.031411] 2025-10-27T05:01:52.602Z,1761541312.602 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.262747 2025-10-27T05:01:52.681Z,1761541312.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617218,0.784808,0.055848],[-0.786527,-0.617296,-0.017911],[0.020418,-0.054981,0.998279]] 2025-10-27T05:01:52.742Z,1761541312.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504448 s, deltaX: 0.300001 m, approachRate: 0.594712 m/s, rangeRepo size: 4 2025-10-27T05:01:52.748Z,1761541312.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.089579 m, bearing: 36.006955 deg, lat: 36.779315 deg, lon: -121.859590 deg, deltaT: 0.504448 s, deltaX: 0.298506 m, approachRate: 0.591747 m/s, posRepo size: 4 2025-10-27T05:01:52.749Z,1761541312.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T05:01:52.849Z,1761541312.849 [DAT](INFO): DAT read: Rx Time:05:01:51.6845 2025-10-27T05:01:52.851Z,1761541312.851 [DAT](INFO): Rx dataTimestamp_ set to:1761541312.849598 2025-10-27T05:01:52.857Z,1761541312.857 [DAT](INFO): DAT read: Bearing 193.1, 13.7 (Local) 2025-10-27T05:01:52.858Z,1761541312.858 [DAT](INFO): Local bearing/azimuth received: Bearing 193.1, 13.7 (Local) 2025-10-27T05:01:52.879Z,1761541312.879 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.0 2025-10-27T05:01:52.881Z,1761541312.881 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-27T05:01:52.882Z,1761541312.882 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.543198 2025-10-27T05:01:53.100Z,1761541313.100 [DAT](INFO): DAT read: 05:01:51.6845 LVL= 23392, 24753, 32754, 32755, AGC= 63, IDX= 505,-0.24, 0.422, 2.026,-0.026, 0.964, PHS=-0.440, 1.107,-1.034, RAW= 345.6, 3.9, CAL= 345.2, 1.5, ROT= 164.8, -1.5 2025-10-27T05:01:53.101Z,1761541313.101 [DAT](INFO): got valid direction response: 05:01:51.6845 LVL= 23392, 24753, 32754, 32755, AGC= 63, IDX= 505,-0.24, 0.422, 2.026,-0.026, 0.964, PHS=-0.440, 1.107,-1.034, RAW= 345.6, 3.9, CAL= 345.2, 1.5, ROT= 164.8, -1.5 2025-10-27T05:01:53.102Z,1761541313.102 [DAT](INFO): #Rx 57: Read direction message, but no range. 2025-10-27T05:01:53.106Z,1761541313.106 [DAT](INFO): direction in FSK: [-0.964686,0.262099,0.026177] 2025-10-27T05:01:53.118Z,1761541313.118 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.778854 2025-10-27T05:01:53.129Z,1761541313.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616431,0.785437,0.055680],[-0.787149,-0.616500,-0.017982],[0.020203,-0.054913,0.998287]] 2025-10-27T05:01:53.210Z,1761541313.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.505144 s, deltaX: -0.100000 m, approachRate: -0.197964 m/s, rangeRepo size: 4 2025-10-27T05:01:53.212Z,1761541313.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.990057 m, bearing: 36.677829 deg, lat: 36.779315 deg, lon: -121.859590 deg, deltaT: 0.505144 s, deltaX: -0.099522 m, approachRate: -0.197016 m/s, posRepo size: 4 2025-10-27T05:01:53.213Z,1761541313.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.99 m. 2025-10-27T05:01:53.353Z,1761541313.353 [DAT](INFO): DAT read: Rx Time:05:01:52.1846 2025-10-27T05:01:53.354Z,1761541313.354 [DAT](INFO): Rx dataTimestamp_ set to:1761541313.353224 2025-10-27T05:01:53.358Z,1761541313.358 [DAT](INFO): DAT read: Bearing 193.0, 15.0 (Local) 2025-10-27T05:01:53.360Z,1761541313.360 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 15.0 (Local) 2025-10-27T05:01:53.365Z,1761541313.365 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.0 2025-10-27T05:01:53.372Z,1761541313.372 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-27T05:01:53.373Z,1761541313.373 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.033810 2025-10-27T05:01:53.492Z,1761541313.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615864,0.785879,0.055727],[-0.787592,-0.615937,-0.017906],[0.020252,-0.054918,0.998285]] 2025-10-27T05:01:53.516Z,1761541313.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503626 s, deltaX: 0.100000 m, approachRate: 0.198561 m/s, rangeRepo size: 4 2025-10-27T05:01:53.517Z,1761541313.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.99 m. 2025-10-27T05:01:53.604Z,1761541313.604 [DAT](INFO): DAT read: 05:01:52.1846 LVL= 26512, 25761, 32754, 32755, AGC= 64, IDX= 506, 0.05,-2.716,-1.167, 3.080,-2.208, PHS=-0.407, 1.086,-1.040, RAW= 346.9, 3.9, CAL= 346.5, 1.4, ROT= 163.5, -1.4 2025-10-27T05:01:53.606Z,1761541313.606 [DAT](INFO): got valid direction response: 05:01:52.1846 LVL= 26512, 25761, 32754, 32755, AGC= 64, IDX= 506, 0.05,-2.716,-1.167, 3.080,-2.208, PHS=-0.407, 1.086,-1.040, RAW= 346.9, 3.9, CAL= 346.5, 1.4, ROT= 163.5, -1.4 2025-10-27T05:01:53.606Z,1761541313.606 [DAT](INFO): #Rx 59: Read direction message, but no range. 2025-10-27T05:01:53.607Z,1761541313.607 [DAT](INFO): direction in FSK: [-0.958534,0.283931,0.024432] 2025-10-27T05:01:53.610Z,1761541313.610 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.271332 2025-10-27T05:01:53.856Z,1761541313.856 [DAT](INFO): DAT read: Rx Time:05:01:52.6846 2025-10-27T05:01:53.857Z,1761541313.857 [DAT](INFO): Rx dataTimestamp_ set to:1761541313.856319 2025-10-27T05:01:53.861Z,1761541313.861 [DAT](INFO): DAT read: Bearing 192.6, 15.3 (Local) 2025-10-27T05:01:53.862Z,1761541313.862 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 15.3 (Local) 2025-10-27T05:01:53.868Z,1761541313.868 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.0 2025-10-27T05:01:53.870Z,1761541313.870 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-27T05:01:53.893Z,1761541313.893 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.553391 2025-10-27T05:01:53.933Z,1761541313.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615344,0.786281,0.055797],[-0.787996,-0.615423,-0.017808],[0.020337,-0.054926,0.998283]] 2025-10-27T05:01:53.985Z,1761541313.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503095 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:53.991Z,1761541313.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.089560 m, bearing: 35.463304 deg, lat: 36.779315 deg, lon: -121.859590 deg, deltaT: 1.006721 s, deltaX: 0.099503 m, approachRate: 0.098838 m/s, posRepo size: 4 2025-10-27T05:01:53.992Z,1761541313.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T05:01:54.109Z,1761541314.109 [DAT](INFO): DAT read: 05:01:52.6846 LVL= 25632, 24689, 32754, 32755, AGC= 63, IDX= 505, 0.38, 2.462,-2.284, 1.963, 2.971, PHS=-0.407, 1.074,-1.052, RAW= 347.2, 4.1, CAL= 346.9, 1.8, ROT= 163.1, -1.8 2025-10-27T05:01:54.110Z,1761541314.110 [DAT](INFO): got valid direction response: 05:01:52.6846 LVL= 25632, 24689, 32754, 32755, AGC= 63, IDX= 505, 0.38, 2.462,-2.284, 1.963, 2.971, PHS=-0.407, 1.074,-1.052, RAW= 347.2, 4.1, CAL= 346.9, 1.8, ROT= 163.1, -1.8 2025-10-27T05:01:54.111Z,1761541314.111 [DAT](INFO): #Rx 61: Read direction message, but no range. 2025-10-27T05:01:54.112Z,1761541314.112 [DAT](INFO): direction in FSK: [-0.956341,0.290559,0.031411] 2025-10-27T05:01:54.125Z,1761541314.125 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.785498 2025-10-27T05:01:54.297Z,1761541314.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614865,0.786651,0.055869],[-0.788368,-0.614947,-0.017747],[0.020396,-0.054957,0.998280]] 2025-10-27T05:01:54.360Z,1761541314.360 [DAT](INFO): DAT read: Rx Time:05:01:53.1846 2025-10-27T05:01:54.361Z,1761541314.361 [DAT](INFO): Rx dataTimestamp_ set to:1761541314.360400 2025-10-27T05:01:54.365Z,1761541314.365 [DAT](INFO): DAT read: Bearing 193.0, 14.8 (Local) 2025-10-27T05:01:54.366Z,1761541314.366 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 14.8 (Local) 2025-10-27T05:01:54.380Z,1761541314.380 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.0 2025-10-27T05:01:54.391Z,1761541314.391 [DAT](INFO): DAT read: 05:01:53.1846 LVL= 26736, 25649, 32754, 32755, AGC= 63, IDX= 506,-0.10, 0.578, 2.140, 0.094, 1.095, PHS=-0.416, 1.090,-1.046, RAW= 346.7, 4.0, CAL= 346.3, 1.6, ROT= 163.7, -1.6 2025-10-27T05:01:54.394Z,1761541314.394 [DAT](INFO): got valid direction response: 05:01:53.1846 LVL= 26736, 25649, 32754, 32755, AGC= 63, IDX= 506,-0.10, 0.578, 2.140, 0.094, 1.095, PHS=-0.416, 1.090,-1.046, RAW= 346.7, 4.0, CAL= 346.3, 1.6, ROT= 163.7, -1.6 2025-10-27T05:01:54.394Z,1761541314.394 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:01:54.398Z,1761541314.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T05:01:54.404Z,1761541314.404 [DAT](INFO): direction in FSK: [-0.959431,0.280557,0.027922] 2025-10-27T05:01:54.405Z,1761541314.405 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:54.417Z,1761541314.417 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.078014 2025-10-27T05:01:54.610Z,1761541314.610 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.270870 2025-10-27T05:01:54.708Z,1761541314.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614536,0.786898,0.056011],[-0.788620,-0.614630,-0.017580],[0.020592,-0.054975,0.998275]] 2025-10-27T05:01:54.741Z,1761541314.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504081 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:54.743Z,1761541314.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.089518 m, bearing: 35.712072 deg, lat: 36.779316 deg, lon: -121.859590 deg, deltaT: 0.504081 s, deltaX: -0.000042 m, approachRate: -0.000083 m/s, posRepo size: 4 2025-10-27T05:01:54.743Z,1761541314.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T05:01:54.864Z,1761541314.864 [DAT](INFO): DAT read: Rx Time:05:01:53.6846 2025-10-27T05:01:54.866Z,1761541314.866 [DAT](INFO): Rx dataTimestamp_ set to:1761541314.864772 2025-10-27T05:01:54.869Z,1761541314.869 [DAT](INFO): DAT read: Bearing 192.3, 15.7 (Local) 2025-10-27T05:01:54.870Z,1761541314.870 [DAT](INFO): Local bearing/azimuth received: Bearing 192.3, 15.7 (Local) 2025-10-27T05:01:54.874Z,1761541314.874 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.1 2025-10-27T05:01:54.876Z,1761541314.876 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-27T05:01:54.878Z,1761541314.878 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.538914 2025-10-27T05:01:55.116Z,1761541315.116 [DAT](INFO): DAT read: 05:01:53.6846 LVL= 26832, 27441, 32754, 32755, AGC= 63, IDX= 505, 0.20, 1.147, 2.672, 0.638, 1.657, PHS=-0.408, 1.060,-1.063, RAW= 347.5, 4.4, CAL= 347.2, 2.3, ROT= 162.8, -2.3 2025-10-27T05:01:55.117Z,1761541315.117 [DAT](INFO): got valid direction response: 05:01:53.6846 LVL= 26832, 27441, 32754, 32755, AGC= 63, IDX= 505, 0.20, 1.147, 2.672, 0.638, 1.657, PHS=-0.408, 1.060,-1.063, RAW= 347.5, 4.4, CAL= 347.2, 2.3, ROT= 162.8, -2.3 2025-10-27T05:01:55.117Z,1761541315.117 [DAT](INFO): #Rx 64: Read direction message, but no range. 2025-10-27T05:01:55.118Z,1761541315.118 [DAT](INFO): direction in FSK: [-0.954509,0.295470,0.040132] 2025-10-27T05:01:55.121Z,1761541315.121 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.782381 2025-10-27T05:01:55.124Z,1761541315.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614664,0.786798,0.056002],[-0.788514,-0.614774,-0.017276],[0.020836,-0.054777,0.998281]] 2025-10-27T05:01:55.200Z,1761541315.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504372 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:55.202Z,1761541315.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.089504 m, bearing: 34.771654 deg, lat: 36.779317 deg, lon: -121.859590 deg, deltaT: 0.504372 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 2025-10-27T05:01:55.207Z,1761541315.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T05:01:55.368Z,1761541315.368 [DAT](INFO): DAT read: Rx Time:05:01:54.1847 2025-10-27T05:01:55.370Z,1761541315.370 [DAT](INFO): Rx dataTimestamp_ set to:1761541315.368945 2025-10-27T05:01:55.372Z,1761541315.372 [DAT](INFO): DAT read: Bearing 193.0, 15.5 (Local) 2025-10-27T05:01:55.373Z,1761541315.373 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 15.5 (Local) 2025-10-27T05:01:55.377Z,1761541315.377 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.1 2025-10-27T05:01:55.394Z,1761541315.394 [DAT](INFO): DAT read: 05:01:54.1847 LVL= 25760, 25009, 32754, 32755, AGC= 63, IDX= 507,-0.25, 0.633, 2.175, 0.124, 1.137, PHS=-0.402, 1.083,-1.057, RAW= 347.4, 4.0, CAL= 347.0, 1.6, ROT= 163.0, -1.6 2025-10-27T05:01:55.400Z,1761541315.400 [DAT](INFO): got valid direction response: 05:01:54.1847 LVL= 25760, 25009, 32754, 32755, AGC= 63, IDX= 507,-0.25, 0.633, 2.175, 0.124, 1.137, PHS=-0.402, 1.083,-1.057, RAW= 347.4, 4.0, CAL= 347.0, 1.6, ROT= 163.0, -1.6 2025-10-27T05:01:55.401Z,1761541315.401 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:01:55.407Z,1761541315.407 [DAT](INFO): direction in FSK: [-0.955932,0.292258,0.027922] 2025-10-27T05:01:55.407Z,1761541315.407 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:55.415Z,1761541315.415 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.071638 2025-10-27T05:01:55.510Z,1761541315.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614734,0.786738,0.056096],[-0.788451,-0.614863,-0.016967],[0.021143,-0.054659,0.998281]] 2025-10-27T05:01:55.554Z,1761541315.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504173 s, deltaX: 0.199999 m, approachRate: 0.396687 m/s, rangeRepo size: 4 2025-10-27T05:01:55.564Z,1761541315.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.288507 m, bearing: 34.998405 deg, lat: 36.779317 deg, lon: -121.859590 deg, deltaT: 0.504173 s, deltaX: 0.199003 m, approachRate: 0.394712 m/s, posRepo size: 4 2025-10-27T05:01:55.565Z,1761541315.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T05:01:55.617Z,1761541315.617 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.277534 2025-10-27T05:01:55.872Z,1761541315.872 [DAT](INFO): DAT read: Rx Time:05:01:54.6847 2025-10-27T05:01:55.873Z,1761541315.873 [DAT](INFO): Rx dataTimestamp_ set to:1761541315.872165 2025-10-27T05:01:55.876Z,1761541315.876 [DAT](INFO): DAT read: Bearing 192.5, 16.4 (Local) 2025-10-27T05:01:55.876Z,1761541315.876 [DAT](INFO): Local bearing/azimuth received: Bearing 192.5, 16.4 (Local) 2025-10-27T05:01:55.879Z,1761541315.879 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.0 2025-10-27T05:01:55.888Z,1761541315.888 [DAT](INFO): DAT read: 05:01:54.6847 LVL= 25280, 24881, 32754, 32755, AGC= 63, IDX= 506, 0.10, 0.785, 2.298, 0.246, 1.279, PHS=-0.392, 1.064,-1.077, RAW= 348.3, 4.3, CAL= 347.9, 2.1, ROT= 162.1, -2.1 2025-10-27T05:01:55.890Z,1761541315.890 [DAT](INFO): got valid direction response: 05:01:54.6847 LVL= 25280, 24881, 32754, 32755, AGC= 63, IDX= 506, 0.10, 0.785, 2.298, 0.246, 1.279, PHS=-0.392, 1.064,-1.077, RAW= 348.3, 4.3, CAL= 347.9, 2.1, ROT= 162.1, -2.1 2025-10-27T05:01:55.891Z,1761541315.891 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:01:55.892Z,1761541315.892 [DAT](INFO): direction in FSK: [-0.950955,0.307150,0.036644] 2025-10-27T05:01:55.893Z,1761541315.893 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:55.930Z,1761541315.930 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.590508 2025-10-27T05:01:55.941Z,1761541315.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614830,0.786665,0.056046],[-0.788372,-0.614971,-0.016745],[0.021294,-0.054481,0.998288]] 2025-10-27T05:01:55.999Z,1761541315.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503220 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:56.005Z,1761541316.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.288507 m, bearing: 34.069932 deg, lat: 36.779317 deg, lon: -121.859591 deg, deltaT: 0.503220 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:56.006Z,1761541316.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T05:01:56.122Z,1761541316.122 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.783117 2025-10-27T05:01:56.348Z,1761541316.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614965,0.786545,0.056262],[-0.788259,-0.615122,-0.016529],[0.021607,-0.054514,0.998279]] 2025-10-27T05:01:56.374Z,1761541316.374 [DAT](INFO): DAT read: Rx Time:05:01:55.1848 2025-10-27T05:01:56.376Z,1761541316.376 [DAT](INFO): Rx dataTimestamp_ set to:1761541316.374967 2025-10-27T05:01:56.378Z,1761541316.378 [DAT](INFO): DAT read: Bearing 192.5, 16.3 (Local) 2025-10-27T05:01:56.378Z,1761541316.378 [DAT](INFO): Local bearing/azimuth received: Bearing 192.5, 16.3 (Local) 2025-10-27T05:01:56.381Z,1761541316.381 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 2025-10-27T05:01:56.398Z,1761541316.398 [DAT](INFO): DAT read: 05:01:55.1848 LVL= 25712, 24689, 32754, 32755, AGC= 63, IDX= 508,-0.38, 0.768, 2.271, 0.242, 1.261, PHS=-0.391, 1.055,-1.063, RAW= 348.1, 4.3, CAL= 347.7, 2.1, ROT= 162.3, -2.1 2025-10-27T05:01:56.427Z,1761541316.427 [DAT](INFO): got valid direction response: 05:01:55.1848 LVL= 25712, 24689, 32754, 32755, AGC= 63, IDX= 508,-0.38, 0.768, 2.271, 0.242, 1.261, PHS=-0.391, 1.055,-1.063, RAW= 348.1, 4.3, CAL= 347.7, 2.1, ROT= 162.3, -2.1 2025-10-27T05:01:56.428Z,1761541316.428 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:01:56.429Z,1761541316.429 [DAT](INFO): direction in FSK: [-0.952022,0.303829,0.036644] 2025-10-27T05:01:56.429Z,1761541316.429 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:56.449Z,1761541316.449 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.109886 2025-10-27T05:01:56.460Z,1761541316.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.502802 s, deltaX: 0.100000 m, approachRate: 0.198886 m/s, rangeRepo size: 4 2025-10-27T05:01:56.462Z,1761541316.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.388006 m, bearing: 34.259501 deg, lat: 36.779318 deg, lon: -121.859591 deg, deltaT: 0.502802 s, deltaX: 0.099499 m, approachRate: 0.197889 m/s, posRepo size: 4 2025-10-27T05:01:56.462Z,1761541316.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m. 2025-10-27T05:01:56.624Z,1761541316.624 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.285149 2025-10-27T05:01:56.729Z,1761541316.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614969,0.786517,0.056601],[-0.788247,-0.615139,-0.016436],[0.021890,-0.054724,0.998262]] 2025-10-27T05:01:56.766Z,1761541316.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m. 2025-10-27T05:01:56.878Z,1761541316.878 [DAT](INFO): DAT read: Rx Time:05:01:55.6848 2025-10-27T05:01:56.879Z,1761541316.879 [DAT](INFO): Rx dataTimestamp_ set to:1761541316.878223 2025-10-27T05:01:56.881Z,1761541316.881 [DAT](INFO): DAT read: Bearing 193.1, 16.8 (Local) 2025-10-27T05:01:56.881Z,1761541316.881 [DAT](INFO): Local bearing/azimuth received: Bearing 193.1, 16.8 (Local) 2025-10-27T05:01:56.885Z,1761541316.885 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 2025-10-27T05:01:56.894Z,1761541316.894 [DAT](INFO): DAT read: 05:01:55.6848 LVL= 24304, 22433, 32754, 32755, AGC= 63, IDX= 507, 0.08,-0.032, 1.481,-0.586, 0.446, PHS=-0.376, 1.079,-1.076, RAW= 348.6, 4.0, CAL= 348.2, 1.5, ROT= 161.8, -1.5 2025-10-27T05:01:56.896Z,1761541316.896 [DAT](INFO): got valid direction response: 05:01:55.6848 LVL= 24304, 22433, 32754, 32755, AGC= 63, IDX= 507, 0.08,-0.032, 1.481,-0.586, 0.446, PHS=-0.376, 1.079,-1.076, RAW= 348.6, 4.0, CAL= 348.2, 1.5, ROT= 161.8, -1.5 2025-10-27T05:01:56.896Z,1761541316.896 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:01:56.898Z,1761541316.898 [DAT](INFO): direction in FSK: [-0.949647,0.312228,0.026177] 2025-10-27T05:01:56.898Z,1761541316.898 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:56.948Z,1761541316.948 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.609276 2025-10-27T05:01:57.128Z,1761541317.128 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.789001 2025-10-27T05:01:57.130Z,1761541317.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615298,0.786249,0.056747],[-0.787983,-0.615482,-0.016253],[0.022147,-0.054716,0.998256]] 2025-10-27T05:01:57.160Z,1761541317.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503256 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:57.162Z,1761541317.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.387993 m, bearing: 33.762356 deg, lat: 36.779319 deg, lon: -121.859592 deg, deltaT: 0.503256 s, deltaX: -0.000013 m, approachRate: -0.000027 m/s, posRepo size: 4 2025-10-27T05:01:57.162Z,1761541317.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m. 2025-10-27T05:01:57.383Z,1761541317.383 [DAT](INFO): DAT read: Rx Time:05:01:56.1848 2025-10-27T05:01:57.384Z,1761541317.384 [DAT](INFO): Rx dataTimestamp_ set to:1761541317.383370 2025-10-27T05:01:57.386Z,1761541317.386 [DAT](INFO): DAT read: Bearing 192.4, 16.3 (Local) 2025-10-27T05:01:57.386Z,1761541317.386 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 16.3 (Local) 2025-10-27T05:01:57.390Z,1761541317.390 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 2025-10-27T05:01:57.404Z,1761541317.404 [DAT](INFO): DAT read: 05:01:56.1848 LVL= 27504, 25937, 32754, 32755, AGC= 63, IDX= 508,-0.38,-0.698, 0.808,-1.228,-0.202, PHS=-0.394, 1.055,-1.070, RAW= 348.1, 4.4, CAL= 347.8, 2.2, ROT= 162.2, -2.2 2025-10-27T05:01:57.405Z,1761541317.405 [DAT](INFO): got valid direction response: 05:01:56.1848 LVL= 27504, 25937, 32754, 32755, AGC= 63, IDX= 508,-0.38,-0.698, 0.808,-1.228,-0.202, PHS=-0.394, 1.055,-1.070, RAW= 348.1, 4.4, CAL= 347.8, 2.2, ROT= 162.2, -2.2 2025-10-27T05:01:57.405Z,1761541317.405 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:01:57.406Z,1761541317.406 [DAT](INFO): direction in FSK: [-0.951428,0.305470,0.038388] 2025-10-27T05:01:57.406Z,1761541317.406 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:57.412Z,1761541317.412 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.072975 2025-10-27T05:01:57.530Z,1761541317.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615626,0.785980,0.056928],[-0.787720,-0.615823,-0.016102],[0.022402,-0.054756,0.998248]] 2025-10-27T05:01:57.564Z,1761541317.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.505147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:57.566Z,1761541317.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.387993 m, bearing: 34.105976 deg, lat: 36.779319 deg, lon: -121.859591 deg, deltaT: 0.505147 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:57.567Z,1761541317.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m. 2025-10-27T05:01:57.635Z,1761541317.635 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.295547 2025-10-27T05:01:57.889Z,1761541317.889 [DAT](INFO): DAT read: Rx Time:05:01:56.6848 2025-10-27T05:01:57.890Z,1761541317.890 [DAT](INFO): Rx dataTimestamp_ set to:1761541317.889899 2025-10-27T05:01:57.892Z,1761541317.892 [DAT](INFO): DAT read: Bearing 192.4, 16.7 (Local) 2025-10-27T05:01:57.893Z,1761541317.893 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 16.7 (Local) 2025-10-27T05:01:57.897Z,1761541317.897 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 2025-10-27T05:01:57.902Z,1761541317.902 [DAT](INFO): DAT read: 05:01:56.6848 LVL= 25920, 22897, 32754, 32755, AGC= 62, IDX= 507, 0.09,-1.225, 0.275,-1.773,-0.737, PHS=-0.386, 1.057,-1.080, RAW= 348.6, 4.4, CAL= 348.2, 2.2, ROT= 161.8, -2.2 2025-10-27T05:01:57.916Z,1761541317.916 [DAT](INFO): got valid direction response: 05:01:56.6848 LVL= 25920, 22897, 32754, 32755, AGC= 62, IDX= 507, 0.09,-1.225, 0.275,-1.773,-0.737, PHS=-0.386, 1.057,-1.080, RAW= 348.6, 4.4, CAL= 348.2, 2.2, ROT= 161.8, -2.2 2025-10-27T05:01:57.916Z,1761541317.916 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:01:57.917Z,1761541317.917 [DAT](INFO): direction in FSK: [-0.949272,0.312105,0.038388] 2025-10-27T05:01:57.917Z,1761541317.917 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:57.937Z,1761541317.937 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.598026 2025-10-27T05:01:57.958Z,1761541317.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616204,0.785513,0.057117],[-0.787257,-0.616421,-0.015826],[0.022776,-0.054718,0.998242]] 2025-10-27T05:01:58.017Z,1761541318.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.506529 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:58.027Z,1761541318.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.387993 m, bearing: 33.664305 deg, lat: 36.779319 deg, lon: -121.859592 deg, deltaT: 0.506529 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:01:58.027Z,1761541318.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m. 2025-10-27T05:01:58.140Z,1761541318.140 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.801003 2025-10-27T05:01:58.374Z,1761541318.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616701,0.785120,0.057152],[-0.786863,-0.616928,-0.015679],[0.022949,-0.054640,0.998242]] 2025-10-27T05:01:58.394Z,1761541318.394 [DAT](INFO): DAT read: Rx Time:05:01:57.1849 2025-10-27T05:01:58.395Z,1761541318.395 [DAT](INFO): Rx dataTimestamp_ set to:1761541318.394421 2025-10-27T05:01:58.397Z,1761541318.397 [DAT](INFO): DAT read: Bearing 192.9, 16.2 (Local) 2025-10-27T05:01:58.398Z,1761541318.398 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 16.2 (Local) 2025-10-27T05:01:58.400Z,1761541318.400 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T05:01:58.404Z,1761541318.404 [DAT](INFO): DAT read: 05:01:57.1849 LVL= 24608, 23201, 32754, 32755, AGC= 62, IDX= 509,-0.35,-1.395, 0.127,-1.925,-0.902, PHS=-0.391, 1.075,-1.066, RAW= 348.0, 4.1, CAL= 347.6, 1.7, ROT= 162.4, -1.7 2025-10-27T05:01:58.405Z,1761541318.405 [DAT](INFO): got valid direction response: 05:01:57.1849 LVL= 24608, 23201, 32754, 32755, AGC= 62, IDX= 509,-0.35,-1.395, 0.127,-1.925,-0.902, PHS=-0.391, 1.075,-1.066, RAW= 348.0, 4.1, CAL= 347.6, 1.7, ROT= 162.4, -1.7 2025-10-27T05:01:58.406Z,1761541318.406 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:01:58.407Z,1761541318.407 [DAT](INFO): direction in FSK: [-0.952771,0.302237,0.029666] 2025-10-27T05:01:58.407Z,1761541318.407 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:58.411Z,1761541318.411 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.071659 2025-10-27T05:01:58.487Z,1761541318.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504522 s, deltaX: 0.200001 m, approachRate: 0.396416 m/s, rangeRepo size: 4 2025-10-27T05:01:58.489Z,1761541318.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.587000 m, bearing: 34.249543 deg, lat: 36.779319 deg, lon: -121.859591 deg, deltaT: 0.504522 s, deltaX: 0.199007 m, approachRate: 0.394447 m/s, posRepo size: 4 2025-10-27T05:01:58.490Z,1761541318.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m. 2025-10-27T05:01:58.644Z,1761541318.644 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.305042 2025-10-27T05:01:58.749Z,1761541318.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617075,0.784813,0.057338],[-0.786565,-0.617310,-0.015629],[0.023129,-0.054744,0.998232]] 2025-10-27T05:01:58.768Z,1761541318.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m. 2025-10-27T05:01:58.898Z,1761541318.898 [DAT](INFO): DAT read: Rx Time:05:01:57.6849 2025-10-27T05:01:58.898Z,1761541318.898 [DAT](INFO): Rx dataTimestamp_ set to:1761541318.897895 2025-10-27T05:01:58.903Z,1761541318.903 [DAT](INFO): DAT read: Bearing 192.7, 16.7 (Local) 2025-10-27T05:01:58.903Z,1761541318.903 [DAT](INFO): Local bearing/azimuth received: Bearing 192.7, 16.7 (Local) 2025-10-27T05:01:58.906Z,1761541318.906 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T05:01:58.946Z,1761541318.946 [DAT](INFO): DAT read: 05:01:57.6849 LVL= 24304, 22625, 32754, 32755, AGC= 63, IDX= 508, 0.07,-1.278, 0.228,-1.826,-0.795, PHS=-0.382, 1.068,-1.076, RAW= 348.5, 4.2, CAL= 348.1, 1.8, ROT= 161.9, -1.8 2025-10-27T05:01:58.969Z,1761541318.969 [DAT](INFO): got valid direction response: 05:01:57.6849 LVL= 24304, 22625, 32754, 32755, AGC= 63, IDX= 508, 0.07,-1.278, 0.228,-1.826,-0.795, PHS=-0.382, 1.068,-1.076, RAW= 348.5, 4.2, CAL= 348.1, 1.8, ROT= 161.9, -1.8 2025-10-27T05:01:58.969Z,1761541318.969 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:01:58.970Z,1761541318.970 [DAT](INFO): direction in FSK: [-0.950047,0.310523,0.031411] 2025-10-27T05:01:58.970Z,1761541318.970 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:58.982Z,1761541318.982 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.643238 2025-10-27T05:01:59.148Z,1761541319.148 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.808823 2025-10-27T05:01:59.150Z,1761541319.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617532,0.784448,0.057405],[-0.786202,-0.617773,-0.015585],[0.023238,-0.054756,0.998229]] 2025-10-27T05:01:59.205Z,1761541319.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503474 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:01:59.212Z,1761541319.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.587040 m, bearing: 33.684757 deg, lat: 36.779319 deg, lon: -121.859591 deg, deltaT: 0.503474 s, deltaX: 0.000040 m, approachRate: 0.000080 m/s, posRepo size: 4 2025-10-27T05:01:59.212Z,1761541319.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.59 m. 2025-10-27T05:01:59.401Z,1761541319.401 [DAT](INFO): DAT read: Rx Time:05:01:58.1850 2025-10-27T05:01:59.401Z,1761541319.401 [DAT](INFO): Rx dataTimestamp_ set to:1761541319.400757 2025-10-27T05:01:59.402Z,1761541319.402 [DAT](INFO): DAT read: Bearing 192.8, 16.4 (Local) 2025-10-27T05:01:59.403Z,1761541319.403 [DAT](INFO): Local bearing/azimuth received: Bearing 192.8, 16.4 (Local) 2025-10-27T05:01:59.405Z,1761541319.405 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T05:01:59.409Z,1761541319.409 [DAT](INFO): DAT read: 05:01:58.1850 LVL= 26688, 24097, 32754, 32755, AGC= 62, IDX= 510,-0.41,-1.016, 0.503,-1.550,-0.525, PHS=-0.389, 1.073,-1.069, RAW= 348.1, 4.1, CAL= 347.7, 1.8, ROT= 162.3, -1.8 2025-10-27T05:01:59.410Z,1761541319.410 [DAT](INFO): got valid direction response: 05:01:58.1850 LVL= 26688, 24097, 32754, 32755, AGC= 62, IDX= 510,-0.41,-1.016, 0.503,-1.550,-0.525, PHS=-0.389, 1.073,-1.069, RAW= 348.1, 4.1, CAL= 347.7, 1.8, ROT= 162.3, -1.8 2025-10-27T05:01:59.411Z,1761541319.411 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:01:59.412Z,1761541319.412 [DAT](INFO): direction in FSK: [-0.952191,0.303883,0.031411] 2025-10-27T05:01:59.412Z,1761541319.412 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:59.418Z,1761541319.418 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.079464 2025-10-27T05:01:59.601Z,1761541319.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.502862 s, deltaX: 0.099998 m, approachRate: 0.198859 m/s, rangeRepo size: 4 2025-10-27T05:01:59.604Z,1761541319.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.686541 m, bearing: 34.084184 deg, lat: 36.779319 deg, lon: -121.859590 deg, deltaT: 0.502862 s, deltaX: 0.099501 m, approachRate: 0.197869 m/s, posRepo size: 4 2025-10-27T05:01:59.604Z,1761541319.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.69 m. 2025-10-27T05:01:59.653Z,1761541319.653 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.313599 2025-10-27T05:01:59.904Z,1761541319.904 [DAT](INFO): DAT read: Rx Time:05:01:58.6850 2025-10-27T05:01:59.905Z,1761541319.905 [DAT](INFO): Rx dataTimestamp_ set to:1761541319.904657 2025-10-27T05:01:59.906Z,1761541319.906 [DAT](INFO): DAT read: Bearing 192.8, 16.9 (Local) 2025-10-27T05:01:59.907Z,1761541319.907 [DAT](INFO): Local bearing/azimuth received: Bearing 192.8, 16.9 (Local) 2025-10-27T05:01:59.909Z,1761541319.909 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T05:01:59.913Z,1761541319.913 [DAT](INFO): DAT read: 05:01:58.6850 LVL= 24624, 22241, 32754, 32755, AGC= 62, IDX= 509, 0.06,-1.098, 0.408,-1.651,-0.618, PHS=-0.378, 1.070,-1.077, RAW= 348.6, 4.1, CAL= 348.2, 1.7, ROT= 161.8, -1.7 2025-10-27T05:01:59.914Z,1761541319.914 [DAT](INFO): got valid direction response: 05:01:58.6850 LVL= 24624, 22241, 32754, 32755, AGC= 62, IDX= 509, 0.06,-1.098, 0.408,-1.651,-0.618, PHS=-0.378, 1.070,-1.077, RAW= 348.6, 4.1, CAL= 348.2, 1.7, ROT= 161.8, -1.7 2025-10-27T05:01:59.915Z,1761541319.915 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:01:59.916Z,1761541319.916 [DAT](INFO): direction in FSK: [-0.949554,0.312197,0.029666] 2025-10-27T05:01:59.916Z,1761541319.916 [DAT](INFO): publishing direction and range info 2025-10-27T05:01:59.932Z,1761541319.932 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.592922 2025-10-27T05:01:59.970Z,1761541319.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618609,0.783589,0.057547],[-0.785349,-0.618858,-0.015535],[0.023440,-0.054805,0.998222]] 2025-10-27T05:02:00.028Z,1761541320.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503900 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:00.030Z,1761541320.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.686541 m, bearing: 33.510612 deg, lat: 36.779319 deg, lon: -121.859589 deg, deltaT: 0.503900 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:00.030Z,1761541320.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.69 m. 2025-10-27T05:02:00.156Z,1761541320.156 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.816986 2025-10-27T05:02:00.386Z,1761541320.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618956,0.783308,0.057638],[-0.785074,-0.619205,-0.015585],[0.023482,-0.054897,0.998216]] 2025-10-27T05:02:00.409Z,1761541320.409 [DAT](INFO): DAT read: Rx Time:05:01:59.1851 2025-10-27T05:02:00.409Z,1761541320.409 [DAT](INFO): Rx dataTimestamp_ set to:1761541320.408847 2025-10-27T05:02:00.410Z,1761541320.410 [DAT](INFO): DAT read: Bearing 192.9, 16.6 (Local) 2025-10-27T05:02:00.411Z,1761541320.411 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 16.6 (Local) 2025-10-27T05:02:00.413Z,1761541320.413 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.1 2025-10-27T05:02:00.418Z,1761541320.418 [DAT](INFO): DAT read: 05:01:59.1851 LVL= 24896, 24049, 32754, 32755, AGC= 63, IDX= 511,-0.40,-1.613,-0.099,-2.154,-1.128, PHS=-0.383, 1.074,-1.071, RAW= 348.3, 4.1, CAL= 347.9, 1.7, ROT= 162.1, -1.7 2025-10-27T05:02:00.419Z,1761541320.419 [DAT](INFO): got valid direction response: 05:01:59.1851 LVL= 24896, 24049, 32754, 32755, AGC= 63, IDX= 511,-0.40,-1.613,-0.099,-2.154,-1.128, PHS=-0.383, 1.074,-1.071, RAW= 348.3, 4.1, CAL= 347.9, 1.7, ROT= 162.1, -1.7 2025-10-27T05:02:00.419Z,1761541320.419 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:02:00.420Z,1761541320.420 [DAT](INFO): direction in FSK: [-0.951176,0.307221,0.029666] 2025-10-27T05:02:00.420Z,1761541320.420 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:00.444Z,1761541320.444 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.105202 2025-10-27T05:02:00.450Z,1761541320.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504190 s, deltaX: 0.200001 m, approachRate: 0.396677 m/s, rangeRepo size: 4 2025-10-27T05:02:00.469Z,1761541320.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.885548 m, bearing: 33.784696 deg, lat: 36.779319 deg, lon: -121.859589 deg, deltaT: 0.504190 s, deltaX: 0.199007 m, approachRate: 0.394706 m/s, posRepo size: 4 2025-10-27T05:02:00.470Z,1761541320.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m. 2025-10-27T05:02:00.663Z,1761541320.663 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.323776 2025-10-27T05:02:00.761Z,1761541320.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619487,0.782893,0.057569],[-0.784656,-0.619735,-0.015601],[0.023463,-0.054836,0.998220]] 2025-10-27T05:02:00.797Z,1761541320.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m. 2025-10-27T05:02:00.912Z,1761541320.912 [DAT](INFO): DAT read: Rx Time:05:01:59.6851 2025-10-27T05:02:00.913Z,1761541320.913 [DAT](INFO): Rx dataTimestamp_ set to:1761541320.912686 2025-10-27T05:02:00.914Z,1761541320.914 [DAT](INFO): DAT read: Bearing 193.0, 17.0 (Local) 2025-10-27T05:02:00.915Z,1761541320.915 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 17.0 (Local) 2025-10-27T05:02:00.917Z,1761541320.917 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.1 2025-10-27T05:02:00.926Z,1761541320.926 [DAT](INFO): DAT read: 05:01:59.6851 LVL= 24144, 23921, 32754, 32755, AGC= 63, IDX= 510, 0.05,-1.815,-0.308,-2.375,-1.341, PHS=-0.372, 1.078,-1.078, RAW= 348.7, 4.0, CAL= 348.4, 1.5, ROT= 161.6, -1.5 2025-10-27T05:02:00.927Z,1761541320.927 [DAT](INFO): got valid direction response: 05:01:59.6851 LVL= 24144, 23921, 32754, 32755, AGC= 63, IDX= 510, 0.05,-1.815,-0.308,-2.375,-1.341, PHS=-0.372, 1.078,-1.078, RAW= 348.7, 4.0, CAL= 348.4, 1.5, ROT= 161.6, -1.5 2025-10-27T05:02:00.928Z,1761541320.928 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:02:00.929Z,1761541320.929 [DAT](INFO): direction in FSK: [-0.948551,0.315541,0.026177] 2025-10-27T05:02:00.929Z,1761541320.929 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:00.933Z,1761541320.933 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.593746 2025-10-27T05:02:01.164Z,1761541321.164 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.824974 2025-10-27T05:02:01.176Z,1761541321.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619734,0.782696,0.057596],[-0.784464,-0.619973,-0.015780],[0.023357,-0.054961,0.998215]] 2025-10-27T05:02:01.205Z,1761541321.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503839 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:01.207Z,1761541321.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.885548 m, bearing: 33.237690 deg, lat: 36.779319 deg, lon: -121.859588 deg, deltaT: 0.503839 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:01.208Z,1761541321.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m. 2025-10-27T05:02:01.417Z,1761541321.417 [DAT](INFO): DAT read: Rx Time:05:02:00.1851 2025-10-27T05:02:01.417Z,1761541321.417 [DAT](INFO): Rx dataTimestamp_ set to:1761541321.416965 2025-10-27T05:02:01.419Z,1761541321.419 [DAT](INFO): DAT read: Bearing 193.1, 17.2 (Local) 2025-10-27T05:02:01.419Z,1761541321.419 [DAT](INFO): Local bearing/azimuth received: Bearing 193.1, 17.2 (Local) 2025-10-27T05:02:01.421Z,1761541321.421 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 2025-10-27T05:02:01.427Z,1761541321.427 [DAT](INFO): DAT read: 05:02:00.1851 LVL= 24048, 25409, 32754, 32755, AGC= 63, IDX= 510, 0.47,-1.618,-0.122,-2.181,-1.150, PHS=-0.366, 1.073,-1.075, RAW= 348.9, 3.9, CAL= 348.5, 1.4, ROT= 161.5, -1.4 2025-10-27T05:02:01.429Z,1761541321.429 [DAT](INFO): got valid direction response: 05:02:00.1851 LVL= 24048, 25409, 32754, 32755, AGC= 63, IDX= 510, 0.47,-1.618,-0.122,-2.181,-1.150, PHS=-0.366, 1.073,-1.075, RAW= 348.9, 3.9, CAL= 348.5, 1.4, ROT= 161.5, -1.4 2025-10-27T05:02:01.430Z,1761541321.430 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:02:01.431Z,1761541321.431 [DAT](INFO): direction in FSK: [-0.948041,0.317210,0.024432] 2025-10-27T05:02:01.431Z,1761541321.431 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:01.435Z,1761541321.435 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.095547 2025-10-27T05:02:01.571Z,1761541321.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619856,0.782594,0.057673],[-0.784372,-0.620084,-0.016010],[0.023233,-0.055161,0.998207]] 2025-10-27T05:02:01.600Z,1761541321.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504279 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:01.602Z,1761541321.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.885548 m, bearing: 33.133441 deg, lat: 36.779320 deg, lon: -121.859588 deg, deltaT: 0.504279 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:01.603Z,1761541321.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m. 2025-10-27T05:02:01.670Z,1761541321.670 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.330647 2025-10-27T05:02:01.921Z,1761541321.921 [DAT](INFO): DAT read: Rx Time:05:02:00.6850 2025-10-27T05:02:01.921Z,1761541321.921 [DAT](INFO): Rx dataTimestamp_ set to:1761541321.920724 2025-10-27T05:02:01.922Z,1761541321.922 [DAT](INFO): DAT read: Bearing 193.0, 16.7 (Local) 2025-10-27T05:02:01.923Z,1761541321.923 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 16.7 (Local) 2025-10-27T05:02:01.925Z,1761541321.925 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T05:02:01.930Z,1761541321.930 [DAT](INFO): DAT read: 05:02:00.6850 LVL= 25024, 23585, 32754, 32755, AGC= 62, IDX= 510,-0.08, 2.899,-1.881, 2.359,-2.905, PHS=-0.377, 1.069,-1.063, RAW= 348.4, 4.0, CAL= 348.0, 1.5, ROT= 162.0, -1.5 2025-10-27T05:02:01.931Z,1761541321.931 [DAT](INFO): got valid direction response: 05:02:00.6850 LVL= 25024, 23585, 32754, 32755, AGC= 62, IDX= 510,-0.08, 2.899,-1.881, 2.359,-2.905, PHS=-0.377, 1.069,-1.063, RAW= 348.4, 4.0, CAL= 348.0, 1.5, ROT= 162.0, -1.5 2025-10-27T05:02:01.932Z,1761541321.932 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:02:01.933Z,1761541321.933 [DAT](INFO): direction in FSK: [-0.950731,0.308911,0.026177] 2025-10-27T05:02:01.933Z,1761541321.933 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:01.937Z,1761541321.937 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.597645 2025-10-27T05:02:01.979Z,1761541321.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620003,0.782488,0.057514],[-0.784263,-0.620215,-0.016252],[0.022954,-0.055182,0.998212]] 2025-10-27T05:02:02.051Z,1761541322.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503759 s, deltaX: -0.200001 m, approachRate: -0.397017 m/s, rangeRepo size: 4 2025-10-27T05:02:02.053Z,1761541322.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.686543 m, bearing: 33.617867 deg, lat: 36.779320 deg, lon: -121.859588 deg, deltaT: 0.503759 s, deltaX: -0.199005 m, approachRate: -0.395040 m/s, posRepo size: 4 2025-10-27T05:02:02.053Z,1761541322.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.69 m. 2025-10-27T05:02:02.172Z,1761541322.172 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.833122 2025-10-27T05:02:02.394Z,1761541322.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620338,0.782237,0.057323],[-0.784002,-0.620545,-0.016277],[0.022839,-0.055039,0.998223]] 2025-10-27T05:02:02.413Z,1761541322.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.69 m. 2025-10-27T05:02:02.425Z,1761541322.425 [DAT](INFO): DAT read: Rx Time:05:02:01.1852 2025-10-27T05:02:02.425Z,1761541322.425 [DAT](INFO): Rx dataTimestamp_ set to:1761541322.424718 2025-10-27T05:02:02.426Z,1761541322.426 [DAT](INFO): DAT read: Bearing 192.8, 17.6 (Local) 2025-10-27T05:02:02.427Z,1761541322.427 [DAT](INFO): Local bearing/azimuth received: Bearing 192.8, 17.6 (Local) 2025-10-27T05:02:02.429Z,1761541322.429 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-27T05:02:02.433Z,1761541322.433 [DAT](INFO): DAT read: 05:02:01.1852 LVL= 26512, 25185, 32754, 32755, AGC= 63, IDX= 511, 0.23,-0.103, 1.379,-0.677, 0.362, PHS=-0.363, 1.063,-1.083, RAW= 349.2, 4.1, CAL= 348.9, 1.7, ROT= 161.1, -1.7 2025-10-27T05:02:02.434Z,1761541322.434 [DAT](INFO): got valid direction response: 05:02:01.1852 LVL= 26512, 25185, 32754, 32755, AGC= 63, IDX= 511, 0.23,-0.103, 1.379,-0.677, 0.362, PHS=-0.363, 1.063,-1.083, RAW= 349.2, 4.1, CAL= 348.9, 1.7, ROT= 161.1, -1.7 2025-10-27T05:02:02.435Z,1761541322.435 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:02:02.436Z,1761541322.436 [DAT](INFO): direction in FSK: [-0.945669,0.323775,0.029666] 2025-10-27T05:02:02.436Z,1761541322.436 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:02.440Z,1761541322.440 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.100967 2025-10-27T05:02:02.676Z,1761541322.676 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.336952 2025-10-27T05:02:02.781Z,1761541322.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620069,0.782466,0.057107],[-0.784227,-0.620250,-0.016644],[0.022397,-0.055105,0.998229]] 2025-10-27T05:02:02.856Z,1761541322.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503994 s, deltaX: 0.300001 m, approachRate: 0.595247 m/s, rangeRepo size: 4 2025-10-27T05:02:02.874Z,1761541322.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.985077 m, bearing: 32.705997 deg, lat: 36.779320 deg, lon: -121.859588 deg, deltaT: 0.503994 s, deltaX: 0.298534 m, approachRate: 0.592337 m/s, posRepo size: 4 2025-10-27T05:02:02.874Z,1761541322.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m. 2025-10-27T05:02:02.930Z,1761541322.930 [DAT](INFO): DAT read: Rx Time:05:02:01.6851 2025-10-27T05:02:02.930Z,1761541322.930 [DAT](INFO): Rx dataTimestamp_ set to:1761541322.929904 2025-10-27T05:02:02.932Z,1761541322.932 [DAT](INFO): DAT read: Bearing 193.2, 17.2 (Local) 2025-10-27T05:02:02.933Z,1761541322.933 [DAT](INFO): Local bearing/azimuth received: Bearing 193.2, 17.2 (Local) 2025-10-27T05:02:02.936Z,1761541322.936 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.1 2025-10-27T05:02:02.941Z,1761541322.941 [DAT](INFO): DAT read: 05:02:01.6851 LVL= 26912, 24721, 32754, 32755, AGC= 63, IDX= 511,-0.20, 2.838,-1.946, 2.276,-2.977, PHS=-0.366, 1.076,-1.074, RAW= 348.8, 3.9, CAL= 348.5, 1.4, ROT= 161.5, -1.4 2025-10-27T05:02:02.943Z,1761541322.943 [DAT](INFO): got valid direction response: 05:02:01.6851 LVL= 26912, 24721, 32754, 32755, AGC= 63, IDX= 511,-0.20, 2.838,-1.946, 2.276,-2.977, PHS=-0.366, 1.076,-1.074, RAW= 348.8, 3.9, CAL= 348.5, 1.4, ROT= 161.5, -1.4 2025-10-27T05:02:02.943Z,1761541322.943 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:02:02.945Z,1761541322.945 [DAT](INFO): direction in FSK: [-0.948041,0.317210,0.024432] 2025-10-27T05:02:02.945Z,1761541322.945 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:02.950Z,1761541322.950 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.611012 2025-10-27T05:02:03.181Z,1761541323.181 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.841484 2025-10-27T05:02:03.200Z,1761541323.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619967,0.782559,0.056941],[-0.784316,-0.620133,-0.016844],[0.022129,-0.055103,0.998235]] 2025-10-27T05:02:03.244Z,1761541323.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.505186 s, deltaX: -0.100000 m, approachRate: -0.197948 m/s, rangeRepo size: 4 2025-10-27T05:02:03.246Z,1761541323.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.885580 m, bearing: 33.126771 deg, lat: 36.779320 deg, lon: -121.859588 deg, deltaT: 0.505186 s, deltaX: -0.099497 m, approachRate: -0.196951 m/s, posRepo size: 4 2025-10-27T05:02:03.247Z,1761541323.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.89 m. 2025-10-27T05:02:03.433Z,1761541323.433 [DAT](INFO): DAT read: Rx Time:05:02:02.1853 2025-10-27T05:02:03.433Z,1761541323.433 [DAT](INFO): Rx dataTimestamp_ set to:1761541323.432748 2025-10-27T05:02:03.434Z,1761541323.434 [DAT](INFO): DAT read: Bearing 169.0, 14.0 (Local) 2025-10-27T05:02:03.435Z,1761541323.435 [DAT](INFO): Local bearing/azimuth received: Bearing 169.0, 14.0 (Local) 2025-10-27T05:02:03.437Z,1761541323.437 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:02:03.441Z,1761541323.441 [DAT](INFO): DAT read: 05:02:02.1853 LVL= 27968, 25905, 32754, 32755, AGC= 63, IDX= 512, 0.15,-3.024,-1.842, 2.871,-2.214, PHS=-0.708, 0.417,-1.242, RAW= 348.4, 20.3, CAL= 348.5, 24.9, ROT= 161.5, -24.9 2025-10-27T05:02:03.443Z,1761541323.443 [DAT](INFO): got valid direction response: 05:02:02.1853 LVL= 27968, 25905, 32754, 32755, AGC= 63, IDX= 512, 0.15,-3.024,-1.842, 2.871,-2.214, PHS=-0.708, 0.417,-1.242, RAW= 348.4, 20.3, CAL= 348.5, 24.9, ROT= 161.5, -24.9 2025-10-27T05:02:03.443Z,1761541323.443 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:02:03.444Z,1761541323.444 [DAT](INFO): direction in FSK: [-0.860171,0.287809,0.421036] 2025-10-27T05:02:03.444Z,1761541323.444 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:03.448Z,1761541323.448 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.109043 2025-10-27T05:02:03.591Z,1761541323.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619650,0.782826,0.056710],[-0.784577,-0.619794,-0.017147],[0.021725,-0.055118,0.998243]] 2025-10-27T05:02:03.617Z,1761541323.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.502844 s, deltaX: 0.299999 m, approachRate: 0.596605 m/s, rangeRepo size: 4 2025-10-27T05:02:03.619Z,1761541323.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.184088 m, bearing: 32.026545 deg, lat: 36.779318 deg, lon: -121.859588 deg, deltaT: 0.502844 s, deltaX: 0.298508 m, approachRate: 0.593639 m/s, posRepo size: 4 2025-10-27T05:02:03.620Z,1761541323.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:02:03.684Z,1761541323.684 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.345131 2025-10-27T05:02:03.937Z,1761541323.937 [DAT](INFO): DAT read: Rx Time:05:02:02.6852 2025-10-27T05:02:03.937Z,1761541323.937 [DAT](INFO): Rx dataTimestamp_ set to:1761541323.936703 2025-10-27T05:02:03.938Z,1761541323.938 [DAT](INFO): DAT read: Bearing 210.8, 16.9 (Local) 2025-10-27T05:02:03.939Z,1761541323.939 [DAT](INFO): Local bearing/azimuth received: Bearing 210.8, 16.9 (Local) 2025-10-27T05:02:03.941Z,1761541323.941 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 2025-10-27T05:02:03.945Z,1761541323.945 [DAT](INFO): DAT read: 05:02:02.6852 LVL= 27056, 25505, 32754, 32755, AGC= 63, IDX= 512,-0.28, 0.231, 1.715,-0.277, 0.211, PHS= 0.122, 1.549,-0.532, RAW= 347.9, -12.3, CAL= 347.6, -15.4, ROT= 162.4, 15.4 2025-10-27T05:02:03.946Z,1761541323.946 [DAT](INFO): got valid direction response: 05:02:02.6852 LVL= 27056, 25505, 32754, 32755, AGC= 63, IDX= 512,-0.28, 0.231, 1.715,-0.277, 0.211, PHS= 0.122, 1.549,-0.532, RAW= 347.9, -12.3, CAL= 347.6, -15.4, ROT= 162.4, 15.4 2025-10-27T05:02:03.947Z,1761541323.947 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:02:03.948Z,1761541323.948 [DAT](INFO): direction in FSK: [-0.918967,0.291514,-0.265556] 2025-10-27T05:02:03.948Z,1761541323.948 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:03.952Z,1761541323.952 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.612915 2025-10-27T05:02:03.994Z,1761541323.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619084,0.783303,0.056314],[-0.785040,-0.619197,-0.017522],[0.021144,-0.055057,0.998259]] 2025-10-27T05:02:04.064Z,1761541324.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503955 s, deltaX: -0.199999 m, approachRate: -0.396859 m/s, rangeRepo size: 4 2025-10-27T05:02:04.066Z,1761541324.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.985083 m, bearing: 34.891612 deg, lat: 36.779317 deg, lon: -121.859588 deg, deltaT: 0.503955 s, deltaX: -0.199005 m, approachRate: -0.394887 m/s, posRepo size: 4 2025-10-27T05:02:04.071Z,1761541324.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m. 2025-10-27T05:02:04.188Z,1761541324.188 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.849133 2025-10-27T05:02:04.401Z,1761541324.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618182,0.784031,0.056101],[-0.785764,-0.618266,-0.017933],[0.020625,-0.055168,0.998264]] 2025-10-27T05:02:04.438Z,1761541324.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m. 2025-10-27T05:02:04.440Z,1761541324.440 [DAT](INFO): DAT read: Rx Time:05:02:03.1853 2025-10-27T05:02:04.441Z,1761541324.441 [DAT](INFO): Rx dataTimestamp_ set to:1761541324.440506 2025-10-27T05:02:04.442Z,1761541324.442 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:02:04.443Z,1761541324.443 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-27T05:02:04.444Z,1761541324.444 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.104618 2025-10-27T05:02:04.692Z,1761541324.692 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.352909 2025-10-27T05:02:04.801Z,1761541324.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617519,0.784583,0.055673],[-0.786298,-0.617581,-0.018137],[0.020153,-0.054975,0.998284]] 2025-10-27T05:02:04.893Z,1761541324.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503803 s, deltaX: 0.199999 m, approachRate: 0.396978 m/s, rangeRepo size: 4 2025-10-27T05:02:04.894Z,1761541324.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.99 m. 2025-10-27T05:02:04.946Z,1761541324.946 [DAT](INFO): DAT read: Rx Time:05:02:03.6853 2025-10-27T05:02:04.946Z,1761541324.946 [DAT](INFO): Rx dataTimestamp_ set to:1761541324.945953 2025-10-27T05:02:04.949Z,1761541324.949 [DAT](INFO): DAT read: Bearing 204.7, 16.1 (Local) 2025-10-27T05:02:04.950Z,1761541324.950 [DAT](INFO): Local bearing/azimuth received: Bearing 204.7, 16.1 (Local) 2025-10-27T05:02:04.953Z,1761541324.953 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-27T05:02:04.957Z,1761541324.957 [DAT](INFO): DAT read: 05:02:03.6853 LVL= 25008, 23105, 32754, 32755, AGC= 63, IDX= 512, 0.31,-2.137,-0.786,-2.554,-1.967, PHS=-0.068, 1.227,-0.630, RAW= 347.2, -6.5, CAL= 346.8, -9.5, ROT= 163.2, 9.5 2025-10-27T05:02:04.958Z,1761541324.958 [DAT](INFO): got valid direction response: 05:02:03.6853 LVL= 25008, 23105, 32754, 32755, AGC= 63, IDX= 512, 0.31,-2.137,-0.786,-2.554,-1.967, PHS=-0.068, 1.227,-0.630, RAW= 347.2, -6.5, CAL= 346.8, -9.5, ROT= 163.2, 9.5 2025-10-27T05:02:04.959Z,1761541324.959 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:02:04.960Z,1761541324.960 [DAT](INFO): direction in FSK: [-0.944190,0.285068,-0.165048] 2025-10-27T05:02:04.961Z,1761541324.961 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:04.964Z,1761541324.964 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.625252 2025-10-27T05:02:05.196Z,1761541325.196 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.856972 2025-10-27T05:02:05.227Z,1761541325.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616607,0.785326,0.055306],[-0.787026,-0.616646,-0.018402],[0.019653,-0.054874,0.998300]] 2025-10-27T05:02:05.353Z,1761541325.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505447 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:05.361Z,1761541325.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.184135 m, bearing: 35.590568 deg, lat: 36.779310 deg, lon: -121.859587 deg, deltaT: 1.009250 s, deltaX: 0.199053 m, approachRate: 0.197228 m/s, posRepo size: 4 2025-10-27T05:02:05.361Z,1761541325.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:02:05.449Z,1761541325.449 [DAT](INFO): DAT read: Rx Time:05:02:04.1853 2025-10-27T05:02:05.449Z,1761541325.449 [DAT](INFO): Rx dataTimestamp_ set to:1761541325.449082 2025-10-27T05:02:05.451Z,1761541325.451 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-27T05:02:05.451Z,1761541325.451 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T05:02:05.452Z,1761541325.452 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.113178 2025-10-27T05:02:05.687Z,1761541325.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:05.688Z,1761541325.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:02:05.701Z,1761541325.701 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.361603 2025-10-27T05:02:05.952Z,1761541325.952 [DAT](INFO): DAT read: Rx Time:05:02:04.6853 2025-10-27T05:02:05.952Z,1761541325.952 [DAT](INFO): Rx dataTimestamp_ set to:1761541325.952203 2025-10-27T05:02:05.954Z,1761541325.954 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:02:05.954Z,1761541325.954 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-27T05:02:05.955Z,1761541325.955 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.616325 2025-10-27T05:02:06.015Z,1761541326.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614314,0.787151,0.054883],[-0.788839,-0.614306,-0.019005],[0.018755,-0.054969,0.998312]] 2025-10-27T05:02:06.040Z,1761541326.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503121 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:06.040Z,1761541326.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:02:06.204Z,1761541326.204 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.865135 2025-10-27T05:02:06.418Z,1761541326.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613097,0.788111,0.054716],[-0.789795,-0.613068,-0.019274],[0.018355,-0.055031,0.998316]] 2025-10-27T05:02:06.457Z,1761541326.457 [DAT](INFO): DAT read: Rx Time:05:02:05.1854 2025-10-27T05:02:06.457Z,1761541326.457 [DAT](INFO): Rx dataTimestamp_ set to:1761541326.456986 2025-10-27T05:02:06.459Z,1761541326.459 [DAT](INFO): DAT read: Bearing 191.7, 17.5 (Local) 2025-10-27T05:02:06.459Z,1761541326.459 [DAT](INFO): Local bearing/azimuth received: Bearing 191.7, 17.5 (Local) 2025-10-27T05:02:06.461Z,1761541326.461 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1 2025-10-27T05:02:06.466Z,1761541326.466 [DAT](INFO): DAT read: 05:02:05.1854 LVL= 24992, 19729, 23618, 26691, AGC= 68, IDX= 2,-0.26,-2.368,-0.913,-2.918,-1.881, PHS=-0.384, 1.014,-1.080, RAW= 349.0, 4.9, CAL= 348.8, 3.0, ROT= 161.2, -3.0 2025-10-27T05:02:06.467Z,1761541326.467 [DAT](INFO): got valid direction response: 05:02:05.1854 LVL= 24992, 19729, 23618, 26691, AGC= 68, IDX= 2,-0.26,-2.368,-0.913,-2.918,-1.881, PHS=-0.384, 1.014,-1.080, RAW= 349.0, 4.9, CAL= 348.8, 3.0, ROT= 161.2, -3.0 2025-10-27T05:02:06.467Z,1761541326.467 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:02:06.468Z,1761541326.468 [DAT](INFO): direction in FSK: [-0.945352,0.321824,0.052336] 2025-10-27T05:02:06.469Z,1761541326.469 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:06.472Z,1761541326.472 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.133484 2025-10-27T05:02:06.540Z,1761541326.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504783 s, deltaX: 0.100000 m, approachRate: 0.198106 m/s, rangeRepo size: 4 2025-10-27T05:02:06.542Z,1761541326.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.283600 m, bearing: 33.257723 deg, lat: 36.779310 deg, lon: -121.859586 deg, deltaT: 1.511033 s, deltaX: 0.099464 m, approachRate: 0.065825 m/s, posRepo size: 4 2025-10-27T05:02:06.542Z,1761541326.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:02:06.709Z,1761541326.709 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.369553 2025-10-27T05:02:06.852Z,1761541326.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612179,0.788838,0.054521],[-0.790511,-0.612143,-0.019307],[0.018145,-0.054918,0.998326]] 2025-10-27T05:02:06.899Z,1761541326.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:02:06.961Z,1761541326.961 [DAT](INFO): DAT read: Rx Time:05:02:05.6854 2025-10-27T05:02:06.962Z,1761541326.962 [DAT](INFO): Rx dataTimestamp_ set to:1761541326.961497 2025-10-27T05:02:06.964Z,1761541326.964 [DAT](INFO): DAT read: Bearing 191.0, 18.0 (Local) 2025-10-27T05:02:06.964Z,1761541326.964 [DAT](INFO): Local bearing/azimuth received: Bearing 191.0, 18.0 (Local) 2025-10-27T05:02:06.980Z,1761541326.980 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1 2025-10-27T05:02:06.985Z,1761541326.985 [DAT](INFO): DAT read: 05:02:05.6854 LVL= 24352, 21745, 32754, 32755, AGC= 63, IDX= 497, 0.12,-1.894,-0.446,-2.466,-1.404, PHS=-0.388, 1.002,-1.106, RAW= 349.6, 5.4, CAL= 349.3, 3.7, ROT= 160.7, -3.7 2025-10-27T05:02:06.986Z,1761541326.986 [DAT](INFO): got valid direction response: 05:02:05.6854 LVL= 24352, 21745, 32754, 32755, AGC= 63, IDX= 497, 0.12,-1.894,-0.446,-2.466,-1.404, PHS=-0.388, 1.002,-1.106, RAW= 349.6, 5.4, CAL= 349.3, 3.7, ROT= 160.7, -3.7 2025-10-27T05:02:06.986Z,1761541326.986 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:02:07.004Z,1761541327.004 [DAT](INFO): direction in FSK: [-0.941834,0.329826,0.064532] 2025-10-27T05:02:07.004Z,1761541327.004 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:07.052Z,1761541327.052 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.713173 2025-10-27T05:02:07.212Z,1761541327.212 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.872822 2025-10-27T05:02:07.230Z,1761541327.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611196,0.789616,0.054269],[-0.791277,-0.611152,-0.019338],[0.017897,-0.054761,0.998339]] 2025-10-27T05:02:07.277Z,1761541327.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504511 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:07.283Z,1761541327.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.283588 m, bearing: 32.865298 deg, lat: 36.779310 deg, lon: -121.859582 deg, deltaT: 0.504511 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 2025-10-27T05:02:07.284Z,1761541327.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:02:07.464Z,1761541327.464 [DAT](INFO): DAT read: Rx Time:05:02:06.1855 2025-10-27T05:02:07.465Z,1761541327.465 [DAT](INFO): Rx dataTimestamp_ set to:1761541327.464615 2025-10-27T05:02:07.466Z,1761541327.466 [DAT](INFO): DAT read: Bearing 191.3, 17.5 (Local) 2025-10-27T05:02:07.466Z,1761541327.466 [DAT](INFO): Local bearing/azimuth received: Bearing 191.3, 17.5 (Local) 2025-10-27T05:02:07.469Z,1761541327.469 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:02:07.474Z,1761541327.474 [DAT](INFO): DAT read: 05:02:06.1855 LVL= 26976, 24273, 32754, 32755, AGC= 63, IDX= 499,-0.32,-2.475,-1.021,-3.026,-1.980, PHS=-0.392, 1.005,-1.090, RAW= 349.1, 5.2, CAL= 348.8, 3.5, ROT= 161.2, -3.5 2025-10-27T05:02:07.475Z,1761541327.475 [DAT](INFO): got valid direction response: 05:02:06.1855 LVL= 26976, 24273, 32754, 32755, AGC= 63, IDX= 499,-0.32,-2.475,-1.021,-3.026,-1.980, PHS=-0.392, 1.005,-1.090, RAW= 349.1, 5.2, CAL= 348.8, 3.5, ROT= 161.2, -3.5 2025-10-27T05:02:07.475Z,1761541327.475 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:02:07.476Z,1761541327.476 [DAT](INFO): direction in FSK: [-0.944884,0.321665,0.061049] 2025-10-27T05:02:07.476Z,1761541327.476 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:07.480Z,1761541327.480 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.141430 2025-10-27T05:02:07.688Z,1761541327.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503118 s, deltaX: 0.200001 m, approachRate: 0.397523 m/s, rangeRepo size: 4 2025-10-27T05:02:07.690Z,1761541327.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.482594 m, bearing: 33.373168 deg, lat: 36.779317 deg, lon: -121.859582 deg, deltaT: 0.503118 s, deltaX: 0.199005 m, approachRate: 0.395544 m/s, posRepo size: 4 2025-10-27T05:02:07.690Z,1761541327.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:02:07.717Z,1761541327.717 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.377918 2025-10-27T05:02:07.968Z,1761541327.968 [DAT](INFO): DAT read: Rx Time:05:02:06.6854 2025-10-27T05:02:07.969Z,1761541327.969 [DAT](INFO): Rx dataTimestamp_ set to:1761541327.968664 2025-10-27T05:02:07.970Z,1761541327.970 [DAT](INFO): DAT read: Bearing 190.6, 17.5 (Local) 2025-10-27T05:02:07.971Z,1761541327.971 [DAT](INFO): Local bearing/azimuth received: Bearing 190.6, 17.5 (Local) 2025-10-27T05:02:07.973Z,1761541327.973 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1 2025-10-27T05:02:07.977Z,1761541327.977 [DAT](INFO): DAT read: 05:02:06.6854 LVL= 24752, 24881, 32754, 32755, AGC= 63, IDX= 498, 0.07,-2.768,-1.326, 2.968,-2.264, PHS=-0.402, 0.983,-1.095, RAW= 349.1, 5.7, CAL= 348.9, 4.2, ROT= 161.1, -4.2 2025-10-27T05:02:07.978Z,1761541327.978 [DAT](INFO): got valid direction response: 05:02:06.6854 LVL= 24752, 24881, 32754, 32755, AGC= 63, IDX= 498, 0.07,-2.768,-1.326, 2.968,-2.264, PHS=-0.402, 0.983,-1.095, RAW= 349.1, 5.7, CAL= 348.9, 4.2, ROT= 161.1, -4.2 2025-10-27T05:02:07.979Z,1761541327.979 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:02:07.980Z,1761541327.980 [DAT](INFO): direction in FSK: [-0.943545,0.323047,0.073238] 2025-10-27T05:02:07.980Z,1761541327.980 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:07.984Z,1761541327.984 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.644920 2025-10-27T05:02:08.046Z,1761541328.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609736,0.790770,0.053900],[-0.792405,-0.609698,-0.019063],[0.017788,-0.054334,0.998364]] 2025-10-27T05:02:08.110Z,1761541328.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504049 s, deltaX: -0.200001 m, approachRate: -0.396788 m/s, rangeRepo size: 4 2025-10-27T05:02:08.121Z,1761541328.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.283588 m, bearing: 33.348189 deg, lat: 36.779317 deg, lon: -121.859580 deg, deltaT: 0.504049 s, deltaX: -0.199005 m, approachRate: -0.394813 m/s, posRepo size: 4 2025-10-27T05:02:08.121Z,1761541328.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:02:08.220Z,1761541328.220 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.881107 2025-10-27T05:02:08.439Z,1761541328.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609169,0.791204,0.053936],[-0.792838,-0.609142,-0.018841],[0.017948,-0.054240,0.998367]] 2025-10-27T05:02:08.473Z,1761541328.473 [DAT](INFO): DAT read: Rx Time:05:02:07.1856 2025-10-27T05:02:08.473Z,1761541328.473 [DAT](INFO): Rx dataTimestamp_ set to:1761541328.472755 2025-10-27T05:02:08.474Z,1761541328.474 [DAT](INFO): DAT read: Bearing 190.5, 17.1 (Local) 2025-10-27T05:02:08.475Z,1761541328.475 [DAT](INFO): Local bearing/azimuth received: Bearing 190.5, 17.1 (Local) 2025-10-27T05:02:08.477Z,1761541328.477 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:02:08.482Z,1761541328.482 [DAT](INFO): DAT read: 05:02:07.1856 LVL= 26352, 24449, 32754, 32755, AGC= 62, IDX= 500,-0.43,-2.912,-1.463, 2.840,-2.398, PHS=-0.412, 0.979,-1.090, RAW= 348.7, 5.8, CAL= 348.5, 4.4, ROT= 161.5, -4.4 2025-10-27T05:02:08.499Z,1761541328.499 [DAT](INFO): got valid direction response: 05:02:07.1856 LVL= 26352, 24449, 32754, 32755, AGC= 62, IDX= 500,-0.43,-2.912,-1.463, 2.840,-2.398, PHS=-0.412, 0.979,-1.090, RAW= 348.7, 5.8, CAL= 348.5, 4.4, ROT= 161.5, -4.4 2025-10-27T05:02:08.499Z,1761541328.499 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:02:08.500Z,1761541328.500 [DAT](INFO): direction in FSK: [-0.945529,0.316369,0.076719] 2025-10-27T05:02:08.501Z,1761541328.501 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:08.504Z,1761541328.504 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.165359 2025-10-27T05:02:08.529Z,1761541328.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504091 s, deltaX: 0.300001 m, approachRate: 0.595133 m/s, rangeRepo size: 4 2025-10-27T05:02:08.536Z,1761541328.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.582069 m, bearing: 33.779133 deg, lat: 36.779317 deg, lon: -121.859580 deg, deltaT: 0.504091 s, deltaX: 0.298481 m, approachRate: 0.592117 m/s, posRepo size: 4 2025-10-27T05:02:08.537Z,1761541328.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:02:08.724Z,1761541328.724 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.385399 2025-10-27T05:02:08.878Z,1761541328.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608720,0.791540,0.054088],[-0.793177,-0.608706,-0.018634],[0.018174,-0.054245,0.998362]] 2025-10-27T05:02:08.898Z,1761541328.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:02:08.978Z,1761541328.978 [DAT](INFO): DAT read: Rx Time:05:02:07.6855 2025-10-27T05:02:08.978Z,1761541328.978 [DAT](INFO): Rx dataTimestamp_ set to:1761541328.978023 2025-10-27T05:02:08.981Z,1761541328.981 [DAT](INFO): DAT read: Bearing 190.0, 17.3 (Local) 2025-10-27T05:02:08.981Z,1761541328.981 [DAT](INFO): Local bearing/azimuth received: Bearing 190.0, 17.3 (Local) 2025-10-27T05:02:08.983Z,1761541328.983 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.0 2025-10-27T05:02:08.993Z,1761541328.993 [DAT](INFO): DAT read: 05:02:07.6855 LVL= 22672, 21201, 32754, 32755, AGC= 62, IDX= 499, 0.00, 2.892,-1.944, 2.352,-2.870, PHS=-0.419, 0.971,-1.105, RAW= 348.9, 6.1, CAL= 348.7, 4.9, ROT= 161.3, -4.9 2025-10-27T05:02:08.994Z,1761541328.994 [DAT](INFO): got valid direction response: 05:02:07.6855 LVL= 22672, 21201, 32754, 32755, AGC= 62, IDX= 499, 0.00, 2.892,-1.944, 2.352,-2.870, PHS=-0.419, 0.971,-1.105, RAW= 348.9, 6.1, CAL= 348.7, 4.9, ROT= 161.3, -4.9 2025-10-27T05:02:08.994Z,1761541328.994 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:02:08.995Z,1761541328.995 [DAT](INFO): direction in FSK: [-0.943748,0.319441,0.085417] 2025-10-27T05:02:08.996Z,1761541328.996 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:08.999Z,1761541328.999 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.660465 2025-10-27T05:02:09.228Z,1761541329.228 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.888908 2025-10-27T05:02:09.250Z,1761541329.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608702,0.791536,0.054328],[-0.793181,-0.608711,-0.018292],[0.018591,-0.054227,0.998356]] 2025-10-27T05:02:09.286Z,1761541329.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.505268 s, deltaX: -0.100000 m, approachRate: -0.197916 m/s, rangeRepo size: 4 2025-10-27T05:02:09.292Z,1761541329.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.482544 m, bearing: 33.590713 deg, lat: 36.779316 deg, lon: -121.859579 deg, deltaT: 0.505268 s, deltaX: -0.099525 m, approachRate: -0.196976 m/s, posRepo size: 4 2025-10-27T05:02:09.292Z,1761541329.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:02:09.481Z,1761541329.481 [DAT](INFO): DAT read: Rx Time:05:02:08.1856 2025-10-27T05:02:09.481Z,1761541329.481 [DAT](INFO): Rx dataTimestamp_ set to:1761541329.481170 2025-10-27T05:02:09.483Z,1761541329.483 [DAT](INFO): DAT read: Bearing 189.8, 17.4 (Local) 2025-10-27T05:02:09.483Z,1761541329.483 [DAT](INFO): Local bearing/azimuth received: Bearing 189.8, 17.4 (Local) 2025-10-27T05:02:09.485Z,1761541329.485 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:02:09.490Z,1761541329.490 [DAT](INFO): DAT read: 05:02:08.1856 LVL= 25200, 23089, 32754, 32755, AGC= 62, IDX= 499, 0.39,-2.724,-1.287, 3.018,-2.202, PHS=-0.419, 0.960,-1.107, RAW= 349.1, 6.3, CAL= 348.9, 5.2, ROT= 161.1, -5.2 2025-10-27T05:02:09.491Z,1761541329.491 [DAT](INFO): got valid direction response: 05:02:08.1856 LVL= 25200, 23089, 32754, 32755, AGC= 62, IDX= 499, 0.39,-2.724,-1.287, 3.018,-2.202, PHS=-0.419, 0.960,-1.107, RAW= 349.1, 6.3, CAL= 348.9, 5.2, ROT= 161.1, -5.2 2025-10-27T05:02:09.492Z,1761541329.492 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T05:02:09.493Z,1761541329.493 [DAT](INFO): direction in FSK: [-0.942192,0.322584,0.090633] 2025-10-27T05:02:09.493Z,1761541329.493 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:09.497Z,1761541329.497 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.157516 2025-10-27T05:02:09.722Z,1761541329.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503147 s, deltaX: 0.100000 m, approachRate: 0.198750 m/s, rangeRepo size: 4 2025-10-27T05:02:09.726Z,1761541329.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.582047 m, bearing: 33.377786 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.503147 s, deltaX: 0.099503 m, approachRate: 0.197760 m/s, posRepo size: 4 2025-10-27T05:02:09.726Z,1761541329.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:02:09.735Z,1761541329.735 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.396172 2025-10-27T05:02:09.988Z,1761541329.988 [DAT](INFO): DAT read: Rx Time:05:02:08.6855 2025-10-27T05:02:09.988Z,1761541329.988 [DAT](INFO): Rx dataTimestamp_ set to:1761541329.987860 2025-10-27T05:02:09.989Z,1761541329.989 [DAT](INFO): DAT read: Bearing 190.1, 17.4 (Local) 2025-10-27T05:02:09.990Z,1761541329.990 [DAT](INFO): Local bearing/azimuth received: Bearing 190.1, 17.4 (Local) 2025-10-27T05:02:09.992Z,1761541329.992 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:02:10.007Z,1761541330.007 [DAT](INFO): DAT read: 05:02:08.6855 LVL= 24848, 22817, 32754, 32755, AGC= 63, IDX= 499,-0.11, 1.010, 2.457, 0.468, 1.531, PHS=-0.419, 0.971,-1.107, RAW= 348.9, 6.1, CAL= 348.8, 4.9, ROT= 161.2, -4.9 2025-10-27T05:02:10.008Z,1761541330.008 [DAT](INFO): got valid direction response: 05:02:08.6855 LVL= 24848, 22817, 32754, 32755, AGC= 63, IDX= 499,-0.11, 1.010, 2.457, 0.468, 1.531, PHS=-0.419, 0.971,-1.107, RAW= 348.9, 6.1, CAL= 348.8, 4.9, ROT= 161.2, -4.9 2025-10-27T05:02:10.009Z,1761541330.009 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:02:10.010Z,1761541330.010 [DAT](INFO): direction in FSK: [-0.943189,0.321088,0.085417] 2025-10-27T05:02:10.010Z,1761541330.010 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:10.034Z,1761541330.034 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.695030 2025-10-27T05:02:10.062Z,1761541330.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609383,0.790978,0.054817],[-0.792634,-0.609448,-0.017466],[0.019593,-0.054093,0.998344]] 2025-10-27T05:02:10.146Z,1761541330.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.506690 s, deltaX: -0.100000 m, approachRate: -0.197360 m/s, rangeRepo size: 4 2025-10-27T05:02:10.153Z,1761541330.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.482544 m, bearing: 33.442432 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.506690 s, deltaX: -0.099503 m, approachRate: -0.196378 m/s, posRepo size: 4 2025-10-27T05:02:10.153Z,1761541330.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:02:10.238Z,1761541330.238 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.899208 2025-10-27T05:02:10.459Z,1761541330.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610176,0.790351,0.055041],[-0.792009,-0.610272,-0.016999],[0.020155,-0.053965,0.998339]] 2025-10-27T05:02:10.493Z,1761541330.493 [DAT](INFO): DAT read: Rx Time:05:02:09.1856 2025-10-27T05:02:10.493Z,1761541330.493 [DAT](INFO): Rx dataTimestamp_ set to:1761541330.492782 2025-10-27T05:02:10.494Z,1761541330.494 [DAT](INFO): DAT read: Bearing 189.0, 17.1 (Local) 2025-10-27T05:02:10.495Z,1761541330.495 [DAT](INFO): Local bearing/azimuth received: Bearing 189.0, 17.1 (Local) 2025-10-27T05:02:10.497Z,1761541330.497 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:02:10.510Z,1761541330.510 [DAT](INFO): DAT read: 05:02:09.1856 LVL= 26832, 24817, 32754, 32755, AGC= 62, IDX= 500, 0.24,-2.114,-0.677,-2.639,-1.574, PHS=-0.438, 0.942,-1.108, RAW= 348.7, 6.7, CAL= 348.6, 5.9, ROT= 161.4, -5.9 2025-10-27T05:02:10.511Z,1761541330.511 [DAT](INFO): got valid direction response: 05:02:09.1856 LVL= 26832, 24817, 32754, 32755, AGC= 62, IDX= 500, 0.24,-2.114,-0.677,-2.639,-1.574, PHS=-0.438, 0.942,-1.108, RAW= 348.7, 6.7, CAL= 348.6, 5.9, ROT= 161.4, -5.9 2025-10-27T05:02:10.511Z,1761541330.511 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:02:10.512Z,1761541330.512 [DAT](INFO): direction in FSK: [-0.942748,0.317270,0.102793] 2025-10-27T05:02:10.512Z,1761541330.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:10.540Z,1761541330.540 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.201221 2025-10-27T05:02:10.596Z,1761541330.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504922 s, deltaX: 0.100000 m, approachRate: 0.198051 m/s, rangeRepo size: 4 2025-10-27T05:02:10.598Z,1761541330.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.582033 m, bearing: 33.540039 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.504922 s, deltaX: 0.099489 m, approachRate: 0.197039 m/s, posRepo size: 4 2025-10-27T05:02:10.611Z,1761541330.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:02:10.744Z,1761541330.744 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.404949 2025-10-27T05:02:10.887Z,1761541330.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611071,0.789641,0.055309],[-0.791304,-0.611199,-0.016531],[0.020751,-0.053868,0.998332]] 2025-10-27T05:02:10.914Z,1761541330.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:02:10.997Z,1761541330.997 [DAT](INFO): DAT read: Rx Time:05:02:09.6856 2025-10-27T05:02:10.997Z,1761541330.997 [DAT](INFO): Rx dataTimestamp_ set to:1761541330.997053 2025-10-27T05:02:10.999Z,1761541330.999 [DAT](INFO): DAT read: Bearing 189.9, 17.3 (Local) 2025-10-27T05:02:10.000Z,1761541331.000 [DAT](INFO): Local bearing/azimuth received: Bearing 189.9, 17.3 (Local) 2025-10-27T05:02:11.002Z,1761541331.002 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:02:11.012Z,1761541331.012 [DAT](INFO): DAT read: 05:02:09.6856 LVL= 23024, 23441, 32754, 32755, AGC= 63, IDX= 500,-0.21, 1.074, 2.525, 0.530, 1.598, PHS=-0.422, 0.972,-1.112, RAW= 349.0, 6.2, CAL= 348.8, 5.0, ROT= 161.2, -5.0 2025-10-27T05:02:11.013Z,1761541331.013 [DAT](INFO): got valid direction response: 05:02:09.6856 LVL= 23024, 23441, 32754, 32755, AGC= 63, IDX= 500,-0.21, 1.074, 2.525, 0.530, 1.598, PHS=-0.422, 0.972,-1.112, RAW= 349.0, 6.2, CAL= 348.8, 5.0, ROT= 161.2, -5.0 2025-10-27T05:02:11.014Z,1761541331.014 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:02:11.023Z,1761541331.023 [DAT](INFO): direction in FSK: [-0.943047,0.321040,0.087156] 2025-10-27T05:02:11.023Z,1761541331.023 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:11.031Z,1761541331.031 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.692207 2025-10-27T05:02:11.248Z,1761541331.248 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.908882 2025-10-27T05:02:11.274Z,1761541331.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612371,0.788615,0.055563],[-0.790280,-0.612537,-0.015998],[0.021418,-0.053707,0.998327]] 2025-10-27T05:02:11.298Z,1761541331.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504271 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:11.300Z,1761541331.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.582026 m, bearing: 33.223191 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.504271 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 2025-10-27T05:02:11.301Z,1761541331.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:02:11.501Z,1761541331.501 [DAT](INFO): DAT read: Rx Time:05:02:10.1857 2025-10-27T05:02:11.501Z,1761541331.501 [DAT](INFO): Rx dataTimestamp_ set to:1761541331.500851 2025-10-27T05:02:11.502Z,1761541331.502 [DAT](INFO): DAT read: Bearing 189.2, 17.4 (Local) 2025-10-27T05:02:11.503Z,1761541331.503 [DAT](INFO): Local bearing/azimuth received: Bearing 189.2, 17.4 (Local) 2025-10-27T05:02:11.505Z,1761541331.505 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 2025-10-27T05:02:11.510Z,1761541331.510 [DAT](INFO): DAT read: 05:02:10.1857 LVL= 25792, 25585, 32754, 32755, AGC= 63, IDX= 501, 0.12,-1.887,-0.455,-2.429,-1.358, PHS=-0.427, 0.948,-1.115, RAW= 349.1, 6.6, CAL= 349.0, 5.6, ROT= 161.0, -5.6 2025-10-27T05:02:11.511Z,1761541331.511 [DAT](INFO): got valid direction response: 05:02:10.1857 LVL= 25792, 25585, 32754, 32755, AGC= 63, IDX= 501, 0.12,-1.887,-0.455,-2.429,-1.358, PHS=-0.427, 0.948,-1.115, RAW= 349.1, 6.6, CAL= 349.0, 5.6, ROT= 161.0, -5.6 2025-10-27T05:02:11.511Z,1761541331.511 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:02:11.512Z,1761541331.512 [DAT](INFO): direction in FSK: [-0.941006,0.324014,0.097583] 2025-10-27T05:02:11.513Z,1761541331.513 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:11.516Z,1761541331.516 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.177483 2025-10-27T05:02:11.670Z,1761541331.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613449,0.787751,0.055926],[-0.789430,-0.613640,-0.015724],[0.021931,-0.053795,0.998311]] 2025-10-27T05:02:11.752Z,1761541331.752 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.413086 2025-10-27T05:02:11.753Z,1761541331.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503798 s, deltaX: 0.199999 m, approachRate: 0.396982 m/s, rangeRepo size: 4 2025-10-27T05:02:11.759Z,1761541331.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.781029 m, bearing: 32.919042 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.503798 s, deltaX: 0.199003 m, approachRate: 0.395006 m/s, posRepo size: 4 2025-10-27T05:02:11.760Z,1761541331.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:02:12.004Z,1761541332.004 [DAT](INFO): DAT read: Rx Time:05:02:10.6857 2025-10-27T05:02:12.005Z,1761541332.005 [DAT](INFO): Rx dataTimestamp_ set to:1761541332.004681 2025-10-27T05:02:12.006Z,1761541332.006 [DAT](INFO): DAT read: Bearing 189.3, 17.3 (Local) 2025-10-27T05:02:12.007Z,1761541332.007 [DAT](INFO): Local bearing/azimuth received: Bearing 189.3, 17.3 (Local) 2025-10-27T05:02:12.009Z,1761541332.009 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 2025-10-27T05:02:12.013Z,1761541332.013 [DAT](INFO): DAT read: 05:02:10.6857 LVL= 26992, 25825, 32754, 32755, AGC= 63, IDX= 501,-0.39, 1.917,-2.927, 1.375, 2.447, PHS=-0.428, 0.954,-1.116, RAW= 349.1, 6.5, CAL= 348.9, 5.5, ROT= 161.1, -5.5 2025-10-27T05:02:12.014Z,1761541332.014 [DAT](INFO): got valid direction response: 05:02:10.6857 LVL= 26992, 25825, 32754, 32755, AGC= 63, IDX= 501,-0.39, 1.917,-2.927, 1.375, 2.447, PHS=-0.428, 0.954,-1.116, RAW= 349.1, 6.5, CAL= 348.9, 5.5, ROT= 161.1, -5.5 2025-10-27T05:02:12.024Z,1761541332.024 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:02:12.025Z,1761541332.025 [DAT](INFO): direction in FSK: [-0.941730,0.322426,0.095846] 2025-10-27T05:02:12.025Z,1761541332.025 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:12.029Z,1761541332.029 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.689705 2025-10-27T05:02:12.074Z,1761541332.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614572,0.786833,0.056523],[-0.788540,-0.614787,-0.015570],[0.022499,-0.054139,0.998280]] 2025-10-27T05:02:12.128Z,1761541332.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:12.130Z,1761541332.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.781029 m, bearing: 32.940048 deg, lat: 36.779315 deg, lon: -121.859581 deg, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:12.130Z,1761541332.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:02:12.256Z,1761541332.256 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.917171 2025-10-27T05:02:12.477Z,1761541332.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616048,0.785657,0.056811],[-0.787374,-0.616284,-0.015353],[0.022949,-0.054190,0.998267]] 2025-10-27T05:02:12.509Z,1761541332.509 [DAT](INFO): DAT read: Rx Time:05:02:11.1858 2025-10-27T05:02:12.509Z,1761541332.509 [DAT](INFO): Rx dataTimestamp_ set to:1761541332.508774 2025-10-27T05:02:12.510Z,1761541332.510 [DAT](INFO): DAT read: Bearing 189.4, 17.7 (Local) 2025-10-27T05:02:12.511Z,1761541332.511 [DAT](INFO): Local bearing/azimuth received: Bearing 189.4, 17.7 (Local) 2025-10-27T05:02:12.513Z,1761541332.513 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:02:12.518Z,1761541332.518 [DAT](INFO): DAT read: 05:02:11.1858 LVL= 26032, 23825, 32754, 32755, AGC= 64, IDX= 502, 0.02,-2.487,-1.053,-3.042,-1.965, PHS=-0.420, 0.957,-1.121, RAW= 349.4, 6.4, CAL= 349.2, 5.4, ROT= 160.8, -5.4 2025-10-27T05:02:12.519Z,1761541332.519 [DAT](INFO): got valid direction response: 05:02:11.1858 LVL= 26032, 23825, 32754, 32755, AGC= 64, IDX= 502, 0.02,-2.487,-1.053,-3.042,-1.965, PHS=-0.420, 0.957,-1.121, RAW= 349.4, 6.4, CAL= 349.2, 5.4, ROT= 160.8, -5.4 2025-10-27T05:02:12.520Z,1761541332.520 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:02:12.521Z,1761541332.521 [DAT](INFO): direction in FSK: [-0.940185,0.327407,0.094108] 2025-10-27T05:02:12.521Z,1761541332.521 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:12.525Z,1761541332.525 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.185673 2025-10-27T05:02:12.609Z,1761541332.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504093 s, deltaX: 0.100000 m, approachRate: 0.198377 m/s, rangeRepo size: 4 2025-10-27T05:02:12.616Z,1761541332.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.880524 m, bearing: 32.538083 deg, lat: 36.779316 deg, lon: -121.859581 deg, deltaT: 0.504093 s, deltaX: 0.099495 m, approachRate: 0.197374 m/s, posRepo size: 4 2025-10-27T05:02:12.616Z,1761541332.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:02:12.760Z,1761541332.760 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.421051 2025-10-27T05:02:12.888Z,1761541332.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617170,0.784755,0.057099],[-0.786487,-0.617416,-0.015346],[0.023211,-0.054379,0.998251]] 2025-10-27T05:02:12.925Z,1761541332.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:02:13.013Z,1761541333.013 [DAT](INFO): DAT read: Rx Time:05:02:11.6858 2025-10-27T05:02:13.014Z,1761541333.014 [DAT](INFO): Rx dataTimestamp_ set to:1761541333.013490 2025-10-27T05:02:13.016Z,1761541333.016 [DAT](INFO): DAT read: Bearing 189.1, 17.9 (Local) 2025-10-27T05:02:13.016Z,1761541333.016 [DAT](INFO): Local bearing/azimuth received: Bearing 189.1, 17.9 (Local) 2025-10-27T05:02:13.020Z,1761541333.020 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:02:13.024Z,1761541333.024 [DAT](INFO): DAT read: 05:02:11.6858 LVL= 23728, 22305, 32754, 32755, AGC= 64, IDX= 501, 0.46, 2.597,-2.254, 2.035, 3.121, PHS=-0.422, 0.953,-1.130, RAW= 349.5, 6.6, CAL= 349.4, 5.6, ROT= 160.6, -5.6 2025-10-27T05:02:13.025Z,1761541333.025 [DAT](INFO): got valid direction response: 05:02:11.6858 LVL= 23728, 22305, 32754, 32755, AGC= 64, IDX= 501, 0.46, 2.597,-2.254, 2.035, 3.121, PHS=-0.422, 0.953,-1.130, RAW= 349.5, 6.6, CAL= 349.4, 5.6, ROT= 160.6, -5.6 2025-10-27T05:02:13.026Z,1761541333.026 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:02:13.027Z,1761541333.027 [DAT](INFO): direction in FSK: [-0.938721,0.330576,0.097583] 2025-10-27T05:02:13.027Z,1761541333.027 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:13.031Z,1761541333.031 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.691677 2025-10-27T05:02:13.264Z,1761541333.264 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.924850 2025-10-27T05:02:13.289Z,1761541333.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618205,0.783917,0.057410],[-0.785667,-0.618459,-0.015371],[0.023456,-0.054608,0.998232]] 2025-10-27T05:02:13.381Z,1761541333.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504716 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:13.389Z,1761541333.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.880548 m, bearing: 32.171165 deg, lat: 36.779316 deg, lon: -121.859582 deg, deltaT: 0.504716 s, deltaX: 0.000025 m, approachRate: 0.000049 m/s, posRepo size: 4 2025-10-27T05:02:13.396Z,1761541333.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:02:13.517Z,1761541333.517 [DAT](INFO): DAT read: Rx Time:05:02:12.1858 2025-10-27T05:02:13.518Z,1761541333.518 [DAT](INFO): Rx dataTimestamp_ set to:1761541333.517442 2025-10-27T05:02:13.519Z,1761541333.519 [DAT](INFO): DAT read: Bearing 189.9, 18.1 (Local) 2025-10-27T05:02:13.519Z,1761541333.519 [DAT](INFO): Local bearing/azimuth received: Bearing 189.9, 18.1 (Local) 2025-10-27T05:02:13.522Z,1761541333.522 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:02:13.526Z,1761541333.526 [DAT](INFO): DAT read: 05:02:12.1858 LVL= 22720, 20961, 32754, 32755, AGC= 64, IDX= 502,-0.02, 1.292, 2.731, 0.719, 1.801, PHS=-0.407, 0.975,-1.126, RAW= 349.7, 6.1, CAL= 349.5, 4.8, ROT= 160.5, -4.8 2025-10-27T05:02:13.527Z,1761541333.527 [DAT](INFO): got valid direction response: 05:02:12.1858 LVL= 22720, 20961, 32754, 32755, AGC= 64, IDX= 502,-0.02, 1.292, 2.731, 0.719, 1.801, PHS=-0.407, 0.975,-1.126, RAW= 349.7, 6.1, CAL= 349.5, 4.8, ROT= 160.5, -4.8 2025-10-27T05:02:13.528Z,1761541333.528 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T05:02:13.529Z,1761541333.529 [DAT](INFO): direction in FSK: [-0.939336,0.332636,0.083678] 2025-10-27T05:02:13.529Z,1761541333.529 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:13.538Z,1761541333.538 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.198914 2025-10-27T05:02:13.695Z,1761541333.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619354,0.783004,0.057501],[-0.784757,-0.619614,-0.015331],[0.023624,-0.054619,0.998228]] 2025-10-27T05:02:13.766Z,1761541333.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:13.768Z,1761541333.768 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.429325 2025-10-27T05:02:13.770Z,1761541333.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.880548 m, bearing: 32.022703 deg, lat: 36.779317 deg, lon: -121.859583 deg, deltaT: 0.503952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:13.770Z,1761541333.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:02:14.020Z,1761541334.020 [DAT](INFO): DAT read: Rx Time:05:02:12.6858 2025-10-27T05:02:14.021Z,1761541334.021 [DAT](INFO): Rx dataTimestamp_ set to:1761541334.020674 2025-10-27T05:02:14.022Z,1761541334.022 [DAT](INFO): DAT read: Bearing 190.0, 18.1 (Local) 2025-10-27T05:02:14.023Z,1761541334.023 [DAT](INFO): Local bearing/azimuth received: Bearing 190.0, 18.1 (Local) 2025-10-27T05:02:14.025Z,1761541334.025 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:02:14.029Z,1761541334.029 [DAT](INFO): DAT read: 05:02:12.6858 LVL= 22000, 21617, 32754, 32755, AGC= 63, IDX= 501, 0.45, 0.423, 1.864,-0.156, 0.929, PHS=-0.404, 0.980,-1.128, RAW= 349.8, 6.0, CAL= 349.6, 4.7, ROT= 160.4, -4.7 2025-10-27T05:02:14.030Z,1761541334.030 [DAT](INFO): got valid direction response: 05:02:12.6858 LVL= 22000, 21617, 32754, 32755, AGC= 63, IDX= 501, 0.45, 0.423, 1.864,-0.156, 0.929, PHS=-0.404, 0.980,-1.128, RAW= 349.8, 6.0, CAL= 349.6, 4.7, ROT= 160.4, -4.7 2025-10-27T05:02:14.031Z,1761541334.031 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T05:02:14.032Z,1761541334.032 [DAT](INFO): direction in FSK: [-0.938890,0.334324,0.081939] 2025-10-27T05:02:14.032Z,1761541334.032 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:14.036Z,1761541334.036 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.696800 2025-10-27T05:02:14.183Z,1761541334.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:14.185Z,1761541334.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.880548 m, bearing: 31.927409 deg, lat: 36.779317 deg, lon: -121.859585 deg, deltaT: 0.503232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:14.186Z,1761541334.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:02:14.272Z,1761541334.272 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.933048 2025-10-27T05:02:14.495Z,1761541334.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620624,0.782003,0.057421],[-0.783760,-0.620866,-0.015682],[0.023388,-0.054737,0.998227]] 2025-10-27T05:02:14.525Z,1761541334.525 [DAT](INFO): DAT read: Rx Time:05:02:13.1858 2025-10-27T05:02:14.525Z,1761541334.525 [DAT](INFO): Rx dataTimestamp_ set to:1761541334.524801 2025-10-27T05:02:14.526Z,1761541334.526 [DAT](INFO): DAT read: Bearing 190.5, 18.3 (Local) 2025-10-27T05:02:14.527Z,1761541334.527 [DAT](INFO): Local bearing/azimuth received: Bearing 190.5, 18.3 (Local) 2025-10-27T05:02:14.529Z,1761541334.529 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:02:14.534Z,1761541334.534 [DAT](INFO): DAT read: 05:02:13.1858 LVL= 24016, 19873, 32754, 32755, AGC= 64, IDX= 503,-0.01, 0.877, 2.320, 0.291, 1.372, PHS=-0.393, 0.993,-1.125, RAW= 349.9, 5.7, CAL= 349.7, 4.2, ROT= 160.3, -4.2 2025-10-27T05:02:14.552Z,1761541334.552 [DAT](INFO): got valid direction response: 05:02:13.1858 LVL= 24016, 19873, 32754, 32755, AGC= 64, IDX= 503,-0.01, 0.877, 2.320, 0.291, 1.372, PHS=-0.393, 0.993,-1.125, RAW= 349.9, 5.7, CAL= 349.7, 4.2, ROT= 160.3, -4.2 2025-10-27T05:02:14.552Z,1761541334.552 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:02:14.553Z,1761541334.553 [DAT](INFO): direction in FSK: [-0.938942,0.336190,0.073238] 2025-10-27T05:02:14.553Z,1761541334.553 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:14.558Z,1761541334.558 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.218842 2025-10-27T05:02:14.592Z,1761541334.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:14.594Z,1761541334.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.880558 m, bearing: 31.756466 deg, lat: 36.779317 deg, lon: -121.859586 deg, deltaT: 0.504127 s, deltaX: 0.000010 m, approachRate: 0.000019 m/s, posRepo size: 4 2025-10-27T05:02:14.595Z,1761541334.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:02:14.776Z,1761541334.776 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.437042 2025-10-27T05:02:14.898Z,1761541334.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620630,0.782005,0.057328],[-0.783765,-0.620849,-0.016069],[0.023026,-0.054905,0.998226]] 2025-10-27T05:02:14.916Z,1761541334.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:02:15.028Z,1761541335.028 [DAT](INFO): DAT read: Rx Time:05:02:13.6858 2025-10-27T05:02:15.029Z,1761541335.029 [DAT](INFO): Rx dataTimestamp_ set to:1761541335.029034 2025-10-27T05:02:15.031Z,1761541335.031 [DAT](INFO): DAT read: Bearing 190.4, 17.8 (Local) 2025-10-27T05:02:15.032Z,1761541335.032 [DAT](INFO): Local bearing/azimuth received: Bearing 190.4, 17.8 (Local) 2025-10-27T05:02:15.034Z,1761541335.034 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:02:15.041Z,1761541335.041 [DAT](INFO): DAT read: 05:02:13.6858 LVL= 26256, 24977, 32754, 32755, AGC= 64, IDX= 503,-0.49,-0.588, 0.857,-1.155,-0.085, PHS=-0.401, 0.987,-1.114, RAW= 349.5, 5.8, CAL= 349.3, 4.3, ROT= 160.7, -4.3 2025-10-27T05:02:15.042Z,1761541335.042 [DAT](INFO): got valid direction response: 05:02:13.6858 LVL= 26256, 24977, 32754, 32755, AGC= 64, IDX= 503,-0.49,-0.588, 0.857,-1.155,-0.085, PHS=-0.401, 0.987,-1.114, RAW= 349.5, 5.8, CAL= 349.3, 4.3, ROT= 160.7, -4.3 2025-10-27T05:02:15.042Z,1761541335.042 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T05:02:15.044Z,1761541335.044 [DAT](INFO): direction in FSK: [-0.941144,0.329584,0.074979] 2025-10-27T05:02:15.044Z,1761541335.044 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:15.048Z,1761541335.048 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.708775 2025-10-27T05:02:15.280Z,1761541335.280 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.941059 2025-10-27T05:02:15.302Z,1761541335.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620688,0.781982,0.057017],[-0.783731,-0.620886,-0.016320],[0.022639,-0.054815,0.998240]] 2025-10-27T05:02:15.408Z,1761541335.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:15.410Z,1761541335.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.880579 m, bearing: 32.146157 deg, lat: 36.779317 deg, lon: -121.859586 deg, deltaT: 0.504233 s, deltaX: 0.000021 m, approachRate: 0.000042 m/s, posRepo size: 4 2025-10-27T05:02:15.410Z,1761541335.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:02:15.534Z,1761541335.534 [DAT](INFO): DAT read: Rx Time:05:02:14.1859 2025-10-27T05:02:15.534Z,1761541335.534 [DAT](INFO): Rx dataTimestamp_ set to:1761541335.533955 2025-10-27T05:02:15.536Z,1761541335.536 [DAT](INFO): DAT read: Bearing 190.5, 18.2 (Local) 2025-10-27T05:02:15.537Z,1761541335.537 [DAT](INFO): Local bearing/azimuth received: Bearing 190.5, 18.2 (Local) 2025-10-27T05:02:15.540Z,1761541335.540 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 2025-10-27T05:02:15.544Z,1761541335.544 [DAT](INFO): DAT read: 05:02:14.1859 LVL= 25472, 23713, 32754, 32755, AGC= 64, IDX= 504, 0.04, 2.036,-2.810, 1.454, 2.530, PHS=-0.392, 0.988,-1.120, RAW= 349.9, 5.7, CAL= 349.7, 4.2, ROT= 160.3, -4.2 2025-10-27T05:02:15.545Z,1761541335.545 [DAT](INFO): got valid direction response: 05:02:14.1859 LVL= 25472, 23713, 32754, 32755, AGC= 64, IDX= 504, 0.04, 2.036,-2.810, 1.454, 2.530, PHS=-0.392, 0.988,-1.120, RAW= 349.9, 5.7, CAL= 349.7, 4.2, ROT= 160.3, -4.2 2025-10-27T05:02:15.546Z,1761541335.546 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:02:15.547Z,1761541335.547 [DAT](INFO): direction in FSK: [-0.938942,0.336190,0.073238] 2025-10-27T05:02:15.552Z,1761541335.552 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:15.556Z,1761541335.556 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.217083 2025-10-27T05:02:15.706Z,1761541335.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620019,0.782521,0.056893],[-0.784275,-0.620185,-0.016824],[0.022119,-0.055051,0.998239]] 2025-10-27T05:02:15.784Z,1761541335.784 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.444965 2025-10-27T05:02:15.794Z,1761541335.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504921 s, deltaX: 0.200001 m, approachRate: 0.396103 m/s, rangeRepo size: 4 2025-10-27T05:02:15.800Z,1761541335.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.079584 m, bearing: 31.800191 deg, lat: 36.779317 deg, lon: -121.859586 deg, deltaT: 0.504921 s, deltaX: 0.199005 m, approachRate: 0.394131 m/s, posRepo size: 4 2025-10-27T05:02:15.801Z,1761541335.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:02:16.036Z,1761541336.036 [DAT](INFO): DAT read: Rx Time:05:02:14.6859 2025-10-27T05:02:16.037Z,1761541336.037 [DAT](INFO): Rx dataTimestamp_ set to:1761541336.036645 2025-10-27T05:02:16.038Z,1761541336.038 [DAT](INFO): DAT read: Bearing 189.2, 16.7 (Local) 2025-10-27T05:02:16.039Z,1761541336.039 [DAT](INFO): Local bearing/azimuth received: Bearing 189.2, 16.7 (Local) 2025-10-27T05:02:16.041Z,1761541336.041 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 2025-10-27T05:02:16.045Z,1761541336.045 [DAT](INFO): DAT read: 05:02:14.6859 LVL= 27808, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.41, 0.441, 1.898,-0.077, 0.984, PHS=-0.442, 0.958,-1.105, RAW= 348.4, 6.5, CAL= 348.2, 5.5, ROT= 161.8, -5.5 2025-10-27T05:02:16.046Z,1761541336.046 [DAT](INFO): got valid direction response: 05:02:14.6859 LVL= 27808, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.41, 0.441, 1.898,-0.077, 0.984, PHS=-0.442, 0.958,-1.105, RAW= 348.4, 6.5, CAL= 348.2, 5.5, ROT= 161.8, -5.5 2025-10-27T05:02:16.047Z,1761541336.047 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:02:16.048Z,1761541336.048 [DAT](INFO): direction in FSK: [-0.945599,0.310897,0.095846] 2025-10-27T05:02:16.048Z,1761541336.048 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:16.052Z,1761541336.052 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.712822 2025-10-27T05:02:16.124Z,1761541336.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619196,0.783190,0.056664],[-0.784942,-0.619327,-0.017331],[0.021521,-0.055209,0.998243]] 2025-10-27T05:02:16.175Z,1761541336.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:16.185Z,1761541336.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.079584 m, bearing: 33.295792 deg, lat: 36.779317 deg, lon: -121.859585 deg, deltaT: 0.502690 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:16.185Z,1761541336.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:02:16.289Z,1761541336.289 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.949661 2025-10-27T05:02:16.514Z,1761541336.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618333,0.783896,0.056308],[-0.785638,-0.618431,-0.017769],[0.020893,-0.055225,0.998255]] 2025-10-27T05:02:16.543Z,1761541336.543 [DAT](INFO): DAT read: Rx Time:05:02:15.1861 2025-10-27T05:02:16.543Z,1761541336.543 [DAT](INFO): Rx dataTimestamp_ set to:1761541336.543049 2025-10-27T05:02:16.545Z,1761541336.545 [DAT](INFO): DAT read: Bearing 189.6, 17.5 (Local) 2025-10-27T05:02:16.545Z,1761541336.545 [DAT](INFO): Local bearing/azimuth received: Bearing 189.6, 17.5 (Local) 2025-10-27T05:02:16.547Z,1761541336.547 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.2 2025-10-27T05:02:16.552Z,1761541336.552 [DAT](INFO): DAT read: 05:02:15.1861 LVL= 28832, 25441, 32754, 32755, AGC= 63, IDX= 505, 0.13, 2.524,-2.327, 1.982, 3.043, PHS=-0.417, 0.958,-1.105, RAW= 349.1, 6.3, CAL= 349.0, 5.1, ROT= 161.0, -5.1 2025-10-27T05:02:16.553Z,1761541336.553 [DAT](INFO): got valid direction response: 05:02:15.1861 LVL= 28832, 25441, 32754, 32755, AGC= 63, IDX= 505, 0.13, 2.524,-2.327, 1.982, 3.043, PHS=-0.417, 0.958,-1.105, RAW= 349.1, 6.3, CAL= 349.0, 5.1, ROT= 161.0, -5.1 2025-10-27T05:02:16.553Z,1761541336.553 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:02:16.554Z,1761541336.554 [DAT](INFO): direction in FSK: [-0.941775,0.324279,0.088894] 2025-10-27T05:02:16.554Z,1761541336.554 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:16.558Z,1761541336.558 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.218983 2025-10-27T05:02:16.618Z,1761541336.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.506404 s, deltaX: 0.299999 m, approachRate: 0.592411 m/s, rangeRepo size: 4 2025-10-27T05:02:16.628Z,1761541336.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.378082 m, bearing: 32.579952 deg, lat: 36.779317 deg, lon: -121.859585 deg, deltaT: 0.506404 s, deltaX: 0.298498 m, approachRate: 0.589447 m/s, posRepo size: 4 2025-10-27T05:02:16.629Z,1761541336.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:02:16.792Z,1761541336.792 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.453083 2025-10-27T05:02:16.919Z,1761541336.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617092,0.784904,0.055891],[-0.786631,-0.617156,-0.018177],[0.020226,-0.055183,0.998271]] 2025-10-27T05:02:16.943Z,1761541336.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:02:17.045Z,1761541337.045 [DAT](INFO): DAT read: Rx Time:05:02:15.6860 2025-10-27T05:02:17.045Z,1761541337.045 [DAT](INFO): Rx dataTimestamp_ set to:1761541337.044764 2025-10-27T05:02:17.046Z,1761541337.046 [DAT](INFO): DAT read: Bearing 186.6, 15.1 (Local) 2025-10-27T05:02:17.047Z,1761541337.047 [DAT](INFO): Local bearing/azimuth received: Bearing 186.6, 15.1 (Local) 2025-10-27T05:02:17.049Z,1761541337.049 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 2025-10-27T05:02:17.053Z,1761541337.053 [DAT](INFO): DAT read: 05:02:15.6860 LVL= 29424, 32593, 32754, 32755, AGC= 62, IDX= 505,-0.30, 0.475, 1.922, 0.030, 1.081, PHS=-0.505, 0.886,-1.096, RAW= 346.9, 8.2, CAL= 346.9, 8.2, ROT= 163.1, -8.2 2025-10-27T05:02:17.054Z,1761541337.054 [DAT](INFO): got valid direction response: 05:02:15.6860 LVL= 29424, 32593, 32754, 32755, AGC= 62, IDX= 505,-0.30, 0.475, 1.922, 0.030, 1.081, PHS=-0.505, 0.886,-1.096, RAW= 346.9, 8.2, CAL= 346.9, 8.2, ROT= 163.1, -8.2 2025-10-27T05:02:17.055Z,1761541337.055 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:02:17.056Z,1761541337.056 [DAT](INFO): direction in FSK: [-0.947031,0.287730,0.142629] 2025-10-27T05:02:17.056Z,1761541337.056 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:17.060Z,1761541337.060 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.720959 2025-10-27T05:02:17.296Z,1761541337.296 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.956879 2025-10-27T05:02:17.372Z,1761541337.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615726,0.786006,0.055462],[-0.787716,-0.615761,-0.018491],[0.019618,-0.055074,0.998290]] 2025-10-27T05:02:17.418Z,1761541337.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.501715 s, deltaX: -0.200001 m, approachRate: -0.398634 m/s, rangeRepo size: 4 2025-10-27T05:02:17.424Z,1761541337.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.179090 m, bearing: 34.716059 deg, lat: 36.779316 deg, lon: -121.859579 deg, deltaT: 0.501715 s, deltaX: -0.198992 m, approachRate: -0.396623 m/s, posRepo size: 4 2025-10-27T05:02:17.425Z,1761541337.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:02:17.549Z,1761541337.549 [DAT](INFO): DAT read: Rx Time:05:02:16.1861 2025-10-27T05:02:17.550Z,1761541337.550 [DAT](INFO): Rx dataTimestamp_ set to:1761541337.549649 2025-10-27T05:02:17.552Z,1761541337.552 [DAT](INFO): DAT read: Bearing 189.6, 17.7 (Local) 2025-10-27T05:02:17.552Z,1761541337.552 [DAT](INFO): Local bearing/azimuth received: Bearing 189.6, 17.7 (Local) 2025-10-27T05:02:17.555Z,1761541337.555 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T05:02:17.560Z,1761541337.560 [DAT](INFO): DAT read: 05:02:16.1861 LVL= 25072, 23393, 32754, 32755, AGC= 62, IDX= 505, 0.24, 1.528, 2.967, 0.976, 2.047, PHS=-0.418, 0.965,-1.116, RAW= 349.2, 6.3, CAL= 349.1, 5.1, ROT= 160.9, -5.1 2025-10-27T05:02:17.561Z,1761541337.561 [DAT](INFO): got valid direction response: 05:02:16.1861 LVL= 25072, 23393, 32754, 32755, AGC= 62, IDX= 505, 0.24, 1.528, 2.967, 0.976, 2.047, PHS=-0.418, 0.965,-1.116, RAW= 349.2, 6.3, CAL= 349.1, 5.1, ROT= 160.9, -5.1 2025-10-27T05:02:17.562Z,1761541337.562 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:02:17.563Z,1761541337.563 [DAT](INFO): direction in FSK: [-0.941208,0.325923,0.088894] 2025-10-27T05:02:17.563Z,1761541337.563 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:17.567Z,1761541337.567 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.227646 2025-10-27T05:02:17.737Z,1761541337.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614260,0.787196,0.054838],[-0.788877,-0.614263,-0.018796],[0.018888,-0.054806,0.998318]] 2025-10-27T05:02:17.800Z,1761541337.800 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.460876 2025-10-27T05:02:17.801Z,1761541337.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504885 s, deltaX: 0.200001 m, approachRate: 0.396131 m/s, rangeRepo size: 4 2025-10-27T05:02:17.807Z,1761541337.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.378096 m, bearing: 32.778203 deg, lat: 36.779315 deg, lon: -121.859579 deg, deltaT: 0.504885 s, deltaX: 0.199005 m, approachRate: 0.394159 m/s, posRepo size: 4 2025-10-27T05:02:17.808Z,1761541337.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:02:18.055Z,1761541338.055 [DAT](INFO): DAT read: Rx Time:05:02:16.6860 2025-10-27T05:02:18.056Z,1761541338.056 [DAT](INFO): Rx dataTimestamp_ set to:1761541338.055624 2025-10-27T05:02:18.057Z,1761541338.057 [DAT](INFO): DAT read: Bearing 186.5, 15.8 (Local) 2025-10-27T05:02:18.057Z,1761541338.057 [DAT](INFO): Local bearing/azimuth received: Bearing 186.5, 15.8 (Local) 2025-10-27T05:02:18.060Z,1761541338.060 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:02:18.065Z,1761541338.065 [DAT](INFO): DAT read: 05:02:16.6860 LVL= 28960, 32577, 32754, 32755, AGC= 65, IDX= 505,-0.27,-0.143, 1.289,-0.610, 0.455, PHS=-0.496, 0.880,-1.109, RAW= 347.5, 8.3, CAL= 347.5, 8.4, ROT= 162.5, -8.4 2025-10-27T05:02:18.066Z,1761541338.066 [DAT](INFO): got valid direction response: 05:02:16.6860 LVL= 28960, 32577, 32754, 32755, AGC= 65, IDX= 505,-0.27,-0.143, 1.289,-0.610, 0.455, PHS=-0.496, 0.880,-1.109, RAW= 347.5, 8.3, CAL= 347.5, 8.4, ROT= 162.5, -8.4 2025-10-27T05:02:18.067Z,1761541338.067 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:02:18.069Z,1761541338.069 [DAT](INFO): direction in FSK: [-0.943486,0.297480,0.146083] 2025-10-27T05:02:18.069Z,1761541338.069 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:18.087Z,1761541338.087 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.748211 2025-10-27T05:02:18.152Z,1761541338.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611241,0.789600,0.053999],[-0.791243,-0.611201,-0.019173],[0.017866,-0.054446,0.998357]] 2025-10-27T05:02:18.216Z,1761541338.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.505975 s, deltaX: -0.200001 m, approachRate: -0.395278 m/s, rangeRepo size: 4 2025-10-27T05:02:18.218Z,1761541338.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.179090 m, bearing: 34.437992 deg, lat: 36.779314 deg, lon: -121.859577 deg, deltaT: 0.505975 s, deltaX: -0.199005 m, approachRate: -0.393310 m/s, posRepo size: 4 2025-10-27T05:02:18.223Z,1761541338.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:02:18.305Z,1761541338.305 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.965637 2025-10-27T05:02:18.549Z,1761541338.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610093,0.790507,0.053713],[-0.792135,-0.610044,-0.019201],[0.017589,-0.054263,0.998372]] 2025-10-27T05:02:18.557Z,1761541338.557 [DAT](INFO): DAT read: Rx Time:05:02:17.1861 2025-10-27T05:02:18.557Z,1761541338.557 [DAT](INFO): Rx dataTimestamp_ set to:1761541338.556998 2025-10-27T05:02:18.559Z,1761541338.559 [DAT](INFO): DAT read: Bearing 188.8, 17.7 (Local) 2025-10-27T05:02:18.559Z,1761541338.559 [DAT](INFO): Local bearing/azimuth received: Bearing 188.8, 17.7 (Local) 2025-10-27T05:02:18.561Z,1761541338.561 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:02:18.566Z,1761541338.566 [DAT](INFO): DAT read: 05:02:17.1861 LVL= 24496, 23233, 32754, 32755, AGC= 63, IDX= 506, 0.17, 2.103,-2.752, 1.554, 2.637, PHS=-0.432, 0.940,-1.127, RAW= 349.3, 6.8, CAL= 349.2, 6.1, ROT= 160.8, -6.1 2025-10-27T05:02:18.567Z,1761541338.567 [DAT](INFO): got valid direction response: 05:02:17.1861 LVL= 24496, 23233, 32754, 32755, AGC= 63, IDX= 506, 0.17, 2.103,-2.752, 1.554, 2.637, PHS=-0.432, 0.940,-1.127, RAW= 349.3, 6.8, CAL= 349.2, 6.1, ROT= 160.8, -6.1 2025-10-27T05:02:18.567Z,1761541338.567 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:02:18.568Z,1761541338.568 [DAT](INFO): direction in FSK: [-0.939029,0.327005,0.106264] 2025-10-27T05:02:18.568Z,1761541338.568 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:18.605Z,1761541338.605 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.265793 2025-10-27T05:02:18.690Z,1761541338.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.501374 s, deltaX: 0.200001 m, approachRate: 0.398905 m/s, rangeRepo size: 4 2025-10-27T05:02:18.697Z,1761541338.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.378086 m, bearing: 32.936872 deg, lat: 36.779314 deg, lon: -121.859575 deg, deltaT: 0.501374 s, deltaX: 0.198996 m, approachRate: 0.396901 m/s, posRepo size: 4 2025-10-27T05:02:18.697Z,1761541338.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:02:18.809Z,1761541338.809 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.469429 2025-10-27T05:02:18.987Z,1761541338.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:02:19.061Z,1761541339.061 [DAT](INFO): DAT read: Rx Time:05:02:17.6861 2025-10-27T05:02:19.062Z,1761541339.062 [DAT](INFO): Rx dataTimestamp_ set to:1761541339.061514 2025-10-27T05:02:19.064Z,1761541339.064 [DAT](INFO): DAT read: Bearing 187.4, 16.3 (Local) 2025-10-27T05:02:19.064Z,1761541339.064 [DAT](INFO): Local bearing/azimuth received: Bearing 187.4, 16.3 (Local) 2025-10-27T05:02:19.068Z,1761541339.068 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T05:02:19.074Z,1761541339.074 [DAT](INFO): DAT read: 05:02:17.6861 LVL= 28560, 25217, 32754, 32755, AGC= 64, IDX= 506,-0.40, 0.056, 1.499,-0.435, 0.639, PHS=-0.481, 0.905,-1.118, RAW= 347.9, 7.8, CAL= 347.9, 7.6, ROT= 162.1, -7.6 2025-10-27T05:02:19.075Z,1761541339.075 [DAT](INFO): got valid direction response: 05:02:17.6861 LVL= 28560, 25217, 32754, 32755, AGC= 64, IDX= 506,-0.40, 0.056, 1.499,-0.435, 0.639, PHS=-0.481, 0.905,-1.118, RAW= 347.9, 7.8, CAL= 347.9, 7.6, ROT= 162.1, -7.6 2025-10-27T05:02:19.076Z,1761541339.076 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:02:19.077Z,1761541339.077 [DAT](INFO): direction in FSK: [-0.943235,0.304657,0.132256] 2025-10-27T05:02:19.077Z,1761541339.077 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:19.081Z,1761541339.081 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.741608 2025-10-27T05:02:19.312Z,1761541339.312 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.972889 2025-10-27T05:02:19.442Z,1761541339.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504516 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:19.444Z,1761541339.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.378120 m, bearing: 34.161676 deg, lat: 36.779310 deg, lon: -121.859572 deg, deltaT: 0.504516 s, deltaX: 0.000034 m, approachRate: 0.000068 m/s, posRepo size: 4 2025-10-27T05:02:19.444Z,1761541339.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:02:19.565Z,1761541339.565 [DAT](INFO): DAT read: Rx Time:05:02:18.1862 2025-10-27T05:02:19.565Z,1761541339.565 [DAT](INFO): Rx dataTimestamp_ set to:1761541339.564792 2025-10-27T05:02:19.566Z,1761541339.566 [DAT](INFO): DAT read: Bearing 188.6, 17.3 (Local) 2025-10-27T05:02:19.567Z,1761541339.567 [DAT](INFO): Local bearing/azimuth received: Bearing 188.6, 17.3 (Local) 2025-10-27T05:02:19.569Z,1761541339.569 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T05:02:19.574Z,1761541339.574 [DAT](INFO): DAT read: 05:02:18.1862 LVL= 24608, 24465, 32754, 32755, AGC= 62, IDX= 507,-0.00, 1.249, 2.688, 0.717, 1.797, PHS=-0.446, 0.935,-1.125, RAW= 348.9, 7.0, CAL= 348.7, 6.4, ROT= 161.3, -6.4 2025-10-27T05:02:19.575Z,1761541339.575 [DAT](INFO): got valid direction response: 05:02:18.1862 LVL= 24608, 24465, 32754, 32755, AGC= 62, IDX= 507,-0.00, 1.249, 2.688, 0.717, 1.797, PHS=-0.446, 0.935,-1.125, RAW= 348.9, 7.0, CAL= 348.7, 6.4, ROT= 161.3, -6.4 2025-10-27T05:02:19.575Z,1761541339.575 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:02:19.576Z,1761541339.576 [DAT](INFO): direction in FSK: [-0.941307,0.318615,0.111469] 2025-10-27T05:02:19.577Z,1761541339.577 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:19.589Z,1761541339.589 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.249977 2025-10-27T05:02:19.756Z,1761541339.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606658,0.793166,0.053429],[-0.794777,-0.606600,-0.019151],[0.017221,-0.054082,0.998388]] 2025-10-27T05:02:19.814Z,1761541339.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503278 s, deltaX: 0.100000 m, approachRate: 0.198698 m/s, rangeRepo size: 4 2025-10-27T05:02:19.820Z,1761541339.820 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.480255 2025-10-27T05:02:19.833Z,1761541339.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.477623 m, bearing: 33.669737 deg, lat: 36.779311 deg, lon: -121.859572 deg, deltaT: 0.503278 s, deltaX: 0.099503 m, approachRate: 0.197709 m/s, posRepo size: 4 2025-10-27T05:02:19.840Z,1761541339.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.48 m. 2025-10-27T05:02:20.069Z,1761541340.069 [DAT](INFO): DAT read: Rx Time:05:02:18.6861 2025-10-27T05:02:20.069Z,1761541340.069 [DAT](INFO): Rx dataTimestamp_ set to:1761541340.068694 2025-10-27T05:02:20.070Z,1761541340.070 [DAT](INFO): DAT read: Bearing 187.3, 17.1 (Local) 2025-10-27T05:02:20.071Z,1761541340.071 [DAT](INFO): Local bearing/azimuth received: Bearing 187.3, 17.1 (Local) 2025-10-27T05:02:20.073Z,1761541340.073 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:02:20.077Z,1761541340.077 [DAT](INFO): DAT read: 05:02:18.6861 LVL= 26224, 22801, 32754, 32755, AGC= 65, IDX= 506, 0.30, 1.312, 2.752, 0.782, 1.887, PHS=-0.473, 0.911,-1.149, RAW= 348.8, 7.9, CAL= 348.8, 7.7, ROT= 161.2, -7.7 2025-10-27T05:02:20.078Z,1761541340.078 [DAT](INFO): got valid direction response: 05:02:18.6861 LVL= 26224, 22801, 32754, 32755, AGC= 65, IDX= 506, 0.30, 1.312, 2.752, 0.782, 1.887, PHS=-0.473, 0.911,-1.149, RAW= 348.8, 7.9, CAL= 348.8, 7.7, ROT= 161.2, -7.7 2025-10-27T05:02:20.079Z,1761541340.079 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:02:20.080Z,1761541340.080 [DAT](INFO): direction in FSK: [-0.938113,0.319360,0.133986] 2025-10-27T05:02:20.080Z,1761541340.080 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:20.088Z,1761541340.088 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.749432 2025-10-27T05:02:20.181Z,1761541340.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606052,0.793634,0.053342],[-0.795235,-0.606007,-0.018865],[0.017354,-0.053852,0.998398]] 2025-10-27T05:02:20.291Z,1761541340.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503902 s, deltaX: -0.100000 m, approachRate: -0.198452 m/s, rangeRepo size: 4 2025-10-27T05:02:20.293Z,1761541340.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.378120 m, bearing: 33.555598 deg, lat: 36.779310 deg, lon: -121.859572 deg, deltaT: 0.503902 s, deltaX: -0.099503 m, approachRate: -0.197464 m/s, posRepo size: 4 2025-10-27T05:02:20.293Z,1761541340.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:02:20.325Z,1761541340.325 [DAT](INFO): DAT read: Rx Time:05:02:19.1863 2025-10-27T05:02:20.327Z,1761541340.327 [DAT](INFO): Rx dataTimestamp_ set to:1761541340.325723 2025-10-27T05:02:20.329Z,1761541340.329 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.989204 2025-10-27T05:02:20.573Z,1761541340.573 [DAT](INFO): DAT read: Bearing 187.6, 17.0 (Local) 2025-10-27T05:02:20.574Z,1761541340.574 [DAT](INFO): Local bearing/azimuth received: Bearing 187.6, 17.0 (Local) 2025-10-27T05:02:20.577Z,1761541340.577 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 2025-10-27T05:02:20.582Z,1761541340.582 [DAT](INFO): DAT read: 05:02:19.1863 LVL= 21680, 19185, 32754, 32755, AGC= 63, IDX= 508,-0.15,-0.235, 1.215,-0.761, 0.341, PHS=-0.473, 0.919,-1.146, RAW= 348.6, 7.7, CAL= 348.6, 7.5, ROT= 161.4, -7.5 2025-10-27T05:02:20.583Z,1761541340.583 [DAT](INFO): got valid direction response: 05:02:19.1863 LVL= 21680, 19185, 32754, 32755, AGC= 63, IDX= 508,-0.15,-0.235, 1.215,-0.761, 0.341, PHS=-0.473, 0.919,-1.146, RAW= 348.6, 7.7, CAL= 348.6, 7.5, ROT= 161.4, -7.5 2025-10-27T05:02:20.583Z,1761541340.583 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:02:20.584Z,1761541340.584 [DAT](INFO): direction in FSK: [-0.939660,0.316231,0.130526] 2025-10-27T05:02:20.584Z,1761541340.584 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:20.588Z,1761541340.588 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.249008 2025-10-27T05:02:20.644Z,1761541340.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605584,0.793982,0.053488],[-0.795586,-0.605556,-0.018573],[0.017644,-0.053802,0.998396]] 2025-10-27T05:02:20.740Z,1761541340.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.502795 s, deltaX: 0.299999 m, approachRate: 0.596663 m/s, rangeRepo size: 4 2025-10-27T05:02:20.742Z,1761541340.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.676582 m, bearing: 33.798146 deg, lat: 36.779311 deg, lon: -121.859571 deg, deltaT: 0.502795 s, deltaX: 0.298462 m, approachRate: 0.593606 m/s, posRepo size: 4 2025-10-27T05:02:20.743Z,1761541340.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.68 m. 2025-10-27T05:02:20.827Z,1761541340.827 [DAT](INFO): DAT read: Rx Time:05:02:19.6862 2025-10-27T05:02:20.829Z,1761541340.829 [DAT](INFO): Rx dataTimestamp_ set to:1761541340.827918 2025-10-27T05:02:20.832Z,1761541340.832 [DAT](INFO): DAT read: Bearing 186.2, 16.8 (Local) 2025-10-27T05:02:20.833Z,1761541340.833 [DAT](INFO): Local bearing/azimuth received: Bearing 186.2, 16.8 (Local) 2025-10-27T05:02:20.836Z,1761541340.836 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.496082 2025-10-27T05:02:21.027Z,1761541341.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605358,0.794144,0.053634],[-0.795750,-0.605351,-0.018226],[0.017993,-0.053713,0.998394]] 2025-10-27T05:02:21.062Z,1761541341.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.68 m. 2025-10-27T05:02:21.078Z,1761541341.078 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T05:02:21.082Z,1761541341.082 [DAT](INFO): DAT read: 05:02:19.6862 LVL= 27312, 24993, 32754, 32755, AGC= 65, IDX= 507, 0.15, 0.282, 1.715,-0.226, 0.880, PHS=-0.496, 0.879,-1.151, RAW= 348.4, 8.6, CAL= 348.4, 8.8, ROT= 161.6, -8.8 2025-10-27T05:02:21.083Z,1761541341.083 [DAT](INFO): got valid direction response: 05:02:19.6862 LVL= 27312, 24993, 32754, 32755, AGC= 65, IDX= 507, 0.15, 0.282, 1.715,-0.226, 0.880, PHS=-0.496, 0.879,-1.151, RAW= 348.4, 8.6, CAL= 348.4, 8.8, ROT= 161.6, -8.8 2025-10-27T05:02:21.084Z,1761541341.084 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:02:21.085Z,1761541341.085 [DAT](INFO): direction in FSK: [-0.937706,0.311933,0.152986] 2025-10-27T05:02:21.085Z,1761541341.085 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:21.089Z,1761541341.089 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.749741 2025-10-27T05:02:21.255Z,1761541341.255 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:02:21.333Z,1761541341.333 [DAT](INFO): DAT read: Rx Time:05:02:20.1863 2025-10-27T05:02:21.336Z,1761541341.336 [DAT](INFO): Rx dataTimestamp_ set to:1761541341.333950 2025-10-27T05:02:21.339Z,1761541341.339 [DAT](INFO): DAT read: Bearing 187.2, 16.5 (Local) 2025-10-27T05:02:21.340Z,1761541341.340 [DAT](INFO): Local bearing/azimuth received: Bearing 187.2, 16.5 (Local) 2025-10-27T05:02:21.355Z,1761541341.355 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 2025-10-27T05:02:21.358Z,1761541341.358 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-27T05:02:21.373Z,1761541341.373 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.033562 2025-10-27T05:02:21.434Z,1761541341.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605367,0.794113,0.054004],[-0.795733,-0.605382,-0.017941],[0.018446,-0.053834,0.998380]] 2025-10-27T05:02:21.481Z,1761541341.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.762461 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:21.482Z,1761541341.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.676559 m, bearing: 33.953899 deg, lat: 36.779310 deg, lon: -121.859570 deg, deltaT: 0.762461 s, deltaX: -0.000023 m, approachRate: -0.000030 m/s, posRepo size: 4 2025-10-27T05:02:21.483Z,1761541341.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.68 m. 2025-10-27T05:02:21.591Z,1761541341.591 [DAT](INFO): DAT read: 05:02:20.1863 LVL= 22000, 20417, 32754, 32755, AGC= 62, IDX= 508,-0.28,-2.147,-0.699,-2.648,-1.558, PHS=-0.487, 0.904,-1.134, RAW= 348.1, 8.0, CAL= 348.1, 7.9, ROT= 161.9, -7.9 2025-10-27T05:02:21.592Z,1761541341.592 [DAT](INFO): got valid direction response: 05:02:20.1863 LVL= 22000, 20417, 32754, 32755, AGC= 62, IDX= 508,-0.28,-2.147,-0.699,-2.648,-1.558, PHS=-0.487, 0.904,-1.134, RAW= 348.1, 8.0, CAL= 348.1, 7.9, ROT= 161.9, -7.9 2025-10-27T05:02:21.592Z,1761541341.592 [DAT](INFO): #Rx 118: Read direction message, but no range. 2025-10-27T05:02:21.593Z,1761541341.593 [DAT](INFO): direction in FSK: [-0.941495,0.307728,0.137445] 2025-10-27T05:02:21.597Z,1761541341.597 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.257751 2025-10-27T05:02:21.836Z,1761541341.836 [DAT](INFO): DAT read: Rx Time:05:02:20.6862 2025-10-27T05:02:21.838Z,1761541341.838 [DAT](INFO): Rx dataTimestamp_ set to:1761541341.836835 2025-10-27T05:02:21.842Z,1761541341.842 [DAT](INFO): DAT read: Bearing 186.7, 16.8 (Local) 2025-10-27T05:02:21.843Z,1761541341.843 [DAT](INFO): Local bearing/azimuth received: Bearing 186.7, 16.8 (Local) 2025-10-27T05:02:21.864Z,1761541341.864 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T05:02:21.866Z,1761541341.866 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-27T05:02:21.872Z,1761541341.872 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.532856 2025-10-27T05:02:21.914Z,1761541341.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605574,0.793931,0.054345],[-0.795564,-0.605611,-0.017665],[0.018887,-0.053932,0.998366]] 2025-10-27T05:02:21.981Z,1761541341.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.502885 s, deltaX: -0.199999 m, approachRate: -0.397703 m/s, rangeRepo size: 4 2025-10-27T05:02:21.983Z,1761541341.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.477556 m, bearing: 34.278397 deg, lat: 36.779310 deg, lon: -121.859569 deg, deltaT: 0.502885 s, deltaX: -0.199003 m, approachRate: -0.395723 m/s, posRepo size: 4 2025-10-27T05:02:21.984Z,1761541341.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.48 m. 2025-10-27T05:02:22.088Z,1761541342.088 [DAT](INFO): DAT read: 05:02:20.6862 LVL= 23792, 20897, 32754, 32755, AGC= 64, IDX= 507, 0.07,-2.040,-0.605,-2.553,-1.450, PHS=-0.488, 0.890,-1.147, RAW= 348.5, 8.3, CAL= 348.5, 8.4, ROT= 161.5, -8.4 2025-10-27T05:02:22.089Z,1761541342.089 [DAT](INFO): got valid direction response: 05:02:20.6862 LVL= 23792, 20897, 32754, 32755, AGC= 64, IDX= 507, 0.07,-2.040,-0.605,-2.553,-1.450, PHS=-0.488, 0.890,-1.147, RAW= 348.5, 8.3, CAL= 348.5, 8.4, ROT= 161.5, -8.4 2025-10-27T05:02:22.089Z,1761541342.089 [DAT](INFO): #Rx 120: Read direction message, but no range. 2025-10-27T05:02:22.090Z,1761541342.090 [DAT](INFO): direction in FSK: [-0.938150,0.313901,0.146083] 2025-10-27T05:02:22.094Z,1761541342.094 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:02:22.094Z,1761541342.094 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:02:22.094Z,1761541342.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:22.238Z,1761541342.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606125,0.793481,0.054772],[-0.795131,-0.606190,-0.017306],[0.019470,-0.054041,0.998349]] 2025-10-27T05:02:22.259Z,1761541342.259 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:02:22.262Z,1761541342.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.48 m. 2025-10-27T05:02:22.340Z,1761541342.340 [DAT](INFO): DAT read: Rx Time:05:02:21.1864 2025-10-27T05:02:22.342Z,1761541342.342 [DAT](INFO): Rx dataTimestamp_ set to:1761541342.340694 2025-10-27T05:02:22.347Z,1761541342.347 [DAT](INFO): DAT read: Bearing 186.8, 16.6 (Local) 2025-10-27T05:02:22.348Z,1761541342.348 [DAT](INFO): Local bearing/azimuth received: Bearing 186.8, 16.6 (Local) 2025-10-27T05:02:22.383Z,1761541342.383 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.0 2025-10-27T05:02:22.394Z,1761541342.394 [DAT](INFO): DAT read: 05:02:21.1864 LVL= 21760, 21297, 32754, 32755, AGC= 62, IDX= 509,-0.40,-2.016,-0.583,-2.521,-1.426, PHS=-0.488, 0.889,-1.139, RAW= 348.3, 8.3, CAL= 348.3, 8.3, ROT= 161.7, -8.3 2025-10-27T05:02:22.408Z,1761541342.408 [DAT](INFO): got valid direction response: 05:02:21.1864 LVL= 21760, 21297, 32754, 32755, AGC= 62, IDX= 509,-0.40,-2.016,-0.583,-2.521,-1.426, PHS=-0.488, 0.889,-1.139, RAW= 348.3, 8.3, CAL= 348.3, 8.3, ROT= 161.7, -8.3 2025-10-27T05:02:22.409Z,1761541342.409 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:02:22.410Z,1761541342.410 [DAT](INFO): direction in FSK: [-0.939481,0.310704,0.144356] 2025-10-27T05:02:22.410Z,1761541342.410 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:22.427Z,1761541342.427 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:22.427Z,1761541342.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:22.589Z,1761541342.589 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:22.647Z,1761541342.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607215,0.792631,0.055006],[-0.794281,-0.607321,-0.016700],[0.020170,-0.053831,0.998346]] 2025-10-27T05:02:22.689Z,1761541342.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503859 s, deltaX: 0.299999 m, approachRate: 0.595403 m/s, rangeRepo size: 4 2025-10-27T05:02:22.691Z,1761541342.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.776045 m, bearing: 33.945071 deg, lat: 36.779310 deg, lon: -121.859569 deg, deltaT: 0.503859 s, deltaX: 0.298489 m, approachRate: 0.592405 m/s, posRepo size: 4 2025-10-27T05:02:22.691Z,1761541342.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T05:02:22.844Z,1761541342.844 [DAT](INFO): DAT read: Rx Time:05:02:21.6863 2025-10-27T05:02:22.846Z,1761541342.846 [DAT](INFO): Rx dataTimestamp_ set to:1761541342.844745 2025-10-27T05:02:22.850Z,1761541342.850 [DAT](INFO): DAT read: Bearing 186.9, 17.1 (Local) 2025-10-27T05:02:22.851Z,1761541342.851 [DAT](INFO): Local bearing/azimuth received: Bearing 186.9, 17.1 (Local) 2025-10-27T05:02:22.861Z,1761541342.861 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 2025-10-27T05:02:22.868Z,1761541342.868 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:02:22.869Z,1761541342.869 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:22.869Z,1761541342.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:23.046Z,1761541343.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608137,0.791900,0.055348],[-0.793560,-0.608275,-0.016257],[0.020793,-0.053808,0.998335]] 2025-10-27T05:02:23.088Z,1761541343.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504051 s, deltaX: -0.100000 m, approachRate: -0.198393 m/s, rangeRepo size: 4 2025-10-27T05:02:23.089Z,1761541343.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T05:02:23.096Z,1761541343.096 [DAT](INFO): DAT read: 05:02:21.6863 LVL= 23392, 21361, 32754, 32755, AGC= 62, IDX= 508, 0.01,-2.138,-0.708,-2.665,-1.557, PHS=-0.478, 0.894,-1.151, RAW= 348.8, 8.2, CAL= 348.8, 8.2, ROT= 161.2, -8.2 2025-10-27T05:02:23.097Z,1761541343.097 [DAT](INFO): got valid direction response: 05:02:21.6863 LVL= 23392, 21361, 32754, 32755, AGC= 62, IDX= 508, 0.01,-2.138,-0.708,-2.665,-1.557, PHS=-0.478, 0.894,-1.151, RAW= 348.8, 8.2, CAL= 348.8, 8.2, ROT= 161.2, -8.2 2025-10-27T05:02:23.097Z,1761541343.097 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:02:23.098Z,1761541343.098 [DAT](INFO): direction in FSK: [-0.936971,0.318971,0.142629] 2025-10-27T05:02:23.102Z,1761541343.102 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:23.350Z,1761541343.350 [DAT](INFO): DAT read: Rx Time:05:02:22.1864 2025-10-27T05:02:23.351Z,1761541343.351 [DAT](INFO): Rx dataTimestamp_ set to:1761541343.350081 2025-10-27T05:02:23.354Z,1761541343.354 [DAT](INFO): DAT read: Bearing 186.0, 16.8 (Local) 2025-10-27T05:02:23.358Z,1761541343.358 [DAT](INFO): Local bearing/azimuth received: Bearing 186.0, 16.8 (Local) 2025-10-27T05:02:23.362Z,1761541343.362 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:02:23.365Z,1761541343.365 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:02:23.382Z,1761541343.382 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:02:23.383Z,1761541343.383 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:02:23.383Z,1761541343.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:23.450Z,1761541343.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608882,0.791309,0.055623],[-0.792977,-0.609041,-0.016004],[0.021212,-0.053852,0.998324]] 2025-10-27T05:02:23.547Z,1761541343.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.505336 s, deltaX: 0.100000 m, approachRate: 0.197889 m/s, rangeRepo size: 4 2025-10-27T05:02:23.549Z,1761541343.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.776016 m, bearing: 33.333051 deg, lat: 36.779310 deg, lon: -121.859569 deg, deltaT: 1.009387 s, deltaX: -0.000029 m, approachRate: -0.000028 m/s, posRepo size: 4 2025-10-27T05:02:23.550Z,1761541343.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T05:02:23.610Z,1761541343.610 [DAT](INFO): DAT read: 05:02:22.1864 LVL= 22944, 22401, 32754, 32755, AGC= 63, IDX= 509, 0.41, 0.198, 1.628,-0.319, 0.797, PHS=-0.496, 0.877,-1.160, RAW= 348.6, 8.7, CAL= 348.7, 9.0, ROT= 161.3, -9.0 2025-10-27T05:02:23.615Z,1761541343.615 [DAT](INFO): got valid direction response: 05:02:22.1864 LVL= 22944, 22401, 32754, 32755, AGC= 63, IDX= 509, 0.41, 0.198, 1.628,-0.319, 0.797, PHS=-0.496, 0.877,-1.160, RAW= 348.6, 8.7, CAL= 348.7, 9.0, ROT= 161.3, -9.0 2025-10-27T05:02:23.616Z,1761541343.616 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:02:23.618Z,1761541343.618 [DAT](INFO): direction in FSK: [-0.935549,0.316666,0.156434] 2025-10-27T05:02:23.622Z,1761541343.622 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:23.854Z,1761541343.854 [DAT](INFO): DAT read: Rx Time:05:02:22.6864 2025-10-27T05:02:23.856Z,1761541343.856 [DAT](INFO): Rx dataTimestamp_ set to:1761541343.854986 2025-10-27T05:02:23.867Z,1761541343.867 [DAT](INFO): DAT read: Bearing 186.6, 16.6 (Local) 2025-10-27T05:02:23.868Z,1761541343.868 [DAT](INFO): Local bearing/azimuth received: Bearing 186.6, 16.6 (Local) 2025-10-27T05:02:23.871Z,1761541343.871 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:02:23.872Z,1761541343.872 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:02:23.872Z,1761541343.872 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:02:23.872Z,1761541343.872 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:02:23.872Z,1761541343.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:23.914Z,1761541343.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609829,0.790548,0.056060],[-0.792233,-0.610018,-0.015660],[0.021817,-0.053962,0.998305]] 2025-10-27T05:02:24.031Z,1761541344.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504905 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:24.033Z,1761541344.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.776016 m, bearing: 33.328108 deg, lat: 36.779310 deg, lon: -121.859569 deg, deltaT: 0.504905 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:24.034Z,1761541344.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T05:02:24.105Z,1761541344.105 [DAT](INFO): DAT read: 05:02:22.6864 LVL= 22000, 21921, 32754, 32755, AGC= 63, IDX= 509,-0.03,-2.560,-1.129,-3.068,-1.969, PHS=-0.489, 0.886,-1.143, RAW= 348.4, 8.4, CAL= 348.4, 8.5, ROT= 161.6, -8.5 2025-10-27T05:02:24.106Z,1761541344.106 [DAT](INFO): got valid direction response: 05:02:22.6864 LVL= 22000, 21921, 32754, 32755, AGC= 63, IDX= 509,-0.03,-2.560,-1.129,-3.068,-1.969, PHS=-0.489, 0.886,-1.143, RAW= 348.4, 8.4, CAL= 348.4, 8.5, ROT= 161.6, -8.5 2025-10-27T05:02:24.106Z,1761541344.106 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:02:24.108Z,1761541344.108 [DAT](INFO): direction in FSK: [-0.938453,0.312182,0.147809] 2025-10-27T05:02:24.111Z,1761541344.111 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:24.301Z,1761541344.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610794,0.789780,0.056378],[-0.791476,-0.611007,-0.015395],[0.022289,-0.054025,0.998291]] 2025-10-27T05:02:24.356Z,1761541344.356 [DAT](INFO): DAT read: Rx Time:05:02:23.1865 2025-10-27T05:02:24.358Z,1761541344.358 [DAT](INFO): Rx dataTimestamp_ set to:1761541344.356737 2025-10-27T05:02:24.362Z,1761541344.362 [DAT](INFO): DAT read: Bearing 185.7, 16.7 (Local) 2025-10-27T05:02:24.363Z,1761541344.363 [DAT](INFO): Local bearing/azimuth received: Bearing 185.7, 16.7 (Local) 2025-10-27T05:02:24.369Z,1761541344.369 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:02:24.370Z,1761541344.370 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:02:24.370Z,1761541344.370 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:02:24.370Z,1761541344.370 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:02:24.379Z,1761541344.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:24.429Z,1761541344.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.501751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:24.452Z,1761541344.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.775978 m, bearing: 33.578920 deg, lat: 36.779310 deg, lon: -121.859571 deg, deltaT: 0.501751 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 2025-10-27T05:02:24.452Z,1761541344.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T05:02:24.618Z,1761541344.618 [DAT](INFO): DAT read: 05:02:23.1865 LVL= 25040, 24561, 32754, 32755, AGC= 63, IDX= 510, 0.42,-0.063, 1.363,-0.576, 0.538, PHS=-0.499, 0.870,-1.158, RAW= 348.6, 8.8, CAL= 348.6, 9.2, ROT= 161.4, -9.2 2025-10-27T05:02:24.620Z,1761541344.620 [DAT](INFO): got valid direction response: 05:02:23.1865 LVL= 25040, 24561, 32754, 32755, AGC= 63, IDX= 510, 0.42,-0.063, 1.363,-0.576, 0.538, PHS=-0.499, 0.870,-1.158, RAW= 348.6, 8.8, CAL= 348.6, 9.2, ROT= 161.4, -9.2 2025-10-27T05:02:24.621Z,1761541344.621 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:02:24.622Z,1761541344.622 [DAT](INFO): direction in FSK: [-0.935577,0.314856,0.159881] 2025-10-27T05:02:24.625Z,1761541344.625 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:24.708Z,1761541344.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611757,0.789012,0.056684],[-0.790720,-0.611989,-0.015214],[0.022686,-0.054128,0.998276]] 2025-10-27T05:02:24.789Z,1761541344.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T05:02:24.860Z,1761541344.860 [DAT](INFO): DAT read: Rx Time:05:02:23.6865 2025-10-27T05:02:24.862Z,1761541344.862 [DAT](INFO): Rx dataTimestamp_ set to:1761541344.860673 2025-10-27T05:02:24.865Z,1761541344.865 [DAT](INFO): DAT read: Bearing 186.5, 16.9 (Local) 2025-10-27T05:02:24.866Z,1761541344.866 [DAT](INFO): Local bearing/azimuth received: Bearing 186.5, 16.9 (Local) 2025-10-27T05:02:24.870Z,1761541344.870 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:02:24.875Z,1761541344.875 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:02:24.876Z,1761541344.876 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:02:24.876Z,1761541344.876 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:02:24.876Z,1761541344.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:25.112Z,1761541345.112 [DAT](INFO): DAT read: 05:02:23.6865 LVL= 22160, 21073, 32754, 32755, AGC= 63, IDX= 510,-0.01,-2.831,-1.400, 2.931,-2.244, PHS=-0.486, 0.889,-1.153, RAW= 348.7, 8.4, CAL= 348.7, 8.5, ROT= 161.3, -8.5 2025-10-27T05:02:25.113Z,1761541345.113 [DAT](INFO): got valid direction response: 05:02:23.6865 LVL= 22160, 21073, 32754, 32755, AGC= 63, IDX= 510,-0.01,-2.831,-1.400, 2.931,-2.244, PHS=-0.486, 0.889,-1.153, RAW= 348.7, 8.4, CAL= 348.7, 8.5, ROT= 161.3, -8.5 2025-10-27T05:02:25.113Z,1761541345.113 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:02:25.114Z,1761541345.114 [DAT](INFO): direction in FSK: [-0.936806,0.317091,0.147809] 2025-10-27T05:02:25.117Z,1761541345.117 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:25.118Z,1761541345.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612855,0.788137,0.056996],[-0.789856,-0.613110,-0.014956],[0.023157,-0.054185,0.998262]] 2025-10-27T05:02:25.197Z,1761541345.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:25.200Z,1761541345.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.775978 m, bearing: 33.131110 deg, lat: 36.779310 deg, lon: -121.859572 deg, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:02:25.200Z,1761541345.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T05:02:25.365Z,1761541345.365 [DAT](INFO): DAT read: Rx Time:05:02:24.1867 2025-10-27T05:02:25.366Z,1761541345.366 [DAT](INFO): Rx dataTimestamp_ set to:1761541345.365197 2025-10-27T05:02:25.370Z,1761541345.370 [DAT](INFO): DAT read: Bearing 186.5, 16.9 (Local) 2025-10-27T05:02:25.370Z,1761541345.370 [DAT](INFO): Local bearing/azimuth received: Bearing 186.5, 16.9 (Local) 2025-10-27T05:02:25.373Z,1761541345.373 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.1 2025-10-27T05:02:25.374Z,1761541345.374 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:02:25.379Z,1761541345.379 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:02:25.379Z,1761541345.379 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:02:25.380Z,1761541345.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:25.560Z,1761541345.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504524 s, deltaX: 0.300001 m, approachRate: 0.594622 m/s, rangeRepo size: 4 2025-10-27T05:02:25.561Z,1761541345.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.78 m. 2025-10-27T05:02:25.626Z,1761541345.626 [DAT](INFO): DAT read: 05:02:24.1867 LVL= 21968, 21233, 32754, 32755, AGC= 63, IDX= 511, 0.50,-1.220, 0.218,-1.744,-0.631, PHS=-0.487, 0.894,-1.156, RAW= 348.7, 8.3, CAL= 348.7, 8.4, ROT= 161.3, -8.4 2025-10-27T05:02:25.630Z,1761541345.630 [DAT](INFO): got valid direction response: 05:02:24.1867 LVL= 21968, 21233, 32754, 32755, AGC= 63, IDX= 511, 0.50,-1.220, 0.218,-1.744,-0.631, PHS=-0.487, 0.894,-1.156, RAW= 348.7, 8.3, CAL= 348.7, 8.4, ROT= 161.3, -8.4 2025-10-27T05:02:25.633Z,1761541345.633 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:02:25.636Z,1761541345.636 [DAT](INFO): direction in FSK: [-0.937049,0.317174,0.146083] 2025-10-27T05:02:25.665Z,1761541345.665 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:25.868Z,1761541345.868 [DAT](INFO): DAT read: Rx Time:05:02:24.6866 2025-10-27T05:02:25.869Z,1761541345.869 [DAT](INFO): Rx dataTimestamp_ set to:1761541345.868704 2025-10-27T05:02:25.871Z,1761541345.871 [DAT](INFO): DAT read: Bearing 186.6, 16.9 (Local) 2025-10-27T05:02:25.871Z,1761541345.871 [DAT](INFO): Local bearing/azimuth received: Bearing 186.6, 16.9 (Local) 2025-10-27T05:02:25.873Z,1761541345.873 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 2025-10-27T05:02:25.878Z,1761541345.878 [DAT](INFO): DAT read: 05:02:24.6866 LVL= 23024, 23121, 32754, 32755, AGC= 63, IDX= 511, 0.01, 3.053,-1.796, 2.529,-2.646, PHS=-0.482, 0.895,-1.152, RAW= 348.7, 8.2, CAL= 348.7, 8.3, ROT= 161.3, -8.3 2025-10-27T05:02:25.904Z,1761541345.904 [DAT](INFO): got valid direction response: 05:02:24.6866 LVL= 23024, 23121, 32754, 32755, AGC= 63, IDX= 511, 0.01, 3.053,-1.796, 2.529,-2.646, PHS=-0.482, 0.895,-1.152, RAW= 348.7, 8.2, CAL= 348.7, 8.3, ROT= 161.3, -8.3 2025-10-27T05:02:25.904Z,1761541345.904 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:02:25.905Z,1761541345.905 [DAT](INFO): direction in FSK: [-0.937289,0.317255,0.144356] 2025-10-27T05:02:25.905Z,1761541345.905 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:25.921Z,1761541345.921 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:02:25.921Z,1761541345.921 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:02:25.921Z,1761541345.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:26.057Z,1761541346.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503507 s, deltaX: -0.100000 m, approachRate: -0.198608 m/s, rangeRepo size: 4 2025-10-27T05:02:26.063Z,1761541346.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.974983 m, bearing: 33.139991 deg, lat: 36.779310 deg, lon: -121.859572 deg, deltaT: 1.008031 s, deltaX: 0.199005 m, approachRate: 0.197420 m/s, posRepo size: 4 2025-10-27T05:02:26.063Z,1761541346.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.97 m. 2025-10-27T05:02:26.117Z,1761541346.117 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:26.348Z,1761541346.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615066,0.786377,0.057492],[-0.788120,-0.615342,-0.014874],[0.023681,-0.054459,0.998235]] 2025-10-27T05:02:26.370Z,1761541346.370 [DAT](INFO): DAT read: Rx Time:05:02:25.1866 2025-10-27T05:02:26.371Z,1761541346.371 [DAT](INFO): Rx dataTimestamp_ set to:1761541346.370387 2025-10-27T05:02:26.372Z,1761541346.372 [DAT](INFO): DAT read: Bearing 186.7, 17.2 (Local) 2025-10-27T05:02:26.372Z,1761541346.372 [DAT](INFO): Local bearing/azimuth received: Bearing 186.7, 17.2 (Local) 2025-10-27T05:02:26.374Z,1761541346.374 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 2025-10-27T05:02:26.379Z,1761541346.379 [DAT](INFO): DAT read: 05:02:25.1866 LVL= 22160, 21713, 32754, 32755, AGC= 62, IDX= 511, 0.42,-1.922,-0.497,-2.451,-1.345, PHS=-0.475, 0.893,-1.150, RAW= 348.9, 8.2, CAL= 348.9, 8.2, ROT= 161.1, -8.2 2025-10-27T05:02:26.380Z,1761541346.380 [DAT](INFO): got valid direction response: 05:02:25.1866 LVL= 22160, 21713, 32754, 32755, AGC= 62, IDX= 511, 0.42,-1.922,-0.497,-2.451,-1.345, PHS=-0.475, 0.893,-1.150, RAW= 348.9, 8.2, CAL= 348.9, 8.2, ROT= 161.1, -8.2 2025-10-27T05:02:26.381Z,1761541346.381 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:02:26.381Z,1761541346.381 [DAT](INFO): direction in FSK: [-0.936413,0.320606,0.142629] 2025-10-27T05:02:26.382Z,1761541346.382 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:26.385Z,1761541346.385 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:26.385Z,1761541346.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:02:26.461Z,1761541346.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.501683 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:02:26.468Z,1761541346.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.975021 m, bearing: 32.783621 deg, lat: 36.779310 deg, lon: -121.859573 deg, deltaT: 0.501683 s, deltaX: 0.000038 m, approachRate: 0.000076 m/s, posRepo size: 4 2025-10-27T05:02:26.468Z,1761541346.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:26.622Z,1761541346.622 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:02:26.729Z,1761541346.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615664,0.785908,0.057511],[-0.787652,-0.615941,-0.014878],[0.023730,-0.054458,0.998234]] 2025-10-27T05:02:26.767Z,1761541346.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:26.872Z,1761541346.872 [DAT](INFO): DAT read: user:288> 2025-10-27T05:02:26.873Z,1761541346.873 [DAT](INFO): DAT read: user:288> 2025-10-27T05:02:26.874Z,1761541346.874 [DAT](INFO): DAT read: Tx time:05:02:26.0775 2025-10-27T05:02:26.874Z,1761541346.874 [DAT](INFO): Ping request sent. 2025-10-27T05:02:26.875Z,1761541346.875 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:02:26.875Z,1761541346.875 [DAT](INFO): publishing transmit ping time 2025-10-27T05:02:26.876Z,1761541346.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001196 2025-10-27T05:02:27.122Z,1761541347.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615966,0.785676,0.057444],[-0.787418,-0.616237,-0.014983],[0.023627,-0.054461,0.998236]] 2025-10-27T05:02:27.124Z,1761541347.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249343 2025-10-27T05:02:27.164Z,1761541347.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:27.376Z,1761541347.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501541 2025-10-27T05:02:27.527Z,1761541347.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616028,0.785635,0.057337],[-0.787374,-0.616290,-0.015108],[0.023467,-0.054452,0.998241]] 2025-10-27T05:02:27.546Z,1761541347.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:27.631Z,1761541347.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756113 2025-10-27T05:02:27.880Z,1761541347.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005254 2025-10-27T05:02:27.943Z,1761541347.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615998,0.785671,0.057165],[-0.787406,-0.616246,-0.015291],[0.023214,-0.054431,0.998248]] 2025-10-27T05:02:27.994Z,1761541347.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:02:27.997Z,1761541347.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:28.132Z,1761541348.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257231 2025-10-27T05:02:28.346Z,1761541348.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615659,0.785944,0.057063],[-0.787680,-0.615888,-0.015561],[0.022915,-0.054528,0.998249]] 2025-10-27T05:02:28.366Z,1761541348.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:28.386Z,1761541348.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511861 2025-10-27T05:02:28.638Z,1761541348.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762987 2025-10-27T05:02:28.796Z,1761541348.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:28.888Z,1761541348.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013298 2025-10-27T05:02:29.140Z,1761541349.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265301 2025-10-27T05:02:29.143Z,1761541349.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614768,0.786679,0.056534],[-0.788397,-0.614958,-0.016049],[0.022140,-0.054438,0.998272]] 2025-10-27T05:02:29.162Z,1761541349.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:29.392Z,1761541349.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517638 2025-10-27T05:02:29.547Z,1761541349.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614154,0.787189,0.056117],[-0.788890,-0.614317,-0.016333],[0.021617,-0.054301,0.998291]] 2025-10-27T05:02:29.566Z,1761541349.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:29.647Z,1761541349.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771643 2025-10-27T05:02:29.896Z,1761541349.896 [DAT](INFO): DAT read: Rx Time:05:02:28.5160 2025-10-27T05:02:29.896Z,1761541349.896 [DAT](INFO): Rx dataTimestamp_ set to:1761541349.896164 2025-10-27T05:02:29.897Z,1761541349.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022382 2025-10-27T05:02:30.012Z,1761541350.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.98 m. 2025-10-27T05:02:30.148Z,1761541350.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273190 2025-10-27T05:02:30.406Z,1761541350.406 [DAT](INFO): DAT read: 05:02:28.5160 LVL= 17248, 13585, 20258, 21235, AGC= 65, IDX= 12,-0.08, 1.193, 2.602, 0.671, 1.759, PHS=-0.463, 0.888,-1.131, RAW= 348.9, 8.0, CAL= 348.9, 7.9, ROT= 161.1, -7.9 2025-10-27T05:02:30.407Z,1761541350.407 [DAT](INFO): got valid direction response: 05:02:28.5160 LVL= 17248, 13585, 20258, 21235, AGC= 65, IDX= 12,-0.08, 1.193, 2.602, 0.671, 1.759, PHS=-0.463, 0.888,-1.131, RAW= 348.9, 8.0, CAL= 348.9, 7.9, ROT= 161.1, -7.9 2025-10-27T05:02:30.408Z,1761541350.408 [DAT](INFO): DAT read: Bearing 186.5, 17.2 (Local) 2025-10-27T05:02:30.408Z,1761541350.408 [DAT](INFO): Local bearing/azimuth received: Bearing 186.5, 17.2 (Local) 2025-10-27T05:02:30.410Z,1761541350.410 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (Round-trip 34.3 ms) speed -0.1 m/s 2025-10-27T05:02:30.410Z,1761541350.410 [DAT](INFO): DAT read: user:289> 2025-10-27T05:02:30.411Z,1761541350.411 [DAT](INFO): DAT read: Tx time:05:02:29.6275 2025-10-27T05:02:30.411Z,1761541350.411 [DAT](INFO): Ping request sent. 2025-10-27T05:02:30.412Z,1761541350.412 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:02:30.412Z,1761541350.412 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:02:30.413Z,1761541350.413 [DAT](INFO): direction in FSK: [-0.937107,0.320843,0.137445] 2025-10-27T05:02:30.413Z,1761541350.413 [DAT](INFO): publishing transmit ping time 2025-10-27T05:02:30.413Z,1761541350.413 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:30.417Z,1761541350.417 [DAT](INFO): publishing transmit ping time 2025-10-27T05:02:30.417Z,1761541350.417 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:30.476Z,1761541350.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 4.029066 s, deltaX: 0.600000 m, approachRate: 0.148918 m/s, rangeRepo size: 4 2025-10-27T05:02:30.478Z,1761541350.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.572090 m, bearing: 32.862475 deg, lat: 36.779311 deg, lon: -121.859573 deg, deltaT: 4.029066 s, deltaX: 0.597069 m, approachRate: 0.148190 m/s, posRepo size: 4 2025-10-27T05:02:30.479Z,1761541350.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:30.865Z,1761541350.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611151,0.789579,0.055315],[-0.791260,-0.611233,-0.017405],[0.020068,-0.054405,0.998317]] 2025-10-27T05:02:30.920Z,1761541350.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:31.267Z,1761541351.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610072,0.790420,0.055210],[-0.792102,-0.610131,-0.017745],[0.019659,-0.054557,0.998317]] 2025-10-27T05:02:31.292Z,1761541351.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:31.720Z,1761541351.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609119,0.791168,0.055027],[-0.792845,-0.609158,-0.017987],[0.019289,-0.054584,0.998323]] 2025-10-27T05:02:31.798Z,1761541351.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:32.073Z,1761541352.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608379,0.791754,0.054776],[-0.793420,-0.608403,-0.018160],[0.018948,-0.054508,0.998334]] 2025-10-27T05:02:32.108Z,1761541352.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:32.481Z,1761541352.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607755,0.792255,0.054465],[-0.793905,-0.607769,-0.018211],[0.018675,-0.054307,0.998350]] 2025-10-27T05:02:32.502Z,1761541352.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:32.883Z,1761541352.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606950,0.792892,0.054170],[-0.794528,-0.606951,-0.018316],[0.018356,-0.054157,0.998364]] 2025-10-27T05:02:33.002Z,1761541353.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:33.334Z,1761541353.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:33.429Z,1761541353.429 [DAT](INFO): DAT read: Rx Time:05:02:32.0663 2025-10-27T05:02:33.430Z,1761541353.430 [DAT](INFO): Rx dataTimestamp_ set to:1761541353.429456 2025-10-27T05:02:33.696Z,1761541353.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605939,0.793691,0.053785],[-0.795304,-0.605938,-0.018183],[0.018159,-0.053793,0.998387]] 2025-10-27T05:02:33.788Z,1761541353.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:02:33.940Z,1761541353.940 [DAT](INFO): DAT read: 05:02:32.0663 LVL= 31568, 29249, 32754, 32755, AGC= 63, IDX= 432,-0.26,-2.913,-1.447, 2.881,-2.262, PHS=-0.549, 0.860,-1.184, RAW= 347.7, 9.7, CAL= 347.8, 10.5, ROT= 162.2, -10.5 2025-10-27T05:02:33.941Z,1761541353.941 [DAT](INFO): got valid direction response: 05:02:32.0663 LVL= 31568, 29249, 32754, 32755, AGC= 63, IDX= 432,-0.26,-2.913,-1.447, 2.881,-2.262, PHS=-0.549, 0.860,-1.184, RAW= 347.7, 9.7, CAL= 347.8, 10.5, ROT= 162.2, -10.5 2025-10-27T05:02:33.942Z,1761541353.942 [DAT](INFO): DAT read: Bearing 183.9, 15.9 (Local) 2025-10-27T05:02:33.943Z,1761541353.943 [DAT](INFO): Local bearing/azimuth received: Bearing 183.9, 15.9 (Local) 2025-10-27T05:02:33.944Z,1761541353.944 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (Round-trip 34.7 ms) speed 0.0 m/s 2025-10-27T05:02:33.945Z,1761541353.945 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:02:33.946Z,1761541353.946 [DAT](INFO): direction in FSK: [-0.936186,0.300576,0.182236] 2025-10-27T05:02:33.946Z,1761541353.946 [DAT](INFO): publishing direction and range info 2025-10-27T05:02:34.094Z,1761541354.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605481,0.794035,0.053860],[-0.795652,-0.605481,-0.018176],[0.018179,-0.053859,0.998383]] 2025-10-27T05:02:34.171Z,1761541354.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 3.533966 s, deltaX: 0.299999 m, approachRate: 0.084890 m/s, rangeRepo size: 4 2025-10-27T05:02:34.177Z,1761541354.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.870525 m, bearing: 34.462489 deg, lat: 36.779311 deg, lon: -121.859573 deg, deltaT: 3.533966 s, deltaX: 0.298435 m, approachRate: 0.084448 m/s, posRepo size: 4 2025-10-27T05:02:34.177Z,1761541354.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:34.501Z,1761541354.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605190,0.794249,0.053975],[-0.795872,-0.605193,-0.018150],[0.018250,-0.053941,0.998377]] 2025-10-27T05:02:34.540Z,1761541354.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:34.902Z,1761541354.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605072,0.794337,0.054003],[-0.795960,-0.605080,-0.018052],[0.018337,-0.053907,0.998378]] 2025-10-27T05:02:34.969Z,1761541354.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:35.341Z,1761541355.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605061,0.794339,0.054097],[-0.795964,-0.605078,-0.017928],[0.018492,-0.053906,0.998375]] 2025-10-27T05:02:35.372Z,1761541355.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:35.722Z,1761541355.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605436,0.794045,0.054229],[-0.795669,-0.605479,-0.017501],[0.018938,-0.053744,0.998375]] 2025-10-27T05:02:35.844Z,1761541355.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:36.211Z,1761541356.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:36.537Z,1761541356.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606039,0.793567,0.054490],[-0.795197,-0.606111,-0.017084],[0.019470,-0.053684,0.998368]] 2025-10-27T05:02:36.579Z,1761541356.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:36.938Z,1761541356.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606454,0.793230,0.054771],[-0.794872,-0.606541,-0.016921],[0.019799,-0.053797,0.998356]] 2025-10-27T05:02:37.024Z,1761541357.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:37.363Z,1761541357.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607144,0.792691,0.054936],[-0.794337,-0.607249,-0.016680],[0.020137,-0.053765,0.998351]] 2025-10-27T05:02:37.382Z,1761541357.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:37.754Z,1761541357.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607688,0.792250,0.055268],[-0.793911,-0.607809,-0.016538],[0.020490,-0.053928,0.998335]] 2025-10-27T05:02:37.844Z,1761541357.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:38.150Z,1761541358.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608367,0.791708,0.055577],[-0.793382,-0.608504,-0.016377],[0.020852,-0.054057,0.998320]] 2025-10-27T05:02:38.260Z,1761541358.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:38.557Z,1761541358.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608992,0.791207,0.055867],[-0.792894,-0.609143,-0.016255],[0.021170,-0.054196,0.998306]] 2025-10-27T05:02:38.621Z,1761541358.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:39.028Z,1761541359.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610383,0.790134,0.055869],[-0.791815,-0.610553,-0.015947],[0.021511,-0.053972,0.998311]] 2025-10-27T05:02:39.097Z,1761541359.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:39.422Z,1761541359.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611078,0.789600,0.055819],[-0.791275,-0.611255,-0.015848],[0.021606,-0.053853,0.998315]] 2025-10-27T05:02:39.464Z,1761541359.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:39.862Z,1761541359.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611461,0.789294,0.055959],[-0.790979,-0.611636,-0.015939],[0.021646,-0.054008,0.998306]] 2025-10-27T05:02:39.920Z,1761541359.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:40.348Z,1761541360.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611580,0.789181,0.056243],[-0.790886,-0.611751,-0.016140],[0.021670,-0.054353,0.998287]] 2025-10-27T05:02:40.380Z,1761541360.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:40.729Z,1761541360.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611839,0.788989,0.056118],[-0.790691,-0.611998,-0.016316],[0.021471,-0.054355,0.998291]] 2025-10-27T05:02:40.755Z,1761541360.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:41.126Z,1761541361.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612135,0.788783,0.055789],[-0.790470,-0.612281,-0.016442],[0.021189,-0.054164,0.998307]] 2025-10-27T05:02:41.185Z,1761541361.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:41.532Z,1761541361.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612106,0.788826,0.055498],[-0.790502,-0.612231,-0.016723],[0.020785,-0.054108,0.998319]] 2025-10-27T05:02:41.554Z,1761541361.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:41.934Z,1761541361.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612063,0.788886,0.055119],[-0.790547,-0.612165,-0.016993],[0.020336,-0.053975,0.998335]] 2025-10-27T05:02:41.981Z,1761541361.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:42.345Z,1761541362.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612010,0.788948,0.054825],[-0.790600,-0.612089,-0.017304],[0.019905,-0.053935,0.998346]] 2025-10-27T05:02:42.387Z,1761541362.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:42.745Z,1761541362.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611679,0.789220,0.054592],[-0.790870,-0.611724,-0.017838],[0.019317,-0.054086,0.998349]] 2025-10-27T05:02:42.764Z,1761541362.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:43.146Z,1761541363.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611150,0.789652,0.054268],[-0.791297,-0.611153,-0.018474],[0.018578,-0.054232,0.998356]] 2025-10-27T05:02:43.190Z,1761541363.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:43.592Z,1761541363.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:43.954Z,1761541363.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610381,0.790320,0.053191],[-0.791927,-0.610299,-0.019669],[0.016917,-0.054129,0.998391]] 2025-10-27T05:02:44.008Z,1761541364.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:44.364Z,1761541364.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609975,0.790673,0.052601],[-0.792257,-0.609852,-0.020228],[0.016085,-0.054013,0.998411]] 2025-10-27T05:02:44.382Z,1761541364.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:44.762Z,1761541364.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609424,0.791137,0.052006],[-0.792700,-0.609254,-0.020896],[0.015154,-0.053960,0.998428]] 2025-10-27T05:02:44.790Z,1761541364.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:45.166Z,1761541365.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609003,0.791507,0.051311],[-0.793042,-0.608786,-0.021560],[0.014172,-0.053822,0.998450]] 2025-10-27T05:02:45.219Z,1761541365.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:45.572Z,1761541365.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608723,0.791755,0.050793],[-0.793270,-0.608469,-0.022110],[0.013400,-0.053752,0.998464]] 2025-10-27T05:02:45.595Z,1761541365.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:45.974Z,1761541365.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608230,0.792170,0.050228],[-0.793663,-0.607930,-0.022819],[0.012458,-0.053744,0.998477]] 2025-10-27T05:02:46.020Z,1761541366.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:46.379Z,1761541366.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608022,0.792365,0.049658],[-0.793835,-0.607682,-0.023428],[0.011612,-0.053665,0.998492]] 2025-10-27T05:02:46.414Z,1761541366.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:46.782Z,1761541366.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608004,0.792420,0.048997],[-0.793860,-0.607628,-0.023962],[0.010784,-0.053466,0.998511]] 2025-10-27T05:02:46.830Z,1761541366.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:47.188Z,1761541367.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607529,0.792810,0.048579],[-0.794236,-0.607106,-0.024737],[0.009881,-0.053612,0.998513]] 2025-10-27T05:02:47.225Z,1761541367.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:47.590Z,1761541367.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607217,0.793076,0.048153],[-0.794484,-0.606756,-0.025342],[0.009119,-0.053645,0.998518]] 2025-10-27T05:02:47.625Z,1761541367.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:47.994Z,1761541367.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607222,0.793108,0.047549],[-0.794488,-0.606731,-0.025817],[0.008374,-0.053454,0.998535]] 2025-10-27T05:02:48.038Z,1761541368.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:48.399Z,1761541368.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606919,0.793361,0.047206],[-0.794727,-0.606390,-0.026461],[0.007632,-0.053575,0.998535]] 2025-10-27T05:02:48.418Z,1761541368.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:48.815Z,1761541368.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606891,0.793400,0.046900],[-0.794754,-0.606331,-0.026992],[0.007022,-0.053655,0.998535]] 2025-10-27T05:02:48.836Z,1761541368.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:49.207Z,1761541369.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607014,0.793328,0.046529],[-0.794665,-0.606427,-0.027449],[0.006440,-0.053637,0.998540]] 2025-10-27T05:02:49.251Z,1761541369.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:49.614Z,1761541369.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607352,0.793089,0.046183],[-0.794411,-0.606744,-0.027812],[0.005964,-0.053580,0.998546]] 2025-10-27T05:02:49.652Z,1761541369.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:50.021Z,1761541370.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607595,0.792921,0.045875],[-0.794228,-0.606963,-0.028236],[0.005455,-0.053591,0.998548]] 2025-10-27T05:02:50.059Z,1761541370.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:50.418Z,1761541370.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608130,0.792532,0.045509],[-0.793821,-0.607485,-0.028455],[0.005095,-0.053430,0.998559]] 2025-10-27T05:02:50.444Z,1761541370.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:50.825Z,1761541370.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608395,0.792339,0.045315],[-0.793620,-0.607733,-0.028775],[0.004739,-0.053470,0.998558]] 2025-10-27T05:02:50.861Z,1761541370.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:51.226Z,1761541371.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608888,0.791972,0.045122],[-0.793244,-0.608215,-0.028972],[0.004499,-0.053434,0.998561]] 2025-10-27T05:02:51.278Z,1761541371.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:51.644Z,1761541371.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609276,0.791685,0.044927],[-0.792947,-0.608588,-0.029244],[0.004190,-0.053442,0.998562]] 2025-10-27T05:02:51.665Z,1761541371.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:52.052Z,1761541372.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609857,0.791241,0.044849],[-0.792501,-0.609163,-0.029377],[0.004076,-0.053458,0.998562]] 2025-10-27T05:02:52.106Z,1761541372.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:52.387Z,1761541372.387 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:02:52.536Z,1761541372.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:52.850Z,1761541372.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610740,0.790565,0.044750],[-0.791822,-0.610028,-0.029730],[0.003795,-0.053591,0.998556]] 2025-10-27T05:02:52.878Z,1761541372.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:53.254Z,1761541373.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611176,0.790226,0.044784],[-0.791485,-0.610461,-0.029804],[0.003786,-0.053661,0.998552]] 2025-10-27T05:02:53.330Z,1761541373.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:53.392Z,1761541373.392 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:02:53.662Z,1761541373.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611399,0.790056,0.044748],[-0.791314,-0.610678,-0.029903],[0.003702,-0.053693,0.998551]] 2025-10-27T05:02:53.715Z,1761541373.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:54.077Z,1761541374.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611974,0.789614,0.044682],[-0.790868,-0.611261,-0.029777],[0.003800,-0.053560,0.998557]] 2025-10-27T05:02:54.122Z,1761541374.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:54.466Z,1761541374.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612138,0.789490,0.044645],[-0.790742,-0.611421,-0.029850],[0.003731,-0.053575,0.998557]] 2025-10-27T05:02:54.494Z,1761541374.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:54.905Z,1761541374.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:55.297Z,1761541375.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612273,0.789384,0.044664],[-0.790638,-0.611555,-0.029867],[0.003738,-0.053600,0.998555]] 2025-10-27T05:02:55.351Z,1761541375.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:55.691Z,1761541375.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612063,0.789542,0.044747],[-0.790801,-0.611338,-0.030001],[0.003669,-0.053748,0.998548]] 2025-10-27T05:02:55.717Z,1761541375.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:56.114Z,1761541376.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611977,0.789604,0.044834],[-0.790866,-0.611259,-0.029897],[0.003799,-0.053754,0.998547]] 2025-10-27T05:02:56.165Z,1761541376.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:56.518Z,1761541376.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611996,0.789598,0.044689],[-0.790852,-0.611288,-0.029678],[0.003885,-0.053505,0.998560]] 2025-10-27T05:02:56.542Z,1761541376.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:56.922Z,1761541376.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611810,0.789735,0.044806],[-0.790994,-0.611110,-0.029531],[0.004060,-0.053509,0.998559]] 2025-10-27T05:02:56.958Z,1761541376.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:57.326Z,1761541377.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611186,0.790206,0.045021],[-0.791476,-0.610486,-0.029538],[0.004143,-0.053686,0.998549]] 2025-10-27T05:02:57.385Z,1761541377.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:57.743Z,1761541377.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610845,0.790460,0.045179],[-0.791738,-0.610154,-0.029372],[0.004349,-0.053712,0.998547]] 2025-10-27T05:02:57.762Z,1761541377.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:58.141Z,1761541378.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610553,0.790679,0.045305],[-0.791962,-0.609875,-0.029125],[0.004602,-0.053662,0.998549]] 2025-10-27T05:02:58.205Z,1761541378.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:58.538Z,1761541378.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610298,0.790873,0.045347],[-0.792157,-0.609637,-0.028812],[0.004858,-0.053506,0.998556]] 2025-10-27T05:02:58.572Z,1761541378.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:58.941Z,1761541378.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609972,0.791120,0.045423],[-0.792406,-0.609325,-0.028548],[0.005093,-0.053407,0.998560]] 2025-10-27T05:02:58.961Z,1761541378.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:59.346Z,1761541379.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609823,0.791220,0.045688],[-0.792518,-0.609200,-0.028107],[0.005594,-0.053349,0.998560]] 2025-10-27T05:02:59.413Z,1761541379.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:02:59.757Z,1761541379.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609789,0.791233,0.045909],[-0.792540,-0.609191,-0.027688],[0.006060,-0.053269,0.998562]] 2025-10-27T05:02:59.790Z,1761541379.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:00.197Z,1761541380.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609887,0.791120,0.046553],[-0.792458,-0.609329,-0.026994],[0.007010,-0.053355,0.998551]] 2025-10-27T05:03:00.250Z,1761541380.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:00.599Z,1761541380.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610202,0.790857,0.046897],[-0.792210,-0.609669,-0.026589],[0.007563,-0.053377,0.998546]] 2025-10-27T05:03:00.618Z,1761541380.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:01.003Z,1761541381.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610456,0.790641,0.047225],[-0.792010,-0.609943,-0.026275],[0.008030,-0.053443,0.998539]] 2025-10-27T05:03:01.021Z,1761541381.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:01.402Z,1761541381.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611124,0.790109,0.047498],[-0.791488,-0.610641,-0.025783],[0.008632,-0.053351,0.998539]] 2025-10-27T05:03:01.459Z,1761541381.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:01.808Z,1761541381.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611789,0.789588,0.047585],[-0.790969,-0.611327,-0.025434],[0.009008,-0.053198,0.998543]] 2025-10-27T05:03:01.843Z,1761541381.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:02.210Z,1761541382.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612330,0.789158,0.047766],[-0.790548,-0.611880,-0.025238],[0.009310,-0.053215,0.998540]] 2025-10-27T05:03:02.278Z,1761541382.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:02.615Z,1761541382.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612851,0.788745,0.047918],[-0.790143,-0.612403,-0.025246],[0.009433,-0.053334,0.998532]] 2025-10-27T05:03:02.634Z,1761541382.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:03.018Z,1761541383.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613260,0.788426,0.047920],[-0.789826,-0.612802,-0.025462],[0.009290,-0.053463,0.998527]] 2025-10-27T05:03:03.045Z,1761541383.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:03.425Z,1761541383.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613868,0.787962,0.047767],[-0.789357,-0.613397,-0.025684],[0.009062,-0.053472,0.998528]] 2025-10-27T05:03:03.482Z,1761541383.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:03.826Z,1761541383.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614248,0.787676,0.047608],[-0.789065,-0.613756,-0.026061],[0.008692,-0.053573,0.998526]] 2025-10-27T05:03:03.845Z,1761541383.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:04.233Z,1761541384.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614709,0.787332,0.047343],[-0.788710,-0.614197,-0.026410],[0.008284,-0.053574,0.998529]] 2025-10-27T05:03:04.305Z,1761541384.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:04.672Z,1761541384.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615103,0.787056,0.046806],[-0.788410,-0.614564,-0.026861],[0.007624,-0.053424,0.998543]] 2025-10-27T05:03:04.707Z,1761541384.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:05.074Z,1761541385.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615147,0.787051,0.046308],[-0.788383,-0.614570,-0.027491],[0.006822,-0.053419,0.998549]] 2025-10-27T05:03:05.094Z,1761541385.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:05.485Z,1761541385.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615084,0.787127,0.045859],[-0.788439,-0.614468,-0.028159],[0.006014,-0.053477,0.998551]] 2025-10-27T05:03:05.539Z,1761541385.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:05.882Z,1761541385.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614973,0.787251,0.045221],[-0.788533,-0.614309,-0.028984],[0.004962,-0.053482,0.998556]] 2025-10-27T05:03:05.910Z,1761541385.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:06.294Z,1761541386.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614672,0.787518,0.044640],[-0.788773,-0.613958,-0.029872],[0.003882,-0.053572,0.998556]] 2025-10-27T05:03:06.371Z,1761541386.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:06.690Z,1761541386.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614255,0.787877,0.044055],[-0.789103,-0.613492,-0.030738],[0.002810,-0.053644,0.998556]] 2025-10-27T05:03:06.805Z,1761541386.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:07.095Z,1761541387.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613933,0.788168,0.043337],[-0.789356,-0.613128,-0.031472],[0.001766,-0.053531,0.998565]] 2025-10-27T05:03:07.121Z,1761541387.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:07.498Z,1761541387.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613302,0.788699,0.042599],[-0.789849,-0.612449,-0.032328],[0.000593,-0.053474,0.998569]] 2025-10-27T05:03:07.550Z,1761541387.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:07.902Z,1761541387.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612765,0.789157,0.041823],[-0.790265,-0.611869,-0.033145],[-0.000566,-0.053361,0.998575]] 2025-10-27T05:03:07.944Z,1761541387.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:08.308Z,1761541388.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612577,0.789349,0.040963],[-0.790409,-0.611648,-0.033761],[-0.001594,-0.053059,0.998590]] 2025-10-27T05:03:08.361Z,1761541388.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:08.717Z,1761541388.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612199,0.789678,0.040248],[-0.790699,-0.611230,-0.034538],[-0.002674,-0.052968,0.998593]] 2025-10-27T05:03:08.743Z,1761541388.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:09.114Z,1761541389.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612050,0.789814,0.039847],[-0.790811,-0.611044,-0.035254],[-0.003496,-0.053088,0.998584]] 2025-10-27T05:03:09.141Z,1761541389.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:09.518Z,1761541389.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612003,0.789876,0.039348],[-0.790844,-0.610963,-0.035919],[-0.004331,-0.053100,0.998580]] 2025-10-27T05:03:09.561Z,1761541389.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:09.921Z,1761541389.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612056,0.789848,0.039081],[-0.790798,-0.610983,-0.036572],[-0.005008,-0.053290,0.998567]] 2025-10-27T05:03:09.947Z,1761541389.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:10.384Z,1761541390.384 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS :BE, -94, +45, +2,A 2025-10-27T05:03:10.400Z,1761541390.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:10.739Z,1761541390.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612836,0.789288,0.038166],[-0.790185,-0.611721,-0.037476],[-0.006233,-0.053125,0.998568]] 2025-10-27T05:03:10.769Z,1761541390.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:11.134Z,1761541391.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613364,0.788898,0.037756],[-0.789772,-0.612235,-0.037797],[-0.006703,-0.053002,0.998572]] 2025-10-27T05:03:11.152Z,1761541391.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:11.538Z,1761541391.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613851,0.788534,0.037434],[-0.789390,-0.612704,-0.038183],[-0.007173,-0.052989,0.998569]] 2025-10-27T05:03:11.599Z,1761541391.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:11.943Z,1761541391.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614293,0.788197,0.037266],[-0.789042,-0.613129,-0.038534],[-0.007523,-0.053076,0.998562]] 2025-10-27T05:03:11.962Z,1761541391.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:12.350Z,1761541392.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614963,0.787688,0.036993],[-0.788517,-0.613787,-0.038824],[-0.007875,-0.053045,0.998561]] 2025-10-27T05:03:12.397Z,1761541392.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:12.755Z,1761541392.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615441,0.787330,0.036673],[-0.788139,-0.614243,-0.039280],[-0.008400,-0.053077,0.998555]] 2025-10-27T05:03:12.792Z,1761541392.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:13.211Z,1761541393.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:13.577Z,1761541393.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616378,0.786613,0.036309],[-0.787397,-0.615145,-0.040027],[-0.009150,-0.053261,0.998539]] 2025-10-27T05:03:13.637Z,1761541393.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:13.983Z,1761541393.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616832,0.786266,0.036106],[-0.787038,-0.615587,-0.040296],[-0.009457,-0.053273,0.998535]] 2025-10-27T05:03:14.002Z,1761541394.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:14.386Z,1761541394.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617121,0.786053,0.035816],[-0.786807,-0.615864,-0.040583],[-0.009843,-0.053225,0.998534]] 2025-10-27T05:03:14.431Z,1761541394.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:14.791Z,1761541394.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617410,0.785839,0.035518],[-0.786575,-0.616146,-0.040790],[-0.010170,-0.053122,0.998536]] 2025-10-27T05:03:14.849Z,1761541394.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:15.194Z,1761541395.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617623,0.785685,0.035241],[-0.786405,-0.616351,-0.040977],[-0.010474,-0.053022,0.998538]] 2025-10-27T05:03:15.223Z,1761541395.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:15.646Z,1761541395.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:16.002Z,1761541396.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617379,0.785888,0.034971],[-0.786588,-0.616083,-0.041484],[-0.011057,-0.053119,0.998527]] 2025-10-27T05:03:16.021Z,1761541396.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:16.417Z,1761541396.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617147,0.786068,0.035011],[-0.786768,-0.615839,-0.041694],[-0.011213,-0.053277,0.998517]] 2025-10-27T05:03:16.474Z,1761541396.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:16.810Z,1761541396.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616978,0.786205,0.034936],[-0.786899,-0.615664,-0.041804],[-0.011358,-0.053283,0.998515]] 2025-10-27T05:03:16.837Z,1761541396.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:17.214Z,1761541397.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616853,0.786307,0.034826],[-0.786995,-0.615544,-0.041761],[-0.011400,-0.053168,0.998521]] 2025-10-27T05:03:17.250Z,1761541397.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:17.618Z,1761541397.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616408,0.786653,0.034911],[-0.787344,-0.615092,-0.041852],[-0.011449,-0.053285,0.998514]] 2025-10-27T05:03:17.678Z,1761541397.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:18.023Z,1761541398.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616454,0.786620,0.034827],[-0.787309,-0.615150,-0.041650],[-0.011339,-0.053095,0.998525]] 2025-10-27T05:03:18.042Z,1761541398.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:18.439Z,1761541398.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616338,0.786704,0.034981],[-0.787403,-0.615041,-0.041473],[-0.011112,-0.053106,0.998527]] 2025-10-27T05:03:18.479Z,1761541398.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:18.830Z,1761541398.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616407,0.786644,0.035115],[-0.787354,-0.615125,-0.041178],[-0.010792,-0.053030,0.998535]] 2025-10-27T05:03:18.873Z,1761541398.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:19.234Z,1761541399.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616566,0.786513,0.035252],[-0.787233,-0.615297,-0.040898],[-0.010476,-0.052968,0.998541]] 2025-10-27T05:03:19.282Z,1761541399.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:19.639Z,1761541399.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616919,0.786237,0.035256],[-0.786962,-0.615673,-0.040481],[-0.010121,-0.052718,0.998558]] 2025-10-27T05:03:19.676Z,1761541399.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:20.070Z,1761541400.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617136,0.786063,0.035336],[-0.786795,-0.615903,-0.040218],[-0.009850,-0.052622,0.998566]] 2025-10-27T05:03:20.090Z,1761541400.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:20.466Z,1761541400.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617317,0.785911,0.035552],[-0.786656,-0.616090,-0.040061],[-0.009581,-0.052697,0.998565]] 2025-10-27T05:03:20.509Z,1761541400.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:20.849Z,1761541400.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617792,0.785530,0.035703],[-0.786287,-0.616577,-0.039820],[-0.009266,-0.052673,0.998569]] 2025-10-27T05:03:20.868Z,1761541400.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:21.265Z,1761541401.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617908,0.785428,0.035965],[-0.786197,-0.616683,-0.039955],[-0.009203,-0.052964,0.998554]] 2025-10-27T05:03:21.349Z,1761541401.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:21.658Z,1761541401.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618195,0.785195,0.036111],[-0.785971,-0.616962,-0.040084],[-0.009194,-0.053162,0.998544]] 2025-10-27T05:03:21.754Z,1761541401.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:22.062Z,1761541402.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618622,0.784857,0.036129],[-0.785634,-0.617382,-0.040238],[-0.009276,-0.053276,0.998537]] 2025-10-27T05:03:22.112Z,1761541402.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:22.496Z,1761541402.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619262,0.784356,0.036055],[-0.785129,-0.618020,-0.040296],[-0.009324,-0.053262,0.998537]] 2025-10-27T05:03:22.559Z,1761541402.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:22.906Z,1761541402.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:23.274Z,1761541403.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620187,0.783653,0.035441],[-0.784390,-0.618928,-0.040746],[-0.009995,-0.053069,0.998541]] 2025-10-27T05:03:23.293Z,1761541403.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:23.521Z,1761541403.521 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:03:23.679Z,1761541403.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620773,0.783211,0.034953],[-0.783920,-0.619503,-0.041057],[-0.010503,-0.052887,0.998545]] 2025-10-27T05:03:23.759Z,1761541403.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:24.081Z,1761541404.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621038,0.783015,0.034627],[-0.783702,-0.619746,-0.041541],[-0.011067,-0.052936,0.998537]] 2025-10-27T05:03:24.107Z,1761541404.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:24.523Z,1761541404.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:03:24.526Z,1761541404.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621089,0.782991,0.034260],[-0.783651,-0.619768,-0.042165],[-0.011781,-0.053037,0.998523]] 2025-10-27T05:03:24.579Z,1761541404.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:24.890Z,1761541404.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621096,0.782999,0.033940],[-0.783634,-0.619740,-0.042903],[-0.012559,-0.053243,0.998503]] 2025-10-27T05:03:24.909Z,1761541404.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:25.296Z,1761541405.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621159,0.782968,0.033497],[-0.783572,-0.619779,-0.043448],[-0.013258,-0.053235,0.998494]] 2025-10-27T05:03:25.338Z,1761541405.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:25.698Z,1761541405.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621199,0.782963,0.032879],[-0.783527,-0.619800,-0.043975],[-0.014053,-0.053079,0.998491]] 2025-10-27T05:03:25.776Z,1761541405.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:26.102Z,1761541406.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621002,0.783144,0.032275],[-0.783667,-0.619579,-0.044591],[-0.014924,-0.052984,0.998484]] 2025-10-27T05:03:26.138Z,1761541406.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:26.555Z,1761541406.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620804,0.783324,0.031721],[-0.783808,-0.619358,-0.045185],[-0.015748,-0.052914,0.998475]] 2025-10-27T05:03:26.604Z,1761541406.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:26.911Z,1761541406.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620501,0.783589,0.031110],[-0.784029,-0.619030,-0.045833],[-0.016656,-0.052830,0.998465]] 2025-10-27T05:03:26.934Z,1761541406.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:27.348Z,1761541407.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:27.726Z,1761541407.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619866,0.784131,0.030078],[-0.784493,-0.618344,-0.047127],[-0.018355,-0.052808,0.998436]] 2025-10-27T05:03:27.781Z,1761541407.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:28.121Z,1761541408.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619565,0.784383,0.029707],[-0.784714,-0.618020,-0.047692],[-0.019049,-0.052860,0.998420]] 2025-10-27T05:03:28.140Z,1761541408.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:03:28.142Z,1761541408.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:28.384Z,1761541408.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:03:28.384Z,1761541408.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:03:28.583Z,1761541408.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619201,0.784689,0.029205],[-0.784980,-0.617629,-0.048379],[-0.019925,-0.052882,0.998402]] 2025-10-27T05:03:28.626Z,1761541408.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:28.636Z,1761541408.636 [DAT](INFO): DAT read: user:290> 2025-10-27T05:03:28.636Z,1761541408.636 [DAT](INFO): DAT read: Tx time:05:03:27.6789 2025-10-27T05:03:28.637Z,1761541408.637 [DAT](INFO): Ping request sent. 2025-10-27T05:03:28.637Z,1761541408.637 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:03:28.637Z,1761541408.637 [DAT](INFO): publishing transmit ping time 2025-10-27T05:03:28.638Z,1761541408.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T05:03:28.888Z,1761541408.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250958 2025-10-27T05:03:28.942Z,1761541408.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619171,0.784725,0.028890],[-0.784990,-0.617584,-0.048798],[-0.020452,-0.052893,0.998391]] 2025-10-27T05:03:28.976Z,1761541408.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:29.140Z,1761541409.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503113 2025-10-27T05:03:29.346Z,1761541409.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619446,0.784527,0.028361],[-0.784759,-0.617855,-0.049072],[-0.020975,-0.052654,0.998393]] 2025-10-27T05:03:29.381Z,1761541409.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:29.392Z,1761541409.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755525 2025-10-27T05:03:29.644Z,1761541409.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007236 2025-10-27T05:03:29.755Z,1761541409.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619554,0.784462,0.027787],[-0.784654,-0.617952,-0.049527],[-0.021681,-0.052488,0.998386]] 2025-10-27T05:03:29.810Z,1761541409.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:29.896Z,1761541409.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259557 2025-10-27T05:03:30.148Z,1761541410.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511045 2025-10-27T05:03:30.161Z,1761541410.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619730,0.784332,0.027533],[-0.784502,-0.618110,-0.049966],[-0.022171,-0.052565,0.998371]] 2025-10-27T05:03:30.179Z,1761541410.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:30.400Z,1761541410.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762997 2025-10-27T05:03:30.621Z,1761541410.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620018,0.784112,0.027317],[-0.784263,-0.618385,-0.050310],[-0.022556,-0.052617,0.998360]] 2025-10-27T05:03:30.652Z,1761541410.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015125 2025-10-27T05:03:30.663Z,1761541410.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:30.904Z,1761541410.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267063 2025-10-27T05:03:30.966Z,1761541410.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620239,0.783942,0.027170],[-0.784078,-0.618588,-0.050705],[-0.022943,-0.052753,0.998344]] 2025-10-27T05:03:31.001Z,1761541411.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:31.156Z,1761541411.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518955 2025-10-27T05:03:31.366Z,1761541411.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620541,0.783708,0.027029],[-0.783828,-0.618876,-0.051045],[-0.023277,-0.052861,0.998330]] 2025-10-27T05:03:31.384Z,1761541411.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:31.408Z,1761541411.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771118 2025-10-27T05:03:31.660Z,1761541411.660 [DAT](INFO): DAT read: Rx Time:05:03:30.1234 2025-10-27T05:03:31.661Z,1761541411.661 [DAT](INFO): Rx dataTimestamp_ set to:1761541411.660245 2025-10-27T05:03:31.661Z,1761541411.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024168 2025-10-27T05:03:31.770Z,1761541411.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621036,0.783321,0.026869],[-0.783430,-0.619365,-0.051232],[-0.023489,-0.052867,0.998325]] 2025-10-27T05:03:31.807Z,1761541411.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.87 m. 2025-10-27T05:03:31.912Z,1761541411.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275056 2025-10-27T05:03:32.169Z,1761541412.169 [DAT](INFO): DAT read: 05:03:30.1234 LVL= 29040, 28801, 32754, 32755, AGC= 60, IDX= 506, 0.23, 0.710, 1.932, 0.157, 1.314, PHS=-0.502, 0.663,-1.201, RAW= 351.8, 12.7, CAL= 352.2, 15.3, ROT= 157.8, -15.3 2025-10-27T05:03:32.170Z,1761541412.170 [DAT](INFO): got valid direction response: 05:03:30.1234 LVL= 29040, 28801, 32754, 32755, AGC= 60, IDX= 506, 0.23, 0.710, 1.932, 0.157, 1.314, PHS=-0.502, 0.663,-1.201, RAW= 351.8, 12.7, CAL= 352.2, 15.3, ROT= 157.8, -15.3 2025-10-27T05:03:32.172Z,1761541412.172 [DAT](INFO): DAT read: Bearing 176.4, 21.5 (Local) 2025-10-27T05:03:32.172Z,1761541412.172 [DAT](INFO): Local bearing/azimuth received: Bearing 176.4, 21.5 (Local) 2025-10-27T05:03:32.173Z,1761541412.173 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (Round-trip 40.4 ms) speed 0.0 m/s 2025-10-27T05:03:32.174Z,1761541412.174 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:03:32.175Z,1761541412.175 [DAT](INFO): direction in FSK: [-0.893055,0.364449,0.263873] 2025-10-27T05:03:32.175Z,1761541412.175 [DAT](INFO): publishing direction and range info 2025-10-27T05:03:32.207Z,1761541412.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621623,0.782866,0.026573],[-0.782956,-0.619951,-0.051387],[-0.023755,-0.052749,0.998325]] 2025-10-27T05:03:32.278Z,1761541412.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 58.230069 s, deltaX: 4.299999 m, approachRate: 0.073845 m/s, rangeRepo size: 4 2025-10-27T05:03:32.281Z,1761541412.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.149172 m, bearing: 28.478286 deg, lat: 36.779311 deg, lon: -121.859569 deg, deltaT: 58.230069 s, deltaX: 4.278646 m, approachRate: 0.073478 m/s, posRepo size: 4 2025-10-27T05:03:32.282Z,1761541412.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:32.609Z,1761541412.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621912,0.782644,0.026330],[-0.782717,-0.620233,-0.051615],[-0.024065,-0.052709,0.998320]] 2025-10-27T05:03:32.654Z,1761541412.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:32.982Z,1761541412.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622290,0.782350,0.026153],[-0.782412,-0.620611,-0.051703],[-0.024219,-0.052637,0.998320]] 2025-10-27T05:03:33.037Z,1761541413.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:33.382Z,1761541413.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622507,0.782176,0.026188],[-0.782239,-0.620823,-0.051785],[-0.024247,-0.052722,0.998315]] 2025-10-27T05:03:33.401Z,1761541413.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:33.787Z,1761541413.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622476,0.782202,0.026154],[-0.782256,-0.620778,-0.052060],[-0.024486,-0.052865,0.998301]] 2025-10-27T05:03:33.852Z,1761541413.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:34.190Z,1761541414.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622817,0.781931,0.026122],[-0.781983,-0.621119,-0.052083],[-0.024500,-0.052865,0.998301]] 2025-10-27T05:03:34.223Z,1761541414.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:34.597Z,1761541414.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622890,0.781873,0.026146],[-0.781923,-0.621182,-0.052246],[-0.024608,-0.052987,0.998292]] 2025-10-27T05:03:34.687Z,1761541414.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:35.001Z,1761541415.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623208,0.781626,0.025932],[-0.781668,-0.621513,-0.052118],[-0.024620,-0.052751,0.998304]] 2025-10-27T05:03:35.058Z,1761541415.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:35.404Z,1761541415.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623430,0.781456,0.025741],[-0.781491,-0.621744,-0.052018],[-0.024646,-0.052546,0.998314]] 2025-10-27T05:03:35.427Z,1761541415.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:35.806Z,1761541415.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623630,0.781299,0.025633],[-0.781335,-0.621958,-0.051814],[-0.024540,-0.052341,0.998328]] 2025-10-27T05:03:35.929Z,1761541415.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:36.222Z,1761541416.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623687,0.781250,0.025753],[-0.781296,-0.622021,-0.051635],[-0.024321,-0.052325,0.998334]] 2025-10-27T05:03:36.268Z,1761541416.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:36.616Z,1761541416.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623495,0.781393,0.026065],[-0.781456,-0.621824,-0.051591],[-0.024105,-0.052535,0.998328]] 2025-10-27T05:03:36.732Z,1761541416.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:37.036Z,1761541417.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623687,0.781232,0.026286],[-0.781315,-0.622028,-0.051271],[-0.023704,-0.052514,0.998339]] 2025-10-27T05:03:37.089Z,1761541417.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:37.426Z,1761541417.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623824,0.781114,0.026548],[-0.781216,-0.622170,-0.051057],[-0.023364,-0.052591,0.998343]] 2025-10-27T05:03:37.449Z,1761541417.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:37.830Z,1761541417.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624026,0.780946,0.026734],[-0.781064,-0.622380,-0.050806],[-0.023038,-0.052585,0.998351]] 2025-10-27T05:03:37.875Z,1761541417.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:38.240Z,1761541418.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624260,0.780753,0.026900],[-0.780888,-0.622628,-0.050490],[-0.022671,-0.052525,0.998362]] 2025-10-27T05:03:38.258Z,1761541418.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:38.639Z,1761541418.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624628,0.780453,0.027089],[-0.780606,-0.623010,-0.050130],[-0.022248,-0.052458,0.998375]] 2025-10-27T05:03:38.666Z,1761541418.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:39.052Z,1761541419.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625184,0.779999,0.027305],[-0.780174,-0.623584,-0.049714],[-0.021750,-0.052383,0.998390]] 2025-10-27T05:03:39.088Z,1761541419.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:39.442Z,1761541419.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625422,0.779795,0.027709],[-0.779994,-0.623820,-0.049587],[-0.021383,-0.052626,0.998385]] 2025-10-27T05:03:39.481Z,1761541419.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:39.846Z,1761541419.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625950,0.779363,0.027942],[-0.779581,-0.624357,-0.049315],[-0.020989,-0.052652,0.998392]] 2025-10-27T05:03:39.900Z,1761541419.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:40.252Z,1761541420.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626523,0.778887,0.028356],[-0.779133,-0.624935,-0.049069],[-0.020499,-0.052836,0.998393]] 2025-10-27T05:03:40.271Z,1761541420.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:40.654Z,1761541420.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627033,0.778466,0.028643],[-0.778732,-0.625450,-0.048869],[-0.020128,-0.052948,0.998394]] 2025-10-27T05:03:40.685Z,1761541420.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:41.061Z,1761541421.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627683,0.777941,0.028650],[-0.778213,-0.626110,-0.048692],[-0.019942,-0.052859,0.998403]] 2025-10-27T05:03:41.111Z,1761541421.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:41.510Z,1761541421.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:41.867Z,1761541421.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628524,0.777256,0.028829],[-0.777544,-0.626960,-0.048445],[-0.019580,-0.052865,0.998410]] 2025-10-27T05:03:41.905Z,1761541421.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:42.272Z,1761541422.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628716,0.777101,0.028808],[-0.777387,-0.627149,-0.048514],[-0.019633,-0.052897,0.998407]] 2025-10-27T05:03:42.290Z,1761541422.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:42.674Z,1761541422.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628777,0.777055,0.028734],[-0.777335,-0.627206,-0.048608],[-0.019749,-0.052900,0.998405]] 2025-10-27T05:03:42.711Z,1761541422.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:43.082Z,1761541423.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628640,0.777164,0.028782],[-0.777443,-0.627060,-0.048768],[-0.019853,-0.053033,0.998395]] 2025-10-27T05:03:43.133Z,1761541423.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:43.483Z,1761541423.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628498,0.777283,0.028667],[-0.777553,-0.626912,-0.048922],[-0.020055,-0.053037,0.998391]] 2025-10-27T05:03:43.502Z,1761541423.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:43.885Z,1761541423.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628182,0.777548,0.028387],[-0.777798,-0.626592,-0.049119],[-0.020406,-0.052935,0.998389]] 2025-10-27T05:03:43.930Z,1761541423.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:44.290Z,1761541424.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627550,0.778061,0.028315],[-0.778302,-0.625949,-0.049335],[-0.020662,-0.052997,0.998381]] 2025-10-27T05:03:44.321Z,1761541424.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:44.696Z,1761541424.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626721,0.778738,0.028085],[-0.778960,-0.625112,-0.049558],[-0.021036,-0.052936,0.998376]] 2025-10-27T05:03:44.750Z,1761541424.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:45.103Z,1761541425.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625793,0.779492,0.027837],[-0.779696,-0.624182,-0.049703],[-0.021368,-0.052808,0.998376]] 2025-10-27T05:03:45.140Z,1761541425.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:45.502Z,1761541425.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624834,0.780271,0.027560],[-0.780456,-0.623223,-0.049811],[-0.021690,-0.052633,0.998378]] 2025-10-27T05:03:45.529Z,1761541425.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:45.906Z,1761541425.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623590,0.781271,0.027411],[-0.781440,-0.621969,-0.050052],[-0.022055,-0.052632,0.998370]] 2025-10-27T05:03:45.950Z,1761541425.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:46.310Z,1761541426.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622341,0.782272,0.027260],[-0.782427,-0.620714,-0.050222],[-0.022367,-0.052584,0.998366]] 2025-10-27T05:03:46.329Z,1761541426.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:46.725Z,1761541426.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621053,0.783292,0.027325],[-0.783445,-0.619417,-0.050359],[-0.022521,-0.052684,0.998357]] 2025-10-27T05:03:46.748Z,1761541426.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:47.180Z,1761541427.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:47.524Z,1761541427.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619244,0.784725,0.027270],[-0.784876,-0.617620,-0.050152],[-0.022514,-0.052460,0.998369]] 2025-10-27T05:03:47.548Z,1761541427.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:47.926Z,1761541427.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618687,0.785164,0.027275],[-0.785320,-0.617079,-0.049856],[-0.022315,-0.052265,0.998384]] 2025-10-27T05:03:47.975Z,1761541427.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:48.330Z,1761541428.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618471,0.785330,0.027400],[-0.785501,-0.616880,-0.049479],[-0.021955,-0.052124,0.998399]] 2025-10-27T05:03:48.348Z,1761541428.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:48.738Z,1761541428.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618080,0.785624,0.027795],[-0.785819,-0.616489,-0.049299],[-0.021595,-0.052313,0.998397]] 2025-10-27T05:03:48.763Z,1761541428.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:49.176Z,1761541429.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618170,0.785544,0.028032],[-0.785759,-0.616592,-0.048957],[-0.021173,-0.052290,0.998407]] 2025-10-27T05:03:49.237Z,1761541429.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:49.578Z,1761541429.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618669,0.785138,0.028417],[-0.785383,-0.617107,-0.048507],[-0.020548,-0.052328,0.998419]] 2025-10-27T05:03:49.600Z,1761541429.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:49.982Z,1761541429.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619256,0.784659,0.028869],[-0.784936,-0.617703,-0.048155],[-0.019953,-0.052481,0.998423]] 2025-10-27T05:03:50.035Z,1761541430.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:50.407Z,1761541430.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620382,0.783755,0.029231],[-0.784065,-0.618853,-0.047585],[-0.019205,-0.052440,0.998439]] 2025-10-27T05:03:50.521Z,1761541430.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:50.955Z,1761541430.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621265,0.783039,0.029645],[-0.783378,-0.619744,-0.047282],[-0.018651,-0.052598,0.998442]] 2025-10-27T05:03:51.005Z,1761541431.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:51.297Z,1761541431.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622678,0.781905,0.029941],[-0.782271,-0.621176,-0.046826],[-0.018015,-0.052580,0.998454]] 2025-10-27T05:03:51.347Z,1761541431.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:51.744Z,1761541431.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623662,0.781106,0.030322],[-0.781496,-0.622161,-0.046685],[-0.017600,-0.052812,0.998449]] 2025-10-27T05:03:51.784Z,1761541431.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:52.194Z,1761541432.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624811,0.780172,0.030721],[-0.780589,-0.623314,-0.046482],[-0.017116,-0.053023,0.998447]] 2025-10-27T05:03:52.252Z,1761541432.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:52.658Z,1761541432.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626673,0.778674,0.030800],[-0.779100,-0.625181,-0.046387],[-0.016864,-0.053065,0.998449]] 2025-10-27T05:03:52.703Z,1761541432.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:53.100Z,1761541433.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627172,0.778275,0.030719],[-0.778697,-0.625678,-0.046452],[-0.016932,-0.053054,0.998448]] 2025-10-27T05:03:53.137Z,1761541433.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:53.498Z,1761541433.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627236,0.778222,0.030765],[-0.778643,-0.625733,-0.046622],[-0.017031,-0.053198,0.998439]] 2025-10-27T05:03:53.533Z,1761541433.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:53.939Z,1761541433.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626584,0.778747,0.030742],[-0.779161,-0.625064,-0.046943],[-0.017341,-0.053367,0.998424]] 2025-10-27T05:03:53.975Z,1761541433.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:54.375Z,1761541434.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625664,0.779498,0.030456],[-0.779892,-0.624140,-0.047090],[-0.017698,-0.053215,0.998426]] 2025-10-27T05:03:54.411Z,1761541434.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:54.659Z,1761541434.659 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:03:54.788Z,1761541434.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623813,0.781008,0.029733],[-0.781365,-0.622317,-0.046788],[-0.018039,-0.052419,0.998462]] 2025-10-27T05:03:54.806Z,1761541434.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:55.209Z,1761541435.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620913,0.783334,0.029229],[-0.783664,-0.619437,-0.046561],[-0.018368,-0.051816,0.998488]] 2025-10-27T05:03:55.255Z,1761541435.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:55.593Z,1761541435.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617629,0.785946,0.028685],[-0.786247,-0.616174,-0.046321],[-0.018731,-0.051162,0.998515]] 2025-10-27T05:03:55.624Z,1761541435.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:55.663Z,1761541435.663 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:03:55.000Z,1761541436.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613529,0.789156,0.028546],[-0.789443,-0.612078,-0.046266],[-0.019038,-0.050921,0.998521]] 2025-10-27T05:03:56.045Z,1761541436.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:56.416Z,1761541436.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609369,0.792378,0.028412],[-0.792653,-0.607927,-0.046102],[-0.019258,-0.050614,0.998533]] 2025-10-27T05:03:56.451Z,1761541436.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:56.817Z,1761541436.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604671,0.795963,0.028549],[-0.796236,-0.603222,-0.046177],[-0.019534,-0.050653,0.998525]] 2025-10-27T05:03:56.862Z,1761541436.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:57.229Z,1761541437.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600224,0.799316,0.028745],[-0.799592,-0.598776,-0.046043],[-0.019591,-0.050620,0.998526]] 2025-10-27T05:03:57.286Z,1761541437.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:57.640Z,1761541437.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595693,0.802685,0.029086],[-0.802975,-0.594247,-0.045843],[-0.019514,-0.050664,0.998525]] 2025-10-27T05:03:57.659Z,1761541437.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:58.034Z,1761541438.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591218,0.805962,0.029784],[-0.806284,-0.589770,-0.045581],[-0.019171,-0.050962,0.998517]] 2025-10-27T05:03:58.085Z,1761541438.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:58.438Z,1761541438.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587540,0.808618,0.030572],[-0.808985,-0.586105,-0.044992],[-0.018463,-0.051166,0.998519]] 2025-10-27T05:03:58.456Z,1761541438.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:58.842Z,1761541438.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584154,0.811034,0.031426],[-0.811452,-0.582739,-0.044281],[-0.017601,-0.051368,0.998525]] 2025-10-27T05:03:58.867Z,1761541438.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:59.252Z,1761541439.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581038,0.813230,0.032441],[-0.813707,-0.579644,-0.043512],[-0.016581,-0.051679,0.998526]] 2025-10-27T05:03:59.294Z,1761541439.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:03:59.653Z,1761541439.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578035,0.815309,0.033869],[-0.815867,-0.576653,-0.042808],[-0.015371,-0.052377,0.998509]] 2025-10-27T05:03:59.697Z,1761541439.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:00.054Z,1761541440.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575720,0.816884,0.035304],[-0.817528,-0.574364,-0.041873],[-0.013928,-0.052969,0.998499]] 2025-10-27T05:04:00.105Z,1761541440.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:00.458Z,1761541440.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573781,0.818180,0.036832],[-0.818916,-0.572460,-0.040812],[-0.012307,-0.053579,0.998488]] 2025-10-27T05:04:00.484Z,1761541440.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:00.861Z,1761541440.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572265,0.819176,0.038243],[-0.820001,-0.570997,-0.039516],[-0.010534,-0.053973,0.998487]] 2025-10-27T05:04:00.892Z,1761541440.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:01.266Z,1761541441.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571192,0.819868,0.039442],[-0.820770,-0.569988,-0.038092],[-0.008749,-0.054130,0.998496]] 2025-10-27T05:04:01.310Z,1761541441.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:01.673Z,1761541441.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570797,0.820090,0.040536],[-0.821064,-0.569679,-0.036326],[-0.006698,-0.054017,0.998518]] 2025-10-27T05:04:01.736Z,1761541441.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:02.108Z,1761541442.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570546,0.820204,0.041737],[-0.821251,-0.569502,-0.034846],[-0.004812,-0.054158,0.998521]] 2025-10-27T05:04:02.153Z,1761541442.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:02.510Z,1761541442.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570556,0.820138,0.042892],[-0.821254,-0.569589,-0.033317],[-0.002894,-0.054235,0.998524]] 2025-10-27T05:04:02.545Z,1761541442.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:02.961Z,1761541442.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:03.339Z,1761541443.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570350,0.820153,0.045273],[-0.821402,-0.569514,-0.030868],[0.000467,-0.054793,0.998498]] 2025-10-27T05:04:03.390Z,1761541443.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:03.767Z,1761541443.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569865,0.820440,0.046173],[-0.821736,-0.569090,-0.029775],[0.001848,-0.054910,0.998490]] 2025-10-27T05:04:03.806Z,1761541443.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:04.177Z,1761541444.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569318,0.820803,0.046471],[-0.822113,-0.568605,-0.028625],[0.002928,-0.054502,0.998509]] 2025-10-27T05:04:04.230Z,1761541444.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:04.575Z,1761541444.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568349,0.821469,0.046559],[-0.822779,-0.567690,-0.027609],[0.003752,-0.053999,0.998534]] 2025-10-27T05:04:04.599Z,1761541444.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:04.978Z,1761541444.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566936,0.822453,0.046418],[-0.823751,-0.566317,-0.026825],[0.004225,-0.053445,0.998562]] 2025-10-27T05:04:05.140Z,1761541445.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:05.401Z,1761541445.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564939,0.823833,0.046288],[-0.825122,-0.564332,-0.026526],[0.004269,-0.053179,0.998576]] 2025-10-27T05:04:05.492Z,1761541445.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:05.805Z,1761541445.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562512,0.825501,0.046140],[-0.826779,-0.561906,-0.026432],[0.004106,-0.053016,0.998585]] 2025-10-27T05:04:05.870Z,1761541445.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:06.211Z,1761541446.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559639,0.827468,0.045827],[-0.828728,-0.559021,-0.026557],[0.003643,-0.052840,0.998596]] 2025-10-27T05:04:06.291Z,1761541446.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:06.610Z,1761541446.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556249,0.829764,0.045584],[-0.831010,-0.555610,-0.026836],[0.003059,-0.052809,0.998600]] 2025-10-27T05:04:06.635Z,1761541446.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:07.013Z,1761541447.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552790,0.832108,0.044939],[-0.833318,-0.552133,-0.027040],[0.002312,-0.052396,0.998624]] 2025-10-27T05:04:07.032Z,1761541447.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:07.418Z,1761541447.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548788,0.834792,0.044211],[-0.835960,-0.548103,-0.027443],[0.001323,-0.052019,0.998645]] 2025-10-27T05:04:07.485Z,1761541447.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:07.823Z,1761541447.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544687,0.837514,0.043427],[-0.838639,-0.543973,-0.027888],[0.000267,-0.051610,0.998667]] 2025-10-27T05:04:07.841Z,1761541447.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:08.226Z,1761541448.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540525,0.840238,0.042814],[-0.841327,-0.539768,-0.028615],[-0.000934,-0.051488,0.998673]] 2025-10-27T05:04:08.278Z,1761541448.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:08.629Z,1761541448.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535802,0.843266,0.042645],[-0.844340,-0.534979,-0.029777],[-0.002296,-0.051962,0.998646]] 2025-10-27T05:04:08.668Z,1761541448.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:09.071Z,1761541449.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:09.437Z,1761541449.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527266,0.848650,0.042238],[-0.849686,-0.526324,-0.031873],[-0.004818,-0.052695,0.998599]] 2025-10-27T05:04:09.487Z,1761541449.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:09.842Z,1761541449.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523062,0.851262,0.041947],[-0.852273,-0.522065,-0.032836],[-0.006053,-0.052925,0.998580]] 2025-10-27T05:04:09.882Z,1761541449.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:10.246Z,1761541450.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519465,0.853492,0.041329],[-0.854462,-0.518433,-0.033494],[-0.007161,-0.052713,0.998584]] 2025-10-27T05:04:10.314Z,1761541450.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:10.656Z,1761541450.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516158,0.855510,0.041034],[-0.856456,-0.515095,-0.034057],[-0.008000,-0.052723,0.998577]] 2025-10-27T05:04:10.689Z,1761541450.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:11.062Z,1761541451.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511391,0.858386,0.040661],[-0.859297,-0.510272,-0.035085],[-0.009368,-0.052882,0.998557]] 2025-10-27T05:04:11.082Z,1761541451.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:11.462Z,1761541451.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509631,0.859427,0.040752],[-0.860336,-0.508480,-0.035633],[-0.009902,-0.053221,0.998534]] 2025-10-27T05:04:11.508Z,1761541451.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:11.870Z,1761541451.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508377,0.860160,0.040966],[-0.861073,-0.507198,-0.036104],[-0.010277,-0.053629,0.998508]] 2025-10-27T05:04:11.889Z,1761541451.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:12.272Z,1761541452.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507296,0.860779,0.041369],[-0.861708,-0.506089,-0.036508],[-0.010488,-0.054169,0.998477]] 2025-10-27T05:04:12.312Z,1761541452.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:12.687Z,1761541452.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506623,0.861167,0.041528],[-0.862101,-0.505398,-0.036803],[-0.010705,-0.054447,0.998459]] 2025-10-27T05:04:12.715Z,1761541452.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:13.110Z,1761541453.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:13.478Z,1761541453.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506932,0.860982,0.041591],[-0.861925,-0.505730,-0.036374],[-0.010283,-0.054288,0.998472]] 2025-10-27T05:04:13.538Z,1761541453.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:13.884Z,1761541453.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507293,0.860780,0.041371],[-0.861714,-0.506108,-0.036117],[-0.010150,-0.053972,0.998491]] 2025-10-27T05:04:13.902Z,1761541453.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:14.291Z,1761541454.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507297,0.860786,0.041187],[-0.861710,-0.506114,-0.036099],[-0.010228,-0.053804,0.998499]] 2025-10-27T05:04:14.367Z,1761541454.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:14.698Z,1761541454.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507398,0.860732,0.041078],[-0.861651,-0.506218,-0.036066],[-0.010248,-0.053695,0.998505]] 2025-10-27T05:04:14.755Z,1761541454.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:15.097Z,1761541455.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507615,0.860607,0.041026],[-0.861522,-0.506433,-0.036126],[-0.010313,-0.053683,0.998505]] 2025-10-27T05:04:15.123Z,1761541455.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:15.551Z,1761541455.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:15.906Z,1761541455.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507750,0.860509,0.041404],[-0.861442,-0.506547,-0.036441],[-0.010384,-0.054170,0.998478]] 2025-10-27T05:04:15.937Z,1761541455.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:16.310Z,1761541456.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508090,0.860306,0.041448],[-0.861240,-0.506881,-0.036558],[-0.010442,-0.054272,0.998472]] 2025-10-27T05:04:16.369Z,1761541456.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:16.722Z,1761541456.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508328,0.860170,0.041360],[-0.861098,-0.507110,-0.036742],[-0.010630,-0.054292,0.998469]] 2025-10-27T05:04:16.750Z,1761541456.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:17.118Z,1761541457.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508769,0.859915,0.041237],[-0.860836,-0.507545,-0.036874],[-0.010779,-0.054259,0.998469]] 2025-10-27T05:04:17.145Z,1761541457.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:17.522Z,1761541457.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509381,0.859555,0.041193],[-0.860474,-0.508157,-0.036885],[-0.010772,-0.054234,0.998470]] 2025-10-27T05:04:17.568Z,1761541457.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:17.925Z,1761541457.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509822,0.859298,0.041093],[-0.860210,-0.508593,-0.037034],[-0.010924,-0.054229,0.998469]] 2025-10-27T05:04:17.948Z,1761541457.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:18.332Z,1761541458.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510181,0.859089,0.041013],[-0.859995,-0.508941,-0.037251],[-0.011129,-0.054275,0.998464]] 2025-10-27T05:04:18.373Z,1761541458.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:18.789Z,1761541458.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:19.192Z,1761541459.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511124,0.858526,0.041058],[-0.859433,-0.509869,-0.037535],[-0.011290,-0.054471,0.998452]] 2025-10-27T05:04:19.363Z,1761541459.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:19.669Z,1761541459.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511645,0.858220,0.040961],[-0.859122,-0.510390,-0.037564],[-0.011332,-0.054410,0.998454]] 2025-10-27T05:04:19.762Z,1761541459.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:20.054Z,1761541460.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512421,0.857760,0.040903],[-0.858661,-0.511172,-0.037480],[-0.011240,-0.054327,0.998460]] 2025-10-27T05:04:20.092Z,1761541460.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:20.480Z,1761541460.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513227,0.857290,0.040639],[-0.858179,-0.511987,-0.037381],[-0.011240,-0.054060,0.998474]] 2025-10-27T05:04:20.546Z,1761541460.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:20.920Z,1761541460.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513784,0.856951,0.040761],[-0.857847,-0.512542,-0.037414],[-0.011170,-0.054190,0.998468]] 2025-10-27T05:04:20.955Z,1761541460.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:21.360Z,1761541461.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514488,0.856532,0.040685],[-0.857425,-0.513247,-0.037421],[-0.011171,-0.054137,0.998471]] 2025-10-27T05:04:21.422Z,1761541461.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:21.733Z,1761541461.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514846,0.856317,0.040682],[-0.857208,-0.513595,-0.037597],[-0.011301,-0.054229,0.998465]] 2025-10-27T05:04:21.752Z,1761541461.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:22.132Z,1761541462.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514951,0.856240,0.040958],[-0.857145,-0.513686,-0.037809],[-0.011334,-0.054577,0.998445]] 2025-10-27T05:04:22.155Z,1761541462.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:22.537Z,1761541462.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515531,0.855895,0.040882],[-0.856797,-0.514272,-0.037718],[-0.011258,-0.054473,0.998452]] 2025-10-27T05:04:22.581Z,1761541462.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:22.980Z,1761541462.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515639,0.855826,0.040968],[-0.856732,-0.514378,-0.037744],[-0.011229,-0.054561,0.998447]] 2025-10-27T05:04:22.999Z,1761541462.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:23.396Z,1761541463.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515751,0.855758,0.040972],[-0.856665,-0.514494,-0.037685],[-0.011170,-0.054536,0.998449]] 2025-10-27T05:04:23.455Z,1761541463.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:23.782Z,1761541463.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515938,0.855651,0.040862],[-0.856555,-0.514695,-0.037443],[-0.011007,-0.054319,0.998463]] 2025-10-27T05:04:23.816Z,1761541463.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:24.189Z,1761541464.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516233,0.855472,0.040883],[-0.856382,-0.515011,-0.037051],[-0.010640,-0.054139,0.998477]] 2025-10-27T05:04:24.224Z,1761541464.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:24.608Z,1761541464.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516393,0.855359,0.041230],[-0.856292,-0.515191,-0.036627],[-0.010088,-0.054219,0.998478]] 2025-10-27T05:04:24.663Z,1761541464.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:25.010Z,1761541465.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516548,0.855245,0.041635],[-0.856206,-0.515368,-0.036156],[-0.009464,-0.054325,0.998478]] 2025-10-27T05:04:25.029Z,1761541465.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:25.456Z,1761541465.456 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.64, 78.22, 82.58 2025-10-27T05:04:25.509Z,1761541465.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:25.807Z,1761541465.807 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:04:25.856Z,1761541465.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:26.222Z,1761541466.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517699,0.854474,0.043142],[-0.855538,-0.516641,-0.033723],[-0.006527,-0.054368,0.998500]] 2025-10-27T05:04:26.263Z,1761541466.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:26.626Z,1761541466.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518273,0.854103,0.043616],[-0.855199,-0.517270,-0.032653],[-0.005328,-0.054223,0.998515]] 2025-10-27T05:04:26.748Z,1761541466.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:26.811Z,1761541466.811 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:04:27.043Z,1761541467.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519239,0.853483,0.044254],[-0.854621,-0.518308,-0.031299],[-0.003776,-0.054072,0.998530]] 2025-10-27T05:04:27.075Z,1761541467.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:27.460Z,1761541467.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520322,0.852782,0.045031],[-0.853967,-0.519468,-0.029874],[-0.002083,-0.053999,0.998539]] 2025-10-27T05:04:27.513Z,1761541467.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:27.851Z,1761541467.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521672,0.851904,0.046026],[-0.853146,-0.520903,-0.028316],[-0.000148,-0.054039,0.998539]] 2025-10-27T05:04:27.874Z,1761541467.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:28.254Z,1761541468.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523293,0.850860,0.046911],[-0.852151,-0.522619,-0.026628],[0.001860,-0.053910,0.998544]] 2025-10-27T05:04:28.287Z,1761541468.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:04:28.289Z,1761541468.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:28.414Z,1761541468.414 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:04:28.416Z,1761541468.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:04:28.665Z,1761541468.665 [DAT](INFO): DAT read: user:291> 2025-10-27T05:04:28.666Z,1761541468.666 [DAT](INFO): DAT read: Tx time:05:04:27.7270 2025-10-27T05:04:28.666Z,1761541468.666 [DAT](INFO): Ping request sent. 2025-10-27T05:04:28.666Z,1761541468.666 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:04:28.667Z,1761541468.667 [DAT](INFO): publishing transmit ping time 2025-10-27T05:04:28.670Z,1761541468.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002733 2025-10-27T05:04:28.678Z,1761541468.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527358,0.848240,0.048813],[-0.849620,-0.526892,-0.023031],[0.006183,-0.053618,0.998542]] 2025-10-27T05:04:28.769Z,1761541468.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:28.916Z,1761541468.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249287 2025-10-27T05:04:29.169Z,1761541469.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502138 2025-10-27T05:04:29.181Z,1761541469.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529919,0.846584,0.049816],[-0.848005,-0.529568,-0.021096],[0.008522,-0.053424,0.998536]] 2025-10-27T05:04:29.200Z,1761541469.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:29.423Z,1761541469.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756145 2025-10-27T05:04:29.569Z,1761541469.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532569,0.844851,0.050962],[-0.846316,-0.532334,-0.019209],[0.010900,-0.053360,0.998516]] 2025-10-27T05:04:29.613Z,1761541469.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:29.673Z,1761541469.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006562 2025-10-27T05:04:29.924Z,1761541469.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257359 2025-10-27T05:04:29.974Z,1761541469.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535402,0.842983,0.052188],[-0.844493,-0.535285,-0.017371],[0.013292,-0.053373,0.998486]] 2025-10-27T05:04:30.017Z,1761541470.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:30.176Z,1761541470.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509321 2025-10-27T05:04:30.430Z,1761541470.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763641 2025-10-27T05:04:30.497Z,1761541470.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:30.680Z,1761541470.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013407 2025-10-27T05:04:30.783Z,1761541470.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541432,0.838979,0.054450],[-0.840556,-0.541546,-0.013910],[0.017817,-0.053300,0.998420]] 2025-10-27T05:04:30.824Z,1761541470.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:30.932Z,1761541470.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265342 2025-10-27T05:04:31.184Z,1761541471.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517413 2025-10-27T05:04:31.188Z,1761541471.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544493,0.836923,0.055560],[-0.838529,-0.544716,-0.012394],[0.019892,-0.053337,0.998378]] 2025-10-27T05:04:31.218Z,1761541471.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:31.436Z,1761541471.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769354 2025-10-27T05:04:31.590Z,1761541471.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547622,0.834809,0.056597],[-0.836442,-0.547944,-0.011057],[0.021782,-0.053395,0.998336]] 2025-10-27T05:04:31.635Z,1761541471.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:31.688Z,1761541471.688 [DAT](INFO): DAT read: Rx Time:05:04:30.1762 2025-10-27T05:04:31.689Z,1761541471.689 [DAT](INFO): Rx dataTimestamp_ set to:1761541471.688535 2025-10-27T05:04:31.689Z,1761541471.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022835 2025-10-27T05:04:31.940Z,1761541471.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273426 2025-10-27T05:04:32.018Z,1761541472.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550692,0.832733,0.057394],[-0.834383,-0.551093,-0.010020],[0.023285,-0.053407,0.998301]] 2025-10-27T05:04:32.077Z,1761541472.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.15 m. 2025-10-27T05:04:32.197Z,1761541472.197 [DAT](INFO): DAT read: 05:04:30.1762 LVL= 27440, 20705, 32754, 32755, AGC= 58, IDX= 490, 0.28, 1.348, 2.213, 0.423, 1.819, PHS=-0.369, 0.439,-1.440, RAW= 4.6, 16.5, CAL= 4.8, 20.6, ROT= 145.2, -20.6 2025-10-27T05:04:32.198Z,1761541472.198 [DAT](INFO): got valid direction response: 05:04:30.1762 LVL= 27440, 20705, 32754, 32755, AGC= 58, IDX= 490, 0.28, 1.348, 2.213, 0.423, 1.819, PHS=-0.369, 0.439,-1.440, RAW= 4.6, 16.5, CAL= 4.8, 20.6, ROT= 145.2, -20.6 2025-10-27T05:04:32.200Z,1761541472.200 [DAT](INFO): DAT read: Bearing 174.9, 29.9 (Local) 2025-10-27T05:04:32.200Z,1761541472.200 [DAT](INFO): Local bearing/azimuth received: Bearing 174.9, 29.9 (Local) 2025-10-27T05:04:32.201Z,1761541472.201 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (Round-trip 45.1 ms) speed -0.1 m/s 2025-10-27T05:04:32.202Z,1761541472.202 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:04:32.204Z,1761541472.204 [DAT](INFO): direction in FSK: [-0.768645,0.534222,0.351842] 2025-10-27T05:04:32.204Z,1761541472.204 [DAT](INFO): publishing direction and range info 2025-10-27T05:04:32.400Z,1761541472.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553621,0.830732,0.058207],[-0.832404,-0.554094,-0.009146],[0.024655,-0.053515,0.998263]] 2025-10-27T05:04:32.433Z,1761541472.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 60.027900 s, deltaX: 3.500000 m, approachRate: 0.058306 m/s, rangeRepo size: 4 2025-10-27T05:04:32.436Z,1761541472.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.630844 m, bearing: 20.945481 deg, lat: 36.779305 deg, lon: -121.859558 deg, deltaT: 60.027900 s, deltaX: 3.481672 m, approachRate: 0.058001 m/s, posRepo size: 4 2025-10-27T05:04:32.436Z,1761541472.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:32.805Z,1761541472.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556427,0.828817,0.058753],[-0.830499,-0.556955,-0.008486],[0.025690,-0.053516,0.998236]] 2025-10-27T05:04:32.855Z,1761541472.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:33.216Z,1761541473.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558468,0.827418,0.059100],[-0.829116,-0.559014,-0.008401],[0.026087,-0.053692,0.998217]] 2025-10-27T05:04:33.236Z,1761541473.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:33.619Z,1761541473.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560624,0.825957,0.059121],[-0.827652,-0.561181,-0.008284],[0.026336,-0.053576,0.998216]] 2025-10-27T05:04:33.749Z,1761541473.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:34.033Z,1761541474.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562465,0.824716,0.058964],[-0.826404,-0.563014,-0.008435],[0.026242,-0.053472,0.998224]] 2025-10-27T05:04:34.060Z,1761541474.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:34.422Z,1761541474.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564140,0.823628,0.058160],[-0.825280,-0.564657,-0.008705],[0.025671,-0.052909,0.998269]] 2025-10-27T05:04:34.472Z,1761541474.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:34.826Z,1761541474.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565383,0.822814,0.057602],[-0.824448,-0.565864,-0.009170],[0.025050,-0.052674,0.998298]] 2025-10-27T05:04:34.893Z,1761541474.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:35.232Z,1761541475.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566278,0.822224,0.057245],[-0.823851,-0.566724,-0.009691],[0.024474,-0.052649,0.998313]] 2025-10-27T05:04:35.251Z,1761541475.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:35.634Z,1761541475.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566930,0.821823,0.056545],[-0.823433,-0.567316,-0.010527],[0.023428,-0.052529,0.998344]] 2025-10-27T05:04:35.690Z,1761541475.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:36.042Z,1761541476.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567210,0.821663,0.056058],[-0.823269,-0.567534,-0.011507],[0.022360,-0.052677,0.998361]] 2025-10-27T05:04:36.077Z,1761541476.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:36.442Z,1761541476.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567444,0.821546,0.055411],[-0.823141,-0.567698,-0.012566],[0.021133,-0.052742,0.998384]] 2025-10-27T05:04:36.461Z,1761541476.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:36.846Z,1761541476.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567655,0.821449,0.054674],[-0.823029,-0.567835,-0.013692],[0.019798,-0.052770,0.998410]] 2025-10-27T05:04:36.895Z,1761541476.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:37.250Z,1761541477.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568038,0.821241,0.053814],[-0.822796,-0.568144,-0.014794],[0.018425,-0.052681,0.998441]] 2025-10-27T05:04:37.280Z,1761541477.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:37.662Z,1761541477.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568620,0.820892,0.052991],[-0.822420,-0.568663,-0.015734],[0.017218,-0.052528,0.998471]] 2025-10-27T05:04:37.713Z,1761541477.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:38.065Z,1761541478.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568984,0.820698,0.052077],[-0.822197,-0.568951,-0.016910],[0.015751,-0.052439,0.998500]] 2025-10-27T05:04:38.083Z,1761541478.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:38.462Z,1761541478.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569565,0.820343,0.051313],[-0.821819,-0.569464,-0.018002],[0.014453,-0.052424,0.998520]] 2025-10-27T05:04:38.490Z,1761541478.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:38.865Z,1761541478.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570412,0.819800,0.050586],[-0.821252,-0.570249,-0.019021],[0.013253,-0.052393,0.998539]] 2025-10-27T05:04:38.920Z,1761541478.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:39.270Z,1761541479.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571259,0.819247,0.049970],[-0.820681,-0.571034,-0.020090],[0.012076,-0.052486,0.998549]] 2025-10-27T05:04:39.289Z,1761541479.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:39.748Z,1761541479.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:40.077Z,1761541480.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573701,0.817621,0.048610],[-0.819005,-0.573364,-0.021987],[0.009894,-0.052425,0.998576]] 2025-10-27T05:04:40.116Z,1761541480.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:40.481Z,1761541480.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575310,0.816522,0.048063],[-0.817885,-0.574930,-0.022784],[0.009030,-0.052418,0.998584]] 2025-10-27T05:04:40.500Z,1761541480.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:40.891Z,1761541480.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577017,0.815354,0.047423],[-0.816692,-0.576592,-0.023594],[0.008106,-0.052344,0.998596]] 2025-10-27T05:04:40.951Z,1761541480.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:41.291Z,1761541481.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578976,0.813993,0.046916],[-0.815311,-0.578511,-0.024335],[0.007333,-0.052340,0.998602]] 2025-10-27T05:04:41.310Z,1761541481.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:41.693Z,1761541481.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580993,0.812578,0.046524],[-0.813882,-0.580491,-0.025049],[0.006653,-0.052418,0.998603]] 2025-10-27T05:04:41.753Z,1761541481.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:42.097Z,1761541482.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583120,0.811069,0.046250],[-0.812364,-0.582582,-0.025755],[0.006055,-0.052590,0.998598]] 2025-10-27T05:04:42.116Z,1761541482.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:42.502Z,1761541482.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585340,0.809485,0.045942],[-0.810769,-0.584768,-0.026436],[0.005466,-0.052722,0.998594]] 2025-10-27T05:04:42.521Z,1761541482.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:42.909Z,1761541482.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587853,0.807680,0.045623],[-0.808952,-0.587257,-0.026939],[0.005035,-0.052743,0.998595]] 2025-10-27T05:04:42.945Z,1761541482.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:43.309Z,1761541483.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590503,0.805761,0.045334],[-0.807022,-0.589891,-0.027291],[0.004752,-0.052701,0.998599]] 2025-10-27T05:04:43.337Z,1761541483.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:43.719Z,1761541483.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592874,0.804026,0.045197],[-0.805283,-0.592244,-0.027687],[0.004507,-0.052811,0.998594]] 2025-10-27T05:04:43.767Z,1761541483.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:44.122Z,1761541484.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595343,0.802216,0.044905],[-0.803461,-0.594698,-0.028019],[0.004227,-0.052760,0.998598]] 2025-10-27T05:04:44.170Z,1761541484.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:44.525Z,1761541484.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597732,0.800445,0.044781],[-0.801686,-0.597075,-0.028309],[0.004078,-0.052821,0.998596]] 2025-10-27T05:04:44.544Z,1761541484.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:44.974Z,1761541484.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:45.330Z,1761541485.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602842,0.796615,0.044551],[-0.797850,-0.602176,-0.028625],[0.004024,-0.052802,0.998597]] 2025-10-27T05:04:45.392Z,1761541485.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:45.738Z,1761541485.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605365,0.794701,0.044542],[-0.795938,-0.604695,-0.028757],[0.004081,-0.052861,0.998594]] 2025-10-27T05:04:45.790Z,1761541485.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:46.157Z,1761541486.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607989,0.792694,0.044560],[-0.793934,-0.607322,-0.028785],[0.004245,-0.052879,0.998592]] 2025-10-27T05:04:46.176Z,1761541486.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:46.542Z,1761541486.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610654,0.790629,0.044797],[-0.791884,-0.609995,-0.028743],[0.004601,-0.053026,0.998582]] 2025-10-27T05:04:46.568Z,1761541486.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:46.947Z,1761541486.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613278,0.788591,0.044888],[-0.789852,-0.612623,-0.028734],[0.004840,-0.053076,0.998579]] 2025-10-27T05:04:46.993Z,1761541486.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:47.352Z,1761541487.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615897,0.786534,0.045109],[-0.787810,-0.615248,-0.028721],[0.005164,-0.053226,0.998569]] 2025-10-27T05:04:47.371Z,1761541487.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:47.762Z,1761541487.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618539,0.784453,0.045205],[-0.785735,-0.617900,-0.028627],[0.005476,-0.053226,0.998567]] 2025-10-27T05:04:47.798Z,1761541487.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:48.161Z,1761541488.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620908,0.782565,0.045449],[-0.783862,-0.620273,-0.028645],[0.005775,-0.053412,0.998556]] 2025-10-27T05:04:48.255Z,1761541488.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:48.562Z,1761541488.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623385,0.780581,0.045661],[-0.781891,-0.622761,-0.028563],[0.006140,-0.053507,0.998549]] 2025-10-27T05:04:48.606Z,1761541488.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:49.032Z,1761541489.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:49.372Z,1761541489.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627991,0.776869,0.045841],[-0.778193,-0.627376,-0.028561],[0.006572,-0.053609,0.998540]] 2025-10-27T05:04:49.409Z,1761541489.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:49.787Z,1761541489.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630114,0.775138,0.046010],[-0.776473,-0.629500,-0.028623],[0.006777,-0.053761,0.998531]] 2025-10-27T05:04:49.824Z,1761541489.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:50.178Z,1761541490.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632274,0.773373,0.046091],[-0.774713,-0.631667,-0.028565],[0.007023,-0.053769,0.998529]] 2025-10-27T05:04:50.212Z,1761541490.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:50.582Z,1761541490.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634119,0.771861,0.046078],[-0.773203,-0.633514,-0.028598],[0.007118,-0.053762,0.998528]] 2025-10-27T05:04:50.601Z,1761541490.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:50.988Z,1761541490.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635673,0.770584,0.046033],[-0.771925,-0.635065,-0.028692],[0.007125,-0.053773,0.998528]] 2025-10-27T05:04:51.024Z,1761541491.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:51.390Z,1761541491.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636939,0.769541,0.045987],[-0.770881,-0.636331,-0.028740],[0.007147,-0.053756,0.998529]] 2025-10-27T05:04:51.414Z,1761541491.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:51.814Z,1761541491.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638069,0.768607,0.045943],[-0.769945,-0.637462,-0.028742],[0.007195,-0.053713,0.998531]] 2025-10-27T05:04:51.852Z,1761541491.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:52.198Z,1761541492.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639112,0.767751,0.045765],[-0.769080,-0.638508,-0.028693],[0.007193,-0.053535,0.998540]] 2025-10-27T05:04:52.216Z,1761541492.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:52.621Z,1761541492.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639664,0.767291,0.045771],[-0.768622,-0.639055,-0.028804],[0.007148,-0.053605,0.998537]] 2025-10-27T05:04:52.666Z,1761541492.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:53.018Z,1761541493.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640275,0.766782,0.045758],[-0.768112,-0.639671,-0.028728],[0.007242,-0.053541,0.998539]] 2025-10-27T05:04:53.075Z,1761541493.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:53.422Z,1761541493.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640707,0.766426,0.045669],[-0.767751,-0.640104,-0.028722],[0.007220,-0.053465,0.998544]] 2025-10-27T05:04:53.447Z,1761541493.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:53.842Z,1761541493.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640955,0.766207,0.045865],[-0.767542,-0.640359,-0.028635],[0.007430,-0.053557,0.998537]] 2025-10-27T05:04:53.888Z,1761541493.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:54.230Z,1761541494.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641395,0.765846,0.045734],[-0.767174,-0.640810,-0.028409],[0.007550,-0.053308,0.998550]] 2025-10-27T05:04:54.248Z,1761541494.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:54.644Z,1761541494.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641742,0.765545,0.045908],[-0.766880,-0.641172,-0.028174],[0.007867,-0.053287,0.998548]] 2025-10-27T05:04:54.664Z,1761541494.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:55.037Z,1761541495.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642409,0.764978,0.046034],[-0.766317,-0.641863,-0.027752],[0.008318,-0.053105,0.998554]] 2025-10-27T05:04:55.084Z,1761541495.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:55.442Z,1761541495.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643022,0.764448,0.046281],[-0.765797,-0.642497,-0.027419],[0.008775,-0.053073,0.998552]] 2025-10-27T05:04:55.476Z,1761541495.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:55.870Z,1761541495.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643639,0.763904,0.046697],[-0.765273,-0.643136,-0.027085],[0.009342,-0.053168,0.998542]] 2025-10-27T05:04:55.922Z,1761541495.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:56.251Z,1761541496.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644607,0.763066,0.047031],[-0.764449,-0.644133,-0.026654],[0.009955,-0.053134,0.998538]] 2025-10-27T05:04:56.270Z,1761541496.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:56.654Z,1761541496.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645840,0.761993,0.047502],[-0.763397,-0.645401,-0.026135],[0.010743,-0.053142,0.998529]] 2025-10-27T05:04:56.683Z,1761541496.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:56.963Z,1761541496.963 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:04:57.058Z,1761541497.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647325,0.760707,0.047911],[-0.762127,-0.646921,-0.025609],[0.011514,-0.053092,0.998523]] 2025-10-27T05:04:57.123Z,1761541497.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:57.462Z,1761541497.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648933,0.759306,0.048373],[-0.760746,-0.648565,-0.025085],[0.012326,-0.053078,0.998514]] 2025-10-27T05:04:57.487Z,1761541497.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:57.914Z,1761541497.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652714,0.755998,0.049318],[-0.757475,-0.652423,-0.024011],[0.014024,-0.053030,0.998494]] 2025-10-27T05:04:57.952Z,1761541497.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:57.967Z,1761541497.967 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:04:58.308Z,1761541498.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:58.674Z,1761541498.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654807,0.754147,0.049894],[-0.755649,-0.654553,-0.023557],[0.014893,-0.053127,0.998477]] 2025-10-27T05:04:58.717Z,1761541498.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:59.078Z,1761541499.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656914,0.752284,0.050334],[-0.753805,-0.656687,-0.023236],[0.015574,-0.053206,0.998462]] 2025-10-27T05:04:59.153Z,1761541499.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:59.483Z,1761541499.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659274,0.750185,0.050787],[-0.751725,-0.659082,-0.022823],[0.016351,-0.053225,0.998449]] 2025-10-27T05:04:59.507Z,1761541499.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:04:59.935Z,1761541499.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663368,0.746515,0.051556],[-0.748094,-0.663206,-0.022652],[0.017282,-0.053595,0.998413]] 2025-10-27T05:04:59.985Z,1761541499.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:00.331Z,1761541500.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:00.710Z,1761541500.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667266,0.743021,0.051730],[-0.744610,-0.667114,-0.022686],[0.017653,-0.053656,0.998403]] 2025-10-27T05:05:00.754Z,1761541500.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:01.136Z,1761541501.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668732,0.741702,0.051726],[-0.743298,-0.668565,-0.023006],[0.017518,-0.053833,0.998396]] 2025-10-27T05:05:01.181Z,1761541501.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:01.534Z,1761541501.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670244,0.740342,0.051641],[-0.741937,-0.670068,-0.023218],[0.017413,-0.053876,0.998396]] 2025-10-27T05:05:01.552Z,1761541501.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:01.973Z,1761541501.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671491,0.739232,0.051343],[-0.740816,-0.671296,-0.023533],[0.017070,-0.053838,0.998404]] 2025-10-27T05:05:02.018Z,1761541502.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:02.359Z,1761541502.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672381,0.738441,0.051074],[-0.740018,-0.672160,-0.023964],[0.016634,-0.053908,0.998407]] 2025-10-27T05:05:02.442Z,1761541502.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:02.762Z,1761541502.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673081,0.737829,0.050701],[-0.739393,-0.672832,-0.024399],[0.016111,-0.053911,0.998416]] 2025-10-27T05:05:02.816Z,1761541502.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:03.225Z,1761541503.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:03.612Z,1761541503.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673771,0.737267,0.049696],[-0.738792,-0.673458,-0.025315],[0.014804,-0.053771,0.998444]] 2025-10-27T05:05:03.651Z,1761541503.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:04.004Z,1761541504.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673628,0.737431,0.049200],[-0.738937,-0.673277,-0.025881],[0.014039,-0.053790,0.998453]] 2025-10-27T05:05:04.048Z,1761541504.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:04.406Z,1761541504.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673309,0.737744,0.048867],[-0.739240,-0.672925,-0.026409],[0.013401,-0.053906,0.998456]] 2025-10-27T05:05:04.425Z,1761541504.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:04.816Z,1761541504.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673228,0.737854,0.048330],[-0.739324,-0.672819,-0.026731],[0.012794,-0.053728,0.998474]] 2025-10-27T05:05:04.835Z,1761541504.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:05.214Z,1761541505.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672941,0.738145,0.047881],[-0.739595,-0.672508,-0.027050],[0.012234,-0.053615,0.998487]] 2025-10-27T05:05:05.262Z,1761541505.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:05.626Z,1761541505.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672596,0.738476,0.047627],[-0.739914,-0.672150,-0.027223],[0.011909,-0.053550,0.998494]] 2025-10-27T05:05:05.652Z,1761541505.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:06.032Z,1761541506.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672320,0.738743,0.047390],[-0.740170,-0.671861,-0.027403],[0.011596,-0.053500,0.998501]] 2025-10-27T05:05:06.074Z,1761541506.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:06.427Z,1761541506.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672137,0.738917,0.047270],[-0.740338,-0.671674,-0.027442],[0.011473,-0.053441,0.998505]] 2025-10-27T05:05:06.451Z,1761541506.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:06.829Z,1761541506.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671959,0.739080,0.047247],[-0.740500,-0.671496,-0.027455],[0.011435,-0.053435,0.998506]] 2025-10-27T05:05:06.859Z,1761541506.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:07.233Z,1761541507.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672074,0.738971,0.047319],[-0.740392,-0.671623,-0.027237],[0.011653,-0.053340,0.998508]] 2025-10-27T05:05:07.282Z,1761541507.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:07.638Z,1761541507.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672148,0.738889,0.047544],[-0.740320,-0.671712,-0.027019],[0.011972,-0.053358,0.998504]] 2025-10-27T05:05:07.679Z,1761541507.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:08.058Z,1761541508.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672509,0.738550,0.047694],[-0.739986,-0.672092,-0.026704],[0.012333,-0.053251,0.998505]] 2025-10-27T05:05:08.119Z,1761541508.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:08.446Z,1761541508.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673083,0.738010,0.047969],[-0.739456,-0.672691,-0.026314],[0.012848,-0.053183,0.998502]] 2025-10-27T05:05:08.471Z,1761541508.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:08.850Z,1761541508.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673687,0.737429,0.048406],[-0.738894,-0.673323,-0.025926],[0.013474,-0.053233,0.998491]] 2025-10-27T05:05:08.884Z,1761541508.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:09.254Z,1761541509.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674610,0.736557,0.048845],[-0.738039,-0.674277,-0.025480],[0.014167,-0.053238,0.998481]] 2025-10-27T05:05:09.319Z,1761541509.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:09.659Z,1761541509.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675436,0.735764,0.049378],[-0.737268,-0.675134,-0.025078],[0.014885,-0.053343,0.998465]] 2025-10-27T05:05:09.680Z,1761541509.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:10.088Z,1761541510.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676503,0.734753,0.049828],[-0.736274,-0.676238,-0.024552],[0.015656,-0.053297,0.998456]] 2025-10-27T05:05:10.145Z,1761541510.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:10.466Z,1761541510.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677415,0.733872,0.050409],[-0.735419,-0.677182,-0.024175],[0.016395,-0.053448,0.998436]] 2025-10-27T05:05:10.501Z,1761541510.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:10.870Z,1761541510.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678588,0.732751,0.050938],[-0.734317,-0.678395,-0.023646],[0.017229,-0.053451,0.998422]] 2025-10-27T05:05:10.889Z,1761541510.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:11.276Z,1761541511.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679571,0.731803,0.051452],[-0.733391,-0.679408,-0.023293],[0.017911,-0.053564,0.998404]] 2025-10-27T05:05:11.333Z,1761541511.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:11.678Z,1761541511.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680615,0.730800,0.051909],[-0.732406,-0.680483,-0.022908],[0.018582,-0.053610,0.998389]] 2025-10-27T05:05:11.719Z,1761541511.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:12.117Z,1761541512.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681397,0.730032,0.052451],[-0.731663,-0.681289,-0.022692],[0.019169,-0.053839,0.998366]] 2025-10-27T05:05:12.153Z,1761541512.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:12.488Z,1761541512.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682274,0.729181,0.052880],[-0.730830,-0.682191,-0.022415],[0.019730,-0.053940,0.998349]] 2025-10-27T05:05:12.506Z,1761541512.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:12.890Z,1761541512.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683016,0.728453,0.053333],[-0.730122,-0.682958,-0.022160],[0.020281,-0.054075,0.998331]] 2025-10-27T05:05:12.917Z,1761541512.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:13.293Z,1761541513.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683538,0.727939,0.053679],[-0.729623,-0.683496,-0.022007],[0.020670,-0.054208,0.998316]] 2025-10-27T05:05:13.343Z,1761541513.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:13.698Z,1761541513.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684297,0.727213,0.053839],[-0.728898,-0.684281,-0.021634],[0.021109,-0.054047,0.998315]] 2025-10-27T05:05:13.744Z,1761541513.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:14.139Z,1761541514.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684846,0.726675,0.054123],[-0.728368,-0.684855,-0.021302],[0.021587,-0.054010,0.998307]] 2025-10-27T05:05:14.182Z,1761541514.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:14.505Z,1761541514.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685352,0.726195,0.054161],[-0.727884,-0.685379,-0.020999],[0.021871,-0.053815,0.998311]] 2025-10-27T05:05:14.537Z,1761541514.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:14.910Z,1761541514.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685646,0.725901,0.054378],[-0.727597,-0.685690,-0.020801],[0.022187,-0.053827,0.998304]] 2025-10-27T05:05:14.944Z,1761541514.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:15.314Z,1761541515.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685804,0.725730,0.054666],[-0.727438,-0.685862,-0.020667],[0.022495,-0.053939,0.998291]] 2025-10-27T05:05:15.382Z,1761541515.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:15.726Z,1761541515.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686262,0.725296,0.054681],[-0.727001,-0.686332,-0.020468],[0.022684,-0.053799,0.998294]] 2025-10-27T05:05:15.748Z,1761541515.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:16.164Z,1761541516.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686484,0.725076,0.054806],[-0.726785,-0.686564,-0.020342],[0.022878,-0.053797,0.998290]] 2025-10-27T05:05:16.232Z,1761541516.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:16.566Z,1761541516.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:16.930Z,1761541516.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687035,0.724557,0.054780],[-0.726260,-0.687123,-0.020188],[0.023013,-0.053654,0.998294]] 2025-10-27T05:05:17.050Z,1761541517.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:17.336Z,1761541517.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687206,0.724396,0.054755],[-0.726099,-0.687294,-0.020207],[0.022995,-0.053644,0.998295]] 2025-10-27T05:05:17.405Z,1761541517.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:17.741Z,1761541517.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687454,0.724169,0.054648],[-0.725866,-0.687539,-0.020223],[0.022928,-0.053570,0.998301]] 2025-10-27T05:05:17.780Z,1761541517.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:18.178Z,1761541518.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687528,0.724104,0.054574],[-0.725801,-0.687603,-0.020366],[0.022778,-0.053612,0.998302]] 2025-10-27T05:05:18.244Z,1761541518.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:18.546Z,1761541518.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687577,0.724065,0.054464],[-0.725760,-0.687640,-0.020557],[0.022567,-0.053662,0.998304]] 2025-10-27T05:05:18.564Z,1761541518.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:18.988Z,1761541518.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:19.353Z,1761541519.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687551,0.724105,0.054278],[-0.725799,-0.687586,-0.020992],[0.022120,-0.053828,0.998305]] 2025-10-27T05:05:19.401Z,1761541519.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:19.758Z,1761541519.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687704,0.723984,0.053950],[-0.725662,-0.687728,-0.021079],[0.021842,-0.053646,0.998321]] 2025-10-27T05:05:19.793Z,1761541519.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:20.180Z,1761541520.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687742,0.723974,0.053595],[-0.725639,-0.687745,-0.021331],[0.021417,-0.053561,0.998335]] 2025-10-27T05:05:20.241Z,1761541520.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:20.566Z,1761541520.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687726,0.724013,0.053279],[-0.725666,-0.687708,-0.021574],[0.021020,-0.053500,0.998347]] 2025-10-27T05:05:20.631Z,1761541520.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:20.970Z,1761541520.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687480,0.724257,0.053124],[-0.725911,-0.687437,-0.021989],[0.020593,-0.053681,0.998346]] 2025-10-27T05:05:20.994Z,1761541520.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:21.373Z,1761541521.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687530,0.724237,0.052759],[-0.725875,-0.687468,-0.022198],[0.020194,-0.053558,0.998361]] 2025-10-27T05:05:21.435Z,1761541521.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:21.778Z,1761541521.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687714,0.724088,0.052404],[-0.725711,-0.687635,-0.022402],[0.019814,-0.053436,0.998375]] 2025-10-27T05:05:21.796Z,1761541521.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:22.197Z,1761541522.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687831,0.723992,0.052197],[-0.725609,-0.687734,-0.022667],[0.019487,-0.053466,0.998380]] 2025-10-27T05:05:22.268Z,1761541522.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:22.598Z,1761541522.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688103,0.723747,0.052005],[-0.725357,-0.687995,-0.022806],[0.019273,-0.053415,0.998386]] 2025-10-27T05:05:22.637Z,1761541522.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:22.990Z,1761541522.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688500,0.723392,0.051678],[-0.724988,-0.688379,-0.022949],[0.018973,-0.053267,0.998400]] 2025-10-27T05:05:23.025Z,1761541523.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:23.395Z,1761541523.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688915,0.723021,0.051354],[-0.724603,-0.688776,-0.023173],[0.018617,-0.053175,0.998412]] 2025-10-27T05:05:23.464Z,1761541523.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:23.799Z,1761541523.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689438,0.722538,0.051130],[-0.724112,-0.689287,-0.023355],[0.018368,-0.053126,0.998419]] 2025-10-27T05:05:23.819Z,1761541523.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:24.203Z,1761541524.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689936,0.722064,0.051111],[-0.723641,-0.689773,-0.023592],[0.018220,-0.053263,0.998414]] 2025-10-27T05:05:24.278Z,1761541524.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:24.609Z,1761541524.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690631,0.721398,0.051117],[-0.722980,-0.690460,-0.023778],[0.018141,-0.053379,0.998410]] 2025-10-27T05:05:24.653Z,1761541524.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:25.009Z,1761541525.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691512,0.720565,0.050966],[-0.722141,-0.691333,-0.023922],[0.017997,-0.053347,0.998414]] 2025-10-27T05:05:25.032Z,1761541525.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:25.438Z,1761541525.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692354,0.719779,0.050646],[-0.721342,-0.692157,-0.024171],[0.017657,-0.053268,0.998424]] 2025-10-27T05:05:25.492Z,1761541525.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:25.818Z,1761541525.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693239,0.718941,0.050437],[-0.720496,-0.693032,-0.024330],[0.017463,-0.053207,0.998431]] 2025-10-27T05:05:25.854Z,1761541525.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:26.221Z,1761541526.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694180,0.718051,0.050173],[-0.719593,-0.693967,-0.024392],[0.017303,-0.053036,0.998443]] 2025-10-27T05:05:26.246Z,1761541526.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:26.626Z,1761541526.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694845,0.717425,0.049919],[-0.718959,-0.694616,-0.024640],[0.016997,-0.053010,0.998449]] 2025-10-27T05:05:26.683Z,1761541526.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:27.037Z,1761541527.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695461,0.716847,0.049650],[-0.718372,-0.695212,-0.024946],[0.016634,-0.053016,0.998455]] 2025-10-27T05:05:27.056Z,1761541527.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:27.433Z,1761541527.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696023,0.716319,0.049385],[-0.717835,-0.695755,-0.025248],[0.016275,-0.053024,0.998461]] 2025-10-27T05:05:27.489Z,1761541527.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:27.837Z,1761541527.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696668,0.715700,0.049267],[-0.717214,-0.696386,-0.025502],[0.016057,-0.053101,0.998460]] 2025-10-27T05:05:27.856Z,1761541527.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:28.094Z,1761541528.094 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:05:28.297Z,1761541528.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:28.304Z,1761541528.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 33.80 m and bearing: 9.691865 deg. Not drifting fast enough. 2025-10-27T05:05:28.646Z,1761541528.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697356,0.715055,0.048888],[-0.716560,-0.697036,-0.026139],[0.015386,-0.053259,0.998462]] 2025-10-27T05:05:28.689Z,1761541528.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:05:28.691Z,1761541528.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:28.693Z,1761541528.693 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T05:05:28.693Z,1761541528.693 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:05:28.693Z,1761541528.693 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T05:05:28.693Z,1761541528.693 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T05:05:28.748Z,1761541528.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:05:28.748Z,1761541528.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:05:28.000Z,1761541529.000 [DAT](INFO): DAT read: user:292> 2025-10-27T05:05:29.001Z,1761541529.001 [DAT](INFO): DAT read: Tx time:05:05:28.0768 2025-10-27T05:05:29.001Z,1761541529.001 [DAT](INFO): Ping request sent. 2025-10-27T05:05:29.001Z,1761541529.001 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:05:29.001Z,1761541529.001 [DAT](INFO): publishing transmit ping time 2025-10-27T05:05:29.002Z,1761541529.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T05:05:29.090Z,1761541529.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697406,0.715021,0.048690],[-0.716519,-0.697067,-0.026435],[0.015039,-0.053323,0.998464]] 2025-10-27T05:05:29.095Z,1761541529.095 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:05:29.134Z,1761541529.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:29.253Z,1761541529.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251786 2025-10-27T05:05:29.462Z,1761541529.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697633,0.714812,0.048493],[-0.716301,-0.697288,-0.026497],[0.014873,-0.053220,0.998472]] 2025-10-27T05:05:29.499Z,1761541529.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:29.504Z,1761541529.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503094 2025-10-27T05:05:29.757Z,1761541529.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755329 2025-10-27T05:05:29.857Z,1761541529.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697892,0.714578,0.048217],[-0.716052,-0.697545,-0.026478],[0.014713,-0.053005,0.998486]] 2025-10-27T05:05:29.894Z,1761541529.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:30.008Z,1761541530.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006929 2025-10-27T05:05:30.260Z,1761541530.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258950 2025-10-27T05:05:30.263Z,1761541530.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697644,0.714824,0.048151],[-0.716297,-0.697285,-0.026677],[0.014506,-0.053102,0.998484]] 2025-10-27T05:05:30.284Z,1761541530.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:30.512Z,1761541530.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511150 2025-10-27T05:05:30.699Z,1761541530.699 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 2025-10-27T05:05:30.744Z,1761541530.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:30.764Z,1761541530.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762992 2025-10-27T05:05:31.016Z,1761541531.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864 2025-10-27T05:05:31.136Z,1761541531.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696906,0.715545,0.048138],[-0.717022,-0.696528,-0.026991],[0.014216,-0.053326,0.998476]] 2025-10-27T05:05:31.154Z,1761541531.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:31.268Z,1761541531.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267268 2025-10-27T05:05:31.521Z,1761541531.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519899 2025-10-27T05:05:31.541Z,1761541531.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696723,0.715719,0.048210],[-0.717199,-0.696346,-0.026987],[0.014256,-0.053378,0.998473]] 2025-10-27T05:05:31.678Z,1761541531.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:31.772Z,1761541531.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770995 2025-10-27T05:05:31.940Z,1761541531.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696904,0.715534,0.048336],[-0.717013,-0.696559,-0.026436],[0.014753,-0.053080,0.998481]] 2025-10-27T05:05:31.982Z,1761541531.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:32.027Z,1761541532.027 [DAT](INFO): DAT read: Rx Time:05:05:30.5323 2025-10-27T05:05:32.028Z,1761541532.028 [DAT](INFO): Rx dataTimestamp_ set to:1761541532.027375 2025-10-27T05:05:32.028Z,1761541532.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027226 2025-10-27T05:05:32.276Z,1761541532.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274854 2025-10-27T05:05:32.381Z,1761541532.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696847,0.715577,0.048519],[-0.717063,-0.696515,-0.026246],[0.015013,-0.053081,0.998477]] 2025-10-27T05:05:32.471Z,1761541532.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:05:32.534Z,1761541532.534 [DAT](INFO): DAT read: 05:05:30.5323 LVL= 23728, 22321, 32754, 32755, AGC= 61, IDX= 490, 0.25,-1.087,-0.056,-1.864,-0.556, PHS=-0.429, 0.545,-1.352, RAW= 359.1, 14.9, CAL= 359.6, 18.6, ROT= 150.4, -18.6 2025-10-27T05:05:32.541Z,1761541532.541 [DAT](INFO): got valid direction response: 05:05:30.5323 LVL= 23728, 22321, 32754, 32755, AGC= 61, IDX= 490, 0.25,-1.087,-0.056,-1.864,-0.556, PHS=-0.429, 0.545,-1.352, RAW= 359.1, 14.9, CAL= 359.6, 18.6, ROT= 150.4, -18.6 2025-10-27T05:05:32.542Z,1761541532.542 [DAT](INFO): DAT read: Bearing 166.3, 25.9 (Local) 2025-10-27T05:05:32.542Z,1761541532.542 [DAT](INFO): Local bearing/azimuth received: Bearing 166.3, 25.9 (Local) 2025-10-27T05:05:32.552Z,1761541532.552 [DAT](INFO): DAT read: Range 11 to 50 : 38.4 m (Round-trip 51.3 ms) speed 0.0 m/s 2025-10-27T05:05:32.553Z,1761541532.553 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:05:32.559Z,1761541532.559 [DAT](INFO): direction in FSK: [-0.824080,0.468142,0.318959] 2025-10-27T05:05:32.560Z,1761541532.560 [DAT](INFO): publishing direction and range info 2025-10-27T05:05:32.748Z,1761541532.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696579,0.715725,0.050151],[-0.717328,-0.696169,-0.028110],[0.014794,-0.055556,0.998346]] 2025-10-27T05:05:32.794Z,1761541532.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.400002 m, deltaT: 60.336683 s, deltaX: 4.600002 m, approachRate: 0.076239 m/s, rangeRepo size: 4 2025-10-27T05:05:32.796Z,1761541532.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.208500 m, bearing: 15.483422 deg, lat: 36.779302 deg, lon: -121.859541 deg, deltaT: 60.336683 s, deltaX: 4.577656 m, approachRate: 0.075869 m/s, posRepo size: 4 2025-10-27T05:05:32.796Z,1761541532.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:33.150Z,1761541533.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695731,0.715980,0.057723],[-0.718175,-0.694871,-0.037122],[0.013531,-0.067282,0.997642]] 2025-10-27T05:05:33.169Z,1761541533.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:33.567Z,1761541533.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695234,0.715432,0.069339],[-0.718666,-0.693622,-0.049056],[0.012999,-0.083937,0.996386]] 2025-10-27T05:05:33.620Z,1761541533.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:33.954Z,1761541533.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694984,0.714778,0.078038],[-0.718903,-0.692761,-0.057098],[0.013249,-0.095784,0.995314]] 2025-10-27T05:05:33.979Z,1761541533.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:34.362Z,1761541534.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695747,0.713918,0.079104],[-0.718153,-0.693508,-0.057465],[0.013834,-0.096790,0.995209]] 2025-10-27T05:05:34.446Z,1761541534.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:34.764Z,1761541534.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697215,0.712962,0.074677],[-0.716711,-0.695412,-0.052223],[0.014699,-0.089933,0.995839]] 2025-10-27T05:05:34.802Z,1761541534.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:35.165Z,1761541535.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.699559,0.711145,0.069930],[-0.714399,-0.698202,-0.046349],[0.015865,-0.082382,0.996475]] 2025-10-27T05:05:35.198Z,1761541535.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:35.582Z,1761541535.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702495,0.708317,0.069191],[-0.711482,-0.701306,-0.044313],[0.017136,-0.080358,0.996619]] 2025-10-27T05:05:35.627Z,1761541535.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:35.974Z,1761541535.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705261,0.705135,0.073425],[-0.708710,-0.703915,-0.047263],[0.018358,-0.085370,0.996180]] 2025-10-27T05:05:35.993Z,1761541535.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:36.379Z,1761541536.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708056,0.701622,0.079901],[-0.705885,-0.706375,-0.052540],[0.019576,-0.093602,0.995417]] 2025-10-27T05:05:36.472Z,1761541536.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:36.782Z,1761541536.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711244,0.697726,0.085500],[-0.702630,-0.709286,-0.056776],[0.021029,-0.100457,0.994719]] 2025-10-27T05:05:36.789Z,1761541536.789 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS35.0, +10.9, 0.0,1493.3, 0 2025-10-27T05:05:36.830Z,1761541536.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:37.185Z,1761541537.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714541,0.693977,0.088469],[-0.699232,-0.712504,-0.058414],[0.022497,-0.103599,0.994365]] 2025-10-27T05:05:37.205Z,1761541537.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:37.594Z,1761541537.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718706,0.689584,0.089079],[-0.694896,-0.716795,-0.057651],[0.024096,-0.103335,0.994355]] 2025-10-27T05:05:37.635Z,1761541537.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:37.994Z,1761541537.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723080,0.684871,0.090039],[-0.690281,-0.721285,-0.057097],[0.025840,-0.103438,0.994300]] 2025-10-27T05:05:38.024Z,1761541538.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:38.398Z,1761541538.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727472,0.679760,0.093335],[-0.685581,-0.725604,-0.058973],[0.027637,-0.106890,0.993887]] 2025-10-27T05:05:38.454Z,1761541538.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:38.804Z,1761541538.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732255,0.673916,0.098182],[-0.680388,-0.730181,-0.062508],[0.029565,-0.112573,0.993204]] 2025-10-27T05:05:38.843Z,1761541538.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:39.240Z,1761541539.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:39.610Z,1761541539.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742776,0.660806,0.107796],[-0.668686,-0.740279,-0.069606],[0.033803,-0.123783,0.991733]] 2025-10-27T05:05:39.659Z,1761541539.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:40.013Z,1761541540.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748623,0.653441,0.112152],[-0.662006,-0.745971,-0.072626],[0.036206,-0.128615,0.991033]] 2025-10-27T05:05:40.032Z,1761541540.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:40.449Z,1761541540.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754649,0.645747,0.116258],[-0.654996,-0.751833,-0.075675],[0.038540,-0.133256,0.990332]] 2025-10-27T05:05:40.527Z,1761541540.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:40.851Z,1761541540.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760898,0.637644,0.120186],[-0.647587,-0.757900,-0.078859],[0.040805,-0.137834,0.989614]] 2025-10-27T05:05:40.887Z,1761541540.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:41.249Z,1761541541.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767177,0.629347,0.123943],[-0.640003,-0.763945,-0.082363],[0.042851,-0.142511,0.988865]] 2025-10-27T05:05:41.279Z,1761541541.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:41.654Z,1761541541.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774126,0.620046,0.127565],[-0.631414,-0.770705,-0.085616],[0.045229,-0.146824,0.988128]] 2025-10-27T05:05:41.706Z,1761541541.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:42.071Z,1761541542.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781031,0.610616,0.130914],[-0.622714,-0.777309,-0.089542],[0.047085,-0.151457,0.987342]] 2025-10-27T05:05:42.117Z,1761541542.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:42.462Z,1761541542.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787984,0.600807,0.134577],[-0.613765,-0.783814,-0.094488],[0.048715,-0.157054,0.986388]] 2025-10-27T05:05:42.500Z,1761541542.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:42.867Z,1761541542.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795542,0.590080,0.137541],[-0.603801,-0.790963,-0.099006],[0.050368,-0.161810,0.985536]] 2025-10-27T05:05:42.913Z,1761541542.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:43.269Z,1761541543.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803135,0.579249,0.139444],[-0.593578,-0.798100,-0.103444],[0.051370,-0.165850,0.984812]] 2025-10-27T05:05:43.289Z,1761541543.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:43.808Z,1761541543.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:44.158Z,1761541544.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818787,0.556083,0.142686],[-0.571661,-0.812603,-0.113489],[0.052838,-0.174492,0.983240]] 2025-10-27T05:05:44.193Z,1761541544.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:44.654Z,1761541544.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:44.983Z,1761541544.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834764,0.531145,0.145097],[-0.547930,-0.827297,-0.123905],[0.054227,-0.182935,0.981628]] 2025-10-27T05:05:45.002Z,1761541545.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:45.382Z,1761541545.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842630,0.518299,0.146086],[-0.535680,-0.834487,-0.129145],[0.054971,-0.187076,0.980806]] 2025-10-27T05:05:45.448Z,1761541545.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:45.906Z,1761541545.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:46.219Z,1761541546.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857573,0.492336,0.148909],[-0.511238,-0.847722,-0.141429],[0.056603,-0.197414,0.978685]] 2025-10-27T05:05:46.266Z,1761541546.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:46.630Z,1761541546.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865339,0.478228,0.149955],[-0.497856,-0.854647,-0.147368],[0.057683,-0.202179,0.977648]] 2025-10-27T05:05:46.686Z,1761541546.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:47.020Z,1761541547.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873158,0.463415,0.151136],[-0.483829,-0.861640,-0.153250],[0.059206,-0.206936,0.976561]] 2025-10-27T05:05:47.081Z,1761541547.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:47.424Z,1761541547.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880798,0.448283,0.152437],[-0.469593,-0.868268,-0.159979],[0.060640,-0.212493,0.975279]] 2025-10-27T05:05:47.447Z,1761541547.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:47.826Z,1761541547.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888156,0.433223,0.153285],[-0.455321,-0.874702,-0.166071],[0.062133,-0.217291,0.974127]] 2025-10-27T05:05:47.843Z,1761541547.843 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503085.0, +10.9, 0.0,1493.3, 0 2025-10-27T05:05:47.858Z,1761541547.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:48.319Z,1761541548.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:48.686Z,1761541548.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902899,0.401776,0.152807],[-0.424865,-0.888129,-0.175262],[0.065297,-0.223166,0.972591]] 2025-10-27T05:05:48.761Z,1761541548.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:49.215Z,1761541549.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916973,0.369106,0.151400],[-0.392996,-0.901036,-0.183546],[0.068669,-0.227806,0.971282]] 2025-10-27T05:05:49.234Z,1761541549.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:49.649Z,1761541549.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923854,0.352043,0.150196],[-0.376298,-0.907155,-0.188336],[0.069949,-0.230513,0.970552]] 2025-10-27T05:05:49.701Z,1761541549.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:50.021Z,1761541550.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930507,0.334674,0.148827],[-0.359295,-0.912970,-0.193375],[0.071157,-0.233410,0.969772]] 2025-10-27T05:05:50.052Z,1761541550.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:50.448Z,1761541550.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936914,0.317245,0.146795],[-0.342071,-0.918543,-0.198155],[0.071974,-0.235868,0.969116]] 2025-10-27T05:05:50.467Z,1761541550.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:50.826Z,1761541550.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942907,0.300065,0.144525],[-0.325012,-0.923783,-0.202466],[0.072756,-0.237879,0.968566]] 2025-10-27T05:05:50.876Z,1761541550.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:51.237Z,1761541551.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948644,0.282704,0.141964],[-0.307692,-0.928816,-0.206461],[0.073491,-0.239539,0.968101]] 2025-10-27T05:05:51.256Z,1761541551.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:51.756Z,1761541551.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:52.053Z,1761541552.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958899,0.249035,0.135990],[-0.273807,-0.937855,-0.213207],[0.074443,-0.241679,0.967497]] 2025-10-27T05:05:52.075Z,1761541552.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:52.442Z,1761541552.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963583,0.232299,0.132455],[-0.256822,-0.941923,-0.216389],[0.074495,-0.242527,0.967280]] 2025-10-27T05:05:52.461Z,1761541552.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:52.846Z,1761541552.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967822,0.215740,0.129525],[-0.240247,-0.945309,-0.220620],[0.074845,-0.244639,0.966721]] 2025-10-27T05:05:52.903Z,1761541552.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:53.251Z,1761541553.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971727,0.199831,0.125753],[-0.224013,-0.948577,-0.223651],[0.074594,-0.245498,0.966523]] 2025-10-27T05:05:53.270Z,1761541553.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:53.702Z,1761541553.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975114,0.184885,0.122354],[-0.208784,-0.951428,-0.226261],[0.074579,-0.246176,0.966352]] 2025-10-27T05:05:53.780Z,1761541553.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:54.063Z,1761541554.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978225,0.170491,0.118355],[-0.193862,-0.954232,-0.227727],[0.074113,-0.245712,0.966505]] 2025-10-27T05:05:54.096Z,1761541554.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:54.462Z,1761541554.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980836,0.157735,0.114373],[-0.180428,-0.956882,-0.227644],[0.073535,-0.243917,0.967004]] 2025-10-27T05:05:54.482Z,1761541554.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:54.934Z,1761541554.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:55.269Z,1761541555.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984893,0.136550,0.106491],[-0.157528,-0.961883,-0.223530],[0.071909,-0.236928,0.968862]] 2025-10-27T05:05:55.298Z,1761541555.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:55.686Z,1761541555.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986440,0.128231,0.102434],[-0.148048,-0.964619,-0.218155],[0.070836,-0.230362,0.970523]] 2025-10-27T05:05:55.778Z,1761541555.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:56.078Z,1761541556.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987750,0.120894,0.098660],[-0.139566,-0.967239,-0.212063],[0.069791,-0.223235,0.972263]] 2025-10-27T05:05:56.096Z,1761541556.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:56.483Z,1761541556.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988795,0.115155,0.094989],[-0.132680,-0.969574,-0.205724],[0.068409,-0.216022,0.973989]] 2025-10-27T05:05:56.503Z,1761541556.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:56.938Z,1761541556.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:57.290Z,1761541557.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990229,0.108439,0.087679],[-0.123566,-0.973736,-0.191233],[0.064639,-0.200198,0.977621]] 2025-10-27T05:05:57.325Z,1761541557.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:57.701Z,1761541557.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990766,0.106415,0.084011],[-0.120401,-0.975462,-0.184328],[0.062335,-0.192741,0.979268]] 2025-10-27T05:05:57.789Z,1761541557.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:58.100Z,1761541558.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991060,0.105773,0.081316],[-0.118925,-0.976622,-0.179071],[0.060474,-0.187141,0.980470]] 2025-10-27T05:05:58.138Z,1761541558.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:58.502Z,1761541558.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991248,0.106133,0.078502],[-0.118409,-0.977726,-0.173294],[0.058362,-0.181073,0.981736]] 2025-10-27T05:05:58.549Z,1761541558.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:58.961Z,1761541558.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:59.215Z,1761541559.215 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:05:59.335Z,1761541559.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991448,0.108593,0.072383],[-0.119067,-0.979742,-0.161022],[0.053431,-0.168264,0.984293]] 2025-10-27T05:05:59.365Z,1761541559.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:05:59.798Z,1761541559.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991445,0.110791,0.069008],[-0.120305,-0.980737,-0.153886],[0.050630,-0.160871,0.985676]] 2025-10-27T05:05:59.842Z,1761541559.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:00.145Z,1761541560.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991425,0.113081,0.065497],[-0.121735,-0.981429,-0.148246],[0.047517,-0.154948,0.986779]] 2025-10-27T05:06:00.219Z,1761541560.219 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:06:00.260Z,1761541560.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:00.566Z,1761541560.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991322,0.115849,0.062120],[-0.123744,-0.981866,-0.143622],[0.044355,-0.150063,0.987681]] 2025-10-27T05:06:00.592Z,1761541560.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:00.971Z,1761541560.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991277,0.117937,0.058821],[-0.125126,-0.982346,-0.139066],[0.041382,-0.145213,0.988535]] 2025-10-27T05:06:01.060Z,1761541561.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:01.374Z,1761541561.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991263,0.119835,0.055118],[-0.126337,-0.982673,-0.135621],[0.037911,-0.141400,0.989226]] 2025-10-27T05:06:01.419Z,1761541561.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:01.830Z,1761541561.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991168,0.122015,0.051941],[-0.128008,-0.982616,-0.134464],[0.034632,-0.139926,0.989556]] 2025-10-27T05:06:01.873Z,1761541561.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:02.184Z,1761541562.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991115,0.123756,0.048742],[-0.129260,-0.982566,-0.133625],[0.031355,-0.138738,0.989833]] 2025-10-27T05:06:02.283Z,1761541562.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:02.643Z,1761541562.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:02.986Z,1761541562.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991143,0.125801,0.042537],[-0.130407,-0.982522,-0.132832],[0.025084,-0.137202,0.990225]] 2025-10-27T05:06:03.065Z,1761541563.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:03.389Z,1761541563.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991198,0.126383,0.039415],[-0.130564,-0.982455,-0.133174],[0.021892,-0.137148,0.990309]] 2025-10-27T05:06:03.432Z,1761541563.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:03.834Z,1761541563.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991189,0.127373,0.036330],[-0.131126,-0.982355,-0.133357],[0.018703,-0.136946,0.990402]] 2025-10-27T05:06:03.898Z,1761541563.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:04.206Z,1761541564.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991209,0.127914,0.033810],[-0.131353,-0.982014,-0.135624],[0.015854,-0.138873,0.990183]] 2025-10-27T05:06:04.225Z,1761541564.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:04.602Z,1761541564.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991225,0.128427,0.031283],[-0.131534,-0.981761,-0.137275],[0.013082,-0.140186,0.990039]] 2025-10-27T05:06:04.626Z,1761541564.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:05.007Z,1761541565.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991355,0.128104,0.028372],[-0.130817,-0.981697,-0.138413],[0.010121,-0.140928,0.989968]] 2025-10-27T05:06:05.069Z,1761541565.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:05.410Z,1761541565.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991345,0.128695,0.025950],[-0.131078,-0.981356,-0.140570],[0.007375,-0.142754,0.989731]] 2025-10-27T05:06:05.464Z,1761541565.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:05.846Z,1761541565.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991396,0.128772,0.023484],[-0.130808,-0.981232,-0.141683],[0.004798,-0.143536,0.989633]] 2025-10-27T05:06:05.987Z,1761541565.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:06.293Z,1761541566.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991521,0.128210,0.021188],[-0.129924,-0.981260,-0.142300],[0.002547,-0.143846,0.989597]] 2025-10-27T05:06:06.348Z,1761541566.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:06.797Z,1761541566.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991764,0.127114,0.015663],[-0.128043,-0.981354,-0.143350],[-0.002851,-0.144175,0.989548]] 2025-10-27T05:06:06.830Z,1761541566.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:07.258Z,1761541567.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991795,0.127137,0.013400],[-0.127735,-0.981252,-0.144323],[-0.005200,-0.144850,0.989440]] 2025-10-27T05:06:07.322Z,1761541567.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:07.787Z,1761541567.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:08.154Z,1761541568.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991921,0.126529,0.009077],[-0.126504,-0.981325,-0.144904],[-0.009427,-0.144882,0.989404]] 2025-10-27T05:06:08.201Z,1761541568.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:08.558Z,1761541568.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991971,0.126258,0.007293],[-0.125978,-0.981404,-0.144831],[-0.011128,-0.144586,0.989430]] 2025-10-27T05:06:08.601Z,1761541568.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:08.963Z,1761541568.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992123,0.125160,0.005119],[-0.124595,-0.981784,-0.143443],[-0.012928,-0.142951,0.989645]] 2025-10-27T05:06:09.017Z,1761541569.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:09.366Z,1761541569.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992174,0.124823,0.003248],[-0.123971,-0.981629,-0.145035],[-0.014915,-0.144303,0.989421]] 2025-10-27T05:06:09.396Z,1761541569.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:09.769Z,1761541569.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992288,0.123936,0.001877],[-0.122889,-0.981699,-0.145481],[-0.016188,-0.144590,0.989359]] 2025-10-27T05:06:09.803Z,1761541569.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:10.173Z,1761541570.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992393,0.123107,0.000734],[-0.121885,-0.981668,-0.146533],[-0.017319,-0.145508,0.989206]] 2025-10-27T05:06:10.238Z,1761541570.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:10.580Z,1761541570.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992532,0.121987,-0.000100],[-0.120665,-0.981900,-0.145988],[-0.017907,-0.144885,0.989286]] 2025-10-27T05:06:10.599Z,1761541570.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:10.998Z,1761541570.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992697,0.120631,-0.001165],[-0.119181,-0.982170,-0.145389],[-0.018683,-0.144188,0.989374]] 2025-10-27T05:06:11.064Z,1761541571.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:11.424Z,1761541571.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992818,0.119606,-0.002512],[-0.117966,-0.982265,-0.145736],[-0.019898,-0.144393,0.989320]] 2025-10-27T05:06:11.442Z,1761541571.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:11.827Z,1761541571.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992867,0.119161,-0.003885],[-0.117316,-0.982266,-0.146256],[-0.021244,-0.144757,0.989239]] 2025-10-27T05:06:11.849Z,1761541571.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:12.231Z,1761541572.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992990,0.118078,-0.005393],[-0.116038,-0.982487,-0.145787],[-0.022512,-0.144139,0.989301]] 2025-10-27T05:06:12.282Z,1761541572.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:12.695Z,1761541572.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993101,0.117086,-0.006436],[-0.114918,-0.982698,-0.145254],[-0.023332,-0.143512,0.989373]] 2025-10-27T05:06:12.743Z,1761541572.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:13.154Z,1761541573.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:13.509Z,1761541573.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993130,0.116759,-0.007795],[-0.114395,-0.982732,-0.145434],[-0.024641,-0.143543,0.989337]] 2025-10-27T05:06:13.538Z,1761541573.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:13.907Z,1761541573.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993085,0.117102,-0.008338],[-0.114655,-0.982695,-0.145483],[-0.025230,-0.143521,0.989326]] 2025-10-27T05:06:13.950Z,1761541573.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:14.391Z,1761541574.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:14.722Z,1761541574.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993008,0.117730,-0.008705],[-0.115236,-0.982696,-0.145011],[-0.025627,-0.142994,0.989392]] 2025-10-27T05:06:14.814Z,1761541574.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:15.138Z,1761541575.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992929,0.118402,-0.008569],[-0.115958,-0.982822,-0.143578],[-0.025422,-0.141569,0.989602]] 2025-10-27T05:06:15.217Z,1761541575.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:15.539Z,1761541575.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992801,0.119473,-0.008541],[-0.117022,-0.982697,-0.143572],[-0.025546,-0.141539,0.989603]] 2025-10-27T05:06:15.640Z,1761541575.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:16.030Z,1761541576.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992422,0.122625,-0.007801],[-0.120257,-0.982369,-0.143144],[-0.025217,-0.141121,0.989671]] 2025-10-27T05:06:16.120Z,1761541576.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:16.453Z,1761541576.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992242,0.124099,-0.007458],[-0.121764,-0.982178,-0.143181],[-0.025094,-0.141162,0.989668]] 2025-10-27T05:06:16.524Z,1761541576.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:16.856Z,1761541576.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991979,0.126220,-0.006849],[-0.123937,-0.981831,-0.143693],[-0.024862,-0.141692,0.989599]] 2025-10-27T05:06:16.899Z,1761541576.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:17.262Z,1761541577.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991649,0.128806,-0.006469],[-0.126571,-0.981612,-0.142893],[-0.024755,-0.140881,0.989717]] 2025-10-27T05:06:17.324Z,1761541577.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:17.665Z,1761541577.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991405,0.130689,-0.006113],[-0.128486,-0.981376,-0.142799],[-0.024662,-0.140787,0.989733]] 2025-10-27T05:06:17.688Z,1761541577.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:18.078Z,1761541578.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991049,0.133376,-0.005756],[-0.131177,-0.980905,-0.143592],[-0.024798,-0.141552,0.989620]] 2025-10-27T05:06:18.118Z,1761541578.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:18.470Z,1761541578.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990733,0.135729,-0.005105],[-0.133621,-0.980708,-0.142678],[-0.024372,-0.140674,0.989756]] 2025-10-27T05:06:18.529Z,1761541578.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:18.876Z,1761541578.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990488,0.137510,-0.004857],[-0.135414,-0.980441,-0.142826],[-0.024402,-0.140810,0.989736]] 2025-10-27T05:06:18.898Z,1761541578.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:19.278Z,1761541579.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990252,0.139218,-0.004409],[-0.137159,-0.980147,-0.143178],[-0.024254,-0.141178,0.989687]] 2025-10-27T05:06:19.327Z,1761541579.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:19.682Z,1761541579.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989994,0.141057,-0.003824],[-0.139053,-0.979820,-0.143585],[-0.024001,-0.141617,0.989631]] 2025-10-27T05:06:19.733Z,1761541579.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:20.104Z,1761541580.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989841,0.142140,-0.003358],[-0.140177,-0.979573,-0.144174],[-0.023783,-0.142239,0.989547]] 2025-10-27T05:06:20.151Z,1761541580.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:20.501Z,1761541580.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989676,0.143294,-0.003008],[-0.141361,-0.979358,-0.144481],[-0.023650,-0.142565,0.989503]] 2025-10-27T05:06:20.549Z,1761541580.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:20.895Z,1761541580.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989648,0.143486,-0.002742],[-0.141590,-0.979329,-0.144452],[-0.023412,-0.142569,0.989508]] 2025-10-27T05:06:20.917Z,1761541580.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:21.297Z,1761541581.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989687,0.143232,-0.002070],[-0.141409,-0.979197,-0.145520],[-0.022870,-0.143726,0.989353]] 2025-10-27T05:06:21.346Z,1761541581.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:21.706Z,1761541581.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989734,0.142912,-0.001785],[-0.141132,-0.979226,-0.145593],[-0.022554,-0.143846,0.989343]] 2025-10-27T05:06:21.749Z,1761541581.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:22.132Z,1761541582.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989858,0.142051,-0.001422],[-0.140326,-0.979296,-0.145908],[-0.022119,-0.144228,0.989297]] 2025-10-27T05:06:22.177Z,1761541582.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:22.525Z,1761541582.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990124,0.140191,-0.001091],[-0.138499,-0.979322,-0.147464],[-0.021742,-0.145856,0.989067]] 2025-10-27T05:06:22.545Z,1761541582.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:22.914Z,1761541582.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990351,0.138579,-0.001005],[-0.136890,-0.979360,-0.148711],[-0.021592,-0.147138,0.988880]] 2025-10-27T05:06:22.949Z,1761541582.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:23.317Z,1761541583.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990588,0.136873,-0.001260],[-0.135161,-0.979571,-0.148903],[-0.021615,-0.147331,0.988851]] 2025-10-27T05:06:23.411Z,1761541583.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:23.730Z,1761541583.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990806,0.135285,-0.001054],[-0.133612,-0.979719,-0.149326],[-0.021234,-0.147812,0.988787]] 2025-10-27T05:06:23.775Z,1761541583.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:24.159Z,1761541584.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991045,0.133520,-0.001324],[-0.131848,-0.980105,-0.148356],[-0.021106,-0.146853,0.988933]] 2025-10-27T05:06:24.206Z,1761541584.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:24.532Z,1761541584.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991299,0.131623,-0.001456],[-0.129934,-0.980233,-0.149199],[-0.021066,-0.147712,0.988806]] 2025-10-27T05:06:24.566Z,1761541584.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:24.934Z,1761541584.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991490,0.130171,-0.001849],[-0.128449,-0.980487,-0.148818],[-0.021185,-0.147314,0.988863]] 2025-10-27T05:06:24.955Z,1761541584.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:25.340Z,1761541585.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991549,0.129717,-0.001798],[-0.128003,-0.980507,-0.149065],[-0.021099,-0.147575,0.988826]] 2025-10-27T05:06:25.380Z,1761541585.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:25.745Z,1761541585.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991633,0.129076,-0.001730],[-0.127380,-0.980599,-0.148995],[-0.020928,-0.147528,0.988837]] 2025-10-27T05:06:25.770Z,1761541585.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:26.196Z,1761541586.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991733,0.128305,-0.001883],[-0.126628,-0.980933,-0.147430],[-0.020763,-0.145973,0.989071]] 2025-10-27T05:06:26.247Z,1761541586.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:26.550Z,1761541586.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991783,0.127911,-0.002066],[-0.126237,-0.981164,-0.146224],[-0.020731,-0.144762,0.989249]] 2025-10-27T05:06:26.569Z,1761541586.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:26.955Z,1761541586.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991745,0.128213,-0.001820],[-0.126569,-0.981108,-0.146314],[-0.020545,-0.144875,0.989237]] 2025-10-27T05:06:26.977Z,1761541586.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:27.413Z,1761541587.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:27.763Z,1761541587.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991624,0.129149,-0.001526],[-0.127548,-0.981058,-0.145794],[-0.020326,-0.144378,0.989314]] 2025-10-27T05:06:27.782Z,1761541587.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:28.223Z,1761541588.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991439,0.130568,-0.001232],[-0.128993,-0.980859,-0.145864],[-0.020254,-0.144456,0.989304]] 2025-10-27T05:06:28.290Z,1761541588.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:28.601Z,1761541588.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991170,0.132598,-0.000905],[-0.131071,-0.980746,-0.144767],[-0.020083,-0.143370,0.989465]] 2025-10-27T05:06:28.669Z,1761541588.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:29.033Z,1761541589.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990932,0.134363,-0.000254],[-0.132917,-0.980540,-0.144479],[-0.019661,-0.143135,0.989508]] 2025-10-27T05:06:29.119Z,1761541589.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:06:29.121Z,1761541589.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:29.276Z,1761541589.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:06:29.276Z,1761541589.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:06:29.435Z,1761541589.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990647,0.136445,0.000358],[-0.135057,-0.980186,-0.144895],[-0.019419,-0.143588,0.989447]] 2025-10-27T05:06:29.528Z,1761541589.528 [DAT](INFO): DAT read: user:293> 2025-10-27T05:06:29.529Z,1761541589.529 [DAT](INFO): DAT read: Tx time:05:06:28.5766 2025-10-27T05:06:29.529Z,1761541589.529 [DAT](INFO): Ping request sent. 2025-10-27T05:06:29.529Z,1761541589.529 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:06:29.529Z,1761541589.529 [DAT](INFO): publishing transmit ping time 2025-10-27T05:06:29.530Z,1761541589.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-10-27T05:06:29.627Z,1761541589.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:29.780Z,1761541589.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251046 2025-10-27T05:06:29.935Z,1761541589.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990374,0.138412,0.000984],[-0.137085,-0.979841,-0.145322],[-0.019150,-0.144058,0.989384]] 2025-10-27T05:06:30.016Z,1761541590.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:30.032Z,1761541590.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116 2025-10-27T05:06:30.284Z,1761541590.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755099 2025-10-27T05:06:30.341Z,1761541590.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990131,0.140143,0.001251],[-0.138848,-0.979696,-0.144627],[-0.019043,-0.143373,0.989485]] 2025-10-27T05:06:30.351Z,1761541590.351 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:06:30.436Z,1761541590.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:30.537Z,1761541590.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007265 2025-10-27T05:06:30.788Z,1761541590.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258953 2025-10-27T05:06:30.815Z,1761541590.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989720,0.143002,0.002046],[-0.141799,-0.979324,-0.144284],[-0.018629,-0.143091,0.989534]] 2025-10-27T05:06:30.858Z,1761541590.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:31.040Z,1761541591.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510762 2025-10-27T05:06:31.215Z,1761541591.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989631,0.143611,0.002337],[-0.142450,-0.979288,-0.143884],[-0.018375,-0.142725,0.989592]] 2025-10-27T05:06:31.284Z,1761541591.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:31.292Z,1761541591.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762924 2025-10-27T05:06:31.356Z,1761541591.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:06:31.544Z,1761541591.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015063 2025-10-27T05:06:31.609Z,1761541591.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989539,0.144234,0.002863],[-0.143123,-0.979042,-0.144891],[-0.018095,-0.143785,0.989444]] 2025-10-27T05:06:31.653Z,1761541591.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:31.796Z,1761541591.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266880 2025-10-27T05:06:32.018Z,1761541592.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989440,0.144912,0.002882],[-0.143787,-0.978867,-0.145412],[-0.018251,-0.144291,0.989367]] 2025-10-27T05:06:32.039Z,1761541592.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:32.048Z,1761541592.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518966 2025-10-27T05:06:32.300Z,1761541592.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770949 2025-10-27T05:06:32.415Z,1761541592.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989296,0.145890,0.003073],[-0.144774,-0.978654,-0.145869],[-0.018273,-0.144752,0.989299]] 2025-10-27T05:06:32.453Z,1761541592.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:32.552Z,1761541592.552 [DAT](INFO): DAT read: Rx Time:05:06:31.0789 2025-10-27T05:06:32.552Z,1761541592.552 [DAT](INFO): Rx dataTimestamp_ set to:1761541592.552119 2025-10-27T05:06:32.553Z,1761541592.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023894 2025-10-27T05:06:32.804Z,1761541592.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274787 2025-10-27T05:06:32.820Z,1761541592.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989251,0.146200,0.002814],[-0.145020,-0.978437,-0.147072],[-0.018749,-0.145899,0.989122]] 2025-10-27T05:06:32.860Z,1761541592.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.21 m. 2025-10-27T05:06:33.068Z,1761541593.068 [DAT](INFO): DAT read: 05:06:31.0789 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 409, 0.00, 3.023,-1.644, 2.927,-2.724, PHS=-0.434, 1.125,-0.676, RAW= 337.1, -0.2, CAL= 336.5, -3.1, ROT= 173.5, 3.1 2025-10-27T05:06:33.069Z,1761541593.069 [DAT](INFO): got valid direction response: 05:06:31.0789 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 409, 0.00, 3.023,-1.644, 2.927,-2.724, PHS=-0.434, 1.125,-0.676, RAW= 337.1, -0.2, CAL= 336.5, -3.1, ROT= 173.5, 3.1 2025-10-27T05:06:33.070Z,1761541593.070 [DAT](INFO): DAT read: Bearing 154.9, 7.9 (Local) 2025-10-27T05:06:33.070Z,1761541593.070 [DAT](INFO): Local bearing/azimuth received: Bearing 154.9, 7.9 (Local) 2025-10-27T05:06:33.072Z,1761541593.072 [DAT](INFO): DAT read: Range 11 to 50 : 73.5 m (Round-trip 98.1 ms) speed -0.7 m/s 2025-10-27T05:06:33.073Z,1761541593.073 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:06:33.075Z,1761541593.075 [DAT](INFO): direction in FSK: [-0.992118,0.113038,-0.054079] 2025-10-27T05:06:33.076Z,1761541593.076 [DAT](INFO): publishing direction and range info 2025-10-27T05:06:33.222Z,1761541593.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989244,0.146255,0.002552],[-0.145034,-0.978422,-0.147159],[-0.019026,-0.145946,0.989110]] 2025-10-27T05:06:33.330Z,1761541593.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 60.530150 s, deltaX: 35.099998 m, approachRate: 0.579876 m/s, rangeRepo size: 4 2025-10-27T05:06:33.336Z,1761541593.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.131432 m, bearing: 2.367274 deg, lat: 36.779302 deg, lon: -121.859541 deg, deltaT: 60.530150 s, deltaX: 34.922932 m, approachRate: 0.576951 m/s, posRepo size: 4 2025-10-27T05:06:33.337Z,1761541593.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:33.658Z,1761541593.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989245,0.146244,0.002512],[-0.145005,-0.978332,-0.147784],[-0.019155,-0.146559,0.989016]] 2025-10-27T05:06:33.717Z,1761541593.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:34.062Z,1761541594.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989375,0.145371,0.002136],[-0.144094,-0.978517,-0.147447],[-0.019344,-0.146188,0.989068]] 2025-10-27T05:06:34.093Z,1761541594.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:34.466Z,1761541594.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989506,0.144476,0.002102],[-0.143184,-0.978492,-0.148498],[-0.019398,-0.147241,0.988910]] 2025-10-27T05:06:34.525Z,1761541594.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:34.869Z,1761541594.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989637,0.143579,0.002016],[-0.142265,-0.978478,-0.149469],[-0.019488,-0.148207,0.988764]] 2025-10-27T05:06:34.889Z,1761541594.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:35.294Z,1761541595.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989710,0.143076,0.001703],[-0.141717,-0.978527,-0.149669],[-0.019747,-0.148370,0.988735]] 2025-10-27T05:06:35.388Z,1761541595.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:35.815Z,1761541595.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989870,0.141965,0.001792],[-0.140622,-0.978609,-0.150169],[-0.019565,-0.148899,0.988659]] 2025-10-27T05:06:35.835Z,1761541595.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:36.218Z,1761541596.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990092,0.140411,0.001524],[-0.139060,-0.978942,-0.149449],[-0.019492,-0.148180,0.988768]] 2025-10-27T05:06:36.237Z,1761541596.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:36.635Z,1761541596.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990172,0.139850,0.001436],[-0.138481,-0.978939,-0.150005],[-0.019573,-0.148730,0.988684]] 2025-10-27T05:06:36.684Z,1761541596.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:37.038Z,1761541597.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990267,0.139174,0.001574],[-0.137835,-0.979043,-0.149924],[-0.019325,-0.148681,0.988696]] 2025-10-27T05:06:37.059Z,1761541597.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:37.566Z,1761541597.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:37.879Z,1761541597.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990353,0.138527,0.003250],[-0.137434,-0.979012,-0.150488],[-0.017664,-0.149483,0.988606]] 2025-10-27T05:06:37.897Z,1761541597.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:38.285Z,1761541598.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990328,0.138673,0.004468],[-0.137765,-0.979008,-0.150215],[-0.016457,-0.149378,0.988643]] 2025-10-27T05:06:38.372Z,1761541598.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:38.685Z,1761541598.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990247,0.139200,0.005813],[-0.138493,-0.978956,-0.149881],[-0.015172,-0.149225,0.988687]] 2025-10-27T05:06:38.760Z,1761541598.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:39.089Z,1761541599.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990211,0.139393,0.007134],[-0.138876,-0.978848,-0.150237],[-0.013959,-0.149757,0.988624]] 2025-10-27T05:06:39.129Z,1761541599.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:39.558Z,1761541599.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:39.901Z,1761541599.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990036,0.140435,0.010298],[-0.140385,-0.978700,-0.149794],[-0.010957,-0.149747,0.988664]] 2025-10-27T05:06:39.921Z,1761541599.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:40.416Z,1761541600.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:40.748Z,1761541600.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989739,0.142220,0.013777],[-0.142680,-0.978535,-0.148701],[-0.007667,-0.149141,0.988786]] 2025-10-27T05:06:40.794Z,1761541600.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:41.150Z,1761541601.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989593,0.143044,0.015623],[-0.143764,-0.978215,-0.149758],[-0.006139,-0.150446,0.988599]] 2025-10-27T05:06:41.176Z,1761541601.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:41.563Z,1761541601.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989507,0.143475,0.017040],[-0.144403,-0.978141,-0.149627],[-0.004801,-0.150518,0.988596]] 2025-10-27T05:06:41.654Z,1761541601.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:41.964Z,1761541601.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989364,0.144266,0.018613],[-0.145421,-0.977963,-0.149801],[-0.003408,-0.150915,0.988541]] 2025-10-27T05:06:42.016Z,1761541602.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:42.433Z,1761541602.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989278,0.144489,0.021236],[-0.146039,-0.977939,-0.149355],[-0.000813,-0.150855,0.988555]] 2025-10-27T05:06:42.541Z,1761541602.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:42.843Z,1761541602.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:43.213Z,1761541603.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989210,0.144597,0.023563],[-0.146495,-0.978071,-0.148039],[0.001640,-0.149894,0.988701]] 2025-10-27T05:06:43.254Z,1761541603.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:43.619Z,1761541603.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989150,0.144744,0.025124],[-0.146875,-0.977982,-0.148254],[0.003112,-0.150335,0.988630]] 2025-10-27T05:06:43.689Z,1761541603.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:44.021Z,1761541604.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989149,0.144527,0.026369],[-0.146849,-0.977961,-0.148416],[0.004338,-0.150678,0.988573]] 2025-10-27T05:06:44.109Z,1761541604.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:44.469Z,1761541604.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989188,0.144075,0.027380],[-0.146552,-0.978065,-0.148028],[0.005452,-0.150440,0.988604]] 2025-10-27T05:06:44.553Z,1761541604.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:44.862Z,1761541604.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989266,0.143389,0.028149],[-0.145987,-0.978210,-0.147625],[0.006368,-0.150150,0.988643]] 2025-10-27T05:06:44.918Z,1761541604.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:45.267Z,1761541605.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989283,0.143047,0.029262],[-0.145821,-0.978139,-0.148259],[0.007414,-0.150938,0.988515]] 2025-10-27T05:06:45.304Z,1761541605.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:45.670Z,1761541605.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989407,0.142017,0.030091],[-0.144924,-0.978344,-0.147787],[0.008451,-0.150582,0.988561]] 2025-10-27T05:06:45.697Z,1761541605.697 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -27. +45.96, +3.34 2025-10-27T05:06:45.721Z,1761541605.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:46.074Z,1761541606.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989466,0.141335,0.031318],[-0.144444,-0.978267,-0.148758],[0.009613,-0.151714,0.988378]] 2025-10-27T05:06:46.108Z,1761541606.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:46.500Z,1761541606.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989530,0.140683,0.032242],[-0.143946,-0.978241,-0.149414],[0.010520,-0.152491,0.988249]] 2025-10-27T05:06:46.545Z,1761541606.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:46.884Z,1761541606.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989573,0.140133,0.033297],[-0.143566,-0.978274,-0.149560],[0.011616,-0.152780,0.988192]] 2025-10-27T05:06:46.903Z,1761541606.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:47.286Z,1761541607.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989592,0.139684,0.034588],[-0.143339,-0.978078,-0.151056],[0.012729,-0.154442,0.987920]] 2025-10-27T05:06:47.314Z,1761541607.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:47.690Z,1761541607.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989603,0.139358,0.035583],[-0.143175,-0.978048,-0.151404],[0.013703,-0.154924,0.987831]] 2025-10-27T05:06:47.753Z,1761541607.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:48.094Z,1761541608.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989682,0.138620,0.036243],[-0.142543,-0.978196,-0.151046],[0.014515,-0.154653,0.987862]] 2025-10-27T05:06:48.112Z,1761541608.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:48.522Z,1761541608.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989689,0.138444,0.036726],[-0.142418,-0.978464,-0.149414],[0.015249,-0.153104,0.988092]] 2025-10-27T05:06:48.568Z,1761541608.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:48.902Z,1761541608.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989644,0.138443,0.037932],[-0.142606,-0.978408,-0.149606],[0.016401,-0.153466,0.988018]] 2025-10-27T05:06:48.935Z,1761541608.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:49.306Z,1761541609.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989600,0.138482,0.038918],[-0.142782,-0.978496,-0.148860],[0.017467,-0.152868,0.988092]] 2025-10-27T05:06:49.340Z,1761541609.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:49.717Z,1761541609.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989547,0.138585,0.039888],[-0.143043,-0.978378,-0.149386],[0.018322,-0.153530,0.987974]] 2025-10-27T05:06:49.768Z,1761541609.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:50.147Z,1761541610.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:50.556Z,1761541610.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989325,0.139667,0.041577],[-0.144404,-0.977933,-0.150982],[0.019573,-0.155374,0.987662]] 2025-10-27T05:06:50.565Z,1761541610.565 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 84.28, 81.22 2025-10-27T05:06:50.593Z,1761541610.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:50.921Z,1761541610.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989332,0.139403,0.042285],[-0.144251,-0.977968,-0.150900],[0.020318,-0.155390,0.987644]] 2025-10-27T05:06:50.957Z,1761541610.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:51.325Z,1761541611.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989305,0.139319,0.043186],[-0.144309,-0.977957,-0.150912],[0.021209,-0.155530,0.987603]] 2025-10-27T05:06:51.344Z,1761541611.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:51.741Z,1761541611.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989220,0.139836,0.043460],[-0.144856,-0.977925,-0.150594],[0.021442,-0.155266,0.987640]] 2025-10-27T05:06:51.881Z,1761541611.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:52.336Z,1761541612.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989203,0.139763,0.044078],[-0.144867,-0.978009,-0.150038],[0.022139,-0.154803,0.987697]] 2025-10-27T05:06:52.354Z,1761541612.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:52.746Z,1761541612.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989171,0.139751,0.044841],[-0.144977,-0.977970,-0.150186],[0.022864,-0.155060,0.987640]] 2025-10-27T05:06:52.799Z,1761541612.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:53.230Z,1761541613.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989056,0.140337,0.045546],[-0.145650,-0.977969,-0.149541],[0.023556,-0.154538,0.987706]] 2025-10-27T05:06:53.249Z,1761541613.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:53.633Z,1761541613.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989009,0.140540,0.045939],[-0.145909,-0.977947,-0.149430],[0.023925,-0.154490,0.987705]] 2025-10-27T05:06:53.708Z,1761541613.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:54.036Z,1761541614.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989019,0.140367,0.046237],[-0.145775,-0.978022,-0.149072],[0.024296,-0.154175,0.987745]] 2025-10-27T05:06:54.055Z,1761541614.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:54.434Z,1761541614.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988965,0.140736,0.046269],[-0.146121,-0.978117,-0.148106],[0.024412,-0.153232,0.987889]] 2025-10-27T05:06:54.484Z,1761541614.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:54.838Z,1761541614.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988961,0.140710,0.046437],[-0.146104,-0.978226,-0.147405],[0.024684,-0.152563,0.987985]] 2025-10-27T05:06:54.891Z,1761541614.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:55.248Z,1761541615.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989010,0.140308,0.046607],[-0.145709,-0.978422,-0.146492],[0.025047,-0.151673,0.988113]] 2025-10-27T05:06:55.268Z,1761541615.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:55.649Z,1761541615.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989012,0.140300,0.046595],[-0.145687,-0.978497,-0.146007],[0.025108,-0.151191,0.988186]] 2025-10-27T05:06:55.779Z,1761541615.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:56.087Z,1761541616.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989027,0.140167,0.046675],[-0.145555,-0.978590,-0.145514],[0.025279,-0.150711,0.988255]] 2025-10-27T05:06:56.169Z,1761541616.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:56.506Z,1761541616.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989052,0.140018,0.046596],[-0.145414,-0.978502,-0.146251],[0.025117,-0.151425,0.988150]] 2025-10-27T05:06:56.564Z,1761541616.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:56.919Z,1761541616.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989057,0.139975,0.046616],[-0.145370,-0.978540,-0.146041],[0.025174,-0.151220,0.988180]] 2025-10-27T05:06:56.996Z,1761541616.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:57.322Z,1761541617.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989081,0.139801,0.046626],[-0.145192,-0.978604,-0.145784],[0.025248,-0.150962,0.988217]] 2025-10-27T05:06:57.352Z,1761541617.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:57.810Z,1761541617.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:58.126Z,1761541618.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989018,0.140141,0.046947],[-0.145567,-0.978607,-0.145393],[0.025567,-0.150630,0.988260]] 2025-10-27T05:06:58.145Z,1761541618.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:58.531Z,1761541618.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989009,0.140173,0.047036],[-0.145606,-0.978637,-0.145152],[0.025685,-0.150406,0.988291]] 2025-10-27T05:06:58.670Z,1761541618.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:58.997Z,1761541618.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989033,0.140020,0.047000],[-0.145455,-0.978624,-0.145389],[0.025638,-0.150631,0.988258]] 2025-10-27T05:06:59.042Z,1761541619.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:59.394Z,1761541619.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989079,0.139658,0.047100],[-0.145107,-0.978708,-0.145172],[0.025822,-0.150422,0.988285]] 2025-10-27T05:06:59.437Z,1761541619.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:06:59.798Z,1761541619.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989074,0.139745,0.046936],[-0.145185,-0.978598,-0.145836],[0.025551,-0.151057,0.988195]] 2025-10-27T05:06:59.858Z,1761541619.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:00.203Z,1761541620.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989065,0.139806,0.046953],[-0.145256,-0.978542,-0.146137],[0.025514,-0.151359,0.988149]] 2025-10-27T05:07:00.221Z,1761541620.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:00.606Z,1761541620.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989171,0.139081,0.046870],[-0.144516,-0.978712,-0.145736],[0.025603,-0.150931,0.988213]] 2025-10-27T05:07:00.699Z,1761541620.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:01.044Z,1761541621.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989242,0.138619,0.046751],[-0.144046,-0.978745,-0.145973],[0.025523,-0.151137,0.988183]] 2025-10-27T05:07:01.101Z,1761541621.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:01.454Z,1761541621.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989314,0.138146,0.046623],[-0.143562,-0.978801,-0.146079],[0.025455,-0.151211,0.988174]] 2025-10-27T05:07:01.484Z,1761541621.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:07:01.487Z,1761541621.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:01.851Z,1761541621.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989351,0.137890,0.046588],[-0.143322,-0.978733,-0.146765],[0.025360,-0.151879,0.988074]] 2025-10-27T05:07:01.894Z,1761541621.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:02.257Z,1761541622.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989424,0.137379,0.046543],[-0.142831,-0.978676,-0.147626],[0.025269,-0.152713,0.987948]] 2025-10-27T05:07:02.291Z,1761541622.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:02.489Z,1761541622.489 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:07:02.671Z,1761541622.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989447,0.137151,0.046727],[-0.142638,-0.978674,-0.147820],[0.025457,-0.152925,0.987910]] 2025-10-27T05:07:02.760Z,1761541622.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:03.065Z,1761541623.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989531,0.136583,0.046614],[-0.142050,-0.978814,-0.147463],[0.025485,-0.152541,0.987969]] 2025-10-27T05:07:03.102Z,1761541623.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:03.485Z,1761541623.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989589,0.136171,0.046590],[-0.141633,-0.978909,-0.147231],[0.025559,-0.152297,0.988004]] 2025-10-27T05:07:03.504Z,1761541623.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:03.870Z,1761541623.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989560,0.136316,0.046786],[-0.141823,-0.978787,-0.147861],[0.025638,-0.152953,0.987901]] 2025-10-27T05:07:03.915Z,1761541623.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:04.277Z,1761541624.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989572,0.136222,0.046813],[-0.141719,-0.978886,-0.147302],[0.025759,-0.152400,0.987983]] 2025-10-27T05:07:04.295Z,1761541624.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:04.684Z,1761541624.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989549,0.136351,0.046916],[-0.141869,-0.978829,-0.147536],[0.025806,-0.152650,0.987943]] 2025-10-27T05:07:04.762Z,1761541624.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:05.082Z,1761541625.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989543,0.136291,0.047211],[-0.141869,-0.978746,-0.148087],[0.026025,-0.153237,0.987847]] 2025-10-27T05:07:05.127Z,1761541625.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:05.516Z,1761541625.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989516,0.136400,0.047457],[-0.142021,-0.978687,-0.148329],[0.026213,-0.153513,0.987799]] 2025-10-27T05:07:05.535Z,1761541625.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:05.890Z,1761541625.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989510,0.136612,0.046974],[-0.142099,-0.979010,-0.146107],[0.026028,-0.151249,0.988153]] 2025-10-27T05:07:05.954Z,1761541625.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:06.306Z,1761541626.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989585,0.136067,0.046986],[-0.141541,-0.979203,-0.145355],[0.026231,-0.150492,0.988263]] 2025-10-27T05:07:06.324Z,1761541626.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:06.802Z,1761541626.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:07.099Z,1761541627.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989615,0.135715,0.047373],[-0.141238,-0.979319,-0.144867],[0.026732,-0.150053,0.988316]] 2025-10-27T05:07:07.156Z,1761541627.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:07.503Z,1761541627.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989587,0.135799,0.047718],[-0.141375,-0.979286,-0.144953],[0.027045,-0.150190,0.988287]] 2025-10-27T05:07:07.523Z,1761541627.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:07.908Z,1761541627.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989568,0.135810,0.048066],[-0.141442,-0.979257,-0.145089],[0.027364,-0.150374,0.988250]] 2025-10-27T05:07:07.962Z,1761541627.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:08.354Z,1761541628.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:08.723Z,1761541628.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989575,0.135791,0.047984],[-0.141348,-0.979604,-0.142816],[0.027612,-0.148110,0.988585]] 2025-10-27T05:07:08.780Z,1761541628.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:09.306Z,1761541629.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:09.622Z,1761541629.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:10.083Z,1761541630.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989556,0.135850,0.048198],[-0.141449,-0.979531,-0.143214],[0.027755,-0.148536,0.988517]] 2025-10-27T05:07:10.145Z,1761541630.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:10.517Z,1761541630.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989543,0.136057,0.047894],[-0.141621,-0.979439,-0.143676],[0.027361,-0.148956,0.988465]] 2025-10-27T05:07:10.549Z,1761541630.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:10.936Z,1761541630.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:11.335Z,1761541631.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:11.738Z,1761541631.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989618,0.136667,0.044472],[-0.141700,-0.979522,-0.143033],[0.024013,-0.147850,0.988718]] 2025-10-27T05:07:11.758Z,1761541631.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:12.100Z,1761541632.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989585,0.137206,0.043542],[-0.142114,-0.979349,-0.143800],[0.022912,-0.148490,0.988648]] 2025-10-27T05:07:12.137Z,1761541632.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:12.502Z,1761541632.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989557,0.137675,0.042698],[-0.142460,-0.979257,-0.144085],[0.021976,-0.148663,0.988644]] 2025-10-27T05:07:12.534Z,1761541632.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:13.101Z,1761541633.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:13.402Z,1761541633.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989533,0.138580,0.040240],[-0.142976,-0.979287,-0.143371],[0.019538,-0.147624,0.988851]] 2025-10-27T05:07:13.428Z,1761541633.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:13.797Z,1761541633.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989558,0.138746,0.039037],[-0.142954,-0.979347,-0.142978],[0.018393,-0.147065,0.988956]] 2025-10-27T05:07:13.858Z,1761541633.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:14.266Z,1761541634.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:14.605Z,1761541634.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989526,0.139618,0.036672],[-0.143486,-0.979118,-0.144013],[0.015799,-0.147767,0.988896]] 2025-10-27T05:07:14.624Z,1761541634.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:15.011Z,1761541635.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989536,0.139933,0.035182],[-0.143574,-0.979149,-0.143715],[0.014338,-0.147262,0.988994]] 2025-10-27T05:07:15.048Z,1761541635.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:15.414Z,1761541635.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989540,0.140259,0.033745],[-0.143698,-0.978977,-0.144759],[0.012732,-0.148094,0.988891]] 2025-10-27T05:07:15.448Z,1761541635.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:15.818Z,1761541635.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989586,0.140263,0.032348],[-0.143494,-0.979016,-0.144694],[0.011374,-0.147829,0.988948]] 2025-10-27T05:07:15.863Z,1761541635.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:16.255Z,1761541636.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989623,0.140354,0.030764],[-0.143348,-0.979083,-0.144387],[0.009856,-0.147299,0.989043]] 2025-10-27T05:07:16.301Z,1761541636.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:16.658Z,1761541636.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989691,0.140223,0.029143],[-0.142982,-0.979093,-0.144680],[0.008246,-0.147356,0.989049]] 2025-10-27T05:07:16.697Z,1761541636.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:17.062Z,1761541637.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989781,0.139865,0.027784],[-0.142426,-0.979206,-0.144469],[0.007001,-0.146949,0.989119]] 2025-10-27T05:07:17.118Z,1761541637.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:17.476Z,1761541637.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989831,0.139808,0.026238],[-0.142143,-0.979241,-0.144508],[0.005490,-0.146768,0.989156]] 2025-10-27T05:07:17.501Z,1761541637.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:17.870Z,1761541637.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989895,0.139647,0.024621],[-0.141746,-0.979311,-0.144422],[0.003944,-0.146453,0.989210]] 2025-10-27T05:07:17.972Z,1761541637.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:18.274Z,1761541638.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990023,0.138976,0.023227],[-0.140879,-0.979384,-0.144774],[0.002628,-0.146602,0.989192]] 2025-10-27T05:07:18.334Z,1761541638.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:18.679Z,1761541638.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990199,0.137956,0.021771],[-0.139657,-0.979513,-0.145089],[0.001309,-0.146707,0.989179]] 2025-10-27T05:07:18.709Z,1761541638.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:19.082Z,1761541639.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990271,0.137646,0.020414],[-0.139152,-0.979532,-0.145447],[-0.000024,-0.146872,0.989155]] 2025-10-27T05:07:19.132Z,1761541639.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:19.487Z,1761541639.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990332,0.137361,0.019374],[-0.138717,-0.979545,-0.145774],[-0.001046,-0.147052,0.989128]] 2025-10-27T05:07:19.530Z,1761541639.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:19.889Z,1761541639.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990479,0.136460,0.018191],[-0.137651,-0.979672,-0.145926],[-0.002092,-0.147041,0.989128]] 2025-10-27T05:07:19.912Z,1761541639.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:20.297Z,1761541640.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990543,0.136125,0.017187],[-0.137172,-0.979687,-0.146277],[-0.003074,-0.147251,0.989094]] 2025-10-27T05:07:20.366Z,1761541640.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:20.754Z,1761541640.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:21.102Z,1761541641.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990734,0.135052,0.014419],[-0.135707,-0.980005,-0.145512],[-0.005521,-0.146121,0.989251]] 2025-10-27T05:07:21.150Z,1761541641.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:21.511Z,1761541641.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990807,0.134679,0.012802],[-0.135109,-0.980227,-0.144572],[-0.006922,-0.144972,0.989411]] 2025-10-27T05:07:21.530Z,1761541641.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:21.915Z,1761541641.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990859,0.134438,0.011209],[-0.134642,-0.980336,-0.144264],[-0.008406,-0.144454,0.989476]] 2025-10-27T05:07:21.938Z,1761541641.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:22.314Z,1761541642.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990828,0.134777,0.009797],[-0.134773,-0.980309,-0.144329],[-0.009848,-0.144326,0.989481]] 2025-10-27T05:07:22.359Z,1761541642.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:22.725Z,1761541642.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990808,0.135035,0.008123],[-0.134796,-0.980425,-0.143516],[-0.011416,-0.143292,0.989615]] 2025-10-27T05:07:22.807Z,1761541642.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:23.122Z,1761541643.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990721,0.135733,0.006902],[-0.135313,-0.980357,-0.143495],[-0.012711,-0.143098,0.989627]] 2025-10-27T05:07:23.202Z,1761541643.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:23.536Z,1761541643.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990592,0.136733,0.005569],[-0.136113,-0.980259,-0.143403],[-0.014149,-0.142812,0.989649]] 2025-10-27T05:07:23.594Z,1761541643.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:23.954Z,1761541643.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990391,0.138228,0.004354],[-0.137419,-0.980069,-0.143460],[-0.015563,-0.142680,0.989646]] 2025-10-27T05:07:24.073Z,1761541644.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:24.490Z,1761541644.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:24.848Z,1761541644.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:25.212Z,1761541645.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989579,0.143974,0.002232],[-0.142791,-0.979209,-0.144082],[-0.018559,-0.142900,0.989563]] 2025-10-27T05:07:25.272Z,1761541645.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:25.661Z,1761541645.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:26.021Z,1761541646.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988938,0.148318,0.001790],[-0.147041,-0.978699,-0.143275],[-0.019499,-0.141953,0.989681]] 2025-10-27T05:07:26.112Z,1761541646.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:26.429Z,1761541646.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988723,0.149752,0.001061],[-0.148355,-0.978487,-0.143369],[-0.020431,-0.141910,0.989669]] 2025-10-27T05:07:26.493Z,1761541646.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:26.829Z,1761541646.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988577,0.150716,0.000431],[-0.149229,-0.978409,-0.142988],[-0.021129,-0.141420,0.989724]] 2025-10-27T05:07:26.853Z,1761541646.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:27.285Z,1761541647.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:27.635Z,1761541647.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988136,0.153579,-0.000261],[-0.151947,-0.977879,-0.143753],[-0.022333,-0.142008,0.989614]] 2025-10-27T05:07:27.671Z,1761541647.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:28.043Z,1761541648.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988075,0.153970,-0.000460],[-0.152296,-0.977768,-0.144140],[-0.022643,-0.142351,0.989557]] 2025-10-27T05:07:28.128Z,1761541648.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:28.466Z,1761541648.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988037,0.154218,-0.000590],[-0.152447,-0.977252,-0.147440],[-0.023315,-0.145586,0.989071]] 2025-10-27T05:07:28.515Z,1761541648.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:28.879Z,1761541648.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:29.308Z,1761541649.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:29.310Z,1761541649.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:29.316Z,1761541649.316 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:07:29.316Z,1761541649.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:07:29.572Z,1761541649.572 [DAT](INFO): DAT read: user:294> 2025-10-27T05:07:29.573Z,1761541649.573 [DAT](INFO): DAT read: Tx time:05:07:28.6264 2025-10-27T05:07:29.573Z,1761541649.573 [DAT](INFO): Ping request sent. 2025-10-27T05:07:29.573Z,1761541649.573 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:07:29.574Z,1761541649.574 [DAT](INFO): publishing transmit ping time 2025-10-27T05:07:29.574Z,1761541649.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001097 2025-10-27T05:07:29.699Z,1761541649.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:29.820Z,1761541649.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246702 2025-10-27T05:07:30.069Z,1761541650.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988478,0.151354,-0.001971],[-0.149365,-0.977434,-0.149373],[-0.024535,-0.147358,0.988779]] 2025-10-27T05:07:30.072Z,1761541650.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498816 2025-10-27T05:07:30.152Z,1761541650.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:30.324Z,1761541650.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750600 2025-10-27T05:07:30.471Z,1761541650.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988597,0.150569,-0.002442],[-0.148501,-0.977458,-0.150077],[-0.024984,-0.148003,0.988671]] 2025-10-27T05:07:30.576Z,1761541650.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002559 2025-10-27T05:07:30.577Z,1761541650.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:30.830Z,1761541650.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257040 2025-10-27T05:07:30.875Z,1761541650.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988769,0.149416,-0.003123],[-0.147265,-0.977667,-0.149937],[-0.025456,-0.147793,0.988691]] 2025-10-27T05:07:30.907Z,1761541650.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:31.082Z,1761541651.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508716 2025-10-27T05:07:31.278Z,1761541651.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988947,0.148221,-0.003707],[-0.145991,-0.977822,-0.150167],[-0.025882,-0.147966,0.988654]] 2025-10-27T05:07:31.332Z,1761541651.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758673 2025-10-27T05:07:31.382Z,1761541651.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:31.584Z,1761541651.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010712 2025-10-27T05:07:31.804Z,1761541651.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989017,0.147731,-0.004516],[-0.145381,-0.977881,-0.150378],[-0.026632,-0.148070,0.988618]] 2025-10-27T05:07:31.836Z,1761541651.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262591 2025-10-27T05:07:31.901Z,1761541651.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:32.089Z,1761541652.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515315 2025-10-27T05:07:32.196Z,1761541652.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989146,0.146851,-0.004929],[-0.144455,-0.978047,-0.150192],[-0.026876,-0.147850,0.988645]] 2025-10-27T05:07:32.259Z,1761541652.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:32.341Z,1761541652.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767360 2025-10-27T05:07:32.592Z,1761541652.592 [DAT](INFO): DAT read: Rx Time:05:07:31.2658 2025-10-27T05:07:32.592Z,1761541652.592 [DAT](INFO): Rx dataTimestamp_ set to:1761541652.592210 2025-10-27T05:07:32.593Z,1761541652.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019822 2025-10-27T05:07:32.615Z,1761541652.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:07:32.664Z,1761541652.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:32.844Z,1761541652.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270603 2025-10-27T05:07:33.002Z,1761541653.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989301,0.145769,-0.005870],[-0.143239,-0.978190,-0.150424],[-0.027669,-0.147974,0.988604]] 2025-10-27T05:07:33.037Z,1761541653.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.13 m. 2025-10-27T05:07:33.100Z,1761541653.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526034 2025-10-27T05:07:33.353Z,1761541653.353 [DAT](INFO): DAT read: 05:07:31.2658 LVL= 32752, 32753, 32754, 30195, AGC= 75, IDX= 292, 0.39, 1.775, 2.699, 1.724, 0.991, PHS= 0.886, 1.753, 0.689, RAW= 340.0, -50.2, CAL= 340.7, -52.4, ROT= 169.3, 52.4 2025-10-27T05:07:33.354Z,1761541653.354 [DAT](INFO): got valid direction response: 05:07:31.2658 LVL= 32752, 32753, 32754, 30195, AGC= 75, IDX= 292, 0.39, 1.775, 2.699, 1.724, 0.991, PHS= 0.886, 1.753, 0.689, RAW= 340.0, -50.2, CAL= 340.7, -52.4, ROT= 169.3, 52.4 2025-10-27T05:07:33.355Z,1761541653.355 [DAT](INFO): DAT read: Bearing 206.6, 14.3 (Local) 2025-10-27T05:07:33.356Z,1761541653.356 [DAT](INFO): Local bearing/azimuth received: Bearing 206.6, 14.3 (Local) 2025-10-27T05:07:33.357Z,1761541653.357 [DAT](INFO): DAT read: Range 11 to 50 : 176.4 m (Round-trip 235.2 ms) speed -1.0 m/s 2025-10-27T05:07:33.358Z,1761541653.358 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:07:33.359Z,1761541653.359 [DAT](INFO): direction in FSK: [-0.599536,0.113283,-0.792290] 2025-10-27T05:07:33.359Z,1761541653.359 [DAT](INFO): publishing direction and range info 2025-10-27T05:07:33.422Z,1761541653.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989280,0.145897,-0.006213],[-0.143304,-0.978120,-0.150813],[-0.028080,-0.148306,0.988543]] 2025-10-27T05:07:33.536Z,1761541653.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.399994 m, deltaT: 60.289153 s, deltaX: 102.899994 m, approachRate: 1.706775 m/s, rangeRepo size: 4 2025-10-27T05:07:33.538Z,1761541653.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 175.517197 m, bearing: 8.750774 deg, lat: 36.779298 deg, lon: -121.859539 deg, deltaT: 60.289153 s, deltaX: 102.385765 m, approachRate: 1.698245 m/s, posRepo size: 4 2025-10-27T05:07:33.538Z,1761541653.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.52 m. 2025-10-27T05:07:33.538Z,1761541653.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 176.40 m. Resuming terminal guidance. 2025-10-27T05:07:33.539Z,1761541653.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T05:07:33.620Z,1761541653.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:07:33.802Z,1761541653.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989247,0.146115,-0.006413],[-0.143476,-0.978017,-0.151317],[-0.028382,-0.148770,0.988464]] 2025-10-27T05:07:33.825Z,1761541653.825 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T05:07:33.825Z,1761541653.825 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:07:33.825Z,1761541653.825 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T05:07:33.826Z,1761541653.826 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 176.399994 m (mode 1.000000 count ). 2025-10-27T05:07:33.827Z,1761541653.827 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T05:07:33.827Z,1761541653.827 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T05:07:34.215Z,1761541654.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989227,0.146246,-0.006548],[-0.143575,-0.977947,-0.151676],[-0.028586,-0.149102,0.988409]] 2025-10-27T05:07:34.257Z,1761541654.257 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T05:07:34.257Z,1761541654.257 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T05:07:34.258Z,1761541654.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:34.356Z,1761541654.356 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:07:34.356Z,1761541654.356 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:07:34.356Z,1761541654.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:07:34.608Z,1761541654.608 [DAT](INFO): DAT read: user:295> 2025-10-27T05:07:34.609Z,1761541654.609 [DAT](INFO): DAT read: Tx time:05:07:33.6764 2025-10-27T05:07:34.609Z,1761541654.609 [DAT](INFO): Ping request sent. 2025-10-27T05:07:34.609Z,1761541654.609 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:07:34.609Z,1761541654.609 [DAT](INFO): publishing transmit ping time 2025-10-27T05:07:34.610Z,1761541654.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000800 2025-10-27T05:07:34.613Z,1761541654.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989076,0.147240,-0.006990],[-0.144486,-0.977786,-0.151849],[-0.029193,-0.149181,0.988379]] 2025-10-27T05:07:34.638Z,1761541654.638 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T05:07:34.638Z,1761541654.638 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T05:07:34.863Z,1761541654.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254316 2025-10-27T05:07:35.021Z,1761541655.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988739,0.149449,-0.007814],[-0.146656,-0.978016,-0.148247],[-0.029797,-0.145431,0.988919]] 2025-10-27T05:07:35.038Z,1761541655.038 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T05:07:35.038Z,1761541655.038 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:07:35.038Z,1761541655.038 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T05:07:35.038Z,1761541655.038 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:07:35.113Z,1761541655.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504283 2025-10-27T05:07:35.364Z,1761541655.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754893 2025-10-27T05:07:35.420Z,1761541655.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988260,0.152510,-0.009108],[-0.149687,-0.978457,-0.142182],[-0.030596,-0.139150,0.989799]] 2025-10-27T05:07:35.616Z,1761541655.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007256 2025-10-27T05:07:35.822Z,1761541655.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987496,0.157303,-0.010349],[-0.154483,-0.978688,-0.135292],[-0.031410,-0.132002,0.990752]] 2025-10-27T05:07:35.868Z,1761541655.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258933 2025-10-27T05:07:36.120Z,1761541656.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510847 2025-10-27T05:07:36.243Z,1761541656.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986211,0.165060,-0.011951],[-0.162331,-0.978895,-0.124153],[-0.032192,-0.120501,0.992191]] 2025-10-27T05:07:36.286Z,1761541656.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:36.372Z,1761541656.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763252 2025-10-27T05:07:36.624Z,1761541656.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015109 2025-10-27T05:07:36.876Z,1761541656.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266887 2025-10-27T05:07:37.058Z,1761541657.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981186,0.192257,-0.017646],[-0.190047,-0.977903,-0.087103],[-0.034002,-0.082111,0.996043]] 2025-10-27T05:07:37.128Z,1761541657.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518899 2025-10-27T05:07:37.380Z,1761541657.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770782 2025-10-27T05:07:37.459Z,1761541657.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977355,0.210356,-0.022990],[-0.208675,-0.976128,-0.060245],[-0.035114,-0.054083,0.997919]] 2025-10-27T05:07:37.632Z,1761541657.632 [DAT](INFO): DAT read: Rx Time:05:07:36.3193 2025-10-27T05:07:37.633Z,1761541657.633 [DAT](INFO): Rx dataTimestamp_ set to:1761541657.632278 2025-10-27T05:07:37.633Z,1761541657.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024080 2025-10-27T05:07:37.871Z,1761541657.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972623,0.230527,-0.029343],[-0.229587,-0.972755,-0.032208],[-0.035969,-0.024590,0.999050]] 2025-10-27T05:07:37.885Z,1761541657.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275588 2025-10-27T05:07:38.137Z,1761541658.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527394 2025-10-27T05:07:38.278Z,1761541658.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966841,0.252736,-0.036653],[-0.252808,-0.967513,-0.002719],[-0.036149,0.006638,0.999324]] 2025-10-27T05:07:38.326Z,1761541658.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:38.394Z,1761541658.394 [DAT](INFO): DAT read: 05:07:36.3193 LVL= 32752, 26481, 32754, 31043, AGC= 68, IDX= 68, 0.05,-0.178, 1.371,-0.435, 0.306, PHS=-0.382, 1.111,-0.785, RAW= 341.6, 0.7, CAL= 341.2, -2.2, ROT= 168.8, 2.2 2025-10-27T05:07:38.395Z,1761541658.395 [DAT](INFO): got valid direction response: 05:07:36.3193 LVL= 32752, 26481, 32754, 31043, AGC= 68, IDX= 68, 0.05,-0.178, 1.371,-0.435, 0.306, PHS=-0.382, 1.111,-0.785, RAW= 341.6, 0.7, CAL= 341.2, -2.2, ROT= 168.8, 2.2 2025-10-27T05:07:38.396Z,1761541658.396 [DAT](INFO): DAT read: Bearing 159.9, 13.2 (Local) 2025-10-27T05:07:38.396Z,1761541658.396 [DAT](INFO): Local bearing/azimuth received: Bearing 159.9, 13.2 (Local) 2025-10-27T05:07:38.398Z,1761541658.398 [DAT](INFO): DAT read: Range 11 to 50 : 179.0 m (Round-trip 238.7 ms) speed -0.3 m/s 2025-10-27T05:07:38.398Z,1761541658.398 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:07:38.407Z,1761541658.407 [DAT](INFO): direction in FSK: [-0.980232,0.194091,-0.038388] 2025-10-27T05:07:38.408Z,1761541658.408 [DAT](INFO): publishing direction and range info 2025-10-27T05:07:38.427Z,1761541658.427 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:07:38.427Z,1761541658.427 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:07:38.428Z,1761541658.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:07:38.640Z,1761541658.640 [DAT](INFO): DAT read: user:296> 2025-10-27T05:07:38.641Z,1761541658.641 [DAT](INFO): DAT read: Tx time:05:07:37.7264 2025-10-27T05:07:38.641Z,1761541658.641 [DAT](INFO): Ping request sent. 2025-10-27T05:07:38.641Z,1761541658.641 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:07:38.641Z,1761541658.641 [DAT](INFO): publishing transmit ping time 2025-10-27T05:07:38.642Z,1761541658.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T05:07:38.764Z,1761541658.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960133,0.275793,-0.045632],[-0.277227,-0.960375,0.028725],[-0.035902,0.040230,0.998545]] 2025-10-27T05:07:38.787Z,1761541658.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 179.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T05:07:38.790Z,1761541658.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 178.104813 m, bearing: 4.832600 deg, lat: 36.779302 deg, lon: -121.859511 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T05:07:38.790Z,1761541658.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:38.805Z,1761541658.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 119.441666 m, bearing: 5.275510 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 9.691865 deg, new cmd heading: 5.275510 deg. 2025-10-27T05:07:38.806Z,1761541658.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092075 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:38.892Z,1761541658.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251202 2025-10-27T05:07:39.144Z,1761541659.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503005 2025-10-27T05:07:39.274Z,1761541659.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944340,0.322901,-0.062906],[-0.327088,-0.942039,0.074667],[-0.035150,0.091087,0.995222]] 2025-10-27T05:07:39.311Z,1761541659.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:39.313Z,1761541659.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 119.808006 m, bearing: 5.281627 deg, approach rate: 0.698486 m/s, LOS rate: 0.011626 deg/s, cmd heading: 5.275510 deg, new cmd heading: 5.281627 deg. 2025-10-27T05:07:39.314Z,1761541659.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092182 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:39.397Z,1761541659.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755786 2025-10-27T05:07:39.648Z,1761541659.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007186 2025-10-27T05:07:39.666Z,1761541659.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935307,0.347194,-0.068246],[-0.352174,-0.932114,0.084485],[-0.034281,0.103054,0.994085]] 2025-10-27T05:07:39.685Z,1761541659.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:39.689Z,1761541659.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 120.067451 m, bearing: 5.289279 deg, approach rate: 0.692559 m/s, LOS rate: 0.020384 deg/s, cmd heading: 5.281626 deg, new cmd heading: 5.289279 deg. 2025-10-27T05:07:39.690Z,1761541659.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092315 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:39.900Z,1761541659.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259007 2025-10-27T05:07:40.070Z,1761541660.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925642,0.371570,-0.071575],[-0.376923,-0.922082,0.087716],[-0.033406,0.108172,0.993571]] 2025-10-27T05:07:40.102Z,1761541660.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:40.105Z,1761541660.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 120.355125 m, bearing: 5.301405 deg, approach rate: 0.691034 m/s, LOS rate: 0.029058 deg/s, cmd heading: 5.289279 deg, new cmd heading: 5.301405 deg. 2025-10-27T05:07:40.106Z,1761541660.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092527 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:40.153Z,1761541660.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511387 2025-10-27T05:07:40.404Z,1761541660.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762980 2025-10-27T05:07:40.472Z,1761541660.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915541,0.395391,-0.073833],[-0.400882,-0.911969,0.087210],[-0.032851,0.109443,0.993450]] 2025-10-27T05:07:40.554Z,1761541660.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:40.560Z,1761541660.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:40.567Z,1761541660.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 120.629143 m, bearing: 5.316068 deg, approach rate: 0.597326 m/s, LOS rate: 0.031891 deg/s, cmd heading: 5.301405 deg, new cmd heading: 5.316068 deg. 2025-10-27T05:07:40.568Z,1761541660.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092783 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:40.656Z,1761541660.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015177 2025-10-27T05:07:40.883Z,1761541660.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904805,0.419142,-0.075153],[-0.424566,-0.901535,0.083533],[-0.032741,0.107489,0.993667]] 2025-10-27T05:07:40.902Z,1761541660.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:40.905Z,1761541660.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 120.891953 m, bearing: 5.333354 deg, approach rate: 0.769717 m/s, LOS rate: 0.050518 deg/s, cmd heading: 5.316068 deg, new cmd heading: 5.333354 deg. 2025-10-27T05:07:40.905Z,1761541660.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093085 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:40.908Z,1761541660.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267038 2025-10-27T05:07:41.161Z,1761541661.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520047 2025-10-27T05:07:41.379Z,1761541661.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:41.382Z,1761541661.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 121.191292 m, bearing: 5.354428 deg, approach rate: 0.654832 m/s, LOS rate: 0.045987 deg/s, cmd heading: 5.333354 deg, new cmd heading: 5.354428 deg. 2025-10-27T05:07:41.382Z,1761541661.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093452 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:41.414Z,1761541661.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772627 2025-10-27T05:07:41.666Z,1761541661.666 [DAT](INFO): DAT read: Rx Time:05:07:40.2966 2025-10-27T05:07:41.666Z,1761541661.666 [DAT](INFO): Rx dataTimestamp_ set to:1761541661.665996 2025-10-27T05:07:41.667Z,1761541661.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025881 2025-10-27T05:07:41.751Z,1761541661.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882228,0.464977,-0.073964],[-0.469691,-0.880067,0.069805],[-0.032635,0.096324,0.994815]] 2025-10-27T05:07:41.770Z,1761541661.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:41.773Z,1761541661.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 121.457954 m, bearing: 5.379606 deg, approach rate: 0.648267 m/s, LOS rate: 0.061076 deg/s, cmd heading: 5.354428 deg, new cmd heading: 5.379606 deg. 2025-10-27T05:07:41.774Z,1761541661.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093892 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:41.917Z,1761541661.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275972 2025-10-27T05:07:42.177Z,1761541662.177 [DAT](INFO): DAT read: 05:07:40.2966 LVL= 30896, 26689, 32754, 32755, AGC= 72, IDX= 193, 0.04, 1.234, 2.651, 0.647, 1.629, PHS=-0.293, 1.067,-1.026, RAW= 350.2, 2.8, CAL= 349.7, -0.3, ROT= 160.3, 0.3 2025-10-27T05:07:42.178Z,1761541662.178 [DAT](INFO): got valid direction response: 05:07:40.2966 LVL= 30896, 26689, 32754, 32755, AGC= 72, IDX= 193, 0.04, 1.234, 2.651, 0.647, 1.629, PHS=-0.293, 1.067,-1.026, RAW= 350.2, 2.8, CAL= 349.7, -0.3, ROT= 160.3, 0.3 2025-10-27T05:07:42.179Z,1761541662.179 [DAT](INFO): DAT read: Bearing 174.7, 21.5 (Local) 2025-10-27T05:07:42.180Z,1761541662.180 [DAT](INFO): Local bearing/azimuth received: Bearing 174.7, 21.5 (Local) 2025-10-27T05:07:42.181Z,1761541662.181 [DAT](INFO): DAT read: Range 11 to 50 : 124.5 m (Round-trip 166.1 ms) speed -0.7 m/s 2025-10-27T05:07:42.182Z,1761541662.182 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:07:42.182Z,1761541662.182 [DAT](INFO): direction in FSK: [-0.941458,0.337091,-0.005236] 2025-10-27T05:07:42.183Z,1761541662.183 [DAT](INFO): publishing direction and range info 2025-10-27T05:07:42.186Z,1761541662.186 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:07:42.186Z,1761541662.186 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:07:42.187Z,1761541662.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:07:42.233Z,1761541662.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869959,0.487824,-0.072102],[-0.492031,-0.868430,0.061104],[-0.032808,0.088635,0.995524]] 2025-10-27T05:07:42.341Z,1761541662.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 124.500000 m, deltaT: 3.781587 s, deltaX: -54.500000 m, approachRate: -14.411939 m/s, rangeRepo size: 1 2025-10-27T05:07:42.342Z,1761541662.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:42.348Z,1761541662.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 121.800369 m, bearing: 5.416023 deg, approach rate: 0.600449 m/s, LOS rate: 0.063680 deg/s, cmd heading: 5.379606 deg, new cmd heading: 5.416023 deg. 2025-10-27T05:07:42.349Z,1761541662.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094527 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:42.421Z,1761541662.421 [DAT](INFO): DAT read: user:297> 2025-10-27T05:07:42.422Z,1761541662.422 [DAT](INFO): DAT read: Tx time:05:07:41.5264 2025-10-27T05:07:42.423Z,1761541662.423 [DAT](INFO): Ping request sent. 2025-10-27T05:07:42.423Z,1761541662.423 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:07:42.423Z,1761541662.423 [DAT](INFO): publishing transmit ping time 2025-10-27T05:07:42.425Z,1761541662.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001488 2025-10-27T05:07:42.643Z,1761541662.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857334,0.509876,-0.070743],[-0.513715,-0.856229,0.054482],[-0.032793,0.083051,0.996006]] 2025-10-27T05:07:42.672Z,1761541662.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249294 2025-10-27T05:07:42.693Z,1761541662.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:42.696Z,1761541662.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:42.699Z,1761541662.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 122.044418 m, bearing: 5.445323 deg, approach rate: 0.687621 m/s, LOS rate: 0.082389 deg/s, cmd heading: 5.416023 deg, new cmd heading: 5.445323 deg. 2025-10-27T05:07:42.700Z,1761541662.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095039 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:42.925Z,1761541662.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502608 2025-10-27T05:07:43.046Z,1761541663.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844256,0.531344,-0.070038],[-0.534929,-0.843461,0.049251],[-0.032905,0.079045,0.996328]] 2025-10-27T05:07:43.072Z,1761541663.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:43.074Z,1761541663.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 122.275650 m, bearing: 5.475854 deg, approach rate: 0.614769 m/s, LOS rate: 0.081018 deg/s, cmd heading: 5.445323 deg, new cmd heading: 5.475854 deg. 2025-10-27T05:07:43.079Z,1761541663.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095572 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:43.176Z,1761541663.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753645 2025-10-27T05:07:43.429Z,1761541663.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005858 2025-10-27T05:07:43.453Z,1761541663.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830377,0.552824,-0.069712],[-0.556193,-0.829885,0.044040],[-0.033506,0.075344,0.996595]] 2025-10-27T05:07:43.504Z,1761541663.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:43.506Z,1761541663.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 122.536629 m, bearing: 5.514310 deg, approach rate: 0.603503 m/s, LOS rate: 0.088738 deg/s, cmd heading: 5.475854 deg, new cmd heading: 5.514310 deg. 2025-10-27T05:07:43.507Z,1761541663.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096243 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:43.680Z,1761541663.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257182 2025-10-27T05:07:43.856Z,1761541663.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816251,0.573434,-0.070051],[-0.576686,-0.815982,0.040089],[-0.034172,0.073120,0.996738]] 2025-10-27T05:07:43.876Z,1761541663.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:43.878Z,1761541663.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 122.758560 m, bearing: 5.549725 deg, approach rate: 0.596677 m/s, LOS rate: 0.095043 deg/s, cmd heading: 5.514310 deg, new cmd heading: 5.549725 deg. 2025-10-27T05:07:43.879Z,1761541663.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096861 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:43.933Z,1761541663.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510472 2025-10-27T05:07:44.184Z,1761541664.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761356 2025-10-27T05:07:44.257Z,1761541664.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801142,0.594558,-0.068357],[-0.597445,-0.801225,0.033121],[-0.035078,0.067374,0.997111]] 2025-10-27T05:07:44.419Z,1761541664.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:44.423Z,1761541664.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.067215 m, bearing: 5.604532 deg, approach rate: 0.569452 m/s, LOS rate: 0.100862 deg/s, cmd heading: 5.549725 deg, new cmd heading: 5.604532 deg. 2025-10-27T05:07:44.424Z,1761541664.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097818 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:44.437Z,1761541664.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014175 2025-10-27T05:07:44.688Z,1761541664.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265440 2025-10-27T05:07:44.775Z,1761541664.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785429,0.615318,-0.066971],[-0.617892,-0.785809,0.026705],[-0.036194,0.062356,0.997397]] 2025-10-27T05:07:44.800Z,1761541664.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:44.802Z,1761541664.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:44.805Z,1761541664.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.288528 m, bearing: 5.646692 deg, approach rate: 0.577015 m/s, LOS rate: 0.109724 deg/s, cmd heading: 5.604532 deg, new cmd heading: 5.646692 deg. 2025-10-27T05:07:44.806Z,1761541664.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098553 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:44.941Z,1761541664.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517822 2025-10-27T05:07:45.179Z,1761541665.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769373,0.635475,-0.065100],[-0.637727,-0.769986,0.020637],[-0.037012,0.057393,0.997665]] 2025-10-27T05:07:45.193Z,1761541665.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769868 2025-10-27T05:07:45.216Z,1761541665.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:45.219Z,1761541665.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.522171 m, bearing: 5.694265 deg, approach rate: 0.563483 m/s, LOS rate: 0.114516 deg/s, cmd heading: 5.646692 deg, new cmd heading: 5.694265 deg. 2025-10-27T05:07:45.220Z,1761541665.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099384 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:45.444Z,1761541665.444 [DAT](INFO): DAT read: Rx Time:05:07:44.0997 2025-10-27T05:07:45.445Z,1761541665.445 [DAT](INFO): Rx dataTimestamp_ set to:1761541665.444724 2025-10-27T05:07:45.446Z,1761541665.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022892 2025-10-27T05:07:45.581Z,1761541665.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752501,0.655522,-0.063502],[-0.657459,-0.753358,0.014110],[-0.038591,0.052368,0.997882]] 2025-10-27T05:07:45.654Z,1761541665.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:45.660Z,1761541665.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.750816 m, bearing: 5.748734 deg, approach rate: 0.522655 m/s, LOS rate: 0.124278 deg/s, cmd heading: 5.694265 deg, new cmd heading: 5.748734 deg. 2025-10-27T05:07:45.661Z,1761541665.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100334 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:45.696Z,1761541665.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273432 2025-10-27T05:07:45.951Z,1761541665.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527513 2025-10-27T05:07:45.994Z,1761541665.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735657,0.674521,-0.061888],[-0.676169,-0.736700,0.008219],[-0.040049,0.047893,0.998049]] 2025-10-27T05:07:46.012Z,1761541666.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:46.031Z,1761541666.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 123.951660 m, bearing: 5.799368 deg, approach rate: 0.559814 m/s, LOS rate: 0.140904 deg/s, cmd heading: 5.748734 deg, new cmd heading: 5.799368 deg. 2025-10-27T05:07:46.032Z,1761541666.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101218 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:46.205Z,1761541666.205 [DAT](INFO): DAT read: 05:07:44.0997 LVL= 32752, 30705, 32754, 32755, AGC= 68, IDX= 464,-0.02, 1.017, 2.212, 0.326, 1.453, PHS=-0.335, 0.804,-1.171, RAW= 355.0, 8.2, CAL= 355.0, 8.3, ROT= 155.0, -8.3 2025-10-27T05:07:46.206Z,1761541666.206 [DAT](INFO): got valid direction response: 05:07:44.0997 LVL= 32752, 30705, 32754, 32755, AGC= 68, IDX= 464,-0.02, 1.017, 2.212, 0.326, 1.453, PHS=-0.335, 0.804,-1.171, RAW= 355.0, 8.2, CAL= 355.0, 8.3, ROT= 155.0, -8.3 2025-10-27T05:07:46.208Z,1761541666.208 [DAT](INFO): DAT read: Bearing 178.1, 27.4 (Local) 2025-10-27T05:07:46.208Z,1761541666.208 [DAT](INFO): Local bearing/azimuth received: Bearing 178.1, 27.4 (Local) 2025-10-27T05:07:46.209Z,1761541666.209 [DAT](INFO): DAT read: Range 11 to 50 : 126.8 m (Round-trip 169.1 ms) speed -0.4 m/s 2025-10-27T05:07:46.210Z,1761541666.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:07:46.211Z,1761541666.211 [DAT](INFO): direction in FSK: [-0.896815,0.418192,0.144356] 2025-10-27T05:07:46.212Z,1761541666.212 [DAT](INFO): publishing direction and range info 2025-10-27T05:07:46.215Z,1761541666.215 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:07:46.215Z,1761541666.215 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:07:46.215Z,1761541666.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:07:46.422Z,1761541666.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718207,0.693027,-0.062386],[-0.694580,-0.719401,0.004625],[-0.041675,0.046654,0.998041]] 2025-10-27T05:07:46.452Z,1761541666.452 [DAT](INFO): DAT read: user:298> 2025-10-27T05:07:46.453Z,1761541666.453 [DAT](INFO): DAT read: Tx time:05:07:45.5264 2025-10-27T05:07:46.453Z,1761541666.453 [DAT](INFO): Ping request sent. 2025-10-27T05:07:46.453Z,1761541666.453 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:07:46.453Z,1761541666.453 [DAT](INFO): publishing transmit ping time 2025-10-27T05:07:46.454Z,1761541666.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-27T05:07:46.512Z,1761541666.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 126.800003 m, deltaT: 7.811946 s, deltaX: -52.199997 m, approachRate: -6.682074 m/s, rangeRepo size: 1 2025-10-27T05:07:46.512Z,1761541666.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:46.514Z,1761541666.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 124.202682 m, bearing: 5.868902 deg, approach rate: 0.503961 m/s, LOS rate: 0.139317 deg/s, cmd heading: 5.799368 deg, new cmd heading: 5.868902 deg. 2025-10-27T05:07:46.524Z,1761541666.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102432 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:46.705Z,1761541666.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251486 2025-10-27T05:07:46.839Z,1761541666.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700743,0.710566,-0.063679],[-0.712085,-0.702091,0.001680],[-0.043515,0.046522,0.997969]] 2025-10-27T05:07:46.857Z,1761541666.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:46.859Z,1761541666.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:46.861Z,1761541666.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 124.393936 m, bearing: 5.924662 deg, approach rate: 0.549616 m/s, LOS rate: 0.159993 deg/s, cmd heading: 5.868902 deg, new cmd heading: 5.924662 deg. 2025-10-27T05:07:46.862Z,1761541666.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103405 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:46.956Z,1761541666.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502903 2025-10-27T05:07:47.208Z,1761541667.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754800 2025-10-27T05:07:47.249Z,1761541667.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.683014,0.727535,-0.064689],[-0.729010,-0.684502,-0.001168],[-0.045129,0.046361,0.997905]] 2025-10-27T05:07:47.272Z,1761541667.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:47.275Z,1761541667.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 124.602852 m, bearing: 5.988681 deg, approach rate: 0.505008 m/s, LOS rate: 0.154492 deg/s, cmd heading: 5.924662 deg, new cmd heading: 5.988681 deg. 2025-10-27T05:07:47.276Z,1761541667.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104522 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:47.460Z,1761541667.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006827 2025-10-27T05:07:47.646Z,1761541667.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665048,0.743677,-0.068230],[-0.745320,-0.666704,-0.002032],[-0.047000,0.049502,0.997668]] 2025-10-27T05:07:47.710Z,1761541667.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:47.713Z,1761541667.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259626 2025-10-27T05:07:47.716Z,1761541667.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 124.825836 m, bearing: 6.060018 deg, approach rate: 0.509755 m/s, LOS rate: 0.162789 deg/s, cmd heading: 5.988681 deg, new cmd heading: 6.060018 deg. 2025-10-27T05:07:47.718Z,1761541667.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105767 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:47.964Z,1761541667.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510738 2025-10-27T05:07:48.051Z,1761541668.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646771,0.759429,-0.070389],[-0.761130,-0.648587,-0.003966],[-0.048666,0.051010,0.997512]] 2025-10-27T05:07:48.087Z,1761541668.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:48.089Z,1761541668.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.008118 m, bearing: 6.121147 deg, approach rate: 0.483505 m/s, LOS rate: 0.161911 deg/s, cmd heading: 6.060018 deg, new cmd heading: 6.121147 deg. 2025-10-27T05:07:48.090Z,1761541668.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106834 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:48.216Z,1761541668.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763018 2025-10-27T05:07:48.454Z,1761541668.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628456,0.774477,-0.072306],[-0.776221,-0.630432,-0.006003],[-0.050234,0.052353,0.997364]] 2025-10-27T05:07:48.472Z,1761541668.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018658 2025-10-27T05:07:48.524Z,1761541668.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:48.531Z,1761541668.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.222954 m, bearing: 6.192701 deg, approach rate: 0.490900 m/s, LOS rate: 0.163220 deg/s, cmd heading: 6.121147 deg, new cmd heading: 6.192701 deg. 2025-10-27T05:07:48.532Z,1761541668.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108083 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:48.720Z,1761541668.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267312 2025-10-27T05:07:48.858Z,1761541668.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609890,0.789027,-0.073961],[-0.790789,-0.612032,-0.008325],[-0.051835,0.053411,0.997226]] 2025-10-27T05:07:48.884Z,1761541668.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:48.886Z,1761541668.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:48.889Z,1761541668.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.401329 m, bearing: 6.254865 deg, approach rate: 0.492850 m/s, LOS rate: 0.171515 deg/s, cmd heading: 6.192701 deg, new cmd heading: 6.254865 deg. 2025-10-27T05:07:48.890Z,1761541668.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109168 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:48.972Z,1761541668.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519116 2025-10-27T05:07:49.224Z,1761541669.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770786 2025-10-27T05:07:49.268Z,1761541669.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590642,0.803574,-0.073565],[-0.805164,-0.592927,-0.012189],[-0.053413,0.052032,0.997216]] 2025-10-27T05:07:49.291Z,1761541669.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:49.294Z,1761541669.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.591141 m, bearing: 6.324109 deg, approach rate: 0.468393 m/s, LOS rate: 0.170612 deg/s, cmd heading: 6.254865 deg, new cmd heading: 6.324109 deg. 2025-10-27T05:07:49.295Z,1761541669.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110377 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:49.476Z,1761541669.476 [DAT](INFO): DAT read: Rx Time:05:07:48.1023 2025-10-27T05:07:49.477Z,1761541669.477 [DAT](INFO): Rx dataTimestamp_ set to:1761541669.476674 2025-10-27T05:07:49.478Z,1761541669.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024694 2025-10-27T05:07:49.681Z,1761541669.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551916,0.830352,-0.076835],[-0.832070,-0.554463,-0.015175],[-0.055203,0.055557,0.996928]] 2025-10-27T05:07:49.729Z,1761541669.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275534 2025-10-27T05:07:49.743Z,1761541669.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.10 m. 2025-10-27T05:07:49.745Z,1761541669.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 178.104813 m, nav range: 125.795967 m, bearing: 6.405748 deg, approach rate: 0.453978 m/s, LOS rate: 0.180652 deg/s, cmd heading: 6.324109 deg, new cmd heading: 6.405748 deg. 2025-10-27T05:07:49.746Z,1761541669.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111801 target range: 178.104813 and range: 179.00 m. 2025-10-27T05:07:49.985Z,1761541669.985 [DAT](INFO): DAT read: 05:07:48.1023 LVL= 32752, 25329, 32754, 32755, AGC= 67, IDX= 459, 0.24,-0.179, 0.505,-1.270,-0.011, PHS=-0.066, 0.561,-1.303, RAW= 10.7, 9.9, CAL= 10.6, 10.9, ROT= 139.4, -10.9 2025-10-27T05:07:49.986Z,1761541669.986 [DAT](INFO): got valid direction response: 05:07:48.1023 LVL= 32752, 25329, 32754, 32755, AGC= 67, IDX= 459, 0.24,-0.179, 0.505,-1.270,-0.011, PHS=-0.066, 0.561,-1.303, RAW= 10.7, 9.9, CAL= 10.6, 10.9, ROT= 139.4, -10.9 2025-10-27T05:07:49.987Z,1761541669.987 [DAT](INFO): DAT read: Bearing 187.8, 43.7 (Local) 2025-10-27T05:07:49.988Z,1761541669.988 [DAT](INFO): Local bearing/azimuth received: Bearing 187.8, 43.7 (Local) 2025-10-27T05:07:49.989Z,1761541669.989 [DAT](INFO): DAT read: Range 11 to 50 : 128.7 m (Round-trip 171.7 ms) speed -0.4 m/s 2025-10-27T05:07:49.990Z,1761541669.990 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:07:49.991Z,1761541669.991 [DAT](INFO): direction in FSK: [-0.745573,0.639033,0.189095] 2025-10-27T05:07:49.991Z,1761541669.991 [DAT](INFO): publishing direction and range info 2025-10-27T05:07:49.994Z,1761541669.994 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:07:49.995Z,1761541669.995 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:07:49.998Z,1761541669.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:07:50.184Z,1761541670.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 11.591935 s, deltaX: -50.300003 m, approachRate: -4.339224 m/s, rangeRepo size: 2 2025-10-27T05:07:50.186Z,1761541670.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.056717 m, bearing: 15.839935 deg, lat: 36.779245 deg, lon: -121.859403 deg, deltaT: 11.591935 s, deltaX: -50.048096 m, approachRate: -4.317493 m/s, posRepo size: 2 2025-10-27T05:07:50.187Z,1761541670.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:50.189Z,1761541670.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 121.147179 m, bearing: 11.335742 deg, approach rate: 0.000000 m/s, LOS rate: 0.180652 deg/s, cmd heading: 6.405748 deg, new cmd heading: 6.644685 deg. 2025-10-27T05:07:50.190Z,1761541670.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115972 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:50.232Z,1761541670.232 [DAT](INFO): DAT read: user:299> 2025-10-27T05:07:50.234Z,1761541670.234 [DAT](INFO): DAT read: Tx time:05:07:49.2764 2025-10-27T05:07:50.234Z,1761541670.234 [DAT](INFO): Ping request sent. 2025-10-27T05:07:50.234Z,1761541670.234 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:07:50.234Z,1761541670.234 [DAT](INFO): publishing transmit ping time 2025-10-27T05:07:50.235Z,1761541670.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001203 2025-10-27T05:07:50.483Z,1761541670.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511065,0.855797,-0.080150],[-0.857701,-0.513848,-0.017569],[-0.056221,0.059765,0.996628]] 2025-10-27T05:07:50.484Z,1761541670.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250071 2025-10-27T05:07:50.586Z,1761541670.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:50.593Z,1761541670.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 121.331993 m, bearing: 11.400438 deg, approach rate: 0.459427 m/s, LOS rate: 0.160583 deg/s, cmd heading: 6.644685 deg, new cmd heading: 6.838478 deg. 2025-10-27T05:07:50.594Z,1761541670.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119354 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:50.736Z,1761541670.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501990 2025-10-27T05:07:50.883Z,1761541670.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490157,0.867832,-0.081326],[-0.869800,-0.493042,-0.018927],[-0.056523,0.061460,0.996508]] 2025-10-27T05:07:50.938Z,1761541670.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:50.940Z,1761541670.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:50.943Z,1761541670.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 121.496635 m, bearing: 11.460818 deg, approach rate: 0.464298 m/s, LOS rate: 0.170040 deg/s, cmd heading: 6.838478 deg, new cmd heading: 7.019369 deg. 2025-10-27T05:07:50.944Z,1761541670.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122511 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:50.989Z,1761541670.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754953 2025-10-27T05:07:51.240Z,1761541671.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005931 2025-10-27T05:07:51.286Z,1761541671.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469003,0.879628,-0.079314],[-0.881372,-0.471912,-0.021950],[-0.056737,0.059611,0.996608]] 2025-10-27T05:07:51.317Z,1761541671.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:51.320Z,1761541671.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 121.665924 m, bearing: 11.525820 deg, approach rate: 0.449111 m/s, LOS rate: 0.172207 deg/s, cmd heading: 7.019369 deg, new cmd heading: 7.214104 deg. 2025-10-27T05:07:51.321Z,1761541671.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125910 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:51.492Z,1761541671.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257965 2025-10-27T05:07:51.694Z,1761541671.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447032,0.891177,-0.077242],[-0.892699,-0.449960,-0.024969],[-0.057008,0.057792,0.996700]] 2025-10-27T05:07:51.744Z,1761541671.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510004 2025-10-27T05:07:51.758Z,1761541671.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:51.761Z,1761541671.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 121.858589 m, bearing: 11.594456 deg, approach rate: 0.437217 m/s, LOS rate: 0.155510 deg/s, cmd heading: 7.214104 deg, new cmd heading: 7.419685 deg. 2025-10-27T05:07:51.762Z,1761541671.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129498 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:51.996Z,1761541671.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762009 2025-10-27T05:07:52.092Z,1761541672.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425053,0.901949,-0.076278],[-0.903360,-0.428019,-0.027202],[-0.057183,0.057345,0.996715]] 2025-10-27T05:07:52.111Z,1761541672.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:52.114Z,1761541672.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 122.010139 m, bearing: 11.651034 deg, approach rate: 0.429133 m/s, LOS rate: 0.160010 deg/s, cmd heading: 7.419686 deg, new cmd heading: 7.589210 deg. 2025-10-27T05:07:52.115Z,1761541672.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.132457 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:52.248Z,1761541672.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013877 2025-10-27T05:07:52.494Z,1761541672.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402082,0.912568,-0.074495],[-0.913789,-0.405075,-0.030080],[-0.057626,0.055978,0.996768]] 2025-10-27T05:07:52.500Z,1761541672.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265807 2025-10-27T05:07:52.550Z,1761541672.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:52.553Z,1761541672.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 122.194733 m, bearing: 11.722854 deg, approach rate: 0.420889 m/s, LOS rate: 0.163508 deg/s, cmd heading: 7.589210 deg, new cmd heading: 7.804343 deg. 2025-10-27T05:07:52.553Z,1761541672.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.136211 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:52.752Z,1761541672.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517956 2025-10-27T05:07:52.902Z,1761541672.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378448,0.922846,-0.071639],[-0.923807,-0.381418,-0.033182],[-0.057946,0.053623,0.996879]] 2025-10-27T05:07:52.934Z,1761541672.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:52.936Z,1761541672.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 122.351059 m, bearing: 11.786679 deg, approach rate: 0.407069 m/s, LOS rate: 0.165986 deg/s, cmd heading: 7.804343 deg, new cmd heading: 7.995573 deg. 2025-10-27T05:07:52.937Z,1761541672.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139549 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:53.005Z,1761541673.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770593 2025-10-27T05:07:53.256Z,1761541673.256 [DAT](INFO): DAT read: Rx Time:05:07:51.8544 2025-10-27T05:07:53.257Z,1761541673.257 [DAT](INFO): Rx dataTimestamp_ set to:1761541673.256324 2025-10-27T05:07:53.257Z,1761541673.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023198 2025-10-27T05:07:53.338Z,1761541673.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:53.341Z,1761541673.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.06 m. 2025-10-27T05:07:53.344Z,1761541673.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.056717 m, nav range: 122.520905 m, bearing: 11.855772 deg, approach rate: 0.417555 m/s, LOS rate: 0.169625 deg/s, cmd heading: 7.995573 deg, new cmd heading: 8.202563 deg. 2025-10-27T05:07:53.345Z,1761541673.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143162 target range: 128.056717 and range: 128.70 m. 2025-10-27T05:07:53.508Z,1761541673.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274121 2025-10-27T05:07:53.746Z,1761541673.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331890,0.940601,-0.071544],[-0.941500,-0.335002,-0.036751],[-0.058535,0.055161,0.996760]] 2025-10-27T05:07:53.765Z,1761541673.765 [DAT](INFO): DAT read: 05:07:51.8544 LVL= 29296, 23249, 32626, 31731, AGC= 66, IDX= 450,-0.14, 1.869, 1.783, 0.343, 1.689, PHS= 0.283, 0.140,-1.390, RAW= 34.4, 12.0, CAL= 32.4, 13.1, ROT= 117.6, -13.1 2025-10-27T05:07:53.766Z,1761541673.766 [DAT](INFO): got valid direction response: 05:07:51.8544 LVL= 29296, 23249, 32626, 31731, AGC= 66, IDX= 450,-0.14, 1.869, 1.783, 0.343, 1.689, PHS= 0.283, 0.140,-1.390, RAW= 34.4, 12.0, CAL= 32.4, 13.1, ROT= 117.6, -13.1 2025-10-27T05:07:53.768Z,1761541673.768 [DAT](INFO): DAT read: Bearing 188.3, 64.1 (Local) 2025-10-27T05:07:53.768Z,1761541673.768 [DAT](INFO): Local bearing/azimuth received: Bearing 188.3, 64.1 (Local) 2025-10-27T05:07:53.769Z,1761541673.769 [DAT](INFO): DAT read: Range 11 to 50 : 130.5 m (Round-trip 174.0 ms) speed 0.0 m/s 2025-10-27T05:07:53.770Z,1761541673.770 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:07:53.771Z,1761541673.771 [DAT](INFO): direction in FSK: [-0.451239,0.863141,0.226651] 2025-10-27T05:07:53.771Z,1761541673.771 [DAT](INFO): publishing direction and range info 2025-10-27T05:07:53.775Z,1761541673.775 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:07:53.775Z,1761541673.775 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:07:53.775Z,1761541673.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:07:53.857Z,1761541673.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 3.780110 s, deltaX: 1.800003 m, approachRate: 0.476177 m/s, rangeRepo size: 3 2025-10-27T05:07:53.904Z,1761541673.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.847687 m, bearing: 7.672169 deg, lat: 36.779269 deg, lon: -121.859403 deg, deltaT: 3.780110 s, deltaX: 1.790970 m, approachRate: 0.473788 m/s, posRepo size: 3 2025-10-27T05:07:53.905Z,1761541673.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:53.922Z,1761541673.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 125.355293 m, bearing: 11.678409 deg, approach rate: 0.000000 m/s, LOS rate: 0.169625 deg/s, cmd heading: 8.202564 deg, new cmd heading: 8.461829 deg. 2025-10-27T05:07:53.932Z,1761541673.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147687 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:54.013Z,1761541674.013 [DAT](INFO): DAT read: user:300> 2025-10-27T05:07:54.014Z,1761541674.014 [DAT](INFO): DAT read: Tx time:05:07:53.0763 2025-10-27T05:07:54.015Z,1761541674.015 [DAT](INFO): Ping request sent. 2025-10-27T05:07:54.015Z,1761541674.015 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:07:54.015Z,1761541674.015 [DAT](INFO): publishing transmit ping time 2025-10-27T05:07:54.016Z,1761541674.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001719 2025-10-27T05:07:54.144Z,1761541674.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308751,0.948431,-0.071770],[-0.949320,-0.311950,-0.038448],[-0.058854,0.056262,0.996680]] 2025-10-27T05:07:54.195Z,1761541674.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:54.198Z,1761541674.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 125.489388 m, bearing: 11.741066 deg, approach rate: 0.393400 m/s, LOS rate: 0.183622 deg/s, cmd heading: 8.461829 deg, new cmd heading: 8.649596 deg. 2025-10-27T05:07:54.199Z,1761541674.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150964 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:54.264Z,1761541674.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249525 2025-10-27T05:07:54.516Z,1761541674.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501126 2025-10-27T05:07:54.531Z,1761541674.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285796,0.955623,-0.071454],[-0.956485,-0.289038,-0.039914],[-0.058796,0.056938,0.996645]] 2025-10-27T05:07:54.580Z,1761541674.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:54.583Z,1761541674.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 125.630615 m, bearing: 11.814414 deg, approach rate: 0.362796 m/s, LOS rate: 0.188211 deg/s, cmd heading: 8.649596 deg, new cmd heading: 8.869393 deg. 2025-10-27T05:07:54.584Z,1761541674.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.154800 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:54.768Z,1761541674.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753575 2025-10-27T05:07:54.938Z,1761541674.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262470,0.962110,-0.073843],[-0.963141,-0.265883,-0.040803],[-0.058891,0.060412,0.996435]] 2025-10-27T05:07:54.956Z,1761541674.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:54.959Z,1761541674.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 125.759544 m, bearing: 11.884511 deg, approach rate: 0.342678 m/s, LOS rate: 0.186118 deg/s, cmd heading: 8.869393 deg, new cmd heading: 9.079468 deg. 2025-10-27T05:07:54.960Z,1761541674.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158467 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:55.020Z,1761541675.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005530 2025-10-27T05:07:55.272Z,1761541675.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257311 2025-10-27T05:07:55.337Z,1761541675.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239357,0.967944,-0.076104],[-0.969170,-0.242908,-0.041305],[-0.058467,0.063871,0.996244]] 2025-10-27T05:07:55.362Z,1761541675.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:55.364Z,1761541675.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:55.367Z,1761541675.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 125.895172 m, bearing: 11.961683 deg, approach rate: 0.332697 m/s, LOS rate: 0.189101 deg/s, cmd heading: 9.079468 deg, new cmd heading: 9.310734 deg. 2025-10-27T05:07:55.368Z,1761541675.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162503 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:55.526Z,1761541675.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510987 2025-10-27T05:07:55.746Z,1761541675.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216583,0.973291,-0.076136],[-0.974561,-0.220152,-0.042003],[-0.057642,0.065102,0.996212]] 2025-10-27T05:07:55.776Z,1761541675.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761350 2025-10-27T05:07:55.792Z,1761541675.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:55.794Z,1761541675.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 126.030594 m, bearing: 12.049942 deg, approach rate: 0.316636 m/s, LOS rate: 0.206139 deg/s, cmd heading: 9.310735 deg, new cmd heading: 9.575223 deg. 2025-10-27T05:07:55.795Z,1761541675.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167119 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:56.028Z,1761541676.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013116 2025-10-27T05:07:56.146Z,1761541676.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193574,0.978245,-0.074607],[-0.979462,-0.197067,-0.042642],[-0.056416,0.064820,0.996301]] 2025-10-27T05:07:56.185Z,1761541676.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:56.191Z,1761541676.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 126.144707 m, bearing: 12.127856 deg, approach rate: 0.290542 m/s, LOS rate: 0.198197 deg/s, cmd heading: 9.575223 deg, new cmd heading: 9.808752 deg. 2025-10-27T05:07:56.192Z,1761541676.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.171195 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:56.281Z,1761541676.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265848 2025-10-27T05:07:56.534Z,1761541676.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519121 2025-10-27T05:07:56.555Z,1761541676.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170948,0.982678,-0.071557],[-0.983754,-0.174273,-0.043090],[-0.054814,0.063029,0.996505]] 2025-10-27T05:07:56.593Z,1761541676.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:56.612Z,1761541676.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 126.266296 m, bearing: 12.225267 deg, approach rate: 0.297649 m/s, LOS rate: 0.238231 deg/s, cmd heading: 9.808753 deg, new cmd heading: 10.100702 deg. 2025-10-27T05:07:56.613Z,1761541676.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.176291 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:56.786Z,1761541676.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771159 2025-10-27T05:07:56.955Z,1761541676.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.148642,0.986424,-0.069815],[-0.987466,-0.151847,-0.043060],[-0.053076,0.062540,0.996630]] 2025-10-27T05:07:56.973Z,1761541676.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:56.977Z,1761541676.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 126.370598 m, bearing: 12.313009 deg, approach rate: 0.274244 m/s, LOS rate: 0.230513 deg/s, cmd heading: 10.100702 deg, new cmd heading: 10.363708 deg. 2025-10-27T05:07:56.978Z,1761541676.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180881 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:57.037Z,1761541677.037 [DAT](INFO): DAT read: Rx Time:05:07:55.6560 2025-10-27T05:07:57.038Z,1761541677.038 [DAT](INFO): Rx dataTimestamp_ set to:1761541677.037381 2025-10-27T05:07:57.039Z,1761541677.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023858 2025-10-27T05:07:57.288Z,1761541677.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273249 2025-10-27T05:07:57.357Z,1761541677.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126222,0.989731,-0.067083],[-0.990671,-0.129266,-0.043139],[-0.051367,0.061012,0.996814]] 2025-10-27T05:07:57.448Z,1761541677.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:57.450Z,1761541677.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:07:57.458Z,1761541677.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847687 m, nav range: 126.495964 m, bearing: 12.423865 deg, approach rate: 0.262754 m/s, LOS rate: 0.232111 deg/s, cmd heading: 10.363708 deg, new cmd heading: 10.695942 deg. 2025-10-27T05:07:57.459Z,1761541677.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186679 target range: 129.847687 and range: 130.50 m. 2025-10-27T05:07:57.548Z,1761541677.548 [DAT](INFO): DAT read: 05:07:55.6560 LVL= 20912, 20785, 30098, 25891, AGC= 64, IDX= 450,-0.16,-1.023,-1.812,-2.737,-1.532, PHS= 0.612,-0.235,-1.249, RAW= 57.0, 10.8, CAL= 54.2, 12.9, ROT= 95.8, -12.9 2025-10-27T05:07:57.549Z,1761541677.549 [DAT](INFO): got valid direction response: 05:07:55.6560 LVL= 20912, 20785, 30098, 25891, AGC= 64, IDX= 450,-0.16,-1.023,-1.812,-2.737,-1.532, PHS= 0.612,-0.235,-1.249, RAW= 57.0, 10.8, CAL= 54.2, 12.9, ROT= 95.8, -12.9 2025-10-27T05:07:57.550Z,1761541677.550 [DAT](INFO): DAT read: Bearing 149.2, 80.0 (Local) 2025-10-27T05:07:57.550Z,1761541677.550 [DAT](INFO): Local bearing/azimuth received: Bearing 149.2, 80.0 (Local) 2025-10-27T05:07:57.552Z,1761541677.552 [DAT](INFO): DAT read: Range 11 to 50 : 131.6 m (Round-trip 175.5 ms) speed -0.2 m/s 2025-10-27T05:07:57.553Z,1761541677.553 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:07:57.554Z,1761541677.554 [DAT](INFO): direction in FSK: [-0.098506,0.969771,0.223250] 2025-10-27T05:07:57.554Z,1761541677.554 [DAT](INFO): publishing direction and range info 2025-10-27T05:07:57.564Z,1761541677.564 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:07:57.565Z,1761541677.565 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:07:57.565Z,1761541677.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:07:57.762Z,1761541677.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104413,0.992640,-0.061349],[-0.993294,-0.107163,-0.043389],[-0.049644,0.056407,0.997173]] 2025-10-27T05:07:57.792Z,1761541677.792 [DAT](INFO): DAT read: user:301> 2025-10-27T05:07:57.793Z,1761541677.793 [DAT](INFO): DAT read: Tx time:05:07:56.8763 2025-10-27T05:07:57.793Z,1761541677.793 [DAT](INFO): Ping request sent. 2025-10-27T05:07:57.793Z,1761541677.793 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:07:57.793Z,1761541677.793 [DAT](INFO): publishing transmit ping time 2025-10-27T05:07:57.794Z,1761541677.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-27T05:07:57.851Z,1761541677.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.600006 m, deltaT: 3.782050 s, deltaX: 1.100006 m, approachRate: 0.290849 m/s, rangeRepo size: 4 2025-10-27T05:07:57.853Z,1761541677.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.941833 m, bearing: 359.058403 deg, lat: 36.779269 deg, lon: -121.859403 deg, deltaT: 3.782050 s, deltaX: 1.094147 m, approachRate: 0.289300 m/s, posRepo size: 4 2025-10-27T05:07:57.854Z,1761541677.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:07:57.861Z,1761541677.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 126.593124 m, bearing: 12.514666 deg, approach rate: 0.000000 m/s, LOS rate: 0.232111 deg/s, cmd heading: 10.695942 deg, new cmd heading: 10.971744 deg. 2025-10-27T05:07:57.862Z,1761541677.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.191493 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:07:58.044Z,1761541678.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250989 2025-10-27T05:07:58.166Z,1761541678.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082461,0.995084,-0.054845],[-0.995434,-0.084895,-0.043634],[-0.048076,0.050996,0.997541]] 2025-10-27T05:07:58.206Z,1761541678.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:07:58.209Z,1761541678.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 126.684486 m, bearing: 12.604614 deg, approach rate: 0.253884 m/s, LOS rate: 0.249775 deg/s, cmd heading: 10.971744 deg, new cmd heading: 11.241392 deg. 2025-10-27T05:07:58.210Z,1761541678.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.196199 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:07:58.298Z,1761541678.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504991 2025-10-27T05:07:58.550Z,1761541678.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756925 2025-10-27T05:07:58.577Z,1761541678.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060595,0.996796,-0.052208],[-0.997079,-0.062883,-0.043347],[-0.046491,0.049429,0.997695]] 2025-10-27T05:07:58.639Z,1761541678.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:07:58.642Z,1761541678.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 126.780968 m, bearing: 12.712999 deg, approach rate: 0.223079 m/s, LOS rate: 0.250412 deg/s, cmd heading: 11.241392 deg, new cmd heading: 11.566296 deg. 2025-10-27T05:07:58.659Z,1761541678.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.201870 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:07:58.800Z,1761541678.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006802 2025-10-27T05:07:58.974Z,1761541678.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038867,0.998018,-0.049488],[-0.998241,-0.040999,-0.042822],[-0.044767,0.047737,0.997856]] 2025-10-27T05:07:59.006Z,1761541679.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:07:59.009Z,1761541679.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 126.858231 m, bearing: 12.805022 deg, approach rate: 0.210405 m/s, LOS rate: 0.250447 deg/s, cmd heading: 11.566296 deg, new cmd heading: 11.842195 deg. 2025-10-27T05:07:59.010Z,1761541679.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.206685 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:07:59.052Z,1761541679.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258962 2025-10-27T05:07:59.304Z,1761541679.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510827 2025-10-27T05:07:59.378Z,1761541679.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016277,0.998894,-0.044117],[-0.998918,-0.018168,-0.042803],[-0.043557,0.043372,0.998109]] 2025-10-27T05:07:59.437Z,1761541679.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:07:59.446Z,1761541679.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 126.942215 m, bearing: 12.911633 deg, approach rate: 0.195029 m/s, LOS rate: 0.247407 deg/s, cmd heading: 11.842195 deg, new cmd heading: 12.161812 deg. 2025-10-27T05:07:59.447Z,1761541679.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.212264 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:07:59.559Z,1761541679.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765191 2025-10-27T05:07:59.782Z,1761541679.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007048,0.999197,-0.039443],[-0.999060,0.005349,-0.043028],[-0.042783,0.039709,0.998295]] 2025-10-27T05:07:59.808Z,1761541679.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014867 2025-10-27T05:07:59.843Z,1761541679.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:07:59.845Z,1761541679.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:07:59.852Z,1761541679.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 127.015121 m, bearing: 13.007764 deg, approach rate: 0.178493 m/s, LOS rate: 0.235218 deg/s, cmd heading: 12.161812 deg, new cmd heading: 12.450038 deg. 2025-10-27T05:07:59.853Z,1761541679.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.217294 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:08:00.060Z,1761541680.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841 2025-10-27T05:08:00.233Z,1761541680.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:08:00.236Z,1761541680.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 127.092278 m, bearing: 13.108862 deg, approach rate: 0.198770 m/s, LOS rate: 0.260291 deg/s, cmd heading: 12.450038 deg, new cmd heading: 12.753144 deg. 2025-10-27T05:08:00.237Z,1761541680.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.222584 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:08:00.312Z,1761541680.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518968 2025-10-27T05:08:00.568Z,1761541680.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774652 2025-10-27T05:08:00.612Z,1761541680.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054241,0.997845,-0.036924],[-0.997679,0.052634,-0.043200],[-0.041164,0.039181,0.998384]] 2025-10-27T05:08:00.620Z,1761541680.620 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050308561916,35.0, 3.1, 0 2025-10-27T05:08:00.635Z,1761541680.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:08:00.638Z,1761541680.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 127.157280 m, bearing: 13.208515 deg, approach rate: 0.161966 m/s, LOS rate: 0.248178 deg/s, cmd heading: 12.753144 deg, new cmd heading: 13.051947 deg. 2025-10-27T05:08:00.638Z,1761541680.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227799 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:08:00.820Z,1761541680.820 [DAT](INFO): DAT read: Rx Time:05:07:59.4568 2025-10-27T05:08:00.820Z,1761541680.820 [DAT](INFO): Rx dataTimestamp_ set to:1761541680.820168 2025-10-27T05:08:00.821Z,1761541680.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027898 2025-10-27T05:08:00.993Z,1761541680.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078179,0.996179,-0.038930],[-0.996109,0.076461,-0.043821],[-0.040677,0.042204,0.998281]] 2025-10-27T05:08:01.027Z,1761541681.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.94 m. 2025-10-27T05:08:01.030Z,1761541681.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.941833 m, nav range: 127.215973 m, bearing: 13.306450 deg, approach rate: 0.149679 m/s, LOS rate: 0.249639 deg/s, cmd heading: 13.051947 deg, new cmd heading: 13.345614 deg. 2025-10-27T05:08:01.030Z,1761541681.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232925 target range: 130.941833 and range: 131.60 m. 2025-10-27T05:08:01.073Z,1761541681.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279471 2025-10-27T05:08:01.334Z,1761541681.334 [DAT](INFO): DAT read: 05:07:59.4568 LVL= 22176, 26449, 27410, 26531, AGC= 65, IDX= 426, 0.19, 0.484,-0.320,-1.351,-0.211, PHS= 0.797,-0.064,-1.184, RAW= 55.7, 5.3, CAL= 54.8, 4.3, ROT= 95.2, -4.3 2025-10-27T05:08:01.340Z,1761541681.340 [DAT](INFO): got valid direction response: 05:07:59.4568 LVL= 22176, 26449, 27410, 26531, AGC= 65, IDX= 426, 0.19, 0.484,-0.320,-1.351,-0.211, PHS= 0.797,-0.064,-1.184, RAW= 55.7, 5.3, CAL= 54.8, 4.3, ROT= 95.2, -4.3 2025-10-27T05:08:01.341Z,1761541681.341 [DAT](INFO): DAT read: Bearing 190.3, 86.8 (Local) 2025-10-27T05:08:01.341Z,1761541681.341 [DAT](INFO): Local bearing/azimuth received: Bearing 190.3, 86.8 (Local) 2025-10-27T05:08:01.343Z,1761541681.343 [DAT](INFO): DAT read: Range 11 to 50 : 132.2 m (Round-trip 176.3 ms) speed 0.0 m/s 2025-10-27T05:08:01.343Z,1761541681.343 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:01.344Z,1761541681.344 [DAT](INFO): direction in FSK: [-0.090377,0.993081,0.074979] 2025-10-27T05:08:01.345Z,1761541681.345 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:01.372Z,1761541681.372 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:01.372Z,1761541681.372 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:01.373Z,1761541681.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:01.437Z,1761541681.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102592,0.993846,-0.041768],[-0.993899,0.100707,-0.044966],[-0.040483,0.046126,0.998115]] 2025-10-27T05:08:01.481Z,1761541681.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.199997 m, deltaT: 3.783266 s, deltaX: 0.599991 m, approachRate: 0.158591 m/s, rangeRepo size: 4 2025-10-27T05:08:01.488Z,1761541681.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.538528 m, bearing: 10.831571 deg, lat: 36.779269 deg, lon: -121.859459 deg, deltaT: 3.783266 s, deltaX: 0.596695 m, approachRate: 0.157720 m/s, posRepo size: 4 2025-10-27T05:08:01.488Z,1761541681.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:01.496Z,1761541681.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.208710 m, bearing: 11.205977 deg, approach rate: 0.000000 m/s, LOS rate: 0.249639 deg/s, cmd heading: 13.345614 deg, new cmd heading: 13.685474 deg. 2025-10-27T05:08:01.500Z,1761541681.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238857 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:01.578Z,1761541681.578 [DAT](INFO): DAT read: user:302> 2025-10-27T05:08:01.580Z,1761541681.580 [DAT](INFO): DAT read: Tx time:05:08:00.6763 2025-10-27T05:08:01.581Z,1761541681.581 [DAT](INFO): Ping request sent. 2025-10-27T05:08:01.582Z,1761541681.582 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:08:01.582Z,1761541681.582 [DAT](INFO): publishing transmit ping time 2025-10-27T05:08:01.586Z,1761541681.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004427 2025-10-27T05:08:01.802Z,1761541681.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126733,0.990865,-0.046107],[-0.991117,0.124602,-0.046488],[-0.040319,0.051589,0.997854]] 2025-10-27T05:08:01.828Z,1761541681.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246685 2025-10-27T05:08:01.863Z,1761541681.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:01.869Z,1761541681.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:01.876Z,1761541681.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.253517 m, bearing: 11.290878 deg, approach rate: 0.115425 m/s, LOS rate: 0.218631 deg/s, cmd heading: 13.685474 deg, new cmd heading: 13.940087 deg. 2025-10-27T05:08:01.877Z,1761541681.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.243300 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:02.083Z,1761541682.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500519 2025-10-27T05:08:02.206Z,1761541682.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150598,0.987373,-0.049140],[-0.987790,0.148284,-0.047780],[-0.039890,0.055735,0.997648]] 2025-10-27T05:08:02.240Z,1761541682.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:02.243Z,1761541682.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.295349 m, bearing: 11.378795 deg, approach rate: 0.112700 m/s, LOS rate: 0.236780 deg/s, cmd heading: 13.940087 deg, new cmd heading: 14.203749 deg. 2025-10-27T05:08:02.244Z,1761541682.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.247902 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:02.332Z,1761541682.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750670 2025-10-27T05:08:02.586Z,1761541682.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004750 2025-10-27T05:08:02.634Z,1761541682.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174955,0.983158,-0.052842],[-0.983778,0.172399,-0.049603],[-0.039657,0.060663,0.997370]] 2025-10-27T05:08:02.678Z,1761541682.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:02.681Z,1761541682.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.334961 m, bearing: 11.472323 deg, approach rate: 0.090471 m/s, LOS rate: 0.213544 deg/s, cmd heading: 14.203749 deg, new cmd heading: 14.484243 deg. 2025-10-27T05:08:02.682Z,1761541682.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252798 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:02.836Z,1761541682.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254571 2025-10-27T05:08:03.047Z,1761541683.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:03.050Z,1761541683.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.368622 m, bearing: 11.551135 deg, approach rate: 0.091216 m/s, LOS rate: 0.213509 deg/s, cmd heading: 14.484243 deg, new cmd heading: 14.720612 deg. 2025-10-27T05:08:03.051Z,1761541683.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256923 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:03.089Z,1761541683.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507402 2025-10-27T05:08:03.340Z,1761541683.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758558 2025-10-27T05:08:03.422Z,1761541683.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222959,0.973270,-0.055093],[-0.974041,0.220153,-0.052691],[-0.039154,0.065411,0.997090]] 2025-10-27T05:08:03.502Z,1761541683.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:03.505Z,1761541683.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.399933 m, bearing: 11.649111 deg, approach rate: 0.068730 m/s, LOS rate: 0.215011 deg/s, cmd heading: 14.720612 deg, new cmd heading: 15.014465 deg. 2025-10-27T05:08:03.506Z,1761541683.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262052 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:03.596Z,1761541683.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013955 2025-10-27T05:08:03.739Z,1761541683.739 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:08:03.823Z,1761541683.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246925,0.967498,-0.054548],[-0.968257,0.244081,-0.053882],[-0.038817,0.066121,0.997056]] 2025-10-27T05:08:03.844Z,1761541683.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262596 2025-10-27T05:08:03.867Z,1761541683.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:03.869Z,1761541683.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:03.889Z,1761541683.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.420769 m, bearing: 11.725911 deg, approach rate: 0.056780 m/s, LOS rate: 0.209253 deg/s, cmd heading: 15.014465 deg, new cmd heading: 15.244826 deg. 2025-10-27T05:08:03.893Z,1761541683.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266072 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:04.096Z,1761541684.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514566 2025-10-27T05:08:04.226Z,1761541684.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270535,0.961319,-0.051743],[-0.961937,0.267774,-0.054527],[-0.038562,0.064525,0.997171]] 2025-10-27T05:08:04.289Z,1761541684.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:04.292Z,1761541684.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.439232 m, bearing: 11.809919 deg, approach rate: 0.044017 m/s, LOS rate: 0.200250 deg/s, cmd heading: 15.244825 deg, new cmd heading: 15.496810 deg. 2025-10-27T05:08:04.293Z,1761541684.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270470 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:04.348Z,1761541684.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766668 2025-10-27T05:08:04.603Z,1761541684.603 [DAT](INFO): DAT read: Rx Time:05:08:03.2573 2025-10-27T05:08:04.605Z,1761541684.605 [DAT](INFO): Rx dataTimestamp_ set to:1761541684.603902 2025-10-27T05:08:04.606Z,1761541684.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024527 2025-10-27T05:08:04.743Z,1761541684.743 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:08:04.762Z,1761541684.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:04.764Z,1761541684.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.459846 m, bearing: 11.911748 deg, approach rate: 0.043617 m/s, LOS rate: 0.215417 deg/s, cmd heading: 15.496810 deg, new cmd heading: 15.802243 deg. 2025-10-27T05:08:04.765Z,1761541684.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.275801 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:04.853Z,1761541684.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271674 2025-10-27T05:08:05.034Z,1761541685.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316912,0.947517,-0.042164],[-0.947714,0.314594,-0.053562],[-0.037486,0.056934,0.997674]] 2025-10-27T05:08:05.060Z,1761541685.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.54 m. 2025-10-27T05:08:05.063Z,1761541685.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.538528 m, nav range: 126.465942 m, bearing: 11.973692 deg, approach rate: 0.020415 m/s, LOS rate: 0.207439 deg/s, cmd heading: 15.802242 deg, new cmd heading: 15.988067 deg. 2025-10-27T05:08:05.064Z,1761541685.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279044 target range: 131.538528 and range: 132.20 m. 2025-10-27T05:08:05.107Z,1761541685.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525005 2025-10-27T05:08:05.364Z,1761541685.364 [DAT](INFO): DAT read: 05:08:03.2573 LVL= 21168, 31873, 28530, 29843, AGC= 66, IDX= 447,-0.22, 1.676, 0.629,-0.038, 1.073, PHS= 0.706,-0.399,-1.154, RAW= 66.2, 10.5, CAL= 64.2, 13.7, ROT= 85.8, -13.7 2025-10-27T05:08:05.366Z,1761541685.366 [DAT](INFO): got valid direction response: 05:08:03.2573 LVL= 21168, 31873, 28530, 29843, AGC= 66, IDX= 447,-0.22, 1.676, 0.629,-0.038, 1.073, PHS= 0.706,-0.399,-1.154, RAW= 66.2, 10.5, CAL= 64.2, 13.7, ROT= 85.8, -13.7 2025-10-27T05:08:05.366Z,1761541685.366 [DAT](INFO): DAT read: Bearing 129.1, 78.0 (Local) 2025-10-27T05:08:05.367Z,1761541685.367 [DAT](INFO): Local bearing/azimuth received: Bearing 129.1, 78.0 (Local) 2025-10-27T05:08:05.368Z,1761541685.368 [DAT](INFO): DAT read: Range 11 to 50 : 132.6 m (Round-trip 176.8 ms) speed 0.0 m/s 2025-10-27T05:08:05.369Z,1761541685.369 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:05.370Z,1761541685.370 [DAT](INFO): direction in FSK: [0.071154,0.968940,0.236838] 2025-10-27T05:08:05.370Z,1761541685.370 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:05.374Z,1761541685.374 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:05.374Z,1761541685.374 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:05.374Z,1761541685.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:05.468Z,1761541685.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339632,0.939737,-0.039306],[-0.939858,0.337470,-0.052736],[-0.036293,0.054853,0.997835]] 2025-10-27T05:08:05.508Z,1761541685.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 4.031531 s, deltaX: 0.400009 m, approachRate: 0.099220 m/s, rangeRepo size: 4 2025-10-27T05:08:05.510Z,1761541685.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.936722 m, bearing: 14.980436 deg, lat: 36.779269 deg, lon: -121.859459 deg, deltaT: 4.031531 s, deltaX: 0.398193 m, approachRate: 0.098770 m/s, posRepo size: 4 2025-10-27T05:08:05.510Z,1761541685.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:05.517Z,1761541685.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.470245 m, bearing: 12.063004 deg, approach rate: 0.000000 m/s, LOS rate: 0.207439 deg/s, cmd heading: 15.988066 deg, new cmd heading: 16.263501 deg. 2025-10-27T05:08:05.518Z,1761541685.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283852 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:05.610Z,1761541685.610 [DAT](INFO): DAT read: user:303> 2025-10-27T05:08:05.613Z,1761541685.613 [DAT](INFO): DAT read: Tx time:05:08:04.6763 2025-10-27T05:08:05.614Z,1761541685.614 [DAT](INFO): Ping request sent. 2025-10-27T05:08:05.614Z,1761541685.614 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:08:05.617Z,1761541685.617 [DAT](INFO): publishing transmit ping time 2025-10-27T05:08:05.619Z,1761541685.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004353 2025-10-27T05:08:05.842Z,1761541685.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362001,0.931400,-0.038063],[-0.931537,0.359936,-0.051827],[-0.034572,0.054218,0.997930]] 2025-10-27T05:08:05.860Z,1761541685.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245774 2025-10-27T05:08:05.915Z,1761541685.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:05.921Z,1761541685.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:05.928Z,1761541685.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.467072 m, bearing: 12.149430 deg, approach rate: -0.007590 m/s, LOS rate: 0.206676 deg/s, cmd heading: 16.263500 deg, new cmd heading: 16.522783 deg. 2025-10-27T05:08:05.929Z,1761541685.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.288377 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:06.112Z,1761541686.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497686 2025-10-27T05:08:06.247Z,1761541686.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383839,0.922601,-0.038401],[-0.922838,0.381823,-0.050807],[-0.032212,0.054939,0.997970]] 2025-10-27T05:08:06.269Z,1761541686.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:06.272Z,1761541686.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.460640 m, bearing: 12.224481 deg, approach rate: -0.018481 m/s, LOS rate: 0.215664 deg/s, cmd heading: 16.522783 deg, new cmd heading: 16.747945 deg. 2025-10-27T05:08:06.273Z,1761541686.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292307 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:06.364Z,1761541686.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749892 2025-10-27T05:08:06.616Z,1761541686.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001712 2025-10-27T05:08:06.760Z,1761541686.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405760,0.913129,-0.039421],[-0.913497,0.403766,-0.049968],[-0.029711,0.056286,0.997973]] 2025-10-27T05:08:06.868Z,1761541686.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253670 2025-10-27T05:08:06.920Z,1761541686.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:06.923Z,1761541686.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.435356 m, bearing: 12.371103 deg, approach rate: -0.038825 m/s, LOS rate: 0.225194 deg/s, cmd heading: 16.747945 deg, new cmd heading: 17.187889 deg. 2025-10-27T05:08:06.924Z,1761541686.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299985 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:07.083Z,1761541687.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426688,0.903406,-0.042363],[-0.903996,0.424630,-0.049811],[-0.027011,0.059550,0.997860]] 2025-10-27T05:08:07.102Z,1761541687.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:07.120Z,1761541687.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505861 2025-10-27T05:08:07.122Z,1761541687.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.426414 m, bearing: 12.411716 deg, approach rate: -0.049292 m/s, LOS rate: 0.223902 deg/s, cmd heading: 17.187889 deg, new cmd heading: 17.309738 deg. 2025-10-27T05:08:07.131Z,1761541687.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302112 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:07.372Z,1761541687.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757711 2025-10-27T05:08:07.486Z,1761541687.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447410,0.893156,-0.045802],[-0.894001,0.445272,-0.049940],[-0.024210,0.063291,0.997701]] 2025-10-27T05:08:07.510Z,1761541687.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:07.513Z,1761541687.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.401848 m, bearing: 12.502924 deg, approach rate: -0.060134 m/s, LOS rate: 0.223302 deg/s, cmd heading: 17.309738 deg, new cmd heading: 17.583413 deg. 2025-10-27T05:08:07.514Z,1761541687.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.306888 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:07.627Z,1761541687.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012511 2025-10-27T05:08:07.877Z,1761541687.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262733 2025-10-27T05:08:07.903Z,1761541687.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468011,0.882403,-0.048277],[-0.883462,0.465847,-0.049817],[-0.021469,0.065966,0.997591]] 2025-10-27T05:08:07.988Z,1761541687.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:07.990Z,1761541687.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:07.993Z,1761541687.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.369827 m, bearing: 12.607044 deg, approach rate: -0.066727 m/s, LOS rate: 0.217029 deg/s, cmd heading: 17.583414 deg, new cmd heading: 17.895849 deg. 2025-10-27T05:08:07.994Z,1761541687.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312341 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:08.128Z,1761541688.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514058 2025-10-27T05:08:08.294Z,1761541688.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488242,0.871330,-0.049023],[-0.872508,0.486158,-0.048779],[-0.018670,0.066589,0.997606]] 2025-10-27T05:08:08.324Z,1761541688.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:08.327Z,1761541688.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.344009 m, bearing: 12.679554 deg, approach rate: -0.077186 m/s, LOS rate: 0.216825 deg/s, cmd heading: 17.895849 deg, new cmd heading: 18.113423 deg. 2025-10-27T05:08:08.328Z,1761541688.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316139 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:08.382Z,1761541688.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767597 2025-10-27T05:08:08.634Z,1761541688.634 [DAT](INFO): DAT read: Rx Time:05:08:07.2569 2025-10-27T05:08:08.636Z,1761541688.636 [DAT](INFO): Rx dataTimestamp_ set to:1761541688.634784 2025-10-27T05:08:08.637Z,1761541688.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022627 2025-10-27T05:08:08.726Z,1761541688.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507814,0.860101,-0.048484],[-0.861325,0.505905,-0.046687],[-0.015627,0.065468,0.997732]] 2025-10-27T05:08:08.783Z,1761541688.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.94 m. 2025-10-27T05:08:08.786Z,1761541688.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.936722 m, nav range: 126.297356 m, bearing: 12.781002 deg, approach rate: -0.102611 m/s, LOS rate: 0.223207 deg/s, cmd heading: 18.113423 deg, new cmd heading: 18.417875 deg. 2025-10-27T05:08:08.787Z,1761541688.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.321453 target range: 131.936722 and range: 132.60 m. 2025-10-27T05:08:08.885Z,1761541688.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270427 2025-10-27T05:08:09.130Z,1761541689.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527049,0.848467,-0.048199],[-0.849742,0.525302,-0.044681],[-0.012592,0.064506,0.997838]] 2025-10-27T05:08:09.141Z,1761541689.141 [DAT](INFO): DAT read: 05:08:07.2569 LVL= 21408, 32753, 30994, 30675, AGC= 67, IDX= 443, 0.19,-2.279, 2.411, 2.353,-3.025, PHS= 0.849,-0.802,-0.949, RAW= 85.8, 10.5, CAL= 85.4, 11.6, ROT= 64.6, -11.6 2025-10-27T05:08:09.142Z,1761541689.142 [DAT](INFO): got valid direction response: 05:08:07.2569 LVL= 21408, 32753, 30994, 30675, AGC= 67, IDX= 443, 0.19,-2.279, 2.411, 2.353,-3.025, PHS= 0.849,-0.802,-0.949, RAW= 85.8, 10.5, CAL= 85.4, 11.6, ROT= 64.6, -11.6 2025-10-27T05:08:09.143Z,1761541689.143 [DAT](INFO): DAT read: Bearing 103.6, 62.6 (Local) 2025-10-27T05:08:09.144Z,1761541689.144 [DAT](INFO): Local bearing/azimuth received: Bearing 103.6, 62.6 (Local) 2025-10-27T05:08:09.145Z,1761541689.145 [DAT](INFO): DAT read: Range 11 to 50 : 132.3 m (Round-trip 176.4 ms) speed 0.1 m/s 2025-10-27T05:08:09.146Z,1761541689.146 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:09.147Z,1761541689.147 [DAT](INFO): direction in FSK: [0.420174,0.884885,0.201078] 2025-10-27T05:08:09.147Z,1761541689.147 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:09.150Z,1761541689.150 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:09.150Z,1761541689.150 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:09.151Z,1761541689.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:09.248Z,1761541689.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.300003 m, deltaT: 3.779096 s, deltaX: -0.300003 m, approachRate: -0.079385 m/s, rangeRepo size: 4 2025-10-27T05:08:09.250Z,1761541689.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.639084 m, bearing: 5.860984 deg, lat: 36.779287 deg, lon: -121.859502 deg, deltaT: 3.779096 s, deltaX: -0.297638 m, approachRate: -0.078759 m/s, posRepo size: 4 2025-10-27T05:08:09.250Z,1761541689.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:09.257Z,1761541689.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 127.430153 m, bearing: 10.991551 deg, approach rate: 0.000000 m/s, LOS rate: 0.223207 deg/s, cmd heading: 18.417875 deg, new cmd heading: 18.728468 deg. 2025-10-27T05:08:09.258Z,1761541689.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326873 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:09.389Z,1761541689.389 [DAT](INFO): DAT read: user:304> 2025-10-27T05:08:09.390Z,1761541689.390 [DAT](INFO): DAT read: Tx time:05:08:08.4263 2025-10-27T05:08:09.390Z,1761541689.390 [DAT](INFO): Ping request sent. 2025-10-27T05:08:09.391Z,1761541689.391 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:08:09.392Z,1761541689.392 [DAT](INFO): publishing transmit ping time 2025-10-27T05:08:09.393Z,1761541689.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002604 2025-10-27T05:08:09.508Z,1761541689.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545979,0.836416,-0.048121],[-0.837745,0.544389,-0.042707],[-0.009524,0.063630,0.997928]] 2025-10-27T05:08:09.531Z,1761541689.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:09.534Z,1761541689.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 127.384445 m, bearing: 11.062971 deg, approach rate: -0.158598 m/s, LOS rate: 0.247903 deg/s, cmd heading: 18.728469 deg, new cmd heading: 18.942804 deg. 2025-10-27T05:08:09.535Z,1761541689.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.330614 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:09.640Z,1761541689.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249510 2025-10-27T05:08:09.893Z,1761541689.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502244 2025-10-27T05:08:09.920Z,1761541689.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564763,0.823799,-0.048980],[-0.825228,0.563287,-0.041300],[-0.006433,0.063745,0.997946]] 2025-10-27T05:08:09.957Z,1761541689.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:09.976Z,1761541689.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 127.318756 m, bearing: 11.156838 deg, approach rate: -0.154183 m/s, LOS rate: 0.220435 deg/s, cmd heading: 18.942804 deg, new cmd heading: 19.224549 deg. 2025-10-27T05:08:09.977Z,1761541689.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.335532 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:10.145Z,1761541690.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754147 2025-10-27T05:08:10.321Z,1761541690.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583326,0.810738,-0.049342],[-0.812231,0.581991,-0.039578],[-0.003371,0.063165,0.997997]] 2025-10-27T05:08:10.397Z,1761541690.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006039 2025-10-27T05:08:10.420Z,1761541690.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:10.422Z,1761541690.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:10.425Z,1761541690.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 127.244080 m, bearing: 11.256265 deg, approach rate: -0.160541 m/s, LOS rate: 0.213877 deg/s, cmd heading: 19.224549 deg, new cmd heading: 19.523004 deg. 2025-10-27T05:08:10.426Z,1761541690.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340741 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:10.648Z,1761541690.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257450 2025-10-27T05:08:10.753Z,1761541690.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601871,0.797016,-0.050165],[-0.798593,0.600658,-0.038193],[-0.000308,0.063049,0.998010]] 2025-10-27T05:08:10.830Z,1761541690.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:10.837Z,1761541690.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 127.172974 m, bearing: 11.343020 deg, approach rate: -0.174218 m/s, LOS rate: 0.212678 deg/s, cmd heading: 19.523003 deg, new cmd heading: 19.783411 deg. 2025-10-27T05:08:10.838Z,1761541690.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.345286 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:10.901Z,1761541690.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510849 2025-10-27T05:08:11.122Z,1761541691.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620472,0.782560,-0.051125],[-0.784225,0.619351,-0.037363],[0.002425,0.063276,0.997993]] 2025-10-27T05:08:11.152Z,1761541691.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761381 2025-10-27T05:08:11.167Z,1761541691.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:11.170Z,1761541691.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 127.109795 m, bearing: 11.415189 deg, approach rate: -0.187694 m/s, LOS rate: 0.214509 deg/s, cmd heading: 19.783411 deg, new cmd heading: 20.000026 deg. 2025-10-27T05:08:11.171Z,1761541691.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349066 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:11.404Z,1761541691.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013536 2025-10-27T05:08:11.526Z,1761541691.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638593,0.767839,-0.051209],[-0.769528,0.637600,-0.035956],[0.005043,0.062368,0.998040]] 2025-10-27T05:08:11.563Z,1761541691.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:11.566Z,1761541691.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 127.033218 m, bearing: 11.497368 deg, approach rate: -0.193307 m/s, LOS rate: 0.207575 deg/s, cmd heading: 20.000025 deg, new cmd heading: 20.246709 deg. 2025-10-27T05:08:11.567Z,1761541691.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353372 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:11.658Z,1761541691.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267836 2025-10-27T05:08:11.912Z,1761541691.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521278 2025-10-27T05:08:11.930Z,1761541691.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656345,0.752611,-0.052796],[-0.754422,0.655406,-0.035918],[0.007570,0.063405,0.997959]] 2025-10-27T05:08:11.982Z,1761541691.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:11.984Z,1761541691.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.943497 m, bearing: 11.584861 deg, approach rate: -0.214423 m/s, LOS rate: 0.209244 deg/s, cmd heading: 20.246709 deg, new cmd heading: 20.509371 deg. 2025-10-27T05:08:11.985Z,1761541691.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357956 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:12.164Z,1761541692.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773318 2025-10-27T05:08:12.333Z,1761541692.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673964,0.736741,-0.054639],[-0.738698,0.673050,-0.036451],[0.009920,0.064929,0.997841]] 2025-10-27T05:08:12.353Z,1761541692.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:12.355Z,1761541692.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.860268 m, bearing: 11.661570 deg, approach rate: -0.224410 m/s, LOS rate: 0.206964 deg/s, cmd heading: 20.509371 deg, new cmd heading: 20.739647 deg. 2025-10-27T05:08:12.356Z,1761541692.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.361975 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:12.417Z,1761541692.417 [DAT](INFO): DAT read: Rx Time:05:08:11.0060 2025-10-27T05:08:12.418Z,1761541692.418 [DAT](INFO): Rx dataTimestamp_ set to:1761541692.416993 2025-10-27T05:08:12.418Z,1761541692.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027554 2025-10-27T05:08:12.668Z,1761541692.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277429 2025-10-27T05:08:12.787Z,1761541692.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690804,0.720925,-0.055296],[-0.722939,0.689978,-0.035920],[0.012257,0.064790,0.997824]] 2025-10-27T05:08:12.901Z,1761541692.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:12.907Z,1761541692.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:12.910Z,1761541692.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.734093 m, bearing: 11.766358 deg, approach rate: -0.229159 m/s, LOS rate: 0.190506 deg/s, cmd heading: 20.739647 deg, new cmd heading: 21.054322 deg. 2025-10-27T05:08:12.915Z,1761541692.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.367467 target range: 131.639084 and range: 132.30 m. 2025-10-27T05:08:12.925Z,1761541692.925 [DAT](INFO): DAT read: 05:08:11.0060 LVL= 22464, 32753, 32754, 32755, AGC= 69, IDX= 434,-0.24,-1.721, 2.594,-3.104,-2.525, PHS= 0.906,-1.119,-0.623, RAW= 103.6, 9.2, CAL= 104.7,ROT= 45.3, -10.2 2025-10-27T05:08:12.926Z,1761541692.926 [DAT](INFO): unknown deviceResponse_: 05:08:11.0060 LVL= 22464, 32753, 32754, 32755, AGC= 69, IDX= 434,-0.24,-1.721, 2.594,-3.104,-2.525, PHS= 0.906,-1.119,-0.623, RAW= 103.6, 9.2, CAL= 104.7,ROT= 45.3, -10.2 2025-10-27T05:08:12.928Z,1761541692.928 [DAT](INFO): DAT read: Bearing 108.3, 45.6 (Local) 2025-10-27T05:08:12.928Z,1761541692.928 [DAT](INFO): Local bearing/azimuth received: Bearing 108.3, 45.6 (Local) 2025-10-27T05:08:12.929Z,1761541692.929 [DAT](INFO): DAT read: Range 11 to 50 : 131.6 m (Round-trip 175.5 ms) speed 0.2 m/s 2025-10-27T05:08:12.930Z,1761541692.930 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:08:12.931Z,1761541692.931 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:12.931Z,1761541692.931 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:12.931Z,1761541692.931 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:13.141Z,1761541693.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707422,0.704526,-0.056538],[-0.706639,0.706663,-0.035892],[0.014667,0.065343,0.997755]] 2025-10-27T05:08:13.172Z,1761541693.172 [DAT](INFO): DAT read: user:305> 2025-10-27T05:08:13.173Z,1761541693.173 [DAT](INFO): DAT read: Tx time:05:08:12.2263 2025-10-27T05:08:13.173Z,1761541693.173 [DAT](INFO): Ping request sent. 2025-10-27T05:08:13.173Z,1761541693.173 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:08:13.173Z,1761541693.173 [DAT](INFO): publishing transmit ping time 2025-10-27T05:08:13.174Z,1761541693.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000773 2025-10-27T05:08:13.179Z,1761541693.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.600006 m, deltaT: 3.784343 s, deltaX: -0.699997 m, approachRate: -0.184972 m/s, rangeRepo size: 4 2025-10-27T05:08:13.180Z,1761541693.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:13.182Z,1761541693.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.663956 m, bearing: 11.821737 deg, approach rate: -0.254842 m/s, LOS rate: 0.201331 deg/s, cmd heading: 21.054321 deg, new cmd heading: 21.220551 deg. 2025-10-27T05:08:13.184Z,1761541693.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370368 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:13.425Z,1761541693.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251470 2025-10-27T05:08:13.545Z,1761541693.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723675,0.687781,-0.057029],[-0.689940,0.722984,-0.035733],[0.016655,0.065206,0.997733]] 2025-10-27T05:08:13.572Z,1761541693.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:13.575Z,1761541693.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.562759 m, bearing: 11.897733 deg, approach rate: -0.256830 m/s, LOS rate: 0.193026 deg/s, cmd heading: 21.220551 deg, new cmd heading: 21.448718 deg. 2025-10-27T05:08:13.576Z,1761541693.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374351 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:13.676Z,1761541693.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502617 2025-10-27T05:08:13.928Z,1761541693.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754645 2025-10-27T05:08:14.027Z,1761541694.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:14.030Z,1761541694.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.439941 m, bearing: 11.981530 deg, approach rate: -0.279880 m/s, LOS rate: 0.191145 deg/s, cmd heading: 21.448718 deg, new cmd heading: 21.700354 deg. 2025-10-27T05:08:14.035Z,1761541694.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.378743 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:14.180Z,1761541694.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007184 2025-10-27T05:08:14.361Z,1761541694.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754412,0.653821,-0.058147],[-0.656069,0.753883,-0.035121],[0.020873,0.064644,0.997690]] 2025-10-27T05:08:14.411Z,1761541694.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:14.414Z,1761541694.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.327454 m, bearing: 12.051405 deg, approach rate: -0.292985 m/s, LOS rate: 0.182157 deg/s, cmd heading: 21.700355 deg, new cmd heading: 21.910164 deg. 2025-10-27T05:08:14.415Z,1761541694.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382405 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:14.434Z,1761541694.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260296 2025-10-27T05:08:14.684Z,1761541694.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510690 2025-10-27T05:08:14.814Z,1761541694.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769600,0.635805,-0.058884],[-0.638129,0.769096,-0.035814],[0.022517,0.065138,0.997622]] 2025-10-27T05:08:14.855Z,1761541694.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:14.858Z,1761541694.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.189827 m, bearing: 12.128678 deg, approach rate: -0.299356 m/s, LOS rate: 0.168263 deg/s, cmd heading: 21.910164 deg, new cmd heading: 22.142236 deg. 2025-10-27T05:08:14.859Z,1761541694.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.386455 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:14.937Z,1761541694.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763289 2025-10-27T05:08:15.162Z,1761541695.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784710,0.616996,-0.059541],[-0.619394,0.784225,-0.036635],[0.024090,0.065627,0.997553]] 2025-10-27T05:08:15.179Z,1761541695.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:15.181Z,1761541695.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:15.188Z,1761541695.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014789 2025-10-27T05:08:15.204Z,1761541695.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 126.090973 m, bearing: 12.181699 deg, approach rate: -0.302978 m/s, LOS rate: 0.162630 deg/s, cmd heading: 22.142235 deg, new cmd heading: 22.301421 deg. 2025-10-27T05:08:15.205Z,1761541695.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389233 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:15.440Z,1761541695.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266687 2025-10-27T05:08:15.573Z,1761541695.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799275,0.597938,-0.060245],[-0.600415,0.798810,-0.037477],[0.025716,0.066127,0.997480]] 2025-10-27T05:08:15.592Z,1761541695.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:15.595Z,1761541695.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 125.962822 m, bearing: 12.247387 deg, approach rate: -0.311758 m/s, LOS rate: 0.159966 deg/s, cmd heading: 22.301421 deg, new cmd heading: 22.498687 deg. 2025-10-27T05:08:15.596Z,1761541695.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.392676 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:15.692Z,1761541695.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518788 2025-10-27T05:08:15.944Z,1761541695.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770600 2025-10-27T05:08:15.969Z,1761541695.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813515,0.578264,-0.061683],[-0.580890,0.813045,-0.039046],[0.027572,0.067596,0.997332]] 2025-10-27T05:08:16.021Z,1761541696.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:16.024Z,1761541696.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 125.816124 m, bearing: 12.314024 deg, approach rate: -0.341842 m/s, LOS rate: 0.155462 deg/s, cmd heading: 22.498686 deg, new cmd heading: 22.698829 deg. 2025-10-27T05:08:16.025Z,1761541696.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.396169 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:16.196Z,1761541696.196 [DAT](INFO): DAT read: Rx Time:05:08:14.8044 2025-10-27T05:08:16.196Z,1761541696.196 [DAT](INFO): Rx dataTimestamp_ set to:1761541696.196192 2025-10-27T05:08:16.197Z,1761541696.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023795 2025-10-27T05:08:16.396Z,1761541696.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827644,0.557779,-0.062361],[-0.560495,0.827184,-0.040148],[0.029190,0.068182,0.997246]] 2025-10-27T05:08:16.415Z,1761541696.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.64 m. 2025-10-27T05:08:16.417Z,1761541696.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.639084 m, nav range: 125.678490 m, bearing: 12.373717 deg, approach rate: -0.349977 m/s, LOS rate: 0.151953 deg/s, cmd heading: 22.698829 deg, new cmd heading: 22.878103 deg. 2025-10-27T05:08:16.418Z,1761541696.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.399298 target range: 131.639084 and range: 131.60 m. 2025-10-27T05:08:16.448Z,1761541696.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274738 2025-10-27T05:08:16.708Z,1761541696.708 [DAT](INFO): DAT read: 05:08:14.8044 LVL= 31600, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.48, 3.056, 1.068, 2.051, 2.427, PHS= 0.731,-1.314,-0.421, RAW= 115.8, 11.3, CAL= 117.0, 12.6, ROT= 33.0, -12.6 2025-10-27T05:08:16.709Z,1761541696.709 [DAT](INFO): got valid direction response: 05:08:14.8044 LVL= 31600, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.48, 3.056, 1.068, 2.051, 2.427, PHS= 0.731,-1.314,-0.421, RAW= 115.8, 11.3, CAL= 117.0, 12.6, ROT= 33.0, -12.6 2025-10-27T05:08:16.710Z,1761541696.710 [DAT](INFO): DAT read: Bearing 123.9, 34.4 (Local) 2025-10-27T05:08:16.711Z,1761541696.711 [DAT](INFO): Local bearing/azimuth received: Bearing 123.9, 34.4 (Local) 2025-10-27T05:08:16.713Z,1761541696.713 [DAT](INFO): DAT read: Range 11 to 50 : 130.5 m (Round-trip 174.0 ms) speed 0.1 m/s 2025-10-27T05:08:16.714Z,1761541696.714 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:16.725Z,1761541696.725 [DAT](INFO): direction in FSK: [0.818473,0.531522,0.218143] 2025-10-27T05:08:16.725Z,1761541696.725 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:16.741Z,1761541696.741 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:16.741Z,1761541696.741 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:16.741Z,1761541696.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:16.841Z,1761541696.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841460,0.536702,-0.062422],[-0.539448,0.841038,-0.040636],[0.030690,0.067867,0.997222]] 2025-10-27T05:08:16.952Z,1761541696.952 [DAT](INFO): DAT read: user:306> 2025-10-27T05:08:16.953Z,1761541696.953 [DAT](INFO): DAT read: Tx time:05:08:16.0263 2025-10-27T05:08:16.953Z,1761541696.953 [DAT](INFO): Ping request sent. 2025-10-27T05:08:16.953Z,1761541696.953 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:08:16.953Z,1761541696.953 [DAT](INFO): publishing transmit ping time 2025-10-27T05:08:16.954Z,1761541696.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T05:08:17.054Z,1761541697.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 3.779872 s, deltaX: -1.100006 m, approachRate: -0.291017 m/s, rangeRepo size: 4 2025-10-27T05:08:17.057Z,1761541697.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.847610 m, bearing: 359.799720 deg, lat: 36.779302 deg, lon: -121.859629 deg, deltaT: 7.564215 s, deltaX: -1.791473 m, approachRate: -0.236835 m/s, posRepo size: 4 2025-10-27T05:08:17.058Z,1761541697.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:17.060Z,1761541697.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 125.097099 m, bearing: 7.249459 deg, approach rate: 0.000000 m/s, LOS rate: 0.151953 deg/s, cmd heading: 22.878103 deg, new cmd heading: 23.169345 deg. 2025-10-27T05:08:17.061Z,1761541697.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.404381 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:17.205Z,1761541697.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251651 2025-10-27T05:08:17.251Z,1761541697.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854744,0.515282,-0.062419],[-0.518058,0.854348,-0.041285],[0.032054,0.067624,0.997196]] 2025-10-27T05:08:17.287Z,1761541697.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:17.289Z,1761541697.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:17.312Z,1761541697.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 125.002617 m, bearing: 7.277690 deg, approach rate: -0.400779 m/s, LOS rate: 0.119841 deg/s, cmd heading: 23.169346 deg, new cmd heading: 23.254102 deg. 2025-10-27T05:08:17.320Z,1761541697.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405861 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:17.457Z,1761541697.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503401 2025-10-27T05:08:17.656Z,1761541697.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867298,0.493966,-0.061586],[-0.496665,0.867002,-0.040387],[0.033446,0.065615,0.997284]] 2025-10-27T05:08:17.709Z,1761541697.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755518 2025-10-27T05:08:17.739Z,1761541697.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:17.742Z,1761541697.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 124.826073 m, bearing: 7.327746 deg, approach rate: -0.392145 m/s, LOS rate: 0.111344 deg/s, cmd heading: 23.254101 deg, new cmd heading: 23.404483 deg. 2025-10-27T05:08:17.756Z,1761541697.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408485 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:17.960Z,1761541697.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006739 2025-10-27T05:08:18.057Z,1761541698.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879368,0.472131,-0.061678],[-0.474857,0.879117,-0.040792],[0.034963,0.065159,0.997262]] 2025-10-27T05:08:18.125Z,1761541698.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:18.128Z,1761541698.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 124.639786 m, bearing: 7.373517 deg, approach rate: -0.482662 m/s, LOS rate: 0.118768 deg/s, cmd heading: 23.404483 deg, new cmd heading: 23.542001 deg. 2025-10-27T05:08:18.129Z,1761541698.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.410885 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:18.213Z,1761541698.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259444 2025-10-27T05:08:18.461Z,1761541698.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891051,0.449658,-0.061937],[-0.452426,0.890844,-0.041327],[0.036593,0.064846,0.997224]] 2025-10-27T05:08:18.464Z,1761541698.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510815 2025-10-27T05:08:18.495Z,1761541698.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:18.502Z,1761541698.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 124.477463 m, bearing: 7.411124 deg, approach rate: -0.439514 m/s, LOS rate: 0.101959 deg/s, cmd heading: 23.542001 deg, new cmd heading: 23.654969 deg. 2025-10-27T05:08:18.504Z,1761541698.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412857 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:18.716Z,1761541698.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051 2025-10-27T05:08:18.900Z,1761541698.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902095,0.427100,-0.061725],[-0.429841,0.901979,-0.040870],[0.038219,0.063400,0.997256]] 2025-10-27T05:08:18.962Z,1761541698.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:18.968Z,1761541698.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014809 2025-10-27T05:08:18.970Z,1761541698.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 124.284470 m, bearing: 7.453235 deg, approach rate: -0.413007 m/s, LOS rate: 0.090257 deg/s, cmd heading: 23.654969 deg, new cmd heading: 23.781497 deg. 2025-10-27T05:08:18.976Z,1761541698.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415065 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:19.220Z,1761541699.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266670 2025-10-27T05:08:19.270Z,1761541699.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912586,0.404225,-0.061553],[-0.406964,0.912522,-0.041035],[0.039581,0.062498,0.997260]] 2025-10-27T05:08:19.289Z,1761541699.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:19.292Z,1761541699.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 124.132912 m, bearing: 7.484272 deg, approach rate: -0.463617 m/s, LOS rate: 0.095057 deg/s, cmd heading: 23.781496 deg, new cmd heading: 23.874719 deg. 2025-10-27T05:08:19.293Z,1761541699.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416692 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:19.476Z,1761541699.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522509 2025-10-27T05:08:19.673Z,1761541699.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922231,0.381738,-0.061374],[-0.384453,0.922247,-0.040707],[0.041062,0.061137,0.997284]] 2025-10-27T05:08:19.710Z,1761541699.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:19.717Z,1761541699.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:19.725Z,1761541699.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771348 2025-10-27T05:08:19.732Z,1761541699.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 123.954956 m, bearing: 7.518428 deg, approach rate: -0.416095 m/s, LOS rate: 0.079980 deg/s, cmd heading: 23.874720 deg, new cmd heading: 23.977337 deg. 2025-10-27T05:08:19.733Z,1761541699.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418483 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:19.981Z,1761541699.981 [DAT](INFO): DAT read: 05:08:18.6024 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.20,-1.454, 2.891,-2.334,-2.059, PHS= 0.707,-1.288,-0.319, RAW= 119.1, 10.4, CAL= 120.0, 11.6, ROT= 30.0, -11.6 2025-10-27T05:08:19.983Z,1761541699.983 [DAT](INFO): got valid direction response: 05:08:18.6024 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.20,-1.454, 2.891,-2.334,-2.059, PHS= 0.707,-1.288,-0.319, RAW= 119.1, 10.4, CAL= 120.0, 11.6, ROT= 30.0, -11.6 2025-10-27T05:08:19.983Z,1761541699.983 [DAT](INFO): DAT read: Rx Time:05:08:18.6024 2025-10-27T05:08:19.984Z,1761541699.984 [DAT](INFO): Rx dataTimestamp_ set to:1761541699.983637 2025-10-27T05:08:19.985Z,1761541699.985 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-27T05:08:19.985Z,1761541699.985 [DAT](INFO): Received low SNR in chirp 2025-10-27T05:08:19.999Z,1761541699.999 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:08:19.000Z,1761541700.000 [DAT](INFO): direction in FSK: [0.848337,0.489788,0.201078] 2025-10-27T05:08:20.003Z,1761541700.003 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:20.003Z,1761541700.003 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:20.003Z,1761541700.003 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:20.082Z,1761541700.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931418,0.358636,-0.061983],[-0.361457,0.931427,-0.042340],[0.042548,0.061840,0.997179]] 2025-10-27T05:08:20.148Z,1761541700.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:20.150Z,1761541700.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 123.733757 m, bearing: 7.562153 deg, approach rate: -0.512994 m/s, LOS rate: 0.101585 deg/s, cmd heading: 23.977336 deg, new cmd heading: 24.108744 deg. 2025-10-27T05:08:20.152Z,1761541700.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420777 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:20.228Z,1761541700.228 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:20.228Z,1761541700.228 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:20.228Z,1761541700.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:20.480Z,1761541700.480 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:20.480Z,1761541700.480 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:20.480Z,1761541700.480 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:20.483Z,1761541700.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940064,0.335272,-0.062223],[-0.338157,0.940084,-0.043497],[0.043912,0.061931,0.997114]] 2025-10-27T05:08:20.522Z,1761541700.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:20.575Z,1761541700.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 123.559967 m, bearing: 7.594277 deg, approach rate: -0.464451 m/s, LOS rate: 0.085972 deg/s, cmd heading: 24.108744 deg, new cmd heading: 24.205252 deg. 2025-10-27T05:08:20.576Z,1761541700.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422461 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:20.732Z,1761541700.732 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:20.733Z,1761541700.733 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:20.733Z,1761541700.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:20.912Z,1761541700.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955018,0.289766,-0.063057],[-0.292813,0.955066,-0.045936],[0.046913,0.062333,0.996952]] 2025-10-27T05:08:20.984Z,1761541700.984 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:20.984Z,1761541700.984 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:20.984Z,1761541700.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:20.990Z,1761541700.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:21.006Z,1761541701.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 123.332039 m, bearing: 7.635499 deg, approach rate: -0.487034 m/s, LOS rate: 0.088247 deg/s, cmd heading: 24.205251 deg, new cmd heading: 24.329147 deg. 2025-10-27T05:08:21.007Z,1761541701.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424624 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:21.236Z,1761541701.236 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:21.236Z,1761541701.236 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:21.236Z,1761541701.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:21.325Z,1761541701.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:21.327Z,1761541701.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 123.161415 m, bearing: 7.666464 deg, approach rate: -0.509713 m/s, LOS rate: 0.092631 deg/s, cmd heading: 24.329147 deg, new cmd heading: 24.422171 deg. 2025-10-27T05:08:21.328Z,1761541701.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426247 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:21.488Z,1761541701.488 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:21.488Z,1761541701.488 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:21.488Z,1761541701.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:21.694Z,1761541701.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961684,0.266787,-0.063159],[-0.269884,0.961752,-0.046864],[0.048241,0.062114,0.996903]] 2025-10-27T05:08:21.733Z,1761541701.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:21.736Z,1761541701.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:21.738Z,1761541701.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 122.963020 m, bearing: 7.700061 deg, approach rate: -0.482590 m/s, LOS rate: 0.081856 deg/s, cmd heading: 24.422171 deg, new cmd heading: 24.523125 deg. 2025-10-27T05:08:21.740Z,1761541701.740 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:21.740Z,1761541701.740 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:21.740Z,1761541701.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:21.741Z,1761541701.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428009 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:21.992Z,1761541701.992 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:21.992Z,1761541701.992 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:21.992Z,1761541701.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:22.097Z,1761541702.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967690,0.244095,-0.063199],[-0.247252,0.967758,-0.048072],[0.049427,0.062145,0.996843]] 2025-10-27T05:08:22.180Z,1761541702.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:22.182Z,1761541702.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 122.752373 m, bearing: 7.736034 deg, approach rate: -0.474669 m/s, LOS rate: 0.081200 deg/s, cmd heading: 24.523125 deg, new cmd heading: 24.631228 deg. 2025-10-27T05:08:22.191Z,1761541702.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429896 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:22.245Z,1761541702.245 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:22.246Z,1761541702.246 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:22.246Z,1761541702.246 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:22.496Z,1761541702.496 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:22.496Z,1761541702.496 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:22.496Z,1761541702.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:22.510Z,1761541702.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978038,0.198508,-0.063527],[-0.201810,0.978117,-0.050598],[0.052093,0.062307,0.996697]] 2025-10-27T05:08:22.530Z,1761541702.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:22.533Z,1761541702.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 122.559013 m, bearing: 7.764461 deg, approach rate: -0.551515 m/s, LOS rate: 0.081209 deg/s, cmd heading: 24.631228 deg, new cmd heading: 24.716643 deg. 2025-10-27T05:08:22.534Z,1761541702.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431387 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:22.748Z,1761541702.748 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:22.748Z,1761541702.748 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:22.748Z,1761541702.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:22.000Z,1761541703.000 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:22.000Z,1761541703.000 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:22.000Z,1761541703.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:23.050Z,1761541703.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:23.056Z,1761541703.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 122.302734 m, bearing: 7.803882 deg, approach rate: -0.493510 m/s, LOS rate: 0.076072 deg/s, cmd heading: 24.716643 deg, new cmd heading: 24.835155 deg. 2025-10-27T05:08:23.057Z,1761541703.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433455 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:23.252Z,1761541703.252 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:23.252Z,1761541703.252 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:23.252Z,1761541703.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:23.314Z,1761541703.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986373,0.151768,-0.063520],[-0.155251,0.986396,-0.054036],[0.054455,0.063162,0.996517]] 2025-10-27T05:08:23.422Z,1761541703.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:23.425Z,1761541703.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 122.094795 m, bearing: 7.830947 deg, approach rate: -0.558259 m/s, LOS rate: 0.072785 deg/s, cmd heading: 24.835155 deg, new cmd heading: 24.916487 deg. 2025-10-27T05:08:23.426Z,1761541703.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434875 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:23.504Z,1761541703.504 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:23.504Z,1761541703.504 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:23.504Z,1761541703.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:23.726Z,1761541703.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989702,0.128331,-0.063418],[-0.131889,0.989709,-0.055510],[0.055642,0.063303,0.996442]] 2025-10-27T05:08:23.753Z,1761541703.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:23.756Z,1761541703.756 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:23.756Z,1761541703.756 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:23.756Z,1761541703.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:23.756Z,1761541703.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:23.792Z,1761541703.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 121.919434 m, bearing: 7.851761 deg, approach rate: -0.526899 m/s, LOS rate: 0.062630 deg/s, cmd heading: 24.916487 deg, new cmd heading: 24.979020 deg. 2025-10-27T05:08:23.793Z,1761541703.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435966 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:24.008Z,1761541704.008 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:24.008Z,1761541704.008 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:24.008Z,1761541704.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:24.121Z,1761541704.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992438,0.105216,-0.063213],[-0.108797,0.992476,-0.056171],[0.056827,0.062623,0.996418]] 2025-10-27T05:08:24.195Z,1761541704.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:24.198Z,1761541704.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 121.685249 m, bearing: 7.874191 deg, approach rate: -0.531796 m/s, LOS rate: 0.051033 deg/s, cmd heading: 24.979019 deg, new cmd heading: 25.046438 deg. 2025-10-27T05:08:24.200Z,1761541704.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437143 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:24.260Z,1761541704.260 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:24.260Z,1761541704.260 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:24.261Z,1761541704.261 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:24.512Z,1761541704.512 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:24.512Z,1761541704.512 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:24.512Z,1761541704.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:24.524Z,1761541704.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994669,0.081671,-0.062952],[-0.085308,0.994698,-0.057426],[0.057928,0.062490,0.996363]] 2025-10-27T05:08:24.658Z,1761541704.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:24.661Z,1761541704.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 121.426628 m, bearing: 7.896073 deg, approach rate: -0.558787 m/s, LOS rate: 0.047380 deg/s, cmd heading: 25.046439 deg, new cmd heading: 25.112225 deg. 2025-10-27T05:08:24.662Z,1761541704.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438291 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:24.765Z,1761541704.765 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:24.765Z,1761541704.765 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:24.766Z,1761541704.766 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:24.960Z,1761541704.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996352,0.057899,-0.062700],[-0.061683,0.996279,-0.060202],[0.058982,0.063849,0.996215]] 2025-10-27T05:08:25.014Z,1761541705.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:25.016Z,1761541705.016 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:25.016Z,1761541705.016 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:25.016Z,1761541705.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:25.033Z,1761541705.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 121.231956 m, bearing: 7.906749 deg, approach rate: -0.547078 m/s, LOS rate: 0.030051 deg/s, cmd heading: 25.112225 deg, new cmd heading: 25.144305 deg. 2025-10-27T05:08:25.034Z,1761541705.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438851 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:25.268Z,1761541705.268 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:25.268Z,1761541705.268 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:25.268Z,1761541705.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:25.329Z,1761541705.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997476,0.034154,-0.062244],[-0.038068,0.997299,-0.062808],[0.059930,0.065019,0.996083]] 2025-10-27T05:08:25.374Z,1761541705.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:25.379Z,1761541705.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 121.038322 m, bearing: 7.915210 deg, approach rate: -0.537620 m/s, LOS rate: 0.023530 deg/s, cmd heading: 25.144305 deg, new cmd heading: 25.169729 deg. 2025-10-27T05:08:25.380Z,1761541705.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439295 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:25.521Z,1761541705.521 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:25.521Z,1761541705.521 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:25.521Z,1761541705.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:25.738Z,1761541705.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998057,0.009660,-0.061550],[-0.013660,0.997798,-0.064899],[0.060787,0.065614,0.995992]] 2025-10-27T05:08:25.755Z,1761541705.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:25.757Z,1761541705.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:25.760Z,1761541705.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 120.825470 m, bearing: 7.922059 deg, approach rate: -0.555719 m/s, LOS rate: 0.017912 deg/s, cmd heading: 25.169729 deg, new cmd heading: 25.190310 deg. 2025-10-27T05:08:25.761Z,1761541705.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439654 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:25.772Z,1761541705.772 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:25.772Z,1761541705.772 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:25.772Z,1761541705.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:26.024Z,1761541706.024 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:26.024Z,1761541706.024 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:26.024Z,1761541706.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:26.138Z,1761541706.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998040,-0.014899,-0.060784],[0.010885,0.997771,-0.065838],[0.061630,0.065047,0.995977]] 2025-10-27T05:08:26.194Z,1761541706.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:26.197Z,1761541706.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 120.583351 m, bearing: 7.921791 deg, approach rate: -0.554295 m/s, LOS rate: -0.000614 deg/s, cmd heading: 25.190310 deg, new cmd heading: 25.189506 deg. 2025-10-27T05:08:26.197Z,1761541706.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439640 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:26.276Z,1761541706.276 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:26.277Z,1761541706.277 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:26.277Z,1761541706.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:26.528Z,1761541706.528 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:26.528Z,1761541706.528 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:26.528Z,1761541706.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:26.551Z,1761541706.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997418,-0.039262,-0.060126],[0.035231,0.997151,-0.066703],[0.062574,0.064412,0.995960]] 2025-10-27T05:08:26.578Z,1761541706.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:26.581Z,1761541706.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 120.370110 m, bearing: 7.919074 deg, approach rate: -0.554645 m/s, LOS rate: -0.007081 deg/s, cmd heading: 25.189505 deg, new cmd heading: 25.181338 deg. 2025-10-27T05:08:26.582Z,1761541706.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439497 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:26.780Z,1761541706.780 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:08:26.780Z,1761541706.780 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:08:26.780Z,1761541706.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:08:26.998Z,1761541706.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996231,-0.063194,-0.059421],[0.059039,0.995850,-0.069261],[0.063551,0.065492,0.995827]] 2025-10-27T05:08:27.032Z,1761541707.032 [DAT](INFO): Reached modem response timeout 2025-10-27T05:08:27.032Z,1761541707.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:27.032Z,1761541707.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:27.046Z,1761541707.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:27.049Z,1761541707.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 120.102005 m, bearing: 7.908790 deg, approach rate: -0.573069 m/s, LOS rate: -0.022030 deg/s, cmd heading: 25.181338 deg, new cmd heading: 25.150419 deg. 2025-10-27T05:08:27.050Z,1761541707.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438958 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:27.284Z,1761541707.284 [DAT](INFO): DAT read: 2025-10-27T05:08:27.284Z,1761541707.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:27.360Z,1761541707.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994471,-0.087097,-0.058670],[0.082881,0.994039,-0.070828],[0.064489,0.065574,0.995762]] 2025-10-27T05:08:27.391Z,1761541707.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:27.394Z,1761541707.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 119.904785 m, bearing: 7.898918 deg, approach rate: -0.572237 m/s, LOS rate: -0.028693 deg/s, cmd heading: 25.150418 deg, new cmd heading: 25.120751 deg. 2025-10-27T05:08:27.395Z,1761541707.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438440 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:27.536Z,1761541707.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:27.788Z,1761541707.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:27.792Z,1761541707.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:27.794Z,1761541707.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:27.796Z,1761541707.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 119.675179 m, bearing: 7.887383 deg, approach rate: -0.569782 m/s, LOS rate: -0.028679 deg/s, cmd heading: 25.120751 deg, new cmd heading: 25.086080 deg. 2025-10-27T05:08:27.797Z,1761541707.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437835 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:28.040Z,1761541708.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:28.157Z,1761541708.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989253,-0.134672,-0.056931],[0.130426,0.988790,-0.072692],[0.066082,0.064485,0.995728]] 2025-10-27T05:08:28.204Z,1761541708.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:28.207Z,1761541708.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 119.435905 m, bearing: 7.867947 deg, approach rate: -0.583367 m/s, LOS rate: -0.047480 deg/s, cmd heading: 25.086081 deg, new cmd heading: 25.027658 deg. 2025-10-27T05:08:28.208Z,1761541708.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436815 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:28.292Z,1761541708.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:28.544Z,1761541708.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:28.562Z,1761541708.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985784,-0.158388,-0.056069],[0.154132,0.985314,-0.073487],[0.066884,0.063800,0.995719]] 2025-10-27T05:08:28.581Z,1761541708.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:28.584Z,1761541708.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 119.217850 m, bearing: 7.847563 deg, approach rate: -0.577905 m/s, LOS rate: -0.054122 deg/s, cmd heading: 25.027657 deg, new cmd heading: 24.966393 deg. 2025-10-27T05:08:28.585Z,1761541708.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435746 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:28.796Z,1761541708.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:29.025Z,1761541709.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981700,-0.182326,-0.054980],[0.177982,0.981122,-0.075640],[0.067733,0.064471,0.995618]] 2025-10-27T05:08:29.048Z,1761541709.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:29.066Z,1761541709.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:29.068Z,1761541709.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 118.947708 m, bearing: 7.815628 deg, approach rate: -0.557800 m/s, LOS rate: -0.066091 deg/s, cmd heading: 24.966394 deg, new cmd heading: 24.870370 deg. 2025-10-27T05:08:29.069Z,1761541709.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434070 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:29.300Z,1761541709.300 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:08:29.300Z,1761541709.300 [DAT](INFO): response not received 2025-10-27T05:08:29.301Z,1761541709.301 [DAT](INFO): DAT read: user:308>Tx time:05:08:28.4763 2025-10-27T05:08:29.301Z,1761541709.301 [DAT](ERROR): No response from remote modem. 2025-10-27T05:08:29.302Z,1761541709.302 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:29.302Z,1761541709.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:29.378Z,1761541709.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977025,-0.206215,-0.053828],[0.201770,0.976323,-0.077988],[0.068636,0.065335,0.995500]] 2025-10-27T05:08:29.398Z,1761541709.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:29.401Z,1761541709.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 118.764076 m, bearing: 7.791538 deg, approach rate: -0.552514 m/s, LOS rate: -0.072594 deg/s, cmd heading: 24.870370 deg, new cmd heading: 24.797988 deg. 2025-10-27T05:08:29.402Z,1761541709.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432807 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:29.554Z,1761541709.554 [DAT](INFO): DAT read: 2025-10-27T05:08:29.555Z,1761541709.555 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:29.804Z,1761541709.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:29.904Z,1761541709.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:29.906Z,1761541709.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:29.909Z,1761541709.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 118.482552 m, bearing: 7.754455 deg, approach rate: -0.553641 m/s, LOS rate: -0.073099 deg/s, cmd heading: 24.797989 deg, new cmd heading: 24.686477 deg. 2025-10-27T05:08:29.910Z,1761541709.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430860 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:30.056Z,1761541710.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:30.198Z,1761541710.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966323,-0.252127,-0.051489],[0.247608,0.965491,-0.080733],[0.070067,0.065265,0.995405]] 2025-10-27T05:08:30.278Z,1761541710.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:30.285Z,1761541710.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 118.279655 m, bearing: 7.724617 deg, approach rate: -0.545994 m/s, LOS rate: -0.080434 deg/s, cmd heading: 24.686477 deg, new cmd heading: 24.596808 deg. 2025-10-27T05:08:30.286Z,1761541710.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429295 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:30.308Z,1761541710.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:30.560Z,1761541710.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:30.607Z,1761541710.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960033,-0.275386,-0.049987],[0.270835,0.959103,-0.082278],[0.070601,0.065451,0.995355]] 2025-10-27T05:08:30.645Z,1761541710.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:30.670Z,1761541710.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 118.072556 m, bearing: 7.691380 deg, approach rate: -0.567206 m/s, LOS rate: -0.091188 deg/s, cmd heading: 24.596807 deg, new cmd heading: 24.496922 deg. 2025-10-27T05:08:30.672Z,1761541710.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427552 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:30.812Z,1761541710.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:31.054Z,1761541711.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953405,-0.297737,-0.048703],[0.293281,0.952519,-0.081818],[0.070751,0.063722,0.995457]] 2025-10-27T05:08:31.068Z,1761541711.069 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:31.108Z,1761541711.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:31.111Z,1761541711.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 117.812645 m, bearing: 7.645934 deg, approach rate: -0.558880 m/s, LOS rate: -0.097936 deg/s, cmd heading: 24.496923 deg, new cmd heading: 24.360285 deg. 2025-10-27T05:08:31.112Z,1761541711.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425167 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:31.320Z,1761541711.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:31.465Z,1761541711.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947447,-0.315996,-0.049899],[0.311984,0.947169,-0.074413],[0.070777,0.054935,0.995978]] 2025-10-27T05:08:31.505Z,1761541711.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:31.512Z,1761541711.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 117.603073 m, bearing: 7.606812 deg, approach rate: -0.528035 m/s, LOS rate: -0.098748 deg/s, cmd heading: 24.360285 deg, new cmd heading: 24.242709 deg. 2025-10-27T05:08:31.513Z,1761541711.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423115 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:31.572Z,1761541711.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:31.824Z,1761541711.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:31.905Z,1761541711.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941789,-0.332101,-0.052372],[0.328567,0.942173,-0.065985],[0.071257,0.044936,0.996445]] 2025-10-27T05:08:31.927Z,1761541711.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:31.929Z,1761541711.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:31.948Z,1761541711.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 117.360580 m, bearing: 7.558909 deg, approach rate: -0.572033 m/s, LOS rate: -0.113235 deg/s, cmd heading: 24.242708 deg, new cmd heading: 24.098702 deg. 2025-10-27T05:08:31.949Z,1761541711.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420602 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:32.077Z,1761541712.077 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:32.289Z,1761541712.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935804,-0.348298,-0.054393],[0.345183,0.936671,-0.059134],[0.071544,0.036562,0.996767]] 2025-10-27T05:08:32.326Z,1761541712.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:32.328Z,1761541712.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:32.352Z,1761541712.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 117.135979 m, bearing: 7.511065 deg, approach rate: -0.565046 m/s, LOS rate: -0.120594 deg/s, cmd heading: 24.098702 deg, new cmd heading: 23.954896 deg. 2025-10-27T05:08:32.353Z,1761541712.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418092 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:32.580Z,1761541712.580 [DAT](INFO): DAT read: Rx Time:05:08:31.0434 2025-10-27T05:08:32.580Z,1761541712.580 [DAT](INFO): Rx dataTimestamp_ set to:1761541712.580136 2025-10-27T05:08:32.581Z,1761541712.581 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:32.674Z,1761541712.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930192,-0.362500,-0.057769],[0.359983,0.931639,-0.049614],[0.071804,0.025354,0.997096]] 2025-10-27T05:08:32.692Z,1761541712.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.85 m. 2025-10-27T05:08:32.712Z,1761541712.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.847610 m, nav range: 116.930992 m, bearing: 7.465287 deg, approach rate: -0.560178 m/s, LOS rate: -0.125321 deg/s, cmd heading: 23.954896 deg, new cmd heading: 23.817319 deg. 2025-10-27T05:08:32.713Z,1761541712.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415691 target range: 129.847610 and range: 130.50 m. 2025-10-27T05:08:32.832Z,1761541712.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:33.090Z,1761541713.090 [DAT](INFO): DAT read: 05:08:31.0434 LVL= 32752, 32753, 32242, 32755, AGC= 71, IDX= 353, 0.30, 0.238,-1.181, 0.790, 0.184, PHS= 0.156,-1.320, 0.562, RAW= 161.8, 7.1, CAL= 161.3, 6.9, ROT= 348.7, -6.9 2025-10-27T05:08:33.094Z,1761541713.094 [DAT](INFO): got valid direction response: 05:08:31.0434 LVL= 32752, 32753, 32242, 32755, AGC= 71, IDX= 353, 0.30, 0.238,-1.181, 0.790, 0.184, PHS= 0.156,-1.320, 0.562, RAW= 161.8, 7.1, CAL= 161.3, 6.9, ROT= 348.7, -6.9 2025-10-27T05:08:33.099Z,1761541713.099 [DAT](INFO): DAT read: Bearing 172.6, -7.1 (Local) 2025-10-27T05:08:33.099Z,1761541713.099 [DAT](INFO): Local bearing/azimuth received: Bearing 172.6, -7.1 (Local) 2025-10-27T05:08:33.101Z,1761541713.101 [DAT](INFO): DAT read: Range 11 to 50 : 122.1 m (Round-trip 162.9 ms) speed 0.8 m/s 2025-10-27T05:08:33.102Z,1761541713.102 [DAT](INFO): DAT read: user:309>Tx time:05:08:32.1263 2025-10-27T05:08:33.102Z,1761541713.102 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:33.124Z,1761541713.124 [DAT](INFO): direction in FSK: [0.973512,-0.194527,0.120137] 2025-10-27T05:08:33.124Z,1761541713.124 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:33.131Z,1761541713.131 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:33.132Z,1761541713.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:33.135Z,1761541713.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925330,-0.373988,-0.062435],[0.372231,0.927355,-0.038174],[0.072176,0.012083,0.997319]] 2025-10-27T05:08:33.229Z,1761541713.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 16.383782 s, deltaX: -8.400002 m, approachRate: -0.512702 m/s, rangeRepo size: 4 2025-10-27T05:08:33.235Z,1761541713.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.486992 m, bearing: 10.404760 deg, lat: 36.779307 deg, lon: -121.859556 deg, deltaT: 16.383782 s, deltaX: -8.360619 m, approachRate: -0.510298 m/s, posRepo size: 4 2025-10-27T05:08:33.236Z,1761541713.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:33.239Z,1761541713.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 118.255302 m, bearing: 10.499981 deg, approach rate: 0.000000 m/s, LOS rate: -0.125321 deg/s, cmd heading: 23.817319 deg, new cmd heading: 23.615793 deg. 2025-10-27T05:08:33.244Z,1761541713.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412173 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:33.337Z,1761541713.337 [DAT](INFO): DAT read: 2025-10-27T05:08:33.338Z,1761541713.338 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:33.485Z,1761541713.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920965,-0.383622,-0.068248],[0.382718,0.923489,-0.026375],[0.073144,-0.001830,0.997320]] 2025-10-27T05:08:33.519Z,1761541713.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:33.522Z,1761541713.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 118.081589 m, bearing: 10.464298 deg, approach rate: -0.597930 m/s, LOS rate: -0.123004 deg/s, cmd heading: 23.615794 deg, new cmd heading: 23.508587 deg. 2025-10-27T05:08:33.523Z,1761541713.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.410302 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:33.588Z,1761541713.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:33.841Z,1761541713.841 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:33.887Z,1761541713.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916780,-0.392532,-0.073706],[0.392427,0.919635,-0.016506],[0.074262,-0.013792,0.997143]] 2025-10-27T05:08:33.906Z,1761541713.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:33.909Z,1761541713.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 117.863586 m, bearing: 10.418009 deg, approach rate: -0.563328 m/s, LOS rate: -0.119835 deg/s, cmd heading: 23.508587 deg, new cmd heading: 23.369463 deg. 2025-10-27T05:08:33.910Z,1761541713.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.407874 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:34.092Z,1761541714.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:34.290Z,1761541714.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913538,-0.398956,-0.079256],[0.399711,0.916616,-0.006796],[0.075359,-0.025471,0.996831]] 2025-10-27T05:08:34.326Z,1761541714.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:34.329Z,1761541714.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:34.332Z,1761541714.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 117.628235 m, bearing: 10.365756 deg, approach rate: -0.556585 m/s, LOS rate: -0.123819 deg/s, cmd heading: 23.369463 deg, new cmd heading: 23.212393 deg. 2025-10-27T05:08:34.333Z,1761541714.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405133 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:34.345Z,1761541714.345 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:34.596Z,1761541714.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:34.699Z,1761541714.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911118,-0.403314,-0.084864],[0.404985,0.914319,0.002718],[0.076497,-0.036845,0.996389]] 2025-10-27T05:08:34.738Z,1761541714.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:34.741Z,1761541714.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 117.401833 m, bearing: 10.314500 deg, approach rate: -0.552675 m/s, LOS rate: -0.125363 deg/s, cmd heading: 23.212393 deg, new cmd heading: 23.058329 deg. 2025-10-27T05:08:34.742Z,1761541714.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402444 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:34.849Z,1761541714.849 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:34.871Z,1761541714.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:08:35.102Z,1761541715.102 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:35.125Z,1761541715.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909295,-0.405948,-0.091589],[0.408799,0.912517,0.014023],[0.077884,-0.050192,0.995698]] 2025-10-27T05:08:35.163Z,1761541715.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:35.166Z,1761541715.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 117.157593 m, bearing: 10.263440 deg, approach rate: -0.575538 m/s, LOS rate: -0.120571 deg/s, cmd heading: 23.058329 deg, new cmd heading: 22.904830 deg. 2025-10-27T05:08:35.167Z,1761541715.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.399765 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:35.352Z,1761541715.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:35.529Z,1761541715.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908475,-0.405962,-0.099340],[0.410326,0.911526,0.027442],[0.079411,-0.065692,0.994675]] 2025-10-27T05:08:35.602Z,1761541715.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:35.604Z,1761541715.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:35.609Z,1761541715.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 116.911583 m, bearing: 10.211555 deg, approach rate: -0.559852 m/s, LOS rate: -0.118324 deg/s, cmd heading: 22.904829 deg, new cmd heading: 22.748848 deg. 2025-10-27T05:08:35.610Z,1761541715.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397042 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:35.856Z,1761541715.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:35.875Z,1761541715.875 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:08:35.902Z,1761541715.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908272,-0.404210,-0.107961],[0.410396,0.910936,0.042070],[0.081341,-0.082518,0.993265]] 2025-10-27T05:08:35.921Z,1761541715.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:35.924Z,1761541715.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 116.725220 m, bearing: 10.172105 deg, approach rate: -0.584330 m/s, LOS rate: -0.123890 deg/s, cmd heading: 22.748848 deg, new cmd heading: 22.630310 deg. 2025-10-27T05:08:35.925Z,1761541715.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394973 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:36.108Z,1761541716.108 [DAT](INFO): DAT read: Rx Time:05:08:34.6905 2025-10-27T05:08:36.109Z,1761541716.109 [DAT](INFO): Rx dataTimestamp_ set to:1761541716.108274 2025-10-27T05:08:36.109Z,1761541716.109 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:36.361Z,1761541716.361 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:36.441Z,1761541716.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:36.443Z,1761541716.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.49 m. 2025-10-27T05:08:36.446Z,1761541716.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.486992 m, nav range: 116.417320 m, bearing: 10.111249 deg, approach rate: -0.589817 m/s, LOS rate: -0.116887 deg/s, cmd heading: 22.630310 deg, new cmd heading: 22.447258 deg. 2025-10-27T05:08:36.448Z,1761541716.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.391779 target range: 121.486992 and range: 122.10 m. 2025-10-27T05:08:36.618Z,1761541716.618 [DAT](INFO): DAT read: 05:08:34.6905 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.24,-1.606,-2.932,-0.952,-1.611, PHS= 0.106,-1.277, 0.615, RAW= 165.1, 6.6, CAL= 164.4, 6.2, ROT= 345.6, -6.2 2025-10-27T05:08:36.619Z,1761541716.619 [DAT](INFO): got valid direction response: 05:08:34.6905 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.24,-1.606,-2.932,-0.952,-1.611, PHS= 0.106,-1.277, 0.615, RAW= 165.1, 6.6, CAL= 164.4, 6.2, ROT= 345.6, -6.2 2025-10-27T05:08:36.620Z,1761541716.620 [DAT](INFO): DAT read: Bearing 174.3, -10.4 (Local) 2025-10-27T05:08:36.620Z,1761541716.620 [DAT](INFO): Local bearing/azimuth received: Bearing 174.3, -10.4 (Local) 2025-10-27T05:08:36.622Z,1761541716.622 [DAT](INFO): DAT read: Range 11 to 50 : 120.0 m (Round-trip 160.1 ms) speed 0.7 m/s 2025-10-27T05:08:36.623Z,1761541716.623 [DAT](INFO): DAT read: user:310>Tx time:05:08:35.7762 2025-10-27T05:08:36.623Z,1761541716.623 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:36.624Z,1761541716.624 [DAT](INFO): direction in FSK: [0.962918,-0.247235,0.107999] 2025-10-27T05:08:36.625Z,1761541716.625 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:36.644Z,1761541716.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:36.645Z,1761541716.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:36.801Z,1761541716.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.000000 m, deltaT: 3.528056 s, deltaX: -2.099998 m, approachRate: -0.595228 m/s, rangeRepo size: 4 2025-10-27T05:08:36.807Z,1761541716.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.397614 m, bearing: 10.272518 deg, lat: 36.779307 deg, lon: -121.859556 deg, deltaT: 3.528056 s, deltaX: -2.089378 m, approachRate: -0.592218 m/s, posRepo size: 4 2025-10-27T05:08:36.808Z,1761541716.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:36.811Z,1761541716.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 116.215668 m, bearing: 10.071204 deg, approach rate: 0.000000 m/s, LOS rate: -0.116887 deg/s, cmd heading: 22.447258 deg, new cmd heading: 22.321941 deg. 2025-10-27T05:08:36.816Z,1761541716.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389591 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:36.865Z,1761541716.865 [DAT](INFO): DAT read: 2025-10-27T05:08:36.866Z,1761541716.866 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:37.118Z,1761541717.118 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:37.168Z,1761541717.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910110,-0.392295,-0.133430],[0.405132,0.910035,0.087779],[0.086991,-0.133945,0.987163]] 2025-10-27T05:08:37.225Z,1761541717.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:37.228Z,1761541717.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 115.956039 m, bearing: 10.025884 deg, approach rate: -0.611562 m/s, LOS rate: -0.106991 deg/s, cmd heading: 22.321941 deg, new cmd heading: 22.185678 deg. 2025-10-27T05:08:37.229Z,1761541717.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387213 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:37.368Z,1761541717.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:37.597Z,1761541717.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:37.599Z,1761541717.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 115.746712 m, bearing: 9.989188 deg, approach rate: -0.563565 m/s, LOS rate: -0.098973 deg/s, cmd heading: 22.185677 deg, new cmd heading: 22.075391 deg. 2025-10-27T05:08:37.600Z,1761541717.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.385288 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:37.620Z,1761541717.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:37.872Z,1761541717.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:37.932Z,1761541717.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912901,-0.381816,-0.144320],[0.397876,0.911322,0.105769],[0.091137,-0.153978,0.983862]] 2025-10-27T05:08:37.958Z,1761541717.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:37.961Z,1761541717.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 115.523651 m, bearing: 9.950969 deg, approach rate: -0.617137 m/s, LOS rate: -0.105943 deg/s, cmd heading: 22.075392 deg, new cmd heading: 21.960514 deg. 2025-10-27T05:08:37.962Z,1761541717.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383283 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:38.126Z,1761541718.126 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:38.342Z,1761541718.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914589,-0.376005,-0.148819],[0.393473,0.912371,0.112951],[0.093308,-0.161860,0.982392]] 2025-10-27T05:08:38.376Z,1761541718.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:38.399Z,1761541718.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:38.402Z,1761541718.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 115.253922 m, bearing: 9.909293 deg, approach rate: -0.612276 m/s, LOS rate: -0.094825 deg/s, cmd heading: 21.960515 deg, new cmd heading: 21.835193 deg. 2025-10-27T05:08:38.402Z,1761541718.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.381096 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:38.628Z,1761541718.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:38.742Z,1761541718.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916185,-0.370498,-0.152762],[0.389259,0.913361,0.119370],[0.095300,-0.168829,0.981027]] 2025-10-27T05:08:38.760Z,1761541718.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:38.762Z,1761541718.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:38.765Z,1761541718.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 115.030724 m, bearing: 9.875223 deg, approach rate: -0.614251 m/s, LOS rate: -0.093945 deg/s, cmd heading: 21.835193 deg, new cmd heading: 21.732784 deg. 2025-10-27T05:08:38.766Z,1761541718.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379309 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:38.880Z,1761541718.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:39.139Z,1761541719.139 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:39.173Z,1761541719.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917898,-0.364569,-0.156691],[0.384691,0.914404,0.126005],[0.097341,-0.175937,0.979577]] 2025-10-27T05:08:39.216Z,1761541719.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:39.219Z,1761541719.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 114.756645 m, bearing: 9.833912 deg, approach rate: -0.603370 m/s, LOS rate: -0.091162 deg/s, cmd heading: 21.732784 deg, new cmd heading: 21.608555 deg. 2025-10-27T05:08:39.220Z,1761541719.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.377140 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:39.388Z,1761541719.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:39.545Z,1761541719.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919330,-0.359674,-0.159583],[0.380721,0.915535,0.129799],[0.099419,-0.180085,0.978614]] 2025-10-27T05:08:39.564Z,1761541719.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:39.566Z,1761541719.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 114.545715 m, bearing: 9.802470 deg, approach rate: -0.606741 m/s, LOS rate: -0.090608 deg/s, cmd heading: 21.608555 deg, new cmd heading: 21.514057 deg. 2025-10-27T05:08:39.567Z,1761541719.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.375491 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:39.640Z,1761541719.640 [DAT](INFO): DAT read: Rx Time:05:08:38.3376 2025-10-27T05:08:39.641Z,1761541719.641 [DAT](INFO): Rx dataTimestamp_ set to:1761541719.640379 2025-10-27T05:08:39.641Z,1761541719.641 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:39.892Z,1761541719.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:39.946Z,1761541719.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920894,-0.354553,-0.162006],[0.376465,0.916739,0.133653],[0.101130,-0.184069,0.977697]] 2025-10-27T05:08:39.970Z,1761541719.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.40 m. 2025-10-27T05:08:39.973Z,1761541719.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.397614 m, nav range: 114.299637 m, bearing: 9.766253 deg, approach rate: -0.605349 m/s, LOS rate: -0.089286 deg/s, cmd heading: 21.514056 deg, new cmd heading: 21.405170 deg. 2025-10-27T05:08:39.974Z,1761541719.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373591 target range: 119.397614 and range: 120.00 m. 2025-10-27T05:08:40.146Z,1761541720.146 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:40.402Z,1761541720.402 [DAT](INFO): DAT read: 05:08:38.3376 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.02,-1.987, 2.973,-1.398,-1.994, PHS= 0.109,-1.271, 0.552, RAW= 163.5, 7.5, CAL= 163.0, 7.4, ROT= 347.0, -7.4 2025-10-27T05:08:40.403Z,1761541720.403 [DAT](INFO): got valid direction response: 05:08:38.3376 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.02,-1.987, 2.973,-1.398,-1.994, PHS= 0.109,-1.271, 0.552, RAW= 163.5, 7.5, CAL= 163.0, 7.4, ROT= 347.0, -7.4 2025-10-27T05:08:40.404Z,1761541720.404 [DAT](INFO): DAT read: Bearing 172.2, -8.2 (Local) 2025-10-27T05:08:40.404Z,1761541720.404 [DAT](INFO): Local bearing/azimuth received: Bearing 172.2, -8.2 (Local) 2025-10-27T05:08:40.406Z,1761541720.406 [DAT](INFO): DAT read: Range 11 to 50 : 117.9 m (Round-trip 157.3 ms) speed 0.4 m/s 2025-10-27T05:08:40.407Z,1761541720.407 [DAT](INFO): DAT read: user:311>Tx time:05:08:39.4262 2025-10-27T05:08:40.407Z,1761541720.407 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:40.408Z,1761541720.408 [DAT](INFO): direction in FSK: [0.966255,-0.223077,0.128796] 2025-10-27T05:08:40.409Z,1761541720.409 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:40.416Z,1761541720.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:40.416Z,1761541720.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:40.506Z,1761541720.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.900002 m, deltaT: 3.784097 s, deltaX: -2.099998 m, approachRate: -0.554954 m/s, rangeRepo size: 4 2025-10-27T05:08:40.512Z,1761541720.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.308205 m, bearing: 10.544500 deg, lat: 36.779307 deg, lon: -121.859556 deg, deltaT: 3.784097 s, deltaX: -2.089409 m, approachRate: -0.552155 m/s, posRepo size: 4 2025-10-27T05:08:40.513Z,1761541720.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:40.516Z,1761541720.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 113.978310 m, bearing: 9.712809 deg, approach rate: 0.000000 m/s, LOS rate: -0.089286 deg/s, cmd heading: 21.405171 deg, new cmd heading: 21.261908 deg. 2025-10-27T05:08:40.517Z,1761541720.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371090 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:40.648Z,1761541720.648 [DAT](INFO): DAT read: 2025-10-27T05:08:40.648Z,1761541720.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:40.900Z,1761541720.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:40.965Z,1761541720.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924152,-0.343301,-0.167592],[0.366939,0.919744,0.139381],[0.106292,-0.190305,0.975954]] 2025-10-27T05:08:41.022Z,1761541721.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:41.024Z,1761541721.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:41.027Z,1761541721.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 113.669479 m, bearing: 9.662897 deg, approach rate: -0.594971 m/s, LOS rate: -0.096420 deg/s, cmd heading: 21.261908 deg, new cmd heading: 21.111763 deg. 2025-10-27T05:08:41.028Z,1761541721.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368470 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:41.154Z,1761541721.154 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:41.370Z,1761541721.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924771,-0.341224,-0.168419],[0.364991,0.920575,0.139007],[0.107609,-0.190021,0.975865]] 2025-10-27T05:08:41.404Z,1761541721.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:41.416Z,1761541721.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:41.419Z,1761541721.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 113.407776 m, bearing: 9.610742 deg, approach rate: -0.667436 m/s, LOS rate: -0.133319 deg/s, cmd heading: 21.111763 deg, new cmd heading: 20.954939 deg. 2025-10-27T05:08:41.420Z,1761541721.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365733 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:41.656Z,1761541721.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:41.798Z,1761541721.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925576,-0.339168,-0.168149],[0.362780,0.921601,0.137991],[0.108164,-0.188722,0.976056]] 2025-10-27T05:08:41.823Z,1761541721.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:41.828Z,1761541721.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 113.160675 m, bearing: 9.561593 deg, approach rate: -0.607490 m/s, LOS rate: -0.121095 deg/s, cmd heading: 20.954938 deg, new cmd heading: 20.807170 deg. 2025-10-27T05:08:41.830Z,1761541721.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363154 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:41.908Z,1761541721.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:42.163Z,1761541722.163 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:42.221Z,1761541722.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926201,-0.337773,-0.167511],[0.361129,0.922438,0.136726],[0.108336,-0.187129,0.976343]] 2025-10-27T05:08:42.259Z,1761541722.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:42.262Z,1761541722.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 112.895645 m, bearing: 9.503098 deg, approach rate: -0.607785 m/s, LOS rate: -0.134461 deg/s, cmd heading: 20.807171 deg, new cmd heading: 20.631273 deg. 2025-10-27T05:08:42.263Z,1761541722.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360084 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:42.412Z,1761541722.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:42.623Z,1761541722.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926717,-0.336843,-0.166532],[0.359907,0.923061,0.135742],[0.107995,-0.185730,0.976648]] 2025-10-27T05:08:42.664Z,1761541722.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:42.701Z,1761541722.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:42.705Z,1761541722.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 112.627960 m, bearing: 9.443916 deg, approach rate: -0.605740 m/s, LOS rate: -0.134239 deg/s, cmd heading: 20.631273 deg, new cmd heading: 20.453307 deg. 2025-10-27T05:08:42.723Z,1761541722.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.356978 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:42.916Z,1761541722.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:43.059Z,1761541723.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927072,-0.336218,-0.165815],[0.359069,0.923493,0.135016],[0.107734,-0.184709,0.976870]] 2025-10-27T05:08:43.107Z,1761541723.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:43.109Z,1761541723.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:43.116Z,1761541723.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 112.394386 m, bearing: 9.392148 deg, approach rate: -0.572562 m/s, LOS rate: -0.127163 deg/s, cmd heading: 20.453307 deg, new cmd heading: 20.297681 deg. 2025-10-27T05:08:43.117Z,1761541723.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354261 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:43.176Z,1761541723.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:43.428Z,1761541723.428 [DAT](INFO): DAT read: Rx Time:05:08:41.9847 2025-10-27T05:08:43.429Z,1761541723.429 [DAT](INFO): Rx dataTimestamp_ set to:1761541723.428355 2025-10-27T05:08:43.429Z,1761541723.429 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:43.483Z,1761541723.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927615,-0.335064,-0.165116],[0.357822,0.923931,0.135334],[0.107210,-0.184620,0.976945]] 2025-10-27T05:08:43.541Z,1761541723.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:43.544Z,1761541723.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 112.120354 m, bearing: 9.323662 deg, approach rate: -0.634524 m/s, LOS rate: -0.158968 deg/s, cmd heading: 20.297681 deg, new cmd heading: 20.091722 deg. 2025-10-27T05:08:43.545Z,1761541723.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.350667 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:43.680Z,1761541723.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:43.886Z,1761541723.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927990,-0.334374,-0.164401],[0.357026,0.924205,0.135562],[0.106611,-0.184496,0.977034]] 2025-10-27T05:08:43.928Z,1761541723.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.31 m. 2025-10-27T05:08:43.938Z,1761541723.938 [DAT](INFO): DAT read: 05:08:41.9847 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.07, 1.177,-0.149, 1.743, 1.172, PHS= 0.107,-1.276, 0.528, RAW= 162.9, 7.9, CAL= 162.5, 8.0, ROT= 347.5, -8.0 2025-10-27T05:08:43.939Z,1761541723.939 [DAT](INFO): got valid direction response: 05:08:41.9847 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.07, 1.177,-0.149, 1.743, 1.172, PHS= 0.107,-1.276, 0.528, RAW= 162.9, 7.9, CAL= 162.5, 8.0, ROT= 347.5, -8.0 2025-10-27T05:08:43.940Z,1761541723.940 [DAT](INFO): DAT read: Bearing 170.9, -7.3 (Local) 2025-10-27T05:08:43.940Z,1761541723.940 [DAT](INFO): Local bearing/azimuth received: Bearing 170.9, -7.3 (Local) 2025-10-27T05:08:43.942Z,1761541723.942 [DAT](INFO): DAT read: Range 11 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.6 m/s 2025-10-27T05:08:43.943Z,1761541723.943 [DAT](INFO): DAT read: user:312>Tx time:05:08:43.0762 2025-10-27T05:08:43.943Z,1761541723.943 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:43.944Z,1761541723.944 [DAT](INFO): direction in FSK: [0.966795,-0.214333,0.139173] 2025-10-27T05:08:43.945Z,1761541723.945 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:43.948Z,1761541723.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.308205 m, nav range: 111.887581 m, bearing: 9.265323 deg, approach rate: -0.600560 m/s, LOS rate: -0.150829 deg/s, cmd heading: 20.091722 deg, new cmd heading: 19.916342 deg. 2025-10-27T05:08:43.956Z,1761541723.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.347606 target range: 117.308205 and range: 117.90 m. 2025-10-27T05:08:43.964Z,1761541723.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:43.964Z,1761541723.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:44.186Z,1761541724.186 [DAT](INFO): DAT read: 2025-10-27T05:08:44.188Z,1761541724.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:44.322Z,1761541724.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928283,-0.333987,-0.163532],[0.356400,0.924553,0.134840],[0.106159,-0.183453,0.977280]] 2025-10-27T05:08:44.399Z,1761541724.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.699997 m, deltaT: 3.535970 s, deltaX: -2.200005 m, approachRate: -0.622178 m/s, rangeRepo size: 4 2025-10-27T05:08:44.401Z,1761541724.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.119621 m, bearing: 9.900929 deg, lat: 36.779307 deg, lon: -121.859550 deg, deltaT: 3.535970 s, deltaX: -2.188583 m, approachRate: -0.618949 m/s, posRepo size: 4 2025-10-27T05:08:44.402Z,1761541724.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.12 m. 2025-10-27T05:08:44.405Z,1761541724.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.119621 m, nav range: 111.683464 m, bearing: 9.454235 deg, approach rate: 0.000000 m/s, LOS rate: -0.150829 deg/s, cmd heading: 19.916342 deg, new cmd heading: 19.703651 deg. 2025-10-27T05:08:44.406Z,1761541724.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.343894 target range: 115.119621 and range: 115.70 m. 2025-10-27T05:08:44.436Z,1761541724.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:44.688Z,1761541724.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:44.757Z,1761541724.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.12 m. 2025-10-27T05:08:44.760Z,1761541724.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.119621 m, nav range: 111.459099 m, bearing: 9.399479 deg, approach rate: -0.625799 m/s, LOS rate: -0.153031 deg/s, cmd heading: 19.703651 deg, new cmd heading: 19.539055 deg. 2025-10-27T05:08:44.761Z,1761541724.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341021 target range: 115.119621 and range: 115.70 m. 2025-10-27T05:08:44.940Z,1761541724.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:45.198Z,1761541725.198 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:45.264Z,1761541725.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929044,-0.332528,-0.162181],[0.354738,0.925131,0.135254],[0.105062,-0.183189,0.977448]] 2025-10-27T05:08:45.319Z,1761541725.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:45.321Z,1761541725.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.12 m. 2025-10-27T05:08:45.336Z,1761541725.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.119621 m, nav range: 111.115089 m, bearing: 9.320784 deg, approach rate: -0.609441 m/s, LOS rate: -0.139846 deg/s, cmd heading: 19.539056 deg, new cmd heading: 19.302241 deg. 2025-10-27T05:08:45.343Z,1761541725.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336888 target range: 115.119621 and range: 115.70 m. 2025-10-27T05:08:45.448Z,1761541725.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:45.700Z,1761541725.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:45.789Z,1761541725.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930453,-0.329824,-0.159603],[0.351520,0.926422,0.134818],[0.103393,-0.181545,0.977932]] 2025-10-27T05:08:45.807Z,1761541725.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.12 m. 2025-10-27T05:08:45.810Z,1761541725.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.119621 m, nav range: 110.794487 m, bearing: 9.247629 deg, approach rate: -0.659623 m/s, LOS rate: -0.150948 deg/s, cmd heading: 19.302241 deg, new cmd heading: 19.082142 deg. 2025-10-27T05:08:45.811Z,1761541725.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333046 target range: 115.119621 and range: 115.70 m. 2025-10-27T05:08:45.952Z,1761541725.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:46.212Z,1761541726.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:46.267Z,1761541726.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931269,-0.328000,-0.158601],[0.349736,0.926795,0.136878],[0.102095,-0.182938,0.977809]] 2025-10-27T05:08:46.304Z,1761541726.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.12 m. 2025-10-27T05:08:46.324Z,1761541726.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.119621 m, nav range: 110.478912 m, bearing: 9.181275 deg, approach rate: -0.635314 m/s, LOS rate: -0.133967 deg/s, cmd heading: 19.082142 deg, new cmd heading: 18.882510 deg. 2025-10-27T05:08:46.326Z,1761541726.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329562 target range: 115.119621 and range: 115.70 m. 2025-10-27T05:08:46.460Z,1761541726.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:46.657Z,1761541726.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932446,-0.325373,-0.157085],[0.347104,0.927402,0.139440],[0.100311,-0.184545,0.977691]] 2025-10-27T05:08:46.712Z,1761541726.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:46.771Z,1761541726.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.12 m. 2025-10-27T05:08:46.774Z,1761541726.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.119621 m, nav range: 110.207550 m, bearing: 9.124388 deg, approach rate: -0.596454 m/s, LOS rate: -0.125345 deg/s, cmd heading: 18.882510 deg, new cmd heading: 18.711430 deg. 2025-10-27T05:08:46.833Z,1761541726.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326576 target range: 115.119621 and range: 115.70 m. 2025-10-27T05:08:46.965Z,1761541726.965 [DAT](INFO): DAT read: Rx Time:05:08:45.6318 2025-10-27T05:08:46.965Z,1761541726.965 [DAT](INFO): Rx dataTimestamp_ set to:1761541726.964956 2025-10-27T05:08:46.966Z,1761541726.966 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:47.188Z,1761541727.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933802,-0.322482,-0.154979],[0.344005,0.928302,0.141124],[0.098358,-0.185096,0.977786]] 2025-10-27T05:08:47.222Z,1761541727.222 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:47.261Z,1761541727.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.12 m. 2025-10-27T05:08:47.284Z,1761541727.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.119621 m, nav range: 109.903473 m, bearing: 9.060915 deg, approach rate: -0.613685 m/s, LOS rate: -0.128454 deg/s, cmd heading: 18.711430 deg, new cmd heading: 18.520486 deg. 2025-10-27T05:08:47.285Z,1761541727.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.323243 target range: 115.119621 and range: 115.70 m. 2025-10-27T05:08:47.474Z,1761541727.474 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:47.590Z,1761541727.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935201,-0.319191,-0.153352],[0.340724,0.929051,0.144123],[0.096469,-0.187035,0.977605]] 2025-10-27T05:08:47.651Z,1761541727.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:47.653Z,1761541727.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.12 m. 2025-10-27T05:08:47.656Z,1761541727.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.119621 m, nav range: 109.624878 m, bearing: 9.009772 deg, approach rate: -0.699560 m/s, LOS rate: -0.128749 deg/s, cmd heading: 18.520487 deg, new cmd heading: 18.366667 deg. 2025-10-27T05:08:47.657Z,1761541727.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320559 target range: 115.119621 and range: 115.70 m. 2025-10-27T05:08:47.737Z,1761541727.737 [DAT](INFO): DAT read: 05:08:45.6318 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411, 0.14,-0.048,-1.412, 0.535,-0.067, PHS= 0.122,-1.300, 0.558, RAW= 163.0, 7.4, CAL= 162.5, 7.4, ROT= 347.5, -7.4 2025-10-27T05:08:47.738Z,1761541727.738 [DAT](INFO): got valid direction response: 05:08:45.6318 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411, 0.14,-0.048,-1.412, 0.535,-0.067, PHS= 0.122,-1.300, 0.558, RAW= 163.0, 7.4, CAL= 162.5, 7.4, ROT= 347.5, -7.4 2025-10-27T05:08:47.739Z,1761541727.739 [DAT](INFO): DAT read: Bearing 169.4, -7.9 (Local) 2025-10-27T05:08:47.739Z,1761541727.739 [DAT](INFO): Local bearing/azimuth received: Bearing 169.4, -7.9 (Local) 2025-10-27T05:08:47.741Z,1761541727.741 [DAT](INFO): DAT read: Range 11 to 50 : 113.5 m (Round-trip 151.4 ms) speed 0.4 m/s 2025-10-27T05:08:47.742Z,1761541727.742 [DAT](INFO): DAT read: user:313>Tx time:05:08:46.7262 2025-10-27T05:08:47.742Z,1761541727.742 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:47.756Z,1761541727.756 [DAT](INFO): direction in FSK: [0.968165,-0.214637,0.128796] 2025-10-27T05:08:47.756Z,1761541727.756 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:47.772Z,1761541727.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:47.772Z,1761541727.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:47.976Z,1761541727.976 [DAT](INFO): DAT read: 2025-10-27T05:08:47.976Z,1761541727.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:47.994Z,1761541727.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936856,-0.315272,-0.151341],[0.336736,0.930044,0.147062],[0.094390,-0.188738,0.977481]] 2025-10-27T05:08:48.041Z,1761541728.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.500000 m, deltaT: 3.793517 s, deltaX: -2.199997 m, approachRate: -0.579936 m/s, rangeRepo size: 4 2025-10-27T05:08:48.044Z,1761541728.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.930672 m, bearing: 8.651198 deg, lat: 36.779305 deg, lon: -121.859550 deg, deltaT: 3.793517 s, deltaX: -2.188950 m, approachRate: -0.577024 m/s, posRepo size: 4 2025-10-27T05:08:48.044Z,1761541728.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m. 2025-10-27T05:08:48.047Z,1761541728.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.930672 m, nav range: 109.211884 m, bearing: 8.983283 deg, approach rate: 0.000000 m/s, LOS rate: -0.128749 deg/s, cmd heading: 18.366667 deg, new cmd heading: 18.216865 deg. 2025-10-27T05:08:48.048Z,1761541728.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317944 target range: 112.930672 and range: 113.50 m. 2025-10-27T05:08:48.230Z,1761541728.230 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:48.399Z,1761541728.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938409,-0.311875,-0.148738],[0.333005,0.931155,0.148522],[0.092178,-0.188905,0.977660]] 2025-10-27T05:08:48.452Z,1761541728.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m. 2025-10-27T05:08:48.454Z,1761541728.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.930672 m, nav range: 108.936729 m, bearing: 8.937472 deg, approach rate: -0.669333 m/s, LOS rate: -0.111719 deg/s, cmd heading: 18.216866 deg, new cmd heading: 18.079087 deg. 2025-10-27T05:08:48.456Z,1761541728.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.315540 target range: 112.930672 and range: 113.50 m. 2025-10-27T05:08:48.480Z,1761541728.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:48.732Z,1761541728.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:48.805Z,1761541728.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939840,-0.308856,-0.145975],[0.329469,0.932433,0.148387],[0.090282,-0.187555,0.978096]] 2025-10-27T05:08:48.845Z,1761541728.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m. 2025-10-27T05:08:48.864Z,1761541728.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.930672 m, nav range: 108.699554 m, bearing: 8.898308 deg, approach rate: -0.604997 m/s, LOS rate: -0.100120 deg/s, cmd heading: 18.079087 deg, new cmd heading: 17.961339 deg. 2025-10-27T05:08:48.865Z,1761541728.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313484 target range: 112.930672 and range: 113.50 m. 2025-10-27T05:08:48.984Z,1761541728.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:49.202Z,1761541729.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941333,-0.305320,-0.143777],[0.325674,0.933539,0.149808],[0.088482,-0.187844,0.978205]] 2025-10-27T05:08:49.221Z,1761541729.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m. 2025-10-27T05:08:49.224Z,1761541729.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.930672 m, nav range: 108.446785 m, bearing: 8.856972 deg, approach rate: -0.670695 m/s, LOS rate: -0.109935 deg/s, cmd heading: 17.961338 deg, new cmd heading: 17.837043 deg. 2025-10-27T05:08:49.225Z,1761541729.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.311315 target range: 112.930672 and range: 113.50 m. 2025-10-27T05:08:49.237Z,1761541729.237 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:49.488Z,1761541729.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:49.740Z,1761541729.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:49.784Z,1761541729.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:49.786Z,1761541729.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m. 2025-10-27T05:08:49.789Z,1761541729.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.930672 m, nav range: 108.089050 m, bearing: 8.804565 deg, approach rate: -0.632759 m/s, LOS rate: -0.093004 deg/s, cmd heading: 17.837042 deg, new cmd heading: 17.679301 deg. 2025-10-27T05:08:49.790Z,1761541729.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308562 target range: 112.930672 and range: 113.50 m. 2025-10-27T05:08:49.993Z,1761541729.993 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:50.068Z,1761541730.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944101,-0.298592,-0.139701],[0.318484,0.935547,0.152711],[0.085099,-0.188667,0.978347]] 2025-10-27T05:08:50.093Z,1761541730.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m. 2025-10-27T05:08:50.097Z,1761541730.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.930672 m, nav range: 107.893707 m, bearing: 8.776662 deg, approach rate: -0.635785 m/s, LOS rate: -0.090981 deg/s, cmd heading: 17.679301 deg, new cmd heading: 17.595440 deg. 2025-10-27T05:08:50.098Z,1761541730.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307098 target range: 112.930672 and range: 113.50 m. 2025-10-27T05:08:50.244Z,1761541730.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:50.472Z,1761541730.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945480,-0.295201,-0.137561],[0.314821,0.936584,0.153943],[0.083393,-0.188857,0.978457]] 2025-10-27T05:08:50.495Z,1761541730.495 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:50.545Z,1761541730.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m. 2025-10-27T05:08:50.548Z,1761541730.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.930672 m, nav range: 107.602333 m, bearing: 8.735457 deg, approach rate: -0.645037 m/s, LOS rate: -0.091465 deg/s, cmd heading: 17.595440 deg, new cmd heading: 17.471491 deg. 2025-10-27T05:08:50.549Z,1761541730.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.304935 target range: 112.930672 and range: 113.50 m. 2025-10-27T05:08:50.748Z,1761541730.748 [DAT](INFO): DAT read: Rx Time:05:08:49.2788 2025-10-27T05:08:50.748Z,1761541730.748 [DAT](INFO): Rx dataTimestamp_ set to:1761541730.748161 2025-10-27T05:08:50.749Z,1761541730.749 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:50.880Z,1761541730.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946639,-0.292510,-0.135327],[0.311769,0.937526,0.154418],[0.081703,-0.188369,0.978694]] 2025-10-27T05:08:50.946Z,1761541730.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m. 2025-10-27T05:08:50.950Z,1761541730.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.930672 m, nav range: 107.359779 m, bearing: 8.701431 deg, approach rate: -0.604259 m/s, LOS rate: -0.084958 deg/s, cmd heading: 17.471491 deg, new cmd heading: 17.369182 deg. 2025-10-27T05:08:50.951Z,1761541730.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.303149 target range: 112.930672 and range: 113.50 m. 2025-10-27T05:08:51.001Z,1761541731.001 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:51.258Z,1761541731.258 [DAT](INFO): DAT read: 05:08:49.2788 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.35,-1.214,-2.599,-0.679,-1.244, PHS= 0.132,-1.310, 0.521, RAW= 161.6, 7.9, CAL= 161.2, 8.1, ROT= 348.8, -8.1 2025-10-27T05:08:51.259Z,1761541731.259 [DAT](INFO): got valid direction response: 05:08:49.2788 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.35,-1.214,-2.599,-0.679,-1.244, PHS= 0.132,-1.310, 0.521, RAW= 161.6, 7.9, CAL= 161.2, 8.1, ROT= 348.8, -8.1 2025-10-27T05:08:51.260Z,1761541731.260 [DAT](INFO): DAT read: Bearing 169.3, -7.7 (Local) 2025-10-27T05:08:51.260Z,1761541731.260 [DAT](INFO): Local bearing/azimuth received: Bearing 169.3, -7.7 (Local) 2025-10-27T05:08:51.264Z,1761541731.264 [DAT](INFO): DAT read: Range 11 to 50 : 111.3 m (Round-trip 148.4 ms) speed 0.6 m/s 2025-10-27T05:08:51.271Z,1761541731.271 [DAT](INFO): DAT read: user:314>Tx time:05:08:50.3762 2025-10-27T05:08:51.271Z,1761541731.271 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:51.272Z,1761541731.272 [DAT](INFO): direction in FSK: [0.971169,-0.192297,0.140901] 2025-10-27T05:08:51.273Z,1761541731.273 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:51.307Z,1761541731.307 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:51.312Z,1761541731.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:51.380Z,1761541731.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948999,-0.286714,-0.131130],[0.305363,0.939366,0.156030],[0.078443,-0.188115,0.979009]] 2025-10-27T05:08:51.504Z,1761541731.504 [DAT](INFO): DAT read: 2025-10-27T05:08:51.504Z,1761541731.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:51.505Z,1761541731.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.526402 s, deltaX: -2.199997 m, approachRate: -0.623864 m/s, rangeRepo size: 4 2025-10-27T05:08:51.507Z,1761541731.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.741730 m, bearing: 8.189130 deg, lat: 36.779305 deg, lon: -121.859550 deg, deltaT: 3.526402 s, deltaX: -2.188942 m, approachRate: -0.620730 m/s, posRepo size: 4 2025-10-27T05:08:51.508Z,1761541731.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:51.510Z,1761541731.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 107.011261 m, bearing: 8.649847 deg, approach rate: 0.000000 m/s, LOS rate: -0.084958 deg/s, cmd heading: 17.369183 deg, new cmd heading: 17.230576 deg. 2025-10-27T05:08:51.516Z,1761541731.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.300730 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:51.756Z,1761541731.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:51.815Z,1761541731.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950080,-0.284122,-0.128928],[0.302438,0.940189,0.156769],[0.076675,-0.187936,0.979184]] 2025-10-27T05:08:51.859Z,1761541731.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:51.861Z,1761541731.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:51.868Z,1761541731.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 106.782936 m, bearing: 8.616276 deg, approach rate: -0.615331 m/s, LOS rate: -0.090667 deg/s, cmd heading: 17.230576 deg, new cmd heading: 17.129647 deg. 2025-10-27T05:08:51.869Z,1761541731.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298969 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:52.008Z,1761541732.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:52.256Z,1761541732.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:52.268Z,1761541732.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:52.275Z,1761541732.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 106.524002 m, bearing: 8.578023 deg, approach rate: -0.655561 m/s, LOS rate: -0.097083 deg/s, cmd heading: 17.129647 deg, new cmd heading: 17.014609 deg. 2025-10-27T05:08:52.276Z,1761541732.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296961 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:52.520Z,1761541732.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:52.635Z,1761541732.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951914,-0.280049,-0.124225],[0.297524,0.941745,0.156831],[0.073068,-0.186250,0.979782]] 2025-10-27T05:08:52.727Z,1761541732.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:52.750Z,1761541732.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 106.249054 m, bearing: 8.530591 deg, approach rate: -0.585096 m/s, LOS rate: -0.101199 deg/s, cmd heading: 17.014609 deg, new cmd heading: 16.871944 deg. 2025-10-27T05:08:52.755Z,1761541732.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294471 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:52.772Z,1761541732.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:53.024Z,1761541733.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:53.063Z,1761541733.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952752,-0.278264,-0.121786],[0.295276,0.942508,0.156493],[0.071238,-0.185060,0.980142]] 2025-10-27T05:08:53.082Z,1761541733.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:53.085Z,1761541733.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 106.000458 m, bearing: 8.487831 deg, approach rate: -0.698071 m/s, LOS rate: -0.120353 deg/s, cmd heading: 16.871944 deg, new cmd heading: 16.743363 deg. 2025-10-27T05:08:53.086Z,1761541733.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292227 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:53.276Z,1761541733.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:53.516Z,1761541733.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:53.519Z,1761541733.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 105.727448 m, bearing: 8.438802 deg, approach rate: -0.629166 m/s, LOS rate: -0.113281 deg/s, cmd heading: 16.743364 deg, new cmd heading: 16.595898 deg. 2025-10-27T05:08:53.520Z,1761541733.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289653 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:53.528Z,1761541733.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:53.780Z,1761541733.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:53.867Z,1761541733.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954233,-0.275100,-0.117298],[0.291237,0.943945,0.155403],[0.067971,-0.182452,0.980862]] 2025-10-27T05:08:53.884Z,1761541733.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:53.886Z,1761541733.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:53.889Z,1761541733.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 105.494728 m, bearing: 8.397383 deg, approach rate: -0.629528 m/s, LOS rate: -0.112291 deg/s, cmd heading: 16.595898 deg, new cmd heading: 16.471366 deg. 2025-10-27T05:08:53.890Z,1761541733.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.287480 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:54.032Z,1761541734.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:54.270Z,1761541734.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954825,-0.273848,-0.115395],[0.289632,0.944477,0.155166],[0.066496,-0.181579,0.981125]] 2025-10-27T05:08:54.284Z,1761541734.284 [DAT](INFO): DAT read: Rx Time:05:08:52.9257 2025-10-27T05:08:54.284Z,1761541734.284 [DAT](INFO): Rx dataTimestamp_ set to:1761541734.284205 2025-10-27T05:08:54.285Z,1761541734.285 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:54.378Z,1761541734.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:54.385Z,1761541734.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 105.220772 m, bearing: 8.348651 deg, approach rate: -0.557039 m/s, LOS rate: -0.099345 deg/s, cmd heading: 16.471367 deg, new cmd heading: 16.324790 deg. 2025-10-27T05:08:54.385Z,1761541734.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284921 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:54.540Z,1761541734.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:54.674Z,1761541734.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955565,-0.272247,-0.113034],[0.287585,0.945185,0.154659],[0.064732,-0.180294,0.981481]] 2025-10-27T05:08:54.768Z,1761541734.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.74 m. 2025-10-27T05:08:54.802Z,1761541734.802 [DAT](INFO): DAT read: 05:08:52.9257 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.50,-1.677,-3.095,-1.136,-1.732, PHS= 0.156,-1.319, 0.551, RAW= 161.5, 7.2, CAL= 161.0, 7.1, ROT= 349.0, -7.1 2025-10-27T05:08:54.808Z,1761541734.808 [DAT](INFO): got valid direction response: 05:08:52.9257 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.50,-1.677,-3.095,-1.136,-1.732, PHS= 0.156,-1.319, 0.551, RAW= 161.5, 7.2, CAL= 161.0, 7.1, ROT= 349.0, -7.1 2025-10-27T05:08:54.809Z,1761541734.809 [DAT](INFO): DAT read: Bearing 166.8, -8.1 (Local) 2025-10-27T05:08:54.809Z,1761541734.809 [DAT](INFO): Local bearing/azimuth received: Bearing 166.8, -8.1 (Local) 2025-10-27T05:08:54.810Z,1761541734.810 [DAT](INFO): DAT read: Range 11 to 50 : 109.0 m (Round-trip 145.4 ms) speed 0.5 m/s 2025-10-27T05:08:54.811Z,1761541734.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.741730 m, nav range: 104.953148 m, bearing: 8.298017 deg, approach rate: -0.697302 m/s, LOS rate: -0.132264 deg/s, cmd heading: 16.324791 deg, new cmd heading: 16.172503 deg. 2025-10-27T05:08:54.812Z,1761541734.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282263 target range: 110.741730 and range: 111.30 m. 2025-10-27T05:08:54.821Z,1761541734.821 [DAT](INFO): DAT read: user:315>Tx time:05:08:54.0262 2025-10-27T05:08:54.822Z,1761541734.822 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:54.833Z,1761541734.833 [DAT](INFO): direction in FSK: [0.974100,-0.189346,0.123601] 2025-10-27T05:08:54.833Z,1761541734.833 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:54.855Z,1761541734.855 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:54.856Z,1761541734.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:55.041Z,1761541735.041 [DAT](INFO): DAT read: 2025-10-27T05:08:55.042Z,1761541735.042 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:55.134Z,1761541735.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956160,-0.270760,-0.111562],[0.285828,0.945764,0.154378],[0.063712,-0.179498,0.981693]] 2025-10-27T05:08:55.158Z,1761541735.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.000000 m, deltaT: 3.537725 s, deltaX: -2.300003 m, approachRate: -0.650136 m/s, rangeRepo size: 4 2025-10-27T05:08:55.160Z,1761541735.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.453423 m, bearing: 6.968970 deg, lat: 36.779305 deg, lon: -121.859557 deg, deltaT: 3.537725 s, deltaX: -2.288307 m, approachRate: -0.646830 m/s, posRepo size: 4 2025-10-27T05:08:55.161Z,1761541735.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:55.164Z,1761541735.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 104.592659 m, bearing: 7.899622 deg, approach rate: 0.000000 m/s, LOS rate: -0.132264 deg/s, cmd heading: 16.172503 deg, new cmd heading: 16.015429 deg. 2025-10-27T05:08:55.165Z,1761541735.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279522 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:55.292Z,1761541735.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:55.534Z,1761541735.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956789,-0.269298,-0.109699],[0.284042,0.946312,0.154317],[0.062253,-0.178808,0.981913]] 2025-10-27T05:08:55.544Z,1761541735.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:55.623Z,1761541735.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:55.626Z,1761541735.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 104.302673 m, bearing: 7.842185 deg, approach rate: -0.623453 m/s, LOS rate: -0.123828 deg/s, cmd heading: 16.015429 deg, new cmd heading: 15.842642 deg. 2025-10-27T05:08:55.627Z,1761541735.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276506 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:55.796Z,1761541735.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:55.944Z,1761541735.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957457,-0.267617,-0.107970],[0.282111,0.946778,0.155002],[0.060742,-0.178867,0.981996]] 2025-10-27T05:08:56.022Z,1761541736.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:56.024Z,1761541736.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:56.048Z,1761541736.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:56.054Z,1761541736.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 104.036850 m, bearing: 7.789574 deg, approach rate: -0.661501 m/s, LOS rate: -0.131256 deg/s, cmd heading: 15.842641 deg, new cmd heading: 15.684406 deg. 2025-10-27T05:08:56.055Z,1761541736.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273745 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:56.301Z,1761541736.301 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:56.407Z,1761541736.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958178,-0.265700,-0.106292],[0.279898,0.947477,0.154740],[0.059595,-0.178020,0.982221]] 2025-10-27T05:08:56.471Z,1761541736.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:56.473Z,1761541736.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 103.760811 m, bearing: 7.731451 deg, approach rate: -0.624074 m/s, LOS rate: -0.131755 deg/s, cmd heading: 15.684406 deg, new cmd heading: 15.509574 deg. 2025-10-27T05:08:56.474Z,1761541736.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270693 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:56.552Z,1761541736.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:56.784Z,1761541736.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958760,-0.264080,-0.105073],[0.278132,0.947849,0.155644],[0.058491,-0.178449,0.982209]] 2025-10-27T05:08:56.804Z,1761541736.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:56.857Z,1761541736.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:56.864Z,1761541736.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 103.503090 m, bearing: 7.677194 deg, approach rate: -0.661042 m/s, LOS rate: -0.139513 deg/s, cmd heading: 15.509574 deg, new cmd heading: 15.346397 deg. 2025-10-27T05:08:56.865Z,1761541736.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267845 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:57.056Z,1761541737.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:57.189Z,1761541737.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959364,-0.262313,-0.103986],[0.276284,0.948124,0.157252],[0.057342,-0.179592,0.982069]] 2025-10-27T05:08:57.228Z,1761541737.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:57.247Z,1761541737.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 103.257370 m, bearing: 7.625513 deg, approach rate: -0.660907 m/s, LOS rate: -0.139338 deg/s, cmd heading: 15.346397 deg, new cmd heading: 15.190983 deg. 2025-10-27T05:08:57.248Z,1761541737.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265133 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:57.309Z,1761541737.309 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:57.560Z,1761541737.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:57.589Z,1761541737.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960024,-0.260505,-0.102424],[0.274233,0.948671,0.157543],[0.056126,-0.179333,0.982186]] 2025-10-27T05:08:57.640Z,1761541737.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:57.642Z,1761541737.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 102.996162 m, bearing: 7.569924 deg, approach rate: -0.635131 m/s, LOS rate: -0.135508 deg/s, cmd heading: 15.190983 deg, new cmd heading: 15.023794 deg. 2025-10-27T05:08:57.643Z,1761541737.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262215 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:57.813Z,1761541737.813 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:57.994Z,1761541737.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960664,-0.258770,-0.100815],[0.272202,0.949332,0.157080],[0.055059,-0.178343,0.982427]] 2025-10-27T05:08:58.036Z,1761541738.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:08:58.038Z,1761541738.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:58.040Z,1761541738.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 102.744148 m, bearing: 7.516332 deg, approach rate: -0.633227 m/s, LOS rate: -0.134989 deg/s, cmd heading: 15.023793 deg, new cmd heading: 14.862623 deg. 2025-10-27T05:08:58.041Z,1761541738.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259402 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:58.064Z,1761541738.064 [DAT](INFO): DAT read: Rx Time:05:08:56.5728 2025-10-27T05:08:58.064Z,1761541738.064 [DAT](INFO): Rx dataTimestamp_ set to:1761541738.064017 2025-10-27T05:08:58.065Z,1761541738.065 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:58.317Z,1761541738.317 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:58.460Z,1761541738.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961176,-0.257415,-0.099388],[0.270611,0.949777,0.157140],[0.053946,-0.177935,0.982562]] 2025-10-27T05:08:58.505Z,1761541738.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.45 m. 2025-10-27T05:08:58.508Z,1761541738.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.453423 m, nav range: 102.447220 m, bearing: 7.453283 deg, approach rate: -0.634955 m/s, LOS rate: -0.135215 deg/s, cmd heading: 14.862623 deg, new cmd heading: 14.672929 deg. 2025-10-27T05:08:58.509Z,1761541738.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256091 target range: 108.453423 and range: 109.00 m. 2025-10-27T05:08:58.575Z,1761541738.575 [DAT](INFO): DAT read: 05:08:56.5728 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.49,-0.564,-2.026,-0.027,-0.647, PHS= 0.185,-1.334, 0.576, RAW= 161.2, 6.6, CAL= 160.5, 6.3, ROT= 349.5, -6.3 2025-10-27T05:08:58.576Z,1761541738.576 [DAT](INFO): got valid direction response: 05:08:56.5728 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.49,-0.564,-2.026,-0.027,-0.647, PHS= 0.185,-1.334, 0.576, RAW= 161.2, 6.6, CAL= 160.5, 6.3, ROT= 349.5, -6.3 2025-10-27T05:08:58.577Z,1761541738.577 [DAT](INFO): DAT read: Bearing 164.5, -8.1 (Local) 2025-10-27T05:08:58.577Z,1761541738.577 [DAT](INFO): Local bearing/azimuth received: Bearing 164.5, -8.1 (Local) 2025-10-27T05:08:58.579Z,1761541738.579 [DAT](INFO): DAT read: Range 11 to 50 : 106.8 m (Round-trip 142.4 ms) speed 0.4 m/s 2025-10-27T05:08:58.581Z,1761541738.581 [DAT](INFO): DAT read: user:316>Tx time:05:08:57.6762 2025-10-27T05:08:58.581Z,1761541738.581 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:08:58.582Z,1761541738.582 [DAT](INFO): direction in FSK: [0.977317,-0.181135,0.109734] 2025-10-27T05:08:58.582Z,1761541738.582 [DAT](INFO): publishing direction and range info 2025-10-27T05:08:58.586Z,1761541738.586 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:58.586Z,1761541738.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:08:58.820Z,1761541738.820 [DAT](INFO): DAT read: 2025-10-27T05:08:58.821Z,1761541738.821 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:58.849Z,1761541738.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961696,-0.255851,-0.098398],[0.268942,0.950085,0.158142],[0.053026,-0.178547,0.982501]] 2025-10-27T05:08:58.872Z,1761541738.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.800003 m, deltaT: 3.778783 s, deltaX: -2.199997 m, approachRate: -0.582197 m/s, rangeRepo size: 4 2025-10-27T05:08:58.874Z,1761541738.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.264580 m, bearing: 6.323988 deg, lat: 36.779308 deg, lon: -121.859559 deg, deltaT: 3.778783 s, deltaX: -2.188843 m, approachRate: -0.579245 m/s, posRepo size: 4 2025-10-27T05:08:58.887Z,1761541738.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.26 m. 2025-10-27T05:08:58.890Z,1761541738.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.264580 m, nav range: 102.521263 m, bearing: 7.280182 deg, approach rate: 0.000000 m/s, LOS rate: -0.135215 deg/s, cmd heading: 14.672928 deg, new cmd heading: 14.524277 deg. 2025-10-27T05:08:58.891Z,1761541738.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253496 target range: 106.264580 and range: 106.80 m. 2025-10-27T05:08:59.072Z,1761541739.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:59.258Z,1761541739.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.26 m. 2025-10-27T05:08:59.260Z,1761541739.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.264580 m, nav range: 102.274673 m, bearing: 7.227367 deg, approach rate: -0.639055 m/s, LOS rate: -0.137204 deg/s, cmd heading: 14.524276 deg, new cmd heading: 14.365450 deg. 2025-10-27T05:08:59.261Z,1761541739.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.250724 target range: 106.264580 and range: 106.80 m. 2025-10-27T05:08:59.326Z,1761541739.326 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:59.576Z,1761541739.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:08:59.628Z,1761541739.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962917,-0.252139,-0.096000],[0.264918,0.950987,0.159507],[0.051077,-0.179024,0.982518]] 2025-10-27T05:08:59.666Z,1761541739.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.26 m. 2025-10-27T05:08:59.669Z,1761541739.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.264580 m, nav range: 101.997658 m, bearing: 7.169014 deg, approach rate: -0.677845 m/s, LOS rate: -0.143176 deg/s, cmd heading: 14.365450 deg, new cmd heading: 14.189915 deg. 2025-10-27T05:08:59.670Z,1761541739.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.247661 target range: 106.264580 and range: 106.80 m. 2025-10-27T05:08:59.829Z,1761541739.829 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:00.030Z,1761541740.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963559,-0.250092,-0.094909],[0.262680,0.951673,0.159118],[0.050528,-0.178250,0.982687]] 2025-10-27T05:09:00.059Z,1761541740.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:00.061Z,1761541740.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.26 m. 2025-10-27T05:09:00.068Z,1761541740.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.264580 m, nav range: 101.738243 m, bearing: 7.114436 deg, approach rate: -0.656475 m/s, LOS rate: -0.138466 deg/s, cmd heading: 14.189915 deg, new cmd heading: 14.025766 deg. 2025-10-27T05:09:00.069Z,1761541740.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.244796 target range: 106.264580 and range: 106.80 m. 2025-10-27T05:09:00.080Z,1761541740.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:00.332Z,1761541740.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:00.469Z,1761541740.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964167,-0.248014,-0.094190],[0.260592,0.951939,0.160950],[0.049745,-0.179727,0.982458]] 2025-10-27T05:09:00.517Z,1761541740.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.26 m. 2025-10-27T05:09:00.520Z,1761541740.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.264580 m, nav range: 101.429077 m, bearing: 7.053507 deg, approach rate: -0.678905 m/s, LOS rate: -0.134203 deg/s, cmd heading: 14.025765 deg, new cmd heading: 13.842422 deg. 2025-10-27T05:09:00.521Z,1761541740.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241596 target range: 106.264580 and range: 106.80 m. 2025-10-27T05:09:00.585Z,1761541740.585 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:00.837Z,1761541740.837 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:00.861Z,1761541740.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964701,-0.246262,-0.093315],[0.258788,0.952143,0.162640],[0.048798,-0.181048,0.982263]] 2025-10-27T05:09:00.893Z,1761541740.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.26 m. 2025-10-27T05:09:00.896Z,1761541740.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.264580 m, nav range: 101.180656 m, bearing: 7.004577 deg, approach rate: -0.660474 m/s, LOS rate: -0.130412 deg/s, cmd heading: 13.842423 deg, new cmd heading: 13.695270 deg. 2025-10-27T05:09:00.897Z,1761541740.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.239028 target range: 106.264580 and range: 106.80 m. 2025-10-27T05:09:01.088Z,1761541741.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:01.270Z,1761541741.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965350,-0.244065,-0.092363],[0.256504,0.952563,0.163796],[0.048004,-0.181812,0.982161]] 2025-10-27T05:09:01.289Z,1761541741.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.26 m. 2025-10-27T05:09:01.292Z,1761541741.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.264580 m, nav range: 100.919022 m, bearing: 6.953173 deg, approach rate: -0.660777 m/s, LOS rate: -0.130161 deg/s, cmd heading: 13.695270 deg, new cmd heading: 13.540658 deg. 2025-10-27T05:09:01.293Z,1761541741.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.236329 target range: 106.264580 and range: 106.80 m. 2025-10-27T05:09:01.344Z,1761541741.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:01.592Z,1761541741.592 [DAT](INFO): DAT read: Rx Time:05:09:00.2197 2025-10-27T05:09:01.592Z,1761541741.592 [DAT](INFO): Rx dataTimestamp_ set to:1761541741.592111 2025-10-27T05:09:01.593Z,1761541741.593 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:01.768Z,1761541741.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966658,-0.239172,-0.091479],[0.251705,0.953159,0.167727],[0.047079,-0.185161,0.981580]] 2025-10-27T05:09:01.844Z,1761541741.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:01.849Z,1761541741.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.26 m. 2025-10-27T05:09:01.856Z,1761541741.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.264580 m, nav range: 100.564377 m, bearing: 6.885156 deg, approach rate: -0.632718 m/s, LOS rate: -0.121776 deg/s, cmd heading: 13.540658 deg, new cmd heading: 13.335889 deg. 2025-10-27T05:09:01.860Z,1761541741.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232755 target range: 106.264580 and range: 106.80 m. 2025-10-27T05:09:02.103Z,1761541742.103 [DAT](INFO): DAT read: 05:09:00.2197 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417,-0.28,-0.854,-2.273,-0.376,-0.955, PHS= 0.203,-1.273, 0.536, RAW= 159.9, 6.5, CAL= 159.3, 6.2, ROT= 350.7, -6.2 2025-10-27T05:09:02.104Z,1761541742.104 [DAT](INFO): got valid direction response: 05:09:00.2197 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 417,-0.28,-0.854,-2.273,-0.376,-0.955, PHS= 0.203,-1.273, 0.536, RAW= 159.9, 6.5, CAL= 159.3, 6.2, ROT= 350.7, -6.2 2025-10-27T05:09:02.105Z,1761541742.105 [DAT](INFO): DAT read: Bearing 163.6, -7.4 (Local) 2025-10-27T05:09:02.106Z,1761541742.106 [DAT](INFO): Local bearing/azimuth received: Bearing 163.6, -7.4 (Local) 2025-10-27T05:09:02.110Z,1761541742.110 [DAT](INFO): DAT read: Range 11 to 50 : 104.5 m (Round-trip 139.4 ms) speed 0.6 m/s 2025-10-27T05:09:02.113Z,1761541742.113 [DAT](INFO): DAT read: Tx time:05:09:01.2777 2025-10-27T05:09:02.114Z,1761541742.114 [DAT](INFO): Ping request sent. 2025-10-27T05:09:02.114Z,1761541742.114 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:02.114Z,1761541742.114 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:02.116Z,1761541742.116 [DAT](INFO): direction in FSK: [0.981084,-0.160658,0.107999] 2025-10-27T05:09:02.116Z,1761541742.116 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:02.117Z,1761541742.117 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:02.123Z,1761541742.123 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:02.123Z,1761541742.123 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:02.217Z,1761541742.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967205,-0.237276,-0.090636],[0.249717,0.953536,0.168552],[0.046431,-0.185657,0.981517]] 2025-10-27T05:09:02.278Z,1761541742.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.500000 m, deltaT: 3.527814 s, deltaX: -2.300003 m, approachRate: -0.651963 m/s, rangeRepo size: 4 2025-10-27T05:09:02.284Z,1761541742.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.975937 m, bearing: 6.422483 deg, lat: 36.779319 deg, lon: -121.859565 deg, deltaT: 3.527814 s, deltaX: -2.288643 m, approachRate: -0.648742 m/s, posRepo size: 4 2025-10-27T05:09:02.285Z,1761541742.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.98 m. 2025-10-27T05:09:02.292Z,1761541742.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.975937 m, nav range: 101.358917 m, bearing: 6.479188 deg, approach rate: 0.000000 m/s, LOS rate: -0.121776 deg/s, cmd heading: 13.335890 deg, new cmd heading: 13.179614 deg. 2025-10-27T05:09:02.293Z,1761541742.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230028 target range: 103.975937 and range: 104.50 m. 2025-10-27T05:09:02.738Z,1761541742.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967932,-0.234859,-0.089155],[0.247065,0.954206,0.168674],[0.045458,-0.185292,0.981632]] 2025-10-27T05:09:02.872Z,1761541742.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:02.874Z,1761541742.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.98 m. 2025-10-27T05:09:02.877Z,1761541742.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.975937 m, nav range: 100.965004 m, bearing: 6.412423 deg, approach rate: -0.660264 m/s, LOS rate: -0.112346 deg/s, cmd heading: 13.179614 deg, new cmd heading: 12.978539 deg. 2025-10-27T05:09:02.878Z,1761541742.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226518 target range: 103.975937 and range: 104.50 m. 2025-10-27T05:09:02.895Z,1761541742.895 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T04:59:02.8Z 2025-10-27T05:09:02.895Z,1761541742.895 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T05:09:02.899Z,1761541742.899 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:09:02.899Z,1761541742.899 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T05:09:02.899Z,1761541742.899 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:09:02.899Z,1761541742.899 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T05:09:03.104Z,1761541743.104 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:03.104Z,1761541743.104 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:03.104Z,1761541743.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:03.203Z,1761541743.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968743,-0.232192,-0.087316],[0.244159,0.954698,0.170112],[0.043861,-0.186114,0.981549]] 2025-10-27T05:09:03.229Z,1761541743.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.98 m. 2025-10-27T05:09:03.232Z,1761541743.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.975937 m, nav range: 100.719788 m, bearing: 6.371051 deg, approach rate: -0.690251 m/s, LOS rate: -0.116738 deg/s, cmd heading: 12.978538 deg, new cmd heading: 12.854122 deg. 2025-10-27T05:09:03.233Z,1761541743.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224347 target range: 103.975937 and range: 104.50 m. 2025-10-27T05:09:03.257Z,1761541743.257 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T05:09:03.257Z,1761541743.257 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T05:09:03.257Z,1761541743.257 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T05:09:03.257Z,1761541743.257 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:09:03.257Z,1761541743.257 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T05:09:03.356Z,1761541743.356 [DAT](INFO): DAT read: user:317> 2025-10-27T05:09:03.357Z,1761541743.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242775 2025-10-27T05:09:03.608Z,1761541743.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494079 2025-10-27T05:09:03.764Z,1761541743.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970461,-0.226649,-0.082679],[0.237875,0.956101,0.171133],[0.040262,-0.185745,0.981773]] 2025-10-27T05:09:03.856Z,1761541743.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.98 m. 2025-10-27T05:09:03.860Z,1761541743.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746179 2025-10-27T05:09:03.859Z,1761541743.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.975937 m, nav range: 100.303192 m, bearing: 6.311709 deg, approach rate: -0.664422 m/s, LOS rate: -0.095038 deg/s, cmd heading: 12.854122 deg, new cmd heading: 12.675356 deg. 2025-10-27T05:09:03.861Z,1761541743.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.221227 target range: 103.975937 and range: 104.50 m. 2025-10-27T05:09:04.112Z,1761541744.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997917 2025-10-27T05:09:04.167Z,1761541744.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971412,-0.223261,-0.080701],[0.234249,0.956633,0.173149],[0.038544,-0.187103,0.981584]] 2025-10-27T05:09:04.233Z,1761541744.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.98 m. 2025-10-27T05:09:04.240Z,1761541744.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.975937 m, nav range: 100.057877 m, bearing: 6.277097 deg, approach rate: -0.651096 m/s, LOS rate: -0.092090 deg/s, cmd heading: 12.675356 deg, new cmd heading: 12.571265 deg. 2025-10-27T05:09:04.241Z,1761541744.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219410 target range: 103.975937 and range: 104.50 m. 2025-10-27T05:09:04.365Z,1761541744.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251037 2025-10-27T05:09:04.562Z,1761541744.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972397,-0.219859,-0.078141],[0.230441,0.957452,0.173731],[0.036620,-0.186942,0.981688]] 2025-10-27T05:09:04.616Z,1761541744.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502143 2025-10-27T05:09:04.617Z,1761541744.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.98 m. 2025-10-27T05:09:04.620Z,1761541744.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.975937 m, nav range: 99.813652 m, bearing: 6.244960 deg, approach rate: -0.638868 m/s, LOS rate: -0.084273 deg/s, cmd heading: 12.571265 deg, new cmd heading: 12.474619 deg. 2025-10-27T05:09:04.621Z,1761541744.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.217723 target range: 103.975937 and range: 104.50 m. 2025-10-27T05:09:04.868Z,1761541744.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754013 2025-10-27T05:09:04.972Z,1761541744.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973270,-0.216865,-0.075592],[0.227025,0.958223,0.173976],[0.034704,-0.186487,0.981844]] 2025-10-27T05:09:05.001Z,1761541745.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:05.003Z,1761541745.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.98 m. 2025-10-27T05:09:05.006Z,1761541745.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.975937 m, nav range: 99.557549 m, bearing: 6.211629 deg, approach rate: -0.659855 m/s, LOS rate: -0.086098 deg/s, cmd heading: 12.474618 deg, new cmd heading: 12.374369 deg. 2025-10-27T05:09:05.023Z,1761541745.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.215973 target range: 103.975937 and range: 104.50 m. 2025-10-27T05:09:05.121Z,1761541745.121 [DAT](INFO): DAT read: Rx Time:05:09:03.8181 2025-10-27T05:09:05.121Z,1761541745.121 [DAT](INFO): Rx dataTimestamp_ set to:1761541745.120803 2025-10-27T05:09:05.122Z,1761541745.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007750 2025-10-27T05:09:05.372Z,1761541745.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258148 2025-10-27T05:09:05.371Z,1761541745.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974249,-0.213479,-0.072568],[0.223161,0.958946,0.174989],[0.032233,-0.186677,0.981892]] 2025-10-27T05:09:05.423Z,1761541745.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.98 m. 2025-10-27T05:09:05.426Z,1761541745.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.975937 m, nav range: 99.295547 m, bearing: 6.177982 deg, approach rate: -0.648559 m/s, LOS rate: -0.083509 deg/s, cmd heading: 12.374368 deg, new cmd heading: 12.273162 deg. 2025-10-27T05:09:05.431Z,1761541745.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214207 target range: 103.975937 and range: 104.50 m. 2025-10-27T05:09:05.624Z,1761541745.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509914 2025-10-27T05:09:05.777Z,1761541745.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975227,-0.210010,-0.069488],[0.219160,0.959936,0.174617],[0.030033,-0.185520,0.982181]] 2025-10-27T05:09:05.882Z,1761541745.882 [DAT](INFO): DAT read: 05:09:03.8181 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 161,-0.28,-1.573,-3.050,-1.091,-1.646, PHS= 0.175,-1.359, 0.511, RAW= 159.7, 7.9, CAL= 159.3, 8.0, ROT= 350.7, -8.0 2025-10-27T05:09:05.884Z,1761541745.884 [DAT](INFO): got valid direction response: 05:09:03.8181 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 161,-0.28,-1.573,-3.050,-1.091,-1.646, PHS= 0.175,-1.359, 0.511, RAW= 159.7, 7.9, CAL= 159.3, 8.0, ROT= 350.7, -8.0 2025-10-27T05:09:05.885Z,1761541745.885 [DAT](INFO): DAT read: Bearing 164.3, -8.7 (Local) 2025-10-27T05:09:05.885Z,1761541745.885 [DAT](INFO): Local bearing/azimuth received: Bearing 164.3, -8.7 (Local) 2025-10-27T05:09:05.886Z,1761541745.886 [DAT](INFO): DAT read: Range 11 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.6 m/s 2025-10-27T05:09:05.895Z,1761541745.895 [DAT](INFO): DAT read: Tx time:05:09:04.8761 2025-10-27T05:09:05.896Z,1761541745.896 [DAT](INFO): Ping request sent. 2025-10-27T05:09:05.896Z,1761541745.896 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:05.896Z,1761541745.896 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:05.897Z,1761541745.897 [DAT](INFO): direction in FSK: [0.977252,-0.160031,0.139173] 2025-10-27T05:09:05.897Z,1761541745.897 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:05.898Z,1761541745.898 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:05.901Z,1761541745.901 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:05.901Z,1761541745.901 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:05.925Z,1761541745.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.779710 s, deltaX: -2.300003 m, approachRate: -0.608513 m/s, rangeRepo size: 4 2025-10-27T05:09:05.944Z,1761541745.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.687119 m, bearing: 4.964060 deg, lat: 36.779326 deg, lon: -121.859574 deg, deltaT: 3.779710 s, deltaX: -2.288818 m, approachRate: -0.605554 m/s, posRepo size: 4 2025-10-27T05:09:05.944Z,1761541745.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:05.955Z,1761541745.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 99.707504 m, bearing: 5.600139 deg, approach rate: 0.000000 m/s, LOS rate: -0.083509 deg/s, cmd heading: 12.273162 deg, new cmd heading: 12.143525 deg. 2025-10-27T05:09:05.956Z,1761541745.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.211944 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:05.995Z,1761541745.995 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:09:06.314Z,1761541746.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:06.339Z,1761541746.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 99.441124 m, bearing: 5.567992 deg, approach rate: -0.684288 m/s, LOS rate: -0.082800 deg/s, cmd heading: 12.143525 deg, new cmd heading: 12.046827 deg. 2025-10-27T05:09:06.340Z,1761541746.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.210257 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:06.676Z,1761541746.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976885,-0.204102,-0.063548],[0.212206,0.961763,0.173151],[0.025777,-0.182634,0.982843]] 2025-10-27T05:09:06.696Z,1761541746.696 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 2025-10-27T05:09:06.722Z,1761541746.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:06.726Z,1761541746.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 99.186646 m, bearing: 5.538203 deg, approach rate: -0.624181 m/s, LOS rate: -0.073254 deg/s, cmd heading: 12.046827 deg, new cmd heading: 11.957230 deg. 2025-10-27T05:09:06.728Z,1761541746.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.208693 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:06.999Z,1761541746.999 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:09:07.078Z,1761541747.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977590,-0.201686,-0.060332],[0.209237,0.962444,0.172979],[0.023179,-0.181726,0.983076]] 2025-10-27T05:09:07.107Z,1761541747.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:07.109Z,1761541747.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:07.116Z,1761541747.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 98.942764 m, bearing: 5.509952 deg, approach rate: -0.629095 m/s, LOS rate: -0.073054 deg/s, cmd heading: 11.957230 deg, new cmd heading: 11.872268 deg. 2025-10-27T05:09:07.117Z,1761541747.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.207210 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:07.136Z,1761541747.136 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:07.136Z,1761541747.136 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:07.136Z,1761541747.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:07.388Z,1761541747.388 [DAT](INFO): DAT read: user:318> 2025-10-27T05:09:07.389Z,1761541747.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492671 2025-10-27T05:09:07.482Z,1761541747.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978275,-0.199229,-0.057315],[0.206273,0.963054,0.173140],[0.020703,-0.181201,0.983228]] 2025-10-27T05:09:07.575Z,1761541747.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:07.585Z,1761541747.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 98.691078 m, bearing: 5.481108 deg, approach rate: -0.547058 m/s, LOS rate: -0.062855 deg/s, cmd heading: 11.872268 deg, new cmd heading: 11.785515 deg. 2025-10-27T05:09:07.586Z,1761541747.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.205696 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:07.641Z,1761541747.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744815 2025-10-27T05:09:07.886Z,1761541747.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978965,-0.196591,-0.054594],[0.203189,0.963655,0.173448],[0.018512,-0.180892,0.983329]] 2025-10-27T05:09:07.892Z,1761541747.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996133 2025-10-27T05:09:07.934Z,1761541747.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:07.937Z,1761541747.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 98.415649 m, bearing: 5.435132 deg, approach rate: -0.754601 m/s, LOS rate: -0.126313 deg/s, cmd heading: 11.785514 deg, new cmd heading: 11.647203 deg. 2025-10-27T05:09:07.938Z,1761541747.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.203282 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:08.144Z,1761541748.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248029 2025-10-27T05:09:08.296Z,1761541748.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979480,-0.194830,-0.051578],[0.200900,0.964258,0.172759],[0.016076,-0.179576,0.983613]] 2025-10-27T05:09:08.328Z,1761541748.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:08.348Z,1761541748.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 98.166214 m, bearing: 5.393620 deg, approach rate: -0.633780 m/s, LOS rate: -0.105744 deg/s, cmd heading: 11.647203 deg, new cmd heading: 11.522351 deg. 2025-10-27T05:09:08.349Z,1761541748.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.201103 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:08.397Z,1761541748.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501443 2025-10-27T05:09:08.648Z,1761541748.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752090 2025-10-27T05:09:08.704Z,1761541748.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980028,-0.192751,-0.048911],[0.198374,0.964785,0.172737],[0.013893,-0.178990,0.983753]] 2025-10-27T05:09:08.757Z,1761541748.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:08.761Z,1761541748.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 97.879845 m, bearing: 5.340493 deg, approach rate: -0.667028 m/s, LOS rate: -0.124110 deg/s, cmd heading: 11.522351 deg, new cmd heading: 11.362502 deg. 2025-10-27T05:09:08.761Z,1761541748.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.198313 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:08.900Z,1761541748.900 [DAT](INFO): DAT read: Rx Time:05:09:07.4135 2025-10-27T05:09:08.900Z,1761541748.900 [DAT](INFO): Rx dataTimestamp_ set to:1761541748.900108 2025-10-27T05:09:08.901Z,1761541748.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005066 2025-10-27T05:09:09.100Z,1761541749.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980360,-0.191713,-0.046266],[0.196866,0.965292,0.171624],[0.011757,-0.177362,0.984075]] 2025-10-27T05:09:09.152Z,1761541749.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256095 2025-10-27T05:09:09.179Z,1761541749.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:09.181Z,1761541749.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.69 m. 2025-10-27T05:09:09.184Z,1761541749.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.687119 m, nav range: 97.601898 m, bearing: 5.288869 deg, approach rate: -0.655871 m/s, LOS rate: -0.122164 deg/s, cmd heading: 11.362502 deg, new cmd heading: 11.207189 deg. 2025-10-27T05:09:09.185Z,1761541749.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.195602 target range: 101.687119 and range: 102.20 m. 2025-10-27T05:09:09.412Z,1761541749.412 [DAT](INFO): DAT read: 05:09:07.4135 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 161, 0.18,-1.557,-3.085,-1.137,-1.626, PHS= 0.170,-1.414, 0.445, RAW= 157.9, 9.2, CAL= 157.6, 9.8, ROT= 352.4, -9.8 2025-10-27T05:09:09.414Z,1761541749.414 [DAT](INFO): got valid direction response: 05:09:07.4135 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 161, 0.18,-1.557,-3.085,-1.137,-1.626, PHS= 0.170,-1.414, 0.445, RAW= 157.9, 9.2, CAL= 157.6, 9.8, ROT= 352.4, -9.8 2025-10-27T05:09:09.416Z,1761541749.416 [DAT](INFO): DAT read: Bearing 164.6, -8.3 (Local) 2025-10-27T05:09:09.416Z,1761541749.416 [DAT](INFO): Local bearing/azimuth received: Bearing 164.6, -8.3 (Local) 2025-10-27T05:09:09.417Z,1761541749.417 [DAT](INFO): DAT read: Range 11 to 50 : 99.9 m (Round-trip 133.3 ms) speed 0.5 m/s 2025-10-27T05:09:09.418Z,1761541749.418 [DAT](INFO): DAT read: Tx time:05:09:08.4761 2025-10-27T05:09:09.419Z,1761541749.419 [DAT](INFO): Ping request sent. 2025-10-27T05:09:09.438Z,1761541749.438 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:09.444Z,1761541749.444 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:09.445Z,1761541749.445 [DAT](INFO): direction in FSK: [0.976752,-0.130326,0.170209] 2025-10-27T05:09:09.446Z,1761541749.446 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:09.446Z,1761541749.446 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:09.449Z,1761541749.449 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:09.449Z,1761541749.449 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:09.510Z,1761541749.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980675,-0.190672,-0.043824],[0.195406,0.965628,0.171401],[0.009637,-0.176653,0.984226]] 2025-10-27T05:09:09.645Z,1761541749.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.528301 s, deltaX: -2.299995 m, approachRate: -0.651871 m/s, rangeRepo size: 4 2025-10-27T05:09:09.652Z,1761541749.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.398621 m, bearing: 5.516463 deg, lat: 36.779326 deg, lon: -121.859574 deg, deltaT: 3.528301 s, deltaX: -2.288498 m, approachRate: -0.648612 m/s, posRepo size: 4 2025-10-27T05:09:09.652Z,1761541749.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:09.659Z,1761541749.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 97.345825 m, bearing: 5.232774 deg, approach rate: 0.000000 m/s, LOS rate: -0.122164 deg/s, cmd heading: 11.207190 deg, new cmd heading: 11.037199 deg. 2025-10-27T05:09:09.660Z,1761541749.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192635 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:09.967Z,1761541749.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980883,-0.190043,-0.041852],[0.194444,0.965686,0.172168],[0.007697,-0.177014,0.984178]] 2025-10-27T05:09:10.020Z,1761541750.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:10.044Z,1761541750.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 97.092018 m, bearing: 5.176308 deg, approach rate: -0.675810 m/s, LOS rate: -0.150746 deg/s, cmd heading: 11.037199 deg, new cmd heading: 10.867357 deg. 2025-10-27T05:09:10.045Z,1761541750.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.189671 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:10.425Z,1761541750.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:10.428Z,1761541750.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 96.832306 m, bearing: 5.118198 deg, approach rate: -0.641480 m/s, LOS rate: -0.143913 deg/s, cmd heading: 10.867357 deg, new cmd heading: 10.692562 deg. 2025-10-27T05:09:10.429Z,1761541750.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186620 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:10.773Z,1761541750.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981121,-0.189799,-0.037129],[0.193368,0.966039,0.171401],[0.003336,-0.175345,0.984501]] 2025-10-27T05:09:10.795Z,1761541750.795 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00 +0.00, +0.00,426.30 2025-10-27T05:09:10.824Z,1761541750.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:10.852Z,1761541750.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 96.582649 m, bearing: 5.062175 deg, approach rate: -0.626420 m/s, LOS rate: -0.140933 deg/s, cmd heading: 10.692562 deg, new cmd heading: 10.524058 deg. 2025-10-27T05:09:10.853Z,1761541750.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183679 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:11.178Z,1761541751.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981221,-0.189641,-0.035251],[0.192883,0.966080,0.171714],[0.001491,-0.175289,0.984516]] 2025-10-27T05:09:11.217Z,1761541751.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:11.219Z,1761541751.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:11.221Z,1761541751.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 96.337471 m, bearing: 5.006926 deg, approach rate: -0.621156 m/s, LOS rate: -0.140328 deg/s, cmd heading: 10.524058 deg, new cmd heading: 10.357890 deg. 2025-10-27T05:09:11.222Z,1761541751.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180779 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:11.420Z,1761541751.420 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:11.420Z,1761541751.420 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:11.421Z,1761541751.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:11.595Z,1761541751.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981305,-0.189559,-0.033271],[0.192457,0.966123,0.171951],[-0.000451,-0.175140,0.984544]] 2025-10-27T05:09:11.667Z,1761541751.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:11.669Z,1761541751.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 96.042000 m, bearing: 4.940022 deg, approach rate: -0.671316 m/s, LOS rate: -0.152474 deg/s, cmd heading: 10.357890 deg, new cmd heading: 10.156562 deg. 2025-10-27T05:09:11.670Z,1761541751.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177265 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:11.672Z,1761541751.672 [DAT](INFO): DAT read: user:319> 2025-10-27T05:09:11.673Z,1761541751.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253944 2025-10-27T05:09:11.925Z,1761541751.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506022 2025-10-27T05:09:11.985Z,1761541751.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981404,-0.189340,-0.031559],[0.191940,0.966134,0.172465],[-0.002164,-0.175315,0.984510]] 2025-10-27T05:09:12.035Z,1761541752.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:12.038Z,1761541752.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 95.796928 m, bearing: 4.881364 deg, approach rate: -0.651405 m/s, LOS rate: -0.156313 deg/s, cmd heading: 10.156562 deg, new cmd heading: 9.980139 deg. 2025-10-27T05:09:12.039Z,1761541752.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.174186 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:12.176Z,1761541752.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757248 2025-10-27T05:09:12.398Z,1761541752.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981527,-0.189038,-0.029498],[0.191281,0.966235,0.172630],[-0.004131,-0.175083,0.984545]] 2025-10-27T05:09:12.423Z,1761541752.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:12.425Z,1761541752.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 95.543320 m, bearing: 4.820427 deg, approach rate: -0.653985 m/s, LOS rate: -0.157559 deg/s, cmd heading: 9.980138 deg, new cmd heading: 9.796840 deg. 2025-10-27T05:09:12.426Z,1761541752.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170987 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:12.428Z,1761541752.428 [DAT](INFO): DAT read: Rx Time:05:09:11.0105 2025-10-27T05:09:12.429Z,1761541752.429 [DAT](INFO): Rx dataTimestamp_ set to:1761541752.428229 2025-10-27T05:09:12.429Z,1761541752.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010366 2025-10-27T05:09:12.680Z,1761541752.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261569 2025-10-27T05:09:12.794Z,1761541752.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981705,-0.188381,-0.027713],[0.190317,0.966256,0.173579],[-0.005921,-0.175677,0.984430]] 2025-10-27T05:09:12.907Z,1761541752.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.40 m. 2025-10-27T05:09:12.909Z,1761541752.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.398621 m, nav range: 95.237953 m, bearing: 4.745417 deg, approach rate: -0.631091 m/s, LOS rate: -0.155517 deg/s, cmd heading: 9.796840 deg, new cmd heading: 9.571090 deg. 2025-10-27T05:09:12.910Z,1761541752.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167047 target range: 99.398621 and range: 99.90 m. 2025-10-27T05:09:12.938Z,1761541752.938 [DAT](INFO): DAT read: 05:09:11.0105 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 419,-0.43, 0.832,-0.717, 1.224, 0.738, PHS= 0.196,-1.410, 0.442, RAW= 157.0, 8.9, CAL= 156.7, 9.5, ROT= 353.3, -9.5 2025-10-27T05:09:12.939Z,1761541752.939 [DAT](INFO): got valid direction response: 05:09:11.0105 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 419,-0.43, 0.832,-0.717, 1.224, 0.738, PHS= 0.196,-1.410, 0.442, RAW= 157.0, 8.9, CAL= 156.7, 9.5, ROT= 353.3, -9.5 2025-10-27T05:09:12.940Z,1761541752.940 [DAT](INFO): DAT read: Bearing 163.1, -8.5 (Local) 2025-10-27T05:09:12.940Z,1761541752.940 [DAT](INFO): Local bearing/azimuth received: Bearing 163.1, -8.5 (Local) 2025-10-27T05:09:12.942Z,1761541752.942 [DAT](INFO): DAT read: Range 11 to 50 : 97.6 m (Round-trip 130.2 ms) speed 0.7 m/s 2025-10-27T05:09:12.943Z,1761541752.943 [DAT](INFO): DAT read: Tx time:05:09:12.0761 2025-10-27T05:09:12.943Z,1761541752.943 [DAT](INFO): Ping request sent. 2025-10-27T05:09:12.943Z,1761541752.943 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:12.944Z,1761541752.944 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:12.945Z,1761541752.945 [DAT](INFO): direction in FSK: [0.979550,-0.115071,0.165048] 2025-10-27T05:09:12.945Z,1761541752.945 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:12.945Z,1761541752.945 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:12.949Z,1761541752.949 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:12.949Z,1761541752.949 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:13.252Z,1761541753.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981794,-0.188120,-0.026282],[0.189801,0.966176,0.174582],[-0.007449,-0.176392,0.984292]] 2025-10-27T05:09:13.275Z,1761541753.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.599998 m, deltaT: 3.527722 s, deltaX: -2.300003 m, approachRate: -0.651980 m/s, rangeRepo size: 4 2025-10-27T05:09:13.277Z,1761541753.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.110352 m, bearing: 6.037947 deg, lat: 36.779327 deg, lon: -121.859569 deg, deltaT: 3.527722 s, deltaX: -2.288269 m, approachRate: -0.648653 m/s, posRepo size: 4 2025-10-27T05:09:13.278Z,1761541753.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:13.281Z,1761541753.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 95.101105 m, bearing: 4.976882 deg, approach rate: 0.000000 m/s, LOS rate: -0.155517 deg/s, cmd heading: 9.571090 deg, new cmd heading: 9.399474 deg. 2025-10-27T05:09:13.282Z,1761541753.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.164052 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:13.745Z,1761541753.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:13.747Z,1761541753.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:13.750Z,1761541753.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 94.796524 m, bearing: 4.915062 deg, approach rate: -0.644768 m/s, LOS rate: -0.131287 deg/s, cmd heading: 9.399474 deg, new cmd heading: 9.213419 deg. 2025-10-27T05:09:13.753Z,1761541753.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160804 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:13.940Z,1761541753.940 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:13.940Z,1761541753.940 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:13.940Z,1761541753.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:14.058Z,1761541754.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982460,-0.185002,-0.023366],[0.186191,0.966381,0.177314],[-0.010223,-0.178554,0.983877]] 2025-10-27T05:09:14.077Z,1761541754.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:14.080Z,1761541754.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 94.584740 m, bearing: 4.872377 deg, approach rate: -0.641639 m/s, LOS rate: -0.129611 deg/s, cmd heading: 9.213419 deg, new cmd heading: 9.085078 deg. 2025-10-27T05:09:14.081Z,1761541754.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158565 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:14.192Z,1761541754.192 [DAT](INFO): DAT read: user:320> 2025-10-27T05:09:14.193Z,1761541754.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249672 2025-10-27T05:09:14.444Z,1761541754.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500550 2025-10-27T05:09:14.462Z,1761541754.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982917,-0.182718,-0.022073],[0.183677,0.966261,0.180563],[-0.011664,-0.181533,0.983316]] 2025-10-27T05:09:14.490Z,1761541754.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:14.494Z,1761541754.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 94.319366 m, bearing: 4.819118 deg, approach rate: -0.641674 m/s, LOS rate: -0.129142 deg/s, cmd heading: 9.085078 deg, new cmd heading: 8.924853 deg. 2025-10-27T05:09:14.494Z,1761541754.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155768 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:14.696Z,1761541754.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752985 2025-10-27T05:09:14.927Z,1761541754.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:14.930Z,1761541754.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 94.041435 m, bearing: 4.782532 deg, approach rate: -0.637001 m/s, LOS rate: -0.084100 deg/s, cmd heading: 8.924853 deg, new cmd heading: 8.814771 deg. 2025-10-27T05:09:14.930Z,1761541754.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153847 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:14.948Z,1761541754.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004628 2025-10-27T05:09:15.200Z,1761541755.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256838 2025-10-27T05:09:15.270Z,1761541755.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984043,-0.176900,-0.019134],[0.177366,0.966649,0.184744],[-0.014185,-0.185189,0.982600]] 2025-10-27T05:09:15.304Z,1761541755.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:15.308Z,1761541755.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 93.803688 m, bearing: 4.752078 deg, approach rate: -0.631697 m/s, LOS rate: -0.081122 deg/s, cmd heading: 8.814771 deg, new cmd heading: 8.723176 deg. 2025-10-27T05:09:15.310Z,1761541755.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152248 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:15.452Z,1761541755.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508905 2025-10-27T05:09:15.705Z,1761541755.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761861 2025-10-27T05:09:15.711Z,1761541755.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984783,-0.172847,-0.018077],[0.173125,0.966599,0.188980],[-0.015192,-0.189233,0.981815]] 2025-10-27T05:09:15.770Z,1761541755.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:15.777Z,1761541755.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:15.783Z,1761541755.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 93.504623 m, bearing: 4.725514 deg, approach rate: -0.631695 m/s, LOS rate: -0.056289 deg/s, cmd heading: 8.723176 deg, new cmd heading: 8.643229 deg. 2025-10-27T05:09:15.784Z,1761541755.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150853 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:15.956Z,1761541755.956 [DAT](INFO): DAT read: Rx Time:05:09:14.6077 2025-10-27T05:09:15.957Z,1761541755.957 [DAT](INFO): Rx dataTimestamp_ set to:1761541755.956256 2025-10-27T05:09:15.957Z,1761541755.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013708 2025-10-27T05:09:16.077Z,1761541756.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985637,-0.168064,-0.016574],[0.168112,0.967069,0.191094],[-0.016088,-0.191135,0.981432]] 2025-10-27T05:09:16.162Z,1761541756.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:16.165Z,1761541756.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 93.241051 m, bearing: 4.702819 deg, approach rate: -0.683628 m/s, LOS rate: -0.059030 deg/s, cmd heading: 8.643229 deg, new cmd heading: 8.574952 deg. 2025-10-27T05:09:16.166Z,1761541756.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149661 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:16.208Z,1761541756.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264731 2025-10-27T05:09:16.463Z,1761541756.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519605 2025-10-27T05:09:16.502Z,1761541756.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986367,-0.163909,-0.014628],[0.163658,0.967779,0.191365],[-0.017210,-0.191150,0.981410]] 2025-10-27T05:09:16.545Z,1761541756.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.11 m. 2025-10-27T05:09:16.551Z,1761541756.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.110352 m, nav range: 92.991920 m, bearing: 4.681955 deg, approach rate: -0.650977 m/s, LOS rate: -0.054666 deg/s, cmd heading: 8.574952 deg, new cmd heading: 8.512191 deg. 2025-10-27T05:09:16.552Z,1761541756.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.148566 target range: 97.110352 and range: 97.60 m. 2025-10-27T05:09:16.720Z,1761541756.720 [DAT](INFO): DAT read: 05:09:14.6077 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405, 0.30,-2.224, 2.547,-1.832,-2.209, PHS= 0.087,-1.483, 0.332, RAW= 157.1, 12.4, CAL= 157.4, 14.0, ROT= 352.6, -14.0 2025-10-27T05:09:16.722Z,1761541756.722 [DAT](INFO): got valid direction response: 05:09:14.6077 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 405, 0.30,-2.224, 2.547,-1.832,-2.209, PHS= 0.087,-1.483, 0.332, RAW= 157.1, 12.4, CAL= 157.4, 14.0, ROT= 352.6, -14.0 2025-10-27T05:09:16.725Z,1761541756.725 [DAT](INFO): DAT read: Bearing 166.0, -10.9 (Local) 2025-10-27T05:09:16.725Z,1761541756.725 [DAT](INFO): Local bearing/azimuth received: Bearing 166.0, -10.9 (Local) 2025-10-27T05:09:16.728Z,1761541756.728 [DAT](INFO): DAT read: Range 11 to 50 : 95.5 m (Round-trip 127.4 ms) speed 0.7 m/s 2025-10-27T05:09:16.729Z,1761541756.729 [DAT](INFO): DAT read: user:321>Tx time:05:09:15.6761 2025-10-27T05:09:16.730Z,1761541756.730 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:16.732Z,1761541756.732 [DAT](INFO): direction in FSK: [0.962214,-0.124969,0.241922] 2025-10-27T05:09:16.732Z,1761541756.732 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:16.737Z,1761541756.737 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:16.737Z,1761541756.737 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:16.737Z,1761541756.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:16.885Z,1761541756.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987140,-0.159341,-0.012810],[0.158830,0.968594,0.191308],[-0.018076,-0.190883,0.981446]] 2025-10-27T05:09:16.964Z,1761541756.964 [DAT](INFO): DAT read: 2025-10-27T05:09:16.964Z,1761541756.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021012 2025-10-27T05:09:16.969Z,1761541756.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.500000 m, deltaT: 3.780333 s, deltaX: -2.099998 m, approachRate: -0.555506 m/s, rangeRepo size: 4 2025-10-27T05:09:16.976Z,1761541756.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.020584 m, bearing: 4.617112 deg, lat: 36.779327 deg, lon: -121.859569 deg, deltaT: 3.780333 s, deltaX: -2.089767 m, approachRate: -0.552800 m/s, posRepo size: 4 2025-10-27T05:09:16.977Z,1761541756.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:16.983Z,1761541756.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 92.728622 m, bearing: 4.669450 deg, approach rate: 0.000000 m/s, LOS rate: -0.054666 deg/s, cmd heading: 8.512191 deg, new cmd heading: 8.442645 deg. 2025-10-27T05:09:16.984Z,1761541756.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147352 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:17.216Z,1761541757.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272806 2025-10-27T05:09:17.289Z,1761541757.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987915,-0.154602,-0.011085],[0.153839,0.969276,0.191932],[-0.018929,-0.191317,0.981346]] 2025-10-27T05:09:17.335Z,1761541757.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:17.337Z,1761541757.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 92.482735 m, bearing: 4.658484 deg, approach rate: -0.672425 m/s, LOS rate: -0.030070 deg/s, cmd heading: 8.442645 deg, new cmd heading: 8.409658 deg. 2025-10-27T05:09:17.338Z,1761541757.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146776 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:17.469Z,1761541757.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525310 2025-10-27T05:09:17.727Z,1761541757.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783348 2025-10-27T05:09:17.736Z,1761541757.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988654,-0.149931,-0.009212],[0.148909,0.970156,0.191374],[-0.019756,-0.190574,0.981474]] 2025-10-27T05:09:17.799Z,1761541757.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:17.806Z,1761541757.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:17.820Z,1761541757.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 92.177795 m, bearing: 4.644556 deg, approach rate: -0.646443 m/s, LOS rate: -0.029624 deg/s, cmd heading: 8.409658 deg, new cmd heading: 8.367735 deg. 2025-10-27T05:09:17.821Z,1761541757.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146045 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:17.976Z,1761541757.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032491 2025-10-27T05:09:18.131Z,1761541758.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989376,-0.145191,-0.007345],[0.143911,0.970997,0.190931],[-0.020589,-0.189960,0.981576]] 2025-10-27T05:09:18.165Z,1761541758.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:18.167Z,1761541758.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 91.915977 m, bearing: 4.633352 deg, approach rate: -0.730278 m/s, LOS rate: -0.031340 deg/s, cmd heading: 8.367736 deg, new cmd heading: 8.334028 deg. 2025-10-27T05:09:18.168Z,1761541758.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.145456 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:18.229Z,1761541758.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.285129 2025-10-27T05:09:18.480Z,1761541758.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536489 2025-10-27T05:09:18.534Z,1761541758.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990053,-0.140604,-0.005126],[0.139001,0.971826,0.190350],[-0.021783,-0.189169,0.981703]] 2025-10-27T05:09:18.584Z,1761541758.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:18.586Z,1761541758.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 91.641594 m, bearing: 4.622394 deg, approach rate: -0.655215 m/s, LOS rate: -0.026244 deg/s, cmd heading: 8.334028 deg, new cmd heading: 8.301058 deg. 2025-10-27T05:09:18.587Z,1761541758.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144881 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:18.735Z,1761541758.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791198 2025-10-27T05:09:18.941Z,1761541758.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990671,-0.136245,-0.002891],[0.134326,0.972699,0.189242],[-0.022972,-0.187865,0.981926]] 2025-10-27T05:09:18.984Z,1761541758.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.040645 2025-10-27T05:09:19.007Z,1761541759.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:19.010Z,1761541759.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 91.343010 m, bearing: 4.611879 deg, approach rate: -0.705144 m/s, LOS rate: -0.024913 deg/s, cmd heading: 8.301058 deg, new cmd heading: 8.269410 deg. 2025-10-27T05:09:19.020Z,1761541759.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144328 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:19.236Z,1761541759.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292514 2025-10-27T05:09:19.378Z,1761541759.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:19.384Z,1761541759.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 91.084953 m, bearing: 4.602736 deg, approach rate: -0.695963 m/s, LOS rate: -0.024729 deg/s, cmd heading: 8.269410 deg, new cmd heading: 8.241902 deg. 2025-10-27T05:09:19.385Z,1761541759.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143848 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:19.489Z,1761541759.489 [DAT](INFO): DAT read: Rx Time:05:09:18.2044 2025-10-27T05:09:19.489Z,1761541759.489 [DAT](INFO): Rx dataTimestamp_ set to:1761541759.488986 2025-10-27T05:09:19.490Z,1761541759.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546437 2025-10-27T05:09:19.742Z,1761541759.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798200 2025-10-27T05:09:19.842Z,1761541759.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:19.845Z,1761541759.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:19.848Z,1761541759.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 90.773811 m, bearing: 4.572880 deg, approach rate: -0.666313 m/s, LOS rate: -0.064156 deg/s, cmd heading: 8.241902 deg, new cmd heading: 8.152027 deg. 2025-10-27T05:09:19.849Z,1761541759.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142280 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:19.992Z,1761541759.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048465 2025-10-27T05:09:20.172Z,1761541760.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992073,-0.125571,0.004901],[0.122546,0.975337,0.183575],[-0.027831,-0.181520,0.982993]] 2025-10-27T05:09:20.191Z,1761541760.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.02 m. 2025-10-27T05:09:20.194Z,1761541760.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.020584 m, nav range: 90.542290 m, bearing: 4.552295 deg, approach rate: -0.668964 m/s, LOS rate: -0.059630 deg/s, cmd heading: 8.152027 deg, new cmd heading: 8.090115 deg. 2025-10-27T05:09:20.195Z,1761541760.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141199 target range: 95.020584 and range: 95.50 m. 2025-10-27T05:09:20.253Z,1761541760.253 [DAT](INFO): DAT read: 05:09:18.2044 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 405,-0.22, 0.523,-1.043, 0.914, 0.488, PHS= 0.136,-1.486, 0.382, RAW= 156.9, 11.0, CAL= 157.0, 12.1, ROT= 353.0, -12.1 2025-10-27T05:09:20.254Z,1761541760.254 [DAT](INFO): got valid direction response: 05:09:18.2044 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 405,-0.22, 0.523,-1.043, 0.914, 0.488, PHS= 0.136,-1.486, 0.382, RAW= 156.9, 11.0, CAL= 157.0, 12.1, ROT= 353.0, -12.1 2025-10-27T05:09:20.255Z,1761541760.255 [DAT](INFO): DAT read: Bearing 162.6, -10.5 (Local) 2025-10-27T05:09:20.256Z,1761541760.256 [DAT](INFO): Local bearing/azimuth received: Bearing 162.6, -10.5 (Local) 2025-10-27T05:09:20.257Z,1761541760.257 [DAT](INFO): DAT read: Range 11 to 50 : 93.1 m (Round-trip 124.2 ms) speed 0.5 m/s 2025-10-27T05:09:20.258Z,1761541760.258 [DAT](INFO): DAT read: user:322>Tx time:05:09:19.2761 2025-10-27T05:09:20.271Z,1761541760.271 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:20.272Z,1761541760.272 [DAT](INFO): direction in FSK: [0.970495,-0.119162,0.209619] 2025-10-27T05:09:20.273Z,1761541760.273 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:20.276Z,1761541760.276 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:20.276Z,1761541760.276 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:20.277Z,1761541760.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:20.496Z,1761541760.496 [DAT](INFO): DAT read: 2025-10-27T05:09:20.496Z,1761541760.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553002 2025-10-27T05:09:20.572Z,1761541760.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992172,-0.124727,0.006174],[0.121544,0.975840,0.181557],[-0.028670,-0.179385,0.983361]] 2025-10-27T05:09:20.652Z,1761541760.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.099998 m, deltaT: 3.532066 s, deltaX: -2.400002 m, approachRate: -0.679489 m/s, rangeRepo size: 4 2025-10-27T05:09:20.654Z,1761541760.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.632370 m, bearing: 2.323919 deg, lat: 36.779327 deg, lon: -121.859570 deg, deltaT: 3.532066 s, deltaX: -2.388214 m, approachRate: -0.676152 m/s, posRepo size: 4 2025-10-27T05:09:20.659Z,1761541760.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.63 m. 2025-10-27T05:09:20.661Z,1761541760.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.632370 m, nav range: 90.291710 m, bearing: 4.444366 deg, approach rate: 0.000000 m/s, LOS rate: -0.059630 deg/s, cmd heading: 8.090115 deg, new cmd heading: 8.007687 deg. 2025-10-27T05:09:20.662Z,1761541760.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139760 target range: 92.632370 and range: 93.10 m. 2025-10-27T05:09:20.754Z,1761541760.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810459 2025-10-27T05:09:21.004Z,1761541761.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060830 2025-10-27T05:09:21.072Z,1761541761.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992216,-0.124277,0.007848],[0.120910,0.976572,0.178009],[-0.029787,-0.175675,0.983998]] 2025-10-27T05:09:21.134Z,1761541761.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.63 m. 2025-10-27T05:09:21.141Z,1761541761.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.632370 m, nav range: 89.946922 m, bearing: 4.394043 deg, approach rate: -0.714968 m/s, LOS rate: -0.104754 deg/s, cmd heading: 8.007686 deg, new cmd heading: 7.856137 deg. 2025-10-27T05:09:21.142Z,1761541761.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137115 target range: 92.632370 and range: 93.10 m. 2025-10-27T05:09:21.257Z,1761541761.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313515 2025-10-27T05:09:21.481Z,1761541761.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992161,-0.124641,0.009034],[0.121160,0.977123,0.174791],[-0.030614,-0.172326,0.984564]] 2025-10-27T05:09:21.508Z,1761541761.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564606 2025-10-27T05:09:21.509Z,1761541761.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.63 m. 2025-10-27T05:09:21.511Z,1761541761.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.632370 m, nav range: 89.701187 m, bearing: 4.357880 deg, approach rate: -0.658446 m/s, LOS rate: -0.097164 deg/s, cmd heading: 7.856137 deg, new cmd heading: 7.747351 deg. 2025-10-27T05:09:21.512Z,1761541761.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135217 target range: 92.632370 and range: 93.10 m. 2025-10-27T05:09:21.764Z,1761541761.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820304 2025-10-27T05:09:21.882Z,1761541761.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991980,-0.125973,0.010317],[0.122369,0.977619,0.171136],[-0.031645,-0.168501,0.985193]] 2025-10-27T05:09:21.938Z,1761541761.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:21.940Z,1761541761.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.63 m. 2025-10-27T05:09:21.943Z,1761541761.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.632370 m, nav range: 89.423302 m, bearing: 4.303502 deg, approach rate: -0.641445 m/s, LOS rate: -0.125909 deg/s, cmd heading: 7.747350 deg, new cmd heading: 7.583712 deg. 2025-10-27T05:09:21.944Z,1761541761.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.132361 target range: 92.632370 and range: 93.10 m. 2025-10-27T05:09:22.013Z,1761541762.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069960 2025-10-27T05:09:22.264Z,1761541762.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320488 2025-10-27T05:09:22.286Z,1761541762.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991777,-0.127465,0.011418],[0.123738,0.977883,0.168623],[-0.032659,-0.165824,0.985614]] 2025-10-27T05:09:22.386Z,1761541762.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.63 m. 2025-10-27T05:09:22.389Z,1761541762.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.632370 m, nav range: 89.135605 m, bearing: 4.246515 deg, approach rate: -0.645254 m/s, LOS rate: -0.128226 deg/s, cmd heading: 7.583713 deg, new cmd heading: 7.412198 deg. 2025-10-27T05:09:22.390Z,1761541762.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129367 target range: 92.632370 and range: 93.10 m. 2025-10-27T05:09:22.517Z,1761541762.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573208 2025-10-27T05:09:22.690Z,1761541762.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991530,-0.129346,0.011748],[0.125573,0.977824,0.167604],[-0.033167,-0.164709,0.985784]] 2025-10-27T05:09:22.783Z,1761541762.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826972 2025-10-27T05:09:22.803Z,1761541762.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.63 m. 2025-10-27T05:09:22.815Z,1761541762.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.632370 m, nav range: 88.918930 m, bearing: 4.203045 deg, approach rate: -0.520693 m/s, LOS rate: -0.104717 deg/s, cmd heading: 7.412198 deg, new cmd heading: 7.281471 deg. 2025-10-27T05:09:22.818Z,1761541762.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127086 target range: 92.632370 and range: 93.10 m. 2025-10-27T05:09:23.020Z,1761541763.020 [DAT](INFO): Reached modem response timeout 2025-10-27T05:09:23.020Z,1761541763.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:23.020Z,1761541763.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:23.098Z,1761541763.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991272,-0.131261,0.012231],[0.127444,0.977894,0.165773],[-0.033720,-0.162767,0.986088]] 2025-10-27T05:09:23.155Z,1761541763.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.63 m. 2025-10-27T05:09:23.157Z,1761541763.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.632370 m, nav range: 88.647476 m, bearing: 4.136708 deg, approach rate: -0.770392 m/s, LOS rate: -0.188843 deg/s, cmd heading: 7.281471 deg, new cmd heading: 7.081851 deg. 2025-10-27T05:09:23.158Z,1761541763.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123602 target range: 92.632370 and range: 93.10 m. 2025-10-27T05:09:23.273Z,1761541763.273 [DAT](INFO): DAT read: Rx Time:05:09:21.8013 2025-10-27T05:09:23.273Z,1761541763.273 [DAT](INFO): Rx dataTimestamp_ set to:1761541763.272744 2025-10-27T05:09:23.274Z,1761541763.274 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:23.499Z,1761541763.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990951,-0.133622,0.012719],[0.129726,0.977750,0.164852],[-0.034464,-0.161710,0.986236]] 2025-10-27T05:09:23.524Z,1761541763.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:23.537Z,1761541763.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.63 m. 2025-10-27T05:09:23.556Z,1761541763.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.632370 m, nav range: 88.406738 m, bearing: 4.077077 deg, approach rate: -0.628777 m/s, LOS rate: -0.156171 deg/s, cmd heading: 7.081851 deg, new cmd heading: 6.902473 deg. 2025-10-27T05:09:23.557Z,1761541763.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120471 target range: 92.632370 and range: 93.10 m. 2025-10-27T05:09:23.806Z,1761541763.806 [DAT](INFO): DAT read: 05:09:21.8013 LVL= 28656, 32753, 29842, 32755, AGC= 71, IDX= 404, 0.03,-1.613, 3.083,-1.243,-1.683, PHS= 0.172,-1.472, 0.396, RAW= 156.3, 10.2, CAL= 156.2, 11.2, ROT= 353.8, -11.2 2025-10-27T05:09:23.830Z,1761541763.830 [DAT](INFO): got valid direction response: 05:09:21.8013 LVL= 28656, 32753, 29842, 32755, AGC= 71, IDX= 404, 0.03,-1.613, 3.083,-1.243,-1.683, PHS= 0.172,-1.472, 0.396, RAW= 156.3, 10.2, CAL= 156.2, 11.2, ROT= 353.8, -11.2 2025-10-27T05:09:23.831Z,1761541763.831 [DAT](INFO): DAT read: Bearing 160.7, -9.7 (Local) 2025-10-27T05:09:23.832Z,1761541763.832 [DAT](INFO): Local bearing/azimuth received: Bearing 160.7, -9.7 (Local) 2025-10-27T05:09:23.833Z,1761541763.833 [DAT](INFO): DAT read: Range 11 to 50 : 90.7 m (Round-trip 121.0 ms) speed 0.7 m/s 2025-10-27T05:09:23.834Z,1761541763.834 [DAT](INFO): DAT read: user:323> 2025-10-27T05:09:23.834Z,1761541763.834 [DAT](INFO): DAT read: Tx time:05:09:22.8761 2025-10-27T05:09:23.836Z,1761541763.836 [DAT](INFO): Ping request sent. 2025-10-27T05:09:23.836Z,1761541763.836 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:23.838Z,1761541763.838 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:23.840Z,1761541763.840 [DAT](INFO): direction in FSK: [0.975218,-0.105943,0.194234] 2025-10-27T05:09:23.841Z,1761541763.841 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:23.841Z,1761541763.841 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:23.846Z,1761541763.846 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:23.847Z,1761541763.847 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:24.032Z,1761541764.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.699997 m, deltaT: 3.533871 s, deltaX: -2.400002 m, approachRate: -0.679142 m/s, rangeRepo size: 4 2025-10-27T05:09:24.034Z,1761541764.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.244385 m, bearing: 3.199207 deg, lat: 36.779330 deg, lon: -121.859570 deg, deltaT: 3.533871 s, deltaX: -2.387985 m, approachRate: -0.675742 m/s, posRepo size: 4 2025-10-27T05:09:24.039Z,1761541764.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.24 m. 2025-10-27T05:09:24.042Z,1761541764.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.244385 m, nav range: 88.411964 m, bearing: 3.986144 deg, approach rate: 0.000000 m/s, LOS rate: -0.156171 deg/s, cmd heading: 6.902473 deg, new cmd heading: 6.673162 deg. 2025-10-27T05:09:24.050Z,1761541764.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116469 target range: 90.244385 and range: 90.70 m. 2025-10-27T05:09:24.321Z,1761541764.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990484,-0.136911,0.013997],[0.132791,0.977461,0.164123],[-0.036152,-0.160703,0.986341]] 2025-10-27T05:09:24.346Z,1761541764.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:24.353Z,1761541764.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.24 m. 2025-10-27T05:09:24.359Z,1761541764.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.244385 m, nav range: 88.200188 m, bearing: 3.930594 deg, approach rate: -0.650340 m/s, LOS rate: -0.170997 deg/s, cmd heading: 6.673162 deg, new cmd heading: 6.506112 deg. 2025-10-27T05:09:24.360Z,1761541764.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113553 target range: 90.244385 and range: 90.70 m. 2025-10-27T05:09:24.532Z,1761541764.532 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:24.532Z,1761541764.532 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:24.533Z,1761541764.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:24.788Z,1761541764.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.951561 2025-10-27T05:09:24.840Z,1761541764.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990383,-0.137581,0.014563],[0.133289,0.977062,0.166084],[-0.037079,-0.162546,0.986004]] 2025-10-27T05:09:24.884Z,1761541764.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.24 m. 2025-10-27T05:09:24.887Z,1761541764.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.244385 m, nav range: 87.884827 m, bearing: 3.850689 deg, approach rate: -0.593378 m/s, LOS rate: -0.150888 deg/s, cmd heading: 6.506112 deg, new cmd heading: 6.265537 deg. 2025-10-27T05:09:24.888Z,1761541764.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109354 target range: 90.244385 and range: 90.70 m. 2025-10-27T05:09:25.037Z,1761541765.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200896 2025-10-27T05:09:25.208Z,1761541765.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990403,-0.137397,0.014992],[0.132941,0.976678,0.168603],[-0.037808,-0.164992,0.985570]] 2025-10-27T05:09:25.226Z,1761541765.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.24 m. 2025-10-27T05:09:25.229Z,1761541765.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.244385 m, nav range: 87.683517 m, bearing: 3.799451 deg, approach rate: -0.587807 m/s, LOS rate: -0.149955 deg/s, cmd heading: 6.265537 deg, new cmd heading: 6.111470 deg. 2025-10-27T05:09:25.230Z,1761541765.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106665 target range: 90.244385 and range: 90.70 m. 2025-10-27T05:09:25.289Z,1761541765.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453229 2025-10-27T05:09:25.540Z,1761541765.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704098 2025-10-27T05:09:25.681Z,1761541765.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990488,-0.136682,0.015895],[0.131967,0.976281,0.171638],[-0.038978,-0.167908,0.985032]] 2025-10-27T05:09:25.702Z,1761541765.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.24 m. 2025-10-27T05:09:25.706Z,1761541765.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.244385 m, nav range: 87.405632 m, bearing: 3.728568 deg, approach rate: -0.584503 m/s, LOS rate: -0.149568 deg/s, cmd heading: 6.111470 deg, new cmd heading: 5.898148 deg. 2025-10-27T05:09:25.708Z,1761541765.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102942 target range: 90.244385 and range: 90.70 m. 2025-10-27T05:09:25.811Z,1761541765.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964623 2025-10-27T05:09:26.048Z,1761541766.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212073 2025-10-27T05:09:26.092Z,1761541766.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990651,-0.135319,0.017319],[0.130281,0.976056,0.174189],[-0.040475,-0.170304,0.984560]] 2025-10-27T05:09:26.146Z,1761541766.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.24 m. 2025-10-27T05:09:26.149Z,1761541766.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.244385 m, nav range: 87.145775 m, bearing: 3.676796 deg, approach rate: -0.584792 m/s, LOS rate: -0.116857 deg/s, cmd heading: 5.898148 deg, new cmd heading: 5.742370 deg. 2025-10-27T05:09:26.150Z,1761541766.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100223 target range: 90.244385 and range: 90.70 m. 2025-10-27T05:09:26.301Z,1761541766.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465198 2025-10-27T05:09:26.494Z,1761541766.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990857,-0.133582,0.018910],[0.128185,0.975859,0.176828],[-0.042074,-0.172787,0.984060]] 2025-10-27T05:09:26.511Z,1761541766.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:26.513Z,1761541766.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.24 m. 2025-10-27T05:09:26.516Z,1761541766.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.244385 m, nav range: 86.915070 m, bearing: 3.630951 deg, approach rate: -0.629372 m/s, LOS rate: -0.125399 deg/s, cmd heading: 5.742370 deg, new cmd heading: 5.604470 deg. 2025-10-27T05:09:26.516Z,1761541766.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097816 target range: 90.244385 and range: 90.70 m. 2025-10-27T05:09:26.552Z,1761541766.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716303 2025-10-27T05:09:26.809Z,1761541766.809 [DAT](INFO): DAT read: Rx Time:05:09:25.3985 2025-10-27T05:09:26.810Z,1761541766.810 [DAT](INFO): Rx dataTimestamp_ set to:1761541766.809191 2025-10-27T05:09:26.820Z,1761541766.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983054 2025-10-27T05:09:26.893Z,1761541766.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991185,-0.130849,0.020762],[0.124992,0.975523,0.180921],[-0.043927,-0.176731,0.983278]] 2025-10-27T05:09:26.954Z,1761541766.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.24 m. 2025-10-27T05:09:26.956Z,1761541766.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.244385 m, nav range: 86.646500 m, bearing: 3.595409 deg, approach rate: -0.609431 m/s, LOS rate: -0.080903 deg/s, cmd heading: 5.604470 deg, new cmd heading: 5.497511 deg. 2025-10-27T05:09:26.957Z,1761541766.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095950 target range: 90.244385 and range: 90.70 m. 2025-10-27T05:09:27.057Z,1761541767.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220716 2025-10-27T05:09:27.318Z,1761541767.318 [DAT](INFO): DAT read: 05:09:25.3985 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 407,-0.24,-3.131, 1.618,-2.788,-3.113, PHS= 0.083,-1.508, 0.280, RAW= 155.8, 13.4, CAL= 156.1, 15.1, ROT= 353.9, -15.1 2025-10-27T05:09:27.320Z,1761541767.320 [DAT](INFO): got valid direction response: 05:09:25.3985 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 407,-0.24,-3.131, 1.618,-2.788,-3.113, PHS= 0.083,-1.508, 0.280, RAW= 155.8, 13.4, CAL= 156.1, 15.1, ROT= 353.9, -15.1 2025-10-27T05:09:27.320Z,1761541767.320 [DAT](INFO): DAT read: Bearing 163.5, -11.0 (Local) 2025-10-27T05:09:27.321Z,1761541767.321 [DAT](INFO): Local bearing/azimuth received: Bearing 163.5, -11.0 (Local) 2025-10-27T05:09:27.322Z,1761541767.322 [DAT](INFO): DAT read: Range 11 to 50 : 88.6 m (Round-trip 118.2 ms) speed 0.4 m/s 2025-10-27T05:09:27.325Z,1761541767.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991582,-0.127414,0.023042],[0.121036,0.975330,0.184614],[-0.045996,-0.180271,0.982541]] 2025-10-27T05:09:27.331Z,1761541767.331 [DAT](INFO): DAT read: user:324> 2025-10-27T05:09:27.332Z,1761541767.332 [DAT](INFO): DAT read: Tx time:05:09:26.4761 2025-10-27T05:09:27.332Z,1761541767.332 [DAT](INFO): Ping request sent. 2025-10-27T05:09:27.332Z,1761541767.332 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:27.333Z,1761541767.333 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:27.334Z,1761541767.334 [DAT](INFO): direction in FSK: [0.960006,-0.102595,0.260505] 2025-10-27T05:09:27.334Z,1761541767.334 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:27.334Z,1761541767.334 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:27.338Z,1761541767.338 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:27.338Z,1761541767.338 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:27.428Z,1761541767.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.599998 m, deltaT: 3.530130 s, deltaX: -2.099998 m, approachRate: -0.594878 m/s, rangeRepo size: 4 2025-10-27T05:09:27.430Z,1761541767.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.154686 m, bearing: 3.784140 deg, lat: 36.779330 deg, lon: -121.859570 deg, deltaT: 3.530130 s, deltaX: -2.089699 m, approachRate: -0.591961 m/s, posRepo size: 4 2025-10-27T05:09:27.430Z,1761541767.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:27.437Z,1761541767.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 86.382469 m, bearing: 3.561024 deg, approach rate: 0.000000 m/s, LOS rate: -0.080903 deg/s, cmd heading: 5.497511 deg, new cmd heading: 5.384619 deg. 2025-10-27T05:09:27.438Z,1761541767.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093979 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:27.752Z,1761541767.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992066,-0.123163,0.025220],[0.116310,0.975310,0.187731],[-0.047719,-0.183308,0.981897]] 2025-10-27T05:09:27.802Z,1761541767.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:27.816Z,1761541767.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 86.147972 m, bearing: 3.531118 deg, approach rate: -0.612625 m/s, LOS rate: -0.078344 deg/s, cmd heading: 5.384619 deg, new cmd heading: 5.294655 deg. 2025-10-27T05:09:27.823Z,1761541767.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092409 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:28.206Z,1761541768.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993042,-0.113830,0.030181],[0.105995,0.975627,0.192140],[-0.051317,-0.187604,0.980903]] 2025-10-27T05:09:28.263Z,1761541768.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:28.266Z,1761541768.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 85.847084 m, bearing: 3.511341 deg, approach rate: -0.657788 m/s, LOS rate: -0.043386 deg/s, cmd heading: 5.294655 deg, new cmd heading: 5.235117 deg. 2025-10-27T05:09:28.267Z,1761541768.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091370 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:28.608Z,1761541768.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993518,-0.108790,0.032980],[0.100464,0.976021,0.193106],[-0.053198,-0.188541,0.980624]] 2025-10-27T05:09:28.626Z,1761541768.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:28.628Z,1761541768.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:28.630Z,1761541768.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 85.602043 m, bearing: 3.496058 deg, approach rate: -0.663835 m/s, LOS rate: -0.041521 deg/s, cmd heading: 5.235117 deg, new cmd heading: 5.189137 deg. 2025-10-27T05:09:28.632Z,1761541768.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090568 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:28.826Z,1761541768.826 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:28.827Z,1761541768.827 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:28.828Z,1761541768.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:29.013Z,1761541769.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993914,-0.104267,0.035553],[0.095422,0.976128,0.195113],[-0.055048,-0.190533,0.980136]] 2025-10-27T05:09:29.076Z,1761541769.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743428 2025-10-27T05:09:29.130Z,1761541769.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:29.137Z,1761541769.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 85.300201 m, bearing: 3.487665 deg, approach rate: -0.600696 m/s, LOS rate: -0.016761 deg/s, cmd heading: 5.189137 deg, new cmd heading: 5.163870 deg. 2025-10-27T05:09:29.138Z,1761541769.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090127 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:29.329Z,1761541769.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996124 2025-10-27T05:09:29.519Z,1761541769.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994338,-0.099095,0.038380],[0.089766,0.976542,0.195725],[-0.056875,-0.191172,0.979907]] 2025-10-27T05:09:29.545Z,1761541769.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:29.547Z,1761541769.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 85.033363 m, bearing: 3.481220 deg, approach rate: -0.644465 m/s, LOS rate: -0.015616 deg/s, cmd heading: 5.163870 deg, new cmd heading: 5.144473 deg. 2025-10-27T05:09:29.548Z,1761541769.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089788 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:29.581Z,1761541769.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248958 2025-10-27T05:09:29.834Z,1761541769.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501570 2025-10-27T05:09:29.925Z,1761541769.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994700,-0.094184,0.041258],[0.084327,0.976810,0.196800],[-0.058836,-0.192278,0.979575]] 2025-10-27T05:09:29.993Z,1761541769.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:29.996Z,1761541769.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 84.735146 m, bearing: 3.481067 deg, approach rate: -0.665099 m/s, LOS rate: -0.000343 deg/s, cmd heading: 5.144473 deg, new cmd heading: 5.144012 deg. 2025-10-27T05:09:29.997Z,1761541769.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089780 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:30.084Z,1761541770.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751457 2025-10-27T05:09:30.337Z,1761541770.337 [DAT](INFO): DAT read: Rx Time:05:09:28.9954 2025-10-27T05:09:30.337Z,1761541770.337 [DAT](INFO): Rx dataTimestamp_ set to:1761541770.337007 2025-10-27T05:09:30.338Z,1761541770.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005434 2025-10-27T05:09:30.370Z,1761541770.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995016,-0.089542,0.043873],[0.079286,0.977303,0.196450],[-0.060468,-0.191993,0.979532]] 2025-10-27T05:09:30.439Z,1761541770.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:30.442Z,1761541770.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 84.446724 m, bearing: 3.481909 deg, approach rate: -0.646672 m/s, LOS rate: 0.001894 deg/s, cmd heading: 5.144012 deg, new cmd heading: 5.146546 deg. 2025-10-27T05:09:30.443Z,1761541770.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089824 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:30.589Z,1761541770.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256614 2025-10-27T05:09:30.774Z,1761541770.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995261,-0.085535,0.046261],[0.075020,0.978051,0.194394],[-0.061873,-0.190003,0.979832]] 2025-10-27T05:09:30.860Z,1761541770.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527010 2025-10-27T05:09:30.883Z,1761541770.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:30.899Z,1761541770.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.15 m. 2025-10-27T05:09:30.915Z,1761541770.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.154686 m, nav range: 84.182854 m, bearing: 3.483456 deg, approach rate: -0.580497 m/s, LOS rate: 0.003414 deg/s, cmd heading: 5.146546 deg, new cmd heading: 5.151202 deg. 2025-10-27T05:09:30.920Z,1761541770.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089905 target range: 88.154686 and range: 88.60 m. 2025-10-27T05:09:31.106Z,1761541771.106 [DAT](INFO): DAT read: 05:09:28.9954 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408, 0.16, 0.573,-1.071, 0.930, 0.490, PHS= 0.185,-1.516, 0.396, RAW= 155.8, 10.3, CAL= 155.7, 11.3, ROT= 354.3, -11.3 2025-10-27T05:09:31.108Z,1761541771.108 [DAT](INFO): got valid direction response: 05:09:28.9954 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408, 0.16, 0.573,-1.071, 0.930, 0.490, PHS= 0.185,-1.516, 0.396, RAW= 155.8, 10.3, CAL= 155.7, 11.3, ROT= 354.3, -11.3 2025-10-27T05:09:31.109Z,1761541771.109 [DAT](INFO): DAT read: Bearing 158.2, -11.3 (Local) 2025-10-27T05:09:31.109Z,1761541771.109 [DAT](INFO): Local bearing/azimuth received: Bearing 158.2, -11.3 (Local) 2025-10-27T05:09:31.110Z,1761541771.110 [DAT](INFO): DAT read: Range 11 to 50 : 86.4 m (Round-trip 115.2 ms) speed 0.6 m/s 2025-10-27T05:09:31.118Z,1761541771.118 [DAT](INFO): DAT read: user:325> 2025-10-27T05:09:31.122Z,1761541771.122 [DAT](INFO): DAT read: Tx time:05:09:30.0760 2025-10-27T05:09:31.122Z,1761541771.122 [DAT](INFO): Ping request sent. 2025-10-27T05:09:31.122Z,1761541771.122 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:31.122Z,1761541771.122 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:31.123Z,1761541771.123 [DAT](INFO): direction in FSK: [0.975766,-0.097394,0.195946] 2025-10-27T05:09:31.124Z,1761541771.124 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:31.124Z,1761541771.124 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:31.145Z,1761541771.145 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:31.145Z,1761541771.145 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:31.244Z,1761541771.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995443,-0.082164,0.048400],[0.071498,0.978920,0.191319],[-0.063099,-0.186986,0.980334]] 2025-10-27T05:09:31.353Z,1761541771.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.400002 m, deltaT: 3.791499 s, deltaX: -2.199997 m, approachRate: -0.580245 m/s, rangeRepo size: 4 2025-10-27T05:09:31.359Z,1761541771.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.965637 m, bearing: 0.690223 deg, lat: 36.779333 deg, lon: -121.859584 deg, deltaT: 3.791499 s, deltaX: -2.189049 m, approachRate: -0.577357 m/s, posRepo size: 4 2025-10-27T05:09:31.360Z,1761541771.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:31.363Z,1761541771.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 84.147255 m, bearing: 2.655390 deg, approach rate: 0.000000 m/s, LOS rate: 0.003414 deg/s, cmd heading: 5.151201 deg, new cmd heading: 5.155903 deg. 2025-10-27T05:09:31.370Z,1761541771.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089987 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:31.676Z,1761541771.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:31.678Z,1761541771.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 83.922180 m, bearing: 2.649345 deg, approach rate: -0.696037 m/s, LOS rate: -0.018745 deg/s, cmd heading: 5.155903 deg, new cmd heading: 5.137719 deg. 2025-10-27T05:09:31.680Z,1761541771.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089670 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:32.045Z,1761541772.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995659,-0.077124,0.052100],[0.066141,0.980146,0.186922],[-0.065481,-0.182665,0.980992]] 2025-10-27T05:09:32.106Z,1761541772.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:32.111Z,1761541772.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 83.626038 m, bearing: 2.633240 deg, approach rate: -0.688356 m/s, LOS rate: -0.037567 deg/s, cmd heading: 5.137719 deg, new cmd heading: 5.089233 deg. 2025-10-27T05:09:32.112Z,1761541772.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088824 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:32.442Z,1761541772.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995677,-0.075484,0.054131],[0.064404,0.980949,0.183277],[-0.066934,-0.178999,0.981570]] 2025-10-27T05:09:32.504Z,1761541772.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:32.511Z,1761541772.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 83.387085 m, bearing: 2.620450 deg, approach rate: -0.600187 m/s, LOS rate: -0.032218 deg/s, cmd heading: 5.089233 deg, new cmd heading: 5.050753 deg. 2025-10-27T05:09:32.512Z,1761541772.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088152 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:32.845Z,1761541772.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995604,-0.075152,0.055897],[0.063935,0.981447,0.180761],[-0.068445,-0.176393,0.981937]] 2025-10-27T05:09:32.876Z,1761541772.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:32.885Z,1761541772.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 83.107224 m, bearing: 2.605466 deg, approach rate: -0.752947 m/s, LOS rate: -0.040447 deg/s, cmd heading: 5.050753 deg, new cmd heading: 5.005652 deg. 2025-10-27T05:09:32.889Z,1761541772.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087365 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:33.250Z,1761541773.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995505,-0.075286,0.057467],[0.064000,0.981985,0.177793],[-0.069817,-0.173315,0.982389]] 2025-10-27T05:09:33.328Z,1761541773.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:33.330Z,1761541773.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:33.337Z,1761541773.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 82.820778 m, bearing: 2.571015 deg, approach rate: -0.630901 m/s, LOS rate: -0.076143 deg/s, cmd heading: 5.005651 deg, new cmd heading: 4.901939 deg. 2025-10-27T05:09:33.338Z,1761541773.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085555 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:33.368Z,1761541773.368 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:33.368Z,1761541773.368 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:33.368Z,1761541773.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:33.620Z,1761541773.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497806 2025-10-27T05:09:33.659Z,1761541773.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995374,-0.075629,0.059255],[0.064269,0.982563,0.174470],[-0.071417,-0.169855,0.982878]] 2025-10-27T05:09:33.718Z,1761541773.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:33.727Z,1761541773.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 82.594208 m, bearing: 2.543529 deg, approach rate: -0.584010 m/s, LOS rate: -0.071043 deg/s, cmd heading: 4.901939 deg, new cmd heading: 4.819255 deg. 2025-10-27T05:09:33.733Z,1761541773.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084112 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:33.872Z,1761541773.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749778 2025-10-27T05:09:34.072Z,1761541774.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995232,-0.076475,0.060530],[0.065099,0.983012,0.171606],[-0.072625,-0.166847,0.983304]] 2025-10-27T05:09:34.124Z,1761541774.124 [DAT](INFO): DAT read: Rx Time:05:09:32.5920 2025-10-27T05:09:34.125Z,1761541774.125 [DAT](INFO): Rx dataTimestamp_ set to:1761541774.124238 2025-10-27T05:09:34.125Z,1761541774.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002932 2025-10-27T05:09:34.193Z,1761541774.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:34.204Z,1761541774.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 82.283012 m, bearing: 2.491785 deg, approach rate: -0.654950 m/s, LOS rate: -0.109314 deg/s, cmd heading: 4.819255 deg, new cmd heading: 4.663436 deg. 2025-10-27T05:09:34.205Z,1761541774.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081392 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:34.376Z,1761541774.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253815 2025-10-27T05:09:34.548Z,1761541774.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995128,-0.077164,0.061364],[0.065807,0.983353,0.169371],[-0.073412,-0.164507,0.983640]] 2025-10-27T05:09:34.566Z,1761541774.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.97 m. 2025-10-27T05:09:34.570Z,1761541774.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.965637 m, nav range: 82.040825 m, bearing: 2.451086 deg, approach rate: -0.648980 m/s, LOS rate: -0.109380 deg/s, cmd heading: 4.663436 deg, new cmd heading: 4.540981 deg. 2025-10-27T05:09:34.572Z,1761541774.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079255 target range: 85.965637 and range: 86.40 m. 2025-10-27T05:09:34.637Z,1761541774.637 [DAT](INFO): DAT read: 05:09:32.5920 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 406, 0.49, 2.800, 1.183, 3.123, 2.780, PHS= 0.122,-1.552, 0.299, RAW= 155.0, 12.7, CAL= 155.2, 14.3, ROT= 354.8, -14.3 2025-10-27T05:09:34.638Z,1761541774.638 [DAT](INFO): got valid direction response: 05:09:32.5920 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 406, 0.49, 2.800, 1.183, 3.123, 2.780, PHS= 0.122,-1.552, 0.299, RAW= 155.0, 12.7, CAL= 155.2, 14.3, ROT= 354.8, -14.3 2025-10-27T05:09:34.640Z,1761541774.640 [DAT](INFO): DAT read: Bearing 160.4, -11.7 (Local) 2025-10-27T05:09:34.641Z,1761541774.641 [DAT](INFO): Local bearing/azimuth received: Bearing 160.4, -11.7 (Local) 2025-10-27T05:09:34.643Z,1761541774.643 [DAT](INFO): DAT read: Range 11 to 50 : 83.9 m (Round-trip 111.9 ms) speed 0.6 m/s 2025-10-27T05:09:34.644Z,1761541774.644 [DAT](INFO): DAT read: user:326> 2025-10-27T05:09:34.645Z,1761541774.645 [DAT](INFO): DAT read: Tx time:05:09:33.6760 2025-10-27T05:09:34.645Z,1761541774.645 [DAT](INFO): Ping request sent. 2025-10-27T05:09:34.645Z,1761541774.645 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:34.646Z,1761541774.646 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:34.648Z,1761541774.648 [DAT](INFO): direction in FSK: [0.965028,-0.087824,0.246999] 2025-10-27T05:09:34.648Z,1761541774.648 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:34.649Z,1761541774.649 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:34.653Z,1761541774.653 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:34.654Z,1761541774.654 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:34.988Z,1761541774.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994784,-0.079908,0.063404],[0.068505,0.983884,0.165167],[-0.075580,-0.159962,0.984226]] 2025-10-27T05:09:35.054Z,1761541775.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.900002 m, deltaT: 3.528121 s, deltaX: -2.500000 m, approachRate: -0.708592 m/s, rangeRepo size: 4 2025-10-27T05:09:35.060Z,1761541775.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.478333 m, bearing: 1.194877 deg, lat: 36.779334 deg, lon: -121.859603 deg, deltaT: 3.528121 s, deltaX: -2.487305 m, approachRate: -0.704994 m/s, posRepo size: 4 2025-10-27T05:09:35.061Z,1761541775.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.48 m. 2025-10-27T05:09:35.068Z,1761541775.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.478333 m, nav range: 81.844284 m, bearing: 1.197865 deg, approach rate: 0.000000 m/s, LOS rate: -0.109380 deg/s, cmd heading: 4.540981 deg, new cmd heading: 4.381172 deg. 2025-10-27T05:09:35.072Z,1761541775.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076466 target range: 83.478333 and range: 83.90 m. 2025-10-27T05:09:35.388Z,1761541775.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994601,-0.081400,0.064372],[0.069910,0.983967,0.164077],[-0.076695,-0.158690,0.984345]] 2025-10-27T05:09:35.472Z,1761541775.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:35.474Z,1761541775.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.48 m. 2025-10-27T05:09:35.476Z,1761541775.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.478333 m, nav range: 81.573471 m, bearing: 1.136896 deg, approach rate: -0.644305 m/s, LOS rate: -0.145536 deg/s, cmd heading: 4.381172 deg, new cmd heading: 4.197659 deg. 2025-10-27T05:09:35.477Z,1761541775.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073263 target range: 83.478333 and range: 83.90 m. 2025-10-27T05:09:35.636Z,1761541775.636 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:35.636Z,1761541775.636 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:35.636Z,1761541775.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:35.802Z,1761541775.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994438,-0.082576,0.065383],[0.070935,0.983940,0.163801],[-0.077859,-0.158252,0.984324]] 2025-10-27T05:09:35.848Z,1761541775.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.48 m. 2025-10-27T05:09:35.850Z,1761541775.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.478333 m, nav range: 81.346832 m, bearing: 1.085348 deg, approach rate: -0.605719 m/s, LOS rate: -0.138151 deg/s, cmd heading: 4.197659 deg, new cmd heading: 4.042585 deg. 2025-10-27T05:09:35.851Z,1761541775.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070556 target range: 83.478333 and range: 83.90 m. 2025-10-27T05:09:35.888Z,1761541775.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242492 2025-10-27T05:09:36.140Z,1761541776.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494399 2025-10-27T05:09:36.192Z,1761541776.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994296,-0.083508,0.066349],[0.071754,0.983986,0.163167],[-0.078912,-0.157476,0.984365]] 2025-10-27T05:09:36.252Z,1761541776.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.48 m. 2025-10-27T05:09:36.254Z,1761541776.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.478333 m, nav range: 81.102875 m, bearing: 1.023172 deg, approach rate: -0.604255 m/s, LOS rate: -0.154467 deg/s, cmd heading: 4.042585 deg, new cmd heading: 3.855496 deg. 2025-10-27T05:09:36.255Z,1761541776.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067291 target range: 83.478333 and range: 83.90 m. 2025-10-27T05:09:36.392Z,1761541776.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746969 2025-10-27T05:09:36.593Z,1761541776.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994145,-0.084438,0.067426],[0.072531,0.983984,0.162835],[-0.080096,-0.156991,0.984347]] 2025-10-27T05:09:36.633Z,1761541776.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.48 m. 2025-10-27T05:09:36.636Z,1761541776.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.478333 m, nav range: 80.880920 m, bearing: 0.966097 deg, approach rate: -0.582043 m/s, LOS rate: -0.150081 deg/s, cmd heading: 3.855495 deg, new cmd heading: 3.683802 deg. 2025-10-27T05:09:36.637Z,1761541776.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064294 target range: 83.478333 and range: 83.90 m. 2025-10-27T05:09:36.644Z,1761541776.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998480 2025-10-27T05:09:36.897Z,1761541776.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251222 2025-10-27T05:09:37.016Z,1761541777.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994084,-0.084295,0.068498],[0.072050,0.983677,0.164890],[-0.081280,-0.158979,0.983930]] 2025-10-27T05:09:37.055Z,1761541777.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.48 m. 2025-10-27T05:09:37.058Z,1761541777.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.478333 m, nav range: 80.631607 m, bearing: 0.907711 deg, approach rate: -0.590663 m/s, LOS rate: -0.138753 deg/s, cmd heading: 3.683802 deg, new cmd heading: 3.508103 deg. 2025-10-27T05:09:37.059Z,1761541777.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061228 target range: 83.478333 and range: 83.90 m. 2025-10-27T05:09:37.128Z,1761541777.128 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:09:37.149Z,1761541777.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503766 2025-10-27T05:09:37.400Z,1761541777.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754358 2025-10-27T05:09:37.411Z,1761541777.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994035,-0.083860,0.069732],[0.071226,0.983339,0.167245],[-0.082596,-0.161280,0.983446]] 2025-10-27T05:09:37.430Z,1761541777.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.48 m. 2025-10-27T05:09:37.433Z,1761541777.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.478333 m, nav range: 80.410088 m, bearing: 0.855685 deg, approach rate: -0.590446 m/s, LOS rate: -0.139054 deg/s, cmd heading: 3.508103 deg, new cmd heading: 3.351595 deg. 2025-10-27T05:09:37.434Z,1761541777.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058496 target range: 83.478333 and range: 83.90 m. 2025-10-27T05:09:37.653Z,1761541777.653 [DAT](INFO): DAT read: Rx Time:05:09:36.1892 2025-10-27T05:09:37.653Z,1761541777.653 [DAT](INFO): Rx dataTimestamp_ set to:1761541777.652723 2025-10-27T05:09:37.654Z,1761541777.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008044 2025-10-27T05:09:37.845Z,1761541777.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:37.847Z,1761541777.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.48 m. 2025-10-27T05:09:37.849Z,1761541777.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.478333 m, nav range: 80.164284 m, bearing: 0.797602 deg, approach rate: -0.589903 m/s, LOS rate: -0.139821 deg/s, cmd heading: 3.351595 deg, new cmd heading: 3.176812 deg. 2025-10-27T05:09:37.850Z,1761541777.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055446 target range: 83.478333 and range: 83.90 m. 2025-10-27T05:09:37.905Z,1761541777.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259602 2025-10-27T05:09:38.133Z,1761541778.133 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:09:38.161Z,1761541778.161 [DAT](INFO): DAT read: 05:09:36.1892 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.20,-2.992, 1.666,-2.671,-2.974, PHS= 0.084,-1.599, 0.259, RAW= 154.9, 14.0, CAL= 155.3, 15.9, ROT= 354.7, -15.9 2025-10-27T05:09:38.163Z,1761541778.163 [DAT](INFO): got valid direction response: 05:09:36.1892 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 409, 0.20,-2.992, 1.666,-2.671,-2.974, PHS= 0.084,-1.599, 0.259, RAW= 154.9, 14.0, CAL= 155.3, 15.9, ROT= 354.7, -15.9 2025-10-27T05:09:38.164Z,1761541778.164 [DAT](INFO): DAT read: Bearing 161.2, -12.4 (Local) 2025-10-27T05:09:38.164Z,1761541778.164 [DAT](INFO): Local bearing/azimuth received: Bearing 161.2, -12.4 (Local) 2025-10-27T05:09:38.165Z,1761541778.165 [DAT](INFO): DAT read: Range 11 to 50 : 81.7 m (Round-trip 109.0 ms) speed 0.4 m/s 2025-10-27T05:09:38.166Z,1761541778.166 [DAT](INFO): DAT read: user:327> 2025-10-27T05:09:38.167Z,1761541778.167 [DAT](INFO): DAT read: Tx time:05:09:37.2760 2025-10-27T05:09:38.167Z,1761541778.167 [DAT](INFO): Ping request sent. 2025-10-27T05:09:38.167Z,1761541778.167 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:38.168Z,1761541778.168 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:38.169Z,1761541778.169 [DAT](INFO): direction in FSK: [0.957630,-0.088837,0.273959] 2025-10-27T05:09:38.169Z,1761541778.169 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:38.169Z,1761541778.169 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:38.172Z,1761541778.172 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:38.173Z,1761541778.173 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:38.223Z,1761541778.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994121,-0.081815,0.070927],[0.068409,0.982318,0.174275],[-0.083932,-0.168398,0.982139]] 2025-10-27T05:09:38.354Z,1761541778.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.699997 m, deltaT: 3.527772 s, deltaX: -2.200005 m, approachRate: -0.623624 m/s, rangeRepo size: 4 2025-10-27T05:09:38.360Z,1761541778.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.289307 m, bearing: 1.521130 deg, lat: 36.779334 deg, lon: -121.859591 deg, deltaT: 3.527772 s, deltaX: -2.189026 m, approachRate: -0.620512 m/s, posRepo size: 4 2025-10-27T05:09:38.361Z,1761541778.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:38.368Z,1761541778.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 79.893074 m, bearing: 1.515263 deg, approach rate: 0.000000 m/s, LOS rate: -0.139821 deg/s, cmd heading: 3.176812 deg, new cmd heading: 2.964405 deg. 2025-10-27T05:09:38.369Z,1761541778.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051739 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:38.672Z,1761541778.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994281,-0.079433,0.071391],[0.065691,0.981904,0.177619],[-0.084208,-0.171914,0.981506]] 2025-10-27T05:09:38.701Z,1761541778.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:38.705Z,1761541778.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 79.666962 m, bearing: 1.472967 deg, approach rate: -0.649885 m/s, LOS rate: -0.121911 deg/s, cmd heading: 2.964405 deg, new cmd heading: 2.837157 deg. 2025-10-27T05:09:38.707Z,1761541778.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049518 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:39.080Z,1761541779.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994417,-0.077029,0.072124],[0.062854,0.981379,0.181508],[-0.084763,-0.175962,0.980741]] 2025-10-27T05:09:39.141Z,1761541779.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:39.148Z,1761541779.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 79.396973 m, bearing: 1.435370 deg, approach rate: -0.613535 m/s, LOS rate: -0.085729 deg/s, cmd heading: 2.837157 deg, new cmd heading: 2.723981 deg. 2025-10-27T05:09:39.149Z,1761541779.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047542 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:39.478Z,1761541779.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994560,-0.074385,0.072921],[0.059785,0.980885,0.185174],[-0.085301,-0.179807,0.979997]] 2025-10-27T05:09:39.503Z,1761541779.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:39.505Z,1761541779.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 79.166206 m, bearing: 1.403620 deg, approach rate: -0.638351 m/s, LOS rate: -0.088084 deg/s, cmd heading: 2.723981 deg, new cmd heading: 2.628453 deg. 2025-10-27T05:09:39.506Z,1761541779.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045875 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:39.882Z,1761541779.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994693,-0.071589,0.073900],[0.056702,0.980746,0.186873],[-0.085855,-0.181691,0.979601]] 2025-10-27T05:09:39.916Z,1761541779.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:39.918Z,1761541779.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:39.920Z,1761541779.920 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:39.920Z,1761541779.920 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:39.920Z,1761541779.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:39.924Z,1761541779.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 78.907379 m, bearing: 1.368420 deg, approach rate: -0.623318 m/s, LOS rate: -0.085049 deg/s, cmd heading: 2.628453 deg, new cmd heading: 2.522506 deg. 2025-10-27T05:09:39.925Z,1761541779.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.044026 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:40.172Z,1761541780.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004573 2025-10-27T05:09:40.300Z,1761541780.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994879,-0.067899,0.074874],[0.052744,0.980660,0.188476],[-0.086224,-0.183562,0.979219]] 2025-10-27T05:09:40.345Z,1761541780.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:40.348Z,1761541780.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 78.640793 m, bearing: 1.342864 deg, approach rate: -0.624188 m/s, LOS rate: -0.060039 deg/s, cmd heading: 2.522506 deg, new cmd heading: 2.445579 deg. 2025-10-27T05:09:40.349Z,1761541780.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042683 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:40.424Z,1761541780.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256496 2025-10-27T05:09:40.678Z,1761541780.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510131 2025-10-27T05:09:40.811Z,1761541780.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995062,-0.064303,0.075604],[0.048838,0.980367,0.191039],[-0.086404,-0.186404,0.978666]] 2025-10-27T05:09:40.830Z,1761541780.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:40.852Z,1761541780.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 78.338409 m, bearing: 1.314592 deg, approach rate: -0.623998 m/s, LOS rate: -0.058566 deg/s, cmd heading: 2.445579 deg, new cmd heading: 2.360437 deg. 2025-10-27T05:09:40.853Z,1761541780.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041197 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:40.928Z,1761541780.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760512 2025-10-27T05:09:41.180Z,1761541781.180 [DAT](INFO): DAT read: Rx Time:05:09:39.7865 2025-10-27T05:09:41.180Z,1761541781.180 [DAT](INFO): Rx dataTimestamp_ set to:1761541781.180100 2025-10-27T05:09:41.181Z,1761541781.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013504 2025-10-27T05:09:41.311Z,1761541781.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995253,-0.060279,0.076403],[0.044616,0.980330,0.192255],[-0.086489,-0.187933,0.978366]] 2025-10-27T05:09:41.348Z,1761541781.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:41.351Z,1761541781.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 78.005142 m, bearing: 1.300275 deg, approach rate: -0.642559 m/s, LOS rate: -0.027723 deg/s, cmd heading: 2.360437 deg, new cmd heading: 2.317302 deg. 2025-10-27T05:09:41.352Z,1761541781.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040445 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:41.433Z,1761541781.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265479 2025-10-27T05:09:41.690Z,1761541781.690 [DAT](INFO): DAT read: 05:09:39.7865 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 413,-0.11, 2.674, 0.989, 3.012, 2.645, PHS= 0.131,-1.611, 0.323, RAW= 155.2, 12.5, CAL= 155.4, 14.0, ROT= 354.6, -14.0 2025-10-27T05:09:41.695Z,1761541781.695 [DAT](INFO): got valid direction response: 05:09:39.7865 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 413,-0.11, 2.674, 0.989, 3.012, 2.645, PHS= 0.131,-1.611, 0.323, RAW= 155.2, 12.5, CAL= 155.4, 14.0, ROT= 354.6, -14.0 2025-10-27T05:09:41.696Z,1761541781.696 [DAT](INFO): DAT read: $Error in header 2025-10-27T05:09:41.696Z,1761541781.696 [DAT](INFO): Received a bad header 2025-10-27T05:09:41.708Z,1761541781.708 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:09:41.709Z,1761541781.709 [DAT](INFO): direction in FSK: [0.965990,-0.091313,0.241922] 2025-10-27T05:09:41.714Z,1761541781.714 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:41.714Z,1761541781.714 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:41.714Z,1761541781.714 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:41.736Z,1761541781.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995439,-0.056538,0.076843],[0.040811,0.980413,0.192676],[-0.086231,-0.188661,0.978249]] 2025-10-27T05:09:41.797Z,1761541781.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:41.809Z,1761541781.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 77.736343 m, bearing: 1.289404 deg, approach rate: -0.599497 m/s, LOS rate: -0.024330 deg/s, cmd heading: 2.317302 deg, new cmd heading: 2.284575 deg. 2025-10-27T05:09:41.809Z,1761541781.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039873 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:41.936Z,1761541781.936 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:41.936Z,1761541781.936 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:41.936Z,1761541781.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:42.112Z,1761541782.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995565,-0.053546,0.077345],[0.037801,0.980607,0.192303],[-0.086142,-0.188527,0.978283]] 2025-10-27T05:09:42.161Z,1761541782.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:42.163Z,1761541782.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:42.166Z,1761541782.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 77.485046 m, bearing: 1.282319 deg, approach rate: -0.686154 m/s, LOS rate: -0.019406 deg/s, cmd heading: 2.284575 deg, new cmd heading: 2.263252 deg. 2025-10-27T05:09:42.166Z,1761541782.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039501 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:42.188Z,1761541782.188 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:42.188Z,1761541782.188 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:42.188Z,1761541782.188 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:42.440Z,1761541782.440 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:42.440Z,1761541782.440 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:42.440Z,1761541782.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:42.516Z,1761541782.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995719,-0.050074,0.077693],[0.034344,0.980796,0.191988],[-0.085815,-0.188498,0.978317]] 2025-10-27T05:09:42.540Z,1761541782.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:42.543Z,1761541782.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 77.245361 m, bearing: 1.276138 deg, approach rate: -0.635388 m/s, LOS rate: -0.016437 deg/s, cmd heading: 2.263253 deg, new cmd heading: 2.244651 deg. 2025-10-27T05:09:42.544Z,1761541782.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039177 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:42.692Z,1761541782.692 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:42.692Z,1761541782.692 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:42.692Z,1761541782.692 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:42.917Z,1761541782.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995890,-0.046376,0.077792],[0.030658,0.980865,0.192262],[-0.085220,-0.189087,0.978255]] 2025-10-27T05:09:42.944Z,1761541782.944 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:42.944Z,1761541782.944 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:42.944Z,1761541782.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:42.954Z,1761541782.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:42.956Z,1761541782.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 76.982903 m, bearing: 1.270051 deg, approach rate: -0.634478 m/s, LOS rate: -0.014765 deg/s, cmd heading: 2.244651 deg, new cmd heading: 2.226327 deg. 2025-10-27T05:09:42.957Z,1761541782.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038857 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:43.199Z,1761541783.199 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:43.200Z,1761541783.200 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:43.200Z,1761541783.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:43.322Z,1761541783.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996024,-0.043115,0.077962],[0.027402,0.980935,0.192396],[-0.084771,-0.189494,0.978216]] 2025-10-27T05:09:43.379Z,1761541783.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:43.407Z,1761541783.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 76.718323 m, bearing: 1.261977 deg, approach rate: -0.622787 m/s, LOS rate: -0.019069 deg/s, cmd heading: 2.226327 deg, new cmd heading: 2.202024 deg. 2025-10-27T05:09:43.408Z,1761541783.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038433 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:43.448Z,1761541783.448 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:43.448Z,1761541783.448 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:43.448Z,1761541783.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:43.701Z,1761541783.701 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:43.701Z,1761541783.701 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:43.701Z,1761541783.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:43.861Z,1761541783.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996187,-0.038243,0.078420],[0.022844,0.981790,0.188592],[-0.084204,-0.186081,0.978920]] 2025-10-27T05:09:43.880Z,1761541783.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:43.882Z,1761541783.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 76.377487 m, bearing: 1.252651 deg, approach rate: -0.679967 m/s, LOS rate: -0.018688 deg/s, cmd heading: 2.202024 deg, new cmd heading: 2.173921 deg. 2025-10-27T05:09:43.883Z,1761541783.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037942 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:43.954Z,1761541783.954 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:43.954Z,1761541783.954 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:43.954Z,1761541783.954 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:44.208Z,1761541784.208 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:44.208Z,1761541784.208 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:44.208Z,1761541784.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:44.341Z,1761541784.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:44.343Z,1761541784.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:44.346Z,1761541784.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 76.082840 m, bearing: 1.240409 deg, approach rate: -0.635917 m/s, LOS rate: -0.026524 deg/s, cmd heading: 2.173921 deg, new cmd heading: 2.137053 deg. 2025-10-27T05:09:44.347Z,1761541784.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037299 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:44.460Z,1761541784.460 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:44.460Z,1761541784.460 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:44.460Z,1761541784.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:44.706Z,1761541784.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996347,-0.035182,0.077817],[0.020339,0.982737,0.183888],[-0.082943,-0.181634,0.979862]] 2025-10-27T05:09:44.712Z,1761541784.712 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:44.713Z,1761541784.713 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:44.713Z,1761541784.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:44.737Z,1761541784.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:44.740Z,1761541784.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 75.812309 m, bearing: 1.229582 deg, approach rate: -0.686907 m/s, LOS rate: -0.027590 deg/s, cmd heading: 2.137053 deg, new cmd heading: 2.104455 deg. 2025-10-27T05:09:44.741Z,1761541784.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036730 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:44.964Z,1761541784.964 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:44.964Z,1761541784.964 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:44.964Z,1761541784.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:45.140Z,1761541785.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996478,-0.034022,0.076644],[0.019603,0.983184,0.181562],[-0.081532,-0.179420,0.980388]] 2025-10-27T05:09:45.198Z,1761541785.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:45.205Z,1761541785.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 75.516724 m, bearing: 1.201453 deg, approach rate: -0.641195 m/s, LOS rate: -0.061258 deg/s, cmd heading: 2.104455 deg, new cmd heading: 2.019737 deg. 2025-10-27T05:09:45.206Z,1761541785.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035251 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:45.216Z,1761541785.216 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:45.216Z,1761541785.216 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:45.216Z,1761541785.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:45.468Z,1761541785.468 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:45.468Z,1761541785.468 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:45.468Z,1761541785.468 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:45.505Z,1761541785.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996565,-0.033405,0.075784],[0.019438,0.983828,0.178056],[-0.080506,-0.175972,0.981098]] 2025-10-27T05:09:45.540Z,1761541785.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:45.542Z,1761541785.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 75.297211 m, bearing: 1.180437 deg, approach rate: -0.641975 m/s, LOS rate: -0.061640 deg/s, cmd heading: 2.019738 deg, new cmd heading: 1.956507 deg. 2025-10-27T05:09:45.544Z,1761541785.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034147 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:45.720Z,1761541785.720 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:45.720Z,1761541785.720 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:45.720Z,1761541785.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:45.909Z,1761541785.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996671,-0.033231,0.074455],[0.019588,0.984018,0.176986],[-0.079146,-0.174938,0.981393]] 2025-10-27T05:09:45.946Z,1761541785.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:45.949Z,1761541785.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 75.045311 m, bearing: 1.156138 deg, approach rate: -0.619599 m/s, LOS rate: -0.059969 deg/s, cmd heading: 1.956507 deg, new cmd heading: 1.883365 deg. 2025-10-27T05:09:45.950Z,1761541785.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032871 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:45.972Z,1761541785.972 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:45.972Z,1761541785.972 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:45.972Z,1761541785.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:46.224Z,1761541786.224 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:46.224Z,1761541786.224 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:46.224Z,1761541786.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:46.314Z,1761541786.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996785,-0.033027,0.072996],[0.019742,0.984242,0.175722],[-0.077650,-0.173716,0.981730]] 2025-10-27T05:09:46.365Z,1761541786.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:46.371Z,1761541786.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:46.374Z,1761541786.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 74.777878 m, bearing: 1.117075 deg, approach rate: -0.629447 m/s, LOS rate: -0.092271 deg/s, cmd heading: 1.883365 deg, new cmd heading: 1.765755 deg. 2025-10-27T05:09:46.379Z,1761541786.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030818 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:46.476Z,1761541786.476 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:46.476Z,1761541786.476 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:46.477Z,1761541786.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:46.728Z,1761541786.728 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:46.728Z,1761541786.728 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:46.729Z,1761541786.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:46.732Z,1761541786.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996909,-0.033123,0.071247],[0.020276,0.984535,0.174012],[-0.075909,-0.172030,0.982163]] 2025-10-27T05:09:46.751Z,1761541786.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:46.754Z,1761541786.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 74.524231 m, bearing: 1.079648 deg, approach rate: -0.667344 m/s, LOS rate: -0.098805 deg/s, cmd heading: 1.765755 deg, new cmd heading: 1.653093 deg. 2025-10-27T05:09:46.755Z,1761541786.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028852 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:46.980Z,1761541786.980 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:46.980Z,1761541786.980 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:46.980Z,1761541786.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:47.169Z,1761541787.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997016,-0.033539,0.069529],[0.021113,0.984818,0.172303],[-0.074252,-0.170321,0.982587]] 2025-10-27T05:09:47.213Z,1761541787.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:47.216Z,1761541787.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 74.233124 m, bearing: 1.021108 deg, approach rate: -0.630260 m/s, LOS rate: -0.127239 deg/s, cmd heading: 1.653093 deg, new cmd heading: 1.476785 deg. 2025-10-27T05:09:47.217Z,1761541787.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025775 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:47.232Z,1761541787.232 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:47.232Z,1761541787.232 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:47.232Z,1761541787.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:47.485Z,1761541787.485 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:47.485Z,1761541787.485 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:47.485Z,1761541787.485 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:47.551Z,1761541787.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997136,-0.033771,0.067677],[0.021651,0.984787,0.172412],[-0.072470,-0.170453,0.982697]] 2025-10-27T05:09:47.578Z,1761541787.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:47.585Z,1761541787.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 74.008034 m, bearing: 0.975430 deg, approach rate: -0.616710 m/s, LOS rate: -0.125532 deg/s, cmd heading: 1.476785 deg, new cmd heading: 1.339334 deg. 2025-10-27T05:09:47.586Z,1761541787.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023376 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:47.736Z,1761541787.736 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:47.736Z,1761541787.736 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:47.736Z,1761541787.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:47.973Z,1761541787.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:47.975Z,1761541787.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 73.754463 m, bearing: 0.923626 deg, approach rate: -0.643201 m/s, LOS rate: -0.131857 deg/s, cmd heading: 1.339334 deg, new cmd heading: 1.183388 deg. 2025-10-27T05:09:47.976Z,1761541787.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020654 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:47.988Z,1761541787.988 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:47.988Z,1761541787.988 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:47.988Z,1761541787.988 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:09:48.240Z,1761541788.240 [DAT](INFO): Reached modem response timeout 2025-10-27T05:09:48.240Z,1761541788.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:48.240Z,1761541788.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:48.350Z,1761541788.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997380,-0.034583,0.063534],[0.023169,0.984770,0.172308],[-0.068526,-0.170385,0.982992]] 2025-10-27T05:09:48.394Z,1761541788.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:48.396Z,1761541788.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:48.398Z,1761541788.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 73.491791 m, bearing: 0.860505 deg, approach rate: -0.620406 m/s, LOS rate: -0.149618 deg/s, cmd heading: 1.183388 deg, new cmd heading: 0.993348 deg. 2025-10-27T05:09:48.400Z,1761541788.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017337 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:48.492Z,1761541788.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:48.744Z,1761541788.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:48.755Z,1761541788.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997499,-0.035119,0.061337],[0.024042,0.984665,0.172793],[-0.066465,-0.170886,0.983046]] 2025-10-27T05:09:48.847Z,1761541788.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:48.850Z,1761541788.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 73.210335 m, bearing: 0.792160 deg, approach rate: -0.623814 m/s, LOS rate: -0.152059 deg/s, cmd heading: 0.993348 deg, new cmd heading: 0.787529 deg. 2025-10-27T05:09:48.851Z,1761541788.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013745 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:48.996Z,1761541788.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:49.206Z,1761541789.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997607,-0.035564,0.059286],[0.024753,0.984432,0.174016],[-0.064552,-0.172133,0.982956]] 2025-10-27T05:09:49.248Z,1761541789.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:49.290Z,1761541789.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:49.297Z,1761541789.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 72.953896 m, bearing: 0.721884 deg, approach rate: -0.579465 m/s, LOS rate: -0.159359 deg/s, cmd heading: 0.787529 deg, new cmd heading: 0.575959 deg. 2025-10-27T05:09:49.298Z,1761541789.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010052 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:49.500Z,1761541789.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:49.604Z,1761541789.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997715,-0.035793,0.057306],[0.025222,0.984144,0.175569],[-0.062681,-0.173722,0.982798]] 2025-10-27T05:09:49.668Z,1761541789.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:49.676Z,1761541789.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 72.727264 m, bearing: 0.659292 deg, approach rate: -0.598646 m/s, LOS rate: -0.165852 deg/s, cmd heading: 0.575959 deg, new cmd heading: 0.387598 deg. 2025-10-27T05:09:49.677Z,1761541789.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006765 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:49.753Z,1761541789.753 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:50.004Z,1761541790.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:50.008Z,1761541790.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997837,-0.035689,0.055203],[0.025392,0.983867,0.177088],[-0.060632,-0.175304,0.982646]] 2025-10-27T05:09:50.063Z,1761541790.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:50.066Z,1761541790.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 72.486534 m, bearing: 0.592369 deg, approach rate: -0.609052 m/s, LOS rate: -0.169879 deg/s, cmd heading: 0.387598 deg, new cmd heading: 0.186163 deg. 2025-10-27T05:09:50.075Z,1761541790.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003249 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:50.256Z,1761541790.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:09:50.410Z,1761541790.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997959,-0.035324,0.053200],[0.025304,0.983625,0.178440],[-0.058632,-0.176730,0.982512]] 2025-10-27T05:09:50.453Z,1761541790.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:50.455Z,1761541790.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:50.458Z,1761541790.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 72.241028 m, bearing: 0.523701 deg, approach rate: -0.626458 m/s, LOS rate: -0.175815 deg/s, cmd heading: 0.186163 deg, new cmd heading: 359.979461 deg. 2025-10-27T05:09:50.459Z,1761541790.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282827 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:50.509Z,1761541790.509 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:09:50.509Z,1761541790.509 [DAT](INFO): response not received 2025-10-27T05:09:50.510Z,1761541790.510 [DAT](INFO): DAT read: user:329> 2025-10-27T05:09:50.511Z,1761541790.511 [DAT](INFO): DAT read: Tx time:05:09:49.7260 2025-10-27T05:09:50.511Z,1761541790.511 [DAT](INFO): Ping request sent. 2025-10-27T05:09:50.512Z,1761541790.512 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:50.512Z,1761541790.512 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:50.513Z,1761541790.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001291 2025-10-27T05:09:50.762Z,1761541790.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249880 2025-10-27T05:09:50.814Z,1761541790.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998087,-0.034975,0.050979],[0.025155,0.982995,0.181903],[-0.056474,-0.180273,0.981994]] 2025-10-27T05:09:50.847Z,1761541790.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:50.850Z,1761541790.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 72.004532 m, bearing: 0.457207 deg, approach rate: -0.603597 m/s, LOS rate: -0.170267 deg/s, cmd heading: 359.979465 deg, new cmd heading: 359.779328 deg. 2025-10-27T05:09:50.852Z,1761541790.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279334 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:51.012Z,1761541791.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500335 2025-10-27T05:09:51.225Z,1761541791.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998211,-0.034019,0.049168],[0.024432,0.982648,0.183866],[-0.054570,-0.182335,0.981721]] 2025-10-27T05:09:51.266Z,1761541791.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754323 2025-10-27T05:09:51.306Z,1761541791.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:51.317Z,1761541791.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 71.740929 m, bearing: 0.393141 deg, approach rate: -0.574777 m/s, LOS rate: -0.140207 deg/s, cmd heading: 359.779340 deg, new cmd heading: 359.586437 deg. 2025-10-27T05:09:51.318Z,1761541791.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275967 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:51.516Z,1761541791.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004358 2025-10-27T05:09:51.650Z,1761541791.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998321,-0.033347,0.047351],[0.024002,0.982302,0.185759],[-0.052708,-0.184310,0.981454]] 2025-10-27T05:09:51.688Z,1761541791.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:51.690Z,1761541791.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 71.509270 m, bearing: 0.336580 deg, approach rate: -0.634298 m/s, LOS rate: -0.155368 deg/s, cmd heading: 359.586428 deg, new cmd heading: 359.416198 deg. 2025-10-27T05:09:51.696Z,1761541791.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272996 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:51.769Z,1761541791.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257469 2025-10-27T05:09:52.020Z,1761541792.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508360 2025-10-27T05:09:52.103Z,1761541792.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:52.106Z,1761541792.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 71.255783 m, bearing: 0.274248 deg, approach rate: -0.587446 m/s, LOS rate: -0.144966 deg/s, cmd heading: 359.416193 deg, new cmd heading: 359.228533 deg. 2025-10-27T05:09:52.107Z,1761541792.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269721 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:52.273Z,1761541792.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761095 2025-10-27T05:09:52.453Z,1761541792.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998593,-0.029845,0.043832],[0.020913,0.981236,0.191671],[-0.048730,-0.190485,0.980480]] 2025-10-27T05:09:52.495Z,1761541792.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:52.497Z,1761541792.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:52.500Z,1761541792.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 71.004631 m, bearing: 0.227488 deg, approach rate: -0.636181 m/s, LOS rate: -0.118866 deg/s, cmd heading: 359.228526 deg, new cmd heading: 359.087749 deg. 2025-10-27T05:09:52.501Z,1761541792.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267263 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:52.524Z,1761541792.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012427 2025-10-27T05:09:52.777Z,1761541792.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265400 2025-10-27T05:09:52.857Z,1761541792.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998736,-0.027263,0.042218],[0.018550,0.980727,0.194501],[-0.046707,-0.193472,0.979993]] 2025-10-27T05:09:52.876Z,1761541792.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:52.878Z,1761541792.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 70.769974 m, bearing: 0.184039 deg, approach rate: -0.619742 m/s, LOS rate: -0.115132 deg/s, cmd heading: 359.087743 deg, new cmd heading: 358.956963 deg. 2025-10-27T05:09:52.880Z,1761541792.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264981 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:53.028Z,1761541793.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516486 2025-10-27T05:09:53.275Z,1761541793.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998865,-0.024562,0.040802],[0.015996,0.980001,0.198351],[-0.044858,-0.197473,0.979281]] 2025-10-27T05:09:53.281Z,1761541793.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769217 2025-10-27T05:09:53.343Z,1761541793.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:53.346Z,1761541793.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 70.495956 m, bearing: 0.149167 deg, approach rate: -0.591991 m/s, LOS rate: -0.075630 deg/s, cmd heading: 358.956958 deg, new cmd heading: 358.851937 deg. 2025-10-27T05:09:53.347Z,1761541793.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263148 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:53.532Z,1761541793.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020312 2025-10-27T05:09:53.666Z,1761541793.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998991,-0.021334,0.039522],[0.012956,0.979459,0.201228],[-0.043003,-0.200513,0.978747]] 2025-10-27T05:09:53.688Z,1761541793.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:53.691Z,1761541793.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 70.267105 m, bearing: 0.120471 deg, approach rate: -0.654602 m/s, LOS rate: -0.082351 deg/s, cmd heading: 358.851937 deg, new cmd heading: 358.765567 deg. 2025-10-27T05:09:53.692Z,1761541793.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261641 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:53.786Z,1761541793.786 [DAT](INFO): DAT read: Rx Time:05:09:52.2259 2025-10-27T05:09:53.787Z,1761541793.787 [DAT](INFO): Rx dataTimestamp_ set to:1761541793.786151 2025-10-27T05:09:53.787Z,1761541793.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275953 2025-10-27T05:09:54.036Z,1761541794.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524324 2025-10-27T05:09:54.143Z,1761541794.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.29 m. 2025-10-27T05:09:54.146Z,1761541794.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.289307 m, nav range: 69.985733 m, bearing: 0.084929 deg, approach rate: -0.619155 m/s, LOS rate: -0.078524 deg/s, cmd heading: 358.765576 deg, new cmd heading: 358.658522 deg. 2025-10-27T05:09:54.147Z,1761541794.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259772 target range: 81.289307 and range: 81.70 m. 2025-10-27T05:09:54.294Z,1761541794.294 [DAT](INFO): DAT read: 05:09:52.2259 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 338,-0.29,-2.884, 1.750,-2.620,-2.875, PHS= 0.094,-1.613, 0.211, RAW= 153.3, 14.7, CAL= 153.7, 16.5, ROT= 356.3, -16.5 2025-10-27T05:09:54.295Z,1761541794.295 [DAT](INFO): got valid direction response: 05:09:52.2259 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 338,-0.29,-2.884, 1.750,-2.620,-2.875, PHS= 0.094,-1.613, 0.211, RAW= 153.3, 14.7, CAL= 153.7, 16.5, ROT= 356.3, -16.5 2025-10-27T05:09:54.296Z,1761541794.296 [DAT](INFO): DAT read: Bearing 161.5, -9.5 (Local) 2025-10-27T05:09:54.296Z,1761541794.296 [DAT](INFO): Local bearing/azimuth received: Bearing 161.5, -9.5 (Local) 2025-10-27T05:09:54.298Z,1761541794.298 [DAT](INFO): DAT read: Range 11 to 50 : 71.8 m (Round-trip 95.8 ms) speed 0.5 m/s 2025-10-27T05:09:54.298Z,1761541794.298 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:54.301Z,1761541794.301 [DAT](INFO): direction in FSK: [0.956821,-0.061875,0.284015] 2025-10-27T05:09:54.302Z,1761541794.302 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:54.305Z,1761541794.305 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:54.305Z,1761541794.305 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:54.305Z,1761541794.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:54.540Z,1761541794.540 [DAT](INFO): DAT read: user:330> 2025-10-27T05:09:54.541Z,1761541794.541 [DAT](INFO): DAT read: Tx time:05:09:53.6260 2025-10-27T05:09:54.541Z,1761541794.541 [DAT](INFO): Ping request sent. 2025-10-27T05:09:54.541Z,1761541794.541 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:54.541Z,1761541794.541 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:54.542Z,1761541794.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T05:09:54.567Z,1761541794.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.800003 m, deltaT: 16.132667 s, deltaX: -9.899994 m, approachRate: -0.613661 m/s, rangeRepo size: 4 2025-10-27T05:09:54.573Z,1761541794.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.438576 m, bearing: 0.529189 deg, lat: 36.779332 deg, lon: -121.859591 deg, deltaT: 16.132667 s, deltaX: -9.850731 m, approachRate: -0.610608 m/s, posRepo size: 4 2025-10-27T05:09:54.574Z,1761541794.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:54.580Z,1761541794.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 69.439140 m, bearing: 0.070938 deg, approach rate: 0.000000 m/s, LOS rate: -0.078524 deg/s, cmd heading: 358.658534 deg, new cmd heading: 358.558873 deg. 2025-10-27T05:09:54.581Z,1761541794.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258033 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:54.792Z,1761541794.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250905 2025-10-27T05:09:54.911Z,1761541794.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999305,-0.009472,0.036055],[0.001797,0.978296,0.207204],[-0.037236,-0.206995,0.977633]] 2025-10-27T05:09:54.948Z,1761541794.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:54.950Z,1761541794.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:54.953Z,1761541794.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 69.186729 m, bearing: 0.058094 deg, approach rate: -0.657577 m/s, LOS rate: -0.033584 deg/s, cmd heading: 358.558867 deg, new cmd heading: 358.520194 deg. 2025-10-27T05:09:54.954Z,1761541794.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257358 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:55.044Z,1761541795.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923 2025-10-27T05:09:55.296Z,1761541795.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755050 2025-10-27T05:09:55.394Z,1761541795.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999370,-0.005031,0.035123],[-0.002355,0.978311,0.207130],[-0.035403,-0.207082,0.977683]] 2025-10-27T05:09:55.438Z,1761541795.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:55.441Z,1761541795.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 68.870277 m, bearing: 0.058703 deg, approach rate: -0.647603 m/s, LOS rate: 0.001254 deg/s, cmd heading: 358.520181 deg, new cmd heading: 358.522019 deg. 2025-10-27T05:09:55.442Z,1761541795.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257390 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:55.549Z,1761541795.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007610 2025-10-27T05:09:55.800Z,1761541795.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259334 2025-10-27T05:09:55.805Z,1761541795.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999417,0.005281,0.033737],[-0.012263,0.977566,0.210271],[-0.031870,-0.210562,0.977061]] 2025-10-27T05:09:55.824Z,1761541795.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:55.826Z,1761541795.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 68.630371 m, bearing: 0.061168 deg, approach rate: -0.622734 m/s, LOS rate: 0.006420 deg/s, cmd heading: 358.522012 deg, new cmd heading: 358.529432 deg. 2025-10-27T05:09:55.827Z,1761541795.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257519 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:56.053Z,1761541796.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511695 2025-10-27T05:09:56.305Z,1761541796.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764036 2025-10-27T05:09:56.317Z,1761541796.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999416,0.010144,0.032633],[-0.016776,0.977579,0.209901],[-0.029772,-0.210326,0.977178]] 2025-10-27T05:09:56.355Z,1761541796.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:56.358Z,1761541796.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 68.295822 m, bearing: 0.073957 deg, approach rate: -0.629637 m/s, LOS rate: 0.024186 deg/s, cmd heading: 358.529443 deg, new cmd heading: 358.567996 deg. 2025-10-27T05:09:56.375Z,1761541796.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258192 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:56.556Z,1761541796.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015007 2025-10-27T05:09:56.734Z,1761541796.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999416,0.014956,0.030719],[-0.021058,0.977666,0.209106],[-0.026906,-0.209631,0.977410]] 2025-10-27T05:09:56.808Z,1761541796.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266975 2025-10-27T05:09:56.882Z,1761541796.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:56.885Z,1761541796.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 68.004700 m, bearing: 0.086244 deg, approach rate: -0.552020 m/s, LOS rate: 0.023400 deg/s, cmd heading: 358.567993 deg, new cmd heading: 358.605014 deg. 2025-10-27T05:09:56.886Z,1761541796.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258838 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:57.060Z,1761541797.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518855 2025-10-27T05:09:57.179Z,1761541797.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999396,0.019680,0.028654],[-0.025251,0.977519,0.209330],[-0.023890,-0.209927,0.977425]] 2025-10-27T05:09:57.252Z,1761541797.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:57.270Z,1761541797.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:57.292Z,1761541797.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 67.757805 m, bearing: 0.097625 deg, approach rate: -0.639869 m/s, LOS rate: 0.029602 deg/s, cmd heading: 358.605012 deg, new cmd heading: 358.639278 deg. 2025-10-27T05:09:57.300Z,1761541797.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259436 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:57.312Z,1761541797.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771048 2025-10-27T05:09:57.564Z,1761541797.564 [DAT](INFO): DAT read: Rx Time:05:09:56.1228 2025-10-27T05:09:57.565Z,1761541797.565 [DAT](INFO): Rx dataTimestamp_ set to:1761541797.564242 2025-10-27T05:09:57.565Z,1761541797.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024131 2025-10-27T05:09:57.576Z,1761541797.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999356,0.024226,0.026469],[-0.029212,0.977666,0.208124],[-0.020836,-0.208763,0.977744]] 2025-10-27T05:09:57.644Z,1761541797.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:57.646Z,1761541797.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 67.482109 m, bearing: 0.111784 deg, approach rate: -0.751948 m/s, LOS rate: 0.038776 deg/s, cmd heading: 358.639272 deg, new cmd heading: 358.681923 deg. 2025-10-27T05:09:57.651Z,1761541797.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260180 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:57.816Z,1761541797.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274904 2025-10-27T05:09:58.003Z,1761541798.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999312,0.028287,0.023992],[-0.032647,0.977805,0.206959],[-0.017605,-0.207600,0.978055]] 2025-10-27T05:09:58.037Z,1761541798.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.44 m. 2025-10-27T05:09:58.040Z,1761541798.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.438576 m, nav range: 67.231758 m, bearing: 0.125487 deg, approach rate: -0.622822 m/s, LOS rate: 0.034216 deg/s, cmd heading: 358.681920 deg, new cmd heading: 358.723181 deg. 2025-10-27T05:09:58.041Z,1761541798.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260900 target range: 71.438576 and range: 71.80 m. 2025-10-27T05:09:58.106Z,1761541798.106 [DAT](INFO): DAT read: 05:09:56.1228 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.15,-2.382, 2.218,-2.162,-2.384, PHS= 0.104,-1.636, 0.179, RAW= 152.1, 15.1, CAL= 152.4, 16.9, ROT= 357.6, -16.9 2025-10-27T05:09:58.107Z,1761541798.107 [DAT](INFO): got valid direction response: 05:09:56.1228 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 417,-0.15,-2.382, 2.218,-2.162,-2.384, PHS= 0.104,-1.636, 0.179, RAW= 152.1, 15.1, CAL= 152.4, 16.9, ROT= 357.6, -16.9 2025-10-27T05:09:58.108Z,1761541798.108 [DAT](INFO): DAT read: Bearing 160.2, -7.2 (Local) 2025-10-27T05:09:58.109Z,1761541798.109 [DAT](INFO): Local bearing/azimuth received: Bearing 160.2, -7.2 (Local) 2025-10-27T05:09:58.110Z,1761541798.110 [DAT](INFO): DAT read: Range 11 to 50 : 69.4 m (Round-trip 92.6 ms) speed 0.6 m/s 2025-10-27T05:09:58.110Z,1761541798.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:09:58.124Z,1761541798.124 [DAT](INFO): direction in FSK: [0.955974,-0.040067,0.290702] 2025-10-27T05:09:58.124Z,1761541798.124 [DAT](INFO): publishing direction and range info 2025-10-27T05:09:58.133Z,1761541798.133 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:09:58.133Z,1761541798.133 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:09:58.134Z,1761541798.134 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:09:58.348Z,1761541798.348 [DAT](INFO): DAT read: user:331> 2025-10-27T05:09:58.349Z,1761541798.349 [DAT](INFO): DAT read: Tx time:05:09:57.4260 2025-10-27T05:09:58.349Z,1761541798.349 [DAT](INFO): Ping request sent. 2025-10-27T05:09:58.349Z,1761541798.349 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:09:58.349Z,1761541798.349 [DAT](INFO): publishing transmit ping time 2025-10-27T05:09:58.350Z,1761541798.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769 2025-10-27T05:09:58.394Z,1761541798.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999279,0.031317,0.021476],[-0.035044,0.978369,0.203877],[-0.014626,-0.204482,0.978761]] 2025-10-27T05:09:58.449Z,1761541798.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.400002 m, deltaT: 3.809997 s, deltaX: -2.400002 m, approachRate: -0.629922 m/s, rangeRepo size: 4 2025-10-27T05:09:58.451Z,1761541798.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.051231 m, bearing: 359.198526 deg, lat: 36.779332 deg, lon: -121.859603 deg, deltaT: 3.809997 s, deltaX: -2.387344 m, approachRate: -0.626600 m/s, posRepo size: 4 2025-10-27T05:09:58.452Z,1761541798.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-27T05:09:58.454Z,1761541798.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.051231 m, nav range: 66.963371 m, bearing: 359.207066 deg, approach rate: 0.000000 m/s, LOS rate: 0.034216 deg/s, cmd heading: 358.723174 deg, new cmd heading: 358.765402 deg. 2025-10-27T05:09:58.471Z,1761541798.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261638 target range: 69.051231 and range: 69.40 m. 2025-10-27T05:09:58.601Z,1761541798.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251962 2025-10-27T05:09:58.801Z,1761541798.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999232,0.034380,0.018814],[-0.037464,0.978884,0.200953],[-0.011508,-0.201503,0.979420]] 2025-10-27T05:09:58.820Z,1761541798.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-27T05:09:58.822Z,1761541798.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.051231 m, nav range: 66.719566 m, bearing: 359.210651 deg, approach rate: -0.656203 m/s, LOS rate: 0.009682 deg/s, cmd heading: 358.765412 deg, new cmd heading: 358.776204 deg. 2025-10-27T05:09:58.824Z,1761541798.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261826 target range: 69.051231 and range: 69.40 m. 2025-10-27T05:09:58.852Z,1761541798.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503407 2025-10-27T05:09:59.104Z,1761541799.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876 2025-10-27T05:09:59.206Z,1761541799.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999202,0.036540,0.016141],[-0.039006,0.979643,0.196924],[-0.008617,-0.197396,0.980286]] 2025-10-27T05:09:59.230Z,1761541799.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-27T05:09:59.233Z,1761541799.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.051231 m, nav range: 66.456383 m, bearing: 359.214929 deg, approach rate: -0.642004 m/s, LOS rate: 0.010479 deg/s, cmd heading: 358.776204 deg, new cmd heading: 358.789091 deg. 2025-10-27T05:09:59.233Z,1761541799.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262051 target range: 69.051231 and range: 69.40 m. 2025-10-27T05:09:59.357Z,1761541799.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007921 2025-10-27T05:09:59.608Z,1761541799.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258968 2025-10-27T05:09:59.623Z,1761541799.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999175,0.038293,0.013487],[-0.040174,0.980510,0.192317],[-0.005860,-0.192700,0.981240]] 2025-10-27T05:09:59.675Z,1761541799.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:09:59.681Z,1761541799.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-27T05:09:59.688Z,1761541799.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.051231 m, nav range: 66.177673 m, bearing: 359.207382 deg, approach rate: -0.617572 m/s, LOS rate: -0.016794 deg/s, cmd heading: 358.789099 deg, new cmd heading: 358.766362 deg. 2025-10-27T05:09:59.689Z,1761541799.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261654 target range: 69.051231 and range: 69.40 m. 2025-10-27T05:09:59.860Z,1761541799.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947 2025-10-27T05:10:00.060Z,1761541800.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999184,0.038938,0.010738],[-0.040264,0.981272,0.188372],[-0.003202,-0.188651,0.982039]] 2025-10-27T05:10:00.078Z,1761541800.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-27T05:10:00.101Z,1761541800.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.051231 m, nav range: 65.909889 m, bearing: 359.200117 deg, approach rate: -0.674387 m/s, LOS rate: -0.018371 deg/s, cmd heading: 358.766369 deg, new cmd heading: 358.744484 deg. 2025-10-27T05:10:00.102Z,1761541800.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261272 target range: 69.051231 and range: 69.40 m. 2025-10-27T05:10:00.112Z,1761541800.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763017 2025-10-27T05:10:00.366Z,1761541800.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016558 2025-10-27T05:10:00.462Z,1761541800.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999205,0.039082,0.007854],[-0.039860,0.981878,0.185276],[-0.000471,-0.185441,0.982655]] 2025-10-27T05:10:00.506Z,1761541800.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-27T05:10:00.509Z,1761541800.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.051231 m, nav range: 65.647804 m, bearing: 359.170266 deg, approach rate: -0.612311 m/s, LOS rate: -0.070019 deg/s, cmd heading: 358.744485 deg, new cmd heading: 358.654574 deg. 2025-10-27T05:10:00.510Z,1761541800.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259703 target range: 69.051231 and range: 69.40 m. 2025-10-27T05:10:00.616Z,1761541800.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266892 2025-10-27T05:10:00.868Z,1761541800.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518953 2025-10-27T05:10:00.939Z,1761541800.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999236,0.038730,0.005230],[-0.039034,0.982510,0.182070],[0.001913,-0.182135,0.983272]] 2025-10-27T05:10:00.969Z,1761541800.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-27T05:10:00.972Z,1761541800.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.051231 m, nav range: 65.363716 m, bearing: 359.137428 deg, approach rate: -0.613869 m/s, LOS rate: -0.071266 deg/s, cmd heading: 358.654572 deg, new cmd heading: 358.555631 deg. 2025-10-27T05:10:00.973Z,1761541800.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257977 target range: 69.051231 and range: 69.40 m. 2025-10-27T05:10:01.120Z,1761541801.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912 2025-10-27T05:10:01.372Z,1761541801.372 [DAT](INFO): DAT read: Rx Time:05:09:59.9193 2025-10-27T05:10:01.373Z,1761541801.373 [DAT](INFO): Rx dataTimestamp_ set to:1761541801.372250 2025-10-27T05:10:01.373Z,1761541801.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024091 2025-10-27T05:10:01.390Z,1761541801.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999294,0.037508,0.002316],[-0.037319,0.983204,0.178655],[0.004424,-0.178616,0.983909]] 2025-10-27T05:10:01.465Z,1761541801.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-27T05:10:01.472Z,1761541801.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.051231 m, nav range: 65.051270 m, bearing: 359.081101 deg, approach rate: -0.629732 m/s, LOS rate: -0.114072 deg/s, cmd heading: 358.555644 deg, new cmd heading: 358.385851 deg. 2025-10-27T05:10:01.473Z,1761541801.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255013 target range: 69.051231 and range: 69.40 m. 2025-10-27T05:10:01.624Z,1761541801.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274834 2025-10-27T05:10:01.828Z,1761541801.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999374,0.035187,-0.003624],[-0.034037,0.984456,0.172303],[0.009631,-0.172072,0.985037]] 2025-10-27T05:10:01.881Z,1761541801.881 [DAT](INFO): DAT read: 05:09:59.9193 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.29, 0.873,-0.840, 1.101, 0.795, PHS= 0.179,-1.590, 0.261, RAW= 152.2, 12.6, CAL= 152.3, 14.1, ROT= 357.7, -14.1 2025-10-27T05:10:01.883Z,1761541801.883 [DAT](INFO): got valid direction response: 05:09:59.9193 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.29, 0.873,-0.840, 1.101, 0.795, PHS= 0.179,-1.590, 0.261, RAW= 152.2, 12.6, CAL= 152.3, 14.1, ROT= 357.7, -14.1 2025-10-27T05:10:01.884Z,1761541801.884 [DAT](INFO): DAT read: Bearing 157.4, -4.6 (Local) 2025-10-27T05:10:01.884Z,1761541801.884 [DAT](INFO): Local bearing/azimuth received: Bearing 157.4, -4.6 (Local) 2025-10-27T05:10:01.885Z,1761541801.885 [DAT](INFO): DAT read: Range 11 to 50 : 66.9 m (Round-trip 89.2 ms) speed 0.6 m/s 2025-10-27T05:10:01.886Z,1761541801.886 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:01.887Z,1761541801.887 [DAT](INFO): direction in FSK: [0.969091,-0.038922,0.243615] 2025-10-27T05:10:01.887Z,1761541801.887 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:01.891Z,1761541801.891 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:01.891Z,1761541801.891 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:01.891Z,1761541801.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:02.025Z,1761541802.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.900002 m, deltaT: 3.777424 s, deltaX: -2.500000 m, approachRate: -0.661827 m/s, rangeRepo size: 4 2025-10-27T05:10:02.031Z,1761541802.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.563995 m, bearing: 358.261519 deg, lat: 36.779329 deg, lon: -121.859603 deg, deltaT: 3.777424 s, deltaX: -2.487236 m, approachRate: -0.658448 m/s, posRepo size: 4 2025-10-27T05:10:02.032Z,1761541802.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:02.035Z,1761541802.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 64.448540 m, bearing: 359.013264 deg, approach rate: 0.000000 m/s, LOS rate: -0.114072 deg/s, cmd heading: 358.385845 deg, new cmd heading: 358.194418 deg. 2025-10-27T05:10:02.040Z,1761541802.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251672 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:02.128Z,1761541802.128 [DAT](INFO): DAT read: user:332> 2025-10-27T05:10:02.129Z,1761541802.129 [DAT](INFO): DAT read: Tx time:05:10:01.1759 2025-10-27T05:10:02.129Z,1761541802.129 [DAT](INFO): Ping request sent. 2025-10-27T05:10:02.130Z,1761541802.130 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:02.130Z,1761541802.130 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:02.132Z,1761541802.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001358 2025-10-27T05:10:02.382Z,1761541802.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252297 2025-10-27T05:10:02.424Z,1761541802.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999402,0.033972,-0.006497],[-0.032368,0.984813,0.170574],[0.012193,-0.170261,0.985323]] 2025-10-27T05:10:02.504Z,1761541802.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:02.506Z,1761541802.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:02.520Z,1761541802.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 64.140472 m, bearing: 358.936178 deg, approach rate: -0.640164 m/s, LOS rate: -0.160954 deg/s, cmd heading: 358.194409 deg, new cmd heading: 357.962041 deg. 2025-10-27T05:10:02.521Z,1761541802.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247616 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:02.636Z,1761541802.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506579 2025-10-27T05:10:02.844Z,1761541802.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999423,0.032696,-0.009226],[-0.030669,0.985149,0.168938],[0.014613,-0.168557,0.985584]] 2025-10-27T05:10:02.883Z,1761541802.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:02.886Z,1761541802.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 63.908287 m, bearing: 358.877172 deg, approach rate: -0.615527 m/s, LOS rate: -0.156994 deg/s, cmd heading: 357.962045 deg, new cmd heading: 357.784385 deg. 2025-10-27T05:10:02.888Z,1761541802.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758839 2025-10-27T05:10:02.889Z,1761541802.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244515 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:03.141Z,1761541803.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010888 2025-10-27T05:10:03.249Z,1761541803.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999438,0.031285,-0.012058],[-0.028803,0.985219,0.168859],[0.017162,-0.168417,0.985566]] 2025-10-27T05:10:03.303Z,1761541803.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:03.309Z,1761541803.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 63.655499 m, bearing: 358.811966 deg, approach rate: -0.602423 m/s, LOS rate: -0.156009 deg/s, cmd heading: 357.784379 deg, new cmd heading: 357.587986 deg. 2025-10-27T05:10:03.310Z,1761541803.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241088 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:03.395Z,1761541803.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265385 2025-10-27T05:10:03.644Z,1761541803.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514528 2025-10-27T05:10:03.675Z,1761541803.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999432,0.030408,-0.014543],[-0.027519,0.985250,0.168892],[0.019464,-0.168396,0.985527]] 2025-10-27T05:10:03.781Z,1761541803.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:03.789Z,1761541803.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 63.374435 m, bearing: 358.724759 deg, approach rate: -0.587531 m/s, LOS rate: -0.183105 deg/s, cmd heading: 357.587997 deg, new cmd heading: 357.325217 deg. 2025-10-27T05:10:03.790Z,1761541803.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236502 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:03.896Z,1761541803.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766920 2025-10-27T05:10:04.134Z,1761541804.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:04.137Z,1761541804.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 63.154194 m, bearing: 358.655848 deg, approach rate: -0.623884 m/s, LOS rate: -0.195887 deg/s, cmd heading: 357.325226 deg, new cmd heading: 357.117772 deg. 2025-10-27T05:10:04.138Z,1761541804.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232881 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:04.148Z,1761541804.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018627 2025-10-27T05:10:04.402Z,1761541804.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272457 2025-10-27T05:10:04.503Z,1761541804.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999403,0.028558,-0.019448],[-0.024814,0.984933,0.171148],[0.024043,-0.170564,0.985053]] 2025-10-27T05:10:04.539Z,1761541804.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:04.541Z,1761541804.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:04.544Z,1761541804.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 62.910496 m, bearing: 358.580451 deg, approach rate: -0.598755 m/s, LOS rate: -0.185964 deg/s, cmd heading: 357.117779 deg, new cmd heading: 356.890714 deg. 2025-10-27T05:10:04.545Z,1761541804.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228918 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:04.653Z,1761541804.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522941 2025-10-27T05:10:04.904Z,1761541804.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774407 2025-10-27T05:10:04.909Z,1761541804.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999372,0.027865,-0.021870],[-0.023629,0.984376,0.174487],[0.026391,-0.173861,0.984417]] 2025-10-27T05:10:04.928Z,1761541804.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:04.931Z,1761541804.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 62.677910 m, bearing: 358.507738 deg, approach rate: -0.600290 m/s, LOS rate: -0.188365 deg/s, cmd heading: 356.890717 deg, new cmd heading: 356.671769 deg. 2025-10-27T05:10:04.932Z,1761541804.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225097 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:05.156Z,1761541805.156 [DAT](INFO): DAT read: Rx Time:05:10:03.6663 2025-10-27T05:10:05.156Z,1761541805.156 [DAT](INFO): Rx dataTimestamp_ set to:1761541805.156170 2025-10-27T05:10:05.157Z,1761541805.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027639 2025-10-27T05:10:05.310Z,1761541805.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999309,0.028311,-0.024067],[-0.023545,0.983508,0.179328],[0.028747,-0.178638,0.983495]] 2025-10-27T05:10:05.347Z,1761541805.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.56 m. 2025-10-27T05:10:05.349Z,1761541805.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.563995 m, nav range: 62.429768 m, bearing: 358.429666 deg, approach rate: -0.593287 m/s, LOS rate: -0.187406 deg/s, cmd heading: 356.671768 deg, new cmd heading: 356.436622 deg. 2025-10-27T05:10:05.350Z,1761541805.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220993 target range: 66.563995 and range: 66.90 m. 2025-10-27T05:10:05.411Z,1761541805.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281028 2025-10-27T05:10:05.666Z,1761541805.666 [DAT](INFO): DAT read: 05:10:03.6663 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.42, 0.523,-1.145, 0.753, 0.476, PHS= 0.149,-1.576, 0.233, RAW= 152.4, 13.4, CAL= 152.6, 15.0, ROT= 357.4, -15.0 2025-10-27T05:10:05.667Z,1761541805.667 [DAT](INFO): got valid direction response: 05:10:03.6663 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.42, 0.523,-1.145, 0.753, 0.476, PHS= 0.149,-1.576, 0.233, RAW= 152.4, 13.4, CAL= 152.6, 15.0, ROT= 357.4, -15.0 2025-10-27T05:10:05.668Z,1761541805.668 [DAT](INFO): DAT read: Bearing 158.5, -3.4 (Local) 2025-10-27T05:10:05.668Z,1761541805.668 [DAT](INFO): Local bearing/azimuth received: Bearing 158.5, -3.4 (Local) 2025-10-27T05:10:05.670Z,1761541805.670 [DAT](INFO): DAT read: Range 11 to 50 : 64.6 m (Round-trip 86.2 ms) speed 0.5 m/s 2025-10-27T05:10:05.670Z,1761541805.670 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:05.677Z,1761541805.677 [DAT](INFO): direction in FSK: [0.964931,-0.043817,0.258819] 2025-10-27T05:10:05.678Z,1761541805.678 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:05.681Z,1761541805.681 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:05.681Z,1761541805.681 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:05.681Z,1761541805.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:05.774Z,1761541805.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999235,0.029146,-0.026073],[-0.023898,0.982857,0.182815],[0.030954,-0.182052,0.982802]] 2025-10-27T05:10:05.895Z,1761541805.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.599998 m, deltaT: 3.784009 s, deltaX: -2.300003 m, approachRate: -0.607822 m/s, rangeRepo size: 4 2025-10-27T05:10:05.897Z,1761541805.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.276276 m, bearing: 358.873005 deg, lat: 36.779328 deg, lon: -121.859596 deg, deltaT: 3.784009 s, deltaX: -2.287720 m, approachRate: -0.604576 m/s, posRepo size: 4 2025-10-27T05:10:05.898Z,1761541805.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:05.901Z,1761541805.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 61.975304 m, bearing: 358.882188 deg, approach rate: 0.000000 m/s, LOS rate: -0.187406 deg/s, cmd heading: 356.436618 deg, new cmd heading: 356.131031 deg. 2025-10-27T05:10:05.902Z,1761541805.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215659 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:05.912Z,1761541805.912 [DAT](INFO): DAT read: user:333> 2025-10-27T05:10:05.913Z,1761541805.913 [DAT](INFO): DAT read: Tx time:05:10:04.9759 2025-10-27T05:10:05.913Z,1761541805.913 [DAT](INFO): Ping request sent. 2025-10-27T05:10:05.913Z,1761541805.913 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:05.913Z,1761541805.913 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:05.914Z,1761541805.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000781 2025-10-27T05:10:06.166Z,1761541806.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252944 2025-10-27T05:10:06.216Z,1761541806.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999032,0.032436,-0.029709],[-0.026167,0.981184,0.191293],[0.035355,-0.190331,0.981083]] 2025-10-27T05:10:06.272Z,1761541806.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:06.275Z,1761541806.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 61.756062 m, bearing: 358.827979 deg, approach rate: -0.574279 m/s, LOS rate: -0.142497 deg/s, cmd heading: 356.131036 deg, new cmd heading: 355.967834 deg. 2025-10-27T05:10:06.292Z,1761541806.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212811 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:06.419Z,1761541806.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505111 2025-10-27T05:10:06.620Z,1761541806.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998890,0.035302,-0.031194],[-0.028558,0.980386,0.195006],[0.037466,-0.193899,0.980306]] 2025-10-27T05:10:06.656Z,1761541806.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:06.658Z,1761541806.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:06.668Z,1761541806.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754675 2025-10-27T05:10:06.677Z,1761541806.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 61.500404 m, bearing: 358.791387 deg, approach rate: -0.662711 m/s, LOS rate: -0.095249 deg/s, cmd heading: 355.967822 deg, new cmd heading: 355.857588 deg. 2025-10-27T05:10:06.680Z,1761541806.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210886 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:06.920Z,1761541806.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006688 2025-10-27T05:10:07.038Z,1761541807.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998731,0.038407,-0.032573],[-0.031190,0.979568,0.198679],[0.039538,-0.197411,0.979523]] 2025-10-27T05:10:07.057Z,1761541807.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:07.060Z,1761541807.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 61.256161 m, bearing: 358.756846 deg, approach rate: -0.611745 m/s, LOS rate: -0.086858 deg/s, cmd heading: 355.857582 deg, new cmd heading: 355.753546 deg. 2025-10-27T05:10:07.061Z,1761541807.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209071 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:07.172Z,1761541807.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258709 2025-10-27T05:10:07.427Z,1761541807.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513488 2025-10-27T05:10:07.462Z,1761541807.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998517,0.042934,-0.033471],[-0.035240,0.978397,0.203710],[0.041494,-0.202229,0.978459]] 2025-10-27T05:10:07.515Z,1761541807.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:07.518Z,1761541807.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 60.977810 m, bearing: 358.742278 deg, approach rate: -0.629736 m/s, LOS rate: -0.033110 deg/s, cmd heading: 355.753545 deg, new cmd heading: 355.709640 deg. 2025-10-27T05:10:07.523Z,1761541807.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208304 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:07.676Z,1761541807.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762654 2025-10-27T05:10:07.826Z,1761541807.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998240,0.048238,-0.034487],[-0.039974,0.976995,0.209483],[0.043799,-0.207736,0.977204]] 2025-10-27T05:10:07.861Z,1761541807.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:07.864Z,1761541807.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 60.750225 m, bearing: 358.731378 deg, approach rate: -0.628938 m/s, LOS rate: -0.030235 deg/s, cmd heading: 355.709640 deg, new cmd heading: 355.676818 deg. 2025-10-27T05:10:07.865Z,1761541807.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207732 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:07.928Z,1761541807.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015003 2025-10-27T05:10:08.180Z,1761541808.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266728 2025-10-27T05:10:08.230Z,1761541808.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997937,0.053369,-0.035678],[-0.044577,0.976009,0.213120],[0.046196,-0.211090,0.976375]] 2025-10-27T05:10:08.256Z,1761541808.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:10:08.302Z,1761541808.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:08.313Z,1761541808.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 60.478058 m, bearing: 358.719494 deg, approach rate: -0.621639 m/s, LOS rate: -0.027264 deg/s, cmd heading: 355.676828 deg, new cmd heading: 355.641018 deg. 2025-10-27T05:10:08.314Z,1761541808.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207107 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:08.435Z,1761541808.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521119 2025-10-27T05:10:08.634Z,1761541808.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997603,0.058778,-0.036505],[-0.049566,0.975206,0.215679],[0.048277,-0.213352,0.975782]] 2025-10-27T05:10:08.684Z,1761541808.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770755 2025-10-27T05:10:08.690Z,1761541808.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:08.696Z,1761541808.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:08.708Z,1761541808.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 60.230927 m, bearing: 358.730538 deg, approach rate: -0.621936 m/s, LOS rate: 0.027906 deg/s, cmd heading: 355.641011 deg, new cmd heading: 355.674276 deg. 2025-10-27T05:10:08.710Z,1761541808.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207687 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:08.936Z,1761541808.936 [DAT](INFO): DAT read: Rx Time:05:10:07.4632 2025-10-27T05:10:08.936Z,1761541808.936 [DAT](INFO): Rx dataTimestamp_ set to:1761541808.936179 2025-10-27T05:10:08.937Z,1761541808.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023820 2025-10-27T05:10:09.038Z,1761541809.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997193,0.064940,-0.037269],[-0.055266,0.974207,0.218785],[0.050515,-0.216111,0.975061]] 2025-10-27T05:10:09.065Z,1761541809.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.28 m. 2025-10-27T05:10:09.068Z,1761541809.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.276276 m, nav range: 59.973099 m, bearing: 358.743587 deg, approach rate: -0.699171 m/s, LOS rate: 0.035539 deg/s, cmd heading: 355.674287 deg, new cmd heading: 355.713603 deg. 2025-10-27T05:10:09.069Z,1761541809.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208374 target range: 64.276276 and range: 64.60 m. 2025-10-27T05:10:09.188Z,1761541809.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274670 2025-10-27T05:10:09.264Z,1761541809.264 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:10:09.473Z,1761541809.473 [DAT](INFO): DAT read: 05:10:07.4632 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416, 0.30, 0.223,-1.442, 0.404, 0.156, PHS= 0.169,-1.553, 0.204, RAW= 151.0, 13.5, CAL= 151.1, 15.0, ROT= 358.9, -15.0 2025-10-27T05:10:09.477Z,1761541809.477 [DAT](INFO): got valid direction response: 05:10:07.4632 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416, 0.30, 0.223,-1.442, 0.404, 0.156, PHS= 0.169,-1.553, 0.204, RAW= 151.0, 13.5, CAL= 151.1, 15.0, ROT= 358.9, -15.0 2025-10-27T05:10:09.484Z,1761541809.484 [DAT](INFO): DAT read: Bearing 157.3, -1.4 (Local) 2025-10-27T05:10:09.484Z,1761541809.484 [DAT](INFO): Local bearing/azimuth received: Bearing 157.3, -1.4 (Local) 2025-10-27T05:10:09.486Z,1761541809.486 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m (Round-trip 83.2 ms) speed 0.5 m/s 2025-10-27T05:10:09.486Z,1761541809.486 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:09.491Z,1761541809.491 [DAT](INFO): direction in FSK: [0.965748,-0.018543,0.258819] 2025-10-27T05:10:09.492Z,1761541809.492 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:09.499Z,1761541809.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996764,0.070737,-0.038172],[-0.060698,0.973733,0.219453],[0.052693,-0.216426,0.974876]] 2025-10-27T05:10:09.500Z,1761541809.500 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:09.500Z,1761541809.500 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:09.500Z,1761541809.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:09.603Z,1761541809.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.781576 s, deltaX: -2.199997 m, approachRate: -0.581767 m/s, rangeRepo size: 4 2025-10-27T05:10:09.605Z,1761541809.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.086967 m, bearing: 358.803195 deg, lat: 36.779326 deg, lon: -121.859596 deg, deltaT: 3.781576 s, deltaX: -2.189308 m, approachRate: -0.578941 m/s, posRepo size: 4 2025-10-27T05:10:09.606Z,1761541809.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:09.613Z,1761541809.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 59.374168 m, bearing: 358.780834 deg, approach rate: 0.000000 m/s, LOS rate: 0.035539 deg/s, cmd heading: 355.713602 deg, new cmd heading: 355.770495 deg. 2025-10-27T05:10:09.614Z,1761541809.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209366 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:09.693Z,1761541809.693 [DAT](INFO): DAT read: user:334> 2025-10-27T05:10:09.694Z,1761541809.694 [DAT](INFO): DAT read: Tx time:05:10:08.8259 2025-10-27T05:10:09.695Z,1761541809.695 [DAT](INFO): Ping request sent. 2025-10-27T05:10:09.695Z,1761541809.695 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:09.695Z,1761541809.695 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:09.696Z,1761541809.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001245 2025-10-27T05:10:09.846Z,1761541809.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996283,0.076771,-0.039082],[-0.066371,0.973264,0.219889],[0.054918,-0.216478,0.974742]] 2025-10-27T05:10:09.892Z,1761541809.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:09.899Z,1761541809.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 59.178944 m, bearing: 358.807479 deg, approach rate: -0.663851 m/s, LOS rate: 0.090903 deg/s, cmd heading: 355.770484 deg, new cmd heading: 355.850682 deg. 2025-10-27T05:10:09.900Z,1761541809.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210766 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:09.945Z,1761541809.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250122 2025-10-27T05:10:10.196Z,1761541810.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501273 2025-10-27T05:10:10.274Z,1761541810.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995786,0.082453,-0.040152],[-0.071669,0.972807,0.220252],[0.057220,-0.216446,0.974616]] 2025-10-27T05:10:10.309Z,1761541810.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:10.312Z,1761541810.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 58.904495 m, bearing: 358.846694 deg, approach rate: -0.659515 m/s, LOS rate: 0.094676 deg/s, cmd heading: 355.850670 deg, new cmd heading: 355.968865 deg. 2025-10-27T05:10:10.313Z,1761541810.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212829 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:10.453Z,1761541810.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757572 2025-10-27T05:10:10.664Z,1761541810.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995269,0.087981,-0.041230],[-0.076909,0.972675,0.219062],[0.059376,-0.214855,0.974839]] 2025-10-27T05:10:10.700Z,1761541810.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005840 2025-10-27T05:10:10.719Z,1761541810.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:10.723Z,1761541810.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:10.728Z,1761541810.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 58.633793 m, bearing: 358.887409 deg, approach rate: -0.654292 m/s, LOS rate: 0.098862 deg/s, cmd heading: 355.968860 deg, new cmd heading: 356.091567 deg. 2025-10-27T05:10:10.730Z,1761541810.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214970 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:10.955Z,1761541810.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260164 2025-10-27T05:10:11.068Z,1761541811.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994848,0.092076,-0.042412],[-0.080787,0.972826,0.216986],[0.061239,-0.212442,0.975253]] 2025-10-27T05:10:11.087Z,1761541811.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:11.090Z,1761541811.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 58.393776 m, bearing: 358.924807 deg, approach rate: -0.658559 m/s, LOS rate: 0.103035 deg/s, cmd heading: 356.091557 deg, new cmd heading: 356.204213 deg. 2025-10-27T05:10:11.091Z,1761541811.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216936 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:11.205Z,1761541811.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510499 2025-10-27T05:10:11.458Z,1761541811.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763156 2025-10-27T05:10:11.520Z,1761541811.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994405,0.096119,-0.043818],[-0.084614,0.973089,0.214334],[0.063241,-0.209427,0.975777]] 2025-10-27T05:10:11.562Z,1761541811.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:11.565Z,1761541811.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 58.086594 m, bearing: 358.965722 deg, approach rate: -0.646313 m/s, LOS rate: 0.086541 deg/s, cmd heading: 356.204201 deg, new cmd heading: 356.327595 deg. 2025-10-27T05:10:11.566Z,1761541811.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219090 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:11.708Z,1761541811.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013526 2025-10-27T05:10:11.878Z,1761541811.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994070,0.098895,-0.045210],[-0.087203,0.973400,0.211867],[0.064960,-0.206668,0.976252]] 2025-10-27T05:10:11.896Z,1761541811.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:11.911Z,1761541811.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 57.870857 m, bearing: 358.995329 deg, approach rate: -0.645689 m/s, LOS rate: 0.088944 deg/s, cmd heading: 356.327609 deg, new cmd heading: 356.416762 deg. 2025-10-27T05:10:11.912Z,1761541811.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220646 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:11.961Z,1761541811.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266168 2025-10-27T05:10:12.214Z,1761541812.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519500 2025-10-27T05:10:12.283Z,1761541812.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993817,0.100409,-0.047400],[-0.088612,0.974461,0.206336],[0.066907,-0.200860,0.977333]] 2025-10-27T05:10:12.313Z,1761541812.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:12.316Z,1761541812.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 57.602432 m, bearing: 359.032975 deg, approach rate: -0.644628 m/s, LOS rate: 0.090828 deg/s, cmd heading: 356.416756 deg, new cmd heading: 356.530219 deg. 2025-10-27T05:10:12.316Z,1761541812.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222626 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:12.466Z,1761541812.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771846 2025-10-27T05:10:12.686Z,1761541812.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993641,0.101094,-0.049574],[-0.089218,0.975508,0.201060],[0.068686,-0.195359,0.978324]] 2025-10-27T05:10:12.716Z,1761541812.716 [DAT](INFO): DAT read: Rx Time:05:10:11.3098 2025-10-27T05:10:12.717Z,1761541812.717 [DAT](INFO): Rx dataTimestamp_ set to:1761541812.716748 2025-10-27T05:10:12.718Z,1761541812.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023146 2025-10-27T05:10:12.783Z,1761541812.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:12.785Z,1761541812.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:12.792Z,1761541812.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 57.300114 m, bearing: 359.054986 deg, approach rate: -0.639653 m/s, LOS rate: 0.046818 deg/s, cmd heading: 356.530219 deg, new cmd heading: 356.596601 deg. 2025-10-27T05:10:12.793Z,1761541812.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223785 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:12.968Z,1761541812.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273194 2025-10-27T05:10:13.089Z,1761541813.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993559,0.100865,-0.051636],[-0.089004,0.976699,0.195287],[0.070131,-0.189434,0.979386]] 2025-10-27T05:10:13.108Z,1761541813.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.09 m. 2025-10-27T05:10:13.111Z,1761541813.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.086967 m, nav range: 57.084087 m, bearing: 359.070874 deg, approach rate: -0.669397 m/s, LOS rate: 0.049418 deg/s, cmd heading: 356.596609 deg, new cmd heading: 356.644453 deg. 2025-10-27T05:10:13.112Z,1761541813.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224620 target range: 62.086967 and range: 62.40 m. 2025-10-27T05:10:13.229Z,1761541813.229 [DAT](INFO): DAT read: 05:10:11.3098 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.04, 1.154,-0.523, 1.269, 1.059, PHS= 0.197,-1.537, 0.166, RAW= 149.1, 13.6, CAL= 149.1, 15.0, ROT= 0.9, -15.0 2025-10-27T05:10:13.232Z,1761541813.232 [DAT](INFO): got valid direction response: 05:10:11.3098 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413, 0.04, 1.154,-0.523, 1.269, 1.059, PHS= 0.197,-1.537, 0.166, RAW= 149.1, 13.6, CAL= 149.1, 15.0, ROT= 0.9, -15.0 2025-10-27T05:10:13.233Z,1761541813.233 [DAT](INFO): DAT read: Bearing 157.1, 1.6 (Local) 2025-10-27T05:10:13.233Z,1761541813.233 [DAT](INFO): Local bearing/azimuth received: Bearing 157.1, 1.6 (Local) 2025-10-27T05:10:13.236Z,1761541813.236 [DAT](INFO): DAT read: Range 11 to 50 : 59.7 m (Round-trip 79.7 ms) speed 0.8 m/s 2025-10-27T05:10:13.237Z,1761541813.237 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:13.241Z,1761541813.241 [DAT](INFO): direction in FSK: [0.965807,0.015172,0.258819] 2025-10-27T05:10:13.242Z,1761541813.242 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:13.268Z,1761541813.268 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:13.268Z,1761541813.268 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:13.268Z,1761541813.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:13.472Z,1761541813.472 [DAT](INFO): DAT read: user:335> 2025-10-27T05:10:13.473Z,1761541813.473 [DAT](INFO): DAT read: Tx time:05:10:12.5759 2025-10-27T05:10:13.473Z,1761541813.473 [DAT](INFO): Ping request sent. 2025-10-27T05:10:13.473Z,1761541813.473 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:13.473Z,1761541813.473 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:13.474Z,1761541813.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-10-27T05:10:13.552Z,1761541813.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993532,0.100126,-0.053565],[-0.088328,0.977885,0.189575],[0.071361,-0.183618,0.980404]] 2025-10-27T05:10:13.635Z,1761541813.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 3.778565 s, deltaX: -2.700001 m, approachRate: -0.714557 m/s, rangeRepo size: 4 2025-10-27T05:10:13.637Z,1761541813.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.400566 m, bearing: 358.705423 deg, lat: 36.779324 deg, lon: -121.859600 deg, deltaT: 3.778565 s, deltaX: -2.686401 m, approachRate: -0.710958 m/s, posRepo size: 4 2025-10-27T05:10:13.638Z,1761541813.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-10-27T05:10:13.638Z,1761541813.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-27T05:10:13.645Z,1761541813.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400566 m, nav range: 56.539696 m, bearing: 358.711390 deg, approach rate: 0.000000 m/s, LOS rate: 0.049418 deg/s, cmd heading: 356.644447 deg, new cmd heading: 356.721866 deg. 2025-10-27T05:10:13.646Z,1761541813.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225971 target range: 59.400566 and range: 59.70 m. 2025-10-27T05:10:13.690Z,1761541813.690 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T05:10:13.726Z,1761541813.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252332 2025-10-27T05:10:13.962Z,1761541813.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993682,0.097366,-0.055828],[-0.085713,0.979447,0.182586],[0.072458,-0.176648,0.981604]] 2025-10-27T05:10:13.976Z,1761541813.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986 2025-10-27T05:10:13.983Z,1761541813.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-10-27T05:10:13.984Z,1761541813.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-27T05:10:13.986Z,1761541813.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400566 m, nav range: 56.311390 m, bearing: 358.699757 deg, approach rate: -0.647480 m/s, LOS rate: -0.033126 deg/s, cmd heading: 356.721874 deg, new cmd heading: 356.686833 deg. 2025-10-27T05:10:13.987Z,1761541813.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225359 target range: 59.400566 and range: 59.70 m. 2025-10-27T05:10:14.230Z,1761541814.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756661 2025-10-27T05:10:14.366Z,1761541814.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994131,0.091008,-0.058490],[-0.079583,0.981444,0.174453],[0.073281,-0.168774,0.982927]] 2025-10-27T05:10:14.406Z,1761541814.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-10-27T05:10:14.407Z,1761541814.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-27T05:10:14.414Z,1761541814.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400566 m, nav range: 56.052608 m, bearing: 358.684864 deg, approach rate: -0.611376 m/s, LOS rate: -0.035346 deg/s, cmd heading: 356.686822 deg, new cmd heading: 356.641939 deg. 2025-10-27T05:10:14.414Z,1761541814.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224576 target range: 59.400566 and range: 59.70 m. 2025-10-27T05:10:14.480Z,1761541814.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006989 2025-10-27T05:10:14.733Z,1761541814.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260312 2025-10-27T05:10:14.770Z,1761541814.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994452,0.085665,-0.061049],[-0.074397,0.983053,0.167548],[0.074368,-0.162077,0.983972]] 2025-10-27T05:10:14.816Z,1761541814.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:14.818Z,1761541814.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-10-27T05:10:14.819Z,1761541814.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-27T05:10:14.822Z,1761541814.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400566 m, nav range: 55.798889 m, bearing: 358.639313 deg, approach rate: -0.615783 m/s, LOS rate: -0.111058 deg/s, cmd heading: 356.641934 deg, new cmd heading: 356.504658 deg. 2025-10-27T05:10:14.822Z,1761541814.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222180 target range: 59.400566 and range: 59.70 m. 2025-10-27T05:10:14.984Z,1761541814.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510898 2025-10-27T05:10:15.237Z,1761541815.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763479 2025-10-27T05:10:15.258Z,1761541815.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994777,0.080710,-0.062482],[-0.069735,0.984429,0.161356],[0.074532,-0.156156,0.984916]] 2025-10-27T05:10:15.302Z,1761541815.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-10-27T05:10:15.302Z,1761541815.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-27T05:10:15.309Z,1761541815.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400566 m, nav range: 55.511490 m, bearing: 358.585727 deg, approach rate: -0.594470 m/s, LOS rate: -0.111413 deg/s, cmd heading: 356.504647 deg, new cmd heading: 356.343058 deg. 2025-10-27T05:10:15.310Z,1761541815.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219359 target range: 59.400566 and range: 59.70 m. 2025-10-27T05:10:15.488Z,1761541815.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015129 2025-10-27T05:10:15.679Z,1761541815.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995013,0.076855,-0.063582],[-0.066101,0.985430,0.156713],[0.074699,-0.151729,0.985595]] 2025-10-27T05:10:15.741Z,1761541815.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267913 2025-10-27T05:10:15.804Z,1761541815.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-10-27T05:10:15.805Z,1761541815.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-27T05:10:15.808Z,1761541815.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400566 m, nav range: 55.209152 m, bearing: 358.497027 deg, approach rate: -0.601228 m/s, LOS rate: -0.177355 deg/s, cmd heading: 356.343045 deg, new cmd heading: 356.075489 deg. 2025-10-27T05:10:15.809Z,1761541815.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214690 target range: 59.400566 and range: 59.70 m. 2025-10-27T05:10:15.992Z,1761541815.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518777 2025-10-27T05:10:16.139Z,1761541816.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995305,0.072327,-0.064317],[-0.061742,0.986207,0.153569],[0.074537,-0.148876,0.986043]] 2025-10-27T05:10:16.190Z,1761541816.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-10-27T05:10:16.190Z,1761541816.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-27T05:10:16.197Z,1761541816.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400566 m, nav range: 54.986012 m, bearing: 358.429764 deg, approach rate: -0.578826 m/s, LOS rate: -0.175188 deg/s, cmd heading: 356.075493 deg, new cmd heading: 355.872885 deg. 2025-10-27T05:10:16.198Z,1761541816.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211154 target range: 59.400566 and range: 59.70 m. 2025-10-27T05:10:16.245Z,1761541816.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771940 2025-10-27T05:10:16.496Z,1761541816.496 [DAT](INFO): DAT read: Rx Time:05:10:15.0567 2025-10-27T05:10:16.496Z,1761541816.496 [DAT](INFO): Rx dataTimestamp_ set to:1761541816.496163 2025-10-27T05:10:16.497Z,1761541816.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023952 2025-10-27T05:10:16.618Z,1761541816.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995535,0.068638,-0.064794],[-0.058211,0.986823,0.150970],[0.074303,-0.146525,0.986412]] 2025-10-27T05:10:16.675Z,1761541816.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.40 m. 2025-10-27T05:10:16.676Z,1761541816.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-27T05:10:16.679Z,1761541816.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.400566 m, nav range: 54.697796 m, bearing: 358.320906 deg, approach rate: -0.594297 m/s, LOS rate: -0.225646 deg/s, cmd heading: 355.872882 deg, new cmd heading: 355.544591 deg. 2025-10-27T05:10:16.680Z,1761541816.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205424 target range: 59.400566 and range: 59.70 m. 2025-10-27T05:10:16.749Z,1761541816.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275344 2025-10-27T05:10:17.005Z,1761541817.005 [DAT](INFO): DAT read: 05:10:15.0567 LVL= 32736, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.19,-2.002, 2.570,-1.805,-2.192, PHS= 0.292,-1.477, 0.343, RAW= 151.4, 9.4, CAL= 151.1, 10.2, ROT= 358.9, -10.2 2025-10-27T05:10:17.007Z,1761541817.007 [DAT](INFO): got valid direction response: 05:10:15.0567 LVL= 32736, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.19,-2.002, 2.570,-1.805,-2.192, PHS= 0.292,-1.477, 0.343, RAW= 151.4, 9.4, CAL= 151.1, 10.2, ROT= 358.9, -10.2 2025-10-27T05:10:17.008Z,1761541817.008 [DAT](INFO): DAT read: Bearing 154.0, 1.5 (Local) 2025-10-27T05:10:17.008Z,1761541817.008 [DAT](INFO): Local bearing/azimuth received: Bearing 154.0, 1.5 (Local) 2025-10-27T05:10:17.009Z,1761541817.009 [DAT](INFO): DAT read: Range 11 to 50 : 57.4 m (Round-trip 76.6 ms) speed 0.6 m/s 2025-10-27T05:10:17.010Z,1761541817.010 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:17.011Z,1761541817.011 [DAT](INFO): direction in FSK: [0.984014,-0.018894,0.177085] 2025-10-27T05:10:17.011Z,1761541817.011 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:17.049Z,1761541817.049 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:17.049Z,1761541817.049 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:17.049Z,1761541817.049 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:17.106Z,1761541817.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.400002 m, deltaT: 3.780119 s, deltaX: -2.299999 m, approachRate: -0.608446 m/s, rangeRepo size: 4 2025-10-27T05:10:17.113Z,1761541817.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.111835 m, bearing: 357.087428 deg, lat: 36.779324 deg, lon: -121.859600 deg, deltaT: 3.780119 s, deltaX: -2.288731 m, approachRate: -0.605465 m/s, posRepo size: 4 2025-10-27T05:10:17.113Z,1761541817.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:17.114Z,1761541817.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T05:10:17.121Z,1761541817.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 54.460724 m, bearing: 358.230444 deg, approach rate: 0.000000 m/s, LOS rate: -0.225646 deg/s, cmd heading: 355.544596 deg, new cmd heading: 355.252952 deg. 2025-10-27T05:10:17.122Z,1761541817.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200334 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:17.253Z,1761541817.253 [DAT](INFO): DAT read: user:336> 2025-10-27T05:10:17.254Z,1761541817.254 [DAT](INFO): DAT read: Tx time:05:10:16.3259 2025-10-27T05:10:17.254Z,1761541817.254 [DAT](INFO): Ping request sent. 2025-10-27T05:10:17.254Z,1761541817.254 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:17.255Z,1761541817.255 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:17.255Z,1761541817.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000884 2025-10-27T05:10:17.399Z,1761541817.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995921,0.063120,-0.064482],[-0.052897,0.987346,0.149498],[0.073103,-0.145477,0.986657]] 2025-10-27T05:10:17.462Z,1761541817.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:17.468Z,1761541817.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:17.469Z,1761541817.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T05:10:17.476Z,1761541817.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 54.243233 m, bearing: 358.145282 deg, approach rate: -0.599640 m/s, LOS rate: -0.235740 deg/s, cmd heading: 355.252947 deg, new cmd heading: 354.996437 deg. 2025-10-27T05:10:17.477Z,1761541817.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195857 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:17.504Z,1761541817.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249588 2025-10-27T05:10:17.756Z,1761541817.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501467 2025-10-27T05:10:17.820Z,1761541817.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996073,0.061141,-0.064028],[-0.050830,0.987098,0.151834],[0.072485,-0.147983,0.986330]] 2025-10-27T05:10:17.865Z,1761541817.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:17.865Z,1761541817.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T05:10:17.869Z,1761541817.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 54.007072 m, bearing: 358.046926 deg, approach rate: -0.595458 m/s, LOS rate: -0.249081 deg/s, cmd heading: 354.996432 deg, new cmd heading: 354.700076 deg. 2025-10-27T05:10:17.869Z,1761541817.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190684 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:18.008Z,1761541818.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753486 2025-10-27T05:10:18.228Z,1761541818.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996304,0.059010,-0.062413],[-0.048257,0.985677,0.161594],[0.071054,-0.157985,0.984882]] 2025-10-27T05:10:18.260Z,1761541818.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005543 2025-10-27T05:10:18.281Z,1761541818.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:18.282Z,1761541818.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T05:10:18.293Z,1761541818.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 53.781822 m, bearing: 357.951893 deg, approach rate: -0.540952 m/s, LOS rate: -0.229183 deg/s, cmd heading: 354.700084 deg, new cmd heading: 354.413794 deg. 2025-10-27T05:10:18.294Z,1761541818.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185688 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:18.512Z,1761541818.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257519 2025-10-27T05:10:18.685Z,1761541818.685 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, +199 -56,A 2025-10-27T05:10:18.704Z,1761541818.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:18.705Z,1761541818.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T05:10:18.709Z,1761541818.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 53.526638 m, bearing: 357.843187 deg, approach rate: -0.603918 m/s, LOS rate: -0.258489 deg/s, cmd heading: 354.413790 deg, new cmd heading: 354.086122 deg. 2025-10-27T05:10:18.711Z,1761541818.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179969 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:18.766Z,1761541818.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511657 2025-10-27T05:10:19.021Z,1761541819.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765500 2025-10-27T05:10:19.055Z,1761541819.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996252,0.062091,-0.060222],[-0.050616,0.983049,0.176217],[0.070143,-0.172508,0.982507]] 2025-10-27T05:10:19.074Z,1761541819.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:19.075Z,1761541819.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T05:10:19.078Z,1761541819.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 53.312744 m, bearing: 357.752369 deg, approach rate: -0.577598 m/s, LOS rate: -0.246230 deg/s, cmd heading: 354.086132 deg, new cmd heading: 353.812586 deg. 2025-10-27T05:10:19.079Z,1761541819.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175195 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:19.268Z,1761541819.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013388 2025-10-27T05:10:19.453Z,1761541819.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996094,0.065865,-0.058802],[-0.054157,0.981756,0.182267],[0.069735,-0.178370,0.981489]] 2025-10-27T05:10:19.497Z,1761541819.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:19.499Z,1761541819.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:19.499Z,1761541819.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T05:10:19.502Z,1761541819.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 53.079460 m, bearing: 357.653694 deg, approach rate: -0.549652 m/s, LOS rate: -0.233515 deg/s, cmd heading: 353.812596 deg, new cmd heading: 353.515273 deg. 2025-10-27T05:10:19.503Z,1761541819.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170005 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:19.522Z,1761541819.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267551 2025-10-27T05:10:19.772Z,1761541819.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517415 2025-10-27T05:10:19.859Z,1761541819.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995913,0.069854,-0.057257],[-0.057967,0.980472,0.187922],[0.069266,-0.183834,0.980514]] 2025-10-27T05:10:19.912Z,1761541819.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:19.913Z,1761541819.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.40 m. 2025-10-27T05:10:19.913Z,1761541819.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.40 m. 2025-10-27T05:10:19.913Z,1761541819.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T05:10:19.921Z,1761541819.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 52.829140 m, bearing: 357.599375 deg, approach rate: -0.605098 m/s, LOS rate: -0.131927 deg/s, cmd heading: 353.515264 deg, new cmd heading: 353.351535 deg. 2025-10-27T05:10:19.921Z,1761541819.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167148 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:20.025Z,1761541820.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770186 2025-10-27T05:10:20.262Z,1761541820.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995700,0.073547,-0.056333],[-0.061600,0.979777,0.190374],[0.069195,-0.186085,0.980094]] 2025-10-27T05:10:20.276Z,1761541820.276 [DAT](INFO): DAT read: Rx Time:05:10:18.8039 2025-10-27T05:10:20.277Z,1761541820.277 [DAT](INFO): Rx dataTimestamp_ set to:1761541820.276309 2025-10-27T05:10:20.277Z,1761541820.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022684 2025-10-27T05:10:20.296Z,1761541820.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:20.319Z,1761541820.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 52.588200 m, bearing: 357.547670 deg, approach rate: -0.627826 m/s, LOS rate: -0.135347 deg/s, cmd heading: 353.351531 deg, new cmd heading: 353.195706 deg. 2025-10-27T05:10:20.320Z,1761541820.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164428 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:20.529Z,1761541820.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274451 2025-10-27T05:10:20.742Z,1761541820.742 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V 2025-10-27T05:10:20.763Z,1761541820.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:20.766Z,1761541820.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 52.307598 m, bearing: 357.486841 deg, approach rate: -0.601111 m/s, LOS rate: -0.131007 deg/s, cmd heading: 353.195694 deg, new cmd heading: 353.012231 deg. 2025-10-27T05:10:20.767Z,1761541820.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161226 target range: 57.111835 and range: 57.40 m. 2025-10-27T05:10:20.785Z,1761541820.785 [DAT](INFO): DAT read: 05:10:18.8039 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.38,-0.148,-1.812, 0.065,-0.258, PHS= 0.211,-1.509 RAW= 151.9, 11.6, CAL= 151.8, 12.8, .2,Bearing 155.5, -0.3 (Local) 2025-10-27T05:10:20.786Z,1761541820.786 [DAT](INFO): Local bearing/azimuth received: 05:10:18.8039 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.38,-0.148,-1.812, 0.065,-0.258, PHS= 0.211,-1.509 RAW= 151.9, 11.6, CAL= 151.8, 12.8, .2,Bearing 155.5, -0.3 (Local) 2025-10-27T05:10:20.787Z,1761541820.787 [DAT](INFO): DAT read: Range 11 to 50 : 55.3 m (Round-trip 73.8 ms) speed 0.4 m/s 2025-10-27T05:10:20.788Z,1761541820.788 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:10:20.788Z,1761541820.788 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:20.789Z,1761541820.789 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:20.789Z,1761541820.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:21.032Z,1761541821.032 [DAT](INFO): DAT read: user:337> 2025-10-27T05:10:21.033Z,1761541821.033 [DAT](INFO): DAT read: Tx time:05:10:20.0759 2025-10-27T05:10:21.033Z,1761541821.033 [DAT](INFO): Ping request sent. 2025-10-27T05:10:21.033Z,1761541821.033 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:21.033Z,1761541821.033 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:21.034Z,1761541821.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T05:10:21.070Z,1761541821.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995162,0.081667,-0.054610],[-0.069463,0.977993,0.196735],[0.069475,-0.191990,0.978935]] 2025-10-27T05:10:21.114Z,1761541821.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.299999 m, deltaT: 3.779819 s, deltaX: -2.100002 m, approachRate: -0.555583 m/s, rangeRepo size: 4 2025-10-27T05:10:21.119Z,1761541821.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:21.122Z,1761541821.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 52.103283 m, bearing: 357.444157 deg, approach rate: -0.582679 m/s, LOS rate: -0.122207 deg/s, cmd heading: 353.012235 deg, new cmd heading: 352.883680 deg. 2025-10-27T05:10:21.127Z,1761541821.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158982 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:21.284Z,1761541821.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250686 2025-10-27T05:10:21.476Z,1761541821.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994842,0.086093,-0.053636],[-0.073788,0.977073,0.199710],[0.069600,-0.194722,0.978386]] 2025-10-27T05:10:21.494Z,1761541821.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:21.498Z,1761541821.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 51.866795 m, bearing: 357.395601 deg, approach rate: -0.620871 m/s, LOS rate: -0.128059 deg/s, cmd heading: 352.883691 deg, new cmd heading: 352.737358 deg. 2025-10-27T05:10:21.498Z,1761541821.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156428 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:21.536Z,1761541821.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503072 2025-10-27T05:10:21.788Z,1761541821.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754821 2025-10-27T05:10:21.877Z,1761541821.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994464,0.090483,-0.053424],[-0.078076,0.976554,0.200616],[0.070324,-0.195334,0.978212]] 2025-10-27T05:10:21.924Z,1761541821.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:21.927Z,1761541821.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:21.930Z,1761541821.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 51.596302 m, bearing: 357.393359 deg, approach rate: -0.626149 m/s, LOS rate: -0.005218 deg/s, cmd heading: 352.737361 deg, new cmd heading: 352.730599 deg. 2025-10-27T05:10:21.930Z,1761541821.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156311 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:22.040Z,1761541822.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006834 2025-10-27T05:10:22.292Z,1761541822.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259063 2025-10-27T05:10:22.310Z,1761541822.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:22.313Z,1761541822.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 51.351189 m, bearing: 357.391306 deg, approach rate: -0.639098 m/s, LOS rate: -0.005376 deg/s, cmd heading: 352.730612 deg, new cmd heading: 352.724426 deg. 2025-10-27T05:10:22.314Z,1761541822.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156203 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:22.544Z,1761541822.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-27T05:10:22.701Z,1761541822.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993761,0.098633,-0.052056],[-0.086156,0.975327,0.203257],[0.070820,-0.197504,0.977741]] 2025-10-27T05:10:22.778Z,1761541822.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:22.781Z,1761541822.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 51.056549 m, bearing: 357.405260 deg, approach rate: -0.629592 m/s, LOS rate: 0.029989 deg/s, cmd heading: 352.724438 deg, new cmd heading: 352.766541 deg. 2025-10-27T05:10:22.782Z,1761541822.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156938 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:22.796Z,1761541822.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762805 2025-10-27T05:10:23.048Z,1761541823.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014772 2025-10-27T05:10:23.140Z,1761541823.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:23.144Z,1761541823.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 50.823807 m, bearing: 357.416397 deg, approach rate: -0.642117 m/s, LOS rate: 0.030867 deg/s, cmd heading: 352.766539 deg, new cmd heading: 352.800103 deg. 2025-10-27T05:10:23.145Z,1761541823.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157524 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:23.300Z,1761541823.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266870 2025-10-27T05:10:23.493Z,1761541823.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993024,0.106111,-0.051423],[-0.093588,0.974547,0.203713],[0.071731,-0.197479,0.977679]] 2025-10-27T05:10:23.522Z,1761541823.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:23.525Z,1761541823.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 50.569805 m, bearing: 357.430828 deg, approach rate: -0.666426 m/s, LOS rate: 0.038052 deg/s, cmd heading: 352.800116 deg, new cmd heading: 352.843625 deg. 2025-10-27T05:10:23.525Z,1761541823.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158283 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:23.552Z,1761541823.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518851 2025-10-27T05:10:23.804Z,1761541823.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785 2025-10-27T05:10:23.952Z,1761541823.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:23.954Z,1761541823.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:23.957Z,1761541823.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 50.300247 m, bearing: 357.451225 deg, approach rate: -0.623474 m/s, LOS rate: 0.047431 deg/s, cmd heading: 352.843638 deg, new cmd heading: 352.905158 deg. 2025-10-27T05:10:23.958Z,1761541823.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159357 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:24.056Z,1761541824.056 [DAT](INFO): DAT read: Rx Time:05:10:22.5509 2025-10-27T05:10:24.057Z,1761541824.057 [DAT](INFO): Rx dataTimestamp_ set to:1761541824.056301 2025-10-27T05:10:24.057Z,1761541824.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024018 2025-10-27T05:10:24.308Z,1761541824.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274657 2025-10-27T05:10:24.311Z,1761541824.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992286,0.113322,-0.050265],[-0.100848,0.973691,0.204343],[0.072099,-0.197697,0.977608]] 2025-10-27T05:10:24.342Z,1761541824.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.11 m. 2025-10-27T05:10:24.345Z,1761541824.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.111835 m, nav range: 50.057556 m, bearing: 357.471819 deg, approach rate: -0.624761 m/s, LOS rate: 0.053272 deg/s, cmd heading: 352.905165 deg, new cmd heading: 352.967245 deg. 2025-10-27T05:10:24.346Z,1761541824.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160440 target range: 57.111835 and range: 55.30 m. 2025-10-27T05:10:24.565Z,1761541824.565 [DAT](INFO): DAT read: 05:10:22.5509 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.37,-2.448, 2.125,-2.277,-2.606, PHS= 0.259,-1.507, 0.285, RAW= 150.7, 10.8, CAL= 150.5, 11.9, ROT= 359.5, -11.9 2025-10-27T05:10:24.566Z,1761541824.566 [DAT](INFO): got valid direction response: 05:10:22.5509 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 418, 0.37,-2.448, 2.125,-2.277,-2.606, PHS= 0.259,-1.507, 0.285, RAW= 150.7, 10.8, CAL= 150.5, 11.9, ROT= 359.5, -11.9 2025-10-27T05:10:24.567Z,1761541824.567 [DAT](INFO): DAT read: Bearing 154.7, 1.1 (Local) 2025-10-27T05:10:24.568Z,1761541824.568 [DAT](INFO): Local bearing/azimuth received: Bearing 154.7, 1.1 (Local) 2025-10-27T05:10:24.569Z,1761541824.569 [DAT](INFO): DAT read: Range 11 to 50 : 53.1 m (Round-trip 70.8 ms) speed 0.9 m/s 2025-10-27T05:10:24.570Z,1761541824.570 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:24.571Z,1761541824.571 [DAT](INFO): direction in FSK: [0.978472,-0.008539,0.206204] 2025-10-27T05:10:24.571Z,1761541824.571 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:24.574Z,1761541824.574 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:24.574Z,1761541824.574 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:24.576Z,1761541824.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:24.752Z,1761541824.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991962,0.116298,-0.049868],[-0.103899,0.973518,0.203638],[0.072230,-0.196819,0.977776]] 2025-10-27T05:10:24.812Z,1761541824.812 [DAT](INFO): DAT read: user:338> 2025-10-27T05:10:24.813Z,1761541824.813 [DAT](INFO): DAT read: Tx time:05:10:23.8759 2025-10-27T05:10:24.813Z,1761541824.813 [DAT](INFO): Ping request sent. 2025-10-27T05:10:24.813Z,1761541824.813 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:24.813Z,1761541824.813 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:24.814Z,1761541824.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T05:10:24.818Z,1761541824.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 3.779995 s, deltaX: -2.200001 m, approachRate: -0.582012 m/s, rangeRepo size: 4 2025-10-27T05:10:24.829Z,1761541824.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.831814 m, bearing: 355.946479 deg, lat: 36.779324 deg, lon: -121.859600 deg, deltaT: 7.559814 s, deltaX: -4.280022 m, approachRate: -0.566154 m/s, posRepo size: 4 2025-10-27T05:10:24.829Z,1761541824.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:24.836Z,1761541824.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 49.784863 m, bearing: 357.489122 deg, approach rate: 0.000000 m/s, LOS rate: 0.053272 deg/s, cmd heading: 352.967237 deg, new cmd heading: 353.043107 deg. 2025-10-27T05:10:24.837Z,1761541824.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161765 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:25.064Z,1761541825.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250732 2025-10-27T05:10:25.110Z,1761541825.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991689,0.118829,-0.049330],[-0.106616,0.973583,0.201913],[0.072020,-0.194975,0.978160]] 2025-10-27T05:10:25.128Z,1761541825.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:25.131Z,1761541825.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 49.577393 m, bearing: 357.503084 deg, approach rate: -0.667316 m/s, LOS rate: 0.045097 deg/s, cmd heading: 353.043107 deg, new cmd heading: 353.085170 deg. 2025-10-27T05:10:25.132Z,1761541825.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162499 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:25.316Z,1761541825.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502824 2025-10-27T05:10:25.522Z,1761541825.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991488,0.120592,-0.049082],[-0.108619,0.973990,0.198861],[0.071786,-0.191837,0.978798]] 2025-10-27T05:10:25.542Z,1761541825.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:25.545Z,1761541825.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 49.324612 m, bearing: 357.520874 deg, approach rate: -0.611183 m/s, LOS rate: 0.043233 deg/s, cmd heading: 353.085181 deg, new cmd heading: 353.138824 deg. 2025-10-27T05:10:25.546Z,1761541825.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163435 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:25.568Z,1761541825.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754968 2025-10-27T05:10:25.820Z,1761541825.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893 2025-10-27T05:10:25.923Z,1761541825.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991413,0.121395,-0.048613],[-0.109587,0.974126,0.197657],[0.071349,-0.190633,0.979065]] 2025-10-27T05:10:25.981Z,1761541825.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:25.983Z,1761541825.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:25.986Z,1761541825.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 49.076206 m, bearing: 357.529477 deg, approach rate: -0.563126 m/s, LOS rate: 0.019602 deg/s, cmd heading: 353.138812 deg, new cmd heading: 353.164753 deg. 2025-10-27T05:10:25.991Z,1761541825.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163888 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:26.077Z,1761541826.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264365 2025-10-27T05:10:26.328Z,1761541826.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514758 2025-10-27T05:10:26.337Z,1761541826.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991486,0.120785,-0.048650],[-0.109192,0.974761,0.194725],[0.070942,-0.187755,0.979651]] 2025-10-27T05:10:26.363Z,1761541826.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:26.366Z,1761541826.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 48.835938 m, bearing: 357.537782 deg, approach rate: -0.631899 m/s, LOS rate: 0.021948 deg/s, cmd heading: 353.164739 deg, new cmd heading: 353.189776 deg. 2025-10-27T05:10:26.367Z,1761541826.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164324 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:26.580Z,1761541826.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766842 2025-10-27T05:10:26.759Z,1761541826.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991633,0.119616,-0.048544],[-0.108224,0.975312,0.192492],[0.070370,-0.185628,0.980097]] 2025-10-27T05:10:26.813Z,1761541826.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:26.820Z,1761541826.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 48.588917 m, bearing: 357.522823 deg, approach rate: -0.549162 m/s, LOS rate: -0.033425 deg/s, cmd heading: 353.189765 deg, new cmd heading: 353.144660 deg. 2025-10-27T05:10:26.821Z,1761541826.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163537 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:26.832Z,1761541826.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018937 2025-10-27T05:10:27.084Z,1761541827.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270832 2025-10-27T05:10:27.134Z,1761541827.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991825,0.118017,-0.048535],[-0.106849,0.975999,0.189759],[0.069765,-0.183022,0.980630]] 2025-10-27T05:10:27.163Z,1761541827.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:27.166Z,1761541827.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 48.380360 m, bearing: 357.509719 deg, approach rate: -0.595529 m/s, LOS rate: -0.037578 deg/s, cmd heading: 353.144658 deg, new cmd heading: 353.105179 deg. 2025-10-27T05:10:27.167Z,1761541827.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162848 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:27.336Z,1761541827.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522796 2025-10-27T05:10:27.539Z,1761541827.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991988,0.116609,-0.048599],[-0.105548,0.976405,0.188397],[0.069421,-0.181758,0.980890]] 2025-10-27T05:10:27.557Z,1761541827.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:27.560Z,1761541827.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 48.156002 m, bearing: 357.495140 deg, approach rate: -0.569235 m/s, LOS rate: -0.037162 deg/s, cmd heading: 353.105180 deg, new cmd heading: 353.061238 deg. 2025-10-27T05:10:27.561Z,1761541827.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162081 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:27.588Z,1761541827.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774957 2025-10-27T05:10:27.840Z,1761541827.840 [DAT](INFO): DAT read: Rx Time:05:10:26.3477 2025-10-27T05:10:27.841Z,1761541827.841 [DAT](INFO): Rx dataTimestamp_ set to:1761541827.840273 2025-10-27T05:10:27.841Z,1761541827.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028034 2025-10-27T05:10:27.943Z,1761541827.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992107,0.115764,-0.048185],[-0.104844,0.976625,0.187649],[0.068782,-0.181116,0.981054]] 2025-10-27T05:10:28.003Z,1761541828.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:28.005Z,1761541828.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.83 m. 2025-10-27T05:10:28.016Z,1761541828.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.831814 m, nav range: 47.909698 m, bearing: 357.465011 deg, approach rate: -0.549747 m/s, LOS rate: -0.067594 deg/s, cmd heading: 353.061248 deg, new cmd heading: 352.970396 deg. 2025-10-27T05:10:28.017Z,1761541828.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160496 target range: 52.831814 and range: 53.10 m. 2025-10-27T05:10:28.092Z,1761541828.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278965 2025-10-27T05:10:28.349Z,1761541828.349 [DAT](INFO): DAT read: 05:10:26.3477 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.15,-0.315,-2.006,-0.172,-0.443, PHS= 0.229,-1.518, 0.227, RAW= 149.9, 12.1, CAL= 149.8, 13.4, ROT= 0.2, -13.4 2025-10-27T05:10:28.350Z,1761541828.350 [DAT](INFO): got valid direction response: 05:10:26.3477 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.15,-0.315,-2.006,-0.172,-0.443, PHS= 0.229,-1.518, 0.227, RAW= 149.9, 12.1, CAL= 149.8, 13.4, ROT= 0.2, -13.4 2025-10-27T05:10:28.352Z,1761541828.352 [DAT](INFO): DAT read: Bearing 156.9, 1.6 (Local) 2025-10-27T05:10:28.352Z,1761541828.352 [DAT](INFO): Local bearing/azimuth received: Bearing 156.9, 1.6 (Local) 2025-10-27T05:10:28.353Z,1761541828.353 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m (Round-trip 67.6 ms) speed 0.4 m/s 2025-10-27T05:10:28.354Z,1761541828.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:28.355Z,1761541828.355 [DAT](INFO): direction in FSK: [0.972770,0.003396,0.231748] 2025-10-27T05:10:28.355Z,1761541828.355 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:28.358Z,1761541828.358 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:28.358Z,1761541828.358 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:28.368Z,1761541828.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:28.374Z,1761541828.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992271,0.114531,-0.047752],[-0.103759,0.976878,0.186930],[0.068057,-0.180530,0.981212]] 2025-10-27T05:10:28.438Z,1761541828.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 3.784000 s, deltaX: -2.399998 m, approachRate: -0.634249 m/s, rangeRepo size: 4 2025-10-27T05:10:28.448Z,1761541828.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.443443 m, bearing: 356.744552 deg, lat: 36.779329 deg, lon: -121.859607 deg, deltaT: 3.784000 s, deltaX: -2.388371 m, approachRate: -0.631176 m/s, posRepo size: 4 2025-10-27T05:10:28.449Z,1761541828.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.44 m. 2025-10-27T05:10:28.456Z,1761541828.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.443443 m, nav range: 48.229839 m, bearing: 356.744570 deg, approach rate: 0.000000 m/s, LOS rate: -0.067594 deg/s, cmd heading: 352.970407 deg, new cmd heading: 352.882766 deg. 2025-10-27T05:10:28.457Z,1761541828.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158966 target range: 50.443443 and range: 50.70 m. 2025-10-27T05:10:28.596Z,1761541828.596 [DAT](INFO): DAT read: user:339> 2025-10-27T05:10:28.597Z,1761541828.597 [DAT](INFO): DAT read: Tx time:05:10:27.6759 2025-10-27T05:10:28.597Z,1761541828.597 [DAT](INFO): Ping request sent. 2025-10-27T05:10:28.597Z,1761541828.597 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:28.597Z,1761541828.597 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:28.598Z,1761541828.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767 2025-10-27T05:10:28.793Z,1761541828.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992382,0.113746,-0.047337],[-0.103101,0.977059,0.186348],[0.067447,-0.180048,0.981343]] 2025-10-27T05:10:28.848Z,1761541828.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250661 2025-10-27T05:10:28.895Z,1761541828.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.44 m. 2025-10-27T05:10:28.898Z,1761541828.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.443443 m, nav range: 47.972313 m, bearing: 356.686523 deg, approach rate: -0.563139 m/s, LOS rate: -0.127615 deg/s, cmd heading: 352.882762 deg, new cmd heading: 352.707686 deg. 2025-10-27T05:10:28.899Z,1761541828.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155910 target range: 50.443443 and range: 50.70 m. 2025-10-27T05:10:29.100Z,1761541829.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969 2025-10-27T05:10:29.245Z,1761541829.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992497,0.112939,-0.046844],[-0.102476,0.977350,0.185161],[0.066695,-0.178972,0.981591]] 2025-10-27T05:10:29.291Z,1761541829.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.44 m. 2025-10-27T05:10:29.294Z,1761541829.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.443443 m, nav range: 47.770672 m, bearing: 356.640447 deg, approach rate: -0.536020 m/s, LOS rate: -0.123000 deg/s, cmd heading: 352.707690 deg, new cmd heading: 352.568879 deg. 2025-10-27T05:10:29.299Z,1761541829.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153488 target range: 50.443443 and range: 50.70 m. 2025-10-27T05:10:29.352Z,1761541829.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754854 2025-10-27T05:10:29.604Z,1761541829.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006717 2025-10-27T05:10:29.652Z,1761541829.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992610,0.112098,-0.046462],[-0.101781,0.977604,0.184202],[0.066070,-0.178112,0.981790]] 2025-10-27T05:10:29.740Z,1761541829.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.44 m. 2025-10-27T05:10:29.759Z,1761541829.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.443443 m, nav range: 47.546146 m, bearing: 356.588457 deg, approach rate: -0.485345 m/s, LOS rate: -0.112915 deg/s, cmd heading: 352.568873 deg, new cmd heading: 352.412167 deg. 2025-10-27T05:10:29.767Z,1761541829.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150753 target range: 50.443443 and range: 50.70 m. 2025-10-27T05:10:29.856Z,1761541829.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258643 2025-10-27T05:10:30.108Z,1761541830.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510702 2025-10-27T05:10:30.251Z,1761541830.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992753,0.111276,-0.045370],[-0.101183,0.977711,0.183968],[0.064830,-0.178044,0.981885]] 2025-10-27T05:10:30.311Z,1761541830.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:30.313Z,1761541830.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.44 m. 2025-10-27T05:10:30.316Z,1761541830.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.443443 m, nav range: 47.208836 m, bearing: 356.506973 deg, approach rate: -0.581879 m/s, LOS rate: -0.141568 deg/s, cmd heading: 352.412162 deg, new cmd heading: 352.165965 deg. 2025-10-27T05:10:30.317Z,1761541830.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146456 target range: 50.443443 and range: 50.70 m. 2025-10-27T05:10:30.360Z,1761541830.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762779 2025-10-27T05:10:30.613Z,1761541830.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015294 2025-10-27T05:10:30.694Z,1761541830.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992779,0.111313,-0.044722],[-0.101355,0.977753,0.183649],[0.064170,-0.177790,0.981974]] 2025-10-27T05:10:30.754Z,1761541830.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.44 m. 2025-10-27T05:10:30.777Z,1761541830.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.443443 m, nav range: 46.985374 m, bearing: 356.452372 deg, approach rate: -0.508234 m/s, LOS rate: -0.124773 deg/s, cmd heading: 352.165974 deg, new cmd heading: 352.001393 deg. 2025-10-27T05:10:30.784Z,1761541830.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143583 target range: 50.443443 and range: 50.70 m. 2025-10-27T05:10:30.864Z,1761541830.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266860 2025-10-27T05:10:31.116Z,1761541831.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518607 2025-10-27T05:10:31.246Z,1761541831.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992753,0.112101,-0.043303],[-0.102300,0.977407,0.184962],[0.063059,-0.179192,0.981791]] 2025-10-27T05:10:31.303Z,1761541831.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.44 m. 2025-10-27T05:10:31.306Z,1761541831.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.443443 m, nav range: 46.690964 m, bearing: 356.372902 deg, approach rate: -0.535568 m/s, LOS rate: -0.145476 deg/s, cmd heading: 352.001394 deg, new cmd heading: 351.761483 deg. 2025-10-27T05:10:31.306Z,1761541831.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139396 target range: 50.443443 and range: 50.70 m. 2025-10-27T05:10:31.368Z,1761541831.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770827 2025-10-27T05:10:31.620Z,1761541831.620 [DAT](INFO): DAT read: Rx Time:05:10:30.1450 2025-10-27T05:10:31.620Z,1761541831.620 [DAT](INFO): Rx dataTimestamp_ set to:1761541831.620185 2025-10-27T05:10:31.621Z,1761541831.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023807 2025-10-27T05:10:31.756Z,1761541831.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992778,0.112153,-0.042588],[-0.102516,0.977492,0.184392],[0.062309,-0.178694,0.981930]] 2025-10-27T05:10:31.826Z,1761541831.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.44 m. 2025-10-27T05:10:31.840Z,1761541831.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.443443 m, nav range: 46.418324 m, bearing: 356.298438 deg, approach rate: -0.520572 m/s, LOS rate: -0.143015 deg/s, cmd heading: 351.761490 deg, new cmd heading: 351.536786 deg. 2025-10-27T05:10:31.840Z,1761541831.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135474 target range: 50.443443 and range: 50.70 m. 2025-10-27T05:10:31.872Z,1761541831.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274842 2025-10-27T05:10:32.129Z,1761541832.129 [DAT](INFO): DAT read: 05:10:30.1450 LVL= 31936, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.06,-1.460,-3.140,-1.281,-1.577, PHS= 0.220,-1.518, 0.252, RAW= 150.9, 11.9, CAL= 150.9, 13.1, ROT= 359.1, -13.1 2025-10-27T05:10:32.130Z,1761541832.130 [DAT](INFO): got valid direction response: 05:10:30.1450 LVL= 31936, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.06,-1.460,-3.140,-1.281,-1.577, PHS= 0.220,-1.518, 0.252, RAW= 150.9, 11.9, CAL= 150.9, 13.1, ROT= 359.1, -13.1 2025-10-27T05:10:32.131Z,1761541832.131 [DAT](INFO): DAT read: Bearing 157.2, 0.3 (Local) 2025-10-27T05:10:32.132Z,1761541832.132 [DAT](INFO): Local bearing/azimuth received: Bearing 157.2, 0.3 (Local) 2025-10-27T05:10:32.133Z,1761541832.133 [DAT](INFO): DAT read: Range 11 to 50 : 48.6 m (Round-trip 64.9 ms) speed 0.4 m/s 2025-10-27T05:10:32.134Z,1761541832.134 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:32.135Z,1761541832.135 [DAT](INFO): direction in FSK: [0.973856,-0.015298,0.226651] 2025-10-27T05:10:32.135Z,1761541832.135 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:32.138Z,1761541832.138 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:32.138Z,1761541832.138 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:32.139Z,1761541832.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:32.154Z,1761541832.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992702,0.113440,-0.040917],[-0.103948,0.976929,0.186558],[0.061136,-0.180943,0.981592]] 2025-10-27T05:10:32.295Z,1761541832.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 3.779990 s, deltaX: -2.100002 m, approachRate: -0.555558 m/s, rangeRepo size: 4 2025-10-27T05:10:32.297Z,1761541832.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.354195 m, bearing: 355.578996 deg, lat: 36.779330 deg, lon: -121.859613 deg, deltaT: 3.779990 s, deltaX: -2.089249 m, approachRate: -0.552713 m/s, posRepo size: 4 2025-10-27T05:10:32.298Z,1761541832.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:32.305Z,1761541832.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 46.350685 m, bearing: 355.598823 deg, approach rate: 0.000000 m/s, LOS rate: -0.143015 deg/s, cmd heading: 351.536777 deg, new cmd heading: 351.344447 deg. 2025-10-27T05:10:32.306Z,1761541832.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132117 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:32.377Z,1761541832.377 [DAT](INFO): DAT read: user:340> 2025-10-27T05:10:32.377Z,1761541832.377 [DAT](INFO): DAT read: Tx time:05:10:31.4258 2025-10-27T05:10:32.378Z,1761541832.378 [DAT](INFO): Ping request sent. 2025-10-27T05:10:32.378Z,1761541832.378 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:32.378Z,1761541832.378 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:32.379Z,1761541832.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000785 2025-10-27T05:10:32.611Z,1761541832.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992640,0.114579,-0.039216],[-0.105280,0.976480,0.188157],[0.059853,-0.182643,0.981356]] 2025-10-27T05:10:32.629Z,1761541832.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250096 2025-10-27T05:10:32.652Z,1761541832.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:32.654Z,1761541832.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:32.662Z,1761541832.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 46.149960 m, bearing: 355.541936 deg, approach rate: -0.528687 m/s, LOS rate: -0.150485 deg/s, cmd heading: 351.344439 deg, new cmd heading: 351.173037 deg. 2025-10-27T05:10:32.671Z,1761541832.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129126 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:32.880Z,1761541832.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501990 2025-10-27T05:10:33.022Z,1761541833.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992579,0.115639,-0.037624],[-0.106529,0.976070,0.189574],[0.058646,-0.184159,0.981145]] 2025-10-27T05:10:33.132Z,1761541833.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754000 2025-10-27T05:10:33.197Z,1761541833.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:33.202Z,1761541833.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 45.841351 m, bearing: 355.462899 deg, approach rate: -0.569512 m/s, LOS rate: -0.146838 deg/s, cmd heading: 351.173029 deg, new cmd heading: 350.934322 deg. 2025-10-27T05:10:33.204Z,1761541833.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124959 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:33.384Z,1761541833.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006020 2025-10-27T05:10:33.544Z,1761541833.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992303,0.118911,-0.034557],[-0.110216,0.975331,0.191266],[0.056448,-0.185985,0.980930]] 2025-10-27T05:10:33.563Z,1761541833.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:33.566Z,1761541833.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 45.638412 m, bearing: 355.411357 deg, approach rate: -0.553088 m/s, LOS rate: -0.141096 deg/s, cmd heading: 350.934327 deg, new cmd heading: 350.779015 deg. 2025-10-27T05:10:33.567Z,1761541833.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122249 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:33.636Z,1761541833.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258406 2025-10-27T05:10:33.888Z,1761541833.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510042 2025-10-27T05:10:33.938Z,1761541833.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992114,0.120952,-0.032867],[-0.112433,0.974714,0.193111],[0.055393,-0.187892,0.980626]] 2025-10-27T05:10:33.996Z,1761541833.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:33.998Z,1761541833.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 45.414032 m, bearing: 355.349174 deg, approach rate: -0.518745 m/s, LOS rate: -0.144473 deg/s, cmd heading: 350.779009 deg, new cmd heading: 350.591536 deg. 2025-10-27T05:10:34.004Z,1761541834.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118977 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:34.140Z,1761541834.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762386 2025-10-27T05:10:34.345Z,1761541834.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991965,0.122654,-0.031015],[-0.114411,0.974329,0.193889],[0.054000,-0.188782,0.980533]] 2025-10-27T05:10:34.381Z,1761541834.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:34.384Z,1761541834.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 45.193077 m, bearing: 355.287925 deg, approach rate: -0.572835 m/s, LOS rate: -0.159566 deg/s, cmd heading: 350.591534 deg, new cmd heading: 350.406890 deg. 2025-10-27T05:10:34.385Z,1761541834.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.115754 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:34.392Z,1761541834.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014562 2025-10-27T05:10:34.644Z,1761541834.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266426 2025-10-27T05:10:34.748Z,1761541834.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991838,0.124170,-0.028966],[-0.116263,0.974018,0.194351],[0.052346,-0.189397,0.980504]] 2025-10-27T05:10:34.765Z,1761541834.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:34.768Z,1761541834.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:34.770Z,1761541834.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 44.983250 m, bearing: 355.229722 deg, approach rate: -0.542988 m/s, LOS rate: -0.151320 deg/s, cmd heading: 350.406900 deg, new cmd heading: 350.231476 deg. 2025-10-27T05:10:34.772Z,1761541834.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112692 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:34.896Z,1761541834.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518208 2025-10-27T05:10:35.148Z,1761541835.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770266 2025-10-27T05:10:35.152Z,1761541835.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991689,0.125665,-0.027594],[-0.118022,0.973920,0.193778],[0.051226,-0.188911,0.980657]] 2025-10-27T05:10:35.242Z,1761541835.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:35.245Z,1761541835.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 44.733822 m, bearing: 355.164269 deg, approach rate: -0.525449 m/s, LOS rate: -0.138652 deg/s, cmd heading: 350.231473 deg, new cmd heading: 350.034022 deg. 2025-10-27T05:10:35.246Z,1761541835.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109246 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:35.400Z,1761541835.400 [DAT](INFO): DAT read: Rx Time:05:10:33.8922 2025-10-27T05:10:35.400Z,1761541835.400 [DAT](INFO): Rx dataTimestamp_ set to:1761541835.400200 2025-10-27T05:10:35.401Z,1761541835.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023154 2025-10-27T05:10:35.563Z,1761541835.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991532,0.127300,-0.025678],[-0.119951,0.973534,0.194535],[0.049763,-0.189808,0.980559]] 2025-10-27T05:10:35.583Z,1761541835.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:10:35.586Z,1761541835.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.354195 m, nav range: 44.545631 m, bearing: 355.114896 deg, approach rate: -0.552763 m/s, LOS rate: -0.145633 deg/s, cmd heading: 350.034026 deg, new cmd heading: 349.885282 deg. 2025-10-27T05:10:35.587Z,1761541835.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106650 target range: 48.354195 and range: 48.60 m. 2025-10-27T05:10:35.653Z,1761541835.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274945 2025-10-27T05:10:35.909Z,1761541835.909 [DAT](INFO): DAT read: 05:10:33.8922 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410,-0.33, 0.971,-0.736, 1.111, 0.870, PHS= 0.203,-1.561, 0.196, RAW= 149.8, 13.1, CAL= 149.8, 14.5, ROT= 0.2, -14.5 2025-10-27T05:10:35.910Z,1761541835.910 [DAT](INFO): got valid direction response: 05:10:33.8922 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410,-0.33, 0.971,-0.736, 1.111, 0.870, PHS= 0.203,-1.561, 0.196, RAW= 149.8, 13.1, CAL= 149.8, 14.5, ROT= 0.2, -14.5 2025-10-27T05:10:35.911Z,1761541835.911 [DAT](INFO): DAT read: Bearing 157.9, 0.3 (Local) 2025-10-27T05:10:35.912Z,1761541835.912 [DAT](INFO): Local bearing/azimuth received: Bearing 157.9, 0.3 (Local) 2025-10-27T05:10:35.913Z,1761541835.913 [DAT](INFO): DAT read: Range 11 to 50 : 46.7 m (Round-trip 62.3 ms) speed 0.4 m/s 2025-10-27T05:10:35.914Z,1761541835.914 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:35.915Z,1761541835.915 [DAT](INFO): direction in FSK: [0.968142,0.003379,0.250380] 2025-10-27T05:10:35.922Z,1761541835.922 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:35.925Z,1761541835.925 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:35.925Z,1761541835.925 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:35.926Z,1761541835.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:35.966Z,1761541835.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991337,0.129109,-0.024111],[-0.122001,0.973179,0.195034],[0.048645,-0.190402,0.980500]] 2025-10-27T05:10:36.074Z,1761541836.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.700001 m, deltaT: 3.779911 s, deltaX: -1.899998 m, approachRate: -0.502657 m/s, rangeRepo size: 4 2025-10-27T05:10:36.085Z,1761541836.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.463791 m, bearing: 356.043521 deg, lat: 36.779331 deg, lon: -121.859613 deg, deltaT: 3.779911 s, deltaX: -1.890404 m, approachRate: -0.500119 m/s, posRepo size: 4 2025-10-27T05:10:36.085Z,1761541836.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:36.093Z,1761541836.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 44.388874 m, bearing: 355.063501 deg, approach rate: 0.000000 m/s, LOS rate: -0.145633 deg/s, cmd heading: 349.885292 deg, new cmd heading: 349.670877 deg. 2025-10-27T05:10:36.094Z,1761541836.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.102908 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:36.157Z,1761541836.157 [DAT](INFO): DAT read: user:341> 2025-10-27T05:10:36.158Z,1761541836.158 [DAT](INFO): DAT read: Tx time:05:10:35.2258 2025-10-27T05:10:36.159Z,1761541836.159 [DAT](INFO): Ping request sent. 2025-10-27T05:10:36.159Z,1761541836.159 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:36.159Z,1761541836.159 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:36.160Z,1761541836.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001557 2025-10-27T05:10:36.404Z,1761541836.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991154,0.130789,-0.022539],[-0.123878,0.972646,0.196506],[0.047624,-0.191976,0.980244]] 2025-10-27T05:10:36.408Z,1761541836.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249293 2025-10-27T05:10:36.444Z,1761541836.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:36.451Z,1761541836.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 44.190018 m, bearing: 355.015723 deg, approach rate: -0.536908 m/s, LOS rate: -0.129580 deg/s, cmd heading: 349.670879 deg, new cmd heading: 349.526900 deg. 2025-10-27T05:10:36.452Z,1761541836.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100395 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:36.660Z,1761541836.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501787 2025-10-27T05:10:36.805Z,1761541836.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990940,0.132621,-0.021226],[-0.125877,0.972174,0.197566],[0.046837,-0.193104,0.980060]] 2025-10-27T05:10:36.880Z,1761541836.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:36.896Z,1761541836.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:36.905Z,1761541836.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 43.961926 m, bearing: 354.961029 deg, approach rate: -0.511727 m/s, LOS rate: -0.123344 deg/s, cmd heading: 349.526898 deg, new cmd heading: 349.361965 deg. 2025-10-27T05:10:36.906Z,1761541836.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097517 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:36.912Z,1761541836.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753360 2025-10-27T05:10:37.164Z,1761541837.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005204 2025-10-27T05:10:37.226Z,1761541837.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990723,0.134520,-0.019321],[-0.128078,0.971752,0.198227],[0.045441,-0.193914,0.979966]] 2025-10-27T05:10:37.280Z,1761541837.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:37.283Z,1761541837.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 43.732109 m, bearing: 354.921479 deg, approach rate: -0.588991 m/s, LOS rate: -0.101892 deg/s, cmd heading: 349.361963 deg, new cmd heading: 349.242692 deg. 2025-10-27T05:10:37.284Z,1761541837.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095435 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:37.416Z,1761541837.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257326 2025-10-27T05:10:37.613Z,1761541837.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990445,0.136750,-0.017842],[-0.130565,0.971476,0.197957],[0.044404,-0.193736,0.980048]] 2025-10-27T05:10:37.639Z,1761541837.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:37.642Z,1761541837.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 43.527092 m, bearing: 354.886524 deg, approach rate: -0.570736 m/s, LOS rate: -0.097769 deg/s, cmd heading: 349.242681 deg, new cmd heading: 349.137320 deg. 2025-10-27T05:10:37.643Z,1761541837.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093596 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:37.668Z,1761541837.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509258 2025-10-27T05:10:37.920Z,1761541837.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761177 2025-10-27T05:10:38.081Z,1761541838.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:38.084Z,1761541838.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 43.285069 m, bearing: 354.855122 deg, approach rate: -0.547898 m/s, LOS rate: -0.071485 deg/s, cmd heading: 349.137332 deg, new cmd heading: 349.042601 deg. 2025-10-27T05:10:38.085Z,1761541838.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091943 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:38.172Z,1761541838.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013672 2025-10-27T05:10:38.424Z,1761541838.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265364 2025-10-27T05:10:38.425Z,1761541838.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989761,0.142068,-0.013769],[-0.136547,0.970538,0.198521],[0.041567,-0.194608,0.980000]] 2025-10-27T05:10:38.443Z,1761541838.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:38.446Z,1761541838.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 43.086468 m, bearing: 354.830710 deg, approach rate: -0.548200 m/s, LOS rate: -0.067697 deg/s, cmd heading: 349.042611 deg, new cmd heading: 348.969035 deg. 2025-10-27T05:10:38.447Z,1761541838.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090659 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:38.676Z,1761541838.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517211 2025-10-27T05:10:38.825Z,1761541838.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989457,0.144348,-0.011786],[-0.139115,0.969900,0.199852],[0.040279,-0.196105,0.979755]] 2025-10-27T05:10:38.882Z,1761541838.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:38.912Z,1761541838.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 42.862419 m, bearing: 354.803710 deg, approach rate: -0.512357 m/s, LOS rate: -0.062066 deg/s, cmd heading: 348.969036 deg, new cmd heading: 348.887614 deg. 2025-10-27T05:10:38.920Z,1761541838.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089238 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:38.931Z,1761541838.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771903 2025-10-27T05:10:39.180Z,1761541839.180 [DAT](INFO): DAT read: Rx Time:05:10:37.6894 2025-10-27T05:10:39.180Z,1761541839.180 [DAT](INFO): Rx dataTimestamp_ set to:1761541839.180196 2025-10-27T05:10:39.181Z,1761541839.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022641 2025-10-27T05:10:39.250Z,1761541839.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989057,0.147223,-0.009553],[-0.142322,0.969184,0.201065],[0.038860,-0.197506,0.979531]] 2025-10-27T05:10:39.285Z,1761541839.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:39.287Z,1761541839.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:39.290Z,1761541839.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 42.615646 m, bearing: 354.793315 deg, approach rate: -0.606916 m/s, LOS rate: -0.025713 deg/s, cmd heading: 348.887620 deg, new cmd heading: 348.856255 deg. 2025-10-27T05:10:39.307Z,1761541839.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088690 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:39.383Z,1761541839.383 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:10:39.432Z,1761541839.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273196 2025-10-27T05:10:39.650Z,1761541839.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988540,0.150774,-0.007519],[-0.146176,0.968456,0.201806],[0.037709,-0.198394,0.979397]] 2025-10-27T05:10:39.678Z,1761541839.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.46 m. 2025-10-27T05:10:39.682Z,1761541839.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.463791 m, nav range: 42.393440 m, bearing: 354.785039 deg, approach rate: -0.568701 m/s, LOS rate: -0.021294 deg/s, cmd heading: 348.856256 deg, new cmd heading: 348.831295 deg. 2025-10-27T05:10:39.694Z,1761541839.694 [DAT](INFO): DAT read: 05:10:37.6894 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.02, 1.931, 0.270, 2.048, 1.895, PHS= 0.138,-1.580, 0.108, RAW= 149.1, 15.5, CAL= 149.3, 17.2, ROT= 0.7, -17.2 2025-10-27T05:10:39.697Z,1761541839.697 [DAT](INFO): got valid direction response: 05:10:37.6894 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.02, 1.931, 0.270, 2.048, 1.895, PHS= 0.138,-1.580, 0.108, RAW= 149.1, 15.5, CAL= 149.3, 17.2, ROT= 0.7, -17.2 2025-10-27T05:10:39.698Z,1761541839.698 [DAT](INFO): DAT read: Bearing 158.8, -0.5 (Local) 2025-10-27T05:10:39.700Z,1761541839.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088254 target range: 46.463791 and range: 46.70 m. 2025-10-27T05:10:39.703Z,1761541839.703 [DAT](INFO): Local bearing/azimuth received: Bearing 158.8, -0.5 (Local) 2025-10-27T05:10:39.705Z,1761541839.705 [DAT](INFO): DAT read: Range 11 to 50 : 44.5 m (Round-trip 59.4 ms) speed 0.4 m/s 2025-10-27T05:10:39.723Z,1761541839.723 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:39.725Z,1761541839.725 [DAT](INFO): direction in FSK: [0.955207,0.011671,0.295708] 2025-10-27T05:10:39.725Z,1761541839.725 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:39.738Z,1761541839.738 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:39.738Z,1761541839.738 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:39.738Z,1761541839.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:39.936Z,1761541839.936 [DAT](INFO): DAT read: user:342> 2025-10-27T05:10:39.937Z,1761541839.937 [DAT](INFO): DAT read: Tx time:05:10:39.0258 2025-10-27T05:10:39.937Z,1761541839.937 [DAT](INFO): Ping request sent. 2025-10-27T05:10:39.937Z,1761541839.937 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:39.937Z,1761541839.937 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:39.938Z,1761541839.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-10-27T05:10:40.060Z,1761541840.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988052,0.154019,-0.005548],[-0.149768,0.968032,0.201205],[0.036360,-0.197970,0.979533]] 2025-10-27T05:10:40.119Z,1761541840.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.500000 m, deltaT: 3.781241 s, deltaX: -2.200001 m, approachRate: -0.581820 m/s, rangeRepo size: 4 2025-10-27T05:10:40.121Z,1761541840.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.274914 m, bearing: 355.622249 deg, lat: 36.779330 deg, lon: -121.859607 deg, deltaT: 3.781241 s, deltaX: -2.188877 m, approachRate: -0.578878 m/s, posRepo size: 4 2025-10-27T05:10:40.122Z,1761541840.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:40.125Z,1761541840.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 42.007271 m, bearing: 355.483668 deg, approach rate: 0.000000 m/s, LOS rate: -0.021294 deg/s, cmd heading: 348.831285 deg, new cmd heading: 348.803134 deg. 2025-10-27T05:10:40.126Z,1761541840.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087763 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:40.190Z,1761541840.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252763 2025-10-27T05:10:40.387Z,1761541840.387 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:10:40.440Z,1761541840.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502743 2025-10-27T05:10:40.461Z,1761541840.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987474,0.157738,-0.003831],[-0.153790,0.967620,0.200152],[0.035279,-0.197056,0.979757]] 2025-10-27T05:10:40.503Z,1761541840.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:40.506Z,1761541840.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 41.804676 m, bearing: 355.489953 deg, approach rate: -0.527127 m/s, LOS rate: 0.016433 deg/s, cmd heading: 348.803144 deg, new cmd heading: 348.822092 deg. 2025-10-27T05:10:40.507Z,1761541840.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088094 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:40.697Z,1761541840.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759493 2025-10-27T05:10:40.866Z,1761541840.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986806,0.161894,-0.001887],[-0.158245,0.966898,0.200166],[0.034230,-0.197226,0.979760]] 2025-10-27T05:10:40.889Z,1761541840.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:40.892Z,1761541840.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 41.589165 m, bearing: 355.498048 deg, approach rate: -0.558081 m/s, LOS rate: 0.021070 deg/s, cmd heading: 348.822105 deg, new cmd heading: 348.846514 deg. 2025-10-27T05:10:40.893Z,1761541840.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088520 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:40.951Z,1761541840.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013381 2025-10-27T05:10:41.201Z,1761541841.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264052 2025-10-27T05:10:41.269Z,1761541841.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986216,0.165465,0.000172],[-0.162135,0.966158,0.200625],[0.033030,-0.197887,0.979668]] 2025-10-27T05:10:41.314Z,1761541841.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:41.317Z,1761541841.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:41.320Z,1761541841.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 41.345562 m, bearing: 355.522254 deg, approach rate: -0.569680 m/s, LOS rate: 0.056941 deg/s, cmd heading: 348.846502 deg, new cmd heading: 348.919549 deg. 2025-10-27T05:10:41.321Z,1761541841.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089795 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:41.453Z,1761541841.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515930 2025-10-27T05:10:41.674Z,1761541841.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985687,0.168577,0.001902],[-0.165564,0.965819,0.199453],[0.031786,-0.196913,0.979905]] 2025-10-27T05:10:41.705Z,1761541841.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767692 2025-10-27T05:10:41.724Z,1761541841.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:41.729Z,1761541841.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 41.118649 m, bearing: 355.546156 deg, approach rate: -0.556840 m/s, LOS rate: 0.058977 deg/s, cmd heading: 348.919558 deg, new cmd heading: 348.991658 deg. 2025-10-27T05:10:41.730Z,1761541841.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091053 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:41.964Z,1761541841.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026922 2025-10-27T05:10:42.078Z,1761541842.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985170,0.171545,0.003424],[-0.168805,0.965477,0.198390],[0.030727,-0.196026,0.980117]] 2025-10-27T05:10:42.192Z,1761541842.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:42.197Z,1761541842.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 40.862129 m, bearing: 355.579456 deg, approach rate: -0.550066 m/s, LOS rate: 0.071856 deg/s, cmd heading: 348.991658 deg, new cmd heading: 349.092185 deg. 2025-10-27T05:10:42.198Z,1761541842.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.092808 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:42.210Z,1761541842.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272180 2025-10-27T05:10:42.461Z,1761541842.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523829 2025-10-27T05:10:42.552Z,1761541842.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984892,0.173100,0.004918],[-0.170654,0.965366,0.197345],[0.029413,-0.195203,0.980322]] 2025-10-27T05:10:42.578Z,1761541842.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:42.581Z,1761541842.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 40.644035 m, bearing: 355.608677 deg, approach rate: -0.562357 m/s, LOS rate: 0.075752 deg/s, cmd heading: 349.092198 deg, new cmd heading: 349.180333 deg. 2025-10-27T05:10:42.582Z,1761541842.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094347 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:42.713Z,1761541842.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775996 2025-10-27T05:10:42.968Z,1761541842.968 [DAT](INFO): DAT read: Rx Time:05:10:41.4868 2025-10-27T05:10:42.969Z,1761541842.969 [DAT](INFO): Rx dataTimestamp_ set to:1761541842.968136 2025-10-27T05:10:42.971Z,1761541842.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033048 2025-10-27T05:10:42.997Z,1761541842.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984466,0.175455,0.006514],[-0.173278,0.964926,0.197212],[0.028316,-0.195277,0.980339]] 2025-10-27T05:10:43.074Z,1761541843.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:43.078Z,1761541843.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 40.369442 m, bearing: 355.639195 deg, approach rate: -0.553581 m/s, LOS rate: 0.061942 deg/s, cmd heading: 349.180335 deg, new cmd heading: 349.272511 deg. 2025-10-27T05:10:43.079Z,1761541843.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095955 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:43.216Z,1761541843.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278721 2025-10-27T05:10:43.384Z,1761541843.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984055,0.177683,0.008001],[-0.175789,0.964741,0.195893],[0.027088,-0.194176,0.980593]] 2025-10-27T05:10:43.439Z,1761541843.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:43.446Z,1761541843.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.27 m. 2025-10-27T05:10:43.457Z,1761541843.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.274914 m, nav range: 40.175800 m, bearing: 355.661677 deg, approach rate: -0.520394 m/s, LOS rate: 0.060709 deg/s, cmd heading: 349.272515 deg, new cmd heading: 349.340286 deg. 2025-10-27T05:10:43.458Z,1761541843.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097138 target range: 44.274914 and range: 44.50 m. 2025-10-27T05:10:43.473Z,1761541843.473 [DAT](INFO): DAT read: 05:10:41.4868 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.03,-2.018, 2.543,-1.996,-2.174, PHS= 0.258,-1.521, 0.134, RAW= 146.4, 13.1, CAL= 146.2, 14.3, ROT= 3.8, -14.3 2025-10-27T05:10:43.474Z,1761541843.474 [DAT](INFO): got valid direction response: 05:10:41.4868 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.03,-2.018, 2.543,-1.996,-2.174, PHS= 0.258,-1.521, 0.134, RAW= 146.4, 13.1, CAL= 146.2, 14.3, ROT= 3.8, -14.3 2025-10-27T05:10:43.476Z,1761541843.476 [DAT](INFO): DAT read: Bearing 154.4, 2.6 (Local) 2025-10-27T05:10:43.476Z,1761541843.476 [DAT](INFO): Local bearing/azimuth received: Bearing 154.4, 2.6 (Local) 2025-10-27T05:10:43.477Z,1761541843.477 [DAT](INFO): DAT read: Range 11 to 50 : 42.6 m (Round-trip 56.8 ms) speed 0.5 m/s 2025-10-27T05:10:43.478Z,1761541843.478 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:43.479Z,1761541843.479 [DAT](INFO): direction in FSK: [0.966885,0.064220,0.246999] 2025-10-27T05:10:43.479Z,1761541843.479 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:43.482Z,1761541843.482 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:43.482Z,1761541843.482 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:43.487Z,1761541843.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:43.720Z,1761541843.720 [DAT](INFO): DAT read: user:343> 2025-10-27T05:10:43.722Z,1761541843.722 [DAT](INFO): DAT read: Tx time:05:10:42.7758 2025-10-27T05:10:43.722Z,1761541843.722 [DAT](INFO): Ping request sent. 2025-10-27T05:10:43.722Z,1761541843.722 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:43.723Z,1761541843.723 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:43.724Z,1761541843.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001238 2025-10-27T05:10:43.796Z,1761541843.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983686,0.179646,0.009476],[-0.178014,0.964445,0.195339],[0.025953,-0.193839,0.980690]] 2025-10-27T05:10:43.821Z,1761541843.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.599998 m, deltaT: 3.782889 s, deltaX: -1.900002 m, approachRate: -0.502262 m/s, rangeRepo size: 4 2025-10-27T05:10:43.823Z,1761541843.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.384407 m, bearing: 356.327761 deg, lat: 36.779330 deg, lon: -121.859606 deg, deltaT: 3.782889 s, deltaX: -1.890507 m, approachRate: -0.499752 m/s, posRepo size: 4 2025-10-27T05:10:43.824Z,1761541843.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:43.826Z,1761541843.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 39.951267 m, bearing: 355.842667 deg, approach rate: 0.000000 m/s, LOS rate: 0.060709 deg/s, cmd heading: 349.340298 deg, new cmd heading: 349.408360 deg. 2025-10-27T05:10:43.827Z,1761541843.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.098326 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:43.976Z,1761541843.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252371 2025-10-27T05:10:44.208Z,1761541844.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983309,0.181611,0.010974],[-0.180271,0.964352,0.193722],[0.024600,-0.192467,0.980995]] 2025-10-27T05:10:44.224Z,1761541844.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501546 2025-10-27T05:10:44.259Z,1761541844.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:44.262Z,1761541844.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 39.697990 m, bearing: 355.856469 deg, approach rate: -0.577161 m/s, LOS rate: 0.031653 deg/s, cmd heading: 349.408354 deg, new cmd heading: 349.450025 deg. 2025-10-27T05:10:44.263Z,1761541844.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099053 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:44.477Z,1761541844.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754087 2025-10-27T05:10:44.604Z,1761541844.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983054,0.182912,0.012161],[-0.181855,0.964718,0.190391],[0.023093,-0.189376,0.981633]] 2025-10-27T05:10:44.626Z,1761541844.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:44.630Z,1761541844.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 39.487732 m, bearing: 355.868542 deg, approach rate: -0.572105 m/s, LOS rate: 0.033026 deg/s, cmd heading: 349.450018 deg, new cmd heading: 349.486430 deg. 2025-10-27T05:10:44.630Z,1761541844.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099689 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:44.729Z,1761541844.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006479 2025-10-27T05:10:44.983Z,1761541844.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259903 2025-10-27T05:10:45.034Z,1761541845.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982967,0.183331,0.012901],[-0.182487,0.965299,0.186804],[0.021793,-0.185976,0.982313]] 2025-10-27T05:10:45.084Z,1761541845.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:45.086Z,1761541845.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 39.227013 m, bearing: 355.868156 deg, approach rate: -0.570407 m/s, LOS rate: -0.000852 deg/s, cmd heading: 349.486436 deg, new cmd heading: 349.485268 deg. 2025-10-27T05:10:45.088Z,1761541845.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099669 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:45.232Z,1761541845.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509603 2025-10-27T05:10:45.447Z,1761541845.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:45.449Z,1761541845.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:45.472Z,1761541845.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 39.021076 m, bearing: 355.867846 deg, approach rate: -0.563005 m/s, LOS rate: -0.000850 deg/s, cmd heading: 349.485262 deg, new cmd heading: 349.484329 deg. 2025-10-27T05:10:45.473Z,1761541845.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099652 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:45.484Z,1761541845.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761585 2025-10-27T05:10:45.738Z,1761541845.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015539 2025-10-27T05:10:45.814Z,1761541845.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982853,0.183759,0.015279],[-0.183457,0.966160,0.181324],[0.018558,-0.181018,0.983305]] 2025-10-27T05:10:45.832Z,1761541845.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:45.835Z,1761541845.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 38.799629 m, bearing: 355.867797 deg, approach rate: -0.578260 m/s, LOS rate: -0.000129 deg/s, cmd heading: 349.484333 deg, new cmd heading: 349.484184 deg. 2025-10-27T05:10:45.836Z,1761541845.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099650 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:45.995Z,1761541845.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271991 2025-10-27T05:10:46.218Z,1761541846.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982896,0.183436,0.016298],[-0.183354,0.966492,0.179652],[0.017203,-0.179568,0.983595]] 2025-10-27T05:10:46.248Z,1761541846.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525202 2025-10-27T05:10:46.270Z,1761541846.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:46.273Z,1761541846.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 38.553158 m, bearing: 355.843318 deg, approach rate: -0.563287 m/s, LOS rate: -0.056303 deg/s, cmd heading: 349.484196 deg, new cmd heading: 349.410288 deg. 2025-10-27T05:10:46.274Z,1761541846.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.098360 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:46.496Z,1761541846.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773567 2025-10-27T05:10:46.624Z,1761541846.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982943,0.183107,0.017201],[-0.183246,0.967119,0.176356],[0.015656,-0.176500,0.984176]] 2025-10-27T05:10:46.651Z,1761541846.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:46.654Z,1761541846.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 38.343155 m, bearing: 355.822123 deg, approach rate: -0.550833 m/s, LOS rate: -0.055897 deg/s, cmd heading: 349.410293 deg, new cmd heading: 349.346362 deg. 2025-10-27T05:10:46.655Z,1761541846.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097244 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:46.749Z,1761541846.749 [DAT](INFO): DAT read: Rx Time:05:10:45.2337 2025-10-27T05:10:46.750Z,1761541846.750 [DAT](INFO): Rx dataTimestamp_ set to:1761541846.749517 2025-10-27T05:10:46.751Z,1761541846.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028195 2025-10-27T05:10:47.002Z,1761541847.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279651 2025-10-27T05:10:47.138Z,1761541847.138 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -23.00, , +2.81, 8.07, 0.00 2025-10-27T05:10:47.157Z,1761541847.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.38 m. 2025-10-27T05:10:47.160Z,1761541847.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.384407 m, nav range: 38.053638 m, bearing: 355.792519 deg, approach rate: -0.572458 m/s, LOS rate: -0.058981 deg/s, cmd heading: 349.346363 deg, new cmd heading: 349.256875 deg. 2025-10-27T05:10:47.161Z,1761541847.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095683 target range: 42.384407 and range: 42.60 m. 2025-10-27T05:10:47.260Z,1761541847.260 [DAT](INFO): DAT read: 05:10:45.2337 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403,-0.27, 0.847,-0.915, 0.825, 0.710, PHS= 0.240,-1.580, 0.071, RAW= 145.2, 14.5, CAL= 144.9, 15.8, ROT= 5.1, -15.8 2025-10-27T05:10:47.261Z,1761541847.261 [DAT](INFO): got valid direction response: 05:10:45.2337 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403,-0.27, 0.847,-0.915, 0.825, 0.710, PHS= 0.240,-1.580, 0.071, RAW= 145.2, 14.5, CAL= 144.9, 15.8, ROT= 5.1, -15.8 2025-10-27T05:10:47.262Z,1761541847.262 [DAT](INFO): DAT read: Bearing 155.5, 2.8 (Local) 2025-10-27T05:10:47.262Z,1761541847.262 [DAT](INFO): Local bearing/azimuth received: Bearing 155.5, 2.8 (Local) 2025-10-27T05:10:47.263Z,1761541847.263 [DAT](INFO): DAT read: Range 11 to 50 : 40.3 m (Round-trip 53.8 ms) speed 0.4 m/s 2025-10-27T05:10:47.264Z,1761541847.264 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:47.265Z,1761541847.265 [DAT](INFO): direction in FSK: [0.958409,0.085536,0.272280] 2025-10-27T05:10:47.265Z,1761541847.265 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:47.277Z,1761541847.277 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:47.277Z,1761541847.277 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:47.277Z,1761541847.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:47.457Z,1761541847.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983396,0.180275,0.020816],[-0.181141,0.968178,0.172681],[0.010977,-0.173584,0.984758]] 2025-10-27T05:10:47.480Z,1761541847.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.299999 m, deltaT: 3.784476 s, deltaX: -2.299999 m, approachRate: -0.607746 m/s, rangeRepo size: 4 2025-10-27T05:10:47.482Z,1761541847.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.095997 m, bearing: 357.398852 deg, lat: 36.779332 deg, lon: -121.859604 deg, deltaT: 3.784476 s, deltaX: -2.288410 m, approachRate: -0.604684 m/s, posRepo size: 4 2025-10-27T05:10:47.483Z,1761541847.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:47.486Z,1761541847.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 38.079750 m, bearing: 355.981367 deg, approach rate: 0.000000 m/s, LOS rate: -0.058981 deg/s, cmd heading: 349.256887 deg, new cmd heading: 349.199869 deg. 2025-10-27T05:10:47.487Z,1761541847.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094687 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:47.505Z,1761541847.505 [DAT](INFO): DAT read: user:344> 2025-10-27T05:10:47.506Z,1761541847.506 [DAT](INFO): DAT read: Tx time:05:10:46.5758 2025-10-27T05:10:47.506Z,1761541847.506 [DAT](INFO): Ping request sent. 2025-10-27T05:10:47.506Z,1761541847.506 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:47.507Z,1761541847.507 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:47.507Z,1761541847.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000879 2025-10-27T05:10:47.756Z,1761541847.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249418 2025-10-27T05:10:47.857Z,1761541847.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983526,0.179449,0.021775],[-0.180493,0.968288,0.172745],[0.009914,-0.173829,0.984726]] 2025-10-27T05:10:47.875Z,1761541847.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:47.877Z,1761541847.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:47.880Z,1761541847.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 37.853767 m, bearing: 355.958067 deg, approach rate: -0.568024 m/s, LOS rate: -0.058916 deg/s, cmd heading: 349.199869 deg, new cmd heading: 349.129552 deg. 2025-10-27T05:10:47.881Z,1761541847.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093460 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:48.010Z,1761541848.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503277 2025-10-27T05:10:48.259Z,1761541848.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983676,0.178536,0.022525],[-0.179731,0.968551,0.172066],[0.008903,-0.173306,0.984828]] 2025-10-27T05:10:48.260Z,1761541848.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753459 2025-10-27T05:10:48.310Z,1761541848.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:48.313Z,1761541848.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 37.617550 m, bearing: 355.886029 deg, approach rate: -0.545105 m/s, LOS rate: -0.167283 deg/s, cmd heading: 349.129545 deg, new cmd heading: 348.912073 deg. 2025-10-27T05:10:48.314Z,1761541848.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089664 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:48.513Z,1761541848.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006516 2025-10-27T05:10:48.689Z,1761541848.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983868,0.177415,0.022993],[-0.178715,0.968883,0.171251],[0.008105,-0.172597,0.984959]] 2025-10-27T05:10:48.741Z,1761541848.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:48.752Z,1761541848.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 37.395748 m, bearing: 355.817141 deg, approach rate: -0.514650 m/s, LOS rate: -0.160789 deg/s, cmd heading: 348.912072 deg, new cmd heading: 348.704185 deg. 2025-10-27T05:10:48.753Z,1761541848.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086036 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:48.767Z,1761541848.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260564 2025-10-27T05:10:49.023Z,1761541849.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515604 2025-10-27T05:10:49.099Z,1761541849.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984211,0.175499,0.023006],[-0.176832,0.969263,0.171055],[0.007722,-0.172422,0.984993]] 2025-10-27T05:10:49.164Z,1761541849.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:49.172Z,1761541849.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 37.173645 m, bearing: 355.740963 deg, approach rate: -0.525152 m/s, LOS rate: -0.181195 deg/s, cmd heading: 348.704189 deg, new cmd heading: 348.474291 deg. 2025-10-27T05:10:49.174Z,1761541849.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082024 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:49.272Z,1761541849.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765451 2025-10-27T05:10:49.510Z,1761541849.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984498,0.173883,0.022995],[-0.175230,0.969359,0.172158],[0.007645,-0.173519,0.984801]] 2025-10-27T05:10:49.524Z,1761541849.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017492 2025-10-27T05:10:49.531Z,1761541849.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:49.534Z,1761541849.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 36.982010 m, bearing: 355.674011 deg, approach rate: -0.522295 m/s, LOS rate: -0.183421 deg/s, cmd heading: 348.474284 deg, new cmd heading: 348.272388 deg. 2025-10-27T05:10:49.535Z,1761541849.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.078500 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:49.776Z,1761541849.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269485 2025-10-27T05:10:49.909Z,1761541849.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984758,0.172340,0.023470],[-0.173788,0.969482,0.172924],[0.007048,-0.174367,0.984655]] 2025-10-27T05:10:49.946Z,1761541849.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:49.948Z,1761541849.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:49.951Z,1761541849.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 36.769062 m, bearing: 355.598287 deg, approach rate: -0.510508 m/s, LOS rate: -0.182588 deg/s, cmd heading: 348.272384 deg, new cmd heading: 348.043897 deg. 2025-10-27T05:10:49.952Z,1761541849.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074512 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:50.032Z,1761541850.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525034 2025-10-27T05:10:50.280Z,1761541850.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773387 2025-10-27T05:10:50.313Z,1761541850.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984952,0.171204,0.023616],[-0.172677,0.969209,0.175548],[0.007166,-0.176984,0.984188]] 2025-10-27T05:10:50.365Z,1761541850.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:50.368Z,1761541850.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 36.547779 m, bearing: 355.522191 deg, approach rate: -0.530770 m/s, LOS rate: -0.183629 deg/s, cmd heading: 348.043900 deg, new cmd heading: 347.814232 deg. 2025-10-27T05:10:50.369Z,1761541850.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070504 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:50.532Z,1761541850.532 [DAT](INFO): DAT read: Rx Time:05:10:49.0310 2025-10-27T05:10:50.532Z,1761541850.532 [DAT](INFO): Rx dataTimestamp_ set to:1761541850.532120 2025-10-27T05:10:50.533Z,1761541850.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026469 2025-10-27T05:10:50.736Z,1761541850.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985074,0.170502,0.023617],[-0.171980,0.969189,0.176340],[0.007177,-0.177769,0.984046]] 2025-10-27T05:10:50.774Z,1761541850.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m. 2025-10-27T05:10:50.777Z,1761541850.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.095997 m, nav range: 36.336647 m, bearing: 355.448490 deg, approach rate: -0.520200 m/s, LOS rate: -0.182645 deg/s, cmd heading: 347.814242 deg, new cmd heading: 347.591855 deg. 2025-10-27T05:10:50.778Z,1761541850.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066622 target range: 40.095997 and range: 40.30 m. 2025-10-27T05:10:50.784Z,1761541850.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277491 2025-10-27T05:10:51.045Z,1761541851.045 [DAT](INFO): DAT read: 05:10:49.0310 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407, 0.39,-2.244, 2.305,-2.189,-2.368, PHS= 0.226,-1.565, 0.135, RAW= 147.4, 13.7, CAL= 147.3, 15.1, ROT= 2.7, -15.1 2025-10-27T05:10:51.048Z,1761541851.048 [DAT](INFO): got valid direction response: 05:10:49.0310 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407, 0.39,-2.244, 2.305,-2.189,-2.368, PHS= 0.226,-1.565, 0.135, RAW= 147.4, 13.7, CAL= 147.3, 15.1, ROT= 2.7, -15.1 2025-10-27T05:10:51.054Z,1761541851.054 [DAT](INFO): DAT read: Bearing 153.7, 0.4 (Local) 2025-10-27T05:10:51.054Z,1761541851.054 [DAT](INFO): Local bearing/azimuth received: Bearing 153.7, 0.4 (Local) 2025-10-27T05:10:51.060Z,1761541851.060 [DAT](INFO): DAT read: Range 11 to 50 : 38.2 m (Round-trip 51.0 ms) speed 0.4 m/s 2025-10-27T05:10:51.062Z,1761541851.062 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:51.078Z,1761541851.078 [DAT](INFO): direction in FSK: [0.964401,0.045480,0.260505] 2025-10-27T05:10:51.084Z,1761541851.084 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:51.138Z,1761541851.138 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:51.138Z,1761541851.138 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:51.139Z,1761541851.139 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:10:51.264Z,1761541851.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.200001 m, deltaT: 3.786401 s, deltaX: -2.099998 m, approachRate: -0.554616 m/s, rangeRepo size: 4 2025-10-27T05:10:51.266Z,1761541851.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.006916 m, bearing: 355.501149 deg, lat: 36.779338 deg, lon: -121.859604 deg, deltaT: 3.786401 s, deltaX: -2.089081 m, approachRate: -0.551733 m/s, posRepo size: 4 2025-10-27T05:10:51.267Z,1761541851.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:51.279Z,1761541851.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 36.731213 m, bearing: 355.499036 deg, approach rate: 0.000000 m/s, LOS rate: -0.182645 deg/s, cmd heading: 347.591851 deg, new cmd heading: 347.324351 deg. 2025-10-27T05:10:51.280Z,1761541851.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061954 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:51.288Z,1761541851.288 [DAT](INFO): DAT read: user:345> 2025-10-27T05:10:51.289Z,1761541851.289 [DAT](INFO): DAT read: Tx time:05:10:50.4258 2025-10-27T05:10:51.289Z,1761541851.289 [DAT](INFO): Ping request sent. 2025-10-27T05:10:51.289Z,1761541851.289 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:51.289Z,1761541851.289 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:51.290Z,1761541851.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T05:10:51.540Z,1761541851.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250724 2025-10-27T05:10:51.605Z,1761541851.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985213,0.169613,0.024223],[-0.171209,0.969214,0.176950],[0.006536,-0.178481,0.983922]] 2025-10-27T05:10:51.622Z,1761541851.622 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T05:10:51.622Z,1761541851.622 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:10:51.622Z,1761541851.622 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T05:10:51.624Z,1761541851.624 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.200001 m (mode 2.000000 count ). 2025-10-27T05:10:51.624Z,1761541851.624 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T05:10:51.624Z,1761541851.624 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T05:10:51.626Z,1761541851.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:51.629Z,1761541851.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 36.532627 m, bearing: 355.442502 deg, approach rate: -0.541204 m/s, LOS rate: -0.154909 deg/s, cmd heading: 347.324354 deg, new cmd heading: 347.153830 deg. 2025-10-27T05:10:51.630Z,1761541851.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058977 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:51.792Z,1761541851.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502772 2025-10-27T05:10:52.006Z,1761541852.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985062,0.170458,0.024425],[-0.172079,0.969106,0.176697],[0.006449,-0.178261,0.983962]] 2025-10-27T05:10:52.034Z,1761541852.034 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T05:10:52.034Z,1761541852.034 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T05:10:52.035Z,1761541852.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:52.038Z,1761541852.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:52.041Z,1761541852.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 36.318859 m, bearing: 355.381239 deg, approach rate: -0.519500 m/s, LOS rate: -0.149758 deg/s, cmd heading: 347.153818 deg, new cmd heading: 346.968947 deg. 2025-10-27T05:10:52.042Z,1761541852.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055750 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:52.044Z,1761541852.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754902 2025-10-27T05:10:52.296Z,1761541852.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006774 2025-10-27T05:10:52.414Z,1761541852.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984982,0.170847,0.024948],[-0.172558,0.969137,0.176057],[0.005901,-0.177718,0.984064]] 2025-10-27T05:10:52.464Z,1761541852.464 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T05:10:52.464Z,1761541852.464 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T05:10:52.467Z,1761541852.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:52.469Z,1761541852.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 36.073624 m, bearing: 355.340200 deg, approach rate: -0.571726 m/s, LOS rate: -0.096326 deg/s, cmd heading: 346.968938 deg, new cmd heading: 346.844985 deg. 2025-10-27T05:10:52.470Z,1761541852.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053587 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:52.548Z,1761541852.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258894 2025-10-27T05:10:52.800Z,1761541852.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510727 2025-10-27T05:10:52.821Z,1761541852.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984794,0.171792,0.025859],[-0.173642,0.968679,0.177510],[0.005446,-0.179301,0.983779]] 2025-10-27T05:10:52.845Z,1761541852.845 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T05:10:52.845Z,1761541852.845 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:10:52.845Z,1761541852.845 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T05:10:52.846Z,1761541852.846 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:10:52.848Z,1761541852.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:52.851Z,1761541852.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 35.858200 m, bearing: 355.304129 deg, approach rate: -0.564730 m/s, LOS rate: -0.095127 deg/s, cmd heading: 346.844984 deg, new cmd heading: 346.736122 deg. 2025-10-27T05:10:52.852Z,1761541852.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051687 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:53.055Z,1761541853.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765350 2025-10-27T05:10:53.225Z,1761541853.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984438,0.173700,0.026641],[-0.175643,0.967767,0.180490],[0.005569,-0.182360,0.983216]] 2025-10-27T05:10:53.278Z,1761541853.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:53.286Z,1761541853.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 35.626945 m, bearing: 355.296164 deg, approach rate: -0.537903 m/s, LOS rate: -0.018647 deg/s, cmd heading: 346.736110 deg, new cmd heading: 346.712060 deg. 2025-10-27T05:10:53.286Z,1761541853.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051267 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:53.304Z,1761541853.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014875 2025-10-27T05:10:53.557Z,1761541853.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267953 2025-10-27T05:10:53.625Z,1761541853.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983937,0.176240,0.028409],[-0.178445,0.966559,0.184178],[0.005001,-0.186289,0.982482]] 2025-10-27T05:10:53.644Z,1761541853.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:53.646Z,1761541853.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 35.413830 m, bearing: 355.289826 deg, approach rate: -0.582506 m/s, LOS rate: -0.017427 deg/s, cmd heading: 346.712068 deg, new cmd heading: 346.692941 deg. 2025-10-27T05:10:53.648Z,1761541853.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050933 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:53.808Z,1761541853.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518754 2025-10-27T05:10:54.026Z,1761541854.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983247,0.179813,0.029883],[-0.182216,0.965298,0.187073],[0.004792,-0.189384,0.981891]] 2025-10-27T05:10:54.053Z,1761541854.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:54.055Z,1761541854.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:54.058Z,1761541854.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 35.184795 m, bearing: 355.284458 deg, approach rate: -0.557329 m/s, LOS rate: -0.013149 deg/s, cmd heading: 346.692944 deg, new cmd heading: 346.676733 deg. 2025-10-27T05:10:54.059Z,1761541854.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050651 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:54.061Z,1761541854.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771623 2025-10-27T05:10:54.312Z,1761541854.312 [DAT](INFO): DAT read: Rx Time:05:10:52.8784 2025-10-27T05:10:54.312Z,1761541854.312 [DAT](INFO): Rx dataTimestamp_ set to:1761541854.312186 2025-10-27T05:10:54.313Z,1761541854.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023868 2025-10-27T05:10:54.434Z,1761541854.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982536,0.183371,0.031604],[-0.186021,0.963938,0.190315],[0.004434,-0.192870,0.981214]] 2025-10-27T05:10:54.496Z,1761541854.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.01 m. 2025-10-27T05:10:54.519Z,1761541854.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.006916 m, nav range: 34.931686 m, bearing: 355.311094 deg, approach rate: -0.573130 m/s, LOS rate: 0.060751 deg/s, cmd heading: 346.676742 deg, new cmd heading: 346.757230 deg. 2025-10-27T05:10:54.520Z,1761541854.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052055 target range: 38.006916 and range: 38.20 m. 2025-10-27T05:10:54.564Z,1761541854.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274967 2025-10-27T05:10:54.821Z,1761541854.821 [DAT](INFO): DAT read: 05:10:52.8784 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.10,-2.115, 2.410,-2.052,-2.254, PHS= 0.242,-1.574, 0.159, RAW= 147.7, 13.1, CAL= 147.5, 14.5, ROT= 2.5, -14.5 2025-10-27T05:10:54.822Z,1761541854.822 [DAT](INFO): got valid direction response: 05:10:52.8784 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.10,-2.115, 2.410,-2.052,-2.254, PHS= 0.242,-1.574, 0.159, RAW= 147.7, 13.1, CAL= 147.5, 14.5, ROT= 2.5, -14.5 2025-10-27T05:10:54.823Z,1761541854.823 [DAT](INFO): DAT read: Bearing 151.8, -0.1 (Local) 2025-10-27T05:10:54.824Z,1761541854.824 [DAT](INFO): Local bearing/azimuth received: Bearing 151.8, -0.1 (Local) 2025-10-27T05:10:54.825Z,1761541854.825 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m (Round-trip 48.4 ms) speed 0.5 m/s 2025-10-27T05:10:54.825Z,1761541854.825 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:54.826Z,1761541854.826 [DAT](INFO): direction in FSK: [0.967226,0.042230,0.250380] 2025-10-27T05:10:54.827Z,1761541854.827 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:54.830Z,1761541854.830 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:10:54.830Z,1761541854.830 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:10:54.831Z,1761541854.831 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:10:54.887Z,1761541854.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981801,0.186967,0.033318],[-0.189873,0.962780,0.192360],[0.003887,-0.195185,0.980759]] 2025-10-27T05:10:54.970Z,1761541854.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 3.776986 s, deltaX: -1.900002 m, approachRate: -0.503047 m/s, rangeRepo size: 4 2025-10-27T05:10:54.976Z,1761541854.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.116215 m, bearing: 354.392645 deg, lat: 36.779338 deg, lon: -121.859604 deg, deltaT: 3.776986 s, deltaX: -1.890701 m, approachRate: -0.500585 m/s, posRepo size: 4 2025-10-27T05:10:54.977Z,1761541854.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.12 m. 2025-10-27T05:10:54.981Z,1761541854.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.116215 m, nav range: 34.684559 m, bearing: 355.343448 deg, approach rate: 0.000000 m/s, LOS rate: 0.060751 deg/s, cmd heading: 346.757229 deg, new cmd heading: 346.843369 deg. 2025-10-27T05:10:54.982Z,1761541854.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053559 target range: 36.116215 and range: 36.30 m. 2025-10-27T05:10:55.068Z,1761541855.068 [DAT](INFO): DAT read: user:346> 2025-10-27T05:10:55.069Z,1761541855.069 [DAT](INFO): DAT read: Tx time:05:10:54.1258 2025-10-27T05:10:55.069Z,1761541855.069 [DAT](INFO): Ping request sent. 2025-10-27T05:10:55.069Z,1761541855.069 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:10:55.069Z,1761541855.069 [DAT](INFO): publishing transmit ping time 2025-10-27T05:10:55.070Z,1761541855.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000774 2025-10-27T05:10:55.285Z,1761541855.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980903,0.191358,0.034796],[-0.194462,0.961528,0.194030],[0.003672,-0.197092,0.980378]] 2025-10-27T05:10:55.320Z,1761541855.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250764 2025-10-27T05:10:55.351Z,1761541855.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.12 m. 2025-10-27T05:10:55.354Z,1761541855.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.116215 m, nav range: 34.443016 m, bearing: 355.387892 deg, approach rate: -0.632048 m/s, LOS rate: 0.117113 deg/s, cmd heading: 346.843372 deg, new cmd heading: 346.977639 deg. 2025-10-27T05:10:55.355Z,1761541855.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055902 target range: 36.116215 and range: 36.30 m. 2025-10-27T05:10:55.572Z,1761541855.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502652 2025-10-27T05:10:55.729Z,1761541855.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979995,0.195760,0.035886],[-0.198985,0.960292,0.195559],[0.003821,-0.198788,0.980035]] 2025-10-27T05:10:55.766Z,1761541855.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.12 m. 2025-10-27T05:10:55.773Z,1761541855.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.116215 m, nav range: 34.207798 m, bearing: 355.433629 deg, approach rate: -0.567406 m/s, LOS rate: 0.111089 deg/s, cmd heading: 346.977626 deg, new cmd heading: 347.115781 deg. 2025-10-27T05:10:55.774Z,1761541855.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058313 target range: 36.116215 and range: 36.30 m. 2025-10-27T05:10:55.824Z,1761541855.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755203 2025-10-27T05:10:56.076Z,1761541856.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006705 2025-10-27T05:10:56.104Z,1761541856.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979079,0.200096,0.036947],[-0.203448,0.959466,0.195023],[0.003574,-0.198460,0.980103]] 2025-10-27T05:10:56.200Z,1761541856.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:10:56.202Z,1761541856.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.12 m. 2025-10-27T05:10:56.210Z,1761541856.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.116215 m, nav range: 33.949295 m, bearing: 355.486644 deg, approach rate: -0.591786 m/s, LOS rate: 0.122291 deg/s, cmd heading: 347.115787 deg, new cmd heading: 347.276043 deg. 2025-10-27T05:10:56.210Z,1761541856.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061110 target range: 36.116215 and range: 36.30 m. 2025-10-27T05:10:56.328Z,1761541856.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259032 2025-10-27T05:10:56.496Z,1761541856.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978089,0.204700,0.037953],[-0.208162,0.958636,0.194128],[0.003355,-0.197775,0.980242]] 2025-10-27T05:10:56.551Z,1761541856.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.12 m. 2025-10-27T05:10:56.554Z,1761541856.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.116215 m, nav range: 33.736065 m, bearing: 355.544127 deg, approach rate: -0.612479 m/s, LOS rate: 0.166156 deg/s, cmd heading: 347.276051 deg, new cmd heading: 347.449588 deg. 2025-10-27T05:10:56.555Z,1761541856.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064139 target range: 36.116215 and range: 36.30 m. 2025-10-27T05:10:56.585Z,1761541856.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515455 2025-10-27T05:10:56.836Z,1761541856.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767112 2025-10-27T05:10:56.900Z,1761541856.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977179,0.208802,0.039034],[-0.212396,0.957736,0.193982],[0.003120,-0.197846,0.980228]] 2025-10-27T05:10:56.919Z,1761541856.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.12 m. 2025-10-27T05:10:56.922Z,1761541856.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.116215 m, nav range: 33.500324 m, bearing: 355.610333 deg, approach rate: -0.640288 m/s, LOS rate: 0.181085 deg/s, cmd heading: 347.449592 deg, new cmd heading: 347.649606 deg. 2025-10-27T05:10:56.924Z,1761541856.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067630 target range: 36.116215 and range: 36.30 m. 2025-10-27T05:10:57.088Z,1761541857.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019142 2025-10-27T05:10:57.302Z,1761541857.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976343,0.212518,0.039888],[-0.216210,0.957061,0.193101],[0.002862,-0.197157,0.980368]] 2025-10-27T05:10:57.340Z,1761541857.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270748 2025-10-27T05:10:57.362Z,1761541857.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.12 m. 2025-10-27T05:10:57.365Z,1761541857.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.116215 m, nav range: 33.226490 m, bearing: 355.682354 deg, approach rate: -0.617403 m/s, LOS rate: 0.163722 deg/s, cmd heading: 347.649607 deg, new cmd heading: 347.867452 deg. 2025-10-27T05:10:57.366Z,1761541857.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071433 target range: 36.116215 and range: 36.30 m. 2025-10-27T05:10:57.596Z,1761541857.596 [DAT](INFO): DAT read: Rx Time:05:10:56.3006 2025-10-27T05:10:57.596Z,1761541857.596 [DAT](INFO): Rx dataTimestamp_ set to:1761541857.596069 2025-10-27T05:10:57.598Z,1761541857.598 [DAT](INFO): DAT read: Bearing 154.3, 0.2 (Local) 2025-10-27T05:10:57.598Z,1761541857.598 [DAT](INFO): Local bearing/azimuth received: Bearing 154.3, 0.2 (Local) 2025-10-27T05:10:57.600Z,1761541857.600 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.6 2025-10-27T05:10:57.606Z,1761541857.606 [DAT](INFO): DAT read: 05:10:56.3006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 160, 0.04,-3.100, 1.441,-3.095, 3.137, PHS= 0.148,-1.650, 0.008, RAW= 146.0, 17.0, CAL= 145.8, 18.6, ROT= 4.2, -18.6 2025-10-27T05:10:57.608Z,1761541857.608 [DAT](INFO): got valid direction response: 05:10:56.3006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 160, 0.04,-3.100, 1.441,-3.095, 3.137, PHS= 0.148,-1.650, 0.008, RAW= 146.0, 17.0, CAL= 145.8, 18.6, ROT= 4.2, -18.6 2025-10-27T05:10:57.608Z,1761541857.608 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:10:57.610Z,1761541857.610 [DAT](INFO): direction in FSK: [0.945223,0.069413,0.318959] 2025-10-27T05:10:57.610Z,1761541857.610 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:57.614Z,1761541857.614 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.544755 2025-10-27T05:10:57.734Z,1761541857.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975765,0.215064,0.040376],[-0.218807,0.956813,0.191398],[0.002531,-0.195593,0.980682]] 2025-10-27T05:10:57.795Z,1761541857.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 2.780721 s, deltaX: -2.099998 m, approachRate: -0.755199 m/s, rangeRepo size: 4 2025-10-27T05:10:57.797Z,1761541857.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.026768 m, bearing: 355.225493 deg, lat: 36.779338 deg, lon: -121.859604 deg, deltaT: 2.780721 s, deltaX: -2.089447 m, approachRate: -0.751405 m/s, posRepo size: 4 2025-10-27T05:10:57.798Z,1761541857.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.03 m. 2025-10-27T05:10:57.805Z,1761541857.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.026768 m, nav range: 32.972103 m, bearing: 355.751561 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 347.867463 deg, new cmd heading: 348.077809 deg. 2025-10-27T05:10:57.806Z,1761541857.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075104 target range: 34.026768 and range: 34.20 m. 2025-10-27T05:10:57.844Z,1761541857.844 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.774870 2025-10-27T05:10:58.096Z,1761541858.096 [DAT](INFO): DAT read: Rx Time:05:10:56.8003 2025-10-27T05:10:58.097Z,1761541858.097 [DAT](INFO): Rx dataTimestamp_ set to:1761541858.096678 2025-10-27T05:10:58.098Z,1761541858.098 [DAT](INFO): DAT read: Bearing 153.6, 0.9 (Local) 2025-10-27T05:10:58.099Z,1761541858.099 [DAT](INFO): Local bearing/azimuth received: Bearing 153.6, 0.9 (Local) 2025-10-27T05:10:58.105Z,1761541858.105 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.5 2025-10-27T05:10:58.109Z,1761541858.109 [DAT](INFO): DAT read: 05:10:56.8003 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.08, 0.749,-0.987, 0.742, 0.677, PHS= 0.174,-1.618, 0.021, RAW= 145.6, 16.3, CAL= 145.3, 17.8, ROT= 4.7, -17.8 2025-10-27T05:10:58.110Z,1761541858.110 [DAT](INFO): got valid direction response: 05:10:56.8003 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.08, 0.749,-0.987, 0.742, 0.677, PHS= 0.174,-1.618, 0.021, RAW= 145.6, 16.3, CAL= 145.3, 17.8, ROT= 4.7, -17.8 2025-10-27T05:10:58.115Z,1761541858.115 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:10:58.116Z,1761541858.116 [DAT](INFO): direction in FSK: [0.948928,0.078016,0.305695] 2025-10-27T05:10:58.116Z,1761541858.116 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:58.125Z,1761541858.125 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.056250 2025-10-27T05:10:58.132Z,1761541858.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975414,0.216613,0.040585],[-0.220371,0.956851,0.189404],[0.002194,-0.193691,0.981060]] 2025-10-27T05:10:58.260Z,1761541858.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.500609 s, deltaX: -0.400002 m, approachRate: -0.799030 m/s, rangeRepo size: 4 2025-10-27T05:10:58.262Z,1761541858.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.628792 m, bearing: 355.415675 deg, lat: 36.779338 deg, lon: -121.859606 deg, deltaT: 0.500609 s, deltaX: -0.397976 m, approachRate: -0.794984 m/s, posRepo size: 4 2025-10-27T05:10:58.280Z,1761541858.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.63 m. 2025-10-27T05:10:58.283Z,1761541858.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.628792 m, nav range: 32.688633 m, bearing: 355.482214 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 348.077806 deg, new cmd heading: 348.305372 deg. 2025-10-27T05:10:58.288Z,1761541858.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079075 target range: 33.628792 and range: 33.80 m. 2025-10-27T05:10:58.349Z,1761541858.349 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.279169 2025-10-27T05:10:58.600Z,1761541858.600 [DAT](INFO): DAT read: Rx Time:05:10:57.3002 2025-10-27T05:10:58.601Z,1761541858.601 [DAT](INFO): Rx dataTimestamp_ set to:1761541858.600641 2025-10-27T05:10:58.602Z,1761541858.602 [DAT](INFO): DAT read: Bearing 152.2, 1.6 (Local) 2025-10-27T05:10:58.602Z,1761541858.602 [DAT](INFO): Local bearing/azimuth received: Bearing 152.2, 1.6 (Local) 2025-10-27T05:10:58.605Z,1761541858.605 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.5 2025-10-27T05:10:58.610Z,1761541858.610 [DAT](INFO): DAT read: 05:10:57.3002 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.10, 1.366,-0.413, 1.344, 1.242, PHS= 0.225,-1.611, 0.058, RAW= 145.3, 14.9, CAL= 145.0, 16.3, ROT= 5.0, -16.3 2025-10-27T05:10:58.611Z,1761541858.611 [DAT](INFO): got valid direction response: 05:10:57.3002 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.10, 1.366,-0.413, 1.344, 1.242, PHS= 0.225,-1.611, 0.058, RAW= 145.3, 14.9, CAL= 145.0, 16.3, ROT= 5.0, -16.3 2025-10-27T05:10:58.611Z,1761541858.611 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:10:58.612Z,1761541858.612 [DAT](INFO): direction in FSK: [0.956153,0.083653,0.280667] 2025-10-27T05:10:58.613Z,1761541858.613 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:58.616Z,1761541858.616 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.547040 2025-10-27T05:10:58.617Z,1761541858.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975091,0.218054,0.040625],[-0.221797,0.956921,0.187373],[0.001983,-0.191716,0.981448]] 2025-10-27T05:10:58.786Z,1761541858.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.503963 s, deltaX: -0.200001 m, approachRate: -0.396856 m/s, rangeRepo size: 4 2025-10-27T05:10:58.790Z,1761541858.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.429905 m, bearing: 355.279617 deg, lat: 36.779337 deg, lon: -121.859607 deg, deltaT: 0.503963 s, deltaX: -0.198887 m, approachRate: -0.394646 m/s, posRepo size: 4 2025-10-27T05:10:58.790Z,1761541858.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.43 m. 2025-10-27T05:10:58.802Z,1761541858.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.429905 m, nav range: 32.261322 m, bearing: 355.432351 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 348.305360 deg, new cmd heading: 348.566510 deg. 2025-10-27T05:10:58.807Z,1761541858.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083633 target range: 33.429905 and range: 33.60 m. 2025-10-27T05:10:58.853Z,1761541858.853 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.783492 2025-10-27T05:10:59.100Z,1761541859.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974955,0.218816,0.039767],[-0.222396,0.958079,0.180625],[0.001424,-0.184945,0.982748]] 2025-10-27T05:10:59.105Z,1761541859.105 [DAT](INFO): DAT read: Rx Time:05:10:57.8000 2025-10-27T05:10:59.105Z,1761541859.105 [DAT](INFO): Rx dataTimestamp_ set to:1761541859.104781 2025-10-27T05:10:59.106Z,1761541859.106 [DAT](INFO): DAT read: Bearing 152.5, 1.6 (Local) 2025-10-27T05:10:59.107Z,1761541859.107 [DAT](INFO): Local bearing/azimuth received: Bearing 152.5, 1.6 (Local) 2025-10-27T05:10:59.109Z,1761541859.109 [DAT](INFO): DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.5 2025-10-27T05:10:59.114Z,1761541859.114 [DAT](INFO): DAT read: 05:10:57.8000 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.12,-0.058,-1.839,-0.081,-0.173, PHS= 0.217,-1.621, 0.048, RAW= 145.2, 15.2, CAL= 144.9, 16.6, ROT= 5.1, -16.6 2025-10-27T05:10:59.115Z,1761541859.115 [DAT](INFO): got valid direction response: 05:10:57.8000 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 505, 0.12,-0.058,-1.839,-0.081,-0.173, PHS= 0.217,-1.621, 0.048, RAW= 145.2, 15.2, CAL= 144.9, 16.6, ROT= 5.1, -16.6 2025-10-27T05:10:59.116Z,1761541859.116 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:10:59.117Z,1761541859.117 [DAT](INFO): direction in FSK: [0.954529,0.085189,0.285688] 2025-10-27T05:10:59.117Z,1761541859.117 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:59.125Z,1761541859.125 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.055579 2025-10-27T05:10:59.246Z,1761541859.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504140 s, deltaX: -0.399998 m, approachRate: -0.793426 m/s, rangeRepo size: 4 2025-10-27T05:10:59.253Z,1761541859.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.031933 m, bearing: 355.294987 deg, lat: 36.779335 deg, lon: -121.859608 deg, deltaT: 0.504140 s, deltaX: -0.397972 m, approachRate: -0.789408 m/s, posRepo size: 4 2025-10-27T05:10:59.254Z,1761541859.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.03 m. 2025-10-27T05:10:59.257Z,1761541859.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.031933 m, nav range: 31.838564 m, bearing: 355.295346 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 348.566519 deg, new cmd heading: 348.792494 deg. 2025-10-27T05:10:59.258Z,1761541859.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087577 target range: 33.031933 and range: 33.20 m. 2025-10-27T05:10:59.357Z,1761541859.357 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.287711 2025-10-27T05:10:59.579Z,1761541859.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975115,0.218146,0.039538],[-0.221699,0.958771,0.177789],[0.000876,-0.182130,0.983274]] 2025-10-27T05:10:59.609Z,1761541859.609 [DAT](INFO): DAT read: Rx Time:05:10:58.2999 2025-10-27T05:10:59.609Z,1761541859.609 [DAT](INFO): Rx dataTimestamp_ set to:1761541859.608822 2025-10-27T05:10:59.610Z,1761541859.610 [DAT](INFO): DAT read: Bearing 154.2, 1.0 (Local) 2025-10-27T05:10:59.611Z,1761541859.611 [DAT](INFO): Local bearing/azimuth received: Bearing 154.2, 1.0 (Local) 2025-10-27T05:10:59.613Z,1761541859.613 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.5 2025-10-27T05:10:59.618Z,1761541859.618 [DAT](INFO): DAT read: 05:10:58.2999 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.15, 1.015,-0.758, 0.998, 0.954, PHS= 0.163,-1.667, 0.000, RAW= 145.4, 16.9, CAL= 145.2, 18.4, ROT= 4.8, -18.4 2025-10-27T05:10:59.619Z,1761541859.619 [DAT](INFO): got valid direction response: 05:10:58.2999 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504, 0.15, 1.015,-0.758, 0.998, 0.954, PHS= 0.163,-1.667, 0.000, RAW= 145.4, 16.9, CAL= 145.2, 18.4, ROT= 4.8, -18.4 2025-10-27T05:10:59.619Z,1761541859.619 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:10:59.620Z,1761541859.620 [DAT](INFO): direction in FSK: [0.945548,0.079400,0.315649] 2025-10-27T05:10:59.620Z,1761541859.620 [DAT](INFO): publishing direction and range info 2025-10-27T05:10:59.633Z,1761541859.633 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.563382 2025-10-27T05:10:59.646Z,1761541859.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.504041 s, deltaX: -0.200001 m, approachRate: -0.396795 m/s, rangeRepo size: 4 2025-10-27T05:10:59.684Z,1761541859.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.832966 m, bearing: 355.352141 deg, lat: 36.779333 deg, lon: -121.859607 deg, deltaT: 0.504041 s, deltaX: -0.198967 m, approachRate: -0.394744 m/s, posRepo size: 4 2025-10-27T05:10:59.684Z,1761541859.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m. 2025-10-27T05:10:59.695Z,1761541859.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.832966 m, nav range: 31.394251 m, bearing: 355.358108 deg, approach rate: 0.000000 m/s, LOS rate: 0.163722 deg/s, cmd heading: 348.792489 deg, new cmd heading: 348.988930 deg. 2025-10-27T05:10:59.696Z,1761541859.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091006 target range: 32.832966 and range: 33.00 m. 2025-10-27T05:10:59.862Z,1761541859.862 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.792477 2025-10-27T05:11:00.023Z,1761541860.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975516,0.216470,0.038845],[-0.219928,0.960057,0.172978],[0.000151,-0.177286,0.984159]] 2025-10-27T05:11:00.040Z,1761541860.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:00.042Z,1761541860.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.83 m. 2025-10-27T05:11:00.057Z,1761541860.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.832966 m, nav range: 31.160425 m, bearing: 355.378956 deg, approach rate: -0.589982 m/s, LOS rate: 0.052996 deg/s, cmd heading: 348.988925 deg, new cmd heading: 349.051937 deg. 2025-10-27T05:11:00.058Z,1761541860.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.092105 target range: 32.832966 and range: 33.00 m. 2025-10-27T05:11:00.113Z,1761541860.113 [DAT](INFO): DAT read: Rx Time:05:10:58.7996 2025-10-27T05:11:00.114Z,1761541860.114 [DAT](INFO): Rx dataTimestamp_ set to:1761541860.113938 2025-10-27T05:11:00.116Z,1761541860.116 [DAT](INFO): DAT read: Bearing 153.8, 1.0 (Local) 2025-10-27T05:11:00.117Z,1761541860.117 [DAT](INFO): Local bearing/azimuth received: Bearing 153.8, 1.0 (Local) 2025-10-27T05:11:00.120Z,1761541860.120 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 2025-10-27T05:11:00.126Z,1761541860.126 [DAT](INFO): DAT read: 05:10:58.7996 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 501, 0.28,-0.021,-1.819,-0.034,-0.101, PHS= 0.182,-1.673, 0.024, RAW= 145.6, 16.2, CAL= 145.3, 17.8, ROT= 4.7, -17.8 2025-10-27T05:11:00.148Z,1761541860.148 [DAT](INFO): got valid direction response: 05:10:58.7996 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 501, 0.28,-0.021,-1.819,-0.034,-0.101, PHS= 0.182,-1.673, 0.024, RAW= 145.6, 16.2, CAL= 145.3, 17.8, ROT= 4.7, -17.8 2025-10-27T05:11:00.148Z,1761541860.148 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:11:00.149Z,1761541860.149 [DAT](INFO): direction in FSK: [0.948928,0.078016,0.305695] 2025-10-27T05:11:00.150Z,1761541860.150 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:00.204Z,1761541860.204 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.134704 2025-10-27T05:11:00.364Z,1761541860.364 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.294844 2025-10-27T05:11:00.459Z,1761541860.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976147,0.213794,0.037813],[-0.217111,0.961734,0.167125],[-0.000636,-0.171348,0.985210]] 2025-10-27T05:11:00.545Z,1761541860.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.505116 s, deltaX: -0.400002 m, approachRate: -0.791900 m/s, rangeRepo size: 4 2025-10-27T05:11:00.552Z,1761541860.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.434959 m, bearing: 355.215011 deg, lat: 36.779335 deg, lon: -121.859608 deg, deltaT: 0.505116 s, deltaX: -0.398006 m, approachRate: -0.787951 m/s, posRepo size: 4 2025-10-27T05:11:00.552Z,1761541860.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.43 m. 2025-10-27T05:11:00.559Z,1761541860.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.434959 m, nav range: 31.040812 m, bearing: 355.322817 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.051927 deg, new cmd heading: 349.131874 deg. 2025-10-27T05:11:00.560Z,1761541860.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093501 target range: 32.434959 and range: 32.60 m. 2025-10-27T05:11:00.617Z,1761541860.617 [DAT](INFO): DAT read: Rx Time:05:10:59.2995 2025-10-27T05:11:00.618Z,1761541860.618 [DAT](INFO): Rx dataTimestamp_ set to:1761541860.617294 2025-10-27T05:11:00.620Z,1761541860.620 [DAT](INFO): DAT read: Bearing 154.1, 1.3 (Local) 2025-10-27T05:11:00.620Z,1761541860.620 [DAT](INFO): Local bearing/azimuth received: Bearing 154.1, 1.3 (Local) 2025-10-27T05:11:00.623Z,1761541860.623 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 2025-10-27T05:11:00.631Z,1761541860.631 [DAT](INFO): DAT read: 05:10:59.2995 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 500, 0.42, 1.958, 0.166, 1.940, 1.873, PHS= 0.187,-1.662, 0.023, RAW= 145.4, 16.2, CAL= 145.1, 17.7, ROT= 4.9, -17.7 2025-10-27T05:11:00.633Z,1761541860.633 [DAT](INFO): got valid direction response: 05:10:59.2995 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 500, 0.42, 1.958, 0.166, 1.940, 1.873, PHS= 0.187,-1.662, 0.023, RAW= 145.4, 16.2, CAL= 145.1, 17.7, ROT= 4.9, -17.7 2025-10-27T05:11:00.633Z,1761541860.633 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:11:00.635Z,1761541860.635 [DAT](INFO): direction in FSK: [0.949180,0.081373,0.304033] 2025-10-27T05:11:00.660Z,1761541860.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:00.701Z,1761541860.701 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.632214 2025-10-27T05:11:00.868Z,1761541860.868 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.798808 2025-10-27T05:11:00.885Z,1761541860.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976976,0.210111,0.037036],[-0.213342,0.963664,0.160740],[-0.001917,-0.164940,0.986302]] 2025-10-27T05:11:00.986Z,1761541860.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503356 s, deltaX: -0.199997 m, approachRate: -0.397327 m/s, rangeRepo size: 4 2025-10-27T05:11:00.996Z,1761541860.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.235973 m, bearing: 355.500050 deg, lat: 36.779335 deg, lon: -121.859608 deg, deltaT: 0.503356 s, deltaX: -0.198986 m, approachRate: -0.395319 m/s, posRepo size: 4 2025-10-27T05:11:00.997Z,1761541860.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.24 m. 2025-10-27T05:11:01.004Z,1761541861.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.235973 m, nav range: 30.845499 m, bearing: 355.309159 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.131868 deg, new cmd heading: 349.201937 deg. 2025-10-27T05:11:01.005Z,1761541861.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094724 target range: 32.235973 and range: 32.40 m. 2025-10-27T05:11:01.121Z,1761541861.121 [DAT](INFO): DAT read: Rx Time:05:10:59.7993 2025-10-27T05:11:01.121Z,1761541861.121 [DAT](INFO): Rx dataTimestamp_ set to:1761541861.120994 2025-10-27T05:11:01.123Z,1761541861.123 [DAT](INFO): DAT read: Bearing 153.4, 1.4 (Local) 2025-10-27T05:11:01.123Z,1761541861.123 [DAT](INFO): Local bearing/azimuth received: Bearing 153.4, 1.4 (Local) 2025-10-27T05:11:01.125Z,1761541861.125 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 2025-10-27T05:11:01.130Z,1761541861.130 [DAT](INFO): DAT read: 05:10:59.7993 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 498,-0.23,-1.375, 3.109,-1.390,-1.492, PHS= 0.218,-1.638, 0.057, RAW= 145.5, 15.1, CAL= 145.2, 16.5, ROT= 4.8, -16.5 2025-10-27T05:11:01.131Z,1761541861.131 [DAT](INFO): got valid direction response: 05:10:59.7993 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 498,-0.23,-1.375, 3.109,-1.390,-1.492, PHS= 0.218,-1.638, 0.057, RAW= 145.5, 15.1, CAL= 145.2, 16.5, ROT= 4.8, -16.5 2025-10-27T05:11:01.131Z,1761541861.131 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:11:01.132Z,1761541861.132 [DAT](INFO): direction in FSK: [0.955457,0.080232,0.284015] 2025-10-27T05:11:01.133Z,1761541861.133 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:01.141Z,1761541861.141 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.071353 2025-10-27T05:11:01.335Z,1761541861.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977836,0.206091,0.036910],[-0.209344,0.965204,0.156705],[-0.003330,-0.160958,0.986956]] 2025-10-27T05:11:01.372Z,1761541861.372 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.302794 2025-10-27T05:11:01.422Z,1761541861.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503700 s, deltaX: -0.300003 m, approachRate: -0.595599 m/s, rangeRepo size: 4 2025-10-27T05:11:01.429Z,1761541861.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.937490 m, bearing: 355.356898 deg, lat: 36.779335 deg, lon: -121.859607 deg, deltaT: 0.503700 s, deltaX: -0.298483 m, approachRate: -0.592581 m/s, posRepo size: 4 2025-10-27T05:11:01.464Z,1761541861.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.94 m. 2025-10-27T05:11:01.488Z,1761541861.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.937490 m, nav range: 30.570095 m, bearing: 355.300060 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.201945 deg, new cmd heading: 349.271188 deg. 2025-10-27T05:11:01.489Z,1761541861.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095932 target range: 31.937490 and range: 32.10 m. 2025-10-27T05:11:01.624Z,1761541861.624 [DAT](INFO): DAT read: Rx Time:05:11:00.2991 2025-10-27T05:11:01.625Z,1761541861.625 [DAT](INFO): Rx dataTimestamp_ set to:1761541861.624681 2025-10-27T05:11:01.626Z,1761541861.626 [DAT](INFO): DAT read: Bearing 153.9, 0.9 (Local) 2025-10-27T05:11:01.627Z,1761541861.627 [DAT](INFO): Local bearing/azimuth received: Bearing 153.9, 0.9 (Local) 2025-10-27T05:11:01.629Z,1761541861.629 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4 2025-10-27T05:11:01.633Z,1761541861.633 [DAT](INFO): DAT read: 05:11:00.2991 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.05,-0.374,-2.165,-0.372,-0.477, PHS= 0.205,-1.642, 0.062, RAW= 146.0, 15.3, CAL= 145.8, 16.7, ROT= 4.2, -16.7 2025-10-27T05:11:01.635Z,1761541861.635 [DAT](INFO): got valid direction response: 05:11:00.2991 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.05,-0.374,-2.165,-0.372,-0.477, PHS= 0.205,-1.642, 0.062, RAW= 146.0, 15.3, CAL= 145.8, 16.7, ROT= 4.2, -16.7 2025-10-27T05:11:01.635Z,1761541861.635 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:11:01.636Z,1761541861.636 [DAT](INFO): direction in FSK: [0.955250,0.070149,0.287361] 2025-10-27T05:11:01.636Z,1761541861.636 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:01.640Z,1761541861.640 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570701 2025-10-27T05:11:01.809Z,1761541861.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978610,0.202471,0.036434],[-0.205671,0.966863,0.151245],[-0.004604,-0.155504,0.987825]] 2025-10-27T05:11:01.853Z,1761541861.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.503687 s, deltaX: -0.299999 m, approachRate: -0.595606 m/s, rangeRepo size: 4 2025-10-27T05:11:01.855Z,1761541861.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.639048 m, bearing: 354.926746 deg, lat: 36.779335 deg, lon: -121.859607 deg, deltaT: 0.503687 s, deltaX: -0.298443 m, approachRate: -0.592516 m/s, posRepo size: 4 2025-10-27T05:11:01.856Z,1761541861.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.64 m. 2025-10-27T05:11:01.864Z,1761541861.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.639048 m, nav range: 30.402502 m, bearing: 355.248320 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.271176 deg, new cmd heading: 349.339711 deg. 2025-10-27T05:11:01.865Z,1761541861.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097128 target range: 31.639048 and range: 31.80 m. 2025-10-27T05:11:01.876Z,1761541861.876 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.806858 2025-10-27T05:11:02.129Z,1761541862.129 [DAT](INFO): DAT read: Rx Time:05:11:00.7988 2025-10-27T05:11:02.130Z,1761541862.130 [DAT](INFO): Rx dataTimestamp_ set to:1761541862.129250 2025-10-27T05:11:02.132Z,1761541862.132 [DAT](INFO): DAT read: Bearing 155.3, -0.1 (Local) 2025-10-27T05:11:02.132Z,1761541862.132 [DAT](INFO): Local bearing/azimuth received: Bearing 155.3, -0.1 (Local) 2025-10-27T05:11:02.135Z,1761541862.135 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4 2025-10-27T05:11:02.140Z,1761541862.140 [DAT](INFO): DAT read: 05:11:00.7988 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509, 0.44,-2.796, 1.720,-2.765,-2.853, PHS= 0.158,-1.665, 0.044, RAW= 146.8, 16.3, CAL= 146.7, 17.9, ROT= 3.3, -17.9 2025-10-27T05:11:02.141Z,1761541862.141 [DAT](INFO): got valid direction response: 05:11:00.7988 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509, 0.44,-2.796, 1.720,-2.765,-2.853, PHS= 0.158,-1.665, 0.044, RAW= 146.8, 16.3, CAL= 146.7, 17.9, ROT= 3.3, -17.9 2025-10-27T05:11:02.141Z,1761541862.141 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:11:02.142Z,1761541862.142 [DAT](INFO): direction in FSK: [0.950016,0.054778,0.307357] 2025-10-27T05:11:02.149Z,1761541862.149 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:02.175Z,1761541862.175 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.089350 2025-10-27T05:11:02.380Z,1761541862.380 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.310852 2025-10-27T05:11:02.384Z,1761541862.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504569 s, deltaX: -0.400000 m, approachRate: -0.792755 m/s, rangeRepo size: 4 2025-10-27T05:11:02.386Z,1761541862.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.241074 m, bearing: 354.245089 deg, lat: 36.779335 deg, lon: -121.859608 deg, deltaT: 0.504569 s, deltaX: -0.397974 m, approachRate: -0.788741 m/s, posRepo size: 4 2025-10-27T05:11:02.386Z,1761541862.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.24 m. 2025-10-27T05:11:02.394Z,1761541862.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.241074 m, nav range: 30.136620 m, bearing: 354.964857 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.339724 deg, new cmd heading: 349.423457 deg. 2025-10-27T05:11:02.399Z,1761541862.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.098590 target range: 31.241074 and range: 31.40 m. 2025-10-27T05:11:02.634Z,1761541862.634 [DAT](INFO): DAT read: Rx Time:05:11:01.2988 2025-10-27T05:11:02.634Z,1761541862.634 [DAT](INFO): Rx dataTimestamp_ set to:1761541862.633767 2025-10-27T05:11:02.637Z,1761541862.637 [DAT](INFO): DAT read: Bearing 156.5, -0.8 (Local) 2025-10-27T05:11:02.637Z,1761541862.637 [DAT](INFO): Local bearing/azimuth received: Bearing 156.5, -0.8 (Local) 2025-10-27T05:11:02.640Z,1761541862.640 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4 2025-10-27T05:11:02.646Z,1761541862.646 [DAT](INFO): DAT read: 05:11:01.2988 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.13,-2.687, 1.864,-2.637,-2.712, PHS= 0.126,-1.663, 0.031, RAW= 147.3, 17.0, CAL= 147.3, 18.8, ROT= 2.7, -18.8 2025-10-27T05:11:02.662Z,1761541862.662 [DAT](INFO): got valid direction response: 05:11:01.2988 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 509,-0.13,-2.687, 1.864,-2.637,-2.712, PHS= 0.126,-1.663, 0.031, RAW= 147.3, 17.0, CAL= 147.3, 18.8, ROT= 2.7, -18.8 2025-10-27T05:11:02.664Z,1761541862.664 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:11:02.666Z,1761541862.666 [DAT](INFO): direction in FSK: [0.945598,0.044593,0.322266] 2025-10-27T05:11:02.679Z,1761541862.679 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:02.682Z,1761541862.682 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.613264 2025-10-27T05:11:02.736Z,1761541862.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981436,0.188601,0.034846],[-0.191632,0.971725,0.137939],[-0.007846,-0.142056,0.989828]] 2025-10-27T05:11:02.809Z,1761541862.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504517 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:02.813Z,1761541862.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.241062 m, bearing: 354.370035 deg, lat: 36.779335 deg, lon: -121.859609 deg, deltaT: 0.504517 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 2025-10-27T05:11:02.814Z,1761541862.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.24 m. 2025-10-27T05:11:02.821Z,1761541862.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.241062 m, nav range: 29.923019 m, bearing: 354.709294 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.423462 deg, new cmd heading: 349.491761 deg. 2025-10-27T05:11:02.822Z,1761541862.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099782 target range: 31.241062 and range: 31.40 m. 2025-10-27T05:11:02.885Z,1761541862.885 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.815701 2025-10-27T05:11:03.127Z,1761541863.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982230,0.184463,0.034618],[-0.187487,0.972805,0.136011],[-0.008588,-0.140084,0.990102]] 2025-10-27T05:11:03.137Z,1761541863.137 [DAT](INFO): DAT read: Rx Time:05:11:01.7985 2025-10-27T05:11:03.137Z,1761541863.137 [DAT](INFO): Rx dataTimestamp_ set to:1761541863.136788 2025-10-27T05:11:03.138Z,1761541863.138 [DAT](INFO): DAT read: Bearing 156.3, -1.4 (Local) 2025-10-27T05:11:03.139Z,1761541863.139 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, -1.4 (Local) 2025-10-27T05:11:03.141Z,1761541863.141 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 2025-10-27T05:11:03.147Z,1761541863.147 [DAT](INFO): DAT read: 05:11:01.7985 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506, 0.11,-1.984, 2.561,-1.910,-2.013, PHS= 0.131,-1.665, 0.058, RAW= 148.0, 16.5, CAL= 148.1, 18.3, ROT= 1.9, -18.3 2025-10-27T05:11:03.149Z,1761541863.149 [DAT](INFO): got valid direction response: 05:11:01.7985 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506, 0.11,-1.984, 2.561,-1.910,-2.013, PHS= 0.131,-1.665, 0.058, RAW= 148.0, 16.5, CAL= 148.1, 18.3, ROT= 1.9, -18.3 2025-10-27T05:11:03.150Z,1761541863.150 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:11:03.156Z,1761541863.156 [DAT](INFO): direction in FSK: [0.948904,0.031478,0.313992] 2025-10-27T05:11:03.157Z,1761541863.157 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:03.192Z,1761541863.192 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.097344 2025-10-27T05:11:03.208Z,1761541863.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.503021 s, deltaX: -0.299999 m, approachRate: -0.596395 m/s, rangeRepo size: 4 2025-10-27T05:11:03.210Z,1761541863.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.942581 m, bearing: 353.709625 deg, lat: 36.779334 deg, lon: -121.859611 deg, deltaT: 0.503021 s, deltaX: -0.298481 m, approachRate: -0.593377 m/s, posRepo size: 4 2025-10-27T05:11:03.216Z,1761541863.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.94 m. 2025-10-27T05:11:03.223Z,1761541863.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.942581 m, nav range: 29.544327 m, bearing: 354.273114 deg, approach rate: 0.000000 m/s, LOS rate: 0.052996 deg/s, cmd heading: 349.491764 deg, new cmd heading: 349.554521 deg. 2025-10-27T05:11:03.224Z,1761541863.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100877 target range: 30.942581 and range: 31.10 m. 2025-10-27T05:11:03.389Z,1761541863.389 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.319619 2025-10-27T05:11:03.526Z,1761541863.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983038,0.180139,0.034433],[-0.183174,0.973693,0.135535],[-0.009112,-0.139544,0.990174]] 2025-10-27T05:11:03.602Z,1761541863.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:03.609Z,1761541863.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.94 m. 2025-10-27T05:11:03.616Z,1761541863.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.942581 m, nav range: 29.313156 m, bearing: 354.161159 deg, approach rate: -0.569650 m/s, LOS rate: -0.278054 deg/s, cmd heading: 349.554520 deg, new cmd heading: 349.216011 deg. 2025-10-27T05:11:03.617Z,1761541863.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094969 target range: 30.942581 and range: 31.10 m. 2025-10-27T05:11:03.641Z,1761541863.641 [DAT](INFO): DAT read: Rx Time:05:11:02.2984 2025-10-27T05:11:03.641Z,1761541863.641 [DAT](INFO): Rx dataTimestamp_ set to:1761541863.640754 2025-10-27T05:11:03.642Z,1761541863.642 [DAT](INFO): DAT read: Bearing 154.8, -1.3 (Local) 2025-10-27T05:11:03.643Z,1761541863.643 [DAT](INFO): Local bearing/azimuth received: Bearing 154.8, -1.3 (Local) 2025-10-27T05:11:03.646Z,1761541863.646 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 2025-10-27T05:11:03.655Z,1761541863.655 [DAT](INFO): DAT read: 05:11:02.2984 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.48,-2.445, 2.091,-2.362,-2.522, PHS= 0.179,-1.626, 0.115, RAW= 148.2, 14.9, CAL= 148.3, 16.4, ROT= 1.7, -16.4 2025-10-27T05:11:03.661Z,1761541863.661 [DAT](INFO): got valid direction response: 05:11:02.2984 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.48,-2.445, 2.091,-2.362,-2.522, PHS= 0.179,-1.626, 0.115, RAW= 148.2, 14.9, CAL= 148.3, 16.4, ROT= 1.7, -16.4 2025-10-27T05:11:03.661Z,1761541863.661 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:11:03.668Z,1761541863.668 [DAT](INFO): direction in FSK: [0.958892,0.028459,0.282341] 2025-10-27T05:11:03.668Z,1761541863.668 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:03.688Z,1761541863.688 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.619182 2025-10-27T05:11:03.892Z,1761541863.892 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.823041 2025-10-27T05:11:04.036Z,1761541864.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503966 s, deltaX: -0.200001 m, approachRate: -0.396854 m/s, rangeRepo size: 4 2025-10-27T05:11:04.038Z,1761541864.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.743589 m, bearing: 353.465988 deg, lat: 36.779334 deg, lon: -121.859612 deg, deltaT: 0.503966 s, deltaX: -0.198992 m, approachRate: -0.394852 m/s, posRepo size: 4 2025-10-27T05:11:04.039Z,1761541864.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.74 m. 2025-10-27T05:11:04.042Z,1761541864.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.743589 m, nav range: 29.093765 m, bearing: 353.833194 deg, approach rate: 0.000000 m/s, LOS rate: -0.278054 deg/s, cmd heading: 349.216016 deg, new cmd heading: 348.860506 deg. 2025-10-27T05:11:04.043Z,1761541864.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088765 target range: 30.743589 and range: 30.90 m. 2025-10-27T05:11:04.147Z,1761541864.147 [DAT](INFO): DAT read: Rx Time:05:11:02.7982 2025-10-27T05:11:04.148Z,1761541864.148 [DAT](INFO): Rx dataTimestamp_ set to:1761541864.147395 2025-10-27T05:11:04.152Z,1761541864.152 [DAT](INFO): DAT read: Bearing 154.7, -2.0 (Local) 2025-10-27T05:11:04.153Z,1761541864.153 [DAT](INFO): Local bearing/azimuth received: Bearing 154.7, -2.0 (Local) 2025-10-27T05:11:04.156Z,1761541864.156 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 2025-10-27T05:11:04.181Z,1761541864.181 [DAT](INFO): DAT read: 05:11:02.7982 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.11, 2.202, 0.459, 2.307, 2.125, PHS= 0.179,-1.621, 0.138, RAW= 148.9, 14.5, CAL= 148.9, 16.1, ROT= 1.1, -16.1 2025-10-27T05:11:04.182Z,1761541864.182 [DAT](INFO): got valid direction response: 05:11:02.7982 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.11, 2.202, 0.459, 2.307, 2.125, PHS= 0.179,-1.621, 0.138, RAW= 148.9, 14.5, CAL= 148.9, 16.1, ROT= 1.1, -16.1 2025-10-27T05:11:04.182Z,1761541864.182 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:11:04.188Z,1761541864.188 [DAT](INFO): direction in FSK: [0.960602,0.018445,0.277315] 2025-10-27T05:11:04.188Z,1761541864.188 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:04.208Z,1761541864.208 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.138574 2025-10-27T05:11:04.396Z,1761541864.396 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.326854 2025-10-27T05:11:04.513Z,1761541864.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.506641 s, deltaX: -0.299999 m, approachRate: -0.592134 m/s, rangeRepo size: 4 2025-10-27T05:11:04.514Z,1761541864.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.445070 m, bearing: 352.829914 deg, lat: 36.779334 deg, lon: -121.859614 deg, deltaT: 0.506641 s, deltaX: -0.298519 m, approachRate: -0.589212 m/s, posRepo size: 4 2025-10-27T05:11:04.519Z,1761541864.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.45 m. 2025-10-27T05:11:04.522Z,1761541864.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.445070 m, nav range: 28.859150 m, bearing: 353.367156 deg, approach rate: 0.000000 m/s, LOS rate: -0.278054 deg/s, cmd heading: 348.860518 deg, new cmd heading: 348.462781 deg. 2025-10-27T05:11:04.527Z,1761541864.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081823 target range: 30.445070 and range: 30.60 m. 2025-10-27T05:11:04.650Z,1761541864.650 [DAT](INFO): DAT read: Rx Time:05:11:03.2979 2025-10-27T05:11:04.652Z,1761541864.652 [DAT](INFO): Rx dataTimestamp_ set to:1761541864.651084 2025-10-27T05:11:04.653Z,1761541864.653 [DAT](INFO): DAT read: Bearing 154.9, -3.2 (Local) 2025-10-27T05:11:04.654Z,1761541864.654 [DAT](INFO): Local bearing/azimuth received: Bearing 154.9, -3.2 (Local) 2025-10-27T05:11:04.658Z,1761541864.658 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 2025-10-27T05:11:04.669Z,1761541864.669 [DAT](INFO): DAT read: 05:11:03.2979 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501, 0.09,-1.849, 2.697,-1.700,-1.909, PHS= 0.162,-1.633, 0.164, RAW= 150.1, 14.4, CAL= 150.2, 16.1, ROT= 359.8, -16.1 2025-10-27T05:11:04.673Z,1761541864.673 [DAT](INFO): got valid direction response: 05:11:03.2979 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501, 0.09,-1.849, 2.697,-1.700,-1.909, PHS= 0.162,-1.633, 0.164, RAW= 150.1, 14.4, CAL= 150.2, 16.1, ROT= 359.8, -16.1 2025-10-27T05:11:04.673Z,1761541864.673 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:11:04.676Z,1761541864.676 [DAT](INFO): direction in FSK: [0.960773,-0.003354,0.277315] 2025-10-27T05:11:04.677Z,1761541864.677 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:04.680Z,1761541864.680 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.611012 2025-10-27T05:11:04.831Z,1761541864.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984493,0.171720,0.035869],[-0.175083,0.974594,0.139687],[-0.010971,-0.143800,0.989546]] 2025-10-27T05:11:04.875Z,1761541864.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.503689 s, deltaX: -0.400000 m, approachRate: -0.794140 m/s, rangeRepo size: 4 2025-10-27T05:11:04.877Z,1761541864.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.047096 m, bearing: 352.088500 deg, lat: 36.779336 deg, lon: -121.859615 deg, deltaT: 0.503689 s, deltaX: -0.397974 m, approachRate: -0.790119 m/s, posRepo size: 4 2025-10-27T05:11:04.877Z,1761541864.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.05 m. 2025-10-27T05:11:04.881Z,1761541864.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.047096 m, nav range: 28.906158 m, bearing: 353.192111 deg, approach rate: 0.000000 m/s, LOS rate: -0.278054 deg/s, cmd heading: 348.462782 deg, new cmd heading: 348.160813 deg. 2025-10-27T05:11:04.882Z,1761541864.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076552 target range: 30.047096 and range: 30.20 m. 2025-10-27T05:11:04.900Z,1761541864.900 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.830763 2025-10-27T05:11:05.153Z,1761541865.153 [DAT](INFO): DAT read: Rx Time:05:11:03.7976 2025-10-27T05:11:05.154Z,1761541865.154 [DAT](INFO): Rx dataTimestamp_ set to:1761541865.153910 2025-10-27T05:11:05.156Z,1761541865.156 [DAT](INFO): DAT read: Bearing 155.9, -3.9 (Local) 2025-10-27T05:11:05.157Z,1761541865.157 [DAT](INFO): Local bearing/azimuth received: Bearing 155.9, -3.9 (Local) 2025-10-27T05:11:05.161Z,1761541865.161 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4 2025-10-27T05:11:05.168Z,1761541865.168 [DAT](INFO): DAT read: 05:11:03.7976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498, 0.32,-2.498, 2.055,-2.337,-2.528, PHS= 0.132,-1.655, 0.147, RAW= 150.4, 15.2, CAL= 150.7, 17.0, ROT= 359.3, -17.0 2025-10-27T05:11:05.171Z,1761541865.171 [DAT](INFO): got valid direction response: 05:11:03.7976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498, 0.32,-2.498, 2.055,-2.337,-2.528, PHS= 0.132,-1.655, 0.147, RAW= 150.4, 15.2, CAL= 150.7, 17.0, ROT= 359.3, -17.0 2025-10-27T05:11:05.172Z,1761541865.172 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:11:05.173Z,1761541865.173 [DAT](INFO): direction in FSK: [0.956233,-0.011683,0.292372] 2025-10-27T05:11:05.174Z,1761541865.174 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:05.178Z,1761541865.178 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.108919 2025-10-27T05:11:05.226Z,1761541865.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984767,0.169997,0.036537],[-0.173513,0.974379,0.143101],[-0.011274,-0.147261,0.989033]] 2025-10-27T05:11:05.348Z,1761541865.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.502826 s, deltaX: -0.500000 m, approachRate: -0.994380 m/s, rangeRepo size: 4 2025-10-27T05:11:05.350Z,1761541865.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.549627 m, bearing: 351.887755 deg, lat: 36.779336 deg, lon: -121.859618 deg, deltaT: 0.502826 s, deltaX: -0.497469 m, approachRate: -0.989346 m/s, posRepo size: 4 2025-10-27T05:11:05.355Z,1761541865.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.55 m. 2025-10-27T05:11:05.358Z,1761541865.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.549627 m, nav range: 28.716669 m, bearing: 352.558071 deg, approach rate: 0.000000 m/s, LOS rate: -0.278054 deg/s, cmd heading: 348.160806 deg, new cmd heading: 347.765717 deg. 2025-10-27T05:11:05.359Z,1761541865.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069657 target range: 29.549627 and range: 29.70 m. 2025-10-27T05:11:05.404Z,1761541865.404 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.335183 2025-10-27T05:11:05.630Z,1761541865.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984864,0.169202,0.037599],[-0.172941,0.973770,0.147865],[-0.011594,-0.152129,0.988293]] 2025-10-27T05:11:05.662Z,1761541865.662 [DAT](INFO): DAT read: Rx Time:05:11:04.2976 2025-10-27T05:11:05.663Z,1761541865.663 [DAT](INFO): Rx dataTimestamp_ set to:1761541865.662503 2025-10-27T05:11:05.665Z,1761541865.665 [DAT](INFO): DAT read: Bearing 156.2, -4.6 (Local) 2025-10-27T05:11:05.666Z,1761541865.666 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -4.6 (Local) 2025-10-27T05:11:05.700Z,1761541865.700 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.8 2025-10-27T05:11:05.719Z,1761541865.719 [DAT](INFO): DAT read: 05:11:04.2976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.26,-3.094, 1.474,-2.914,-3.111, PHS= 0.119,-1.654, 0.153, RAW= 150.9, 15.3, CAL= 151.3, 17.1, ROT= 358.7, -17.1 2025-10-27T05:11:05.733Z,1761541865.733 [DAT](INFO): got valid direction response: 05:11:04.2976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 498,-0.26,-3.094, 1.474,-2.914,-3.111, PHS= 0.119,-1.654, 0.153, RAW= 150.9, 15.3, CAL= 151.3, 17.1, ROT= 358.7, -17.1 2025-10-27T05:11:05.733Z,1761541865.733 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:11:05.743Z,1761541865.743 [DAT](INFO): direction in FSK: [0.955547,-0.021684,0.294040] 2025-10-27T05:11:05.743Z,1761541865.743 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:05.763Z,1761541865.763 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.693867 2025-10-27T05:11:05.794Z,1761541865.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.508593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:05.798Z,1761541865.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.549587 m, bearing: 351.432620 deg, lat: 36.779336 deg, lon: -121.859621 deg, deltaT: 0.508593 s, deltaX: -0.000040 m, approachRate: -0.000079 m/s, posRepo size: 4 2025-10-27T05:11:05.803Z,1761541865.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.55 m. 2025-10-27T05:11:05.806Z,1761541865.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.549587 m, nav range: 28.468575 m, bearing: 351.876516 deg, approach rate: 0.000000 m/s, LOS rate: -0.278054 deg/s, cmd heading: 347.765721 deg, new cmd heading: 347.394061 deg. 2025-10-27T05:11:05.811Z,1761541865.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063170 target range: 29.549587 and range: 29.70 m. 2025-10-27T05:11:05.913Z,1761541865.913 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.843211 2025-10-27T05:11:06.042Z,1761541866.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984780,0.169480,0.038535],[-0.173415,0.972967,0.152518],[-0.011645,-0.156879,0.987549]] 2025-10-27T05:11:06.083Z,1761541866.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:06.085Z,1761541866.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.55 m. 2025-10-27T05:11:06.093Z,1761541866.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.549587 m, nav range: 28.302290 m, bearing: 351.805145 deg, approach rate: -0.568728 m/s, LOS rate: -0.245537 deg/s, cmd heading: 347.394049 deg, new cmd heading: 347.178680 deg. 2025-10-27T05:11:06.094Z,1761541866.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059411 target range: 29.549587 and range: 29.70 m. 2025-10-27T05:11:06.166Z,1761541866.166 [DAT](INFO): DAT read: Rx Time:05:11:04.7973 2025-10-27T05:11:06.167Z,1761541866.167 [DAT](INFO): Rx dataTimestamp_ set to:1761541866.166365 2025-10-27T05:11:06.169Z,1761541866.169 [DAT](INFO): DAT read: Bearing 157.7, -5.5 (Local) 2025-10-27T05:11:06.170Z,1761541866.170 [DAT](INFO): Local bearing/azimuth received: Bearing 157.7, -5.5 (Local) 2025-10-27T05:11:06.173Z,1761541866.173 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.5 2025-10-27T05:11:06.178Z,1761541866.178 [DAT](INFO): DAT read: 05:11:04.7973 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495,-0.06, 2.058, 0.362, 2.253, 2.086, PHS= 0.073,-1.679, 0.123, RAW= 151.4, 16.4, CAL= 151.9, 18.5, ROT= 358.1, -18.5 2025-10-27T05:11:06.179Z,1761541866.179 [DAT](INFO): got valid direction response: 05:11:04.7973 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495,-0.06, 2.058, 0.362, 2.253, 2.086, PHS= 0.073,-1.679, 0.123, RAW= 151.4, 16.4, CAL= 151.9, 18.5, ROT= 358.1, -18.5 2025-10-27T05:11:06.179Z,1761541866.179 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:11:06.180Z,1761541866.180 [DAT](INFO): direction in FSK: [0.947802,-0.031442,0.317305] 2025-10-27T05:11:06.181Z,1761541866.181 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:06.185Z,1761541866.185 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.115407 2025-10-27T05:11:06.416Z,1761541866.416 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.346895 2025-10-27T05:11:06.496Z,1761541866.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984719,0.169587,0.039603],[-0.173752,0.972097,0.157603],[-0.011771,-0.162076,0.986708]] 2025-10-27T05:11:06.560Z,1761541866.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.503862 s, deltaX: -0.400002 m, approachRate: -0.793871 m/s, rangeRepo size: 4 2025-10-27T05:11:06.562Z,1761541866.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.151573 m, bearing: 351.221820 deg, lat: 36.779335 deg, lon: -121.859622 deg, deltaT: 0.503862 s, deltaX: -0.398014 m, approachRate: -0.789927 m/s, posRepo size: 4 2025-10-27T05:11:06.562Z,1761541866.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.15 m. 2025-10-27T05:11:06.565Z,1761541866.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.151573 m, nav range: 27.881399 m, bearing: 351.662126 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 347.178679 deg, new cmd heading: 346.844967 deg. 2025-10-27T05:11:06.566Z,1761541866.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053586 target range: 29.151573 and range: 29.30 m. 2025-10-27T05:11:06.671Z,1761541866.671 [DAT](INFO): DAT read: Rx Time:05:11:05.2972 2025-10-27T05:11:06.673Z,1761541866.673 [DAT](INFO): Rx dataTimestamp_ set to:1761541866.671878 2025-10-27T05:11:06.674Z,1761541866.674 [DAT](INFO): DAT read: Bearing 157.3, -5.6 (Local) 2025-10-27T05:11:06.675Z,1761541866.675 [DAT](INFO): Local bearing/azimuth received: Bearing 157.3, -5.6 (Local) 2025-10-27T05:11:06.678Z,1761541866.678 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.5 2025-10-27T05:11:06.684Z,1761541866.684 [DAT](INFO): DAT read: 05:11:05.2972 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 510, 0.10,-1.426,-3.124,-1.226,-1.409, PHS= 0.085,-1.670, 0.138, RAW= 151.5, 16.0, CAL= 151.9, 18.0, ROT= 358.1, -18.0 2025-10-27T05:11:06.686Z,1761541866.686 [DAT](INFO): got valid direction response: 05:11:05.2972 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 510, 0.10,-1.426,-3.124,-1.226,-1.409, PHS= 0.085,-1.670, 0.138, RAW= 151.5, 16.0, CAL= 151.9, 18.0, ROT= 358.1, -18.0 2025-10-27T05:11:06.686Z,1761541866.686 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:11:06.687Z,1761541866.687 [DAT](INFO): direction in FSK: [0.950534,-0.031532,0.309017] 2025-10-27T05:11:06.687Z,1761541866.687 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:06.695Z,1761541866.695 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.624493 2025-10-27T05:11:06.842Z,1761541866.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984564,0.170242,0.040629],[-0.174633,0.971021,0.163163],[-0.011674,-0.167740,0.985762]] 2025-10-27T05:11:06.890Z,1761541866.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.505513 s, deltaX: -0.199999 m, approachRate: -0.395635 m/s, rangeRepo size: 4 2025-10-27T05:11:06.896Z,1761541866.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.952587 m, bearing: 351.188040 deg, lat: 36.779334 deg, lon: -121.859624 deg, deltaT: 0.505513 s, deltaX: -0.198986 m, approachRate: -0.393632 m/s, posRepo size: 4 2025-10-27T05:11:06.897Z,1761541866.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.95 m. 2025-10-27T05:11:06.904Z,1761541866.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.952587 m, nav range: 27.628626 m, bearing: 351.204107 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 346.844956 deg, new cmd heading: 346.586688 deg. 2025-10-27T05:11:06.905Z,1761541866.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049079 target range: 28.952587 and range: 29.10 m. 2025-10-27T05:11:06.920Z,1761541866.920 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.850856 2025-10-27T05:11:07.176Z,1761541867.176 [DAT](INFO): DAT read: Rx Time:05:11:05.7969 2025-10-27T05:11:07.177Z,1761541867.177 [DAT](INFO): Rx dataTimestamp_ set to:1761541867.176250 2025-10-27T05:11:07.178Z,1761541867.178 [DAT](INFO): DAT read: Bearing 156.6, -5.1 (Local) 2025-10-27T05:11:07.179Z,1761541867.179 [DAT](INFO): Local bearing/azimuth received: Bearing 156.6, -5.1 (Local) 2025-10-27T05:11:07.182Z,1761541867.182 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 2025-10-27T05:11:07.189Z,1761541867.189 [DAT](INFO): DAT read: 05:11:05.7969 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.25,-2.635, 1.933,-2.449,-2.648, PHS= 0.115,-1.658, 0.154, RAW= 151.1, 15.3, CAL= 151.4, 17.2, ROT= 358.6, -17.2 2025-10-27T05:11:07.190Z,1761541867.190 [DAT](INFO): got valid direction response: 05:11:05.7969 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 507, 0.25,-2.635, 1.933,-2.449,-2.648, PHS= 0.115,-1.658, 0.154, RAW= 151.1, 15.3, CAL= 151.4, 17.2, ROT= 358.6, -17.2 2025-10-27T05:11:07.190Z,1761541867.190 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:11:07.191Z,1761541867.191 [DAT](INFO): direction in FSK: [0.954993,-0.023339,0.295708] 2025-10-27T05:11:07.192Z,1761541867.192 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:07.195Z,1761541867.195 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.126041 2025-10-27T05:11:07.284Z,1761541867.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984193,0.172085,0.041839],[-0.176738,0.969449,0.170095],[-0.011290,-0.174800,0.984539]] 2025-10-27T05:11:07.425Z,1761541867.425 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.355528 2025-10-27T05:11:07.462Z,1761541867.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504372 s, deltaX: -0.400000 m, approachRate: -0.793065 m/s, rangeRepo size: 4 2025-10-27T05:11:07.488Z,1761541867.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.554613 m, bearing: 351.535817 deg, lat: 36.779334 deg, lon: -121.859624 deg, deltaT: 0.504372 s, deltaX: -0.397974 m, approachRate: -0.789049 m/s, posRepo size: 4 2025-10-27T05:11:07.489Z,1761541867.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m. 2025-10-27T05:11:07.496Z,1761541867.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.554613 m, nav range: 27.298174 m, bearing: 351.157850 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 346.586693 deg, new cmd heading: 346.171323 deg. 2025-10-27T05:11:07.497Z,1761541867.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041830 target range: 28.554613 and range: 28.70 m. 2025-10-27T05:11:07.677Z,1761541867.677 [DAT](INFO): DAT read: Rx Time:05:11:06.2968 2025-10-27T05:11:07.677Z,1761541867.677 [DAT](INFO): Rx dataTimestamp_ set to:1761541867.676767 2025-10-27T05:11:07.678Z,1761541867.678 [DAT](INFO): DAT read: Bearing 155.4, -5.3 (Local) 2025-10-27T05:11:07.679Z,1761541867.679 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, -5.3 (Local) 2025-10-27T05:11:07.681Z,1761541867.681 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.5 2025-10-27T05:11:07.686Z,1761541867.686 [DAT](INFO): DAT read: 05:11:06.2968 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.46,-1.824, 2.740,-1.624,-1.863, PHS= 0.141,-1.635, 0.195, RAW= 151.5, 14.3, CAL= 151.7, 16.0, ROT= 358.3, -16.0 2025-10-27T05:11:07.690Z,1761541867.690 [DAT](INFO): got valid direction response: 05:11:06.2968 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.46,-1.824, 2.740,-1.624,-1.863, PHS= 0.141,-1.635, 0.195, RAW= 151.5, 14.3, CAL= 151.7, 16.0, ROT= 358.3, -16.0 2025-10-27T05:11:07.690Z,1761541867.690 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:11:07.705Z,1761541867.705 [DAT](INFO): direction in FSK: [0.960839,-0.028517,0.275637] 2025-10-27T05:11:07.706Z,1761541867.706 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:07.743Z,1761541867.743 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.657495 2025-10-27T05:11:07.754Z,1761541867.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983594,0.175178,0.043067],[-0.180064,0.967845,0.175652],[-0.010912,-0.180525,0.983510]] 2025-10-27T05:11:07.810Z,1761541867.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.500517 s, deltaX: -0.200001 m, approachRate: -0.399588 m/s, rangeRepo size: 4 2025-10-27T05:11:07.817Z,1761541867.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.355650 m, bearing: 350.916489 deg, lat: 36.779335 deg, lon: -121.859624 deg, deltaT: 0.500517 s, deltaX: -0.198963 m, approachRate: -0.397515 m/s, posRepo size: 4 2025-10-27T05:11:07.817Z,1761541867.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.36 m. 2025-10-27T05:11:07.824Z,1761541867.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.355650 m, nav range: 27.159199 m, bearing: 351.144949 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 346.171336 deg, new cmd heading: 345.908527 deg. 2025-10-27T05:11:07.825Z,1761541867.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037243 target range: 28.355650 and range: 28.50 m. 2025-10-27T05:11:07.931Z,1761541867.931 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.861346 2025-10-27T05:11:08.164Z,1761541868.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982941,0.178556,0.044103],[-0.183617,0.966482,0.179436],[-0.010585,-0.184473,0.982781]] 2025-10-27T05:11:08.181Z,1761541868.181 [DAT](INFO): DAT read: Rx Time:05:11:06.7966 2025-10-27T05:11:08.181Z,1761541868.181 [DAT](INFO): Rx dataTimestamp_ set to:1761541868.180791 2025-10-27T05:11:08.182Z,1761541868.182 [DAT](INFO): DAT read: Bearing 155.7, -5.7 (Local) 2025-10-27T05:11:08.183Z,1761541868.183 [DAT](INFO): Local bearing/azimuth received: Bearing 155.7, -5.7 (Local) 2025-10-27T05:11:08.185Z,1761541868.185 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.5 2025-10-27T05:11:08.189Z,1761541868.189 [DAT](INFO): DAT read: 05:11:06.7966 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504,-0.35, 2.088, 0.361, 2.296, 2.062, PHS= 0.128,-1.656, 0.190, RAW= 151.7, 14.6, CAL= 152.0, 16.4, ROT= 358.0, -16.4 2025-10-27T05:11:08.191Z,1761541868.191 [DAT](INFO): got valid direction response: 05:11:06.7966 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 504,-0.35, 2.088, 0.361, 2.296, 2.062, PHS= 0.128,-1.656, 0.190, RAW= 151.7, 14.6, CAL= 152.0, 16.4, ROT= 358.0, -16.4 2025-10-27T05:11:08.191Z,1761541868.191 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:11:08.192Z,1761541868.192 [DAT](INFO): direction in FSK: [0.958730,-0.033480,0.282341] 2025-10-27T05:11:08.192Z,1761541868.192 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:08.196Z,1761541868.196 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.126946 2025-10-27T05:11:08.241Z,1761541868.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.504024 s, deltaX: -0.299999 m, approachRate: -0.595208 m/s, rangeRepo size: 4 2025-10-27T05:11:08.248Z,1761541868.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.057169 m, bearing: 350.561583 deg, lat: 36.779335 deg, lon: -121.859624 deg, deltaT: 0.504024 s, deltaX: -0.298481 m, approachRate: -0.592196 m/s, posRepo size: 4 2025-10-27T05:11:08.248Z,1761541868.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.06 m. 2025-10-27T05:11:08.255Z,1761541868.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.057169 m, nav range: 26.932623 m, bearing: 351.113685 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 345.908537 deg, new cmd heading: 345.591528 deg. 2025-10-27T05:11:08.256Z,1761541868.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031710 target range: 28.057169 and range: 28.20 m. 2025-10-27T05:11:08.436Z,1761541868.436 [DAT](INFO): DAT read: Rx Time:05:11:07.2964 2025-10-27T05:11:08.438Z,1761541868.438 [DAT](INFO): Rx dataTimestamp_ set to:1761541868.436797 2025-10-27T05:11:08.442Z,1761541868.442 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.371836 2025-10-27T05:11:08.590Z,1761541868.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982280,0.181826,0.045452],[-0.187134,0.964912,0.184189],[-0.010367,-0.189431,0.981839]] 2025-10-27T05:11:08.685Z,1761541868.685 [DAT](INFO): DAT read: Bearing 158.1, -6.8 (Local) 2025-10-27T05:11:08.685Z,1761541868.685 [DAT](INFO): Local bearing/azimuth received: Bearing 158.1, -6.8 (Local) 2025-10-27T05:11:08.687Z,1761541868.687 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.6 2025-10-27T05:11:08.692Z,1761541868.692 [DAT](INFO): DAT read: 05:11:07.2964 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 502,-0.33,-3.052, 1.561,-2.833,-3.002, PHS= 0.052,-1.675, 0.125, RAW= 152.1, 16.7, CAL= 152.6, 18.9, ROT= 357.4, -18.9 2025-10-27T05:11:08.693Z,1761541868.693 [DAT](INFO): got valid direction response: 05:11:07.2964 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 502,-0.33,-3.052, 1.561,-2.833,-3.002, PHS= 0.052,-1.675, 0.125, RAW= 152.1, 16.7, CAL= 152.6, 18.9, ROT= 357.4, -18.9 2025-10-27T05:11:08.693Z,1761541868.693 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:11:08.694Z,1761541868.694 [DAT](INFO): direction in FSK: [0.945111,-0.042917,0.323917] 2025-10-27T05:11:08.695Z,1761541868.695 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:08.703Z,1761541868.703 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.629595 2025-10-27T05:11:08.726Z,1761541868.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.502686 s, deltaX: -0.300001 m, approachRate: -0.596796 m/s, rangeRepo size: 4 2025-10-27T05:11:08.737Z,1761541868.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.758709 m, bearing: 350.374983 deg, lat: 36.779335 deg, lon: -121.859625 deg, deltaT: 0.502686 s, deltaX: -0.298460 m, approachRate: -0.593731 m/s, posRepo size: 4 2025-10-27T05:11:08.738Z,1761541868.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.76 m. 2025-10-27T05:11:08.748Z,1761541868.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.758709 m, nav range: 26.652777 m, bearing: 350.822332 deg, approach rate: 0.000000 m/s, LOS rate: -0.245537 deg/s, cmd heading: 345.591535 deg, new cmd heading: 345.234369 deg. 2025-10-27T05:11:08.749Z,1761541868.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025476 target range: 27.758709 and range: 27.90 m. 2025-10-27T05:11:08.942Z,1761541868.942 [DAT](INFO): DAT read: Rx Time:05:11:07.7961 2025-10-27T05:11:08.944Z,1761541868.944 [DAT](INFO): Rx dataTimestamp_ set to:1761541868.942891 2025-10-27T05:11:08.947Z,1761541868.947 [DAT](INFO): DAT read: Bearing 158.8, -6.5 (Local) 2025-10-27T05:11:08.956Z,1761541868.956 [DAT](INFO): Local bearing/azimuth received: Bearing 158.8, -6.5 (Local) 2025-10-27T05:11:08.966Z,1761541868.966 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.5 2025-10-27T05:11:08.973Z,1761541868.973 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T05:11:08.985Z,1761541868.985 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.915175 2025-10-27T05:11:09.100Z,1761541869.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980655,0.189975,0.047167],[-0.195514,0.962312,0.189025],[-0.009479,-0.194590,0.980839]] 2025-10-27T05:11:09.130Z,1761541869.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:09.133Z,1761541869.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.259414 s, deltaX: -0.400000 m, approachRate: -1.541935 m/s, rangeRepo size: 4 2025-10-27T05:11:09.134Z,1761541869.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.76 m. 2025-10-27T05:11:09.139Z,1761541869.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.758709 m, nav range: 26.379192 m, bearing: 350.814832 deg, approach rate: -0.671585 m/s, LOS rate: -0.018601 deg/s, cmd heading: 345.234370 deg, new cmd heading: 345.211638 deg. 2025-10-27T05:11:09.142Z,1761541869.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025080 target range: 27.758709 and range: 27.50 m. 2025-10-27T05:11:09.195Z,1761541869.195 [DAT](INFO): DAT read: 05:11:07.7961 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.28, 2.188, 0.534, 2.385, 2.248, PHS= 0.041,-1.669, 0.092, RAW= 151.5, 17.4, CAL= 152.1, 19.6, ROT= 357.9, -19.6 2025-10-27T05:11:09.196Z,1761541869.196 [DAT](INFO): got valid direction response: 05:11:07.7961 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.28, 2.188, 0.534, 2.385, 2.248, PHS= 0.041,-1.669, 0.092, RAW= 151.5, 17.4, CAL= 152.1, 19.6, ROT= 357.9, -19.6 2025-10-27T05:11:09.196Z,1761541869.196 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-27T05:11:09.197Z,1761541869.197 [DAT](INFO): direction in FSK: [0.941425,-0.034520,0.335452] 2025-10-27T05:11:09.201Z,1761541869.201 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.131783 2025-10-27T05:11:09.443Z,1761541869.443 [DAT](INFO): DAT read: Rx Time:05:11:08.2960 2025-10-27T05:11:09.444Z,1761541869.444 [DAT](INFO): Rx dataTimestamp_ set to:1761541869.443258 2025-10-27T05:11:09.447Z,1761541869.447 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.376734 2025-10-27T05:11:09.529Z,1761541869.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979779,0.194191,0.048201],[-0.199871,0.961022,0.191019],[-0.009228,-0.196791,0.980402]] 2025-10-27T05:11:09.586Z,1761541869.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.76 m. 2025-10-27T05:11:09.593Z,1761541869.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.758709 m, nav range: 26.112009 m, bearing: 350.828636 deg, approach rate: -0.589707 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.211640 deg, new cmd heading: 345.253475 deg. 2025-10-27T05:11:09.594Z,1761541869.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025810 target range: 27.758709 and range: 27.50 m. 2025-10-27T05:11:09.694Z,1761541869.694 [DAT](INFO): DAT read: Bearing 156.6, -5.2 (Local) 2025-10-27T05:11:09.694Z,1761541869.694 [DAT](INFO): Local bearing/azimuth received: Bearing 156.6, -5.2 (Local) 2025-10-27T05:11:09.697Z,1761541869.697 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.5 2025-10-27T05:11:09.704Z,1761541869.704 [DAT](INFO): DAT read: 05:11:08.2960 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.18, 2.538, 0.824, 2.712, 2.522, PHS= 0.119,-1.652, 0.146, RAW= 150.8, 15.4, CAL= 151.1, 17.2, ROT= 358.9, -17.2 2025-10-27T05:11:09.705Z,1761541869.705 [DAT](INFO): got valid direction response: 05:11:08.2960 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.18, 2.538, 0.824, 2.712, 2.522, PHS= 0.119,-1.652, 0.146, RAW= 150.8, 15.4, CAL= 151.1, 17.2, ROT= 358.9, -17.2 2025-10-27T05:11:09.706Z,1761541869.706 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:11:09.714Z,1761541869.714 [DAT](INFO): direction in FSK: [0.955102,-0.018339,0.295708] 2025-10-27T05:11:09.714Z,1761541869.714 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:09.720Z,1761541869.720 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.650407 2025-10-27T05:11:09.905Z,1761541869.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978938,0.198169,0.049079],[-0.203961,0.959833,0.192667],[-0.008927,-0.198619,0.980036]] 2025-10-27T05:11:09.947Z,1761541869.947 [DAT](INFO): DAT read: Rx Time:05:11:08.7958 2025-10-27T05:11:09.949Z,1761541869.949 [DAT](INFO): Rx dataTimestamp_ set to:1761541869.947672 2025-10-27T05:11:09.951Z,1761541869.951 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.881159 2025-10-27T05:11:09.990Z,1761541869.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.748803 s, deltaX: -0.200001 m, approachRate: -0.267094 m/s, rangeRepo size: 4 2025-10-27T05:11:09.997Z,1761541869.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.161760 m, bearing: 350.668079 deg, lat: 36.779335 deg, lon: -121.859626 deg, deltaT: 1.008217 s, deltaX: -0.596949 m, approachRate: -0.592083 m/s, posRepo size: 4 2025-10-27T05:11:09.997Z,1761541869.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:11:10.004Z,1761541870.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.161760 m, nav range: 25.919758 m, bearing: 350.625903 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.253468 deg, new cmd heading: 345.290783 deg. 2025-10-27T05:11:10.005Z,1761541870.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026461 target range: 27.161760 and range: 27.30 m. 2025-10-27T05:11:10.197Z,1761541870.197 [DAT](INFO): DAT read: Bearing 156.1, -5.2 (Local) 2025-10-27T05:11:10.197Z,1761541870.197 [DAT](INFO): Local bearing/azimuth received: Bearing 156.1, -5.2 (Local) 2025-10-27T05:11:10.199Z,1761541870.199 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.5 2025-10-27T05:11:10.204Z,1761541870.204 [DAT](INFO): DAT read: 05:11:08.7958 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 495,-0.15, 1.847, 0.126, 2.022, 1.819, PHS= 0.130,-1.648, 0.159, RAW= 150.8, 15.0, CAL= 151.1, 16.8, ROT= 358.9, -16.8 2025-10-27T05:11:10.205Z,1761541870.205 [DAT](INFO): got valid direction response: 05:11:08.7958 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 495,-0.15, 1.847, 0.126, 2.022, 1.819, PHS= 0.130,-1.648, 0.159, RAW= 150.8, 15.0, CAL= 151.1, 16.8, ROT= 358.9, -16.8 2025-10-27T05:11:10.206Z,1761541870.206 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:11:10.207Z,1761541870.207 [DAT](INFO): direction in FSK: [0.957143,-0.018378,0.289032] 2025-10-27T05:11:10.235Z,1761541870.235 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:10.247Z,1761541870.247 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.169507 2025-10-27T05:11:10.352Z,1761541870.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978202,0.201542,0.050018],[-0.207469,0.958773,0.194195],[-0.008817,-0.200339,0.979687]] 2025-10-27T05:11:10.460Z,1761541870.460 [DAT](INFO): DAT read: Rx Time:05:11:09.2957 2025-10-27T05:11:10.461Z,1761541870.461 [DAT](INFO): Rx dataTimestamp_ set to:1761541870.460322 2025-10-27T05:11:10.465Z,1761541870.465 [DAT](INFO): DAT read: Bearing 154.7, -4.4 (Local) 2025-10-27T05:11:10.467Z,1761541870.467 [DAT](INFO): Local bearing/azimuth received: Bearing 154.7, -4.4 (Local) 2025-10-27T05:11:10.477Z,1761541870.477 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.5 2025-10-27T05:11:10.491Z,1761541870.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503702 s, deltaX: -0.400000 m, approachRate: -0.794120 m/s, rangeRepo size: 4 2025-10-27T05:11:10.493Z,1761541870.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.763786 m, bearing: 350.406430 deg, lat: 36.779335 deg, lon: -121.859627 deg, deltaT: 0.503702 s, deltaX: -0.397974 m, approachRate: -0.790098 m/s, posRepo size: 4 2025-10-27T05:11:10.494Z,1761541870.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.76 m. 2025-10-27T05:11:10.499Z,1761541870.499 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T05:11:10.500Z,1761541870.500 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.430554 2025-10-27T05:11:10.502Z,1761541870.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.763786 m, nav range: 25.693087 m, bearing: 350.573799 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.290788 deg, new cmd heading: 345.333006 deg. 2025-10-27T05:11:10.508Z,1761541870.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027198 target range: 26.763786 and range: 26.90 m. 2025-10-27T05:11:10.523Z,1761541870.523 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:11:10.714Z,1761541870.714 [DAT](INFO): DAT read: 05:11:09.2957 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.13,-2.740, 1.810,-2.579,-2.813, PHS= 0.175,-1.615, 0.190, RAW= 150.4, 13.8, CAL= 150.5, 15.4, ROT= 359.5, -15.4 2025-10-27T05:11:10.717Z,1761541870.717 [DAT](INFO): got valid direction response: 05:11:09.2957 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.13,-2.740, 1.810,-2.579,-2.813, PHS= 0.175,-1.615, 0.190, RAW= 150.4, 13.8, CAL= 150.5, 15.4, ROT= 359.5, -15.4 2025-10-27T05:11:10.718Z,1761541870.718 [DAT](INFO): #Rx 29: Read direction message, but no range. 2025-10-27T05:11:10.720Z,1761541870.720 [DAT](INFO): direction in FSK: [0.964059,-0.008413,0.265556] 2025-10-27T05:11:10.726Z,1761541870.726 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.656299 2025-10-27T05:11:10.788Z,1761541870.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977359,0.205374,0.050892],[-0.211412,0.957639,0.195529],[-0.008579,-0.201862,0.979376]] 2025-10-27T05:11:10.849Z,1761541870.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.264926 s, deltaX: -0.199999 m, approachRate: -0.754923 m/s, rangeRepo size: 4 2025-10-27T05:11:10.855Z,1761541870.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.564995 m, bearing: 350.482583 deg, lat: 36.779335 deg, lon: -121.859627 deg, deltaT: 0.264926 s, deltaX: -0.198792 m, approachRate: -0.750366 m/s, posRepo size: 4 2025-10-27T05:11:10.856Z,1761541870.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.56 m. 2025-10-27T05:11:10.858Z,1761541870.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.564995 m, nav range: 25.470257 m, bearing: 350.529333 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.332998 deg, new cmd heading: 345.370044 deg. 2025-10-27T05:11:10.864Z,1761541870.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027844 target range: 26.564995 and range: 26.70 m. 2025-10-27T05:11:10.964Z,1761541870.964 [DAT](INFO): DAT read: Rx Time:05:11:09.7954 2025-10-27T05:11:10.966Z,1761541870.966 [DAT](INFO): Rx dataTimestamp_ set to:1761541870.964812 2025-10-27T05:11:10.969Z,1761541870.969 [DAT](INFO): DAT read: Bearing 155.4, -4.3 (Local) 2025-10-27T05:11:10.970Z,1761541870.970 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, -4.3 (Local) 2025-10-27T05:11:10.977Z,1761541870.977 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.6 2025-10-27T05:11:10.981Z,1761541870.981 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T05:11:10.984Z,1761541870.984 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.914388 2025-10-27T05:11:11.192Z,1761541871.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976558,0.208903,0.051908],[-0.215081,0.956663,0.196305],[-0.008650,-0.202868,0.979168]] 2025-10-27T05:11:11.216Z,1761541871.216 [DAT](INFO): DAT read: 05:11:09.7954 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.07, 2.402, 0.661, 2.553, 2.344, PHS= 0.161,-1.638, 0.165, RAW= 150.1, 14.4, CAL= 150.3, 16.1, ROT= 359.7, -16.1 2025-10-27T05:11:11.217Z,1761541871.217 [DAT](INFO): got valid direction response: 05:11:09.7954 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.07, 2.402, 0.661, 2.553, 2.344, PHS= 0.161,-1.638, 0.165, RAW= 150.1, 14.4, CAL= 150.3, 16.1, ROT= 359.7, -16.1 2025-10-27T05:11:11.217Z,1761541871.217 [DAT](INFO): #Rx 31: Read direction message, but no range. 2025-10-27T05:11:11.218Z,1761541871.218 [DAT](INFO): direction in FSK: [0.960766,-0.005031,0.277315] 2025-10-27T05:11:11.222Z,1761541871.222 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.152670 2025-10-27T05:11:11.252Z,1761541871.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.504490 s, deltaX: -0.400002 m, approachRate: -0.792883 m/s, rangeRepo size: 4 2025-10-27T05:11:11.254Z,1761541871.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.167015 m, bearing: 350.630311 deg, lat: 36.779336 deg, lon: -121.859627 deg, deltaT: 0.504490 s, deltaX: -0.397980 m, approachRate: -0.788875 m/s, posRepo size: 4 2025-10-27T05:11:11.254Z,1761541871.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.17 m. 2025-10-27T05:11:11.262Z,1761541871.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.167015 m, nav range: 25.243881 m, bearing: 350.534846 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.370045 deg, new cmd heading: 345.406863 deg. 2025-10-27T05:11:11.263Z,1761541871.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.028487 target range: 26.167015 and range: 26.30 m. 2025-10-27T05:11:11.474Z,1761541871.474 [DAT](INFO): DAT read: Rx Time:05:11:10.2953 2025-10-27T05:11:11.483Z,1761541871.483 [DAT](INFO): Rx dataTimestamp_ set to:1761541871.474589 2025-10-27T05:11:11.485Z,1761541871.485 [DAT](INFO): DAT read: Bearing 155.3, -3.8 (Local) 2025-10-27T05:11:11.486Z,1761541871.486 [DAT](INFO): Local bearing/azimuth received: Bearing 155.3, -3.8 (Local) 2025-10-27T05:11:11.497Z,1761541871.497 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 2025-10-27T05:11:11.513Z,1761541871.513 [DAT](INFO): DAT read: 05:11:10.2953 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.01,-2.261, 2.280,-2.127,-2.330, PHS= 0.171,-1.628, 0.159, RAW= 149.7, 14.3, CAL= 149.8, 15.9, ROT= 0.2, -15.9 2025-10-27T05:11:11.515Z,1761541871.515 [DAT](INFO): got valid direction response: 05:11:10.2953 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506, 0.01,-2.261, 2.280,-2.127,-2.330, PHS= 0.171,-1.628, 0.159, RAW= 149.7, 14.3, CAL= 149.8, 15.9, ROT= 0.2, -15.9 2025-10-27T05:11:11.519Z,1761541871.519 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T05:11:11.520Z,1761541871.520 [DAT](INFO): direction in FSK: [0.961735,0.003357,0.273959] 2025-10-27T05:11:11.520Z,1761541871.520 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:11.527Z,1761541871.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:11:11.529Z,1761541871.529 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.460091 2025-10-27T05:11:11.717Z,1761541871.717 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.647873 2025-10-27T05:11:11.747Z,1761541871.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.509777 s, deltaX: -0.199999 m, approachRate: -0.392326 m/s, rangeRepo size: 4 2025-10-27T05:11:11.749Z,1761541871.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.968056 m, bearing: 351.073618 deg, lat: 36.779336 deg, lon: -121.859626 deg, deltaT: 0.509777 s, deltaX: -0.198959 m, approachRate: -0.390287 m/s, posRepo size: 4 2025-10-27T05:11:11.750Z,1761541871.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.97 m. 2025-10-27T05:11:11.761Z,1761541871.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.968056 m, nav range: 24.995895 m, bearing: 350.628328 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.406874 deg, new cmd heading: 345.452601 deg. 2025-10-27T05:11:11.762Z,1761541871.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029285 target range: 25.968056 and range: 26.10 m. 2025-10-27T05:11:11.972Z,1761541871.972 [DAT](INFO): DAT read: Rx Time:05:11:10.7950 2025-10-27T05:11:11.974Z,1761541871.974 [DAT](INFO): Rx dataTimestamp_ set to:1761541871.973017 2025-10-27T05:11:11.981Z,1761541871.981 [DAT](INFO): DAT read: Bearing 153.2, -2.2 (Local) 2025-10-27T05:11:11.986Z,1761541871.986 [DAT](INFO): Local bearing/azimuth received: Bearing 153.2, -2.2 (Local) 2025-10-27T05:11:12.018Z,1761541872.018 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.5 2025-10-27T05:11:12.031Z,1761541872.031 [DAT](INFO): DAT read: 05:11:10.7950 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.25, 1.671,-0.118, 1.769, 1.518, PHS= 0.255,-1.591, 0.208, RAW= 148.7, 12.3, CAL= 148.6, 13.6, ROT= 1.4, -13.6 2025-10-27T05:11:12.044Z,1761541872.044 [DAT](INFO): got valid direction response: 05:11:10.7950 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.25, 1.671,-0.118, 1.769, 1.518, PHS= 0.255,-1.591, 0.208, RAW= 148.7, 12.3, CAL= 148.6, 13.6, ROT= 1.4, -13.6 2025-10-27T05:11:12.045Z,1761541872.045 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:11:12.046Z,1761541872.046 [DAT](INFO): direction in FSK: [0.971671,0.023747,0.235142] 2025-10-27T05:11:12.047Z,1761541872.047 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:12.060Z,1761541872.060 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.990358 2025-10-27T05:11:12.099Z,1761541872.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975032,0.215585,0.053243],[-0.221902,0.955035,0.196639],[-0.008456,-0.203544,0.979029]] 2025-10-27T05:11:12.195Z,1761541872.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.498428 s, deltaX: -0.400000 m, approachRate: -0.802522 m/s, rangeRepo size: 4 2025-10-27T05:11:12.197Z,1761541872.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.570078 m, bearing: 351.356604 deg, lat: 36.779337 deg, lon: -121.859626 deg, deltaT: 0.498428 s, deltaX: -0.397978 m, approachRate: -0.798466 m/s, posRepo size: 4 2025-10-27T05:11:12.198Z,1761541872.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.57 m. 2025-10-27T05:11:12.205Z,1761541872.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.570078 m, nav range: 24.850752 m, bearing: 350.660812 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.452609 deg, new cmd heading: 345.493994 deg. 2025-10-27T05:11:12.206Z,1761541872.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030008 target range: 25.570078 and range: 25.70 m. 2025-10-27T05:11:12.220Z,1761541872.220 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.150873 2025-10-27T05:11:12.479Z,1761541872.479 [DAT](INFO): DAT read: Rx Time:05:11:11.2948 2025-10-27T05:11:12.480Z,1761541872.480 [DAT](INFO): Rx dataTimestamp_ set to:1761541872.479463 2025-10-27T05:11:12.482Z,1761541872.482 [DAT](INFO): DAT read: Bearing 156.5, -2.8 (Local) 2025-10-27T05:11:12.482Z,1761541872.482 [DAT](INFO): Local bearing/azimuth received: Bearing 156.5, -2.8 (Local) 2025-10-27T05:11:12.487Z,1761541872.487 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 2025-10-27T05:11:12.500Z,1761541872.500 [DAT](INFO): DAT read: 05:11:11.2948 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.45, 1.690,-0.060, 1.779, 1.631, PHS= 0.160,-1.646, 0.103, RAW= 148.4, 15.4, CAL= 148.5, 17.0, ROT= 1.5, -17.0 2025-10-27T05:11:12.502Z,1761541872.502 [DAT](INFO): got valid direction response: 05:11:11.2948 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 501, 0.45, 1.690,-0.060, 1.779, 1.631, PHS= 0.160,-1.646, 0.103, RAW= 148.4, 15.4, CAL= 148.5, 17.0, ROT= 1.5, -17.0 2025-10-27T05:11:12.502Z,1761541872.502 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T05:11:12.508Z,1761541872.508 [DAT](INFO): direction in FSK: [0.955977,0.025033,0.292372] 2025-10-27T05:11:12.508Z,1761541872.508 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:12.528Z,1761541872.528 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.458670 2025-10-27T05:11:12.540Z,1761541872.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974289,0.218699,0.054149],[-0.225128,0.954463,0.195752],[-0.008872,-0.202909,0.979157]] 2025-10-27T05:11:12.628Z,1761541872.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.506446 s, deltaX: -0.300001 m, approachRate: -0.592366 m/s, rangeRepo size: 4 2025-10-27T05:11:12.630Z,1761541872.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.271490 m, bearing: 351.988359 deg, lat: 36.779337 deg, lon: -121.859624 deg, deltaT: 0.506446 s, deltaX: -0.298588 m, approachRate: -0.589575 m/s, posRepo size: 4 2025-10-27T05:11:12.636Z,1761541872.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m. 2025-10-27T05:11:12.650Z,1761541872.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.271490 m, nav range: 24.550217 m, bearing: 351.030947 deg, approach rate: 0.000000 m/s, LOS rate: 0.030779 deg/s, cmd heading: 345.494000 deg, new cmd heading: 345.533921 deg. 2025-10-27T05:11:12.664Z,1761541872.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030704 target range: 25.271490 and range: 25.40 m. 2025-10-27T05:11:12.725Z,1761541872.725 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.655474 2025-10-27T05:11:12.982Z,1761541872.982 [DAT](INFO): DAT read: Rx Time:05:11:11.7946 2025-10-27T05:11:12.983Z,1761541872.983 [DAT](INFO): Rx dataTimestamp_ set to:1761541872.982227 2025-10-27T05:11:12.984Z,1761541872.984 [DAT](INFO): DAT read: Bearing 156.5, -2.5 (Local) 2025-10-27T05:11:12.984Z,1761541872.984 [DAT](INFO): Local bearing/azimuth received: Bearing 156.5, -2.5 (Local) 2025-10-27T05:11:12.986Z,1761541872.986 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 2025-10-27T05:11:12.987Z,1761541872.987 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-27T05:11:12.988Z,1761541872.988 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.919109 2025-10-27T05:11:12.990Z,1761541872.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973619,0.221507,0.054783],[-0.227991,0.954145,0.193975],[-0.009304,-0.201348,0.979476]] 2025-10-27T05:11:13.008Z,1761541873.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:13.010Z,1761541873.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.502764 s, deltaX: -0.299999 m, approachRate: -0.596700 m/s, rangeRepo size: 4 2025-10-27T05:11:13.011Z,1761541873.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m. 2025-10-27T05:11:13.014Z,1761541873.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.271490 m, nav range: 24.315462 m, bearing: 351.000030 deg, approach rate: -0.606609 m/s, LOS rate: -0.080661 deg/s, cmd heading: 345.533915 deg, new cmd heading: 345.440269 deg. 2025-10-27T05:11:13.015Z,1761541873.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029070 target range: 25.271490 and range: 25.10 m. 2025-10-27T05:11:13.234Z,1761541873.234 [DAT](INFO): DAT read: 05:11:11.7946 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.21,-1.179,-2.938,-1.098,-1.239, PHS= 0.163,-1.653, 0.097, RAW= 148.2, 15.4, CAL= 148.3, 17.1, ROT= 1.7, -17.1 2025-10-27T05:11:13.236Z,1761541873.236 [DAT](INFO): got valid direction response: 05:11:11.7946 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499,-0.21,-1.179,-2.938,-1.098,-1.239, PHS= 0.163,-1.653, 0.097, RAW= 148.2, 15.4, CAL= 148.3, 17.1, ROT= 1.7, -17.1 2025-10-27T05:11:13.236Z,1761541873.236 [DAT](INFO): #Rx 36: Read direction message, but no range. 2025-10-27T05:11:13.237Z,1761541873.237 [DAT](INFO): direction in FSK: [0.955372,0.028355,0.294040] 2025-10-27T05:11:13.241Z,1761541873.241 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.171862 2025-10-27T05:11:13.338Z,1761541873.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973218,0.223172,0.055144],[-0.229685,0.953968,0.192845],[-0.009568,-0.200346,0.979679]] 2025-10-27T05:11:13.433Z,1761541873.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.27 m. 2025-10-27T05:11:13.470Z,1761541873.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.271490 m, nav range: 24.102266 m, bearing: 350.972296 deg, approach rate: -0.511243 m/s, LOS rate: -0.067093 deg/s, cmd heading: 345.440260 deg, new cmd heading: 345.356323 deg. 2025-10-27T05:11:13.481Z,1761541873.481 [DAT](INFO): DAT read: Rx Time:05:11:12.2945 2025-10-27T05:11:13.481Z,1761541873.481 [DAT](INFO): Rx dataTimestamp_ set to:1761541873.480790 2025-10-27T05:11:13.482Z,1761541873.482 [DAT](INFO): DAT read: Bearing 157.6, -3.0 (Local) 2025-10-27T05:11:13.483Z,1761541873.483 [DAT](INFO): Local bearing/azimuth received: Bearing 157.6, -3.0 (Local) 2025-10-27T05:11:13.485Z,1761541873.485 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 2025-10-27T05:11:13.490Z,1761541873.490 [DAT](INFO): DAT read: 05:11:12.2945 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.05, 0.755,-0.993, 0.840, 0.728, PHS= 0.129,-1.677, 0.067, RAW= 148.3, 16.4, CAL= 148.5, 18.2, ROT= 1.5, -18.2 2025-10-27T05:11:13.491Z,1761541873.491 [DAT](INFO): got valid direction response: 05:11:12.2945 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498,-0.05, 0.755,-0.993, 0.840, 0.728, PHS= 0.129,-1.677, 0.067, RAW= 148.3, 16.4, CAL= 148.5, 18.2, ROT= 1.5, -18.2 2025-10-27T05:11:13.491Z,1761541873.491 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T05:11:13.492Z,1761541873.492 [DAT](INFO): direction in FSK: [0.949647,0.024867,0.312335] 2025-10-27T05:11:13.492Z,1761541873.492 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:13.497Z,1761541873.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027605 target range: 25.271490 and range: 25.10 m. 2025-10-27T05:11:13.498Z,1761541873.498 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.428871 2025-10-27T05:11:13.733Z,1761541873.733 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.663328 2025-10-27T05:11:13.885Z,1761541873.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.498563 s, deltaX: -0.200001 m, approachRate: -0.401154 m/s, rangeRepo size: 4 2025-10-27T05:11:13.887Z,1761541873.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.773901 m, bearing: 351.936273 deg, lat: 36.779336 deg, lon: -121.859623 deg, deltaT: 1.001327 s, deltaX: -0.497589 m, approachRate: -0.496930 m/s, posRepo size: 4 2025-10-27T05:11:13.888Z,1761541873.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:11:13.891Z,1761541873.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.773901 m, nav range: 23.745173 m, bearing: 351.119750 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 345.356330 deg, new cmd heading: 345.264154 deg. 2025-10-27T05:11:13.892Z,1761541873.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025996 target range: 24.773901 and range: 24.90 m. 2025-10-27T05:11:13.987Z,1761541873.987 [DAT](INFO): DAT read: Rx Time:05:11:12.7942 2025-10-27T05:11:13.988Z,1761541873.988 [DAT](INFO): Rx dataTimestamp_ set to:1761541873.987285 2025-10-27T05:11:13.989Z,1761541873.989 [DAT](INFO): DAT read: Bearing 154.1, -1.2 (Local) 2025-10-27T05:11:13.989Z,1761541873.989 [DAT](INFO): Local bearing/azimuth received: Bearing 154.1, -1.2 (Local) 2025-10-27T05:11:13.992Z,1761541873.992 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 2025-10-27T05:11:13.996Z,1761541873.996 [DAT](INFO): DAT read: 05:11:12.7942 LVL= 31008, 32753, 32754, 32755, AGC= 65, IDX= 495, 0.20, 0.523,-1.294, 0.578, 0.373, PHS= 0.252,-1.621, 0.161, RAW= 147.5, 13.1, CAL= 147.4, 14.5, ROT= 2.6, -14.5 2025-10-27T05:11:13.998Z,1761541873.998 [DAT](INFO): got valid direction response: 05:11:12.7942 LVL= 31008, 32753, 32754, 32755, AGC= 65, IDX= 495, 0.20, 0.523,-1.294, 0.578, 0.373, PHS= 0.252,-1.621, 0.161, RAW= 147.5, 13.1, CAL= 147.4, 14.5, ROT= 2.6, -14.5 2025-10-27T05:11:13.998Z,1761541873.998 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T05:11:14.008Z,1761541874.008 [DAT](INFO): direction in FSK: [0.967151,0.043918,0.250380] 2025-10-27T05:11:14.009Z,1761541874.009 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:14.020Z,1761541874.020 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.950966 2025-10-27T05:11:14.236Z,1761541874.236 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.166723 2025-10-27T05:11:14.264Z,1761541874.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972540,0.225838,0.056248],[-0.232495,0.953758,0.190507],[-0.010623,-0.198353,0.980073]] 2025-10-27T05:11:14.309Z,1761541874.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.506495 s, deltaX: -0.299999 m, approachRate: -0.592304 m/s, rangeRepo size: 4 2025-10-27T05:11:14.311Z,1761541874.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.475420 m, bearing: 352.017121 deg, lat: 36.779337 deg, lon: -121.859619 deg, deltaT: 0.506495 s, deltaX: -0.298481 m, approachRate: -0.589307 m/s, posRepo size: 4 2025-10-27T05:11:14.312Z,1761541874.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.48 m. 2025-10-27T05:11:14.314Z,1761541874.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.475420 m, nav range: 23.521202 m, bearing: 351.891572 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 345.264150 deg, new cmd heading: 345.178877 deg. 2025-10-27T05:11:14.316Z,1761541874.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024508 target range: 24.475420 and range: 24.60 m. 2025-10-27T05:11:14.489Z,1761541874.489 [DAT](INFO): DAT read: Rx Time:05:11:13.2941 2025-10-27T05:11:14.490Z,1761541874.490 [DAT](INFO): Rx dataTimestamp_ set to:1761541874.489310 2025-10-27T05:11:14.493Z,1761541874.493 [DAT](INFO): DAT read: Bearing 156.4, -1.9 (Local) 2025-10-27T05:11:14.493Z,1761541874.493 [DAT](INFO): Local bearing/azimuth received: Bearing 156.4, -1.9 (Local) 2025-10-27T05:11:14.497Z,1761541874.497 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.6 2025-10-27T05:11:14.502Z,1761541874.502 [DAT](INFO): DAT read: 05:11:13.2941 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 510, 0.43, 2.726, 0.937, 2.786, 2.649, PHS= 0.179,-1.667, 0.092, RAW= 147.6, 15.3, CAL= 147.6, 16.9, ROT= 2.4, -16.9 2025-10-27T05:11:14.516Z,1761541874.516 [DAT](INFO): got valid direction response: 05:11:13.2941 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 510, 0.43, 2.726, 0.937, 2.786, 2.649, PHS= 0.179,-1.667, 0.092, RAW= 147.6, 15.3, CAL= 147.6, 16.9, ROT= 2.4, -16.9 2025-10-27T05:11:14.516Z,1761541874.516 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:11:14.517Z,1761541874.517 [DAT](INFO): direction in FSK: [0.955974,0.040067,0.290702] 2025-10-27T05:11:14.517Z,1761541874.517 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:14.530Z,1761541874.530 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.460281 2025-10-27T05:11:14.740Z,1761541874.740 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.670862 2025-10-27T05:11:14.747Z,1761541874.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971764,0.228953,0.057053],[-0.235678,0.953523,0.187750],[-0.011415,-0.195894,0.980559]] 2025-10-27T05:11:14.814Z,1761541874.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.502025 s, deltaX: -0.100000 m, approachRate: -0.199194 m/s, rangeRepo size: 4 2025-10-27T05:11:14.820Z,1761541874.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.375965 m, bearing: 352.097834 deg, lat: 36.779338 deg, lon: -121.859619 deg, deltaT: 0.502025 s, deltaX: -0.099455 m, approachRate: -0.198107 m/s, posRepo size: 4 2025-10-27T05:11:14.821Z,1761541874.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:11:14.828Z,1761541874.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.375965 m, nav range: 23.407824 m, bearing: 351.866454 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 345.178882 deg, new cmd heading: 345.077263 deg. 2025-10-27T05:11:14.829Z,1761541874.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022735 target range: 24.375965 and range: 24.50 m. 2025-10-27T05:11:14.993Z,1761541874.993 [DAT](INFO): DAT read: Rx Time:05:11:13.7939 2025-10-27T05:11:14.993Z,1761541874.993 [DAT](INFO): Rx dataTimestamp_ set to:1761541874.992777 2025-10-27T05:11:14.994Z,1761541874.994 [DAT](INFO): DAT read: Bearing 156.3, -1.5 (Local) 2025-10-27T05:11:14.995Z,1761541874.995 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, -1.5 (Local) 2025-10-27T05:11:14.997Z,1761541874.997 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 2025-10-27T05:11:15.001Z,1761541875.001 [DAT](INFO): DAT read: 05:11:13.7939 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.18,-1.018,-2.802,-0.973,-1.106, PHS= 0.189,-1.652, 0.089, RAW= 147.2, 15.2, CAL= 147.2, 16.7, ROT= 2.8, -16.7 2025-10-27T05:11:15.003Z,1761541875.003 [DAT](INFO): got valid direction response: 05:11:13.7939 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.18,-1.018,-2.802,-0.973,-1.106, PHS= 0.189,-1.652, 0.089, RAW= 147.2, 15.2, CAL= 147.2, 16.7, ROT= 2.8, -16.7 2025-10-27T05:11:15.003Z,1761541875.003 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T05:11:15.004Z,1761541875.004 [DAT](INFO): direction in FSK: [0.956679,0.046789,0.287361] 2025-10-27T05:11:15.004Z,1761541875.004 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:15.008Z,1761541875.008 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.938959 2025-10-27T05:11:15.185Z,1761541875.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971520,0.229956,0.057170],[-0.236679,0.953381,0.187211],[-0.011454,-0.195410,0.980655]] 2025-10-27T05:11:15.217Z,1761541875.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503467 s, deltaX: -0.299999 m, approachRate: -0.595867 m/s, rangeRepo size: 4 2025-10-27T05:11:15.219Z,1761541875.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.077484 m, bearing: 352.377611 deg, lat: 36.779339 deg, lon: -121.859619 deg, deltaT: 0.503467 s, deltaX: -0.298481 m, approachRate: -0.592851 m/s, posRepo size: 4 2025-10-27T05:11:15.220Z,1761541875.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:11:15.222Z,1761541875.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.077484 m, nav range: 23.269773 m, bearing: 351.820007 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 345.077276 deg, new cmd heading: 344.996136 deg. 2025-10-27T05:11:15.223Z,1761541875.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021318 target range: 24.077484 and range: 24.20 m. 2025-10-27T05:11:15.244Z,1761541875.244 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.174810 2025-10-27T05:11:15.497Z,1761541875.497 [DAT](INFO): DAT read: Rx Time:05:11:14.2938 2025-10-27T05:11:15.498Z,1761541875.498 [DAT](INFO): Rx dataTimestamp_ set to:1761541875.497352 2025-10-27T05:11:15.499Z,1761541875.499 [DAT](INFO): DAT read: Bearing 158.9, -3.0 (Local) 2025-10-27T05:11:15.499Z,1761541875.499 [DAT](INFO): Local bearing/azimuth received: Bearing 158.9, -3.0 (Local) 2025-10-27T05:11:15.501Z,1761541875.501 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4 2025-10-27T05:11:15.515Z,1761541875.515 [DAT](INFO): DAT read: 05:11:14.2938 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.07, 2.246, 0.527, 2.322, 2.251, PHS= 0.097,-1.678, 0.027, RAW= 148.0, 17.5, CAL= 148.2, 19.4, ROT= 1.8, -19.4 2025-10-27T05:11:15.528Z,1761541875.528 [DAT](INFO): got valid direction response: 05:11:14.2938 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507,-0.07, 2.246, 0.527, 2.322, 2.251, PHS= 0.097,-1.678, 0.027, RAW= 148.0, 17.5, CAL= 148.2, 19.4, ROT= 1.8, -19.4 2025-10-27T05:11:15.528Z,1761541875.528 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:11:15.529Z,1761541875.529 [DAT](INFO): direction in FSK: [0.942757,0.029627,0.332161] 2025-10-27T05:11:15.529Z,1761541875.529 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:15.537Z,1761541875.537 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.467960 2025-10-27T05:11:15.748Z,1761541875.748 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.678802 2025-10-27T05:11:15.786Z,1761541875.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504575 s, deltaX: -0.200001 m, approachRate: -0.396375 m/s, rangeRepo size: 4 2025-10-27T05:11:15.792Z,1761541875.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.878712 m, bearing: 351.978996 deg, lat: 36.779339 deg, lon: -121.859618 deg, deltaT: 0.504575 s, deltaX: -0.198772 m, approachRate: -0.393940 m/s, posRepo size: 4 2025-10-27T05:11:15.792Z,1761541875.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:11:15.799Z,1761541875.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.878712 m, nav range: 22.944967 m, bearing: 351.905140 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 344.996133 deg, new cmd heading: 344.881665 deg. 2025-10-27T05:11:15.800Z,1761541875.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019320 target range: 23.878712 and range: 24.00 m. 2025-10-27T05:11:16.002Z,1761541876.002 [DAT](INFO): DAT read: Rx Time:05:11:14.7935 2025-10-27T05:11:16.002Z,1761541876.002 [DAT](INFO): Rx dataTimestamp_ set to:1761541876.001699 2025-10-27T05:11:16.004Z,1761541876.004 [DAT](INFO): DAT read: Bearing 156.6, -2.4 (Local) 2025-10-27T05:11:16.005Z,1761541876.005 [DAT](INFO): Local bearing/azimuth received: Bearing 156.6, -2.4 (Local) 2025-10-27T05:11:16.010Z,1761541876.010 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.5 2025-10-27T05:11:16.029Z,1761541876.029 [DAT](INFO): DAT read: 05:11:14.7935 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504, 0.18, 1.383,-0.396, 1.454, 1.318, PHS= 0.167,-1.669, 0.092, RAW= 147.9, 15.5, CAL= 148.0, 17.1, ROT= 2.0, -17.1 2025-10-27T05:11:16.031Z,1761541876.031 [DAT](INFO): got valid direction response: 05:11:14.7935 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504, 0.18, 1.383,-0.396, 1.454, 1.318, PHS= 0.167,-1.669, 0.092, RAW= 147.9, 15.5, CAL= 148.0, 17.1, ROT= 2.0, -17.1 2025-10-27T05:11:16.039Z,1761541876.039 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:11:16.040Z,1761541876.040 [DAT](INFO): direction in FSK: [0.955211,0.033357,0.294040] 2025-10-27T05:11:16.041Z,1761541876.041 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:16.063Z,1761541876.063 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.993744 2025-10-27T05:11:16.103Z,1761541876.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970822,0.232586,0.058378],[-0.239508,0.952484,0.188176],[-0.011837,-0.196667,0.980399]] 2025-10-27T05:11:16.220Z,1761541876.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504347 s, deltaX: -0.400000 m, approachRate: -0.793104 m/s, rangeRepo size: 4 2025-10-27T05:11:16.222Z,1761541876.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.480732 m, bearing: 351.537638 deg, lat: 36.779339 deg, lon: -121.859618 deg, deltaT: 0.504347 s, deltaX: -0.397980 m, approachRate: -0.789099 m/s, posRepo size: 4 2025-10-27T05:11:16.222Z,1761541876.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:11:16.225Z,1761541876.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.480732 m, nav range: 22.704926 m, bearing: 351.819332 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 344.881659 deg, new cmd heading: 344.795080 deg. 2025-10-27T05:11:16.226Z,1761541876.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017809 target range: 23.480732 and range: 23.60 m. 2025-10-27T05:11:16.252Z,1761541876.252 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.183084 2025-10-27T05:11:16.505Z,1761541876.505 [DAT](INFO): DAT read: Rx Time:05:11:15.2933 2025-10-27T05:11:16.505Z,1761541876.505 [DAT](INFO): Rx dataTimestamp_ set to:1761541876.505000 2025-10-27T05:11:16.507Z,1761541876.507 [DAT](INFO): DAT read: Bearing 156.6, -2.2 (Local) 2025-10-27T05:11:16.507Z,1761541876.507 [DAT](INFO): Local bearing/azimuth received: Bearing 156.6, -2.2 (Local) 2025-10-27T05:11:16.509Z,1761541876.509 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.5 2025-10-27T05:11:16.532Z,1761541876.532 [DAT](INFO): DAT read: 05:11:15.2933 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.38, 0.641,-1.145, 0.709, 0.572, PHS= 0.172,-1.671, 0.093, RAW= 147.8, 15.4, CAL= 147.9, 17.0, ROT= 2.1, -17.0 2025-10-27T05:11:16.533Z,1761541876.533 [DAT](INFO): got valid direction response: 05:11:15.2933 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.38, 0.641,-1.145, 0.709, 0.572, PHS= 0.172,-1.671, 0.093, RAW= 147.8, 15.4, CAL= 147.9, 17.0, ROT= 2.1, -17.0 2025-10-27T05:11:16.534Z,1761541876.534 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:11:16.534Z,1761541876.534 [DAT](INFO): direction in FSK: [0.955662,0.035043,0.292372] 2025-10-27T05:11:16.571Z,1761541876.571 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:16.575Z,1761541876.575 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.505333 2025-10-27T05:11:16.585Z,1761541876.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970616,0.233486,0.058218],[-0.240348,0.952467,0.187189],[-0.011745,-0.195681,0.980597]] 2025-10-27T05:11:16.753Z,1761541876.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503301 s, deltaX: -0.300001 m, approachRate: -0.596067 m/s, rangeRepo size: 4 2025-10-27T05:11:16.755Z,1761541876.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.182243 m, bearing: 351.547603 deg, lat: 36.779338 deg, lon: -121.859618 deg, deltaT: 0.503301 s, deltaX: -0.298489 m, approachRate: -0.593062 m/s, posRepo size: 4 2025-10-27T05:11:16.756Z,1761541876.756 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.686846 2025-10-27T05:11:16.757Z,1761541876.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:11:16.760Z,1761541876.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.182243 m, nav range: 22.322796 m, bearing: 351.676902 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 344.795080 deg, new cmd heading: 344.687179 deg. 2025-10-27T05:11:16.761Z,1761541876.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015926 target range: 23.182243 and range: 23.30 m. 2025-10-27T05:11:17.009Z,1761541877.009 [DAT](INFO): DAT read: Rx Time:05:11:15.7930 2025-10-27T05:11:17.010Z,1761541877.010 [DAT](INFO): Rx dataTimestamp_ set to:1761541877.009313 2025-10-27T05:11:17.011Z,1761541877.011 [DAT](INFO): DAT read: Bearing 155.4, -1.4 (Local) 2025-10-27T05:11:17.011Z,1761541877.011 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, -1.4 (Local) 2025-10-27T05:11:17.013Z,1761541877.013 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.5 2025-10-27T05:11:17.018Z,1761541877.018 [DAT](INFO): DAT read: 05:11:15.7930 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 500,-0.28,-2.843, 1.653,-2.790,-2.957, PHS= 0.216,-1.628, 0.123, RAW= 147.4, 14.2, CAL= 147.3, 15.6, ROT= 2.7, -15.6 2025-10-27T05:11:17.020Z,1761541877.020 [DAT](INFO): got valid direction response: 05:11:15.7930 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 500,-0.28,-2.843, 1.653,-2.790,-2.957, PHS= 0.216,-1.628, 0.123, RAW= 147.4, 14.2, CAL= 147.3, 15.6, ROT= 2.7, -15.6 2025-10-27T05:11:17.020Z,1761541877.020 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:11:17.021Z,1761541877.021 [DAT](INFO): direction in FSK: [0.962093,0.045371,0.268920] 2025-10-27T05:11:17.021Z,1761541877.021 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:17.025Z,1761541877.025 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.955761 2025-10-27T05:11:17.105Z,1761541877.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970390,0.234510,0.057859],[-0.241267,0.952505,0.185807],[-0.011537,-0.194264,0.980881]] 2025-10-27T05:11:17.176Z,1761541877.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504313 s, deltaX: -0.500000 m, approachRate: -0.991448 m/s, rangeRepo size: 4 2025-10-27T05:11:17.178Z,1761541877.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.684771 m, bearing: 351.763299 deg, lat: 36.779338 deg, lon: -121.859618 deg, deltaT: 0.504313 s, deltaX: -0.497473 m, approachRate: -0.986437 m/s, posRepo size: 4 2025-10-27T05:11:17.183Z,1761541877.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:11:17.186Z,1761541877.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.684771 m, nav range: 22.049582 m, bearing: 351.735789 deg, approach rate: 0.000000 m/s, LOS rate: -0.067093 deg/s, cmd heading: 344.687190 deg, new cmd heading: 344.601691 deg. 2025-10-27T05:11:17.191Z,1761541877.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014434 target range: 22.684771 and range: 22.80 m. 2025-10-27T05:11:17.260Z,1761541877.260 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.190884 2025-10-27T05:11:17.513Z,1761541877.513 [DAT](INFO): DAT read: Rx Time:05:11:16.2930 2025-10-27T05:11:17.513Z,1761541877.513 [DAT](INFO): Rx dataTimestamp_ set to:1761541877.512751 2025-10-27T05:11:17.514Z,1761541877.514 [DAT](INFO): DAT read: Bearing 156.6, -2.0 (Local) 2025-10-27T05:11:17.515Z,1761541877.515 [DAT](INFO): Local bearing/azimuth received: Bearing 156.6, -2.0 (Local) 2025-10-27T05:11:17.521Z,1761541877.521 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 2025-10-27T05:11:17.526Z,1761541877.526 [DAT](INFO): DAT read: 05:11:16.2930 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.20,-0.669,-2.433,-0.603,-0.741, PHS= 0.174,-1.647, 0.094, RAW= 147.8, 15.3, CAL= 147.8, 1= 2.2, -16.9 2025-10-27T05:11:17.527Z,1761541877.527 [DAT](INFO): unknown deviceResponse_: 05:11:16.2930 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.20,-0.669,-2.433,-0.603,-0.741, PHS= 0.174,-1.647, 0.094, RAW= 147.8, 15.3, CAL= 147.8, 1= 2.2, -16.9 2025-10-27T05:11:17.528Z,1761541877.528 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T05:11:17.529Z,1761541877.529 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.459417 2025-10-27T05:11:17.646Z,1761541877.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:17.661Z,1761541877.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503438 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:17.662Z,1761541877.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:11:17.666Z,1761541877.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.684771 m, nav range: 21.762989 m, bearing: 351.644672 deg, approach rate: -0.591263 m/s, LOS rate: -0.190458 deg/s, cmd heading: 344.601704 deg, new cmd heading: 344.324755 deg. 2025-10-27T05:11:17.666Z,1761541877.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009601 target range: 22.684771 and range: 22.80 m. 2025-10-27T05:11:17.765Z,1761541877.765 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.695591 2025-10-27T05:11:18.008Z,1761541878.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970307,0.234872,0.057787],[-0.241600,0.952558,0.185104],[-0.011570,-0.193569,0.981018]] 2025-10-27T05:11:18.017Z,1761541878.017 [DAT](INFO): DAT read: Rx Time:05:11:16.7927 2025-10-27T05:11:18.017Z,1761541878.017 [DAT](INFO): Rx dataTimestamp_ set to:1761541878.016756 2025-10-27T05:11:18.018Z,1761541878.018 [DAT](INFO): DAT read: Bearing 155.5, -1.6 (Local) 2025-10-27T05:11:18.019Z,1761541878.019 [DAT](INFO): Local bearing/azimuth received: Bearing 155.5, -1.6 (Local) 2025-10-27T05:11:18.021Z,1761541878.021 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.5 2025-10-27T05:11:18.037Z,1761541878.037 [DAT](INFO): DAT read: 05:11:16.7927 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.04,-2.306, 2.193,-2.246,-2.414, PHS= 0.210,-1.631, 0.124, RAW= 147.6, 14.3, CAL= 147.6, 15.7, ROT= 2.4, -15.7 2025-10-27T05:11:18.038Z,1761541878.038 [DAT](INFO): got valid direction response: 05:11:16.7927 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.04,-2.306, 2.193,-2.246,-2.414, PHS= 0.210,-1.631, 0.124, RAW= 147.6, 14.3, CAL= 147.6, 15.7, ROT= 2.4, -15.7 2025-10-27T05:11:18.038Z,1761541878.038 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:11:18.063Z,1761541878.063 [DAT](INFO): direction in FSK: [0.961847,0.040313,0.270600] 2025-10-27T05:11:18.064Z,1761541878.064 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:18.079Z,1761541878.079 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.010246 2025-10-27T05:11:18.100Z,1761541878.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504005 s, deltaX: -0.400000 m, approachRate: -0.793642 m/s, rangeRepo size: 4 2025-10-27T05:11:18.102Z,1761541878.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.286633 m, bearing: 351.461454 deg, lat: 36.779338 deg, lon: -121.859618 deg, deltaT: 1.007443 s, deltaX: -0.398138 m, approachRate: -0.395197 m/s, posRepo size: 4 2025-10-27T05:11:18.102Z,1761541878.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T05:11:18.113Z,1761541878.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.286633 m, nav range: 21.533197 m, bearing: 351.435288 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 344.324753 deg, new cmd heading: 344.078980 deg. 2025-10-27T05:11:18.114Z,1761541878.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.005311 target range: 22.286633 and range: 22.40 m. 2025-10-27T05:11:18.268Z,1761541878.268 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.198961 2025-10-27T05:11:18.508Z,1761541878.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970053,0.235807,0.058240],[-0.242620,0.952064,0.186306],[-0.011516,-0.194857,0.980764]] 2025-10-27T05:11:18.521Z,1761541878.521 [DAT](INFO): DAT read: Rx Time:05:11:17.2926 2025-10-27T05:11:18.521Z,1761541878.521 [DAT](INFO): Rx dataTimestamp_ set to:1761541878.520740 2025-10-27T05:11:18.522Z,1761541878.522 [DAT](INFO): DAT read: Bearing 155.2, -1.9 (Local) 2025-10-27T05:11:18.523Z,1761541878.523 [DAT](INFO): Local bearing/azimuth received: Bearing 155.2, -1.9 (Local) 2025-10-27T05:11:18.525Z,1761541878.525 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.5 2025-10-27T05:11:18.529Z,1761541878.529 [DAT](INFO): DAT read: 05:11:17.2926 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.09,-0.042,-1.831, 0.028,-0.156, PHS= 0.215,-1.630, 0.140, RAW= 147.9, 14.0, CAL= 147.9, 15.4, ROT= 2.1, -15.4 2025-10-27T05:11:18.530Z,1761541878.530 [DAT](INFO): got valid direction response: 05:11:17.2926 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.09,-0.042,-1.831, 0.028,-0.156, PHS= 0.215,-1.630, 0.140, RAW= 147.9, 14.0, CAL= 147.9, 15.4, ROT= 2.1, -15.4 2025-10-27T05:11:18.531Z,1761541878.531 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:11:18.532Z,1761541878.532 [DAT](INFO): direction in FSK: [0.963448,0.035328,0.265556] 2025-10-27T05:11:18.532Z,1761541878.532 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:18.536Z,1761541878.536 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.467180 2025-10-27T05:11:18.658Z,1761541878.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503984 s, deltaX: -0.199999 m, approachRate: -0.396836 m/s, rangeRepo size: 4 2025-10-27T05:11:18.660Z,1761541878.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.087614 m, bearing: 351.067216 deg, lat: 36.779338 deg, lon: -121.859619 deg, deltaT: 0.503984 s, deltaX: -0.199018 m, approachRate: -0.394890 m/s, posRepo size: 4 2025-10-27T05:11:18.661Z,1761541878.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T05:11:18.672Z,1761541878.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.087614 m, nav range: 21.262041 m, bearing: 351.186343 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 344.078976 deg, new cmd heading: 343.755398 deg. 2025-10-27T05:11:18.673Z,1761541878.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999663 target range: 22.087614 and range: 22.20 m. 2025-10-27T05:11:18.774Z,1761541878.774 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.705116 2025-10-27T05:11:19.029Z,1761541879.029 [DAT](INFO): DAT read: Rx Time:05:11:17.7923 2025-10-27T05:11:19.029Z,1761541879.029 [DAT](INFO): Rx dataTimestamp_ set to:1761541879.029045 2025-10-27T05:11:19.031Z,1761541879.031 [DAT](INFO): DAT read: Bearing 156.1, -2.7 (Local) 2025-10-27T05:11:19.031Z,1761541879.031 [DAT](INFO): Local bearing/azimuth received: Bearing 156.1, -2.7 (Local) 2025-10-27T05:11:19.033Z,1761541879.033 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.5 2025-10-27T05:11:19.038Z,1761541879.038 [DAT](INFO): DAT read: 05:11:17.7923 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.21,-0.585,-2.356,-0.497,-0.660, PHS= 0.177,-1.651, 0.119, RAW= 148.4, 14.9, CAL= 148.5, 16.5, ROT= 1.5, -16.5 2025-10-27T05:11:19.039Z,1761541879.039 [DAT](INFO): got valid direction response: 05:11:17.7923 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508, 0.21,-0.585,-2.356,-0.497,-0.660, PHS= 0.177,-1.651, 0.119, RAW= 148.4, 14.9, CAL= 148.5, 16.5, ROT= 1.5, -16.5 2025-10-27T05:11:19.039Z,1761541879.039 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:11:19.040Z,1761541879.040 [DAT](INFO): direction in FSK: [0.958491,0.025099,0.284015] 2025-10-27T05:11:19.040Z,1761541879.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:19.049Z,1761541879.049 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.979563 2025-10-27T05:11:19.118Z,1761541879.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.508305 s, deltaX: -0.400002 m, approachRate: -0.786932 m/s, rangeRepo size: 4 2025-10-27T05:11:19.135Z,1761541879.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.689636 m, bearing: 350.711559 deg, lat: 36.779338 deg, lon: -121.859619 deg, deltaT: 0.508305 s, deltaX: -0.397978 m, approachRate: -0.782951 m/s, posRepo size: 4 2025-10-27T05:11:19.136Z,1761541879.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:11:19.146Z,1761541879.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.689636 m, nav range: 21.004324 m, bearing: 351.105171 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 343.755389 deg, new cmd heading: 343.492266 deg. 2025-10-27T05:11:19.152Z,1761541879.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995071 target range: 21.689636 and range: 21.80 m. 2025-10-27T05:11:19.280Z,1761541879.280 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.211004 2025-10-27T05:11:19.534Z,1761541879.534 [DAT](INFO): DAT read: Rx Time:05:11:18.2922 2025-10-27T05:11:19.535Z,1761541879.535 [DAT](INFO): Rx dataTimestamp_ set to:1761541879.534532 2025-10-27T05:11:19.536Z,1761541879.536 [DAT](INFO): DAT read: Bearing 157.5, -3.2 (Local) 2025-10-27T05:11:19.537Z,1761541879.537 [DAT](INFO): Local bearing/azimuth received: Bearing 157.5, -3.2 (Local) 2025-10-27T05:11:19.539Z,1761541879.539 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 2025-10-27T05:11:19.547Z,1761541879.547 [DAT](INFO): DAT read: 05:11:18.2922 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.41, 0.759,-0.983, 0.851, 0.727, PHS= 0.134,-1.664, 0.081, RAW= 148.5, 16.1, CAL= 148.7, 17.9, ROT= 1.3, -17.9 2025-10-27T05:11:19.549Z,1761541879.549 [DAT](INFO): got valid direction response: 05:11:18.2922 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.41, 0.759,-0.983, 0.851, 0.727, PHS= 0.134,-1.664, 0.081, RAW= 148.5, 16.1, CAL= 148.7, 17.9, ROT= 1.3, -17.9 2025-10-27T05:11:19.549Z,1761541879.549 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:11:19.550Z,1761541879.550 [DAT](INFO): direction in FSK: [0.951349,0.021589,0.307357] 2025-10-27T05:11:19.550Z,1761541879.550 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:19.586Z,1761541879.586 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.516706 2025-10-27T05:11:19.714Z,1761541879.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.505487 s, deltaX: -0.199999 m, approachRate: -0.395656 m/s, rangeRepo size: 4 2025-10-27T05:11:19.721Z,1761541879.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.490643 m, bearing: 350.811510 deg, lat: 36.779338 deg, lon: -121.859620 deg, deltaT: 0.505487 s, deltaX: -0.198994 m, approachRate: -0.393667 m/s, posRepo size: 4 2025-10-27T05:11:19.723Z,1761541879.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.49 m. 2025-10-27T05:11:19.735Z,1761541879.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.490643 m, nav range: 20.594656 m, bearing: 350.813105 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 343.492262 deg, new cmd heading: 343.152319 deg. 2025-10-27T05:11:19.736Z,1761541879.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989138 target range: 21.490643 and range: 21.60 m. 2025-10-27T05:11:19.785Z,1761541879.785 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.715393 2025-10-27T05:11:20.037Z,1761541880.037 [DAT](INFO): DAT read: Rx Time:05:11:18.7919 2025-10-27T05:11:20.037Z,1761541880.037 [DAT](INFO): Rx dataTimestamp_ set to:1761541880.036801 2025-10-27T05:11:20.038Z,1761541880.038 [DAT](INFO): DAT read: Bearing 154.1, -1.8 (Local) 2025-10-27T05:11:20.039Z,1761541880.039 [DAT](INFO): Local bearing/azimuth received: Bearing 154.1, -1.8 (Local) 2025-10-27T05:11:20.041Z,1761541880.041 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 2025-10-27T05:11:20.046Z,1761541880.046 [DAT](INFO): DAT read: 05:11:18.7919 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.19, 2.811, 1.002, 2.884, 2.666, PHS= 0.247,-1.618, 0.174, RAW= 148.0, 13.0, CAL= 147.9, 14.3, ROT= 2.1, -14.3 2025-10-27T05:11:20.047Z,1761541880.047 [DAT](INFO): got valid direction response: 05:11:18.7919 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.19, 2.811, 1.002, 2.884, 2.666, PHS= 0.247,-1.618, 0.174, RAW= 148.0, 13.0, CAL= 147.9, 14.3, ROT= 2.1, -14.3 2025-10-27T05:11:20.047Z,1761541880.047 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:11:20.048Z,1761541880.048 [DAT](INFO): direction in FSK: [0.968365,0.035508,0.246999] 2025-10-27T05:11:20.048Z,1761541880.048 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:20.072Z,1761541880.072 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.002861 2025-10-27T05:11:20.105Z,1761541880.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968816,0.240377,0.060129],[-0.247497,0.950432,0.188213],[-0.011907,-0.197226,0.980286]] 2025-10-27T05:11:20.187Z,1761541880.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502269 s, deltaX: -0.400000 m, approachRate: -0.796385 m/s, rangeRepo size: 4 2025-10-27T05:11:20.189Z,1761541880.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.092669 m, bearing: 350.585702 deg, lat: 36.779339 deg, lon: -121.859620 deg, deltaT: 0.502269 s, deltaX: -0.397974 m, approachRate: -0.792352 m/s, posRepo size: 4 2025-10-27T05:11:20.190Z,1761541880.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T05:11:20.197Z,1761541880.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.092669 m, nav range: 20.452410 m, bearing: 350.772001 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 343.152310 deg, new cmd heading: 342.883752 deg. 2025-10-27T05:11:20.198Z,1761541880.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.984450 target range: 21.092669 and range: 21.20 m. 2025-10-27T05:11:20.288Z,1761541880.288 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.218880 2025-10-27T05:11:20.547Z,1761541880.547 [DAT](INFO): DAT read: Rx Time:05:11:19.2918 2025-10-27T05:11:20.548Z,1761541880.548 [DAT](INFO): Rx dataTimestamp_ set to:1761541880.547505 2025-10-27T05:11:20.549Z,1761541880.549 [DAT](INFO): DAT read: Bearing 156.2, -2.9 (Local) 2025-10-27T05:11:20.549Z,1761541880.549 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -2.9 (Local) 2025-10-27T05:11:20.552Z,1761541880.552 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-27T05:11:20.561Z,1761541880.561 [DAT](INFO): DAT read: 05:11:19.2918 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.03,-2.015, 2.502,-1.925,-2.085, PHS= 0.171,-1.652, 0.116, RAW= 148.5, 15.0, CAL= 148.6, 16.7, ROT= 1.4, -16.7 2025-10-27T05:11:20.562Z,1761541880.562 [DAT](INFO): got valid direction response: 05:11:19.2918 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.03,-2.015, 2.502,-1.925,-2.085, PHS= 0.171,-1.652, 0.116, RAW= 148.5, 15.0, CAL= 148.6, 16.7, ROT= 1.4, -16.7 2025-10-27T05:11:20.562Z,1761541880.562 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:11:20.563Z,1761541880.563 [DAT](INFO): direction in FSK: [0.957537,0.023402,0.287361] 2025-10-27T05:11:20.564Z,1761541880.564 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:20.571Z,1761541880.571 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.502199 2025-10-27T05:11:20.666Z,1761541880.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.510704 s, deltaX: -0.200001 m, approachRate: -0.391618 m/s, rangeRepo size: 4 2025-10-27T05:11:20.673Z,1761541880.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.893814 m, bearing: 350.406905 deg, lat: 36.779338 deg, lon: -121.859621 deg, deltaT: 0.510704 s, deltaX: -0.198854 m, approachRate: -0.389373 m/s, posRepo size: 4 2025-10-27T05:11:20.674Z,1761541880.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T05:11:20.747Z,1761541880.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.893814 m, nav range: 20.135714 m, bearing: 350.529091 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 342.883747 deg, new cmd heading: 342.607625 deg. 2025-10-27T05:11:20.748Z,1761541880.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979631 target range: 20.893814 and range: 21.00 m. 2025-10-27T05:11:20.797Z,1761541880.797 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.727388 2025-10-27T05:11:21.049Z,1761541881.049 [DAT](INFO): DAT read: Rx Time:05:11:19.7916 2025-10-27T05:11:21.049Z,1761541881.049 [DAT](INFO): Rx dataTimestamp_ set to:1761541881.048767 2025-10-27T05:11:21.050Z,1761541881.050 [DAT](INFO): DAT read: Bearing 151.8, -1.2 (Local) 2025-10-27T05:11:21.051Z,1761541881.051 [DAT](INFO): Local bearing/azimuth received: Bearing 151.8, -1.2 (Local) 2025-10-27T05:11:21.053Z,1761541881.053 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 2025-10-27T05:11:21.057Z,1761541881.057 [DAT](INFO): DAT read: 05:11:19.7916 LVL= 29168, 30801, 32754, 32755, AGC= 63, IDX= 500, 0.29,-2.749, 1.711,-2.676,-2.960, PHS= 0.313,-1.568, 0.240, RAW= 148.0, 11.0, CAL= 147.7, 12.0, ROT= 2.3, -12.0 2025-10-27T05:11:21.059Z,1761541881.059 [DAT](INFO): got valid direction response: 05:11:19.7916 LVL= 29168, 30801, 32754, 32755, AGC= 63, IDX= 500, 0.29,-2.749, 1.711,-2.676,-2.960, PHS= 0.313,-1.568, 0.240, RAW= 148.0, 11.0, CAL= 147.7, 12.0, ROT= 2.3, -12.0 2025-10-27T05:11:21.059Z,1761541881.059 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:11:21.060Z,1761541881.060 [DAT](INFO): direction in FSK: [0.977360,0.039255,0.207912] 2025-10-27T05:11:21.060Z,1761541881.060 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:21.085Z,1761541881.085 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.016029 2025-10-27T05:11:21.098Z,1761541881.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966568,0.248462,0.063355],[-0.256119,0.947328,0.192284],[-0.012243,-0.202082,0.979292]] 2025-10-27T05:11:21.184Z,1761541881.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.501262 s, deltaX: -0.400000 m, approachRate: -0.797985 m/s, rangeRepo size: 4 2025-10-27T05:11:21.186Z,1761541881.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.495836 m, bearing: 349.854209 deg, lat: 36.779338 deg, lon: -121.859621 deg, deltaT: 0.501262 s, deltaX: -0.397978 m, approachRate: -0.793952 m/s, posRepo size: 4 2025-10-27T05:11:21.191Z,1761541881.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m. 2025-10-27T05:11:21.194Z,1761541881.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.495836 m, nav range: 19.859543 m, bearing: 350.426040 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 342.607616 deg, new cmd heading: 342.311778 deg. 2025-10-27T05:11:21.199Z,1761541881.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974468 target range: 20.495836 and range: 20.60 m. 2025-10-27T05:11:21.301Z,1761541881.301 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.231386 2025-10-27T05:11:21.542Z,1761541881.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965558,0.252043,0.064584],[-0.259898,0.945984,0.193820],[-0.012244,-0.203930,0.978909]] 2025-10-27T05:11:21.557Z,1761541881.557 [DAT](INFO): DAT read: Rx Time:05:11:20.2915 2025-10-27T05:11:21.558Z,1761541881.558 [DAT](INFO): Rx dataTimestamp_ set to:1761541881.557655 2025-10-27T05:11:21.563Z,1761541881.563 [DAT](INFO): DAT read: Bearing 154.8, -1.7 (Local) 2025-10-27T05:11:21.564Z,1761541881.564 [DAT](INFO): Local bearing/azimuth received: Bearing 154.8, -1.7 (Local) 2025-10-27T05:11:21.566Z,1761541881.566 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-27T05:11:21.571Z,1761541881.571 [DAT](INFO): DAT read: 05:11:20.2915 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.31, 2.696, 0.899, 2.758, 2.572, PHS= 0.226,-1.628, 0.142, RAW= 147.7, 13.8, CAL= 147.6, 15.2, ROT= 2.4, -15.2 2025-10-27T05:11:21.572Z,1761541881.572 [DAT](INFO): got valid direction response: 05:11:20.2915 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.31, 2.696, 0.899, 2.758, 2.572, PHS= 0.226,-1.628, 0.142, RAW= 147.7, 13.8, CAL= 147.6, 15.2, ROT= 2.4, -15.2 2025-10-27T05:11:21.573Z,1761541881.573 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:11:21.574Z,1761541881.574 [DAT](INFO): direction in FSK: [0.964170,0.040411,0.262189] 2025-10-27T05:11:21.574Z,1761541881.574 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:21.578Z,1761541881.578 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.509190 2025-10-27T05:11:21.737Z,1761541881.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.508888 s, deltaX: -0.200001 m, approachRate: -0.393015 m/s, rangeRepo size: 4 2025-10-27T05:11:21.743Z,1761541881.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.296762 m, bearing: 350.429461 deg, lat: 36.779340 deg, lon: -121.859621 deg, deltaT: 0.508888 s, deltaX: -0.199074 m, approachRate: -0.391194 m/s, posRepo size: 4 2025-10-27T05:11:21.744Z,1761541881.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:11:21.751Z,1761541881.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.296762 m, nav range: 19.718302 m, bearing: 350.428448 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 342.311787 deg, new cmd heading: 341.995891 deg. 2025-10-27T05:11:21.752Z,1761541881.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968955 target range: 20.296762 and range: 20.40 m. 2025-10-27T05:11:21.805Z,1761541881.805 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.735670 2025-10-27T05:11:22.057Z,1761541882.057 [DAT](INFO): DAT read: Rx Time:05:11:20.7913 2025-10-27T05:11:22.057Z,1761541882.057 [DAT](INFO): Rx dataTimestamp_ set to:1761541882.056762 2025-10-27T05:11:22.058Z,1761541882.058 [DAT](INFO): DAT read: Bearing 152.1, -0.9 (Local) 2025-10-27T05:11:22.059Z,1761541882.059 [DAT](INFO): Local bearing/azimuth received: Bearing 152.1, -0.9 (Local) 2025-10-27T05:11:22.061Z,1761541882.061 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 2025-10-27T05:11:22.065Z,1761541882.065 [DAT](INFO): DAT read: 05:11:20.7913 LVL= 29808, 32753, 32690, 32755, AGC= 63, IDX= 497, 0.01, 2.770, 0.941, 2.829, 2.564, PHS= 0.308,-1.578, 0.221, RAW= 147.7, 11.4, CAL= 147.4, 12.5, ROT= 2.6, -12.5 2025-10-27T05:11:22.067Z,1761541882.067 [DAT](INFO): got valid direction response: 05:11:20.7913 LVL= 29808, 32753, 32690, 32755, AGC= 63, IDX= 497, 0.01, 2.770, 0.941, 2.829, 2.564, PHS= 0.308,-1.578, 0.221, RAW= 147.7, 11.4, CAL= 147.4, 12.5, ROT= 2.6, -12.5 2025-10-27T05:11:22.067Z,1761541882.067 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:11:22.068Z,1761541882.068 [DAT](INFO): direction in FSK: [0.975291,0.044288,0.216440] 2025-10-27T05:11:22.068Z,1761541882.068 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:22.090Z,1761541882.090 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.021122 2025-10-27T05:11:22.109Z,1761541882.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964610,0.255400,0.065560],[-0.263402,0.944749,0.195114],[-0.012106,-0.205478,0.978587]] 2025-10-27T05:11:22.180Z,1761541882.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.499107 s, deltaX: -0.299999 m, approachRate: -0.601072 m/s, rangeRepo size: 4 2025-10-27T05:11:22.182Z,1761541882.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.998281 m, bearing: 349.859642 deg, lat: 36.779340 deg, lon: -121.859621 deg, deltaT: 0.499107 s, deltaX: -0.298481 m, approachRate: -0.598030 m/s, posRepo size: 4 2025-10-27T05:11:22.187Z,1761541882.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:11:22.190Z,1761541882.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.998281 m, nav range: 19.463673 m, bearing: 350.413453 deg, approach rate: 0.000000 m/s, LOS rate: -0.190458 deg/s, cmd heading: 341.995905 deg, new cmd heading: 341.745231 deg. 2025-10-27T05:11:22.195Z,1761541882.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964580 target range: 19.998281 and range: 20.10 m. 2025-10-27T05:11:22.308Z,1761541882.308 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.239067 2025-10-27T05:11:22.494Z,1761541882.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963380,0.259670,0.066856],[-0.267882,0.942967,0.197615],[-0.011728,-0.208288,0.977997]] 2025-10-27T05:11:22.563Z,1761541882.563 [DAT](INFO): DAT read: Rx Time:05:11:21.2912 2025-10-27T05:11:22.564Z,1761541882.564 [DAT](INFO): Rx dataTimestamp_ set to:1761541882.563457 2025-10-27T05:11:22.565Z,1761541882.565 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.5 2025-10-27T05:11:22.566Z,1761541882.566 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-27T05:11:22.567Z,1761541882.567 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.497353 2025-10-27T05:11:22.609Z,1761541882.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:22.619Z,1761541882.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.506695 s, deltaX: -0.100000 m, approachRate: -0.197358 m/s, rangeRepo size: 4 2025-10-27T05:11:22.624Z,1761541882.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:11:22.633Z,1761541882.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.998281 m, nav range: 19.218283 m, bearing: 350.403512 deg, approach rate: -0.563476 m/s, LOS rate: -0.023118 deg/s, cmd heading: 341.745237 deg, new cmd heading: 341.715033 deg. 2025-10-27T05:11:22.639Z,1761541882.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964052 target range: 19.998281 and range: 20.00 m. 2025-10-27T05:11:22.812Z,1761541882.812 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.742716 2025-10-27T05:11:22.992Z,1761541882.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962252,0.263623,0.067639],[-0.271926,0.941599,0.198613],[-0.011330,-0.209509,0.977741]] 2025-10-27T05:11:23.034Z,1761541883.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:11:23.037Z,1761541883.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.998281 m, nav range: 18.981730 m, bearing: 350.409299 deg, approach rate: -0.558422 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.715020 deg, new cmd heading: 341.732596 deg. 2025-10-27T05:11:23.038Z,1761541883.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964359 target range: 19.998281 and range: 20.00 m. 2025-10-27T05:11:23.065Z,1761541883.065 [DAT](INFO): DAT read: Rx Time:05:11:21.7909 2025-10-27T05:11:23.065Z,1761541883.065 [DAT](INFO): Rx dataTimestamp_ set to:1761541883.065197 2025-10-27T05:11:23.067Z,1761541883.067 [DAT](INFO): DAT read: Bearing 155.3, -1.2 (Local) 2025-10-27T05:11:23.067Z,1761541883.067 [DAT](INFO): Local bearing/azimuth received: Bearing 155.3, -1.2 (Local) 2025-10-27T05:11:23.070Z,1761541883.070 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 2025-10-27T05:11:23.088Z,1761541883.088 [DAT](INFO): DAT read: 05:11:21.7909 LVL= 30336, 31329, 32754, 32755, AGC= 62, IDX= 510,-0.28, 2.731, 0.918, 2.769, 2.614, PHS= 0.218,-1.651, 0.111, RAW= 147.1, 14.4, CAL= 146.9, 15.9, ROT= 3.1, -15.9 2025-10-27T05:11:23.090Z,1761541883.090 [DAT](INFO): got valid direction response: 05:11:21.7909 LVL= 30336, 31329, 32754, 32755, AGC= 62, IDX= 510,-0.28, 2.731, 0.918, 2.769, 2.614, PHS= 0.218,-1.651, 0.111, RAW= 147.1, 14.4, CAL= 146.9, 15.9, ROT= 3.1, -15.9 2025-10-27T05:11:23.090Z,1761541883.090 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:11:23.096Z,1761541883.096 [DAT](INFO): direction in FSK: [0.960334,0.052010,0.273959] 2025-10-27T05:11:23.096Z,1761541883.096 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:23.112Z,1761541883.112 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.042809 2025-10-27T05:11:23.316Z,1761541883.316 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.246668 2025-10-27T05:11:23.345Z,1761541883.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961176,0.267421,0.068027],[-0.275720,0.940560,0.198304],[-0.010953,-0.209362,0.977777]] 2025-10-27T05:11:23.376Z,1761541883.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.501740 s, deltaX: -0.500000 m, approachRate: -0.996532 m/s, rangeRepo size: 4 2025-10-27T05:11:23.378Z,1761541883.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.401281 m, bearing: 350.405200 deg, lat: 36.779340 deg, lon: -121.859621 deg, deltaT: 1.008435 s, deltaX: -0.597000 m, approachRate: -0.592007 m/s, posRepo size: 4 2025-10-27T05:11:23.399Z,1761541883.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T05:11:23.402Z,1761541883.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.401281 m, nav range: 18.802794 m, bearing: 350.405221 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.732587 deg, new cmd heading: 341.746754 deg. 2025-10-27T05:11:23.407Z,1761541883.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964606 target range: 19.401281 and range: 19.50 m. 2025-10-27T05:11:23.573Z,1761541883.573 [DAT](INFO): DAT read: Rx Time:05:11:22.2909 2025-10-27T05:11:23.575Z,1761541883.575 [DAT](INFO): Rx dataTimestamp_ set to:1761541883.573783 2025-10-27T05:11:23.581Z,1761541883.581 [DAT](INFO): DAT read: Bearing 154.4, -0.9 (Local) 2025-10-27T05:11:23.582Z,1761541883.582 [DAT](INFO): Local bearing/azimuth received: Bearing 154.4, -0.9 (Local) 2025-10-27T05:11:23.592Z,1761541883.592 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 2025-10-27T05:11:23.597Z,1761541883.597 [DAT](INFO): DAT read: 05:11:22.2909 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.02,-1.042,-2.854,-1.007,-1.181, PHS= 0.241,-1.627, 0.130, RAW= 147.0, 13.7, CAL= 146.8, 15.1, ROT= 3.2, -15.1 2025-10-27T05:11:23.599Z,1761541883.599 [DAT](INFO): got valid direction response: 05:11:22.2909 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.02,-1.042,-2.854,-1.007,-1.181, PHS= 0.241,-1.627, 0.130, RAW= 147.0, 13.7, CAL= 146.8, 15.1, ROT= 3.2, -15.1 2025-10-27T05:11:23.601Z,1761541883.601 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:11:23.602Z,1761541883.602 [DAT](INFO): direction in FSK: [0.963967,0.053894,0.260505] 2025-10-27T05:11:23.602Z,1761541883.602 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:23.606Z,1761541883.606 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.536390 2025-10-27T05:11:23.764Z,1761541883.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959974,0.271532,0.068702],[-0.279880,0.939432,0.197826],[-0.010825,-0.209136,0.977827]] 2025-10-27T05:11:23.820Z,1761541883.820 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.750891 2025-10-27T05:11:23.844Z,1761541883.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.508586 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:23.846Z,1761541883.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.401400 m, bearing: 350.074014 deg, lat: 36.779340 deg, lon: -121.859623 deg, deltaT: 0.508586 s, deltaX: 0.000118 m, approachRate: 0.000233 m/s, posRepo size: 4 2025-10-27T05:11:23.846Z,1761541883.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T05:11:23.853Z,1761541883.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.401400 m, nav range: 18.645920 m, bearing: 349.954967 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.746767 deg, new cmd heading: 341.766147 deg. 2025-10-27T05:11:23.854Z,1761541883.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964944 target range: 19.401400 and range: 19.50 m. 2025-10-27T05:11:24.072Z,1761541884.072 [DAT](INFO): DAT read: Rx Time:05:11:22.7906 2025-10-27T05:11:24.073Z,1761541884.073 [DAT](INFO): Rx dataTimestamp_ set to:1761541884.072623 2025-10-27T05:11:24.074Z,1761541884.074 [DAT](INFO): DAT read: Bearing 153.4, -0.1 (Local) 2025-10-27T05:11:24.074Z,1761541884.074 [DAT](INFO): Local bearing/azimuth received: Bearing 153.4, -0.1 (Local) 2025-10-27T05:11:24.077Z,1761541884.077 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4 2025-10-27T05:11:24.081Z,1761541884.081 [DAT](INFO): DAT read: 05:11:22.7906 LVL= 28016, 32753, 31474, 32755, AGC= 62, IDX= 506, 0.37,-1.570, 2.883,-1.555,-1.746, PHS= 0.278,-1.609, 0.148, RAW= 146.5, 12.9, CAL= 146.2, 14.1, ROT= 3.8, -14.1 2025-10-27T05:11:24.082Z,1761541884.082 [DAT](INFO): got valid direction response: 05:11:22.7906 LVL= 28016, 32753, 31474, 32755, AGC= 62, IDX= 506, 0.37,-1.570, 2.883,-1.555,-1.746, PHS= 0.278,-1.609, 0.148, RAW= 146.5, 12.9, CAL= 146.2, 14.1, ROT= 3.8, -14.1 2025-10-27T05:11:24.083Z,1761541884.083 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:11:24.084Z,1761541884.084 [DAT](INFO): direction in FSK: [0.967740,0.064277,0.243615] 2025-10-27T05:11:24.084Z,1761541884.084 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:24.095Z,1761541884.095 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.021486 2025-10-27T05:11:24.154Z,1761541884.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958742,0.275677,0.069395],[-0.284086,0.938072,0.198282],[-0.010436,-0.209815,0.977685]] 2025-10-27T05:11:24.221Z,1761541884.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.498840 s, deltaX: -0.400000 m, approachRate: -0.801860 m/s, rangeRepo size: 4 2025-10-27T05:11:24.227Z,1761541884.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.003424 m, bearing: 350.195475 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.498840 s, deltaX: -0.397976 m, approachRate: -0.797803 m/s, posRepo size: 4 2025-10-27T05:11:24.228Z,1761541884.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m. 2025-10-27T05:11:24.231Z,1761541884.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.003424 m, nav range: 18.489880 m, bearing: 350.157565 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.766137 deg, new cmd heading: 341.781801 deg. 2025-10-27T05:11:24.236Z,1761541884.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965218 target range: 19.003424 and range: 19.10 m. 2025-10-27T05:11:24.324Z,1761541884.324 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.254967 2025-10-27T05:11:24.581Z,1761541884.581 [DAT](INFO): DAT read: Rx Time:05:11:23.2904 2025-10-27T05:11:24.582Z,1761541884.582 [DAT](INFO): Rx dataTimestamp_ set to:1761541884.581180 2025-10-27T05:11:24.589Z,1761541884.589 [DAT](INFO): DAT read: Bearing 154.0, -0.4 (Local) 2025-10-27T05:11:24.590Z,1761541884.590 [DAT](INFO): Local bearing/azimuth received: Bearing 154.0, -0.4 (Local) 2025-10-27T05:11:24.594Z,1761541884.594 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-27T05:11:24.660Z,1761541884.660 [DAT](INFO): DAT read: 05:11:23.2904 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.14, 2.238, 0.415, 2.257, 2.088, PHS= 0.252,-1.628, 0.125, RAW= 146.5, 13.7, CAL= 146.3, 15.0, ROT= 3.7, -15.0 2025-10-27T05:11:24.661Z,1761541884.661 [DAT](INFO): got valid direction response: 05:11:23.2904 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505,-0.14, 2.238, 0.415, 2.257, 2.088, PHS= 0.252,-1.628, 0.125, RAW= 146.5, 13.7, CAL= 146.3, 15.0, ROT= 3.7, -15.0 2025-10-27T05:11:24.661Z,1761541884.661 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:11:24.662Z,1761541884.662 [DAT](INFO): direction in FSK: [0.963912,0.062333,0.258819] 2025-10-27T05:11:24.662Z,1761541884.662 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:24.672Z,1761541884.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957708,0.279117,0.069927],[-0.287551,0.937253,0.197158],[-0.010509,-0.208928,0.977875]] 2025-10-27T05:11:24.693Z,1761541884.693 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.623857 2025-10-27T05:11:24.770Z,1761541884.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.508557 s, deltaX: -0.300001 m, approachRate: -0.589907 m/s, rangeRepo size: 4 2025-10-27T05:11:24.783Z,1761541884.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.705156 m, bearing: 350.076023 deg, lat: 36.779341 deg, lon: -121.859623 deg, deltaT: 0.508557 s, deltaX: -0.298267 m, approachRate: -0.586497 m/s, posRepo size: 4 2025-10-27T05:11:24.784Z,1761541884.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.71 m. 2025-10-27T05:11:24.791Z,1761541884.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.705156 m, nav range: 18.203947 m, bearing: 350.076044 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.781792 deg, new cmd heading: 341.804569 deg. 2025-10-27T05:11:24.792Z,1761541884.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965615 target range: 18.705156 and range: 18.80 m. 2025-10-27T05:11:24.828Z,1761541884.828 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.758549 2025-10-27T05:11:25.087Z,1761541885.087 [DAT](INFO): DAT read: Rx Time:05:11:23.7902 2025-10-27T05:11:25.087Z,1761541885.087 [DAT](INFO): Rx dataTimestamp_ set to:1761541885.086872 2025-10-27T05:11:25.088Z,1761541885.088 [DAT](INFO): DAT read: Bearing 155.1, -0.4 (Local) 2025-10-27T05:11:25.089Z,1761541885.089 [DAT](INFO): Local bearing/azimuth received: Bearing 155.1, -0.4 (Local) 2025-10-27T05:11:25.095Z,1761541885.095 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.5 2025-10-27T05:11:25.100Z,1761541885.100 [DAT](INFO): DAT read: 05:11:23.7902 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.08, 2.579, 0.746, 2.589, 2.457, PHS= 0.225,-1.665, 0.089, RAW= 146.3, 14.7, CAL= 146.1, 16.1, ROT= 3.9, -16.1 2025-10-27T05:11:25.101Z,1761541885.101 [DAT](INFO): got valid direction response: 05:11:23.7902 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.08, 2.579, 0.746, 2.589, 2.457, PHS= 0.225,-1.665, 0.089, RAW= 146.3, 14.7, CAL= 146.1, 16.1, ROT= 3.9, -16.1 2025-10-27T05:11:25.101Z,1761541885.101 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:11:25.102Z,1761541885.102 [DAT](INFO): direction in FSK: [0.958554,0.065348,0.277315] 2025-10-27T05:11:25.102Z,1761541885.102 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:25.129Z,1761541885.129 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.060011 2025-10-27T05:11:25.259Z,1761541885.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.505692 s, deltaX: -0.199999 m, approachRate: -0.395495 m/s, rangeRepo size: 4 2025-10-27T05:11:25.261Z,1761541885.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.506166 m, bearing: 350.512210 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.505692 s, deltaX: -0.198990 m, approachRate: -0.393500 m/s, posRepo size: 4 2025-10-27T05:11:25.262Z,1761541885.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.51 m. 2025-10-27T05:11:25.268Z,1761541885.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.506166 m, nav range: 17.948978 m, bearing: 350.167813 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.804577 deg, new cmd heading: 341.824522 deg. 2025-10-27T05:11:25.269Z,1761541885.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965963 target range: 18.506166 and range: 18.60 m. 2025-10-27T05:11:25.333Z,1761541885.333 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.263744 2025-10-27T05:11:25.590Z,1761541885.590 [DAT](INFO): DAT read: Rx Time:05:11:24.2901 2025-10-27T05:11:25.592Z,1761541885.592 [DAT](INFO): Rx dataTimestamp_ set to:1761541885.591169 2025-10-27T05:11:25.596Z,1761541885.596 [DAT](INFO): DAT read: Bearing 156.0, -0.8 (Local) 2025-10-27T05:11:25.597Z,1761541885.597 [DAT](INFO): Local bearing/azimuth received: Bearing 156.0, -0.8 (Local) 2025-10-27T05:11:25.604Z,1761541885.604 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.5 2025-10-27T05:11:25.631Z,1761541885.631 [DAT](INFO): DAT read: 05:11:24.2901 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501, 0.33,-1.882, 2.600,-1.868,-1.969, PHS= 0.189,-1.670, 0.056, RAW= 146.3, 15.7, CAL= 146.2, 17.2, ROT= 3.8, -17.2 2025-10-27T05:11:25.633Z,1761541885.633 [DAT](INFO): got valid direction response: 05:11:24.2901 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501, 0.33,-1.882, 2.600,-1.868,-1.969, PHS= 0.189,-1.670, 0.056, RAW= 146.3, 15.7, CAL= 146.2, 17.2, ROT= 3.8, -17.2 2025-10-27T05:11:25.633Z,1761541885.633 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:11:25.659Z,1761541885.659 [DAT](INFO): direction in FSK: [0.953178,0.063310,0.295708] 2025-10-27T05:11:25.660Z,1761541885.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:25.666Z,1761541885.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955155,0.287299,0.071675],[-0.295905,0.935021,0.195386],[-0.010884,-0.207833,0.978104]] 2025-10-27T05:11:25.671Z,1761541885.671 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.602200 2025-10-27T05:11:25.813Z,1761541885.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504297 s, deltaX: -0.100000 m, approachRate: -0.198297 m/s, rangeRepo size: 4 2025-10-27T05:11:25.819Z,1761541885.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.406923 m, bearing: 350.140569 deg, lat: 36.779341 deg, lon: -121.859623 deg, deltaT: 0.504297 s, deltaX: -0.099243 m, approachRate: -0.196795 m/s, posRepo size: 4 2025-10-27T05:11:25.820Z,1761541885.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m. 2025-10-27T05:11:25.827Z,1761541885.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.406923 m, nav range: 17.677322 m, bearing: 350.102297 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.824521 deg, new cmd heading: 341.847863 deg. 2025-10-27T05:11:25.828Z,1761541885.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966371 target range: 18.406923 and range: 18.50 m. 2025-10-27T05:11:25.836Z,1761541885.836 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.766861 2025-10-27T05:11:26.090Z,1761541886.090 [DAT](INFO): DAT read: Rx Time:05:11:24.7898 2025-10-27T05:11:26.091Z,1761541886.091 [DAT](INFO): Rx dataTimestamp_ set to:1761541886.090011 2025-10-27T05:11:26.094Z,1761541886.094 [DAT](INFO): DAT read: Bearing 156.3, -0.5 (Local) 2025-10-27T05:11:26.094Z,1761541886.094 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, -0.5 (Local) 2025-10-27T05:11:26.097Z,1761541886.097 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4 2025-10-27T05:11:26.121Z,1761541886.121 [DAT](INFO): DAT read: 05:11:24.7898 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 499,-0.34, 2.266, 0.462, 2.270, 2.183, PHS= 0.185,-1.676, 0.043, RAW= 146.1, 15.9, CAL= 145.9, 17.5, ROT= 4.1, -17.5 2025-10-27T05:11:26.122Z,1761541886.122 [DAT](INFO): got valid direction response: 05:11:24.7898 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 499,-0.34, 2.266, 0.462, 2.270, 2.183, PHS= 0.185,-1.676, 0.043, RAW= 146.1, 15.9, CAL= 145.9, 17.5, ROT= 4.1, -17.5 2025-10-27T05:11:26.132Z,1761541886.132 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:11:26.134Z,1761541886.134 [DAT](INFO): direction in FSK: [0.951276,0.068188,0.300706] 2025-10-27T05:11:26.134Z,1761541886.134 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:26.146Z,1761541886.146 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.076885 2025-10-27T05:11:26.176Z,1761541886.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954669,0.288888,0.071772],[-0.297468,0.934759,0.194262],[-0.010970,-0.206806,0.978320]] 2025-10-27T05:11:26.229Z,1761541886.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.498842 s, deltaX: -0.500000 m, approachRate: -1.002321 m/s, rangeRepo size: 4 2025-10-27T05:11:26.230Z,1761541886.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.909439 m, bearing: 350.386287 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.498842 s, deltaX: -0.497484 m, approachRate: -0.997278 m/s, posRepo size: 4 2025-10-27T05:11:26.247Z,1761541886.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.91 m. 2025-10-27T05:11:26.250Z,1761541886.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.909439 m, nav range: 17.388008 m, bearing: 350.156073 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.847853 deg, new cmd heading: 341.865086 deg. 2025-10-27T05:11:26.255Z,1761541886.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966671 target range: 17.909439 and range: 18.00 m. 2025-10-27T05:11:26.340Z,1761541886.340 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.270861 2025-10-27T05:11:26.550Z,1761541886.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954191,0.290493,0.071644],[-0.298994,0.934631,0.192527],[-0.011033,-0.205129,0.978673]] 2025-10-27T05:11:26.596Z,1761541886.596 [DAT](INFO): DAT read: Rx Time:05:11:25.2897 2025-10-27T05:11:26.598Z,1761541886.598 [DAT](INFO): Rx dataTimestamp_ set to:1761541886.597102 2025-10-27T05:11:26.602Z,1761541886.602 [DAT](INFO): DAT read: Bearing 154.9, 0.0 (Local) 2025-10-27T05:11:26.603Z,1761541886.603 [DAT](INFO): Local bearing/azimuth received: Bearing 154.9, 0.0 (Local) 2025-10-27T05:11:26.610Z,1761541886.610 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 2025-10-27T05:11:26.626Z,1761541886.626 [DAT](INFO): DAT read: 05:11:25.2897 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.08,-2.586, 1.838,-2.593,-2.720, PHS= 0.236,-1.680, 0.082, RAW= 145.9, 14.6, CAL= 145.6, 16.0, ROT= 4.4, -16.0 2025-10-27T05:11:26.628Z,1761541886.628 [DAT](INFO): got valid direction response: 05:11:25.2897 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.08,-2.586, 1.838,-2.593,-2.720, PHS= 0.236,-1.680, 0.082, RAW= 145.9, 14.6, CAL= 145.6, 16.0, ROT= 4.4, -16.0 2025-10-27T05:11:26.629Z,1761541886.629 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:11:26.631Z,1761541886.631 [DAT](INFO): direction in FSK: [0.958429,0.073747,0.275637] 2025-10-27T05:11:26.633Z,1761541886.633 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:26.651Z,1761541886.651 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.582119 2025-10-27T05:11:26.689Z,1761541886.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.507091 s, deltaX: -0.100000 m, approachRate: -0.197204 m/s, rangeRepo size: 4 2025-10-27T05:11:26.695Z,1761541886.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.809973 m, bearing: 350.229534 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.507091 s, deltaX: -0.099466 m, approachRate: -0.196151 m/s, posRepo size: 4 2025-10-27T05:11:26.696Z,1761541886.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m. 2025-10-27T05:11:26.700Z,1761541886.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.809973 m, nav range: 17.139818 m, bearing: 350.153792 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.865093 deg, new cmd heading: 341.884186 deg. 2025-10-27T05:11:26.701Z,1761541886.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967005 target range: 17.809973 and range: 17.90 m. 2025-10-27T05:11:26.844Z,1761541886.844 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.774899 2025-10-27T05:11:27.096Z,1761541887.096 [DAT](INFO): DAT read: Rx Time:05:11:25.7895 2025-10-27T05:11:27.097Z,1761541887.097 [DAT](INFO): Rx dataTimestamp_ set to:1761541887.096665 2025-10-27T05:11:27.098Z,1761541887.098 [DAT](INFO): DAT read: Bearing 157.2, -0.5 (Local) 2025-10-27T05:11:27.099Z,1761541887.099 [DAT](INFO): Local bearing/azimuth received: Bearing 157.2, -0.5 (Local) 2025-10-27T05:11:27.101Z,1761541887.101 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 2025-10-27T05:11:27.112Z,1761541887.112 [DAT](INFO): DAT read: 05:11:25.7895 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.02,-1.632, 2.879,-1.634,-1.691, PHS= 0.160,-1.668, 0.012, RAW= 145.8, 16.7, CAL= 145.6, 18.3, ROT= 4.4, -18.3 2025-10-27T05:11:27.116Z,1761541887.116 [DAT](INFO): got valid direction response: 05:11:25.7895 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.02,-1.632, 2.879,-1.634,-1.691, PHS= 0.160,-1.668, 0.012, RAW= 145.8, 16.7, CAL= 145.6, 18.3, ROT= 4.4, -18.3 2025-10-27T05:11:27.116Z,1761541887.116 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:11:27.118Z,1761541887.118 [DAT](INFO): direction in FSK: [0.946627,0.072839,0.313992] 2025-10-27T05:11:27.119Z,1761541887.119 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:27.126Z,1761541887.126 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.056789 2025-10-27T05:11:27.205Z,1761541887.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953514,0.292804,0.071255],[-0.301125,0.934917,0.187759],[-0.011641,-0.200488,0.979627]] 2025-10-27T05:11:27.293Z,1761541887.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.499563 s, deltaX: -0.299999 m, approachRate: -0.600523 m/s, rangeRepo size: 4 2025-10-27T05:11:27.299Z,1761541887.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.511482 m, bearing: 350.521251 deg, lat: 36.779341 deg, lon: -121.859621 deg, deltaT: 0.499563 s, deltaX: -0.298491 m, approachRate: -0.597503 m/s, posRepo size: 4 2025-10-27T05:11:27.300Z,1761541887.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T05:11:27.307Z,1761541887.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.511482 m, nav range: 16.805075 m, bearing: 350.436615 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.884190 deg, new cmd heading: 341.909274 deg. 2025-10-27T05:11:27.308Z,1761541887.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967443 target range: 17.511482 and range: 17.60 m. 2025-10-27T05:11:27.349Z,1761541887.349 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.279587 2025-10-27T05:11:27.605Z,1761541887.605 [DAT](INFO): DAT read: Rx Time:05:11:26.2893 2025-10-27T05:11:27.606Z,1761541887.606 [DAT](INFO): Rx dataTimestamp_ set to:1761541887.605151 2025-10-27T05:11:27.623Z,1761541887.623 [DAT](INFO): DAT read: Bearing 153.4, 1.0 (Local) 2025-10-27T05:11:27.624Z,1761541887.624 [DAT](INFO): Local bearing/azimuth received: Bearing 153.4, 1.0 (Local) 2025-10-27T05:11:27.632Z,1761541887.632 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 2025-10-27T05:11:27.680Z,1761541887.680 [DAT](INFO): DAT read: 05:11:26.2893 LVL= 31712, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.25,-1.303, 3.097,-1.331,-1.497, PHS= 0.296,-1.644, 0.121, RAW= 145.3, 13.1, CAL= 145.0, 14.3, ROT= 5.0, -14.3 2025-10-27T05:11:27.682Z,1761541887.682 [DAT](INFO): got valid direction response: 05:11:26.2893 LVL= 31712, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.25,-1.303, 3.097,-1.331,-1.497, PHS= 0.296,-1.644, 0.121, RAW= 145.3, 13.1, CAL= 145.0, 14.3, ROT= 5.0, -14.3 2025-10-27T05:11:27.682Z,1761541887.682 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:11:27.688Z,1761541887.688 [DAT](INFO): direction in FSK: [0.965328,0.084455,0.246999] 2025-10-27T05:11:27.688Z,1761541887.688 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:27.708Z,1761541887.708 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.638042 2025-10-27T05:11:27.852Z,1761541887.852 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.782917 2025-10-27T05:11:27.868Z,1761541887.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.508486 s, deltaX: -0.300001 m, approachRate: -0.589989 m/s, rangeRepo size: 4 2025-10-27T05:11:27.870Z,1761541887.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.212687 m, bearing: 350.255040 deg, lat: 36.779342 deg, lon: -121.859622 deg, deltaT: 0.508486 s, deltaX: -0.298796 m, approachRate: -0.587618 m/s, posRepo size: 4 2025-10-27T05:11:27.875Z,1761541887.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-27T05:11:27.881Z,1761541887.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.212687 m, nav range: 16.582245 m, bearing: 350.167447 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.909270 deg, new cmd heading: 341.932940 deg. 2025-10-27T05:11:27.884Z,1761541887.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967855 target range: 17.212687 and range: 17.30 m. 2025-10-27T05:11:28.107Z,1761541888.107 [DAT](INFO): DAT read: Rx Time:05:11:26.7890 2025-10-27T05:11:28.108Z,1761541888.108 [DAT](INFO): Rx dataTimestamp_ set to:1761541888.107454 2025-10-27T05:11:28.111Z,1761541888.111 [DAT](INFO): DAT read: Bearing 155.2, -0.2 (Local) 2025-10-27T05:11:28.112Z,1761541888.112 [DAT](INFO): Local bearing/azimuth received: Bearing 155.2, -0.2 (Local) 2025-10-27T05:11:28.115Z,1761541888.115 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.5 2025-10-27T05:11:28.135Z,1761541888.135 [DAT](INFO): DAT read: 05:11:26.7890 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.48,-3.072, 1.346,-3.073, 3.085, PHS= 0.228,-1.694, 0.081, RAW= 146.1, 14.8, CAL= 145.8, 16.2, ROT= 4.2, -16.2 2025-10-27T05:11:28.161Z,1761541888.161 [DAT](INFO): got valid direction response: 05:11:26.7890 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506, 0.48,-3.072, 1.346,-3.073, 3.085, PHS= 0.228,-1.694, 0.081, RAW= 146.1, 14.8, CAL= 145.8, 16.2, ROT= 4.2, -16.2 2025-10-27T05:11:28.162Z,1761541888.162 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:11:28.175Z,1761541888.175 [DAT](INFO): direction in FSK: [0.957715,0.070330,0.278991] 2025-10-27T05:11:28.176Z,1761541888.176 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:28.184Z,1761541888.184 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.114410 2025-10-27T05:11:28.356Z,1761541888.356 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.286755 2025-10-27T05:11:28.381Z,1761541888.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952833,0.295225,0.070368],[-0.303254,0.935387,0.181905],[-0.012118,-0.194664,0.980795]] 2025-10-27T05:11:28.405Z,1761541888.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.502303 s, deltaX: -0.500000 m, approachRate: -0.995415 m/s, rangeRepo size: 4 2025-10-27T05:11:28.408Z,1761541888.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.715210 m, bearing: 349.658282 deg, lat: 36.779341 deg, lon: -121.859622 deg, deltaT: 0.502303 s, deltaX: -0.497477 m, approachRate: -0.990391 m/s, posRepo size: 4 2025-10-27T05:11:28.409Z,1761541888.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.72 m. 2025-10-27T05:11:28.412Z,1761541888.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.715210 m, nav range: 16.173740 m, bearing: 350.103876 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.932930 deg, new cmd heading: 341.955390 deg. 2025-10-27T05:11:28.416Z,1761541888.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968247 target range: 16.715210 and range: 16.80 m. 2025-10-27T05:11:28.618Z,1761541888.618 [DAT](INFO): DAT read: Rx Time:05:11:27.2889 2025-10-27T05:11:28.620Z,1761541888.620 [DAT](INFO): Rx dataTimestamp_ set to:1761541888.618559 2025-10-27T05:11:28.632Z,1761541888.632 [DAT](INFO): DAT read: Bearing 155.2, -0.3 (Local) 2025-10-27T05:11:28.633Z,1761541888.633 [DAT](INFO): Local bearing/azimuth received: Bearing 155.2, -0.3 (Local) 2025-10-27T05:11:28.656Z,1761541888.656 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-27T05:11:28.665Z,1761541888.665 [DAT](INFO): DAT read: 05:11:27.2889 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.29, 2.891, 1.036, 2.893, 2.768, PHS= 0.225,-1.687, 0.082, RAW= 146.1, 14.8, CAL= 145.9, 16.2, ROT= 4.1, -16.2 2025-10-27T05:11:28.673Z,1761541888.673 [DAT](INFO): got valid direction response: 05:11:27.2889 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.29, 2.891, 1.036, 2.893, 2.768, PHS= 0.225,-1.687, 0.082, RAW= 146.1, 14.8, CAL= 145.9, 16.2, ROT= 4.1, -16.2 2025-10-27T05:11:28.674Z,1761541888.674 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:11:28.680Z,1761541888.680 [DAT](INFO): direction in FSK: [0.957836,0.068659,0.278991] 2025-10-27T05:11:28.681Z,1761541888.681 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:28.696Z,1761541888.696 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.626320 2025-10-27T05:11:28.778Z,1761541888.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952678,0.295753,0.070244],[-0.303729,0.935521,0.180411],[-0.012358,-0.193209,0.981080]] 2025-10-27T05:11:28.864Z,1761541888.864 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.794758 2025-10-27T05:11:28.893Z,1761541888.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.511105 s, deltaX: -0.099998 m, approachRate: -0.195652 m/s, rangeRepo size: 4 2025-10-27T05:11:28.899Z,1761541888.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.615553 m, bearing: 349.509396 deg, lat: 36.779342 deg, lon: -121.859623 deg, deltaT: 0.511105 s, deltaX: -0.099657 m, approachRate: -0.194984 m/s, posRepo size: 4 2025-10-27T05:11:28.900Z,1761541888.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.62 m. 2025-10-27T05:11:28.907Z,1761541888.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.615553 m, nav range: 16.027914 m, bearing: 350.113994 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.955388 deg, new cmd heading: 341.975641 deg. 2025-10-27T05:11:28.908Z,1761541888.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968601 target range: 16.615553 and range: 16.70 m. 2025-10-27T05:11:29.118Z,1761541889.118 [DAT](INFO): DAT read: Rx Time:05:11:27.7886 2025-10-27T05:11:29.119Z,1761541889.119 [DAT](INFO): Rx dataTimestamp_ set to:1761541889.118808 2025-10-27T05:11:29.121Z,1761541889.121 [DAT](INFO): DAT read: Bearing 156.3, -0.7 (Local) 2025-10-27T05:11:29.122Z,1761541889.122 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, -0.7 (Local) 2025-10-27T05:11:29.126Z,1761541889.126 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 2025-10-27T05:11:29.133Z,1761541889.133 [DAT](INFO): DAT read: 05:11:27.7886 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503,-0.12, 1.453,-0.380, 1.463, 1.366, PHS= 0.188,-1.701, 0.053, RAW= 146.3, 15.8, CAL= 146.1, 17.3, ROT= 3.9, -17.3 2025-10-27T05:11:29.140Z,1761541889.140 [DAT](INFO): got valid direction response: 05:11:27.7886 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503,-0.12, 1.453,-0.380, 1.463, 1.366, PHS= 0.188,-1.701, 0.053, RAW= 146.3, 15.8, CAL= 146.1, 17.3, ROT= 3.9, -17.3 2025-10-27T05:11:29.140Z,1761541889.140 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:11:29.141Z,1761541889.141 [DAT](INFO): direction in FSK: [0.952550,0.064938,0.297375] 2025-10-27T05:11:29.141Z,1761541889.141 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:29.149Z,1761541889.149 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.079914 2025-10-27T05:11:29.283Z,1761541889.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952448,0.296572,0.069912],[-0.304449,0.935598,0.178796],[-0.012384,-0.191578,0.981399]] 2025-10-27T05:11:29.326Z,1761541889.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.500249 s, deltaX: -0.500000 m, approachRate: -0.999502 m/s, rangeRepo size: 4 2025-10-27T05:11:29.332Z,1761541889.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.118080 m, bearing: 349.470489 deg, lat: 36.779341 deg, lon: -121.859624 deg, deltaT: 0.500249 s, deltaX: -0.497473 m, approachRate: -0.994450 m/s, posRepo size: 4 2025-10-27T05:11:29.333Z,1761541889.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.12 m. 2025-10-27T05:11:29.340Z,1761541889.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.118080 m, nav range: 15.687768 m, bearing: 349.632833 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.975633 deg, new cmd heading: 341.993599 deg. 2025-10-27T05:11:29.341Z,1761541889.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968915 target range: 16.118080 and range: 16.20 m. 2025-10-27T05:11:29.371Z,1761541889.371 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.302025 2025-10-27T05:11:29.626Z,1761541889.626 [DAT](INFO): DAT read: Rx Time:05:11:28.2885 2025-10-27T05:11:29.630Z,1761541889.630 [DAT](INFO): Rx dataTimestamp_ set to:1761541889.628897 2025-10-27T05:11:29.715Z,1761541889.715 [DAT](INFO): DAT read: Bearing 153.0, 1.0 (Local) 2025-10-27T05:11:29.715Z,1761541889.715 [DAT](INFO): Local bearing/azimuth received: Bearing 153.0, 1.0 (Local) 2025-10-27T05:11:29.718Z,1761541889.718 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.5 2025-10-27T05:11:29.749Z,1761541889.749 [DAT](INFO): DAT read: 05:11:28.2885 LVL= 27216, 32753, 28978, 32755, AGC= 63, IDX= 502, 0.02,-2.745, 1.647,-2.767,-2.956, PHS= 0.313,-1.635, 0.146, RAW= 145.6, 12.5, CAL= 145.2, 13.7, ROT= 4.8, -13.7 2025-10-27T05:11:29.750Z,1761541889.750 [DAT](INFO): got valid direction response: 05:11:28.2885 LVL= 27216, 32753, 28978, 32755, AGC= 63, IDX= 502, 0.02,-2.745, 1.647,-2.767,-2.956, PHS= 0.313,-1.635, 0.146, RAW= 145.6, 12.5, CAL= 145.2, 13.7, ROT= 4.8, -13.7 2025-10-27T05:11:29.763Z,1761541889.763 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:11:29.764Z,1761541889.764 [DAT](INFO): direction in FSK: [0.968142,0.081297,0.236838] 2025-10-27T05:11:29.764Z,1761541889.764 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:29.776Z,1761541889.776 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.706882 2025-10-27T05:11:29.778Z,1761541889.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952421,0.296824,0.069203],[-0.304532,0.936020,0.176430],[-0.012407,-0.189110,0.981878]] 2025-10-27T05:11:29.872Z,1761541889.872 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.802895 2025-10-27T05:11:29.876Z,1761541889.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.510089 s, deltaX: -0.100000 m, approachRate: -0.196045 m/s, rangeRepo size: 4 2025-10-27T05:11:29.878Z,1761541889.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.018518 m, bearing: 349.583950 deg, lat: 36.779343 deg, lon: -121.859624 deg, deltaT: 0.510089 s, deltaX: -0.099562 m, approachRate: -0.195185 m/s, posRepo size: 4 2025-10-27T05:11:29.878Z,1761541889.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.02 m. 2025-10-27T05:11:29.891Z,1761541889.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.018518 m, nav range: 15.526485 m, bearing: 349.683264 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 341.993610 deg, new cmd heading: 342.016225 deg. 2025-10-27T05:11:29.892Z,1761541889.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969309 target range: 16.018518 and range: 16.10 m. 2025-10-27T05:11:30.126Z,1761541890.126 [DAT](INFO): DAT read: Rx Time:05:11:28.7882 2025-10-27T05:11:30.127Z,1761541890.127 [DAT](INFO): Rx dataTimestamp_ set to:1761541890.126343 2025-10-27T05:11:30.129Z,1761541890.129 [DAT](INFO): DAT read: Bearing 154.5, 0.1 (Local) 2025-10-27T05:11:30.130Z,1761541890.130 [DAT](INFO): Local bearing/azimuth received: Bearing 154.5, 0.1 (Local) 2025-10-27T05:11:30.138Z,1761541890.138 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.5 2025-10-27T05:11:30.153Z,1761541890.153 [DAT](INFO): DAT read: 05:11:28.7882 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499, 0.17, 2.474, 0.595, 2.475, 2.319, PHS= 0.257,-1.679, 0.113, RAW= 146.2, 13.9, CAL= 145.9, 15.2, ROT= 4.1, -15.2 2025-10-27T05:11:30.154Z,1761541890.154 [DAT](INFO): got valid direction response: 05:11:28.7882 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499, 0.17, 2.474, 0.595, 2.475, 2.319, PHS= 0.257,-1.679, 0.113, RAW= 146.2, 13.9, CAL= 145.9, 15.2, ROT= 4.1, -15.2 2025-10-27T05:11:30.154Z,1761541890.154 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:11:30.164Z,1761541890.164 [DAT](INFO): direction in FSK: [0.962547,0.068996,0.262189] 2025-10-27T05:11:30.164Z,1761541890.164 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:30.172Z,1761541890.172 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.103134 2025-10-27T05:11:30.245Z,1761541890.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952342,0.297237,0.068517],[-0.304785,0.936279,0.174607],[-0.012251,-0.187168,0.982251]] 2025-10-27T05:11:30.297Z,1761541890.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.497446 s, deltaX: -0.500000 m, approachRate: -1.005134 m/s, rangeRepo size: 4 2025-10-27T05:11:30.298Z,1761541890.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.521049 m, bearing: 349.154488 deg, lat: 36.779341 deg, lon: -121.859625 deg, deltaT: 0.497446 s, deltaX: -0.497469 m, approachRate: -1.000046 m/s, posRepo size: 4 2025-10-27T05:11:30.304Z,1761541890.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m. 2025-10-27T05:11:30.311Z,1761541890.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.521049 m, nav range: 15.151981 m, bearing: 349.399557 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.016231 deg, new cmd heading: 342.033878 deg. 2025-10-27T05:11:30.312Z,1761541890.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969617 target range: 15.521049 and range: 15.60 m. 2025-10-27T05:11:30.377Z,1761541890.377 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.307617 2025-10-27T05:11:30.636Z,1761541890.636 [DAT](INFO): DAT read: Rx Time:05:11:29.2882 2025-10-27T05:11:30.638Z,1761541890.638 [DAT](INFO): Rx dataTimestamp_ set to:1761541890.636859 2025-10-27T05:11:30.642Z,1761541890.642 [DAT](INFO): DAT read: Bearing 155.3, 0.1 (Local) 2025-10-27T05:11:30.643Z,1761541890.643 [DAT](INFO): Local bearing/azimuth received: Bearing 155.3, 0.1 (Local) 2025-10-27T05:11:30.650Z,1761541890.650 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.5 2025-10-27T05:11:30.665Z,1761541890.665 [DAT](INFO): DAT read: 05:11:29.2882 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.28,-2.664, 1.728,-2.668,-2.802, PHS= 0.240,-1.708, 0.091, RAW= 146.0, 14.5, CAL= 145.8, 15.9, ROT= 4.2, -15.9 2025-10-27T05:11:30.677Z,1761541890.677 [DAT](INFO): got valid direction response: 05:11:29.2882 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.28,-2.664, 1.728,-2.668,-2.802, PHS= 0.240,-1.708, 0.091, RAW= 146.0, 14.5, CAL= 145.8, 15.9, ROT= 4.2, -15.9 2025-10-27T05:11:30.688Z,1761541890.688 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:11:30.728Z,1761541890.728 [DAT](INFO): direction in FSK: [0.959159,0.070436,0.273959] 2025-10-27T05:11:30.728Z,1761541890.728 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:30.745Z,1761541890.745 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.676025 2025-10-27T05:11:30.877Z,1761541890.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.510516 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:30.879Z,1761541890.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.521088 m, bearing: 349.389758 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.510516 s, deltaX: 0.000038 m, approachRate: 0.000075 m/s, posRepo size: 4 2025-10-27T05:11:30.880Z,1761541890.880 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.810749 2025-10-27T05:11:30.891Z,1761541890.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m. 2025-10-27T05:11:30.894Z,1761541890.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.521088 m, nav range: 14.987087 m, bearing: 349.501511 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.033880 deg, new cmd heading: 342.057945 deg. 2025-10-27T05:11:30.899Z,1761541890.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970037 target range: 15.521088 and range: 15.60 m. 2025-10-27T05:11:31.136Z,1761541891.136 [DAT](INFO): DAT read: Rx Time:05:11:29.7879 2025-10-27T05:11:31.136Z,1761541891.136 [DAT](INFO): Rx dataTimestamp_ set to:1761541891.135729 2025-10-27T05:11:31.137Z,1761541891.137 [DAT](INFO): DAT read: Bearing 154.3, 0.5 (Local) 2025-10-27T05:11:31.138Z,1761541891.138 [DAT](INFO): Local bearing/azimuth received: Bearing 154.3, 0.5 (Local) 2025-10-27T05:11:31.140Z,1761541891.140 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 2025-10-27T05:11:31.145Z,1761541891.145 [DAT](INFO): DAT read: 05:11:29.7879 LVL= 29264, 32753, 32210, 32755, AGC= 63, IDX= 495, 0.41, 2.714, 0.822, 2.705, 2.540, PHS= 0.276,-1.672, 0.122, RAW= 145.9, 13.5, CAL= 145.6, 14.8, ROT= 4.4, -14.8 2025-10-27T05:11:31.148Z,1761541891.148 [DAT](INFO): got valid direction response: 05:11:29.7879 LVL= 29264, 32753, 32210, 32755, AGC= 63, IDX= 495, 0.41, 2.714, 0.822, 2.705, 2.540, PHS= 0.276,-1.672, 0.122, RAW= 145.9, 13.5, CAL= 145.6, 14.8, ROT= 4.4, -14.8 2025-10-27T05:11:31.148Z,1761541891.148 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:11:31.150Z,1761541891.150 [DAT](INFO): direction in FSK: [0.963974,0.074174,0.255446] 2025-10-27T05:11:31.150Z,1761541891.150 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:31.154Z,1761541891.154 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.084480 2025-10-27T05:11:31.260Z,1761541891.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952286,0.297769,0.066972],[-0.304985,0.936781,0.171541],[-0.011659,-0.183782,0.982898]] 2025-10-27T05:11:31.313Z,1761541891.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.498870 s, deltaX: -0.400001 m, approachRate: -0.801813 m/s, rangeRepo size: 4 2025-10-27T05:11:31.319Z,1761541891.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.123111 m, bearing: 349.309631 deg, lat: 36.779342 deg, lon: -121.859625 deg, deltaT: 0.498870 s, deltaX: -0.397977 m, approachRate: -0.797757 m/s, posRepo size: 4 2025-10-27T05:11:31.320Z,1761541891.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T05:11:31.328Z,1761541891.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.123111 m, nav range: 14.730043 m, bearing: 349.331639 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.057950 deg, new cmd heading: 342.076069 deg. 2025-10-27T05:11:31.329Z,1761541891.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970354 target range: 15.123111 and range: 15.20 m. 2025-10-27T05:11:31.384Z,1761541891.384 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.315067 2025-10-27T05:11:31.637Z,1761541891.637 [DAT](INFO): DAT read: Rx Time:05:11:30.2876 2025-10-27T05:11:31.637Z,1761541891.637 [DAT](INFO): Rx dataTimestamp_ set to:1761541891.636783 2025-10-27T05:11:31.638Z,1761541891.638 [DAT](INFO): DAT read: Bearing 156.2, -0.2 (Local) 2025-10-27T05:11:31.639Z,1761541891.639 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -0.2 (Local) 2025-10-27T05:11:31.641Z,1761541891.641 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.5 2025-10-27T05:11:31.648Z,1761541891.648 [DAT](INFO): DAT read: 05:11:30.2876 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.33, 1.003,-0.891, 1.004, 0.887, PHS= 0.217,-1.733, 0.073, RAW= 146.2, 15.2, CAL= 146.0, 16.6, ROT= 4.0, -16.6 2025-10-27T05:11:31.654Z,1761541891.654 [DAT](INFO): got valid direction response: 05:11:30.2876 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.33, 1.003,-0.891, 1.004, 0.887, PHS= 0.217,-1.733, 0.073, RAW= 146.2, 15.2, CAL= 146.0, 16.6, ROT= 4.0, -16.6 2025-10-27T05:11:31.656Z,1761541891.656 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:11:31.659Z,1761541891.659 [DAT](INFO): direction in FSK: [0.955988,0.066849,0.285688] 2025-10-27T05:11:31.660Z,1761541891.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:31.686Z,1761541891.686 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.616138 2025-10-27T05:11:31.785Z,1761541891.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952290,0.297885,0.066402],[-0.304976,0.937058,0.170034],[-0.011572,-0.182172,0.983199]] 2025-10-27T05:11:31.884Z,1761541891.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.501054 s, deltaX: -0.500000 m, approachRate: -0.997896 m/s, rangeRepo size: 4 2025-10-27T05:11:31.886Z,1761541891.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.625556 m, bearing: 349.243441 deg, lat: 36.779342 deg, lon: -121.859625 deg, deltaT: 0.501054 s, deltaX: -0.497555 m, approachRate: -0.993016 m/s, posRepo size: 4 2025-10-27T05:11:31.886Z,1761541891.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T05:11:31.893Z,1761541891.893 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.822849 2025-10-27T05:11:31.898Z,1761541891.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.625556 m, nav range: 14.422551 m, bearing: 349.317416 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.076064 deg, new cmd heading: 342.099551 deg. 2025-10-27T05:11:31.898Z,1761541891.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970764 target range: 14.625556 and range: 14.70 m. 2025-10-27T05:11:32.141Z,1761541892.141 [DAT](INFO): DAT read: Rx Time:05:11:30.7874 2025-10-27T05:11:32.141Z,1761541892.141 [DAT](INFO): Rx dataTimestamp_ set to:1761541892.140717 2025-10-27T05:11:32.142Z,1761541892.142 [DAT](INFO): DAT read: Bearing 156.8, -0.5 (Local) 2025-10-27T05:11:32.143Z,1761541892.143 [DAT](INFO): Local bearing/azimuth received: Bearing 156.8, -0.5 (Local) 2025-10-27T05:11:32.145Z,1761541892.145 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-27T05:11:32.149Z,1761541892.149 [DAT](INFO): DAT read: 05:11:30.7874 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507,-0.13, 0.129,-1.755, 0.140, 0.034, PHS= 0.197,-1.744, 0.063, RAW= 146.4, 15.6, CAL= 146.3, 17.2, ROT= 3.7, -17.2 2025-10-27T05:11:32.150Z,1761541892.150 [DAT](INFO): got valid direction response: 05:11:30.7874 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507,-0.13, 0.129,-1.755, 0.140, 0.034, PHS= 0.197,-1.744, 0.063, RAW= 146.4, 15.6, CAL= 146.3, 17.2, ROT= 3.7, -17.2 2025-10-27T05:11:32.151Z,1761541892.151 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:11:32.152Z,1761541892.152 [DAT](INFO): direction in FSK: [0.953287,0.061646,0.295708] 2025-10-27T05:11:32.152Z,1761541892.152 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:32.156Z,1761541892.156 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.086761 2025-10-27T05:11:32.288Z,1761541892.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952476,0.297403,0.065891],[-0.304404,0.937323,0.169599],[-0.011322,-0.181597,0.983308]] 2025-10-27T05:11:32.331Z,1761541892.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503934 s, deltaX: -0.400000 m, approachRate: -0.793754 m/s, rangeRepo size: 4 2025-10-27T05:11:32.333Z,1761541892.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.227582 m, bearing: 349.093142 deg, lat: 36.779341 deg, lon: -121.859625 deg, deltaT: 0.503934 s, deltaX: -0.397974 m, approachRate: -0.789734 m/s, posRepo size: 4 2025-10-27T05:11:32.334Z,1761541892.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.23 m. 2025-10-27T05:11:32.345Z,1761541892.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.227582 m, nav range: 13.991647 m, bearing: 349.162519 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.099560 deg, new cmd heading: 342.118296 deg. 2025-10-27T05:11:32.346Z,1761541892.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971091 target range: 14.227582 and range: 14.30 m. 2025-10-27T05:11:32.394Z,1761541892.394 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.324406 2025-10-27T05:11:32.644Z,1761541892.644 [DAT](INFO): DAT read: Rx Time:05:11:31.2873 2025-10-27T05:11:32.645Z,1761541892.645 [DAT](INFO): Rx dataTimestamp_ set to:1761541892.644675 2025-10-27T05:11:32.649Z,1761541892.649 [DAT](INFO): DAT read: Bearing 155.0, 0.3 (Local) 2025-10-27T05:11:32.649Z,1761541892.649 [DAT](INFO): Local bearing/azimuth received: Bearing 155.0, 0.3 (Local) 2025-10-27T05:11:32.658Z,1761541892.658 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 2025-10-27T05:11:32.721Z,1761541892.721 [DAT](INFO): DAT read: 05:11:31.2873 LVL= 32000, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.09, 2.277, 0.373, 2.277, 2.115, PHS= 0.264,-1.697, 0.118, RAW= 146.2, 13.8, CAL= 145.9, 15.1, ROT= 4.1, -15.1 2025-10-27T05:11:32.722Z,1761541892.722 [DAT](INFO): got valid direction response: 05:11:31.2873 LVL= 32000, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.09, 2.277, 0.373, 2.277, 2.115, PHS= 0.264,-1.697, 0.118, RAW= 146.2, 13.8, CAL= 145.9, 15.1, ROT= 4.1, -15.1 2025-10-27T05:11:32.731Z,1761541892.731 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:11:32.733Z,1761541892.733 [DAT](INFO): direction in FSK: [0.963002,0.069029,0.260505] 2025-10-27T05:11:32.733Z,1761541892.733 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:32.746Z,1761541892.746 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.676346 2025-10-27T05:11:32.857Z,1761541892.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503958 s, deltaX: -0.200000 m, approachRate: -0.396858 m/s, rangeRepo size: 4 2025-10-27T05:11:32.863Z,1761541892.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.028568 m, bearing: 349.078750 deg, lat: 36.779340 deg, lon: -121.859625 deg, deltaT: 0.503958 s, deltaX: -0.199014 m, approachRate: -0.394901 m/s, posRepo size: 4 2025-10-27T05:11:32.864Z,1761541892.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T05:11:32.869Z,1761541892.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.028568 m, nav range: 13.643404 m, bearing: 349.078767 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.118302 deg, new cmd heading: 342.140135 deg. 2025-10-27T05:11:32.870Z,1761541892.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971472 target range: 14.028568 and range: 14.10 m. 2025-10-27T05:11:32.896Z,1761541892.896 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.826859 2025-10-27T05:11:33.149Z,1761541893.149 [DAT](INFO): DAT read: Rx Time:05:11:31.7871 2025-10-27T05:11:33.149Z,1761541893.149 [DAT](INFO): Rx dataTimestamp_ set to:1761541893.148722 2025-10-27T05:11:33.150Z,1761541893.150 [DAT](INFO): DAT read: Bearing 157.7, -1.0 (Local) 2025-10-27T05:11:33.151Z,1761541893.151 [DAT](INFO): Local bearing/azimuth received: Bearing 157.7, -1.0 (Local) 2025-10-27T05:11:33.153Z,1761541893.153 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 2025-10-27T05:11:33.157Z,1761541893.157 [DAT](INFO): DAT read: 05:11:31.7871 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.35, 2.047, 0.175, 2.077, 1.983, PHS= 0.166,-1.763, 0.050, RAW= 146.9, 16.3, CAL= 146.9, 17.9, ROT= 3.1, -17.9 2025-10-27T05:11:33.158Z,1761541893.158 [DAT](INFO): got valid direction response: 05:11:31.7871 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.35, 2.047, 0.175, 2.077, 1.983, PHS= 0.166,-1.763, 0.050, RAW= 146.9, 16.3, CAL= 146.9, 17.9, ROT= 3.1, -17.9 2025-10-27T05:11:33.159Z,1761541893.159 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:11:33.160Z,1761541893.160 [DAT](INFO): direction in FSK: [0.950202,0.051461,0.307357] 2025-10-27T05:11:33.160Z,1761541893.160 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:33.196Z,1761541893.196 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.126644 2025-10-27T05:11:33.210Z,1761541893.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952905,0.296354,0.064394],[-0.303062,0.938389,0.166070],[-0.011211,-0.177765,0.984009]] 2025-10-27T05:11:33.286Z,1761541893.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504047 s, deltaX: -0.300000 m, approachRate: -0.595183 m/s, rangeRepo size: 4 2025-10-27T05:11:33.293Z,1761541893.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.730088 m, bearing: 348.658540 deg, lat: 36.779340 deg, lon: -121.859625 deg, deltaT: 0.504047 s, deltaX: -0.298480 m, approachRate: -0.592167 m/s, posRepo size: 4 2025-10-27T05:11:33.293Z,1761541893.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-27T05:11:33.300Z,1761541893.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.730088 m, nav range: 13.408852 m, bearing: 349.048358 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.140131 deg, new cmd heading: 342.157930 deg. 2025-10-27T05:11:33.301Z,1761541893.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971782 target range: 13.730088 and range: 13.80 m. 2025-10-27T05:11:33.401Z,1761541893.401 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.331226 2025-10-27T05:11:33.646Z,1761541893.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953152,0.295673,0.063860],[-0.302291,0.938718,0.165618],[-0.010978,-0.177163,0.984120]] 2025-10-27T05:11:33.653Z,1761541893.653 [DAT](INFO): DAT read: Rx Time:05:11:32.2870 2025-10-27T05:11:33.653Z,1761541893.653 [DAT](INFO): Rx dataTimestamp_ set to:1761541893.652805 2025-10-27T05:11:33.654Z,1761541893.654 [DAT](INFO): DAT read: Bearing 154.8, 1.0 (Local) 2025-10-27T05:11:33.655Z,1761541893.655 [DAT](INFO): Local bearing/azimuth received: Bearing 154.8, 1.0 (Local) 2025-10-27T05:11:33.657Z,1761541893.657 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-27T05:11:33.673Z,1761541893.673 [DAT](INFO): DAT read: 05:11:32.2870 LVL= 30560, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.11, 0.479,-1.425, 0.463, 0.295, PHS= 0.286,-1.675, 0.124, RAW= 145.7, 13.3, CAL= 145.4, 14.6, ROT= 4.6, -14.6 2025-10-27T05:11:33.674Z,1761541893.674 [DAT](INFO): got valid direction response: 05:11:32.2870 LVL= 30560, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.11, 0.479,-1.425, 0.463, 0.295, PHS= 0.286,-1.675, 0.124, RAW= 145.7, 13.3, CAL= 145.4, 14.6, ROT= 4.6, -14.6 2025-10-27T05:11:33.674Z,1761541893.674 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:11:33.677Z,1761541893.677 [DAT](INFO): direction in FSK: [0.964592,0.077609,0.252069] 2025-10-27T05:11:33.677Z,1761541893.677 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:33.744Z,1761541893.744 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.675270 2025-10-27T05:11:33.782Z,1761541893.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504083 s, deltaX: -0.100000 m, approachRate: -0.198381 m/s, rangeRepo size: 4 2025-10-27T05:11:33.792Z,1761541893.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.630593 m, bearing: 349.537598 deg, lat: 36.779340 deg, lon: -121.859625 deg, deltaT: 0.504083 s, deltaX: -0.099495 m, approachRate: -0.197378 m/s, posRepo size: 4 2025-10-27T05:11:33.793Z,1761541893.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m. 2025-10-27T05:11:33.800Z,1761541893.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.630593 m, nav range: 13.152704 m, bearing: 349.175467 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.157917 deg, new cmd heading: 342.178494 deg. 2025-10-27T05:11:33.801Z,1761541893.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972141 target range: 13.630593 and range: 13.70 m. 2025-10-27T05:11:33.904Z,1761541893.904 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.834827 2025-10-27T05:11:34.136Z,1761541894.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953393,0.294920,0.063745],[-0.301530,0.938964,0.165608],[-0.011013,-0.177110,0.984129]] 2025-10-27T05:11:34.157Z,1761541894.157 [DAT](INFO): DAT read: Rx Time:05:11:32.7868 2025-10-27T05:11:34.157Z,1761541894.157 [DAT](INFO): Rx dataTimestamp_ set to:1761541894.156734 2025-10-27T05:11:34.158Z,1761541894.158 [DAT](INFO): DAT read: Bearing 157.1, -0.8 (Local) 2025-10-27T05:11:34.159Z,1761541894.159 [DAT](INFO): Local bearing/azimuth received: Bearing 157.1, -0.8 (Local) 2025-10-27T05:11:34.161Z,1761541894.161 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 2025-10-27T05:11:34.166Z,1761541894.166 [DAT](INFO): DAT read: 05:11:32.7868 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.20, 1.367,-0.528, 1.394, 1.272, PHS= 0.197,-1.755, 0.078, RAW= 146.9, 15.4, CAL= 146.8, 17.0, ROT= 3.2, -17.0 2025-10-27T05:11:34.175Z,1761541894.175 [DAT](INFO): got valid direction response: 05:11:32.7868 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.20, 1.367,-0.528, 1.394, 1.272, PHS= 0.197,-1.755, 0.078, RAW= 146.9, 15.4, CAL= 146.8, 17.0, ROT= 3.2, -17.0 2025-10-27T05:11:34.176Z,1761541894.176 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:11:34.177Z,1761541894.177 [DAT](INFO): direction in FSK: [0.954814,0.053382,0.292372] 2025-10-27T05:11:34.177Z,1761541894.177 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:34.209Z,1761541894.209 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.139645 2025-10-27T05:11:34.273Z,1761541894.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503929 s, deltaX: -0.300000 m, approachRate: -0.595322 m/s, rangeRepo size: 4 2025-10-27T05:11:34.279Z,1761541894.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.332113 m, bearing: 348.665414 deg, lat: 36.779339 deg, lon: -121.859625 deg, deltaT: 0.503929 s, deltaX: -0.298480 m, approachRate: -0.592306 m/s, posRepo size: 4 2025-10-27T05:11:34.280Z,1761541894.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m. 2025-10-27T05:11:34.287Z,1761541894.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.332113 m, nav range: 12.834053 m, bearing: 348.918554 deg, approach rate: 0.000000 m/s, LOS rate: 0.013830 deg/s, cmd heading: 342.178489 deg, new cmd heading: 342.198864 deg. 2025-10-27T05:11:34.288Z,1761541894.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972497 target range: 13.332113 and range: 13.40 m. 2025-10-27T05:11:34.408Z,1761541894.408 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.338997 2025-10-27T05:11:34.597Z,1761541894.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953405,0.294840,0.063944],[-0.301481,0.939047,0.165228],[-0.011331,-0.176807,0.984180]] 2025-10-27T05:11:34.633Z,1761541894.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:34.651Z,1761541894.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m. 2025-10-27T05:11:34.654Z,1761541894.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.332113 m, nav range: 12.633377 m, bearing: 348.883082 deg, approach rate: -0.553761 m/s, LOS rate: -0.099437 deg/s, cmd heading: 342.198870 deg, new cmd heading: 342.090766 deg. 2025-10-27T05:11:34.665Z,1761541894.665 [DAT](INFO): DAT read: Rx Time:05:11:33.2867 2025-10-27T05:11:34.666Z,1761541894.666 [DAT](INFO): Rx dataTimestamp_ set to:1761541894.665563 2025-10-27T05:11:34.667Z,1761541894.667 [DAT](INFO): DAT read: Bearing 153.9, 1.3 (Local) 2025-10-27T05:11:34.668Z,1761541894.668 [DAT](INFO): Local bearing/azimuth received: Bearing 153.9, 1.3 (Local) 2025-10-27T05:11:34.670Z,1761541894.670 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-27T05:11:34.674Z,1761541894.674 [DAT](INFO): DAT read: 05:11:33.2867 LVL= 26976, 32753, 29490, 32755, AGC= 57, IDX= 500,-0.16, 0.133,-1.766, 0.117,-0.086, PHS= 0.321,-1.635, 0.159, RAW= 145.7, 12.3, CAL= 145.4, 13.4, ROT= 4.6, -13.4 2025-10-27T05:11:34.677Z,1761541894.677 [DAT](INFO): got valid direction response: 05:11:33.2867 LVL= 26976, 32753, 29490, 32755, AGC= 57, IDX= 500,-0.16, 0.133,-1.766, 0.117,-0.086, PHS= 0.321,-1.635, 0.159, RAW= 145.7, 12.3, CAL= 145.4, 13.4, ROT= 4.6, -13.4 2025-10-27T05:11:34.678Z,1761541894.678 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:11:34.680Z,1761541894.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970610 target range: 13.332113 and range: 13.40 m. 2025-10-27T05:11:34.698Z,1761541894.698 [DAT](INFO): direction in FSK: [0.969642,0.078016,0.231748] 2025-10-27T05:11:34.708Z,1761541894.708 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:34.744Z,1761541894.744 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.675266 2025-10-27T05:11:34.912Z,1761541894.912 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.842751 2025-10-27T05:11:35.150Z,1761541895.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.508829 s, deltaX: -0.200000 m, approachRate: -0.393059 m/s, rangeRepo size: 4 2025-10-27T05:11:35.153Z,1761541895.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.133060 m, bearing: 349.360239 deg, lat: 36.779340 deg, lon: -121.859625 deg, deltaT: 0.508829 s, deltaX: -0.199054 m, approachRate: -0.391200 m/s, posRepo size: 4 2025-10-27T05:11:35.153Z,1761541895.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-27T05:11:35.156Z,1761541895.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.133060 m, nav range: 12.466236 m, bearing: 348.906501 deg, approach rate: 0.000000 m/s, LOS rate: -0.099437 deg/s, cmd heading: 342.090762 deg, new cmd heading: 341.937195 deg. 2025-10-27T05:11:35.157Z,1761541895.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967930 target range: 13.133060 and range: 13.20 m. 2025-10-27T05:11:35.165Z,1761541895.165 [DAT](INFO): DAT read: Rx Time:05:11:33.7865 2025-10-27T05:11:35.165Z,1761541895.165 [DAT](INFO): Rx dataTimestamp_ set to:1761541895.164858 2025-10-27T05:11:35.166Z,1761541895.166 [DAT](INFO): DAT read: Bearing 155.2, 0.5 (Local) 2025-10-27T05:11:35.183Z,1761541895.183 [DAT](INFO): Local bearing/azimuth received: Bearing 155.2, 0.5 (Local) 2025-10-27T05:11:35.185Z,1761541895.185 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-27T05:11:35.190Z,1761541895.190 [DAT](INFO): DAT read: 05:11:33.7865 LVL= 30416, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.26, 0.580,-1.326, 0.581, 0.406, PHS= 0.276,-1.687, 0.131, RAW= 146.2, 13.4, CAL= 145.9, 14.7, ROT= 4.1, -14.7 2025-10-27T05:11:35.191Z,1761541895.191 [DAT](INFO): got valid direction response: 05:11:33.7865 LVL= 30416, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.26, 0.580,-1.326, 0.581, 0.406, PHS= 0.276,-1.687, 0.131, RAW= 146.2, 13.4, CAL= 145.9, 14.7, ROT= 4.1, -14.7 2025-10-27T05:11:35.195Z,1761541895.195 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:11:35.196Z,1761541895.196 [DAT](INFO): direction in FSK: [0.964792,0.069157,0.253758] 2025-10-27T05:11:35.196Z,1761541895.196 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:35.209Z,1761541895.209 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.139317 2025-10-27T05:11:35.419Z,1761541895.419 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.348839 2025-10-27T05:11:35.496Z,1761541895.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953737,0.293701,0.064225],[-0.300415,0.939302,0.165717],[-0.011656,-0.177345,0.984080]] 2025-10-27T05:11:35.540Z,1761541895.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.499295 s, deltaX: -0.300000 m, approachRate: -0.600848 m/s, rangeRepo size: 4 2025-10-27T05:11:35.542Z,1761541895.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.834581 m, bearing: 349.181907 deg, lat: 36.779341 deg, lon: -121.859625 deg, deltaT: 0.499295 s, deltaX: -0.298478 m, approachRate: -0.597799 m/s, posRepo size: 4 2025-10-27T05:11:35.543Z,1761541895.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-27T05:11:35.546Z,1761541895.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.834581 m, nav range: 12.405046 m, bearing: 349.091458 deg, approach rate: 0.000000 m/s, LOS rate: -0.099437 deg/s, cmd heading: 341.937192 deg, new cmd heading: 341.826958 deg. 2025-10-27T05:11:35.551Z,1761541895.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966006 target range: 12.834581 and range: 12.90 m. 2025-10-27T05:11:35.669Z,1761541895.669 [DAT](INFO): DAT read: Rx Time:05:11:34.2863 2025-10-27T05:11:35.670Z,1761541895.670 [DAT](INFO): Rx dataTimestamp_ set to:1761541895.669679 2025-10-27T05:11:35.672Z,1761541895.672 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 2025-10-27T05:11:35.673Z,1761541895.673 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-27T05:11:35.674Z,1761541895.674 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.604893 2025-10-27T05:11:35.900Z,1761541895.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953527,0.294270,0.064740],[-0.301062,0.939154,0.165380],[-0.012135,-0.177185,0.984103]] 2025-10-27T05:11:35.909Z,1761541895.909 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.05, 76.80, 83.25, 2025-10-27T05:11:35.927Z,1761541895.927 [DAT](INFO): DAT read: Rx Time:05:11:34.7861 2025-10-27T05:11:35.929Z,1761541895.929 [DAT](INFO): Rx dataTimestamp_ set to:1761541895.927676 2025-10-27T05:11:35.933Z,1761541895.933 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.861168 2025-10-27T05:11:35.986Z,1761541895.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504821 s, deltaX: -0.299999 m, approachRate: -0.594269 m/s, rangeRepo size: 4 2025-10-27T05:11:35.991Z,1761541895.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-27T05:11:35.994Z,1761541895.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.834581 m, nav range: 12.180337 m, bearing: 349.043162 deg, approach rate: -0.481594 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.826953 deg, new cmd heading: 341.679392 deg. 2025-10-27T05:11:35.000Z,1761541896.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963430 target range: 12.834581 and range: 12.60 m. 2025-10-27T05:11:36.177Z,1761541896.177 [DAT](INFO): DAT read: Bearing 156.5, -0.1 (Local) 2025-10-27T05:11:36.177Z,1761541896.177 [DAT](INFO): Local bearing/azimuth received: Bearing 156.5, -0.1 (Local) 2025-10-27T05:11:36.179Z,1761541896.179 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T05:11:36.188Z,1761541896.188 [DAT](INFO): DAT read: 05:11:34.7861 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.33,-0.389,-2.289,-0.374,-0.518, PHS= 0.232,-1.725, 0.100, RAW= 146.5, 14.6, CAL= 146.4, 16.0, ROT= 3.6, -16.0 2025-10-27T05:11:36.189Z,1761541896.189 [DAT](INFO): got valid direction response: 05:11:34.7861 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.33,-0.389,-2.289,-0.374,-0.518, PHS= 0.232,-1.725, 0.100, RAW= 146.5, 14.6, CAL= 146.4, 16.0, ROT= 3.6, -16.0 2025-10-27T05:11:36.190Z,1761541896.190 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:11:36.191Z,1761541896.191 [DAT](INFO): direction in FSK: [0.959365,0.060358,0.275637] 2025-10-27T05:11:36.191Z,1761541896.191 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:36.195Z,1761541896.195 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.125965 2025-10-27T05:11:36.320Z,1761541896.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953415,0.294566,0.065042],[-0.301426,0.938782,0.166824],[-0.011919,-0.178657,0.983839]] 2025-10-27T05:11:36.344Z,1761541896.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505662 s, deltaX: -0.100000 m, approachRate: -0.197761 m/s, rangeRepo size: 4 2025-10-27T05:11:36.346Z,1761541896.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.436585 m, bearing: 348.895684 deg, lat: 36.779341 deg, lon: -121.859625 deg, deltaT: 1.010483 s, deltaX: -0.397996 m, approachRate: -0.393867 m/s, posRepo size: 4 2025-10-27T05:11:36.346Z,1761541896.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m. 2025-10-27T05:11:36.350Z,1761541896.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.436585 m, nav range: 12.038864 m, bearing: 349.045236 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.679394 deg, new cmd heading: 341.566605 deg. 2025-10-27T05:11:36.367Z,1761541896.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961462 target range: 12.436585 and range: 12.50 m. 2025-10-27T05:11:36.432Z,1761541896.432 [DAT](INFO): DAT read: Rx Time:05:11:35.2860 2025-10-27T05:11:36.433Z,1761541896.433 [DAT](INFO): Rx dataTimestamp_ set to:1761541896.431967 2025-10-27T05:11:36.436Z,1761541896.436 [DAT](INFO): DAT read: Bearing 155.6, 1.1 (Local) 2025-10-27T05:11:36.437Z,1761541896.437 [DAT](INFO): Local bearing/azimuth received: Bearing 155.6, 1.1 (Local) 2025-10-27T05:11:36.440Z,1761541896.440 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.370380 2025-10-27T05:11:36.681Z,1761541896.681 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 2025-10-27T05:11:36.686Z,1761541896.686 [DAT](INFO): DAT read: 05:11:35.2860 LVL= 30560, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.06,-0.967,-2.874,-0.990,-1.148, PHS= 0.283,-1.681, 0.114, RAW= 145.6, 13.5, CAL= 145.2, 14.8, ROT= 4.8, -14.8 2025-10-27T05:11:36.687Z,1761541896.687 [DAT](INFO): got valid direction response: 05:11:35.2860 LVL= 30560, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.06,-0.967,-2.874,-0.990,-1.148, PHS= 0.283,-1.681, 0.114, RAW= 145.6, 13.5, CAL= 145.2, 14.8, ROT= 4.8, -14.8 2025-10-27T05:11:36.688Z,1761541896.688 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:11:36.688Z,1761541896.688 [DAT](INFO): direction in FSK: [0.963433,0.080902,0.255446] 2025-10-27T05:11:36.689Z,1761541896.689 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:36.699Z,1761541896.699 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.630058 2025-10-27T05:11:36.796Z,1761541896.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953357,0.294666,0.065438],[-0.301611,0.938488,0.168142],[-0.011867,-0.180036,0.983588]] 2025-10-27T05:11:36.889Z,1761541896.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504010 s, deltaX: -0.200000 m, approachRate: -0.396817 m/s, rangeRepo size: 4 2025-10-27T05:11:36.896Z,1761541896.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.237594 m, bearing: 349.849466 deg, lat: 36.779342 deg, lon: -121.859625 deg, deltaT: 0.504010 s, deltaX: -0.198992 m, approachRate: -0.394817 m/s, posRepo size: 4 2025-10-27T05:11:36.896Z,1761541896.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m. 2025-10-27T05:11:36.903Z,1761541896.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.237594 m, nav range: 11.819247 m, bearing: 349.034407 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.566614 deg, new cmd heading: 341.393844 deg. 2025-10-27T05:11:36.904Z,1761541896.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958447 target range: 12.237594 and range: 12.30 m. 2025-10-27T05:11:36.935Z,1761541896.935 [DAT](INFO): DAT read: Rx Time:05:11:35.7858 2025-10-27T05:11:36.937Z,1761541896.937 [DAT](INFO): Rx dataTimestamp_ set to:1761541896.936062 2025-10-27T05:11:36.946Z,1761541896.946 [DAT](INFO): DAT read: Bearing 153.9, 1.0 (Local) 2025-10-27T05:11:36.947Z,1761541896.947 [DAT](INFO): Local bearing/azimuth received: Bearing 153.9, 1.0 (Local) 2025-10-27T05:11:36.958Z,1761541896.958 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 2025-10-27T05:11:37.011Z,1761541897.011 [DAT](INFO): DAT read: 05:11:35.7858 LVL= 28560, 32753, 32242, 32755, AGC= 57, IDX= 506, 0.39,-0.668,-2.570,-0.673,-0.892, PHS= 0.326,-1.633, 0.175, RAW= 146.0, 12.0, CAL= 145.7, 13.1, ROT= 4.3, -13.1 2025-10-27T05:11:37.013Z,1761541897.013 [DAT](INFO): got valid direction response: 05:11:35.7858 LVL= 28560, 32753, 32242, 32755, AGC= 57, IDX= 506, 0.39,-0.668,-2.570,-0.673,-0.892, PHS= 0.326,-1.633, 0.175, RAW= 146.0, 12.0, CAL= 145.7, 13.1, ROT= 4.3, -13.1 2025-10-27T05:11:37.013Z,1761541897.013 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:11:37.014Z,1761541897.014 [DAT](INFO): direction in FSK: [0.971234,0.073027,0.226651] 2025-10-27T05:11:37.014Z,1761541897.014 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:37.033Z,1761541897.033 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.963348 2025-10-27T05:11:37.184Z,1761541897.184 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.115093 2025-10-27T05:11:37.320Z,1761541897.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.256711 s, deltaX: -0.300000 m, approachRate: -1.168630 m/s, rangeRepo size: 4 2025-10-27T05:11:37.322Z,1761541897.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.939116 m, bearing: 349.043539 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.256711 s, deltaX: -0.298478 m, approachRate: -1.162701 m/s, posRepo size: 4 2025-10-27T05:11:37.339Z,1761541897.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:11:37.342Z,1761541897.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.939116 m, nav range: 11.700471 m, bearing: 349.085384 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.393837 deg, new cmd heading: 341.257565 deg. 2025-10-27T05:11:37.343Z,1761541897.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956068 target range: 11.939116 and range: 12.00 m. 2025-10-27T05:11:37.439Z,1761541897.439 [DAT](INFO): DAT read: Rx Time:05:11:36.2857 2025-10-27T05:11:37.441Z,1761541897.441 [DAT](INFO): Rx dataTimestamp_ set to:1761541897.440064 2025-10-27T05:11:37.445Z,1761541897.445 [DAT](INFO): DAT read: Bearing 155.3, 1.0 (Local) 2025-10-27T05:11:37.446Z,1761541897.446 [DAT](INFO): Local bearing/azimuth received: Bearing 155.3, 1.0 (Local) 2025-10-27T05:11:37.451Z,1761541897.451 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 2025-10-27T05:11:37.453Z,1761541897.453 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T05:11:37.470Z,1761541897.470 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.400047 2025-10-27T05:11:37.692Z,1761541897.692 [DAT](INFO): DAT read: 05:11:36.2857 LVL= 31936, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.08,-0.471,-2.379,-0.487,-0.659, PHS= 0.290,-1.676, 0.128, RAW= 145.7, 13.2, CAL= 145.4, 14.5, ROT= 4.6, -14.5 2025-10-27T05:11:37.693Z,1761541897.693 [DAT](INFO): got valid direction response: 05:11:36.2857 LVL= 31936, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.08,-0.471,-2.379,-0.487,-0.659, PHS= 0.290,-1.676, 0.128, RAW= 145.7, 13.2, CAL= 145.4, 14.5, ROT= 4.6, -14.5 2025-10-27T05:11:37.693Z,1761541897.693 [DAT](INFO): #Rx 86: Read direction message, but no range. 2025-10-27T05:11:37.694Z,1761541897.694 [DAT](INFO): direction in FSK: [0.965029,0.077644,0.250380] 2025-10-27T05:11:37.698Z,1761541897.698 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.629192 2025-10-27T05:11:37.713Z,1761541897.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953076,0.295382,0.066306],[-0.302510,0.937640,0.171229],[-0.011593,-0.183253,0.982997]] 2025-10-27T05:11:37.842Z,1761541897.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504002 s, deltaX: -0.100000 m, approachRate: -0.198413 m/s, rangeRepo size: 4 2025-10-27T05:11:37.848Z,1761541897.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.839634 m, bearing: 349.588723 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.504002 s, deltaX: -0.099482 m, approachRate: -0.197383 m/s, posRepo size: 4 2025-10-27T05:11:37.849Z,1761541897.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-27T05:11:37.856Z,1761541897.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.839634 m, nav range: 11.447187 m, bearing: 349.037021 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.257561 deg, new cmd heading: 341.092534 deg. 2025-10-27T05:11:37.857Z,1761541897.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953188 target range: 11.839634 and range: 11.90 m. 2025-10-27T05:11:37.945Z,1761541897.945 [DAT](INFO): DAT read: Rx Time:05:11:36.7855 2025-10-27T05:11:37.946Z,1761541897.946 [DAT](INFO): Rx dataTimestamp_ set to:1761541897.945245 2025-10-27T05:11:37.950Z,1761541897.950 [DAT](INFO): DAT read: Bearing 157.4, -0.9 (Local) 2025-10-27T05:11:37.951Z,1761541897.951 [DAT](INFO): Local bearing/azimuth received: Bearing 157.4, -0.9 (Local) 2025-10-27T05:11:37.957Z,1761541897.957 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.6 2025-10-27T05:11:37.959Z,1761541897.959 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-27T05:11:37.966Z,1761541897.966 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.893116 2025-10-27T05:11:38.196Z,1761541898.196 [DAT](INFO): DAT read: 05:11:36.7855 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.24, 0.610,-1.298, 0.641, 0.509, PHS= 0.203,-1.762, 0.088, RAW= 147.0, 15.2, CAL= 146.9, 16.8, ROT= 3.1, -16.8 2025-10-27T05:11:38.197Z,1761541898.197 [DAT](INFO): got valid direction response: 05:11:36.7855 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.24, 0.610,-1.298, 0.641, 0.509, PHS= 0.203,-1.762, 0.088, RAW= 147.0, 15.2, CAL= 146.9, 16.8, ROT= 3.1, -16.8 2025-10-27T05:11:38.197Z,1761541898.197 [DAT](INFO): #Rx 88: Read direction message, but no range. 2025-10-27T05:11:38.198Z,1761541898.198 [DAT](INFO): direction in FSK: [0.955919,0.051771,0.289032] 2025-10-27T05:11:38.202Z,1761541898.202 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.132538 2025-10-27T05:11:38.209Z,1761541898.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952830,0.295996,0.067088],[-0.303286,0.936956,0.173584],[-0.011478,-0.185743,0.982531]] 2025-10-27T05:11:38.288Z,1761541898.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.505181 s, deltaX: -0.299999 m, approachRate: -0.593845 m/s, rangeRepo size: 4 2025-10-27T05:11:38.290Z,1761541898.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.541157 m, bearing: 348.566016 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.505181 s, deltaX: -0.298477 m, approachRate: -0.590832 m/s, posRepo size: 4 2025-10-27T05:11:38.295Z,1761541898.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-27T05:11:38.305Z,1761541898.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.541157 m, nav range: 11.216912 m, bearing: 348.966528 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 341.092544 deg, new cmd heading: 340.952864 deg. 2025-10-27T05:11:38.306Z,1761541898.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950750 target range: 11.541157 and range: 11.60 m. 2025-10-27T05:11:38.450Z,1761541898.450 [DAT](INFO): DAT read: Rx Time:05:11:37.2854 2025-10-27T05:11:38.452Z,1761541898.452 [DAT](INFO): Rx dataTimestamp_ set to:1761541898.450461 2025-10-27T05:11:38.455Z,1761541898.455 [DAT](INFO): DAT read: Bearing 156.3, 0.5 (Local) 2025-10-27T05:11:38.457Z,1761541898.457 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, 0.5 (Local) 2025-10-27T05:11:38.473Z,1761541898.473 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4 2025-10-27T05:11:38.499Z,1761541898.499 [DAT](INFO): DAT read: 05:11:37.2854 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.22,-0.686,-2.601,-0.695,-0.845, PHS= 0.261,-1.711, 0.105, RAW= 145.9, 14.1, CAL= 145.7, 15.4, ROT= 4.3, -15.4 2025-10-27T05:11:38.501Z,1761541898.501 [DAT](INFO): got valid direction response: 05:11:37.2854 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.22,-0.686,-2.601,-0.695,-0.845, PHS= 0.261,-1.711, 0.105, RAW= 145.9, 14.1, CAL= 145.7, 15.4, ROT= 4.3, -15.4 2025-10-27T05:11:38.501Z,1761541898.501 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:11:38.502Z,1761541898.502 [DAT](INFO): direction in FSK: [0.961382,0.072287,0.265556] 2025-10-27T05:11:38.502Z,1761541898.502 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:38.519Z,1761541898.519 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.449448 2025-10-27T05:11:38.671Z,1761541898.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952583,0.296800,0.067048],[-0.304073,0.936647,0.173874],[-0.011195,-0.186017,0.982483]] 2025-10-27T05:11:38.699Z,1761541898.699 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.630161 2025-10-27T05:11:38.790Z,1761541898.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.505216 s, deltaX: -0.200001 m, approachRate: -0.395872 m/s, rangeRepo size: 4 2025-10-27T05:11:38.804Z,1761541898.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.342161 m, bearing: 349.416437 deg, lat: 36.779343 deg, lon: -121.859624 deg, deltaT: 0.505216 s, deltaX: -0.198996 m, approachRate: -0.393882 m/s, posRepo size: 4 2025-10-27T05:11:38.805Z,1761541898.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-27T05:11:38.812Z,1761541898.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.342161 m, nav range: 10.985768 m, bearing: 349.383224 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 340.952853 deg, new cmd heading: 340.794990 deg. 2025-10-27T05:11:38.813Z,1761541898.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947995 target range: 11.342161 and range: 11.40 m. 2025-10-27T05:11:38.953Z,1761541898.953 [DAT](INFO): DAT read: Rx Time:05:11:37.7851 2025-10-27T05:11:38.955Z,1761541898.955 [DAT](INFO): Rx dataTimestamp_ set to:1761541898.953493 2025-10-27T05:11:38.959Z,1761541898.959 [DAT](INFO): DAT read: Bearing 156.2, -0.2 (Local) 2025-10-27T05:11:38.960Z,1761541898.960 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -0.2 (Local) 2025-10-27T05:11:38.992Z,1761541898.992 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 2025-10-27T05:11:38.999Z,1761541898.999 [DAT](INFO): DAT read: 05:11:37.7851 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.05, 0.124,-1.782, 0.143,-0.023, PHS= 0.249,-1.713, 0.122, RAW= 146.7, 14.0, CAL= 146.5, 15.4, ROT= 3.5, -15.4 2025-10-27T05:11:39.000Z,1761541899.000 [DAT](INFO): got valid direction response: 05:11:37.7851 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.05, 0.124,-1.782, 0.143,-0.023, PHS= 0.249,-1.713, 0.122, RAW= 146.7, 14.0, CAL= 146.5, 15.4, ROT= 3.5, -15.4 2025-10-27T05:11:39.000Z,1761541899.000 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:11:39.001Z,1761541899.001 [DAT](INFO): direction in FSK: [0.962297,0.058857,0.265556] 2025-10-27T05:11:39.002Z,1761541899.002 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:39.006Z,1761541899.006 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.936928 2025-10-27T05:11:39.144Z,1761541899.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951876,0.299003,0.067293],[-0.306308,0.935516,0.176024],[-0.010322,-0.188166,0.982083]] 2025-10-27T05:11:39.200Z,1761541899.200 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.130871 2025-10-27T05:11:39.276Z,1761541899.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503032 s, deltaX: -0.400000 m, approachRate: -0.795177 m/s, rangeRepo size: 4 2025-10-27T05:11:39.278Z,1761541899.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.944191 m, bearing: 348.535971 deg, lat: 36.779343 deg, lon: -121.859625 deg, deltaT: 0.503032 s, deltaX: -0.397970 m, approachRate: -0.791143 m/s, posRepo size: 4 2025-10-27T05:11:39.278Z,1761541899.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-27T05:11:39.285Z,1761541899.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.944191 m, nav range: 10.670755 m, bearing: 348.922415 deg, approach rate: 0.000000 m/s, LOS rate: -0.105417 deg/s, cmd heading: 340.794993 deg, new cmd heading: 340.641741 deg. 2025-10-27T05:11:39.286Z,1761541899.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945320 target range: 10.944191 and range: 11.00 m. 2025-10-27T05:11:39.456Z,1761541899.456 [DAT](INFO): DAT read: Rx Time:05:11:38.2850 2025-10-27T05:11:39.458Z,1761541899.458 [DAT](INFO): Rx dataTimestamp_ set to:1761541899.456976 2025-10-27T05:11:39.462Z,1761541899.462 [DAT](INFO): DAT read: Bearing 156.4, -0.5 (Local) 2025-10-27T05:11:39.464Z,1761541899.464 [DAT](INFO): Local bearing/azimuth received: Bearing 156.4, -0.5 (Local) 2025-10-27T05:11:39.477Z,1761541899.477 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.6 2025-10-27T05:11:39.483Z,1761541899.483 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-27T05:11:39.484Z,1761541899.484 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.415043 2025-10-27T05:11:39.609Z,1761541899.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951554,0.300072,0.067102],[-0.307320,0.935228,0.175791],[-0.010005,-0.187896,0.982138]] 2025-10-27T05:11:39.654Z,1761541899.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:39.660Z,1761541899.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503483 s, deltaX: -0.200000 m, approachRate: -0.397233 m/s, rangeRepo size: 4 2025-10-27T05:11:39.661Z,1761541899.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-27T05:11:39.668Z,1761541899.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.944191 m, nav range: 10.457467 m, bearing: 348.908433 deg, approach rate: -0.542834 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.641751 deg, new cmd heading: 340.598949 deg. 2025-10-27T05:11:39.669Z,1761541899.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944573 target range: 10.944191 and range: 10.80 m. 2025-10-27T05:11:39.710Z,1761541899.710 [DAT](INFO): DAT read: 05:11:38.2850 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498, 0.33, 0.339,-1.563, 0.365, 0.202, PHS= 0.239,-1.720, 0.119, RAW= 146.9, 14.2, CAL= 146.7, 15.6, ROT= 3.3, -15.6 2025-10-27T05:11:39.713Z,1761541899.713 [DAT](INFO): got valid direction response: 05:11:38.2850 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498, 0.33, 0.339,-1.563, 0.365, 0.202, PHS= 0.239,-1.720, 0.119, RAW= 146.9, 14.2, CAL= 146.7, 15.6, ROT= 3.3, -15.6 2025-10-27T05:11:39.713Z,1761541899.713 [DAT](INFO): #Rx 92: Read direction message, but no range. 2025-10-27T05:11:39.715Z,1761541899.715 [DAT](INFO): direction in FSK: [0.961565,0.055444,0.268920] 2025-10-27T05:11:39.724Z,1761541899.724 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.655132 2025-10-27T05:11:39.961Z,1761541899.961 [DAT](INFO): DAT read: Rx Time:05:11:38.7847 2025-10-27T05:11:39.962Z,1761541899.962 [DAT](INFO): Rx dataTimestamp_ set to:1761541899.961248 2025-10-27T05:11:39.967Z,1761541899.967 [DAT](INFO): DAT read: Bearing 157.8, -0.4 (Local) 2025-10-27T05:11:39.967Z,1761541899.967 [DAT](INFO): Local bearing/azimuth received: Bearing 157.8, -0.4 (Local) 2025-10-27T05:11:39.969Z,1761541899.969 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 2025-10-27T05:11:39.970Z,1761541899.970 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T05:11:39.971Z,1761541899.971 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.901348 2025-10-27T05:11:40.066Z,1761541900.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951099,0.301503,0.067137],[-0.308743,0.934566,0.176818],[-0.009432,-0.188900,0.981951]] 2025-10-27T05:11:40.148Z,1761541900.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504272 s, deltaX: -0.400001 m, approachRate: -0.793224 m/s, rangeRepo size: 4 2025-10-27T05:11:40.150Z,1761541900.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.347237 m, bearing: 348.246893 deg, lat: 36.779342 deg, lon: -121.859626 deg, deltaT: 1.007755 s, deltaX: -0.596954 m, approachRate: -0.592361 m/s, posRepo size: 4 2025-10-27T05:11:40.155Z,1761541900.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.35 m. 2025-10-27T05:11:40.158Z,1761541900.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.347237 m, nav range: 10.158131 m, bearing: 348.505585 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.598940 deg, new cmd heading: 340.546305 deg. 2025-10-27T05:11:40.163Z,1761541900.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943654 target range: 10.347237 and range: 10.40 m. 2025-10-27T05:11:40.214Z,1761541900.214 [DAT](INFO): DAT read: 05:11:38.7847 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496,-0.29,-2.154, 2.221,-2.144,-2.258, PHS= 0.205,-1.760, 0.070, RAW= 146.5, 15.4, CAL= 146.3, 17.0, ROT= 3.7, -17.0 2025-10-27T05:11:40.216Z,1761541900.216 [DAT](INFO): got valid direction response: 05:11:38.7847 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496,-0.29,-2.154, 2.221,-2.144,-2.258, PHS= 0.205,-1.760, 0.070, RAW= 146.5, 15.4, CAL= 146.3, 17.0, ROT= 3.7, -17.0 2025-10-27T05:11:40.217Z,1761541900.217 [DAT](INFO): #Rx 94: Read direction message, but no range. 2025-10-27T05:11:40.218Z,1761541900.218 [DAT](INFO): direction in FSK: [0.954311,0.061713,0.292372] 2025-10-27T05:11:40.225Z,1761541900.225 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.155502 2025-10-27T05:11:40.464Z,1761541900.464 [DAT](INFO): DAT read: Rx Time:05:11:39.2849 2025-10-27T05:11:40.466Z,1761541900.466 [DAT](INFO): Rx dataTimestamp_ set to:1761541900.464423 2025-10-27T05:11:40.468Z,1761541900.468 [DAT](INFO): DAT read: Bearing 156.8, -0.3 (Local) 2025-10-27T05:11:40.468Z,1761541900.468 [DAT](INFO): Local bearing/azimuth received: Bearing 156.8, -0.3 (Local) 2025-10-27T05:11:40.470Z,1761541900.470 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 2025-10-27T05:11:40.470Z,1761541900.470 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-27T05:11:40.472Z,1761541900.472 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.402634 2025-10-27T05:11:40.489Z,1761541900.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950639,0.302896,0.067380],[-0.310164,0.933988,0.177383],[-0.009203,-0.189526,0.981833]] 2025-10-27T05:11:40.565Z,1761541900.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503175 s, deltaX: 0.300000 m, approachRate: 0.596214 m/s, rangeRepo size: 4 2025-10-27T05:11:40.574Z,1761541900.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.645715 m, bearing: 348.843223 deg, lat: 36.779342 deg, lon: -121.859626 deg, deltaT: 0.503175 s, deltaX: 0.298478 m, approachRate: 0.593189 m/s, posRepo size: 4 2025-10-27T05:11:40.574Z,1761541900.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m. 2025-10-27T05:11:40.588Z,1761541900.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.645715 m, nav range: 9.934958 m, bearing: 348.488328 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.546293 deg, new cmd heading: 340.500410 deg. 2025-10-27T05:11:40.595Z,1761541900.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942853 target range: 10.645715 and range: 10.70 m. 2025-10-27T05:11:40.720Z,1761541900.720 [DAT](INFO): DAT read: 05:11:39.2849 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.04,-0.607,-2.513,-0.590,-0.739, PHS= 0.234,-1.729, 0.104, RAW= 146.6, 14.5, CAL= 146.4, 15.9, ROT= 3.6, -15.9 2025-10-27T05:11:40.722Z,1761541900.722 [DAT](INFO): got valid direction response: 05:11:39.2849 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.04,-0.607,-2.513,-0.590,-0.739, PHS= 0.234,-1.729, 0.104, RAW= 146.6, 14.5, CAL= 146.4, 15.9, ROT= 3.6, -15.9 2025-10-27T05:11:40.723Z,1761541900.723 [DAT](INFO): #Rx 96: Read direction message, but no range. 2025-10-27T05:11:40.724Z,1761541900.724 [DAT](INFO): direction in FSK: [0.959844,0.060388,0.273959] 2025-10-27T05:11:40.731Z,1761541900.731 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.661922 2025-10-27T05:11:40.968Z,1761541900.968 [DAT](INFO): DAT read: Rx Time:05:11:39.7846 2025-10-27T05:11:40.969Z,1761541900.969 [DAT](INFO): Rx dataTimestamp_ set to:1761541900.968404 2025-10-27T05:11:40.970Z,1761541900.970 [DAT](INFO): DAT read: Bearing 158.2, -1.4 (Local) 2025-10-27T05:11:40.970Z,1761541900.970 [DAT](INFO): Local bearing/azimuth received: Bearing 158.2, -1.4 (Local) 2025-10-27T05:11:40.973Z,1761541900.973 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.5 2025-10-27T05:11:40.977Z,1761541900.977 [DAT](INFO): DAT read: 05:11:39.7846 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.11, 0.614,-1.290, 0.656, 0.539, PHS= 0.177,-1.784, 0.074, RAW= 147.3, 15.8, CAL= 147.3, 17.5, ROT= 2.7, -17.5 2025-10-27T05:11:40.979Z,1761541900.979 [DAT](INFO): got valid direction response: 05:11:39.7846 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.11, 0.614,-1.290, 0.656, 0.539, PHS= 0.177,-1.784, 0.074, RAW= 147.3, 15.8, CAL= 147.3, 17.5, ROT= 2.7, -17.5 2025-10-27T05:11:40.979Z,1761541900.979 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:11:40.980Z,1761541900.980 [DAT](INFO): direction in FSK: [0.952658,0.044926,0.300706] 2025-10-27T05:11:40.980Z,1761541900.980 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:40.986Z,1761541900.986 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.916779 2025-10-27T05:11:41.026Z,1761541901.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950224,0.304166,0.067511],[-0.311442,0.933442,0.178018],[-0.008870,-0.190183,0.981709]] 2025-10-27T05:11:41.139Z,1761541901.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503981 s, deltaX: -0.500000 m, approachRate: -0.992101 m/s, rangeRepo size: 4 2025-10-27T05:11:41.141Z,1761541901.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.148245 m, bearing: 347.906859 deg, lat: 36.779343 deg, lon: -121.859626 deg, deltaT: 0.503981 s, deltaX: -0.497470 m, approachRate: -0.987081 m/s, posRepo size: 4 2025-10-27T05:11:41.142Z,1761541901.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m. 2025-10-27T05:11:41.149Z,1761541901.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.148245 m, nav range: 9.723969 m, bearing: 348.574681 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.500421 deg, new cmd heading: 340.437846 deg. 2025-10-27T05:11:41.150Z,1761541901.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941761 target range: 10.148245 and range: 10.20 m. 2025-10-27T05:11:41.217Z,1761541901.217 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.147614 2025-10-27T05:11:41.469Z,1761541901.469 [DAT](INFO): DAT read: Rx Time:05:11:40.2846 2025-10-27T05:11:41.470Z,1761541901.470 [DAT](INFO): Rx dataTimestamp_ set to:1761541901.469275 2025-10-27T05:11:41.471Z,1761541901.471 [DAT](INFO): DAT read: Bearing 159.9, -2.4 (Local) 2025-10-27T05:11:41.472Z,1761541901.472 [DAT](INFO): Local bearing/azimuth received: Bearing 159.9, -2.4 (Local) 2025-10-27T05:11:41.474Z,1761541901.474 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 2025-10-27T05:11:41.478Z,1761541901.478 [DAT](INFO): DAT read: 05:11:40.2846 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.30, 2.492, 0.644, 2.556, 2.483, PHS= 0.110,-1.795, 0.029, RAW= 147.8, 17.4, CAL= 148.0, 19.3, ROT= 2.0, -19.3 2025-10-27T05:11:41.480Z,1761541901.480 [DAT](INFO): got valid direction response: 05:11:40.2846 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.30, 2.492, 0.644, 2.556, 2.483, PHS= 0.110,-1.795, 0.029, RAW= 147.8, 17.4, CAL= 148.0, 19.3, ROT= 2.0, -19.3 2025-10-27T05:11:41.480Z,1761541901.480 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:11:41.481Z,1761541901.481 [DAT](INFO): direction in FSK: [0.943226,0.032938,0.330514] 2025-10-27T05:11:41.481Z,1761541901.481 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:41.485Z,1761541901.485 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.415722 2025-10-27T05:11:41.532Z,1761541901.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949531,0.306245,0.067858],[-0.313562,0.932483,0.179315],[-0.008362,-0.191543,0.981449]] 2025-10-27T05:11:41.618Z,1761541901.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.500871 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:41.636Z,1761541901.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.148245 m, bearing: 347.499052 deg, lat: 36.779343 deg, lon: -121.859626 deg, deltaT: 0.500871 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:11:41.637Z,1761541901.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.15 m. 2025-10-27T05:11:41.644Z,1761541901.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.148245 m, nav range: 9.474686 m, bearing: 348.472667 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.437856 deg, new cmd heading: 340.386130 deg. 2025-10-27T05:11:41.645Z,1761541901.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940859 target range: 10.148245 and range: 10.20 m. 2025-10-27T05:11:41.721Z,1761541901.721 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.651245 2025-10-27T05:11:41.723Z,1761541901.723 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:11:41.973Z,1761541901.973 [DAT](INFO): DAT read: Rx Time:05:11:40.7843 2025-10-27T05:11:41.973Z,1761541901.973 [DAT](INFO): Rx dataTimestamp_ set to:1761541901.972986 2025-10-27T05:11:41.975Z,1761541901.975 [DAT](INFO): DAT read: Bearing 159.4, -1.7 (Local) 2025-10-27T05:11:41.975Z,1761541901.975 [DAT](INFO): Local bearing/azimuth received: Bearing 159.4, -1.7 (Local) 2025-10-27T05:11:41.977Z,1761541901.977 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 2025-10-27T05:11:41.982Z,1761541901.982 [DAT](INFO): DAT read: 05:11:40.7843 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.32,-0.653,-2.509,-0.607,-0.687, PHS= 0.136,-1.777, 0.036, RAW= 147.3, 16.9, CAL= 147.4, 18.7, ROT= 2.6, -18.7 2025-10-27T05:11:41.983Z,1761541901.983 [DAT](INFO): got valid direction response: 05:11:40.7843 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.32,-0.653,-2.509,-0.607,-0.687, PHS= 0.136,-1.777, 0.036, RAW= 147.3, 16.9, CAL= 147.4, 18.7, ROT= 2.6, -18.7 2025-10-27T05:11:41.983Z,1761541901.983 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:11:41.984Z,1761541901.984 [DAT](INFO): direction in FSK: [0.946235,0.042968,0.320613] 2025-10-27T05:11:41.985Z,1761541901.985 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:41.988Z,1761541901.988 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.919266 2025-10-27T05:11:42.006Z,1761541902.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949399,0.306694,0.067675],[-0.313964,0.932425,0.178913],[-0.008230,-0.191108,0.981535]] 2025-10-27T05:11:42.181Z,1761541902.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503711 s, deltaX: -0.400000 m, approachRate: -0.794105 m/s, rangeRepo size: 4 2025-10-27T05:11:42.191Z,1761541902.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.750259 m, bearing: 347.924089 deg, lat: 36.779344 deg, lon: -121.859627 deg, deltaT: 0.503711 s, deltaX: -0.397985 m, approachRate: -0.790107 m/s, posRepo size: 4 2025-10-27T05:11:42.192Z,1761541902.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.75 m. 2025-10-27T05:11:42.193Z,1761541902.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m. 2025-10-27T05:11:42.193Z,1761541902.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T05:11:42.220Z,1761541902.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 9.302220 m, bearing: 348.008751 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.386138 deg, new cmd heading: 340.324348 deg. 2025-10-27T05:11:42.220Z,1761541902.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939780 target range: 9.750259 and range: 9.80 m. 2025-10-27T05:11:42.224Z,1761541902.224 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.154739 2025-10-27T05:11:42.477Z,1761541902.477 [DAT](INFO): DAT read: Rx Time:05:11:41.2842 2025-10-27T05:11:42.477Z,1761541902.477 [DAT](INFO): Rx dataTimestamp_ set to:1761541902.476993 2025-10-27T05:11:42.479Z,1761541902.479 [DAT](INFO): DAT read: Bearing 160.6, -2.5 (Local) 2025-10-27T05:11:42.479Z,1761541902.479 [DAT](INFO): Local bearing/azimuth received: Bearing 160.6, -2.5 (Local) 2025-10-27T05:11:42.481Z,1761541902.481 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 2025-10-27T05:11:42.486Z,1761541902.486 [DAT](INFO): DAT read: 05:11:41.2842 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.10, 0.738,-1.097, 0.797, 0.747, PHS= 0.092,-1.799, 0.006, RAW= 147.7, 18.0, CAL= 147.9, 20.0, ROT= 2.1, -20.0 2025-10-27T05:11:42.487Z,1761541902.487 [DAT](INFO): got valid direction response: 05:11:41.2842 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504,-0.10, 0.738,-1.097, 0.797, 0.747, PHS= 0.092,-1.799, 0.006, RAW= 147.7, 18.0, CAL= 147.9, 20.0, ROT= 2.1, -20.0 2025-10-27T05:11:42.488Z,1761541902.488 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:11:42.489Z,1761541902.489 [DAT](INFO): direction in FSK: [0.939062,0.034434,0.342020] 2025-10-27T05:11:42.489Z,1761541902.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:42.494Z,1761541902.494 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.424400 2025-10-27T05:11:42.560Z,1761541902.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949133,0.307428,0.068075],[-0.314772,0.931910,0.180173],[-0.008050,-0.192436,0.981277]] 2025-10-27T05:11:42.627Z,1761541902.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504007 s, deltaX: -0.200000 m, approachRate: -0.396820 m/s, rangeRepo size: 4 2025-10-27T05:11:42.629Z,1761541902.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.551274 m, bearing: 347.690518 deg, lat: 36.779344 deg, lon: -121.859627 deg, deltaT: 0.504007 s, deltaX: -0.198985 m, approachRate: -0.394806 m/s, posRepo size: 4 2025-10-27T05:11:42.630Z,1761541902.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.75 m. 2025-10-27T05:11:42.637Z,1761541902.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 9.070117 m, bearing: 347.981054 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.324339 deg, new cmd heading: 340.276202 deg. 2025-10-27T05:11:42.638Z,1761541902.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938940 target range: 9.750259 and range: 9.60 m. 2025-10-27T05:11:42.724Z,1761541902.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:11:42.729Z,1761541902.729 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.659763 2025-10-27T05:11:42.981Z,1761541902.981 [DAT](INFO): DAT read: Rx Time:05:11:41.7839 2025-10-27T05:11:42.981Z,1761541902.981 [DAT](INFO): Rx dataTimestamp_ set to:1761541902.980908 2025-10-27T05:11:42.982Z,1761541902.982 [DAT](INFO): DAT read: Bearing 163.7, -5.4 (Local) 2025-10-27T05:11:42.983Z,1761541902.983 [DAT](INFO): Local bearing/azimuth received: Bearing 163.7, -5.4 (Local) 2025-10-27T05:11:42.985Z,1761541902.985 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 2025-10-27T05:11:42.990Z,1761541902.990 [DAT](INFO): DAT read: 05:11:41.7839 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501, 0.09, 1.181,-0.556, 1.286, 1.263, PHS= 0.021,-1.773,-0.021, RAW= 148.8, 19.5, CAL= 150.3, 23.6, ROT= 359.7, -23.6 2025-10-27T05:11:42.991Z,1761541902.991 [DAT](INFO): got valid direction response: 05:11:41.7839 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501, 0.09, 1.181,-0.556, 1.286, 1.263, PHS= 0.021,-1.773,-0.021, RAW= 148.8, 19.5, CAL= 150.3, 23.6, ROT= 359.7, -23.6 2025-10-27T05:11:42.991Z,1761541902.991 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T05:11:42.992Z,1761541902.992 [DAT](INFO): direction in FSK: [0.916350,-0.004798,0.400349] 2025-10-27T05:11:42.993Z,1761541902.993 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:42.996Z,1761541902.996 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.927147 2025-10-27T05:11:43.021Z,1761541903.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948852,0.308301,0.068048],[-0.315622,0.931674,0.179905],[-0.007933,-0.192181,0.981327]] 2025-10-27T05:11:43.166Z,1761541903.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503915 s, deltaX: -0.400001 m, approachRate: -0.793786 m/s, rangeRepo size: 4 2025-10-27T05:11:43.173Z,1761541903.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.153303 m, bearing: 346.093068 deg, lat: 36.779344 deg, lon: -121.859627 deg, deltaT: 1.007922 s, deltaX: -0.596956 m, approachRate: -0.592264 m/s, posRepo size: 4 2025-10-27T05:11:43.174Z,1761541903.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.75 m. 2025-10-27T05:11:43.180Z,1761541903.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 8.785044 m, bearing: 347.941454 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.276200 deg, new cmd heading: 340.217029 deg. 2025-10-27T05:11:43.181Z,1761541903.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937907 target range: 9.750259 and range: 9.20 m. 2025-10-27T05:11:43.233Z,1761541903.233 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.163555 2025-10-27T05:11:43.485Z,1761541903.485 [DAT](INFO): DAT read: Rx Time:05:11:42.2837 2025-10-27T05:11:43.485Z,1761541903.485 [DAT](INFO): Rx dataTimestamp_ set to:1761541903.484754 2025-10-27T05:11:43.486Z,1761541903.486 [DAT](INFO): DAT read: Bearing 165.2, -6.6 (Local) 2025-10-27T05:11:43.487Z,1761541903.487 [DAT](INFO): Local bearing/azimuth received: Bearing 165.2, -6.6 (Local) 2025-10-27T05:11:43.489Z,1761541903.489 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-27T05:11:43.493Z,1761541903.493 [DAT](INFO): DAT read: 05:11:42.2837 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 499, 0.39, 1.114,-0.598, 1.238, 1.226, PHS=-0.010,-1.779,-0.032, RAW= 149.4, 20.1, CAL= 151.3, 25.2, ROT= 358.7, -25.2 2025-10-27T05:11:43.494Z,1761541903.494 [DAT](INFO): got valid direction response: 05:11:42.2837 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 499, 0.39, 1.114,-0.598, 1.238, 1.226, PHS=-0.010,-1.779,-0.032, RAW= 149.4, 20.1, CAL= 151.3, 25.2, ROT= 358.7, -25.2 2025-10-27T05:11:43.495Z,1761541903.495 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T05:11:43.496Z,1761541903.496 [DAT](INFO): direction in FSK: [0.904594,-0.020528,0.425779] 2025-10-27T05:11:43.496Z,1761541903.496 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:43.505Z,1761541903.505 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.436146 2025-10-27T05:11:43.553Z,1761541903.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948310,0.309991,0.067931],[-0.317255,0.931207,0.179452],[-0.007629,-0.191727,0.981419]] 2025-10-27T05:11:43.628Z,1761541903.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503846 s, deltaX: -0.300000 m, approachRate: -0.595420 m/s, rangeRepo size: 4 2025-10-27T05:11:43.630Z,1761541903.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.854825 m, bearing: 345.377466 deg, lat: 36.779344 deg, lon: -121.859628 deg, deltaT: 1.511768 s, deltaX: -0.895434 m, approachRate: -0.592309 m/s, posRepo size: 4 2025-10-27T05:11:43.640Z,1761541903.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.75 m. 2025-10-27T05:11:43.647Z,1761541903.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 8.535531 m, bearing: 347.907479 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.217023 deg, new cmd heading: 340.167624 deg. 2025-10-27T05:11:43.648Z,1761541903.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937045 target range: 9.750259 and range: 8.90 m. 2025-10-27T05:11:43.736Z,1761541903.736 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.667007 2025-10-27T05:11:43.988Z,1761541903.988 [DAT](INFO): DAT read: Rx Time:05:11:42.7834 2025-10-27T05:11:43.989Z,1761541903.989 [DAT](INFO): Rx dataTimestamp_ set to:1761541903.988682 2025-10-27T05:11:43.990Z,1761541903.990 [DAT](INFO): DAT read: Bearing 163.5, -6.0 (Local) 2025-10-27T05:11:43.991Z,1761541903.991 [DAT](INFO): Local bearing/azimuth received: Bearing 163.5, -6.0 (Local) 2025-10-27T05:11:43.993Z,1761541903.993 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-27T05:11:44.006Z,1761541904.006 [DAT](INFO): DAT read: 05:11:42.7834 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497,-0.12,-2.529, 2.040,-2.399,-2.438, PHS= 0.011,-1.760,-0.005, RAW= 149.6, 19.4, CAL= 151.0, 23.6, ROT= 359.0, -23.6 2025-10-27T05:11:44.027Z,1761541904.027 [DAT](INFO): got valid direction response: 05:11:42.7834 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497,-0.12,-2.529, 2.040,-2.399,-2.438, PHS= 0.011,-1.760,-0.005, RAW= 149.6, 19.4, CAL= 151.0, 23.6, ROT= 359.0, -23.6 2025-10-27T05:11:44.028Z,1761541904.028 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:11:44.029Z,1761541904.029 [DAT](INFO): direction in FSK: [0.916223,-0.015993,0.400349] 2025-10-27T05:11:44.029Z,1761541904.029 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:44.033Z,1761541904.033 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.963676 2025-10-27T05:11:44.144Z,1761541904.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503928 s, deltaX: -0.500000 m, approachRate: -0.992205 m/s, rangeRepo size: 4 2025-10-27T05:11:44.146Z,1761541904.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.357350 m, bearing: 345.303054 deg, lat: 36.779341 deg, lon: -121.859629 deg, deltaT: 2.015696 s, deltaX: -1.392909 m, approachRate: -0.691031 m/s, posRepo size: 4 2025-10-27T05:11:44.151Z,1761541904.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.36 m. 9.75 m. 2025-10-27T05:11:44.154Z,1761541904.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 8.246070 m, bearing: 347.857051 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.167627 deg, new cmd heading: 340.110992 deg. 2025-10-27T05:11:44.154Z,1761541904.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936057 target range: 9.750259 and range: 8.40 m. 2025-10-27T05:11:44.240Z,1761541904.240 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.170795 2025-10-27T05:11:44.493Z,1761541904.493 [DAT](INFO): DAT read: Rx Time:05:11:43.2834 2025-10-27T05:11:44.494Z,1761541904.494 [DAT](INFO): Rx dataTimestamp_ set to:1761541904.493771 2025-10-27T05:11:44.496Z,1761541904.496 [DAT](INFO): DAT read: Bearing 166.3, -8.8 (Local) 2025-10-27T05:11:44.497Z,1761541904.497 [DAT](INFO): Local bearing/azimuth received: Bearing 166.3, -8.8 (Local) 2025-10-27T05:11:44.499Z,1761541904.499 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-27T05:11:44.509Z,1761541904.509 [DAT](INFO): DAT read: 05:11:43.2834 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 496, 0.18, 0.650,-0.986, 0.844, 0.813, PHS=-0.061,-1.754,-0.013, RAW= 151.4, 20.6, CAL= 153.7, 26.7, ROT= 356.3, -26.7 2025-10-27T05:11:44.510Z,1761541904.510 [DAT](INFO): got valid direction response: 05:11:43.2834 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 496, 0.18, 0.650,-0.986, 0.844, 0.813, PHS=-0.061,-1.754,-0.013, RAW= 151.4, 20.6, CAL= 153.7, 26.7, ROT= 356.3, -26.7 2025-10-27T05:11:44.511Z,1761541904.511 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T05:11:44.513Z,1761541904.513 [DAT](INFO): direction in FSK: [0.891509,-0.057652,0.449319] 2025-10-27T05:11:44.513Z,1761541904.513 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:44.520Z,1761541904.520 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.450439 2025-10-27T05:11:44.660Z,1761541904.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947498,0.312374,0.068335],[-0.319673,0.930390,0.179401],[-0.007538,-0.191827,0.981400]] 2025-10-27T05:11:44.706Z,1761541904.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.505089 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:44.713Z,1761541904.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.357349 m, bearing: 343.251633 deg, lat: 36.779339 deg, lon: -121.859629 deg, deltaT: 2.520785 s, deltaX: -1.392910 m, approachRate: -0.552570 m/s, posRepo size: 4 2025-10-27T05:11:44.714Z,1761541904.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.36 m. 9.75 m. 2025-10-27T05:11:44.728Z,1761541904.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 7.942100 m, bearing: 347.805746 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.110991 deg, new cmd heading: 340.049983 deg. 2025-10-27T05:11:44.730Z,1761541904.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934992 target range: 9.750259 and range: 8.40 m. 2025-10-27T05:11:44.744Z,1761541904.744 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.674812 2025-10-27T05:11:44.997Z,1761541904.997 [DAT](INFO): DAT read: Rx Time:05:11:43.7832 2025-10-27T05:11:44.997Z,1761541904.997 [DAT](INFO): Rx dataTimestamp_ set to:1761541904.996744 2025-10-27T05:11:44.998Z,1761541904.998 [DAT](INFO): DAT read: Bearing 165.0, -8.5 (Local) 2025-10-27T05:11:44.999Z,1761541904.999 [DAT](INFO): Local bearing/azimuth received: Bearing 165.0, -8.5 (Local) 2025-10-27T05:11:45.001Z,1761541905.001 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-27T05:11:45.005Z,1761541905.005 [DAT](INFO): DAT read: 05:11:43.7832 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 494,-0.25,-3.130, 1.475,-2.931,-2.982, PHS=-0.046,-1.781, 0.008, RAW= 151.5, 20.0, CAL= 153.5, 25.4, ROT= 356.5, -25.4 2025-10-27T05:11:45.006Z,1761541905.006 [DAT](INFO): got valid direction response: 05:11:43.7832 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 494,-0.25,-3.130, 1.475,-2.931,-2.982, PHS=-0.046,-1.781, 0.008, RAW= 151.5, 20.0, CAL= 153.5, 25.4, ROT= 356.5, -25.4 2025-10-27T05:11:45.007Z,1761541905.007 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:11:45.008Z,1761541905.008 [DAT](INFO): direction in FSK: [0.901650,-0.055147,0.428935] 2025-10-27T05:11:45.008Z,1761541905.008 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:45.012Z,1761541905.012 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.942825 2025-10-27T05:11:45.192Z,1761541905.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946697,0.314812,0.068251],[-0.322045,0.929692,0.178772],[-0.007173,-0.191223,0.981520]] 2025-10-27T05:11:45.241Z,1761541905.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.502973 s, deltaX: -0.400000 m, approachRate: -0.795271 m/s, rangeRepo size: 4 2025-10-27T05:11:45.243Z,1761541905.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.959381 m, bearing: 342.978852 deg, lat: 36.779339 deg, lon: -121.859630 deg, deltaT: 3.023758 s, deltaX: -1.790879 m, approachRate: -0.592269 m/s, posRepo size: 4 2025-10-27T05:11:45.244Z,1761541905.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.75 m. 2025-10-27T05:11:45.256Z,1761541905.256 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.186752 2025-10-27T05:11:45.263Z,1761541905.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 7.638063 m, bearing: 347.826656 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.049984 deg, new cmd heading: 339.990987 deg. 2025-10-27T05:11:45.264Z,1761541905.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933962 target range: 9.750259 and range: 8.00 m. 2025-10-27T05:11:45.509Z,1761541905.509 [DAT](INFO): DAT read: Rx Time:05:11:44.2831 2025-10-27T05:11:45.509Z,1761541905.509 [DAT](INFO): Rx dataTimestamp_ set to:1761541905.508831 2025-10-27T05:11:45.510Z,1761541905.510 [DAT](INFO): DAT read: Bearing 167.0, -10.8 (Local) 2025-10-27T05:11:45.511Z,1761541905.511 [DAT](INFO): Local bearing/azimuth received: Bearing 167.0, -10.8 (Local) 2025-10-27T05:11:45.513Z,1761541905.513 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-27T05:11:45.517Z,1761541905.517 [DAT](INFO): DAT read: 05:11:44.2831 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.10,-0.985,-2.579,-0.722,-0.776, PHS=-0.107,-1.758, 0.010, RAW= 153.4, 21.0, CAL= 155.8, 27.8, ROT= 354.2, -27.8 2025-10-27T05:11:45.519Z,1761541905.519 [DAT](INFO): got valid direction response: 05:11:44.2831 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509, 0.10,-0.985,-2.579,-0.722,-0.776, PHS=-0.107,-1.758, 0.010, RAW= 153.4, 21.0, CAL= 155.8, 27.8, ROT= 354.2, -27.8 2025-10-27T05:11:45.532Z,1761541905.532 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:11:45.533Z,1761541905.533 [DAT](INFO): direction in FSK: [0.880053,-0.089392,0.466387] 2025-10-27T05:11:45.533Z,1761541905.533 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:45.569Z,1761541905.569 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.499512 2025-10-27T05:11:45.683Z,1761541905.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946336,0.315882,0.068307],[-0.323109,0.929269,0.179050],[-0.006917,-0.191512,0.981466]] 2025-10-27T05:11:45.758Z,1761541905.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.512087 s, deltaX: -0.200000 m, approachRate: -0.390558 m/s, rangeRepo size: 4 2025-10-27T05:11:45.760Z,1761541905.760 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.690903 2025-10-27T05:11:45.762Z,1761541905.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.760393 m, bearing: 341.251164 deg, lat: 36.779339 deg, lon: -121.859632 deg, deltaT: 3.535845 s, deltaX: -1.989867 m, approachRate: -0.562770 m/s, posRepo size: 4 2025-10-27T05:11:45.763Z,1761541905.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.75 m. 2025-10-27T05:11:45.765Z,1761541905.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 7.354676 m, bearing: 347.850224 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.990998 deg, new cmd heading: 339.934721 deg. 2025-10-27T05:11:45.766Z,1761541905.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932980 target range: 9.750259 and range: 7.80 m. 2025-10-27T05:11:46.013Z,1761541906.013 [DAT](INFO): DAT read: Rx Time:05:11:44.7829 2025-10-27T05:11:46.013Z,1761541906.013 [DAT](INFO): Rx dataTimestamp_ set to:1761541906.012772 2025-10-27T05:11:46.014Z,1761541906.014 [DAT](INFO): DAT read: Bearing 170.4, -12.2 (Local) 2025-10-27T05:11:46.015Z,1761541906.015 [DAT](INFO): Local bearing/azimuth received: Bearing 170.4, -12.2 (Local) 2025-10-27T05:11:46.018Z,1761541906.018 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-10-27T05:11:46.022Z,1761541906.022 [DAT](INFO): DAT read: 05:11:44.7829 LVL= 32752, 32753, 32658, 32755, AGC= 54, IDX= 507,-0.40, 2.516, 0.984, 2.801, 2.782, PHS=-0.164,-1.753,-0.026, RAW= 154.1, 22.5, CAL= 157.1, 31.2, ROT= 352.9, -31.2 2025-10-27T05:11:46.024Z,1761541906.024 [DAT](INFO): got valid direction response: 05:11:44.7829 LVL= 32752, 32753, 32658, 32755, AGC= 54, IDX= 507,-0.40, 2.516, 0.984, 2.801, 2.782, PHS=-0.164,-1.753,-0.026, RAW= 154.1, 22.5, CAL= 157.1, 31.2, ROT= 352.9, -31.2 2025-10-27T05:11:46.024Z,1761541906.024 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:11:46.025Z,1761541906.025 [DAT](INFO): direction in FSK: [0.848805,-0.105724,0.518027] 2025-10-27T05:11:46.025Z,1761541906.025 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:46.039Z,1761541906.039 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.965527 2025-10-27T05:11:46.112Z,1761541906.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945852,0.317380,0.068076],[-0.324535,0.928800,0.178906],[-0.006447,-0.191312,0.981508]] 2025-10-27T05:11:46.206Z,1761541906.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503941 s, deltaX: -0.300000 m, approachRate: -0.595308 m/s, rangeRepo size: 4 2025-10-27T05:11:46.210Z,1761541906.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.461916 m, bearing: 340.748580 deg, lat: 36.779339 deg, lon: -121.859632 deg, deltaT: 4.039786 s, deltaX: -2.288343 m, approachRate: -0.566452 m/s, posRepo size: 4 2025-10-27T05:11:46.219Z,1761541906.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.46 m. 9.75 m. 2025-10-27T05:11:46.221Z,1761541906.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 7.106061 m, bearing: 347.896359 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.934717 deg, new cmd heading: 339.885931 deg. 2025-10-27T05:11:46.222Z,1761541906.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932128 target range: 9.750259 and range: 7.50 m. 2025-10-27T05:11:46.264Z,1761541906.264 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.195160 2025-10-27T05:11:46.518Z,1761541906.518 [DAT](INFO): DAT read: Rx Time:05:11:45.2828 2025-10-27T05:11:46.519Z,1761541906.519 [DAT](INFO): Rx dataTimestamp_ set to:1761541906.518249 2025-10-27T05:11:46.521Z,1761541906.521 [DAT](INFO): DAT read: Bearing 168.7, -13.2 (Local) 2025-10-27T05:11:46.521Z,1761541906.521 [DAT](INFO): Local bearing/azimuth received: Bearing 168.7, -13.2 (Local) 2025-10-27T05:11:46.523Z,1761541906.523 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T05:11:46.528Z,1761541906.528 [DAT](INFO): DAT read: 05:11:45.2828 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 506, 0.05,-2.205, 2.561,-1.860,-1.931, PHS=-0.172,-1.747, 0.027, RAW= 155.9, 21.7, CAL= 158.5, 29.8, ROT= 351.5, -29.8 2025-10-27T05:11:46.529Z,1761541906.529 [DAT](INFO): got valid direction response: 05:11:45.2828 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 506, 0.05,-2.205, 2.561,-1.860,-1.931, PHS=-0.172,-1.747, 0.027, RAW= 155.9, 21.7, CAL= 158.5, 29.8, ROT= 351.5, -29.8 2025-10-27T05:11:46.529Z,1761541906.529 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:11:46.530Z,1761541906.530 [DAT](INFO): direction in FSK: [0.858234,-0.128264,0.496974] 2025-10-27T05:11:46.530Z,1761541906.530 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:46.571Z,1761541906.571 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.501377 2025-10-27T05:11:46.613Z,1761541906.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945270,0.319153,0.067869],[-0.326237,0.928180,0.179031],[-0.005857,-0.191374,0.981500]] 2025-10-27T05:11:46.672Z,1761541906.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.505477 s, deltaX: -0.100000 m, approachRate: -0.197833 m/s, rangeRepo size: 4 2025-10-27T05:11:46.674Z,1761541906.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.362417 m, bearing: 338.912033 deg, lat: 36.779338 deg, lon: -121.859634 deg, deltaT: 4.545263 s, deltaX: -2.387843 m, approachRate: -0.525348 m/s, posRepo size: 4 2025-10-27T05:11:46.680Z,1761541906.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.75 m. 2025-10-27T05:11:46.682Z,1761541906.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 6.833035 m, bearing: 347.955026 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.885923 deg, new cmd heading: 339.835080 deg. 2025-10-27T05:11:46.687Z,1761541906.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931241 target range: 9.750259 and range: 7.40 m. 2025-10-27T05:11:46.770Z,1761541906.770 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.700554 2025-10-27T05:11:47.021Z,1761541907.021 [DAT](INFO): DAT read: Rx Time:05:11:45.7826 2025-10-27T05:11:47.021Z,1761541907.021 [DAT](INFO): Rx dataTimestamp_ set to:1761541907.020811 2025-10-27T05:11:47.022Z,1761541907.022 [DAT](INFO): DAT read: Bearing 171.5, -14.5 (Local) 2025-10-27T05:11:47.023Z,1761541907.023 [DAT](INFO): Local bearing/azimuth received: Bearing 171.5, -14.5 (Local) 2025-10-27T05:11:47.025Z,1761541907.025 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 2025-10-27T05:11:47.042Z,1761541907.042 [DAT](INFO): DAT read: 05:11:45.7826 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 503, 0.45, 2.612, 1.136, 2.989, 2.942, PHS=-0.228,-1.761, 0.003, RAW= 156.9, 22.9, CAL= 159.8, 32.6, ROT= 350.2, -32.6 2025-10-27T05:11:47.047Z,1761541907.047 [DAT](INFO): got valid direction response: 05:11:45.7826 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 503, 0.45, 2.612, 1.136, 2.989, 2.942, PHS=-0.228,-1.761, 0.003, RAW= 156.9, 22.9, CAL= 159.8, 32.6, ROT= 350.2, -32.6 2025-10-27T05:11:47.047Z,1761541907.047 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:11:47.048Z,1761541907.048 [DAT](INFO): direction in FSK: [0.830159,-0.143393,0.538771] 2025-10-27T05:11:47.049Z,1761541907.049 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:47.061Z,1761541907.061 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.991879 2025-10-27T05:11:47.065Z,1761541907.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944803,0.320622,0.067445],[-0.327598,0.927705,0.179005],[-0.005176,-0.191219,0.981534]] 2025-10-27T05:11:47.205Z,1761541907.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502562 s, deltaX: -0.300000 m, approachRate: -0.596942 m/s, rangeRepo size: 4 2025-10-27T05:11:47.212Z,1761541907.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.063940 m, bearing: 338.283903 deg, lat: 36.779338 deg, lon: -121.859634 deg, deltaT: 5.047825 s, deltaX: -2.686319 m, approachRate: -0.532174 m/s, posRepo size: 4 2025-10-27T05:11:47.213Z,1761541907.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.75 m. 2025-10-27T05:11:47.221Z,1761541907.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 6.538619 m, bearing: 348.064984 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.835079 deg, new cmd heading: 339.777025 deg. 2025-10-27T05:11:47.222Z,1761541907.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930228 target range: 9.750259 and range: 7.10 m. 2025-10-27T05:11:47.273Z,1761541907.273 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.203625 2025-10-27T05:11:47.524Z,1761541907.524 [DAT](INFO): DAT read: Rx Time:05:11:46.2824 2025-10-27T05:11:47.525Z,1761541907.525 [DAT](INFO): Rx dataTimestamp_ set to:1761541907.524657 2025-10-27T05:11:47.526Z,1761541907.526 [DAT](INFO): DAT read: Bearing 172.6, -14.8 (Local) 2025-10-27T05:11:47.527Z,1761541907.527 [DAT](INFO): Local bearing/azimuth received: Bearing 172.6, -14.8 (Local) 2025-10-27T05:11:47.529Z,1761541907.529 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 2025-10-27T05:11:47.534Z,1761541907.534 [DAT](INFO): DAT read: 05:11:46.2824 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.05, 0.730,-0.699, 1.111, 1.076, PHS=-0.243,-1.730,-0.009, RAW= 157.2, 23.4, CAL= 160.2, 33.7, ROT= 349.8, -33.7 2025-10-27T05:11:47.535Z,1761541907.535 [DAT](INFO): got valid direction response: 05:11:46.2824 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.05, 0.730,-0.699, 1.111, 1.076, PHS=-0.243,-1.730,-0.009, RAW= 157.2, 23.4, CAL= 160.2, 33.7, ROT= 349.8, -33.7 2025-10-27T05:11:47.536Z,1761541907.536 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:11:47.537Z,1761541907.537 [DAT](INFO): direction in FSK: [0.818806,-0.147326,0.554844] 2025-10-27T05:11:47.537Z,1761541907.537 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:47.540Z,1761541907.540 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.471287 2025-10-27T05:11:47.687Z,1761541907.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943520,0.324718,0.065782],[-0.331303,0.926354,0.179186],[-0.002752,-0.190859,0.981614]] 2025-10-27T05:11:47.749Z,1761541907.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503846 s, deltaX: -0.300000 m, approachRate: -0.595419 m/s, rangeRepo size: 4 2025-10-27T05:11:47.755Z,1761541907.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.765463 m, bearing: 337.949788 deg, lat: 36.779336 deg, lon: -121.859636 deg, deltaT: 5.551671 s, deltaX: -2.984796 m, approachRate: -0.537639 m/s, posRepo size: 4 2025-10-27T05:11:47.756Z,1761541907.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.77 m. 9.75 m. 2025-10-27T05:11:47.759Z,1761541907.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 6.235100 m, bearing: 348.200167 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.777022 deg, new cmd heading: 339.717807 deg. 2025-10-27T05:11:47.764Z,1761541907.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929194 target range: 9.750259 and range: 6.80 m. 2025-10-27T05:11:47.776Z,1761541907.776 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.706799 2025-10-27T05:11:48.028Z,1761541908.028 [DAT](INFO): DAT read: Rx Time:05:11:46.7821 2025-10-27T05:11:48.029Z,1761541908.029 [DAT](INFO): Rx dataTimestamp_ set to:1761541908.028663 2025-10-27T05:11:48.030Z,1761541908.030 [DAT](INFO): DAT read: Bearing 171.4, -16.8 (Local) 2025-10-27T05:11:48.031Z,1761541908.031 [DAT](INFO): Local bearing/azimuth received: Bearing 171.4, -16.8 (Local) 2025-10-27T05:11:48.033Z,1761541908.033 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 2025-10-27T05:11:48.037Z,1761541908.037 [DAT](INFO): DAT read: 05:11:46.7821 LVL= 32752, 32753, 30130, 32755, AGC= 55, IDX= 499, 0.27, 0.956,-0.420, 1.438, 1.338, PHS=-0.280,-1.713, 0.056, RAW= 160.3, 22.8, CAL= 162.7, 32.7, ROT= 347.3, -32.7 2025-10-27T05:11:48.038Z,1761541908.038 [DAT](INFO): got valid direction response: 05:11:46.7821 LVL= 32752, 32753, 30130, 32755, AGC= 55, IDX= 499, 0.27, 0.956,-0.420, 1.438, 1.338, PHS=-0.280,-1.713, 0.056, RAW= 160.3, 22.8, CAL= 162.7, 32.7, ROT= 347.3, -32.7 2025-10-27T05:11:48.039Z,1761541908.039 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:11:48.040Z,1761541908.040 [DAT](INFO): direction in FSK: [0.820923,-0.185003,0.540240] 2025-10-27T05:11:48.040Z,1761541908.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:48.044Z,1761541908.044 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.974373 2025-10-27T05:11:48.217Z,1761541908.217 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.0 +0.00, +0.00, 20.00,583.63 2025-10-27T05:11:48.247Z,1761541908.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504006 s, deltaX: -0.500000 m, approachRate: -0.992052 m/s, rangeRepo size: 4 2025-10-27T05:11:48.249Z,1761541908.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.268003 m, bearing: 335.200607 deg, lat: 36.779336 deg, lon: -121.859636 deg, deltaT: 6.055677 s, deltaX: -3.482256 m, approachRate: -0.575040 m/s, posRepo size: 4 2025-10-27T05:11:48.250Z,1761541908.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.27 m. 9.75 m. 2025-10-27T05:11:48.253Z,1761541908.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 5.944956 m, bearing: 348.342316 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.717818 deg, new cmd heading: 339.663568 deg. 2025-10-27T05:11:48.254Z,1761541908.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928247 target range: 9.750259 and range: 6.30 m. 2025-10-27T05:11:48.280Z,1761541908.280 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.210594 2025-10-27T05:11:48.532Z,1761541908.532 [DAT](INFO): DAT read: Rx Time:05:11:47.2821 2025-10-27T05:11:48.533Z,1761541908.533 [DAT](INFO): Rx dataTimestamp_ set to:1761541908.532678 2025-10-27T05:11:48.534Z,1761541908.534 [DAT](INFO): DAT read: Bearing 170.8, -16.6 (Local) 2025-10-27T05:11:48.535Z,1761541908.535 [DAT](INFO): Local bearing/azimuth received: Bearing 170.8, -16.6 (Local) 2025-10-27T05:11:48.537Z,1761541908.537 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 2025-10-27T05:11:48.541Z,1761541908.541 [DAT](INFO): DAT read: 05:11:47.2821 LVL= 32752, 32753, 26370, 32755, AGC= 53, IDX= 499,-0.20,-0.114,-1.435, 0.357, 0.248, PHS=-0.260,-1.638, 0.065, RAW= 160.4, 22.5, CAL= 162.7, 32.0, ROT= 347.3, -32.0 2025-10-27T05:11:48.542Z,1761541908.542 [DAT](INFO): got valid direction response: 05:11:47.2821 LVL= 32752, 32753, 26370, 32755, AGC= 53, IDX= 499,-0.20,-0.114,-1.435, 0.357, 0.248, PHS=-0.260,-1.638, 0.065, RAW= 160.4, 22.5, CAL= 162.7, 32.0, ROT= 347.3, -32.0 2025-10-27T05:11:48.543Z,1761541908.543 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:11:48.544Z,1761541908.544 [DAT](INFO): direction in FSK: [0.827300,-0.186440,0.529919] 2025-10-27T05:11:48.544Z,1761541908.544 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:48.573Z,1761541908.573 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.503475 2025-10-27T05:11:48.677Z,1761541908.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942455,0.328323,0.063106],[-0.334333,0.925492,0.178007],[0.000040,-0.188862,0.982004]] 2025-10-27T05:11:48.736Z,1761541908.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504015 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:48.738Z,1761541908.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.267996 m, bearing: 334.738529 deg, lat: 36.779336 deg, lon: -121.859636 deg, deltaT: 6.559692 s, deltaX: -3.482264 m, approachRate: -0.530858 m/s, posRepo size: 4 2025-10-27T05:11:48.744Z,1761541908.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.27 m. 9.75 m. 2025-10-27T05:11:48.746Z,1761541908.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 5.685895 m, bearing: 348.489732 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.663559 deg, new cmd heading: 339.610240 deg. 2025-10-27T05:11:48.751Z,1761541908.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927317 target range: 9.750259 and range: 6.30 m. 2025-10-27T05:11:48.784Z,1761541908.784 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.714882 2025-10-27T05:11:49.036Z,1761541909.036 [DAT](INFO): DAT read: Rx Time:05:11:47.7818 2025-10-27T05:11:49.037Z,1761541909.037 [DAT](INFO): Rx dataTimestamp_ set to:1761541909.036573 2025-10-27T05:11:49.038Z,1761541909.038 [DAT](INFO): DAT read: Bearing 163.7, -20.4 (Local) 2025-10-27T05:11:49.038Z,1761541909.038 [DAT](INFO): Local bearing/azimuth received: Bearing 163.7, -20.4 (Local) 2025-10-27T05:11:49.040Z,1761541909.040 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 2025-10-27T05:11:49.045Z,1761541909.045 [DAT](INFO): DAT read: 05:11:47.7818 LVL= 32752, 32753, 21474, 32755, AGC= 49, I 0.12, 0.001,-1.276, 0.690, 0.381, PHS=-0.278,-1.612, 0.265, RAW= 166.3, 19.0, CAL= 167.4, 25.5, ROT= 342.6, -25.5 2025-10-27T05:11:49.046Z,1761541909.046 [DAT](INFO): unknown deviceResponse_: 05:11:47.7818 LVL= 32752, 32753, 21474, 32755, AGC= 49, I 0.12, 0.001,-1.276, 0.690, 0.381, PHS=-0.278,-1.612, 0.265, RAW= 166.3, 19.0, CAL= 167.4, 25.5, ROT= 342.6, -25.5 2025-10-27T05:11:49.046Z,1761541909.046 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-27T05:11:49.051Z,1761541909.051 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.977570 2025-10-27T05:11:49.062Z,1761541909.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941867,0.330187,0.062152],[-0.335983,0.924893,0.178009],[0.001293,-0.188543,0.982064]] 2025-10-27T05:11:49.191Z,1761541909.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:49.194Z,1761541909.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503895 s, deltaX: -0.300000 m, approachRate: -0.595362 m/s, rangeRepo size: 4 2025-10-27T05:11:49.199Z,1761541909.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:49.202Z,1761541909.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 5.415074 m, bearing: 348.594973 deg, approach rate: -0.591908 m/s, LOS rate: 0.241518 deg/s, cmd heading: 339.610229 deg, new cmd heading: 339.941737 deg. 2025-10-27T05:11:49.202Z,1761541909.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933103 target range: 9.750259 and range: 6.00 m. 2025-10-27T05:11:49.293Z,1761541909.293 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.223469 2025-10-27T05:11:49.484Z,1761541909.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941277,0.332008,0.061382],[-0.337626,0.924237,0.178309],[0.002469,-0.188562,0.982058]] 2025-10-27T05:11:49.523Z,1761541909.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:49.525Z,1761541909.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 5.236041 m, bearing: 348.673959 deg, approach rate: -0.550729 m/s, LOS rate: 0.251277 deg/s, cmd heading: 339.941739 deg, new cmd heading: 340.186796 deg. 2025-10-27T05:11:49.526Z,1761541909.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937380 target range: 9.750259 and range: 6.00 m. 2025-10-27T05:11:49.545Z,1761541909.545 [DAT](INFO): DAT read: Rx Time:05:11:48.2817 2025-10-27T05:11:49.545Z,1761541909.545 [DAT](INFO): Rx dataTimestamp_ set to:1761541909.544832 2025-10-27T05:11:49.546Z,1761541909.546 [DAT](INFO): DAT read: Bearing 151.7, -14.7 (Local) 2025-10-27T05:11:49.547Z,1761541909.547 [DAT](INFO): Local bearing/azimuth received: Bearing 151.7, -14.7 (Local) 2025-10-27T05:11:49.549Z,1761541909.549 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-27T05:11:49.554Z,1761541909.554 [DAT](INFO): DAT read: 05:11:48.2817 LVL= 32752, 32753, 19858, 32755, AGC= 50, IDX= 512,-0.45, 0.861,-0.875, 1.531, 0.960, PHS= 0.003,-1.790, 0.527, RAW= 162.5, 11.9, CAL= 162.7, 13.6, ROT= 347.3, -13.6 2025-10-27T05:11:49.555Z,1761541909.555 [DAT](INFO): got valid direction response: 05:11:48.2817 LVL= 32752, 32753, 19858, 32755, AGC= 50, IDX= 512,-0.45, 0.861,-0.875, 1.531, 0.960, PHS= 0.003,-1.790, 0.527, RAW= 162.5, 11.9, CAL= 162.7, 13.6, ROT= 347.3, -13.6 2025-10-27T05:11:49.555Z,1761541909.555 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:11:49.556Z,1761541909.556 [DAT](INFO): direction in FSK: [0.948181,-0.213682,0.235142] 2025-10-27T05:11:49.556Z,1761541909.556 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:49.578Z,1761541909.578 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.508327 2025-10-27T05:11:49.796Z,1761541909.796 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.726692 2025-10-27T05:11:49.879Z,1761541909.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940716,0.333764,0.060461],[-0.339176,0.923620,0.178568],[0.003756,-0.188489,0.982068]] 2025-10-27T05:11:49.991Z,1761541909.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.508259 s, deltaX: -0.100000 m, approachRate: -0.196750 m/s, rangeRepo size: 4 2025-10-27T05:11:49.993Z,1761541909.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.870019 m, bearing: 330.260000 deg, lat: 36.779336 deg, lon: -121.859638 deg, deltaT: 7.571846 s, deltaX: -3.880240 m, approachRate: -0.512456 m/s, posRepo size: 4 2025-10-27T05:11:49.994Z,1761541909.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.75 m. 2025-10-27T05:11:50.001Z,1761541910.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 4.999413 m, bearing: 348.791523 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.186806 deg, new cmd heading: 340.135832 deg. 2025-10-27T05:11:50.002Z,1761541910.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936490 target range: 9.750259 and range: 5.90 m. 2025-10-27T05:11:50.048Z,1761541910.048 [DAT](INFO): DAT read: Rx Time:05:11:48.7814 2025-10-27T05:11:50.049Z,1761541910.049 [DAT](INFO): Rx dataTimestamp_ set to:1761541910.048388 2025-10-27T05:11:50.050Z,1761541910.050 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-27T05:11:50.050Z,1761541910.050 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-27T05:11:50.051Z,1761541910.051 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.982262 2025-10-27T05:11:50.300Z,1761541910.300 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.230721 2025-10-27T05:11:50.327Z,1761541910.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940114,0.335897,0.057963],[-0.340807,0.923237,0.177439],[0.006087,-0.186567,0.982423]] 2025-10-27T05:11:50.378Z,1761541910.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503556 s, deltaX: -0.500000 m, approachRate: -0.992938 m/s, rangeRepo size: 4 2025-10-27T05:11:50.379Z,1761541910.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:50.382Z,1761541910.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 4.751320 m, bearing: 348.859103 deg, approach rate: -0.635047 m/s, LOS rate: 0.182018 deg/s, cmd heading: 340.135825 deg, new cmd heading: 340.349150 deg. 2025-10-27T05:11:50.383Z,1761541910.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940213 target range: 9.750259 and range: 5.40 m. 2025-10-27T05:11:50.553Z,1761541910.553 [DAT](INFO): DAT read: Rx Time:05:11:49.2813 2025-10-27T05:11:50.553Z,1761541910.553 [DAT](INFO): Rx dataTimestamp_ set to:1761541910.552726 2025-10-27T05:11:50.554Z,1761541910.554 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 2025-10-27T05:11:50.555Z,1761541910.555 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-27T05:11:50.556Z,1761541910.556 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.486588 2025-10-27T05:11:50.770Z,1761541910.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940148,0.336112,0.056129],[-0.340689,0.923566,0.175948],[0.007299,-0.184540,0.982798]] 2025-10-27T05:11:50.790Z,1761541910.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504338 s, deltaX: -0.100000 m, approachRate: -0.198280 m/s, rangeRepo size: 4 2025-10-27T05:11:50.791Z,1761541910.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:50.793Z,1761541910.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 4.526766 m, bearing: 348.926215 deg, approach rate: -0.544888 m/s, LOS rate: 0.170928 deg/s, cmd heading: 340.349146 deg, new cmd heading: 340.560469 deg. 2025-10-27T05:11:50.794Z,1761541910.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943902 target range: 9.750259 and range: 5.30 m. 2025-10-27T05:11:50.804Z,1761541910.804 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.735077 2025-10-27T05:11:51.056Z,1761541911.056 [DAT](INFO): DAT read: Rx Time:05:11:49.7810 2025-10-27T05:11:51.057Z,1761541911.057 [DAT](INFO): Rx dataTimestamp_ set to:1761541911.056281 2025-10-27T05:11:51.058Z,1761541911.058 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 2025-10-27T05:11:51.058Z,1761541911.058 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-27T05:11:51.060Z,1761541911.060 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.990814 2025-10-27T05:11:51.208Z,1761541911.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:51.211Z,1761541911.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503555 s, deltaX: -0.500000 m, approachRate: -0.992940 m/s, rangeRepo size: 4 2025-10-27T05:11:51.212Z,1761541911.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:51.214Z,1761541911.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 4.298975 m, bearing: 348.869865 deg, approach rate: -0.541077 m/s, LOS rate: -0.140942 deg/s, cmd heading: 340.560472 deg, new cmd heading: 340.382465 deg. 2025-10-27T05:11:51.232Z,1761541911.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940795 target range: 9.750259 and range: 4.80 m. 2025-10-27T05:11:51.309Z,1761541911.309 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.239372 2025-10-27T05:11:51.558Z,1761541911.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940174,0.336470,0.053495],[-0.340568,0.923858,0.174644],[0.009341,-0.182414,0.983177]] 2025-10-27T05:11:51.561Z,1761541911.561 [DAT](INFO): DAT read: Rx Time:05:11:50.2809 2025-10-27T05:11:51.561Z,1761541911.561 [DAT](INFO): Rx dataTimestamp_ set to:1761541911.560780 2025-10-27T05:11:51.562Z,1761541911.562 [DAT](INFO): DAT read: Bearing 169.8, -20.3 (Local) 2025-10-27T05:11:51.563Z,1761541911.563 [DAT](INFO): Local bearing/azimuth received: Bearing 169.8, -20.3 (Local) 2025-10-27T05:11:51.565Z,1761541911.565 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 2025-10-27T05:11:51.572Z,1761541911.572 [DAT](INFO): DAT read: 05:11:50.2809 LVL= 32752, 32753, 17858, 32755, AGC= 46, IDX= 504, 0.40,-2.139, 2.588,-1.332,-1.596, PHS=-0.441,-2.054, 0.219, RAW= 166.4, 21.7, CAL= 167.8, 30.9, ROT= 342.2, -30.9 2025-10-27T05:11:51.575Z,1761541911.575 [DAT](INFO): got valid direction response: 05:11:50.2809 LVL= 32752, 32753, 17858, 32755, AGC= 46, IDX= 504, 0.40,-2.139, 2.588,-1.332,-1.596, PHS=-0.441,-2.054, 0.219, RAW= 166.4, 21.7, CAL= 167.8, 30.9, ROT= 342.2, -30.9 2025-10-27T05:11:51.596Z,1761541911.596 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:11:51.597Z,1761541911.597 [DAT](INFO): direction in FSK: [0.816989,-0.262306,0.513541] 2025-10-27T05:11:51.598Z,1761541911.598 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:51.618Z,1761541911.618 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.549160 2025-10-27T05:11:51.686Z,1761541911.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.504499 s, deltaX: -0.100000 m, approachRate: -0.198217 m/s, rangeRepo size: 4 2025-10-27T05:11:51.688Z,1761541911.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.676128 m, bearing: 328.651162 deg, lat: 36.779337 deg, lon: -121.859639 deg, deltaT: 9.587794 s, deltaX: -5.074131 m, approachRate: -0.529228 m/s, posRepo size: 4 2025-10-27T05:11:51.689Z,1761541911.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.75 m. 2025-10-27T05:11:51.701Z,1761541911.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 4.061694 m, bearing: 348.803877 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.382477 deg, new cmd heading: 340.330703 deg. 2025-10-27T05:11:51.702Z,1761541911.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939891 target range: 9.750259 and range: 4.70 m. 2025-10-27T05:11:51.813Z,1761541911.813 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.743649 2025-10-27T05:11:52.035Z,1761541912.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940392,0.336045,0.052308],[-0.339942,0.924236,0.173860],[0.010079,-0.181279,0.983380]] 2025-10-27T05:11:52.064Z,1761541912.064 [DAT](INFO): DAT read: Rx Time:05:11:50.7807 2025-10-27T05:11:52.065Z,1761541912.065 [DAT](INFO): Rx dataTimestamp_ set to:1761541912.064553 2025-10-27T05:11:52.066Z,1761541912.066 [DAT](INFO): DAT read: Bearing 180.8, -18.8 (Local) 2025-10-27T05:11:52.066Z,1761541912.066 [DAT](INFO): Local bearing/azimuth received: Bearing 180.8, -18.8 (Local) 2025-10-27T05:11:52.069Z,1761541912.069 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-27T05:11:52.073Z,1761541912.073 [DAT](INFO): DAT read: 05:11:50.7807 LVL= 26192, 31665, 19186, 32755, AGC= 44, IDX= 502, 0.11, 1.764, 0.352, 2.405, 2.427, PHS=-0.561,-2.030,-0.065, RAW= 164.0, 28.0, CAL= 166.3, 41.3, ROT= 343.7, -41.3 2025-10-27T05:11:52.074Z,1761541912.074 [DAT](INFO): got valid direction response: 05:11:50.7807 LVL= 26192, 31665, 19186, 32755, AGC= 44, IDX= 502, 0.11, 1.764, 0.352, 2.405, 2.427, PHS=-0.561,-2.030,-0.065, RAW= 164.0, 28.0, CAL= 166.3, 41.3, ROT= 343.7, -41.3 2025-10-27T05:11:52.075Z,1761541912.075 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:11:52.076Z,1761541912.076 [DAT](INFO): direction in FSK: [0.721067,-0.210855,0.660002] 2025-10-27T05:11:52.076Z,1761541912.076 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:52.081Z,1761541912.081 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.011326 2025-10-27T05:11:52.178Z,1761541912.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503773 s, deltaX: -0.300000 m, approachRate: -0.595506 m/s, rangeRepo size: 4 2025-10-27T05:11:52.185Z,1761541912.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.377652 m, bearing: 333.123263 deg, lat: 36.779337 deg, lon: -121.859639 deg, deltaT: 10.091567 s, deltaX: -5.372607 m, approachRate: -0.532386 m/s, posRepo size: 4 2025-10-27T05:11:52.186Z,1761541912.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.38 m. 9.75 m. 2025-10-27T05:11:52.192Z,1761541912.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 3.794019 m, bearing: 348.654616 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 340.330704 deg, new cmd heading: 340.277133 deg. 2025-10-27T05:11:52.193Z,1761541912.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938956 target range: 9.750259 and range: 4.40 m. 2025-10-27T05:11:52.316Z,1761541912.316 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.247185 2025-10-27T05:11:52.536Z,1761541912.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:52.538Z,1761541912.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 3.602250 m, bearing: 348.534032 deg, approach rate: -0.534961 m/s, LOS rate: -0.354291 deg/s, cmd heading: 340.277128 deg, new cmd heading: 339.896123 deg. 2025-10-27T05:11:52.540Z,1761541912.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932306 target range: 9.750259 and range: 4.40 m. 2025-10-27T05:11:52.571Z,1761541912.571 [DAT](INFO): DAT read: Rx Time:05:11:51.2806 2025-10-27T05:11:52.572Z,1761541912.572 [DAT](INFO): Rx dataTimestamp_ set to:1761541912.571463 2025-10-27T05:11:52.575Z,1761541912.575 [DAT](INFO): DAT read: Bearing 186.7, -19.8 (Local) 2025-10-27T05:11:52.575Z,1761541912.575 [DAT](INFO): Local bearing/azimuth received: Bearing 186.7, -19.8 (Local) 2025-10-27T05:11:52.579Z,1761541912.579 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 2025-10-27T05:11:52.590Z,1761541912.590 [DAT](INFO): DAT read: 05:11:51.2806 LVL= 21648, 32065, 22114, 32755, AGC= 44, IDX= 502,-0.20, 1.734, 0.676, 2.348, 2.544, PHS=-0.708,-1.823,-0.241, RAW= 166.7, 34.8, CAL= 168.3, 46.8, ROT= 341.7, -46.8 2025-10-27T05:11:52.604Z,1761541912.604 [DAT](INFO): got valid direction response: 05:11:51.2806 LVL= 21648, 32065, 22114, 32755, AGC= 44, IDX= 502,-0.20, 1.734, 0.676, 2.348, 2.544, PHS=-0.708,-1.823,-0.241, RAW= 166.7, 34.8, CAL= 168.3, 46.8, ROT= 341.7, -46.8 2025-10-27T05:11:52.605Z,1761541912.605 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:11:52.606Z,1761541912.606 [DAT](INFO): direction in FSK: [0.649927,-0.214942,0.728969] 2025-10-27T05:11:52.606Z,1761541912.606 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:52.618Z,1761541912.618 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:11:52.618Z,1761541912.618 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:11:52.618Z,1761541912.618 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:52.820Z,1761541912.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:52.902Z,1761541912.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941070,0.334495,0.049999],[-0.338007,0.925040,0.173357],[0.011736,-0.180041,0.983589]] 2025-10-27T05:11:53.030Z,1761541913.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.506910 s, deltaX: -0.200000 m, approachRate: -0.394548 m/s, rangeRepo size: 4 2025-10-27T05:11:53.041Z,1761541913.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.178660 m, bearing: 333.113705 deg, lat: 36.779337 deg, lon: -121.859639 deg, deltaT: 10.598477 s, deltaX: -5.571599 m, approachRate: -0.525698 m/s, posRepo size: 4 2025-10-27T05:11:53.044Z,1761541913.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.75 m. 2025-10-27T05:11:53.046Z,1761541913.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 3.360794 m, bearing: 348.353959 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.896113 deg, new cmd heading: 339.842290 deg. 2025-10-27T05:11:53.047Z,1761541913.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931367 target range: 9.750259 and range: 4.20 m. 2025-10-27T05:11:53.074Z,1761541913.074 [DAT](INFO): DAT read: Rx Time:05:11:51.7807 2025-10-27T05:11:53.075Z,1761541913.075 [DAT](INFO): Rx dataTimestamp_ set to:1761541913.074522 2025-10-27T05:11:53.077Z,1761541913.077 [DAT](INFO): DAT read: Bearing 195.4, -25.2 (Local) 2025-10-27T05:11:53.078Z,1761541913.078 [DAT](INFO): Local bearing/azimuth received: Bearing 195.4, -25.2 (Local) 2025-10-27T05:11:53.081Z,1761541913.081 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-27T05:11:53.101Z,1761541913.101 [DAT](INFO): DAT read: 05:11:51.7807 LVL= 22160, 32753, 22130, 32755, AGC= 46, IDX= 499, 0.27,-2.749, 2.984,-2.017,-1.719, PHS=-0.928,-1.535,-0.342, RAW= 179.4, 43.8, CAL= 179.2, 53.5, ROT= 330.8, -53.5 2025-10-27T05:11:53.102Z,1761541913.102 [DAT](INFO): got valid direction response: 05:11:51.7807 LVL= 22160, 32753, 22130, 32755, AGC= 46, IDX= 499, 0.27,-2.749, 2.984,-2.017,-1.719, PHS=-0.928,-1.535,-0.342, RAW= 179.4, 43.8, CAL= 179.2, 53.5, ROT= 330.8, -53.5 2025-10-27T05:11:53.102Z,1761541913.102 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:11:53.144Z,1761541913.144 [DAT](INFO): direction in FSK: [0.519234,-0.290190,0.803857] 2025-10-27T05:11:53.144Z,1761541913.144 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:53.153Z,1761541913.153 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:53.153Z,1761541913.153 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:53.325Z,1761541913.325 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:53.461Z,1761541913.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941660,0.333039,0.048604],[-0.336333,0.925758,0.172779],[0.012547,-0.179046,0.983761]] 2025-10-27T05:11:53.559Z,1761541913.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503059 s, deltaX: 0.200000 m, approachRate: 0.397568 m/s, rangeRepo size: 4 2025-10-27T05:11:53.561Z,1761541913.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.377644 m, bearing: 324.791569 deg, lat: 36.779336 deg, lon: -121.859635 deg, deltaT: 11.101536 s, deltaX: -5.372616 m, approachRate: -0.483952 m/s, posRepo size: 4 2025-10-27T05:11:53.562Z,1761541913.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.38 m. 9.75 m. 2025-10-27T05:11:53.578Z,1761541913.578 [DAT](INFO): DAT read: Rx Time:05:11:52.2806 2025-10-27T05:11:53.579Z,1761541913.579 [DAT](INFO): Rx dataTimestamp_ set to:1761541913.578259 2025-10-27T05:11:53.581Z,1761541913.581 [DAT](INFO): DAT read: Bearing 202.0, -40.3 (Local) 2025-10-27T05:11:53.581Z,1761541913.581 [DAT](INFO): Local bearing/azimuth received: Bearing 202.0, -40.3 (Local) 2025-10-27T05:11:53.585Z,1761541913.585 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.3 2025-10-27T05:11:53.592Z,1761541913.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 3.087627 m, bearing: 347.991941 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.842291 deg, new cmd heading: 339.785589 deg. 2025-10-27T05:11:53.594Z,1761541913.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930377 target range: 9.750259 and range: 4.40 m. 2025-10-27T05:11:53.597Z,1761541913.597 [DAT](INFO): DAT read: 05:11:52.2806 LVL= 15600, 18289, 13170, 28883, AGC= 45, IDX= 499,-0.09,-0.847,-0.835, 0.409, 0.524, PHS=-1.270,-1.314,-0.159, RAW= 208.1, 40.6, CAL= 205.4, 50.8, ROT= 304.6, -50.8 2025-10-27T05:11:53.598Z,1761541913.598 [DAT](INFO): got valid direction response: 05:11:52.2806 LVL= 15600, 18289, 13170, 28883, AGC= 45, IDX= 499,-0.09,-0.847,-0.835, 0.409, 0.524, PHS=-1.270,-1.314,-0.159, RAW= 208.1, 40.6, CAL= 205.4, 50.8, ROT= 304.6, -50.8 2025-10-27T05:11:53.623Z,1761541913.623 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:11:53.624Z,1761541913.624 [DAT](INFO): direction in FSK: [0.358894,-0.520246,0.774944] 2025-10-27T05:11:53.624Z,1761541913.624 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:53.652Z,1761541913.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:53.652Z,1761541913.652 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:53.828Z,1761541913.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:54.020Z,1761541914.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942585,0.330787,0.045980],[-0.333656,0.926796,0.172400],[0.014414,-0.177843,0.983953]] 2025-10-27T05:11:54.072Z,1761541914.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.503737 s, deltaX: -0.200000 m, approachRate: -0.397033 m/s, rangeRepo size: 4 2025-10-27T05:11:54.076Z,1761541914.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.178667 m, bearing: 293.314781 deg, lat: 36.779336 deg, lon: -121.859635 deg, deltaT: 11.605273 s, deltaX: -5.571592 m, approachRate: -0.480091 m/s, posRepo size: 4 2025-10-27T05:11:54.077Z,1761541914.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.75 m. 2025-10-27T05:11:54.081Z,1761541914.081 [DAT](INFO): DAT read: Rx Time:05:11:52.7804 2025-10-27T05:11:54.082Z,1761541914.082 [DAT](INFO): Rx dataTimestamp_ set to:1761541914.081089 2025-10-27T05:11:54.083Z,1761541914.083 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.3 2025-10-27T05:11:54.085Z,1761541914.085 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:11:54.086Z,1761541914.086 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:54.099Z,1761541914.099 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:54.105Z,1761541914.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 2.791796 m, bearing: 347.502054 deg, approach rate: 0.000000 m/s, LOS rate: -0.036312 deg/s, cmd heading: 339.785601 deg, new cmd heading: 339.728981 deg. 2025-10-27T05:11:54.106Z,1761541914.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929389 target range: 9.750259 and range: 4.20 m. 2025-10-27T05:11:54.332Z,1761541914.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:54.403Z,1761541914.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942806,0.330334,0.044675],[-0.332989,0.927150,0.171789],[0.015327,-0.176840,0.984120]] 2025-10-27T05:11:54.459Z,1761541914.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:54.462Z,1761541914.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502830 s, deltaX: -0.300000 m, approachRate: -0.596623 m/s, rangeRepo size: 4 2025-10-27T05:11:54.463Z,1761541914.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:54.466Z,1761541914.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 2.579274 m, bearing: 347.114198 deg, approach rate: -0.543194 m/s, LOS rate: -1.073009 deg/s, cmd heading: 339.728992 deg, new cmd heading: 338.469764 deg. 2025-10-27T05:11:54.467Z,1761541914.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907412 target range: 9.750259 and range: 3.90 m. 2025-10-27T05:11:54.586Z,1761541914.586 [DAT](INFO): DAT read: Rx Time:05:11:53.2804 2025-10-27T05:11:54.586Z,1761541914.586 [DAT](INFO): Rx dataTimestamp_ set to:1761541914.585910 2025-10-27T05:11:54.589Z,1761541914.589 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.3 2025-10-27T05:11:54.589Z,1761541914.589 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:11:54.592Z,1761541914.592 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:54.592Z,1761541914.592 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:54.808Z,1761541914.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943288,0.329087,0.043698],[-0.331567,0.927400,0.173182],[0.016467,-0.177850,0.983920]] 2025-10-27T05:11:54.827Z,1761541914.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:54.827Z,1761541914.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.90 m. 2025-10-27T05:11:54.828Z,1761541914.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:54.831Z,1761541914.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 2.384767 m, bearing: 346.691762 deg, approach rate: -0.533288 m/s, LOS rate: -1.252668 deg/s, cmd heading: 338.469751 deg, new cmd heading: 337.099352 deg. 2025-10-27T05:11:54.832Z,1761541914.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883493 target range: 9.750259 and range: 3.90 m. 2025-10-27T05:11:54.836Z,1761541914.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:55.089Z,1761541915.089 [DAT](INFO): DAT read: Rx Time:05:11:53.7801 2025-10-27T05:11:55.090Z,1761541915.090 [DAT](INFO): Rx dataTimestamp_ set to:1761541915.089491 2025-10-27T05:11:55.092Z,1761541915.092 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.2 2025-10-27T05:11:55.093Z,1761541915.093 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:11:55.095Z,1761541915.095 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:55.095Z,1761541915.095 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:55.283Z,1761541915.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503581 s, deltaX: -0.400000 m, approachRate: -0.794311 m/s, rangeRepo size: 4 2025-10-27T05:11:55.284Z,1761541915.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m. 2025-10-27T05:11:55.284Z,1761541915.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:55.287Z,1761541915.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 2.146768 m, bearing: 346.293608 deg, approach rate: -0.545187 m/s, LOS rate: -1.013158 deg/s, cmd heading: 337.099342 deg, new cmd heading: 335.772706 deg. 2025-10-27T05:11:55.288Z,1761541915.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860339 target range: 9.750259 and range: 3.50 m. 2025-10-27T05:11:55.340Z,1761541915.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:55.593Z,1761541915.593 [DAT](INFO): DAT read: Rx Time:05:11:54.2800 2025-10-27T05:11:55.594Z,1761541915.594 [DAT](INFO): Rx dataTimestamp_ set to:1761541915.593829 2025-10-27T05:11:55.595Z,1761541915.595 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.2 2025-10-27T05:11:55.596Z,1761541915.596 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:11:55.597Z,1761541915.597 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:55.597Z,1761541915.597 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:55.616Z,1761541915.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943536,0.328609,0.041895],[-0.330720,0.927132,0.176214],[0.019063,-0.180119,0.983460]] 2025-10-27T05:11:55.636Z,1761541915.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.504338 s, deltaX: -0.200000 m, approachRate: -0.396560 m/s, rangeRepo size: 4 2025-10-27T05:11:55.637Z,1761541915.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.75 m. 2025-10-27T05:11:55.661Z,1761541915.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.750259 m, nav range: 1.943357 m, bearing: 345.871966 deg, approach rate: -0.544959 m/s, LOS rate: -1.247854 deg/s, cmd heading: 335.772701 deg, new cmd heading: 334.375663 deg. 2025-10-27T05:11:55.662Z,1761541915.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835956 target range: 9.750259 and range: 3.30 m. 2025-10-27T05:11:55.844Z,1761541915.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:56.056Z,1761541916.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943350,0.329192,0.041509],[-0.331163,0.926405,0.179178],[0.020530,-0.182773,0.982941]] 2025-10-27T05:11:56.097Z,1761541916.097 [DAT](INFO): DAT read: Rx Time:05:11:54.7798 2025-10-27T05:11:56.097Z,1761541916.097 [DAT](INFO): Rx dataTimestamp_ set to:1761541916.096809 2025-10-27T05:11:56.098Z,1761541916.098 [DAT](INFO): DAT read: Bearing 184.0, -29.6 (Local) 2025-10-27T05:11:56.099Z,1761541916.099 [DAT](INFO): Local bearing/azimuth received: Bearing 184.0, -29.6 (Local) 2025-10-27T05:11:56.101Z,1761541916.101 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.2 2025-10-27T05:11:56.105Z,1761541916.105 [DAT](INFO): DAT read: 05:11:54.7798 LVL= 19776, 16977, 16418, 23859, AGC= 48, IDX= 508, 0.02,-1.928,-2.866,-0.631,-0.767, PHS=-1.059,-2.055, 0.092, RAW= 182.4, 29.9, CAL= 181.7, 42.5, ROT= 328.3, -42.5 2025-10-27T05:11:56.107Z,1761541916.107 [DAT](INFO): got valid direction response: 05:11:54.7798 LVL= 19776, 16977, 16418, 23859, AGC= 48, IDX= 508, 0.02,-1.928,-2.866,-0.631,-0.767, PHS=-1.059,-2.055, 0.092, RAW= 182.4, 29.9, CAL= 181.7, 42.5, ROT= 328.3, -42.5 2025-10-27T05:11:56.107Z,1761541916.107 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:11:56.108Z,1761541916.108 [DAT](INFO): direction in FSK: [0.627284,-0.387419,0.675590] 2025-10-27T05:11:56.108Z,1761541916.108 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:56.116Z,1761541916.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:56.116Z,1761541916.116 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:56.190Z,1761541916.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.502980 s, deltaX: -0.300000 m, approachRate: -0.596445 m/s, rangeRepo size: 4 2025-10-27T05:11:56.200Z,1761541916.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.984777 m, bearing: 317.848660 deg, lat: 36.779336 deg, lon: -121.859635 deg, deltaT: 14.123823 s, deltaX: -6.765482 m, approachRate: -0.479012 m/s, posRepo size: 4 2025-10-27T05:11:56.200Z,1761541916.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m. 2025-10-27T05:11:56.201Z,1761541916.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T05:11:56.348Z,1761541916.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:56.466Z,1761541916.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942878,0.330589,0.041128],[-0.332393,0.925323,0.182461],[0.022263,-0.185709,0.982352]] 2025-10-27T05:11:56.484Z,1761541916.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:56.600Z,1761541916.600 [DAT](INFO): DAT read: Rx Time:05:11:55.2798 2025-10-27T05:11:56.601Z,1761541916.601 [DAT](INFO): Rx dataTimestamp_ set to:1761541916.600684 2025-10-27T05:11:56.602Z,1761541916.602 [DAT](INFO): DAT read: Bearing 190.5, -30.8 (Local) 2025-10-27T05:11:56.603Z,1761541916.603 [DAT](INFO): Local bearing/azimuth received: Bearing 190.5, -30.8 (Local) 2025-10-27T05:11:56.605Z,1761541916.605 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.1 2025-10-27T05:11:56.609Z,1761541916.609 [DAT](INFO): DAT read: 05:11:55.2798 LVL= 32752, 19329, 23954, 30483, AGC= 48, IDX= 509, 0.02,-0.761,-1.489, 0.580, 0.684, PHS=-1.343,-2.129,-0.148, RAW= 186.8, 36.5, CAL= 185.6, 47.8, ROT= 324.4, -47.8 2025-10-27T05:11:56.610Z,1761541916.610 [DAT](INFO): got valid direction response: 05:11:55.2798 LVL= 32752, 19329, 23954, 30483, AGC= 48, IDX= 509, 0.02,-0.761,-1.489, 0.580, 0.684, PHS=-1.343,-2.129,-0.148, RAW= 186.8, 36.5, CAL= 185.6, 47.8, ROT= 324.4, -47.8 2025-10-27T05:11:56.611Z,1761541916.611 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:11:56.612Z,1761541916.612 [DAT](INFO): direction in FSK: [0.546177,-0.391024,0.740805] 2025-10-27T05:11:56.612Z,1761541916.612 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:56.632Z,1761541916.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:56.633Z,1761541916.633 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:56.825Z,1761541916.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941759,0.333712,0.041537],[-0.335412,0.923209,0.187572],[0.024248,-0.190579,0.981372]] 2025-10-27T05:11:56.852Z,1761541916.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:56.856Z,1761541916.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503875 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:11:56.858Z,1761541916.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.984778 m, bearing: 315.657619 deg, lat: 36.779336 deg, lon: -121.859637 deg, deltaT: 0.503875 s, deltaX: 0.000001 m, approachRate: 0.000001 m/s, posRepo size: 4 2025-10-27T05:11:57.105Z,1761541917.105 [DAT](INFO): DAT read: Rx Time:05:11:55.7796 2025-10-27T05:11:57.105Z,1761541917.105 [DAT](INFO): Rx dataTimestamp_ set to:1761541917.104715 2025-10-27T05:11:57.106Z,1761541917.106 [DAT](INFO): DAT read: Bearing 203.7, -35.4 (Local) 2025-10-27T05:11:57.107Z,1761541917.107 [DAT](INFO): Local bearing/azimuth received: Bearing 203.7, -35.4 (Local) 2025-10-27T05:11:57.109Z,1761541917.109 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 2025-10-27T05:11:57.118Z,1761541917.118 [DAT](INFO): DAT read: 05:11:55.7796 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508, 0.05,-0.113,-0.220, 1.112, 1.466, PHS=-1.477,-1.640,-0.398, RAW= 203.1, 46.8, CAL= 200.6, 55.7, ROT= 309.4, -55.7 2025-10-27T05:11:57.119Z,1761541917.119 [DAT](INFO): got valid direction response: 05:11:55.7796 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 508, 0.05,-0.113,-0.220, 1.112, 1.466, PHS=-1.477,-1.640,-0.398, RAW= 203.1, 46.8, CAL= 200.6, 55.7, ROT= 309.4, -55.7 2025-10-27T05:11:57.120Z,1761541917.120 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:11:57.121Z,1761541917.121 [DAT](INFO): direction in FSK: [0.357687,-0.435455,0.826098] 2025-10-27T05:11:57.121Z,1761541917.121 [DAT](INFO): publishing direction and range info 2025-10-27T05:11:57.124Z,1761541917.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:57.125Z,1761541917.125 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:11:57.230Z,1761541917.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940420,0.337402,0.042079],[-0.338998,0.920828,0.192761],[0.026291,-0.195541,0.980343]] 2025-10-27T05:11:57.340Z,1761541917.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504031 s, deltaX: -0.300000 m, approachRate: -0.595201 m/s, rangeRepo size: 4 2025-10-27T05:11:57.342Z,1761541917.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.686300 m, bearing: 301.702639 deg, lat: 36.779341 deg, lon: -121.859637 deg, deltaT: 0.504031 s, deltaX: -0.298478 m, approachRate: -0.592182 m/s, posRepo size: 4 2025-10-27T05:11:57.356Z,1761541917.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:11:57.608Z,1761541917.608 [DAT](INFO): DAT read: user:347> 2025-10-27T05:11:57.608Z,1761541917.608 [DAT](INFO): DAT read: user:347> 2025-10-27T05:11:57.609Z,1761541917.609 [DAT](INFO): DAT read: Tx time:05:11:56.6756 2025-10-27T05:11:57.609Z,1761541917.609 [DAT](INFO): Ping request sent. 2025-10-27T05:11:57.609Z,1761541917.609 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:11:57.610Z,1761541917.610 [DAT](INFO): publishing transmit ping time 2025-10-27T05:11:57.610Z,1761541917.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T05:11:57.633Z,1761541917.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938575,0.342351,0.043284],[-0.343908,0.917696,0.198902],[0.028372,-0.201570,0.979063]] 2025-10-27T05:11:57.860Z,1761541917.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250433 2025-10-27T05:11:58.124Z,1761541918.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514103 2025-10-27T05:11:58.376Z,1761541918.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766523 2025-10-27T05:11:58.443Z,1761541918.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933899,0.354544,0.046168],[-0.355984,0.910032,0.212410],[0.033294,-0.214805,0.976089]] 2025-10-27T05:11:58.484Z,1761541918.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:11:58.628Z,1761541918.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018406 2025-10-27T05:11:58.845Z,1761541918.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931151,0.361581,0.047081],[-0.362870,0.906211,0.217042],[0.035813,-0.219184,0.975026]] 2025-10-27T05:11:58.880Z,1761541918.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270493 2025-10-27T05:11:59.132Z,1761541919.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522389 2025-10-27T05:11:59.249Z,1761541919.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928412,0.368476,0.047710],[-0.369600,0.902745,0.220110],[0.038035,-0.221986,0.974308]] 2025-10-27T05:11:59.385Z,1761541919.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774896 2025-10-27T05:11:59.636Z,1761541919.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026407 2025-10-27T05:11:59.653Z,1761541919.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925759,0.375114,0.047537],[-0.375946,0.899704,0.221806],[0.040434,-0.223210,0.973931]] 2025-10-27T05:11:59.888Z,1761541919.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278374 2025-10-27T05:12:00.081Z,1761541920.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922960,0.382006,0.047070],[-0.382481,0.896610,0.223158],[0.043044,-0.223969,0.973645]] 2025-10-27T05:12:00.141Z,1761541920.141 [DAT](INFO): DAT read: Rx Time:05:11:58.8082 2025-10-27T05:12:00.141Z,1761541920.141 [DAT](INFO): Rx dataTimestamp_ set to:1761541920.140807 2025-10-27T05:12:00.142Z,1761541920.142 [DAT](INFO): DAT read: Bearing 234.0, -55.5 (Local) 2025-10-27T05:12:00.143Z,1761541920.143 [DAT](INFO): Local bearing/azimuth received: Bearing 234.0, -55.5 (Local) 2025-10-27T05:12:00.145Z,1761541920.145 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.3 2025-10-27T05:12:00.150Z,1761541920.150 [DAT](INFO): DAT read: 05:11:58.8082 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 256,-0.05,-1.966,-0.855, 0.050, 0.355, PHS=-2.220,-1.166,-0.350, RAW= 244.2, 39.1, CAL= 247.4, 47.3, ROT= 262.6, -47.3 2025-10-27T05:12:00.151Z,1761541920.151 [DAT](INFO): got valid direction response: 05:11:58.8082 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 256,-0.05,-1.966,-0.855, 0.050, 0.355, PHS=-2.220,-1.166,-0.350, RAW= 244.2, 39.1, CAL= 247.4, 47.3, ROT= 262.6, -47.3 2025-10-27T05:12:00.151Z,1761541920.151 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:00.152Z,1761541920.152 [DAT](INFO): direction in FSK: [-0.087344,-0.672511,0.734915] 2025-10-27T05:12:00.152Z,1761541920.152 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:00.160Z,1761541920.160 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.550552 2025-10-27T05:12:00.181Z,1761541920.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 3.036092 s, deltaX: -0.100000 m, approachRate: -0.032937 m/s, rangeRepo size: 4 2025-10-27T05:12:00.187Z,1761541920.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.586788 m, bearing: 233.243513 deg, lat: 36.779343 deg, lon: -121.859637 deg, deltaT: 3.036092 s, deltaX: -0.099512 m, approachRate: -0.032776 m/s, posRepo size: 4 2025-10-27T05:12:00.393Z,1761541920.393 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.783599 2025-10-27T05:12:00.470Z,1761541920.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920317,0.388386,0.046614],[-0.388522,0.893716,0.224325],[0.045465,-0.224561,0.973399]] 2025-10-27T05:12:00.511Z,1761541920.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:12:00.644Z,1761541920.644 [DAT](INFO): DAT read: Rx Time:05:11:59.3083 2025-10-27T05:12:00.644Z,1761541920.644 [DAT](INFO): Rx dataTimestamp_ set to:1761541920.644209 2025-10-27T05:12:00.646Z,1761541920.646 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 2025-10-27T05:12:00.646Z,1761541920.646 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:12:00.648Z,1761541920.648 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.038346 2025-10-27T05:12:00.867Z,1761541920.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917826,0.394284,0.046203],[-0.394096,0.890952,0.225596],[0.047784,-0.225266,0.973125]] 2025-10-27T05:12:00.886Z,1761541920.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503402 s, deltaX: 0.100000 m, approachRate: 0.198649 m/s, rangeRepo size: 4 2025-10-27T05:12:00.887Z,1761541920.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m. 2025-10-27T05:12:00.896Z,1761541920.896 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.286518 2025-10-27T05:12:01.149Z,1761541921.149 [DAT](INFO): DAT read: Rx Time:05:11:59.8083 2025-10-27T05:12:01.149Z,1761541921.149 [DAT](INFO): Rx dataTimestamp_ set to:1761541921.148957 2025-10-27T05:12:01.150Z,1761541921.150 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.3 2025-10-27T05:12:01.151Z,1761541921.151 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-27T05:12:01.152Z,1761541921.152 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.542539 2025-10-27T05:12:01.271Z,1761541921.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915459,0.399846,0.045367],[-0.399288,0.888542,0.225969],[0.050042,-0.224980,0.973077]] 2025-10-27T05:12:01.329Z,1761541921.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504748 s, deltaX: 0.200000 m, approachRate: 0.396237 m/s, rangeRepo size: 4 2025-10-27T05:12:01.329Z,1761541921.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m. 2025-10-27T05:12:01.400Z,1761541921.400 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.790808 2025-10-27T05:12:01.652Z,1761541921.652 [DAT](INFO): DAT read: Rx Time:05:12:00.3087 2025-10-27T05:12:01.653Z,1761541921.653 [DAT](INFO): Rx dataTimestamp_ set to:1761541921.652313 2025-10-27T05:12:01.654Z,1761541921.654 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 2025-10-27T05:12:01.654Z,1761541921.654 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T05:12:01.655Z,1761541921.655 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.045889 2025-10-27T05:12:01.675Z,1761541921.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913263,0.404977,0.044101],[-0.404060,0.886740,0.224560],[0.051835,-0.222902,0.973462]] 2025-10-27T05:12:01.694Z,1761541921.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503356 s, deltaX: 0.600000 m, approachRate: 1.191999 m/s, rangeRepo size: 4 2025-10-27T05:12:01.904Z,1761541921.904 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.294456 2025-10-27T05:12:02.093Z,1761541922.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911418,0.409253,0.042764],[-0.407959,0.885155,0.223763],[0.053723,-0.221388,0.973705]] 2025-10-27T05:12:02.161Z,1761541922.161 [DAT](INFO): DAT read: Rx Time:05:12:00.8085 2025-10-27T05:12:02.162Z,1761541922.162 [DAT](INFO): Rx dataTimestamp_ set to:1761541922.161307 2025-10-27T05:12:02.164Z,1761541922.164 [DAT](INFO): DAT read: Bearing 293.5, -52.4 (Local) 2025-10-27T05:12:02.165Z,1761541922.165 [DAT](INFO): Local bearing/azimuth received: Bearing 293.5, -52.4 (Local) 2025-10-27T05:12:02.167Z,1761541922.167 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.4 2025-10-27T05:12:02.180Z,1761541922.180 [DAT](INFO): DAT read: 05:12:00.8085 LVL= 32752, 32545, 21666, 32755, AGC= 45, IDX= 500,-0.09, 0.585, 2.961, 2.557, 2.683, PHS=-1.997, 0.322,-0.170, RAW= 281.6, 17.1, CAL= 281.0, 24.4, ROT= 229.0, -24.4 2025-10-27T05:12:02.181Z,1761541922.181 [DAT](INFO): got valid direction response: 05:12:00.8085 LVL= 32752, 32545, 21666, 32755, AGC= 45, IDX= 500,-0.09, 0.585, 2.961, 2.557, 2.683, PHS=-1.997, 0.322,-0.170, RAW= 281.6, 17.1, CAL= 281.0, 24.4, ROT= 229.0, -24.4 2025-10-27T05:12:02.181Z,1761541922.181 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:12:02.182Z,1761541922.182 [DAT](INFO): direction in FSK: [-0.597462,-0.687302,0.413104] 2025-10-27T05:12:02.182Z,1761541922.182 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:02.195Z,1761541922.195 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.585105 2025-10-27T05:12:02.408Z,1761541922.408 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.798395 2025-10-27T05:12:02.506Z,1761541922.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909834,0.412904,0.041385],[-0.411285,0.883988,0.222281],[0.055197,-0.219260,0.974104]] 2025-10-27T05:12:02.543Z,1761541922.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:12:02.546Z,1761541922.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.508994 s, deltaX: -0.300000 m, approachRate: -0.589398 m/s, rangeRepo size: 4 2025-10-27T05:12:02.661Z,1761541922.661 [DAT](INFO): DAT read: Rx Time:05:12:01.3088 2025-10-27T05:12:02.662Z,1761541922.662 [DAT](INFO): Rx dataTimestamp_ set to:1761541922.661589 2025-10-27T05:12:02.664Z,1761541922.664 [DAT](INFO): DAT read: Bearing 296.3, -48.4 (Local) 2025-10-27T05:12:02.664Z,1761541922.664 [DAT](INFO): Local bearing/azimuth received: Bearing 296.3, -48.4 (Local) 2025-10-27T05:12:02.667Z,1761541922.667 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed -0.4 2025-10-27T05:12:02.672Z,1761541922.672 [DAT](INFO): DAT read: 05:12:01.3088 LVL= 32752, 23105, 22770, 32755, AGC= 45, IDX= 503,-0.46,-0.222, 2.237, 1.597, 1.812, PHS=-1.931, 0.470,-0.259, RAW= 287.2, 15.9, CAL= 285.8, 23.0, ROT= 224.2, -23.0 2025-10-27T05:12:02.673Z,1761541922.673 [DAT](INFO): got valid direction response: 05:12:01.3088 LVL= 32752, 23105, 22770, 32755, AGC= 45, IDX= 503,-0.46,-0.222, 2.237, 1.597, 1.812, PHS=-1.931, 0.470,-0.259, RAW= 287.2, 15.9, CAL= 285.8, 23.0, ROT= 224.2, -23.0 2025-10-27T05:12:02.674Z,1761541922.674 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:12:02.675Z,1761541922.675 [DAT](INFO): direction in FSK: [-0.659920,-0.641744,0.390731] 2025-10-27T05:12:02.675Z,1761541922.675 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:02.678Z,1761541922.678 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.068864 2025-10-27T05:12:02.888Z,1761541922.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908677,0.415604,0.039737],[-0.413716,0.883571,0.219412],[0.056078,-0.215815,0.974823]] 2025-10-27T05:12:02.912Z,1761541922.912 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.302506 2025-10-27T05:12:02.913Z,1761541922.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.500282 s, deltaX: 0.400000 m, approachRate: 0.799549 m/s, rangeRepo size: 4 2025-10-27T05:12:02.915Z,1761541922.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.581706 m, bearing: 193.754894 deg, lat: 36.779343 deg, lon: -121.859637 deg, deltaT: 2.520782 s, deltaX: 0.994918 m, approachRate: 0.394686 m/s, posRepo size: 4 2025-10-27T05:12:03.165Z,1761541923.165 [DAT](INFO): DAT read: Rx Time:05:12:01.8089 2025-10-27T05:12:03.165Z,1761541923.165 [DAT](INFO): Rx dataTimestamp_ set to:1761541923.164848 2025-10-27T05:12:03.166Z,1761541923.166 [DAT](INFO): DAT read: Bearing 292.9, -46.0 (Local) 2025-10-27T05:12:03.167Z,1761541923.167 [DAT](INFO): Local bearing/azimuth received: Bearing 292.9, -46.0 (Local) 2025-10-27T05:12:03.169Z,1761541923.169 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.4 2025-10-27T05:12:03.174Z,1761541923.174 [DAT](INFO): DAT read: 05:12:01.8089 LVL= 32752, 20497, 23362, 32755, AGC= 45, IDX= 503, 0.14,-1.903, 0.439,-0.229, 0.101, PHS=-1.902, 0.383,-0.374, RAW= 289.0, 18.4, CAL= 288.1, 25.4, ROT= 221.9, -25.4 2025-10-27T05:12:03.175Z,1761541923.175 [DAT](INFO): got valid direction response: 05:12:01.8089 LVL= 32752, 20497, 23362, 32755, AGC= 45, IDX= 503, 0.14,-1.903, 0.439,-0.229, 0.101, PHS=-1.902, 0.383,-0.374, RAW= 289.0, 18.4, CAL= 288.1, 25.4, ROT= 221.9, -25.4 2025-10-27T05:12:03.175Z,1761541923.175 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:12:03.176Z,1761541923.176 [DAT](INFO): direction in FSK: [-0.672363,-0.603277,0.428935] 2025-10-27T05:12:03.176Z,1761541923.176 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:03.181Z,1761541923.181 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.571942 2025-10-27T05:12:03.360Z,1761541923.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503259 s, deltaX: 0.200000 m, approachRate: 0.397410 m/s, rangeRepo size: 4 2025-10-27T05:12:03.362Z,1761541923.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.780690 m, bearing: 190.775988 deg, lat: 36.779341 deg, lon: -121.859642 deg, deltaT: 0.503259 s, deltaX: 0.198984 m, approachRate: 0.395391 m/s, posRepo size: 4 2025-10-27T05:12:03.416Z,1761541923.416 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.806612 2025-10-27T05:12:03.669Z,1761541923.669 [DAT](INFO): DAT read: Rx Time:05:12:02.3091 2025-10-27T05:12:03.669Z,1761541923.669 [DAT](INFO): Rx dataTimestamp_ set to:1761541923.669125 2025-10-27T05:12:03.671Z,1761541923.671 [DAT](INFO): DAT read: Bearing 288.6, -36.8 (Local) 2025-10-27T05:12:03.671Z,1761541923.671 [DAT](INFO): Local bearing/azimuth received: Bearing 288.6, -36.8 (Local) 2025-10-27T05:12:03.673Z,1761541923.673 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 2025-10-27T05:12:03.678Z,1761541923.678 [DAT](INFO): DAT read: 05:12:02.3091 LVL= 28400, 16689, 14882, 32755, AGC= 42, IDX= 506,-0.07, 2.755,-1.463,-2.309,-1.693, PHS=-1.733, 0.275,-0.660, RAW= 297.7, 23.3, CAL= 297.8, 29.5, ROT= 212.2, -29.5 2025-10-27T05:12:03.679Z,1761541923.679 [DAT](INFO): got valid direction response: 05:12:02.3091 LVL= 28400, 16689, 14882, 32755, AGC= 42, IDX= 506,-0.07, 2.755,-1.463,-2.309,-1.693, PHS=-1.733, 0.275,-0.660, RAW= 297.7, 23.3, CAL= 297.8, 29.5, ROT= 212.2, -29.5 2025-10-27T05:12:03.679Z,1761541923.679 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:12:03.680Z,1761541923.680 [DAT](INFO): direction in FSK: [-0.736489,-0.463792,0.492424] 2025-10-27T05:12:03.681Z,1761541923.681 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:03.694Z,1761541923.694 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.084918 2025-10-27T05:12:03.709Z,1761541923.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906844,0.419964,0.035547],[-0.417390,0.883173,0.213987],[0.058473,-0.208890,0.976189]] 2025-10-27T05:12:03.802Z,1761541923.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504277 s, deltaX: 0.300000 m, approachRate: 0.594911 m/s, rangeRepo size: 4 2025-10-27T05:12:03.809Z,1761541923.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.079164 m, bearing: 179.785308 deg, lat: 36.779336 deg, lon: -121.859642 deg, deltaT: 0.504277 s, deltaX: 0.298474 m, approachRate: 0.591885 m/s, posRepo size: 4 2025-10-27T05:12:03.925Z,1761541923.925 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.315299 2025-10-27T05:12:04.124Z,1761541924.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906134,0.421615,0.034077],[-0.418819,0.883000,0.211902],[0.059251,-0.206283,0.976697]] 2025-10-27T05:12:04.180Z,1761541924.180 [DAT](INFO): DAT read: Rx Time:05:12:02.8092 2025-10-27T05:12:04.182Z,1761541924.182 [DAT](INFO): Rx dataTimestamp_ set to:1761541924.180981 2025-10-27T05:12:04.187Z,1761541924.187 [DAT](INFO): DAT read: Bearing 288.0, -39.4 (Local) 2025-10-27T05:12:04.188Z,1761541924.188 [DAT](INFO): Local bearing/azimuth received: Bearing 288.0, -39.4 (Local) 2025-10-27T05:12:04.193Z,1761541924.193 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4 2025-10-27T05:12:04.198Z,1761541924.198 [DAT](INFO): DAT read: 05:12:02.8092 LVL= 31120, 15153, 15810, 32755, AGC= 43, IDX= 506, 0.47, 2.148,-2.182,-2.889,-2.376, PHS=-1.657, 0.239,-0.556, RAW= 294.7, 22.9, CAL= 294.8, 29.4, ROT= 215.2, -29.4 2025-10-27T05:12:04.207Z,1761541924.207 [DAT](INFO): got valid direction response: 05:12:02.8092 LVL= 31120, 15153, 15810, 32755, AGC= 43, IDX= 506, 0.47, 2.148,-2.182,-2.889,-2.376, PHS=-1.657, 0.239,-0.556, RAW= 294.7, 22.9, CAL= 294.8, 29.4, ROT= 215.2, -29.4 2025-10-27T05:12:04.208Z,1761541924.208 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:12:04.209Z,1761541924.209 [DAT](INFO): direction in FSK: [-0.711908,-0.502196,0.490904] 2025-10-27T05:12:04.210Z,1761541924.210 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:04.218Z,1761541924.218 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.608088 2025-10-27T05:12:04.229Z,1761541924.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.511856 s, deltaX: 0.100000 m, approachRate: 0.195367 m/s, rangeRepo size: 4 2025-10-27T05:12:04.235Z,1761541924.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.178656 m, bearing: 182.811394 deg, lat: 36.779336 deg, lon: -121.859642 deg, deltaT: 0.511856 s, deltaX: 0.099492 m, approachRate: 0.194374 m/s, posRepo size: 4 2025-10-27T05:12:04.428Z,1761541924.428 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.818482 2025-10-27T05:12:04.522Z,1761541924.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905734,0.422551,0.033120],[-0.419632,0.882993,0.210312],[0.059623,-0.204385,0.977073]] 2025-10-27T05:12:04.590Z,1761541924.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:12:04.682Z,1761541924.682 [DAT](INFO): DAT read: Rx Time:05:12:03.3095 2025-10-27T05:12:04.682Z,1761541924.682 [DAT](INFO): Rx dataTimestamp_ set to:1761541924.681916 2025-10-27T05:12:04.684Z,1761541924.684 [DAT](INFO): DAT read: Bearing 286.9, -38.7 (Local) 2025-10-27T05:12:04.684Z,1761541924.684 [DAT](INFO): Local bearing/azimuth received: Bearing 286.9, -38.7 (Local) 2025-10-27T05:12:04.686Z,1761541924.686 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4 2025-10-27T05:12:04.693Z,1761541924.693 [DAT](INFO): DAT read: 05:12:03.3095 LVL= 28272, 18289, 14754, 32755, AGC= 44, IDX= 509,-0.03, 3.141,-1.210,-1.922,-1.378, PHS=-1.662, 0.213,-0.588, RAW= 295.2, 23.8, CAL= 295.5, 30.2, ROT= 214.5, -30.2 2025-10-27T05:12:04.695Z,1761541924.695 [DAT](INFO): got valid direction response: 05:12:03.3095 LVL= 28272, 18289, 14754, 32755, AGC= 44, IDX= 509,-0.03, 3.141,-1.210,-1.922,-1.378, PHS=-1.662, 0.213,-0.588, RAW= 295.2, 23.8, CAL= 295.5, 30.2, ROT= 214.5, -30.2 2025-10-27T05:12:04.696Z,1761541924.696 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:12:04.697Z,1761541924.697 [DAT](INFO): direction in FSK: [-0.712271,-0.489531,0.503020] 2025-10-27T05:12:04.698Z,1761541924.698 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:04.738Z,1761541924.738 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.128771 2025-10-27T05:12:04.928Z,1761541924.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905313,0.423545,0.031919],[-0.420474,0.883043,0.208416],[0.060088,-0.202103,0.977519]] 2025-10-27T05:12:04.932Z,1761541924.932 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.322484 2025-10-27T05:12:05.017Z,1761541925.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.500935 s, deltaX: 0.500000 m, approachRate: 0.998133 m/s, rangeRepo size: 4 2025-10-27T05:12:05.023Z,1761541925.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.676124 m, bearing: 181.914408 deg, lat: 36.779336 deg, lon: -121.859641 deg, deltaT: 0.500935 s, deltaX: 0.497468 m, approachRate: 0.993079 m/s, posRepo size: 4 2025-10-27T05:12:05.189Z,1761541925.189 [DAT](INFO): DAT read: Rx Time:05:12:03.8095 2025-10-27T05:12:05.191Z,1761541925.191 [DAT](INFO): Rx dataTimestamp_ set to:1761541925.189877 2025-10-27T05:12:05.193Z,1761541925.193 [DAT](INFO): DAT read: Bearing 289.7, -37.2 (Local) 2025-10-27T05:12:05.193Z,1761541925.193 [DAT](INFO): Local bearing/azimuth received: Bearing 289.7, -37.2 (Local) 2025-10-27T05:12:05.195Z,1761541925.195 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4 2025-10-27T05:12:05.233Z,1761541925.233 [DAT](INFO): DAT read: 05:12:03.8095 LVL= 26560, 14577, 13602, 25475, AGC= 43, IDX= 509, 0.37,-1.581, 0.434,-0.396, 0.162, PHS=-1.640, 0.317,-0.602, RAW= 298.0, 21.9, CAL= 297.6, 28.1, ROT= 212.4, -28.1 2025-10-27T05:12:05.240Z,1761541925.240 [DAT](INFO): got valid direction response: 05:12:03.8095 LVL= 26560, 14577, 13602, 25475, AGC= 43, IDX= 509, 0.37,-1.581, 0.434,-0.396, 0.162, PHS=-1.640, 0.317,-0.602, RAW= 298.0, 21.9, CAL= 297.6, 28.1, ROT= 212.4, -28.1 2025-10-27T05:12:05.240Z,1761541925.240 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:12:05.242Z,1761541925.242 [DAT](INFO): direction in FSK: [-0.744804,-0.472667,0.471012] 2025-10-27T05:12:05.242Z,1761541925.242 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:05.254Z,1761541925.254 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.644760 2025-10-27T05:12:05.438Z,1761541925.438 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.827782 2025-10-27T05:12:05.514Z,1761541925.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905081,0.424159,0.030285],[-0.420864,0.883308,0.206494],[0.060835,-0.199639,0.977979]] 2025-10-27T05:12:05.596Z,1761541925.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.507961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:05.598Z,1761541925.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.676124 m, bearing: 180.452059 deg, lat: 36.779336 deg, lon: -121.859640 deg, deltaT: 0.507961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:05.688Z,1761541925.688 [DAT](INFO): DAT read: Rx Time:05:12:04.3098 2025-10-27T05:12:05.689Z,1761541925.689 [DAT](INFO): Rx dataTimestamp_ set to:1761541925.688683 2025-10-27T05:12:05.690Z,1761541925.690 [DAT](INFO): DAT read: Bearing 280.1, -35.3 (Local) 2025-10-27T05:12:05.691Z,1761541925.691 [DAT](INFO): Local bearing/azimuth received: Bearing 280.1, -35.3 (Local) 2025-10-27T05:12:05.693Z,1761541925.693 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.4 2025-10-27T05:12:05.698Z,1761541925.698 [DAT](INFO): DAT read: 05:12:04.3098 LVL= 25136, 14721, 12162, 23267, AGC= 43, IDX= 512,-0.02, 2.007,-2.458, 3.127,-2.433, PHS=-1.741, 0.020,-0.767, RAW= 296.5, 29.9, CAL= 298.3, 35.9, ROT= 211.7, -35.9 2025-10-27T05:12:05.700Z,1761541925.700 [DAT](INFO): got valid direction response: 05:12:04.3098 LVL= 25136, 14721, 12162, 23267, AGC= 43, IDX= 512,-0.02, 2.007,-2.458, 3.127,-2.433, PHS=-1.741, 0.020,-0.767, RAW= 296.5, 29.9, CAL= 298.3, 35.9, ROT= 211.7, -35.9 2025-10-27T05:12:05.700Z,1761541925.700 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:12:05.702Z,1761541925.702 [DAT](INFO): direction in FSK: [-0.689192,-0.425654,0.586372] 2025-10-27T05:12:05.702Z,1761541925.702 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:05.709Z,1761541925.709 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.098720 2025-10-27T05:12:05.942Z,1761541925.942 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.332581 2025-10-27T05:12:06.040Z,1761541926.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904314,0.425966,0.027746],[-0.422329,0.883353,0.203287],[0.062084,-0.195553,0.978726]] 2025-10-27T05:12:06.084Z,1761541926.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.498806 s, deltaX: 0.400000 m, approachRate: 0.801915 m/s, rangeRepo size: 4 2025-10-27T05:12:06.085Z,1761541926.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.074080 m, bearing: 177.511042 deg, lat: 36.779337 deg, lon: -121.859640 deg, deltaT: 0.498806 s, deltaX: 0.397956 m, approachRate: 0.797817 m/s, posRepo size: 4 2025-10-27T05:12:06.197Z,1761541926.197 [DAT](INFO): DAT read: Rx Time:05:12:04.8099 2025-10-27T05:12:06.199Z,1761541926.199 [DAT](INFO): Rx dataTimestamp_ set to:1761541926.197528 2025-10-27T05:12:06.202Z,1761541926.202 [DAT](INFO): DAT read: Bearing 295.2, -35.1 (Local) 2025-10-27T05:12:06.204Z,1761541926.204 [DAT](INFO): Local bearing/azimuth received: Bearing 295.2, -35.1 (Local) 2025-10-27T05:12:06.210Z,1761541926.210 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 2025-10-27T05:12:06.229Z,1761541926.229 [DAT](INFO): DAT read: 05:12:04.8099 LVL= 26864, 16721, 10818, 24435, AGC= 45, IDX= 513,-0.44, 1.124,-2.861, 2.325, 2.900, PHS=-1.674, 0.567,-0.620, RAW= 301.9, 17.5, CAL= 300.3, 23.6, ROT= 209.7, -23.6 2025-10-27T05:12:06.230Z,1761541926.230 [DAT](INFO): got valid direction response: 05:12:04.8099 LVL= 26864, 16721, 10818, 24435, AGC= 45, IDX= 513,-0.44, 1.124,-2.861, 2.325, 2.900, PHS=-1.674, 0.567,-0.620, RAW= 301.9, 17.5, CAL= 300.3, 23.6, ROT= 209.7, -23.6 2025-10-27T05:12:06.230Z,1761541926.230 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:12:06.236Z,1761541926.236 [DAT](INFO): direction in FSK: [-0.795982,-0.454020,0.400349] 2025-10-27T05:12:06.236Z,1761541926.236 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:06.240Z,1761541926.240 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.630386 2025-10-27T05:12:06.454Z,1761541926.454 [DAT](INFO): DAT read: Rx Time:05:12:05.3099 2025-10-27T05:12:06.457Z,1761541926.457 [DAT](INFO): Rx dataTimestamp_ set to:1761541926.454421 2025-10-27T05:12:06.460Z,1761541926.460 [DAT](INFO): DAT read: Bearing 302.5, -35.7 (Local) 2025-10-27T05:12:06.461Z,1761541926.461 [DAT](INFO): Local bearing/azimuth received: Bearing 302.5, -35.7 (Local) 2025-10-27T05:12:06.467Z,1761541926.467 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.853285 2025-10-27T05:12:06.548Z,1761541926.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904039,0.426548,0.027752],[-0.422874,0.882999,0.203689],[0.062378,-0.195878,0.978642]] 2025-10-27T05:12:06.634Z,1761541926.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.508845 s, deltaX: 0.200000 m, approachRate: 0.393048 m/s, rangeRepo size: 4 2025-10-27T05:12:06.636Z,1761541926.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.273063 m, bearing: 178.904744 deg, lat: 36.779337 deg, lon: -121.859640 deg, deltaT: 0.508845 s, deltaX: 0.198984 m, approachRate: 0.391050 m/s, posRepo size: 4 2025-10-27T05:12:06.699Z,1761541926.699 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 2025-10-27T05:12:06.705Z,1761541926.705 [DAT](INFO): DAT read: 05:12:05.3099 LVL= 28336, 13361, 12018, 22307, AGC= 50, IDX= 2, 0.12,-0.059, 2.074, 1.052, 1.433, PHS=-1.390, 0.687,-0.425, RAW= 302.3, 12.5, CAL= 299.8, 17.6, ROT= 210.2, -17.6 2025-10-27T05:12:06.707Z,1761541926.707 [DAT](INFO): got valid direction response: 05:12:05.3099 LVL= 28336, 13361, 12018, 22307, AGC= 50, IDX= 2, 0.12,-0.059, 2.074, 1.052, 1.433, PHS=-1.390, 0.687,-0.425, RAW= 302.3, 12.5, CAL= 299.8, 17.6, ROT= 210.2, -17.6 2025-10-27T05:12:06.708Z,1761541926.708 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:12:06.709Z,1761541926.709 [DAT](INFO): direction in FSK: [-0.823819,-0.479474,0.302370] 2025-10-27T05:12:06.709Z,1761541926.709 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:06.715Z,1761541926.715 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.105714 2025-10-27T05:12:06.925Z,1761541926.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903393,0.427904,0.027933],[-0.424177,0.882171,0.204568],[0.062894,-0.196654,0.978454]] 2025-10-27T05:12:06.951Z,1761541926.951 [DAT](INFO): DAT read: Rx Time:05:12:05.8100 2025-10-27T05:12:06.953Z,1761541926.953 [DAT](INFO): Rx dataTimestamp_ set to:1761541926.951425 2025-10-27T05:12:06.955Z,1761541926.955 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.344634 2025-10-27T05:12:07.013Z,1761541927.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.498231 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:07.019Z,1761541927.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.273073 m, bearing: 180.711029 deg, lat: 36.779336 deg, lon: -121.859640 deg, deltaT: 0.498231 s, deltaX: 0.000010 m, approachRate: 0.000020 m/s, posRepo size: 4 2025-10-27T05:12:07.205Z,1761541927.205 [DAT](INFO): DAT read: Bearing 304.3, -33.7 (Local) 2025-10-27T05:12:07.206Z,1761541927.206 [DAT](INFO): Local bearing/azimuth received: Bearing 304.3, -33.7 (Local) 2025-10-27T05:12:07.213Z,1761541927.213 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 2025-10-27T05:12:07.230Z,1761541927.230 [DAT](INFO): DAT read: 05:12:05.8100 LVL= 26096, 14017, 11186, 22259, AGC= 47, IDX= 499,-0.13,-2.986,-0.836,-1.928,-1.523, PHS=-1.361, 0.732,-0.449, RAW= 304.3, 11.9, CAL= 301.9, 16.0, ROT= 208.1, -16.0 2025-10-27T05:12:07.232Z,1761541927.232 [DAT](INFO): got valid direction response: 05:12:05.8100 LVL= 26096, 14017, 11186, 22259, AGC= 47, IDX= 499,-0.13,-2.986,-0.836,-1.928,-1.523, PHS=-1.361, 0.732,-0.449, RAW= 304.3, 11.9, CAL= 301.9, 16.0, ROT= 208.1, -16.0 2025-10-27T05:12:07.232Z,1761541927.232 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:12:07.233Z,1761541927.233 [DAT](INFO): direction in FSK: [-0.847955,-0.452766,0.275637] 2025-10-27T05:12:07.233Z,1761541927.233 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:07.237Z,1761541927.237 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.627749 2025-10-27T05:12:07.395Z,1761541927.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.505415 s, deltaX: 0.100000 m, approachRate: 0.197857 m/s, rangeRepo size: 4 2025-10-27T05:12:07.397Z,1761541927.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.372565 m, bearing: 178.997937 deg, lat: 36.779336 deg, lon: -121.859640 deg, deltaT: 0.505415 s, deltaX: 0.099492 m, approachRate: 0.196852 m/s, posRepo size: 4 2025-10-27T05:12:07.456Z,1761541927.456 [DAT](INFO): DAT read: Rx Time:05:12:06.3103 2025-10-27T05:12:07.458Z,1761541927.458 [DAT](INFO): Rx dataTimestamp_ set to:1761541927.456697 2025-10-27T05:12:07.463Z,1761541927.463 [DAT](INFO): DAT read: Bearing 307.3, -33.1 (Local) 2025-10-27T05:12:07.464Z,1761541927.464 [DAT](INFO): Local bearing/azimuth received: Bearing 307.3, -33.1 (Local) 2025-10-27T05:12:07.469Z,1761541927.469 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 2025-10-27T05:12:07.482Z,1761541927.482 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T05:12:07.508Z,1761541927.508 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.898627 2025-10-27T05:12:07.710Z,1761541927.710 [DAT](INFO): DAT read: 05:12:06.3103 LVL= 27056, 15281, 11922, 25219, AGC= 48, IDX= 501, 0.47,-0.497, 1.693, 0.564, 0.947, PHS=-1.342, 0.791,-0.427, RAW= 304.7, 10.6, CAL= 302.4, 13.5, ROT= 207.6, -13.5 2025-10-27T05:12:07.712Z,1761541927.712 [DAT](INFO): got valid direction response: 05:12:06.3103 LVL= 27056, 15281, 11922, 25219, AGC= 48, IDX= 501, 0.47,-0.497, 1.693, 0.564, 0.947, PHS=-1.342, 0.791,-0.427, RAW= 304.7, 10.6, CAL= 302.4, 13.5, ROT= 207.6, -13.5 2025-10-27T05:12:07.713Z,1761541927.713 [DAT](INFO): #Rx 17: Read direction message, but no range. 2025-10-27T05:12:07.714Z,1761541927.714 [DAT](INFO): direction in FSK: [-0.861718,-0.450495,0.233445] 2025-10-27T05:12:07.728Z,1761541927.728 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.109156 2025-10-27T05:12:07.772Z,1761541927.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902206,0.430357,0.028566],[-0.426655,0.880821,0.205230],[0.063160,-0.197348,0.978297]] 2025-10-27T05:12:07.820Z,1761541927.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.255523 s, deltaX: 0.500000 m, approachRate: 1.956771 m/s, rangeRepo size: 4 2025-10-27T05:12:07.822Z,1761541927.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.870009 m, bearing: 178.885886 deg, lat: 36.779336 deg, lon: -121.859641 deg, deltaT: 0.255523 s, deltaX: 0.497444 m, approachRate: 1.946769 m/s, posRepo size: 4 2025-10-27T05:12:07.960Z,1761541927.960 [DAT](INFO): DAT read: Rx Time:05:12:06.8103 2025-10-27T05:12:07.962Z,1761541927.962 [DAT](INFO): Rx dataTimestamp_ set to:1761541927.961116 2025-10-27T05:12:07.966Z,1761541927.966 [DAT](INFO): DAT read: Bearing 310.6, -34.0 (Local) 2025-10-27T05:12:07.968Z,1761541927.968 [DAT](INFO): Local bearing/azimuth received: Bearing 310.6, -34.0 (Local) 2025-10-27T05:12:07.973Z,1761541927.973 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 2025-10-27T05:12:07.984Z,1761541927.984 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-27T05:12:07.000Z,1761541928.000 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.377301 2025-10-27T05:12:08.138Z,1761541928.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901701,0.431426,0.028397],[-0.427693,0.880419,0.204793],[0.063352,-0.196807,0.978393]] 2025-10-27T05:12:08.177Z,1761541928.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:12:08.180Z,1761541928.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504419 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:08.222Z,1761541928.222 [DAT](INFO): DAT read: 05:12:06.8103 LVL= 31216, 16881, 15346, 29747, AGC= 50, IDX= 502, 0.14,-1.588, 0.638,-0.477,-0.155, PHS=-1.331, 0.839,-0.366, RAW= 303.7, 9.2, CAL= 301.2, 10.8, ROT= 208.8, -10.8 2025-10-27T05:12:08.230Z,1761541928.230 [DAT](INFO): got valid direction response: 05:12:06.8103 LVL= 31216, 16881, 15346, 29747, AGC= 50, IDX= 502, 0.14,-1.588, 0.638,-0.477,-0.155, PHS=-1.331, 0.839,-0.366, RAW= 303.7, 9.2, CAL= 301.2, 10.8, ROT= 208.8, -10.8 2025-10-27T05:12:08.240Z,1761541928.240 [DAT](INFO): #Rx 19: Read direction message, but no range. 2025-10-27T05:12:08.252Z,1761541928.252 [DAT](INFO): direction in FSK: [-0.860785,-0.473221,0.187381] 2025-10-27T05:12:08.264Z,1761541928.264 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.654103 2025-10-27T05:12:08.465Z,1761541928.465 [DAT](INFO): DAT read: Rx Time:05:12:07.3106 2025-10-27T05:12:08.479Z,1761541928.479 [DAT](INFO): Rx dataTimestamp_ set to:1761541928.465564 2025-10-27T05:12:08.482Z,1761541928.482 [DAT](INFO): DAT read: Bearing 313.7, -35.6 (Local) 2025-10-27T05:12:08.485Z,1761541928.485 [DAT](INFO): Local bearing/azimuth received: Bearing 313.7, -35.6 (Local) 2025-10-27T05:12:08.502Z,1761541928.502 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-27T05:12:08.524Z,1761541928.524 [DAT](INFO): DAT read: 05:12:07.3106 LVL= 32368, 17185, 15858, 29875, AGC= 51, IDX= 505,-0.08,-1.488, 0.780,-0.295,-0.047, PHS=-1.339, 0.871,-0.293, RAW= 301.8, 8.0, CAL= 299.3, 8.4, ROT= 210.7, -8.4 2025-10-27T05:12:08.526Z,1761541928.526 [DAT](INFO): got valid direction response: 05:12:07.3106 LVL= 32368, 17185, 15858, 29875, AGC= 51, IDX= 505,-0.08,-1.488, 0.780,-0.295,-0.047, PHS=-1.339, 0.871,-0.293, RAW= 301.8, 8.0, CAL= 299.3, 8.4, ROT= 210.7, -8.4 2025-10-27T05:12:08.526Z,1761541928.526 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:12:08.531Z,1761541928.531 [DAT](INFO): direction in FSK: [-0.850628,-0.505066,0.146083] 2025-10-27T05:12:08.532Z,1761541928.532 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:08.554Z,1761541928.554 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.943646 2025-10-27T05:12:08.599Z,1761541928.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901217,0.432508,0.027301],[-0.428649,0.880358,0.203049],[0.063786,-0.194694,0.978788]] 2025-10-27T05:12:08.704Z,1761541928.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504448 s, deltaX: 0.300000 m, approachRate: 0.594709 m/s, rangeRepo size: 4 2025-10-27T05:12:08.713Z,1761541928.713 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.102877 2025-10-27T05:12:08.714Z,1761541928.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.168484 m, bearing: 182.938322 deg, lat: 36.779336 deg, lon: -121.859642 deg, deltaT: 1.008867 s, deltaX: 0.298475 m, approachRate: 0.295851 m/s, posRepo size: 4 2025-10-27T05:12:08.969Z,1761541928.969 [DAT](INFO): DAT read: Rx Time:05:12:07.8107 2025-10-27T05:12:08.971Z,1761541928.971 [DAT](INFO): Rx dataTimestamp_ set to:1761541928.969891 2025-10-27T05:12:08.975Z,1761541928.975 [DAT](INFO): DAT read: Bearing 315.5, -35.7 (Local) 2025-10-27T05:12:08.976Z,1761541928.976 [DAT](INFO): Local bearing/azimuth received: Bearing 315.5, -35.7 (Local) 2025-10-27T05:12:08.995Z,1761541928.995 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-27T05:12:08.997Z,1761541928.997 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-27T05:12:09.012Z,1761541929.012 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.402233 2025-10-27T05:12:09.096Z,1761541929.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901069,0.432864,0.026510],[-0.428860,0.880317,0.202782],[0.064440,-0.194090,0.978865]] 2025-10-27T05:12:09.116Z,1761541929.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504327 s, deltaX: 0.100000 m, approachRate: 0.198285 m/s, rangeRepo size: 4 2025-10-27T05:12:09.233Z,1761541929.233 [DAT](INFO): DAT read: 05:12:07.8107 LVL= 32752, 18065, 17378, 32307, AGC= 50, IDX= 506,-0.39,-2.185, 0.105,-0.971,-0.751, PHS=-1.332, 0.901,-0.263, RAW= 301.4, 7.2, CAL= 299.0, 6.9, ROT= 211.0, -6.9 2025-10-27T05:12:09.237Z,1761541929.237 [DAT](INFO): got valid direction response: 05:12:07.8107 LVL= 32752, 18065, 17378, 32307, AGC= 50, IDX= 506,-0.39,-2.185, 0.105,-0.971,-0.751, PHS=-1.332, 0.901,-0.263, RAW= 301.4, 7.2, CAL= 299.0, 6.9, ROT= 211.0, -6.9 2025-10-27T05:12:09.238Z,1761541929.238 [DAT](INFO): #Rx 22: Read direction message, but no range. 2025-10-27T05:12:09.241Z,1761541929.241 [DAT](INFO): direction in FSK: [-0.850959,-0.511308,0.120137] 2025-10-27T05:12:09.257Z,1761541929.257 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.647421 2025-10-27T05:12:09.472Z,1761541929.472 [DAT](INFO): DAT read: Rx Time:05:12:08.3108 2025-10-27T05:12:09.473Z,1761541929.473 [DAT](INFO): Rx dataTimestamp_ set to:1761541929.472459 2025-10-27T05:12:09.477Z,1761541929.477 [DAT](INFO): DAT read: Bearing 316.5, -36.0 (Local) 2025-10-27T05:12:09.479Z,1761541929.479 [DAT](INFO): Local bearing/azimuth received: Bearing 316.5, -36.0 (Local) 2025-10-27T05:12:09.493Z,1761541929.493 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.4 2025-10-27T05:12:09.496Z,1761541929.496 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-10-27T05:12:09.511Z,1761541929.511 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.889234 2025-10-27T05:12:09.565Z,1761541929.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900271,0.434581,0.025527],[-0.430406,0.879763,0.201908],[0.065288,-0.192759,0.979072]] 2025-10-27T05:12:09.692Z,1761541929.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.502568 s, deltaX: 0.200000 m, approachRate: 0.397956 m/s, rangeRepo size: 4 2025-10-27T05:12:09.694Z,1761541929.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.466960 m, bearing: 183.445276 deg, lat: 36.779335 deg, lon: -121.859642 deg, deltaT: 1.006895 s, deltaX: 0.298476 m, approachRate: 0.296432 m/s, posRepo size: 4 2025-10-27T05:12:09.726Z,1761541929.726 [DAT](INFO): DAT read: 05:12:08.3108 LVL= 30032, 16161, 16946, 29635, AGC= 51, IDX= 507, 0.24,-0.116, 2.221, 1.140, 1.341, PHS=-1.356, 0.925,-0.245, RAW= 300.9, 6.9, CAL= 298.4, 6.1, ROT= 211.6, -6.1 2025-10-27T05:12:09.728Z,1761541929.728 [DAT](INFO): got valid direction response: 05:12:08.3108 LVL= 30032, 16161, 16946, 29635, AGC= 51, IDX= 507, 0.24,-0.116, 2.221, 1.140, 1.341, PHS=-1.356, 0.925,-0.245, RAW= 300.9, 6.9, CAL= 298.4, 6.1, ROT= 211.6, -6.1 2025-10-27T05:12:09.729Z,1761541929.729 [DAT](INFO): #Rx 24: Read direction message, but no range. 2025-10-27T05:12:09.730Z,1761541929.730 [DAT](INFO): direction in FSK: [-0.846904,-0.521019,0.106264] 2025-10-27T05:12:09.743Z,1761541929.743 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.133521 2025-10-27T05:12:09.976Z,1761541929.976 [DAT](INFO): DAT read: Rx Time:05:12:08.8109 2025-10-27T05:12:09.978Z,1761541929.978 [DAT](INFO): Rx dataTimestamp_ set to:1761541929.976694 2025-10-27T05:12:09.982Z,1761541929.982 [DAT](INFO): DAT read: Bearing 317.5, -35.3 (Local) 2025-10-27T05:12:09.983Z,1761541929.983 [DAT](INFO): Local bearing/azimuth received: Bearing 317.5, -35.3 (Local) 2025-10-27T05:12:09.990Z,1761541929.990 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-27T05:12:09.993Z,1761541929.993 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-27T05:12:10.035Z,1761541930.035 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.425833 2025-10-27T05:12:10.092Z,1761541930.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899785,0.435617,0.024984],[-0.431346,0.879409,0.201447],[0.065782,-0.192036,0.979181]] 2025-10-27T05:12:10.165Z,1761541930.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504235 s, deltaX: 0.100000 m, approachRate: 0.198320 m/s, rangeRepo size: 4 2025-10-27T05:12:10.171Z,1761541930.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.566436 m, bearing: 184.144621 deg, lat: 36.779335 deg, lon: -121.859648 deg, deltaT: 0.504235 s, deltaX: 0.099476 m, approachRate: 0.197281 m/s, posRepo size: 4 2025-10-27T05:12:10.248Z,1761541930.248 [DAT](INFO): DAT read: 05:12:08.8109 LVL= 28656, 16561, 18866, 30643, AGC= 51, IDX= 508, 0.08,-2.328,-0.019,-1.107,-0.911, PHS=-1.316, 0.936,-0.240, RAW= 301.5, 6.4, CAL= 299.1, 5.2, ROT= 210.9, -5.2 2025-10-27T05:12:10.284Z,1761541930.284 [DAT](INFO): got valid direction response: 05:12:08.8109 LVL= 28656, 16561, 18866, 30643, AGC= 51, IDX= 508, 0.08,-2.328,-0.019,-1.107,-0.911, PHS=-1.316, 0.936,-0.240, RAW= 301.5, 6.4, CAL= 299.1, 5.2, ROT= 210.9, -5.2 2025-10-27T05:12:10.286Z,1761541930.286 [DAT](INFO): #Rx 26: Read direction message, but no range. 2025-10-27T05:12:10.299Z,1761541930.299 [DAT](INFO): direction in FSK: [-0.854533,-0.511428,0.090633] 2025-10-27T05:12:10.315Z,1761541930.315 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=12.705681 2025-10-27T05:12:10.481Z,1761541930.481 [DAT](INFO): DAT read: Rx Time:05:12:09.3112 2025-10-27T05:12:10.483Z,1761541930.483 [DAT](INFO): Rx dataTimestamp_ set to:1761541930.482018 2025-10-27T05:12:10.487Z,1761541930.487 [DAT](INFO): DAT read: Bearing 318.9, -33.9 (Local) 2025-10-27T05:12:10.502Z,1761541930.502 [DAT](INFO): Local bearing/azimuth received: Bearing 318.9, -33.9 (Local) 2025-10-27T05:12:10.517Z,1761541930.517 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.5 2025-10-27T05:12:10.526Z,1761541930.526 [DAT](INFO): DAT read: 05:12:09.3112 LVL= 28960, 16817, 20674, 31955, AGC= 52, IDX= 511,-0.05,-2.808,-0.548,-1.649,-1.455, PHS=-1.251, 0.952,-0.237, RAW= 302.6, 5.7, CAL= 300.2, 3.8, ROT= 209.8, -3.8 2025-10-27T05:12:10.542Z,1761541930.542 [DAT](INFO): got valid direction response: 05:12:09.3112 LVL= 28960, 16817, 20674, 31955, AGC= 52, IDX= 511,-0.05,-2.808,-0.548,-1.649,-1.455, PHS=-1.251, 0.952,-0.237, RAW= 302.6, 5.7, CAL= 300.2, 3.8, ROT= 209.8, -3.8 2025-10-27T05:12:10.543Z,1761541930.543 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:12:10.565Z,1761541930.565 [DAT](INFO): direction in FSK: [-0.865858,-0.495881,0.066274] 2025-10-27T05:12:10.565Z,1761541930.565 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:10.582Z,1761541930.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899600,0.436055,0.024010],[-0.431682,0.879563,0.200047],[0.066114,-0.190327,0.979492]] 2025-10-27T05:12:10.601Z,1761541930.601 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.991373 2025-10-27T05:12:10.678Z,1761541930.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.505324 s, deltaX: 0.500000 m, approachRate: 0.989464 m/s, rangeRepo size: 4 2025-10-27T05:12:10.684Z,1761541930.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.063893 m, bearing: 182.830617 deg, lat: 36.779334 deg, lon: -121.859651 deg, deltaT: 0.505324 s, deltaX: 0.497458 m, approachRate: 0.984433 m/s, posRepo size: 4 2025-10-27T05:12:10.732Z,1761541930.732 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.122415 2025-10-27T05:12:10.984Z,1761541930.984 [DAT](INFO): DAT read: Rx Time:05:12:09.8113 2025-10-27T05:12:10.985Z,1761541930.985 [DAT](INFO): Rx dataTimestamp_ set to:1761541930.984257 2025-10-27T05:12:10.986Z,1761541930.986 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.5 2025-10-27T05:12:10.986Z,1761541930.986 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T05:12:10.987Z,1761541930.987 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.377859 2025-10-27T05:12:11.008Z,1761541931.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899525,0.436271,0.022862],[-0.431860,0.880087,0.197344],[0.065975,-0.187389,0.980068]] 2025-10-27T05:12:11.088Z,1761541931.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:12:11.091Z,1761541931.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.502239 s, deltaX: 0.100000 m, approachRate: 0.199108 m/s, rangeRepo size: 4 2025-10-27T05:12:11.239Z,1761541931.239 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.628652 2025-10-27T05:12:11.412Z,1761541931.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899136,0.437101,0.022292],[-0.432633,0.879932,0.196338],[0.066204,-0.186179,0.980283]] 2025-10-27T05:12:11.492Z,1761541931.492 [DAT](INFO): DAT read: Rx Time:05:12:10.3116 2025-10-27T05:12:11.494Z,1761541931.494 [DAT](INFO): Rx dataTimestamp_ set to:1761541931.492880 2025-10-27T05:12:11.498Z,1761541931.498 [DAT](INFO): DAT read: Bearing 319.8, -30.3 (Local) 2025-10-27T05:12:11.499Z,1761541931.499 [DAT](INFO): Local bearing/azimuth received: Bearing 319.8, -30.3 (Local) 2025-10-27T05:12:11.501Z,1761541931.501 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 2025-10-27T05:12:11.502Z,1761541931.502 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T05:12:11.507Z,1761541931.507 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=13.893248 2025-10-27T05:12:11.518Z,1761541931.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.508623 s, deltaX: 0.500000 m, approachRate: 0.983046 m/s, rangeRepo size: 4 2025-10-27T05:12:11.744Z,1761541931.744 [DAT](INFO): DAT read: 05:12:10.3116 LVL= 14176, 9969, 10418, 19011, AGC= 57, IDX= 3,-0.36, 2.845,-1.241,-2.416,-2.186, PHS=-1.150, 0.990,-0.274, RAW= 306.0, 4.7, CAL= 303.6, 2.3, ROT= 206.4, -2.3 2025-10-27T05:12:11.746Z,1761541931.746 [DAT](INFO): got valid direction response: 05:12:10.3116 LVL= 14176, 9969, 10418, 19011, AGC= 57, IDX= 3,-0.36, 2.845,-1.241,-2.416,-2.186, PHS=-1.150, 0.990,-0.274, RAW= 306.0, 4.7, CAL= 303.6, 2.3, ROT= 206.4, -2.3 2025-10-27T05:12:11.746Z,1761541931.746 [DAT](INFO): #Rx 30: Read direction message, but no range. 2025-10-27T05:12:11.757Z,1761541931.757 [DAT](INFO): direction in FSK: [-0.894990,-0.444277,0.040132] 2025-10-27T05:12:11.775Z,1761541931.775 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.161265 2025-10-27T05:12:11.857Z,1761541931.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898796,0.437813,0.022037],[-0.433334,0.879758,0.195568],[0.066235,-0.185325,0.980443]] 2025-10-27T05:12:11.000Z,1761541932.000 [DAT](INFO): DAT read: Rx Time:05:12:10.8117 2025-10-27T05:12:12.000Z,1761541932.000 [DAT](INFO): Rx dataTimestamp_ set to:1761541931.999769 2025-10-27T05:12:12.001Z,1761541932.001 [DAT](INFO): DAT read: Bearing 319.2, -28.3 (Local) 2025-10-27T05:12:12.002Z,1761541932.002 [DAT](INFO): Local bearing/azimuth received: Bearing 319.2, -28.3 (Local) 2025-10-27T05:12:12.005Z,1761541932.005 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.5 2025-10-27T05:12:12.016Z,1761541932.016 [DAT](INFO): DAT read: 05:12:10.8117 LVL= 30384, 14561, 22002, 32755, AGC= 55, IDX= 499, 0.46, 2.606,-1.505,-2.733,-2.462, PHS=-1.112, 1.002,-0.315, RAW= 308.1, 4.6, CAL= 305.7, 2.4, ROT= 204.3, -2.4 2025-10-27T05:12:12.017Z,1761541932.017 [DAT](INFO): got valid direction response: 05:12:10.8117 LVL= 30384, 14561, 22002, 32755, AGC= 55, IDX= 499, 0.46, 2.606,-1.505,-2.733,-2.462, PHS=-1.112, 1.002,-0.315, RAW= 308.1, 4.6, CAL= 305.7, 2.4, ROT= 204.3, -2.4 2025-10-27T05:12:12.018Z,1761541932.018 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T05:12:12.019Z,1761541932.019 [DAT](INFO): direction in FSK: [-0.910604,-0.411153,0.041876] 2025-10-27T05:12:12.023Z,1761541932.023 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:12.031Z,1761541932.031 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.417180 2025-10-27T05:12:12.244Z,1761541932.244 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.634527 2025-10-27T05:12:12.267Z,1761541932.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898675,0.438096,0.021311],[-0.433560,0.879915,0.194361],[0.066397,-0.183907,0.980699]] 2025-10-27T05:12:12.369Z,1761541932.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.506889 s, deltaX: 0.100000 m, approachRate: 0.197283 m/s, rangeRepo size: 4 2025-10-27T05:12:12.371Z,1761541932.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.760337 m, bearing: 177.637285 deg, lat: 36.779335 deg, lon: -121.859651 deg, deltaT: 1.517751 s, deltaX: 0.696444 m, approachRate: 0.458866 m/s, posRepo size: 4 2025-10-27T05:12:12.500Z,1761541932.500 [DAT](INFO): DAT read: Rx Time:05:12:11.3120 2025-10-27T05:12:12.500Z,1761541932.500 [DAT](INFO): Rx dataTimestamp_ set to:1761541932.499881 2025-10-27T05:12:12.501Z,1761541932.501 [DAT](INFO): DAT read: Bearing 319.2, -26.7 (Local) 2025-10-27T05:12:12.502Z,1761541932.502 [DAT](INFO): Local bearing/azimuth received: Bearing 319.2, -26.7 (Local) 2025-10-27T05:12:12.504Z,1761541932.504 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.5 2025-10-27T05:12:12.505Z,1761541932.505 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-27T05:12:12.505Z,1761541932.505 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.895932 2025-10-27T05:12:12.659Z,1761541932.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898373,0.438754,0.020506],[-0.434136,0.879890,0.193182],[0.066716,-0.182452,0.980949]] 2025-10-27T05:12:12.678Z,1761541932.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.500112 s, deltaX: 0.500000 m, approachRate: 0.999776 m/s, rangeRepo size: 4 2025-10-27T05:12:12.756Z,1761541932.756 [DAT](INFO): DAT read: 05:12:11.3120 LVL= 32176, 15537, 23442, 32755, AGC= 57, IDX= 502, 0.33,-2.609,-0.441,-1.718,-1.419, PHS=-1.088, 1.024,-0.342, RAW= 309.6, 4.4, CAL= 307.3, 2.2, ROT= 202.7, -2.2 2025-10-27T05:12:12.757Z,1761541932.757 [DAT](INFO): got valid direction response: 05:12:11.3120 LVL= 32176, 15537, 23442, 32755, AGC= 57, IDX= 502, 0.33,-2.609,-0.441,-1.718,-1.419, PHS=-1.088, 1.024,-0.342, RAW= 309.6, 4.4, CAL= 307.3, 2.2, ROT= 202.7, -2.2 2025-10-27T05:12:12.757Z,1761541932.757 [DAT](INFO): #Rx 33: Read direction message, but no range. 2025-10-27T05:12:12.758Z,1761541932.758 [DAT](INFO): direction in FSK: [-0.921858,-0.385622,0.038388] 2025-10-27T05:12:12.762Z,1761541932.762 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.151999 2025-10-27T05:12:12.844Z,1761541932.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:12:13.001Z,1761541933.001 [DAT](INFO): DAT read: Rx Time:05:12:11.8120 2025-10-27T05:12:13.002Z,1761541933.002 [DAT](INFO): Rx dataTimestamp_ set to:1761541933.001396 2025-10-27T05:12:13.003Z,1761541933.003 [DAT](INFO): DAT read: Bearing 319.5, -25.8 (Local) 2025-10-27T05:12:13.003Z,1761541933.003 [DAT](INFO): Local bearing/azimuth received: Bearing 319.5, -25.8 (Local) 2025-10-27T05:12:13.005Z,1761541933.005 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.5 2025-10-27T05:12:13.006Z,1761541933.006 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T05:12:13.007Z,1761541933.007 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.397661 2025-10-27T05:12:13.148Z,1761541933.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.501515 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:13.150Z,1761541933.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.257795 m, bearing: 176.078068 deg, lat: 36.779335 deg, lon: -121.859651 deg, deltaT: 1.001627 s, deltaX: 0.497458 m, approachRate: 0.496650 m/s, posRepo size: 4 2025-10-27T05:12:13.267Z,1761541933.267 [DAT](INFO): DAT read: 05:12:11.8120 LVL= 30416, 18881, 22114, 32755, AGC= 59, IDX= 503, 0.24, 2.689,-1.427,-2.728,-2.423, PHS=-1.069, 1.041,-0.350, RAW= 310.4, 4.1, CAL= 308.0, 1.7, ROT= 202.0, -1.7 2025-10-27T05:12:13.273Z,1761541933.273 [DAT](INFO): got valid direction response: 05:12:11.8120 LVL= 30416, 18881, 22114, 32755, AGC= 59, IDX= 503, 0.24, 2.689,-1.427,-2.728,-2.423, PHS=-1.069, 1.041,-0.350, RAW= 310.4, 4.1, CAL= 308.0, 1.7, ROT= 202.0, -1.7 2025-10-27T05:12:13.274Z,1761541933.274 [DAT](INFO): #Rx 35: Read direction message, but no range. 2025-10-27T05:12:13.278Z,1761541933.278 [DAT](INFO): direction in FSK: [-0.926776,-0.374442,0.029666] 2025-10-27T05:12:13.314Z,1761541933.314 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.703983 2025-10-27T05:12:13.505Z,1761541933.505 [DAT](INFO): DAT read: Rx Time:05:12:12.3122 2025-10-27T05:12:13.505Z,1761541933.505 [DAT](INFO): Rx dataTimestamp_ set to:1761541933.504878 2025-10-27T05:12:13.506Z,1761541933.506 [DAT](INFO): DAT read: Bearing 320.1, -25.4 (Local) 2025-10-27T05:12:13.507Z,1761541933.507 [DAT](INFO): Local bearing/azimuth received: Bearing 320.1, -25.4 (Local) 2025-10-27T05:12:13.509Z,1761541933.509 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.6 2025-10-27T05:12:13.514Z,1761541933.514 [DAT](INFO): DAT read: 05:12:12.3122 LVL= 30224, 18481, 21042, 32755, AGC= 60, IDX= 505, 0.19, 1.905,-2.213, 2.758, 3.062, PHS=-1.055, 1.053,-0.348, RAW= 310.8, 3.8, CAL= 308.4, 1.2, ROT= 201.6, -1.2 2025-10-27T05:12:13.516Z,1761541933.516 [DAT](INFO): got valid direction response: 05:12:12.3122 LVL= 30224, 18481, 21042, 32755, AGC= 60, IDX= 505, 0.19, 1.905,-2.213, 2.758, 3.062, PHS=-1.055, 1.053,-0.348, RAW= 310.8, 3.8, CAL= 308.4, 1.2, ROT= 201.6, -1.2 2025-10-27T05:12:13.516Z,1761541933.516 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:12:13.517Z,1761541933.517 [DAT](INFO): direction in FSK: [-0.929573,-0.368044,0.020942] 2025-10-27T05:12:13.517Z,1761541933.517 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:13.521Z,1761541933.521 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.911395 2025-10-27T05:12:13.551Z,1761541933.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897716,0.440136,0.019641],[-0.435493,0.879730,0.190845],[0.066719,-0.179878,0.981424]] 2025-10-27T05:12:13.653Z,1761541933.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503482 s, deltaX: 0.300000 m, approachRate: 0.595851 m/s, rangeRepo size: 4 2025-10-27T05:12:13.659Z,1761541933.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.556271 m, bearing: 175.120195 deg, lat: 36.779335 deg, lon: -121.859649 deg, deltaT: 0.503482 s, deltaX: 0.298475 m, approachRate: 0.592822 m/s, posRepo size: 4 2025-10-27T05:12:13.757Z,1761541933.757 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.147301 2025-10-27T05:12:13.850Z,1761541933.850 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:12:14.009Z,1761541934.009 [DAT](INFO): DAT read: Rx Time:05:12:12.8123 2025-10-27T05:12:14.009Z,1761541934.009 [DAT](INFO): Rx dataTimestamp_ set to:1761541934.008766 2025-10-27T05:12:14.010Z,1761541934.010 [DAT](INFO): DAT read: Bearing 321.0, -25.6 (Local) 2025-10-27T05:12:14.011Z,1761541934.011 [DAT](INFO): Local bearing/azimuth received: Bearing 321.0, -25.6 (Local) 2025-10-27T05:12:14.013Z,1761541934.013 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.6 2025-10-27T05:12:14.018Z,1761541934.018 [DAT](INFO): DAT read: 05:12:12.8123 LVL= 32032, 19921, 21026, 32755, AGC= 61, IDX= 506, 0.16, 0.922, 3.091, 1.785, 2.070, PHS=-1.046, 1.066,-0.329, RAW= 310.5, 3.4, CAL= 308.1, 0.4, ROT= 201.9, -0.4 2025-10-27T05:12:14.019Z,1761541934.019 [DAT](INFO): got valid direction response: 05:12:12.8123 LVL= 32032, 19921, 21026, 32755, AGC= 61, IDX= 506, 0.16, 0.922, 3.091, 1.785, 2.070, PHS=-1.046, 1.066,-0.329, RAW= 310.5, 3.4, CAL= 308.1, 0.4, ROT= 201.9, -0.4 2025-10-27T05:12:14.019Z,1761541934.019 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T05:12:14.020Z,1761541934.020 [DAT](INFO): direction in FSK: [-0.927814,-0.372979,0.006981] 2025-10-27T05:12:14.020Z,1761541934.020 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:14.024Z,1761541934.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897710,0.440168,0.019222],[-0.435510,0.879915,0.189949],[0.066696,-0.178890,0.981606]] 2025-10-27T05:12:14.054Z,1761541934.054 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.444267 2025-10-27T05:12:14.112Z,1761541934.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503888 s, deltaX: 0.099999 m, approachRate: 0.198456 m/s, rangeRepo size: 4 2025-10-27T05:12:14.114Z,1761541934.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.655745 m, bearing: 175.571576 deg, lat: 36.779335 deg, lon: -121.859649 deg, deltaT: 0.503888 s, deltaX: 0.099474 m, approachRate: 0.197413 m/s, posRepo size: 4 2025-10-27T05:12:14.263Z,1761541934.263 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.653061 2025-10-27T05:12:14.476Z,1761541934.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897567,0.440435,0.019734],[-0.435824,0.879632,0.190538],[0.066561,-0.179622,0.981481]] 2025-10-27T05:12:14.513Z,1761541934.513 [DAT](INFO): DAT read: Rx Time:05:12:13.3125 2025-10-27T05:12:14.513Z,1761541934.513 [DAT](INFO): Rx dataTimestamp_ set to:1761541934.512814 2025-10-27T05:12:14.514Z,1761541934.514 [DAT](INFO): DAT read: Bearing 322.9, -26.8 (Local) 2025-10-27T05:12:14.515Z,1761541934.515 [DAT](INFO): Local bearing/azimuth received: Bearing 322.9, -26.8 (Local) 2025-10-27T05:12:14.517Z,1761541934.517 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.7 2025-10-27T05:12:14.522Z,1761541934.522 [DAT](INFO): DAT read: 05:12:13.3125 LVL= 32544, 18465, 19138, 32755, AGC= 62, IDX= 509, 0.13, 1.816,-2.284, 2.740, 2.958, PHS=-1.040, 1.087,-0.262, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 2025-10-27T05:12:14.523Z,1761541934.523 [DAT](INFO): got valid direction response: 05:12:13.3125 LVL= 32544, 18465, 19138, 32755, AGC= 62, IDX= 509, 0.13, 1.816,-2.284, 2.740, 2.958, PHS=-1.040, 1.087,-0.262, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 2025-10-27T05:12:14.523Z,1761541934.523 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T05:12:14.524Z,1761541934.524 [DAT](INFO): direction in FSK: [-0.917615,-0.397087,-0.017452] 2025-10-27T05:12:14.524Z,1761541934.524 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:14.549Z,1761541934.549 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.939869 2025-10-27T05:12:14.624Z,1761541934.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504048 s, deltaX: 0.500000 m, approachRate: 0.991969 m/s, rangeRepo size: 4 2025-10-27T05:12:14.626Z,1761541934.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.153201 m, bearing: 177.288689 deg, lat: 36.779335 deg, lon: -121.859649 deg, deltaT: 0.504048 s, deltaX: 0.497457 m, approachRate: 0.986923 m/s, posRepo size: 4 2025-10-27T05:12:14.764Z,1761541934.764 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.154474 2025-10-27T05:12:15.005Z,1761541935.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897308,0.440984,0.019294],[-0.436335,0.879546,0.189763],[0.066712,-0.178694,0.981640]] 2025-10-27T05:12:15.017Z,1761541935.017 [DAT](INFO): DAT read: Rx Time:05:12:13.8126 2025-10-27T05:12:15.017Z,1761541935.017 [DAT](INFO): Rx dataTimestamp_ set to:1761541935.016802 2025-10-27T05:12:15.018Z,1761541935.018 [DAT](INFO): DAT read: Bearing 325.0, -29.5 (Local) 2025-10-27T05:12:15.019Z,1761541935.019 [DAT](INFO): Local bearing/azimuth received: Bearing 325.0, -29.5 (Local) 2025-10-27T05:12:15.021Z,1761541935.021 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-27T05:12:15.026Z,1761541935.026 [DAT](INFO): DAT read: 05:12:13.8126 LVL= 30848, 19313, 20578, 31555, AGC= 63, IDX= 510, 0.06, 1.679,-2.382, 2.728, 2.852, PHS=-1.071, 1.095,-0.168, RAW= 305.5, 1.5, CAL= 303.5, -2.1, ROT= 206.5, 2.1 2025-10-27T05:12:15.027Z,1761541935.027 [DAT](INFO): got valid direction response: 05:12:13.8126 LVL= 30848, 19313, 20578, 31555, AGC= 63, IDX= 510, 0.06, 1.679,-2.382, 2.728, 2.852, PHS=-1.071, 1.095,-0.168, RAW= 305.5, 1.5, CAL= 303.5, -2.1, ROT= 206.5, 2.1 2025-10-27T05:12:15.027Z,1761541935.027 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:12:15.028Z,1761541935.028 [DAT](INFO): direction in FSK: [-0.894333,-0.445898,-0.036644] 2025-10-27T05:12:15.028Z,1761541935.028 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:15.045Z,1761541935.045 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.435377 2025-10-27T05:12:15.081Z,1761541935.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503988 s, deltaX: 0.100000 m, approachRate: 0.198418 m/s, rangeRepo size: 4 2025-10-27T05:12:15.083Z,1761541935.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.252682 m, bearing: 180.510733 deg, lat: 36.779334 deg, lon: -121.859650 deg, deltaT: 0.503988 s, deltaX: 0.099481 m, approachRate: 0.197387 m/s, posRepo size: 4 2025-10-27T05:12:15.268Z,1761541935.268 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.658562 2025-10-27T05:12:15.482Z,1761541935.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:12:15.521Z,1761541935.521 [DAT](INFO): DAT read: Rx Time:05:12:14.3129 2025-10-27T05:12:15.521Z,1761541935.521 [DAT](INFO): Rx dataTimestamp_ set to:1761541935.521071 2025-10-27T05:12:15.523Z,1761541935.523 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.8 2025-10-27T05:12:15.524Z,1761541935.524 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T05:12:15.526Z,1761541935.526 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.915932 2025-10-27T05:12:15.772Z,1761541935.772 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.162437 2025-10-27T05:12:15.826Z,1761541935.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897508,0.440633,0.017932],[-0.435950,0.880364,0.186834],[0.066539,-0.175502,0.982228]] 2025-10-27T05:12:15.861Z,1761541935.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504269 s, deltaX: 0.500000 m, approachRate: 0.991534 m/s, rangeRepo size: 4 2025-10-27T05:12:16.025Z,1761541936.025 [DAT](INFO): DAT read: Rx Time:05:12:14.8130 2025-10-27T05:12:16.025Z,1761541936.025 [DAT](INFO): Rx dataTimestamp_ set to:1761541936.024733 2025-10-27T05:12:16.026Z,1761541936.026 [DAT](INFO): DAT read: Bearing 328.7, -34.3 (Local) 2025-10-27T05:12:16.027Z,1761541936.027 [DAT](INFO): Local bearing/azimuth received: Bearing 328.7, -34.3 (Local) 2025-10-27T05:12:16.031Z,1761541936.030 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.0 2025-10-27T05:12:16.040Z,1761541936.040 [DAT](INFO): DAT read: 05:12:14.8130 LVL= 32752, 20961, 24674, 32755, AGC= 64, IDX= 498,-0.05, 0.995,-2.998, 2.271, 2.227, PHS=-1.130, 1.103, 0.000, RAW= 299.6, 0.3, CAL= 298.1, -3.9, ROT= 211.9, 3.9 2025-10-27T05:12:16.041Z,1761541936.041 [DAT](INFO): got valid direction response: 05:12:14.8130 LVL= 32752, 20961, 24674, 32755, AGC= 64, IDX= 498,-0.05, 0.995,-2.998, 2.271, 2.227, PHS=-1.130, 1.103, 0.000, RAW= 299.6, 0.3, CAL= 298.1, -3.9, ROT= 211.9, 3.9 2025-10-27T05:12:16.042Z,1761541936.042 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:12:16.044Z,1761541936.044 [DAT](INFO): direction in FSK: [-0.847006,-0.527215,-0.068015] 2025-10-27T05:12:16.044Z,1761541936.044 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:16.051Z,1761541936.051 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.441099 2025-10-27T05:12:16.221Z,1761541936.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897538,0.440579,0.017799],[-0.435932,0.880558,0.185961],[0.066258,-0.174666,0.982396]] 2025-10-27T05:12:16.253Z,1761541936.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503662 s, deltaX: 0.099999 m, approachRate: 0.198545 m/s, rangeRepo size: 4 2025-10-27T05:12:16.256Z,1761541936.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.849623 m, bearing: 186.183081 deg, lat: 36.779334 deg, lon: -121.859654 deg, deltaT: 1.007931 s, deltaX: 0.596941 m, approachRate: 0.592244 m/s, posRepo size: 4 2025-10-27T05:12:16.276Z,1761541936.276 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.666813 2025-10-27T05:12:16.531Z,1761541936.531 [DAT](INFO): DAT read: Rx Time:05:12:15.3133 2025-10-27T05:12:16.532Z,1761541936.532 [DAT](INFO): Rx dataTimestamp_ set to:1761541936.531592 2025-10-27T05:12:16.535Z,1761541936.535 [DAT](INFO): DAT read: Bearing 329.1, -34.7 (Local) 2025-10-27T05:12:16.536Z,1761541936.536 [DAT](INFO): Local bearing/azimuth received: Bearing 329.1, -34.7 (Local) 2025-10-27T05:12:16.539Z,1761541936.539 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 2025-10-27T05:12:16.556Z,1761541936.556 [DAT](INFO): DAT read: 05:12:15.3133 LVL= 32752, 20161, 21426, 32755, AGC= 62, IDX= 501,-0.10, 2.335,-1.654,-2.650,-2.711, PHS=-1.134, 1.103, 0.017, RAW= 299.0, 0.1, CAL= 297.5, -4.1, ROT= 212.5, 4.1 2025-10-27T05:12:16.558Z,1761541936.558 [DAT](INFO): got valid direction response: 05:12:15.3133 LVL= 32752, 20161, 21426, 32755, AGC= 62, IDX= 501,-0.10, 2.335,-1.654,-2.650,-2.711, PHS=-1.134, 1.103, 0.017, RAW= 299.0, 0.1, CAL= 297.5, -4.1, ROT= 212.5, 4.1 2025-10-27T05:12:16.558Z,1761541936.558 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:12:16.589Z,1761541936.589 [DAT](INFO): direction in FSK: [-0.841233,-0.535925,-0.071497] 2025-10-27T05:12:16.589Z,1761541936.589 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:16.597Z,1761541936.597 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.987499 2025-10-27T05:12:16.780Z,1761541936.780 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.170507 2025-10-27T05:12:16.841Z,1761541936.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.506859 s, deltaX: 0.500000 m, approachRate: 0.986468 m/s, rangeRepo size: 4 2025-10-27T05:12:16.842Z,1761541936.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.347066 m, bearing: 186.808446 deg, lat: 36.779334 deg, lon: -121.859660 deg, deltaT: 0.506859 s, deltaX: 0.497443 m, approachRate: 0.981423 m/s, posRepo size: 4 2025-10-27T05:12:17.035Z,1761541937.035 [DAT](INFO): DAT read: Rx Time:05:12:15.8134 2025-10-27T05:12:17.036Z,1761541937.036 [DAT](INFO): Rx dataTimestamp_ set to:1761541937.035213 2025-10-27T05:12:17.038Z,1761541937.038 [DAT](INFO): DAT read: Bearing 328.5, -35.1 (Local) 2025-10-27T05:12:17.038Z,1761541937.038 [DAT](INFO): Local bearing/azimuth received: Bearing 328.5, -35.1 (Local) 2025-10-27T05:12:17.074Z,1761541937.074 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 2025-10-27T05:12:17.103Z,1761541937.103 [DAT](INFO): DAT read: 05:12:15.8134 LVL= 32048, 20113, 25042, 32755, AGC= 64, IDX= 502,-0.18, 1.168,-2.800, 2.481, 2.436, PHS=-1.166, 1.092, 0.001, RAW= 298.9, 0.8, CAL= 297.3, -3.5, ROT= 212.7, 3.5 2025-10-27T05:12:17.104Z,1761541937.104 [DAT](INFO): got valid direction response: 05:12:15.8134 LVL= 32048, 20113, 25042, 32755, AGC= 64, IDX= 502,-0.18, 1.168,-2.800, 2.481, 2.436, PHS=-1.166, 1.092, 0.001, RAW= 298.9, 0.8, CAL= 297.3, -3.5, ROT= 212.7, 3.5 2025-10-27T05:12:17.105Z,1761541937.105 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:12:17.106Z,1761541937.106 [DAT](INFO): direction in FSK: [-0.839941,-0.539233,-0.061049] 2025-10-27T05:12:17.106Z,1761541937.106 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:17.109Z,1761541937.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897674,0.440310,0.017573],[-0.435728,0.880971,0.184476],[0.065746,-0.173257,0.982680]] 2025-10-27T05:12:17.130Z,1761541937.130 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.520226 2025-10-27T05:12:17.174Z,1761541937.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503621 s, deltaX: 0.100000 m, approachRate: 0.198563 m/s, rangeRepo size: 4 2025-10-27T05:12:17.181Z,1761541937.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.446557 m, bearing: 186.912439 deg, lat: 36.779333 deg, lon: -121.859674 deg, deltaT: 0.503621 s, deltaX: 0.099491 m, approachRate: 0.197552 m/s, posRepo size: 4 2025-10-27T05:12:17.285Z,1761541937.285 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.675114 2025-10-27T05:12:17.509Z,1761541937.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897846,0.440002,0.016486],[-0.435446,0.881753,0.181379],[0.065271,-0.170030,0.983275]] 2025-10-27T05:12:17.539Z,1761541937.539 [DAT](INFO): DAT read: Rx Time:05:12:16.3136 2025-10-27T05:12:17.540Z,1761541937.540 [DAT](INFO): Rx dataTimestamp_ set to:1761541937.539524 2025-10-27T05:12:17.542Z,1761541937.542 [DAT](INFO): DAT read: Bearing 327.9, -34.8 (Local) 2025-10-27T05:12:17.543Z,1761541937.543 [DAT](INFO): Local bearing/azimuth received: Bearing 327.9, -34.8 (Local) 2025-10-27T05:12:17.555Z,1761541937.555 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.6 2025-10-27T05:12:17.589Z,1761541937.589 [DAT](INFO): DAT read: 05:12:16.3136 LVL= 31216, 21489, 27426, 32755, AGC= 64, IDX= 504,-0.25, 1.753,-2.229, 3.041, 3.015, PHS=-1.160, 1.084,-0.018, RAW= 299.4, 1.0, CAL= 297.7, -3.2, ROT= 212.3, 3.2 2025-10-27T05:12:17.590Z,1761541937.590 [DAT](INFO): got valid direction response: 05:12:16.3136 LVL= 31216, 21489, 27426, 32755, AGC= 64, IDX= 504,-0.25, 1.753,-2.229, 3.041, 3.015, PHS=-1.160, 1.084,-0.018, RAW= 299.4, 1.0, CAL= 297.7, -3.2, ROT= 212.3, 3.2 2025-10-27T05:12:17.599Z,1761541937.599 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:12:17.600Z,1761541937.600 [DAT](INFO): direction in FSK: [-0.843944,-0.533519,-0.055822] 2025-10-27T05:12:17.600Z,1761541937.600 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:17.624Z,1761541937.624 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.014631 2025-10-27T05:12:17.633Z,1761541937.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504311 s, deltaX: 0.300000 m, approachRate: 0.594871 m/s, rangeRepo size: 4 2025-10-27T05:12:17.635Z,1761541937.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.745030 m, bearing: 186.493243 deg, lat: 36.779333 deg, lon: -121.859677 deg, deltaT: 0.504311 s, deltaX: 0.298473 m, approachRate: 0.591844 m/s, posRepo size: 4 2025-10-27T05:12:17.788Z,1761541937.788 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.178513 2025-10-27T05:12:18.011Z,1761541938.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897881,0.439854,0.018405],[-0.435521,0.881377,0.183019],[0.064280,-0.172345,0.982937]] 2025-10-27T05:12:18.034Z,1761541938.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:12:18.042Z,1761541938.042 [DAT](INFO): DAT read: Rx Time:05:12:16.8137 2025-10-27T05:12:18.043Z,1761541938.043 [DAT](INFO): Rx dataTimestamp_ set to:1761541938.042334 2025-10-27T05:12:18.045Z,1761541938.045 [DAT](INFO): DAT read: Bearing 327.7, -33.8 (Local) 2025-10-27T05:12:18.046Z,1761541938.046 [DAT](INFO): Local bearing/azimuth received: Bearing 327.7, -33.8 (Local) 2025-10-27T05:12:18.049Z,1761541938.049 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.6 2025-10-27T05:12:18.080Z,1761541938.080 [DAT](INFO): DAT read: 05:12:16.8137 LVL= 26896, 17553, 22594, 30835, AGC= 63, IDX= 505,-0.33, 0.309, 2.596, 1.555, 1.551, PHS=-1.140, 1.089,-0.040, RAW= 300.4, 1.0, CAL= 298.7, -3.1, ROT= 211.3, 3.1 2025-10-27T05:12:18.081Z,1761541938.081 [DAT](INFO): got valid direction response: 05:12:16.8137 LVL= 26896, 17553, 22594, 30835, AGC= 63, IDX= 505,-0.33, 0.309, 2.596, 1.555, 1.551, PHS=-1.140, 1.089,-0.040, RAW= 300.4, 1.0, CAL= 298.7, -3.1, ROT= 211.3, 3.1 2025-10-27T05:12:18.082Z,1761541938.082 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:12:18.091Z,1761541938.091 [DAT](INFO): direction in FSK: [-0.853208,-0.518759,-0.054079] 2025-10-27T05:12:18.091Z,1761541938.091 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:18.103Z,1761541938.103 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.485144 2025-10-27T05:12:18.293Z,1761541938.293 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.682779 2025-10-27T05:12:18.412Z,1761541938.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897889,0.439798,0.019327],[-0.435568,0.881171,0.183899],[0.063848,-0.173539,0.982755]] 2025-10-27T05:12:18.539Z,1761541938.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.502810 s, deltaX: 0.200000 m, approachRate: 0.397764 m/s, rangeRepo size: 4 2025-10-27T05:12:18.546Z,1761541938.546 [DAT](INFO): DAT read: Rx Time:05:12:17.3140 2025-10-27T05:12:18.546Z,1761541938.546 [DAT](INFO): Rx dataTimestamp_ set to:1761541938.545951 2025-10-27T05:12:18.548Z,1761541938.548 [DAT](INFO): DAT read: Bearing 327.4, -32.5 (Local) 2025-10-27T05:12:18.549Z,1761541938.549 [DAT](INFO): Local bearing/azimuth received: Bearing 327.4, -32.5 (Local) 2025-10-27T05:12:18.553Z,1761541938.553 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-27T05:12:18.560Z,1761541938.560 [DAT](INFO): DAT read: 05:12:17.3140 LVL= 31504, 20161, 27170, 32755, AGC= 64, IDX= 508,-0.40, 1.124,-2.913, 2.306, 2.328, PHS=-1.102, 1.087,-0.066, RAW= 301.8, 0.9, CAL= 300.0, -3.1, ROT= 210.0, 3.1 2025-10-27T05:12:18.561Z,1761541938.561 [DAT](INFO): got valid direction response: 05:12:17.3140 LVL= 31504, 20161, 27170, 32755, AGC= 64, IDX= 508,-0.40, 1.124,-2.913, 2.306, 2.328, PHS=-1.102, 1.087,-0.066, RAW= 301.8, 0.9, CAL= 300.0, -3.1, ROT= 210.0, 3.1 2025-10-27T05:12:18.561Z,1761541938.561 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:12:18.562Z,1761541938.562 [DAT](INFO): direction in FSK: [-0.864758,-0.499268,-0.054079] 2025-10-27T05:12:18.562Z,1761541938.562 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:18.542Z,1761541938.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.944012 m, bearing: 185.476923 deg, lat: 36.779333 deg, lon: -121.859678 deg, deltaT: 0.502810 s, deltaX: 0.198981 m, approachRate: 0.395739 m/s, posRepo size: 4 2025-10-27T05:12:18.590Z,1761541938.590 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.980684 2025-10-27T05:12:18.794Z,1761541938.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897971,0.439585,0.020332],[-0.435424,0.880887,0.185589],[0.063672,-0.175507,0.982417]] 2025-10-27T05:12:18.796Z,1761541938.796 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.186317 2025-10-27T05:12:18.845Z,1761541938.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503617 s, deltaX: 0.400000 m, approachRate: 0.794254 m/s, rangeRepo size: 4 2025-10-27T05:12:18.852Z,1761541938.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.341973 m, bearing: 184.204384 deg, lat: 36.779333 deg, lon: -121.859678 deg, deltaT: 0.503617 s, deltaX: 0.397962 m, approachRate: 0.790207 m/s, posRepo size: 4 2025-10-27T05:12:19.050Z,1761541939.050 [DAT](INFO): DAT read: Rx Time:05:12:17.8141 2025-10-27T05:12:19.051Z,1761541939.051 [DAT](INFO): Rx dataTimestamp_ set to:1761541939.050552 2025-10-27T05:12:19.053Z,1761541939.053 [DAT](INFO): DAT read: Bearing 327.3, -31.5 (Local) 2025-10-27T05:12:19.054Z,1761541939.054 [DAT](INFO): Local bearing/azimuth received: Bearing 327.3, -31.5 (Local) 2025-10-27T05:12:19.061Z,1761541939.061 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.5 2025-10-27T05:12:19.065Z,1761541939.065 [DAT](INFO): DAT read: 05:12:17.8141 LVL= 30304, 19553, 24274, 32755, AGC= 65, IDX= 509,-0.47,-0.480, 1.770, 0.672, 0.711, PHS=-1.089, 1.103,-0.083, RAW= 302.7, 0.7, CAL= 301.0, -3.1, ROT= 209.0, 3.1 2025-10-27T05:12:19.067Z,1761541939.067 [DAT](INFO): got valid direction response: 05:12:17.8141 LVL= 30304, 19553, 24274, 32755, AGC= 65, IDX= 509,-0.47,-0.480, 1.770, 0.672, 0.711, PHS=-1.089, 1.103,-0.083, RAW= 302.7, 0.7, CAL= 301.0, -3.1, ROT= 209.0, 3.1 2025-10-27T05:12:19.084Z,1761541939.084 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:12:19.085Z,1761541939.085 [DAT](INFO): direction in FSK: [-0.873340,-0.484100,-0.054079] 2025-10-27T05:12:19.085Z,1761541939.085 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:19.097Z,1761541939.097 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.487352 2025-10-27T05:12:19.198Z,1761541939.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898043,0.439403,0.021089],[-0.435311,0.880724,0.186627],[0.063431,-0.176779,0.982204]] 2025-10-27T05:12:19.241Z,1761541939.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504601 s, deltaX: 0.200001 m, approachRate: 0.396354 m/s, rangeRepo size: 4 2025-10-27T05:12:19.243Z,1761541939.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.540956 m, bearing: 183.226954 deg, lat: 36.779333 deg, lon: -121.859678 deg, deltaT: 0.504601 s, deltaX: 0.198983 m, approachRate: 0.394338 m/s, posRepo size: 4 2025-10-27T05:12:19.244Z,1761541939.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 11.60 m. Rolling out. 2025-10-27T05:12:19.244Z,1761541939.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T05:12:19.258Z,1761541939.258 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T05:12:19.301Z,1761541939.301 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.691290 2025-10-27T05:12:19.554Z,1761541939.554 [DAT](INFO): DAT read: Rx Time:05:12:18.3144 2025-10-27T05:12:19.555Z,1761541939.555 [DAT](INFO): Rx dataTimestamp_ set to:1761541939.554039 2025-10-27T05:12:19.556Z,1761541939.556 [DAT](INFO): DAT read: Bearing 326.5, -31.4 (Local) 2025-10-27T05:12:19.557Z,1761541939.557 [DAT](INFO): Local bearing/azimuth received: Bearing 326.5, -31.4 (Local) 2025-10-27T05:12:19.559Z,1761541939.559 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 2025-10-27T05:12:19.563Z,1761541939.563 [DAT](INFO): DAT read: 05:12:18.3144 LVL= 32752, 22513, 28002, 32755, AGC= 67, IDX= 511, 0.46, 1.038,-3.016, 2.167, 2.236, PHS=-1.096, 1.076,-0.113, RAW= 303.1, 1.4, CAL= 301.2, -2.4, ROT= 208.8, 2.4 2025-10-27T05:12:19.564Z,1761541939.564 [DAT](INFO): got valid direction response: 05:12:18.3144 LVL= 32752, 22513, 28002, 32755, AGC= 67, IDX= 511, 0.46, 1.038,-3.016, 2.167, 2.236, PHS=-1.096, 1.076,-0.113, RAW= 303.1, 1.4, CAL= 301.2, -2.4, ROT= 208.8, 2.4 2025-10-27T05:12:19.565Z,1761541939.565 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:12:19.566Z,1761541939.566 [DAT](INFO): direction in FSK: [-0.875538,-0.481331,-0.041876] 2025-10-27T05:12:19.566Z,1761541939.566 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:19.602Z,1761541939.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898458,0.438506,0.022046],[-0.434451,0.880652,0.188955],[0.063443,-0.179346,0.981738]] 2025-10-27T05:12:19.616Z,1761541939.616 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.969118 2025-10-27T05:12:19.684Z,1761541939.684 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T05:12:19.684Z,1761541939.684 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:12:19.684Z,1761541939.684 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T05:12:19.685Z,1761541939.685 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 11.600000 m (mode 5.000000 count ). 2025-10-27T05:12:19.685Z,1761541939.685 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T05:12:19.685Z,1761541939.685 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T05:12:19.686Z,1761541939.686 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T05:12:19.686Z,1761541939.686 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:12:19.686Z,1761541939.686 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T05:12:19.692Z,1761541939.692 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 11.600000 m (mode 5.000000 count ). 2025-10-27T05:12:19.692Z,1761541939.692 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T05:12:19.692Z,1761541939.692 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T05:12:19.709Z,1761541939.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503487 s, deltaX: 0.400000 m, approachRate: 0.794459 m/s, rangeRepo size: 4 2025-10-27T05:12:19.713Z,1761541939.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.938920 m, bearing: 182.947556 deg, lat: 36.779332 deg, lon: -121.859676 deg, deltaT: 0.503487 s, deltaX: 0.397964 m, approachRate: 0.790415 m/s, posRepo size: 4 2025-10-27T05:12:19.713Z,1761541939.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:12:19.717Z,1761541939.717 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T05:12:19.717Z,1761541939.717 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:12:19.717Z,1761541939.717 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T05:12:19.717Z,1761541939.717 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T05:12:19.806Z,1761541939.806 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.196552 2025-10-27T05:12:20.061Z,1761541940.061 [DAT](INFO): DAT read: Rx Time:05:12:18.8144 2025-10-27T05:12:20.061Z,1761541940.061 [DAT](INFO): Rx dataTimestamp_ set to:1761541940.061022 2025-10-27T05:12:20.062Z,1761541940.062 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 2025-10-27T05:12:20.063Z,1761541940.063 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T05:12:20.064Z,1761541940.064 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.454601 2025-10-27T05:12:20.084Z,1761541940.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899337,0.436706,0.021929],[-0.432601,0.881343,0.189975],[0.063636,-0.180337,0.981544]] 2025-10-27T05:12:20.100Z,1761541940.100 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T05:12:20.101Z,1761541940.101 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T05:12:20.101Z,1761541940.101 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T05:12:20.101Z,1761541940.101 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T05:12:20.125Z,1761541940.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.506983 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:20.125Z,1761541940.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.94 m. 2025-10-27T05:12:20.312Z,1761541940.312 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.702332 2025-10-27T05:12:20.509Z,1761541940.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899441,0.436618,0.019272],[-0.432223,0.882123,0.187195],[0.064732,-0.176701,0.982134]] 2025-10-27T05:12:20.565Z,1761541940.565 [DAT](INFO): DAT read: Rx Time:05:12:19.3147 2025-10-27T05:12:20.565Z,1761541940.565 [DAT](INFO): Rx dataTimestamp_ set to:1761541940.564825 2025-10-27T05:12:20.566Z,1761541940.566 [DAT](INFO): DAT read: Bearing 326.8, -28.0 (Local) 2025-10-27T05:12:20.567Z,1761541940.567 [DAT](INFO): Local bearing/azimuth received: Bearing 326.8, -28.0 (Local) 2025-10-27T05:12:20.569Z,1761541940.569 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-27T05:12:20.574Z,1761541940.574 [DAT](INFO): DAT read: 05:12:19.3147 LVL= 24944, 30641, 27330, 31155, AGC= 67, IDX= 3, 0.27, 0.696, 2.916, 1.712, 1.830, PHS=-1.032, 1.132,-0.162, RAW= 306.5, 0.7, CAL= 304.6, -2.9, ROT= 205.4, 2.9 2025-10-27T05:12:20.575Z,1761541940.575 [DAT](INFO): got valid direction response: 05:12:19.3147 LVL= 24944, 30641, 27330, 31155, AGC= 67, IDX= 3, 0.27, 0.696, 2.916, 1.712, 1.830, PHS=-1.032, 1.132,-0.162, RAW= 306.5, 0.7, CAL= 304.6, -2.9, ROT= 205.4, 2.9 2025-10-27T05:12:20.575Z,1761541940.575 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:12:20.576Z,1761541940.576 [DAT](INFO): direction in FSK: [-0.902179,-0.428386,-0.050593] 2025-10-27T05:12:20.576Z,1761541940.576 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:20.582Z,1761541940.582 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T05:12:20.582Z,1761541940.582 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T05:12:20.594Z,1761541940.594 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.984159 2025-10-27T05:12:20.595Z,1761541940.595 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T05:12:20.595Z,1761541940.595 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T05:12:20.606Z,1761541940.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503803 s, deltaX: 0.500000 m, approachRate: 0.992451 m/s, rangeRepo size: 4 2025-10-27T05:12:20.612Z,1761541940.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.436416 m, bearing: 179.851979 deg, lat: 36.779332 deg, lon: -121.859674 deg, deltaT: 1.010786 s, deltaX: 0.497496 m, approachRate: 0.492187 m/s, posRepo size: 4 2025-10-27T05:12:20.613Z,1761541940.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m. 2025-10-27T05:12:20.817Z,1761541940.817 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.207630 2025-10-27T05:12:21.057Z,1761541941.057 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T05:12:21.057Z,1761541941.057 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:12:21.057Z,1761541941.057 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T05:12:21.057Z,1761541941.057 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:12:21.058Z,1761541941.058 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T05:12:21.058Z,1761541941.058 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:12:21.058Z,1761541941.058 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T05:12:21.058Z,1761541941.058 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:12:21.061Z,1761541941.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.44 m. 2025-10-27T05:12:21.069Z,1761541941.069 [DAT](INFO): DAT read: Rx Time:05:12:19.8148 2025-10-27T05:12:21.069Z,1761541941.069 [DAT](INFO): Rx dataTimestamp_ set to:1761541941.068806 2025-10-27T05:12:21.070Z,1761541941.070 [DAT](INFO): DAT read: Bearing 325.9, -32.6 (Local) 2025-10-27T05:12:21.071Z,1761541941.071 [DAT](INFO): Local bearing/azimuth received: Bearing 325.9, -32.6 (Local) 2025-10-27T05:12:21.073Z,1761541941.073 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-27T05:12:21.078Z,1761541941.078 [DAT](INFO): DAT read: 05:12:19.8148 LVL= 24752, 26353, 27794, 32755, AGC= 63, IDX= 500, 0.08,-0.185, 1.989, 0.941, 1.026, PHS=-1.108, 1.008,-0.128, RAW= 302.4, 2.5, CAL= 300.3, -1.3, ROT= 209.7, 1.3 2025-10-27T05:12:21.079Z,1761541941.079 [DAT](INFO): got valid direction response: 05:12:19.8148 LVL= 24752, 26353, 27794, 32755, AGC= 63, IDX= 500, 0.08,-0.185, 1.989, 0.941, 1.026, PHS=-1.108, 1.008,-0.128, RAW= 302.4, 2.5, CAL= 300.3, -1.3, ROT= 209.7, 1.3 2025-10-27T05:12:21.079Z,1761541941.079 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:12:21.080Z,1761541941.080 [DAT](INFO): direction in FSK: [-0.868408,-0.495331,-0.022687] 2025-10-27T05:12:21.080Z,1761541941.080 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:21.118Z,1761541941.118 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.508402 2025-10-27T05:12:21.320Z,1761541941.320 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.710491 2025-10-27T05:12:21.510Z,1761541941.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900961,0.433761,0.011004],[-0.429018,0.886742,0.172137],[0.064909,-0.159810,0.985012]] 2025-10-27T05:12:21.573Z,1761541941.573 [DAT](INFO): DAT read: Rx Time:05:12:20.3150 2025-10-27T05:12:21.573Z,1761541941.573 [DAT](INFO): Rx dataTimestamp_ set to:1761541941.572730 2025-10-27T05:12:21.574Z,1761541941.574 [DAT](INFO): DAT read: Bearing 325.9, -29.1 (Local) 2025-10-27T05:12:21.575Z,1761541941.575 [DAT](INFO): Local bearing/azimuth received: Bearing 325.9, -29.1 (Local) 2025-10-27T05:12:21.577Z,1761541941.577 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 2025-10-27T05:12:21.582Z,1761541941.582 [DAT](INFO): DAT read: 05:12:20.3150 LVL= 31888, 30193, 29938, 32755, AGC= 64, IDX= 502,-0.08,-1.276, 0.892,-0.258,-0.139, PHS=-1.036, 1.076,-0.163, RAW= 305.7, 1.4, CAL= 303.8, -2.3, ROT= 206.2, 2.3 2025-10-27T05:12:21.583Z,1761541941.583 [DAT](INFO): got valid direction response: 05:12:20.3150 LVL= 31888, 30193, 29938, 32755, AGC= 64, IDX= 502,-0.08,-1.276, 0.892,-0.258,-0.139, PHS=-1.036, 1.076,-0.163, RAW= 305.7, 1.4, CAL= 303.8, -2.3, ROT= 206.2, 2.3 2025-10-27T05:12:21.584Z,1761541941.584 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:12:21.585Z,1761541941.585 [DAT](INFO): direction in FSK: [-0.896536,-0.441150,-0.040132] 2025-10-27T05:12:21.585Z,1761541941.585 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:21.589Z,1761541941.589 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.979179 2025-10-27T05:12:21.603Z,1761541941.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 1.007905 s, deltaX: 0.300000 m, approachRate: 0.297647 m/s, rangeRepo size: 4 2025-10-27T05:12:21.605Z,1761541941.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.734855 m, bearing: 180.771766 deg, lat: 36.779332 deg, lon: -121.859674 deg, deltaT: 1.007905 s, deltaX: 0.298439 m, approachRate: 0.296098 m/s, posRepo size: 4 2025-10-27T05:12:21.606Z,1761541941.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T05:12:21.825Z,1761541941.825 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.214987 2025-10-27T05:12:22.028Z,1761541942.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902414,0.430833,0.005698],[-0.426106,0.890394,0.160098],[0.063902,-0.146903,0.987085]] 2025-10-27T05:12:22.073Z,1761541942.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T05:12:22.077Z,1761541942.077 [DAT](INFO): DAT read: Rx Time:05:12:20.8151 2025-10-27T05:12:22.077Z,1761541942.077 [DAT](INFO): Rx dataTimestamp_ set to:1761541942.076887 2025-10-27T05:12:22.078Z,1761541942.078 [DAT](INFO): DAT read: Bearing 324.7, -30.8 (Local) 2025-10-27T05:12:22.079Z,1761541942.079 [DAT](INFO): Local bearing/azimuth received: Bearing 324.7, -30.8 (Local) 2025-10-27T05:12:22.081Z,1761541942.081 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 2025-10-27T05:12:22.086Z,1761541942.086 [DAT](INFO): DAT read: 05:12:20.8151 LVL= 24144, 27873, 31634, 32755, AGC= 64, IDX= 503,-0.45,-1.501, 0.568,-0.487,-0.363, PHS=-1.035, 0.977,-0.168, RAW= 304.5, 2.6, CAL= 302.3, -1.0, ROT= 207.7, 1.0 2025-10-27T05:12:22.087Z,1761541942.087 [DAT](INFO): got valid direction response: 05:12:20.8151 LVL= 24144, 27873, 31634, 32755, AGC= 64, IDX= 503,-0.45,-1.501, 0.568,-0.487,-0.363, PHS=-1.035, 0.977,-0.168, RAW= 304.5, 2.6, CAL= 302.3, -1.0, ROT= 207.7, 1.0 2025-10-27T05:12:22.088Z,1761541942.088 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:12:22.088Z,1761541942.088 [DAT](INFO): direction in FSK: [-0.885259,-0.464771,-0.017452] 2025-10-27T05:12:22.089Z,1761541942.089 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:22.092Z,1761541942.092 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.482851 2025-10-27T05:12:22.328Z,1761541942.328 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.718365 2025-10-27T05:12:22.502Z,1761541942.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903189,0.429237,0.002238],[-0.424573,0.892585,0.151753],[0.063141,-0.138012,0.988416]] 2025-10-27T05:12:22.581Z,1761541942.581 [DAT](INFO): DAT read: Rx Time:05:12:21.3153 2025-10-27T05:12:22.581Z,1761541942.581 [DAT](INFO): Rx dataTimestamp_ set to:1761541942.580800 2025-10-27T05:12:22.582Z,1761541942.582 [DAT](INFO): DAT read: Bearing 324.6, -28.3 (Local) 2025-10-27T05:12:22.583Z,1761541942.583 [DAT](INFO): Local bearing/azimuth received: Bearing 324.6, -28.3 (Local) 2025-10-27T05:12:22.585Z,1761541942.585 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.5 2025-10-27T05:12:22.590Z,1761541942.590 [DAT](INFO): DAT read: 05:12:21.3153 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.16, 0.755, 2.922, 1.732, 1.893, PHS=-1.036, 1.074,-0.205, RAW= 307.0, 1.8, CAL= 304.9, -1.6, ROT= 205.1, 1.6 2025-10-27T05:12:22.591Z,1761541942.591 [DAT](INFO): got valid direction response: 05:12:21.3153 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.16, 0.755, 2.922, 1.732, 1.893, PHS=-1.036, 1.074,-0.205, RAW= 307.0, 1.8, CAL= 304.9, -1.6, ROT= 205.1, 1.6 2025-10-27T05:12:22.591Z,1761541942.591 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:12:22.592Z,1761541942.592 [DAT](INFO): direction in FSK: [-0.905216,-0.424034,-0.027922] 2025-10-27T05:12:22.592Z,1761541942.592 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:22.596Z,1761541942.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 1.008070 s, deltaX: 0.400000 m, approachRate: 0.396797 m/s, rangeRepo size: 4 2025-10-27T05:12:22.598Z,1761541942.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.834305 m, bearing: 182.386547 deg, lat: 36.779332 deg, lon: -121.859674 deg, deltaT: 0.504157 s, deltaX: 0.099450 m, approachRate: 0.197260 m/s, posRepo size: 4 2025-10-27T05:12:22.600Z,1761541942.600 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.990656 2025-10-27T05:12:22.601Z,1761541942.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-27T05:12:22.840Z,1761541942.840 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.230572 2025-10-27T05:12:22.898Z,1761541942.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-27T05:12:23.092Z,1761541943.092 [DAT](INFO): DAT read: Rx Time:05:12:21.8154 2025-10-27T05:12:23.093Z,1761541943.093 [DAT](INFO): Rx dataTimestamp_ set to:1761541943.092694 2025-10-27T05:12:23.094Z,1761541943.094 [DAT](INFO): DAT read: Bearing 325.2, -29.6 (Local) 2025-10-27T05:12:23.095Z,1761541943.095 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -29.6 (Local) 2025-10-27T05:12:23.097Z,1761541943.097 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.4 2025-10-27T05:12:23.101Z,1761541943.101 [DAT](INFO): DAT read: 05:12:21.8154 LVL= 27120, 29793, 25234, 32755, AGC= 63, IDX= 506,-0.15,-1.959, 0.157,-0.956,-0.841, PHS=-1.016, 1.042,-0.159, RAW= 305.5, 1.5, CAL= 303.5, -2.1, ROT= 206.5, 2.1 2025-10-27T05:12:23.102Z,1761541943.102 [DAT](INFO): got valid direction response: 05:12:21.8154 LVL= 27120, 29793, 25234, 32755, AGC= 63, IDX= 506,-0.15,-1.959, 0.157,-0.956,-0.841, PHS=-1.016, 1.042,-0.159, RAW= 305.5, 1.5, CAL= 303.5, -2.1, ROT= 206.5, 2.1 2025-10-27T05:12:23.103Z,1761541943.103 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:12:23.104Z,1761541943.104 [DAT](INFO): direction in FSK: [-0.894333,-0.445898,-0.036644] 2025-10-27T05:12:23.104Z,1761541943.104 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:23.108Z,1761541943.108 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.498386 2025-10-27T05:12:23.253Z,1761541943.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904205,0.427097,-0.001413],[-0.422678,0.895313,0.140560],[0.061298,-0.126498,0.990071]] 2025-10-27T05:12:23.281Z,1761541943.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.511894 s, deltaX: 0.200000 m, approachRate: 0.390706 m/s, rangeRepo size: 4 2025-10-27T05:12:23.284Z,1761541943.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.331737 m, bearing: 181.511073 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 1.015807 s, deltaX: 0.497432 m, approachRate: 0.489691 m/s, posRepo size: 4 2025-10-27T05:12:23.284Z,1761541943.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m. 2025-10-27T05:12:23.345Z,1761541943.345 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.735085 2025-10-27T05:12:23.597Z,1761541943.597 [DAT](INFO): DAT read: Rx Time:05:12:22.3156 2025-10-27T05:12:23.597Z,1761541943.597 [DAT](INFO): Rx dataTimestamp_ set to:1761541943.596725 2025-10-27T05:12:23.598Z,1761541943.598 [DAT](INFO): DAT read: Bearing 326.0, -27.6 (Local) 2025-10-27T05:12:23.599Z,1761541943.599 [DAT](INFO): Local bearing/azimuth received: Bearing 326.0, -27.6 (Local) 2025-10-27T05:12:23.601Z,1761541943.601 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.3 2025-10-27T05:12:23.605Z,1761541943.605 [DAT](INFO): DAT read: 05:12:22.3156 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508, 0.30, 1.246,-2.761, 2.263, 2.389, PHS=-1.042, 1.178,-0.170, RAW= 307.1, 0.4, CAL= 305.3, -3.2, ROT= 204.7, 3.2 2025-10-27T05:12:23.607Z,1761541943.607 [DAT](INFO): got valid direction response: 05:12:22.3156 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 508, 0.30, 1.246,-2.761, 2.263, 2.389, PHS=-1.042, 1.178,-0.170, RAW= 307.1, 0.4, CAL= 305.3, -3.2, ROT= 204.7, 3.2 2025-10-27T05:12:23.607Z,1761541943.607 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:12:23.608Z,1761541943.608 [DAT](INFO): direction in FSK: [-0.907092,-0.417215,-0.055822] 2025-10-27T05:12:23.608Z,1761541943.608 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:23.612Z,1761541943.612 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.002480 2025-10-27T05:12:23.663Z,1761541943.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904365,0.426756,-0.001659],[-0.422465,0.895808,0.138024],[0.060389,-0.124123,0.990427]] 2025-10-27T05:12:23.776Z,1761541943.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504031 s, deltaX: 0.300000 m, approachRate: 0.595202 m/s, rangeRepo size: 4 2025-10-27T05:12:23.778Z,1761541943.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.630209 m, bearing: 179.898704 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 0.504031 s, deltaX: 0.298472 m, approachRate: 0.592171 m/s, posRepo size: 4 2025-10-27T05:12:23.784Z,1761541943.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m. 2025-10-27T05:12:23.849Z,1761541943.849 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.239437 2025-10-27T05:12:24.064Z,1761541944.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904386,0.426710,-0.002293],[-0.422500,0.896190,0.135414],[0.059837,-0.121497,0.990787]] 2025-10-27T05:12:24.101Z,1761541944.101 [DAT](INFO): DAT read: Rx Time:05:12:22.8157 2025-10-27T05:12:24.101Z,1761541944.101 [DAT](INFO): Rx dataTimestamp_ set to:1761541944.100719 2025-10-27T05:12:24.102Z,1761541944.102 [DAT](INFO): DAT read: Bearing 325.1, -27.9 (Local) 2025-10-27T05:12:24.103Z,1761541944.103 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -27.9 (Local) 2025-10-27T05:12:24.105Z,1761541944.105 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4 2025-10-27T05:12:24.109Z,1761541944.109 [DAT](INFO): DAT read: 05:12:22.8157 LVL= 29472, 27537, 32578, 32755, AGC= 63, IDX= 509,-0.12,-1.678, 0.473,-0.708,-0.572, PHS=-1.004, 1.090,-0.180, RAW= 307.0, 1.0, CAL= 305.1, -2.5, ROT= 204.9, 2.5 2025-10-27T05:12:24.110Z,1761541944.110 [DAT](INFO): got valid direction response: 05:12:22.8157 LVL= 29472, 27537, 32578, 32755, AGC= 63, IDX= 509,-0.12,-1.678, 0.473,-0.708,-0.572, PHS=-1.004, 1.090,-0.180, RAW= 307.0, 1.0, CAL= 305.1, -2.5, ROT= 204.9, 2.5 2025-10-27T05:12:24.133Z,1761541944.133 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:12:24.134Z,1761541944.134 [DAT](INFO): direction in FSK: [-0.906181,-0.420635,-0.043619] 2025-10-27T05:12:24.134Z,1761541944.134 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:24.142Z,1761541944.142 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.532572 2025-10-27T05:12:24.256Z,1761541944.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503994 s, deltaX: 0.100000 m, approachRate: 0.198416 m/s, rangeRepo size: 4 2025-10-27T05:12:24.258Z,1761541944.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.729675 m, bearing: 180.000844 deg, lat: 36.779333 deg, lon: -121.859673 deg, deltaT: 0.503994 s, deltaX: 0.099466 m, approachRate: 0.197356 m/s, posRepo size: 4 2025-10-27T05:12:24.263Z,1761541944.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-27T05:12:24.353Z,1761541944.353 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.743319 2025-10-27T05:12:24.536Z,1761541944.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904350,0.426784,-0.002582],[-0.422637,0.896372,0.133774],[0.059407,-0.119887,0.991009]] 2025-10-27T05:12:24.605Z,1761541944.605 [DAT](INFO): DAT read: Rx Time:05:12:23.3159 2025-10-27T05:12:24.605Z,1761541944.605 [DAT](INFO): Rx dataTimestamp_ set to:1761541944.604789 2025-10-27T05:12:24.606Z,1761541944.606 [DAT](INFO): DAT read: Bearing 322.8, -30.3 (Local) 2025-10-27T05:12:24.607Z,1761541944.607 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, -30.3 (Local) 2025-10-27T05:12:24.609Z,1761541944.609 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 2025-10-27T05:12:24.614Z,1761541944.614 [DAT](INFO): DAT read: 05:12:23.3159 LVL= 28832, 24561, 29602, 32755, AGC= 59, IDX= 511, 0.19, 2.008,-2.267, 2.970, 3.128, PHS=-1.017, 0.934,-0.202, RAW= 305.4, 3.4, CAL= 303.0, -0.1, ROT= 207.0, 0.1 2025-10-27T05:12:24.615Z,1761541944.615 [DAT](INFO): got valid direction response: 05:12:23.3159 LVL= 28832, 24561, 29602, 32755, AGC= 59, IDX= 511, 0.19, 2.008,-2.267, 2.970, 3.128, PHS=-1.017, 0.934,-0.202, RAW= 305.4, 3.4, CAL= 303.0, -0.1, ROT= 207.0, 0.1 2025-10-27T05:12:24.616Z,1761541944.616 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:12:24.617Z,1761541944.617 [DAT](INFO): direction in FSK: [-0.891005,-0.453990,-0.001745] 2025-10-27T05:12:24.617Z,1761541944.617 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:24.621Z,1761541944.621 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.011200 2025-10-27T05:12:24.623Z,1761541944.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-27T05:12:24.856Z,1761541944.856 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.246277 2025-10-27T05:12:24.921Z,1761541944.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904265,0.426963,-0.002864],[-0.422885,0.896515,0.132021],[0.058936,-0.118170,0.991243]] 2025-10-27T05:12:24.993Z,1761541944.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504070 s, deltaX: 0.300000 m, approachRate: 0.595156 m/s, rangeRepo size: 4 2025-10-27T05:12:24.995Z,1761541944.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.028136 m, bearing: 181.744694 deg, lat: 36.779333 deg, lon: -121.859673 deg, deltaT: 0.504070 s, deltaX: 0.298461 m, approachRate: 0.592102 m/s, posRepo size: 4 2025-10-27T05:12:24.996Z,1761541944.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T05:12:25.108Z,1761541945.108 [DAT](INFO): DAT read: Rx Time:05:12:23.8160 2025-10-27T05:12:25.109Z,1761541945.109 [DAT](INFO): Rx dataTimestamp_ set to:1761541945.108521 2025-10-27T05:12:25.110Z,1761541945.110 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 2025-10-27T05:12:25.111Z,1761541945.111 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-27T05:12:25.112Z,1761541945.112 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.502092 2025-10-27T05:12:25.327Z,1761541945.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903042,0.429542,-0.002962],[-0.425551,0.895550,0.129989],[0.058488,-0.116125,0.991511]] 2025-10-27T05:12:25.360Z,1761541945.360 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.750473 2025-10-27T05:12:25.367Z,1761541945.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503732 s, deltaX: 0.200000 m, approachRate: 0.397036 m/s, rangeRepo size: 4 2025-10-27T05:12:25.368Z,1761541945.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T05:12:25.613Z,1761541945.613 [DAT](INFO): DAT read: Rx Time:05:12:24.3160 2025-10-27T05:12:25.613Z,1761541945.613 [DAT](INFO): Rx dataTimestamp_ set to:1761541945.613153 2025-10-27T05:12:25.615Z,1761541945.615 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 2025-10-27T05:12:25.615Z,1761541945.615 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-27T05:12:25.616Z,1761541945.616 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.006737 2025-10-27T05:12:25.797Z,1761541945.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504632 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:25.798Z,1761541945.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.03 m. 2025-10-27T05:12:25.864Z,1761541945.864 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.254560 2025-10-27T05:12:26.116Z,1761541946.116 [DAT](INFO): DAT read: Rx Time:05:12:24.8160 2025-10-27T05:12:26.117Z,1761541946.117 [DAT](INFO): Rx dataTimestamp_ set to:1761541946.116596 2025-10-27T05:12:26.118Z,1761541946.118 [DAT](INFO): DAT read: Bearing 348.7, -33.1 (Local) 2025-10-27T05:12:26.118Z,1761541946.118 [DAT](INFO): Local bearing/azimuth received: Bearing 348.7, -33.1 (Local) 2025-10-27T05:12:26.121Z,1761541946.121 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.2 2025-10-27T05:12:26.125Z,1761541946.125 [DAT](INFO): DAT read: 05:12:24.8160 LVL= 32752, 25841, 28466, 32755, AGC= 68, IDX= 514,-0.33, 1.124, 2.981, 2.371, 1.768, PHS=-0.542, 1.257, 0.558, RAW= 292.7, -16.0, CAL= 293.9, -21.0, ROT= 216.1, 21.0 2025-10-27T05:12:26.126Z,1761541946.126 [DAT](INFO): got valid direction response: 05:12:24.8160 LVL= 32752, 25841, 28466, 32755, AGC= 68, IDX= 514,-0.33, 1.124, 2.981, 2.371, 1.768, PHS=-0.542, 1.257, 0.558, RAW= 292.7, -16.0, CAL= 293.9, -21.0, ROT= 216.1, 21.0 2025-10-27T05:12:26.127Z,1761541946.127 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:12:26.132Z,1761541946.132 [DAT](INFO): direction in FSK: [-0.754324,-0.550062,-0.358368] 2025-10-27T05:12:26.132Z,1761541946.132 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:26.136Z,1761541946.136 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.526148 2025-10-27T05:12:26.187Z,1761541946.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899944,0.435997,-0.002616],[-0.432107,0.892683,0.128061],[0.058169,-0.114118,0.991763]] 2025-10-27T05:12:26.265Z,1761541946.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503443 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:26.276Z,1761541946.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.227113 m, bearing: 192.946594 deg, lat: 36.779333 deg, lon: -121.859676 deg, deltaT: 1.511807 s, deltaX: 0.198977 m, approachRate: 0.131615 m/s, posRepo size: 4 2025-10-27T05:12:26.276Z,1761541946.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.23 m. 2025-10-27T05:12:26.369Z,1761541946.369 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.759249 2025-10-27T05:12:26.554Z,1761541946.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898677,0.438604,-0.002416],[-0.434761,0.891505,0.127287],[0.057983,-0.113340,0.991863]] 2025-10-27T05:12:26.592Z,1761541946.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.23 m. 2025-10-27T05:12:26.621Z,1761541946.621 [DAT](INFO): DAT read: Rx Time:05:12:25.3163 2025-10-27T05:12:26.621Z,1761541946.621 [DAT](INFO): Rx dataTimestamp_ set to:1761541946.620799 2025-10-27T05:12:26.622Z,1761541946.622 [DAT](INFO): DAT read: Bearing 323.9, -27.4 (Local) 2025-10-27T05:12:26.623Z,1761541946.623 [DAT](INFO): Local bearing/azimuth received: Bearing 323.9, -27.4 (Local) 2025-10-27T05:12:26.625Z,1761541946.625 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4 2025-10-27T05:12:26.630Z,1761541946.630 [DAT](INFO): DAT read: 05:12:25.3163 LVL= 32752, 27425, 29042, 32755, AGC= 72, IDX= 4, 0.03,-0.253, 1.899, 0.701, 0.860, PHS=-1.011, 1.084,-0.203, RAW= 307.5, 1.4, CAL= 305.5, -2.0, ROT= 204.5, 2.0 2025-10-27T05:12:26.631Z,1761541946.631 [DAT](INFO): got valid direction response: 05:12:25.3163 LVL= 32752, 27425, 29042, 32755, AGC= 72, IDX= 4, 0.03,-0.253, 1.899, 0.701, 0.860, PHS=-1.011, 1.084,-0.203, RAW= 307.5, 1.4, CAL= 305.5, -2.0, ROT= 204.5, 2.0 2025-10-27T05:12:26.631Z,1761541946.631 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:12:26.632Z,1761541946.632 [DAT](INFO): direction in FSK: [-0.909407,-0.414441,-0.034899] 2025-10-27T05:12:26.632Z,1761541946.632 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:26.647Z,1761541946.647 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.033251 2025-10-27T05:12:26.872Z,1761541946.872 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.262367 2025-10-27T05:12:26.993Z,1761541946.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897530,0.440946,-0.002564],[-0.437116,0.890469,0.126471],[0.058050,-0.112391,0.991967]] 2025-10-27T05:12:27.074Z,1761541947.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504203 s, deltaX: 0.400000 m, approachRate: 0.793330 m/s, rangeRepo size: 4 2025-10-27T05:12:27.076Z,1761541947.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.625062 m, bearing: 178.620410 deg, lat: 36.779333 deg, lon: -121.859674 deg, deltaT: 0.504203 s, deltaX: 0.397949 m, approachRate: 0.789264 m/s, posRepo size: 4 2025-10-27T05:12:27.076Z,1761541947.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T05:12:27.126Z,1761541947.126 [DAT](INFO): DAT read: Rx Time:05:12:25.8163 2025-10-27T05:12:27.126Z,1761541947.126 [DAT](INFO): Rx dataTimestamp_ set to:1761541947.125897 2025-10-27T05:12:27.128Z,1761541947.128 [DAT](INFO): DAT read: Bearing 323.7, -27.0 (Local) 2025-10-27T05:12:27.129Z,1761541947.129 [DAT](INFO): Local bearing/azimuth received: Bearing 323.7, -27.0 (Local) 2025-10-27T05:12:27.132Z,1761541947.132 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.5 2025-10-27T05:12:27.138Z,1761541947.138 [DAT](INFO): DAT read: 05:12:25.8163 LVL= 32752, 21601, 26674, 32755, AGC= 67, IDX= 500, 0.44,-1.471, 0.659,-0.540,-0.374, PHS=-0.995, 1.078,-0.211, RAW= 308.0, 1.4, CAL= 305.9, -2.0, ROT= 204.1, 2.0 2025-10-27T05:12:27.140Z,1761541947.140 [DAT](INFO): got valid direction response: 05:12:25.8163 LVL= 32752, 21601, 26674, 32755, AGC= 67, IDX= 500, 0.44,-1.471, 0.659,-0.540,-0.374, PHS=-0.995, 1.078,-0.211, RAW= 308.0, 1.4, CAL= 305.9, -2.0, ROT= 204.1, 2.0 2025-10-27T05:12:27.140Z,1761541947.140 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:12:27.153Z,1761541947.153 [DAT](INFO): direction in FSK: [-0.912278,-0.408082,-0.034899] 2025-10-27T05:12:27.153Z,1761541947.153 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:27.181Z,1761541947.181 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.571177 2025-10-27T05:12:27.353Z,1761541947.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896343,0.443352,-0.002811],[-0.439530,0.889411,0.125544],[0.058160,-0.111295,0.992084]] 2025-10-27T05:12:27.376Z,1761541947.376 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.766369 2025-10-27T05:12:27.397Z,1761541947.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.505098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:27.403Z,1761541947.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.625062 m, bearing: 178.070496 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.505098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:27.404Z,1761541947.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.63 m. 2025-10-27T05:12:27.629Z,1761541947.629 [DAT](INFO): DAT read: Rx Time:05:12:26.3166 2025-10-27T05:12:27.630Z,1761541947.630 [DAT](INFO): Rx dataTimestamp_ set to:1761541947.629271 2025-10-27T05:12:27.632Z,1761541947.632 [DAT](INFO): DAT read: Bearing 323.4, -27.0 (Local) 2025-10-27T05:12:27.632Z,1761541947.632 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, -27.0 (Local) 2025-10-27T05:12:27.634Z,1761541947.634 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 2025-10-27T05:12:27.639Z,1761541947.639 [DAT](INFO): DAT read: 05:12:26.3166 LVL= 32752, 21601, 27938, 32755, AGC= 69, IDX= 503,-0.04,-1.412, 0.712,-0.484,-0.314, PHS=-0.996, 1.071,-0.214, RAW= 308.0, 1.6, CAL= 305.9, -1.8, ROT= 204.1, 1.8 2025-10-27T05:12:27.640Z,1761541947.640 [DAT](INFO): got valid direction response: 05:12:26.3166 LVL= 32752, 21601, 27938, 32755, AGC= 69, IDX= 503,-0.04,-1.412, 0.712,-0.484,-0.314, PHS=-0.996, 1.071,-0.214, RAW= 308.0, 1.6, CAL= 305.9, -1.8, ROT= 204.1, 1.8 2025-10-27T05:12:27.640Z,1761541947.640 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:12:27.641Z,1761541947.641 [DAT](INFO): direction in FSK: [-0.912384,-0.408129,-0.031411] 2025-10-27T05:12:27.642Z,1761541947.642 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:27.645Z,1761541947.645 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.035618 2025-10-27T05:12:27.836Z,1761541947.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503374 s, deltaX: 0.500000 m, approachRate: 0.993297 m/s, rangeRepo size: 4 2025-10-27T05:12:27.838Z,1761541947.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.122524 m, bearing: 178.045386 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.503374 s, deltaX: 0.497462 m, approachRate: 0.988256 m/s, posRepo size: 4 2025-10-27T05:12:27.839Z,1761541947.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T05:12:27.882Z,1761541947.882 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.272839 2025-10-27T05:12:28.133Z,1761541948.133 [DAT](INFO): DAT read: Rx Time:05:12:26.8166 2025-10-27T05:12:28.133Z,1761541948.133 [DAT](INFO): Rx dataTimestamp_ set to:1761541948.132815 2025-10-27T05:12:28.134Z,1761541948.134 [DAT](INFO): DAT read: Bearing 323.3, -26.9 (Local) 2025-10-27T05:12:28.135Z,1761541948.135 [DAT](INFO): Local bearing/azimuth received: Bearing 323.3, -26.9 (Local) 2025-10-27T05:12:28.137Z,1761541948.137 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 2025-10-27T05:12:28.141Z,1761541948.141 [DAT](INFO): DAT read: 05:12:26.8166 LVL= 30832, 20833, 26850, 32755, AGC= 67, IDX= 503, 0.38,-1.270, 0.857,-0.343,-0.172, PHS=-0.996, 1.075,-0.214, RAW= 308.1, 1.5, CAL= 306.0, -1.9, ROT= 204.0, 1.9 2025-10-27T05:12:28.142Z,1761541948.142 [DAT](INFO): got valid direction response: 05:12:26.8166 LVL= 30832, 20833, 26850, 32755, AGC= 67, IDX= 503, 0.38,-1.270, 0.857,-0.343,-0.172, PHS=-0.996, 1.075,-0.214, RAW= 308.1, 1.5, CAL= 306.0, -1.9, ROT= 204.0, 1.9 2025-10-27T05:12:28.143Z,1761541948.143 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:12:28.144Z,1761541948.144 [DAT](INFO): direction in FSK: [-0.913043,-0.406513,-0.033155] 2025-10-27T05:12:28.144Z,1761541948.144 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:28.152Z,1761541948.152 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.542439 2025-10-27T05:12:28.190Z,1761541948.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893969,0.448108,-0.004191],[-0.444325,0.887559,0.121713],[0.058260,-0.106946,0.992557]] 2025-10-27T05:12:28.262Z,1761541948.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:28.288Z,1761541948.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.122524 m, bearing: 177.656813 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.503544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:28.289Z,1761541948.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T05:12:28.389Z,1761541948.389 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.779150 2025-10-27T05:12:28.567Z,1761541948.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892792,0.450446,-0.004578],[-0.446673,0.886539,0.120549],[0.058359,-0.105580,0.992697]] 2025-10-27T05:12:28.618Z,1761541948.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T05:12:28.641Z,1761541948.641 [DAT](INFO): DAT read: Rx Time:05:12:27.3168 2025-10-27T05:12:28.641Z,1761541948.641 [DAT](INFO): Rx dataTimestamp_ set to:1761541948.640757 2025-10-27T05:12:28.642Z,1761541948.642 [DAT](INFO): DAT read: Bearing 323.3, -26.8 (Local) 2025-10-27T05:12:28.651Z,1761541948.651 [DAT](INFO): Local bearing/azimuth received: Bearing 323.3, -26.8 (Local) 2025-10-27T05:12:28.654Z,1761541948.654 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 2025-10-27T05:12:28.668Z,1761541948.668 [DAT](INFO): DAT read: 05:12:27.3168 LVL= 32752, 25649, 27122, 32755, AGC= 69, IDX= 506,-0.03,-1.271, 0.872,-0.340,-0.171, PHS=-0.998, 1.088,-0.213, RAW= 308.1, 1.4, CAL= 306.1, -2.0, ROT= 203.9, 2.0 2025-10-27T05:12:28.670Z,1761541948.670 [DAT](INFO): got valid direction response: 05:12:27.3168 LVL= 32752, 25649, 27122, 32755, AGC= 69, IDX= 506,-0.03,-1.271, 0.872,-0.340,-0.171, PHS=-0.998, 1.088,-0.213, RAW= 308.1, 1.4, CAL= 306.1, -2.0, ROT= 203.9, 2.0 2025-10-27T05:12:28.671Z,1761541948.671 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:12:28.694Z,1761541948.694 [DAT](INFO): direction in FSK: [-0.913697,-0.404895,-0.034899] 2025-10-27T05:12:28.694Z,1761541948.694 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:28.708Z,1761541948.708 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.097719 2025-10-27T05:12:28.892Z,1761541948.892 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.282297 2025-10-27T05:12:29.008Z,1761541949.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891863,0.452266,-0.005983],[-0.448546,0.886073,0.116968],[0.058202,-0.101636,0.993118]] 2025-10-27T05:12:29.072Z,1761541949.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.507942 s, deltaX: 0.400001 m, approachRate: 0.787493 m/s, rangeRepo size: 4 2025-10-27T05:12:29.074Z,1761541949.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.520491 m, bearing: 177.303940 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.507942 s, deltaX: 0.397966 m, approachRate: 0.783488 m/s, posRepo size: 4 2025-10-27T05:12:29.090Z,1761541949.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m. 2025-10-27T05:12:29.150Z,1761541949.150 [DAT](INFO): DAT read: Rx Time:05:12:27.8168 2025-10-27T05:12:29.150Z,1761541949.150 [DAT](INFO): Rx dataTimestamp_ set to:1761541949.149971 2025-10-27T05:12:29.152Z,1761541949.152 [DAT](INFO): DAT read: Bearing 323.0, -26.3 (Local) 2025-10-27T05:12:29.152Z,1761541949.152 [DAT](INFO): Local bearing/azimuth received: Bearing 323.0, -26.3 (Local) 2025-10-27T05:12:29.154Z,1761541949.154 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 2025-10-27T05:12:29.160Z,1761541949.160 [DAT](INFO): DAT read: 05:12:27.8168 LVL= 32752, 19617, 28082, 32755, AGC= 69, IDX= 507,-0.47,-2.756,-0.617,-1.840,-1.663, PHS=-0.991, 1.091,-0.221, RAW= 308.5, 1.3, CAL= 306.5, -2.0, ROT= 203.5, 2.0 2025-10-27T05:12:29.161Z,1761541949.161 [DAT](INFO): got valid direction response: 05:12:27.8168 LVL= 32752, 19617, 28082, 32755, AGC= 69, IDX= 507,-0.47,-2.756,-0.617,-1.840,-1.663, PHS=-0.991, 1.091,-0.221, RAW= 308.5, 1.3, CAL= 306.5, -2.0, ROT= 203.5, 2.0 2025-10-27T05:12:29.162Z,1761541949.162 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:12:29.169Z,1761541949.169 [DAT](INFO): direction in FSK: [-0.916501,-0.398506,-0.034899] 2025-10-27T05:12:29.170Z,1761541949.170 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:29.187Z,1761541949.187 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.577768 2025-10-27T05:12:29.374Z,1761541949.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890868,0.454207,-0.007040],[-0.450516,0.885402,0.114449],[0.058216,-0.098787,0.993404]] 2025-10-27T05:12:29.397Z,1761541949.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.509214 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:29.400Z,1761541949.400 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.790518 2025-10-27T05:12:29.401Z,1761541949.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.520491 m, bearing: 176.782152 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.509214 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:29.401Z,1761541949.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.52 m. 2025-10-27T05:12:29.653Z,1761541949.653 [DAT](INFO): DAT read: Rx Time:05:12:28.3170 2025-10-27T05:12:29.653Z,1761541949.653 [DAT](INFO): Rx dataTimestamp_ set to:1761541949.652824 2025-10-27T05:12:29.654Z,1761541949.654 [DAT](INFO): DAT read: Bearing 322.7, -25.9 (Local) 2025-10-27T05:12:29.655Z,1761541949.655 [DAT](INFO): Local bearing/azimuth received: Bearing 322.7, -25.9 (Local) 2025-10-27T05:12:29.657Z,1761541949.657 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4 2025-10-27T05:12:29.661Z,1761541949.661 [DAT](INFO): DAT read: 05:12:28.3170 LVL= 32752, 24993, 30834, 32755, AGC= 68, IDX= 508, 0.08,-2.175,-0.047,-1.275,-1.088, PHS=-0.985, 1.086,-0.231, RAW= 308.9, 1.4, CAL= 306.9, -1.9, ROT= 203.1, 1.9 2025-10-27T05:12:29.662Z,1761541949.662 [DAT](INFO): got valid direction response: 05:12:28.3170 LVL= 32752, 24993, 30834, 32755, AGC= 68, IDX= 508, 0.08,-2.175,-0.047,-1.275,-1.088, PHS=-0.985, 1.086,-0.231, RAW= 308.9, 1.4, CAL= 306.9, -1.9, ROT= 203.1, 1.9 2025-10-27T05:12:29.663Z,1761541949.663 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:12:29.664Z,1761541949.664 [DAT](INFO): direction in FSK: [-0.919316,-0.392122,-0.033155] 2025-10-27T05:12:29.664Z,1761541949.664 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:29.668Z,1761541949.668 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.058331 2025-10-27T05:12:29.778Z,1761541949.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890116,0.455673,-0.007540],[-0.452049,0.884896,0.112300],[0.057844,-0.096552,0.993646]] 2025-10-27T05:12:29.841Z,1761541949.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.502853 s, deltaX: 0.299999 m, approachRate: 0.596594 m/s, rangeRepo size: 4 2025-10-27T05:12:29.852Z,1761541949.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.818947 m, bearing: 176.276500 deg, lat: 36.779335 deg, lon: -121.859674 deg, deltaT: 0.502853 s, deltaX: 0.298456 m, approachRate: 0.593526 m/s, posRepo size: 4 2025-10-27T05:12:29.853Z,1761541949.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m. 2025-10-27T05:12:29.905Z,1761541949.905 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.295113 2025-10-27T05:12:30.157Z,1761541950.157 [DAT](INFO): DAT read: Rx Time:05:12:28.8170 2025-10-27T05:12:30.157Z,1761541950.157 [DAT](INFO): Rx dataTimestamp_ set to:1761541950.157086 2025-10-27T05:12:30.159Z,1761541950.159 [DAT](INFO): DAT read: Bearing 322.5, -26.2 (Local) 2025-10-27T05:12:30.159Z,1761541950.159 [DAT](INFO): Local bearing/azimuth received: Bearing 322.5, -26.2 (Local) 2025-10-27T05:12:30.161Z,1761541950.161 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4 2025-10-27T05:12:30.166Z,1761541950.166 [DAT](INFO): DAT read: 05:12:28.8170 LVL= 32752, 22385, 28498, 32755, AGC= 69, IDX= 509,-0.34, 1.815,-2.339, 2.723, 2.910, PHS=-0.993, 1.080,-0.231, RAW= 308.7, 1.6, CAL= 306.6, -1.7, ROT= 203.4, 1.7 2025-10-27T05:12:30.172Z,1761541950.172 [DAT](INFO): got valid direction response: 05:12:28.8170 LVL= 32752, 22385, 28498, 32755, AGC= 69, IDX= 509,-0.34, 1.815,-2.339, 2.723, 2.910, PHS=-0.993, 1.080,-0.231, RAW= 308.7, 1.6, CAL= 306.6, -1.7, ROT= 203.4, 1.7 2025-10-27T05:12:30.172Z,1761541950.172 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:12:30.173Z,1761541950.173 [DAT](INFO): direction in FSK: [-0.917351,-0.396973,-0.029666] 2025-10-27T05:12:30.174Z,1761541950.174 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:30.185Z,1761541950.185 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.575909 2025-10-27T05:12:30.188Z,1761541950.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889512,0.456822,-0.009062],[-0.453280,0.884765,0.108292],[0.057488,-0.092219,0.994078]] 2025-10-27T05:12:30.264Z,1761541950.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:30.266Z,1761541950.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.818947 m, bearing: 176.477493 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.504262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:30.275Z,1761541950.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m. 2025-10-27T05:12:30.408Z,1761541950.408 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.798607 2025-10-27T05:12:30.595Z,1761541950.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888988,0.457830,-0.009597],[-0.454385,0.884512,0.105699],[0.056881,-0.089604,0.994352]] 2025-10-27T05:12:30.652Z,1761541950.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.82 m. 2025-10-27T05:12:30.661Z,1761541950.661 [DAT](INFO): DAT read: Rx Time:05:12:29.3173 2025-10-27T05:12:30.661Z,1761541950.661 [DAT](INFO): Rx dataTimestamp_ set to:1761541950.660731 2025-10-27T05:12:30.662Z,1761541950.662 [DAT](INFO): DAT read: Bearing 322.5, -25.5 (Local) 2025-10-27T05:12:30.663Z,1761541950.663 [DAT](INFO): Local bearing/azimuth received: Bearing 322.5, -25.5 (Local) 2025-10-27T05:12:30.665Z,1761541950.665 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.4 2025-10-27T05:12:30.669Z,1761541950.669 [DAT](INFO): DAT read: 05:12:29.3173 LVL= 32752, 19729, 26354, 32755, AGC= 68, IDX= 511, 0.06,-1.256, 0.868,-0.368,-0.176, PHS=-0.978, 1.089,-0.236, RAW= 309.2, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9 2025-10-27T05:12:30.670Z,1761541950.670 [DAT](INFO): got valid direction response: 05:12:29.3173 LVL= 32752, 19729, 26354, 32755, AGC= 68, IDX= 511, 0.06,-1.256, 0.868,-0.368,-0.176, PHS=-0.978, 1.089,-0.236, RAW= 309.2, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9 2025-10-27T05:12:30.671Z,1761541950.671 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:12:30.672Z,1761541950.672 [DAT](INFO): direction in FSK: [-0.921356,-0.387303,-0.033155] 2025-10-27T05:12:30.673Z,1761541950.673 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:30.677Z,1761541950.677 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.067211 2025-10-27T05:12:30.912Z,1761541950.912 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.302444 2025-10-27T05:12:31.121Z,1761541951.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503645 s, deltaX: 0.500000 m, approachRate: 0.992763 m/s, rangeRepo size: 4 2025-10-27T05:12:31.127Z,1761541951.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.316431 m, bearing: 175.832930 deg, lat: 36.779335 deg, lon: -121.859674 deg, deltaT: 0.503645 s, deltaX: 0.497484 m, approachRate: 0.987768 m/s, posRepo size: 4 2025-10-27T05:12:31.127Z,1761541951.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.32 m. 2025-10-27T05:12:31.165Z,1761541951.165 [DAT](INFO): DAT read: Rx Time:05:12:29.8173 2025-10-27T05:12:31.165Z,1761541951.165 [DAT](INFO): Rx dataTimestamp_ set to:1761541951.164894 2025-10-27T05:12:31.166Z,1761541951.166 [DAT](INFO): DAT read: Bearing 322.6, -25.7 (Local) 2025-10-27T05:12:31.167Z,1761541951.167 [DAT](INFO): Local bearing/azimuth received: Bearing 322.6, -25.7 (Local) 2025-10-27T05:12:31.169Z,1761541951.169 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.4 2025-10-27T05:12:31.174Z,1761541951.174 [DAT](INFO): DAT read: 05:12:29.8173 LVL= 32176, 18849, 25026, 32755, AGC= 67, IDX= 511, 0.36,-1.111, 1.034,-0.208,-0.023, PHS=-0.986, 1.102,-0.230, RAW= 309.0, 1.3, CAL= 307.0, -2.1, ROT= 203.0, 2.1 2025-10-27T05:12:31.175Z,1761541951.175 [DAT](INFO): got valid direction response: 05:12:29.8173 LVL= 32176, 18849, 25026, 32755, AGC= 67, IDX= 511, 0.36,-1.111, 1.034,-0.208,-0.023, PHS=-0.986, 1.102,-0.230, RAW= 309.0, 1.3, CAL= 307.0, -2.1, ROT= 203.0, 2.1 2025-10-27T05:12:31.175Z,1761541951.175 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:12:31.176Z,1761541951.176 [DAT](INFO): direction in FSK: [-0.919887,-0.390469,-0.036644] 2025-10-27T05:12:31.176Z,1761541951.176 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:31.180Z,1761541951.180 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.570702 2025-10-27T05:12:31.416Z,1761541951.416 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.806362 2025-10-27T05:12:31.498Z,1761541951.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888290,0.459177,-0.009881],[-0.455919,0.884178,0.101824],[0.055492,-0.085944,0.994753]] 2025-10-27T05:12:31.622Z,1761541951.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:31.624Z,1761541951.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.316431 m, bearing: 175.956070 deg, lat: 36.779336 deg, lon: -121.859673 deg, deltaT: 0.504163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:31.625Z,1761541951.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.32 m. 2025-10-27T05:12:31.669Z,1761541951.669 [DAT](INFO): DAT read: Rx Time:05:12:30.3175 2025-10-27T05:12:31.669Z,1761541951.669 [DAT](INFO): Rx dataTimestamp_ set to:1761541951.668765 2025-10-27T05:12:31.670Z,1761541951.670 [DAT](INFO): DAT read: Bearing 338.1, -31.6 (Local) 2025-10-27T05:12:31.671Z,1761541951.671 [DAT](INFO): Local bearing/azimuth received: Bearing 338.1, -31.6 (Local) 2025-10-27T05:12:31.673Z,1761541951.673 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.6 2025-10-27T05:12:31.679Z,1761541951.679 [DAT](INFO): DAT read: 05:12:30.3175 LVL= 30176, 17057, 23890, 32755, AGC= 67, IDX= 514,-0.34,-2.279,-0.482,-1.211,-1.534, PHS=-0.643, 1.098, 0.280, RAW= 298.0, -9.8, CAL= 298.6, -14.4, ROT= 211.4, 14.4 2025-10-27T05:12:31.680Z,1761541951.680 [DAT](INFO): got valid direction response: 05:12:30.3175 LVL= 30176, 17057, 23890, 32755, AGC= 67, IDX= 514,-0.34,-2.279,-0.482,-1.211,-1.534, PHS=-0.643, 1.098, 0.280, RAW= 298.0, -9.8, CAL= 298.6, -14.4, ROT= 211.4, 14.4 2025-10-27T05:12:31.681Z,1761541951.681 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:12:31.682Z,1761541951.682 [DAT](INFO): direction in FSK: [-0.826735,-0.504641,-0.248690] 2025-10-27T05:12:31.683Z,1761541951.683 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:31.689Z,1761541951.689 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.079639 2025-10-27T05:12:31.868Z,1761541951.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888330,0.459080,-0.010700],[-0.455933,0.884538,0.098573],[0.054718,-0.082687,0.995072]] 2025-10-27T05:12:31.920Z,1761541951.920 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.310570 2025-10-27T05:12:31.922Z,1761541951.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503871 s, deltaX: 0.300001 m, approachRate: 0.595393 m/s, rangeRepo size: 4 2025-10-27T05:12:31.925Z,1761541951.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.614910 m, bearing: 185.569858 deg, lat: 36.779336 deg, lon: -121.859673 deg, deltaT: 0.503871 s, deltaX: 0.298479 m, approachRate: 0.592372 m/s, posRepo size: 4 2025-10-27T05:12:31.926Z,1761541951.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.61 m. 2025-10-27T05:12:32.172Z,1761541952.172 [DAT](INFO): DAT read: Rx Time:05:12:30.8176 2025-10-27T05:12:32.173Z,1761541952.173 [DAT](INFO): Rx dataTimestamp_ set to:1761541952.172666 2025-10-27T05:12:32.174Z,1761541952.174 [DAT](INFO): DAT read: Bearing 322.3, -25.8 (Local) 2025-10-27T05:12:32.175Z,1761541952.175 [DAT](INFO): Local bearing/azimuth received: Bearing 322.3, -25.8 (Local) 2025-10-27T05:12:32.177Z,1761541952.177 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.5 2025-10-27T05:12:32.181Z,1761541952.181 [DAT](INFO): DAT read: 05:12:30.8176 LVL= 28576, 17329, 19666, 29747, AGC= 70, IDX= 2,-0.15,-0.480, 1.660, 0.424, 0.613, PHS=-0.991, 1.092,-0.233, RAW= 308.9, 1.5, CAL= 306.8, -1.9, ROT= 203.2, 1.9 2025-10-27T05:12:32.182Z,1761541952.182 [DAT](INFO): got valid direction response: 05:12:30.8176 LVL= 28576, 17329, 19666, 29747, AGC= 70, IDX= 2,-0.15,-0.480, 1.660, 0.424, 0.613, PHS=-0.991, 1.092,-0.233, RAW= 308.9, 1.5, CAL= 306.8, -1.9, ROT= 203.2, 1.9 2025-10-27T05:12:32.183Z,1761541952.183 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:12:32.184Z,1761541952.184 [DAT](INFO): direction in FSK: [-0.918630,-0.393725,-0.033155] 2025-10-27T05:12:32.184Z,1761541952.184 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:32.188Z,1761541952.188 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.578362 2025-10-27T05:12:32.270Z,1761541952.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888505,0.458741,-0.010791],[-0.455725,0.884924,0.096044],[0.053609,-0.080417,0.995319]] 2025-10-27T05:12:32.328Z,1761541952.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503901 s, deltaX: 0.099998 m, approachRate: 0.198449 m/s, rangeRepo size: 4 2025-10-27T05:12:32.330Z,1761541952.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.714399 m, bearing: 176.150964 deg, lat: 36.779336 deg, lon: -121.859674 deg, deltaT: 0.503901 s, deltaX: 0.099489 m, approachRate: 0.197438 m/s, posRepo size: 4 2025-10-27T05:12:32.330Z,1761541952.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-27T05:12:32.424Z,1761541952.424 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.814644 2025-10-27T05:12:32.674Z,1761541952.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888784,0.458204,-0.010597],[-0.455333,0.885381,0.093665],[0.052300,-0.078423,0.995547]] 2025-10-27T05:12:32.677Z,1761541952.677 [DAT](INFO): DAT read: Rx Time:05:12:31.3178 2025-10-27T05:12:32.677Z,1761541952.677 [DAT](INFO): Rx dataTimestamp_ set to:1761541952.676803 2025-10-27T05:12:32.678Z,1761541952.678 [DAT](INFO): DAT read: Bearing 322.1, -26.1 (Local) 2025-10-27T05:12:32.679Z,1761541952.679 [DAT](INFO): Local bearing/azimuth received: Bearing 322.1, -26.1 (Local) 2025-10-27T05:12:32.681Z,1761541952.681 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.3 2025-10-27T05:12:32.686Z,1761541952.686 [DAT](INFO): DAT read: 05:12:31.3178 LVL= 29408, 19601, 24050, 32755, AGC= 67, IDX= 500,-0.06, 2.008,-2.150, 2.918, 3.103, PHS=-0.993, 1.075,-0.229, RAW= 308.6, 1.6, CAL= 306.5, -1.7, ROT= 203.5, 1.7 2025-10-27T05:12:32.687Z,1761541952.687 [DAT](INFO): got valid direction response: 05:12:31.3178 LVL= 29408, 19601, 24050, 32755, AGC= 67, IDX= 500,-0.06, 2.008,-2.150, 2.918, 3.103, PHS=-0.993, 1.075,-0.229, RAW= 308.6, 1.6, CAL= 306.5, -1.7, ROT= 203.5, 1.7 2025-10-27T05:12:32.687Z,1761541952.687 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:12:32.688Z,1761541952.688 [DAT](INFO): direction in FSK: [-0.916656,-0.398573,-0.029666] 2025-10-27T05:12:32.688Z,1761541952.688 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:32.692Z,1761541952.692 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.082645 2025-10-27T05:12:32.849Z,1761541952.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504137 s, deltaX: 0.300001 m, approachRate: 0.595079 m/s, rangeRepo size: 4 2025-10-27T05:12:32.855Z,1761541952.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.012873 m, bearing: 176.457895 deg, lat: 36.779334 deg, lon: -121.859674 deg, deltaT: 0.504137 s, deltaX: 0.298473 m, approachRate: 0.592048 m/s, posRepo size: 4 2025-10-27T05:12:32.856Z,1761541952.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:12:32.929Z,1761541952.929 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.319530 2025-10-27T05:12:33.116Z,1761541953.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889127,0.457548,-0.010169],[-0.454824,0.885868,0.091508],[0.050878,-0.076738,0.995752]] 2025-10-27T05:12:33.137Z,1761541953.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:12:33.181Z,1761541953.181 [DAT](INFO): DAT read: Rx Time:05:12:31.8178 2025-10-27T05:12:33.181Z,1761541953.181 [DAT](INFO): Rx dataTimestamp_ set to:1761541953.180758 2025-10-27T05:12:33.183Z,1761541953.183 [DAT](INFO): DAT read: Bearing 321.9, - (trip time 11.4 ms) speed -0.3 2025-10-27T05:12:33.183Z,1761541953.183 [DAT](INFO): unknown deviceResponse_: Bearing 321.9, - (trip time 11.4 ms) speed -0.3 2025-10-27T05:12:33.189Z,1761541953.189 [DAT](INFO): DAT read: 05:12:31.8178 LVL= 32752, 20193, 27698, 32755, AGC= 66, IDX= 500,-0.03, 1.083,-3.065, 1.982, 2.182, PHS=-0.997, 1.082,-0.244, RAW= 309.0, 1.8, CAL= 306.9, -1.5, ROT= 203.1, 1.5 2025-10-27T05:12:33.190Z,1761541953.190 [DAT](INFO): got valid direction response: 05:12:31.8178 LVL= 32752, 20193, 27698, 32755, AGC= 66, IDX= 500,-0.03, 1.083,-3.065, 1.982, 2.182, PHS=-0.997, 1.082,-0.244, RAW= 309.0, 1.8, CAL= 306.9, -1.5, ROT= 203.1, 1.5 2025-10-27T05:12:33.191Z,1761541953.191 [DAT](INFO): #Rx 75: Read direction message, but no range. 2025-10-27T05:12:33.192Z,1761541953.192 [DAT](INFO): direction in FSK: [-0.919506,-0.392203,-0.026177] 2025-10-27T05:12:33.198Z,1761541953.198 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.588715 2025-10-27T05:12:33.432Z,1761541953.432 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.822575 2025-10-27T05:12:33.539Z,1761541953.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889535,0.456775,-0.009126],[-0.454174,0.886281,0.090728],[0.049531,-0.076561,0.995834]] 2025-10-27T05:12:33.620Z,1761541953.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:12:33.685Z,1761541953.685 [DAT](INFO): DAT read: Rx Time:05:12:32.3179 2025-10-27T05:12:33.686Z,1761541953.686 [DAT](INFO): Rx dataTimestamp_ set to:1761541953.685311 2025-10-27T05:12:33.688Z,1761541953.688 [DAT](INFO): DAT read: Bearing 322.2, -25.7 (Local) 2025-10-27T05:12:33.688Z,1761541953.688 [DAT](INFO): Local bearing/azimuth received: Bearing 322.2, -25.7 (Local) 2025-10-27T05:12:33.691Z,1761541953.691 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.4 2025-10-27T05:12:33.696Z,1761541953.696 [DAT](INFO): DAT read: 05:12:32.3179 LVL= 31728, 20673, 24562, 32755, AGC= 65, IDX= 501,-0.01, 1.105,-3.047, 2.007, 2.196, PHS=-0.989, 1.086,-0.233, RAW= 308.9, 1.5, CAL= 306.8, -1.8, ROT= 203.2, 1.8 2025-10-27T05:12:33.697Z,1761541953.697 [DAT](INFO): got valid direction response: 05:12:32.3179 LVL= 31728, 20673, 24562, 32755, AGC= 65, IDX= 501,-0.01, 1.105,-3.047, 2.007, 2.196, PHS=-0.989, 1.086,-0.233, RAW= 308.9, 1.5, CAL= 306.8, -1.8, ROT= 203.2, 1.8 2025-10-27T05:12:33.698Z,1761541953.698 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:12:33.705Z,1761541953.705 [DAT](INFO): direction in FSK: [-0.918682,-0.393748,-0.031411] 2025-10-27T05:12:33.705Z,1761541953.705 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:33.711Z,1761541953.711 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.100800 2025-10-27T05:12:33.922Z,1761541953.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889972,0.455931,-0.008796],[-0.453460,0.886859,0.088636],[0.048212,-0.074895,0.996025]] 2025-10-27T05:12:33.936Z,1761541953.936 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.326416 2025-10-27T05:12:34.063Z,1761541954.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 1.008508 s, deltaX: 0.199999 m, approachRate: 0.198312 m/s, rangeRepo size: 4 2025-10-27T05:12:34.065Z,1761541954.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.211851 m, bearing: 176.292018 deg, lat: 36.779334 deg, lon: -121.859674 deg, deltaT: 1.008508 s, deltaX: 0.198978 m, approachRate: 0.197300 m/s, posRepo size: 4 2025-10-27T05:12:34.066Z,1761541954.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-27T05:12:34.189Z,1761541954.189 [DAT](INFO): DAT read: Rx Time:05:12:32.8179 2025-10-27T05:12:34.189Z,1761541954.189 [DAT](INFO): Rx dataTimestamp_ set to:1761541954.189141 2025-10-27T05:12:34.191Z,1761541954.191 [DAT](INFO): DAT read: Bearing 321.8, -25.0 (Local) 2025-10-27T05:12:34.191Z,1761541954.191 [DAT](INFO): Local bearing/azimuth received: Bearing 321.8, -25.0 (Local) 2025-10-27T05:12:34.193Z,1761541954.193 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2 2025-10-27T05:12:34.198Z,1761541954.198 [DAT](INFO): DAT read: 05:12:32.8179 LVL= 32752, 20545, 28130, 32755, AGC= 66, IDX= 501,-0.01,-0.612, 1.512, 0.264, 0.475, PHS=-0.985, 1.082,-0.254, RAW= 309.6, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5 2025-10-27T05:12:34.199Z,1761541954.199 [DAT](INFO): got valid direction response: 05:12:32.8179 LVL= 32752, 20545, 28130, 32755, AGC= 66, IDX= 501,-0.01,-0.612, 1.512, 0.264, 0.475, PHS=-0.985, 1.082,-0.254, RAW= 309.6, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5 2025-10-27T05:12:34.199Z,1761541954.199 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:12:34.200Z,1761541954.200 [DAT](INFO): direction in FSK: [-0.922894,-0.384164,-0.026177] 2025-10-27T05:12:34.201Z,1761541954.201 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:34.205Z,1761541954.205 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.595303 2025-10-27T05:12:34.334Z,1761541954.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890246,0.455412,-0.007812],[-0.453045,0.887129,0.088049],[0.047029,-0.074846,0.996085]] 2025-10-27T05:12:34.366Z,1761541954.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:34.368Z,1761541954.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.211851 m, bearing: 175.694947 deg, lat: 36.779334 deg, lon: -121.859674 deg, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:34.369Z,1761541954.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-27T05:12:34.440Z,1761541954.440 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.830532 2025-10-27T05:12:34.693Z,1761541954.693 [DAT](INFO): DAT read: Rx Time:05:12:33.3181 2025-10-27T05:12:34.693Z,1761541954.693 [DAT](INFO): Rx dataTimestamp_ set to:1761541954.692706 2025-10-27T05:12:34.694Z,1761541954.694 [DAT](INFO): DAT read: Bearing 322.0, -25.3 (Local) 2025-10-27T05:12:34.695Z,1761541954.695 [DAT](INFO): Local bearing/azimuth received: Bearing 322.0, -25.3 (Local) 2025-10-27T05:12:34.697Z,1761541954.697 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 2025-10-27T05:12:34.712Z,1761541954.712 [DAT](INFO): DAT read: 05:12:33.3181 LVL= 32752, 22961, 27010, 32755, AGC= 70, IDX= 503, 0.02,-0.457, 1.665, 0.432, 0.628, PHS=-0.983, 1.083,-0.240, RAW= 309.2, 1.6, CAL= 307.1, -1.7, ROT= 202.9, 1.7 2025-10-27T05:12:34.714Z,1761541954.714 [DAT](INFO): got valid direction response: 05:12:33.3181 LVL= 32752, 22961, 27010, 32755, AGC= 70, IDX= 503, 0.02,-0.457, 1.665, 0.432, 0.628, PHS=-0.983, 1.083,-0.240, RAW= 309.2, 1.6, CAL= 307.1, -1.7, ROT= 202.9, 1.7 2025-10-27T05:12:34.714Z,1761541954.714 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:12:34.716Z,1761541954.716 [DAT](INFO): direction in FSK: [-0.920780,-0.388953,-0.029666] 2025-10-27T05:12:34.716Z,1761541954.716 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:34.757Z,1761541954.757 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.147781 2025-10-27T05:12:34.895Z,1761541954.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503565 s, deltaX: 0.300001 m, approachRate: 0.595755 m/s, rangeRepo size: 4 2025-10-27T05:12:34.897Z,1761541954.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.510315 m, bearing: 176.011408 deg, lat: 36.779333 deg, lon: -121.859674 deg, deltaT: 0.503565 s, deltaX: 0.298464 m, approachRate: 0.592702 m/s, posRepo size: 4 2025-10-27T05:12:34.898Z,1761541954.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T05:12:34.946Z,1761541954.946 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.336452 2025-10-27T05:12:35.196Z,1761541955.196 [DAT](INFO): DAT read: Rx Time:05:12:33.8181 2025-10-27T05:12:35.197Z,1761541955.197 [DAT](INFO): Rx dataTimestamp_ set to:1761541955.196642 2025-10-27T05:12:35.198Z,1761541955.198 [DAT](INFO): DAT read: Bearing 321.3, -25.4 (Local) 2025-10-27T05:12:35.199Z,1761541955.199 [DAT](INFO): Local bearing/azimuth received: Bearing 321.3, -25.4 (Local) 2025-10-27T05:12:35.201Z,1761541955.201 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 2025-10-27T05:12:35.205Z,1761541955.205 [DAT](INFO): DAT read: 05:12:33.8181 LVL= 32752, 26097, 32754, 32755, AGC= 72, IDX= 503,-0.02,-2.936,-0.812,-2.050,-1.834, PHS=-1.000, 1.067,-0.260, RAW= 309.3, 2.2, CAL= 307.1, -1.1, ROT= 202.9, 1.1 2025-10-27T05:12:35.206Z,1761541955.206 [DAT](INFO): got valid direction response: 05:12:33.8181 LVL= 32752, 26097, 32754, 32755, AGC= 72, IDX= 503,-0.02,-2.936,-0.812,-2.050,-1.834, PHS=-1.000, 1.067,-0.260, RAW= 309.3, 2.2, CAL= 307.1, -1.1, ROT= 202.9, 1.1 2025-10-27T05:12:35.207Z,1761541955.207 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:12:35.208Z,1761541955.208 [DAT](INFO): direction in FSK: [-0.921016,-0.389052,-0.019197] 2025-10-27T05:12:35.208Z,1761541955.208 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:35.212Z,1761541955.212 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.602055 2025-10-27T05:12:35.270Z,1761541955.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890756,0.454447,-0.005674],[-0.452360,0.887733,0.085439],[0.043864,-0.073538,0.996327]] 2025-10-27T05:12:35.310Z,1761541955.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:35.317Z,1761541955.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.510315 m, bearing: 176.006135 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:35.317Z,1761541955.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T05:12:35.451Z,1761541955.451 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.841179 2025-10-27T05:12:35.702Z,1761541955.702 [DAT](INFO): DAT read: Rx Time:05:12:34.3183 2025-10-27T05:12:35.702Z,1761541955.702 [DAT](INFO): Rx dataTimestamp_ set to:1761541955.701710 2025-10-27T05:12:35.704Z,1761541955.704 [DAT](INFO): DAT read: Bearing 321.1, -25.2 (Local) 2025-10-27T05:12:35.705Z,1761541955.705 [DAT](INFO): Local bearing/azimuth received: Bearing 321.1, -25.2 (Local) 2025-10-27T05:12:35.709Z,1761541955.709 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:12:35.732Z,1761541955.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890589,0.454789,-0.004347],[-0.452776,0.887468,0.085986],[0.042963,-0.074610,0.996287]] 2025-10-27T05:12:35.745Z,1761541955.745 [DAT](INFO): DAT read: 05:12:34.3183 LVL= 32752, 24705, 32594, 32755, AGC= 70, IDX= 505,-0.10,-2.341,-0.221,-1.462,-1.239, PHS=-1.000, 1.063,-0.267, RAW= 309.5, 2.3, CAL= 307.2, -1.0, ROT= 202.8, 1.0 2025-10-27T05:12:35.784Z,1761541955.784 [DAT](INFO): got valid direction response: 05:12:34.3183 LVL= 32752, 24705, 32594, 32755, AGC= 70, IDX= 505,-0.10,-2.341,-0.221,-1.462,-1.239, PHS=-1.000, 1.063,-0.267, RAW= 309.5, 2.3, CAL= 307.2, -1.0, ROT= 202.8, 1.0 2025-10-27T05:12:35.784Z,1761541955.784 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:12:35.785Z,1761541955.785 [DAT](INFO): direction in FSK: [-0.921723,-0.387457,-0.017452] 2025-10-27T05:12:35.785Z,1761541955.785 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:35.794Z,1761541955.794 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.184299 2025-10-27T05:12:35.884Z,1761541955.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.505068 s, deltaX: 0.299999 m, approachRate: 0.593978 m/s, rangeRepo size: 4 2025-10-27T05:12:35.886Z,1761541955.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.808798 m, bearing: 175.870778 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 0.505068 s, deltaX: 0.298483 m, approachRate: 0.590976 m/s, posRepo size: 4 2025-10-27T05:12:35.886Z,1761541955.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m. 2025-10-27T05:12:35.963Z,1761541955.963 [DAT](INFO): DAT read: Rx Time:05:12:34.8182 2025-10-27T05:12:35.965Z,1761541955.965 [DAT](INFO): Rx dataTimestamp_ set to:1761541955.963927 2025-10-27T05:12:35.968Z,1761541955.968 [DAT](INFO): DAT read: Bearing 321.5, -25.3 (Local) 2025-10-27T05:12:35.969Z,1761541955.969 [DAT](INFO): Local bearing/azimuth received: Bearing 321.5, -25.3 (Local) 2025-10-27T05:12:35.976Z,1761541955.976 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.2 2025-10-27T05:12:35.979Z,1761541955.979 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-27T05:12:35.997Z,1761541955.997 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.386890 2025-10-27T05:12:36.152Z,1761541956.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890377,0.455208,-0.003894],[-0.453253,0.887283,0.085391],[0.042326,-0.074265,0.996340]] 2025-10-27T05:12:36.192Z,1761541956.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.262217 s, deltaX: -0.199999 m, approachRate: -0.762723 m/s, rangeRepo size: 4 2025-10-27T05:12:36.193Z,1761541956.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m. 2025-10-27T05:12:36.208Z,1761541956.208 [DAT](INFO): DAT read: 05:12:34.8182 LVL= 32752, 22449, 30034, 32755, AGC= 69, IDX= 505,-0.20, 2.808,-1.350,-2.586,-2.378, PHS=-0.995, 1.073,-0.251, RAW= 309.2, 1.9, CAL= 307.0, -1.4, ROT= 203.0, 1.4 2025-10-27T05:12:36.209Z,1761541956.209 [DAT](INFO): got valid direction response: 05:12:34.8182 LVL= 32752, 22449, 30034, 32755, AGC= 69, IDX= 505,-0.20, 2.808,-1.350,-2.586,-2.378, PHS=-0.995, 1.073,-0.251, RAW= 309.2, 1.9, CAL= 307.0, -1.4, ROT= 203.0, 1.4 2025-10-27T05:12:36.209Z,1761541956.209 [DAT](INFO): #Rx 82: Read direction message, but no range. 2025-10-27T05:12:36.210Z,1761541956.210 [DAT](INFO): direction in FSK: [-0.920230,-0.390614,-0.024432] 2025-10-27T05:12:36.214Z,1761541956.214 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.604187 2025-10-27T05:12:36.459Z,1761541956.459 [DAT](INFO): DAT read: Rx Time:05:12:35.3183 2025-10-27T05:12:36.460Z,1761541956.460 [DAT](INFO): Rx dataTimestamp_ set to:1761541956.459446 2025-10-27T05:12:36.462Z,1761541956.462 [DAT](INFO): DAT read: Bearing 321.7, -25.3 (Local) 2025-10-27T05:12:36.464Z,1761541956.464 [DAT](INFO): Local bearing/azimuth received: Bearing 321.7, -25.3 (Local) 2025-10-27T05:12:36.466Z,1761541956.466 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.855785 2025-10-27T05:12:36.557Z,1761541956.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890107,0.455733,-0.004032],[-0.453819,0.887114,0.084125],[0.041916,-0.073050,0.996447]] 2025-10-27T05:12:36.597Z,1761541956.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m. 2025-10-27T05:12:36.711Z,1761541956.711 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1 2025-10-27T05:12:36.717Z,1761541956.717 [DAT](INFO): DAT read: 05:12:35.3183 LVL= 32752, 21489, 30002, 32755, AGC= 69, IDX= 506,-0.33, 2.870,-1.286,-2.521,-2.322, PHS=-0.989, 1.081,-0.243, RAW= 309.2, 1.7, CAL= 307.0, -1.6, ROT= 203.0, 1.6 2025-10-27T05:12:36.719Z,1761541956.719 [DAT](INFO): got valid direction response: 05:12:35.3183 LVL= 32752, 21489, 30002, 32755, AGC= 69, IDX= 506,-0.33, 2.870,-1.286,-2.521,-2.322, PHS=-0.989, 1.081,-0.243, RAW= 309.2, 1.7, CAL= 307.0, -1.6, ROT= 203.0, 1.6 2025-10-27T05:12:36.720Z,1761541956.720 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:12:36.721Z,1761541956.721 [DAT](INFO): direction in FSK: [-0.920146,-0.390579,-0.027922] 2025-10-27T05:12:36.722Z,1761541956.722 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:36.727Z,1761541956.727 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.117165 2025-10-27T05:12:36.963Z,1761541956.963 [DAT](INFO): DAT read: Rx Time:05:12:35.8183 2025-10-27T05:12:36.965Z,1761541956.965 [DAT](INFO): Rx dataTimestamp_ set to:1761541956.963939 2025-10-27T05:12:36.968Z,1761541956.968 [DAT](INFO): DAT read: Bearing 321.8, -25.2 (Local) 2025-10-27T05:12:36.969Z,1761541956.969 [DAT](INFO): Local bearing/azimuth received: Bearing 321.8, -25.2 (Local) 2025-10-27T05:12:36.971Z,1761541956.971 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.360664 2025-10-27T05:12:36.978Z,1761541956.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889521,0.456879,-0.003807],[-0.455008,0.886572,0.083410],[0.041483,-0.072463,0.996508]] 2025-10-27T05:12:37.098Z,1761541957.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.743785 s, deltaX: 0.199999 m, approachRate: 0.268893 m/s, rangeRepo size: 4 2025-10-27T05:12:37.101Z,1761541957.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.808771 m, bearing: 175.979238 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 1.006002 s, deltaX: -0.000027 m, approachRate: -0.000027 m/s, posRepo size: 4 2025-10-27T05:12:37.101Z,1761541957.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m. 2025-10-27T05:12:37.215Z,1761541957.215 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.2 2025-10-27T05:12:37.220Z,1761541957.220 [DAT](INFO): DAT read: 05:12:35.8183 LVL= 32752, 22769, 27506, 32755, AGC= 70, IDX= 506,-0.48, 1.967,-2.199, 2.855, 3.048, PHS=-0.979, 1.081,-0.237, RAW= 309.2, 1.5, CAL= 307.1, -1.8, ROT= 202.9, 1.8 2025-10-27T05:12:37.221Z,1761541957.221 [DAT](INFO): got valid direction response: 05:12:35.8183 LVL= 32752, 22769, 27506, 32755, AGC= 70, IDX= 506,-0.48, 1.967,-2.199, 2.855, 3.048, PHS=-0.979, 1.081,-0.237, RAW= 309.2, 1.5, CAL= 307.1, -1.8, ROT= 202.9, 1.8 2025-10-27T05:12:37.221Z,1761541957.221 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:12:37.222Z,1761541957.222 [DAT](INFO): direction in FSK: [-0.920731,-0.388932,-0.031411] 2025-10-27T05:12:37.222Z,1761541957.222 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:37.226Z,1761541957.226 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.616371 2025-10-27T05:12:37.350Z,1761541957.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888729,0.458420,-0.003492],[-0.456581,0.885797,0.083048],[0.041164,-0.072213,0.996539]] 2025-10-27T05:12:37.374Z,1761541957.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504738 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:37.376Z,1761541957.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.808771 m, bearing: 175.794897 deg, lat: 36.779333 deg, lon: -121.859672 deg, deltaT: 0.504738 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:37.376Z,1761541957.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.81 m. 2025-10-27T05:12:37.468Z,1761541957.468 [DAT](INFO): DAT read: Rx Time:05:12:36.3185 2025-10-27T05:12:37.469Z,1761541957.469 [DAT](INFO): Rx dataTimestamp_ set to:1761541957.468048 2025-10-27T05:12:37.472Z,1761541957.472 [DAT](INFO): DAT read: Bearing 321.6, -25.1 (Local) 2025-10-27T05:12:37.474Z,1761541957.474 [DAT](INFO): Local bearing/azimuth received: Bearing 321.6, -25.1 (Local) 2025-10-27T05:12:37.480Z,1761541957.480 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.3 2025-10-27T05:12:37.482Z,1761541957.482 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T05:12:37.486Z,1761541957.486 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=39.875935 2025-10-27T05:12:37.721Z,1761541957.721 [DAT](INFO): DAT read: 05:12:36.3185 LVL= 32752, 23201, 32754, 32755, AGC= 70, IDX= 507, 0.41,-2.065, 0.059,-1.177,-0.978, PHS=-0.985, 1.082,-0.242, RAW= 309.2, 1.6, CAL= 307.1, -1.7, ROT= 202.9, 1.7 2025-10-27T05:12:37.723Z,1761541957.723 [DAT](INFO): got valid direction response: 05:12:36.3185 LVL= 32752, 23201, 32754, 32755, AGC= 70, IDX= 507, 0.41,-2.065, 0.059,-1.177,-0.978, PHS=-0.985, 1.082,-0.242, RAW= 309.2, 1.6, CAL= 307.1, -1.7, ROT= 202.9, 1.7 2025-10-27T05:12:37.724Z,1761541957.724 [DAT](INFO): #Rx 86: Read direction message, but no range. 2025-10-27T05:12:37.725Z,1761541957.725 [DAT](INFO): direction in FSK: [-0.920780,-0.388953,-0.029666] 2025-10-27T05:12:37.730Z,1761541957.730 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.120518 2025-10-27T05:12:37.761Z,1761541957.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887750,0.460316,-0.003103],[-0.458497,0.884802,0.083096],[0.040996,-0.072346,0.996537]] 2025-10-27T05:12:37.838Z,1761541957.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.255598 s, deltaX: 0.300001 m, approachRate: 1.173723 m/s, rangeRepo size: 4 2025-10-27T05:12:37.840Z,1761541957.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.107244 m, bearing: 175.663035 deg, lat: 36.779334 deg, lon: -121.859672 deg, deltaT: 0.255598 s, deltaX: 0.298473 m, approachRate: 1.167745 m/s, posRepo size: 4 2025-10-27T05:12:37.841Z,1761541957.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m. 2025-10-27T05:12:37.971Z,1761541957.971 [DAT](INFO): DAT read: Rx Time:05:12:36.8185 2025-10-27T05:12:37.973Z,1761541957.973 [DAT](INFO): Rx dataTimestamp_ set to:1761541957.971952 2025-10-27T05:12:37.999Z,1761541957.999 [DAT](INFO): DAT read: Bearing 321.2, -24.8 (Local) 2025-10-27T05:12:38.001Z,1761541958.001 [DAT](INFO): Local bearing/azimuth received: Bearing 321.2, -24.8 (Local) 2025-10-27T05:12:38.022Z,1761541958.022 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.2 2025-10-27T05:12:38.044Z,1761541958.044 [DAT](INFO): DAT read: 05:12:36.8185 LVL= 32752, 24001, 31954, 32755, AGC= 71, IDX= 507, 0.30,-2.720,-0.604,-1.846,-1.634, PHS=-0.984, 1.074,-0.256, RAW= 309.6, 1.9, CAL= 307.4, -1.4, ROT= 202.6, 1.4 2025-10-27T05:12:38.045Z,1761541958.045 [DAT](INFO): got valid direction response: 05:12:36.8185 LVL= 32752, 24001, 31954, 32755, AGC= 71, IDX= 507, 0.30,-2.720,-0.604,-1.846,-1.634, PHS=-0.984, 1.074,-0.256, RAW= 309.6, 1.9, CAL= 307.4, -1.4, ROT= 202.6, 1.4 2025-10-27T05:12:38.045Z,1761541958.045 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:12:38.046Z,1761541958.046 [DAT](INFO): direction in FSK: [-0.922935,-0.384181,-0.024432] 2025-10-27T05:12:38.046Z,1761541958.046 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:38.072Z,1761541958.072 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.462471 2025-10-27T05:12:38.166Z,1761541958.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886827,0.462093,-0.002775],[-0.460294,0.883874,0.083049],[0.040829,-0.072373,0.996542]] 2025-10-27T05:12:38.209Z,1761541958.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:38.216Z,1761541958.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.107206 m, bearing: 175.223257 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.503904 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 2025-10-27T05:12:38.216Z,1761541958.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m. 2025-10-27T05:12:38.220Z,1761541958.220 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.610512 2025-10-27T05:12:38.475Z,1761541958.475 [DAT](INFO): DAT read: Rx Time:05:12:37.3187 2025-10-27T05:12:38.477Z,1761541958.477 [DAT](INFO): Rx dataTimestamp_ set to:1761541958.476086 2025-10-27T05:12:38.480Z,1761541958.480 [DAT](INFO): DAT read: Bearing 321.9, -24.3 (Local) 2025-10-27T05:12:38.481Z,1761541958.481 [DAT](INFO): Local bearing/azimuth received: Bearing 321.9, -24.3 (Local) 2025-10-27T05:12:38.486Z,1761541958.486 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.3 2025-10-27T05:12:38.488Z,1761541958.488 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-27T05:12:38.491Z,1761541958.491 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=40.880955 2025-10-27T05:12:38.730Z,1761541958.730 [DAT](INFO): DAT read: 05:12:37.3187 LVL= 32752, 21809, 27714, 32755, AGC= 69, IDX= 509, 0.20,-1.520, 0.595,-0.652,-0.456, PHS=-0.962, 1.096,-0.239, RAW= 309.8, 1.2, CAL= 307.7, -2.1, ROT= 202.3, 2.1 2025-10-27T05:12:38.732Z,1761541958.732 [DAT](INFO): got valid direction response: 05:12:37.3187 LVL= 32752, 21809, 27714, 32755, AGC= 69, IDX= 509, 0.20,-1.520, 0.595,-0.652,-0.456, PHS=-0.962, 1.096,-0.239, RAW= 309.8, 1.2, CAL= 307.7, -2.1, ROT= 202.3, 2.1 2025-10-27T05:12:38.733Z,1761541958.733 [DAT](INFO): #Rx 89: Read direction message, but no range. 2025-10-27T05:12:38.734Z,1761541958.734 [DAT](INFO): direction in FSK: [-0.924588,-0.379201,-0.036644] 2025-10-27T05:12:38.738Z,1761541958.738 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.128036 2025-10-27T05:12:38.741Z,1761541958.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504134 s, deltaX: 0.299999 m, approachRate: 0.595078 m/s, rangeRepo size: 4 2025-10-27T05:12:38.742Z,1761541958.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m. 2025-10-27T05:12:38.980Z,1761541958.980 [DAT](INFO): DAT read: Rx Time:05:12:37.8187 2025-10-27T05:12:38.982Z,1761541958.982 [DAT](INFO): Rx dataTimestamp_ set to:1761541958.980538 2025-10-27T05:12:38.986Z,1761541958.986 [DAT](INFO): DAT read: Bearing 321.9, -24.2 (Local) 2025-10-27T05:12:38.987Z,1761541958.987 [DAT](INFO): Local bearing/azimuth received: Bearing 321.9, -24.2 (Local) 2025-10-27T05:12:38.992Z,1761541958.992 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 2025-10-27T05:12:38.994Z,1761541958.994 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-27T05:12:38.997Z,1761541958.997 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=41.387112 2025-10-27T05:12:39.078Z,1761541959.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884831,0.465907,-0.002233],[-0.464131,0.881856,0.083146],[0.040707,-0.072534,0.996535]] 2025-10-27T05:12:39.182Z,1761541959.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504452 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:39.196Z,1761541959.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.405655 m, bearing: 174.733848 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 1.008586 s, deltaX: 0.298449 m, approachRate: 0.295908 m/s, posRepo size: 4 2025-10-27T05:12:39.196Z,1761541959.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.41 m. 2025-10-27T05:12:39.232Z,1761541959.232 [DAT](INFO): DAT read: 05:12:37.8187 LVL= 31600, 21425, 25010, 32755, AGC= 68, IDX= 509, 0.11,-1.945, 0.158,-1.084,-0.889, PHS=-0.955, 1.092,-0.240, RAW= 309.9, 1.2, CAL= 307.8, -2.1, ROT= 202.2, 2.1 2025-10-27T05:12:39.233Z,1761541959.233 [DAT](INFO): got valid direction response: 05:12:37.8187 LVL= 31600, 21425, 25010, 32755, AGC= 68, IDX= 509, 0.11,-1.945, 0.158,-1.084,-0.889, PHS=-0.955, 1.092,-0.240, RAW= 309.9, 1.2, CAL= 307.8, -2.1, ROT= 202.2, 2.1 2025-10-27T05:12:39.233Z,1761541959.233 [DAT](INFO): #Rx 91: Read direction message, but no range. 2025-10-27T05:12:39.234Z,1761541959.234 [DAT](INFO): direction in FSK: [-0.925249,-0.377587,-0.036644] 2025-10-27T05:12:39.238Z,1761541959.238 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=41.628174 2025-10-27T05:12:39.483Z,1761541959.483 [DAT](INFO): DAT read: Rx Time:05:12:38.3189 2025-10-27T05:12:39.485Z,1761541959.485 [DAT](INFO): Rx dataTimestamp_ set to:1761541959.483989 2025-10-27T05:12:39.488Z,1761541959.488 [DAT](INFO): DAT read: Bearing 321.5, -24.3 (Local) 2025-10-27T05:12:39.489Z,1761541959.489 [DAT](INFO): Local bearing/azimuth received: Bearing 321.5, -24.3 (Local) 2025-10-27T05:12:39.499Z,1761541959.499 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-27T05:12:39.502Z,1761541959.502 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-27T05:12:39.508Z,1761541959.508 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.898350 2025-10-27T05:12:39.622Z,1761541959.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503451 s, deltaX: 0.299999 m, approachRate: 0.595886 m/s, rangeRepo size: 4 2025-10-27T05:12:39.629Z,1761541959.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.704124 m, bearing: 174.634141 deg, lat: 36.779335 deg, lon: -121.859670 deg, deltaT: 0.503451 s, deltaX: 0.298470 m, approachRate: 0.592847 m/s, posRepo size: 4 2025-10-27T05:12:39.629Z,1761541959.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:12:39.738Z,1761541959.738 [DAT](INFO): DAT read: 05:12:38.3189 LVL= 32752, 21969, 29730, 32755, AGC= 69, IDX= 511, 0.02,-0.428, 1.716, 0.450, 0.658, PHS=-0.984, 1.104,-0.252, RAW= 309.8, 1.5, CAL= 307.7, -1.8, ROT= 202.3, 1.8 2025-10-27T05:12:39.739Z,1761541959.739 [DAT](INFO): got valid direction response: 05:12:38.3189 LVL= 32752, 21969, 29730, 32755, AGC= 69, IDX= 511, 0.02,-0.428, 1.716, 0.450, 0.658, PHS=-0.984, 1.104,-0.252, RAW= 309.8, 1.5, CAL= 307.7, -1.8, ROT= 202.3, 1.8 2025-10-27T05:12:39.740Z,1761541959.740 [DAT](INFO): #Rx 93: Read direction message, but no range. 2025-10-27T05:12:39.741Z,1761541959.741 [DAT](INFO): direction in FSK: [-0.924753,-0.379269,-0.031411] 2025-10-27T05:12:39.746Z,1761541959.746 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=42.136299 2025-10-27T05:12:39.911Z,1761541959.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883080,0.469219,-0.001937],[-0.467461,0.880114,0.082948],[0.040626,-0.072344,0.996552]] 2025-10-27T05:12:39.989Z,1761541959.989 [DAT](INFO): DAT read: Rx Time:05:12:38.8189 2025-10-27T05:12:39.991Z,1761541959.991 [DAT](INFO): Rx dataTimestamp_ set to:1761541959.989723 2025-10-27T05:12:39.994Z,1761541959.994 [DAT](INFO): DAT read: Bearing 321.9, -24.4 (Local) 2025-10-27T05:12:40.002Z,1761541960.002 [DAT](INFO): Local bearing/azimuth received: Bearing 321.9, -24.4 (Local) 2025-10-27T05:12:40.009Z,1761541960.009 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.3 2025-10-27T05:12:40.025Z,1761541960.025 [DAT](INFO): DAT read: 05:12:38.8189 LVL= 30192, 19361, 24882, 32755, AGC= 67, IDX= 511,-0.00,-1.745, 0.379,-0.868,-0.677, PHS=-0.966, 1.100,-0.235, RAW= 309.6, 1.1, CAL= 307.6, -2.2, ROT= 202.4, 2.2 2025-10-27T05:12:40.035Z,1761541960.035 [DAT](INFO): got valid direction response: 05:12:38.8189 LVL= 30192, 19361, 24882, 32755, AGC= 67, IDX= 511,-0.00,-1.745, 0.379,-0.868,-0.677, PHS=-0.966, 1.100,-0.235, RAW= 309.6, 1.1, CAL= 307.6, -2.2, ROT= 202.4, 2.2 2025-10-27T05:12:40.035Z,1761541960.035 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:12:40.036Z,1761541960.036 [DAT](INFO): direction in FSK: [-0.923865,-0.380789,-0.038388] 2025-10-27T05:12:40.037Z,1761541960.037 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:40.052Z,1761541960.052 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.442898 2025-10-27T05:12:40.088Z,1761541960.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505734 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:40.090Z,1761541960.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.704117 m, bearing: 174.625964 deg, lat: 36.779334 deg, lon: -121.859670 deg, deltaT: 0.505734 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 2025-10-27T05:12:40.099Z,1761541960.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:12:40.236Z,1761541960.236 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.626633 2025-10-27T05:12:40.347Z,1761541960.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882551,0.470212,-0.002088],[-0.468470,0.879647,0.082203],[0.040490,-0.071570,0.996613]] 2025-10-27T05:12:40.380Z,1761541960.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:12:40.488Z,1761541960.488 [DAT](INFO): DAT read: Rx Time:05:12:39.3190 2025-10-27T05:12:40.489Z,1761541960.489 [DAT](INFO): Rx dataTimestamp_ set to:1761541960.488290 2025-10-27T05:12:40.490Z,1761541960.490 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.3 2025-10-27T05:12:40.490Z,1761541960.490 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-27T05:12:40.491Z,1761541960.491 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.881893 2025-10-27T05:12:40.749Z,1761541960.749 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=43.137203 2025-10-27T05:12:40.848Z,1761541960.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.498567 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:40.849Z,1761541960.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:12:40.998Z,1761541960.998 [DAT](INFO): DAT read: Rx Time:05:12:39.8190 2025-10-27T05:12:40.999Z,1761541960.999 [DAT](INFO): Rx dataTimestamp_ set to:1761541960.998037 2025-10-27T05:12:41.001Z,1761541961.001 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 2025-10-27T05:12:41.002Z,1761541961.002 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T05:12:41.004Z,1761541961.004 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.393894 2025-10-27T05:12:41.188Z,1761541961.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.509747 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:41.188Z,1761541961.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:12:41.248Z,1761541961.248 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.638462 2025-10-27T05:12:41.504Z,1761541961.504 [DAT](INFO): DAT read: Rx Time:05:12:40.3192 2025-10-27T05:12:41.506Z,1761541961.506 [DAT](INFO): Rx dataTimestamp_ set to:1761541961.504943 2025-10-27T05:12:41.508Z,1761541961.508 [DAT](INFO): DAT read: Bearing 321.9, -23.6 (Local) 2025-10-27T05:12:41.508Z,1761541961.508 [DAT](INFO): Local bearing/azimuth received: Bearing 321.9, -23.6 (Local) 2025-10-27T05:12:41.511Z,1761541961.511 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.3 2025-10-27T05:12:41.513Z,1761541961.513 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-27T05:12:41.514Z,1761541961.514 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.904881 2025-10-27T05:12:41.569Z,1761541961.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881292,0.472563,-0.003073],[-0.470955,0.878793,0.076974],[0.039075,-0.066390,0.997028]] 2025-10-27T05:12:41.648Z,1761541961.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.506906 s, deltaX: 0.300001 m, approachRate: 0.591828 m/s, rangeRepo size: 4 2025-10-27T05:12:41.649Z,1761541961.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:12:41.756Z,1761541961.756 [DAT](INFO): DAT read: 05:12:40.3192 LVL= 32752, 25953, 32562, 30371, AGC= 72, IDX= 2, 0.19,-2.758,-0.647,-1.908,-1.708, PHS=-0.948, 1.106,-0.244, RAW= 310.3, 1.0, CAL= 308.3, -2.3, ROT= 201.7, 2.3 2025-10-27T05:12:41.757Z,1761541961.757 [DAT](INFO): got valid direction response: 05:12:40.3192 LVL= 32752, 25953, 32562, 30371, AGC= 72, IDX= 2, 0.19,-2.758,-0.647,-1.908,-1.708, PHS=-0.948, 1.106,-0.244, RAW= 310.3, 1.0, CAL= 308.3, -2.3, ROT= 201.7, 2.3 2025-10-27T05:12:41.757Z,1761541961.757 [DAT](INFO): #Rx 98: Read direction message, but no range. 2025-10-27T05:12:41.758Z,1761541961.758 [DAT](INFO): direction in FSK: [-0.928384,-0.369449,-0.040132] 2025-10-27T05:12:41.765Z,1761541961.765 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.155296 2025-10-27T05:12:42.010Z,1761541962.010 [DAT](INFO): DAT read: Rx Time:05:12:40.8192 2025-10-27T05:12:42.010Z,1761541962.010 [DAT](INFO): Rx dataTimestamp_ set to:1761541962.009927 2025-10-27T05:12:42.012Z,1761541962.012 [DAT](INFO): DAT read: Bearing 320.9, -24.3 (Local) 2025-10-27T05:12:42.013Z,1761541962.013 [DAT](INFO): Local bearing/azimuth received: Bearing 320.9, -24.3 (Local) 2025-10-27T05:12:42.017Z,1761541962.017 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.3 2025-10-27T05:12:42.018Z,1761541962.018 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-27T05:12:42.020Z,1761541962.020 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.410587 2025-10-27T05:12:42.025Z,1761541962.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881128,0.472867,-0.003131],[-0.471296,0.878703,0.075906],[0.038645,-0.065408,0.997110]] 2025-10-27T05:12:42.114Z,1761541962.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504984 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:42.120Z,1761541962.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.002581 m, bearing: 173.684179 deg, lat: 36.779335 deg, lon: -121.859669 deg, deltaT: 2.020204 s, deltaX: 0.298464 m, approachRate: 0.147739 m/s, posRepo size: 4 2025-10-27T05:12:42.121Z,1761541962.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m. 2025-10-27T05:12:42.269Z,1761541962.269 [DAT](INFO): DAT read: 05:12:40.8192 LVL= 32752, 23537, 31682, 32755, AGC= 71, IDX= 498, 0.28, 2.172,-2.006, 3.036,-3.029, PHS=-0.980, 1.068,-0.262, RAW= 309.8, 2.0, CAL= 307.6, -1.3, ROT= 202.4, 1.3 2025-10-27T05:12:42.270Z,1761541962.270 [DAT](INFO): got valid direction response: 05:12:40.8192 LVL= 32752, 23537, 31682, 32755, AGC= 71, IDX= 498, 0.28, 2.172,-2.006, 3.036,-3.029, PHS=-0.980, 1.068,-0.262, RAW= 309.8, 2.0, CAL= 307.6, -1.3, ROT= 202.4, 1.3 2025-10-27T05:12:42.270Z,1761541962.270 [DAT](INFO): #Rx 100: Read direction message, but no range. 2025-10-27T05:12:42.271Z,1761541962.271 [DAT](INFO): direction in FSK: [-0.924308,-0.380972,-0.022687] 2025-10-27T05:12:42.277Z,1761541962.277 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.667049 2025-10-27T05:12:42.514Z,1761541962.514 [DAT](INFO): DAT read: Rx Time:05:12:41.3194 2025-10-27T05:12:42.515Z,1761541962.515 [DAT](INFO): Rx dataTimestamp_ set to:1761541962.513952 2025-10-27T05:12:42.517Z,1761541962.517 [DAT](INFO): DAT read: Bearing 321.8, -23.8 (Local) 2025-10-27T05:12:42.517Z,1761541962.517 [DAT](INFO): Local bearing/azimuth received: Bearing 321.8, -23.8 (Local) 2025-10-27T05:12:42.521Z,1761541962.521 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 2025-10-27T05:12:42.526Z,1761541962.526 [DAT](INFO): DAT read: 05:12:41.3194 LVL= 32752, 24849, 31330, 32755, AGC= 71, IDX= 500, 0.36, 3.033,-1.130,-2.385,-2.187, PHS=-0.961, 1.102,-0.243, RAW= 309.9, 1.1, CAL= 307.9, -2.1, ROT= 202.1, 2.1 2025-10-27T05:12:42.548Z,1761541962.548 [DAT](INFO): got valid direction response: 05:12:41.3194 LVL= 32752, 24849, 31330, 32755, AGC= 71, IDX= 500, 0.36, 3.033,-1.130,-2.385,-2.187, PHS=-0.961, 1.102,-0.243, RAW= 309.9, 1.1, CAL= 307.9, -2.1, ROT= 202.1, 2.1 2025-10-27T05:12:42.548Z,1761541962.548 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T05:12:42.549Z,1761541962.549 [DAT](INFO): direction in FSK: [-0.925906,-0.375972,-0.036644] 2025-10-27T05:12:42.549Z,1761541962.549 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:42.573Z,1761541962.573 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=44.963570 2025-10-27T05:12:42.581Z,1761541962.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881129,0.472866,-0.003017],[-0.471343,0.878768,0.074853],[0.038047,-0.064533,0.997190]] 2025-10-27T05:12:42.626Z,1761541962.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504025 s, deltaX: 0.299999 m, approachRate: 0.595207 m/s, rangeRepo size: 4 2025-10-27T05:12:42.632Z,1761541962.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.301050 m, bearing: 174.064951 deg, lat: 36.779335 deg, lon: -121.859669 deg, deltaT: 0.504025 s, deltaX: 0.298470 m, approachRate: 0.592172 m/s, posRepo size: 4 2025-10-27T05:12:42.632Z,1761541962.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.30 m. 2025-10-27T05:12:42.764Z,1761541962.764 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.154678 2025-10-27T05:12:43.018Z,1761541963.018 [DAT](INFO): DAT read: Rx Time:05:12:41.8194 2025-10-27T05:12:43.018Z,1761541963.018 [DAT](INFO): Rx dataTimestamp_ set to:1761541963.017973 2025-10-27T05:12:43.020Z,1761541963.020 [DAT](INFO): DAT read: Bearing 322.0, -23.5 (Local) 2025-10-27T05:12:43.021Z,1761541963.021 [DAT](INFO): Local bearing/azimuth received: Bearing 322.0, -23.5 (Local) 2025-10-27T05:12:43.024Z,1761541963.024 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.3 2025-10-27T05:12:43.029Z,1761541963.029 [DAT](INFO): DAT read: 05:12:41.8194 LVL= 32656, 21681, 26530, 32755, AGC= 69, IDX= 500, 0.31, 2.509,-1.667,-2.924,-2.724, PHS=-0.949, 1.102,-0.244, RAW= 310.2, 1.0, CAL= 308.2, -2.2, ROT= 201.8, 2.2 2025-10-27T05:12:43.030Z,1761541963.030 [DAT](INFO): got valid direction response: 05:12:41.8194 LVL= 32656, 21681, 26530, 32755, AGC= 69, IDX= 500, 0.31, 2.509,-1.667,-2.924,-2.724, PHS=-0.949, 1.102,-0.244, RAW= 310.2, 1.0, CAL= 308.2, -2.2, ROT= 201.8, 2.2 2025-10-27T05:12:43.030Z,1761541963.030 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T05:12:43.034Z,1761541963.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881050,0.473015,-0.002649],[-0.471539,0.878716,0.074218],[0.037435,-0.064141,0.997238]] 2025-10-27T05:12:43.039Z,1761541963.039 [DAT](INFO): direction in FSK: [-0.927801,-0.371094,-0.038388] 2025-10-27T05:12:43.040Z,1761541963.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:43.083Z,1761541963.083 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.473694 2025-10-27T05:12:43.154Z,1761541963.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504021 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:43.165Z,1761541963.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.301090 m, bearing: 173.760141 deg, lat: 36.779335 deg, lon: -121.859669 deg, deltaT: 0.504021 s, deltaX: 0.000040 m, approachRate: 0.000079 m/s, posRepo size: 4 2025-10-27T05:12:43.165Z,1761541963.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.30 m. 2025-10-27T05:12:43.268Z,1761541963.268 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.658508 2025-10-27T05:12:43.405Z,1761541963.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881115,0.472896,-0.002416],[-0.471459,0.878813,0.073583],[0.036920,-0.063696,0.997286]] 2025-10-27T05:12:43.423Z,1761541963.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.30 m. 2025-10-27T05:12:43.522Z,1761541963.522 [DAT](INFO): DAT read: Rx Time:05:12:42.3196 2025-10-27T05:12:43.522Z,1761541963.522 [DAT](INFO): Rx dataTimestamp_ set to:1761541963.521858 2025-10-27T05:12:43.524Z,1761541963.524 [DAT](INFO): DAT read: Bearing 321.9, -23.1 (Local) 2025-10-27T05:12:43.524Z,1761541963.524 [DAT](INFO): Local bearing/azimuth received: Bearing 321.9, -23.1 (Local) 2025-10-27T05:12:43.527Z,1761541963.527 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 2025-10-27T05:12:43.532Z,1761541963.532 [DAT](INFO): DAT read: 05:12:42.3196 LVL= 31696, 19889, 30402, 32755, AGC= 69, IDX= 502, 0.18,-1.678, 0.447,-0.833,-0.622, PHS=-0.955, 1.114,-0.255, RAW= 310.6, 1.1, CAL= 308.5, -2.1, ROT= 201.5, 2.1 2025-10-27T05:12:43.533Z,1761541963.533 [DAT](INFO): got valid direction response: 05:12:42.3196 LVL= 31696, 19889, 30402, 32755, AGC= 69, IDX= 502, 0.18,-1.678, 0.447,-0.833,-0.622, PHS=-0.955, 1.114,-0.255, RAW= 310.6, 1.1, CAL= 308.5, -2.1, ROT= 201.5, 2.1 2025-10-27T05:12:43.533Z,1761541963.533 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:12:43.534Z,1761541963.534 [DAT](INFO): direction in FSK: [-0.929793,-0.366255,-0.036644] 2025-10-27T05:12:43.535Z,1761541963.535 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:43.545Z,1761541963.545 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=45.935848 2025-10-27T05:12:43.772Z,1761541963.772 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.162647 2025-10-27T05:12:43.805Z,1761541963.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881334,0.472489,-0.002006],[-0.471101,0.879055,0.072985],[0.036248,-0.063380,0.997331]] 2025-10-27T05:12:43.861Z,1761541963.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503885 s, deltaX: 0.300001 m, approachRate: 0.595376 m/s, rangeRepo size: 4 2025-10-27T05:12:43.887Z,1761541963.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.599562 m, bearing: 173.481780 deg, lat: 36.779335 deg, lon: -121.859669 deg, deltaT: 0.503885 s, deltaX: 0.298471 m, approachRate: 0.592340 m/s, posRepo size: 4 2025-10-27T05:12:43.888Z,1761541963.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T05:12:44.005Z,1761541964.005 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:12:44.025Z,1761541964.025 [DAT](INFO): DAT read: Rx Time:05:12:42.8196 2025-10-27T05:12:44.025Z,1761541964.025 [DAT](INFO): Rx dataTimestamp_ set to:1761541964.024878 2025-10-27T05:12:44.026Z,1761541964.026 [DAT](INFO): DAT read: Bearing 322.1, -23.6 (Local) 2025-10-27T05:12:44.027Z,1761541964.027 [DAT](INFO): Local bearing/azimuth received: Bearing 322.1, -23.6 (Local) 2025-10-27T05:12:44.029Z,1761541964.029 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 2025-10-27T05:12:44.034Z,1761541964.034 [DAT](INFO): DAT read: 05:12:42.8196 LVL= 31536, 18609, 25746, 32755, AGC= 68, IDX= 502, 0.02,-2.503,-0.386,-1.643,-1.444, PHS=-0.956, 1.104,-0.243, RAW= 310.1, 1.1, CAL= 308.0, -2.2, ROT= 202.0, 2.2 2025-10-27T05:12:44.046Z,1761541964.046 [DAT](INFO): got valid direction response: 05:12:42.8196 LVL= 31536, 18609, 25746, 32755, AGC= 68, IDX= 502, 0.02,-2.503,-0.386,-1.643,-1.444, PHS=-0.956, 1.104,-0.243, RAW= 310.1, 1.1, CAL= 308.0, -2.2, ROT= 202.0, 2.2 2025-10-27T05:12:44.046Z,1761541964.046 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T05:12:44.048Z,1761541964.048 [DAT](INFO): direction in FSK: [-0.926500,-0.374331,-0.038388] 2025-10-27T05:12:44.048Z,1761541964.048 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:44.058Z,1761541964.058 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.447990 2025-10-27T05:12:44.209Z,1761541964.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881502,0.472177,-0.001631],[-0.470831,0.879240,0.072488],[0.035661,-0.063130,0.997368]] 2025-10-27T05:12:44.245Z,1761541964.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503020 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:44.247Z,1761541964.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.599552 m, bearing: 174.005393 deg, lat: 36.779335 deg, lon: -121.859669 deg, deltaT: 0.503020 s, deltaX: -0.000010 m, approachRate: -0.000019 m/s, posRepo size: 4 2025-10-27T05:12:44.247Z,1761541964.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T05:12:44.276Z,1761541964.276 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.666283 2025-10-27T05:12:44.529Z,1761541964.529 [DAT](INFO): DAT read: Rx Time:05:12:43.3197 2025-10-27T05:12:44.529Z,1761541964.529 [DAT](INFO): Rx dataTimestamp_ set to:1761541964.528697 2025-10-27T05:12:44.530Z,1761541964.530 [DAT](INFO): DAT read: Bearing 322.0, -23.7 (Local) 2025-10-27T05:12:44.531Z,1761541964.531 [DAT](INFO): Local bearing/azimuth received: Bearing 322.0, -23.7 (Local) 2025-10-27T05:12:44.533Z,1761541964.533 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 2025-10-27T05:12:44.537Z,1761541964.537 [DAT](INFO): DAT read: 05:12:43.3197 LVL= 29552, 18193, 26098, 32755, AGC= 67, IDX= 503,-0.17,-2.757,-0.653,-1.900,-1.699, PHS=-0.956, 1.091,-0.244, RAW= 310.0, 1.2, CAL= 307.9, -2.0, ROT= 202.1, 2.0 2025-10-27T05:12:44.538Z,1761541964.538 [DAT](INFO): got valid direction response: 05:12:43.3197 LVL= 29552, 18193, 26098, 32755, AGC= 67, IDX= 503,-0.17,-2.757,-0.653,-1.900,-1.699, PHS=-0.956, 1.091,-0.244, RAW= 310.0, 1.2, CAL= 307.9, -2.0, ROT= 202.1, 2.0 2025-10-27T05:12:44.539Z,1761541964.539 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:12:44.540Z,1761541964.540 [DAT](INFO): direction in FSK: [-0.925964,-0.375995,-0.034899] 2025-10-27T05:12:44.540Z,1761541964.540 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:44.565Z,1761541964.565 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=46.955929 2025-10-27T05:12:44.617Z,1761541964.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881821,0.471583,-0.001106],[-0.470290,0.879572,0.071979],[0.034917,-0.062953,0.997405]] 2025-10-27T05:12:44.656Z,1761541964.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503819 s, deltaX: 0.099998 m, approachRate: 0.198481 m/s, rangeRepo size: 4 2025-10-27T05:12:44.658Z,1761541964.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.699039 m, bearing: 174.125989 deg, lat: 36.779335 deg, lon: -121.859670 deg, deltaT: 0.503819 s, deltaX: 0.099487 m, approachRate: 0.197466 m/s, posRepo size: 4 2025-10-27T05:12:44.663Z,1761541964.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-27T05:12:44.783Z,1761541964.783 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.172585 2025-10-27T05:12:45.007Z,1761541965.007 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:12:45.027Z,1761541965.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882184,0.470905,-0.000570],[-0.469663,0.879944,0.071516],[0.034179,-0.062823,0.997439]] 2025-10-27T05:12:45.033Z,1761541965.033 [DAT](INFO): DAT read: Rx Time:05:12:43.8196 2025-10-27T05:12:45.033Z,1761541965.033 [DAT](INFO): Rx dataTimestamp_ set to:1761541965.032779 2025-10-27T05:12:45.034Z,1761541965.034 [DAT](INFO): DAT read: Bearing 322.2, -23.5 (Local) 2025-10-27T05:12:45.035Z,1761541965.035 [DAT](INFO): Local bearing/azimuth received: Bearing 322.2, -23.5 (Local) 2025-10-27T05:12:45.037Z,1761541965.037 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.3 2025-10-27T05:12:45.042Z,1761541965.042 [DAT](INFO): DAT read: 05:12:43.8196 LVL= 27632, 18417, 23586, 32755, AGC= 66, IDX= 502, 0.48,-1.477, 0.647,-0.615,-0.415, PHS=-0.960, 1.108,-0.243, RAW= 310.0, 1.1, CAL= 308.0, -2.2, ROT= 202.0, 2.2 2025-10-27T05:12:45.043Z,1761541965.043 [DAT](INFO): got valid direction response: 05:12:43.8196 LVL= 27632, 18417, 23586, 32755, AGC= 66, IDX= 502, 0.48,-1.477, 0.647,-0.615,-0.415, PHS=-0.960, 1.108,-0.243, RAW= 310.0, 1.1, CAL= 308.0, -2.2, ROT= 202.0, 2.2 2025-10-27T05:12:45.043Z,1761541965.043 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:12:45.044Z,1761541965.044 [DAT](INFO): direction in FSK: [-0.926500,-0.374331,-0.038388] 2025-10-27T05:12:45.044Z,1761541965.044 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:45.048Z,1761541965.048 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.438869 2025-10-27T05:12:45.181Z,1761541965.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504082 s, deltaX: -0.099998 m, approachRate: -0.198377 m/s, rangeRepo size: 4 2025-10-27T05:12:45.187Z,1761541965.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.599562 m, bearing: 174.081183 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.504082 s, deltaX: -0.099478 m, approachRate: -0.197344 m/s, posRepo size: 4 2025-10-27T05:12:45.188Z,1761541965.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T05:12:45.284Z,1761541965.284 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.674541 2025-10-27T05:12:45.526Z,1761541965.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T05:12:45.537Z,1761541965.537 [DAT](INFO): DAT read: Rx Time:05:12:44.3198 2025-10-27T05:12:45.537Z,1761541965.537 [DAT](INFO): Rx dataTimestamp_ set to:1761541965.536869 2025-10-27T05:12:45.538Z,1761541965.538 [DAT](INFO): DAT read: Bearing 322.0, -23.7 (Local) 2025-10-27T05:12:45.539Z,1761541965.539 [DAT](INFO): Local bearing/azimuth received: Bearing 322.0, -23.7 (Local) 2025-10-27T05:12:45.541Z,1761541965.541 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.1 2025-10-27T05:12:45.546Z,1761541965.546 [DAT](INFO): DAT read: 05:12:44.3198 LVL= 31728, 19313, 23410, 32755, AGC= 65, IDX= 504, 0.15, 0.274, 2.398, 1.139, 1.344, PHS=-0.968, 1.099,-0.249, RAW= 310.0, 1.3, CAL= 307.9, -1.9, ROT= 202.1, 1.9 2025-10-27T05:12:45.547Z,1761541965.547 [DAT](INFO): got valid direction response: 05:12:44.3198 LVL= 31728, 19313, 23410, 32755, AGC= 65, IDX= 504, 0.15, 0.274, 2.398, 1.139, 1.344, PHS=-0.968, 1.099,-0.249, RAW= 310.0, 1.3, CAL= 307.9, -1.9, ROT= 202.1, 1.9 2025-10-27T05:12:45.547Z,1761541965.547 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:12:45.548Z,1761541965.548 [DAT](INFO): direction in FSK: [-0.926019,-0.376018,-0.033155] 2025-10-27T05:12:45.548Z,1761541965.548 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:45.556Z,1761541965.556 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=47.946655 2025-10-27T05:12:45.792Z,1761541965.792 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.180744 2025-10-27T05:12:45.834Z,1761541965.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883413,0.468595,-0.000140],[-0.467460,0.881294,0.069305],[0.032600,-0.061159,0.997596]] 2025-10-27T05:12:45.857Z,1761541965.857 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, 2025-10-27T05:12:45.877Z,1761541965.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504090 s, deltaX: 0.299999 m, approachRate: 0.595130 m/s, rangeRepo size: 4 2025-10-27T05:12:45.879Z,1761541965.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.898031 m, bearing: 174.302444 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.504090 s, deltaX: 0.298470 m, approachRate: 0.592096 m/s, posRepo size: 4 2025-10-27T05:12:45.880Z,1761541965.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m. 2025-10-27T05:12:46.041Z,1761541966.041 [DAT](INFO): DAT read: Rx Time:05:12:44.8198 2025-10-27T05:12:46.041Z,1761541966.041 [DAT](INFO): Rx dataTimestamp_ set to:1761541966.040813 2025-10-27T05:12:46.042Z,1761541966.042 [DAT](INFO): DAT read: Bearing 322.3, -23.3 (Local) 2025-10-27T05:12:46.043Z,1761541966.043 [DAT](INFO): Local bearing/azimuth received: Bearing 322.3, -23.3 (Local) 2025-10-27T05:12:46.045Z,1761541966.045 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2 2025-10-27T05:12:46.050Z,1761541966.050 [DAT](INFO): DAT read: 05:12:44.8198 LVL= 29968, 17121, 22098, 32755, AGC= 65, IDX= 504,-0.07,-2.182,-0.070,-1.328,-1.128, PHS=-0.952, 1.103,-0.244, RAW= 310.2, 1.0, CAL= 308.1, -2.2, ROT= 201.9, 2.2 2025-10-27T05:12:46.051Z,1761541966.051 [DAT](INFO): got valid direction response: 05:12:44.8198 LVL= 29968, 17121, 22098, 32755, AGC= 65, IDX= 504,-0.07,-2.182,-0.070,-1.328,-1.128, PHS=-0.952, 1.103,-0.244, RAW= 310.2, 1.0, CAL= 308.1, -2.2, ROT= 201.9, 2.2 2025-10-27T05:12:46.051Z,1761541966.051 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:12:46.052Z,1761541966.052 [DAT](INFO): direction in FSK: [-0.927152,-0.372713,-0.038388] 2025-10-27T05:12:46.053Z,1761541966.053 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:46.061Z,1761541966.061 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.451099 2025-10-27T05:12:46.237Z,1761541966.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883914,0.467650,0.000073],[-0.466562,0.881847,0.068301],[0.031877,-0.060406,0.997665]] 2025-10-27T05:12:46.270Z,1761541966.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503944 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:46.273Z,1761541966.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.898045 m, bearing: 174.181322 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.503944 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 2025-10-27T05:12:46.273Z,1761541966.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.90 m. 2025-10-27T05:12:46.305Z,1761541966.305 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.695316 2025-10-27T05:12:46.557Z,1761541966.557 [DAT](INFO): DAT read: Rx Time:05:12:45.3199 2025-10-27T05:12:46.557Z,1761541966.557 [DAT](INFO): Rx dataTimestamp_ set to:1761541966.557029 2025-10-27T05:12:46.559Z,1761541966.559 [DAT](INFO): DAT read: Bearing 322.4, -23.3 (Local) 2025-10-27T05:12:46.559Z,1761541966.559 [DAT](INFO): Local bearing/azimuth received: Bearing 322.4, -23.3 (Local) 2025-10-27T05:12:46.561Z,1761541966.561 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 2025-10-27T05:12:46.566Z,1761541966.566 [DAT](INFO): DAT read: 05:12:45.3199 LVL= 29024, 17473, 22002, 32755, AGC= 66, IDX= 506,-0.36,-1.982, 0.140,-1.124,-0.925, PHS=-0.955, 1.110,-0.243, RAW= 310.2, 1.0, CAL= 308.1, -2.3, ROT= 201.9, 2.3 2025-10-27T05:12:46.567Z,1761541966.567 [DAT](INFO): got valid direction response: 05:12:45.3199 LVL= 29024, 17473, 22002, 32755, AGC= 66, IDX= 506,-0.36,-1.982, 0.140,-1.124,-0.925, PHS=-0.955, 1.110,-0.243, RAW= 310.2, 1.0, CAL= 308.1, -2.3, ROT= 201.9, 2.3 2025-10-27T05:12:46.567Z,1761541966.567 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:12:46.568Z,1761541966.568 [DAT](INFO): direction in FSK: [-0.927089,-0.372687,-0.040132] 2025-10-27T05:12:46.568Z,1761541966.568 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:46.572Z,1761541966.572 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.962708 2025-10-27T05:12:46.642Z,1761541966.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884286,0.466945,0.000506],[-0.465904,0.882242,0.067691],[0.031162,-0.060094,0.997706]] 2025-10-27T05:12:46.716Z,1761541966.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.516216 s, deltaX: 0.100000 m, approachRate: 0.193718 m/s, rangeRepo size: 4 2025-10-27T05:12:46.724Z,1761541966.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.997536 m, bearing: 174.230501 deg, lat: 36.779335 deg, lon: -121.859672 deg, deltaT: 0.516216 s, deltaX: 0.099491 m, approachRate: 0.192732 m/s, posRepo size: 4 2025-10-27T05:12:46.724Z,1761541966.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:12:46.811Z,1761541966.811 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.200592 2025-10-27T05:12:47.045Z,1761541967.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884603,0.466343,0.001020],[-0.465344,0.882561,0.067383],[0.030524,-0.060082,0.997727]] 2025-10-27T05:12:47.061Z,1761541967.061 [DAT](INFO): DAT read: Rx Time:05:12:45.8199 2025-10-27T05:12:47.061Z,1761541967.061 [DAT](INFO): Rx dataTimestamp_ set to:1761541967.060859 2025-10-27T05:12:47.062Z,1761541967.062 [DAT](INFO): DAT read: Bearing 322.3, -22.8 (Local) 2025-10-27T05:12:47.063Z,1761541967.063 [DAT](INFO): Local bearing/azimuth received: Bearing 322.3, -22.8 (Local) 2025-10-27T05:12:47.065Z,1761541967.065 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.0 2025-10-27T05:12:47.070Z,1761541967.070 [DAT](INFO): DAT read: 05:12:45.8199 LVL= 30848, 19297, 26354, 32755, AGC= 68, IDX= 505, 0.27,-2.310,-0.216,-1.477,-1.271, PHS=-0.937, 1.100,-0.250, RAW= 310.6, 1.0, CAL= 308.6, -2.2, ROT= 201.4, 2.2 2025-10-27T05:12:47.071Z,1761541967.071 [DAT](INFO): got valid direction response: 05:12:45.8199 LVL= 30848, 19297, 26354, 32755, AGC= 68, IDX= 505, 0.27,-2.310,-0.216,-1.477,-1.271, PHS=-0.937, 1.100,-0.250, RAW= 310.6, 1.0, CAL= 308.6, -2.2, ROT= 201.4, 2.2 2025-10-27T05:12:47.071Z,1761541967.071 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:12:47.072Z,1761541967.072 [DAT](INFO): direction in FSK: [-0.930370,-0.364608,-0.038388] 2025-10-27T05:12:47.072Z,1761541967.072 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:47.080Z,1761541967.080 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.470764 2025-10-27T05:12:47.185Z,1761541967.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503830 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:47.191Z,1761541967.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.997562 m, bearing: 173.761018 deg, lat: 36.779336 deg, lon: -121.859672 deg, deltaT: 0.503830 s, deltaX: 0.000027 m, approachRate: 0.000053 m/s, posRepo size: 4 2025-10-27T05:12:47.192Z,1761541967.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:12:47.312Z,1761541967.312 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.702461 2025-10-27T05:12:47.568Z,1761541967.568 [DAT](INFO): DAT read: Rx Time:05:12:46.3201 2025-10-27T05:12:47.568Z,1761541967.568 [DAT](INFO): Rx dataTimestamp_ set to:1761541967.567919 2025-10-27T05:12:47.569Z,1761541967.569 [DAT](INFO): DAT read: Bearing 322.8, -22.9 (Local) 2025-10-27T05:12:47.570Z,1761541967.570 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, -22.9 (Local) 2025-10-27T05:12:47.572Z,1761541967.572 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 2025-10-27T05:12:47.576Z,1761541967.576 [DAT](INFO): DAT read: 05:12:46.3201 LVL= 32416, 21601, 26914, 32755, AGC= 69, IDX= 507, 0.07, 3.072,-1.104,-2.367,-2.173, PHS=-0.937, 1.114,-0.238, RAW= 310.4, 0.7, CAL= 308.5, -2.6, ROT= 201.5, 2.6 2025-10-27T05:12:47.578Z,1761541967.578 [DAT](INFO): got valid direction response: 05:12:46.3201 LVL= 32416, 21601, 26914, 32755, AGC= 69, IDX= 507, 0.07, 3.072,-1.104,-2.367,-2.173, PHS=-0.937, 1.114,-0.238, RAW= 310.4, 0.7, CAL= 308.5, -2.6, ROT= 201.5, 2.6 2025-10-27T05:12:47.578Z,1761541967.578 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:12:47.579Z,1761541967.579 [DAT](INFO): direction in FSK: [-0.929460,-0.366124,-0.045363] 2025-10-27T05:12:47.579Z,1761541967.579 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:47.583Z,1761541967.583 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.973457 2025-10-27T05:12:47.602Z,1761541967.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885383,0.464859,0.001946],[-0.463933,0.883339,0.066925],[0.029392,-0.060157,0.997756]] 2025-10-27T05:12:47.685Z,1761541967.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.507060 s, deltaX: 0.299999 m, approachRate: 0.591644 m/s, rangeRepo size: 4 2025-10-27T05:12:47.692Z,1761541967.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.296032 m, bearing: 173.978947 deg, lat: 36.779335 deg, lon: -121.859672 deg, deltaT: 0.507060 s, deltaX: 0.298470 m, approachRate: 0.588628 m/s, posRepo size: 4 2025-10-27T05:12:47.692Z,1761541967.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:12:47.820Z,1761541967.820 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.209988 2025-10-27T05:12:48.009Z,1761541968.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885960,0.463758,0.002070],[-0.462861,0.883951,0.066261],[0.028899,-0.059663,0.997800]] 2025-10-27T05:12:48.069Z,1761541968.069 [DAT](INFO): DAT read: Rx Time:05:12:46.8201 2025-10-27T05:12:48.069Z,1761541968.069 [DAT](INFO): Rx dataTimestamp_ set to:1761541968.068745 2025-10-27T05:12:48.070Z,1761541968.070 [DAT](INFO): DAT read: Bearing 322.6, -22.9 (Local) 2025-10-27T05:12:48.071Z,1761541968.071 [DAT](INFO): Local bearing/azimuth received: Bearing 322.6, -22.9 (Local) 2025-10-27T05:12:48.073Z,1761541968.073 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.2 2025-10-27T05:12:48.079Z,1761541968.079 [DAT](INFO): DAT read: 05:12:46.8201 LVL= 32752, 19697, 30194, 32755, AGC= 69, IDX= 507,-0.17,-0.237, 1.894, 0.614, 0.818, PHS=-0.953, 1.121,-0.248, RAW= 310.5, 0.9, CAL= 308.5, -2.3, ROT= 201.5, 2.3 2025-10-27T05:12:48.080Z,1761541968.080 [DAT](INFO): got valid direction response: 05:12:46.8201 LVL= 32752, 19697, 30194, 32755, AGC= 69, IDX= 507,-0.17,-0.237, 1.894, 0.614, 0.818, PHS=-0.953, 1.121,-0.248, RAW= 310.5, 0.9, CAL= 308.5, -2.3, ROT= 201.5, 2.3 2025-10-27T05:12:48.081Z,1761541968.081 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:12:48.082Z,1761541968.082 [DAT](INFO): direction in FSK: [-0.929668,-0.366206,-0.040132] 2025-10-27T05:12:48.082Z,1761541968.082 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:48.086Z,1761541968.086 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.476143 2025-10-27T05:12:48.100Z,1761541968.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.500826 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:48.102Z,1761541968.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.296049 m, bearing: 174.027817 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.500826 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 2025-10-27T05:12:48.103Z,1761541968.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:12:48.320Z,1761541968.320 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.710892 2025-10-27T05:12:48.412Z,1761541968.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:12:48.573Z,1761541968.573 [DAT](INFO): DAT read: Rx Time:05:12:47.3201 2025-10-27T05:12:48.573Z,1761541968.573 [DAT](INFO): Rx dataTimestamp_ set to:1761541968.572712 2025-10-27T05:12:48.574Z,1761541968.574 [DAT](INFO): DAT read: Bearing 322.3, -23.0 (Local) 2025-10-27T05:12:48.575Z,1761541968.575 [DAT](INFO): Local bearing/azimuth received: Bearing 322.3, -23.0 (Local) 2025-10-27T05:12:48.577Z,1761541968.577 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.1 2025-10-27T05:12:48.581Z,1761541968.581 [DAT](INFO): DAT read: 05:12:47.3201 LVL= 32752, 20849, 27826, 32755, AGC= 70, IDX= 507, 0.36, 1.669,-2.503, 2.513, 2.722, PHS=-0.951, 1.103,-0.253, RAW= 310.5, 1.1, CAL= 308.4, -2.1, ROT= 201.6, 2.1 2025-10-27T05:12:48.582Z,1761541968.582 [DAT](INFO): got valid direction response: 05:12:47.3201 LVL= 32752, 20849, 27826, 32755, AGC= 70, IDX= 507, 0.36, 1.669,-2.503, 2.513, 2.722, PHS=-0.951, 1.103,-0.253, RAW= 310.5, 1.1, CAL= 308.4, -2.1, ROT= 201.6, 2.1 2025-10-27T05:12:48.583Z,1761541968.583 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:12:48.584Z,1761541968.584 [DAT](INFO): direction in FSK: [-0.929152,-0.367877,-0.036644] 2025-10-27T05:12:48.584Z,1761541968.584 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:48.588Z,1761541968.588 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.978355 2025-10-27T05:12:48.791Z,1761541968.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887171,0.461432,0.002912],[-0.460586,0.885124,0.066454],[0.028086,-0.060298,0.997785]] 2025-10-27T05:12:48.827Z,1761541968.827 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.216892 2025-10-27T05:12:48.878Z,1761541968.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:48.886Z,1761541968.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.296049 m, bearing: 174.261760 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.503967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:48.891Z,1761541968.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:12:49.076Z,1761541969.076 [DAT](INFO): DAT read: Rx Time:05:12:47.8201 2025-10-27T05:12:49.077Z,1761541969.077 [DAT](INFO): Rx dataTimestamp_ set to:1761541969.076650 2025-10-27T05:12:49.078Z,1761541969.078 [DAT](INFO): DAT read: Bearing 322.4, -22.8 (Local) 2025-10-27T05:12:49.079Z,1761541969.079 [DAT](INFO): Local bearing/azimuth received: Bearing 322.4, -22.8 (Local) 2025-10-27T05:12:49.081Z,1761541969.081 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.1 2025-10-27T05:12:49.085Z,1761541969.085 [DAT](INFO): DAT read: 05:12:47.8201 LVL= 32752, 21889, 30498, 32755, AGC= 70, IDX= 507,-0.01,-0.477, 1.652, 0.369, 0.584, PHS=-0.959, 1.114,-0.259, RAW= 310.6, 1.2, CAL= 308.5, -2.1, ROT= 201.5, 2.1 2025-10-27T05:12:49.086Z,1761541969.086 [DAT](INFO): got valid direction response: 05:12:47.8201 LVL= 32752, 21889, 30498, 32755, AGC= 70, IDX= 507,-0.01,-0.477, 1.652, 0.369, 0.584, PHS=-0.959, 1.114,-0.259, RAW= 310.6, 1.2, CAL= 308.5, -2.1, ROT= 201.5, 2.1 2025-10-27T05:12:49.087Z,1761541969.087 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:12:49.088Z,1761541969.088 [DAT](INFO): direction in FSK: [-0.929793,-0.366255,-0.036644] 2025-10-27T05:12:49.088Z,1761541969.088 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:49.092Z,1761541969.092 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.482182 2025-10-27T05:12:49.190Z,1761541969.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887599,0.460604,0.003482],[-0.459780,0.885504,0.066969],[0.027762,-0.061043,0.997749]] 2025-10-27T05:12:49.269Z,1761541969.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:49.275Z,1761541969.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.296053 m, bearing: 174.214425 deg, lat: 36.779336 deg, lon: -121.859671 deg, deltaT: 0.503938 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 2025-10-27T05:12:49.276Z,1761541969.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.30 m. 2025-10-27T05:12:49.328Z,1761541969.328 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.718525 2025-10-27T05:12:49.581Z,1761541969.581 [DAT](INFO): DAT read: Rx Time:05:12:48.3202 2025-10-27T05:12:49.581Z,1761541969.581 [DAT](INFO): Rx dataTimestamp_ set to:1761541969.580781 2025-10-27T05:12:49.582Z,1761541969.582 [DAT](INFO): DAT read: Bearing 321.8, -23.8 (Local) 2025-10-27T05:12:49.583Z,1761541969.583 [DAT](INFO): Local bearing/azimuth received: Bearing 321.8, -23.8 (Local) 2025-10-27T05:12:49.585Z,1761541969.585 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 2025-10-27T05:12:49.590Z,1761541969.590 [DAT](INFO): DAT read: 05:12:48.3202 LVL= 32752, 26321, 31074, 32755, AGC= 72, IDX= 509,-0.42, 0.291, 2.427, 1.165, 1.385, PHS=-0.992, 1.087,-0.264, RAW= 309.8, 1.9, CAL= 307.6, -1.4, ROT= 202.4, 1.4 2025-10-27T05:12:49.591Z,1761541969.591 [DAT](INFO): got valid direction response: 05:12:48.3202 LVL= 32752, 26321, 31074, 32755, AGC= 72, IDX= 509,-0.42, 0.291, 2.427, 1.165, 1.385, PHS=-0.992, 1.087,-0.264, RAW= 309.8, 1.9, CAL= 307.6, -1.4, ROT= 202.4, 1.4 2025-10-27T05:12:49.591Z,1761541969.591 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:12:49.592Z,1761541969.592 [DAT](INFO): direction in FSK: [-0.924270,-0.380957,-0.024432] 2025-10-27T05:12:49.592Z,1761541969.592 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:49.601Z,1761541969.601 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.991402 2025-10-27T05:12:49.711Z,1761541969.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504131 s, deltaX: 0.200001 m, approachRate: 0.396724 m/s, rangeRepo size: 4 2025-10-27T05:12:49.727Z,1761541969.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.495033 m, bearing: 175.065522 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.504131 s, deltaX: 0.198980 m, approachRate: 0.394700 m/s, posRepo size: 4 2025-10-27T05:12:49.728Z,1761541969.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m. 2025-10-27T05:12:49.836Z,1761541969.836 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.225159 2025-10-27T05:12:50.018Z,1761541970.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888505,0.458850,0.003986],[-0.458077,0.886432,0.066354],[0.026913,-0.060782,0.997788]] 2025-10-27T05:12:50.076Z,1761541970.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m. 2025-10-27T05:12:50.085Z,1761541970.085 [DAT](INFO): DAT read: Rx Time:05:12:48.8202 2025-10-27T05:12:50.085Z,1761541970.085 [DAT](INFO): Rx dataTimestamp_ set to:1761541970.084890 2025-10-27T05:12:50.086Z,1761541970.086 [DAT](INFO): DAT read: Bearing 322.3, -23.3 (Local) 2025-10-27T05:12:50.087Z,1761541970.087 [DAT](INFO): Local bearing/azimuth received: Bearing 322.3, -23.3 (Local) 2025-10-27T05:12:50.089Z,1761541970.089 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.0 2025-10-27T05:12:50.094Z,1761541970.094 [DAT](INFO): DAT read: 05:12:48.8202 LVL= 32752, 23105, 32754, 32755, AGC= 71, IDX= 508, 0.11, 0.652, 2.769, 1.508, 1.721, PHS=-0.967, 1.094,-0.256, RAW= 310.2, 1.4, CAL= 308.0, -1.8, ROT= 202.0, 1.8 2025-10-27T05:12:50.097Z,1761541970.097 [DAT](INFO): got valid direction response: 05:12:48.8202 LVL= 32752, 23105, 32754, 32755, AGC= 71, IDX= 508, 0.11, 0.652, 2.769, 1.508, 1.721, PHS=-0.967, 1.094,-0.256, RAW= 310.2, 1.4, CAL= 308.0, -1.8, ROT= 202.0, 1.8 2025-10-27T05:12:50.098Z,1761541970.098 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:12:50.099Z,1761541970.099 [DAT](INFO): direction in FSK: [-0.926726,-0.374422,-0.031411] 2025-10-27T05:12:50.099Z,1761541970.099 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:50.103Z,1761541970.103 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.492992 2025-10-27T05:12:50.336Z,1761541970.336 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.726360 2025-10-27T05:12:50.394Z,1761541970.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889156,0.457588,0.003878],[-0.456833,0.887133,0.065562],[0.026561,-0.060067,0.997841]] 2025-10-27T05:12:50.418Z,1761541970.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:50.420Z,1761541970.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.495052 m, bearing: 174.883143 deg, lat: 36.779335 deg, lon: -121.859671 deg, deltaT: 0.504109 s, deltaX: 0.000019 m, approachRate: 0.000038 m/s, posRepo size: 4 2025-10-27T05:12:50.421Z,1761541970.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.50 m. 2025-10-27T05:12:50.589Z,1761541970.589 [DAT](INFO): DAT read: Rx Time:05:12:49.3203 2025-10-27T05:12:50.589Z,1761541970.589 [DAT](INFO): Rx dataTimestamp_ set to:1761541970.588992 2025-10-27T05:12:50.591Z,1761541970.591 [DAT](INFO): DAT read: Bearing 321.9, -23.4 (Local) 2025-10-27T05:12:50.591Z,1761541970.591 [DAT](INFO): Local bearing/azimuth received: Bearing 321.9, -23.4 (Local) 2025-10-27T05:12:50.593Z,1761541970.593 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.0 2025-10-27T05:12:50.598Z,1761541970.598 [DAT](INFO): DAT read: 05:12:49.3203 LVL= 32752, 22001, 32754, 32755, AGC= 71, IDX= 510,-0.25, 0.393, 2.507, 1.248, 1.470, PHS=-0.975, 1.082,-0.266, RAW= 310.1, 1.8, CAL= 308.0, -1.4, ROT= 202.0, 1.4 2025-10-27T05:12:50.599Z,1761541970.599 [DAT](INFO): got valid direction response: 05:12:49.3203 LVL= 32752, 22001, 32754, 32755, AGC= 71, IDX= 510,-0.25, 0.393, 2.507, 1.248, 1.470, PHS=-0.975, 1.082,-0.266, RAW= 310.1, 1.8, CAL= 308.0, -1.4, ROT= 202.0, 1.4 2025-10-27T05:12:50.599Z,1761541970.599 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:12:50.600Z,1761541970.600 [DAT](INFO): direction in FSK: [-0.926907,-0.374495,-0.024432] 2025-10-27T05:12:50.600Z,1761541970.600 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:50.604Z,1761541970.604 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.994595 2025-10-27T05:12:50.843Z,1761541970.843 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.232719 2025-10-27T05:12:50.916Z,1761541970.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504102 s, deltaX: 0.100000 m, approachRate: 0.198373 m/s, rangeRepo size: 4 2025-10-27T05:12:50.920Z,1761541970.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.594543 m, bearing: 174.856862 deg, lat: 36.779335 deg, lon: -121.859673 deg, deltaT: 0.504102 s, deltaX: 0.099491 m, approachRate: 0.197363 m/s, posRepo size: 4 2025-10-27T05:12:50.921Z,1761541970.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.59 m. 2025-10-27T05:12:51.093Z,1761541971.093 [DAT](INFO): DAT read: Rx Time:05:12:49.8203 2025-10-27T05:12:51.093Z,1761541971.093 [DAT](INFO): Rx dataTimestamp_ set to:1761541971.092696 2025-10-27T05:12:51.095Z,1761541971.095 [DAT](INFO): DAT read: Bearing 322.2, -23.1 (Local) 2025-10-27T05:12:51.096Z,1761541971.096 [DAT](INFO): Local bearing/azimuth received: Bearing 322.2, -23.1 (Local) 2025-10-27T05:12:51.099Z,1761541971.099 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2 2025-10-27T05:12:51.109Z,1761541971.109 [DAT](INFO): DAT read: 05:12:49.8203 LVL= 32752, 23025, 29778, 32755, AGC= 71, IDX= 509, 0.19, 0.451, 2.564, 1.298, 1.514, PHS=-0.961, 1.095,-0.261, RAW= 310.4, 1.4, CAL= 308.3, -1.8, ROT= 201.7, 1.8 2025-10-27T05:12:51.110Z,1761541971.110 [DAT](INFO): got valid direction response: 05:12:49.8203 LVL= 32752, 23025, 29778, 32755, AGC= 71, IDX= 509, 0.19, 0.451, 2.564, 1.298, 1.514, PHS=-0.961, 1.095,-0.261, RAW= 310.4, 1.4, CAL= 308.3, -1.8, ROT= 201.7, 1.8 2025-10-27T05:12:51.110Z,1761541971.110 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:12:51.119Z,1761541971.119 [DAT](INFO): direction in FSK: [-0.928674,-0.369564,-0.031411] 2025-10-27T05:12:51.120Z,1761541971.120 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:51.128Z,1761541971.128 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.517944 2025-10-27T05:12:51.229Z,1761541971.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890223,0.455510,0.003711],[-0.454784,0.888280,0.064266],[0.025977,-0.058899,0.997926]] 2025-10-27T05:12:51.312Z,1761541971.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503704 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:51.314Z,1761541971.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.594513 m, bearing: 174.715369 deg, lat: 36.779335 deg, lon: -121.859673 deg, deltaT: 0.503704 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 2025-10-27T05:12:51.314Z,1761541971.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.59 m. 2025-10-27T05:12:51.347Z,1761541971.347 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.737091 2025-10-27T05:12:51.601Z,1761541971.601 [DAT](INFO): DAT read: Rx Time:05:12:50.3204 2025-10-27T05:12:51.601Z,1761541971.601 [DAT](INFO): Rx dataTimestamp_ set to:1761541971.600745 2025-10-27T05:12:51.602Z,1761541971.602 [DAT](INFO): DAT read: Bearing 322.5, -22.3 (Local) 2025-10-27T05:12:51.603Z,1761541971.603 [DAT](INFO): Local bearing/azimuth received: Bearing 322.5, -22.3 (Local) 2025-10-27T05:12:51.605Z,1761541971.605 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.1 2025-10-27T05:12:51.609Z,1761541971.609 [DAT](INFO): DAT read: 05:12:50.3204 LVL= 31408, 18913, 25394, 32755, AGC= 69, IDX= 511,-0.21, 0.734, 2.846, 1.559, 1.779, PHS=-0.943, 1.113,-0.263, RAW= 311.1, 1.0, CAL= 309.0, -2.1, ROT= 201.0, 2.1 2025-10-27T05:12:51.611Z,1761541971.611 [DAT](INFO): got valid direction response: 05:12:50.3204 LVL= 31408, 18913, 25394, 32755, AGC= 69, IDX= 511,-0.21, 0.734, 2.846, 1.559, 1.779, PHS=-0.943, 1.113,-0.263, RAW= 311.1, 1.0, CAL= 309.0, -2.1, ROT= 201.0, 2.1 2025-10-27T05:12:51.616Z,1761541971.616 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:12:51.617Z,1761541971.617 [DAT](INFO): direction in FSK: [-0.932953,-0.358127,-0.036644] 2025-10-27T05:12:51.617Z,1761541971.617 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:51.645Z,1761541971.645 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.035370 2025-10-27T05:12:51.655Z,1761541971.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890853,0.454275,0.003790],[-0.453561,0.888919,0.064073],[0.025738,-0.058799,0.997938]] 2025-10-27T05:12:51.749Z,1761541971.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.508049 s, deltaX: 0.199999 m, approachRate: 0.393661 m/s, rangeRepo size: 4 2025-10-27T05:12:51.755Z,1761541971.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.793493 m, bearing: 174.114688 deg, lat: 36.779335 deg, lon: -121.859673 deg, deltaT: 0.508049 s, deltaX: 0.198980 m, approachRate: 0.391656 m/s, posRepo size: 4 2025-10-27T05:12:51.756Z,1761541971.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T05:12:51.856Z,1761541971.856 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.245899 2025-10-27T05:12:52.029Z,1761541972.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891365,0.453262,0.004594],[-0.452568,0.889340,0.065235],[0.025483,-0.060227,0.997859]] 2025-10-27T05:12:52.084Z,1761541972.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T05:12:52.105Z,1761541972.105 [DAT](INFO): DAT read: Rx Time:05:12:50.8204 2025-10-27T05:12:52.105Z,1761541972.105 [DAT](INFO): Rx dataTimestamp_ set to:1761541972.104770 2025-10-27T05:12:52.106Z,1761541972.106 [DAT](INFO): DAT read: Bearing 323.0, -22.8 (Local) 2025-10-27T05:12:52.107Z,1761541972.107 [DAT](INFO): Local bearing/azimuth received: Bearing 323.0, -22.8 (Local) 2025-10-27T05:12:52.110Z,1761541972.110 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.1 2025-10-27T05:12:52.150Z,1761541972.150 [DAT](INFO): DAT read: 05:12:50.8204 LVL= 32752, 20321, 25330, 32755, AGC= 69, IDX= 510, 0.20, 1.238,-2.935, 2.081, 2.281, PHS=-0.942, 1.112,-0.244, RAW= 310.5, 0.8, CAL= 308.5, -2.4, ROT= 201.5, 2.4 2025-10-27T05:12:52.164Z,1761541972.164 [DAT](INFO): got valid direction response: 05:12:50.8204 LVL= 32752, 20321, 25330, 32755, AGC= 69, IDX= 510, 0.20, 1.238,-2.935, 2.081, 2.281, PHS=-0.942, 1.112,-0.244, RAW= 310.5, 0.8, CAL= 308.5, -2.4, ROT= 201.5, 2.4 2025-10-27T05:12:52.164Z,1761541972.164 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:12:52.165Z,1761541972.165 [DAT](INFO): direction in FSK: [-0.929601,-0.366180,-0.041876] 2025-10-27T05:12:52.165Z,1761541972.165 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:52.181Z,1761541972.181 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:12:52.181Z,1761541972.181 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:12:52.181Z,1761541972.181 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:52.356Z,1761541972.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:52.436Z,1761541972.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891849,0.452306,0.004948],[-0.451623,0.889782,0.065762],[0.025342,-0.060884,0.997823]] 2025-10-27T05:12:52.515Z,1761541972.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:52.517Z,1761541972.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.793411 m, bearing: 174.759310 deg, lat: 36.779335 deg, lon: -121.859672 deg, deltaT: 0.504025 s, deltaX: -0.000082 m, approachRate: -0.000163 m/s, posRepo size: 4 2025-10-27T05:12:52.518Z,1761541972.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T05:12:52.609Z,1761541972.609 [DAT](INFO): DAT read: Rx Time:05:12:51.3204 2025-10-27T05:12:52.609Z,1761541972.609 [DAT](INFO): Rx dataTimestamp_ set to:1761541972.608817 2025-10-27T05:12:52.610Z,1761541972.610 [DAT](INFO): DAT read: Bearing 322.7, -23.3 (Local) 2025-10-27T05:12:52.611Z,1761541972.611 [DAT](INFO): Local bearing/azimuth received: Bearing 322.7, -23.3 (Local) 2025-10-27T05:12:52.613Z,1761541972.613 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 2025-10-27T05:12:52.617Z,1761541972.617 [DAT](INFO): DAT read: 05:12:51.3204 LVL= 32752, 20817, 26578, 32755, AGC= 69, IDX= 511,-0.22, 0.077, 2.195, 0.937, 1.140, PHS=-0.961, 1.100,-0.247, RAW= 310.0, 1.2, CAL= 308.0, -2.0, ROT= 202.0, 2.0 2025-10-27T05:12:52.618Z,1761541972.618 [DAT](INFO): got valid direction response: 05:12:51.3204 LVL= 32752, 20817, 26578, 32755, AGC= 69, IDX= 511,-0.22, 0.077, 2.195, 0.937, 1.140, PHS=-0.961, 1.100,-0.247, RAW= 310.0, 1.2, CAL= 308.0, -2.0, ROT= 202.0, 2.0 2025-10-27T05:12:52.619Z,1761541972.619 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:52.620Z,1761541972.620 [DAT](INFO): direction in FSK: [-0.926619,-0.374378,-0.034899] 2025-10-27T05:12:52.620Z,1761541972.620 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:52.624Z,1761541972.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:52.624Z,1761541972.624 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:52.867Z,1761541972.867 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:52.940Z,1761541972.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892241,0.451531,0.005001],[-0.450859,0.890188,0.065511],[0.025128,-0.060706,0.997839]] 2025-10-27T05:12:53.046Z,1761541973.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504047 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:53.052Z,1761541973.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.793381 m, bearing: 175.280810 deg, lat: 36.779335 deg, lon: -121.859672 deg, deltaT: 0.504047 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 2025-10-27T05:12:53.052Z,1761541973.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T05:12:53.114Z,1761541973.114 [DAT](INFO): DAT read: Rx Time:05:12:51.8204 2025-10-27T05:12:53.114Z,1761541973.114 [DAT](INFO): Rx dataTimestamp_ set to:1761541973.114060 2025-10-27T05:12:53.116Z,1761541973.116 [DAT](INFO): DAT read: Bearing 322.8, -22.7 (Local) 2025-10-27T05:12:53.117Z,1761541973.117 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, -22.7 (Local) 2025-10-27T05:12:53.120Z,1761541973.120 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.2 2025-10-27T05:12:53.126Z,1761541973.126 [DAT](INFO): DAT read: 05:12:51.8204 LVL= 32752, 21681, 28882, 32755, AGC= 69, IDX= 510, 0.18, 1.234,-2.935, 2.072, 2.287, PHS=-0.951, 1.106,-0.259, RAW= 310.7, 1.2, CAL= 308.6, -2.1, ROT= 201.4, 2.1 2025-10-27T05:12:53.152Z,1761541973.152 [DAT](INFO): got valid direction response: 05:12:51.8204 LVL= 32752, 21681, 28882, 32755, AGC= 69, IDX= 510, 0.18, 1.234,-2.935, 2.072, 2.287, PHS=-0.951, 1.106,-0.259, RAW= 310.7, 1.2, CAL= 308.6, -2.1, ROT= 201.4, 2.1 2025-10-27T05:12:53.153Z,1761541973.153 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:53.154Z,1761541973.154 [DAT](INFO): direction in FSK: [-0.930431,-0.364632,-0.036644] 2025-10-27T05:12:53.154Z,1761541973.154 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:53.162Z,1761541973.162 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:53.163Z,1761541973.163 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:53.364Z,1761541973.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:53.423Z,1761541973.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.505243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:53.425Z,1761541973.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.793381 m, bearing: 174.688664 deg, lat: 36.779336 deg, lon: -121.859671 deg, deltaT: 0.505243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:53.426Z,1761541973.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T05:12:53.617Z,1761541973.617 [DAT](INFO): DAT read: Rx Time:05:12:52.3206 2025-10-27T05:12:53.617Z,1761541973.617 [DAT](INFO): Rx dataTimestamp_ set to:1761541973.617002 2025-10-27T05:12:53.619Z,1761541973.619 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.0 2025-10-27T05:12:53.620Z,1761541973.620 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:12:53.621Z,1761541973.621 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:53.621Z,1761541973.621 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:53.742Z,1761541973.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893033,0.449967,0.004591],[-0.449295,0.891040,0.064670],[0.025009,-0.059815,0.997896]] 2025-10-27T05:12:53.792Z,1761541973.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502942 s, deltaX: 0.300001 m, approachRate: 0.596493 m/s, rangeRepo size: 4 2025-10-27T05:12:53.792Z,1761541973.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.79 m. 2025-10-27T05:12:53.870Z,1761541973.870 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:54.120Z,1761541974.120 [DAT](INFO): DAT read: Rx Time:05:12:52.8205 2025-10-27T05:12:54.121Z,1761541974.121 [DAT](INFO): Rx dataTimestamp_ set to:1761541974.120610 2025-10-27T05:12:54.122Z,1761541974.122 [DAT](INFO): DAT read: Bearing 322.8, -23.2 (Local) 2025-10-27T05:12:54.122Z,1761541974.122 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, -23.2 (Local) 2025-10-27T05:12:54.125Z,1761541974.125 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.2 2025-10-27T05:12:54.129Z,1761541974.129 [DAT](INFO): DAT read: 05:12:52.8205 LVL= 32752, 24897, 29138, 32755, AGC= 70, IDX= 511, 0.27, 0.274, 2.386, 1.124, 1.333, PHS=-0.957, 1.098,-0.254, RAW= 310.3, 1.3, CAL= 308.2, -2.0, ROT= 201.8, 2.0 2025-10-27T05:12:54.130Z,1761541974.130 [DAT](INFO): got valid direction response: 05:12:52.8205 LVL= 32752, 24897, 29138, 32755, AGC= 70, IDX= 511, 0.27, 0.274, 2.386, 1.124, 1.333, PHS=-0.957, 1.098,-0.254, RAW= 310.3, 1.3, CAL= 308.2, -2.0, ROT= 201.8, 2.0 2025-10-27T05:12:54.131Z,1761541974.131 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:54.132Z,1761541974.132 [DAT](INFO): direction in FSK: [-0.927920,-0.371142,-0.034899] 2025-10-27T05:12:54.132Z,1761541974.132 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:54.137Z,1761541974.137 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:54.137Z,1761541974.137 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:54.202Z,1761541974.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893197,0.449643,0.004421],[-0.448967,0.891221,0.064452],[0.025041,-0.059554,0.997911]] 2025-10-27T05:12:54.311Z,1761541974.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503608 s, deltaX: -0.200001 m, approachRate: -0.397136 m/s, rangeRepo size: 4 2025-10-27T05:12:54.313Z,1761541974.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.892845 m, bearing: 175.202102 deg, lat: 36.779336 deg, lon: -121.859671 deg, deltaT: 1.006550 s, deltaX: 0.099464 m, approachRate: 0.098817 m/s, posRepo size: 4 2025-10-27T05:12:54.314Z,1761541974.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T05:12:54.374Z,1761541974.374 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:54.555Z,1761541974.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893368,0.449305,0.004354],[-0.448630,0.891401,0.064313],[0.025015,-0.059408,0.997920]] 2025-10-27T05:12:54.574Z,1761541974.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T05:12:54.624Z,1761541974.624 [DAT](INFO): DAT read: Rx Time:05:12:53.3206 2025-10-27T05:12:54.625Z,1761541974.625 [DAT](INFO): Rx dataTimestamp_ set to:1761541974.624350 2025-10-27T05:12:54.626Z,1761541974.626 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.0 2025-10-27T05:12:54.626Z,1761541974.626 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:12:54.627Z,1761541974.627 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:54.628Z,1761541974.628 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:54.878Z,1761541974.878 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:54.989Z,1761541974.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893385,0.449271,0.004317],[-0.448591,0.891414,0.064402],[0.025086,-0.059472,0.997915]] 2025-10-27T05:12:55.042Z,1761541975.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503740 s, deltaX: 0.200001 m, approachRate: 0.397032 m/s, rangeRepo size: 4 2025-10-27T05:12:55.042Z,1761541975.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T05:12:55.128Z,1761541975.128 [DAT](INFO): DAT read: Rx Time:05:12:53.8205 2025-10-27T05:12:55.129Z,1761541975.129 [DAT](INFO): Rx dataTimestamp_ set to:1761541975.128368 2025-10-27T05:12:55.130Z,1761541975.130 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.0 2025-10-27T05:12:55.130Z,1761541975.130 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:12:55.131Z,1761541975.131 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:55.132Z,1761541975.132 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:55.376Z,1761541975.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893220,0.449600,0.004196],[-0.448906,0.891238,0.064638],[0.025321,-0.059619,0.997900]] 2025-10-27T05:12:55.380Z,1761541975.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:55.398Z,1761541975.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504018 s, deltaX: -0.200001 m, approachRate: -0.396813 m/s, rangeRepo size: 4 2025-10-27T05:12:55.399Z,1761541975.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T05:12:55.632Z,1761541975.632 [DAT](INFO): DAT read: Rx Time:05:12:54.3207 2025-10-27T05:12:55.633Z,1761541975.633 [DAT](INFO): Rx dataTimestamp_ set to:1761541975.632629 2025-10-27T05:12:55.634Z,1761541975.634 [DAT](INFO): DAT read: Bearing 322.8, -23.2 (Local) 2025-10-27T05:12:55.635Z,1761541975.635 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, -23.2 (Local) 2025-10-27T05:12:55.637Z,1761541975.637 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.3 2025-10-27T05:12:55.641Z,1761541975.641 [DAT](INFO): DAT read: 05:12:54.3207 LVL= 32752, 26769, 29170, 32755, AGC= 73, IDX= 2,-0.00,-0.159, 1.975, 0.701, 0.916, PHS=-0.973, 1.104,-0.260, RAW= 310.2, 1.4, CAL= 308.1, -1.8, ROT= 201.9, 1.8 2025-10-27T05:12:55.642Z,1761541975.642 [DAT](INFO): got valid direction response: 05:12:54.3207 LVL= 32752, 26769, 29170, 32755, AGC= 73, IDX= 2,-0.00,-0.159, 1.975, 0.701, 0.916, PHS=-0.973, 1.104,-0.260, RAW= 310.2, 1.4, CAL= 308.1, -1.8, ROT= 201.9, 1.8 2025-10-27T05:12:55.643Z,1761541975.643 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:55.644Z,1761541975.644 [DAT](INFO): direction in FSK: [-0.927378,-0.372804,-0.031411] 2025-10-27T05:12:55.644Z,1761541975.644 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:55.648Z,1761541975.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:55.648Z,1761541975.648 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:55.804Z,1761541975.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893176,0.449690,0.003852],[-0.448976,0.891204,0.064622],[0.025627,-0.059448,0.997902]] 2025-10-27T05:12:55.876Z,1761541975.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504261 s, deltaX: 0.299999 m, approachRate: 0.594929 m/s, rangeRepo size: 4 2025-10-27T05:12:55.886Z,1761541975.886 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:55.904Z,1761541975.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.191376 m, bearing: 175.288350 deg, lat: 36.779336 deg, lon: -121.859673 deg, deltaT: 1.512019 s, deltaX: 0.298531 m, approachRate: 0.197438 m/s, posRepo size: 4 2025-10-27T05:12:55.906Z,1761541975.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T05:12:56.137Z,1761541976.137 [DAT](INFO): DAT read: Rx Time:05:12:54.8206 2025-10-27T05:12:56.137Z,1761541976.137 [DAT](INFO): Rx dataTimestamp_ set to:1761541976.136738 2025-10-27T05:12:56.138Z,1761541976.138 [DAT](INFO): DAT read: Bearing 323.3, -23.2 (Local) 2025-10-27T05:12:56.139Z,1761541976.139 [DAT](INFO): Local bearing/azimuth received: Bearing 323.3, -23.2 (Local) 2025-10-27T05:12:56.141Z,1761541976.141 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.1 2025-10-27T05:12:56.145Z,1761541976.145 [DAT](INFO): DAT read: 05:12:54.8206 LVL= 32752, 21233, 28434, 32755, AGC= 70, IDX= 498,-0.45,-1.433, 0.699,-0.570,-0.369, PHS=-0.961, 1.113,-0.245, RAW= 310.1, 1.0, CAL= 308.1, -2.2, ROT= 201.9, 2.2 2025-10-27T05:12:56.146Z,1761541976.146 [DAT](INFO): got valid direction response: 05:12:54.8206 LVL= 32752, 21233, 28434, 32755, AGC= 70, IDX= 498,-0.45,-1.433, 0.699,-0.570,-0.369, PHS=-0.961, 1.113,-0.245, RAW= 310.1, 1.0, CAL= 308.1, -2.2, ROT= 201.9, 2.2 2025-10-27T05:12:56.147Z,1761541976.147 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:56.148Z,1761541976.148 [DAT](INFO): direction in FSK: [-0.927152,-0.372713,-0.038388] 2025-10-27T05:12:56.148Z,1761541976.148 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:56.156Z,1761541976.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:56.157Z,1761541976.157 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:56.183Z,1761541976.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893182,0.449682,0.003516],[-0.448952,0.891228,0.064453],[0.025850,-0.059147,0.997915]] 2025-10-27T05:12:56.297Z,1761541976.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504109 s, deltaX: -0.099998 m, approachRate: -0.198367 m/s, rangeRepo size: 4 2025-10-27T05:12:56.299Z,1761541976.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.091909 m, bearing: 175.315632 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504109 s, deltaX: -0.099466 m, approachRate: -0.197311 m/s, posRepo size: 4 2025-10-27T05:12:56.307Z,1761541976.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T05:12:56.388Z,1761541976.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:56.586Z,1761541976.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893021,0.450005,0.003103],[-0.449250,0.891078,0.064455],[0.026240,-0.058953,0.997916]] 2025-10-27T05:12:56.618Z,1761541976.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T05:12:56.641Z,1761541976.641 [DAT](INFO): DAT read: Rx Time:05:12:55.3207 2025-10-27T05:12:56.641Z,1761541976.641 [DAT](INFO): Rx dataTimestamp_ set to:1761541976.640701 2025-10-27T05:12:56.642Z,1761541976.642 [DAT](INFO): DAT read: Bearing 322.7, -22.1 (Local) 2025-10-27T05:12:56.643Z,1761541976.643 [DAT](INFO): Local bearing/azimuth received: Bearing 322.7, -22.1 (Local) 2025-10-27T05:12:56.646Z,1761541976.646 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.0 2025-10-27T05:12:56.658Z,1761541976.658 [DAT](INFO): DAT read: 05:12:55.3207 LVL= 29088, 23473, 27250, 24739, AGC= 72, IDX= 2, 0.08,-0.791, 1.317, 0.024, 0.259, PHS=-0.949, 1.103,-0.279, RAW= 311.3, 1.4, CAL= 309.2, -1.8, ROT= 200.8, 1.8 2025-10-27T05:12:56.665Z,1761541976.665 [DAT](INFO): got valid direction response: 05:12:55.3207 LVL= 29088, 23473, 27250, 24739, AGC= 72, IDX= 2, 0.08,-0.791, 1.317, 0.024, 0.259, PHS=-0.949, 1.103,-0.279, RAW= 311.3, 1.4, CAL= 309.2, -1.8, ROT= 200.8, 1.8 2025-10-27T05:12:56.665Z,1761541976.665 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:56.666Z,1761541976.666 [DAT](INFO): direction in FSK: [-0.934364,-0.354932,-0.031411] 2025-10-27T05:12:56.671Z,1761541976.671 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:56.679Z,1761541976.679 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:56.680Z,1761541976.680 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:56.893Z,1761541976.893 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:57.032Z,1761541977.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892783,0.450478,0.002688],[-0.449697,0.890850,0.064496],[0.026660,-0.058790,0.997914]] 2025-10-27T05:12:57.094Z,1761541977.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503963 s, deltaX: 0.099998 m, approachRate: 0.198424 m/s, rangeRepo size: 4 2025-10-27T05:12:57.096Z,1761541977.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.191406 m, bearing: 174.144041 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.503963 s, deltaX: 0.099497 m, approachRate: 0.197429 m/s, posRepo size: 4 2025-10-27T05:12:57.097Z,1761541977.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.19 m. 2025-10-27T05:12:57.145Z,1761541977.145 [DAT](INFO): DAT read: Rx Time:05:12:55.8206 2025-10-27T05:12:57.145Z,1761541977.145 [DAT](INFO): Rx dataTimestamp_ set to:1761541977.144819 2025-10-27T05:12:57.146Z,1761541977.146 [DAT](INFO): DAT read: Bearing 322.6, -22.6 (Local) 2025-10-27T05:12:57.147Z,1761541977.147 [DAT](INFO): Local bearing/azimuth received: Bearing 322.6, -22.6 (Local) 2025-10-27T05:12:57.149Z,1761541977.149 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.2 2025-10-27T05:12:57.154Z,1761541977.154 [DAT](INFO): DAT read: 05:12:55.8206 LVL= 32752, 23025, 32754, 32755, AGC= 69, IDX= 498,-0.30, 2.998,-1.183,-2.456,-2.227, PHS=-0.956, 1.089,-0.273, RAW= 310.8, 1.6, CAL= 308.7, -1.6, ROT= 201.3, 1.6 2025-10-27T05:12:57.156Z,1761541977.156 [DAT](INFO): got valid direction response: 05:12:55.8206 LVL= 32752, 23025, 32754, 32755, AGC= 69, IDX= 498,-0.30, 2.998,-1.183,-2.456,-2.227, PHS=-0.956, 1.089,-0.273, RAW= 310.8, 1.6, CAL= 308.7, -1.6, ROT= 201.3, 1.6 2025-10-27T05:12:57.156Z,1761541977.156 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:57.158Z,1761541977.158 [DAT](INFO): direction in FSK: [-0.931328,-0.363110,-0.027922] 2025-10-27T05:12:57.158Z,1761541977.158 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:57.164Z,1761541977.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:57.164Z,1761541977.164 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:57.396Z,1761541977.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:57.422Z,1761541977.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892655,0.450734,0.002350],[-0.449935,0.890738,0.064377],[0.026924,-0.058523,0.997923]] 2025-10-27T05:12:57.478Z,1761541977.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504118 s, deltaX: -0.099998 m, approachRate: -0.198363 m/s, rangeRepo size: 4 2025-10-27T05:12:57.494Z,1761541977.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.091919 m, bearing: 174.614797 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504118 s, deltaX: -0.099487 m, approachRate: -0.197349 m/s, posRepo size: 4 2025-10-27T05:12:57.501Z,1761541977.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T05:12:57.649Z,1761541977.649 [DAT](INFO): DAT read: Rx Time:05:12:56.3208 2025-10-27T05:12:57.649Z,1761541977.649 [DAT](INFO): Rx dataTimestamp_ set to:1761541977.648711 2025-10-27T05:12:57.650Z,1761541977.650 [DAT](INFO): DAT read: Bearing 322.8, -22.5 (Local) 2025-10-27T05:12:57.651Z,1761541977.651 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, -22.5 (Local) 2025-10-27T05:12:57.653Z,1761541977.653 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.2 2025-10-27T05:12:57.657Z,1761541977.657 [DAT](INFO): DAT read: 05:12:56.3208 LVL= 30192, 24897, 30386, 28787, AGC= 72, IDX= 3, 0.21,-0.624, 1.488, 0.206, 0.431, PHS=-0.953, 1.102,-0.269, RAW= 310.9, 1.3, CAL= 308.8, -1.8, ROT= 201.2, 1.8 2025-10-27T05:12:57.658Z,1761541977.658 [DAT](INFO): got valid direction response: 05:12:56.3208 LVL= 30192, 24897, 30386, 28787, AGC= 72, IDX= 3, 0.21,-0.624, 1.488, 0.206, 0.431, PHS=-0.953, 1.102,-0.269, RAW= 310.9, 1.3, CAL= 308.8, -1.8, ROT= 201.2, 1.8 2025-10-27T05:12:57.659Z,1761541977.659 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:57.660Z,1761541977.660 [DAT](INFO): direction in FSK: [-0.931864,-0.361446,-0.031411] 2025-10-27T05:12:57.660Z,1761541977.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:57.664Z,1761541977.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:57.664Z,1761541977.664 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:57.826Z,1761541977.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892579,0.450885,0.002053],[-0.450074,0.890680,0.064213],[0.027124,-0.058240,0.997934]] 2025-10-27T05:12:57.866Z,1761541977.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503892 s, deltaX: 0.299999 m, approachRate: 0.595364 m/s, rangeRepo size: 4 2025-10-27T05:12:57.868Z,1761541977.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.390388 m, bearing: 174.518867 deg, lat: 36.779337 deg, lon: -121.859672 deg, deltaT: 0.503892 s, deltaX: 0.298470 m, approachRate: 0.592328 m/s, posRepo size: 4 2025-10-27T05:12:57.869Z,1761541977.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.39 m. 2025-10-27T05:12:57.910Z,1761541977.910 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:58.160Z,1761541978.160 [DAT](INFO): DAT read: Rx Time:05:12:56.8208 2025-10-27T05:12:58.161Z,1761541978.161 [DAT](INFO): Rx dataTimestamp_ set to:1761541978.160673 2025-10-27T05:12:58.162Z,1761541978.162 [DAT](INFO): DAT read: Bearing 323.4, -22.7 (Local) 2025-10-27T05:12:58.163Z,1761541978.163 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, -22.7 (Local) 2025-10-27T05:12:58.165Z,1761541978.165 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.0 2025-10-27T05:12:58.169Z,1761541978.169 [DAT](INFO): DAT read: 05:12:56.8208 LVL= 32752, 22305, 28898, 32755, AGC= 69, IDX= 499,-0.11, 2.580,-1.598,-2.867,-2.661, PHS=-0.940, 1.109,-0.249, RAW= 310.6, 0.9, CAL= 308.6, -2.3, ROT= 201.4, 2.3 2025-10-27T05:12:58.170Z,1761541978.170 [DAT](INFO): got valid direction response: 05:12:56.8208 LVL= 32752, 22305, 28898, 32755, AGC= 69, IDX= 499,-0.11, 2.580,-1.598,-2.867,-2.661, PHS=-0.940, 1.109,-0.249, RAW= 310.6, 0.9, CAL= 308.6, -2.3, ROT= 201.4, 2.3 2025-10-27T05:12:58.171Z,1761541978.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:58.172Z,1761541978.172 [DAT](INFO): direction in FSK: [-0.930306,-0.364583,-0.040132] 2025-10-27T05:12:58.172Z,1761541978.172 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:58.176Z,1761541978.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:58.176Z,1761541978.176 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:58.233Z,1761541978.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892443,0.451157,0.001926],[-0.450337,0.890546,0.064231],[0.027264,-0.058190,0.997933]] 2025-10-27T05:12:58.337Z,1761541978.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.511962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:58.343Z,1761541978.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.390377 m, bearing: 174.733692 deg, lat: 36.779337 deg, lon: -121.859672 deg, deltaT: 0.511962 s, deltaX: -0.000011 m, approachRate: -0.000022 m/s, posRepo size: 4 2025-10-27T05:12:58.344Z,1761541978.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.39 m. 2025-10-27T05:12:58.412Z,1761541978.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:58.635Z,1761541978.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892386,0.451269,0.001831],[-0.450440,0.890487,0.064320],[0.027395,-0.058223,0.997928]] 2025-10-27T05:12:58.653Z,1761541978.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.39 m. 2025-10-27T05:12:58.665Z,1761541978.665 [DAT](INFO): DAT read: Rx Time:05:12:57.3208 2025-10-27T05:12:58.665Z,1761541978.665 [DAT](INFO): Rx dataTimestamp_ set to:1761541978.664775 2025-10-27T05:12:58.666Z,1761541978.666 [DAT](INFO): DAT read: Bearing 323.0, -22.9 (Local) 2025-10-27T05:12:58.667Z,1761541978.667 [DAT](INFO): Local bearing/azimuth received: Bearing 323.0, -22.9 (Local) 2025-10-27T05:12:58.669Z,1761541978.669 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.2 2025-10-27T05:12:58.674Z,1761541978.674 [DAT](INFO): DAT read: 05:12:57.3208 LVL= 32752, 21297, 29506, 32755, AGC= 70, IDX= 500, 0.40,-0.929, 1.182,-0.085, 0.130, PHS=-0.957, 1.097,-0.259, RAW= 310.5, 1.3, CAL= 308.4, -1.9, ROT= 201.6, 1.9 2025-10-27T05:12:58.675Z,1761541978.675 [DAT](INFO): got valid direction response: 05:12:57.3208 LVL= 32752, 21297, 29506, 32755, AGC= 70, IDX= 500, 0.40,-0.929, 1.182,-0.085, 0.130, PHS=-0.957, 1.097,-0.259, RAW= 310.5, 1.3, CAL= 308.4, -1.9, ROT= 201.6, 1.9 2025-10-27T05:12:58.675Z,1761541978.675 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:58.676Z,1761541978.676 [DAT](INFO): direction in FSK: [-0.929265,-0.367922,-0.033155] 2025-10-27T05:12:58.676Z,1761541978.676 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:58.688Z,1761541978.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:58.689Z,1761541978.689 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:58.916Z,1761541978.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:59.038Z,1761541979.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892535,0.450975,0.001764],[-0.450146,0.890643,0.064224],[0.027392,-0.058116,0.997934]] 2025-10-27T05:12:59.090Z,1761541979.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504102 s, deltaX: 0.100000 m, approachRate: 0.198373 m/s, rangeRepo size: 4 2025-10-27T05:12:59.092Z,1761541979.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.489895 m, bearing: 174.919842 deg, lat: 36.779337 deg, lon: -121.859672 deg, deltaT: 0.504102 s, deltaX: 0.099518 m, approachRate: 0.197416 m/s, posRepo size: 4 2025-10-27T05:12:59.093Z,1761541979.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.49 m. 2025-10-27T05:12:59.170Z,1761541979.170 [DAT](INFO): DAT read: Rx Time:05:12:57.8208 2025-10-27T05:12:59.170Z,1761541979.170 [DAT](INFO): Rx dataTimestamp_ set to:1761541979.169904 2025-10-27T05:12:59.172Z,1761541979.172 [DAT](INFO): DAT read: Bearing 323.5, -22.6 (Local) 2025-10-27T05:12:59.174Z,1761541979.174 [DAT](INFO): Local bearing/azimuth received: Bearing 323.5, -22.6 (Local) 2025-10-27T05:12:59.180Z,1761541979.180 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.0 2025-10-27T05:12:59.194Z,1761541979.194 [DAT](INFO): DAT read: 05:12:57.8208 LVL= 32752, 21569, 31074, 32755, AGC= 69, IDX= 500, 0.02,-2.636,-0.539,-1.803,-1.598, PHS=-0.936, 1.104,-0.249, RAW= 310.7, 0.9, CAL= 308.7, -2.3, ROT= 201.3, 2.3 2025-10-27T05:12:59.205Z,1761541979.205 [DAT](INFO): got valid direction response: 05:12:57.8208 LVL= 32752, 21569, 31074, 32755, AGC= 69, IDX= 500, 0.02,-2.636,-0.539,-1.803,-1.598, PHS=-0.936, 1.104,-0.249, RAW= 310.7, 0.9, CAL= 308.7, -2.3, ROT= 201.3, 2.3 2025-10-27T05:12:59.205Z,1761541979.205 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:59.206Z,1761541979.206 [DAT](INFO): direction in FSK: [-0.930941,-0.362959,-0.040132] 2025-10-27T05:12:59.215Z,1761541979.215 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:59.227Z,1761541979.227 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:59.228Z,1761541979.228 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:59.420Z,1761541979.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:59.442Z,1761541979.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892794,0.450462,0.001803],[-0.449641,0.890910,0.064045],[0.027243,-0.057990,0.997945]] 2025-10-27T05:12:59.539Z,1761541979.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.505129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:12:59.541Z,1761541979.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.489895 m, bearing: 174.678347 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.505129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:12:59.542Z,1761541979.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.49 m. 2025-10-27T05:12:59.673Z,1761541979.673 [DAT](INFO): DAT read: Rx Time:05:12:58.3209 2025-10-27T05:12:59.673Z,1761541979.673 [DAT](INFO): Rx dataTimestamp_ set to:1761541979.673020 2025-10-27T05:12:59.676Z,1761541979.676 [DAT](INFO): DAT read: Bearing 322.7, -22.8 (Local) 2025-10-27T05:12:59.677Z,1761541979.677 [DAT](INFO): Local bearing/azimuth received: Bearing 322.7, -22.8 (Local) 2025-10-27T05:12:59.686Z,1761541979.686 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.0 2025-10-27T05:12:59.691Z,1761541979.691 [DAT](INFO): DAT read: 05:12:58.3209 LVL= 32752, 25745, 32754, 32755, AGC= 71, IDX= 502,-0.40,-2.086, 0.024,-1.253,-1.021, PHS=-0.964, 1.090,-0.276, RAW= 310.8, 1.7, CAL= 308.6, -1.5, ROT= 201.4, 1.5 2025-10-27T05:12:59.692Z,1761541979.692 [DAT](INFO): got valid direction response: 05:12:58.3209 LVL= 32752, 25745, 32754, 32755, AGC= 71, IDX= 502,-0.40,-2.086, 0.024,-1.253,-1.021, PHS=-0.964, 1.090,-0.276, RAW= 310.8, 1.7, CAL= 308.6, -1.5, ROT= 201.4, 1.5 2025-10-27T05:12:59.692Z,1761541979.692 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:12:59.693Z,1761541979.693 [DAT](INFO): direction in FSK: [-0.930737,-0.364752,-0.026177] 2025-10-27T05:12:59.694Z,1761541979.694 [DAT](INFO): publishing direction and range info 2025-10-27T05:12:59.740Z,1761541979.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:12:59.740Z,1761541979.740 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:12:59.848Z,1761541979.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893098,0.449859,0.001699],[-0.449041,0.891233,0.063766],[0.027172,-0.057712,0.997963]] 2025-10-27T05:12:59.872Z,1761541979.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503116 s, deltaX: 0.199999 m, approachRate: 0.397520 m/s, rangeRepo size: 4 2025-10-27T05:12:59.874Z,1761541979.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.688873 m, bearing: 174.765452 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.503116 s, deltaX: 0.198978 m, approachRate: 0.395492 m/s, posRepo size: 4 2025-10-27T05:12:59.875Z,1761541979.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:12:59.925Z,1761541979.925 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:00.176Z,1761541980.176 [DAT](INFO): DAT read: user:348> 2025-10-27T05:13:00.176Z,1761541980.176 [DAT](INFO): DAT read: 50 2025-10-27T05:13:00.177Z,1761541980.177 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T05:13:00.177Z,1761541980.177 [DAT](INFO): DAT read: Ok 2025-10-27T05:13:00.177Z,1761541980.177 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T05:13:00.178Z,1761541980.178 [DAT](INFO): DAT read: user:349> 2025-10-27T05:13:00.178Z,1761541980.178 [DAT](INFO): DAT read: Tx time:05:12:59.2753 2025-10-27T05:13:00.179Z,1761541980.179 [DAT](INFO): Ping request sent. 2025-10-27T05:13:00.179Z,1761541980.179 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:13:00.179Z,1761541980.179 [DAT](INFO): publishing transmit ping time 2025-10-27T05:13:00.180Z,1761541980.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000888 2025-10-27T05:13:00.353Z,1761541980.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:00.428Z,1761541980.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249137 2025-10-27T05:13:00.680Z,1761541980.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501103 2025-10-27T05:13:00.769Z,1761541980.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894283,0.447500,0.001431],[-0.446704,0.892491,0.062579],[0.026727,-0.056603,0.998039]] 2025-10-27T05:13:00.832Z,1761541980.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:00.932Z,1761541980.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753559 2025-10-27T05:13:01.162Z,1761541981.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894781,0.446502,0.001734],[-0.445721,0.892974,0.062689],[0.026442,-0.056866,0.998032]] 2025-10-27T05:13:01.184Z,1761541981.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005222 2025-10-27T05:13:01.225Z,1761541981.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:01.436Z,1761541981.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257198 2025-10-27T05:13:01.568Z,1761541981.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895285,0.445488,0.002097],[-0.444705,0.893413,0.063644],[0.026479,-0.057912,0.997971]] 2025-10-27T05:13:01.591Z,1761541981.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:01.688Z,1761541981.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509528 2025-10-27T05:13:01.940Z,1761541981.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761120 2025-10-27T05:13:02.075Z,1761541982.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:02.192Z,1761541982.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013570 2025-10-27T05:13:02.410Z,1761541982.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:02.444Z,1761541982.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265166 2025-10-27T05:13:02.696Z,1761541982.696 [DAT](INFO): DAT read: Rx Time:05:13:01.4336 2025-10-27T05:13:02.697Z,1761541982.697 [DAT](INFO): Rx dataTimestamp_ set to:1761541982.696961 2025-10-27T05:13:02.699Z,1761541982.699 [DAT](INFO): DAT read: Bearing 323.4, -23.1 (Local) 2025-10-27T05:13:02.700Z,1761541982.700 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, -23.1 (Local) 2025-10-27T05:13:02.702Z,1761541982.702 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.1 2025-10-27T05:13:02.709Z,1761541982.709 [DAT](INFO): DAT read: 05:13:01.4336 LVL= 27360, 18017, 25186, 32755, AGC= 68, IDX= 343, 0.15, 2.023,-2.162, 2.863, 3.070, PHS=-0.945, 1.096,-0.251, RAW= 310.5, 1.1, CAL= 308.4, -2.1, ROT= 201.6, 2.1 2025-10-27T05:13:02.710Z,1761541982.710 [DAT](INFO): got valid direction response: 05:13:01.4336 LVL= 27360, 18017, 25186, 32755, AGC= 68, IDX= 343, 0.15, 2.023,-2.162, 2.863, 3.070, PHS=-0.945, 1.096,-0.251, RAW= 310.5, 1.1, CAL= 308.4, -2.1, ROT= 201.6, 2.1 2025-10-27T05:13:02.723Z,1761541982.723 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:13:02.725Z,1761541982.725 [DAT](INFO): direction in FSK: [-0.929152,-0.367877,-0.036644] 2025-10-27T05:13:02.725Z,1761541982.725 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:02.738Z,1761541982.738 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.559181 2025-10-27T05:13:02.791Z,1761541982.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897629,0.440748,0.001537],[-0.439961,0.895807,0.062957],[0.026371,-0.057188,0.998015]] 2025-10-27T05:13:02.860Z,1761541982.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 3.023941 s, deltaX: 0.100000 m, approachRate: 0.033070 m/s, rangeRepo size: 4 2025-10-27T05:13:02.862Z,1761541982.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.788363 m, bearing: 175.583939 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 3.023941 s, deltaX: 0.099489 m, approachRate: 0.032901 m/s, posRepo size: 4 2025-10-27T05:13:02.867Z,1761541982.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:13:02.950Z,1761541982.950 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771267 2025-10-27T05:13:03.204Z,1761541983.204 [DAT](INFO): DAT read: Rx Time:05:13:01.9335 2025-10-27T05:13:03.205Z,1761541983.205 [DAT](INFO): Rx dataTimestamp_ set to:1761541983.204586 2025-10-27T05:13:03.206Z,1761541983.206 [DAT](INFO): DAT read: Bearing 323.4, -22.9 (Local) 2025-10-27T05:13:03.206Z,1761541983.206 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, -22.9 (Local) 2025-10-27T05:13:03.209Z,1761541983.209 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 2025-10-27T05:13:03.213Z,1761541983.213 [DAT](INFO): DAT read: 05:13:01.9335 LVL= 32752, 18977, 26210, 32755, AGC= 69, IDX= 503,-0.24,-2.087, 0.008,-1.254,-1.045, PHS=-0.941, 1.098,-0.253, RAW= 310.6, 1.1, CAL= 308.6, -2.1, ROT= 201.4, 2.1 2025-10-27T05:13:03.214Z,1761541983.214 [DAT](INFO): got valid direction response: 05:13:01.9335 LVL= 32752, 18977, 26210, 32755, AGC= 69, IDX= 503,-0.24,-2.087, 0.008,-1.254,-1.045, PHS=-0.941, 1.098,-0.253, RAW= 310.6, 1.1, CAL= 308.6, -2.1, ROT= 201.4, 2.1 2025-10-27T05:13:03.215Z,1761541983.215 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:13:03.216Z,1761541983.216 [DAT](INFO): direction in FSK: [-0.930431,-0.364632,-0.036644] 2025-10-27T05:13:03.216Z,1761541983.216 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:03.228Z,1761541983.228 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.049511 2025-10-27T05:13:03.351Z,1761541983.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.507625 s, deltaX: -0.100000 m, approachRate: -0.196997 m/s, rangeRepo size: 4 2025-10-27T05:13:03.353Z,1761541983.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.688843 m, bearing: 175.384307 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.507625 s, deltaX: -0.099520 m, approachRate: -0.196050 m/s, posRepo size: 4 2025-10-27T05:13:03.354Z,1761541983.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:03.457Z,1761541983.457 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.278094 2025-10-27T05:13:03.629Z,1761541983.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898420,0.439136,0.001153],[-0.438327,0.896601,0.063055],[0.026656,-0.057155,0.998009]] 2025-10-27T05:13:03.646Z,1761541983.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:03.710Z,1761541983.710 [DAT](INFO): DAT read: Rx Time:05:13:02.4335 2025-10-27T05:13:03.710Z,1761541983.710 [DAT](INFO): Rx dataTimestamp_ set to:1761541983.709750 2025-10-27T05:13:03.712Z,1761541983.712 [DAT](INFO): DAT read: Bearing 323.5, -22.8 (Local) 2025-10-27T05:13:03.712Z,1761541983.712 [DAT](INFO): Local bearing/azimuth received: Bearing 323.5, -22.8 (Local) 2025-10-27T05:13:03.717Z,1761541983.717 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.0 2025-10-27T05:13:03.728Z,1761541983.728 [DAT](INFO): DAT read: 05:13:02.4335 LVL= 30704, 19185, 26162, 32755, AGC= 70, IDX= 502, 0.21,-2.658,-0.554,-1.825,-1.615, PHS=-0.940, 1.107,-0.254, RAW= 310.8, 1.0, CAL= 308.7, -2.2, ROT= 201.3, 2.2 2025-10-27T05:13:03.729Z,1761541983.729 [DAT](INFO): got valid direction response: 05:13:02.4335 LVL= 30704, 19185, 26162, 32755, AGC= 70, IDX= 502, 0.21,-2.658,-0.554,-1.825,-1.615, PHS=-0.940, 1.107,-0.254, RAW= 310.8, 1.0, CAL= 308.7, -2.2, ROT= 201.3, 2.2 2025-10-27T05:13:03.730Z,1761541983.730 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:13:03.731Z,1761541983.731 [DAT](INFO): direction in FSK: [-0.931004,-0.362984,-0.038388] 2025-10-27T05:13:03.732Z,1761541983.732 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:03.741Z,1761541983.741 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.562434 2025-10-27T05:13:03.961Z,1761541983.961 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.782335 2025-10-27T05:13:04.151Z,1761541984.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.505164 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:04.153Z,1761541984.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.688856 m, bearing: 175.395062 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.505164 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 2025-10-27T05:13:04.153Z,1761541984.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.69 m. 2025-10-27T05:13:04.214Z,1761541984.214 [DAT](INFO): DAT read: Rx Time:05:13:02.9336 2025-10-27T05:13:04.214Z,1761541984.214 [DAT](INFO): Rx dataTimestamp_ set to:1761541984.214038 2025-10-27T05:13:04.216Z,1761541984.216 [DAT](INFO): DAT read: Bearing 323.5, -22.6 (Local) 2025-10-27T05:13:04.217Z,1761541984.217 [DAT](INFO): Local bearing/azimuth received: Bearing 323.5, -22.6 (Local) 2025-10-27T05:13:04.220Z,1761541984.220 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.0 2025-10-27T05:13:04.226Z,1761541984.226 [DAT](INFO): DAT read: 05:13:02.9336 LVL= 28656, 18161, 23010, 32755, AGC= 69, IDX= 504,-0.17, 2.102,-2.075, 2.928,-3.141, PHS=-0.938, 1.111,-0.258, RAW= 311.0, 1.0, CAL= 309.0, -2.2, ROT= 201.0, 2.2 2025-10-27T05:13:04.229Z,1761541984.229 [DAT](INFO): got valid direction response: 05:13:02.9336 LVL= 28656, 18161, 23010, 32755, AGC= 69, IDX= 504,-0.17, 2.102,-2.075, 2.928,-3.141, PHS=-0.938, 1.111,-0.258, RAW= 311.0, 1.0, CAL= 309.0, -2.2, ROT= 201.0, 2.2 2025-10-27T05:13:04.229Z,1761541984.229 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:13:04.230Z,1761541984.230 [DAT](INFO): direction in FSK: [-0.932892,-0.358104,-0.038388] 2025-10-27T05:13:04.230Z,1761541984.230 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:04.275Z,1761541984.275 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.088051 2025-10-27T05:13:04.414Z,1761541984.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898712,0.438540,0.000578],[-0.437675,0.896855,0.063963],[0.027532,-0.057738,0.997952]] 2025-10-27T05:13:04.465Z,1761541984.465 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.286629 2025-10-27T05:13:04.478Z,1761541984.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504288 s, deltaX: 0.100000 m, approachRate: 0.198300 m/s, rangeRepo size: 4 2025-10-27T05:13:04.490Z,1761541984.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.788347 m, bearing: 175.137738 deg, lat: 36.779338 deg, lon: -121.859673 deg, deltaT: 0.504288 s, deltaX: 0.099491 m, approachRate: 0.197290 m/s, posRepo size: 4 2025-10-27T05:13:04.490Z,1761541984.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:13:04.717Z,1761541984.717 [DAT](INFO): DAT read: Rx Time:05:13:03.4336 2025-10-27T05:13:04.718Z,1761541984.718 [DAT](INFO): Rx dataTimestamp_ set to:1761541984.717216 2025-10-27T05:13:04.719Z,1761541984.719 [DAT](INFO): DAT read: Bearing 322.9, -23.3 (Local) 2025-10-27T05:13:04.720Z,1761541984.720 [DAT](INFO): Local bearing/azimuth received: Bearing 322.9, -23.3 (Local) 2025-10-27T05:13:04.723Z,1761541984.723 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.0 2025-10-27T05:13:04.729Z,1761541984.729 [DAT](INFO): DAT read: 05:13:03.4336 LVL= 32752, 22513, 32562, 32755, AGC= 70, IDX= 503, 0.18,-3.122,-1.017,-2.279,-2.058, PHS=-0.962, 1.086,-0.265, RAW= 310.5, 1.6, CAL= 308.3, -1.6, ROT= 201.7, 1.6 2025-10-27T05:13:04.731Z,1761541984.731 [DAT](INFO): got valid direction response: 05:13:03.4336 LVL= 32752, 22513, 32562, 32755, AGC= 70, IDX= 503, 0.18,-3.122,-1.017,-2.279,-2.058, PHS=-0.962, 1.086,-0.265, RAW= 310.5, 1.6, CAL= 308.3, -1.6, ROT= 201.7, 1.6 2025-10-27T05:13:04.735Z,1761541984.735 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:13:04.736Z,1761541984.736 [DAT](INFO): direction in FSK: [-0.928770,-0.369603,-0.027922] 2025-10-27T05:13:04.736Z,1761541984.736 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:04.751Z,1761541984.751 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.572335 2025-10-27T05:13:04.822Z,1761541984.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898681,0.438604,0.000174],[-0.437699,0.896802,0.064541],[0.028152,-0.058078,0.997915]] 2025-10-27T05:13:04.869Z,1761541984.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503178 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:04.876Z,1761541984.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.788347 m, bearing: 175.796534 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.503178 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:04.877Z,1761541984.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.79 m. 2025-10-27T05:13:04.969Z,1761541984.969 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.789916 2025-10-27T05:13:05.220Z,1761541985.220 [DAT](INFO): DAT read: Rx Time:05:13:03.9337 2025-10-27T05:13:05.221Z,1761541985.221 [DAT](INFO): Rx dataTimestamp_ set to:1761541985.220661 2025-10-27T05:13:05.222Z,1761541985.222 [DAT](INFO): DAT read: Bearing 323.1, -23.9 (Local) 2025-10-27T05:13:05.223Z,1761541985.223 [DAT](INFO): Local bearing/azimuth received: Bearing 323.1, -23.9 (Local) 2025-10-27T05:13:05.225Z,1761541985.225 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.0 2025-10-27T05:13:05.229Z,1761541985.229 [DAT](INFO): DAT read: 05:13:03.9337 LVL= 32752, 23281, 31970, 32755, AGC= 72, IDX= 505,-0.26, 2.700,-1.466,-2.720,-2.509, PHS=-0.972, 1.088,-0.255, RAW= 310.0, 1.5, CAL= 307.8, -1.7, ROT= 202.2, 1.7 2025-10-27T05:13:05.230Z,1761541985.230 [DAT](INFO): got valid direction response: 05:13:03.9337 LVL= 32752, 23281, 31970, 32755, AGC= 72, IDX= 505,-0.26, 2.700,-1.466,-2.720,-2.509, PHS=-0.972, 1.088,-0.255, RAW= 310.0, 1.5, CAL= 307.8, -1.7, ROT= 202.2, 1.7 2025-10-27T05:13:05.231Z,1761541985.231 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:13:05.232Z,1761541985.232 [DAT](INFO): direction in FSK: [-0.925463,-0.377674,-0.029666] 2025-10-27T05:13:05.232Z,1761541985.232 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:05.236Z,1761541985.236 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.056775 2025-10-27T05:13:05.250Z,1761541985.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898811,0.438335,-0.000450],[-0.437389,0.896937,0.064774],[0.028796,-0.058022,0.997900]] 2025-10-27T05:13:05.377Z,1761541985.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503445 s, deltaX: 0.200001 m, approachRate: 0.397264 m/s, rangeRepo size: 4 2025-10-27T05:13:05.379Z,1761541985.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.987350 m, bearing: 176.321764 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.503445 s, deltaX: 0.199003 m, approachRate: 0.395283 m/s, posRepo size: 4 2025-10-27T05:13:05.383Z,1761541985.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.99 m. 2025-10-27T05:13:05.473Z,1761541985.473 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293860 2025-10-27T05:13:05.639Z,1761541985.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898849,0.438257,-0.000908],[-0.437274,0.896967,0.065131],[0.029359,-0.058146,0.997876]] 2025-10-27T05:13:05.658Z,1761541985.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.99 m. 2025-10-27T05:13:05.725Z,1761541985.725 [DAT](INFO): DAT read: Rx Time:05:13:04.4337 2025-10-27T05:13:05.726Z,1761541985.726 [DAT](INFO): Rx dataTimestamp_ set to:1761541985.725677 2025-10-27T05:13:05.728Z,1761541985.728 [DAT](INFO): DAT read: Bearing 322.9, -23.8 (Local) 2025-10-27T05:13:05.729Z,1761541985.729 [DAT](INFO): Local bearing/azimuth received: Bearing 322.9, -23.8 (Local) 2025-10-27T05:13:05.732Z,1761541985.732 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 2025-10-27T05:13:05.737Z,1761541985.737 [DAT](INFO): DAT read: 05:13:04.4337 LVL= 32752, 22129, 32242, 32755, AGC= 71, IDX= 504, 0.11,-2.872,-0.762,-2.015,-1.797, PHS=-0.973, 1.081,-0.261, RAW= 310.1, 1.7, CAL= 307.9, -1.5, ROT= 202.1, 1.5 2025-10-27T05:13:05.738Z,1761541985.738 [DAT](INFO): got valid direction response: 05:13:04.4337 LVL= 32752, 22129, 32242, 32755, AGC= 71, IDX= 504, 0.11,-2.872,-0.762,-2.015,-1.797, PHS=-0.973, 1.081,-0.261, RAW= 310.1, 1.7, CAL= 307.9, -1.5, ROT= 202.1, 1.5 2025-10-27T05:13:05.738Z,1761541985.738 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:13:05.745Z,1761541985.745 [DAT](INFO): direction in FSK: [-0.926211,-0.376096,-0.026177] 2025-10-27T05:13:05.745Z,1761541985.745 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:05.749Z,1761541985.749 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.569821 2025-10-27T05:13:05.976Z,1761541985.976 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.797638 2025-10-27T05:13:06.105Z,1761541986.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898606,0.438754,-0.001345],[-0.437721,0.896693,0.065893],[0.030116,-0.058623,0.997826]] 2025-10-27T05:13:06.172Z,1761541986.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.505016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:06.174Z,1761541986.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.987272 m, bearing: 176.187664 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 0.505016 s, deltaX: -0.000078 m, approachRate: -0.000155 m/s, posRepo size: 4 2025-10-27T05:13:06.174Z,1761541986.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.99 m. 2025-10-27T05:13:06.230Z,1761541986.230 [DAT](INFO): DAT read: Rx Time:05:13:04.9338 2025-10-27T05:13:06.230Z,1761541986.230 [DAT](INFO): Rx dataTimestamp_ set to:1761541986.230073 2025-10-27T05:13:06.232Z,1761541986.232 [DAT](INFO): DAT read: Bearing 324.0, -23.2 (Local) 2025-10-27T05:13:06.233Z,1761541986.233 [DAT](INFO): Local bearing/azimuth received: Bearing 324.0, -23.2 (Local) 2025-10-27T05:13:06.235Z,1761541986.235 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.0 2025-10-27T05:13:06.240Z,1761541986.240 [DAT](INFO): DAT read: 05:13:04.9338 LVL= 32240, 22225, 25906, 32755, AGC= 69, IDX= 506,-0.34, 3.018,-1.147,-2.417,-2.220, PHS=-0.943, 1.118,-0.242, RAW= 310.4, 0.7, CAL= 308.5, -2.5, ROT= 201.5, 2.5 2025-10-27T05:13:06.241Z,1761541986.241 [DAT](INFO): got valid direction response: 05:13:04.9338 LVL= 32240, 22225, 25906, 32755, AGC= 69, IDX= 506,-0.34, 3.018,-1.147,-2.417,-2.220, PHS=-0.943, 1.118,-0.242, RAW= 310.4, 0.7, CAL= 308.5, -2.5, ROT= 201.5, 2.5 2025-10-27T05:13:06.241Z,1761541986.241 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:13:06.242Z,1761541986.242 [DAT](INFO): direction in FSK: [-0.929532,-0.366152,-0.043619] 2025-10-27T05:13:06.243Z,1761541986.243 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:06.246Z,1761541986.246 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067485 2025-10-27T05:13:06.441Z,1761541986.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898395,0.439185,-0.001658],[-0.438109,0.896446,0.066666],[0.030765,-0.059166,0.997774]] 2025-10-27T05:13:06.481Z,1761541986.481 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.301932 2025-10-27T05:13:06.506Z,1761541986.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504396 s, deltaX: 0.100000 m, approachRate: 0.198258 m/s, rangeRepo size: 4 2025-10-27T05:13:06.516Z,1761541986.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.086761 m, bearing: 175.630445 deg, lat: 36.779338 deg, lon: -121.859674 deg, deltaT: 0.504396 s, deltaX: 0.099489 m, approachRate: 0.197244 m/s, posRepo size: 4 2025-10-27T05:13:06.517Z,1761541986.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T05:13:06.733Z,1761541986.733 [DAT](INFO): DAT read: Rx Time:05:13:05.4338 2025-10-27T05:13:06.734Z,1761541986.734 [DAT](INFO): Rx dataTimestamp_ set to:1761541986.733674 2025-10-27T05:13:06.736Z,1761541986.736 [DAT](INFO): DAT read: Bearing 323.1, -23.3 (Local) 2025-10-27T05:13:06.736Z,1761541986.736 [DAT](INFO): Local bearing/azimuth received: Bearing 323.1, -23.3 (Local) 2025-10-27T05:13:06.738Z,1761541986.738 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.0 2025-10-27T05:13:06.743Z,1761541986.743 [DAT](INFO): DAT read: 05:13:05.4338 LVL= 32752, 23457, 29922, 32755, AGC= 70, IDX= 505, 0.02,-2.760,-0.652,-1.923,-1.699, PHS=-0.959, 1.092,-0.268, RAW= 310.7, 1.5, CAL= 308.5, -1.7, ROT= 201.5, 1.7 2025-10-27T05:13:06.744Z,1761541986.744 [DAT](INFO): got valid direction response: 05:13:05.4338 LVL= 32752, 23457, 29922, 32755, AGC= 70, IDX= 505, 0.02,-2.760,-0.652,-1.923,-1.699, PHS=-0.959, 1.092,-0.268, RAW= 310.7, 1.5, CAL= 308.5, -1.7, ROT= 201.5, 1.7 2025-10-27T05:13:06.744Z,1761541986.744 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:13:06.745Z,1761541986.745 [DAT](INFO): direction in FSK: [-0.930008,-0.366340,-0.029666] 2025-10-27T05:13:06.746Z,1761541986.746 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:06.750Z,1761541986.750 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570744 2025-10-27T05:13:06.859Z,1761541986.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898425,0.439120,-0.002317],[-0.438002,0.896489,0.066797],[0.031409,-0.058998,0.997764]] 2025-10-27T05:13:06.916Z,1761541986.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:06.918Z,1761541986.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.086761 m, bearing: 175.584034 deg, lat: 36.779338 deg, lon: -121.859674 deg, deltaT: 0.503601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:06.918Z,1761541986.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.09 m. 2025-10-27T05:13:06.985Z,1761541986.985 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805985 2025-10-27T05:13:07.236Z,1761541987.236 [DAT](INFO): DAT read: Rx Time:05:13:05.9339 2025-10-27T05:13:07.237Z,1761541987.237 [DAT](INFO): Rx dataTimestamp_ set to:1761541987.236657 2025-10-27T05:13:07.238Z,1761541987.238 [DAT](INFO): DAT read: Bearing 323.9, -23.5 (Local) 2025-10-27T05:13:07.239Z,1761541987.239 [DAT](INFO): Local bearing/azimuth received: Bearing 323.9, -23.5 (Local) 2025-10-27T05:13:07.241Z,1761541987.241 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.0 2025-10-27T05:13:07.245Z,1761541987.245 [DAT](INFO): DAT read: 05:13:05.9339 LVL= 32752, 22257, 28306, 32755, AGC= 70, IDX= 506, 0.40,-0.633, 1.479, 0.215, 0.416, PHS=-0.946, 1.108,-0.245, RAW= 310.4, 0.9, CAL= 308.4, -2.3, ROT= 201.6, 2.3 2025-10-27T05:13:07.246Z,1761541987.246 [DAT](INFO): got valid direction response: 05:13:05.9339 LVL= 32752, 22257, 28306, 32755, AGC= 70, IDX= 506, 0.40,-0.633, 1.479, 0.215, 0.416, PHS=-0.946, 1.108,-0.245, RAW= 310.4, 0.9, CAL= 308.4, -2.3, ROT= 201.6, 2.3 2025-10-27T05:13:07.247Z,1761541987.247 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:13:07.248Z,1761541987.248 [DAT](INFO): direction in FSK: [-0.929027,-0.367828,-0.040132] 2025-10-27T05:13:07.248Z,1761541987.248 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:07.252Z,1761541987.252 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.072845 2025-10-27T05:13:07.281Z,1761541987.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898398,0.439171,-0.003094],[-0.438004,0.896483,0.066870],[0.032142,-0.058721,0.997757]] 2025-10-27T05:13:07.388Z,1761541987.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.502983 s, deltaX: 0.199999 m, approachRate: 0.397625 m/s, rangeRepo size: 4 2025-10-27T05:13:07.390Z,1761541987.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.285795 m, bearing: 175.723507 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.502983 s, deltaX: 0.199034 m, approachRate: 0.395707 m/s, posRepo size: 4 2025-10-27T05:13:07.395Z,1761541987.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T05:13:07.489Z,1761541987.489 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.310111 2025-10-27T05:13:07.674Z,1761541987.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898464,0.439031,-0.003773],[-0.437826,0.896573,0.066815],[0.032717,-0.058379,0.997758]] 2025-10-27T05:13:07.693Z,1761541987.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T05:13:07.741Z,1761541987.741 [DAT](INFO): DAT read: Rx Time:05:13:06.4339 2025-10-27T05:13:07.742Z,1761541987.742 [DAT](INFO): Rx dataTimestamp_ set to:1761541987.741553 2025-10-27T05:13:07.743Z,1761541987.743 [DAT](INFO): DAT read: Bearing 323.6, -24.0 (Local) 2025-10-27T05:13:07.744Z,1761541987.744 [DAT](INFO): Local bearing/azimuth received: Bearing 323.6, -24.0 (Local) 2025-10-27T05:13:07.746Z,1761541987.746 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.1 2025-10-27T05:13:07.751Z,1761541987.751 [DAT](INFO): DAT read: 05:13:06.4339 LVL= 32752, 20385, 27042, 32755, AGC= 69, IDX= 506,-0.09,-2.982,-0.876,-2.125,-1.925, PHS=-0.956, 1.094,-0.245, RAW= 310.0, 1.2, CAL= 308.0, -2.1, ROT= 202.0, 2.1 2025-10-27T05:13:07.753Z,1761541987.753 [DAT](INFO): got valid direction response: 05:13:06.4339 LVL= 32752, 20385, 27042, 32755, AGC= 69, IDX= 506,-0.09,-2.982,-0.876,-2.125,-1.925, PHS=-0.956, 1.094,-0.245, RAW= 310.0, 1.2, CAL= 308.0, -2.1, ROT= 202.0, 2.1 2025-10-27T05:13:07.753Z,1761541987.753 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:13:07.754Z,1761541987.754 [DAT](INFO): direction in FSK: [-0.926561,-0.374355,-0.036644] 2025-10-27T05:13:07.760Z,1761541987.760 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:07.769Z,1761541987.769 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.590452 2025-10-27T05:13:07.992Z,1761541987.992 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813577 2025-10-27T05:13:08.125Z,1761541988.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898721,0.438497,-0.004644],[-0.437258,0.896884,0.066369],[0.033268,-0.057616,0.997784]] 2025-10-27T05:13:08.245Z,1761541988.245 [DAT](INFO): DAT read: Rx Time:05:13:06.9340 2025-10-27T05:13:08.245Z,1761541988.245 [DAT](INFO): Rx dataTimestamp_ set to:1761541988.244735 2025-10-27T05:13:08.246Z,1761541988.246 [DAT](INFO): DAT read: Bearing 323.6, -23.9 (Local) 2025-10-27T05:13:08.247Z,1761541988.247 [DAT](INFO): Local bearing/azimuth received: Bearing 323.6, -23.9 (Local) 2025-10-27T05:13:08.249Z,1761541988.249 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 2025-10-27T05:13:08.253Z,1761541988.253 [DAT](INFO): DAT read: 05:13:06.9340 LVL= 30928, 20945, 25554, 32755, AGC= 70, IDX= 507, 0.22, 0.376, 2.502, 1.238, 1.441, PHS=-0.962, 1.107,-0.247, RAW= 310.1, 1.1, CAL= 308.0, -2.1, ROT= 202.0, 2.1 2025-10-27T05:13:08.254Z,1761541988.254 [DAT](INFO): got valid direction response: 05:13:06.9340 LVL= 30928, 20945, 25554, 32755, AGC= 70, IDX= 507, 0.22, 0.376, 2.502, 1.238, 1.441, PHS=-0.962, 1.107,-0.247, RAW= 310.1, 1.1, CAL= 308.0, -2.1, ROT= 202.0, 2.1 2025-10-27T05:13:08.255Z,1761541988.255 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:13:08.256Z,1761541988.256 [DAT](INFO): direction in FSK: [-0.926561,-0.374355,-0.036644] 2025-10-27T05:13:08.256Z,1761541988.256 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:08.260Z,1761541988.260 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081037 2025-10-27T05:13:08.272Z,1761541988.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 1.008078 s, deltaX: 0.100000 m, approachRate: 0.099199 m/s, rangeRepo size: 4 2025-10-27T05:13:08.274Z,1761541988.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.285793 m, bearing: 176.156515 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.504896 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 2025-10-27T05:13:08.279Z,1761541988.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T05:13:08.497Z,1761541988.497 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317531 2025-10-27T05:13:08.527Z,1761541988.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898773,0.438385,-0.005146],[-0.437116,0.896950,0.066410],[0.033729,-0.057438,0.997779]] 2025-10-27T05:13:08.558Z,1761541988.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T05:13:08.748Z,1761541988.748 [DAT](INFO): DAT read: Rx Time:05:13:07.4339 2025-10-27T05:13:08.749Z,1761541988.749 [DAT](INFO): Rx dataTimestamp_ set to:1761541988.748646 2025-10-27T05:13:08.750Z,1761541988.750 [DAT](INFO): DAT read: Bearing 323.7, -24.3 (Local) 2025-10-27T05:13:08.751Z,1761541988.751 [DAT](INFO): Local bearing/azimuth received: Bearing 323.7, -24.3 (Local) 2025-10-27T05:13:08.753Z,1761541988.753 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.1 2025-10-27T05:13:08.758Z,1761541988.758 [DAT](INFO): DAT read: 05:13:07.4339 LVL= 32752, 21089, 26162, 32755, AGC= 69, IDX= 507,-0.25,-2.973,-0.853,-2.101,-1.908, PHS=-0.963, 1.100,-0.238, RAW= 309.7, 1.1, CAL= 307.7, -2.2, ROT= 202.3, 2.2 2025-10-27T05:13:08.759Z,1761541988.759 [DAT](INFO): got valid direction response: 05:13:07.4339 LVL= 32752, 21089, 26162, 32755, AGC= 69, IDX= 507,-0.25,-2.973,-0.853,-2.101,-1.908, PHS=-0.963, 1.100,-0.238, RAW= 309.7, 1.1, CAL= 307.7, -2.2, ROT= 202.3, 2.2 2025-10-27T05:13:08.759Z,1761541988.759 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:13:08.760Z,1761541988.760 [DAT](INFO): direction in FSK: [-0.924528,-0.379176,-0.038388] 2025-10-27T05:13:08.761Z,1761541988.761 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:08.764Z,1761541988.764 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.585623 2025-10-27T05:13:08.922Z,1761541988.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898723,0.438481,-0.005561],[-0.437178,0.896900,0.066675],[0.034223,-0.057492,0.997759]] 2025-10-27T05:13:09.000Z,1761541989.000 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821286 2025-10-27T05:13:09.003Z,1761541989.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503911 s, deltaX: -0.100000 m, approachRate: -0.198448 m/s, rangeRepo size: 4 2025-10-27T05:13:09.005Z,1761541989.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.285793 m, bearing: 176.467652 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 1.007093 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:09.006Z,1761541989.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.29 m. 2025-10-27T05:13:09.253Z,1761541989.253 [DAT](INFO): DAT read: Rx Time:05:13:07.9341 2025-10-27T05:13:09.254Z,1761541989.254 [DAT](INFO): Rx dataTimestamp_ set to:1761541989.253416 2025-10-27T05:13:09.256Z,1761541989.256 [DAT](INFO): DAT read: Bearing 323.9, -24.3 (Local) 2025-10-27T05:13:09.256Z,1761541989.256 [DAT](INFO): Local bearing/azimuth received: Bearing 323.9, -24.3 (Local) 2025-10-27T05:13:09.259Z,1761541989.259 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T05:13:09.276Z,1761541989.276 [DAT](INFO): DAT read: 05:13:07.9341 LVL= 32736, 21105, 25842, 32755, AGC= 70, IDX= 508, 0.10, 0.009, 2.131, 0.880, 1.072, PHS=-0.961, 1.104,-0.236, RAW= 309.8, 1.0, CAL= 307.7, -2.3, ROT= 202.3, 2.3 2025-10-27T05:13:09.277Z,1761541989.277 [DAT](INFO): got valid direction response: 05:13:07.9341 LVL= 32736, 21105, 25842, 32755, AGC= 70, IDX= 508, 0.10, 0.009, 2.131, 0.880, 1.072, PHS=-0.961, 1.104,-0.236, RAW= 309.8, 1.0, CAL= 307.7, -2.3, ROT= 202.3, 2.3 2025-10-27T05:13:09.278Z,1761541989.278 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:13:09.279Z,1761541989.279 [DAT](INFO): direction in FSK: [-0.924464,-0.379150,-0.040132] 2025-10-27T05:13:09.287Z,1761541989.287 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:09.291Z,1761541989.291 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.111804 2025-10-27T05:13:09.429Z,1761541989.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504770 s, deltaX: 0.300001 m, approachRate: 0.594332 m/s, rangeRepo size: 4 2025-10-27T05:13:09.435Z,1761541989.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.584219 m, bearing: 176.474286 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504770 s, deltaX: 0.298426 m, approachRate: 0.591211 m/s, posRepo size: 4 2025-10-27T05:13:09.436Z,1761541989.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:09.505Z,1761541989.505 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.325926 2025-10-27T05:13:09.737Z,1761541989.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898947,0.438016,-0.006038],[-0.436679,0.897124,0.066938],[0.034737,-0.057537,0.997739]] 2025-10-27T05:13:09.757Z,1761541989.757 [DAT](INFO): DAT read: Rx Time:05:13:08.4340 2025-10-27T05:13:09.757Z,1761541989.757 [DAT](INFO): Rx dataTimestamp_ set to:1761541989.756847 2025-10-27T05:13:09.758Z,1761541989.758 [DAT](INFO): DAT read: Bearing 323.6, -24.2 (Local) 2025-10-27T05:13:09.759Z,1761541989.759 [DAT](INFO): Local bearing/azimuth received: Bearing 323.6, -24.2 (Local) 2025-10-27T05:13:09.761Z,1761541989.761 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 2025-10-27T05:13:09.766Z,1761541989.766 [DAT](INFO): DAT read: 05:13:08.4340 LVL= 32752, 21361, 26050, 32755, AGC= 70, IDX= 508,-0.38,-2.828,-0.706,-1.964,-1.760, PHS=-0.965, 1.100,-0.248, RAW= 310.0, 1.3, CAL= 307.9, -2.0, ROT= 202.1, 2.0 2025-10-27T05:13:09.767Z,1761541989.767 [DAT](INFO): got valid direction response: 05:13:08.4340 LVL= 32752, 21361, 26050, 32755, AGC= 70, IDX= 508,-0.38,-2.828,-0.706,-1.964,-1.760, PHS=-0.965, 1.100,-0.248, RAW= 310.0, 1.3, CAL= 307.9, -2.0, ROT= 202.1, 2.0 2025-10-27T05:13:09.767Z,1761541989.767 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:13:09.768Z,1761541989.768 [DAT](INFO): direction in FSK: [-0.925964,-0.375995,-0.034899] 2025-10-27T05:13:09.768Z,1761541989.768 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:09.772Z,1761541989.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503431 s, deltaX: -0.200001 m, approachRate: -0.397275 m/s, rangeRepo size: 4 2025-10-27T05:13:09.773Z,1761541989.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:09.775Z,1761541989.775 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.595790 2025-10-27T05:13:10.008Z,1761541990.008 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.829630 2025-10-27T05:13:10.158Z,1761541990.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899240,0.437411,-0.006203],[-0.436069,0.897429,0.066826],[0.034797,-0.057388,0.997745]] 2025-10-27T05:13:10.219Z,1761541990.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:10.261Z,1761541990.261 [DAT](INFO): DAT read: Rx Time:05:13:08.9341 2025-10-27T05:13:10.262Z,1761541990.262 [DAT](INFO): Rx dataTimestamp_ set to:1761541990.261128 2025-10-27T05:13:10.264Z,1761541990.264 [DAT](INFO): DAT read: Bearing 323.6, -24.3 (Local) 2025-10-27T05:13:10.264Z,1761541990.264 [DAT](INFO): Local bearing/azimuth received: Bearing 323.6, -24.3 (Local) 2025-10-27T05:13:10.267Z,1761541990.267 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T05:13:10.273Z,1761541990.273 [DAT](INFO): DAT read: 05:13:08.9341 LVL= 32752, 21265, 26082, 32755, AGC= 70, IDX= 508, 0.02,-2.712,-0.607,-1.850,-1.650, PHS=-0.959, 1.088,-0.244, RAW= 309.9, 1.3, CAL= 307.8, -2.0, ROT= 202.2, 2.0 2025-10-27T05:13:10.276Z,1761541990.276 [DAT](INFO): got valid direction response: 05:13:08.9341 LVL= 32752, 21265, 26082, 32755, AGC= 70, IDX= 508, 0.02,-2.712,-0.607,-1.850,-1.650, PHS=-0.959, 1.088,-0.244, RAW= 309.9, 1.3, CAL= 307.8, -2.0, ROT= 202.2, 2.0 2025-10-27T05:13:10.276Z,1761541990.276 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:13:10.278Z,1761541990.278 [DAT](INFO): direction in FSK: [-0.925307,-0.377610,-0.034899] 2025-10-27T05:13:10.278Z,1761541990.278 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:10.288Z,1761541990.288 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.108941 2025-10-27T05:13:10.512Z,1761541990.512 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333179 2025-10-27T05:13:10.544Z,1761541990.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899514,0.436846,-0.006397],[-0.435500,0.897718,0.066656],[0.034861,-0.057172,0.997756]] 2025-10-27T05:13:10.605Z,1761541990.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504281 s, deltaX: 0.200001 m, approachRate: 0.396606 m/s, rangeRepo size: 4 2025-10-27T05:13:10.621Z,1761541990.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.584230 m, bearing: 176.461414 deg, lat: 36.779337 deg, lon: -121.859674 deg, deltaT: 1.007712 s, deltaX: 0.000011 m, approachRate: 0.000011 m/s, posRepo size: 4 2025-10-27T05:13:10.621Z,1761541990.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:10.765Z,1761541990.765 [DAT](INFO): DAT read: Rx Time:05:13:09.4340 2025-10-27T05:13:10.765Z,1761541990.765 [DAT](INFO): Rx dataTimestamp_ set to:1761541990.764750 2025-10-27T05:13:10.766Z,1761541990.766 [DAT](INFO): DAT read: Bearing 323.5, -24.3 (Local) 2025-10-27T05:13:10.767Z,1761541990.767 [DAT](INFO): Local bearing/azimuth received: Bearing 323.5, -24.3 (Local) 2025-10-27T05:13:10.803Z,1761541990.803 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.0 2025-10-27T05:13:10.837Z,1761541990.837 [DAT](INFO): DAT read: 05:13:09.4340 LVL= 32752, 25521, 28514, 32755, AGC= 70, IDX= 507, 0.38, 2.374,-1.799,-3.050,-2.845, PHS=-0.962, 1.091,-0.249, RAW= 310.0, 1.3, CAL= 307.9, -1.9, ROT= 202.1, 1.9 2025-10-27T05:13:10.849Z,1761541990.849 [DAT](INFO): got valid direction response: 05:13:09.4340 LVL= 32752, 25521, 28514, 32755, AGC= 70, IDX= 507, 0.38, 2.374,-1.799,-3.050,-2.845, PHS=-0.962, 1.091,-0.249, RAW= 310.0, 1.3, CAL= 307.9, -1.9, ROT= 202.1, 1.9 2025-10-27T05:13:10.849Z,1761541990.849 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:13:10.850Z,1761541990.850 [DAT](INFO): direction in FSK: [-0.926019,-0.376018,-0.033155] 2025-10-27T05:13:10.850Z,1761541990.850 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:10.862Z,1761541990.862 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.683351 2025-10-27T05:13:10.942Z,1761541990.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899749,0.436360,-0.006540],[-0.435006,0.897955,0.066682],[0.034970,-0.057152,0.997753]] 2025-10-27T05:13:11.010Z,1761541991.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503622 s, deltaX: -0.200001 m, approachRate: -0.397125 m/s, rangeRepo size: 4 2025-10-27T05:13:11.016Z,1761541991.016 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.837517 2025-10-27T05:13:11.021Z,1761541991.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.385309 m, bearing: 176.386449 deg, lat: 36.779338 deg, lon: -121.859674 deg, deltaT: 0.503622 s, deltaX: -0.198921 m, approachRate: -0.394981 m/s, posRepo size: 4 2025-10-27T05:13:11.021Z,1761541991.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.39 m. 2025-10-27T05:13:11.269Z,1761541991.269 [DAT](INFO): DAT read: Rx Time:05:13:09.9342 2025-10-27T05:13:11.269Z,1761541991.269 [DAT](INFO): Rx dataTimestamp_ set to:1761541991.268750 2025-10-27T05:13:11.270Z,1761541991.270 [DAT](INFO): DAT read: Bearing 323.5, -24.1 (Local) 2025-10-27T05:13:11.271Z,1761541991.271 [DAT](INFO): Local bearing/azimuth received: Bearing 323.5, -24.1 (Local) 2025-10-27T05:13:11.273Z,1761541991.273 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T05:13:11.277Z,1761541991.277 [DAT](INFO): DAT read: 05:13:09.9342 LVL= 32752, 22257, 26738, 32755, AGC= 70, IDX= 509,-0.16, 2.035,-2.128, 2.890, 3.103, PHS=-0.966, 1.097,-0.256, RAW= 310.2, 1.4, CAL= 308.1, -1.8, ROT= 201.9, 1.8 2025-10-27T05:13:11.278Z,1761541991.278 [DAT](INFO): got valid direction response: 05:13:09.9342 LVL= 32752, 22257, 26738, 32755, AGC= 70, IDX= 509,-0.16, 2.035,-2.128, 2.890, 3.103, PHS=-0.966, 1.097,-0.256, RAW= 310.2, 1.4, CAL= 308.1, -1.8, ROT= 201.9, 1.8 2025-10-27T05:13:11.279Z,1761541991.279 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:13:11.280Z,1761541991.280 [DAT](INFO): direction in FSK: [-0.927378,-0.372804,-0.031411] 2025-10-27T05:13:11.280Z,1761541991.280 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:11.284Z,1761541991.284 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.105236 2025-10-27T05:13:11.351Z,1761541991.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899864,0.436125,-0.006342],[-0.434769,0.898041,0.067072],[0.034947,-0.057598,0.997728]] 2025-10-27T05:13:11.479Z,1761541991.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504000 s, deltaX: 0.299999 m, approachRate: 0.595237 m/s, rangeRepo size: 4 2025-10-27T05:13:11.482Z,1761541991.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.683781 m, bearing: 176.195365 deg, lat: 36.779336 deg, lon: -121.859673 deg, deltaT: 0.504000 s, deltaX: 0.298471 m, approachRate: 0.592205 m/s, posRepo size: 4 2025-10-27T05:13:11.482Z,1761541991.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:13:11.520Z,1761541991.520 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.341227 2025-10-27T05:13:11.750Z,1761541991.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900181,0.435471,-0.006274],[-0.434117,0.898348,0.067179],[0.034891,-0.057750,0.997721]] 2025-10-27T05:13:11.773Z,1761541991.773 [DAT](INFO): DAT read: Rx Time:05:13:10.4341 2025-10-27T05:13:11.773Z,1761541991.773 [DAT](INFO): Rx dataTimestamp_ set to:1761541991.772852 2025-10-27T05:13:11.774Z,1761541991.774 [DAT](INFO): DAT read: Bearing 323.4, -24.4 (Local) 2025-10-27T05:13:11.775Z,1761541991.775 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, -24.4 (Local) 2025-10-27T05:13:11.777Z,1761541991.777 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T05:13:11.794Z,1761541991.794 [DAT](INFO): DAT read: 05:13:10.4341 LVL= 32752, 24625, 30866, 32755, AGC= 71, IDX= 508, 0.06,-2.861,-0.735,-1.995,-1.782, PHS=-0.978, 1.092,-0.257, RAW= 310.0, 1.6, CAL= 307.8, -1.7, ROT= 202.2, 1.7 2025-10-27T05:13:11.795Z,1761541991.795 [DAT](INFO): got valid direction response: 05:13:10.4341 LVL= 32752, 24625, 30866, 32755, AGC= 71, IDX= 508, 0.06,-2.861,-0.735,-1.995,-1.782, PHS=-0.978, 1.092,-0.257, RAW= 310.0, 1.6, CAL= 307.8, -1.7, ROT= 202.2, 1.7 2025-10-27T05:13:11.795Z,1761541991.795 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:13:11.796Z,1761541991.796 [DAT](INFO): direction in FSK: [-0.925463,-0.377674,-0.029666] 2025-10-27T05:13:11.796Z,1761541991.796 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:11.812Z,1761541991.812 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.633458 2025-10-27T05:13:11.816Z,1761541991.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504102 s, deltaX: -0.099998 m, approachRate: -0.198370 m/s, rangeRepo size: 4 2025-10-27T05:13:11.818Z,1761541991.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.584291 m, bearing: 176.529675 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504102 s, deltaX: -0.099489 m, approachRate: -0.197359 m/s, posRepo size: 4 2025-10-27T05:13:11.826Z,1761541991.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:12.024Z,1761541992.024 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.845334 2025-10-27T05:13:12.185Z,1761541992.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900406,0.435005,-0.006265],[-0.433649,0.898568,0.067257],[0.034886,-0.057842,0.997716]] 2025-10-27T05:13:12.242Z,1761541992.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:12.277Z,1761541992.277 [DAT](INFO): DAT read: Rx Time:05:13:10.9342 2025-10-27T05:13:12.277Z,1761541992.277 [DAT](INFO): Rx dataTimestamp_ set to:1761541992.276730 2025-10-27T05:13:12.278Z,1761541992.278 [DAT](INFO): DAT read: Bearing 323.4, -24.4 (Local) 2025-10-27T05:13:12.279Z,1761541992.279 [DAT](INFO): Local bearing/azimuth received: Bearing 323.4, -24.4 (Local) 2025-10-27T05:13:12.282Z,1761541992.282 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T05:13:12.288Z,1761541992.288 [DAT](INFO): DAT read: 05:13:10.9342 LVL= 32752, 24417, 28338, 32755, AGC= 71, IDX= 509, 0.25, 0.172, 2.297, 1.038, 1.253, PHS=-0.979, 1.089,-0.259, RAW= 309.9, 1.7, CAL= 307.8, -1.6, ROT= 202.2, 1.6 2025-10-27T05:13:12.290Z,1761541992.290 [DAT](INFO): got valid direction response: 05:13:10.9342 LVL= 32752, 24417, 28338, 32755, AGC= 71, IDX= 509, 0.25, 0.172, 2.297, 1.038, 1.253, PHS=-0.979, 1.089,-0.259, RAW= 309.9, 1.7, CAL= 307.8, -1.6, ROT= 202.2, 1.6 2025-10-27T05:13:12.290Z,1761541992.290 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:13:12.296Z,1761541992.296 [DAT](INFO): direction in FSK: [-0.925510,-0.377693,-0.027922] 2025-10-27T05:13:12.296Z,1761541992.296 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:12.311Z,1761541992.311 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.132547 2025-10-27T05:13:12.528Z,1761541992.528 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.349116 2025-10-27T05:13:12.558Z,1761541992.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900806,0.434173,-0.006430],[-0.432820,0.898990,0.066963],[0.034854,-0.057537,0.997735]] 2025-10-27T05:13:12.652Z,1761541992.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503878 s, deltaX: 0.099998 m, approachRate: 0.198458 m/s, rangeRepo size: 4 2025-10-27T05:13:12.654Z,1761541992.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.683794 m, bearing: 176.605523 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.503878 s, deltaX: 0.099503 m, approachRate: 0.197474 m/s, posRepo size: 4 2025-10-27T05:13:12.654Z,1761541992.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:13:12.781Z,1761541992.781 [DAT](INFO): DAT read: Rx Time:05:13:11.4341 2025-10-27T05:13:12.781Z,1761541992.781 [DAT](INFO): Rx dataTimestamp_ set to:1761541992.780781 2025-10-27T05:13:12.782Z,1761541992.782 [DAT](INFO): DAT read: Bearing 323.7, -24.8 (Local) 2025-10-27T05:13:12.783Z,1761541992.783 [DAT](INFO): Local bearing/azimuth received: Bearing 323.7, -24.8 (Local) 2025-10-27T05:13:12.785Z,1761541992.785 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 2025-10-27T05:13:12.794Z,1761541992.794 [DAT](INFO): DAT read: 05:13:11.4341 LVL= 32752, 19409, 26610, 32755, AGC= 68, IDX= 509,-0.38,-1.962, 0.160,-1.080,-0.884, PHS=-0.976, 1.088,-0.241, RAW= 309.4, 1.4, CAL= 307.3, -1.9, ROT= 202.7, 1.9 2025-10-27T05:13:12.796Z,1761541992.796 [DAT](INFO): got valid direction response: 05:13:11.4341 LVL= 32752, 19409, 26610, 32755, AGC= 68, IDX= 509,-0.38,-1.962, 0.160,-1.080,-0.884, PHS=-0.976, 1.088,-0.241, RAW= 309.4, 1.4, CAL= 307.3, -1.9, ROT= 202.7, 1.9 2025-10-27T05:13:12.796Z,1761541992.796 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:13:12.797Z,1761541992.797 [DAT](INFO): direction in FSK: [-0.922031,-0.385694,-0.033155] 2025-10-27T05:13:12.797Z,1761541992.797 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:12.801Z,1761541992.801 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.622278 2025-10-27T05:13:12.978Z,1761541992.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901131,0.433497,-0.006620],[-0.432143,0.899335,0.066702],[0.034869,-0.057246,0.997751]] 2025-10-27T05:13:13.006Z,1761541993.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504051 s, deltaX: -0.099998 m, approachRate: -0.198390 m/s, rangeRepo size: 4 2025-10-27T05:13:13.008Z,1761541993.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.584261 m, bearing: 177.167549 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.504051 s, deltaX: -0.099533 m, approachRate: -0.197466 m/s, posRepo size: 4 2025-10-27T05:13:13.009Z,1761541993.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:13.032Z,1761541993.032 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.853121 2025-10-27T05:13:13.285Z,1761541993.285 [DAT](INFO): DAT read: Rx Time:05:13:11.9343 2025-10-27T05:13:13.285Z,1761541993.285 [DAT](INFO): Rx dataTimestamp_ set to:1761541993.284718 2025-10-27T05:13:13.286Z,1761541993.286 [DAT](INFO): DAT read: Bearing 323.8, -24.9 (Local) 2025-10-27T05:13:13.287Z,1761541993.287 [DAT](INFO): Local bearing/azimuth received: Bearing 323.8, -24.9 (Local) 2025-10-27T05:13:13.289Z,1761541993.289 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 2025-10-27T05:13:13.293Z,1761541993.293 [DAT](INFO): DAT read: 05:13:11.9343 LVL= 29328, 18625, 23074, 32755, AGC= 66, IDX= 510,-0.08,-0.338, 1.794, 0.553, 0.747, PHS=-0.983, 1.092,-0.238, RAW= 309.3, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9 2025-10-27T05:13:13.294Z,1761541993.294 [DAT](INFO): got valid direction response: 05:13:11.9343 LVL= 29328, 18625, 23074, 32755, AGC= 66, IDX= 510,-0.08,-0.338, 1.794, 0.553, 0.747, PHS=-0.983, 1.092,-0.238, RAW= 309.3, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9 2025-10-27T05:13:13.295Z,1761541993.295 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:13:13.296Z,1761541993.296 [DAT](INFO): direction in FSK: [-0.921356,-0.387303,-0.033155] 2025-10-27T05:13:13.296Z,1761541993.296 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:13.300Z,1761541993.300 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.121075 2025-10-27T05:13:13.365Z,1761541993.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901559,0.432604,-0.006758],[-0.431259,0.899790,0.066280],[0.034754,-0.056841,0.997778]] 2025-10-27T05:13:13.479Z,1761541993.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503937 s, deltaX: 0.299999 m, approachRate: 0.595311 m/s, rangeRepo size: 4 2025-10-27T05:13:13.481Z,1761541993.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.882732 m, bearing: 177.323434 deg, lat: 36.779337 deg, lon: -121.859673 deg, deltaT: 0.503937 s, deltaX: 0.298471 m, approachRate: 0.592279 m/s, posRepo size: 4 2025-10-27T05:13:13.482Z,1761541993.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.88 m. 2025-10-27T05:13:13.537Z,1761541993.537 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.357974 2025-10-27T05:13:13.772Z,1761541993.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901767,0.432169,-0.006812],[-0.430824,0.900005,0.066196],[0.034739,-0.056759,0.997783]] 2025-10-27T05:13:13.789Z,1761541993.789 [DAT](INFO): DAT read: Rx Time:05:13:12.4341 2025-10-27T05:13:13.789Z,1761541993.789 [DAT](INFO): Rx dataTimestamp_ set to:1761541993.788754 2025-10-27T05:13:13.790Z,1761541993.790 [DAT](INFO): DAT read: Bearing 323.7, -24.9 (Local) 2025-10-27T05:13:13.791Z,1761541993.791 [DAT](INFO): Local bearing/azimuth received: Bearing 323.7, -24.9 (Local) 2025-10-27T05:13:13.793Z,1761541993.793 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 2025-10-27T05:13:13.797Z,1761541993.797 [DAT](INFO): DAT read: 05:13:12.4341 LVL= 28816, 17393, 25138, 32755, AGC= 65, IDX= 509, 0.18, 0.332, 2.456, 1.220, 1.417, PHS=-0.983, 1.085,-0.240, RAW= 309.2, 1.5, CAL= 307.1, -1.8, ROT= 202.9, 1.8 2025-10-27T05:13:13.799Z,1761541993.799 [DAT](INFO): got valid direction response: 05:13:12.4341 LVL= 28816, 17393, 25138, 32755, AGC= 65, IDX= 509, 0.18, 0.332, 2.456, 1.220, 1.417, PHS=-0.983, 1.085,-0.240, RAW= 309.2, 1.5, CAL= 307.1, -1.8, ROT= 202.9, 1.8 2025-10-27T05:13:13.799Z,1761541993.799 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:13:13.800Z,1761541993.800 [DAT](INFO): direction in FSK: [-0.920731,-0.388932,-0.031411] 2025-10-27T05:13:13.800Z,1761541993.800 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:13.804Z,1761541993.804 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.625245 2025-10-27T05:13:13.814Z,1761541993.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504036 s, deltaX: -0.299999 m, approachRate: -0.595194 m/s, rangeRepo size: 4 2025-10-27T05:13:13.847Z,1761541993.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.584261 m, bearing: 177.444253 deg, lat: 36.779337 deg, lon: -121.859676 deg, deltaT: 0.504036 s, deltaX: -0.298471 m, approachRate: -0.592163 m/s, posRepo size: 4 2025-10-27T05:13:13.848Z,1761541993.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:14.040Z,1761541994.040 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.861416 2025-10-27T05:13:14.210Z,1761541994.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901831,0.432039,-0.006611],[-0.430698,0.900049,0.066419],[0.034646,-0.057052,0.997770]] 2025-10-27T05:13:14.252Z,1761541994.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:14.293Z,1761541994.293 [DAT](INFO): DAT read: Rx Time:05:13:12.9341 2025-10-27T05:13:14.293Z,1761541994.293 [DAT](INFO): Rx dataTimestamp_ set to:1761541994.292930 2025-10-27T05:13:14.294Z,1761541994.294 [DAT](INFO): DAT read: Bearing 323.8, -24.9 (Local) 2025-10-27T05:13:14.295Z,1761541994.295 [DAT](INFO): Local bearing/azimuth received: Bearing 323.8, -24.9 (Local) 2025-10-27T05:13:14.297Z,1761541994.297 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 2025-10-27T05:13:14.302Z,1761541994.302 [DAT](INFO): DAT read: 05:13:12.9341 LVL= 29344, 18209, 22578, 32755, AGC= 65, IDX= 510,-0.37,-1.912, 0.226,-1.020,-0.824, PHS=-0.987, 1.095,-0.240, RAW= 309.3, 1.5, CAL= 307.2, -1.8, ROT= 202.8, 1.8 2025-10-27T05:13:14.304Z,1761541994.304 [DAT](INFO): got valid direction response: 05:13:12.9341 LVL= 29344, 18209, 22578, 32755, AGC= 65, IDX= 510,-0.37,-1.912, 0.226,-1.020,-0.824, PHS=-0.987, 1.095,-0.240, RAW= 309.3, 1.5, CAL= 307.2, -1.8, ROT= 202.8, 1.8 2025-10-27T05:13:14.305Z,1761541994.305 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:13:14.306Z,1761541994.306 [DAT](INFO): direction in FSK: [-0.921408,-0.387325,-0.031411] 2025-10-27T05:13:14.307Z,1761541994.307 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:14.312Z,1761541994.312 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.133238 2025-10-27T05:13:14.544Z,1761541994.544 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.365104 2025-10-27T05:13:14.624Z,1761541994.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901985,0.431719,-0.006436],[-0.430384,0.900188,0.066563],[0.034530,-0.057269,0.997761]] 2025-10-27T05:13:14.653Z,1761541994.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504176 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:14.656Z,1761541994.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.584208 m, bearing: 177.372498 deg, lat: 36.779338 deg, lon: -121.859676 deg, deltaT: 0.504176 s, deltaX: -0.000053 m, approachRate: -0.000106 m/s, posRepo size: 4 2025-10-27T05:13:14.656Z,1761541994.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:14.796Z,1761541994.796 [DAT](INFO): DAT read: Rx Time:05:13:13.4341 2025-10-27T05:13:14.797Z,1761541994.797 [DAT](INFO): Rx dataTimestamp_ set to:1761541994.796667 2025-10-27T05:13:14.798Z,1761541994.798 [DAT](INFO): DAT read: Bearing 324.0, -25.1 (Local) 2025-10-27T05:13:14.799Z,1761541994.799 [DAT](INFO): Local bearing/azimuth received: Bearing 324.0, -25.1 (Local) 2025-10-27T05:13:14.801Z,1761541994.801 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.0 2025-10-27T05:13:14.806Z,1761541994.806 [DAT](INFO): DAT read: 05:13:13.4341 LVL= 32112, 18497, 25650, 32755, AGC= 66, IDX= 509,-0.03,-2.400,-0.261,-1.501,-1.313, PHS=-0.985, 1.098,-0.232, RAW= 309.1, 1.3, CAL= 307.0, -2.0, ROT= 203.0, 2.0 2025-10-27T05:13:14.807Z,1761541994.807 [DAT](INFO): got valid direction response: 05:13:13.4341 LVL= 32112, 18497, 25650, 32755, AGC= 66, IDX= 509,-0.03,-2.400,-0.261,-1.501,-1.313, PHS=-0.985, 1.098,-0.232, RAW= 309.1, 1.3, CAL= 307.0, -2.0, ROT= 203.0, 2.0 2025-10-27T05:13:14.807Z,1761541994.807 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:13:14.808Z,1761541994.808 [DAT](INFO): direction in FSK: [-0.919944,-0.390493,-0.034899] 2025-10-27T05:13:14.809Z,1761541994.809 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:14.812Z,1761541994.812 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.633601 2025-10-27T05:13:14.985Z,1761541994.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901977,0.431738,-0.006329],[-0.430400,0.900160,0.066841],[0.034555,-0.057565,0.997744]] 2025-10-27T05:13:15.032Z,1761541995.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503737 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:15.034Z,1761541995.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.584177 m, bearing: 177.584496 deg, lat: 36.779339 deg, lon: -121.859676 deg, deltaT: 0.503737 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 2025-10-27T05:13:15.035Z,1761541995.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:13:15.048Z,1761541995.048 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.869280 2025-10-27T05:13:15.136Z,1761541995.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:13:15.301Z,1761541995.301 [DAT](INFO): DAT read: Rx Time:05:13:13.9342 2025-10-27T05:13:15.301Z,1761541995.301 [DAT](INFO): Rx dataTimestamp_ set to:1761541995.300706 2025-10-27T05:13:15.302Z,1761541995.302 [DAT](INFO): DAT read: Bearing 323.9, -25.0 (Local) 2025-10-27T05:13:15.303Z,1761541995.303 [DAT](INFO): Local bearing/azimuth received: Bearing 323.9, -25.0 (Local) 2025-10-27T05:13:15.305Z,1761541995.305 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T05:13:15.309Z,1761541995.309 [DAT](INFO): DAT read: 05:13:13.9342 LVL= 32752, 19393, 28786, 32755, AGC= 68, IDX= 510, 0.32,-0.328, 1.811, 0.569, 0.761, PHS=-0.987, 1.096,-0.236, RAW= 309.1, 1.4, CAL= 307.1, -1.9, ROT= 202.9, 1.9 2025-10-27T05:13:15.310Z,1761541995.310 [DAT](INFO): got valid direction response: 05:13:13.9342 LVL= 32752, 19393, 28786, 32755, AGC= 68, IDX= 510, 0.32,-0.328, 1.811, 0.569, 0.761, PHS=-0.987, 1.096,-0.236, RAW= 309.1, 1.4, CAL= 307.1, -1.9, ROT= 202.9, 1.9 2025-10-27T05:13:15.311Z,1761541995.311 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:13:15.312Z,1761541995.312 [DAT](INFO): direction in FSK: [-0.920679,-0.388910,-0.033155] 2025-10-27T05:13:15.312Z,1761541995.312 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:15.316Z,1761541995.316 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.137094 2025-10-27T05:13:15.386Z,1761541995.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902120,0.431438,-0.006421],[-0.430098,0.900311,0.066748],[0.034579,-0.057453,0.997749]] 2025-10-27T05:13:15.504Z,1761541995.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504039 s, deltaX: 0.099998 m, approachRate: 0.198394 m/s, rangeRepo size: 4 2025-10-27T05:13:15.506Z,1761541995.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.683664 m, bearing: 177.497161 deg, lat: 36.779339 deg, lon: -121.859676 deg, deltaT: 0.504039 s, deltaX: 0.099487 m, approachRate: 0.197380 m/s, posRepo size: 4 2025-10-27T05:13:15.506Z,1761541995.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:13:15.553Z,1761541995.553 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.374358 2025-10-27T05:13:15.805Z,1761541995.805 [DAT](INFO): DAT read: Rx Time:05:13:14.4342 2025-10-27T05:13:15.805Z,1761541995.805 [DAT](INFO): Rx dataTimestamp_ set to:1761541995.804832 2025-10-27T05:13:15.806Z,1761541995.806 [DAT](INFO): DAT read: Bearing 322.9, -25.1 (Local) 2025-10-27T05:13:15.807Z,1761541995.807 [DAT](INFO): Local bearing/azimuth received: Bearing 322.9, -25.1 (Local) 2025-10-27T05:13:15.809Z,1761541995.809 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.0 2025-10-27T05:13:15.814Z,1761541995.814 [DAT](INFO): DAT read: 05:13:14.4342 LVL= 32752, 24017, 27634, 32755, AGC= 66, IDX= 510,-0.17,-3.113,-0.988,-2.227,-2.006, PHS=-1.004, 1.064,-0.265, RAW= 309.3, 2.3, CAL= 307.1, -1.0, ROT= 202.9, 1.0 2025-10-27T05:13:15.815Z,1761541995.815 [DAT](INFO): got valid direction response: 05:13:14.4342 LVL= 32752, 24017, 27634, 32755, AGC= 66, IDX= 510,-0.17,-3.113,-0.988,-2.227,-2.006, PHS=-1.004, 1.064,-0.265, RAW= 309.3, 2.3, CAL= 307.1, -1.0, ROT= 202.9, 1.0 2025-10-27T05:13:15.815Z,1761541995.815 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:13:15.816Z,1761541995.816 [DAT](INFO): direction in FSK: [-0.921045,-0.389065,-0.017452] 2025-10-27T05:13:15.816Z,1761541995.816 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:15.820Z,1761541995.820 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.641599 2025-10-27T05:13:15.829Z,1761541995.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902259,0.431146,-0.006468],[-0.429811,0.900465,0.066527],[0.034507,-0.057244,0.997764]] 2025-10-27T05:13:15.890Z,1761541995.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:15.893Z,1761541995.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.683664 m, bearing: 177.455696 deg, lat: 36.779340 deg, lon: -121.859676 deg, deltaT: 0.504126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:15.893Z,1761541995.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:13:16.056Z,1761541996.056 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.877252 2025-10-27T05:13:16.139Z,1761541996.139 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:13:16.238Z,1761541996.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902303,0.431055,-0.006409],[-0.429722,0.900504,0.066572],[0.034467,-0.057314,0.997761]] 2025-10-27T05:13:16.296Z,1761541996.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:13:16.309Z,1761541996.309 [DAT](INFO): DAT read: Rx Time:05:13:14.9343 2025-10-27T05:13:16.309Z,1761541996.309 [DAT](INFO): Rx dataTimestamp_ set to:1761541996.308842 2025-10-27T05:13:16.310Z,1761541996.310 [DAT](INFO): DAT read: Bearing 324.2, -24.4 (Local) 2025-10-27T05:13:16.311Z,1761541996.311 [DAT](INFO): Local bearing/azimuth received: Bearing 324.2, -24.4 (Local) 2025-10-27T05:13:16.313Z,1761541996.313 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 2025-10-27T05:13:16.318Z,1761541996.318 [DAT](INFO): DAT read: 05:13:14.9343 LVL= 32176, 18609, 25394, 32755, AGC= 67, IDX= 511, 0.22,-0.527, 1.610, 0.351, 0.548, PHS=-0.974, 1.107,-0.241, RAW= 309.7, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 2025-10-27T05:13:16.319Z,1761541996.319 [DAT](INFO): got valid direction response: 05:13:14.9343 LVL= 32176, 18609, 25394, 32755, AGC= 67, IDX= 511, 0.22,-0.527, 1.610, 0.351, 0.548, PHS=-0.974, 1.107,-0.241, RAW= 309.7, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 2025-10-27T05:13:16.319Z,1761541996.319 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:13:16.320Z,1761541996.320 [DAT](INFO): direction in FSK: [-0.923925,-0.380814,-0.036644] 2025-10-27T05:13:16.320Z,1761541996.320 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:16.332Z,1761541996.332 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.153337 2025-10-27T05:13:16.560Z,1761541996.560 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.381189 2025-10-27T05:13:16.676Z,1761541996.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504010 s, deltaX: 0.200001 m, approachRate: 0.396819 m/s, rangeRepo size: 4 2025-10-27T05:13:16.678Z,1761541996.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.882629 m, bearing: 177.035147 deg, lat: 36.779340 deg, lon: -121.859676 deg, deltaT: 0.504010 s, deltaX: 0.198965 m, approachRate: 0.394764 m/s, posRepo size: 4 2025-10-27T05:13:16.679Z,1761541996.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.88 m. 2025-10-27T05:13:16.813Z,1761541996.813 [DAT](INFO): DAT read: Rx Time:05:13:15.4343 2025-10-27T05:13:16.813Z,1761541996.813 [DAT](INFO): Rx dataTimestamp_ set to:1761541996.812804 2025-10-27T05:13:16.814Z,1761541996.814 [DAT](INFO): DAT read: Bearing 323.8, -24.6 (Local) 2025-10-27T05:13:16.815Z,1761541996.815 [DAT](INFO): Local bearing/azimuth received: Bearing 323.8, -24.6 (Local) 2025-10-27T05:13:16.817Z,1761541996.817 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 2025-10-27T05:13:16.821Z,1761541996.821 [DAT](INFO): DAT read: 05:13:15.4343 LVL= 32752, 20657, 27250, 32755, AGC= 67, IDX= 511,-0.20, 2.744,-1.415,-2.662,-2.457, PHS=-0.979, 1.088,-0.249, RAW= 309.6, 1.6, CAL= 307.5, -1.7, ROT= 202.5, 1.7 2025-10-27T05:13:16.823Z,1761541996.823 [DAT](INFO): got valid direction response: 05:13:15.4343 LVL= 32752, 20657, 27250, 32755, AGC= 67, IDX= 511,-0.20, 2.744,-1.415,-2.662,-2.457, PHS=-0.979, 1.088,-0.249, RAW= 309.6, 1.6, CAL= 307.5, -1.7, ROT= 202.5, 1.7 2025-10-27T05:13:16.823Z,1761541996.823 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:13:16.824Z,1761541996.824 [DAT](INFO): direction in FSK: [-0.923473,-0.382515,-0.029666] 2025-10-27T05:13:16.824Z,1761541996.824 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:16.828Z,1761541996.828 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.649483 2025-10-27T05:13:17.002Z,1761541997.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902233,0.431202,-0.006414],[-0.429864,0.900426,0.066704],[0.034538,-0.057425,0.997752]] 2025-10-27T05:13:17.036Z,1761541997.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:17.038Z,1761541997.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.882645 m, bearing: 177.099473 deg, lat: 36.779339 deg, lon: -121.859676 deg, deltaT: 0.503962 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 2025-10-27T05:13:17.038Z,1761541997.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.88 m. 2025-10-27T05:13:17.067Z,1761541997.067 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.887512 2025-10-27T05:13:17.316Z,1761541997.316 [DAT](INFO): DAT read: Rx Time:05:13:15.9344 2025-10-27T05:13:17.317Z,1761541997.317 [DAT](INFO): Rx dataTimestamp_ set to:1761541997.316283 2025-10-27T05:13:17.318Z,1761541997.318 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-27T05:13:17.318Z,1761541997.318 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T05:13:17.319Z,1761541997.319 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.140627 2025-10-27T05:13:17.410Z,1761541997.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902343,0.430972,-0.006398],[-0.429644,0.900549,0.066461],[0.034404,-0.057222,0.997769]] 2025-10-27T05:13:17.489Z,1761541997.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503479 s, deltaX: 0.100000 m, approachRate: 0.198619 m/s, rangeRepo size: 4 2025-10-27T05:13:17.489Z,1761541997.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.88 m. 2025-10-27T05:13:17.571Z,1761541997.571 [DAT](INFO): DAT read: Rx Time:05:13:16.4344 2025-10-27T05:13:17.573Z,1761541997.573 [DAT](INFO): Rx dataTimestamp_ set to:1761541997.571991 2025-10-27T05:13:17.584Z,1761541997.584 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.395580 2025-10-27T05:13:17.810Z,1761541997.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902562,0.430512,-0.006495],[-0.429195,0.900797,0.066002],[0.034265,-0.056783,0.997798]] 2025-10-27T05:13:17.821Z,1761541997.821 [DAT](INFO): DAT read: Bearing 299.5, -34.1 (Local) 2025-10-27T05:13:17.821Z,1761541997.821 [DAT](INFO): Local bearing/azimuth received: Bearing 299.5, -34.1 (Local) 2025-10-27T05:13:17.823Z,1761541997.823 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 2025-10-27T05:13:17.829Z,1761541997.829 [DAT](INFO): DAT read: 05:13:16.4344 LVL= 32752, 22881, 30418, 32755, AGC= 70, IDX= 512,-0.26, 0.710, 3.142, 2.047, 2.453, PHS=-1.641, 0.734,-0.450, RAW= 299.9, 13.1, CAL= 297.2, 19.2, ROT= 212.8, -19.2 2025-10-27T05:13:17.830Z,1761541997.830 [DAT](INFO): got valid direction response: 05:13:16.4344 LVL= 32752, 22881, 30418, 32755, AGC= 70, IDX= 512,-0.26, 0.710, 3.142, 2.047, 2.453, PHS=-1.641, 0.734,-0.450, RAW= 299.9, 13.1, CAL= 297.2, 19.2, ROT= 212.8, -19.2 2025-10-27T05:13:17.830Z,1761541997.830 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T05:13:17.831Z,1761541997.831 [DAT](INFO): direction in FSK: [-0.793811,-0.511577,0.328867] 2025-10-27T05:13:17.831Z,1761541997.831 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:17.852Z,1761541997.852 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.672981 2025-10-27T05:13:17.895Z,1761541997.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:17.901Z,1761541997.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.982136 m, bearing: 185.984622 deg, lat: 36.779339 deg, lon: -121.859676 deg, deltaT: 1.006691 s, deltaX: 0.099491 m, approachRate: 0.098830 m/s, posRepo size: 4 2025-10-27T05:13:17.901Z,1761541997.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-27T05:13:18.075Z,1761541998.075 [DAT](INFO): DAT read: Rx Time:05:13:16.9344 2025-10-27T05:13:18.077Z,1761541998.077 [DAT](INFO): Rx dataTimestamp_ set to:1761541998.075749 2025-10-27T05:13:18.078Z,1761541998.078 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.899263 2025-10-27T05:13:18.238Z,1761541998.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902713,0.430194,-0.006444],[-0.428891,0.900963,0.065721],[0.034078,-0.056564,0.997817]] 2025-10-27T05:13:18.288Z,1761541998.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:13:18.290Z,1761541998.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-27T05:13:18.325Z,1761541998.325 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-27T05:13:18.326Z,1761541998.326 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-27T05:13:18.328Z,1761541998.328 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.148661 2025-10-27T05:13:18.578Z,1761541998.578 [DAT](INFO): DAT read: Rx Time:05:13:17.4343 2025-10-27T05:13:18.579Z,1761541998.579 [DAT](INFO): Rx dataTimestamp_ set to:1761541998.578461 2025-10-27T05:13:18.579Z,1761541998.579 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.400661 2025-10-27T05:13:18.618Z,1761541998.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902822,0.429968,-0.006368],[-0.428676,0.901081,0.065498],[0.033900,-0.056403,0.997832]] 2025-10-27T05:13:18.670Z,1761541998.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503955 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:18.670Z,1761541998.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-27T05:13:18.829Z,1761541998.829 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 2025-10-27T05:13:18.829Z,1761541998.829 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-27T05:13:18.830Z,1761541998.830 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.651331 2025-10-27T05:13:19.026Z,1761541999.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902963,0.429673,-0.006228],[-0.428395,0.901224,0.065371],[0.033701,-0.056360,0.997842]] 2025-10-27T05:13:19.052Z,1761541999.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503871 s, deltaX: -0.100000 m, approachRate: -0.198464 m/s, rangeRepo size: 4 2025-10-27T05:13:19.053Z,1761541999.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-27T05:13:19.083Z,1761541999.083 [DAT](INFO): DAT read: Rx Time:05:13:17.9345 2025-10-27T05:13:19.085Z,1761541999.085 [DAT](INFO): Rx dataTimestamp_ set to:1761541999.083932 2025-10-27T05:13:19.088Z,1761541999.088 [DAT](INFO): DAT read: Bearing 326.1, -51.0 (Local) 2025-10-27T05:13:19.089Z,1761541999.089 [DAT](INFO): Local bearing/azimuth received: Bearing 326.1, -51.0 (Local) 2025-10-27T05:13:19.093Z,1761541999.093 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:13:19.099Z,1761541999.099 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T05:13:19.114Z,1761541999.114 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.934780 2025-10-27T05:13:19.336Z,1761541999.336 [DAT](INFO): DAT read: 05:13:17.9345 LVL= 32752, 23409, 26482, 32755, AGC= 70, IDX= 513, 0.14, 0.453, 2.737, 2.315, 2.020, PHS=-1.465, 0.762, 0.252, RAW= 282.6, 4.5, CAL= 281.0, -0.9, ROT= 229.0, 0.9 2025-10-27T05:13:19.337Z,1761541999.337 [DAT](INFO): got valid direction response: 05:13:17.9345 LVL= 32752, 23409, 26482, 32755, AGC= 70, IDX= 513, 0.14, 0.453, 2.737, 2.315, 2.020, PHS=-1.465, 0.762, 0.252, RAW= 282.6, 4.5, CAL= 281.0, -0.9, ROT= 229.0, 0.9 2025-10-27T05:13:19.337Z,1761541999.337 [DAT](INFO): #Rx 35: Read direction message, but no range. 2025-10-27T05:13:19.338Z,1761541999.338 [DAT](INFO): direction in FSK: [-0.655978,-0.754616,-0.015707] 2025-10-27T05:13:19.341Z,1761541999.341 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.162590 2025-10-27T05:13:19.496Z,1761541999.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.256611 s, deltaX: 0.299999 m, approachRate: 1.169082 m/s, rangeRepo size: 4 2025-10-27T05:13:19.498Z,1761541999.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.181084 m, bearing: 203.583920 deg, lat: 36.779340 deg, lon: -121.859676 deg, deltaT: 1.264437 s, deltaX: 0.198948 m, approachRate: 0.157341 m/s, posRepo size: 4 2025-10-27T05:13:19.498Z,1761541999.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:19.584Z,1761541999.584 [DAT](INFO): DAT read: Rx Time:05:13:18.4345 2025-10-27T05:13:19.585Z,1761541999.585 [DAT](INFO): Rx dataTimestamp_ set to:1761541999.584611 2025-10-27T05:13:19.586Z,1761541999.586 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:13:19.587Z,1761541999.587 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-27T05:13:19.588Z,1761541999.588 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.408979 2025-10-27T05:13:19.830Z,1761541999.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903327,0.428912,-0.005842],[-0.427670,0.901596,0.064987],[0.033140,-0.056206,0.997869]] 2025-10-27T05:13:19.836Z,1761541999.836 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.657272 2025-10-27T05:13:19.863Z,1761541999.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.500679 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:19.864Z,1761541999.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:20.091Z,1761542000.091 [DAT](INFO): DAT read: Rx Time:05:13:18.9346 2025-10-27T05:13:20.093Z,1761542000.093 [DAT](INFO): Rx dataTimestamp_ set to:1761542000.092050 2025-10-27T05:13:20.096Z,1761542000.096 [DAT](INFO): DAT read: Bearing 324.2, -24.1 (Local) 2025-10-27T05:13:20.097Z,1761542000.097 [DAT](INFO): Local bearing/azimuth received: Bearing 324.2, -24.1 (Local) 2025-10-27T05:13:20.101Z,1761542000.101 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T05:13:20.112Z,1761542000.112 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-27T05:13:20.118Z,1761542000.118 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.938492 2025-10-27T05:13:20.248Z,1761542000.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903403,0.428754,-0.005713],[-0.427520,0.901668,0.064973],[0.033009,-0.056255,0.997871]] 2025-10-27T05:13:20.322Z,1761542000.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.507439 s, deltaX: 0.100000 m, approachRate: 0.197069 m/s, rangeRepo size: 4 2025-10-27T05:13:20.331Z,1761542000.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:20.344Z,1761542000.344 [DAT](INFO): DAT read: 05:13:18.9346 LVL= 32752, 32209, 32754, 28147, AGC= 72, IDX= 2,-0.02, 1.612,-2.552, 2.473, 2.679, PHS=-0.964, 1.097,-0.250, RAW= 310.0, 1.3, CAL= 308.0, -2.0, ROT= 202.0, 2.0 2025-10-27T05:13:20.345Z,1761542000.345 [DAT](INFO): got valid direction response: 05:13:18.9346 LVL= 32752, 32209, 32754, 28147, AGC= 72, IDX= 2,-0.02, 1.612,-2.552, 2.473, 2.679, PHS=-0.964, 1.097,-0.250, RAW= 310.0, 1.3, CAL= 308.0, -2.0, ROT= 202.0, 2.0 2025-10-27T05:13:20.345Z,1761542000.345 [DAT](INFO): #Rx 38: Read direction message, but no range. 2025-10-27T05:13:20.346Z,1761542000.346 [DAT](INFO): direction in FSK: [-0.926619,-0.374378,-0.034899] 2025-10-27T05:13:20.350Z,1761542000.350 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.171183 2025-10-27T05:13:20.596Z,1761542000.596 [DAT](INFO): DAT read: Rx Time:05:13:19.4345 2025-10-27T05:13:20.597Z,1761542000.597 [DAT](INFO): Rx dataTimestamp_ set to:1761542000.596320 2025-10-27T05:13:20.601Z,1761542000.601 [DAT](INFO): DAT read: Bearing 324.3, -24.3 (Local) 2025-10-27T05:13:20.602Z,1761542000.602 [DAT](INFO): Local bearing/azimuth received: Bearing 324.3, -24.3 (Local) 2025-10-27T05:13:20.606Z,1761542000.606 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-27T05:13:20.613Z,1761542000.613 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-27T05:13:20.620Z,1761542000.620 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.441151 2025-10-27T05:13:20.642Z,1761542000.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903609,0.428325,-0.005421],[-0.427110,0.901867,0.064912],[0.032692,-0.056340,0.997876]] 2025-10-27T05:13:20.740Z,1761542000.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504270 s, deltaX: -0.100000 m, approachRate: -0.198307 m/s, rangeRepo size: 4 2025-10-27T05:13:20.742Z,1761542000.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.181116 m, bearing: 176.794516 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 1.512388 s, deltaX: 0.000032 m, approachRate: 0.000021 m/s, posRepo size: 4 2025-10-27T05:13:20.743Z,1761542000.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:20.848Z,1761542000.848 [DAT](INFO): DAT read: 05:13:19.4345 LVL= 32752, 22177, 30098, 32755, AGC= 71, IDX= 497, 0.21, 2.170,-1.987, 3.039,-3.042, PHS=-0.970, 1.100,-0.247, RAW= 309.9, 1.3, CAL= 307.8, -2.0, ROT= 202.2, 2.0 2025-10-27T05:13:20.849Z,1761542000.849 [DAT](INFO): got valid direction response: 05:13:19.4345 LVL= 32752, 22177, 30098, 32755, AGC= 71, IDX= 497, 0.21, 2.170,-1.987, 3.039,-3.042, PHS=-0.970, 1.100,-0.247, RAW= 309.9, 1.3, CAL= 307.8, -2.0, ROT= 202.2, 2.0 2025-10-27T05:13:20.849Z,1761542000.849 [DAT](INFO): #Rx 40: Read direction message, but no range. 2025-10-27T05:13:20.850Z,1761542000.850 [DAT](INFO): direction in FSK: [-0.925307,-0.377610,-0.034899] 2025-10-27T05:13:20.854Z,1761542000.854 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.674809 2025-10-27T05:13:21.092Z,1761542001.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:21.096Z,1761542001.096 [DAT](INFO): DAT read: Rx Time:05:13:19.9345 2025-10-27T05:13:21.097Z,1761542001.097 [DAT](INFO): Rx dataTimestamp_ set to:1761542001.096445 2025-10-27T05:13:21.098Z,1761542001.098 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-27T05:13:21.099Z,1761542001.099 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-27T05:13:21.100Z,1761542001.100 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.920776 2025-10-27T05:13:21.348Z,1761542001.348 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.169136 2025-10-27T05:13:21.459Z,1761542001.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904056,0.427386,-0.004943],[-0.426197,0.902292,0.064992],[0.032236,-0.056650,0.997873]] 2025-10-27T05:13:21.508Z,1761542001.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.500125 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:21.509Z,1761542001.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:21.601Z,1761542001.601 [DAT](INFO): DAT read: Rx Time:05:13:20.4345 2025-10-27T05:13:21.602Z,1761542001.602 [DAT](INFO): Rx dataTimestamp_ set to:1761542001.601625 2025-10-27T05:13:21.603Z,1761542001.603 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-27T05:13:21.604Z,1761542001.604 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T05:13:21.605Z,1761542001.605 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.425968 2025-10-27T05:13:21.849Z,1761542001.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904371,0.426719,-0.004850],[-0.425543,0.902615,0.064809],[0.032033,-0.056547,0.997886]] 2025-10-27T05:13:21.852Z,1761542001.852 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.673273 2025-10-27T05:13:21.883Z,1761542001.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.505180 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:21.883Z,1761542001.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:22.108Z,1761542002.108 [DAT](INFO): DAT read: Rx Time:05:13:20.9346 2025-10-27T05:13:22.109Z,1761542002.109 [DAT](INFO): Rx dataTimestamp_ set to:1761542002.108560 2025-10-27T05:13:22.113Z,1761542002.113 [DAT](INFO): DAT read: Bearing 324.7, -24.1 (Local) 2025-10-27T05:13:22.114Z,1761542002.114 [DAT](INFO): Local bearing/azimuth received: Bearing 324.7, -24.1 (Local) 2025-10-27T05:13:22.120Z,1761542002.120 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1 2025-10-27T05:13:22.122Z,1761542002.122 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-27T05:13:22.160Z,1761542002.160 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.980957 2025-10-27T05:13:22.360Z,1761542002.360 [DAT](INFO): DAT read: 05:13:20.9346 LVL= 28848, 25377, 31218, 27619, AGC= 72, IDX= 2, 0.05, 2.620,-1.548,-2.799,-2.608, PHS=-0.954, 1.105,-0.235, RAW= 309.9, 0.9, CAL= 307.9, -2.3, ROT= 202.1, 2.3 2025-10-27T05:13:22.361Z,1761542002.361 [DAT](INFO): got valid direction response: 05:13:20.9346 LVL= 28848, 25377, 31218, 27619, AGC= 72, IDX= 2, 0.05, 2.620,-1.548,-2.799,-2.608, PHS=-0.954, 1.105,-0.235, RAW= 309.9, 0.9, CAL= 307.9, -2.3, ROT= 202.1, 2.3 2025-10-27T05:13:22.361Z,1761542002.361 [DAT](INFO): #Rx 44: Read direction message, but no range. 2025-10-27T05:13:22.362Z,1761542002.362 [DAT](INFO): direction in FSK: [-0.925782,-0.375921,-0.040132] 2025-10-27T05:13:22.366Z,1761542002.366 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.186821 2025-10-27T05:13:22.518Z,1761542002.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.506935 s, deltaX: 0.100000 m, approachRate: 0.197265 m/s, rangeRepo size: 4 2025-10-27T05:13:22.524Z,1761542002.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.280632 m, bearing: 177.013054 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 1.512240 s, deltaX: 0.099516 m, approachRate: 0.065807 m/s, posRepo size: 4 2025-10-27T05:13:22.525Z,1761542002.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:13:22.614Z,1761542002.614 [DAT](INFO): DAT read: Rx Time:05:13:21.4345 2025-10-27T05:13:22.616Z,1761542002.616 [DAT](INFO): Rx dataTimestamp_ set to:1761542002.614855 2025-10-27T05:13:22.622Z,1761542002.622 [DAT](INFO): DAT read: Bearing 324.9, -24.3 (Local) 2025-10-27T05:13:22.624Z,1761542002.624 [DAT](INFO): Local bearing/azimuth received: Bearing 324.9, -24.3 (Local) 2025-10-27T05:13:22.636Z,1761542002.636 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-27T05:13:22.653Z,1761542002.653 [DAT](INFO): DAT read: 05:13:21.4345 LVL= 28384, 17697, 23026, 32755, AGC= 68, IDX= 497, 0.23, 1.951,-2.219, 2.821, 3.007, PHS=-0.954, 1.103,-0.230, RAW= 309.7, 0.9, CAL= 307.7, -2.4, ROT= 202.3, 2.4 2025-10-27T05:13:22.655Z,1761542002.655 [DAT](INFO): got valid direction response: 05:13:21.4345 LVL= 28384, 17697, 23026, 32755, AGC= 68, IDX= 497, 0.23, 1.951,-2.219, 2.821, 3.007, PHS=-0.954, 1.103,-0.230, RAW= 309.7, 0.9, CAL= 307.7, -2.4, ROT= 202.3, 2.4 2025-10-27T05:13:22.659Z,1761542002.659 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:13:22.660Z,1761542002.660 [DAT](INFO): direction in FSK: [-0.924398,-0.379123,-0.041876] 2025-10-27T05:13:22.660Z,1761542002.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:22.668Z,1761542002.668 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.489424 2025-10-27T05:13:22.775Z,1761542002.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905188,0.424985,-0.004636],[-0.423842,0.903455,0.064238],[0.031489,-0.056183,0.997924]] 2025-10-27T05:13:22.851Z,1761542002.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.506295 s, deltaX: -0.100000 m, approachRate: -0.197514 m/s, rangeRepo size: 4 2025-10-27T05:13:22.853Z,1761542002.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.181143 m, bearing: 177.326429 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.506295 s, deltaX: -0.099489 m, approachRate: -0.196504 m/s, posRepo size: 4 2025-10-27T05:13:22.853Z,1761542002.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:22.864Z,1761542002.864 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.685268 2025-10-27T05:13:23.120Z,1761542003.120 [DAT](INFO): DAT read: Rx Time:05:13:21.9346 2025-10-27T05:13:23.121Z,1761542003.121 [DAT](INFO): Rx dataTimestamp_ set to:1761542003.120554 2025-10-27T05:13:23.124Z,1761542003.124 [DAT](INFO): DAT read: Bearing 324.5, -24.5 (Local) 2025-10-27T05:13:23.125Z,1761542003.125 [DAT](INFO): Local bearing/azimuth received: Bearing 324.5, -24.5 (Local) 2025-10-27T05:13:23.127Z,1761542003.127 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T05:13:23.127Z,1761542003.127 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-27T05:13:23.128Z,1761542003.128 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.949413 2025-10-27T05:13:23.174Z,1761542003.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905644,0.424015,-0.004596],[-0.422884,0.903921,0.063997],[0.031290,-0.056015,0.997940]] 2025-10-27T05:13:23.221Z,1761542003.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.505699 s, deltaX: 0.100000 m, approachRate: 0.197747 m/s, rangeRepo size: 4 2025-10-27T05:13:23.222Z,1761542003.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:23.372Z,1761542003.372 [DAT](INFO): DAT read: 05:13:21.9346 LVL= 32752, 27217, 32754, 32755, AGC= 73, IDX= 2, 0.47, 2.906,-1.275,-2.508,-2.312, PHS=-0.963, 1.082,-0.240, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 2025-10-27T05:13:23.373Z,1761542003.373 [DAT](INFO): got valid direction response: 05:13:21.9346 LVL= 32752, 27217, 32754, 32755, AGC= 73, IDX= 2, 0.47, 2.906,-1.275,-2.508,-2.312, PHS=-0.963, 1.082,-0.240, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 2025-10-27T05:13:23.373Z,1761542003.373 [DAT](INFO): #Rx 47: Read direction message, but no range. 2025-10-27T05:13:23.374Z,1761542003.374 [DAT](INFO): direction in FSK: [-0.923372,-0.382473,-0.033155] 2025-10-27T05:13:23.378Z,1761542003.378 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.199068 2025-10-27T05:13:23.592Z,1761542003.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905907,0.423453,-0.004524],[-0.422326,0.904181,0.064008],[0.031195,-0.056074,0.997939]] 2025-10-27T05:13:23.624Z,1761542003.624 [DAT](INFO): DAT read: Rx Time:05:13:22.4345 2025-10-27T05:13:23.624Z,1761542003.624 [DAT](INFO): Rx dataTimestamp_ set to:1761542003.624096 2025-10-27T05:13:23.626Z,1761542003.626 [DAT](INFO): DAT read: Bearing 324.6, -24.6 (Local) 2025-10-27T05:13:23.626Z,1761542003.626 [DAT](INFO): Local bearing/azimuth received: Bearing 324.6, -24.6 (Local) 2025-10-27T05:13:23.628Z,1761542003.628 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:13:23.633Z,1761542003.633 [DAT](INFO): DAT read: 05:13:22.4345 LVL= 30704, 20401, 25762, 32755, AGC= 69, IDX= 498,-0.22, 0.114, 2.242, 0.998, 1.192, PHS=-0.976, 1.095,-0.238, RAW= 309.4, 1.3, CAL= 307.3, -2.0, ROT= 202.7, 2.0 2025-10-27T05:13:23.634Z,1761542003.634 [DAT](INFO): got valid direction response: 05:13:22.4345 LVL= 30704, 20401, 25762, 32755, AGC= 69, IDX= 498,-0.22, 0.114, 2.242, 0.998, 1.192, PHS=-0.976, 1.095,-0.238, RAW= 309.4, 1.3, CAL= 307.3, -2.0, ROT= 202.7, 2.0 2025-10-27T05:13:23.634Z,1761542003.634 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:13:23.650Z,1761542003.650 [DAT](INFO): direction in FSK: [-0.921976,-0.385671,-0.034899] 2025-10-27T05:13:23.651Z,1761542003.651 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:23.654Z,1761542003.654 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.475584 2025-10-27T05:13:23.780Z,1761542003.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503542 s, deltaX: -0.100000 m, approachRate: -0.198594 m/s, rangeRepo size: 4 2025-10-27T05:13:23.782Z,1761542003.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.181139 m, bearing: 177.795950 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 1.009241 s, deltaX: -0.000004 m, approachRate: -0.000004 m/s, posRepo size: 4 2025-10-27T05:13:23.782Z,1761542003.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:23.873Z,1761542003.873 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.693743 2025-10-27T05:13:24.020Z,1761542004.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906536,0.422105,-0.004369],[-0.420988,0.904800,0.064080],[0.031001,-0.056252,0.997935]] 2025-10-27T05:13:24.058Z,1761542004.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:13:24.125Z,1761542004.125 [DAT](INFO): DAT read: Rx Time:05:13:22.9347 2025-10-27T05:13:24.126Z,1761542004.126 [DAT](INFO): Rx dataTimestamp_ set to:1761542004.125493 2025-10-27T05:13:24.127Z,1761542004.127 [DAT](INFO): DAT read: Bearing 324.8, -24.3 (Local) 2025-10-27T05:13:24.128Z,1761542004.128 [DAT](INFO): Local bearing/azimuth received: Bearing 324.8, -24.3 (Local) 2025-10-27T05:13:24.130Z,1761542004.130 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.0 2025-10-27T05:13:24.134Z,1761542004.134 [DAT](INFO): DAT read: 05:13:22.9347 LVL= 25424, 19489, 23490, 27523, AGC= 72, IDX= 3, 0.01, 1.912,-2.252, 2.783, 2.978, PHS=-0.964, 1.098,-0.239, RAW= 309.7, 1.2, CAL= 307.7, -2.1, ROT= 202.3, 2.1 2025-10-27T05:13:24.136Z,1761542004.136 [DAT](INFO): got valid direction response: 05:13:22.9347 LVL= 25424, 19489, 23490, 27523, AGC= 72, IDX= 3, 0.01, 1.912,-2.252, 2.783, 2.978, PHS=-0.964, 1.098,-0.239, RAW= 309.7, 1.2, CAL= 307.7, -2.1, ROT= 202.3, 2.1 2025-10-27T05:13:24.136Z,1761542004.136 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:13:24.137Z,1761542004.137 [DAT](INFO): direction in FSK: [-0.924588,-0.379201,-0.036644] 2025-10-27T05:13:24.137Z,1761542004.137 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:24.141Z,1761542004.141 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.962164 2025-10-27T05:13:24.376Z,1761542004.376 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.197119 2025-10-27T05:13:24.427Z,1761542004.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906986,0.421138,-0.004418],[-0.420024,0.905258,0.063936],[0.030926,-0.056134,0.997944]] 2025-10-27T05:13:24.521Z,1761542004.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.501397 s, deltaX: 0.300001 m, approachRate: 0.598331 m/s, rangeRepo size: 4 2025-10-27T05:13:24.527Z,1761542004.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.479576 m, bearing: 177.548535 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.501397 s, deltaX: 0.298437 m, approachRate: 0.595211 m/s, posRepo size: 4 2025-10-27T05:13:24.527Z,1761542004.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:13:24.629Z,1761542004.629 [DAT](INFO): DAT read: Rx Time:05:13:23.4346 2025-10-27T05:13:24.630Z,1761542004.630 [DAT](INFO): Rx dataTimestamp_ set to:1761542004.629659 2025-10-27T05:13:24.632Z,1761542004.632 [DAT](INFO): DAT read: Bearing 324.6, -24.5 (Local) 2025-10-27T05:13:24.632Z,1761542004.632 [DAT](INFO): Local bearing/azimuth received: Bearing 324.6, -24.5 (Local) 2025-10-27T05:13:24.634Z,1761542004.634 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.2 2025-10-27T05:13:24.640Z,1761542004.640 [DAT](INFO): DAT read: 05:13:23.4346 LVL= 31664, 20369, 27810, 32755, AGC= 69, IDX= 498, 0.22, 1.482,-2.698, 2.353, 2.550, PHS=-0.966, 1.080,-0.241, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 2025-10-27T05:13:24.641Z,1761542004.641 [DAT](INFO): got valid direction response: 05:13:23.4346 LVL= 31664, 20369, 27810, 32755, AGC= 69, IDX= 498, 0.22, 1.482,-2.698, 2.353, 2.550, PHS=-0.966, 1.080,-0.241, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 2025-10-27T05:13:24.642Z,1761542004.642 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:13:24.644Z,1761542004.644 [DAT](INFO): direction in FSK: [-0.923372,-0.382473,-0.033155] 2025-10-27T05:13:24.644Z,1761542004.644 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:24.657Z,1761542004.657 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.478580 2025-10-27T05:13:24.825Z,1761542004.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907271,0.420521,-0.004608],[-0.419398,0.905550,0.063905],[0.031046,-0.056046,0.997945]] 2025-10-27T05:13:24.880Z,1761542004.880 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.701321 2025-10-27T05:13:24.881Z,1761542004.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504166 s, deltaX: -0.200001 m, approachRate: -0.396696 m/s, rangeRepo size: 4 2025-10-27T05:13:24.883Z,1761542004.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.280596 m, bearing: 177.774954 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504166 s, deltaX: -0.198980 m, approachRate: -0.394672 m/s, posRepo size: 4 2025-10-27T05:13:24.884Z,1761542004.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:13:25.132Z,1761542005.132 [DAT](INFO): DAT read: Rx Time:05:13:23.9346 2025-10-27T05:13:25.133Z,1761542005.133 [DAT](INFO): Rx dataTimestamp_ set to:1761542005.132680 2025-10-27T05:13:25.134Z,1761542005.134 [DAT](INFO): DAT read: Bearing 324.9, -24.3 (Local) 2025-10-27T05:13:25.135Z,1761542005.135 [DAT](INFO): Local bearing/azimuth received: Bearing 324.9, -24.3 (Local) 2025-10-27T05:13:25.137Z,1761542005.137 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T05:13:25.141Z,1761542005.141 [DAT](INFO): DAT read: 05:13:23.9346 LVL= 31152, 20017, 25266, 32755, AGC= 69, IDX= 499,-0.36,-1.063, 1.064,-0.187, 0.007, PHS=-0.968, 1.102,-0.238, RAW= 309.7, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 2025-10-27T05:13:25.142Z,1761542005.142 [DAT](INFO): got valid direction response: 05:13:23.9346 LVL= 31152, 20017, 25266, 32755, AGC= 69, IDX= 499,-0.36,-1.063, 1.064,-0.187, 0.007, PHS=-0.968, 1.102,-0.238, RAW= 309.7, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 2025-10-27T05:13:25.143Z,1761542005.143 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:13:25.144Z,1761542005.144 [DAT](INFO): direction in FSK: [-0.923925,-0.380814,-0.036644] 2025-10-27T05:13:25.144Z,1761542005.144 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:25.148Z,1761542005.148 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.969126 2025-10-27T05:13:25.244Z,1761542005.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907509,0.420009,-0.004523],[-0.418889,0.905777,0.064027],[0.030989,-0.056211,0.997938]] 2025-10-27T05:13:25.321Z,1761542005.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503021 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:25.334Z,1761542005.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.280565 m, bearing: 177.720119 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.503021 s, deltaX: -0.000031 m, approachRate: -0.000061 m/s, posRepo size: 4 2025-10-27T05:13:25.344Z,1761542005.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:13:25.387Z,1761542005.387 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.207237 2025-10-27T05:13:25.636Z,1761542005.636 [DAT](INFO): DAT read: Rx Time:05:13:24.4346 2025-10-27T05:13:25.637Z,1761542005.637 [DAT](INFO): Rx dataTimestamp_ set to:1761542005.636678 2025-10-27T05:13:25.638Z,1761542005.638 [DAT](INFO): DAT read: Bearing 324.8, -24.2 (Local) 2025-10-27T05:13:25.639Z,1761542005.639 [DAT](INFO): Local bearing/azimuth received: Bearing 324.8, -24.2 (Local) 2025-10-27T05:13:25.641Z,1761542005.641 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T05:13:25.645Z,1761542005.645 [DAT](INFO): DAT read: 05:13:24.4346 LVL= 32752, 20049, 29506, 32755, AGC= 68, IDX= 498,-0.04,-2.481,-0.379,-1.616,-1.420, PHS=-0.960, 1.086,-0.241, RAW= 309.7, 1.3, CAL= 307.7, -2.0, ROT= 202.3, 2.0 2025-10-27T05:13:25.646Z,1761542005.646 [DAT](INFO): got valid direction response: 05:13:24.4346 LVL= 32752, 20049, 29506, 32755, AGC= 68, IDX= 498,-0.04,-2.481,-0.379,-1.616,-1.420, PHS=-0.960, 1.086,-0.241, RAW= 309.7, 1.3, CAL= 307.7, -2.0, ROT= 202.3, 2.0 2025-10-27T05:13:25.647Z,1761542005.647 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:13:25.648Z,1761542005.648 [DAT](INFO): direction in FSK: [-0.924646,-0.379225,-0.034899] 2025-10-27T05:13:25.649Z,1761542005.649 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:25.652Z,1761542005.652 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.473551 2025-10-27T05:13:25.693Z,1761542005.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907717,0.419558,-0.004553],[-0.418431,0.905975,0.064222],[0.031069,-0.056390,0.997925]] 2025-10-27T05:13:25.821Z,1761542005.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503998 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:25.827Z,1761542005.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.280565 m, bearing: 177.642895 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.503998 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:25.828Z,1761542005.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:13:25.889Z,1761542005.889 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.709826 2025-10-27T05:13:26.138Z,1761542006.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907945,0.419064,-0.004685],[-0.417926,0.906199,0.064350],[0.031212,-0.056468,0.997916]] 2025-10-27T05:13:26.141Z,1761542006.141 [DAT](INFO): DAT read: Rx Time:05:13:24.9347 2025-10-27T05:13:26.141Z,1761542006.141 [DAT](INFO): Rx dataTimestamp_ set to:1761542006.140815 2025-10-27T05:13:26.142Z,1761542006.142 [DAT](INFO): DAT read: Bearing 325.1, -24.4 (Local) 2025-10-27T05:13:26.143Z,1761542006.143 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -24.4 (Local) 2025-10-27T05:13:26.145Z,1761542006.145 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:13:26.150Z,1761542006.150 [DAT](INFO): DAT read: 05:13:24.9347 LVL= 32752, 20977, 25058, 32755, AGC= 70, IDX= 499, 0.18, 0.638, 2.784, 1.525, 1.716, PHS=-0.976, 1.114,-0.235, RAW= 309.5, 1.1, CAL= 307.5, -2.2, ROT= 202.5, 2.2 2025-10-27T05:13:26.151Z,1761542006.151 [DAT](INFO): got valid direction response: 05:13:24.9347 LVL= 32752, 20977, 25058, 32755, AGC= 70, IDX= 499, 0.18, 0.638, 2.784, 1.525, 1.716, PHS=-0.976, 1.114,-0.235, RAW= 309.5, 1.1, CAL= 307.5, -2.2, ROT= 202.5, 2.2 2025-10-27T05:13:26.151Z,1761542006.151 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:13:26.152Z,1761542006.152 [DAT](INFO): direction in FSK: [-0.923199,-0.382401,-0.038388] 2025-10-27T05:13:26.152Z,1761542006.152 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:26.160Z,1761542006.160 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.981436 2025-10-27T05:13:26.181Z,1761542006.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504137 s, deltaX: 0.200001 m, approachRate: 0.396719 m/s, rangeRepo size: 4 2025-10-27T05:13:26.183Z,1761542006.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.479527 m, bearing: 177.887328 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504137 s, deltaX: 0.198961 m, approachRate: 0.394657 m/s, posRepo size: 4 2025-10-27T05:13:26.184Z,1761542006.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:13:26.393Z,1761542006.393 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.214132 2025-10-27T05:13:26.488Z,1761542006.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908222,0.418460,-0.004854],[-0.417313,0.906478,0.064397],[0.031348,-0.056461,0.997912]] 2025-10-27T05:13:26.542Z,1761542006.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:13:26.645Z,1761542006.645 [DAT](INFO): DAT read: Rx Time:05:13:25.4346 2025-10-27T05:13:26.645Z,1761542006.645 [DAT](INFO): Rx dataTimestamp_ set to:1761542006.644875 2025-10-27T05:13:26.646Z,1761542006.646 [DAT](INFO): DAT read: Bearing 325.0, -24.3 (Local) 2025-10-27T05:13:26.647Z,1761542006.647 [DAT](INFO): Local bearing/azimuth received: Bearing 325.0, -24.3 (Local) 2025-10-27T05:13:26.649Z,1761542006.649 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T05:13:26.654Z,1761542006.654 [DAT](INFO): DAT read: 05:13:25.4346 LVL= 31568, 19025, 23794, 32755, AGC= 69, IDX= 499,-0.42,-2.629,-0.512,-1.758,-1.564, PHS=-0.963, 1.097,-0.237, RAW= 309.7, 1.1, CAL= 307.7, -2.1, ROT= 202.3, 2.1 2025-10-27T05:13:26.655Z,1761542006.655 [DAT](INFO): got valid direction response: 05:13:25.4346 LVL= 31568, 19025, 23794, 32755, AGC= 69, IDX= 499,-0.42,-2.629,-0.512,-1.758,-1.564, PHS=-0.963, 1.097,-0.237, RAW= 309.7, 1.1, CAL= 307.7, -2.1, ROT= 202.3, 2.1 2025-10-27T05:13:26.656Z,1761542006.656 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:13:26.657Z,1761542006.657 [DAT](INFO): direction in FSK: [-0.924588,-0.379201,-0.036644] 2025-10-27T05:13:26.657Z,1761542006.657 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:26.665Z,1761542006.665 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.486017 2025-10-27T05:13:26.896Z,1761542006.896 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.717033 2025-10-27T05:13:26.902Z,1761542006.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908482,0.417891,-0.005210],[-0.416727,0.906753,0.064318],[0.031603,-0.056261,0.997916]] 2025-10-27T05:13:26.941Z,1761542006.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504060 s, deltaX: -0.200001 m, approachRate: -0.396780 m/s, rangeRepo size: 4 2025-10-27T05:13:26.945Z,1761542006.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.280546 m, bearing: 177.756843 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504060 s, deltaX: -0.198980 m, approachRate: -0.394755 m/s, posRepo size: 4 2025-10-27T05:13:26.945Z,1761542006.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.28 m. 2025-10-27T05:13:27.149Z,1761542007.149 [DAT](INFO): DAT read: Rx Time:05:13:25.9348 2025-10-27T05:13:27.149Z,1761542007.149 [DAT](INFO): Rx dataTimestamp_ set to:1761542007.148735 2025-10-27T05:13:27.150Z,1761542007.150 [DAT](INFO): DAT read: Bearing 324.1, -24.5 (Local) 2025-10-27T05:13:27.151Z,1761542007.151 [DAT](INFO): Local bearing/azimuth received: Bearing 324.1, -24.5 (Local) 2025-10-27T05:13:27.153Z,1761542007.153 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:13:27.157Z,1761542007.157 [DAT](INFO): DAT read: 05:13:25.9348 LVL= 32752, 22657, 28914, 32755, AGC= 71, IDX= 500,-0.11,-1.487, 0.657,-0.605,-0.385, PHS=-1.000, 1.088,-0.264, RAW= 309.7, 1.9, CAL= 307.5, -1.3, ROT= 202.5, 1.3 2025-10-27T05:13:27.158Z,1761542007.158 [DAT](INFO): got valid direction response: 05:13:25.9348 LVL= 32752, 22657, 28914, 32755, AGC= 71, IDX= 500,-0.11,-1.487, 0.657,-0.605,-0.385, PHS=-1.000, 1.088,-0.264, RAW= 309.7, 1.9, CAL= 307.5, -1.3, ROT= 202.5, 1.3 2025-10-27T05:13:27.160Z,1761542007.160 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:13:27.165Z,1761542007.165 [DAT](INFO): direction in FSK: [-0.923642,-0.382585,-0.022687] 2025-10-27T05:13:27.166Z,1761542007.166 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:27.170Z,1761542007.170 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.991304 2025-10-27T05:13:27.306Z,1761542007.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908629,0.417568,-0.005542],[-0.416387,0.906912,0.064285],[0.031870,-0.056104,0.997916]] 2025-10-27T05:13:27.403Z,1761542007.403 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.223392 2025-10-27T05:13:27.437Z,1761542007.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503860 s, deltaX: 0.300001 m, approachRate: 0.595406 m/s, rangeRepo size: 4 2025-10-27T05:13:27.444Z,1761542007.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579033 m, bearing: 177.926606 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.503860 s, deltaX: 0.298487 m, approachRate: 0.592400 m/s, posRepo size: 4 2025-10-27T05:13:27.445Z,1761542007.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:27.653Z,1761542007.653 [DAT](INFO): DAT read: Rx Time:05:13:26.4347 2025-10-27T05:13:27.653Z,1761542007.653 [DAT](INFO): Rx dataTimestamp_ set to:1761542007.652798 2025-10-27T05:13:27.654Z,1761542007.654 [DAT](INFO): DAT read: Bearing 324.7, -24.6 (Local) 2025-10-27T05:13:27.655Z,1761542007.655 [DAT](INFO): Local bearing/azimuth received: Bearing 324.7, -24.6 (Local) 2025-10-27T05:13:27.658Z,1761542007.658 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:13:27.664Z,1761542007.664 [DAT](INFO): DAT read: 05:13:26.4347 LVL= 32144, 21329, 26482, 32755, AGC= 70, IDX= 499, 0.14,-1.380, 0.745,-0.498,-0.303, PHS=-0.975, 1.093,-0.239, RAW= 309.4, 1.3, CAL= 307.4, -2.0, ROT= 202.6, 2.0 2025-10-27T05:13:27.665Z,1761542007.665 [DAT](INFO): got valid direction response: 05:13:26.4347 LVL= 32144, 21329, 26482, 32755, AGC= 70, IDX= 499, 0.14,-1.380, 0.745,-0.498,-0.303, PHS=-0.975, 1.093,-0.239, RAW= 309.4, 1.3, CAL= 307.4, -2.0, ROT= 202.6, 2.0 2025-10-27T05:13:27.665Z,1761542007.665 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:13:27.666Z,1761542007.666 [DAT](INFO): direction in FSK: [-0.922648,-0.384061,-0.034899] 2025-10-27T05:13:27.666Z,1761542007.666 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:27.676Z,1761542007.676 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.497637 2025-10-27T05:13:27.724Z,1761542007.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908678,0.417456,-0.005831],[-0.416256,0.906966,0.064366],[0.032158,-0.056061,0.997909]] 2025-10-27T05:13:27.826Z,1761542007.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504063 s, deltaX: -0.100000 m, approachRate: -0.198389 m/s, rangeRepo size: 4 2025-10-27T05:13:27.832Z,1761542007.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.479542 m, bearing: 178.079552 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504063 s, deltaX: -0.099491 m, approachRate: -0.197378 m/s, posRepo size: 4 2025-10-27T05:13:27.833Z,1761542007.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:13:27.905Z,1761542007.905 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.726114 2025-10-27T05:13:28.145Z,1761542008.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908577,0.417673,-0.006129],[-0.416446,0.906856,0.064687],[0.032576,-0.056220,0.997887]] 2025-10-27T05:13:28.157Z,1761542008.157 [DAT](INFO): DAT read: Rx Time:05:13:26.9348 2025-10-27T05:13:28.157Z,1761542008.157 [DAT](INFO): Rx dataTimestamp_ set to:1761542008.156783 2025-10-27T05:13:28.158Z,1761542008.158 [DAT](INFO): DAT read: Bearing 325.1, -24.5 (Local) 2025-10-27T05:13:28.159Z,1761542008.159 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -24.5 (Local) 2025-10-27T05:13:28.161Z,1761542008.161 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:13:28.165Z,1761542008.165 [DAT](INFO): DAT read: 05:13:26.9348 LVL= 32064, 22657, 28066, 32755, AGC= 70, IDX= 500, 0.43, 0.184, 2.324, 1.073, 1.260, PHS=-0.974, 1.109,-0.231, RAW= 309.4, 1.1, CAL= 307.4, -2.2, ROT= 202.6, 2.2 2025-10-27T05:13:28.167Z,1761542008.167 [DAT](INFO): got valid direction response: 05:13:26.9348 LVL= 32064, 22657, 28066, 32755, AGC= 70, IDX= 500, 0.43, 0.184, 2.324, 1.073, 1.260, PHS=-0.974, 1.109,-0.231, RAW= 309.4, 1.1, CAL= 307.4, -2.2, ROT= 202.6, 2.2 2025-10-27T05:13:28.167Z,1761542008.167 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:13:28.168Z,1761542008.168 [DAT](INFO): direction in FSK: [-0.922530,-0.384012,-0.038388] 2025-10-27T05:13:28.168Z,1761542008.168 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:28.172Z,1761542008.172 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.993204 2025-10-27T05:13:28.186Z,1761542008.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503985 s, deltaX: 0.100000 m, approachRate: 0.198419 m/s, rangeRepo size: 4 2025-10-27T05:13:28.200Z,1761542008.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579039 m, bearing: 178.080636 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.503985 s, deltaX: 0.099497 m, approachRate: 0.197420 m/s, posRepo size: 4 2025-10-27T05:13:28.201Z,1761542008.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:28.411Z,1761542008.411 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.231882 2025-10-27T05:13:28.498Z,1761542008.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908552,0.417724,-0.006411],[-0.416470,0.906822,0.065014],[0.032972,-0.056398,0.997864]] 2025-10-27T05:13:28.553Z,1761542008.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:28.661Z,1761542008.661 [DAT](INFO): DAT read: Rx Time:05:13:27.4348 2025-10-27T05:13:28.661Z,1761542008.661 [DAT](INFO): Rx dataTimestamp_ set to:1761542008.660791 2025-10-27T05:13:28.663Z,1761542008.663 [DAT](INFO): DAT read: Bearing 324.9, -24.4 (Local) 2025-10-27T05:13:28.664Z,1761542008.664 [DAT](INFO): Local bearing/azimuth received: Bearing 324.9, -24.4 (Local) 2025-10-27T05:13:28.667Z,1761542008.667 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 2025-10-27T05:13:28.674Z,1761542008.674 [DAT](INFO): DAT read: 05:13:27.4348 LVL= 31600, 21777, 26098, 32755, AGC= 70, IDX= 500,-0.21,-2.771,-0.643,-1.894,-1.699, PHS=-0.970, 1.101,-0.238, RAW= 309.6, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 2025-10-27T05:13:28.675Z,1761542008.675 [DAT](INFO): got valid direction response: 05:13:27.4348 LVL= 31600, 21777, 26098, 32755, AGC= 70, IDX= 500,-0.21,-2.771,-0.643,-1.894,-1.699, PHS=-0.970, 1.101,-0.238, RAW= 309.6, 1.2, CAL= 307.6, -2.1, ROT= 202.4, 2.1 2025-10-27T05:13:28.676Z,1761542008.676 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:13:28.677Z,1761542008.677 [DAT](INFO): direction in FSK: [-0.923925,-0.380814,-0.036644] 2025-10-27T05:13:28.677Z,1761542008.677 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:28.691Z,1761542008.691 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.512547 2025-10-27T05:13:28.902Z,1761542008.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908523,0.417782,-0.006646],[-0.416506,0.906786,0.065289],[0.033304,-0.056548,0.997844]] 2025-10-27T05:13:28.912Z,1761542008.912 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.733242 2025-10-27T05:13:28.963Z,1761542008.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:28.966Z,1761542008.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579039 m, bearing: 177.870985 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:28.966Z,1761542008.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:29.164Z,1761542009.164 [DAT](INFO): DAT read: Rx Time:05:13:27.9348 2025-10-27T05:13:29.165Z,1761542009.165 [DAT](INFO): Rx dataTimestamp_ set to:1761542009.164632 2025-10-27T05:13:29.166Z,1761542009.166 [DAT](INFO): DAT read: Bearing 324.2, -24.4 (Local) 2025-10-27T05:13:29.167Z,1761542009.167 [DAT](INFO): Local bearing/azimuth received: Bearing 324.2, -24.4 (Local) 2025-10-27T05:13:29.169Z,1761542009.169 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:13:29.173Z,1761542009.173 [DAT](INFO): DAT read: 05:13:27.9348 LVL= 32752, 22321, 28306, 32755, AGC= 70, IDX= 500, 0.01,-1.871, 0.246,-1.002,-0.788, PHS=-0.980, 1.080,-0.258, RAW= 309.8, 1.8, CAL= 307.6, -1.5, ROT= 202.4, 1.5 2025-10-27T05:13:29.174Z,1761542009.174 [DAT](INFO): got valid direction response: 05:13:27.9348 LVL= 32752, 22321, 28306, 32755, AGC= 70, IDX= 500, 0.01,-1.871, 0.246,-1.002,-0.788, PHS=-0.980, 1.080,-0.258, RAW= 309.8, 1.8, CAL= 307.6, -1.5, ROT= 202.4, 1.5 2025-10-27T05:13:29.178Z,1761542009.178 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:13:29.179Z,1761542009.179 [DAT](INFO): direction in FSK: [-0.924229,-0.380940,-0.026177] 2025-10-27T05:13:29.179Z,1761542009.179 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:29.192Z,1761542009.192 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.013014 2025-10-27T05:13:29.306Z,1761542009.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908435,0.417970,-0.006869],[-0.416672,0.906691,0.065537],[0.033620,-0.056674,0.997826]] 2025-10-27T05:13:29.356Z,1761542009.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503841 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:29.358Z,1761542009.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579050 m, bearing: 177.821415 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.503841 s, deltaX: 0.000011 m, approachRate: 0.000023 m/s, posRepo size: 4 2025-10-27T05:13:29.358Z,1761542009.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:29.419Z,1761542009.419 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.239326 2025-10-27T05:13:29.668Z,1761542009.668 [DAT](INFO): DAT read: Rx Time:05:13:28.4347 2025-10-27T05:13:29.669Z,1761542009.669 [DAT](INFO): Rx dataTimestamp_ set to:1761542009.668685 2025-10-27T05:13:29.670Z,1761542009.670 [DAT](INFO): DAT read: Bearing 324.4, -24.3 (Local) 2025-10-27T05:13:29.671Z,1761542009.671 [DAT](INFO): Local bearing/azimuth received: Bearing 324.4, -24.3 (Local) 2025-10-27T05:13:29.673Z,1761542009.673 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.1 2025-10-27T05:13:29.677Z,1761542009.677 [DAT](INFO): DAT read: 05:13:28.4347 LVL= 32752, 22097, 28466, 32755, AGC= 70, IDX= 499, 0.22,-2.312,-0.199,-1.446,-1.236, PHS=-0.974, 1.082,-0.254, RAW= 309.8, 1.6, CAL= 307.7, -1.6, ROT= 202.3, 1.6 2025-10-27T05:13:29.678Z,1761542009.678 [DAT](INFO): got valid direction response: 05:13:28.4347 LVL= 32752, 22097, 28466, 32755, AGC= 70, IDX= 499, 0.22,-2.312,-0.199,-1.446,-1.236, PHS=-0.974, 1.082,-0.254, RAW= 309.8, 1.6, CAL= 307.7, -1.6, ROT= 202.3, 1.6 2025-10-27T05:13:29.679Z,1761542009.679 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:13:29.680Z,1761542009.680 [DAT](INFO): direction in FSK: [-0.924849,-0.379308,-0.027922] 2025-10-27T05:13:29.680Z,1761542009.680 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:29.684Z,1761542009.684 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.505146 2025-10-27T05:13:29.739Z,1761542009.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908423,0.417991,-0.007174],[-0.416679,0.906693,0.065471],[0.033871,-0.056486,0.997829]] 2025-10-27T05:13:29.838Z,1761542009.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504053 s, deltaX: -0.100000 m, approachRate: -0.198393 m/s, rangeRepo size: 4 2025-10-27T05:13:29.840Z,1761542009.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.479559 m, bearing: 177.727698 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.504053 s, deltaX: -0.099491 m, approachRate: -0.197382 m/s, posRepo size: 4 2025-10-27T05:13:29.841Z,1761542009.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:13:29.921Z,1761542009.921 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.741840 2025-10-27T05:13:30.145Z,1761542010.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908509,0.417795,-0.007590],[-0.416468,0.906808,0.065219],[0.034131,-0.056091,0.997842]] 2025-10-27T05:13:30.164Z,1761542010.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.48 m. 2025-10-27T05:13:30.173Z,1761542010.173 [DAT](INFO): DAT read: Rx Time:05:13:28.9348 2025-10-27T05:13:30.173Z,1761542010.173 [DAT](INFO): Rx dataTimestamp_ set to:1761542010.172860 2025-10-27T05:13:30.174Z,1761542010.174 [DAT](INFO): DAT read: Bearing 324.8, -24.4 (Local) 2025-10-27T05:13:30.175Z,1761542010.175 [DAT](INFO): Local bearing/azimuth received: Bearing 324.8, -24.4 (Local) 2025-10-27T05:13:30.177Z,1761542010.177 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:13:30.182Z,1761542010.182 [DAT](INFO): DAT read: 05:13:28.9348 LVL= 32752, 23121, 27506, 32755, AGC= 71, IDX= 501,-0.44,-2.459,-0.322,-1.577,-1.380, PHS=-0.977, 1.102,-0.241, RAW= 309.6, 1.3, CAL= 307.5, -2.0, ROT= 202.5, 2.0 2025-10-27T05:13:30.183Z,1761542010.183 [DAT](INFO): got valid direction response: 05:13:28.9348 LVL= 32752, 23121, 27506, 32755, AGC= 71, IDX= 501,-0.44,-2.459,-0.322,-1.577,-1.380, PHS=-0.977, 1.102,-0.241, RAW= 309.6, 1.3, CAL= 307.5, -2.0, ROT= 202.5, 2.0 2025-10-27T05:13:30.184Z,1761542010.184 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:13:30.185Z,1761542010.185 [DAT](INFO): direction in FSK: [-0.923317,-0.382450,-0.034899] 2025-10-27T05:13:30.185Z,1761542010.185 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:30.189Z,1761542010.189 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.009827 2025-10-27T05:13:30.428Z,1761542010.428 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.248438 2025-10-27T05:13:30.521Z,1761542010.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908554,0.417691,-0.008047],[-0.416346,0.906880,0.064991],[0.034444,-0.055698,0.997853]] 2025-10-27T05:13:30.639Z,1761542010.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504175 s, deltaX: 0.100000 m, approachRate: 0.198345 m/s, rangeRepo size: 4 2025-10-27T05:13:30.641Z,1761542010.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579000 m, bearing: 177.974140 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.504175 s, deltaX: 0.099442 m, approachRate: 0.197236 m/s, posRepo size: 4 2025-10-27T05:13:30.642Z,1761542010.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:30.677Z,1761542010.677 [DAT](INFO): DAT read: Rx Time:05:13:29.4348 2025-10-27T05:13:30.677Z,1761542010.677 [DAT](INFO): Rx dataTimestamp_ set to:1761542010.676935 2025-10-27T05:13:30.678Z,1761542010.678 [DAT](INFO): DAT read: Bearing 324.5, -24.3 (Local) 2025-10-27T05:13:30.679Z,1761542010.679 [DAT](INFO): Local bearing/azimuth received: Bearing 324.5, -24.3 (Local) 2025-10-27T05:13:30.681Z,1761542010.681 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:13:30.686Z,1761542010.686 [DAT](INFO): DAT read: 05:13:29.4348 LVL= 32752, 24129, 28882, 32755, AGC= 70, IDX= 500,-0.13, 1.913,-2.230, 2.790, 3.001, PHS=-0.986, 1.097,-0.255, RAW= 309.8, 1.6, CAL= 307.6, -1.7, ROT= 202.4, 1.7 2025-10-27T05:13:30.687Z,1761542010.687 [DAT](INFO): got valid direction response: 05:13:29.4348 LVL= 32752, 24129, 28882, 32755, AGC= 70, IDX= 500,-0.13, 1.913,-2.230, 2.790, 3.001, PHS=-0.986, 1.097,-0.255, RAW= 309.8, 1.6, CAL= 307.6, -1.7, ROT= 202.4, 1.7 2025-10-27T05:13:30.688Z,1761542010.688 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:13:30.689Z,1761542010.689 [DAT](INFO): direction in FSK: [-0.924139,-0.380903,-0.029666] 2025-10-27T05:13:30.689Z,1761542010.689 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:30.692Z,1761542010.692 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.513645 2025-10-27T05:13:30.930Z,1761542010.930 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.750513 2025-10-27T05:13:30.974Z,1761542010.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:30.996Z,1761542010.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579000 m, bearing: 177.854878 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.504075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:30.997Z,1761542010.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:31.181Z,1761542011.181 [DAT](INFO): DAT read: Rx Time:05:13:29.9349 2025-10-27T05:13:31.182Z,1761542011.182 [DAT](INFO): Rx dataTimestamp_ set to:1761542011.181300 2025-10-27T05:13:31.183Z,1761542011.183 [DAT](INFO): DAT read: Bearing 325.0, -25.0 (Local) 2025-10-27T05:13:31.183Z,1761542011.183 [DAT](INFO): Local bearing/azimuth received: Bearing 325.0, -25.0 (Local) 2025-10-27T05:13:31.185Z,1761542011.185 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 2025-10-27T05:13:31.190Z,1761542011.190 [DAT](INFO): DAT read: 05:13:29.9349 LVL= 32752, 22801, 31282, 32755, AGC= 71, IDX= 501, 0.07,-2.523,-0.391,-1.626,-1.440, PHS=-0.981, 1.094,-0.230, RAW= 309.1, 1.3, CAL= 307.0, -2.0, ROT= 203.0, 2.0 2025-10-27T05:13:31.191Z,1761542011.191 [DAT](INFO): got valid direction response: 05:13:29.9349 LVL= 32752, 22801, 31282, 32755, AGC= 71, IDX= 501, 0.07,-2.523,-0.391,-1.626,-1.440, PHS=-0.981, 1.094,-0.230, RAW= 309.1, 1.3, CAL= 307.0, -2.0, ROT= 203.0, 2.0 2025-10-27T05:13:31.191Z,1761542011.191 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:13:31.192Z,1761542011.192 [DAT](INFO): direction in FSK: [-0.919944,-0.390493,-0.034899] 2025-10-27T05:13:31.193Z,1761542011.193 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:31.197Z,1761542011.197 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.017984 2025-10-27T05:13:31.330Z,1761542011.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908503,0.417790,-0.008589],[-0.416412,0.906845,0.065063],[0.034972,-0.055533,0.997844]] 2025-10-27T05:13:31.363Z,1761542011.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504365 s, deltaX: 0.199999 m, approachRate: 0.396536 m/s, rangeRepo size: 4 2025-10-27T05:13:31.365Z,1761542011.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.777990 m, bearing: 178.469093 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.504365 s, deltaX: 0.198990 m, approachRate: 0.394535 m/s, posRepo size: 4 2025-10-27T05:13:31.366Z,1761542011.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:31.436Z,1761542011.436 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.256571 2025-10-27T05:13:31.685Z,1761542011.685 [DAT](INFO): DAT read: Rx Time:05:13:30.4348 2025-10-27T05:13:31.685Z,1761542011.685 [DAT](INFO): Rx dataTimestamp_ set to:1761542011.684739 2025-10-27T05:13:31.686Z,1761542011.686 [DAT](INFO): DAT read: Bearing 324.4, -24.6 (Local) 2025-10-27T05:13:31.687Z,1761542011.687 [DAT](INFO): Local bearing/azimuth received: Bearing 324.4, -24.6 (Local) 2025-10-27T05:13:31.689Z,1761542011.689 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.2 2025-10-27T05:13:31.694Z,1761542011.694 [DAT](INFO): DAT read: 05:13:30.4348 LVL= 32752, 25697, 30434, 32755, AGC= 72, IDX= 500, 0.27,-3.022,-0.913,-2.150,-1.941, PHS=-0.979, 1.073,-0.253, RAW= 309.6, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5 2025-10-27T05:13:31.695Z,1761542011.695 [DAT](INFO): got valid direction response: 05:13:30.4348 LVL= 32752, 25697, 30434, 32755, AGC= 72, IDX= 500, 0.27,-3.022,-0.913,-2.150,-1.941, PHS=-0.979, 1.073,-0.253, RAW= 309.6, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5 2025-10-27T05:13:31.696Z,1761542011.696 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:13:31.697Z,1761542011.697 [DAT](INFO): direction in FSK: [-0.922894,-0.384164,-0.026177] 2025-10-27T05:13:31.697Z,1761542011.697 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:31.702Z,1761542011.702 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.523157 2025-10-27T05:13:31.760Z,1761542011.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908528,0.417734,-0.008710],[-0.416347,0.906869,0.065144],[0.035112,-0.055559,0.997838]] 2025-10-27T05:13:31.881Z,1761542011.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503439 s, deltaX: -0.199999 m, approachRate: -0.397265 m/s, rangeRepo size: 4 2025-10-27T05:13:31.888Z,1761542011.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579012 m, bearing: 178.041467 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503439 s, deltaX: -0.198978 m, approachRate: -0.395238 m/s, posRepo size: 4 2025-10-27T05:13:31.888Z,1761542011.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:31.937Z,1761542011.937 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.758423 2025-10-27T05:13:32.150Z,1761542012.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908636,0.417496,-0.008841],[-0.416101,0.906980,0.065166],[0.035225,-0.055533,0.997835]] 2025-10-27T05:13:32.181Z,1761542012.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:32.189Z,1761542012.189 [DAT](INFO): DAT read: Rx Time:05:13:30.9349 2025-10-27T05:13:32.189Z,1761542012.189 [DAT](INFO): Rx dataTimestamp_ set to:1761542012.188791 2025-10-27T05:13:32.190Z,1761542012.190 [DAT](INFO): DAT read: Bearing 324.9, -24.6 (Local) 2025-10-27T05:13:32.191Z,1761542012.191 [DAT](INFO): Local bearing/azimuth received: Bearing 324.9, -24.6 (Local) 2025-10-27T05:13:32.193Z,1761542012.193 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 2025-10-27T05:13:32.198Z,1761542012.198 [DAT](INFO): DAT read: 05:13:30.9349 LVL= 31536, 21809, 26098, 32755, AGC= 70, IDX= 502,-0.47,-2.554,-0.437,-1.676,-1.480, PHS=-0.972, 1.088,-0.240, RAW= 309.5, 1.4, CAL= 307.4, -1.9, ROT= 202.6, 1.9 2025-10-27T05:13:32.199Z,1761542012.199 [DAT](INFO): got valid direction response: 05:13:30.9349 LVL= 31536, 21809, 26098, 32755, AGC= 70, IDX= 502,-0.47,-2.554,-0.437,-1.676,-1.480, PHS=-0.972, 1.088,-0.240, RAW= 309.5, 1.4, CAL= 307.4, -1.9, ROT= 202.6, 1.9 2025-10-27T05:13:32.199Z,1761542012.199 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:13:32.200Z,1761542012.200 [DAT](INFO): direction in FSK: [-0.922703,-0.384084,-0.033155] 2025-10-27T05:13:32.200Z,1761542012.200 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:32.208Z,1761542012.208 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.029312 2025-10-27T05:13:32.444Z,1761542012.444 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.263954 2025-10-27T05:13:32.552Z,1761542012.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908760,0.417224,-0.008951],[-0.415822,0.907105,0.065214],[0.035329,-0.055541,0.997831]] 2025-10-27T05:13:32.661Z,1761542012.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504052 s, deltaX: 0.199999 m, approachRate: 0.396782 m/s, rangeRepo size: 4 2025-10-27T05:13:32.667Z,1761542012.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.778002 m, bearing: 178.100522 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504052 s, deltaX: 0.198990 m, approachRate: 0.394780 m/s, posRepo size: 4 2025-10-27T05:13:32.668Z,1761542012.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:32.693Z,1761542012.693 [DAT](INFO): DAT read: Rx Time:05:13:31.4349 2025-10-27T05:13:32.693Z,1761542012.693 [DAT](INFO): Rx dataTimestamp_ set to:1761542012.692934 2025-10-27T05:13:32.694Z,1761542012.694 [DAT](INFO): DAT read: Bearing 325.1, -24.1 (Local) 2025-10-27T05:13:32.695Z,1761542012.695 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -24.1 (Local) 2025-10-27T05:13:32.697Z,1761542012.697 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.1 2025-10-27T05:13:32.704Z,1761542012.704 [DAT](INFO): DAT read: 05:13:31.4349 LVL= 31920, 22513, 25650, 32755, AGC= 69, IDX= 501,-0.19, 2.672,-1.489,-2.747,-2.546, PHS=-0.962, 1.102,-0.245, RAW= 310.0, 1.2, CAL= 307.9, -2.1, ROT= 202.1, 2.1 2025-10-27T05:13:32.706Z,1761542012.706 [DAT](INFO): got valid direction response: 05:13:31.4349 LVL= 31920, 22513, 25650, 32755, AGC= 69, IDX= 501,-0.19, 2.672,-1.489,-2.747,-2.546, PHS=-0.962, 1.102,-0.245, RAW= 310.0, 1.2, CAL= 307.9, -2.1, ROT= 202.1, 2.1 2025-10-27T05:13:32.706Z,1761542012.706 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:13:32.708Z,1761542012.708 [DAT](INFO): direction in FSK: [-0.925906,-0.375972,-0.036644] 2025-10-27T05:13:32.708Z,1761542012.708 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:32.713Z,1761542012.713 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.534447 2025-10-27T05:13:32.945Z,1761542012.945 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.766109 2025-10-27T05:13:32.963Z,1761542012.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908957,0.416791,-0.009047],[-0.415385,0.907307,0.065189],[0.035379,-0.055496,0.997832]] 2025-10-27T05:13:32.987Z,1761542012.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:32.989Z,1761542012.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.778002 m, bearing: 177.641874 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.504143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:32.990Z,1761542012.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:33.196Z,1761542013.196 [DAT](INFO): DAT read: Rx Time:05:13:31.9349 2025-10-27T05:13:33.197Z,1761542013.197 [DAT](INFO): Rx dataTimestamp_ set to:1761542013.196675 2025-10-27T05:13:33.198Z,1761542013.198 [DAT](INFO): DAT read: Bearing 325.5, -25.0 (Local) 2025-10-27T05:13:33.199Z,1761542013.199 [DAT](INFO): Local bearing/azimuth received: Bearing 325.5, -25.0 (Local) 2025-10-27T05:13:33.201Z,1761542013.201 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 2025-10-27T05:13:33.205Z,1761542013.205 [DAT](INFO): DAT read: 05:13:31.9349 LVL= 31008, 20593, 25938, 32755, AGC= 69, IDX= 501,-0.09,-2.221,-0.094,-1.325,-1.147, PHS=-0.971, 1.098,-0.222, RAW= 309.0, 1.1, CAL= 307.0, -2.3, ROT= 203.0, 2.3 2025-10-27T05:13:33.210Z,1761542013.210 [DAT](INFO): got valid direction response: 05:13:31.9349 LVL= 31008, 20593, 25938, 32755, AGC= 69, IDX= 501,-0.09,-2.221,-0.094,-1.325,-1.147, PHS=-0.971, 1.098,-0.222, RAW= 309.0, 1.1, CAL= 307.0, -2.3, ROT= 203.0, 2.3 2025-10-27T05:13:33.212Z,1761542013.212 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:13:33.213Z,1761542013.213 [DAT](INFO): direction in FSK: [-0.919763,-0.390416,-0.040132] 2025-10-27T05:13:33.213Z,1761542013.213 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:33.262Z,1761542013.262 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.083118 2025-10-27T05:13:33.349Z,1761542013.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909187,0.416288,-0.009118],[-0.414881,0.907540,0.065156],[0.035399,-0.055456,0.997833]] 2025-10-27T05:13:33.395Z,1761542013.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503741 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:33.398Z,1761542013.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.777996 m, bearing: 178.585179 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.503741 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T05:13:33.398Z,1761542013.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:33.452Z,1761542013.452 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.272472 2025-10-27T05:13:33.701Z,1761542013.701 [DAT](INFO): DAT read: Rx Time:05:13:32.4348 2025-10-27T05:13:33.702Z,1761542013.702 [DAT](INFO): Rx dataTimestamp_ set to:1761542013.701451 2025-10-27T05:13:33.704Z,1761542013.704 [DAT](INFO): DAT read: Bearing 325.1, -24.9 (Local) 2025-10-27T05:13:33.704Z,1761542013.704 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -24.9 (Local) 2025-10-27T05:13:33.707Z,1761542013.707 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.0 2025-10-27T05:13:33.713Z,1761542013.713 [DAT](INFO): DAT read: 05:13:32.4348 LVL= 29904, 16721, 22226, 32755, AGC= 67, IDX= 500, 0.06,-1.196, 0.947,-0.299,-0.108, PHS=-0.986, 1.099,-0.236, RAW= 309.2, 1.4, CAL= 307.1, -2.0, ROT= 202.9, 2.0 2025-10-27T05:13:33.715Z,1761542013.715 [DAT](INFO): got valid direction response: 05:13:32.4348 LVL= 29904, 16721, 22226, 32755, AGC= 67, IDX= 500, 0.06,-1.196, 0.947,-0.299,-0.108, PHS=-0.986, 1.099,-0.236, RAW= 309.2, 1.4, CAL= 307.1, -2.0, ROT= 202.9, 2.0 2025-10-27T05:13:33.715Z,1761542013.715 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:13:33.717Z,1761542013.717 [DAT](INFO): direction in FSK: [-0.920624,-0.388887,-0.034899] 2025-10-27T05:13:33.717Z,1761542013.717 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:33.722Z,1761542013.722 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.543491 2025-10-27T05:13:33.774Z,1761542013.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909523,0.415555,-0.009079],[-0.414151,0.907873,0.065153],[0.035317,-0.055498,0.997834]] 2025-10-27T05:13:33.894Z,1761542013.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504776 s, deltaX: -0.199999 m, approachRate: -0.396213 m/s, rangeRepo size: 4 2025-10-27T05:13:33.896Z,1761542013.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579018 m, bearing: 178.511797 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.504776 s, deltaX: -0.198978 m, approachRate: -0.394192 m/s, posRepo size: 4 2025-10-27T05:13:33.897Z,1761542013.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:33.953Z,1761542013.953 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.774258 2025-10-27T05:13:34.154Z,1761542014.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909898,0.414732,-0.009178],[-0.413323,0.908249,0.065173],[0.035365,-0.055508,0.997832]] 2025-10-27T05:13:34.174Z,1761542014.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:34.205Z,1761542014.205 [DAT](INFO): DAT read: Rx Time:05:13:32.9349 2025-10-27T05:13:34.205Z,1761542014.205 [DAT](INFO): Rx dataTimestamp_ set to:1761542014.204816 2025-10-27T05:13:34.206Z,1761542014.206 [DAT](INFO): DAT read: Bearing 325.2, -24.8 (Local) 2025-10-27T05:13:34.207Z,1761542014.207 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -24.8 (Local) 2025-10-27T05:13:34.209Z,1761542014.209 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 2025-10-27T05:13:34.214Z,1761542014.214 [DAT](INFO): DAT read: 05:13:32.9349 LVL= 31728, 18737, 23410, 32755, AGC= 66, IDX= 501, 0.23, 0.761, 2.913, 1.658, 1.852, PHS=-0.989, 1.107,-0.238, RAW= 309.3, 1.3, CAL= 307.2, -2.0, ROT= 202.8, 2.0 2025-10-27T05:13:34.215Z,1761542014.215 [DAT](INFO): got valid direction response: 05:13:32.9349 LVL= 31728, 18737, 23410, 32755, AGC= 66, IDX= 501, 0.23, 0.761, 2.913, 1.658, 1.852, PHS=-0.989, 1.107,-0.238, RAW= 309.3, 1.3, CAL= 307.2, -2.0, ROT= 202.8, 2.0 2025-10-27T05:13:34.215Z,1761542014.215 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:13:34.216Z,1761542014.216 [DAT](INFO): direction in FSK: [-0.921302,-0.387280,-0.034899] 2025-10-27T05:13:34.216Z,1761542014.216 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:34.224Z,1761542014.224 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.043888 2025-10-27T05:13:34.459Z,1761542014.459 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.279564 2025-10-27T05:13:34.558Z,1761542014.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910269,0.413919,-0.009074],[-0.412517,0.908616,0.065169],[0.035219,-0.055578,0.997833]] 2025-10-27T05:13:34.669Z,1761542014.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503365 s, deltaX: 0.199999 m, approachRate: 0.397324 m/s, rangeRepo size: 4 2025-10-27T05:13:34.675Z,1761542014.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.778009 m, bearing: 178.514886 deg, lat: 36.779338 deg, lon: -121.859672 deg, deltaT: 0.503365 s, deltaX: 0.198992 m, approachRate: 0.395323 m/s, posRepo size: 4 2025-10-27T05:13:34.676Z,1761542014.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:34.710Z,1761542014.710 [DAT](INFO): DAT read: Rx Time:05:13:33.4348 2025-10-27T05:13:34.710Z,1761542014.710 [DAT](INFO): Rx dataTimestamp_ set to:1761542014.709739 2025-10-27T05:13:34.713Z,1761542014.713 [DAT](INFO): DAT read: Bearing 325.1, -25.3 (Local) 2025-10-27T05:13:34.714Z,1761542014.714 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -25.3 (Local) 2025-10-27T05:13:34.717Z,1761542014.717 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 2025-10-27T05:13:34.723Z,1761542014.723 [DAT](INFO): DAT read: 05:13:33.4348 LVL= 32752, 23185, 28754, 32755, AGC= 68, IDX= 501,-0.46,-1.807, 0.356,-0.892,-0.701, PHS=-1.004, 1.102,-0.235, RAW= 308.8, 1.5, CAL= 306.7, -1.8, ROT= 203.3, 1.8 2025-10-27T05:13:34.725Z,1761542014.725 [DAT](INFO): got valid direction response: 05:13:33.4348 LVL= 32752, 23185, 28754, 32755, AGC= 68, IDX= 501,-0.46,-1.807, 0.356,-0.892,-0.701, PHS=-1.004, 1.102,-0.235, RAW= 308.8, 1.5, CAL= 306.7, -1.8, ROT= 203.3, 1.8 2025-10-27T05:13:34.726Z,1761542014.726 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:13:34.727Z,1761542014.727 [DAT](INFO): direction in FSK: [-0.917993,-0.395350,-0.031411] 2025-10-27T05:13:34.727Z,1761542014.727 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:34.733Z,1761542014.733 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.554184 2025-10-27T05:13:34.960Z,1761542014.960 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.781052 2025-10-27T05:13:34.974Z,1761542014.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910722,0.412919,-0.009128],[-0.411523,0.909080,0.064974],[0.035127,-0.055417,0.997845]] 2025-10-27T05:13:35.006Z,1761542015.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504923 s, deltaX: -0.199999 m, approachRate: -0.396098 m/s, rangeRepo size: 4 2025-10-27T05:13:35.008Z,1761542015.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.579033 m, bearing: 179.063549 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.504923 s, deltaX: -0.198977 m, approachRate: -0.394073 m/s, posRepo size: 4 2025-10-27T05:13:35.009Z,1761542015.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.58 m. 2025-10-27T05:13:35.215Z,1761542015.215 [DAT](INFO): DAT read: Rx Time:05:13:33.9350 2025-10-27T05:13:35.216Z,1761542015.216 [DAT](INFO): Rx dataTimestamp_ set to:1761542015.215356 2025-10-27T05:13:35.217Z,1761542015.217 [DAT](INFO): DAT read: Bearing 324.9, -25.7 (Local) 2025-10-27T05:13:35.217Z,1761542015.217 [DAT](INFO): Local bearing/azimuth received: Bearing 324.9, -25.7 (Local) 2025-10-27T05:13:35.248Z,1761542015.248 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:13:35.254Z,1761542015.254 [DAT](INFO): DAT read: 05:13:33.9350 LVL= 32752, 20753, 28322, 32755, AGC= 67, IDX= 502,-0.17,-1.274, 0.885,-0.352,-0.162, PHS=-1.009, 1.092,-0.234, RAW= 308.6, 1.7, CAL= 306.5, -1.7, ROT= 203.5, 1.7 2025-10-27T05:13:35.275Z,1761542015.275 [DAT](INFO): got valid direction response: 05:13:33.9350 LVL= 32752, 20753, 28322, 32755, AGC= 67, IDX= 502,-0.17,-1.274, 0.885,-0.352,-0.162, PHS=-1.009, 1.092,-0.234, RAW= 308.6, 1.7, CAL= 306.5, -1.7, ROT= 203.5, 1.7 2025-10-27T05:13:35.276Z,1761542015.276 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:13:35.277Z,1761542015.277 [DAT](INFO): direction in FSK: [-0.916656,-0.398573,-0.029666] 2025-10-27T05:13:35.277Z,1761542015.277 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:35.289Z,1761542015.289 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.110188 2025-10-27T05:13:35.366Z,1761542015.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911197,0.411869,-0.009179],[-0.410481,0.909569,0.064733],[0.035011,-0.055217,0.997860]] 2025-10-27T05:13:35.403Z,1761542015.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.505617 s, deltaX: 0.299999 m, approachRate: 0.593333 m/s, rangeRepo size: 4 2025-10-27T05:13:35.405Z,1761542015.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877483 m, bearing: 179.322256 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 0.505617 s, deltaX: 0.298450 m, approachRate: 0.590270 m/s, posRepo size: 4 2025-10-27T05:13:35.406Z,1761542015.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:35.466Z,1761542015.466 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.286705 2025-10-27T05:13:35.717Z,1761542015.717 [DAT](INFO): DAT read: Rx Time:05:13:34.4349 2025-10-27T05:13:35.718Z,1761542015.718 [DAT](INFO): Rx dataTimestamp_ set to:1761542015.717329 2025-10-27T05:13:35.720Z,1761542015.720 [DAT](INFO): DAT read: Bearing 325.0, -25.5 (Local) 2025-10-27T05:13:35.720Z,1761542015.720 [DAT](INFO): Local bearing/azimuth received: Bearing 325.0, -25.5 (Local) 2025-10-27T05:13:35.723Z,1761542015.723 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 2025-10-27T05:13:35.729Z,1761542015.729 [DAT](INFO): DAT read: 05:13:34.4349 LVL= 32752, 20049, 30658, 32755, AGC= 68, IDX= 501, 0.02,-0.955, 1.200,-0.039, 0.152, PHS=-1.005, 1.093,-0.235, RAW= 308.7, 1.6, CAL= 306.6, -1.7, ROT= 203.4, 1.7 2025-10-27T05:13:35.731Z,1761542015.731 [DAT](INFO): got valid direction response: 05:13:34.4349 LVL= 32752, 20049, 30658, 32755, AGC= 68, IDX= 501, 0.02,-0.955, 1.200,-0.039, 0.152, PHS=-1.005, 1.093,-0.235, RAW= 308.7, 1.6, CAL= 306.6, -1.7, ROT= 203.4, 1.7 2025-10-27T05:13:35.732Z,1761542015.732 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:13:35.733Z,1761542015.733 [DAT](INFO): direction in FSK: [-0.917351,-0.396973,-0.029666] 2025-10-27T05:13:35.734Z,1761542015.734 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:35.738Z,1761542015.738 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.558941 2025-10-27T05:13:35.816Z,1761542015.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911752,0.410635,-0.009309],[-0.409253,0.910145,0.064404],[0.034919,-0.054911,0.997880]] 2025-10-27T05:13:35.936Z,1761542015.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.501973 s, deltaX: -0.100000 m, approachRate: -0.199215 m/s, rangeRepo size: 4 2025-10-27T05:13:35.944Z,1761542015.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.777992 m, bearing: 179.299546 deg, lat: 36.779339 deg, lon: -121.859675 deg, deltaT: 0.501973 s, deltaX: -0.099491 m, approachRate: -0.198200 m/s, posRepo size: 4 2025-10-27T05:13:35.945Z,1761542015.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:35.968Z,1761542015.968 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.789371 2025-10-27T05:13:36.176Z,1761542016.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912070,0.409932,-0.009199],[-0.408555,0.910454,0.064478],[0.034807,-0.055050,0.997877]] 2025-10-27T05:13:36.221Z,1761542016.221 [DAT](INFO): DAT read: Rx Time:05:13:34.9350 2025-10-27T05:13:36.221Z,1761542016.221 [DAT](INFO): Rx dataTimestamp_ set to:1761542016.220789 2025-10-27T05:13:36.222Z,1761542016.222 [DAT](INFO): DAT read: Bearing 325.1, -25.4 (Local) 2025-10-27T05:13:36.223Z,1761542016.223 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -25.4 (Local) 2025-10-27T05:13:36.225Z,1761542016.225 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:13:36.230Z,1761542016.230 [DAT](INFO): DAT read: 05:13:34.9350 LVL= 32752, 18865, 25842, 32755, AGC= 67, IDX= 502, 0.26, 0.354, 2.497, 1.262, 1.452, PHS=-0.996, 1.090,-0.234, RAW= 308.9, 1.6, CAL= 306.8, -1.8, ROT= 203.2, 1.8 2025-10-27T05:13:36.231Z,1761542016.231 [DAT](INFO): got valid direction response: 05:13:34.9350 LVL= 32752, 18865, 25842, 32755, AGC= 67, IDX= 502, 0.26, 0.354, 2.497, 1.262, 1.452, PHS=-0.996, 1.090,-0.234, RAW= 308.9, 1.6, CAL= 306.8, -1.8, ROT= 203.2, 1.8 2025-10-27T05:13:36.239Z,1761542016.239 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:13:36.240Z,1761542016.240 [DAT](INFO): direction in FSK: [-0.918682,-0.393748,-0.031411] 2025-10-27T05:13:36.241Z,1761542016.241 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:36.244Z,1761542016.244 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.065586 2025-10-27T05:13:36.316Z,1761542016.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503460 s, deltaX: 0.100000 m, approachRate: 0.198626 m/s, rangeRepo size: 4 2025-10-27T05:13:36.318Z,1761542016.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877499 m, bearing: 179.150244 deg, lat: 36.779339 deg, lon: -121.859675 deg, deltaT: 0.503460 s, deltaX: 0.099506 m, approachRate: 0.197645 m/s, posRepo size: 4 2025-10-27T05:13:36.318Z,1761542016.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:36.472Z,1761542016.472 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.293240 2025-10-27T05:13:36.643Z,1761542016.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912441,0.409110,-0.008975],[-0.407743,0.910809,0.064592],[0.034600,-0.055277,0.997871]] 2025-10-27T05:13:36.725Z,1761542016.725 [DAT](INFO): DAT read: Rx Time:05:13:35.4349 2025-10-27T05:13:36.726Z,1761542016.726 [DAT](INFO): Rx dataTimestamp_ set to:1761542016.725571 2025-10-27T05:13:36.728Z,1761542016.728 [DAT](INFO): DAT read: Bearing 325.3, -25.3 (Local) 2025-10-27T05:13:36.728Z,1761542016.728 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, -25.3 (Local) 2025-10-27T05:13:36.732Z,1761542016.732 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 2025-10-27T05:13:36.765Z,1761542016.765 [DAT](INFO): DAT read: 05:13:35.4349 LVL= 31984, 18705, 23842, 32755, AGC= 67, IDX= 502,-0.33,-2.734,-0.602,-1.832,-1.647, PHS=-0.985, 1.089,-0.230, RAW= 308.9, 1.4, CAL= 306.9, -1.9, ROT= 203.1, 1.9 2025-10-27T05:13:36.766Z,1761542016.766 [DAT](INFO): got valid direction response: 05:13:35.4349 LVL= 31984, 18705, 23842, 32755, AGC= 67, IDX= 502,-0.33,-2.734,-0.602,-1.832,-1.647, PHS=-0.985, 1.089,-0.230, RAW= 308.9, 1.4, CAL= 306.9, -1.9, ROT= 203.1, 1.9 2025-10-27T05:13:36.775Z,1761542016.775 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:13:36.776Z,1761542016.776 [DAT](INFO): direction in FSK: [-0.919316,-0.392122,-0.033155] 2025-10-27T05:13:36.776Z,1761542016.776 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:36.792Z,1761542016.792 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.613281 2025-10-27T05:13:36.882Z,1761542016.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504782 s, deltaX: -0.100000 m, approachRate: -0.198106 m/s, rangeRepo size: 4 2025-10-27T05:13:36.884Z,1761542016.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.778008 m, bearing: 179.107894 deg, lat: 36.779339 deg, lon: -121.859675 deg, deltaT: 0.504782 s, deltaX: -0.099491 m, approachRate: -0.197097 m/s, posRepo size: 4 2025-10-27T05:13:36.885Z,1761542016.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:36.977Z,1761542016.977 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.798180 2025-10-27T05:13:37.148Z,1761542017.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912873,0.408146,-0.008971],[-0.406783,0.911243,0.064529],[0.034512,-0.055257,0.997876]] 2025-10-27T05:13:37.174Z,1761542017.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:37.229Z,1761542017.229 [DAT](INFO): DAT read: Rx Time:05:13:35.9350 2025-10-27T05:13:37.230Z,1761542017.230 [DAT](INFO): Rx dataTimestamp_ set to:1761542017.229700 2025-10-27T05:13:37.233Z,1761542017.233 [DAT](INFO): DAT read: Bearing 325.6, -24.9 (Local) 2025-10-27T05:13:37.234Z,1761542017.234 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, -24.9 (Local) 2025-10-27T05:13:37.238Z,1761542017.238 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:13:37.252Z,1761542017.252 [DAT](INFO): DAT read: 05:13:35.9350 LVL= 29904, 18769, 23026, 32755, AGC= 68, IDX= 502,-0.02,-3.001,-0.865,-2.108,-1.921, PHS=-0.977, 1.101,-0.231, RAW= 309.2, 1.2, CAL= 307.2, -2.1, ROT= 202.8, 2.1 2025-10-27T05:13:37.254Z,1761542017.254 [DAT](INFO): got valid direction response: 05:13:35.9350 LVL= 29904, 18769, 23026, 32755, AGC= 68, IDX= 502,-0.02,-3.001,-0.865,-2.108,-1.921, PHS=-0.977, 1.101,-0.231, RAW= 309.2, 1.2, CAL= 307.2, -2.1, ROT= 202.8, 2.1 2025-10-27T05:13:37.254Z,1761542017.254 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:13:37.261Z,1761542017.261 [DAT](INFO): direction in FSK: [-0.921244,-0.387255,-0.036644] 2025-10-27T05:13:37.261Z,1761542017.261 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:37.265Z,1761542017.265 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.086468 2025-10-27T05:13:37.480Z,1761542017.480 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.301151 2025-10-27T05:13:37.620Z,1761542017.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913266,0.407266,-0.008868],[-0.405913,0.911635,0.064468],[0.034341,-0.055277,0.997880]] 2025-10-27T05:13:37.698Z,1761542017.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504129 s, deltaX: 0.100000 m, approachRate: 0.198363 m/s, rangeRepo size: 4 2025-10-27T05:13:37.701Z,1761542017.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877468 m, bearing: 178.936136 deg, lat: 36.779339 deg, lon: -121.859674 deg, deltaT: 0.504129 s, deltaX: 0.099461 m, approachRate: 0.197292 m/s, posRepo size: 4 2025-10-27T05:13:37.702Z,1761542017.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:37.733Z,1761542017.733 [DAT](INFO): DAT read: Rx Time:05:13:36.4349 2025-10-27T05:13:37.734Z,1761542017.734 [DAT](INFO): Rx dataTimestamp_ set to:1761542017.733526 2025-10-27T05:13:37.735Z,1761542017.735 [DAT](INFO): DAT read: Bearing 325.3, -25.2 (Local) 2025-10-27T05:13:37.736Z,1761542017.736 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, -25.2 (Local) 2025-10-27T05:13:37.738Z,1761542017.738 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 2025-10-27T05:13:37.742Z,1761542017.742 [DAT](INFO): DAT read: 05:13:36.4349 LVL= 32320, 20049, 26482, 32755, AGC= 69, IDX= 501, 0.24,-3.030,-0.906,-2.134,-1.944, PHS=-0.984, 1.082,-0.234, RAW= 309.0, 1.5, CAL= 306.9, -1.8, ROT= 203.1, 1.8 2025-10-27T05:13:37.744Z,1761542017.744 [DAT](INFO): got valid direction response: 05:13:36.4349 LVL= 32320, 20049, 26482, 32755, AGC= 69, IDX= 501, 0.24,-3.030,-0.906,-2.134,-1.944, PHS=-0.984, 1.082,-0.234, RAW= 309.0, 1.5, CAL= 306.9, -1.8, ROT= 203.1, 1.8 2025-10-27T05:13:37.744Z,1761542017.744 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:13:37.745Z,1761542017.745 [DAT](INFO): direction in FSK: [-0.919368,-0.392144,-0.031411] 2025-10-27T05:13:37.745Z,1761542017.745 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:37.749Z,1761542017.749 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.569954 2025-10-27T05:13:37.970Z,1761542017.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913692,0.406312,-0.008784],[-0.404971,0.912067,0.064281],[0.034130,-0.055176,0.997893]] 2025-10-27T05:13:37.985Z,1761542017.985 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.805817 2025-10-27T05:13:38.040Z,1761542018.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503826 s, deltaX: -0.100000 m, approachRate: -0.198482 m/s, rangeRepo size: 4 2025-10-27T05:13:38.042Z,1761542018.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.777979 m, bearing: 179.275314 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.503826 s, deltaX: -0.099489 m, approachRate: -0.197467 m/s, posRepo size: 4 2025-10-27T05:13:38.043Z,1761542018.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.78 m. 2025-10-27T05:13:38.236Z,1761542018.236 [DAT](INFO): DAT read: Rx Time:05:13:36.9350 2025-10-27T05:13:38.237Z,1761542018.237 [DAT](INFO): Rx dataTimestamp_ set to:1761542018.236635 2025-10-27T05:13:38.238Z,1761542018.238 [DAT](INFO): DAT read: Bearing 325.4, -24.7 (Local) 2025-10-27T05:13:38.239Z,1761542018.239 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, -24.7 (Local) 2025-10-27T05:13:38.241Z,1761542018.241 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:13:38.246Z,1761542018.246 [DAT](INFO): DAT read: 05:13:36.9350 LVL= 32528, 20049, 26098, 32755, AGC= 69, IDX= 503,-0.33, 2.112,-2.039, 2.997,-3.089, PHS=-0.980, 1.095,-0.241, RAW= 309.4, 1.4, CAL= 307.3, -1.9, ROT= 202.7, 1.9 2025-10-27T05:13:38.247Z,1761542018.247 [DAT](INFO): got valid direction response: 05:13:36.9350 LVL= 32528, 20049, 26098, 32755, AGC= 69, IDX= 503,-0.33, 2.112,-2.039, 2.997,-3.089, PHS=-0.980, 1.095,-0.241, RAW= 309.4, 1.4, CAL= 307.3, -1.9, ROT= 202.7, 1.9 2025-10-27T05:13:38.248Z,1761542018.248 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:13:38.248Z,1761542018.248 [DAT](INFO): direction in FSK: [-0.922031,-0.385694,-0.033155] 2025-10-27T05:13:38.249Z,1761542018.249 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:38.260Z,1761542018.260 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.081287 2025-10-27T05:13:38.374Z,1761542018.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913888,0.405873,-0.008720],[-0.404532,0.912252,0.064418],[0.034100,-0.055343,0.997885]] 2025-10-27T05:13:38.399Z,1761542018.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503109 s, deltaX: 0.100000 m, approachRate: 0.198765 m/s, rangeRepo size: 4 2025-10-27T05:13:38.401Z,1761542018.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877447 m, bearing: 178.910032 deg, lat: 36.779339 deg, lon: -121.859673 deg, deltaT: 0.503109 s, deltaX: 0.099468 m, approachRate: 0.197707 m/s, posRepo size: 4 2025-10-27T05:13:38.401Z,1761542018.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:38.489Z,1761542018.489 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.309860 2025-10-27T05:13:38.741Z,1761542018.741 [DAT](INFO): DAT read: Rx Time:05:13:37.4350 2025-10-27T05:13:38.741Z,1761542018.741 [DAT](INFO): Rx dataTimestamp_ set to:1761542018.740693 2025-10-27T05:13:38.742Z,1761542018.742 [DAT](INFO): DAT read: Bearing 325.2, -24.9 (Local) 2025-10-27T05:13:38.743Z,1761542018.743 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -24.9 (Local) 2025-10-27T05:13:38.745Z,1761542018.745 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:13:38.749Z,1761542018.749 [DAT](INFO): DAT read: 05:13:37.4350 LVL= 32752, 19409, 27986, 32755, AGC= 69, IDX= 502,-0.05, 0.528, 2.678, 1.423, 1.624, PHS=-0.994, 1.099,-0.245, RAW= 309.3, 1.6, CAL= 307.2, -1.7, ROT= 202.8, 1.7 2025-10-27T05:13:38.750Z,1761542018.750 [DAT](INFO): got valid direction response: 05:13:37.4350 LVL= 32752, 19409, 27986, 32755, AGC= 69, IDX= 502,-0.05, 0.528, 2.678, 1.423, 1.624, PHS=-0.994, 1.099,-0.245, RAW= 309.3, 1.6, CAL= 307.2, -1.7, ROT= 202.8, 1.7 2025-10-27T05:13:38.756Z,1761542018.756 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:13:38.757Z,1761542018.757 [DAT](INFO): direction in FSK: [-0.921457,-0.387345,-0.029666] 2025-10-27T05:13:38.757Z,1761542018.757 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:38.761Z,1761542018.761 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.581726 2025-10-27T05:13:38.778Z,1761542018.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914208,0.405154,-0.008622],[-0.403820,0.912568,0.064403],[0.033961,-0.055396,0.997887]] 2025-10-27T05:13:38.897Z,1761542018.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:38.903Z,1761542018.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877447 m, bearing: 179.041584 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504058 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:38.904Z,1761542018.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:38.992Z,1761542018.992 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.813248 2025-10-27T05:13:39.181Z,1761542019.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914505,0.404484,-0.008607],[-0.403157,0.912871,0.064272],[0.033854,-0.055307,0.997895]] 2025-10-27T05:13:39.209Z,1761542019.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:39.245Z,1761542019.245 [DAT](INFO): DAT read: Rx Time:05:13:37.9351 2025-10-27T05:13:39.246Z,1761542019.246 [DAT](INFO): Rx dataTimestamp_ set to:1761542019.245675 2025-10-27T05:13:39.248Z,1761542019.248 [DAT](INFO): DAT read: Bearing 324.8, -25.2 (Local) 2025-10-27T05:13:39.249Z,1761542019.249 [DAT](INFO): Local bearing/azimuth received: Bearing 324.8, -25.2 (Local) 2025-10-27T05:13:39.251Z,1761542019.251 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:39.257Z,1761542019.257 [DAT](INFO): DAT read: 05:13:37.9351 LVL= 32752, 22369, 27618, 32755, AGC= 70, IDX= 503, 0.14,-3.077,-0.954,-2.184,-1.979, PHS=-0.996, 1.070,-0.250, RAW= 309.1, 2.0, CAL= 306.9, -1.3, ROT= 203.1, 1.3 2025-10-27T05:13:39.260Z,1761542019.260 [DAT](INFO): got valid direction response: 05:13:37.9351 LVL= 32752, 22369, 27618, 32755, AGC= 70, IDX= 503, 0.14,-3.077,-0.954,-2.184,-1.979, PHS=-0.996, 1.070,-0.250, RAW= 309.1, 2.0, CAL= 306.9, -1.3, ROT= 203.1, 1.3 2025-10-27T05:13:39.261Z,1761542019.261 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:13:39.262Z,1761542019.262 [DAT](INFO): direction in FSK: [-0.919585,-0.392236,-0.022687] 2025-10-27T05:13:39.262Z,1761542019.262 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:39.281Z,1761542019.281 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.102154 2025-10-27T05:13:39.496Z,1761542019.496 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.317276 2025-10-27T05:13:39.632Z,1761542019.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914854,0.403693,-0.008606],[-0.402371,0.913225,0.064164],[0.033762,-0.055238,0.997902]] 2025-10-27T05:13:39.694Z,1761542019.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504982 s, deltaX: 0.200001 m, approachRate: 0.396055 m/s, rangeRepo size: 4 2025-10-27T05:13:39.701Z,1761542019.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076412 m, bearing: 179.406188 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504982 s, deltaX: 0.198965 m, approachRate: 0.394004 m/s, posRepo size: 4 2025-10-27T05:13:39.701Z,1761542019.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:39.749Z,1761542019.749 [DAT](INFO): DAT read: Rx Time:05:13:38.4350 2025-10-27T05:13:39.749Z,1761542019.749 [DAT](INFO): Rx dataTimestamp_ set to:1761542019.748839 2025-10-27T05:13:39.750Z,1761542019.750 [DAT](INFO): DAT read: Bearing 325.4, -25.0 (Local) 2025-10-27T05:13:39.751Z,1761542019.751 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, -25.0 (Local) 2025-10-27T05:13:39.753Z,1761542019.753 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:13:39.758Z,1761542019.758 [DAT](INFO): DAT read: 05:13:38.4350 LVL= 32752, 21553, 27554, 32755, AGC= 70, IDX= 502, 0.40, 1.976,-2.157, 2.878, 3.073, PHS=-0.995, 1.098,-0.239, RAW= 309.1, 1.5, CAL= 307.0, -1.8, ROT= 203.0, 1.8 2025-10-27T05:13:39.759Z,1761542019.759 [DAT](INFO): got valid direction response: 05:13:38.4350 LVL= 32752, 21553, 27554, 32755, AGC= 70, IDX= 502, 0.40, 1.976,-2.157, 2.878, 3.073, PHS=-0.995, 1.098,-0.239, RAW= 309.1, 1.5, CAL= 307.0, -1.8, ROT= 203.0, 1.8 2025-10-27T05:13:39.759Z,1761542019.759 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:13:39.760Z,1761542019.760 [DAT](INFO): direction in FSK: [-0.920051,-0.390538,-0.031411] 2025-10-27T05:13:39.760Z,1761542019.760 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:39.764Z,1761542019.764 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.585529 2025-10-27T05:13:39.000Z,1761542020.000 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.821144 2025-10-27T05:13:40.030Z,1761542020.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503164 s, deltaX: -0.200001 m, approachRate: -0.397486 m/s, rangeRepo size: 4 2025-10-27T05:13:40.032Z,1761542020.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877434 m, bearing: 179.338423 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503164 s, deltaX: -0.198978 m, approachRate: -0.395454 m/s, posRepo size: 4 2025-10-27T05:13:40.033Z,1761542020.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:40.253Z,1761542020.253 [DAT](INFO): DAT read: Rx Time:05:13:38.9350 2025-10-27T05:13:40.253Z,1761542020.253 [DAT](INFO): Rx dataTimestamp_ set to:1761542020.252707 2025-10-27T05:13:40.254Z,1761542020.254 [DAT](INFO): DAT read: Bearing 324.9, -25.1 (Local) 2025-10-27T05:13:40.255Z,1761542020.255 [DAT](INFO): Local bearing/azimuth received: Bearing 324.9, -25.1 (Local) 2025-10-27T05:13:40.257Z,1761542020.257 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:13:40.262Z,1761542020.262 [DAT](INFO): DAT read: 05:13:38.9350 LVL= 32752, 25073, 28242, 32755, AGC= 70, IDX= 503,-0.27, 0.375, 2.512, 1.269, 1.478, PHS=-1.001, 1.079,-0.253, RAW= 309.2, 1.9, CAL= 307.0, -1.4, ROT= 203.0, 1.4 2025-10-27T05:13:40.264Z,1761542020.264 [DAT](INFO): got valid direction response: 05:13:38.9350 LVL= 32752, 25073, 28242, 32755, AGC= 70, IDX= 503,-0.27, 0.375, 2.512, 1.269, 1.478, PHS=-1.001, 1.079,-0.253, RAW= 309.2, 1.9, CAL= 307.0, -1.4, ROT= 203.0, 1.4 2025-10-27T05:13:40.264Z,1761542020.264 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:13:40.265Z,1761542020.265 [DAT](INFO): direction in FSK: [-0.920230,-0.390614,-0.024432] 2025-10-27T05:13:40.265Z,1761542020.265 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:40.312Z,1761542020.312 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.133183 2025-10-27T05:13:40.394Z,1761542020.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914918,0.403548,-0.008599],[-0.402229,0.913292,0.064105],[0.033723,-0.055192,0.997906]] 2025-10-27T05:13:40.462Z,1761542020.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503868 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:40.468Z,1761542020.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877447 m, bearing: 179.321707 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503868 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 2025-10-27T05:13:40.469Z,1761542020.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:40.504Z,1761542020.504 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.325409 2025-10-27T05:13:40.757Z,1761542020.757 [DAT](INFO): DAT read: Rx Time:05:13:39.4350 2025-10-27T05:13:40.757Z,1761542020.757 [DAT](INFO): Rx dataTimestamp_ set to:1761542020.756732 2025-10-27T05:13:40.758Z,1761542020.758 [DAT](INFO): DAT read: Bearing 325.4, -24.4 (Local) 2025-10-27T05:13:40.759Z,1761542020.759 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, -24.4 (Local) 2025-10-27T05:13:40.761Z,1761542020.761 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:13:40.765Z,1761542020.765 [DAT](INFO): DAT read: 05:13:39.4350 LVL= 32752, 18929, 26834, 32755, AGC= 69, IDX= 502,-0.06,-1.040, 1.106,-0.158, 0.044, PHS=-0.982, 1.107,-0.246, RAW= 309.7, 1.3, CAL= 307.6, -1.9, ROT= 202.4, 1.9 2025-10-27T05:13:40.766Z,1761542020.766 [DAT](INFO): got valid direction response: 05:13:39.4350 LVL= 32752, 18929, 26834, 32755, AGC= 69, IDX= 502,-0.06,-1.040, 1.106,-0.158, 0.044, PHS=-0.982, 1.107,-0.246, RAW= 309.7, 1.3, CAL= 307.6, -1.9, ROT= 202.4, 1.9 2025-10-27T05:13:40.767Z,1761542020.767 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:13:40.768Z,1761542020.768 [DAT](INFO): direction in FSK: [-0.924038,-0.380861,-0.033155] 2025-10-27T05:13:40.768Z,1761542020.768 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:40.772Z,1761542020.772 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.592930 2025-10-27T05:13:40.873Z,1761542020.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914710,0.404019,-0.008681],[-0.402684,0.913072,0.064378],[0.033936,-0.055391,0.997888]] 2025-10-27T05:13:40.964Z,1761542020.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:40.966Z,1761542020.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877447 m, bearing: 178.726282 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:40.966Z,1761542020.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:41.008Z,1761542021.008 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.829536 2025-10-27T05:13:41.250Z,1761542021.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:41.261Z,1761542021.261 [DAT](INFO): DAT read: Rx Time:05:13:39.9351 2025-10-27T05:13:41.261Z,1761542021.261 [DAT](INFO): Rx dataTimestamp_ set to:1761542021.260929 2025-10-27T05:13:41.262Z,1761542021.262 [DAT](INFO): DAT read: Bearing 325.5, -25.2 (Local) 2025-10-27T05:13:41.263Z,1761542021.263 [DAT](INFO): Local bearing/azimuth received: Bearing 325.5, -25.2 (Local) 2025-10-27T05:13:41.265Z,1761542021.265 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:41.270Z,1761542021.270 [DAT](INFO): DAT read: 05:13:39.9351 LVL= 32752, 22161, 26850, 32755, AGC= 69, IDX= 503, 0.10, 1.871,-2.278, 2.773, 2.961, PHS=-0.988, 1.089,-0.232, RAW= 308.9, 1.5, CAL= 306.9, -1.9, ROT= 203.1, 1.9 2025-10-27T05:13:41.272Z,1761542021.272 [DAT](INFO): got valid direction response: 05:13:39.9351 LVL= 32752, 22161, 26850, 32755, AGC= 69, IDX= 503, 0.10, 1.871,-2.278, 2.773, 2.961, PHS=-0.988, 1.089,-0.232, RAW= 308.9, 1.5, CAL= 306.9, -1.9, ROT= 203.1, 1.9 2025-10-27T05:13:41.272Z,1761542021.272 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:13:41.273Z,1761542021.273 [DAT](INFO): direction in FSK: [-0.919316,-0.392122,-0.033155] 2025-10-27T05:13:41.273Z,1761542021.273 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:41.281Z,1761542021.281 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.102348 2025-10-27T05:13:41.512Z,1761542021.512 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.333195 2025-10-27T05:13:41.680Z,1761542021.680 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +33, +33A 2025-10-27T05:13:41.702Z,1761542021.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504197 s, deltaX: 0.200001 m, approachRate: 0.396672 m/s, rangeRepo size: 4 2025-10-27T05:13:41.705Z,1761542021.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076439 m, bearing: 179.425109 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504197 s, deltaX: 0.198992 m, approachRate: 0.394671 m/s, posRepo size: 4 2025-10-27T05:13:41.706Z,1761542021.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:41.765Z,1761542021.765 [DAT](INFO): DAT read: Rx Time:05:13:40.4350 2025-10-27T05:13:41.766Z,1761542021.766 [DAT](INFO): Rx dataTimestamp_ set to:1761542021.765867 2025-10-27T05:13:41.769Z,1761542021.769 [DAT](INFO): DAT read: Bearing 325.2, -25.4 (Local) 2025-10-27T05:13:41.770Z,1761542021.770 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -25.4 (Local) 2025-10-27T05:13:41.773Z,1761542021.773 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:13:41.784Z,1761542021.784 [DAT](INFO): DAT read: 05:13:40.4350 LVL= 32752, 21121, 27170, 32755, AGC= 70, IDX= 502, 0.27, 1.041,-3.091, 1.954, 2.149, PHS=-1.006, 1.088,-0.239, RAW= 308.8, 1.7, CAL= 306.6, -1.6, ROT= 203.4, 1.6 2025-10-27T05:13:41.785Z,1761542021.785 [DAT](INFO): got valid direction response: 05:13:40.4350 LVL= 32752, 21121, 27170, 32755, AGC= 70, IDX= 502, 0.27, 1.041,-3.091, 1.954, 2.149, PHS=-1.006, 1.088,-0.239, RAW= 308.8, 1.7, CAL= 306.6, -1.6, ROT= 203.4, 1.6 2025-10-27T05:13:41.786Z,1761542021.786 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:13:41.795Z,1761542021.795 [DAT](INFO): direction in FSK: [-0.917397,-0.396993,-0.027922] 2025-10-27T05:13:41.796Z,1761542021.796 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:41.812Z,1761542021.812 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.632858 2025-10-27T05:13:42.020Z,1761542022.020 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.841202 2025-10-27T05:13:42.052Z,1761542022.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504938 s, deltaX: -0.200001 m, approachRate: -0.396090 m/s, rangeRepo size: 4 2025-10-27T05:13:42.054Z,1761542022.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.877459 m, bearing: 179.705250 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504938 s, deltaX: -0.198980 m, approachRate: -0.394069 m/s, posRepo size: 4 2025-10-27T05:13:42.054Z,1761542022.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.88 m. 2025-10-27T05:13:42.269Z,1761542022.269 [DAT](INFO): DAT read: Rx Time:05:13:40.9351 2025-10-27T05:13:42.269Z,1761542022.269 [DAT](INFO): Rx dataTimestamp_ set to:1761542022.268719 2025-10-27T05:13:42.270Z,1761542022.270 [DAT](INFO): DAT read: Bearing 325.4, -25.2 (Local) 2025-10-27T05:13:42.271Z,1761542022.271 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, -25.2 (Local) 2025-10-27T05:13:42.274Z,1761542022.274 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:42.279Z,1761542022.279 [DAT](INFO): DAT read: 05:13:40.9351 LVL= 32752, 25201, 29170, 32755, AGC= 70, IDX= 504,-0.50, 1.050,-3.093, 1.957, 2.146, PHS=-0.994, 1.089,-0.232, RAW= 308.8, 1.5, CAL= 306.7, -1.8, ROT= 203.3, 1.8 2025-10-27T05:13:42.280Z,1761542022.280 [DAT](INFO): got valid direction response: 05:13:40.9351 LVL= 32752, 25201, 29170, 32755, AGC= 70, IDX= 504,-0.50, 1.050,-3.093, 1.957, 2.146, PHS=-0.994, 1.089,-0.232, RAW= 308.8, 1.5, CAL= 306.7, -1.8, ROT= 203.3, 1.8 2025-10-27T05:13:42.280Z,1761542022.280 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:13:42.281Z,1761542022.281 [DAT](INFO): direction in FSK: [-0.917993,-0.395350,-0.031411] 2025-10-27T05:13:42.282Z,1761542022.282 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:42.285Z,1761542022.285 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.106705 2025-10-27T05:13:42.425Z,1761542022.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914127,0.405320,-0.009352],[-0.403934,0.912495,0.064735],[0.034772,-0.055399,0.997859]] 2025-10-27T05:13:42.457Z,1761542022.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502852 s, deltaX: 0.200001 m, approachRate: 0.397733 m/s, rangeRepo size: 4 2025-10-27T05:13:42.460Z,1761542022.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076426 m, bearing: 179.540067 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.502852 s, deltaX: 0.198967 m, approachRate: 0.395677 m/s, posRepo size: 4 2025-10-27T05:13:42.460Z,1761542022.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:42.521Z,1761542022.521 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.341721 2025-10-27T05:13:42.773Z,1761542022.773 [DAT](INFO): DAT read: Rx Time:05:13:41.4351 2025-10-27T05:13:42.773Z,1761542022.773 [DAT](INFO): Rx dataTimestamp_ set to:1761542022.772944 2025-10-27T05:13:42.775Z,1761542022.775 [DAT](INFO): DAT read: Bearing 325.5, -24.8 (Local) 2025-10-27T05:13:42.775Z,1761542022.775 [DAT](INFO): Local bearing/azimuth received: Bearing 325.5, -24.8 (Local) 2025-10-27T05:13:42.777Z,1761542022.777 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:42.782Z,1761542022.782 [DAT](INFO): DAT read: 05:13:41.4351 LVL= 32752, 19697, 29522, 32755, AGC= 69, IDX= 503,-0.21,-0.499, 1.672, 0.406, 0.603, PHS=-1.000, 1.113,-0.241, RAW= 309.2, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9 2025-10-27T05:13:42.783Z,1761542022.783 [DAT](INFO): got valid direction response: 05:13:41.4351 LVL= 32752, 19697, 29522, 32755, AGC= 69, IDX= 503,-0.21,-0.499, 1.672, 0.406, 0.603, PHS=-1.000, 1.113,-0.241, RAW= 309.2, 1.4, CAL= 307.2, -1.9, ROT= 202.8, 1.9 2025-10-27T05:13:42.793Z,1761542022.793 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:13:42.794Z,1761542022.794 [DAT](INFO): direction in FSK: [-0.921356,-0.387303,-0.033155] 2025-10-27T05:13:42.794Z,1761542022.794 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:42.798Z,1761542022.798 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.618916 2025-10-27T05:13:42.956Z,1761542022.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:42.958Z,1761542022.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076426 m, bearing: 179.047395 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.504225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:42.958Z,1761542022.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:43.025Z,1761542023.025 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.845917 2025-10-27T05:13:43.228Z,1761542023.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913726,0.406216,-0.009669],[-0.404801,0.912091,0.065002],[0.035224,-0.055480,0.997838]] 2025-10-27T05:13:43.265Z,1761542023.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:43.277Z,1761542023.277 [DAT](INFO): DAT read: Rx Time:05:13:41.9352 2025-10-27T05:13:43.277Z,1761542023.277 [DAT](INFO): Rx dataTimestamp_ set to:1761542023.276794 2025-10-27T05:13:43.278Z,1761542023.278 [DAT](INFO): DAT read: Bearing 325.2, -25.2 (Local) 2025-10-27T05:13:43.279Z,1761542023.279 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -25.2 (Local) 2025-10-27T05:13:43.281Z,1761542023.281 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:43.285Z,1761542023.285 [DAT](INFO): DAT read: 05:13:41.9352 LVL= 31536, 20465, 25170, 32755, AGC= 69, IDX= 504,-0.04, 1.109,-3.023, 2.020, 2.216, PHS=-1.006, 1.089,-0.240, RAW= 308.8, 1.7, CAL= 306.7, -1.6, ROT= 203.3, 1.6 2025-10-27T05:13:43.287Z,1761542023.287 [DAT](INFO): got valid direction response: 05:13:41.9352 LVL= 31536, 20465, 25170, 32755, AGC= 69, IDX= 504,-0.04, 1.109,-3.023, 2.020, 2.216, PHS=-1.006, 1.089,-0.240, RAW= 308.8, 1.7, CAL= 306.7, -1.6, ROT= 203.3, 1.6 2025-10-27T05:13:43.287Z,1761542023.287 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:13:43.288Z,1761542023.288 [DAT](INFO): direction in FSK: [-0.918088,-0.395391,-0.027922] 2025-10-27T05:13:43.288Z,1761542023.288 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:43.293Z,1761542023.293 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.114094 2025-10-27T05:13:43.528Z,1761542023.528 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.349125 2025-10-27T05:13:43.761Z,1761542023.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503850 s, deltaX: 0.099998 m, approachRate: 0.198469 m/s, rangeRepo size: 4 2025-10-27T05:13:43.763Z,1761542023.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.175947 m, bearing: 179.472759 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503850 s, deltaX: 0.099522 m, approachRate: 0.197522 m/s, posRepo size: 4 2025-10-27T05:13:43.764Z,1761542023.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:43.791Z,1761542023.791 [DAT](INFO): DAT read: Rx Time:05:13:42.4351 2025-10-27T05:13:43.792Z,1761542023.792 [DAT](INFO): Rx dataTimestamp_ set to:1761542023.791280 2025-10-27T05:13:43.793Z,1761542023.793 [DAT](INFO): DAT read: Bearing 325.7, -25.3 (Local) 2025-10-27T05:13:43.794Z,1761542023.794 [DAT](INFO): Local bearing/azimuth received: Bearing 325.7, -25.3 (Local) 2025-10-27T05:13:43.797Z,1761542023.797 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:43.804Z,1761542023.804 [DAT](INFO): DAT read: 05:13:42.4351 LVL= 31952, 20305, 22466, 32755, AGC= 68, IDX= 503, 0.14, 1.245,-2.895, 2.158, 2.339, PHS=-0.992, 1.094,-0.225, RAW= 308.7, 1.4, CAL= 306.6, -2.0, ROT= 203.4, 2.0 2025-10-27T05:13:43.806Z,1761542023.806 [DAT](INFO): got valid direction response: 05:13:42.4351 LVL= 31952, 20305, 22466, 32755, AGC= 68, IDX= 503, 0.14, 1.245,-2.895, 2.158, 2.339, PHS=-0.992, 1.094,-0.225, RAW= 308.7, 1.4, CAL= 306.6, -2.0, ROT= 203.4, 2.0 2025-10-27T05:13:43.806Z,1761542023.806 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:13:43.812Z,1761542023.812 [DAT](INFO): direction in FSK: [-0.917196,-0.396906,-0.034899] 2025-10-27T05:13:43.812Z,1761542023.812 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:43.822Z,1761542023.822 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.643421 2025-10-27T05:13:44.032Z,1761542024.032 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.853054 2025-10-27T05:13:44.047Z,1761542024.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913314,0.407137,-0.009864],[-0.405695,0.911665,0.065411],[0.035624,-0.055739,0.997810]] 2025-10-27T05:13:44.149Z,1761542024.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.514486 s, deltaX: -0.099998 m, approachRate: -0.194366 m/s, rangeRepo size: 4 2025-10-27T05:13:44.156Z,1761542024.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076521 m, bearing: 179.542658 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.514486 s, deltaX: -0.099426 m, approachRate: -0.193254 m/s, posRepo size: 4 2025-10-27T05:13:44.156Z,1761542024.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:44.284Z,1761542024.284 [DAT](INFO): DAT read: Rx Time:05:13:42.9352 2025-10-27T05:13:44.285Z,1761542024.285 [DAT](INFO): Rx dataTimestamp_ set to:1761542024.284662 2025-10-27T05:13:44.286Z,1761542024.286 [DAT](INFO): DAT read: Bearing 325.5, -25.6 (Local) 2025-10-27T05:13:44.287Z,1761542024.287 [DAT](INFO): Local bearing/azimuth received: Bearing 325.5, -25.6 (Local) 2025-10-27T05:13:44.289Z,1761542024.289 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:44.293Z,1761542024.293 [DAT](INFO): DAT read: 05:13:42.9352 LVL= 32752, 21825, 27698, 32755, AGC= 69, IDX= 504, 0.33,-2.988,-0.860,-2.072,-1.890, PHS=-0.996, 1.075,-0.226, RAW= 308.4, 1.6, CAL= 306.3, -1.7, ROT= 203.7, 1.7 2025-10-27T05:13:44.295Z,1761542024.295 [DAT](INFO): got valid direction response: 05:13:42.9352 LVL= 32752, 21825, 27698, 32755, AGC= 69, IDX= 504, 0.33,-2.988,-0.860,-2.072,-1.890, PHS=-0.996, 1.075,-0.226, RAW= 308.4, 1.6, CAL= 306.3, -1.7, ROT= 203.7, 1.7 2025-10-27T05:13:44.296Z,1761542024.296 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:13:44.297Z,1761542024.297 [DAT](INFO): direction in FSK: [-0.915260,-0.401771,-0.029666] 2025-10-27T05:13:44.297Z,1761542024.297 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:44.305Z,1761542024.305 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.126228 2025-10-27T05:13:44.493Z,1761542024.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.493382 s, deltaX: 0.099998 m, approachRate: 0.202680 m/s, rangeRepo size: 4 2025-10-27T05:13:44.495Z,1761542024.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.176010 m, bearing: 179.822507 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.493382 s, deltaX: 0.099489 m, approachRate: 0.201647 m/s, posRepo size: 4 2025-10-27T05:13:44.496Z,1761542024.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:44.537Z,1761542024.537 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.357948 2025-10-27T05:13:44.788Z,1761542024.788 [DAT](INFO): DAT read: Rx Time:05:13:43.4351 2025-10-27T05:13:44.789Z,1761542024.789 [DAT](INFO): Rx dataTimestamp_ set to:1761542024.788644 2025-10-27T05:13:44.790Z,1761542024.790 [DAT](INFO): DAT read: Bearing 325.7, -25.2 (Local) 2025-10-27T05:13:44.790Z,1761542024.790 [DAT](INFO): Local bearing/azimuth received: Bearing 325.7, -25.2 (Local) 2025-10-27T05:13:44.793Z,1761542024.793 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:44.838Z,1761542024.838 [DAT](INFO): DAT read: 05:13:43.4351 LVL= 32336, 17729, 22850, 32755, AGC= 67, IDX= 504,-0.29, 0.436, 2.601, 1.355, 1.541, PHS=-1.003, 1.105,-0.230, RAW= 308.8, 1.4, CAL= 306.7, -2.0, ROT= 203.3, 2.0 2025-10-27T05:13:44.858Z,1761542024.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913256,0.407259,-0.010145],[-0.405814,0.911637,0.065056],[0.035744,-0.055296,0.997830]] 2025-10-27T05:13:44.867Z,1761542024.867 [DAT](INFO): got valid direction response: 05:13:43.4351 LVL= 32336, 17729, 22850, 32755, AGC= 67, IDX= 504,-0.29, 0.436, 2.601, 1.355, 1.541, PHS=-1.003, 1.105,-0.230, RAW= 308.8, 1.4, CAL= 306.7, -2.0, ROT= 203.3, 2.0 2025-10-27T05:13:44.867Z,1761542024.867 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:13:44.868Z,1761542024.868 [DAT](INFO): direction in FSK: [-0.917887,-0.395305,-0.034899] 2025-10-27T05:13:44.869Z,1761542024.869 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:44.876Z,1761542024.876 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.697674 2025-10-27T05:13:44.959Z,1761542024.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503982 s, deltaX: -0.099998 m, approachRate: -0.198417 m/s, rangeRepo size: 4 2025-10-27T05:13:44.961Z,1761542024.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076521 m, bearing: 179.435220 deg, lat: 36.779339 deg, lon: -121.859672 deg, deltaT: 0.503982 s, deltaX: -0.099489 m, approachRate: -0.197406 m/s, posRepo size: 4 2025-10-27T05:13:44.962Z,1761542024.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:45.040Z,1761542025.040 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.861336 2025-10-27T05:13:45.257Z,1761542025.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913409,0.406914,-0.010246],[-0.405477,0.911812,0.064714],[0.035675,-0.054955,0.997851]] 2025-10-27T05:13:45.292Z,1761542025.292 [DAT](INFO): DAT read: Rx Time:05:13:43.9352 2025-10-27T05:13:45.293Z,1761542025.293 [DAT](INFO): Rx dataTimestamp_ set to:1761542025.292653 2025-10-27T05:13:45.294Z,1761542025.294 [DAT](INFO): DAT read: Bearing 325.3, -25.6 (Local) 2025-10-27T05:13:45.294Z,1761542025.294 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, -25.6 (Local) 2025-10-27T05:13:45.297Z,1761542025.297 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:45.302Z,1761542025.302 [DAT](INFO): DAT read: 05:13:43.9352 LVL= 32192, 19105, 26946, 32755, AGC= 67, IDX= 504,-0.06, 0.978, 3.140, 1.906, 2.099, PHS=-1.019, 1.086,-0.237, RAW= 308.4, 1.9, CAL= 306.3, -1.5, ROT= 203.7, 1.5 2025-10-27T05:13:45.303Z,1761542025.303 [DAT](INFO): got valid direction response: 05:13:43.9352 LVL= 32192, 19105, 26946, 32755, AGC= 67, IDX= 504,-0.06, 0.978, 3.140, 1.906, 2.099, PHS=-1.019, 1.086,-0.237, RAW= 308.4, 1.9, CAL= 306.3, -1.5, ROT= 203.7, 1.5 2025-10-27T05:13:45.303Z,1761542025.303 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:13:45.304Z,1761542025.304 [DAT](INFO): direction in FSK: [-0.915349,-0.401810,-0.026177] 2025-10-27T05:13:45.305Z,1761542025.305 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:45.308Z,1761542025.308 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.129513 2025-10-27T05:13:45.320Z,1761542025.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504009 s, deltaX: 0.099998 m, approachRate: 0.198406 m/s, rangeRepo size: 4 2025-10-27T05:13:45.320Z,1761542025.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:45.544Z,1761542025.544 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.365211 2025-10-27T05:13:45.705Z,1761542025.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913538,0.406627,-0.010193],[-0.405198,0.911947,0.064553],[0.035544,-0.054842,0.997862]] 2025-10-27T05:13:45.777Z,1761542025.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:45.797Z,1761542025.797 [DAT](INFO): DAT read: Rx Time:05:13:44.4351 2025-10-27T05:13:45.797Z,1761542025.797 [DAT](INFO): Rx dataTimestamp_ set to:1761542025.796719 2025-10-27T05:13:45.798Z,1761542025.798 [DAT](INFO): DAT read: Bearing 325.3, -25.7 (Local) 2025-10-27T05:13:45.799Z,1761542025.799 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, -25.7 (Local) 2025-10-27T05:13:45.801Z,1761542025.801 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:45.805Z,1761542025.805 [DAT](INFO): DAT read: 05:13:44.4351 LVL= 32752, 23025, 29330, 32755, AGC= 67, IDX= 503, 0.17, 1.802,-2.323, 2.732, 2.923, PHS=-1.020, 1.082,-0.235, RAW= 308.3, 1.9, CAL= 306.2, -1.5, ROT= 203.8, 1.5 2025-10-27T05:13:45.806Z,1761542025.806 [DAT](INFO): got valid direction response: 05:13:44.4351 LVL= 32752, 23025, 29330, 32755, AGC= 67, IDX= 503, 0.17, 1.802,-2.323, 2.732, 2.923, PHS=-1.020, 1.082,-0.235, RAW= 308.3, 1.9, CAL= 306.2, -1.5, ROT= 203.8, 1.5 2025-10-27T05:13:45.807Z,1761542025.807 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:13:45.808Z,1761542025.808 [DAT](INFO): direction in FSK: [-0.914646,-0.403407,-0.026177] 2025-10-27T05:13:45.808Z,1761542025.808 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:45.812Z,1761542025.812 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.632996 2025-10-27T05:13:46.048Z,1761542026.048 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.869305 2025-10-27T05:13:46.108Z,1761542026.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913774,0.406101,-0.009932],[-0.404689,0.912176,0.064507],[0.035256,-0.054926,0.997868]] 2025-10-27T05:13:46.162Z,1761542026.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504066 s, deltaX: -0.099998 m, approachRate: -0.198384 m/s, rangeRepo size: 4 2025-10-27T05:13:46.168Z,1761542026.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076590 m, bearing: 179.972451 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 1.008075 s, deltaX: 0.000069 m, approachRate: 0.000068 m/s, posRepo size: 4 2025-10-27T05:13:46.169Z,1761542026.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:46.301Z,1761542026.301 [DAT](INFO): DAT read: Rx Time:05:13:44.9352 2025-10-27T05:13:46.301Z,1761542026.301 [DAT](INFO): Rx dataTimestamp_ set to:1761542026.300748 2025-10-27T05:13:46.302Z,1761542026.302 [DAT](INFO): DAT read: Bearing 324.4, -25.8 (Local) 2025-10-27T05:13:46.303Z,1761542026.303 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:13:46.303Z,1761542026.303 [DAT](INFO): Local bearing/azimuth received: Bearing 324.4, -25.8 (Local) 2025-10-27T05:13:46.306Z,1761542026.306 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:46.310Z,1761542026.310 [DAT](INFO): DAT read: 05:13:44.9352 LVL= 32752, 23713, 32754, 32755, AGC= 68, IDX= 505,-0.47, 1.403,-2.717, 2.332, 2.551, PHS=-1.046, 1.060,-0.264, RAW= 308.4, 2.7, CAL= 306.1, -0.6, ROT= 203.9, 0.6 2025-10-27T05:13:46.314Z,1761542026.314 [DAT](INFO): got valid direction response: 05:13:44.9352 LVL= 32752, 23713, 32754, 32755, AGC= 68, IDX= 505,-0.47, 1.403,-2.717, 2.332, 2.551, PHS=-1.046, 1.060,-0.264, RAW= 308.4, 2.7, CAL= 306.1, -0.6, ROT= 203.9, 0.6 2025-10-27T05:13:46.343Z,1761542026.343 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T05:13:46.344Z,1761542026.344 [DAT](INFO): direction in FSK: [-0.914204,-0.405119,-0.010472] 2025-10-27T05:13:46.344Z,1761542026.344 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:46.364Z,1761542026.364 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.185486 2025-10-27T05:13:46.470Z,1761542026.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914102,0.405372,-0.009538],[-0.403983,0.912487,0.064544],[0.034868,-0.055146,0.997869]] 2025-10-27T05:13:46.505Z,1761542026.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504029 s, deltaX: 0.099998 m, approachRate: 0.198398 m/s, rangeRepo size: 4 2025-10-27T05:13:46.507Z,1761542026.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.176079 m, bearing: 180.058422 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.504029 s, deltaX: 0.099489 m, approachRate: 0.197388 m/s, posRepo size: 4 2025-10-27T05:13:46.508Z,1761542026.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:46.553Z,1761542026.553 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.374077 2025-10-27T05:13:46.805Z,1761542026.805 [DAT](INFO): DAT read: Rx Time:05:13:45.4352 2025-10-27T05:13:46.805Z,1761542026.805 [DAT](INFO): Rx dataTimestamp_ set to:1761542026.804736 2025-10-27T05:13:46.806Z,1761542026.806 [DAT](INFO): DAT read: Bearing 324.1, -25.8 (Local) 2025-10-27T05:13:46.807Z,1761542026.807 [DAT](INFO): Local bearing/azimuth received: Bearing 324.1, -25.8 (Local) 2025-10-27T05:13:46.809Z,1761542026.809 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:46.813Z,1761542026.813 [DAT](INFO): DAT read: 05:13:45.4352 LVL= 32752, 23361, 32754, 32755, AGC= 67, IDX= 504,-0.12,-0.730, 1.436, 0.197, 0.429, PHS=-1.058, 1.051,-0.276, RAW= 308.5, 3.1, CAL= 306.1, -0.2, ROT= 203.9, 0.2 2025-10-27T05:13:46.814Z,1761542026.814 [DAT](INFO): got valid direction response: 05:13:45.4352 LVL= 32752, 23361, 32754, 32755, AGC= 67, IDX= 504,-0.12,-0.730, 1.436, 0.197, 0.429, PHS=-1.058, 1.051,-0.276, RAW= 308.5, 3.1, CAL= 306.1, -0.2, ROT= 203.9, 0.2 2025-10-27T05:13:46.815Z,1761542026.815 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:13:46.816Z,1761542026.816 [DAT](INFO): direction in FSK: [-0.914248,-0.405139,-0.003491] 2025-10-27T05:13:46.816Z,1761542026.816 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:46.823Z,1761542026.823 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.643311 2025-10-27T05:13:46.874Z,1761542026.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914537,0.404400,-0.009109],[-0.403037,0.912908,0.064502],[0.034400,-0.055318,0.997876]] 2025-10-27T05:13:47.011Z,1761542027.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503988 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:47.013Z,1761542027.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.176079 m, bearing: 180.091900 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.503988 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:47.013Z,1761542027.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:47.057Z,1761542027.057 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.878269 2025-10-27T05:13:47.280Z,1761542027.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915043,0.403264,-0.008674],[-0.401932,0.913405,0.064356],[0.033875,-0.055402,0.997889]] 2025-10-27T05:13:47.304Z,1761542027.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:47.309Z,1761542027.309 [DAT](INFO): DAT read: Rx Time:05:13:45.9353 2025-10-27T05:13:47.309Z,1761542027.309 [DAT](INFO): Rx dataTimestamp_ set to:1761542027.308813 2025-10-27T05:13:47.310Z,1761542027.310 [DAT](INFO): DAT read: Bearing 325.1, -25.9 (Local) 2025-10-27T05:13:47.311Z,1761542027.311 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -25.9 (Local) 2025-10-27T05:13:47.313Z,1761542027.313 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:47.318Z,1761542027.318 [DAT](INFO): DAT read: 05:13:45.9353 LVL= 32752, 22977, 30626, 32755, AGC= 66, IDX= 505, 0.07, 2.119,-1.988, 3.063,-3.020, PHS=-1.042, 1.078,-0.243, RAW= 308.1, 2.3, CAL= 305.9, -1.1, ROT= 204.1, 1.1 2025-10-27T05:13:47.319Z,1761542027.319 [DAT](INFO): got valid direction response: 05:13:45.9353 LVL= 32752, 22977, 30626, 32755, AGC= 66, IDX= 505, 0.07, 2.119,-1.988, 3.063,-3.020, PHS=-1.042, 1.078,-0.243, RAW= 308.1, 2.3, CAL= 305.9, -1.1, ROT= 204.1, 1.1 2025-10-27T05:13:47.319Z,1761542027.319 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:13:47.320Z,1761542027.320 [DAT](INFO): direction in FSK: [-0.912666,-0.408255,-0.019197] 2025-10-27T05:13:47.320Z,1761542027.320 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:47.323Z,1761542027.323 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:13:47.325Z,1761542027.325 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.146416 2025-10-27T05:13:47.562Z,1761542027.562 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.382721 2025-10-27T05:13:47.726Z,1761542027.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915728,0.401713,-0.008257],[-0.400420,0.914095,0.063981],[0.033250,-0.055283,0.997917]] 2025-10-27T05:13:47.787Z,1761542027.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504077 s, deltaX: 0.200001 m, approachRate: 0.396766 m/s, rangeRepo size: 4 2025-10-27T05:13:47.793Z,1761542027.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.375010 m, bearing: 180.513720 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.504077 s, deltaX: 0.198931 m, approachRate: 0.394644 m/s, posRepo size: 4 2025-10-27T05:13:47.793Z,1761542027.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:13:47.813Z,1761542027.813 [DAT](INFO): DAT read: Rx Time:05:13:46.4352 2025-10-27T05:13:47.813Z,1761542027.813 [DAT](INFO): Rx dataTimestamp_ set to:1761542027.812798 2025-10-27T05:13:47.814Z,1761542027.814 [DAT](INFO): DAT read: Bearing 325.5, -26.1 (Local) 2025-10-27T05:13:47.815Z,1761542027.815 [DAT](INFO): Local bearing/azimuth received: Bearing 325.5, -26.1 (Local) 2025-10-27T05:13:47.817Z,1761542027.817 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:47.821Z,1761542027.821 [DAT](INFO): DAT read: 05:13:46.4352 LVL= 32752, 20945, 30706, 32755, AGC= 66, IDX= 504, 0.27, 1.758,-2.342, 2.710, 2.900, PHS=-1.040, 1.086,-0.233, RAW= 307.9, 2.0, CAL= 305.8, -1.4, ROT= 204.2, 1.4 2025-10-27T05:13:47.823Z,1761542027.823 [DAT](INFO): got valid direction response: 05:13:46.4352 LVL= 32752, 20945, 30706, 32755, AGC= 66, IDX= 504, 0.27, 1.758,-2.342, 2.710, 2.900, PHS=-1.040, 1.086,-0.233, RAW= 307.9, 2.0, CAL= 305.8, -1.4, ROT= 204.2, 1.4 2025-10-27T05:13:47.824Z,1761542027.824 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:13:47.825Z,1761542027.825 [DAT](INFO): direction in FSK: [-0.911848,-0.409801,-0.024432] 2025-10-27T05:13:47.825Z,1761542027.825 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:47.829Z,1761542027.829 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.649887 2025-10-27T05:13:48.067Z,1761542028.067 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.887245 2025-10-27T05:13:48.126Z,1761542028.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916627,0.399669,-0.007733],[-0.398429,0.915009,0.063350],[0.032395,-0.054987,0.997961]] 2025-10-27T05:13:48.170Z,1761542028.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503985 s, deltaX: -0.200001 m, approachRate: -0.396839 m/s, rangeRepo size: 4 2025-10-27T05:13:48.176Z,1761542028.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.176029 m, bearing: 180.757423 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.503985 s, deltaX: -0.198980 m, approachRate: -0.394814 m/s, posRepo size: 4 2025-10-27T05:13:48.177Z,1761542028.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:48.316Z,1761542028.316 [DAT](INFO): DAT read: Rx Time:05:13:46.9352 2025-10-27T05:13:48.317Z,1761542028.317 [DAT](INFO): Rx dataTimestamp_ set to:1761542028.316680 2025-10-27T05:13:48.318Z,1761542028.318 [DAT](INFO): DAT read: Bearing 325.7, -25.8 (Local) 2025-10-27T05:13:48.319Z,1761542028.319 [DAT](INFO): Local bearing/azimuth received: Bearing 325.7, -25.8 (Local) 2025-10-27T05:13:48.321Z,1761542028.321 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:48.325Z,1761542028.325 [DAT](INFO): DAT read: 05:13:46.9352 LVL= 32752, 20033, 28706, 32755, AGC= 66, IDX= 505,-0.38, 0.322, 2.499, 1.265, 1.452, PHS=-1.028, 1.091,-0.231, RAW= 308.2, 1.8, CAL= 306.0, -1.6, ROT= 204.0, 1.6 2025-10-27T05:13:48.326Z,1761542028.326 [DAT](INFO): got valid direction response: 05:13:46.9352 LVL= 32752, 20033, 28706, 32755, AGC= 66, IDX= 505,-0.38, 0.322, 2.499, 1.265, 1.452, PHS=-1.028, 1.091,-0.231, RAW= 308.2, 1.8, CAL= 306.0, -1.6, ROT= 204.0, 1.6 2025-10-27T05:13:48.328Z,1761542028.328 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:13:48.329Z,1761542028.329 [DAT](INFO): direction in FSK: [-0.913189,-0.406578,-0.027922] 2025-10-27T05:13:48.329Z,1761542028.329 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:48.333Z,1761542028.333 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.153976 2025-10-27T05:13:48.490Z,1761542028.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917353,0.398008,-0.007305],[-0.396808,0.915742,0.062932],[0.031736,-0.054832,0.997991]] 2025-10-27T05:13:48.528Z,1761542028.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:48.530Z,1761542028.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.176010 m, bearing: 180.671757 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.503882 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 2025-10-27T05:13:48.531Z,1761542028.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:48.571Z,1761542028.571 [DAT](INFO): DAT read: Rx Time:05:13:47.4352 2025-10-27T05:13:48.573Z,1761542028.573 [DAT](INFO): Rx dataTimestamp_ set to:1761542028.571723 2025-10-27T05:13:48.575Z,1761542028.575 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.395309 2025-10-27T05:13:48.821Z,1761542028.821 [DAT](INFO): DAT read: Bearing 325.7, -25.6 (Local) 2025-10-27T05:13:48.822Z,1761542028.822 [DAT](INFO): Local bearing/azimuth received: Bearing 325.7, -25.6 (Local) 2025-10-27T05:13:48.828Z,1761542028.828 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:48.833Z,1761542028.833 [DAT](INFO): DAT read: 05:13:47.4352 LVL= 32752, 20209, 26706, 32755, AGC= 68, IDX= 504,-0.13,-0.876, 1.284, 0.055, 0.244, PHS=-1.018, 1.085,-0.233, RAW= 308.3, 1.8, CAL= 306.2, -1.5, ROT= 203.8, 1.5 2025-10-27T05:13:48.834Z,1761542028.834 [DAT](INFO): got valid direction response: 05:13:47.4352 LVL= 32752, 20209, 26706, 32755, AGC= 68, IDX= 504,-0.13,-0.876, 1.284, 0.055, 0.244, PHS=-1.018, 1.085,-0.233, RAW= 308.3, 1.8, CAL= 306.2, -1.5, ROT= 203.8, 1.5 2025-10-27T05:13:48.834Z,1761542028.834 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:13:48.835Z,1761542028.835 [DAT](INFO): direction in FSK: [-0.914646,-0.403407,-0.026177] 2025-10-27T05:13:48.836Z,1761542028.836 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:48.839Z,1761542028.839 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.660419 2025-10-27T05:13:48.894Z,1761542028.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918088,0.396317,-0.006881],[-0.395157,0.916485,0.062506],[0.031079,-0.054667,0.998021]] 2025-10-27T05:13:48.989Z,1761542028.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.502956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:48.995Z,1761542028.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.176010 m, bearing: 180.568922 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 0.502956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:48.995Z,1761542028.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:49.076Z,1761542029.076 [DAT](INFO): DAT read: Rx Time:05:13:47.9353 2025-10-27T05:13:49.077Z,1761542029.077 [DAT](INFO): Rx dataTimestamp_ set to:1761542029.076340 2025-10-27T05:13:49.080Z,1761542029.080 [DAT](INFO): DAT read: Bearing 325.4, -25.7 (Local) 2025-10-27T05:13:49.081Z,1761542029.081 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, -25.7 (Local) 2025-10-27T05:13:49.083Z,1761542029.083 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.903336 2025-10-27T05:13:49.300Z,1761542029.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918823,0.394620,-0.006269],[-0.393505,0.917216,0.062199],[0.030295,-0.054683,0.998044]] 2025-10-27T05:13:49.326Z,1761542029.326 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:49.330Z,1761542029.330 [DAT](INFO): DAT read: 05:13:47.9353 LVL= 32752, 21281, 27250, 32755, AGC= 69, IDX= 505, 0.13, 0.193, 2.349, 1.123, 1.323, PHS=-1.028, 1.072,-0.244, RAW= 308.3, 2.2, CAL= 306.1, -1.2, ROT= 203.9, 1.2 2025-10-27T05:13:49.332Z,1761542029.332 [DAT](INFO): got valid direction response: 05:13:47.9353 LVL= 32752, 21281, 27250, 32755, AGC= 69, IDX= 505, 0.13, 0.193, 2.349, 1.123, 1.323, PHS=-1.028, 1.072,-0.244, RAW= 308.3, 2.2, CAL= 306.1, -1.2, ROT= 203.9, 1.2 2025-10-27T05:13:49.333Z,1761542029.333 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:13:49.334Z,1761542029.334 [DAT](INFO): direction in FSK: [-0.914053,-0.405053,-0.020942] 2025-10-27T05:13:49.334Z,1761542029.334 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:49.337Z,1761542029.337 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.158680 2025-10-27T05:13:49.340Z,1761542029.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503806 s, deltaX: 0.200001 m, approachRate: 0.396980 m/s, rangeRepo size: 4 2025-10-27T05:13:49.340Z,1761542029.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:49.579Z,1761542029.579 [DAT](INFO): DAT read: Rx Time:05:13:48.4352 2025-10-27T05:13:49.581Z,1761542029.581 [DAT](INFO): Rx dataTimestamp_ set to:1761542029.580055 2025-10-27T05:13:49.583Z,1761542029.583 [DAT](INFO): DAT read: Bearing 325.6, -24.9 (Local) 2025-10-27T05:13:49.584Z,1761542029.584 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, -24.9 (Local) 2025-10-27T05:13:49.586Z,1761542029.586 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.406605 2025-10-27T05:13:49.748Z,1761542029.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919467,0.393124,-0.005789],[-0.392043,0.917854,0.062021],[0.029695,-0.054756,0.998058]] 2025-10-27T05:13:49.797Z,1761542029.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:49.831Z,1761542029.831 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 2025-10-27T05:13:49.838Z,1761542029.838 [DAT](INFO): DAT read: 05:13:48.4352 LVL= 32752, 20961, 28322, 32755, AGC= 69, IDX= 505,-0.46, 2.997,-1.146,-2.385,-2.180, PHS=-1.004, 1.079,-0.248, RAW= 309.0, 1.9, CAL= 306.8, -1.4, ROT= 203.2, 1.4 2025-10-27T05:13:49.839Z,1761542029.839 [DAT](INFO): got valid direction response: 05:13:48.4352 LVL= 32752, 20961, 28322, 32755, AGC= 69, IDX= 505,-0.46, 2.997,-1.146,-2.385,-2.180, PHS=-1.004, 1.079,-0.248, RAW= 309.0, 1.9, CAL= 306.8, -1.4, ROT= 203.2, 1.4 2025-10-27T05:13:49.840Z,1761542029.840 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:13:49.841Z,1761542029.841 [DAT](INFO): direction in FSK: [-0.918861,-0.393824,-0.024432] 2025-10-27T05:13:49.841Z,1761542029.841 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:49.847Z,1761542029.847 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.667610 2025-10-27T05:13:50.083Z,1761542030.083 [DAT](INFO): DAT read: Rx Time:05:13:48.9354 2025-10-27T05:13:50.085Z,1761542030.085 [DAT](INFO): Rx dataTimestamp_ set to:1761542030.083687 2025-10-27T05:13:50.087Z,1761542030.087 [DAT](INFO): DAT read: Bearing 325.4, -25.4 (Local) 2025-10-27T05:13:50.088Z,1761542030.088 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, -25.4 (Local) 2025-10-27T05:13:50.090Z,1761542030.090 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.910858 2025-10-27T05:13:50.154Z,1761542030.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920112,0.391621,-0.005203],[-0.390579,0.918484,0.061925],[0.029030,-0.054945,0.998067]] 2025-10-27T05:13:50.205Z,1761542030.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504209 s, deltaX: -0.200001 m, approachRate: -0.396662 m/s, rangeRepo size: 4 2025-10-27T05:13:50.212Z,1761542030.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.176039 m, bearing: 180.249171 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 1.008015 s, deltaX: 0.000029 m, approachRate: 0.000028 m/s, posRepo size: 4 2025-10-27T05:13:50.212Z,1761542030.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:50.334Z,1761542030.334 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.1 2025-10-27T05:13:50.340Z,1761542030.340 [DAT](INFO): DAT read: 05:13:48.9354 LVL= 32752, 22305, 29938, 32755, AGC= 71, IDX= 506,-0.17, 2.825,-1.312,-2.543,-2.338, PHS=-1.019, 1.070,-0.249, RAW= 308.6, 2.2, CAL= 306.4, -1.1, ROT= 203.6, 1.1 2025-10-27T05:13:50.341Z,1761542030.341 [DAT](INFO): got valid direction response: 05:13:48.9354 LVL= 32752, 22305, 29938, 32755, AGC= 71, IDX= 506,-0.17, 2.825,-1.312,-2.543,-2.338, PHS=-1.019, 1.070,-0.249, RAW= 308.6, 2.2, CAL= 306.4, -1.1, ROT= 203.6, 1.1 2025-10-27T05:13:50.341Z,1761542030.341 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T05:13:50.342Z,1761542030.342 [DAT](INFO): direction in FSK: [-0.916194,-0.400275,-0.019197] 2025-10-27T05:13:50.342Z,1761542030.342 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:50.346Z,1761542030.346 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.167320 2025-10-27T05:13:50.509Z,1761542030.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920692,0.390263,-0.004632],[-0.389257,0.919053,0.061816],[0.028381,-0.055110,0.998077]] 2025-10-27T05:13:50.540Z,1761542030.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504132 s, deltaX: 0.300001 m, approachRate: 0.595084 m/s, rangeRepo size: 4 2025-10-27T05:13:50.542Z,1761542030.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.474510 m, bearing: 180.712160 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.504132 s, deltaX: 0.298471 m, approachRate: 0.592050 m/s, posRepo size: 4 2025-10-27T05:13:50.559Z,1761542030.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:13:50.588Z,1761542030.588 [DAT](INFO): DAT read: Rx Time:05:13:49.4352 2025-10-27T05:13:50.589Z,1761542030.589 [DAT](INFO): Rx dataTimestamp_ set to:1761542030.588378 2025-10-27T05:13:50.592Z,1761542030.592 [DAT](INFO): DAT read: Bearing 324.8, -25.6 (Local) 2025-10-27T05:13:50.594Z,1761542030.594 [DAT](INFO): Local bearing/azimuth received: Bearing 324.8, -25.6 (Local) 2025-10-27T05:13:50.598Z,1761542030.598 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 2025-10-27T05:13:50.604Z,1761542030.604 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T05:13:50.616Z,1761542030.616 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.436684 2025-10-27T05:13:50.840Z,1761542030.840 [DAT](INFO): DAT read: 05:13:49.4352 LVL= 32752, 22769, 29778, 32755, AGC= 70, IDX= 505,-0.03, 2.070,-2.081, 2.983,-3.083, PHS=-1.028, 1.047,-0.261, RAW= 308.6, 2.7, CAL= 306.2, -0.6, ROT= 203.8, 0.6 2025-10-27T05:13:50.842Z,1761542030.842 [DAT](INFO): got valid direction response: 05:13:49.4352 LVL= 32752, 22769, 29778, 32755, AGC= 70, IDX= 505,-0.03, 2.070,-2.081, 2.983,-3.083, PHS=-1.028, 1.047,-0.261, RAW= 308.6, 2.7, CAL= 306.2, -0.6, ROT= 203.8, 0.6 2025-10-27T05:13:50.842Z,1761542030.842 [DAT](INFO): #Rx 103: Read direction message, but no range. 2025-10-27T05:13:50.843Z,1761542030.843 [DAT](INFO): direction in FSK: [-0.914909,-0.403523,-0.010472] 2025-10-27T05:13:50.846Z,1761542030.846 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.667549 2025-10-27T05:13:51.092Z,1761542031.092 [DAT](INFO): DAT read: Rx Time:05:13:49.9353 2025-10-27T05:13:51.093Z,1761542031.093 [DAT](INFO): Rx dataTimestamp_ set to:1761542031.092212 2025-10-27T05:13:51.096Z,1761542031.096 [DAT](INFO): DAT read: Bearing 325.7, -25.8 (Local) 2025-10-27T05:13:51.097Z,1761542031.097 [DAT](INFO): Local bearing/azimuth received: Bearing 325.7, -25.8 (Local) 2025-10-27T05:13:51.102Z,1761542031.102 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:51.113Z,1761542031.113 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-27T05:13:51.116Z,1761542031.116 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.936378 2025-10-27T05:13:51.166Z,1761542031.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.760429 s, deltaX: -0.100000 m, approachRate: -0.131505 m/s, rangeRepo size: 4 2025-10-27T05:13:51.184Z,1761542031.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.375019 m, bearing: 180.880845 deg, lat: 36.779338 deg, lon: -121.859670 deg, deltaT: 0.760429 s, deltaX: -0.099491 m, approachRate: -0.130836 m/s, posRepo size: 4 2025-10-27T05:13:51.185Z,1761542031.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:13:51.344Z,1761542031.344 [DAT](INFO): DAT read: 05:13:49.9353 LVL= 32752, 21089, 27170, 32755, AGC= 70, IDX= 506, 0.07,-2.247,-0.096,-1.312,-1.125, PHS=-1.021, 1.074,-0.232, RAW= 308.1, 2.0, CAL= 305.9, -1.4, ROT= 204.1, 1.4 2025-10-27T05:13:51.345Z,1761542031.345 [DAT](INFO): got valid direction response: 05:13:49.9353 LVL= 32752, 21089, 27170, 32755, AGC= 70, IDX= 506, 0.07,-2.247,-0.096,-1.312,-1.125, PHS=-1.021, 1.074,-0.232, RAW= 308.1, 2.0, CAL= 305.9, -1.4, ROT= 204.1, 1.4 2025-10-27T05:13:51.345Z,1761542031.345 [DAT](INFO): #Rx 105: Read direction message, but no range. 2025-10-27T05:13:51.346Z,1761542031.346 [DAT](INFO): direction in FSK: [-0.912562,-0.408209,-0.024432] 2025-10-27T05:13:51.350Z,1761542031.350 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.170933 2025-10-27T05:13:51.488Z,1761542031.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.38 m. 2025-10-27T05:13:51.595Z,1761542031.595 [DAT](INFO): DAT read: Rx Time:05:13:50.4352 2025-10-27T05:13:51.597Z,1761542031.597 [DAT](INFO): Rx dataTimestamp_ set to:1761542031.595938 2025-10-27T05:13:51.600Z,1761542031.600 [DAT](INFO): DAT read: Bearing 325.6, -26.0 (Local) 2025-10-27T05:13:51.601Z,1761542031.601 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, -26.0 (Local) 2025-10-27T05:13:51.605Z,1761542031.605 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:51.607Z,1761542031.607 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-27T05:13:51.610Z,1761542031.610 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.430473 2025-10-27T05:13:51.838Z,1761542031.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921473,0.388421,-0.003978],[-0.387458,0.919820,0.061705],[0.027627,-0.055318,0.998087]] 2025-10-27T05:13:51.848Z,1761542031.848 [DAT](INFO): DAT read: 05:13:50.4352 LVL= 32752, 21089, 29042, 32755, AGC= 69, IDX= 505, 0.17,-2.924,-0.779,-1.986,-1.799, PHS=-1.023, 1.065,-0.230, RAW= 307.9, 2.1, CAL= 305.7, -1.3, ROT= 204.3, 1.3 2025-10-27T05:13:51.849Z,1761542031.849 [DAT](INFO): got valid direction response: 05:13:50.4352 LVL= 32752, 21089, 29042, 32755, AGC= 69, IDX= 505, 0.17,-2.924,-0.779,-1.986,-1.799, PHS=-1.023, 1.065,-0.230, RAW= 307.9, 2.1, CAL= 305.7, -1.3, ROT= 204.3, 1.3 2025-10-27T05:13:51.849Z,1761542031.849 [DAT](INFO): #Rx 107: Read direction message, but no range. 2025-10-27T05:13:51.850Z,1761542031.850 [DAT](INFO): direction in FSK: [-0.911169,-0.411408,-0.022687] 2025-10-27T05:13:51.854Z,1761542031.854 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.675442 2025-10-27T05:13:51.982Z,1761542031.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503726 s, deltaX: -0.200001 m, approachRate: -0.397043 m/s, rangeRepo size: 4 2025-10-27T05:13:51.988Z,1761542031.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.176003 m, bearing: 181.535173 deg, lat: 36.779338 deg, lon: -121.859670 deg, deltaT: 0.503726 s, deltaX: -0.199017 m, approachRate: -0.395089 m/s, posRepo size: 4 2025-10-27T05:13:51.989Z,1761542031.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:52.100Z,1761542032.100 [DAT](INFO): DAT read: Rx Time:05:13:50.9352 2025-10-27T05:13:52.102Z,1761542032.102 [DAT](INFO): Rx dataTimestamp_ set to:1761542032.101007 2025-10-27T05:13:52.105Z,1761542032.105 [DAT](INFO): DAT read: Bearing 324.1, -26.4 (Local) 2025-10-27T05:13:52.107Z,1761542032.107 [DAT](INFO): Local bearing/azimuth received: Bearing 324.1, -26.4 (Local) 2025-10-27T05:13:52.114Z,1761542032.114 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:52.122Z,1761542032.122 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-27T05:13:52.122Z,1761542032.122 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.943703 2025-10-27T05:13:52.248Z,1761542032.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921405,0.388583,-0.003924],[-0.387618,0.919742,0.061870],[0.027651,-0.055486,0.998076]] 2025-10-27T05:13:52.302Z,1761542032.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.505069 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:52.302Z,1761542032.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:52.363Z,1761542032.363 [DAT](INFO): DAT read: 05:13:50.9352 LVL= 32752, 27457, 32754, 32755, AGC= 69, IDX= 505, 0.19,-1.923, 0.246,-0.974,-0.749, PHS=-1.072, 1.040,-0.270, RAW= 307.9, 3.3, CAL= 305.5, -0.0, ROT= 204.5, 0.0 2025-10-27T05:13:52.364Z,1761542032.364 [DAT](INFO): got valid direction response: 05:13:50.9352 LVL= 32752, 27457, 32754, 32755, AGC= 69, IDX= 505, 0.19,-1.923, 0.246,-0.974,-0.749, PHS=-1.072, 1.040,-0.270, RAW= 307.9, 3.3, CAL= 305.5, -0.0, ROT= 204.5, 0.0 2025-10-27T05:13:52.365Z,1761542032.365 [DAT](INFO): #Rx 109: Read direction message, but no range. 2025-10-27T05:13:52.366Z,1761542032.366 [DAT](INFO): direction in FSK: [-0.909961,-0.414693,-0.000000] 2025-10-27T05:13:52.372Z,1761542032.372 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.192760 2025-10-27T05:13:52.608Z,1761542032.608 [DAT](INFO): DAT read: Rx Time:05:13:51.4351 2025-10-27T05:13:52.609Z,1761542032.609 [DAT](INFO): Rx dataTimestamp_ set to:1761542032.608437 2025-10-27T05:13:52.612Z,1761542032.612 [DAT](INFO): DAT read: Bearing 326.0, -26.4 (Local) 2025-10-27T05:13:52.613Z,1761542032.613 [DAT](INFO): Local bearing/azimuth received: Bearing 326.0, -26.4 (Local) 2025-10-27T05:13:52.618Z,1761542032.618 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:52.623Z,1761542032.623 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-27T05:13:52.624Z,1761542032.624 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.445400 2025-10-27T05:13:52.657Z,1761542032.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921174,0.389129,-0.004124],[-0.388147,0.919506,0.062047],[0.027937,-0.055556,0.998065]] 2025-10-27T05:13:52.785Z,1761542032.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.507430 s, deltaX: -0.099998 m, approachRate: -0.197069 m/s, rangeRepo size: 4 2025-10-27T05:13:52.791Z,1761542032.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076500 m, bearing: 181.611057 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 1.012499 s, deltaX: -0.099503 m, approachRate: -0.098274 m/s, posRepo size: 4 2025-10-27T05:13:52.792Z,1761542032.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:52.862Z,1761542032.862 [DAT](INFO): DAT read: 05:13:51.4351 LVL= 32752, 21089, 25378, 32755, AGC= 69, IDX= 504, 0.23,-2.890,-0.714,-1.921,-1.756, PHS=-1.032, 1.086,-0.209, RAW= 307.3, 1.7, CAL= 305.2, -1.8, ROT= 204.8, 1.8 2025-10-27T05:13:52.863Z,1761542032.863 [DAT](INFO): got valid direction response: 05:13:51.4351 LVL= 32752, 21089, 25378, 32755, AGC= 69, IDX= 504, 0.23,-2.890,-0.714,-1.921,-1.756, PHS=-1.032, 1.086,-0.209, RAW= 307.3, 1.7, CAL= 305.2, -1.8, ROT= 204.8, 1.8 2025-10-27T05:13:52.864Z,1761542032.864 [DAT](INFO): #Rx 111: Read direction message, but no range. 2025-10-27T05:13:52.865Z,1761542032.865 [DAT](INFO): direction in FSK: [-0.907330,-0.419245,-0.031411] 2025-10-27T05:13:52.868Z,1761542032.868 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.689262 2025-10-27T05:13:53.054Z,1761542033.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920787,0.390044,-0.004230],[-0.389044,0.919103,0.062411],[0.028231,-0.055822,0.998042]] 2025-10-27T05:13:53.115Z,1761542033.115 [DAT](INFO): DAT read: Rx Time:05:13:51.9352 2025-10-27T05:13:53.116Z,1761542033.116 [DAT](INFO): Rx dataTimestamp_ set to:1761542033.115134 2025-10-27T05:13:53.121Z,1761542033.121 [DAT](INFO): DAT read: Bearing 325.2, -27.1 (Local) 2025-10-27T05:13:53.122Z,1761542033.122 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -27.1 (Local) 2025-10-27T05:13:53.128Z,1761542033.128 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:53.137Z,1761542033.137 [DAT](INFO): DAT read: 05:13:51.9352 LVL= 32752, 22865, 27490, 32755, AGC= 70, IDX= 505, 0.35,-2.014, 0.165,-1.028,-0.852, PHS=-1.060, 1.061,-0.220, RAW= 306.9, 2.4, CAL= 304.6, -1.1, ROT= 205.4, 1.1 2025-10-27T05:13:53.144Z,1761542033.144 [DAT](INFO): got valid direction response: 05:13:51.9352 LVL= 32752, 22865, 27490, 32755, AGC= 70, IDX= 505, 0.35,-2.014, 0.165,-1.028,-0.852, PHS=-1.060, 1.061,-0.220, RAW= 306.9, 2.4, CAL= 304.6, -1.1, ROT= 205.4, 1.1 2025-10-27T05:13:53.144Z,1761542033.144 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:13:53.145Z,1761542033.145 [DAT](INFO): direction in FSK: [-0.903169,-0.428856,-0.019197] 2025-10-27T05:13:53.145Z,1761542033.145 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:53.153Z,1761542033.153 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.974125 2025-10-27T05:13:53.193Z,1761542033.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.506697 s, deltaX: 0.099998 m, approachRate: 0.197354 m/s, rangeRepo size: 4 2025-10-27T05:13:53.215Z,1761542033.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.175987 m, bearing: 182.521727 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.506697 s, deltaX: 0.099487 m, approachRate: 0.196345 m/s, posRepo size: 4 2025-10-27T05:13:53.216Z,1761542033.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:53.361Z,1761542033.361 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.181984 2025-10-27T05:13:53.528Z,1761542033.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920207,0.391408,-0.004445],[-0.390379,0.918502,0.062910],[0.028706,-0.056155,0.998009]] 2025-10-27T05:13:53.555Z,1761542033.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:53.616Z,1761542033.616 [DAT](INFO): DAT read: Rx Time:05:13:52.4351 2025-10-27T05:13:53.618Z,1761542033.618 [DAT](INFO): Rx dataTimestamp_ set to:1761542033.616802 2025-10-27T05:13:53.622Z,1761542033.622 [DAT](INFO): DAT read: Bearing 325.2, -26.5 (Local) 2025-10-27T05:13:53.623Z,1761542033.623 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -26.5 (Local) 2025-10-27T05:13:53.625Z,1761542033.625 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:13:53.639Z,1761542033.639 [DAT](INFO): DAT read: 05:13:52.4351 LVL= 32752, 25409, 28450, 32755, AGC= 68, IDX= 504, 0.49, 2.917,-1.197,-2.400,-2.218, PHS=-1.047, 1.065,-0.226, RAW= 307.3, 2.3, CAL= 305.1, -1.2, ROT= 204.9, 1.2 2025-10-27T05:13:53.640Z,1761542033.640 [DAT](INFO): got valid direction response: 05:13:52.4351 LVL= 32752, 25409, 28450, 32755, AGC= 68, IDX= 504, 0.49, 2.917,-1.197,-2.400,-2.218, PHS=-1.047, 1.065,-0.226, RAW= 307.3, 2.3, CAL= 305.1, -1.2, ROT= 204.9, 1.2 2025-10-27T05:13:53.640Z,1761542033.640 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:13:53.641Z,1761542033.641 [DAT](INFO): direction in FSK: [-0.906845,-0.420943,-0.020942] 2025-10-27T05:13:53.641Z,1761542033.641 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:53.660Z,1761542033.660 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.481091 2025-10-27T05:13:53.864Z,1761542033.864 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.685150 2025-10-27T05:13:53.938Z,1761542033.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919522,0.393009,-0.004809],[-0.391942,0.917802,0.063414],[0.029336,-0.056425,0.997976]] 2025-10-27T05:13:53.986Z,1761542033.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.501668 s, deltaX: -0.099998 m, approachRate: -0.199332 m/s, rangeRepo size: 4 2025-10-27T05:13:53.989Z,1761542033.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.076504 m, bearing: 181.848034 deg, lat: 36.779340 deg, lon: -121.859672 deg, deltaT: 0.501668 s, deltaX: -0.099483 m, approachRate: -0.198305 m/s, posRepo size: 4 2025-10-27T05:13:53.989Z,1761542033.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:54.120Z,1761542034.120 [DAT](INFO): DAT read: Rx Time:05:13:52.9353 2025-10-27T05:13:54.121Z,1761542034.121 [DAT](INFO): Rx dataTimestamp_ set to:1761542034.120631 2025-10-27T05:13:54.124Z,1761542034.124 [DAT](INFO): DAT read: Bearing 324.4, -26.7 (Local) 2025-10-27T05:13:54.124Z,1761542034.124 [DAT](INFO): Local bearing/azimuth received: Bearing 324.4, -26.7 (Local) 2025-10-27T05:13:54.126Z,1761542034.126 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:54.126Z,1761542034.126 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-27T05:13:54.128Z,1761542034.128 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.948868 2025-10-27T05:13:54.334Z,1761542034.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918826,0.394629,-0.005271],[-0.393523,0.917102,0.063749],[0.029992,-0.056500,0.997952]] 2025-10-27T05:13:54.354Z,1761542034.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503829 s, deltaX: 0.299999 m, approachRate: 0.595439 m/s, rangeRepo size: 4 2025-10-27T05:13:54.354Z,1761542034.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.08 m. 2025-10-27T05:13:54.372Z,1761542034.372 [DAT](INFO): DAT read: 05:13:52.9353 LVL= 32752, 22289, 28722, 32755, AGC= 70, IDX= 506,-0.36, 2.749,-1.349,-2.562,-2.357, PHS=-1.075, 1.053,-0.249, RAW= 307.4, 3.0, CAL= 305.0, -0.4, ROT= 205.0, 0.4 2025-10-27T05:13:54.373Z,1761542034.373 [DAT](INFO): got valid direction response: 05:13:52.9353 LVL= 32752, 22289, 28722, 32755, AGC= 70, IDX= 506,-0.36, 2.749,-1.349,-2.562,-2.357, PHS=-1.075, 1.053,-0.249, RAW= 307.4, 3.0, CAL= 305.0, -0.4, ROT= 205.0, 0.4 2025-10-27T05:13:54.373Z,1761542034.373 [DAT](INFO): #Rx 115: Read direction message, but no range. 2025-10-27T05:13:54.374Z,1761542034.374 [DAT](INFO): direction in FSK: [-0.906286,-0.422608,-0.006981] 2025-10-27T05:13:54.377Z,1761542034.377 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.198624 2025-10-27T05:13:54.623Z,1761542034.623 [DAT](INFO): DAT read: Rx Time:05:13:53.4352 2025-10-27T05:13:54.624Z,1761542034.624 [DAT](INFO): Rx dataTimestamp_ set to:1761542034.623422 2025-10-27T05:13:54.625Z,1761542034.625 [DAT](INFO): DAT read: Bearing 325.1, -27.3 (Local) 2025-10-27T05:13:54.625Z,1761542034.625 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -27.3 (Local) 2025-10-27T05:13:54.628Z,1761542034.628 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:54.632Z,1761542034.632 [DAT](INFO): DAT read: 05:13:53.4352 LVL= 32752, 22337, 27778, 32755, AGC= 69, IDX= 505,-0.21, 1.723,-2.384, 2.717, 2.889, PHS=-1.064, 1.056,-0.216, RAW= 306.6, 2.5, CAL= 304.4, -1.0, ROT= 205.6, 1.0 2025-10-27T05:13:54.633Z,1761542034.633 [DAT](INFO): got valid direction response: 05:13:53.4352 LVL= 32752, 22337, 27778, 32755, AGC= 69, IDX= 505,-0.21, 1.723,-2.384, 2.717, 2.889, PHS=-1.064, 1.056,-0.216, RAW= 306.6, 2.5, CAL= 304.4, -1.0, ROT= 205.6, 1.0 2025-10-27T05:13:54.633Z,1761542034.633 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:13:54.634Z,1761542034.634 [DAT](INFO): direction in FSK: [-0.901695,-0.432020,-0.017452] 2025-10-27T05:13:54.641Z,1761542034.641 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:54.645Z,1761542034.645 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.465942 2025-10-27T05:13:54.798Z,1761542034.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918093,0.396322,-0.005842],[-0.395172,0.916373,0.064029],[0.030730,-0.056476,0.997931]] 2025-10-27T05:13:54.872Z,1761542034.872 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.693550 2025-10-27T05:13:54.933Z,1761542034.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.502791 s, deltaX: -0.200001 m, approachRate: -0.397781 m/s, rangeRepo size: 4 2025-10-27T05:13:54.940Z,1761542034.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.175959 m, bearing: 182.332191 deg, lat: 36.779341 deg, lon: -121.859673 deg, deltaT: 1.006620 s, deltaX: 0.099455 m, approachRate: 0.098801 m/s, posRepo size: 4 2025-10-27T05:13:54.940Z,1761542034.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:55.125Z,1761542035.125 [DAT](INFO): DAT read: Rx Time:05:13:53.9353 2025-10-27T05:13:55.125Z,1761542035.125 [DAT](INFO): Rx dataTimestamp_ set to:1761542035.124799 2025-10-27T05:13:55.126Z,1761542035.126 [DAT](INFO): DAT read: Bearing 324.8, -26.3 (Local) 2025-10-27T05:13:55.127Z,1761542035.127 [DAT](INFO): Local bearing/azimuth received: Bearing 324.8, -26.3 (Local) 2025-10-27T05:13:55.129Z,1761542035.129 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:55.133Z,1761542035.133 [DAT](INFO): DAT read: 05:13:53.9353 LVL= 32752, 24145, 30018, 32755, AGC= 68, IDX= 506,-0.03, 3.005,-1.106,-2.318,-2.125, PHS=-1.051, 1.063,-0.237, RAW= 307.6, 2.5, CAL= 305.3, -0.9, ROT= 204.7, 0.9 2025-10-27T05:13:55.134Z,1761542035.134 [DAT](INFO): got valid direction response: 05:13:53.9353 LVL= 32752, 24145, 30018, 32755, AGC= 68, IDX= 506,-0.03, 3.005,-1.106,-2.318,-2.125, PHS=-1.051, 1.063,-0.237, RAW= 307.6, 2.5, CAL= 305.3, -0.9, ROT= 204.7, 0.9 2025-10-27T05:13:55.135Z,1761542035.135 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:13:55.136Z,1761542035.136 [DAT](INFO): direction in FSK: [-0.908396,-0.417815,-0.015707] 2025-10-27T05:13:55.136Z,1761542035.136 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:55.140Z,1761542035.140 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.961163 2025-10-27T05:13:55.248Z,1761542035.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916922,0.399003,-0.007084],[-0.397781,0.915250,0.063943],[0.031997,-0.055813,0.997928]] 2025-10-27T05:13:55.312Z,1761542035.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.501377 s, deltaX: 0.200001 m, approachRate: 0.398903 m/s, rangeRepo size: 4 2025-10-27T05:13:55.314Z,1761542035.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.374897 m, bearing: 181.264759 deg, lat: 36.779341 deg, lon: -121.859673 deg, deltaT: 0.501377 s, deltaX: 0.198938 m, approachRate: 0.396784 m/s, posRepo size: 4 2025-10-27T05:13:55.319Z,1761542035.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:13:55.377Z,1761542035.377 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.197800 2025-10-27T05:13:55.630Z,1761542035.630 [DAT](INFO): DAT read: Rx Time:05:13:54.4352 2025-10-27T05:13:55.633Z,1761542035.633 [DAT](INFO): Rx dataTimestamp_ set to:1761542035.631352 2025-10-27T05:13:55.635Z,1761542035.635 [DAT](INFO): DAT read: Bearing 325.8, -26.9 (Local) 2025-10-27T05:13:55.635Z,1761542035.635 [DAT](INFO): Local bearing/azimuth received: Bearing 325.8, -26.9 (Local) 2025-10-27T05:13:55.637Z,1761542035.637 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:55.638Z,1761542035.638 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-27T05:13:55.639Z,1761542035.639 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.459927 2025-10-27T05:13:55.677Z,1761542035.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916248,0.400536,-0.007728],[-0.399272,0.914591,0.064070],[0.032730,-0.055619,0.997915]] 2025-10-27T05:13:55.749Z,1761542035.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.506553 s, deltaX: -0.200001 m, approachRate: -0.394827 m/s, rangeRepo size: 4 2025-10-27T05:13:55.750Z,1761542035.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:13:55.884Z,1761542035.884 [DAT](INFO): DAT read: 05:13:54.4352 LVL= 32752, 21345, 26946, 32755, AGC= 69, IDX= 505, 0.24, 2.600,-1.510,-2.697,-2.541, PHS=-1.040, 1.077,-0.200, RAW= 306.8, 1.8, CAL= 304.7, -1.7, ROT= 205.3, 1.7 2025-10-27T05:13:55.885Z,1761542035.885 [DAT](INFO): got valid direction response: 05:13:54.4352 LVL= 32752, 21345, 26946, 32755, AGC= 69, IDX= 505, 0.24, 2.600,-1.510,-2.697,-2.541, PHS=-1.040, 1.077,-0.200, RAW= 306.8, 1.8, CAL= 304.7, -1.7, ROT= 205.3, 1.7 2025-10-27T05:13:55.885Z,1761542035.885 [DAT](INFO): #Rx 119: Read direction message, but no range. 2025-10-27T05:13:55.886Z,1761542035.886 [DAT](INFO): direction in FSK: [-0.903685,-0.427170,-0.029666] 2025-10-27T05:13:55.890Z,1761542035.890 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.710835 2025-10-27T05:13:56.136Z,1761542036.136 [DAT](INFO): DAT read: Rx Time:05:13:54.9353 2025-10-27T05:13:56.136Z,1761542036.136 [DAT](INFO): Rx dataTimestamp_ set to:1761542036.135836 2025-10-27T05:13:56.137Z,1761542036.137 [DAT](INFO): DAT read: Bearing 325.1, -26.1 (Local) 2025-10-27T05:13:56.138Z,1761542036.138 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -26.1 (Local) 2025-10-27T05:13:56.140Z,1761542036.140 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:56.145Z,1761542036.145 [DAT](INFO): DAT read: 05:13:54.9353 LVL= 32752, 22257, 29250, 32755, AGC= 69, IDX= 506,-0.25,-0.764, 1.396, 0.186, 0.376, PHS=-1.038, 1.066,-0.233, RAW= 307.7, 2.3, CAL= 305.5, -1.1, ROT= 204.5, 1.1 2025-10-27T05:13:56.148Z,1761542036.148 [DAT](INFO): got valid direction response: 05:13:54.9353 LVL= 32752, 22257, 29250, 32755, AGC= 69, IDX= 506,-0.25,-0.764, 1.396, 0.186, 0.376, PHS=-1.038, 1.066,-0.233, RAW= 307.7, 2.3, CAL= 305.5, -1.1, ROT= 204.5, 1.1 2025-10-27T05:13:56.149Z,1761542036.149 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:13:56.150Z,1761542036.150 [DAT](INFO): direction in FSK: [-0.909794,-0.414617,-0.019197] 2025-10-27T05:13:56.150Z,1761542036.150 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:56.173Z,1761542036.173 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:13:56.173Z,1761542036.173 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:13:56.173Z,1761542036.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:13:56.199Z,1761542036.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915755,0.401654,-0.008166],[-0.400361,0.914111,0.064130],[0.033223,-0.055458,0.997908]] 2025-10-27T05:13:56.327Z,1761542036.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504484 s, deltaX: 0.200001 m, approachRate: 0.396446 m/s, rangeRepo size: 4 2025-10-27T05:13:56.329Z,1761542036.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.374908 m, bearing: 180.916573 deg, lat: 36.779340 deg, lon: -121.859673 deg, deltaT: 1.011037 s, deltaX: 0.000011 m, approachRate: 0.000011 m/s, posRepo size: 4 2025-10-27T05:13:56.330Z,1761542036.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:13:56.384Z,1761542036.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:56.633Z,1761542036.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915330,0.402616,-0.008510],[-0.401300,0.913695,0.064181],[0.033616,-0.055332,0.997902]] 2025-10-27T05:13:56.636Z,1761542036.636 [DAT](INFO): DAT read: Rx Time:05:13:55.4352 2025-10-27T05:13:56.637Z,1761542036.637 [DAT](INFO): Rx dataTimestamp_ set to:1761542036.636630 2025-10-27T05:13:56.638Z,1761542036.638 [DAT](INFO): DAT read: Bearing 325.2, -26.3 (Local) 2025-10-27T05:13:56.638Z,1761542036.638 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -26.3 (Local) 2025-10-27T05:13:56.641Z,1761542036.641 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:13:56.645Z,1761542036.645 [DAT](INFO): DAT read: 05:13:55.4352 LVL= 32752, 22513, 27314, 32755, AGC= 70, IDX= 505, 0.12,-0.520, 1.661, 0.448, 0.630, PHS=-1.048, 1.076,-0.226, RAW= 307.4, 2.2, CAL= 305.3, -1.3, ROT= 204.7, 1.3 2025-10-27T05:13:56.646Z,1761542036.646 [DAT](INFO): got valid direction response: 05:13:55.4352 LVL= 32752, 22513, 27314, 32755, AGC= 70, IDX= 505, 0.12,-0.520, 1.661, 0.448, 0.630, PHS=-1.048, 1.076,-0.226, RAW= 307.4, 2.2, CAL= 305.3, -1.3, ROT= 204.7, 1.3 2025-10-27T05:13:56.647Z,1761542036.647 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:13:56.648Z,1761542036.648 [DAT](INFO): direction in FSK: [-0.908274,-0.417759,-0.022687] 2025-10-27T05:13:56.648Z,1761542036.648 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:56.651Z,1761542036.651 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:56.651Z,1761542036.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:13:56.742Z,1761542036.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.500794 s, deltaX: -0.200001 m, approachRate: -0.399367 m/s, rangeRepo size: 4 2025-10-27T05:13:56.746Z,1761542036.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.175928 m, bearing: 181.070276 deg, lat: 36.779341 deg, lon: -121.859671 deg, deltaT: 0.500794 s, deltaX: -0.198980 m, approachRate: -0.397330 m/s, posRepo size: 4 2025-10-27T05:13:56.767Z,1761542036.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.18 m. 2025-10-27T05:13:56.888Z,1761542036.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:57.140Z,1761542037.140 [DAT](INFO): DAT read: Rx Time:05:13:55.9353 2025-10-27T05:13:57.141Z,1761542037.141 [DAT](INFO): Rx dataTimestamp_ set to:1761542037.140682 2025-10-27T05:13:57.142Z,1761542037.142 [DAT](INFO): DAT read: Bearing 325.6, -26.4 (Local) 2025-10-27T05:13:57.143Z,1761542037.143 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, -26.4 (Local) 2025-10-27T05:13:57.145Z,1761542037.145 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:57.149Z,1761542037.149 [DAT](INFO): DAT read: 05:13:55.9353 LVL= 32752, 22065, 27202, 32755, AGC= 70, IDX= 507,-0.39,-1.111, 1.072,-0.140, 0.034, PHS=-1.043, 1.083,-0.218, RAW= 307.4, 1.9, CAL= 305.2, -1.5, ROT= 204.8, 1.5 2025-10-27T05:13:57.150Z,1761542037.150 [DAT](INFO): got valid direction response: 05:13:55.9353 LVL= 32752, 22065, 27202, 32755, AGC= 70, IDX= 507,-0.39,-1.111, 1.072,-0.140, 0.034, PHS=-1.043, 1.083,-0.218, RAW= 307.4, 1.9, CAL= 305.2, -1.5, ROT= 204.8, 1.5 2025-10-27T05:13:57.151Z,1761542037.151 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:13:57.152Z,1761542037.152 [DAT](INFO): direction in FSK: [-0.907466,-0.419308,-0.026177] 2025-10-27T05:13:57.152Z,1761542037.152 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:57.176Z,1761542037.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:57.176Z,1761542037.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:13:57.228Z,1761542037.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915101,0.403126,-0.008961],[-0.401789,0.913490,0.064049],[0.034005,-0.055011,0.997907]] 2025-10-27T05:13:57.351Z,1761542037.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504052 s, deltaX: 0.200001 m, approachRate: 0.396786 m/s, rangeRepo size: 4 2025-10-27T05:13:57.353Z,1761542037.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.374882 m, bearing: 181.152424 deg, lat: 36.779340 deg, lon: -121.859671 deg, deltaT: 0.504052 s, deltaX: 0.198954 m, approachRate: 0.394709 m/s, posRepo size: 4 2025-10-27T05:13:57.354Z,1761542037.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:13:57.392Z,1761542037.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:57.645Z,1761542037.645 [DAT](INFO): DAT read: Rx Time:05:13:56.4353 2025-10-27T05:13:57.645Z,1761542037.645 [DAT](INFO): Rx dataTimestamp_ set to:1761542037.644752 2025-10-27T05:13:57.646Z,1761542037.646 [DAT](INFO): DAT read: Bearing 325.3, -26.0 (Local) 2025-10-27T05:13:57.647Z,1761542037.647 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, -26.0 (Local) 2025-10-27T05:13:57.649Z,1761542037.649 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:57.653Z,1761542037.653 [DAT](INFO): DAT read: 05:13:56.4353 LVL= 32752, 23073, 28050, 32755, AGC= 71, IDX= 506,-0.01,-1.801, 0.370,-0.848,-0.660, PHS=-1.039, 1.075,-0.232, RAW= 307.8, 2.1, CAL= 305.6, -1.3, ROT= 204.4, 1.3 2025-10-27T05:13:57.654Z,1761542037.654 [DAT](INFO): got valid direction response: 05:13:56.4353 LVL= 32752, 23073, 28050, 32755, AGC= 71, IDX= 506,-0.01,-1.801, 0.370,-0.848,-0.660, PHS=-1.039, 1.075,-0.232, RAW= 307.8, 2.1, CAL= 305.6, -1.3, ROT= 204.4, 1.3 2025-10-27T05:13:57.659Z,1761542037.659 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:13:57.660Z,1761542037.660 [DAT](INFO): direction in FSK: [-0.910449,-0.412998,-0.022687] 2025-10-27T05:13:57.660Z,1761542037.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:57.668Z,1761542037.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:57.668Z,1761542037.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:13:57.758Z,1761542037.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915009,0.403331,-0.009032],[-0.401994,0.913408,0.063931],[0.034035,-0.054867,0.997913]] 2025-10-27T05:13:57.838Z,1761542037.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:13:57.853Z,1761542037.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.374882 m, bearing: 180.727480 deg, lat: 36.779340 deg, lon: -121.859671 deg, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:13:57.859Z,1761542037.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:13:57.901Z,1761542037.901 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:58.149Z,1761542038.149 [DAT](INFO): DAT read: Rx Time:05:13:56.9354 2025-10-27T05:13:58.149Z,1761542038.149 [DAT](INFO): Rx dataTimestamp_ set to:1761542038.148818 2025-10-27T05:13:58.150Z,1761542038.150 [DAT](INFO): DAT read: Bearing 325.5, -25.8 (Local) 2025-10-27T05:13:58.151Z,1761542038.151 [DAT](INFO): Local bearing/azimuth received: Bearing 325.5, -25.8 (Local) 2025-10-27T05:13:58.153Z,1761542038.153 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T05:13:58.157Z,1761542038.157 [DAT](INFO): DAT read: 05:13:56.9354 LVL= 32752, 23249, 27730, 32755, AGC= 69, IDX= 507, 0.28, 0.991, 3.129, 1.927, 2.111, PHS=-1.018, 1.063,-0.228, RAW= 307.9, 2.0, CAL= 305.7, -1.4, ROT= 204.3, 1.4 2025-10-27T05:13:58.159Z,1761542038.159 [DAT](INFO): got valid direction response: 05:13:56.9354 LVL= 32752, 23249, 27730, 32755, AGC= 69, IDX= 507, 0.28, 0.991, 3.129, 1.927, 2.111, PHS=-1.018, 1.063,-0.228, RAW= 307.9, 2.0, CAL= 305.7, -1.4, ROT= 204.3, 1.4 2025-10-27T05:13:58.159Z,1761542038.159 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:13:58.160Z,1761542038.160 [DAT](INFO): direction in FSK: [-0.911131,-0.411392,-0.024432] 2025-10-27T05:13:58.160Z,1761542038.160 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:58.166Z,1761542038.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915338,0.402585,-0.009012],[-0.401263,0.913754,0.063579],[0.033831,-0.054580,0.997936]] 2025-10-27T05:13:58.168Z,1761542038.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:58.168Z,1761542038.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:13:58.299Z,1761542038.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504066 s, deltaX: 0.100000 m, approachRate: 0.198387 m/s, rangeRepo size: 4 2025-10-27T05:13:58.301Z,1761542038.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.474358 m, bearing: 180.679969 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.504066 s, deltaX: 0.099476 m, approachRate: 0.197347 m/s, posRepo size: 4 2025-10-27T05:13:58.302Z,1761542038.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:13:58.401Z,1761542038.401 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:58.554Z,1761542038.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915702,0.401763,-0.008769],[-0.400465,0.914124,0.063279],[0.033439,-0.054433,0.997957]] 2025-10-27T05:13:58.644Z,1761542038.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:13:58.653Z,1761542038.653 [DAT](INFO): DAT read: Rx Time:05:13:57.4353 2025-10-27T05:13:58.653Z,1761542038.653 [DAT](INFO): Rx dataTimestamp_ set to:1761542038.652818 2025-10-27T05:13:58.654Z,1761542038.654 [DAT](INFO): DAT read: Bearing 325.4, -25.6 (Local) 2025-10-27T05:13:58.655Z,1761542038.655 [DAT](INFO): Local bearing/azimuth received: Bearing 325.4, -25.6 (Local) 2025-10-27T05:13:58.657Z,1761542038.657 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:13:58.662Z,1761542038.662 [DAT](INFO): DAT read: 05:13:57.4353 LVL= 32752, 21281, 26610, 32755, AGC= 69, IDX= 507,-0.40,-0.598, 1.550, 0.337, 0.527, PHS=-1.023, 1.068,-0.234, RAW= 308.1, 2.1, CAL= 305.9, -1.3, ROT= 204.1, 1.3 2025-10-27T05:13:58.663Z,1761542038.663 [DAT](INFO): got valid direction response: 05:13:57.4353 LVL= 32752, 21281, 26610, 32755, AGC= 69, IDX= 507,-0.40,-0.598, 1.550, 0.337, 0.527, PHS=-1.023, 1.068,-0.234, RAW= 308.1, 2.1, CAL= 305.9, -1.3, ROT= 204.1, 1.3 2025-10-27T05:13:58.663Z,1761542038.663 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:13:58.664Z,1761542038.664 [DAT](INFO): direction in FSK: [-0.912599,-0.408225,-0.022687] 2025-10-27T05:13:58.664Z,1761542038.664 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:58.668Z,1761542038.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:58.668Z,1761542038.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:13:58.904Z,1761542038.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:58.961Z,1761542038.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916292,0.400422,-0.008439],[-0.399160,0.914728,0.062798],[0.032865,-0.054173,0.997991]] 2025-10-27T05:13:59.036Z,1761542039.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504000 s, deltaX: -0.100000 m, approachRate: -0.198413 m/s, rangeRepo size: 4 2025-10-27T05:13:59.038Z,1761542039.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.374868 m, bearing: 180.605745 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.504000 s, deltaX: -0.099489 m, approachRate: -0.197399 m/s, posRepo size: 4 2025-10-27T05:13:59.038Z,1761542039.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:13:59.157Z,1761542039.157 [DAT](INFO): DAT read: Rx Time:05:13:57.9355 2025-10-27T05:13:59.158Z,1761542039.158 [DAT](INFO): Rx dataTimestamp_ set to:1761542039.157828 2025-10-27T05:13:59.160Z,1761542039.160 [DAT](INFO): DAT read: Bearing 325.2, -25.3 (Local) 2025-10-27T05:13:59.161Z,1761542039.161 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -25.3 (Local) 2025-10-27T05:13:59.164Z,1761542039.164 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 2025-10-27T05:13:59.170Z,1761542039.170 [DAT](INFO): DAT read: 05:13:57.9355 LVL= 32752, 20353, 27298, 32755, AGC= 68, IDX= 508,-0.27, 2.336,-1.792,-3.021,-2.816, PHS=-1.030, 1.069,-0.249, RAW= 308.4, 2.3, CAL= 306.2, -1.0, ROT= 203.8, 1.0 2025-10-27T05:13:59.172Z,1761542039.172 [DAT](INFO): got valid direction response: 05:13:57.9355 LVL= 32752, 20353, 27298, 32755, AGC= 68, IDX= 508,-0.27, 2.336,-1.792,-3.021,-2.816, PHS=-1.030, 1.069,-0.249, RAW= 308.4, 2.3, CAL= 306.2, -1.0, ROT= 203.8, 1.0 2025-10-27T05:13:59.173Z,1761542039.173 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:13:59.174Z,1761542039.174 [DAT](INFO): direction in FSK: [-0.914820,-0.403484,-0.017452] 2025-10-27T05:13:59.175Z,1761542039.175 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:59.178Z,1761542039.178 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:59.178Z,1761542039.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:13:59.362Z,1761542039.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916986,0.398841,-0.007880],[-0.397629,0.915431,0.062262],[0.032046,-0.053960,0.998029]] 2025-10-27T05:13:59.403Z,1761542039.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.505010 s, deltaX: 0.299999 m, approachRate: 0.594046 m/s, rangeRepo size: 4 2025-10-27T05:13:59.407Z,1761542039.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.673388 m, bearing: 180.383383 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.505010 s, deltaX: 0.298519 m, approachRate: 0.591115 m/s, posRepo size: 4 2025-10-27T05:13:59.408Z,1761542039.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:59.410Z,1761542039.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.67 m. 2025-10-27T05:13:59.661Z,1761542039.661 [DAT](INFO): DAT read: Rx Time:05:13:58.4354 2025-10-27T05:13:59.662Z,1761542039.662 [DAT](INFO): Rx dataTimestamp_ set to:1761542039.661516 2025-10-27T05:13:59.663Z,1761542039.663 [DAT](INFO): DAT read: Bearing 325.1, -25.6 (Local) 2025-10-27T05:13:59.664Z,1761542039.664 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -25.6 (Local) 2025-10-27T05:13:59.666Z,1761542039.666 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T05:13:59.670Z,1761542039.670 [DAT](INFO): DAT read: 05:13:58.4354 LVL= 32752, 18753, 26978, 32755, AGC= 67, IDX= 507,-0.15, 2.183,-1.939, 3.123,-2.956, PHS=-1.042, 1.062,-0.248, RAW= 308.1, 2.5, CAL= 305.8, -0.9, ROT= 204.2, 0.9 2025-10-27T05:13:59.672Z,1761542039.672 [DAT](INFO): got valid direction response: 05:13:58.4354 LVL= 32752, 18753, 26978, 32755, AGC= 67, IDX= 507,-0.15, 2.183,-1.939, 3.123,-2.956, PHS=-1.042, 1.062,-0.248, RAW= 308.1, 2.5, CAL= 305.8, -0.9, ROT= 204.2, 0.9 2025-10-27T05:13:59.672Z,1761542039.672 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:13:59.673Z,1761542039.673 [DAT](INFO): direction in FSK: [-0.912008,-0.409872,-0.015707] 2025-10-27T05:13:59.673Z,1761542039.673 [DAT](INFO): publishing direction and range info 2025-10-27T05:13:59.677Z,1761542039.677 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:13:59.677Z,1761542039.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:13:59.766Z,1761542039.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917671,0.397281,-0.006953],[-0.396134,0.916104,0.061890],[0.030957,-0.054040,0.998059]] 2025-10-27T05:13:59.810Z,1761542039.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503688 s, deltaX: -0.199999 m, approachRate: -0.397069 m/s, rangeRepo size: 4 2025-10-27T05:13:59.817Z,1761542039.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.474409 m, bearing: 180.870025 deg, lat: 36.779340 deg, lon: -121.859668 deg, deltaT: 0.503688 s, deltaX: -0.198978 m, approachRate: -0.395043 m/s, posRepo size: 4 2025-10-27T05:13:59.817Z,1761542039.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:13:59.913Z,1761542039.913 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:00.164Z,1761542040.164 [DAT](INFO): DAT read: Rx Time:05:13:58.9354 2025-10-27T05:14:00.165Z,1761542040.165 [DAT](INFO): Rx dataTimestamp_ set to:1761542040.164611 2025-10-27T05:14:00.166Z,1761542040.166 [DAT](INFO): DAT read: Bearing 325.6, -26.1 (Local) 2025-10-27T05:14:00.166Z,1761542040.166 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, -26.1 (Local) 2025-10-27T05:14:00.169Z,1761542040.169 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T05:14:00.173Z,1761542040.173 [DAT](INFO): DAT read: 05:13:58.9354 LVL= 32752, 19953, 26162, 32755, AGC= 67, IDX= 507,-0.09, 3.095,-1.011,-2.224,-2.041, PHS=-1.046, 1.075,-0.227, RAW= 307.5, 2.2, CAL= 305.3, -1.3, ROT= 204.7, 1.3 2025-10-27T05:14:00.174Z,1761542040.174 [DAT](INFO): got valid direction response: 05:13:58.9354 LVL= 32752, 19953, 26162, 32755, AGC= 67, IDX= 507,-0.09, 3.095,-1.011,-2.224,-2.041, PHS=-1.046, 1.075,-0.227, RAW= 307.5, 2.2, CAL= 305.3, -1.3, ROT= 204.7, 1.3 2025-10-27T05:14:00.175Z,1761542040.175 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:14:00.176Z,1761542040.176 [DAT](INFO): direction in FSK: [-0.908274,-0.417759,-0.022687] 2025-10-27T05:14:00.176Z,1761542040.176 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:00.179Z,1761542040.179 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:00.180Z,1761542040.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:14:00.205Z,1761542040.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918475,0.395435,-0.005871],[-0.394363,0.916897,0.061461],[0.029687,-0.054135,0.998092]] 2025-10-27T05:14:00.320Z,1761542040.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503095 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:14:00.322Z,1761542040.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.474382 m, bearing: 181.504540 deg, lat: 36.779340 deg, lon: -121.859668 deg, deltaT: 0.503095 s, deltaX: -0.000027 m, approachRate: -0.000053 m/s, posRepo size: 4 2025-10-27T05:14:00.322Z,1761542040.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:00.417Z,1761542040.417 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:00.614Z,1761542040.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919367,0.393374,-0.004616],[-0.392387,0.917774,0.061021],[0.028240,-0.054290,0.998126]] 2025-10-27T05:14:00.645Z,1761542040.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:00.669Z,1761542040.669 [DAT](INFO): DAT read: Rx Time:05:13:59.4353 2025-10-27T05:14:00.669Z,1761542040.669 [DAT](INFO): Rx dataTimestamp_ set to:1761542040.668734 2025-10-27T05:14:00.670Z,1761542040.670 [DAT](INFO): DAT read: Bearing 326.2, -26.0 (Local) 2025-10-27T05:14:00.671Z,1761542040.671 [DAT](INFO): Local bearing/azimuth received: Bearing 326.2, -26.0 (Local) 2025-10-27T05:14:00.673Z,1761542040.673 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:14:00.711Z,1761542040.711 [DAT](INFO): DAT read: 05:13:59.4353 LVL= 32752, 19489, 24898, 32755, AGC= 67, IDX= 506,-0.01, 2.303,-1.794,-3.006,-2.838, PHS=-1.040, 1.089,-0.212, RAW= 307.3, 1.8, CAL= 305.2, -1.7, ROT= 204.8, 1.7 2025-10-27T05:14:00.713Z,1761542040.713 [DAT](INFO): got valid direction response: 05:13:59.4353 LVL= 32752, 19489, 24898, 32755, AGC= 67, IDX= 506,-0.01, 2.303,-1.794,-3.006,-2.838, PHS=-1.040, 1.089,-0.212, RAW= 307.3, 1.8, CAL= 305.2, -1.7, ROT= 204.8, 1.7 2025-10-27T05:14:00.713Z,1761542040.713 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:14:00.714Z,1761542040.714 [DAT](INFO): direction in FSK: [-0.907378,-0.419267,-0.029666] 2025-10-27T05:14:00.720Z,1761542040.720 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:00.738Z,1761542040.738 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:00.738Z,1761542040.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:14:00.921Z,1761542040.921 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:01.001Z,1761542041.001 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS90219471.0,1493.1, 0 2025-10-27T05:14:01.021Z,1761542041.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504123 s, deltaX: -0.100000 m, approachRate: -0.198365 m/s, rangeRepo size: 4 2025-10-27T05:14:01.024Z,1761542041.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.374891 m, bearing: 181.752167 deg, lat: 36.779340 deg, lon: -121.859668 deg, deltaT: 0.504123 s, deltaX: -0.099491 m, approachRate: -0.197355 m/s, posRepo size: 4 2025-10-27T05:14:01.024Z,1761542041.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:14:01.173Z,1761542041.173 [DAT](INFO): DAT read: Rx Time:05:13:59.9354 2025-10-27T05:14:01.173Z,1761542041.173 [DAT](INFO): Rx dataTimestamp_ set to:1761542041.172832 2025-10-27T05:14:01.174Z,1761542041.174 [DAT](INFO): DAT read: Bearing 326.1, -25.9 (Local) 2025-10-27T05:14:01.175Z,1761542041.175 [DAT](INFO): Local bearing/azimuth received: Bearing 326.1, -25.9 (Local) 2025-10-27T05:14:01.177Z,1761542041.177 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T05:14:01.182Z,1761542041.182 [DAT](INFO): DAT read: 05:13:59.9354 LVL= 32752, 22481, 27074, 32755, AGC= 67, IDX= 507, 0.04,-2.350,-0.187,-1.387,-1.216, PHS=-1.032, 1.074,-0.215, RAW= 307.4, 1.9, CAL= 305.2, -1.5, ROT= 204.8, 1.5 2025-10-27T05:14:01.183Z,1761542041.183 [DAT](INFO): got valid direction response: 05:13:59.9354 LVL= 32752, 22481, 27074, 32755, AGC= 67, IDX= 507, 0.04,-2.350,-0.187,-1.387,-1.216, PHS=-1.032, 1.074,-0.215, RAW= 307.4, 1.9, CAL= 305.2, -1.5, ROT= 204.8, 1.5 2025-10-27T05:14:01.184Z,1761542041.184 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:14:01.185Z,1761542041.185 [DAT](INFO): direction in FSK: [-0.907466,-0.419308,-0.026177] 2025-10-27T05:14:01.185Z,1761542041.185 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:01.188Z,1761542041.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:01.189Z,1761542041.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:14:01.382Z,1761542041.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921047,0.389446,-0.001988],[-0.388635,0.919435,0.060021],[0.025203,-0.054509,0.998195]] 2025-10-27T05:14:01.425Z,1761542041.425 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:01.447Z,1761542041.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504098 s, deltaX: 0.100000 m, approachRate: 0.198375 m/s, rangeRepo size: 4 2025-10-27T05:14:01.449Z,1761542041.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.474409 m, bearing: 181.973449 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.504098 s, deltaX: 0.099518 m, approachRate: 0.197418 m/s, posRepo size: 4 2025-10-27T05:14:01.450Z,1761542041.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:01.677Z,1761542041.677 [DAT](INFO): DAT read: Rx Time:05:14:00.4353 2025-10-27T05:14:01.677Z,1761542041.677 [DAT](INFO): Rx dataTimestamp_ set to:1761542041.676766 2025-10-27T05:14:01.678Z,1761542041.678 [DAT](INFO): DAT read: Bearing 325.9, -26.2 (Local) 2025-10-27T05:14:01.679Z,1761542041.679 [DAT](INFO): Local bearing/azimuth received: Bearing 325.9, -26.2 (Local) 2025-10-27T05:14:01.681Z,1761542041.681 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:14:01.685Z,1761542041.685 [DAT](INFO): DAT read: 05:14:00.4353 LVL= 32752, 21345, 28450, 32755, AGC= 69, IDX= 506, 0.16, 1.614,-2.503, 2.587, 2.757, PHS=-1.041, 1.068,-0.214, RAW= 307.1, 2.1, CAL= 304.9, -1.4, ROT= 205.1, 1.4 2025-10-27T05:14:01.687Z,1761542041.687 [DAT](INFO): got valid direction response: 05:14:00.4353 LVL= 32752, 21345, 28450, 32755, AGC= 69, IDX= 506, 0.16, 1.614,-2.503, 2.587, 2.757, PHS=-1.041, 1.068,-0.214, RAW= 307.1, 2.1, CAL= 304.9, -1.4, ROT= 205.1, 1.4 2025-10-27T05:14:01.687Z,1761542041.687 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:14:01.688Z,1761542041.688 [DAT](INFO): direction in FSK: [-0.905298,-0.424073,-0.024432] 2025-10-27T05:14:01.688Z,1761542041.688 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:01.720Z,1761542041.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:01.721Z,1761542041.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:14:01.786Z,1761542041.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921907,0.387411,-0.000705],[-0.386691,0.920303,0.059260],[0.023607,-0.054360,0.998242]] 2025-10-27T05:14:01.846Z,1761542041.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503934 s, deltaX: -0.100000 m, approachRate: -0.198439 m/s, rangeRepo size: 4 2025-10-27T05:14:01.859Z,1761542041.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.374920 m, bearing: 182.387820 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.503934 s, deltaX: -0.099489 m, approachRate: -0.197425 m/s, posRepo size: 4 2025-10-27T05:14:01.860Z,1761542041.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:14:01.930Z,1761542041.930 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:02.181Z,1761542042.181 [DAT](INFO): DAT read: Rx Time:05:14:00.9354 2025-10-27T05:14:02.181Z,1761542042.181 [DAT](INFO): Rx dataTimestamp_ set to:1761542042.180721 2025-10-27T05:14:02.182Z,1761542042.182 [DAT](INFO): DAT read: Bearing 325.7, -26.0 (Local) 2025-10-27T05:14:02.183Z,1761542042.183 [DAT](INFO): Local bearing/azimuth received: Bearing 325.7, -26.0 (Local) 2025-10-27T05:14:02.185Z,1761542042.185 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.0 2025-10-27T05:14:02.194Z,1761542042.194 [DAT](INFO): DAT read: 05:14:00.9354 LVL= 32752, 21537, 28834, 32755, AGC= 69, IDX= 507, 0.29, 1.845,-2.263, 2.817, 2.997, PHS=-1.050, 1.068,-0.224, RAW= 307.2, 2.3, CAL= 305.0, -1.2, ROT= 205.0, 1.2 2025-10-27T05:14:02.195Z,1761542042.195 [DAT](INFO): got valid direction response: 05:14:00.9354 LVL= 32752, 21537, 28834, 32755, AGC= 69, IDX= 507, 0.29, 1.845,-2.263, 2.817, 2.997, PHS=-1.050, 1.068,-0.224, RAW= 307.2, 2.3, CAL= 305.0, -1.2, ROT= 205.0, 1.2 2025-10-27T05:14:02.196Z,1761542042.196 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:14:02.197Z,1761542042.197 [DAT](INFO): direction in FSK: [-0.906109,-0.422526,-0.020942] 2025-10-27T05:14:02.197Z,1761542042.197 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:02.209Z,1761542042.209 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:02.209Z,1761542042.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:14:02.230Z,1761542042.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922675,0.385579,0.000587],[-0.384951,0.921081,0.058505],[0.022018,-0.054207,0.998287]] 2025-10-27T05:14:02.318Z,1761542042.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503955 s, deltaX: 0.100000 m, approachRate: 0.198431 m/s, rangeRepo size: 4 2025-10-27T05:14:02.325Z,1761542042.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.474461 m, bearing: 182.384483 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.503955 s, deltaX: 0.099541 m, approachRate: 0.197519 m/s, posRepo size: 4 2025-10-27T05:14:02.325Z,1761542042.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:02.432Z,1761542042.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:02.598Z,1761542042.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923147,0.384442,0.001935],[-0.383897,0.921545,0.058123],[0.020562,-0.054399,0.998308]] 2025-10-27T05:14:02.628Z,1761542042.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:02.685Z,1761542042.685 [DAT](INFO): DAT read: user:350> 2025-10-27T05:14:02.685Z,1761542042.685 [DAT](INFO): DAT read: 50 2025-10-27T05:14:02.686Z,1761542042.686 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T05:14:02.686Z,1761542042.686 [DAT](INFO): DAT read: Ok 2025-10-27T05:14:02.687Z,1761542042.687 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T05:14:02.687Z,1761542042.687 [DAT](INFO): DAT read: user:351> 2025-10-27T05:14:02.688Z,1761542042.688 [DAT](INFO): DAT read: Tx time:05:14:01.8251 2025-10-27T05:14:02.688Z,1761542042.688 [DAT](INFO): Ping request sent. 2025-10-27T05:14:02.688Z,1761542042.688 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:14:02.689Z,1761542042.689 [DAT](INFO): publishing transmit ping time 2025-10-27T05:14:02.689Z,1761542042.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T05:14:02.936Z,1761542042.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247517 2025-10-27T05:14:02.997Z,1761542042.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923535,0.383498,0.003374],[-0.383038,0.921919,0.057860],[0.019078,-0.054728,0.998319]] 2025-10-27T05:14:03.052Z,1761542043.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:03.188Z,1761542043.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499530 2025-10-27T05:14:03.413Z,1761542043.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923810,0.382823,0.004728],[-0.382441,0.922176,0.057708],[0.017732,-0.055119,0.998322]] 2025-10-27T05:14:03.438Z,1761542043.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:03.452Z,1761542043.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.763652 2025-10-27T05:14:03.705Z,1761542043.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016310 2025-10-27T05:14:03.811Z,1761542043.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923908,0.382567,0.006014],[-0.382257,0.922253,0.057695],[0.016526,-0.055604,0.998316]] 2025-10-27T05:14:03.831Z,1761542043.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:03.959Z,1761542043.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270092 2025-10-27T05:14:04.208Z,1761542044.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519681 2025-10-27T05:14:04.217Z,1761542044.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924143,0.381979,0.007161],[-0.381741,0.922493,0.057282],[0.015274,-0.055670,0.998332]] 2025-10-27T05:14:04.294Z,1761542044.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:04.460Z,1761542044.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771484 2025-10-27T05:14:04.614Z,1761542044.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924239,0.381726,0.008181],[-0.381551,0.922595,0.056903],[0.014173,-0.055713,0.998346]] 2025-10-27T05:14:04.633Z,1761542044.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:04.713Z,1761542044.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023971 2025-10-27T05:14:04.964Z,1761542044.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275746 2025-10-27T05:14:05.056Z,1761542045.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924182,0.381846,0.008973],[-0.381720,0.922549,0.056508],[0.013299,-0.055649,0.998362]] 2025-10-27T05:14:05.093Z,1761542045.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:05.216Z,1761542045.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527468 2025-10-27T05:14:05.468Z,1761542045.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779584 2025-10-27T05:14:05.553Z,1761542045.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:05.720Z,1761542045.720 [DAT](INFO): DAT read: Rx Time:05:14:04.2622 2025-10-27T05:14:05.721Z,1761542045.721 [DAT](INFO): Rx dataTimestamp_ set to:1761542045.720956 2025-10-27T05:14:05.722Z,1761542045.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033459 2025-10-27T05:14:05.877Z,1761542045.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923574,0.383286,0.010131],[-0.383227,0.921948,0.056120],[0.012170,-0.055713,0.998373]] 2025-10-27T05:14:05.975Z,1761542045.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286177 2025-10-27T05:14:05.994Z,1761542045.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:06.230Z,1761542046.230 [DAT](INFO): DAT read: 05:14:04.2622 LVL= 32752, 26833, 32754, 32755, AGC= 65, IDX= 493, 0.13,-2.489,-0.295,-1.397,-1.330, PHS=-1.057, 1.081,-0.111, RAW= 303.8, 0.9, CAL= 302.0, -2.8, ROT= 208.0, 2.8 2025-10-27T05:14:06.231Z,1761542046.231 [DAT](INFO): got valid direction response: 05:14:04.2622 LVL= 32752, 26833, 32754, 32755, AGC= 65, IDX= 493, 0.13,-2.489,-0.295,-1.397,-1.330, PHS=-1.057, 1.081,-0.111, RAW= 303.8, 0.9, CAL= 302.0, -2.8, ROT= 208.0, 2.8 2025-10-27T05:14:06.232Z,1761542046.232 [DAT](INFO): DAT read: Bearing 327.4, -28.5 (Local) 2025-10-27T05:14:06.232Z,1761542046.232 [DAT](INFO): Local bearing/azimuth received: Bearing 327.4, -28.5 (Local) 2025-10-27T05:14:06.234Z,1761542046.234 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (Round-trip 32.9 ms) speed 0.0 m/s 2025-10-27T05:14:06.234Z,1761542046.234 [DAT](INFO): DAT read: user:352> 2025-10-27T05:14:06.235Z,1761542046.235 [DAT](INFO): DAT read: Tx time:05:14:05.3751 2025-10-27T05:14:06.235Z,1761542046.235 [DAT](INFO): Ping request sent. 2025-10-27T05:14:06.236Z,1761542046.236 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:14:06.236Z,1761542046.236 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:14:06.237Z,1761542046.237 [DAT](INFO): direction in FSK: [-0.881894,-0.468911,-0.048850] 2025-10-27T05:14:06.237Z,1761542046.237 [DAT](INFO): publishing transmit ping time 2025-10-27T05:14:06.237Z,1761542046.237 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:06.241Z,1761542046.241 [DAT](INFO): publishing transmit ping time 2025-10-27T05:14:06.242Z,1761542046.242 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:06.413Z,1761542046.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 4.042742 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:14:06.420Z,1761542046.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.474329 m, bearing: 185.574609 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 4.042742 s, deltaX: -0.000132 m, approachRate: -0.000033 m/s, posRepo size: 4 2025-10-27T05:14:06.421Z,1761542046.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:06.733Z,1761542046.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:07.067Z,1761542047.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922353,0.386189,0.011096],[-0.386185,0.920749,0.055518],[0.011224,-0.055492,0.998396]] 2025-10-27T05:14:07.105Z,1761542047.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:07.469Z,1761542047.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921964,0.387109,0.011326],[-0.387120,0.920378,0.055163],[0.010930,-0.055243,0.998413]] 2025-10-27T05:14:07.500Z,1761542047.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:07.873Z,1761542047.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921437,0.388361,0.011417],[-0.388378,0.919860,0.054951],[0.010839,-0.055068,0.998424]] 2025-10-27T05:14:07.916Z,1761542047.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:08.277Z,1761542048.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920833,0.389784,0.011654],[-0.389811,0.919253,0.054971],[0.010714,-0.055162,0.998420]] 2025-10-27T05:14:08.326Z,1761542048.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:08.681Z,1761542048.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920379,0.390848,0.011817],[-0.390885,0.918811,0.054738],[0.010537,-0.054999,0.998431]] 2025-10-27T05:14:08.702Z,1761542048.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:09.091Z,1761542049.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919840,0.392111,0.011977],[-0.392156,0.918276,0.054611],[0.010416,-0.054930,0.998436]] 2025-10-27T05:14:09.129Z,1761542049.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:09.248Z,1761542049.248 [DAT](INFO): DAT read: Rx Time:05:14:07.8125 2025-10-27T05:14:09.249Z,1761542049.249 [DAT](INFO): Rx dataTimestamp_ set to:1761542049.248375 2025-10-27T05:14:09.490Z,1761542049.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919423,0.393079,0.012265],[-0.393139,0.917868,0.054395],[0.010124,-0.054834,0.998444]] 2025-10-27T05:14:09.524Z,1761542049.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.47 m. 2025-10-27T05:14:09.757Z,1761542049.757 [DAT](INFO): DAT read: 05:14:07.8125 LVL= 32752, 24049, 29458, 32755, AGC= 67, IDX= 447, 0.35,-2.005, 0.195,-0.921,-0.792, PHS=-1.111, 1.032,-0.174, RAW= 304.1, 2.8, CAL= 301.9, -0.9, ROT= 208.1, 0.9 2025-10-27T05:14:09.758Z,1761542049.758 [DAT](INFO): got valid direction response: 05:14:07.8125 LVL= 32752, 24049, 29458, 32755, AGC= 67, IDX= 447, 0.35,-2.005, 0.195,-0.921,-0.792, PHS=-1.111, 1.032,-0.174, RAW= 304.1, 2.8, CAL= 301.9, -0.9, ROT= 208.1, 0.9 2025-10-27T05:14:09.759Z,1761542049.759 [DAT](INFO): DAT read: Bearing 324.7, -28.4 (Local) 2025-10-27T05:14:09.760Z,1761542049.760 [DAT](INFO): Local bearing/azimuth received: Bearing 324.7, -28.4 (Local) 2025-10-27T05:14:09.761Z,1761542049.761 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (Round-trip 33.2 ms) speed -0.1 m/s 2025-10-27T05:14:09.762Z,1761542049.762 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:14:09.763Z,1761542049.763 [DAT](INFO): direction in FSK: [-0.882018,-0.470954,-0.015707] 2025-10-27T05:14:09.763Z,1761542049.763 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:09.947Z,1761542049.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 3.527856 s, deltaX: 0.299999 m, approachRate: 0.085037 m/s, rangeRepo size: 4 2025-10-27T05:14:09.949Z,1761542049.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.772896 m, bearing: 184.954928 deg, lat: 36.779340 deg, lon: -121.859671 deg, deltaT: 3.527856 s, deltaX: 0.298567 m, approachRate: 0.084631 m/s, posRepo size: 4 2025-10-27T05:14:09.950Z,1761542049.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:10.369Z,1761542050.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:10.705Z,1761542050.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918236,0.395819,0.013037],[-0.395924,0.916712,0.053698],[0.009303,-0.054469,0.998472]] 2025-10-27T05:14:10.745Z,1761542050.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:11.156Z,1761542051.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:11.510Z,1761542051.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917921,0.396518,0.013968],[-0.396678,0.916424,0.053037],[0.008230,-0.054225,0.998495]] 2025-10-27T05:14:11.530Z,1761542051.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:11.922Z,1761542051.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917936,0.396467,0.014401],[-0.396655,0.916461,0.052568],[0.007644,-0.053967,0.998514]] 2025-10-27T05:14:11.941Z,1761542051.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:12.317Z,1761542052.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917991,0.396316,0.015055],[-0.396541,0.916530,0.052227],[0.006900,-0.053914,0.998522]] 2025-10-27T05:14:12.366Z,1761542052.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:12.729Z,1761542052.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918323,0.395527,0.015538],[-0.395784,0.916894,0.051584],[0.006156,-0.053521,0.998548]] 2025-10-27T05:14:12.764Z,1761542052.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:13.127Z,1761542053.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918650,0.394733,0.016351],[-0.395037,0.917239,0.051179],[0.005204,-0.053475,0.998556]] 2025-10-27T05:14:13.180Z,1761542053.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:13.532Z,1761542053.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919021,0.393832,0.017203],[-0.394185,0.917620,0.050903],[0.004261,-0.053562,0.998555]] 2025-10-27T05:14:13.552Z,1761542053.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:13.934Z,1761542053.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919657,0.392315,0.017899],[-0.392709,0.918280,0.050406],[0.003339,-0.053385,0.998568]] 2025-10-27T05:14:13.965Z,1761542053.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:14.338Z,1761542054.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920255,0.390874,0.018664],[-0.391312,0.918897,0.050034],[0.002407,-0.053348,0.998573]] 2025-10-27T05:14:14.431Z,1761542054.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:14.745Z,1761542054.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921073,0.388909,0.019352],[-0.389387,0.919745,0.049465],[0.001438,-0.053096,0.998588]] 2025-10-27T05:14:14.763Z,1761542054.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:15.150Z,1761542055.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921847,0.387036,0.020028],[-0.387553,0.920541,0.049066],[0.000554,-0.052993,0.998595]] 2025-10-27T05:14:15.186Z,1761542055.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:15.549Z,1761542055.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922578,0.385255,0.020714],[-0.385811,0.921283,0.048865],[-0.000258,-0.053074,0.998591]] 2025-10-27T05:14:15.578Z,1761542055.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:15.954Z,1761542055.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923253,0.383595,0.021409],[-0.384192,0.921926,0.049486],[-0.000755,-0.053913,0.998545]] 2025-10-27T05:14:15.992Z,1761542055.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:16.358Z,1761542056.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924035,0.381672,0.022055],[-0.382305,0.922711,0.049467],[-0.001470,-0.054141,0.998532]] 2025-10-27T05:14:16.440Z,1761542056.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:16.764Z,1761542056.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924829,0.379717,0.022501],[-0.380377,0.923523,0.049180],[-0.002105,-0.054042,0.998536]] 2025-10-27T05:14:16.788Z,1761542056.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:17.166Z,1761542057.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925376,0.378367,0.022739],[-0.379042,0.924073,0.049163],[-0.002411,-0.054113,0.998532]] 2025-10-27T05:14:17.211Z,1761542057.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:17.471Z,1761542057.471 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:14:17.569Z,1761542057.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925814,0.377285,0.022893],[-0.377970,0.924507,0.049253],[-0.002582,-0.054252,0.998524]] 2025-10-27T05:14:17.608Z,1761542057.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:18.022Z,1761542058.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:18.390Z,1761542058.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926201,0.376341,0.022771],[-0.377022,0.924874,0.049622],[-0.002386,-0.054545,0.998508]] 2025-10-27T05:14:18.449Z,1761542058.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:14:18.454Z,1761542058.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:18.475Z,1761542058.475 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:14:18.580Z,1761542058.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:14:18.580Z,1761542058.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:14:18.781Z,1761542058.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926142,0.376506,0.022437],[-0.377169,0.924801,0.049858],[-0.001978,-0.054638,0.998504]] 2025-10-27T05:14:18.806Z,1761542058.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:18.832Z,1761542058.832 [DAT](INFO): DAT read: user:353> 2025-10-27T05:14:18.833Z,1761542058.833 [DAT](INFO): DAT read: Tx time:05:14:17.8766 2025-10-27T05:14:18.833Z,1761542058.833 [DAT](INFO): Ping request sent. 2025-10-27T05:14:18.833Z,1761542058.833 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:14:18.833Z,1761542058.833 [DAT](INFO): publishing transmit ping time 2025-10-27T05:14:18.834Z,1761542058.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-27T05:14:19.084Z,1761542059.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250897 2025-10-27T05:14:19.186Z,1761542059.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925788,0.377406,0.021951],[-0.378041,0.924424,0.050258],[-0.001324,-0.054826,0.998495]] 2025-10-27T05:14:19.232Z,1761542059.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:19.336Z,1761542059.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502929 2025-10-27T05:14:19.588Z,1761542059.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754772 2025-10-27T05:14:19.592Z,1761542059.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925344,0.378527,0.021342],[-0.379128,0.923962,0.050559],[-0.000581,-0.054875,0.998493]] 2025-10-27T05:14:19.684Z,1761542059.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:19.840Z,1761542059.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006901 2025-10-27T05:14:19.999Z,1761542059.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924783,0.379944,0.020446],[-0.380494,0.923387,0.050810],[0.000426,-0.054768,0.998499]] 2025-10-27T05:14:20.025Z,1761542060.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:20.093Z,1761542060.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259727 2025-10-27T05:14:20.344Z,1761542060.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860 2025-10-27T05:14:20.412Z,1761542060.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924016,0.381849,0.019638],[-0.382351,0.922596,0.051232],[0.001445,-0.054848,0.998494]] 2025-10-27T05:14:20.498Z,1761542060.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:20.596Z,1761542060.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763204 2025-10-27T05:14:20.801Z,1761542060.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923073,0.384163,0.018835],[-0.384616,0.921626,0.051734],[0.002516,-0.054998,0.998483]] 2025-10-27T05:14:20.848Z,1761542060.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015005 2025-10-27T05:14:20.901Z,1761542060.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:21.100Z,1761542061.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266846 2025-10-27T05:14:21.269Z,1761542061.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:21.353Z,1761542061.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519515 2025-10-27T05:14:21.604Z,1761542061.604 [DAT](INFO): DAT read: Rx Time:05:14:20.3141 2025-10-27T05:14:21.605Z,1761542061.605 [DAT](INFO): Rx dataTimestamp_ set to:1761542061.604287 2025-10-27T05:14:21.605Z,1761542061.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772114 2025-10-27T05:14:21.614Z,1761542061.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921185,0.388757,0.016919],[-0.389095,0.919708,0.052372],[0.004800,-0.054828,0.998484]] 2025-10-27T05:14:21.633Z,1761542061.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:21.856Z,1761542061.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023448 2025-10-27T05:14:22.014Z,1761542062.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920164,0.391203,0.016088],[-0.391490,0.918667,0.052778],[0.005867,-0.054863,0.998477]] 2025-10-27T05:14:22.038Z,1761542062.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:22.108Z,1761542062.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274990 2025-10-27T05:14:22.365Z,1761542062.365 [DAT](INFO): DAT read: 05:14:20.3141 LVL= 32752, 25681, 28834, 32755, AGC= 64, IDX= 434, 0.04, 1.778,-2.352, 2.817, 2.982, PHS=-1.102, 0.995,-0.209, RAW= 304.9, 3.5, CAL= 302.5, -0.1, ROT= 207.5, 0.1 2025-10-27T05:14:22.368Z,1761542062.368 [DAT](INFO): got valid direction response: 05:14:20.3141 LVL= 32752, 25681, 28834, 32755, AGC= 64, IDX= 434, 0.04, 1.778,-2.352, 2.817, 2.982, PHS=-1.102, 0.995,-0.209, RAW= 304.9, 3.5, CAL= 302.5, -0.1, ROT= 207.5, 0.1 2025-10-27T05:14:22.370Z,1761542062.370 [DAT](INFO): DAT read: Bearing 323.2, -27.6 (Local) 2025-10-27T05:14:22.370Z,1761542062.370 [DAT](INFO): Local bearing/azimuth received: Bearing 323.2, -27.6 (Local) 2025-10-27T05:14:22.373Z,1761542062.373 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (Round-trip 33.3 ms) speed 0.0 m/s 2025-10-27T05:14:22.374Z,1761542062.374 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:14:22.376Z,1761542062.376 [DAT](INFO): direction in FSK: [-0.887009,-0.461748,-0.001745] 2025-10-27T05:14:22.376Z,1761542062.376 [DAT](INFO): publishing direction and range info 2025-10-27T05:14:22.418Z,1761542062.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919233,0.393422,0.015166],[-0.393653,0.917727,0.053054],[0.006954,-0.054739,0.998477]] 2025-10-27T05:14:22.531Z,1761542062.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 12.608043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:14:22.533Z,1761542062.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.772812 m, bearing: 184.283323 deg, lat: 36.779341 deg, lon: -121.859671 deg, deltaT: 12.608043 s, deltaX: -0.000084 m, approachRate: -0.000007 m/s, posRepo size: 4 2025-10-27T05:14:22.534Z,1761542062.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:22.858Z,1761542062.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:23.243Z,1761542063.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917722,0.396981,0.013839],[-0.397130,0.916203,0.053479],[0.008551,-0.054575,0.998473]] 2025-10-27T05:14:23.285Z,1761542063.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:23.630Z,1761542063.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917212,0.398172,0.013457],[-0.398297,0.915689,0.053600],[0.009020,-0.054522,0.998472]] 2025-10-27T05:14:23.650Z,1761542063.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:24.034Z,1761542064.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917002,0.398666,0.013120],[-0.398773,0.915487,0.053512],[0.009322,-0.054302,0.998481]] 2025-10-27T05:14:24.053Z,1761542064.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:24.450Z,1761542064.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917005,0.398667,0.012885],[-0.398764,0.915506,0.053259],[0.009436,-0.053977,0.998498]] 2025-10-27T05:14:24.520Z,1761542064.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:24.841Z,1761542064.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917229,0.398152,0.012859],[-0.398251,0.915747,0.052946],[0.009305,-0.053685,0.998515]] 2025-10-27T05:14:24.907Z,1761542064.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:25.270Z,1761542065.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918303,0.395656,0.013268],[-0.395786,0.916852,0.052297],[0.008527,-0.053276,0.998543]] 2025-10-27T05:14:25.317Z,1761542065.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:25.700Z,1761542065.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:26.054Z,1761542066.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919060,0.393871,0.013910],[-0.394036,0.917582,0.052720],[0.008001,-0.053934,0.998512]] 2025-10-27T05:14:26.085Z,1761542066.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:26.469Z,1761542066.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921099,0.389006,0.015816],[-0.389279,0.919582,0.053200],[0.006151,-0.055159,0.998459]] 2025-10-27T05:14:26.517Z,1761542066.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:26.905Z,1761542066.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:27.296Z,1761542067.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923231,0.383872,0.016933],[-0.384222,0.921794,0.051673],[0.004227,-0.054212,0.998520]] 2025-10-27T05:14:27.343Z,1761542067.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:27.677Z,1761542067.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924233,0.381421,0.017635],[-0.381815,0.922827,0.051062],[0.003202,-0.053927,0.998540]] 2025-10-27T05:14:27.696Z,1761542067.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:28.079Z,1761542068.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924980,0.379568,0.018427],[-0.380009,0.923589,0.050770],[0.002252,-0.053963,0.998540]] 2025-10-27T05:14:28.105Z,1761542068.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:28.484Z,1761542068.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925647,0.377899,0.019210],[-0.378385,0.924263,0.050630],[0.001378,-0.054134,0.998533]] 2025-10-27T05:14:28.534Z,1761542068.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:28.892Z,1761542068.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926272,0.376337,0.019767],[-0.376855,0.924900,0.050394],[0.000683,-0.054128,0.998534]] 2025-10-27T05:14:28.911Z,1761542068.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:29.326Z,1761542069.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926639,0.375407,0.020221],[-0.375951,0.925271,0.050345],[0.000189,-0.054254,0.998527]] 2025-10-27T05:14:29.408Z,1761542069.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:29.780Z,1761542069.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926777,0.375049,0.020546],[-0.375612,0.925403,0.050453],[-0.000091,-0.054476,0.998515]] 2025-10-27T05:14:29.798Z,1761542069.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:30.183Z,1761542070.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926785,0.375013,0.020832],[-0.375591,0.925415,0.050384],[-0.000384,-0.054519,0.998513]] 2025-10-27T05:14:30.202Z,1761542070.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:30.638Z,1761542070.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:31.032Z,1761542071.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:31.398Z,1761542071.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925547,0.378069,0.020645],[-0.378632,0.924152,0.050806],[0.000129,-0.054840,0.998495]] 2025-10-27T05:14:31.436Z,1761542071.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:31.797Z,1761542071.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924811,0.379887,0.020257],[-0.380427,0.923407,0.050942],[0.000647,-0.054818,0.998496]] 2025-10-27T05:14:31.825Z,1761542071.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:32.202Z,1761542072.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924123,0.381583,0.019770],[-0.382093,0.922724,0.050846],[0.001160,-0.054542,0.998511]] 2025-10-27T05:14:32.233Z,1761542072.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:32.605Z,1761542072.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923304,0.383591,0.019170],[-0.384065,0.921902,0.050895],[0.001850,-0.054354,0.998520]] 2025-10-27T05:14:32.663Z,1761542072.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:33.014Z,1761542073.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922478,0.385599,0.018646],[-0.386042,0.921078,0.050863],[0.002438,-0.054118,0.998532]] 2025-10-27T05:14:33.033Z,1761542073.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:33.414Z,1761542073.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921630,0.387650,0.018024],[-0.388057,0.920232,0.050842],[0.003123,-0.053852,0.998544]] 2025-10-27T05:14:33.462Z,1761542073.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:33.817Z,1761542073.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920768,0.389709,0.017688],[-0.390093,0.919363,0.050970],[0.003602,-0.053832,0.998544]] 2025-10-27T05:14:33.860Z,1761542073.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:34.222Z,1761542074.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920117,0.391257,0.017394],[-0.391623,0.918712,0.050980],[0.003966,-0.053719,0.998548]] 2025-10-27T05:14:34.313Z,1761542074.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:34.719Z,1761542074.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:35.033Z,1761542075.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919209,0.393397,0.017155],[-0.393747,0.917806,0.050936],[0.004293,-0.053575,0.998555]] 2025-10-27T05:14:35.076Z,1761542075.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:35.433Z,1761542075.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918994,0.393898,0.017162],[-0.394248,0.917601,0.050771],[0.004251,-0.053424,0.998563]] 2025-10-27T05:14:35.496Z,1761542075.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:35.837Z,1761542075.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918977,0.393940,0.017091],[-0.394288,0.917597,0.050519],[0.004219,-0.053164,0.998577]] 2025-10-27T05:14:35.910Z,1761542075.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:36.245Z,1761542076.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919048,0.393768,0.017229],[-0.394124,0.917679,0.050318],[0.004003,-0.053035,0.998585]] 2025-10-27T05:14:36.263Z,1761542076.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:36.645Z,1761542076.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919338,0.393069,0.017747],[-0.393455,0.917975,0.050158],[0.003424,-0.053094,0.998584]] 2025-10-27T05:14:36.726Z,1761542076.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:37.053Z,1761542077.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919767,0.392045,0.018168],[-0.392455,0.918414,0.049945],[0.002895,-0.053068,0.998587]] 2025-10-27T05:14:37.089Z,1761542077.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:37.456Z,1761542077.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920261,0.390861,0.018649],[-0.391299,0.918916,0.049795],[0.002326,-0.053122,0.998585]] 2025-10-27T05:14:37.515Z,1761542077.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:37.870Z,1761542077.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920872,0.389382,0.019392],[-0.389862,0.919532,0.049676],[0.001511,-0.053305,0.998577]] 2025-10-27T05:14:37.892Z,1761542077.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:38.262Z,1761542078.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921477,0.387916,0.020029],[-0.388432,0.920140,0.049631],[0.000823,-0.053513,0.998567]] 2025-10-27T05:14:38.296Z,1761542078.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:38.666Z,1761542078.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922149,0.386279,0.020729],[-0.386835,0.920819,0.049502],[0.000034,-0.053667,0.998559]] 2025-10-27T05:14:38.736Z,1761542078.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:39.078Z,1761542079.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922890,0.384468,0.021403],[-0.385062,0.921573,0.049296],[-0.000772,-0.053736,0.998555]] 2025-10-27T05:14:39.096Z,1761542079.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:39.483Z,1761542079.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923654,0.382599,0.021943],[-0.383225,0.922356,0.048977],[-0.001501,-0.053647,0.998559]] 2025-10-27T05:14:39.520Z,1761542079.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:39.882Z,1761542079.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924364,0.380854,0.022389],[-0.381506,0.923084,0.048668],[-0.002131,-0.053529,0.998564]] 2025-10-27T05:14:39.916Z,1761542079.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:40.281Z,1761542080.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924911,0.379492,0.022915],[-0.380173,0.923642,0.048522],[-0.002752,-0.053590,0.998559]] 2025-10-27T05:14:40.301Z,1761542080.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:40.687Z,1761542080.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925263,0.378600,0.023467],[-0.379313,0.923990,0.048631],[-0.003271,-0.053898,0.998541]] 2025-10-27T05:14:40.750Z,1761542080.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:41.132Z,1761542081.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:41.508Z,1761542081.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925815,0.377220,0.023934],[-0.377960,0.924535,0.048802],[-0.003718,-0.054228,0.998522]] 2025-10-27T05:14:41.553Z,1761542081.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:42.001Z,1761542082.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:42.366Z,1761542082.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925971,0.376848,0.023741],[-0.377578,0.924693,0.048760],[-0.003578,-0.054115,0.998528]] 2025-10-27T05:14:42.392Z,1761542082.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:42.807Z,1761542082.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:43.196Z,1761542083.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:43.566Z,1761542083.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925316,0.378503,0.022942],[-0.379188,0.924026,0.048916],[-0.002684,-0.053962,0.998539]] 2025-10-27T05:14:43.628Z,1761542083.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:43.971Z,1761542083.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924820,0.379734,0.022572],[-0.380399,0.923510,0.049254],[-0.002142,-0.054137,0.998531]] 2025-10-27T05:14:44.006Z,1761542084.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:44.392Z,1761542084.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924362,0.380873,0.022169],[-0.381514,0.923034,0.049552],[-0.001590,-0.054262,0.998526]] 2025-10-27T05:14:44.410Z,1761542084.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:44.778Z,1761542084.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923931,0.381944,0.021667],[-0.382557,0.922596,0.049676],[-0.001017,-0.054186,0.998530]] 2025-10-27T05:14:44.825Z,1761542084.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:45.182Z,1761542085.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923387,0.383284,0.021219],[-0.383870,0.922037,0.049911],[-0.000435,-0.054233,0.998528]] 2025-10-27T05:14:45.201Z,1761542085.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:45.588Z,1761542085.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922872,0.384545,0.020784],[-0.385106,0.921516,0.050021],[0.000083,-0.054166,0.998532]] 2025-10-27T05:14:45.645Z,1761542085.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:45.990Z,1761542085.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922432,0.385625,0.020316],[-0.386159,0.921079,0.049941],[0.000546,-0.053912,0.998546]] 2025-10-27T05:14:46.014Z,1761542086.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:46.398Z,1761542086.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922019,0.386634,0.019871],[-0.387143,0.920669,0.049884],[0.000992,-0.053687,0.998557]] 2025-10-27T05:14:46.430Z,1761542086.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:46.797Z,1761542086.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921599,0.387649,0.019564],[-0.388140,0.920245,0.049965],[0.001365,-0.053641,0.998559]] 2025-10-27T05:14:46.864Z,1761542086.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:47.203Z,1761542087.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921258,0.388465,0.019482],[-0.388950,0.919893,0.050152],[0.001560,-0.053780,0.998552]] 2025-10-27T05:14:47.222Z,1761542087.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:47.608Z,1761542087.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921057,0.388941,0.019480],[-0.389425,0.919684,0.050297],[0.001647,-0.053912,0.998544]] 2025-10-27T05:14:47.649Z,1761542087.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:48.009Z,1761542088.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920969,0.389156,0.019358],[-0.389633,0.919597,0.050283],[0.001767,-0.053851,0.998547]] 2025-10-27T05:14:48.044Z,1761542088.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:48.414Z,1761542088.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920976,0.389142,0.019269],[-0.389615,0.919606,0.050250],[0.001835,-0.053786,0.998551]] 2025-10-27T05:14:48.510Z,1761542088.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:48.597Z,1761542088.597 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:14:48.817Z,1761542088.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921140,0.388751,0.019304],[-0.389227,0.919779,0.050085],[0.001715,-0.053649,0.998558]] 2025-10-27T05:14:48.904Z,1761542088.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:49.221Z,1761542089.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921372,0.388200,0.019367],[-0.388679,0.920021,0.049891],[0.001550,-0.053496,0.998567]] 2025-10-27T05:14:49.263Z,1761542089.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:49.600Z,1761542089.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:14:49.634Z,1761542089.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921708,0.387392,0.019523],[-0.387882,0.920372,0.049622],[0.001255,-0.053309,0.998577]] 2025-10-27T05:14:49.742Z,1761542089.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:50.031Z,1761542090.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921988,0.386710,0.019814],[-0.387217,0.920656,0.049553],[0.000921,-0.053360,0.998575]] 2025-10-27T05:14:50.055Z,1761542090.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:50.433Z,1761542090.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922346,0.385842,0.020094],[-0.386364,0.921019,0.049459],[0.000576,-0.053382,0.998574]] 2025-10-27T05:14:50.468Z,1761542090.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:50.850Z,1761542090.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922810,0.384719,0.020319],[-0.385256,0.921495,0.049245],[0.000222,-0.053272,0.998580]] 2025-10-27T05:14:50.943Z,1761542090.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:51.349Z,1761542091.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923662,0.382644,0.020792],[-0.383208,0.922370,0.048834],[-0.000492,-0.053074,0.998590]] 2025-10-27T05:14:51.371Z,1761542091.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:51.739Z,1761542091.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924099,0.381570,0.021105],[-0.382152,0.922817,0.048660],[-0.000909,-0.053032,0.998592]] 2025-10-27T05:14:51.782Z,1761542091.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:52.138Z,1761542092.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924378,0.380880,0.021356],[-0.381476,0.923094,0.048723],[-0.001156,-0.053185,0.998584]] 2025-10-27T05:14:52.157Z,1761542092.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:52.544Z,1761542092.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924655,0.380193,0.021584],[-0.380802,0.923370,0.048758],[-0.001393,-0.053303,0.998577]] 2025-10-27T05:14:52.562Z,1761542092.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:52.946Z,1761542092.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924852,0.379688,0.022038],[-0.380322,0.923558,0.048951],[-0.001767,-0.053654,0.998558]] 2025-10-27T05:14:52.990Z,1761542092.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:53.397Z,1761542093.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:53.811Z,1761542093.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:54.160Z,1761542094.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925358,0.378422,0.022561],[-0.379086,0.924077,0.048745],[-0.002402,-0.053659,0.998556]] 2025-10-27T05:14:54.179Z,1761542094.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:54.562Z,1761542094.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925553,0.377945,0.022553],[-0.378609,0.924289,0.048427],[-0.002543,-0.053361,0.998572]] 2025-10-27T05:14:54.589Z,1761542094.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:54.966Z,1761542094.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925541,0.377971,0.022622],[-0.378638,0.924283,0.048317],[-0.002647,-0.053285,0.998576]] 2025-10-27T05:14:55.022Z,1761542095.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:55.370Z,1761542095.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925416,0.378271,0.022728],[-0.378944,0.924156,0.048352],[-0.002714,-0.053358,0.998572]] 2025-10-27T05:14:55.390Z,1761542095.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:55.865Z,1761542095.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:56.191Z,1761542096.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925173,0.378857,0.022866],[-0.379536,0.923903,0.048530],[-0.002740,-0.053577,0.998560]] 2025-10-27T05:14:56.210Z,1761542096.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:56.593Z,1761542096.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925068,0.379116,0.022823],[-0.379793,0.923794,0.048597],[-0.002660,-0.053623,0.998558]] 2025-10-27T05:14:56.621Z,1761542096.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:56.999Z,1761542096.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924913,0.379498,0.022752],[-0.380171,0.923635,0.048674],[-0.002543,-0.053669,0.998556]] 2025-10-27T05:14:57.036Z,1761542097.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:57.403Z,1761542097.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924733,0.379939,0.022693],[-0.380609,0.923453,0.048705],[-0.002451,-0.053676,0.998555]] 2025-10-27T05:14:57.433Z,1761542097.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:57.805Z,1761542097.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924634,0.380180,0.022704],[-0.380849,0.923356,0.048653],[-0.002467,-0.053633,0.998558]] 2025-10-27T05:14:57.863Z,1761542097.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:58.210Z,1761542098.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924583,0.380308,0.022643],[-0.380973,0.923311,0.048537],[-0.002447,-0.053503,0.998565]] 2025-10-27T05:14:58.230Z,1761542098.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:58.616Z,1761542098.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924408,0.380730,0.022686],[-0.381398,0.923131,0.048625],[-0.002429,-0.053602,0.998559]] 2025-10-27T05:14:58.634Z,1761542098.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:59.017Z,1761542099.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924276,0.381051,0.022689],[-0.381718,0.922998,0.048646],[-0.002405,-0.053623,0.998558]] 2025-10-27T05:14:59.060Z,1761542099.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:59.421Z,1761542099.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924229,0.381165,0.022670],[-0.381831,0.922954,0.048587],[-0.002404,-0.053562,0.998562]] 2025-10-27T05:14:59.471Z,1761542099.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:14:59.836Z,1761542099.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924210,0.381216,0.022583],[-0.381877,0.922937,0.048554],[-0.002333,-0.053498,0.998565]] 2025-10-27T05:14:59.884Z,1761542099.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:00.231Z,1761542100.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924151,0.381355,0.022669],[-0.382021,0.922876,0.048588],[-0.002391,-0.053563,0.998562]] 2025-10-27T05:15:00.253Z,1761542100.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:00.633Z,1761542100.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924197,0.381238,0.022735],[-0.381907,0.922929,0.048463],[-0.002507,-0.053472,0.998566]] 2025-10-27T05:15:00.670Z,1761542100.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:01.037Z,1761542101.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924277,0.381032,0.022961],[-0.381713,0.923016,0.048337],[-0.002776,-0.053441,0.998567]] 2025-10-27T05:15:01.081Z,1761542101.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:01.441Z,1761542101.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924366,0.380818,0.022897],[-0.381496,0.923115,0.048164],[-0.002795,-0.053256,0.998577]] 2025-10-27T05:15:01.464Z,1761542101.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:01.851Z,1761542101.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924561,0.380336,0.023054],[-0.381022,0.923317,0.048040],[-0.003015,-0.053200,0.998579]] 2025-10-27T05:15:01.889Z,1761542101.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:02.249Z,1761542102.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924827,0.379669,0.023361],[-0.380372,0.923590,0.047935],[-0.003377,-0.053217,0.998577]] 2025-10-27T05:15:02.289Z,1761542102.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:02.653Z,1761542102.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925078,0.379038,0.023696],[-0.379760,0.923843,0.047928],[-0.003725,-0.053336,0.998570]] 2025-10-27T05:15:02.845Z,1761542102.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:03.080Z,1761542103.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925419,0.378186,0.023980],[-0.378924,0.924192,0.047804],[-0.004084,-0.053326,0.998569]] 2025-10-27T05:15:03.159Z,1761542103.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:03.482Z,1761542103.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925756,0.377340,0.024315],[-0.378096,0.924540,0.047637],[-0.004505,-0.053294,0.998569]] 2025-10-27T05:15:03.528Z,1761542103.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:03.886Z,1761542103.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926138,0.376383,0.024581],[-0.377153,0.924938,0.047389],[-0.004899,-0.053160,0.998574]] 2025-10-27T05:15:03.949Z,1761542103.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:04.298Z,1761542104.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926613,0.375200,0.024752],[-0.375979,0.925435,0.047006],[-0.005270,-0.052863,0.998588]] 2025-10-27T05:15:04.329Z,1761542104.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:04.694Z,1761542104.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927004,0.374224,0.024896],[-0.375010,0.925840,0.046780],[-0.005544,-0.052701,0.998595]] 2025-10-27T05:15:04.731Z,1761542104.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:05.098Z,1761542105.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927363,0.373310,0.025242],[-0.374115,0.926206,0.046703],[-0.005945,-0.052754,0.998590]] 2025-10-27T05:15:05.143Z,1761542105.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:05.502Z,1761542105.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927661,0.372558,0.025387],[-0.373372,0.926506,0.046691],[-0.006126,-0.052793,0.998587]] 2025-10-27T05:15:05.521Z,1761542105.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:05.906Z,1761542105.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927860,0.372058,0.025463],[-0.372877,0.926694,0.046922],[-0.006139,-0.053032,0.998574]] 2025-10-27T05:15:05.958Z,1761542105.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:06.317Z,1761542106.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928102,0.371441,0.025649],[-0.372272,0.926927,0.047112],[-0.006275,-0.053273,0.998560]] 2025-10-27T05:15:06.356Z,1761542106.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:06.722Z,1761542106.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928452,0.370563,0.025702],[-0.371398,0.927282,0.047018],[-0.006410,-0.053200,0.998563]] 2025-10-27T05:15:06.762Z,1761542106.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:07.119Z,1761542107.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928606,0.370174,0.025737],[-0.371012,0.927437,0.047028],[-0.006461,-0.053219,0.998562]] 2025-10-27T05:15:07.156Z,1761542107.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:07.556Z,1761542107.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:07.980Z,1761542107.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:08.338Z,1761542108.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928837,0.369601,0.025645],[-0.370432,0.927682,0.046755],[-0.006509,-0.052928,0.998577]] 2025-10-27T05:15:08.357Z,1761542108.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:08.741Z,1761542108.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928610,0.370161,0.025786],[-0.371001,0.927440,0.047050],[-0.006499,-0.053258,0.998560]] 2025-10-27T05:15:08.760Z,1761542108.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:09.138Z,1761542109.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928518,0.370379,0.025947],[-0.371228,0.927345,0.047141],[-0.006602,-0.053403,0.998551]] 2025-10-27T05:15:09.182Z,1761542109.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:09.541Z,1761542109.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928326,0.370855,0.026022],[-0.371708,0.927147,0.047244],[-0.006605,-0.053530,0.998544]] 2025-10-27T05:15:09.560Z,1761542109.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:09.951Z,1761542109.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928184,0.371205,0.026095],[-0.372061,0.927009,0.047162],[-0.006683,-0.053484,0.998546]] 2025-10-27T05:15:10.013Z,1761542110.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:10.361Z,1761542110.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928018,0.371604,0.026341],[-0.372471,0.926854,0.046985],[-0.006955,-0.053414,0.998548]] 2025-10-27T05:15:10.384Z,1761542110.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:10.759Z,1761542110.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927834,0.372047,0.026547],[-0.372923,0.926683,0.046772],[-0.007199,-0.053297,0.998553]] 2025-10-27T05:15:10.784Z,1761542110.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:11.211Z,1761542111.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:11.567Z,1761542111.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927509,0.372807,0.027224],[-0.373716,0.926384,0.046350],[-0.007940,-0.053164,0.998554]] 2025-10-27T05:15:11.586Z,1761542111.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:11.972Z,1761542111.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927336,0.373196,0.027800],[-0.374134,0.926222,0.046228],[-0.008497,-0.053270,0.998544]] 2025-10-27T05:15:12.010Z,1761542112.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:12.374Z,1761542112.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927284,0.373285,0.028335],[-0.374249,0.926187,0.046003],[-0.009072,-0.053262,0.998539]] 2025-10-27T05:15:12.408Z,1761542112.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:12.780Z,1761542112.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927317,0.373167,0.028812],[-0.374153,0.926244,0.045632],[-0.009658,-0.053095,0.998543]] 2025-10-27T05:15:12.818Z,1761542112.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:13.182Z,1761542113.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927298,0.373162,0.029454],[-0.374180,0.926242,0.045442],[-0.010324,-0.053159,0.998533]] 2025-10-27T05:15:13.236Z,1761542113.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:13.587Z,1761542113.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927412,0.372826,0.030132],[-0.373877,0.926381,0.045098],[-0.011100,-0.053090,0.998528]] 2025-10-27T05:15:13.606Z,1761542113.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:13.994Z,1761542113.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927572,0.372367,0.030881],[-0.373455,0.926567,0.044785],[-0.011937,-0.053074,0.998519]] 2025-10-27T05:15:14.040Z,1761542114.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:14.394Z,1761542114.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927867,0.371575,0.031552],[-0.372694,0.926894,0.044355],[-0.012764,-0.052915,0.998517]] 2025-10-27T05:15:14.413Z,1761542114.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:14.805Z,1761542114.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928177,0.370733,0.032310],[-0.371887,0.927238,0.043938],[-0.013670,-0.052798,0.998512]] 2025-10-27T05:15:14.848Z,1761542114.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:15.204Z,1761542115.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928537,0.369763,0.033070],[-0.370953,0.927630,0.043551],[-0.014573,-0.052706,0.998504]] 2025-10-27T05:15:15.242Z,1761542115.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:15.606Z,1761542115.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928871,0.368865,0.033738],[-0.370086,0.927991,0.043238],[-0.015360,-0.052649,0.998495]] 2025-10-27T05:15:15.634Z,1761542115.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:16.020Z,1761542116.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929233,0.367888,0.034421],[-0.369142,0.928380,0.042954],[-0.016153,-0.052621,0.998484]] 2025-10-27T05:15:16.067Z,1761542116.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:16.422Z,1761542116.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929624,0.366831,0.035132],[-0.368118,0.928801,0.042630],[-0.016992,-0.052563,0.998473]] 2025-10-27T05:15:16.441Z,1761542116.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:16.825Z,1761542116.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930056,0.365685,0.035649],[-0.366994,0.929261,0.042314],[-0.017654,-0.052437,0.998468]] 2025-10-27T05:15:16.955Z,1761542116.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:17.246Z,1761542117.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930365,0.364837,0.036253],[-0.366176,0.929588,0.042208],[-0.018301,-0.052544,0.998451]] 2025-10-27T05:15:17.334Z,1761542117.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:17.646Z,1761542117.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930688,0.363972,0.036665],[-0.365332,0.929924,0.042117],[-0.018767,-0.052592,0.998440]] 2025-10-27T05:15:17.684Z,1761542117.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:18.054Z,1761542118.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931000,0.363140,0.036994],[-0.364516,0.930250,0.041996],[-0.019163,-0.052583,0.998433]] 2025-10-27T05:15:18.116Z,1761542118.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:18.455Z,1761542118.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931223,0.362531,0.037342],[-0.363927,0.930478,0.042038],[-0.019506,-0.052737,0.998418]] 2025-10-27T05:15:18.472Z,1761542118.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:15:18.474Z,1761542118.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:18.560Z,1761542118.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:15:18.560Z,1761542118.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:15:18.813Z,1761542118.813 [DAT](INFO): DAT read: user:354> 2025-10-27T05:15:18.814Z,1761542118.814 [DAT](INFO): DAT read: Tx time:05:15:17.8750 2025-10-27T05:15:18.814Z,1761542118.814 [DAT](INFO): Ping request sent. 2025-10-27T05:15:18.814Z,1761542118.814 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:15:18.815Z,1761542118.815 [DAT](INFO): publishing transmit ping time 2025-10-27T05:15:18.816Z,1761542118.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001332 2025-10-27T05:15:18.918Z,1761542118.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:19.067Z,1761542119.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251890 2025-10-27T05:15:19.262Z,1761542119.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931346,0.362188,0.037616],[-0.363604,0.930593,0.042296],[-0.019686,-0.053069,0.998397]] 2025-10-27T05:15:19.317Z,1761542119.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502971 2025-10-27T05:15:19.346Z,1761542119.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:19.568Z,1761542119.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753529 2025-10-27T05:15:19.665Z,1761542119.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931331,0.362244,0.037449],[-0.363652,0.930570,0.042387],[-0.019494,-0.053095,0.998399]] 2025-10-27T05:15:19.701Z,1761542119.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:19.724Z,1761542119.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:15:19.820Z,1761542119.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005631 2025-10-27T05:15:20.073Z,1761542120.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258551 2025-10-27T05:15:20.121Z,1761542120.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931375,0.362160,0.037160],[-0.363553,0.930610,0.042357],[-0.019241,-0.052960,0.998411]] 2025-10-27T05:15:20.186Z,1761542120.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:20.324Z,1761542120.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509517 2025-10-27T05:15:20.547Z,1761542120.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:20.576Z,1761542120.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761489 2025-10-27T05:15:20.730Z,1761542120.730 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:15:20.828Z,1761542120.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013457 2025-10-27T05:15:20.955Z,1761542120.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931137,0.362829,0.036587],[-0.364196,0.930345,0.042650],[-0.018564,-0.053038,0.998420]] 2025-10-27T05:15:20.975Z,1761542120.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:21.082Z,1761542121.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267399 2025-10-27T05:15:21.326Z,1761542121.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930980,0.363268,0.036243],[-0.364619,0.930172,0.042807],[-0.018162,-0.053067,0.998426]] 2025-10-27T05:15:21.332Z,1761542121.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517632 2025-10-27T05:15:21.389Z,1761542121.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:21.585Z,1761542121.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771115 2025-10-27T05:15:21.736Z,1761542121.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930951,0.363386,0.035785],[-0.364713,0.930135,0.042812],[-0.017728,-0.052907,0.998442]] 2025-10-27T05:15:21.754Z,1761542121.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:21.837Z,1761542121.837 [DAT](INFO): DAT read: Rx Time:05:15:20.3125 2025-10-27T05:15:21.837Z,1761542121.837 [DAT](INFO): Rx dataTimestamp_ set to:1761542121.836858 2025-10-27T05:15:21.838Z,1761542121.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023633 2025-10-27T05:15:22.090Z,1761542122.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275546 2025-10-27T05:15:22.146Z,1761542122.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930807,0.363797,0.035360],[-0.365104,0.929973,0.042995],[-0.017242,-0.052930,0.998449]] 2025-10-27T05:15:22.272Z,1761542122.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-27T05:15:22.348Z,1761542122.348 [DAT](INFO): DAT read: 05:15:20.3125 LVL= 32752, 21281, 22674, 32755, AGC= 58, IDX= 435,-0.26,-1.602, 0.529,-0.514,-0.252, PHS=-1.248, 0.826,-0.306, RAW= 303.0, 8.2, CAL= 300.6, 8.8, ROT= 209.4, -8.8 2025-10-27T05:15:22.349Z,1761542122.349 [DAT](INFO): got valid direction response: 05:15:20.3125 LVL= 32752, 21281, 22674, 32755, AGC= 58, IDX= 435,-0.26,-1.602, 0.529,-0.514,-0.252, PHS=-1.248, 0.826,-0.306, RAW= 303.0, 8.2, CAL= 300.6, 8.8, ROT= 209.4, -8.8 2025-10-27T05:15:22.350Z,1761542122.350 [DAT](INFO): DAT read: Bearing 315.5, -28.3 (Local) 2025-10-27T05:15:22.351Z,1761542122.351 [DAT](INFO): Local bearing/azimuth received: Bearing 315.5, -28.3 (Local) 2025-10-27T05:15:22.353Z,1761542122.353 [DAT](INFO): DAT read: Range 11 to 50 : 25.0 m (Round-trip 33.4 ms) speed 0.0 m/s 2025-10-27T05:15:22.354Z,1761542122.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:15:22.356Z,1761542122.356 [DAT](INFO): direction in FSK: [-0.860958,-0.485125,0.152986] 2025-10-27T05:15:22.357Z,1761542122.357 [DAT](INFO): publishing direction and range info 2025-10-27T05:15:22.547Z,1761542122.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930785,0.363893,0.034946],[-0.365178,0.929945,0.042988],[-0.016854,-0.052774,0.998464]] 2025-10-27T05:15:22.579Z,1761542122.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.000000 m, deltaT: 59.980344 s, deltaX: 0.100000 m, approachRate: 0.001667 m/s, rangeRepo size: 4 2025-10-27T05:15:22.581Z,1761542122.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.872143 m, bearing: 187.622738 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 59.980344 s, deltaX: 0.099331 m, approachRate: 0.001656 m/s, posRepo size: 4 2025-10-27T05:15:22.582Z,1761542122.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:22.948Z,1761542122.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930763,0.364000,0.034419],[-0.365257,0.929914,0.042974],[-0.016364,-0.052571,0.998483]] 2025-10-27T05:15:22.966Z,1761542122.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:23.386Z,1761542123.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:23.748Z,1761542123.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930650,0.364359,0.033646],[-0.365579,0.929777,0.043198],[-0.015544,-0.052502,0.998500]] 2025-10-27T05:15:23.790Z,1761542123.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:24.150Z,1761542124.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930631,0.364451,0.033197],[-0.365649,0.929743,0.043344],[-0.015068,-0.052475,0.998509]] 2025-10-27T05:15:24.206Z,1761542124.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:24.611Z,1761542124.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930618,0.364512,0.032883],[-0.365696,0.929717,0.043499],[-0.014716,-0.052506,0.998512]] 2025-10-27T05:15:24.630Z,1761542124.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:25.006Z,1761542125.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930825,0.364005,0.032631],[-0.365175,0.929924,0.043452],[-0.014528,-0.052362,0.998522]] 2025-10-27T05:15:25.034Z,1761542125.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:25.410Z,1761542125.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930926,0.363764,0.032444],[-0.364926,0.930017,0.043545],[-0.014333,-0.052377,0.998524]] 2025-10-27T05:15:25.459Z,1761542125.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:25.821Z,1761542125.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930894,0.363868,0.032191],[-0.365021,0.929967,0.043828],[-0.013989,-0.052550,0.998520]] 2025-10-27T05:15:25.840Z,1761542125.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:26.222Z,1761542126.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930999,0.363624,0.031911],[-0.364764,0.930062,0.043958],[-0.013695,-0.052565,0.998524]] 2025-10-27T05:15:26.260Z,1761542126.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:26.656Z,1761542126.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:27.029Z,1761542127.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931338,0.362785,0.031569],[-0.363911,0.930384,0.044200],[-0.013336,-0.052653,0.998524]] 2025-10-27T05:15:27.048Z,1761542127.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:27.430Z,1761542127.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931442,0.362531,0.031435],[-0.363653,0.930475,0.044408],[-0.013150,-0.052795,0.998519]] 2025-10-27T05:15:27.480Z,1761542127.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:27.834Z,1761542127.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931663,0.361969,0.031342],[-0.363089,0.930692,0.044492],[-0.013065,-0.052832,0.998518]] 2025-10-27T05:15:27.870Z,1761542127.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:28.238Z,1761542128.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931847,0.361514,0.031113],[-0.362624,0.930865,0.044653],[-0.012819,-0.052892,0.998518]] 2025-10-27T05:15:28.325Z,1761542128.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:28.647Z,1761542128.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932082,0.360919,0.030975],[-0.362022,0.931099,0.044649],[-0.012726,-0.052830,0.998522]] 2025-10-27T05:15:28.671Z,1761542128.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:29.046Z,1761542129.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932415,0.360067,0.030870],[-0.361164,0.931437,0.044566],[-0.012707,-0.052703,0.998529]] 2025-10-27T05:15:29.074Z,1761542129.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:29.449Z,1761542129.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932630,0.359525,0.030705],[-0.360615,0.931645,0.044648],[-0.012554,-0.052713,0.998531]] 2025-10-27T05:15:29.500Z,1761542129.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:29.854Z,1761542129.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932896,0.358835,0.030704],[-0.359926,0.931911,0.044654],[-0.012590,-0.052709,0.998531]] 2025-10-27T05:15:29.875Z,1761542129.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:30.261Z,1761542130.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933076,0.358381,0.030523],[-0.359464,0.932085,0.044750],[-0.012413,-0.052727,0.998532]] 2025-10-27T05:15:30.336Z,1761542130.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:30.662Z,1761542130.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933355,0.357659,0.030477],[-0.358741,0.932363,0.044769],[-0.012403,-0.052718,0.998532]] 2025-10-27T05:15:30.703Z,1761542130.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:31.065Z,1761542131.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933537,0.357188,0.030414],[-0.358269,0.932538,0.044896],[-0.012326,-0.052808,0.998529]] 2025-10-27T05:15:31.256Z,1761542131.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:31.499Z,1761542131.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933773,0.356564,0.030503],[-0.357651,0.932771,0.044992],[-0.012409,-0.052922,0.998522]] 2025-10-27T05:15:31.577Z,1761542131.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:31.883Z,1761542131.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933827,0.356428,0.030439],[-0.357515,0.932812,0.045224],[-0.012275,-0.053114,0.998513]] 2025-10-27T05:15:31.939Z,1761542131.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:32.298Z,1761542132.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934069,0.355818,0.030146],[-0.356888,0.933059,0.045085],[-0.012086,-0.052871,0.998528]] 2025-10-27T05:15:32.360Z,1761542132.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:32.694Z,1761542132.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934105,0.355731,0.030046],[-0.356798,0.933085,0.045242],[-0.011941,-0.052982,0.998524]] 2025-10-27T05:15:32.733Z,1761542132.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:33.092Z,1761542133.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934288,0.355252,0.030039],[-0.356317,0.933275,0.045114],[-0.012008,-0.052853,0.998530]] 2025-10-27T05:15:33.111Z,1761542133.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:33.556Z,1761542133.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:33.945Z,1761542133.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934483,0.354744,0.029974],[-0.355804,0.933484,0.044855],[-0.012068,-0.052581,0.998544]] 2025-10-27T05:15:33.971Z,1761542133.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:34.347Z,1761542134.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934479,0.354741,0.030134],[-0.355809,0.933481,0.044873],[-0.012211,-0.052655,0.998538]] 2025-10-27T05:15:34.392Z,1761542134.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:34.813Z,1761542134.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:35.156Z,1761542135.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934611,0.354368,0.030410],[-0.355448,0.933630,0.044627],[-0.012577,-0.052518,0.998541]] 2025-10-27T05:15:35.174Z,1761542135.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:35.558Z,1761542135.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934661,0.354221,0.030602],[-0.355309,0.933689,0.044492],[-0.012813,-0.052458,0.998541]] 2025-10-27T05:15:35.609Z,1761542135.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:35.963Z,1761542135.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934783,0.353875,0.030881],[-0.354976,0.933826,0.044280],[-0.013168,-0.052354,0.998542]] 2025-10-27T05:15:35.981Z,1761542135.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:36.366Z,1761542136.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934865,0.353633,0.031157],[-0.354747,0.933919,0.044157],[-0.013482,-0.052334,0.998539]] 2025-10-27T05:15:36.425Z,1761542136.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:36.777Z,1761542136.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935030,0.353159,0.031590],[-0.354293,0.934101,0.043953],[-0.013986,-0.052290,0.998534]] 2025-10-27T05:15:36.807Z,1761542136.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:37.174Z,1761542137.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935166,0.352766,0.031937],[-0.353916,0.934251,0.043799],[-0.014386,-0.052263,0.998530]] 2025-10-27T05:15:37.206Z,1761542137.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:37.579Z,1761542137.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935238,0.352541,0.032329],[-0.353711,0.934330,0.043775],[-0.014774,-0.052375,0.998518]] 2025-10-27T05:15:37.635Z,1761542137.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:37.985Z,1761542137.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935378,0.352141,0.032628],[-0.353327,0.934478,0.043717],[-0.015096,-0.052420,0.998511]] 2025-10-27T05:15:38.004Z,1761542138.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:38.386Z,1761542138.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935564,0.351605,0.033090],[-0.352815,0.934675,0.043649],[-0.015582,-0.052511,0.998499]] 2025-10-27T05:15:38.429Z,1761542138.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:38.800Z,1761542138.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935812,0.350917,0.033372],[-0.352139,0.934939,0.043444],[-0.015956,-0.052407,0.998498]] 2025-10-27T05:15:38.825Z,1761542138.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:39.194Z,1761542139.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936100,0.350113,0.033733],[-0.351352,0.935243,0.043276],[-0.016397,-0.052363,0.998493]] 2025-10-27T05:15:39.213Z,1761542139.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:39.614Z,1761542139.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936358,0.349391,0.034054],[-0.350644,0.935517,0.043093],[-0.016802,-0.052291,0.998491]] 2025-10-27T05:15:39.658Z,1761542139.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:40.005Z,1761542140.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936524,0.348914,0.034393],[-0.350185,0.935690,0.043066],[-0.017155,-0.052376,0.998480]] 2025-10-27T05:15:40.023Z,1761542140.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:40.406Z,1761542140.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936719,0.348358,0.034709],[-0.349646,0.935892,0.043053],[-0.017486,-0.052464,0.998470]] 2025-10-27T05:15:40.453Z,1761542140.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:40.812Z,1761542140.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936885,0.347892,0.034898],[-0.349189,0.936064,0.043028],[-0.017697,-0.052499,0.998464]] 2025-10-27T05:15:40.830Z,1761542140.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:41.252Z,1761542141.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:41.630Z,1761542141.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937190,0.347050,0.035085],[-0.348359,0.936374,0.043015],[-0.017925,-0.052535,0.998458]] 2025-10-27T05:15:41.746Z,1761542141.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:42.022Z,1761542142.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937194,0.347018,0.035284],[-0.348339,0.936374,0.043156],[-0.018063,-0.052737,0.998445]] 2025-10-27T05:15:42.058Z,1761542142.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:42.426Z,1761542142.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937244,0.346884,0.035286],[-0.348206,0.936424,0.043161],[-0.018071,-0.052740,0.998445]] 2025-10-27T05:15:42.476Z,1761542142.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:42.832Z,1761542142.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937268,0.346824,0.035233],[-0.348143,0.936446,0.043183],[-0.018017,-0.052740,0.998446]] 2025-10-27T05:15:42.851Z,1761542142.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:43.235Z,1761542143.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937307,0.346723,0.035194],[-0.348041,0.936484,0.043200],[-0.017980,-0.052740,0.998446]] 2025-10-27T05:15:43.259Z,1761542143.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:43.639Z,1761542143.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937281,0.346796,0.035180],[-0.348114,0.936453,0.043273],[-0.017938,-0.052806,0.998444]] 2025-10-27T05:15:43.691Z,1761542143.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:44.042Z,1761542144.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937250,0.346883,0.035147],[-0.348200,0.936418,0.043331],[-0.017881,-0.052850,0.998442]] 2025-10-27T05:15:44.062Z,1761542144.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:44.449Z,1761542144.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937250,0.346888,0.035083],[-0.348200,0.936423,0.043234],[-0.017855,-0.052737,0.998449]] 2025-10-27T05:15:44.562Z,1761542144.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:44.920Z,1761542144.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937211,0.347013,0.034897],[-0.348315,0.936382,0.043192],[-0.017689,-0.052635,0.998457]] 2025-10-27T05:15:44.950Z,1761542144.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:45.317Z,1761542145.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937075,0.347381,0.034894],[-0.348684,0.936238,0.043328],[-0.017618,-0.052769,0.998451]] 2025-10-27T05:15:45.469Z,1761542145.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:45.728Z,1761542145.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937011,0.347569,0.034725],[-0.348863,0.936171,0.043329],[-0.017449,-0.052714,0.998457]] 2025-10-27T05:15:45.840Z,1761542145.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:46.141Z,1761542146.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937029,0.347534,0.034600],[-0.348819,0.936195,0.043184],[-0.017385,-0.052534,0.998468]] 2025-10-27T05:15:46.186Z,1761542146.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:46.546Z,1761542146.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936909,0.347870,0.034455],[-0.349148,0.936072,0.043192],[-0.017227,-0.052496,0.998472]] 2025-10-27T05:15:46.613Z,1761542146.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:46.946Z,1761542146.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936935,0.347809,0.034383],[-0.349081,0.936101,0.043095],[-0.017197,-0.052380,0.998479]] 2025-10-27T05:15:46.972Z,1761542146.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:47.350Z,1761542147.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937008,0.347634,0.034169],[-0.348893,0.936176,0.042993],[-0.017042,-0.052206,0.998491]] 2025-10-27T05:15:47.386Z,1761542147.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:47.818Z,1761542147.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:48.166Z,1761542148.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937093,0.347419,0.034007],[-0.348672,0.936254,0.043091],[-0.016869,-0.052238,0.998492]] 2025-10-27T05:15:48.185Z,1761542148.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:48.560Z,1761542148.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937187,0.347174,0.033924],[-0.348423,0.936343,0.043159],[-0.016781,-0.052268,0.998492]] 2025-10-27T05:15:48.603Z,1761542148.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:48.961Z,1761542148.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937302,0.346878,0.033761],[-0.348119,0.936458,0.043127],[-0.016656,-0.052176,0.998499]] 2025-10-27T05:15:49.002Z,1761542149.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:49.366Z,1761542149.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937461,0.346447,0.033782],[-0.347689,0.936617,0.043146],[-0.016693,-0.052193,0.998497]] 2025-10-27T05:15:49.385Z,1761542149.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:49.784Z,1761542149.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937706,0.345784,0.033772],[-0.347026,0.936865,0.043090],[-0.016740,-0.052126,0.998500]] 2025-10-27T05:15:49.823Z,1761542149.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:50.174Z,1761542150.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937932,0.345180,0.033675],[-0.346418,0.937088,0.043125],[-0.016671,-0.052115,0.998502]] 2025-10-27T05:15:50.218Z,1761542150.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:50.579Z,1761542150.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938090,0.344756,0.033632],[-0.345996,0.937232,0.043395],[-0.016561,-0.052345,0.998492]] 2025-10-27T05:15:50.636Z,1761542150.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:50.867Z,1761542150.867 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:15:50.985Z,1761542150.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938389,0.343947,0.033568],[-0.345186,0.937528,0.043453],[-0.016525,-0.052363,0.998491]] 2025-10-27T05:15:51.004Z,1761542151.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:51.386Z,1761542151.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938590,0.343402,0.033525],[-0.344642,0.937720,0.043635],[-0.016453,-0.052510,0.998485]] 2025-10-27T05:15:51.416Z,1761542151.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:51.794Z,1761542151.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938859,0.342673,0.033439],[-0.343910,0.937986,0.043673],[-0.016400,-0.052502,0.998486]] 2025-10-27T05:15:51.873Z,1761542151.873 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:15:51.947Z,1761542151.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:52.202Z,1761542152.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939048,0.342171,0.033280],[-0.343402,0.938167,0.043785],[-0.016241,-0.052545,0.998486]] 2025-10-27T05:15:52.221Z,1761542152.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:52.602Z,1761542152.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939203,0.341764,0.033096],[-0.342987,0.938313,0.043904],[-0.016049,-0.052586,0.998487]] 2025-10-27T05:15:52.639Z,1761542152.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:53.037Z,1761542153.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939358,0.341352,0.032949],[-0.342569,0.938465,0.043935],[-0.015924,-0.052558,0.998491]] 2025-10-27T05:15:53.055Z,1761542153.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:53.440Z,1761542153.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939363,0.341355,0.032762],[-0.342565,0.938455,0.044179],[-0.015665,-0.052723,0.998486]] 2025-10-27T05:15:53.458Z,1761542153.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:53.842Z,1761542153.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939428,0.341194,0.032575],[-0.342397,0.938511,0.044289],[-0.015461,-0.052760,0.998488]] 2025-10-27T05:15:53.889Z,1761542153.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:54.245Z,1761542154.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939378,0.341349,0.032407],[-0.342547,0.938445,0.044524],[-0.015214,-0.052926,0.998483]] 2025-10-27T05:15:54.293Z,1761542154.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:54.650Z,1761542154.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939319,0.341516,0.032341],[-0.342711,0.938380,0.044623],[-0.015109,-0.052999,0.998480]] 2025-10-27T05:15:54.728Z,1761542154.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:55.055Z,1761542155.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939083,0.342195,0.032027],[-0.343375,0.938129,0.044808],[-0.014712,-0.053076,0.998482]] 2025-10-27T05:15:55.074Z,1761542155.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:55.458Z,1761542155.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938836,0.342899,0.031735],[-0.344065,0.937871,0.044906],[-0.014365,-0.053079,0.998487]] 2025-10-27T05:15:55.482Z,1761542155.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:55.862Z,1761542155.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938542,0.343736,0.031372],[-0.344882,0.937570,0.044939],[-0.013966,-0.052997,0.998497]] 2025-10-27T05:15:55.910Z,1761542155.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:56.276Z,1761542156.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938288,0.344470,0.030926],[-0.345590,0.937315,0.044823],[-0.013547,-0.052744,0.998516]] 2025-10-27T05:15:56.311Z,1761542156.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:56.672Z,1761542156.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937930,0.345471,0.030607],[-0.346573,0.936950,0.044851],[-0.013183,-0.052674,0.998525]] 2025-10-27T05:15:56.760Z,1761542156.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:57.076Z,1761542157.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937533,0.346570,0.030364],[-0.347660,0.936542,0.044970],[-0.012852,-0.052717,0.998527]] 2025-10-27T05:15:57.095Z,1761542157.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:57.478Z,1761542157.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937126,0.347685,0.030178],[-0.348767,0.936121,0.045151],[-0.012552,-0.052837,0.998524]] 2025-10-27T05:15:57.506Z,1761542157.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:57.882Z,1761542157.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936706,0.348822,0.030079],[-0.349899,0.935691,0.045314],[-0.012338,-0.052970,0.998520]] 2025-10-27T05:15:57.980Z,1761542157.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:58.290Z,1761542158.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936456,0.349512,0.029853],[-0.350576,0.935438,0.045291],[-0.012096,-0.052878,0.998528]] 2025-10-27T05:15:58.336Z,1761542158.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:58.695Z,1761542158.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936221,0.350153,0.029703],[-0.351208,0.935202,0.045273],[-0.011926,-0.052818,0.998533]] 2025-10-27T05:15:58.802Z,1761542158.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:59.094Z,1761542159.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936048,0.350614,0.029749],[-0.351671,0.935029,0.045252],[-0.011950,-0.052820,0.998533]] 2025-10-27T05:15:59.125Z,1761542159.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:59.498Z,1761542159.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935990,0.350761,0.029815],[-0.351820,0.934979,0.045131],[-0.012046,-0.052731,0.998536]] 2025-10-27T05:15:59.523Z,1761542159.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:15:59.905Z,1761542159.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936040,0.350617,0.029946],[-0.351681,0.935040,0.044948],[-0.012241,-0.052604,0.998540]] 2025-10-27T05:16:00.022Z,1761542160.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:00.306Z,1761542160.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936171,0.350251,0.030141],[-0.351323,0.935182,0.044797],[-0.012498,-0.052527,0.998541]] 2025-10-27T05:16:00.363Z,1761542160.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:00.717Z,1761542160.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936265,0.349988,0.030269],[-0.351067,0.935280,0.044765],[-0.012643,-0.052539,0.998539]] 2025-10-27T05:16:00.801Z,1761542160.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:01.114Z,1761542161.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936500,0.349331,0.030593],[-0.350426,0.935524,0.044687],[-0.013010,-0.052570,0.998533]] 2025-10-27T05:16:01.132Z,1761542161.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:01.519Z,1761542161.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936771,0.348571,0.030965],[-0.349686,0.935805,0.044584],[-0.013437,-0.052593,0.998526]] 2025-10-27T05:16:01.555Z,1761542161.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:01.977Z,1761542161.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:02.325Z,1761542162.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937323,0.347013,0.031746],[-0.348168,0.936381,0.044373],[-0.014328,-0.052644,0.998511]] 2025-10-27T05:16:02.368Z,1761542162.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:02.740Z,1761542162.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937666,0.346045,0.032170],[-0.347220,0.936742,0.044181],[-0.014847,-0.052597,0.998505]] 2025-10-27T05:16:02.808Z,1761542162.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:03.134Z,1761542163.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937981,0.345157,0.032517],[-0.346349,0.937073,0.044005],[-0.015282,-0.052538,0.998502]] 2025-10-27T05:16:03.163Z,1761542163.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:03.537Z,1761542163.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938197,0.344540,0.032848],[-0.345749,0.937297,0.043966],[-0.015640,-0.052606,0.998493]] 2025-10-27T05:16:03.580Z,1761542163.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:04.001Z,1761542164.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:04.347Z,1761542164.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938438,0.343810,0.033602],[-0.345061,0.937545,0.044077],[-0.016349,-0.052958,0.998463]] 2025-10-27T05:16:04.371Z,1761542164.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:04.838Z,1761542164.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:05.154Z,1761542165.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938507,0.343572,0.034098],[-0.344849,0.937625,0.044030],[-0.016843,-0.053081,0.998448]] 2025-10-27T05:16:05.172Z,1761542165.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:05.558Z,1761542165.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938400,0.343848,0.034260],[-0.345130,0.937529,0.043869],[-0.017036,-0.052991,0.998450]] 2025-10-27T05:16:05.576Z,1761542165.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:05.962Z,1761542165.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938203,0.344380,0.034327],[-0.345663,0.937339,0.043734],[-0.017115,-0.052897,0.998453]] 2025-10-27T05:16:06.007Z,1761542166.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:06.366Z,1761542166.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937851,0.345333,0.034352],[-0.346617,0.936986,0.043749],[-0.017080,-0.052937,0.998452]] 2025-10-27T05:16:06.401Z,1761542166.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:06.784Z,1761542166.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937417,0.346513,0.034316],[-0.347796,0.936544,0.043851],[-0.016943,-0.053042,0.998449]] 2025-10-27T05:16:06.836Z,1761542166.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:07.174Z,1761542167.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936890,0.347948,0.034180],[-0.349225,0.936005,0.044005],[-0.016681,-0.053165,0.998446]] 2025-10-27T05:16:07.193Z,1761542167.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:07.580Z,1761542167.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936332,0.349460,0.034047],[-0.350730,0.935438,0.044098],[-0.016438,-0.053231,0.998447]] 2025-10-27T05:16:07.599Z,1761542167.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:08.171Z,1761542168.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:08.415Z,1761542168.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935160,0.352630,0.033577],[-0.353872,0.934253,0.044109],[-0.015815,-0.053131,0.998462]] 2025-10-27T05:16:08.434Z,1761542168.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:08.814Z,1761542168.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934477,0.354467,0.033254],[-0.355690,0.933562,0.044126],[-0.015403,-0.053063,0.998472]] 2025-10-27T05:16:08.870Z,1761542168.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:09.218Z,1761542169.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933822,0.356212,0.033013],[-0.357421,0.932901,0.044119],[-0.015082,-0.052999,0.998481]] 2025-10-27T05:16:09.255Z,1761542169.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:09.622Z,1761542169.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933173,0.357928,0.032806],[-0.359125,0.932244,0.044158],[-0.014777,-0.052989,0.998486]] 2025-10-27T05:16:09.641Z,1761542169.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:10.091Z,1761542170.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:10.457Z,1761542170.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:10.836Z,1761542170.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931476,0.362372,0.032225],[-0.363538,0.930518,0.044467],[-0.013873,-0.053135,0.998491]] 2025-10-27T05:16:10.886Z,1761542170.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:11.248Z,1761542171.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931145,0.363239,0.032021],[-0.364391,0.930190,0.044336],[-0.013681,-0.052951,0.998503]] 2025-10-27T05:16:11.349Z,1761542171.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:11.642Z,1761542171.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930918,0.363839,0.031818],[-0.364976,0.929972,0.044105],[-0.013543,-0.052671,0.998520]] 2025-10-27T05:16:11.674Z,1761542171.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:12.046Z,1761542172.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930657,0.364529,0.031576],[-0.365651,0.929712,0.043982],[-0.013324,-0.052478,0.998533]] 2025-10-27T05:16:12.110Z,1761542172.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:12.451Z,1761542172.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930537,0.364834,0.031573],[-0.365954,0.929599,0.043852],[-0.013351,-0.052361,0.998539]] 2025-10-27T05:16:12.470Z,1761542172.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:12.862Z,1761542172.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930317,0.365390,0.031627],[-0.366515,0.929371,0.044012],[-0.013311,-0.052537,0.998530]] 2025-10-27T05:16:12.936Z,1761542172.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:13.268Z,1761542173.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930314,0.365385,0.031768],[-0.366518,0.929367,0.044077],[-0.013419,-0.052649,0.998523]] 2025-10-27T05:16:13.298Z,1761542173.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:13.663Z,1761542173.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930318,0.365343,0.032140],[-0.366498,0.929365,0.044271],[-0.013696,-0.052965,0.998502]] 2025-10-27T05:16:13.687Z,1761542173.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:14.068Z,1761542174.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930376,0.365174,0.032368],[-0.366343,0.929419,0.044414],[-0.013864,-0.053180,0.998489]] 2025-10-27T05:16:14.105Z,1761542174.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:14.557Z,1761542174.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:14.905Z,1761542174.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930760,0.364166,0.032689],[-0.365351,0.929818,0.044238],[-0.014285,-0.053118,0.998486]] 2025-10-27T05:16:14.972Z,1761542174.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:15.298Z,1761542175.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930924,0.363730,0.032874],[-0.364924,0.929991,0.044133],[-0.014520,-0.053081,0.998485]] 2025-10-27T05:16:15.336Z,1761542175.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:15.705Z,1761542175.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931059,0.363366,0.033073],[-0.364569,0.930137,0.043998],[-0.014775,-0.053022,0.998484]] 2025-10-27T05:16:15.794Z,1761542175.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:16.108Z,1761542176.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931233,0.362902,0.033275],[-0.364114,0.930321,0.043861],[-0.015039,-0.052961,0.998483]] 2025-10-27T05:16:16.144Z,1761542176.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:16.510Z,1761542176.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931261,0.362816,0.033423],[-0.364035,0.930353,0.043834],[-0.015191,-0.052988,0.998480]] 2025-10-27T05:16:16.539Z,1761542176.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:16.921Z,1761542176.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931270,0.362769,0.033699],[-0.364004,0.930363,0.043876],[-0.015436,-0.053127,0.998468]] 2025-10-27T05:16:16.996Z,1761542176.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:17.406Z,1761542177.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931058,0.363284,0.034002],[-0.364536,0.930152,0.043950],[-0.015660,-0.053315,0.998455]] 2025-10-27T05:16:17.436Z,1761542177.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:17.794Z,1761542177.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930780,0.363989,0.034080],[-0.365245,0.929868,0.044051],[-0.015656,-0.053449,0.998448]] 2025-10-27T05:16:17.830Z,1761542177.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:18.196Z,1761542178.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930553,0.364572,0.034022],[-0.365823,0.929647,0.043928],[-0.015614,-0.053323,0.998455]] 2025-10-27T05:16:18.258Z,1761542178.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:18.627Z,1761542178.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930196,0.365481,0.034033],[-0.366730,0.929293,0.043856],[-0.015598,-0.053276,0.998458]] 2025-10-27T05:16:18.660Z,1761542178.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:16:18.665Z,1761542178.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:18.819Z,1761542178.819 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:16:18.819Z,1761542178.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:16:19.068Z,1761542179.068 [DAT](INFO): DAT read: user:355> 2025-10-27T05:16:19.069Z,1761542179.069 [DAT](INFO): DAT read: Tx time:05:16:18.1263 2025-10-27T05:16:19.069Z,1761542179.069 [DAT](INFO): Ping request sent. 2025-10-27T05:16:19.069Z,1761542179.069 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:16:19.069Z,1761542179.069 [DAT](INFO): publishing transmit ping time 2025-10-27T05:16:19.070Z,1761542179.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T05:16:19.098Z,1761542179.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929709,0.366712,0.034098],[-0.367966,0.928798,0.043996],[-0.015536,-0.053450,0.998450]] 2025-10-27T05:16:19.186Z,1761542179.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:19.320Z,1761542179.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250888 2025-10-27T05:16:19.572Z,1761542179.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502927 2025-10-27T05:16:19.575Z,1761542179.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929213,0.367981,0.033957],[-0.369228,0.928293,0.044081],[-0.015300,-0.053499,0.998451]] 2025-10-27T05:16:19.618Z,1761542179.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:19.824Z,1761542179.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875 2025-10-27T05:16:19.992Z,1761542179.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928596,0.369553,0.033779],[-0.370790,0.927666,0.044176],[-0.015010,-0.053546,0.998453]] 2025-10-27T05:16:20.036Z,1761542180.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:20.076Z,1761542180.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007163 2025-10-27T05:16:20.328Z,1761542180.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258935 2025-10-27T05:16:20.378Z,1761542180.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928009,0.371017,0.033846],[-0.372257,0.927077,0.044196],[-0.014981,-0.053614,0.998449]] 2025-10-27T05:16:20.398Z,1761542180.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:20.581Z,1761542180.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511657 2025-10-27T05:16:20.777Z,1761542180.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927377,0.372618,0.033578],[-0.373840,0.926444,0.044103],[-0.014674,-0.053452,0.998463]] 2025-10-27T05:16:20.814Z,1761542180.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:20.832Z,1761542180.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763183 2025-10-27T05:16:21.084Z,1761542181.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014937 2025-10-27T05:16:21.191Z,1761542181.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926819,0.374018,0.033407],[-0.375228,0.925889,0.043964],[-0.014488,-0.053282,0.998474]] 2025-10-27T05:16:21.216Z,1761542181.216 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 44, -17,A 2025-10-27T05:16:21.240Z,1761542181.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:21.336Z,1761542181.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267272 2025-10-27T05:16:21.588Z,1761542181.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518983 2025-10-27T05:16:21.596Z,1761542181.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926195,0.375579,0.033208],[-0.376775,0.925265,0.043876],[-0.014247,-0.053149,0.998485]] 2025-10-27T05:16:21.616Z,1761542181.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:21.841Z,1761542181.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771860 2025-10-27T05:16:21.992Z,1761542181.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:16:22.017Z,1761542182.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925486,0.377328,0.033162],[-0.378521,0.924546,0.044004],[-0.014056,-0.053277,0.998481]] 2025-10-27T05:16:22.070Z,1761542182.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:22.092Z,1761542182.092 [DAT](INFO): DAT read: Rx Time:05:16:20.5641 2025-10-27T05:16:22.093Z,1761542182.093 [DAT](INFO): Rx dataTimestamp_ set to:1761542182.092396 2025-10-27T05:16:22.093Z,1761542182.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024233 2025-10-27T05:16:22.344Z,1761542182.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274849 2025-10-27T05:16:22.442Z,1761542182.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924716,0.379230,0.032942],[-0.380413,0.923758,0.044243],[-0.013652,-0.053444,0.998477]] 2025-10-27T05:16:22.461Z,1761542182.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.87 m. 2025-10-27T05:16:22.602Z,1761542182.602 [DAT](INFO): DAT read: 05:16:20.5641 LVL= 27696, 17617, 20530, 32451, AGC= 53, IDX= 437, 0.17,-0.542, 1.497, 0.839, 0.943, PHS=-1.383, 0.600,-0.148, RAW= 291.9, 10.7, CAL= 289.3, 14.7, ROT= 220.7, -14.7 2025-10-27T05:16:22.604Z,1761542182.604 [DAT](INFO): got valid direction response: 05:16:20.5641 LVL= 27696, 17617, 20530, 32451, AGC= 53, IDX= 437, 0.17,-0.542, 1.497, 0.839, 0.943, PHS=-1.383, 0.600,-0.148, RAW= 291.9, 10.7, CAL= 289.3, 14.7, ROT= 220.7, -14.7 2025-10-27T05:16:22.604Z,1761542182.604 [DAT](INFO): DAT read: Bearing 306.2, -39.2 (Local) 2025-10-27T05:16:22.605Z,1761542182.605 [DAT](INFO): Local bearing/azimuth received: Bearing 306.2, -39.2 (Local) 2025-10-27T05:16:22.607Z,1761542182.607 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (Round-trip 33.6 ms) speed 0.0 m/s 2025-10-27T05:16:22.608Z,1761542182.608 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:16:22.610Z,1761542182.610 [DAT](INFO): direction in FSK: [-0.733319,-0.630754,0.253758] 2025-10-27T05:16:22.610Z,1761542182.610 [DAT](INFO): publishing direction and range info 2025-10-27T05:16:22.810Z,1761542182.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924224,0.380451,0.032678],[-0.381618,0.923263,0.044202],[-0.013353,-0.053323,0.998488]] 2025-10-27T05:16:22.856Z,1761542182.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 60.256728 s, deltaX: 0.200001 m, approachRate: 0.003319 m/s, rangeRepo size: 4 2025-10-27T05:16:22.858Z,1761542182.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.069065 m, bearing: 197.760067 deg, lat: 36.779341 deg, lon: -121.859665 deg, deltaT: 60.256728 s, deltaX: 0.196922 m, approachRate: 0.003268 m/s, posRepo size: 4 2025-10-27T05:16:22.858Z,1761542182.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:22.997Z,1761542182.997 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:16:23.210Z,1761542183.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923604,0.381966,0.032517],[-0.383125,0.922634,0.044296],[-0.013082,-0.053370,0.998489]] 2025-10-27T05:16:23.285Z,1761542183.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:23.653Z,1761542183.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923104,0.383189,0.032320],[-0.384336,0.922129,0.044327],[-0.012818,-0.053340,0.998494]] 2025-10-27T05:16:23.672Z,1761542183.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:24.065Z,1761542184.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922576,0.384481,0.032051],[-0.385614,0.921587,0.044485],[-0.012434,-0.053400,0.998496]] 2025-10-27T05:16:24.118Z,1761542184.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:24.496Z,1761542184.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922168,0.385494,0.031642],[-0.386605,0.921170,0.044536],[-0.011979,-0.053303,0.998507]] 2025-10-27T05:16:24.515Z,1761542184.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:24.901Z,1761542184.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921884,0.386199,0.031319],[-0.387292,0.920881,0.044533],[-0.011642,-0.053184,0.998517]] 2025-10-27T05:16:25.069Z,1761542185.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:25.395Z,1761542185.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:25.793Z,1761542185.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921116,0.388113,0.030222],[-0.389151,0.920070,0.045076],[-0.010312,-0.053281,0.998526]] 2025-10-27T05:16:25.850Z,1761542185.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:26.213Z,1761542186.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920868,0.388728,0.029873],[-0.389752,0.919794,0.045515],[-0.009784,-0.053556,0.998517]] 2025-10-27T05:16:26.286Z,1761542186.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:26.617Z,1761542186.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920799,0.388930,0.029364],[-0.389927,0.919711,0.045699],[-0.009233,-0.053529,0.998524]] 2025-10-27T05:16:26.636Z,1761542186.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:27.068Z,1761542187.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920699,0.389201,0.028922],[-0.390177,0.919591,0.045974],[-0.008704,-0.053613,0.998524]] 2025-10-27T05:16:27.114Z,1761542187.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:27.499Z,1761542187.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920680,0.389277,0.028493],[-0.390232,0.919554,0.046253],[-0.008196,-0.053703,0.998523]] 2025-10-27T05:16:27.539Z,1761542187.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:27.947Z,1761542187.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:28.307Z,1761542188.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920795,0.389082,0.027408],[-0.389983,0.919632,0.046807],[-0.006993,-0.053788,0.998528]] 2025-10-27T05:16:28.345Z,1761542188.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:28.719Z,1761542188.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920776,0.389163,0.026893],[-0.390040,0.919586,0.047228],[-0.006351,-0.053976,0.998522]] 2025-10-27T05:16:28.836Z,1761542188.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:29.113Z,1761542189.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920865,0.388990,0.026355],[-0.389839,0.919655,0.047544],[-0.005744,-0.054056,0.998521]] 2025-10-27T05:16:29.189Z,1761542189.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:29.568Z,1761542189.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:29.923Z,1761542189.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920953,0.388868,0.025029],[-0.389650,0.919699,0.048243],[-0.004259,-0.054182,0.998522]] 2025-10-27T05:16:29.987Z,1761542189.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:30.325Z,1761542190.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920941,0.388950,0.024189],[-0.389688,0.919662,0.048629],[-0.003332,-0.054211,0.998524]] 2025-10-27T05:16:30.378Z,1761542190.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:30.743Z,1761542190.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920916,0.389057,0.023400],[-0.389753,0.919614,0.049015],[-0.002449,-0.054259,0.998524]] 2025-10-27T05:16:30.764Z,1761542190.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:31.134Z,1761542191.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920840,0.389293,0.022461],[-0.389938,0.919519,0.049324],[-0.001452,-0.054177,0.998530]] 2025-10-27T05:16:31.179Z,1761542191.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:31.537Z,1761542191.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920548,0.390034,0.021556],[-0.390629,0.919199,0.049820],[-0.000383,-0.054282,0.998526]] 2025-10-27T05:16:31.568Z,1761542191.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:31.942Z,1761542191.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920265,0.390759,0.020479],[-0.391294,0.918895,0.050198],[0.000798,-0.054209,0.998529]] 2025-10-27T05:16:31.961Z,1761542191.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:32.347Z,1761542192.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919791,0.391923,0.019517],[-0.392404,0.918389,0.050805],[0.001987,-0.054388,0.998518]] 2025-10-27T05:16:32.384Z,1761542192.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:32.791Z,1761542192.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:33.185Z,1761542193.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918816,0.394308,0.017250],[-0.394658,0.917363,0.051858],[0.004623,-0.054456,0.998505]] 2025-10-27T05:16:33.249Z,1761542193.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:33.581Z,1761542193.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918333,0.395481,0.016095],[-0.395764,0.916864,0.052269],[0.005915,-0.054370,0.998503]] 2025-10-27T05:16:33.608Z,1761542193.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:33.986Z,1761542193.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917766,0.396838,0.015027],[-0.397058,0.916274,0.052799],[0.007184,-0.054424,0.998492]] 2025-10-27T05:16:34.027Z,1761542194.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:34.389Z,1761542194.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917095,0.398429,0.013829],[-0.398576,0.915582,0.053357],[0.008597,-0.054446,0.998480]] 2025-10-27T05:16:34.451Z,1761542194.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:34.795Z,1761542194.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916543,0.399730,0.012818],[-0.399816,0.915017,0.053773],[0.009766,-0.054410,0.998471]] 2025-10-27T05:16:34.814Z,1761542194.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:35.202Z,1761542195.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916024,0.400954,0.011656],[-0.400971,0.914490,0.054128],[0.011043,-0.054257,0.998466]] 2025-10-27T05:16:35.274Z,1761542195.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:35.601Z,1761542195.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915531,0.402103,0.010778],[-0.402067,0.913989,0.054470],[0.012052,-0.054202,0.998457]] 2025-10-27T05:16:35.636Z,1761542195.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:36.010Z,1761542196.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915181,0.402924,0.009791],[-0.402830,0.913639,0.054703],[0.013095,-0.054007,0.998455]] 2025-10-27T05:16:36.029Z,1761542196.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:36.410Z,1761542196.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914852,0.403685,0.009195],[-0.403553,0.913300,0.055033],[0.013818,-0.054058,0.998442]] 2025-10-27T05:16:36.464Z,1761542196.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:36.815Z,1761542196.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914672,0.404106,0.008619],[-0.403939,0.913116,0.055248],[0.014456,-0.054016,0.998435]] 2025-10-27T05:16:36.834Z,1761542196.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:37.235Z,1761542197.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914561,0.404365,0.008154],[-0.404170,0.913003,0.055431],[0.014970,-0.053991,0.998429]] 2025-10-27T05:16:37.276Z,1761542197.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:37.622Z,1761542197.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914556,0.404380,0.007946],[-0.404172,0.912993,0.055570],[0.015217,-0.054033,0.998423]] 2025-10-27T05:16:37.640Z,1761542197.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:38.026Z,1761542198.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914663,0.404141,0.007905],[-0.403930,0.913096,0.055645],[0.015271,-0.054090,0.998419]] 2025-10-27T05:16:38.110Z,1761542198.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:38.432Z,1761542198.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914920,0.403556,0.007954],[-0.403350,0.913358,0.055557],[0.015155,-0.054038,0.998424]] 2025-10-27T05:16:38.493Z,1761542198.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:38.834Z,1761542198.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915410,0.402441,0.008069],[-0.402249,0.913866,0.055178],[0.014832,-0.053756,0.998444]] 2025-10-27T05:16:38.868Z,1761542198.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:39.251Z,1761542199.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915681,0.401819,0.008329],[-0.401642,0.914135,0.055141],[0.014543,-0.053837,0.998444]] 2025-10-27T05:16:39.299Z,1761542199.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:39.642Z,1761542199.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916005,0.401071,0.008808],[-0.400922,0.914456,0.055057],[0.014027,-0.053964,0.998444]] 2025-10-27T05:16:39.661Z,1761542199.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:40.047Z,1761542200.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916465,0.400003,0.009463],[-0.399896,0.914923,0.054775],[0.013252,-0.053984,0.998454]] 2025-10-27T05:16:40.066Z,1761542200.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:40.449Z,1761542200.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916926,0.398926,0.010281],[-0.398868,0.915389,0.054472],[0.012320,-0.054048,0.998462]] 2025-10-27T05:16:40.496Z,1761542200.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:40.853Z,1761542200.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917259,0.398137,0.011113],[-0.398129,0.915724,0.054252],[0.011423,-0.054187,0.998465]] 2025-10-27T05:16:40.896Z,1761542200.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:41.330Z,1761542201.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:41.662Z,1761542201.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917897,0.396610,0.012875],[-0.396708,0.916387,0.053464],[0.009406,-0.054182,0.998487]] 2025-10-27T05:16:41.711Z,1761542201.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:42.065Z,1761542202.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918150,0.395990,0.013846],[-0.396145,0.916660,0.052953],[0.008277,-0.054104,0.998501]] 2025-10-27T05:16:42.085Z,1761542202.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:42.471Z,1761542202.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918363,0.395458,0.014910],[-0.395676,0.916895,0.052383],[0.007044,-0.054006,0.998516]] 2025-10-27T05:16:42.508Z,1761542202.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:42.874Z,1761542202.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918343,0.395465,0.015926],[-0.395741,0.916888,0.052020],[0.005969,-0.054075,0.998519]] 2025-10-27T05:16:42.906Z,1761542202.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:43.306Z,1761542203.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918321,0.395476,0.016908],[-0.395808,0.916889,0.051491],[0.004860,-0.053977,0.998530]] 2025-10-27T05:16:43.421Z,1761542203.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:43.681Z,1761542203.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918123,0.395892,0.017862],[-0.396276,0.916705,0.051156],[0.003879,-0.054046,0.998531]] 2025-10-27T05:16:43.738Z,1761542203.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:44.150Z,1761542204.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:44.490Z,1761542204.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917512,0.397217,0.019749],[-0.397703,0.916124,0.050494],[0.001964,-0.054183,0.998529]] 2025-10-27T05:16:44.565Z,1761542204.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:44.899Z,1761542204.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917244,0.397792,0.020592],[-0.398324,0.915882,0.049989],[0.001025,-0.054054,0.998537]] 2025-10-27T05:16:44.933Z,1761542204.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:45.333Z,1761542205.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916962,0.398398,0.021422],[-0.398974,0.915628,0.049447],[0.000085,-0.053888,0.998547]] 2025-10-27T05:16:45.370Z,1761542205.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:45.710Z,1761542205.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916531,0.399351,0.022101],[-0.399962,0.915220,0.049021],[-0.000651,-0.053768,0.998553]] 2025-10-27T05:16:45.740Z,1761542205.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:46.139Z,1761542206.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916116,0.400259,0.022904],[-0.400911,0.914822,0.048693],[-0.001463,-0.053791,0.998551]] 2025-10-27T05:16:46.157Z,1761542206.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:46.542Z,1761542206.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915691,0.401194,0.023505],[-0.401877,0.914414,0.048397],[-0.002076,-0.053763,0.998552]] 2025-10-27T05:16:46.610Z,1761542206.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:46.992Z,1761542206.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915281,0.402090,0.024190],[-0.402808,0.914017,0.048159],[-0.002746,-0.053823,0.998547]] 2025-10-27T05:16:47.026Z,1761542207.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:47.406Z,1761542207.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914734,0.403260,0.025353],[-0.404036,0.913506,0.047556],[-0.003983,-0.053744,0.998547]] 2025-10-27T05:16:47.462Z,1761542207.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:47.868Z,1761542207.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914618,0.403490,0.025872],[-0.404293,0.913409,0.047240],[-0.004571,-0.053667,0.998548]] 2025-10-27T05:16:47.908Z,1761542207.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:48.269Z,1761542208.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914504,0.403723,0.026282],[-0.404546,0.913312,0.046949],[-0.005049,-0.053567,0.998551]] 2025-10-27T05:16:48.296Z,1761542208.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:48.679Z,1761542208.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914441,0.403839,0.026688],[-0.404682,0.913262,0.046733],[-0.005501,-0.053535,0.998551]] 2025-10-27T05:16:48.751Z,1761542208.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:49.079Z,1761542209.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914536,0.403604,0.026978],[-0.404462,0.913372,0.046493],[-0.005876,-0.053431,0.998554]] 2025-10-27T05:16:49.106Z,1761542209.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:49.481Z,1761542209.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914690,0.403233,0.027288],[-0.404107,0.913539,0.046301],[-0.006259,-0.053378,0.998555]] 2025-10-27T05:16:49.527Z,1761542209.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:49.885Z,1761542209.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914873,0.402806,0.027468],[-0.403690,0.913725,0.046275],[-0.006459,-0.053424,0.998551]] 2025-10-27T05:16:49.910Z,1761542209.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:50.291Z,1761542210.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915132,0.402188,0.027893],[-0.403095,0.913986,0.046306],[-0.006870,-0.053620,0.998538]] 2025-10-27T05:16:50.311Z,1761542210.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:50.693Z,1761542210.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915558,0.401220,0.027870],[-0.402127,0.914420,0.046149],[-0.006969,-0.053460,0.998546]] 2025-10-27T05:16:50.773Z,1761542210.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:51.098Z,1761542211.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915918,0.400405,0.027751],[-0.401306,0.914780,0.046160],[-0.006904,-0.053415,0.998549]] 2025-10-27T05:16:51.136Z,1761542211.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:51.501Z,1761542211.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916181,0.399818,0.027536],[-0.400710,0.915033,0.046325],[-0.006675,-0.053476,0.998547]] 2025-10-27T05:16:51.604Z,1761542211.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:51.905Z,1761542211.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916407,0.399319,0.027257],[-0.400198,0.915245,0.046571],[-0.006350,-0.053586,0.998543]] 2025-10-27T05:16:51.954Z,1761542211.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:52.309Z,1761542212.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916710,0.398644,0.026920],[-0.399507,0.915534,0.046803],[-0.005988,-0.053660,0.998541]] 2025-10-27T05:16:52.365Z,1761542212.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:52.735Z,1761542212.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916957,0.398115,0.026354],[-0.398950,0.915758,0.047181],[-0.005350,-0.053777,0.998539]] 2025-10-27T05:16:52.792Z,1761542212.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:53.129Z,1761542213.129 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:16:53.152Z,1761542213.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:53.521Z,1761542213.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917298,0.397412,0.025073],[-0.398183,0.916045,0.048089],[-0.003856,-0.054095,0.998528]] 2025-10-27T05:16:53.567Z,1761542213.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:53.929Z,1761542213.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917434,0.397159,0.024063],[-0.397877,0.916155,0.048513],[-0.002778,-0.054082,0.998533]] 2025-10-27T05:16:53.949Z,1761542213.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:54.131Z,1761542214.131 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:16:54.331Z,1761542214.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917501,0.397074,0.022891],[-0.397731,0.916196,0.048935],[-0.001541,-0.054003,0.998540]] 2025-10-27T05:16:54.351Z,1761542214.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:54.745Z,1761542214.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917520,0.397095,0.021726],[-0.397689,0.916191,0.049375],[-0.000298,-0.053942,0.998544]] 2025-10-27T05:16:54.783Z,1761542214.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:55.138Z,1761542215.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917509,0.397187,0.020478],[-0.397713,0.916152,0.049895],[0.001057,-0.053924,0.998545]] 2025-10-27T05:16:55.178Z,1761542215.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:55.554Z,1761542215.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917526,0.397210,0.019250],[-0.397669,0.916143,0.050417],[0.002390,-0.053914,0.998543]] 2025-10-27T05:16:55.608Z,1761542215.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:55.958Z,1761542215.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917434,0.397483,0.017958],[-0.397870,0.916021,0.051046],[0.003840,-0.053976,0.998535]] 2025-10-27T05:16:56.017Z,1761542216.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:56.350Z,1761542216.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917292,0.397868,0.016646],[-0.398180,0.915847,0.051732],[0.005337,-0.054081,0.998522]] 2025-10-27T05:16:56.380Z,1761542216.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:56.754Z,1761542216.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917224,0.398078,0.015297],[-0.398313,0.915757,0.052303],[0.006812,-0.054067,0.998514]] 2025-10-27T05:16:56.810Z,1761542216.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:57.161Z,1761542217.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917113,0.398384,0.013924],[-0.398540,0.915625,0.052877],[0.008316,-0.054043,0.998504]] 2025-10-27T05:16:57.180Z,1761542217.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:57.562Z,1761542217.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917099,0.398463,0.012533],[-0.398540,0.915597,0.053363],[0.009788,-0.053934,0.998496]] 2025-10-27T05:16:57.684Z,1761542217.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:57.966Z,1761542217.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916983,0.398768,0.011208],[-0.398767,0.915465,0.053943],[0.011251,-0.053934,0.998481]] 2025-10-27T05:16:58.017Z,1761542218.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:58.370Z,1761542218.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916923,0.398944,0.009762],[-0.398858,0.915393,0.054481],[0.012799,-0.053849,0.998467]] 2025-10-27T05:16:58.421Z,1761542218.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:58.800Z,1761542218.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916857,0.399127,0.008474],[-0.398963,0.915310,0.055095],[0.014234,-0.053894,0.998445]] 2025-10-27T05:16:58.861Z,1761542218.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:59.222Z,1761542219.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916937,0.398966,0.007264],[-0.398730,0.915383,0.055567],[0.015520,-0.053847,0.998429]] 2025-10-27T05:16:59.257Z,1761542219.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:16:59.607Z,1761542219.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916873,0.399131,0.006239],[-0.398828,0.915296,0.056303],[0.016761,-0.054111,0.998394]] 2025-10-27T05:16:59.645Z,1761542219.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:00.010Z,1761542220.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917055,0.398729,0.005108],[-0.398358,0.915475,0.056711],[0.017936,-0.054042,0.998378]] 2025-10-27T05:17:00.040Z,1761542220.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:00.415Z,1761542220.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917214,0.398375,0.004053],[-0.397941,0.915634,0.057065],[0.019022,-0.053954,0.998362]] 2025-10-27T05:17:00.459Z,1761542220.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:00.825Z,1761542220.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917360,0.398046,0.003161],[-0.397557,0.915777,0.057454],[0.019975,-0.053963,0.998343]] 2025-10-27T05:17:00.876Z,1761542220.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:01.229Z,1761542221.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917619,0.397455,0.002225],[-0.396914,0.916045,0.057628],[0.020866,-0.053764,0.998336]] 2025-10-27T05:17:01.248Z,1761542221.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:01.626Z,1761542221.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917895,0.396820,0.001638],[-0.396243,0.916322,0.057848],[0.021455,-0.053748,0.998324]] 2025-10-27T05:17:01.739Z,1761542221.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:02.030Z,1761542222.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918187,0.396146,0.001125],[-0.395538,0.916612,0.058073],[0.021974,-0.053767,0.998312]] 2025-10-27T05:17:02.049Z,1761542222.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:02.435Z,1761542222.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918481,0.395465,0.000766],[-0.394834,0.916903,0.058263],[0.022339,-0.053816,0.998301]] 2025-10-27T05:17:02.456Z,1761542222.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:02.858Z,1761542222.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918865,0.394572,0.000554],[-0.393930,0.917287,0.058332],[0.022508,-0.053817,0.998297]] 2025-10-27T05:17:02.916Z,1761542222.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:03.242Z,1761542223.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919251,0.393671,0.000489],[-0.393027,0.917673,0.058365],[0.022528,-0.053844,0.998295]] 2025-10-27T05:17:03.291Z,1761542223.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:03.646Z,1761542223.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919789,0.392412,0.000451],[-0.391772,0.918222,0.058159],[0.022408,-0.053671,0.998307]] 2025-10-27T05:17:03.745Z,1761542223.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:04.050Z,1761542224.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920356,0.391081,0.000810],[-0.390466,0.918789,0.057984],[0.021932,-0.053682,0.998317]] 2025-10-27T05:17:04.106Z,1761542224.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:04.456Z,1761542224.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921115,0.389288,0.001238],[-0.388708,0.919559,0.057601],[0.021285,-0.053538,0.998339]] 2025-10-27T05:17:04.476Z,1761542224.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:04.858Z,1761542224.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921809,0.387639,0.001816],[-0.387100,0.920258,0.057256],[0.020523,-0.053482,0.998358]] 2025-10-27T05:17:04.957Z,1761542224.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:05.320Z,1761542225.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:05.666Z,1761542225.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923220,0.384257,0.003397],[-0.383821,0.921672,0.056597],[0.018617,-0.053556,0.998391]] 2025-10-27T05:17:05.747Z,1761542225.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:06.071Z,1761542226.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923957,0.382470,0.004467],[-0.382101,0.922410,0.056195],[0.017373,-0.053629,0.998410]] 2025-10-27T05:17:06.100Z,1761542226.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:06.474Z,1761542226.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924785,0.380449,0.005607],[-0.380154,0.923246,0.055670],[0.016003,-0.053614,0.998433]] 2025-10-27T05:17:06.505Z,1761542226.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:06.878Z,1761542226.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925592,0.378462,0.006753],[-0.378239,0.924063,0.055171],[0.014640,-0.053620,0.998454]] 2025-10-27T05:17:06.924Z,1761542226.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:07.282Z,1761542227.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926423,0.376400,0.007950],[-0.376253,0.924909,0.054559],[0.013183,-0.053536,0.998479]] 2025-10-27T05:17:07.301Z,1761542227.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:07.695Z,1761542227.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927221,0.374401,0.009263],[-0.374335,0.925721,0.053982],[0.011636,-0.053521,0.998499]] 2025-10-27T05:17:07.760Z,1761542227.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:08.122Z,1761542228.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:08.494Z,1761542228.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928648,0.370767,0.012043],[-0.370866,0.927177,0.052923],[0.008456,-0.053613,0.998526]] 2025-10-27T05:17:08.522Z,1761542228.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:08.899Z,1761542228.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929335,0.368994,0.013422],[-0.369175,0.927886,0.052329],[0.006855,-0.053586,0.998540]] 2025-10-27T05:17:08.953Z,1761542228.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:09.304Z,1761542229.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929965,0.367355,0.014708],[-0.367610,0.928537,0.051780],[0.005365,-0.053561,0.998550]] 2025-10-27T05:17:09.322Z,1761542229.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:09.729Z,1761542229.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930469,0.366021,0.016012],[-0.366350,0.929061,0.051308],[0.003904,-0.053606,0.998554]] 2025-10-27T05:17:09.793Z,1761542229.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:10.110Z,1761542230.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930861,0.364970,0.017154],[-0.365364,0.929473,0.050883],[0.002627,-0.053632,0.998557]] 2025-10-27T05:17:10.129Z,1761542230.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:10.514Z,1761542230.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931251,0.363917,0.018333],[-0.364376,0.929886,0.050422],[0.001302,-0.053636,0.998560]] 2025-10-27T05:17:10.534Z,1761542230.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:10.918Z,1761542230.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931586,0.363008,0.019306],[-0.363521,0.930246,0.049952],[0.000174,-0.053553,0.998565]] 2025-10-27T05:17:10.967Z,1761542230.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:11.322Z,1761542231.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931727,0.362602,0.020133],[-0.363160,0.930402,0.049675],[-0.000719,-0.053595,0.998563]] 2025-10-27T05:17:11.357Z,1761542231.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:11.736Z,1761542231.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931747,0.362513,0.020778],[-0.363105,0.930432,0.049506],[-0.001386,-0.053672,0.998558]] 2025-10-27T05:17:11.780Z,1761542231.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:12.132Z,1761542232.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931801,0.362339,0.021399],[-0.362965,0.930496,0.049337],[-0.002035,-0.053739,0.998553]] 2025-10-27T05:17:12.150Z,1761542232.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:12.536Z,1761542232.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931825,0.362250,0.021856],[-0.362900,0.930527,0.049224],[-0.002507,-0.053799,0.998549]] 2025-10-27T05:17:12.562Z,1761542232.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:12.938Z,1761542232.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931862,0.362140,0.022069],[-0.362801,0.930578,0.048980],[-0.002799,-0.053649,0.998556]] 2025-10-27T05:17:12.982Z,1761542232.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:13.342Z,1761542233.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931892,0.362059,0.022170],[-0.362725,0.930616,0.048839],[-0.002949,-0.053554,0.998561]] 2025-10-27T05:17:13.370Z,1761542233.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:13.760Z,1761542233.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931747,0.362428,0.022192],[-0.363095,0.930467,0.048915],[-0.002920,-0.053635,0.998556]] 2025-10-27T05:17:13.818Z,1761542233.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:14.150Z,1761542234.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931765,0.362393,0.022042],[-0.363051,0.930486,0.048881],[-0.002796,-0.053548,0.998561]] 2025-10-27T05:17:14.190Z,1761542234.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:14.555Z,1761542234.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931746,0.362453,0.021845],[-0.363101,0.930465,0.048910],[-0.002599,-0.053504,0.998564]] 2025-10-27T05:17:14.574Z,1761542234.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:14.965Z,1761542234.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931783,0.362376,0.021539],[-0.363008,0.930497,0.048988],[-0.002290,-0.053465,0.998567]] 2025-10-27T05:17:15.061Z,1761542235.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:15.364Z,1761542235.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931848,0.362232,0.021155],[-0.362844,0.930552,0.049175],[-0.001873,-0.053500,0.998566]] 2025-10-27T05:17:15.382Z,1761542235.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:15.788Z,1761542235.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931848,0.362262,0.020651],[-0.362848,0.930533,0.049491],[-0.001287,-0.053611,0.998561]] 2025-10-27T05:17:15.901Z,1761542235.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:16.170Z,1761542236.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931973,0.361970,0.020108],[-0.362527,0.930644,0.049760],[-0.000702,-0.053665,0.998559]] 2025-10-27T05:17:16.247Z,1761542236.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:16.625Z,1761542236.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:16.984Z,1761542236.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932494,0.360689,0.018897],[-0.361184,0.931152,0.050018],[0.000445,-0.053467,0.998569]] 2025-10-27T05:17:17.061Z,1761542237.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:17.382Z,1761542237.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932866,0.359754,0.018373],[-0.360221,0.931518,0.050148],[0.000926,-0.053400,0.998573]] 2025-10-27T05:17:17.409Z,1761542237.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:17.814Z,1761542237.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933114,0.359147,0.017659],[-0.359577,0.931743,0.050591],[0.001716,-0.053557,0.998563]] 2025-10-27T05:17:17.873Z,1761542237.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:18.201Z,1761542238.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933577,0.357976,0.016965],[-0.358370,0.932196,0.050809],[0.002374,-0.053514,0.998564]] 2025-10-27T05:17:18.285Z,1761542238.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:18.598Z,1761542238.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934209,0.356352,0.016328],[-0.356714,0.932830,0.050826],[0.002881,-0.053307,0.998574]] 2025-10-27T05:17:18.624Z,1761542238.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:18.999Z,1761542238.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934755,0.354948,0.015669],[-0.355277,0.933367,0.051039],[0.003492,-0.053276,0.998574]] 2025-10-27T05:17:19.071Z,1761542239.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:17:19.073Z,1761542239.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:19.084Z,1761542239.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:17:19.084Z,1761542239.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:17:19.338Z,1761542239.338 [DAT](INFO): DAT read: user:356> 2025-10-27T05:17:19.339Z,1761542239.339 [DAT](INFO): DAT read: Tx time:05:17:18.3747 2025-10-27T05:17:19.339Z,1761542239.339 [DAT](INFO): Ping request sent. 2025-10-27T05:17:19.339Z,1761542239.339 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:17:19.340Z,1761542239.340 [DAT](INFO): publishing transmit ping time 2025-10-27T05:17:19.340Z,1761542239.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T05:17:19.457Z,1761542239.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:19.458Z,1761542239.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 25.20 m and bearing: 220.793062 deg. Not drifting fast enough. 2025-10-27T05:17:19.592Z,1761542239.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252549 2025-10-27T05:17:19.844Z,1761542239.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504903 2025-10-27T05:17:19.901Z,1761542239.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:19.903Z,1761542239.903 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T05:17:19.904Z,1761542239.904 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:17:19.904Z,1761542239.904 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T05:17:19.904Z,1761542239.904 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T05:17:20.096Z,1761542240.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756531 2025-10-27T05:17:20.250Z,1761542240.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:20.348Z,1761542240.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008506 2025-10-27T05:17:20.600Z,1761542240.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260642 2025-10-27T05:17:20.618Z,1761542240.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937680,0.347231,0.013674],[-0.347462,0.936266,0.051722],[0.005158,-0.053250,0.998568]] 2025-10-27T05:17:20.658Z,1761542240.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:20.856Z,1761542240.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516102 2025-10-27T05:17:21.104Z,1761542241.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764590 2025-10-27T05:17:21.111Z,1761542241.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:21.357Z,1761542241.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017268 2025-10-27T05:17:21.459Z,1761542241.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:21.608Z,1761542241.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268507 2025-10-27T05:17:21.863Z,1761542241.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523067 2025-10-27T05:17:21.932Z,1761542241.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:22.113Z,1761542242.113 [DAT](INFO): DAT read: Rx Time:05:17:20.8151 2025-10-27T05:17:22.113Z,1761542242.113 [DAT](INFO): Rx dataTimestamp_ set to:1761542242.112811 2025-10-27T05:17:22.114Z,1761542242.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774613 2025-10-27T05:17:22.303Z,1761542242.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942500,0.333997,0.011801],[-0.334145,0.941066,0.052367],[0.006385,-0.053299,0.998558]] 2025-10-27T05:17:22.321Z,1761542242.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:22.364Z,1761542242.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024608 2025-10-27T05:17:22.616Z,1761542242.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276465 2025-10-27T05:17:22.713Z,1761542242.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943499,0.331182,0.011339],[-0.331308,0.942060,0.052513],[0.006710,-0.053302,0.998556]] 2025-10-27T05:17:22.761Z,1761542242.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:17:22.904Z,1761542242.904 [DAT](INFO): DAT read: 05:17:20.8151 LVL= 32352, 17345, 23154, 32755, AGC= 52, IDX= 465,-0.31, 1.662,-2.744,-2.865,-3.014, PHS=-1.506, 0.315, 0.105, RAW= 276.0, 12.5, CAL= 275.2, 18.2, ROT= 234.8, -18.2 2025-10-27T05:17:22.905Z,1761542242.905 [DAT](INFO): got valid direction response: 05:17:20.8151 LVL= 32352, 17345, 23154, 32755, AGC= 52, IDX= 465,-0.31, 1.662,-2.744,-2.865,-3.014, PHS=-1.506, 0.315, 0.105, RAW= 276.0, 12.5, CAL= 275.2, 18.2, ROT= 234.8, -18.2 2025-10-27T05:17:22.906Z,1761542242.906 [DAT](INFO): DAT read: Bearing 300.0, -52.9 (Local) 2025-10-27T05:17:22.907Z,1761542242.907 [DAT](INFO): Local bearing/azimuth received: Bearing 300.0, -52.9 (Local) 2025-10-27T05:17:22.908Z,1761542242.908 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (Round-trip 36.4 ms) speed 0.0 m/s 2025-10-27T05:17:22.909Z,1761542242.909 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:17:22.910Z,1761542242.910 [DAT](INFO): direction in FSK: [-0.547595,-0.776265,0.312335] 2025-10-27T05:17:22.910Z,1761542242.910 [DAT](INFO): publishing direction and range info 2025-10-27T05:17:23.109Z,1761542243.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944525,0.328255,0.010969],[-0.328365,0.943083,0.052644],[0.006936,-0.053325,0.998553]] 2025-10-27T05:17:23.160Z,1761542243.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 60.273279 s, deltaX: 2.099998 m, approachRate: 0.034841 m/s, rangeRepo size: 4 2025-10-27T05:17:23.162Z,1761542243.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.155386 m, bearing: 214.882075 deg, lat: 36.779342 deg, lon: -121.859622 deg, deltaT: 60.273279 s, deltaX: 2.086321 m, approachRate: 0.034614 m/s, posRepo size: 4 2025-10-27T05:17:23.179Z,1761542243.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:23.522Z,1761542243.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945522,0.325389,0.010522],[-0.325478,0.944076,0.052767],[0.007236,-0.053317,0.998551]] 2025-10-27T05:17:23.565Z,1761542243.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:23.918Z,1761542243.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946375,0.322912,0.010061],[-0.322978,0.944917,0.053079],[0.007633,-0.053482,0.998540]] 2025-10-27T05:17:23.965Z,1761542243.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:24.255Z,1761542244.255 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:17:24.322Z,1761542244.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947270,0.320293,0.009587],[-0.320336,0.945799,0.053372],[0.008027,-0.053628,0.998529]] 2025-10-27T05:17:24.356Z,1761542244.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:24.734Z,1761542244.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948593,0.316249,0.012561],[-0.316426,0.946776,0.059078],[0.006791,-0.060015,0.998174]] 2025-10-27T05:17:24.773Z,1761542244.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:25.130Z,1761542245.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949481,0.313301,0.018128],[-0.313770,0.946640,0.073629],[0.005908,-0.075597,0.997121]] 2025-10-27T05:17:25.201Z,1761542245.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:25.260Z,1761542245.260 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:17:25.542Z,1761542245.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949905,0.311686,0.023079],[-0.312486,0.945775,0.088669],[0.005809,-0.091439,0.995794]] 2025-10-27T05:17:25.562Z,1761542245.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:25.942Z,1761542245.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950083,0.311014,0.024764],[-0.311935,0.945284,0.095576],[0.006316,-0.098530,0.995114]] 2025-10-27T05:17:25.987Z,1761542245.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:26.355Z,1761542246.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950372,0.310288,0.022702],[-0.311035,0.945905,0.092316],[0.007171,-0.094795,0.995471]] 2025-10-27T05:17:26.383Z,1761542246.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:26.757Z,1761542246.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950806,0.309224,0.018651],[-0.309677,0.947152,0.083683],[0.008212,-0.085342,0.996318]] 2025-10-27T05:17:26.777Z,1761542246.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:27.227Z,1761542247.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951327,0.307808,0.015223],[-0.308043,0.948240,0.077135],[0.009308,-0.078070,0.996904]] 2025-10-27T05:17:27.280Z,1761542247.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:27.729Z,1761542247.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952002,0.305785,0.013714],[-0.305917,0.948988,0.076389],[0.010344,-0.076918,0.996984]] 2025-10-27T05:17:27.750Z,1761542247.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:28.161Z,1761542248.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952598,0.303915,0.013885],[-0.304023,0.949261,0.080456],[0.011272,-0.080863,0.996661]] 2025-10-27T05:17:28.222Z,1761542248.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:28.571Z,1761542248.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953311,0.301666,0.014019],[-0.301742,0.949609,0.084819],[0.012274,-0.085089,0.996298]] 2025-10-27T05:17:28.590Z,1761542248.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:28.993Z,1761542248.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954184,0.298928,0.013261],[-0.298928,0.950346,0.086510],[0.013258,-0.086510,0.996163]] 2025-10-27T05:17:29.156Z,1761542249.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:29.478Z,1761542249.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956717,0.290874,0.009234],[-0.290635,0.953338,0.081722],[0.014968,-0.080869,0.996612]] 2025-10-27T05:17:29.505Z,1761542249.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:29.880Z,1761542249.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958357,0.285474,0.007452],[-0.285161,0.955254,0.078567],[0.015310,-0.077421,0.996881]] 2025-10-27T05:17:29.952Z,1761542249.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:30.302Z,1761542250.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960290,0.278939,0.005961],[-0.278574,0.957411,0.075894],[0.015463,-0.074540,0.997098]] 2025-10-27T05:17:30.371Z,1761542250.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:30.709Z,1761542250.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962495,0.271253,0.004980],[-0.270876,0.959810,0.073421],[0.015136,-0.072016,0.997289]] 2025-10-27T05:17:30.744Z,1761542250.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:31.106Z,1761542251.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964986,0.262272,0.004009],[-0.261897,0.962532,0.070307],[0.014581,-0.068895,0.997517]] 2025-10-27T05:17:31.126Z,1761542251.126 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 236, +41,A 2025-10-27T05:17:31.191Z,1761542251.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:31.510Z,1761542251.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967786,0.251753,0.003110],[-0.251396,0.965593,0.066555],[0.013752,-0.065193,0.997778]] 2025-10-27T05:17:31.530Z,1761542251.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:31.916Z,1761542251.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970721,0.240198,0.002516],[-0.239880,0.968778,0.062658],[0.012613,-0.061427,0.998032]] 2025-10-27T05:17:32.081Z,1761542252.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:32.400Z,1761542252.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973809,0.227356,0.002127],[-0.227099,0.972170,0.057542],[0.011015,-0.056518,0.998341]] 2025-10-27T05:17:32.425Z,1761542252.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:32.803Z,1761542252.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977003,0.213218,0.001596],[-0.213015,0.975688,0.051550],[0.009434,-0.050705,0.998669]] 2025-10-27T05:17:32.840Z,1761542252.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:33.207Z,1761542253.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980180,0.198103,0.001372],[-0.197953,0.979119,0.046275],[0.007824,-0.045629,0.998928]] 2025-10-27T05:17:33.280Z,1761542253.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:33.613Z,1761542253.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983267,0.182165,0.001653],[-0.182075,0.982407,0.041539],[0.005943,-0.041145,0.999136]] 2025-10-27T05:17:33.646Z,1761542253.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:34.051Z,1761542254.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986044,0.166479,0.001636],[-0.166423,0.985340,0.037534],[0.004636,-0.037283,0.999294]] 2025-10-27T05:17:34.088Z,1761542254.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:34.420Z,1761542254.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988747,0.149593,0.001400],[-0.149558,0.988205,0.032923],[0.003542,-0.032762,0.999457]] 2025-10-27T05:17:34.440Z,1761542254.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:34.821Z,1761542254.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991182,0.132502,0.001005],[-0.132474,0.990746,0.029537],[0.002918,-0.029410,0.999563]] 2025-10-27T05:17:34.845Z,1761542254.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:35.276Z,1761542255.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:35.633Z,1761542255.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995321,0.096623,-0.000012],[-0.096596,0.995044,0.023615],[0.002293,-0.023504,0.999721]] 2025-10-27T05:17:35.651Z,1761542255.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:36.087Z,1761542256.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996907,0.078592,-0.000399],[-0.078565,0.996676,0.021574],[0.002093,-0.021476,0.999767]] 2025-10-27T05:17:36.148Z,1761542256.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:36.467Z,1761542256.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998164,0.060566,-0.000753],[-0.060540,0.997973,0.019598],[0.001939,-0.019516,0.999808]] 2025-10-27T05:17:36.487Z,1761542256.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:36.870Z,1761542256.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999115,0.042059,-0.001036],[-0.042035,0.998971,0.017032],[0.001751,-0.016973,0.999854]] 2025-10-27T05:17:36.903Z,1761542256.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:37.273Z,1761542257.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999725,0.023398,-0.001238],[-0.023377,0.999625,0.014272],[0.001572,-0.014239,0.999897]] 2025-10-27T05:17:37.324Z,1761542257.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:37.692Z,1761542257.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999985,0.005384,-0.001163],[-0.005371,0.999921,0.011359],[0.001224,-0.011353,0.999935]] 2025-10-27T05:17:37.736Z,1761542257.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:38.113Z,1761542258.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999912,-0.013224,-0.001129],[0.013233,0.999881,0.007951],[0.001024,-0.007966,0.999968]] 2025-10-27T05:17:38.202Z,1761542258.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:38.487Z,1761542258.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999505,-0.031450,-0.000673],[0.031453,0.999491,0.005405],[0.000503,-0.005424,0.999985]] 2025-10-27T05:17:38.507Z,1761542258.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:38.924Z,1761542258.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:39.294Z,1761542259.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997690,-0.067934,0.000146],[0.067934,0.997690,-0.000149],[-0.000136,0.000158,1.000000]] 2025-10-27T05:17:39.338Z,1761542259.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:39.697Z,1761542259.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996260,-0.086407,0.000884],[0.086409,0.996253,-0.003533],[-0.000575,0.003596,0.999993]] 2025-10-27T05:17:39.743Z,1761542259.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:40.271Z,1761542260.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:40.595Z,1761542260.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992305,-0.123789,0.002461],[0.123807,0.992262,-0.009344],[-0.001286,0.009577,0.999953]] 2025-10-27T05:17:40.624Z,1761542260.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:41.060Z,1761542261.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986838,-0.161661,0.004139],[0.161707,0.986705,-0.016232],[-0.001460,0.016688,0.999860]] 2025-10-27T05:17:41.094Z,1761542261.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:41.518Z,1761542261.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:41.860Z,1761542261.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979623,-0.200766,0.005570],[0.200842,0.979315,-0.024600],[-0.000516,0.025218,0.999682]] 2025-10-27T05:17:41.888Z,1761542261.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:42.262Z,1761542262.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975271,-0.220921,0.006317],[0.221011,0.974855,-0.028486],[0.000134,0.029177,0.999574]] 2025-10-27T05:17:42.362Z,1761542262.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:42.681Z,1761542262.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970450,-0.241208,0.006820],[0.241302,0.969937,-0.031559],[0.000997,0.032272,0.999479]] 2025-10-27T05:17:42.746Z,1761542262.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:43.077Z,1761542263.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965390,-0.260708,0.007324],[0.260804,0.964780,-0.034362],[0.001893,0.035083,0.999383]] 2025-10-27T05:17:43.135Z,1761542263.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:43.504Z,1761542263.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959503,-0.281590,0.007881],[0.281686,0.958794,-0.036980],[0.002857,0.037702,0.999285]] 2025-10-27T05:17:43.571Z,1761542263.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:43.909Z,1761542263.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953405,-0.301583,0.008146],[0.301665,0.952600,-0.039385],[0.004118,0.040008,0.999191]] 2025-10-27T05:17:43.928Z,1761542263.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:44.310Z,1761542264.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946530,-0.322509,0.008323],[0.322571,0.945651,-0.041138],[0.005396,0.041623,0.999119]] 2025-10-27T05:17:44.355Z,1761542264.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:44.721Z,1761542264.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939126,-0.343477,0.008093],[0.343507,0.938230,-0.041556],[0.006680,0.041806,0.999103]] 2025-10-27T05:17:44.757Z,1761542264.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:45.117Z,1761542265.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931146,-0.364566,0.007701],[0.364555,0.930224,-0.042226],[0.008231,0.042126,0.999078]] 2025-10-27T05:17:45.136Z,1761542265.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:45.521Z,1761542265.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922246,-0.386528,0.007621],[0.386476,0.921258,-0.043822],[0.009918,0.043360,0.999010]] 2025-10-27T05:17:45.624Z,1761542265.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:45.926Z,1761542265.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913003,-0.407880,0.007698],[0.407789,0.911938,-0.045586],[0.011573,0.044759,0.998931]] 2025-10-27T05:17:45.951Z,1761542265.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:46.331Z,1761542266.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902906,-0.429772,0.007563],[0.429620,0.901746,-0.047765],[0.013709,0.046376,0.998830]] 2025-10-27T05:17:46.402Z,1761542266.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:46.739Z,1761542266.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892676,-0.450655,0.006245],[0.450418,0.891545,-0.047654],[0.015908,0.045352,0.998844]] 2025-10-27T05:17:46.771Z,1761542266.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:47.191Z,1761542267.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:47.608Z,1761542267.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:47.957Z,1761542267.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861377,-0.507942,-0.004835],[0.507436,0.860875,-0.037461],[0.023190,0.029815,0.999286]] 2025-10-27T05:17:47.980Z,1761542267.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:48.358Z,1761542268.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850799,-0.525403,-0.009667],[0.524862,0.850536,-0.033291],[0.025714,0.023250,0.999399]] 2025-10-27T05:17:48.405Z,1761542268.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:48.762Z,1761542268.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840155,-0.542157,-0.014340],[0.541596,0.840090,-0.030380],[0.028517,0.017757,0.999436]] 2025-10-27T05:17:48.796Z,1761542268.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:49.178Z,1761542269.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829493,-0.558211,-0.018497],[0.557634,0.829589,-0.028744],[0.031390,0.013528,0.999416]] 2025-10-27T05:17:49.214Z,1761542269.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:49.569Z,1761542269.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818933,-0.573467,-0.022013],[0.572892,0.819169,-0.027507],[0.033807,0.009915,0.999379]] 2025-10-27T05:17:49.613Z,1761542269.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:49.973Z,1761542269.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808662,-0.587649,-0.027096],[0.587154,0.809107,-0.024406],[0.036265,0.003826,0.999335]] 2025-10-27T05:17:49.992Z,1761542269.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:50.378Z,1761542270.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799761,-0.599366,-0.033801],[0.599065,0.800462,-0.019561],[0.038781,-0.004605,0.999237]] 2025-10-27T05:17:50.441Z,1761542270.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:50.791Z,1761542270.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791381,-0.609961,-0.040778],[0.609914,0.792325,-0.015030],[0.041477,-0.012976,0.999055]] 2025-10-27T05:17:50.809Z,1761542270.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:51.189Z,1761542271.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783768,-0.619205,-0.047884],[0.619489,0.784936,-0.010451],[0.044057,-0.021472,0.998798]] 2025-10-27T05:17:51.219Z,1761542271.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:51.590Z,1761542271.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777328,-0.626699,-0.054860],[0.627361,0.778703,-0.006310],[0.046674,-0.029512,0.998474]] 2025-10-27T05:17:51.649Z,1761542271.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:51.994Z,1761542271.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772253,-0.632175,-0.063084],[0.633407,0.773818,-0.000604],[0.049197,-0.039491,0.998008]] 2025-10-27T05:17:52.012Z,1761542272.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:52.398Z,1761542272.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768397,-0.635813,-0.072856],[0.637860,0.770125,0.006510],[0.051970,-0.051474,0.997321]] 2025-10-27T05:17:52.444Z,1761542272.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:52.802Z,1761542272.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765786,-0.637645,-0.083546],[0.640749,0.767614,0.014489],[0.054892,-0.064628,0.996399]] 2025-10-27T05:17:52.839Z,1761542272.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:53.206Z,1761542273.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764040,-0.638178,-0.094719],[0.642569,0.765882,0.023005],[0.057862,-0.078440,0.995238]] 2025-10-27T05:17:53.224Z,1761542273.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:53.610Z,1761542273.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763163,-0.637380,-0.106439],[0.643349,0.764883,0.032498],[0.060700,-0.093279,0.993788]] 2025-10-27T05:17:53.688Z,1761542273.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:54.014Z,1761542274.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762972,-0.635505,-0.118357],[0.643307,0.764430,0.042463],[0.063490,-0.108538,0.992063]] 2025-10-27T05:17:54.033Z,1761542274.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:54.420Z,1761542274.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762897,-0.633464,-0.129272],[0.643096,0.764084,0.051025],[0.066452,-0.122061,0.990296]] 2025-10-27T05:17:54.457Z,1761542274.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:54.860Z,1761542274.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:55.225Z,1761542275.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763382,-0.629559,-0.144580],[0.641937,0.764297,0.061373],[0.071864,-0.139662,0.987588]] 2025-10-27T05:17:55.380Z,1761542275.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:17:55.386Z,1761542275.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:55.735Z,1761542275.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:56.058Z,1761542276.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763352,-0.627529,-0.153300],[0.641401,0.764500,0.064381],[0.076797,-0.147472,0.986080]] 2025-10-27T05:17:56.101Z,1761542276.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:56.383Z,1761542276.383 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:17:56.433Z,1761542276.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763042,-0.627010,-0.156926],[0.641467,0.764405,0.064854],[0.079291,-0.150149,0.985479]] 2025-10-27T05:17:56.492Z,1761542276.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:56.943Z,1761542276.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762947,-0.626339,-0.160037],[0.641289,0.764538,0.065041],[0.081616,-0.152253,0.984966]] 2025-10-27T05:17:56.962Z,1761542276.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:57.403Z,1761542277.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762255,-0.626502,-0.162671],[0.641824,0.764128,0.064580],[0.083841,-0.153633,0.984565]] 2025-10-27T05:17:57.457Z,1761542277.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:57.912Z,1761542277.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760865,-0.627139,-0.166680],[0.643013,0.763205,0.063659],[0.087288,-0.155613,0.983954]] 2025-10-27T05:17:57.944Z,1761542277.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:58.487Z,1761542278.487 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-10-27T05:17:58.537Z,1761542278.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:58.841Z,1761542278.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758959,-0.629001,-0.168343],[0.645011,0.761641,0.062158],[0.089120,-0.155759,0.983767]] 2025-10-27T05:17:58.899Z,1761542278.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:59.249Z,1761542279.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757843,-0.630091,-0.169294],[0.646171,0.760732,0.061232],[0.090206,-0.155797,0.983662]] 2025-10-27T05:17:59.287Z,1761542279.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:17:59.658Z,1761542279.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756583,-0.631425,-0.169954],[0.647481,0.759735,0.059765],[0.091383,-0.155259,0.983638]] 2025-10-27T05:17:59.709Z,1761542279.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:00.050Z,1761542280.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755410,-0.632527,-0.171074],[0.648675,0.758791,0.058803],[0.092615,-0.155392,0.983502]] 2025-10-27T05:18:00.069Z,1761542280.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:00.456Z,1761542280.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754626,-0.633063,-0.172541],[0.649413,0.758186,0.058448],[0.093817,-0.156157,0.983267]] 2025-10-27T05:18:00.494Z,1761542280.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:00.858Z,1761542280.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753687,-0.633833,-0.173816],[0.650316,0.757472,0.057672],[0.095106,-0.156502,0.983088]] 2025-10-27T05:18:00.901Z,1761542280.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:01.262Z,1761542281.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752697,-0.634610,-0.175261],[0.651254,0.756723,0.056905],[0.096511,-0.156971,0.982876]] 2025-10-27T05:18:01.280Z,1761542281.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:01.672Z,1761542281.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751870,-0.635152,-0.176846],[0.651994,0.756131,0.056299],[0.097960,-0.157632,0.982627]] 2025-10-27T05:18:01.747Z,1761542281.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:02.193Z,1761542282.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751339,-0.635333,-0.178445],[0.652411,0.755790,0.056059],[0.099251,-0.158538,0.982352]] 2025-10-27T05:18:02.213Z,1761542282.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:02.598Z,1761542282.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751022,-0.635192,-0.180270],[0.652573,0.755644,0.056131],[0.100566,-0.159795,0.982014]] 2025-10-27T05:18:02.668Z,1761542282.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:03.111Z,1761542283.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750094,-0.635248,-0.183900],[0.653240,0.755060,0.056231],[0.103135,-0.162309,0.981335]] 2025-10-27T05:18:03.138Z,1761542283.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:03.513Z,1761542283.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750178,-0.634728,-0.185349],[0.653113,0.755059,0.057697],[0.103327,-0.164337,0.980978]] 2025-10-27T05:18:03.570Z,1761542283.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:03.974Z,1761542283.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:04.318Z,1761542284.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751136,-0.633224,-0.186608],[0.652103,0.755717,0.060446],[0.102747,-0.167090,0.980573]] 2025-10-27T05:18:04.374Z,1761542284.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:04.733Z,1761542284.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751515,-0.632456,-0.187681],[0.651749,0.755841,0.062674],[0.102219,-0.169421,0.980228]] 2025-10-27T05:18:04.796Z,1761542284.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:05.130Z,1761542285.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751835,-0.631968,-0.188044],[0.651458,0.755981,0.063995],[0.101715,-0.170616,0.980074]] 2025-10-27T05:18:05.166Z,1761542285.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:05.540Z,1761542285.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752314,-0.631423,-0.187958],[0.650987,0.756311,0.064883],[0.101186,-0.171171,0.980032]] 2025-10-27T05:18:05.584Z,1761542285.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:05.937Z,1761542285.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752532,-0.631663,-0.186273],[0.650824,0.756543,0.063807],[0.100619,-0.169247,0.980424]] 2025-10-27T05:18:05.956Z,1761542285.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:06.339Z,1761542286.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752762,-0.631512,-0.185854],[0.650678,0.756603,0.064573],[0.099839,-0.169539,0.980453]] 2025-10-27T05:18:06.358Z,1761542286.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:06.779Z,1761542286.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753133,-0.631463,-0.184517],[0.650353,0.756919,0.064144],[0.099160,-0.168310,0.980734]] 2025-10-27T05:18:06.825Z,1761542286.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:07.182Z,1761542287.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753573,-0.631160,-0.183752],[0.649980,0.757187,0.064766],[0.098257,-0.168241,0.980837]] 2025-10-27T05:18:07.201Z,1761542287.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:07.590Z,1761542287.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754289,-0.630684,-0.182446],[0.649385,0.757601,0.065868],[0.096679,-0.168162,0.981007]] 2025-10-27T05:18:07.655Z,1761542287.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:08.023Z,1761542288.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754838,-0.630509,-0.180772],[0.649001,0.757861,0.066672],[0.094962,-0.167648,0.981263]] 2025-10-27T05:18:08.042Z,1761542288.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:08.426Z,1761542288.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755285,-0.630230,-0.179873],[0.648769,0.757871,0.068782],[0.092972,-0.168646,0.981282]] 2025-10-27T05:18:08.581Z,1761542288.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:08.875Z,1761542288.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756323,-0.629307,-0.178743],[0.647886,0.758389,0.071342],[0.090661,-0.169762,0.981306]] 2025-10-27T05:18:08.930Z,1761542288.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:09.278Z,1761542289.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757315,-0.628791,-0.176342],[0.647068,0.758968,0.072599],[0.088189,-0.169085,0.981648]] 2025-10-27T05:18:09.328Z,1761542289.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:09.683Z,1761542289.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757896,-0.628654,-0.174317],[0.646719,0.759116,0.074144],[0.085716,-0.168928,0.981894]] 2025-10-27T05:18:09.755Z,1761542289.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:10.086Z,1761542290.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758862,-0.627848,-0.173018],[0.645931,0.759505,0.076977],[0.083078,-0.170172,0.981906]] 2025-10-27T05:18:10.111Z,1761542290.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:10.490Z,1761542290.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759680,-0.627599,-0.170310],[0.645301,0.759934,0.078026],[0.080455,-0.169176,0.982297]] 2025-10-27T05:18:10.522Z,1761542290.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:10.894Z,1761542290.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760555,-0.627217,-0.167795],[0.644588,0.760409,0.079281],[0.077866,-0.168456,0.982629]] 2025-10-27T05:18:10.954Z,1761542290.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:11.305Z,1761542291.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761281,-0.626682,-0.166497],[0.643983,0.760714,0.081237],[0.075747,-0.169066,0.982690]] 2025-10-27T05:18:11.323Z,1761542291.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:11.705Z,1761542291.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762010,-0.626372,-0.164317],[0.643378,0.761114,0.082282],[0.073524,-0.168418,0.982970]] 2025-10-27T05:18:11.758Z,1761542291.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:12.105Z,1761542292.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762617,-0.625875,-0.163389],[0.642888,0.761284,0.084512],[0.071491,-0.169491,0.982935]] 2025-10-27T05:18:12.153Z,1761542292.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:12.510Z,1761542292.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763333,-0.625327,-0.162140],[0.642255,0.761615,0.086323],[0.069508,-0.170029,0.982985]] 2025-10-27T05:18:12.528Z,1761542292.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:12.916Z,1761542292.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764129,-0.624856,-0.160193],[0.641528,0.762098,0.087453],[0.067437,-0.169594,0.983204]] 2025-10-27T05:18:12.954Z,1761542292.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:13.317Z,1761542293.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764668,-0.624722,-0.158131],[0.641082,0.762404,0.088056],[0.065549,-0.168709,0.983484]] 2025-10-27T05:18:13.347Z,1761542293.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:13.728Z,1761542293.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764991,-0.624650,-0.156850],[0.640887,0.762397,0.089521],[0.063663,-0.169006,0.983557]] 2025-10-27T05:18:13.774Z,1761542293.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:14.136Z,1761542294.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765650,-0.624190,-0.155459],[0.640308,0.762666,0.091362],[0.061536,-0.169493,0.983608]] 2025-10-27T05:18:14.178Z,1761542294.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:14.537Z,1761542294.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766516,-0.623381,-0.154433],[0.639446,0.763152,0.093317],[0.059684,-0.170281,0.983586]] 2025-10-27T05:18:14.557Z,1761542294.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:14.934Z,1761542294.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767217,-0.622867,-0.153018],[0.638780,0.763525,0.094815],[0.057776,-0.170488,0.983664]] 2025-10-27T05:18:14.978Z,1761542294.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:15.338Z,1761542295.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767974,-0.622367,-0.151245],[0.638040,0.764007,0.095905],[0.055864,-0.170153,0.983833]] 2025-10-27T05:18:15.357Z,1761542295.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:15.745Z,1761542295.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768956,-0.621661,-0.149142],[0.637053,0.764657,0.097277],[0.053569,-0.169813,0.984019]] 2025-10-27T05:18:15.800Z,1761542295.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:16.154Z,1761542296.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769631,-0.621294,-0.147179],[0.636404,0.765073,0.098253],[0.051559,-0.169284,0.984218]] 2025-10-27T05:18:16.173Z,1761542296.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:16.567Z,1761542296.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770324,-0.620957,-0.144961],[0.635730,0.765534,0.099025],[0.049482,-0.168437,0.984470]] 2025-10-27T05:18:16.586Z,1761542296.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:16.955Z,1761542296.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770825,-0.620970,-0.142211],[0.635256,0.765987,0.098562],[0.047728,-0.166314,0.984917]] 2025-10-27T05:18:17.051Z,1761542297.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:17.357Z,1761542297.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771237,-0.620970,-0.139963],[0.634880,0.766301,0.098543],[0.046062,-0.164860,0.985241]] 2025-10-27T05:18:17.408Z,1761542297.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:17.762Z,1761542297.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772191,-0.620301,-0.137650],[0.633867,0.767041,0.099307],[0.043983,-0.163936,0.985490]] 2025-10-27T05:18:17.827Z,1761542297.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:18.166Z,1761542298.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772858,-0.619906,-0.135671],[0.633186,0.767488,0.100186],[0.042020,-0.163334,0.985675]] 2025-10-27T05:18:18.220Z,1761542298.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:18.604Z,1761542298.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:19.161Z,1761542299.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:18:19.162Z,1761542299.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:19.336Z,1761542299.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:18:19.336Z,1761542299.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:18:19.512Z,1761542299.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775186,-0.618831,-0.127027],[0.630783,0.769234,0.101937],[0.034631,-0.159147,0.986647]] 2025-10-27T05:18:19.534Z,1761542299.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:19.588Z,1761542299.588 [DAT](INFO): DAT read: user:357> 2025-10-27T05:18:19.589Z,1761542299.589 [DAT](INFO): DAT read: Tx time:05:18:18.6245 2025-10-27T05:18:19.589Z,1761542299.589 [DAT](INFO): Ping request sent. 2025-10-27T05:18:19.589Z,1761542299.589 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:18:19.589Z,1761542299.589 [DAT](INFO): publishing transmit ping time 2025-10-27T05:18:19.590Z,1761542299.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-27T05:18:19.843Z,1761542299.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253791 2025-10-27T05:18:19.945Z,1761542299.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775654,-0.618585,-0.125355],[0.630314,0.769454,0.103173],[0.032634,-0.159040,0.986733]] 2025-10-27T05:18:19.984Z,1761542299.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:20.093Z,1761542300.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503363 2025-10-27T05:18:20.344Z,1761542300.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754903 2025-10-27T05:18:20.388Z,1761542300.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:20.596Z,1761542300.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006790 2025-10-27T05:18:20.752Z,1761542300.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776068,-0.619218,-0.119526],[0.630031,0.769642,0.103502],[0.027902,-0.155630,0.987421]] 2025-10-27T05:18:20.807Z,1761542300.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:20.848Z,1761542300.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259233 2025-10-27T05:18:21.100Z,1761542301.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510704 2025-10-27T05:18:21.156Z,1761542301.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776123,-0.619467,-0.117868],[0.630073,0.769332,0.105527],[0.025309,-0.156167,0.987406]] 2025-10-27T05:18:21.224Z,1761542301.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:21.352Z,1761542301.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762740 2025-10-27T05:18:21.561Z,1761542301.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776056,-0.619873,-0.116168],[0.630259,0.768889,0.107627],[0.022605,-0.156740,0.987381]] 2025-10-27T05:18:21.604Z,1761542301.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014656 2025-10-27T05:18:21.709Z,1761542301.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:21.857Z,1761542301.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267342 2025-10-27T05:18:22.062Z,1761542302.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775446,-0.621089,-0.113714],[0.631091,0.768129,0.108172],[0.020162,-0.155646,0.987607]] 2025-10-27T05:18:22.110Z,1761542302.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520077 2025-10-27T05:18:22.157Z,1761542302.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:22.360Z,1761542302.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770818 2025-10-27T05:18:22.518Z,1761542302.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:22.614Z,1761542302.614 [DAT](INFO): DAT read: Rx Time:05:18:21.1083 2025-10-27T05:18:22.615Z,1761542302.615 [DAT](INFO): Rx dataTimestamp_ set to:1761542302.614141 2025-10-27T05:18:22.616Z,1761542302.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026844 2025-10-27T05:18:22.864Z,1761542302.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274883 2025-10-27T05:18:23.006Z,1761542303.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:18:23.125Z,1761542303.125 [DAT](INFO): DAT read: 05:18:21.1083 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 380, 0.45,-2.177,-0.347,-1.847,-1.514, PHS=-0.561, 1.212,-0.377, RAW= 324.6, -3.3, CAL= 323.7, -6.4, ROT= 186.3, 6.4 2025-10-27T05:18:23.131Z,1761542303.131 [DAT](INFO): got valid direction response: 05:18:21.1083 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 380, 0.45,-2.177,-0.347,-1.847,-1.514, PHS=-0.561, 1.212,-0.377, RAW= 324.6, -3.3, CAL= 323.7, -6.4, ROT= 186.3, 6.4 2025-10-27T05:18:23.133Z,1761542303.133 [DAT](INFO): DAT read: Bearing 23.4, -6.6 (Local) 2025-10-27T05:18:23.133Z,1761542303.133 [DAT](INFO): Local bearing/azimuth received: Bearing 23.4, -6.6 (Local) 2025-10-27T05:18:23.136Z,1761542303.136 [DAT](INFO): DAT read: Range 11 to 50 : 59.7 m (Round-trip 79.7 ms) speed -0.5 m/s 2025-10-27T05:18:23.137Z,1761542303.137 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:18:23.156Z,1761542303.156 [DAT](INFO): direction in FSK: [-0.987766,-0.109051,-0.111469] 2025-10-27T05:18:23.156Z,1761542303.156 [DAT](INFO): publishing direction and range info 2025-10-27T05:18:23.308Z,1761542303.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774050,-0.624080,-0.106635],[0.632996,0.766234,0.110460],[0.012771,-0.153002,0.988143]] 2025-10-27T05:18:23.336Z,1761542303.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 60.246329 s, deltaX: 32.400002 m, approachRate: 0.537792 m/s, rangeRepo size: 4 2025-10-27T05:18:23.338Z,1761542303.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.377426 m, bearing: 226.486751 deg, lat: 36.779342 deg, lon: -121.859622 deg, deltaT: 60.246329 s, deltaX: 32.222038 m, approachRate: 0.534838 m/s, posRepo size: 4 2025-10-27T05:18:23.338Z,1761542303.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:23.717Z,1761542303.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773565,-0.625174,-0.103705],[0.633635,0.765666,0.110731],[0.010177,-0.151369,0.988425]] 2025-10-27T05:18:23.811Z,1761542303.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:24.130Z,1761542304.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773250,-0.625787,-0.102353],[0.634053,0.765051,0.112581],[0.007853,-0.151950,0.988357]] 2025-10-27T05:18:24.178Z,1761542304.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:24.519Z,1761542304.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772961,-0.626548,-0.099844],[0.634428,0.764703,0.112829],[0.005659,-0.150556,0.988585]] 2025-10-27T05:18:24.544Z,1761542304.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:24.921Z,1761542304.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772502,-0.627281,-0.098788],[0.635001,0.764002,0.114344],[0.003748,-0.151062,0.988517]] 2025-10-27T05:18:24.971Z,1761542304.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:25.331Z,1761542305.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772562,-0.627492,-0.096969],[0.634938,0.763880,0.115507],[0.001593,-0.150805,0.988562]] 2025-10-27T05:18:25.369Z,1761542305.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:25.837Z,1761542305.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:26.158Z,1761542306.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773059,-0.627325,-0.094039],[0.634329,0.763896,0.118699],[-0.002627,-0.151413,0.988467]] 2025-10-27T05:18:26.214Z,1761542306.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:26.503Z,1761542306.503 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:18:26.569Z,1761542306.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773867,-0.626506,-0.092840],[0.633329,0.764349,0.121098],[-0.004907,-0.152512,0.988289]] 2025-10-27T05:18:26.591Z,1761542306.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:26.966Z,1761542306.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774559,-0.625932,-0.090923],[0.632462,0.764865,0.122363],[-0.007047,-0.152282,0.988312]] 2025-10-27T05:18:27.043Z,1761542307.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:27.370Z,1761542307.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775064,-0.625340,-0.090700],[0.631820,0.764935,0.125209],[-0.008918,-0.154351,0.987976]] 2025-10-27T05:18:27.400Z,1761542307.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:27.508Z,1761542307.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:18:27.774Z,1761542307.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775979,-0.624321,-0.089888],[0.630665,0.765488,0.127630],[-0.010874,-0.155727,0.987740]] 2025-10-27T05:18:27.833Z,1761542307.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:28.181Z,1761542308.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776927,-0.623200,-0.089479],[0.629458,0.765961,0.130717],[-0.012925,-0.157881,0.987374]] 2025-10-27T05:18:28.218Z,1761542308.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:28.582Z,1761542308.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777628,-0.622430,-0.088744],[0.628548,0.766278,0.133215],[-0.014915,-0.159372,0.987106]] 2025-10-27T05:18:28.617Z,1761542308.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:28.986Z,1761542308.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778130,-0.621914,-0.087962],[0.627876,0.766412,0.135587],[-0.016908,-0.160733,0.986853]] 2025-10-27T05:18:29.031Z,1761542309.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:29.390Z,1761542309.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778326,-0.621855,-0.086629],[0.627574,0.766360,0.137272],[-0.018975,-0.161209,0.986738]] 2025-10-27T05:18:29.409Z,1761542309.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:29.795Z,1761542309.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778483,-0.621983,-0.084267],[0.627308,0.766468,0.137882],[-0.021172,-0.160200,0.986857]] 2025-10-27T05:18:29.818Z,1761542309.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:30.198Z,1761542310.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778350,-0.622526,-0.081436],[0.627392,0.766389,0.137942],[-0.023460,-0.158459,0.987087]] 2025-10-27T05:18:30.294Z,1761542310.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:30.605Z,1761542310.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778199,-0.622921,-0.079849],[0.627504,0.766114,0.138953],[-0.025383,-0.158239,0.987075]] 2025-10-27T05:18:30.683Z,1761542310.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:31.011Z,1761542311.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777815,-0.623565,-0.078560],[0.627906,0.765588,0.140033],[-0.027175,-0.158248,0.987025]] 2025-10-27T05:18:31.135Z,1761542311.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:31.480Z,1761542311.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:31.834Z,1761542311.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777331,-0.624671,-0.074453],[0.628349,0.765208,0.140122],[-0.030558,-0.155703,0.987331]] 2025-10-27T05:18:31.902Z,1761542311.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:32.239Z,1761542312.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776538,-0.625947,-0.071967],[0.629243,0.764591,0.139480],[-0.032282,-0.153596,0.987606]] 2025-10-27T05:18:32.276Z,1761542312.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:32.648Z,1761542312.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776354,-0.626365,-0.070293],[0.629384,0.764392,0.139929],[-0.033915,-0.152876,0.987663]] 2025-10-27T05:18:32.687Z,1761542312.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:33.046Z,1761542313.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776313,-0.626634,-0.068323],[0.629338,0.764369,0.140263],[-0.035670,-0.151886,0.987754]] 2025-10-27T05:18:33.113Z,1761542313.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:33.487Z,1761542313.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:33.854Z,1761542313.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776329,-0.626848,-0.066149],[0.629148,0.764175,0.142161],[-0.038564,-0.151981,0.987631]] 2025-10-27T05:18:33.952Z,1761542313.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:34.318Z,1761542314.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:34.673Z,1761542314.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776502,-0.626901,-0.063569],[0.628735,0.764175,0.143972],[-0.041679,-0.151762,0.987538]] 2025-10-27T05:18:34.775Z,1761542314.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:35.066Z,1761542315.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776662,-0.626900,-0.061586],[0.628416,0.764352,0.144428],[-0.043469,-0.150874,0.987597]] 2025-10-27T05:18:35.159Z,1761542315.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:35.470Z,1761542315.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776796,-0.626902,-0.059848],[0.628133,0.764483,0.144963],[-0.045125,-0.150199,0.987625]] 2025-10-27T05:18:35.524Z,1761542315.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:35.875Z,1761542315.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776844,-0.626936,-0.058861],[0.627968,0.764411,0.146052],[-0.046571,-0.150422,0.987524]] 2025-10-27T05:18:35.981Z,1761542315.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:36.301Z,1761542316.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776686,-0.627288,-0.057170],[0.628055,0.764311,0.146205],[-0.048017,-0.149461,0.987601]] 2025-10-27T05:18:36.357Z,1761542316.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:36.738Z,1761542316.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776621,-0.627634,-0.054183],[0.627907,0.764259,0.147108],[-0.050920,-0.148269,0.987635]] 2025-10-27T05:18:36.765Z,1761542316.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:37.122Z,1761542317.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776371,-0.627987,-0.053675],[0.628130,0.763895,0.148042],[-0.051967,-0.148650,0.987523]] 2025-10-27T05:18:37.161Z,1761542317.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:37.514Z,1761542317.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775926,-0.628583,-0.053116],[0.628598,0.763377,0.148728],[-0.052941,-0.148791,0.987451]] 2025-10-27T05:18:37.551Z,1761542317.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:37.918Z,1761542317.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775553,-0.629155,-0.051781],[0.628984,0.763132,0.148353],[-0.053821,-0.147625,0.987578]] 2025-10-27T05:18:37.942Z,1761542317.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:38.324Z,1761542318.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774770,-0.630165,-0.051221],[0.629881,0.762340,0.148620],[-0.054607,-0.147409,0.987567]] 2025-10-27T05:18:38.360Z,1761542318.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:38.729Z,1761542318.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774169,-0.630965,-0.050449],[0.630552,0.761776,0.148667],[-0.055372,-0.146904,0.987600]] 2025-10-27T05:18:38.761Z,1761542318.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:39.132Z,1761542319.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773396,-0.631880,-0.050847],[0.631452,0.760824,0.149720],[-0.055920,-0.147901,0.987420]] 2025-10-27T05:18:39.181Z,1761542319.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:39.564Z,1761542319.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:39.930Z,1761542319.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771215,-0.634722,-0.048531],[0.634011,0.759040,0.147948],[-0.057069,-0.144869,0.987804]] 2025-10-27T05:18:39.965Z,1761542319.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:40.334Z,1761542320.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770265,-0.635996,-0.046920],[0.635128,0.758418,0.146336],[-0.057484,-0.142518,0.988122]] 2025-10-27T05:18:40.392Z,1761542320.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:40.751Z,1761542320.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769322,-0.637325,-0.044272],[0.636206,0.757971,0.143955],[-0.058189,-0.138914,0.988593]] 2025-10-27T05:18:40.770Z,1761542320.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:41.142Z,1761542321.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768340,-0.638618,-0.042660],[0.637339,0.757276,0.142592],[-0.058756,-0.136748,0.988862]] 2025-10-27T05:18:41.186Z,1761542321.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:41.546Z,1761542321.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767471,-0.639746,-0.041390],[0.638360,0.756672,0.141226],[-0.059030,-0.134809,0.989112]] 2025-10-27T05:18:41.573Z,1761542321.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:41.950Z,1761542321.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767006,-0.640293,-0.041545],[0.638947,0.756260,0.140773],[-0.058717,-0.134519,0.989170]] 2025-10-27T05:18:41.969Z,1761542321.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:42.410Z,1761542322.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:42.758Z,1761542322.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767023,-0.640183,-0.042921],[0.638923,0.755961,0.142481],[-0.058767,-0.136709,0.988867]] 2025-10-27T05:18:42.796Z,1761542322.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:43.162Z,1761542323.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767134,-0.640001,-0.043631],[0.638760,0.755838,0.143856],[-0.059090,-0.138227,0.988636]] 2025-10-27T05:18:43.267Z,1761542323.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:43.569Z,1761542323.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767091,-0.640169,-0.041901],[0.638738,0.756016,0.143014],[-0.059875,-0.136469,0.988833]] 2025-10-27T05:18:43.604Z,1761542323.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:43.969Z,1761542323.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766946,-0.640415,-0.040769],[0.638839,0.755965,0.142832],[-0.060652,-0.135589,0.988907]] 2025-10-27T05:18:44.000Z,1761542324.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:44.374Z,1761542324.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766866,-0.640565,-0.039905],[0.638890,0.755983,0.142509],[-0.061119,-0.134780,0.988989]] 2025-10-27T05:18:44.437Z,1761542324.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:44.783Z,1761542324.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766838,-0.640610,-0.039723],[0.638888,0.755919,0.142860],[-0.061490,-0.134929,0.988946]] 2025-10-27T05:18:44.804Z,1761542324.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:45.183Z,1761542325.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767067,-0.640334,-0.039761],[0.638551,0.755991,0.143979],[-0.062136,-0.135830,0.988782]] 2025-10-27T05:18:45.220Z,1761542325.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:45.590Z,1761542325.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767792,-0.639427,-0.040371],[0.637613,0.756396,0.145995],[-0.062816,-0.137834,0.988461]] 2025-10-27T05:18:45.626Z,1761542325.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:45.990Z,1761542325.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768626,-0.638325,-0.041899],[0.636525,0.756655,0.149363],[-0.063639,-0.141474,0.987894]] 2025-10-27T05:18:46.025Z,1761542326.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:46.394Z,1761542326.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769274,-0.637446,-0.043363],[0.635685,0.756795,0.152204],[-0.064205,-0.144652,0.987397]] 2025-10-27T05:18:46.402Z,1761542326.402 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309070, +10.8, 0.0,149 2025-10-27T05:18:46.422Z,1761542326.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:46.887Z,1761542326.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769529,-0.637176,-0.042799],[0.635327,0.757060,0.152380],[-0.064691,-0.144452,0.987395]] 2025-10-27T05:18:46.921Z,1761542326.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:47.410Z,1761542327.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:47.852Z,1761542327.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769860,-0.636757,-0.043087],[0.634840,0.757112,0.154141],[-0.065529,-0.146020,0.987109]] 2025-10-27T05:18:47.932Z,1761542327.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:48.249Z,1761542328.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769761,-0.636847,-0.043519],[0.634969,0.756934,0.154484],[-0.065441,-0.146549,0.987036]] 2025-10-27T05:18:48.331Z,1761542328.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:48.654Z,1761542328.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769867,-0.636604,-0.045169],[0.634916,0.756805,0.155332],[-0.064701,-0.148263,0.986829]] 2025-10-27T05:18:48.693Z,1761542328.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:49.057Z,1761542329.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770249,-0.636078,-0.046068],[0.634492,0.757033,0.155954],[-0.064324,-0.149353,0.986689]] 2025-10-27T05:18:49.170Z,1761542329.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:49.548Z,1761542329.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:49.903Z,1761542329.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770834,-0.635068,-0.050039],[0.633970,0.757056,0.157952],[-0.062428,-0.153478,0.986178]] 2025-10-27T05:18:49.926Z,1761542329.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:50.288Z,1761542330.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770983,-0.634837,-0.050675],[0.633813,0.757097,0.158383],[-0.062182,-0.154228,0.986077]] 2025-10-27T05:18:50.342Z,1761542330.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:50.690Z,1761542330.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770965,-0.634806,-0.051322],[0.633876,0.757023,0.158484],[-0.061755,-0.154718,0.986027]] 2025-10-27T05:18:50.714Z,1761542330.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:51.222Z,1761542331.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:51.556Z,1761542331.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:51.932Z,1761542331.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771059,-0.634241,-0.056618],[0.634032,0.756485,0.160417],[-0.058913,-0.159589,0.985424]] 2025-10-27T05:18:51.950Z,1761542331.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:52.330Z,1761542332.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770699,-0.634576,-0.057760],[0.634544,0.756061,0.160390],[-0.058109,-0.160264,0.985362]] 2025-10-27T05:18:52.380Z,1761542332.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:52.739Z,1761542332.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770288,-0.634998,-0.058596],[0.635106,0.755643,0.160139],[-0.057410,-0.160568,0.985354]] 2025-10-27T05:18:52.758Z,1761542332.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:53.202Z,1761542333.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769161,-0.636371,-0.058508],[0.636538,0.754798,0.158426],[-0.056657,-0.159098,0.985636]] 2025-10-27T05:18:53.272Z,1761542333.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:53.566Z,1761542333.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768236,-0.637516,-0.058200],[0.637711,0.754163,0.156725],[-0.056022,-0.157516,0.985926]] 2025-10-27T05:18:53.594Z,1761542333.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:53.966Z,1761542333.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767147,-0.638914,-0.057218],[0.639073,0.753527,0.154214],[-0.055414,-0.154871,0.986379]] 2025-10-27T05:18:53.000Z,1761542334.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:54.424Z,1761542334.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:54.774Z,1761542334.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765679,-0.640715,-0.056748],[0.640980,0.752673,0.150425],[-0.053666,-0.151551,0.986991]] 2025-10-27T05:18:54.800Z,1761542334.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:55.192Z,1761542335.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765267,-0.641311,-0.055566],[0.641526,0.752710,0.147892],[-0.053020,-0.148824,0.987441]] 2025-10-27T05:18:55.266Z,1761542335.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:55.597Z,1761542335.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764960,-0.641667,-0.055669],[0.641944,0.752542,0.146931],[-0.052388,-0.148133,0.987579]] 2025-10-27T05:18:55.662Z,1761542335.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:55.986Z,1761542335.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765159,-0.641388,-0.056155],[0.641759,0.752767,0.146586],[-0.051747,-0.148199,0.987603]] 2025-10-27T05:18:56.022Z,1761542336.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:56.390Z,1761542336.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765541,-0.640908,-0.056432],[0.641345,0.753185,0.146251],[-0.051230,-0.148154,0.987637]] 2025-10-27T05:18:56.494Z,1761542336.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:56.831Z,1761542336.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765976,-0.640310,-0.057298],[0.640862,0.753510,0.146692],[-0.050754,-0.149082,0.987521]] 2025-10-27T05:18:56.910Z,1761542336.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:57.208Z,1761542337.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766742,-0.639387,-0.057367],[0.639998,0.754375,0.146018],[-0.050086,-0.148673,0.987617]] 2025-10-27T05:18:57.294Z,1761542337.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:57.610Z,1761542337.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767345,-0.638619,-0.057866],[0.639301,0.754904,0.146338],[-0.049771,-0.149286,0.987541]] 2025-10-27T05:18:57.635Z,1761542337.635 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:18:57.668Z,1761542337.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:58.005Z,1761542338.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767996,-0.637736,-0.058952],[0.638565,0.755412,0.146930],[-0.049170,-0.150487,0.987389]] 2025-10-27T05:18:58.024Z,1761542338.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:58.406Z,1761542338.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768749,-0.636751,-0.059771],[0.637679,0.755999,0.147757],[-0.048897,-0.151703,0.987216]] 2025-10-27T05:18:58.451Z,1761542338.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:58.639Z,1761542338.639 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:18:58.810Z,1761542338.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769396,-0.635839,-0.061151],[0.636923,0.756363,0.149145],[-0.048580,-0.153700,0.986923]] 2025-10-27T05:18:58.848Z,1761542338.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:59.214Z,1761542339.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769515,-0.635729,-0.060794],[0.636823,0.756700,0.147859],[-0.047996,-0.152494,0.987138]] 2025-10-27T05:18:59.237Z,1761542339.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:18:59.620Z,1761542339.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769587,-0.635609,-0.061136],[0.636772,0.756804,0.147546],[-0.047514,-0.152479,0.987164]] 2025-10-27T05:18:59.659Z,1761542339.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:00.022Z,1761542340.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769376,-0.635836,-0.061430],[0.637069,0.756672,0.146940],[-0.046948,-0.152187,0.987236]] 2025-10-27T05:19:00.051Z,1761542340.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:00.426Z,1761542340.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769263,-0.635887,-0.062304],[0.637259,0.756539,0.146801],[-0.046213,-0.152632,0.987202]] 2025-10-27T05:19:00.471Z,1761542340.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:00.830Z,1761542340.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768884,-0.636262,-0.063148],[0.637781,0.756202,0.146269],[-0.045313,-0.152738,0.987227]] 2025-10-27T05:19:00.849Z,1761542340.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:01.236Z,1761542341.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768341,-0.636859,-0.063743],[0.638487,0.755727,0.145642],[-0.044581,-0.152602,0.987282]] 2025-10-27T05:19:01.407Z,1761542341.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:01.725Z,1761542341.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768037,-0.637087,-0.065109],[0.638905,0.755313,0.145956],[-0.043809,-0.153698,0.987146]] 2025-10-27T05:19:01.774Z,1761542341.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:02.119Z,1761542342.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767786,-0.637254,-0.066425],[0.639246,0.754911,0.146536],[-0.043236,-0.154970,0.986973]] 2025-10-27T05:19:02.153Z,1761542342.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:02.521Z,1761542342.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767444,-0.637545,-0.067574],[0.639688,0.754436,0.147057],[-0.042775,-0.156084,0.986817]] 2025-10-27T05:19:02.609Z,1761542342.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:02.925Z,1761542342.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766553,-0.638500,-0.068658],[0.640810,0.753554,0.146694],[-0.041927,-0.156445,0.986796]] 2025-10-27T05:19:02.944Z,1761542342.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:03.372Z,1761542343.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766386,-0.638576,-0.069804],[0.641049,0.753280,0.147058],[-0.041326,-0.157451,0.986662]] 2025-10-27T05:19:03.413Z,1761542343.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:03.434Z,1761542343.434 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T05:09:03.3Z 2025-10-27T05:19:03.434Z,1761542343.434 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T05:19:03.434Z,1761542343.434 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:19:03.434Z,1761542343.434 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T05:19:03.434Z,1761542343.434 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:19:03.434Z,1761542343.434 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T05:19:03.749Z,1761542343.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766209,-0.638734,-0.070306],[0.641275,0.753047,0.147261],[-0.041117,-0.157918,0.986596]] 2025-10-27T05:19:03.768Z,1761542343.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:03.772Z,1761542343.772 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T05:19:03.772Z,1761542343.772 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T05:19:03.772Z,1761542343.772 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T05:19:03.773Z,1761542343.773 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:19:03.773Z,1761542343.773 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T05:19:04.264Z,1761542344.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766089,-0.638756,-0.071400],[0.641450,0.752807,0.147728],[-0.040612,-0.158973,0.986447]] 2025-10-27T05:19:04.282Z,1761542344.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:04.748Z,1761542344.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:05.078Z,1761542345.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766093,-0.638638,-0.072412],[0.641510,0.752831,0.147342],[-0.039584,-0.159331,0.986431]] 2025-10-27T05:19:05.115Z,1761542345.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:05.492Z,1761542345.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766301,-0.638300,-0.073187],[0.641289,0.752962,0.147635],[-0.039129,-0.160067,0.986330]] 2025-10-27T05:19:05.554Z,1761542345.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:05.894Z,1761542345.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766292,-0.638250,-0.073717],[0.641331,0.752957,0.147481],[-0.038624,-0.160291,0.986314]] 2025-10-27T05:19:05.916Z,1761542345.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:06.429Z,1761542346.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767592,-0.636540,-0.074958],[0.639804,0.754019,0.148681],[-0.038121,-0.162085,0.986040]] 2025-10-27T05:19:06.484Z,1761542346.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:06.890Z,1761542346.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768361,-0.635575,-0.075268],[0.638900,0.754753,0.148848],[-0.037795,-0.162458,0.985991]] 2025-10-27T05:19:06.913Z,1761542346.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:07.296Z,1761542347.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769041,-0.634727,-0.075479],[0.638106,0.755453,0.148698],[-0.037362,-0.162519,0.985998]] 2025-10-27T05:19:07.330Z,1761542347.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:07.694Z,1761542347.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769610,-0.634066,-0.075240],[0.637456,0.756197,0.147705],[-0.036759,-0.161637,0.986165]] 2025-10-27T05:19:07.752Z,1761542347.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:08.101Z,1761542348.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770050,-0.633473,-0.075733],[0.636953,0.756622,0.147698],[-0.036261,-0.161973,0.986129]] 2025-10-27T05:19:08.120Z,1761542348.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:08.504Z,1761542348.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770495,-0.632821,-0.076653],[0.636459,0.757028,0.147745],[-0.035468,-0.162623,0.986051]] 2025-10-27T05:19:08.570Z,1761542348.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:08.914Z,1761542348.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770883,-0.632415,-0.076099],[0.636025,0.757687,0.146231],[-0.034820,-0.161128,0.986319]] 2025-10-27T05:19:08.940Z,1761542348.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:09.347Z,1761542349.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:09.720Z,1761542349.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771398,-0.631699,-0.076827],[0.635480,0.758382,0.144986],[-0.033323,-0.160663,0.986447]] 2025-10-27T05:19:09.821Z,1761542349.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:10.150Z,1761542350.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771294,-0.631672,-0.078083],[0.635647,0.758194,0.145238],[-0.032540,-0.161654,0.986311]] 2025-10-27T05:19:10.177Z,1761542350.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:10.571Z,1761542350.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771326,-0.631494,-0.079195],[0.635648,0.758174,0.145339],[-0.031737,-0.162443,0.986207]] 2025-10-27T05:19:10.627Z,1761542350.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:10.959Z,1761542350.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771216,-0.631409,-0.080919],[0.635827,0.757912,0.145924],[-0.030808,-0.163990,0.985981]] 2025-10-27T05:19:11.009Z,1761542351.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:11.358Z,1761542351.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771016,-0.631498,-0.082124],[0.636110,0.757662,0.145987],[-0.029969,-0.164798,0.985872]] 2025-10-27T05:19:11.377Z,1761542351.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:11.762Z,1761542351.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770264,-0.632316,-0.082892],[0.637065,0.757025,0.145122],[-0.029012,-0.164590,0.985935]] 2025-10-27T05:19:11.808Z,1761542351.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:12.202Z,1761542352.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:12.589Z,1761542352.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768789,-0.634101,-0.082941],[0.638925,0.756098,0.141739],[-0.027165,-0.161961,0.986423]] 2025-10-27T05:19:12.632Z,1761542352.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:12.983Z,1761542352.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767742,-0.635288,-0.083560],[0.640226,0.755231,0.140486],[-0.026142,-0.161355,0.986550]] 2025-10-27T05:19:13.008Z,1761542353.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:13.378Z,1761542353.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766655,-0.636494,-0.084350],[0.641571,0.754313,0.139279],[-0.025024,-0.160895,0.986654]] 2025-10-27T05:19:13.406Z,1761542353.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:13.783Z,1761542353.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765767,-0.637483,-0.084950],[0.642662,0.753542,0.138424],[-0.024229,-0.160594,0.986723]] 2025-10-27T05:19:13.822Z,1761542353.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:14.186Z,1761542354.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764941,-0.638451,-0.085124],[0.643667,0.752872,0.137391],[-0.023630,-0.159888,0.986852]] 2025-10-27T05:19:14.210Z,1761542354.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:14.594Z,1761542354.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764232,-0.639196,-0.085893],[0.644540,0.752255,0.136675],[-0.022748,-0.159813,0.986885]] 2025-10-27T05:19:14.691Z,1761542354.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:15.018Z,1761542355.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763534,-0.639943,-0.086535],[0.645395,0.751658,0.135924],[-0.021939,-0.159632,0.986933]] 2025-10-27T05:19:15.093Z,1761542355.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:15.422Z,1761542355.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763179,-0.640323,-0.086857],[0.645827,0.751342,0.135622],[-0.021583,-0.159598,0.986946]] 2025-10-27T05:19:15.473Z,1761542355.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:15.896Z,1761542355.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:16.236Z,1761542356.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762343,-0.641223,-0.087556],[0.646840,0.750601,0.134896],[-0.020779,-0.159472,0.986984]] 2025-10-27T05:19:16.256Z,1761542356.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:16.638Z,1761542356.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762076,-0.641440,-0.088285],[0.647177,0.750373,0.134547],[-0.020057,-0.159671,0.986966]] 2025-10-27T05:19:16.682Z,1761542356.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:17.042Z,1761542357.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761992,-0.641452,-0.088925],[0.647296,0.750320,0.134268],[-0.019404,-0.159872,0.986947]] 2025-10-27T05:19:17.094Z,1761542357.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:17.445Z,1761542357.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761672,-0.641786,-0.089250],[0.647686,0.750074,0.133759],[-0.018901,-0.159687,0.986987]] 2025-10-27T05:19:17.465Z,1761542357.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:17.914Z,1761542357.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:18.254Z,1761542358.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762062,-0.641014,-0.091449],[0.647272,0.750370,0.134107],[-0.017343,-0.161390,0.986738]] 2025-10-27T05:19:18.278Z,1761542358.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:18.658Z,1761542358.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762105,-0.640826,-0.092404],[0.647247,0.750456,0.133741],[-0.016360,-0.161733,0.986699]] 2025-10-27T05:19:18.715Z,1761542358.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:19.077Z,1761542359.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762289,-0.640488,-0.093218],[0.647050,0.750672,0.133483],[-0.015518,-0.162070,0.986657]] 2025-10-27T05:19:19.096Z,1761542359.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:19.466Z,1761542359.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762755,-0.639809,-0.094068],[0.646520,0.751134,0.133452],[-0.014726,-0.162608,0.986581]] 2025-10-27T05:19:19.482Z,1761542359.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:19:19.496Z,1761542359.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:19.620Z,1761542359.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:19:19.620Z,1761542359.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:19:19.872Z,1761542359.872 [DAT](INFO): DAT read: user:358> 2025-10-27T05:19:19.873Z,1761542359.873 [DAT](INFO): DAT read: Tx time:05:19:18.9245 2025-10-27T05:19:19.873Z,1761542359.873 [DAT](INFO): Ping request sent. 2025-10-27T05:19:19.873Z,1761542359.873 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:19:19.873Z,1761542359.873 [DAT](INFO): publishing transmit ping time 2025-10-27T05:19:19.874Z,1761542359.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-27T05:19:19.973Z,1761542359.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:20.124Z,1761542360.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250788 2025-10-27T05:19:20.303Z,1761542360.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764278,-0.637672,-0.096197],[0.644754,0.752543,0.134061],[-0.013095,-0.164483,0.986293]] 2025-10-27T05:19:20.322Z,1761542360.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:20.376Z,1761542360.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502959 2025-10-27T05:19:20.632Z,1761542360.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758618 2025-10-27T05:19:20.785Z,1761542360.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:20.880Z,1761542360.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007294 2025-10-27T05:19:21.132Z,1761542361.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258982 2025-10-27T05:19:21.146Z,1761542361.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765894,-0.635411,-0.098281],[0.642855,0.753910,0.135486],[-0.011994,-0.166948,0.985893]] 2025-10-27T05:19:21.170Z,1761542361.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:21.384Z,1761542361.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863 2025-10-27T05:19:21.639Z,1761542361.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765698 2025-10-27T05:19:21.645Z,1761542361.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:21.888Z,1761542361.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015308 2025-10-27T05:19:22.051Z,1761542362.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768301,-0.632050,-0.101131],[0.640007,0.756013,0.137245],[-0.010289,-0.170170,0.985361]] 2025-10-27T05:19:22.108Z,1761542362.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:22.141Z,1761542362.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267158 2025-10-27T05:19:22.393Z,1761542362.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519590 2025-10-27T05:19:22.430Z,1761542362.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769177,-0.630859,-0.101899],[0.638957,0.756743,0.138112],[-0.010018,-0.171341,0.985161]] 2025-10-27T05:19:22.466Z,1761542362.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:22.648Z,1761542362.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773445 2025-10-27T05:19:22.837Z,1761542362.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769801,-0.630094,-0.101921],[0.638210,0.757405,0.137933],[-0.009715,-0.171229,0.985183]] 2025-10-27T05:19:22.896Z,1761542362.896 [DAT](INFO): DAT read: Rx Time:05:19:21.4659 2025-10-27T05:19:22.896Z,1761542362.896 [DAT](INFO): Rx dataTimestamp_ set to:1761542362.896119 2025-10-27T05:19:22.897Z,1761542362.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023894 2025-10-27T05:19:22.957Z,1761542362.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:23.148Z,1761542363.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274827 2025-10-27T05:19:23.279Z,1761542363.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770238,-0.629460,-0.102538],[0.637689,0.757789,0.138234],[-0.009311,-0.171861,0.985077]] 2025-10-27T05:19:23.376Z,1761542363.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:23.408Z,1761542363.408 [DAT](INFO): DAT read: 05:19:21.4659 LVL= 32752, 30657, 32754, 32755, AGC= 70, IDX= 505, 0.44,-1.719, 0.274,-1.261,-0.973, PHS=-0.644, 1.292,-0.332, RAW= 321.3, -3.6, CAL= 320.4, -6.7, ROT= 189.6, 6.7 2025-10-27T05:19:23.410Z,1761542363.410 [DAT](INFO): got valid direction response: 05:19:21.4659 LVL= 32752, 30657, 32754, 32755, AGC= 70, IDX= 505, 0.44,-1.719, 0.274,-1.261,-0.973, PHS=-0.644, 1.292,-0.332, RAW= 321.3, -3.6, CAL= 320.4, -6.7, ROT= 189.6, 6.7 2025-10-27T05:19:23.410Z,1761542363.410 [DAT](INFO): DAT read: $Error in header 2025-10-27T05:19:23.411Z,1761542363.411 [DAT](INFO): Received a bad header 2025-10-27T05:19:23.427Z,1761542363.427 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:19:23.429Z,1761542363.429 [DAT](INFO): direction in FSK: [-0.979262,-0.165630,-0.116671] 2025-10-27T05:19:23.689Z,1761542363.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770711,-0.628748,-0.103349],[0.637128,0.758267,0.138202],[-0.008528,-0.172360,0.984997]] 2025-10-27T05:19:23.760Z,1761542363.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:24.096Z,1761542364.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770495,-0.628878,-0.104164],[0.637403,0.758171,0.137457],[-0.007469,-0.172304,0.985015]] 2025-10-27T05:19:24.157Z,1761542364.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:24.494Z,1761542364.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770404,-0.628835,-0.105091],[0.637523,0.758165,0.136927],[-0.006428,-0.172487,0.984991]] 2025-10-27T05:19:24.521Z,1761542364.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:24.897Z,1761542364.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770080,-0.629084,-0.105968],[0.637926,0.758012,0.135900],[-0.005168,-0.172254,0.985039]] 2025-10-27T05:19:24.943Z,1761542364.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:25.302Z,1761542365.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769498,-0.629635,-0.106928],[0.638639,0.757666,0.134468],[-0.003650,-0.171761,0.985132]] 2025-10-27T05:19:25.321Z,1761542365.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:25.720Z,1761542365.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768473,-0.630826,-0.107274],[0.639880,0.757135,0.131528],[-0.001751,-0.169718,0.985491]] 2025-10-27T05:19:25.776Z,1761542365.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:26.138Z,1761542366.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767395,-0.632172,-0.107066],[0.641175,0.756591,0.128313],[-0.000111,-0.167115,0.985937]] 2025-10-27T05:19:26.157Z,1761542366.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:26.514Z,1761542366.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765995,-0.633814,-0.107381],[0.642844,0.755680,0.125295],[0.001731,-0.165005,0.986291]] 2025-10-27T05:19:26.557Z,1761542366.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:26.918Z,1761542366.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764560,-0.635459,-0.107889],[0.644543,0.754691,0.122496],[0.003581,-0.163195,0.986587]] 2025-10-27T05:19:26.977Z,1761542366.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:27.323Z,1761542367.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763029,-0.637262,-0.108092],[0.646342,0.753635,0.119481],[0.005321,-0.161032,0.986935]] 2025-10-27T05:19:27.342Z,1761542367.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:27.744Z,1761542367.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761649,-0.638821,-0.108623],[0.647951,0.752656,0.116909],[0.007072,-0.159426,0.987185]] 2025-10-27T05:19:27.781Z,1761542367.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:28.130Z,1761542368.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760715,-0.639740,-0.109747],[0.649028,0.751940,0.115537],[0.008609,-0.159120,0.987222]] 2025-10-27T05:19:28.148Z,1761542368.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:28.538Z,1761542368.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759541,-0.640964,-0.110738],[0.650377,0.751061,0.113652],[0.010324,-0.158345,0.987330]] 2025-10-27T05:19:28.570Z,1761542368.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:28.762Z,1761542368.762 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:19:28.940Z,1761542368.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758201,-0.642377,-0.111723],[0.651906,0.750072,0.111402],[0.012238,-0.157298,0.987475]] 2025-10-27T05:19:28.978Z,1761542368.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:29.342Z,1761542369.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757137,-0.643444,-0.112798],[0.653105,0.749299,0.109561],[0.014023,-0.156622,0.987559]] 2025-10-27T05:19:29.371Z,1761542369.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:29.763Z,1761542369.763 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:19:29.766Z,1761542369.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756081,-0.644423,-0.114278],[0.654285,0.748479,0.108120],[0.015859,-0.156518,0.987548]] 2025-10-27T05:19:29.810Z,1761542369.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:29.951Z,1761542369.951 [DAT](INFO): Reached modem response timeout 2025-10-27T05:19:30.154Z,1761542370.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755598,-0.644731,-0.115730],[0.654803,0.748148,0.107269],[0.017423,-0.156833,0.987472]] 2025-10-27T05:19:30.173Z,1761542370.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:30.565Z,1761542370.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755126,-0.645021,-0.117189],[0.655303,0.747848,0.106310],[0.019067,-0.157072,0.987403]] 2025-10-27T05:19:30.584Z,1761542370.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:30.957Z,1761542370.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754814,-0.644920,-0.119722],[0.655614,0.747509,0.106775],[0.020632,-0.159087,0.987049]] 2025-10-27T05:19:31.002Z,1761542371.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:31.362Z,1761542371.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754725,-0.644777,-0.121052],[0.655671,0.747547,0.106154],[0.022047,-0.159487,0.986954]] 2025-10-27T05:19:31.398Z,1761542371.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:31.864Z,1761542371.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755133,-0.643924,-0.123029],[0.655154,0.747944,0.106552],[0.023407,-0.161064,0.986666]] 2025-10-27T05:19:31.930Z,1761542371.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:32.220Z,1761542372.220 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:19:32.220Z,1761542372.220 [DAT](INFO): response not received 2025-10-27T05:19:32.220Z,1761542372.220 [DAT](ERROR): No response from remote modem. 2025-10-27T05:19:32.237Z,1761542372.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756098,-0.642261,-0.125760],[0.653994,0.748717,0.108235],[0.024644,-0.164083,0.986139]] 2025-10-27T05:19:32.256Z,1761542372.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:32.695Z,1761542372.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:33.102Z,1761542373.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:33.445Z,1761542373.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757908,-0.639328,-0.129750],[0.651753,0.750660,0.108289],[0.028166,-0.166639,0.985616]] 2025-10-27T05:19:33.465Z,1761542373.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:33.641Z,1761542373.641 [CTD_Seabird](ERROR): Failed to parse device response: 64.66,10.88142,2758.69 2025-10-27T05:19:33.850Z,1761542373.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758921,-0.637864,-0.131026],[0.650527,0.751679,0.108601],[0.029217,-0.167655,0.985413]] 2025-10-27T05:19:33.907Z,1761542373.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:34.256Z,1761542374.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759643,-0.636887,-0.131593],[0.649636,0.752537,0.107986],[0.030254,-0.167518,0.985405]] 2025-10-27T05:19:34.275Z,1761542374.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:34.661Z,1761542374.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760894,-0.635192,-0.132557],[0.648122,0.753827,0.108085],[0.031271,-0.168155,0.985265]] 2025-10-27T05:19:34.693Z,1761542374.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:35.068Z,1761542375.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761919,-0.633705,-0.133782],[0.646868,0.754857,0.108413],[0.032284,-0.169141,0.985063]] 2025-10-27T05:19:35.113Z,1761542375.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:35.466Z,1761542375.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762425,-0.632830,-0.135034],[0.646207,0.755449,0.108229],[0.033521,-0.169776,0.984912]] 2025-10-27T05:19:35.486Z,1761542375.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:35.871Z,1761542375.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763288,-0.631574,-0.136033],[0.645146,0.756307,0.108565],[0.034316,-0.170628,0.984738]] 2025-10-27T05:19:35.998Z,1761542375.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:36.444Z,1761542376.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764306,-0.630355,-0.135975],[0.643818,0.757868,0.105519],[0.036536,-0.168192,0.985077]] 2025-10-27T05:19:36.477Z,1761542376.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:36.944Z,1761542376.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764518,-0.630199,-0.135505],[0.643511,0.758397,0.103571],[0.037496,-0.166381,0.985348]] 2025-10-27T05:19:37.005Z,1761542377.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:37.471Z,1761542377.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764612,-0.630029,-0.135762],[0.643344,0.758686,0.102493],[0.038427,-0.165709,0.985426]] 2025-10-27T05:19:37.501Z,1761542377.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:37.887Z,1761542377.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764405,-0.630162,-0.136314],[0.643536,0.758630,0.101692],[0.039330,-0.165457,0.985433]] 2025-10-27T05:19:37.930Z,1761542377.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:38.281Z,1761542378.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764269,-0.630358,-0.136164],[0.643663,0.758668,0.100607],[0.039885,-0.164535,0.985564]] 2025-10-27T05:19:38.299Z,1761542378.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:38.686Z,1761542378.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763633,-0.631048,-0.136539],[0.644367,0.758207,0.099567],[0.040693,-0.164014,0.985618]] 2025-10-27T05:19:38.736Z,1761542378.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:39.086Z,1761542379.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762689,-0.632219,-0.136403],[0.645457,0.757437,0.098359],[0.041133,-0.163059,0.985758]] 2025-10-27T05:19:39.147Z,1761542379.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:39.491Z,1761542379.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762133,-0.632937,-0.136172],[0.646102,0.756981,0.097629],[0.041287,-0.162387,0.985863]] 2025-10-27T05:19:39.509Z,1761542379.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:39.916Z,1761542379.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760890,-0.634727,-0.134790],[0.647565,0.756008,0.095454],[0.041315,-0.159915,0.986266]] 2025-10-27T05:19:39.979Z,1761542379.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:40.298Z,1761542380.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759974,-0.635745,-0.135160],[0.648588,0.755273,0.094322],[0.042118,-0.159345,0.986324]] 2025-10-27T05:19:40.333Z,1761542380.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:40.709Z,1761542380.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759131,-0.636668,-0.135555],[0.649540,0.754534,0.093682],[0.042637,-0.159165,0.986331]] 2025-10-27T05:19:40.753Z,1761542380.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:41.132Z,1761542381.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758641,-0.637092,-0.136296],[0.650071,0.754108,0.093431],[0.043258,-0.159483,0.986252]] 2025-10-27T05:19:41.184Z,1761542381.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:41.556Z,1761542381.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:41.943Z,1761542381.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757061,-0.638727,-0.137424],[0.651832,0.752711,0.092417],[0.044411,-0.159542,0.986192]] 2025-10-27T05:19:42.005Z,1761542382.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:42.320Z,1761542382.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756574,-0.639144,-0.138169],[0.652353,0.752296,0.092124],[0.045063,-0.159834,0.986115]] 2025-10-27T05:19:42.344Z,1761542382.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:42.738Z,1761542382.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756280,-0.639190,-0.139558],[0.652658,0.751942,0.092853],[0.045589,-0.161306,0.985851]] 2025-10-27T05:19:42.758Z,1761542382.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:43.126Z,1761542383.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755751,-0.639469,-0.141138],[0.653223,0.751372,0.093487],[0.046265,-0.162847,0.985566]] 2025-10-27T05:19:43.169Z,1761542383.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:43.542Z,1761542383.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755323,-0.639677,-0.142481],[0.653670,0.750930,0.093906],[0.046924,-0.164065,0.985333]] 2025-10-27T05:19:43.576Z,1761542383.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:43.969Z,1761542383.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754901,-0.640068,-0.142956],[0.654109,0.750625,0.093294],[0.047592,-0.163936,0.985322]] 2025-10-27T05:19:44.058Z,1761542384.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:44.392Z,1761542384.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754562,-0.640391,-0.143299],[0.654438,0.750461,0.092297],[0.048434,-0.163425,0.985366]] 2025-10-27T05:19:44.411Z,1761542384.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:44.790Z,1761542384.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754488,-0.640633,-0.142609],[0.654494,0.750590,0.090841],[0.048845,-0.161875,0.985602]] 2025-10-27T05:19:44.817Z,1761542384.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:45.192Z,1761542385.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754715,-0.640567,-0.141698],[0.654227,0.750951,0.089772],[0.048904,-0.160455,0.985831]] 2025-10-27T05:19:45.238Z,1761542385.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:45.673Z,1761542385.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755231,-0.640079,-0.141151],[0.653622,0.751553,0.089142],[0.049025,-0.159582,0.985967]] 2025-10-27T05:19:45.726Z,1761542385.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:46.154Z,1761542386.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:46.594Z,1761542386.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756209,-0.638641,-0.142428],[0.652463,0.752402,0.090458],[0.049393,-0.161334,0.985663]] 2025-10-27T05:19:46.614Z,1761542386.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:47.032Z,1761542387.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756924,-0.637824,-0.142288],[0.651652,0.753046,0.090945],[0.049143,-0.161560,0.985638]] 2025-10-27T05:19:47.090Z,1761542387.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:47.402Z,1761542387.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757755,-0.636823,-0.142356],[0.650715,0.753739,0.091913],[0.048767,-0.162281,0.985539]] 2025-10-27T05:19:47.420Z,1761542387.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:47.801Z,1761542387.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758711,-0.635711,-0.142229],[0.649642,0.754533,0.092983],[0.048207,-0.162945,0.985457]] 2025-10-27T05:19:47.829Z,1761542387.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:48.205Z,1761542388.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759862,-0.634150,-0.143049],[0.648337,0.755368,0.095285],[0.047629,-0.165147,0.985118]] 2025-10-27T05:19:48.249Z,1761542388.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:48.610Z,1761542388.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760869,-0.632916,-0.143163],[0.647180,0.756225,0.096342],[0.047287,-0.165956,0.984999]] 2025-10-27T05:19:48.630Z,1761542388.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:49.106Z,1761542389.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:49.427Z,1761542389.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762923,-0.630720,-0.141918],[0.644849,0.758052,0.097607],[0.046018,-0.165982,0.985054]] 2025-10-27T05:19:49.499Z,1761542389.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:49.826Z,1761542389.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763664,-0.629854,-0.141779],[0.643992,0.758710,0.098155],[0.045746,-0.166262,0.985020]] 2025-10-27T05:19:49.878Z,1761542389.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:50.294Z,1761542390.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:50.636Z,1761542390.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764972,-0.628614,-0.140225],[0.642503,0.759962,0.098225],[0.044820,-0.165234,0.985235]] 2025-10-27T05:19:50.691Z,1761542390.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:51.082Z,1761542391.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766003,-0.627612,-0.139079],[0.641338,0.760884,0.098698],[0.043879,-0.164800,0.985351]] 2025-10-27T05:19:51.173Z,1761542391.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:51.442Z,1761542391.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766328,-0.627330,-0.138558],[0.640994,0.761106,0.099217],[0.043215,-0.164848,0.985372]] 2025-10-27T05:19:51.473Z,1761542391.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:51.845Z,1761542391.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766821,-0.626876,-0.137882],[0.640450,0.761507,0.099650],[0.042530,-0.164720,0.985423]] 2025-10-27T05:19:51.865Z,1761542391.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:52.249Z,1761542392.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767215,-0.626675,-0.136598],[0.640033,0.761872,0.099543],[0.041688,-0.163798,0.985613]] 2025-10-27T05:19:52.296Z,1761542392.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:52.692Z,1761542392.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:53.080Z,1761542393.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767340,-0.626816,-0.135246],[0.639964,0.761886,0.099875],[0.040439,-0.163191,0.985765]] 2025-10-27T05:19:53.154Z,1761542393.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:53.461Z,1761542393.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767141,-0.627230,-0.134447],[0.640232,0.761701,0.099569],[0.039956,-0.162461,0.985906]] 2025-10-27T05:19:53.488Z,1761542393.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:53.861Z,1761542393.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767246,-0.627239,-0.133810],[0.640144,0.761752,0.099749],[0.039364,-0.162189,0.985974]] 2025-10-27T05:19:53.890Z,1761542393.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:54.265Z,1761542394.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767076,-0.627729,-0.132482],[0.640404,0.761566,0.099497],[0.038437,-0.161164,0.986179]] 2025-10-27T05:19:54.313Z,1761542394.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:54.670Z,1761542394.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766775,-0.628403,-0.131022],[0.640816,0.761291,0.098948],[0.037567,-0.159832,0.986429]] 2025-10-27T05:19:54.689Z,1761542394.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:55.083Z,1761542395.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766287,-0.629268,-0.129717],[0.641448,0.760821,0.098471],[0.036726,-0.158664,0.986649]] 2025-10-27T05:19:55.164Z,1761542395.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:55.477Z,1761542395.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766189,-0.629498,-0.129178],[0.641620,0.760568,0.099299],[0.035740,-0.158965,0.986637]] 2025-10-27T05:19:55.538Z,1761542395.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:55.882Z,1761542395.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766124,-0.629601,-0.129058],[0.641750,0.760290,0.100581],[0.034796,-0.159881,0.986523]] 2025-10-27T05:19:55.926Z,1761542395.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:56.340Z,1761542396.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:56.693Z,1761542396.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765194,-0.630745,-0.128994],[0.642945,0.759005,0.102633],[0.033172,-0.161471,0.986320]] 2025-10-27T05:19:56.719Z,1761542396.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:57.094Z,1761542397.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765085,-0.630988,-0.128449],[0.643114,0.758795,0.103127],[0.032395,-0.161508,0.986340]] 2025-10-27T05:19:57.174Z,1761542397.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:57.495Z,1761542397.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765206,-0.630908,-0.128122],[0.643015,0.758735,0.104175],[0.031486,-0.162100,0.986272]] 2025-10-27T05:19:57.566Z,1761542397.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:57.902Z,1761542397.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765548,-0.630568,-0.127753],[0.642644,0.758936,0.105000],[0.030746,-0.162482,0.986232]] 2025-10-27T05:19:57.928Z,1761542397.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:58.304Z,1761542398.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765969,-0.630149,-0.127296],[0.642182,0.759200,0.105916],[0.029900,-0.162876,0.986193]] 2025-10-27T05:19:58.341Z,1761542398.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:58.717Z,1761542398.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765999,-0.630263,-0.126545],[0.642183,0.759147,0.106283],[0.029080,-0.162678,0.986251]] 2025-10-27T05:19:58.742Z,1761542398.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:59.110Z,1761542399.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766518,-0.629663,-0.126392],[0.641589,0.759527,0.107155],[0.028527,-0.163228,0.986176]] 2025-10-27T05:19:59.162Z,1761542399.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:59.577Z,1761542399.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:19:59.895Z,1761542399.895 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:19:59.929Z,1761542399.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767616,-0.628583,-0.125096],[0.640334,0.760447,0.108132],[0.027159,-0.163107,0.986234]] 2025-10-27T05:19:59.948Z,1761542399.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:00.374Z,1761542400.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:00.734Z,1761542400.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768436,-0.627720,-0.124393],[0.639395,0.761076,0.109258],[0.026089,-0.163494,0.986199]] 2025-10-27T05:20:00.769Z,1761542400.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:00.899Z,1761542400.899 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:20:01.249Z,1761542401.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:01.541Z,1761542401.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769889,-0.626218,-0.122970],[0.637709,0.762286,0.110662],[0.024440,-0.163617,0.986221]] 2025-10-27T05:20:01.578Z,1761542401.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:01.937Z,1761542401.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770209,-0.626037,-0.121885],[0.637354,0.762575,0.110724],[0.023629,-0.162964,0.986349]] 2025-10-27T05:20:01.970Z,1761542401.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:02.342Z,1761542402.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770500,-0.625911,-0.120685],[0.637030,0.762866,0.110578],[0.022854,-0.162081,0.986513]] 2025-10-27T05:20:02.450Z,1761542402.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:02.754Z,1761542402.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770559,-0.626016,-0.119761],[0.636986,0.762886,0.110695],[0.022067,-0.161583,0.986612]] 2025-10-27T05:20:02.779Z,1761542402.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:03.150Z,1761542403.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770666,-0.626167,-0.118277],[0.636896,0.762962,0.110694],[0.020928,-0.160638,0.986791]] 2025-10-27T05:20:03.181Z,1761542403.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:03.554Z,1761542403.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771000,-0.625897,-0.117521],[0.636531,0.763092,0.111886],[0.019651,-0.161070,0.986747]] 2025-10-27T05:20:03.622Z,1761542403.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:03.966Z,1761542403.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771484,-0.625589,-0.115977],[0.635981,0.763528,0.112041],[0.018461,-0.160197,0.986912]] 2025-10-27T05:20:03.985Z,1761542403.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:04.367Z,1761542404.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771563,-0.625674,-0.114988],[0.635913,0.763529,0.112418],[0.017460,-0.159860,0.986985]] 2025-10-27T05:20:04.447Z,1761542404.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:04.771Z,1761542404.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771246,-0.626214,-0.114174],[0.636317,0.763193,0.112411],[0.016744,-0.159347,0.987081]] 2025-10-27T05:20:04.805Z,1761542404.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:05.173Z,1761542405.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771032,-0.626607,-0.113457],[0.636596,0.762921,0.112682],[0.015951,-0.159108,0.987132]] 2025-10-27T05:20:05.211Z,1761542405.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:05.580Z,1761542405.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771021,-0.626643,-0.113334],[0.636625,0.762777,0.113490],[0.015331,-0.159654,0.987054]] 2025-10-27T05:20:05.641Z,1761542405.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:05.981Z,1761542405.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770388,-0.627187,-0.114622],[0.637398,0.761865,0.115266],[0.015033,-0.161859,0.986699]] 2025-10-27T05:20:06.028Z,1761542406.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:06.385Z,1761542406.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769758,-0.627850,-0.115226],[0.638167,0.761069,0.116260],[0.014701,-0.163025,0.986512]] 2025-10-27T05:20:06.437Z,1761542406.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:06.846Z,1761542406.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768053,-0.629997,-0.114881],[0.640233,0.759335,0.116240],[0.014003,-0.162829,0.986555]] 2025-10-27T05:20:06.866Z,1761542406.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:07.227Z,1761542407.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:07.607Z,1761542407.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766114,-0.632656,-0.113204],[0.642570,0.757582,0.114774],[0.013149,-0.160671,0.986920]] 2025-10-27T05:20:07.644Z,1761542407.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:08.014Z,1761542408.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765015,-0.634349,-0.111145],[0.643890,0.756751,0.112845],[0.012526,-0.157893,0.987377]] 2025-10-27T05:20:08.046Z,1761542408.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:08.411Z,1761542408.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763924,-0.636247,-0.107750],[0.645190,0.756235,0.108807],[0.012256,-0.152639,0.988206]] 2025-10-27T05:20:08.476Z,1761542408.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:08.818Z,1761542408.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762812,-0.638085,-0.104712],[0.646503,0.755694,0.104692],[0.012328,-0.147557,0.988977]] 2025-10-27T05:20:08.841Z,1761542408.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:09.218Z,1761542409.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762084,-0.639166,-0.103417],[0.647363,0.755180,0.103078],[0.012215,-0.145502,0.989282]] 2025-10-27T05:20:09.244Z,1761542409.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:09.622Z,1761542409.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761775,-0.639688,-0.102460],[0.647728,0.755018,0.101959],[0.012137,-0.144036,0.989498]] 2025-10-27T05:20:09.666Z,1761542409.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:10.036Z,1761542410.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761634,-0.639914,-0.102092],[0.647902,0.754842,0.102164],[0.011687,-0.143958,0.989515]] 2025-10-27T05:20:10.057Z,1761542410.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:10.432Z,1761542410.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761932,-0.639368,-0.103286],[0.647550,0.754950,0.103581],[0.011749,-0.145805,0.989244]] 2025-10-27T05:20:10.472Z,1761542410.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:10.837Z,1761542410.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762151,-0.638871,-0.104739],[0.647286,0.755005,0.104819],[0.012113,-0.147684,0.988960]] 2025-10-27T05:20:10.868Z,1761542410.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:11.237Z,1761542411.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762482,-0.637966,-0.107795],[0.646888,0.754905,0.107952],[0.012505,-0.152043,0.988295]] 2025-10-27T05:20:11.256Z,1761542411.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:11.642Z,1761542411.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763006,-0.636856,-0.110618],[0.646264,0.755001,0.110977],[0.012840,-0.156164,0.987648]] 2025-10-27T05:20:11.746Z,1761542411.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:12.085Z,1761542412.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:12.450Z,1761542412.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764238,-0.634653,-0.114698],[0.644805,0.755458,0.116232],[0.012882,-0.162787,0.986577]] 2025-10-27T05:20:12.506Z,1761542412.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:12.858Z,1761542412.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764780,-0.633647,-0.116631],[0.644159,0.755653,0.118523],[0.013030,-0.165773,0.986078]] 2025-10-27T05:20:12.897Z,1761542412.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:13.258Z,1761542413.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765018,-0.633349,-0.116688],[0.643884,0.755766,0.119290],[0.012637,-0.166393,0.985979]] 2025-10-27T05:20:13.277Z,1761542413.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:13.663Z,1761542413.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765210,-0.633138,-0.116576],[0.643662,0.755904,0.119620],[0.012385,-0.166570,0.985952]] 2025-10-27T05:20:13.702Z,1761542413.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:14.066Z,1761542414.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765842,-0.632442,-0.116205],[0.642912,0.756545,0.119596],[0.012277,-0.166302,0.985999]] 2025-10-27T05:20:14.104Z,1761542414.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:14.566Z,1761542414.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:14.875Z,1761542414.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766253,-0.631982,-0.116001],[0.642427,0.756911,0.119893],[0.012032,-0.166390,0.985987]] 2025-10-27T05:20:14.894Z,1761542414.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:15.280Z,1761542415.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766478,-0.631843,-0.115263],[0.642158,0.757259,0.119127],[0.012015,-0.165325,0.986166]] 2025-10-27T05:20:15.356Z,1761542415.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:15.682Z,1761542415.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766792,-0.631676,-0.114083],[0.641786,0.757733,0.118116],[0.011833,-0.163787,0.986425]] 2025-10-27T05:20:15.761Z,1761542415.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:16.086Z,1761542416.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766886,-0.631547,-0.114162],[0.641674,0.757808,0.118243],[0.011837,-0.163934,0.986400]] 2025-10-27T05:20:16.131Z,1761542416.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:16.502Z,1761542416.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766875,-0.631479,-0.114616],[0.641682,0.757778,0.118390],[0.012093,-0.164338,0.986330]] 2025-10-27T05:20:16.569Z,1761542416.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:16.894Z,1761542416.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767086,-0.631292,-0.114233],[0.641429,0.758073,0.117875],[0.012183,-0.163693,0.986436]] 2025-10-27T05:20:16.926Z,1761542416.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:17.333Z,1761542417.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:17.705Z,1761542417.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766938,-0.631614,-0.113444],[0.641596,0.758204,0.116112],[0.012676,-0.161836,0.986736]] 2025-10-27T05:20:17.758Z,1761542417.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:18.107Z,1761542418.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767155,-0.631408,-0.113124],[0.641337,0.758466,0.115830],[0.012665,-0.161410,0.986806]] 2025-10-27T05:20:18.127Z,1761542418.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:18.526Z,1761542418.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767332,-0.631092,-0.113688],[0.641124,0.758542,0.116509],[0.012710,-0.162289,0.986661]] 2025-10-27T05:20:18.590Z,1761542418.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:18.914Z,1761542418.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767356,-0.630878,-0.114707],[0.641093,0.758406,0.117563],[0.012827,-0.163750,0.986418]] 2025-10-27T05:20:18.932Z,1761542418.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:19.318Z,1761542419.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767516,-0.630289,-0.116849],[0.640894,0.758243,0.119678],[0.013168,-0.166742,0.985913]] 2025-10-27T05:20:19.337Z,1761542419.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:19.732Z,1761542419.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767547,-0.630356,-0.116287],[0.640849,0.758470,0.118468],[0.013523,-0.165452,0.986125]] 2025-10-27T05:20:19.767Z,1761542419.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:19.769Z,1761542419.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:19.884Z,1761542419.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:20:19.884Z,1761542419.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:20.126Z,1761542420.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767349,-0.630910,-0.114582],[0.641074,0.758763,0.115343],[0.014170,-0.161964,0.986695]] 2025-10-27T05:20:20.136Z,1761542420.136 [DAT](INFO): DAT read: 2025-10-27T05:20:20.137Z,1761542420.137 [DAT](INFO): DAT read: Tx time:05:20:19.1744 2025-10-27T05:20:20.137Z,1761542420.137 [DAT](INFO): Ping request sent. 2025-10-27T05:20:20.137Z,1761542420.137 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:20.137Z,1761542420.137 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:20.138Z,1761542420.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-27T05:20:20.173Z,1761542420.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:20.389Z,1761542420.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251196 2025-10-27T05:20:20.530Z,1761542420.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767082,-0.631252,-0.114485],[0.641383,0.758640,0.114424],[0.014623,-0.161201,0.986813]] 2025-10-27T05:20:20.590Z,1761542420.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:20.641Z,1761542420.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503595 2025-10-27T05:20:20.892Z,1761542420.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919 2025-10-27T05:20:20.939Z,1761542420.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766976,-0.631125,-0.115885],[0.641495,0.758444,0.115094],[0.015253,-0.162614,0.986572]] 2025-10-27T05:20:20.957Z,1761542420.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:21.145Z,1761542421.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007802 2025-10-27T05:20:21.338Z,1761542421.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767135,-0.630556,-0.117913],[0.641293,0.758347,0.116845],[0.015742,-0.165252,0.986126]] 2025-10-27T05:20:21.364Z,1761542421.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:21.397Z,1761542421.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259580 2025-10-27T05:20:21.648Z,1761542421.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932 2025-10-27T05:20:21.750Z,1761542421.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766990,-0.630555,-0.118854],[0.641451,0.758182,0.117047],[0.016308,-0.166013,0.985989]] 2025-10-27T05:20:21.794Z,1761542421.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:21.900Z,1761542421.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762869 2025-10-27T05:20:22.145Z,1761542422.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767246,-0.629963,-0.120337],[0.641145,0.758159,0.118864],[0.016355,-0.168351,0.985591]] 2025-10-27T05:20:22.152Z,1761542422.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014838 2025-10-27T05:20:22.169Z,1761542422.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:22.404Z,1761542422.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267073 2025-10-27T05:20:22.554Z,1761542422.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767309,-0.629922,-0.120148],[0.641065,0.758292,0.118442],[0.016498,-0.167905,0.985665]] 2025-10-27T05:20:22.594Z,1761542422.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:22.657Z,1761542422.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519303 2025-10-27T05:20:22.908Z,1761542422.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770856 2025-10-27T05:20:22.953Z,1761542422.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767868,-0.629436,-0.119118],[0.640407,0.758897,0.118130],[0.016043,-0.166992,0.985828]] 2025-10-27T05:20:22.985Z,1761542422.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:23.160Z,1761542423.160 [DAT](INFO): DAT read: Rx Time:05:20:21.7730 2025-10-27T05:20:23.160Z,1761542423.160 [DAT](INFO): Rx dataTimestamp_ set to:1761542423.160176 2025-10-27T05:20:23.161Z,1761542423.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024026 2025-10-27T05:20:23.357Z,1761542423.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767989,-0.629688,-0.116985],[0.640300,0.758991,0.118106],[0.014421,-0.165610,0.986086]] 2025-10-27T05:20:23.395Z,1761542423.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-27T05:20:23.413Z,1761542423.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276280 2025-10-27T05:20:23.669Z,1761542423.669 [DAT](INFO): DAT read: 05:20:21.7730 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500,-0.14,-0.538, 1.479, 0.018, 0.246, PHS=-0.681, 1.278,-0.271, RAW= 318.6, -3.7, CAL= 317.5, -6.9, ROT= 192.5, 6.9 2025-10-27T05:20:23.670Z,1761542423.670 [DAT](INFO): got valid direction response: 05:20:21.7730 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 500,-0.14,-0.538, 1.479, 0.018, 0.246, PHS=-0.681, 1.278,-0.271, RAW= 318.6, -3.7, CAL= 317.5, -6.9, ROT= 192.5, 6.9 2025-10-27T05:20:23.671Z,1761542423.671 [DAT](INFO): DAT read: Bearing 14.5, -11.6 (Local) 2025-10-27T05:20:23.672Z,1761542423.672 [DAT](INFO): Local bearing/azimuth received: Bearing 14.5, -11.6 (Local) 2025-10-27T05:20:23.673Z,1761542423.673 [DAT](INFO): DAT read: Range 11 to 50 : 145.8 m (Round-trip 194.5 ms) speed -0.4 m/s 2025-10-27T05:20:23.674Z,1761542423.674 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:20:23.675Z,1761542423.675 [DAT](INFO): direction in FSK: [-0.969225,-0.214872,-0.120137] 2025-10-27T05:20:23.675Z,1761542423.675 [DAT](INFO): publishing direction and range info 2025-10-27T05:20:23.762Z,1761542423.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768000,-0.630152,-0.114387],[0.640333,0.758918,0.118390],[0.012207,-0.164169,0.986357]] 2025-10-27T05:20:23.838Z,1761542423.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 145.800003 m, deltaT: 120.547328 s, deltaX: 86.100006 m, approachRate: 0.714242 m/s, rangeRepo size: 4 2025-10-27T05:20:23.840Z,1761542423.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.065857 m, bearing: 233.278349 deg, lat: 36.779344 deg, lon: -121.859622 deg, deltaT: 120.547328 s, deltaX: 85.688431 m, approachRate: 0.710828 m/s, posRepo size: 4 2025-10-27T05:20:23.840Z,1761542423.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.07 m. 2025-10-27T05:20:23.841Z,1761542423.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 145.80 m. Resuming terminal guidance. 2025-10-27T05:20:23.841Z,1761542423.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T05:20:24.175Z,1761542424.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767611,-0.631160,-0.111403],[0.640839,0.758537,0.118101],[0.009963,-0.162047,0.986733]] 2025-10-27T05:20:24.191Z,1761542424.191 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T05:20:24.191Z,1761542424.191 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:20:24.192Z,1761542424.192 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T05:20:24.193Z,1761542424.193 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 145.800003 m (mode 1.000000 count ). 2025-10-27T05:20:24.193Z,1761542424.193 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T05:20:24.193Z,1761542424.193 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T05:20:24.590Z,1761542424.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766928,-0.632146,-0.110506],[0.641688,0.757453,0.120420],[0.007580,-0.163264,0.986553]] 2025-10-27T05:20:24.624Z,1761542424.624 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T05:20:24.624Z,1761542424.624 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T05:20:24.625Z,1761542424.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:24.672Z,1761542424.672 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:24.672Z,1761542424.672 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:24.673Z,1761542424.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:24.924Z,1761542424.924 [DAT](INFO): DAT read: user:360> 2025-10-27T05:20:24.925Z,1761542424.925 [DAT](INFO): DAT read: Tx time:05:20:23.9744 2025-10-27T05:20:24.925Z,1761542424.925 [DAT](INFO): Ping request sent. 2025-10-27T05:20:24.925Z,1761542424.925 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:24.925Z,1761542424.925 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:24.926Z,1761542424.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T05:20:25.041Z,1761542425.041 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T05:20:25.041Z,1761542425.041 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T05:20:25.176Z,1761542425.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250903 2025-10-27T05:20:25.382Z,1761542425.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764760,-0.635465,-0.106428],[0.644298,0.755442,0.119112],[0.004708,-0.159663,0.987160]] 2025-10-27T05:20:25.399Z,1761542425.399 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T05:20:25.399Z,1761542425.399 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:20:25.399Z,1761542425.399 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T05:20:25.399Z,1761542425.399 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:20:25.428Z,1761542425.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503121 2025-10-27T05:20:25.680Z,1761542425.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754837 2025-10-27T05:20:25.788Z,1761542425.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763932,-0.637163,-0.102137],[0.645282,0.755371,0.114133],[0.004430,-0.153097,0.988201]] 2025-10-27T05:20:25.936Z,1761542425.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011082 2025-10-27T05:20:26.184Z,1761542426.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258925 2025-10-27T05:20:26.202Z,1761542426.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764128,-0.637780,-0.096670],[0.645045,0.756656,0.106718],[0.005084,-0.143903,0.989579]] 2025-10-27T05:20:26.436Z,1761542426.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912 2025-10-27T05:20:26.616Z,1761542426.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766663,-0.634529,-0.097988],[0.642019,0.759149,0.107260],[0.006328,-0.145143,0.989391]] 2025-10-27T05:20:26.652Z,1761542426.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:26.688Z,1761542426.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860 2025-10-27T05:20:26.940Z,1761542426.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014926 2025-10-27T05:20:27.008Z,1761542427.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771197,-0.627756,-0.105721],[0.636543,0.762577,0.115279],[0.008253,-0.156198,0.987691]] 2025-10-27T05:20:27.192Z,1761542427.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841 2025-10-27T05:20:27.403Z,1761542427.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777355,-0.617982,-0.117547],[0.628970,0.766734,0.128510],[0.010711,-0.173831,0.984717]] 2025-10-27T05:20:27.444Z,1761542427.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519002 2025-10-27T05:20:27.696Z,1761542427.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770904 2025-10-27T05:20:27.805Z,1761542427.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785237,-0.605038,-0.131654],[0.619044,0.771809,0.145244],[0.013734,-0.195550,0.980598]] 2025-10-27T05:20:27.949Z,1761542427.949 [DAT](INFO): DAT read: Rx Time:05:20:26.6105 2025-10-27T05:20:27.949Z,1761542427.949 [DAT](INFO): Rx dataTimestamp_ set to:1761542427.949066 2025-10-27T05:20:27.950Z,1761542427.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024883 2025-10-27T05:20:28.200Z,1761542428.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274936 2025-10-27T05:20:28.211Z,1761542428.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795312,-0.588234,-0.146490],[0.605956,0.778284,0.164593],[0.017192,-0.219669,0.975423]] 2025-10-27T05:20:28.457Z,1761542428.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531548 2025-10-27T05:20:28.690Z,1761542428.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:28.712Z,1761542428.712 [DAT](INFO): DAT read: 05:20:26.6105 LVL= 32752, 30305, 32754, 32755, AGC= 68, IDX= 292,-0.01,-1.023, 1.004,-0.466,-0.180, PHS=-0.741, 1.229,-0.330, RAW= 318.6, -1.8, CAL= 317.3, -4.9, ROT= 192.7, 4.9 2025-10-27T05:20:28.714Z,1761542428.714 [DAT](INFO): got valid direction response: 05:20:26.6105 LVL= 32752, 30305, 32754, 32755, AGC= 68, IDX= 292,-0.01,-1.023, 1.004,-0.466,-0.180, PHS=-0.741, 1.229,-0.330, RAW= 318.6, -1.8, CAL= 317.3, -4.9, ROT= 192.7, 4.9 2025-10-27T05:20:28.715Z,1761542428.715 [DAT](INFO): DAT read: Bearing 11.2, -12.1 (Local) 2025-10-27T05:20:28.716Z,1761542428.716 [DAT](INFO): Local bearing/azimuth received: Bearing 11.2, -12.1 (Local) 2025-10-27T05:20:28.717Z,1761542428.717 [DAT](INFO): DAT read: Range 11 to 50 : 174.0 m (Round-trip 232.0 ms) speed -0.8 m/s 2025-10-27T05:20:28.718Z,1761542428.718 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:20:28.736Z,1761542428.736 [DAT](INFO): direction in FSK: [-0.971969,-0.219043,-0.085417] 2025-10-27T05:20:28.736Z,1761542428.736 [DAT](INFO): publishing direction and range info 2025-10-27T05:20:28.740Z,1761542428.740 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:28.740Z,1761542428.740 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:28.740Z,1761542428.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:28.957Z,1761542428.957 [DAT](INFO): DAT read: user:361> 2025-10-27T05:20:28.958Z,1761542428.958 [DAT](INFO): DAT read: Tx time:05:20:28.0259 2025-10-27T05:20:28.959Z,1761542428.959 [DAT](INFO): Ping request sent. 2025-10-27T05:20:28.959Z,1761542428.959 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:28.960Z,1761542428.960 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:28.961Z,1761542428.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001159 2025-10-27T05:20:29.088Z,1761542429.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 174.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T05:20:29.090Z,1761542429.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.102676 m, bearing: 230.764385 deg, lat: 36.779344 deg, lon: -121.859679 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T05:20:29.091Z,1761542429.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:29.094Z,1761542429.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 151.025146 m, bearing: 226.599179 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 220.793062 deg, new cmd heading: 226.599179 deg. 2025-10-27T05:20:29.094Z,1761542429.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954902 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:29.210Z,1761542429.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250363 2025-10-27T05:20:29.460Z,1761542429.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500372 2025-10-27T05:20:29.501Z,1761542429.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:29.505Z,1761542429.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 151.289932 m, bearing: 226.598656 deg, approach rate: 0.640397 m/s, LOS rate: -0.001261 deg/s, cmd heading: 226.599176 deg, new cmd heading: 226.598656 deg. 2025-10-27T05:20:29.506Z,1761542429.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954893 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:29.713Z,1761542429.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753095 2025-10-27T05:20:29.855Z,1761542429.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845210,-0.502996,-0.180598],[0.533543,0.813676,0.230790],[0.030862,-0.291422,0.956096]] 2025-10-27T05:20:29.901Z,1761542429.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:29.904Z,1761542429.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 151.549240 m, bearing: 226.592333 deg, approach rate: 0.647144 m/s, LOS rate: -0.015753 deg/s, cmd heading: 226.598656 deg, new cmd heading: 226.592333 deg. 2025-10-27T05:20:29.905Z,1761542429.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954782 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:29.965Z,1761542429.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005492 2025-10-27T05:20:30.216Z,1761542430.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256517 2025-10-27T05:20:30.258Z,1761542430.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857155,-0.481345,-0.183282],[0.513890,0.823185,0.241418],[0.034669,-0.301119,0.952956]] 2025-10-27T05:20:30.298Z,1761542430.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:30.301Z,1761542430.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 151.795761 m, bearing: 226.584099 deg, approach rate: 0.621262 m/s, LOS rate: -0.020717 deg/s, cmd heading: 226.592332 deg, new cmd heading: 226.584099 deg. 2025-10-27T05:20:30.301Z,1761542430.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954638 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:30.468Z,1761542430.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508622 2025-10-27T05:20:30.677Z,1761542430.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868687,-0.459896,-0.184062],[0.493867,0.832901,0.249742],[0.038450,-0.307849,0.950658]] 2025-10-27T05:20:30.721Z,1761542430.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761374 2025-10-27T05:20:30.748Z,1761542430.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:30.750Z,1761542430.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:30.757Z,1761542430.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 152.091675 m, bearing: 226.572320 deg, approach rate: 0.653999 m/s, LOS rate: -0.025984 deg/s, cmd heading: 226.584094 deg, new cmd heading: 226.572320 deg. 2025-10-27T05:20:30.758Z,1761542430.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954433 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:30.974Z,1761542430.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014389 2025-10-27T05:20:31.023Z,1761542431.023 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:20:31.065Z,1761542431.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879612,-0.439040,-0.183102],[0.473823,0.842730,0.255536],[0.042115,-0.311530,0.949302]] 2025-10-27T05:20:31.085Z,1761542431.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:31.100Z,1761542431.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 152.316910 m, bearing: 226.561380 deg, approach rate: 0.673225 m/s, LOS rate: -0.032651 deg/s, cmd heading: 226.572319 deg, new cmd heading: 226.561380 deg. 2025-10-27T05:20:31.100Z,1761542431.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954242 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:31.224Z,1761542431.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264463 2025-10-27T05:20:31.480Z,1761542431.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520351 2025-10-27T05:20:31.583Z,1761542431.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889670,-0.419224,-0.180935],[0.454329,0.852275,0.259256],[0.045520,-0.312857,0.948709]] 2025-10-27T05:20:31.603Z,1761542431.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:31.608Z,1761542431.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 152.655182 m, bearing: 226.542141 deg, approach rate: 0.653258 m/s, LOS rate: -0.037070 deg/s, cmd heading: 226.561377 deg, new cmd heading: 226.542141 deg. 2025-10-27T05:20:31.610Z,1761542431.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.953906 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:31.728Z,1761542431.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768758 2025-10-27T05:20:31.982Z,1761542431.982 [DAT](INFO): DAT read: Rx Time:05:20:30.6323 2025-10-27T05:20:31.983Z,1761542431.983 [DAT](INFO): Rx dataTimestamp_ set to:1761542431.982342 2025-10-27T05:20:31.985Z,1761542431.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024896 2025-10-27T05:20:32.027Z,1761542432.027 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:20:32.029Z,1761542432.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908363,-0.381090,-0.172182],[0.414983,0.872287,0.258657],[0.051620,-0.306407,0.950500]] 2025-10-27T05:20:32.098Z,1761542432.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:32.105Z,1761542432.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 152.966324 m, bearing: 226.518621 deg, approach rate: 0.628004 m/s, LOS rate: -0.047376 deg/s, cmd heading: 226.542143 deg, new cmd heading: 226.518621 deg. 2025-10-27T05:20:32.106Z,1761542432.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.953496 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:32.232Z,1761542432.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272595 2025-10-27T05:20:32.488Z,1761542432.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527397 2025-10-27T05:20:32.580Z,1761542432.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916978,-0.362396,-0.166794],[0.395198,0.882290,0.255702],[0.054495,-0.300389,0.952259]] 2025-10-27T05:20:32.679Z,1761542432.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:32.692Z,1761542432.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 153.289429 m, bearing: 226.491667 deg, approach rate: 0.565965 m/s, LOS rate: -0.047114 deg/s, cmd heading: 226.518620 deg, new cmd heading: 226.491667 deg. 2025-10-27T05:20:32.693Z,1761542432.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.953025 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:32.742Z,1761542432.742 [DAT](INFO): DAT read: 05:20:30.6323 LVL= 32752, 29809, 32754, 32755, AGC= 69, IDX= 115,-0.28,-1.028, 1.163,-0.014, 0.098, PHS=-1.024, 1.110,-0.156, RAW= 306.1, 0.8, CAL= 304.3, -2.8, ROT= 205.7, 2.8 2025-10-27T05:20:32.744Z,1761542432.744 [DAT](INFO): got valid direction response: 05:20:30.6323 LVL= 32752, 29809, 32754, 32755, AGC= 69, IDX= 115,-0.28,-1.028, 1.163,-0.014, 0.098, PHS=-1.024, 1.110,-0.156, RAW= 306.1, 0.8, CAL= 304.3, -2.8, ROT= 205.7, 2.8 2025-10-27T05:20:32.745Z,1761542432.745 [DAT](INFO): DAT read: Bearing 2.9, -26.2 (Local) 2025-10-27T05:20:32.746Z,1761542432.746 [DAT](INFO): Local bearing/azimuth received: Bearing 2.9, -26.2 (Local) 2025-10-27T05:20:32.748Z,1761542432.748 [DAT](INFO): DAT read: Range 11 to 50 : 151.6 m (Round-trip 202.2 ms) speed -0.6 m/s 2025-10-27T05:20:32.748Z,1761542432.748 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:20:32.750Z,1761542432.750 [DAT](INFO): direction in FSK: [-0.900001,-0.433141,-0.048850] 2025-10-27T05:20:32.750Z,1761542432.750 [DAT](INFO): publishing direction and range info 2025-10-27T05:20:32.769Z,1761542432.769 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:32.769Z,1761542432.769 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:32.770Z,1761542432.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:32.989Z,1761542432.989 [DAT](INFO): DAT read: user:362> 2025-10-27T05:20:32.991Z,1761542432.991 [DAT](INFO): DAT read: Tx time:05:20:32.0744 2025-10-27T05:20:32.991Z,1761542432.991 [DAT](INFO): Ping request sent. 2025-10-27T05:20:32.991Z,1761542432.991 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:32.991Z,1761542432.991 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:32.993Z,1761542432.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001101 2025-10-27T05:20:33.099Z,1761542433.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 151.600006 m, deltaT: 4.031962 s, deltaX: -22.399994 m, approachRate: -5.555606 m/s, rangeRepo size: 1 2025-10-27T05:20:33.100Z,1761542433.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:33.102Z,1761542433.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 153.596725 m, bearing: 226.470553 deg, approach rate: 0.715504 m/s, LOS rate: -0.049064 deg/s, cmd heading: 226.491668 deg, new cmd heading: 226.470553 deg. 2025-10-27T05:20:33.104Z,1761542433.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.952657 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:33.240Z,1761542433.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248799 2025-10-27T05:20:33.419Z,1761542433.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932805,-0.326661,-0.152210],[0.355693,0.902429,0.243112],[0.057944,-0.280916,0.957982]] 2025-10-27T05:20:33.453Z,1761542433.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:33.455Z,1761542433.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:33.458Z,1761542433.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 153.807800 m, bearing: 226.452838 deg, approach rate: 0.591984 m/s, LOS rate: -0.049616 deg/s, cmd heading: 226.470549 deg, new cmd heading: 226.452838 deg. 2025-10-27T05:20:33.459Z,1761542433.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.952348 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:33.494Z,1761542433.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502372 2025-10-27T05:20:33.744Z,1761542433.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752821 2025-10-27T05:20:33.821Z,1761542433.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940241,-0.308063,-0.145066],[0.335352,0.911629,0.237638],[0.059039,-0.272085,0.960460]] 2025-10-27T05:20:33.880Z,1761542433.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:33.883Z,1761542433.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 154.085037 m, bearing: 226.426242 deg, approach rate: 0.651761 m/s, LOS rate: -0.062413 deg/s, cmd heading: 226.452832 deg, new cmd heading: 226.426242 deg. 2025-10-27T05:20:33.884Z,1761542433.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.951883 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:33.997Z,1761542433.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005552 2025-10-27T05:20:34.225Z,1761542434.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947159,-0.289505,-0.138115],[0.315073,0.920436,0.231356],[0.060147,-0.262647,0.963015]] 2025-10-27T05:20:34.248Z,1761542434.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256812 2025-10-27T05:20:34.259Z,1761542434.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:34.261Z,1761542434.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 154.320465 m, bearing: 226.401845 deg, approach rate: 0.622741 m/s, LOS rate: -0.064434 deg/s, cmd heading: 226.426235 deg, new cmd heading: 226.401845 deg. 2025-10-27T05:20:34.262Z,1761542434.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.951458 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:34.504Z,1761542434.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512824 2025-10-27T05:20:34.630Z,1761542434.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953801,-0.270015,-0.131740],[0.294191,0.928347,0.227210],[0.060950,-0.255469,0.964894]] 2025-10-27T05:20:34.686Z,1761542434.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:34.709Z,1761542434.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 154.564301 m, bearing: 226.374603 deg, approach rate: 0.571749 m/s, LOS rate: -0.063778 deg/s, cmd heading: 226.401851 deg, new cmd heading: 226.374603 deg. 2025-10-27T05:20:34.717Z,1761542434.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.950982 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:34.754Z,1761542434.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777 2025-10-27T05:20:35.004Z,1761542435.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012648 2025-10-27T05:20:35.177Z,1761542435.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960212,-0.249275,-0.125916],[0.272462,0.935134,0.226470],[0.061295,-0.251767,0.965845]] 2025-10-27T05:20:35.241Z,1761542435.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:35.248Z,1761542435.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 154.898621 m, bearing: 226.335311 deg, approach rate: 0.601353 m/s, LOS rate: -0.070523 deg/s, cmd heading: 226.374599 deg, new cmd heading: 226.335311 deg. 2025-10-27T05:20:35.249Z,1761542435.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.950296 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:35.256Z,1761542435.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264828 2025-10-27T05:20:35.509Z,1761542435.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517829 2025-10-27T05:20:35.598Z,1761542435.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966252,-0.227615,-0.120618],[0.250151,0.940876,0.228423],[0.061494,-0.250887,0.966061]] 2025-10-27T05:20:35.615Z,1761542435.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:35.617Z,1761542435.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:35.620Z,1761542435.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 155.137085 m, bearing: 226.305142 deg, approach rate: 0.633363 m/s, LOS rate: -0.080004 deg/s, cmd heading: 226.335312 deg, new cmd heading: 226.305142 deg. 2025-10-27T05:20:35.622Z,1761542435.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949770 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:35.760Z,1761542435.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768761 2025-10-27T05:20:36.013Z,1761542436.013 [DAT](INFO): DAT read: Rx Time:05:20:34.6842 2025-10-27T05:20:36.014Z,1761542436.014 [DAT](INFO): Rx dataTimestamp_ set to:1761542436.013344 2025-10-27T05:20:36.015Z,1761542436.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023321 2025-10-27T05:20:36.071Z,1761542436.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977160,-0.182009,-0.109688],[0.203617,0.949647,0.238142],[0.060821,-0.255037,0.965017]] 2025-10-27T05:20:36.124Z,1761542436.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:36.127Z,1761542436.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 155.424728 m, bearing: 226.259899 deg, approach rate: 0.567650 m/s, LOS rate: -0.089120 deg/s, cmd heading: 226.305136 deg, new cmd heading: 226.259899 deg. 2025-10-27T05:20:36.128Z,1761542436.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.948980 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:36.264Z,1761542436.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272680 2025-10-27T05:20:36.457Z,1761542436.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981926,-0.158674,-0.103171],[0.179542,0.953398,0.242482],[0.059888,-0.256623,0.964654]] 2025-10-27T05:20:36.503Z,1761542436.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.10 m. 2025-10-27T05:20:36.514Z,1761542436.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 173.102676 m, nav range: 155.631943 m, bearing: 226.225165 deg, approach rate: 0.549947 m/s, LOS rate: -0.092061 deg/s, cmd heading: 226.259893 deg, new cmd heading: 226.225165 deg. 2025-10-27T05:20:36.528Z,1761542436.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536059 2025-10-27T05:20:36.538Z,1761542436.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.948374 target range: 173.102676 and range: 174.00 m. 2025-10-27T05:20:36.781Z,1761542436.781 [DAT](INFO): DAT read: 05:20:34.6842 LVL= 32752, 24977, 30642, 32755, AGC= 64, IDX= 455,-0.17,-1.246, 0.920,-0.051, 0.031, PHS=-1.175, 0.934,-0.126, RAW= 300.2, 4.1, CAL= 297.9, 0.1, ROT= 212.1, -0.1 2025-10-27T05:20:36.783Z,1761542436.783 [DAT](INFO): got valid direction response: 05:20:34.6842 LVL= 32752, 24977, 30642, 32755, AGC= 64, IDX= 455,-0.17,-1.246, 0.920,-0.051, 0.031, PHS=-1.175, 0.934,-0.126, RAW= 300.2, 4.1, CAL= 297.9, 0.1, ROT= 212.1, -0.1 2025-10-27T05:20:36.784Z,1761542436.784 [DAT](INFO): DAT read: Bearing 347.1, -34.5 (Local) 2025-10-27T05:20:36.784Z,1761542436.784 [DAT](INFO): Local bearing/azimuth received: Bearing 347.1, -34.5 (Local) 2025-10-27T05:20:36.785Z,1761542436.785 [DAT](INFO): DAT read: Range 11 to 50 : 154.2 m (Round-trip 205.7 ms) speed -0.5 m/s 2025-10-27T05:20:36.786Z,1761542436.786 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:20:36.802Z,1761542436.802 [DAT](INFO): direction in FSK: [-0.847121,-0.531398,0.001745] 2025-10-27T05:20:36.802Z,1761542436.802 [DAT](INFO): publishing direction and range info 2025-10-27T05:20:36.805Z,1761542436.805 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:36.805Z,1761542436.805 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:36.806Z,1761542436.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:36.874Z,1761542436.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986157,-0.135137,-0.096084],[0.155092,0.956733,0.246186],[0.058658,-0.257680,0.964448]] 2025-10-27T05:20:36.998Z,1761542436.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 8.071774 s, deltaX: -19.800003 m, approachRate: -2.452993 m/s, rangeRepo size: 2 2025-10-27T05:20:37.004Z,1761542437.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.403366 m, bearing: 219.933700 deg, lat: 36.779383 deg, lon: -121.859699 deg, deltaT: 8.071774 s, deltaX: -19.699310 m, approachRate: -2.440518 m/s, posRepo size: 2 2025-10-27T05:20:37.005Z,1761542437.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:37.012Z,1761542437.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 154.229370 m, bearing: 227.809022 deg, approach rate: 0.000000 m/s, LOS rate: -0.092061 deg/s, cmd heading: 226.225168 deg, new cmd heading: 226.088345 deg. 2025-10-27T05:20:37.013Z,1761542437.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.945986 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:37.028Z,1761542437.028 [DAT](INFO): DAT read: user:363> 2025-10-27T05:20:37.029Z,1761542437.029 [DAT](INFO): DAT read: Tx time:05:20:36.1244 2025-10-27T05:20:37.029Z,1761542437.029 [DAT](INFO): Ping request sent. 2025-10-27T05:20:37.029Z,1761542437.029 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:37.029Z,1761542437.029 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:37.031Z,1761542437.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002348 2025-10-27T05:20:37.280Z,1761542437.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811 2025-10-27T05:20:37.312Z,1761542437.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:37.315Z,1761542437.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 154.418594 m, bearing: 227.769323 deg, approach rate: 0.598961 m/s, LOS rate: -0.125506 deg/s, cmd heading: 226.088346 deg, new cmd heading: 225.969396 deg. 2025-10-27T05:20:37.316Z,1761542437.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.943910 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:37.532Z,1761542437.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503203 2025-10-27T05:20:37.678Z,1761542437.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992771,-0.088157,-0.081455],[0.106224,0.961280,0.254279],[0.055885,-0.261093,0.963695]] 2025-10-27T05:20:37.705Z,1761542437.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:37.708Z,1761542437.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:37.732Z,1761542437.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 154.621719 m, bearing: 227.721746 deg, approach rate: 0.513835 m/s, LOS rate: -0.120193 deg/s, cmd heading: 225.969391 deg, new cmd heading: 225.826850 deg. 2025-10-27T05:20:37.740Z,1761542437.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.941422 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:37.784Z,1761542437.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754899 2025-10-27T05:20:38.037Z,1761542438.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007511 2025-10-27T05:20:38.091Z,1761542438.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995175,-0.065015,-0.073487],[0.081711,0.963778,0.253880],[0.054319,-0.258660,0.964440]] 2025-10-27T05:20:38.128Z,1761542438.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:38.131Z,1761542438.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 154.832428 m, bearing: 227.667857 deg, approach rate: 0.501200 m/s, LOS rate: -0.128009 deg/s, cmd heading: 225.826845 deg, new cmd heading: 225.665398 deg. 2025-10-27T05:20:38.132Z,1761542438.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.938604 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:38.288Z,1761542438.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258835 2025-10-27T05:20:38.498Z,1761542438.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996960,-0.042082,-0.065576],[0.057531,0.965152,0.255286],[0.052548,-0.258283,0.964639]] 2025-10-27T05:20:38.517Z,1761542438.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:38.520Z,1761542438.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 155.020981 m, bearing: 227.617258 deg, approach rate: 0.484868 m/s, LOS rate: -0.129959 deg/s, cmd heading: 225.665393 deg, new cmd heading: 225.513780 deg. 2025-10-27T05:20:38.521Z,1761542438.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.935958 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:38.540Z,1761542438.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510781 2025-10-27T05:20:38.792Z,1761542438.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762854 2025-10-27T05:20:38.985Z,1761542438.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:38.989Z,1761542438.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 155.220978 m, bearing: 227.562066 deg, approach rate: 0.428214 m/s, LOS rate: -0.118020 deg/s, cmd heading: 225.513777 deg, new cmd heading: 225.348414 deg. 2025-10-27T05:20:39.003Z,1761542439.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.933072 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:39.044Z,1761542439.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014989 2025-10-27T05:20:39.296Z,1761542439.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266867 2025-10-27T05:20:39.320Z,1761542439.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998804,0.003629,-0.048757],[0.009031,0.966386,0.256939],[0.048051,-0.257072,0.965197]] 2025-10-27T05:20:39.339Z,1761542439.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:39.342Z,1761542439.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 155.397552 m, bearing: 227.508395 deg, approach rate: 0.497765 m/s, LOS rate: -0.151127 deg/s, cmd heading: 225.348418 deg, new cmd heading: 225.187588 deg. 2025-10-27T05:20:39.343Z,1761542439.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.930265 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:39.548Z,1761542439.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519401 2025-10-27T05:20:39.721Z,1761542439.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998815,0.026063,-0.041106],[-0.014737,0.966845,0.254938],[0.046388,-0.254030,0.966083]] 2025-10-27T05:20:39.808Z,1761542439.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773375 2025-10-27T05:20:39.820Z,1761542439.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:39.822Z,1761542439.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:39.829Z,1761542439.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 155.596954 m, bearing: 227.445034 deg, approach rate: 0.412189 m/s, LOS rate: -0.130807 deg/s, cmd heading: 225.187594 deg, new cmd heading: 224.997756 deg. 2025-10-27T05:20:39.830Z,1761542439.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.926952 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:40.053Z,1761542440.053 [DAT](INFO): DAT read: Rx Time:05:20:38.7373 2025-10-27T05:20:40.053Z,1761542440.053 [DAT](INFO): Rx dataTimestamp_ set to:1761542440.052830 2025-10-27T05:20:40.054Z,1761542440.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024927 2025-10-27T05:20:40.128Z,1761542440.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998291,0.048125,-0.033154],[-0.038200,0.966711,0.253004],[0.044226,-0.251306,0.966897]] 2025-10-27T05:20:40.185Z,1761542440.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:40.192Z,1761542440.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 155.756897 m, bearing: 227.391979 deg, approach rate: 0.440679 m/s, LOS rate: -0.146029 deg/s, cmd heading: 224.997756 deg, new cmd heading: 224.838755 deg. 2025-10-27T05:20:40.193Z,1761542440.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.924176 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:40.305Z,1761542440.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275388 2025-10-27T05:20:40.532Z,1761542440.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997203,0.070542,-0.024681],[-0.062054,0.965580,0.252596],[0.041650,-0.250358,0.967257]] 2025-10-27T05:20:40.552Z,1761542440.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:20:40.559Z,1761542440.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529310 2025-10-27T05:20:40.570Z,1761542440.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.403366 m, nav range: 155.918381 m, bearing: 227.335952 deg, approach rate: 0.441846 m/s, LOS rate: -0.153142 deg/s, cmd heading: 224.838749 deg, new cmd heading: 224.670841 deg. 2025-10-27T05:20:40.592Z,1761542440.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.921246 target range: 153.403366 and range: 154.20 m. 2025-10-27T05:20:40.814Z,1761542440.814 [DAT](INFO): DAT read: 05:20:38.7373 LVL= 32240, 24353, 26290, 32755, AGC= 62, IDX= 454,-0.34,-2.356,-0.412,-1.033,-1.055, PHS=-1.199, 0.688,-0.022, RAW= 291.9, 6.5, CAL= 289.7, 4.3, ROT= 220.3, -4.3 2025-10-27T05:20:40.816Z,1761542440.816 [DAT](INFO): got valid direction response: 05:20:38.7373 LVL= 32240, 24353, 26290, 32755, AGC= 62, IDX= 454,-0.34,-2.356,-0.412,-1.033,-1.055, PHS=-1.199, 0.688,-0.022, RAW= 291.9, 6.5, CAL= 289.7, 4.3, ROT= 220.3, -4.3 2025-10-27T05:20:40.817Z,1761542440.817 [DAT](INFO): DAT read: Bearing 331.4, -42.6 (Local) 2025-10-27T05:20:40.817Z,1761542440.818 [DAT](INFO): Local bearing/azimuth received: Bearing 331.4, -42.6 (Local) 2025-10-27T05:20:40.820Z,1761542440.820 [DAT](INFO): DAT read: Range 11 to 50 : 156.5 m (Round-trip 208.7 ms) speed -0.4 m/s 2025-10-27T05:20:40.821Z,1761542440.821 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:20:40.822Z,1761542440.822 [DAT](INFO): direction in FSK: [-0.760521,-0.644969,0.074979] 2025-10-27T05:20:40.822Z,1761542440.822 [DAT](INFO): publishing direction and range info 2025-10-27T05:20:40.834Z,1761542440.834 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:40.834Z,1761542440.834 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:40.835Z,1761542440.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:40.938Z,1761542440.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995518,0.093199,-0.016048],[-0.086138,0.963642,0.252931],[0.039038,-0.250415,0.967351]] 2025-10-27T05:20:41.037Z,1761542441.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.500000 m, deltaT: 4.032546 s, deltaX: 2.300003 m, approachRate: 0.570360 m/s, rangeRepo size: 3 2025-10-27T05:20:41.039Z,1761542441.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.691162 m, bearing: 213.272577 deg, lat: 36.779294 deg, lon: -121.859699 deg, deltaT: 4.032546 s, deltaX: 2.287796 m, approachRate: 0.567333 m/s, posRepo size: 3 2025-10-27T05:20:41.040Z,1761542441.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:41.043Z,1761542441.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 163.013657 m, bearing: 224.701776 deg, approach rate: 0.000000 m/s, LOS rate: -0.153142 deg/s, cmd heading: 224.670836 deg, new cmd heading: 224.447731 deg. 2025-10-27T05:20:41.044Z,1761542441.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917352 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:41.072Z,1761542441.072 [DAT](INFO): DAT read: user:364> 2025-10-27T05:20:41.073Z,1761542441.073 [DAT](INFO): DAT read: Tx time:05:20:40.1244 2025-10-27T05:20:41.073Z,1761542441.073 [DAT](INFO): Ping request sent. 2025-10-27T05:20:41.074Z,1761542441.074 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:41.074Z,1761542441.074 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:41.075Z,1761542441.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001223 2025-10-27T05:20:41.324Z,1761542441.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250437 2025-10-27T05:20:41.336Z,1761542441.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993236,0.115884,-0.007338],[-0.110237,0.960918,0.253938],[0.036478,-0.251412,0.967193]] 2025-10-27T05:20:41.371Z,1761542441.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:41.374Z,1761542441.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 163.142914 m, bearing: 224.659174 deg, approach rate: 0.406184 m/s, LOS rate: -0.133768 deg/s, cmd heading: 224.447734 deg, new cmd heading: 224.320030 deg. 2025-10-27T05:20:41.374Z,1761542441.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.915123 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:41.576Z,1761542441.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502294 2025-10-27T05:20:41.742Z,1761542441.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990268,0.139160,0.001755],[-0.135005,0.957486,0.254940],[0.033797,-0.252696,0.966955]] 2025-10-27T05:20:41.792Z,1761542441.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:41.831Z,1761542441.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756840 2025-10-27T05:20:41.840Z,1761542441.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 163.307449 m, bearing: 224.602297 deg, approach rate: 0.377949 m/s, LOS rate: -0.130519 deg/s, cmd heading: 224.320037 deg, new cmd heading: 224.149578 deg. 2025-10-27T05:20:41.841Z,1761542441.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.912148 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:42.081Z,1761542442.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007525 2025-10-27T05:20:42.170Z,1761542442.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986638,0.162605,0.010262],[-0.159897,0.954268,0.252598],[0.031281,-0.250863,0.967517]] 2025-10-27T05:20:42.204Z,1761542442.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:42.206Z,1761542442.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:42.209Z,1761542442.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 163.474014 m, bearing: 224.544450 deg, approach rate: 0.400067 m/s, LOS rate: -0.138800 deg/s, cmd heading: 224.149583 deg, new cmd heading: 223.976218 deg. 2025-10-27T05:20:42.210Z,1761542442.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.909122 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:42.332Z,1761542442.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258785 2025-10-27T05:20:42.569Z,1761542442.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982471,0.185460,0.018867],[-0.184231,0.950515,0.250161],[0.028462,-0.249251,0.968020]] 2025-10-27T05:20:42.584Z,1761542442.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510407 2025-10-27T05:20:42.598Z,1761542442.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:42.601Z,1761542442.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 163.621918 m, bearing: 224.490661 deg, approach rate: 0.377946 m/s, LOS rate: -0.137324 deg/s, cmd heading: 223.976219 deg, new cmd heading: 223.815001 deg. 2025-10-27T05:20:42.601Z,1761542442.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.906309 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:42.838Z,1761542442.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764704 2025-10-27T05:20:42.992Z,1761542442.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977713,0.208118,0.027629],[-0.208380,0.945962,0.248462],[0.025573,-0.248682,0.968248]] 2025-10-27T05:20:43.079Z,1761542443.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:43.082Z,1761542443.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 163.779907 m, bearing: 224.432320 deg, approach rate: 0.342450 m/s, LOS rate: -0.126336 deg/s, cmd heading: 223.814999 deg, new cmd heading: 223.640144 deg. 2025-10-27T05:20:43.088Z,1761542443.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014271 2025-10-27T05:20:43.091Z,1761542443.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.903257 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:43.341Z,1761542443.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266748 2025-10-27T05:20:43.420Z,1761542443.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972371,0.230485,0.037030],[-0.232346,0.940217,0.249011],[0.022577,-0.250735,0.967793]] 2025-10-27T05:20:43.438Z,1761542443.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:43.481Z,1761542443.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 163.919495 m, bearing: 224.378305 deg, approach rate: 0.368349 m/s, LOS rate: -0.142416 deg/s, cmd heading: 223.640146 deg, new cmd heading: 223.478240 deg. 2025-10-27T05:20:43.487Z,1761542443.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900431 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:43.593Z,1761542443.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518935 2025-10-27T05:20:43.847Z,1761542443.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772789 2025-10-27T05:20:43.878Z,1761542443.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966546,0.252396,0.045659],[-0.255723,0.934473,0.247722],[0.019857,-0.251111,0.967755]] 2025-10-27T05:20:43.916Z,1761542443.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:43.935Z,1761542443.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 164.086044 m, bearing: 224.315206 deg, approach rate: 0.348308 m/s, LOS rate: -0.131825 deg/s, cmd heading: 223.478244 deg, new cmd heading: 223.289140 deg. 2025-10-27T05:20:43.936Z,1761542443.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.897131 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:44.096Z,1761542444.096 [DAT](INFO): DAT read: Rx Time:05:20:42.7392 2025-10-27T05:20:44.096Z,1761542444.096 [DAT](INFO): Rx dataTimestamp_ set to:1761542444.096073 2025-10-27T05:20:44.097Z,1761542444.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023337 2025-10-27T05:20:44.274Z,1761542444.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960438,0.273407,0.052985],[-0.277950,0.929168,0.243702],[0.017398,-0.248788,0.968402]] 2025-10-27T05:20:44.302Z,1761542444.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:44.308Z,1761542444.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:44.315Z,1761542444.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 164.214081 m, bearing: 224.264570 deg, approach rate: 0.326535 m/s, LOS rate: -0.129038 deg/s, cmd heading: 223.289143 deg, new cmd heading: 223.137354 deg. 2025-10-27T05:20:44.316Z,1761542444.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.894481 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:44.348Z,1761542444.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274584 2025-10-27T05:20:44.613Z,1761542444.613 [DAT](INFO): DAT read: 05:20:42.7392 LVL= 32752, 26865, 32290, 32755, AGC= 62, IDX= 442,-0.01,-0.219, 1.451, 1.568, 1.065, PHS=-1.182, 0.432, 0.459, RAW= 269.2, 3.6, CAL= 266.6, -1.6, ROT= 243.4, 1.6 2025-10-27T05:20:44.614Z,1761542444.614 [DAT](INFO): got valid direction response: 05:20:42.7392 LVL= 32752, 26865, 32290, 32755, AGC= 62, IDX= 442,-0.01,-0.219, 1.451, 1.568, 1.065, PHS=-1.182, 0.432, 0.459, RAW= 269.2, 3.6, CAL= 266.6, -1.6, ROT= 243.4, 1.6 2025-10-27T05:20:44.614Z,1761542444.614 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:20:44.616Z,1761542444.616 [DAT](INFO): direction in FSK: [-0.447585,-0.893806,-0.027922] 2025-10-27T05:20:44.624Z,1761542444.624 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:44.624Z,1761542444.624 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:44.624Z,1761542444.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:20:44.681Z,1761542444.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953976,0.293687,0.060651],[-0.299516,0.923093,0.241227],[0.014858,-0.248291,0.968572]] 2025-10-27T05:20:44.738Z,1761542444.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:44.745Z,1761542444.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 164.353348 m, bearing: 224.207103 deg, approach rate: 0.329872 m/s, LOS rate: -0.136002 deg/s, cmd heading: 223.137349 deg, new cmd heading: 222.965095 deg. 2025-10-27T05:20:44.746Z,1761542444.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.891475 target range: 155.691162 and range: 156.50 m. 2025-10-27T05:20:44.856Z,1761542444.856 [DAT](INFO): DAT read: Bearing 340.3, -60.1 (Local) 2025-10-27T05:20:44.857Z,1761542444.857 [DAT](INFO): Local bearing/azimuth received: Bearing 340.3, -60.1 (Local) 2025-10-27T05:20:44.863Z,1761542444.863 [DAT](INFO): DAT read: Range 11 to 50 : 158.0 m (Round-trip 210.7 ms) speed -0.1 m/s 2025-10-27T05:20:44.865Z,1761542444.865 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:20:44.869Z,1761542444.869 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:44.869Z,1761542444.869 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:44.869Z,1761542444.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:45.088Z,1761542445.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946902,0.314291,0.067802],[-0.321275,0.916646,0.237785],[0.012583,-0.246943,0.968948]] 2025-10-27T05:20:45.104Z,1761542445.104 [DAT](INFO): DAT read: user:365> 2025-10-27T05:20:45.105Z,1761542445.105 [DAT](INFO): DAT read: Tx time:05:20:44.1744 2025-10-27T05:20:45.105Z,1761542445.105 [DAT](INFO): Ping request sent. 2025-10-27T05:20:45.105Z,1761542445.105 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:45.105Z,1761542445.105 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:45.106Z,1761542445.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-27T05:20:45.159Z,1761542445.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.000000 m, deltaT: 4.044832 s, deltaX: 1.500000 m, approachRate: 0.370844 m/s, rangeRepo size: 4 2025-10-27T05:20:45.172Z,1761542445.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:45.174Z,1761542445.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 164.483505 m, bearing: 224.155243 deg, approach rate: 0.304448 m/s, LOS rate: -0.121209 deg/s, cmd heading: 222.965091 deg, new cmd heading: 222.809635 deg. 2025-10-27T05:20:45.180Z,1761542445.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.888762 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:45.356Z,1761542445.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250818 2025-10-27T05:20:45.531Z,1761542445.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:45.534Z,1761542445.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 164.608856 m, bearing: 224.105425 deg, approach rate: 0.336065 m/s, LOS rate: -0.133462 deg/s, cmd heading: 222.809636 deg, new cmd heading: 222.660295 deg. 2025-10-27T05:20:45.535Z,1761542445.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.886155 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:45.608Z,1761542445.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503004 2025-10-27T05:20:45.863Z,1761542445.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756880 2025-10-27T05:20:45.918Z,1761542445.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931302,0.355065,0.081272],[-0.364150,0.902418,0.230298],[0.008429,-0.244072,0.969720]] 2025-10-27T05:20:45.964Z,1761542445.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:45.969Z,1761542445.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 164.731964 m, bearing: 224.052694 deg, approach rate: 0.284930 m/s, LOS rate: -0.121952 deg/s, cmd heading: 222.660301 deg, new cmd heading: 222.502228 deg. 2025-10-27T05:20:45.971Z,1761542445.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.883396 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:46.112Z,1761542446.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916 2025-10-27T05:20:46.310Z,1761542446.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922986,0.374390,0.089050],[-0.384783,0.894046,0.229399],[0.006270,-0.245997,0.969250]] 2025-10-27T05:20:46.333Z,1761542446.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:46.336Z,1761542446.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:46.338Z,1761542446.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 164.837585 m, bearing: 224.005438 deg, approach rate: 0.283571 m/s, LOS rate: -0.126792 deg/s, cmd heading: 222.502223 deg, new cmd heading: 222.360545 deg. 2025-10-27T05:20:46.339Z,1761542446.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880924 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:46.364Z,1761542446.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258966 2025-10-27T05:20:46.616Z,1761542446.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875 2025-10-27T05:20:46.737Z,1761542446.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914116,0.393681,0.096989],[-0.405430,0.885001,0.228910],[0.004283,-0.248573,0.968604]] 2025-10-27T05:20:46.820Z,1761542446.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:46.823Z,1761542446.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 164.966171 m, bearing: 223.945279 deg, approach rate: 0.266212 m/s, LOS rate: -0.124449 deg/s, cmd heading: 222.360551 deg, new cmd heading: 222.180217 deg. 2025-10-27T05:20:46.824Z,1761542446.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.877776 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:46.871Z,1761542446.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765153 2025-10-27T05:20:47.120Z,1761542447.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014747 2025-10-27T05:20:47.185Z,1761542447.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:47.188Z,1761542447.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 165.068619 m, bearing: 223.897003 deg, approach rate: 0.279780 m/s, LOS rate: -0.131759 deg/s, cmd heading: 222.180221 deg, new cmd heading: 222.035481 deg. 2025-10-27T05:20:47.189Z,1761542447.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.875250 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:47.373Z,1761542447.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267465 2025-10-27T05:20:47.526Z,1761542447.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894399,0.432965,0.112210],[-0.447268,0.865200,0.226672],[0.001057,-0.252923,0.967486]] 2025-10-27T05:20:47.561Z,1761542447.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:47.564Z,1761542447.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 165.164124 m, bearing: 223.847406 deg, approach rate: 0.253909 m/s, LOS rate: -0.131781 deg/s, cmd heading: 222.035475 deg, new cmd heading: 221.886772 deg. 2025-10-27T05:20:47.565Z,1761542447.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.872655 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:47.624Z,1761542447.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519000 2025-10-27T05:20:47.879Z,1761542447.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773204 2025-10-27T05:20:47.958Z,1761542447.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883654,0.452872,0.118585],[-0.468140,0.854954,0.223382],[-0.000222,-0.252907,0.967491]] 2025-10-27T05:20:48.046Z,1761542448.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:48.055Z,1761542448.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 165.262772 m, bearing: 223.787726 deg, approach rate: 0.203505 m/s, LOS rate: -0.123042 deg/s, cmd heading: 221.886768 deg, new cmd heading: 221.707836 deg. 2025-10-27T05:20:48.056Z,1761542448.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.869532 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:48.129Z,1761542448.129 [DAT](INFO): DAT read: Rx Time:05:20:46.7911 2025-10-27T05:20:48.129Z,1761542448.129 [DAT](INFO): Rx dataTimestamp_ set to:1761542448.129008 2025-10-27T05:20:48.130Z,1761542448.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025126 2025-10-27T05:20:48.374Z,1761542448.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872946,0.471768,0.124100],[-0.487815,0.845053,0.218912],[-0.001595,-0.251636,0.967821]] 2025-10-27T05:20:48.380Z,1761542448.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274943 2025-10-27T05:20:48.406Z,1761542448.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:48.408Z,1761542448.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:48.411Z,1761542448.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 165.343704 m, bearing: 223.736293 deg, approach rate: 0.223157 m/s, LOS rate: -0.141749 deg/s, cmd heading: 221.707831 deg, new cmd heading: 221.553607 deg. 2025-10-27T05:20:48.412Z,1761542448.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866840 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:48.635Z,1761542448.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529475 2025-10-27T05:20:48.785Z,1761542448.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861700,0.490720,0.129097],[-0.507409,0.834800,0.213649],[-0.002929,-0.249606,0.968343]] 2025-10-27T05:20:48.807Z,1761542448.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.69 m. 2025-10-27T05:20:48.809Z,1761542448.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.691162 m, nav range: 165.423126 m, bearing: 223.683181 deg, approach rate: 0.199398 m/s, LOS rate: -0.133279 deg/s, cmd heading: 221.553606 deg, new cmd heading: 221.394348 deg. 2025-10-27T05:20:48.810Z,1761542448.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.864060 target range: 155.691162 and range: 158.00 m. 2025-10-27T05:20:48.929Z,1761542448.929 [DAT](INFO): DAT read: 05:20:46.7911 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 444, 0.48,-0.547, 0.798, 1.633, 0.445, PHS=-0.891, 0.397, 1.143, RAW= 248.7, -7.3, CAL= 246.9, -11.8, ROT= 263.1, 11.8 2025-10-27T05:20:48.935Z,1761542448.935 [DAT](INFO): got valid direction response: 05:20:46.7911 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 444, 0.48,-0.547, 0.798, 1.633, 0.445, PHS=-0.891, 0.397, 1.143, RAW= 248.7, -7.3, CAL= 246.9, -11.8, ROT= 263.1, 11.8 2025-10-27T05:20:48.936Z,1761542448.936 [DAT](INFO): DAT read: Bearing 11.5, -62.7 (Local) 2025-10-27T05:20:48.937Z,1761542448.937 [DAT](INFO): Local bearing/azimuth received: Bearing 11.5, -62.7 (Local) 2025-10-27T05:20:48.943Z,1761542448.943 [DAT](INFO): DAT read: Range 11 to 50 : 159.3 m (Round-trip 212.5 ms) speed 0.1 m/s 2025-10-27T05:20:48.944Z,1761542448.944 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:20:48.945Z,1761542448.945 [DAT](INFO): direction in FSK: [-0.117598,-0.971778,-0.204496] 2025-10-27T05:20:48.945Z,1761542448.945 [DAT](INFO): publishing direction and range info 2025-10-27T05:20:48.964Z,1761542448.964 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:48.964Z,1761542448.964 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:48.964Z,1761542448.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:49.136Z,1761542449.136 [DAT](INFO): DAT read: user:366> 2025-10-27T05:20:49.137Z,1761542449.137 [DAT](INFO): DAT read: Tx time:05:20:48.2744 2025-10-27T05:20:49.137Z,1761542449.137 [DAT](INFO): Ping request sent. 2025-10-27T05:20:49.137Z,1761542449.137 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:49.137Z,1761542449.137 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:49.138Z,1761542449.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T05:20:49.198Z,1761542449.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849720,0.509873,0.134182],[-0.527219,0.823633,0.208971],[-0.003968,-0.248310,0.968672]] 2025-10-27T05:20:49.265Z,1761542449.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.300003 m, deltaT: 4.033070 s, deltaX: 1.300003 m, approachRate: 0.322336 m/s, rangeRepo size: 4 2025-10-27T05:20:49.267Z,1761542449.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.475647 m, bearing: 231.431971 deg, lat: 36.779294 deg, lon: -121.859699 deg, deltaT: 8.077902 s, deltaX: 2.784485 m, approachRate: 0.344704 m/s, posRepo size: 4 2025-10-27T05:20:49.268Z,1761542449.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:49.274Z,1761542449.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.502029 m, bearing: 223.619025 deg, approach rate: 0.000000 m/s, LOS rate: -0.133279 deg/s, cmd heading: 221.394353 deg, new cmd heading: 221.211233 deg. 2025-10-27T05:20:49.292Z,1761542449.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860864 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:49.389Z,1761542449.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251623 2025-10-27T05:20:49.599Z,1761542449.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837199,0.529086,0.138440],[-0.546877,0.812132,0.203389],[-0.004821,-0.245987,0.969261]] 2025-10-27T05:20:49.621Z,1761542449.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:49.624Z,1761542449.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.561584 m, bearing: 223.567507 deg, approach rate: 0.167005 m/s, LOS rate: -0.144414 deg/s, cmd heading: 221.211235 deg, new cmd heading: 221.056738 deg. 2025-10-27T05:20:49.625Z,1761542449.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.858168 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:49.642Z,1761542449.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504654 2025-10-27T05:20:49.896Z,1761542449.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758551 2025-10-27T05:20:50.070Z,1761542450.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:50.073Z,1761542450.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.625488 m, bearing: 223.499279 deg, approach rate: 0.142489 m/s, LOS rate: -0.152073 deg/s, cmd heading: 221.056737 deg, new cmd heading: 220.852132 deg. 2025-10-27T05:20:50.074Z,1761542450.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.854597 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:50.145Z,1761542450.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007683 2025-10-27T05:20:50.396Z,1761542450.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259023 2025-10-27T05:20:50.416Z,1761542450.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810422,0.566186,0.150501],[-0.585801,0.786384,0.196055],[-0.007348,-0.247050,0.968975]] 2025-10-27T05:20:50.433Z,1761542450.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:50.437Z,1761542450.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:50.443Z,1761542450.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.670059 m, bearing: 223.442959 deg, approach rate: 0.121845 m/s, LOS rate: -0.153922 deg/s, cmd heading: 220.852131 deg, new cmd heading: 220.683218 deg. 2025-10-27T05:20:50.444Z,1761542450.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851649 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:50.648Z,1761542450.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510854 2025-10-27T05:20:50.816Z,1761542450.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795870,0.584904,0.156457],[-0.605409,0.772363,0.192187],[-0.008431,-0.247677,0.968806]] 2025-10-27T05:20:50.835Z,1761542450.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:50.842Z,1761542450.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.714630 m, bearing: 223.380963 deg, approach rate: 0.111659 m/s, LOS rate: -0.155270 deg/s, cmd heading: 220.683221 deg, new cmd heading: 220.497283 deg. 2025-10-27T05:20:50.844Z,1761542450.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848404 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:50.904Z,1761542450.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766436 2025-10-27T05:20:51.152Z,1761542451.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919 2025-10-27T05:20:51.218Z,1761542451.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780789,0.603465,0.161861],[-0.624726,0.757908,0.187864],[-0.009306,-0.247801,0.968766]] 2025-10-27T05:20:51.260Z,1761542451.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:51.283Z,1761542451.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.753891 m, bearing: 223.310004 deg, approach rate: 0.092263 m/s, LOS rate: -0.166713 deg/s, cmd heading: 220.497289 deg, new cmd heading: 220.284466 deg. 2025-10-27T05:20:51.284Z,1761542451.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844689 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:51.404Z,1761542451.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266996 2025-10-27T05:20:51.620Z,1761542451.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764913,0.621795,0.168163],[-0.644056,0.742359,0.184647],[-0.010025,-0.249545,0.968311]] 2025-10-27T05:20:51.644Z,1761542451.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:51.646Z,1761542451.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.784409 m, bearing: 223.246638 deg, approach rate: 0.079576 m/s, LOS rate: -0.165200 deg/s, cmd heading: 220.284461 deg, new cmd heading: 220.094397 deg. 2025-10-27T05:20:51.648Z,1761542451.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.841372 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:51.656Z,1761542451.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518946 2025-10-27T05:20:51.910Z,1761542451.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772908 2025-10-27T05:20:52.027Z,1761542452.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748614,0.640039,0.172994],[-0.662917,0.726848,0.179536],[-0.010830,-0.249084,0.968421]] 2025-10-27T05:20:52.099Z,1761542452.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:52.102Z,1761542452.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.807983 m, bearing: 223.168184 deg, approach rate: 0.052268 m/s, LOS rate: -0.173917 deg/s, cmd heading: 220.094404 deg, new cmd heading: 219.859078 deg. 2025-10-27T05:20:52.103Z,1761542452.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.837265 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:52.160Z,1761542452.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023349 2025-10-27T05:20:52.412Z,1761542452.412 [DAT](INFO): DAT read: Rx Time:05:20:50.8922 2025-10-27T05:20:52.412Z,1761542452.412 [DAT](INFO): Rx dataTimestamp_ set to:1761542452.412125 2025-10-27T05:20:52.413Z,1761542452.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275950 2025-10-27T05:20:52.463Z,1761542452.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715008,0.675454,0.180349],[-0.699015,0.695089,0.168015],[-0.011872,-0.246199,0.969147]] 2025-10-27T05:20:52.503Z,1761542452.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:52.505Z,1761542452.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:52.512Z,1761542452.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.819824 m, bearing: 223.094629 deg, approach rate: 0.028832 m/s, LOS rate: -0.179093 deg/s, cmd heading: 219.859077 deg, new cmd heading: 219.638427 deg. 2025-10-27T05:20:52.513Z,1761542452.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833414 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:52.664Z,1761542452.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526902 2025-10-27T05:20:52.861Z,1761542452.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697044,0.692849,0.184637],[-0.716927,0.677777,0.163200],[-0.012070,-0.246129,0.969162]] 2025-10-27T05:20:52.879Z,1761542452.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.48 m. 2025-10-27T05:20:52.882Z,1761542452.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.475647 m, nav range: 165.825989 m, bearing: 223.026914 deg, approach rate: 0.016492 m/s, LOS rate: -0.181146 deg/s, cmd heading: 219.638420 deg, new cmd heading: 219.435286 deg. 2025-10-27T05:20:52.899Z,1761542452.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829868 target range: 158.475647 and range: 159.30 m. 2025-10-27T05:20:52.926Z,1761542452.926 [DAT](INFO): DAT read: 05:20:50.8922 LVL= 31360, 28017, 25010, 30435, AGC= 62, IDX= 457,-0.31, 1.647, 2.755,-2.604, 2.669, PHS=-0.920, 0.131, 0.967, RAW= 243.8, -2.2, CAL= 240.3, -3.6, ROT= 269.7, 3.6 2025-10-27T05:20:52.932Z,1761542452.932 [DAT](INFO): got valid direction response: 05:20:50.8922 LVL= 31360, 28017, 25010, 30435, AGC= 62, IDX= 457,-0.31, 1.647, 2.755,-2.604, 2.669, PHS=-0.920, 0.131, 0.967, RAW= 243.8, -2.2, CAL= 240.3, -3.6, ROT= 269.7, 3.6 2025-10-27T05:20:52.935Z,1761542452.935 [DAT](INFO): DAT read: Bearing 9.1, -72.3 (Local) 2025-10-27T05:20:52.936Z,1761542452.936 [DAT](INFO): Local bearing/azimuth received: Bearing 9.1, -72.3 (Local) 2025-10-27T05:20:52.942Z,1761542452.942 [DAT](INFO): DAT read: Range 11 to 50 : 160.2 m (Round-trip 213.7 ms) speed -0.3 m/s 2025-10-27T05:20:52.953Z,1761542452.953 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:20:52.966Z,1761542452.966 [DAT](INFO): direction in FSK: [-0.005225,-0.998013,-0.062791] 2025-10-27T05:20:52.976Z,1761542452.976 [DAT](INFO): publishing direction and range info 2025-10-27T05:20:52.990Z,1761542452.990 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:52.990Z,1761542452.990 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:52.990Z,1761542452.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:53.168Z,1761542453.168 [DAT](INFO): DAT read: user:367> 2025-10-27T05:20:53.168Z,1761542453.168 [DAT](INFO): DAT read: Tx time:05:20:52.2744 2025-10-27T05:20:53.169Z,1761542453.169 [DAT](INFO): Ping request sent. 2025-10-27T05:20:53.169Z,1761542453.169 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:53.169Z,1761542453.169 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:53.170Z,1761542453.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-27T05:20:53.350Z,1761542453.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.199997 m, deltaT: 4.029503 s, deltaX: 0.899994 m, approachRate: 0.223351 m/s, rangeRepo size: 4 2025-10-27T05:20:53.368Z,1761542453.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.370331 m, bearing: 224.019781 deg, lat: 36.779373 deg, lon: -121.859653 deg, deltaT: 4.029503 s, deltaX: 0.894684 m, approachRate: 0.222033 m/s, posRepo size: 4 2025-10-27T05:20:53.369Z,1761542453.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:53.376Z,1761542453.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.624405 m, bearing: 224.020337 deg, approach rate: 0.000000 m/s, LOS rate: -0.181146 deg/s, cmd heading: 219.435291 deg, new cmd heading: 219.179788 deg. 2025-10-27T05:20:53.377Z,1761542453.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.825409 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:53.420Z,1761542453.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251243 2025-10-27T05:20:53.672Z,1761542453.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503334 2025-10-27T05:20:53.718Z,1761542453.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661582,0.725105,0.191133],[-0.749765,0.643953,0.152238],[-0.012692,-0.244023,0.969687]] 2025-10-27T05:20:53.744Z,1761542453.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:53.746Z,1761542453.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.618698 m, bearing: 223.946094 deg, approach rate: -0.014497 m/s, LOS rate: -0.188611 deg/s, cmd heading: 219.179787 deg, new cmd heading: 218.957050 deg. 2025-10-27T05:20:53.747Z,1761542453.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.821522 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:53.924Z,1761542453.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754931 2025-10-27T05:20:54.105Z,1761542454.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643263,0.740661,0.193996],[-0.765534,0.626505,0.146458],[-0.013064,-0.242721,0.970008]] 2025-10-27T05:20:54.160Z,1761542454.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:54.163Z,1761542454.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.606934 m, bearing: 223.869743 deg, approach rate: -0.028208 m/s, LOS rate: -0.183080 deg/s, cmd heading: 218.957054 deg, new cmd heading: 218.727986 deg. 2025-10-27T05:20:54.164Z,1761542454.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817523 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:54.176Z,1761542454.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007131 2025-10-27T05:20:54.428Z,1761542454.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259050 2025-10-27T05:20:54.510Z,1761542454.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624563,0.755664,0.197214],[-0.780853,0.608673,0.140658],[-0.013748,-0.241845,0.970217]] 2025-10-27T05:20:54.528Z,1761542454.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:54.530Z,1761542454.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:54.533Z,1761542454.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.592285 m, bearing: 223.802300 deg, approach rate: -0.039600 m/s, LOS rate: -0.182338 deg/s, cmd heading: 218.727984 deg, new cmd heading: 218.525638 deg. 2025-10-27T05:20:54.534Z,1761542454.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.813992 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:54.680Z,1761542454.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511240 2025-10-27T05:20:54.913Z,1761542454.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605472,0.770804,0.198155],[-0.795740,0.590755,0.133438],[-0.014206,-0.238473,0.971045]] 2025-10-27T05:20:54.932Z,1761542454.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763192 2025-10-27T05:20:55.028Z,1761542455.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:55.035Z,1761542455.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.571182 m, bearing: 223.727111 deg, approach rate: -0.042352 m/s, LOS rate: -0.150920 deg/s, cmd heading: 218.525632 deg, new cmd heading: 218.300034 deg. 2025-10-27T05:20:55.036Z,1761542455.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810054 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:55.184Z,1761542455.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014936 2025-10-27T05:20:55.317Z,1761542455.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586103,0.784814,0.201370],[-0.810101,0.572167,0.127913],[-0.014829,-0.238100,0.971127]] 2025-10-27T05:20:55.376Z,1761542455.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:55.379Z,1761542455.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.554749 m, bearing: 223.654033 deg, approach rate: -0.047236 m/s, LOS rate: -0.210073 deg/s, cmd heading: 218.300031 deg, new cmd heading: 218.080775 deg. 2025-10-27T05:20:55.380Z,1761542455.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806227 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:55.437Z,1761542455.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268037 2025-10-27T05:20:55.688Z,1761542455.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519050 2025-10-27T05:20:55.736Z,1761542455.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566414,0.797923,0.206139],[-0.823973,0.553047,0.123319],[-0.015606,-0.239703,0.970721]] 2025-10-27T05:20:55.754Z,1761542455.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:55.757Z,1761542455.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.536407 m, bearing: 223.590372 deg, approach rate: -0.048533 m/s, LOS rate: -0.168474 deg/s, cmd heading: 218.080768 deg, new cmd heading: 217.889764 deg. 2025-10-27T05:20:55.758Z,1761542455.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.802894 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:55.940Z,1761542455.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770932 2025-10-27T05:20:56.193Z,1761542456.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024529 2025-10-27T05:20:56.222Z,1761542456.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:56.229Z,1761542456.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.516266 m, bearing: 223.523949 deg, approach rate: -0.043062 m/s, LOS rate: -0.142027 deg/s, cmd heading: 217.889769 deg, new cmd heading: 217.690475 deg. 2025-10-27T05:20:56.230Z,1761542456.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.799416 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:56.448Z,1761542456.448 [DAT](INFO): DAT read: Rx Time:05:20: 2025-10-27T05:20:56.449Z,1761542456.449 [DAT](INFO): Rx dataTimestamp_ set to:1761542456.448122 2025-10-27T05:20:56.450Z,1761542456.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280708 2025-10-27T05:20:56.554Z,1761542456.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525964,0.821555,0.220021],[-0.850334,0.513178,0.116535],[-0.017170,-0.248384,0.968509]] 2025-10-27T05:20:56.570Z,1761542456.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:56.573Z,1761542456.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.37 m. 2025-10-27T05:20:56.576Z,1761542456.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.370331 m, nav range: 156.489746 m, bearing: 223.462869 deg, approach rate: -0.075584 m/s, LOS rate: -0.174113 deg/s, cmd heading: 217.690478 deg, new cmd heading: 217.507208 deg. 2025-10-27T05:20:56.576Z,1761542456.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796217 target range: 159.370331 and range: 160.20 m. 2025-10-27T05:20:56.696Z,1761542456.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527002 2025-10-27T05:20:56.959Z,1761542456.959 [DAT](INFO): DAT read: 05:20:54.8920 LVL= 27744, 28833, 18146, 27235, AGC= 59, IDX= 423,-0.02,-2.562,-1.742,-0.426,-1.578, PHS=-0.882,-0.119, 1.108, RAW= 232.3, -1.2, CAL= 229.0, -1.2, ROT= 281.0, 1.2 2025-10-27T05:20:56.961Z,1761542456.961 [DAT](INFO): got valid direction response: 05:20:54.8920 LVL= 27744, 28833, 18146, 27235, AGC= 59, IDX= 423,-0.02,-2.562,-1.742,-0.426,-1.578, PHS=-0.882,-0.119, 1.108, RAW= 232.3, -1.2, CAL= 229.0, -1.2, ROT= 281.0, 1.2 2025-10-27T05:20:56.962Z,1761542456.962 [DAT](INFO): DAT read: Bearing 31.5, -72.0 (Local) 2025-10-27T05:20:56.962Z,1761542456.962 [DAT](INFO): Local bearing/azimuth received: Bearing 31.5, -72.0 (Local) 2025-10-27T05:20:57.004Z,1761542457.004 [DAT](INFO): DAT read: Range 11 to 50 : 160.1 m (Round-trip 213.5 ms) speed 0.0 m/s 2025-10-27T05:20:57.015Z,1761542457.015 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:20:57.019Z,1761542457.019 [DAT](INFO): direction in FSK: [0.190767,-0.981412,-0.020942] 2025-10-27T05:20:57.026Z,1761542457.026 [DAT](INFO): publishing direction and range info 2025-10-27T05:20:57.050Z,1761542457.050 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:20:57.050Z,1761542457.050 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:20:57.059Z,1761542457.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:20:57.149Z,1761542457.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.100006 m, deltaT: 4.032868 s, deltaX: -0.099991 m, approachRate: -0.024794 m/s, rangeRepo size: 4 2025-10-27T05:20:57.155Z,1761542457.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.269592 m, bearing: 223.244509 deg, lat: 36.779373 deg, lon: -121.859641 deg, deltaT: 4.032868 s, deltaX: -0.100739 m, approachRate: -0.024979 m/s, posRepo size: 4 2025-10-27T05:20:57.156Z,1761542457.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:20:57.159Z,1761542457.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.748718 m, bearing: 223.110866 deg, approach rate: 0.000000 m/s, LOS rate: -0.174113 deg/s, cmd heading: 217.507210 deg, new cmd heading: 217.206560 deg. 2025-10-27T05:20:57.164Z,1761542457.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.790970 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:20:57.200Z,1761542457.200 [DAT](INFO): DAT read: user:368> 2025-10-27T05:20:57.201Z,1761542457.201 [DAT](INFO): DAT read: Tx time:05:20:56.3744 2025-10-27T05:20:57.201Z,1761542457.201 [DAT](INFO): Ping request sent. 2025-10-27T05:20:57.201Z,1761542457.201 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:20:57.201Z,1761542457.201 [DAT](INFO): publishing transmit ping time 2025-10-27T05:20:57.202Z,1761542457.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-27T05:20:57.453Z,1761542457.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252096 2025-10-27T05:20:57.497Z,1761542457.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486101,0.842857,0.230864],[-0.873692,0.474515,0.107226],[-0.019172,-0.253827,0.967060]] 2025-10-27T05:20:57.534Z,1761542457.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:20:57.537Z,1761542457.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.720306 m, bearing: 223.056706 deg, approach rate: -0.074196 m/s, LOS rate: -0.141460 deg/s, cmd heading: 217.206559 deg, new cmd heading: 217.044051 deg. 2025-10-27T05:20:57.538Z,1761542457.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788133 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:20:57.705Z,1761542457.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503818 2025-10-27T05:20:57.903Z,1761542457.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466219,0.852969,0.234701],[-0.884442,0.455419,0.101767],[-0.020083,-0.255025,0.966726]] 2025-10-27T05:20:57.922Z,1761542457.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:20:57.925Z,1761542457.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.687851 m, bearing: 223.001310 deg, approach rate: -0.083067 m/s, LOS rate: -0.141812 deg/s, cmd heading: 217.044055 deg, new cmd heading: 216.877832 deg. 2025-10-27T05:20:57.926Z,1761542457.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.785232 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:20:57.957Z,1761542457.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756156 2025-10-27T05:20:58.208Z,1761542458.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006805 2025-10-27T05:20:58.377Z,1761542458.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:20:58.384Z,1761542458.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.650421 m, bearing: 222.944149 deg, approach rate: -0.082214 m/s, LOS rate: -0.125583 deg/s, cmd heading: 216.877836 deg, new cmd heading: 216.706313 deg. 2025-10-27T05:20:58.385Z,1761542458.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.782239 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:20:58.461Z,1761542458.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259730 2025-10-27T05:20:58.713Z,1761542458.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512282 2025-10-27T05:20:58.747Z,1761542458.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426891,0.872375,0.238172],[-0.904026,0.418213,0.088516],[-0.022388,-0.253100,0.967181]] 2025-10-27T05:20:58.764Z,1761542458.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:20:58.766Z,1761542458.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:20:58.769Z,1761542458.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.609039 m, bearing: 222.891050 deg, approach rate: -0.106349 m/s, LOS rate: -0.136498 deg/s, cmd heading: 216.706316 deg, new cmd heading: 216.546976 deg. 2025-10-27T05:20:58.770Z,1761542458.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779458 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:20:58.964Z,1761542458.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762883 2025-10-27T05:20:59.140Z,1761542459.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407033,0.881930,0.237749],[-0.913107,0.399612,0.080905],[-0.023655,-0.250021,0.967951]] 2025-10-27T05:20:59.177Z,1761542459.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:20:59.196Z,1761542459.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.560547 m, bearing: 222.839643 deg, approach rate: -0.118155 m/s, LOS rate: -0.125297 deg/s, cmd heading: 216.546981 deg, new cmd heading: 216.392712 deg. 2025-10-27T05:20:59.197Z,1761542459.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.776765 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:20:59.216Z,1761542459.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015129 2025-10-27T05:20:59.470Z,1761542459.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268426 2025-10-27T05:20:59.542Z,1761542459.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388073,0.890544,0.237340],[-0.921281,0.381910,0.073386],[-0.025289,-0.247136,0.968651]] 2025-10-27T05:20:59.566Z,1761542459.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:20:59.569Z,1761542459.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.511963 m, bearing: 222.791217 deg, approach rate: -0.124776 m/s, LOS rate: -0.124408 deg/s, cmd heading: 216.392715 deg, new cmd heading: 216.247393 deg. 2025-10-27T05:20:59.570Z,1761542459.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.774229 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:20:59.720Z,1761542459.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519077 2025-10-27T05:20:59.952Z,1761542459.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368873,0.898594,0.237617],[-0.929097,0.363810,0.066499],[-0.026692,-0.245299,0.969080]] 2025-10-27T05:20:59.973Z,1761542459.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771755 2025-10-27T05:21:00.003Z,1761542460.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:21:00.006Z,1761542460.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.457733 m, bearing: 222.740286 deg, approach rate: -0.130089 m/s, LOS rate: -0.122220 deg/s, cmd heading: 216.247395 deg, new cmd heading: 216.094548 deg. 2025-10-27T05:21:00.007Z,1761542460.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771561 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:21:00.224Z,1761542460.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022881 2025-10-27T05:21:00.414Z,1761542460.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:21:00.417Z,1761542460.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.389648 m, bearing: 222.680405 deg, approach rate: -0.157934 m/s, LOS rate: -0.138965 deg/s, cmd heading: 216.094549 deg, new cmd heading: 215.914829 deg. 2025-10-27T05:21:00.418Z,1761542460.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768425 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:21:00.477Z,1761542460.477 [DAT](INFO): DAT read: Rx Time:05:20:58.9917 2025-10-27T05:21:00.478Z,1761542460.478 [DAT](INFO): Rx dataTimestamp_ set to:1761542460.477277 2025-10-27T05:21:00.478Z,1761542460.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277058 2025-10-27T05:21:00.729Z,1761542460.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527230 2025-10-27T05:21:00.753Z,1761542460.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328434,0.913773,0.239062],[-0.944097,0.325231,0.053903],[-0.028495,-0.243402,0.969507]] 2025-10-27T05:21:00.771Z,1761542460.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:00.785Z,1761542460.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:21:00.792Z,1761542460.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269592 m, nav range: 155.327957 m, bearing: 222.631968 deg, approach rate: -0.166372 m/s, LOS rate: -0.130678 deg/s, cmd heading: 215.914834 deg, new cmd heading: 215.769466 deg. 2025-10-27T05:21:00.793Z,1761542460.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765887 target range: 159.269592 and range: 160.10 m. 2025-10-27T05:21:00.985Z,1761542460.985 [DAT](INFO): DAT read: 05:20:58.9917 LVL= 27984, 32753, 18658, 31459, AGC= 61, IDX= 436,-0.04, 0.952, 1.250, 3.040, 1.601, PHS=-0.547,-0.306, 1.395, RAW= 216.5, -6.0, CAL= 215.3, -8.8, ROT= 294.7, 8.8 2025-10-27T05:21:00.986Z,1761542460.986 [DAT](INFO): got valid direction response: 05:20:58.9917 LVL= 27984, 32753, 18658, 31459, AGC= 61, IDX= 436,-0.04, 0.952, 1.250, 3.040, 1.601, PHS=-0.547,-0.306, 1.395, RAW= 216.5, -6.0, CAL= 215.3, -8.8, ROT= 294.7, 8.8 2025-10-27T05:21:01.005Z,1761542461.005 [DAT](INFO): DAT read: Bearing 30.5, -57.1 (Local) 2025-10-27T05:21:01.005Z,1761542461.005 [DAT](INFO): Local bearing/azimuth received: Bearing 30.5, -57.1 (Local) 2025-10-27T05:21:01.006Z,1761542461.006 [DAT](INFO): DAT read: Range 11 to 50 : 159.9 m (Round-trip 213.2 ms) speed 0.2 m/s 2025-10-27T05:21:01.007Z,1761542461.007 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:01.008Z,1761542461.008 [DAT](INFO): direction in FSK: [0.412948,-0.897813,-0.152986] 2025-10-27T05:21:01.008Z,1761542461.008 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:01.012Z,1761542461.012 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:01.012Z,1761542461.012 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:01.012Z,1761542461.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:01.170Z,1761542461.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306525,0.921523,0.238408],[-0.951424,0.304225,0.047334],[-0.028910,-0.241336,0.970011]] 2025-10-27T05:21:01.232Z,1761542461.232 [DAT](INFO): DAT read: user:369> 2025-10-27T05:21:01.233Z,1761542461.233 [DAT](INFO): DAT read: Tx time:05:21:00.3244 2025-10-27T05:21:01.233Z,1761542461.233 [DAT](INFO): Ping request sent. 2025-10-27T05:21:01.233Z,1761542461.233 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:01.233Z,1761542461.233 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:01.234Z,1761542461.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-27T05:21:01.308Z,1761542461.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.899994 m, deltaT: 4.031099 s, deltaX: -0.200012 m, approachRate: -0.049617 m/s, rangeRepo size: 4 2025-10-27T05:21:01.310Z,1761542461.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.070312 m, bearing: 222.402791 deg, lat: 36.779373 deg, lon: -121.859653 deg, deltaT: 4.031099 s, deltaX: -0.199280 m, approachRate: -0.049436 m/s, posRepo size: 4 2025-10-27T05:21:01.310Z,1761542461.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:01.317Z,1761542461.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 155.928543 m, bearing: 222.839050 deg, approach rate: 0.000000 m/s, LOS rate: -0.130678 deg/s, cmd heading: 215.769460 deg, new cmd heading: 215.566398 deg. 2025-10-27T05:21:01.318Z,1761542461.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.762343 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:01.484Z,1761542461.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251013 2025-10-27T05:21:01.635Z,1761542461.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284192,0.929311,0.235830],[-0.958322,0.282827,0.040339],[-0.029212,-0.237465,0.970957]] 2025-10-27T05:21:01.691Z,1761542461.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:01.694Z,1761542461.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 155.850189 m, bearing: 222.786493 deg, approach rate: -0.206204 m/s, LOS rate: -0.138384 deg/s, cmd heading: 215.566398 deg, new cmd heading: 215.408648 deg. 2025-10-27T05:21:01.695Z,1761542461.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759590 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:01.736Z,1761542461.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503090 2025-10-27T05:21:01.988Z,1761542461.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754826 2025-10-27T05:21:02.072Z,1761542462.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236923,0.940334,0.244213],[-0.971107,0.236619,0.031024],[-0.028612,-0.244507,0.969225]] 2025-10-27T05:21:02.147Z,1761542462.147 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:21:02.159Z,1761542462.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:02.162Z,1761542462.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 155.737198 m, bearing: 222.718648 deg, approach rate: -0.239443 m/s, LOS rate: -0.143877 deg/s, cmd heading: 215.408648 deg, new cmd heading: 215.204966 deg. 2025-10-27T05:21:02.163Z,1761542462.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.756035 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:02.240Z,1761542462.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006897 2025-10-27T05:21:02.496Z,1761542462.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262317 2025-10-27T05:21:02.608Z,1761542462.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212887,0.944718,0.249373],[-0.976677,0.213054,0.026652],[-0.027952,-0.249231,0.968041]] 2025-10-27T05:21:02.668Z,1761542462.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:02.675Z,1761542462.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 155.601212 m, bearing: 222.643328 deg, approach rate: -0.264884 m/s, LOS rate: -0.146841 deg/s, cmd heading: 215.204972 deg, new cmd heading: 214.978817 deg. 2025-10-27T05:21:02.676Z,1761542462.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752088 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:02.744Z,1761542462.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510948 2025-10-27T05:21:02.996Z,1761542462.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762762 2025-10-27T05:21:03.150Z,1761542463.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188609,0.949517,0.250688],[-0.981678,0.189335,0.021449],[-0.027098,-0.250141,0.967830]] 2025-10-27T05:21:03.151Z,1761542463.151 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:21:03.197Z,1761542463.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:03.199Z,1761542463.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:03.202Z,1761542463.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 155.431000 m, bearing: 222.554978 deg, approach rate: -0.320482 m/s, LOS rate: -0.166533 deg/s, cmd heading: 214.978811 deg, new cmd heading: 214.713470 deg. 2025-10-27T05:21:03.203Z,1761542463.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.747457 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:03.250Z,1761542463.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015894 2025-10-27T05:21:03.500Z,1761542463.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266800 2025-10-27T05:21:03.642Z,1761542463.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164684,0.953703,0.251656],[-0.985991,0.166020,0.016065],[-0.026458,-0.250776,0.967684]] 2025-10-27T05:21:03.665Z,1761542463.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:03.668Z,1761542463.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 155.283127 m, bearing: 222.481761 deg, approach rate: -0.317458 m/s, LOS rate: -0.157334 deg/s, cmd heading: 214.713472 deg, new cmd heading: 214.493613 deg. 2025-10-27T05:21:03.669Z,1761542463.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.743620 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:03.753Z,1761542463.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519878 2025-10-27T05:21:04.004Z,1761542464.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865 2025-10-27T05:21:04.048Z,1761542464.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139895,0.958061,0.250097],[-0.989839,0.141807,0.010451],[-0.025453,-0.249018,0.968164]] 2025-10-27T05:21:04.075Z,1761542464.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:04.078Z,1761542464.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 155.149002 m, bearing: 222.418498 deg, approach rate: -0.327166 m/s, LOS rate: -0.154447 deg/s, cmd heading: 214.493608 deg, new cmd heading: 214.303658 deg. 2025-10-27T05:21:04.109Z,1761542464.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740304 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:04.257Z,1761542464.257 [DAT](INFO): DAT read: Rx Time:05:21:02.9408 2025-10-27T05:21:04.257Z,1761542464.257 [DAT](INFO): Rx dataTimestamp_ set to:1761542464.256816 2025-10-27T05:21:04.258Z,1761542464.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024903 2025-10-27T05:21:04.482Z,1761542464.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090834,0.965824,0.242762],[-0.995580,0.093914,-0.001120],[-0.023881,-0.241587,0.970085]] 2025-10-27T05:21:04.508Z,1761542464.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274892 2025-10-27T05:21:04.531Z,1761542464.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:04.534Z,1761542464.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 154.985550 m, bearing: 222.346402 deg, approach rate: -0.358774 m/s, LOS rate: -0.158418 deg/s, cmd heading: 214.303660 deg, new cmd heading: 214.087143 deg. 2025-10-27T05:21:04.535Z,1761542464.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.736526 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:04.763Z,1761542464.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529487 2025-10-27T05:21:04.877Z,1761542464.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066165,0.967686,0.243321],[-0.997539,0.069825,-0.006438],[-0.023220,-0.242297,0.969924]] 2025-10-27T05:21:04.927Z,1761542464.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.07 m. 2025-10-27T05:21:04.930Z,1761542464.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.070312 m, nav range: 154.841202 m, bearing: 222.285640 deg, approach rate: -0.366327 m/s, LOS rate: -0.154345 deg/s, cmd heading: 214.087143 deg, new cmd heading: 213.904688 deg. 2025-10-27T05:21:04.931Z,1761542464.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.733341 target range: 159.070312 and range: 159.90 m. 2025-10-27T05:21:05.021Z,1761542465.021 [DAT](INFO): DAT read: 05:21:02.9408 LVL= 29664, 31953, 18322, 32755, AGC= 56, IDX= 427,-0.30, 2.748, 2.400,-1.858,-3.084, PHS=-0.349,-0.754, 1.182, RAW= 198.6, -0.9, CAL= 198.6, -3.4, ROT= 311.4, 3.4 2025-10-27T05:21:05.022Z,1761542465.022 [DAT](INFO): got valid direction response: 05:21:02.9408 LVL= 29664, 31953, 18322, 32755, AGC= 56, IDX= 427,-0.30, 2.748, 2.400,-1.858,-3.084, PHS=-0.349,-0.754, 1.182, RAW= 198.6, -0.9, CAL= 198.6, -3.4, ROT= 311.4, 3.4 2025-10-27T05:21:05.023Z,1761542465.023 [DAT](INFO): DAT read: Bearing 39.9, -46.7 (Local) 2025-10-27T05:21:05.024Z,1761542465.024 [DAT](INFO): Local bearing/azimuth received: Bearing 39.9, -46.7 (Local) 2025-10-27T05:21:05.025Z,1761542465.025 [DAT](INFO): DAT read: Range 11 to 50 : 159.2 m (Round-trip 212.3 ms) speed 0.4 m/s 2025-10-27T05:21:05.025Z,1761542465.025 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:05.026Z,1761542465.026 [DAT](INFO): direction in FSK: [0.660148,-0.748791,-0.059306] 2025-10-27T05:21:05.035Z,1761542465.035 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:05.044Z,1761542465.044 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:05.044Z,1761542465.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:05.044Z,1761542465.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:05.264Z,1761542465.264 [DAT](INFO): DAT read: user:370> 2025-10-27T05:21:05.265Z,1761542465.265 [DAT](INFO): DAT read: Tx time:05:21:04.3244 2025-10-27T05:21:05.265Z,1761542465.265 [DAT](INFO): Ping request sent. 2025-10-27T05:21:05.265Z,1761542465.265 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:05.265Z,1761542465.265 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:05.266Z,1761542465.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-27T05:21:05.321Z,1761542465.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041638,0.968937,0.243776],[-0.998875,0.045908,-0.011856],[-0.022679,-0.243008,0.969759]] 2025-10-27T05:21:05.371Z,1761542465.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.199997 m, deltaT: 4.032332 s, deltaX: -0.699997 m, approachRate: -0.173596 m/s, rangeRepo size: 4 2025-10-27T05:21:05.373Z,1761542465.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.373123 m, bearing: 224.208275 deg, lat: 36.779377 deg, lon: -121.859665 deg, deltaT: 4.032332 s, deltaX: -0.697189 m, approachRate: -0.172900 m/s, posRepo size: 4 2025-10-27T05:21:05.374Z,1761542465.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:05.377Z,1761542465.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 155.009003 m, bearing: 222.648685 deg, approach rate: 0.000000 m/s, LOS rate: -0.154345 deg/s, cmd heading: 213.904682 deg, new cmd heading: 213.698239 deg. 2025-10-27T05:21:05.378Z,1761542465.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729738 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:05.517Z,1761542465.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251417 2025-10-27T05:21:05.737Z,1761542465.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016678,0.970029,0.242418],[-0.999615,0.021549,-0.017456],[-0.022156,-0.242033,0.970015]] 2025-10-27T05:21:05.754Z,1761542465.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:05.757Z,1761542465.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:05.768Z,1761542465.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502803 2025-10-27T05:21:05.776Z,1761542465.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 154.859009 m, bearing: 222.594426 deg, approach rate: -0.388245 m/s, LOS rate: -0.140582 deg/s, cmd heading: 213.698232 deg, new cmd heading: 213.535296 deg. 2025-10-27T05:21:05.777Z,1761542465.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726894 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:06.020Z,1761542466.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754833 2025-10-27T05:21:06.154Z,1761542466.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007629,0.970223,0.242091],[-0.999730,-0.002093,-0.023119],[-0.021924,-0.242203,0.969978]] 2025-10-27T05:21:06.244Z,1761542466.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:06.252Z,1761542466.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 154.670746 m, bearing: 222.529352 deg, approach rate: -0.386081 m/s, LOS rate: -0.133612 deg/s, cmd heading: 213.535291 deg, new cmd heading: 213.339834 deg. 2025-10-27T05:21:06.252Z,1761542466.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723483 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:06.272Z,1761542466.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007034 2025-10-27T05:21:06.525Z,1761542466.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259549 2025-10-27T05:21:06.563Z,1761542466.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031973,0.969586,0.242654],[-0.999247,-0.025674,-0.029079],[-0.021965,-0.243401,0.969677]] 2025-10-27T05:21:06.614Z,1761542466.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:06.633Z,1761542466.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 154.520203 m, bearing: 222.480869 deg, approach rate: -0.407613 m/s, LOS rate: -0.131400 deg/s, cmd heading: 213.339839 deg, new cmd heading: 213.194249 deg. 2025-10-27T05:21:06.633Z,1761542466.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.720942 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:06.776Z,1761542466.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510802 2025-10-27T05:21:06.980Z,1761542466.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056264,0.967868,0.245084],[-0.998176,-0.049144,-0.035076],[-0.021904,-0.246611,0.968867]] 2025-10-27T05:21:07.015Z,1761542467.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:07.018Z,1761542467.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 154.363037 m, bearing: 222.432531 deg, approach rate: -0.395587 m/s, LOS rate: -0.121791 deg/s, cmd heading: 213.194246 deg, new cmd heading: 213.049085 deg. 2025-10-27T05:21:07.019Z,1761542467.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.718408 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:07.028Z,1761542467.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763003 2025-10-27T05:21:07.280Z,1761542467.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014913 2025-10-27T05:21:07.374Z,1761542467.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.080376,0.966041,0.245571],[-0.996524,-0.072466,-0.041095],[-0.021904,-0.248020,0.968507]] 2025-10-27T05:21:07.440Z,1761542467.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:07.451Z,1761542467.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 154.198914 m, bearing: 222.387613 deg, approach rate: -0.410124 m/s, LOS rate: -0.112365 deg/s, cmd heading: 213.049091 deg, new cmd heading: 212.914193 deg. 2025-10-27T05:21:07.452Z,1761542467.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.716054 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:07.533Z,1761542467.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268268 2025-10-27T05:21:07.777Z,1761542467.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104450,0.964078,0.244221],[-0.994292,-0.095852,-0.046864],[-0.021772,-0.247722,0.968586]] 2025-10-27T05:21:07.784Z,1761542467.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519029 2025-10-27T05:21:07.814Z,1761542467.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:07.817Z,1761542467.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:07.820Z,1761542467.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 154.034973 m, bearing: 222.344864 deg, approach rate: -0.404234 m/s, LOS rate: -0.105519 deg/s, cmd heading: 212.914195 deg, new cmd heading: 212.785813 deg. 2025-10-27T05:21:07.821Z,1761542467.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.713813 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:08.036Z,1761542468.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770862 2025-10-27T05:21:08.226Z,1761542468.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127940,0.961718,0.242342],[-0.991538,-0.118610,-0.052767],[-0.022003,-0.247042,0.968755]] 2025-10-27T05:21:08.288Z,1761542468.288 [DAT](INFO): DAT read: Rx Time:05:21:06.9388 2025-10-27T05:21:08.289Z,1761542468.289 [DAT](INFO): Rx dataTimestamp_ set to:1761542468.288231 2025-10-27T05:21:08.289Z,1761542468.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024048 2025-10-27T05:21:08.295Z,1761542468.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:08.298Z,1761542468.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 153.850143 m, bearing: 222.302195 deg, approach rate: -0.389937 m/s, LOS rate: -0.090129 deg/s, cmd heading: 212.785815 deg, new cmd heading: 212.657652 deg. 2025-10-27T05:21:08.299Z,1761542468.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.711576 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:08.540Z,1761542468.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274973 2025-10-27T05:21:08.650Z,1761542468.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.37 m. 2025-10-27T05:21:08.653Z,1761542468.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.373123 m, nav range: 153.693756 m, bearing: 222.265996 deg, approach rate: -0.434819 m/s, LOS rate: -0.100750 deg/s, cmd heading: 212.657653 deg, new cmd heading: 212.548946 deg. 2025-10-27T05:21:08.654Z,1761542468.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.709679 target range: 158.373123 and range: 159.20 m. 2025-10-27T05:21:08.795Z,1761542468.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529520 2025-10-27T05:21:09.050Z,1761542469.050 [DAT](INFO): DAT read: 05:21:06.9388 LVL= 32752, 32753, 27682, 32755, AGC= 62, IDX= 422, 0.04, 1.366, 0.354, 2.597, 1.617, PHS=-0.149,-1.218, 0.936, RAW= 180.2, 4.7, CAL= 179.9, 2.9, ROT= 330.1, -2.9 2025-10-27T05:21:09.051Z,1761542469.051 [DAT](INFO): got valid direction response: 05:21:06.9388 LVL= 32752, 32753, 27682, 32755, AGC= 62, IDX= 422, 0.04, 1.366, 0.354, 2.597, 1.617, PHS=-0.149,-1.218, 0.936, RAW= 180.2, 4.7, CAL= 179.9, 2.9, ROT= 330.1, -2.9 2025-10-27T05:21:09.052Z,1761542469.052 [DAT](INFO): DAT read: Bearing 42.2, -31.4 (Local) 2025-10-27T05:21:09.052Z,1761542469.052 [DAT](INFO): Local bearing/azimuth received: Bearing 42.2, -31.4 (Local) 2025-10-27T05:21:09.054Z,1761542469.054 [DAT](INFO): DAT read: Range 11 to 50 : 157.7 m (Round-trip 210.3 ms) speed 0.4 m/s 2025-10-27T05:21:09.054Z,1761542469.054 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:09.055Z,1761542469.055 [DAT](INFO): direction in FSK: [0.865787,-0.497849,0.050593] 2025-10-27T05:21:09.056Z,1761542469.056 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:09.059Z,1761542469.059 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:09.059Z,1761542469.059 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:09.059Z,1761542469.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:09.116Z,1761542469.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174735,0.954888,0.240119],[-0.984361,-0.163873,-0.064643],[-0.022377,-0.247659,0.968589]] 2025-10-27T05:21:09.222Z,1761542469.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 157.699997 m, deltaT: 4.031514 s, deltaX: -1.500000 m, approachRate: -0.372069 m/s, rangeRepo size: 4 2025-10-27T05:21:09.245Z,1761542469.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 156.880875 m, bearing: 231.549420 deg, lat: 36.779377 deg, lon: -121.859665 deg, deltaT: 4.031514 s, deltaX: -1.492249 m, approachRate: -0.370146 m/s, posRepo size: 4 2025-10-27T05:21:09.245Z,1761542469.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:09.253Z,1761542469.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 153.483658 m, bearing: 222.222227 deg, approach rate: 0.000000 m/s, LOS rate: -0.100750 deg/s, cmd heading: 212.548944 deg, new cmd heading: 212.378453 deg. 2025-10-27T05:21:09.254Z,1761542469.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.706703 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:09.297Z,1761542469.297 [DAT](INFO): DAT read: user:371> 2025-10-27T05:21:09.298Z,1761542469.298 [DAT](INFO): DAT read: Tx time:05:21:08.3744 2025-10-27T05:21:09.298Z,1761542469.298 [DAT](INFO): Ping request sent. 2025-10-27T05:21:09.298Z,1761542469.298 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:09.299Z,1761542469.299 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:09.299Z,1761542469.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000860 2025-10-27T05:21:09.548Z,1761542469.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249312 2025-10-27T05:21:09.568Z,1761542469.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196886,0.950725,0.239495],[-0.980162,-0.185195,-0.070610],[-0.022778,-0.248646,0.968327]] 2025-10-27T05:21:09.617Z,1761542469.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:09.620Z,1761542469.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 153.291885 m, bearing: 222.187753 deg, approach rate: -0.476581 m/s, LOS rate: -0.085779 deg/s, cmd heading: 212.378448 deg, new cmd heading: 212.274898 deg. 2025-10-27T05:21:09.621Z,1761542469.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704896 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:09.801Z,1761542469.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502018 2025-10-27T05:21:09.981Z,1761542469.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219257,0.945353,0.241318],[-0.975394,-0.206534,-0.077133],[-0.023077,-0.252293,0.967376]] 2025-10-27T05:21:09.998Z,1761542469.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:10.000Z,1761542470.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:10.004Z,1761542470.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 153.132767 m, bearing: 222.160698 deg, approach rate: -0.414800 m/s, LOS rate: -0.070601 deg/s, cmd heading: 212.274903 deg, new cmd heading: 212.193654 deg. 2025-10-27T05:21:10.005Z,1761542470.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.703478 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:10.052Z,1761542470.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753729 2025-10-27T05:21:10.304Z,1761542470.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005316 2025-10-27T05:21:10.374Z,1761542470.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241519,0.939797,0.241766],[-0.970114,-0.227829,-0.083505],[-0.023396,-0.254709,0.966735]] 2025-10-27T05:21:10.422Z,1761542470.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:10.425Z,1761542470.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 152.950424 m, bearing: 222.133318 deg, approach rate: -0.432531 m/s, LOS rate: -0.065026 deg/s, cmd heading: 212.193651 deg, new cmd heading: 212.111412 deg. 2025-10-27T05:21:10.426Z,1761542470.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.702043 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:10.557Z,1761542470.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257889 2025-10-27T05:21:10.775Z,1761542470.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263656,0.934780,0.238060],[-0.964325,-0.249352,-0.088890],[-0.023732,-0.253003,0.967174]] 2025-10-27T05:21:10.794Z,1761542470.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:10.797Z,1761542470.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 152.788345 m, bearing: 222.110538 deg, approach rate: -0.435361 m/s, LOS rate: -0.061254 deg/s, cmd heading: 212.111415 deg, new cmd heading: 212.043003 deg. 2025-10-27T05:21:10.798Z,1761542470.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.700849 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:10.808Z,1761542470.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509407 2025-10-27T05:21:11.060Z,1761542471.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761528 2025-10-27T05:21:11.181Z,1761542471.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286083,0.929620,0.232301],[-0.957901,-0.271349,-0.093788],[-0.024152,-0.249352,0.968112]] 2025-10-27T05:21:11.281Z,1761542471.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:11.288Z,1761542471.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 152.575912 m, bearing: 222.082753 deg, approach rate: -0.436661 m/s, LOS rate: -0.057192 deg/s, cmd heading: 212.043004 deg, new cmd heading: 211.959533 deg. 2025-10-27T05:21:11.289Z,1761542471.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.699392 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:11.312Z,1761542471.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013542 2025-10-27T05:21:11.565Z,1761542471.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265897 2025-10-27T05:21:11.607Z,1761542471.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307760,0.923958,0.227125],[-0.951140,-0.292529,-0.098790],[-0.024837,-0.246431,0.968842]] 2025-10-27T05:21:11.614Z,1761542471.614 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503090.,492.9, 0 2025-10-27T05:21:11.650Z,1761542471.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:11.652Z,1761542471.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 152.410797 m, bearing: 222.062696 deg, approach rate: -0.447840 m/s, LOS rate: -0.054461 deg/s, cmd heading: 211.959539 deg, new cmd heading: 211.899301 deg. 2025-10-27T05:21:11.653Z,1761542471.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.698340 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:11.816Z,1761542471.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517352 2025-10-27T05:21:12.009Z,1761542472.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329962,0.917081,0.223802],[-0.943660,-0.314137,-0.104035],[-0.025104,-0.245521,0.969066]] 2025-10-27T05:21:12.026Z,1761542472.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:12.029Z,1761542472.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:12.032Z,1761542472.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 152.241714 m, bearing: 222.043753 deg, approach rate: -0.445907 m/s, LOS rate: -0.050011 deg/s, cmd heading: 211.899297 deg, new cmd heading: 211.842406 deg. 2025-10-27T05:21:12.032Z,1761542472.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697347 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:12.068Z,1761542472.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769470 2025-10-27T05:21:12.320Z,1761542472.320 [DAT](INFO): DAT read: Rx Time:05:21:10.9865 2025-10-27T05:21:12.321Z,1761542472.321 [DAT](INFO): Rx dataTimestamp_ set to:1761542472.320530 2025-10-27T05:21:12.321Z,1761542472.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022866 2025-10-27T05:21:12.413Z,1761542472.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351845,0.909327,0.222102],[-0.935716,-0.335255,-0.109726],[-0.025316,-0.246431,0.968830]] 2025-10-27T05:21:12.487Z,1761542472.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:12.490Z,1761542472.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 152.026154 m, bearing: 222.024285 deg, approach rate: -0.470456 m/s, LOS rate: -0.042548 deg/s, cmd heading: 211.842402 deg, new cmd heading: 211.783916 deg. 2025-10-27T05:21:12.491Z,1761542472.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.696327 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:12.572Z,1761542472.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273398 2025-10-27T05:21:12.827Z,1761542472.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528478 2025-10-27T05:21:12.877Z,1761542472.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395120,0.893401,0.213813],[-0.918260,-0.377515,-0.119500],[-0.026044,-0.243553,0.969538]] 2025-10-27T05:21:12.895Z,1761542472.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.88 m. 2025-10-27T05:21:12.898Z,1761542472.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 156.880875 m, nav range: 151.832138 m, bearing: 222.010318 deg, approach rate: -0.475279 m/s, LOS rate: -0.034260 deg/s, cmd heading: 211.783921 deg, new cmd heading: 211.741965 deg. 2025-10-27T05:21:12.899Z,1761542472.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695595 target range: 156.880875 and range: 157.70 m. 2025-10-27T05:21:13.081Z,1761542473.081 [DAT](INFO): DAT read: 05:21:10.9865 LVL= 32752, 32753, 27714, 32755, AGC= 65, IDX= 415,-0.16, 2.420, 1.262,-2.915, 2.543, PHS=-0.021,-1.235, 0.782, RAW= 173.3, 5.4, CAL= 172.7, 4.3, ROT= 337.3, -4.3 2025-10-27T05:21:13.082Z,1761542473.082 [DAT](INFO): got valid direction response: 05:21:10.9865 LVL= 32752, 32753, 27714, 32755, AGC= 65, IDX= 415,-0.16, 2.420, 1.262,-2.915, 2.543, PHS=-0.021,-1.235, 0.782, RAW= 173.3, 5.4, CAL= 172.7, 4.3, ROT= 337.3, -4.3 2025-10-27T05:21:13.084Z,1761542473.084 [DAT](INFO): DAT read: Bearing 31.5, -24.6 (Local) 2025-10-27T05:21:13.084Z,1761542473.084 [DAT](INFO): Local bearing/azimuth received: Bearing 31.5, -24.6 (Local) 2025-10-27T05:21:13.086Z,1761542473.086 [DAT](INFO): DAT read: Range 11 to 50 : 156.0 m (Round-trip 208.0 ms) speed 0.4 m/s 2025-10-27T05:21:13.086Z,1761542473.086 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:13.087Z,1761542473.087 [DAT](INFO): direction in FSK: [0.919941,-0.384820,0.074979] 2025-10-27T05:21:13.087Z,1761542473.087 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:13.091Z,1761542473.091 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:13.091Z,1761542473.091 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:13.091Z,1761542473.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:13.293Z,1761542473.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417474,0.884532,0.208131],[-0.908328,-0.399756,-0.123028],[-0.025620,-0.240412,0.970333]] 2025-10-27T05:21:13.328Z,1761542473.328 [DAT](INFO): DAT read: user:372> 2025-10-27T05:21:13.329Z,1761542473.329 [DAT](INFO): DAT read: Tx time:05:21:12.3744 2025-10-27T05:21:13.329Z,1761542473.329 [DAT](INFO): Ping request sent. 2025-10-27T05:21:13.329Z,1761542473.329 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:13.329Z,1761542473.329 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:13.330Z,1761542473.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-10-27T05:21:13.349Z,1761542473.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.000000 m, deltaT: 4.031923 s, deltaX: -1.699997 m, approachRate: -0.421634 m/s, rangeRepo size: 4 2025-10-27T05:21:13.351Z,1761542473.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.188736 m, bearing: 224.270126 deg, lat: 36.779388 deg, lon: -121.859718 deg, deltaT: 4.031923 s, deltaX: -1.692139 m, approachRate: -0.419685 m/s, posRepo size: 4 2025-10-27T05:21:13.352Z,1761542473.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:13.354Z,1761542473.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 153.972275 m, bearing: 223.598209 deg, approach rate: 0.000000 m/s, LOS rate: -0.034260 deg/s, cmd heading: 211.741970 deg, new cmd heading: 211.695407 deg. 2025-10-27T05:21:13.356Z,1761542473.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.694782 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:13.584Z,1761542473.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254406 2025-10-27T05:21:13.693Z,1761542473.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439644,0.874394,0.205298],[-0.897812,-0.421364,-0.128006],[-0.025422,-0.240596,0.970292]] 2025-10-27T05:21:13.722Z,1761542473.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:13.726Z,1761542473.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 153.782745 m, bearing: 223.587805 deg, approach rate: -0.508108 m/s, LOS rate: -0.027926 deg/s, cmd heading: 211.695402 deg, new cmd heading: 211.664152 deg. 2025-10-27T05:21:13.728Z,1761542473.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.694236 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:13.833Z,1761542473.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503676 2025-10-27T05:21:14.084Z,1761542474.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754857 2025-10-27T05:21:14.095Z,1761542474.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461908,0.862807,0.205439],[-0.886572,-0.442606,-0.134498],[-0.025118,-0.244263,0.969384]] 2025-10-27T05:21:14.136Z,1761542474.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:14.138Z,1761542474.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:14.141Z,1761542474.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 153.568146 m, bearing: 223.578002 deg, approach rate: -0.514243 m/s, LOS rate: -0.023524 deg/s, cmd heading: 211.664147 deg, new cmd heading: 211.634696 deg. 2025-10-27T05:21:14.142Z,1761542474.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693722 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:14.340Z,1761542474.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011100 2025-10-27T05:21:14.505Z,1761542474.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483445,0.850426,0.207501],[-0.875012,-0.462649,-0.142515],[-0.025198,-0.250464,0.967798]] 2025-10-27T05:21:14.542Z,1761542474.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:14.545Z,1761542474.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 153.366776 m, bearing: 223.571836 deg, approach rate: -0.498632 m/s, LOS rate: -0.015286 deg/s, cmd heading: 211.634696 deg, new cmd heading: 211.616176 deg. 2025-10-27T05:21:14.546Z,1761542474.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693399 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:14.588Z,1761542474.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258977 2025-10-27T05:21:14.840Z,1761542474.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510802 2025-10-27T05:21:14.958Z,1761542474.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504491,0.837896,0.208374],[-0.863037,-0.482206,-0.150477],[-0.025605,-0.255749,0.966404]] 2025-10-27T05:21:14.993Z,1761542474.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:14.996Z,1761542474.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 153.142212 m, bearing: 223.566934 deg, approach rate: -0.498606 m/s, LOS rate: -0.010901 deg/s, cmd heading: 211.616172 deg, new cmd heading: 211.601444 deg. 2025-10-27T05:21:14.997Z,1761542474.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693142 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:15.093Z,1761542475.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764152 2025-10-27T05:21:15.344Z,1761542475.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014954 2025-10-27T05:21:15.349Z,1761542475.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525676,0.825822,0.204166],[-0.850298,-0.502835,-0.155406],[-0.025676,-0.255295,0.966522]] 2025-10-27T05:21:15.387Z,1761542475.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:15.390Z,1761542475.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 152.932846 m, bearing: 223.562481 deg, approach rate: -0.531480 m/s, LOS rate: -0.011320 deg/s, cmd heading: 211.601446 deg, new cmd heading: 211.588068 deg. 2025-10-27T05:21:15.407Z,1761542475.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692909 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:15.597Z,1761542475.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267120 2025-10-27T05:21:15.783Z,1761542475.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547055,0.813472,0.197471],[-0.836702,-0.524118,-0.158843],[-0.025716,-0.252120,0.967354]] 2025-10-27T05:21:15.803Z,1761542475.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:15.805Z,1761542475.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 152.712738 m, bearing: 223.559912 deg, approach rate: -0.529127 m/s, LOS rate: -0.006186 deg/s, cmd heading: 211.588073 deg, new cmd heading: 211.580353 deg. 2025-10-27T05:21:15.806Z,1761542475.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692774 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:15.848Z,1761542475.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519190 2025-10-27T05:21:16.100Z,1761542476.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770795 2025-10-27T05:21:16.271Z,1761542476.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568054,0.800466,0.191230],[-0.822593,-0.545007,-0.162196],[-0.025611,-0.249441,0.968051]] 2025-10-27T05:21:16.352Z,1761542476.352 [DAT](INFO): DAT read: Rx Time:05:21:14.9841 2025-10-27T05:21:16.353Z,1761542476.353 [DAT](INFO): Rx dataTimestamp_ set to:1761542476.352249 2025-10-27T05:21:16.353Z,1761542476.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024014 2025-10-27T05:21:16.359Z,1761542476.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:16.361Z,1761542476.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:16.368Z,1761542476.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 152.452057 m, bearing: 223.559367 deg, approach rate: -0.466789 m/s, LOS rate: -0.000976 deg/s, cmd heading: 211.580355 deg, new cmd heading: 211.578719 deg. 2025-10-27T05:21:16.369Z,1761542476.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692745 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:16.605Z,1761542476.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275814 2025-10-27T05:21:16.691Z,1761542476.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588396,0.786700,0.186798],[-0.808178,-0.564982,-0.166265],[-0.025263,-0.248796,0.968226]] 2025-10-27T05:21:16.760Z,1761542476.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.19 m. 2025-10-27T05:21:16.762Z,1761542476.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.188736 m, nav range: 152.206696 m, bearing: 223.561025 deg, approach rate: -0.615700 m/s, LOS rate: 0.004165 deg/s, cmd heading: 211.578715 deg, new cmd heading: 211.583695 deg. 2025-10-27T05:21:16.764Z,1761542476.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692832 target range: 155.188736 and range: 156.00 m. 2025-10-27T05:21:16.870Z,1761542476.870 [DAT](INFO): DAT read: 05:21:14.9841 LVL= 32752, 32753, 32386, 32755, AGC= 65, IDX= 422,-0.11,-3.032, 1.793,-2.435, 3.124, PHS= 0.228,-1.286, 0.679, RAW= 162.7, 4.3, CAL= 161.6, 3.2, ROT= 348.4, -3.2 2025-10-27T05:21:16.871Z,1761542476.871 [DAT](INFO): got valid direction response: 05:21:14.9841 LVL= 32752, 32753, 32386, 32755, AGC= 65, IDX= 422,-0.11,-3.032, 1.793,-2.435, 3.124, PHS= 0.228,-1.286, 0.679, RAW= 162.7, 4.3, CAL= 161.6, 3.2, ROT= 348.4, -3.2 2025-10-27T05:21:16.872Z,1761542476.872 [DAT](INFO): DAT read: Bearing 19.2, -13.5 (Local) 2025-10-27T05:21:16.872Z,1761542476.872 [DAT](INFO): Local bearing/azimuth received: Bearing 19.2, -13.5 (Local) 2025-10-27T05:21:16.874Z,1761542476.874 [DAT](INFO): DAT read: Range 11 to 50 : 154.2 m (Round-trip 205.6 ms) speed 0.8 m/s 2025-10-27T05:21:16.874Z,1761542476.874 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:16.875Z,1761542476.875 [DAT](INFO): direction in FSK: [0.978048,-0.200764,0.055822] 2025-10-27T05:21:16.876Z,1761542476.876 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:16.882Z,1761542476.882 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:16.882Z,1761542476.882 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:16.884Z,1761542476.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:17.108Z,1761542477.108 [DAT](INFO): DAT read: user:373> 2025-10-27T05:21:17.109Z,1761542477.109 [DAT](INFO): DAT read: Tx time:05:21:16.1744 2025-10-27T05:21:17.109Z,1761542477.109 [DAT](INFO): Ping request sent. 2025-10-27T05:21:17.109Z,1761542477.109 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:17.109Z,1761542477.109 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:17.110Z,1761542477.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-27T05:21:17.197Z,1761542477.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.782034 s, deltaX: -1.800003 m, approachRate: -0.475935 m/s, rangeRepo size: 4 2025-10-27T05:21:17.203Z,1761542477.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.396973 m, bearing: 223.508106 deg, lat: 36.779388 deg, lon: -121.859724 deg, deltaT: 3.782034 s, deltaX: -1.791763 m, approachRate: -0.473757 m/s, posRepo size: 4 2025-10-27T05:21:17.208Z,1761542477.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:17.211Z,1761542477.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 152.354950 m, bearing: 223.708722 deg, approach rate: 0.000000 m/s, LOS rate: 0.004165 deg/s, cmd heading: 211.583701 deg, new cmd heading: 211.589157 deg. 2025-10-27T05:21:17.212Z,1761542477.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.692927 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:17.360Z,1761542477.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251406 2025-10-27T05:21:17.537Z,1761542477.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626882,0.758549,0.177828],[-0.778716,-0.602728,-0.174127],[-0.024902,-0.247635,0.968533]] 2025-10-27T05:21:17.589Z,1761542477.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:17.592Z,1761542477.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 152.125839 m, bearing: 223.712873 deg, approach rate: -0.583280 m/s, LOS rate: 0.010584 deg/s, cmd heading: 211.589152 deg, new cmd heading: 211.601623 deg. 2025-10-27T05:21:17.593Z,1761542477.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693145 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:17.612Z,1761542477.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502970 2025-10-27T05:21:17.864Z,1761542477.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754920 2025-10-27T05:21:17.952Z,1761542477.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645125,0.743566,0.175851],[-0.763688,-0.620134,-0.179486],[-0.024408,-0.250086,0.967916]] 2025-10-27T05:21:17.975Z,1761542477.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:17.978Z,1761542477.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 151.910278 m, bearing: 223.718702 deg, approach rate: -0.558671 m/s, LOS rate: 0.015129 deg/s, cmd heading: 211.601624 deg, new cmd heading: 211.619136 deg. 2025-10-27T05:21:17.979Z,1761542477.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693451 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:18.116Z,1761542478.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006826 2025-10-27T05:21:18.371Z,1761542478.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261369 2025-10-27T05:21:18.380Z,1761542478.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662583,0.728538,0.173829],[-0.748602,-0.636703,-0.184946],[-0.024062,-0.252671,0.967253]] 2025-10-27T05:21:18.434Z,1761542478.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:18.442Z,1761542478.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:18.457Z,1761542478.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 151.659897 m, bearing: 223.728954 deg, approach rate: -0.536035 m/s, LOS rate: 0.021985 deg/s, cmd heading: 211.619136 deg, new cmd heading: 211.649944 deg. 2025-10-27T05:21:18.458Z,1761542478.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.693988 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:18.620Z,1761542478.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510851 2025-10-27T05:21:18.749Z,1761542478.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679319,0.714119,0.168999],[-0.733463,-0.653305,-0.187683],[-0.023620,-0.251451,0.967582]] 2025-10-27T05:21:18.768Z,1761542478.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:18.771Z,1761542478.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 151.463013 m, bearing: 223.738755 deg, approach rate: -0.603663 m/s, LOS rate: 0.030089 deg/s, cmd heading: 211.649940 deg, new cmd heading: 211.679381 deg. 2025-10-27T05:21:18.772Z,1761542478.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.694502 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:18.873Z,1761542478.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763344 2025-10-27T05:21:19.124Z,1761542479.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015005 2025-10-27T05:21:19.150Z,1761542479.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695899,0.699414,0.162924],[-0.717766,-0.670085,-0.189205],[-0.023160,-0.248609,0.968327]] 2025-10-27T05:21:19.185Z,1761542479.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:19.192Z,1761542479.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 151.238266 m, bearing: 223.751983 deg, approach rate: -0.539066 m/s, LOS rate: 0.031776 deg/s, cmd heading: 211.679379 deg, new cmd heading: 211.719122 deg. 2025-10-27T05:21:19.193Z,1761542479.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.695196 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:19.378Z,1761542479.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268897 2025-10-27T05:21:19.553Z,1761542479.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712773,0.684295,0.153934],[-0.701043,-0.688089,-0.187278],[-0.022233,-0.241401,0.970171]] 2025-10-27T05:21:19.610Z,1761542479.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:19.613Z,1761542479.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 150.988037 m, bearing: 223.767884 deg, approach rate: -0.588778 m/s, LOS rate: 0.037477 deg/s, cmd heading: 211.719117 deg, new cmd heading: 211.766899 deg. 2025-10-27T05:21:19.614Z,1761542479.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.696030 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:19.628Z,1761542479.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518949 2025-10-27T05:21:19.880Z,1761542479.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770920 2025-10-27T05:21:19.999Z,1761542479.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:20.002Z,1761542480.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 150.767166 m, bearing: 223.781964 deg, approach rate: -0.567668 m/s, LOS rate: 0.036239 deg/s, cmd heading: 211.766901 deg, new cmd heading: 211.809201 deg. 2025-10-27T05:21:20.023Z,1761542480.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.696768 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:20.132Z,1761542480.132 [DAT](INFO): DAT read: Rx Time:05:21:18.8133 2025-10-27T05:21:20.132Z,1761542480.132 [DAT](INFO): Rx dataTimestamp_ set to:1761542480.132124 2025-10-27T05:21:20.133Z,1761542480.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023942 2025-10-27T05:21:20.386Z,1761542480.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277006 2025-10-27T05:21:20.416Z,1761542480.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745081,0.652008,0.140498],[-0.666645,-0.721389,-0.187570],[-0.020944,-0.233417,0.972151]] 2025-10-27T05:21:20.488Z,1761542480.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:20.490Z,1761542480.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:20.493Z,1761542480.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 150.481033 m, bearing: 223.804881 deg, approach rate: -0.583012 m/s, LOS rate: 0.046784 deg/s, cmd heading: 211.809207 deg, new cmd heading: 211.878089 deg. 2025-10-27T05:21:20.494Z,1761542480.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.697970 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:20.640Z,1761542480.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530631 2025-10-27T05:21:20.765Z,1761542480.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761087,0.633937,0.137369],[-0.648348,-0.737020,-0.190910],[-0.019781,-0.234362,0.971948]] 2025-10-27T05:21:20.785Z,1761542480.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:20.788Z,1761542480.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 150.301651 m, bearing: 223.821035 deg, approach rate: -0.607437 m/s, LOS rate: 0.054767 deg/s, cmd heading: 211.878082 deg, new cmd heading: 211.926602 deg. 2025-10-27T05:21:20.789Z,1761542480.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.698817 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:20.893Z,1761542480.893 [DAT](INFO): DAT read: 05:21:18.8133 LVL= 27104, 32753, 32754, 32755, AGC= 69, IDX= 225, 0.42,-0.105,-1.728, 0.081,-0.300, PHS= 0.297,-1.384, 0.337, RAW= 151.2, 8.9, CAL= 150.7, 9.6, ROT= 359.3, -9.6 2025-10-27T05:21:20.894Z,1761542480.894 [DAT](INFO): got valid direction response: 05:21:18.8133 LVL= 27104, 32753, 32754, 32755, AGC= 69, IDX= 225, 0.42,-0.105,-1.728, 0.081,-0.300, PHS= 0.297,-1.384, 0.337, RAW= 151.2, 8.9, CAL= 150.7, 9.6, ROT= 359.3, -9.6 2025-10-27T05:21:20.896Z,1761542480.896 [DAT](INFO): DAT read: Bearing 14.6, -4.1 (Local) 2025-10-27T05:21:20.896Z,1761542480.896 [DAT](INFO): Local bearing/azimuth received: Bearing 14.6, -4.1 (Local) 2025-10-27T05:21:20.897Z,1761542480.897 [DAT](INFO): DAT read: Range 11 to 50 : 176.1 m (Round-trip 234.8 ms) speed 0.5 m/s 2025-10-27T05:21:20.898Z,1761542480.898 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:20.899Z,1761542480.899 [DAT](INFO): direction in FSK: [0.985922,-0.012046,0.166769] 2025-10-27T05:21:20.899Z,1761542480.899 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:20.902Z,1761542480.902 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:20.903Z,1761542480.903 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:20.906Z,1761542480.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:21.140Z,1761542481.140 [DAT](INFO): DAT read: user:374> 2025-10-27T05:21:21.141Z,1761542481.141 [DAT](INFO): DAT read: Tx time:05:21:20.2259 2025-10-27T05:21:21.141Z,1761542481.141 [DAT](INFO): Ping request sent. 2025-10-27T05:21:21.141Z,1761542481.141 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:21.141Z,1761542481.141 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:21.142Z,1761542481.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-27T05:21:21.169Z,1761542481.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776145,0.615414,0.137350],[-0.630289,-0.750859,-0.197351],[-0.018322,-0.239743,0.970663]] 2025-10-27T05:21:21.280Z,1761542481.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 176.100006 m, deltaT: 4.029967 s, deltaX: 21.900009 m, approachRate: 5.434290 m/s, rangeRepo size: 4 2025-10-27T05:21:21.280Z,1761542481.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:21.287Z,1761542481.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 150.030762 m, bearing: 223.848036 deg, approach rate: -0.553093 m/s, LOS rate: 0.055230 deg/s, cmd heading: 211.926604 deg, new cmd heading: 212.007755 deg. 2025-10-27T05:21:21.288Z,1761542481.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.700233 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:21.398Z,1761542481.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256596 2025-10-27T05:21:21.583Z,1761542481.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789961,0.597248,0.138764],[-0.612941,-0.763196,-0.204536],[-0.016254,-0.246630,0.968973]] 2025-10-27T05:21:21.636Z,1761542481.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:21.639Z,1761542481.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 149.802750 m, bearing: 223.873630 deg, approach rate: -0.633244 m/s, LOS rate: 0.071188 deg/s, cmd heading: 212.007760 deg, new cmd heading: 212.084658 deg. 2025-10-27T05:21:21.640Z,1761542481.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.701576 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:21.648Z,1761542481.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506995 2025-10-27T05:21:21.900Z,1761542481.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759146 2025-10-27T05:21:21.981Z,1761542481.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803573,0.579123,0.137432],[-0.595038,-0.776144,-0.208639],[-0.014161,-0.249433,0.968288]] 2025-10-27T05:21:22.011Z,1761542482.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:22.013Z,1761542482.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 149.584183 m, bearing: 223.900276 deg, approach rate: -0.582013 m/s, LOS rate: 0.071058 deg/s, cmd heading: 212.084655 deg, new cmd heading: 212.164709 deg. 2025-10-27T05:21:22.014Z,1761542482.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.702973 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:22.152Z,1761542482.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011032 2025-10-27T05:21:22.407Z,1761542482.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265385 2025-10-27T05:21:22.444Z,1761542482.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816522,0.561234,0.135311],[-0.577194,-0.788805,-0.211268],[-0.011836,-0.250606,0.968017]] 2025-10-27T05:21:22.495Z,1761542482.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:22.497Z,1761542482.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:22.500Z,1761542482.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 149.304596 m, bearing: 223.936444 deg, approach rate: -0.574394 m/s, LOS rate: 0.074444 deg/s, cmd heading: 212.164705 deg, new cmd heading: 212.273412 deg. 2025-10-27T05:21:22.501Z,1761542482.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.704870 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:22.656Z,1761542482.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515244 2025-10-27T05:21:22.832Z,1761542482.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:22.835Z,1761542482.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 149.116882 m, bearing: 223.960806 deg, approach rate: -0.561514 m/s, LOS rate: 0.072968 deg/s, cmd heading: 212.273414 deg, new cmd heading: 212.346593 deg. 2025-10-27T05:21:22.836Z,1761542482.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.706147 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:22.910Z,1761542482.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768823 2025-10-27T05:21:23.160Z,1761542483.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018835 2025-10-27T05:21:23.197Z,1761542483.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839474,0.527793,0.129300],[-0.543340,-0.811746,-0.214125],[-0.008055,-0.250006,0.968211]] 2025-10-27T05:21:23.228Z,1761542483.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:23.230Z,1761542483.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 148.888199 m, bearing: 223.994658 deg, approach rate: -0.577609 m/s, LOS rate: 0.085635 deg/s, cmd heading: 212.346592 deg, new cmd heading: 212.448305 deg. 2025-10-27T05:21:23.232Z,1761542483.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.707922 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:23.415Z,1761542483.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273436 2025-10-27T05:21:23.597Z,1761542483.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848568,0.514230,0.124497],[-0.529042,-0.821634,-0.212209],[-0.006834,-0.245938,0.969261]] 2025-10-27T05:21:23.642Z,1761542483.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:23.645Z,1761542483.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 148.652878 m, bearing: 224.033080 deg, approach rate: -0.568060 m/s, LOS rate: 0.092896 deg/s, cmd heading: 212.448308 deg, new cmd heading: 212.563755 deg. 2025-10-27T05:21:23.646Z,1761542483.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.709937 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:23.664Z,1761542483.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523023 2025-10-27T05:21:23.916Z,1761542483.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774849 2025-10-27T05:21:24.003Z,1761542484.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856349,0.502727,0.118036],[-0.516366,-0.831116,-0.206428],[-0.005675,-0.237724,0.971316]] 2025-10-27T05:21:24.021Z,1761542484.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:24.025Z,1761542484.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 148.438812 m, bearing: 224.069712 deg, approach rate: -0.563924 m/s, LOS rate: 0.096641 deg/s, cmd heading: 212.563751 deg, new cmd heading: 212.673806 deg. 2025-10-27T05:21:24.026Z,1761542484.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.711858 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:24.169Z,1761542484.169 [DAT](INFO): DAT read: Rx Time:05:21:22.8631 2025-10-27T05:21:24.169Z,1761542484.169 [DAT](INFO): Rx dataTimestamp_ set to:1761542484.168863 2025-10-27T05:21:24.170Z,1761542484.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028697 2025-10-27T05:21:24.424Z,1761542484.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282344 2025-10-27T05:21:24.431Z,1761542484.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862753,0.493248,0.111191],[-0.505602,-0.839446,-0.199243],[-0.004937,-0.228116,0.973621]] 2025-10-27T05:21:24.512Z,1761542484.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:24.514Z,1761542484.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:24.516Z,1761542484.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 148.169693 m, bearing: 224.120773 deg, approach rate: -0.546655 m/s, LOS rate: 0.103907 deg/s, cmd heading: 212.673813 deg, new cmd heading: 212.827273 deg. 2025-10-27T05:21:24.517Z,1761542484.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.714537 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:24.672Z,1761542484.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530864 2025-10-27T05:21:24.831Z,1761542484.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867587,0.485989,0.105391],[-0.497267,-0.845987,-0.192437],[-0.004363,-0.219364,0.975633]] 2025-10-27T05:21:24.849Z,1761542484.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.40 m. 2025-10-27T05:21:24.852Z,1761542484.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.396973 m, nav range: 147.986725 m, bearing: 224.156567 deg, approach rate: -0.544968 m/s, LOS rate: 0.106745 deg/s, cmd heading: 212.827274 deg, new cmd heading: 212.934790 deg. 2025-10-27T05:21:24.853Z,1761542484.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.716413 target range: 153.396973 and range: 154.20 m. 2025-10-27T05:21:24.936Z,1761542484.936 [DAT](INFO): DAT read: 05:21:22.8631 LVL= 26448, 32753, 32754, 32755, AGC= 68, IDX= 85, 0.09,-2.474, 1.910,-2.779,-2.847, PHS= 0.475,-1.481, 0.024, RAW= 137.3, 11.1, CAL= 136.8, 12.1, ROT= 13.2, -12.1 2025-10-27T05:21:24.938Z,1761542484.938 [DAT](INFO): got valid direction response: 05:21:22.8631 LVL= 26448, 32753, 32754, 32755, AGC= 68, IDX= 85, 0.09,-2.474, 1.910,-2.779,-2.847, PHS= 0.475,-1.481, 0.024, RAW= 137.3, 11.1, CAL= 136.8, 12.1, ROT= 13.2, -12.1 2025-10-27T05:21:24.941Z,1761542484.941 [DAT](INFO): DAT read: Bearing 8.9, 9.2 (Local) 2025-10-27T05:21:24.942Z,1761542484.942 [DAT](INFO): Local bearing/azimuth received: Bearing 8.9, 9.2 (Local) 2025-10-27T05:21:24.960Z,1761542484.960 [DAT](INFO): DAT read: Range 11 to 50 : 174.8 m (Round-trip 233.1 ms) speed 0.0 m/s 2025-10-27T05:21:24.961Z,1761542484.961 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:24.962Z,1761542484.962 [DAT](INFO): direction in FSK: [0.951949,0.223278,0.209619] 2025-10-27T05:21:24.963Z,1761542484.963 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:24.978Z,1761542484.978 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:24.978Z,1761542484.978 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:24.978Z,1761542484.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:25.176Z,1761542485.176 [DAT](INFO): DAT read: user:375> 2025-10-27T05:21:25.177Z,1761542485.177 [DAT](INFO): DAT read: Tx time:05:21:24.2759 2025-10-27T05:21:25.177Z,1761542485.177 [DAT](INFO): Ping request sent. 2025-10-27T05:21:25.177Z,1761542485.177 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:25.177Z,1761542485.177 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:25.178Z,1761542485.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-27T05:21:25.230Z,1761542485.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870936,0.480682,0.102052],[-0.491381,-0.850272,-0.188635],[-0.003902,-0.214436,0.976730]] 2025-10-27T05:21:25.284Z,1761542485.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 174.800003 m, deltaT: 8.067731 s, deltaX: 20.600006 m, approachRate: 2.553383 m/s, rangeRepo size: 4 2025-10-27T05:21:25.286Z,1761542485.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.891327 m, bearing: 224.868314 deg, lat: 36.779381 deg, lon: -121.859826 deg, deltaT: 8.067731 s, deltaX: 20.494354 m, approachRate: 2.540287 m/s, posRepo size: 4 2025-10-27T05:21:25.295Z,1761542485.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:25.298Z,1761542485.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 154.783691 m, bearing: 226.420562 deg, approach rate: 0.000000 m/s, LOS rate: 0.106745 deg/s, cmd heading: 212.934795 deg, new cmd heading: 213.073824 deg. 2025-10-27T05:21:25.299Z,1761542485.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.718840 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:25.436Z,1761542485.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258355 2025-10-27T05:21:25.633Z,1761542485.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872788,0.477570,0.100842],[-0.488090,-0.852576,-0.186770],[-0.003220,-0.212230,0.977214]] 2025-10-27T05:21:25.684Z,1761542485.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506912 2025-10-27T05:21:25.687Z,1761542485.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:25.690Z,1761542485.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 154.566238 m, bearing: 226.470498 deg, approach rate: -0.539132 m/s, LOS rate: 0.123981 deg/s, cmd heading: 213.073830 deg, new cmd heading: 213.223849 deg. 2025-10-27T05:21:25.691Z,1761542485.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721458 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:25.937Z,1761542485.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760072 2025-10-27T05:21:26.037Z,1761542486.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873361,0.476948,0.098799],[-0.487066,-0.854052,-0.182650],[-0.002735,-0.207641,0.978201]] 2025-10-27T05:21:26.064Z,1761542486.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:26.067Z,1761542486.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 154.370453 m, bearing: 226.515792 deg, approach rate: -0.518685 m/s, LOS rate: 0.120147 deg/s, cmd heading: 213.223848 deg, new cmd heading: 213.359902 deg. 2025-10-27T05:21:26.068Z,1761542486.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.723833 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:26.189Z,1761542486.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011426 2025-10-27T05:21:26.444Z,1761542486.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266004 2025-10-27T05:21:26.501Z,1761542486.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872235,0.480374,0.091903],[-0.489083,-0.856066,-0.167178],[-0.001632,-0.190767,0.981634]] 2025-10-27T05:21:26.544Z,1761542486.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:26.546Z,1761542486.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:26.548Z,1761542486.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 154.121597 m, bearing: 226.575467 deg, approach rate: -0.517124 m/s, LOS rate: 0.124206 deg/s, cmd heading: 213.359906 deg, new cmd heading: 213.539219 deg. 2025-10-27T05:21:26.549Z,1761542486.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.726963 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:26.692Z,1761542486.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514870 2025-10-27T05:21:26.888Z,1761542486.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:26.891Z,1761542486.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 153.944046 m, bearing: 226.618184 deg, approach rate: -0.517885 m/s, LOS rate: 0.124744 deg/s, cmd heading: 213.539225 deg, new cmd heading: 213.667526 deg. 2025-10-27T05:21:26.892Z,1761542486.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.729202 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:26.945Z,1761542486.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767860 2025-10-27T05:21:27.196Z,1761542487.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018826 2025-10-27T05:21:27.256Z,1761542487.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870703,0.483621,0.089369],[-0.491808,-0.855809,-0.160362],[-0.001072,-0.183581,0.983004]] 2025-10-27T05:21:27.280Z,1761542487.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:27.283Z,1761542487.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 153.744171 m, bearing: 226.666191 deg, approach rate: -0.510360 m/s, LOS rate: 0.122739 deg/s, cmd heading: 213.667524 deg, new cmd heading: 213.811730 deg. 2025-10-27T05:21:27.284Z,1761542487.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.731719 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:27.451Z,1761542487.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273519 2025-10-27T05:21:27.654Z,1761542487.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868474,0.488005,0.087205],[-0.495735,-0.854631,-0.154445],[-0.000842,-0.177362,0.984145]] 2025-10-27T05:21:27.701Z,1761542487.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523591 2025-10-27T05:21:27.711Z,1761542487.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:27.715Z,1761542487.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 153.515060 m, bearing: 226.722320 deg, approach rate: -0.532048 m/s, LOS rate: 0.130539 deg/s, cmd heading: 213.811723 deg, new cmd heading: 213.980360 deg. 2025-10-27T05:21:27.717Z,1761542487.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.734662 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:27.952Z,1761542487.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775109 2025-10-27T05:21:28.060Z,1761542488.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865500,0.493762,0.084313],[-0.500908,-0.852971,-0.146737],[-0.000536,-0.169234,0.985576]] 2025-10-27T05:21:28.085Z,1761542488.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:28.088Z,1761542488.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 153.314713 m, bearing: 226.771023 deg, approach rate: -0.535297 m/s, LOS rate: 0.130297 deg/s, cmd heading: 213.980360 deg, new cmd heading: 214.126660 deg. 2025-10-27T05:21:28.089Z,1761542488.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.737215 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:28.204Z,1761542488.204 [DAT](INFO): DAT read: Rx Time:05:21:26.9103 2025-10-27T05:21:28.205Z,1761542488.205 [DAT](INFO): Rx dataTimestamp_ set to:1761542488.204603 2025-10-27T05:21:28.205Z,1761542488.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028357 2025-10-27T05:21:28.456Z,1761542488.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278890 2025-10-27T05:21:28.507Z,1761542488.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862781,0.499160,0.080306],[-0.505578,-0.851663,-0.138061],[-0.000521,-0.159717,0.987163]] 2025-10-27T05:21:28.562Z,1761542488.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:28.564Z,1761542488.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:28.567Z,1761542488.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 153.055222 m, bearing: 226.833648 deg, approach rate: -0.541632 m/s, LOS rate: 0.130938 deg/s, cmd heading: 214.126663 deg, new cmd heading: 214.314856 deg. 2025-10-27T05:21:28.568Z,1761542488.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740500 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:28.708Z,1761542488.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531106 2025-10-27T05:21:28.903Z,1761542488.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.89 m. 2025-10-27T05:21:28.906Z,1761542488.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.891327 m, nav range: 152.873093 m, bearing: 226.877761 deg, approach rate: -0.537112 m/s, LOS rate: 0.130247 deg/s, cmd heading: 214.314862 deg, new cmd heading: 214.447357 deg. 2025-10-27T05:21:28.907Z,1761542488.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.742812 target range: 173.891327 and range: 174.80 m. 2025-10-27T05:21:28.966Z,1761542488.966 [DAT](INFO): DAT read: 05:21:26.9103 LVL= 27504, 32753, 32114, 32755, AGC= 70, IDX= 73, 0.46,-2.085, 2.308,-2.473,-2.401, PHS= 0.418,-1.529,-0.116, RAW= 134.6, 14.0, CAL= 133.8, 15.1, ROT= 16.2, -15.1 2025-10-27T05:21:28.969Z,1761542488.969 [DAT](INFO): got valid direction response: 05:21:26.9103 LVL= 27504, 32753, 32114, 32755, AGC= 70, IDX= 73, 0.46,-2.085, 2.308,-2.473,-2.401, PHS= 0.418,-1.529,-0.116, RAW= 134.6, 14.0, CAL= 133.8, 15.1, ROT= 16.2, -15.1 2025-10-27T05:21:28.970Z,1761542488.970 [DAT](INFO): DAT read: Bearing 10.0, 13.0 (Local) 2025-10-27T05:21:28.970Z,1761542488.970 [DAT](INFO): Local bearing/azimuth received: Bearing 10.0, 13.0 (Local) 2025-10-27T05:21:28.972Z,1761542488.972 [DAT](INFO): DAT read: Range 11 to 50 : 172.6 m (Round-trip 230.2 ms) speed 1.1 m/s 2025-10-27T05:21:28.973Z,1761542488.973 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:29.016Z,1761542489.016 [DAT](INFO): direction in FSK: [0.927137,0.269358,0.260505] 2025-10-27T05:21:29.016Z,1761542489.016 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:29.029Z,1761542489.029 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:29.029Z,1761542489.029 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:29.029Z,1761542489.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:29.212Z,1761542489.212 [DAT](INFO): DAT read: user:376> 2025-10-27T05:21:29.213Z,1761542489.213 [DAT](INFO): DAT read: Tx time:05:21:28.3244 2025-10-27T05:21:29.213Z,1761542489.213 [DAT](INFO): Ping request sent. 2025-10-27T05:21:29.213Z,1761542489.213 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:29.213Z,1761542489.213 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:29.214Z,1761542489.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-10-27T05:21:29.331Z,1761542489.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.600006 m, deltaT: 4.034442 s, deltaX: -2.199997 m, approachRate: -0.545304 m/s, rangeRepo size: 4 2025-10-27T05:21:29.337Z,1761542489.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.703064 m, bearing: 228.717024 deg, lat: 36.779323 deg, lon: -121.859826 deg, deltaT: 4.034442 s, deltaX: -2.188263 m, approachRate: -0.542395 m/s, posRepo size: 4 2025-10-27T05:21:29.337Z,1761542489.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:29.352Z,1761542489.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 157.111664 m, bearing: 225.218965 deg, approach rate: 0.000000 m/s, LOS rate: 0.130247 deg/s, cmd heading: 214.447354 deg, new cmd heading: 214.614116 deg. 2025-10-27T05:21:29.353Z,1761542489.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745723 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:29.468Z,1761542489.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253664 2025-10-27T05:21:29.698Z,1761542489.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851621,0.520712,0.060007],[-0.524138,-0.844988,-0.106183],[-0.004586,-0.121880,0.992534]] 2025-10-27T05:21:29.717Z,1761542489.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503662 2025-10-27T05:21:29.761Z,1761542489.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:29.764Z,1761542489.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 156.854767 m, bearing: 225.270181 deg, approach rate: -0.595883 m/s, LOS rate: 0.118993 deg/s, cmd heading: 214.614120 deg, new cmd heading: 214.768020 deg. 2025-10-27T05:21:29.765Z,1761542489.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.748409 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:29.972Z,1761542489.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758529 2025-10-27T05:21:30.102Z,1761542490.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848519,0.526077,0.057084],[-0.529135,-0.842355,-0.102245],[-0.005703,-0.116962,0.993120]] 2025-10-27T05:21:30.124Z,1761542490.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:30.127Z,1761542490.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 156.645401 m, bearing: 225.311506 deg, approach rate: -0.576232 m/s, LOS rate: 0.113889 deg/s, cmd heading: 214.768017 deg, new cmd heading: 214.892157 deg. 2025-10-27T05:21:30.128Z,1761542490.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.750576 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:30.221Z,1761542490.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007617 2025-10-27T05:21:30.472Z,1761542490.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258949 2025-10-27T05:21:30.604Z,1761542490.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:30.606Z,1761542490.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:30.609Z,1761542490.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 156.360214 m, bearing: 225.361816 deg, approach rate: -0.591826 m/s, LOS rate: 0.104596 deg/s, cmd heading: 214.892163 deg, new cmd heading: 215.043370 deg. 2025-10-27T05:21:30.610Z,1761542490.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.753215 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:30.725Z,1761542490.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511672 2025-10-27T05:21:30.906Z,1761542490.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843073,0.534836,0.056377],[-0.537755,-0.837022,-0.101058],[-0.006860,-0.115516,0.993282]] 2025-10-27T05:21:30.938Z,1761542490.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:30.943Z,1761542490.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 156.148132 m, bearing: 225.398393 deg, approach rate: -0.640429 m/s, LOS rate: 0.110602 deg/s, cmd heading: 215.043370 deg, new cmd heading: 215.153249 deg. 2025-10-27T05:21:30.945Z,1761542490.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.755133 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:30.976Z,1761542490.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763367 2025-10-27T05:21:31.229Z,1761542491.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016008 2025-10-27T05:21:31.354Z,1761542491.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:31.357Z,1761542491.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 155.895325 m, bearing: 225.442137 deg, approach rate: -0.606793 m/s, LOS rate: 0.105165 deg/s, cmd heading: 215.153254 deg, new cmd heading: 215.284697 deg. 2025-10-27T05:21:31.358Z,1761542491.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757427 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:31.480Z,1761542491.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267380 2025-10-27T05:21:31.715Z,1761542491.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838461,0.541762,0.058964],[-0.544919,-0.832132,-0.103046],[-0.006761,-0.118531,0.992927]] 2025-10-27T05:21:31.733Z,1761542491.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519399 2025-10-27T05:21:31.772Z,1761542491.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:31.775Z,1761542491.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 155.620819 m, bearing: 225.482209 deg, approach rate: -0.656332 m/s, LOS rate: 0.095980 deg/s, cmd heading: 215.284694 deg, new cmd heading: 215.405123 deg. 2025-10-27T05:21:31.776Z,1761542491.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.759529 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:31.984Z,1761542491.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771060 2025-10-27T05:21:32.116Z,1761542492.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836820,0.544168,0.060116],[-0.547442,-0.830439,-0.103338],[-0.006310,-0.119385,0.992828]] 2025-10-27T05:21:32.138Z,1761542492.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:32.141Z,1761542492.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 155.390106 m, bearing: 225.515708 deg, approach rate: -0.630644 m/s, LOS rate: 0.091705 deg/s, cmd heading: 215.405124 deg, new cmd heading: 215.505771 deg. 2025-10-27T05:21:32.142Z,1761542492.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.761285 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:32.236Z,1761542492.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023083 2025-10-27T05:21:32.488Z,1761542492.488 [DAT](INFO): DAT read: Rx Time:05:21:30.9555 2025-10-27T05:21:32.489Z,1761542492.489 [DAT](INFO): Rx dataTimestamp_ set to:1761542492.488352 2025-10-27T05:21:32.489Z,1761542492.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276210 2025-10-27T05:21:32.556Z,1761542492.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835267,0.546324,0.062121],[-0.549817,-0.828754,-0.104246],[-0.005469,-0.121228,0.992610]] 2025-10-27T05:21:32.612Z,1761542492.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:32.614Z,1761542492.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:32.617Z,1761542492.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 155.095139 m, bearing: 225.558330 deg, approach rate: -0.619197 m/s, LOS rate: 0.089641 deg/s, cmd heading: 215.505774 deg, new cmd heading: 215.633881 deg. 2025-10-27T05:21:32.618Z,1761542492.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.763521 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:32.740Z,1761542492.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526968 2025-10-27T05:21:32.936Z,1761542492.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834121,0.547840,0.064142],[-0.551563,-0.827473,-0.105197],[-0.004555,-0.123126,0.992381]] 2025-10-27T05:21:32.985Z,1761542492.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.70 m. 2025-10-27T05:21:32.988Z,1761542492.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.703064 m, nav range: 154.839081 m, bearing: 225.594476 deg, approach rate: -0.690212 m/s, LOS rate: 0.097596 deg/s, cmd heading: 215.633881 deg, new cmd heading: 215.742500 deg. 2025-10-27T05:21:32.989Z,1761542492.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.765417 target range: 171.703064 and range: 172.60 m. 2025-10-27T05:21:32.998Z,1761542492.998 [DAT](INFO): DAT read: 05:21:30.9555 LVL= 31856, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.16,-0.478,-2.315,-0.768,-0.777, PHS= 0.400,-1.493,-0.035, RAW= 137.3, 13.1, CAL= 136.6, 14.1, ROT= 13.4, -14.1 2025-10-27T05:21:32.999Z,1761542492.999 [DAT](INFO): got valid direction response: 05:21:30.9555 LVL= 31856, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.16,-0.478,-2.315,-0.768,-0.777, PHS= 0.400,-1.493,-0.035, RAW= 137.3, 13.1, CAL= 136.6, 14.1, ROT= 13.4, -14.1 2025-10-27T05:21:33.000Z,1761542493.000 [DAT](INFO): DAT read: Bearing 10.5, 10.8 (Local) 2025-10-27T05:21:33.000Z,1761542493.000 [DAT](INFO): Local bearing/azimuth received: Bearing 10.5, 10.8 (Local) 2025-10-27T05:21:33.002Z,1761542493.002 [DAT](INFO): DAT read: Range 11 to 50 : 170.3 m (Round-trip 227.1 ms) speed 0.4 m/s 2025-10-27T05:21:33.002Z,1761542493.002 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:33.004Z,1761542493.004 [DAT](INFO): direction in FSK: [0.943468,0.224766,0.243615] 2025-10-27T05:21:33.004Z,1761542493.004 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:33.007Z,1761542493.007 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:33.007Z,1761542493.007 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:33.008Z,1761542493.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:33.244Z,1761542493.244 [DAT](INFO): DAT read: user:377> 2025-10-27T05:21:33.245Z,1761542493.245 [DAT](INFO): DAT read: Tx time:05:21:32.3243 2025-10-27T05:21:33.245Z,1761542493.245 [DAT](INFO): Ping request sent. 2025-10-27T05:21:33.245Z,1761542493.245 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:33.245Z,1761542493.245 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:33.246Z,1761542493.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-27T05:21:33.275Z,1761542493.275 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:21:33.334Z,1761542493.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833357,0.548697,0.066695],[-0.552724,-0.826471,-0.106970],[-0.003573,-0.126008,0.992023]] 2025-10-27T05:21:33.381Z,1761542493.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.300003 m, deltaT: 4.031944 s, deltaX: -2.300003 m, approachRate: -0.570445 m/s, rangeRepo size: 4 2025-10-27T05:21:33.387Z,1761542493.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 169.415695 m, bearing: 228.592130 deg, lat: 36.779310 deg, lon: -121.859929 deg, deltaT: 4.031944 s, deltaX: -2.287369 m, approachRate: -0.567312 m/s, posRepo size: 4 2025-10-27T05:21:33.388Z,1761542493.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:33.395Z,1761542493.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 162.198959 m, bearing: 227.511945 deg, approach rate: 0.000000 m/s, LOS rate: 0.097596 deg/s, cmd heading: 215.742494 deg, new cmd heading: 215.858163 deg. 2025-10-27T05:21:33.396Z,1761542493.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.767436 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:33.497Z,1761542493.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251216 2025-10-27T05:21:33.739Z,1761542493.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832660,0.549368,0.069803],[-0.553780,-0.825492,-0.109047],[-0.002285,-0.129454,0.991583]] 2025-10-27T05:21:33.748Z,1761542493.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502608 2025-10-27T05:21:33.778Z,1761542493.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:33.797Z,1761542493.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 161.912033 m, bearing: 227.550272 deg, approach rate: -0.721499 m/s, LOS rate: 0.096548 deg/s, cmd heading: 215.858157 deg, new cmd heading: 215.973343 deg. 2025-10-27T05:21:33.798Z,1761542493.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.769446 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:33.000Z,1761542494.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754506 2025-10-27T05:21:34.134Z,1761542494.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832033,0.550023,0.072087],[-0.554726,-0.824797,-0.109497],[-0.000768,-0.131094,0.991370]] 2025-10-27T05:21:34.176Z,1761542494.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:34.178Z,1761542494.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 161.636597 m, bearing: 227.587071 deg, approach rate: -0.692589 m/s, LOS rate: 0.092688 deg/s, cmd heading: 215.973341 deg, new cmd heading: 216.083925 deg. 2025-10-27T05:21:34.184Z,1761542494.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.771376 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:34.253Z,1761542494.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007416 2025-10-27T05:21:34.279Z,1761542494.279 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:21:34.504Z,1761542494.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258547 2025-10-27T05:21:34.542Z,1761542494.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831451,0.550749,0.073240],[-0.555597,-0.824337,-0.108536],[0.000598,-0.130934,0.991391]] 2025-10-27T05:21:34.618Z,1761542494.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:34.627Z,1761542494.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:34.630Z,1761542494.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 161.362579 m, bearing: 227.623697 deg, approach rate: -0.611691 m/s, LOS rate: 0.081900 deg/s, cmd heading: 216.083922 deg, new cmd heading: 216.193987 deg. 2025-10-27T05:21:34.631Z,1761542494.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.773297 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:34.756Z,1761542494.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510576 2025-10-27T05:21:34.949Z,1761542494.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830798,0.551624,0.074068],[-0.556571,-0.823832,-0.107377],[0.001788,-0.130433,0.991456]] 2025-10-27T05:21:34.997Z,1761542494.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:34.000Z,1761542495.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 161.077057 m, bearing: 227.665313 deg, approach rate: -0.765628 m/s, LOS rate: 0.111790 deg/s, cmd heading: 216.193983 deg, new cmd heading: 216.319051 deg. 2025-10-27T05:21:35.001Z,1761542495.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.775480 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:35.008Z,1761542495.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762729 2025-10-27T05:21:35.261Z,1761542495.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015378 2025-10-27T05:21:35.346Z,1761542495.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829734,0.553204,0.074213],[-0.558154,-0.822938,-0.106003],[0.002432,-0.129377,0.991593]] 2025-10-27T05:21:35.365Z,1761542495.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:35.368Z,1761542495.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 160.830078 m, bearing: 227.701248 deg, approach rate: -0.670207 m/s, LOS rate: 0.097664 deg/s, cmd heading: 216.319058 deg, new cmd heading: 216.427029 deg. 2025-10-27T05:21:35.369Z,1761542495.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.777364 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:35.512Z,1761542495.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266559 2025-10-27T05:21:35.750Z,1761542495.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828750,0.554667,0.074287],[-0.559612,-0.822089,-0.104896],[0.002888,-0.128504,0.991705]] 2025-10-27T05:21:35.764Z,1761542495.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518680 2025-10-27T05:21:35.806Z,1761542495.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:35.809Z,1761542495.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 160.540009 m, bearing: 227.745005 deg, approach rate: -0.658728 m/s, LOS rate: 0.099548 deg/s, cmd heading: 216.427029 deg, new cmd heading: 216.558537 deg. 2025-10-27T05:21:35.809Z,1761542495.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.779660 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:36.016Z,1761542496.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871 2025-10-27T05:21:36.195Z,1761542496.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:36.198Z,1761542496.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 160.286972 m, bearing: 227.783314 deg, approach rate: -0.649933 m/s, LOS rate: 0.098553 deg/s, cmd heading: 216.558538 deg, new cmd heading: 216.673645 deg. 2025-10-27T05:21:36.199Z,1761542496.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781668 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:36.269Z,1761542496.269 [DAT](INFO): DAT read: Rx Time:05:21:34.9178 2025-10-27T05:21:36.269Z,1761542496.269 [DAT](INFO): Rx dataTimestamp_ set to:1761542496.269043 2025-10-27T05:21:36.270Z,1761542496.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024883 2025-10-27T05:21:36.520Z,1761542496.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274713 2025-10-27T05:21:36.558Z,1761542496.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826215,0.558234,0.075790],[-0.563347,-0.819418,-0.105801],[0.003042,-0.130110,0.991495]] 2025-10-27T05:21:36.649Z,1761542496.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:36.651Z,1761542496.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:36.657Z,1761542496.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 160.007935 m, bearing: 227.825169 deg, approach rate: -0.612466 m/s, LOS rate: 0.092030 deg/s, cmd heading: 216.673640 deg, new cmd heading: 216.799426 deg. 2025-10-27T05:21:36.658Z,1761542496.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.783864 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:36.791Z,1761542496.791 [DAT](INFO): DAT read: 05:21:34.9178 LVL= 27728, 32753, 32754, 32755, AGC= 69, IDX= 48,-0.16,-2.990, 1.472, 3.052, 3.014, PHS= 0.381,-1.498,-0.006, RAW= 138.8, 13.0, CAL= 138.1, 14.1, ROT= 11.9, -14.1 2025-10-27T05:21:36.793Z,1761542496.793 [DAT](INFO): got valid direction response: 05:21:34.9178 LVL= 27728, 32753, 32754, 32755, AGC= 69, IDX= 48,-0.16,-2.990, 1.472, 3.052, 3.014, PHS= 0.381,-1.498,-0.006, RAW= 138.8, 13.0, CAL= 138.1, 14.1, ROT= 11.9, -14.1 2025-10-27T05:21:36.794Z,1761542496.794 [DAT](INFO): DAT read: Bearing 11.2, 9.6 (Local) 2025-10-27T05:21:36.794Z,1761542496.794 [DAT](INFO): Local bearing/azimuth received: Bearing 11.2, 9.6 (Local) 2025-10-27T05:21:36.803Z,1761542496.803 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:21:36.804Z,1761542496.804 [DAT](INFO): direction in FSK: [0.949028,0.199992,0.243615] 2025-10-27T05:21:36.820Z,1761542496.820 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:36.820Z,1761542496.820 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:36.820Z,1761542496.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:21:37.025Z,1761542497.025 [DAT](INFO): DAT read: Range 11 to 50 : 142.0 m (Round-trip 189.4 ms) speed 0.7 m/s 2025-10-27T05:21:37.025Z,1761542497.025 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:21:37.026Z,1761542497.026 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:37.026Z,1761542497.026 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:37.026Z,1761542497.026 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:37.045Z,1761542497.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824276,0.560972,0.076681],[-0.566181,-0.817338,-0.106758],[0.002786,-0.131414,0.991324]] 2025-10-27T05:21:37.137Z,1761542497.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 142.000000 m, deltaT: 4.031892 s, deltaX: -28.300003 m, approachRate: -7.019038 m/s, rangeRepo size: 4 2025-10-27T05:21:37.138Z,1761542497.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:37.145Z,1761542497.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 159.685471 m, bearing: 227.880361 deg, approach rate: -0.663704 m/s, LOS rate: 0.113827 deg/s, cmd heading: 216.799425 deg, new cmd heading: 216.965335 deg. 2025-10-27T05:21:37.145Z,1761542497.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.786759 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:37.276Z,1761542497.276 [DAT](INFO): DAT read: user:378> 2025-10-27T05:21:37.277Z,1761542497.277 [DAT](INFO): DAT read: Tx time:05:21:36.3243 2025-10-27T05:21:37.277Z,1761542497.277 [DAT](INFO): Ping request sent. 2025-10-27T05:21:37.277Z,1761542497.277 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:37.278Z,1761542497.278 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:37.279Z,1761542497.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001094 2025-10-27T05:21:37.476Z,1761542497.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822233,0.564009,0.076335],[-0.569146,-0.815338,-0.106287],[0.002292,-0.130838,0.991401]] 2025-10-27T05:21:37.508Z,1761542497.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:37.510Z,1761542497.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 159.453186 m, bearing: 227.919907 deg, approach rate: -0.625483 m/s, LOS rate: 0.106641 deg/s, cmd heading: 216.965330 deg, new cmd heading: 217.084140 deg. 2025-10-27T05:21:37.512Z,1761542497.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.788833 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:37.530Z,1761542497.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252419 2025-10-27T05:21:37.780Z,1761542497.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502432 2025-10-27T05:21:37.878Z,1761542497.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820036,0.567231,0.076088],[-0.572308,-0.813190,-0.105756],[0.001886,-0.130269,0.991477]] 2025-10-27T05:21:37.950Z,1761542497.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:37.956Z,1761542497.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 159.183044 m, bearing: 227.971041 deg, approach rate: -0.611418 m/s, LOS rate: 0.115930 deg/s, cmd heading: 217.084135 deg, new cmd heading: 217.237798 deg. 2025-10-27T05:21:37.957Z,1761542497.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791515 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:38.033Z,1761542498.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755281 2025-10-27T05:21:38.282Z,1761542498.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818027,0.570158,0.075840],[-0.575178,-0.811221,-0.105313],[0.001478,-0.129770,0.991543]] 2025-10-27T05:21:38.284Z,1761542498.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006532 2025-10-27T05:21:38.309Z,1761542498.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:38.311Z,1761542498.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 158.946411 m, bearing: 228.015619 deg, approach rate: -0.659210 m/s, LOS rate: 0.124370 deg/s, cmd heading: 217.237800 deg, new cmd heading: 217.371733 deg. 2025-10-27T05:21:38.312Z,1761542498.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.793852 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:38.536Z,1761542498.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258576 2025-10-27T05:21:38.694Z,1761542498.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815600,0.573560,0.076323],[-0.578615,-0.808712,-0.105780],[0.001053,-0.130436,0.991456]] 2025-10-27T05:21:38.765Z,1761542498.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:38.768Z,1761542498.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:38.770Z,1761542498.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 158.678619 m, bearing: 228.069687 deg, approach rate: -0.583240 m/s, LOS rate: 0.117956 deg/s, cmd heading: 217.371727 deg, new cmd heading: 217.534203 deg. 2025-10-27T05:21:38.772Z,1761542498.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.796688 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:38.790Z,1761542498.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512757 2025-10-27T05:21:39.040Z,1761542499.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762447 2025-10-27T05:21:39.090Z,1761542499.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813365,0.576667,0.076761],[-0.581753,-0.806455,-0.105799],[0.000894,-0.130709,0.991420]] 2025-10-27T05:21:39.116Z,1761542499.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:39.118Z,1761542499.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 158.461990 m, bearing: 228.113181 deg, approach rate: -0.622719 m/s, LOS rate: 0.125200 deg/s, cmd heading: 217.534203 deg, new cmd heading: 217.664865 deg. 2025-10-27T05:21:39.140Z,1761542499.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.798969 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:39.292Z,1761542499.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014539 2025-10-27T05:21:39.497Z,1761542499.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811119,0.579587,0.078520],[-0.584881,-0.803987,-0.107328],[0.000923,-0.132980,0.991118]] 2025-10-27T05:21:39.515Z,1761542499.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:39.518Z,1761542499.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 158.221512 m, bearing: 228.161159 deg, approach rate: -0.602029 m/s, LOS rate: 0.120293 deg/s, cmd heading: 217.664865 deg, new cmd heading: 217.809016 deg. 2025-10-27T05:21:39.519Z,1761542499.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.801485 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:39.544Z,1761542499.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266645 2025-10-27T05:21:39.796Z,1761542499.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518484 2025-10-27T05:21:39.963Z,1761542499.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:39.966Z,1761542499.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 157.950089 m, bearing: 228.217335 deg, approach rate: -0.606625 m/s, LOS rate: 0.125768 deg/s, cmd heading: 217.809023 deg, new cmd heading: 217.977840 deg. 2025-10-27T05:21:39.967Z,1761542499.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.804431 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:40.048Z,1761542500.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770970 2025-10-27T05:21:40.300Z,1761542500.300 [DAT](INFO): DAT read: Rx Time:05:21:38.9494 2025-10-27T05:21:40.300Z,1761542500.300 [DAT](INFO): Rx dataTimestamp_ set to:1761542500.300180 2025-10-27T05:21:40.301Z,1761542500.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023607 2025-10-27T05:21:40.305Z,1761542500.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806113,0.586232,0.080713],[-0.591762,-0.798693,-0.109126],[0.000492,-0.135731,0.990746]] 2025-10-27T05:21:40.346Z,1761542500.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:40.349Z,1761542500.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 157.716324 m, bearing: 228.264915 deg, approach rate: -0.609340 m/s, LOS rate: 0.124208 deg/s, cmd heading: 217.977838 deg, new cmd heading: 218.120789 deg. 2025-10-27T05:21:40.350Z,1761542500.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.806926 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:40.553Z,1761542500.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275132 2025-10-27T05:21:40.729Z,1761542500.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803880,0.589232,0.081131],[-0.594791,-0.796462,-0.108956],[0.000417,-0.135844,0.990730]] 2025-10-27T05:21:40.807Z,1761542500.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529018 2025-10-27T05:21:40.843Z,1761542500.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:40.845Z,1761542500.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.42 m. 2025-10-27T05:21:40.852Z,1761542500.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.415695 m, nav range: 157.426529 m, bearing: 228.325280 deg, approach rate: -0.580768 m/s, LOS rate: 0.121197 deg/s, cmd heading: 218.120793 deg, new cmd heading: 218.302219 deg. 2025-10-27T05:21:40.853Z,1761542500.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.810092 target range: 169.415695 and range: 170.30 m. 2025-10-27T05:21:41.061Z,1761542501.061 [DAT](INFO): DAT read: 05:21:38.9494 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 259,-0.21,-2.258, 2.287,-2.408,-2.427, PHS= 0.271,-1.523,-0.025, RAW= 141.1, 15.2, CAL= 140.4, 16.3, ROT= 9.6, -16.3 2025-10-27T05:21:41.062Z,1761542501.062 [DAT](INFO): got valid direction response: 05:21:38.9494 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 259,-0.21,-2.258, 2.287,-2.408,-2.427, PHS= 0.271,-1.523,-0.025, RAW= 141.1, 15.2, CAL= 140.4, 16.3, ROT= 9.6, -16.3 2025-10-27T05:21:41.063Z,1761542501.063 [DAT](INFO): DAT read: Bearing 14.2, 7.0 (Local) 2025-10-27T05:21:41.064Z,1761542501.064 [DAT](INFO): Local bearing/azimuth received: Bearing 14.2, 7.0 (Local) 2025-10-27T05:21:41.065Z,1761542501.065 [DAT](INFO): DAT read: Range 11 to 50 : 165.6 m (Round-trip 220.9 ms) speed 0.5 m/s 2025-10-27T05:21:41.065Z,1761542501.065 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:41.066Z,1761542501.066 [DAT](INFO): direction in FSK: [0.946364,0.160066,0.280667] 2025-10-27T05:21:41.067Z,1761542501.067 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:41.070Z,1761542501.070 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:41.070Z,1761542501.070 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:41.070Z,1761542501.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:41.150Z,1761542501.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801681,0.592095,0.082037],[-0.597751,-0.794228,-0.109064],[0.000580,-0.136472,0.990644]] 2025-10-27T05:21:41.206Z,1761542501.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 165.600006 m, deltaT: 8.063851 s, deltaX: -4.699997 m, approachRate: -0.582848 m/s, rangeRepo size: 4 2025-10-27T05:21:41.233Z,1761542501.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 164.741577 m, bearing: 228.462391 deg, lat: 36.779310 deg, lon: -121.859947 deg, deltaT: 8.063851 s, deltaX: -4.674118 m, approachRate: -0.579638 m/s, posRepo size: 4 2025-10-27T05:21:41.243Z,1761542501.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:41.246Z,1761542501.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 158.467743 m, bearing: 228.770868 deg, approach rate: 0.000000 m/s, LOS rate: 0.121197 deg/s, cmd heading: 218.302217 deg, new cmd heading: 218.433159 deg. 2025-10-27T05:21:41.251Z,1761542501.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.812378 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:41.308Z,1761542501.308 [DAT](INFO): DAT read: user:379> 2025-10-27T05:21:41.310Z,1761542501.310 [DAT](INFO): DAT read: Tx time:05:21:40.3743 2025-10-27T05:21:41.310Z,1761542501.310 [DAT](INFO): Ping request sent. 2025-10-27T05:21:41.310Z,1761542501.310 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:41.310Z,1761542501.310 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:41.312Z,1761542501.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001342 2025-10-27T05:21:41.545Z,1761542501.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799576,0.594794,0.083055],[-0.600564,-0.792093,-0.109143],[0.000869,-0.137148,0.990550]] 2025-10-27T05:21:41.560Z,1761542501.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249552 2025-10-27T05:21:41.574Z,1761542501.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:41.596Z,1761542501.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 158.236069 m, bearing: 228.819045 deg, approach rate: -0.628799 m/s, LOS rate: 0.130953 deg/s, cmd heading: 218.433165 deg, new cmd heading: 218.577910 deg. 2025-10-27T05:21:41.597Z,1761542501.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.814904 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:41.812Z,1761542501.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501894 2025-10-27T05:21:41.952Z,1761542501.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797540,0.597535,0.082953],[-0.603265,-0.790259,-0.107533],[0.001299,-0.135805,0.990735]] 2025-10-27T05:21:41.996Z,1761542501.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:41.999Z,1761542501.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 157.983978 m, bearing: 228.867803 deg, approach rate: -0.596452 m/s, LOS rate: 0.115546 deg/s, cmd heading: 218.577911 deg, new cmd heading: 218.724417 deg. 2025-10-27T05:21:42.000Z,1761542502.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.817461 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:42.064Z,1761542502.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753830 2025-10-27T05:21:42.316Z,1761542502.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005666 2025-10-27T05:21:42.360Z,1761542502.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795763,0.599951,0.082587],[-0.605605,-0.788764,-0.105322],[0.001954,-0.133826,0.991003]] 2025-10-27T05:21:42.379Z,1761542502.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:42.382Z,1761542502.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 157.755371 m, bearing: 228.911876 deg, approach rate: -0.597483 m/s, LOS rate: 0.115355 deg/s, cmd heading: 218.724418 deg, new cmd heading: 218.856828 deg. 2025-10-27T05:21:42.383Z,1761542502.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.819772 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:42.571Z,1761542502.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260855 2025-10-27T05:21:42.758Z,1761542502.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793913,0.602422,0.082404],[-0.608026,-0.787147,-0.103462],[0.002536,-0.132243,0.991214]] 2025-10-27T05:21:42.813Z,1761542502.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:42.816Z,1761542502.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 157.485321 m, bearing: 228.959441 deg, approach rate: -0.622065 m/s, LOS rate: 0.109754 deg/s, cmd heading: 218.856828 deg, new cmd heading: 218.999767 deg. 2025-10-27T05:21:42.817Z,1761542502.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.822267 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:42.820Z,1761542502.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509823 2025-10-27T05:21:43.076Z,1761542503.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765517 2025-10-27T05:21:43.164Z,1761542503.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792142,0.604714,0.082658],[-0.610330,-0.785475,-0.102602],[0.002881,-0.131724,0.991282]] 2025-10-27T05:21:43.181Z,1761542503.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:43.183Z,1761542503.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:43.186Z,1761542503.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 157.255142 m, bearing: 228.999828 deg, approach rate: -0.622494 m/s, LOS rate: 0.109383 deg/s, cmd heading: 218.999770 deg, new cmd heading: 219.121110 deg. 2025-10-27T05:21:43.187Z,1761542503.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.824385 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:43.324Z,1761542503.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013828 2025-10-27T05:21:43.566Z,1761542503.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790601,0.606650,0.083218],[-0.612322,-0.783992,-0.102069],[0.003322,-0.131652,0.991290]] 2025-10-27T05:21:43.576Z,1761542503.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265816 2025-10-27T05:21:43.586Z,1761542503.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:43.589Z,1761542503.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 157.003296 m, bearing: 229.043889 deg, approach rate: -0.624038 m/s, LOS rate: 0.109350 deg/s, cmd heading: 219.121116 deg, new cmd heading: 219.253509 deg. 2025-10-27T05:21:43.590Z,1761542503.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.826696 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:43.828Z,1761542503.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517752 2025-10-27T05:21:44.025Z,1761542504.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:44.028Z,1761542504.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 156.712204 m, bearing: 229.088511 deg, approach rate: -0.663093 m/s, LOS rate: 0.101837 deg/s, cmd heading: 219.253512 deg, new cmd heading: 219.387629 deg. 2025-10-27T05:21:44.029Z,1761542504.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.829036 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:44.080Z,1761542504.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769884 2025-10-27T05:21:44.332Z,1761542504.332 [DAT](INFO): DAT read: Rx Time:05:21:42.9970 2025-10-27T05:21:44.332Z,1761542504.332 [DAT](INFO): Rx dataTimestamp_ set to:1761542504.332099 2025-10-27T05:21:44.333Z,1761542504.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022763 2025-10-27T05:21:44.390Z,1761542504.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787906,0.609820,0.085574],[-0.615783,-0.781106,-0.103365],[0.003809,-0.134137,0.990955]] 2025-10-27T05:21:44.437Z,1761542504.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:44.443Z,1761542504.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 156.450623 m, bearing: 229.128262 deg, approach rate: -0.636296 m/s, LOS rate: 0.096854 deg/s, cmd heading: 219.387630 deg, new cmd heading: 219.507080 deg. 2025-10-27T05:21:44.444Z,1761542504.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.831121 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:44.584Z,1761542504.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274077 2025-10-27T05:21:44.839Z,1761542504.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528171 2025-10-27T05:21:44.900Z,1761542504.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785821,0.612350,0.086680],[-0.618443,-0.778904,-0.104100],[0.003770,-0.135411,0.990782]] 2025-10-27T05:21:44.974Z,1761542504.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.74 m. 2025-10-27T05:21:44.989Z,1761542504.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 164.741577 m, nav range: 156.079819 m, bearing: 229.181791 deg, approach rate: -0.689403 m/s, LOS rate: 0.099758 deg/s, cmd heading: 219.507076 deg, new cmd heading: 219.668044 deg. 2025-10-27T05:21:44.990Z,1761542504.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.833931 target range: 164.741577 and range: 165.60 m. 2025-10-27T05:21:45.093Z,1761542505.093 [DAT](INFO): DAT read: 05:21:42.9970 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 44,-0.11, 0.426,-1.261, 0.301, 0.188, PHS= 0.341,-1.403, 0.069, RAW= 141.7, 12.2, CAL= 141.1, 13.2, ROT= 8.9, -13.2 2025-10-27T05:21:45.094Z,1761542505.094 [DAT](INFO): got valid direction response: 05:21:42.9970 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 44,-0.11, 0.426,-1.261, 0.301, 0.188, PHS= 0.341,-1.403, 0.069, RAW= 141.7, 12.2, CAL= 141.1, 13.2, ROT= 8.9, -13.2 2025-10-27T05:21:45.095Z,1761542505.095 [DAT](INFO): DAT read: Bearing 12.4, 7.0 (Local) 2025-10-27T05:21:45.096Z,1761542505.096 [DAT](INFO): Local bearing/azimuth received: Bearing 12.4, 7.0 (Local) 2025-10-27T05:21:45.097Z,1761542505.097 [DAT](INFO): DAT read: Range 11 to 50 : 163.9 m (Round-trip 218.6 ms) speed 0.4 m/s 2025-10-27T05:21:45.097Z,1761542505.097 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:45.098Z,1761542505.098 [DAT](INFO): direction in FSK: [0.961857,0.150623,0.228351] 2025-10-27T05:21:45.099Z,1761542505.099 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:45.102Z,1761542505.102 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:45.102Z,1761542505.102 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:45.102Z,1761542505.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:45.340Z,1761542505.340 [DAT](INFO): DAT read: user:380> 2025-10-27T05:21:45.342Z,1761542505.342 [DAT](INFO): DAT read: Tx time:05:21:44.4243 2025-10-27T05:21:45.342Z,1761542505.342 [DAT](INFO): Ping request sent. 2025-10-27T05:21:45.342Z,1761542505.342 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:45.342Z,1761542505.342 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:45.344Z,1761542505.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001346 2025-10-27T05:21:45.452Z,1761542505.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784735,0.613578,0.087825],[-0.619820,-0.777668,-0.105146],[0.003784,-0.136947,0.990571]] 2025-10-27T05:21:45.475Z,1761542505.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 163.899994 m, deltaT: 4.031967 s, deltaX: -1.700012 m, approachRate: -0.421633 m/s, rangeRepo size: 4 2025-10-27T05:21:45.477Z,1761542505.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 163.050888 m, bearing: 228.938794 deg, lat: 36.779310 deg, lon: -121.859973 deg, deltaT: 4.031967 s, deltaX: -1.690689 m, approachRate: -0.419321 m/s, posRepo size: 4 2025-10-27T05:21:45.478Z,1761542505.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:45.481Z,1761542505.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 157.473846 m, bearing: 229.768813 deg, approach rate: 0.000000 m/s, LOS rate: 0.099758 deg/s, cmd heading: 219.668050 deg, new cmd heading: 219.817727 deg. 2025-10-27T05:21:45.482Z,1761542505.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836543 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:45.592Z,1761542505.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249820 2025-10-27T05:21:45.845Z,1761542505.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502095 2025-10-27T05:21:45.938Z,1761542505.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784121,0.614354,0.087888],[-0.620593,-0.777194,-0.104083],[0.004362,-0.136156,0.990678]] 2025-10-27T05:21:45.982Z,1761542505.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:45.985Z,1761542505.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:45.987Z,1761542505.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 157.128418 m, bearing: 229.816786 deg, approach rate: -0.677208 m/s, LOS rate: 0.094258 deg/s, cmd heading: 219.817727 deg, new cmd heading: 219.961962 deg. 2025-10-27T05:21:45.988Z,1761542505.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.839061 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:46.097Z,1761542506.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754651 2025-10-27T05:21:46.334Z,1761542506.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783070,0.615668,0.088063],[-0.621913,-0.776318,-0.102736],[0.005114,-0.135217,0.990803]] 2025-10-27T05:21:46.348Z,1761542506.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005826 2025-10-27T05:21:46.361Z,1761542506.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:46.364Z,1761542506.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 156.875610 m, bearing: 229.851867 deg, approach rate: -0.672180 m/s, LOS rate: 0.093425 deg/s, cmd heading: 219.961967 deg, new cmd heading: 220.067379 deg. 2025-10-27T05:21:46.364Z,1761542506.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.840900 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:46.600Z,1761542506.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257698 2025-10-27T05:21:46.793Z,1761542506.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782105,0.616807,0.088658],[-0.623118,-0.775485,-0.101721],[0.006010,-0.134801,0.990855]] 2025-10-27T05:21:46.850Z,1761542506.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:46.852Z,1761542506.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509810 2025-10-27T05:21:46.855Z,1761542506.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 156.535797 m, bearing: 229.895692 deg, approach rate: -0.694131 m/s, LOS rate: 0.089716 deg/s, cmd heading: 220.067384 deg, new cmd heading: 220.199146 deg. 2025-10-27T05:21:46.856Z,1761542506.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.843200 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:47.105Z,1761542507.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762368 2025-10-27T05:21:47.143Z,1761542507.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781354,0.617669,0.089279],[-0.624049,-0.774879,-0.100628],[0.007026,-0.134341,0.990910]] 2025-10-27T05:21:47.178Z,1761542507.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:47.185Z,1761542507.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 156.313995 m, bearing: 229.924300 deg, approach rate: -0.676212 m/s, LOS rate: 0.087342 deg/s, cmd heading: 220.199152 deg, new cmd heading: 220.285097 deg. 2025-10-27T05:21:47.186Z,1761542507.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844700 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:47.356Z,1761542507.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013654 2025-10-27T05:21:47.546Z,1761542507.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780497,0.618599,0.090324],[-0.625108,-0.774091,-0.100113],[0.007989,-0.134600,0.990868]] 2025-10-27T05:21:47.565Z,1761542507.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:47.568Z,1761542507.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 156.039963 m, bearing: 229.959610 deg, approach rate: -0.708040 m/s, LOS rate: 0.091393 deg/s, cmd heading: 220.285103 deg, new cmd heading: 220.391219 deg. 2025-10-27T05:21:47.569Z,1761542507.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.846552 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:47.608Z,1761542507.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265862 2025-10-27T05:21:47.861Z,1761542507.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518804 2025-10-27T05:21:47.952Z,1761542507.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779519,0.619560,0.092175],[-0.626316,-0.773037,-0.100709],[0.008860,-0.136235,0.990637]] 2025-10-27T05:21:47.987Z,1761542507.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:48.009Z,1761542508.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:48.016Z,1761542508.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 155.750793 m, bearing: 229.997539 deg, approach rate: -0.651911 m/s, LOS rate: 0.085666 deg/s, cmd heading: 220.391217 deg, new cmd heading: 220.505213 deg. 2025-10-27T05:21:48.017Z,1761542508.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.848542 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:48.112Z,1761542508.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770118 2025-10-27T05:21:48.354Z,1761542508.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778425,0.620696,0.093762],[-0.627659,-0.771973,-0.100511],[0.009995,-0.137091,0.990508]] 2025-10-27T05:21:48.364Z,1761542508.364 [DAT](INFO): DAT read: Rx Time:05:21:47.0073 2025-10-27T05:21:48.365Z,1761542508.365 [DAT](INFO): Rx dataTimestamp_ set to:1761542508.364232 2025-10-27T05:21:48.365Z,1761542508.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022843 2025-10-27T05:21:48.376Z,1761542508.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:48.379Z,1761542508.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 155.485748 m, bearing: 230.032240 deg, approach rate: -0.721791 m/s, LOS rate: 0.094661 deg/s, cmd heading: 220.505212 deg, new cmd heading: 220.609493 deg. 2025-10-27T05:21:48.408Z,1761542508.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.850362 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:48.619Z,1761542508.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276741 2025-10-27T05:21:48.790Z,1761542508.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.777597,0.621524,0.095134],[-0.628656,-0.771300,-0.099441],[0.011572,-0.137132,0.990485]] 2025-10-27T05:21:48.886Z,1761542508.886 [DAT](INFO): DAT read: 05:21:47.0073 LVL= 28256, 32753, 27170, 32755, AGC= 69, IDX= 36,-0.23,-2.010, 2.414,-2.093,-2.302, PHS= 0.394,-1.522, 0.165, RAW= 143.7, 10.6, CAL= 143.3, 11.6, ROT= 6.7, -11.6 2025-10-27T05:21:48.891Z,1761542508.891 [DAT](INFO): got valid direction response: 05:21:47.0073 LVL= 28256, 32753, 27170, 32755, AGC= 69, IDX= 36,-0.23,-2.010, 2.414,-2.093,-2.302, PHS= 0.394,-1.522, 0.165, RAW= 143.7, 10.6, CAL= 143.3, 11.6, ROT= 6.7, -11.6 2025-10-27T05:21:48.892Z,1761542508.892 [DAT](INFO): DAT read: Bearing 12.1, 5.1 (Local) 2025-10-27T05:21:48.892Z,1761542508.892 [DAT](INFO): Local bearing/azimuth received: Bearing 12.1, 5.1 (Local) 2025-10-27T05:21:48.904Z,1761542508.904 [DAT](INFO): DAT read: Range 11 to 50 : 134.1 m (Round-trip 178.9 ms) speed 0.4 m/s 2025-10-27T05:21:48.906Z,1761542508.906 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:48.915Z,1761542508.915 [DAT](INFO): direction in FSK: [0.972885,0.114288,0.201078] 2025-10-27T05:21:48.916Z,1761542508.916 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:48.930Z,1761542508.930 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:48.930Z,1761542508.930 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:48.930Z,1761542508.930 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:49.006Z,1761542509.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 134.100006 m, deltaT: 3.781724 s, deltaX: -29.799988 m, approachRate: -7.880001 m/s, rangeRepo size: 4 2025-10-27T05:21:49.007Z,1761542509.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:49.010Z,1761542509.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 155.079224 m, bearing: 230.087296 deg, approach rate: -0.645581 m/s, LOS rate: 0.087661 deg/s, cmd heading: 220.609496 deg, new cmd heading: 220.775097 deg. 2025-10-27T05:21:49.019Z,1761542509.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.853252 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:49.120Z,1761542509.120 [DAT](INFO): DAT read: user:381> 2025-10-27T05:21:49.121Z,1761542509.121 [DAT](INFO): DAT read: Tx time:05:21:48.2243 2025-10-27T05:21:49.121Z,1761542509.121 [DAT](INFO): Ping request sent. 2025-10-27T05:21:49.121Z,1761542509.121 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:49.122Z,1761542509.122 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:49.122Z,1761542509.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-27T05:21:49.324Z,1761542509.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775734,0.623213,0.099205],[-0.630878,-0.769638,-0.098233],[0.015132,-0.138789,0.990206]] 2025-10-27T05:21:49.358Z,1761542509.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:49.361Z,1761542509.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 154.825516 m, bearing: 230.121500 deg, approach rate: -0.720366 m/s, LOS rate: 0.097276 deg/s, cmd heading: 220.775101 deg, new cmd heading: 220.877880 deg. 2025-10-27T05:21:49.362Z,1761542509.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.855046 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:49.372Z,1761542509.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250531 2025-10-27T05:21:49.624Z,1761542509.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502707 2025-10-27T05:21:49.732Z,1761542509.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774564,0.624095,0.102741],[-0.632254,-0.768480,-0.098460],[0.017506,-0.141222,0.989823]] 2025-10-27T05:21:49.758Z,1761542509.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:49.803Z,1761542509.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 154.545334 m, bearing: 230.159184 deg, approach rate: -0.700553 m/s, LOS rate: 0.094395 deg/s, cmd heading: 220.877881 deg, new cmd heading: 220.991139 deg. 2025-10-27T05:21:49.810Z,1761542509.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857023 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:49.877Z,1761542509.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755273 2025-10-27T05:21:50.128Z,1761542510.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006496 2025-10-27T05:21:50.131Z,1761542510.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773345,0.625137,0.105552],[-0.633682,-0.767338,-0.098185],[0.019615,-0.142817,0.989555]] 2025-10-27T05:21:50.188Z,1761542510.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:50.190Z,1761542510.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:50.197Z,1761542510.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 154.273254 m, bearing: 230.196509 deg, approach rate: -0.629674 m/s, LOS rate: 0.086535 deg/s, cmd heading: 220.991139 deg, new cmd heading: 221.103313 deg. 2025-10-27T05:21:50.198Z,1761542510.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.858981 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:50.380Z,1761542510.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258287 2025-10-27T05:21:50.533Z,1761542510.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772187,0.626201,0.107700],[-0.635026,-0.766353,-0.097190],[0.021676,-0.143441,0.989421]] 2025-10-27T05:21:50.552Z,1761542510.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:50.554Z,1761542510.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 154.021164 m, bearing: 230.231028 deg, approach rate: -0.697321 m/s, LOS rate: 0.095640 deg/s, cmd heading: 221.103318 deg, new cmd heading: 221.207044 deg. 2025-10-27T05:21:50.555Z,1761542510.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.860791 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:50.633Z,1761542510.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511662 2025-10-27T05:21:50.884Z,1761542510.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762393 2025-10-27T05:21:50.994Z,1761542510.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:50.997Z,1761542510.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 153.743362 m, bearing: 230.271710 deg, approach rate: -0.627477 m/s, LOS rate: 0.092056 deg/s, cmd heading: 221.207042 deg, new cmd heading: 221.329308 deg. 2025-10-27T05:21:50.998Z,1761542510.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.862925 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:51.136Z,1761542511.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014429 2025-10-27T05:21:51.340Z,1761542511.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769609,0.628890,0.110449],[-0.638025,-0.764207,-0.094405],[0.025035,-0.143124,0.989388]] 2025-10-27T05:21:51.365Z,1761542511.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:51.368Z,1761542511.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 153.511658 m, bearing: 230.305377 deg, approach rate: -0.625500 m/s, LOS rate: 0.091024 deg/s, cmd heading: 221.329302 deg, new cmd heading: 221.430456 deg. 2025-10-27T05:21:51.369Z,1761542511.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.864691 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:51.388Z,1761542511.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266506 2025-10-27T05:21:51.640Z,1761542511.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518394 2025-10-27T05:21:51.744Z,1761542511.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768421,0.630199,0.111256],[-0.639390,-0.763295,-0.092523],[0.026613,-0.142233,0.989475]] 2025-10-27T05:21:51.763Z,1761542511.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:51.766Z,1761542511.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 153.260574 m, bearing: 230.341800 deg, approach rate: -0.630500 m/s, LOS rate: 0.091613 deg/s, cmd heading: 221.430457 deg, new cmd heading: 221.539906 deg. 2025-10-27T05:21:51.767Z,1761542511.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.866601 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:51.893Z,1761542511.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771360 2025-10-27T05:21:52.144Z,1761542512.144 [DAT](INFO): DAT read: Rx Time:05:21:50.8039 2025-10-27T05:21:52.144Z,1761542512.144 [DAT](INFO): Rx dataTimestamp_ set to:1761542512.144202 2025-10-27T05:21:52.145Z,1761542512.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023513 2025-10-27T05:21:52.149Z,1761542512.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766975,0.631743,0.112471],[-0.641076,-0.761978,-0.091714],[0.027760,-0.142445,0.989413]] 2025-10-27T05:21:52.204Z,1761542512.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:52.206Z,1761542512.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:52.209Z,1761542512.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 152.989914 m, bearing: 230.384736 deg, approach rate: -0.610460 m/s, LOS rate: 0.097011 deg/s, cmd heading: 221.539904 deg, new cmd heading: 221.668939 deg. 2025-10-27T05:21:52.210Z,1761542512.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.868853 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:52.397Z,1761542512.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275647 2025-10-27T05:21:52.550Z,1761542512.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765828,0.632963,0.113427],[-0.642407,-0.760930,-0.091096],[0.028650,-0.142630,0.989361]] 2025-10-27T05:21:52.587Z,1761542512.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.05 m. 2025-10-27T05:21:52.590Z,1761542512.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.050888 m, nav range: 152.767090 m, bearing: 230.420038 deg, approach rate: -0.585369 m/s, LOS rate: 0.092876 deg/s, cmd heading: 221.668940 deg, new cmd heading: 221.775001 deg. 2025-10-27T05:21:52.595Z,1761542512.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.870704 target range: 163.050888 and range: 163.90 m. 2025-10-27T05:21:52.652Z,1761542512.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529030 2025-10-27T05:21:52.913Z,1761542512.913 [DAT](INFO): DAT read: 05:21:50.8039 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.24, 2.338, 0.499, 2.294, 2.058, PHS= 0.383,-1.514, 0.192, RAW= 144.8, 10.4, CAL= 144.3, 11.3, ROT= 5.7, -11.3 2025-10-27T05:21:52.917Z,1761542512.917 [DAT](INFO): got valid direction response: 05:21:50.8039 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 401, 0.24, 2.338, 0.499, 2.294, 2.058, PHS= 0.383,-1.514, 0.192, RAW= 144.8, 10.4, CAL= 144.3, 11.3, ROT= 5.7, -11.3 2025-10-27T05:21:52.918Z,1761542512.918 [DAT](INFO): DAT read: Bearing 12.6, 4.9 (Local) 2025-10-27T05:21:52.919Z,1761542512.919 [DAT](INFO): Local bearing/azimuth received: Bearing 12.6, 4.9 (Local) 2025-10-27T05:21:52.924Z,1761542512.924 [DAT](INFO): DAT read: Range 11 to 50 : 131.5 m (Round-trip 175.4 ms) speed 0.7 m/s 2025-10-27T05:21:52.925Z,1761542512.925 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:52.927Z,1761542512.927 [DAT](INFO): direction in FSK: [0.975766,0.097394,0.195946] 2025-10-27T05:21:52.928Z,1761542512.928 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:52.932Z,1761542512.932 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:52.932Z,1761542512.932 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:52.932Z,1761542512.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:53.004Z,1761542513.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764397,0.634522,0.114361],[-0.644082,-0.759547,-0.090809],[0.029242,-0.143071,0.989280]] 2025-10-27T05:21:53.099Z,1761542513.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.500000 m, deltaT: 7.814619 s, deltaX: -32.399994 m, approachRate: -4.146075 m/s, rangeRepo size: 4 2025-10-27T05:21:53.105Z,1761542513.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.819550 m, bearing: 227.427256 deg, lat: 36.779404 deg, lon: -121.859752 deg, deltaT: 7.814619 s, deltaX: -32.231339 m, approachRate: -4.124493 m/s, posRepo size: 4 2025-10-27T05:21:53.105Z,1761542513.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:53.112Z,1761542513.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 130.659195 m, bearing: 228.511252 deg, approach rate: 0.000000 m/s, LOS rate: 0.092876 deg/s, cmd heading: 221.774999 deg, new cmd heading: 221.917362 deg. 2025-10-27T05:21:53.113Z,1761542513.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.873189 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:53.152Z,1761542513.152 [DAT](INFO): DAT read: user:382> 2025-10-27T05:21:53.153Z,1761542513.153 [DAT](INFO): DAT read: Tx time:05:21:52.2243 2025-10-27T05:21:53.153Z,1761542513.153 [DAT](INFO): Ping request sent. 2025-10-27T05:21:53.153Z,1761542513.153 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:53.153Z,1761542513.153 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:53.154Z,1761542513.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-27T05:21:53.406Z,1761542513.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252370 2025-10-27T05:21:53.440Z,1761542513.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762828,0.636311,0.114897],[-0.645933,-0.757991,-0.090668],[0.029397,-0.143380,0.989231]] 2025-10-27T05:21:53.475Z,1761542513.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:53.478Z,1761542513.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 130.422623 m, bearing: 228.554769 deg, approach rate: -0.627403 m/s, LOS rate: 0.115619 deg/s, cmd heading: 221.917368 deg, new cmd heading: 222.048156 deg. 2025-10-27T05:21:53.479Z,1761542513.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.875471 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:53.656Z,1761542513.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502726 2025-10-27T05:21:53.888Z,1761542513.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760968,0.638327,0.116047],[-0.648115,-0.756075,-0.091093],[0.029593,-0.144530,0.989058]] 2025-10-27T05:21:53.909Z,1761542513.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756061 2025-10-27T05:21:53.953Z,1761542513.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:53.956Z,1761542513.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 130.135925 m, bearing: 228.617221 deg, approach rate: -0.599803 m/s, LOS rate: 0.130943 deg/s, cmd heading: 222.048152 deg, new cmd heading: 222.235919 deg. 2025-10-27T05:21:53.957Z,1761542513.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.878748 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:54.160Z,1761542514.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007197 2025-10-27T05:21:54.252Z,1761542514.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758696,0.640767,0.117468],[-0.650775,-0.753669,-0.092061],[0.029543,-0.146292,0.988800]] 2025-10-27T05:21:54.274Z,1761542514.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:54.276Z,1761542514.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:54.279Z,1761542514.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 129.948807 m, bearing: 228.657765 deg, approach rate: -0.578974 m/s, LOS rate: 0.125632 deg/s, cmd heading: 222.235914 deg, new cmd heading: 222.357722 deg. 2025-10-27T05:21:54.280Z,1761542514.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880874 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:54.412Z,1761542514.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259165 2025-10-27T05:21:54.658Z,1761542514.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756078,0.643788,0.117827],[-0.653818,-0.751075,-0.091699],[0.029462,-0.146369,0.988791]] 2025-10-27T05:21:54.664Z,1761542514.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-27T05:21:54.754Z,1761542514.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:54.757Z,1761542514.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 129.669968 m, bearing: 228.717815 deg, approach rate: -0.583527 m/s, LOS rate: 0.125937 deg/s, cmd heading: 222.357724 deg, new cmd heading: 222.538261 deg. 2025-10-27T05:21:54.758Z,1761542514.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.884025 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:54.918Z,1761542514.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765076 2025-10-27T05:21:55.058Z,1761542515.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753428,0.646963,0.117414],[-0.656866,-0.748595,-0.090175],[0.029556,-0.145066,0.988981]] 2025-10-27T05:21:55.130Z,1761542515.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:55.133Z,1761542515.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 129.444000 m, bearing: 228.764783 deg, approach rate: -0.600937 m/s, LOS rate: 0.125124 deg/s, cmd heading: 222.538259 deg, new cmd heading: 222.679409 deg. 2025-10-27T05:21:55.134Z,1761542515.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.886489 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:55.168Z,1761542515.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014907 2025-10-27T05:21:55.421Z,1761542515.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267997 2025-10-27T05:21:55.469Z,1761542515.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750730,0.649866,0.118651],[-0.659925,-0.745927,-0.089956],[0.030046,-0.145833,0.988853]] 2025-10-27T05:21:55.516Z,1761542515.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:55.520Z,1761542515.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 129.201096 m, bearing: 228.814933 deg, approach rate: -0.628536 m/s, LOS rate: 0.130011 deg/s, cmd heading: 222.679412 deg, new cmd heading: 222.830144 deg. 2025-10-27T05:21:55.520Z,1761542515.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.889120 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:55.672Z,1761542515.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518702 2025-10-27T05:21:55.925Z,1761542515.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771459 2025-10-27T05:21:55.926Z,1761542515.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748191,0.652784,0.118673],[-0.662775,-0.743603,-0.088227],[0.030652,-0.144664,0.989006]] 2025-10-27T05:21:55.999Z,1761542515.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:56.002Z,1761542516.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 128.916534 m, bearing: 228.869628 deg, approach rate: -0.589903 m/s, LOS rate: 0.113634 deg/s, cmd heading: 222.830141 deg, new cmd heading: 222.994586 deg. 2025-10-27T05:21:56.003Z,1761542516.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.891990 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:56.176Z,1761542516.176 [DAT](INFO): DAT read: Rx Time:05:21:54.8005 2025-10-27T05:21:56.176Z,1761542516.176 [DAT](INFO): Rx dataTimestamp_ set to:1761542516.176162 2025-10-27T05:21:56.177Z,1761542516.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023841 2025-10-27T05:21:56.311Z,1761542516.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745382,0.656141,0.117833],[-0.665905,-0.741120,-0.085500],[0.031228,-0.142196,0.989346]] 2025-10-27T05:21:56.332Z,1761542516.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:56.334Z,1761542516.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.82 m. 2025-10-27T05:21:56.337Z,1761542516.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.819550 m, nav range: 128.699142 m, bearing: 228.911135 deg, approach rate: -0.649024 m/s, LOS rate: 0.124130 deg/s, cmd heading: 222.994584 deg, new cmd heading: 223.119317 deg. 2025-10-27T05:21:56.338Z,1761542516.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.894167 target range: 130.819550 and range: 131.50 m. 2025-10-27T05:21:56.429Z,1761542516.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275607 2025-10-27T05:21:56.685Z,1761542516.685 [DAT](INFO): DAT read: 05:21:54.8005 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.37, 0.608,-1.223, 0.590, 0.358, PHS= 0.352,-1.536, 0.188, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0 2025-10-27T05:21:56.687Z,1761542516.687 [DAT](INFO): got valid direction response: 05:21:54.8005 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.37, 0.608,-1.223, 0.590, 0.358, PHS= 0.352,-1.536, 0.188, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0 2025-10-27T05:21:56.688Z,1761542516.688 [DAT](INFO): DAT read: Bearing 14.2, 4.5 (Local) 2025-10-27T05:21:56.688Z,1761542516.688 [DAT](INFO): Local bearing/azimuth received: Bearing 14.2, 4.5 (Local) 2025-10-27T05:21:56.689Z,1761542516.689 [DAT](INFO): DAT read: Range 11 to 50 : 129.0 m (Round-trip 172.1 ms) speed 0.5 m/s 2025-10-27T05:21:56.690Z,1761542516.690 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:21:56.691Z,1761542516.691 [DAT](INFO): direction in FSK: [0.974573,0.083550,0.207912] 2025-10-27T05:21:56.691Z,1761542516.691 [DAT](INFO): publishing direction and range info 2025-10-27T05:21:56.695Z,1761542516.695 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:21:56.695Z,1761542516.695 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:21:56.695Z,1761542516.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:21:56.746Z,1761542516.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742942,0.659108,0.116679],[-0.668593,-0.739050,-0.082387],[0.031930,-0.139219,0.989747]] 2025-10-27T05:21:56.853Z,1761542516.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.777799 s, deltaX: -2.500000 m, approachRate: -0.661761 m/s, rangeRepo size: 4 2025-10-27T05:21:56.859Z,1761542516.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.333344 m, bearing: 228.567889 deg, lat: 36.779404 deg, lon: -121.859717 deg, deltaT: 3.777799 s, deltaX: -2.486206 m, approachRate: -0.658110 m/s, posRepo size: 4 2025-10-27T05:21:56.860Z,1761542516.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:21:56.862Z,1761542516.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 126.063736 m, bearing: 228.041431 deg, approach rate: 0.000000 m/s, LOS rate: 0.124130 deg/s, cmd heading: 223.119317 deg, new cmd heading: 223.312364 deg. 2025-10-27T05:21:56.869Z,1761542516.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.897536 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:21:56.935Z,1761542516.935 [DAT](INFO): DAT read: user:383> 2025-10-27T05:21:56.937Z,1761542516.937 [DAT](INFO): DAT read: Tx time:05:21:55.9743 2025-10-27T05:21:56.939Z,1761542516.939 [DAT](INFO): Ping request sent. 2025-10-27T05:21:56.939Z,1761542516.939 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:21:56.940Z,1761542516.940 [DAT](INFO): publishing transmit ping time 2025-10-27T05:21:56.942Z,1761542516.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003358 2025-10-27T05:21:57.184Z,1761542517.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245479 2025-10-27T05:21:57.311Z,1761542517.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:21:57.314Z,1761542517.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 125.753021 m, bearing: 228.096390 deg, approach rate: -0.677000 m/s, LOS rate: 0.120044 deg/s, cmd heading: 223.312366 deg, new cmd heading: 223.477650 deg. 2025-10-27T05:21:57.339Z,1761542517.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.900421 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:21:57.437Z,1761542517.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498242 2025-10-27T05:21:57.651Z,1761542517.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739021,0.663975,0.113953],[-0.672833,-0.735943,-0.075390],[0.033806,-0.132386,0.990622]] 2025-10-27T05:21:57.681Z,1761542517.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:21:57.684Z,1761542517.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 125.510971 m, bearing: 228.138735 deg, approach rate: -0.655048 m/s, LOS rate: 0.114817 deg/s, cmd heading: 223.477656 deg, new cmd heading: 223.604936 deg. 2025-10-27T05:21:57.684Z,1761542517.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.902642 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:21:57.688Z,1761542517.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749622 2025-10-27T05:21:57.944Z,1761542517.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003991 2025-10-27T05:21:58.054Z,1761542518.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737012,0.666237,0.113762],[-0.674994,-0.734158,-0.073454],[0.034581,-0.130925,0.990789]] 2025-10-27T05:21:58.110Z,1761542518.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:21:58.113Z,1761542518.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 125.226791 m, bearing: 228.182210 deg, approach rate: -0.662626 m/s, LOS rate: 0.101602 deg/s, cmd heading: 223.604930 deg, new cmd heading: 223.735651 deg. 2025-10-27T05:21:58.114Z,1761542518.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.904924 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:21:58.192Z,1761542518.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253756 2025-10-27T05:21:58.444Z,1761542518.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505455 2025-10-27T05:21:58.466Z,1761542518.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735478,0.667898,0.113951],[-0.676608,-0.732857,-0.071575],[0.035705,-0.129742,0.990905]] 2025-10-27T05:21:58.484Z,1761542518.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:21:58.486Z,1761542518.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:21:58.489Z,1761542518.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 124.971046 m, bearing: 228.221231 deg, approach rate: -0.678862 m/s, LOS rate: 0.103790 deg/s, cmd heading: 223.735646 deg, new cmd heading: 223.852948 deg. 2025-10-27T05:21:58.490Z,1761542518.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.906971 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:21:58.696Z,1761542518.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757716 2025-10-27T05:21:58.865Z,1761542518.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734301,0.669022,0.114944],[-0.677821,-0.731831,-0.070585],[0.036897,-0.129743,0.990861]] 2025-10-27T05:21:58.885Z,1761542518.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:21:58.913Z,1761542518.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 124.703529 m, bearing: 228.262002 deg, approach rate: -0.671088 m/s, LOS rate: 0.102496 deg/s, cmd heading: 223.852948 deg, new cmd heading: 223.975522 deg. 2025-10-27T05:21:58.921Z,1761542518.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.909110 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:21:58.951Z,1761542518.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012291 2025-10-27T05:21:59.201Z,1761542519.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262004 2025-10-27T05:21:59.286Z,1761542519.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733377,0.669789,0.116363],[-0.678731,-0.731087,-0.069542],[0.038493,-0.129980,0.990769]] 2025-10-27T05:21:59.348Z,1761542519.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:21:59.363Z,1761542519.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 124.399734 m, bearing: 228.298387 deg, approach rate: -0.655564 m/s, LOS rate: 0.078708 deg/s, cmd heading: 223.975522 deg, new cmd heading: 224.084944 deg. 2025-10-27T05:21:59.364Z,1761542519.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.911020 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:21:59.452Z,1761542519.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513583 2025-10-27T05:21:59.691Z,1761542519.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732980,0.669854,0.118477],[-0.679063,-0.730802,-0.069291],[0.040169,-0.131243,0.990536]] 2025-10-27T05:21:59.708Z,1761542519.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768122 2025-10-27T05:21:59.749Z,1761542519.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:21:59.760Z,1761542519.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 124.111916 m, bearing: 228.332953 deg, approach rate: -0.718852 m/s, LOS rate: 0.086531 deg/s, cmd heading: 224.084942 deg, new cmd heading: 224.188880 deg. 2025-10-27T05:21:59.761Z,1761542519.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.912834 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:21:59.958Z,1761542519.958 [DAT](INFO): DAT read: Rx Time:05:21:58.5471 2025-10-27T05:21:59.960Z,1761542519.960 [DAT](INFO): Rx dataTimestamp_ set to:1761542519.959249 2025-10-27T05:21:59.962Z,1761542519.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023159 2025-10-27T05:22:00.094Z,1761542520.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732664,0.669667,0.121451],[-0.679296,-0.730537,-0.069812],[0.041973,-0.133650,0.990139]] 2025-10-27T05:22:00.149Z,1761542520.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.33 m. 2025-10-27T05:22:00.152Z,1761542520.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.333344 m, nav range: 123.840492 m, bearing: 228.361407 deg, approach rate: -0.678584 m/s, LOS rate: 0.071294 deg/s, cmd heading: 224.188884 deg, new cmd heading: 224.274433 deg. 2025-10-27T05:22:00.153Z,1761542520.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914327 target range: 128.333344 and range: 129.00 m. 2025-10-27T05:22:00.209Z,1761542520.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270546 2025-10-27T05:22:00.465Z,1761542520.465 [DAT](INFO): DAT read: 05:21:58.5471 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 413,-0.48, 0.022,-1.759, 0.046,-0.198, PHS= 0.322,-1.516, 0.200, RAW= 146.6, 11.2, CAL= 146.3, 12.2, ROT= 3.7, -12.2 2025-10-27T05:22:00.466Z,1761542520.466 [DAT](INFO): got valid direction response: 05:21:58.5471 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 413,-0.48, 0.022,-1.759, 0.046,-0.198, PHS= 0.322,-1.516, 0.200, RAW= 146.6, 11.2, CAL= 146.3, 12.2, ROT= 3.7, -12.2 2025-10-27T05:22:00.467Z,1761542520.467 [DAT](INFO): DAT read: Bearing 15.9, 3.7 (Local) 2025-10-27T05:22:00.468Z,1761542520.468 [DAT](INFO): Local bearing/azimuth received: Bearing 15.9, 3.7 (Local) 2025-10-27T05:22:00.469Z,1761542520.469 [DAT](INFO): DAT read: Range 11 to 50 : 126.5 m (Round-trip 168.7 ms) speed 0.6 m/s 2025-10-27T05:22:00.470Z,1761542520.470 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:00.471Z,1761542520.471 [DAT](INFO): direction in FSK: [0.975379,0.063075,0.211325] 2025-10-27T05:22:00.471Z,1761542520.471 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:00.474Z,1761542520.474 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:00.475Z,1761542520.475 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:00.475Z,1761542520.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:00.502Z,1761542520.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732709,0.669179,0.123847],[-0.679152,-0.730631,-0.070229],[0.043490,-0.135568,0.989813]] 2025-10-27T05:22:00.594Z,1761542520.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.500000 m, deltaT: 3.779650 s, deltaX: -2.500000 m, approachRate: -0.661437 m/s, rangeRepo size: 4 2025-10-27T05:22:00.605Z,1761542520.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.845963 m, bearing: 228.220541 deg, lat: 36.779406 deg, lon: -121.859715 deg, deltaT: 3.779650 s, deltaX: -2.487381 m, approachRate: -0.658098 m/s, posRepo size: 4 2025-10-27T05:22:00.605Z,1761542520.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.85 m. 2025-10-27T05:22:00.612Z,1761542520.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.845963 m, nav range: 123.377838 m, bearing: 228.410486 deg, approach rate: 0.000000 m/s, LOS rate: 0.071294 deg/s, cmd heading: 224.274439 deg, new cmd heading: 224.369613 deg. 2025-10-27T05:22:00.613Z,1761542520.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.915988 target range: 125.845963 and range: 126.50 m. 2025-10-27T05:22:00.713Z,1761542520.713 [DAT](INFO): DAT read: user:384> 2025-10-27T05:22:00.714Z,1761542520.714 [DAT](INFO): DAT read: Tx time:05:21:59.7743 2025-10-27T05:22:00.714Z,1761542520.714 [DAT](INFO): Ping request sent. 2025-10-27T05:22:00.714Z,1761542520.714 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:00.715Z,1761542520.715 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:00.716Z,1761542520.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001217 2025-10-27T05:22:00.949Z,1761542520.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732668,0.668482,0.127789],[-0.679001,-0.730770,-0.070241],[0.046429,-0.138232,0.989311]] 2025-10-27T05:22:00.967Z,1761542520.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251942 2025-10-27T05:22:01.059Z,1761542521.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:01.061Z,1761542521.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.85 m. 2025-10-27T05:22:01.064Z,1761542521.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.845963 m, nav range: 123.052559 m, bearing: 228.444134 deg, approach rate: -0.695810 m/s, LOS rate: 0.072167 deg/s, cmd heading: 224.369611 deg, new cmd heading: 224.470821 deg. 2025-10-27T05:22:01.065Z,1761542521.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917755 target range: 125.845963 and range: 126.50 m. 2025-10-27T05:22:01.216Z,1761542521.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501328 2025-10-27T05:22:01.384Z,1761542521.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732888,0.667966,0.129215],[-0.678668,-0.731115,-0.069861],[0.047806,-0.138894,0.989153]] 2025-10-27T05:22:01.455Z,1761542521.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.85 m. 2025-10-27T05:22:01.461Z,1761542521.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.845963 m, nav range: 122.790245 m, bearing: 228.471450 deg, approach rate: -0.666817 m/s, LOS rate: 0.069587 deg/s, cmd heading: 224.470820 deg, new cmd heading: 224.552944 deg. 2025-10-27T05:22:01.462Z,1761542521.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919188 target range: 125.845963 and range: 126.50 m. 2025-10-27T05:22:01.468Z,1761542521.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753518 2025-10-27T05:22:01.721Z,1761542521.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006037 2025-10-27T05:22:01.934Z,1761542521.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732410,0.668199,0.130708],[-0.679106,-0.730718,-0.069764],[0.048894,-0.139860,0.988963]] 2025-10-27T05:22:01.975Z,1761542521.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259703 2025-10-27T05:22:02.030Z,1761542522.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.85 m. 2025-10-27T05:22:02.037Z,1761542522.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.845963 m, nav range: 122.405647 m, bearing: 228.511587 deg, approach rate: -0.667877 m/s, LOS rate: 0.069919 deg/s, cmd heading: 224.552946 deg, new cmd heading: 224.673735 deg. 2025-10-27T05:22:02.038Z,1761542522.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.921296 target range: 125.845963 and range: 126.50 m. 2025-10-27T05:22:02.224Z,1761542522.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509467 2025-10-27T05:22:02.476Z,1761542522.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761793 2025-10-27T05:22:02.496Z,1761542522.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731972,0.668380,0.132229],[-0.679517,-0.730306,-0.070072],[0.049733,-0.141142,0.988739]] 2025-10-27T05:22:02.573Z,1761542522.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.85 m. 2025-10-27T05:22:02.580Z,1761542522.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.845963 m, nav range: 122.045609 m, bearing: 228.553746 deg, approach rate: -0.663851 m/s, LOS rate: 0.077964 deg/s, cmd heading: 224.673732 deg, new cmd heading: 224.800582 deg. 2025-10-27T05:22:02.581Z,1761542522.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.923510 target range: 125.845963 and range: 126.50 m. 2025-10-27T05:22:02.729Z,1761542522.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013681 2025-10-27T05:22:02.984Z,1761542522.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268270 2025-10-27T05:22:03.056Z,1761542523.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730151,0.670006,0.134056],[-0.681381,-0.728604,-0.069687],[0.050983,-0.142226,0.988520]] 2025-10-27T05:22:03.110Z,1761542523.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:03.112Z,1761542523.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.85 m. 2025-10-27T05:22:03.115Z,1761542523.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.845963 m, nav range: 121.700447 m, bearing: 228.598051 deg, approach rate: -0.640060 m/s, LOS rate: 0.082391 deg/s, cmd heading: 224.800582 deg, new cmd heading: 224.933873 deg. 2025-10-27T05:22:03.120Z,1761542523.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.925837 target range: 125.845963 and range: 126.50 m. 2025-10-27T05:22:03.232Z,1761542523.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517305 2025-10-27T05:22:03.442Z,1761542523.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729570,0.670602,0.134239],[-0.681950,-0.728166,-0.068692],[0.051683,-0.141660,0.988565]] 2025-10-27T05:22:03.477Z,1761542523.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.85 m. 2025-10-27T05:22:03.484Z,1761542523.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769518 2025-10-27T05:22:03.485Z,1761542523.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.845963 m, nav range: 121.463814 m, bearing: 228.628486 deg, approach rate: -0.648511 m/s, LOS rate: 0.083573 deg/s, cmd heading: 224.933866 deg, new cmd heading: 225.025350 deg. 2025-10-27T05:22:03.486Z,1761542523.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.927433 target range: 125.845963 and range: 126.50 m. 2025-10-27T05:22:03.737Z,1761542523.737 [DAT](INFO): DAT read: Rx Time:05:22:02.3439 2025-10-27T05:22:03.737Z,1761542523.737 [DAT](INFO): Rx dataTimestamp_ set to:1761542523.737061 2025-10-27T05:22:03.738Z,1761542523.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023748 2025-10-27T05:22:03.841Z,1761542523.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728017,0.672134,0.135006],[-0.683586,-0.726637,-0.068622],[0.051978,-0.142246,0.988466]] 2025-10-27T05:22:03.861Z,1761542523.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.85 m. 2025-10-27T05:22:03.864Z,1761542523.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.845963 m, nav range: 121.206985 m, bearing: 228.661358 deg, approach rate: -0.669075 m/s, LOS rate: 0.085817 deg/s, cmd heading: 225.025350 deg, new cmd heading: 225.124173 deg. 2025-10-27T05:22:03.865Z,1761542523.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.929158 target range: 125.845963 and range: 126.50 m. 2025-10-27T05:22:03.991Z,1761542523.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275586 2025-10-27T05:22:04.245Z,1761542524.245 [DAT](INFO): DAT read: 05:22:02.3439 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.20,-1.220,-2.962,-1.161,-1.418, PHS= 0.300,-1.499, 0.214, RAW= 147.6, 11.2, CAL= 147.3, 12.3, ROT= 2.7, -12.3 2025-10-27T05:22:04.246Z,1761542524.246 [DAT](INFO): got valid direction response: 05:22:02.3439 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.20,-1.220,-2.962,-1.161,-1.418, PHS= 0.300,-1.499, 0.214, RAW= 147.6, 11.2, CAL= 147.3, 12.3, ROT= 2.7, -12.3 2025-10-27T05:22:04.252Z,1761542524.252 [DAT](INFO): DAT read: Bearing 16.9, 3.0 (Local) 2025-10-27T05:22:04.253Z,1761542524.253 [DAT](INFO): Local bearing/azimuth received: Bearing 16.9, 3.0 (Local) 2025-10-27T05:22:04.254Z,1761542524.254 [DAT](INFO): DAT read: Range 11 to 50 : 124.1 m (Round-trip 165.5 ms) speed 0.4 m/s 2025-10-27T05:22:04.255Z,1761542524.255 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:04.266Z,1761542524.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726269,0.673990,0.135169],[-0.685425,-0.724970,-0.067914],[0.052220,-0.141972,0.988492]] 2025-10-27T05:22:04.268Z,1761542524.268 [DAT](INFO): direction in FSK: [0.975961,0.046025,0.213030] 2025-10-27T05:22:04.268Z,1761542524.268 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:04.276Z,1761542524.276 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:04.276Z,1761542524.276 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:04.276Z,1761542524.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:04.404Z,1761542524.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.099998 m, deltaT: 3.780108 s, deltaX: -2.400002 m, approachRate: -0.634903 m/s, rangeRepo size: 4 2025-10-27T05:22:04.409Z,1761542524.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:22:04.413Z,1761542524.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.458733 m, bearing: 227.841447 deg, lat: 36.779406 deg, lon: -121.859710 deg, deltaT: 3.780108 s, deltaX: -2.387230 m, approachRate: -0.631524 m/s, posRepo size: 4 2025-10-27T05:22:04.413Z,1761542524.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:04.429Z,1761542524.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 120.548050 m, bearing: 228.571984 deg, approach rate: 0.000000 m/s, LOS rate: 0.085817 deg/s, cmd heading: 225.124169 deg, new cmd heading: 225.263401 deg. 2025-10-27T05:22:04.430Z,1761542524.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.931588 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:04.493Z,1761542524.493 [DAT](INFO): DAT read: user:385> 2025-10-27T05:22:04.494Z,1761542524.494 [DAT](INFO): DAT read: Tx time:05:22:03.5743 2025-10-27T05:22:04.495Z,1761542524.495 [DAT](INFO): Ping request sent. 2025-10-27T05:22:04.495Z,1761542524.495 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:04.495Z,1761542524.495 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:04.496Z,1761542524.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001531 2025-10-27T05:22:04.744Z,1761542524.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249026 2025-10-27T05:22:04.755Z,1761542524.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724528,0.675794,0.135502],[-0.687244,-0.723295,-0.067379],[0.052473,-0.141941,0.988483]] 2025-10-27T05:22:04.773Z,1761542524.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:04.776Z,1761542524.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 120.288315 m, bearing: 228.610157 deg, approach rate: -0.698263 m/s, LOS rate: 0.102847 deg/s, cmd heading: 225.263395 deg, new cmd heading: 225.378164 deg. 2025-10-27T05:22:04.777Z,1761542524.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.933591 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:04.996Z,1761542524.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501201 2025-10-27T05:22:05.146Z,1761542525.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722607,0.677956,0.134961],[-0.689257,-0.721496,-0.066090],[0.052568,-0.140780,0.988644]] 2025-10-27T05:22:05.198Z,1761542525.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:05.200Z,1761542525.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:05.203Z,1761542525.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 120.032066 m, bearing: 228.653290 deg, approach rate: -0.600866 m/s, LOS rate: 0.101357 deg/s, cmd heading: 225.378170 deg, new cmd heading: 225.507845 deg. 2025-10-27T05:22:05.204Z,1761542525.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.935854 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:05.249Z,1761542525.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754175 2025-10-27T05:22:05.412Z,1761542525.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:22:05.500Z,1761542525.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005178 2025-10-27T05:22:05.591Z,1761542525.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:05.594Z,1761542525.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 119.776047 m, bearing: 228.696580 deg, approach rate: -0.654674 m/s, LOS rate: 0.110934 deg/s, cmd heading: 225.507848 deg, new cmd heading: 225.637995 deg. 2025-10-27T05:22:05.595Z,1761542525.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.938126 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:05.752Z,1761542525.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257546 2025-10-27T05:22:05.954Z,1761542525.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718207,0.682499,0.135552],[-0.693865,-0.717086,-0.065868],[0.052248,-0.141362,0.988578]] 2025-10-27T05:22:05.992Z,1761542525.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:05.995Z,1761542525.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 119.526932 m, bearing: 228.738026 deg, approach rate: -0.620734 m/s, LOS rate: 0.103487 deg/s, cmd heading: 225.637990 deg, new cmd heading: 225.762586 deg. 2025-10-27T05:22:05.996Z,1761542525.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.940300 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:06.008Z,1761542526.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512421 2025-10-27T05:22:06.257Z,1761542526.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762382 2025-10-27T05:22:06.451Z,1761542526.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716158,0.684684,0.135374],[-0.695988,-0.715084,-0.065234],[0.052139,-0.140936,0.988645]] 2025-10-27T05:22:06.508Z,1761542526.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013253 2025-10-27T05:22:06.510Z,1761542526.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:06.518Z,1761542526.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 119.217453 m, bearing: 228.794680 deg, approach rate: -0.597999 m/s, LOS rate: 0.109755 deg/s, cmd heading: 225.762587 deg, new cmd heading: 225.932989 deg. 2025-10-27T05:22:06.528Z,1761542526.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.943274 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:06.760Z,1761542526.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265390 2025-10-27T05:22:06.841Z,1761542526.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713945,0.686936,0.135652],[-0.698254,-0.712909,-0.064815],[0.052183,-0.140994,0.988634]] 2025-10-27T05:22:06.867Z,1761542526.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:06.870Z,1761542526.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 118.983246 m, bearing: 228.837355 deg, approach rate: -0.656351 m/s, LOS rate: 0.119830 deg/s, cmd heading: 225.932986 deg, new cmd heading: 226.061263 deg. 2025-10-27T05:22:06.870Z,1761542526.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.945513 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:07.012Z,1761542527.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517222 2025-10-27T05:22:07.245Z,1761542527.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712304,0.688772,0.134969],[-0.699943,-0.711333,-0.063910],[0.051988,-0.139994,0.988787]] 2025-10-27T05:22:07.264Z,1761542527.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769263 2025-10-27T05:22:07.295Z,1761542527.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:07.297Z,1761542527.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:07.300Z,1761542527.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 118.707664 m, bearing: 228.887356 deg, approach rate: -0.640660 m/s, LOS rate: 0.116511 deg/s, cmd heading: 226.061257 deg, new cmd heading: 226.211609 deg. 2025-10-27T05:22:07.301Z,1761542527.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.948137 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:07.517Z,1761542527.517 [DAT](INFO): DAT read: Rx Time:05:22:06.1405 2025-10-27T05:22:07.517Z,1761542527.517 [DAT](INFO): Rx dataTimestamp_ set to:1761542527.517147 2025-10-27T05:22:07.518Z,1761542527.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023619 2025-10-27T05:22:07.685Z,1761542527.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.46 m. 2025-10-27T05:22:07.688Z,1761542527.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.458733 m, nav range: 118.458679 m, bearing: 228.932746 deg, approach rate: -0.641989 m/s, LOS rate: 0.117281 deg/s, cmd heading: 226.211603 deg, new cmd heading: 226.348060 deg. 2025-10-27T05:22:07.688Z,1761542527.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.950519 target range: 123.458733 and range: 124.10 m. 2025-10-27T05:22:07.770Z,1761542527.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275285 2025-10-27T05:22:08.030Z,1761542528.030 [DAT](INFO): DAT read: 05:22:06.1405 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.40,-0.789,-2.524,-0.695,-1.039, PHS= 0.352,-1.440, 0.300, RAW= 148.5, 9.0, CAL= 148.1, 9.7, ROT= 1.9, -9.7 2025-10-27T05:22:08.034Z,1761542528.034 [DAT](INFO): got valid direction response: 05:22:06.1405 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.40,-0.789,-2.524,-0.695,-1.039, PHS= 0.352,-1.440, 0.300, RAW= 148.5, 9.0, CAL= 148.1, 9.7, ROT= 1.9, -9.7 2025-10-27T05:22:08.050Z,1761542528.050 [DAT](INFO): DAT read: Bearing 15.2, 3.1 (Local) 2025-10-27T05:22:08.051Z,1761542528.051 [DAT](INFO): Local bearing/azimuth received: Bearing 15.2, 3.1 (Local) 2025-10-27T05:22:08.064Z,1761542528.064 [DAT](INFO): DAT read: Range 11 to 50 : 121.5 m (Round-trip 162.1 ms) speed 0.1 m/s 2025-10-27T05:22:08.091Z,1761542528.091 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:08.103Z,1761542528.103 [DAT](INFO): direction in FSK: [0.985162,0.032681,0.168489] 2025-10-27T05:22:08.103Z,1761542528.103 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:08.106Z,1761542528.106 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:08.107Z,1761542528.107 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:08.131Z,1761542528.131 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:08.156Z,1761542528.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707055,0.694609,0.132631],[-0.705362,-0.706104,-0.062309],[0.050371,-0.137608,0.989205]] 2025-10-27T05:22:08.255Z,1761542528.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 3.783971 s, deltaX: -2.599998 m, approachRate: -0.687108 m/s, rangeRepo size: 4 2025-10-27T05:22:08.257Z,1761542528.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.872726 m, bearing: 228.191744 deg, lat: 36.779404 deg, lon: -121.859701 deg, deltaT: 3.783971 s, deltaX: -2.586006 m, approachRate: -0.683411 m/s, posRepo size: 4 2025-10-27T05:22:08.258Z,1761542528.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:08.265Z,1761542528.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 117.587959 m, bearing: 228.685352 deg, approach rate: 0.000000 m/s, LOS rate: 0.117281 deg/s, cmd heading: 226.348057 deg, new cmd heading: 226.547024 deg. 2025-10-27T05:22:08.266Z,1761542528.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.953991 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:08.276Z,1761542528.276 [DAT](INFO): DAT read: user:386> 2025-10-27T05:22:08.277Z,1761542528.277 [DAT](INFO): DAT read: Tx time:05:22:07.4243 2025-10-27T05:22:08.277Z,1761542528.277 [DAT](INFO): Ping request sent. 2025-10-27T05:22:08.277Z,1761542528.277 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:08.277Z,1761542528.277 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:08.278Z,1761542528.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T05:22:08.528Z,1761542528.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250972 2025-10-27T05:22:08.582Z,1761542528.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705334,0.696464,0.132071],[-0.707135,-0.704329,-0.062294],[0.049635,-0.137330,0.989281]] 2025-10-27T05:22:08.601Z,1761542528.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:08.604Z,1761542528.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 117.346565 m, bearing: 228.726673 deg, approach rate: -0.688692 m/s, LOS rate: 0.118129 deg/s, cmd heading: 226.547020 deg, new cmd heading: 226.671236 deg. 2025-10-27T05:22:08.605Z,1761542528.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.956159 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:08.780Z,1761542528.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502531 2025-10-27T05:22:08.977Z,1761542528.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703501,0.698304,0.132126],[-0.709027,-0.702342,-0.063218],[0.048653,-0.138155,0.989215]] 2025-10-27T05:22:09.020Z,1761542529.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:09.023Z,1761542529.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 117.081345 m, bearing: 228.771880 deg, approach rate: -0.632940 m/s, LOS rate: 0.108129 deg/s, cmd heading: 226.671234 deg, new cmd heading: 226.807162 deg. 2025-10-27T05:22:09.029Z,1761542529.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.958532 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:09.032Z,1761542529.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754772 2025-10-27T05:22:09.284Z,1761542529.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006560 2025-10-27T05:22:09.418Z,1761542529.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701722,0.700288,0.131083],[-0.710850,-0.700520,-0.062963],[0.047734,-0.137363,0.989370]] 2025-10-27T05:22:09.472Z,1761542529.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:09.474Z,1761542529.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:09.477Z,1761542529.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 116.761078 m, bearing: 228.823816 deg, approach rate: -0.704529 m/s, LOS rate: 0.114563 deg/s, cmd heading: 226.807168 deg, new cmd heading: 226.963403 deg. 2025-10-27T05:22:09.478Z,1761542529.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.961259 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:09.537Z,1761542529.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259225 2025-10-27T05:22:09.788Z,1761542529.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510712 2025-10-27T05:22:09.814Z,1761542529.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700021,0.702361,0.129071],[-0.712606,-0.698801,-0.062203],[0.046506,-0.135520,0.989683]] 2025-10-27T05:22:09.852Z,1761542529.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:09.854Z,1761542529.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 116.516312 m, bearing: 228.863396 deg, approach rate: -0.648283 m/s, LOS rate: 0.105051 deg/s, cmd heading: 226.963402 deg, new cmd heading: 227.082392 deg. 2025-10-27T05:22:09.856Z,1761542529.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.963336 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:10.040Z,1761542530.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762498 2025-10-27T05:22:10.267Z,1761542530.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:10.269Z,1761542530.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 116.211967 m, bearing: 228.908787 deg, approach rate: -0.734007 m/s, LOS rate: 0.109760 deg/s, cmd heading: 227.082398 deg, new cmd heading: 227.218928 deg. 2025-10-27T05:22:10.270Z,1761542530.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.965719 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:10.292Z,1761542530.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014658 2025-10-27T05:22:10.544Z,1761542530.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266669 2025-10-27T05:22:10.618Z,1761542530.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696827,0.705719,0.128031],[-0.715861,-0.695378,-0.063187],[0.044437,-0.135683,0.989755]] 2025-10-27T05:22:10.636Z,1761542530.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:10.639Z,1761542530.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 115.951981 m, bearing: 228.947111 deg, approach rate: -0.702711 m/s, LOS rate: 0.103816 deg/s, cmd heading: 227.218933 deg, new cmd heading: 227.334162 deg. 2025-10-27T05:22:10.640Z,1761542530.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.967730 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:10.796Z,1761542530.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518500 2025-10-27T05:22:11.023Z,1761542531.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695581,0.707044,0.127498],[-0.717135,-0.694013,-0.063744],[0.043415,-0.135773,0.989788]] 2025-10-27T05:22:11.041Z,1761542531.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:11.044Z,1761542531.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 115.667450 m, bearing: 228.988981 deg, approach rate: -0.702880 m/s, LOS rate: 0.103687 deg/s, cmd heading: 227.334159 deg, new cmd heading: 227.460078 deg. 2025-10-27T05:22:11.045Z,1761542531.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.969927 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:11.048Z,1761542531.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770701 2025-10-27T05:22:11.300Z,1761542531.300 [DAT](INFO): DAT read: Rx Time:05:22:09.9869 2025-10-27T05:22:11.300Z,1761542531.300 [DAT](INFO): Rx dataTimestamp_ set to:1761542531.300150 2025-10-27T05:22:11.301Z,1761542531.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023677 2025-10-27T05:22:11.426Z,1761542531.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694444,0.708206,0.127250],[-0.718303,-0.692712,-0.064736],[0.042301,-0.136359,0.989756]] 2025-10-27T05:22:11.478Z,1761542531.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:11.481Z,1761542531.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:11.483Z,1761542531.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 115.362000 m, bearing: 229.029881 deg, approach rate: -0.695240 m/s, LOS rate: 0.093339 deg/s, cmd heading: 227.460080 deg, new cmd heading: 227.583103 deg. 2025-10-27T05:22:11.484Z,1761542531.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.972075 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:11.553Z,1761542531.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275408 2025-10-27T05:22:11.804Z,1761542531.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526611 2025-10-27T05:22:11.872Z,1761542531.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693541,0.709192,0.126677],[-0.719217,-0.691741,-0.064966],[0.041554,-0.136165,0.989814]] 2025-10-27T05:22:11.921Z,1761542531.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.87 m. 2025-10-27T05:22:11.928Z,1761542531.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.872726 m, nav range: 115.070061 m, bearing: 229.068980 deg, approach rate: -0.663200 m/s, LOS rate: 0.089049 deg/s, cmd heading: 227.583105 deg, new cmd heading: 227.700702 deg. 2025-10-27T05:22:11.929Z,1761542531.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.974127 target range: 120.872726 and range: 121.50 m. 2025-10-27T05:22:12.061Z,1761542532.061 [DAT](INFO): DAT read: 05:22:09.9869 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 402, 0.45, 1.300,-0.345, 1.443, 1.216, PHS= 0.186,-1.515, 0.183, RAW= 149.9, 13.4, CAL= 150.0, 14.9, ROT= 0.0, -14.9 2025-10-27T05:22:12.062Z,1761542532.062 [DAT](INFO): got valid direction response: 05:22:09.9869 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 402, 0.45, 1.300,-0.345, 1.443, 1.216, PHS= 0.186,-1.515, 0.183, RAW= 149.9, 13.4, CAL= 150.0, 14.9, ROT= 0.0, -14.9 2025-10-27T05:22:12.063Z,1761542532.063 [DAT](INFO): DAT read: Bearing 21.7, -0.1 (Local) 2025-10-27T05:22:12.064Z,1761542532.064 [DAT](INFO): Local bearing/azimuth received: Bearing 21.7, -0.1 (Local) 2025-10-27T05:22:12.065Z,1761542532.065 [DAT](INFO): DAT read: Range 11 to 50 : 118.8 m (Round-trip 158.4 ms) speed 0.6 m/s 2025-10-27T05:22:12.066Z,1761542532.066 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:12.067Z,1761542532.067 [DAT](INFO): direction in FSK: [0.966376,0.000000,0.257133] 2025-10-27T05:22:12.067Z,1761542532.067 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:12.070Z,1761542532.070 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:12.071Z,1761542532.071 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:12.079Z,1761542532.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:12.234Z,1761542532.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692829,0.710016,0.125958],[-0.719933,-0.691012,-0.064799],[0.041030,-0.135575,0.989917]] 2025-10-27T05:22:12.283Z,1761542532.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.800003 m, deltaT: 4.031986 s, deltaX: -2.699997 m, approachRate: -0.669644 m/s, rangeRepo size: 4 2025-10-27T05:22:12.285Z,1761542532.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.186592 m, bearing: 228.191193 deg, lat: 36.779403 deg, lon: -121.859698 deg, deltaT: 4.031986 s, deltaX: -2.686134 m, approachRate: -0.666206 m/s, posRepo size: 4 2025-10-27T05:22:12.285Z,1761542532.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:12.305Z,1761542532.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 114.694183 m, bearing: 228.963260 deg, approach rate: 0.000000 m/s, LOS rate: 0.089049 deg/s, cmd heading: 227.700707 deg, new cmd heading: 227.797154 deg. 2025-10-27T05:22:12.306Z,1761542532.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.975810 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:12.308Z,1761542532.308 [DAT](INFO): DAT read: user:387> 2025-10-27T05:22:12.309Z,1761542532.309 [DAT](INFO): DAT read: Tx time:05:22:11.3743 2025-10-27T05:22:12.309Z,1761542532.309 [DAT](INFO): Ping request sent. 2025-10-27T05:22:12.309Z,1761542532.309 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:12.309Z,1761542532.309 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:12.310Z,1761542532.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T05:22:12.560Z,1761542532.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250833 2025-10-27T05:22:12.656Z,1761542532.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692171,0.710549,0.126568],[-0.720606,-0.690180,-0.066180],[0.040331,-0.137013,0.989748]] 2025-10-27T05:22:12.675Z,1761542532.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:12.678Z,1761542532.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 114.417458 m, bearing: 228.997872 deg, approach rate: -0.704278 m/s, LOS rate: 0.088301 deg/s, cmd heading: 227.797150 deg, new cmd heading: 227.901236 deg. 2025-10-27T05:22:12.679Z,1761542532.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.977627 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:12.812Z,1761542532.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502876 2025-10-27T05:22:13.058Z,1761542533.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691378,0.710925,0.128771],[-0.721404,-0.689064,-0.069044],[0.039647,-0.140631,0.989268]] 2025-10-27T05:22:13.064Z,1761542533.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754789 2025-10-27T05:22:13.101Z,1761542533.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:13.111Z,1761542533.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 114.134445 m, bearing: 229.033241 deg, approach rate: -0.664057 m/s, LOS rate: 0.083195 deg/s, cmd heading: 227.901242 deg, new cmd heading: 228.007612 deg. 2025-10-27T05:22:13.112Z,1761542533.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.979484 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:13.316Z,1761542533.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007235 2025-10-27T05:22:13.496Z,1761542533.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690039,0.711895,0.130579],[-0.722736,-0.687393,-0.071719],[0.038703,-0.143863,0.988840]] 2025-10-27T05:22:13.551Z,1761542533.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:13.553Z,1761542533.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:13.560Z,1761542533.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 113.819252 m, bearing: 229.070618 deg, approach rate: -0.697094 m/s, LOS rate: 0.082894 deg/s, cmd heading: 228.007615 deg, new cmd heading: 228.120057 deg. 2025-10-27T05:22:13.561Z,1761542533.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.981446 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:13.568Z,1761542533.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259073 2025-10-27T05:22:13.820Z,1761542533.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510790 2025-10-27T05:22:13.920Z,1761542533.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688495,0.713273,0.131211],[-0.724260,-0.685625,-0.073252],[0.037713,-0.145464,0.988644]] 2025-10-27T05:22:13.956Z,1761542533.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:13.959Z,1761542533.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 113.550514 m, bearing: 229.102327 deg, approach rate: -0.667519 m/s, LOS rate: 0.078949 deg/s, cmd heading: 228.120054 deg, new cmd heading: 228.215406 deg. 2025-10-27T05:22:13.960Z,1761542533.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.983110 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:14.072Z,1761542534.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762985 2025-10-27T05:22:14.324Z,1761542534.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015398 2025-10-27T05:22:14.349Z,1761542534.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686999,0.714855,0.130441],[-0.725752,-0.683960,-0.074048],[0.036283,-0.145539,0.988687]] 2025-10-27T05:22:14.437Z,1761542534.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:14.444Z,1761542534.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 113.219231 m, bearing: 229.137291 deg, approach rate: -0.689089 m/s, LOS rate: 0.072939 deg/s, cmd heading: 228.215403 deg, new cmd heading: 228.320601 deg. 2025-10-27T05:22:14.445Z,1761542534.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.984946 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:14.576Z,1761542534.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266856 2025-10-27T05:22:14.749Z,1761542534.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685439,0.716526,0.129476],[-0.727301,-0.682231,-0.074795],[0.034739,-0.145435,0.988758]] 2025-10-27T05:22:14.768Z,1761542534.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:14.787Z,1761542534.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 112.988075 m, bearing: 229.161540 deg, approach rate: -0.697078 m/s, LOS rate: 0.073277 deg/s, cmd heading: 228.320602 deg, new cmd heading: 228.393499 deg. 2025-10-27T05:22:14.788Z,1761542534.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.986218 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:14.828Z,1761542534.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519278 2025-10-27T05:22:15.080Z,1761542535.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770972 2025-10-27T05:22:15.173Z,1761542535.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684051,0.718135,0.127895],[-0.728677,-0.680743,-0.074960],[0.033232,-0.144471,0.988951]] 2025-10-27T05:22:15.249Z,1761542535.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:15.256Z,1761542535.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 112.668594 m, bearing: 229.194896 deg, approach rate: -0.664253 m/s, LOS rate: 0.069548 deg/s, cmd heading: 228.393494 deg, new cmd heading: 228.493844 deg. 2025-10-27T05:22:15.257Z,1761542535.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.987970 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:15.333Z,1761542535.333 [DAT](INFO): DAT read: Rx Time:05:22:13.9335 2025-10-27T05:22:15.334Z,1761542535.334 [DAT](INFO): Rx dataTimestamp_ set to:1761542535.332928 2025-10-27T05:22:15.334Z,1761542535.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025052 2025-10-27T05:22:15.567Z,1761542535.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682814,0.719662,0.125903],[-0.729908,-0.679427,-0.074926],[0.031620,-0.143058,0.989209]] 2025-10-27T05:22:15.584Z,1761542535.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274876 2025-10-27T05:22:15.683Z,1761542535.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:15.685Z,1761542535.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.19 m. 2025-10-27T05:22:15.704Z,1761542535.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.186592 m, nav range: 112.372696 m, bearing: 229.222081 deg, approach rate: -0.679015 m/s, LOS rate: 0.062548 deg/s, cmd heading: 228.493843 deg, new cmd heading: 228.575613 deg. 2025-10-27T05:22:15.706Z,1761542535.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.989397 target range: 118.186592 and range: 118.80 m. 2025-10-27T05:22:15.844Z,1761542535.844 [DAT](INFO): DAT read: 05:22:13.9335 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.24,-0.149,-1.935,-0.005,-0.421, PHS= 0.373,-1.469, 0.371, RAW= 149.9, 7.9, CAL= 149.4, 8.5, ROT= 0.6, -8.5 2025-10-27T05:22:15.846Z,1761542535.846 [DAT](INFO): got valid direction response: 05:22:13.9335 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 401, 0.24,-0.149,-1.935,-0.005,-0.421, PHS= 0.373,-1.469, 0.371, RAW= 149.9, 7.9, CAL= 149.4, 8.5, ROT= 0.6, -8.5 2025-10-27T05:22:15.848Z,1761542535.848 [DAT](INFO): DAT read: Bearing 16.4, 0.8 (Local) 2025-10-27T05:22:15.849Z,1761542535.849 [DAT](INFO): Local bearing/azimuth received: Bearing 16.4, 0.8 (Local) 2025-10-27T05:22:15.851Z,1761542535.851 [DAT](INFO): DAT read: Range 11 to 50 : 116.3 m (Round-trip 155.1 ms) speed 0.6 m/s 2025-10-27T05:22:15.852Z,1761542535.852 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:15.854Z,1761542535.854 [DAT](INFO): direction in FSK: [0.988962,0.010357,0.147809] 2025-10-27T05:22:15.854Z,1761542535.854 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:15.882Z,1761542535.882 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:15.882Z,1761542535.882 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:15.883Z,1761542535.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:16.088Z,1761542536.088 [DAT](INFO): DAT read: user:388> 2025-10-27T05:22:16.088Z,1761542536.088 [DAT](INFO): DAT read: Tx time:05:22:15.1743 2025-10-27T05:22:16.089Z,1761542536.089 [DAT](INFO): Ping request sent. 2025-10-27T05:22:16.089Z,1761542536.089 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:16.089Z,1761542536.089 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:16.090Z,1761542536.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-27T05:22:16.094Z,1761542536.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681659,0.721090,0.123979],[-0.731050,-0.678207,-0.074840],[0.030117,-0.141651,0.989459]] 2025-10-27T05:22:16.214Z,1761542536.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.300003 m, deltaT: 3.780388 s, deltaX: -2.500000 m, approachRate: -0.661308 m/s, rangeRepo size: 4 2025-10-27T05:22:16.233Z,1761542536.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.699921 m, bearing: 228.818133 deg, lat: 36.779402 deg, lon: -121.859698 deg, deltaT: 3.780388 s, deltaX: -2.486671 m, approachRate: -0.657782 m/s, posRepo size: 4 2025-10-27T05:22:16.233Z,1761542536.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:16.267Z,1761542536.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 112.134422 m, bearing: 229.218212 deg, approach rate: 0.000000 m/s, LOS rate: 0.062548 deg/s, cmd heading: 228.575614 deg, new cmd heading: 228.673499 deg. 2025-10-27T05:22:16.268Z,1761542536.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.991106 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:16.340Z,1761542536.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251328 2025-10-27T05:22:16.572Z,1761542536.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679317,0.724268,0.118173],[-0.733378,-0.675769,-0.074115],[0.026179,-0.137012,0.990223]] 2025-10-27T05:22:16.592Z,1761542536.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502932 2025-10-27T05:22:16.640Z,1761542536.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:16.644Z,1761542536.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 111.794594 m, bearing: 229.246981 deg, approach rate: -0.783143 m/s, LOS rate: 0.066500 deg/s, cmd heading: 228.673504 deg, new cmd heading: 228.760073 deg. 2025-10-27T05:22:16.645Z,1761542536.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.992616 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:16.847Z,1761542536.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757920 2025-10-27T05:22:16.973Z,1761542536.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678657,0.725420,0.114851],[-0.734050,-0.675135,-0.073238],[0.024412,-0.134010,0.990679]] 2025-10-27T05:22:17.015Z,1761542537.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:17.017Z,1761542537.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 111.549866 m, bearing: 229.267699 deg, approach rate: -0.654140 m/s, LOS rate: 0.055500 deg/s, cmd heading: 228.760070 deg, new cmd heading: 228.822361 deg. 2025-10-27T05:22:17.018Z,1761542537.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.993704 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:17.096Z,1761542537.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007369 2025-10-27T05:22:17.348Z,1761542537.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259052 2025-10-27T05:22:17.384Z,1761542537.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678338,0.725970,0.113245],[-0.734395,-0.674697,-0.073813],[0.022820,-0.133237,0.990821]] 2025-10-27T05:22:17.443Z,1761542537.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:17.446Z,1761542537.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 111.269142 m, bearing: 229.288156 deg, approach rate: -0.655423 m/s, LOS rate: 0.047882 deg/s, cmd heading: 228.822361 deg, new cmd heading: 228.883886 deg. 2025-10-27T05:22:17.447Z,1761542537.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.994777 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:17.600Z,1761542537.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511006 2025-10-27T05:22:17.781Z,1761542537.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677801,0.726591,0.112476],[-0.734936,-0.673981,-0.074963],[0.021339,-0.133472,0.990823]] 2025-10-27T05:22:17.807Z,1761542537.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:17.809Z,1761542537.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:17.812Z,1761542537.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 111.029587 m, bearing: 229.305597 deg, approach rate: -0.654598 m/s, LOS rate: 0.047764 deg/s, cmd heading: 228.883887 deg, new cmd heading: 228.936326 deg. 2025-10-27T05:22:17.813Z,1761542537.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.995693 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:17.852Z,1761542537.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763268 2025-10-27T05:22:18.104Z,1761542538.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015043 2025-10-27T05:22:18.209Z,1761542538.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677438,0.726959,0.112288],[-0.735309,-0.673393,-0.076567],[0.019953,-0.134435,0.990721]] 2025-10-27T05:22:18.266Z,1761542538.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:18.269Z,1761542538.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 110.729622 m, bearing: 229.327457 deg, approach rate: -0.656363 m/s, LOS rate: 0.047960 deg/s, cmd heading: 228.936330 deg, new cmd heading: 229.002085 deg. 2025-10-27T05:22:18.270Z,1761542538.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.996840 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:18.358Z,1761542538.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268761 2025-10-27T05:22:18.589Z,1761542538.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676800,0.727656,0.111616],[-0.735931,-0.672597,-0.077575],[0.018625,-0.134645,0.990719]] 2025-10-27T05:22:18.608Z,1761542538.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519108 2025-10-27T05:22:18.634Z,1761542538.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:18.636Z,1761542538.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 110.496956 m, bearing: 229.345052 deg, approach rate: -0.632592 m/s, LOS rate: 0.047939 deg/s, cmd heading: 229.002091 deg, new cmd heading: 229.054987 deg. 2025-10-27T05:22:18.637Z,1761542538.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.997764 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:18.860Z,1761542538.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771073 2025-10-27T05:22:18.993Z,1761542538.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676334,0.728129,0.111360],[-0.736384,-0.671987,-0.078562],[0.017629,-0.135138,0.990670]] 2025-10-27T05:22:19.016Z,1761542539.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:19.018Z,1761542539.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 110.257217 m, bearing: 229.363174 deg, approach rate: -0.627620 m/s, LOS rate: 0.047546 deg/s, cmd heading: 229.054984 deg, new cmd heading: 229.109469 deg. 2025-10-27T05:22:19.019Z,1761542539.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.998715 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:19.112Z,1761542539.112 [DAT](INFO): DAT read: Rx Time:05:22:17.7300 2025-10-27T05:22:19.113Z,1761542539.113 [DAT](INFO): Rx dataTimestamp_ set to:1761542539.112262 2025-10-27T05:22:19.113Z,1761542539.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024582 2025-10-27T05:22:19.364Z,1761542539.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274966 2025-10-27T05:22:19.408Z,1761542539.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675729,0.728711,0.111220],[-0.736964,-0.671218,-0.079692],[0.016580,-0.135815,0.990595]] 2025-10-27T05:22:19.452Z,1761542539.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.70 m. 2025-10-27T05:22:19.455Z,1761542539.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.699921 m, nav range: 109.970497 m, bearing: 229.392221 deg, approach rate: -0.656874 m/s, LOS rate: 0.066720 deg/s, cmd heading: 229.109475 deg, new cmd heading: 229.196843 deg. 2025-10-27T05:22:19.456Z,1761542539.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.000239 target range: 115.699921 and range: 116.30 m. 2025-10-27T05:22:19.621Z,1761542539.621 [DAT](INFO): DAT read: 05:22:17.7300 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413, 0.42,-2.222, 2.395,-2.041,-2.366, PHS= 0.246,-1.477, 0.281, RAW= 151.0, 10.9, CAL= 150.8, 12.0, ROT= 359.2, -12.0 2025-10-27T05:22:19.622Z,1761542539.622 [DAT](INFO): got valid direction response: 05:22:17.7300 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413, 0.42,-2.222, 2.395,-2.041,-2.366, PHS= 0.246,-1.477, 0.281, RAW= 151.0, 10.9, CAL= 150.8, 12.0, ROT= 359.2, -12.0 2025-10-27T05:22:19.624Z,1761542539.624 [DAT](INFO): DAT read: Bearing 20.4, -1.6 (Local) 2025-10-27T05:22:19.624Z,1761542539.624 [DAT](INFO): Local bearing/azimuth received: Bearing 20.4, -1.6 (Local) 2025-10-27T05:22:19.625Z,1761542539.625 [DAT](INFO): DAT read: Range 11 to 50 : 113.7 m (Round-trip 151.6 ms) speed 0.1 m/s 2025-10-27T05:22:19.626Z,1761542539.626 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:19.627Z,1761542539.627 [DAT](INFO): direction in FSK: [0.978052,-0.013657,0.207912] 2025-10-27T05:22:19.627Z,1761542539.627 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:19.631Z,1761542539.631 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:19.636Z,1761542539.636 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:19.637Z,1761542539.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:19.801Z,1761542539.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674835,0.729481,0.111597],[-0.737800,-0.670156,-0.080887],[0.015782,-0.136922,0.990456]] 2025-10-27T05:22:19.845Z,1761542539.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.779639 s, deltaX: -2.600006 m, approachRate: -0.687898 m/s, rangeRepo size: 4 2025-10-27T05:22:19.847Z,1761542539.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.113831 m, bearing: 228.430466 deg, lat: 36.779394 deg, lon: -121.859689 deg, deltaT: 3.779639 s, deltaX: -2.586090 m, approachRate: -0.684216 m/s, posRepo size: 4 2025-10-27T05:22:19.848Z,1761542539.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:19.850Z,1761542539.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 109.699280 m, bearing: 228.779471 deg, approach rate: 0.000000 m/s, LOS rate: 0.066720 deg/s, cmd heading: 229.196833 deg, new cmd heading: 229.275364 deg. 2025-10-27T05:22:19.852Z,1761542539.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.001610 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:19.870Z,1761542539.870 [DAT](INFO): DAT read: user:389> 2025-10-27T05:22:19.880Z,1761542539.880 [DAT](INFO): DAT read: Tx time:05:22:18.9243 2025-10-27T05:22:19.880Z,1761542539.880 [DAT](INFO): Ping request sent. 2025-10-27T05:22:19.881Z,1761542539.881 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:19.881Z,1761542539.881 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:19.882Z,1761542539.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001408 2025-10-27T05:22:20.120Z,1761542540.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.239304 2025-10-27T05:22:20.215Z,1761542540.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673936,0.730265,0.111906],[-0.738636,-0.669107,-0.081929],[0.015047,-0.137873,0.990336]] 2025-10-27T05:22:20.289Z,1761542540.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:20.295Z,1761542540.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:20.298Z,1761542540.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 109.401016 m, bearing: 228.807773 deg, approach rate: -0.668029 m/s, LOS rate: 0.063562 deg/s, cmd heading: 229.275353 deg, new cmd heading: 229.360491 deg. 2025-10-27T05:22:20.299Z,1761542540.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003096 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:20.374Z,1761542540.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492835 2025-10-27T05:22:20.610Z,1761542540.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672488,0.731479,0.112686],[-0.739970,-0.667461,-0.083305],[0.014278,-0.139406,0.990132]] 2025-10-27T05:22:20.624Z,1761542540.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743400 2025-10-27T05:22:20.656Z,1761542540.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:20.658Z,1761542540.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 109.157860 m, bearing: 228.837456 deg, approach rate: -0.666555 m/s, LOS rate: 0.081550 deg/s, cmd heading: 229.360484 deg, new cmd heading: 229.449732 deg. 2025-10-27T05:22:20.660Z,1761542540.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.004653 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:20.878Z,1761542540.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997347 2025-10-27T05:22:21.015Z,1761542541.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670613,0.733053,0.113630],[-0.741679,-0.665430,-0.084350],[0.013780,-0.140843,0.989936]] 2025-10-27T05:22:21.036Z,1761542541.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:21.039Z,1761542541.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 108.913170 m, bearing: 228.867103 deg, approach rate: -0.642880 m/s, LOS rate: 0.078068 deg/s, cmd heading: 229.449741 deg, new cmd heading: 229.538883 deg. 2025-10-27T05:22:21.040Z,1761542541.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006209 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:21.128Z,1761542541.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247577 2025-10-27T05:22:21.381Z,1761542541.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500299 2025-10-27T05:22:21.523Z,1761542541.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668054,0.735147,0.115165],[-0.744002,-0.662576,-0.086335],[0.012836,-0.143359,0.989587]] 2025-10-27T05:22:21.555Z,1761542541.555 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3268,-32768,V 2025-10-27T05:22:21.571Z,1761542541.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:21.573Z,1761542541.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 108.565025 m, bearing: 228.908806 deg, approach rate: -0.651697 m/s, LOS rate: 0.078315 deg/s, cmd heading: 229.538889 deg, new cmd heading: 229.664400 deg. 2025-10-27T05:22:21.574Z,1761542541.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.008400 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:21.633Z,1761542541.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752203 2025-10-27T05:22:21.885Z,1761542541.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003797 2025-10-27T05:22:21.931Z,1761542541.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665258,0.737944,0.113448],[-0.746528,-0.659758,-0.086115],[0.011300,-0.141980,0.989805]] 2025-10-27T05:22:21.952Z,1761542541.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:21.954Z,1761542541.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 108.317986 m, bearing: 228.938060 deg, approach rate: -0.648342 m/s, LOS rate: 0.076950 deg/s, cmd heading: 229.664401 deg, new cmd heading: 229.752362 deg. 2025-10-27T05:22:21.956Z,1761542541.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.009935 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:22.137Z,1761542542.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256539 2025-10-27T05:22:22.330Z,1761542542.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662046,0.741006,0.112274],[-0.749398,-0.656487,-0.086178],[0.009848,-0.141191,0.989933]] 2025-10-27T05:22:22.390Z,1761542542.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508869 2025-10-27T05:22:22.408Z,1761542542.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:22.410Z,1761542542.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:22.417Z,1761542542.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 108.059761 m, bearing: 228.985844 deg, approach rate: -0.563241 m/s, LOS rate: 0.104475 deg/s, cmd heading: 229.752373 deg, new cmd heading: 229.896067 deg. 2025-10-27T05:22:22.418Z,1761542542.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.012443 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:22.640Z,1761542542.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759406 2025-10-27T05:22:22.740Z,1761542542.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658809,0.744257,0.109785],[-0.752270,-0.653238,-0.085853],[0.007819,-0.139149,0.990241]] 2025-10-27T05:22:22.758Z,1761542542.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:22.761Z,1761542542.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 107.824265 m, bearing: 229.029050 deg, approach rate: -0.676467 m/s, LOS rate: 0.124381 deg/s, cmd heading: 229.896053 deg, new cmd heading: 230.025955 deg. 2025-10-27T05:22:22.762Z,1761542542.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.014710 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:22.893Z,1761542542.893 [DAT](INFO): DAT read: Rx Time:05:22:21.4766 2025-10-27T05:22:22.894Z,1761542542.894 [DAT](INFO): Rx dataTimestamp_ set to:1761542542.893570 2025-10-27T05:22:22.896Z,1761542542.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015387 2025-10-27T05:22:23.138Z,1761542543.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655298,0.747464,0.109006],[-0.755348,-0.649519,-0.087031],[0.005749,-0.139369,0.990224]] 2025-10-27T05:22:23.144Z,1761542543.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263429 2025-10-27T05:22:23.169Z,1761542543.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.11 m. 2025-10-27T05:22:23.172Z,1761542543.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.113831 m, nav range: 107.571953 m, bearing: 229.074844 deg, approach rate: -0.613643 m/s, LOS rate: 0.111637 deg/s, cmd heading: 230.025963 deg, new cmd heading: 230.163668 deg. 2025-10-27T05:22:23.173Z,1761542543.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.017114 target range: 113.113831 and range: 113.70 m. 2025-10-27T05:22:23.403Z,1761542543.403 [DAT](INFO): DAT read: 05:22:21.4766 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.00, 2.367, 0.651, 2.619, 2.219, PHS= 0.250,-1.523, 0.356, RAW= 152.9, 10.1, CAL= 152.6, 10.9, ROT= 357.4, -10.9 2025-10-27T05:22:23.405Z,1761542543.405 [DAT](INFO): got valid direction response: 05:22:21.4766 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 410, 0.00, 2.367, 0.651, 2.619, 2.219, PHS= 0.250,-1.523, 0.356, RAW= 152.9, 10.1, CAL= 152.6, 10.9, ROT= 357.4, -10.9 2025-10-27T05:22:23.406Z,1761542543.406 [DAT](INFO): DAT read: Bearing 20.7, -3.7 (Local) 2025-10-27T05:22:23.406Z,1761542543.406 [DAT](INFO): Local bearing/azimuth received: Bearing 20.7, -3.7 (Local) 2025-10-27T05:22:23.407Z,1761542543.407 [DAT](INFO): DAT read: Range 11 to 50 : 111.1 m (Round-trip 148.2 ms) speed 0.7 m/s 2025-10-27T05:22:23.408Z,1761542543.408 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:23.409Z,1761542543.409 [DAT](INFO): direction in FSK: [0.980948,-0.044545,0.189095] 2025-10-27T05:22:23.409Z,1761542543.409 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:23.413Z,1761542543.413 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:23.413Z,1761542543.413 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:23.413Z,1761542543.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:23.603Z,1761542543.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.099998 m, deltaT: 3.780654 s, deltaX: -2.599998 m, approachRate: -0.687711 m/s, rangeRepo size: 4 2025-10-27T05:22:23.605Z,1761542543.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.526161 m, bearing: 228.018756 deg, lat: 36.779386 deg, lon: -121.859689 deg, deltaT: 3.780654 s, deltaX: -2.587669 m, approachRate: -0.684450 m/s, posRepo size: 4 2025-10-27T05:22:23.606Z,1761542543.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:23.609Z,1761542543.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 107.866890 m, bearing: 228.769269 deg, approach rate: 0.000000 m/s, LOS rate: 0.111637 deg/s, cmd heading: 230.163660 deg, new cmd heading: 230.308566 deg. 2025-10-27T05:22:23.609Z,1761542543.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.019643 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:23.648Z,1761542543.648 [DAT](INFO): DAT read: user:390> 2025-10-27T05:22:23.649Z,1761542543.649 [DAT](INFO): DAT read: Tx time:05:22:22.7243 2025-10-27T05:22:23.649Z,1761542543.649 [DAT](INFO): Ping request sent. 2025-10-27T05:22:23.649Z,1761542543.649 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:23.650Z,1761542543.650 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:23.650Z,1761542543.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T05:22:23.900Z,1761542543.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250539 2025-10-27T05:22:23.952Z,1761542543.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648065,0.753944,0.107608],[-0.761584,-0.641737,-0.090346],[0.000940,-0.140503,0.990080]] 2025-10-27T05:22:23.971Z,1761542543.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:23.974Z,1761542543.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 107.641830 m, bearing: 228.810532 deg, approach rate: -0.610680 m/s, LOS rate: 0.112197 deg/s, cmd heading: 230.308569 deg, new cmd heading: 230.432616 deg. 2025-10-27T05:22:23.975Z,1761542543.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.021808 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:24.152Z,1761542544.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502441 2025-10-27T05:22:24.351Z,1761542544.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644608,0.757172,0.105697],[-0.764512,-0.638103,-0.091361],[-0.001730,-0.139698,0.990193]] 2025-10-27T05:22:24.404Z,1761542544.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754464 2025-10-27T05:22:24.416Z,1761542544.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:24.418Z,1761542544.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:24.421Z,1761542544.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 107.366386 m, bearing: 228.857006 deg, approach rate: -0.615928 m/s, LOS rate: 0.104187 deg/s, cmd heading: 230.432606 deg, new cmd heading: 230.572383 deg. 2025-10-27T05:22:24.422Z,1761542544.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.024247 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:24.656Z,1761542544.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006446 2025-10-27T05:22:24.754Z,1761542544.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641441,0.760058,0.104235],[-0.767161,-0.634730,-0.092643],[-0.004252,-0.139390,0.990228]] 2025-10-27T05:22:24.773Z,1761542544.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:24.776Z,1761542544.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 107.146866 m, bearing: 228.893684 deg, approach rate: -0.618444 m/s, LOS rate: 0.103544 deg/s, cmd heading: 230.572379 deg, new cmd heading: 230.682639 deg. 2025-10-27T05:22:24.777Z,1761542544.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.026172 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:24.908Z,1761542544.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258411 2025-10-27T05:22:25.158Z,1761542545.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638614,0.762608,0.102958],[-0.769496,-0.631652,-0.094295],[-0.006877,-0.139444,0.990206]] 2025-10-27T05:22:25.160Z,1761542545.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510451 2025-10-27T05:22:25.194Z,1761542545.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:25.197Z,1761542545.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 106.896347 m, bearing: 228.935185 deg, approach rate: -0.594119 m/s, LOS rate: 0.098654 deg/s, cmd heading: 230.682645 deg, new cmd heading: 230.807441 deg. 2025-10-27T05:22:25.198Z,1761542545.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.028350 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:25.413Z,1761542545.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763330 2025-10-27T05:22:25.561Z,1761542545.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636570,0.764346,0.102730],[-0.771164,-0.629267,-0.096586],[-0.009181,-0.140706,0.990009]] 2025-10-27T05:22:25.618Z,1761542545.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:25.637Z,1761542545.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 106.621201 m, bearing: 228.969486 deg, approach rate: -0.649200 m/s, LOS rate: 0.081141 deg/s, cmd heading: 230.807446 deg, new cmd heading: 230.910615 deg. 2025-10-27T05:22:25.638Z,1761542545.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.030150 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:25.664Z,1761542545.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014566 2025-10-27T05:22:25.917Z,1761542545.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267374 2025-10-27T05:22:25.973Z,1761542545.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634592,0.766036,0.102381],[-0.772762,-0.626970,-0.098729],[-0.011440,-0.141769,0.989834]] 2025-10-27T05:22:25.991Z,1761542545.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:25.994Z,1761542545.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 106.387779 m, bearing: 228.998383 deg, approach rate: -0.626019 m/s, LOS rate: 0.077669 deg/s, cmd heading: 230.910609 deg, new cmd heading: 230.997490 deg. 2025-10-27T05:22:25.995Z,1761542545.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.031667 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:26.168Z,1761542546.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518375 2025-10-27T05:22:26.399Z,1761542546.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633399,0.767208,0.100984],[-0.773705,-0.625592,-0.100075],[-0.013604,-0.141519,0.989842]] 2025-10-27T05:22:26.420Z,1761542546.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770514 2025-10-27T05:22:26.465Z,1761542546.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:26.471Z,1761542546.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:26.474Z,1761542546.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 106.091400 m, bearing: 229.016454 deg, approach rate: -0.622866 m/s, LOS rate: 0.038083 deg/s, cmd heading: 230.997490 deg, new cmd heading: 231.051853 deg. 2025-10-27T05:22:26.479Z,1761542546.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.032616 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:26.672Z,1761542546.672 [DAT](INFO): DAT read: Rx Time:05:22:25.2737 2025-10-27T05:22:26.672Z,1761542546.672 [DAT](INFO): Rx dataTimestamp_ set to:1761542546.672162 2025-10-27T05:22:26.673Z,1761542546.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023519 2025-10-27T05:22:26.796Z,1761542546.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632866,0.767937,0.098755],[-0.774101,-0.624978,-0.100847],[-0.015725,-0.140269,0.989989]] 2025-10-27T05:22:26.828Z,1761542546.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m. 2025-10-27T05:22:26.831Z,1761542546.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.526161 m, nav range: 105.865646 m, bearing: 229.030206 deg, approach rate: -0.625371 m/s, LOS rate: 0.038176 deg/s, cmd heading: 231.051858 deg, new cmd heading: 231.093201 deg. 2025-10-27T05:22:26.832Z,1761542546.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.033337 target range: 110.526161 and range: 111.10 m. 2025-10-27T05:22:26.924Z,1761542546.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274988 2025-10-27T05:22:27.181Z,1761542547.181 [DAT](INFO): DAT read: 05:22:25.2737 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.33,-1.528, 3.094,-1.276,-1.598, PHS= 0.172,-1.547, 0.277, RAW= 152.9, 12.3, CAL= 153.0, 13.7, ROT= 357.0, -13.7 2025-10-27T05:22:27.182Z,1761542547.182 [DAT](INFO): got valid direction response: 05:22:25.2737 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412, 0.33,-1.528, 3.094,-1.276,-1.598, PHS= 0.172,-1.547, 0.277, RAW= 152.9, 12.3, CAL= 153.0, 13.7, ROT= 357.0, -13.7 2025-10-27T05:22:27.190Z,1761542547.190 [DAT](INFO): DAT read: Bearing 24.9, -5.5 (Local) 2025-10-27T05:22:27.191Z,1761542547.191 [DAT](INFO): Local bearing/azimuth received: Bearing 24.9, -5.5 (Local) 2025-10-27T05:22:27.208Z,1761542547.208 [DAT](INFO): DAT read: Range 11 to 50 : 108.9 m (Round-trip 145.3 ms) speed 0.4 m/s 2025-10-27T05:22:27.209Z,1761542547.209 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:27.210Z,1761542547.210 [DAT](INFO): direction in FSK: [0.970218,-0.050847,0.236838] 2025-10-27T05:22:27.210Z,1761542547.210 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:27.218Z,1761542547.218 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:27.218Z,1761542547.218 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:27.218Z,1761542547.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:27.232Z,1761542547.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632770,0.768298,0.096544],[-0.774132,-0.624776,-0.101855],[-0.017936,-0.139188,0.990103]] 2025-10-27T05:22:27.300Z,1761542547.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.900002 m, deltaT: 3.779285 s, deltaX: -2.199997 m, approachRate: -0.582120 m/s, rangeRepo size: 4 2025-10-27T05:22:27.302Z,1761542547.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.338417 m, bearing: 229.715757 deg, lat: 36.779386 deg, lon: -121.859689 deg, deltaT: 3.779285 s, deltaX: -2.187744 m, approachRate: -0.578878 m/s, posRepo size: 4 2025-10-27T05:22:27.302Z,1761542547.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:27.310Z,1761542547.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 105.578247 m, bearing: 229.047785 deg, approach rate: 0.000000 m/s, LOS rate: 0.038176 deg/s, cmd heading: 231.093194 deg, new cmd heading: 231.146675 deg. 2025-10-27T05:22:27.320Z,1761542547.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034271 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:27.428Z,1761542547.428 [DAT](INFO): DAT read: user:391> 2025-10-27T05:22:27.430Z,1761542547.430 [DAT](INFO): DAT read: Tx time:05:22:26.5243 2025-10-27T05:22:27.430Z,1761542547.430 [DAT](INFO): Ping request sent. 2025-10-27T05:22:27.430Z,1761542547.430 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:27.431Z,1761542547.431 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:27.432Z,1761542547.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001203 2025-10-27T05:22:27.680Z,1761542547.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249607 2025-10-27T05:22:27.769Z,1761542547.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:27.772Z,1761542547.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 105.233932 m, bearing: 229.056687 deg, approach rate: -0.726732 m/s, LOS rate: 0.018849 deg/s, cmd heading: 231.146688 deg, new cmd heading: 231.173479 deg. 2025-10-27T05:22:27.773Z,1761542547.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034739 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:27.932Z,1761542547.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501518 2025-10-27T05:22:28.093Z,1761542548.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634511,0.767521,0.091145],[-0.772622,-0.626604,-0.102091],[-0.021245,-0.135199,0.990591]] 2025-10-27T05:22:28.112Z,1761542548.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:28.115Z,1761542548.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 104.997978 m, bearing: 229.063111 deg, approach rate: -0.687492 m/s, LOS rate: 0.018762 deg/s, cmd heading: 231.173490 deg, new cmd heading: 231.192808 deg. 2025-10-27T05:22:28.116Z,1761542548.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.035076 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:28.185Z,1761542548.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754072 2025-10-27T05:22:28.436Z,1761542548.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005505 2025-10-27T05:22:28.495Z,1761542548.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636148,0.766190,0.090930],[-0.771241,-0.628026,-0.103778],[-0.022407,-0.136147,0.990435]] 2025-10-27T05:22:28.599Z,1761542548.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:28.601Z,1761542548.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:28.609Z,1761542548.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 104.704842 m, bearing: 229.060184 deg, approach rate: -0.599037 m/s, LOS rate: -0.005998 deg/s, cmd heading: 231.192806 deg, new cmd heading: 231.184000 deg. 2025-10-27T05:22:28.610Z,1761542548.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034922 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:28.688Z,1761542548.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257730 2025-10-27T05:22:28.921Z,1761542548.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638116,0.764376,0.092400],[-0.769576,-0.629513,-0.107084],[-0.023685,-0.139441,0.989947]] 2025-10-27T05:22:28.940Z,1761542548.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509611 2025-10-27T05:22:28.946Z,1761542548.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:28.973Z,1761542548.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 104.428307 m, bearing: 229.057802 deg, approach rate: -0.801713 m/s, LOS rate: -0.006925 deg/s, cmd heading: 231.184008 deg, new cmd heading: 231.176842 deg. 2025-10-27T05:22:28.974Z,1761542548.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034797 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:29.192Z,1761542549.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762089 2025-10-27T05:22:29.322Z,1761542549.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640098,0.762674,0.092747],[-0.767896,-0.631210,-0.109128],[-0.024686,-0.141073,0.989691]] 2025-10-27T05:22:29.423Z,1761542549.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:29.430Z,1761542549.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 104.151878 m, bearing: 229.055804 deg, approach rate: -0.581615 m/s, LOS rate: -0.004214 deg/s, cmd heading: 231.176850 deg, new cmd heading: 231.170842 deg. 2025-10-27T05:22:29.435Z,1761542549.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034692 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:29.444Z,1761542549.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013651 2025-10-27T05:22:29.697Z,1761542549.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266447 2025-10-27T05:22:29.807Z,1761542549.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:29.810Z,1761542549.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 103.822090 m, bearing: 229.049228 deg, approach rate: -0.855289 m/s, LOS rate: -0.017110 deg/s, cmd heading: 231.170840 deg, new cmd heading: 231.151047 deg. 2025-10-27T05:22:29.811Z,1761542549.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034347 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:29.948Z,1761542549.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517528 2025-10-27T05:22:30.189Z,1761542550.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645841,0.757610,0.094422],[-0.762956,-0.635903,-0.116300],[-0.028067,-0.147151,0.988716]] 2025-10-27T05:22:30.200Z,1761542550.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769545 2025-10-27T05:22:30.276Z,1761542550.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:30.279Z,1761542550.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 103.490135 m, bearing: 229.043954 deg, approach rate: -0.708092 m/s, LOS rate: -0.011285 deg/s, cmd heading: 231.151059 deg, new cmd heading: 231.135188 deg. 2025-10-27T05:22:30.280Z,1761542550.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034070 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:30.452Z,1761542550.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021386 2025-10-27T05:22:30.631Z,1761542550.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646927,0.756603,0.095065],[-0.761983,-0.636585,-0.118916],[-0.029455,-0.149368,0.988343]] 2025-10-27T05:22:30.705Z,1761542550.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274110 2025-10-27T05:22:30.716Z,1761542550.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:30.724Z,1761542550.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:30.732Z,1761542550.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 103.193489 m, bearing: 229.046660 deg, approach rate: -0.669316 m/s, LOS rate: 0.006123 deg/s, cmd heading: 231.135186 deg, new cmd heading: 231.143327 deg. 2025-10-27T05:22:30.734Z,1761542550.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034212 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:30.956Z,1761542550.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525547 2025-10-27T05:22:31.035Z,1761542551.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648117,0.755651,0.094531],[-0.760924,-0.637591,-0.120304],[-0.030636,-0.149902,0.988226]] 2025-10-27T05:22:31.071Z,1761542551.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:31.074Z,1761542551.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 102.933067 m, bearing: 229.049276 deg, approach rate: -0.740125 m/s, LOS rate: 0.007455 deg/s, cmd heading: 231.143328 deg, new cmd heading: 231.151197 deg. 2025-10-27T05:22:31.075Z,1761542551.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034349 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:31.208Z,1761542551.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777614 2025-10-27T05:22:31.460Z,1761542551.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029637 2025-10-27T05:22:31.475Z,1761542551.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648567,0.755215,0.094925],[-0.760497,-0.637751,-0.122141],[-0.031705,-0.151407,0.987963]] 2025-10-27T05:22:31.541Z,1761542551.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:31.544Z,1761542551.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 102.616913 m, bearing: 229.064720 deg, approach rate: -0.672718 m/s, LOS rate: 0.032962 deg/s, cmd heading: 231.151196 deg, new cmd heading: 231.197668 deg. 2025-10-27T05:22:31.545Z,1761542551.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.035161 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:31.712Z,1761542551.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282086 2025-10-27T05:22:31.841Z,1761542551.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648177,0.755588,0.094626],[-0.760807,-0.637316,-0.122475],[-0.032234,-0.151378,0.987950]] 2025-10-27T05:22:31.878Z,1761542551.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:31.882Z,1761542551.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 102.395844 m, bearing: 229.075513 deg, approach rate: -0.656848 m/s, LOS rate: 0.032139 deg/s, cmd heading: 231.197669 deg, new cmd heading: 231.230119 deg. 2025-10-27T05:22:31.885Z,1761542551.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.035727 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:31.964Z,1761542551.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533939 2025-10-27T05:22:32.216Z,1761542552.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785544 2025-10-27T05:22:32.245Z,1761542552.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647345,0.756365,0.094116],[-0.761472,-0.636391,-0.123158],[-0.033258,-0.151392,0.987914]] 2025-10-27T05:22:32.284Z,1761542552.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:32.286Z,1761542552.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 102.130302 m, bearing: 229.088379 deg, approach rate: -0.653326 m/s, LOS rate: 0.031737 deg/s, cmd heading: 231.230126 deg, new cmd heading: 231.268824 deg. 2025-10-27T05:22:32.296Z,1761542552.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036402 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:32.468Z,1761542552.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037647 2025-10-27T05:22:32.721Z,1761542552.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290263 2025-10-27T05:22:32.729Z,1761542552.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:32.732Z,1761542552.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:32.736Z,1761542552.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 101.836655 m, bearing: 229.117708 deg, approach rate: -0.655733 m/s, LOS rate: 0.065681 deg/s, cmd heading: 231.268812 deg, new cmd heading: 231.357051 deg. 2025-10-27T05:22:32.737Z,1761542552.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.037942 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:32.973Z,1761542552.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542601 2025-10-27T05:22:33.050Z,1761542553.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644970,0.758555,0.092776],[-0.763360,-0.633773,-0.124953],[-0.035985,-0.151412,0.987815]] 2025-10-27T05:22:33.086Z,1761542553.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:33.089Z,1761542553.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 101.615784 m, bearing: 229.139487 deg, approach rate: -0.623494 m/s, LOS rate: 0.061613 deg/s, cmd heading: 231.357058 deg, new cmd heading: 231.422537 deg. 2025-10-27T05:22:33.090Z,1761542553.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.039085 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:33.224Z,1761542553.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793549 2025-10-27T05:22:33.479Z,1761542553.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048306 2025-10-27T05:22:33.498Z,1761542553.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642716,0.760722,0.090653],[-0.765168,-0.631575,-0.125023],[-0.037854,-0.149719,0.988004]] 2025-10-27T05:22:33.543Z,1761542553.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:33.546Z,1761542553.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 101.322418 m, bearing: 229.182583 deg, approach rate: -0.641620 m/s, LOS rate: 0.094529 deg/s, cmd heading: 231.422546 deg, new cmd heading: 231.552209 deg. 2025-10-27T05:22:33.547Z,1761542553.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.041348 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:33.729Z,1761542553.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297996 2025-10-27T05:22:33.860Z,1761542553.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639953,0.763382,0.087793],[-0.767363,-0.628920,-0.124955],[-0.040173,-0.147334,0.988271]] 2025-10-27T05:22:33.901Z,1761542553.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:33.904Z,1761542553.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 101.100380 m, bearing: 229.214932 deg, approach rate: -0.620515 m/s, LOS rate: 0.090602 deg/s, cmd heading: 231.552210 deg, new cmd heading: 231.649471 deg. 2025-10-27T05:22:33.905Z,1761542553.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.043046 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:33.980Z,1761542553.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549695 2025-10-27T05:22:34.232Z,1761542554.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801497 2025-10-27T05:22:34.261Z,1761542554.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636949,0.766103,0.085919],[-0.769737,-0.625886,-0.125585],[-0.042435,-0.146126,0.988355]] 2025-10-27T05:22:34.287Z,1761542554.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:34.290Z,1761542554.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 100.860535 m, bearing: 229.249498 deg, approach rate: -0.621156 m/s, LOS rate: 0.089731 deg/s, cmd heading: 231.649472 deg, new cmd heading: 231.753415 deg. 2025-10-27T05:22:34.307Z,1761542554.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.044860 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:34.487Z,1761542554.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056716 2025-10-27T05:22:34.673Z,1761542554.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633827,0.768939,0.083649],[-0.772171,-0.622769,-0.126138],[-0.044899,-0.144541,0.988480]] 2025-10-27T05:22:34.729Z,1761542554.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:34.736Z,1761542554.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305833 2025-10-27T05:22:34.738Z,1761542554.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:34.745Z,1761542554.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 100.598091 m, bearing: 229.295347 deg, approach rate: -0.582195 m/s, LOS rate: 0.101976 deg/s, cmd heading: 231.753428 deg, new cmd heading: 231.891335 deg. 2025-10-27T05:22:34.746Z,1761542554.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.047267 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:34.988Z,1761542554.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557533 2025-10-27T05:22:35.103Z,1761542555.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:35.106Z,1761542555.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 100.354927 m, bearing: 229.338053 deg, approach rate: -0.665618 m/s, LOS rate: 0.117181 deg/s, cmd heading: 231.891343 deg, new cmd heading: 232.019769 deg. 2025-10-27T05:22:35.107Z,1761542555.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.049509 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:35.240Z,1761542555.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809448 2025-10-27T05:22:35.495Z,1761542555.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063728 2025-10-27T05:22:35.539Z,1761542555.539 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:22:35.581Z,1761542555.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:35.584Z,1761542555.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 100.074097 m, bearing: 229.389234 deg, approach rate: -0.587788 m/s, LOS rate: 0.107426 deg/s, cmd heading: 232.019778 deg, new cmd heading: 232.173753 deg. 2025-10-27T05:22:35.585Z,1761542555.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.052197 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:35.745Z,1761542555.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314852 2025-10-27T05:22:35.897Z,1761542555.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624704,0.776903,0.078527],[-0.779174,-0.613584,-0.128074],[-0.051318,-0.141195,0.988651]] 2025-10-27T05:22:35.915Z,1761542555.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:35.918Z,1761542555.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 99.877014 m, bearing: 229.423933 deg, approach rate: -0.590478 m/s, LOS rate: 0.104167 deg/s, cmd heading: 232.173757 deg, new cmd heading: 232.278060 deg. 2025-10-27T05:22:35.918Z,1761542555.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.054017 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:35.996Z,1761542555.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565816 2025-10-27T05:22:36.248Z,1761542556.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817491 2025-10-27T05:22:36.294Z,1761542556.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622396,0.778992,0.076117],[-0.780904,-0.611434,-0.127818],[-0.053029,-0.138993,0.988872]] 2025-10-27T05:22:36.335Z,1761542556.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:36.338Z,1761542556.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 99.638893 m, bearing: 229.465652 deg, approach rate: -0.566756 m/s, LOS rate: 0.099533 deg/s, cmd heading: 232.278068 deg, new cmd heading: 232.403523 deg. 2025-10-27T05:22:36.339Z,1761542556.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.056207 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:36.511Z,1761542556.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079772 2025-10-27T05:22:36.545Z,1761542556.545 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:22:36.757Z,1761542556.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619865,0.781228,0.073824],[-0.782805,-0.609069,-0.127484],[-0.054630,-0.136813,0.989089]] 2025-10-27T05:22:36.760Z,1761542556.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329493 2025-10-27T05:22:36.835Z,1761542556.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:36.837Z,1761542556.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:36.861Z,1761542556.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 99.322495 m, bearing: 229.513634 deg, approach rate: -0.630356 m/s, LOS rate: 0.095897 deg/s, cmd heading: 232.403525 deg, new cmd heading: 232.547928 deg. 2025-10-27T05:22:36.868Z,1761542556.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.058727 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:37.012Z,1761542557.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581501 2025-10-27T05:22:37.121Z,1761542557.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617943,0.782963,0.071527],[-0.784219,-0.607320,-0.127137],[-0.056104,-0.134656,0.989303]] 2025-10-27T05:22:37.139Z,1761542557.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:37.142Z,1761542557.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 99.137520 m, bearing: 229.541578 deg, approach rate: -0.612065 m/s, LOS rate: 0.092640 deg/s, cmd heading: 232.547915 deg, new cmd heading: 232.631906 deg. 2025-10-27T05:22:37.143Z,1761542557.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.060193 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:37.265Z,1761542557.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834173 2025-10-27T05:22:37.519Z,1761542557.519 [DAT](INFO): Reached modem response timeout 2025-10-27T05:22:37.520Z,1761542557.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:37.521Z,1761542557.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:37.561Z,1761542557.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616463,0.784200,0.070738],[-0.785280,-0.605766,-0.127998],[-0.057526,-0.134455,0.989248]] 2025-10-27T05:22:37.611Z,1761542557.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:37.613Z,1761542557.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 98.847054 m, bearing: 229.581016 deg, approach rate: -0.615880 m/s, LOS rate: 0.083866 deg/s, cmd heading: 232.631899 deg, new cmd heading: 232.750560 deg. 2025-10-27T05:22:37.614Z,1761542557.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.062263 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:37.768Z,1761542557.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:37.926Z,1761542557.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615040,0.785327,0.070618],[-0.786291,-0.604163,-0.129358],[-0.058923,-0.135087,0.989080]] 2025-10-27T05:22:37.952Z,1761542557.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:37.955Z,1761542557.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 98.637093 m, bearing: 229.609440 deg, approach rate: -0.614940 m/s, LOS rate: 0.083426 deg/s, cmd heading: 232.750553 deg, new cmd heading: 232.836006 deg. 2025-10-27T05:22:37.956Z,1761542557.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.063755 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:38.020Z,1761542558.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:38.272Z,1761542558.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:38.407Z,1761542558.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614605,0.785762,0.069561],[-0.786557,-0.603746,-0.129690],[-0.059908,-0.134422,0.989112]] 2025-10-27T05:22:38.425Z,1761542558.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:38.428Z,1761542558.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 98.344940 m, bearing: 229.649116 deg, approach rate: -0.617075 m/s, LOS rate: 0.084050 deg/s, cmd heading: 232.836013 deg, new cmd heading: 232.955392 deg. 2025-10-27T05:22:38.429Z,1761542558.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.065839 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:38.527Z,1761542558.527 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:38.776Z,1761542558.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:38.809Z,1761542558.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613785,0.786350,0.070160],[-0.787128,-0.602694,-0.131109],[-0.060813,-0.135698,0.988882]] 2025-10-27T05:22:38.861Z,1761542558.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:38.864Z,1761542558.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:38.888Z,1761542558.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 98.070663 m, bearing: 229.678066 deg, approach rate: -0.625610 m/s, LOS rate: 0.066219 deg/s, cmd heading: 232.955404 deg, new cmd heading: 233.042498 deg. 2025-10-27T05:22:38.889Z,1761542558.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.067359 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:39.028Z,1761542559.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:39.280Z,1761542559.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:39.305Z,1761542559.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613037,0.786787,0.071781],[-0.787654,-0.601571,-0.133090],[-0.061532,-0.138127,0.988501]] 2025-10-27T05:22:39.324Z,1761542559.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:39.327Z,1761542559.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 97.772675 m, bearing: 229.709512 deg, approach rate: -0.647582 m/s, LOS rate: 0.068545 deg/s, cmd heading: 233.042503 deg, new cmd heading: 233.137127 deg. 2025-10-27T05:22:39.328Z,1761542559.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.069010 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:39.534Z,1761542559.534 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:22:39.725Z,1761542559.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612457,0.787202,0.072173],[-0.788055,-0.600828,-0.134075],[-0.062181,-0.138992,0.988339]] 2025-10-27T05:22:39.778Z,1761542559.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:39.781Z,1761542559.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 97.481674 m, bearing: 229.730441 deg, approach rate: -0.640517 m/s, LOS rate: 0.046205 deg/s, cmd heading: 233.137115 deg, new cmd heading: 233.200090 deg. 2025-10-27T05:22:39.782Z,1761542559.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070109 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:39.784Z,1761542559.784 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:22:39.784Z,1761542559.784 [DAT](INFO): response not received 2025-10-27T05:22:39.785Z,1761542559.785 [DAT](INFO): DAT read: user:392> 2025-10-27T05:22:39.786Z,1761542559.786 [DAT](INFO): DAT read: Tx time:05:22:38.9743 2025-10-27T05:22:39.786Z,1761542559.786 [DAT](INFO): Ping request sent. 2025-10-27T05:22:39.786Z,1761542559.786 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:39.786Z,1761542559.786 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:39.787Z,1761542559.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-27T05:22:40.036Z,1761542560.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249979 2025-10-27T05:22:40.110Z,1761542560.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611799,0.787720,0.072105],[-0.788498,-0.600050,-0.134946],[-0.063033,-0.139414,0.988226]] 2025-10-27T05:22:40.129Z,1761542560.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:40.133Z,1761542560.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 97.256783 m, bearing: 229.746592 deg, approach rate: -0.640863 m/s, LOS rate: 0.046132 deg/s, cmd heading: 233.200089 deg, new cmd heading: 233.248655 deg. 2025-10-27T05:22:40.134Z,1761542560.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070957 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:40.288Z,1761542560.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501865 2025-10-27T05:22:40.538Z,1761542560.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611359,0.787989,0.072895],[-0.788834,-0.599477,-0.135526],[-0.063094,-0.140357,0.988089]] 2025-10-27T05:22:40.543Z,1761542560.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756333 2025-10-27T05:22:40.601Z,1761542560.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:40.604Z,1761542560.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 96.954651 m, bearing: 229.768301 deg, approach rate: -0.640640 m/s, LOS rate: 0.046174 deg/s, cmd heading: 233.248665 deg, new cmd heading: 233.313993 deg. 2025-10-27T05:22:40.605Z,1761542560.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.072097 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:40.792Z,1761542560.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006051 2025-10-27T05:22:40.985Z,1761542560.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:40.995Z,1761542560.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:40.998Z,1761542560.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 96.714226 m, bearing: 229.782828 deg, approach rate: -0.610498 m/s, LOS rate: 0.036980 deg/s, cmd heading: 233.313989 deg, new cmd heading: 233.357679 deg. 2025-10-27T05:22:40.999Z,1761542560.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.072860 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:41.045Z,1761542561.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258285 2025-10-27T05:22:41.296Z,1761542561.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509969 2025-10-27T05:22:41.331Z,1761542561.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610184,0.788738,0.074620],[-0.789799,-0.598166,-0.135705],[-0.062401,-0.141740,0.987935]] 2025-10-27T05:22:41.387Z,1761542561.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:41.389Z,1761542561.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 96.466759 m, bearing: 229.797622 deg, approach rate: -0.638999 m/s, LOS rate: 0.038299 deg/s, cmd heading: 233.357675 deg, new cmd heading: 233.402172 deg. 2025-10-27T05:22:41.390Z,1761542561.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.073637 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:41.551Z,1761542561.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764386 2025-10-27T05:22:41.768Z,1761542561.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609171,0.789243,0.077502],[-0.790692,-0.596948,-0.135865],[-0.060966,-0.144046,0.987691]] 2025-10-27T05:22:41.800Z,1761542561.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014014 2025-10-27T05:22:41.837Z,1761542561.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:41.839Z,1761542561.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 96.146286 m, bearing: 229.809214 deg, approach rate: -0.705152 m/s, LOS rate: 0.025590 deg/s, cmd heading: 233.402181 deg, new cmd heading: 233.437071 deg. 2025-10-27T05:22:41.840Z,1761542561.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.074245 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:42.052Z,1761542562.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266101 2025-10-27T05:22:42.184Z,1761542562.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:42.186Z,1761542562.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 95.925453 m, bearing: 229.817246 deg, approach rate: -0.659805 m/s, LOS rate: 0.024055 deg/s, cmd heading: 233.437069 deg, new cmd heading: 233.461223 deg. 2025-10-27T05:22:42.187Z,1761542562.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.074667 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:42.304Z,1761542562.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518071 2025-10-27T05:22:42.560Z,1761542562.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772780 2025-10-27T05:22:42.582Z,1761542562.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608442,0.789797,0.077579],[-0.791402,-0.596585,-0.133303],[-0.059000,-0.142504,0.988034]] 2025-10-27T05:22:42.660Z,1761542562.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:42.662Z,1761542562.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 95.590073 m, bearing: 229.828542 deg, approach rate: -0.686459 m/s, LOS rate: 0.023202 deg/s, cmd heading: 233.461221 deg, new cmd heading: 233.495227 deg. 2025-10-27T05:22:42.664Z,1761542562.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075261 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:42.808Z,1761542562.808 [DAT](INFO): DAT read: Rx Time:05:22:41.5097 2025-10-27T05:22:42.808Z,1761542562.809 [DAT](INFO): Rx dataTimestamp_ set to:1761542562.808212 2025-10-27T05:22:42.809Z,1761542562.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023104 2025-10-27T05:22:42.981Z,1761542562.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:42.984Z,1761542562.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 95.369087 m, bearing: 229.836029 deg, approach rate: -0.687944 m/s, LOS rate: 0.023360 deg/s, cmd heading: 233.495235 deg, new cmd heading: 233.517747 deg. 2025-10-27T05:22:42.985Z,1761542562.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.075654 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:43.060Z,1761542563.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274101 2025-10-27T05:22:43.312Z,1761542563.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525908 2025-10-27T05:22:43.426Z,1761542563.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:43.429Z,1761542563.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.34 m. 2025-10-27T05:22:43.431Z,1761542563.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.338417 m, nav range: 95.061440 m, bearing: 229.846510 deg, approach rate: -0.687313 m/s, LOS rate: 0.023491 deg/s, cmd heading: 233.517747 deg, new cmd heading: 233.549292 deg. 2025-10-27T05:22:43.432Z,1761542563.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076204 target range: 108.338417 and range: 108.90 m. 2025-10-27T05:22:43.573Z,1761542563.573 [DAT](INFO): DAT read: 05:22:41.5097 LVL= 31728, 32753, 32562, 32755, AGC= 70, IDX= 269,-0.29, 1.226,-0.487, 1.593, 1.141, PHS= 0.187,-1.583, 0.408, RAW= 155.8, 10.5, CAL= 155.7, 11.4, ROT= 354.3, -11.4 2025-10-27T05:22:43.578Z,1761542563.578 [DAT](INFO): got valid direction response: 05:22:41.5097 LVL= 31728, 32753, 32562, 32755, AGC= 70, IDX= 269,-0.29, 1.226,-0.487, 1.593, 1.141, PHS= 0.187,-1.583, 0.408, RAW= 155.8, 10.5, CAL= 155.7, 11.4, ROT= 354.3, -11.4 2025-10-27T05:22:43.581Z,1761542563.581 [DAT](INFO): DAT read: Bearing 24.7, -10.7 (Local) 2025-10-27T05:22:43.582Z,1761542563.582 [DAT](INFO): Local bearing/azimuth received: Bearing 24.7, -10.7 (Local) 2025-10-27T05:22:43.592Z,1761542563.592 [DAT](INFO): DAT read: Range 11 to 50 : 98.4 m (Round-trip 131.3 ms) speed 0.7 m/s 2025-10-27T05:22:43.594Z,1761542563.594 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:43.598Z,1761542563.598 [DAT](INFO): direction in FSK: [0.975424,-0.097360,0.197657] 2025-10-27T05:22:43.599Z,1761542563.599 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:43.631Z,1761542563.631 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:43.638Z,1761542563.638 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:43.640Z,1761542563.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:43.765Z,1761542563.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607430,0.790597,0.077366],[-0.792429,-0.596253,-0.128607],[-0.055547,-0.139427,0.988673]] 2025-10-27T05:22:43.816Z,1761542563.816 [DAT](INFO): DAT read: user:393> 2025-10-27T05:22:43.817Z,1761542563.817 [DAT](INFO): DAT read: Tx time:05:22:42.9243 2025-10-27T05:22:43.817Z,1761542563.817 [DAT](INFO): Ping request sent. 2025-10-27T05:22:43.817Z,1761542563.817 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:43.817Z,1761542563.817 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:43.818Z,1761542563.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-27T05:22:43.914Z,1761542563.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 98.400002 m, deltaT: 16.388126 s, deltaX: -10.500000 m, approachRate: -0.640708 m/s, rangeRepo size: 4 2025-10-27T05:22:43.920Z,1761542563.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.894035 m, bearing: 228.534728 deg, lat: 36.779386 deg, lon: -121.859689 deg, deltaT: 16.388126 s, deltaX: -10.444382 m, approachRate: -0.637314 m/s, posRepo size: 4 2025-10-27T05:22:43.921Z,1761542563.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.89 m. 2025-10-27T05:22:43.928Z,1761542563.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.894035 m, nav range: 94.797447 m, bearing: 229.863538 deg, approach rate: 0.000000 m/s, LOS rate: 0.023491 deg/s, cmd heading: 233.549303 deg, new cmd heading: 233.583438 deg. 2025-10-27T05:22:43.928Z,1761542563.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076800 target range: 97.894035 and range: 98.40 m. 2025-10-27T05:22:44.068Z,1761542564.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250676 2025-10-27T05:22:44.320Z,1761542564.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502695 2025-10-27T05:22:44.386Z,1761542564.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607476,0.790725,0.075678],[-0.792438,-0.596681,-0.126545],[-0.054907,-0.136843,0.989070]] 2025-10-27T05:22:44.478Z,1761542564.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.89 m. 2025-10-27T05:22:44.481Z,1761542564.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.894035 m, nav range: 94.383583 m, bearing: 229.875796 deg, approach rate: -0.732172 m/s, LOS rate: 0.021781 deg/s, cmd heading: 233.583426 deg, new cmd heading: 233.620361 deg. 2025-10-27T05:22:44.482Z,1761542564.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077445 target range: 97.894035 and range: 98.40 m. 2025-10-27T05:22:44.578Z,1761542564.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757068 2025-10-27T05:22:44.825Z,1761542564.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007931 2025-10-27T05:22:44.903Z,1761542564.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607690,0.790517,0.076126],[-0.792320,-0.596933,-0.126093],[-0.054237,-0.136942,0.989093]] 2025-10-27T05:22:44.989Z,1761542564.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.89 m. 2025-10-27T05:22:44.995Z,1761542564.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.894035 m, nav range: 94.031105 m, bearing: 229.883817 deg, approach rate: -0.690685 m/s, LOS rate: 0.015777 deg/s, cmd heading: 233.620364 deg, new cmd heading: 233.644519 deg. 2025-10-27T05:22:44.996Z,1761542564.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077866 target range: 97.894035 and range: 98.40 m. 2025-10-27T05:22:45.076Z,1761542565.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258708 2025-10-27T05:22:45.329Z,1761542565.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511930 2025-10-27T05:22:45.459Z,1761542565.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608089,0.790081,0.077464],[-0.792215,-0.597632,-0.123414],[-0.051212,-0.136414,0.989327]] 2025-10-27T05:22:45.498Z,1761542565.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:45.521Z,1761542565.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.89 m. 2025-10-27T05:22:45.528Z,1761542565.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.894035 m, nav range: 93.663147 m, bearing: 229.892344 deg, approach rate: -0.691521 m/s, LOS rate: 0.016088 deg/s, cmd heading: 233.644516 deg, new cmd heading: 233.670197 deg. 2025-10-27T05:22:45.528Z,1761542565.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.078314 target range: 97.894035 and range: 98.40 m. 2025-10-27T05:22:45.581Z,1761542565.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763738 2025-10-27T05:22:45.832Z,1761542565.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014827 2025-10-27T05:22:45.881Z,1761542565.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608243,0.789837,0.078727],[-0.792212,-0.597897,-0.122142],[-0.049402,-0.136661,0.989385]] 2025-10-27T05:22:45.942Z,1761542565.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.89 m. 2025-10-27T05:22:45.946Z,1761542565.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.894035 m, nav range: 93.354057 m, bearing: 229.906594 deg, approach rate: -0.733286 m/s, LOS rate: 0.033918 deg/s, cmd heading: 233.670197 deg, new cmd heading: 233.713087 deg. 2025-10-27T05:22:45.947Z,1761542565.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079063 target range: 97.894035 and range: 98.40 m. 2025-10-27T05:22:46.084Z,1761542566.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267167 2025-10-27T05:22:46.306Z,1761542566.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608194,0.789672,0.080733],[-0.792361,-0.597857,-0.121369],[-0.047575,-0.137785,0.989319]] 2025-10-27T05:22:46.336Z,1761542566.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518798 2025-10-27T05:22:46.346Z,1761542566.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.89 m. 2025-10-27T05:22:46.359Z,1761542566.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.894035 m, nav range: 93.082451 m, bearing: 229.919165 deg, approach rate: -0.673716 m/s, LOS rate: 0.031273 deg/s, cmd heading: 233.713091 deg, new cmd heading: 233.750913 deg. 2025-10-27T05:22:46.360Z,1761542566.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079723 target range: 97.894035 and range: 98.40 m. 2025-10-27T05:22:46.590Z,1761542566.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772343 2025-10-27T05:22:46.686Z,1761542566.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607968,0.789708,0.082073],[-0.792624,-0.597694,-0.120455],[-0.046070,-0.138286,0.989320]] 2025-10-27T05:22:46.776Z,1761542566.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.89 m. 2025-10-27T05:22:46.779Z,1761542566.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.894035 m, nav range: 92.792892 m, bearing: 229.936343 deg, approach rate: -0.671846 m/s, LOS rate: 0.039982 deg/s, cmd heading: 233.750903 deg, new cmd heading: 233.802599 deg. 2025-10-27T05:22:46.780Z,1761542566.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.080625 target range: 97.894035 and range: 98.40 m. 2025-10-27T05:22:46.840Z,1761542566.840 [DAT](INFO): DAT read: Rx Time:05:22:45.4558 2025-10-27T05:22:46.841Z,1761542566.841 [DAT](INFO): Rx dataTimestamp_ set to:1761542566.840402 2025-10-27T05:22:46.841Z,1761542566.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024071 2025-10-27T05:22:47.089Z,1761542567.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607505,0.789916,0.083491],[-0.793077,-0.597329,-0.119277],[-0.044347,-0.138676,0.989344]] 2025-10-27T05:22:47.092Z,1761542567.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274780 2025-10-27T05:22:47.110Z,1761542567.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.89 m. 2025-10-27T05:22:47.112Z,1761542567.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.894035 m, nav range: 92.548660 m, bearing: 229.950815 deg, approach rate: -0.732620 m/s, LOS rate: 0.043525 deg/s, cmd heading: 233.802594 deg, new cmd heading: 233.846123 deg. 2025-10-27T05:22:47.113Z,1761542567.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081385 target range: 97.894035 and range: 98.40 m. 2025-10-27T05:22:47.362Z,1761542567.362 [DAT](INFO): DAT read: 05:22:45.4558 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 406,-0.44, 2.691, 1.016, 3.076, 2.653, PHS= 0.140,-1.593, 0.378, RAW= 156.4, 11.5, CAL= 156.5, 12.8, ROT= 353.5, -12.8 2025-10-27T05:22:47.365Z,1761542567.365 [DAT](INFO): got valid direction response: 05:22:45.4558 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 406,-0.44, 2.691, 1.016, 3.076, 2.653, PHS= 0.140,-1.593, 0.378, RAW= 156.4, 11.5, CAL= 156.5, 12.8, ROT= 353.5, -12.8 2025-10-27T05:22:47.366Z,1761542567.366 [DAT](INFO): DAT read: Bearing 26.1, -11.1 (Local) 2025-10-27T05:22:47.366Z,1761542567.366 [DAT](INFO): Local bearing/azimuth received: Bearing 26.1, -11.1 (Local) 2025-10-27T05:22:47.372Z,1761542567.372 [DAT](INFO): DAT read: Range 11 to 50 : 95.5 m (Round-trip 127.4 ms) speed 0.7 m/s 2025-10-27T05:22:47.373Z,1761542567.373 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:47.375Z,1761542567.375 [DAT](INFO): direction in FSK: [0.968881,-0.110390,0.221548] 2025-10-27T05:22:47.376Z,1761542567.376 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:47.381Z,1761542567.381 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:47.382Z,1761542567.382 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:47.382Z,1761542567.382 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:47.507Z,1761542567.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606914,0.790270,0.084435],[-0.793624,-0.596914,-0.117705],[-0.042618,-0.138447,0.989452]] 2025-10-27T05:22:47.551Z,1761542567.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.500000 m, deltaT: 3.780981 s, deltaX: -2.900002 m, approachRate: -0.766997 m/s, rangeRepo size: 4 2025-10-27T05:22:47.553Z,1761542567.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.014259 m, bearing: 227.997199 deg, lat: 36.779374 deg, lon: -121.859689 deg, deltaT: 3.780981 s, deltaX: -2.879776 m, approachRate: -0.761648 m/s, posRepo size: 4 2025-10-27T05:22:47.554Z,1761542567.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:47.557Z,1761542567.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 93.107208 m, bearing: 229.321017 deg, approach rate: 0.000000 m/s, LOS rate: 0.043525 deg/s, cmd heading: 233.846116 deg, new cmd heading: 233.903673 deg. 2025-10-27T05:22:47.558Z,1761542567.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082389 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:47.598Z,1761542567.598 [DAT](INFO): DAT read: user:394> 2025-10-27T05:22:47.599Z,1761542567.599 [DAT](INFO): DAT read: Tx time:05:22:46.6743 2025-10-27T05:22:47.599Z,1761542567.599 [DAT](INFO): Ping request sent. 2025-10-27T05:22:47.599Z,1761542567.599 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:47.600Z,1761542567.600 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:47.600Z,1761542567.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-27T05:22:47.854Z,1761542567.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254475 2025-10-27T05:22:47.898Z,1761542567.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606206,0.790722,0.085282],[-0.794261,-0.596421,-0.115893],[-0.040775,-0.137992,0.989594]] 2025-10-27T05:22:47.948Z,1761542567.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:47.950Z,1761542567.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:47.953Z,1761542567.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 92.828224 m, bearing: 229.342759 deg, approach rate: -0.698464 m/s, LOS rate: 0.054595 deg/s, cmd heading: 233.903680 deg, new cmd heading: 233.969100 deg. 2025-10-27T05:22:47.954Z,1761542567.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083531 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:48.104Z,1761542568.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504652 2025-10-27T05:22:48.303Z,1761542568.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605436,0.791225,0.086083],[-0.794933,-0.595846,-0.114229],[-0.039088,-0.137589,0.989718]] 2025-10-27T05:22:48.321Z,1761542568.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:48.324Z,1761542568.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 92.578690 m, bearing: 229.362165 deg, approach rate: -0.671731 m/s, LOS rate: 0.052383 deg/s, cmd heading: 233.969086 deg, new cmd heading: 234.027464 deg. 2025-10-27T05:22:48.325Z,1761542568.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084550 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:48.357Z,1761542568.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757793 2025-10-27T05:22:48.609Z,1761542568.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009218 2025-10-27T05:22:48.717Z,1761542568.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604268,0.792109,0.086160],[-0.795885,-0.594922,-0.112399],[-0.037774,-0.136493,0.989921]] 2025-10-27T05:22:48.793Z,1761542568.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:48.800Z,1761542568.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 92.288994 m, bearing: 229.392925 deg, approach rate: -0.613905 m/s, LOS rate: 0.065389 deg/s, cmd heading: 234.027471 deg, new cmd heading: 234.120040 deg. 2025-10-27T05:22:48.801Z,1761542568.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086165 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:48.861Z,1761542568.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261056 2025-10-27T05:22:49.112Z,1761542569.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512377 2025-10-27T05:22:49.144Z,1761542569.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603132,0.792947,0.086416],[-0.796815,-0.594030,-0.110517],[-0.036300,-0.135514,0.990110]] 2025-10-27T05:22:49.164Z,1761542569.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:49.167Z,1761542569.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 92.051971 m, bearing: 229.418035 deg, approach rate: -0.638511 m/s, LOS rate: 0.067816 deg/s, cmd heading: 234.120033 deg, new cmd heading: 234.195555 deg. 2025-10-27T05:22:49.168Z,1761542569.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087483 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:49.365Z,1761542569.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764742 2025-10-27T05:22:49.546Z,1761542569.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601505,0.794049,0.087623],[-0.798108,-0.592522,-0.109273],[-0.034849,-0.135661,0.990142]] 2025-10-27T05:22:49.572Z,1761542569.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:49.575Z,1761542569.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 91.797333 m, bearing: 229.444818 deg, approach rate: -0.624784 m/s, LOS rate: 0.065899 deg/s, cmd heading: 234.195548 deg, new cmd heading: 234.276122 deg. 2025-10-27T05:22:49.576Z,1761542569.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088890 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:49.616Z,1761542569.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016823 2025-10-27T05:22:49.869Z,1761542569.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269531 2025-10-27T05:22:49.950Z,1761542569.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600251,0.794932,0.088212],[-0.799119,-0.591482,-0.107506],[-0.033284,-0.135022,0.990283]] 2025-10-27T05:22:50.001Z,1761542570.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:50.003Z,1761542570.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:50.006Z,1761542570.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 91.528641 m, bearing: 229.477849 deg, approach rate: -0.623271 m/s, LOS rate: 0.076844 deg/s, cmd heading: 234.276117 deg, new cmd heading: 234.375500 deg. 2025-10-27T05:22:50.007Z,1761542570.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090624 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:50.120Z,1761542570.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520268 2025-10-27T05:22:50.372Z,1761542570.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772877 2025-10-27T05:22:50.374Z,1761542570.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598753,0.795844,0.090148],[-0.800302,-0.590012,-0.106781],[-0.031792,-0.136081,0.990187]] 2025-10-27T05:22:50.393Z,1761542570.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:50.396Z,1761542570.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 91.285408 m, bearing: 229.507603 deg, approach rate: -0.623281 m/s, LOS rate: 0.076449 deg/s, cmd heading: 234.375510 deg, new cmd heading: 234.465011 deg. 2025-10-27T05:22:50.397Z,1761542570.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092186 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:50.624Z,1761542570.624 [DAT](INFO): DAT read: Rx Time:05:22:49.2023 2025-10-27T05:22:50.624Z,1761542570.624 [DAT](INFO): Rx dataTimestamp_ set to:1761542570.624183 2025-10-27T05:22:50.625Z,1761542570.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025479 2025-10-27T05:22:50.757Z,1761542570.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597080,0.797038,0.090694],[-0.801605,-0.588536,-0.105141],[-0.030425,-0.135478,0.990313]] 2025-10-27T05:22:50.815Z,1761542570.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.01 m. 2025-10-27T05:22:50.818Z,1761542570.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.014259 m, nav range: 91.030098 m, bearing: 229.542833 deg, approach rate: -0.606004 m/s, LOS rate: 0.083854 deg/s, cmd heading: 234.465013 deg, new cmd heading: 234.570996 deg. 2025-10-27T05:22:50.818Z,1761542570.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094036 target range: 95.014259 and range: 95.50 m. 2025-10-27T05:22:50.877Z,1761542570.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277061 2025-10-27T05:22:51.134Z,1761542571.134 [DAT](INFO): DAT read: 05:22:49.2023 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402,-0.29, 2.605, 0.937, 2.983, 2.540, PHS= 0.167,-1.558, 0.398, RAW= 156.2, 10.7, CAL= 156.2, 11.8, ROT= 353.8, -11.8 2025-10-27T05:22:51.135Z,1761542571.135 [DAT](INFO): got valid direction response: 05:22:49.2023 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402,-0.29, 2.605, 0.937, 2.983, 2.540, PHS= 0.167,-1.558, 0.398, RAW= 156.2, 10.7, CAL= 156.2, 11.8, ROT= 353.8, -11.8 2025-10-27T05:22:51.136Z,1761542571.136 [DAT](INFO): DAT read: Bearing 26.0, -9.7 (Local) 2025-10-27T05:22:51.136Z,1761542571.136 [DAT](INFO): Local bearing/azimuth received: Bearing 26.0, -9.7 (Local) 2025-10-27T05:22:51.137Z,1761542571.137 [DAT](INFO): DAT read: Range 11 to 50 : 92.9 m (Round-trip 123.9 ms) speed 0.8 m/s 2025-10-27T05:22:51.138Z,1761542571.138 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:51.139Z,1761542571.139 [DAT](INFO): direction in FSK: [0.973142,-0.105717,0.204496] 2025-10-27T05:22:51.139Z,1761542571.139 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:51.143Z,1761542571.143 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:51.143Z,1761542571.143 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:51.143Z,1761542571.143 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:51.162Z,1761542571.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595118,0.798221,0.093151],[-0.803117,-0.586549,-0.104707],[-0.028941,-0.137124,0.990131]] 2025-10-27T05:22:51.235Z,1761542571.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.900002 m, deltaT: 3.782895 s, deltaX: -2.599998 m, approachRate: -0.687304 m/s, rangeRepo size: 4 2025-10-27T05:22:51.237Z,1761542571.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.429565 m, bearing: 228.983577 deg, lat: 36.779368 deg, lon: -121.859682 deg, deltaT: 3.782895 s, deltaX: -2.584694 m, approachRate: -0.683258 m/s, posRepo size: 4 2025-10-27T05:22:51.238Z,1761542571.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:51.245Z,1761542571.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 90.786476 m, bearing: 228.994448 deg, approach rate: 0.000000 m/s, LOS rate: 0.083854 deg/s, cmd heading: 234.570990 deg, new cmd heading: 234.674564 deg. 2025-10-27T05:22:51.246Z,1761542571.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095844 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:51.380Z,1761542571.380 [DAT](INFO): DAT read: user:395> 2025-10-27T05:22:51.381Z,1761542571.381 [DAT](INFO): DAT read: Tx time:05:22:50.4243 2025-10-27T05:22:51.381Z,1761542571.381 [DAT](INFO): Ping request sent. 2025-10-27T05:22:51.381Z,1761542571.381 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:51.381Z,1761542571.381 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:51.382Z,1761542571.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-27T05:22:51.566Z,1761542571.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593324,0.799346,0.094930],[-0.804494,-0.584814,-0.103835],[-0.027484,-0.137978,0.990054]] 2025-10-27T05:22:51.632Z,1761542571.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250681 2025-10-27T05:22:51.638Z,1761542571.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:51.641Z,1761542571.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 90.526360 m, bearing: 229.028153 deg, approach rate: -0.631897 m/s, LOS rate: 0.082114 deg/s, cmd heading: 234.674563 deg, new cmd heading: 234.775968 deg. 2025-10-27T05:22:51.642Z,1761542571.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.097614 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:51.884Z,1761542571.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502611 2025-10-27T05:22:52.046Z,1761542572.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:52.049Z,1761542572.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:52.052Z,1761542572.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 90.272690 m, bearing: 229.058449 deg, approach rate: -0.617809 m/s, LOS rate: 0.073993 deg/s, cmd heading: 234.775977 deg, new cmd heading: 234.867121 deg. 2025-10-27T05:22:52.053Z,1761542572.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099205 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:52.137Z,1761542572.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755620 2025-10-27T05:22:52.388Z,1761542572.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006832 2025-10-27T05:22:52.420Z,1761542572.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:52.423Z,1761542572.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 90.043983 m, bearing: 229.085913 deg, approach rate: -0.615103 m/s, LOS rate: 0.074053 deg/s, cmd heading: 234.867120 deg, new cmd heading: 234.949722 deg. 2025-10-27T05:22:52.424Z,1761542572.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.100646 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:52.640Z,1761542572.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258654 2025-10-27T05:22:52.787Z,1761542572.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588553,0.802256,0.099950],[-0.808121,-0.580224,-0.101390],[-0.023348,-0.140445,0.989813]] 2025-10-27T05:22:52.824Z,1761542572.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:52.844Z,1761542572.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 89.795563 m, bearing: 229.111774 deg, approach rate: -0.615136 m/s, LOS rate: 0.064214 deg/s, cmd heading: 234.949710 deg, new cmd heading: 235.027509 deg. 2025-10-27T05:22:52.845Z,1761542572.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.102004 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:52.892Z,1761542572.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510774 2025-10-27T05:22:53.144Z,1761542573.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762650 2025-10-27T05:22:53.182Z,1761542573.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587225,0.803081,0.101130],[-0.809123,-0.579005,-0.100361],[-0.022043,-0.140761,0.989798]] 2025-10-27T05:22:53.218Z,1761542573.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:53.221Z,1761542573.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 89.553307 m, bearing: 229.136868 deg, approach rate: -0.614810 m/s, LOS rate: 0.063856 deg/s, cmd heading: 235.027520 deg, new cmd heading: 235.103004 deg. 2025-10-27T05:22:53.222Z,1761542573.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.103322 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:53.396Z,1761542573.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014718 2025-10-27T05:22:53.586Z,1761542573.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586121,0.803833,0.101559],[-0.809953,-0.578066,-0.099074],[-0.020931,-0.140328,0.989884]] 2025-10-27T05:22:53.610Z,1761542573.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:53.613Z,1761542573.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 89.311974 m, bearing: 229.161790 deg, approach rate: -0.616407 m/s, LOS rate: 0.063827 deg/s, cmd heading: 235.103007 deg, new cmd heading: 235.177975 deg. 2025-10-27T05:22:53.614Z,1761542573.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104630 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:53.649Z,1761542573.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267916 2025-10-27T05:22:53.900Z,1761542573.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518561 2025-10-27T05:22:53.990Z,1761542573.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585244,0.804377,0.102314],[-0.810617,-0.577321,-0.097980],[-0.019744,-0.140280,0.989915]] 2025-10-27T05:22:54.046Z,1761542574.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:54.057Z,1761542574.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 89.049271 m, bearing: 229.180941 deg, approach rate: -0.602217 m/s, LOS rate: 0.044032 deg/s, cmd heading: 235.177975 deg, new cmd heading: 235.235598 deg. 2025-10-27T05:22:54.058Z,1761542574.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105636 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:54.153Z,1761542574.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771963 2025-10-27T05:22:54.394Z,1761542574.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584756,0.804677,0.102740],[-0.810999,-0.577011,-0.096641],[-0.018482,-0.139833,0.990003]] 2025-10-27T05:22:54.404Z,1761542574.404 [DAT](INFO): DAT read: Rx Time:05:22:52.9495 2025-10-27T05:22:54.405Z,1761542574.405 [DAT](INFO): Rx dataTimestamp_ set to:1761542574.404278 2025-10-27T05:22:54.405Z,1761542574.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023848 2025-10-27T05:22:54.455Z,1761542574.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:54.457Z,1761542574.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.43 m. 2025-10-27T05:22:54.464Z,1761542574.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.429565 m, nav range: 88.786972 m, bearing: 229.200075 deg, approach rate: -0.638319 m/s, LOS rate: 0.046702 deg/s, cmd heading: 235.235595 deg, new cmd heading: 235.293167 deg. 2025-10-27T05:22:54.465Z,1761542574.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106640 target range: 92.429565 and range: 92.90 m. 2025-10-27T05:22:54.656Z,1761542574.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274529 2025-10-27T05:22:54.868Z,1761542574.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584343,0.804920,0.103187],[-0.811327,-0.576791,-0.095192],[-0.017105,-0.139343,0.990096]] 2025-10-27T05:22:54.913Z,1761542574.913 [DAT](INFO): DAT read: 05:22:52.9495 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 421,-0.16, 2.371, 0.777, 2.675, 2.369, PHS= 0.105,-1.547, 0.262, RAW= 154.5, 13.5, CAL= 154.8, 15.2, ROT= 355.2, -15.2 2025-10-27T05:22:54.914Z,1761542574.914 [DAT](INFO): got valid direction response: 05:22:52.9495 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 421,-0.16, 2.371, 0.777, 2.675, 2.369, PHS= 0.105,-1.547, 0.262, RAW= 154.5, 13.5, CAL= 154.8, 15.2, ROT= 355.2, -15.2 2025-10-27T05:22:54.915Z,1761542574.915 [DAT](INFO): DAT read: Bearing 29.7, -7.8 (Local) 2025-10-27T05:22:54.915Z,1761542574.915 [DAT](INFO): Local bearing/azimuth received: Bearing 29.7, -7.8 (Local) 2025-10-27T05:22:54.917Z,1761542574.917 [DAT](INFO): DAT read: Range 11 to 50 : 90.8 m (Round-trip 121.1 ms) speed 0.5 m/s 2025-10-27T05:22:54.917Z,1761542574.917 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:54.918Z,1761542574.918 [DAT](INFO): direction in FSK: [0.961632,-0.080751,0.262189] 2025-10-27T05:22:54.919Z,1761542574.919 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:54.922Z,1761542574.922 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:54.922Z,1761542574.922 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:54.922Z,1761542574.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:54.946Z,1761542574.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.800003 m, deltaT: 3.779909 s, deltaX: -2.099998 m, approachRate: -0.555569 m/s, rangeRepo size: 4 2025-10-27T05:22:54.952Z,1761542574.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.340446 m, bearing: 231.663934 deg, lat: 36.779368 deg, lon: -121.859689 deg, deltaT: 3.779909 s, deltaX: -2.089119 m, approachRate: -0.552690 m/s, posRepo size: 4 2025-10-27T05:22:54.953Z,1761542574.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:54.968Z,1761542574.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 88.977493 m, bearing: 229.482536 deg, approach rate: 0.000000 m/s, LOS rate: 0.046702 deg/s, cmd heading: 235.293159 deg, new cmd heading: 235.361537 deg. 2025-10-27T05:22:54.969Z,1761542574.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107834 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:55.160Z,1761542575.160 [DAT](INFO): DAT read: user:396> 2025-10-27T05:22:55.161Z,1761542575.161 [DAT](INFO): DAT read: Tx time:05:22:54.2242 2025-10-27T05:22:55.161Z,1761542575.161 [DAT](INFO): Ping request sent. 2025-10-27T05:22:55.161Z,1761542575.161 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:55.161Z,1761542575.161 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:55.162Z,1761542575.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T05:22:55.272Z,1761542575.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583821,0.805220,0.103797],[-0.811729,-0.576439,-0.093886],[-0.015766,-0.139068,0.990157]] 2025-10-27T05:22:55.329Z,1761542575.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:55.337Z,1761542575.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 88.707909 m, bearing: 229.496944 deg, approach rate: -0.702395 m/s, LOS rate: 0.037652 deg/s, cmd heading: 235.361543 deg, new cmd heading: 235.404897 deg. 2025-10-27T05:22:55.344Z,1761542575.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.108591 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:55.413Z,1761542575.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251506 2025-10-27T05:22:55.654Z,1761542575.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583256,0.805395,0.105597],[-0.812159,-0.575898,-0.093485],[-0.014480,-0.140287,0.990005]] 2025-10-27T05:22:55.664Z,1761542575.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503185 2025-10-27T05:22:55.676Z,1761542575.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:55.679Z,1761542575.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 88.483459 m, bearing: 229.508897 deg, approach rate: -0.646781 m/s, LOS rate: 0.034534 deg/s, cmd heading: 235.404901 deg, new cmd heading: 235.440853 deg. 2025-10-27T05:22:55.680Z,1761542575.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109218 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:55.917Z,1761542575.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755389 2025-10-27T05:22:56.062Z,1761542576.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583163,0.805364,0.106348],[-0.812248,-0.575936,-0.092474],[-0.013226,-0.140308,0.990020]] 2025-10-27T05:22:56.100Z,1761542576.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:56.102Z,1761542576.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 88.203293 m, bearing: 229.519453 deg, approach rate: -0.660814 m/s, LOS rate: 0.024976 deg/s, cmd heading: 235.440855 deg, new cmd heading: 235.472623 deg. 2025-10-27T05:22:56.104Z,1761542576.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109773 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:56.169Z,1761542576.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007952 2025-10-27T05:22:56.420Z,1761542576.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258633 2025-10-27T05:22:56.464Z,1761542576.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582603,0.805660,0.107170],[-0.812669,-0.575515,-0.091390],[-0.011952,-0.140338,0.990032]] 2025-10-27T05:22:56.486Z,1761542576.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:56.488Z,1761542576.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:56.491Z,1761542576.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 87.947372 m, bearing: 229.529037 deg, approach rate: -0.659101 m/s, LOS rate: 0.024754 deg/s, cmd heading: 235.472629 deg, new cmd heading: 235.501465 deg. 2025-10-27T05:22:56.492Z,1761542576.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110276 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:56.672Z,1761542576.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510735 2025-10-27T05:22:56.881Z,1761542576.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581998,0.805872,0.108850],[-0.813119,-0.574939,-0.091013],[-0.010763,-0.141477,0.989883]] 2025-10-27T05:22:56.924Z,1761542576.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762726 2025-10-27T05:22:56.971Z,1761542576.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:56.974Z,1761542576.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 87.624306 m, bearing: 229.534246 deg, approach rate: -0.674744 m/s, LOS rate: 0.010919 deg/s, cmd heading: 235.501453 deg, new cmd heading: 235.517138 deg. 2025-10-27T05:22:56.975Z,1761542576.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110549 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:57.176Z,1761542577.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014729 2025-10-27T05:22:57.273Z,1761542577.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581461,0.806147,0.109679],[-0.813516,-0.574500,-0.090232],[-0.009730,-0.141692,0.989863]] 2025-10-27T05:22:57.292Z,1761542577.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:57.295Z,1761542577.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 87.378387 m, bearing: 229.538129 deg, approach rate: -0.755788 m/s, LOS rate: 0.011967 deg/s, cmd heading: 235.517135 deg, new cmd heading: 235.528816 deg. 2025-10-27T05:22:57.296Z,1761542577.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110754 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:57.428Z,1761542577.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266714 2025-10-27T05:22:57.674Z,1761542577.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581300,0.806215,0.110038],[-0.813641,-0.574455,-0.089382],[-0.008849,-0.141489,0.989900]] 2025-10-27T05:22:57.680Z,1761542577.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518773 2025-10-27T05:22:57.695Z,1761542577.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:57.698Z,1761542577.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 87.093674 m, bearing: 229.542614 deg, approach rate: -0.707028 m/s, LOS rate: 0.011174 deg/s, cmd heading: 235.528828 deg, new cmd heading: 235.542327 deg. 2025-10-27T05:22:57.712Z,1761542577.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110989 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:57.932Z,1761542577.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770674 2025-10-27T05:22:58.129Z,1761542578.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:58.132Z,1761542578.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 86.784981 m, bearing: 229.546506 deg, approach rate: -0.711758 m/s, LOS rate: 0.009005 deg/s, cmd heading: 235.542325 deg, new cmd heading: 235.554042 deg. 2025-10-27T05:22:58.133Z,1761542578.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111194 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:58.185Z,1761542578.185 [DAT](INFO): DAT read: Rx Time:05:22:56.7462 2025-10-27T05:22:58.186Z,1761542578.186 [DAT](INFO): Rx dataTimestamp_ set to:1761542578.185107 2025-10-27T05:22:58.186Z,1761542578.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024861 2025-10-27T05:22:58.436Z,1761542578.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274707 2025-10-27T05:22:58.482Z,1761542578.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580832,0.806216,0.112473],[-0.813996,-0.574096,-0.088459],[-0.006747,-0.142932,0.989709]] 2025-10-27T05:22:58.511Z,1761542578.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:22:58.513Z,1761542578.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.34 m. 2025-10-27T05:22:58.516Z,1761542578.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.340446 m, nav range: 86.511604 m, bearing: 229.549864 deg, approach rate: -0.711336 m/s, LOS rate: 0.008766 deg/s, cmd heading: 235.554045 deg, new cmd heading: 235.564152 deg. 2025-10-27T05:22:58.517Z,1761542578.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111370 target range: 90.340446 and range: 90.80 m. 2025-10-27T05:22:58.693Z,1761542578.693 [DAT](INFO): DAT read: 05:22:56.7462 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404,-0.07, 0.919,-0.699, 1.301, 0.908, PHS= 0.113,-1.562, 0.349, RAW= 156.5, 12.2, CAL= 156.7, 13.6, ROT= 353.3, -13.6 2025-10-27T05:22:58.694Z,1761542578.694 [DAT](INFO): got valid direction response: 05:22:56.7462 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404,-0.07, 0.919,-0.699, 1.301, 0.908, PHS= 0.113,-1.562, 0.349, RAW= 156.5, 12.2, CAL= 156.7, 13.6, ROT= 353.3, -13.6 2025-10-27T05:22:58.696Z,1761542578.696 [DAT](INFO): DAT read: Bearing 28.3, -8.8 (Local) 2025-10-27T05:22:58.696Z,1761542578.696 [DAT](INFO): Local bearing/azimuth received: Bearing 28.3, -8.8 (Local) 2025-10-27T05:22:58.698Z,1761542578.698 [DAT](INFO): DAT read: Range 11 to 50 : 88.4 m (Round-trip 117.9 ms) speed 0.8 m/s 2025-10-27T05:22:58.699Z,1761542578.699 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:22:58.701Z,1761542578.701 [DAT](INFO): direction in FSK: [0.965323,-0.113400,0.235142] 2025-10-27T05:22:58.701Z,1761542578.701 [DAT](INFO): publishing direction and range info 2025-10-27T05:22:58.707Z,1761542578.707 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:22:58.708Z,1761542578.708 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:22:58.708Z,1761542578.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:22:58.886Z,1761542578.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580943,0.806104,0.112703],[-0.813919,-0.574237,-0.088250],[-0.006421,-0.142999,0.989702]] 2025-10-27T05:22:58.940Z,1761542578.940 [DAT](INFO): DAT read: user:397> 2025-10-27T05:22:58.941Z,1761542578.941 [DAT](INFO): DAT read: Tx time:05:22:58.0242 2025-10-27T05:22:58.941Z,1761542578.941 [DAT](INFO): Ping request sent. 2025-10-27T05:22:58.941Z,1761542578.941 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:22:58.941Z,1761542578.941 [DAT](INFO): publishing transmit ping time 2025-10-27T05:22:58.942Z,1761542578.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-27T05:22:59.051Z,1761542579.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.400002 m, deltaT: 3.780075 s, deltaX: -2.400002 m, approachRate: -0.634908 m/s, rangeRepo size: 4 2025-10-27T05:22:59.053Z,1761542579.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.952446 m, bearing: 229.834395 deg, lat: 36.779368 deg, lon: -121.859686 deg, deltaT: 3.780075 s, deltaX: -2.388000 m, approachRate: -0.631734 m/s, posRepo size: 4 2025-10-27T05:22:59.054Z,1761542579.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:22:59.057Z,1761542579.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 85.868279 m, bearing: 229.404834 deg, approach rate: 0.000000 m/s, LOS rate: 0.008766 deg/s, cmd heading: 235.564154 deg, new cmd heading: 235.578280 deg. 2025-10-27T05:22:59.058Z,1761542579.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111617 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:22:59.192Z,1761542579.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250825 2025-10-27T05:22:59.432Z,1761542579.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:22:59.435Z,1761542579.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 85.588379 m, bearing: 229.404722 deg, approach rate: -0.733161 m/s, LOS rate: -0.000294 deg/s, cmd heading: 235.578279 deg, new cmd heading: 235.577942 deg. 2025-10-27T05:22:59.436Z,1761542579.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111611 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:22:59.452Z,1761542579.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510722 2025-10-27T05:22:59.707Z,1761542579.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.765335 2025-10-27T05:22:59.774Z,1761542579.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581838,0.805218,0.114400],[-0.813294,-0.575346,-0.086772],[-0.004051,-0.143528,0.989638]] 2025-10-27T05:22:59.887Z,1761542579.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:22:59.893Z,1761542579.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 85.303024 m, bearing: 229.404815 deg, approach rate: -0.627709 m/s, LOS rate: 0.000205 deg/s, cmd heading: 235.577951 deg, new cmd heading: 235.578231 deg. 2025-10-27T05:22:59.894Z,1761542579.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111616 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:22:59.956Z,1761542579.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015197 2025-10-27T05:23:00.178Z,1761542580.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582843,0.804221,0.116285],[-0.812580,-0.576364,-0.086705],[-0.002707,-0.145027,0.989424]] 2025-10-27T05:23:00.208Z,1761542580.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267068 2025-10-27T05:23:00.241Z,1761542580.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:23:00.244Z,1761542580.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 84.999832 m, bearing: 229.405774 deg, approach rate: -0.854317 m/s, LOS rate: 0.002713 deg/s, cmd heading: 235.578224 deg, new cmd heading: 235.581112 deg. 2025-10-27T05:23:00.245Z,1761542580.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111666 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:23:00.461Z,1761542580.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519352 2025-10-27T05:23:00.589Z,1761542580.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583472,0.803662,0.116999],[-0.812132,-0.577083,-0.086122],[-0.001695,-0.145268,0.989391]] 2025-10-27T05:23:00.606Z,1761542580.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:00.608Z,1761542580.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:23:00.611Z,1761542580.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 84.734009 m, bearing: 229.406759 deg, approach rate: -0.725324 m/s, LOS rate: 0.002695 deg/s, cmd heading: 235.581120 deg, new cmd heading: 235.584084 deg. 2025-10-27T05:23:00.612Z,1761542580.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.111718 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:23:00.713Z,1761542580.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771482 2025-10-27T05:23:00.974Z,1761542580.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025091 2025-10-27T05:23:00.991Z,1761542580.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584152,0.803093,0.117506],[-0.811644,-0.577861,-0.085505],[-0.000767,-0.145321,0.989384]] 2025-10-27T05:23:01.043Z,1761542581.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:23:01.046Z,1761542581.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 84.437782 m, bearing: 229.413291 deg, approach rate: -0.706844 m/s, LOS rate: 0.015642 deg/s, cmd heading: 235.584071 deg, new cmd heading: 235.603737 deg. 2025-10-27T05:23:01.051Z,1761542581.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112061 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:23:01.216Z,1761542581.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274871 2025-10-27T05:23:01.388Z,1761542581.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584788,0.802569,0.117922],[-0.811186,-0.578580,-0.084983],[0.000022,-0.145354,0.989380]] 2025-10-27T05:23:01.408Z,1761542581.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:23:01.410Z,1761542581.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 84.169388 m, bearing: 229.419393 deg, approach rate: -0.705356 m/s, LOS rate: 0.016088 deg/s, cmd heading: 235.603742 deg, new cmd heading: 235.622107 deg. 2025-10-27T05:23:01.427Z,1761542581.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112381 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:23:01.468Z,1761542581.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526946 2025-10-27T05:23:01.721Z,1761542581.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779482 2025-10-27T05:23:01.789Z,1761542581.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585427,0.802087,0.118034],[-0.810725,-0.579299,-0.084485],[0.000613,-0.145153,0.989409]] 2025-10-27T05:23:01.821Z,1761542581.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:23:01.831Z,1761542581.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 83.876984 m, bearing: 229.426246 deg, approach rate: -0.706787 m/s, LOS rate: 0.016621 deg/s, cmd heading: 235.622101 deg, new cmd heading: 235.642730 deg. 2025-10-27T05:23:01.833Z,1761542581.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112741 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:23:01.974Z,1761542581.974 [DAT](INFO): DAT read: Rx Time:05:23:00.5421 2025-10-27T05:23:01.974Z,1761542581.974 [DAT](INFO): Rx dataTimestamp_ set to:1761542581.973913 2025-10-27T05:23:01.975Z,1761542581.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033610 2025-10-27T05:23:02.195Z,1761542582.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585462,0.802143,0.117476],[-0.810699,-0.579443,-0.083740],[0.000900,-0.144264,0.989539]] 2025-10-27T05:23:02.224Z,1761542582.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282868 2025-10-27T05:23:02.255Z,1761542582.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.95 m. 2025-10-27T05:23:02.258Z,1761542582.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.952446 m, nav range: 83.592728 m, bearing: 229.431611 deg, approach rate: -0.661445 m/s, LOS rate: 0.012528 deg/s, cmd heading: 235.642728 deg, new cmd heading: 235.658880 deg. 2025-10-27T05:23:02.263Z,1761542582.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113023 target range: 87.952446 and range: 88.40 m. 2025-10-27T05:23:02.484Z,1761542582.484 [DAT](INFO): DAT read: 05:23:00.5421 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 394,-0.02, 2.611, 1.033, 2.967, 2.616, PHS= 0.097,-1.538, 0.306, RAW= 155.9, 12.9, CAL= 156.3, 14.5, ROT= 353.7, -14.5 2025-10-27T05:23:02.485Z,1761542582.485 [DAT](INFO): got valid direction response: 05:23:00.5421 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 394,-0.02, 2.611, 1.033, 2.967, 2.616, PHS= 0.097,-1.538, 0.306, RAW= 155.9, 12.9, CAL= 156.3, 14.5, ROT= 353.7, -14.5 2025-10-27T05:23:02.486Z,1761542582.486 [DAT](INFO): DAT read: Bearing 29.8, -8.4 (Local) 2025-10-27T05:23:02.486Z,1761542582.486 [DAT](INFO): Local bearing/azimuth received: Bearing 29.8, -8.4 (Local) 2025-10-27T05:23:02.517Z,1761542582.517 [DAT](INFO): DAT read: Range 11 to 50 : 85.3 m (Round-trip 113.8 ms) speed 0.6 m/s 2025-10-27T05:23:02.518Z,1761542582.518 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:02.519Z,1761542582.519 [DAT](INFO): direction in FSK: [0.962301,-0.106239,0.250380] 2025-10-27T05:23:02.519Z,1761542582.519 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:02.522Z,1761542582.522 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:02.523Z,1761542582.523 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:02.565Z,1761542582.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:02.663Z,1761542582.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.300003 m, deltaT: 3.788468 s, deltaX: -3.099998 m, approachRate: -0.818272 m/s, rangeRepo size: 4 2025-10-27T05:23:02.665Z,1761542582.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.867210 m, bearing: 230.061681 deg, lat: 36.779376 deg, lon: -121.859682 deg, deltaT: 3.788468 s, deltaX: -3.085236 m, approachRate: -0.814376 m/s, posRepo size: 4 2025-10-27T05:23:02.666Z,1761542582.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:02.673Z,1761542582.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 82.517540 m, bearing: 229.734664 deg, approach rate: 0.000000 m/s, LOS rate: 0.012528 deg/s, cmd heading: 235.658875 deg, new cmd heading: 235.674180 deg. 2025-10-27T05:23:02.673Z,1761542582.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113290 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:02.729Z,1761542582.729 [DAT](INFO): DAT read: user:398> 2025-10-27T05:23:02.730Z,1761542582.730 [DAT](INFO): DAT read: Tx time:05:23:01.8742 2025-10-27T05:23:02.730Z,1761542582.730 [DAT](INFO): Ping request sent. 2025-10-27T05:23:02.731Z,1761542582.731 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:02.731Z,1761542582.731 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:02.732Z,1761542582.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001581 2025-10-27T05:23:02.980Z,1761542582.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249484 2025-10-27T05:23:03.002Z,1761542583.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585709,0.802007,0.117173],[-0.810520,-0.579843,-0.082701],[0.001615,-0.143409,0.989662]] 2025-10-27T05:23:03.048Z,1761542583.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:03.050Z,1761542583.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:03.053Z,1761542583.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 82.247826 m, bearing: 229.752635 deg, approach rate: -0.688294 m/s, LOS rate: 0.046011 deg/s, cmd heading: 235.674175 deg, new cmd heading: 235.728265 deg. 2025-10-27T05:23:03.054Z,1761542583.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114234 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:03.232Z,1761542583.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501472 2025-10-27T05:23:03.413Z,1761542583.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585110,0.802566,0.116339],[-0.810952,-0.579380,-0.081704],[0.001831,-0.142151,0.989843]] 2025-10-27T05:23:03.431Z,1761542583.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:03.434Z,1761542583.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 81.998444 m, bearing: 229.769248 deg, approach rate: -0.653920 m/s, LOS rate: 0.043694 deg/s, cmd heading: 235.728270 deg, new cmd heading: 235.778260 deg. 2025-10-27T05:23:03.435Z,1761542583.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115107 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:03.485Z,1761542583.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754373 2025-10-27T05:23:03.736Z,1761542583.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005599 2025-10-27T05:23:03.811Z,1761542583.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584397,0.803190,0.115606],[-0.811464,-0.578829,-0.080515],[0.002247,-0.140863,0.990027]] 2025-10-27T05:23:03.865Z,1761542583.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:03.873Z,1761542583.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 81.736855 m, bearing: 229.786645 deg, approach rate: -0.604020 m/s, LOS rate: 0.040298 deg/s, cmd heading: 235.778267 deg, new cmd heading: 235.830623 deg. 2025-10-27T05:23:03.893Z,1761542583.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.116021 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:03.989Z,1761542583.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258300 2025-10-27T05:23:04.238Z,1761542584.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583368,0.804037,0.114917],[-0.812204,-0.577928,-0.079518],[0.002479,-0.139724,0.990187]] 2025-10-27T05:23:04.240Z,1761542584.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509635 2025-10-27T05:23:04.277Z,1761542584.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:04.280Z,1761542584.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 81.454285 m, bearing: 229.819575 deg, approach rate: -0.685676 m/s, LOS rate: 0.080185 deg/s, cmd heading: 235.830613 deg, new cmd heading: 235.929746 deg. 2025-10-27T05:23:04.280Z,1761542584.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117751 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:04.492Z,1761542584.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761415 2025-10-27T05:23:04.638Z,1761542584.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581587,0.805259,0.115388],[-0.813481,-0.576100,-0.079734],[0.002268,-0.140238,0.990115]] 2025-10-27T05:23:04.668Z,1761542584.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:04.671Z,1761542584.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 81.204987 m, bearing: 229.848413 deg, approach rate: -0.636424 m/s, LOS rate: 0.073846 deg/s, cmd heading: 235.929733 deg, new cmd heading: 236.016514 deg. 2025-10-27T05:23:04.672Z,1761542584.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119265 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:04.745Z,1761542584.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014240 2025-10-27T05:23:04.996Z,1761542584.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265527 2025-10-27T05:23:05.042Z,1761542585.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579806,0.806546,0.115362],[-0.814752,-0.574350,-0.079381],[0.002234,-0.140017,0.990147]] 2025-10-27T05:23:05.094Z,1761542585.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:05.100Z,1761542585.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:05.109Z,1761542585.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 80.957214 m, bearing: 229.884285 deg, approach rate: -0.574001 m/s, LOS rate: 0.083356 deg/s, cmd heading: 236.016504 deg, new cmd heading: 236.124447 deg. 2025-10-27T05:23:05.110Z,1761542585.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.121149 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:05.251Z,1761542585.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520330 2025-10-27T05:23:05.446Z,1761542585.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577680,0.808056,0.115462],[-0.816261,-0.572215,-0.079295],[0.001994,-0.140054,0.990142]] 2025-10-27T05:23:05.478Z,1761542585.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:05.481Z,1761542585.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 80.716858 m, bearing: 229.918832 deg, approach rate: -0.636370 m/s, LOS rate: 0.091740 deg/s, cmd heading: 236.124448 deg, new cmd heading: 236.228398 deg. 2025-10-27T05:23:05.481Z,1761542585.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122963 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:05.504Z,1761542585.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773553 2025-10-27T05:23:05.756Z,1761542585.756 [DAT](INFO): DAT read: Rx Time:05:23:04.3887 2025-10-27T05:23:05.756Z,1761542585.756 [DAT](INFO): Rx dataTimestamp_ set to:1761542585.756180 2025-10-27T05:23:05.757Z,1761542585.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026600 2025-10-27T05:23:05.857Z,1761542585.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575503,0.809634,0.115277],[-0.817798,-0.570049,-0.079064],[0.001700,-0.139775,0.990182]] 2025-10-27T05:23:05.880Z,1761542585.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.87 m. 2025-10-27T05:23:05.882Z,1761542585.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.867210 m, nav range: 80.474358 m, bearing: 229.953426 deg, approach rate: -0.603275 m/s, LOS rate: 0.086320 deg/s, cmd heading: 236.228404 deg, new cmd heading: 236.332499 deg. 2025-10-27T05:23:05.905Z,1761542585.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124780 target range: 84.867210 and range: 85.30 m. 2025-10-27T05:23:06.009Z,1761542586.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278275 2025-10-27T05:23:06.266Z,1761542586.266 [DAT](INFO): DAT read: 05:23:04.3887 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.15,-2.598, 2.100,-2.212,-2.656, PHS= 0.160,-1.483, 0.400, RAW= 156.7, 10.4, CAL= 156.7, 11.4, ROT= 353.3, -11.4 2025-10-27T05:23:06.267Z,1761542586.267 [DAT](INFO): got valid direction response: 05:23:04.3887 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 407, 0.15,-2.598, 2.100,-2.212,-2.656, PHS= 0.160,-1.483, 0.400, RAW= 156.7, 10.4, CAL= 156.7, 11.4, ROT= 353.3, -11.4 2025-10-27T05:23:06.268Z,1761542586.268 [DAT](INFO): DAT read: Bearing 27.7, -8.1 (Local) 2025-10-27T05:23:06.268Z,1761542586.268 [DAT](INFO): Local bearing/azimuth received: Bearing 27.7, -8.1 (Local) 2025-10-27T05:23:06.270Z,1761542586.270 [DAT](INFO): DAT read: Range 11 to 50 : 82.8 m (Round-trip 110.4 ms) speed 0.4 m/s 2025-10-27T05:23:06.270Z,1761542586.270 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:06.271Z,1761542586.271 [DAT](INFO): direction in FSK: [0.973577,-0.114369,0.197657] 2025-10-27T05:23:06.272Z,1761542586.272 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:06.275Z,1761542586.275 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:06.275Z,1761542586.275 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:06.276Z,1761542586.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:06.374Z,1761542586.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572720,0.811567,0.115543],[-0.819750,-0.567188,-0.079420],[0.001080,-0.140202,0.990122]] 2025-10-27T05:23:06.479Z,1761542586.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.784100 s, deltaX: -2.500000 m, approachRate: -0.660659 m/s, rangeRepo size: 4 2025-10-27T05:23:06.481Z,1761542586.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.378906 m, bearing: 230.038178 deg, lat: 36.779376 deg, lon: -121.859685 deg, deltaT: 3.784100 s, deltaX: -2.488304 m, approachRate: -0.657568 m/s, posRepo size: 4 2025-10-27T05:23:06.482Z,1761542586.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:06.489Z,1761542586.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 80.362663 m, bearing: 230.148964 deg, approach rate: 0.000000 m/s, LOS rate: 0.086320 deg/s, cmd heading: 236.332496 deg, new cmd heading: 236.486431 deg. 2025-10-27T05:23:06.492Z,1761542586.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127467 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:06.512Z,1761542586.512 [DAT](INFO): DAT read: user:399> 2025-10-27T05:23:06.513Z,1761542586.513 [DAT](INFO): DAT read: Tx time:05:23:05.5742 2025-10-27T05:23:06.513Z,1761542586.513 [DAT](INFO): Ping request sent. 2025-10-27T05:23:06.513Z,1761542586.513 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:06.513Z,1761542586.513 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:06.514Z,1761542586.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-27T05:23:06.664Z,1761542586.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:23:06.764Z,1761542586.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250635 2025-10-27T05:23:06.850Z,1761542586.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569824,0.813564,0.115819],[-0.821766,-0.564214,-0.079765],[0.000453,-0.140628,0.990062]] 2025-10-27T05:23:06.877Z,1761542586.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:06.880Z,1761542586.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 80.119904 m, bearing: 230.193921 deg, approach rate: -0.602850 m/s, LOS rate: 0.111981 deg/s, cmd heading: 236.486421 deg, new cmd heading: 236.621701 deg. 2025-10-27T05:23:06.881Z,1761542586.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129828 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:07.016Z,1761542587.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503009 2025-10-27T05:23:07.244Z,1761542587.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566342,0.816150,0.114700],[-0.824170,-0.560789,-0.079118],[-0.000249,-0.139340,0.990245]] 2025-10-27T05:23:07.268Z,1761542587.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754814 2025-10-27T05:23:07.282Z,1761542587.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:07.284Z,1761542587.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:07.287Z,1761542587.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 79.879395 m, bearing: 230.236637 deg, approach rate: -0.590344 m/s, LOS rate: 0.105165 deg/s, cmd heading: 236.621713 deg, new cmd heading: 236.750248 deg. 2025-10-27T05:23:07.288Z,1761542587.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.132071 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:07.520Z,1761542587.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634 2025-10-27T05:23:07.651Z,1761542587.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563106,0.818423,0.114438],[-0.826384,-0.557564,-0.078814],[-0.000697,-0.138950,0.990299]] 2025-10-27T05:23:07.667Z,1761542587.667 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:23:07.671Z,1761542587.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:07.674Z,1761542587.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 79.650475 m, bearing: 230.276862 deg, approach rate: -0.592095 m/s, LOS rate: 0.104340 deg/s, cmd heading: 236.750257 deg, new cmd heading: 236.871279 deg. 2025-10-27T05:23:07.691Z,1761542587.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134184 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:07.776Z,1761542587.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262745 2025-10-27T05:23:08.024Z,1761542588.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510737 2025-10-27T05:23:08.053Z,1761542588.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559982,0.820761,0.113011],[-0.828504,-0.554547,-0.077834],[-0.001214,-0.137216,0.990540]] 2025-10-27T05:23:08.105Z,1761542588.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:08.108Z,1761542588.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 79.393951 m, bearing: 230.317706 deg, approach rate: -0.590900 m/s, LOS rate: 0.094387 deg/s, cmd heading: 236.871288 deg, new cmd heading: 236.994215 deg. 2025-10-27T05:23:08.109Z,1761542588.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136329 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:08.276Z,1761542588.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762669 2025-10-27T05:23:08.465Z,1761542588.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557464,0.822535,0.112556],[-0.830199,-0.552048,-0.077539],[-0.001642,-0.136669,0.990615]] 2025-10-27T05:23:08.483Z,1761542588.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:08.486Z,1761542588.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 79.171089 m, bearing: 230.352902 deg, approach rate: -0.589238 m/s, LOS rate: 0.093320 deg/s, cmd heading: 236.994204 deg, new cmd heading: 237.100091 deg. 2025-10-27T05:23:08.487Z,1761542588.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138177 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:08.528Z,1761542588.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015222 2025-10-27T05:23:08.780Z,1761542588.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266838 2025-10-27T05:23:08.895Z,1761542588.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:08.898Z,1761542588.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 78.928513 m, bearing: 230.391442 deg, approach rate: -0.588801 m/s, LOS rate: 0.093835 deg/s, cmd heading: 237.100100 deg, new cmd heading: 237.216075 deg. 2025-10-27T05:23:08.923Z,1761542588.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140202 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:09.033Z,1761542589.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519307 2025-10-27T05:23:09.284Z,1761542589.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770656 2025-10-27T05:23:09.294Z,1761542589.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552812,0.825881,0.110991],[-0.833302,-0.547472,-0.076699],[-0.002580,-0.134889,0.990857]] 2025-10-27T05:23:09.381Z,1761542589.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:09.388Z,1761542589.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:09.397Z,1761542589.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 78.621101 m, bearing: 230.424433 deg, approach rate: -0.630348 m/s, LOS rate: 0.067912 deg/s, cmd heading: 237.216076 deg, new cmd heading: 237.315435 deg. 2025-10-27T05:23:09.399Z,1761542589.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.141936 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:09.536Z,1761542589.536 [DAT](INFO): DAT read: Rx Time:05:23:08.0860 2025-10-27T05:23:09.537Z,1761542589.537 [DAT](INFO): Rx dataTimestamp_ set to:1761542589.536256 2025-10-27T05:23:09.537Z,1761542589.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023908 2025-10-27T05:23:09.706Z,1761542589.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551144,0.826986,0.111059],[-0.834405,-0.545769,-0.076845],[-0.002937,-0.135020,0.990838]] 2025-10-27T05:23:09.746Z,1761542589.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.38 m. 2025-10-27T05:23:09.749Z,1761542589.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.378906 m, nav range: 78.374298 m, bearing: 230.450740 deg, approach rate: -0.680546 m/s, LOS rate: 0.072767 deg/s, cmd heading: 237.315442 deg, new cmd heading: 237.394610 deg. 2025-10-27T05:23:09.749Z,1761542589.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143318 target range: 82.378906 and range: 82.80 m. 2025-10-27T05:23:09.788Z,1761542589.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274700 2025-10-27T05:23:10.045Z,1761542590.045 [DAT](INFO): DAT read: 05:23:08.0860 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.48,-0.656,-2.222,-0.271,-0.660, PHS= 0.106,-1.517, 0.345, RAW= 156.8, 12.1, CAL= 157.0, 13.6, ROT= 353.0, -13.6 2025-10-27T05:23:10.047Z,1761542590.047 [DAT](INFO): got valid direction response: 05:23:08.0860 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.48,-0.656,-2.222,-0.271,-0.660, PHS= 0.106,-1.517, 0.345, RAW= 156.8, 12.1, CAL= 157.0, 13.6, ROT= 353.0, -13.6 2025-10-27T05:23:10.048Z,1761542590.048 [DAT](INFO): DAT read: Bearing 31.1, -8.7 (Local) 2025-10-27T05:23:10.048Z,1761542590.048 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, -8.7 (Local) 2025-10-27T05:23:10.049Z,1761542590.049 [DAT](INFO): DAT read: Range 11 to 50 : 80.7 m (Round-trip 107.7 ms) speed 0.5 m/s 2025-10-27T05:23:10.050Z,1761542590.050 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:10.061Z,1761542590.061 [DAT](INFO): direction in FSK: [0.964716,-0.118452,0.235142] 2025-10-27T05:23:10.061Z,1761542590.061 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:10.082Z,1761542590.082 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:10.082Z,1761542590.082 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:10.082Z,1761542590.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:10.116Z,1761542590.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550328,0.827638,0.110246],[-0.834943,-0.545019,-0.076315],[-0.003075,-0.134048,0.990970]] 2025-10-27T05:23:10.233Z,1761542590.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.779742 s, deltaX: -2.100006 m, approachRate: -0.555595 m/s, rangeRepo size: 4 2025-10-27T05:23:10.239Z,1761542590.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.291367 m, bearing: 231.528205 deg, lat: 36.779383 deg, lon: -121.859686 deg, deltaT: 3.779742 s, deltaX: -2.087540 m, approachRate: -0.552297 m/s, posRepo size: 4 2025-10-27T05:23:10.240Z,1761542590.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:10.242Z,1761542590.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 77.581352 m, bearing: 230.932353 deg, approach rate: 0.000000 m/s, LOS rate: 0.072767 deg/s, cmd heading: 237.394617 deg, new cmd heading: 237.500855 deg. 2025-10-27T05:23:10.247Z,1761542590.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145172 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:10.292Z,1761542590.292 [DAT](INFO): DAT read: user:400> 2025-10-27T05:23:10.293Z,1761542590.293 [DAT](INFO): DAT read: Tx time:05:23:09.3742 2025-10-27T05:23:10.293Z,1761542590.293 [DAT](INFO): Ping request sent. 2025-10-27T05:23:10.293Z,1761542590.293 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:10.293Z,1761542590.293 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:10.294Z,1761542590.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-27T05:23:10.544Z,1761542590.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250682 2025-10-27T05:23:10.643Z,1761542590.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:10.646Z,1761542590.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 77.288574 m, bearing: 230.951424 deg, approach rate: -0.712489 m/s, LOS rate: 0.046585 deg/s, cmd heading: 237.500868 deg, new cmd heading: 237.558297 deg. 2025-10-27T05:23:10.647Z,1761542590.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146174 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:10.796Z,1761542590.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502685 2025-10-27T05:23:11.048Z,1761542591.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754760 2025-10-27T05:23:11.093Z,1761542591.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:11.096Z,1761542591.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 76.965919 m, bearing: 230.955816 deg, approach rate: -0.716611 m/s, LOS rate: 0.009795 deg/s, cmd heading: 237.558296 deg, new cmd heading: 237.571526 deg. 2025-10-27T05:23:11.097Z,1761542591.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146405 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:11.302Z,1761542591.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008628 2025-10-27T05:23:11.552Z,1761542591.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258766 2025-10-27T05:23:11.594Z,1761542591.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550167,0.828165,0.107044],[-0.835047,-0.545078,-0.074743],[-0.003552,-0.130508,0.991441]] 2025-10-27T05:23:11.611Z,1761542591.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:11.613Z,1761542591.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:11.616Z,1761542591.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 76.593681 m, bearing: 230.960875 deg, approach rate: -0.716283 m/s, LOS rate: 0.009783 deg/s, cmd heading: 237.571519 deg, new cmd heading: 237.586771 deg. 2025-10-27T05:23:11.617Z,1761542591.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146671 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:11.804Z,1761542591.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-27T05:23:12.012Z,1761542592.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551382,0.827387,0.106811],[-0.834247,-0.546336,-0.074496],[-0.003282,-0.130182,0.991485]] 2025-10-27T05:23:12.057Z,1761542592.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763732 2025-10-27T05:23:12.095Z,1761542592.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:12.098Z,1761542592.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 76.241936 m, bearing: 230.956366 deg, approach rate: -0.729764 m/s, LOS rate: -0.009398 deg/s, cmd heading: 237.586764 deg, new cmd heading: 237.573175 deg. 2025-10-27T05:23:12.099Z,1761542592.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146434 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:12.310Z,1761542592.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016817 2025-10-27T05:23:12.511Z,1761542592.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552844,0.826285,0.107781],[-0.833280,-0.547744,-0.074976],[-0.002915,-0.131261,0.991344]] 2025-10-27T05:23:12.529Z,1761542592.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:12.533Z,1761542592.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 75.925072 m, bearing: 230.952685 deg, approach rate: -0.729436 m/s, LOS rate: -0.008509 deg/s, cmd heading: 237.573186 deg, new cmd heading: 237.562097 deg. 2025-10-27T05:23:12.534Z,1761542592.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146241 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:12.560Z,1761542592.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902 2025-10-27T05:23:12.813Z,1761542592.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520011 2025-10-27T05:23:12.910Z,1761542592.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554403,0.824999,0.109604],[-0.832246,-0.549245,-0.075481],[-0.002072,-0.133064,0.991105]] 2025-10-27T05:23:12.929Z,1761542592.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:12.960Z,1761542592.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 75.633690 m, bearing: 230.949682 deg, approach rate: -0.729191 m/s, LOS rate: -0.007544 deg/s, cmd heading: 237.562094 deg, new cmd heading: 237.553049 deg. 2025-10-27T05:23:12.961Z,1761542592.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146083 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:13.064Z,1761542593.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770781 2025-10-27T05:23:13.317Z,1761542593.317 [DAT](INFO): DAT read: Rx Time:05:23:11.8826 2025-10-27T05:23:13.318Z,1761542593.318 [DAT](INFO): Rx dataTimestamp_ set to:1761542593.317083 2025-10-27T05:23:13.319Z,1761542593.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025368 2025-10-27T05:23:13.365Z,1761542593.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556246,0.823490,0.111602],[-0.831017,-0.551062,-0.075772],[-0.000898,-0.134891,0.990860]] 2025-10-27T05:23:13.479Z,1761542593.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:13.482Z,1761542593.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 75.226715 m, bearing: 230.942100 deg, approach rate: -0.740416 m/s, LOS rate: -0.013869 deg/s, cmd heading: 237.553050 deg, new cmd heading: 237.530181 deg. 2025-10-27T05:23:13.482Z,1761542593.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145684 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:13.569Z,1761542593.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275665 2025-10-27T05:23:13.773Z,1761542593.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557901,0.822108,0.113507],[-0.829907,-0.552724,-0.075831],[0.000397,-0.136506,0.990639]] 2025-10-27T05:23:13.813Z,1761542593.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:13.817Z,1761542593.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.29 m. 2025-10-27T05:23:13.831Z,1761542593.831 [DAT](INFO): DAT read: 05:23:11.8826 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408,-0.16, 1.039,-0.518, 1.437, 1.035, PHS= 0.106,-1.509, 0.358, RAW= 157.1, 11.9, CAL= 157.3, 13.3, ROT= 352.7, -13.3 2025-10-27T05:23:13.834Z,1761542593.834 [DAT](INFO): got valid direction response: 05:23:11.8826 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 408,-0.16, 1.039,-0.518, 1.437, 1.035, PHS= 0.106,-1.509, 0.358, RAW= 157.1, 11.9, CAL= 157.3, 13.3, ROT= 352.7, -13.3 2025-10-27T05:23:13.847Z,1761542593.847 [DAT](INFO): DAT read: Bearing 30.7, -9.3 (Local) 2025-10-27T05:23:13.848Z,1761542593.848 [DAT](INFO): Local bearing/azimuth received: Bearing 30.7, -9.3 (Local) 2025-10-27T05:23:13.849Z,1761542593.849 [DAT](INFO): DAT read: Range 11 to 50 : 78.1 m (Round-trip 104.2 ms) speed 0.8 m/s 2025-10-27T05:23:13.850Z,1761542593.850 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:13.851Z,1761542593.851 [DAT](INFO): direction in FSK: [0.965291,-0.123656,0.230050] 2025-10-27T05:23:13.851Z,1761542593.851 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:13.854Z,1761542593.854 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:13.854Z,1761542593.854 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:13.860Z,1761542593.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.291367 m, nav range: 74.981789 m, bearing: 230.937863 deg, approach rate: -0.726530 m/s, LOS rate: -0.012610 deg/s, cmd heading: 237.530183 deg, new cmd heading: 237.517430 deg. 2025-10-27T05:23:13.861Z,1761542593.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145461 target range: 80.291367 and range: 80.70 m. 2025-10-27T05:23:13.867Z,1761542593.867 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:14.078Z,1761542594.078 [DAT](INFO): DAT read: user:401> 2025-10-27T05:23:14.081Z,1761542594.081 [DAT](INFO): DAT read: Tx time:05:23:13.1742 2025-10-27T05:23:14.082Z,1761542594.082 [DAT](INFO): Ping request sent. 2025-10-27T05:23:14.083Z,1761542594.083 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:14.084Z,1761542594.084 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:14.086Z,1761542594.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003263 2025-10-27T05:23:14.245Z,1761542594.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.099998 m, deltaT: 3.780855 s, deltaX: -2.599998 m, approachRate: -0.687675 m/s, rangeRepo size: 4 2025-10-27T05:23:14.248Z,1761542594.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.701057 m, bearing: 230.697567 deg, lat: 36.779377 deg, lon: -121.859686 deg, deltaT: 3.780855 s, deltaX: -2.590309 m, approachRate: -0.685112 m/s, posRepo size: 4 2025-10-27T05:23:14.249Z,1761542594.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:14.252Z,1761542594.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 75.083221 m, bearing: 230.543549 deg, approach rate: 0.000000 m/s, LOS rate: -0.012610 deg/s, cmd heading: 237.517424 deg, new cmd heading: 237.501196 deg. 2025-10-27T05:23:14.253Z,1761542594.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145178 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:14.329Z,1761542594.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246217 2025-10-27T05:23:14.574Z,1761542594.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559936,0.820090,0.118002],[-0.828533,-0.554624,-0.076980],[0.002316,-0.140872,0.990025]] 2025-10-27T05:23:14.583Z,1761542594.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500777 2025-10-27T05:23:14.636Z,1761542594.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:14.639Z,1761542594.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 74.811371 m, bearing: 230.540622 deg, approach rate: -0.694804 m/s, LOS rate: -0.007507 deg/s, cmd heading: 237.501196 deg, new cmd heading: 237.492384 deg. 2025-10-27T05:23:14.640Z,1761542594.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145024 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:14.833Z,1761542594.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751145 2025-10-27T05:23:15.001Z,1761542595.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560326,0.819608,0.119489],[-0.828261,-0.555202,-0.075725],[0.004276,-0.141399,0.989944]] 2025-10-27T05:23:15.087Z,1761542595.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003798 2025-10-27T05:23:15.105Z,1761542595.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:15.112Z,1761542595.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 74.451530 m, bearing: 230.536843 deg, approach rate: -0.767756 m/s, LOS rate: -0.008102 deg/s, cmd heading: 237.492371 deg, new cmd heading: 237.480979 deg. 2025-10-27T05:23:15.113Z,1761542595.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.144825 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:15.338Z,1761542595.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255431 2025-10-27T05:23:15.429Z,1761542595.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559797,0.819955,0.119587],[-0.828616,-0.554751,-0.075146],[0.004725,-0.141158,0.989976]] 2025-10-27T05:23:15.480Z,1761542595.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:15.483Z,1761542595.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 74.183456 m, bearing: 230.546321 deg, approach rate: -0.713504 m/s, LOS rate: 0.025319 deg/s, cmd heading: 237.480978 deg, new cmd heading: 237.509517 deg. 2025-10-27T05:23:15.484Z,1761542595.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145323 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:15.588Z,1761542595.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506086 2025-10-27T05:23:15.840Z,1761542595.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757677 2025-10-27T05:23:15.845Z,1761542595.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559174,0.820331,0.119923],[-0.829034,-0.554201,-0.074594],[0.005270,-0.141131,0.989977]] 2025-10-27T05:23:15.863Z,1761542595.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:15.865Z,1761542595.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:15.868Z,1761542595.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 73.914841 m, bearing: 230.555733 deg, approach rate: -0.698452 m/s, LOS rate: 0.024562 deg/s, cmd heading: 237.509528 deg, new cmd heading: 237.537867 deg. 2025-10-27T05:23:15.869Z,1761542595.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145818 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:16.095Z,1761542596.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011943 2025-10-27T05:23:16.236Z,1761542596.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557816,0.821272,0.119807],[-0.829943,-0.553018,-0.073257],[0.006091,-0.140297,0.990091]] 2025-10-27T05:23:16.329Z,1761542596.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:16.337Z,1761542596.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 73.629745 m, bearing: 230.575454 deg, approach rate: -0.640748 m/s, LOS rate: 0.044493 deg/s, cmd heading: 237.537860 deg, new cmd heading: 237.597250 deg. 2025-10-27T05:23:16.338Z,1761542596.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146854 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:16.344Z,1761542596.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261725 2025-10-27T05:23:16.600Z,1761542596.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517350 2025-10-27T05:23:16.658Z,1761542596.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556291,0.822178,0.120676],[-0.830961,-0.551538,-0.072870],[0.006645,-0.140814,0.990014]] 2025-10-27T05:23:16.744Z,1761542596.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:16.746Z,1761542596.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 73.324364 m, bearing: 230.596299 deg, approach rate: -0.703912 m/s, LOS rate: 0.048249 deg/s, cmd heading: 237.597255 deg, new cmd heading: 237.660051 deg. 2025-10-27T05:23:16.748Z,1761542596.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147950 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:16.848Z,1761542596.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765640 2025-10-27T05:23:17.103Z,1761542597.103 [DAT](INFO): DAT read: Rx Time:05:23:15.6787 2025-10-27T05:23:17.104Z,1761542597.104 [DAT](INFO): Rx dataTimestamp_ set to:1761542597.103753 2025-10-27T05:23:17.106Z,1761542597.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023331 2025-10-27T05:23:17.143Z,1761542597.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554664,0.823171,0.121401],[-0.832041,-0.550014,-0.072059],[0.007455,-0.140979,0.989985]] 2025-10-27T05:23:17.196Z,1761542597.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:17.198Z,1761542597.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 73.031715 m, bearing: 230.627324 deg, approach rate: -0.647850 m/s, LOS rate: 0.068958 deg/s, cmd heading: 237.660039 deg, new cmd heading: 237.753488 deg. 2025-10-27T05:23:17.200Z,1761542597.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149581 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:17.352Z,1761542597.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269485 2025-10-27T05:23:17.533Z,1761542597.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552840,0.824285,0.122154],[-0.833248,-0.548261,-0.071468],[0.008063,-0.141295,0.989935]] 2025-10-27T05:23:17.585Z,1761542597.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.70 m. 2025-10-27T05:23:17.592Z,1761542597.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.701057 m, nav range: 72.782761 m, bearing: 230.653477 deg, approach rate: -0.639211 m/s, LOS rate: 0.067379 deg/s, cmd heading: 237.753475 deg, new cmd heading: 237.832202 deg. 2025-10-27T05:23:17.593Z,1761542597.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.150955 target range: 77.701057 and range: 78.10 m. 2025-10-27T05:23:17.614Z,1761542597.614 [DAT](INFO): DAT read: 05:23:15.6787 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 400,-0.24,-2.591, 2.174,-2.201,-2.604, PHS= 0.115,-1.460, 0.359, RAW= 157.1, 11.5, CAL= 157.2, 12.8, ROT= 352.8, -12.8 2025-10-27T05:23:17.616Z,1761542597.616 [DAT](INFO): got valid direction response: 05:23:15.6787 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 400,-0.24,-2.591, 2.174,-2.201,-2.604, PHS= 0.115,-1.460, 0.359, RAW= 157.1, 11.5, CAL= 157.2, 12.8, ROT= 352.8, -12.8 2025-10-27T05:23:17.617Z,1761542597.617 [DAT](INFO): DAT read: Bearing 31.1, -8.9 (Local) 2025-10-27T05:23:17.617Z,1761542597.617 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, -8.9 (Local) 2025-10-27T05:23:17.619Z,1761542597.619 [DAT](INFO): DAT read: Range 11 to 50 : 75.2 m (Round-trip 100.3 ms) speed 0.2 m/s 2025-10-27T05:23:17.620Z,1761542597.620 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:17.620Z,1761542597.620 [DAT](INFO): direction in FSK: [0.967460,-0.122219,0.221548] 2025-10-27T05:23:17.621Z,1761542597.621 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:17.624Z,1761542597.624 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:17.624Z,1761542597.624 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:17.625Z,1761542597.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:17.857Z,1761542597.857 [DAT](INFO): DAT read: user:402> 2025-10-27T05:23:17.858Z,1761542597.858 [DAT](INFO): DAT read: Tx time:05:23:16.9242 2025-10-27T05:23:17.859Z,1761542597.859 [DAT](INFO): Ping request sent. 2025-10-27T05:23:17.859Z,1761542597.859 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:17.859Z,1761542597.859 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:17.860Z,1761542597.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001102 2025-10-27T05:23:17.937Z,1761542597.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550583,0.825749,0.122462],[-0.834733,-0.546158,-0.070234],[0.008888,-0.140892,0.989985]] 2025-10-27T05:23:17.961Z,1761542597.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.199997 m, deltaT: 3.782981 s, deltaX: -2.900002 m, approachRate: -0.766592 m/s, rangeRepo size: 4 2025-10-27T05:23:17.963Z,1761542597.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.815842 m, bearing: 231.277699 deg, lat: 36.779382 deg, lon: -121.859689 deg, deltaT: 3.782981 s, deltaX: -2.885216 m, approachRate: -0.762683 m/s, posRepo size: 4 2025-10-27T05:23:17.964Z,1761542597.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:17.967Z,1761542597.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 72.412529 m, bearing: 231.201498 deg, approach rate: 0.000000 m/s, LOS rate: 0.067379 deg/s, cmd heading: 237.832214 deg, new cmd heading: 237.908111 deg. 2025-10-27T05:23:17.968Z,1761542597.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152280 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:18.113Z,1761542598.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251623 2025-10-27T05:23:18.341Z,1761542598.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548444,0.827035,0.123378],[-0.836133,-0.544089,-0.069635],[0.009538,-0.141351,0.989914]] 2025-10-27T05:23:18.360Z,1761542598.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500985 2025-10-27T05:23:18.385Z,1761542598.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:18.388Z,1761542598.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:18.390Z,1761542598.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 72.153763 m, bearing: 231.236471 deg, approach rate: -0.605750 m/s, LOS rate: 0.082162 deg/s, cmd heading: 237.908111 deg, new cmd heading: 238.013405 deg. 2025-10-27T05:23:18.392Z,1761542598.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154118 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:18.612Z,1761542598.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752939 2025-10-27T05:23:18.748Z,1761542598.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546002,0.828613,0.123626],[-0.837721,-0.541790,-0.068461],[0.010252,-0.140944,0.989964]] 2025-10-27T05:23:18.767Z,1761542598.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:18.769Z,1761542598.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 71.925888 m, bearing: 231.266948 deg, approach rate: -0.601413 m/s, LOS rate: 0.080691 deg/s, cmd heading: 238.013405 deg, new cmd heading: 238.105127 deg. 2025-10-27T05:23:18.770Z,1761542598.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155718 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:18.864Z,1761542598.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005192 2025-10-27T05:23:19.119Z,1761542599.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259263 2025-10-27T05:23:19.161Z,1761542599.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543915,0.829946,0.123884],[-0.839071,-0.539808,-0.067580],[0.010786,-0.140705,0.989993]] 2025-10-27T05:23:19.206Z,1761542599.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:19.209Z,1761542599.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 71.668808 m, bearing: 231.302819 deg, approach rate: -0.585225 m/s, LOS rate: 0.081951 deg/s, cmd heading: 238.105121 deg, new cmd heading: 238.213119 deg. 2025-10-27T05:23:19.210Z,1761542599.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157603 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:19.368Z,1761542599.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508952 2025-10-27T05:23:19.550Z,1761542599.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541618,0.831481,0.123648],[-0.840547,-0.537675,-0.066228],[0.011415,-0.139802,0.990114]] 2025-10-27T05:23:19.576Z,1761542599.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:19.579Z,1761542599.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 71.451981 m, bearing: 231.332804 deg, approach rate: -0.585114 m/s, LOS rate: 0.081161 deg/s, cmd heading: 238.213120 deg, new cmd heading: 238.303348 deg. 2025-10-27T05:23:19.580Z,1761542599.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159178 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:19.622Z,1761542599.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762780 2025-10-27T05:23:19.872Z,1761542599.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012937 2025-10-27T05:23:19.954Z,1761542599.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538924,0.833073,0.124706],[-0.842270,-0.535029,-0.065763],[0.011936,-0.140477,0.990012]] 2025-10-27T05:23:19.979Z,1761542599.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:19.982Z,1761542599.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 71.216476 m, bearing: 231.364951 deg, approach rate: -0.584939 m/s, LOS rate: 0.080109 deg/s, cmd heading: 238.303360 deg, new cmd heading: 238.400119 deg. 2025-10-27T05:23:19.983Z,1761542599.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160867 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:20.127Z,1761542600.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267617 2025-10-27T05:23:20.357Z,1761542600.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536417,0.834471,0.126159],[-0.843858,-0.532569,-0.065367],[0.012641,-0.141524,0.989854]] 2025-10-27T05:23:20.376Z,1761542600.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516982 2025-10-27T05:23:20.402Z,1761542600.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:20.404Z,1761542600.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:20.406Z,1761542600.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 70.970009 m, bearing: 231.400890 deg, approach rate: -0.580113 m/s, LOS rate: 0.084885 deg/s, cmd heading: 238.400130 deg, new cmd heading: 238.508323 deg. 2025-10-27T05:23:20.408Z,1761542600.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162755 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:20.628Z,1761542600.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768908 2025-10-27T05:23:20.764Z,1761542600.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534699,0.835612,0.125892],[-0.844936,-0.531030,-0.063956],[0.013410,-0.140568,0.989980]] 2025-10-27T05:23:20.784Z,1761542600.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:20.786Z,1761542600.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 70.748894 m, bearing: 231.432992 deg, approach rate: -0.582308 m/s, LOS rate: 0.084805 deg/s, cmd heading: 238.508321 deg, new cmd heading: 238.604928 deg. 2025-10-27T05:23:20.787Z,1761542600.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164442 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:20.880Z,1761542600.880 [DAT](INFO): DAT read: Rx Time:05:23:19.4255 2025-10-27T05:23:20.880Z,1761542600.880 [DAT](INFO): Rx dataTimestamp_ set to:1761542600.880207 2025-10-27T05:23:20.881Z,1761542600.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022076 2025-10-27T05:23:21.134Z,1761542601.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275009 2025-10-27T05:23:21.195Z,1761542601.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532979,0.836697,0.125984],[-0.846012,-0.529436,-0.062942],[0.014037,-0.140131,0.990033]] 2025-10-27T05:23:21.242Z,1761542601.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.82 m. 2025-10-27T05:23:21.273Z,1761542601.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.815842 m, nav range: 70.481720 m, bearing: 231.462409 deg, approach rate: -0.586954 m/s, LOS rate: 0.064871 deg/s, cmd heading: 238.604927 deg, new cmd heading: 238.693512 deg. 2025-10-27T05:23:21.281Z,1761542601.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165987 target range: 74.815842 and range: 75.20 m. 2025-10-27T05:23:21.397Z,1761542601.397 [DAT](INFO): DAT read: 05:23:19.4255 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.23, 1.087,-0.459, 1.536, 1.053, PHS= 0.137,-1.466, 0.439, RAW= 158.5, 10.1, CAL= 158.4, 10.9, ROT= 351.6, -10.9 2025-10-27T05:23:21.398Z,1761542601.398 [DAT](INFO): got valid direction response: 05:23:19.4255 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.23, 1.087,-0.459, 1.536, 1.053, PHS= 0.137,-1.466, 0.439, RAW= 158.5, 10.1, CAL= 158.4, 10.9, ROT= 351.6, -10.9 2025-10-27T05:23:21.400Z,1761542601.400 [DAT](INFO): DAT read: Bearing 30.7, -9.2 (Local) 2025-10-27T05:23:21.401Z,1761542601.401 [DAT](INFO): Local bearing/azimuth received: Bearing 30.7, -9.2 (Local) 2025-10-27T05:23:21.403Z,1761542601.403 [DAT](INFO): DAT read: Range 11 to 50 : 72.9 m (Round-trip 97.2 ms) speed 0.4 m/s 2025-10-27T05:23:21.404Z,1761542601.404 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:21.405Z,1761542601.405 [DAT](INFO): direction in FSK: [0.971425,-0.143448,0.189095] 2025-10-27T05:23:21.406Z,1761542601.406 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:21.430Z,1761542601.430 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:21.430Z,1761542601.430 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:21.430Z,1761542601.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:21.636Z,1761542601.636 [DAT](INFO): DAT read: user:403> 2025-10-27T05:23:21.637Z,1761542601.637 [DAT](INFO): DAT read: Tx time:05:23:20.7242 2025-10-27T05:23:21.637Z,1761542601.637 [DAT](INFO): Ping request sent. 2025-10-27T05:23:21.637Z,1761542601.637 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:21.637Z,1761542601.637 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:21.638Z,1761542601.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T05:23:21.654Z,1761542601.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531120,0.837807,0.126455],[-0.847169,-0.527687,-0.062062],[0.014733,-0.140091,0.990029]] 2025-10-27T05:23:21.712Z,1761542601.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.781998 s, deltaX: -2.299995 m, approachRate: -0.608143 m/s, rangeRepo size: 4 2025-10-27T05:23:21.719Z,1761542601.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.527786 m, bearing: 231.110242 deg, lat: 36.779377 deg, lon: -121.859690 deg, deltaT: 3.781998 s, deltaX: -2.288055 m, approachRate: -0.604986 m/s, posRepo size: 4 2025-10-27T05:23:21.720Z,1761542601.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:21.729Z,1761542601.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 70.671150 m, bearing: 231.164045 deg, approach rate: 0.000000 m/s, LOS rate: 0.064871 deg/s, cmd heading: 238.693501 deg, new cmd heading: 238.779093 deg. 2025-10-27T05:23:21.730Z,1761542601.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167481 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:21.888Z,1761542601.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250882 2025-10-27T05:23:22.058Z,1761542602.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529591,0.838771,0.126480],[-0.848111,-0.526314,-0.060841],[0.015537,-0.139490,0.990102]] 2025-10-27T05:23:22.091Z,1761542602.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:22.094Z,1761542602.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 70.425789 m, bearing: 231.189334 deg, approach rate: -0.595016 m/s, LOS rate: 0.061542 deg/s, cmd heading: 238.779097 deg, new cmd heading: 238.855229 deg. 2025-10-27T05:23:22.095Z,1761542602.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168810 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:22.143Z,1761542602.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505296 2025-10-27T05:23:22.392Z,1761542602.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755371 2025-10-27T05:23:22.462Z,1761542602.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528365,0.839515,0.126670],[-0.848856,-0.525266,-0.059499],[0.016585,-0.138962,0.990159]] 2025-10-27T05:23:22.505Z,1761542602.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:22.507Z,1761542602.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:22.510Z,1761542602.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 70.171219 m, bearing: 231.212774 deg, approach rate: -0.612193 m/s, LOS rate: 0.056573 deg/s, cmd heading: 238.855240 deg, new cmd heading: 238.925815 deg. 2025-10-27T05:23:22.511Z,1761542602.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170042 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:22.644Z,1761542602.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859 2025-10-27T05:23:22.867Z,1761542602.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526909,0.840407,0.126819],[-0.849741,-0.523980,-0.058187],[0.017550,-0.138423,0.990218]] 2025-10-27T05:23:22.886Z,1761542602.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:22.889Z,1761542602.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 69.938103 m, bearing: 231.234070 deg, approach rate: -0.614873 m/s, LOS rate: 0.056358 deg/s, cmd heading: 238.925809 deg, new cmd heading: 238.989910 deg. 2025-10-27T05:23:22.890Z,1761542602.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171161 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:22.896Z,1761542602.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259233 2025-10-27T05:23:23.151Z,1761542603.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513192 2025-10-27T05:23:23.269Z,1761542603.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525663,0.841206,0.126690],[-0.850493,-0.522906,-0.056835],[0.018437,-0.137625,0.990313]] 2025-10-27T05:23:23.337Z,1761542603.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:23.339Z,1761542603.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 69.654648 m, bearing: 231.249232 deg, approach rate: -0.628968 m/s, LOS rate: 0.033779 deg/s, cmd heading: 238.989904 deg, new cmd heading: 239.035573 deg. 2025-10-27T05:23:23.340Z,1761542603.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171958 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:23.400Z,1761542603.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762952 2025-10-27T05:23:23.652Z,1761542603.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014881 2025-10-27T05:23:23.683Z,1761542603.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524113,0.842072,0.127360],[-0.851425,-0.521510,-0.055701],[0.019515,-0.137632,0.990291]] 2025-10-27T05:23:23.704Z,1761542603.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:23.708Z,1761542603.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 69.424339 m, bearing: 231.261299 deg, approach rate: -0.627207 m/s, LOS rate: 0.032973 deg/s, cmd heading: 239.035584 deg, new cmd heading: 239.071907 deg. 2025-10-27T05:23:23.710Z,1761542603.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172592 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:23.904Z,1761542603.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266857 2025-10-27T05:23:24.128Z,1761542604.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:24.130Z,1761542604.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 69.163643 m, bearing: 231.275056 deg, approach rate: -0.615169 m/s, LOS rate: 0.032585 deg/s, cmd heading: 239.071921 deg, new cmd heading: 239.113348 deg. 2025-10-27T05:23:24.131Z,1761542604.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173315 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:24.158Z,1761542604.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521088 2025-10-27T05:23:24.408Z,1761542604.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770900 2025-10-27T05:23:24.534Z,1761542604.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:24.537Z,1761542604.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:24.543Z,1761542604.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 68.894562 m, bearing: 231.290160 deg, approach rate: -0.657726 m/s, LOS rate: 0.037062 deg/s, cmd heading: 239.113339 deg, new cmd heading: 239.158826 deg. 2025-10-27T05:23:24.544Z,1761542604.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174109 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:24.660Z,1761542604.660 [DAT](INFO): DAT read: Rx Time:05:23:23.2227 2025-10-27T05:23:24.661Z,1761542604.661 [DAT](INFO): Rx dataTimestamp_ set to:1761542604.660238 2025-10-27T05:23:24.661Z,1761542604.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024042 2025-10-27T05:23:24.886Z,1761542604.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518450,0.844729,0.132826],[-0.854803,-0.516123,-0.054120],[0.022837,-0.141598,0.989661]] 2025-10-27T05:23:24.912Z,1761542604.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274883 2025-10-27T05:23:24.936Z,1761542604.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.53 m. 2025-10-27T05:23:24.938Z,1761542604.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.527786 m, nav range: 68.654343 m, bearing: 231.302372 deg, approach rate: -0.602094 m/s, LOS rate: 0.030716 deg/s, cmd heading: 239.158828 deg, new cmd heading: 239.195593 deg. 2025-10-27T05:23:24.939Z,1761542604.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174751 target range: 72.527786 and range: 72.90 m. 2025-10-27T05:23:25.174Z,1761542605.174 [DAT](INFO): DAT read: 05:23:23.2227 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 419, 0.12,-2.275, 2.516,-1.837,-2.282, PHS= 0.108,-1.441, 0.400, RAW= 158.5, 10.9, CAL= 158.6, 12.0, ROT= 351.4, -12.0 2025-10-27T05:23:25.177Z,1761542605.177 [DAT](INFO): got valid direction response: 05:23:23.2227 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 419, 0.12,-2.275, 2.516,-1.837,-2.282, PHS= 0.108,-1.441, 0.400, RAW= 158.5, 10.9, CAL= 158.6, 12.0, ROT= 351.4, -12.0 2025-10-27T05:23:25.184Z,1761542605.184 [DAT](INFO): DAT read: Bearing 32.3, -8.7 (Local) 2025-10-27T05:23:25.185Z,1761542605.185 [DAT](INFO): Local bearing/azimuth received: Bearing 32.3, -8.7 (Local) 2025-10-27T05:23:25.192Z,1761542605.192 [DAT](INFO): DAT read: Range 11 to 50 : 70.8 m (Round-trip 94.4 ms) speed 0.5 m/s 2025-10-27T05:23:25.194Z,1761542605.194 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:25.198Z,1761542605.198 [DAT](INFO): direction in FSK: [0.967150,-0.146268,0.207912] 2025-10-27T05:23:25.200Z,1761542605.200 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:25.251Z,1761542605.251 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:25.251Z,1761542605.251 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:25.252Z,1761542605.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:25.310Z,1761542605.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516595,0.845773,0.133406],[-0.855900,-0.514412,-0.053052],[0.023756,-0.141589,0.989640]] 2025-10-27T05:23:25.416Z,1761542605.416 [DAT](INFO): DAT read: user:404> 2025-10-27T05:23:25.417Z,1761542605.417 [DAT](INFO): DAT read: Tx time:05:23:24.5742 2025-10-27T05:23:25.417Z,1761542605.417 [DAT](INFO): Ping request sent. 2025-10-27T05:23:25.417Z,1761542605.417 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:25.417Z,1761542605.417 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:25.418Z,1761542605.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-10-27T05:23:25.421Z,1761542605.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.800003 m, deltaT: 3.777889 s, deltaX: -2.099998 m, approachRate: -0.555866 m/s, rangeRepo size: 4 2025-10-27T05:23:25.423Z,1761542605.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.437202 m, bearing: 232.045233 deg, lat: 36.779382 deg, lon: -121.859691 deg, deltaT: 3.777889 s, deltaX: -2.090584 m, approachRate: -0.553374 m/s, posRepo size: 4 2025-10-27T05:23:25.428Z,1761542605.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:25.430Z,1761542605.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 68.011322 m, bearing: 231.736698 deg, approach rate: 0.000000 m/s, LOS rate: 0.030716 deg/s, cmd heading: 239.195602 deg, new cmd heading: 239.239786 deg. 2025-10-27T05:23:25.435Z,1761542605.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175522 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:25.668Z,1761542605.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251213 2025-10-27T05:23:25.751Z,1761542605.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514997,0.846625,0.134181],[-0.856832,-0.512968,-0.051979],[0.024824,-0.141740,0.989593]] 2025-10-27T05:23:25.770Z,1761542605.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:25.773Z,1761542605.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 67.773338 m, bearing: 231.749091 deg, approach rate: -0.670747 m/s, LOS rate: 0.035054 deg/s, cmd heading: 239.239779 deg, new cmd heading: 239.277091 deg. 2025-10-27T05:23:25.774Z,1761542605.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176173 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:25.920Z,1761542605.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502670 2025-10-27T05:23:26.157Z,1761542606.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513162,0.847618,0.134935],[-0.857900,-0.511299,-0.050808],[0.025926,-0.141834,0.989551]] 2025-10-27T05:23:26.172Z,1761542606.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962 2025-10-27T05:23:26.182Z,1761542606.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:26.194Z,1761542606.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 67.505997 m, bearing: 231.762638 deg, approach rate: -0.648943 m/s, LOS rate: 0.033012 deg/s, cmd heading: 239.277099 deg, new cmd heading: 239.317899 deg. 2025-10-27T05:23:26.195Z,1761542606.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176885 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:26.424Z,1761542606.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006637 2025-10-27T05:23:26.582Z,1761542606.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511296,0.848588,0.135925],[-0.858978,-0.509595,-0.049704],[0.027088,-0.142170,0.989472]] 2025-10-27T05:23:26.636Z,1761542606.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:26.639Z,1761542606.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:26.653Z,1761542606.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 67.198898 m, bearing: 231.777847 deg, approach rate: -0.672594 m/s, LOS rate: 0.033464 deg/s, cmd heading: 239.317889 deg, new cmd heading: 239.363727 deg. 2025-10-27T05:23:26.654Z,1761542606.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177685 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:26.676Z,1761542606.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258900 2025-10-27T05:23:26.928Z,1761542606.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510778 2025-10-27T05:23:27.009Z,1761542607.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507430,0.850381,0.139166],[-0.861180,-0.506040,-0.047875],[0.029712,-0.144140,0.989111]] 2025-10-27T05:23:27.041Z,1761542607.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:27.044Z,1761542607.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 66.927696 m, bearing: 231.790342 deg, approach rate: -0.674414 m/s, LOS rate: 0.031196 deg/s, cmd heading: 239.363734 deg, new cmd heading: 239.401368 deg. 2025-10-27T05:23:27.044Z,1761542607.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178342 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:27.180Z,1761542607.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762789 2025-10-27T05:23:27.412Z,1761542607.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505431,0.851406,0.140168],[-0.862317,-0.504201,-0.046814],[0.030815,-0.144530,0.989021]] 2025-10-27T05:23:27.432Z,1761542607.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014791 2025-10-27T05:23:27.466Z,1761542607.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:27.473Z,1761542607.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 66.644981 m, bearing: 231.796611 deg, approach rate: -0.664178 m/s, LOS rate: 0.014790 deg/s, cmd heading: 239.401382 deg, new cmd heading: 239.420268 deg. 2025-10-27T05:23:27.474Z,1761542607.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178672 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:27.684Z,1761542607.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266857 2025-10-27T05:23:27.826Z,1761542607.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503570,0.852345,0.141161],[-0.863367,-0.502491,-0.045836],[0.031864,-0.144955,0.988925]] 2025-10-27T05:23:27.909Z,1761542607.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:27.912Z,1761542607.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 66.328781 m, bearing: 231.803099 deg, approach rate: -0.714519 m/s, LOS rate: 0.014732 deg/s, cmd heading: 239.420260 deg, new cmd heading: 239.439818 deg. 2025-10-27T05:23:27.913Z,1761542607.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179013 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:27.936Z,1761542607.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518926 2025-10-27T05:23:28.189Z,1761542608.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771382 2025-10-27T05:23:28.269Z,1761542608.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502064,0.853148,0.141670],[-0.864202,-0.501165,-0.044586],[0.032961,-0.144817,0.988909]] 2025-10-27T05:23:28.372Z,1761542608.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:28.374Z,1761542608.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 66.012939 m, bearing: 231.807338 deg, approach rate: -0.682430 m/s, LOS rate: 0.009202 deg/s, cmd heading: 239.439822 deg, new cmd heading: 239.452598 deg. 2025-10-27T05:23:28.375Z,1761542608.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179236 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:28.440Z,1761542608.440 [DAT](INFO): DAT read: Rx Time:05:23:27.0692 2025-10-27T05:23:28.441Z,1761542608.441 [DAT](INFO): Rx dataTimestamp_ set to:1761542608.440331 2025-10-27T05:23:28.441Z,1761542608.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023990 2025-10-27T05:23:28.671Z,1761542608.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500785,0.853753,0.142550],[-0.864907,-0.500022,-0.043754],[0.033923,-0.145204,0.988820]] 2025-10-27T05:23:28.692Z,1761542608.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274575 2025-10-27T05:23:28.744Z,1761542608.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:28.746Z,1761542608.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.44 m. 2025-10-27T05:23:28.757Z,1761542608.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.437202 m, nav range: 65.764183 m, bearing: 231.810386 deg, approach rate: -0.663653 m/s, LOS rate: 0.008164 deg/s, cmd heading: 239.452608 deg, new cmd heading: 239.461788 deg. 2025-10-27T05:23:28.758Z,1761542608.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179397 target range: 70.437202 and range: 70.80 m. 2025-10-27T05:23:28.949Z,1761542608.949 [DAT](INFO): DAT read: 05:23:27.0692 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 400,-0.33, 1.469,-0.004, 1.979, 1.450, PHS= 0.121,-1.409, 0.485, RAW= 160.4, 9.3, CAL= 160.3, 9.8, ROT= 349.7, -9.8 2025-10-27T05:23:28.951Z,1761542608.951 [DAT](INFO): got valid direction response: 05:23:27.0692 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 400,-0.33, 1.469,-0.004, 1.979, 1.450, PHS= 0.121,-1.409, 0.485, RAW= 160.4, 9.3, CAL= 160.3, 9.8, ROT= 349.7, -9.8 2025-10-27T05:23:28.952Z,1761542608.952 [DAT](INFO): DAT read: Bearing 31.0, -9.5 (Local) 2025-10-27T05:23:28.952Z,1761542608.952 [DAT](INFO): Local bearing/azimuth received: Bearing 31.0, -9.5 (Local) 2025-10-27T05:23:28.953Z,1761542608.953 [DAT](INFO): DAT read: Range 11 to 50 : 68.1 m (Round-trip 90.9 ms) speed 0.7 m/s 2025-10-27T05:23:28.954Z,1761542608.954 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:28.955Z,1761542608.955 [DAT](INFO): direction in FSK: [0.969528,-0.176193,0.170209] 2025-10-27T05:23:28.955Z,1761542608.955 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:28.958Z,1761542608.958 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:28.959Z,1761542608.959 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:28.960Z,1761542608.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:29.118Z,1761542609.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499659,0.854322,0.143093],[-0.865524,-0.499030,-0.042874],[0.034779,-0.145272,0.988780]] 2025-10-27T05:23:29.180Z,1761542609.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.099998 m, deltaT: 3.780291 s, deltaX: -2.700005 m, approachRate: -0.714232 m/s, rangeRepo size: 4 2025-10-27T05:23:29.182Z,1761542609.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.751122 m, bearing: 231.166241 deg, lat: 36.779377 deg, lon: -121.859690 deg, deltaT: 3.780291 s, deltaX: -2.686081 m, approachRate: -0.710549 m/s, posRepo size: 4 2025-10-27T05:23:29.183Z,1761542609.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:29.186Z,1761542609.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 65.789116 m, bearing: 231.377736 deg, approach rate: 0.000000 m/s, LOS rate: 0.008164 deg/s, cmd heading: 239.461788 deg, new cmd heading: 239.472397 deg. 2025-10-27T05:23:29.188Z,1761542609.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179582 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:29.204Z,1761542609.204 [DAT](INFO): DAT read: user:405> 2025-10-27T05:23:29.205Z,1761542609.205 [DAT](INFO): DAT read: Tx time:05:23:28.2742 2025-10-27T05:23:29.205Z,1761542609.205 [DAT](INFO): Ping request sent. 2025-10-27T05:23:29.205Z,1761542609.205 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:29.205Z,1761542609.205 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:29.206Z,1761542609.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-27T05:23:29.456Z,1761542609.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251139 2025-10-27T05:23:29.528Z,1761542609.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499307,0.854360,0.144088],[-0.865703,-0.498733,-0.042708],[0.035374,-0.146062,0.988643]] 2025-10-27T05:23:29.589Z,1761542609.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:29.596Z,1761542609.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 65.499817 m, bearing: 231.365140 deg, approach rate: -0.706636 m/s, LOS rate: -0.030901 deg/s, cmd heading: 239.472388 deg, new cmd heading: 239.434435 deg. 2025-10-27T05:23:29.597Z,1761542609.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178919 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:29.709Z,1761542609.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503482 2025-10-27T05:23:29.934Z,1761542609.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499727,0.854041,0.144527],[-0.865432,-0.499242,-0.042253],[0.036068,-0.146193,0.988598]] 2025-10-27T05:23:29.952Z,1761542609.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:29.955Z,1761542609.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 65.237091 m, bearing: 231.353720 deg, approach rate: -0.723314 m/s, LOS rate: -0.031567 deg/s, cmd heading: 239.434440 deg, new cmd heading: 239.400041 deg. 2025-10-27T05:23:29.956Z,1761542609.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178319 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:29.960Z,1761542609.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754964 2025-10-27T05:23:30.212Z,1761542610.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007190 2025-10-27T05:23:30.392Z,1761542610.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:30.395Z,1761542610.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 64.928230 m, bearing: 231.343040 deg, approach rate: -0.701928 m/s, LOS rate: -0.024388 deg/s, cmd heading: 239.400043 deg, new cmd heading: 239.367850 deg. 2025-10-27T05:23:30.396Z,1761542610.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177757 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:30.467Z,1761542610.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262045 2025-10-27T05:23:30.717Z,1761542610.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511406 2025-10-27T05:23:30.743Z,1761542610.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501862,0.852187,0.148026],[-0.864104,-0.501533,-0.042294],[0.038198,-0.149136,0.988079]] 2025-10-27T05:23:30.761Z,1761542610.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:30.785Z,1761542610.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:30.794Z,1761542610.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 64.668274 m, bearing: 231.334520 deg, approach rate: -0.663794 m/s, LOS rate: -0.021842 deg/s, cmd heading: 239.367859 deg, new cmd heading: 239.342197 deg. 2025-10-27T05:23:30.800Z,1761542610.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177310 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:30.968Z,1761542610.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762729 2025-10-27T05:23:31.157Z,1761542611.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502715,0.851086,0.151428],[-0.863560,-0.502389,-0.043244],[0.039272,-0.152507,0.987522]] 2025-10-27T05:23:31.178Z,1761542611.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:31.180Z,1761542611.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 64.378387 m, bearing: 231.325155 deg, approach rate: -0.736493 m/s, LOS rate: -0.023901 deg/s, cmd heading: 239.342205 deg, new cmd heading: 239.313983 deg. 2025-10-27T05:23:31.181Z,1761542611.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176817 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:31.221Z,1761542611.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015464 2025-10-27T05:23:31.472Z,1761542611.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267269 2025-10-27T05:23:31.548Z,1761542611.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503405,0.850215,0.154002],[-0.863109,-0.503123,-0.043706],[0.040323,-0.154923,0.987103]] 2025-10-27T05:23:31.581Z,1761542611.581 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-27T05:23:31.581Z,1761542611.581 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-27T05:23:31.581Z,1761542611.581 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-27T05:23:31.626Z,1761542611.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:31.629Z,1761542611.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 64.062683 m, bearing: 231.315058 deg, approach rate: -0.704353 m/s, LOS rate: -0.022637 deg/s, cmd heading: 239.313982 deg, new cmd heading: 239.283543 deg. 2025-10-27T05:23:31.630Z,1761542611.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176286 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:31.725Z,1761542611.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519557 2025-10-27T05:23:31.930Z,1761542611.930 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-27T05:23:31.947Z,1761542611.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504354,0.849265,0.156130],[-0.862502,-0.504149,-0.043874],[0.041452,-0.156790,0.986762]] 2025-10-27T05:23:31.951Z,1761542611.951 [RDI_Pathfinder](INFO): Powering down 2025-10-27T05:23:31.977Z,1761542611.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771639 2025-10-27T05:23:32.007Z,1761542612.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:32.010Z,1761542612.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 63.812038 m, bearing: 231.307205 deg, approach rate: -0.672051 m/s, LOS rate: -0.021141 deg/s, cmd heading: 239.283547 deg, new cmd heading: 239.259893 deg. 2025-10-27T05:23:32.015Z,1761542612.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175873 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:32.228Z,1761542612.228 [DAT](INFO): DAT read: Rx Time:05:23:30.7656 2025-10-27T05:23:32.228Z,1761542612.228 [DAT](INFO): Rx dataTimestamp_ set to:1761542612.228115 2025-10-27T05:23:32.229Z,1761542612.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023857 2025-10-27T05:23:32.350Z,1761542612.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505183,0.848278,0.158792],[-0.861970,-0.505000,-0.044531],[0.042415,-0.159370,0.986307]] 2025-10-27T05:23:32.384Z,1761542612.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.75 m. 2025-10-27T05:23:32.392Z,1761542612.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.751122 m, nav range: 63.541336 m, bearing: 231.298861 deg, approach rate: -0.702260 m/s, LOS rate: -0.021738 deg/s, cmd heading: 239.259887 deg, new cmd heading: 239.234750 deg. 2025-10-27T05:23:32.393Z,1761542612.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175434 target range: 67.751122 and range: 68.10 m. 2025-10-27T05:23:32.481Z,1761542612.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275706 2025-10-27T05:23:32.738Z,1761542612.738 [DAT](INFO): DAT read: 05:23:30.7656 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410, 0.17, 2.753, 1.229,-3.002, 2.706, PHS= 0.149,-1.432, 0.531, RAW= 160.6, 8.4, CAL= 160.2, 8.7, ROT= 349.8, -8.7 2025-10-27T05:23:32.748Z,1761542612.748 [DAT](INFO): got valid direction response: 05:23:30.7656 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410, 0.17, 2.753, 1.229,-3.002, 2.706, PHS= 0.149,-1.432, 0.531, RAW= 160.6, 8.4, CAL= 160.2, 8.7, ROT= 349.8, -8.7 2025-10-27T05:23:32.749Z,1761542612.749 [DAT](INFO): DAT read: Bearing 30.2, -9.1 (Local) 2025-10-27T05:23:32.749Z,1761542612.749 [DAT](INFO): Local bearing/azimuth received: Bearing 30.2, -9.1 (Local) 2025-10-27T05:23:32.750Z,1761542612.750 [DAT](INFO): DAT read: Range 11 to 50 : 65.4 m (Round-trip 87.3 ms) speed 0.7 m/s 2025-10-27T05:23:32.755Z,1761542612.755 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:32.756Z,1761542612.756 [DAT](INFO): direction in FSK: [0.972871,-0.175047,0.151261] 2025-10-27T05:23:32.757Z,1761542612.757 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:32.760Z,1761542612.760 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:32.760Z,1761542612.760 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:32.760Z,1761542612.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:32.771Z,1761542612.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505723,0.847568,0.160848],[-0.861615,-0.505562,-0.045016],[0.043164,-0.161355,0.985952]] 2025-10-27T05:23:32.853Z,1761542612.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.788073 s, deltaX: -2.699997 m, approachRate: -0.712763 m/s, rangeRepo size: 4 2025-10-27T05:23:32.860Z,1761542612.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.065254 m, bearing: 230.845121 deg, lat: 36.779376 deg, lon: -121.859690 deg, deltaT: 3.788073 s, deltaX: -2.685867 m, approachRate: -0.709033 m/s, posRepo size: 4 2025-10-27T05:23:32.860Z,1761542612.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:32.867Z,1761542612.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 63.296570 m, bearing: 231.229810 deg, approach rate: 0.000000 m/s, LOS rate: -0.021738 deg/s, cmd heading: 239.234752 deg, new cmd heading: 239.204194 deg. 2025-10-27T05:23:32.868Z,1761542612.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174901 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:32.984Z,1761542612.984 [DAT](INFO): DAT read: user:406> 2025-10-27T05:23:32.985Z,1761542612.985 [DAT](INFO): DAT read: Tx time:05:23:32.0742 2025-10-27T05:23:32.985Z,1761542612.985 [DAT](INFO): Ping request sent. 2025-10-27T05:23:32.986Z,1761542612.986 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:32.986Z,1761542612.986 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:32.986Z,1761542612.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-27T05:23:33.174Z,1761542613.174 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-27T05:23:33.175Z,1761542613.175 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-27T05:23:33.204Z,1761542613.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505848,0.847054,0.163149],[-0.861503,-0.505708,-0.045525],[0.043943,-0.163582,0.985551]] 2025-10-27T05:23:33.208Z,1761542613.208 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-27T05:23:33.236Z,1761542613.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250159 2025-10-27T05:23:33.240Z,1761542613.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:33.242Z,1761542613.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:33.249Z,1761542613.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 62.994053 m, bearing: 231.220196 deg, approach rate: -0.776371 m/s, LOS rate: -0.024792 deg/s, cmd heading: 239.204208 deg, new cmd heading: 239.175227 deg. 2025-10-27T05:23:33.250Z,1761542613.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174395 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:33.489Z,1761542613.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502669 2025-10-27T05:23:33.594Z,1761542613.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506035,0.846739,0.164200],[-0.861337,-0.506042,-0.044947],[0.045034,-0.164176,0.985402]] 2025-10-27T05:23:33.622Z,1761542613.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:33.625Z,1761542613.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 62.715511 m, bearing: 231.211319 deg, approach rate: -0.734307 m/s, LOS rate: -0.023506 deg/s, cmd heading: 239.175220 deg, new cmd heading: 239.148471 deg. 2025-10-27T05:23:33.625Z,1761542613.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173928 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:33.740Z,1761542613.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754380 2025-10-27T05:23:33.992Z,1761542613.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006323 2025-10-27T05:23:33.999Z,1761542613.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505772,0.846344,0.167021],[-0.861451,-0.505779,-0.045708],[0.045791,-0.166998,0.984893]] 2025-10-27T05:23:34.019Z,1761542614.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:34.022Z,1761542614.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 62.436401 m, bearing: 231.202232 deg, approach rate: -0.702471 m/s, LOS rate: -0.022971 deg/s, cmd heading: 239.148473 deg, new cmd heading: 239.121093 deg. 2025-10-27T05:23:34.023Z,1761542614.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173450 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:34.244Z,1761542614.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258225 2025-10-27T05:23:34.402Z,1761542614.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504832,0.846694,0.168090],[-0.861982,-0.504876,-0.045692],[0.046178,-0.167957,0.984712]] 2025-10-27T05:23:34.429Z,1761542614.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:34.432Z,1761542614.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 62.148933 m, bearing: 231.192489 deg, approach rate: -0.700866 m/s, LOS rate: -0.023866 deg/s, cmd heading: 239.121098 deg, new cmd heading: 239.091732 deg. 2025-10-27T05:23:34.433Z,1761542614.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172938 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:34.498Z,1761542614.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512272 2025-10-27T05:23:34.748Z,1761542614.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762243 2025-10-27T05:23:34.822Z,1761542614.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503951,0.847354,0.167403],[-0.862467,-0.504156,-0.044461],[0.046723,-0.166785,0.984886]] 2025-10-27T05:23:34.857Z,1761542614.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:34.866Z,1761542614.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 61.860390 m, bearing: 231.182367 deg, approach rate: -0.674219 m/s, LOS rate: -0.023760 deg/s, cmd heading: 239.091728 deg, new cmd heading: 239.061222 deg. 2025-10-27T05:23:34.867Z,1761542614.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172405 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:35.003Z,1761542615.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017182 2025-10-27T05:23:35.237Z,1761542615.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503119,0.847780,0.167750],[-0.862924,-0.503425,-0.043873],[0.047255,-0.166829,0.984853]] 2025-10-27T05:23:35.252Z,1761542615.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266428 2025-10-27T05:23:35.274Z,1761542615.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:35.285Z,1761542615.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:35.298Z,1761542615.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 61.566757 m, bearing: 231.171711 deg, approach rate: -0.686200 m/s, LOS rate: -0.025022 deg/s, cmd heading: 239.061211 deg, new cmd heading: 239.029089 deg. 2025-10-27T05:23:35.309Z,1761542615.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171844 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:35.504Z,1761542615.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518215 2025-10-27T05:23:35.657Z,1761542615.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501934,0.848540,0.167457],[-0.863600,-0.502330,-0.043131],[0.047520,-0.166265,0.984935]] 2025-10-27T05:23:35.684Z,1761542615.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:35.687Z,1761542615.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 61.271736 m, bearing: 231.160533 deg, approach rate: -0.739334 m/s, LOS rate: -0.028147 deg/s, cmd heading: 239.029082 deg, new cmd heading: 238.995387 deg. 2025-10-27T05:23:35.688Z,1761542615.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171257 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:35.757Z,1761542615.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771174 2025-10-27T05:23:36.008Z,1761542616.008 [DAT](INFO): DAT read: Rx Time:05:23:34.5623 2025-10-27T05:23:36.008Z,1761542616.008 [DAT](INFO): Rx dataTimestamp_ set to:1761542616.008114 2025-10-27T05:23:36.009Z,1761542616.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023316 2025-10-27T05:23:36.058Z,1761542616.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500683,0.849478,0.166443],[-0.864306,-0.501223,-0.041849],[0.047875,-0.164811,0.985163]] 2025-10-27T05:23:36.092Z,1761542616.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:36.094Z,1761542616.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 60.983467 m, bearing: 231.149140 deg, approach rate: -0.707428 m/s, LOS rate: -0.028091 deg/s, cmd heading: 238.995395 deg, new cmd heading: 238.961054 deg. 2025-10-27T05:23:36.095Z,1761542616.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170657 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:36.260Z,1761542616.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274178 2025-10-27T05:23:36.462Z,1761542616.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499492,0.850088,0.166908],[-0.864982,-0.500077,-0.041592],[0.048110,-0.165147,0.985095]] 2025-10-27T05:23:36.481Z,1761542616.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.07 m. 2025-10-27T05:23:36.485Z,1761542616.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.065254 m, nav range: 60.710335 m, bearing: 231.137887 deg, approach rate: -0.701282 m/s, LOS rate: -0.029023 deg/s, cmd heading: 238.961053 deg, new cmd heading: 238.927142 deg. 2025-10-27T05:23:36.485Z,1761542616.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170065 target range: 65.065254 and range: 65.40 m. 2025-10-27T05:23:36.517Z,1761542616.517 [DAT](INFO): DAT read: 05:23:34.5623 LVL= 32752, 32753, 28658, 32755, AGC= 65, IDX= 408,-0.24,-2.869, 1.951,-2.362,-2.933, PHS= 0.166,-1.354, 0.527, RAW= 160.4, 7.7, CAL= 160.0, 7.8, ROT= 350.0, -7.8 2025-10-27T05:23:36.518Z,1761542616.518 [DAT](INFO): got valid direction response: 05:23:34.5623 LVL= 32752, 32753, 28658, 32755, AGC= 65, IDX= 408,-0.24,-2.869, 1.951,-2.362,-2.933, PHS= 0.166,-1.354, 0.527, RAW= 160.4, 7.7, CAL= 160.0, 7.8, ROT= 350.0, -7.8 2025-10-27T05:23:36.520Z,1761542616.520 [DAT](INFO): DAT read: Bearing 29.5, -8.5 (Local) 2025-10-27T05:23:36.520Z,1761542616.520 [DAT](INFO): Local bearing/azimuth received: Bearing 29.5, -8.5 (Local) 2025-10-27T05:23:36.521Z,1761542616.521 [DAT](INFO): DAT read: Range 11 to 50 : 62.9 m (Round-trip 83.9 ms) speed 0.4 m/s 2025-10-27T05:23:36.522Z,1761542616.522 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:36.523Z,1761542616.523 [DAT](INFO): direction in FSK: [0.975696,-0.172041,0.135716] 2025-10-27T05:23:36.523Z,1761542616.523 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:36.527Z,1761542616.527 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:36.527Z,1761542616.527 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:36.527Z,1761542616.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:36.764Z,1761542616.764 [DAT](INFO): DAT read: user:407> 2025-10-27T05:23:36.766Z,1761542616.766 [DAT](INFO): DAT read: Tx time:05:23:35.8257 2025-10-27T05:23:36.766Z,1761542616.766 [DAT](INFO): Ping request sent. 2025-10-27T05:23:36.766Z,1761542616.766 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:36.766Z,1761542616.766 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:36.768Z,1761542616.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001240 2025-10-27T05:23:36.867Z,1761542616.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498362,0.850758,0.166872],[-0.865626,-0.498997,-0.041163],[0.048249,-0.164963,0.985119]] 2025-10-27T05:23:36.892Z,1761542616.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.900002 m, deltaT: 3.779828 s, deltaX: -2.500000 m, approachRate: -0.661406 m/s, rangeRepo size: 4 2025-10-27T05:23:36.894Z,1761542616.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.577724 m, bearing: 231.408493 deg, lat: 36.779374 deg, lon: -121.859690 deg, deltaT: 3.779828 s, deltaX: -2.487530 m, approachRate: -0.658107 m/s, posRepo size: 4 2025-10-27T05:23:36.895Z,1761542616.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.58 m. 2025-10-27T05:23:36.898Z,1761542616.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.577724 m, nav range: 60.564598 m, bearing: 230.964014 deg, approach rate: 0.000000 m/s, LOS rate: -0.029023 deg/s, cmd heading: 238.927148 deg, new cmd heading: 238.891481 deg. 2025-10-27T05:23:36.899Z,1761542616.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169443 target range: 62.577724 and range: 62.90 m. 2025-10-27T05:23:37.016Z,1761542617.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249782 2025-10-27T05:23:37.268Z,1761542617.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501675 2025-10-27T05:23:37.318Z,1761542617.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:37.320Z,1761542617.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.58 m. 2025-10-27T05:23:37.323Z,1761542617.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.577724 m, nav range: 60.260605 m, bearing: 230.950087 deg, approach rate: -0.707865 m/s, LOS rate: -0.032595 deg/s, cmd heading: 238.891494 deg, new cmd heading: 238.849500 deg. 2025-10-27T05:23:37.324Z,1761542617.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168710 target range: 62.577724 and range: 62.90 m. 2025-10-27T05:23:37.521Z,1761542617.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754114 2025-10-27T05:23:37.766Z,1761542617.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496176,0.852050,0.166794],[-0.866853,-0.496951,-0.040075],[0.048742,-0.164470,0.985177]] 2025-10-27T05:23:37.772Z,1761542617.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005677 2025-10-27T05:23:37.788Z,1761542617.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:23:37.816Z,1761542617.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.58 m. 2025-10-27T05:23:37.819Z,1761542617.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.577724 m, nav range: 59.929188 m, bearing: 230.933955 deg, approach rate: -0.668441 m/s, LOS rate: -0.032717 deg/s, cmd heading: 238.849502 deg, new cmd heading: 238.800839 deg. 2025-10-27T05:23:37.828Z,1761542617.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167861 target range: 62.577724 and range: 62.90 m. 2025-10-27T05:23:38.025Z,1761542618.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258587 2025-10-27T05:23:38.279Z,1761542618.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512416 2025-10-27T05:23:38.356Z,1761542618.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.58 m. 2025-10-27T05:23:38.359Z,1761542618.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.577724 m, nav range: 59.534489 m, bearing: 230.914508 deg, approach rate: -0.730612 m/s, LOS rate: -0.036236 deg/s, cmd heading: 238.800844 deg, new cmd heading: 238.742116 deg. 2025-10-27T05:23:38.360Z,1761542618.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166836 target range: 62.577724 and range: 62.90 m. 2025-10-27T05:23:38.529Z,1761542618.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762275 2025-10-27T05:23:38.781Z,1761542618.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014495 2025-10-27T05:23:38.790Z,1761542618.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493962,0.852889,0.169060],[-0.868084,-0.494782,-0.040258],[0.049312,-0.166644,0.984783]] 2025-10-27T05:23:38.800Z,1761542618.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:23:38.828Z,1761542618.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.58 m. 2025-10-27T05:23:38.831Z,1761542618.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.577724 m, nav range: 59.203712 m, bearing: 230.897159 deg, approach rate: -0.700431 m/s, LOS rate: -0.036941 deg/s, cmd heading: 238.742104 deg, new cmd heading: 238.689769 deg. 2025-10-27T05:23:38.832Z,1761542618.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165922 target range: 62.577724 and range: 62.90 m. 2025-10-27T05:23:39.032Z,1761542619.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265562 2025-10-27T05:23:39.182Z,1761542619.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493621,0.852900,0.169998],[-0.868259,-0.494466,-0.040360],[0.049636,-0.167525,0.984617]] 2025-10-27T05:23:39.204Z,1761542619.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.58 m. 2025-10-27T05:23:39.207Z,1761542619.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.577724 m, nav range: 58.942822 m, bearing: 230.883229 deg, approach rate: -0.694666 m/s, LOS rate: -0.037255 deg/s, cmd heading: 238.689758 deg, new cmd heading: 238.647783 deg. 2025-10-27T05:23:39.208Z,1761542619.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165190 target range: 62.577724 and range: 62.90 m. 2025-10-27T05:23:39.285Z,1761542619.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518274 2025-10-27T05:23:39.536Z,1761542619.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769833 2025-10-27T05:23:39.590Z,1761542619.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493600,0.852742,0.170852],[-0.868267,-0.494419,-0.040762],[0.049713,-0.168465,0.984453]] 2025-10-27T05:23:39.614Z,1761542619.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:39.616Z,1761542619.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.58 m. 2025-10-27T05:23:39.619Z,1761542619.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.577724 m, nav range: 58.652084 m, bearing: 230.867538 deg, approach rate: -0.704899 m/s, LOS rate: -0.038233 deg/s, cmd heading: 238.647793 deg, new cmd heading: 238.600486 deg. 2025-10-27T05:23:39.620Z,1761542619.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164364 target range: 62.577724 and range: 62.90 m. 2025-10-27T05:23:39.789Z,1761542619.789 [DAT](INFO): DAT read: Rx Time:05:23:38.3108 2025-10-27T05:23:39.790Z,1761542619.790 [DAT](INFO): Rx dataTimestamp_ set to:1761542619.789408 2025-10-27T05:23:39.791Z,1761542619.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023943 2025-10-27T05:23:39.990Z,1761542619.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493445,0.852661,0.171703],[-0.868352,-0.494238,-0.041154],[0.049771,-0.169406,0.984289]] 2025-10-27T05:23:40.009Z,1761542620.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.58 m. 2025-10-27T05:23:40.028Z,1761542620.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.577724 m, nav range: 58.377411 m, bearing: 230.852508 deg, approach rate: -0.700069 m/s, LOS rate: -0.038487 deg/s, cmd heading: 238.600474 deg, new cmd heading: 238.555172 deg. 2025-10-27T05:23:40.029Z,1761542620.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163573 target range: 62.577724 and range: 62.90 m. 2025-10-27T05:23:40.040Z,1761542620.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273835 2025-10-27T05:23:40.302Z,1761542620.302 [DAT](INFO): DAT read: 05:23:38.3108 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.18,-1.316,-2.787,-0.818,-1.329, PHS= 0.115,-1.414, 0.467, RAW= 160.1, 9.6, CAL= 160.0, 10.3, ROT= 350.0, -10.3 2025-10-27T05:23:40.309Z,1761542620.309 [DAT](INFO): got valid direction response: 05:23:38.3108 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.18,-1.316,-2.787,-0.818,-1.329, PHS= 0.115,-1.414, 0.467, RAW= 160.1, 9.6, CAL= 160.0, 10.3, ROT= 350.0, -10.3 2025-10-27T05:23:40.310Z,1761542620.310 [DAT](INFO): DAT read: Bearing 31.4, -8.6 (Local) 2025-10-27T05:23:40.310Z,1761542620.310 [DAT](INFO): Local bearing/azimuth received: Bearing 31.4, -8.6 (Local) 2025-10-27T05:23:40.313Z,1761542620.313 [DAT](INFO): DAT read: Range 11 to 50 : 60.6 m (Round-trip 80.9 ms) speed 0.5 m/s 2025-10-27T05:23:40.314Z,1761542620.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:40.317Z,1761542620.317 [DAT](INFO): direction in FSK: [0.968938,-0.170850,0.178802] 2025-10-27T05:23:40.317Z,1761542620.317 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:40.322Z,1761542620.322 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:40.322Z,1761542620.322 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:40.323Z,1761542620.323 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:40.435Z,1761542620.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493721,0.852496,0.171729],[-0.868184,-0.494545,-0.041012],[0.049965,-0.169341,0.984290]] 2025-10-27T05:23:40.507Z,1761542620.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.599998 m, deltaT: 3.780902 s, deltaX: -2.300003 m, approachRate: -0.608321 m/s, rangeRepo size: 4 2025-10-27T05:23:40.510Z,1761542620.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.289375 m, bearing: 232.168874 deg, lat: 36.779374 deg, lon: -121.859695 deg, deltaT: 3.780902 s, deltaX: -2.288349 m, approachRate: -0.605239 m/s, posRepo size: 4 2025-10-27T05:23:40.510Z,1761542620.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:40.521Z,1761542620.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 58.401371 m, bearing: 231.107738 deg, approach rate: 0.000000 m/s, LOS rate: -0.038487 deg/s, cmd heading: 238.555176 deg, new cmd heading: 238.498629 deg. 2025-10-27T05:23:40.522Z,1761542620.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162586 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:40.544Z,1761542620.544 [DAT](INFO): DAT read: user:408> 2025-10-27T05:23:40.545Z,1761542620.545 [DAT](INFO): DAT read: Tx time:05:23:39.6242 2025-10-27T05:23:40.545Z,1761542620.545 [DAT](INFO): Ping request sent. 2025-10-27T05:23:40.545Z,1761542620.545 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:40.545Z,1761542620.545 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:40.546Z,1761542620.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-27T05:23:40.800Z,1761542620.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254580 2025-10-27T05:23:40.852Z,1761542620.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494072,0.852014,0.173103],[-0.867967,-0.494880,-0.041555],[0.050260,-0.170779,0.984027]] 2025-10-27T05:23:40.889Z,1761542620.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:40.892Z,1761542620.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 58.109848 m, bearing: 231.093113 deg, approach rate: -0.745797 m/s, LOS rate: -0.037604 deg/s, cmd heading: 238.498622 deg, new cmd heading: 238.454525 deg. 2025-10-27T05:23:40.893Z,1761542620.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161817 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:41.048Z,1761542621.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825 2025-10-27T05:23:41.254Z,1761542621.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494184,0.851582,0.174900],[-0.867883,-0.494972,-0.042220],[0.050617,-0.172657,0.983681]] 2025-10-27T05:23:41.301Z,1761542621.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756351 2025-10-27T05:23:41.305Z,1761542621.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:41.334Z,1761542621.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 57.833588 m, bearing: 231.079127 deg, approach rate: -0.664488 m/s, LOS rate: -0.033801 deg/s, cmd heading: 238.454526 deg, new cmd heading: 238.412367 deg. 2025-10-27T05:23:41.340Z,1761542621.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161081 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:41.552Z,1761542621.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007232 2025-10-27T05:23:41.658Z,1761542621.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494973,0.851019,0.175407],[-0.867406,-0.495810,-0.042178],[0.051074,-0.173026,0.983592]] 2025-10-27T05:23:41.676Z,1761542621.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:41.678Z,1761542621.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:41.682Z,1761542621.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 57.550247 m, bearing: 231.064899 deg, approach rate: -0.760568 m/s, LOS rate: -0.038379 deg/s, cmd heading: 238.412370 deg, new cmd heading: 238.369477 deg. 2025-10-27T05:23:41.700Z,1761542621.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160332 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:41.809Z,1761542621.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262935 2025-10-27T05:23:42.056Z,1761542622.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510997 2025-10-27T05:23:42.065Z,1761542622.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495549,0.850407,0.176747],[-0.867055,-0.496384,-0.042659],[0.051457,-0.174389,0.983331]] 2025-10-27T05:23:42.095Z,1761542622.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:42.098Z,1761542622.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 57.265285 m, bearing: 231.050620 deg, approach rate: -0.683348 m/s, LOS rate: -0.034412 deg/s, cmd heading: 238.369477 deg, new cmd heading: 238.326426 deg. 2025-10-27T05:23:42.098Z,1761542622.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159581 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:42.308Z,1761542622.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763211 2025-10-27T05:23:42.465Z,1761542622.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496393,0.849713,0.177711],[-0.866538,-0.497274,-0.042783],[0.052018,-0.175231,0.983152]] 2025-10-27T05:23:42.558Z,1761542622.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:42.560Z,1761542622.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014976 2025-10-27T05:23:42.562Z,1761542622.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 56.933681 m, bearing: 231.034141 deg, approach rate: -0.716322 m/s, LOS rate: -0.035805 deg/s, cmd heading: 238.326419 deg, new cmd heading: 238.276694 deg. 2025-10-27T05:23:42.563Z,1761542622.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158713 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:42.812Z,1761542622.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267263 2025-10-27T05:23:42.876Z,1761542622.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497548,0.849133,0.177255],[-0.865837,-0.498553,-0.042075],[0.052644,-0.174409,0.983265]] 2025-10-27T05:23:42.906Z,1761542622.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:42.909Z,1761542622.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 56.692051 m, bearing: 231.022356 deg, approach rate: -0.693992 m/s, LOS rate: -0.033992 deg/s, cmd heading: 238.276695 deg, new cmd heading: 238.241190 deg. 2025-10-27T05:23:42.910Z,1761542622.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158093 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:43.064Z,1761542623.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519092 2025-10-27T05:23:43.280Z,1761542623.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498928,0.848185,0.177913],[-0.864996,-0.500025,-0.041911],[0.053413,-0.174805,0.983153]] 2025-10-27T05:23:43.316Z,1761542623.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770947 2025-10-27T05:23:43.326Z,1761542623.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:43.329Z,1761542623.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 56.395554 m, bearing: 231.008241 deg, approach rate: -0.705620 m/s, LOS rate: -0.033768 deg/s, cmd heading: 238.241178 deg, new cmd heading: 238.198611 deg. 2025-10-27T05:23:43.330Z,1761542623.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157350 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:43.568Z,1761542623.568 [DAT](INFO): DAT read: Rx Time:05:23:42.1061 2025-10-27T05:23:43.568Z,1761542623.568 [DAT](INFO): Rx dataTimestamp_ set to:1761542623.568161 2025-10-27T05:23:43.569Z,1761542623.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023942 2025-10-27T05:23:43.677Z,1761542623.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500712,0.847261,0.177300],[-0.863912,-0.501971,-0.041005],[0.054257,-0.173703,0.983302]] 2025-10-27T05:23:43.745Z,1761542623.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:43.747Z,1761542623.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.29 m. 2025-10-27T05:23:43.749Z,1761542623.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.289375 m, nav range: 56.108093 m, bearing: 230.995051 deg, approach rate: -0.683437 m/s, LOS rate: -0.031522 deg/s, cmd heading: 238.198613 deg, new cmd heading: 238.158838 deg. 2025-10-27T05:23:43.750Z,1761542623.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156656 target range: 60.289375 and range: 60.60 m. 2025-10-27T05:23:43.821Z,1761542623.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275604 2025-10-27T05:23:44.077Z,1761542624.077 [DAT](INFO): DAT read: 05:23:42.1061 LVL= 32752, 32753, 31730, 32755, AGC= 66, IDX= 409,-0.10,-0.833,-2.312,-0.323,-0.881, PHS= 0.151,-1.386, 0.514, RAW= 160.4, 8.3, CAL= 160.0, 8.6, ROT= 350.0, -8.6 2025-10-27T05:23:44.078Z,1761542624.078 [DAT](INFO): got valid direction response: 05:23:42.1061 LVL= 32752, 32753, 31730, 32755, AGC= 66, IDX= 409,-0.10,-0.833,-2.312,-0.323,-0.881, PHS= 0.151,-1.386, 0.514, RAW= 160.4, 8.3, CAL= 160.0, 8.6, ROT= 350.0, -8.6 2025-10-27T05:23:44.079Z,1761542624.079 [DAT](INFO): DAT read: Bearing 28.8, -8.1 (Local) 2025-10-27T05:23:44.080Z,1761542624.080 [DAT](INFO): Local bearing/azimuth received: Bearing 28.8, -8.1 (Local) 2025-10-27T05:23:44.081Z,1761542624.081 [DAT](INFO): DAT read: Range 11 to 50 : 58.3 m (Round-trip 77.8 ms) speed 0.6 m/s 2025-10-27T05:23:44.082Z,1761542624.082 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:44.083Z,1761542624.083 [DAT](INFO): direction in FSK: [0.973735,-0.171696,0.149535] 2025-10-27T05:23:44.083Z,1761542624.083 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:44.086Z,1761542624.086 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:44.086Z,1761542624.086 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:44.087Z,1761542624.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:44.100Z,1761542624.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502933,0.845984,0.177113],[-0.862568,-0.504321,-0.040465],[0.055089,-0.173123,0.983358]] 2025-10-27T05:23:44.186Z,1761542624.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.299999 m, deltaT: 3.778861 s, deltaX: -2.299999 m, approachRate: -0.608649 m/s, rangeRepo size: 4 2025-10-27T05:23:44.192Z,1761542624.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.000652 m, bearing: 231.294595 deg, lat: 36.779374 deg, lon: -121.859699 deg, deltaT: 3.778861 s, deltaX: -2.288723 m, approachRate: -0.605665 m/s, posRepo size: 4 2025-10-27T05:23:44.193Z,1761542624.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:44.193Z,1761542624.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:44.200Z,1761542624.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 56.103416 m, bearing: 231.184236 deg, approach rate: 0.000000 m/s, LOS rate: -0.031522 deg/s, cmd heading: 238.158834 deg, new cmd heading: 238.117385 deg. 2025-10-27T05:23:44.201Z,1761542624.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155932 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:44.234Z,1761542624.234 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T05:23:44.325Z,1761542624.325 [DAT](INFO): DAT read: user:409> 2025-10-27T05:23:44.326Z,1761542624.326 [DAT](INFO): DAT read: Tx time:05:23:43.3742 2025-10-27T05:23:44.326Z,1761542624.326 [DAT](INFO): Ping request sent. 2025-10-27T05:23:44.326Z,1761542624.326 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:44.327Z,1761542624.327 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:44.327Z,1761542624.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001204 2025-10-27T05:23:44.501Z,1761542624.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505484,0.844180,0.178455],[-0.861017,-0.506935,-0.040828],[0.055998,-0.174290,0.983101]] 2025-10-27T05:23:44.523Z,1761542624.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:44.523Z,1761542624.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:44.526Z,1761542624.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 55.844864 m, bearing: 231.174613 deg, approach rate: -0.765458 m/s, LOS rate: -0.028619 deg/s, cmd heading: 238.117388 deg, new cmd heading: 238.088387 deg. 2025-10-27T05:23:44.527Z,1761542624.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155427 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:44.576Z,1761542624.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249809 2025-10-27T05:23:44.828Z,1761542624.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501596 2025-10-27T05:23:44.902Z,1761542624.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508685,0.841874,0.180244],[-0.859062,-0.510187,-0.041492],[0.057027,-0.175947,0.982746]] 2025-10-27T05:23:44.926Z,1761542624.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:44.927Z,1761542624.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:44.930Z,1761542624.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 55.561848 m, bearing: 231.165051 deg, approach rate: -0.701520 m/s, LOS rate: -0.023823 deg/s, cmd heading: 238.088401 deg, new cmd heading: 238.059568 deg. 2025-10-27T05:23:44.931Z,1761542624.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154923 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:45.080Z,1761542625.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753699 2025-10-27T05:23:45.308Z,1761542625.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512159,0.839553,0.181230],[-0.856939,-0.513706,-0.041969],[0.057864,-0.176797,0.982545]] 2025-10-27T05:23:45.332Z,1761542625.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005771 2025-10-27T05:23:45.352Z,1761542625.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:45.352Z,1761542625.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:45.360Z,1761542625.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 55.276875 m, bearing: 231.156518 deg, approach rate: -0.676852 m/s, LOS rate: -0.020372 deg/s, cmd heading: 238.059577 deg, new cmd heading: 238.033846 deg. 2025-10-27T05:23:45.361Z,1761542625.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154474 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:45.586Z,1761542625.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260231 2025-10-27T05:23:45.724Z,1761542625.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514940,0.837481,0.182925],[-0.855220,-0.516493,-0.042825],[0.058614,-0.178493,0.982194]] 2025-10-27T05:23:45.757Z,1761542625.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:45.759Z,1761542625.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:45.760Z,1761542625.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:45.762Z,1761542625.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 54.980228 m, bearing: 231.148527 deg, approach rate: -0.720706 m/s, LOS rate: -0.019518 deg/s, cmd heading: 238.033841 deg, new cmd heading: 238.009740 deg. 2025-10-27T05:23:45.766Z,1761542625.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154054 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:45.836Z,1761542625.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509859 2025-10-27T05:23:46.088Z,1761542626.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761722 2025-10-27T05:23:46.120Z,1761542626.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517566,0.835687,0.183716],[-0.853574,-0.519195,-0.042982],[0.059465,-0.179062,0.982039]] 2025-10-27T05:23:46.138Z,1761542626.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:46.141Z,1761542626.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:46.144Z,1761542626.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 54.711510 m, bearing: 231.142082 deg, approach rate: -0.707929 m/s, LOS rate: -0.017064 deg/s, cmd heading: 238.009744 deg, new cmd heading: 237.990313 deg. 2025-10-27T05:23:46.145Z,1761542626.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153715 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:46.342Z,1761542626.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015433 2025-10-27T05:23:46.522Z,1761542626.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519724,0.834142,0.184647],[-0.852209,-0.521414,-0.043218],[0.060228,-0.179819,0.981854]] 2025-10-27T05:23:46.595Z,1761542626.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267879 2025-10-27T05:23:46.610Z,1761542626.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:46.616Z,1761542626.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:46.631Z,1761542626.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 54.430096 m, bearing: 231.136011 deg, approach rate: -0.607091 m/s, LOS rate: -0.013163 deg/s, cmd heading: 237.990319 deg, new cmd heading: 237.972014 deg. 2025-10-27T05:23:46.632Z,1761542626.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153395 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:46.845Z,1761542626.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518909 2025-10-27T05:23:46.961Z,1761542626.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521485,0.833013,0.184776],[-0.851085,-0.523266,-0.042973],[0.060890,-0.179670,0.981841]] 2025-10-27T05:23:47.022Z,1761542627.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:47.022Z,1761542627.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:47.026Z,1761542627.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 54.098923 m, bearing: 231.116018 deg, approach rate: -0.788725 m/s, LOS rate: -0.047909 deg/s, cmd heading: 237.972014 deg, new cmd heading: 237.911666 deg. 2025-10-27T05:23:47.027Z,1761542627.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152342 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:47.097Z,1761542627.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770817 2025-10-27T05:23:47.348Z,1761542627.348 [DAT](INFO): DAT read: Rx Time:05:23:45.8523 2025-10-27T05:23:47.348Z,1761542627.348 [DAT](INFO): Rx dataTimestamp_ set to:1761542627.348105 2025-10-27T05:23:47.349Z,1761542627.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022705 2025-10-27T05:23:47.384Z,1761542627.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523002,0.832360,0.183429],[-0.850107,-0.524951,-0.041760],[0.061532,-0.177775,0.982146]] 2025-10-27T05:23:47.402Z,1761542627.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:47.403Z,1761542627.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:47.406Z,1761542627.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 53.830597 m, bearing: 231.100196 deg, approach rate: -0.705096 m/s, LOS rate: -0.041782 deg/s, cmd heading: 237.911663 deg, new cmd heading: 237.863962 deg. 2025-10-27T05:23:47.407Z,1761542627.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151509 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:47.602Z,1761542627.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275742 2025-10-27T05:23:47.776Z,1761542627.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523813,0.832015,0.182678],[-0.849562,-0.525911,-0.040760],[0.062160,-0.176546,0.982328]] 2025-10-27T05:23:47.835Z,1761542627.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:47.837Z,1761542627.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m. 2025-10-27T05:23:47.837Z,1761542627.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T05:23:47.841Z,1761542627.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.000652 m, nav range: 53.552547 m, bearing: 231.100835 deg, approach rate: -0.639967 m/s, LOS rate: 0.001478 deg/s, cmd heading: 237.863961 deg, new cmd heading: 237.865887 deg. 2025-10-27T05:23:47.842Z,1761542627.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151543 target range: 58.000652 and range: 58.30 m. 2025-10-27T05:23:47.857Z,1761542627.857 [DAT](INFO): DAT read: 05:23:45.8522 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 402, 0.01,-0.449,-1.948, 0.001,-0.572, PHS= 0.225,-1.331, 0.529, RAW= 158.8, 6.7, CAL= 158.2, 6.6, ROT= 351.8, -6.6 2025-10-27T05:23:47.858Z,1761542627.858 [DAT](INFO): got valid direction response: 05:23:45.8522 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 402, 0.01,-0.449,-1.948, 0.001,-0.572, PHS= 0.225,-1.331, 0.529, RAW= 158.8, 6.7, CAL= 158.2, 6.6, ROT= 351.8, -6.6 2025-10-27T05:23:47.860Z,1761542627.860 [DAT](INFO): DAT read: Bearing 26.4, -5.7 (Local) 2025-10-27T05:23:47.860Z,1761542627.860 [DAT](INFO): Local bearing/azimuth received: Bearing 26.4, -5.7 (Local) 2025-10-27T05:23:47.861Z,1761542627.861 [DAT](INFO): DAT read: Range 11 to 50 : 55.5 m (Round-trip 74.0 ms) speed 0.7 m/s 2025-10-27T05:23:47.862Z,1761542627.862 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:47.863Z,1761542627.863 [DAT](INFO): direction in FSK: [0.983217,-0.141684,0.114937] 2025-10-27T05:23:47.863Z,1761542627.863 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:47.871Z,1761542627.871 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:47.871Z,1761542627.871 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:47.871Z,1761542627.871 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:48.104Z,1761542628.104 [DAT](INFO): DAT read: user:410> 2025-10-27T05:23:48.105Z,1761542628.105 [DAT](INFO): DAT read: Tx time:05:23:47.1741 2025-10-27T05:23:48.105Z,1761542628.105 [DAT](INFO): Ping request sent. 2025-10-27T05:23:48.105Z,1761542628.105 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:48.105Z,1761542628.105 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:48.106Z,1761542628.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-27T05:23:48.187Z,1761542628.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524326,0.831837,0.182015],[-0.849222,-0.526512,-0.040087],[0.062488,-0.175590,0.982478]] 2025-10-27T05:23:48.216Z,1761542628.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 3.779994 s, deltaX: -2.799999 m, approachRate: -0.740742 m/s, rangeRepo size: 4 2025-10-27T05:23:48.218Z,1761542628.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.215286 m, bearing: 231.318243 deg, lat: 36.779373 deg, lon: -121.859702 deg, deltaT: 3.779994 s, deltaX: -2.785366 m, approachRate: -0.736870 m/s, posRepo size: 4 2025-10-27T05:23:48.218Z,1761542628.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.22 m. 2025-10-27T05:23:48.219Z,1761542628.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m. 2025-10-27T05:23:48.222Z,1761542628.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.215286 m, nav range: 53.599468 m, bearing: 231.173168 deg, approach rate: 0.000000 m/s, LOS rate: 0.001478 deg/s, cmd heading: 237.865900 deg, new cmd heading: 237.867556 deg. 2025-10-27T05:23:48.223Z,1761542628.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151572 target range: 55.215286 and range: 55.50 m. 2025-10-27T05:23:48.356Z,1761542628.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250968 2025-10-27T05:23:48.611Z,1761542628.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505021 2025-10-27T05:23:48.618Z,1761542628.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524140,0.831751,0.182940],[-0.849340,-0.526277,-0.040681],[0.062441,-0.176701,0.982282]] 2025-10-27T05:23:48.697Z,1761542628.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.22 m. 2025-10-27T05:23:48.698Z,1761542628.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m. 2025-10-27T05:23:48.706Z,1761542628.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.215286 m, nav range: 53.300728 m, bearing: 231.194717 deg, approach rate: -0.613469 m/s, LOS rate: 0.044498 deg/s, cmd heading: 237.867567 deg, new cmd heading: 237.932575 deg. 2025-10-27T05:23:48.712Z,1761542628.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.152707 target range: 55.215286 and range: 55.50 m. 2025-10-27T05:23:48.860Z,1761542628.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754778 2025-10-27T05:23:49.113Z,1761542629.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007431 2025-10-27T05:23:49.212Z,1761542629.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522591,0.833212,0.180710],[-0.850293,-0.524873,-0.038873],[0.062461,-0.173971,0.982768]] 2025-10-27T05:23:49.231Z,1761542629.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.22 m. 2025-10-27T05:23:49.232Z,1761542629.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m. 2025-10-27T05:23:49.234Z,1761542629.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.215286 m, nav range: 52.960033 m, bearing: 231.219037 deg, approach rate: -0.638472 m/s, LOS rate: 0.045869 deg/s, cmd heading: 237.932563 deg, new cmd heading: 238.005992 deg. 2025-10-27T05:23:49.236Z,1761542629.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153988 target range: 55.215286 and range: 55.50 m. 2025-10-27T05:23:49.364Z,1761542629.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258940 2025-10-27T05:23:49.619Z,1761542629.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513384 2025-10-27T05:23:49.654Z,1761542629.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520777,0.834538,0.179826],[-0.851419,-0.523100,-0.038109],[0.062264,-0.172953,0.982960]] 2025-10-27T05:23:49.707Z,1761542629.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.22 m. 2025-10-27T05:23:49.708Z,1761542629.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m. 2025-10-27T05:23:49.713Z,1761542629.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.215286 m, nav range: 52.691727 m, bearing: 231.254490 deg, approach rate: -0.563864 m/s, LOS rate: 0.074886 deg/s, cmd heading: 238.006001 deg, new cmd heading: 238.112901 deg. 2025-10-27T05:23:49.714Z,1761542629.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155854 target range: 55.215286 and range: 55.50 m. 2025-10-27T05:23:49.868Z,1761542629.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762842 2025-10-27T05:23:50.120Z,1761542630.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014899 2025-10-27T05:23:50.236Z,1761542630.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515546,0.838232,0.177709],[-0.854681,-0.517840,-0.036898],[0.061096,-0.170907,0.983391]] 2025-10-27T05:23:50.253Z,1761542630.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:50.255Z,1761542630.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.22 m. 2025-10-27T05:23:50.256Z,1761542630.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m. 2025-10-27T05:23:50.256Z,1761542630.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.50 m. 2025-10-27T05:23:50.256Z,1761542630.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T05:23:50.261Z,1761542630.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.215286 m, nav range: 52.377914 m, bearing: 231.294347 deg, approach rate: -0.572199 m/s, LOS rate: 0.073110 deg/s, cmd heading: 238.112907 deg, new cmd heading: 238.233195 deg. 2025-10-27T05:23:50.264Z,1761542630.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157954 target range: 55.215286 and range: 55.50 m. 2025-10-27T05:23:50.372Z,1761542630.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266944 2025-10-27T05:23:50.630Z,1761542630.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521553 2025-10-27T05:23:50.717Z,1761542630.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511775,0.841131,0.174888],[-0.857031,-0.514026,-0.035705],[0.059864,-0.168157,0.983941]] 2025-10-27T05:23:50.786Z,1761542630.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.22 m. 2025-10-27T05:23:50.815Z,1761542630.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.215286 m, nav range: 52.095089 m, bearing: 231.347205 deg, approach rate: -0.533676 m/s, LOS rate: 0.100281 deg/s, cmd heading: 238.233201 deg, new cmd heading: 238.392634 deg. 2025-10-27T05:23:50.816Z,1761542630.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160737 target range: 55.215286 and range: 55.50 m. 2025-10-27T05:23:50.876Z,1761542630.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770939 2025-10-27T05:23:51.128Z,1761542631.128 [DAT](INFO): DAT read: Rx Time:05:23:49.6488 2025-10-27T05:23:51.129Z,1761542631.129 [DAT](INFO): Rx dataTimestamp_ set to:1761542631.128267 2025-10-27T05:23:51.129Z,1761542631.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024016 2025-10-27T05:23:51.159Z,1761542631.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507700,0.843882,0.173502],[-0.859542,-0.509834,-0.035445],[0.058546,-0.167128,0.984195]] 2025-10-27T05:23:51.177Z,1761542631.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.22 m. 2025-10-27T05:23:51.180Z,1761542631.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.215286 m, nav range: 51.878700 m, bearing: 231.386877 deg, approach rate: -0.551209 m/s, LOS rate: 0.101480 deg/s, cmd heading: 238.392645 deg, new cmd heading: 238.512159 deg. 2025-10-27T05:23:51.181Z,1761542631.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162822 target range: 55.215286 and range: 55.50 m. 2025-10-27T05:23:51.383Z,1761542631.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278197 2025-10-27T05:23:51.542Z,1761542631.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503711,0.846476,0.172489],[-0.861956,-0.505763,-0.035138],[0.057496,-0.166378,0.984384]] 2025-10-27T05:23:51.584Z,1761542631.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.22 m. 2025-10-27T05:23:51.598Z,1761542631.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.215286 m, nav range: 51.667084 m, bearing: 231.424884 deg, approach rate: -0.520677 m/s, LOS rate: 0.093899 deg/s, cmd heading: 238.512146 deg, new cmd heading: 238.626634 deg. 2025-10-27T05:23:51.600Z,1761542631.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164821 target range: 55.215286 and range: 55.50 m. 2025-10-27T05:23:51.698Z,1761542631.698 [DAT](INFO): DAT read: 05:23:49.6488 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 399, 0.25,-0.085,-1.543, 0.385,-0.143, PHS= 0.159,-1.356, 0.484, RAW= 159.5, 8.4, CAL= 159.2, 8.8, ROT= 350.8, -8.8 2025-10-27T05:23:51.753Z,1761542631.753 [DAT](INFO): got valid direction response: 05:23:49.6488 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 399, 0.25,-0.085,-1.543, 0.385,-0.143, PHS= 0.159,-1.356, 0.484, RAW= 159.5, 8.4, CAL= 159.2, 8.8, ROT= 350.8, -8.8 2025-10-27T05:23:51.754Z,1761542631.754 [DAT](INFO): DAT read: Bearing 28.5, -6.7 (Local) 2025-10-27T05:23:51.754Z,1761542631.754 [DAT](INFO): Local bearing/azimuth received: Bearing 28.5, -6.7 (Local) 2025-10-27T05:23:51.767Z,1761542631.767 [DAT](INFO): DAT read: Range 11 to 50 : 52.9 m (Round-trip 70.6 ms) speed 0.4 m/s 2025-10-27T05:23:51.768Z,1761542631.768 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:51.770Z,1761542631.770 [DAT](INFO): direction in FSK: [0.975516,-0.157999,0.152986] 2025-10-27T05:23:51.771Z,1761542631.771 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:51.786Z,1761542631.786 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:51.786Z,1761542631.786 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:51.786Z,1761542631.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:51.886Z,1761542631.886 [DAT](INFO): DAT read: user:411> 2025-10-27T05:23:51.887Z,1761542631.887 [DAT](INFO): DAT read: Tx time:05:23:51.0741 2025-10-27T05:23:51.887Z,1761542631.887 [DAT](INFO): Ping request sent. 2025-10-27T05:23:51.887Z,1761542631.887 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:51.888Z,1761542631.888 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:51.888Z,1761542631.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001090 2025-10-27T05:23:51.980Z,1761542631.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499862,0.848815,0.172195],[-0.864266,-0.501793,-0.035333],[0.056415,-0.166484,0.984429]] 2025-10-27T05:23:52.044Z,1761542632.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.900002 m, deltaT: 3.781779 s, deltaX: -2.599998 m, approachRate: -0.687507 m/s, rangeRepo size: 4 2025-10-27T05:23:52.046Z,1761542632.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.628170 m, bearing: 232.259652 deg, lat: 36.779374 deg, lon: -121.859703 deg, deltaT: 3.781779 s, deltaX: -2.587116 m, approachRate: -0.684100 m/s, posRepo size: 4 2025-10-27T05:23:52.047Z,1761542632.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:52.049Z,1761542632.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 51.386086 m, bearing: 231.628458 deg, approach rate: 0.000000 m/s, LOS rate: 0.093899 deg/s, cmd heading: 238.626647 deg, new cmd heading: 238.756003 deg. 2025-10-27T05:23:52.050Z,1761542632.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167078 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:52.137Z,1761542632.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249549 2025-10-27T05:23:52.373Z,1761542632.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495458,0.851651,0.170915],[-0.866892,-0.497246,-0.035274],[0.054946,-0.165642,0.984654]] 2025-10-27T05:23:52.388Z,1761542632.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500653 2025-10-27T05:23:52.414Z,1761542632.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:52.417Z,1761542632.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:52.419Z,1761542632.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 51.181671 m, bearing: 231.665585 deg, approach rate: -0.547473 m/s, LOS rate: 0.099834 deg/s, cmd heading: 238.756011 deg, new cmd heading: 238.867838 deg. 2025-10-27T05:23:52.420Z,1761542632.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169030 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:52.644Z,1761542632.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756473 2025-10-27T05:23:52.798Z,1761542632.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491335,0.854502,0.168570],[-0.869349,-0.492951,-0.035089],[0.053113,-0.163787,0.985065]] 2025-10-27T05:23:52.856Z,1761542632.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:52.858Z,1761542632.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 50.940224 m, bearing: 231.699091 deg, approach rate: -0.549953 m/s, LOS rate: 0.076679 deg/s, cmd heading: 238.867835 deg, new cmd heading: 238.968828 deg. 2025-10-27T05:23:52.864Z,1761542632.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170793 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:52.895Z,1761542632.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007223 2025-10-27T05:23:53.144Z,1761542633.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256867 2025-10-27T05:23:53.182Z,1761542633.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487920,0.856998,0.165797],[-0.871374,-0.489391,-0.034704],[0.051398,-0.161404,0.985549]] 2025-10-27T05:23:53.216Z,1761542633.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:53.219Z,1761542633.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 50.733913 m, bearing: 231.727063 deg, approach rate: -0.572370 m/s, LOS rate: 0.077919 deg/s, cmd heading: 238.968839 deg, new cmd heading: 239.053097 deg. 2025-10-27T05:23:53.220Z,1761542633.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172264 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:53.397Z,1761542633.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510011 2025-10-27T05:23:53.587Z,1761542633.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484797,0.859008,0.164553],[-0.873218,-0.486047,-0.035341],[0.049623,-0.160824,0.985735]] 2025-10-27T05:23:53.606Z,1761542633.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:53.609Z,1761542633.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 50.514725 m, bearing: 231.756114 deg, approach rate: -0.561841 m/s, LOS rate: 0.074787 deg/s, cmd heading: 239.053097 deg, new cmd heading: 239.140626 deg. 2025-10-27T05:23:53.610Z,1761542633.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173791 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:53.650Z,1761542633.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762602 2025-10-27T05:23:53.900Z,1761542633.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012516 2025-10-27T05:23:53.990Z,1761542633.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482262,0.860662,0.163354],[-0.874711,-0.483310,-0.035953],[0.048007,-0.160226,0.985912]] 2025-10-27T05:23:54.042Z,1761542634.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:54.045Z,1761542634.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 50.259457 m, bearing: 231.771856 deg, approach rate: -0.585004 m/s, LOS rate: 0.036259 deg/s, cmd heading: 239.140632 deg, new cmd heading: 239.188097 deg. 2025-10-27T05:23:54.046Z,1761542634.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174620 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:54.152Z,1761542634.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265037 2025-10-27T05:23:54.400Z,1761542634.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480130,0.862210,0.161457],[-0.875986,-0.480943,-0.036624],[0.046074,-0.159018,0.986200]] 2025-10-27T05:23:54.404Z,1761542634.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516653 2025-10-27T05:23:54.418Z,1761542634.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:54.421Z,1761542634.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:54.424Z,1761542634.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 50.038380 m, bearing: 231.784991 deg, approach rate: -0.584724 m/s, LOS rate: 0.034895 deg/s, cmd heading: 239.188088 deg, new cmd heading: 239.227669 deg. 2025-10-27T05:23:54.425Z,1761542634.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175311 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:54.658Z,1761542634.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770840 2025-10-27T05:23:54.800Z,1761542634.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479256,0.862793,0.160941],[-0.876542,-0.479837,-0.037827],[0.044588,-0.159200,0.986239]] 2025-10-27T05:23:54.852Z,1761542634.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:54.855Z,1761542634.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 49.781101 m, bearing: 231.776202 deg, approach rate: -0.596241 m/s, LOS rate: -0.020474 deg/s, cmd heading: 239.227676 deg, new cmd heading: 239.201173 deg. 2025-10-27T05:23:54.856Z,1761542634.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174848 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:54.909Z,1761542634.909 [DAT](INFO): DAT read: Rx Time:05:23:53.5461 2025-10-27T05:23:54.909Z,1761542634.909 [DAT](INFO): Rx dataTimestamp_ set to:1761542634.909056 2025-10-27T05:23:54.910Z,1761542634.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022902 2025-10-27T05:23:55.160Z,1761542635.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272597 2025-10-27T05:23:55.202Z,1761542635.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478245,0.863219,0.161662],[-0.877172,-0.478527,-0.039768],[0.043031,-0.160824,0.986045]] 2025-10-27T05:23:55.234Z,1761542635.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.63 m. 2025-10-27T05:23:55.237Z,1761542635.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.628170 m, nav range: 49.543545 m, bearing: 231.767666 deg, approach rate: -0.622588 m/s, LOS rate: -0.022479 deg/s, cmd heading: 239.201175 deg, new cmd heading: 239.175444 deg. 2025-10-27T05:23:55.237Z,1761542635.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174399 target range: 52.628170 and range: 52.90 m. 2025-10-27T05:23:55.428Z,1761542635.428 [DAT](INFO): DAT read: 05:23:53.5461 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 420,-0.08, 0.568,-0.906, 1.106, 0.500, PHS= 0.170,-1.361, 0.562, RAW= 161.1, 7.2, CAL= 160.6, 7.1, ROT= 349.4, -7.1 2025-10-27T05:23:55.430Z,1761542635.430 [DAT](INFO): got valid direction response: 05:23:53.5461 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 420,-0.08, 0.568,-0.906, 1.106, 0.500, PHS= 0.170,-1.361, 0.562, RAW= 161.1, 7.2, CAL= 160.6, 7.1, ROT= 349.4, -7.1 2025-10-27T05:23:55.430Z,1761542635.430 [DAT](INFO): DAT read: Bearing 28.2, -8.4 (Local) 2025-10-27T05:23:55.445Z,1761542635.445 [DAT](INFO): Local bearing/azimuth received: Bearing 28.2, -8.4 (Local) 2025-10-27T05:23:55.464Z,1761542635.464 [DAT](INFO): DAT read: Range 11 to 50 : 50.9 m (Round-trip 67.9 ms) speed 0.4 m/s 2025-10-27T05:23:55.465Z,1761542635.465 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:55.466Z,1761542635.466 [DAT](INFO): direction in FSK: [0.975398,-0.182541,0.123601] 2025-10-27T05:23:55.466Z,1761542635.466 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:55.478Z,1761542635.478 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:55.478Z,1761542635.478 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:55.478Z,1761542635.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:55.608Z,1761542635.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477609,0.863507,0.162004],[-0.877584,-0.477635,-0.041363],[0.041661,-0.161928,0.985923]] 2025-10-27T05:23:55.636Z,1761542635.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 3.780837 s, deltaX: -2.000000 m, approachRate: -0.528983 m/s, rangeRepo size: 4 2025-10-27T05:23:55.638Z,1761542635.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.636868 m, bearing: 232.054813 deg, lat: 36.779373 deg, lon: -121.859705 deg, deltaT: 3.780837 s, deltaX: -1.991302 m, approachRate: -0.526683 m/s, posRepo size: 4 2025-10-27T05:23:55.639Z,1761542635.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:55.641Z,1761542635.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 49.481262 m, bearing: 231.862424 deg, approach rate: 0.000000 m/s, LOS rate: -0.022479 deg/s, cmd heading: 239.175439 deg, new cmd heading: 239.148365 deg. 2025-10-27T05:23:55.642Z,1761542635.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173926 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:55.664Z,1761542635.664 [DAT](INFO): DAT read: user:412> 2025-10-27T05:23:55.665Z,1761542635.665 [DAT](INFO): DAT read: Tx time:05:23:54.7741 2025-10-27T05:23:55.665Z,1761542635.665 [DAT](INFO): Ping request sent. 2025-10-27T05:23:55.665Z,1761542635.665 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:55.665Z,1761542635.665 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:55.666Z,1761542635.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-27T05:23:55.916Z,1761542635.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250852 2025-10-27T05:23:56.013Z,1761542636.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478075,0.863653,0.159839],[-0.877392,-0.477953,-0.041753],[0.040335,-0.160203,0.986260]] 2025-10-27T05:23:56.050Z,1761542636.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:56.053Z,1761542636.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 49.215775 m, bearing: 231.840162 deg, approach rate: -0.640175 m/s, LOS rate: -0.053972 deg/s, cmd heading: 239.148364 deg, new cmd heading: 239.081216 deg. 2025-10-27T05:23:56.054Z,1761542636.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172754 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:56.168Z,1761542636.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503217 2025-10-27T05:23:56.420Z,1761542636.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754955 2025-10-27T05:23:56.426Z,1761542636.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479231,0.863300,0.158275],[-0.876792,-0.479043,-0.041877],[0.039669,-0.158843,0.986507]] 2025-10-27T05:23:56.443Z,1761542636.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:56.445Z,1761542636.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:56.448Z,1761542636.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 48.965054 m, bearing: 231.819304 deg, approach rate: -0.633936 m/s, LOS rate: -0.053007 deg/s, cmd heading: 239.081210 deg, new cmd heading: 239.018317 deg. 2025-10-27T05:23:56.449Z,1761542636.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171657 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:56.672Z,1761542636.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006855 2025-10-27T05:23:56.818Z,1761542636.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480455,0.862492,0.158969],[-0.876150,-0.480099,-0.043210],[0.039052,-0.160041,0.986338]] 2025-10-27T05:23:56.924Z,1761542636.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258909 2025-10-27T05:23:56.934Z,1761542636.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:56.938Z,1761542636.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 48.645584 m, bearing: 231.779797 deg, approach rate: -0.653217 m/s, LOS rate: -0.081310 deg/s, cmd heading: 239.018317 deg, new cmd heading: 238.899018 deg. 2025-10-27T05:23:56.939Z,1761542636.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169574 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:57.177Z,1761542637.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511848 2025-10-27T05:23:57.244Z,1761542637.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482158,0.861344,0.160031],[-0.875248,-0.481572,-0.045044],[0.038269,-0.161785,0.986084]] 2025-10-27T05:23:57.304Z,1761542637.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:57.311Z,1761542637.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 48.409473 m, bearing: 231.750801 deg, approach rate: -0.638142 m/s, LOS rate: -0.078751 deg/s, cmd heading: 238.899008 deg, new cmd heading: 238.811595 deg. 2025-10-27T05:23:57.312Z,1761542637.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.168049 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:57.428Z,1761542637.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762936 2025-10-27T05:23:57.647Z,1761542637.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483832,0.860201,0.161126],[-0.874370,-0.482957,-0.047216],[0.037201,-0.163729,0.985804]] 2025-10-27T05:23:57.680Z,1761542637.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889 2025-10-27T05:23:57.690Z,1761542637.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:57.693Z,1761542637.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 48.155853 m, bearing: 231.719906 deg, approach rate: -0.657642 m/s, LOS rate: -0.080534 deg/s, cmd heading: 238.811608 deg, new cmd heading: 238.718435 deg. 2025-10-27T05:23:57.694Z,1761542637.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166423 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:57.932Z,1761542637.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266824 2025-10-27T05:23:58.050Z,1761542638.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485337,0.859040,0.162782],[-0.873592,-0.484080,-0.050024],[0.035827,-0.166483,0.985393]] 2025-10-27T05:23:58.110Z,1761542638.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:58.114Z,1761542638.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 47.875309 m, bearing: 231.680288 deg, approach rate: -0.668001 m/s, LOS rate: -0.094887 deg/s, cmd heading: 238.718445 deg, new cmd heading: 238.598895 deg. 2025-10-27T05:23:58.114Z,1761542638.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164336 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:58.185Z,1761542638.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519591 2025-10-27T05:23:58.436Z,1761542638.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770793 2025-10-27T05:23:58.458Z,1761542638.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487617,0.857776,0.162635],[-0.872373,-0.486083,-0.051857],[0.034572,-0.167164,0.985323]] 2025-10-27T05:23:58.474Z,1761542638.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:23:58.477Z,1761542638.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:58.480Z,1761542638.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 47.633747 m, bearing: 231.646555 deg, approach rate: -0.658684 m/s, LOS rate: -0.092449 deg/s, cmd heading: 238.598889 deg, new cmd heading: 238.497176 deg. 2025-10-27T05:23:58.481Z,1761542638.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162561 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:58.689Z,1761542638.689 [DAT](INFO): DAT read: Rx Time:05:23:57.2430 2025-10-27T05:23:58.689Z,1761542638.689 [DAT](INFO): Rx dataTimestamp_ set to:1761542638.689057 2025-10-27T05:23:58.690Z,1761542638.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024800 2025-10-27T05:23:58.920Z,1761542638.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.64 m. 2025-10-27T05:23:58.923Z,1761542638.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.636868 m, nav range: 47.355061 m, bearing: 231.613145 deg, approach rate: -0.628753 m/s, LOS rate: -0.075820 deg/s, cmd heading: 238.497174 deg, new cmd heading: 238.396355 deg. 2025-10-27T05:23:58.924Z,1761542638.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160801 target range: 50.636868 and range: 50.90 m. 2025-10-27T05:23:58.943Z,1761542638.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277505 2025-10-27T05:23:59.197Z,1761542639.197 [DAT](INFO): DAT read: 05:23:57.2430 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 404,-0.21, 2.795, 1.355,-2.983, 2.758, PHS= 0.139,-1.358, 0.498, RAW= 160.5, 8.5, CAL= 160.2, 8.8, ROT= 349.8, -8.8 2025-10-27T05:23:59.199Z,1761542639.199 [DAT](INFO): got valid direction response: 05:23:57.2430 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 404,-0.21, 2.795, 1.355,-2.983, 2.758, PHS= 0.139,-1.358, 0.498, RAW= 160.5, 8.5, CAL= 160.2, 8.8, ROT= 349.8, -8.8 2025-10-27T05:23:59.200Z,1761542639.200 [DAT](INFO): DAT read: Bearing 30.6, -9.5 (Local) 2025-10-27T05:23:59.200Z,1761542639.200 [DAT](INFO): Local bearing/azimuth received: Bearing 30.6, -9.5 (Local) 2025-10-27T05:23:59.201Z,1761542639.201 [DAT](INFO): DAT read: Range 11 to 50 : 48.6 m (Round-trip 64.8 ms) speed 0.6 m/s 2025-10-27T05:23:59.202Z,1761542639.202 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:23:59.203Z,1761542639.203 [DAT](INFO): direction in FSK: [0.972610,-0.175000,0.152986] 2025-10-27T05:23:59.203Z,1761542639.203 [DAT](INFO): publishing direction and range info 2025-10-27T05:23:59.207Z,1761542639.207 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:23:59.207Z,1761542639.207 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:23:59.217Z,1761542639.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:23:59.293Z,1761542639.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491050,0.855476,0.164411],[-0.870579,-0.488639,-0.057659],[0.031011,-0.171446,0.984705]] 2025-10-27T05:23:59.368Z,1761542639.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 3.777669 s, deltaX: -2.300003 m, approachRate: -0.608842 m/s, rangeRepo size: 4 2025-10-27T05:23:59.370Z,1761542639.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.345322 m, bearing: 231.975387 deg, lat: 36.779373 deg, lon: -121.859707 deg, deltaT: 3.777669 s, deltaX: -2.291546 m, approachRate: -0.606603 m/s, posRepo size: 4 2025-10-27T05:23:59.371Z,1761542639.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:23:59.384Z,1761542639.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 47.259369 m, bearing: 231.746444 deg, approach rate: 0.000000 m/s, LOS rate: -0.075820 deg/s, cmd heading: 238.396360 deg, new cmd heading: 238.294677 deg. 2025-10-27T05:23:59.385Z,1761542639.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159027 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:23:59.444Z,1761542639.444 [DAT](INFO): DAT read: user:413> 2025-10-27T05:23:59.445Z,1761542639.445 [DAT](INFO): DAT read: Tx time:05:23:58.5241 2025-10-27T05:23:59.445Z,1761542639.445 [DAT](INFO): Ping request sent. 2025-10-27T05:23:59.445Z,1761542639.445 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:23:59.445Z,1761542639.445 [DAT](INFO): publishing transmit ping time 2025-10-27T05:23:59.446Z,1761542639.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-27T05:23:59.696Z,1761542639.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250735 2025-10-27T05:23:59.742Z,1761542639.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492298,0.854782,0.164289],[-0.869945,-0.489464,-0.060181],[0.028972,-0.172549,0.984575]] 2025-10-27T05:23:59.832Z,1761542639.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:23:59.835Z,1761542639.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 46.960884 m, bearing: 231.712815 deg, approach rate: -0.641888 m/s, LOS rate: -0.072779 deg/s, cmd heading: 238.294672 deg, new cmd heading: 238.193144 deg. 2025-10-27T05:23:59.836Z,1761542639.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157255 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:23:59.948Z,1761542639.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502661 2025-10-27T05:24:00.113Z,1761542640.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493218,0.854257,0.164257],[-0.869492,-0.489937,-0.062807],[0.026822,-0.173798,0.984416]] 2025-10-27T05:24:00.160Z,1761542640.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:24:00.162Z,1761542640.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 46.751648 m, bearing: 231.693214 deg, approach rate: -0.640277 m/s, LOS rate: -0.060251 deg/s, cmd heading: 238.193148 deg, new cmd heading: 238.134081 deg. 2025-10-27T05:24:00.164Z,1761542640.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156224 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:24:00.201Z,1761542640.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755468 2025-10-27T05:24:00.452Z,1761542640.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006655 2025-10-27T05:24:00.553Z,1761542640.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:00.556Z,1761542640.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:24:00.559Z,1761542640.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 46.508423 m, bearing: 231.670205 deg, approach rate: -0.612522 m/s, LOS rate: -0.058246 deg/s, cmd heading: 238.134081 deg, new cmd heading: 238.064694 deg. 2025-10-27T05:24:00.560Z,1761542640.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155013 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:24:00.705Z,1761542640.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259104 2025-10-27T05:24:00.921Z,1761542640.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494684,0.853637,0.163072],[-0.868774,-0.490649,-0.067039],[0.022784,-0.174836,0.984334]] 2025-10-27T05:24:00.956Z,1761542640.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510983 2025-10-27T05:24:00.972Z,1761542640.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:24:00.975Z,1761542640.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 46.259827 m, bearing: 231.660969 deg, approach rate: -0.597168 m/s, LOS rate: -0.022306 deg/s, cmd heading: 238.064686 deg, new cmd heading: 238.036829 deg. 2025-10-27T05:24:00.976Z,1761542640.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154526 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:24:01.208Z,1761542641.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762604 2025-10-27T05:24:01.353Z,1761542641.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494846,0.853886,0.161265],[-0.868741,-0.490472,-0.068743],[0.020397,-0.174115,0.984514]] 2025-10-27T05:24:01.396Z,1761542641.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:24:01.398Z,1761542641.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 46.013462 m, bearing: 231.651775 deg, approach rate: -0.581630 m/s, LOS rate: -0.021821 deg/s, cmd heading: 238.036819 deg, new cmd heading: 238.009091 deg. 2025-10-27T05:24:01.400Z,1761542641.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154042 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:24:01.460Z,1761542641.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014903 2025-10-27T05:24:01.713Z,1761542641.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267431 2025-10-27T05:24:01.737Z,1761542641.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494542,0.854309,0.159952],[-0.868969,-0.489791,-0.070700],[0.017943,-0.173957,0.984590]] 2025-10-27T05:24:01.843Z,1761542641.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:24:01.846Z,1761542641.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 45.752968 m, bearing: 231.641818 deg, approach rate: -0.587567 m/s, LOS rate: -0.022587 deg/s, cmd heading: 238.009088 deg, new cmd heading: 237.979047 deg. 2025-10-27T05:24:01.851Z,1761542641.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153518 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:24:01.964Z,1761542641.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518808 2025-10-27T05:24:02.147Z,1761542642.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494124,0.854745,0.158909],[-0.869248,-0.489033,-0.072482],[0.015758,-0.173946,0.984629]] 2025-10-27T05:24:02.192Z,1761542642.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:24:02.195Z,1761542642.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 45.538479 m, bearing: 231.645063 deg, approach rate: -0.607292 m/s, LOS rate: 0.009229 deg/s, cmd heading: 237.979036 deg, new cmd heading: 237.988814 deg. 2025-10-27T05:24:02.196Z,1761542642.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153688 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:24:02.216Z,1761542642.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770986 2025-10-27T05:24:02.468Z,1761542642.468 [DAT](INFO): DAT read: Rx Time:05:24:00.9897 2025-10-27T05:24:02.468Z,1761542642.468 [DAT](INFO): Rx dataTimestamp_ set to:1761542642.468210 2025-10-27T05:24:02.469Z,1761542642.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023841 2025-10-27T05:24:02.550Z,1761542642.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492697,0.855790,0.157713],[-0.870097,-0.487282,-0.074080],[0.013453,-0.173725,0.984702]] 2025-10-27T05:24:02.583Z,1761542642.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:02.585Z,1761542642.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.35 m. 2025-10-27T05:24:02.588Z,1761542642.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.345322 m, nav range: 45.311485 m, bearing: 231.648047 deg, approach rate: -0.578244 m/s, LOS rate: 0.007642 deg/s, cmd heading: 237.988816 deg, new cmd heading: 237.997816 deg. 2025-10-27T05:24:02.589Z,1761542642.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.153845 target range: 48.345322 and range: 48.60 m. 2025-10-27T05:24:02.721Z,1761542642.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275450 2025-10-27T05:24:02.961Z,1761542642.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491227,0.857166,0.154802],[-0.870959,-0.485659,-0.074599],[0.011237,-0.171471,0.985125]] 2025-10-27T05:24:02.977Z,1761542642.977 [DAT](INFO): DAT read: 05:24:00.9897 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 402,-0.15, 1.014,-0.460, 1.550, 0.963, PHS= 0.154,-1.377, 0.543, RAW= 161.1, 7.8, CAL= 160.6, 7.9, ROT= 349.4, -7.9 2025-10-27T05:24:02.978Z,1761542642.978 [DAT](INFO): got valid direction response: 05:24:00.9897 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 402,-0.15, 1.014,-0.460, 1.550, 0.963, PHS= 0.154,-1.377, 0.543, RAW= 161.1, 7.8, CAL= 160.6, 7.9, ROT= 349.4, -7.9 2025-10-27T05:24:02.980Z,1761542642.980 [DAT](INFO): DAT read: Bearing 29.0, -10.9 (Local) 2025-10-27T05:24:02.981Z,1761542642.981 [DAT](INFO): Local bearing/azimuth received: Bearing 29.0, -10.9 (Local) 2025-10-27T05:24:02.982Z,1761542642.982 [DAT](INFO): DAT read: Range 11 to 50 : 46.1 m (Round-trip 61.5 ms) speed 0.4 m/s 2025-10-27T05:24:02.983Z,1761542642.983 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:24:02.984Z,1761542642.984 [DAT](INFO): direction in FSK: [0.973607,-0.182206,0.137445] 2025-10-27T05:24:02.984Z,1761542642.984 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:02.988Z,1761542642.988 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:24:02.988Z,1761542642.988 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:24:02.988Z,1761542642.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:24:03.090Z,1761542643.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.099998 m, deltaT: 3.779794 s, deltaX: -2.500000 m, approachRate: -0.661412 m/s, rangeRepo size: 4 2025-10-27T05:24:03.096Z,1761542643.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.851460 m, bearing: 231.459433 deg, lat: 36.779373 deg, lon: -121.859707 deg, deltaT: 3.779794 s, deltaX: -2.493862 m, approachRate: -0.659788 m/s, posRepo size: 4 2025-10-27T05:24:03.097Z,1761542643.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:03.104Z,1761542643.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 45.056564 m, bearing: 231.666490 deg, approach rate: 0.000000 m/s, LOS rate: 0.007642 deg/s, cmd heading: 237.997805 deg, new cmd heading: 238.009371 deg. 2025-10-27T05:24:03.105Z,1761542643.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154047 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:03.224Z,1761542643.224 [DAT](INFO): DAT read: user:414> 2025-10-27T05:24:03.225Z,1761542643.225 [DAT](INFO): DAT read: Tx time:05:24:02.2741 2025-10-27T05:24:03.225Z,1761542643.225 [DAT](INFO): Ping request sent. 2025-10-27T05:24:03.225Z,1761542643.225 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:24:03.225Z,1761542643.225 [DAT](INFO): publishing transmit ping time 2025-10-27T05:24:03.226Z,1761542643.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-10-27T05:24:03.394Z,1761542643.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489638,0.858556,0.152105],[-0.871877,-0.483938,-0.075059],[0.009167,-0.169369,0.985510]] 2025-10-27T05:24:03.416Z,1761542643.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:03.419Z,1761542643.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 44.876377 m, bearing: 231.679269 deg, approach rate: -0.551767 m/s, LOS rate: 0.039287 deg/s, cmd heading: 238.009362 deg, new cmd heading: 238.047851 deg. 2025-10-27T05:24:03.420Z,1761542643.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154719 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:03.477Z,1761542643.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251313 2025-10-27T05:24:03.729Z,1761542643.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503692 2025-10-27T05:24:03.844Z,1761542643.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488199,0.859613,0.150757],[-0.872700,-0.482327,-0.075866],[0.007499,-0.168604,0.985655]] 2025-10-27T05:24:03.898Z,1761542643.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:03.901Z,1761542643.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 44.613621 m, bearing: 231.702627 deg, approach rate: -0.544987 m/s, LOS rate: 0.048734 deg/s, cmd heading: 238.047857 deg, new cmd heading: 238.118345 deg. 2025-10-27T05:24:03.902Z,1761542643.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155949 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:03.981Z,1761542643.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755505 2025-10-27T05:24:04.197Z,1761542644.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487277,0.860384,0.149332],[-0.873222,-0.481385,-0.075837],[0.006637,-0.167354,0.985874]] 2025-10-27T05:24:04.216Z,1761542644.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:04.219Z,1761542644.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 44.441269 m, bearing: 231.717883 deg, approach rate: -0.541680 m/s, LOS rate: 0.048133 deg/s, cmd heading: 238.118344 deg, new cmd heading: 238.164289 deg. 2025-10-27T05:24:04.220Z,1761542644.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156751 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:04.232Z,1761542644.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853 2025-10-27T05:24:04.485Z,1761542644.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259332 2025-10-27T05:24:04.601Z,1761542644.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485952,0.861323,0.148237],[-0.873967,-0.480003,-0.076019],[0.005677,-0.166496,0.986026]] 2025-10-27T05:24:04.641Z,1761542644.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:04.648Z,1761542644.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:04.656Z,1761542644.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 44.218815 m, bearing: 231.737326 deg, approach rate: -0.514984 m/s, LOS rate: 0.045236 deg/s, cmd heading: 238.164298 deg, new cmd heading: 238.222919 deg. 2025-10-27T05:24:04.657Z,1761542644.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157774 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:04.736Z,1761542644.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511028 2025-10-27T05:24:04.988Z,1761542644.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762638 2025-10-27T05:24:05.008Z,1761542645.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484207,0.862444,0.147423],[-0.874940,-0.478201,-0.076180],[0.004796,-0.165873,0.986135]] 2025-10-27T05:24:05.065Z,1761542645.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:05.068Z,1761542645.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 43.987175 m, bearing: 231.758187 deg, approach rate: -0.555622 m/s, LOS rate: 0.050304 deg/s, cmd heading: 238.222928 deg, new cmd heading: 238.285843 deg. 2025-10-27T05:24:05.069Z,1761542645.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158873 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:05.240Z,1761542645.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014691 2025-10-27T05:24:05.410Z,1761542645.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483057,0.863198,0.146779],[-0.875579,-0.477009,-0.076315],[0.004140,-0.165381,0.986221]] 2025-10-27T05:24:05.442Z,1761542645.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:05.445Z,1761542645.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 43.786976 m, bearing: 231.776056 deg, approach rate: -0.530689 m/s, LOS rate: 0.047584 deg/s, cmd heading: 238.285848 deg, new cmd heading: 238.339700 deg. 2025-10-27T05:24:05.446Z,1761542645.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159812 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:05.493Z,1761542645.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267614 2025-10-27T05:24:05.745Z,1761542645.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519733 2025-10-27T05:24:05.834Z,1761542645.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482788,0.863537,0.145667],[-0.875731,-0.476672,-0.076671],[0.003227,-0.164581,0.986358]] 2025-10-27T05:24:05.907Z,1761542645.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:05.913Z,1761542645.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 43.545265 m, bearing: 231.797766 deg, approach rate: -0.520691 m/s, LOS rate: 0.047026 deg/s, cmd heading: 238.339697 deg, new cmd heading: 238.405186 deg. 2025-10-27T05:24:05.914Z,1761542645.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160955 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:05.997Z,1761542645.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771473 2025-10-27T05:24:06.250Z,1761542646.250 [DAT](INFO): DAT read: Rx Time:05:24:04.7370 2025-10-27T05:24:06.251Z,1761542646.251 [DAT](INFO): Rx dataTimestamp_ set to:1761542646.250132 2025-10-27T05:24:06.252Z,1761542646.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026816 2025-10-27T05:24:06.260Z,1761542646.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484917,0.862169,0.146698],[-0.874559,-0.478327,-0.079682],[0.001470,-0.166935,0.985967]] 2025-10-27T05:24:06.367Z,1761542646.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:06.373Z,1761542646.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 43.297531 m, bearing: 231.809556 deg, approach rate: -0.538590 m/s, LOS rate: 0.025779 deg/s, cmd heading: 238.405185 deg, new cmd heading: 238.440757 deg. 2025-10-27T05:24:06.374Z,1761542646.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161576 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:06.500Z,1761542646.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274694 2025-10-27T05:24:06.704Z,1761542646.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486247,0.861061,0.148786],[-0.873821,-0.479214,-0.082403],[0.000346,-0.170080,0.985430]] 2025-10-27T05:24:06.732Z,1761542646.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:06.735Z,1761542646.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.85 m. 2025-10-27T05:24:06.738Z,1761542646.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.851460 m, nav range: 43.080971 m, bearing: 231.820357 deg, approach rate: -0.587864 m/s, LOS rate: 0.029468 deg/s, cmd heading: 238.440756 deg, new cmd heading: 238.473323 deg. 2025-10-27T05:24:06.739Z,1761542646.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162145 target range: 45.851460 and range: 46.10 m. 2025-10-27T05:24:06.776Z,1761542646.776 [DAT](INFO): DAT read: 05:24:04.7370 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 406, 0.42,-0.542,-2.012,-0.042,-0.573, PHS= 0.133,-1.394, 0.487, RAW= 160.2, 9.0, CAL= 160.0, 9.4, ROT= 350.0, -9.4 2025-10-27T05:24:06.777Z,1761542646.777 [DAT](INFO): got valid direction response: 05:24:04.7370 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 406, 0.42,-0.542,-2.012,-0.042,-0.573, PHS= 0.133,-1.394, 0.487, RAW= 160.2, 9.0, CAL= 160.0, 9.4, ROT= 350.0, -9.4 2025-10-27T05:24:06.778Z,1761542646.778 [DAT](INFO): DAT read: Bearing 30.4, -11.0 (Local) 2025-10-27T05:24:06.778Z,1761542646.778 [DAT](INFO): Local bearing/azimuth received: Bearing 30.4, -11.0 (Local) 2025-10-27T05:24:06.780Z,1761542646.780 [DAT](INFO): DAT read: Range 11 to 50 : 44.0 m (Round-trip 58.7 ms) speed 0.4 m/s 2025-10-27T05:24:06.780Z,1761542646.780 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:24:06.781Z,1761542646.781 [DAT](INFO): direction in FSK: [0.971584,-0.171316,0.163326] 2025-10-27T05:24:06.782Z,1761542646.782 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:06.797Z,1761542646.797 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:24:06.797Z,1761542646.797 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:24:06.798Z,1761542646.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:24:07.004Z,1761542647.004 [DAT](INFO): DAT read: user:415> 2025-10-27T05:24:07.005Z,1761542647.005 [DAT](INFO): DAT read: Tx time:05:24:06.1241 2025-10-27T05:24:07.005Z,1761542647.005 [DAT](INFO): Ping request sent. 2025-10-27T05:24:07.005Z,1761542647.005 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:24:07.005Z,1761542647.005 [DAT](INFO): publishing transmit ping time 2025-10-27T05:24:07.006Z,1761542647.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-27T05:24:07.111Z,1761542647.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487964,0.859636,0.151386],[-0.872863,-0.480359,-0.085824],[-0.001057,-0.174018,0.984742]] 2025-10-27T05:24:07.154Z,1761542647.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.000000 m, deltaT: 3.780706 s, deltaX: -2.099998 m, approachRate: -0.555451 m/s, rangeRepo size: 4 2025-10-27T05:24:07.180Z,1761542647.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.771233 m, bearing: 232.579022 deg, lat: 36.779375 deg, lon: -121.859708 deg, deltaT: 3.780706 s, deltaX: -2.080227 m, approachRate: -0.550222 m/s, posRepo size: 4 2025-10-27T05:24:07.181Z,1761542647.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:07.188Z,1761542647.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 42.796261 m, bearing: 232.022768 deg, approach rate: 0.000000 m/s, LOS rate: 0.029468 deg/s, cmd heading: 238.473323 deg, new cmd heading: 238.510292 deg. 2025-10-27T05:24:07.189Z,1761542647.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162790 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:07.257Z,1761542647.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251463 2025-10-27T05:24:07.508Z,1761542647.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502520 2025-10-27T05:24:07.518Z,1761542647.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490437,0.858081,0.152210],[-0.871474,-0.482495,-0.087927],[-0.002008,-0.175770,0.984429]] 2025-10-27T05:24:07.538Z,1761542647.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:07.541Z,1761542647.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 42.579819 m, bearing: 232.026969 deg, approach rate: -0.561996 m/s, LOS rate: 0.010964 deg/s, cmd heading: 238.510288 deg, new cmd heading: 238.522956 deg. 2025-10-27T05:24:07.542Z,1761542647.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163011 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:07.761Z,1761542647.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756027 2025-10-27T05:24:07.925Z,1761542647.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492602,0.856517,0.154015],[-0.870248,-0.484145,-0.090952],[-0.003336,-0.178834,0.983874]] 2025-10-27T05:24:07.982Z,1761542647.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:07.985Z,1761542647.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 42.328209 m, bearing: 232.024110 deg, approach rate: -0.567192 m/s, LOS rate: -0.006484 deg/s, cmd heading: 238.522965 deg, new cmd heading: 238.514336 deg. 2025-10-27T05:24:07.986Z,1761542647.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162860 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:08.012Z,1761542648.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006487 2025-10-27T05:24:08.265Z,1761542648.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259708 2025-10-27T05:24:08.317Z,1761542648.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494460,0.854984,0.156563],[-0.869186,-0.485347,-0.094620],[-0.004911,-0.182868,0.983125]] 2025-10-27T05:24:08.354Z,1761542648.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:08.357Z,1761542648.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 42.126728 m, bearing: 232.022318 deg, approach rate: -0.541997 m/s, LOS rate: -0.004842 deg/s, cmd heading: 238.514331 deg, new cmd heading: 238.508931 deg. 2025-10-27T05:24:08.357Z,1761542648.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162766 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:08.516Z,1761542648.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510642 2025-10-27T05:24:08.729Z,1761542648.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496569,0.853676,0.157023],[-0.867972,-0.487000,-0.097235],[-0.006537,-0.184576,0.982796]] 2025-10-27T05:24:08.769Z,1761542648.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763344 2025-10-27T05:24:08.798Z,1761542648.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:08.809Z,1761542648.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:08.824Z,1761542648.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 41.889603 m, bearing: 232.020943 deg, approach rate: -0.520361 m/s, LOS rate: -0.003035 deg/s, cmd heading: 238.508922 deg, new cmd heading: 238.504773 deg. 2025-10-27T05:24:08.825Z,1761542648.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162694 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:08.933Z,1761542648.933 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:24:09.020Z,1761542649.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014614 2025-10-27T05:24:09.156Z,1761542649.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498790,0.852621,0.155713],[-0.866684,-0.488946,-0.098951],[-0.008233,-0.184310,0.982834]] 2025-10-27T05:24:09.256Z,1761542649.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:09.264Z,1761542649.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 41.611237 m, bearing: 232.009167 deg, approach rate: -0.641793 m/s, LOS rate: -0.027333 deg/s, cmd heading: 238.504769 deg, new cmd heading: 238.469203 deg. 2025-10-27T05:24:09.266Z,1761542649.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162073 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:09.274Z,1761542649.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268257 2025-10-27T05:24:09.524Z,1761542649.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518640 2025-10-27T05:24:09.597Z,1761542649.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500705,0.851681,0.154706],[-0.865562,-0.490590,-0.100615],[-0.009794,-0.184286,0.982824]] 2025-10-27T05:24:09.624Z,1761542649.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:09.627Z,1761542649.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 41.375553 m, bearing: 231.999796 deg, approach rate: -0.617998 m/s, LOS rate: -0.024712 deg/s, cmd heading: 238.469197 deg, new cmd heading: 238.440924 deg. 2025-10-27T05:24:09.628Z,1761542649.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161579 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:09.776Z,1761542649.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770593 2025-10-27T05:24:09.936Z,1761542649.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:24:10.010Z,1761542650.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502350,0.850983,0.153209],[-0.864592,-0.492074,-0.101699],[-0.011154,-0.183551,0.982947]] 2025-10-27T05:24:10.028Z,1761542650.028 [DAT](INFO): DAT read: Rx Time:05:24:08.5842 2025-10-27T05:24:10.028Z,1761542650.028 [DAT](INFO): Rx dataTimestamp_ set to:1761542650.028227 2025-10-27T05:24:10.029Z,1761542650.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023785 2025-10-27T05:24:10.085Z,1761542650.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:10.092Z,1761542650.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 41.112846 m, bearing: 231.986781 deg, approach rate: -0.570503 m/s, LOS rate: -0.028445 deg/s, cmd heading: 238.440920 deg, new cmd heading: 238.401626 deg. 2025-10-27T05:24:10.093Z,1761542650.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160893 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:10.280Z,1761542650.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274619 2025-10-27T05:24:10.470Z,1761542650.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503894,0.850311,0.151859],[-0.863673,-0.493421,-0.102980],[-0.012635,-0.183047,0.983023]] 2025-10-27T05:24:10.489Z,1761542650.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.77 m. 2025-10-27T05:24:10.492Z,1761542650.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.771233 m, nav range: 40.872925 m, bearing: 231.975360 deg, approach rate: -0.592875 m/s, LOS rate: -0.028388 deg/s, cmd heading: 238.401633 deg, new cmd heading: 238.367170 deg. 2025-10-27T05:24:10.493Z,1761542650.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160292 target range: 43.771233 and range: 44.00 m. 2025-10-27T05:24:10.540Z,1761542650.540 [DAT](INFO): DAT read: 05:24:08.5842 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.12,-1.170,-2.612,-0.718,-1.153, PHS= 0.084,-1.414, 0.391, RAW= 159.1, 11.2, CAL= 159.3, 12.4, ROT= 350.7, -12.4 2025-10-27T05:24:10.542Z,1761542650.542 [DAT](INFO): got valid direction response: 05:24:08.5842 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.12,-1.170,-2.612,-0.718,-1.153, PHS= 0.084,-1.414, 0.391, RAW= 159.1, 11.2, CAL= 159.3, 12.4, ROT= 350.7, -12.4 2025-10-27T05:24:10.544Z,1761542650.544 [DAT](INFO): DAT read: Bearing 32.6, -11.8 (Local) 2025-10-27T05:24:10.544Z,1761542650.544 [DAT](INFO): Local bearing/azimuth received: Bearing 32.6, -11.8 (Local) 2025-10-27T05:24:10.546Z,1761542650.546 [DAT](INFO): DAT read: Range 11 to 50 : 42.0 m (Round-trip 56.0 ms) speed 0.3 m/s 2025-10-27T05:24:10.547Z,1761542650.547 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:24:10.548Z,1761542650.548 [DAT](INFO): direction in FSK: [0.963835,-0.157834,0.214735] 2025-10-27T05:24:10.549Z,1761542650.549 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:10.561Z,1761542650.561 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:24:10.561Z,1761542650.561 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:24:10.561Z,1761542650.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:24:10.784Z,1761542650.784 [DAT](INFO): DAT read: user:416> 2025-10-27T05:24:10.785Z,1761542650.785 [DAT](INFO): DAT read: Tx time:05:24:09.8741 2025-10-27T05:24:10.785Z,1761542650.785 [DAT](INFO): Ping request sent. 2025-10-27T05:24:10.785Z,1761542650.785 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:24:10.785Z,1761542650.785 [DAT](INFO): publishing transmit ping time 2025-10-27T05:24:10.786Z,1761542650.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-27T05:24:10.868Z,1761542650.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505039,0.850169,0.148826],[-0.862985,-0.494634,-0.102927],[-0.013891,-0.180417,0.983492]] 2025-10-27T05:24:10.982Z,1761542650.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.000000 m, deltaT: 3.779833 s, deltaX: -2.000000 m, approachRate: -0.529124 m/s, rangeRepo size: 4 2025-10-27T05:24:10.988Z,1761542650.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.773834 m, bearing: 232.793858 deg, lat: 36.779375 deg, lon: -121.859709 deg, deltaT: 3.779833 s, deltaX: -1.997398 m, approachRate: -0.528436 m/s, posRepo size: 4 2025-10-27T05:24:10.989Z,1761542650.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:10.996Z,1761542650.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 40.679600 m, bearing: 232.019852 deg, approach rate: 0.000000 m/s, LOS rate: -0.028388 deg/s, cmd heading: 238.367182 deg, new cmd heading: 238.325285 deg. 2025-10-27T05:24:10.997Z,1761542650.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159561 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:11.039Z,1761542651.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254142 2025-10-27T05:24:11.293Z,1761542651.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507519 2025-10-27T05:24:11.313Z,1761542651.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506553,0.849884,0.145260],[-0.862078,-0.496305,-0.102484],[-0.015006,-0.177139,0.984071]] 2025-10-27T05:24:11.457Z,1761542651.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:11.459Z,1761542651.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:11.462Z,1761542651.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 40.360508 m, bearing: 232.000981 deg, approach rate: -0.668454 m/s, LOS rate: -0.039844 deg/s, cmd heading: 238.325299 deg, new cmd heading: 238.268239 deg. 2025-10-27T05:24:11.463Z,1761542651.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158565 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:11.545Z,1761542651.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759736 2025-10-27T05:24:11.796Z,1761542651.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010739 2025-10-27T05:24:11.813Z,1761542651.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507445,0.849439,0.144751],[-0.861526,-0.496920,-0.104133],[-0.016525,-0.177549,0.983973]] 2025-10-27T05:24:11.883Z,1761542651.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:11.886Z,1761542651.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 40.113594 m, bearing: 231.986536 deg, approach rate: -0.581816 m/s, LOS rate: -0.034249 deg/s, cmd heading: 238.268226 deg, new cmd heading: 238.224622 deg. 2025-10-27T05:24:11.887Z,1761542651.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157804 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:12.048Z,1761542652.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262900 2025-10-27T05:24:12.167Z,1761542652.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508501,0.848931,0.144024],[-0.860882,-0.497814,-0.105186],[-0.017598,-0.177475,0.983968]] 2025-10-27T05:24:12.228Z,1761542652.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:12.231Z,1761542652.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 39.914536 m, bearing: 231.973525 deg, approach rate: -0.576662 m/s, LOS rate: -0.037879 deg/s, cmd heading: 238.224622 deg, new cmd heading: 238.185395 deg. 2025-10-27T05:24:12.232Z,1761542652.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157119 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:12.300Z,1761542652.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515143 2025-10-27T05:24:12.552Z,1761542652.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766949 2025-10-27T05:24:12.576Z,1761542652.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509326,0.848681,0.142576],[-0.860371,-0.498575,-0.105758],[-0.018669,-0.176534,0.984118]] 2025-10-27T05:24:12.628Z,1761542652.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:12.631Z,1761542652.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 39.683937 m, bearing: 231.958630 deg, approach rate: -0.576627 m/s, LOS rate: -0.037461 deg/s, cmd heading: 238.185389 deg, new cmd heading: 238.140446 deg. 2025-10-27T05:24:12.632Z,1761542652.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156335 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:12.804Z,1761542652.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018767 2025-10-27T05:24:13.012Z,1761542653.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510267,0.848199,0.142079],[-0.859789,-0.499328,-0.106929],[-0.019753,-0.176721,0.984063]] 2025-10-27T05:24:13.056Z,1761542653.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271152 2025-10-27T05:24:13.068Z,1761542653.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:13.070Z,1761542653.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 39.433144 m, bearing: 231.951321 deg, approach rate: -0.570856 m/s, LOS rate: -0.016743 deg/s, cmd heading: 238.140447 deg, new cmd heading: 238.118380 deg. 2025-10-27T05:24:13.072Z,1761542653.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155950 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:13.309Z,1761542653.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524249 2025-10-27T05:24:13.380Z,1761542653.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509970,0.848295,0.142571],[-0.859937,-0.498731,-0.108518],[-0.020951,-0.177943,0.983818]] 2025-10-27T05:24:13.400Z,1761542653.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:13.403Z,1761542653.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 39.244080 m, bearing: 231.945635 deg, approach rate: -0.569167 m/s, LOS rate: -0.017200 deg/s, cmd heading: 238.118372 deg, new cmd heading: 238.101232 deg. 2025-10-27T05:24:13.404Z,1761542653.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155651 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:13.560Z,1761542653.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774772 2025-10-27T05:24:13.782Z,1761542653.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509929,0.848571,0.141071],[-0.859940,-0.498701,-0.108633],[-0.021831,-0.176707,0.984021]] 2025-10-27T05:24:13.806Z,1761542653.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:13.809Z,1761542653.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:13.812Z,1761542653.812 [DAT](INFO): DAT read: Rx Time:05:24:12.3312 2025-10-27T05:24:13.813Z,1761542653.813 [DAT](INFO): Rx dataTimestamp_ set to:1761542653.812338 2025-10-27T05:24:13.813Z,1761542653.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028102 2025-10-27T05:24:13.815Z,1761542653.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 39.010120 m, bearing: 231.938536 deg, approach rate: -0.572178 m/s, LOS rate: -0.017467 deg/s, cmd heading: 238.101241 deg, new cmd heading: 238.079815 deg. 2025-10-27T05:24:13.816Z,1761542653.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155277 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:14.065Z,1761542654.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279677 2025-10-27T05:24:14.213Z,1761542654.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509533,0.848963,0.140132],[-0.860153,-0.498274,-0.108899],[-0.022627,-0.176023,0.984126]] 2025-10-27T05:24:14.290Z,1761542654.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.77 m. 2025-10-27T05:24:14.293Z,1761542654.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.773834 m, nav range: 38.746677 m, bearing: 231.937970 deg, approach rate: -0.547133 m/s, LOS rate: -0.001183 deg/s, cmd heading: 238.079822 deg, new cmd heading: 238.078113 deg. 2025-10-27T05:24:14.294Z,1761542654.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155247 target range: 41.773834 and range: 42.00 m. 2025-10-27T05:24:14.321Z,1761542654.321 [DAT](INFO): DAT read: 05:24:12.3312 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 412,-0.25,-1.420,-2.862,-0.963,-1.406, PHS= 0.087,-1.411, 0.399, RAW= 159.3, 11.0, CAL= 159.4, 12.2, ROT= 350.6, -12.2 2025-10-27T05:24:14.323Z,1761542654.323 [DAT](INFO): got valid direction response: 05:24:12.3312 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 412,-0.25,-1.420,-2.862,-0.963,-1.406, PHS= 0.087,-1.411, 0.399, RAW= 159.3, 11.0, CAL= 159.4, 12.2, ROT= 350.6, -12.2 2025-10-27T05:24:14.325Z,1761542654.325 [DAT](INFO): DAT read: Bearing 31.5, -12.4 (Local) 2025-10-27T05:24:14.325Z,1761542654.325 [DAT](INFO): Local bearing/azimuth received: Bearing 31.5, -12.4 (Local) 2025-10-27T05:24:14.327Z,1761542654.327 [DAT](INFO): DAT read: Range 11 to 50 : 39.7 m (Round-trip 53.0 ms) speed 0.4 m/s 2025-10-27T05:24:14.328Z,1761542654.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:24:14.330Z,1761542654.330 [DAT](INFO): direction in FSK: [0.964291,-0.159637,0.211325] 2025-10-27T05:24:14.330Z,1761542654.330 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:14.336Z,1761542654.336 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:24:14.337Z,1761542654.337 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:24:14.337Z,1761542654.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:24:14.568Z,1761542654.568 [DAT](INFO): DAT read: user:417> 2025-10-27T05:24:14.569Z,1761542654.569 [DAT](INFO): DAT read: Tx time:05:24:13.6241 2025-10-27T05:24:14.569Z,1761542654.569 [DAT](INFO): Ping request sent. 2025-10-27T05:24:14.569Z,1761542654.569 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:24:14.570Z,1761542654.570 [DAT](INFO): publishing transmit ping time 2025-10-27T05:24:14.570Z,1761542654.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-27T05:24:14.602Z,1761542654.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509102,0.849209,0.140212],[-0.860384,-0.497651,-0.109923],[-0.023571,-0.176598,0.984001]] 2025-10-27T05:24:14.667Z,1761542654.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.700001 m, deltaT: 3.783532 s, deltaX: -2.299999 m, approachRate: -0.607897 m/s, rangeRepo size: 4 2025-10-27T05:24:14.669Z,1761542654.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.485332 m, bearing: 232.343144 deg, lat: 36.779376 deg, lon: -121.859711 deg, deltaT: 3.783532 s, deltaX: -2.288502 m, approachRate: -0.604859 m/s, posRepo size: 4 2025-10-27T05:24:14.670Z,1761542654.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:14.673Z,1761542654.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 38.575771 m, bearing: 232.343285 deg, approach rate: 0.000000 m/s, LOS rate: -0.001183 deg/s, cmd heading: 238.078101 deg, new cmd heading: 238.076765 deg. 2025-10-27T05:24:14.674Z,1761542654.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155223 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:14.820Z,1761542654.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250459 2025-10-27T05:24:15.050Z,1761542655.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507667,0.850184,0.139504],[-0.861172,-0.495929,-0.111518],[-0.025627,-0.176751,0.983922]] 2025-10-27T05:24:15.078Z,1761542655.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508710 2025-10-27T05:24:15.094Z,1761542655.094 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T05:24:15.095Z,1761542655.095 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:24:15.095Z,1761542655.095 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T05:24:15.096Z,1761542655.096 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.700001 m (mode 2.000000 count ). 2025-10-27T05:24:15.096Z,1761542655.096 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T05:24:15.096Z,1761542655.096 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T05:24:15.098Z,1761542655.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:15.101Z,1761542655.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 38.322994 m, bearing: 232.344392 deg, approach rate: -0.585159 m/s, LOS rate: 0.002578 deg/s, cmd heading: 238.076762 deg, new cmd heading: 238.080103 deg. 2025-10-27T05:24:15.102Z,1761542655.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155282 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:15.332Z,1761542655.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762459 2025-10-27T05:24:15.429Z,1761542655.429 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T05:24:15.429Z,1761542655.429 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T05:24:15.431Z,1761542655.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:15.434Z,1761542655.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 38.131878 m, bearing: 232.345238 deg, approach rate: -0.574394 m/s, LOS rate: 0.002556 deg/s, cmd heading: 238.080095 deg, new cmd heading: 238.082647 deg. 2025-10-27T05:24:15.435Z,1761542655.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155326 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:15.584Z,1761542655.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014324 2025-10-27T05:24:15.798Z,1761542655.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506874,0.850749,0.138944],[-0.861610,-0.495037,-0.112100],[-0.026586,-0.176536,0.983935]] 2025-10-27T05:24:15.830Z,1761542655.830 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T05:24:15.830Z,1761542655.830 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T05:24:15.831Z,1761542655.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:15.833Z,1761542655.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:15.836Z,1761542655.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266532 2025-10-27T05:24:15.841Z,1761542655.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 37.911976 m, bearing: 232.345924 deg, approach rate: -0.547393 m/s, LOS rate: 0.001718 deg/s, cmd heading: 238.082636 deg, new cmd heading: 238.084707 deg. 2025-10-27T05:24:15.847Z,1761542655.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155362 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:16.088Z,1761542656.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518404 2025-10-27T05:24:16.202Z,1761542656.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506682,0.851001,0.138096],[-0.861705,-0.494843,-0.112225],[-0.027168,-0.175860,0.984040]] 2025-10-27T05:24:16.278Z,1761542656.278 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T05:24:16.279Z,1761542656.279 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:24:16.283Z,1761542656.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T05:24:16.283Z,1761542656.283 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:24:16.285Z,1761542656.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:16.292Z,1761542656.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 37.653835 m, bearing: 232.355613 deg, approach rate: -0.570753 m/s, LOS rate: 0.021569 deg/s, cmd heading: 238.084712 deg, new cmd heading: 238.113978 deg. 2025-10-27T05:24:16.293Z,1761542656.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155873 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:16.341Z,1761542656.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771217 2025-10-27T05:24:16.592Z,1761542656.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022409 2025-10-27T05:24:16.622Z,1761542656.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506333,0.851554,0.135953],[-0.861890,-0.494659,-0.111617],[-0.027798,-0.173692,0.984408]] 2025-10-27T05:24:16.646Z,1761542656.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:16.669Z,1761542656.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 37.446037 m, bearing: 232.363436 deg, approach rate: -0.576133 m/s, LOS rate: 0.021811 deg/s, cmd heading: 238.113973 deg, new cmd heading: 238.137573 deg. 2025-10-27T05:24:16.670Z,1761542656.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156285 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:16.844Z,1761542656.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274436 2025-10-27T05:24:17.096Z,1761542657.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526208 2025-10-27T05:24:17.130Z,1761542657.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:17.153Z,1761542657.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 37.167469 m, bearing: 232.370153 deg, approach rate: -0.574956 m/s, LOS rate: 0.013967 deg/s, cmd heading: 238.137578 deg, new cmd heading: 238.157879 deg. 2025-10-27T05:24:17.154Z,1761542657.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156639 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:17.348Z,1761542657.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778613 2025-10-27T05:24:17.487Z,1761542657.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506263,0.852399,0.130818],[-0.861929,-0.495242,-0.108694],[-0.027864,-0.167784,0.985430]] 2025-10-27T05:24:17.506Z,1761542657.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:17.509Z,1761542657.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 36.953526 m, bearing: 232.375473 deg, approach rate: -0.569483 m/s, LOS rate: 0.014244 deg/s, cmd heading: 238.157877 deg, new cmd heading: 238.173930 deg. 2025-10-27T05:24:17.510Z,1761542657.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156919 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:17.601Z,1761542657.601 [DAT](INFO): DAT read: Rx Time:05:24:16.0784 2025-10-27T05:24:17.602Z,1761542657.602 [DAT](INFO): Rx dataTimestamp_ set to:1761542657.601103 2025-10-27T05:24:17.602Z,1761542657.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032786 2025-10-27T05:24:17.852Z,1761542657.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282324 2025-10-27T05:24:17.945Z,1761542657.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505810,0.852673,0.130785],[-0.862189,-0.494772,-0.108768],[-0.028035,-0.167778,0.985426]] 2025-10-27T05:24:17.966Z,1761542657.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:17.969Z,1761542657.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.49 m. 2025-10-27T05:24:17.972Z,1761542657.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.485332 m, nav range: 36.691032 m, bearing: 232.381871 deg, approach rate: -0.567126 m/s, LOS rate: 0.013921 deg/s, cmd heading: 238.173942 deg, new cmd heading: 238.193272 deg. 2025-10-27T05:24:17.973Z,1761542657.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157257 target range: 39.485332 and range: 39.70 m. 2025-10-27T05:24:18.109Z,1761542658.109 [DAT](INFO): DAT read: 05:24:16.0784 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.48,-0.314,-1.775, 0.170,-0.250, PHS= 0.038,-1.480, 0.376, RAW= 159.9, 12.4, CAL= 160.2, 14.1, ROT= 349.8, -14.1 2025-10-27T05:24:18.111Z,1761542658.111 [DAT](INFO): got valid direction response: 05:24:16.0784 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.48,-0.314,-1.775, 0.170,-0.250, PHS= 0.038,-1.480, 0.376, RAW= 159.9, 12.4, CAL= 160.2, 14.1, ROT= 349.8, -14.1 2025-10-27T05:24:18.112Z,1761542658.112 [DAT](INFO): DAT read: Bearing 33.9, -13.8 (Local) 2025-10-27T05:24:18.112Z,1761542658.112 [DAT](INFO): Local bearing/azimuth received: Bearing 33.9, -13.8 (Local) 2025-10-27T05:24:18.113Z,1761542658.113 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m (Round-trip 50.1 ms) speed 0.5 m/s 2025-10-27T05:24:18.114Z,1761542658.114 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:24:18.115Z,1761542658.115 [DAT](INFO): direction in FSK: [0.954544,-0.171750,0.243615] 2025-10-27T05:24:18.115Z,1761542658.115 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:18.119Z,1761542658.119 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:24:18.119Z,1761542658.119 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:24:18.119Z,1761542658.119 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:24:18.357Z,1761542658.357 [DAT](INFO): DAT read: user:418> 2025-10-27T05:24:18.358Z,1761542658.358 [DAT](INFO): DAT read: Tx time:05:24:17.4241 2025-10-27T05:24:18.359Z,1761542658.359 [DAT](INFO): Ping request sent. 2025-10-27T05:24:18.359Z,1761542658.359 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:24:18.359Z,1761542658.359 [DAT](INFO): publishing transmit ping time 2025-10-27T05:24:18.360Z,1761542658.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001563 2025-10-27T05:24:18.522Z,1761542658.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.500000 m, deltaT: 3.788014 s, deltaX: -2.200001 m, approachRate: -0.580779 m/s, rangeRepo size: 4 2025-10-27T05:24:18.524Z,1761542658.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.300125 m, bearing: 231.995561 deg, lat: 36.779376 deg, lon: -121.859711 deg, deltaT: 3.788014 s, deltaX: -2.185207 m, approachRate: -0.576874 m/s, posRepo size: 4 2025-10-27T05:24:18.525Z,1761542658.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.30 m. 2025-10-27T05:24:18.531Z,1761542658.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.300125 m, nav range: 36.374821 m, bearing: 232.396084 deg, approach rate: 0.000000 m/s, LOS rate: 0.013921 deg/s, cmd heading: 238.193285 deg, new cmd heading: 238.216365 deg. 2025-10-27T05:24:18.532Z,1761542658.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.157660 target range: 37.300125 and range: 37.50 m. 2025-10-27T05:24:18.608Z,1761542658.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249624 2025-10-27T05:24:18.860Z,1761542658.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501470 2025-10-27T05:24:18.987Z,1761542658.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506731,0.852239,0.130050],[-0.861701,-0.496085,-0.106632],[-0.026360,-0.166098,0.985757]] 2025-10-27T05:24:19.006Z,1761542659.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.30 m. 2025-10-27T05:24:19.009Z,1761542659.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.300125 m, nav range: 36.094181 m, bearing: 232.409429 deg, approach rate: -0.579265 m/s, LOS rate: 0.027761 deg/s, cmd heading: 238.216371 deg, new cmd heading: 238.256720 deg. 2025-10-27T05:24:19.010Z,1761542659.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158364 target range: 37.300125 and range: 37.50 m. 2025-10-27T05:24:19.112Z,1761542659.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753634 2025-10-27T05:24:19.364Z,1761542659.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005308 2025-10-27T05:24:19.468Z,1761542659.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508639,0.850677,0.132798],[-0.860652,-0.498099,-0.105716],[-0.023784,-0.168064,0.985489]] 2025-10-27T05:24:19.529Z,1761542659.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.30 m. 2025-10-27T05:24:19.532Z,1761542659.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.300125 m, nav range: 35.804344 m, bearing: 232.426582 deg, approach rate: -0.554474 m/s, LOS rate: 0.033080 deg/s, cmd heading: 238.256724 deg, new cmd heading: 238.308599 deg. 2025-10-27T05:24:19.533Z,1761542659.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159270 target range: 37.300125 and range: 37.50 m. 2025-10-27T05:24:19.617Z,1761542659.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258879 2025-10-27T05:24:19.868Z,1761542659.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509339 2025-10-27T05:24:19.886Z,1761542659.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509356,0.849839,0.135390],[-0.860248,-0.498627,-0.106506],[-0.023004,-0.170718,0.985051]] 2025-10-27T05:24:19.905Z,1761542659.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.30 m. 2025-10-27T05:24:19.908Z,1761542659.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.300125 m, nav range: 35.587498 m, bearing: 232.439821 deg, approach rate: -0.576180 m/s, LOS rate: 0.035390 deg/s, cmd heading: 238.308606 deg, new cmd heading: 238.348563 deg. 2025-10-27T05:24:19.909Z,1761542659.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.159967 target range: 37.300125 and range: 37.50 m. 2025-10-27T05:24:20.120Z,1761542660.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761313 2025-10-27T05:24:20.275Z,1761542660.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510842,0.848677,0.137067],[-0.859391,-0.500043,-0.106793],[-0.022094,-0.172348,0.984788]] 2025-10-27T05:24:20.317Z,1761542660.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:20.319Z,1761542660.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.30 m. 2025-10-27T05:24:20.321Z,1761542660.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.300125 m, nav range: 35.341194 m, bearing: 232.454733 deg, approach rate: -0.595739 m/s, LOS rate: 0.036319 deg/s, cmd heading: 238.348576 deg, new cmd heading: 238.393624 deg. 2025-10-27T05:24:20.322Z,1761542660.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160754 target range: 37.300125 and range: 37.50 m. 2025-10-27T05:24:20.373Z,1761542660.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014453 2025-10-27T05:24:20.624Z,1761542660.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265412 2025-10-27T05:24:20.677Z,1761542660.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512338,0.847257,0.140231],[-0.858525,-0.501304,-0.107838],[-0.021068,-0.175641,0.984229]] 2025-10-27T05:24:20.706Z,1761542660.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.30 m. 2025-10-27T05:24:20.710Z,1761542660.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.300125 m, nav range: 35.111717 m, bearing: 232.469388 deg, approach rate: -0.592607 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.393628 deg, new cmd heading: 238.437881 deg. 2025-10-27T05:24:20.712Z,1761542660.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.161526 target range: 37.300125 and range: 37.50 m. 2025-10-27T05:24:20.877Z,1761542660.877 [DAT](INFO): DAT read: Rx Time:05:24:19.6006 2025-10-27T05:24:20.877Z,1761542660.877 [DAT](INFO): Rx dataTimestamp_ set to:1761542660.876760 2025-10-27T05:24:20.878Z,1761542660.878 [DAT](INFO): DAT read: Bearing 34.1, -12.9 (Local) 2025-10-27T05:24:20.879Z,1761542660.879 [DAT](INFO): Local bearing/azimuth received: Bearing 34.1, -12.9 (Local) 2025-10-27T05:24:20.881Z,1761542660.881 [DAT](INFO): DAT read: Range 11 to 50 : 35.6 m (trip time 23.7 ms) speed 0.6 2025-10-27T05:24:20.885Z,1761542660.885 [DAT](INFO): DAT read: 05:24:19.6006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 162,-0.14,-0.492,-1.947,-0.031,-0.434, PHS= 0.043,-1.468, 0.358, RAW= 159.3, 12.6, CAL= 159.7, 14.2, ROT= 350.3, -14.2 2025-10-27T05:24:20.886Z,1761542660.886 [DAT](INFO): got valid direction response: 05:24:19.6006 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 162,-0.14,-0.492,-1.947,-0.031,-0.434, PHS= 0.043,-1.468, 0.358, RAW= 159.3, 12.6, CAL= 159.7, 14.2, ROT= 350.3, -14.2 2025-10-27T05:24:20.888Z,1761542660.888 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:24:20.889Z,1761542660.889 [DAT](INFO): direction in FSK: [0.955586,-0.163341,0.245307] 2025-10-27T05:24:20.889Z,1761542660.889 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:20.893Z,1761542660.893 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.534049 2025-10-27T05:24:21.128Z,1761542661.128 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769470 2025-10-27T05:24:21.188Z,1761542661.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.599998 m, deltaT: 2.773251 s, deltaX: -1.900002 m, approachRate: -0.685117 m/s, rangeRepo size: 4 2025-10-27T05:24:21.190Z,1761542661.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.413750 m, bearing: 232.190256 deg, lat: 36.779377 deg, lon: -121.859711 deg, deltaT: 2.773251 s, deltaX: -1.886375 m, approachRate: -0.680204 m/s, posRepo size: 4 2025-10-27T05:24:21.190Z,1761542661.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.41 m. 2025-10-27T05:24:21.193Z,1761542661.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.413750 m, nav range: 34.802299 m, bearing: 232.538601 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.437888 deg, new cmd heading: 238.492846 deg. 2025-10-27T05:24:21.194Z,1761542661.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162486 target range: 35.413750 and range: 35.60 m. 2025-10-27T05:24:21.384Z,1761542661.384 [DAT](INFO): DAT read: Rx Time:05:24:20.1004 2025-10-27T05:24:21.385Z,1761542661.385 [DAT](INFO): Rx dataTimestamp_ set to:1761542661.384354 2025-10-27T05:24:21.386Z,1761542661.386 [DAT](INFO): DAT read: Bearing 32.8, -11.7 (Local) 2025-10-27T05:24:21.386Z,1761542661.386 [DAT](INFO): Local bearing/azimuth received: Bearing 32.8, -11.7 (Local) 2025-10-27T05:24:21.388Z,1761542661.388 [DAT](INFO): DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed 1.0 2025-10-27T05:24:21.395Z,1761542661.395 [DAT](INFO): DAT read: 05:24:20.1004 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496,-0.07,-0.642,-2.122,-0.211,-0.631, PHS= 0.090,-1.446, 0.375, RAW= 158.4, 11.5, CAL= 158.6, 12.8, ROT= 351.4, -12.8 2025-10-27T05:24:21.397Z,1761542661.397 [DAT](INFO): got valid direction response: 05:24:20.1004 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496,-0.07,-0.642,-2.122,-0.211,-0.631, PHS= 0.090,-1.446, 0.375, RAW= 158.4, 11.5, CAL= 158.6, 12.8, ROT= 351.4, -12.8 2025-10-27T05:24:21.397Z,1761542661.397 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:24:21.399Z,1761542661.399 [DAT](INFO): direction in FSK: [0.964185,-0.145820,0.221548] 2025-10-27T05:24:21.405Z,1761542661.405 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:21.424Z,1761542661.424 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.065390 2025-10-27T05:24:21.503Z,1761542661.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515011,0.844841,0.144937],[-0.856953,-0.503542,-0.109894],[-0.019861,-0.180801,0.983319]] 2025-10-27T05:24:21.550Z,1761542661.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.507594 s, deltaX: -0.299999 m, approachRate: -0.591022 m/s, rangeRepo size: 4 2025-10-27T05:24:21.560Z,1761542661.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.115322 m, bearing: 232.906037 deg, lat: 36.779378 deg, lon: -121.859709 deg, deltaT: 0.507594 s, deltaX: -0.298428 m, approachRate: -0.587926 m/s, posRepo size: 4 2025-10-27T05:24:21.561Z,1761542661.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.12 m. 2025-10-27T05:24:21.572Z,1761542661.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.115322 m, nav range: 34.367783 m, bearing: 232.569289 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.492857 deg, new cmd heading: 238.534317 deg. 2025-10-27T05:24:21.573Z,1761542661.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163209 target range: 35.115322 and range: 35.30 m. 2025-10-27T05:24:21.633Z,1761542661.633 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274144 2025-10-27T05:24:21.886Z,1761542661.886 [DAT](INFO): DAT read: Rx Time:05:24:20.6001 2025-10-27T05:24:21.887Z,1761542661.887 [DAT](INFO): Rx dataTimestamp_ set to:1761542661.886262 2025-10-27T05:24:21.889Z,1761542661.889 [DAT](INFO): DAT read: Bearing 33.9, -12.4 (Local) 2025-10-27T05:24:21.889Z,1761542661.889 [DAT](INFO): Local bearing/azimuth received: Bearing 33.9, -12.4 (Local) 2025-10-27T05:24:21.891Z,1761542661.891 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 2025-10-27T05:24:21.896Z,1761542661.896 [DAT](INFO): DAT read: 05:24:20.6001 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.11,-1.541,-3.004,-1.097,-1.494, PHS= 0.055,-1.465, 0.353, RAW= 158.8, 12.5, CAL= 159.2, 14.1, ROT= 350.8, -14.1 2025-10-27T05:24:21.897Z,1761542661.897 [DAT](INFO): got valid direction response: 05:24:20.6001 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.11,-1.541,-3.004,-1.097,-1.494, PHS= 0.055,-1.465, 0.353, RAW= 158.8, 12.5, CAL= 159.2, 14.1, ROT= 350.8, -14.1 2025-10-27T05:24:21.897Z,1761542661.897 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:24:21.898Z,1761542661.898 [DAT](INFO): direction in FSK: [0.957396,-0.155064,0.243615] 2025-10-27T05:24:21.899Z,1761542661.899 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:21.902Z,1761542661.902 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.543908 2025-10-27T05:24:21.950Z,1761542661.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516044,0.843891,0.146787],[-0.856336,-0.504344,-0.111018],[-0.019656,-0.182989,0.982919]] 2025-10-27T05:24:22.023Z,1761542662.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.501908 s, deltaX: -0.500000 m, approachRate: -0.996199 m/s, rangeRepo size: 4 2025-10-27T05:24:22.025Z,1761542662.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.619278 m, bearing: 232.532017 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.501908 s, deltaX: -0.496044 m, approachRate: -0.988317 m/s, posRepo size: 4 2025-10-27T05:24:22.026Z,1761542662.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.62 m. 2025-10-27T05:24:22.033Z,1761542662.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.619278 m, nav range: 33.997849 m, bearing: 232.463551 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.534330 deg, new cmd heading: 238.586975 deg. 2025-10-27T05:24:22.034Z,1761542662.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164128 target range: 34.619278 and range: 34.80 m. 2025-10-27T05:24:22.136Z,1761542662.136 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777709 2025-10-27T05:24:22.388Z,1761542662.388 [DAT](INFO): DAT read: Rx Time:05:24:21.1000 2025-10-27T05:24:22.389Z,1761542662.389 [DAT](INFO): Rx dataTimestamp_ set to:1761542662.388551 2025-10-27T05:24:22.390Z,1761542662.390 [DAT](INFO): DAT read: Bearing 32.8, -12.0 (Local) 2025-10-27T05:24:22.390Z,1761542662.390 [DAT](INFO): Local bearing/azimuth received: Bearing 32.8, -12.0 (Local) 2025-10-27T05:24:22.393Z,1761542662.393 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.8 2025-10-27T05:24:22.398Z,1761542662.398 [DAT](INFO): DAT read: 05:24:21.1000 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.07,-1.270,-2.744,-0.829,-1.248, PHS= 0.080,-1.451, 0.375, RAW= 158.6, 11.7, CAL= 158.9, 13.1, ROT= 351.1, -13.1 2025-10-27T05:24:22.399Z,1761542662.399 [DAT](INFO): got valid direction response: 05:24:21.1000 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 507,-0.07,-1.270,-2.744,-0.829,-1.248, PHS= 0.080,-1.451, 0.375, RAW= 158.6, 11.7, CAL= 158.9, 13.1, ROT= 351.1, -13.1 2025-10-27T05:24:22.399Z,1761542662.399 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:24:22.400Z,1761542662.400 [DAT](INFO): direction in FSK: [0.962249,-0.150684,0.226651] 2025-10-27T05:24:22.400Z,1761542662.400 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:22.404Z,1761542662.404 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.045518 2025-10-27T05:24:22.566Z,1761542662.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.502289 s, deltaX: -0.299999 m, approachRate: -0.597264 m/s, rangeRepo size: 4 2025-10-27T05:24:22.580Z,1761542662.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.320839 m, bearing: 232.631911 deg, lat: 36.779380 deg, lon: -121.859706 deg, deltaT: 0.502289 s, deltaX: -0.298439 m, approachRate: -0.594158 m/s, posRepo size: 4 2025-10-27T05:24:22.581Z,1761542662.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.32 m. 2025-10-27T05:24:22.588Z,1761542662.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.320839 m, nav range: 33.389034 m, bearing: 232.632034 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.586977 deg, new cmd heading: 238.650446 deg. 2025-10-27T05:24:22.589Z,1761542662.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.165236 target range: 34.320839 and range: 34.50 m. 2025-10-27T05:24:22.641Z,1761542662.641 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282144 2025-10-27T05:24:22.890Z,1761542662.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516298,0.843736,0.146787],[-0.856185,-0.504607,-0.110988],[-0.019574,-0.182980,0.982922]] 2025-10-27T05:24:22.893Z,1761542662.893 [DAT](INFO): DAT read: Rx Time:05:24:21.5997 2025-10-27T05:24:22.893Z,1761542662.893 [DAT](INFO): Rx dataTimestamp_ set to:1761542662.892850 2025-10-27T05:24:22.894Z,1761542662.894 [DAT](INFO): DAT read: Bearing 33.7, -11.2 (Local) 2025-10-27T05:24:22.895Z,1761542662.895 [DAT](INFO): Local bearing/azimuth received: Bearing 33.7, -11.2 (Local) 2025-10-27T05:24:22.897Z,1761542662.897 [DAT](INFO): DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 2025-10-27T05:24:22.902Z,1761542662.902 [DAT](INFO): DAT read: 05:24:21.5997 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.06,-2.695, 2.115,-2.292,-2.673, PHS= 0.079,-1.451, 0.337, RAW= 157.7, 12.3, CAL= 158.0, 13.8, ROT= 352.0, -13.8 2025-10-27T05:24:22.903Z,1761542662.903 [DAT](INFO): got valid direction response: 05:24:21.5997 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.06,-2.695, 2.115,-2.292,-2.673, PHS= 0.079,-1.451, 0.337, RAW= 157.7, 12.3, CAL= 158.0, 13.8, ROT= 352.0, -13.8 2025-10-27T05:24:22.903Z,1761542662.903 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:24:22.904Z,1761542662.904 [DAT](INFO): direction in FSK: [0.961683,-0.135156,0.238533] 2025-10-27T05:24:22.904Z,1761542662.904 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:22.912Z,1761542662.912 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553468 2025-10-27T05:24:22.977Z,1761542662.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.504299 s, deltaX: -0.400002 m, approachRate: -0.793183 m/s, rangeRepo size: 4 2025-10-27T05:24:22.996Z,1761542662.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.923450 m, bearing: 233.635475 deg, lat: 36.779380 deg, lon: -121.859706 deg, deltaT: 0.504299 s, deltaX: -0.397388 m, approachRate: -0.788002 m/s, posRepo size: 4 2025-10-27T05:24:22.997Z,1761542662.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.92 m. 2025-10-27T05:24:23.008Z,1761542663.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.923450 m, nav range: 33.150703 m, bearing: 232.689786 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.650443 deg, new cmd heading: 238.697449 deg. 2025-10-27T05:24:23.009Z,1761542663.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.166057 target range: 33.923450 and range: 34.10 m. 2025-10-27T05:24:23.147Z,1761542663.147 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.787830 2025-10-27T05:24:23.374Z,1761542663.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516286,0.843740,0.146802],[-0.856196,-0.504631,-0.110796],[-0.019402,-0.182894,0.982941]] 2025-10-27T05:24:23.397Z,1761542663.397 [DAT](INFO): DAT read: Rx Time:05:24:22.0996 2025-10-27T05:24:23.397Z,1761542663.397 [DAT](INFO): Rx dataTimestamp_ set to:1761542663.396794 2025-10-27T05:24:23.398Z,1761542663.398 [DAT](INFO): DAT read: Bearing 34.3, -12.6 (Local) 2025-10-27T05:24:23.399Z,1761542663.399 [DAT](INFO): Local bearing/azimuth received: Bearing 34.3, -12.6 (Local) 2025-10-27T05:24:23.401Z,1761542663.401 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.5 2025-10-27T05:24:23.405Z,1761542663.405 [DAT](INFO): DAT read: 05:24:22.0996 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.02,-0.864,-2.333,-0.414,-0.804, PHS= 0.042,-1.484, 0.346, RAW= 158.9, 12.8, CAL= 159.4, 14.6, ROT= 350.6, -14.6 2025-10-27T05:24:23.407Z,1761542663.407 [DAT](INFO): got valid direction response: 05:24:22.0996 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503,-0.02,-0.864,-2.333,-0.414,-0.804, PHS= 0.042,-1.484, 0.346, RAW= 158.9, 12.8, CAL= 159.4, 14.6, ROT= 350.6, -14.6 2025-10-27T05:24:23.427Z,1761542663.427 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:24:23.428Z,1761542663.428 [DAT](INFO): direction in FSK: [0.954715,-0.158052,0.252069] 2025-10-27T05:24:23.428Z,1761542663.428 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:23.436Z,1761542663.436 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.077721 2025-10-27T05:24:23.537Z,1761542663.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503944 s, deltaX: -0.199997 m, approachRate: -0.396863 m/s, rangeRepo size: 4 2025-10-27T05:24:23.543Z,1761542663.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.724491 m, bearing: 232.415499 deg, lat: 36.779380 deg, lon: -121.859706 deg, deltaT: 0.503944 s, deltaX: -0.198959 m, approachRate: -0.394804 m/s, posRepo size: 4 2025-10-27T05:24:23.544Z,1761542663.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.72 m. 2025-10-27T05:24:23.551Z,1761542663.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.724491 m, nav range: 32.813618 m, bearing: 232.727059 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.697462 deg, new cmd heading: 238.761413 deg. 2025-10-27T05:24:23.552Z,1761542663.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167173 target range: 33.724491 and range: 33.90 m. 2025-10-27T05:24:23.648Z,1761542663.648 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289649 2025-10-27T05:24:23.887Z,1761542663.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513132,0.846009,0.144792],[-0.858105,-0.501970,-0.108086],[-0.018761,-0.179708,0.983541]] 2025-10-27T05:24:23.901Z,1761542663.901 [DAT](INFO): DAT read: Rx Time:05:24:22.5993 2025-10-27T05:24:23.901Z,1761542663.901 [DAT](INFO): Rx dataTimestamp_ set to:1761542663.900790 2025-10-27T05:24:23.902Z,1761542663.902 [DAT](INFO): DAT read: Bearing 32.6, -12.0 (Local) 2025-10-27T05:24:23.903Z,1761542663.903 [DAT](INFO): Local bearing/azimuth received: Bearing 32.6, -12.0 (Local) 2025-10-27T05:24:23.905Z,1761542663.905 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 2025-10-27T05:24:23.910Z,1761542663.910 [DAT](INFO): DAT read: 05:24:22.5993 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.09,-1.707, 3.101,-1.258,-1.688, PHS= 0.082,-1.450, 0.385, RAW= 158.9, 11.5, CAL= 159.1, 12.8, ROT= 350.9, -12.8 2025-10-27T05:24:23.911Z,1761542663.911 [DAT](INFO): got valid direction response: 05:24:22.5993 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.09,-1.707, 3.101,-1.258,-1.688, PHS= 0.082,-1.450, 0.385, RAW= 158.9, 11.5, CAL= 159.1, 12.8, ROT= 350.9, -12.8 2025-10-27T05:24:23.912Z,1761542663.912 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:24:23.913Z,1761542663.913 [DAT](INFO): direction in FSK: [0.962876,-0.154228,0.221548] 2025-10-27T05:24:23.913Z,1761542663.913 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:23.917Z,1761542663.917 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.558363 2025-10-27T05:24:23.950Z,1761542663.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503996 s, deltaX: -0.400002 m, approachRate: -0.793660 m/s, rangeRepo size: 4 2025-10-27T05:24:23.952Z,1761542663.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.325108 m, bearing: 232.522906 deg, lat: 36.779380 deg, lon: -121.859704 deg, deltaT: 0.503996 s, deltaX: -0.399384 m, approachRate: -0.792434 m/s, posRepo size: 4 2025-10-27T05:24:23.953Z,1761542663.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.33 m. 2025-10-27T05:24:23.967Z,1761542663.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.325108 m, nav range: 32.454319 m, bearing: 232.560831 deg, approach rate: 0.000000 m/s, LOS rate: 0.038093 deg/s, cmd heading: 238.761420 deg, new cmd heading: 238.808560 deg. 2025-10-27T05:24:23.968Z,1761542663.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167995 target range: 33.325108 and range: 33.50 m. 2025-10-27T05:24:24.155Z,1761542664.155 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795580 2025-10-27T05:24:24.321Z,1761542664.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511218,0.847623,0.142095],[-0.859249,-0.500480,-0.105885],[-0.018634,-0.176225,0.984173]] 2025-10-27T05:24:24.365Z,1761542664.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:24.367Z,1761542664.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.33 m. 2025-10-27T05:24:24.370Z,1761542664.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.325108 m, nav range: 32.194069 m, bearing: 232.594697 deg, approach rate: -0.622207 m/s, LOS rate: 0.081620 deg/s, cmd heading: 238.808548 deg, new cmd heading: 238.910965 deg. 2025-10-27T05:24:24.371Z,1761542664.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169783 target range: 33.325108 and range: 33.50 m. 2025-10-27T05:24:24.405Z,1761542664.405 [DAT](INFO): DAT read: Rx Time:05:24:23.0992 2025-10-27T05:24:24.406Z,1761542664.406 [DAT](INFO): Rx dataTimestamp_ set to:1761542664.405307 2025-10-27T05:24:24.408Z,1761542664.408 [DAT](INFO): DAT read: Bearing 34.6, -11.6 (Local) 2025-10-27T05:24:24.408Z,1761542664.408 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, -11.6 (Local) 2025-10-27T05:24:24.411Z,1761542664.411 [DAT](INFO): DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms0.7 2025-10-27T05:24:24.417Z,1761542664.417 [DAT](INFO): DAT read: 05:24:23.0992 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 499, 0.13, 0.304,-1.167, 0.721, 0.346, PHS= 0.060,-1.468, 0.331, RAW= 158.0, 12.8, CAL= 158.4, 14.4, ROT= 351.6, -14.4 2025-10-27T05:24:24.418Z,1761542664.418 [DAT](INFO): got valid direction response: 05:24:23.0992 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 499, 0.13, 0.304,-1.167, 0.721, 0.346, PHS= 0.060,-1.468, 0.331, RAW= 158.0, 12.8, CAL= 158.4, 14.4, ROT= 351.6, -14.4 2025-10-27T05:24:24.419Z,1761542664.419 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:24:24.421Z,1761542664.421 [DAT](INFO): direction in FSK: [0.958193,-0.141494,0.248690] 2025-10-27T05:24:24.421Z,1761542664.421 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:24.426Z,1761542664.426 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067645 2025-10-27T05:24:24.656Z,1761542664.656 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297426 2025-10-27T05:24:24.704Z,1761542664.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509044,0.849212,0.140405],[-0.860539,-0.498576,-0.104381],[-0.018639,-0.173959,0.984576]] 2025-10-27T05:24:24.805Z,1761542664.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.504517 s, deltaX: -0.200001 m, approachRate: -0.396420 m/s, rangeRepo size: 4 2025-10-27T05:24:24.812Z,1761542664.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.126152 m, bearing: 233.697426 deg, lat: 36.779380 deg, lon: -121.859706 deg, deltaT: 0.504517 s, deltaX: -0.198956 m, approachRate: -0.394349 m/s, posRepo size: 4 2025-10-27T05:24:24.812Z,1761542664.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.13 m. 2025-10-27T05:24:24.824Z,1761542664.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.126152 m, nav range: 32.108158 m, bearing: 232.811373 deg, approach rate: 0.000000 m/s, LOS rate: 0.081620 deg/s, cmd heading: 238.910974 deg, new cmd heading: 239.018126 deg. 2025-10-27T05:24:24.825Z,1761542664.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171653 target range: 33.126152 and range: 33.30 m. 2025-10-27T05:24:24.910Z,1761542664.910 [DAT](INFO): DAT read: Rx Time:05:24:23.5989 2025-10-27T05:24:24.911Z,1761542664.911 [DAT](INFO): Rx dataTimestamp_ set to:1761542664.910168 2025-10-27T05:24:24.912Z,1761542664.912 [DAT](INFO): DAT read: Bearing 32.5, -12.4 (Local) 2025-10-27T05:24:24.912Z,1761542664.912 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, -12.4 (Local) 2025-10-27T05:24:24.914Z,1761542664.914 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.6 2025-10-27T05:24:24.919Z,1761542664.919 [DAT](INFO): DAT read: 05:24:23.5989 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496, 0.42,-1.681, 3.125,-1.210,-1.663, PHS= 0.084,-1.450, 0.409, RAW= 159.4, 11.1, CAL= 159.6, 12.3, ROT= 350.4, -12.3 2025-10-27T05:24:24.920Z,1761542664.920 [DAT](INFO): got valid direction response: 05:24:23.5989 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496, 0.42,-1.681, 3.125,-1.210,-1.663, PHS= 0.084,-1.450, 0.409, RAW= 159.4, 11.1, CAL= 159.6, 12.3, ROT= 350.4, -12.3 2025-10-27T05:24:24.921Z,1761542664.921 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:24:24.922Z,1761542664.922 [DAT](INFO): direction in FSK: [0.963363,-0.162941,0.213030] 2025-10-27T05:24:24.922Z,1761542664.922 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:24.948Z,1761542664.948 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.572326 2025-10-27T05:24:25.162Z,1761542665.162 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803424 2025-10-27T05:24:25.197Z,1761542665.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506847,0.850808,0.138678],[-0.861831,-0.496621,-0.103029],[-0.018787,-0.171737,0.984964]] 2025-10-27T05:24:25.284Z,1761542665.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504861 s, deltaX: -0.399998 m, approachRate: -0.792293 m/s, rangeRepo size: 4 2025-10-27T05:24:25.289Z,1761542665.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.724960 m, bearing: 232.241922 deg, lat: 36.779380 deg, lon: -121.859704 deg, deltaT: 0.504861 s, deltaX: -0.401192 m, approachRate: -0.794658 m/s, posRepo size: 4 2025-10-27T05:24:25.290Z,1761542665.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.72 m. 2025-10-27T05:24:25.293Z,1761542665.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.724960 m, nav range: 31.731253 m, bearing: 232.696884 deg, approach rate: 0.000000 m/s, LOS rate: 0.081620 deg/s, cmd heading: 239.018126 deg, new cmd heading: 239.135401 deg. 2025-10-27T05:24:25.293Z,1761542665.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.173700 target range: 32.724960 and range: 32.90 m. 2025-10-27T05:24:25.412Z,1761542665.412 [DAT](INFO): DAT read: Rx Time:05:24:24.0989 2025-10-27T05:24:25.413Z,1761542665.413 [DAT](INFO): Rx dataTimestamp_ set to:1761542665.412601 2025-10-27T05:24:25.414Z,1761542665.414 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4 2025-10-27T05:24:25.415Z,1761542665.415 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-27T05:24:25.416Z,1761542665.416 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.057184 2025-10-27T05:24:25.664Z,1761542665.664 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305404 2025-10-27T05:24:25.685Z,1761542665.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.502433 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:24:25.685Z,1761542665.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.72 m. 2025-10-27T05:24:25.688Z,1761542665.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.724960 m, nav range: 31.493452 m, bearing: 232.708372 deg, approach rate: -0.593952 m/s, LOS rate: 0.028909 deg/s, cmd heading: 239.135414 deg, new cmd heading: 239.170137 deg. 2025-10-27T05:24:25.689Z,1761542665.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174306 target range: 32.724960 and range: 32.90 m. 2025-10-27T05:24:25.917Z,1761542665.917 [DAT](INFO): DAT read: Rx Time:05:24:24.5986 2025-10-27T05:24:25.918Z,1761542665.918 [DAT](INFO): Rx dataTimestamp_ set to:1761542665.917553 2025-10-27T05:24:25.919Z,1761542665.919 [DAT](INFO): DAT read: Bearing 33.7, -12.6 (Local) 2025-10-27T05:24:25.920Z,1761542665.920 [DAT](INFO): Local bearing/azimuth received: Bearing 33.7, -12.6 (Local) 2025-10-27T05:24:25.922Z,1761542665.922 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 2025-10-27T05:24:25.926Z,1761542665.926 [DAT](INFO): DAT read: 05:24:24.5986 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.01,-2.869, 1.956,-2.399,-2.833, PHS= 0.065,-1.449, 0.390, RAW= 159.5, 11.7, CAL= 159.8, 13.0, ROT= 350.2, -13.0 2025-10-27T05:24:25.928Z,1761542665.928 [DAT](INFO): got valid direction response: 05:24:24.5986 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.01,-2.869, 1.956,-2.399,-2.833, PHS= 0.065,-1.449, 0.390, RAW= 159.5, 11.7, CAL= 159.8, 13.0, ROT= 350.2, -13.0 2025-10-27T05:24:25.928Z,1761542665.928 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:24:25.929Z,1761542665.929 [DAT](INFO): direction in FSK: [0.960152,-0.165847,0.224951] 2025-10-27T05:24:25.929Z,1761542665.929 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:25.937Z,1761542665.937 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.578943 2025-10-27T05:24:26.028Z,1761542666.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502470,0.854453,0.132034],[-0.864369,-0.492963,-0.099264],[-0.019729,-0.164003,0.986263]] 2025-10-27T05:24:26.099Z,1761542666.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.504952 s, deltaX: -0.500000 m, approachRate: -0.990193 m/s, rangeRepo size: 4 2025-10-27T05:24:26.101Z,1761542666.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.227257 m, bearing: 232.349095 deg, lat: 36.779380 deg, lon: -121.859704 deg, deltaT: 1.007385 s, deltaX: -0.497704 m, approachRate: -0.494055 m/s, posRepo size: 4 2025-10-27T05:24:26.102Z,1761542666.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.23 m. 2025-10-27T05:24:26.110Z,1761542666.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.227257 m, nav range: 31.241697 m, bearing: 232.637047 deg, approach rate: 0.000000 m/s, LOS rate: 0.028909 deg/s, cmd heading: 239.170139 deg, new cmd heading: 239.205709 deg. 2025-10-27T05:24:26.115Z,1761542666.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174927 target range: 32.227257 and range: 32.40 m. 2025-10-27T05:24:26.172Z,1761542666.172 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.812161 2025-10-27T05:24:26.421Z,1761542666.421 [DAT](INFO): DAT read: Rx Time:05:24:25.0984 2025-10-27T05:24:26.421Z,1761542666.421 [DAT](INFO): Rx dataTimestamp_ set to:1761542666.420758 2025-10-27T05:24:26.422Z,1761542666.422 [DAT](INFO): DAT read: Bearing 33.0, -12.9 (Local) 2025-10-27T05:24:26.423Z,1761542666.423 [DAT](INFO): Local bearing/azimuth received: Bearing 33.0, -12.9 (Local) 2025-10-27T05:24:26.425Z,1761542666.425 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 2025-10-27T05:24:26.429Z,1761542666.429 [DAT](INFO): DAT read: 05:24:25.0984 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.28,-2.098, 2.724,-1.605,-2.071, PHS= 0.075,-1.443, 0.422, RAW= 160.1, 11.0, CAL= 160.2, 12.2, ROT= 349.8, -12.2 2025-10-27T05:24:26.430Z,1761542666.430 [DAT](INFO): got valid direction response: 05:24:25.0984 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.28,-2.098, 2.724,-1.605,-2.071, PHS= 0.075,-1.443, 0.422, RAW= 160.1, 11.0, CAL= 160.2, 12.2, ROT= 349.8, -12.2 2025-10-27T05:24:26.431Z,1761542666.431 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:24:26.432Z,1761542666.432 [DAT](INFO): direction in FSK: [0.961968,-0.173085,0.211325] 2025-10-27T05:24:26.432Z,1761542666.432 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:26.436Z,1761542666.436 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.077773 2025-10-27T05:24:26.570Z,1761542666.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503205 s, deltaX: -0.300003 m, approachRate: -0.596185 m/s, rangeRepo size: 4 2025-10-27T05:24:26.576Z,1761542666.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.928854 m, bearing: 231.815407 deg, lat: 36.779378 deg, lon: -121.859704 deg, deltaT: 0.503205 s, deltaX: -0.298403 m, approachRate: -0.593004 m/s, posRepo size: 4 2025-10-27T05:24:26.577Z,1761542666.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:24:26.584Z,1761542666.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.928854 m, nav range: 31.099548 m, bearing: 232.359131 deg, approach rate: 0.000000 m/s, LOS rate: 0.028909 deg/s, cmd heading: 239.205710 deg, new cmd heading: 239.246317 deg. 2025-10-27T05:24:26.585Z,1761542666.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175636 target range: 31.928854 and range: 32.10 m. 2025-10-27T05:24:26.673Z,1761542666.673 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314287 2025-10-27T05:24:26.846Z,1761542666.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500403,0.856781,0.124594],[-0.865538,-0.491561,-0.095978],[-0.020987,-0.155869,0.987555]] 2025-10-27T05:24:26.894Z,1761542666.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:26.896Z,1761542666.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:24:26.899Z,1761542666.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.928854 m, nav range: 30.908363 m, bearing: 232.365797 deg, approach rate: -0.572528 m/s, LOS rate: 0.020084 deg/s, cmd heading: 239.246309 deg, new cmd heading: 239.266429 deg. 2025-10-27T05:24:26.900Z,1761542666.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175987 target range: 31.928854 and range: 32.10 m. 2025-10-27T05:24:26.924Z,1761542666.924 [DAT](INFO): DAT read: Rx Time:05:24:25.5982 2025-10-27T05:24:26.925Z,1761542666.925 [DAT](INFO): Rx dataTimestamp_ set to:1761542666.924657 2025-10-27T05:24:26.926Z,1761542666.926 [DAT](INFO): DAT read: Bearing 34.0, -12.3 (Local) 2025-10-27T05:24:26.927Z,1761542666.927 [DAT](INFO): Local bearing/azimuth received: Bearing 34.0, -12.3 (Local) 2025-10-27T05:24:26.929Z,1761542666.929 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4 2025-10-27T05:24:26.933Z,1761542666.933 [DAT](INFO): DAT read: 05:24:25.5982 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.24, 0.655,-0.801, 1.115, 0.684, PHS= 0.073,-1.439, 0.387, RAW= 159.2, 11.6, CAL= 159.5, 12.9, ROT= 350.5, -12.9 2025-10-27T05:24:26.934Z,1761542666.934 [DAT](INFO): got valid direction response: 05:24:25.5982 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.24, 0.655,-0.801, 1.115, 0.684, PHS= 0.073,-1.439, 0.387, RAW= 159.2, 11.6, CAL= 159.5, 12.9, ROT= 350.5, -12.9 2025-10-27T05:24:26.935Z,1761542666.935 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:24:26.936Z,1761542666.936 [DAT](INFO): direction in FSK: [0.961393,-0.160882,0.223250] 2025-10-27T05:24:26.936Z,1761542666.936 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:26.940Z,1761542666.940 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.581190 2025-10-27T05:24:27.179Z,1761542667.179 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819687 2025-10-27T05:24:27.290Z,1761542667.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499960,0.857661,0.120243],[-0.865774,-0.491466,-0.094318],[-0.021798,-0.151259,0.988254]] 2025-10-27T05:24:27.348Z,1761542667.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.503899 s, deltaX: -0.299999 m, approachRate: -0.595356 m/s, rangeRepo size: 4 2025-10-27T05:24:27.350Z,1761542667.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.630259 m, bearing: 232.610752 deg, lat: 36.779378 deg, lon: -121.859704 deg, deltaT: 0.503899 s, deltaX: -0.298595 m, approachRate: -0.592570 m/s, posRepo size: 4 2025-10-27T05:24:27.350Z,1761542667.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m. 2025-10-27T05:24:27.353Z,1761542667.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.630259 m, nav range: 30.700502 m, bearing: 232.430957 deg, approach rate: 0.000000 m/s, LOS rate: 0.020084 deg/s, cmd heading: 239.266417 deg, new cmd heading: 239.293555 deg. 2025-10-27T05:24:27.354Z,1761542667.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176460 target range: 31.630259 and range: 31.80 m. 2025-10-27T05:24:27.429Z,1761542667.429 [DAT](INFO): DAT read: Rx Time:05:24:26.0981 2025-10-27T05:24:27.429Z,1761542667.429 [DAT](INFO): Rx dataTimestamp_ set to:1761542667.428863 2025-10-27T05:24:27.430Z,1761542667.430 [DAT](INFO): DAT read: Bearing 33.4, -12.6 (Local) 2025-10-27T05:24:27.431Z,1761542667.431 [DAT](INFO): Local bearing/azimuth received: Bearing 33.4, -12.6 (Local) 2025-10-27T05:24:27.433Z,1761542667.433 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 2025-10-27T05:24:27.440Z,1761542667.440 [DAT](INFO): DAT read: 05:24:26.0981 LVL= 32752, 32753, 30946, 32755, AGC= 63, IDX= 504, 0.03,-2.537, 2.281,-2.056,-2.515, PHS= 0.079,-1.443, 0.414, RAW= 159.7, 11.1, CAL= 159.9, 12.2, ROT= 350.1, -12.2 2025-10-27T05:24:27.442Z,1761542667.442 [DAT](INFO): got valid direction response: 05:24:26.0981 LVL= 32752, 32753, 30946, 32755, AGC= 63, IDX= 504, 0.03,-2.537, 2.281,-2.056,-2.515, PHS= 0.079,-1.443, 0.414, RAW= 159.7, 11.1, CAL= 159.9, 12.2, ROT= 350.1, -12.2 2025-10-27T05:24:27.442Z,1761542667.442 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:24:27.448Z,1761542667.448 [DAT](INFO): direction in FSK: [0.962862,-0.168046,0.211325] 2025-10-27T05:24:27.449Z,1761542667.449 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:27.471Z,1761542667.471 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.112048 2025-10-27T05:24:27.654Z,1761542667.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499726,0.858018,0.118656],[-0.865892,-0.491292,-0.094146],[-0.022484,-0.149791,0.988462]] 2025-10-27T05:24:27.680Z,1761542667.680 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321445 2025-10-27T05:24:27.694Z,1761542667.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504206 s, deltaX: -0.099998 m, approachRate: -0.198329 m/s, rangeRepo size: 4 2025-10-27T05:24:27.696Z,1761542667.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.530794 m, bearing: 232.099192 deg, lat: 36.779377 deg, lon: -121.859704 deg, deltaT: 0.504206 s, deltaX: -0.099464 m, approachRate: -0.197269 m/s, posRepo size: 4 2025-10-27T05:24:27.697Z,1761542667.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m. 2025-10-27T05:24:27.701Z,1761542667.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.530794 m, nav range: 30.555492 m, bearing: 232.284092 deg, approach rate: 0.000000 m/s, LOS rate: 0.020084 deg/s, cmd heading: 239.293547 deg, new cmd heading: 239.314408 deg. 2025-10-27T05:24:27.703Z,1761542667.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176825 target range: 31.530794 and range: 31.70 m. 2025-10-27T05:24:27.933Z,1761542667.933 [DAT](INFO): DAT read: Rx Time:05:24:26.5978 2025-10-27T05:24:27.933Z,1761542667.933 [DAT](INFO): Rx dataTimestamp_ set to:1761542667.932977 2025-10-27T05:24:27.935Z,1761542667.935 [DAT](INFO): DAT read: Bearing 33.9, -12.8 (Local) 2025-10-27T05:24:27.935Z,1761542667.935 [DAT](INFO): Local bearing/azimuth received: Bearing 33.9, -12.8 (Local) 2025-10-27T05:24:27.937Z,1761542667.937 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-27T05:24:27.942Z,1761542667.942 [DAT](INFO): DAT read: 05:24:26.5978 LVL= 32752, 32753, 31154, 32755, AGC= 64, IDX= 501, 0.33, 3.035, 1.567,-2.765, 3.068, PHS= 0.068,-1.456, 0.406, RAW= 159.8, 11.4, CAL= 160.0, 12.7, ROT= 350.0, -12.7 2025-10-27T05:24:27.951Z,1761542667.951 [DAT](INFO): got valid direction response: 05:24:26.5978 LVL= 32752, 32753, 31154, 32755, AGC= 64, IDX= 501, 0.33, 3.035, 1.567,-2.765, 3.068, PHS= 0.068,-1.456, 0.406, RAW= 159.8, 11.4, CAL= 160.0, 12.7, ROT= 350.0, -12.7 2025-10-27T05:24:27.952Z,1761542667.952 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:24:27.953Z,1761542667.953 [DAT](INFO): direction in FSK: [0.960714,-0.169400,0.219846] 2025-10-27T05:24:27.953Z,1761542667.953 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:27.957Z,1761542667.957 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.598061 2025-10-27T05:24:28.062Z,1761542668.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498911,0.858244,0.120436],[-0.866340,-0.490151,-0.095955],[-0.023321,-0.152211,0.988073]] 2025-10-27T05:24:28.113Z,1761542668.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504114 s, deltaX: -0.500000 m, approachRate: -0.991839 m/s, rangeRepo size: 4 2025-10-27T05:24:28.119Z,1761542668.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.033680 m, bearing: 232.169345 deg, lat: 36.779377 deg, lon: -121.859704 deg, deltaT: 0.504114 s, deltaX: -0.497114 m, approachRate: -0.986115 m/s, posRepo size: 4 2025-10-27T05:24:28.120Z,1761542668.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-27T05:24:28.122Z,1761542668.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.033680 m, nav range: 30.292690 m, bearing: 232.204041 deg, approach rate: 0.000000 m/s, LOS rate: 0.020084 deg/s, cmd heading: 239.314420 deg, new cmd heading: 239.339672 deg. 2025-10-27T05:24:28.128Z,1761542668.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177265 target range: 31.033680 and range: 31.20 m. 2025-10-27T05:24:28.188Z,1761542668.188 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828498 2025-10-27T05:24:28.436Z,1761542668.436 [DAT](INFO): DAT read: Rx Time:05:24:27.0978 2025-10-27T05:24:28.437Z,1761542668.437 [DAT](INFO): Rx dataTimestamp_ set to:1761542668.436652 2025-10-27T05:24:28.438Z,1761542668.438 [DAT](INFO): DAT read: Bearing 34.4, -11.9 (Local) 2025-10-27T05:24:28.439Z,1761542668.439 [DAT](INFO): Local bearing/azimuth received: Bearing 34.4, -11.9 (Local) 2025-10-27T05:24:28.441Z,1761542668.441 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-27T05:24:28.445Z,1761542668.445 [DAT](INFO): DAT read: 05:24:27.0978 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.23, 2.321, 0.855, 2.765, 2.345, PHS= 0.077,-1.445, 0.375, RAW= 158.8, 11.7, CAL= 159.0, 13.1, ROT= 351.0, -13.1 2025-10-27T05:24:28.446Z,1761542668.446 [DAT](INFO): got valid direction response: 05:24:27.0978 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.23, 2.321, 0.855, 2.765, 2.345, PHS= 0.077,-1.445, 0.375, RAW= 158.8, 11.7, CAL= 159.0, 13.1, ROT= 351.0, -13.1 2025-10-27T05:24:28.466Z,1761542668.466 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:24:28.467Z,1761542668.467 [DAT](INFO): direction in FSK: [0.961985,-0.152363,0.226651] 2025-10-27T05:24:28.467Z,1761542668.467 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:28.487Z,1761542668.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498419,0.858343,0.121763],[-0.866617,-0.489482,-0.096865],[-0.023543,-0.153801,0.987821]] 2025-10-27T05:24:28.515Z,1761542668.515 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.156699 2025-10-27T05:24:28.602Z,1761542668.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503675 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:24:28.615Z,1761542668.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.033680 m, bearing: 233.277454 deg, lat: 36.779377 deg, lon: -121.859706 deg, deltaT: 0.503675 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:24:28.616Z,1761542668.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-27T05:24:28.623Z,1761542668.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.033680 m, nav range: 30.160259 m, bearing: 232.429227 deg, approach rate: 0.000000 m/s, LOS rate: 0.020084 deg/s, cmd heading: 239.339664 deg, new cmd heading: 239.369140 deg. 2025-10-27T05:24:28.624Z,1761542668.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177780 target range: 31.033680 and range: 31.20 m. 2025-10-27T05:24:28.689Z,1761542668.689 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330120 2025-10-27T05:24:28.866Z,1761542668.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498318,0.858473,0.121259],[-0.866671,-0.489416,-0.096713],[-0.023679,-0.153285,0.987898]] 2025-10-27T05:24:28.899Z,1761542668.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-27T05:24:28.902Z,1761542668.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.033680 m, nav range: 29.975458 m, bearing: 232.430079 deg, approach rate: -0.620042 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.369143 deg, new cmd heading: 239.371714 deg. 2025-10-27T05:24:28.903Z,1761542668.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177824 target range: 31.033680 and range: 31.20 m. 2025-10-27T05:24:28.942Z,1761542668.942 [DAT](INFO): DAT read: Rx Time:05:24:27.5975 2025-10-27T05:24:28.942Z,1761542668.942 [DAT](INFO): Rx dataTimestamp_ set to:1761542668.941816 2025-10-27T05:24:28.944Z,1761542668.944 [DAT](INFO): DAT read: Bearing 31.9, -12.7 (Local) 2025-10-27T05:24:28.945Z,1761542668.945 [DAT](INFO): Local bearing/azimuth received: Bearing 31.9, -12.7 (Local) 2025-10-27T05:24:28.948Z,1761542668.948 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.5 2025-10-27T05:24:28.955Z,1761542668.955 [DAT](INFO): DAT read: 05:24:27.5975 LVL= 32752, 32753, 29666, 32755, AGC= 63, IDX= 498, 0.02, 2.316, 0.833, 2.814, 2.308, PHS= 0.110,-1.430, 0.462, RAW= 160.1, 9.9, CAL= 160.0, 10.6, ROT= 350.0, -10.6 2025-10-27T05:24:28.956Z,1761542668.956 [DAT](INFO): got valid direction response: 05:24:27.5975 LVL= 32752, 32753, 29666, 32755, AGC= 63, IDX= 498, 0.02, 2.316, 0.833, 2.814, 2.308, PHS= 0.110,-1.430, 0.462, RAW= 160.1, 9.9, CAL= 160.0, 10.6, ROT= 350.0, -10.6 2025-10-27T05:24:28.957Z,1761542668.957 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:24:28.958Z,1761542668.958 [DAT](INFO): direction in FSK: [0.968002,-0.170685,0.183951] 2025-10-27T05:24:28.983Z,1761542668.983 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:29.021Z,1761542669.021 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.662957 2025-10-27T05:24:29.196Z,1761542669.196 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835432 2025-10-27T05:24:29.294Z,1761542669.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498436,0.858508,0.120522],[-0.866603,-0.489616,-0.096312],[-0.023675,-0.152450,0.988028]] 2025-10-27T05:24:29.356Z,1761542669.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.505164 s, deltaX: -0.300001 m, approachRate: -0.593869 m/s, rangeRepo size: 4 2025-10-27T05:24:29.358Z,1761542669.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.734968 m, bearing: 231.866689 deg, lat: 36.779377 deg, lon: -121.859706 deg, deltaT: 0.505164 s, deltaX: -0.298712 m, approachRate: -0.591316 m/s, posRepo size: 4 2025-10-27T05:24:29.358Z,1761542669.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m. 2025-10-27T05:24:29.365Z,1761542669.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.734968 m, nav range: 29.731844 m, bearing: 232.456645 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.371711 deg, new cmd heading: 239.375639 deg. 2025-10-27T05:24:29.366Z,1761542669.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177893 target range: 30.734968 and range: 30.90 m. 2025-10-27T05:24:29.446Z,1761542669.446 [DAT](INFO): DAT read: Rx Time:05:24:28.0974 2025-10-27T05:24:29.447Z,1761542669.447 [DAT](INFO): Rx dataTimestamp_ set to:1761542669.446077 2025-10-27T05:24:29.448Z,1761542669.448 [DAT](INFO): DAT read: Bearing 34.2, -13.4 (Local) 2025-10-27T05:24:29.449Z,1761542669.449 [DAT](INFO): Local bearing/azimuth received: Bearing 34.2, -13.4 (Local) 2025-10-27T05:24:29.456Z,1761542669.456 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.5 2025-10-27T05:24:29.461Z,1761542669.461 [DAT](INFO): DAT read: 05:24:28.0974 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.18,-1.424,-2.890,-0.921,-1.378, PHS= 0.056,-1.467, 0.413, RAW= 160.3, 11.5, CAL= 160.5, 12.9, ROT= 349.5, -12.9 2025-10-27T05:24:29.462Z,1761542669.462 [DAT](INFO): got valid direction response: 05:24:28.0974 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.18,-1.424,-2.890,-0.921,-1.378, PHS= 0.056,-1.467, 0.413, RAW= 160.3, 11.5, CAL= 160.5, 12.9, ROT= 349.5, -12.9 2025-10-27T05:24:29.462Z,1761542669.462 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:24:29.472Z,1761542669.472 [DAT](INFO): direction in FSK: [0.958439,-0.177636,0.223250] 2025-10-27T05:24:29.472Z,1761542669.472 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:29.488Z,1761542669.488 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.129502 2025-10-27T05:24:29.696Z,1761542669.696 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.337533 2025-10-27T05:24:29.702Z,1761542669.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498759,0.858366,0.120196],[-0.866431,-0.490054,-0.095626],[-0.023179,-0.151836,0.988134]] 2025-10-27T05:24:29.793Z,1761542669.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504261 s, deltaX: -0.100000 m, approachRate: -0.198311 m/s, rangeRepo size: 4 2025-10-27T05:24:29.799Z,1761542669.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.635502 m, bearing: 231.712232 deg, lat: 36.779375 deg, lon: -121.859707 deg, deltaT: 0.504261 s, deltaX: -0.099466 m, approachRate: -0.197252 m/s, posRepo size: 4 2025-10-27T05:24:29.800Z,1761542669.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.64 m. 2025-10-27T05:24:29.802Z,1761542669.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.635502 m, nav range: 29.659931 m, bearing: 232.173607 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.375645 deg, new cmd heading: 239.379417 deg. 2025-10-27T05:24:29.808Z,1761542669.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177959 target range: 30.635502 and range: 30.80 m. 2025-10-27T05:24:29.949Z,1761542669.949 [DAT](INFO): DAT read: Rx Time:05:24:28.5971 2025-10-27T05:24:29.949Z,1761542669.949 [DAT](INFO): Rx dataTimestamp_ set to:1761542669.948801 2025-10-27T05:24:29.950Z,1761542669.950 [DAT](INFO): DAT read: Bearing 32.4, -12.6 (Local) 2025-10-27T05:24:29.951Z,1761542669.951 [DAT](INFO): Local bearing/azimuth received: Bearing 32.4, -12.6 (Local) 2025-10-27T05:24:29.953Z,1761542669.953 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4 2025-10-27T05:24:29.958Z,1761542669.958 [DAT](INFO): DAT read: 05:24:28.5971 LVL= 32752, 32753, 29922, 32755, AGC= 62, IDX= 510, 0.42, 3.077, 1.588,-2.711, 3.075, PHS= 0.104,-1.442, 0.453, RAW= 160.0, 10.2, CAL= 159.9, 11.0, ROT= 350.1, -11.0 2025-10-27T05:24:29.959Z,1761542669.959 [DAT](INFO): got valid direction response: 05:24:28.5971 LVL= 32752, 32753, 29922, 32755, AGC= 62, IDX= 510, 0.42, 3.077, 1.588,-2.711, 3.075, PHS= 0.104,-1.442, 0.453, RAW= 160.0, 10.2, CAL= 159.9, 11.0, ROT= 350.1, -11.0 2025-10-27T05:24:29.960Z,1761542669.960 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:24:29.961Z,1761542669.961 [DAT](INFO): direction in FSK: [0.967010,-0.168770,0.190809] 2025-10-27T05:24:29.961Z,1761542669.961 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:29.965Z,1761542669.965 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.606304 2025-10-27T05:24:30.122Z,1761542670.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498437,0.858474,0.120762],[-0.866630,-0.489768,-0.095290],[-0.022658,-0.152152,0.988097]] 2025-10-27T05:24:30.160Z,1761542670.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.502724 s, deltaX: -0.500000 m, approachRate: -0.994582 m/s, rangeRepo size: 4 2025-10-27T05:24:30.162Z,1761542670.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.138979 m, bearing: 232.024736 deg, lat: 36.779374 deg, lon: -121.859708 deg, deltaT: 0.502724 s, deltaX: -0.496523 m, approachRate: -0.987665 m/s, posRepo size: 4 2025-10-27T05:24:30.165Z,1761542670.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.14 m. 2025-10-27T05:24:30.170Z,1761542670.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.138979 m, nav range: 29.576456 m, bearing: 232.024844 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.379416 deg, new cmd heading: 239.382582 deg. 2025-10-27T05:24:30.172Z,1761542670.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178014 target range: 30.138979 and range: 30.30 m. 2025-10-27T05:24:30.204Z,1761542670.204 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.844032 2025-10-27T05:24:30.452Z,1761542670.452 [DAT](INFO): DAT read: Rx Time:05:24:29.0969 2025-10-27T05:24:30.453Z,1761542670.453 [DAT](INFO): Rx dataTimestamp_ set to:1761542670.452670 2025-10-27T05:24:30.454Z,1761542670.454 [DAT](INFO): DAT read: Bearing 32.0, -12.0 (Local) 2025-10-27T05:24:30.455Z,1761542670.455 [DAT](INFO): Local bearing/azimuth received: Bearing 32.0, -12.0 (Local) 2025-10-27T05:24:30.457Z,1761542670.457 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T05:24:30.461Z,1761542670.461 [DAT](INFO): DAT read: 05:24:29.0969 LVL= 32752, 32753, 32290, 32755, AGC= 60, IDX= 509,-0.48, 2.403, 0.910, 2.881, 2.382, PHS= 0.123,-1.427, 0.455, RAW= 159.5, 9.8, CAL= 159.4, 10.5, ROT= 350.6, -10.5 2025-10-27T05:24:30.462Z,1761542670.462 [DAT](INFO): got valid direction response: 05:24:29.0969 LVL= 32752, 32753, 32290, 32755, AGC= 60, IDX= 509,-0.48, 2.403, 0.910, 2.881, 2.382, PHS= 0.123,-1.427, 0.455, RAW= 159.5, 9.8, CAL= 159.4, 10.5, ROT= 350.6, -10.5 2025-10-27T05:24:30.463Z,1761542670.463 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:24:30.464Z,1761542670.464 [DAT](INFO): direction in FSK: [0.970052,-0.160591,0.182236] 2025-10-27T05:24:30.464Z,1761542670.464 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:30.468Z,1761542670.468 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.109076 2025-10-27T05:24:30.704Z,1761542670.704 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345626 2025-10-27T05:24:30.769Z,1761542670.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499440,0.857673,0.122296],[-0.866108,-0.490974,-0.093818],[-0.020421,-0.152778,0.988049]] 2025-10-27T05:24:30.843Z,1761542670.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503869 s, deltaX: -0.299999 m, approachRate: -0.595391 m/s, rangeRepo size: 4 2025-10-27T05:24:30.845Z,1761542670.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.840574 m, bearing: 232.378491 deg, lat: 36.779374 deg, lon: -121.859708 deg, deltaT: 0.503869 s, deltaX: -0.298405 m, approachRate: -0.592227 m/s, posRepo size: 4 2025-10-27T05:24:30.846Z,1761542670.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.84 m. 2025-10-27T05:24:30.853Z,1761542670.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.840574 m, nav range: 29.231789 m, bearing: 232.080449 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.382585 deg, new cmd heading: 239.388446 deg. 2025-10-27T05:24:30.854Z,1761542670.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178117 target range: 29.840574 and range: 30.00 m. 2025-10-27T05:24:30.957Z,1761542670.957 [DAT](INFO): DAT read: Rx Time:05:24:29.5966 2025-10-27T05:24:30.957Z,1761542670.957 [DAT](INFO): Rx dataTimestamp_ set to:1761542670.956837 2025-10-27T05:24:30.958Z,1761542670.958 [DAT](INFO): DAT read: Bearing 32.7, -12.5 (Local) 2025-10-27T05:24:30.959Z,1761542670.959 [DAT](INFO): Local bearing/azimuth received: Bearing 32.7, -12.5 (Local) 2025-10-27T05:24:30.961Z,1761542670.961 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.5 2025-10-27T05:24:30.965Z,1761542670.965 [DAT](INFO): DAT read: 05:24:29.5966 LVL= 32752, 32753, 31666, 32755, AGC= 62, IDX= 506,-0.44, 1.189,-0.281, 1.680, 1.194, PHS= 0.097,-1.430, 0.442, RAW= 160.0, 10.4, CAL= 160.0, 11.3, ROT= 350.0, -11.3 2025-10-27T05:24:30.967Z,1761542670.967 [DAT](INFO): got valid direction response: 05:24:29.5966 LVL= 32752, 32753, 31666, 32755, AGC= 62, IDX= 506,-0.44, 1.189,-0.281, 1.680, 1.194, PHS= 0.097,-1.430, 0.442, RAW= 160.0, 10.4, CAL= 160.0, 11.3, ROT= 350.0, -11.3 2025-10-27T05:24:30.967Z,1761542670.967 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:24:30.968Z,1761542670.968 [DAT](INFO): direction in FSK: [0.965717,-0.170282,0.195946] 2025-10-27T05:24:30.968Z,1761542670.968 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:30.972Z,1761542670.972 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.613554 2025-10-27T05:24:31.210Z,1761542671.210 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.851421 2025-10-27T05:24:31.336Z,1761542671.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499981,0.857018,0.124659],[-0.865824,-0.491466,-0.093862],[-0.019175,-0.154862,0.987750]] 2025-10-27T05:24:31.416Z,1761542671.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.504167 s, deltaX: -0.400000 m, approachRate: -0.793387 m/s, rangeRepo size: 4 2025-10-27T05:24:31.418Z,1761542671.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.443581 m, bearing: 231.903299 deg, lat: 36.779373 deg, lon: -121.859708 deg, deltaT: 0.504167 s, deltaX: -0.396994 m, approachRate: -0.787425 m/s, posRepo size: 4 2025-10-27T05:24:31.421Z,1761542671.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m. 2025-10-27T05:24:31.424Z,1761542671.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.443581 m, nav range: 28.861086 m, bearing: 231.935767 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.388459 deg, new cmd heading: 239.393434 deg. 2025-10-27T05:24:31.425Z,1761542671.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178204 target range: 29.443581 and range: 29.60 m. 2025-10-27T05:24:31.461Z,1761542671.461 [DAT](INFO): DAT read: Rx Time:05:24:30.0965 2025-10-27T05:24:31.461Z,1761542671.461 [DAT](INFO): Rx dataTimestamp_ set to:1761542671.460783 2025-10-27T05:24:31.462Z,1761542671.462 [DAT](INFO): DAT read: Bearing 33.0, -12.5 (Local) 2025-10-27T05:24:31.463Z,1761542671.463 [DAT](INFO): Local bearing/azimuth received: Bearing 33.0, -12.5 (Local) 2025-10-27T05:24:31.465Z,1761542671.465 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.5 2025-10-27T05:24:31.469Z,1761542671.469 [DAT](INFO): DAT read: 05:24:30.0965 LVL= 32752, 32753, 30786, 32755, AGC= 62, IDX= 505,-0.49,-3.037, 1.782,-2.549,-3.027, PHS= 0.092,-1.429, 0.434, RAW= 159.9, 10.5, CAL= 160.0, 11.5, ROT= 350.0, -11.5 2025-10-27T05:24:31.471Z,1761542671.471 [DAT](INFO): got valid direction response: 05:24:30.0965 LVL= 32752, 32753, 30786, 32755, AGC= 62, IDX= 505,-0.49,-3.037, 1.782,-2.549,-3.027, PHS= 0.092,-1.429, 0.434, RAW= 159.9, 10.5, CAL= 160.0, 11.5, ROT= 350.0, -11.5 2025-10-27T05:24:31.471Z,1761542671.471 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:24:31.472Z,1761542671.472 [DAT](INFO): direction in FSK: [0.965037,-0.170162,0.199368] 2025-10-27T05:24:31.472Z,1761542671.472 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:31.484Z,1761542671.484 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.125209 2025-10-27T05:24:31.713Z,1761542671.713 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.354811 2025-10-27T05:24:31.893Z,1761542671.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502029,0.854765,0.131695],[-0.864702,-0.493268,-0.094744],[-0.016023,-0.161441,0.986752]] 2025-10-27T05:24:31.936Z,1761542671.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.503946 s, deltaX: -0.200001 m, approachRate: -0.396869 m/s, rangeRepo size: 4 2025-10-27T05:24:31.938Z,1761542671.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.244940 m, bearing: 231.883212 deg, lat: 36.779373 deg, lon: -121.859708 deg, deltaT: 0.503946 s, deltaX: -0.198641 m, approachRate: -0.394171 m/s, posRepo size: 4 2025-10-27T05:24:31.939Z,1761542671.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.24 m. 2025-10-27T05:24:31.945Z,1761542671.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.244940 m, nav range: 28.566191 m, bearing: 231.940097 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.393431 deg, new cmd heading: 239.397778 deg. 2025-10-27T05:24:31.946Z,1761542671.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178279 target range: 29.244940 and range: 29.40 m. 2025-10-27T05:24:31.965Z,1761542671.965 [DAT](INFO): DAT read: Rx Time:05:24:30.5962 2025-10-27T05:24:31.965Z,1761542671.965 [DAT](INFO): Rx dataTimestamp_ set to:1761542671.964817 2025-10-27T05:24:31.966Z,1761542671.966 [DAT](INFO): DAT read: Bearing 31.4, -12.6 (Local) 2025-10-27T05:24:31.967Z,1761542671.967 [DAT](INFO): Local bearing/azimuth received: Bearing 31.4, -12.6 (Local) 2025-10-27T05:24:31.969Z,1761542671.969 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.5 2025-10-27T05:24:31.973Z,1761542671.973 [DAT](INFO): DAT read: 05:24:30.5962 LVL= 32752, 32753, 28786, 32755, AGC= 62, IDX= 501, 0.43,-2.541, 2.258,-2.027,-2.556, PHS= 0.117,-1.424, 0.485, RAW= 160.5, 9.4, CAL= 160.3, 10.0, ROT= 349.7, -10.0 2025-10-27T05:24:31.975Z,1761542671.975 [DAT](INFO): got valid direction response: 05:24:30.5962 LVL= 32752, 32753, 28786, 32755, AGC= 62, IDX= 501, 0.43,-2.541, 2.258,-2.027,-2.556, PHS= 0.117,-1.424, 0.485, RAW= 160.5, 9.4, CAL= 160.3, 10.0, ROT= 349.7, -10.0 2025-10-27T05:24:31.975Z,1761542671.975 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:24:31.976Z,1761542671.976 [DAT](INFO): direction in FSK: [0.968938,-0.176086,0.173648] 2025-10-27T05:24:31.976Z,1761542671.976 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:31.984Z,1761542671.984 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.625581 2025-10-27T05:24:32.222Z,1761542672.222 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.862162 2025-10-27T05:24:32.374Z,1761542672.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.504034 s, deltaX: -0.400000 m, approachRate: -0.793597 m/s, rangeRepo size: 4 2025-10-27T05:24:32.376Z,1761542672.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.847050 m, bearing: 231.334359 deg, lat: 36.779373 deg, lon: -121.859708 deg, deltaT: 0.504034 s, deltaX: -0.397890 m, approachRate: -0.789411 m/s, posRepo size: 4 2025-10-27T05:24:32.377Z,1761542672.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.85 m. 2025-10-27T05:24:32.380Z,1761542672.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.847050 m, nav range: 28.296061 m, bearing: 231.944142 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.397775 deg, new cmd heading: 239.401694 deg. 2025-10-27T05:24:32.381Z,1761542672.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178348 target range: 28.847050 and range: 29.00 m. 2025-10-27T05:24:32.469Z,1761542672.469 [DAT](INFO): DAT read: Rx Time:05:24:31.0961 2025-10-27T05:24:32.470Z,1761542672.470 [DAT](INFO): Rx dataTimestamp_ set to:1761542672.469394 2025-10-27T05:24:32.471Z,1761542672.471 [DAT](INFO): DAT read: Bearing 31.4, -12.4 (Local) 2025-10-27T05:24:32.471Z,1761542672.471 [DAT](INFO): Local bearing/azimuth received: Bearing 31.4, -12.4 (Local) 2025-10-27T05:24:32.473Z,1761542672.473 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.8 2025-10-27T05:24:32.478Z,1761542672.478 [DAT](INFO): DAT read: 05:24:31.0961 LVL= 32752, 32753, 31314, 32755, AGC= 62, IDX= 500, 0.36,-1.388,-2.868,-0.881,-1.405, PHS= 0.119,-1.418, 0.480, RAW= 160.3, 9.4, CAL= 160.2, 10.0, ROT= 349.8, -10.0 2025-10-27T05:24:32.480Z,1761542672.480 [DAT](INFO): got valid direction response: 05:24:31.0961 LVL= 32752, 32753, 31314, 32755, AGC= 62, IDX= 500, 0.36,-1.388,-2.868,-0.881,-1.405, PHS= 0.119,-1.418, 0.480, RAW= 160.3, 9.4, CAL= 160.2, 10.0, ROT= 349.8, -10.0 2025-10-27T05:24:32.480Z,1761542672.480 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:24:32.481Z,1761542672.481 [DAT](INFO): direction in FSK: [0.969243,-0.174394,0.173648] 2025-10-27T05:24:32.481Z,1761542672.481 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:32.490Z,1761542672.490 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.131368 2025-10-27T05:24:32.704Z,1761542672.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503015,0.853237,0.137704],[-0.864174,-0.494065,-0.095406],[-0.013369,-0.166991,0.985868]] 2025-10-27T05:24:32.724Z,1761542672.724 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.365062 2025-10-27T05:24:32.798Z,1761542672.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504577 s, deltaX: -0.200001 m, approachRate: -0.396373 m/s, rangeRepo size: 4 2025-10-27T05:24:32.804Z,1761542672.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.648104 m, bearing: 231.429870 deg, lat: 36.779373 deg, lon: -121.859707 deg, deltaT: 0.504577 s, deltaX: -0.198946 m, approachRate: -0.394283 m/s, posRepo size: 4 2025-10-27T05:24:32.805Z,1761542672.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.65 m. 2025-10-27T05:24:32.812Z,1761542672.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.648104 m, nav range: 28.077278 m, bearing: 231.844617 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.401682 deg, new cmd heading: 239.405341 deg. 2025-10-27T05:24:32.813Z,1761542672.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178411 target range: 28.648104 and range: 28.80 m. 2025-10-27T05:24:32.972Z,1761542672.972 [DAT](INFO): DAT read: Rx Time:05:24:31.5958 2025-10-27T05:24:32.973Z,1761542672.973 [DAT](INFO): Rx dataTimestamp_ set to:1761542672.972663 2025-10-27T05:24:32.974Z,1761542672.974 [DAT](INFO): DAT read: Bearing 31.5, -12.6 (Local) 2025-10-27T05:24:32.975Z,1761542672.975 [DAT](INFO): Local bearing/azimuth received: Bearing 31.5, -12.6 (Local) 2025-10-27T05:24:32.977Z,1761542672.977 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.7 2025-10-27T05:24:33.008Z,1761542673.008 [DAT](INFO): DAT read: 05:24:31.5958 LVL= 32752, 32753, 31986, 32755, AGC= 62, IDX= 497, 0.28,-2.612, 2.190,-2.097,-2.622, PHS= 0.112,-1.426, 0.481, RAW= 160.5, 9.5, CAL= 160.4, 10.2, ROT= 349.6, -10.2 2025-10-27T05:24:33.010Z,1761542673.010 [DAT](INFO): got valid direction response: 05:24:31.5958 LVL= 32752, 32753, 31986, 32755, AGC= 62, IDX= 497, 0.28,-2.612, 2.190,-2.097,-2.622, PHS= 0.112,-1.426, 0.481, RAW= 160.5, 9.5, CAL= 160.4, 10.2, ROT= 349.6, -10.2 2025-10-27T05:24:33.010Z,1761542673.010 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:24:33.016Z,1761542673.016 [DAT](INFO): direction in FSK: [0.968027,-0.177666,0.177085] 2025-10-27T05:24:33.016Z,1761542673.016 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:33.044Z,1761542673.044 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.685172 2025-10-27T05:24:33.124Z,1761542673.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503106,0.852606,0.141238],[-0.864144,-0.494062,-0.095698],[-0.011813,-0.170196,0.985339]] 2025-10-27T05:24:33.151Z,1761542673.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.503269 s, deltaX: -0.400000 m, approachRate: -0.794803 m/s, rangeRepo size: 4 2025-10-27T05:24:33.153Z,1761542673.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.250366 m, bearing: 231.297255 deg, lat: 36.779372 deg, lon: -121.859707 deg, deltaT: 0.503269 s, deltaX: -0.397738 m, approachRate: -0.790308 m/s, posRepo size: 4 2025-10-27T05:24:33.154Z,1761542673.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.25 m. 2025-10-27T05:24:33.157Z,1761542673.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.250366 m, nav range: 27.866453 m, bearing: 231.542124 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.405343 deg, new cmd heading: 239.408386 deg. 2025-10-27T05:24:33.158Z,1761542673.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178464 target range: 28.250366 and range: 28.40 m. 2025-10-27T05:24:33.228Z,1761542673.228 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.869262 2025-10-27T05:24:33.477Z,1761542673.477 [DAT](INFO): DAT read: Rx Time:05:24:32.0957 2025-10-27T05:24:33.477Z,1761542673.477 [DAT](INFO): Rx dataTimestamp_ set to:1761542673.476783 2025-10-27T05:24:33.478Z,1761542673.478 [DAT](INFO): DAT read: Bearing 30.7, -4.0 (Local) 2025-10-27T05:24:33.479Z,1761542673.479 [DAT](INFO): Local bearing/azimuth received: Bearing 30.7, -4.0 (Local) 2025-10-27T05:24:33.481Z,1761542673.481 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.5 2025-10-27T05:24:33.485Z,1761542673.485 [DAT](INFO): DAT read: 05:24:32.0957 LVL= 32752, 32753, 28866, 32755, AGC= 63, IDX= 512, 0.24,-0.100,-1.646, 0.127,-0.297, PHS= 0.299,-1.304, 0.380, RAW= 152.4, 7.7, CAL= 151.9, 8.1, ROT= 358.1, -8.1 2025-10-27T05:24:33.487Z,1761542673.487 [DAT](INFO): got valid direction response: 05:24:32.0957 LVL= 32752, 32753, 28866, 32755, AGC= 63, IDX= 512, 0.24,-0.100,-1.646, 0.127,-0.297, PHS= 0.299,-1.304, 0.380, RAW= 152.4, 7.7, CAL= 151.9, 8.1, ROT= 358.1, -8.1 2025-10-27T05:24:33.487Z,1761542673.487 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:24:33.488Z,1761542673.488 [DAT](INFO): direction in FSK: [0.989479,-0.032824,0.140901] 2025-10-27T05:24:33.488Z,1761542673.488 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:33.492Z,1761542673.492 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.133912 2025-10-27T05:24:33.544Z,1761542673.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502700,0.852619,0.142595],[-0.864394,-0.493717,-0.095223],[-0.010787,-0.171127,0.985190]] 2025-10-27T05:24:33.645Z,1761542673.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.504120 s, deltaX: -0.299999 m, approachRate: -0.595095 m/s, rangeRepo size: 4 2025-10-27T05:24:33.647Z,1761542673.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.951946 m, bearing: 239.343631 deg, lat: 36.779372 deg, lon: -121.859707 deg, deltaT: 0.504120 s, deltaX: -0.298420 m, approachRate: -0.591962 m/s, posRepo size: 4 2025-10-27T05:24:33.652Z,1761542673.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.95 m. 2025-10-27T05:24:33.654Z,1761542673.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.951946 m, nav range: 27.584595 m, bearing: 231.560540 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.408376 deg, new cmd heading: 239.412635 deg. 2025-10-27T05:24:33.659Z,1761542673.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178539 target range: 27.951946 and range: 28.10 m. 2025-10-27T05:24:33.734Z,1761542673.734 [DAT](INFO): DAT read: Rx Time:05:24:32.5954 2025-10-27T05:24:33.737Z,1761542673.737 [DAT](INFO): Rx dataTimestamp_ set to:1761542673.736462 2025-10-27T05:24:33.740Z,1761542673.740 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.380916 2025-10-27T05:24:33.979Z,1761542673.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502853,0.852485,0.142854],[-0.864317,-0.494042,-0.094230],[-0.009753,-0.170855,0.985248]] 2025-10-27T05:24:33.985Z,1761542673.985 [DAT](INFO): DAT read: Bearing 32.8, -12.6 (Local) 2025-10-27T05:24:33.985Z,1761542673.985 [DAT](INFO): Local bearing/azimuth received: Bearing 32.8, -12.6 (Local) 2025-10-27T05:24:33.987Z,1761542673.987 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5 2025-10-27T05:24:33.992Z,1761542673.992 [DAT](INFO): DAT read: 05:24:32.5954 LVL= 32752, 32753, 31058, 32755, AGC= 62, IDX= 509, 0.20,-3.056, 1.773,-2.558,-3.041, PHS= 0.086,-1.424, 0.439, RAW= 160.2, 10.5, CAL= 160.3, 11.5, ROT= 349.7, -11.5 2025-10-27T05:24:33.993Z,1761542673.993 [DAT](INFO): got valid direction response: 05:24:32.5954 LVL= 32752, 32753, 31058, 32755, AGC= 62, IDX= 509, 0.20,-3.056, 1.773,-2.558,-3.041, PHS= 0.086,-1.424, 0.439, RAW= 160.2, 10.5, CAL= 160.3, 11.5, ROT= 349.7, -11.5 2025-10-27T05:24:33.993Z,1761542673.993 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:24:33.994Z,1761542673.994 [DAT](INFO): direction in FSK: [0.964133,-0.175213,0.199368] 2025-10-27T05:24:33.995Z,1761542673.995 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:33.998Z,1761542673.998 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.639844 2025-10-27T05:24:34.077Z,1761542674.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.506691 s, deltaX: -0.500000 m, approachRate: -0.986795 m/s, rangeRepo size: 4 2025-10-27T05:24:34.079Z,1761542674.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.456070 m, bearing: 231.648620 deg, lat: 36.779372 deg, lon: -121.859706 deg, deltaT: 0.506691 s, deltaX: -0.495876 m, approachRate: -0.978656 m/s, posRepo size: 4 2025-10-27T05:24:34.088Z,1761542674.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.46 m. 2025-10-27T05:24:34.090Z,1761542674.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.456070 m, nav range: 27.299822 m, bearing: 231.526185 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.412638 deg, new cmd heading: 239.416350 deg. 2025-10-27T05:24:34.091Z,1761542674.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178604 target range: 27.456070 and range: 27.60 m. 2025-10-27T05:24:34.241Z,1761542674.241 [DAT](INFO): DAT read: Rx Time:05:24:33.0952 2025-10-27T05:24:34.243Z,1761542674.243 [DAT](INFO): Rx dataTimestamp_ set to:1761542674.241543 2025-10-27T05:24:34.246Z,1761542674.246 [DAT](INFO): DAT read: Bearing 32.4, -12.6 (Local) 2025-10-27T05:24:34.256Z,1761542674.256 [DAT](INFO): Local bearing/azimuth received: Bearing 32.4, -12.6 (Local) 2025-10-27T05:24:34.293Z,1761542674.293 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.5 2025-10-27T05:24:34.325Z,1761542674.325 [DAT](INFO): DAT read: 05:24:33.0952 LVL= 32752, 32753, 30530, 32755, AGC= 62, IDX= 507, 0.22,-3.037, 1.786,-2.532,-3.029, PHS= 0.094,-1.423, 0.453, RAW= 160.4, 10.2, CAL= 160.4, 11.0, ROT= 349.6, -11.0 2025-10-27T05:24:34.327Z,1761542674.327 [DAT](INFO): got valid direction response: 05:24:33.0952 LVL= 32752, 32753, 30530, 32755, AGC= 62, IDX= 507, 0.22,-3.037, 1.786,-2.532,-3.029, PHS= 0.094,-1.423, 0.453, RAW= 160.4, 10.2, CAL= 160.4, 11.0, ROT= 349.6, -11.0 2025-10-27T05:24:34.327Z,1761542674.327 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:24:34.328Z,1761542674.328 [DAT](INFO): direction in FSK: [0.965501,-0.177202,0.190809] 2025-10-27T05:24:34.328Z,1761542674.328 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:34.336Z,1761542674.336 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.977710 2025-10-27T05:24:34.488Z,1761542674.488 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.129509 2025-10-27T05:24:34.521Z,1761542674.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.258069 s, deltaX: -0.300001 m, approachRate: -1.162484 m/s, rangeRepo size: 4 2025-10-27T05:24:34.527Z,1761542674.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.157635 m, bearing: 231.460827 deg, lat: 36.779374 deg, lon: -121.859704 deg, deltaT: 0.258069 s, deltaX: -0.298435 m, approachRate: -1.156416 m/s, posRepo size: 4 2025-10-27T05:24:34.528Z,1761542674.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:24:34.531Z,1761542674.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.157635 m, nav range: 26.754414 m, bearing: 231.793945 deg, approach rate: 0.000000 m/s, LOS rate: 0.002875 deg/s, cmd heading: 239.416353 deg, new cmd heading: 239.420200 deg. 2025-10-27T05:24:34.536Z,1761542674.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178671 target range: 27.157635 and range: 27.30 m. 2025-10-27T05:24:34.745Z,1761542674.745 [DAT](INFO): DAT read: Rx Time:05:24:33.5949 2025-10-27T05:24:34.746Z,1761542674.746 [DAT](INFO): Rx dataTimestamp_ set to:1761542674.745300 2025-10-27T05:24:34.749Z,1761542674.749 [DAT](INFO): DAT read: Bearing 29.7, -12.9 (Local) 2025-10-27T05:24:34.750Z,1761542674.750 [DAT](INFO): Local bearing/azimuth received: Bearing 29.7, -12.9 (Local) 2025-10-27T05:24:34.757Z,1761542674.757 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.397318 2025-10-27T05:24:34.859Z,1761542674.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501282,0.852281,0.149441],[-0.865254,-0.492303,-0.094725],[-0.007162,-0.176789,0.984223]] 2025-10-27T05:24:34.935Z,1761542674.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:34.937Z,1761542674.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.16 m. 2025-10-27T05:24:34.940Z,1761542674.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.157635 m, nav range: 26.504745 m, bearing: 231.820372 deg, approach rate: -0.598786 m/s, LOS rate: 0.063978 deg/s, cmd heading: 239.420206 deg, new cmd heading: 239.500234 deg. 2025-10-27T05:24:34.941Z,1761542674.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180068 target range: 27.157635 and range: 27.30 m. 2025-10-27T05:24:34.995Z,1761542674.995 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.5 2025-10-27T05:24:35.001Z,1761542675.001 [DAT](INFO): DAT read: 05:24:33.5949 LVL= 28624, 31985, 23746, 32755, AGC= 62, IDX= 504, 0.33, 1.188,-0.285, 1.746, 1.160, PHS= 0.130,-1.400, 0.542, RAW= 161.6, 8.3, CAL= 161.2, 8.5, ROT= 348.8, -8.5 2025-10-27T05:24:35.002Z,1761542675.002 [DAT](INFO): got valid direction response: 05:24:33.5949 LVL= 28624, 31985, 23746, 32755, AGC= 62, IDX= 504, 0.33, 1.188,-0.285, 1.746, 1.160, PHS= 0.130,-1.400, 0.542, RAW= 161.6, 8.3, CAL= 161.2, 8.5, ROT= 348.8, -8.5 2025-10-27T05:24:35.002Z,1761542675.002 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:24:35.003Z,1761542675.003 [DAT](INFO): direction in FSK: [0.970180,-0.192101,0.147809] 2025-10-27T05:24:35.003Z,1761542675.003 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:35.010Z,1761542675.010 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.650967 2025-10-27T05:24:35.256Z,1761542675.256 [DAT](INFO): DAT read: Rx Time:05:24:34.0948 2025-10-27T05:24:35.258Z,1761542675.258 [DAT](INFO): Rx dataTimestamp_ set to:1761542675.256876 2025-10-27T05:24:35.261Z,1761542675.261 [DAT](INFO): DAT read: Bearing 32.9, -12.7 (Local) 2025-10-27T05:24:35.262Z,1761542675.262 [DAT](INFO): Local bearing/azimuth received: Bearing 32.9, -12.7 (Local) 2025-10-27T05:24:35.282Z,1761542675.282 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.5 2025-10-27T05:24:35.338Z,1761542675.338 [DAT](INFO): DAT read: 05:24:34.0948 LVL= 32752, 32753, 30082, 32755, AGC= 62, IDX= 503, 0.43, 2.983, 1.536,-2.789, 3.005, PHS= 0.080,-1.424, 0.445, RAW= 160.6, 10.5, CAL= 160.7, 11.5, ROT= 349.3, -11.5 2025-10-27T05:24:35.348Z,1761542675.348 [DAT](INFO): got valid direction response: 05:24:34.0948 LVL= 32752, 32753, 30082, 32755, AGC= 62, IDX= 503, 0.43, 2.983, 1.536,-2.789, 3.005, PHS= 0.080,-1.424, 0.445, RAW= 160.6, 10.5, CAL= 160.7, 11.5, ROT= 349.3, -11.5 2025-10-27T05:24:35.348Z,1761542675.348 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T05:24:35.349Z,1761542675.349 [DAT](INFO): direction in FSK: [0.962887,-0.181939,0.199368] 2025-10-27T05:24:35.349Z,1761542675.349 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:35.358Z,1761542675.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500123,0.853025,0.149082],[-0.865931,-0.491384,-0.093300],[-0.006331,-0.175757,0.984413]] 2025-10-27T05:24:35.361Z,1761542675.361 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.002659 2025-10-27T05:24:35.496Z,1761542675.496 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.137527 2025-10-27T05:24:35.499Z,1761542675.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 1.015333 s, deltaX: -0.599998 m, approachRate: -0.590938 m/s, rangeRepo size: 4 2025-10-27T05:24:35.509Z,1761542675.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.559988 m, bearing: 231.494198 deg, lat: 36.779375 deg, lon: -121.859702 deg, deltaT: 1.015333 s, deltaX: -0.597647 m, approachRate: -0.588621 m/s, posRepo size: 4 2025-10-27T05:24:35.510Z,1761542675.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.56 m. 2025-10-27T05:24:35.513Z,1761542675.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.559988 m, nav range: 26.005598 m, bearing: 231.685473 deg, approach rate: 0.000000 m/s, LOS rate: 0.063978 deg/s, cmd heading: 239.500228 deg, new cmd heading: 239.607866 deg. 2025-10-27T05:24:35.514Z,1761542675.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.181946 target range: 26.559988 and range: 26.70 m. 2025-10-27T05:24:35.751Z,1761542675.751 [DAT](INFO): DAT read: Rx Time:05:24:34.5946 2025-10-27T05:24:35.753Z,1761542675.753 [DAT](INFO): Rx dataTimestamp_ set to:1761542675.751956 2025-10-27T05:24:35.756Z,1761542675.756 [DAT](INFO): DAT read: Bearing 31.0, -12.1 (Local) 2025-10-27T05:24:35.757Z,1761542675.757 [DAT](INFO): Local bearing/azimuth received: Bearing 31.0, -12.1 (Local) 2025-10-27T05:24:35.762Z,1761542675.762 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.5 2025-10-27T05:24:35.772Z,1761542675.772 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-27T05:24:35.781Z,1761542675.781 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.421396 2025-10-27T05:24:35.789Z,1761542675.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.495080 s, deltaX: -0.300001 m, approachRate: -0.605965 m/s, rangeRepo size: 4 2025-10-27T05:24:35.790Z,1761542675.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.56 m. 2025-10-27T05:24:35.797Z,1761542675.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.559988 m, nav range: 25.869165 m, bearing: 231.701782 deg, approach rate: -0.469601 m/s, LOS rate: 0.056432 deg/s, cmd heading: 239.607872 deg, new cmd heading: 239.657057 deg. 2025-10-27T05:24:35.798Z,1761542675.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182805 target range: 26.559988 and range: 26.40 m. 2025-10-27T05:24:36.004Z,1761542676.004 [DAT](INFO): DAT read: 05:24:34.5946 LVL= 32752, 32753, 27634, 32755, AGC= 63, IDX= 501,-0.24,-1.021,-2.475,-0.504,-1.042, PHS= 0.123,-1.388, 0.495, RAW= 160.7, 9.0, CAL= 160.5, 9.4, ROT= 349.5, -9.4 2025-10-27T05:24:36.005Z,1761542676.005 [DAT](INFO): got valid direction response: 05:24:34.5946 LVL= 32752, 32753, 27634, 32755, AGC= 63, IDX= 501,-0.24,-1.021,-2.475,-0.504,-1.042, PHS= 0.123,-1.388, 0.495, RAW= 160.7, 9.0, CAL= 160.5, 9.4, ROT= 349.5, -9.4 2025-10-27T05:24:36.005Z,1761542676.005 [DAT](INFO): #Rx 32: Read direction message, but no range. 2025-10-27T05:24:36.006Z,1761542676.006 [DAT](INFO): direction in FSK: [0.970052,-0.179789,0.163326] 2025-10-27T05:24:36.010Z,1761542676.010 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.651417 2025-10-27T05:24:36.085Z,1761542676.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497974,0.854461,0.148046],[-0.867178,-0.489706,-0.090497],[-0.004827,-0.173447,0.984831]] 2025-10-27T05:24:36.122Z,1761542676.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.56 m. 2025-10-27T05:24:36.125Z,1761542676.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.559988 m, nav range: 25.652163 m, bearing: 231.726986 deg, approach rate: -0.651406 m/s, LOS rate: 0.076297 deg/s, cmd heading: 239.657049 deg, new cmd heading: 239.733300 deg. 2025-10-27T05:24:36.126Z,1761542676.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184135 target range: 26.559988 and range: 26.40 m. 2025-10-27T05:24:36.258Z,1761542676.258 [DAT](INFO): DAT read: Rx Time:05:24:35.0945 2025-10-27T05:24:36.261Z,1761542676.261 [DAT](INFO): Rx dataTimestamp_ set to:1761542676.259718 2025-10-27T05:24:36.265Z,1761542676.265 [DAT](INFO): DAT read: Bearing 31.1, -12.4 (Local) 2025-10-27T05:24:36.266Z,1761542676.266 [DAT](INFO): Local bearing/azimuth received: Bearing 31.1, -12.4 (Local) 2025-10-27T05:24:36.290Z,1761542676.290 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 2025-10-27T05:24:36.333Z,1761542676.333 [DAT](INFO): DAT read: 05:24:35.0945 LVL= 32752, 32753, 30914, 32755, AGC= 62, IDX= 500, 0.00, 1.000,-0.465, 1.534, 0.985, PHS= 0.116,-1.406, 0.505, RAW= 161.1, 9.0, CAL= 160.9, 9.5, ROT= 349.1, -9.5 2025-10-27T05:24:36.340Z,1761542676.340 [DAT](INFO): got valid direction response: 05:24:35.0945 LVL= 32752, 32753, 30914, 32755, AGC= 62, IDX= 500, 0.00, 1.000,-0.465, 1.534, 0.985, PHS= 0.116,-1.406, 0.505, RAW= 161.1, 9.0, CAL= 160.9, 9.5, ROT= 349.1, -9.5 2025-10-27T05:24:36.340Z,1761542676.340 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:24:36.341Z,1761542676.341 [DAT](INFO): direction in FSK: [0.968492,-0.186502,0.165048] 2025-10-27T05:24:36.342Z,1761542676.342 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:36.349Z,1761542676.349 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.990965 2025-10-27T05:24:36.490Z,1761542676.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496267,0.855680,0.146736],[-0.868162,-0.488379,-0.088211],[-0.003817,-0.171167,0.985235]] 2025-10-27T05:24:36.504Z,1761542676.504 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.145571 2025-10-27T05:24:36.549Z,1761542676.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.507762 s, deltaX: -0.100000 m, approachRate: -0.196943 m/s, rangeRepo size: 4 2025-10-27T05:24:36.568Z,1761542676.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.160904 m, bearing: 231.131829 deg, lat: 36.779374 deg, lon: -121.859702 deg, deltaT: 1.002842 s, deltaX: -0.399084 m, approachRate: -0.397953 m/s, posRepo size: 4 2025-10-27T05:24:36.568Z,1761542676.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.16 m. 2025-10-27T05:24:36.575Z,1761542676.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.160904 m, nav range: 25.458986 m, bearing: 231.653714 deg, approach rate: 0.000000 m/s, LOS rate: 0.076297 deg/s, cmd heading: 239.733301 deg, new cmd heading: 239.831070 deg. 2025-10-27T05:24:36.576Z,1761542676.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185842 target range: 26.160904 and range: 26.30 m. 2025-10-27T05:24:36.761Z,1761542676.761 [DAT](INFO): DAT read: Rx Time:05:24:35.5942 2025-10-27T05:24:36.762Z,1761542676.762 [DAT](INFO): Rx dataTimestamp_ set to:1761542676.761211 2025-10-27T05:24:36.766Z,1761542676.766 [DAT](INFO): DAT read: Bearing 32.3, -12.3 (Local) 2025-10-27T05:24:36.768Z,1761542676.768 [DAT](INFO): Local bearing/azimuth received: Bearing 32.3, -12.3 (Local) 2025-10-27T05:24:36.775Z,1761542676.775 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.4 2025-10-27T05:24:36.777Z,1761542676.777 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T05:24:36.781Z,1761542676.781 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.422268 2025-10-27T05:24:36.896Z,1761542676.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494139,0.857027,0.146056],[-0.869376,-0.486448,-0.086906],[-0.003432,-0.169921,0.985452]] 2025-10-27T05:24:36.920Z,1761542676.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.501493 s, deltaX: -0.500000 m, approachRate: -0.997023 m/s, rangeRepo size: 4 2025-10-27T05:24:36.921Z,1761542676.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.16 m. 2025-10-27T05:24:36.924Z,1761542676.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.160904 m, nav range: 25.256350 m, bearing: 231.681230 deg, approach rate: -0.547179 m/s, LOS rate: 0.074897 deg/s, cmd heading: 239.831082 deg, new cmd heading: 239.914292 deg. 2025-10-27T05:24:36.924Z,1761542676.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187294 target range: 26.160904 and range: 25.80 m. 2025-10-27T05:24:37.013Z,1761542677.013 [DAT](INFO): DAT read: 05:24:35.5942 LVL= 32752, 32753, 31378, 32755, AGC= 59, IDX= 497, 0.26, 0.718,-0.742, 1.240, 0.721, PHS= 0.100,-1.417, 0.475, RAW= 160.8, 9.7, CAL= 160.7, 10.5, ROT= 349.3, -10.5 2025-10-27T05:24:37.015Z,1761542677.015 [DAT](INFO): got valid direction response: 05:24:35.5942 LVL= 32752, 32753, 31378, 32755, AGC= 59, IDX= 497, 0.26, 0.718,-0.742, 1.240, 0.721, PHS= 0.100,-1.417, 0.475, RAW= 160.8, 9.7, CAL= 160.7, 10.5, ROT= 349.3, -10.5 2025-10-27T05:24:37.016Z,1761542677.016 [DAT](INFO): #Rx 35: Read direction message, but no range. 2025-10-27T05:24:37.017Z,1761542677.017 [DAT](INFO): direction in FSK: [0.966159,-0.182558,0.182236] 2025-10-27T05:24:37.022Z,1761542677.022 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.663031 2025-10-27T05:24:37.264Z,1761542677.264 [DAT](INFO): DAT read: Rx Time:05:24:36.0941 2025-10-27T05:24:37.266Z,1761542677.266 [DAT](INFO): Rx dataTimestamp_ set to:1761542677.264650 2025-10-27T05:24:37.270Z,1761542677.270 [DAT](INFO): DAT read: Bearing 44.0, -11.4 (Local) 2025-10-27T05:24:37.281Z,1761542677.281 [DAT](INFO): Local bearing/azimuth received: Bearing 44.0, -11.4 (Local) 2025-10-27T05:24:37.324Z,1761542677.324 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 2025-10-27T05:24:37.369Z,1761542677.369 [DAT](INFO): DAT read: 05:24:36.0941 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 512,-0.24,-1.155,-2.326,-0.814,-0.992, PHS=-0.060,-1.289, 0.135, RAW= 157.2, 17.8, CAL= 158.6, 21.5, ROT= 351.4, -21.5 2025-10-27T05:24:37.371Z,1761542677.371 [DAT](INFO): got valid direction response: 05:24:36.0941 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 512,-0.24,-1.155,-2.326,-0.814,-0.992, PHS=-0.060,-1.289, 0.135, RAW= 157.2, 17.8, CAL= 158.6, 21.5, ROT= 351.4, -21.5 2025-10-27T05:24:37.380Z,1761542677.380 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:24:37.381Z,1761542677.381 [DAT](INFO): direction in FSK: [0.919956,-0.139131,0.366501] 2025-10-27T05:24:37.381Z,1761542677.381 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:37.397Z,1761542677.397 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.038815 2025-10-27T05:24:37.425Z,1761542677.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503439 s, deltaX: -0.099998 m, approachRate: -0.198631 m/s, rangeRepo size: 4 2025-10-27T05:24:37.435Z,1761542677.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.564182 m, bearing: 235.743159 deg, lat: 36.779374 deg, lon: -121.859702 deg, deltaT: 1.004932 s, deltaX: -0.596722 m, approachRate: -0.593793 m/s, posRepo size: 4 2025-10-27T05:24:37.436Z,1761542677.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-27T05:24:37.439Z,1761542677.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.564182 m, nav range: 24.963839 m, bearing: 231.650469 deg, approach rate: 0.000000 m/s, LOS rate: 0.074897 deg/s, cmd heading: 239.914301 deg, new cmd heading: 240.027814 deg. 2025-10-27T05:24:37.452Z,1761542677.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.189276 target range: 25.564182 and range: 25.70 m. 2025-10-27T05:24:37.512Z,1761542677.512 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.153379 2025-10-27T05:24:37.768Z,1761542677.768 [DAT](INFO): DAT read: Rx Time:05:24:36.5938 2025-10-27T05:24:37.770Z,1761542677.770 [DAT](INFO): Rx dataTimestamp_ set to:1761542677.768852 2025-10-27T05:24:37.774Z,1761542677.774 [DAT](INFO): DAT read: Bearing 32.5, -12.5 (Local) 2025-10-27T05:24:37.775Z,1761542677.775 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, -12.5 (Local) 2025-10-27T05:24:37.782Z,1761542677.782 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 2025-10-27T05:24:37.782Z,1761542677.782 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-27T05:24:37.783Z,1761542677.783 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.424818 2025-10-27T05:24:37.812Z,1761542677.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488638,0.860895,0.141745],[-0.872482,-0.481647,-0.082405],[-0.002671,-0.163937,0.986467]] 2025-10-27T05:24:37.908Z,1761542677.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:37.915Z,1761542677.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504202 s, deltaX: -0.500000 m, approachRate: -0.991666 m/s, rangeRepo size: 4 2025-10-27T05:24:37.916Z,1761542677.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-27T05:24:37.927Z,1761542677.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.564182 m, nav range: 24.693882 m, bearing: 231.667577 deg, approach rate: -0.555534 m/s, LOS rate: 0.035590 deg/s, cmd heading: 240.027819 deg, new cmd heading: 240.079703 deg. 2025-10-27T05:24:37.928Z,1761542677.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190181 target range: 25.564182 and range: 25.20 m. 2025-10-27T05:24:38.020Z,1761542678.020 [DAT](INFO): DAT read: 05:24:36.5938 LVL= 32752, 32753, 31698, 32755, AGC= 60, IDX= 509, 0.10,-0.684,-2.132,-0.147,-0.676, PHS= 0.095,-1.410, 0.485, RAW= 161.3, 9.6, CAL= 161.1, 10.3, ROT= 348.9, -10.3 2025-10-27T05:24:38.022Z,1761542678.022 [DAT](INFO): got valid direction response: 05:24:36.5938 LVL= 32752, 32753, 31698, 32755, AGC= 60, IDX= 509, 0.10,-0.684,-2.132,-0.147,-0.676, PHS= 0.095,-1.410, 0.485, RAW= 161.3, 9.6, CAL= 161.1, 10.3, ROT= 348.9, -10.3 2025-10-27T05:24:38.022Z,1761542678.022 [DAT](INFO): #Rx 38: Read direction message, but no range. 2025-10-27T05:24:38.029Z,1761542678.029 [DAT](INFO): direction in FSK: [0.965479,-0.189420,0.178802] 2025-10-27T05:24:38.032Z,1761542678.032 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.673599 2025-10-27T05:24:38.273Z,1761542678.273 [DAT](INFO): DAT read: Rx Time:05:24:37.0938 2025-10-27T05:24:38.274Z,1761542678.274 [DAT](INFO): Rx dataTimestamp_ set to:1761542678.273383 2025-10-27T05:24:38.279Z,1761542678.279 [DAT](INFO): DAT read: Bearing 32.5, -12.3 (Local) 2025-10-27T05:24:38.280Z,1761542678.280 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, -12.3 (Local) 2025-10-27T05:24:38.289Z,1761542678.289 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 2025-10-27T05:24:38.360Z,1761542678.360 [DAT](INFO): DAT read: 05:24:37.0938 LVL= 32752, 32753, 28866, 32755, AGC= 59, IDX= 509,-0.39,-0.874,-2.308,-0.345,-0.873, PHS= 0.100,-1.390, 0.484, RAW= 161.2, 9.4, CAL= 161.0, 10.1, ROT= 349.0, -10.1 2025-10-27T05:24:38.376Z,1761542678.376 [DAT](INFO): got valid direction response: 05:24:37.0938 LVL= 32752, 32753, 28866, 32755, AGC= 59, IDX= 509,-0.39,-0.874,-2.308,-0.345,-0.873, PHS= 0.100,-1.390, 0.484, RAW= 161.2, 9.4, CAL= 161.0, 10.1, ROT= 349.0, -10.1 2025-10-27T05:24:38.376Z,1761542678.376 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:24:38.377Z,1761542678.377 [DAT](INFO): direction in FSK: [0.966415,-0.187852,0.175367] 2025-10-27T05:24:38.378Z,1761542678.378 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:38.386Z,1761542678.386 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.027031 2025-10-27T05:24:38.411Z,1761542678.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482454,0.864423,0.141458],[-0.875920,-0.475860,-0.079509],[-0.001415,-0.162266,0.986746]] 2025-10-27T05:24:38.520Z,1761542678.520 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.161493 2025-10-27T05:24:38.524Z,1761542678.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504531 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:24:38.526Z,1761542678.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.066816 m, bearing: 231.934798 deg, lat: 36.779374 deg, lon: -121.859702 deg, deltaT: 1.008733 s, deltaX: -0.497366 m, approachRate: -0.493060 m/s, posRepo size: 4 2025-10-27T05:24:38.527Z,1761542678.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:24:38.530Z,1761542678.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.066816 m, nav range: 24.431023 m, bearing: 231.717375 deg, approach rate: 0.000000 m/s, LOS rate: 0.035590 deg/s, cmd heading: 240.079701 deg, new cmd heading: 240.145216 deg. 2025-10-27T05:24:38.543Z,1761542678.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191325 target range: 25.066816 and range: 25.20 m. 2025-10-27T05:24:38.776Z,1761542678.776 [DAT](INFO): DAT read: Rx Time:05:24:37.5935 2025-10-27T05:24:38.778Z,1761542678.778 [DAT](INFO): Rx dataTimestamp_ set to:1761542678.777074 2025-10-27T05:24:38.782Z,1761542678.782 [DAT](INFO): DAT read: Bearing 32.9, -12.7 (Local) 2025-10-27T05:24:38.782Z,1761542678.782 [DAT](INFO): Local bearing/azimuth received: Bearing 32.9, -12.7 (Local) 2025-10-27T05:24:38.784Z,1761542678.784 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-27T05:24:38.785Z,1761542678.785 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T05:24:38.786Z,1761542678.786 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.427500 2025-10-27T05:24:38.887Z,1761542678.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480332,0.865924,0.139485],[-0.877087,-0.474196,-0.076532],[-0.000128,-0.159101,0.987262]] 2025-10-27T05:24:38.906Z,1761542678.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503691 s, deltaX: -0.300001 m, approachRate: -0.595606 m/s, rangeRepo size: 4 2025-10-27T05:24:38.907Z,1761542678.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.07 m. 2025-10-27T05:24:38.910Z,1761542678.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.066816 m, nav range: 24.205982 m, bearing: 231.716005 deg, approach rate: -0.589531 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.145217 deg, new cmd heading: 240.141067 deg. 2025-10-27T05:24:38.911Z,1761542678.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191252 target range: 25.066816 and range: 24.90 m. 2025-10-27T05:24:39.034Z,1761542679.034 [DAT](INFO): DAT read: 05:24:37.5935 LVL= 32752, 32753, 28530, 32755, AGC= 62, IDX= 506,-0.00,-1.446,-2.876,-0.900,-1.434, PHS= 0.089,-1.398, 0.490, RAW= 161.6, 9.5, CAL= 161.5, 10.2, ROT= 348.5, -10.2 2025-10-27T05:24:39.037Z,1761542679.037 [DAT](INFO): got valid direction response: 05:24:37.5935 LVL= 32752, 32753, 28530, 32755, AGC= 62, IDX= 506,-0.00,-1.446,-2.876,-0.900,-1.434, PHS= 0.089,-1.398, 0.490, RAW= 161.6, 9.5, CAL= 161.5, 10.2, ROT= 348.5, -10.2 2025-10-27T05:24:39.037Z,1761542679.037 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T05:24:39.039Z,1761542679.039 [DAT](INFO): direction in FSK: [0.964438,-0.196217,0.177085] 2025-10-27T05:24:39.045Z,1761542679.045 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.686640 2025-10-27T05:24:39.283Z,1761542679.283 [DAT](INFO): DAT read: Rx Time:05:24:38.0934 2025-10-27T05:24:39.284Z,1761542679.284 [DAT](INFO): Rx dataTimestamp_ set to:1761542679.283391 2025-10-27T05:24:39.285Z,1761542679.285 [DAT](INFO): DAT read: Bearing 32.5, -12.7 (Local) 2025-10-27T05:24:39.285Z,1761542679.285 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, -12.7 (Local) 2025-10-27T05:24:39.291Z,1761542679.291 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 2025-10-27T05:24:39.292Z,1761542679.292 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T05:24:39.293Z,1761542679.293 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.934090 2025-10-27T05:24:39.319Z,1761542679.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478448,0.867449,0.136456],[-0.878115,-0.472806,-0.073268],[0.000961,-0.154879,0.987933]] 2025-10-27T05:24:39.435Z,1761542679.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.506317 s, deltaX: -0.100000 m, approachRate: -0.197505 m/s, rangeRepo size: 4 2025-10-27T05:24:39.441Z,1761542679.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.668421 m, bearing: 231.623425 deg, lat: 36.779373 deg, lon: -121.859702 deg, deltaT: 1.010008 s, deltaX: -0.398396 m, approachRate: -0.394448 m/s, posRepo size: 4 2025-10-27T05:24:39.442Z,1761542679.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.67 m. 2025-10-27T05:24:39.449Z,1761542679.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.668421 m, nav range: 23.984976 m, bearing: 231.517863 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.141064 deg, new cmd heading: 240.135321 deg. 2025-10-27T05:24:39.450Z,1761542679.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191152 target range: 24.668421 and range: 24.80 m. 2025-10-27T05:24:39.533Z,1761542679.533 [DAT](INFO): DAT read: 05:24:38.0934 LVL= 32752, 32753, 29250, 32755, AGC= 62, IDX= 505, 0.39, 0.237,-1.203, 0.795, 0.241, PHS= 0.098,-1.398, 0.511, RAW= 161.8, 9.1, CAL= 161.6, 9.6, ROT= 348.4, -9.6 2025-10-27T05:24:39.534Z,1761542679.534 [DAT](INFO): got valid direction response: 05:24:38.0934 LVL= 32752, 32753, 29250, 32755, AGC= 62, IDX= 505, 0.39, 0.237,-1.203, 0.795, 0.241, PHS= 0.098,-1.398, 0.511, RAW= 161.8, 9.1, CAL= 161.6, 9.6, ROT= 348.4, -9.6 2025-10-27T05:24:39.535Z,1761542679.535 [DAT](INFO): #Rx 43: Read direction message, but no range. 2025-10-27T05:24:39.536Z,1761542679.536 [DAT](INFO): direction in FSK: [0.965857,-0.198262,0.166769] 2025-10-27T05:24:39.540Z,1761542679.540 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.181440 2025-10-27T05:24:39.783Z,1761542679.783 [DAT](INFO): DAT read: Rx Time:05:24:38.5932 2025-10-27T05:24:39.784Z,1761542679.784 [DAT](INFO): Rx dataTimestamp_ set to:1761542679.783327 2025-10-27T05:24:39.785Z,1761542679.785 [DAT](INFO): DAT read: Bearing 32.2, -13.1 (Local) 2025-10-27T05:24:39.785Z,1761542679.785 [DAT](INFO): Local bearing/azimuth received: Bearing 32.2, -13.1 (Local) 2025-10-27T05:24:39.787Z,1761542679.787 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 2025-10-27T05:24:39.792Z,1761542679.792 [DAT](INFO): DAT read: 05:24:38.5932 LVL= 32752, 32753, 27730, 32755, AGC= 61, IDX= 503,-0.19,-1.639,-3.063,-1.057,-1.632, PHS= 0.095,-1.385, 0.531, RAW= 162.5, 8.8, CAL= 162.3, 9.2, ROT= 347.7, -9.2 2025-10-27T05:24:39.793Z,1761542679.793 [DAT](INFO): got valid direction response: 05:24:38.5932 LVL= 32752, 32753, 27730, 32755, AGC= 61, IDX= 503,-0.19,-1.639,-3.063,-1.057,-1.632, PHS= 0.095,-1.385, 0.531, RAW= 162.5, 8.8, CAL= 162.3, 9.2, ROT= 347.7, -9.2 2025-10-27T05:24:39.793Z,1761542679.793 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:24:39.794Z,1761542679.794 [DAT](INFO): direction in FSK: [0.964477,-0.210290,0.159881] 2025-10-27T05:24:39.799Z,1761542679.799 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:39.802Z,1761542679.802 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.443937 2025-10-27T05:24:39.836Z,1761542679.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477432,0.868332,0.134380],[-0.878666,-0.472192,-0.070572],[0.002173,-0.151768,0.988414]] 2025-10-27T05:24:40.017Z,1761542680.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.499936 s, deltaX: -0.299999 m, approachRate: -0.600075 m/s, rangeRepo size: 4 2025-10-27T05:24:40.032Z,1761542680.032 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.673487 2025-10-27T05:24:40.036Z,1761542680.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.370840 m, bearing: 230.700247 deg, lat: 36.779373 deg, lon: -121.859702 deg, deltaT: 0.499936 s, deltaX: -0.297581 m, approachRate: -0.595238 m/s, posRepo size: 4 2025-10-27T05:24:40.036Z,1761542680.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-27T05:24:40.044Z,1761542680.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.370840 m, nav range: 23.692825 m, bearing: 231.368160 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.135326 deg, new cmd heading: 240.128991 deg. 2025-10-27T05:24:40.045Z,1761542680.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191041 target range: 24.370840 and range: 24.50 m. 2025-10-27T05:24:40.067Z,1761542680.067 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:24:40.285Z,1761542680.285 [DAT](INFO): DAT read: Rx Time:05:24:39.0931 2025-10-27T05:24:40.285Z,1761542680.285 [DAT](INFO): Rx dataTimestamp_ set to:1761542680.284823 2025-10-27T05:24:40.286Z,1761542680.286 [DAT](INFO): DAT read: Bearing 32.2, -12.5 (Local) 2025-10-27T05:24:40.287Z,1761542680.287 [DAT](INFO): Local bearing/azimuth received: Bearing 32.2, -12.5 (Local) 2025-10-27T05:24:40.289Z,1761542680.289 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.5 2025-10-27T05:24:40.302Z,1761542680.302 [DAT](INFO): DAT read: 05:24:39.0931 LVL= 32752, 32753, 28626, 32755, AGC= 58, IDX= 502, 0.04, 1.232,-0.199, 1.796, 1.226, PHS= 0.108,-1.380, 0.525, RAW= 162.0, 8.6, CAL= 161.7, 9.0, ROT= 348.3, -9.0 2025-10-27T05:24:40.303Z,1761542680.303 [DAT](INFO): got valid direction response: 05:24:39.0931 LVL= 32752, 32753, 28626, 32755, AGC= 58, IDX= 502, 0.04, 1.232,-0.199, 1.796, 1.226, PHS= 0.108,-1.380, 0.525, RAW= 162.0, 8.6, CAL= 161.7, 9.0, ROT= 348.3, -9.0 2025-10-27T05:24:40.303Z,1761542680.303 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:24:40.304Z,1761542680.304 [DAT](INFO): direction in FSK: [0.967167,-0.200291,0.156434] 2025-10-27T05:24:40.304Z,1761542680.304 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:40.356Z,1761542680.356 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.988070 2025-10-27T05:24:40.515Z,1761542680.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.501496 s, deltaX: -0.200001 m, approachRate: -0.398808 m/s, rangeRepo size: 4 2025-10-27T05:24:40.517Z,1761542680.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.171894 m, bearing: 231.266005 deg, lat: 36.779373 deg, lon: -121.859704 deg, deltaT: 0.501496 s, deltaX: -0.198946 m, approachRate: -0.396705 m/s, posRepo size: 4 2025-10-27T05:24:40.518Z,1761542680.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:24:40.525Z,1761542680.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.171894 m, nav range: 23.529125 m, bearing: 231.516548 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.128988 deg, new cmd heading: 240.123670 deg. 2025-10-27T05:24:40.528Z,1761542680.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190948 target range: 24.171894 and range: 24.30 m. 2025-10-27T05:24:40.536Z,1761542680.536 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.177561 2025-10-27T05:24:40.789Z,1761542680.789 [DAT](INFO): DAT read: Rx Time:05:24:39.5928 2025-10-27T05:24:40.789Z,1761542680.789 [DAT](INFO): Rx dataTimestamp_ set to:1761542680.788731 2025-10-27T05:24:40.790Z,1761542680.790 [DAT](INFO): DAT read: Bearing 31.8, -13.1 (Local) 2025-10-27T05:24:40.791Z,1761542680.791 [DAT](INFO): Local bearing/azimuth received: Bearing 31.8, -13.1 (Local) 2025-10-27T05:24:40.793Z,1761542680.793 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.5 2025-10-27T05:24:40.797Z,1761542680.797 [DAT](INFO): DAT read: 05:24:39.5928 LVL= 32752, 32753, 27938, 32755, AGC= 60, IDX= 499, 0.28, 0.428,-1.019, 1.026, 0.426, PHS= 0.104,-1.400, 0.556, RAW= 162.8, 8.4, CAL= 162.4, 8.7, ROT= 347.6, -8.7 2025-10-27T05:24:40.798Z,1761542680.798 [DAT](INFO): got valid direction response: 05:24:39.5928 LVL= 32752, 32753, 27938, 32755, AGC= 60, IDX= 499, 0.28, 0.428,-1.019, 1.026, 0.426, PHS= 0.104,-1.400, 0.556, RAW= 162.8, 8.4, CAL= 162.4, 8.7, ROT= 347.6, -8.7 2025-10-27T05:24:40.799Z,1761542680.799 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:24:40.800Z,1761542680.800 [DAT](INFO): direction in FSK: [0.965435,-0.212265,0.151261] 2025-10-27T05:24:40.800Z,1761542680.800 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:40.812Z,1761542680.812 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.453451 2025-10-27T05:24:40.842Z,1761542680.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479863,0.866526,0.137344],[-0.877326,-0.474925,-0.068887],[0.005536,-0.153552,0.988125]] 2025-10-27T05:24:40.921Z,1761542680.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503908 s, deltaX: -0.400000 m, approachRate: -0.793795 m/s, rangeRepo size: 4 2025-10-27T05:24:40.927Z,1761542680.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.774004 m, bearing: 230.376992 deg, lat: 36.779371 deg, lon: -121.859704 deg, deltaT: 0.503908 s, deltaX: -0.397890 m, approachRate: -0.789609 m/s, posRepo size: 4 2025-10-27T05:24:40.928Z,1761542680.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-27T05:24:40.930Z,1761542680.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.774004 m, nav range: 23.427610 m, bearing: 231.052833 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.123660 deg, new cmd heading: 240.119160 deg. 2025-10-27T05:24:40.936Z,1761542680.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190870 target range: 23.774004 and range: 23.90 m. 2025-10-27T05:24:41.041Z,1761542681.041 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.681982 2025-10-27T05:24:41.071Z,1761542681.071 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:24:41.189Z,1761542681.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482101,0.864661,0.141208],[-0.876091,-0.476980,-0.070387],[0.006493,-0.157645,0.987474]] 2025-10-27T05:24:41.293Z,1761542681.293 [DAT](INFO): DAT read: Rx Time:05:24:40.0927 2025-10-27T05:24:41.293Z,1761542681.293 [DAT](INFO): Rx dataTimestamp_ set to:1761542681.292753 2025-10-27T05:24:41.294Z,1761542681.294 [DAT](INFO): DAT read: Bearing 31.3, -12.8 (Local) 2025-10-27T05:24:41.295Z,1761542681.295 [DAT](INFO): Local bearing/azimuth received: Bearing 31.3, -12.8 (Local) 2025-10-27T05:24:41.297Z,1761542681.297 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 2025-10-27T05:24:41.301Z,1761542681.301 [DAT](INFO): DAT read: 05:24:40.0927 LVL= 32752, 32753, 26338, 32755, AGC= 61, IDX= 498,-0.40,-1.195,-2.621,-0.611,-1.206, PHS= 0.113,-1.370, 0.551, RAW= 162.6, 8.2, CAL= 162.2, 8.4, ROT= 347.8, -8.4 2025-10-27T05:24:41.303Z,1761542681.303 [DAT](INFO): got valid direction response: 05:24:40.0927 LVL= 32752, 32753, 26338, 32755, AGC= 61, IDX= 498,-0.40,-1.195,-2.621,-0.611,-1.206, PHS= 0.113,-1.370, 0.551, RAW= 162.6, 8.2, CAL= 162.2, 8.4, ROT= 347.8, -8.4 2025-10-27T05:24:41.304Z,1761542681.304 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:24:41.305Z,1761542681.305 [DAT](INFO): direction in FSK: [0.966930,-0.209058,0.146083] 2025-10-27T05:24:41.305Z,1761542681.305 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:41.309Z,1761542681.309 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.950012 2025-10-27T05:24:41.336Z,1761542681.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504022 s, deltaX: -0.199999 m, approachRate: -0.396806 m/s, rangeRepo size: 4 2025-10-27T05:24:41.338Z,1761542681.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.574827 m, bearing: 230.423228 deg, lat: 36.779369 deg, lon: -121.859702 deg, deltaT: 0.504022 s, deltaX: -0.199177 m, approachRate: -0.395175 m/s, posRepo size: 4 2025-10-27T05:24:41.339Z,1761542681.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-27T05:24:41.356Z,1761542681.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.574827 m, nav range: 23.187878 m, bearing: 230.513914 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.119152 deg, new cmd heading: 240.114730 deg. 2025-10-27T05:24:41.357Z,1761542681.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190793 target range: 23.574827 and range: 23.70 m. 2025-10-27T05:24:41.544Z,1761542681.544 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.185940 2025-10-27T05:24:41.792Z,1761542681.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484490,0.862882,0.143893],[-0.874769,-0.479198,-0.071758],[0.007034,-0.160639,0.986988]] 2025-10-27T05:24:41.797Z,1761542681.797 [DAT](INFO): DAT read: Rx Time:05:24:40.5924 2025-10-27T05:24:41.797Z,1761542681.797 [DAT](INFO): Rx dataTimestamp_ set to:1761542681.796863 2025-10-27T05:24:41.798Z,1761542681.798 [DAT](INFO): DAT read: Bearing 32.5, -12.7 (Local) 2025-10-27T05:24:41.799Z,1761542681.799 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, -12.7 (Local) 2025-10-27T05:24:41.801Z,1761542681.801 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.5 2025-10-27T05:24:41.806Z,1761542681.806 [DAT](INFO): DAT read: 05:24:40.5924 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 495,-0.25,-1.781, 3.097,-1.222,-1.772, PHS= 0.093,-1.369, 0.505, RAW= 162.1, 9.1, CAL= 161.9, 9.6, ROT= 348.1, -9.6 2025-10-27T05:24:41.807Z,1761542681.807 [DAT](INFO): got valid direction response: 05:24:40.5924 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 495,-0.25,-1.781, 3.097,-1.222,-1.772, PHS= 0.093,-1.369, 0.505, RAW= 162.1, 9.1, CAL= 161.9, 9.6, ROT= 348.1, -9.6 2025-10-27T05:24:41.807Z,1761542681.807 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:24:41.808Z,1761542681.808 [DAT](INFO): direction in FSK: [0.964806,-0.203316,0.166769] 2025-10-27T05:24:41.808Z,1761542681.808 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:41.816Z,1761542681.816 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.457632 2025-10-27T05:24:41.841Z,1761542681.841 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, 20.00, 55.84 2025-10-27T05:24:41.912Z,1761542681.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504110 s, deltaX: -0.400002 m, approachRate: -0.793481 m/s, rangeRepo size: 4 2025-10-27T05:24:41.914Z,1761542681.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.176939 m, bearing: 230.788864 deg, lat: 36.779369 deg, lon: -121.859702 deg, deltaT: 0.504110 s, deltaX: -0.397888 m, approachRate: -0.789288 m/s, posRepo size: 4 2025-10-27T05:24:41.914Z,1761542681.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.18 m. 2025-10-27T05:24:41.921Z,1761542681.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.176939 m, nav range: 22.835327 m, bearing: 230.377373 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.114727 deg, new cmd heading: 240.108427 deg. 2025-10-27T05:24:41.922Z,1761542681.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190682 target range: 23.176939 and range: 23.30 m. 2025-10-27T05:24:42.048Z,1761542682.048 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.689899 2025-10-27T05:24:42.301Z,1761542682.301 [DAT](INFO): DAT read: Rx Time:05:24:41.0923 2025-10-27T05:24:42.301Z,1761542682.301 [DAT](INFO): Rx dataTimestamp_ set to:1761542682.300790 2025-10-27T05:24:42.302Z,1761542682.302 [DAT](INFO): DAT read: Bearing 31.3, -13.1 (Local) 2025-10-27T05:24:42.306Z,1761542682.306 [DAT](INFO): Local bearing/azimuth received: Bearing 31.3, -13.1 (Local) 2025-10-27T05:24:42.308Z,1761542682.308 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 2025-10-27T05:24:42.313Z,1761542682.313 [DAT](INFO): DAT read: 05:24:41.0923 LVL= 32752, 32753, 28258, 32755, AGC= 60, IDX= 510,-0.16,-0.702,-2.124,-0.111,-0.704, PHS= 0.103,-1.375, 0.549, RAW= 162.8, 8.3, CAL= 162.4, 8.6, ROT= 347.6, -8.6 2025-10-27T05:24:42.314Z,1761542682.314 [DAT](INFO): got valid direction response: 05:24:41.0923 LVL= 32752, 32753, 28258, 32755, AGC= 60, IDX= 510,-0.16,-0.702,-2.124,-0.111,-0.704, PHS= 0.103,-1.375, 0.549, RAW= 162.8, 8.3, CAL= 162.4, 8.6, ROT= 347.6, -8.6 2025-10-27T05:24:42.314Z,1761542682.314 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:24:42.328Z,1761542682.328 [DAT](INFO): direction in FSK: [0.965691,-0.212321,0.149535] 2025-10-27T05:24:42.328Z,1761542682.328 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:42.333Z,1761542682.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488500,0.859837,0.148487],[-0.872526,-0.482943,-0.073925],[0.008147,-0.165671,0.986147]] 2025-10-27T05:24:42.336Z,1761542682.336 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.977373 2025-10-27T05:24:42.475Z,1761542682.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503927 s, deltaX: -0.199999 m, approachRate: -0.396881 m/s, rangeRepo size: 4 2025-10-27T05:24:42.481Z,1761542682.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.977291 m, bearing: 229.917530 deg, lat: 36.779369 deg, lon: -121.859702 deg, deltaT: 0.503927 s, deltaX: -0.199648 m, approachRate: -0.396184 m/s, posRepo size: 4 2025-10-27T05:24:42.482Z,1761542682.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-27T05:24:42.484Z,1761542682.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.977291 m, nav range: 22.508932 m, bearing: 230.240233 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.108415 deg, new cmd heading: 240.102329 deg. 2025-10-27T05:24:42.485Z,1761542682.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190576 target range: 22.977291 and range: 23.10 m. 2025-10-27T05:24:42.553Z,1761542682.553 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.194338 2025-10-27T05:24:42.805Z,1761542682.805 [DAT](INFO): DAT read: Rx Time:05:24:41.5920 2025-10-27T05:24:42.805Z,1761542682.805 [DAT](INFO): Rx dataTimestamp_ set to:1761542682.804909 2025-10-27T05:24:42.806Z,1761542682.806 [DAT](INFO): DAT read: Bearing 33.8, -13.5 (Local) 2025-10-27T05:24:42.807Z,1761542682.807 [DAT](INFO): Local bearing/azimuth received: Bearing 33.8, -13.5 (Local) 2025-10-27T05:24:42.809Z,1761542682.809 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4 2025-10-27T05:24:42.814Z,1761542682.814 [DAT](INFO): DAT read: 05:24:41.5920 LVL= 32752, 32753, 32674, 32755, AGC= 59, IDX= 507,-0.17,-1.017,-2.408,-0.449,-0.967, PHS= 0.052,-1.396, 0.474, RAW= 162.4, 10.3, CAL= 162.4, 11.2, ROT= 347.6, -11.2 2025-10-27T05:24:42.815Z,1761542682.815 [DAT](INFO): got valid direction response: 05:24:41.5920 LVL= 32752, 32753, 32674, 32755, AGC= 59, IDX= 507,-0.17,-1.017,-2.408,-0.449,-0.967, PHS= 0.052,-1.396, 0.474, RAW= 162.4, 10.3, CAL= 162.4, 11.2, ROT= 347.6, -11.2 2025-10-27T05:24:42.815Z,1761542682.815 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:24:42.816Z,1761542682.816 [DAT](INFO): direction in FSK: [0.958072,-0.210646,0.194234] 2025-10-27T05:24:42.816Z,1761542682.816 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:42.820Z,1761542682.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489831,0.858498,0.151812],[-0.871771,-0.484130,-0.075063],[0.009055,-0.169113,0.985555]] 2025-10-27T05:24:42.824Z,1761542682.824 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.465597 2025-10-27T05:24:42.900Z,1761542682.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504119 s, deltaX: -0.400000 m, approachRate: -0.793463 m/s, rangeRepo size: 4 2025-10-27T05:24:42.902Z,1761542682.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.579416 m, bearing: 230.309345 deg, lat: 36.779369 deg, lon: -121.859702 deg, deltaT: 0.504119 s, deltaX: -0.397875 m, approachRate: -0.789248 m/s, posRepo size: 4 2025-10-27T05:24:42.911Z,1761542682.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-27T05:24:42.914Z,1761542682.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.579416 m, nav range: 22.235699 m, bearing: 230.110632 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.102323 deg, new cmd heading: 240.097617 deg. 2025-10-27T05:24:42.923Z,1761542682.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190494 target range: 22.579416 and range: 22.70 m. 2025-10-27T05:24:43.056Z,1761542683.056 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.697624 2025-10-27T05:24:43.292Z,1761542683.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491055,0.857449,0.153775],[-0.871071,-0.485338,-0.075377],[0.010001,-0.170963,0.985227]] 2025-10-27T05:24:43.309Z,1761542683.309 [DAT](INFO): DAT read: Rx Time:05:24:42.0919 2025-10-27T05:24:43.309Z,1761542683.309 [DAT](INFO): Rx dataTimestamp_ set to:1761542683.308814 2025-10-27T05:24:43.310Z,1761542683.310 [DAT](INFO): DAT read: Bearing 29.6, -13.0 (Local) 2025-10-27T05:24:43.311Z,1761542683.311 [DAT](INFO): Local bearing/azimuth received: Bearing 29.6, -13.0 (Local) 2025-10-27T05:24:43.313Z,1761542683.313 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.6 2025-10-27T05:24:43.317Z,1761542683.317 [DAT](INFO): DAT read: 05:24:42.0919 LVL= 32752, 32753, 26434, 32755, AGC= 59, IDX= 506,-0.08,-0.043,-1.478, 0.566,-0.070, PHS= 0.129,-1.362, 0.592, RAW= 163.1, 7.3, CAL= 162.6, 7.2, ROT= 347.4, -7.2 2025-10-27T05:24:43.319Z,1761542683.319 [DAT](INFO): got valid direction response: 05:24:42.0919 LVL= 32752, 32753, 26434, 32755, AGC= 59, IDX= 506,-0.08,-0.043,-1.478, 0.566,-0.070, PHS= 0.129,-1.362, 0.592, RAW= 163.1, 7.3, CAL= 162.6, 7.2, ROT= 347.4, -7.2 2025-10-27T05:24:43.319Z,1761542683.319 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:24:43.320Z,1761542683.320 [DAT](INFO): direction in FSK: [0.968221,-0.216423,0.125333] 2025-10-27T05:24:43.320Z,1761542683.320 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:43.328Z,1761542683.328 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.969732 2025-10-27T05:24:43.334Z,1761542683.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503905 s, deltaX: -0.200001 m, approachRate: -0.396902 m/s, rangeRepo size: 4 2025-10-27T05:24:43.353Z,1761542683.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.380491 m, bearing: 229.364356 deg, lat: 36.779369 deg, lon: -121.859702 deg, deltaT: 0.503905 s, deltaX: -0.198925 m, approachRate: -0.394767 m/s, posRepo size: 4 2025-10-27T05:24:43.353Z,1761542683.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-27T05:24:43.360Z,1761542683.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.380491 m, nav range: 21.972153 m, bearing: 230.047925 deg, approach rate: 0.000000 m/s, LOS rate: -0.003623 deg/s, cmd heading: 240.097624 deg, new cmd heading: 240.092905 deg. 2025-10-27T05:24:43.361Z,1761542683.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190412 target range: 22.380491 and range: 22.50 m. 2025-10-27T05:24:43.560Z,1761542683.560 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.201632 2025-10-27T05:24:43.678Z,1761542683.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491461,0.856665,0.156819],[-0.870826,-0.485730,-0.075687],[0.011333,-0.173759,0.984723]] 2025-10-27T05:24:43.792Z,1761542683.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:43.794Z,1761542683.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-27T05:24:43.802Z,1761542683.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.380491 m, nav range: 21.709036 m, bearing: 230.004788 deg, approach rate: -0.571794 m/s, LOS rate: -0.094880 deg/s, cmd heading: 240.092897 deg, new cmd heading: 239.961917 deg. 2025-10-27T05:24:43.807Z,1761542683.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188126 target range: 22.380491 and range: 22.50 m. 2025-10-27T05:24:43.813Z,1761542683.813 [DAT](INFO): DAT read: Rx Time:05:24:42.5916 2025-10-27T05:24:43.813Z,1761542683.813 [DAT](INFO): Rx dataTimestamp_ set to:1761542683.812817 2025-10-27T05:24:43.814Z,1761542683.814 [DAT](INFO): DAT read: Bearing 31.9, -13.6 (Local) 2025-10-27T05:24:43.815Z,1761542683.815 [DAT](INFO): Local bearing/azimuth received: Bearing 31.9, -13.6 (Local) 2025-10-27T05:24:43.817Z,1761542683.817 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.5 2025-10-27T05:24:43.822Z,1761542683.822 [DAT](INFO): DAT read: 05:24:42.5916 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503,-0.06,-0.775,-2.194,-0.173,-0.750, PHS= 0.077,-1.399, 0.533, RAW= 163.0, 9.1, CAL= 162.8, 9.6, ROT= 347.2, -9.6 2025-10-27T05:24:43.823Z,1761542683.823 [DAT](INFO): got valid direction response: 05:24:42.5916 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503,-0.06,-0.775,-2.194,-0.173,-0.750, PHS= 0.077,-1.399, 0.533, RAW= 163.0, 9.1, CAL= 162.8, 9.6, ROT= 347.2, -9.6 2025-10-27T05:24:43.823Z,1761542683.823 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:24:43.824Z,1761542683.824 [DAT](INFO): direction in FSK: [0.961493,-0.218446,0.166769] 2025-10-27T05:24:43.824Z,1761542683.824 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:43.832Z,1761542683.832 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.473759 2025-10-27T05:24:44.064Z,1761542684.064 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.705545 2025-10-27T05:24:44.116Z,1761542684.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490900,0.856869,0.157460],[-0.871130,-0.485307,-0.074896],[0.012240,-0.173934,0.984681]] 2025-10-27T05:24:44.140Z,1761542684.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504003 s, deltaX: -0.400000 m, approachRate: -0.793645 m/s, rangeRepo size: 4 2025-10-27T05:24:44.142Z,1761542684.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.983278 m, bearing: 229.614760 deg, lat: 36.779368 deg, lon: -121.859700 deg, deltaT: 0.504003 s, deltaX: -0.397213 m, approachRate: -0.788116 m/s, posRepo size: 4 2025-10-27T05:24:44.143Z,1761542684.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m. 2025-10-27T05:24:44.146Z,1761542684.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.983278 m, nav range: 21.474121 m, bearing: 229.614838 deg, approach rate: 0.000000 m/s, LOS rate: -0.094880 deg/s, cmd heading: 239.961922 deg, new cmd heading: 239.863735 deg. 2025-10-27T05:24:44.147Z,1761542684.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186412 target range: 21.983278 and range: 22.10 m. 2025-10-27T05:24:44.317Z,1761542684.317 [DAT](INFO): DAT read: Rx Time:05:24:43.0916 2025-10-27T05:24:44.317Z,1761542684.317 [DAT](INFO): Rx dataTimestamp_ set to:1761542684.316915 2025-10-27T05:24:44.318Z,1761542684.318 [DAT](INFO): DAT read: Bearing 29.1, -12.8 (Local) 2025-10-27T05:24:44.319Z,1761542684.319 [DAT](INFO): Local bearing/azimuth received: Bearing 29.1, -12.8 (Local) 2025-10-27T05:24:44.321Z,1761542684.321 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T05:24:44.326Z,1761542684.326 [DAT](INFO): DAT read: 05:24:43.0916 LVL= 31712, 32753, 24434, 32755, AGC= 58, IDX= 502,-0.02, 0.251,-1.182, 0.866, 0.215, PHS= 0.137,-1.352, 0.606, RAW= 163.3, 6.9, CAL= 162.7, 6.7, ROT= 347.3, -6.7 2025-10-27T05:24:44.328Z,1761542684.328 [DAT](INFO): got valid direction response: 05:24:43.0916 LVL= 31712, 32753, 24434, 32755, AGC= 58, IDX= 502,-0.02, 0.251,-1.182, 0.866, 0.215, PHS= 0.137,-1.352, 0.606, RAW= 163.3, 6.9, CAL= 162.7, 6.7, ROT= 347.3, -6.7 2025-10-27T05:24:44.328Z,1761542684.328 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:24:44.329Z,1761542684.329 [DAT](INFO): direction in FSK: [0.968872,-0.218345,0.116671] 2025-10-27T05:24:44.329Z,1761542684.329 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:44.341Z,1761542684.341 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.982534 2025-10-27T05:24:44.510Z,1761542684.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490690,0.856956,0.157639],[-0.871229,-0.485341,-0.073512],[0.013512,-0.173412,0.984757]] 2025-10-27T05:24:44.568Z,1761542684.568 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.209518 2025-10-27T05:24:44.594Z,1761542684.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504098 s, deltaX: -0.200001 m, approachRate: -0.396750 m/s, rangeRepo size: 4 2025-10-27T05:24:44.605Z,1761542684.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.784332 m, bearing: 229.218065 deg, lat: 36.779368 deg, lon: -121.859700 deg, deltaT: 0.504098 s, deltaX: -0.198946 m, approachRate: -0.394657 m/s, posRepo size: 4 2025-10-27T05:24:44.605Z,1761542684.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-27T05:24:44.612Z,1761542684.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.784332 m, nav range: 21.253439 m, bearing: 229.514987 deg, approach rate: 0.000000 m/s, LOS rate: -0.094880 deg/s, cmd heading: 239.863731 deg, new cmd heading: 239.734209 deg. 2025-10-27T05:24:44.613Z,1761542684.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184151 target range: 21.784332 and range: 21.90 m. 2025-10-27T05:24:44.821Z,1761542684.821 [DAT](INFO): DAT read: Rx Time:05:24:43.5913 2025-10-27T05:24:44.821Z,1761542684.821 [DAT](INFO): Rx dataTimestamp_ set to:1761542684.820717 2025-10-27T05:24:44.822Z,1761542684.822 [DAT](INFO): DAT read: Bearing 31.7, -13.7 (Local) 2025-10-27T05:24:44.823Z,1761542684.823 [DAT](INFO): Local bearing/azimuth received: Bearing 31.7, -13.7 (Local) 2025-10-27T05:24:44.825Z,1761542684.825 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 2025-10-27T05:24:44.857Z,1761542684.857 [DAT](INFO): DAT read: 05:24:43.5913 LVL= 32752, 32753, 30482, 32755, AGC= 63, IDX= 499, 0.04,-0.300,-1.728, 0.325,-0.273, PHS= 0.075,-1.410, 0.553, RAW= 163.5, 8.9, CAL= 163.3, 9.3, ROT= 346.7, -9.3 2025-10-27T05:24:44.858Z,1761542684.858 [DAT](INFO): got valid direction response: 05:24:43.5913 LVL= 32752, 32753, 30482, 32755, AGC= 63, IDX= 499, 0.04,-0.300,-1.728, 0.325,-0.273, PHS= 0.075,-1.410, 0.553, RAW= 163.5, 8.9, CAL= 163.3, 9.3, ROT= 346.7, -9.3 2025-10-27T05:24:44.859Z,1761542684.859 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:24:44.865Z,1761542684.865 [DAT](INFO): direction in FSK: [0.960387,-0.227026,0.161604] 2025-10-27T05:24:44.865Z,1761542684.865 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:44.882Z,1761542684.882 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.523422 2025-10-27T05:24:44.972Z,1761542684.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490263,0.857320,0.156986],[-0.871448,-0.485251,-0.071487],[0.014890,-0.171852,0.985010]] 2025-10-27T05:24:45.016Z,1761542685.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503802 s, deltaX: -0.400000 m, approachRate: -0.793962 m/s, rangeRepo size: 4 2025-10-27T05:24:45.018Z,1761542685.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.387224 m, bearing: 229.075290 deg, lat: 36.779368 deg, lon: -121.859700 deg, deltaT: 0.503802 s, deltaX: -0.397108 m, approachRate: -0.788222 m/s, posRepo size: 4 2025-10-27T05:24:45.023Z,1761542685.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.39 m. 2025-10-27T05:24:45.026Z,1761542685.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.387224 m, nav range: 21.039026 m, bearing: 229.405655 deg, approach rate: 0.000000 m/s, LOS rate: -0.094880 deg/s, cmd heading: 239.734203 deg, new cmd heading: 239.615406 deg. 2025-10-27T05:24:45.026Z,1761542685.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182078 target range: 21.387224 and range: 21.50 m. 2025-10-27T05:24:45.073Z,1761542685.073 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.714640 2025-10-27T05:24:45.325Z,1761542685.325 [DAT](INFO): DAT read: Rx Time:05:24:44.0911 2025-10-27T05:24:45.325Z,1761542685.325 [DAT](INFO): Rx dataTimestamp_ set to:1761542685.324784 2025-10-27T05:24:45.326Z,1761542685.326 [DAT](INFO): DAT read: Bearing 29.2, -13.1 (Local) 2025-10-27T05:24:45.327Z,1761542685.327 [DAT](INFO): Local bearing/azimuth received: Bearing 29.2, -13.1 (Local) 2025-10-27T05:24:45.329Z,1761542685.329 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 2025-10-27T05:24:45.333Z,1761542685.333 [DAT](INFO): DAT read: 05:24:44.0911 LVL= 31424, 32753, 24242, 32755, AGC= 59, IDX= 497, 0.13,-0.719,-2.146,-0.084,-0.743, PHS= 0.125,-1.359, 0.614, RAW= 163.8, 7.0, CAL= 163.2, 6.8, ROT= 346.8, -6.8 2025-10-27T05:24:45.335Z,1761542685.335 [DAT](INFO): got valid direction response: 05:24:44.0911 LVL= 31424, 32753, 24242, 32755, AGC= 59, IDX= 497, 0.13,-0.719,-2.146,-0.084,-0.743, PHS= 0.125,-1.359, 0.614, RAW= 163.8, 7.0, CAL= 163.2, 6.8, ROT= 346.8, -6.8 2025-10-27T05:24:45.335Z,1761542685.335 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:24:45.336Z,1761542685.336 [DAT](INFO): direction in FSK: [0.966730,-0.226745,0.118404] 2025-10-27T05:24:45.336Z,1761542685.336 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:45.342Z,1761542685.342 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.983503 2025-10-27T05:24:45.367Z,1761542685.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490033,0.857905,0.154489],[-0.871554,-0.485482,-0.068565],[0.016179,-0.168245,0.985612]] 2025-10-27T05:24:45.508Z,1761542685.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504067 s, deltaX: -0.299999 m, approachRate: -0.595157 m/s, rangeRepo size: 4 2025-10-27T05:24:45.510Z,1761542685.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.088799 m, bearing: 228.729109 deg, lat: 36.779367 deg, lon: -121.859700 deg, deltaT: 0.504067 s, deltaX: -0.298426 m, approachRate: -0.592036 m/s, posRepo size: 4 2025-10-27T05:24:45.510Z,1761542685.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-27T05:24:45.521Z,1761542685.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.088799 m, nav range: 20.853405 m, bearing: 229.219531 deg, approach rate: 0.000000 m/s, LOS rate: -0.094880 deg/s, cmd heading: 239.615412 deg, new cmd heading: 239.474348 deg. 2025-10-27T05:24:45.522Z,1761542685.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.179616 target range: 21.088799 and range: 21.20 m. 2025-10-27T05:24:45.577Z,1761542685.577 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.218176 2025-10-27T05:24:45.828Z,1761542685.828 [DAT](INFO): DAT read: Rx Time:05:24:44.5908 2025-10-27T05:24:45.829Z,1761542685.829 [DAT](INFO): Rx dataTimestamp_ set to:1761542685.828526 2025-10-27T05:24:45.830Z,1761542685.830 [DAT](INFO): DAT read: Bearing 29.7, -12.9 (Local) 2025-10-27T05:24:45.830Z,1761542685.830 [DAT](INFO): Local bearing/azimuth received: Bearing 29.7, -12.9 (Local) 2025-10-27T05:24:45.833Z,1761542685.833 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.7 2025-10-27T05:24:45.837Z,1761542685.837 [DAT](INFO): DAT read: 05:24:44.5908 LVL= 32752, 32753, 28898, 32755, AGC= 62, IDX= 510, 0.26,-1.946, 2.896,-1.315,-1.964, PHS= 0.120,-1.378, 0.605, RAW= 163.6, 7.3, CAL= 163.1, 7.3, ROT= 346.9, -7.3 2025-10-27T05:24:45.838Z,1761542685.838 [DAT](INFO): got valid direction response: 05:24:44.5908 LVL= 32752, 32753, 28898, 32755, AGC= 62, IDX= 510, 0.26,-1.946, 2.896,-1.315,-1.964, PHS= 0.120,-1.378, 0.605, RAW= 163.6, 7.3, CAL= 163.1, 7.3, ROT= 346.9, -7.3 2025-10-27T05:24:45.839Z,1761542685.839 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:24:45.844Z,1761542685.844 [DAT](INFO): direction in FSK: [0.966081,-0.224815,0.127065] 2025-10-27T05:24:45.844Z,1761542685.844 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:45.852Z,1761542685.852 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.493189 2025-10-27T05:24:45.957Z,1761542685.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503742 s, deltaX: -0.500000 m, approachRate: -0.992572 m/s, rangeRepo size: 4 2025-10-27T05:24:45.963Z,1761542685.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.591421 m, bearing: 228.911147 deg, lat: 36.779368 deg, lon: -121.859698 deg, deltaT: 0.503742 s, deltaX: -0.497377 m, approachRate: -0.987365 m/s, posRepo size: 4 2025-10-27T05:24:45.964Z,1761542685.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.59 m. 2025-10-27T05:24:45.966Z,1761542685.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.591421 m, nav range: 20.384081 m, bearing: 229.115316 deg, approach rate: 0.000000 m/s, LOS rate: -0.094880 deg/s, cmd heading: 239.474355 deg, new cmd heading: 239.346419 deg. 2025-10-27T05:24:45.980Z,1761542685.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177383 target range: 20.591421 and range: 20.70 m. 2025-10-27T05:24:46.081Z,1761542686.081 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.722303 2025-10-27T05:24:46.302Z,1761542686.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487222,0.859321,0.155505],[-0.873085,-0.483076,-0.066034],[0.018376,-0.167942,0.985626]] 2025-10-27T05:24:46.319Z,1761542686.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:46.321Z,1761542686.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.59 m. 2025-10-27T05:24:46.324Z,1761542686.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.591421 m, nav range: 20.174381 m, bearing: 229.140498 deg, approach rate: -0.574904 m/s, LOS rate: 0.069756 deg/s, cmd heading: 239.346412 deg, new cmd heading: 239.422744 deg. 2025-10-27T05:24:46.325Z,1761542686.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178715 target range: 20.591421 and range: 20.70 m. 2025-10-27T05:24:46.333Z,1761542686.333 [DAT](INFO): DAT read: Rx Time:05:24:45.0907 2025-10-27T05:24:46.333Z,1761542686.333 [DAT](INFO): Rx dataTimestamp_ set to:1761542686.332848 2025-10-27T05:24:46.334Z,1761542686.334 [DAT](INFO): DAT read: Bearing 30.8, -13.1 (Local) 2025-10-27T05:24:46.335Z,1761542686.335 [DAT](INFO): Local bearing/azimuth received: Bearing 30.8, -13.1 (Local) 2025-10-27T05:24:46.337Z,1761542686.337 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 2025-10-27T05:24:46.341Z,1761542686.341 [DAT](INFO): DAT read: 05:24:45.0907 LVL= 32752, 32753, 27154, 32755, AGC= 59, IDX= 509, 0.45,-1.048,-2.474,-0.422,-1.043, PHS= 0.097,-1.386, 0.578, RAW= 163.6, 8.1, CAL= 163.2, 8.3, ROT= 346.8, -8.3 2025-10-27T05:24:46.343Z,1761542686.343 [DAT](INFO): got valid direction response: 05:24:45.0907 LVL= 32752, 32753, 27154, 32755, AGC= 59, IDX= 509, 0.45,-1.048,-2.474,-0.422,-1.043, PHS= 0.097,-1.386, 0.578, RAW= 163.6, 8.1, CAL= 163.2, 8.3, ROT= 346.8, -8.3 2025-10-27T05:24:46.343Z,1761542686.343 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:24:46.344Z,1761542686.344 [DAT](INFO): direction in FSK: [0.963381,-0.225959,0.144356] 2025-10-27T05:24:46.344Z,1761542686.344 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:46.350Z,1761542686.350 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.991587 2025-10-27T05:24:46.584Z,1761542686.584 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.225645 2025-10-27T05:24:46.709Z,1761542686.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485635,0.859195,0.161069],[-0.873961,-0.481159,-0.068398],[0.018732,-0.173985,0.984570]] 2025-10-27T05:24:46.837Z,1761542686.837 [DAT](INFO): DAT read: Rx Time:05:24:45.5905 2025-10-27T05:24:46.837Z,1761542686.837 [DAT](INFO): Rx dataTimestamp_ set to:1761542686.836817 2025-10-27T05:24:46.838Z,1761542686.838 [DAT](INFO): DAT read: Bearing 30.8, -12.8 (Local) 2025-10-27T05:24:46.839Z,1761542686.839 [DAT](INFO): Local bearing/azimuth received: Bearing 30.8, -12.8 (Local) 2025-10-27T05:24:46.841Z,1761542686.841 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.5 2025-10-27T05:24:46.846Z,1761542686.846 [DAT](INFO): DAT read: 05:24:45.5905 LVL= 32752, 32753, 29874, 32755, AGC= 62, IDX= 507,-0.22, 2.182, 0.751, 2.800, 2.182, PHS= 0.102,-1.386, 0.574, RAW= 163.3, 8.1, CAL= 163.0, 8.2, ROT= 347.0, -8.2 2025-10-27T05:24:46.847Z,1761542686.847 [DAT](INFO): got valid direction response: 05:24:45.5905 LVL= 32752, 32753, 29874, 32755, AGC= 62, IDX= 507,-0.22, 2.182, 0.751, 2.800, 2.182, PHS= 0.102,-1.386, 0.574, RAW= 163.3, 8.1, CAL= 163.0, 8.2, ROT= 347.0, -8.2 2025-10-27T05:24:46.847Z,1761542686.847 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:24:46.848Z,1761542686.848 [DAT](INFO): direction in FSK: [0.964408,-0.222651,0.142629] 2025-10-27T05:24:46.848Z,1761542686.848 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:46.856Z,1761542686.856 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.497751 2025-10-27T05:24:46.873Z,1761542686.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 1.008291 s, deltaX: -0.400002 m, approachRate: -0.396712 m/s, rangeRepo size: 4 2025-10-27T05:24:46.883Z,1761542686.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.194210 m, bearing: 229.500998 deg, lat: 36.779368 deg, lon: -121.859698 deg, deltaT: 1.008291 s, deltaX: -0.397211 m, approachRate: -0.393945 m/s, posRepo size: 4 2025-10-27T05:24:46.884Z,1761542686.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m. 2025-10-27T05:24:46.887Z,1761542686.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.194210 m, nav range: 19.895967 m, bearing: 229.170302 deg, approach rate: 0.000000 m/s, LOS rate: 0.069756 deg/s, cmd heading: 239.422746 deg, new cmd heading: 239.538106 deg. 2025-10-27T05:24:46.892Z,1761542686.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180728 target range: 20.194210 and range: 20.30 m. 2025-10-27T05:24:47.088Z,1761542687.088 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.729591 2025-10-27T05:24:47.153Z,1761542687.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484266,0.858880,0.166772],[-0.874706,-0.479500,-0.070499],[0.019417,-0.180017,0.983472]] 2025-10-27T05:24:47.172Z,1761542687.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m. 2025-10-27T05:24:47.175Z,1761542687.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.194210 m, nav range: 19.716124 m, bearing: 229.198130 deg, approach rate: -0.600244 m/s, LOS rate: 0.093726 deg/s, cmd heading: 239.538095 deg, new cmd heading: 239.622341 deg. 2025-10-27T05:24:47.176Z,1761542687.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182199 target range: 20.194210 and range: 20.30 m. 2025-10-27T05:24:47.345Z,1761542687.345 [DAT](INFO): DAT read: Rx Time:05:24:46.0904 2025-10-27T05:24:47.346Z,1761542687.346 [DAT](INFO): Rx dataTimestamp_ set to:1761542687.345540 2025-10-27T05:24:47.347Z,1761542687.347 [DAT](INFO): DAT read: Bearing 30.1, -13.0 (Local) 2025-10-27T05:24:47.348Z,1761542687.348 [DAT](INFO): Local bearing/azimuth received: Bearing 30.1, -13.0 (Local) 2025-10-27T05:24:47.350Z,1761542687.350 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 2025-10-27T05:24:47.355Z,1761542687.355 [DAT](INFO): DAT read: 05:24:46.0904 LVL= 32752, 32753, 24530, 32755, AGC= 58, IDX= 506,-0.05,-2.281, 2.583,-1.653,-2.288, PHS= 0.109,-1.368, 0.590, RAW= 163.7, 7.6, CAL= 163.2, 7.7, ROT= 346.8, -7.7 2025-10-27T05:24:47.357Z,1761542687.357 [DAT](INFO): got valid direction response: 05:24:46.0904 LVL= 32752, 32753, 24530, 32755, AGC= 58, IDX= 506,-0.05,-2.281, 2.583,-1.653,-2.288, PHS= 0.109,-1.368, 0.590, RAW= 163.7, 7.6, CAL= 163.2, 7.7, ROT= 346.8, -7.7 2025-10-27T05:24:47.358Z,1761542687.358 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:24:47.363Z,1761542687.363 [DAT](INFO): direction in FSK: [0.964800,-0.226292,0.133986] 2025-10-27T05:24:47.363Z,1761542687.363 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:47.368Z,1761542687.368 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.009789 2025-10-27T05:24:47.554Z,1761542687.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483009,0.858873,0.170407],[-0.875381,-0.478145,-0.071306],[0.020236,-0.183613,0.982790]] 2025-10-27T05:24:47.596Z,1761542687.596 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.237782 2025-10-27T05:24:47.609Z,1761542687.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.508723 s, deltaX: -0.199999 m, approachRate: -0.393139 m/s, rangeRepo size: 4 2025-10-27T05:24:47.612Z,1761542687.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.996181 m, bearing: 229.479824 deg, lat: 36.779368 deg, lon: -121.859698 deg, deltaT: 0.508723 s, deltaX: -0.198029 m, approachRate: -0.389266 m/s, posRepo size: 4 2025-10-27T05:24:47.612Z,1761542687.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.00 m. 2025-10-27T05:24:47.615Z,1761542687.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.996181 m, nav range: 19.482384 m, bearing: 229.226402 deg, approach rate: 0.000000 m/s, LOS rate: 0.093726 deg/s, cmd heading: 239.622352 deg, new cmd heading: 239.745047 deg. 2025-10-27T05:24:47.616Z,1761542687.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.184340 target range: 19.996181 and range: 20.10 m. 2025-10-27T05:24:47.849Z,1761542687.849 [DAT](INFO): DAT read: Rx Time:05:24:46.5901 2025-10-27T05:24:47.850Z,1761542687.850 [DAT](INFO): Rx dataTimestamp_ set to:1761542687.849612 2025-10-27T05:24:47.852Z,1761542687.852 [DAT](INFO): DAT read: Bearing 30.8, -13.1 (Local) 2025-10-27T05:24:47.853Z,1761542687.853 [DAT](INFO): Local bearing/azimuth received: Bearing 30.8, -13.1 (Local) 2025-10-27T05:24:47.855Z,1761542687.855 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4 2025-10-27T05:24:47.864Z,1761542687.864 [DAT](INFO): DAT read: 05:24:46.5901 LVL= 32752, 32753, 24978, 32755, AGC= 57, IDX= 503, 0.14,-1.714, 3.138,-1.084,-1.705, PHS= 0.093,-1.395, 0.577, RAW= 163.6, 8.2, CAL= 163.3, 8.4, ROT= 346.7, -8.4 2025-10-27T05:24:47.866Z,1761542687.866 [DAT](INFO): got valid direction response: 05:24:46.5901 LVL= 32752, 32753, 24978, 32755, AGC= 57, IDX= 503, 0.14,-1.714, 3.138,-1.084,-1.705, PHS= 0.093,-1.395, 0.577, RAW= 163.6, 8.2, CAL= 163.3, 8.4, ROT= 346.7, -8.4 2025-10-27T05:24:47.867Z,1761542687.867 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:24:47.870Z,1761542687.870 [DAT](INFO): direction in FSK: [0.962739,-0.227582,0.146083] 2025-10-27T05:24:47.873Z,1761542687.873 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:47.878Z,1761542687.878 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.519903 2025-10-27T05:24:47.970Z,1761542687.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481785,0.859045,0.172989],[-0.876032,-0.476949,-0.071325],[0.021235,-0.185907,0.982338]] 2025-10-27T05:24:48.039Z,1761542688.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504072 s, deltaX: -0.400000 m, approachRate: -0.793537 m/s, rangeRepo size: 4 2025-10-27T05:24:48.041Z,1761542688.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.597591 m, bearing: 229.609156 deg, lat: 36.779368 deg, lon: -121.859698 deg, deltaT: 0.504072 s, deltaX: -0.398590 m, approachRate: -0.790740 m/s, posRepo size: 4 2025-10-27T05:24:48.042Z,1761542688.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-27T05:24:48.049Z,1761542688.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.597591 m, nav range: 19.240088 m, bearing: 229.327941 deg, approach rate: 0.000000 m/s, LOS rate: 0.093726 deg/s, cmd heading: 239.745049 deg, new cmd heading: 239.864814 deg. 2025-10-27T05:24:48.050Z,1761542688.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186431 target range: 19.597591 and range: 19.70 m. 2025-10-27T05:24:48.102Z,1761542688.102 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.743290 2025-10-27T05:24:48.353Z,1761542688.353 [DAT](INFO): DAT read: Rx Time:05:24:47.0900 2025-10-27T05:24:48.353Z,1761542688.353 [DAT](INFO): Rx dataTimestamp_ set to:1761542688.352779 2025-10-27T05:24:48.354Z,1761542688.354 [DAT](INFO): DAT read: Bearing 31.0, -13.0 (Local) 2025-10-27T05:24:48.355Z,1761542688.355 [DAT](INFO): Local bearing/azimuth received: Bearing 31.0, -13.0 (Local) 2025-10-27T05:24:48.357Z,1761542688.357 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 2025-10-27T05:24:48.361Z,1761542688.361 [DAT](INFO): DAT read: 05:24:47.0900 LVL= 32752, 32753, 25074, 32755, AGC= 58, IDX= 502, 0.45,-0.687,-2.118,-0.058,-0.676, PHS= 0.091,-1.398, 0.573, RAW= 163.6, 8.3, CAL= 163.2, 8.6, ROT= 346.8, -8.6 2025-10-27T05:24:48.363Z,1761542688.363 [DAT](INFO): got valid direction response: 05:24:47.0900 LVL= 32752, 32753, 25074, 32755, AGC= 58, IDX= 502, 0.45,-0.687,-2.118,-0.058,-0.676, PHS= 0.091,-1.398, 0.573, RAW= 163.6, 8.3, CAL= 163.2, 8.6, ROT= 346.8, -8.6 2025-10-27T05:24:48.363Z,1761542688.363 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:24:48.364Z,1761542688.364 [DAT](INFO): direction in FSK: [0.962632,-0.225784,0.149535] 2025-10-27T05:24:48.364Z,1761542688.364 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:48.376Z,1761542688.376 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.017513 2025-10-27T05:24:48.413Z,1761542688.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480630,0.859837,0.172265],[-0.876640,-0.476103,-0.069477],[0.022277,-0.184407,0.982597]] 2025-10-27T05:24:48.522Z,1761542688.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503167 s, deltaX: -0.200001 m, approachRate: -0.397484 m/s, rangeRepo size: 4 2025-10-27T05:24:48.528Z,1761542688.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.398632 m, bearing: 229.801189 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.503167 s, deltaX: -0.198959 m, approachRate: -0.395414 m/s, posRepo size: 4 2025-10-27T05:24:48.529Z,1761542688.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-27T05:24:48.536Z,1761542688.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.398632 m, nav range: 18.938894 m, bearing: 229.641971 deg, approach rate: 0.000000 m/s, LOS rate: 0.093726 deg/s, cmd heading: 239.864824 deg, new cmd heading: 240.001848 deg. 2025-10-27T05:24:48.537Z,1761542688.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.188822 target range: 19.398632 and range: 19.50 m. 2025-10-27T05:24:48.605Z,1761542688.605 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.245955 2025-10-27T05:24:48.836Z,1761542688.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479717,0.860922,0.169363],[-0.877111,-0.475676,-0.066395],[0.023401,-0.180401,0.983315]] 2025-10-27T05:24:48.857Z,1761542688.857 [DAT](INFO): DAT read: Rx Time:05:24:47.5898 2025-10-27T05:24:48.857Z,1761542688.857 [DAT](INFO): Rx dataTimestamp_ set to:1761542688.856716 2025-10-27T05:24:48.858Z,1761542688.858 [DAT](INFO): DAT read: Bearing 32.8, -13.4 (Local) 2025-10-27T05:24:48.859Z,1761542688.859 [DAT](INFO): Local bearing/azimuth received: Bearing 32.8, -13.4 (Local) 2025-10-27T05:24:48.861Z,1761542688.861 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 2025-10-27T05:24:48.865Z,1761542688.865 [DAT](INFO): DAT read: 05:24:47.5898 LVL= 32752, 32753, 26866, 32755, AGC= 58, IDX= 500,-0.19,-2.730, 2.151,-2.108,-2.679, PHS= 0.051,-1.408, 0.527, RAW= 163.7, 9.5, CAL= 163.5, 10.3, ROT= 346.5, -10.3 2025-10-27T05:24:48.867Z,1761542688.867 [DAT](INFO): got valid direction response: 05:24:47.5898 LVL= 32752, 32753, 26866, 32755, AGC= 58, IDX= 500,-0.19,-2.730, 2.151,-2.108,-2.679, PHS= 0.051,-1.408, 0.527, RAW= 163.7, 9.5, CAL= 163.5, 10.3, ROT= 346.5, -10.3 2025-10-27T05:24:48.867Z,1761542688.867 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:24:48.868Z,1761542688.868 [DAT](INFO): direction in FSK: [0.956700,-0.229683,0.178802] 2025-10-27T05:24:48.868Z,1761542688.868 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:48.876Z,1761542688.876 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.517536 2025-10-27T05:24:48.928Z,1761542688.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503937 s, deltaX: -0.299999 m, approachRate: -0.595311 m/s, rangeRepo size: 4 2025-10-27T05:24:48.930Z,1761542688.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.100191 m, bearing: 229.819088 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.503937 s, deltaX: -0.298441 m, approachRate: -0.592219 m/s, posRepo size: 4 2025-10-27T05:24:48.936Z,1761542688.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T05:24:48.938Z,1761542688.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.100191 m, nav range: 18.677999 m, bearing: 229.680338 deg, approach rate: 0.000000 m/s, LOS rate: 0.093726 deg/s, cmd heading: 240.001837 deg, new cmd heading: 240.112516 deg. 2025-10-27T05:24:48.944Z,1761542688.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190754 target range: 19.100191 and range: 19.20 m. 2025-10-27T05:24:49.108Z,1761542689.108 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.749548 2025-10-27T05:24:49.292Z,1761542689.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479193,0.861523,0.167788],[-0.877374,-0.475462,-0.064430],[0.024269,-0.178087,0.983715]] 2025-10-27T05:24:49.309Z,1761542689.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:49.311Z,1761542689.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-27T05:24:49.314Z,1761542689.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.100191 m, nav range: 18.444277 m, bearing: 229.691979 deg, approach rate: -0.590364 m/s, LOS rate: 0.029777 deg/s, cmd heading: 240.112514 deg, new cmd heading: 240.147880 deg. 2025-10-27T05:24:49.315Z,1761542689.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191371 target range: 19.100191 and range: 19.20 m. 2025-10-27T05:24:49.361Z,1761542689.361 [DAT](INFO): DAT read: Rx Time:05:24:48.0896 2025-10-27T05:24:49.361Z,1761542689.361 [DAT](INFO): Rx dataTimestamp_ set to:1761542689.360878 2025-10-27T05:24:49.362Z,1761542689.362 [DAT](INFO): DAT read: Bearing 33.4, -13.5 (Local) 2025-10-27T05:24:49.363Z,1761542689.363 [DAT](INFO): Local bearing/azimuth received: Bearing 33.4, -13.5 (Local) 2025-10-27T05:24:49.366Z,1761542689.366 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4 2025-10-27T05:24:49.373Z,1761542689.373 [DAT](INFO): DAT read: 05:24:48.0896 LVL= 32752, 32753, 25954, 32755, AGC= 58, IDX= 498, 0.04,-1.491,-2.892,-0.866,-1.429, PHS= 0.040,-1.418, 0.519, RAW= 163.7, 9.8, CAL= 163.7, 10.7, ROT= 346.3, -10.7 2025-10-27T05:24:49.374Z,1761542689.374 [DAT](INFO): got valid direction response: 05:24:48.0896 LVL= 32752, 32753, 25954, 32755, AGC= 58, IDX= 498, 0.04,-1.491,-2.892,-0.866,-1.429, PHS= 0.040,-1.418, 0.519, RAW= 163.7, 9.8, CAL= 163.7, 10.7, ROT= 346.3, -10.7 2025-10-27T05:24:49.375Z,1761542689.375 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:24:49.377Z,1761542689.377 [DAT](INFO): direction in FSK: [0.954657,-0.232720,0.185667] 2025-10-27T05:24:49.377Z,1761542689.377 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:49.382Z,1761542689.382 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.023687 2025-10-27T05:24:49.612Z,1761542689.612 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.253351 2025-10-27T05:24:49.676Z,1761542689.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479089,0.861674,0.167307],[-0.877406,-0.475577,-0.063135],[0.025166,-0.177043,0.983881]] 2025-10-27T05:24:49.799Z,1761542689.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504162 s, deltaX: -0.300001 m, approachRate: -0.595049 m/s, rangeRepo size: 4 2025-10-27T05:24:49.801Z,1761542689.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.800854 m, bearing: 229.682135 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.504162 s, deltaX: -0.299337 m, approachRate: -0.593733 m/s, posRepo size: 4 2025-10-27T05:24:49.802Z,1761542689.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m. 2025-10-27T05:24:49.809Z,1761542689.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.800854 m, nav range: 18.209450 m, bearing: 229.699091 deg, approach rate: 0.000000 m/s, LOS rate: 0.029777 deg/s, cmd heading: 240.147867 deg, new cmd heading: 240.191018 deg. 2025-10-27T05:24:49.810Z,1761542689.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192124 target range: 18.800854 and range: 18.90 m. 2025-10-27T05:24:49.866Z,1761542689.866 [DAT](INFO): DAT read: Rx Time:05:24:48.5893 2025-10-27T05:24:49.867Z,1761542689.867 [DAT](INFO): Rx dataTimestamp_ set to:1761542689.866063 2025-10-27T05:24:49.868Z,1761542689.868 [DAT](INFO): DAT read: Bearing 32.9, -13.1 (Local) 2025-10-27T05:24:49.869Z,1761542689.869 [DAT](INFO): Local bearing/azimuth received: Bearing 32.9, -13.1 (Local) 2025-10-27T05:24:49.877Z,1761542689.877 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 2025-10-27T05:24:49.897Z,1761542689.897 [DAT](INFO): DAT read: 05:24:48.5893 LVL= 32752, 32753, 26098, 32755, AGC= 57, IDX= 495, 0.27,-2.374, 2.498,-1.751,-2.328, PHS= 0.055,-1.413, 0.532, RAW= 163.6, 9.4, CAL= 163.5, 10.1, ROT= 346.5, -10.1 2025-10-27T05:24:49.898Z,1761542689.898 [DAT](INFO): got valid direction response: 05:24:48.5893 LVL= 32752, 32753, 26098, 32755, AGC= 57, IDX= 495, 0.27,-2.374, 2.498,-1.751,-2.328, PHS= 0.055,-1.413, 0.532, RAW= 163.6, 9.4, CAL= 163.5, 10.1, ROT= 346.5, -10.1 2025-10-27T05:24:49.898Z,1761542689.898 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:24:49.900Z,1761542689.900 [DAT](INFO): direction in FSK: [0.957301,-0.229828,0.175367] 2025-10-27T05:24:49.900Z,1761542689.900 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:49.909Z,1761542689.909 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.550854 2025-10-27T05:24:50.108Z,1761542690.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478935,0.861706,0.167585],[-0.877476,-0.475502,-0.062718],[0.025643,-0.177090,0.983860]] 2025-10-27T05:24:50.116Z,1761542690.116 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.757463 2025-10-27T05:24:50.168Z,1761542690.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.505185 s, deltaX: -0.299999 m, approachRate: -0.593840 m/s, rangeRepo size: 4 2025-10-27T05:24:50.170Z,1761542690.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.503120 m, bearing: 229.784930 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.505185 s, deltaX: -0.297733 m, approachRate: -0.589355 m/s, posRepo size: 4 2025-10-27T05:24:50.170Z,1761542690.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m. 2025-10-27T05:24:50.177Z,1761542690.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.503120 m, nav range: 17.972090 m, bearing: 229.729750 deg, approach rate: 0.000000 m/s, LOS rate: 0.029777 deg/s, cmd heading: 240.191006 deg, new cmd heading: 240.223930 deg. 2025-10-27T05:24:50.178Z,1761542690.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192698 target range: 18.503120 and range: 18.60 m. 2025-10-27T05:24:50.369Z,1761542690.369 [DAT](INFO): DAT read: Rx Time:05:24:49.0893 2025-10-27T05:24:50.369Z,1761542690.369 [DAT](INFO): Rx dataTimestamp_ set to:1761542690.368888 2025-10-27T05:24:50.370Z,1761542690.370 [DAT](INFO): DAT read: Bearing 33.6, -13.5 (Local) 2025-10-27T05:24:50.371Z,1761542690.371 [DAT](INFO): Local bearing/azimuth received: Bearing 33.6, -13.5 (Local) 2025-10-27T05:24:50.373Z,1761542690.373 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.5 2025-10-27T05:24:50.378Z,1761542690.378 [DAT](INFO): DAT read: 05:24:49.0893 LVL= 32752, 32753, 25506, 32755, AGC= 57, IDX= 511,-0.40,-2.645, 2.262,-2.026,-2.580, PHS= 0.037,-1.396, 0.510, RAW= 163.8, 9.9, CAL= 163.7, 10.8, ROT= 346.3, -10.8 2025-10-27T05:24:50.379Z,1761542690.379 [DAT](INFO): got valid direction response: 05:24:49.0893 LVL= 32752, 32753, 25506, 32755, AGC= 57, IDX= 511,-0.40,-2.645, 2.262,-2.026,-2.580, PHS= 0.037,-1.396, 0.510, RAW= 163.8, 9.9, CAL= 163.7, 10.8, ROT= 346.3, -10.8 2025-10-27T05:24:50.379Z,1761542690.379 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:24:50.380Z,1761542690.380 [DAT](INFO): direction in FSK: [0.954340,-0.232643,0.187381] 2025-10-27T05:24:50.381Z,1761542690.381 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:50.385Z,1761542690.385 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.026108 2025-10-27T05:24:50.552Z,1761542690.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478821,0.861827,0.167288],[-0.877525,-0.475502,-0.062029],[0.026087,-0.176500,0.983955]] 2025-10-27T05:24:50.620Z,1761542690.620 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.261494 2025-10-27T05:24:50.648Z,1761542690.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.502825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:24:50.650Z,1761542690.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.503120 m, bearing: 229.706690 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.502825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:24:50.650Z,1761542690.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m. 2025-10-27T05:24:50.657Z,1761542690.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.503120 m, nav range: 17.690491 m, bearing: 229.673879 deg, approach rate: 0.000000 m/s, LOS rate: 0.029777 deg/s, cmd heading: 240.223928 deg, new cmd heading: 240.266449 deg. 2025-10-27T05:24:50.658Z,1761542690.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.193440 target range: 18.503120 and range: 18.60 m. 2025-10-27T05:24:50.873Z,1761542690.873 [DAT](INFO): DAT read: Rx Time:05:24:49.5890 2025-10-27T05:24:50.873Z,1761542690.873 [DAT](INFO): Rx dataTimestamp_ set to:1761542690.872759 2025-10-27T05:24:50.874Z,1761542690.874 [DAT](INFO): DAT read: Bearing 34.0, -13.7 (Local) 2025-10-27T05:24:50.875Z,1761542690.875 [DAT](INFO): Local bearing/azimuth received: Bearing 34.0, -13.7 (Local) 2025-10-27T05:24:50.877Z,1761542690.877 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 2025-10-27T05:24:50.882Z,1761542690.882 [DAT](INFO): DAT read: 05:24:49.5890 LVL= 32752, 32753, 26738, 32755, AGC= 57, IDX= 508,-0.14, 2.114, 0.734, 2.741, 2.188, PHS= 0.029,-1.409, 0.509, RAW= 163.9, 10.1, CAL= 163.9, 11.1, ROT= 346.1, -11.1 2025-10-27T05:24:50.883Z,1761542690.883 [DAT](INFO): got valid direction response: 05:24:49.5890 LVL= 32752, 32753, 26738, 32755, AGC= 57, IDX= 508,-0.14, 2.114, 0.734, 2.741, 2.188, PHS= 0.029,-1.409, 0.509, RAW= 163.9, 10.1, CAL= 163.9, 11.1, ROT= 346.1, -11.1 2025-10-27T05:24:50.884Z,1761542690.884 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:24:50.885Z,1761542690.885 [DAT](INFO): direction in FSK: [0.952557,-0.235734,0.192522] 2025-10-27T05:24:50.885Z,1761542690.885 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:50.889Z,1761542690.889 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.530388 2025-10-27T05:24:50.951Z,1761542690.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479002,0.861812,0.166844],[-0.877410,-0.475818,-0.061223],[0.026625,-0.175717,0.984081]] 2025-10-27T05:24:51.025Z,1761542691.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503871 s, deltaX: -0.400000 m, approachRate: -0.793853 m/s, rangeRepo size: 4 2025-10-27T05:24:51.027Z,1761542691.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.105673 m, bearing: 229.535162 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 0.503871 s, deltaX: -0.397448 m, approachRate: -0.788788 m/s, posRepo size: 4 2025-10-27T05:24:51.031Z,1761542691.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m. 2025-10-27T05:24:51.037Z,1761542691.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.105673 m, nav range: 17.489895 m, bearing: 229.538007 deg, approach rate: 0.000000 m/s, LOS rate: 0.029777 deg/s, cmd heading: 240.266439 deg, new cmd heading: 240.300858 deg. 2025-10-27T05:24:51.038Z,1761542691.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194041 target range: 18.105673 and range: 18.20 m. 2025-10-27T05:24:51.124Z,1761542691.124 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.765530 2025-10-27T05:24:51.338Z,1761542691.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479388,0.861668,0.166480],[-0.877185,-0.476316,-0.060584],[0.027094,-0.175077,0.984182]] 2025-10-27T05:24:51.375Z,1761542691.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:51.377Z,1761542691.377 [DAT](INFO): DAT read: Rx Time:05:24:50.0890 2025-10-27T05:24:51.377Z,1761542691.377 [DAT](INFO): Rx dataTimestamp_ set to:1761542691.376855 2025-10-27T05:24:51.378Z,1761542691.378 [DAT](INFO): DAT read: Bearing 32.9, -13.5 (Local) 2025-10-27T05:24:51.379Z,1761542691.379 [DAT](INFO): Local bearing/azimuth received: Bearing 32.9, -13.5 (Local) 2025-10-27T05:24:51.381Z,1761542691.381 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 2025-10-27T05:24:51.386Z,1761542691.386 [DAT](INFO): DAT read: 05:24:50.0890 LVL= 32752, 32753, 26098, 32755, AGC= 57, IDX= 508,-0.02,-1.178,-2.570,-0.544,-1.127, PHS= 0.051,-1.399, 0.539, RAW= 164.0, 9.3, CAL= 163.8, 10.0, ROT= 346.2, -10.0 2025-10-27T05:24:51.387Z,1761542691.387 [DAT](INFO): got valid direction response: 05:24:50.0890 LVL= 32752, 32753, 26098, 32755, AGC= 57, IDX= 508,-0.02,-1.178,-2.570,-0.544,-1.127, PHS= 0.051,-1.399, 0.539, RAW= 164.0, 9.3, CAL= 163.8, 10.0, ROT= 346.2, -10.0 2025-10-27T05:24:51.387Z,1761542691.387 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:24:51.388Z,1761542691.388 [DAT](INFO): direction in FSK: [0.956381,-0.234909,0.173648] 2025-10-27T05:24:51.389Z,1761542691.389 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:51.429Z,1761542691.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504096 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:24:51.430Z,1761542691.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.11 m. 2025-10-27T05:24:51.423Z,1761542691.423 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.064068 2025-10-27T05:24:51.437Z,1761542691.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.105673 m, nav range: 17.260443 m, bearing: 229.471296 deg, approach rate: -0.566669 m/s, LOS rate: -0.166944 deg/s, cmd heading: 240.300863 deg, new cmd heading: 240.098070 deg. 2025-10-27T05:24:51.438Z,1761542691.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190502 target range: 18.105673 and range: 18.20 m. 2025-10-27T05:24:51.628Z,1761542691.628 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.269588 2025-10-27T05:24:51.802Z,1761542691.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480155,0.861339,0.165972],[-0.876784,-0.476980,-0.061162],[0.026484,-0.174889,0.984232]] 2025-10-27T05:24:51.881Z,1761542691.881 [DAT](INFO): DAT read: Rx Time:05:24:50.5887 2025-10-27T05:24:51.881Z,1761542691.881 [DAT](INFO): Rx dataTimestamp_ set to:1761542691.880824 2025-10-27T05:24:51.882Z,1761542691.882 [DAT](INFO): DAT read: Bearing 34.5, -14.2 (Local) 2025-10-27T05:24:51.883Z,1761542691.883 [DAT](INFO): Local bearing/azimuth received: Bearing 34.5, -14.2 (Local) 2025-10-27T05:24:51.885Z,1761542691.885 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 2025-10-27T05:24:51.890Z,1761542691.890 [DAT](INFO): DAT read: 05:24:50.5887 LVL= 32752, 32753, 26290, 32755, AGC= 56, IDX= 505, 0.05,-0.614,-2.002, 0.028,-0.526, PHS= 0.014,-1.431, 0.510, RAW= 164.2, 10.4, CAL= 164.2, 11.5, ROT= 345.8, -11.5 2025-10-27T05:24:51.891Z,1761542691.891 [DAT](INFO): got valid direction response: 05:24:50.5887 LVL= 32752, 32753, 26290, 32755, AGC= 56, IDX= 505, 0.05,-0.614,-2.002, 0.028,-0.526, PHS= 0.014,-1.431, 0.510, RAW= 164.2, 10.4, CAL= 164.2, 11.5, ROT= 345.8, -11.5 2025-10-27T05:24:51.891Z,1761542691.891 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:24:51.892Z,1761542691.892 [DAT](INFO): direction in FSK: [0.949983,-0.240383,0.199368] 2025-10-27T05:24:51.892Z,1761542691.892 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:51.900Z,1761542691.900 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.541828 2025-10-27T05:24:51.932Z,1761542691.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503969 s, deltaX: -0.500000 m, approachRate: -0.992124 m/s, rangeRepo size: 4 2025-10-27T05:24:51.934Z,1761542691.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.608265 m, bearing: 229.218890 deg, lat: 36.779369 deg, lon: -121.859699 deg, deltaT: 1.008065 s, deltaX: -0.497408 m, approachRate: -0.493428 m/s, posRepo size: 4 2025-10-27T05:24:51.943Z,1761542691.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.61 m. 2025-10-27T05:24:51.946Z,1761542691.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.608265 m, nav range: 16.961454 m, bearing: 229.327411 deg, approach rate: 0.000000 m/s, LOS rate: -0.166944 deg/s, cmd heading: 240.098061 deg, new cmd heading: 239.850526 deg. 2025-10-27T05:24:51.947Z,1761542691.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.186182 target range: 17.608265 and range: 17.70 m. 2025-10-27T05:24:52.132Z,1761542692.132 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.773476 2025-10-27T05:24:52.156Z,1761542692.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481052,0.861324,0.163430],[-0.876305,-0.477950,-0.060443],[0.026051,-0.172290,0.984702]] 2025-10-27T05:24:52.208Z,1761542692.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.61 m. 2025-10-27T05:24:52.224Z,1761542692.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.608265 m, nav range: 16.776281 m, bearing: 229.250509 deg, approach rate: -0.661661 m/s, LOS rate: -0.277818 deg/s, cmd heading: 239.850535 deg, new cmd heading: 239.617285 deg. 2025-10-27T05:24:52.232Z,1761542692.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182111 target range: 17.608265 and range: 17.70 m. 2025-10-27T05:24:52.385Z,1761542692.385 [DAT](INFO): DAT read: Rx Time:05:24:51.0886 2025-10-27T05:24:52.385Z,1761542692.385 [DAT](INFO): Rx dataTimestamp_ set to:1761542692.385155 2025-10-27T05:24:52.387Z,1761542692.387 [DAT](INFO): DAT read: Bearing 34.6, -14.3 (Local) 2025-10-27T05:24:52.387Z,1761542692.387 [DAT](INFO): Local bearing/azimuth received: Bearing 34.6, -14.3 (Local) 2025-10-27T05:24:52.389Z,1761542692.389 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 2025-10-27T05:24:52.394Z,1761542692.394 [DAT](INFO): DAT read: 05:24:51.0886 LVL= 32752, 32753, 24530, 32755, AGC= 57, IDX= 504, 0.11, 1.263,-0.133, 1.911, 1.353, PHS= 0.013,-1.440, 0.514, RAW= 164.3, 10.4, CAL= 164.3, 11.5, ROT= 345.7, -11.5 2025-10-27T05:24:52.396Z,1761542692.396 [DAT](INFO): got valid direction response: 05:24:51.0886 LVL= 32752, 32753, 24530, 32755, AGC= 57, IDX= 504, 0.11, 1.263,-0.133, 1.911, 1.353, PHS= 0.013,-1.440, 0.514, RAW= 164.3, 10.4, CAL= 164.3, 11.5, ROT= 345.7, -11.5 2025-10-27T05:24:52.396Z,1761542692.396 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:24:52.397Z,1761542692.397 [DAT](INFO): direction in FSK: [0.949563,-0.242040,0.199368] 2025-10-27T05:24:52.397Z,1761542692.397 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:52.420Z,1761542692.420 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.061440 2025-10-27T05:24:52.592Z,1761542692.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482673,0.861063,0.159991],[-0.875421,-0.479722,-0.059202],[0.025774,-0.168635,0.985342]] 2025-10-27T05:24:52.636Z,1761542692.636 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.277489 2025-10-27T05:24:52.649Z,1761542692.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504331 s, deltaX: -0.100000 m, approachRate: -0.198283 m/s, rangeRepo size: 4 2025-10-27T05:24:52.651Z,1761542692.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.507271 m, bearing: 228.869726 deg, lat: 36.779368 deg, lon: -121.859699 deg, deltaT: 0.504331 s, deltaX: -0.100994 m, approachRate: -0.200254 m/s, posRepo size: 4 2025-10-27T05:24:52.652Z,1761542692.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-27T05:24:52.654Z,1761542692.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.507271 m, nav range: 16.526045 m, bearing: 229.039893 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 239.617298 deg, new cmd heading: 239.246224 deg. 2025-10-27T05:24:52.656Z,1761542692.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.175634 target range: 17.507271 and range: 17.60 m. 2025-10-27T05:24:52.889Z,1761542692.889 [DAT](INFO): DAT read: Rx Time:05:24:51.5883 2025-10-27T05:24:52.890Z,1761542692.890 [DAT](INFO): Rx dataTimestamp_ set to:1761542692.889324 2025-10-27T05:24:52.891Z,1761542692.891 [DAT](INFO): DAT read: Bearing 33.3, -14.5 (Local) 2025-10-27T05:24:52.891Z,1761542692.891 [DAT](INFO): Local bearing/azimuth received: Bearing 33.3, -14.5 (Local) 2025-10-27T05:24:52.893Z,1761542692.893 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.5 2025-10-27T05:24:52.898Z,1761542692.898 [DAT](INFO): DAT read: 05:24:51.5883 LVL= 32752, 32753, 23938, 32755, AGC= 57, IDX= 501, 0.20,-0.303,-1.702, 0.367,-0.231, PHS= 0.030,-1.425, 0.554, RAW= 164.8, 9.5, CAL= 164.7, 10.3, ROT= 345.3, -10.3 2025-10-27T05:24:52.899Z,1761542692.899 [DAT](INFO): got valid direction response: 05:24:51.5883 LVL= 32752, 32753, 23938, 32755, AGC= 57, IDX= 501, 0.20,-0.303,-1.702, 0.367,-0.231, PHS= 0.030,-1.425, 0.554, RAW= 164.8, 9.5, CAL= 164.7, 10.3, ROT= 345.3, -10.3 2025-10-27T05:24:52.900Z,1761542692.900 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:24:52.901Z,1761542692.901 [DAT](INFO): direction in FSK: [0.951680,-0.249669,0.178802] 2025-10-27T05:24:52.901Z,1761542692.901 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:52.909Z,1761542692.909 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.550091 2025-10-27T05:24:52.994Z,1761542692.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483930,0.860632,0.158505],[-0.874723,-0.481084,-0.058469],[0.025934,-0.166943,0.985625]] 2025-10-27T05:24:53.049Z,1761542693.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504169 s, deltaX: -0.500000 m, approachRate: -0.991731 m/s, rangeRepo size: 4 2025-10-27T05:24:53.051Z,1761542693.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.008615 m, bearing: 228.163837 deg, lat: 36.779368 deg, lon: -121.859699 deg, deltaT: 0.504169 s, deltaX: -0.498655 m, approachRate: -0.989064 m/s, posRepo size: 4 2025-10-27T05:24:53.056Z,1761542693.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-27T05:24:53.058Z,1761542693.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.008615 m, nav range: 16.335224 m, bearing: 228.815753 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 239.246227 deg, new cmd heading: 238.912977 deg. 2025-10-27T05:24:53.063Z,1761542693.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169818 target range: 17.008615 and range: 17.10 m. 2025-10-27T05:24:53.140Z,1761542693.140 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.781754 2025-10-27T05:24:53.393Z,1761542693.393 [DAT](INFO): DAT read: Rx Time:05:24:52.0881 2025-10-27T05:24:53.393Z,1761542693.393 [DAT](INFO): Rx dataTimestamp_ set to:1761542693.393158 2025-10-27T05:24:53.395Z,1761542693.395 [DAT](INFO): DAT read: Bearing 33.0, -14.7 (Local) 2025-10-27T05:24:53.395Z,1761542693.395 [DAT](INFO): Local bearing/azimuth received: Bearing 33.0, -14.7 (Local) 2025-10-27T05:24:53.397Z,1761542693.397 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4 2025-10-27T05:24:53.402Z,1761542693.402 [DAT](INFO): DAT read: 05:24:52.0881 LVL= 32752, 32753, 25074, 32755, AGC= 57, IDX= 499, 0.28,-0.070,-1.466, 0.608, 0.000, PHS= 0.032,-1.421, 0.564, RAW= 165.0, 9.3, CAL= 164.8, 10.0, ROT= 345.2, -10.0 2025-10-27T05:24:53.403Z,1761542693.403 [DAT](INFO): got valid direction response: 05:24:52.0881 LVL= 32752, 32753, 25074, 32755, AGC= 57, IDX= 499, 0.28,-0.070,-1.466, 0.608, 0.000, PHS= 0.032,-1.421, 0.564, RAW= 165.0, 9.3, CAL= 164.8, 10.0, ROT= 345.2, -10.0 2025-10-27T05:24:53.403Z,1761542693.403 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:24:53.404Z,1761542693.404 [DAT](INFO): direction in FSK: [0.952135,-0.251565,0.173648] 2025-10-27T05:24:53.405Z,1761542693.405 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:53.409Z,1761542693.409 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.050411 2025-10-27T05:24:53.417Z,1761542693.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485675,0.859666,0.158413],[-0.873753,-0.482813,-0.058722],[0.026002,-0.166934,0.985625]] 2025-10-27T05:24:53.514Z,1761542693.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503834 s, deltaX: -0.300001 m, approachRate: -0.595436 m/s, rangeRepo size: 4 2025-10-27T05:24:53.520Z,1761542693.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.710217 m, bearing: 227.899662 deg, lat: 36.779366 deg, lon: -121.859699 deg, deltaT: 0.503834 s, deltaX: -0.298399 m, approachRate: -0.592257 m/s, posRepo size: 4 2025-10-27T05:24:53.521Z,1761542693.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-27T05:24:53.529Z,1761542693.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.710217 m, nav range: 16.199509 m, bearing: 228.061238 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 238.912968 deg, new cmd heading: 238.525217 deg. 2025-10-27T05:24:53.530Z,1761542693.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.163050 target range: 16.710217 and range: 16.80 m. 2025-10-27T05:24:53.645Z,1761542693.645 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.286434 2025-10-27T05:24:53.897Z,1761542693.897 [DAT](INFO): DAT read: Rx Time:05:24:52.5878 2025-10-27T05:24:53.897Z,1761542693.897 [DAT](INFO): Rx dataTimestamp_ set to:1761542693.896833 2025-10-27T05:24:53.898Z,1761542693.898 [DAT](INFO): DAT read: Bearing 34.9, -15.2 (Local) 2025-10-27T05:24:53.899Z,1761542693.899 [DAT](INFO): Local bearing/azimuth received: Bearing 34.9, -15.2 (Local) 2025-10-27T05:24:53.901Z,1761542693.901 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 2025-10-27T05:24:53.906Z,1761542693.906 [DAT](INFO): DAT read: 05:24:52.5878 LVL= 32752, 32753, 25042, 32755, AGC= 56, IDX= 496, 0.25, 0.069,-1.314, 0.740, 0.178, PHS=-0.007,-1.447, 0.518, RAW= 165.0, 10.6, CAL= 165.0, 11.9, ROT= 345.0, -11.9 2025-10-27T05:24:53.907Z,1761542693.907 [DAT](INFO): got valid direction response: 05:24:52.5878 LVL= 32752, 32753, 25042, 32755, AGC= 56, IDX= 496, 0.25, 0.069,-1.314, 0.740, 0.178, PHS=-0.007,-1.447, 0.518, RAW= 165.0, 10.6, CAL= 165.0, 11.9, ROT= 345.0, -11.9 2025-10-27T05:24:53.907Z,1761542693.907 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:24:53.908Z,1761542693.908 [DAT](INFO): direction in FSK: [0.945167,-0.253257,0.206204] 2025-10-27T05:24:53.908Z,1761542693.908 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:53.916Z,1761542693.916 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.557629 2025-10-27T05:24:54.025Z,1761542694.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503675 s, deltaX: -0.400000 m, approachRate: -0.794162 m/s, rangeRepo size: 4 2025-10-27T05:24:54.031Z,1761542694.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.312363 m, bearing: 228.013375 deg, lat: 36.779366 deg, lon: -121.859699 deg, deltaT: 0.503675 s, deltaX: -0.397854 m, approachRate: -0.789902 m/s, posRepo size: 4 2025-10-27T05:24:54.032Z,1761542694.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-27T05:24:54.043Z,1761542694.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.312363 m, nav range: 15.869430 m, bearing: 227.887744 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 238.525205 deg, new cmd heading: 238.099588 deg. 2025-10-27T05:24:54.044Z,1761542694.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.155622 target range: 16.312363 and range: 16.40 m. 2025-10-27T05:24:54.149Z,1761542694.149 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.790260 2025-10-27T05:24:54.370Z,1761542694.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490701,0.855953,0.162960],[-0.870926,-0.487497,-0.061918],[0.026444,-0.172310,0.984688]] 2025-10-27T05:24:54.401Z,1761542694.401 [DAT](INFO): DAT read: Rx Time:05:24:53.0877 2025-10-27T05:24:54.401Z,1761542694.401 [DAT](INFO): Rx dataTimestamp_ set to:1761542694.400754 2025-10-27T05:24:54.402Z,1761542694.402 [DAT](INFO): DAT read: Bearing 33.2, -15.2 (Local) 2025-10-27T05:24:54.403Z,1761542694.403 [DAT](INFO): Local bearing/azimuth received: Bearing 33.2, -15.2 (Local) 2025-10-27T05:24:54.405Z,1761542694.405 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.5 2025-10-27T05:24:54.414Z,1761542694.414 [DAT](INFO): DAT read: 05:24:53.0877 LVL= 32752, 32753, 24274, 32755, AGC= 56, IDX= 511, 0.38,-0.294,-1.674, 0.396,-0.209, PHS= 0.017,-1.421, 0.560, RAW= 165.4, 9.5, CAL= 165.3, 10.3, ROT= 344.7, -10.3 2025-10-27T05:24:54.415Z,1761542694.415 [DAT](INFO): got valid direction response: 05:24:53.0877 LVL= 32752, 32753, 24274, 32755, AGC= 56, IDX= 511, 0.38,-0.294,-1.674, 0.396,-0.209, PHS= 0.017,-1.421, 0.560, RAW= 165.4, 9.5, CAL= 165.3, 10.3, ROT= 344.7, -10.3 2025-10-27T05:24:54.415Z,1761542694.415 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:24:54.416Z,1761542694.416 [DAT](INFO): direction in FSK: [0.949014,-0.259621,0.178802] 2025-10-27T05:24:54.416Z,1761542694.416 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:54.444Z,1761542694.444 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.085815 2025-10-27T05:24:54.620Z,1761542694.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503921 s, deltaX: -0.199999 m, approachRate: -0.396885 m/s, rangeRepo size: 4 2025-10-27T05:24:54.622Z,1761542694.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.113432 m, bearing: 227.184875 deg, lat: 36.779366 deg, lon: -121.859699 deg, deltaT: 0.503921 s, deltaX: -0.198931 m, approachRate: -0.394766 m/s, posRepo size: 4 2025-10-27T05:24:54.623Z,1761542694.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-27T05:24:54.630Z,1761542694.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.113432 m, nav range: 15.541607 m, bearing: 227.648251 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 238.099575 deg, new cmd heading: 237.606891 deg. 2025-10-27T05:24:54.630Z,1761542694.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147023 target range: 16.113432 and range: 16.20 m. 2025-10-27T05:24:54.652Z,1761542694.652 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.293533 2025-10-27T05:24:54.905Z,1761542694.905 [DAT](INFO): DAT read: Rx Time:05:24:53.5875 2025-10-27T05:24:54.906Z,1761542694.906 [DAT](INFO): Rx dataTimestamp_ set to:1761542694.905342 2025-10-27T05:24:54.907Z,1761542694.907 [DAT](INFO): DAT read: Bearing 33.3, -15.6 (Local) 2025-10-27T05:24:54.907Z,1761542694.907 [DAT](INFO): Local bearing/azimuth received: Bearing 33.3, -15.6 (Local) 2025-10-27T05:24:54.909Z,1761542694.909 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.5 2025-10-27T05:24:54.914Z,1761542694.914 [DAT](INFO): DAT read: 05:24:53.5875 LVL= 32752, 32753, 24306, 32755, AGC= 55, IDX= 508, 0.48,-1.519,-2.889,-0.822,-1.422, PHS= 0.005,-1.421, 0.556, RAW= 165.7, 9.8, CAL= 165.6, 10.7, ROT= 344.4, -10.7 2025-10-27T05:24:54.916Z,1761542694.916 [DAT](INFO): got valid direction response: 05:24:53.5875 LVL= 32752, 32753, 24306, 32755, AGC= 55, IDX= 508, 0.48,-1.519,-2.889,-0.822,-1.422, PHS= 0.005,-1.421, 0.556, RAW= 165.7, 9.8, CAL= 165.6, 10.7, ROT= 344.4, -10.7 2025-10-27T05:24:54.916Z,1761542694.916 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:24:54.917Z,1761542694.917 [DAT](INFO): direction in FSK: [0.946416,-0.264244,0.185667] 2025-10-27T05:24:54.917Z,1761542694.917 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:54.921Z,1761542694.921 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.562366 2025-10-27T05:24:54.982Z,1761542694.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491648,0.854324,0.168559],[-0.870377,-0.488111,-0.064750],[0.026958,-0.178544,0.983563]] 2025-10-27T05:24:55.106Z,1761542695.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504588 s, deltaX: -0.400001 m, approachRate: -0.792727 m/s, rangeRepo size: 4 2025-10-27T05:24:55.112Z,1761542695.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.715569 m, bearing: 226.970728 deg, lat: 36.779365 deg, lon: -121.859699 deg, deltaT: 0.504588 s, deltaX: -0.397863 m, approachRate: -0.788492 m/s, posRepo size: 4 2025-10-27T05:24:55.113Z,1761542695.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m. 2025-10-27T05:24:55.120Z,1761542695.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.715569 m, nav range: 15.229618 m, bearing: 227.401427 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 237.606900 deg, new cmd heading: 237.198611 deg. 2025-10-27T05:24:55.120Z,1761542695.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139897 target range: 15.715569 and range: 15.80 m. 2025-10-27T05:24:55.156Z,1761542695.156 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.797737 2025-10-27T05:24:55.409Z,1761542695.409 [DAT](INFO): DAT read: Rx Time:05:24:54.0875 2025-10-27T05:24:55.409Z,1761542695.409 [DAT](INFO): Rx dataTimestamp_ set to:1761542695.409107 2025-10-27T05:24:55.411Z,1761542695.411 [DAT](INFO): DAT read: Bearing 31.4, -15.5 (Local) 2025-10-27T05:24:55.411Z,1761542695.411 [DAT](INFO): Local bearing/azimuth received: Bearing 31.4, -15.5 (Local) 2025-10-27T05:24:55.413Z,1761542695.413 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 2025-10-27T05:24:55.418Z,1761542695.418 [DAT](INFO): DAT read: 05:24:54.0875 LVL= 32752, 32753, 23186, 32755, AGC= 55, IDX= 508,-0.37,-2.390, 2.538,-1.682,-2.320, PHS= 0.032,-1.380, 0.594, RAW= 166.0, 8.6, CAL= 165.8, 9.0, ROT= 344.2, -9.0 2025-10-27T05:24:55.419Z,1761542695.419 [DAT](INFO): got valid direction response: 05:24:54.0875 LVL= 32752, 32753, 23186, 32755, AGC= 55, IDX= 508,-0.37,-2.390, 2.538,-1.682,-2.320, PHS= 0.032,-1.380, 0.594, RAW= 166.0, 8.6, CAL= 165.8, 9.0, ROT= 344.2, -9.0 2025-10-27T05:24:55.419Z,1761542695.419 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:24:55.420Z,1761542695.420 [DAT](INFO): direction in FSK: [0.950372,-0.268928,0.156434] 2025-10-27T05:24:55.421Z,1761542695.421 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:55.452Z,1761542695.452 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.093906 2025-10-27T05:24:55.548Z,1761542695.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503765 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:24:55.550Z,1761542695.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.715569 m, bearing: 226.473482 deg, lat: 36.779365 deg, lon: -121.859699 deg, deltaT: 0.503765 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:24:55.550Z,1761542695.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m. 2025-10-27T05:24:55.564Z,1761542695.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.715569 m, nav range: 15.011701 m, bearing: 227.145299 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 237.198618 deg, new cmd heading: 236.833644 deg. 2025-10-27T05:24:55.565Z,1761542695.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133527 target range: 15.715569 and range: 15.80 m. 2025-10-27T05:24:55.661Z,1761542695.661 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.302177 2025-10-27T05:24:55.913Z,1761542695.913 [DAT](INFO): DAT read: Rx Time:05:24:54.5872 2025-10-27T05:24:55.913Z,1761542695.913 [DAT](INFO): Rx dataTimestamp_ set to:1761542695.912754 2025-10-27T05:24:55.914Z,1761542695.914 [DAT](INFO): DAT read: Bearing 32.5, -16.1 (Local) 2025-10-27T05:24:55.915Z,1761542695.915 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, -16.1 (Local) 2025-10-27T05:24:55.917Z,1761542695.917 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.6 2025-10-27T05:24:55.921Z,1761542695.921 [DAT](INFO): DAT read: 05:24:54.5872 LVL= 32752, 32753, 24450, 32755, AGC= 56, IDX= 505,-0.25, 2.133, 0.786, 2.848, 2.239, PHS=-0.004,-1.407, 0.566, RAW= 166.3, 9.6, CAL= 166.2, 10.5, ROT= 343.8, -10.5 2025-10-27T05:24:55.923Z,1761542695.923 [DAT](INFO): got valid direction response: 05:24:54.5872 LVL= 32752, 32753, 24450, 32755, AGC= 56, IDX= 505,-0.25, 2.133, 0.786, 2.848, 2.239, PHS=-0.004,-1.407, 0.566, RAW= 166.3, 9.6, CAL= 166.2, 10.5, ROT= 343.8, -10.5 2025-10-27T05:24:55.923Z,1761542695.923 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:24:55.924Z,1761542695.924 [DAT](INFO): direction in FSK: [0.944213,-0.274320,0.182236] 2025-10-27T05:24:55.924Z,1761542695.924 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:55.936Z,1761542695.936 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.577496 2025-10-27T05:24:55.942Z,1761542695.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493873,0.851588,0.175751],[-0.869083,-0.489940,-0.068220],[0.028012,-0.186434,0.982068]] 2025-10-27T05:24:56.097Z,1761542696.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503647 s, deltaX: -0.500000 m, approachRate: -0.992759 m/s, rangeRepo size: 4 2025-10-27T05:24:56.104Z,1761542696.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.218428 m, bearing: 226.288291 deg, lat: 36.779364 deg, lon: -121.859698 deg, deltaT: 0.503647 s, deltaX: -0.497141 m, approachRate: -0.987082 m/s, posRepo size: 4 2025-10-27T05:24:56.105Z,1761542696.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.22 m. 2025-10-27T05:24:56.112Z,1761542696.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.218428 m, nav range: 14.688076 m, bearing: 226.771746 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 236.833640 deg, new cmd heading: 236.372248 deg. 2025-10-27T05:24:56.113Z,1761542696.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125474 target range: 15.218428 and range: 15.30 m. 2025-10-27T05:24:56.164Z,1761542696.164 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.805725 2025-10-27T05:24:56.417Z,1761542696.417 [DAT](INFO): DAT read: Rx Time:05:24:55.0871 2025-10-27T05:24:56.417Z,1761542696.417 [DAT](INFO): Rx dataTimestamp_ set to:1761542696.416729 2025-10-27T05:24:56.418Z,1761542696.418 [DAT](INFO): DAT read: Bearing 32.5, -16.3 (Local) 2025-10-27T05:24:56.419Z,1761542696.419 [DAT](INFO): Local bearing/azimuth received: Bearing 32.5, -16.3 (Local) 2025-10-27T05:24:56.421Z,1761542696.421 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 2025-10-27T05:24:56.425Z,1761542696.425 [DAT](INFO): DAT read: 05:24:55.0871 LVL= 32752, 32753, 22098, 32755, AGC= 56, IDX= 504,-0.15,-2.520, 2.425,-1.798,-2.407, PHS=-0.011,-1.406, 0.564, RAW= 166.5, 9.7, CAL= 166.4, 10.7, ROT= 343.6, -10.7 2025-10-27T05:24:56.426Z,1761542696.426 [DAT](INFO): got valid direction response: 05:24:55.0871 LVL= 32752, 32753, 22098, 32755, AGC= 56, IDX= 504,-0.15,-2.520, 2.425,-1.798,-2.407, PHS=-0.011,-1.406, 0.564, RAW= 166.5, 9.7, CAL= 166.4, 10.7, ROT= 343.6, -10.7 2025-10-27T05:24:56.431Z,1761542696.431 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:24:56.452Z,1761542696.452 [DAT](INFO): direction in FSK: [0.942634,-0.277432,0.185667] 2025-10-27T05:24:56.452Z,1761542696.452 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:56.473Z,1761542696.473 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.114510 2025-10-27T05:24:56.503Z,1761542696.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494287,0.850983,0.177506],[-0.868837,-0.490267,-0.068993],[0.028313,-0.188326,0.981698]] 2025-10-27T05:24:56.614Z,1761542696.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503975 s, deltaX: -0.100000 m, approachRate: -0.198423 m/s, rangeRepo size: 4 2025-10-27T05:24:56.630Z,1761542696.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.118960 m, bearing: 226.121744 deg, lat: 36.779363 deg, lon: -121.859698 deg, deltaT: 0.503975 s, deltaX: -0.099467 m, approachRate: -0.197365 m/s, posRepo size: 4 2025-10-27T05:24:56.636Z,1761542696.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T05:24:56.644Z,1761542696.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.118960 m, nav range: 14.501635 m, bearing: 226.502974 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 236.372247 deg, new cmd heading: 235.947821 deg. 2025-10-27T05:24:56.645Z,1761542696.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118066 target range: 15.118960 and range: 15.20 m. 2025-10-27T05:24:56.668Z,1761542696.668 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.309525 2025-10-27T05:24:56.921Z,1761542696.921 [DAT](INFO): DAT read: Rx Time:05:24:55.5868 2025-10-27T05:24:56.921Z,1761542696.921 [DAT](INFO): Rx dataTimestamp_ set to:1761542696.921020 2025-10-27T05:24:56.923Z,1761542696.923 [DAT](INFO): DAT read: Bearing 32.0, -16.2 (Local) 2025-10-27T05:24:56.923Z,1761542696.923 [DAT](INFO): Local bearing/azimuth received: Bearing 32.0, -16.2 (Local) 2025-10-27T05:24:56.925Z,1761542696.925 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.8 2025-10-27T05:24:56.930Z,1761542696.930 [DAT](INFO): DAT read: 05:24:55.5868 LVL= 32752, 32753, 22674, 32755, AGC= 55, IDX= 501,-0.05, 2.557, 1.216,-3.000, 2.663, PHS=-0.004,-1.401, 0.576, RAW= 166.6, 9.4, CAL= 166.4, 10.2, ROT= 343.6, -10.2 2025-10-27T05:24:56.931Z,1761542696.931 [DAT](INFO): got valid direction response: 05:24:55.5868 LVL= 32752, 32753, 22674, 32755, AGC= 55, IDX= 501,-0.05, 2.557, 1.216,-3.000, 2.663, PHS=-0.004,-1.401, 0.576, RAW= 166.6, 9.4, CAL= 166.4, 10.2, ROT= 343.6, -10.2 2025-10-27T05:24:56.931Z,1761542696.931 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:24:56.932Z,1761542696.932 [DAT](INFO): direction in FSK: [0.944153,-0.277879,0.177085] 2025-10-27T05:24:56.932Z,1761542696.932 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:56.940Z,1761542696.940 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.581726 2025-10-27T05:24:57.108Z,1761542697.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504291 s, deltaX: -0.500000 m, approachRate: -0.991491 m/s, rangeRepo size: 4 2025-10-27T05:24:57.110Z,1761542697.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.621922 m, bearing: 226.029300 deg, lat: 36.779363 deg, lon: -121.859698 deg, deltaT: 0.504291 s, deltaX: -0.497039 m, approachRate: -0.985619 m/s, posRepo size: 4 2025-10-27T05:24:57.115Z,1761542697.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-27T05:24:57.118Z,1761542697.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.621922 m, nav range: 14.195361 m, bearing: 226.219019 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 235.947819 deg, new cmd heading: 235.529469 deg. 2025-10-27T05:24:57.123Z,1761542697.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110765 target range: 14.621922 and range: 14.70 m. 2025-10-27T05:24:57.173Z,1761542697.173 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.814026 2025-10-27T05:24:57.425Z,1761542697.425 [DAT](INFO): DAT read: Rx Time:05:24:56.0866 2025-10-27T05:24:57.425Z,1761542697.425 [DAT](INFO): Rx dataTimestamp_ set to:1761542697.424741 2025-10-27T05:24:57.426Z,1761542697.426 [DAT](INFO): DAT read: Bearing 32.7, -16.1 (Local) 2025-10-27T05:24:57.427Z,1761542697.427 [DAT](INFO): Local bearing/azimuth received: Bearing 32.7, -16.1 (Local) 2025-10-27T05:24:57.429Z,1761542697.429 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.5 2025-10-27T05:24:57.433Z,1761542697.433 [DAT](INFO): DAT read: 05:24:56.0866 LVL= 32752, 32753, 22402, 32755, AGC= 55, IDX= 499, 0.06,-2.007, 2.926,-1.288,-1.891, PHS=-0.014,-1.421, 0.559, RAW= 166.3, 10.0, CAL= 166.3, 11.0, ROT= 343.7, -11.0 2025-10-27T05:24:57.434Z,1761542697.434 [DAT](INFO): got valid direction response: 05:24:56.0866 LVL= 32752, 32753, 22402, 32755, AGC= 55, IDX= 499, 0.06,-2.007, 2.926,-1.288,-1.891, PHS=-0.014,-1.421, 0.559, RAW= 166.3, 10.0, CAL= 166.3, 11.0, ROT= 343.7, -11.0 2025-10-27T05:24:57.435Z,1761542697.435 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:24:57.436Z,1761542697.436 [DAT](INFO): direction in FSK: [0.942171,-0.275510,0.190809] 2025-10-27T05:24:57.436Z,1761542697.436 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:57.440Z,1761542697.440 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.081394 2025-10-27T05:24:57.468Z,1761542697.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494995,0.850261,0.178986],[-0.868410,-0.490994,-0.069195],[0.029048,-0.189684,0.981415]] 2025-10-27T05:24:57.538Z,1761542697.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503721 s, deltaX: -0.300000 m, approachRate: -0.595568 m/s, rangeRepo size: 4 2025-10-27T05:24:57.545Z,1761542697.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.323515 m, bearing: 226.246440 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.503721 s, deltaX: -0.298407 m, approachRate: -0.592405 m/s, posRepo size: 4 2025-10-27T05:24:57.545Z,1761542697.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-27T05:24:57.552Z,1761542697.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.323515 m, nav range: 13.931083 m, bearing: 226.130578 deg, approach rate: 0.000000 m/s, LOS rate: -0.277818 deg/s, cmd heading: 235.529457 deg, new cmd heading: 235.171133 deg. 2025-10-27T05:24:57.553Z,1761542697.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.104511 target range: 14.323515 and range: 14.40 m. 2025-10-27T05:24:57.677Z,1761542697.677 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.318123 2025-10-27T05:24:57.860Z,1761542697.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495748,0.849752,0.179321],[-0.867980,-0.491704,-0.069555],[0.029069,-0.190129,0.981329]] 2025-10-27T05:24:57.915Z,1761542697.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:24:57.917Z,1761542697.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-27T05:24:57.928Z,1761542697.928 [DAT](INFO): DAT read: Rx Time:05:24:56.5863 2025-10-27T05:24:57.929Z,1761542697.929 [DAT](INFO): Rx dataTimestamp_ set to:1761542697.928550 2025-10-27T05:24:57.930Z,1761542697.930 [DAT](INFO): DAT read: Bearing 31.4, -15.6 (Local) 2025-10-27T05:24:57.930Z,1761542697.930 [DAT](INFO): Local bearing/azimuth received: Bearing 31.4, -15.6 (Local) 2025-10-27T05:24:57.932Z,1761542697.932 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-27T05:24:57.937Z,1761542697.937 [DAT](INFO): DAT read: 05:24:56.5863 LVL= 32752, 32753, 22786, 32755, AGC= 55, IDX= 496, 0.22, 3.072, 1.697,-2.494,-3.125, PHS= 0.016,-1.416, 0.587, RAW= 166.1, 9.1, CAL= 165.9, 9.8, ROT= 344.1, -9.8 2025-10-27T05:24:57.938Z,1761542697.938 [DAT](INFO): got valid direction response: 05:24:56.5863 LVL= 32752, 32753, 22786, 32755, AGC= 55, IDX= 496, 0.22, 3.072, 1.697,-2.494,-3.125, PHS= 0.016,-1.416, 0.587, RAW= 166.1, 9.1, CAL= 165.9, 9.8, ROT= 344.1, -9.8 2025-10-27T05:24:57.938Z,1761542697.938 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:24:57.939Z,1761542697.939 [DAT](INFO): direction in FSK: [0.947708,-0.269961,0.170209] 2025-10-27T05:24:57.940Z,1761542697.940 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:57.943Z,1761542697.943 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.584843 2025-10-27T05:24:57.952Z,1761542697.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.323515 m, nav range: 13.705847 m, bearing: 226.175975 deg, approach rate: -0.593243 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.171145 deg, new cmd heading: 235.309575 deg. 2025-10-27T05:24:57.953Z,1761542697.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106927 target range: 14.323515 and range: 14.40 m. 2025-10-27T05:24:58.181Z,1761542698.181 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.821995 2025-10-27T05:24:58.290Z,1761542698.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498527,0.846888,0.185072],[-0.866360,-0.494093,-0.072743],[0.029838,-0.196603,0.980029]] 2025-10-27T05:24:58.320Z,1761542698.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503809 s, deltaX: -0.400000 m, approachRate: -0.793951 m/s, rangeRepo size: 4 2025-10-27T05:24:58.322Z,1761542698.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.926018 m, bearing: 226.274335 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.503809 s, deltaX: -0.397497 m, approachRate: -0.788984 m/s, posRepo size: 4 2025-10-27T05:24:58.323Z,1761542698.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.93 m. 2025-10-27T05:24:58.325Z,1761542698.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.926018 m, nav range: 13.481153 m, bearing: 226.236816 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.309579 deg, new cmd heading: 235.456063 deg. 2025-10-27T05:24:58.326Z,1761542698.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109484 target range: 13.926018 and range: 14.00 m. 2025-10-27T05:24:58.433Z,1761542698.433 [DAT](INFO): DAT read: Rx Time:05:24:57.0862 2025-10-27T05:24:58.433Z,1761542698.433 [DAT](INFO): Rx dataTimestamp_ set to:1761542698.432864 2025-10-27T05:24:58.434Z,1761542698.434 [DAT](INFO): DAT read: Bearing 33.1, -15.8 (Local) 2025-10-27T05:24:58.435Z,1761542698.435 [DAT](INFO): Local bearing/azimuth received: Bearing 33.1, -15.8 (Local) 2025-10-27T05:24:58.437Z,1761542698.437 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5 2025-10-27T05:24:58.442Z,1761542698.442 [DAT](INFO): DAT read: 05:24:57.0862 LVL= 32752, 32753, 26674, 32755, AGC= 55, IDX= 511, 0.39,-1.779,-3.136,-1.078,-1.657, PHS=-0.020,-1.434, 0.535, RAW= 165.9, 10.5, CAL= 165.9, 11.7, ROT= 344.1, -11.7 2025-10-27T05:24:58.443Z,1761542698.443 [DAT](INFO): got valid direction response: 05:24:57.0862 LVL= 32752, 32753, 26674, 32755, AGC= 55, IDX= 511, 0.39,-1.779,-3.136,-1.078,-1.657, PHS=-0.020,-1.434, 0.535, RAW= 165.9, 10.5, CAL= 165.9, 11.7, ROT= 344.1, -11.7 2025-10-27T05:24:58.443Z,1761542698.443 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:24:58.444Z,1761542698.444 [DAT](INFO): direction in FSK: [0.941759,-0.268267,0.202787] 2025-10-27T05:24:58.444Z,1761542698.444 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:58.449Z,1761542698.449 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.090569 2025-10-27T05:24:58.686Z,1761542698.686 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.327545 2025-10-27T05:24:58.707Z,1761542698.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500003,0.845446,0.187666],[-0.865494,-0.495403,-0.074139],[0.030290,-0.199493,0.979431]] 2025-10-27T05:24:58.833Z,1761542698.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504314 s, deltaX: -0.200000 m, approachRate: -0.396578 m/s, rangeRepo size: 4 2025-10-27T05:24:58.836Z,1761542698.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.727076 m, bearing: 226.586899 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.504314 s, deltaX: -0.198942 m, approachRate: -0.394481 m/s, posRepo size: 4 2025-10-27T05:24:58.837Z,1761542698.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-27T05:24:58.871Z,1761542698.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.727076 m, nav range: 13.214245 m, bearing: 226.361978 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.456073 deg, new cmd heading: 235.643251 deg. 2025-10-27T05:24:58.872Z,1761542698.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112751 target range: 13.727076 and range: 13.80 m. 2025-10-27T05:24:58.937Z,1761542698.937 [DAT](INFO): DAT read: Rx Time:05:24:57.5860 2025-10-27T05:24:58.938Z,1761542698.938 [DAT](INFO): Rx dataTimestamp_ set to:1761542698.937563 2025-10-27T05:24:58.940Z,1761542698.940 [DAT](INFO): DAT read: Bearing 32.1, -15.6 (Local) 2025-10-27T05:24:58.940Z,1761542698.940 [DAT](INFO): Local bearing/azimuth received: Bearing 32.1, -15.6 (Local) 2025-10-27T05:24:58.944Z,1761542698.944 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 2025-10-27T05:24:58.950Z,1761542698.950 [DAT](INFO): DAT read: 05:24:57.5860 LVL= 32752, 32753, 23586, 32755, AGC= 56, IDX= 509,-0.22, 1.149,-0.213, 1.853, 1.256, PHS=-0.005,-1.425, 0.553, RAW= 165.9, 10.0, CAL= 165.8, 10.9, ROT= 344.2, -10.9 2025-10-27T05:24:58.952Z,1761542698.952 [DAT](INFO): got valid direction response: 05:24:57.5860 LVL= 32752, 32753, 23586, 32755, AGC= 56, IDX= 509,-0.22, 1.149,-0.213, 1.853, 1.256, PHS=-0.005,-1.425, 0.553, RAW= 165.9, 10.0, CAL= 165.8, 10.9, ROT= 344.2, -10.9 2025-10-27T05:24:58.953Z,1761542698.953 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:24:58.954Z,1761542698.954 [DAT](INFO): direction in FSK: [0.944858,-0.267368,0.189095] 2025-10-27T05:24:58.959Z,1761542698.959 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:58.972Z,1761542698.972 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.613670 2025-10-27T05:24:59.148Z,1761542699.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502042,0.843781,0.189704],[-0.864284,-0.497384,-0.074983],[0.031087,-0.201603,0.978974]] 2025-10-27T05:24:59.171Z,1761542699.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504699 s, deltaX: -0.300000 m, approachRate: -0.594414 m/s, rangeRepo size: 4 2025-10-27T05:24:59.173Z,1761542699.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.429029 m, bearing: 226.418912 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.504699 s, deltaX: -0.298046 m, approachRate: -0.590542 m/s, posRepo size: 4 2025-10-27T05:24:59.174Z,1761542699.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-27T05:24:59.177Z,1761542699.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.429029 m, nav range: 12.950391 m, bearing: 226.478214 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.643248 deg, new cmd heading: 235.766430 deg. 2025-10-27T05:24:59.178Z,1761542699.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.114901 target range: 13.429029 and range: 13.50 m. 2025-10-27T05:24:59.193Z,1761542699.193 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.834194 2025-10-27T05:24:59.444Z,1761542699.444 [DAT](INFO): DAT read: Rx Time:05:24:58.0858 2025-10-27T05:24:59.445Z,1761542699.445 [DAT](INFO): Rx dataTimestamp_ set to:1761542699.444666 2025-10-27T05:24:59.446Z,1761542699.446 [DAT](INFO): DAT read: Bearing 32.6, -15.2 (Local) 2025-10-27T05:24:59.447Z,1761542699.447 [DAT](INFO): Local bearing/azimuth received: Bearing 32.6, -15.2 (Local) 2025-10-27T05:24:59.449Z,1761542699.449 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-27T05:24:59.455Z,1761542699.455 [DAT](INFO): DAT read: 05:24:58.0858 LVL= 32752, 32753, 24434, 32755, AGC= 55, IDX= 508,-0.00,-2.994, 1.930,-2.311,-2.881, PHS=-0.011,-1.427, 0.526, RAW= 165.4, 10.5, CAL= 165.4, 11.6, ROT= 344.6, -11.6 2025-10-27T05:24:59.456Z,1761542699.456 [DAT](INFO): got valid direction response: 05:24:58.0858 LVL= 32752, 32753, 24434, 32755, AGC= 55, IDX= 508,-0.00,-2.994, 1.930,-2.311,-2.881, PHS=-0.011,-1.427, 0.526, RAW= 165.4, 10.5, CAL= 165.4, 11.6, ROT= 344.6, -11.6 2025-10-27T05:24:59.456Z,1761542699.456 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:24:59.457Z,1761542699.457 [DAT](INFO): direction in FSK: [0.944404,-0.260132,0.201078] 2025-10-27T05:24:59.457Z,1761542699.457 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:59.461Z,1761542699.461 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.102654 2025-10-27T05:24:59.546Z,1761542699.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504363,0.842305,0.190104],[-0.862896,-0.499823,-0.074746],[0.032059,-0.201740,0.978914]] 2025-10-27T05:24:59.594Z,1761542699.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.507103 s, deltaX: -0.300000 m, approachRate: -0.591596 m/s, rangeRepo size: 4 2025-10-27T05:24:59.608Z,1761542699.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.130607 m, bearing: 226.803197 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.507103 s, deltaX: -0.298423 m, approachRate: -0.588486 m/s, posRepo size: 4 2025-10-27T05:24:59.614Z,1761542699.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-27T05:24:59.625Z,1761542699.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.130607 m, nav range: 12.704307 m, bearing: 226.522701 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.766437 deg, new cmd heading: 235.920649 deg. 2025-10-27T05:24:59.626Z,1761542699.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117592 target range: 13.130607 and range: 13.20 m. 2025-10-27T05:24:59.697Z,1761542699.697 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.337646 2025-10-27T05:24:59.946Z,1761542699.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507270,0.840280,0.191329],[-0.861138,-0.502853,-0.074703],[0.033439,-0.202655,0.978679]] 2025-10-27T05:24:59.949Z,1761542699.949 [DAT](INFO): DAT read: Rx Time:05:24:58.5855 2025-10-27T05:24:59.949Z,1761542699.949 [DAT](INFO): Rx dataTimestamp_ set to:1761542699.948841 2025-10-27T05:24:59.950Z,1761542699.950 [DAT](INFO): DAT read: Bearing 33.2, -14.7 (Local) 2025-10-27T05:24:59.951Z,1761542699.951 [DAT](INFO): Local bearing/azimuth received: Bearing 33.2, -14.7 (Local) 2025-10-27T05:24:59.953Z,1761542699.953 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 2025-10-27T05:24:59.957Z,1761542699.957 [DAT](INFO): DAT read: 05:24:58.5855 LVL= 32752, 32753, 24738, 32755, AGC= 55, IDX= 505, 0.24,-2.960, 1.944,-2.298,-2.844, PHS=-0.014,-1.450, 0.502, RAW= 164.8, 11.0, CAL= 164.9, 12.3, ROT= 345.1, -12.3 2025-10-27T05:24:59.959Z,1761542699.959 [DAT](INFO): got valid direction response: 05:24:58.5855 LVL= 32752, 32753, 24738, 32755, AGC= 55, IDX= 505, 0.24,-2.960, 1.944,-2.298,-2.844, PHS=-0.014,-1.450, 0.502, RAW= 164.8, 11.0, CAL= 164.9, 12.3, ROT= 345.1, -12.3 2025-10-27T05:24:59.959Z,1761542699.959 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:24:59.960Z,1761542699.960 [DAT](INFO): direction in FSK: [0.944194,-0.251230,0.213030] 2025-10-27T05:24:59.960Z,1761542699.960 [DAT](INFO): publishing direction and range info 2025-10-27T05:24:59.964Z,1761542699.964 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.605480 2025-10-27T05:25:00.088Z,1761542700.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504175 s, deltaX: -0.400000 m, approachRate: -0.793375 m/s, rangeRepo size: 4 2025-10-27T05:25:00.090Z,1761542700.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.732405 m, bearing: 227.260060 deg, lat: 36.779363 deg, lon: -121.859697 deg, deltaT: 0.504175 s, deltaX: -0.398202 m, approachRate: -0.789809 m/s, posRepo size: 4 2025-10-27T05:25:00.091Z,1761542700.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T05:25:00.097Z,1761542700.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.732405 m, nav range: 12.430699 m, bearing: 226.582905 deg, approach rate: 0.000000 m/s, LOS rate: 0.121536 deg/s, cmd heading: 235.920663 deg, new cmd heading: 236.100689 deg. 2025-10-27T05:25:00.098Z,1761542700.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120734 target range: 12.732405 and range: 12.80 m. 2025-10-27T05:25:00.202Z,1761542700.202 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.843197 2025-10-27T05:25:00.350Z,1761542700.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510335,0.838312,0.191811],[-0.859282,-0.506035,-0.074589],[0.034534,-0.202885,0.978593]] 2025-10-27T05:25:00.399Z,1761542700.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:00.401Z,1761542700.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T05:25:00.408Z,1761542700.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.732405 m, nav range: 12.253956 m, bearing: 226.626210 deg, approach rate: -0.562639 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.100679 deg, new cmd heading: 236.232468 deg. 2025-10-27T05:25:00.409Z,1761542700.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123034 target range: 12.732405 and range: 12.80 m. 2025-10-27T05:25:00.453Z,1761542700.453 [DAT](INFO): DAT read: Rx Time:05:24:59.0854 2025-10-27T05:25:00.453Z,1761542700.453 [DAT](INFO): Rx dataTimestamp_ set to:1761542700.452814 2025-10-27T05:25:00.454Z,1761542700.454 [DAT](INFO): DAT read: Bearing 32.6, -14.4 (Local) 2025-10-27T05:25:00.455Z,1761542700.455 [DAT](INFO): Local bearing/azimuth received: Bearing 32.6, -14.4 (Local) 2025-10-27T05:25:00.457Z,1761542700.457 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 2025-10-27T05:25:00.461Z,1761542700.461 [DAT](INFO): DAT read: 05:24:59.0854 LVL= 32752, 32753, 25202, 32755, AGC= 54, IDX= 504,-0.39, 1.686, 0.324, 2.336, 1.793, PHS=-0.005,-1.424, 0.499, RAW= 164.6, 10.8, CAL= 164.7, 12.0, ROT= 345.3, -12.0 2025-10-27T05:25:00.463Z,1761542700.463 [DAT](INFO): got valid direction response: 05:24:59.0854 LVL= 32752, 32753, 25202, 32755, AGC= 54, IDX= 504,-0.39, 1.686, 0.324, 2.336, 1.793, PHS=-0.005,-1.424, 0.499, RAW= 164.6, 10.8, CAL= 164.7, 12.0, ROT= 345.3, -12.0 2025-10-27T05:25:00.463Z,1761542700.463 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:25:00.464Z,1761542700.464 [DAT](INFO): direction in FSK: [0.946131,-0.248213,0.207912] 2025-10-27T05:25:00.464Z,1761542700.464 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:00.472Z,1761542700.472 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.113583 2025-10-27T05:25:00.706Z,1761542700.706 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.346863 2025-10-27T05:25:00.853Z,1761542700.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503973 s, deltaX: -0.200000 m, approachRate: -0.396846 m/s, rangeRepo size: 4 2025-10-27T05:25:00.856Z,1761542700.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.533461 m, bearing: 227.193236 deg, lat: 36.779364 deg, lon: -121.859697 deg, deltaT: 0.503973 s, deltaX: -0.198944 m, approachRate: -0.394751 m/s, posRepo size: 4 2025-10-27T05:25:00.856Z,1761542700.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-27T05:25:00.859Z,1761542700.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.533461 m, nav range: 11.939548 m, bearing: 226.887879 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.232474 deg, new cmd heading: 236.421940 deg. 2025-10-27T05:25:00.860Z,1761542700.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.126341 target range: 12.533461 and range: 12.60 m. 2025-10-27T05:25:00.957Z,1761542700.957 [DAT](INFO): DAT read: Rx Time:05:24:59.5851 2025-10-27T05:25:00.957Z,1761542700.957 [DAT](INFO): Rx dataTimestamp_ set to:1761542700.956815 2025-10-27T05:25:00.958Z,1761542700.958 [DAT](INFO): DAT read: Bearing 33.4, -14.1 (Local) 2025-10-27T05:25:00.959Z,1761542700.959 [DAT](INFO): Local bearing/azimuth received: Bearing 33.4, -14.1 (Local) 2025-10-27T05:25:00.961Z,1761542700.961 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 2025-10-27T05:25:00.966Z,1761542700.966 [DAT](INFO): DAT read: 05:24:59.5851 LVL= 32752, 32753, 27474, 32755, AGC= 55, IDX= 501,-0.13, 0.675,-0.699, 1.306, 0.793, PHS=-0.015,-1.447, 0.469, RAW= 164.1, 11.5, CAL= 164.2, 13.0, ROT= 345.8, -13.0 2025-10-27T05:25:00.967Z,1761542700.967 [DAT](INFO): got valid direction response: 05:24:59.5851 LVL= 32752, 32753, 27474, 32755, AGC= 55, IDX= 501,-0.13, 0.675,-0.699, 1.306, 0.793, PHS=-0.015,-1.447, 0.469, RAW= 164.1, 11.5, CAL= 164.2, 13.0, ROT= 345.8, -13.0 2025-10-27T05:25:00.967Z,1761542700.967 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:25:00.968Z,1761542700.968 [DAT](INFO): direction in FSK: [0.944598,-0.239020,0.224951] 2025-10-27T05:25:00.968Z,1761542700.968 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:00.972Z,1761542700.972 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.613693 2025-10-27T05:25:01.173Z,1761542701.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518131,0.833291,0.192787],[-0.854442,-0.514393,-0.072999],[0.038339,-0.202548,0.978522]] 2025-10-27T05:25:01.209Z,1761542701.209 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.850155 2025-10-27T05:25:01.284Z,1761542701.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504001 s, deltaX: -0.300000 m, approachRate: -0.595237 m/s, rangeRepo size: 4 2025-10-27T05:25:01.286Z,1761542701.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.235057 m, bearing: 227.354862 deg, lat: 36.779364 deg, lon: -121.859697 deg, deltaT: 0.504001 s, deltaX: -0.298404 m, approachRate: -0.592070 m/s, posRepo size: 4 2025-10-27T05:25:01.287Z,1761542701.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.24 m. 2025-10-27T05:25:01.293Z,1761542701.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.235057 m, nav range: 11.699183 m, bearing: 227.035996 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.421944 deg, new cmd heading: 236.600583 deg. 2025-10-27T05:25:01.294Z,1761542701.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129459 target range: 12.235057 and range: 12.30 m. 2025-10-27T05:25:01.460Z,1761542701.460 [DAT](INFO): DAT read: Rx Time:05:25:00.0850 2025-10-27T05:25:01.461Z,1761542701.461 [DAT](INFO): Rx dataTimestamp_ set to:1761542701.460667 2025-10-27T05:25:01.462Z,1761542701.462 [DAT](INFO): DAT read: Bearing 33.4, -13.5 (Local) 2025-10-27T05:25:01.463Z,1761542701.463 [DAT](INFO): Local bearing/azimuth received: Bearing 33.4, -13.5 (Local) 2025-10-27T05:25:01.465Z,1761542701.465 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 2025-10-27T05:25:01.469Z,1761542701.469 [DAT](INFO): DAT read: 05:25:00.0850 LVL= 32752, 32753, 28402, 32755, AGC= 54, IDX= 500, 0.02, 3.044, 1.658,-2.627,-3.129, PHS=-0.009,-1.452, 0.458, RAW= 163.6, 11.6, CAL= 163.8, 13.2, ROT= 346.2, -13.2 2025-10-27T05:25:01.470Z,1761542701.470 [DAT](INFO): got valid direction response: 05:25:00.0850 LVL= 32752, 32753, 28402, 32755, AGC= 54, IDX= 500, 0.02, 3.044, 1.658,-2.627,-3.129, PHS=-0.009,-1.452, 0.458, RAW= 163.6, 11.6, CAL= 163.8, 13.2, ROT= 346.2, -13.2 2025-10-27T05:25:01.471Z,1761542701.471 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:25:01.472Z,1761542701.472 [DAT](INFO): direction in FSK: [0.945476,-0.232231,0.228351] 2025-10-27T05:25:01.472Z,1761542701.472 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:01.478Z,1761542701.478 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.119823 2025-10-27T05:25:01.578Z,1761542701.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523042,0.830276,0.192532],[-0.851368,-0.519561,-0.072310],[0.039995,-0.201736,0.978623]] 2025-10-27T05:25:01.625Z,1761542701.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503852 s, deltaX: -0.100000 m, approachRate: -0.198472 m/s, rangeRepo size: 4 2025-10-27T05:25:01.629Z,1761542701.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.135585 m, bearing: 227.446344 deg, lat: 36.779365 deg, lon: -121.859697 deg, deltaT: 0.503852 s, deltaX: -0.099472 m, approachRate: -0.197423 m/s, posRepo size: 4 2025-10-27T05:25:01.630Z,1761542701.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.14 m. 2025-10-27T05:25:01.656Z,1761542701.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.135585 m, nav range: 11.477174 m, bearing: 227.134245 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.600594 deg, new cmd heading: 236.745602 deg. 2025-10-27T05:25:01.657Z,1761542701.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131990 target range: 12.135585 and range: 12.20 m. 2025-10-27T05:25:01.717Z,1761542701.717 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.357479 2025-10-27T05:25:01.965Z,1761542701.965 [DAT](INFO): DAT read: Rx Time:05:25:00.5847 2025-10-27T05:25:01.965Z,1761542701.965 [DAT](INFO): Rx dataTimestamp_ set to:1761542701.964692 2025-10-27T05:25:01.966Z,1761542701.966 [DAT](INFO): DAT read: Bearing 33.5, -13.3 (Local) 2025-10-27T05:25:01.967Z,1761542701.967 [DAT](INFO): Local bearing/azimuth received: Bearing 33.5, -13.3 (Local) 2025-10-27T05:25:01.974Z,1761542701.974 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5 2025-10-27T05:25:01.982Z,1761542701.982 [DAT](INFO): DAT read: 05:25:00.5847 LVL= 32752, 32753, 28642, 32755, AGC= 54, IDX= 497, 0.16, 2.640, 1.238,-3.038, 2.751, PHS=-0.010,-1.469, 0.450, RAW= 163.3, 11.8, CAL= 163.5, 13.5, ROT= 346.5, -13.5 2025-10-27T05:25:01.988Z,1761542701.988 [DAT](INFO): got valid direction response: 05:25:00.5847 LVL= 32752, 32753, 28642, 32755, AGC= 54, IDX= 497, 0.16, 2.640, 1.238,-3.038, 2.751, PHS=-0.010,-1.469, 0.450, RAW= 163.3, 11.8, CAL= 163.5, 13.5, ROT= 346.5, -13.5 2025-10-27T05:25:01.988Z,1761542701.988 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:25:01.989Z,1761542701.989 [DAT](INFO): direction in FSK: [0.945503,-0.226995,0.233445] 2025-10-27T05:25:01.989Z,1761542701.989 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:01.993Z,1761542701.993 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.634605 2025-10-27T05:25:02.024Z,1761542702.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527914,0.827029,0.193212],[-0.848296,-0.524514,-0.072660],[0.041250,-0.202259,0.978463]] 2025-10-27T05:25:02.134Z,1761542702.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504025 s, deltaX: -0.500000 m, approachRate: -0.992014 m/s, rangeRepo size: 4 2025-10-27T05:25:02.148Z,1761542702.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.638383 m, bearing: 227.483537 deg, lat: 36.779365 deg, lon: -121.859697 deg, deltaT: 0.504025 s, deltaX: -0.497202 m, approachRate: -0.986463 m/s, posRepo size: 4 2025-10-27T05:25:02.149Z,1761542702.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-27T05:25:02.156Z,1761542702.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.638383 m, nav range: 11.130744 m, bearing: 227.334339 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.745613 deg, new cmd heading: 236.959234 deg. 2025-10-27T05:25:02.157Z,1761542702.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.135719 target range: 11.638383 and range: 11.70 m. 2025-10-27T05:25:02.219Z,1761542702.219 [DAT](INFO): DAT read: Rx Time:05:25:01.0846 2025-10-27T05:25:02.221Z,1761542702.221 [DAT](INFO): Rx dataTimestamp_ set to:1761542702.219536 2025-10-27T05:25:02.224Z,1761542702.224 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.863667 2025-10-27T05:25:02.469Z,1761542702.469 [DAT](INFO): DAT read: Bearing 36.6, -12.2 (Local) 2025-10-27T05:25:02.469Z,1761542702.469 [DAT](INFO): Local bearing/azimuth received: Bearing 36.6, -12.2 (Local) 2025-10-27T05:25:02.471Z,1761542702.471 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 2025-10-27T05:25:02.476Z,1761542702.476 [DAT](INFO): DAT read: 05:25:01.0846 LVL= 32752, 32753, 28882, 32755, AGC= 53, IDX= 512, 0.37,-1.799,-2.847,-1.367,-1.665, PHS=-0.031,-1.137, 0.254, RAW= 161.2, 14.2, CAL= 161.9, 16.6, ROT= 348.1, -16.6 2025-10-27T05:25:02.477Z,1761542702.477 [DAT](INFO): got valid direction response: 05:25:01.0846 LVL= 32752, 32753, 28882, 32755, AGC= 53, IDX= 512, 0.37,-1.799,-2.847,-1.367,-1.665, PHS=-0.031,-1.137, 0.254, RAW= 161.2, 14.2, CAL= 161.9, 16.6, ROT= 348.1, -16.6 2025-10-27T05:25:02.478Z,1761542702.478 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:25:02.481Z,1761542702.481 [DAT](INFO): direction in FSK: [0.937727,-0.197610,0.285688] 2025-10-27T05:25:02.482Z,1761542702.482 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:02.489Z,1761542702.489 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.130772 2025-10-27T05:25:02.632Z,1761542702.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.502695 s, deltaX: -0.099999 m, approachRate: -0.198927 m/s, rangeRepo size: 4 2025-10-27T05:25:02.634Z,1761542702.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.538910 m, bearing: 229.748738 deg, lat: 36.779365 deg, lon: -121.859698 deg, deltaT: 0.502695 s, deltaX: -0.099473 m, approachRate: -0.197879 m/s, posRepo size: 4 2025-10-27T05:25:02.634Z,1761542702.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-27T05:25:02.637Z,1761542702.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.538910 m, nav range: 10.891747 m, bearing: 227.576178 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 236.959234 deg, new cmd heading: 237.167979 deg. 2025-10-27T05:25:02.638Z,1761542702.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.139362 target range: 11.538910 and range: 11.60 m. 2025-10-27T05:25:02.727Z,1761542702.727 [DAT](INFO): DAT read: Rx Time:05:25:01.5844 2025-10-27T05:25:02.729Z,1761542702.729 [DAT](INFO): Rx dataTimestamp_ set to:1761542702.727919 2025-10-27T05:25:02.740Z,1761542702.740 [DAT](INFO): DAT read: Bearing 33.3, -12.5 (Local) 2025-10-27T05:25:02.741Z,1761542702.741 [DAT](INFO): Local bearing/azimuth received: Bearing 33.3, -12.5 (Local) 2025-10-27T05:25:02.755Z,1761542702.755 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.5 2025-10-27T05:25:02.758Z,1761542702.758 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-27T05:25:02.770Z,1761542702.770 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.410454 2025-10-27T05:25:02.976Z,1761542702.976 [DAT](INFO): DAT read: 05:25:01.5844 LVL= 32752, 32753, 29522, 32755, AGC= 53, IDX= 510,-0.48, 1.269,-0.140, 1.839, 1.373, PHS=-0.002,-1.468, 0.423, RAW= 162.3, 12.2, CAL= 162.6, 13.8, ROT= 347.4, -13.8 2025-10-27T05:25:02.977Z,1761542702.977 [DAT](INFO): got valid direction response: 05:25:01.5844 LVL= 32752, 32753, 29522, 32755, AGC= 53, IDX= 510,-0.48, 1.269,-0.140, 1.839, 1.373, PHS=-0.002,-1.468, 0.423, RAW= 162.3, 12.2, CAL= 162.6, 13.8, ROT= 347.4, -13.8 2025-10-27T05:25:02.977Z,1761542702.977 [DAT](INFO): #Rx 91: Read direction message, but no range. 2025-10-27T05:25:02.978Z,1761542702.978 [DAT](INFO): direction in FSK: [0.947746,-0.211846,0.238533] 2025-10-27T05:25:02.981Z,1761542702.981 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.622807 2025-10-27T05:25:03.101Z,1761542703.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.260532 s, deltaX: -0.300000 m, approachRate: -1.151491 m/s, rangeRepo size: 4 2025-10-27T05:25:03.107Z,1761542703.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.240465 m, bearing: 228.449113 deg, lat: 36.779366 deg, lon: -121.859698 deg, deltaT: 0.260532 s, deltaX: -0.298445 m, approachRate: -1.145520 m/s, posRepo size: 4 2025-10-27T05:25:03.108Z,1761542703.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-27T05:25:03.111Z,1761542703.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.240465 m, nav range: 10.580107 m, bearing: 227.850783 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 237.167992 deg, new cmd heading: 237.364950 deg. 2025-10-27T05:25:03.116Z,1761542703.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142800 target range: 11.240465 and range: 11.30 m. 2025-10-27T05:25:03.229Z,1761542703.229 [DAT](INFO): DAT read: Rx Time:05:25:02.0843 2025-10-27T05:25:03.231Z,1761542703.231 [DAT](INFO): Rx dataTimestamp_ set to:1761542703.229681 2025-10-27T05:25:03.234Z,1761542703.234 [DAT](INFO): DAT read: Bearing 31.7, -12.0 (Local) 2025-10-27T05:25:03.236Z,1761542703.236 [DAT](INFO): Local bearing/azimuth received: Bearing 31.7, -12.0 (Local) 2025-10-27T05:25:03.241Z,1761542703.241 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.5 2025-10-27T05:25:03.243Z,1761542703.243 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-27T05:25:03.249Z,1761542703.249 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.887821 2025-10-27T05:25:03.480Z,1761542703.480 [DAT](INFO): DAT read: 05:25:02.0843 LVL= 32752, 32753, 26978, 32755, AGC= 54, IDX= 509,-0.26, 1.785, 0.370, 2.356, 1.860, PHS= 0.027,-1.444, 0.453, RAW= 162.3, 11.2, CAL= 162.5, 12.5, ROT= 347.5, -12.5 2025-10-27T05:25:03.481Z,1761542703.481 [DAT](INFO): got valid direction response: 05:25:02.0843 LVL= 32752, 32753, 26978, 32755, AGC= 54, IDX= 509,-0.26, 1.785, 0.370, 2.356, 1.860, PHS= 0.027,-1.444, 0.453, RAW= 162.3, 11.2, CAL= 162.5, 12.5, ROT= 347.5, -12.5 2025-10-27T05:25:03.481Z,1761542703.481 [DAT](INFO): #Rx 93: Read direction message, but no range. 2025-10-27T05:25:03.482Z,1761542703.482 [DAT](INFO): direction in FSK: [0.953154,-0.211309,0.216440] 2025-10-27T05:25:03.499Z,1761542703.499 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.132236 2025-10-27T05:25:03.568Z,1761542703.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.501762 s, deltaX: -0.200000 m, approachRate: -0.398595 m/s, rangeRepo size: 4 2025-10-27T05:25:03.570Z,1761542703.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.041519 m, bearing: 228.279248 deg, lat: 36.779366 deg, lon: -121.859699 deg, deltaT: 0.501762 s, deltaX: -0.198946 m, approachRate: -0.396495 m/s, posRepo size: 4 2025-10-27T05:25:03.579Z,1761542703.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-27T05:25:03.582Z,1761542703.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.041519 m, nav range: 10.433114 m, bearing: 228.315708 deg, approach rate: 0.000000 m/s, LOS rate: 0.139844 deg/s, cmd heading: 237.364947 deg, new cmd heading: 237.561014 deg. 2025-10-27T05:25:03.587Z,1761542703.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.146222 target range: 11.041519 and range: 11.10 m. 2025-10-27T05:25:03.745Z,1761542703.745 [DAT](INFO): DAT read: Rx Time:05:25:02.5840 2025-10-27T05:25:03.750Z,1761542703.750 [DAT](INFO): Rx dataTimestamp_ set to:1761542703.745694 2025-10-27T05:25:03.752Z,1761542703.752 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.393131 2025-10-27T05:25:03.900Z,1761542703.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547427,0.815308,0.188671],[-0.835737,-0.544265,-0.072940],[0.043219,-0.197609,0.979328]] 2025-10-27T05:25:03.938Z,1761542703.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:03.957Z,1761542703.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-27T05:25:03.964Z,1761542703.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.041519 m, nav range: 10.161454 m, bearing: 228.245334 deg, approach rate: -0.698322 m/s, LOS rate: -0.185736 deg/s, cmd heading: 237.561028 deg, new cmd heading: 237.344265 deg. 2025-10-27T05:25:03.965Z,1761542703.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.142439 target range: 11.041519 and range: 11.10 m. 2025-10-27T05:25:03.993Z,1761542703.993 [DAT](INFO): DAT read: Bearing 31.6, -11.7 (Local) 2025-10-27T05:25:03.993Z,1761542703.993 [DAT](INFO): Local bearing/azimuth received: Bearing 31.6, -11.7 (Local) 2025-10-27T05:25:03.995Z,1761542703.995 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.5 2025-10-27T05:25:03.000Z,1761542704.000 [DAT](INFO): DAT read: 05:25:02.5840 LVL= 32752, 32753, 28578, 32755, AGC= 53, IDX= 506,-0.17, 0.420,-0.998, 0.977, 0.487, PHS= 0.035,-1.440, 0.446, RAW= 162.0, 11.2, CAL= 162.1, 12.4, ROT= 347.9, -12.4 2025-10-27T05:25:04.001Z,1761542704.001 [DAT](INFO): got valid direction response: 05:25:02.5840 LVL= 32752, 32753, 28578, 32755, AGC= 53, IDX= 506,-0.17, 0.420,-0.998, 0.977, 0.487, PHS= 0.035,-1.440, 0.446, RAW= 162.0, 11.2, CAL= 162.1, 12.4, ROT= 347.9, -12.4 2025-10-27T05:25:04.001Z,1761542704.001 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:25:04.002Z,1761542704.002 [DAT](INFO): direction in FSK: [0.954974,-0.204729,0.214735] 2025-10-27T05:25:04.003Z,1761542704.003 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:04.006Z,1761542704.006 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.647694 2025-10-27T05:25:04.248Z,1761542704.248 [DAT](INFO): DAT read: Rx Time:05:25:03.0838 2025-10-27T05:25:04.250Z,1761542704.250 [DAT](INFO): Rx dataTimestamp_ set to:1761542704.248592 2025-10-27T05:25:04.254Z,1761542704.254 [DAT](INFO): DAT read: Bearing 32.2, -12.2 (Local) 2025-10-27T05:25:04.255Z,1761542704.255 [DAT](INFO): Local bearing/azimuth received: Bearing 32.2, -12.2 (Local) 2025-10-27T05:25:04.263Z,1761542704.263 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5 2025-10-27T05:25:04.265Z,1761542704.265 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-27T05:25:04.303Z,1761542704.303 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.944637 2025-10-27T05:25:04.374Z,1761542704.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 1.018911 s, deltaX: -0.700001 m, approachRate: -0.687009 m/s, rangeRepo size: 4 2025-10-27T05:25:04.376Z,1761542704.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.344816 m, bearing: 227.252542 deg, lat: 36.779366 deg, lon: -121.859699 deg, deltaT: 1.018911 s, deltaX: -0.696703 m, approachRate: -0.683772 m/s, posRepo size: 4 2025-10-27T05:25:04.376Z,1761542704.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-27T05:25:04.399Z,1761542704.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.344816 m, nav range: 9.905914 m, bearing: 228.175610 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 237.344265 deg, new cmd heading: 237.112373 deg. 2025-10-27T05:25:04.400Z,1761542704.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138391 target range: 10.344816 and range: 10.40 m. 2025-10-27T05:25:04.500Z,1761542704.500 [DAT](INFO): DAT read: 05:25:03.0838 LVL= 32752, 32753, 27410, 32755, AGC= 54, IDX= 504,-0.10, 0.713,-0.706, 1.280, 0.802, PHS= 0.012,-1.463, 0.434, RAW= 162.2, 11.8, CAL= 162.4, 13.3, ROT= 347.6, -13.3 2025-10-27T05:25:04.501Z,1761542704.501 [DAT](INFO): got valid direction response: 05:25:03.0838 LVL= 32752, 32753, 27410, 32755, AGC= 54, IDX= 504,-0.10, 0.713,-0.706, 1.280, 0.802, PHS= 0.012,-1.463, 0.434, RAW= 162.2, 11.8, CAL= 162.4, 13.3, ROT= 347.6, -13.3 2025-10-27T05:25:04.502Z,1761542704.502 [DAT](INFO): #Rx 96: Read direction message, but no range. 2025-10-27T05:25:04.504Z,1761542704.504 [DAT](INFO): direction in FSK: [0.950477,-0.208976,0.230050] 2025-10-27T05:25:04.509Z,1761542704.509 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.150539 2025-10-27T05:25:04.754Z,1761542704.754 [DAT](INFO): DAT read: Rx Time:05:25:03.5835 2025-10-27T05:25:04.756Z,1761542704.756 [DAT](INFO): Rx dataTimestamp_ set to:1761542704.754400 2025-10-27T05:25:04.761Z,1761542704.761 [DAT](INFO): DAT read: Bearing 30.3, -12.1 (Local) 2025-10-27T05:25:04.763Z,1761542704.763 [DAT](INFO): Local bearing/azimuth received: Bearing 30.3, -12.1 (Local) 2025-10-27T05:25:04.772Z,1761542704.772 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.5 2025-10-27T05:25:04.781Z,1761542704.781 [DAT](INFO): DAT read: 05:25:03.5835 LVL= 32752, 32753, 24610, 32755, AGC= 52, IDX= 501,-0.01,-0.281,-1.704, 0.304,-0.223, PHS= 0.044,-1.436, 0.483, RAW= 162.6, 10.5, CAL= 162.6, 11.5, ROT= 347.4, -11.5 2025-10-27T05:25:04.782Z,1761542704.782 [DAT](INFO): got valid direction response: 05:25:03.5835 LVL= 32752, 32753, 24610, 32755, AGC= 52, IDX= 501,-0.01,-0.281,-1.704, 0.304,-0.223, PHS= 0.044,-1.436, 0.483, RAW= 162.6, 10.5, CAL= 162.6, 11.5, ROT= 347.4, -11.5 2025-10-27T05:25:04.782Z,1761542704.782 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:25:04.784Z,1761542704.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550518,0.813923,0.185631],[-0.833784,-0.547158,-0.073634],[0.041637,-0.195313,0.979857]] 2025-10-27T05:25:04.788Z,1761542704.788 [DAT](INFO): direction in FSK: [0.956325,-0.213764,0.199368] 2025-10-27T05:25:04.788Z,1761542704.788 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:04.828Z,1761542704.828 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.469521 2025-10-27T05:25:04.903Z,1761542704.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.505808 s, deltaX: -0.500000 m, approachRate: -0.988517 m/s, rangeRepo size: 4 2025-10-27T05:25:04.905Z,1761542704.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.847469 m, bearing: 226.333875 deg, lat: 36.779365 deg, lon: -121.859699 deg, deltaT: 0.505808 s, deltaX: -0.497347 m, approachRate: -0.983272 m/s, posRepo size: 4 2025-10-27T05:25:04.906Z,1761542704.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-27T05:25:04.907Z,1761542704.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-27T05:25:04.911Z,1761542704.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T05:25:04.914Z,1761542704.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 9.659775 m, bearing: 227.751283 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 237.112367 deg, new cmd heading: 236.819432 deg. 2025-10-27T05:25:04.914Z,1761542704.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.133279 target range: 9.847469 and range: 9.90 m. 2025-10-27T05:25:05.005Z,1761542705.005 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.646263 2025-10-27T05:25:05.260Z,1761542705.260 [DAT](INFO): DAT read: Rx Time:05:25:04.0834 2025-10-27T05:25:05.262Z,1761542705.262 [DAT](INFO): Rx dataTimestamp_ set to:1761542705.260972 2025-10-27T05:25:05.266Z,1761542705.266 [DAT](INFO): DAT read: Bearing 31.2, -12.3 (Local) 2025-10-27T05:25:05.267Z,1761542705.267 [DAT](INFO): Local bearing/azimuth received: Bearing 31.2, -12.3 (Local) 2025-10-27T05:25:05.276Z,1761542705.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551055,0.814446,0.181703],[-0.833475,-0.547814,-0.072239],[0.040705,-0.191252,0.980696]] 2025-10-27T05:25:05.277Z,1761542705.277 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.5 2025-10-27T05:25:05.298Z,1761542705.298 [DAT](INFO): DAT read: 05:25:04.0834 LVL= 32752, 32753, 27042, 32755, AGC= 52, IDX= 500, 0.04, 1.850, 0.418, 2.435, 1.927, PHS= 0.024,-1.464, 0.464, RAW= 162.6, 11.2, CAL= 162.7, 12.5, ROT= 347.3, -12.5 2025-10-27T05:25:05.303Z,1761542705.303 [DAT](INFO): got valid direction response: 05:25:04.0834 LVL= 32752, 32753, 27042, 32755, AGC= 52, IDX= 500, 0.04, 1.850, 0.418, 2.435, 1.927, PHS= 0.024,-1.464, 0.464, RAW= 162.6, 11.2, CAL= 162.7, 12.5, ROT= 347.3, -12.5 2025-10-27T05:25:05.303Z,1761542705.303 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:25:05.304Z,1761542705.304 [DAT](INFO): direction in FSK: [0.952410,-0.214635,0.216440] 2025-10-27T05:25:05.305Z,1761542705.305 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:05.317Z,1761542705.317 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.958027 2025-10-27T05:25:05.365Z,1761542705.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.506572 s, deltaX: -0.099999 m, approachRate: -0.197404 m/s, rangeRepo size: 4 2025-10-27T05:25:05.383Z,1761542705.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.748065 m, bearing: 226.336803 deg, lat: 36.779365 deg, lon: -121.859698 deg, deltaT: 0.506572 s, deltaX: -0.099404 m, approachRate: -0.196229 m/s, posRepo size: 4 2025-10-27T05:25:05.384Z,1761542705.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.85 m. 2025-10-27T05:25:05.392Z,1761542705.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 9.384641 m, bearing: 227.696811 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 236.819433 deg, new cmd heading: 236.560107 deg. 2025-10-27T05:25:05.393Z,1761542705.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128753 target range: 9.847469 and range: 9.80 m. 2025-10-27T05:25:05.509Z,1761542705.509 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.150120 2025-10-27T05:25:05.773Z,1761542705.773 [DAT](INFO): DAT read: Rx Time:05:25:04.5832 2025-10-27T05:25:05.798Z,1761542705.798 [DAT](INFO): Rx dataTimestamp_ set to:1761542705.773749 2025-10-27T05:25:05.799Z,1761542705.799 [DAT](INFO): DAT read: Bearing 30.6, -13.2 (Local) 2025-10-27T05:25:05.800Z,1761542705.800 [DAT](INFO): Local bearing/azimuth received: Bearing 30.6, -13.2 (Local) 2025-10-27T05:25:05.802Z,1761542705.802 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 2025-10-27T05:25:05.806Z,1761542705.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550160,0.815881,0.177936],[-0.834120,-0.547024,-0.070771],[0.039594,-0.187355,0.981494]] 2025-10-27T05:25:05.810Z,1761542705.810 [DAT](INFO): DAT read: 05:25:04.5832 LVL= 32752, 32753, 27122, 32755, AGC= 53, IDX= 497, 0.15, 0.525,-0.902, 1.152, 0.606, PHS= 0.021,-1.463, 0.501, RAW= 163.6, 10.6, CAL= 163.6, 11.8, ROT= 346.4, -11.8 2025-10-27T05:25:05.836Z,1761542705.836 [DAT](INFO): got valid direction response: 05:25:04.5832 LVL= 32752, 32753, 27122, 32755, AGC= 53, IDX= 497, 0.15, 0.525,-0.902, 1.152, 0.606, PHS= 0.021,-1.463, 0.501, RAW= 163.6, 10.6, CAL= 163.6, 11.8, ROT= 346.4, -11.8 2025-10-27T05:25:05.836Z,1761542705.836 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:25:05.837Z,1761542705.837 [DAT](INFO): direction in FSK: [0.951421,-0.230173,0.204496] 2025-10-27T05:25:05.837Z,1761542705.837 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:05.853Z,1761542705.853 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.494686 2025-10-27T05:25:05.948Z,1761542705.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.512777 s, deltaX: -0.500000 m, approachRate: -0.975083 m/s, rangeRepo size: 4 2025-10-27T05:25:05.950Z,1761542705.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.250715 m, bearing: 225.309061 deg, lat: 36.779365 deg, lon: -121.859697 deg, deltaT: 1.019349 s, deltaX: -0.596754 m, approachRate: -0.585427 m/s, posRepo size: 4 2025-10-27T05:25:05.951Z,1761542705.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 9.85 m. 2025-10-27T05:25:05.957Z,1761542705.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 9.048019 m, bearing: 227.673176 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 236.560105 deg, new cmd heading: 236.237659 deg. 2025-10-27T05:25:05.958Z,1761542705.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123125 target range: 9.847469 and range: 9.30 m. 2025-10-27T05:25:06.021Z,1761542706.021 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.662537 2025-10-27T05:25:06.273Z,1761542706.273 [DAT](INFO): DAT read: Rx Time:05:25:05.0831 2025-10-27T05:25:06.273Z,1761542706.273 [DAT](INFO): Rx dataTimestamp_ set to:1761542706.273069 2025-10-27T05:25:06.275Z,1761542706.275 [DAT](INFO): DAT read: Bearing 30.4, -8.9 (Local) 2025-10-27T05:25:06.275Z,1761542706.275 [DAT](INFO): Local bearing/azimuth received: Bearing 30.4, -8.9 (Local) 2025-10-27T05:25:06.277Z,1761542706.277 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.5 2025-10-27T05:25:06.278Z,1761542706.278 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-27T05:25:06.279Z,1761542706.279 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.920021 2025-10-27T05:25:06.376Z,1761542706.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:06.379Z,1761542706.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.499320 s, deltaX: -0.100000 m, approachRate: -0.200273 m/s, rangeRepo size: 4 2025-10-27T05:25:06.380Z,1761542706.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:25:06.383Z,1761542706.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 8.781173 m, bearing: 227.653152 deg, approach rate: -0.612563 m/s, LOS rate: -0.047362 deg/s, cmd heading: 236.237665 deg, new cmd heading: 236.175769 deg. 2025-10-27T05:25:06.384Z,1761542706.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.122045 target range: 9.847469 and range: 9.20 m. 2025-10-27T05:25:06.528Z,1761542706.528 [DAT](INFO): DAT read: 05:25:05.0831 LVL= 32752, 32753, 24914, 32755, AGC= 51, IDX= 512, 0.28, 2.707, 1.366,-3.135, 2.702, PHS= 0.107,-1.291, 0.402, RAW= 159.4, 10.0, CAL= 159.3, 10.8, ROT= 350.7, -10.8 2025-10-27T05:25:06.530Z,1761542706.530 [DAT](INFO): got valid direction response: 05:25:05.0831 LVL= 32752, 32753, 24914, 32755, AGC= 51, IDX= 512, 0.28, 2.707, 1.366,-3.135, 2.702, PHS= 0.107,-1.291, 0.402, RAW= 159.4, 10.0, CAL= 159.3, 10.8, ROT= 350.7, -10.8 2025-10-27T05:25:06.530Z,1761542706.530 [DAT](INFO): #Rx 101: Read direction message, but no range. 2025-10-27T05:25:06.532Z,1761542706.532 [DAT](INFO): direction in FSK: [0.969376,-0.158741,0.187381] 2025-10-27T05:25:06.535Z,1761542706.535 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.176559 2025-10-27T05:25:06.782Z,1761542706.782 [DAT](INFO): DAT read: Rx Time:05:25:05.5829 2025-10-27T05:25:06.783Z,1761542706.783 [DAT](INFO): Rx dataTimestamp_ set to:1761542706.782440 2025-10-27T05:25:06.786Z,1761542706.786 [DAT](INFO): DAT read: Bearing 30.5, -14.0 (Local) 2025-10-27T05:25:06.786Z,1761542706.786 [DAT](INFO): Local bearing/azimuth received: Bearing 30.5, -14.0 (Local) 2025-10-27T05:25:06.788Z,1761542706.788 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.5 2025-10-27T05:25:06.789Z,1761542706.789 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T05:25:06.789Z,1761542706.789 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.430965 2025-10-27T05:25:06.813Z,1761542706.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.509371 s, deltaX: -0.300000 m, approachRate: -0.588962 m/s, rangeRepo size: 4 2025-10-27T05:25:06.820Z,1761542706.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.853035 m, bearing: 229.421950 deg, lat: 36.779365 deg, lon: -121.859697 deg, deltaT: 2.028040 s, deltaX: -0.994434 m, approachRate: -0.490343 m/s, posRepo size: 4 2025-10-27T05:25:06.821Z,1761542706.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.85 m. 2025-10-27T05:25:06.828Z,1761542706.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 8.563089 m, bearing: 227.635861 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 236.175756 deg, new cmd heading: 235.933663 deg. 2025-10-27T05:25:06.828Z,1761542706.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117819 target range: 9.847469 and range: 8.90 m. 2025-10-27T05:25:07.033Z,1761542707.033 [DAT](INFO): DAT read: 05:25:05.5829 LVL= 32752, 32753, 23858, 32755, AGC= 51, IDX= 509, 0.45, 0.031,-1.374, 0.691, 0.125, PHS= 0.008,-1.454, 0.523, RAW= 164.5, 10.4, CAL= 164.5, 11.5, ROT= 345.5, -11.5 2025-10-27T05:25:07.034Z,1761542707.034 [DAT](INFO): got valid direction response: 05:25:05.5829 LVL= 32752, 32753, 23858, 32755, AGC= 51, IDX= 509, 0.45, 0.031,-1.374, 0.691, 0.125, PHS= 0.008,-1.454, 0.523, RAW= 164.5, 10.4, CAL= 164.5, 11.5, ROT= 345.5, -11.5 2025-10-27T05:25:07.034Z,1761542707.034 [DAT](INFO): #Rx 103: Read direction message, but no range. 2025-10-27T05:25:07.038Z,1761542707.038 [DAT](INFO): direction in FSK: [0.948712,-0.245353,0.199368] 2025-10-27T05:25:07.072Z,1761542707.072 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.713291 2025-10-27T05:25:07.148Z,1761542707.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547435,0.821405,0.160025],[-0.836011,-0.545345,-0.060698],[0.037411,-0.167011,0.985245]] 2025-10-27T05:25:07.253Z,1761542707.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:25:07.275Z,1761542707.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 8.311491 m, bearing: 227.629925 deg, approach rate: -0.581542 m/s, LOS rate: -0.014134 deg/s, cmd heading: 235.933667 deg, new cmd heading: 235.915322 deg. 2025-10-27T05:25:07.276Z,1761542707.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.117499 target range: 9.847469 and range: 8.90 m. 2025-10-27T05:25:07.281Z,1761542707.281 [DAT](INFO): DAT read: Rx Time:05:25:06.0828 2025-10-27T05:25:07.281Z,1761542707.281 [DAT](INFO): Rx dataTimestamp_ set to:1761542707.280798 2025-10-27T05:25:07.282Z,1761542707.282 [DAT](INFO): DAT read: Bearing 30.0, -14.6 (Local) 2025-10-27T05:25:07.283Z,1761542707.283 [DAT](INFO): Local bearing/azimuth received: Bearing 30.0, -14.6 (Local) 2025-10-27T05:25:07.285Z,1761542707.285 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.5 2025-10-27T05:25:07.289Z,1761542707.289 [DAT](INFO): DAT read: 05:25:06.0828 LVL= 32752, 32753, 23122, 32755, AGC= 53, IDX= 509,-0.35, 0.137,-1.258, 0.825, 0.233, PHS= 0.006,-1.445, 0.548, RAW= 165.2, 10.0, CAL= 165.2, 11.0, ROT= 344.8, -11.0 2025-10-27T05:25:07.291Z,1761542707.291 [DAT](INFO): got valid direction response: 05:25:06.0828 LVL= 32752, 32753, 23122, 32755, AGC= 53, IDX= 509,-0.35, 0.137,-1.258, 0.825, 0.233, PHS= 0.006,-1.445, 0.548, RAW= 165.2, 10.0, CAL= 165.2, 11.0, ROT= 344.8, -11.0 2025-10-27T05:25:07.291Z,1761542707.291 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T05:25:07.292Z,1761542707.292 [DAT](INFO): direction in FSK: [0.947286,-0.257372,0.190809] 2025-10-27T05:25:07.292Z,1761542707.292 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:07.304Z,1761542707.304 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.945553 2025-10-27T05:25:07.532Z,1761542707.532 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.173904 2025-10-27T05:25:07.645Z,1761542707.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.498358 s, deltaX: -0.200000 m, approachRate: -0.401318 m/s, rangeRepo size: 4 2025-10-27T05:25:07.648Z,1761542707.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.654154 m, bearing: 223.474712 deg, lat: 36.779364 deg, lon: -121.859697 deg, deltaT: 2.526398 s, deltaX: -1.193316 m, approachRate: -0.472339 m/s, posRepo size: 4 2025-10-27T05:25:07.649Z,1761542707.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.85 m. 2025-10-27T05:25:07.651Z,1761542707.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 8.055259 m, bearing: 227.623500 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 235.915335 deg, new cmd heading: 235.692891 deg. 2025-10-27T05:25:07.652Z,1761542707.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.113617 target range: 9.847469 and range: 8.70 m. 2025-10-27T05:25:07.789Z,1761542707.789 [DAT](INFO): DAT read: Rx Time:05:25:06.5825 2025-10-27T05:25:07.790Z,1761542707.790 [DAT](INFO): Rx dataTimestamp_ set to:1761542707.789404 2025-10-27T05:25:07.811Z,1761542707.811 [DAT](INFO): DAT read: Bearing 29.2, -15.5 (Local) 2025-10-27T05:25:07.812Z,1761542707.812 [DAT](INFO): Local bearing/azimuth received: Bearing 29.2, -15.5 (Local) 2025-10-27T05:25:07.817Z,1761542707.817 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 2025-10-27T05:25:07.835Z,1761542707.835 [DAT](INFO): DAT read: 05:25:06.5825 LVL= 32752, 32753, 21234, 32755, AGC= 51, IDX= 506,-0.17,-1.271,-2.645,-0.534,-1.168, PHS=-0.001,-1.431, 0.590, RAW= 166.5, 9.4, CAL= 166.4, 10.1, ROT= 343.6, -10.1 2025-10-27T05:25:07.836Z,1761542707.836 [DAT](INFO): got valid direction response: 05:25:06.5825 LVL= 32752, 32753, 21234, 32755, AGC= 51, IDX= 506,-0.17,-1.271,-2.645,-0.534,-1.168, PHS=-0.001,-1.431, 0.590, RAW= 166.5, 9.4, CAL= 166.4, 10.1, ROT= 343.6, -10.1 2025-10-27T05:25:07.837Z,1761542707.837 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:25:07.838Z,1761542707.838 [DAT](INFO): direction in FSK: [0.944448,-0.277966,0.175367] 2025-10-27T05:25:07.838Z,1761542707.838 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:07.862Z,1761542707.862 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.503529 2025-10-27T05:25:08.006Z,1761542708.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546707,0.822896,0.154770],[-0.836507,-0.544928,-0.057538],[0.036991,-0.160922,0.986274]] 2025-10-27T05:25:08.036Z,1761542708.036 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.677505 2025-10-27T05:25:08.098Z,1761542708.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.508606 s, deltaX: -0.400000 m, approachRate: -0.786463 m/s, rangeRepo size: 4 2025-10-27T05:25:08.105Z,1761542708.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.256138 m, bearing: 222.098010 deg, lat: 36.779364 deg, lon: -121.859697 deg, deltaT: 3.035004 s, deltaX: -1.591331 m, approachRate: -0.524326 m/s, posRepo size: 4 2025-10-27T05:25:08.106Z,1761542708.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.26 m. 9.85 m. 2025-10-27T05:25:08.112Z,1761542708.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 7.813846 m, bearing: 227.729590 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 235.692889 deg, new cmd heading: 235.440427 deg. 2025-10-27T05:25:08.113Z,1761542708.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109210 target range: 9.847469 and range: 8.30 m. 2025-10-27T05:25:08.292Z,1761542708.292 [DAT](INFO): DAT read: Rx Time:05:25:07.0823 2025-10-27T05:25:08.294Z,1761542708.294 [DAT](INFO): Rx dataTimestamp_ set to:1761542708.292480 2025-10-27T05:25:08.296Z,1761542708.296 [DAT](INFO): DAT read: Bearing 29.7, -16.0 (Local) 2025-10-27T05:25:08.296Z,1761542708.296 [DAT](INFO): Local bearing/azimuth received: Bearing 29.7, -16.0 (Local) 2025-10-27T05:25:08.298Z,1761542708.298 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-27T05:25:08.302Z,1761542708.302 [DAT](INFO): DAT read: 05:25:07.0823 LVL= 32752, 32753, 22162, 32755, AGC= 52, IDX= 504,-0.03,-0.657,-2.031, 0.099,-0.535, PHS=-0.020,-1.451, 0.590, RAW= 166.9, 9.7, CAL= 166.8, 10.7, ROT= 343.2, -10.7 2025-10-27T05:25:08.317Z,1761542708.317 [DAT](INFO): got valid direction response: 05:25:07.0823 LVL= 32752, 32753, 22162, 32755, AGC= 52, IDX= 504,-0.03,-0.657,-2.031, 0.099,-0.535, PHS=-0.020,-1.451, 0.590, RAW= 166.9, 9.7, CAL= 166.8, 10.7, ROT= 343.2, -10.7 2025-10-27T05:25:08.318Z,1761542708.318 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:25:08.324Z,1761542708.324 [DAT](INFO): direction in FSK: [0.940674,-0.284006,0.185667] 2025-10-27T05:25:08.324Z,1761542708.324 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:08.350Z,1761542708.350 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.991249 2025-10-27T05:25:08.437Z,1761542708.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545586,0.823415,0.155960],[-0.837253,-0.543679,-0.058474],[0.036644,-0.162481,0.986031]] 2025-10-27T05:25:08.483Z,1761542708.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503076 s, deltaX: -0.300000 m, approachRate: -0.596332 m/s, rangeRepo size: 4 2025-10-27T05:25:08.485Z,1761542708.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.957723 m, bearing: 221.886816 deg, lat: 36.779360 deg, lon: -121.859695 deg, deltaT: 3.538080 s, deltaX: -1.889746 m, approachRate: -0.534116 m/s, posRepo size: 4 2025-10-27T05:25:08.486Z,1761542708.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.85 m. 2025-10-27T05:25:08.493Z,1761542708.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 7.601098 m, bearing: 227.826237 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 235.440418 deg, new cmd heading: 235.228251 deg. 2025-10-27T05:25:08.494Z,1761542708.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105507 target range: 9.847469 and range: 8.00 m. 2025-10-27T05:25:08.540Z,1761542708.540 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.181496 2025-10-27T05:25:08.796Z,1761542708.796 [DAT](INFO): DAT read: Rx Time:05:25:07.5820 2025-10-27T05:25:08.798Z,1761542708.798 [DAT](INFO): Rx dataTimestamp_ set to:1761542708.796873 2025-10-27T05:25:08.802Z,1761542708.802 [DAT](INFO): DAT read: Bearing 30.8, -16.4 (Local) 2025-10-27T05:25:08.803Z,1761542708.803 [DAT](INFO): Local bearing/azimuth received: Bearing 30.8, -16.4 (Local) 2025-10-27T05:25:08.829Z,1761542708.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545106,0.823845,0.155370],[-0.837566,-0.543254,-0.057956],[0.036658,-0.161724,0.986155]] 2025-10-27T05:25:08.836Z,1761542708.836 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.5 2025-10-27T05:25:08.848Z,1761542708.848 [DAT](INFO): DAT read: 05:25:07.5820 LVL= 32752, 32753, 23586, 32755, AGC= 52, IDX= 501, 0.11,-0.277,-1.656, 0.490,-0.128, PHS=-0.047,-1.483, 0.573, RAW= 167.1, 10.5, CAL= 167.1, 11.8, ROT= 342.9, -11.8 2025-10-27T05:25:08.850Z,1761542708.850 [DAT](INFO): got valid direction response: 05:25:07.5820 LVL= 32752, 32753, 23586, 32755, AGC= 52, IDX= 501, 0.11,-0.277,-1.656, 0.490,-0.128, PHS=-0.047,-1.483, 0.573, RAW= 167.1, 10.5, CAL= 167.1, 11.8, ROT= 342.9, -11.8 2025-10-27T05:25:08.850Z,1761542708.850 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:25:08.859Z,1761542708.859 [DAT](INFO): direction in FSK: [0.935595,-0.287826,0.204496] 2025-10-27T05:25:08.859Z,1761542708.859 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:08.871Z,1761542708.871 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.512634 2025-10-27T05:25:08.936Z,1761542708.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504393 s, deltaX: -0.500000 m, approachRate: -0.991291 m/s, rangeRepo size: 4 2025-10-27T05:25:08.938Z,1761542708.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.460366 m, bearing: 221.778373 deg, lat: 36.779360 deg, lon: -121.859694 deg, deltaT: 4.042473 s, deltaX: -2.387104 m, approachRate: -0.590506 m/s, posRepo size: 4 2025-10-27T05:25:08.944Z,1761542708.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.46 m. 9.85 m. 2025-10-27T05:25:08.946Z,1761542708.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 7.351253 m, bearing: 228.003278 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 235.228245 deg, new cmd heading: 234.973520 deg. 2025-10-27T05:25:08.951Z,1761542708.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101061 target range: 9.847469 and range: 7.50 m. 2025-10-27T05:25:09.044Z,1761542709.044 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.685604 2025-10-27T05:25:09.286Z,1761542709.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544865,0.824431,0.153084],[-0.837711,-0.543224,-0.056104],[0.036905,-0.158809,0.986619]] 2025-10-27T05:25:09.299Z,1761542709.299 [DAT](INFO): DAT read: Rx Time:05:25:08.0819 2025-10-27T05:25:09.300Z,1761542709.300 [DAT](INFO): Rx dataTimestamp_ set to:1761542709.299546 2025-10-27T05:25:09.301Z,1761542709.301 [DAT](INFO): DAT read: Bearing 29.3, -16.9 (Local) 2025-10-27T05:25:09.301Z,1761542709.301 [DAT](INFO): Local bearing/azimuth received: Bearing 29.3, -16.9 (Local) 2025-10-27T05:25:09.303Z,1761542709.303 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T05:25:09.308Z,1761542709.308 [DAT](INFO): DAT read: 05:25:08.0819 LVL= 32752, 32753, 22322, 32755, AGC= 50, IDX= 500, 0.38,-0.210,-1.583, 0.593,-0.074, PHS=-0.034,-1.464, 0.624, RAW= 167.9, 9.5, CAL= 167.8, 10.3, ROT= 342.2, -10.3 2025-10-27T05:25:09.309Z,1761542709.309 [DAT](INFO): got valid direction response: 05:25:08.0819 LVL= 32752, 32753, 22322, 32755, AGC= 50, IDX= 500, 0.38,-0.210,-1.583, 0.593,-0.074, PHS=-0.034,-1.464, 0.624, RAW= 167.9, 9.5, CAL= 167.8, 10.3, ROT= 342.2, -10.3 2025-10-27T05:25:09.309Z,1761542709.309 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:25:09.310Z,1761542709.310 [DAT](INFO): direction in FSK: [0.936786,-0.300769,0.178802] 2025-10-27T05:25:09.311Z,1761542709.311 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:09.314Z,1761542709.314 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.955746 2025-10-27T05:25:09.472Z,1761542709.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.502673 s, deltaX: -0.100000 m, approachRate: -0.198936 m/s, rangeRepo size: 4 2025-10-27T05:25:09.474Z,1761542709.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.361046 m, bearing: 220.818349 deg, lat: 36.779359 deg, lon: -121.859694 deg, deltaT: 4.545146 s, deltaX: -2.486423 m, approachRate: -0.547050 m/s, posRepo size: 4 2025-10-27T05:25:09.475Z,1761542709.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.85 m. 2025-10-27T05:25:09.478Z,1761542709.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 7.048755 m, bearing: 228.234577 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.973507 deg, new cmd heading: 234.675211 deg. 2025-10-27T05:25:09.478Z,1761542709.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095855 target range: 9.847469 and range: 7.40 m. 2025-10-27T05:25:09.552Z,1761542709.552 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.193661 2025-10-27T05:25:09.808Z,1761542709.808 [DAT](INFO): DAT read: Rx Time:05:25:08.5817 2025-10-27T05:25:09.810Z,1761542709.810 [DAT](INFO): Rx dataTimestamp_ set to:1761542709.808918 2025-10-27T05:25:09.814Z,1761542709.814 [DAT](INFO): DAT read: Bearing 29.7, -16.8 (Local) 2025-10-27T05:25:09.822Z,1761542709.822 [DAT](INFO): Local bearing/azimuth received: Bearing 29.7, -16.8 (Local) 2025-10-27T05:25:09.838Z,1761542709.838 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 2025-10-27T05:25:09.866Z,1761542709.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545007,0.824370,0.152909],[-0.837609,-0.543417,-0.055762],[0.037125,-0.158469,0.986666]] 2025-10-27T05:25:09.878Z,1761542709.878 [DAT](INFO): DAT read: 05:25:08.5817 LVL= 32752, 32753, 28306, 32755, AGC= 48, IDX= 498,-0.36,-2.448, 2.476,-1.657,-2.307, PHS=-0.039,-1.455, 0.606, RAW= 167.8, 9.8, CAL= 167.7, 10.7, ROT= 342.3, -10.7 2025-10-27T05:25:09.887Z,1761542709.887 [DAT](INFO): got valid direction response: 05:25:08.5817 LVL= 32752, 32753, 28306, 32755, AGC= 48, IDX= 498,-0.36,-2.448, 2.476,-1.657,-2.307, PHS=-0.039,-1.455, 0.606, RAW= 167.8, 9.8, CAL= 167.7, 10.7, ROT= 342.3, -10.7 2025-10-27T05:25:09.888Z,1761542709.888 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:25:09.889Z,1761542709.889 [DAT](INFO): direction in FSK: [0.936097,-0.298747,0.185667] 2025-10-27T05:25:09.889Z,1761542709.889 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:09.916Z,1761542709.916 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.557583 2025-10-27T05:25:09.995Z,1761542709.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.509372 s, deltaX: -0.300000 m, approachRate: -0.588961 m/s, rangeRepo size: 4 2025-10-27T05:25:09.997Z,1761542709.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.062625 m, bearing: 220.963785 deg, lat: 36.779359 deg, lon: -121.859693 deg, deltaT: 5.054518 s, deltaX: -2.784844 m, approachRate: -0.550961 m/s, posRepo size: 4 2025-10-27T05:25:09.998Z,1761542709.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.85 m. 2025-10-27T05:25:10.005Z,1761542710.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 6.760085 m, bearing: 228.484884 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.675219 deg, new cmd heading: 234.385949 deg. 2025-10-27T05:25:10.006Z,1761542710.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090806 target range: 9.847469 and range: 7.10 m. 2025-10-27T05:25:10.057Z,1761542710.057 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.698250 2025-10-27T05:25:10.308Z,1761542710.308 [DAT](INFO): DAT read: Rx Time:05:25:09.0816 2025-10-27T05:25:10.309Z,1761542710.309 [DAT](INFO): Rx dataTimestamp_ set to:1761542710.308582 2025-10-27T05:25:10.310Z,1761542710.310 [DAT](INFO): DAT read: Bearing 27.4, -17.7 (Local) 2025-10-27T05:25:10.310Z,1761542710.310 [DAT](INFO): Local bearing/azimuth received: Bearing 27.4, -17.7 (Local) 2025-10-27T05:25:10.313Z,1761542710.313 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 2025-10-27T05:25:10.317Z,1761542710.317 [DAT](INFO): DAT read: 05:25:09.0816 LVL= 32752, 32753, 26354, 32755, AGC= 48, IDX= 497,-0.10,-1.634,-2.984,-0.784,-1.507, PHS=-0.025,-1.432, 0.679, RAW= 169.1, 8.4, CAL= 168.8, 8.8, ROT= 341.2, -8.8 2025-10-27T05:25:10.318Z,1761542710.318 [DAT](INFO): got valid direction response: 05:25:09.0816 LVL= 32752, 32753, 26354, 32755, AGC= 48, IDX= 497,-0.10,-1.634,-2.984,-0.784,-1.507, PHS=-0.025,-1.432, 0.679, RAW= 169.1, 8.4, CAL= 168.8, 8.8, ROT= 341.2, -8.8 2025-10-27T05:25:10.318Z,1761542710.318 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:25:10.319Z,1761542710.319 [DAT](INFO): direction in FSK: [0.935506,-0.318472,0.152986] 2025-10-27T05:25:10.320Z,1761542710.320 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:10.323Z,1761542710.323 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.964840 2025-10-27T05:25:10.330Z,1761542710.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544241,0.823454,0.160388],[-0.838087,-0.542229,-0.059984],[0.037572,-0.167065,0.985230]] 2025-10-27T05:25:10.389Z,1761542710.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.499664 s, deltaX: -0.200000 m, approachRate: -0.400269 m/s, rangeRepo size: 4 2025-10-27T05:25:10.395Z,1761542710.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.863686 m, bearing: 219.721793 deg, lat: 36.779359 deg, lon: -121.859692 deg, deltaT: 5.554182 s, deltaX: -2.983784 m, approachRate: -0.537214 m/s, posRepo size: 4 2025-10-27T05:25:10.396Z,1761542710.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.85 m. 2025-10-27T05:25:10.399Z,1761542710.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 6.529908 m, bearing: 228.697114 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.385946 deg, new cmd heading: 234.164137 deg. 2025-10-27T05:25:10.408Z,1761542710.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.086935 target range: 9.847469 and range: 6.90 m. 2025-10-27T05:25:10.560Z,1761542710.560 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.201591 2025-10-27T05:25:10.817Z,1761542710.817 [DAT](INFO): DAT read: Rx Time:05:25:09.5813 2025-10-27T05:25:10.818Z,1761542710.818 [DAT](INFO): Rx dataTimestamp_ set to:1761542710.817399 2025-10-27T05:25:10.843Z,1761542710.843 [DAT](INFO): DAT read: Bearing 31.9, -17.6 (Local) 2025-10-27T05:25:10.844Z,1761542710.844 [DAT](INFO): Local bearing/azimuth received: Bearing 31.9, -17.6 (Local) 2025-10-27T05:25:10.846Z,1761542710.846 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 2025-10-27T05:25:10.848Z,1761542710.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:10.850Z,1761542710.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:25:10.857Z,1761542710.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 6.284791 m, bearing: 228.940314 deg, approach rate: -0.531150 m/s, LOS rate: 0.547551 deg/s, cmd heading: 234.164129 deg, new cmd heading: 234.922140 deg. 2025-10-27T05:25:10.858Z,1761542710.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.100165 target range: 9.847469 and range: 6.90 m. 2025-10-27T05:25:10.872Z,1761542710.872 [DAT](INFO): DAT read: 05:25:09.5813 LVL= 32752, 32753, 30754, 32755, AGC= 47, IDX= 510, 0.02,-0.888,-2.229,-0.092,-0.690, PHS=-0.096,-1.494, 0.554, RAW= 168.1, 11.4, CAL= 168.2, 13.2, ROT= 341.8, -13.2 2025-10-27T05:25:10.873Z,1761542710.873 [DAT](INFO): got valid direction response: 05:25:09.5813 LVL= 32752, 32753, 30754, 32755, AGC= 47, IDX= 510, 0.02,-0.888,-2.229,-0.092,-0.690, PHS=-0.096,-1.494, 0.554, RAW= 168.1, 11.4, CAL= 168.2, 13.2, ROT= 341.8, -13.2 2025-10-27T05:25:10.873Z,1761542710.873 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:25:10.874Z,1761542710.874 [DAT](INFO): direction in FSK: [0.924873,-0.304083,0.228351] 2025-10-27T05:25:10.874Z,1761542710.874 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:10.886Z,1761542710.886 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.527508 2025-10-27T05:25:11.064Z,1761542711.064 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.705357 2025-10-27T05:25:11.192Z,1761542711.192 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:25:11.240Z,1761542711.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.508817 s, deltaX: -0.400000 m, approachRate: -0.786137 m/s, rangeRepo size: 4 2025-10-27T05:25:11.265Z,1761542711.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.465870 m, bearing: 221.024986 deg, lat: 36.779359 deg, lon: -121.859692 deg, deltaT: 6.062999 s, deltaX: -3.381599 m, approachRate: -0.557744 m/s, posRepo size: 4 2025-10-27T05:25:11.295Z,1761542711.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.47 m. 9.85 m. 2025-10-27T05:25:11.297Z,1761542711.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 6.072321 m, bearing: 229.150730 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.922144 deg, new cmd heading: 234.714080 deg. 2025-10-27T05:25:11.298Z,1761542711.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.096533 target range: 9.847469 and range: 6.50 m. 2025-10-27T05:25:11.317Z,1761542711.317 [DAT](INFO): DAT read: Rx Time:05:25:10.0812 2025-10-27T05:25:11.317Z,1761542711.317 [DAT](INFO): Rx dataTimestamp_ set to:1761542711.316828 2025-10-27T05:25:11.318Z,1761542711.318 [DAT](INFO): DAT read: Bearing 32.3, -18.0 (Local) 2025-10-27T05:25:11.319Z,1761542711.319 [DAT](INFO): Local bearing/azimuth received: Bearing 32.3, -18.0 (Local) 2025-10-27T05:25:11.321Z,1761542711.321 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 2025-10-27T05:25:11.326Z,1761542711.326 [DAT](INFO): DAT read: 05:25:10.0812 LVL= 32752, 32753, 29026, 32755, AGC= 48, IDX= 509, 0.25, 0.211,-1.129, 1.020, 0.426, PHS=-0.113,-1.510, 0.550, RAW= 168.4, 11.8, CAL= 168.5, 13.7, ROT= 341.5, -13.7 2025-10-27T05:25:11.327Z,1761542711.327 [DAT](INFO): got valid direction response: 05:25:10.0812 LVL= 32752, 32753, 29026, 32755, AGC= 48, IDX= 509, 0.25, 0.211,-1.129, 1.020, 0.426, PHS=-0.113,-1.510, 0.550, RAW= 168.4, 11.8, CAL= 168.5, 13.7, ROT= 341.5, -13.7 2025-10-27T05:25:11.327Z,1761542711.327 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:25:11.328Z,1761542711.328 [DAT](INFO): direction in FSK: [0.921343,-0.308277,0.236838] 2025-10-27T05:25:11.328Z,1761542711.328 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:11.340Z,1761542711.340 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.981743 2025-10-27T05:25:11.518Z,1761542711.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545554,0.820604,0.170235],[-0.837140,-0.543180,-0.064440],[0.039588,-0.177666,0.983294]] 2025-10-27T05:25:11.562Z,1761542711.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.499429 s, deltaX: -0.200000 m, approachRate: -0.400457 m/s, rangeRepo size: 4 2025-10-27T05:25:11.568Z,1761542711.568 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.209476 2025-10-27T05:25:11.569Z,1761542711.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.266921 m, bearing: 220.876864 deg, lat: 36.779359 deg, lon: -121.859693 deg, deltaT: 6.562428 s, deltaX: -3.580549 m, approachRate: -0.545613 m/s, posRepo size: 4 2025-10-27T05:25:11.570Z,1761542711.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.27 m. 9.85 m. 2025-10-27T05:25:11.581Z,1761542711.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 5.858477 m, bearing: 229.379771 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.714069 deg, new cmd heading: 234.525793 deg. 2025-10-27T05:25:11.582Z,1761542711.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093247 target range: 9.847469 and range: 6.30 m. 2025-10-27T05:25:11.825Z,1761542711.825 [DAT](INFO): DAT read: Rx Time:05:25:10.5810 2025-10-27T05:25:11.826Z,1761542711.826 [DAT](INFO): Rx dataTimestamp_ set to:1761542711.825537 2025-10-27T05:25:11.830Z,1761542711.830 [DAT](INFO): DAT read: Bearing 30.1, -19.1 (Local) 2025-10-27T05:25:11.831Z,1761542711.831 [DAT](INFO): Local bearing/azimuth received: Bearing 30.1, -19.1 (Local) 2025-10-27T05:25:11.843Z,1761542711.843 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T05:25:11.875Z,1761542711.875 [DAT](INFO): DAT read: 05:25:10.5810 LVL= 32752, 32753, 28658, 32755, AGC= 47, IDX= 507,-0.34, 3.063, 1.740,-2.342,-3.008, PHS=-0.110,-1.490, 0.622, RAW= 170.0, 10.5, CAL= 169.9, 12.0, ROT= 340.1, -12.0 2025-10-27T05:25:11.877Z,1761542711.877 [DAT](INFO): got valid direction response: 05:25:10.5810 LVL= 32752, 32753, 28658, 32755, AGC= 47, IDX= 507,-0.34, 3.063, 1.740,-2.342,-3.008, PHS=-0.110,-1.490, 0.622, RAW= 170.0, 10.5, CAL= 169.9, 12.0, ROT= 340.1, -12.0 2025-10-27T05:25:11.877Z,1761542711.877 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:25:11.878Z,1761542711.878 [DAT](INFO): direction in FSK: [0.919741,-0.332941,0.207912] 2025-10-27T05:25:11.878Z,1761542711.878 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:11.882Z,1761542711.882 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.523937 2025-10-27T05:25:11.922Z,1761542711.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546473,0.819803,0.171143],[-0.836507,-0.544152,-0.064456],[0.040287,-0.178386,0.983135]] 2025-10-27T05:25:12.024Z,1761542712.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.508709 s, deltaX: -0.100000 m, approachRate: -0.196577 m/s, rangeRepo size: 4 2025-10-27T05:25:12.026Z,1761542712.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.167445 m, bearing: 219.111042 deg, lat: 36.779359 deg, lon: -121.859693 deg, deltaT: 7.071137 s, deltaX: -3.680024 m, approachRate: -0.520429 m/s, posRepo size: 4 2025-10-27T05:25:12.029Z,1761542712.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.85 m. 2025-10-27T05:25:12.040Z,1761542712.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 5.592233 m, bearing: 229.642792 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.525801 deg, new cmd heading: 234.268105 deg. 2025-10-27T05:25:12.041Z,1761542712.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.088750 target range: 9.847469 and range: 6.20 m. 2025-10-27T05:25:12.072Z,1761542712.072 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.713463 2025-10-27T05:25:12.196Z,1761542712.196 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:25:12.325Z,1761542712.325 [DAT](INFO): DAT read: Rx Time:05:25:11.0808 2025-10-27T05:25:12.325Z,1761542712.325 [DAT](INFO): Rx dataTimestamp_ set to:1761542712.324952 2025-10-27T05:25:12.327Z,1761542712.327 [DAT](INFO): DAT read: Bearing 30.7, -19.3 (Local) 2025-10-27T05:25:12.327Z,1761542712.327 [DAT](INFO): Local bearing/azimuth received: Bearing 30.7, -19.3 (Local) 2025-10-27T05:25:12.329Z,1761542712.329 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-27T05:25:12.334Z,1761542712.334 [DAT](INFO): DAT read: 05:25:11.0808 LVL= 32752, 32753, 29650, 32755, AGC= 47, IDX= 505,-0.13,-2.636, 2.333,-1.761,-2.408, PHS=-0.125,-1.497, 0.604, RAW= 170.0, 11.0, CAL= 170.0, 12.7, ROT= 340.0, -12.7 2025-10-27T05:25:12.335Z,1761542712.335 [DAT](INFO): got valid direction response: 05:25:11.0808 LVL= 32752, 32753, 29650, 32755, AGC= 47, IDX= 505,-0.13,-2.636, 2.333,-1.761,-2.408, PHS=-0.125,-1.497, 0.604, RAW= 170.0, 11.0, CAL= 170.0, 12.7, ROT= 340.0, -12.7 2025-10-27T05:25:12.335Z,1761542712.335 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:25:12.336Z,1761542712.336 [DAT](INFO): direction in FSK: [0.916703,-0.333653,0.219846] 2025-10-27T05:25:12.336Z,1761542712.336 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:12.344Z,1761542712.344 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.985512 2025-10-27T05:25:12.393Z,1761542712.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547322,0.818844,0.173010],[-0.835933,-0.544915,-0.065452],[0.040681,-0.180448,0.982743]] 2025-10-27T05:25:12.453Z,1761542712.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.499415 s, deltaX: -0.300000 m, approachRate: -0.600702 m/s, rangeRepo size: 4 2025-10-27T05:25:12.460Z,1761542712.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.869072 m, bearing: 219.100566 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 7.570552 s, deltaX: -3.978397 m, approachRate: -0.525510 m/s, posRepo size: 4 2025-10-27T05:25:12.460Z,1761542712.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.85 m. 2025-10-27T05:25:12.467Z,1761542712.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 5.337614 m, bearing: 229.921462 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.268112 deg, new cmd heading: 234.028992 deg. 2025-10-27T05:25:12.468Z,1761542712.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.084577 target range: 9.847469 and range: 5.90 m. 2025-10-27T05:25:12.576Z,1761542712.576 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.217678 2025-10-27T05:25:12.778Z,1761542712.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548203,0.817950,0.174444],[-0.835351,-0.545677,-0.066527],[0.040774,-0.182192,0.982417]] 2025-10-27T05:25:12.809Z,1761542712.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:25:12.819Z,1761542712.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 5.117889 m, bearing: 230.186691 deg, approach rate: -0.619159 m/s, LOS rate: 0.779468 deg/s, cmd heading: 234.029001 deg, new cmd heading: 234.858788 deg. 2025-10-27T05:25:12.822Z,1761542712.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.099059 target range: 9.847469 and range: 5.90 m. 2025-10-27T05:25:12.841Z,1761542712.841 [DAT](INFO): DAT read: Rx Time:05:25:11.5805 2025-10-27T05:25:12.843Z,1761542712.843 [DAT](INFO): Rx dataTimestamp_ set to:1761542712.841853 2025-10-27T05:25:12.855Z,1761542712.855 [DAT](INFO): DAT read: Bearing 31.9, -19.1 (Local) 2025-10-27T05:25:12.857Z,1761542712.857 [DAT](INFO): Local bearing/azimuth received: Bearing 31.9, -19.1 (Local) 2025-10-27T05:25:12.879Z,1761542712.879 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-27T05:25:12.893Z,1761542712.893 [DAT](INFO): DAT read: 05:25:11.5805 LVL= 32752, 32753, 30658, 32755, AGC= 47, IDX= 502, 0.03,-2.526, 2.445,-1.673,-2.282, PHS=-0.141,-1.511, 0.565, RAW= 169.5, 11.9, CAL= 169.7, 14.0, ROT= 340.3, -14.0 2025-10-27T05:25:12.894Z,1761542712.894 [DAT](INFO): got valid direction response: 05:25:11.5805 LVL= 32752, 32753, 30658, 32755, AGC= 47, IDX= 502, 0.03,-2.526, 2.445,-1.673,-2.282, PHS=-0.141,-1.511, 0.565, RAW= 169.5, 11.9, CAL= 169.7, 14.0, ROT= 340.3, -14.0 2025-10-27T05:25:12.894Z,1761542712.894 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:25:12.903Z,1761542712.903 [DAT](INFO): direction in FSK: [0.913505,-0.327082,0.241922] 2025-10-27T05:25:12.904Z,1761542712.904 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:12.947Z,1761542712.947 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.588764 2025-10-27T05:25:13.081Z,1761542713.081 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.722057 2025-10-27T05:25:13.333Z,1761542713.333 [DAT](INFO): DAT read: Rx Time:05:25:12.0804 2025-10-27T05:25:13.333Z,1761542713.333 [DAT](INFO): Rx dataTimestamp_ set to:1761542713.332792 2025-10-27T05:25:13.334Z,1761542713.334 [DAT](INFO): DAT read: Bearing 32.4, -19.7 (Local) 2025-10-27T05:25:13.335Z,1761542713.335 [DAT](INFO): Local bearing/azimuth received: Bearing 32.4, -19.7 (Local) 2025-10-27T05:25:13.337Z,1761542713.337 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 2025-10-27T05:25:13.341Z,1761542713.341 [DAT](INFO): DAT read: 05:25:12.0804 LVL= 32752, 32753, 29874, 32755, AGC= 47, IDX= 501, 0.22,-0.779,-2.078, 0.094,-0.510, PHS=-0.167,-1.523, 0.560, RAW= 170.1, 12.3, CAL= 170.3, 14.6, ROT= 339.7, -14.6 2025-10-27T05:25:13.343Z,1761542713.343 [DAT](INFO): got valid direction response: 05:25:12.0804 LVL= 32752, 32753, 29874, 32755, AGC= 47, IDX= 501, 0.22,-0.779,-2.078, 0.094,-0.510, PHS=-0.167,-1.523, 0.560, RAW= 170.1, 12.3, CAL= 170.3, 14.6, ROT= 339.7, -14.6 2025-10-27T05:25:13.343Z,1761542713.343 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:25:13.344Z,1761542713.344 [DAT](INFO): direction in FSK: [0.907604,-0.335733,0.252069] 2025-10-27T05:25:13.344Z,1761542713.344 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:13.356Z,1761542713.356 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.997528 2025-10-27T05:25:13.357Z,1761542713.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549390,0.816921,0.175528],[-0.834566,-0.546763,-0.067453],[0.040868,-0.183548,0.982161]] 2025-10-27T05:25:13.462Z,1761542713.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 1.007840 s, deltaX: -0.600000 m, approachRate: -0.595333 m/s, rangeRepo size: 4 2025-10-27T05:25:13.468Z,1761542713.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.272087 m, bearing: 219.039959 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 8.578392 s, deltaX: -4.575382 m, approachRate: -0.533361 m/s, posRepo size: 4 2025-10-27T05:25:13.469Z,1761542713.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.85 m. 2025-10-27T05:25:13.476Z,1761542713.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 4.765233 m, bearing: 230.651030 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.858787 deg, new cmd heading: 234.494729 deg. 2025-10-27T05:25:13.476Z,1761542713.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.092705 target range: 9.847469 and range: 5.30 m. 2025-10-27T05:25:13.584Z,1761542713.584 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.225632 2025-10-27T05:25:13.837Z,1761542713.837 [DAT](INFO): DAT read: Rx Time:05:25:12.5801 2025-10-27T05:25:13.837Z,1761542713.837 [DAT](INFO): Rx dataTimestamp_ set to:1761542713.836758 2025-10-27T05:25:13.841Z,1761542713.841 [DAT](INFO): DAT read: Bearing 30.9, -20.7 (Local) 2025-10-27T05:25:13.842Z,1761542713.842 [DAT](INFO): Local bearing/azimuth received: Bearing 30.9, -20.7 (Local) 2025-10-27T05:25:13.849Z,1761542713.849 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 2025-10-27T05:25:13.902Z,1761542713.902 [DAT](INFO): DAT read: 05:25:12.5801 LVL= 32752, 32753, 30434, 32755, AGC= 48, IDX= 499,-0.46, 2.987, 1.703,-2.368,-3.026, PHS=-0.168,-1.509, 0.614, RAW= 171.3, 11.4, CAL= 171.4, 13.4, ROT= 338.6, -13.4 2025-10-27T05:25:13.912Z,1761542713.912 [DAT](INFO): got valid direction response: 05:25:12.5801 LVL= 32752, 32753, 30434, 32755, AGC= 48, IDX= 499,-0.46, 2.987, 1.703,-2.368,-3.026, PHS=-0.168,-1.509, 0.614, RAW= 171.3, 11.4, CAL= 171.4, 13.4, ROT= 338.6, -13.4 2025-10-27T05:25:13.913Z,1761542713.913 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:25:13.914Z,1761542713.914 [DAT](INFO): direction in FSK: [0.905709,-0.354943,0.231748] 2025-10-27T05:25:13.914Z,1761542713.914 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:13.926Z,1761542713.926 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.567402 2025-10-27T05:25:14.030Z,1761542714.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503966 s, deltaX: -0.500000 m, approachRate: -0.992130 m/s, rangeRepo size: 4 2025-10-27T05:25:14.037Z,1761542714.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.774721 m, bearing: 217.709083 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 9.082358 s, deltaX: -5.072749 m, approachRate: -0.558528 m/s, posRepo size: 4 2025-10-27T05:25:14.038Z,1761542714.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.85 m. 2025-10-27T05:25:14.044Z,1761542714.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 4.432493 m, bearing: 231.049208 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.494738 deg, new cmd heading: 234.178174 deg. 2025-10-27T05:25:14.045Z,1761542714.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087180 target range: 9.847469 and range: 4.80 m. 2025-10-27T05:25:14.088Z,1761542714.088 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.729500 2025-10-27T05:25:14.341Z,1761542714.341 [DAT](INFO): DAT read: Rx Time:05:25:13.0800 2025-10-27T05:25:14.341Z,1761542714.341 [DAT](INFO): Rx dataTimestamp_ set to:1761542714.340739 2025-10-27T05:25:14.342Z,1761542714.342 [DAT](INFO): DAT read: Bearing 30.4, -21.6 (Local) 2025-10-27T05:25:14.343Z,1761542714.343 [DAT](INFO): Local bearing/azimuth received: Bearing 30.4, -21.6 (Local) 2025-10-27T05:25:14.345Z,1761542714.345 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 2025-10-27T05:25:14.349Z,1761542714.349 [DAT](INFO): DAT read: 05:25:13.0800 LVL= 32752, 32753, 31378, 32755, AGC= 48, IDX= 498,-0.19,-2.687, 2.331,-1.718,-2.400, PHS=-0.185,-1.508, 0.638, RAW= 172.3, 11.3, CAL= 172.4, 13.2, ROT= 337.6, -13.2 2025-10-27T05:25:14.350Z,1761542714.350 [DAT](INFO): got valid direction response: 05:25:13.0800 LVL= 32752, 32753, 31378, 32755, AGC= 48, IDX= 498,-0.19,-2.687, 2.331,-1.718,-2.400, PHS=-0.185,-1.508, 0.638, RAW= 172.3, 11.3, CAL= 172.4, 13.2, ROT= 337.6, -13.2 2025-10-27T05:25:14.352Z,1761542714.352 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:25:14.353Z,1761542714.353 [DAT](INFO): direction in FSK: [0.900118,-0.371002,0.228351] 2025-10-27T05:25:14.353Z,1761542714.353 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:14.357Z,1761542714.357 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.998138 2025-10-27T05:25:14.496Z,1761542714.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553223,0.813736,0.178265],[-0.832045,-0.550184,-0.070694],[0.040552,-0.187434,0.981440]] 2025-10-27T05:25:14.540Z,1761542714.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503981 s, deltaX: -0.100000 m, approachRate: -0.198421 m/s, rangeRepo size: 4 2025-10-27T05:25:14.542Z,1761542714.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.675035 m, bearing: 216.461758 deg, lat: 36.779357 deg, lon: -121.859693 deg, deltaT: 9.586339 s, deltaX: -5.172434 m, approachRate: -0.539563 m/s, posRepo size: 4 2025-10-27T05:25:14.547Z,1761542714.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.68 m. 9.85 m. 2025-10-27T05:25:14.550Z,1761542714.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 4.140848 m, bearing: 231.468768 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.178172 deg, new cmd heading: 233.896345 deg. 2025-10-27T05:25:14.550Z,1761542714.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.082262 target range: 9.847469 and range: 4.70 m. 2025-10-27T05:25:14.593Z,1761542714.593 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.234261 2025-10-27T05:25:14.848Z,1761542714.848 [DAT](INFO): DAT read: Rx Time:05:25:13.5798 2025-10-27T05:25:14.850Z,1761542714.850 [DAT](INFO): Rx dataTimestamp_ set to:1761542714.848763 2025-10-27T05:25:14.853Z,1761542714.853 [DAT](INFO): DAT read: Bearing 31.6, -22.3 (Local) 2025-10-27T05:25:14.854Z,1761542714.854 [DAT](INFO): Local bearing/azimuth received: Bearing 31.6, -22.3 (Local) 2025-10-27T05:25:14.861Z,1761542714.861 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-27T05:25:14.911Z,1761542714.911 [DAT](INFO): DAT read: 05:25:13.5798 LVL= 32752, 32753, 29442, 32755, AGC= 48, IDX= 511, 0.03,-2.085, 2.941,-1.093,-1.758, PHS=-0.225,-1.540, 0.621, RAW= 172.9, 12.1, CAL= 173.0, 14.5, ROT= 337.0, -14.5 2025-10-27T05:25:14.912Z,1761542714.912 [DAT](INFO): got valid direction response: 05:25:13.5798 LVL= 32752, 32753, 29442, 32755, AGC= 48, IDX= 511, 0.03,-2.085, 2.941,-1.093,-1.758, PHS=-0.225,-1.540, 0.621, RAW= 172.9, 12.1, CAL= 173.0, 14.5, ROT= 337.0, -14.5 2025-10-27T05:25:14.913Z,1761542714.913 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:25:14.914Z,1761542714.914 [DAT](INFO): direction in FSK: [0.891185,-0.378285,0.250380] 2025-10-27T05:25:14.914Z,1761542714.914 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:14.926Z,1761542714.926 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.567459 2025-10-27T05:25:14.939Z,1761542714.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554518,0.813314,0.176154],[-0.831196,-0.551563,-0.069937],[0.040279,-0.185200,0.981875]] 2025-10-27T05:25:15.031Z,1761542715.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.508024 s, deltaX: -0.300000 m, approachRate: -0.590523 m/s, rangeRepo size: 4 2025-10-27T05:25:15.037Z,1761542715.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.376629 m, bearing: 215.954635 deg, lat: 36.779357 deg, lon: -121.859692 deg, deltaT: 10.094363 s, deltaX: -5.470840 m, approachRate: -0.541970 m/s, posRepo size: 4 2025-10-27T05:25:15.038Z,1761542715.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.38 m. 9.85 m. 2025-10-27T05:25:15.045Z,1761542715.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 3.855263 m, bearing: 231.843404 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 233.896358 deg, new cmd heading: 233.620481 deg. 2025-10-27T05:25:15.045Z,1761542715.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077446 target range: 9.847469 and range: 4.40 m. 2025-10-27T05:25:15.100Z,1761542715.100 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.741043 2025-10-27T05:25:15.332Z,1761542715.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556276,0.812647,0.173674],[-0.830027,-0.553452,-0.068885],[0.040141,-0.182473,0.982391]] 2025-10-27T05:25:15.349Z,1761542715.349 [DAT](INFO): DAT read: Rx Time:05:25:14.0797 2025-10-27T05:25:15.349Z,1761542715.349 [DAT](INFO): Rx dataTimestamp_ set to:1761542715.348791 2025-10-27T05:25:15.350Z,1761542715.350 [DAT](INFO): DAT read: Bearing 29.9, -24.7 (Local) 2025-10-27T05:25:15.351Z,1761542715.351 [DAT](INFO): Local bearing/azimuth received: Bearing 29.9, -24.7 (Local) 2025-10-27T05:25:15.353Z,1761542715.353 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 2025-10-27T05:25:15.357Z,1761542715.357 [DAT](INFO): DAT read: 05:25:14.0797 LVL= 32752, 32753, 25410, 32755, AGC= 49, IDX= 510, 0.31,-1.144,-2.380,-0.009,-0.775, PHS=-0.267,-1.560, 0.722, RAW= 175.6, 11.2, CAL= 175.6, 13.2, ROT= 334.4, -13.2 2025-10-27T05:25:15.359Z,1761542715.359 [DAT](INFO): got valid direction response: 05:25:14.0797 LVL= 32752, 32753, 25410, 32755, AGC= 49, IDX= 510, 0.31,-1.144,-2.380,-0.009,-0.775, PHS=-0.267,-1.560, 0.722, RAW= 175.6, 11.2, CAL= 175.6, 13.2, ROT= 334.4, -13.2 2025-10-27T05:25:15.359Z,1761542715.359 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:25:15.360Z,1761542715.360 [DAT](INFO): direction in FSK: [0.878005,-0.420670,0.228351] 2025-10-27T05:25:15.360Z,1761542715.360 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:15.368Z,1761542715.368 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:25:15.368Z,1761542715.368 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:25:15.368Z,1761542715.368 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:15.401Z,1761542715.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.500028 s, deltaX: -0.200000 m, approachRate: -0.399978 m/s, rangeRepo size: 4 2025-10-27T05:25:15.407Z,1761542715.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.177603 m, bearing: 212.910679 deg, lat: 36.779357 deg, lon: -121.859692 deg, deltaT: 10.594391 s, deltaX: -5.669867 m, approachRate: -0.535176 m/s, posRepo size: 4 2025-10-27T05:25:15.408Z,1761542715.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.85 m. 2025-10-27T05:25:15.416Z,1761542715.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 3.658803 m, bearing: 232.142374 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 233.620473 deg, new cmd heading: 233.413983 deg. 2025-10-27T05:25:15.417Z,1761542715.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.073843 target range: 9.847469 and range: 4.20 m. 2025-10-27T05:25:15.600Z,1761542715.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:15.769Z,1761542715.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556830,0.812337,0.173345],[-0.829657,-0.554014,-0.068832],[0.040121,-0.182145,0.982453]] 2025-10-27T05:25:15.786Z,1761542715.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:15.789Z,1761542715.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:25:15.791Z,1761542715.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 3.408879 m, bearing: 232.575721 deg, approach rate: -0.644394 m/s, LOS rate: 1.199228 deg/s, cmd heading: 233.413983 deg, new cmd heading: 234.809047 deg. 2025-10-27T05:25:15.792Z,1761542715.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098191 target range: 9.847469 and range: 4.20 m. 2025-10-27T05:25:15.856Z,1761542715.856 [DAT](INFO): DAT read: Rx Time:05:25:14.5794 2025-10-27T05:25:15.857Z,1761542715.857 [DAT](INFO): Rx dataTimestamp_ set to:1761542715.856795 2025-10-27T05:25:15.858Z,1761542715.858 [DAT](INFO): DAT read: Bearing 28.4, -26.9 (Local) 2025-10-27T05:25:15.859Z,1761542715.859 [DAT](INFO): Local bearing/azimuth received: Bearing 28.4, -26.9 (Local) 2025-10-27T05:25:15.861Z,1761542715.861 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-27T05:25:15.866Z,1761542715.866 [DAT](INFO): DAT read: 05:25:14.5794 LVL= 32752, 32753, 25714, 32755, AGC= 48, IDX= 508,-0.22, 1.903, 0.673,-3.092, 2.323, PHS=-0.318,-1.604, 0.824, RAW= 178.0, 10.5, CAL= 177.9, 12.2, ROT= 332.1, -12.2 2025-10-27T05:25:15.867Z,1761542715.867 [DAT](INFO): got valid direction response: 05:25:14.5794 LVL= 32752, 32753, 25714, 32755, AGC= 48, IDX= 508,-0.22, 1.903, 0.673,-3.092, 2.323, PHS=-0.318,-1.604, 0.824, RAW= 178.0, 10.5, CAL= 177.9, 12.2, ROT= 332.1, -12.2 2025-10-27T05:25:15.868Z,1761542715.868 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:25:15.892Z,1761542715.892 [DAT](INFO): direction in FSK: [0.863807,-0.457362,0.211325] 2025-10-27T05:25:15.893Z,1761542715.893 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:15.952Z,1761542715.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:15.952Z,1761542715.952 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:16.104Z,1761542716.104 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:16.232Z,1761542716.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.508004 s, deltaX: -0.400000 m, approachRate: -0.787395 m/s, rangeRepo size: 4 2025-10-27T05:25:16.250Z,1761542716.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.779687 m, bearing: 210.355140 deg, lat: 36.779356 deg, lon: -121.859692 deg, deltaT: 11.102395 s, deltaX: -6.067782 m, approachRate: -0.546529 m/s, posRepo size: 4 2025-10-27T05:25:16.267Z,1761542716.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.85 m. 2025-10-27T05:25:16.270Z,1761542716.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 3.172236 m, bearing: 232.993716 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.809036 deg, new cmd heading: 234.576106 deg. 2025-10-27T05:25:16.275Z,1761542716.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.094125 target range: 9.847469 and range: 3.80 m. 2025-10-27T05:25:16.358Z,1761542716.358 [DAT](INFO): DAT read: Rx Time:05:25:15.0792 2025-10-27T05:25:16.359Z,1761542716.359 [DAT](INFO): Rx dataTimestamp_ set to:1761542716.358379 2025-10-27T05:25:16.360Z,1761542716.360 [DAT](INFO): DAT read: Bearing 28.3, -28.6 (Local) 2025-10-27T05:25:16.360Z,1761542716.360 [DAT](INFO): Local bearing/azimuth received: Bearing 28.3, -28.6 (Local) 2025-10-27T05:25:16.362Z,1761542716.362 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 2025-10-27T05:25:16.369Z,1761542716.369 [DAT](INFO): DAT read: 05:25:15.0792 LVL= 32752, 32753, 26450, 32755, AGC= 48, IDX= 506, 0.08, 2.846, 1.644,-2.052,-2.964, PHS=-0.371,-1.630, 0.868, RAW= 179.7, 10.5, CAL= 179.6, 12.3, ROT= 330.4, -12.3 2025-10-27T05:25:16.370Z,1761542716.370 [DAT](INFO): got valid direction response: 05:25:15.0792 LVL= 32752, 32753, 26450, 32755, AGC= 48, IDX= 506, 0.08, 2.846, 1.644,-2.052,-2.964, PHS=-0.371,-1.630, 0.868, RAW= 179.7, 10.5, CAL= 179.6, 12.3, ROT= 330.4, -12.3 2025-10-27T05:25:16.371Z,1761542716.371 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:25:16.373Z,1761542716.373 [DAT](INFO): direction in FSK: [0.849536,-0.482604,0.213030] 2025-10-27T05:25:16.373Z,1761542716.373 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:16.378Z,1761542716.378 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:16.378Z,1761542716.378 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:16.537Z,1761542716.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558990,0.810906,0.173096],[-0.828207,-0.556117,-0.069334],[0.040038,-0.182116,0.982462]] 2025-10-27T05:25:16.581Z,1761542716.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.501584 s, deltaX: -0.300000 m, approachRate: -0.598105 m/s, rangeRepo size: 4 2025-10-27T05:25:16.585Z,1761542716.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.481291 m, bearing: 208.482683 deg, lat: 36.779356 deg, lon: -121.859691 deg, deltaT: 11.603979 s, deltaX: -6.366179 m, approachRate: -0.548620 m/s, posRepo size: 4 2025-10-27T05:25:16.586Z,1761542716.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.85 m. 2025-10-27T05:25:16.589Z,1761542716.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 2.966408 m, bearing: 233.422314 deg, approach rate: 0.000000 m/s, LOS rate: -0.185736 deg/s, cmd heading: 234.576099 deg, new cmd heading: 234.367868 deg. 2025-10-27T05:25:16.590Z,1761542716.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.090491 target range: 9.847469 and range: 3.50 m. 2025-10-27T05:25:16.608Z,1761542716.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:16.860Z,1761542716.860 [DAT](INFO): DAT read: Rx Time:05:25:15.5791 2025-10-27T05:25:16.861Z,1761542716.861 [DAT](INFO): Rx dataTimestamp_ set to:1761542716.860305 2025-10-27T05:25:16.862Z,1761542716.862 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4 2025-10-27T05:25:16.862Z,1761542716.862 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:25:16.863Z,1761542716.863 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:16.864Z,1761542716.864 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:16.964Z,1761542716.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560897,0.809242,0.174704],[-0.826918,-0.557826,-0.070978],[0.040016,-0.184277,0.982059]] 2025-10-27T05:25:17.046Z,1761542717.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.501926 s, deltaX: -0.300000 m, approachRate: -0.597698 m/s, rangeRepo size: 4 2025-10-27T05:25:17.048Z,1761542717.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:25:17.050Z,1761542717.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.847469 m, nav range: 2.702080 m, bearing: 234.089410 deg, approach rate: -0.572168 m/s, LOS rate: 1.585227 deg/s, cmd heading: 234.367860 deg, new cmd heading: 236.563794 deg. 2025-10-27T05:25:17.051Z,1761542717.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.128817 target range: 9.847469 and range: 3.20 m. 2025-10-27T05:25:17.112Z,1761542717.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:17.365Z,1761542717.365 [DAT](INFO): DAT read: Rx Time:05:25:16.0790 2025-10-27T05:25:17.366Z,1761542717.366 [DAT](INFO): Rx dataTimestamp_ set to:1761542717.365439 2025-10-27T05:25:17.368Z,1761542717.368 [DAT](INFO): DAT read: Bearing 34.0, -31.2 (Local) 2025-10-27T05:25:17.368Z,1761542717.368 [DAT](INFO): Local bearing/azimuth received: Bearing 34.0, -31.2 (Local) 2025-10-27T05:25:17.370Z,1761542717.370 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4 2025-10-27T05:25:17.375Z,1761542717.375 [DAT](INFO): DAT read: 05:25:16.0790 LVL= 24304, 19745, 19666, 30707, AGC= 44, IDX= 503, 0.04, 0.924,-0.197, 2.395, 1.581, PHS=-0.555,-1.733, 0.771, RAW= 181.9, 13.9, CAL= 181.9, 17.8, ROT= 328.1, -17.8 2025-10-27T05:25:17.376Z,1761542717.376 [DAT](INFO): got valid direction response: 05:25:16.0790 LVL= 24304, 19745, 19666, 30707, AGC= 44, IDX= 503, 0.04, 0.924,-0.197, 2.395, 1.581, PHS=-0.555,-1.733, 0.771, RAW= 181.9, 13.9, CAL= 181.9, 17.8, ROT= 328.1, -17.8 2025-10-27T05:25:17.376Z,1761542717.376 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:25:17.377Z,1761542717.377 [DAT](INFO): direction in FSK: [0.808331,-0.503142,0.305695] 2025-10-27T05:25:17.378Z,1761542717.378 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:17.403Z,1761542717.403 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:17.404Z,1761542717.404 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:17.576Z,1761542717.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.505134 s, deltaX: -0.200000 m, approachRate: -0.395935 m/s, rangeRepo size: 4 2025-10-27T05:25:17.578Z,1761542717.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.983956 m, bearing: 206.898076 deg, lat: 36.779356 deg, lon: -121.859691 deg, deltaT: 12.611039 s, deltaX: -6.863513 m, approachRate: -0.544246 m/s, posRepo size: 4 2025-10-27T05:25:17.579Z,1761542717.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m. 2025-10-27T05:25:17.579Z,1761542717.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T05:25:17.617Z,1761542717.617 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:17.817Z,1761542717.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563881,0.806573,0.177421],[-0.824897,-0.560427,-0.073941],[0.039793,-0.188048,0.981353]] 2025-10-27T05:25:17.862Z,1761542717.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:17.869Z,1761542717.869 [DAT](INFO): DAT read: Rx Time:05:25:16.5788 2025-10-27T05:25:17.869Z,1761542717.869 [DAT](INFO): Rx dataTimestamp_ set to:1761542717.868759 2025-10-27T05:25:17.870Z,1761542717.870 [DAT](INFO): DAT read: Bearing 44.0, -31.8 (Local) 2025-10-27T05:25:17.871Z,1761542717.871 [DAT](INFO): Local bearing/azimuth received: Bearing 44.0, -31.8 (Local) 2025-10-27T05:25:17.873Z,1761542717.873 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 2025-10-27T05:25:17.877Z,1761542717.877 [DAT](INFO): DAT read: 05:25:16.5788 LVL= 25840, 20001, 18098, 31379, AGC= 43, IDX= 501,-0.36,-2.930, 2.356,-1.531,-2.114, PHS=-0.714,-1.769, 0.538, RAW= 182.8, 19.0, CAL= 182.5, 26.5, ROT= 327.5, -26.5 2025-10-27T05:25:17.878Z,1761542717.878 [DAT](INFO): got valid direction response: 05:25:16.5788 LVL= 25840, 20001, 18098, 31379, AGC= 43, IDX= 501,-0.36,-2.930, 2.356,-1.531,-2.114, PHS=-0.714,-1.769, 0.538, RAW= 182.8, 19.0, CAL= 182.5, 26.5, ROT= 327.5, -26.5 2025-10-27T05:25:17.879Z,1761542717.879 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:25:17.880Z,1761542717.880 [DAT](INFO): direction in FSK: [0.754780,-0.480848,0.446198] 2025-10-27T05:25:17.880Z,1761542717.880 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:17.889Z,1761542717.889 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:17.889Z,1761542717.889 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:17.903Z,1761542717.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503320 s, deltaX: -0.300000 m, approachRate: -0.596042 m/s, rangeRepo size: 4 2025-10-27T05:25:18.120Z,1761542718.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:18.373Z,1761542718.373 [DAT](INFO): DAT read: Rx Time:05:25:17.0788 2025-10-27T05:25:18.373Z,1761542718.373 [DAT](INFO): Rx dataTimestamp_ set to:1761542718.372758 2025-10-27T05:25:18.374Z,1761542718.374 [DAT](INFO): DAT read: Bearing 56.4, -34.4 (Local) 2025-10-27T05:25:18.375Z,1761542718.375 [DAT](INFO): Local bearing/azimuth received: Bearing 56.4, -34.4 (Local) 2025-10-27T05:25:18.377Z,1761542718.377 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 2025-10-27T05:25:18.381Z,1761542718.381 [DAT](INFO): DAT read: 05:25:17.0788 LVL= 29968, 28225, 23538, 32755, AGC= 45, IDX= 500, 0.17,-1.032,-1.703, 0.357,-0.008, PHS=-0.921,-1.650, 0.321, RAW= 188.6, 24.7, CAL= 187.1, 36.6, ROT= 322.9, -36.6 2025-10-27T05:25:18.383Z,1761542718.383 [DAT](INFO): got valid direction response: 05:25:17.0788 LVL= 29968, 28225, 23538, 32755, AGC= 45, IDX= 500, 0.17,-1.032,-1.703, 0.357,-0.008, PHS=-0.921,-1.650, 0.321, RAW= 188.6, 24.7, CAL= 187.1, 36.6, ROT= 322.9, -36.6 2025-10-27T05:25:18.383Z,1761542718.383 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:25:18.384Z,1761542718.384 [DAT](INFO): direction in FSK: [0.640314,-0.484266,0.596225] 2025-10-27T05:25:18.384Z,1761542718.384 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:18.388Z,1761542718.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:18.388Z,1761542718.388 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:18.624Z,1761542718.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:18.770Z,1761542718.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566262,0.805147,0.176312],[-0.823258,-0.562868,-0.073666],[0.039928,-0.186865,0.981574]] 2025-10-27T05:25:18.812Z,1761542718.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503999 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:18.814Z,1761542718.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.685563 m, bearing: 204.753404 deg, lat: 36.779356 deg, lon: -121.859691 deg, deltaT: 1.007319 s, deltaX: -0.298393 m, approachRate: -0.296225 m/s, posRepo size: 4 2025-10-27T05:25:18.878Z,1761542718.878 [DAT](INFO): DAT read: Rx Time:05:25:17.5786 2025-10-27T05:25:18.878Z,1761542718.878 [DAT](INFO): Rx dataTimestamp_ set to:1761542718.877893 2025-10-27T05:25:18.880Z,1761542718.880 [DAT](INFO): DAT read: Bearing 71.8, -44.2 (Local) 2025-10-27T05:25:18.881Z,1761542718.881 [DAT](INFO): Local bearing/azimuth received: Bearing 71.8, -44.2 (Local) 2025-10-27T05:25:18.888Z,1761542718.888 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4 2025-10-27T05:25:18.899Z,1761542718.899 [DAT](INFO): DAT read: 05:25:17.5786 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 498,-0.17, 1.937, 1.935,-2.660,-2.832, PHS=-1.412,-1.471, 0.128, RAW= 208.1, 31.8, CAL= 204.9, 43.9, ROT= 305.1, -43.9 2025-10-27T05:25:18.947Z,1761542718.947 [DAT](INFO): got valid direction response: 05:25:17.5786 LVL= 32752, 32753, 32754, 32755, AGC= 47, IDX= 498,-0.17, 1.937, 1.935,-2.660,-2.832, PHS=-1.412,-1.471, 0.128, RAW= 208.1, 31.8, CAL= 204.9, 43.9, ROT= 305.1, -43.9 2025-10-27T05:25:18.948Z,1761542718.948 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:25:18.970Z,1761542718.970 [DAT](INFO): direction in FSK: [0.414321,-0.589519,0.693402] 2025-10-27T05:25:18.970Z,1761542718.970 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:18.974Z,1761542718.974 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:18.979Z,1761542718.979 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:19.115Z,1761542719.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565849,0.806116,0.173180],[-0.823546,-0.562729,-0.071471],[0.039840,-0.183064,0.982293]] 2025-10-27T05:25:19.128Z,1761542719.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:19.243Z,1761542719.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.505135 s, deltaX: -0.300000 m, approachRate: -0.593901 m/s, rangeRepo size: 4 2025-10-27T05:25:19.245Z,1761542719.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.387157 m, bearing: 185.717605 deg, lat: 36.779357 deg, lon: -121.859691 deg, deltaT: 0.505135 s, deltaX: -0.298406 m, approachRate: -0.590746 m/s, posRepo size: 4 2025-10-27T05:25:19.380Z,1761542719.380 [DAT](INFO): DAT read: Rx Time:05:25:18.0788 2025-10-27T05:25:19.381Z,1761542719.381 [DAT](INFO): Rx dataTimestamp_ set to:1761542719.380303 2025-10-27T05:25:19.382Z,1761542719.382 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.3 2025-10-27T05:25:19.382Z,1761542719.382 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:25:19.383Z,1761542719.383 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:19.384Z,1761542719.384 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:19.579Z,1761542719.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564931,0.807423,0.170065],[-0.824181,-0.562086,-0.069171],[0.039741,-0.179241,0.983002]] 2025-10-27T05:25:19.622Z,1761542719.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502410 s, deltaX: 0.300000 m, approachRate: 0.597122 m/s, rangeRepo size: 4 2025-10-27T05:25:19.632Z,1761542719.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:19.639Z,1761542719.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m. 2025-10-27T05:25:19.884Z,1761542719.884 [DAT](INFO): DAT read: Rx Time:05:25:18.5784 2025-10-27T05:25:19.885Z,1761542719.885 [DAT](INFO): Rx dataTimestamp_ set to:1761542719.884355 2025-10-27T05:25:19.886Z,1761542719.886 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.3 2025-10-27T05:25:19.886Z,1761542719.886 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:25:19.887Z,1761542719.887 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:19.888Z,1761542719.888 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:20.087Z,1761542720.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:20.090Z,1761542720.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504052 s, deltaX: -0.600000 m, approachRate: -1.190354 m/s, rangeRepo size: 4 2025-10-27T05:25:20.090Z,1761542720.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m. 2025-10-27T05:25:20.136Z,1761542720.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:20.354Z,1761542720.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561534,0.810860,0.164878],[-0.826525,-0.559094,-0.065352],[0.039191,-0.172973,0.984147]] 2025-10-27T05:25:20.388Z,1761542720.388 [DAT](INFO): DAT read: Rx Time:05:25:19.0783 2025-10-27T05:25:20.389Z,1761542720.389 [DAT](INFO): Rx dataTimestamp_ set to:1761542720.388422 2025-10-27T05:25:20.390Z,1761542720.390 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 2025-10-27T05:25:20.390Z,1761542720.390 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:25:20.392Z,1761542720.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:20.392Z,1761542720.392 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:25:20.402Z,1761542720.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504067 s, deltaX: -0.100000 m, approachRate: -0.198386 m/s, rangeRepo size: 4 2025-10-27T05:25:20.640Z,1761542720.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:25:20.892Z,1761542720.892 [DAT](INFO): DAT read: user:419> 2025-10-27T05:25:20.892Z,1761542720.892 [DAT](INFO): DAT read: 50 2025-10-27T05:25:20.893Z,1761542720.893 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T05:25:20.893Z,1761542720.893 [DAT](INFO): DAT read: Ok 2025-10-27T05:25:20.894Z,1761542720.894 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T05:25:20.895Z,1761542720.895 [DAT](INFO): DAT read: user:420> 2025-10-27T05:25:20.896Z,1761542720.896 [DAT](INFO): DAT read: Tx time:05:25:20.0239 2025-10-27T05:25:20.896Z,1761542720.896 [DAT](INFO): Ping request sent. 2025-10-27T05:25:20.896Z,1761542720.896 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:25:20.897Z,1761542720.897 [DAT](INFO): publishing transmit ping time 2025-10-27T05:25:20.898Z,1761542720.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001131 2025-10-27T05:25:21.144Z,1761542721.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247347 2025-10-27T05:25:21.173Z,1761542721.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557270,0.815167,0.157966],[-0.829425,-0.555382,-0.060040],[0.038789,-0.164479,0.985618]] 2025-10-27T05:25:21.396Z,1761542721.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499650 2025-10-27T05:25:21.648Z,1761542721.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751416 2025-10-27T05:25:21.900Z,1761542721.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003531 2025-10-27T05:25:22.029Z,1761542722.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552438,0.820194,0.148643],[-0.832696,-0.551112,-0.053780],[0.037809,-0.153484,0.987427]] 2025-10-27T05:25:22.104Z,1761542722.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:22.154Z,1761542722.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257177 2025-10-27T05:25:22.404Z,1761542722.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507384 2025-10-27T05:25:22.408Z,1761542722.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549902,0.822008,0.148021],[-0.834399,-0.548560,-0.053480],[0.037238,-0.152917,0.987537]] 2025-10-27T05:25:22.658Z,1761542722.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760911 2025-10-27T05:25:22.806Z,1761542722.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548140,0.823798,0.144569],[-0.835578,-0.546969,-0.051336],[0.036784,-0.148939,0.988162]] 2025-10-27T05:25:22.909Z,1761542722.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012016 2025-10-27T05:25:23.161Z,1761542723.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264468 2025-10-27T05:25:23.210Z,1761542723.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546398,0.825102,0.143720],[-0.836739,-0.545222,-0.050994],[0.036284,-0.148119,0.988304]] 2025-10-27T05:25:23.412Z,1761542723.412 [DAT](INFO): DAT read: Rx Time:05:25:22.1554 2025-10-27T05:25:23.413Z,1761542723.413 [DAT](INFO): Rx dataTimestamp_ set to:1761542723.412375 2025-10-27T05:25:23.414Z,1761542723.414 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.4 2025-10-27T05:25:23.414Z,1761542723.414 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:25:23.415Z,1761542723.415 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.519008 2025-10-27T05:25:23.665Z,1761542723.665 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768607 2025-10-27T05:25:23.675Z,1761542723.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 3.023953 s, deltaX: -0.200000 m, approachRate: -0.066139 m/s, rangeRepo size: 4 2025-10-27T05:25:23.916Z,1761542723.916 [DAT](INFO): DAT read: Rx Time:05:25:22.6552 2025-10-27T05:25:23.917Z,1761542723.917 [DAT](INFO): Rx dataTimestamp_ set to:1761542723.916686 2025-10-27T05:25:23.918Z,1761542723.918 [DAT](INFO): DAT read: Bearing 163.8, -18.2 (Local) 2025-10-27T05:25:23.919Z,1761542723.919 [DAT](INFO): Local bearing/azimuth received: Bearing 163.8, -18.2 (Local) 2025-10-27T05:25:23.921Z,1761542723.921 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed -0.4 2025-10-27T05:25:23.925Z,1761542723.925 [DAT](INFO): DAT read: 05:25:22.6552 LVL= 32752, 29937, 19410, 32755, AGC= 52, IDX= 500,-0.19,-0.172, 1.801, 0.475, 1.774, PHS=-1.844, 0.072,-1.343, RAW= 315.4, 32.6, CAL= 315.9, 38.0, ROT= 194.1, -38.0 2025-10-27T05:25:23.926Z,1761542723.926 [DAT](INFO): got valid direction response: 05:25:22.6552 LVL= 32752, 29937, 19410, 32755, AGC= 52, IDX= 500,-0.19,-0.172, 1.801, 0.475, 1.774, PHS=-1.844, 0.072,-1.343, RAW= 315.4, 32.6, CAL= 315.9, 38.0, ROT= 194.1, -38.0 2025-10-27T05:25:23.927Z,1761542723.927 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:25:23.928Z,1761542723.928 [DAT](INFO): direction in FSK: [-0.764270,-0.191971,0.615661] 2025-10-27T05:25:23.928Z,1761542723.928 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:23.932Z,1761542723.932 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.035357 2025-10-27T05:25:24.058Z,1761542724.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543367,0.827405,0.141962],[-0.838748,-0.542196,-0.050247],[0.035397,-0.146373,0.988596]] 2025-10-27T05:25:24.169Z,1761542724.169 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272868 2025-10-27T05:25:24.334Z,1761542724.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504311 s, deltaX: -0.300000 m, approachRate: -0.594871 m/s, rangeRepo size: 4 2025-10-27T05:25:24.341Z,1761542724.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.492001 m, bearing: 64.291562 deg, lat: 36.779357 deg, lon: -121.859692 deg, deltaT: 5.038793 s, deltaX: -0.895156 m, approachRate: -0.177653 m/s, posRepo size: 4 2025-10-27T05:25:24.420Z,1761542724.420 [DAT](INFO): DAT read: Rx Time:05:25:23.1555 2025-10-27T05:25:24.421Z,1761542724.421 [DAT](INFO): Rx dataTimestamp_ set to:1761542724.420335 2025-10-27T05:25:24.422Z,1761542724.422 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.2 2025-10-27T05:25:24.422Z,1761542724.422 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-27T05:25:24.424Z,1761542724.424 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.527100 2025-10-27T05:25:24.669Z,1761542724.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549614,0.821527,0.151714],[-0.834611,-0.547936,-0.056488],[0.036723,-0.157669,0.986809]] 2025-10-27T05:25:24.673Z,1761542724.673 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.776365 2025-10-27T05:25:24.742Z,1761542724.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:24.749Z,1761542724.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503649 s, deltaX: 0.500000 m, approachRate: 0.992755 m/s, rangeRepo size: 4 2025-10-27T05:25:24.750Z,1761542724.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m. 2025-10-27T05:25:24.924Z,1761542724.924 [DAT](INFO): DAT read: Rx Time:05:25:23.6554 2025-10-27T05:25:24.925Z,1761542724.925 [DAT](INFO): Rx dataTimestamp_ set to:1761542724.924335 2025-10-27T05:25:24.926Z,1761542724.926 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T05:25:24.926Z,1761542724.926 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T05:25:24.927Z,1761542724.927 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.030940 2025-10-27T05:25:25.079Z,1761542725.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576392,0.798481,0.173782],[-0.816130,-0.573232,-0.073057],[0.041283,-0.183938,0.982070]] 2025-10-27T05:25:25.177Z,1761542725.177 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.280968 2025-10-27T05:25:25.208Z,1761542725.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504000 s, deltaX: -0.200000 m, approachRate: -0.396825 m/s, rangeRepo size: 4 2025-10-27T05:25:25.208Z,1761542725.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m. 2025-10-27T05:25:25.429Z,1761542725.429 [DAT](INFO): DAT read: Rx Time:05:25:24.1555 2025-10-27T05:25:25.429Z,1761542725.429 [DAT](INFO): Rx dataTimestamp_ set to:1761542725.429112 2025-10-27T05:25:25.431Z,1761542725.431 [DAT](INFO): DAT read: Bearing 158.3, -14.8 (Local) 2025-10-27T05:25:25.431Z,1761542725.431 [DAT](INFO): Local bearing/azimuth received: Bearing 158.3, -14.8 (Local) 2025-10-27T05:25:25.433Z,1761542725.433 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T05:25:25.438Z,1761542725.438 [DAT](INFO): DAT read: 05:25:24.1555 LVL= 19680, 16513, 11938, 21699, AGC= 46, IDX= 502, 0.10, 2.940,-1.499,-2.973,-1.499, PHS=-1.742, 0.045,-1.518, RAW= 323.4, 34.0, CAL= 323.2, 39.5, ROT= 186.8, -39.5 2025-10-27T05:25:25.439Z,1761542725.439 [DAT](INFO): got valid direction response: 05:25:24.1555 LVL= 19680, 16513, 11938, 21699, AGC= 46, IDX= 502, 0.10, 2.940,-1.499,-2.973,-1.499, PHS=-1.742, 0.045,-1.518, RAW= 323.4, 34.0, CAL= 323.2, 39.5, ROT= 186.8, -39.5 2025-10-27T05:25:25.440Z,1761542725.440 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:25:25.441Z,1761542725.441 [DAT](INFO): direction in FSK: [-0.766197,-0.091363,0.636078] 2025-10-27T05:25:25.441Z,1761542725.441 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:25.450Z,1761542725.450 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553130 2025-10-27T05:25:25.540Z,1761542725.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665164,0.714737,0.216119],[-0.744066,-0.658727,-0.111556],[0.062630,-0.235010,0.969973]] 2025-10-27T05:25:25.623Z,1761542725.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504777 s, deltaX: 0.200000 m, approachRate: 0.396215 m/s, rangeRepo size: 4 2025-10-27T05:25:25.625Z,1761542725.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.989327 m, bearing: 43.871024 deg, lat: 36.779357 deg, lon: -121.859692 deg, deltaT: 1.512426 s, deltaX: 0.497326 m, approachRate: 0.328827 m/s, posRepo size: 4 2025-10-27T05:25:25.626Z,1761542725.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m. 2025-10-27T05:25:25.680Z,1761542725.680 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.783598 2025-10-27T05:25:25.933Z,1761542725.933 [DAT](INFO): DAT read: Rx Time:05:25:24.6554 2025-10-27T05:25:25.933Z,1761542725.933 [DAT](INFO): Rx dataTimestamp_ set to:1761542725.932760 2025-10-27T05:25:25.934Z,1761542725.934 [DAT](INFO): DAT read: Bearing 166.0, -43.8 (Local) 2025-10-27T05:25:25.935Z,1761542725.935 [DAT](INFO): Local bearing/azimuth received: Bearing 166.0, -43.8 (Local) 2025-10-27T05:25:25.937Z,1761542725.937 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.1 2025-10-27T05:25:25.942Z,1761542725.942 [DAT](INFO): DAT read: 05:25:24.6554 LVL= 25072, 14609, 15506, 23363, AGC= 45, IDX= 502,-0.40, 2.858,-1.033,-1.791,-1.288, PHS=-2.035, 0.300,-0.547, RAW= 291.0, 21.5, CAL= 290.9, 28.3, ROT= 219.1, -28.3 2025-10-27T05:25:25.943Z,1761542725.943 [DAT](INFO): got valid direction response: 05:25:24.6554 LVL= 25072, 14609, 15506, 23363, AGC= 45, IDX= 502,-0.40, 2.858,-1.033,-1.791,-1.288, PHS=-2.035, 0.300,-0.547, RAW= 291.0, 21.5, CAL= 290.9, 28.3, ROT= 219.1, -28.3 2025-10-27T05:25:25.943Z,1761542725.943 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:25:25.944Z,1761542725.944 [DAT](INFO): direction in FSK: [-0.683291,-0.555296,0.474088] 2025-10-27T05:25:25.944Z,1761542725.944 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:25.948Z,1761542725.948 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.051658 2025-10-27T05:25:25.956Z,1761542725.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698974,0.680825,0.218889],[-0.712152,-0.690626,-0.125997],[0.065389,-0.243951,0.967581]] 2025-10-27T05:25:26.046Z,1761542726.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503648 s, deltaX: -0.200000 m, approachRate: -0.397103 m/s, rangeRepo size: 4 2025-10-27T05:25:26.073Z,1761542726.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.790395 m, bearing: 75.915713 deg, lat: 36.779357 deg, lon: -121.859696 deg, deltaT: 0.503648 s, deltaX: -0.198933 m, approachRate: -0.394984 m/s, posRepo size: 4 2025-10-27T05:25:26.185Z,1761542726.185 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.288423 2025-10-27T05:25:26.401Z,1761542726.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726224,0.658748,0.196596],[-0.684408,-0.719715,-0.116601],[0.064682,-0.219230,0.973527]] 2025-10-27T05:25:26.437Z,1761542726.437 [DAT](INFO): DAT read: Rx Time:05:25:25.1556 2025-10-27T05:25:26.437Z,1761542726.437 [DAT](INFO): Rx dataTimestamp_ set to:1761542726.437019 2025-10-27T05:25:26.439Z,1761542726.439 [DAT](INFO): DAT read: Bearing 181.7, -56.4 (Local) 2025-10-27T05:25:26.439Z,1761542726.439 [DAT](INFO): Local bearing/azimuth received: Bearing 181.7, -56.4 (Local) 2025-10-27T05:25:26.441Z,1761542726.441 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1 2025-10-27T05:25:26.446Z,1761542726.446 [DAT](INFO): DAT read: 05:25:25.1556 LVL= 28384, 15329, 19634, 23027, AGC= 45, IDX= 503, 0.35, 2.394,-1.564,-1.902,-2.029, PHS=-1.759, 0.510, 0.083, RAW= 280.2, 11.2, CAL= 278.6, 15.3, ROT= 231.4, -15.3 2025-10-27T05:25:26.447Z,1761542726.447 [DAT](INFO): got valid direction response: 05:25:25.1556 LVL= 28384, 15329, 19634, 23027, AGC= 45, IDX= 503, 0.35, 2.394,-1.564,-1.902,-2.029, PHS=-1.759, 0.510, 0.083, RAW= 280.2, 11.2, CAL= 278.6, 15.3, ROT= 231.4, -15.3 2025-10-27T05:25:26.448Z,1761542726.448 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:25:26.449Z,1761542726.449 [DAT](INFO): direction in FSK: [-0.601768,-0.753821,0.263873] 2025-10-27T05:25:26.449Z,1761542726.449 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:26.453Z,1761542726.453 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.556108 2025-10-27T05:25:26.526Z,1761542726.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504259 s, deltaX: 0.300000 m, approachRate: 0.594932 m/s, rangeRepo size: 4 2025-10-27T05:25:26.532Z,1761542726.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.088740 m, bearing: 90.476644 deg, lat: 36.779357 deg, lon: -121.859696 deg, deltaT: 0.504259 s, deltaX: 0.298346 m, approachRate: 0.591651 m/s, posRepo size: 4 2025-10-27T05:25:26.689Z,1761542726.689 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792183 2025-10-27T05:25:26.918Z,1761542726.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:26.941Z,1761542726.941 [DAT](INFO): DAT read: Rx Time:05:25:25.6555 2025-10-27T05:25:26.941Z,1761542726.941 [DAT](INFO): Rx dataTimestamp_ set to:1761542726.940939 2025-10-27T05:25:26.943Z,1761542726.943 [DAT](INFO): DAT read: Bearing 163.7, -46.8 (Local) 2025-10-27T05:25:26.943Z,1761542726.943 [DAT](INFO): Local bearing/azimuth received: Bearing 163.7, -46.8 (Local) 2025-10-27T05:25:26.945Z,1761542726.945 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.1 2025-10-27T05:25:26.950Z,1761542726.950 [DAT](INFO): DAT read: 05:25:25.6555 LVL= 23696, 14065, 13282, 20899, AGC= 45, IDX= 503,-0.22,-0.302, 2.034, 1.359, 1.617, PHS=-1.817, 0.463,-0.302, RAW= 289.2, 16.3, CAL= 287.7, 23.3, ROT= 222.3, -23.3 2025-10-27T05:25:26.951Z,1761542726.951 [DAT](INFO): got valid direction response: 05:25:25.6555 LVL= 23696, 14065, 13282, 20899, AGC= 45, IDX= 503,-0.22,-0.302, 2.034, 1.359, 1.617, PHS=-1.817, 0.463,-0.302, RAW= 289.2, 16.3, CAL= 287.7, 23.3, ROT= 222.3, -23.3 2025-10-27T05:25:26.951Z,1761542726.951 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:25:26.952Z,1761542726.952 [DAT](INFO): direction in FSK: [-0.679311,-0.618126,0.395545] 2025-10-27T05:25:26.953Z,1761542726.953 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:26.957Z,1761542726.957 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.060049 2025-10-27T05:25:27.192Z,1761542727.192 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.295775 2025-10-27T05:25:27.272Z,1761542727.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770082,0.623903,0.133110],[-0.635290,-0.769013,-0.070894],[0.058132,-0.139158,0.988562]] 2025-10-27T05:25:27.438Z,1761542727.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503920 s, deltaX: -0.100000 m, approachRate: -0.198444 m/s, rangeRepo size: 4 2025-10-27T05:25:27.445Z,1761542727.445 [DAT](INFO): DAT read: Rx Time:05:25:26.1556 2025-10-27T05:25:27.445Z,1761542727.445 [DAT](INFO): Rx dataTimestamp_ set to:1761542727.444817 2025-10-27T05:25:27.446Z,1761542727.446 [DAT](INFO): DAT read: Bearing 162.0, -34.2 (Local) 2025-10-27T05:25:27.447Z,1761542727.447 [DAT](INFO): Local bearing/azimuth received: Bearing 162.0, -34.2 (Local) 2025-10-27T05:25:27.449Z,1761542727.449 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.2 2025-10-27T05:25:27.454Z,1761542727.454 [DAT](INFO): DAT read: 05:25:26.1556 LVL= 18464, 11121, 9794, 15859, AGC= 43, IDX= 504,-0.11,-0.995, 1.315, 0.207, 0.751, PHS=-1.644, 0.609,-0.588, RAW= 302.1, 16.4, CAL= 300.2, 22.6, ROT= 209.8, -22.6 2025-10-27T05:25:27.455Z,1761542727.455 [DAT](INFO): got valid direction response: 05:25:26.1556 LVL= 18464, 11121, 9794, 15859, AGC= 43, IDX= 504,-0.11,-0.995, 1.315, 0.207, 0.751, PHS=-1.644, 0.609,-0.588, RAW= 302.1, 16.4, CAL= 300.2, 22.6, ROT= 209.8, -22.6 2025-10-27T05:25:27.455Z,1761542727.455 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:25:27.456Z,1761542727.456 [DAT](INFO): direction in FSK: [-0.801130,-0.458811,0.384295] 2025-10-27T05:25:27.456Z,1761542727.456 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:27.460Z,1761542727.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.989221 m, bearing: 77.793208 deg, lat: 36.779349 deg, lon: -121.859696 deg, deltaT: 0.503920 s, deltaX: -0.099519 m, approachRate: -0.197490 m/s, posRepo size: 4 2025-10-27T05:25:27.464Z,1761542727.464 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.567615 2025-10-27T05:25:27.696Z,1761542727.696 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.799564 2025-10-27T05:25:27.865Z,1761542727.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786711,0.607445,0.109983],[-0.615008,-0.786633,-0.054531],[0.053392,-0.110540,0.992436]] 2025-10-27T05:25:27.930Z,1761542727.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503878 s, deltaX: 0.100000 m, approachRate: 0.198461 m/s, rangeRepo size: 4 2025-10-27T05:25:27.936Z,1761542727.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.088682 m, bearing: 64.687419 deg, lat: 36.779349 deg, lon: -121.859695 deg, deltaT: 0.503878 s, deltaX: 0.099461 m, approachRate: 0.197391 m/s, posRepo size: 4 2025-10-27T05:25:27.949Z,1761542727.949 [DAT](INFO): DAT read: Rx Time:05:25:26.6556 2025-10-27T05:25:27.949Z,1761542727.949 [DAT](INFO): Rx dataTimestamp_ set to:1761542727.948858 2025-10-27T05:25:27.950Z,1761542727.950 [DAT](INFO): DAT read: Bearing 150.6, -37.4 (Local) 2025-10-27T05:25:27.951Z,1761542727.951 [DAT](INFO): Local bearing/azimuth received: Bearing 150.6, -37.4 (Local) 2025-10-27T05:25:27.953Z,1761542727.953 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.3 2025-10-27T05:25:27.958Z,1761542727.958 [DAT](INFO): DAT read: 05:25:26.6556 LVL= 18640, 12321, 9410, 14515, AGC= 48, IDX= 505,-0.48, 1.948,-2.437,-3.107,-2.648, PHS=-1.585, 0.256,-0.502, RAW= 294.2, 22.0, CAL= 294.1, 28.5, ROT= 215.9, -28.5 2025-10-27T05:25:27.959Z,1761542727.959 [DAT](INFO): got valid direction response: 05:25:26.6556 LVL= 18640, 12321, 9410, 14515, AGC= 48, IDX= 505,-0.48, 1.948,-2.437,-3.107,-2.648, PHS=-1.585, 0.256,-0.502, RAW= 294.2, 22.0, CAL= 294.1, 28.5, ROT= 215.9, -28.5 2025-10-27T05:25:27.959Z,1761542727.959 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:25:27.960Z,1761542727.960 [DAT](INFO): direction in FSK: [-0.711878,-0.515314,0.477159] 2025-10-27T05:25:27.960Z,1761542727.960 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:27.972Z,1761542727.972 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.075784 2025-10-27T05:25:28.200Z,1761542728.200 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.303552 2025-10-27T05:25:28.396Z,1761542728.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810340,0.578900,0.090685],[-0.584496,-0.809511,-0.055287],[0.041404,-0.097806,0.994344]] 2025-10-27T05:25:28.453Z,1761542728.453 [DAT](INFO): DAT read: Rx Time:05:25:27.1558 2025-10-27T05:25:28.453Z,1761542728.453 [DAT](INFO): Rx dataTimestamp_ set to:1761542728.452820 2025-10-27T05:25:28.454Z,1761542728.454 [DAT](INFO): DAT read: Bearing 143.5, -23.1 (Local) 2025-10-27T05:25:28.455Z,1761542728.455 [DAT](INFO): Local bearing/azimuth received: Bearing 143.5, -23.1 (Local) 2025-10-27T05:25:28.457Z,1761542728.457 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.3 2025-10-27T05:25:28.462Z,1761542728.462 [DAT](INFO): DAT read: 05:25:27.1558 LVL= 20128, 13233, 11858, 19059, AGC= 48, IDX= 507, 0.08,-0.726, 1.066, 0.085, 1.030, PHS=-1.655, 0.080,-0.990, RAW= 307.7, 30.9, CAL= 308.6, 36.2, ROT= 201.4, -36.2 2025-10-27T05:25:28.463Z,1761542728.463 [DAT](INFO): got valid direction response: 05:25:27.1558 LVL= 20128, 13233, 11858, 19059, AGC= 48, IDX= 507, 0.08,-0.726, 1.066, 0.085, 1.030, PHS=-1.655, 0.080,-0.990, RAW= 307.7, 30.9, CAL= 308.6, 36.2, ROT= 201.4, -36.2 2025-10-27T05:25:28.463Z,1761542728.463 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:25:28.464Z,1761542728.464 [DAT](INFO): direction in FSK: [-0.751325,-0.294441,0.590606] 2025-10-27T05:25:28.464Z,1761542728.464 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:28.476Z,1761542728.476 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.579666 2025-10-27T05:25:28.504Z,1761542728.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 1.008003 s, deltaX: 0.300000 m, approachRate: 0.297618 m/s, rangeRepo size: 4 2025-10-27T05:25:28.506Z,1761542728.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.387043 m, bearing: 52.660999 deg, lat: 36.779349 deg, lon: -121.859695 deg, deltaT: 1.008003 s, deltaX: 0.298361 m, approachRate: 0.295992 m/s, posRepo size: 4 2025-10-27T05:25:28.511Z,1761542728.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m. 2025-10-27T05:25:28.705Z,1761542728.705 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808015 2025-10-27T05:25:28.805Z,1761542728.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818344,0.568033,0.087477],[-0.573630,-0.816671,-0.063223],[0.035527,-0.101918,0.994158]] 2025-10-27T05:25:28.956Z,1761542728.956 [DAT](INFO): DAT read: Rx Time:05:25:27.6559 2025-10-27T05:25:28.957Z,1761542728.957 [DAT](INFO): Rx dataTimestamp_ set to:1761542728.956488 2025-10-27T05:25:28.958Z,1761542728.958 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.4 2025-10-27T05:25:28.959Z,1761542728.959 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-27T05:25:28.960Z,1761542728.960 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.063140 2025-10-27T05:25:29.190Z,1761542729.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824188,0.560186,0.083097],[-0.565553,-0.821781,-0.069465],[0.029374,-0.104248,0.994117]] 2025-10-27T05:25:29.208Z,1761542729.208 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.311446 2025-10-27T05:25:29.264Z,1761542729.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:29.269Z,1761542729.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503668 s, deltaX: 0.200000 m, approachRate: 0.397087 m/s, rangeRepo size: 4 2025-10-27T05:25:29.461Z,1761542729.461 [DAT](INFO): DAT read: Rx Time:05:25:28.1562 2025-10-27T05:25:29.461Z,1761542729.461 [DAT](INFO): Rx dataTimestamp_ set to:1761542729.460908 2025-10-27T05:25:29.462Z,1761542729.462 [DAT](INFO): DAT read: Bearing 150.2, 14.2 (Local) 2025-10-27T05:25:29.463Z,1761542729.463 [DAT](INFO): Local bearing/azimuth received: Bearing 150.2, 14.2 (Local) 2025-10-27T05:25:29.465Z,1761542729.465 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4 2025-10-27T05:25:29.470Z,1761542729.470 [DAT](INFO): DAT read: 05:25:28.1562 LVL= 32752, 13649, 17090, 29891, AGC= 51, IDX= 508,-0.34, 2.692,-2.160, 2.047,-2.604, PHS=-0.885, 0.489,-1.675, RAW= 351.1, 21.1, CAL= 351.1, 25.7, ROT= 158.9, -25.7 2025-10-27T05:25:29.471Z,1761542729.471 [DAT](INFO): got valid direction response: 05:25:28.1562 LVL= 32752, 13649, 17090, 29891, AGC= 51, IDX= 508,-0.34, 2.692,-2.160, 2.047,-2.604, PHS=-0.885, 0.489,-1.675, RAW= 351.1, 21.1, CAL= 351.1, 25.7, ROT= 158.9, -25.7 2025-10-27T05:25:29.471Z,1761542729.471 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:25:29.472Z,1761542729.472 [DAT](INFO): direction in FSK: [-0.840663,0.324385,0.433659] 2025-10-27T05:25:29.473Z,1761542729.473 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:29.480Z,1761542729.480 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.583990 2025-10-27T05:25:29.595Z,1761542729.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828641,0.554080,0.079680],[-0.559258,-0.825587,-0.075078],[0.024184,-0.106774,0.993989]] 2025-10-27T05:25:29.675Z,1761542729.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504420 s, deltaX: 0.400000 m, approachRate: 0.792990 m/s, rangeRepo size: 4 2025-10-27T05:25:29.677Z,1761542729.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.983774 m, bearing: 10.558140 deg, lat: 36.779349 deg, lon: -121.859695 deg, deltaT: 1.008088 s, deltaX: 0.596732 m, approachRate: 0.591944 m/s, posRepo size: 4 2025-10-27T05:25:29.713Z,1761542729.713 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.816140 2025-10-27T05:25:29.964Z,1761542729.964 [DAT](INFO): DAT read: Rx Time:05:25:28.6562 2025-10-27T05:25:29.965Z,1761542729.965 [DAT](INFO): Rx dataTimestamp_ set to:1761542729.964404 2025-10-27T05:25:29.966Z,1761542729.966 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4 2025-10-27T05:25:29.966Z,1761542729.966 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-27T05:25:29.967Z,1761542729.967 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.071015 2025-10-27T05:25:29.998Z,1761542729.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831388,0.550252,0.077566],[-0.555356,-0.827603,-0.081561],[0.019315,-0.110885,0.993645]] 2025-10-27T05:25:30.074Z,1761542730.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503496 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:30.217Z,1761542730.217 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.320072 2025-10-27T05:25:30.402Z,1761542730.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832186,0.549373,0.075204],[-0.554297,-0.827840,-0.086236],[0.014881,-0.113450,0.993432]] 2025-10-27T05:25:30.469Z,1761542730.469 [DAT](INFO): DAT read: Rx Time:05:25:29.1565 2025-10-27T05:25:30.469Z,1761542730.469 [DAT](INFO): Rx dataTimestamp_ set to:1761542730.468779 2025-10-27T05:25:30.470Z,1761542730.470 [DAT](INFO): DAT read: Bearing 183.8, -6.9 (Local) 2025-10-27T05:25:30.471Z,1761542730.471 [DAT](INFO): Local bearing/azimuth received: Bearing 183.8, -6.9 (Local) 2025-10-27T05:25:30.473Z,1761542730.473 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 2025-10-27T05:25:30.478Z,1761542730.478 [DAT](INFO): DAT read: 05:25:29.1565 LVL= 14992, 9697, 13746, 20771, AGC= 47, IDX= 511, 0.13, 0.846, 3.117, 1.211, 1.699, PHS=-0.750, 1.463,-0.532, RAW= 324.9, -1.7, CAL= 323.8, -4.8, ROT= 186.2, 4.8 2025-10-27T05:25:30.479Z,1761542730.479 [DAT](INFO): got valid direction response: 05:25:29.1565 LVL= 14992, 9697, 13746, 20771, AGC= 47, IDX= 511, 0.13, 0.846, 3.117, 1.211, 1.699, PHS=-0.750, 1.463,-0.532, RAW= 324.9, -1.7, CAL= 323.8, -4.8, ROT= 186.2, 4.8 2025-10-27T05:25:30.479Z,1761542730.479 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:25:30.480Z,1761542730.480 [DAT](INFO): direction in FSK: [-0.990664,-0.107621,-0.083678] 2025-10-27T05:25:30.480Z,1761542730.480 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:30.494Z,1761542730.494 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.597191 2025-10-27T05:25:30.544Z,1761542730.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504375 s, deltaX: 0.500000 m, approachRate: 0.991326 m/s, rangeRepo size: 4 2025-10-27T05:25:30.546Z,1761542730.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.480939 m, bearing: 40.376810 deg, lat: 36.779351 deg, lon: -121.859695 deg, deltaT: 1.007871 s, deltaX: 0.497164 m, approachRate: 0.493282 m/s, posRepo size: 4 2025-10-27T05:25:30.721Z,1761542730.721 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.824315 2025-10-27T05:25:30.880Z,1761542730.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831825,0.550654,0.069620],[-0.554937,-0.827494,-0.085431],[0.010568,-0.109698,0.993909]] 2025-10-27T05:25:30.973Z,1761542730.973 [DAT](INFO): DAT read: Rx Time:05:25:29.6565 2025-10-27T05:25:30.974Z,1761542730.974 [DAT](INFO): Rx dataTimestamp_ set to:1761542730.973487 2025-10-27T05:25:30.976Z,1761542730.976 [DAT](INFO): DAT read: Bearing 193.4, -15.3 (Local) 2025-10-27T05:25:30.976Z,1761542730.976 [DAT](INFO): Local bearing/azimuth received: Bearing 193.4, -15.3 (Local) 2025-10-27T05:25:30.980Z,1761542730.980 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 2025-10-27T05:25:30.986Z,1761542730.986 [DAT](INFO): DAT read: 05:25:29.6565 LVL= 23024, 11425, 18418, 24867, AGC= 47, IDX= 512,-0.18, 1.585,-2.327, 2.400, 2.372, PHS=-0.685, 1.630,-0.016, RAW= 313.7, -9.0, CAL= 313.6, -12.7, ROT= 196.4, 12.7 2025-10-27T05:25:30.989Z,1761542730.989 [DAT](INFO): got valid direction response: 05:25:29.6565 LVL= 23024, 11425, 18418, 24867, AGC= 47, IDX= 512,-0.18, 1.585,-2.327, 2.400, 2.372, PHS=-0.685, 1.630,-0.016, RAW= 313.7, -9.0, CAL= 313.6, -12.7, ROT= 196.4, 12.7 2025-10-27T05:25:30.989Z,1761542730.989 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:25:30.992Z,1761542730.992 [DAT](INFO): direction in FSK: [-0.935844,-0.275434,-0.219846] 2025-10-27T05:25:30.993Z,1761542730.993 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:30.998Z,1761542730.998 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.101579 2025-10-27T05:25:31.224Z,1761542731.224 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.327546 2025-10-27T05:25:31.476Z,1761542731.476 [DAT](INFO): DAT read: Rx Time:05:25:30.1565 2025-10-27T05:25:31.477Z,1761542731.477 [DAT](INFO): Rx dataTimestamp_ set to:1761542731.476369 2025-10-27T05:25:31.478Z,1761542731.478 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 2025-10-27T05:25:31.478Z,1761542731.478 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-27T05:25:31.480Z,1761542731.480 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.583130 2025-10-27T05:25:31.538Z,1761542731.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 1.007590 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:31.544Z,1761542731.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.480895 m, bearing: 51.401579 deg, lat: 36.779351 deg, lon: -121.859695 deg, deltaT: 1.007590 s, deltaX: -0.000044 m, approachRate: -0.000043 m/s, posRepo size: 4 2025-10-27T05:25:31.733Z,1761542731.733 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835624 2025-10-27T05:25:31.848Z,1761542731.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826821,0.559833,0.054342],[-0.562453,-0.823547,-0.073596],[0.003552,-0.091416,0.995806]] 2025-10-27T05:25:31.895Z,1761542731.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:31.981Z,1761542731.981 [DAT](INFO): DAT read: Rx Time:05:25:30.6568 2025-10-27T05:25:31.982Z,1761542731.982 [DAT](INFO): Rx dataTimestamp_ set to:1761542731.981677 2025-10-27T05:25:31.984Z,1761542731.984 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 2025-10-27T05:25:31.985Z,1761542731.985 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-27T05:25:31.986Z,1761542731.986 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.089696 2025-10-27T05:25:32.232Z,1761542732.232 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.335426 2025-10-27T05:25:32.265Z,1761542732.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822573,0.566748,0.046588],[-0.568659,-0.819895,-0.066328],[0.000606,-0.081052,0.996710]] 2025-10-27T05:25:32.372Z,1761542732.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.505308 s, deltaX: 0.400000 m, approachRate: 0.791597 m/s, rangeRepo size: 4 2025-10-27T05:25:32.485Z,1761542732.485 [DAT](INFO): DAT read: Rx Time:05:25:31.1571 2025-10-27T05:25:32.485Z,1761542732.485 [DAT](INFO): Rx dataTimestamp_ set to:1761542732.484740 2025-10-27T05:25:32.486Z,1761542732.486 [DAT](INFO): DAT read: Bearing 169.1, -20.0 (Local) 2025-10-27T05:25:32.487Z,1761542732.487 [DAT](INFO): Local bearing/azimuth received: Bearing 169.1, -20.0 (Local) 2025-10-27T05:25:32.489Z,1761542732.489 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 2025-10-27T05:25:32.493Z,1761542732.493 [DAT](INFO): DAT read: 05:25:31.1571 LVL= 32752, 18081, 31218, 32755, AGC= 58, IDX= 500, 0.30, 1.028,-3.046, 1.838, 2.377, PHS=-1.247, 0.905,-0.583, RAW= 312.5, 9.7, CAL= 310.7, 11.4, ROT= 199.3, -11.4 2025-10-27T05:25:32.494Z,1761542732.494 [DAT](INFO): got valid direction response: 05:25:31.1571 LVL= 32752, 18081, 31218, 32755, AGC= 58, IDX= 500, 0.30, 1.028,-3.046, 1.838, 2.377, PHS=-1.247, 0.905,-0.583, RAW= 312.5, 9.7, CAL= 310.7, 11.4, ROT= 199.3, -11.4 2025-10-27T05:25:32.495Z,1761542732.495 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:25:32.496Z,1761542732.496 [DAT](INFO): direction in FSK: [-0.925181,-0.323994,0.197657] 2025-10-27T05:25:32.496Z,1761542732.496 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:32.509Z,1761542732.509 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.612375 2025-10-27T05:25:32.678Z,1761542732.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816751,0.575610,0.039883],[-0.576985,-0.814492,-0.060755],[-0.002486,-0.072633,0.997356]] 2025-10-27T05:25:32.736Z,1761542732.736 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.839779 2025-10-27T05:25:32.758Z,1761542732.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503063 s, deltaX: 0.500000 m, approachRate: 0.993911 m/s, rangeRepo size: 4 2025-10-27T05:25:32.765Z,1761542732.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.375844 m, bearing: 53.705701 deg, lat: 36.779351 deg, lon: -121.859691 deg, deltaT: 1.008371 s, deltaX: 0.894949 m, approachRate: 0.887520 m/s, posRepo size: 4 2025-10-27T05:25:32.989Z,1761542732.989 [DAT](INFO): DAT read: Rx Time:05:25:31.6569 2025-10-27T05:25:32.989Z,1761542732.989 [DAT](INFO): Rx dataTimestamp_ set to:1761542732.988691 2025-10-27T05:25:32.990Z,1761542732.990 [DAT](INFO): DAT read: Bearing 168.7, -10.1 (Local) 2025-10-27T05:25:32.992Z,1761542732.992 [DAT](INFO): Local bearing/azimuth received: Bearing 168.7, -10.1 (Local) 2025-10-27T05:25:32.995Z,1761542732.995 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 2025-10-27T05:25:33.005Z,1761542733.005 [DAT](INFO): DAT read: 05:25:31.6569 LVL= 31088, 24945, 32754, 32755, AGC= 62, IDX= 501,-0.36, 1.786,-2.441, 2.243, 2.985, PHS=-1.097, 0.902,-0.786, RAW= 321.7, 10.5, CAL= 320.5, 12.2, ROT= 189.5, -12.2 2025-10-27T05:25:33.007Z,1761542733.007 [DAT](INFO): got valid direction response: 05:25:31.6569 LVL= 31088, 24945, 32754, 32755, AGC= 62, IDX= 501,-0.36, 1.786,-2.441, 2.243, 2.985, PHS=-1.097, 0.902,-0.786, RAW= 321.7, 10.5, CAL= 320.5, 12.2, ROT= 189.5, -12.2 2025-10-27T05:25:33.008Z,1761542733.008 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:25:33.009Z,1761542733.009 [DAT](INFO): direction in FSK: [-0.964011,-0.161320,0.211325] 2025-10-27T05:25:33.010Z,1761542733.010 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:33.016Z,1761542733.016 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.119092 2025-10-27T05:25:33.240Z,1761542733.240 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.343617 2025-10-27T05:25:33.318Z,1761542733.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503951 s, deltaX: -0.300000 m, approachRate: -0.595296 m/s, rangeRepo size: 4 2025-10-27T05:25:33.342Z,1761542733.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.077437 m, bearing: 43.829342 deg, lat: 36.779352 deg, lon: -121.859688 deg, deltaT: 0.503951 s, deltaX: -0.298407 m, approachRate: -0.592135 m/s, posRepo size: 4 2025-10-27T05:25:33.492Z,1761542733.492 [DAT](INFO): DAT read: Rx Time:05:25:32.1571 2025-10-27T05:25:33.493Z,1761542733.493 [DAT](INFO): Rx dataTimestamp_ set to:1761542733.492613 2025-10-27T05:25:33.494Z,1761542733.494 [DAT](INFO): DAT read: Bearing 172.8, -0.3 (Local) 2025-10-27T05:25:33.494Z,1761542733.494 [DAT](INFO): Local bearing/azimuth received: Bearing 172.8, -0.3 (Local) 2025-10-27T05:25:33.497Z,1761542733.497 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 2025-10-27T05:25:33.501Z,1761542733.501 [DAT](INFO): DAT read: 05:25:32.1571 LVL= 32752, 32737, 32754, 32755, AGC= 61, IDX= 503, 0.31,-2.194,-0.259,-2.074,-1.218, PHS=-0.874, 1.005,-0.900, RAW= 330.7, 8.2, CAL= 330.0, 8.4, ROT= 180.0, -8.4 2025-10-27T05:25:33.502Z,1761542733.502 [DAT](INFO): got valid direction response: 05:25:32.1571 LVL= 32752, 32737, 32754, 32755, AGC= 61, IDX= 503, 0.31,-2.194,-0.259,-2.074,-1.218, PHS=-0.874, 1.005,-0.900, RAW= 330.7, 8.2, CAL= 330.0, 8.4, ROT= 180.0, -8.4 2025-10-27T05:25:33.503Z,1761542733.503 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:25:33.504Z,1761542733.504 [DAT](INFO): direction in FSK: [-0.989272,-0.000000,0.146083] 2025-10-27T05:25:33.504Z,1761542733.504 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:33.508Z,1761542733.508 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.611261 2025-10-27T05:25:33.691Z,1761542733.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791057,0.611264,0.024175],[-0.611655,-0.789658,-0.048150],[-0.010342,-0.052876,0.998548]] 2025-10-27T05:25:33.744Z,1761542733.744 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.847491 2025-10-27T05:25:33.770Z,1761542733.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503922 s, deltaX: 0.300000 m, approachRate: 0.595331 m/s, rangeRepo size: 4 2025-10-27T05:25:33.780Z,1761542733.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.375787 m, bearing: 37.263542 deg, lat: 36.779352 deg, lon: -121.859688 deg, deltaT: 0.503922 s, deltaX: 0.298349 m, approachRate: 0.592055 m/s, posRepo size: 4 2025-10-27T05:25:33.996Z,1761542733.996 [DAT](INFO): DAT read: Rx Time:05:25:32.6572 2025-10-27T05:25:33.997Z,1761542733.997 [DAT](INFO): Rx dataTimestamp_ set to:1761542733.996664 2025-10-27T05:25:33.998Z,1761542733.998 [DAT](INFO): DAT read: Bearing 175.5, 13.6 (Local) 2025-10-27T05:25:33.999Z,1761542733.999 [DAT](INFO): Local bearing/azimuth received: Bearing 175.5, 13.6 (Local) 2025-10-27T05:25:34.001Z,1761542734.001 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 2025-10-27T05:25:34.005Z,1761542734.005 [DAT](INFO): DAT read: 05:25:32.6572 LVL= 32032, 24145, 27762, 28003, AGC= 59, IDX= 504, 0.20,-0.855, 0.910,-1.268,-0.147, PHS=-0.606, 1.101,-1.166, RAW= 343.7, 6.6, CAL= 343.5, 5.8, ROT= 166.5, -5.8 2025-10-27T05:25:34.006Z,1761542734.006 [DAT](INFO): got valid direction response: 05:25:32.6572 LVL= 32032, 24145, 27762, 28003, AGC= 59, IDX= 504, 0.20,-0.855, 0.910,-1.268,-0.147, PHS=-0.606, 1.101,-1.166, RAW= 343.7, 6.6, CAL= 343.5, 5.8, ROT= 166.5, -5.8 2025-10-27T05:25:34.007Z,1761542734.007 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:25:34.008Z,1761542734.008 [DAT](INFO): direction in FSK: [-0.967392,0.232250,0.101056] 2025-10-27T05:25:34.008Z,1761542734.008 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:34.012Z,1761542734.012 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.115615 2025-10-27T05:25:34.212Z,1761542734.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779722,0.625904,0.016696],[-0.625997,-0.778740,-0.041147],[-0.012752,-0.042535,0.999014]] 2025-10-27T05:25:34.248Z,1761542734.248 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.351488 2025-10-27T05:25:34.290Z,1761542734.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.504051 s, deltaX: 0.100000 m, approachRate: 0.198392 m/s, rangeRepo size: 4 2025-10-27T05:25:34.314Z,1761542734.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.475217 m, bearing: 25.013419 deg, lat: 36.779352 deg, lon: -121.859688 deg, deltaT: 0.504051 s, deltaX: 0.099430 m, approachRate: 0.197262 m/s, posRepo size: 4 2025-10-27T05:25:34.501Z,1761542734.501 [DAT](INFO): DAT read: Rx Time:05:25:33.1577 2025-10-27T05:25:34.502Z,1761542734.502 [DAT](INFO): Rx dataTimestamp_ set to:1761542734.501281 2025-10-27T05:25:34.503Z,1761542734.503 [DAT](INFO): DAT read: Bearing 188.3, 22.0 (Local) 2025-10-27T05:25:34.503Z,1761542734.503 [DAT](INFO): Local bearing/azimuth received: Bearing 188.3, 22.0 (Local) 2025-10-27T05:25:34.505Z,1761542734.505 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 2025-10-27T05:25:34.510Z,1761542734.510 [DAT](INFO): DAT read: 05:25:33.1577 LVL= 23504, 16513, 25746, 24563, AGC= 59, IDX= 507, 0.08, 2.018,-2.694, 1.270, 2.246, PHS=-0.126, 1.388,-1.020, RAW= 351.5, -2.3, CAL= 351.1, -5.3, ROT= 158.9, 5.3 2025-10-27T05:25:34.512Z,1761542734.512 [DAT](INFO): got valid direction response: 05:25:33.1577 LVL= 23504, 16513, 25746, 24563, AGC= 59, IDX= 507, 0.08, 2.018,-2.694, 1.270, 2.246, PHS=-0.126, 1.388,-1.020, RAW= 351.5, -2.3, CAL= 351.1, -5.3, ROT= 158.9, 5.3 2025-10-27T05:25:34.512Z,1761542734.512 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:25:34.513Z,1761542734.513 [DAT](INFO): direction in FSK: [-0.928965,0.358458,-0.092371] 2025-10-27T05:25:34.513Z,1761542734.513 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:34.517Z,1761542734.517 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.620434 2025-10-27T05:25:34.570Z,1761542734.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767494,0.641010,0.007732],[-0.640884,-0.766952,-0.032461],[-0.014878,-0.029869,0.999443]] 2025-10-27T05:25:34.633Z,1761542734.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504617 s, deltaX: 0.800000 m, approachRate: 1.585361 m/s, rangeRepo size: 4 2025-10-27T05:25:34.645Z,1761542734.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.270812 m, bearing: 18.949312 deg, lat: 36.779355 deg, lon: -121.859690 deg, deltaT: 0.504617 s, deltaX: 0.795595 m, approachRate: 1.576631 m/s, posRepo size: 4 2025-10-27T05:25:34.753Z,1761542734.753 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.856531 2025-10-27T05:25:34.975Z,1761542734.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754734,0.656029,-0.001285],[-0.655814,-0.754534,-0.024209],[-0.016851,-0.017429,0.999706]] 2025-10-27T05:25:34.992Z,1761542734.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:35.005Z,1761542735.005 [DAT](INFO): DAT read: Rx Time:05:25:33.6577 2025-10-27T05:25:35.005Z,1761542735.005 [DAT](INFO): Rx dataTimestamp_ set to:1761542735.004798 2025-10-27T05:25:35.006Z,1761542735.006 [DAT](INFO): DAT read: Bearing 183.2, 12.5 (Local) 2025-10-27T05:25:35.007Z,1761542735.007 [DAT](INFO): Local bearing/azimuth received: Bearing 183.2, 12.5 (Local) 2025-10-27T05:25:35.009Z,1761542735.009 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 2025-10-27T05:25:35.013Z,1761542735.013 [DAT](INFO): DAT read: 05:25:33.6577 LVL= 19440, 18065, 29138, 29923, AGC= 58, IDX= 507,-0.00,-0.106, 1.417,-0.372, 0.451, PHS=-0.455, 1.011,-0.868, RAW= 342.0, 3.7, CAL= 341.6, 1.3, ROT= 168.4, -1.3 2025-10-27T05:25:35.014Z,1761542735.014 [DAT](INFO): got valid direction response: 05:25:33.6577 LVL= 19440, 18065, 29138, 29923, AGC= 58, IDX= 507,-0.00,-0.106, 1.417,-0.372, 0.451, PHS=-0.455, 1.011,-0.868, RAW= 342.0, 3.7, CAL= 341.6, 1.3, ROT= 168.4, -1.3 2025-10-27T05:25:35.016Z,1761542735.016 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:25:35.016Z,1761542735.016 [DAT](INFO): direction in FSK: [-0.979323,0.201026,0.022687] 2025-10-27T05:25:35.017Z,1761542735.017 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:35.029Z,1761542735.029 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.132039 2025-10-27T05:25:35.256Z,1761542735.256 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.359505 2025-10-27T05:25:35.434Z,1761542735.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.503517 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:35.437Z,1761542735.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.270930 m, bearing: 29.362651 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 0.503517 s, deltaX: 0.000118 m, approachRate: 0.000235 m/s, posRepo size: 4 2025-10-27T05:25:35.509Z,1761542735.509 [DAT](INFO): DAT read: Rx Time:05:25:34.1578 2025-10-27T05:25:35.509Z,1761542735.509 [DAT](INFO): Rx dataTimestamp_ set to:1761542735.508993 2025-10-27T05:25:35.511Z,1761542735.511 [DAT](INFO): DAT read: Bearing 180.2, 11.4 (Local) 2025-10-27T05:25:35.511Z,1761542735.511 [DAT](INFO): Local bearing/azimuth received: Bearing 180.2, 11.4 (Local) 2025-10-27T05:25:35.513Z,1761542735.513 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 2025-10-27T05:25:35.525Z,1761542735.525 [DAT](INFO): DAT read: 05:25:34.1578 LVL= 30432, 17969, 32466, 32755, AGC= 58, IDX= 508, 0.42, 1.005, 2.630, 0.765, 1.694, PHS=-0.588, 0.980,-0.974, RAW= 340.7, 6.5, CAL= 340.5, 5.8, ROT= 169.5, -5.8 2025-10-27T05:25:35.526Z,1761542735.526 [DAT](INFO): got valid direction response: 05:25:34.1578 LVL= 30432, 17969, 32466, 32755, AGC= 58, IDX= 508, 0.42, 1.005, 2.630, 0.765, 1.694, PHS=-0.588, 0.980,-0.974, RAW= 340.7, 6.5, CAL= 340.5, 5.8, ROT= 169.5, -5.8 2025-10-27T05:25:35.526Z,1761542735.526 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:25:35.536Z,1761542735.536 [DAT](INFO): direction in FSK: [-0.978221,0.181303,0.101056] 2025-10-27T05:25:35.536Z,1761542735.536 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:35.554Z,1761542735.554 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.656981 2025-10-27T05:25:35.760Z,1761542735.760 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.863413 2025-10-27T05:25:35.806Z,1761542735.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727122,0.686324,-0.015896],[-0.686187,-0.727295,-0.013745],[-0.020995,0.000913,0.999779]] 2025-10-27T05:25:35.865Z,1761542735.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504195 s, deltaX: 0.100000 m, approachRate: 0.198336 m/s, rangeRepo size: 4 2025-10-27T05:25:35.867Z,1761542735.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.370381 m, bearing: 32.821588 deg, lat: 36.779358 deg, lon: -121.859693 deg, deltaT: 0.504195 s, deltaX: 0.099452 m, approachRate: 0.197248 m/s, posRepo size: 4 2025-10-27T05:25:36.013Z,1761542736.013 [DAT](INFO): DAT read: Rx Time:05:25:34.6579 2025-10-27T05:25:36.013Z,1761542736.013 [DAT](INFO): Rx dataTimestamp_ set to:1761542736.012756 2025-10-27T05:25:36.014Z,1761542736.014 [DAT](INFO): DAT read: Bearing 183.3, 19.7 (Local) 2025-10-27T05:25:36.015Z,1761542736.015 [DAT](INFO): Local bearing/azimuth received: Bearing 183.3, 19.7 (Local) 2025-10-27T05:25:36.017Z,1761542736.017 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed -0.4 2025-10-27T05:25:36.021Z,1761542736.021 [DAT](INFO): DAT read: 05:25:34.6579 LVL= 32752, 21089, 32530, 32755, AGC= 57, IDX= 509, 0.03,-1.361, 0.146,-1.926,-0.835, PHS=-0.424, 1.026,-1.135, RAW= 348.8, 5.6, CAL= 348.6, 4.2, ROT= 161.4, -4.2 2025-10-27T05:25:36.023Z,1761542736.023 [DAT](INFO): got valid direction response: 05:25:34.6579 LVL= 32752, 21089, 32530, 32755, AGC= 57, IDX= 509, 0.03,-1.361, 0.146,-1.926,-0.835, PHS=-0.424, 1.026,-1.135, RAW= 348.8, 5.6, CAL= 348.6, 4.2, ROT= 161.4, -4.2 2025-10-27T05:25:36.023Z,1761542736.023 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:25:36.024Z,1761542736.024 [DAT](INFO): direction in FSK: [-0.945223,0.318103,0.073238] 2025-10-27T05:25:36.024Z,1761542736.024 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:36.028Z,1761542736.028 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.131601 2025-10-27T05:25:36.250Z,1761542736.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712669,0.701228,-0.019561],[-0.701126,-0.712923,-0.012790],[-0.022914,0.004600,0.999727]] 2025-10-27T05:25:36.264Z,1761542736.264 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.367569 2025-10-27T05:25:36.373Z,1761542736.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503763 s, deltaX: 0.200000 m, approachRate: 0.397012 m/s, rangeRepo size: 4 2025-10-27T05:25:36.375Z,1761542736.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.569259 m, bearing: 25.914792 deg, lat: 36.779359 deg, lon: -121.859696 deg, deltaT: 0.503763 s, deltaX: 0.198877 m, approachRate: 0.394784 m/s, posRepo size: 4 2025-10-27T05:25:36.517Z,1761542736.517 [DAT](INFO): DAT read: Rx Time:05:25:35.1582 2025-10-27T05:25:36.517Z,1761542736.517 [DAT](INFO): Rx dataTimestamp_ set to:1761542736.517023 2025-10-27T05:25:36.519Z,1761542736.519 [DAT](INFO): DAT read: Bearing 172.5, 20.9 (Local) 2025-10-27T05:25:36.519Z,1761542736.519 [DAT](INFO): Local bearing/azimuth received: Bearing 172.5, 20.9 (Local) 2025-10-27T05:25:36.521Z,1761542736.521 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-27T05:25:36.526Z,1761542736.526 [DAT](INFO): DAT read: 05:25:35.1582 LVL= 26288, 20849, 32754, 32755, AGC= 57, IDX= 512,-0.26, 1.235, 2.909, 0.521, 2.059, PHS=-0.722, 0.895,-1.582, RAW= 350.0, 12.9, CAL= 350.4, 15.6, ROT= 159.6, -15.6 2025-10-27T05:25:36.535Z,1761542736.535 [DAT](INFO): got valid direction response: 05:25:35.1582 LVL= 26288, 20849, 32754, 32755, AGC= 57, IDX= 512,-0.26, 1.235, 2.909, 0.521, 2.059, PHS=-0.722, 0.895,-1.582, RAW= 350.0, 12.9, CAL= 350.4, 15.6, ROT= 159.6, -15.6 2025-10-27T05:25:36.536Z,1761542736.536 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:25:36.537Z,1761542736.537 [DAT](INFO): direction in FSK: [-0.902755,0.335731,0.268920] 2025-10-27T05:25:36.538Z,1761542736.538 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:36.556Z,1761542736.556 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.658364 2025-10-27T05:25:36.596Z,1761542736.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698365,0.715452,-0.020382],[-0.715323,-0.698647,-0.014319],[-0.024485,0.004580,0.999690]] 2025-10-27T05:25:36.674Z,1761542736.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504267 s, deltaX: 0.400000 m, approachRate: 0.793231 m/s, rangeRepo size: 4 2025-10-27T05:25:36.680Z,1761542736.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.967063 m, bearing: 25.212701 deg, lat: 36.779359 deg, lon: -121.859696 deg, deltaT: 0.504267 s, deltaX: 0.397804 m, approachRate: 0.788876 m/s, posRepo size: 4 2025-10-27T05:25:36.769Z,1761542736.769 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.871816 2025-10-27T05:25:36.990Z,1761542736.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684336,0.728878,-0.020543],[-0.728700,-0.684634,-0.016492],[-0.026085,0.003683,0.999653]] 2025-10-27T05:25:37.021Z,1761542737.021 [DAT](INFO): DAT read: Rx Time:05:25:35.6582 2025-10-27T05:25:37.021Z,1761542737.021 [DAT](INFO): Rx dataTimestamp_ set to:1761542737.020824 2025-10-27T05:25:37.022Z,1761542737.022 [DAT](INFO): DAT read: Bearing 165.7, 7.0 (Local) 2025-10-27T05:25:37.023Z,1761542737.023 [DAT](INFO): Local bearing/azimuth received: Bearing 165.7, 7.0 (Local) 2025-10-27T05:25:37.025Z,1761542737.025 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-27T05:25:37.030Z,1761542737.030 [DAT](INFO): DAT read: 05:25:35.6582 LVL= 30576, 28913, 32754, 32755, AGC= 59, IDX= 512, 0.10, 1.854,-3.020, 1.819, 2.843, PHS=-0.888, 0.465,-1.068, RAW= 336.2, 20.0, CAL= 336.1, 24.6, ROT= 173.9, -24.6 2025-10-27T05:25:37.031Z,1761542737.031 [DAT](INFO): got valid direction response: 05:25:35.6582 LVL= 30576, 28913, 32754, 32755, AGC= 59, IDX= 512, 0.10, 1.854,-3.020, 1.819, 2.843, PHS=-0.888, 0.465,-1.068, RAW= 336.2, 20.0, CAL= 336.1, 24.6, ROT= 173.9, -24.6 2025-10-27T05:25:37.031Z,1761542737.031 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:25:37.032Z,1761542737.032 [DAT](INFO): direction in FSK: [-0.904088,0.096619,0.416281] 2025-10-27T05:25:37.033Z,1761542737.033 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:37.036Z,1761542737.036 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.139986 2025-10-27T05:25:37.066Z,1761542737.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503801 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:37.073Z,1761542737.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.967063 m, bearing: 40.719882 deg, lat: 36.779359 deg, lon: -121.859693 deg, deltaT: 0.503801 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:25:37.272Z,1761542737.272 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.375713 2025-10-27T05:25:37.495Z,1761542737.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:37.525Z,1761542737.525 [DAT](INFO): DAT read: Rx Time:05:25:36.1583 2025-10-27T05:25:37.525Z,1761542737.525 [DAT](INFO): Rx dataTimestamp_ set to:1761542737.525165 2025-10-27T05:25:37.540Z,1761542737.540 [DAT](INFO): DAT read: Bearing 186.2, 11.7 (Local) 2025-10-27T05:25:37.540Z,1761542737.540 [DAT](INFO): Local bearing/azimuth received: Bearing 186.2, 11.7 (Local) 2025-10-27T05:25:37.543Z,1761542737.543 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-27T05:25:37.562Z,1761542737.562 [DAT](INFO): DAT read: 05:25:36.1583 LVL= 25920, 17169, 30562, 32755, AGC= 59, IDX= 3,-0.13,-2.859,-1.148,-3.110,-2.137, PHS=-0.620, 1.034,-1.018, RAW= 340.5, 6.5, CAL= 340.3, 5.7, ROT= 169.7, -5.7 2025-10-27T05:25:37.580Z,1761542737.580 [DAT](INFO): got valid direction response: 05:25:36.1583 LVL= 25920, 17169, 30562, 32755, AGC= 59, IDX= 3,-0.13,-2.859,-1.148,-3.110,-2.137, PHS=-0.620, 1.034,-1.018, RAW= 340.5, 6.5, CAL= 340.3, 5.7, ROT= 169.7, -5.7 2025-10-27T05:25:37.581Z,1761542737.581 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:25:37.582Z,1761542737.582 [DAT](INFO): direction in FSK: [-0.979020,0.177918,0.099320] 2025-10-27T05:25:37.582Z,1761542737.582 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:37.597Z,1761542737.597 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.700624 2025-10-27T05:25:37.776Z,1761542737.776 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.879522 2025-10-27T05:25:37.856Z,1761542737.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657791,0.753072,-0.013947],[-0.752685,-0.657912,-0.024830],[-0.027875,-0.005835,0.999594]] 2025-10-27T05:25:37.880Z,1761542737.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504341 s, deltaX: 0.200000 m, approachRate: 0.396557 m/s, rangeRepo size: 4 2025-10-27T05:25:37.882Z,1761542737.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.165977 m, bearing: 38.483970 deg, lat: 36.779356 deg, lon: -121.859690 deg, deltaT: 0.504341 s, deltaX: 0.198915 m, approachRate: 0.394405 m/s, posRepo size: 4 2025-10-27T05:25:38.030Z,1761542738.030 [DAT](INFO): DAT read: Rx Time:05:25:36.6584 2025-10-27T05:25:38.030Z,1761542738.030 [DAT](INFO): Rx dataTimestamp_ set to:1761542738.030036 2025-10-27T05:25:38.032Z,1761542738.032 [DAT](INFO): DAT read: Bearing 190.5, 14.6 (Local) 2025-10-27T05:25:38.033Z,1761542738.033 [DAT](INFO): Local bearing/azimuth received: Bearing 190.5, 14.6 (Local) 2025-10-27T05:25:38.035Z,1761542738.035 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-27T05:25:38.040Z,1761542738.040 [DAT](INFO): DAT read: 05:25:36.6584 LVL= 25328, 20961, 32754, 32755, AGC= 55, IDX= 499, 0.49, 2.572,-2.047, 2.197,-3.107, PHS=-0.503, 1.104,-1.023, RAW= 343.6, 4.4, CAL= 343.2, 2.4, ROT= 166.8, -2.4 2025-10-27T05:25:38.041Z,1761542738.041 [DAT](INFO): got valid direction response: 05:25:36.6584 LVL= 25328, 20961, 32754, 32755, AGC= 55, IDX= 499, 0.49, 2.572,-2.047, 2.197,-3.107, PHS=-0.503, 1.104,-1.023, RAW= 343.6, 4.4, CAL= 343.2, 2.4, ROT= 166.8, -2.4 2025-10-27T05:25:38.042Z,1761542738.042 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T05:25:38.043Z,1761542738.043 [DAT](INFO): direction in FSK: [-0.972725,0.228150,0.041876] 2025-10-27T05:25:38.043Z,1761542738.043 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:38.047Z,1761542738.047 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.150120 2025-10-27T05:25:38.280Z,1761542738.280 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.383574 2025-10-27T05:25:38.287Z,1761542738.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645191,0.763950,-0.010479],[-0.763506,-0.645198,-0.027901],[-0.028076,-0.010000,0.999556]] 2025-10-27T05:25:38.386Z,1761542738.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504871 s, deltaX: 0.100000 m, approachRate: 0.198071 m/s, rangeRepo size: 4 2025-10-27T05:25:38.388Z,1761542738.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.265417 m, bearing: 36.558573 deg, lat: 36.779352 deg, lon: -121.859687 deg, deltaT: 0.504871 s, deltaX: 0.099439 m, approachRate: 0.196960 m/s, posRepo size: 4 2025-10-27T05:25:38.532Z,1761542738.532 [DAT](INFO): DAT read: Rx Time:05:25:37.1587 2025-10-27T05:25:38.533Z,1761542738.533 [DAT](INFO): Rx dataTimestamp_ set to:1761542738.532523 2025-10-27T05:25:38.534Z,1761542738.534 [DAT](INFO): DAT read: Bearing 192.6, 17.9 (Local) 2025-10-27T05:25:38.534Z,1761542738.534 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 17.9 (Local) 2025-10-27T05:25:38.537Z,1761542738.537 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4.204, PHS=-0.413, 1.108,-1.058, RAW= 346.8, 3.8, CAL= 346.4, 1.3, ROT= 163.6, -1.3 2025-10-27T05:25:38.538Z,1761542738.538 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-27T05:25:38.539Z,1761542738.539 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.642649 2025-10-27T05:25:38.784Z,1761542738.784 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.887442 2025-10-27T05:25:38.860Z,1761542738.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.502487 s, deltaX: 0.500000 m, approachRate: 0.995051 m/s, rangeRepo size: 4 2025-10-27T05:25:39.037Z,1761542739.037 [DAT](INFO): DAT read: Rx Time:05:25:37.6587 2025-10-27T05:25:39.037Z,1761542739.037 [DAT](INFO): Rx dataTimestamp_ set to:1761542739.036868 2025-10-27T05:25:39.038Z,1761542739.038 [DAT](INFO): DAT read: Bearing 193.9, 19.9 (Local) 2025-10-27T05:25:39.039Z,1761542739.039 [DAT](INFO): Local bearing/azimuth received: Bearing 193.9, 19.9 (Local) 2025-10-27T05:25:39.041Z,1761542739.041 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4 2025-10-27T05:25:39.045Z,1761542739.045 [DAT](INFO): DAT read: 05:25:37.6587 LVL= 22128, 20577, 32754, 32755, AGC= 54, IDX= 503,-0.18, 0.435, 1.957,-0.137, 0.902, PHS=-0.365, 1.099,-1.083, RAW= 348.8, 3.7, CAL= 348.4, 1.0, ROT= 161.6, -1.0 2025-10-27T05:25:39.046Z,1761542739.046 [DAT](INFO): got valid direction response: 05:25:37.6587 LVL= 22128, 20577, 32754, 32755, AGC= 54, IDX= 503,-0.18, 0.435, 1.957,-0.137, 0.902, PHS=-0.365, 1.099,-1.083, RAW= 348.8, 3.7, CAL= 348.4, 1.0, ROT= 161.6, -1.0 2025-10-27T05:25:39.047Z,1761542739.047 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T05:25:39.048Z,1761542739.048 [DAT](INFO): direction in FSK: [-0.948732,0.315601,0.017452] 2025-10-27T05:25:39.048Z,1761542739.048 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:39.052Z,1761542739.052 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.155363 2025-10-27T05:25:39.107Z,1761542739.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622184,0.782857,-0.004717],[-0.782367,-0.621988,-0.032153],[-0.028105,-0.016315,0.999472]] 2025-10-27T05:25:39.180Z,1761542739.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504345 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:39.196Z,1761542739.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.762672 m, bearing: 33.079991 deg, lat: 36.779352 deg, lon: -121.859687 deg, deltaT: 1.006832 s, deltaX: 0.497255 m, approachRate: 0.493881 m/s, posRepo size: 4 2025-10-27T05:25:39.291Z,1761542739.291 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.394175 2025-10-27T05:25:39.541Z,1761542739.541 [DAT](INFO): DAT read: Rx Time:05:25:38.1589 2025-10-27T05:25:39.541Z,1761542739.541 [DAT](INFO): Rx dataTimestamp_ set to:1761542739.540734 2025-10-27T05:25:39.542Z,1761542739.542 [DAT](INFO): DAT read: Bearing 192.5, 21.7 (Local) 2025-10-27T05:25:39.543Z,1761542739.543 [DAT](INFO): Local bearing/azimuth received: Bearing 192.5, 21.7 (Local) 2025-10-27T05:25:39.545Z,1761542739.545 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-27T05:25:39.549Z,1761542739.549 [DAT](INFO): DAT read: 05:25:38.1589 LVL= 22288, 21041, 32754, 32755, AGC= 54, IDX= 504, 0.33, 2.940,-1.902, 2.318,-2.878, PHS=-0.364, 1.021,-1.131, RAW= 350.6, 5.1, CAL= 350.3, 3.2, ROT= 159.7, -3.2 2025-10-27T05:25:39.551Z,1761542739.551 [DAT](INFO): got valid direction response: 05:25:38.1589 LVL= 22288, 21041, 32754, 32755, AGC= 54, IDX= 504, 0.33, 2.940,-1.902, 2.318,-2.878, PHS=-0.364, 1.021,-1.131, RAW= 350.6, 5.1, CAL= 350.3, 3.2, ROT= 159.7, -3.2 2025-10-27T05:25:39.551Z,1761542739.551 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:25:39.552Z,1761542739.552 [DAT](INFO): direction in FSK: [-0.936427,0.346395,0.055822] 2025-10-27T05:25:39.552Z,1761542739.552 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:39.560Z,1761542739.560 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.663473 2025-10-27T05:25:39.655Z,1761542739.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503866 s, deltaX: 0.300000 m, approachRate: 0.595396 m/s, rangeRepo size: 4 2025-10-27T05:25:39.657Z,1761542739.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.061166 m, bearing: 31.124137 deg, lat: 36.779352 deg, lon: -121.859687 deg, deltaT: 0.503866 s, deltaX: 0.298494 m, approachRate: 0.592407 m/s, posRepo size: 4 2025-10-27T05:25:39.796Z,1761542739.796 [DAT](INFO): DAT read: Rx Time:05:25:38.6589 2025-10-27T05:25:39.798Z,1761542739.798 [DAT](INFO): Rx dataTimestamp_ set to:1761542739.797009 2025-10-27T05:25:39.800Z,1761542739.800 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.903334 2025-10-27T05:25:39.968Z,1761542739.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592900,0.805263,0.004737],[-0.804837,-0.592372,-0.036512],[-0.026595,-0.025460,0.999322]] 2025-10-27T05:25:40.032Z,1761542740.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:40.045Z,1761542740.045 [DAT](INFO): DAT read: Bearing 191.6, 21.1 (Local) 2025-10-27T05:25:40.045Z,1761542740.045 [DAT](INFO): Local bearing/azimuth received: Bearing 191.6, 21.1 (Local) 2025-10-27T05:25:40.047Z,1761542740.047 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-27T05:25:40.052Z,1761542740.052 [DAT](INFO): DAT read: 05:25:38.6589 LVL= 22432, 22145, 32754, 32755, AGC= 54, IDX= 505, 0.02, 1.695, 3.137, 1.107, 2.204, PHS=-0.407, 0.978,-1.141, RAW= 349.9, 6.2, CAL= 349.8, 5.0, ROT= 160.2, -5.0 2025-10-27T05:25:40.053Z,1761542740.053 [DAT](INFO): got valid direction response: 05:25:38.6589 LVL= 22432, 22145, 32754, 32755, AGC= 54, IDX= 505, 0.02, 1.695, 3.137, 1.107, 2.204, PHS=-0.407, 0.978,-1.141, RAW= 349.9, 6.2, CAL= 349.8, 5.0, ROT= 160.2, -5.0 2025-10-27T05:25:40.053Z,1761542740.053 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T05:25:40.054Z,1761542740.054 [DAT](INFO): direction in FSK: [-0.937300,0.337449,0.087156] 2025-10-27T05:25:40.055Z,1761542740.055 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:40.058Z,1761542740.058 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.161861 2025-10-27T05:25:40.300Z,1761542740.300 [DAT](INFO): DAT read: Rx Time:05:25:39.1592 2025-10-27T05:25:40.302Z,1761542740.302 [DAT](INFO): Rx dataTimestamp_ set to:1761542740.301152 2025-10-27T05:25:40.305Z,1761542740.305 [DAT](INFO): DAT read: Bearing 191.8, 20.0 (Local) 2025-10-27T05:25:40.306Z,1761542740.306 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 20.0 (Local) 2025-10-27T05:25:40.309Z,1761542740.309 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.411602 2025-10-27T05:25:40.369Z,1761542740.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584797,0.811119,0.009915],[-0.810767,-0.584065,-0.039059],[-0.025890,-0.030881,0.999188]] 2025-10-27T05:25:40.461Z,1761542740.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502774 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:40.467Z,1761542740.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.061367 m, bearing: 34.215495 deg, lat: 36.779353 deg, lon: -121.859690 deg, deltaT: 0.502774 s, deltaX: 0.000201 m, approachRate: 0.000400 m/s, posRepo size: 4 2025-10-27T05:25:40.550Z,1761542740.550 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 2025-10-27T05:25:40.555Z,1761542740.555 [DAT](INFO): DAT read: 05:25:39.1592 LVL= 22304, 23009, 32754, 32755, AGC= 53, IDX= 508,-0.21, 1.766,-3.060, 1.222, 2.303, PHS=-0.435, 0.966,-1.124, RAW= 348.9, 6.5, CAL= 348.7, 5.5, ROT= 161.3, -5.5 2025-10-27T05:25:40.557Z,1761542740.557 [DAT](INFO): got valid direction response: 05:25:39.1592 LVL= 22304, 23009, 32754, 32755, AGC= 53, IDX= 508,-0.21, 1.766,-3.060, 1.222, 2.303, PHS=-0.435, 0.966,-1.124, RAW= 348.9, 6.5, CAL= 348.7, 5.5, ROT= 161.3, -5.5 2025-10-27T05:25:40.557Z,1761542740.557 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T05:25:40.559Z,1761542740.559 [DAT](INFO): direction in FSK: [-0.942850,0.319137,0.095846] 2025-10-27T05:25:40.560Z,1761542740.560 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:40.565Z,1761542740.565 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.668613 2025-10-27T05:25:40.774Z,1761542740.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577130,0.816498,0.015865],[-0.816264,-0.576148,-0.042035],[-0.025180,-0.037210,0.998990]] 2025-10-27T05:25:40.803Z,1761542740.803 [DAT](INFO): DAT read: Rx Time:05:25:39.6593 2025-10-27T05:25:40.805Z,1761542740.805 [DAT](INFO): Rx dataTimestamp_ set to:1761542740.803971 2025-10-27T05:25:40.809Z,1761542740.809 [DAT](INFO): DAT read: Bearing 190.1, 19.3 (Local) 2025-10-27T05:25:40.810Z,1761542740.810 [DAT](INFO): Local bearing/azimuth received: Bearing 190.1, 19.3 (Local) 2025-10-27T05:25:40.812Z,1761542740.812 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.915085 2025-10-27T05:25:40.858Z,1761542740.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504133 s, deltaX: 0.400000 m, approachRate: 0.793442 m/s, rangeRepo size: 4 2025-10-27T05:25:40.868Z,1761542740.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.459191 m, bearing: 35.810962 deg, lat: 36.779353 deg, lon: -121.859690 deg, deltaT: 0.504133 s, deltaX: 0.397824 m, approachRate: 0.789125 m/s, posRepo size: 4 2025-10-27T05:25:41.053Z,1761542741.053 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 2025-10-27T05:25:41.058Z,1761542741.058 [DAT](INFO): DAT read: 05:25:39.6593 LVL= 27488, 25649, 32754, 32755, AGC= 54, IDX= 508, 0.38, 2.584,-2.255, 2.076,-3.117, PHS=-0.480, 0.907,-1.135, RAW= 348.3, 7.9, CAL= 348.3, 7.7, ROT= 161.7, -7.7 2025-10-27T05:25:41.060Z,1761542741.060 [DAT](INFO): got valid direction response: 05:25:39.6593 LVL= 27488, 25649, 32754, 32755, AGC= 54, IDX= 508, 0.38, 2.584,-2.255, 2.076,-3.117, PHS=-0.480, 0.907,-1.135, RAW= 348.3, 7.9, CAL= 348.3, 7.7, ROT= 161.7, -7.7 2025-10-27T05:25:41.060Z,1761542741.060 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:25:41.061Z,1761542741.061 [DAT](INFO): direction in FSK: [-0.940865,0.311161,0.133986] 2025-10-27T05:25:41.061Z,1761542741.061 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:41.071Z,1761542741.071 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.174726 2025-10-27T05:25:41.178Z,1761542741.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570730,0.820857,0.021467],[-0.820773,-0.569502,-0.044718],[-0.024482,-0.043141,0.998769]] 2025-10-27T05:25:41.223Z,1761542741.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.503712 s, deltaX: 0.200000 m, approachRate: 0.397052 m/s, rangeRepo size: 4 2025-10-27T05:25:41.225Z,1761542741.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.657727 m, bearing: 36.526332 deg, lat: 36.779353 deg, lon: -121.859690 deg, deltaT: 0.503712 s, deltaX: 0.198536 m, approachRate: 0.394146 m/s, posRepo size: 4 2025-10-27T05:25:41.308Z,1761542741.308 [DAT](INFO): DAT read: Rx Time:05:25:40.1596 2025-10-27T05:25:41.309Z,1761542741.309 [DAT](INFO): Rx dataTimestamp_ set to:1761542741.308283 2025-10-27T05:25:41.313Z,1761542741.313 [DAT](INFO): DAT read: Bearing 190.3, 19.0 (Local) 2025-10-27T05:25:41.314Z,1761542741.314 [DAT](INFO): Local bearing/azimuth received: Bearing 190.3, 19.0 (Local) 2025-10-27T05:25:41.320Z,1761542741.320 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.5 2025-10-27T05:25:41.323Z,1761542741.323 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-27T05:25:41.342Z,1761542741.342 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.445091 2025-10-27T05:25:41.560Z,1761542741.560 [DAT](INFO): DAT read: 05:25:40.1596 LVL= 25056, 24545, 32754, 32755, AGC= 53, IDX= 511, 0.18,-2.246,-0.805,-2.749,-1.657, PHS=-0.487, 0.897,-1.135, RAW= 348.2, 8.1, CAL= 348.2, 8.1, ROT= 161.8, -8.1 2025-10-27T05:25:41.561Z,1761542741.561 [DAT](INFO): got valid direction response: 05:25:40.1596 LVL= 25056, 24545, 32754, 32755, AGC= 53, IDX= 511, 0.18,-2.246,-0.805,-2.749,-1.657, PHS=-0.487, 0.897,-1.135, RAW= 348.2, 8.1, CAL= 348.2, 8.1, ROT= 161.8, -8.1 2025-10-27T05:25:41.561Z,1761542741.561 [DAT](INFO): #Rx 38: Read direction message, but no range. 2025-10-27T05:25:41.562Z,1761542741.562 [DAT](INFO): direction in FSK: [-0.940495,0.309219,0.140901] 2025-10-27T05:25:41.566Z,1761542741.566 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.669369 2025-10-27T05:25:41.584Z,1761542741.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566152,0.823870,0.026664],[-0.823962,-0.564695,-0.046980],[-0.023648,-0.048567,0.998540]] 2025-10-27T05:25:41.709Z,1761542741.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.256930 s, deltaX: 0.400001 m, approachRate: 1.556846 m/s, rangeRepo size: 4 2025-10-27T05:25:41.716Z,1761542741.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.055532 m, bearing: 36.891503 deg, lat: 36.779353 deg, lon: -121.859689 deg, deltaT: 0.256930 s, deltaX: 0.397805 m, approachRate: 1.548300 m/s, posRepo size: 4 2025-10-27T05:25:41.812Z,1761542741.812 [DAT](INFO): DAT read: Rx Time:05:25:40.6596 2025-10-27T05:25:41.814Z,1761542741.814 [DAT](INFO): Rx dataTimestamp_ set to:1761542741.813129 2025-10-27T05:25:41.818Z,1761542741.818 [DAT](INFO): DAT read: Bearing 185.1, 24.3 (Local) 2025-10-27T05:25:41.819Z,1761542741.819 [DAT](INFO): Local bearing/azimuth received: Bearing 185.1, 24.3 (Local) 2025-10-27T05:25:41.837Z,1761542741.837 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.5 2025-10-27T05:25:41.848Z,1761542741.848 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-27T05:25:41.849Z,1761542741.849 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.952513 2025-10-27T05:25:42.064Z,1761542742.064 [DAT](INFO): DAT read: 05:25:40.6596 LVL= 24496, 24385, 32754, 32755, AGC= 54, IDX= 512, 0.07,-1.336,-0.032,-2.055,-0.769, PHS=-0.466, 0.782,-1.330, RAW= 354.0, 11.0, CAL= 354.3, 12.7, ROT= 155.7, -12.7 2025-10-27T05:25:42.065Z,1761542742.065 [DAT](INFO): got valid direction response: 05:25:40.6596 LVL= 24496, 24385, 32754, 32755, AGC= 54, IDX= 512, 0.07,-1.336,-0.032,-2.055,-0.769, PHS=-0.466, 0.782,-1.330, RAW= 354.0, 11.0, CAL= 354.3, 12.7, ROT= 155.7, -12.7 2025-10-27T05:25:42.065Z,1761542742.065 [DAT](INFO): #Rx 40: Read direction message, but no range. 2025-10-27T05:25:42.066Z,1761542742.066 [DAT](INFO): direction in FSK: [-0.889105,0.401447,0.219846] 2025-10-27T05:25:42.074Z,1761542742.074 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.177296 2025-10-27T05:25:42.125Z,1761542742.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562212,0.826371,0.032080],[-0.826667,-0.560477,-0.049875],[-0.023235,-0.054559,0.998240]] 2025-10-27T05:25:42.189Z,1761542742.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.504846 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:42.195Z,1761542742.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.055532 m, bearing: 30.753827 deg, lat: 36.779353 deg, lon: -121.859689 deg, deltaT: 0.504846 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:25:42.317Z,1761542742.317 [DAT](INFO): DAT read: Rx Time:05:25:41.1599 2025-10-27T05:25:42.322Z,1761542742.322 [DAT](INFO): Rx dataTimestamp_ set to:1761542742.317982 2025-10-27T05:25:42.329Z,1761542742.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:25:42.331Z,1761542742.331 [DAT](INFO): DAT read: Bearing 192.0, 18.8 (Local) 2025-10-27T05:25:42.332Z,1761542742.332 [DAT](INFO): Local bearing/azimuth received: Bearing 192.0, 18.8 (Local) 2025-10-27T05:25:42.346Z,1761542742.346 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.5 2025-10-27T05:25:42.361Z,1761542742.361 [DAT](INFO): DAT read: 05:25:41.1599 LVL= 13184, 12625, 19170, 23667, AGC= 57, IDX= 3,-0.04, 1.844,-2.991, 1.340, 2.419, PHS=-0.473, 0.918,-1.123, RAW= 348.2, 7.6, CAL= 348.1, 7.2, ROT= 161.9, -7.2 2025-10-27T05:25:42.362Z,1761542742.362 [DAT](INFO): got valid direction response: 05:25:41.1599 LVL= 13184, 12625, 19170, 23667, AGC= 57, IDX= 3,-0.04, 1.844,-2.991, 1.340, 2.419, PHS=-0.473, 0.918,-1.123, RAW= 348.2, 7.6, CAL= 348.1, 7.2, ROT= 161.9, -7.2 2025-10-27T05:25:42.362Z,1761542742.362 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:25:42.368Z,1761542742.368 [DAT](INFO): direction in FSK: [-0.943021,0.308227,0.125333] 2025-10-27T05:25:42.368Z,1761542742.368 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:42.382Z,1761542742.382 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.484943 2025-10-27T05:25:42.564Z,1761542742.564 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.667315 2025-10-27T05:25:42.581Z,1761542742.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504853 s, deltaX: 0.500000 m, approachRate: 0.990387 m/s, rangeRepo size: 4 2025-10-27T05:25:42.587Z,1761542742.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.552664 m, bearing: 37.280321 deg, lat: 36.779354 deg, lon: -121.859689 deg, deltaT: 0.504853 s, deltaX: 0.497132 m, approachRate: 0.984707 m/s, posRepo size: 4 2025-10-27T05:25:42.820Z,1761542742.820 [DAT](INFO): DAT read: Rx Time:05:25:41.6600 2025-10-27T05:25:42.822Z,1761542742.822 [DAT](INFO): Rx dataTimestamp_ set to:1761542742.820807 2025-10-27T05:25:42.826Z,1761542742.826 [DAT](INFO): DAT read: Bearing 193.4, 19.1 (Local) 2025-10-27T05:25:42.828Z,1761542742.828 [DAT](INFO): Local bearing/azimuth received: Bearing 193.4, 19.1 (Local) 2025-10-27T05:25:42.848Z,1761542742.848 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.5 2025-10-27T05:25:42.858Z,1761542742.858 [DAT](INFO): DAT read: 05:25:41.6600 LVL= 25264, 24721, 32754, 32755, AGC= 54, IDX= 500,-0.08, 0.255, 1.710,-0.270, 0.804, PHS=-0.447, 0.951,-1.118, RAW= 348.5, 6.8, CAL= 348.4, 6.0, ROT= 161.6, -6.0 2025-10-27T05:25:42.864Z,1761542742.864 [DAT](INFO): got valid direction response: 05:25:41.6600 LVL= 25264, 24721, 32754, 32755, AGC= 54, IDX= 500,-0.08, 0.255, 1.710,-0.270, 0.804, PHS=-0.447, 0.951,-1.118, RAW= 348.5, 6.8, CAL= 348.4, 6.0, ROT= 161.6, -6.0 2025-10-27T05:25:42.864Z,1761542742.864 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:25:42.865Z,1761542742.865 [DAT](INFO): direction in FSK: [-0.943678,0.313920,0.104528] 2025-10-27T05:25:42.865Z,1761542742.865 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:42.873Z,1761542742.873 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.976614 2025-10-27T05:25:42.940Z,1761542742.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554252,0.830721,0.052020],[-0.832025,-0.551211,-0.062457],[-0.023210,-0.077899,0.996691]] 2025-10-27T05:25:43.003Z,1761542743.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.502825 s, deltaX: 0.099999 m, approachRate: 0.198875 m/s, rangeRepo size: 4 2025-10-27T05:25:43.005Z,1761542743.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.652113 m, bearing: 37.499256 deg, lat: 36.779354 deg, lon: -121.859688 deg, deltaT: 0.502825 s, deltaX: 0.099449 m, approachRate: 0.197781 m/s, posRepo size: 4 2025-10-27T05:25:43.069Z,1761542743.069 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.172394 2025-10-27T05:25:43.325Z,1761542743.325 [DAT](INFO): DAT read: Rx Time:05:25:42.1602 2025-10-27T05:25:43.328Z,1761542743.328 [DAT](INFO): Rx dataTimestamp_ set to:1761542743.325913 2025-10-27T05:25:43.333Z,1761542743.333 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:25:43.336Z,1761542743.336 [DAT](INFO): DAT read: Bearing 195.1, 19.4 (Local) 2025-10-27T05:25:43.338Z,1761542743.338 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 19.4 (Local) 2025-10-27T05:25:43.350Z,1761542743.350 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.5 2025-10-27T05:25:43.376Z,1761542743.376 [DAT](INFO): DAT read: 05:25:42.1602 LVL= 24736, 23905, 32754, 32755, AGC= 55, IDX= 502,-0.11,-0.508, 0.961,-1.054, 0.012, PHS=-0.418, 0.994,-1.109, RAW= 348.8, 5.8, CAL= 348.6, 4.4, ROT= 161.4, -4.4 2025-10-27T05:25:43.377Z,1761542743.377 [DAT](INFO): got valid direction response: 05:25:42.1602 LVL= 24736, 23905, 32754, 32755, AGC= 55, IDX= 502,-0.11,-0.508, 0.961,-1.054, 0.012, PHS=-0.418, 0.994,-1.109, RAW= 348.8, 5.8, CAL= 348.6, 4.4, ROT= 161.4, -4.4 2025-10-27T05:25:43.377Z,1761542743.377 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:25:43.378Z,1761542743.378 [DAT](INFO): direction in FSK: [-0.944975,0.318019,0.076719] 2025-10-27T05:25:43.379Z,1761542743.379 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:43.399Z,1761542743.399 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.490362 2025-10-27T05:25:43.410Z,1761542743.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551062,0.832230,0.061031],[-0.834140,-0.547332,-0.068108],[-0.023278,-0.088440,0.995809]] 2025-10-27T05:25:43.520Z,1761542743.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.505106 s, deltaX: 0.300000 m, approachRate: 0.593935 m/s, rangeRepo size: 4 2025-10-27T05:25:43.522Z,1761542743.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.950365 m, bearing: 37.622987 deg, lat: 36.779355 deg, lon: -121.859688 deg, deltaT: 0.505106 s, deltaX: 0.298252 m, approachRate: 0.590474 m/s, posRepo size: 4 2025-10-27T05:25:43.574Z,1761542743.574 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.676699 2025-10-27T05:25:43.828Z,1761542743.828 [DAT](INFO): DAT read: Rx Time:05:25:42.6603 2025-10-27T05:25:43.829Z,1761542743.829 [DAT](INFO): Rx dataTimestamp_ set to:1761542743.828461 2025-10-27T05:25:43.833Z,1761542743.833 [DAT](INFO): DAT read: Bearing 195.0, 18.7 (Local) 2025-10-27T05:25:43.834Z,1761542743.834 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 18.7 (Local) 2025-10-27T05:25:43.839Z,1761542743.839 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.5 2025-10-27T05:25:43.841Z,1761542743.841 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-27T05:25:43.845Z,1761542743.845 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.947517 2025-10-27T05:25:43.909Z,1761542743.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547512,0.833904,0.069527],[-0.836462,-0.543048,-0.073686],[-0.023691,-0.098501,0.994855]] 2025-10-27T05:25:43.950Z,1761542743.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:25:43.957Z,1761542743.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502548 s, deltaX: 0.200000 m, approachRate: 0.397972 m/s, rangeRepo size: 4 2025-10-27T05:25:44.080Z,1761542744.080 [DAT](INFO): DAT read: 05:25:42.6603 LVL= 28880, 25329, 32754, 32755, AGC= 55, IDX= 503,-0.14,-1.666,-0.190,-2.185,-1.132, PHS=-0.432, 0.987,-1.097, RAW= 348.2, 5.9, CAL= 348.0, 4.6, ROT= 162.0, -4.6 2025-10-27T05:25:44.081Z,1761542744.081 [DAT](INFO): got valid direction response: 05:25:42.6603 LVL= 28880, 25329, 32754, 32755, AGC= 55, IDX= 503,-0.14,-1.666,-0.190,-2.185,-1.132, PHS=-0.432, 0.987,-1.097, RAW= 348.2, 5.9, CAL= 348.0, 4.6, ROT= 162.0, -4.6 2025-10-27T05:25:44.081Z,1761542744.081 [DAT](INFO): #Rx 45: Read direction message, but no range. 2025-10-27T05:25:44.082Z,1761542744.082 [DAT](INFO): direction in FSK: [-0.947993,0.308022,0.080199] 2025-10-27T05:25:44.086Z,1761542744.086 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.189238 2025-10-27T05:25:44.271Z,1761542744.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544280,0.835408,0.076508],[-0.838551,-0.539139,-0.078499],[-0.024331,-0.106881,0.993974]] 2025-10-27T05:25:44.334Z,1761542744.334 [DAT](INFO): DAT read: Rx Time:05:25:43.1605 2025-10-27T05:25:44.340Z,1761542744.340 [DAT](INFO): Rx dataTimestamp_ set to:1761542744.338790 2025-10-27T05:25:44.349Z,1761542744.349 [DAT](INFO): DAT read: Bearing 196.3, 18.7 (Local) 2025-10-27T05:25:44.350Z,1761542744.350 [DAT](INFO): Local bearing/azimuth received: Bearing 196.3, 18.7 (Local) 2025-10-27T05:25:44.361Z,1761542744.361 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.5 2025-10-27T05:25:44.370Z,1761542744.370 [DAT](INFO): DAT read: 05:25:43.1605 LVL= 25872, 23265, 32754, 32755, AGC= 56, IDX= 506,-0.12,-1.581,-0.081,-2.104,-1.061, PHS=-0.417, 1.025,-1.087, RAW= 348.1, 5.2, CAL= 347.8, 3.4, ROT= 162.2, -3.4 2025-10-27T05:25:44.380Z,1761542744.380 [DAT](INFO): got valid direction response: 05:25:43.1605 LVL= 25872, 23265, 32754, 32755, AGC= 56, IDX= 506,-0.12,-1.581,-0.081,-2.104,-1.061, PHS=-0.417, 1.025,-1.087, RAW= 348.1, 5.2, CAL= 347.8, 3.4, ROT= 162.2, -3.4 2025-10-27T05:25:44.380Z,1761542744.380 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:25:44.381Z,1761542744.381 [DAT](INFO): direction in FSK: [-0.950453,0.305157,0.059306] 2025-10-27T05:25:44.381Z,1761542744.381 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:44.397Z,1761542744.397 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.500523 2025-10-27T05:25:44.404Z,1761542744.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.510329 s, deltaX: 0.300000 m, approachRate: 0.587856 m/s, rangeRepo size: 4 2025-10-27T05:25:44.406Z,1761542744.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.447577 m, bearing: 38.946559 deg, lat: 36.779355 deg, lon: -121.859688 deg, deltaT: 1.012877 s, deltaX: 0.497211 m, approachRate: 0.490890 m/s, posRepo size: 4 2025-10-27T05:25:44.580Z,1761542744.580 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.683422 2025-10-27T05:25:44.838Z,1761542744.838 [DAT](INFO): DAT read: Rx Time:05:25:43.6606 2025-10-27T05:25:44.840Z,1761542744.840 [DAT](INFO): Rx dataTimestamp_ set to:1761542744.839096 2025-10-27T05:25:44.844Z,1761542744.844 [DAT](INFO): DAT read: Bearing 196.8, 18.7 (Local) 2025-10-27T05:25:44.846Z,1761542744.846 [DAT](INFO): Local bearing/azimuth received: Bearing 196.8, 18.7 (Local) 2025-10-27T05:25:44.848Z,1761542744.848 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.5 2025-10-27T05:25:44.849Z,1761542744.849 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-27T05:25:44.850Z,1761542744.850 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.953419 2025-10-27T05:25:44.945Z,1761542744.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.500306 s, deltaX: 0.100000 m, approachRate: 0.199878 m/s, rangeRepo size: 4 2025-10-27T05:25:45.088Z,1761542745.088 [DAT](INFO): DAT read: 05:25:43.6606 LVL= 24512, 21729, 32754, 32755, AGC= 56, IDX= 507,-0.09,-3.125,-1.611, 2.634,-2.608, PHS=-0.415, 1.042,-1.085, RAW= 348.0, 4.9, CAL= 347.7, 3.0, ROT= 162.3, -3.0 2025-10-27T05:25:45.089Z,1761542745.089 [DAT](INFO): got valid direction response: 05:25:43.6606 LVL= 24512, 21729, 32754, 32755, AGC= 56, IDX= 507,-0.09,-3.125,-1.611, 2.634,-2.608, PHS=-0.415, 1.042,-1.085, RAW= 348.0, 4.9, CAL= 347.7, 3.0, ROT= 162.3, -3.0 2025-10-27T05:25:45.089Z,1761542745.089 [DAT](INFO): #Rx 48: Read direction message, but no range. 2025-10-27T05:25:45.090Z,1761542745.090 [DAT](INFO): direction in FSK: [-0.951356,0.303616,0.052336] 2025-10-27T05:25:45.093Z,1761542745.093 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.196880 2025-10-27T05:25:45.249Z,1761542745.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535411,0.839993,0.088015],[-0.844141,-0.528809,-0.088239],[-0.027577,-0.121541,0.992203]] 2025-10-27T05:25:45.342Z,1761542745.342 [DAT](INFO): DAT read: Rx Time:05:25:44.1609 2025-10-27T05:25:45.347Z,1761542745.347 [DAT](INFO): Rx dataTimestamp_ set to:1761542745.346277 2025-10-27T05:25:45.351Z,1761542745.351 [DAT](INFO): DAT read: Bearing 197.6, 18.6 (Local) 2025-10-27T05:25:45.352Z,1761542745.352 [DAT](INFO): Local bearing/azimuth received: Bearing 197.6, 18.6 (Local) 2025-10-27T05:25:45.356Z,1761542745.356 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.5 2025-10-27T05:25:45.361Z,1761542745.361 [DAT](INFO): DAT read: 05:25:44.1609 LVL= 25424, 21393, 32754, 32755, AGC= 56, IDX= 510,-0.08,-2.360,-0.833,-2.887,-1.849, PHS=-0.409, 1.061,-1.082, RAW= 347.9, 4.6, CAL= 347.5, 2.5, ROT= 162.5, -2.5 2025-10-27T05:25:45.362Z,1761542745.362 [DAT](INFO): got valid direction response: 05:25:44.1609 LVL= 25424, 21393, 32754, 32755, AGC= 56, IDX= 510,-0.08,-2.360,-0.833,-2.887,-1.849, PHS=-0.409, 1.061,-1.082, RAW= 347.9, 4.6, CAL= 347.5, 2.5, ROT= 162.5, -2.5 2025-10-27T05:25:45.363Z,1761542745.363 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:25:45.364Z,1761542745.364 [DAT](INFO): direction in FSK: [-0.952809,0.300420,0.043619] 2025-10-27T05:25:45.364Z,1761542745.364 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:45.380Z,1761542745.380 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.483217 2025-10-27T05:25:45.416Z,1761542745.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.507181 s, deltaX: 0.500000 m, approachRate: 0.985841 m/s, rangeRepo size: 4 2025-10-27T05:25:45.418Z,1761542745.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.044242 m, bearing: 39.936842 deg, lat: 36.779354 deg, lon: -121.859688 deg, deltaT: 1.007487 s, deltaX: 0.596665 m, approachRate: 0.592231 m/s, posRepo size: 4 2025-10-27T05:25:45.588Z,1761542745.588 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.691664 2025-10-27T05:25:45.680Z,1761542745.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533120,0.841280,0.089616],[-0.845555,-0.526234,-0.090074],[-0.028618,-0.123796,0.991895]] 2025-10-27T05:25:45.844Z,1761542745.844 [DAT](INFO): DAT read: Rx Time:05:25:44.6610 2025-10-27T05:25:45.846Z,1761542745.846 [DAT](INFO): Rx dataTimestamp_ set to:1761542745.845027 2025-10-27T05:25:45.848Z,1761542745.848 [DAT](INFO): DAT read: Bearing 197.4, 18.3 (Local) 2025-10-27T05:25:45.849Z,1761542745.849 [DAT](INFO): Local bearing/azimuth received: Bearing 197.4, 18.3 (Local) 2025-10-27T05:25:45.851Z,1761542745.851 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.5 2025-10-27T05:25:45.851Z,1761542745.851 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-27T05:25:45.852Z,1761542745.852 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.955772 2025-10-27T05:25:46.096Z,1761542746.096 [DAT](INFO): DAT read: 05:25:44.6610 LVL= 24640, 23329, 32754, 32755, AGC= 57, IDX= 511,-0.12, 2.206,-2.541, 1.690, 2.731, PHS=-0.423, 1.056,-1.086, RAW= 347.6, 4.8, CAL= 347.3, 2.9, ROT= 162.7, -2.9 2025-10-27T05:25:46.097Z,1761542746.097 [DAT](INFO): got valid direction response: 05:25:44.6610 LVL= 24640, 23329, 32754, 32755, AGC= 57, IDX= 511,-0.12, 2.206,-2.541, 1.690, 2.731, PHS=-0.423, 1.056,-1.086, RAW= 347.6, 4.8, CAL= 347.3, 2.9, ROT= 162.7, -2.9 2025-10-27T05:25:46.097Z,1761542746.097 [DAT](INFO): #Rx 51: Read direction message, but no range. 2025-10-27T05:25:46.098Z,1761542746.098 [DAT](INFO): direction in FSK: [-0.953538,0.296994,0.050593] 2025-10-27T05:25:46.102Z,1761542746.102 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.205143 2025-10-27T05:25:46.181Z,1761542746.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.498750 s, deltaX: 0.099999 m, approachRate: 0.200500 m/s, rangeRepo size: 4 2025-10-27T05:25:46.187Z,1761542746.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.143689 m, bearing: 40.237620 deg, lat: 36.779354 deg, lon: -121.859686 deg, deltaT: 0.498750 s, deltaX: 0.099447 m, approachRate: 0.199393 m/s, posRepo size: 4 2025-10-27T05:25:46.352Z,1761542746.352 [DAT](INFO): DAT read: Rx Time:05:25:45.1613 2025-10-27T05:25:46.354Z,1761542746.354 [DAT](INFO): Rx dataTimestamp_ set to:1761542746.353163 2025-10-27T05:25:46.363Z,1761542746.363 [DAT](INFO): DAT read: Bearing 197.7, 18.3 (Local) 2025-10-27T05:25:46.364Z,1761542746.364 [DAT](INFO): Local bearing/azimuth received: Bearing 197.7, 18.3 (Local) 2025-10-27T05:25:46.381Z,1761542746.381 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.5 2025-10-27T05:25:46.396Z,1761542746.396 [DAT](INFO): DAT read: 05:25:45.1613 LVL= 18416, 12321, 22226, 26227, AGC= 60, IDX= 2,-0.18,-2.779,-1.243, 2.991,-2.258, PHS=-0.419, 1.060,-1.078, RAW= 347.5, 4.7, CAL= 347.2, 2.7, ROT= 162.8, -2.7 2025-10-27T05:25:46.397Z,1761542746.397 [DAT](INFO): got valid direction response: 05:25:45.1613 LVL= 18416, 12321, 22226, 26227, AGC= 60, IDX= 2,-0.18,-2.779,-1.243, 2.991,-2.258, PHS=-0.419, 1.060,-1.078, RAW= 347.5, 4.7, CAL= 347.2, 2.7, ROT= 162.8, -2.7 2025-10-27T05:25:46.397Z,1761542746.397 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:25:46.398Z,1761542746.398 [DAT](INFO): direction in FSK: [-0.954218,0.295380,0.047106] 2025-10-27T05:25:46.399Z,1761542746.399 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:46.416Z,1761542746.416 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.519333 2025-10-27T05:25:46.508Z,1761542746.508 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.96, 71.69, 76.85 2025-10-27T05:25:46.557Z,1761542746.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.508136 s, deltaX: 0.500000 m, approachRate: 0.983989 m/s, rangeRepo size: 4 2025-10-27T05:25:46.564Z,1761542746.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.640905 m, bearing: 40.362159 deg, lat: 36.779354 deg, lon: -121.859686 deg, deltaT: 0.508136 s, deltaX: 0.497216 m, approachRate: 0.978510 m/s, posRepo size: 4 2025-10-27T05:25:46.596Z,1761542746.596 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.699823 2025-10-27T05:25:46.849Z,1761542746.849 [DAT](INFO): DAT read: Rx Time:05:25:45.6614 2025-10-27T05:25:46.849Z,1761542746.849 [DAT](INFO): Rx dataTimestamp_ set to:1761542746.849002 2025-10-27T05:25:46.851Z,1761542746.851 [DAT](INFO): DAT read: Bearing 198.1, 18.6 (Local) 2025-10-27T05:25:46.851Z,1761542746.851 [DAT](INFO): Local bearing/azimuth received: Bearing 198.1, 18.6 (Local) 2025-10-27T05:25:46.853Z,1761542746.853 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.5 2025-10-27T05:25:46.858Z,1761542746.858 [DAT](INFO): DAT read: 05:25:45.6614 LVL= 24384, 21745, 32754, 32755, AGC= 57, IDX= 499,-0.26, 2.884,-1.864, 2.363,-2.888, PHS=-0.409, 1.069,-1.077, RAW= 347.7, 4.4, CAL= 347.3, 2.3, ROT= 162.7, -2.3 2025-10-27T05:25:46.859Z,1761542746.859 [DAT](INFO): got valid direction response: 05:25:45.6614 LVL= 24384, 21745, 32754, 32755, AGC= 57, IDX= 499,-0.26, 2.884,-1.864, 2.363,-2.888, PHS=-0.409, 1.069,-1.077, RAW= 347.7, 4.4, CAL= 347.3, 2.3, ROT= 162.7, -2.3 2025-10-27T05:25:46.859Z,1761542746.859 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:25:46.860Z,1761542746.860 [DAT](INFO): direction in FSK: [-0.953992,0.297135,0.040132] 2025-10-27T05:25:46.861Z,1761542746.861 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:46.864Z,1761542746.864 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.967907 2025-10-27T05:25:46.902Z,1761542746.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526293,0.845339,0.091746],[-0.849665,-0.518650,-0.095245],[-0.032930,-0.128080,0.991217]] 2025-10-27T05:25:46.991Z,1761542746.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.495839 s, deltaX: 0.100000 m, approachRate: 0.201679 m/s, rangeRepo size: 4 2025-10-27T05:25:46.994Z,1761542746.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.740354 m, bearing: 40.768231 deg, lat: 36.779354 deg, lon: -121.859684 deg, deltaT: 0.495839 s, deltaX: 0.099448 m, approachRate: 0.200566 m/s, posRepo size: 4 2025-10-27T05:25:46.994Z,1761542746.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 10.80 m. Rolling out. 2025-10-27T05:25:46.995Z,1761542746.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T05:25:47.025Z,1761542747.025 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T05:25:47.100Z,1761542747.100 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.203674 2025-10-27T05:25:47.356Z,1761542747.356 [DAT](INFO): DAT read: Rx Time:05:25:46.1616 2025-10-27T05:25:47.357Z,1761542747.357 [DAT](INFO): Rx dataTimestamp_ set to:1761542747.356634 2025-10-27T05:25:47.361Z,1761542747.361 [DAT](INFO): DAT read: Bearing 197.8, 18.4 (Local) 2025-10-27T05:25:47.363Z,1761542747.363 [DAT](INFO): Local bearing/azimuth received: Bearing 197.8, 18.4 (Local) 2025-10-27T05:25:47.369Z,1761542747.369 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.5 2025-10-27T05:25:47.408Z,1761542747.408 [DAT](INFO): DAT read: 05:25:46.1616 LVL= 24976, 21873, 32754, 32755, AGC= 57, IDX= 501,-0.46,-2.462,-0.928,-2.975,-1.942, PHS=-0.418, 1.059,-1.077, RAW= 347.5, 4.7, CAL= 347.2, 2.7, ROT= 162.8, -2.7 2025-10-27T05:25:47.409Z,1761542747.409 [DAT](INFO): got valid direction response: 05:25:46.1616 LVL= 24976, 21873, 32754, 32755, AGC= 57, IDX= 501,-0.46,-2.462,-0.928,-2.975,-1.942, PHS=-0.418, 1.059,-1.077, RAW= 347.5, 4.7, CAL= 347.2, 2.7, ROT= 162.8, -2.7 2025-10-27T05:25:47.409Z,1761542747.409 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:25:47.410Z,1761542747.410 [DAT](INFO): direction in FSK: [-0.954218,0.295380,0.047106] 2025-10-27T05:25:47.410Z,1761542747.410 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:47.426Z,1761542747.426 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.529804 2025-10-27T05:25:47.437Z,1761542747.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524185,0.846522,0.092900],[-0.850905,-0.516209,-0.097411],[-0.034505,-0.130111,0.990899]] 2025-10-27T05:25:47.540Z,1761542747.540 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T05:25:47.540Z,1761542747.540 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:25:47.540Z,1761542747.540 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T05:25:47.542Z,1761542747.542 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 10.800000 m (mode 5.000000 count ). 2025-10-27T05:25:47.542Z,1761542747.542 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T05:25:47.542Z,1761542747.542 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T05:25:47.542Z,1761542747.542 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T05:25:47.543Z,1761542747.543 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:25:47.547Z,1761542747.547 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T05:25:47.548Z,1761542747.548 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 10.800000 m (mode 5.000000 count ). 2025-10-27T05:25:47.548Z,1761542747.548 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T05:25:47.548Z,1761542747.548 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T05:25:47.564Z,1761542747.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.507632 s, deltaX: 0.300000 m, approachRate: 0.590980 m/s, rangeRepo size: 4 2025-10-27T05:25:47.566Z,1761542747.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.038690 m, bearing: 40.952876 deg, lat: 36.779353 deg, lon: -121.859684 deg, deltaT: 0.507632 s, deltaX: 0.298336 m, approachRate: 0.587701 m/s, posRepo size: 4 2025-10-27T05:25:47.566Z,1761542747.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-27T05:25:47.572Z,1761542747.572 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T05:25:47.572Z,1761542747.572 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:25:47.573Z,1761542747.573 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T05:25:47.573Z,1761542747.573 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T05:25:47.605Z,1761542747.605 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.708977 2025-10-27T05:25:47.856Z,1761542747.856 [DAT](INFO): DAT read: Rx Time:05:25:46.6617 2025-10-27T05:25:47.857Z,1761542747.857 [DAT](INFO): Rx dataTimestamp_ set to:1761542747.856654 2025-10-27T05:25:47.858Z,1761542747.858 [DAT](INFO): DAT read: Bearing 194.9, 18.0 (Local) 2025-10-27T05:25:47.859Z,1761542747.859 [DAT](INFO): Local bearing/azimuth received: Bearing 194.9, 18.0 (Local) 2025-10-27T05:25:47.861Z,1761542747.861 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.4 2025-10-27T05:25:47.865Z,1761542747.865 [DAT](INFO): DAT read: 05:25:46.6617 LVL= 27280, 32337, 32754, 32755, AGC= 54, IDX= 501, 0.22,-1.167, 0.327,-1.654,-0.603, PHS=-0.462, 0.974,-1.095, RAW= 347.4, 6.4, CAL= 347.2, 5.4, ROT= 162.8, -5.4 2025-10-27T05:25:47.866Z,1761542747.866 [DAT](INFO): got valid direction response: 05:25:46.6617 LVL= 27280, 32337, 32754, 32755, AGC= 54, IDX= 501, 0.22,-1.167, 0.327,-1.654,-0.603, PHS=-0.462, 0.974,-1.095, RAW= 347.4, 6.4, CAL= 347.2, 5.4, ROT= 162.8, -5.4 2025-10-27T05:25:47.867Z,1761542747.867 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:25:47.868Z,1761542747.868 [DAT](INFO): direction in FSK: [-0.951039,0.294396,0.094108] 2025-10-27T05:25:47.868Z,1761542747.868 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:47.872Z,1761542747.872 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.975245 2025-10-27T05:25:47.982Z,1761542747.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523037,0.846518,0.099197],[-0.851500,-0.513913,-0.104122],[-0.037162,-0.138926,0.989605]] 2025-10-27T05:25:48.011Z,1761542748.011 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T05:25:48.011Z,1761542748.011 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T05:25:48.011Z,1761542748.011 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T05:25:48.012Z,1761542748.012 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T05:25:48.018Z,1761542748.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.500020 s, deltaX: 0.200000 m, approachRate: 0.399984 m/s, rangeRepo size: 4 2025-10-27T05:25:48.021Z,1761542748.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.237584 m, bearing: 40.633545 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.500020 s, deltaX: 0.198895 m, approachRate: 0.397773 m/s, posRepo size: 4 2025-10-27T05:25:48.021Z,1761542748.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-27T05:25:48.110Z,1761542748.110 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.213583 2025-10-27T05:25:48.364Z,1761542748.364 [DAT](INFO): DAT read: Rx Time:05:25:47.1619 2025-10-27T05:25:48.365Z,1761542748.365 [DAT](INFO): Rx dataTimestamp_ set to:1761542748.364566 2025-10-27T05:25:48.369Z,1761542748.369 [DAT](INFO): DAT read: Bearing 197.3, 18.6 (Local) 2025-10-27T05:25:48.370Z,1761542748.370 [DAT](INFO): Local bearing/azimuth received: Bearing 197.3, 18.6 (Local) 2025-10-27T05:25:48.376Z,1761542748.376 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.5 2025-10-27T05:25:48.409Z,1761542748.409 [DAT](INFO): DAT read: 05:25:47.1619 LVL= 28800, 32433, 32754, 32755, AGC= 58, IDX= 504, 0.04, 0.003, 1.540,-0.516, 0.529, PHS=-0.424, 1.056,-1.090, RAW= 347.6, 4.9, CAL= 347.3, 3.0, ROT= 162.7, -3.0 2025-10-27T05:25:48.419Z,1761542748.419 [DAT](INFO): got valid direction response: 05:25:47.1619 LVL= 28800, 32433, 32754, 32755, AGC= 58, IDX= 504, 0.04, 0.003, 1.540,-0.516, 0.529, PHS=-0.424, 1.056,-1.090, RAW= 347.6, 4.9, CAL= 347.3, 3.0, ROT= 162.7, -3.0 2025-10-27T05:25:48.420Z,1761542748.420 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:25:48.421Z,1761542748.421 [DAT](INFO): direction in FSK: [-0.953452,0.296967,0.052336] 2025-10-27T05:25:48.421Z,1761542748.421 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:48.445Z,1761542748.445 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.548519 2025-10-27T05:25:48.557Z,1761542748.557 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T05:25:48.557Z,1761542748.557 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T05:25:48.558Z,1761542748.558 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T05:25:48.558Z,1761542748.558 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T05:25:48.573Z,1761542748.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.507912 s, deltaX: 0.300000 m, approachRate: 0.590654 m/s, rangeRepo size: 4 2025-10-27T05:25:48.579Z,1761542748.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.535938 m, bearing: 40.881093 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.507912 s, deltaX: 0.298354 m, approachRate: 0.587413 m/s, posRepo size: 4 2025-10-27T05:25:48.579Z,1761542748.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-27T05:25:48.614Z,1761542748.614 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.716837 2025-10-27T05:25:48.864Z,1761542748.864 [DAT](INFO): DAT read: Rx Time:05:25:47.6620 2025-10-27T05:25:48.865Z,1761542748.865 [DAT](INFO): Rx dataTimestamp_ set to:1761542748.864676 2025-10-27T05:25:48.866Z,1761542748.866 [DAT](INFO): DAT read: Bearing 197.2, 18.5 (Local) 2025-10-27T05:25:48.867Z,1761542748.867 [DAT](INFO): Local bearing/azimuth received: Bearing 197.2, 18.5 (Local) 2025-10-27T05:25:48.869Z,1761542748.869 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.4 2025-10-27T05:25:48.873Z,1761542748.873 [DAT](INFO): DAT read: 05:25:47.6620 LVL= 25840, 28097, 32754, 32755, AGC= 56, IDX= 505,-0.16,-2.533,-1.019,-3.031,-2.006, PHS=-0.425, 1.032,-1.069, RAW= 347.4, 5.0, CAL= 347.1, 3.2, ROT= 162.9, -3.2 2025-10-27T05:25:48.874Z,1761542748.874 [DAT](INFO): got valid direction response: 05:25:47.6620 LVL= 25840, 28097, 32754, 32755, AGC= 56, IDX= 505,-0.16,-2.533,-1.019,-3.031,-2.006, PHS=-0.425, 1.032,-1.069, RAW= 347.4, 5.0, CAL= 347.1, 3.2, ROT= 162.9, -3.2 2025-10-27T05:25:48.875Z,1761542748.875 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:25:48.876Z,1761542748.876 [DAT](INFO): direction in FSK: [-0.954303,0.293582,0.055822] 2025-10-27T05:25:48.876Z,1761542748.876 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:48.905Z,1761542748.905 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.008240 2025-10-27T05:25:48.959Z,1761542748.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525796,0.845713,0.091145],[-0.849808,-0.517623,-0.099460],[-0.036936,-0.129751,0.990858]] 2025-10-27T05:25:49.022Z,1761542749.022 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T05:25:49.022Z,1761542749.022 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:25:49.023Z,1761542749.023 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T05:25:49.027Z,1761542749.027 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:25:49.028Z,1761542749.028 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T05:25:49.028Z,1761542749.028 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:25:49.028Z,1761542749.028 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T05:25:49.028Z,1761542749.028 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:25:49.043Z,1761542749.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.500110 s, deltaX: 0.099999 m, approachRate: 0.199955 m/s, rangeRepo size: 4 2025-10-27T05:25:49.045Z,1761542749.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.635386 m, bearing: 40.871038 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.500110 s, deltaX: 0.099447 m, approachRate: 0.198851 m/s, posRepo size: 4 2025-10-27T05:25:49.046Z,1761542749.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-27T05:25:49.118Z,1761542749.118 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.221004 2025-10-27T05:25:49.372Z,1761542749.372 [DAT](INFO): DAT read: Rx Time:05:25:48.1623 2025-10-27T05:25:49.373Z,1761542749.373 [DAT](INFO): Rx dataTimestamp_ set to:1761542749.372367 2025-10-27T05:25:49.377Z,1761542749.377 [DAT](INFO): DAT read: Bearing 197.2, 19.0 (Local) 2025-10-27T05:25:49.378Z,1761542749.378 [DAT](INFO): Local bearing/azimuth received: Bearing 197.2, 19.0 (Local) 2025-10-27T05:25:49.387Z,1761542749.387 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.4 2025-10-27T05:25:49.437Z,1761542749.437 [DAT](INFO): DAT read: 05:25:48.1623 LVL= 28016, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.39, 0.657, 2.189, 0.129, 1.184, PHS=-0.424, 1.050,-1.099, RAW= 347.9, 5.0, CAL= 347.6, 3.2, ROT= 162.4, -3.2 2025-10-27T05:25:49.438Z,1761542749.438 [DAT](INFO): got valid direction response: 05:25:48.1623 LVL= 28016, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.39, 0.657, 2.189, 0.129, 1.184, PHS=-0.424, 1.050,-1.099, RAW= 347.9, 5.0, CAL= 347.6, 3.2, ROT= 162.4, -3.2 2025-10-27T05:25:49.438Z,1761542749.438 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:25:49.452Z,1761542749.452 [DAT](INFO): direction in FSK: [-0.951704,0.301899,0.055822] 2025-10-27T05:25:49.452Z,1761542749.452 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:49.458Z,1761542749.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526315,0.845424,0.090828],[-0.849475,-0.518129,-0.099673],[-0.037205,-0.129616,0.990866]] 2025-10-27T05:25:49.472Z,1761542749.472 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.575207 2025-10-27T05:25:49.578Z,1761542749.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.507691 s, deltaX: 0.500000 m, approachRate: 0.984851 m/s, rangeRepo size: 4 2025-10-27T05:25:49.584Z,1761542749.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.132687 m, bearing: 40.340209 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.507691 s, deltaX: 0.497301 m, approachRate: 0.979535 m/s, posRepo size: 4 2025-10-27T05:25:49.585Z,1761542749.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-27T05:25:49.621Z,1761542749.621 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.724459 2025-10-27T05:25:49.873Z,1761542749.873 [DAT](INFO): DAT read: Rx Time:05:25:48.6624 2025-10-27T05:25:49.873Z,1761542749.873 [DAT](INFO): Rx dataTimestamp_ set to:1761542749.872737 2025-10-27T05:25:49.874Z,1761542749.874 [DAT](INFO): DAT read: Bearing 197.9, 18.3 (Local) 2025-10-27T05:25:49.875Z,1761542749.875 [DAT](INFO): Local bearing/azimuth received: Bearing 197.9, 18.3 (Local) 2025-10-27T05:25:49.877Z,1761542749.877 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4 2025-10-27T05:25:49.882Z,1761542749.882 [DAT](INFO): DAT read: 05:25:48.6624 LVL= 32688, 28881, 32754, 32755, AGC= 56, IDX= 508, 0.07,-0.976, 0.572,-1.474,-0.446, PHS=-0.428, 1.064,-1.071, RAW= 347.1, 4.6, CAL= 346.8, 2.6, ROT= 163.2, -2.6 2025-10-27T05:25:49.887Z,1761542749.887 [DAT](INFO): got valid direction response: 05:25:48.6624 LVL= 32688, 28881, 32754, 32755, AGC= 56, IDX= 508, 0.07,-0.976, 0.572,-1.474,-0.446, PHS=-0.428, 1.064,-1.071, RAW= 347.1, 4.6, CAL= 346.8, 2.6, ROT= 163.2, -2.6 2025-10-27T05:25:49.888Z,1761542749.888 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:25:49.889Z,1761542749.889 [DAT](INFO): direction in FSK: [-0.956334,0.288734,0.045363] 2025-10-27T05:25:49.889Z,1761542749.889 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:49.901Z,1761542749.901 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.004353 2025-10-27T05:25:50.125Z,1761542750.125 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.228498 2025-10-27T05:25:50.148Z,1761542750.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526790,0.845686,0.085482],[-0.849132,-0.519055,-0.097760],[-0.038305,-0.124085,0.991532]] 2025-10-27T05:25:50.187Z,1761542750.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.500370 s, deltaX: 0.100000 m, approachRate: 0.199853 m/s, rangeRepo size: 4 2025-10-27T05:25:50.189Z,1761542750.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.232135 m, bearing: 41.181043 deg, lat: 36.779352 deg, lon: -121.859684 deg, deltaT: 0.500370 s, deltaX: 0.099448 m, approachRate: 0.198749 m/s, posRepo size: 4 2025-10-27T05:25:50.190Z,1761542750.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T05:25:50.377Z,1761542750.377 [DAT](INFO): DAT read: Rx Time:05:25:49.1625 2025-10-27T05:25:50.379Z,1761542750.379 [DAT](INFO): Rx dataTimestamp_ set to:1761542750.377794 2025-10-27T05:25:50.382Z,1761542750.382 [DAT](INFO): DAT read: Bearing 198.3, 18.9 (Local) 2025-10-27T05:25:50.384Z,1761542750.384 [DAT](INFO): Local bearing/azimuth received: Bearing 198.3, 18.9 (Local) 2025-10-27T05:25:50.396Z,1761542750.396 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-27T05:25:50.411Z,1761542750.411 [DAT](INFO): DAT read: 05:25:49.1625 LVL= 27024, 24481, 32754, 32755, AGC= 57, IDX= 511,-0.26,-0.586, 0.936,-1.093,-0.078, PHS=-0.406, 1.059,-1.059, RAW= 347.5, 4.4, CAL= 347.2, 2.2, ROT= 162.8, -2.2 2025-10-27T05:25:50.415Z,1761542750.415 [DAT](INFO): got valid direction response: 05:25:49.1625 LVL= 27024, 24481, 32754, 32755, AGC= 57, IDX= 511,-0.26,-0.586, 0.936,-1.093,-0.078, PHS=-0.406, 1.059,-1.059, RAW= 347.5, 4.4, CAL= 347.2, 2.2, ROT= 162.8, -2.2 2025-10-27T05:25:50.416Z,1761542750.416 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:25:50.455Z,1761542750.455 [DAT](INFO): direction in FSK: [-0.954574,0.295490,0.038388] 2025-10-27T05:25:50.455Z,1761542750.455 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:50.473Z,1761542750.473 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.576134 2025-10-27T05:25:50.629Z,1761542750.629 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.732334 2025-10-27T05:25:50.680Z,1761542750.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527351,0.845535,0.083492],[-0.848795,-0.519872,-0.096333],[-0.038048,-0.121669,0.991841]] 2025-10-27T05:25:50.761Z,1761542750.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505057 s, deltaX: 0.200000 m, approachRate: 0.395995 m/s, rangeRepo size: 4 2025-10-27T05:25:50.763Z,1761542750.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.431051 m, bearing: 40.798900 deg, lat: 36.779351 deg, lon: -121.859684 deg, deltaT: 0.505057 s, deltaX: 0.198916 m, approachRate: 0.393849 m/s, posRepo size: 4 2025-10-27T05:25:50.764Z,1761542750.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-27T05:25:50.881Z,1761542750.881 [DAT](INFO): DAT read: Rx Time:05:25:49.6626 2025-10-27T05:25:50.881Z,1761542750.881 [DAT](INFO): Rx dataTimestamp_ set to:1761542750.880802 2025-10-27T05:25:50.882Z,1761542750.882 [DAT](INFO): DAT read: Bearing 198.1, 19.4 (Local) 2025-10-27T05:25:50.883Z,1761542750.883 [DAT](INFO): Local bearing/azimuth received: Bearing 198.1, 19.4 (Local) 2025-10-27T05:25:50.885Z,1761542750.885 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.4 2025-10-27T05:25:50.890Z,1761542750.890 [DAT](INFO): DAT read: 05:25:49.6626 LVL= 24048, 32753, 32754, 32755, AGC= 57, IDX= 511, 0.24,-0.109, 1.397,-0.636, 0.390, PHS=-0.397, 1.052,-1.069, RAW= 348.1, 4.5, CAL= 347.7, 2.3, ROT= 162.3, -2.3 2025-10-27T05:25:50.891Z,1761542750.891 [DAT](INFO): got valid direction response: 05:25:49.6626 LVL= 24048, 32753, 32754, 32755, AGC= 57, IDX= 511, 0.24,-0.109, 1.397,-0.636, 0.390, PHS=-0.397, 1.052,-1.069, RAW= 348.1, 4.5, CAL= 347.7, 2.3, ROT= 162.3, -2.3 2025-10-27T05:25:50.892Z,1761542750.892 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:25:50.893Z,1761542750.893 [DAT](INFO): direction in FSK: [-0.951894,0.303788,0.040132] 2025-10-27T05:25:50.893Z,1761542750.893 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:50.914Z,1761542750.914 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.017557 2025-10-27T05:25:51.113Z,1761542751.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527921,0.845293,0.082329],[-0.848475,-0.520675,-0.094798],[-0.037266,-0.119900,0.992086]] 2025-10-27T05:25:51.136Z,1761542751.136 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.239330 2025-10-27T05:25:51.165Z,1761542751.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503008 s, deltaX: 0.100000 m, approachRate: 0.198805 m/s, rangeRepo size: 4 2025-10-27T05:25:51.167Z,1761542751.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.530500 m, bearing: 40.253255 deg, lat: 36.779351 deg, lon: -121.859685 deg, deltaT: 0.503008 s, deltaX: 0.099449 m, approachRate: 0.197709 m/s, posRepo size: 4 2025-10-27T05:25:51.168Z,1761542751.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-27T05:25:51.387Z,1761542751.387 [DAT](INFO): DAT read: Rx Time:05:25:50.1627 2025-10-27T05:25:51.389Z,1761542751.389 [DAT](INFO): Rx dataTimestamp_ set to:1761542751.388058 2025-10-27T05:25:51.397Z,1761542751.397 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 2025-10-27T05:25:51.400Z,1761542751.400 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-27T05:25:51.402Z,1761542751.402 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.505550 2025-10-27T05:25:51.570Z,1761542751.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.507256 s, deltaX: 0.200000 m, approachRate: 0.394278 m/s, rangeRepo size: 4 2025-10-27T05:25:51.570Z,1761542751.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-27T05:25:51.636Z,1761542751.636 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.739691 2025-10-27T05:25:51.888Z,1761542751.888 [DAT](INFO): DAT read: Rx Time:05:25:50.6628 2025-10-27T05:25:51.889Z,1761542751.889 [DAT](INFO): Rx dataTimestamp_ set to:1761542751.888690 2025-10-27T05:25:51.890Z,1761542751.890 [DAT](INFO): DAT read: Bearing 197.7, 19.6 (Local) 2025-10-27T05:25:51.891Z,1761542751.891 [DAT](INFO): Local bearing/azimuth received: Bearing 197.7, 19.6 (Local) 2025-10-27T05:25:51.893Z,1761542751.893 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.4 2025-10-27T05:25:51.897Z,1761542751.897 [DAT](INFO): DAT read: 05:25:50.6628 LVL= 15200, 16465, 17554, 24755, AGC= 59, IDX= 1, 0.40,-2.027,-0.550,-2.558,-1.536, PHS=-0.390, 1.031,-1.066, RAW= 348.4, 4.6, CAL= 348.1, 2.6, ROT= 161.9, -2.6 2025-10-27T05:25:51.898Z,1761542751.898 [DAT](INFO): got valid direction response: 05:25:50.6628 LVL= 15200, 16465, 17554, 24755, AGC= 59, IDX= 1, 0.40,-2.027,-0.550,-2.558,-1.536, PHS=-0.390, 1.031,-1.066, RAW= 348.4, 4.6, CAL= 348.1, 2.6, ROT= 161.9, -2.6 2025-10-27T05:25:51.928Z,1761542751.928 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:25:51.929Z,1761542751.929 [DAT](INFO): direction in FSK: [-0.949537,0.310357,0.045363] 2025-10-27T05:25:51.929Z,1761542751.929 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:51.938Z,1761542751.938 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.041826 2025-10-27T05:25:52.018Z,1761542752.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.500632 s, deltaX: 0.099999 m, approachRate: 0.199746 m/s, rangeRepo size: 4 2025-10-27T05:25:52.024Z,1761542752.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.828798 m, bearing: 39.818709 deg, lat: 36.779352 deg, lon: -121.859685 deg, deltaT: 1.007888 s, deltaX: 0.298298 m, approachRate: 0.295963 m/s, posRepo size: 4 2025-10-27T05:25:52.025Z,1761542752.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-27T05:25:52.140Z,1761542752.140 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.243603 2025-10-27T05:25:52.362Z,1761542752.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532555,0.843142,0.074142],[-0.845840,-0.526985,-0.082711],[-0.030666,-0.106760,0.993812]] 2025-10-27T05:25:52.390Z,1761542752.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-27T05:25:52.398Z,1761542752.398 [DAT](INFO): DAT read: Rx Time:05:25:51.1630 2025-10-27T05:25:52.398Z,1761542752.398 [DAT](INFO): Rx dataTimestamp_ set to:1761542752.397920 2025-10-27T05:25:52.400Z,1761542752.400 [DAT](INFO): DAT read: Bearing 199.8, 18.6 (Local) 2025-10-27T05:25:52.400Z,1761542752.400 [DAT](INFO): Local bearing/azimuth received: Bearing 199.8, 18.6 (Local) 2025-10-27T05:25:52.402Z,1761542752.402 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 2025-10-27T05:25:52.407Z,1761542752.407 [DAT](INFO): DAT read: 05:25:51.1630 LVL= 23648, 28529, 32754, 32755, AGC= 57, IDX= 500, 0.01,-1.945,-0.398,-2.455,-1.456, PHS=-0.387, 1.103,-1.043, RAW= 347.4, 3.5, CAL= 346.9, 0.8, ROT= 163.1, -0.8 2025-10-27T05:25:52.410Z,1761542752.410 [DAT](INFO): got valid direction response: 05:25:51.1630 LVL= 23648, 28529, 32754, 32755, AGC= 57, IDX= 500, 0.01,-1.945,-0.398,-2.455,-1.456, PHS=-0.387, 1.103,-1.043, RAW= 347.4, 3.5, CAL= 346.9, 0.8, ROT= 163.1, -0.8 2025-10-27T05:25:52.420Z,1761542752.420 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:25:52.432Z,1761542752.432 [DAT](INFO): direction in FSK: [-0.956720,0.290674,0.013962] 2025-10-27T05:25:52.432Z,1761542752.432 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:52.479Z,1761542752.479 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.573706 2025-10-27T05:25:52.644Z,1761542752.644 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.747421 2025-10-27T05:25:52.761Z,1761542752.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533356,0.842556,0.075039],[-0.845414,-0.527976,-0.080726],[-0.028398,-0.106495,0.993908]] 2025-10-27T05:25:52.865Z,1761542752.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.509230 s, deltaX: 0.300000 m, approachRate: 0.589125 m/s, rangeRepo size: 4 2025-10-27T05:25:52.871Z,1761542752.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.127768 m, bearing: 40.863709 deg, lat: 36.779351 deg, lon: -121.859687 deg, deltaT: 0.509230 s, deltaX: 0.298969 m, approachRate: 0.587101 m/s, posRepo size: 4 2025-10-27T05:25:52.872Z,1761542752.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-27T05:25:52.897Z,1761542752.897 [DAT](INFO): DAT read: Rx Time:05:25:51.6631 2025-10-27T05:25:52.897Z,1761542752.897 [DAT](INFO): Rx dataTimestamp_ set to:1761542752.896817 2025-10-27T05:25:52.898Z,1761542752.898 [DAT](INFO): DAT read: Bearing 199.2, 18.7 (Local) 2025-10-27T05:25:52.899Z,1761542752.899 [DAT](INFO): Local bearing/azimuth received: Bearing 199.2, 18.7 (Local) 2025-10-27T05:25:52.901Z,1761542752.901 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.4 2025-10-27T05:25:52.906Z,1761542752.906 [DAT](INFO): DAT read: 05:25:51.6631 LVL= 28592, 27537, 32754, 32755, AGC= 58, IDX= 500, 0.44,-2.368,-0.846,-2.880,-1.880, PHS=-0.386, 1.078,-1.044, RAW= 347.6, 3.8, CAL= 347.2, 1.3, ROT= 162.8, -1.3 2025-10-27T05:25:52.907Z,1761542752.907 [DAT](INFO): got valid direction response: 05:25:51.6631 LVL= 28592, 27537, 32754, 32755, AGC= 58, IDX= 500, 0.44,-2.368,-0.846,-2.880,-1.880, PHS=-0.386, 1.078,-1.044, RAW= 347.6, 3.8, CAL= 347.2, 1.3, ROT= 162.8, -1.3 2025-10-27T05:25:52.907Z,1761542752.907 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:25:52.908Z,1761542752.908 [DAT](INFO): direction in FSK: [-0.955033,0.295632,0.022687] 2025-10-27T05:25:52.908Z,1761542752.908 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:52.917Z,1761542752.917 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.020443 2025-10-27T05:25:53.148Z,1761542753.148 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.251316 2025-10-27T05:25:53.160Z,1761542753.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534215,0.842032,0.074812],[-0.844940,-0.529109,-0.078227],[-0.026286,-0.105001,0.994125]] 2025-10-27T05:25:53.276Z,1761542753.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.498897 s, deltaX: 0.200000 m, approachRate: 0.400884 m/s, rangeRepo size: 4 2025-10-27T05:25:53.278Z,1761542753.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.327044 m, bearing: 40.454081 deg, lat: 36.779351 deg, lon: -121.859687 deg, deltaT: 0.498897 s, deltaX: 0.199277 m, approachRate: 0.399435 m/s, posRepo size: 4 2025-10-27T05:25:53.278Z,1761542753.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m. 2025-10-27T05:25:53.401Z,1761542753.401 [DAT](INFO): DAT read: Rx Time:05:25:52.1633 2025-10-27T05:25:53.401Z,1761542753.401 [DAT](INFO): Rx dataTimestamp_ set to:1761542753.400912 2025-10-27T05:25:53.402Z,1761542753.402 [DAT](INFO): DAT read: Bearing 198.6, 17.6 (Local) 2025-10-27T05:25:53.403Z,1761542753.403 [DAT](INFO): Local bearing/azimuth received: Bearing 198.6, 17.6 (Local) 2025-10-27T05:25:53.405Z,1761542753.405 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 2025-10-27T05:25:53.421Z,1761542753.421 [DAT](INFO): DAT read: 05:25:52.1633 LVL= 24944, 22849, 32754, 32755, AGC= 58, IDX= 503,-0.05,-2.113,-0.561,-2.592,-1.592, PHS=-0.418, 1.076,-1.044, RAW= 346.7, 4.1, CAL= 346.3, 1.9, ROT= 163.7, -1.9 2025-10-27T05:25:53.444Z,1761542753.444 [DAT](INFO): got valid direction response: 05:25:52.1633 LVL= 24944, 22849, 32754, 32755, AGC= 58, IDX= 503,-0.05,-2.113,-0.561,-2.592,-1.592, PHS=-0.418, 1.076,-1.044, RAW= 346.7, 4.1, CAL= 346.3, 1.9, ROT= 163.7, -1.9 2025-10-27T05:25:53.445Z,1761542753.445 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:25:53.457Z,1761542753.457 [DAT](INFO): direction in FSK: [-0.959278,0.280513,0.033155] 2025-10-27T05:25:53.458Z,1761542753.458 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:53.485Z,1761542753.485 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.588749 2025-10-27T05:25:53.652Z,1761542753.652 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.755516 2025-10-27T05:25:53.676Z,1761542753.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535390,0.841456,0.072865],[-0.844268,-0.530745,-0.074309],[-0.023855,-0.101302,0.994570]] 2025-10-27T05:25:53.772Z,1761542753.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504095 s, deltaX: 0.300000 m, approachRate: 0.595126 m/s, rangeRepo size: 4 2025-10-27T05:25:53.774Z,1761542753.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.625411 m, bearing: 41.207734 deg, lat: 36.779351 deg, lon: -121.859687 deg, deltaT: 0.504095 s, deltaX: 0.298367 m, approachRate: 0.591886 m/s, posRepo size: 4 2025-10-27T05:25:53.774Z,1761542753.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m. 2025-10-27T05:25:53.905Z,1761542753.905 [DAT](INFO): DAT read: Rx Time:05:25:52.6634 2025-10-27T05:25:53.905Z,1761542753.905 [DAT](INFO): Rx dataTimestamp_ set to:1761542753.904813 2025-10-27T05:25:53.906Z,1761542753.906 [DAT](INFO): DAT read: Bearing 197.8, 17.2 (Local) 2025-10-27T05:25:53.907Z,1761542753.907 [DAT](INFO): Local bearing/azimuth received: Bearing 197.8, 17.2 (Local) 2025-10-27T05:25:53.910Z,1761542753.910 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4 2025-10-27T05:25:53.914Z,1761542753.914 [DAT](INFO): DAT read: 05:25:52.6634 LVL= 29104, 29825, 32754, 32755, AGC= 58, IDX= 503, 0.31,-1.065, 0.470,-1.532,-0.534, PHS=-0.429, 1.049,-1.043, RAW= 346.6, 4.6, CAL= 346.3, 2.6, ROT= 163.7, -2.6 2025-10-27T05:25:53.915Z,1761542753.915 [DAT](INFO): got valid direction response: 05:25:52.6634 LVL= 29104, 29825, 32754, 32755, AGC= 58, IDX= 503, 0.31,-1.065, 0.470,-1.532,-0.534, PHS=-0.429, 1.049,-1.043, RAW= 346.6, 4.6, CAL= 346.3, 2.6, ROT= 163.7, -2.6 2025-10-27T05:25:53.916Z,1761542753.916 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:25:53.917Z,1761542753.917 [DAT](INFO): direction in FSK: [-0.958817,0.280378,0.045363] 2025-10-27T05:25:53.917Z,1761542753.917 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:53.921Z,1761542753.921 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.024117 2025-10-27T05:25:54.156Z,1761542754.156 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.259533 2025-10-27T05:25:54.188Z,1761542754.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536348,0.841027,0.070734],[-0.843727,-0.532171,-0.070133],[-0.021341,-0.097296,0.995027]] 2025-10-27T05:25:54.226Z,1761542754.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503901 s, deltaX: 0.100000 m, approachRate: 0.198452 m/s, rangeRepo size: 4 2025-10-27T05:25:54.229Z,1761542754.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.724867 m, bearing: 41.076936 deg, lat: 36.779351 deg, lon: -121.859687 deg, deltaT: 0.503901 s, deltaX: 0.099456 m, approachRate: 0.197372 m/s, posRepo size: 4 2025-10-27T05:25:54.229Z,1761542754.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-27T05:25:54.409Z,1761542754.409 [DAT](INFO): DAT read: Rx Time:05:25:53.1635 2025-10-27T05:25:54.409Z,1761542754.409 [DAT](INFO): Rx dataTimestamp_ set to:1761542754.408847 2025-10-27T05:25:54.410Z,1761542754.410 [DAT](INFO): DAT read: Bearing 198.3, 16.6 (Local) 2025-10-27T05:25:54.411Z,1761542754.411 [DAT](INFO): Local bearing/azimuth received: Bearing 198.3, 16.6 (Local) 2025-10-27T05:25:54.413Z,1761542754.413 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.4 2025-10-27T05:25:54.417Z,1761542754.417 [DAT](INFO): DAT read: 05:25:53.1635 LVL= 25792, 25393, 32754, 32755, AGC= 59, IDX= 505,-0.14,-3.114,-1.554, 2.711,-2.578, PHS=-0.434, 1.069,-1.038, RAW= 346.2, 4.3, CAL= 345.8, 2.2, ROT= 164.2, -2.2 2025-10-27T05:25:54.419Z,1761542754.419 [DAT](INFO): got valid direction response: 05:25:53.1635 LVL= 25792, 25393, 32754, 32755, AGC= 59, IDX= 505,-0.14,-3.114,-1.554, 2.711,-2.578, PHS=-0.434, 1.069,-1.038, RAW= 346.2, 4.3, CAL= 345.8, 2.2, ROT= 164.2, -2.2 2025-10-27T05:25:54.420Z,1761542754.420 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:25:54.421Z,1761542754.421 [DAT](INFO): direction in FSK: [-0.961509,0.272080,0.038388] 2025-10-27T05:25:54.421Z,1761542754.421 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:54.430Z,1761542754.430 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.533596 2025-10-27T05:25:54.594Z,1761542754.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537665,0.840348,0.068787],[-0.842942,-0.533890,-0.066406],[-0.019079,-0.093687,0.995419]] 2025-10-27T05:25:54.660Z,1761542754.660 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.763550 2025-10-27T05:25:54.685Z,1761542754.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504034 s, deltaX: 0.200000 m, approachRate: 0.396798 m/s, rangeRepo size: 4 2025-10-27T05:25:54.696Z,1761542754.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.922843 m, bearing: 41.529600 deg, lat: 36.779350 deg, lon: -121.859687 deg, deltaT: 0.504034 s, deltaX: 0.197976 m, approachRate: 0.392783 m/s, posRepo size: 4 2025-10-27T05:25:54.696Z,1761542754.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m. 2025-10-27T05:25:54.913Z,1761542754.913 [DAT](INFO): DAT read: Rx Time:05:25:53.6636 2025-10-27T05:25:54.914Z,1761542754.914 [DAT](INFO): Rx dataTimestamp_ set to:1761542754.913497 2025-10-27T05:25:54.916Z,1761542754.916 [DAT](INFO): DAT read: Bearing 197.7, 16.6 (Local) 2025-10-27T05:25:54.916Z,1761542754.916 [DAT](INFO): Local bearing/azimuth received: Bearing 197.7, 16.6 (Local) 2025-10-27T05:25:54.919Z,1761542754.919 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 2025-10-27T05:25:54.925Z,1761542754.925 [DAT](INFO): DAT read: 05:25:53.6636 LVL= 29344, 31617, 32754, 32755, AGC= 63, IDX= 505, 0.17,-2.413,-0.872,-2.870,-1.876, PHS=-0.436, 1.048,-1.038, RAW= 346.3, 4.6, CAL= 346.0, 2.6, ROT= 164.0, -2.6 2025-10-27T05:25:54.927Z,1761542754.927 [DAT](INFO): got valid direction response: 05:25:53.6636 LVL= 29344, 31617, 32754, 32755, AGC= 63, IDX= 505, 0.17,-2.413,-0.872,-2.870,-1.876, PHS=-0.436, 1.048,-1.038, RAW= 346.3, 4.6, CAL= 346.0, 2.6, ROT= 164.0, -2.6 2025-10-27T05:25:54.928Z,1761542754.928 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:25:54.929Z,1761542754.929 [DAT](INFO): direction in FSK: [-0.960272,0.275354,0.045363] 2025-10-27T05:25:54.930Z,1761542754.930 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:54.948Z,1761542754.948 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.042233 2025-10-27T05:25:55.111Z,1761542755.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538799,0.839670,0.068184],[-0.842265,-0.535300,-0.063593],[-0.016899,-0.091693,0.995644]] 2025-10-27T05:25:55.164Z,1761542755.164 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.267570 2025-10-27T05:25:55.177Z,1761542755.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504650 s, deltaX: 0.100000 m, approachRate: 0.198158 m/s, rangeRepo size: 4 2025-10-27T05:25:55.178Z,1761542755.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.022292 m, bearing: 41.220010 deg, lat: 36.779350 deg, lon: -121.859687 deg, deltaT: 0.504650 s, deltaX: 0.099449 m, approachRate: 0.197066 m/s, posRepo size: 4 2025-10-27T05:25:55.200Z,1761542755.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-27T05:25:55.418Z,1761542755.418 [DAT](INFO): DAT read: Rx Time:05:25:54.1639 2025-10-27T05:25:55.418Z,1761542755.418 [DAT](INFO): Rx dataTimestamp_ set to:1761542755.417890 2025-10-27T05:25:55.420Z,1761542755.420 [DAT](INFO): DAT read: Bearing 198.8, 16.2 (Local) 2025-10-27T05:25:55.421Z,1761542755.421 [DAT](INFO): Local bearing/azimuth received: Bearing 198.8, 16.2 (Local) 2025-10-27T05:25:55.428Z,1761542755.428 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.4 2025-10-27T05:25:55.432Z,1761542755.432 [DAT](INFO): DAT read: 05:25:54.1639 LVL= 24032, 22897, 32754, 32755, AGC= 60, IDX= 509,-0.26,-2.575,-0.987,-3.038,-2.041, PHS=-0.432, 1.099,-1.040, RAW= 346.0, 4.0, CAL= 345.6, 1.6, ROT= 164.4, -1.6 2025-10-27T05:25:55.433Z,1761542755.433 [DAT](INFO): got valid direction response: 05:25:54.1639 LVL= 24032, 22897, 32754, 32755, AGC= 60, IDX= 509,-0.26,-2.575,-0.987,-3.038,-2.041, PHS=-0.432, 1.099,-1.040, RAW= 346.0, 4.0, CAL= 345.6, 1.6, ROT= 164.4, -1.6 2025-10-27T05:25:55.434Z,1761542755.434 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:25:55.435Z,1761542755.435 [DAT](INFO): direction in FSK: [-0.962787,0.268815,0.027922] 2025-10-27T05:25:55.435Z,1761542755.435 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:55.452Z,1761542755.452 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.554981 2025-10-27T05:25:55.614Z,1761542755.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540272,0.838642,0.069183],[-0.841388,-0.537095,-0.059957],[-0.013125,-0.090603,0.995801]] 2025-10-27T05:25:55.668Z,1761542755.668 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.771545 2025-10-27T05:25:55.681Z,1761542755.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504393 s, deltaX: 0.500000 m, approachRate: 0.991291 m/s, rangeRepo size: 4 2025-10-27T05:25:55.683Z,1761542755.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.519391 m, bearing: 41.614092 deg, lat: 36.779350 deg, lon: -121.859686 deg, deltaT: 0.504393 s, deltaX: 0.497099 m, approachRate: 0.985539 m/s, posRepo size: 4 2025-10-27T05:25:55.684Z,1761542755.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-27T05:25:55.921Z,1761542755.921 [DAT](INFO): DAT read: Rx Time:05:25:54.6639 2025-10-27T05:25:55.921Z,1761542755.921 [DAT](INFO): Rx dataTimestamp_ set to:1761542755.920715 2025-10-27T05:25:55.922Z,1761542755.922 [DAT](INFO): DAT read: Bearing 196.7, 14.6 (Local) 2025-10-27T05:25:55.923Z,1761542755.923 [DAT](INFO): Local bearing/azimuth received: Bearing 196.7, 14.6 (Local) 2025-10-27T05:25:55.925Z,1761542755.925 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.4 2025-10-27T05:25:55.929Z,1761542755.929 [DAT](INFO): DAT read: 05:25:54.6639 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.00,-2.378,-0.803,-2.771,-1.789, PHS=-0.487, 1.032,-1.026, RAW= 344.6, 5.3, CAL= 344.3, 3.7, ROT= 165.7, -3.7 2025-10-27T05:25:55.930Z,1761542755.930 [DAT](INFO): got valid direction response: 05:25:54.6639 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509,-0.00,-2.378,-0.803,-2.771,-1.789, PHS=-0.487, 1.032,-1.026, RAW= 344.6, 5.3, CAL= 344.3, 3.7, ROT= 165.7, -3.7 2025-10-27T05:25:55.931Z,1761542755.931 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:25:55.932Z,1761542755.932 [DAT](INFO): direction in FSK: [-0.966996,0.246484,0.064532] 2025-10-27T05:25:55.932Z,1761542755.932 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:55.943Z,1761542755.943 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.045944 2025-10-27T05:25:56.020Z,1761542756.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540842,0.838308,0.068769],[-0.841047,-0.537873,-0.057732],[-0.011409,-0.089062,0.995961]] 2025-10-27T05:25:56.080Z,1761542756.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:56.082Z,1761542756.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.519391 m, bearing: 42.683751 deg, lat: 36.779350 deg, lon: -121.859686 deg, deltaT: 0.502825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:25:56.087Z,1761542756.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-27T05:25:56.173Z,1761542756.173 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.276077 2025-10-27T05:25:56.410Z,1761542756.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541453,0.837920,0.068690],[-0.840671,-0.538629,-0.056136],[-0.010039,-0.088140,0.996058]] 2025-10-27T05:25:56.425Z,1761542756.425 [DAT](INFO): DAT read: Rx Time:05:25:55.1642 2025-10-27T05:25:56.425Z,1761542756.425 [DAT](INFO): Rx dataTimestamp_ set to:1761542756.424779 2025-10-27T05:25:56.426Z,1761542756.426 [DAT](INFO): DAT read: Bearing 199.7, 16.2 (Local) 2025-10-27T05:25:56.427Z,1761542756.427 [DAT](INFO): Local bearing/azimuth received: Bearing 199.7, 16.2 (Local) 2025-10-27T05:25:56.430Z,1761542756.430 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.4 2025-10-27T05:25:56.434Z,1761542756.434 [DAT](INFO): DAT read: 05:25:55.1642 LVL= 24048, 21169, 32754, 32755, AGC= 60, IDX= 511, 0.41,-1.451, 0.145,-1.925,-0.937, PHS=-0.411, 1.128,-1.032, RAW= 346.2, 3.3, CAL= 345.8, 0.6, ROT= 164.2, -0.6 2025-10-27T05:25:56.435Z,1761542756.435 [DAT](INFO): got valid direction response: 05:25:55.1642 LVL= 24048, 21169, 32754, 32755, AGC= 60, IDX= 511, 0.41,-1.451, 0.145,-1.925,-0.937, PHS=-0.411, 1.128,-1.032, RAW= 346.2, 3.3, CAL= 345.8, 0.6, ROT= 164.2, -0.6 2025-10-27T05:25:56.436Z,1761542756.436 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:25:56.437Z,1761542756.437 [DAT](INFO): direction in FSK: [-0.962165,0.272265,0.010472] 2025-10-27T05:25:56.437Z,1761542756.437 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:56.489Z,1761542756.489 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.592354 2025-10-27T05:25:56.541Z,1761542756.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504064 s, deltaX: 0.400000 m, approachRate: 0.793549 m/s, rangeRepo size: 4 2025-10-27T05:25:56.547Z,1761542756.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.917310 m, bearing: 41.424443 deg, lat: 36.779350 deg, lon: -121.859684 deg, deltaT: 0.504064 s, deltaX: 0.397919 m, approachRate: 0.789421 m/s, posRepo size: 4 2025-10-27T05:25:56.548Z,1761542756.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m. 2025-10-27T05:25:56.676Z,1761542756.676 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.779610 2025-10-27T05:25:56.817Z,1761542756.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541542,0.837733,0.070246],[-0.840630,-0.538772,-0.055365],[-0.008534,-0.089033,0.995992]] 2025-10-27T05:25:56.858Z,1761542756.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m. 2025-10-27T05:25:56.929Z,1761542756.929 [DAT](INFO): DAT read: Rx Time:05:25:55.6642 2025-10-27T05:25:56.930Z,1761542756.930 [DAT](INFO): Rx dataTimestamp_ set to:1761542756.929413 2025-10-27T05:25:56.932Z,1761542756.932 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.4 2025-10-27T05:25:56.933Z,1761542756.933 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-27T05:25:56.934Z,1761542756.934 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.037247 2025-10-27T05:25:57.180Z,1761542757.180 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.283463 2025-10-27T05:25:57.210Z,1761542757.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541767,0.837656,0.069428],[-0.840499,-0.539203,-0.053125],[-0.007065,-0.087135,0.996171]] 2025-10-27T05:25:57.242Z,1761542757.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504634 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:57.243Z,1761542757.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m. 2025-10-27T05:25:57.432Z,1761542757.432 [DAT](INFO): DAT read: Rx Time:05:25:56.1643 2025-10-27T05:25:57.433Z,1761542757.433 [DAT](INFO): Rx dataTimestamp_ set to:1761542757.432687 2025-10-27T05:25:57.434Z,1761542757.434 [DAT](INFO): DAT read: Bearing 188.3, 14.3 (Local) 2025-10-27T05:25:57.435Z,1761542757.435 [DAT](INFO): Local bearing/azimuth received: Bearing 188.3, 14.3 (Local) 2025-10-27T05:25:57.437Z,1761542757.437 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 2025-10-27T05:25:57.441Z,1761542757.441 [DAT](INFO): DAT read: 05:25:56.1643 LVL= 23776, 22833, 32754, 32755, AGC= 60, IDX= 513, 0.08, 0.956, 2.533, 0.535, 1.695, PHS=-0.637, 0.882,-1.205, RAW= 345.2, 10.3, CAL= 345.4, 11.6, ROT= 164.6, -11.6 2025-10-27T05:25:57.442Z,1761542757.442 [DAT](INFO): got valid direction response: 05:25:56.1643 LVL= 23776, 22833, 32754, 32755, AGC= 60, IDX= 513, 0.08, 0.956, 2.533, 0.535, 1.695, PHS=-0.637, 0.882,-1.205, RAW= 345.2, 10.3, CAL= 345.4, 11.6, ROT= 164.6, -11.6 2025-10-27T05:25:57.444Z,1761542757.444 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:25:57.445Z,1761542757.445 [DAT](INFO): direction in FSK: [-0.944404,0.260132,0.201078] 2025-10-27T05:25:57.445Z,1761542757.445 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:57.448Z,1761542757.448 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.551991 2025-10-27T05:25:57.629Z,1761542757.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541594,0.837915,0.067633],[-0.840620,-0.539276,-0.050394],[-0.005752,-0.084147,0.996437]] 2025-10-27T05:25:57.677Z,1761542757.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503274 s, deltaX: 0.200000 m, approachRate: 0.397397 m/s, rangeRepo size: 4 2025-10-27T05:25:57.679Z,1761542757.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.116114 m, bearing: 40.891952 deg, lat: 36.779350 deg, lon: -121.859684 deg, deltaT: 1.007908 s, deltaX: 0.198804 m, approachRate: 0.197244 m/s, posRepo size: 4 2025-10-27T05:25:57.680Z,1761542757.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-27T05:25:57.692Z,1761542757.692 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.795475 2025-10-27T05:25:57.945Z,1761542757.945 [DAT](INFO): DAT read: Rx Time:05:25:56.6644 2025-10-27T05:25:57.945Z,1761542757.945 [DAT](INFO): Rx dataTimestamp_ set to:1761542757.944783 2025-10-27T05:25:57.946Z,1761542757.946 [DAT](INFO): DAT read: Bearing 199.5, 15.9 (Local) 2025-10-27T05:25:57.947Z,1761542757.947 [DAT](INFO): Local bearing/azimuth received: Bearing 199.5, 15.9 (Local) 2025-10-27T05:25:57.949Z,1761542757.949 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4 2025-10-27T05:25:57.953Z,1761542757.953 [DAT](INFO): DAT read: 05:25:56.6644 LVL= 24512, 19041, 27570, 29523, AGC= 67, IDX= 1, 0.33, 2.807,-1.881, 2.338,-2.959, PHS=-0.415, 1.123,-1.030, RAW= 346.1, 3.4, CAL= 345.7, 0.7, ROT= 164.3, -0.7 2025-10-27T05:25:57.955Z,1761542757.955 [DAT](INFO): got valid direction response: 05:25:56.6644 LVL= 24512, 19041, 27570, 29523, AGC= 67, IDX= 1, 0.33, 2.807,-1.881, 2.338,-2.959, PHS=-0.415, 1.123,-1.030, RAW= 346.1, 3.4, CAL= 345.7, 0.7, ROT= 164.3, -0.7 2025-10-27T05:25:57.955Z,1761542757.955 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:25:57.956Z,1761542757.956 [DAT](INFO): direction in FSK: [-0.962620,0.270580,0.012217] 2025-10-27T05:25:57.956Z,1761542757.956 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:57.960Z,1761542757.960 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.063583 2025-10-27T05:25:58.018Z,1761542758.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541348,0.838157,0.066596],[-0.840787,-0.539209,-0.048290],[-0.004566,-0.082135,0.996611]] 2025-10-27T05:25:58.163Z,1761542758.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.512096 s, deltaX: 0.100000 m, approachRate: 0.195277 m/s, rangeRepo size: 4 2025-10-27T05:25:58.165Z,1761542758.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.215563 m, bearing: 41.519839 deg, lat: 36.779350 deg, lon: -121.859684 deg, deltaT: 0.512096 s, deltaX: 0.099449 m, approachRate: 0.194200 m/s, posRepo size: 4 2025-10-27T05:25:58.166Z,1761542758.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.22 m. 2025-10-27T05:25:58.197Z,1761542758.197 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.300282 2025-10-27T05:25:58.424Z,1761542758.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541442,0.838156,0.065842],[-0.840732,-0.539483,-0.046123],[-0.003138,-0.080329,0.996763]] 2025-10-27T05:25:58.449Z,1761542758.449 [DAT](INFO): DAT read: Rx Time:05:25:57.1646 2025-10-27T05:25:58.449Z,1761542758.449 [DAT](INFO): Rx dataTimestamp_ set to:1761542758.448797 2025-10-27T05:25:58.450Z,1761542758.450 [DAT](INFO): DAT read: Bearing 200.0, 14.6 (Local) 2025-10-27T05:25:58.452Z,1761542758.452 [DAT](INFO): Local bearing/azimuth received: Bearing 200.0, 14.6 (Local) 2025-10-27T05:25:58.454Z,1761542758.454 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 2025-10-27T05:25:58.458Z,1761542758.458 [DAT](INFO): DAT read: 05:25:57.1646 LVL= 21792, 20401, 32754, 32755, AGC= 60, IDX= 500,-0.29, 2.208,-2.433, 1.778, 2.747, PHS=-0.437, 1.148,-1.013, RAW= 344.9, 3.2, CAL= 344.4, 0.4, ROT= 165.6, -0.4 2025-10-27T05:25:58.460Z,1761542758.460 [DAT](INFO): got valid direction response: 05:25:57.1646 LVL= 21792, 20401, 32754, 32755, AGC= 60, IDX= 500,-0.29, 2.208,-2.433, 1.778, 2.747, PHS=-0.437, 1.148,-1.013, RAW= 344.9, 3.2, CAL= 344.4, 0.4, ROT= 165.6, -0.4 2025-10-27T05:25:58.460Z,1761542758.460 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:25:58.461Z,1761542758.461 [DAT](INFO): direction in FSK: [-0.968560,0.248684,0.006981] 2025-10-27T05:25:58.461Z,1761542758.461 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:58.465Z,1761542758.465 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.568466 2025-10-27T05:25:58.493Z,1761542758.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504014 s, deltaX: 0.300000 m, approachRate: 0.595222 m/s, rangeRepo size: 4 2025-10-27T05:25:58.495Z,1761542758.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.513874 m, bearing: 42.831969 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.504014 s, deltaX: 0.298311 m, approachRate: 0.591871 m/s, posRepo size: 4 2025-10-27T05:25:58.496Z,1761542758.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T05:25:58.701Z,1761542758.701 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.804115 2025-10-27T05:25:58.953Z,1761542758.953 [DAT](INFO): DAT read: Rx Time:05:25:57.6646 2025-10-27T05:25:58.953Z,1761542758.953 [DAT](INFO): Rx dataTimestamp_ set to:1761542758.952942 2025-10-27T05:25:58.955Z,1761542758.955 [DAT](INFO): DAT read: Bearing 199.8, 14.6 (Local) 2025-10-27T05:25:58.955Z,1761542758.955 [DAT](INFO): Local bearing/azimuth received: Bearing 199.8, 14.6 (Local) 2025-10-27T05:25:58.957Z,1761542758.957 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.4 2025-10-27T05:25:58.962Z,1761542758.962 [DAT](INFO): DAT read: 05:25:57.6646 LVL= 22064, 21073, 32754, 32755, AGC= 58, IDX= 500,-0.08, 1.781,-2.870, 1.349, 2.320, PHS=-0.438, 1.138,-1.015, RAW= 345.0, 3.3, CAL= 344.6, 0.6, ROT= 165.4, -0.6 2025-10-27T05:25:58.963Z,1761542758.963 [DAT](INFO): got valid direction response: 05:25:57.6646 LVL= 22064, 21073, 32754, 32755, AGC= 58, IDX= 500,-0.08, 1.781,-2.870, 1.349, 2.320, PHS=-0.438, 1.138,-1.015, RAW= 345.0, 3.3, CAL= 344.6, 0.6, ROT= 165.4, -0.6 2025-10-27T05:25:58.963Z,1761542758.963 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:25:58.964Z,1761542758.964 [DAT](INFO): direction in FSK: [-0.967656,0.252056,0.010472] 2025-10-27T05:25:58.964Z,1761542758.964 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:58.967Z,1761542758.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T05:25:58.977Z,1761542758.977 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.080032 2025-10-27T05:25:59.204Z,1761542759.204 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.307411 2025-10-27T05:25:59.357Z,1761542759.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504145 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:25:59.360Z,1761542759.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.513788 m, bearing: 42.616860 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.504145 s, deltaX: -0.000086 m, approachRate: -0.000170 m/s, posRepo size: 4 2025-10-27T05:25:59.360Z,1761542759.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T05:25:59.457Z,1761542759.457 [DAT](INFO): DAT read: Rx Time:05:25:58.1648 2025-10-27T05:25:59.457Z,1761542759.457 [DAT](INFO): Rx dataTimestamp_ set to:1761542759.456831 2025-10-27T05:25:59.458Z,1761542759.458 [DAT](INFO): DAT read: Bearing 199.1, 15.1 (Local) 2025-10-27T05:25:59.459Z,1761542759.459 [DAT](INFO): Local bearing/azimuth received: Bearing 199.1, 15.1 (Local) 2025-10-27T05:25:59.461Z,1761542759.461 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.3 2025-10-27T05:25:59.466Z,1761542759.466 [DAT](INFO): DAT read: 05:25:58.1648 LVL= 25216, 26657, 32754, 32755, AGC= 60, IDX= 502, 0.04,-1.373, 0.227,-1.819,-0.839, PHS=-0.432, 1.111,-1.024, RAW= 345.6, 3.6, CAL= 345.2, 1.1, ROT= 164.8, -1.1 2025-10-27T05:25:59.467Z,1761542759.467 [DAT](INFO): got valid direction response: 05:25:58.1648 LVL= 25216, 26657, 32754, 32755, AGC= 60, IDX= 502, 0.04,-1.373, 0.227,-1.819,-0.839, PHS=-0.432, 1.111,-1.024, RAW= 345.6, 3.6, CAL= 345.2, 1.1, ROT= 164.8, -1.1 2025-10-27T05:25:59.467Z,1761542759.467 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:25:59.468Z,1761542759.468 [DAT](INFO): direction in FSK: [-0.964839,0.262141,0.019197] 2025-10-27T05:25:59.469Z,1761542759.469 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:59.472Z,1761542759.472 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.575920 2025-10-27T05:25:59.642Z,1761542759.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541379,0.838280,0.064770],[-0.840779,-0.539827,-0.040963],[0.000626,-0.076634,0.997059]] 2025-10-27T05:25:59.709Z,1761542759.709 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.812088 2025-10-27T05:25:59.756Z,1761542759.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503889 s, deltaX: 0.299999 m, approachRate: 0.595368 m/s, rangeRepo size: 4 2025-10-27T05:25:59.758Z,1761542759.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.812129 m, bearing: 41.983722 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.503889 s, deltaX: 0.298341 m, approachRate: 0.592076 m/s, posRepo size: 4 2025-10-27T05:25:59.759Z,1761542759.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-27T05:25:59.961Z,1761542759.961 [DAT](INFO): DAT read: Rx Time:05:25:58.6649 2025-10-27T05:25:59.961Z,1761542759.961 [DAT](INFO): Rx dataTimestamp_ set to:1761542759.960724 2025-10-27T05:25:59.962Z,1761542759.962 [DAT](INFO): DAT read: Bearing 198.9, 15.0 (Local) 2025-10-27T05:25:59.963Z,1761542759.963 [DAT](INFO): Local bearing/azimuth received: Bearing 198.9, 15.0 (Local) 2025-10-27T05:25:59.965Z,1761542759.965 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.3 2025-10-27T05:25:59.974Z,1761542759.974 [DAT](INFO): DAT read: 05:25:58.6649 LVL= 25424, 26737, 32754, 32755, AGC= 59, IDX= 502, 0.18,-1.602,-0.014,-2.049,-1.068, PHS=-0.432, 1.099,-1.025, RAW= 345.7, 3.8, CAL= 345.3, 1.4, ROT= 164.7, -1.4 2025-10-27T05:25:59.985Z,1761542759.985 [DAT](INFO): got valid direction response: 05:25:58.6649 LVL= 25424, 26737, 32754, 32755, AGC= 59, IDX= 502, 0.18,-1.602,-0.014,-2.049,-1.068, PHS=-0.432, 1.099,-1.025, RAW= 345.7, 3.8, CAL= 345.3, 1.4, ROT= 164.7, -1.4 2025-10-27T05:25:59.985Z,1761542759.985 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:25:59.986Z,1761542759.986 [DAT](INFO): direction in FSK: [-0.964269,0.263794,0.024432] 2025-10-27T05:25:59.991Z,1761542759.991 [DAT](INFO): publishing direction and range info 2025-10-27T05:25:59.994Z,1761542759.994 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.097984 2025-10-27T05:26:00.042Z,1761542760.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542088,0.837888,0.063904],[-0.840319,-0.540696,-0.038876],[0.001979,-0.074774,0.997199]] 2025-10-27T05:26:00.102Z,1761542760.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503893 s, deltaX: 0.200001 m, approachRate: 0.396911 m/s, rangeRepo size: 4 2025-10-27T05:26:00.109Z,1761542760.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.011024 m, bearing: 41.813963 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.503893 s, deltaX: 0.198895 m, approachRate: 0.394718 m/s, posRepo size: 4 2025-10-27T05:26:00.110Z,1761542760.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-27T05:26:00.212Z,1761542760.212 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.315872 2025-10-27T05:26:00.438Z,1761542760.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542748,0.837394,0.064775],[-0.839889,-0.541440,-0.037815],[0.003406,-0.074928,0.997183]] 2025-10-27T05:26:00.465Z,1761542760.465 [DAT](INFO): DAT read: Rx Time:05:25:59.1651 2025-10-27T05:26:00.465Z,1761542760.465 [DAT](INFO): Rx dataTimestamp_ set to:1761542760.464837 2025-10-27T05:26:00.466Z,1761542760.466 [DAT](INFO): DAT read: Bearing 199.2, 15.0 (Local) 2025-10-27T05:26:00.467Z,1761542760.467 [DAT](INFO): Local bearing/azimuth received: Bearing 199.2, 15.0 (Local) 2025-10-27T05:26:00.469Z,1761542760.469 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3 2025-10-27T05:26:00.474Z,1761542760.474 [DAT](INFO): DAT read: 05:25:59.1651 LVL= 23760, 23953, 32754, 32755, AGC= 61, IDX= 504, 0.34,-0.270, 1.327,-0.724, 0.260, PHS=-0.428, 1.112,-1.029, RAW= 345.8, 3.6, CAL= 345.4, 1.1, ROT= 164.6, -1.1 2025-10-27T05:26:00.476Z,1761542760.476 [DAT](INFO): got valid direction response: 05:25:59.1651 LVL= 23760, 23953, 32754, 32755, AGC= 61, IDX= 504, 0.34,-0.270, 1.327,-0.724, 0.260, PHS=-0.428, 1.112,-1.029, RAW= 345.8, 3.6, CAL= 345.4, 1.1, ROT= 164.6, -1.1 2025-10-27T05:26:00.476Z,1761542760.476 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:26:00.477Z,1761542760.477 [DAT](INFO): direction in FSK: [-0.963918,0.265507,0.019197] 2025-10-27T05:26:00.477Z,1761542760.477 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:00.481Z,1761542760.481 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.584511 2025-10-27T05:26:00.492Z,1761542760.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504113 s, deltaX: 0.299999 m, approachRate: 0.595103 m/s, rangeRepo size: 4 2025-10-27T05:26:00.494Z,1761542760.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.309311 m, bearing: 41.690554 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.504113 s, deltaX: 0.298286 m, approachRate: 0.591706 m/s, posRepo size: 4 2025-10-27T05:26:00.494Z,1761542760.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-27T05:26:00.717Z,1761542760.717 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.820217 2025-10-27T05:26:00.859Z,1761542760.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543443,0.836973,0.064387],[-0.839433,-0.542263,-0.036102],[0.004698,-0.073668,0.997272]] 2025-10-27T05:26:00.919Z,1761542760.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-27T05:26:00.969Z,1761542760.969 [DAT](INFO): DAT read: Rx Time:05:25:59.6651 2025-10-27T05:26:00.969Z,1761542760.969 [DAT](INFO): Rx dataTimestamp_ set to:1761542760.969049 2025-10-27T05:26:00.971Z,1761542760.971 [DAT](INFO): DAT read: Bearing 199.5, 14.4 (Local) 2025-10-27T05:26:00.971Z,1761542760.971 [DAT](INFO): Local bearing/azimuth received: Bearing 199.5, 14.4 (Local) 2025-10-27T05:26:00.973Z,1761542760.973 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3 2025-10-27T05:26:00.980Z,1761542760.980 [DAT](INFO): DAT read: 05:25:59.6651 LVL= 25744, 25553, 32754, 32755, AGC= 61, IDX= 505,-0.41,-2.952,-1.336, 2.899,-2.415, PHS=-0.435, 1.123,-1.014, RAW= 345.2, 3.4, CAL= 344.7, 0.8, ROT= 165.3, -0.8 2025-10-27T05:26:00.981Z,1761542760.981 [DAT](INFO): got valid direction response: 05:25:59.6651 LVL= 25744, 25553, 32754, 32755, AGC= 61, IDX= 505,-0.41,-2.952,-1.336, 2.899,-2.415, PHS=-0.435, 1.123,-1.014, RAW= 345.2, 3.4, CAL= 344.7, 0.8, ROT= 165.3, -0.8 2025-10-27T05:26:00.981Z,1761542760.981 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:26:00.982Z,1761542760.982 [DAT](INFO): direction in FSK: [-0.967173,0.253733,0.013962] 2025-10-27T05:26:00.983Z,1761542760.983 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:00.986Z,1761542760.986 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.089870 2025-10-27T05:26:01.220Z,1761542761.220 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.323483 2025-10-27T05:26:01.246Z,1761542761.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544616,0.836232,0.064107],[-0.838664,-0.543561,-0.034426],[0.006058,-0.072513,0.997349]] 2025-10-27T05:26:01.289Z,1761542761.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:01.305Z,1761542761.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.309311 m, bearing: 42.281137 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.504212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:01.310Z,1761542761.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-27T05:26:01.475Z,1761542761.475 [DAT](INFO): DAT read: Rx Time:05:26:00.1652 2025-10-27T05:26:01.475Z,1761542761.475 [DAT](INFO): Rx dataTimestamp_ set to:1761542761.474791 2025-10-27T05:26:01.477Z,1761542761.477 [DAT](INFO): DAT read: Bearing 199.3, 14.1 (Local) 2025-10-27T05:26:01.478Z,1761542761.478 [DAT](INFO): Local bearing/azimuth received: Bearing 199.3, 14.1 (Local) 2025-10-27T05:26:01.481Z,1761542761.481 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.3 2025-10-27T05:26:01.485Z,1761542761.485 [DAT](INFO): DAT read: 05:26:00.1652 LVL= 23984, 23745, 32754, 32755, AGC= 60, IDX= 506,-0.21, 3.122,-1.540, 2.696,-2.615, PHS=-0.444, 1.120,-1.016, RAW= 345.0, 3.6, CAL= 344.6, 1.0, ROT= 165.4, -1.0 2025-10-27T05:26:01.486Z,1761542761.486 [DAT](INFO): got valid direction response: 05:26:00.1652 LVL= 23984, 23745, 32754, 32755, AGC= 60, IDX= 506,-0.21, 3.122,-1.540, 2.696,-2.615, PHS=-0.444, 1.120,-1.016, RAW= 345.0, 3.6, CAL= 344.6, 1.0, ROT= 165.4, -1.0 2025-10-27T05:26:01.487Z,1761542761.487 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:26:01.488Z,1761542761.488 [DAT](INFO): direction in FSK: [-0.967562,0.252031,0.017452] 2025-10-27T05:26:01.489Z,1761542761.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:01.492Z,1761542761.492 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.595650 2025-10-27T05:26:01.654Z,1761542761.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545583,0.835588,0.064286],[-0.838025,-0.544624,-0.033152],[0.007310,-0.071960,0.997381]] 2025-10-27T05:26:01.725Z,1761542761.725 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.827778 2025-10-27T05:26:01.784Z,1761542761.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.505742 s, deltaX: 0.100000 m, approachRate: 0.197730 m/s, rangeRepo size: 4 2025-10-27T05:26:01.786Z,1761542761.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.408777 m, bearing: 42.300626 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.505742 s, deltaX: 0.099466 m, approachRate: 0.196674 m/s, posRepo size: 4 2025-10-27T05:26:01.793Z,1761542761.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-27T05:26:01.977Z,1761542761.977 [DAT](INFO): DAT read: Rx Time:05:26:00.6652 2025-10-27T05:26:01.977Z,1761542761.977 [DAT](INFO): Rx dataTimestamp_ set to:1761542761.976875 2025-10-27T05:26:01.978Z,1761542761.978 [DAT](INFO): DAT read: Bearing 199.1, 14.2 (Local) 2025-10-27T05:26:01.979Z,1761542761.979 [DAT](INFO): Local bearing/azimuth received: Bearing 199.1, 14.2 (Local) 2025-10-27T05:26:01.981Z,1761542761.981 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.3 2025-10-27T05:26:01.986Z,1761542761.986 [DAT](INFO): DAT read: 05:26:00.6652 LVL= 24224, 23777, 32754, 32755, AGC= 60, IDX= 506,-0.08, 2.220,-2.451, 1.789, 2.763, PHS=-0.441, 1.114,-1.018, RAW= 345.2, 3.7, CAL= 344.8, 1.1, ROT= 165.2, -1.1 2025-10-27T05:26:01.987Z,1761542761.987 [DAT](INFO): got valid direction response: 05:26:00.6652 LVL= 24224, 23777, 32754, 32755, AGC= 60, IDX= 506,-0.08, 2.220,-2.451, 1.789, 2.763, PHS=-0.441, 1.114,-1.018, RAW= 345.2, 3.7, CAL= 344.8, 1.1, ROT= 165.2, -1.1 2025-10-27T05:26:01.987Z,1761542761.987 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:26:01.988Z,1761542761.988 [DAT](INFO): direction in FSK: [-0.966645,0.255399,0.019197] 2025-10-27T05:26:01.989Z,1761542761.989 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:01.992Z,1761542761.992 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.095959 2025-10-27T05:26:02.088Z,1761542762.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546782,0.834733,0.065195],[-0.837231,-0.545896,-0.032283],[0.008642,-0.072235,0.997350]] 2025-10-27T05:26:02.148Z,1761542762.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.502084 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:02.150Z,1761542762.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.408777 m, bearing: 42.011781 deg, lat: 36.779348 deg, lon: -121.859683 deg, deltaT: 0.502084 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:02.150Z,1761542762.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-27T05:26:02.229Z,1761542762.229 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.332596 2025-10-27T05:26:02.474Z,1761542762.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547712,0.834070,0.065874],[-0.836610,-0.546895,-0.031453],[0.009792,-0.072338,0.997332]] 2025-10-27T05:26:02.481Z,1761542762.481 [DAT](INFO): DAT read: Rx Time:05:26:01.1654 2025-10-27T05:26:02.481Z,1761542762.481 [DAT](INFO): Rx dataTimestamp_ set to:1761542762.480804 2025-10-27T05:26:02.482Z,1761542762.482 [DAT](INFO): DAT read: Bearing 199.0, 14.2 (Local) 2025-10-27T05:26:02.484Z,1761542762.484 [DAT](INFO): Local bearing/azimuth received: Bearing 199.0, 14.2 (Local) 2025-10-27T05:26:02.486Z,1761542762.486 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.3 2025-10-27T05:26:02.490Z,1761542762.490 [DAT](INFO): DAT read: 05:26:01.1654 LVL= 23472, 24945, 32754, 32755, AGC= 61, IDX= 508, 0.05,-2.024,-0.424,-2.457,-1.484, PHS=-0.438, 1.105,-1.017, RAW= 345.3, 3.7, CAL= 344.9, 1.2, ROT= 165.1, -1.2 2025-10-27T05:26:02.492Z,1761542762.492 [DAT](INFO): got valid direction response: 05:26:01.1654 LVL= 23472, 24945, 32754, 32755, AGC= 61, IDX= 508, 0.05,-2.024,-0.424,-2.457,-1.484, PHS=-0.438, 1.105,-1.017, RAW= 345.3, 3.7, CAL= 344.9, 1.2, ROT= 165.1, -1.2 2025-10-27T05:26:02.492Z,1761542762.492 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:26:02.493Z,1761542762.493 [DAT](INFO): direction in FSK: [-0.966164,0.257076,0.020942] 2025-10-27T05:26:02.493Z,1761542762.493 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:02.497Z,1761542762.497 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.600353 2025-10-27T05:26:02.560Z,1761542762.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503929 s, deltaX: 0.299999 m, approachRate: 0.595320 m/s, rangeRepo size: 4 2025-10-27T05:26:02.621Z,1761542762.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.707085 m, bearing: 41.841104 deg, lat: 36.779348 deg, lon: -121.859683 deg, deltaT: 0.503929 s, deltaX: 0.298307 m, approachRate: 0.591963 m/s, posRepo size: 4 2025-10-27T05:26:02.635Z,1761542762.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-27T05:26:02.733Z,1761542762.733 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.836277 2025-10-27T05:26:02.892Z,1761542762.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548984,0.833205,0.066233],[-0.835760,-0.548256,-0.030342],[0.011032,-0.072013,0.997343]] 2025-10-27T05:26:02.957Z,1761542762.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-27T05:26:02.985Z,1761542762.985 [DAT](INFO): DAT read: Rx Time:05:26:01.6654 2025-10-27T05:26:02.985Z,1761542762.985 [DAT](INFO): Rx dataTimestamp_ set to:1761542762.984764 2025-10-27T05:26:02.986Z,1761542762.986 [DAT](INFO): DAT read: Bearing 198.5, 14.2 (Local) 2025-10-27T05:26:02.987Z,1761542762.987 [DAT](INFO): Local bearing/azimuth received: Bearing 198.5, 14.2 (Local) 2025-10-27T05:26:02.989Z,1761542762.989 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.3 2025-10-27T05:26:02.994Z,1761542762.994 [DAT](INFO): DAT read: 05:26:01.6654 LVL= 26480, 26977, 32754, 32755, AGC= 60, IDX= 508, 0.13, 3.021,-1.668, 2.589,-2.717, PHS=-0.443, 1.095,-1.021, RAW= 345.3, 3.9, CAL= 344.9, 1.6, ROT= 165.1, -1.6 2025-10-27T05:26:02.995Z,1761542762.995 [DAT](INFO): got valid direction response: 05:26:01.6654 LVL= 26480, 26977, 32754, 32755, AGC= 60, IDX= 508, 0.13, 3.021,-1.668, 2.589,-2.717, PHS=-0.443, 1.095,-1.021, RAW= 345.3, 3.9, CAL= 344.9, 1.6, ROT= 165.1, -1.6 2025-10-27T05:26:02.995Z,1761542762.995 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:26:02.996Z,1761542762.996 [DAT](INFO): direction in FSK: [-0.965999,0.257033,0.027922] 2025-10-27T05:26:02.996Z,1761542762.996 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:03.004Z,1761542763.004 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.107582 2025-10-27T05:26:03.236Z,1761542763.236 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.339466 2025-10-27T05:26:03.278Z,1761542763.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549578,0.832746,0.067062],[-0.835355,-0.548907,-0.029707],[0.012072,-0.072347,0.997306]] 2025-10-27T05:26:03.376Z,1761542763.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503960 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:03.378Z,1761542763.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.707100 m, bearing: 41.685225 deg, lat: 36.779348 deg, lon: -121.859683 deg, deltaT: 0.503960 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 2025-10-27T05:26:03.378Z,1761542763.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-27T05:26:03.489Z,1761542763.489 [DAT](INFO): DAT read: Rx Time:05:26:02.1657 2025-10-27T05:26:03.489Z,1761542763.489 [DAT](INFO): Rx dataTimestamp_ set to:1761542763.489211 2025-10-27T05:26:03.491Z,1761542763.491 [DAT](INFO): DAT read: Bearing 198.8, 14.1 (Local) 2025-10-27T05:26:03.491Z,1761542763.491 [DAT](INFO): Local bearing/azimuth received: Bearing 198.8, 14.1 (Local) 2025-10-27T05:26:03.493Z,1761542763.493 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.3 2025-10-27T05:26:03.498Z,1761542763.498 [DAT](INFO): DAT read: 05:26:02.1657 LVL= 26160, 28273, 32754, 32755, AGC= 61, IDX= 510, 0.23,-1.549, 0.053,-1.983,-1.008, PHS=-0.439, 1.106,-1.019, RAW= 345.3, 3.7, CAL= 344.9, 1.3, ROT= 165.1, -1.3 2025-10-27T05:26:03.499Z,1761542763.499 [DAT](INFO): got valid direction response: 05:26:02.1657 LVL= 26160, 28273, 32754, 32755, AGC= 61, IDX= 510, 0.23,-1.549, 0.053,-1.983,-1.008, PHS=-0.439, 1.106,-1.019, RAW= 345.3, 3.7, CAL= 344.9, 1.3, ROT= 165.1, -1.3 2025-10-27T05:26:03.500Z,1761542763.500 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:26:03.501Z,1761542763.501 [DAT](INFO): direction in FSK: [-0.966127,0.257067,0.022687] 2025-10-27T05:26:03.501Z,1761542763.501 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:03.506Z,1761542763.506 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.609097 2025-10-27T05:26:03.685Z,1761542763.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550398,0.832228,0.066773],[-0.834799,-0.549824,-0.028351],[0.013119,-0.071347,0.997365]] 2025-10-27T05:26:03.740Z,1761542763.740 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.843597 2025-10-27T05:26:03.769Z,1761542763.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504447 s, deltaX: 0.500000 m, approachRate: 0.991184 m/s, rangeRepo size: 4 2025-10-27T05:26:03.775Z,1761542763.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.204336 m, bearing: 41.648677 deg, lat: 36.779348 deg, lon: -121.859683 deg, deltaT: 0.504447 s, deltaX: 0.497236 m, approachRate: 0.985706 m/s, posRepo size: 4 2025-10-27T05:26:03.776Z,1761542763.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-27T05:26:03.992Z,1761542763.992 [DAT](INFO): DAT read: Rx Time:05:26:02.6657 2025-10-27T05:26:03.993Z,1761542763.993 [DAT](INFO): Rx dataTimestamp_ set to:1761542763.992649 2025-10-27T05:26:03.994Z,1761542763.994 [DAT](INFO): DAT read: Bearing 198.8, 13.8 (Local) 2025-10-27T05:26:03.995Z,1761542763.995 [DAT](INFO): Local bearing/azimuth received: Bearing 198.8, 13.8 (Local) 2025-10-27T05:26:03.997Z,1761542763.997 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.3 2025-10-27T05:26:04.001Z,1761542764.001 [DAT](INFO): DAT read: 05:26:02.6657 LVL= 25520, 24305, 32754, 32755, AGC= 61, IDX= 510, 0.35,-3.029,-1.422, 2.822,-2.486, PHS=-0.441, 1.109,-1.019, RAW= 345.2, 3.7, CAL= 344.8, 1.2, ROT= 165.2, -1.2 2025-10-27T05:26:04.002Z,1761542764.002 [DAT](INFO): got valid direction response: 05:26:02.6657 LVL= 25520, 24305, 32754, 32755, AGC= 61, IDX= 510, 0.35,-3.029,-1.422, 2.822,-2.486, PHS=-0.441, 1.109,-1.019, RAW= 345.2, 3.7, CAL= 344.8, 1.2, ROT= 165.2, -1.2 2025-10-27T05:26:04.003Z,1761542764.003 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:26:04.004Z,1761542764.004 [DAT](INFO): direction in FSK: [-0.966611,0.255390,0.020942] 2025-10-27T05:26:04.005Z,1761542764.005 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:04.008Z,1761542764.008 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.111912 2025-10-27T05:26:04.124Z,1761542764.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551110,0.831747,0.066893],[-0.834311,-0.550626,-0.027148],[0.014253,-0.070771,0.997391]] 2025-10-27T05:26:04.169Z,1761542764.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503438 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:04.171Z,1761542764.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.204336 m, bearing: 41.705461 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.503438 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:04.175Z,1761542764.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-27T05:26:04.245Z,1761542764.245 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.348263 2025-10-27T05:26:04.494Z,1761542764.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551716,0.831298,0.067485],[-0.833893,-0.551294,-0.026409],[0.015251,-0.070845,0.997371]] 2025-10-27T05:26:04.497Z,1761542764.497 [DAT](INFO): DAT read: Rx Time:05:26:03.1659 2025-10-27T05:26:04.497Z,1761542764.497 [DAT](INFO): Rx dataTimestamp_ set to:1761542764.496795 2025-10-27T05:26:04.498Z,1761542764.498 [DAT](INFO): DAT read: Bearing 201.1, 6.5 (Local) 2025-10-27T05:26:04.499Z,1761542764.499 [DAT](INFO): Local bearing/azimuth received: Bearing 201.1, 6.5 (Local) 2025-10-27T05:26:04.501Z,1761542764.501 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.3 2025-10-27T05:26:04.506Z,1761542764.506 [DAT](INFO): DAT read: 05:26:03.1659 LVL= 24560, 24561, 32754, 32755, AGC= 62, IDX= 512, 0.50, 1.660,-2.601, 1.458, 2.385, PHS=-0.624, 1.342,-0.971, RAW= 338.0, 2.4, CAL= 337.4, -0.5, ROT= 172.6, 0.5 2025-10-27T05:26:04.508Z,1761542764.508 [DAT](INFO): got valid direction response: 05:26:03.1659 LVL= 24560, 24561, 32754, 32755, AGC= 62, IDX= 512, 0.50, 1.660,-2.601, 1.458, 2.385, PHS=-0.624, 1.342,-0.971, RAW= 338.0, 2.4, CAL= 337.4, -0.5, ROT= 172.6, 0.5 2025-10-27T05:26:04.508Z,1761542764.508 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:26:04.509Z,1761542764.509 [DAT](INFO): direction in FSK: [-0.991633,0.128791,-0.008727] 2025-10-27T05:26:04.509Z,1761542764.509 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:04.513Z,1761542764.513 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.616371 2025-10-27T05:26:04.643Z,1761542764.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504146 s, deltaX: 0.300001 m, approachRate: 0.595068 m/s, rangeRepo size: 4 2025-10-27T05:26:04.659Z,1761542764.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.502743 m, bearing: 49.161490 deg, lat: 36.779349 deg, lon: -121.859683 deg, deltaT: 0.504146 s, deltaX: 0.298407 m, approachRate: 0.591905 m/s, posRepo size: 4 2025-10-27T05:26:04.660Z,1761542764.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:26:04.750Z,1761542764.750 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.853527 2025-10-27T05:26:04.899Z,1761542764.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551917,0.831175,0.067350],[-0.833752,-0.551534,-0.025851],[0.015659,-0.070421,0.997394]] 2025-10-27T05:26:04.959Z,1761542764.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:26:05.001Z,1761542765.001 [DAT](INFO): DAT read: Rx Time:05:26:03.6659 2025-10-27T05:26:05.001Z,1761542765.001 [DAT](INFO): Rx dataTimestamp_ set to:1761542765.000831 2025-10-27T05:26:05.002Z,1761542765.002 [DAT](INFO): DAT read: Bearing 173.4, 0.5 (Local) 2025-10-27T05:26:05.003Z,1761542765.003 [DAT](INFO): Local bearing/azimuth received: Bearing 173.4, 0.5 (Local) 2025-10-27T05:26:05.005Z,1761542765.005 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.3 2025-10-27T05:26:05.011Z,1761542765.011 [DAT](INFO): DAT read: 05:26:03.6659 LVL= 24640, 24305, 32754, 32755, AGC= 62, IDX= 513,-0.36,-1.986,-0.618,-1.955,-0.942, PHS=-0.942, 0.369,-1.057, RAW= 334.2, 22.8, CAL= 333.9, 27.6, ROT= 176.1, -27.6 2025-10-27T05:26:05.012Z,1761542765.012 [DAT](INFO): got valid direction response: 05:26:03.6659 LVL= 24640, 24305, 32754, 32755, AGC= 62, IDX= 513,-0.36,-1.986,-0.618,-1.955,-0.942, PHS=-0.942, 0.369,-1.057, RAW= 334.2, 22.8, CAL= 333.9, 27.6, ROT= 176.1, -27.6 2025-10-27T05:26:05.013Z,1761542765.013 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:26:05.014Z,1761542765.014 [DAT](INFO): direction in FSK: [-0.884151,0.060275,0.463296] 2025-10-27T05:26:05.015Z,1761542765.015 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:05.029Z,1761542765.029 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.132282 2025-10-27T05:26:05.252Z,1761542765.252 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.355381 2025-10-27T05:26:05.356Z,1761542765.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552182,0.831003,0.067292],[-0.833568,-0.551835,-0.025344],[0.016073,-0.070086,0.997411]] 2025-10-27T05:26:05.386Z,1761542765.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504036 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:05.388Z,1761542765.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.502747 m, bearing: 50.547385 deg, lat: 36.779348 deg, lon: -121.859682 deg, deltaT: 0.504036 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 2025-10-27T05:26:05.388Z,1761542765.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:26:05.505Z,1761542765.505 [DAT](INFO): DAT read: Rx Time:05:26:04.1660 2025-10-27T05:26:05.505Z,1761542765.505 [DAT](INFO): Rx dataTimestamp_ set to:1761542765.504919 2025-10-27T05:26:05.506Z,1761542765.506 [DAT](INFO): DAT read: Bearing 199.3, 12.5 (Local) 2025-10-27T05:26:05.507Z,1761542765.507 [DAT](INFO): Local bearing/azimuth received: Bearing 199.3, 12.5 (Local) 2025-10-27T05:26:05.509Z,1761542765.509 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.3 2025-10-27T05:26:05.514Z,1761542765.514 [DAT](INFO): DAT read: 05:26:04.1660 LVL= 20400, 13585, 21666, 24211, AGC= 65, IDX= 2,-0.30, 0.107, 1.774,-0.292, 0.674, PHS=-0.465, 1.145,-1.010, RAW= 344.1, 3.4, CAL= 343.6, 0.8, ROT= 166.4, -0.8 2025-10-27T05:26:05.516Z,1761542765.516 [DAT](INFO): got valid direction response: 05:26:04.1660 LVL= 20400, 13585, 21666, 24211, AGC= 65, IDX= 2,-0.30, 0.107, 1.774,-0.292, 0.674, PHS=-0.465, 1.145,-1.010, RAW= 344.1, 3.4, CAL= 343.6, 0.8, ROT= 166.4, -0.8 2025-10-27T05:26:05.516Z,1761542765.516 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:26:05.517Z,1761542765.517 [DAT](INFO): direction in FSK: [-0.971866,0.235119,0.013962] 2025-10-27T05:26:05.517Z,1761542765.517 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:05.521Z,1761542765.521 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.624691 2025-10-27T05:26:05.713Z,1761542765.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552213,0.830991,0.067200],[-0.833544,-0.551887,-0.025009],[0.016304,-0.069825,0.997426]] 2025-10-27T05:26:05.756Z,1761542765.756 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.859718 2025-10-27T05:26:05.840Z,1761542765.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504088 s, deltaX: 0.100000 m, approachRate: 0.198379 m/s, rangeRepo size: 4 2025-10-27T05:26:05.863Z,1761542765.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.602194 m, bearing: 42.851383 deg, lat: 36.779347 deg, lon: -121.859679 deg, deltaT: 0.504088 s, deltaX: 0.099447 m, approachRate: 0.197282 m/s, posRepo size: 4 2025-10-27T05:26:05.863Z,1761542765.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:26:06.008Z,1761542766.008 [DAT](INFO): DAT read: Rx Time:05:26:04.6660 2025-10-27T05:26:06.009Z,1761542766.009 [DAT](INFO): Rx dataTimestamp_ set to:1761542766.008670 2025-10-27T05:26:06.010Z,1761542766.010 [DAT](INFO): DAT read: Bearing 199.0, 12.9 (Local) 2025-10-27T05:26:06.011Z,1761542766.011 [DAT](INFO): Local bearing/azimuth received: Bearing 199.0, 12.9 (Local) 2025-10-27T05:26:06.013Z,1761542766.013 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.3 2025-10-27T05:26:06.017Z,1761542766.017 [DAT](INFO): DAT read: 05:26:04.6660 LVL= 23856, 23169, 32754, 32755, AGC= 63, IDX= 498,-0.39, 0.296, 1.937,-0.118, 0.854, PHS=-0.456, 1.128,-1.016, RAW= 344.6, 3.6, CAL= 344.2, 1.1, ROT= 165.8, -1.1 2025-10-27T05:26:06.018Z,1761542766.018 [DAT](INFO): got valid direction response: 05:26:04.6660 LVL= 23856, 23169, 32754, 32755, AGC= 63, IDX= 498,-0.39, 0.296, 1.937,-0.118, 0.854, PHS=-0.456, 1.128,-1.016, RAW= 344.6, 3.6, CAL= 344.2, 1.1, ROT= 165.8, -1.1 2025-10-27T05:26:06.019Z,1761542766.019 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:26:06.020Z,1761542766.020 [DAT](INFO): direction in FSK: [-0.969267,0.245262,0.019197] 2025-10-27T05:26:06.020Z,1761542766.020 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:06.024Z,1761542766.024 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.127468 2025-10-27T05:26:06.134Z,1761542766.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552250,0.830982,0.067003],[-0.833512,-0.551960,-0.024449],[0.016667,-0.069350,0.997453]] 2025-10-27T05:26:06.195Z,1761542766.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:06.201Z,1761542766.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.602194 m, bearing: 42.230683 deg, lat: 36.779347 deg, lon: -121.859679 deg, deltaT: 0.503751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:06.201Z,1761542766.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:26:06.261Z,1761542766.261 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.364140 2025-10-27T05:26:06.512Z,1761542766.512 [DAT](INFO): DAT read: Rx Time:05:26:05.1662 2025-10-27T05:26:06.513Z,1761542766.513 [DAT](INFO): Rx dataTimestamp_ set to:1761542766.512659 2025-10-27T05:26:06.514Z,1761542766.514 [DAT](INFO): DAT read: Bearing 199.0, 13.1 (Local) 2025-10-27T05:26:06.515Z,1761542766.515 [DAT](INFO): Local bearing/azimuth received: Bearing 199.0, 13.1 (Local) 2025-10-27T05:26:06.517Z,1761542766.517 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2 2025-10-27T05:26:06.522Z,1761542766.522 [DAT](INFO): DAT read: 05:26:05.1662 LVL= 24048, 23153, 32754, 32755, AGC= 63, IDX= 499, 0.46, 3.054,-1.605, 2.633,-2.678, PHS=-0.449, 1.117,-1.017, RAW= 344.9, 3.7, CAL= 344.4, 1.2, ROT= 165.6, -1.2 2025-10-27T05:26:06.523Z,1761542766.523 [DAT](INFO): got valid direction response: 05:26:05.1662 LVL= 24048, 23153, 32754, 32755, AGC= 63, IDX= 499, 0.46, 3.054,-1.605, 2.633,-2.678, PHS=-0.449, 1.117,-1.017, RAW= 344.9, 3.7, CAL= 344.4, 1.2, ROT= 165.6, -1.2 2025-10-27T05:26:06.524Z,1761542766.524 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:26:06.525Z,1761542766.525 [DAT](INFO): direction in FSK: [-0.968371,0.248635,0.020942] 2025-10-27T05:26:06.525Z,1761542766.525 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:06.529Z,1761542766.529 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.632622 2025-10-27T05:26:06.557Z,1761542766.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552269,0.830995,0.066681],[-0.833490,-0.552029,-0.023646],[0.017160,-0.068636,0.997494]] 2025-10-27T05:26:06.689Z,1761542766.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503989 s, deltaX: 0.299999 m, approachRate: 0.595250 m/s, rangeRepo size: 4 2025-10-27T05:26:06.696Z,1761542766.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.900528 m, bearing: 42.023298 deg, lat: 36.779347 deg, lon: -121.859679 deg, deltaT: 0.503989 s, deltaX: 0.298334 m, approachRate: 0.591946 m/s, posRepo size: 4 2025-10-27T05:26:06.698Z,1761542766.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:26:06.765Z,1761542766.765 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.868275 2025-10-27T05:26:06.961Z,1761542766.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552114,0.831106,0.066573],[-0.833577,-0.551936,-0.022712],[0.017868,-0.068033,0.997523]] 2025-10-27T05:26:07.014Z,1761542767.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:26:07.017Z,1761542767.017 [DAT](INFO): DAT read: Rx Time:05:26:05.6662 2025-10-27T05:26:07.017Z,1761542767.017 [DAT](INFO): Rx dataTimestamp_ set to:1761542767.016800 2025-10-27T05:26:07.018Z,1761542767.018 [DAT](INFO): DAT read: Bearing 198.9, 13.3 (Local) 2025-10-27T05:26:07.020Z,1761542767.020 [DAT](INFO): Local bearing/azimuth received: Bearing 198.9, 13.3 (Local) 2025-10-27T05:26:07.022Z,1761542767.022 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2 2025-10-27T05:26:07.026Z,1761542767.026 [DAT](INFO): DAT read: 05:26:05.6662 LVL= 23904, 22433, 32754, 32755, AGC= 63, IDX= 499, 0.31, 2.402,-2.265, 1.974, 2.952, PHS=-0.448, 1.111,-1.022, RAW= 345.1, 3.8, CAL= 344.6, 1.4, ROT= 165.4, -1.4 2025-10-27T05:26:07.028Z,1761542767.028 [DAT](INFO): got valid direction response: 05:26:05.6662 LVL= 23904, 22433, 32754, 32755, AGC= 63, IDX= 499, 0.31, 2.402,-2.265, 1.974, 2.952, PHS=-0.448, 1.111,-1.022, RAW= 345.1, 3.8, CAL= 344.6, 1.4, ROT= 165.4, -1.4 2025-10-27T05:26:07.028Z,1761542767.028 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T05:26:07.029Z,1761542767.029 [DAT](INFO): direction in FSK: [-0.967420,0.251994,0.024432] 2025-10-27T05:26:07.029Z,1761542767.029 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:07.033Z,1761542767.033 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.136513 2025-10-27T05:26:07.271Z,1761542767.271 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.374767 2025-10-27T05:26:07.370Z,1761542767.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551638,0.831421,0.066588],[-0.833879,-0.551512,-0.021937],[0.018485,-0.067628,0.997539]] 2025-10-27T05:26:07.395Z,1761542767.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:07.397Z,1761542767.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.900513 m, bearing: 41.853981 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.504141 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 2025-10-27T05:26:07.398Z,1761542767.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:26:07.521Z,1761542767.521 [DAT](INFO): DAT read: Rx Time:05:26:06.1664 2025-10-27T05:26:07.521Z,1761542767.521 [DAT](INFO): Rx dataTimestamp_ set to:1761542767.520750 2025-10-27T05:26:07.522Z,1761542767.522 [DAT](INFO): DAT read: Bearing 198.4, 13.2 (Local) 2025-10-27T05:26:07.523Z,1761542767.523 [DAT](INFO): Local bearing/azimuth received: Bearing 198.4, 13.2 (Local) 2025-10-27T05:26:07.525Z,1761542767.525 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2 2025-10-27T05:26:07.530Z,1761542767.530 [DAT](INFO): DAT read: 05:26:06.1664 LVL= 26288, 27569, 32754, 32755, AGC= 63, IDX= 501, 0.22,-2.486,-0.887,-2.906,-1.932, PHS=-0.453, 1.090,-1.018, RAW= 345.0, 4.1, CAL= 344.6, 1.8, ROT= 165.4, -1.8 2025-10-27T05:26:07.532Z,1761542767.532 [DAT](INFO): got valid direction response: 05:26:06.1664 LVL= 26288, 27569, 32754, 32755, AGC= 63, IDX= 501, 0.22,-2.486,-0.887,-2.906,-1.932, PHS=-0.453, 1.090,-1.018, RAW= 345.0, 4.1, CAL= 344.6, 1.8, ROT= 165.4, -1.8 2025-10-27T05:26:07.532Z,1761542767.532 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:26:07.533Z,1761542767.533 [DAT](INFO): direction in FSK: [-0.967232,0.251945,0.031411] 2025-10-27T05:26:07.533Z,1761542767.533 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:07.537Z,1761542767.537 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.640556 2025-10-27T05:26:07.766Z,1761542767.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550587,0.832078,0.067081],[-0.834561,-0.550496,-0.021511],[0.019029,-0.067827,0.997516]] 2025-10-27T05:26:07.772Z,1761542767.772 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.875294 2025-10-27T05:26:07.924Z,1761542767.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503950 s, deltaX: 0.299999 m, approachRate: 0.595296 m/s, rangeRepo size: 4 2025-10-27T05:26:07.926Z,1761542767.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.198853 m, bearing: 41.901286 deg, lat: 36.779348 deg, lon: -121.859680 deg, deltaT: 0.503950 s, deltaX: 0.298340 m, approachRate: 0.592003 m/s, posRepo size: 4 2025-10-27T05:26:07.927Z,1761542767.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-27T05:26:08.025Z,1761542768.025 [DAT](INFO): DAT read: Rx Time:05:26:06.6663 2025-10-27T05:26:08.026Z,1761542768.026 [DAT](INFO): Rx dataTimestamp_ set to:1761542768.025551 2025-10-27T05:26:08.027Z,1761542768.027 [DAT](INFO): DAT read: Bearing 199.2, 13.2 (Local) 2025-10-27T05:26:08.028Z,1761542768.028 [DAT](INFO): Local bearing/azimuth received: Bearing 199.2, 13.2 (Local) 2025-10-27T05:26:08.030Z,1761542768.030 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:26:08.035Z,1761542768.035 [DAT](INFO): DAT read: 05:26:06.6663 LVL= 23344, 22385, 32754, 32755, AGC= 63, IDX= 501, 0.13, 1.844,-2.818, 1.416, 2.392, PHS=-0.445, 1.118,-1.020, RAW= 345.0, 3.7, CAL= 344.6, 1.1, ROT= 165.4, -1.1 2025-10-27T05:26:08.036Z,1761542768.036 [DAT](INFO): got valid direction response: 05:26:06.6663 LVL= 23344, 22385, 32754, 32755, AGC= 63, IDX= 501, 0.13, 1.844,-2.818, 1.416, 2.392, PHS=-0.445, 1.118,-1.020, RAW= 345.0, 3.7, CAL= 344.6, 1.1, ROT= 165.4, -1.1 2025-10-27T05:26:08.036Z,1761542768.036 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:26:08.037Z,1761542768.037 [DAT](INFO): direction in FSK: [-0.967531,0.252023,0.019197] 2025-10-27T05:26:08.038Z,1761542768.038 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:08.058Z,1761542768.058 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.161964 2025-10-27T05:26:08.186Z,1761542768.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549729,0.832648,0.067045],[-0.835114,-0.549684,-0.020779],[0.019552,-0.067413,0.997534]] 2025-10-27T05:26:08.249Z,1761542768.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504801 s, deltaX: -0.099998 m, approachRate: -0.198095 m/s, rangeRepo size: 4 2025-10-27T05:26:08.256Z,1761542768.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.099407 m, bearing: 42.002298 deg, lat: 36.779348 deg, lon: -121.859680 deg, deltaT: 0.504801 s, deltaX: -0.099445 m, approachRate: -0.196999 m/s, posRepo size: 4 2025-10-27T05:26:08.256Z,1761542768.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:26:08.276Z,1761542768.276 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.379547 2025-10-27T05:26:08.529Z,1761542768.529 [DAT](INFO): DAT read: Rx Time:05:26:07.1664 2025-10-27T05:26:08.529Z,1761542768.529 [DAT](INFO): Rx dataTimestamp_ set to:1761542768.528695 2025-10-27T05:26:08.530Z,1761542768.530 [DAT](INFO): DAT read: Bearing 199.2, 13.4 (Local) 2025-10-27T05:26:08.531Z,1761542768.531 [DAT](INFO): Local bearing/azimuth received: Bearing 199.2, 13.4 (Local) 2025-10-27T05:26:08.533Z,1761542768.533 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2 2025-10-27T05:26:08.538Z,1761542768.538 [DAT](INFO): DAT read: 05:26:07.1664 LVL= 23824, 22193, 32754, 32755, AGC= 62, IDX= 502, 0.04, 1.544,-3.123, 1.106, 2.088, PHS=-0.442, 1.117,-1.027, RAW= 345.3, 3.7, CAL= 344.9, 1.2, ROT= 165.1, -1.2 2025-10-27T05:26:08.539Z,1761542768.539 [DAT](INFO): got valid direction response: 05:26:07.1664 LVL= 23824, 22193, 32754, 32755, AGC= 62, IDX= 502, 0.04, 1.544,-3.123, 1.106, 2.088, PHS=-0.442, 1.117,-1.027, RAW= 345.3, 3.7, CAL= 344.9, 1.2, ROT= 165.1, -1.2 2025-10-27T05:26:08.540Z,1761542768.540 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:26:08.541Z,1761542768.541 [DAT](INFO): direction in FSK: [-0.966164,0.257076,0.020942] 2025-10-27T05:26:08.541Z,1761542768.541 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:08.545Z,1761542768.545 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.648830 2025-10-27T05:26:08.617Z,1761542768.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548759,0.833380,0.065891],[-0.835744,-0.548773,-0.019511],[0.019899,-0.065775,0.997636]] 2025-10-27T05:26:08.742Z,1761542768.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503144 s, deltaX: 0.099998 m, approachRate: 0.198747 m/s, rangeRepo size: 4 2025-10-27T05:26:08.756Z,1761542768.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.198835 m, bearing: 41.763515 deg, lat: 36.779348 deg, lon: -121.859680 deg, deltaT: 0.503144 s, deltaX: 0.099428 m, approachRate: 0.197614 m/s, posRepo size: 4 2025-10-27T05:26:08.756Z,1761542768.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-27T05:26:08.780Z,1761542768.780 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.883587 2025-10-27T05:26:09.002Z,1761542769.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547962,0.833922,0.065667],[-0.836257,-0.548014,-0.018822],[0.020290,-0.065228,0.997664]] 2025-10-27T05:26:09.033Z,1761542769.033 [DAT](INFO): DAT read: Rx Time:05:26:07.6664 2025-10-27T05:26:09.033Z,1761542769.033 [DAT](INFO): Rx dataTimestamp_ set to:1761542769.032746 2025-10-27T05:26:09.034Z,1761542769.034 [DAT](INFO): DAT read: Bearing 199.6, 13.0 (Local) 2025-10-27T05:26:09.035Z,1761542769.035 [DAT](INFO): Local bearing/azimuth received: Bearing 199.6, 13.0 (Local) 2025-10-27T05:26:09.037Z,1761542769.037 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1 2025-10-27T05:26:09.041Z,1761542769.041 [DAT](INFO): DAT read: 05:26:07.6664 LVL= 24160, 20145, 32754, 32755, AGC= 62, IDX= 502,-0.11,-0.968, 0.670,-1.397,-0.418, PHS=-0.448, 1.133,-1.023, RAW= 344.9, 3.5, CAL= 344.5, 1.0, ROT= 165.5, -1.0 2025-10-27T05:26:09.043Z,1761542769.043 [DAT](INFO): got valid direction response: 05:26:07.6664 LVL= 24160, 20145, 32754, 32755, AGC= 62, IDX= 502,-0.11,-0.968, 0.670,-1.397,-0.418, PHS=-0.448, 1.133,-1.023, RAW= 344.9, 3.5, CAL= 344.5, 1.0, ROT= 165.5, -1.0 2025-10-27T05:26:09.043Z,1761542769.043 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:26:09.044Z,1761542769.044 [DAT](INFO): direction in FSK: [-0.968000,0.250342,0.017452] 2025-10-27T05:26:09.044Z,1761542769.044 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:09.055Z,1761542769.055 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.158623 2025-10-27T05:26:09.190Z,1761542769.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:09.193Z,1761542769.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.198835 m, bearing: 42.228841 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:09.194Z,1761542769.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-27T05:26:09.286Z,1761542769.286 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.389652 2025-10-27T05:26:09.428Z,1761542769.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546827,0.834662,0.065729],[-0.836990,-0.546914,-0.018263],[0.020705,-0.065001,0.997670]] 2025-10-27T05:26:09.463Z,1761542769.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-27T05:26:09.542Z,1761542769.542 [DAT](INFO): DAT read: Rx Time:05:26:08.1666 2025-10-27T05:26:09.542Z,1761542769.542 [DAT](INFO): Rx dataTimestamp_ set to:1761542769.541739 2025-10-27T05:26:09.544Z,1761542769.544 [DAT](INFO): DAT read: Bearing 199.4, 13.1 (Local) 2025-10-27T05:26:09.545Z,1761542769.545 [DAT](INFO): Local bearing/azimuth received: Bearing 199.4, 13.1 (Local) 2025-10-27T05:26:09.552Z,1761542769.552 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.2 2025-10-27T05:26:09.576Z,1761542769.576 [DAT](INFO): DAT read: 05:26:08.1666 LVL= 24704, 25329, 32754, 32755, AGC= 62, IDX= 504,-0.36, 0.742, 2.373, 0.312, 1.296, PHS=-0.452, 1.122,-1.028, RAW= 345.0, 3.7, CAL= 344.6, 1.3, ROT= 165.4, -1.3 2025-10-27T05:26:09.578Z,1761542769.578 [DAT](INFO): got valid direction response: 05:26:08.1666 LVL= 24704, 25329, 32754, 32755, AGC= 62, IDX= 504,-0.36, 0.742, 2.373, 0.312, 1.296, PHS=-0.452, 1.122,-1.028, RAW= 345.0, 3.7, CAL= 344.6, 1.3, ROT= 165.4, -1.3 2025-10-27T05:26:09.587Z,1761542769.587 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:26:09.589Z,1761542769.589 [DAT](INFO): direction in FSK: [-0.967460,0.252005,0.022687] 2025-10-27T05:26:09.589Z,1761542769.589 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:09.613Z,1761542769.613 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.716923 2025-10-27T05:26:09.794Z,1761542769.794 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.897205 2025-10-27T05:26:09.862Z,1761542769.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545608,0.835462,0.065681],[-0.837777,-0.545723,-0.017771],[0.020997,-0.064722,0.997682]] 2025-10-27T05:26:09.912Z,1761542769.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.508993 s, deltaX: 0.300001 m, approachRate: 0.589401 m/s, rangeRepo size: 4 2025-10-27T05:26:09.914Z,1761542769.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.497128 m, bearing: 42.272229 deg, lat: 36.779347 deg, lon: -121.859679 deg, deltaT: 0.508993 s, deltaX: 0.298292 m, approachRate: 0.586044 m/s, posRepo size: 4 2025-10-27T05:26:09.914Z,1761542769.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m. 2025-10-27T05:26:10.045Z,1761542770.045 [DAT](INFO): DAT read: Rx Time:05:26:08.6666 2025-10-27T05:26:10.045Z,1761542770.045 [DAT](INFO): Rx dataTimestamp_ set to:1761542770.044857 2025-10-27T05:26:10.046Z,1761542770.046 [DAT](INFO): DAT read: Bearing 199.2, 14.3 (Local) 2025-10-27T05:26:10.047Z,1761542770.047 [DAT](INFO): Local bearing/azimuth received: Bearing 199.2, 14.3 (Local) 2025-10-27T05:26:10.049Z,1761542770.049 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0 2025-10-27T05:26:10.054Z,1761542770.054 [DAT](INFO): DAT read: 05:26:08.6666 LVL= 23072, 21841, 32754, 32755, AGC= 60, IDX= 503, 0.27, 2.142,-2.562, 1.672, 2.667, PHS=-0.424, 1.098,-1.039, RAW= 346.2, 3.9, CAL= 345.8, 1.4, ROT= 164.2, -1.4 2025-10-27T05:26:10.055Z,1761542770.055 [DAT](INFO): got valid direction response: 05:26:08.6666 LVL= 23072, 21841, 32754, 32755, AGC= 60, IDX= 503, 0.27, 2.142,-2.562, 1.672, 2.667, PHS=-0.424, 1.098,-1.039, RAW= 346.2, 3.9, CAL= 345.8, 1.4, ROT= 164.2, -1.4 2025-10-27T05:26:10.055Z,1761542770.055 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:26:10.056Z,1761542770.056 [DAT](INFO): direction in FSK: [-0.961931,0.272199,0.024432] 2025-10-27T05:26:10.057Z,1761542770.057 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:10.060Z,1761542770.060 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.163651 2025-10-27T05:26:10.286Z,1761542770.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503118 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:10.288Z,1761542770.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.497128 m, bearing: 41.068705 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.503118 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:10.289Z,1761542770.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m. 2025-10-27T05:26:10.299Z,1761542770.299 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.402256 2025-10-27T05:26:10.549Z,1761542770.549 [DAT](INFO): DAT read: Rx Time:05:26:09.1666 2025-10-27T05:26:10.550Z,1761542770.550 [DAT](INFO): Rx dataTimestamp_ set to:1761542770.549446 2025-10-27T05:26:10.551Z,1761542770.551 [DAT](INFO): DAT read: Bearing 199.1, 14.3 (Local) 2025-10-27T05:26:10.551Z,1761542770.551 [DAT](INFO): Local bearing/azimuth received: Bearing 199.1, 14.3 (Local) 2025-10-27T05:26:10.554Z,1761542770.554 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-27T05:26:10.558Z,1761542770.558 [DAT](INFO): DAT read: 05:26:09.1666 LVL= 23760, 24625, 32754, 32755, AGC= 61, IDX= 505, 0.09,-2.988,-1.421, 2.828,-2.463, PHS=-0.423, 1.088,-1.036, RAW= 346.3, 4.0, CAL= 345.9, 1.6, ROT= 164.1, -1.6 2025-10-27T05:26:10.560Z,1761542770.560 [DAT](INFO): got valid direction response: 05:26:09.1666 LVL= 23760, 24625, 32754, 32755, AGC= 61, IDX= 505, 0.09,-2.988,-1.421, 2.828,-2.463, PHS=-0.423, 1.088,-1.036, RAW= 346.3, 4.0, CAL= 345.9, 1.6, ROT= 164.1, -1.6 2025-10-27T05:26:10.560Z,1761542770.560 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:26:10.561Z,1761542770.561 [DAT](INFO): direction in FSK: [-0.961366,0.273852,0.027922] 2025-10-27T05:26:10.561Z,1761542770.561 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:10.565Z,1761542770.565 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.668686 2025-10-27T05:26:10.658Z,1761542770.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543299,0.837003,0.065209],[-0.839267,-0.543460,-0.016786],[0.021389,-0.063848,0.997730]] 2025-10-27T05:26:10.783Z,1761542770.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504589 s, deltaX: 0.199999 m, approachRate: 0.396360 m/s, rangeRepo size: 4 2025-10-27T05:26:10.785Z,1761542770.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.695978 m, bearing: 41.115611 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.504589 s, deltaX: 0.198851 m, approachRate: 0.394084 m/s, posRepo size: 4 2025-10-27T05:26:10.786Z,1761542770.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:26:10.803Z,1761542770.803 [DAT](INFO): DAT read: Rx Time:05:26:09.6666 2025-10-27T05:26:10.805Z,1761542770.805 [DAT](INFO): Rx dataTimestamp_ set to:1761542770.803763 2025-10-27T05:26:10.807Z,1761542770.807 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.909557 2025-10-27T05:26:11.053Z,1761542771.053 [DAT](INFO): DAT read: Bearing 199.3, 14.4 (Local) 2025-10-27T05:26:11.053Z,1761542771.053 [DAT](INFO): Local bearing/azimuth received: Bearing 199.3, 14.4 (Local) 2025-10-27T05:26:11.055Z,1761542771.055 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-27T05:26:11.060Z,1761542771.060 [DAT](INFO): DAT read: 05:26:09.6666 LVL= 24176, 24321, 32754, 32755, AGC= 62, IDX= 505,-0.04, 1.007, 2.588, 0.532, 1.533, PHS=-0.424, 1.100,-1.045, RAW= 346.3, 3.9, CAL= 345.9, 1.5, ROT= 164.1, -1.5 2025-10-27T05:26:11.061Z,1761542771.061 [DAT](INFO): got valid direction response: 05:26:09.6666 LVL= 24176, 24321, 32754, 32755, AGC= 62, IDX= 505,-0.04, 1.007, 2.588, 0.532, 1.533, PHS=-0.424, 1.100,-1.045, RAW= 346.3, 3.9, CAL= 345.9, 1.5, ROT= 164.1, -1.5 2025-10-27T05:26:11.061Z,1761542771.061 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T05:26:11.062Z,1761542771.062 [DAT](INFO): direction in FSK: [-0.961412,0.273865,0.026177] 2025-10-27T05:26:11.062Z,1761542771.062 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:11.066Z,1761542771.066 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.169537 2025-10-27T05:26:11.136Z,1761542771.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542062,0.837802,0.065234],[-0.840060,-0.542246,-0.016397],[0.021636,-0.063688,0.997735]] 2025-10-27T05:26:11.229Z,1761542771.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.501936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:11.235Z,1761542771.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.695978 m, bearing: 41.205382 deg, lat: 36.779346 deg, lon: -121.859680 deg, deltaT: 0.501936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:11.236Z,1761542771.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:26:11.307Z,1761542771.307 [DAT](INFO): DAT read: Rx Time:05:26:10.1668 2025-10-27T05:26:11.308Z,1761542771.308 [DAT](INFO): Rx dataTimestamp_ set to:1761542771.307369 2025-10-27T05:26:11.310Z,1761542771.310 [DAT](INFO): DAT read: Bearing 199.5, 14.5 (Local) 2025-10-27T05:26:11.312Z,1761542771.312 [DAT](INFO): Local bearing/azimuth received: Bearing 199.5, 14.5 (Local) 2025-10-27T05:26:11.314Z,1761542771.314 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.417301 2025-10-27T05:26:11.558Z,1761542771.558 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2 2025-10-27T05:26:11.563Z,1761542771.563 [DAT](INFO): DAT read: 05:26:10.1668 LVL= 24720, 25041, 32754, 32755, AGC= 62, IDX= 507,-0.13, 2.044,-2.670, 1.568, 2.562, PHS=-0.417, 1.096,-1.038, RAW= 346.4, 3.8, CAL= 346.0, 1.3, ROT= 164.0, -1.3 2025-10-27T05:26:11.564Z,1761542771.564 [DAT](INFO): got valid direction response: 05:26:10.1668 LVL= 24720, 25041, 32754, 32755, AGC= 62, IDX= 507,-0.13, 2.044,-2.670, 1.568, 2.562, PHS=-0.417, 1.096,-1.038, RAW= 346.4, 3.8, CAL= 346.0, 1.3, ROT= 164.0, -1.3 2025-10-27T05:26:11.564Z,1761542771.564 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T05:26:11.565Z,1761542771.565 [DAT](INFO): direction in FSK: [-0.961014,0.275566,0.022687] 2025-10-27T05:26:11.566Z,1761542771.566 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:11.574Z,1761542771.574 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.677143 2025-10-27T05:26:11.678Z,1761542771.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539491,0.839458,0.065257],[-0.841705,-0.539705,-0.015825],[0.021936,-0.063465,0.997743]] 2025-10-27T05:26:11.811Z,1761542771.811 [DAT](INFO): DAT read: Rx Time:05:26:10.6668 2025-10-27T05:26:11.813Z,1761542771.813 [DAT](INFO): Rx dataTimestamp_ set to:1761542771.811729 2025-10-27T05:26:11.816Z,1761542771.816 [DAT](INFO): DAT read: Bearing 199.7, 15.2 (Local) 2025-10-27T05:26:11.816Z,1761542771.816 [DAT](INFO): Local bearing/azimuth received: Bearing 199.7, 15.2 (Local) 2025-10-27T05:26:11.821Z,1761542771.821 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2 2025-10-27T05:26:11.825Z,1761542771.825 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T05:26:11.829Z,1761542771.829 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.931629 2025-10-27T05:26:11.995Z,1761542771.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.760347 s, deltaX: 0.100000 m, approachRate: 0.131519 m/s, rangeRepo size: 4 2025-10-27T05:26:11.997Z,1761542771.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.795380 m, bearing: 41.291552 deg, lat: 36.779346 deg, lon: -121.859680 deg, deltaT: 0.760347 s, deltaX: 0.099401 m, approachRate: 0.130732 m/s, posRepo size: 4 2025-10-27T05:26:11.998Z,1761542771.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m. 2025-10-27T05:26:12.065Z,1761542772.065 [DAT](INFO): DAT read: 05:26:10.6668 LVL= 23024, 25329, 32754, 32755, AGC= 63, IDX= 507,-0.27, 0.997, 2.549, 0.492, 1.498, PHS=-0.399, 1.096,-1.049, RAW= 347.2, 3.7, CAL= 346.8, 1.2, ROT= 163.2, -1.2 2025-10-27T05:26:12.066Z,1761542772.066 [DAT](INFO): got valid direction response: 05:26:10.6668 LVL= 23024, 25329, 32754, 32755, AGC= 63, IDX= 507,-0.27, 0.997, 2.549, 0.492, 1.498, PHS=-0.399, 1.096,-1.049, RAW= 347.2, 3.7, CAL= 346.8, 1.2, ROT= 163.2, -1.2 2025-10-27T05:26:12.067Z,1761542772.067 [DAT](INFO): #Rx 104: Read direction message, but no range. 2025-10-27T05:26:12.069Z,1761542772.069 [DAT](INFO): direction in FSK: [-0.957110,0.288969,0.020942] 2025-10-27T05:26:12.076Z,1761542772.076 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.179379 2025-10-27T05:26:12.261Z,1761542772.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538410,0.840138,0.065450],[-0.842392,-0.538639,-0.015594],[0.022153,-0.063531,0.997734]] 2025-10-27T05:26:12.286Z,1761542772.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m. 2025-10-27T05:26:12.315Z,1761542772.315 [DAT](INFO): DAT read: Rx Time:05:26:11.1669 2025-10-27T05:26:12.317Z,1761542772.317 [DAT](INFO): Rx dataTimestamp_ set to:1761542772.315724 2025-10-27T05:26:12.319Z,1761542772.319 [DAT](INFO): DAT read: Bearing 199.7, 15.5 (Local) 2025-10-27T05:26:12.320Z,1761542772.320 [DAT](INFO): Local bearing/azimuth received: Bearing 199.7, 15.5 (Local) 2025-10-27T05:26:12.325Z,1761542772.325 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.2 2025-10-27T05:26:12.327Z,1761542772.327 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T05:26:12.330Z,1761542772.330 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.432945 2025-10-27T05:26:12.570Z,1761542772.570 [DAT](INFO): DAT read: 05:26:11.1669 LVL= 24272, 24481, 32754, 32755, AGC= 62, IDX= 508,-0.38, 1.240, 2.783, 0.722, 1.736, PHS=-0.394, 1.093,-1.058, RAW= 347.5, 3.8, CAL= 347.1, 1.3, ROT= 162.9, -1.3 2025-10-27T05:26:12.573Z,1761542772.573 [DAT](INFO): got valid direction response: 05:26:11.1669 LVL= 24272, 24481, 32754, 32755, AGC= 62, IDX= 508,-0.38, 1.240, 2.783, 0.722, 1.736, PHS=-0.394, 1.093,-1.058, RAW= 347.5, 3.8, CAL= 347.1, 1.3, ROT= 162.9, -1.3 2025-10-27T05:26:12.574Z,1761542772.574 [DAT](INFO): #Rx 106: Read direction message, but no range. 2025-10-27T05:26:12.580Z,1761542772.580 [DAT](INFO): direction in FSK: [-0.955547,0.293965,0.022687] 2025-10-27T05:26:12.586Z,1761542772.586 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.689156 2025-10-27T05:26:12.657Z,1761542772.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537238,0.840873,0.065630],[-0.843137,-0.537477,-0.015466],[0.022270,-0.063644,0.997724]] 2025-10-27T05:26:12.729Z,1761542772.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503995 s, deltaX: 0.200001 m, approachRate: 0.396831 m/s, rangeRepo size: 4 2025-10-27T05:26:12.758Z,1761542772.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.994284 m, bearing: 40.346167 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.503995 s, deltaX: 0.198904 m, approachRate: 0.394655 m/s, posRepo size: 4 2025-10-27T05:26:12.765Z,1761542772.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m. 2025-10-27T05:26:12.819Z,1761542772.819 [DAT](INFO): DAT read: Rx Time:05:26:11.6669 2025-10-27T05:26:12.821Z,1761542772.821 [DAT](INFO): Rx dataTimestamp_ set to:1761542772.819696 2025-10-27T05:26:12.823Z,1761542772.823 [DAT](INFO): DAT read: Bearing 199.4, 16.2 (Local) 2025-10-27T05:26:12.824Z,1761542772.824 [DAT](INFO): Local bearing/azimuth received: Bearing 199.4, 16.2 (Local) 2025-10-27T05:26:12.829Z,1761542772.829 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.3 2025-10-27T05:26:12.831Z,1761542772.831 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T05:26:12.834Z,1761542772.834 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.937290 2025-10-27T05:26:13.064Z,1761542773.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536645,0.841260,0.065527],[-0.843509,-0.536902,-0.015131],[0.022452,-0.063392,0.997736]] 2025-10-27T05:26:13.077Z,1761542773.077 [DAT](INFO): DAT read: 05:26:11.6669 LVL= 24176, 25521, 32754, 32755, AGC= 62, IDX= 507, 0.49, 1.208, 2.726, 0.666, 1.693, PHS=-0.384, 1.077,-1.072, RAW= 348.3, 4.0, CAL= 347.9, 1.6, ROT= 162.1, -1.6 2025-10-27T05:26:13.078Z,1761542773.078 [DAT](INFO): got valid direction response: 05:26:11.6669 LVL= 24176, 25521, 32754, 32755, AGC= 62, IDX= 507, 0.49, 1.208, 2.726, 0.666, 1.693, PHS=-0.384, 1.077,-1.072, RAW= 348.3, 4.0, CAL= 347.9, 1.6, ROT= 162.1, -1.6 2025-10-27T05:26:13.080Z,1761542773.080 [DAT](INFO): #Rx 108: Read direction message, but no range. 2025-10-27T05:26:13.081Z,1761542773.081 [DAT](INFO): direction in FSK: [-0.951223,0.307237,0.027922] 2025-10-27T05:26:13.091Z,1761542773.091 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.194313 2025-10-27T05:26:13.186Z,1761542773.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:13.188Z,1761542773.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.994284 m, bearing: 39.571512 deg, lat: 36.779347 deg, lon: -121.859680 deg, deltaT: 0.503972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:13.189Z,1761542773.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m. 2025-10-27T05:26:13.324Z,1761542773.324 [DAT](INFO): DAT read: Rx Time:05:26:12.1671 2025-10-27T05:26:13.325Z,1761542773.325 [DAT](INFO): Rx dataTimestamp_ set to:1761542773.324500 2025-10-27T05:26:13.329Z,1761542773.329 [DAT](INFO): DAT read: Bearing 199.4, 16.4 (Local) 2025-10-27T05:26:13.329Z,1761542773.329 [DAT](INFO): Local bearing/azimuth received: Bearing 199.4, 16.4 (Local) 2025-10-27T05:26:13.334Z,1761542773.334 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 2025-10-27T05:26:13.337Z,1761542773.337 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-27T05:26:13.363Z,1761542773.363 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.466743 2025-10-27T05:26:13.468Z,1761542773.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535968,0.841709,0.065299],[-0.843937,-0.536239,-0.014789],[0.022568,-0.063035,0.997756]] 2025-10-27T05:26:13.493Z,1761542773.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504804 s, deltaX: 0.299999 m, approachRate: 0.594289 m/s, rangeRepo size: 4 2025-10-27T05:26:13.494Z,1761542773.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m. 2025-10-27T05:26:13.576Z,1761542773.576 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:26:13.581Z,1761542773.581 [DAT](INFO): DAT read: 05:26:12.1671 LVL= 24816, 25425, 32754, 32755, AGC= 62, IDX= 509, 0.38, 2.239,-2.536, 1.695, 2.722, PHS=-0.381, 1.069,-1.071, RAW= 348.4, 4.1, CAL= 348.0, 1.7, ROT= 162.0, -1.7 2025-10-27T05:26:13.584Z,1761542773.584 [DAT](INFO): got valid direction response: 05:26:12.1671 LVL= 24816, 25425, 32754, 32755, AGC= 62, IDX= 509, 0.38, 2.239,-2.536, 1.695, 2.722, PHS=-0.381, 1.069,-1.071, RAW= 348.4, 4.1, CAL= 348.0, 1.7, ROT= 162.0, -1.7 2025-10-27T05:26:13.585Z,1761542773.585 [DAT](INFO): #Rx 110: Read direction message, but no range. 2025-10-27T05:26:13.597Z,1761542773.597 [DAT](INFO): direction in FSK: [-0.950638,0.308881,0.029666] 2025-10-27T05:26:13.610Z,1761542773.610 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.713184 2025-10-27T05:26:13.828Z,1761542773.828 [DAT](INFO): DAT read: Rx Time:05:26:12.6671 2025-10-27T05:26:13.829Z,1761542773.829 [DAT](INFO): Rx dataTimestamp_ set to:1761542773.828149 2025-10-27T05:26:13.832Z,1761542773.832 [DAT](INFO): DAT read: Bearing 199.6, 16.7 (Local) 2025-10-27T05:26:13.833Z,1761542773.833 [DAT](INFO): Local bearing/azimuth received: Bearing 199.6, 16.7 (Local) 2025-10-27T05:26:13.838Z,1761542773.838 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 2025-10-27T05:26:13.841Z,1761542773.841 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-27T05:26:13.844Z,1761542773.844 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.947109 2025-10-27T05:26:13.886Z,1761542773.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535714,0.841889,0.065061],[-0.844090,-0.536012,-0.014257],[0.022870,-0.062556,0.997779]] 2025-10-27T05:26:13.964Z,1761542773.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503649 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:13.966Z,1761542773.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.292620 m, bearing: 39.529719 deg, lat: 36.779347 deg, lon: -121.859682 deg, deltaT: 1.008453 s, deltaX: 0.298336 m, approachRate: 0.295835 m/s, posRepo size: 4 2025-10-27T05:26:13.967Z,1761542773.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-27T05:26:14.083Z,1761542774.083 [DAT](INFO): DAT read: 05:26:12.6671 LVL= 23344, 23153, 32754, 32755, AGC= 62, IDX= 509, 0.30, 1.664,-3.117, 1.110, 2.139, PHS=-0.372, 1.073,-1.073, RAW= 348.7, 4.0, CAL= 348.3, 1.5, ROT= 161.7, -1.5 2025-10-27T05:26:14.086Z,1761542774.086 [DAT](INFO): got valid direction response: 05:26:12.6671 LVL= 23344, 23153, 32754, 32755, AGC= 62, IDX= 509, 0.30, 1.664,-3.117, 1.110, 2.139, PHS=-0.372, 1.073,-1.073, RAW= 348.7, 4.0, CAL= 348.3, 1.5, ROT= 161.7, -1.5 2025-10-27T05:26:14.086Z,1761542774.086 [DAT](INFO): #Rx 112: Read direction message, but no range. 2025-10-27T05:26:14.088Z,1761542774.088 [DAT](INFO): direction in FSK: [-0.949100,0.313885,0.026177] 2025-10-27T05:26:14.094Z,1761542774.094 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.197235 2025-10-27T05:26:14.276Z,1761542774.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535629,0.841975,0.064656],[-0.844137,-0.535953,-0.013694],[0.023123,-0.061913,0.997814]] 2025-10-27T05:26:14.306Z,1761542774.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-27T05:26:14.332Z,1761542774.332 [DAT](INFO): DAT read: Rx Time:05:26:13.1672 2025-10-27T05:26:14.333Z,1761542774.333 [DAT](INFO): Rx dataTimestamp_ set to:1761542774.332427 2025-10-27T05:26:14.337Z,1761542774.337 [DAT](INFO): DAT read: Bearing 199.1, 16.7 (Local) 2025-10-27T05:26:14.338Z,1761542774.338 [DAT](INFO): Local bearing/azimuth received: Bearing 199.1, 16.7 (Local) 2025-10-27T05:26:14.359Z,1761542774.359 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 2025-10-27T05:26:14.372Z,1761542774.372 [DAT](INFO): DAT read: 05:26:13.1672 LVL= 24160, 25681, 32754, 32755, AGC= 62, IDX= 511, 0.24, 2.876,-1.925, 2.329,-2.928, PHS=-0.377, 1.048,-1.070, RAW= 348.7, 4.3, CAL= 348.4, 2.1, ROT= 161.6, -2.1 2025-10-27T05:26:14.373Z,1761542774.373 [DAT](INFO): got valid direction response: 05:26:13.1672 LVL= 24160, 25681, 32754, 32755, AGC= 62, IDX= 511, 0.24, 2.876,-1.925, 2.329,-2.928, PHS=-0.377, 1.048,-1.070, RAW= 348.7, 4.3, CAL= 348.4, 2.1, ROT= 161.6, -2.1 2025-10-27T05:26:14.373Z,1761542774.373 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:26:14.374Z,1761542774.374 [DAT](INFO): direction in FSK: [-0.948239,0.315437,0.036644] 2025-10-27T05:26:14.383Z,1761542774.383 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:14.386Z,1761542774.386 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.489925 2025-10-27T05:26:14.581Z,1761542774.581 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.683987 2025-10-27T05:26:14.582Z,1761542774.582 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:26:14.730Z,1761542774.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504278 s, deltaX: 0.100000 m, approachRate: 0.198304 m/s, rangeRepo size: 4 2025-10-27T05:26:14.756Z,1761542774.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.392080 m, bearing: 39.115796 deg, lat: 36.779348 deg, lon: -121.859684 deg, deltaT: 0.504278 s, deltaX: 0.099461 m, approachRate: 0.197234 m/s, posRepo size: 4 2025-10-27T05:26:14.763Z,1761542774.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m. 2025-10-27T05:26:14.836Z,1761542774.836 [DAT](INFO): DAT read: Rx Time:05:26:13.6672 2025-10-27T05:26:14.838Z,1761542774.838 [DAT](INFO): Rx dataTimestamp_ set to:1761542774.836668 2025-10-27T05:26:14.841Z,1761542774.841 [DAT](INFO): DAT read: Bearing 199.4, 16.7 (Local) 2025-10-27T05:26:14.843Z,1761542774.843 [DAT](INFO): Local bearing/azimuth received: Bearing 199.4, 16.7 (Local) 2025-10-27T05:26:14.850Z,1761542774.850 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 2025-10-27T05:26:14.888Z,1761542774.888 [DAT](INFO): DAT read: 05:26:13.6672 LVL= 25472, 25057, 32754, 32755, AGC= 62, IDX= 511, 0.21, 1.063, 2.569, 0.510, 1.544, PHS=-0.379, 1.070,-1.078, RAW= 348.6, 4.1, CAL= 348.2, 1.8, ROT= 161.8, -1.8 2025-10-27T05:26:14.890Z,1761542774.890 [DAT](INFO): got valid direction response: 05:26:13.6672 LVL= 25472, 25057, 32754, 32755, AGC= 62, IDX= 511, 0.21, 1.063, 2.569, 0.510, 1.544, PHS=-0.379, 1.070,-1.078, RAW= 348.6, 4.1, CAL= 348.2, 1.8, ROT= 161.8, -1.8 2025-10-27T05:26:14.890Z,1761542774.890 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:26:14.901Z,1761542774.901 [DAT](INFO): direction in FSK: [-0.949503,0.312181,0.031411] 2025-10-27T05:26:14.901Z,1761542774.901 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:14.928Z,1761542774.928 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.031033 2025-10-27T05:26:15.085Z,1761542775.085 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.188332 2025-10-27T05:26:15.102Z,1761542775.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535894,0.841822,0.064441],[-0.843958,-0.536247,-0.013149],[0.023487,-0.061432,0.997835]] 2025-10-27T05:26:15.151Z,1761542775.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504241 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:15.153Z,1761542775.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.392080 m, bearing: 39.312889 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.504241 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:15.158Z,1761542775.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m. 2025-10-27T05:26:15.340Z,1761542775.340 [DAT](INFO): DAT read: Rx Time:05:26:14.1674 2025-10-27T05:26:15.342Z,1761542775.342 [DAT](INFO): Rx dataTimestamp_ set to:1761542775.340774 2025-10-27T05:26:15.345Z,1761542775.345 [DAT](INFO): DAT read: Bearing 199.3, 16.9 (Local) 2025-10-27T05:26:15.346Z,1761542775.346 [DAT](INFO): Local bearing/azimuth received: Bearing 199.3, 16.9 (Local) 2025-10-27T05:26:15.359Z,1761542775.359 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.3 2025-10-27T05:26:15.368Z,1761542775.368 [DAT](INFO): DAT read: 05:26:14.1674 LVL= 23744, 22049, 24050, 22099, AGC= 65, IDX= 1, 0.16, 2.276,-2.510, 1.720, 2.757, PHS=-0.378, 1.062,-1.081, RAW= 348.8, 4.2, CAL= 348.4, 2.0, ROT= 161.6, -2.0 2025-10-27T05:26:15.369Z,1761542775.369 [DAT](INFO): got valid direction response: 05:26:14.1674 LVL= 23744, 22049, 24050, 22099, AGC= 65, IDX= 1, 0.16, 2.276,-2.510, 1.720, 2.757, PHS=-0.378, 1.062,-1.081, RAW= 348.8, 4.2, CAL= 348.4, 2.0, ROT= 161.6, -2.0 2025-10-27T05:26:15.370Z,1761542775.370 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:26:15.371Z,1761542775.371 [DAT](INFO): direction in FSK: [-0.948298,0.315457,0.034899] 2025-10-27T05:26:15.371Z,1761542775.371 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:15.377Z,1761542775.377 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.479877 2025-10-27T05:26:15.529Z,1761542775.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504106 s, deltaX: 0.299999 m, approachRate: 0.595111 m/s, rangeRepo size: 4 2025-10-27T05:26:15.531Z,1761542775.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.690418 m, bearing: 39.103058 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.504106 s, deltaX: 0.298338 m, approachRate: 0.591816 m/s, posRepo size: 4 2025-10-27T05:26:15.532Z,1761542775.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-27T05:26:15.589Z,1761542775.589 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.692314 2025-10-27T05:26:15.844Z,1761542775.844 [DAT](INFO): DAT read: Rx Time:05:26:14.6674 2025-10-27T05:26:15.845Z,1761542775.845 [DAT](INFO): Rx dataTimestamp_ set to:1761542775.844460 2025-10-27T05:26:15.849Z,1761542775.849 [DAT](INFO): DAT read: Bearing 198.8, 16.3 (Local) 2025-10-27T05:26:15.850Z,1761542775.850 [DAT](INFO): Local bearing/azimuth received: Bearing 198.8, 16.3 (Local) 2025-10-27T05:26:15.854Z,1761542775.854 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 2025-10-27T05:26:15.873Z,1761542775.873 [DAT](INFO): DAT read: 05:26:14.6674 LVL= 27568, 26609, 32754, 32755, AGC= 62, IDX= 497, 0.07, 0.819, 2.316, 0.295, 1.318, PHS=-0.397, 1.043,-1.067, RAW= 348.1, 4.5, CAL= 347.8, 2.5, ROT= 162.2, -2.5 2025-10-27T05:26:15.874Z,1761542775.874 [DAT](INFO): got valid direction response: 05:26:14.6674 LVL= 27568, 26609, 32754, 32755, AGC= 62, IDX= 497, 0.07, 0.819, 2.316, 0.295, 1.318, PHS=-0.397, 1.043,-1.067, RAW= 348.1, 4.5, CAL= 347.8, 2.5, ROT= 162.2, -2.5 2025-10-27T05:26:15.874Z,1761542775.874 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:26:15.891Z,1761542775.891 [DAT](INFO): direction in FSK: [-0.951223,0.305404,0.043619] 2025-10-27T05:26:15.892Z,1761542775.892 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:15.907Z,1761542775.907 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.010815 2025-10-27T05:26:15.908Z,1761542775.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536236,0.841582,0.064738],[-0.843729,-0.536616,-0.012833],[0.023940,-0.061503,0.997820]] 2025-10-27T05:26:16.010Z,1761542776.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503686 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:16.016Z,1761542776.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.690418 m, bearing: 39.652593 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.503686 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:16.017Z,1761542776.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-27T05:26:16.093Z,1761542776.093 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.196861 2025-10-27T05:26:16.298Z,1761542776.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536541,0.841390,0.064700],[-0.843532,-0.536928,-0.012723],[0.024034,-0.061403,0.997824]] 2025-10-27T05:26:16.348Z,1761542776.348 [DAT](INFO): DAT read: Rx Time:05:26:15.1674 2025-10-27T05:26:16.349Z,1761542776.349 [DAT](INFO): Rx dataTimestamp_ set to:1761542776.348531 2025-10-27T05:26:16.354Z,1761542776.353 [DAT](INFO): DAT read: Bearing 199.6, 16.4 (Local) 2025-10-27T05:26:16.354Z,1761542776.354 [DAT](INFO): Local bearing/azimuth received: Bearing 199.6, 16.4 (Local) 2025-10-27T05:26:16.365Z,1761542776.365 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 2025-10-27T05:26:16.369Z,1761542776.369 [DAT](INFO): DAT read: 05:26:15.1674 LVL= 24048, 23297, 32754, 32755, AGC= 61, IDX= 498, 0.00, 0.184, 1.702,-0.356, 0.672, PHS=-0.387, 1.075,-1.073, RAW= 348.2, 4.1, CAL= 347.8, 1.7, ROT= 162.2, -1.7 2025-10-27T05:26:16.371Z,1761542776.371 [DAT](INFO): got valid direction response: 05:26:15.1674 LVL= 24048, 23297, 32754, 32755, AGC= 61, IDX= 498, 0.00, 0.184, 1.702,-0.356, 0.672, PHS=-0.387, 1.075,-1.073, RAW= 348.2, 4.1, CAL= 347.8, 1.7, ROT= 162.2, -1.7 2025-10-27T05:26:16.387Z,1761542776.387 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:26:16.388Z,1761542776.388 [DAT](INFO): direction in FSK: [-0.951710,0.305561,0.029666] 2025-10-27T05:26:16.388Z,1761542776.388 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:16.400Z,1761542776.400 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.503853 2025-10-27T05:26:16.422Z,1761542776.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:16.428Z,1761542776.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.690399 m, bearing: 39.672818 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.504071 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 2025-10-27T05:26:16.429Z,1761542776.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-27T05:26:16.596Z,1761542776.596 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.699638 2025-10-27T05:26:16.852Z,1761542776.852 [DAT](INFO): DAT read: Rx Time:05:26:15.6674 2025-10-27T05:26:16.854Z,1761542776.854 [DAT](INFO): Rx dataTimestamp_ set to:1761542776.852845 2025-10-27T05:26:16.855Z,1761542776.855 [DAT](INFO): DAT read: Bearing 199.6, 15.8 (Local) 2025-10-27T05:26:16.856Z,1761542776.856 [DAT](INFO): Local bearing/azimuth received: Bearing 199.6, 15.8 (Local) 2025-10-27T05:26:16.858Z,1761542776.858 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 2025-10-27T05:26:16.862Z,1761542776.862 [DAT](INFO): DAT read: 05:26:15.6674 LVL= 27264, 26609, 32754, 32755, AGC= 61, IDX= 498,-0.11,-1.895,-0.376,-2.402,-1.394, PHS=-0.398, 1.063,-1.052, RAW= 347.6, 4.2, CAL= 347.2, 1.9, ROT= 162.8, -1.9 2025-10-27T05:26:16.864Z,1761542776.864 [DAT](INFO): got valid direction response: 05:26:15.6674 LVL= 27264, 26609, 32754, 32755, AGC= 61, IDX= 498,-0.11,-1.895,-0.376,-2.402,-1.394, PHS=-0.398, 1.063,-1.052, RAW= 347.6, 4.2, CAL= 347.2, 1.9, ROT= 162.8, -1.9 2025-10-27T05:26:16.865Z,1761542776.865 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:26:16.865Z,1761542776.865 [DAT](INFO): direction in FSK: [-0.954753,0.295545,0.033155] 2025-10-27T05:26:16.866Z,1761542776.866 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:16.869Z,1761542776.869 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.972893 2025-10-27T05:26:16.916Z,1761542776.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537673,0.840692,0.064384],[-0.842802,-0.538084,-0.012249],[0.024347,-0.060849,0.997850]] 2025-10-27T05:26:17.018Z,1761542777.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504314 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:17.024Z,1761542777.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.690399 m, bearing: 40.184801 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.504314 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:17.024Z,1761542777.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-27T05:26:17.100Z,1761542777.100 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.203686 2025-10-27T05:26:17.355Z,1761542777.355 [DAT](INFO): DAT read: Rx Time:05:26:16.1676 2025-10-27T05:26:17.356Z,1761542777.356 [DAT](INFO): Rx dataTimestamp_ set to:1761542777.355294 2025-10-27T05:26:17.357Z,1761542777.357 [DAT](INFO): DAT read: Bearing 200.6, 16.4 (Local) 2025-10-27T05:26:17.357Z,1761542777.357 [DAT](INFO): Local bearing/azimuth received: Bearing 200.6, 16.4 (Local) 2025-10-27T05:26:17.366Z,1761542777.366 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.2 2025-10-27T05:26:17.390Z,1761542777.390 [DAT](INFO): DAT read: 05:26:16.1676 LVL= 22608, 21489, 32754, 32755, AGC= 60, IDX= 500,-0.21,-1.084, 0.443,-1.622,-0.607, PHS=-0.374, 1.095,-1.059, RAW= 348.1, 3.6, CAL= 347.7, 0.9, ROT= 162.3, -0.9 2025-10-27T05:26:17.403Z,1761542777.403 [DAT](INFO): got valid direction response: 05:26:16.1676 LVL= 22608, 21489, 32754, 32755, AGC= 60, IDX= 500,-0.21,-1.084, 0.443,-1.622,-0.607, PHS=-0.374, 1.095,-1.059, RAW= 348.1, 3.6, CAL= 347.7, 0.9, ROT= 162.3, -0.9 2025-10-27T05:26:17.404Z,1761542777.404 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:26:17.405Z,1761542777.405 [DAT](INFO): direction in FSK: [-0.952544,0.303995,0.015707] 2025-10-27T05:26:17.405Z,1761542777.405 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:17.417Z,1761542777.417 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.520248 2025-10-27T05:26:17.430Z,1761542777.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538089,0.840435,0.064265],[-0.842535,-0.538505,-0.012137],[0.024406,-0.060676,0.997859]] 2025-10-27T05:26:17.503Z,1761542777.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.502449 s, deltaX: 0.300001 m, approachRate: 0.597078 m/s, rangeRepo size: 4 2025-10-27T05:26:17.522Z,1761542777.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.988369 m, bearing: 39.707922 deg, lat: 36.779348 deg, lon: -121.859684 deg, deltaT: 0.502449 s, deltaX: 0.297970 m, approachRate: 0.593035 m/s, posRepo size: 4 2025-10-27T05:26:17.522Z,1761542777.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m. 2025-10-27T05:26:17.605Z,1761542777.605 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.708248 2025-10-27T05:26:17.857Z,1761542777.857 [DAT](INFO): DAT read: Rx Time:05:26:16.6676 2025-10-27T05:26:17.857Z,1761542777.857 [DAT](INFO): Rx dataTimestamp_ set to:1761542777.856868 2025-10-27T05:26:17.858Z,1761542777.858 [DAT](INFO): DAT read: Bearing 199.9, 16.5 (Local) 2025-10-27T05:26:17.859Z,1761542777.859 [DAT](INFO): Local bearing/azimuth received: Bearing 199.9, 16.5 (Local) 2025-10-27T05:26:17.861Z,1761542777.861 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.2 2025-10-27T05:26:17.867Z,1761542777.867 [DAT](INFO): DAT read: 05:26:16.6676 LVL= 24384, 23281, 32754, 32755, AGC= 62, IDX= 500,-0.40,-2.229,-0.712,-2.765,-1.742, PHS=-0.384, 1.075,-1.067, RAW= 348.2, 4.0, CAL= 347.8, 1.6, ROT= 162.2, -1.6 2025-10-27T05:26:17.868Z,1761542777.868 [DAT](INFO): got valid direction response: 05:26:16.6676 LVL= 24384, 23281, 32754, 32755, AGC= 62, IDX= 500,-0.40,-2.229,-0.712,-2.765,-1.742, PHS=-0.384, 1.075,-1.067, RAW= 348.2, 4.0, CAL= 347.8, 1.6, ROT= 162.2, -1.6 2025-10-27T05:26:17.868Z,1761542777.868 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:26:17.869Z,1761542777.869 [DAT](INFO): direction in FSK: [-0.951758,0.305576,0.027922] 2025-10-27T05:26:17.869Z,1761542777.869 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:17.883Z,1761542777.883 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:26:17.883Z,1761542777.883 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:26:17.883Z,1761542777.883 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:17.897Z,1761542777.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538301,0.840295,0.064318],[-0.842398,-0.538719,-0.012132],[0.024455,-0.060712,0.997856]] 2025-10-27T05:26:18.035Z,1761542778.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.501574 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:18.037Z,1761542778.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.988369 m, bearing: 39.558274 deg, lat: 36.779348 deg, lon: -121.859684 deg, deltaT: 0.501574 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:18.038Z,1761542778.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m. 2025-10-27T05:26:18.109Z,1761542778.109 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:18.280Z,1761542778.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538157,0.840373,0.064504],[-0.842495,-0.538559,-0.012458],[0.024270,-0.061049,0.997840]] 2025-10-27T05:26:18.369Z,1761542778.369 [DAT](INFO): DAT read: Rx Time:05:26:17.1678 2025-10-27T05:26:18.370Z,1761542778.370 [DAT](INFO): Rx dataTimestamp_ set to:1761542778.369255 2025-10-27T05:26:18.371Z,1761542778.371 [DAT](INFO): DAT read: Bearing 199.4, 17.1 (Local) 2025-10-27T05:26:18.371Z,1761542778.371 [DAT](INFO): Local bearing/azimuth received: Bearing 199.4, 17.1 (Local) 2025-10-27T05:26:18.373Z,1761542778.373 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.2 2025-10-27T05:26:18.378Z,1761542778.378 [DAT](INFO): DAT read: 05:26:17.1678 LVL= 26096, 19841, 32754, 32755, AGC= 62, IDX= 501, 0.34, 0.172, 1.676,-0.391, 0.655, PHS=-0.381, 1.066,-1.089, RAW= 348.8, 4.3, CAL= 348.5, 2.0, ROT= 161.5, -2.0 2025-10-27T05:26:18.379Z,1761542778.379 [DAT](INFO): got valid direction response: 05:26:17.1678 LVL= 26096, 19841, 32754, 32755, AGC= 62, IDX= 501, 0.34, 0.172, 1.676,-0.391, 0.655, PHS=-0.381, 1.066,-1.089, RAW= 348.8, 4.3, CAL= 348.5, 2.0, ROT= 161.5, -2.0 2025-10-27T05:26:18.380Z,1761542778.380 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:18.381Z,1761542778.381 [DAT](INFO): direction in FSK: [-0.947746,0.317111,0.034899] 2025-10-27T05:26:18.381Z,1761542778.381 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:18.384Z,1761542778.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m. 2025-10-27T05:26:18.393Z,1761542778.393 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:18.394Z,1761542778.394 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:18.612Z,1761542778.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:18.682Z,1761542778.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537725,0.840617,0.064922],[-0.842779,-0.538101,-0.013049],[0.023965,-0.061731,0.997805]] 2025-10-27T05:26:18.711Z,1761542778.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.512387 s, deltaX: 0.299999 m, approachRate: 0.585493 m/s, rangeRepo size: 4 2025-10-27T05:26:18.714Z,1761542778.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.286671 m, bearing: 38.878057 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.512387 s, deltaX: 0.298302 m, approachRate: 0.582180 m/s, posRepo size: 4 2025-10-27T05:26:18.714Z,1761542778.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.29 m. 2025-10-27T05:26:18.865Z,1761542778.865 [DAT](INFO): DAT read: Rx Time:05:26:17.6678 2025-10-27T05:26:18.866Z,1761542778.866 [DAT](INFO): Rx dataTimestamp_ set to:1761542778.865632 2025-10-27T05:26:18.867Z,1761542778.867 [DAT](INFO): DAT read: Bearing 199.4, 17.4 (Local) 2025-10-27T05:26:18.868Z,1761542778.868 [DAT](INFO): Local bearing/azimuth received: Bearing 199.4, 17.4 (Local) 2025-10-27T05:26:18.870Z,1761542778.870 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 2025-10-27T05:26:18.874Z,1761542778.874 [DAT](INFO): DAT read: 05:26:17.6678 LVL= 26224, 19697, 32754, 32755, AGC= 62, IDX= 501, 0.12,-0.787, 0.710,-1.360,-0.310, PHS=-0.376, 1.065,-1.094, RAW= 349.1, 4.3, CAL= 348.7, 2.0, ROT= 161.3, -2.0 2025-10-27T05:26:18.876Z,1761542778.876 [DAT](INFO): got valid direction response: 05:26:17.6678 LVL= 26224, 19697, 32754, 32755, AGC= 62, IDX= 501, 0.12,-0.787, 0.710,-1.360,-0.310, PHS=-0.376, 1.065,-1.094, RAW= 349.1, 4.3, CAL= 348.7, 2.0, ROT= 161.3, -2.0 2025-10-27T05:26:18.876Z,1761542778.876 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:18.877Z,1761542778.877 [DAT](INFO): direction in FSK: [-0.946633,0.320418,0.034899] 2025-10-27T05:26:18.877Z,1761542778.877 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:18.889Z,1761542778.889 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:18.890Z,1761542778.890 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:19.094Z,1761542779.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537111,0.840973,0.065398],[-0.843182,-0.537453,-0.013742],[0.023592,-0.062524,0.997765]] 2025-10-27T05:26:19.116Z,1761542779.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:19.176Z,1761542779.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.496377 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:19.178Z,1761542779.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.286671 m, bearing: 38.719827 deg, lat: 36.779348 deg, lon: -121.859685 deg, deltaT: 0.496377 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:19.178Z,1761542779.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.29 m. 2025-10-27T05:26:19.369Z,1761542779.369 [DAT](INFO): DAT read: Rx Time:05:26:18.1679 2025-10-27T05:26:19.369Z,1761542779.369 [DAT](INFO): Rx dataTimestamp_ set to:1761542779.368833 2025-10-27T05:26:19.370Z,1761542779.370 [DAT](INFO): DAT read: Bearing 200.8, 17.2 (Local) 2025-10-27T05:26:19.371Z,1761542779.371 [DAT](INFO): Local bearing/azimuth received: Bearing 200.8, 17.2 (Local) 2025-10-27T05:26:19.373Z,1761542779.373 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 2025-10-27T05:26:19.378Z,1761542779.378 [DAT](INFO): DAT read: 05:26:18.1679 LVL= 24384, 23073, 32754, 32755, AGC= 63, IDX= 503,-0.08,-1.069, 0.442,-1.630,-0.607, PHS=-0.360, 1.094,-1.067, RAW= 348.7, 3.5, CAL= 348.3, 0.8, ROT= 161.7, -0.8 2025-10-27T05:26:19.379Z,1761542779.379 [DAT](INFO): got valid direction response: 05:26:18.1679 LVL= 24384, 23073, 32754, 32755, AGC= 63, IDX= 503,-0.08,-1.069, 0.442,-1.630,-0.607, PHS=-0.360, 1.094,-1.067, RAW= 348.7, 3.5, CAL= 348.3, 0.8, ROT= 161.7, -0.8 2025-10-27T05:26:19.379Z,1761542779.379 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:19.380Z,1761542779.380 [DAT](INFO): direction in FSK: [-0.949333,0.313962,0.013962] 2025-10-27T05:26:19.381Z,1761542779.381 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:19.384Z,1761542779.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:19.385Z,1761542779.385 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:19.553Z,1761542779.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503201 s, deltaX: 0.200001 m, approachRate: 0.397457 m/s, rangeRepo size: 4 2025-10-27T05:26:19.567Z,1761542779.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.485764 m, bearing: 39.181426 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.503201 s, deltaX: 0.199093 m, approachRate: 0.395653 m/s, posRepo size: 4 2025-10-27T05:26:19.568Z,1761542779.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-27T05:26:19.620Z,1761542779.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:19.873Z,1761542779.873 [DAT](INFO): DAT read: Rx Time:05:26:18.6679 2025-10-27T05:26:19.873Z,1761542779.873 [DAT](INFO): Rx dataTimestamp_ set to:1761542779.872710 2025-10-27T05:26:19.874Z,1761542779.874 [DAT](INFO): DAT read: Bearing 200.9, 17.3 (Local) 2025-10-27T05:26:19.875Z,1761542779.875 [DAT](INFO): Local bearing/azimuth received: Bearing 200.9, 17.3 (Local) 2025-10-27T05:26:19.877Z,1761542779.877 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 2025-10-27T05:26:19.885Z,1761542779.885 [DAT](INFO): DAT read: 05:26:18.6679 LVL= 24304, 22465, 32754, 32755, AGC= 63, IDX= 503,-0.35,-2.387,-0.880,-2.947,-1.927, PHS=-0.358, 1.093,-1.064, RAW= 348.7, 3.5, CAL= 348.3, 0.8, ROT= 161.7, -0.8 2025-10-27T05:26:19.886Z,1761542779.886 [DAT](INFO): got valid direction response: 05:26:18.6679 LVL= 24304, 22465, 32754, 32755, AGC= 63, IDX= 503,-0.35,-2.387,-0.880,-2.947,-1.927, PHS=-0.358, 1.093,-1.064, RAW= 348.7, 3.5, CAL= 348.3, 0.8, ROT= 161.7, -0.8 2025-10-27T05:26:19.887Z,1761542779.887 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:19.888Z,1761542779.888 [DAT](INFO): direction in FSK: [-0.949333,0.313962,0.013962] 2025-10-27T05:26:19.888Z,1761542779.888 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:19.892Z,1761542779.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:19.892Z,1761542779.892 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:20.034Z,1761542780.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:20.040Z,1761542780.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.485764 m, bearing: 39.181426 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.503877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:20.040Z,1761542780.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-27T05:26:20.124Z,1761542780.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:20.374Z,1761542780.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-27T05:26:20.377Z,1761542780.377 [DAT](INFO): DAT read: Rx Time:05:26:19.1680 2025-10-27T05:26:20.377Z,1761542780.377 [DAT](INFO): Rx dataTimestamp_ set to:1761542780.376793 2025-10-27T05:26:20.378Z,1761542780.378 [DAT](INFO): DAT read: Bearing 199.7, 17.6 (Local) 2025-10-27T05:26:20.379Z,1761542780.379 [DAT](INFO): Local bearing/azimuth received: Bearing 199.7, 17.6 (Local) 2025-10-27T05:26:20.381Z,1761542780.381 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.2 2025-10-27T05:26:20.386Z,1761542780.386 [DAT](INFO): DAT read: 05:26:19.1680 LVL= 25840, 19505, 32754, 32755, AGC= 62, IDX= 503, 0.28,-0.716, 0.779,-1.287,-0.240, PHS=-0.373, 1.065,-1.091, RAW= 349.1, 4.2, CAL= 348.7, 2.0, ROT= 161.3, -2.0 2025-10-27T05:26:20.387Z,1761542780.387 [DAT](INFO): got valid direction response: 05:26:19.1680 LVL= 25840, 19505, 32754, 32755, AGC= 62, IDX= 503, 0.28,-0.716, 0.779,-1.287,-0.240, PHS=-0.373, 1.065,-1.091, RAW= 349.1, 4.2, CAL= 348.7, 2.0, ROT= 161.3, -2.0 2025-10-27T05:26:20.387Z,1761542780.387 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:20.388Z,1761542780.388 [DAT](INFO): direction in FSK: [-0.946633,0.320418,0.034899] 2025-10-27T05:26:20.388Z,1761542780.388 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:20.396Z,1761542780.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:20.396Z,1761542780.396 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:20.628Z,1761542780.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:20.704Z,1761542780.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534446,0.842927,0.061985],[-0.844949,-0.534643,-0.014749],[0.020708,-0.060257,0.997968]] 2025-10-27T05:26:20.747Z,1761542780.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504083 s, deltaX: 0.100000 m, approachRate: 0.198381 m/s, rangeRepo size: 4 2025-10-27T05:26:20.749Z,1761542780.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.585175 m, bearing: 38.905547 deg, lat: 36.779349 deg, lon: -121.859685 deg, deltaT: 0.504083 s, deltaX: 0.099411 m, approachRate: 0.197212 m/s, posRepo size: 4 2025-10-27T05:26:20.750Z,1761542780.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.59 m. 2025-10-27T05:26:20.887Z,1761542780.887 [DAT](INFO): DAT read: Rx Time:05:26:19.6679 2025-10-27T05:26:20.889Z,1761542780.889 [DAT](INFO): Rx dataTimestamp_ set to:1761542780.887648 2025-10-27T05:26:20.894Z,1761542780.894 [DAT](INFO): DAT read: Bearing 200.6, 17.2 (Local) 2025-10-27T05:26:20.894Z,1761542780.894 [DAT](INFO): Local bearing/azimuth received: Bearing 200.6, 17.2 (Local) 2025-10-27T05:26:20.905Z,1761542780.905 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 2025-10-27T05:26:20.914Z,1761542780.914 [DAT](INFO): DAT read: 05:26:19.6679 LVL= 23776, 21601, 32754, 32755, AGC= 61, IDX= 503,-0.01,-2.549,-1.047,-3.102,-2.079, PHS=-0.368, 1.077,-1.067, RAW= 348.6, 3.8, CAL= 348.3, 1.3, ROT= 161.7, -1.3 2025-10-27T05:26:20.919Z,1761542780.919 [DAT](INFO): got valid direction response: 05:26:19.6679 LVL= 23776, 21601, 32754, 32755, AGC= 61, IDX= 503,-0.01,-2.549,-1.047,-3.102,-2.079, PHS=-0.368, 1.077,-1.067, RAW= 348.6, 3.8, CAL= 348.3, 1.3, ROT= 161.7, -1.3 2025-10-27T05:26:20.919Z,1761542780.919 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:20.920Z,1761542780.920 [DAT](INFO): direction in FSK: [-0.949181,0.313912,0.022687] 2025-10-27T05:26:20.921Z,1761542780.921 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:20.936Z,1761542780.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:20.937Z,1761542780.937 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:21.108Z,1761542781.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532901,0.843941,0.061479],[-0.845949,-0.533037,-0.015535],[0.019660,-0.060287,0.997987]] 2025-10-27T05:26:21.132Z,1761542781.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:21.176Z,1761542781.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.510855 s, deltaX: -0.100000 m, approachRate: -0.195751 m/s, rangeRepo size: 4 2025-10-27T05:26:21.178Z,1761542781.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.485729 m, bearing: 39.446012 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.510855 s, deltaX: -0.099445 m, approachRate: -0.194665 m/s, posRepo size: 4 2025-10-27T05:26:21.178Z,1761542781.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-27T05:26:21.385Z,1761542781.385 [DAT](INFO): DAT read: Rx Time:05:26:20.1681 2025-10-27T05:26:21.386Z,1761542781.386 [DAT](INFO): Rx dataTimestamp_ set to:1761542781.385483 2025-10-27T05:26:21.387Z,1761542781.387 [DAT](INFO): DAT read: Bearing 200.4, 16.7 (Local) 2025-10-27T05:26:21.387Z,1761542781.387 [DAT](INFO): Local bearing/azimuth received: Bearing 200.4, 16.7 (Local) 2025-10-27T05:26:21.390Z,1761542781.390 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 2025-10-27T05:26:21.395Z,1761542781.395 [DAT](INFO): DAT read: 05:26:20.1681 LVL= 26000, 25377, 32754, 32755, AGC= 62, IDX= 505,-0.37,-1.619,-0.109,-2.151,-1.135, PHS=-0.382, 1.071,-1.061, RAW= 348.2, 4.0, CAL= 347.8, 1.6, ROT= 162.2, -1.6 2025-10-27T05:26:21.402Z,1761542781.402 [DAT](INFO): got valid direction response: 05:26:20.1681 LVL= 26000, 25377, 32754, 32755, AGC= 62, IDX= 505,-0.37,-1.619,-0.109,-2.151,-1.135, PHS=-0.382, 1.071,-1.061, RAW= 348.2, 4.0, CAL= 347.8, 1.6, ROT= 162.2, -1.6 2025-10-27T05:26:21.402Z,1761542781.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:21.408Z,1761542781.408 [DAT](INFO): direction in FSK: [-0.951758,0.305576,0.027922] 2025-10-27T05:26:21.408Z,1761542781.408 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:21.412Z,1761542781.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:21.412Z,1761542781.412 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:21.517Z,1761542781.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531536,0.844859,0.060684],[-0.846830,-0.531619,-0.016109],[0.018651,-0.059952,0.998027]] 2025-10-27T05:26:21.596Z,1761542781.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.497835 s, deltaX: 0.299999 m, approachRate: 0.602608 m/s, rangeRepo size: 4 2025-10-27T05:26:21.598Z,1761542781.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.784161 m, bearing: 40.023334 deg, lat: 36.779348 deg, lon: -121.859684 deg, deltaT: 0.497835 s, deltaX: 0.298431 m, approachRate: 0.599458 m/s, posRepo size: 4 2025-10-27T05:26:21.599Z,1761542781.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.78 m. 2025-10-27T05:26:21.636Z,1761542781.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:21.892Z,1761542781.892 [DAT](INFO): DAT read: Rx Time:05:26:20.6681 2025-10-27T05:26:21.893Z,1761542781.893 [DAT](INFO): Rx dataTimestamp_ set to:1761542781.892653 2025-10-27T05:26:21.896Z,1761542781.896 [DAT](INFO): DAT read: Bearing 199.9, 17.0 (Local) 2025-10-27T05:26:21.896Z,1761542781.896 [DAT](INFO): Local bearing/azimuth received: Bearing 199.9, 17.0 (Local) 2025-10-27T05:26:21.898Z,1761542781.898 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 2025-10-27T05:26:21.936Z,1761542781.936 [DAT](INFO): DAT read: 05:26:20.6681 LVL= 24144, 25057, 32754, 32755, AGC= 61, IDX= 504, 0.16,-0.475, 1.014,-1.013, 0.011, PHS=-0.384, 1.048,-1.068, RAW= 348.5, 4.4, CAL= 348.1, 2.1, ROT= 161.9, -2.1 2025-10-27T05:26:21.938Z,1761542781.938 [DAT](INFO): got valid direction response: 05:26:20.6681 LVL= 24144, 25057, 32754, 32755, AGC= 61, IDX= 504, 0.16,-0.475, 1.014,-1.013, 0.011, PHS=-0.384, 1.048,-1.068, RAW= 348.5, 4.4, CAL= 348.1, 2.1, ROT= 161.9, -2.1 2025-10-27T05:26:21.938Z,1761542781.938 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:21.942Z,1761542781.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529706,0.846042,0.060200],[-0.847997,-0.529736,-0.016787],[0.017687,-0.059942,0.998045]] 2025-10-27T05:26:21.942Z,1761542781.942 [DAT](INFO): direction in FSK: [-0.949877,0.310468,0.036644] 2025-10-27T05:26:21.943Z,1761542781.943 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:21.972Z,1761542781.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:21.973Z,1761542781.973 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:22.134Z,1761542782.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.507170 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:22.148Z,1761542782.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:22.160Z,1761542782.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.784161 m, bearing: 39.822564 deg, lat: 36.779346 deg, lon: -121.859683 deg, deltaT: 0.507170 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:22.161Z,1761542782.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.78 m. 2025-10-27T05:26:22.400Z,1761542782.400 [DAT](INFO): DAT read: Rx Time:05:26:21.1682 2025-10-27T05:26:22.401Z,1761542782.401 [DAT](INFO): Rx dataTimestamp_ set to:1761542782.400660 2025-10-27T05:26:22.402Z,1761542782.402 [DAT](INFO): DAT read: Bearing 200.5, 16.7 (Local) 2025-10-27T05:26:22.403Z,1761542782.403 [DAT](INFO): Local bearing/azimuth received: Bearing 200.5, 16.7 (Local) 2025-10-27T05:26:22.405Z,1761542782.405 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 2025-10-27T05:26:22.413Z,1761542782.413 [DAT](INFO): DAT read: 05:26:21.1682 LVL= 24224, 26065, 32754, 32755, AGC= 61, IDX= 506,-0.16,-0.772, 0.728,-1.298,-0.287, PHS=-0.383, 1.060,-1.056, RAW= 348.1, 4.1, CAL= 347.7, 1.7, ROT= 162.3, -1.7 2025-10-27T05:26:22.414Z,1761542782.414 [DAT](INFO): got valid direction response: 05:26:21.1682 LVL= 24224, 26065, 32754, 32755, AGC= 61, IDX= 506,-0.16,-0.772, 0.728,-1.298,-0.287, PHS=-0.383, 1.060,-1.056, RAW= 348.1, 4.1, CAL= 347.7, 1.7, ROT= 162.3, -1.7 2025-10-27T05:26:22.414Z,1761542782.414 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:22.416Z,1761542782.416 [DAT](INFO): direction in FSK: [-0.952242,0.303899,0.029666] 2025-10-27T05:26:22.416Z,1761542782.416 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:22.419Z,1761542782.419 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:22.420Z,1761542782.420 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:22.442Z,1761542782.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525952,0.848467,0.058971],[-0.850368,-0.525880,-0.017993],[0.015745,-0.059610,0.998098]] 2025-10-27T05:26:22.529Z,1761542782.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.508007 s, deltaX: 0.100000 m, approachRate: 0.196848 m/s, rangeRepo size: 4 2025-10-27T05:26:22.536Z,1761542782.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.883474 m, bearing: 40.497300 deg, lat: 36.779346 deg, lon: -121.859680 deg, deltaT: 0.508007 s, deltaX: 0.099314 m, approachRate: 0.195497 m/s, posRepo size: 4 2025-10-27T05:26:22.536Z,1761542782.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:22.652Z,1761542782.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:22.833Z,1761542782.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524026,0.849684,0.058601],[-0.851572,-0.523909,-0.018582],[0.014913,-0.059641,0.998108]] 2025-10-27T05:26:22.908Z,1761542782.908 [DAT](INFO): DAT read: Rx Time:05:26:21.6682 2025-10-27T05:26:22.910Z,1761542782.910 [DAT](INFO): Rx dataTimestamp_ set to:1761542782.908790 2025-10-27T05:26:22.914Z,1761542782.914 [DAT](INFO): DAT read: Bearing 198.8, 17.1 (Local) 2025-10-27T05:26:22.915Z,1761542782.915 [DAT](INFO): Local bearing/azimuth received: Bearing 198.8, 17.1 (Local) 2025-10-27T05:26:22.928Z,1761542782.928 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 2025-10-27T05:26:22.959Z,1761542782.959 [DAT](INFO): DAT read: 05:26:21.6682 LVL= 28576, 25729, 32754, 32755, AGC= 62, IDX= 505, 0.26, 0.355, 1.828,-0.178, 0.860, PHS=-0.403, 1.013,-1.082, RAW= 348.5, 5.1, CAL= 348.2, 3.4, ROT= 161.8, -3.4 2025-10-27T05:26:22.960Z,1761542782.960 [DAT](INFO): got valid direction response: 05:26:21.6682 LVL= 28576, 25729, 32754, 32755, AGC= 62, IDX= 505, 0.26, 0.355, 1.828,-0.178, 0.860, PHS=-0.403, 1.013,-1.082, RAW= 348.5, 5.1, CAL= 348.2, 3.4, ROT= 161.8, -3.4 2025-10-27T05:26:22.960Z,1761542782.960 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:26:22.961Z,1761542782.961 [DAT](INFO): direction in FSK: [-0.948300,0.311785,0.059306] 2025-10-27T05:26:22.962Z,1761542782.962 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:22.973Z,1761542782.973 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:22.974Z,1761542782.974 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:26:22.996Z,1761542782.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.508130 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:22.998Z,1761542782.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.883474 m, bearing: 40.039965 deg, lat: 36.779346 deg, lon: -121.859679 deg, deltaT: 0.508130 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:22.998Z,1761542782.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:23.156Z,1761542783.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:26:23.232Z,1761542783.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522106,0.850888,0.058265],[-0.852764,-0.521945,-0.019173],[0.014097,-0.059696,0.998117]] 2025-10-27T05:26:23.300Z,1761542783.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:23.408Z,1761542783.408 [DAT](INFO): DAT read: user:421> 2025-10-27T05:26:23.409Z,1761542783.409 [DAT](INFO): DAT read: 0 2025-10-27T05:26:23.410Z,1761542783.410 [DAT](INFO): unknown deviceResponse_: 0 2025-10-27T05:26:23.410Z,1761542783.410 [DAT](INFO): DAT read: Ok 2025-10-27T05:26:23.411Z,1761542783.411 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T05:26:23.417Z,1761542783.417 [DAT](INFO): DAT read: user:422> 2025-10-27T05:26:23.418Z,1761542783.418 [DAT](INFO): DAT read: Tx time:05:26:22.6237 2025-10-27T05:26:23.418Z,1761542783.418 [DAT](INFO): Ping request sent. 2025-10-27T05:26:23.418Z,1761542783.418 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:26:23.418Z,1761542783.418 [DAT](INFO): publishing transmit ping time 2025-10-27T05:26:23.419Z,1761542783.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000886 2025-10-27T05:26:23.641Z,1761542783.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520277,0.852024,0.058027],[-0.853894,-0.520071,-0.019788],[0.013319,-0.059844,0.998119]] 2025-10-27T05:26:23.660Z,1761542783.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241752 2025-10-27T05:26:23.661Z,1761542783.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:23.915Z,1761542783.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496248 2025-10-27T05:26:24.038Z,1761542784.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518815,0.852935,0.057733],[-0.854792,-0.518580,-0.020156],[0.012748,-0.059807,0.998129]] 2025-10-27T05:26:24.100Z,1761542784.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:24.164Z,1761542784.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745867 2025-10-27T05:26:24.416Z,1761542784.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997949 2025-10-27T05:26:24.446Z,1761542784.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517573,0.853719,0.057296],[-0.855552,-0.517316,-0.020374],[0.012246,-0.059565,0.998149]] 2025-10-27T05:26:24.466Z,1761542784.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:24.668Z,1761542784.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249760 2025-10-27T05:26:24.848Z,1761542784.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516766,0.854238,0.056833],[-0.856043,-0.516505,-0.020333],[0.011985,-0.059159,0.998177]] 2025-10-27T05:26:24.866Z,1761542784.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:24.923Z,1761542784.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504298 2025-10-27T05:26:25.172Z,1761542785.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753660 2025-10-27T05:26:25.249Z,1761542785.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516065,0.854678,0.056590],[-0.856467,-0.515806,-0.020227],[0.011902,-0.058906,0.998193]] 2025-10-27T05:26:25.345Z,1761542785.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:25.424Z,1761542785.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005773 2025-10-27T05:26:25.676Z,1761542785.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257468 2025-10-27T05:26:25.733Z,1761542785.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:25.934Z,1761542785.934 [DAT](INFO): DAT read: Rx Time:05:26:24.7818 2025-10-27T05:26:25.937Z,1761542785.937 [DAT](INFO): Rx dataTimestamp_ set to:1761542785.935566 2025-10-27T05:26:25.949Z,1761542785.949 [DAT](INFO): DAT read: Bearing 197.9, 16.7 (Local) 2025-10-27T05:26:25.963Z,1761542785.963 [DAT](INFO): Local bearing/azimuth received: Bearing 197.9, 16.7 (Local) 2025-10-27T05:26:25.973Z,1761542785.973 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.0 2025-10-27T05:26:25.974Z,1761542785.974 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:26:25.981Z,1761542785.981 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.556369 2025-10-27T05:26:26.069Z,1761542786.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515630,0.854942,0.056578],[-0.856723,-0.515401,-0.019681],[0.012335,-0.058619,0.998204]] 2025-10-27T05:26:26.134Z,1761542786.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 3.026776 s, deltaX: 0.799999 m, approachRate: 0.264307 m/s, rangeRepo size: 4 2025-10-27T05:26:26.134Z,1761542786.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:26.186Z,1761542786.186 [DAT](INFO): DAT read: 05:26:24.7818 LVL= 18736, 17073, 30194, 32755, AGC= 63, IDX= 101,-0.38, 1.090, 2.572, 0.574, 1.623, PHS=-0.430, 0.994,-1.093, RAW= 348.1, 5.8, CAL= 347.9, 4.4, ROT= 162.1, -4.4 2025-10-27T05:26:26.188Z,1761542786.188 [DAT](INFO): got valid direction response: 05:26:24.7818 LVL= 18736, 17073, 30194, 32755, AGC= 63, IDX= 101,-0.38, 1.090, 2.572, 0.574, 1.623, PHS=-0.430, 0.994,-1.093, RAW= 348.1, 5.8, CAL= 347.9, 4.4, ROT= 162.1, -4.4 2025-10-27T05:26:26.188Z,1761542786.188 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-27T05:26:26.190Z,1761542786.190 [DAT](INFO): direction in FSK: [-0.948790,0.306451,0.076719] 2025-10-27T05:26:26.195Z,1761542786.195 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.776528 2025-10-27T05:26:26.434Z,1761542786.434 [DAT](INFO): DAT read: Rx Time:05:26:25.2818 2025-10-27T05:26:26.436Z,1761542786.436 [DAT](INFO): Rx dataTimestamp_ set to:1761542786.435330 2025-10-27T05:26:26.438Z,1761542786.438 [DAT](INFO): DAT read: Bearing 197.3, 16.7 (Local) 2025-10-27T05:26:26.440Z,1761542786.440 [DAT](INFO): Local bearing/azimuth received: Bearing 197.3, 16.7 (Local) 2025-10-27T05:26:26.442Z,1761542786.442 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.022754 2025-10-27T05:26:26.535Z,1761542786.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515787,0.854840,0.056679],[-0.856623,-0.515580,-0.019350],[0.012682,-0.058533,0.998205]] 2025-10-27T05:26:26.593Z,1761542786.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-27T05:26:26.686Z,1761542786.686 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 2025-10-27T05:26:26.692Z,1761542786.692 [DAT](INFO): DAT read: 05:26:25.2818 LVL= 22176, 21601, 32754, 32755, AGC= 60, IDX= 501, 0.08, 1.920,-2.892, 1.407, 2.460, PHS=-0.438, 0.976,-1.097, RAW= 348.1, 6.1, CAL= 347.9, 5.0, ROT= 162.1, -5.0 2025-10-27T05:26:26.693Z,1761542786.693 [DAT](INFO): got valid direction response: 05:26:25.2818 LVL= 22176, 21601, 32754, 32755, AGC= 60, IDX= 501, 0.08, 1.920,-2.892, 1.407, 2.460, PHS=-0.438, 0.976,-1.097, RAW= 348.1, 6.1, CAL= 347.9, 5.0, ROT= 162.1, -5.0 2025-10-27T05:26:26.694Z,1761542786.694 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:26:26.695Z,1761542786.695 [DAT](INFO): direction in FSK: [-0.947973,0.306187,0.087156] 2025-10-27T05:26:26.695Z,1761542786.695 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:26.700Z,1761542786.700 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.281405 2025-10-27T05:26:26.866Z,1761542786.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516513,0.854388,0.056875],[-0.856175,-0.516344,-0.018767],[0.013333,-0.058388,0.998205]] 2025-10-27T05:26:26.901Z,1761542786.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.747852 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:26.907Z,1761542786.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.679253 m, bearing: 40.763654 deg, lat: 36.779345 deg, lon: -121.859678 deg, deltaT: 3.774628 s, deltaX: 0.795778 m, approachRate: 0.210823 m/s, posRepo size: 4 2025-10-27T05:26:26.908Z,1761542786.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-27T05:26:26.942Z,1761542786.942 [DAT](INFO): DAT read: Rx Time:05:26:25.7818 2025-10-27T05:26:26.944Z,1761542786.944 [DAT](INFO): Rx dataTimestamp_ set to:1761542786.943196 2025-10-27T05:26:26.948Z,1761542786.948 [DAT](INFO): DAT read: Bearing 197.9, 16.6 (Local) 2025-10-27T05:26:26.950Z,1761542786.950 [DAT](INFO): Local bearing/azimuth received: Bearing 197.9, 16.6 (Local) 2025-10-27T05:26:26.952Z,1761542786.952 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.533186 2025-10-27T05:26:27.189Z,1761542787.189 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.0 2025-10-27T05:26:27.194Z,1761542787.194 [DAT](INFO): DAT read: 05:26:25.7818 LVL= 25120, 23537, 32754, 32755, AGC= 60, IDX= 501,-0.31,-0.888, 0.588,-1.397,-0.354, PHS=-0.432, 0.987,-1.087, RAW= 348.0, 5.8, CAL= 347.8, 4.5, ROT= 162.2, -4.5 2025-10-27T05:26:27.195Z,1761542787.195 [DAT](INFO): got valid direction response: 05:26:25.7818 LVL= 25120, 23537, 32754, 32755, AGC= 60, IDX= 501,-0.31,-0.888, 0.588,-1.397,-0.354, PHS=-0.432, 0.987,-1.087, RAW= 348.0, 5.8, CAL= 347.8, 4.5, ROT= 162.2, -4.5 2025-10-27T05:26:27.196Z,1761542787.196 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:26:27.197Z,1761542787.197 [DAT](INFO): direction in FSK: [-0.949194,0.304753,0.078459] 2025-10-27T05:26:27.197Z,1761542787.197 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:27.201Z,1761542787.201 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.782226 2025-10-27T05:26:27.270Z,1761542787.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517153,0.853959,0.057496],[-0.855779,-0.517012,-0.018456],[0.013965,-0.058748,0.998175]] 2025-10-27T05:26:27.331Z,1761542787.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:27.333Z,1761542787.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.679253 m, bearing: 40.845298 deg, lat: 36.779345 deg, lon: -121.859677 deg, deltaT: 0.503945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:27.334Z,1761542787.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-27T05:26:27.443Z,1761542787.443 [DAT](INFO): DAT read: Rx Time:05:26:26.2818 2025-10-27T05:26:27.445Z,1761542787.445 [DAT](INFO): Rx dataTimestamp_ set to:1761542787.443742 2025-10-27T05:26:27.449Z,1761542787.449 [DAT](INFO): DAT read: Bearing 196.6, 16.8 (Local) 2025-10-27T05:26:27.450Z,1761542787.450 [DAT](INFO): Local bearing/azimuth received: Bearing 196.6, 16.8 (Local) 2025-10-27T05:26:27.452Z,1761542787.452 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.033066 2025-10-27T05:26:27.674Z,1761542787.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517932,0.853451,0.058029],[-0.855295,-0.517831,-0.017948],[0.014732,-0.058928,0.998154]] 2025-10-27T05:26:27.693Z,1761542787.693 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 2025-10-27T05:26:27.698Z,1761542787.698 [DAT](INFO): DAT read: 05:26:26.2818 LVL= 22352, 20401, 32754, 32755, AGC= 60, IDX= 501, 0.18, 1.406, 2.865, 0.896, 1.955, PHS=-0.447, 0.955,-1.104, RAW= 348.2, 6.6, CAL= 348.0, 5.7, ROT= 162.0, -5.7 2025-10-27T05:26:27.700Z,1761542787.700 [DAT](INFO): got valid direction response: 05:26:26.2818 LVL= 22352, 20401, 32754, 32755, AGC= 60, IDX= 501, 0.18, 1.406, 2.865, 0.896, 1.955, PHS=-0.447, 0.955,-1.104, RAW= 348.2, 6.6, CAL= 348.0, 5.7, ROT= 162.0, -5.7 2025-10-27T05:26:27.701Z,1761542787.701 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:26:27.702Z,1761542787.702 [DAT](INFO): direction in FSK: [-0.946354,0.307489,0.099320] 2025-10-27T05:26:27.702Z,1761542787.702 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:27.707Z,1761542787.707 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.289042 2025-10-27T05:26:27.750Z,1761542787.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:27.757Z,1761542787.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.679230 m, bearing: 40.531433 deg, lat: 36.779343 deg, lon: -121.859673 deg, deltaT: 0.503945 s, deltaX: -0.000023 m, approachRate: -0.000045 m/s, posRepo size: 4 2025-10-27T05:26:27.757Z,1761542787.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-27T05:26:27.949Z,1761542787.949 [DAT](INFO): DAT read: Rx Time:05:26:26.7818 2025-10-27T05:26:27.954Z,1761542787.954 [DAT](INFO): Rx dataTimestamp_ set to:1761542787.950280 2025-10-27T05:26:27.975Z,1761542787.975 [DAT](INFO): DAT read: Bearing 196.5, 16.0 (Local) 2025-10-27T05:26:27.976Z,1761542787.976 [DAT](INFO): Local bearing/azimuth received: Bearing 196.5, 16.0 (Local) 2025-10-27T05:26:27.992Z,1761542787.992 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.0 2025-10-27T05:26:28.005Z,1761542788.005 [DAT](INFO): DAT read: 05:26:26.7818 LVL= 26400, 24545, 32754, 32755, AGC= 60, IDX= 501,-0.14,-1.058, 0.414,-1.535,-0.490, PHS=-0.466, 0.949,-1.089, RAW= 347.4, 6.8, CAL= 347.2, 6.0, ROT= 162.8, -6.0 2025-10-27T05:26:28.006Z,1761542788.006 [DAT](INFO): got valid direction response: 05:26:26.7818 LVL= 26400, 24545, 32754, 32755, AGC= 60, IDX= 501,-0.14,-1.058, 0.414,-1.535,-0.490, PHS=-0.466, 0.949,-1.089, RAW= 347.4, 6.8, CAL= 347.2, 6.0, ROT= 162.8, -6.0 2025-10-27T05:26:28.006Z,1761542788.006 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:26:28.016Z,1761542788.016 [DAT](INFO): direction in FSK: [-0.950045,0.294088,0.104528] 2025-10-27T05:26:28.016Z,1761542788.016 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:28.032Z,1761542788.032 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.613384 2025-10-27T05:26:28.164Z,1761542788.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.258972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:28.166Z,1761542788.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.679230 m, bearing: 41.312569 deg, lat: 36.779342 deg, lon: -121.859671 deg, deltaT: 0.258972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:28.166Z,1761542788.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-27T05:26:28.196Z,1761542788.196 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.777531 2025-10-27T05:26:28.452Z,1761542788.452 [DAT](INFO): DAT read: Rx Time:05:26:27.2820 2025-10-27T05:26:28.454Z,1761542788.454 [DAT](INFO): Rx dataTimestamp_ set to:1761542788.452719 2025-10-27T05:26:28.457Z,1761542788.457 [DAT](INFO): DAT read: Bearing 195.7, 16.2 (Local) 2025-10-27T05:26:28.458Z,1761542788.458 [DAT](INFO): Local bearing/azimuth received: Bearing 195.7, 16.2 (Local) 2025-10-27T05:26:28.482Z,1761542788.482 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 2025-10-27T05:26:28.520Z,1761542788.520 [DAT](INFO): DAT read: 05:26:27.2820 LVL= 25040, 24305, 32754, 32755, AGC= 61, IDX= 502, 0.40, 1.895,-2.926, 1.411, 2.472, PHS=-0.475, 0.930,-1.105, RAW= 347.6, 7.3, CAL= 347.5, 6.8, ROT= 162.5, -6.8 2025-10-27T05:26:28.521Z,1761542788.521 [DAT](INFO): got valid direction response: 05:26:27.2820 LVL= 25040, 24305, 32754, 32755, AGC= 61, IDX= 502, 0.40, 1.895,-2.926, 1.411, 2.472, PHS=-0.475, 0.930,-1.105, RAW= 347.6, 7.3, CAL= 347.5, 6.8, ROT= 162.5, -6.8 2025-10-27T05:26:28.521Z,1761542788.521 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:26:28.522Z,1761542788.522 [DAT](INFO): direction in FSK: [-0.947008,0.298591,0.118404] 2025-10-27T05:26:28.531Z,1761542788.531 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:28.535Z,1761542788.535 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.116225 2025-10-27T05:26:28.548Z,1761542788.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520396,0.851952,0.058022],[-0.853773,-0.520383,-0.016531],[0.016110,-0.058140,0.998178]] 2025-10-27T05:26:28.629Z,1761542788.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.502439 s, deltaX: 0.300001 m, approachRate: 0.597090 m/s, rangeRepo size: 4 2025-10-27T05:26:28.640Z,1761542788.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.977568 m, bearing: 40.812714 deg, lat: 36.779342 deg, lon: -121.859671 deg, deltaT: 0.502439 s, deltaX: 0.298338 m, approachRate: 0.593779 m/s, posRepo size: 4 2025-10-27T05:26:28.640Z,1761542788.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m. 2025-10-27T05:26:28.701Z,1761542788.701 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.282408 2025-10-27T05:26:28.958Z,1761542788.958 [DAT](INFO): DAT read: Rx Time:05:26:27.7819 2025-10-27T05:26:28.960Z,1761542788.960 [DAT](INFO): Rx dataTimestamp_ set to:1761542788.958375 2025-10-27T05:26:28.965Z,1761542788.965 [DAT](INFO): DAT read: Bearing 196.2, 16.7 (Local) 2025-10-27T05:26:28.966Z,1761542788.966 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 16.7 (Local) 2025-10-27T05:26:28.993Z,1761542788.993 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.2 2025-10-27T05:26:29.021Z,1761542789.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m. 2025-10-27T05:26:29.023Z,1761542789.023 [DAT](INFO): DAT read: 05:26:27.7819 LVL= 25072, 24241, 32754, 32755, AGC= 62, IDX= 502, 0.16, 0.355, 1.818,-0.150, 0.918, PHS=-0.460, 0.946,-1.111, RAW= 348.0, 6.9, CAL= 347.9, 6.2, ROT= 162.1, -6.2 2025-10-27T05:26:29.024Z,1761542789.024 [DAT](INFO): got valid direction response: 05:26:27.7819 LVL= 25072, 24241, 32754, 32755, AGC= 62, IDX= 502, 0.16, 0.355, 1.818,-0.150, 0.918, PHS=-0.460, 0.946,-1.111, RAW= 348.0, 6.9, CAL= 347.9, 6.2, ROT= 162.1, -6.2 2025-10-27T05:26:29.025Z,1761542789.025 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:26:29.026Z,1761542789.026 [DAT](INFO): direction in FSK: [-0.946029,0.305559,0.107999] 2025-10-27T05:26:29.026Z,1761542789.026 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:29.034Z,1761542789.034 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.615399 2025-10-27T05:26:29.204Z,1761542789.204 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.785713 2025-10-27T05:26:29.347Z,1761542789.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.505656 s, deltaX: -0.200001 m, approachRate: -0.395527 m/s, rangeRepo size: 4 2025-10-27T05:26:29.349Z,1761542789.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.778675 m, bearing: 40.445014 deg, lat: 36.779342 deg, lon: -121.859672 deg, deltaT: 0.505656 s, deltaX: -0.198893 m, approachRate: -0.393336 m/s, posRepo size: 4 2025-10-27T05:26:29.350Z,1761542789.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-27T05:26:29.456Z,1761542789.456 [DAT](INFO): DAT read: Rx Time:05:26:28.2821 2025-10-27T05:26:29.457Z,1761542789.457 [DAT](INFO): Rx dataTimestamp_ set to:1761542789.456457 2025-10-27T05:26:29.458Z,1761542789.458 [DAT](INFO): DAT read: Bearing 196.6, 16.3 (Local) 2025-10-27T05:26:29.458Z,1761542789.458 [DAT](INFO): Local bearing/azimuth received: Bearing 196.6, 16.3 (Local) 2025-10-27T05:26:29.460Z,1761542789.460 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.2 2025-10-27T05:26:29.460Z,1761542789.460 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-27T05:26:29.461Z,1761542789.461 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.042973 2025-10-27T05:26:29.694Z,1761542789.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524073,0.849591,0.059520],[-0.851482,-0.524155,-0.015482],[0.018044,-0.058794,0.998107]] 2025-10-27T05:26:29.712Z,1761542789.712 [DAT](INFO): DAT read: 05:26:28.2821 LVL= 26064, 25169, 32754, 32755, AGC= 62, IDX= 504,-0.02, 0.262, 1.735,-0.232, 0RAW= 347.7, 6.7, CAL= 347.5, 5.8, ROT= 162.5, -5.8 2025-10-27T05:26:29.714Z,1761542789.714 [DAT](INFO): unknown deviceResponse_: 05:26:28.2821 LVL= 26064, 25169, 32754, 32755, AGC= 62, IDX= 504,-0.02, 0.262, 1.735,-0.232, 0RAW= 347.7, 6.7, CAL= 347.5, 5.8, ROT= 162.5, -5.8 2025-10-27T05:26:29.715Z,1761542789.715 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.296205 2025-10-27T05:26:29.760Z,1761542789.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.498082 s, deltaX: 0.300001 m, approachRate: 0.602313 m/s, rangeRepo size: 4 2025-10-27T05:26:29.761Z,1761542789.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-27T05:26:29.966Z,1761542789.966 [DAT](INFO): DAT read: Rx Time:05:26:28.7821 2025-10-27T05:26:29.968Z,1761542789.968 [DAT](INFO): Rx dataTimestamp_ set to:1761542789.966612 2025-10-27T05:26:29.973Z,1761542789.973 [DAT](INFO): DAT read: Bearing 196.9, 16.4 (Local) 2025-10-27T05:26:29.974Z,1761542789.974 [DAT](INFO): Local bearing/azimuth received: Bearing 196.9, 16.4 (Local) 2025-10-27T05:26:29.994Z,1761542789.994 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.2 2025-10-27T05:26:30.028Z,1761542790.028 [DAT](INFO): DAT read: 05:26:28.7821 LVL= 24528, 23505, 32754, 32755, AGC= 62, IDX= 504,-0.14,-1.851,-0.378,-2.349,-1.296, PHS=-0.453, 0.963,-1.097, RAW= 347.8, 6.5, CAL= 347.6, 5.5, ROT= 162.4, -5.5 2025-10-27T05:26:30.029Z,1761542790.029 [DAT](INFO): got valid direction response: 05:26:28.7821 LVL= 24528, 23505, 32754, 32755, AGC= 62, IDX= 504,-0.14,-1.851,-0.378,-2.349,-1.296, PHS=-0.453, 0.963,-1.097, RAW= 347.8, 6.5, CAL= 347.6, 5.5, ROT= 162.4, -5.5 2025-10-27T05:26:30.030Z,1761542790.030 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:26:30.035Z,1761542790.035 [DAT](INFO): direction in FSK: [-0.948802,0.300978,0.095846] 2025-10-27T05:26:30.035Z,1761542790.035 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:30.045Z,1761542790.045 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.626653 2025-10-27T05:26:30.137Z,1761542790.137 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309144859,35.0, 0.0,1492.7, 0 2025-10-27T05:26:30.184Z,1761542790.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.510155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:30.186Z,1761542790.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.077044 m, bearing: 40.530260 deg, lat: 36.779342 deg, lon: -121.859673 deg, deltaT: 1.008237 s, deltaX: 0.298368 m, approachRate: 0.295931 m/s, posRepo size: 4 2025-10-27T05:26:30.191Z,1761542790.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-27T05:26:30.212Z,1761542790.212 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.793669 2025-10-27T05:26:30.468Z,1761542790.468 [DAT](INFO): DAT read: Rx Time:05:26:29.2823 2025-10-27T05:26:30.470Z,1761542790.470 [DAT](INFO): Rx dataTimestamp_ set to:1761542790.468618 2025-10-27T05:26:30.473Z,1761542790.473 [DAT](INFO): DAT read: Bearing 197.6, 16.9 (Local) 2025-10-27T05:26:30.474Z,1761542790.474 [DAT](INFO): Local bearing/azimuth received: Bearing 197.6, 16.9 (Local) 2025-10-27T05:26:30.476Z,1761542790.476 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 2025-10-27T05:26:30.477Z,1761542790.477 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-27T05:26:30.478Z,1761542790.478 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.059260 2025-10-27T05:26:30.506Z,1761542790.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525484,0.848634,0.060726],[-0.850597,-0.525590,-0.015503],[0.018761,-0.059800,0.998034]] 2025-10-27T05:26:30.588Z,1761542790.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.502006 s, deltaX: 0.299999 m, approachRate: 0.597601 m/s, rangeRepo size: 4 2025-10-27T05:26:30.588Z,1761542790.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-27T05:26:30.722Z,1761542790.722 [DAT](INFO): DAT read: 05:26:29.2823 LVL= 24880, 23345, 32754, 32755, AGC= 63, IDX= 506,-0.30,-1.241, 0.233,-1.763,-0.707, PHS=-0.432, 0.985,-1.101, RAW= 348.3, 6.0, CAL= 348.1, 4.7, ROT= 161.9, -4.7 2025-10-27T05:26:30.724Z,1761542790.724 [DAT](INFO): got valid direction response: 05:26:29.2823 LVL= 24880, 23345, 32754, 32755, AGC= 63, IDX= 506,-0.30,-1.241, 0.233,-1.763,-0.707, PHS=-0.432, 0.985,-1.101, RAW= 348.3, 6.0, CAL= 348.1, 4.7, ROT= 161.9, -4.7 2025-10-27T05:26:30.725Z,1761542790.725 [DAT](INFO): #Rx 12: Read direction message, but no range. 2025-10-27T05:26:30.726Z,1761542790.726 [DAT](INFO): direction in FSK: [-0.947319,0.309632,0.081939] 2025-10-27T05:26:30.731Z,1761542790.731 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.312890 2025-10-27T05:26:30.906Z,1761542790.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526208,0.848148,0.061236],[-0.850144,-0.526320,-0.015603],[0.018996,-0.060269,0.998001]] 2025-10-27T05:26:30.973Z,1761542790.973 [DAT](INFO): DAT read: Rx Time:05:26:29.7823 2025-10-27T05:26:30.974Z,1761542790.974 [DAT](INFO): Rx dataTimestamp_ set to:1761542790.973240 2025-10-27T05:26:30.982Z,1761542790.982 [DAT](INFO): DAT read: Bearing 197.2, 17.1 (Local) 2025-10-27T05:26:30.983Z,1761542790.983 [DAT](INFO): Local bearing/azimuth received: Bearing 197.2, 17.1 (Local) 2025-10-27T05:26:31.002Z,1761542791.002 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 2025-10-27T05:26:31.064Z,1761542791.064 [DAT](INFO): DAT read: 05:26:29.7823 LVL= 24768, 23249, 32754, 32755, AGC= 63, IDX= 505, 0.45,-0.630, 0.833,-1.156,-0.095, PHS=-0.432, 0.973,-1.105, RAW= 348.5, 6.2, CAL= 348.3, 5.0, ROT= 161.7, -5.0 2025-10-27T05:26:31.066Z,1761542791.066 [DAT](INFO): got valid direction response: 05:26:29.7823 LVL= 24768, 23249, 32754, 32755, AGC= 63, IDX= 505, 0.45,-0.630, 0.833,-1.156,-0.095, PHS=-0.432, 0.973,-1.105, RAW= 348.5, 6.2, CAL= 348.3, 5.0, ROT= 161.7, -5.0 2025-10-27T05:26:31.066Z,1761542791.066 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:26:31.074Z,1761542791.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-27T05:26:31.076Z,1761542791.076 [DAT](INFO): direction in FSK: [-0.945813,0.312798,0.087156] 2025-10-27T05:26:31.076Z,1761542791.076 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:31.105Z,1761542791.105 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.686954 2025-10-27T05:26:31.221Z,1761542791.221 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.801996 2025-10-27T05:26:31.356Z,1761542791.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526783,0.847784,0.061341],[-0.849790,-0.526884,-0.015828],[0.018901,-0.060465,0.997991]] 2025-10-27T05:26:31.477Z,1761542791.477 [DAT](INFO): DAT read: Rx Time:05:26:30.2823 2025-10-27T05:26:31.477Z,1761542791.477 [DAT](INFO): Rx dataTimestamp_ set to:1761542791.476990 2025-10-27T05:26:31.479Z,1761542791.479 [DAT](INFO): DAT read: Bearing 197.6, 17.4 (Local) 2025-10-27T05:26:31.480Z,1761542791.480 [DAT](INFO): Local bearing/azimuth received: Bearing 197.6, 17.4 (Local) 2025-10-27T05:26:31.482Z,1761542791.482 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 2025-10-27T05:26:31.506Z,1761542791.506 [DAT](INFO): DAT read: 05:26:30.2823 LVL= 25744, 24369, 32754, 32755, AGC= 63, IDX= 506, 0.21, 0.176, 1.635,-0.364, 0.699, PHS=-0.420, 0.981,-1.106, RAW= 348.8, 6.0, CAL= 348.6, 4.7, ROT= 161.4, -4.7 2025-10-27T05:26:31.515Z,1761542791.515 [DAT](INFO): got valid direction response: 05:26:30.2823 LVL= 25744, 24369, 32754, 32755, AGC= 63, IDX= 506, 0.21, 0.176, 1.635,-0.364, 0.699, PHS=-0.420, 0.981,-1.106, RAW= 348.8, 6.0, CAL= 348.6, 4.7, ROT= 161.4, -4.7 2025-10-27T05:26:31.516Z,1761542791.516 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:26:31.517Z,1761542791.517 [DAT](INFO): direction in FSK: [-0.944581,0.317887,0.081939] 2025-10-27T05:26:31.517Z,1761542791.517 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:31.520Z,1761542791.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504622 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:31.522Z,1761542791.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.375353 m, bearing: 39.669547 deg, lat: 36.779342 deg, lon: -121.859674 deg, deltaT: 1.006628 s, deltaX: 0.298309 m, approachRate: 0.296345 m/s, posRepo size: 4 2025-10-27T05:26:31.522Z,1761542791.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-27T05:26:31.529Z,1761542791.529 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.110544 2025-10-27T05:26:31.725Z,1761542791.725 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.306492 2025-10-27T05:26:31.792Z,1761542791.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527190,0.847541,0.061199],[-0.849543,-0.527274,-0.016085],[0.018636,-0.060471,0.997996]] 2025-10-27T05:26:31.857Z,1761542791.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503750 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:31.867Z,1761542791.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.375370 m, bearing: 39.358608 deg, lat: 36.779342 deg, lon: -121.859675 deg, deltaT: 0.503750 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 2025-10-27T05:26:31.867Z,1761542791.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-27T05:26:31.981Z,1761542791.981 [DAT](INFO): DAT read: Rx Time:05:26:30.7823 2025-10-27T05:26:31.982Z,1761542791.982 [DAT](INFO): Rx dataTimestamp_ set to:1761542791.981776 2025-10-27T05:26:31.988Z,1761542791.988 [DAT](INFO): DAT read: Bearing 197.8, 17.2 (Local) 2025-10-27T05:26:31.989Z,1761542791.989 [DAT](INFO): Local bearing/azimuth received: Bearing 197.8, 17.2 (Local) 2025-10-27T05:26:32.004Z,1761542792.004 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 2025-10-27T05:26:32.049Z,1761542792.049 [DAT](INFO): DAT read: 05:26:30.7823 LVL= 24256, 22449, 32754, 32755, AGC= 63, IDX= 506, 0.01,-1.395, 0.068,-1.923,-0.871, PHS=-0.421, 0.984,-1.096, RAW= 348.5, 5.9, CAL= 348.3, 4.5, ROT= 161.7, -4.5 2025-10-27T05:26:32.058Z,1761542792.058 [DAT](INFO): got valid direction response: 05:26:30.7823 LVL= 24256, 22449, 32754, 32755, AGC= 63, IDX= 506, 0.01,-1.395, 0.068,-1.923,-0.871, PHS=-0.421, 0.984,-1.096, RAW= 348.5, 5.9, CAL= 348.3, 4.5, ROT= 161.7, -4.5 2025-10-27T05:26:32.059Z,1761542792.059 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:26:32.064Z,1761542792.064 [DAT](INFO): direction in FSK: [-0.946499,0.313024,0.078459] 2025-10-27T05:26:32.065Z,1761542792.065 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:32.074Z,1761542792.074 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.655430 2025-10-27T05:26:32.186Z,1761542792.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527535,0.847354,0.060809],[-0.849335,-0.527605,-0.016223],[0.018336,-0.060206,0.998018]] 2025-10-27T05:26:32.228Z,1761542792.228 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.809719 2025-10-27T05:26:32.281Z,1761542792.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:32.283Z,1761542792.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.375370 m, bearing: 39.645397 deg, lat: 36.779344 deg, lon: -121.859676 deg, deltaT: 0.504786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:32.287Z,1761542792.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-27T05:26:32.481Z,1761542792.481 [DAT](INFO): DAT read: Rx Time:05:26:31.2825 2025-10-27T05:26:32.481Z,1761542792.481 [DAT](INFO): Rx dataTimestamp_ set to:1761542792.480722 2025-10-27T05:26:32.482Z,1761542792.482 [DAT](INFO): DAT read: Bearing 198.5, 17.1 (Local) 2025-10-27T05:26:32.483Z,1761542792.483 [DAT](INFO): Local bearing/azimuth received: Bearing 198.5, 17.1 (Local) 2025-10-27T05:26:32.485Z,1761542792.485 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2 2025-10-27T05:26:32.491Z,1761542792.491 [DAT](INFO): DAT read: 05:26:31.2825 LVL= 24944, 23537, 32754, 32755, AGC= 63, IDX= 508,-0.19,-1.118, 0.350,-1.645,-0.603, PHS=-0.413, 0.998,-1.087, RAW= 348.4, 5.5, CAL= 348.2, 4.0, ROT= 161.8, -4.0 2025-10-27T05:26:32.502Z,1761542792.502 [DAT](INFO): got valid direction response: 05:26:31.2825 LVL= 24944, 23537, 32754, 32755, AGC= 63, IDX= 508,-0.19,-1.118, 0.350,-1.645,-0.603, PHS=-0.413, 0.998,-1.087, RAW= 348.4, 5.5, CAL= 348.2, 4.0, ROT= 161.8, -4.0 2025-10-27T05:26:32.503Z,1761542792.503 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:26:32.512Z,1761542792.512 [DAT](INFO): direction in FSK: [-0.947658,0.311574,0.069756] 2025-10-27T05:26:32.512Z,1761542792.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:32.528Z,1761542792.528 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.109963 2025-10-27T05:26:32.590Z,1761542792.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527673,0.847319,0.060102],[-0.849259,-0.527723,-0.016336],[0.017875,-0.059662,0.998059]] 2025-10-27T05:26:32.655Z,1761542792.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.498946 s, deltaX: 0.299999 m, approachRate: 0.601266 m/s, rangeRepo size: 4 2025-10-27T05:26:32.657Z,1761542792.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.673740 m, bearing: 39.763124 deg, lat: 36.779345 deg, lon: -121.859676 deg, deltaT: 0.498946 s, deltaX: 0.298370 m, approachRate: 0.598001 m/s, posRepo size: 4 2025-10-27T05:26:32.658Z,1761542792.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-27T05:26:32.733Z,1761542792.733 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.314219 2025-10-27T05:26:32.985Z,1761542792.985 [DAT](INFO): DAT read: Rx Time:05:26:31.7825 2025-10-27T05:26:32.985Z,1761542792.985 [DAT](INFO): Rx dataTimestamp_ set to:1761542792.984806 2025-10-27T05:26:32.986Z,1761542792.986 [DAT](INFO): DAT read: Bearing 197.8, 17.1 (Local) 2025-10-27T05:26:32.987Z,1761542792.987 [DAT](INFO): Local bearing/azimuth received: Bearing 197.8, 17.1 (Local) 2025-10-27T05:26:32.989Z,1761542792.989 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.1 2025-10-27T05:26:32.997Z,1761542792.997 [DAT](INFO): DAT read: 05:26:31.7825 LVL= 22208, 20881, 32754, 32755, AGC= 61, IDX= 507, 0.49,-1.610,-0.150,-2.135,-1.084, PHS=-0.424, 0.979,-1.095, RAW= 348.5, 5.9, CAL= 348.3, 4.7, ROT= 161.7, -4.7 2025-10-27T05:26:32.998Z,1761542792.998 [DAT](INFO): got valid direction response: 05:26:31.7825 LVL= 22208, 20881, 32754, 32755, AGC= 61, IDX= 507, 0.49,-1.610,-0.150,-2.135,-1.084, PHS=-0.424, 0.979,-1.095, RAW= 348.5, 5.9, CAL= 348.3, 4.7, ROT= 161.7, -4.7 2025-10-27T05:26:32.999Z,1761542792.999 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:26:33.000Z,1761542793.000 [DAT](INFO): direction in FSK: [-0.946233,0.312937,0.081939] 2025-10-27T05:26:33.000Z,1761542793.000 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:33.004Z,1761542793.004 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.585707 2025-10-27T05:26:33.101Z,1761542793.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527186,0.847647,0.059740],[-0.849574,-0.527204,-0.016736],[0.017309,-0.059576,0.998074]] 2025-10-27T05:26:33.189Z,1761542793.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504084 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:33.196Z,1761542793.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.673740 m, bearing: 39.660697 deg, lat: 36.779345 deg, lon: -121.859676 deg, deltaT: 0.504084 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:33.196Z,1761542793.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-27T05:26:33.236Z,1761542793.236 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.817695 2025-10-27T05:26:33.489Z,1761542793.489 [DAT](INFO): DAT read: Rx Time:05:26:32.2826 2025-10-27T05:26:33.489Z,1761542793.489 [DAT](INFO): Rx dataTimestamp_ set to:1761542793.489068 2025-10-27T05:26:33.491Z,1761542793.491 [DAT](INFO): DAT read: Bearing 196.7, 16.8 (Local) 2025-10-27T05:26:33.491Z,1761542793.491 [DAT](INFO): Local bearing/azimuth received: Bearing 196.7, 16.8 (Local) 2025-10-27T05:26:33.493Z,1761542793.493 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.1 2025-10-27T05:26:33.498Z,1761542793.498 [DAT](INFO): DAT read: 05:26:32.2826 LVL= 24032, 29089, 32754, 32755, AGC= 61, IDX= 509, 0.14,-0.822, 0.639,-1.332,-0.271, PHS=-0.449, 0.955,-1.106, RAW= 348.2, 6.6, CAL= 348.0, 5.8, ROT= 162.0, -5.8 2025-10-27T05:26:33.500Z,1761542793.500 [DAT](INFO): got valid direction response: 05:26:32.2826 LVL= 24032, 29089, 32754, 32755, AGC= 61, IDX= 509, 0.14,-0.822, 0.639,-1.332,-0.271, PHS=-0.449, 0.955,-1.106, RAW= 348.2, 6.6, CAL= 348.0, 5.8, ROT= 162.0, -5.8 2025-10-27T05:26:33.500Z,1761542793.500 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:26:33.501Z,1761542793.501 [DAT](INFO): direction in FSK: [-0.946188,0.307435,0.101056] 2025-10-27T05:26:33.501Z,1761542793.501 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:33.505Z,1761542793.505 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.086820 2025-10-27T05:26:33.587Z,1761542793.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525150,0.848961,0.059021],[-0.850865,-0.525076,-0.018005],[0.015705,-0.059675,0.998094]] 2025-10-27T05:26:33.667Z,1761542793.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504262 s, deltaX: 0.200001 m, approachRate: 0.396621 m/s, rangeRepo size: 4 2025-10-27T05:26:33.669Z,1761542793.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.872719 m, bearing: 40.038775 deg, lat: 36.779344 deg, lon: -121.859674 deg, deltaT: 0.504262 s, deltaX: 0.198978 m, approachRate: 0.394593 m/s, posRepo size: 4 2025-10-27T05:26:33.670Z,1761542793.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m. 2025-10-27T05:26:33.741Z,1761542793.741 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.322474 2025-10-27T05:26:33.990Z,1761542793.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m. 2025-10-27T05:26:33.996Z,1761542793.996 [DAT](INFO): DAT read: Rx Time:05:26:32.7826 2025-10-27T05:26:33.997Z,1761542793.997 [DAT](INFO): Rx dataTimestamp_ set to:1761542793.996503 2025-10-27T05:26:33.998Z,1761542793.998 [DAT](INFO): DAT read: Bearing 197.5, 17.2 (Local) 2025-10-27T05:26:33.999Z,1761542793.999 [DAT](INFO): Local bearing/azimuth received: Bearing 197.5, 17.2 (Local) 2025-10-27T05:26:34.001Z,1761542794.001 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.1 2025-10-27T05:26:34.005Z,1761542794.005 [DAT](INFO): DAT read: 05:26:32.7826 LVL= 26064, 24049, 32754, 32755, AGC= 62, IDX= 509,-0.24,-3.077,-1.614, 2.680,-2.542, PHS=-0.433, 0.973,-1.105, RAW= 348.5, 6.2, CAL= 348.3, 5.1, ROT= 161.7, -5.1 2025-10-27T05:26:34.012Z,1761542794.012 [DAT](INFO): got valid direction response: 05:26:32.7826 LVL= 26064, 24049, 32754, 32755, AGC= 62, IDX= 509,-0.24,-3.077,-1.614, 2.680,-2.542, PHS=-0.433, 0.973,-1.105, RAW= 348.5, 6.2, CAL= 348.3, 5.1, ROT= 161.7, -5.1 2025-10-27T05:26:34.013Z,1761542794.013 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:26:34.037Z,1761542794.037 [DAT](INFO): direction in FSK: [-0.945667,0.312749,0.088894] 2025-10-27T05:26:34.038Z,1761542794.038 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:34.078Z,1761542794.078 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.659605 2025-10-27T05:26:34.244Z,1761542794.244 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.825566 2025-10-27T05:26:34.317Z,1761542794.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523695,0.849888,0.058596],[-0.851777,-0.523571,-0.018687],[0.014797,-0.059697,0.998107]] 2025-10-27T05:26:34.380Z,1761542794.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.507435 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:34.382Z,1761542794.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.872719 m, bearing: 39.873756 deg, lat: 36.779344 deg, lon: -121.859674 deg, deltaT: 0.507435 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:34.383Z,1761542794.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m. 2025-10-27T05:26:34.497Z,1761542794.497 [DAT](INFO): DAT read: Rx Time:05:26:33.2827 2025-10-27T05:26:34.497Z,1761542794.497 [DAT](INFO): Rx dataTimestamp_ set to:1761542794.497040 2025-10-27T05:26:34.499Z,1761542794.499 [DAT](INFO): DAT read: Bearing 196.2, 16.7 (Local) 2025-10-27T05:26:34.499Z,1761542794.499 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 16.7 (Local) 2025-10-27T05:26:34.501Z,1761542794.501 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 2025-10-27T05:26:34.506Z,1761542794.506 [DAT](INFO): DAT read: 05:26:33.2827 LVL= 24368, 28657, 32754, 32755, AGC= 62, IDX= 510, 0.15, 0.540, 1.993, 0.035, 1.102, PHS=-0.460, 0.937,-1.111, RAW= 348.1, 7.1, CAL= 348.0, 6.4, ROT= 162.0, -6.4 2025-10-27T05:26:34.507Z,1761542794.507 [DAT](INFO): got valid direction response: 05:26:33.2827 LVL= 24368, 28657, 32754, 32755, AGC= 62, IDX= 510, 0.15, 0.540, 1.993, 0.035, 1.102, PHS=-0.460, 0.937,-1.111, RAW= 348.1, 7.1, CAL= 348.0, 6.4, ROT= 162.0, -6.4 2025-10-27T05:26:34.508Z,1761542794.508 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:26:34.509Z,1761542794.509 [DAT](INFO): direction in FSK: [-0.945129,0.307091,0.111469] 2025-10-27T05:26:34.509Z,1761542794.509 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:34.513Z,1761542794.513 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.094384 2025-10-27T05:26:34.723Z,1761542794.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522309,0.850778,0.058059],[-0.852641,-0.522145,-0.019158],[0.014016,-0.059510,0.998129]] 2025-10-27T05:26:34.748Z,1761542794.748 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.329709 2025-10-27T05:26:34.783Z,1761542794.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.500537 s, deltaX: 0.100000 m, approachRate: 0.199786 m/s, rangeRepo size: 4 2025-10-27T05:26:34.789Z,1761542794.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.972214 m, bearing: 40.197906 deg, lat: 36.779344 deg, lon: -121.859671 deg, deltaT: 0.500537 s, deltaX: 0.099495 m, approachRate: 0.198776 m/s, posRepo size: 4 2025-10-27T05:26:34.789Z,1761542794.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-27T05:26:35.000Z,1761542795.000 [DAT](INFO): DAT read: Rx Time:05:26:33.7827 2025-10-27T05:26:35.001Z,1761542795.001 [DAT](INFO): Rx dataTimestamp_ set to:1761542795.000668 2025-10-27T05:26:35.002Z,1761542795.002 [DAT](INFO): DAT read: Bearing 197.1, 16.6 (Local) 2025-10-27T05:26:35.003Z,1761542795.003 [DAT](INFO): Local bearing/azimuth received: Bearing 197.1, 16.6 (Local) 2025-10-27T05:26:35.005Z,1761542795.005 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-27T05:26:35.009Z,1761542795.009 [DAT](INFO): DAT read: 05:26:33.7827 LVL= 23248, 21153, 32754, 32755, AGC= 59, IDX= 510,-0.23,-3.018,-1.548, 2.760,-2.463, PHS=-0.454, 0.959,-1.104, RAW= 348.0, 6.6, CAL= 347.8, 5.7, ROT= 162.2, -5.7 2025-10-27T05:26:35.010Z,1761542795.010 [DAT](INFO): got valid direction response: 05:26:33.7827 LVL= 23248, 21153, 32754, 32755, AGC= 59, IDX= 510,-0.23,-3.018,-1.548, 2.760,-2.463, PHS=-0.454, 0.959,-1.104, RAW= 348.0, 6.6, CAL= 347.8, 5.7, ROT= 162.2, -5.7 2025-10-27T05:26:35.011Z,1761542795.011 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:26:35.012Z,1761542795.012 [DAT](INFO): direction in FSK: [-0.947422,0.304184,0.099320] 2025-10-27T05:26:35.012Z,1761542795.012 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:35.016Z,1761542795.016 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.597784 2025-10-27T05:26:35.122Z,1761542795.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520877,0.851690,0.057547],[-0.853528,-0.520679,-0.019566],[0.013299,-0.059310,0.998151]] 2025-10-27T05:26:35.233Z,1761542795.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503628 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:35.240Z,1761542795.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.972214 m, bearing: 40.530445 deg, lat: 36.779344 deg, lon: -121.859671 deg, deltaT: 0.503628 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:35.241Z,1761542795.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-27T05:26:35.252Z,1761542795.252 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.833802 2025-10-27T05:26:35.504Z,1761542795.504 [DAT](INFO): DAT read: Rx Time:05:26:34.2827 2025-10-27T05:26:35.505Z,1761542795.505 [DAT](INFO): Rx dataTimestamp_ set to:1761542795.504667 2025-10-27T05:26:35.506Z,1761542795.506 [DAT](INFO): DAT read: Bearing 194.8, 15.1 (Local) 2025-10-27T05:26:35.507Z,1761542795.507 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 15.1 (Local) 2025-10-27T05:26:35.509Z,1761542795.509 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 2025-10-27T05:26:35.525Z,1761542795.525 [DAT](INFO): DAT read: 05:26:34.2827 LVL= 28064, 27377, 32754, 32755, AGC= 61, IDX= 510, 0.01,-0.616, 0.840,-1.052,-0.007, PHS=-0.507, 0.892,-1.090, RAW= 346.6, 8.0, CAL= 346.6, 8.0, ROT= 163.4, -8.0 2025-10-27T05:26:35.526Z,1761542795.526 [DAT](INFO): got valid direction response: 05:26:34.2827 LVL= 28064, 27377, 32754, 32755, AGC= 61, IDX= 510, 0.01,-0.616, 0.840,-1.052,-0.007, PHS=-0.507, 0.892,-1.090, RAW= 346.6, 8.0, CAL= 346.6, 8.0, ROT= 163.4, -8.0 2025-10-27T05:26:35.530Z,1761542795.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519435,0.852605,0.057023],[-0.854417,-0.519208,-0.019889],[0.012649,-0.059052,0.998175]] 2025-10-27T05:26:35.536Z,1761542795.536 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:26:35.538Z,1761542795.538 [DAT](INFO): direction in FSK: [-0.948996,0.282908,0.139173] 2025-10-27T05:26:35.539Z,1761542795.539 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:35.591Z,1761542795.591 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.160436 2025-10-27T05:26:35.633Z,1761542795.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503999 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:35.638Z,1761542795.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.972206 m, bearing: 41.700294 deg, lat: 36.779343 deg, lon: -121.859669 deg, deltaT: 0.503999 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 2025-10-27T05:26:35.639Z,1761542795.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-27T05:26:35.756Z,1761542795.756 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.337811 2025-10-27T05:26:35.965Z,1761542795.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517685,0.853676,0.056911],[-0.855485,-0.517430,-0.020285],[0.012130,-0.059188,0.998173]] 2025-10-27T05:26:35.995Z,1761542795.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-27T05:26:36.009Z,1761542796.009 [DAT](INFO): DAT read: Rx Time:05:26:34.7826 2025-10-27T05:26:36.009Z,1761542796.009 [DAT](INFO): Rx dataTimestamp_ set to:1761542796.008837 2025-10-27T05:26:36.010Z,1761542796.010 [DAT](INFO): DAT read: Bearing 196.6, 16.8 (Local) 2025-10-27T05:26:36.012Z,1761542796.012 [DAT](INFO): Local bearing/azimuth received: Bearing 196.6, 16.8 (Local) 2025-10-27T05:26:36.014Z,1761542796.014 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 2025-10-27T05:26:36.018Z,1761542796.018 [DAT](INFO): DAT read: 05:26:34.7826 LVL= 23280, 21681, 32754, 32755, AGC= 60, IDX= 509, 0.31,-0.501, 0.947,-1.009, 0.054, PHS=-0.454, 0.938,-1.108, RAW= 348.2, 6.9, CAL= 348.1, 6.2, ROT= 161.9, -6.2 2025-10-27T05:26:36.037Z,1761542796.037 [DAT](INFO): got valid direction response: 05:26:34.7826 LVL= 23280, 21681, 32754, 32755, AGC= 60, IDX= 509, 0.31,-0.501, 0.947,-1.009, 0.054, PHS=-0.454, 0.938,-1.108, RAW= 348.2, 6.9, CAL= 348.1, 6.2, ROT= 161.9, -6.2 2025-10-27T05:26:36.038Z,1761542796.038 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:26:36.046Z,1761542796.046 [DAT](INFO): direction in FSK: [-0.944956,0.308859,0.107999] 2025-10-27T05:26:36.051Z,1761542796.051 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:36.085Z,1761542796.085 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.665751 2025-10-27T05:26:36.260Z,1761542796.260 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.841694 2025-10-27T05:26:36.334Z,1761542796.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516347,0.854495,0.056786],[-0.856298,-0.516078,-0.020436],[0.011844,-0.059178,0.998177]] 2025-10-27T05:26:36.512Z,1761542796.512 [DAT](INFO): DAT read: Rx Time:05:26:35.2828 2025-10-27T05:26:36.513Z,1761542796.513 [DAT](INFO): Rx dataTimestamp_ set to:1761542796.512654 2025-10-27T05:26:36.514Z,1761542796.514 [DAT](INFO): DAT read: Bearing 192.8, 14.0 (Local) 2025-10-27T05:26:36.515Z,1761542796.515 [DAT](INFO): Local bearing/azimuth received: Bearing 192.8, 14.0 (Local) 2025-10-27T05:26:36.517Z,1761542796.517 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-27T05:26:36.521Z,1761542796.521 [DAT](INFO): DAT read: 05:26:35.2828 LVL= 31616, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.48, 0.767, 2.215, 0.376, 1.424, PHS=-0.554, 0.837,-1.092, RAW= 345.7, 9.4, CAL= 345.7, 10.2, ROT= 164.3, -10.2 2025-10-27T05:26:36.522Z,1761542796.522 [DAT](INFO): got valid direction response: 05:26:35.2828 LVL= 31616, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.48, 0.767, 2.215, 0.376, 1.424, PHS=-0.554, 0.837,-1.092, RAW= 345.7, 9.4, CAL= 345.7, 10.2, ROT= 164.3, -10.2 2025-10-27T05:26:36.523Z,1761542796.523 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:26:36.524Z,1761542796.524 [DAT](INFO): direction in FSK: [-0.947477,0.266324,0.177085] 2025-10-27T05:26:36.524Z,1761542796.524 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:36.528Z,1761542796.528 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.109611 2025-10-27T05:26:36.588Z,1761542796.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 1.007987 s, deltaX: 0.199999 m, approachRate: 0.198414 m/s, rangeRepo size: 4 2025-10-27T05:26:36.590Z,1761542796.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.171074 m, bearing: 42.680286 deg, lat: 36.779341 deg, lon: -121.859667 deg, deltaT: 1.007987 s, deltaX: 0.198868 m, approachRate: 0.197292 m/s, posRepo size: 4 2025-10-27T05:26:36.591Z,1761542796.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-27T05:26:36.765Z,1761542796.765 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.346222 2025-10-27T05:26:36.874Z,1761542796.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-27T05:26:37.017Z,1761542797.017 [DAT](INFO): DAT read: Rx Time:05:26:35.7827 2025-10-27T05:26:37.018Z,1761542797.018 [DAT](INFO): Rx dataTimestamp_ set to:1761542797.017581 2025-10-27T05:26:37.020Z,1761542797.020 [DAT](INFO): DAT read: Bearing 197.4, 16.6 (Local) 2025-10-27T05:26:37.020Z,1761542797.020 [DAT](INFO): Local bearing/azimuth received: Bearing 197.4, 16.6 (Local) 2025-10-27T05:26:37.022Z,1761542797.022 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.0 2025-10-27T05:26:37.028Z,1761542797.028 [DAT](INFO): DAT read: 05:26:35.7827 LVL= 24416, 22257, 32754, 32755, AGC= 62, IDX= 510,-0.04,-2.015,-0.554,-2.519,-1.464, PHS=-0.449, 0.955,-1.099, RAW= 348.0, 6.6, CAL= 347.9, 5.7, ROT= 162.1, -5.7 2025-10-27T05:26:37.031Z,1761542797.031 [DAT](INFO): got valid direction response: 05:26:35.7827 LVL= 24416, 22257, 32754, 32755, AGC= 62, IDX= 510,-0.04,-2.015,-0.554,-2.519,-1.464, PHS=-0.449, 0.955,-1.099, RAW= 348.0, 6.6, CAL= 347.9, 5.7, ROT= 162.1, -5.7 2025-10-27T05:26:37.032Z,1761542797.032 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:26:37.033Z,1761542797.033 [DAT](INFO): direction in FSK: [-0.946889,0.305837,0.099320] 2025-10-27T05:26:37.034Z,1761542797.034 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:37.124Z,1761542797.124 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.705106 2025-10-27T05:26:37.234Z,1761542797.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513550,0.856208,0.056337],[-0.857978,-0.513301,-0.019904],[0.011876,-0.058558,0.998213]] 2025-10-27T05:26:37.268Z,1761542797.268 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.849699 2025-10-27T05:26:37.313Z,1761542797.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504927 s, deltaX: -0.199999 m, approachRate: -0.396095 m/s, rangeRepo size: 4 2025-10-27T05:26:37.315Z,1761542797.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.972181 m, bearing: 40.923651 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.504927 s, deltaX: -0.198893 m, approachRate: -0.393904 m/s, posRepo size: 4 2025-10-27T05:26:37.316Z,1761542797.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-27T05:26:37.521Z,1761542797.521 [DAT](INFO): DAT read: Rx Time:05:26:36.2828 2025-10-27T05:26:37.521Z,1761542797.521 [DAT](INFO): Rx dataTimestamp_ set to:1761542797.520767 2025-10-27T05:26:37.522Z,1761542797.522 [DAT](INFO): DAT read: Bearing 196.6, 17.0 (Local) 2025-10-27T05:26:37.523Z,1761542797.523 [DAT](INFO): Local bearing/azimuth received: Bearing 196.6, 17.0 (Local) 2025-10-27T05:26:37.525Z,1761542797.525 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-27T05:26:37.538Z,1761542797.538 [DAT](INFO): DAT read: 05:26:36.2828 LVL= 25568, 20961, 32754, 32755, AGC= 63, IDX= 511, 0.18, 1.184, 2.628, 0.665, 1.741, PHS=-0.455, 0.933,-1.119, RAW= 348.5, 7.1, CAL= 348.4, 6.5, ROT= 161.6, -6.5 2025-10-27T05:26:37.560Z,1761542797.560 [DAT](INFO): got valid direction response: 05:26:36.2828 LVL= 25568, 20961, 32754, 32755, AGC= 63, IDX= 511, 0.18, 1.184, 2.628, 0.665, 1.741, PHS=-0.455, 0.933,-1.119, RAW= 348.5, 7.1, CAL= 348.4, 6.5, ROT= 161.6, -6.5 2025-10-27T05:26:37.560Z,1761542797.560 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:26:37.561Z,1761542797.561 [DAT](INFO): direction in FSK: [-0.942777,0.313620,0.113203] 2025-10-27T05:26:37.561Z,1761542797.561 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:37.573Z,1761542797.573 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.154935 2025-10-27T05:26:37.638Z,1761542797.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513502,0.856250,0.056139],[-0.857999,-0.513292,-0.019203],[0.012373,-0.058028,0.998238]] 2025-10-27T05:26:37.703Z,1761542797.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503186 s, deltaX: 0.199999 m, approachRate: 0.397465 m/s, rangeRepo size: 4 2025-10-27T05:26:37.706Z,1761542797.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.171076 m, bearing: 40.390432 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.503186 s, deltaX: 0.198895 m, approachRate: 0.395270 m/s, posRepo size: 4 2025-10-27T05:26:37.706Z,1761542797.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-27T05:26:37.773Z,1761542797.773 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.354548 2025-10-27T05:26:38.025Z,1761542798.025 [DAT](INFO): DAT read: Rx Time:05:26:36.7828 2025-10-27T05:26:38.026Z,1761542798.026 [DAT](INFO): Rx dataTimestamp_ set to:1761542798.025521 2025-10-27T05:26:38.036Z,1761542798.036 [DAT](INFO): DAT read: Bearing 196.9, 16.8 (Local) 2025-10-27T05:26:38.037Z,1761542798.037 [DAT](INFO): Local bearing/azimuth received: Bearing 196.9, 16.8 (Local) 2025-10-27T05:26:38.041Z,1761542798.041 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:26:38.048Z,1761542798.048 [DAT](INFO): DAT read: 05:26:36.7828 LVL= 26352, 23857, 32754, 32755, AGC= 62, IDX= 511,-0.38,-1.763,-0.315,-2.271,-1.206, PHS=-0.455, 0.936,-1.109, RAW= 348.2, 7.0, CAL= 348.1, 6.3, ROT= 161.9, -6.3 2025-10-27T05:26:38.049Z,1761542798.049 [DAT](INFO): got valid direction response: 05:26:36.7828 LVL= 26352, 23857, 32754, 32755, AGC= 62, IDX= 511,-0.38,-1.763,-0.315,-2.271,-1.206, PHS=-0.455, 0.936,-1.109, RAW= 348.2, 7.0, CAL= 348.1, 6.3, ROT= 161.9, -6.3 2025-10-27T05:26:38.050Z,1761542798.050 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:26:38.081Z,1761542798.081 [DAT](INFO): direction in FSK: [-0.944775,0.308800,0.109734] 2025-10-27T05:26:38.082Z,1761542798.082 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:38.144Z,1761542798.144 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.725477 2025-10-27T05:26:38.166Z,1761542798.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513429,0.856282,0.056325],[-0.858033,-0.513259,-0.018548],[0.013027,-0.057852,0.998240]] 2025-10-27T05:26:38.274Z,1761542798.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:38.276Z,1761542798.276 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.857825 2025-10-27T05:26:38.284Z,1761542798.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.171076 m, bearing: 40.705860 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.504754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:38.285Z,1761542798.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-27T05:26:38.530Z,1761542798.530 [DAT](INFO): DAT read: Rx Time:05:26:37.2829 2025-10-27T05:26:38.531Z,1761542798.531 [DAT](INFO): Rx dataTimestamp_ set to:1761542798.530770 2025-10-27T05:26:38.534Z,1761542798.534 [DAT](INFO): DAT read: Bearing 180.0, 32.4 (Local) 2025-10-27T05:26:38.534Z,1761542798.534 [DAT](INFO): Local bearing/azimuth received: Bearing 180.0, 32.4 (Local) 2025-10-27T05:26:38.537Z,1761542798.537 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T05:26:38.549Z,1761542798.549 [DAT](INFO): DAT read: 05:26:37.2829 LVL= 28448, 22337, 32754, 32755, AGC= 64, IDX= 512,-0.02,-1.122,-0.190,-2.305,-0.686, PHS=-0.334, 0.541,-1.663, RAW= 6.8, 15.0, CAL= 6.8, 18.5, ROT= 143.2, -18.5 2025-10-27T05:26:38.551Z,1761542798.551 [DAT](INFO): got valid direction response: 05:26:37.2829 LVL= 28448, 22337, 32754, 32755, AGC= 64, IDX= 512,-0.02,-1.122,-0.190,-2.305,-0.686, PHS=-0.334, 0.541,-1.663, RAW= 6.8, 15.0, CAL= 6.8, 18.5, ROT= 143.2, -18.5 2025-10-27T05:26:38.556Z,1761542798.556 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:26:38.557Z,1761542798.557 [DAT](INFO): direction in FSK: [-0.759352,0.568068,0.317305] 2025-10-27T05:26:38.558Z,1761542798.558 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:38.582Z,1761542798.582 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.163514 2025-10-27T05:26:38.584Z,1761542798.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513605,0.856148,0.056755],[-0.857915,-0.513482,-0.017848],[0.013862,-0.057858,0.998229]] 2025-10-27T05:26:38.669Z,1761542798.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.505249 s, deltaX: 0.100000 m, approachRate: 0.197923 m/s, rangeRepo size: 4 2025-10-27T05:26:38.672Z,1761542798.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.270496 m, bearing: 21.599941 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.505249 s, deltaX: 0.099421 m, approachRate: 0.196775 m/s, posRepo size: 4 2025-10-27T05:26:38.672Z,1761542798.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-27T05:26:38.783Z,1761542798.783 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.364523 2025-10-27T05:26:38.972Z,1761542798.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514198,0.855765,0.057151],[-0.857545,-0.514124,-0.017110],[0.014740,-0.057808,0.998219]] 2025-10-27T05:26:39.034Z,1761542799.034 [DAT](INFO): DAT read: Rx Time:05:26:37.7828 2025-10-27T05:26:39.035Z,1761542799.035 [DAT](INFO): Rx dataTimestamp_ set to:1761542799.034136 2025-10-27T05:26:39.037Z,1761542799.037 [DAT](INFO): DAT read: Bearing 195.6, 16.7 (Local) 2025-10-27T05:26:39.037Z,1761542799.037 [DAT](INFO): Local bearing/azimuth received: Bearing 195.6, 16.7 (Local) 2025-10-27T05:26:39.041Z,1761542799.041 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:26:39.049Z,1761542799.049 [DAT](INFO): DAT read: 05:26:37.7828 LVL= 23504, 21681, 32754, 32755, AGC= 61, IDX= 511, 0.40,-0.710, 0.728,-1.216,-0.131, PHS=-0.477, 0.904,-1.129, RAW= 348.3, 7.9, CAL= 348.2, 7.7, ROT= 161.8, -7.7 2025-10-27T05:26:39.051Z,1761542799.051 [DAT](INFO): got valid direction response: 05:26:37.7828 LVL= 23504, 21681, 32754, 32755, AGC= 61, IDX= 511, 0.40,-0.710, 0.728,-1.216,-0.131, PHS=-0.477, 0.904,-1.129, RAW= 348.3, 7.9, CAL= 348.2, 7.7, ROT= 161.8, -7.7 2025-10-27T05:26:39.052Z,1761542799.052 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:26:39.053Z,1761542799.053 [DAT](INFO): direction in FSK: [-0.941406,0.309518,0.133986] 2025-10-27T05:26:39.054Z,1761542799.054 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:39.140Z,1761542799.140 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.721424 2025-10-27T05:26:39.284Z,1761542799.284 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.865675 2025-10-27T05:26:39.288Z,1761542799.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503366 s, deltaX: -0.100000 m, approachRate: -0.198663 m/s, rangeRepo size: 4 2025-10-27T05:26:39.290Z,1761542799.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.171049 m, bearing: 40.485799 deg, lat: 36.779338 deg, lon: -121.859665 deg, deltaT: 0.503366 s, deltaX: -0.099447 m, approachRate: -0.197564 m/s, posRepo size: 4 2025-10-27T05:26:39.290Z,1761542799.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-27T05:26:39.538Z,1761542799.538 [DAT](INFO): DAT read: Rx Time:05:26:38.2829 2025-10-27T05:26:39.539Z,1761542799.539 [DAT](INFO): Rx dataTimestamp_ set to:1761542799.538127 2025-10-27T05:26:39.541Z,1761542799.541 [DAT](INFO): DAT read: Bearing 191.2, 23.6 (Local) 2025-10-27T05:26:39.541Z,1761542799.541 [DAT](INFO): Local bearing/azimuth received: Bearing 191.2, 23.6 (Local) 2025-10-27T05:26:39.553Z,1761542799.553 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T05:26:39.586Z,1761542799.586 [DAT](INFO): DAT read: 05:26:38.2829 LVL= 28992, 22705, 32754, 32755, AGC= 64, IDX= 512,-0.07,-2.880,-1.681, 2.678,-2.399, PHS=-0.380, 0.763,-1.251, RAW= 355.6, 9.9, CAL= 355.7, 11.0, ROT= 154.3, -11.0 2025-10-27T05:26:39.596Z,1761542799.596 [DAT](INFO): got valid direction response: 05:26:38.2829 LVL= 28992, 22705, 32754, 32755, AGC= 64, IDX= 512,-0.07,-2.880,-1.681, 2.678,-2.399, PHS=-0.380, 0.763,-1.251, RAW= 355.6, 9.9, CAL= 355.7, 11.0, ROT= 154.3, -11.0 2025-10-27T05:26:39.597Z,1761542799.597 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T05:26:39.598Z,1761542799.598 [DAT](INFO): direction in FSK: [-0.884522,0.425692,0.190809] 2025-10-27T05:26:39.598Z,1761542799.598 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:39.602Z,1761542799.602 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.183357 2025-10-27T05:26:39.602Z,1761542799.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515492,0.854960,0.057537],[-0.856747,-0.515486,-0.016094],[0.015900,-0.057591,0.998214]] 2025-10-27T05:26:39.686Z,1761542799.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503991 s, deltaX: 0.100000 m, approachRate: 0.198417 m/s, rangeRepo size: 4 2025-10-27T05:26:39.701Z,1761542799.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.270561 m, bearing: 32.791631 deg, lat: 36.779340 deg, lon: -121.859666 deg, deltaT: 0.503991 s, deltaX: 0.099512 m, approachRate: 0.197448 m/s, posRepo size: 4 2025-10-27T05:26:39.702Z,1761542799.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-27T05:26:39.789Z,1761542799.789 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.370447 2025-10-27T05:26:40.042Z,1761542800.042 [DAT](INFO): DAT read: Rx Time:05:26:38.7828 2025-10-27T05:26:40.042Z,1761542800.042 [DAT](INFO): Rx dataTimestamp_ set to:1761542800.041937 2025-10-27T05:26:40.045Z,1761542800.045 [DAT](INFO): DAT read: Bearing 195.6, 16.9 (Local) 2025-10-27T05:26:40.045Z,1761542800.045 [DAT](INFO): Local bearing/azimuth received: Bearing 195.6, 16.9 (Local) 2025-10-27T05:26:40.049Z,1761542800.049 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:26:40.060Z,1761542800.060 [DAT](INFO): DAT read: 05:26:38.7828 LVL= 24960, 21937, 32754, 32755, AGC= 60, IDX= 511, 0.41,-2.015,-0.594,-2.524,-1.443, PHS=-0.470, 0.895,-1.125, RAW= 348.5, 7.9, CAL= 348.5, 7.7, ROT= 161.5, -7.7 2025-10-27T05:26:40.061Z,1761542800.061 [DAT](INFO): got valid direction response: 05:26:38.7828 LVL= 24960, 21937, 32754, 32755, AGC= 60, IDX= 511, 0.41,-2.015,-0.594,-2.524,-1.443, PHS=-0.470, 0.895,-1.125, RAW= 348.5, 7.9, CAL= 348.5, 7.7, ROT= 161.5, -7.7 2025-10-27T05:26:40.061Z,1761542800.061 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T05:26:40.062Z,1761542800.062 [DAT](INFO): direction in FSK: [-0.939773,0.314444,0.133986] 2025-10-27T05:26:40.067Z,1761542800.067 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:40.071Z,1761542800.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-27T05:26:40.071Z,1761542800.071 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.652271 2025-10-27T05:26:40.292Z,1761542800.292 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.873550 2025-10-27T05:26:40.492Z,1761542800.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503810 s, deltaX: -0.100000 m, approachRate: -0.198488 m/s, rangeRepo size: 4 2025-10-27T05:26:40.494Z,1761542800.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.171103 m, bearing: 40.103735 deg, lat: 36.779338 deg, lon: -121.859668 deg, deltaT: 0.503810 s, deltaX: -0.099459 m, approachRate: -0.197413 m/s, posRepo size: 4 2025-10-27T05:26:40.495Z,1761542800.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-27T05:26:40.546Z,1761542800.546 [DAT](INFO): DAT read: Rx Time:05:26:39.2830 2025-10-27T05:26:40.546Z,1761542800.546 [DAT](INFO): Rx dataTimestamp_ set to:1761542800.545883 2025-10-27T05:26:40.549Z,1761542800.549 [DAT](INFO): DAT read: Bearing 207.5, 22.9 (Local) 2025-10-27T05:26:40.549Z,1761542800.549 [DAT](INFO): Local bearing/azimuth received: Bearing 207.5, 22.9 (Local) 2025-10-27T05:26:40.553Z,1761542800.553 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:26:40.558Z,1761542800.558 [DAT](INFO): DAT read: 05:26:39.2830 LVL= 31216, 24401, 32754, 32755, AGC= 64, IDX= 513, 0.02,-2.790,-1.768, 2.975,-2.609, PHS=-0.078, 0.886,-0.743, RAW= 353.9, -0.9, CAL= 353.6, -3.9, ROT= 156.4, 3.9 2025-10-27T05:26:40.559Z,1761542800.559 [DAT](INFO): got valid direction response: 05:26:39.2830 LVL= 31216, 24401, 32754, 32755, AGC= 64, IDX= 513, 0.02,-2.790,-1.768, 2.975,-2.609, PHS=-0.078, 0.886,-0.743, RAW= 353.9, -0.9, CAL= 353.6, -3.9, ROT= 156.4, 3.9 2025-10-27T05:26:40.560Z,1761542800.560 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T05:26:40.561Z,1761542800.561 [DAT](INFO): direction in FSK: [-0.914241,0.399422,-0.068015] 2025-10-27T05:26:40.561Z,1761542800.561 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:40.564Z,1761542800.564 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.146133 2025-10-27T05:26:40.791Z,1761542800.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521246,0.851300,0.059935],[-0.853161,-0.521494,-0.012657],[0.020480,-0.057731,0.998122]] 2025-10-27T05:26:40.796Z,1761542800.796 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.377748 2025-10-27T05:26:40.829Z,1761542800.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503946 s, deltaX: 0.300001 m, approachRate: 0.595304 m/s, rangeRepo size: 4 2025-10-27T05:26:40.831Z,1761542800.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.469444 m, bearing: 35.172052 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.503946 s, deltaX: 0.298342 m, approachRate: 0.592011 m/s, posRepo size: 4 2025-10-27T05:26:40.832Z,1761542800.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m. 2025-10-27T05:26:41.050Z,1761542801.050 [DAT](INFO): DAT read: Rx Time:05:26:39.7830 2025-10-27T05:26:41.050Z,1761542801.050 [DAT](INFO): Rx dataTimestamp_ set to:1761542801.050058 2025-10-27T05:26:41.053Z,1761542801.053 [DAT](INFO): DAT read: Bearing 192.5, 27.7 (Local) 2025-10-27T05:26:41.053Z,1761542801.053 [DAT](INFO): Local bearing/azimuth received: Bearing 192.5, 27.7 (Local) 2025-10-27T05:26:41.056Z,1761542801.056 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:26:41.067Z,1761542801.067 [DAT](INFO): DAT read: 05:26:39.7830 LVL= 23472, 22865, 32754, 32755, AGC= 61, IDX= 513,-0.28, 0.535, 1.558,-0.262, 0.883, PHS=-0.246, 0.720,-1.189, RAW= 359.6, 8.7, CAL= 359.7, 9.0, ROT= 150.3, -9.0 2025-10-27T05:26:41.068Z,1761542801.068 [DAT](INFO): got valid direction response: 05:26:39.7830 LVL= 23472, 22865, 32754, 32755, AGC= 61, IDX= 513,-0.28, 0.535, 1.558,-0.262, 0.883, PHS=-0.246, 0.720,-1.189, RAW= 359.6, 8.7, CAL= 359.7, 9.0, ROT= 150.3, -9.0 2025-10-27T05:26:41.068Z,1761542801.068 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:26:41.069Z,1761542801.069 [DAT](INFO): direction in FSK: [-0.857937,0.489359,0.156434] 2025-10-27T05:26:41.070Z,1761542801.070 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:41.074Z,1761542801.074 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.655176 2025-10-27T05:26:41.217Z,1761542801.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522920,0.850224,0.060619],[-0.852108,-0.523231,-0.011880],[0.021617,-0.057866,0.998090]] 2025-10-27T05:26:41.285Z,1761542801.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504175 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:41.287Z,1761542801.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.469444 m, bearing: 28.424435 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.504175 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:41.288Z,1761542801.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m. 2025-10-27T05:26:41.300Z,1761542801.300 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.881754 2025-10-27T05:26:41.553Z,1761542801.553 [DAT](INFO): DAT read: Rx Time:05:26:40.2831 2025-10-27T05:26:41.554Z,1761542801.554 [DAT](INFO): Rx dataTimestamp_ set to:1761542801.553560 2025-10-27T05:26:41.555Z,1761542801.555 [DAT](INFO): DAT read: Bearing 195.2, 16.9 (Local) 2025-10-27T05:26:41.556Z,1761542801.556 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 16.9 (Local) 2025-10-27T05:26:41.558Z,1761542801.558 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 2025-10-27T05:26:41.562Z,1761542801.562 [DAT](INFO): DAT read: 05:26:40.2831 LVL= 20016, 18513, 25490, 24899, AGC= 65, IDX= 2, 0.29,-1.886,-0.454,-2.400,-1.308, PHS=-0.476, 0.898,-1.137, RAW= 348.6, 8.0, CAL= 348.5, 7.9, ROT= 161.5, -7.9 2025-10-27T05:26:41.564Z,1761542801.564 [DAT](INFO): got valid direction response: 05:26:40.2831 LVL= 20016, 18513, 25490, 24899, AGC= 65, IDX= 2, 0.29,-1.886,-0.454,-2.400,-1.308, PHS=-0.476, 0.898,-1.137, RAW= 348.6, 8.0, CAL= 348.5, 7.9, ROT= 161.5, -7.9 2025-10-27T05:26:41.564Z,1761542801.564 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T05:26:41.565Z,1761542801.565 [DAT](INFO): direction in FSK: [-0.939324,0.314293,0.137445] 2025-10-27T05:26:41.565Z,1761542801.565 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:41.569Z,1761542801.569 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.150646 2025-10-27T05:26:41.601Z,1761542801.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524489,0.849223,0.061090],[-0.851120,-0.524849,-0.011277],[0.022486,-0.057910,0.998069]] 2025-10-27T05:26:41.655Z,1761542801.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503502 s, deltaX: 0.100000 m, approachRate: 0.198610 m/s, rangeRepo size: 4 2025-10-27T05:26:41.661Z,1761542801.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.568825 m, bearing: 39.495924 deg, lat: 36.779349 deg, lon: -121.859684 deg, deltaT: 0.503502 s, deltaX: 0.099380 m, approachRate: 0.197379 m/s, posRepo size: 4 2025-10-27T05:26:41.662Z,1761542801.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-27T05:26:41.804Z,1761542801.804 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.385830 2025-10-27T05:26:41.999Z,1761542801.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525742,0.848401,0.061737],[-0.850326,-0.526144,-0.010876],[0.023255,-0.058214,0.998033]] 2025-10-27T05:26:42.017Z,1761542802.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-27T05:26:42.057Z,1761542802.057 [DAT](INFO): DAT read: Rx Time:05:26:40.7831 2025-10-27T05:26:42.057Z,1761542802.057 [DAT](INFO): Rx dataTimestamp_ set to:1761542802.056917 2025-10-27T05:26:42.058Z,1761542802.058 [DAT](INFO): DAT read: Bearing 195.1, 16.7 (Local) 2025-10-27T05:26:42.059Z,1761542802.059 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 16.7 (Local) 2025-10-27T05:26:42.061Z,1761542802.061 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 2025-10-27T05:26:42.066Z,1761542802.066 [DAT](INFO): DAT read: 05:26:40.7831 LVL= 22512, 20945, 32754, 32755, AGC= 63, IDX= 498, 0.03, 1.908,-2.931, 1.394, 2.494, PHS=-0.484, 0.904,-1.144, RAW= 348.4, 8.0, CAL= 348.4, 8.0, ROT= 161.6, -8.0 2025-10-27T05:26:42.067Z,1761542802.067 [DAT](INFO): got valid direction response: 05:26:40.7831 LVL= 22512, 20945, 32754, 32755, AGC= 63, IDX= 498, 0.03, 1.908,-2.931, 1.394, 2.494, PHS=-0.484, 0.904,-1.144, RAW= 348.4, 8.0, CAL= 348.4, 8.0, ROT= 161.6, -8.0 2025-10-27T05:26:42.068Z,1761542802.068 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T05:26:42.069Z,1761542802.069 [DAT](INFO): direction in FSK: [-0.939642,0.312577,0.139173] 2025-10-27T05:26:42.069Z,1761542802.069 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:42.077Z,1761542802.077 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.658897 2025-10-27T05:26:42.308Z,1761542802.308 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.889593 2025-10-27T05:26:42.497Z,1761542802.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503357 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:42.499Z,1761542802.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.568783 m, bearing: 39.504829 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.503357 s, deltaX: -0.000042 m, approachRate: -0.000083 m/s, posRepo size: 4 2025-10-27T05:26:42.500Z,1761542802.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-27T05:26:42.561Z,1761542802.561 [DAT](INFO): DAT read: Rx Time:05:26:41.2833 2025-10-27T05:26:42.561Z,1761542802.561 [DAT](INFO): Rx dataTimestamp_ set to:1761542802.560798 2025-10-27T05:26:42.562Z,1761542802.562 [DAT](INFO): DAT read: Bearing 194.9, 16.2 (Local) 2025-10-27T05:26:42.563Z,1761542802.563 [DAT](INFO): Local bearing/azimuth received: Bearing 194.9, 16.2 (Local) 2025-10-27T05:26:42.565Z,1761542802.565 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:26:42.570Z,1761542802.570 [DAT](INFO): DAT read: 05:26:41.2833 LVL= 22256, 20561, 32754, 32755, AGC= 63, IDX= 500,-0.22, 1.106, 2.565, 0.604, 1.706, PHS=-0.498, 0.905,-1.145, RAW= 348.0, 8.2, CAL= 348.0, 8.2, ROT= 162.0, -8.2 2025-10-27T05:26:42.572Z,1761542802.572 [DAT](INFO): got valid direction response: 05:26:41.2833 LVL= 22256, 20561, 32754, 32755, AGC= 63, IDX= 500,-0.22, 1.106, 2.565, 0.604, 1.706, PHS=-0.498, 0.905,-1.145, RAW= 348.0, 8.2, CAL= 348.0, 8.2, ROT= 162.0, -8.2 2025-10-27T05:26:42.573Z,1761542802.573 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:26:42.574Z,1761542802.574 [DAT](INFO): direction in FSK: [-0.941333,0.305858,0.142629] 2025-10-27T05:26:42.574Z,1761542802.574 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:42.593Z,1761542802.593 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.174635 2025-10-27T05:26:42.802Z,1761542802.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528294,0.846760,0.062471],[-0.848714,-0.528752,-0.010307],[0.024304,-0.058465,0.997994]] 2025-10-27T05:26:42.812Z,1761542802.812 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.393684 2025-10-27T05:26:42.862Z,1761542802.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503881 s, deltaX: 0.299999 m, approachRate: 0.595377 m/s, rangeRepo size: 4 2025-10-27T05:26:42.864Z,1761542802.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.867121 m, bearing: 39.719902 deg, lat: 36.779340 deg, lon: -121.859670 deg, deltaT: 0.503881 s, deltaX: 0.298338 m, approachRate: 0.592080 m/s, posRepo size: 4 2025-10-27T05:26:42.865Z,1761542802.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m. 2025-10-27T05:26:43.065Z,1761542803.065 [DAT](INFO): DAT read: Rx Time:05:26:41.7832 2025-10-27T05:26:43.065Z,1761542803.065 [DAT](INFO): Rx dataTimestamp_ set to:1761542803.064782 2025-10-27T05:26:43.066Z,1761542803.066 [DAT](INFO): DAT read: Bearing 194.8, 16.4 (Local) 2025-10-27T05:26:43.067Z,1761542803.067 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 16.4 (Local) 2025-10-27T05:26:43.069Z,1761542803.069 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 2025-10-27T05:26:43.074Z,1761542803.074 [DAT](INFO): DAT read: 05:26:41.7832 LVL= 21760, 21137, 32754, 32755, AGC= 63, IDX= 499, 0.26, 1.913,-2.925, 1.409, 2.506, PHS=-0.490, 0.897,-1.141, RAW= 348.2, 8.2, CAL= 348.2, 8.2, ROT= 161.8, -8.2 2025-10-27T05:26:43.075Z,1761542803.075 [DAT](INFO): got valid direction response: 05:26:41.7832 LVL= 21760, 21137, 32754, 32755, AGC= 63, IDX= 499, 0.26, 1.913,-2.925, 1.409, 2.506, PHS=-0.490, 0.897,-1.141, RAW= 348.2, 8.2, CAL= 348.2, 8.2, ROT= 161.8, -8.2 2025-10-27T05:26:43.075Z,1761542803.075 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T05:26:43.076Z,1761542803.076 [DAT](INFO): direction in FSK: [-0.940260,0.309142,0.142629] 2025-10-27T05:26:43.076Z,1761542803.076 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:43.083Z,1761542803.083 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.664165 2025-10-27T05:26:43.264Z,1761542803.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529299,0.846112,0.062743],[-0.848076,-0.529778,-0.010118],[0.024679,-0.058566,0.997978]] 2025-10-27T05:26:43.316Z,1761542803.316 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.897717 2025-10-27T05:26:43.338Z,1761542803.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503984 s, deltaX: -0.100000 m, approachRate: -0.198420 m/s, rangeRepo size: 4 2025-10-27T05:26:43.352Z,1761542803.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.767673 m, bearing: 39.452934 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.503984 s, deltaX: -0.099447 m, approachRate: -0.197322 m/s, posRepo size: 4 2025-10-27T05:26:43.353Z,1761542803.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-27T05:26:43.568Z,1761542803.568 [DAT](INFO): DAT read: Rx Time:05:26:42.2833 2025-10-27T05:26:43.569Z,1761542803.569 [DAT](INFO): Rx dataTimestamp_ set to:1761542803.568681 2025-10-27T05:26:43.570Z,1761542803.570 [DAT](INFO): DAT read: Bearing 195.2, 16.2 (Local) 2025-10-27T05:26:43.571Z,1761542803.571 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 16.2 (Local) 2025-10-27T05:26:43.573Z,1761542803.573 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:26:43.577Z,1761542803.577 [DAT](INFO): DAT read: 05:26:42.2833 LVL= 21712, 19585, 32754, 32755, AGC= 63, IDX= 500,-0.11, 0.499, 1.965,-0.008, 1.090, PHS=-0.489, 0.920,-1.142, RAW= 348.1, 7.8, CAL= 348.0, 7.7, ROT= 162.0, -7.7 2025-10-27T05:26:43.578Z,1761542803.578 [DAT](INFO): got valid direction response: 05:26:42.2833 LVL= 21712, 19585, 32754, 32755, AGC= 63, IDX= 500,-0.11, 0.499, 1.965,-0.008, 1.090, PHS=-0.489, 0.920,-1.142, RAW= 348.1, 7.8, CAL= 348.0, 7.7, ROT= 162.0, -7.7 2025-10-27T05:26:43.579Z,1761542803.579 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T05:26:43.580Z,1761542803.580 [DAT](INFO): direction in FSK: [-0.942481,0.306231,0.133986] 2025-10-27T05:26:43.580Z,1761542803.580 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:43.589Z,1761542803.589 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.170240 2025-10-27T05:26:43.610Z,1761542803.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530170,0.845567,0.062741],[-0.847526,-0.530662,-0.009923],[0.024904,-0.058436,0.997981]] 2025-10-27T05:26:43.698Z,1761542803.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503899 s, deltaX: 0.100000 m, approachRate: 0.198453 m/s, rangeRepo size: 4 2025-10-27T05:26:43.705Z,1761542803.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.867121 m, bearing: 39.618083 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.503899 s, deltaX: 0.099447 m, approachRate: 0.197356 m/s, posRepo size: 4 2025-10-27T05:26:43.705Z,1761542803.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m. 2025-10-27T05:26:43.820Z,1761542803.820 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.401867 2025-10-27T05:26:44.013Z,1761542804.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530415,0.845423,0.062610],[-0.847376,-0.530900,-0.010006],[0.024780,-0.058361,0.997988]] 2025-10-27T05:26:44.057Z,1761542804.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:26:44.060Z,1761542804.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m. 2025-10-27T05:26:44.073Z,1761542804.073 [DAT](INFO): DAT read: Rx Time:05:26:42.7832 2025-10-27T05:26:44.073Z,1761542804.073 [DAT](INFO): Rx dataTimestamp_ set to:1761542804.073013 2025-10-27T05:26:44.075Z,1761542804.075 [DAT](INFO): DAT read: Bearing 195.0, 16.4 (Local) 2025-10-27T05:26:44.075Z,1761542804.075 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 16.4 (Local) 2025-10-27T05:26:44.077Z,1761542804.077 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0 2025-10-27T05:26:44.082Z,1761542804.082 [DAT](INFO): DAT read: 05:26:42.7832 LVL= 21488, 20529, 32754, 32755, AGC= 62, IDX= 499, 0.24, 2.053,-2.790, 1.545, 2.635, PHS=-0.479, 0.904,-1.133, RAW= 348.3, 7.9, CAL= 348.3, 7.8, ROT= 161.7, -7.8 2025-10-27T05:26:44.083Z,1761542804.083 [DAT](INFO): got valid direction response: 05:26:42.7832 LVL= 21488, 20529, 32754, 32755, AGC= 62, IDX= 499, 0.24, 2.053,-2.790, 1.545, 2.635, PHS=-0.479, 0.904,-1.133, RAW= 348.3, 7.9, CAL= 348.3, 7.8, ROT= 161.7, -7.8 2025-10-27T05:26:44.083Z,1761542804.083 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:26:44.084Z,1761542804.084 [DAT](INFO): direction in FSK: [-0.940641,0.311087,0.135716] 2025-10-27T05:26:44.084Z,1761542804.084 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:44.096Z,1761542804.096 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.678005 2025-10-27T05:26:44.324Z,1761542804.324 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.905645 2025-10-27T05:26:44.441Z,1761542804.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530518,0.845378,0.062344],[-0.847316,-0.530994,-0.010027],[0.024628,-0.058144,0.998004]] 2025-10-27T05:26:44.540Z,1761542804.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504332 s, deltaX: -0.100000 m, approachRate: -0.198283 m/s, rangeRepo size: 4 2025-10-27T05:26:44.544Z,1761542804.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.767750 m, bearing: 39.293242 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.504332 s, deltaX: -0.099371 m, approachRate: -0.197035 m/s, posRepo size: 4 2025-10-27T05:26:44.544Z,1761542804.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-27T05:26:44.577Z,1761542804.577 [DAT](INFO): DAT read: Rx Time:05:26:43.2833 2025-10-27T05:26:44.577Z,1761542804.577 [DAT](INFO): Rx dataTimestamp_ set to:1761542804.576743 2025-10-27T05:26:44.578Z,1761542804.578 [DAT](INFO): DAT read: Bearing 194.6, 15.8 (Local) 2025-10-27T05:26:44.579Z,1761542804.579 [DAT](INFO): Local bearing/azimuth received: Bearing 194.6, 15.8 (Local) 2025-10-27T05:26:44.581Z,1761542804.581 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:26:44.586Z,1761542804.586 [DAT](INFO): DAT read: 05:26:43.2833 LVL= 23840, 22769, 32754, 32755, AGC= 63, IDX= 501,-0.26, 2.042,-2.789, 1.554, 2.641, PHS=-0.497, 0.898,-1.132, RAW= 347.8, 8.2, CAL= 347.8, 8.2, ROT= 162.2, -8.2 2025-10-27T05:26:44.587Z,1761542804.587 [DAT](INFO): got valid direction response: 05:26:43.2833 LVL= 23840, 22769, 32754, 32755, AGC= 63, IDX= 501,-0.26, 2.042,-2.789, 1.554, 2.641, PHS=-0.497, 0.898,-1.132, RAW= 347.8, 8.2, CAL= 347.8, 8.2, ROT= 162.2, -8.2 2025-10-27T05:26:44.587Z,1761542804.587 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T05:26:44.588Z,1761542804.588 [DAT](INFO): direction in FSK: [-0.942395,0.302570,0.142629] 2025-10-27T05:26:44.589Z,1761542804.589 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:44.592Z,1761542804.592 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.174044 2025-10-27T05:26:44.704Z,1761542804.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:26:44.828Z,1761542804.828 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.409737 2025-10-27T05:26:44.831Z,1761542804.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530276,0.845536,0.062262],[-0.847473,-0.530740,-0.010196],[0.024424,-0.058172,0.998008]] 2025-10-27T05:26:44.880Z,1761542804.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503730 s, deltaX: 0.300001 m, approachRate: 0.595559 m/s, rangeRepo size: 4 2025-10-27T05:26:44.882Z,1761542804.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.066092 m, bearing: 39.786908 deg, lat: 36.779340 deg, lon: -121.859668 deg, deltaT: 0.503730 s, deltaX: 0.298342 m, approachRate: 0.592265 m/s, posRepo size: 4 2025-10-27T05:26:44.882Z,1761542804.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.07 m. 2025-10-27T05:26:45.080Z,1761542805.080 [DAT](INFO): DAT read: Rx Time:05:26:43.7833 2025-10-27T05:26:45.081Z,1761542805.081 [DAT](INFO): Rx dataTimestamp_ set to:1761542805.080665 2025-10-27T05:26:45.082Z,1761542805.082 [DAT](INFO): DAT read: Bearing 195.3, 16.7 (Local) 2025-10-27T05:26:45.083Z,1761542805.083 [DAT](INFO): Local bearing/azimuth received: Bearing 195.3, 16.7 (Local) 2025-10-27T05:26:45.085Z,1761542805.085 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:26:45.089Z,1761542805.089 [DAT](INFO): DAT read: 05:26:43.7833 LVL= 22736, 20881, 32754, 32755, AGC= 62, IDX= 500, 0.10, 2.640,-2.212, 2.119,-3.075, PHS=-0.466, 0.909,-1.133, RAW= 348.7, 7.7, CAL= 348.6, 7.4, ROT= 161.4, -7.4 2025-10-27T05:26:45.090Z,1761542805.090 [DAT](INFO): got valid direction response: 05:26:43.7833 LVL= 22736, 20881, 32754, 32755, AGC= 62, IDX= 500, 0.10, 2.640,-2.212, 2.119,-3.075, PHS=-0.466, 0.909,-1.133, RAW= 348.7, 7.7, CAL= 348.6, 7.4, ROT= 161.4, -7.4 2025-10-27T05:26:45.091Z,1761542805.091 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:26:45.092Z,1761542805.092 [DAT](INFO): direction in FSK: [-0.939875,0.316303,0.128796] 2025-10-27T05:26:45.092Z,1761542805.092 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:45.096Z,1761542805.096 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.677345 2025-10-27T05:26:45.263Z,1761542805.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529607,0.845940,0.062465],[-0.847902,-0.530046,-0.010685],[0.024070,-0.058623,0.997990]] 2025-10-27T05:26:45.324Z,1761542805.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503922 s, deltaX: -0.200001 m, approachRate: -0.396888 m/s, rangeRepo size: 4 2025-10-27T05:26:45.326Z,1761542805.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.867197 m, bearing: 39.072277 deg, lat: 36.779340 deg, lon: -121.859669 deg, deltaT: 0.503922 s, deltaX: -0.198895 m, approachRate: -0.394693 m/s, posRepo size: 4 2025-10-27T05:26:45.327Z,1761542805.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m. 2025-10-27T05:26:45.332Z,1761542805.332 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.913717 2025-10-27T05:26:45.589Z,1761542805.589 [DAT](INFO): DAT read: Rx Time:05:26:44.2834 2025-10-27T05:26:45.590Z,1761542805.590 [DAT](INFO): Rx dataTimestamp_ set to:1761542805.589356 2025-10-27T05:26:45.591Z,1761542805.591 [DAT](INFO): DAT read: Bearing 195.8, 16.5 (Local) 2025-10-27T05:26:45.592Z,1761542805.592 [DAT](INFO): Local bearing/azimuth received: Bearing 195.8, 16.5 (Local) 2025-10-27T05:26:45.594Z,1761542805.594 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 2025-10-27T05:26:45.598Z,1761542805.598 [DAT](INFO): DAT read: 05:26:44.2834 LVL= 23440, 22385, 32754, 32755, AGC= 62, IDX= 502,-0.40, 3.008,-1.843, 2.497,-2.714, PHS=-0.459, 0.916,-1.116, RAW= 348.5, 7.4, CAL= 348.4, 7.0, ROT= 161.6, -7.0 2025-10-27T05:26:45.599Z,1761542805.599 [DAT](INFO): got valid direction response: 05:26:44.2834 LVL= 23440, 22385, 32754, 32755, AGC= 62, IDX= 502,-0.40, 3.008,-1.843, 2.497,-2.714, PHS=-0.459, 0.916,-1.116, RAW= 348.5, 7.4, CAL= 348.4, 7.0, ROT= 161.6, -7.0 2025-10-27T05:26:45.600Z,1761542805.600 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:26:45.601Z,1761542805.601 [DAT](INFO): direction in FSK: [-0.941803,0.313296,0.121869] 2025-10-27T05:26:45.601Z,1761542805.601 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:45.605Z,1761542805.605 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.186495 2025-10-27T05:26:45.626Z,1761542805.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529088,0.846255,0.062598],[-0.848232,-0.529510,-0.011016],[0.023824,-0.058926,0.997978]] 2025-10-27T05:26:45.694Z,1761542805.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.508691 s, deltaX: 0.299999 m, approachRate: 0.589747 m/s, rangeRepo size: 4 2025-10-27T05:26:45.701Z,1761542805.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.165596 m, bearing: 39.323638 deg, lat: 36.779340 deg, lon: -121.859668 deg, deltaT: 0.508691 s, deltaX: 0.298399 m, approachRate: 0.586602 m/s, posRepo size: 4 2025-10-27T05:26:45.702Z,1761542805.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:26:45.708Z,1761542805.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:26:45.837Z,1761542805.837 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.418327 2025-10-27T05:26:46.041Z,1761542806.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528280,0.846825,0.061705],[-0.848745,-0.528692,-0.010787],[0.023488,-0.058071,0.998036]] 2025-10-27T05:26:46.061Z,1761542806.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:26:46.089Z,1761542806.089 [DAT](INFO): DAT read: Rx Time:05:26:44.7833 2025-10-27T05:26:46.089Z,1761542806.089 [DAT](INFO): Rx dataTimestamp_ set to:1761542806.088813 2025-10-27T05:26:46.090Z,1761542806.090 [DAT](INFO): DAT read: Bearing 195.1, 16.7 (Local) 2025-10-27T05:26:46.091Z,1761542806.091 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 16.7 (Local) 2025-10-27T05:26:46.093Z,1761542806.093 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 2025-10-27T05:26:46.098Z,1761542806.098 [DAT](INFO): DAT read: 05:26:44.7833 LVL= 24192, 22625, 32754, 32755, AGC= 62, IDX= 501, 0.12, 2.472,-2.392, 1.960, 3.040, PHS=-0.466, 0.897,-1.124, RAW= 348.6, 7.8, CAL= 348.6, 7.6, ROT= 161.4, -7.6 2025-10-27T05:26:46.099Z,1761542806.099 [DAT](INFO): got valid direction response: 05:26:44.7833 LVL= 24192, 22625, 32754, 32755, AGC= 62, IDX= 501, 0.12, 2.472,-2.392, 1.960, 3.040, PHS=-0.466, 0.897,-1.124, RAW= 348.6, 7.8, CAL= 348.6, 7.6, ROT= 161.4, -7.6 2025-10-27T05:26:46.099Z,1761542806.099 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:26:46.100Z,1761542806.100 [DAT](INFO): direction in FSK: [-0.939443,0.316158,0.132256] 2025-10-27T05:26:46.100Z,1761542806.100 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:46.108Z,1761542806.108 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.689886 2025-10-27T05:26:46.340Z,1761542806.340 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.921606 2025-10-27T05:26:46.469Z,1761542806.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527218,0.847585,0.060334],[-0.849417,-0.527621,-0.010340],[0.023069,-0.056700,0.998125]] 2025-10-27T05:26:46.572Z,1761542806.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.499457 s, deltaX: -0.099998 m, approachRate: -0.200214 m/s, rangeRepo size: 4 2025-10-27T05:26:46.574Z,1761542806.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.066195 m, bearing: 39.235248 deg, lat: 36.779340 deg, lon: -121.859666 deg, deltaT: 0.499457 s, deltaX: -0.099401 m, approachRate: -0.199019 m/s, posRepo size: 4 2025-10-27T05:26:46.574Z,1761542806.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.07 m. 2025-10-27T05:26:46.593Z,1761542806.593 [DAT](INFO): DAT read: Rx Time:05:26:45.2835 2025-10-27T05:26:46.593Z,1761542806.593 [DAT](INFO): Rx dataTimestamp_ set to:1761542806.592805 2025-10-27T05:26:46.594Z,1761542806.594 [DAT](INFO): DAT read: Bearing 195.3, 16.3 (Local) 2025-10-27T05:26:46.595Z,1761542806.595 [DAT](INFO): Local bearing/azimuth received: Bearing 195.3, 16.3 (Local) 2025-10-27T05:26:46.597Z,1761542806.597 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:26:46.602Z,1761542806.602 [DAT](INFO): DAT read: 05:26:45.2835 LVL= 24688, 26033, 32754, 32755, AGC= 62, IDX= 503,-0.34, 1.911,-2.936, 1.406, 2.483, PHS=-0.471, 0.909,-1.121, RAW= 348.3, 7.7, CAL= 348.2, 7.4, ROT= 161.8, -7.4 2025-10-27T05:26:46.603Z,1761542806.603 [DAT](INFO): got valid direction response: 05:26:45.2835 LVL= 24688, 26033, 32754, 32755, AGC= 62, IDX= 503,-0.34, 1.911,-2.936, 1.406, 2.483, PHS=-0.471, 0.909,-1.121, RAW= 348.3, 7.7, CAL= 348.2, 7.4, ROT= 161.8, -7.4 2025-10-27T05:26:46.603Z,1761542806.603 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:26:46.604Z,1761542806.604 [DAT](INFO): direction in FSK: [-0.942060,0.309733,0.128796] 2025-10-27T05:26:46.605Z,1761542806.605 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:46.609Z,1761542806.609 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.190222 2025-10-27T05:26:46.838Z,1761542806.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526586,0.847986,0.060227],[-0.849814,-0.526979,-0.010453],[0.022874,-0.056686,0.998130]] 2025-10-27T05:26:46.844Z,1761542806.844 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.425678 2025-10-27T05:26:46.977Z,1761542806.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503992 s, deltaX: 0.299999 m, approachRate: 0.595246 m/s, rangeRepo size: 4 2025-10-27T05:26:46.987Z,1761542806.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.364534 m, bearing: 39.684957 deg, lat: 36.779340 deg, lon: -121.859666 deg, deltaT: 0.503992 s, deltaX: 0.298340 m, approachRate: 0.591954 m/s, posRepo size: 4 2025-10-27T05:26:46.988Z,1761542806.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-27T05:26:47.097Z,1761542807.097 [DAT](INFO): DAT read: Rx Time:05:26:45.7834 2025-10-27T05:26:47.097Z,1761542807.097 [DAT](INFO): Rx dataTimestamp_ set to:1761542807.096805 2025-10-27T05:26:47.098Z,1761542807.098 [DAT](INFO): DAT read: Bearing 195.2, 16.7 (Local) 2025-10-27T05:26:47.099Z,1761542807.099 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 16.7 (Local) 2025-10-27T05:26:47.101Z,1761542807.101 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:26:47.106Z,1761542807.106 [DAT](INFO): DAT read: 05:26:45.7834 LVL= 22848, 21473, 32754, 32755, AGC= 62, IDX= 502, 0.02, 2.066,-2.789, 1.550, 2.634, PHS=-0.466, 0.905,-1.128, RAW= 348.6, 7.7, CAL= 348.5, 7.5, ROT= 161.5, -7.5 2025-10-27T05:26:47.107Z,1761542807.107 [DAT](INFO): got valid direction response: 05:26:45.7834 LVL= 22848, 21473, 32754, 32755, AGC= 62, IDX= 502, 0.02, 2.066,-2.789, 1.550, 2.634, PHS=-0.466, 0.905,-1.128, RAW= 348.6, 7.7, CAL= 348.5, 7.5, ROT= 161.5, -7.5 2025-10-27T05:26:47.107Z,1761542807.107 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:26:47.108Z,1761542807.108 [DAT](INFO): direction in FSK: [-0.940211,0.314590,0.130526] 2025-10-27T05:26:47.109Z,1761542807.109 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:47.113Z,1761542807.113 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.694315 2025-10-27T05:26:47.301Z,1761542807.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525745,0.848497,0.060364],[-0.850340,-0.526124,-0.010718],[0.022665,-0.056965,0.998119]] 2025-10-27T05:26:47.348Z,1761542807.348 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.929792 2025-10-27T05:26:47.352Z,1761542807.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504000 s, deltaX: -0.200001 m, approachRate: -0.396827 m/s, rangeRepo size: 4 2025-10-27T05:26:47.353Z,1761542807.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.165640 m, bearing: 39.436655 deg, lat: 36.779340 deg, lon: -121.859666 deg, deltaT: 0.504000 s, deltaX: -0.198895 m, approachRate: -0.394632 m/s, posRepo size: 4 2025-10-27T05:26:47.354Z,1761542807.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:26:47.600Z,1761542807.601 [DAT](INFO): DAT read: Rx Time:05:26:46.2834 2025-10-27T05:26:47.601Z,1761542807.601 [DAT](INFO): Rx dataTimestamp_ set to:1761542807.600694 2025-10-27T05:26:47.602Z,1761542807.602 [DAT](INFO): DAT read: Bearing 195.0, 16.8 (Local) 2025-10-27T05:26:47.603Z,1761542807.603 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 16.8 (Local) 2025-10-27T05:26:47.605Z,1761542807.605 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:26:47.609Z,1761542807.609 [DAT](INFO): DAT read: 05:26:46.2834 LVL= 26000, 25377, 32754, 32755, AGC= 63, IDX= 502, 0.30,-2.411,-0.993,-2.928,-1.844, PHS=-0.465, 0.896,-1.128, RAW= 348.7, 7.9, CAL= 348.7, 7.7, ROT= 161.3, -7.7 2025-10-27T05:26:47.610Z,1761542807.610 [DAT](INFO): got valid direction response: 05:26:46.2834 LVL= 26000, 25377, 32754, 32755, AGC= 63, IDX= 502, 0.30,-2.411,-0.993,-2.928,-1.844, PHS=-0.465, 0.896,-1.128, RAW= 348.7, 7.9, CAL= 348.7, 7.7, ROT= 161.3, -7.7 2025-10-27T05:26:47.611Z,1761542807.611 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:26:47.612Z,1761542807.612 [DAT](INFO): direction in FSK: [-0.938669,0.317722,0.133986] 2025-10-27T05:26:47.612Z,1761542807.612 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:47.616Z,1761542807.616 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.197680 2025-10-27T05:26:47.654Z,1761542807.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524824,0.849041,0.060741],[-0.850913,-0.525191,-0.011046],[0.022523,-0.057482,0.998092]] 2025-10-27T05:26:47.748Z,1761542807.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:47.750Z,1761542807.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.165655 m, bearing: 39.286935 deg, lat: 36.779339 deg, lon: -121.859664 deg, deltaT: 0.503889 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 2025-10-27T05:26:47.750Z,1761542807.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:26:47.853Z,1761542807.853 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.434122 2025-10-27T05:26:48.054Z,1761542808.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523934,0.849567,0.061064],[-0.851466,-0.524286,-0.011404],[0.022327,-0.057969,0.998069]] 2025-10-27T05:26:48.073Z,1761542808.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:26:48.105Z,1761542808.105 [DAT](INFO): DAT read: Rx Time:05:26:46.7834 2025-10-27T05:26:48.106Z,1761542808.106 [DAT](INFO): Rx dataTimestamp_ set to:1761542808.105288 2025-10-27T05:26:48.108Z,1761542808.108 [DAT](INFO): DAT read: Bearing 195.0, 16.4 (Local) 2025-10-27T05:26:48.108Z,1761542808.108 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 16.4 (Local) 2025-10-27T05:26:48.111Z,1761542808.111 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.0 2025-10-27T05:26:48.117Z,1761542808.117 [DAT](INFO): DAT read: 05:26:46.7834 LVL= 22320, 20657, 32754, 32755, AGC= 62, IDX= 502,-0.13, 0.397, 1.842,-0.115, 0.979, PHS=-0.480, 0.908,-1.138, RAW= 348.4, 7.9, CAL= 348.3, 7.7, ROT= 161.7, -7.7 2025-10-27T05:26:48.119Z,1761542808.119 [DAT](INFO): got valid direction response: 05:26:46.7834 LVL= 22320, 20657, 32754, 32755, AGC= 62, IDX= 502,-0.13, 0.397, 1.842,-0.115, 0.979, PHS=-0.480, 0.908,-1.138, RAW= 348.4, 7.9, CAL= 348.3, 7.7, ROT= 161.7, -7.7 2025-10-27T05:26:48.119Z,1761542808.119 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:26:48.121Z,1761542808.121 [DAT](INFO): direction in FSK: [-0.940865,0.311161,0.133986] 2025-10-27T05:26:48.121Z,1761542808.121 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:48.126Z,1761542808.126 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.708014 2025-10-27T05:26:48.356Z,1761542808.356 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.937588 2025-10-27T05:26:48.482Z,1761542808.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523066,0.850079,0.061385],[-0.852001,-0.523412,-0.011591],[0.022276,-0.058363,0.998047]] 2025-10-27T05:26:48.592Z,1761542808.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504594 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:48.594Z,1761542808.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.165686 m, bearing: 39.797039 deg, lat: 36.779339 deg, lon: -121.859664 deg, deltaT: 0.504594 s, deltaX: 0.000031 m, approachRate: 0.000060 m/s, posRepo size: 4 2025-10-27T05:26:48.594Z,1761542808.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:26:48.609Z,1761542808.609 [DAT](INFO): DAT read: Rx Time:05:26:47.2835 2025-10-27T05:26:48.609Z,1761542808.609 [DAT](INFO): Rx dataTimestamp_ set to:1761542808.608956 2025-10-27T05:26:48.611Z,1761542808.611 [DAT](INFO): DAT read: Bearing 194.4, 16.5 (Local) 2025-10-27T05:26:48.611Z,1761542808.611 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 16.5 (Local) 2025-10-27T05:26:48.613Z,1761542808.613 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.0 2025-10-27T05:26:48.618Z,1761542808.618 [DAT](INFO): DAT read: 05:26:47.2835 LVL= 21824, 22097, 32754, 32755, AGC= 63, IDX= 503, 0.22, 2.895,-1.962, 2.384,-2.803, PHS=-0.484, 0.886,-1.140, RAW= 348.5, 8.3, CAL= 348.5, 8.4, ROT= 161.5, -8.4 2025-10-27T05:26:48.619Z,1761542808.619 [DAT](INFO): got valid direction response: 05:26:47.2835 LVL= 21824, 22097, 32754, 32755, AGC= 63, IDX= 503, 0.22, 2.895,-1.962, 2.384,-2.803, PHS=-0.484, 0.886,-1.140, RAW= 348.5, 8.3, CAL= 348.5, 8.4, ROT= 161.5, -8.4 2025-10-27T05:26:48.620Z,1761542808.620 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:26:48.621Z,1761542808.621 [DAT](INFO): direction in FSK: [-0.938150,0.313901,0.146083] 2025-10-27T05:26:48.621Z,1761542808.621 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:48.629Z,1761542808.629 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.210499 2025-10-27T05:26:48.860Z,1761542808.860 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.441746 2025-10-27T05:26:48.984Z,1761542808.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503668 s, deltaX: 0.200001 m, approachRate: 0.397088 m/s, rangeRepo size: 4 2025-10-27T05:26:48.986Z,1761542808.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.364580 m, bearing: 39.564044 deg, lat: 36.779339 deg, lon: -121.859662 deg, deltaT: 0.503668 s, deltaX: 0.198895 m, approachRate: 0.394892 m/s, posRepo size: 4 2025-10-27T05:26:48.986Z,1761542808.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-27T05:26:49.113Z,1761542809.113 [DAT](INFO): DAT read: Rx Time:05:26:47.7835 2025-10-27T05:26:49.113Z,1761542809.113 [DAT](INFO): Rx dataTimestamp_ set to:1761542809.112755 2025-10-27T05:26:49.115Z,1761542809.115 [DAT](INFO): DAT read: Bearing 193.6, 15.9 (Local) 2025-10-27T05:26:49.116Z,1761542809.116 [DAT](INFO): Local bearing/azimuth received: Bearing 193.6, 15.9 (Local) 2025-10-27T05:26:49.119Z,1761542809.119 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T05:26:49.125Z,1761542809.125 [DAT](INFO): DAT read: 05:26:47.7835 LVL= 24272, 23617, 32754, 32755, AGC= 63, IDX= 503,-0.29,-0.206, 1.232,-0.693, 0.404, PHS=-0.509, 0.873,-1.141, RAW= 347.9, 8.8, CAL= 347.9, 9.1, ROT= 162.1, -9.1 2025-10-27T05:26:49.126Z,1761542809.126 [DAT](INFO): got valid direction response: 05:26:47.7835 LVL= 24272, 23617, 32754, 32755, AGC= 63, IDX= 503,-0.29,-0.206, 1.232,-0.693, 0.404, PHS=-0.509, 0.873,-1.141, RAW= 347.9, 8.8, CAL= 347.9, 9.1, ROT= 162.1, -9.1 2025-10-27T05:26:49.126Z,1761542809.126 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:26:49.128Z,1761542809.128 [DAT](INFO): direction in FSK: [-0.939617,0.303488,0.158158] 2025-10-27T05:26:49.128Z,1761542809.128 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:49.132Z,1761542809.132 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.713755 2025-10-27T05:26:49.364Z,1761542809.364 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.945688 2025-10-27T05:26:49.392Z,1761542809.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503799 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:49.394Z,1761542809.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.364580 m, bearing: 40.125792 deg, lat: 36.779337 deg, lon: -121.859662 deg, deltaT: 0.503799 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:49.395Z,1761542809.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-27T05:26:49.617Z,1761542809.617 [DAT](INFO): DAT read: Rx Time:05:26:48.2836 2025-10-27T05:26:49.617Z,1761542809.617 [DAT](INFO): Rx dataTimestamp_ set to:1761542809.616714 2025-10-27T05:26:49.618Z,1761542809.618 [DAT](INFO): DAT read: Bearing 194.7, 16.8 (Local) 2025-10-27T05:26:49.619Z,1761542809.619 [DAT](INFO): Local bearing/azimuth received: Bearing 194.7, 16.8 (Local) 2025-10-27T05:26:49.621Z,1761542809.621 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.1 2025-10-27T05:26:49.625Z,1761542809.625 [DAT](INFO): DAT read: 05:26:48.2836 LVL= 21712, 21361, 32754, 32755, AGC= 62, IDX= 504, 0.06, 1.633, 3.059, 1.112, 2.210, PHS=-0.475, 0.895,-1.142, RAW= 348.7, 8.1, CAL= 348.7, 8.0, ROT= 161.3, -8.0 2025-10-27T05:26:49.626Z,1761542809.626 [DAT](INFO): got valid direction response: 05:26:48.2836 LVL= 21712, 21361, 32754, 32755, AGC= 62, IDX= 504, 0.06, 1.633, 3.059, 1.112, 2.210, PHS=-0.475, 0.895,-1.142, RAW= 348.7, 8.1, CAL= 348.7, 8.0, ROT= 161.3, -8.0 2025-10-27T05:26:49.627Z,1761542809.627 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:26:49.628Z,1761542809.628 [DAT](INFO): direction in FSK: [-0.937992,0.317493,0.139173] 2025-10-27T05:26:49.628Z,1761542809.628 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:49.632Z,1761542809.632 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.213409 2025-10-27T05:26:49.705Z,1761542809.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521726,0.850913,0.061239],[-0.852811,-0.522106,-0.010882],[0.022714,-0.057903,0.998064]] 2025-10-27T05:26:49.845Z,1761542809.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503959 s, deltaX: 0.100000 m, approachRate: 0.198430 m/s, rangeRepo size: 4 2025-10-27T05:26:49.847Z,1761542809.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.464005 m, bearing: 39.478403 deg, lat: 36.779337 deg, lon: -121.859661 deg, deltaT: 0.503959 s, deltaX: 0.099424 m, approachRate: 0.197287 m/s, posRepo size: 4 2025-10-27T05:26:49.848Z,1761542809.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-27T05:26:49.868Z,1761542809.868 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.449644 2025-10-27T05:26:50.084Z,1761542810.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521449,0.851090,0.061120],[-0.852972,-0.521851,-0.010458],[0.022994,-0.057587,0.998076]] 2025-10-27T05:26:50.086Z,1761542810.086 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7). 2025-10-27T05:26:50.110Z,1761542810.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-27T05:26:50.121Z,1761542810.121 [DAT](INFO): DAT read: Rx Time:05:26:48.7835 2025-10-27T05:26:50.121Z,1761542810.121 [DAT](INFO): Rx dataTimestamp_ set to:1761542810.120771 2025-10-27T05:26:50.122Z,1761542810.122 [DAT](INFO): DAT read: Bearing 193.9, 16.9 (Local) 2025-10-27T05:26:50.123Z,1761542810.123 [DAT](INFO): Local bearing/azimuth received: Bearing 193.9, 16.9 (Local) 2025-10-27T05:26:50.125Z,1761542810.125 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T05:26:50.130Z,1761542810.130 [DAT](INFO): DAT read: 05:26:48.7835 LVL= 22032, 22033, 32754, 32755, AGC= 63, IDX= 503, 0.41, 1.150, 2.573, 0.625, 1.739, PHS=-0.487, 0.879,-1.158, RAW= 348.8, 8.6, CAL= 348.9, 8.8, ROT= 161.1, -8.8 2025-10-27T05:26:50.131Z,1761542810.131 [DAT](INFO): got valid direction response: 05:26:48.7835 LVL= 22032, 22033, 32754, 32755, AGC= 63, IDX= 503, 0.41, 1.150, 2.573, 0.625, 1.739, PHS=-0.487, 0.879,-1.158, RAW= 348.8, 8.6, CAL= 348.9, 8.8, ROT= 161.1, -8.8 2025-10-27T05:26:50.143Z,1761542810.143 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:26:50.144Z,1761542810.144 [DAT](INFO): direction in FSK: [-0.934948,0.320104,0.152986] 2025-10-27T05:26:50.144Z,1761542810.144 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:50.150Z,1761542810.150 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.732050 2025-10-27T05:26:50.372Z,1761542810.372 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.953718 2025-10-27T05:26:50.486Z,1761542810.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521219,0.851245,0.060940],[-0.853107,-0.521638,-0.010072],[0.023215,-0.057238,0.998091]] 2025-10-27T05:26:50.594Z,1761542810.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504057 s, deltaX: -0.100000 m, approachRate: -0.198391 m/s, rangeRepo size: 4 2025-10-27T05:26:50.600Z,1761542810.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.364521 m, bearing: 39.280928 deg, lat: 36.779336 deg, lon: -121.859661 deg, deltaT: 0.504057 s, deltaX: -0.099483 m, approachRate: -0.197366 m/s, posRepo size: 4 2025-10-27T05:26:50.600Z,1761542810.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-27T05:26:50.625Z,1761542810.625 [DAT](INFO): DAT read: Rx Time:05:26:49.2836 2025-10-27T05:26:50.625Z,1761542810.625 [DAT](INFO): Rx dataTimestamp_ set to:1761542810.624933 2025-10-27T05:26:50.627Z,1761542810.627 [DAT](INFO): DAT read: Bearing 194.5, 16.8 (Local) 2025-10-27T05:26:50.627Z,1761542810.627 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 16.8 (Local) 2025-10-27T05:26:50.629Z,1761542810.629 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.1 2025-10-27T05:26:50.634Z,1761542810.634 [DAT](INFO): DAT read: 05:26:49.2836 LVL= 22880, 21073, 32754, 32755, AGC= 63, IDX= 504,-0.12,-0.645, 0.787,-1.171,-0.062, PHS=-0.481, 0.894,-1.153, RAW= 348.8, 8.2, CAL= 348.8, 8.3, ROT= 161.2, -8.3 2025-10-27T05:26:50.636Z,1761542810.636 [DAT](INFO): got valid direction response: 05:26:49.2836 LVL= 22880, 21073, 32754, 32755, AGC= 63, IDX= 504,-0.12,-0.645, 0.787,-1.171,-0.062, PHS=-0.481, 0.894,-1.153, RAW= 348.8, 8.2, CAL= 348.8, 8.3, ROT= 161.2, -8.3 2025-10-27T05:26:50.636Z,1761542810.636 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:26:50.637Z,1761542810.637 [DAT](INFO): direction in FSK: [-0.936734,0.318890,0.144356] 2025-10-27T05:26:50.637Z,1761542810.637 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:50.641Z,1761542810.641 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.222841 2025-10-27T05:26:50.876Z,1761542810.876 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.457546 2025-10-27T05:26:50.891Z,1761542810.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521193,0.851255,0.061012],[-0.853110,-0.521644,-0.009548],[0.023699,-0.057026,0.998091]] 2025-10-27T05:26:50.996Z,1761542810.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504162 s, deltaX: 0.100000 m, approachRate: 0.198350 m/s, rangeRepo size: 4 2025-10-27T05:26:50.998Z,1761542810.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.463968 m, bearing: 39.407637 deg, lat: 36.779336 deg, lon: -121.859660 deg, deltaT: 0.504162 s, deltaX: 0.099447 m, approachRate: 0.197253 m/s, posRepo size: 4 2025-10-27T05:26:50.999Z,1761542810.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-27T05:26:51.129Z,1761542811.129 [DAT](INFO): DAT read: Rx Time:05:26:49.7835 2025-10-27T05:26:51.130Z,1761542811.130 [DAT](INFO): Rx dataTimestamp_ set to:1761542811.129736 2025-10-27T05:26:51.132Z,1761542811.132 [DAT](INFO): DAT read: Bearing 194.4, 17.9 (Local) 2025-10-27T05:26:51.132Z,1761542811.132 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 17.9 (Local) 2025-10-27T05:26:51.134Z,1761542811.134 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T05:26:51.140Z,1761542811.140 [DAT](INFO): DAT read: 05:26:49.7835 LVL= 23712, 18881, 31298, 32755, AGC= 63, IDX= 503, 0.16, 0.833, 2.226, 0.273, 1.392, PHS=-0.457, 0.879,-1.163, RAW= 349.9, 8.3, CAL= 349.9, 8.3, ROT= 160.1, -8.3 2025-10-27T05:26:51.141Z,1761542811.141 [DAT](INFO): got valid direction response: 05:26:49.7835 LVL= 23712, 18881, 31298, 32755, AGC= 63, IDX= 503, 0.16, 0.833, 2.226, 0.273, 1.392, PHS=-0.457, 0.879,-1.163, RAW= 349.9, 8.3, CAL= 349.9, 8.3, ROT= 160.1, -8.3 2025-10-27T05:26:51.141Z,1761542811.141 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:26:51.142Z,1761542811.142 [DAT](INFO): direction in FSK: [-0.930439,0.336814,0.144356] 2025-10-27T05:26:51.142Z,1761542811.142 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:51.146Z,1761542811.146 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.727814 2025-10-27T05:26:51.346Z,1761542811.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521018,0.851343,0.061281],[-0.853203,-0.521498,-0.009154],[0.024165,-0.057055,0.998079]] 2025-10-27T05:26:51.380Z,1761542811.380 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.961691 2025-10-27T05:26:51.400Z,1761542811.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504803 s, deltaX: -0.100000 m, approachRate: -0.198098 m/s, rangeRepo size: 4 2025-10-27T05:26:51.402Z,1761542811.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.364521 m, bearing: 38.326575 deg, lat: 36.779336 deg, lon: -121.859660 deg, deltaT: 0.504803 s, deltaX: -0.099447 m, approachRate: -0.197002 m/s, posRepo size: 4 2025-10-27T05:26:51.402Z,1761542811.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-27T05:26:51.632Z,1761542811.632 [DAT](INFO): DAT read: Rx Time:05:26:50.2837 2025-10-27T05:26:51.633Z,1761542811.633 [DAT](INFO): Rx dataTimestamp_ set to:1761542811.632676 2025-10-27T05:26:51.634Z,1761542811.634 [DAT](INFO): DAT read: Bearing 194.5, 17.3 (Local) 2025-10-27T05:26:51.635Z,1761542811.635 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 17.3 (Local) 2025-10-27T05:26:51.637Z,1761542811.637 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.0 2025-10-27T05:26:51.641Z,1761542811.641 [DAT](INFO): DAT read: 05:26:50.2837 LVL= 22240, 25537, 32754, 32755, AGC= 63, IDX= 505,-0.34, 0.536, 1.937,-0.004, 1.102, PHS=-0.464, 0.880,-1.151, RAW= 349.4, 8.3, CAL= 349.4, 8.3, ROT= 160.6, -8.3 2025-10-27T05:26:51.642Z,1761542811.642 [DAT](INFO): got valid direction response: 05:26:50.2837 LVL= 22240, 25537, 32754, 32755, AGC= 63, IDX= 505,-0.34, 0.536, 1.937,-0.004, 1.102, PHS=-0.464, 0.880,-1.151, RAW= 349.4, 8.3, CAL= 349.4, 8.3, ROT= 160.6, -8.3 2025-10-27T05:26:51.643Z,1761542811.643 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:26:51.644Z,1761542811.644 [DAT](INFO): direction in FSK: [-0.933343,0.328682,0.144356] 2025-10-27T05:26:51.644Z,1761542811.644 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:51.648Z,1761542811.648 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.229317 2025-10-27T05:26:51.776Z,1761542811.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521027,0.851315,0.061586],[-0.853183,-0.521539,-0.008727],[0.024690,-0.057091,0.998064]] 2025-10-27T05:26:51.860Z,1761542811.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.502940 s, deltaX: 0.299999 m, approachRate: 0.596491 m/s, rangeRepo size: 4 2025-10-27T05:26:51.862Z,1761542811.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.662840 m, bearing: 38.823187 deg, lat: 36.779337 deg, lon: -121.859661 deg, deltaT: 0.502940 s, deltaX: 0.298319 m, approachRate: 0.593150 m/s, posRepo size: 4 2025-10-27T05:26:51.862Z,1761542811.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.66 m. 2025-10-27T05:26:51.884Z,1761542811.884 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.465765 2025-10-27T05:26:52.114Z,1761542812.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521082,0.851259,0.061903],[-0.853135,-0.521623,-0.008342],[0.025189,-0.057158,0.998047]] 2025-10-27T05:26:52.137Z,1761542812.137 [DAT](INFO): DAT read: Rx Time:05:26:50.7836 2025-10-27T05:26:52.137Z,1761542812.137 [DAT](INFO): Rx dataTimestamp_ set to:1761542812.136798 2025-10-27T05:26:52.138Z,1761542812.138 [DAT](INFO): DAT read: Bearing 194.4, 18.3 (Local) 2025-10-27T05:26:52.139Z,1761542812.139 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 18.3 (Local) 2025-10-27T05:26:52.141Z,1761542812.141 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.1 2025-10-27T05:26:52.146Z,1761542812.146 [DAT](INFO): DAT read: 05:26:50.7836 LVL= 22224, 21265, 32754, 32755, AGC= 62, IDX= 504, 0.05, 0.796, 2.170, 0.227, 1.345, PHS=-0.447, 0.871,-1.162, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4 2025-10-27T05:26:52.147Z,1761542812.147 [DAT](INFO): got valid direction response: 05:26:50.7836 LVL= 22224, 21265, 32754, 32755, AGC= 62, IDX= 504, 0.05, 0.796, 2.170, 0.227, 1.345, PHS=-0.447, 0.871,-1.162, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4 2025-10-27T05:26:52.147Z,1761542812.147 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:26:52.148Z,1761542812.148 [DAT](INFO): direction in FSK: [-0.927828,0.343214,0.146083] 2025-10-27T05:26:52.148Z,1761542812.148 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:52.160Z,1761542812.160 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.741823 2025-10-27T05:26:52.174Z,1761542812.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504122 s, deltaX: -0.199999 m, approachRate: -0.396727 m/s, rangeRepo size: 4 2025-10-27T05:26:52.184Z,1761542812.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.463947 m, bearing: 37.920810 deg, lat: 36.779337 deg, lon: -121.859662 deg, deltaT: 0.504122 s, deltaX: -0.198893 m, approachRate: -0.394533 m/s, posRepo size: 4 2025-10-27T05:26:52.185Z,1761542812.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-27T05:26:52.400Z,1761542812.400 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.981264 2025-10-27T05:26:52.537Z,1761542812.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521714,0.850861,0.062046],[-0.852729,-0.522296,-0.007720],[0.025838,-0.056936,0.998043]] 2025-10-27T05:26:52.637Z,1761542812.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-27T05:26:52.653Z,1761542812.653 [DAT](INFO): DAT read: Rx Time:05:26:51.2838 2025-10-27T05:26:52.653Z,1761542812.653 [DAT](INFO): Rx dataTimestamp_ set to:1761542812.652797 2025-10-27T05:26:52.654Z,1761542812.654 [DAT](INFO): DAT read: Bearing 194.3, 18.1 (Local) 2025-10-27T05:26:52.655Z,1761542812.655 [DAT](INFO): Local bearing/azimuth received: Bearing 194.3, 18.1 (Local) 2025-10-27T05:26:52.657Z,1761542812.657 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.0 2025-10-27T05:26:52.662Z,1761542812.662 [DAT](INFO): DAT read: 05:26:51.2838 LVL= 21184, 21009, 32754, 32755, AGC= 61, IDX= 506,-0.46, 0.946, 2.327, 0.380, 1.501, PHS=-0.454, 0.871,-1.165, RAW= 350.1, 8.4, CAL= 350.2, 8.5, ROT= 159.8, -8.5 2025-10-27T05:26:52.663Z,1761542812.663 [DAT](INFO): got valid direction response: 05:26:51.2838 LVL= 21184, 21009, 32754, 32755, AGC= 61, IDX= 506,-0.46, 0.946, 2.327, 0.380, 1.501, PHS=-0.454, 0.871,-1.165, RAW= 350.1, 8.4, CAL= 350.2, 8.5, ROT= 159.8, -8.5 2025-10-27T05:26:52.663Z,1761542812.663 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:26:52.664Z,1761542812.664 [DAT](INFO): direction in FSK: [-0.928185,0.341505,0.147809] 2025-10-27T05:26:52.664Z,1761542812.664 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:52.701Z,1761542812.701 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.282831 2025-10-27T05:26:52.904Z,1761542812.904 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.485598 2025-10-27T05:26:53.052Z,1761542813.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.515999 s, deltaX: 0.299999 m, approachRate: 0.581395 m/s, rangeRepo size: 4 2025-10-27T05:26:53.054Z,1761542813.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.762260 m, bearing: 37.975539 deg, lat: 36.779338 deg, lon: -121.859664 deg, deltaT: 0.515999 s, deltaX: 0.298313 m, approachRate: 0.578127 m/s, posRepo size: 4 2025-10-27T05:26:53.059Z,1761542813.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-27T05:26:53.157Z,1761542813.157 [DAT](INFO): DAT read: Rx Time:05:26:51.7837 2025-10-27T05:26:53.158Z,1761542813.158 [DAT](INFO): Rx dataTimestamp_ set to:1761542813.157689 2025-10-27T05:26:53.160Z,1761542813.160 [DAT](INFO): DAT read: Bearing 193.2, 17.8 (Local) 2025-10-27T05:26:53.160Z,1761542813.160 [DAT](INFO): Local bearing/azimuth received: Bearing 193.2, 17.8 (Local) 2025-10-27T05:26:53.162Z,1761542813.162 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 2025-10-27T05:26:53.168Z,1761542813.168 [DAT](INFO): DAT read: 05:26:51.7837 LVL= 26080, 26241, 32754, 32755, AGC= 62, IDX= 505, 0.04, 0.523, 1.890,-0.024, 1.097, PHS=-0.472, 0.838,-1.165, RAW= 349.9, 9.1, CAL= 350.0, 9.6, ROT= 160.0, -9.6 2025-10-27T05:26:53.169Z,1761542813.169 [DAT](INFO): got valid direction response: 05:26:51.7837 LVL= 26080, 26241, 32754, 32755, AGC= 62, IDX= 505, 0.04, 0.523, 1.890,-0.024, 1.097, PHS=-0.472, 0.838,-1.165, RAW= 349.9, 9.1, CAL= 350.0, 9.6, ROT= 160.0, -9.6 2025-10-27T05:26:53.169Z,1761542813.169 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:26:53.170Z,1761542813.170 [DAT](INFO): direction in FSK: [-0.926533,0.337231,0.166769] 2025-10-27T05:26:53.170Z,1761542813.170 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:53.178Z,1761542813.178 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.759756 2025-10-27T05:26:53.379Z,1761542813.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522917,0.850127,0.061977],[-0.851960,-0.523566,-0.006557],[0.026875,-0.056230,0.998056]] 2025-10-27T05:26:53.408Z,1761542813.408 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.989735 2025-10-27T05:26:53.493Z,1761542813.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504892 s, deltaX: -0.100000 m, approachRate: -0.198063 m/s, rangeRepo size: 4 2025-10-27T05:26:53.496Z,1761542813.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.662815 m, bearing: 38.050904 deg, lat: 36.779338 deg, lon: -121.859665 deg, deltaT: 0.504892 s, deltaX: -0.099445 m, approachRate: -0.196964 m/s, posRepo size: 4 2025-10-27T05:26:53.496Z,1761542813.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.66 m. 2025-10-27T05:26:53.660Z,1761542813.660 [DAT](INFO): DAT read: Rx Time:05:26:52.2839 2025-10-27T05:26:53.661Z,1761542813.661 [DAT](INFO): Rx dataTimestamp_ set to:1761542813.660608 2025-10-27T05:26:53.662Z,1761542813.662 [DAT](INFO): DAT read: Bearing 194.4, 18.3 (Local) 2025-10-27T05:26:53.662Z,1761542813.662 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 18.3 (Local) 2025-10-27T05:26:53.665Z,1761542813.665 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:26:53.669Z,1761542813.669 [DAT](INFO): DAT read: 05:26:52.2839 LVL= 23024, 23073, 32754, 32755, AGC= 63, IDX= 507,-0.34, 0.004, 1.379,-0.567, 0.554, PHS=-0.448, 0.871,-1.165, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4 2025-10-27T05:26:53.670Z,1761542813.670 [DAT](INFO): got valid direction response: 05:26:52.2839 LVL= 23024, 23073, 32754, 32755, AGC= 63, IDX= 507,-0.34, 0.004, 1.379,-0.567, 0.554, PHS=-0.448, 0.871,-1.165, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4 2025-10-27T05:26:53.671Z,1761542813.671 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:26:53.674Z,1761542813.674 [DAT](INFO): direction in FSK: [-0.927828,0.343214,0.146083] 2025-10-27T05:26:53.674Z,1761542813.674 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:53.678Z,1761542813.678 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.259607 2025-10-27T05:26:53.841Z,1761542813.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.502919 s, deltaX: 0.100000 m, approachRate: 0.198840 m/s, rangeRepo size: 4 2025-10-27T05:26:53.848Z,1761542813.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.762251 m, bearing: 37.805913 deg, lat: 36.779338 deg, lon: -121.859666 deg, deltaT: 0.502919 s, deltaX: 0.099436 m, approachRate: 0.197717 m/s, posRepo size: 4 2025-10-27T05:26:53.848Z,1761542813.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-27T05:26:53.916Z,1761542813.916 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.497494 2025-10-27T05:26:54.141Z,1761542814.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524549,0.849095,0.062341],[-0.850922,-0.525261,-0.005676],[0.027926,-0.056025,0.998039]] 2025-10-27T05:26:54.160Z,1761542814.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-27T05:26:54.165Z,1761542814.165 [DAT](INFO): DAT read: Rx Time:05:26:52.7838 2025-10-27T05:26:54.165Z,1761542814.165 [DAT](INFO): Rx dataTimestamp_ set to:1761542814.164857 2025-10-27T05:26:54.166Z,1761542814.166 [DAT](INFO): DAT read: Bearing 194.3, 18.9 (Local) 2025-10-27T05:26:54.167Z,1761542814.167 [DAT](INFO): Local bearing/azimuth received: Bearing 194.3, 18.9 (Local) 2025-10-27T05:26:54.169Z,1761542814.169 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:26:54.174Z,1761542814.174 [DAT](INFO): DAT read: 05:26:52.7838 LVL= 22160, 23537, 32754, 32755, AGC= 63, IDX= 506, 0.16, 0.204, 1.566,-0.383, 0.746, PHS=-0.440, 0.865,-1.173, RAW= 350.8, 8.4, CAL= 350.8, 8.5, ROT= 159.2, -8.5 2025-10-27T05:26:54.175Z,1761542814.175 [DAT](INFO): got valid direction response: 05:26:52.7838 LVL= 22160, 23537, 32754, 32755, AGC= 63, IDX= 506, 0.16, 0.204, 1.566,-0.383, 0.746, PHS=-0.440, 0.865,-1.173, RAW= 350.8, 8.4, CAL= 350.8, 8.5, ROT= 159.2, -8.5 2025-10-27T05:26:54.175Z,1761542814.175 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:26:54.176Z,1761542814.176 [DAT](INFO): direction in FSK: [-0.924557,0.351206,0.147809] 2025-10-27T05:26:54.176Z,1761542814.176 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:54.188Z,1761542814.188 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.769886 2025-10-27T05:26:54.419Z,1761542814.419 [DAT](INFO): DAT read: Rx Time:05:26:53.2839 2025-10-27T05:26:54.420Z,1761542814.420 [DAT](INFO): Rx dataTimestamp_ set to:1761542814.419568 2025-10-27T05:26:54.422Z,1761542814.422 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.003597 2025-10-27T05:26:54.612Z,1761542814.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504249 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:54.614Z,1761542814.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.762238 m, bearing: 37.197684 deg, lat: 36.779339 deg, lon: -121.859666 deg, deltaT: 0.504249 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 2025-10-27T05:26:54.615Z,1761542814.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-27T05:26:54.670Z,1761542814.670 [DAT](INFO): DAT read: Bearing 193.9, 17.8 (Local) 2025-10-27T05:26:54.671Z,1761542814.671 [DAT](INFO): Local bearing/azimuth received: Bearing 193.9, 17.8 (Local) 2025-10-27T05:26:54.674Z,1761542814.674 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.2 2025-10-27T05:26:54.680Z,1761542814.680 [DAT](INFO): DAT read: 05:26:53.2839 LVL= 24048, 22001, 32754, 32755, AGC= 63, IDX= 507,-0.12,-2.495,-1.107,-3.047,-1.924, PHS=-0.469, 0.862,-1.167, RAW= 349.8, 8.7, CAL= 349.8, 9.0, ROT= 160.2, -9.0 2025-10-27T05:26:54.682Z,1761542814.682 [DAT](INFO): got valid direction response: 05:26:53.2839 LVL= 24048, 22001, 32754, 32755, AGC= 63, IDX= 507,-0.12,-2.495,-1.107,-3.047,-1.924, PHS=-0.469, 0.862,-1.167, RAW= 349.8, 8.7, CAL= 349.8, 9.0, ROT= 160.2, -9.0 2025-10-27T05:26:54.682Z,1761542814.682 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:26:54.685Z,1761542814.685 [DAT](INFO): direction in FSK: [-0.929297,0.334568,0.156434] 2025-10-27T05:26:54.686Z,1761542814.686 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:54.704Z,1761542814.704 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.272352 2025-10-27T05:26:54.923Z,1761542814.923 [DAT](INFO): DAT read: Rx Time:05:26:53.7839 2025-10-27T05:26:54.924Z,1761542814.924 [DAT](INFO): Rx dataTimestamp_ set to:1761542814.923320 2025-10-27T05:26:54.926Z,1761542814.926 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.507345 2025-10-27T05:26:54.985Z,1761542814.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526247,0.848004,0.062873],[-0.849849,-0.527001,-0.005269],[0.028666,-0.056205,0.998008]] 2025-10-27T05:26:55.057Z,1761542815.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503477 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:55.059Z,1761542815.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.762238 m, bearing: 38.054244 deg, lat: 36.779339 deg, lon: -121.859666 deg, deltaT: 0.503477 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:55.059Z,1761542815.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-27T05:26:55.173Z,1761542815.173 [DAT](INFO): DAT read: Bearing 194.8, 19.0 (Local) 2025-10-27T05:26:55.173Z,1761542815.173 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 19.0 (Local) 2025-10-27T05:26:55.175Z,1761542815.175 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:26:55.180Z,1761542815.180 [DAT](INFO): DAT read: 05:26:53.7839 LVL= 23536, 20593, 32754, 32755, AGC= 62, IDX= 506, 0.43,-2.350,-0.990,-2.942,-1.820, PHS=-0.427, 0.875,-1.165, RAW= 350.9, 8.1, CAL= 350.9, 8.0, ROT= 159.1, -8.0 2025-10-27T05:26:55.181Z,1761542815.181 [DAT](INFO): got valid direction response: 05:26:53.7839 LVL= 23536, 20593, 32754, 32755, AGC= 62, IDX= 506, 0.43,-2.350,-0.990,-2.942,-1.820, PHS=-0.427, 0.875,-1.165, RAW= 350.9, 8.1, CAL= 350.9, 8.0, ROT= 159.1, -8.0 2025-10-27T05:26:55.181Z,1761542815.181 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:26:55.182Z,1761542815.182 [DAT](INFO): direction in FSK: [-0.925113,0.353266,0.139173] 2025-10-27T05:26:55.183Z,1761542815.183 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:55.187Z,1761542815.187 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.768255 2025-10-27T05:26:55.427Z,1761542815.427 [DAT](INFO): DAT read: Rx Time:05:26:54.2840 2025-10-27T05:26:55.429Z,1761542815.429 [DAT](INFO): Rx dataTimestamp_ set to:1761542815.427808 2025-10-27T05:26:55.431Z,1761542815.431 [DAT](INFO): DAT read: Bearing 194.5, 18.4 (Local) 2025-10-27T05:26:55.432Z,1761542815.432 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 18.4 (Local) 2025-10-27T05:26:55.434Z,1761542815.434 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.015545 2025-10-27T05:26:55.447Z,1761542815.447 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T05:26:55.450Z,1761542815.450 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T05:26:55.467Z,1761542815.467 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-27T05:26:55.470Z,1761542815.470 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T05:26:55.475Z,1761542815.475 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T05:26:55.476Z,1761542815.476 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T05:26:55.477Z,1761542815.477 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-27T05:26:55.478Z,1761542815.478 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T05:26:55.479Z,1761542815.479 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T05:26:55.484Z,1761542815.484 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T05:26:55.484Z,1761542815.484 [BPC1](INFO): Calculating totals. Valid battery stick count: 27. Valid reserve battery stick count: 1. 2025-10-27T05:26:55.513Z,1761542815.513 [BPC1](FAULT): Failed to receive data from 10 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 17, 24, 26, 27, 28, 44, 47, 54, 58, 62. 2025-10-27T05:26:55.644Z,1761542815.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:55.646Z,1761542815.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.762218 m, bearing: 37.004861 deg, lat: 36.779339 deg, lon: -121.859666 deg, deltaT: 0.503163 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 2025-10-27T05:26:55.646Z,1761542815.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-27T05:26:55.680Z,1761542815.680 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 2025-10-27T05:26:55.685Z,1761542815.685 [DAT](INFO): DAT read: 05:26:54.2840 LVL= 21984, 19937, 32754, 32755, AGC= 62, IDX= 508, 0.02,-2.386,-1.004,-2.959,-1.835, PHS=-0.450, 0.876,-1.169, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4 2025-10-27T05:26:55.686Z,1761542815.686 [DAT](INFO): got valid direction response: 05:26:54.2840 LVL= 21984, 19937, 32754, 32755, AGC= 62, IDX= 508, 0.02,-2.386,-1.004,-2.959,-1.835, PHS=-0.450, 0.876,-1.169, RAW= 350.3, 8.3, CAL= 350.3, 8.4, ROT= 159.7, -8.4 2025-10-27T05:26:55.686Z,1761542815.686 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:26:55.687Z,1761542815.687 [DAT](INFO): direction in FSK: [-0.927828,0.343214,0.146083] 2025-10-27T05:26:55.687Z,1761542815.687 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:55.701Z,1761542815.701 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.282524 2025-10-27T05:26:55.884Z,1761542815.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527978,0.846917,0.063012],[-0.848765,-0.528744,-0.005196],[0.028917,-0.056226,0.997999]] 2025-10-27T05:26:55.906Z,1761542815.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.506159 s, deltaX: 0.200001 m, approachRate: 0.395134 m/s, rangeRepo size: 4 2025-10-27T05:26:55.909Z,1761542815.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.961113 m, bearing: 37.467060 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 0.506159 s, deltaX: 0.198895 m, approachRate: 0.392949 m/s, posRepo size: 4 2025-10-27T05:26:55.909Z,1761542815.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-27T05:26:55.940Z,1761542815.940 [DAT](INFO): DAT read: Rx Time:05:26:54.7840 2025-10-27T05:26:55.941Z,1761542815.941 [DAT](INFO): Rx dataTimestamp_ set to:1761542815.940195 2025-10-27T05:26:55.944Z,1761542815.944 [DAT](INFO): DAT read: Bearing 193.6, 18.0 (Local) 2025-10-27T05:26:55.945Z,1761542815.945 [DAT](INFO): Local bearing/azimuth received: Bearing 193.6, 18.0 (Local) 2025-10-27T05:26:55.950Z,1761542815.950 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 2025-10-27T05:26:55.956Z,1761542815.956 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-27T05:26:55.968Z,1761542815.968 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.549129 2025-10-27T05:26:56.192Z,1761542816.192 [DAT](INFO): DAT read: 05:26:54.7840 LVL= 23456, 24785, 32754, 32755, AGC= 61, IDX= 507, 0.41,-2.559,-1.186,-3.110,-1.989, PHS=-0.468, 0.848,-1.165, RAW= 349.9, 8.9, CAL= 350.0, 9.3, ROT= 160.0, -9.3 2025-10-27T05:26:56.193Z,1761542816.193 [DAT](INFO): got valid direction response: 05:26:54.7840 LVL= 23456, 24785, 32754, 32755, AGC= 61, IDX= 507, 0.41,-2.559,-1.186,-3.110,-1.989, PHS=-0.468, 0.848,-1.165, RAW= 349.9, 8.9, CAL= 350.0, 9.3, ROT= 160.0, -9.3 2025-10-27T05:26:56.193Z,1761542816.193 [DAT](INFO): #Rx 64: Read direction message, but no range. 2025-10-27T05:26:56.194Z,1761542816.194 [DAT](INFO): direction in FSK: [-0.927341,0.337525,0.161604] 2025-10-27T05:26:56.197Z,1761542816.197 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.779049 2025-10-27T05:26:56.281Z,1761542816.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528806,0.846414,0.062836],[-0.848252,-0.529567,-0.005210],[0.028866,-0.056056,0.998010]] 2025-10-27T05:26:56.309Z,1761542816.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.262539 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:56.335Z,1761542816.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.961113 m, bearing: 37.671356 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 0.262539 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:56.336Z,1761542816.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-27T05:26:56.444Z,1761542816.444 [DAT](INFO): DAT read: Rx Time:05:26:55.2841 2025-10-27T05:26:56.446Z,1761542816.446 [DAT](INFO): Rx dataTimestamp_ set to:1761542816.444909 2025-10-27T05:26:56.450Z,1761542816.450 [DAT](INFO): DAT read: Bearing 193.3, 17.5 (Local) 2025-10-27T05:26:56.451Z,1761542816.451 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 17.5 (Local) 2025-10-27T05:26:56.457Z,1761542816.457 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.1 2025-10-27T05:26:56.460Z,1761542816.460 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-10-27T05:26:56.464Z,1761542816.464 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.043850 2025-10-27T05:26:56.696Z,1761542816.696 [DAT](INFO): DAT read: 05:26:55.2841 LVL= 23280, 23265, 32754, 32755, AGC= 62, IDX= 509,-0.13,-2.422,-1.038,-2.959,-1.839, PHS=-0.482, 0.846,-1.165, RAW= 349.5, 9.1, CAL= 349.6, 9.6, ROT= 160.4, -9.6 2025-10-27T05:26:56.697Z,1761542816.697 [DAT](INFO): got valid direction response: 05:26:55.2841 LVL= 23280, 23265, 32754, 32755, AGC= 62, IDX= 509,-0.13,-2.422,-1.038,-2.959,-1.839, PHS=-0.482, 0.846,-1.165, RAW= 349.5, 9.1, CAL= 349.6, 9.6, ROT= 160.4, -9.6 2025-10-27T05:26:56.697Z,1761542816.697 [DAT](INFO): #Rx 66: Read direction message, but no range. 2025-10-27T05:26:56.703Z,1761542816.703 [DAT](INFO): direction in FSK: [-0.928865,0.330754,0.166769] 2025-10-27T05:26:56.716Z,1761542816.716 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.298126 2025-10-27T05:26:56.813Z,1761542816.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504714 s, deltaX: 0.100000 m, approachRate: 0.198133 m/s, rangeRepo size: 4 2025-10-27T05:26:56.815Z,1761542816.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.060629 m, bearing: 38.055279 deg, lat: 36.779339 deg, lon: -121.859667 deg, deltaT: 0.504714 s, deltaX: 0.099516 m, approachRate: 0.197173 m/s, posRepo size: 4 2025-10-27T05:26:56.819Z,1761542816.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m. 2025-10-27T05:26:56.948Z,1761542816.948 [DAT](INFO): DAT read: Rx Time:05:26:55.7840 2025-10-27T05:26:56.949Z,1761542816.949 [DAT](INFO): Rx dataTimestamp_ set to:1761542816.948590 2025-10-27T05:26:56.953Z,1761542816.953 [DAT](INFO): DAT read: Bearing 194.5, 18.3 (Local) 2025-10-27T05:26:56.954Z,1761542816.954 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 18.3 (Local) 2025-10-27T05:26:56.960Z,1761542816.960 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.0 2025-10-27T05:26:56.962Z,1761542816.962 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-27T05:26:56.970Z,1761542816.970 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.550659 2025-10-27T05:26:57.091Z,1761542817.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529331,0.846091,0.062757],[-0.847943,-0.530054,-0.005880],[0.028290,-0.056327,0.998012]] 2025-10-27T05:26:57.116Z,1761542817.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503681 s, deltaX: -0.100000 m, approachRate: -0.198539 m/s, rangeRepo size: 4 2025-10-27T05:26:57.116Z,1761542817.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m. 2025-10-27T05:26:57.206Z,1761542817.206 [DAT](INFO): DAT read: 05:26:55.7840 LVL= 22256, 19553, 32754, 32755, AGC= 62, IDX= 508, 0.11,-1.742,-0.361,-2.312,-1.190, PHS=-0.450, 0.874,-1.165, RAW= 350.2, 8.3, CAL= 350.2, 8.4, ROT= 159.8, -8.4 2025-10-27T05:26:57.207Z,1761542817.207 [DAT](INFO): got valid direction response: 05:26:55.7840 LVL= 22256, 19553, 32754, 32755, AGC= 62, IDX= 508, 0.11,-1.742,-0.361,-2.312,-1.190, PHS=-0.450, 0.874,-1.165, RAW= 350.2, 8.3, CAL= 350.2, 8.4, ROT= 159.8, -8.4 2025-10-27T05:26:57.208Z,1761542817.208 [DAT](INFO): #Rx 68: Read direction message, but no range. 2025-10-27T05:26:57.208Z,1761542817.208 [DAT](INFO): direction in FSK: [-0.928425,0.341594,0.146083] 2025-10-27T05:26:57.212Z,1761542817.212 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.793530 2025-10-27T05:26:57.459Z,1761542817.459 [DAT](INFO): DAT read: Rx Time:05:26:56.2841 2025-10-27T05:26:57.461Z,1761542817.461 [DAT](INFO): Rx dataTimestamp_ set to:1761542817.459694 2025-10-27T05:26:57.465Z,1761542817.465 [DAT](INFO): DAT read: Bearing 194.1, 18.2 (Local) 2025-10-27T05:26:57.466Z,1761542817.466 [DAT](INFO): Local bearing/azimuth received: Bearing 194.1, 18.2 (Local) 2025-10-27T05:26:57.471Z,1761542817.471 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.0 2025-10-27T05:26:57.472Z,1761542817.472 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-27T05:26:57.473Z,1761542817.473 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.054665 2025-10-27T05:26:57.495Z,1761542817.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529506,0.845996,0.062571],[-0.847851,-0.530197,-0.006352],[0.027801,-0.056415,0.998020]] 2025-10-27T05:26:57.621Z,1761542817.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.511104 s, deltaX: 0.100000 m, approachRate: 0.195656 m/s, rangeRepo size: 4 2025-10-27T05:26:57.627Z,1761542817.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.060617 m, bearing: 37.460804 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 1.014785 s, deltaX: -0.000011 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T05:26:57.627Z,1761542817.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m. 2025-10-27T05:26:57.726Z,1761542817.726 [DAT](INFO): DAT read: 05:26:56.2841 LVL= 22368, 21585, 32754, 32755, AGC= 63, IDX= 509, 0.36, 0.454, 1.839,-0.113, 1.015, PHS=-0.459, 0.869,-1.172, RAW= 350.1, 8.5, CAL= 350.2, 8.7, ROT= 159.8, -8.7 2025-10-27T05:26:57.732Z,1761542817.732 [DAT](INFO): got valid direction response: 05:26:56.2841 LVL= 22368, 21585, 32754, 32755, AGC= 63, IDX= 509, 0.36, 0.454, 1.839,-0.113, 1.015, PHS=-0.459, 0.869,-1.172, RAW= 350.1, 8.5, CAL= 350.2, 8.7, ROT= 159.8, -8.7 2025-10-27T05:26:57.732Z,1761542817.732 [DAT](INFO): #Rx 70: Read direction message, but no range. 2025-10-27T05:26:57.734Z,1761542817.734 [DAT](INFO): direction in FSK: [-0.927695,0.341325,0.151261] 2025-10-27T05:26:57.741Z,1761542817.741 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.323067 2025-10-27T05:26:57.898Z,1761542817.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529163,0.846222,0.062416],[-0.848087,-0.529810,-0.007038],[0.027113,-0.056658,0.998025]] 2025-10-27T05:26:57.964Z,1761542817.964 [DAT](INFO): DAT read: Rx Time:05:26:56.7841 2025-10-27T05:26:57.965Z,1761542817.965 [DAT](INFO): Rx dataTimestamp_ set to:1761542817.964309 2025-10-27T05:26:57.970Z,1761542817.970 [DAT](INFO): DAT read: Bearing 193.9, 17.5 (Local) 2025-10-27T05:26:57.971Z,1761542817.971 [DAT](INFO): Local bearing/azimuth received: Bearing 193.9, 17.5 (Local) 2025-10-27T05:26:57.973Z,1761542817.973 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.0 2025-10-27T05:26:57.974Z,1761542817.974 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-27T05:26:57.975Z,1761542817.975 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.556271 2025-10-27T05:26:58.039Z,1761542818.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504615 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:58.041Z,1761542818.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.060617 m, bearing: 37.468229 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 0.504615 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:26:58.042Z,1761542818.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m. 2025-10-27T05:26:58.216Z,1761542818.216 [DAT](INFO): DAT read: 05:26:56.7841 LVL= 23328, 23873, 32754, 32755, AGC= 63, IDX= 509,-0.32,-1.206, 0.182,-1.740,-0.631, PHS=-0.472, 0.858,-1.152, RAW= 349.4, 8.7, CAL= 349.5, 9.0, ROT= 160.5, -9.0 2025-10-27T05:26:58.217Z,1761542818.217 [DAT](INFO): got valid direction response: 05:26:56.7841 LVL= 23328, 23873, 32754, 32755, AGC= 63, IDX= 509,-0.32,-1.206, 0.182,-1.740,-0.631, PHS=-0.472, 0.858,-1.152, RAW= 349.4, 8.7, CAL= 349.5, 9.0, ROT= 160.5, -9.0 2025-10-27T05:26:58.217Z,1761542818.217 [DAT](INFO): #Rx 72: Read direction message, but no range. 2025-10-27T05:26:58.218Z,1761542818.218 [DAT](INFO): direction in FSK: [-0.931036,0.329697,0.156434] 2025-10-27T05:26:58.221Z,1761542818.221 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.803158 2025-10-27T05:26:58.302Z,1761542818.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528720,0.846521,0.062108],[-0.848387,-0.529321,-0.007691],[0.026364,-0.056758,0.998040]] 2025-10-27T05:26:58.348Z,1761542818.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m. 2025-10-27T05:26:58.468Z,1761542818.468 [DAT](INFO): DAT read: Rx Time:05:26:57.2841 2025-10-27T05:26:58.470Z,1761542818.470 [DAT](INFO): Rx dataTimestamp_ set to:1761542818.468962 2025-10-27T05:26:58.474Z,1761542818.474 [DAT](INFO): DAT read: Bearing 194.8, 18.3 (Local) 2025-10-27T05:26:58.474Z,1761542818.474 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 18.3 (Local) 2025-10-27T05:26:58.477Z,1761542818.477 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.0 2025-10-27T05:26:58.482Z,1761542818.482 [DAT](INFO): DAT read: 05:26:57.2841 LVL= 21616, 21793, 32754, 32755, AGC= 63, IDX= 509,-0.00,-0.917, 0.465,-1.482,-0.369, PHS=-0.446, 0.879,-1.157, RAW= 350.1, 8.1, CAL= 350.1, 8.1, ROT= 159.9, -8.1 2025-10-27T05:26:58.487Z,1761542818.487 [DAT](INFO): got valid direction response: 05:26:57.2841 LVL= 21616, 21793, 32754, 32755, AGC= 63, IDX= 509,-0.00,-0.917, 0.465,-1.482,-0.369, PHS=-0.446, 0.879,-1.157, RAW= 350.1, 8.1, CAL= 350.1, 8.1, ROT= 159.9, -8.1 2025-10-27T05:26:58.488Z,1761542818.488 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:26:58.489Z,1761542818.489 [DAT](INFO): direction in FSK: [-0.929725,0.340231,0.140901] 2025-10-27T05:26:58.489Z,1761542818.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:58.504Z,1761542818.504 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.085609 2025-10-27T05:26:58.709Z,1761542818.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527841,0.847087,0.061865],[-0.848958,-0.528394,-0.008392],[0.025580,-0.056950,0.998049]] 2025-10-27T05:26:58.717Z,1761542818.717 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.298367 2025-10-27T05:26:58.785Z,1761542818.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504653 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:26:58.791Z,1761542818.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.060665 m, bearing: 37.679880 deg, lat: 36.779339 deg, lon: -121.859667 deg, deltaT: 0.504653 s, deltaX: 0.000048 m, approachRate: 0.000094 m/s, posRepo size: 4 2025-10-27T05:26:58.792Z,1761542818.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m. 2025-10-27T05:26:58.972Z,1761542818.972 [DAT](INFO): DAT read: Rx Time:05:26:57.7840 2025-10-27T05:26:58.972Z,1761542818.972 [DAT](INFO): Rx dataTimestamp_ set to:1761542818.971856 2025-10-27T05:26:58.973Z,1761542818.973 [DAT](INFO): DAT read: Bearing 193.3, 17.9 (Local) 2025-10-27T05:26:58.974Z,1761542818.974 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 17.9 (Local) 2025-10-27T05:26:58.976Z,1761542818.976 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.0 2025-10-27T05:26:58.981Z,1761542818.981 [DAT](INFO): DAT read: 05:26:57.7840 LVL= 28096, 26849, 32754, 32755, AGC= 62, IDX= 508, 0.29,-1.338, 0.021,-1.877,-0.767, PHS=-0.469, 0.833,-1.154, RAW= 349.8, 9.1, CAL= 349.9, 9.6, ROT= 160.1, -9.6 2025-10-27T05:26:58.982Z,1761542818.982 [DAT](INFO): got valid direction response: 05:26:57.7840 LVL= 28096, 26849, 32754, 32755, AGC= 62, IDX= 508, 0.29,-1.338, 0.021,-1.877,-0.767, PHS=-0.469, 0.833,-1.154, RAW= 349.8, 9.1, CAL= 349.9, 9.6, ROT= 160.1, -9.6 2025-10-27T05:26:58.983Z,1761542818.983 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:26:58.984Z,1761542818.984 [DAT](INFO): direction in FSK: [-0.927120,0.335613,0.166769] 2025-10-27T05:26:58.984Z,1761542818.984 [DAT](INFO): publishing direction and range info 2025-10-27T05:26:58.988Z,1761542818.988 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.569416 2025-10-27T05:26:59.110Z,1761542819.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526882,0.847720,0.061371],[-0.849580,-0.527382,-0.009061],[0.024685,-0.056913,0.998074]] 2025-10-27T05:26:59.157Z,1761542819.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.502894 s, deltaX: -0.100000 m, approachRate: -0.198850 m/s, rangeRepo size: 4 2025-10-27T05:26:59.159Z,1761542819.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.961218 m, bearing: 37.874140 deg, lat: 36.779339 deg, lon: -121.859666 deg, deltaT: 0.502894 s, deltaX: -0.099447 m, approachRate: -0.197750 m/s, posRepo size: 4 2025-10-27T05:26:59.160Z,1761542819.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-27T05:26:59.221Z,1761542819.221 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.802441 2025-10-27T05:26:59.473Z,1761542819.473 [DAT](INFO): DAT read: Rx Time:05:26:58.2843 2025-10-27T05:26:59.474Z,1761542819.474 [DAT](INFO): Rx dataTimestamp_ set to:1761542819.473352 2025-10-27T05:26:59.475Z,1761542819.475 [DAT](INFO): DAT read: Bearing 194.6, 18.2 (Local) 2025-10-27T05:26:59.475Z,1761542819.475 [DAT](INFO): Local bearing/azimuth received: Bearing 194.6, 18.2 (Local) 2025-10-27T05:26:59.477Z,1761542819.477 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 2025-10-27T05:26:59.478Z,1761542819.478 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-27T05:26:59.479Z,1761542819.479 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.060791 2025-10-27T05:26:59.545Z,1761542819.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525547,0.848586,0.060842],[-0.850434,-0.525990,-0.009777],[0.023706,-0.056881,0.998100]] 2025-10-27T05:26:59.638Z,1761542819.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.501496 s, deltaX: 0.400000 m, approachRate: 0.797613 m/s, rangeRepo size: 4 2025-10-27T05:26:59.639Z,1761542819.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-27T05:26:59.730Z,1761542819.730 [DAT](INFO): DAT read: 05:26:58.2843 LVL= 21936, 22577, 32754, 32755, AGC= 61, IDX= 511,-0.25,-1.207, 0.174,-1.769,-0.653, PHS=-0.452, 0.872,-1.159, RAW= 350.1, 8.3, CAL= 350.1, 8.4, ROT= 159.9, -8.4 2025-10-27T05:26:59.734Z,1761542819.734 [DAT](INFO): got valid direction response: 05:26:58.2843 LVL= 21936, 22577, 32754, 32755, AGC= 61, IDX= 511,-0.25,-1.207, 0.174,-1.769,-0.653, PHS=-0.452, 0.872,-1.159, RAW= 350.1, 8.3, CAL= 350.1, 8.4, ROT= 159.9, -8.4 2025-10-27T05:26:59.736Z,1761542819.736 [DAT](INFO): #Rx 76: Read direction message, but no range. 2025-10-27T05:26:59.737Z,1761542819.737 [DAT](INFO): direction in FSK: [-0.929020,0.339973,0.146083] 2025-10-27T05:26:59.740Z,1761542819.740 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.321728 2025-10-27T05:26:59.977Z,1761542819.977 [DAT](INFO): DAT read: Rx Time:05:26:58.7842 2025-10-27T05:26:59.977Z,1761542819.977 [DAT](INFO): Rx dataTimestamp_ set to:1761542819.976862 2025-10-27T05:26:59.978Z,1761542819.978 [DAT](INFO): DAT read: Bearing 194.5, 18.6 (Local) 2025-10-27T05:26:59.979Z,1761542819.979 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 18.6 (Local) 2025-10-27T05:26:59.981Z,1761542819.981 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.0 2025-10-27T05:26:59.992Z,1761542819.992 [DAT](INFO): DAT read: 05:26:58.7842 LVL= 23328, 22001, 32754, 32755, AGC= 62, IDX= 510, 0.03,-1.608,-0.242,-2.183,-1.060, PHS=-0.446, 0.864,-1.167, RAW= 350.5, 8.4, CAL= 350.5, 8.6, ROT= 159.5, -8.6 2025-10-27T05:26:59.994Z,1761542819.994 [DAT](INFO): got valid direction response: 05:26:58.7842 LVL= 23328, 22001, 32754, 32755, AGC= 62, IDX= 510, 0.03,-1.608,-0.242,-2.183,-1.060, PHS=-0.446, 0.864,-1.167, RAW= 350.5, 8.4, CAL= 350.5, 8.6, ROT= 159.5, -8.6 2025-10-27T05:26:59.995Z,1761542819.995 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:27:00.005Z,1761542820.005 [DAT](INFO): direction in FSK: [-0.926141,0.346270,0.149535] 2025-10-27T05:27:00.005Z,1761542820.005 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:00.031Z,1761542820.031 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.613041 2025-10-27T05:27:00.052Z,1761542820.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503510 s, deltaX: -0.100000 m, approachRate: -0.198607 m/s, rangeRepo size: 4 2025-10-27T05:27:00.054Z,1761542820.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.259581 m, bearing: 37.412731 deg, lat: 36.779339 deg, lon: -121.859666 deg, deltaT: 1.005006 s, deltaX: 0.298363 m, approachRate: 0.296877 m/s, posRepo size: 4 2025-10-27T05:27:00.054Z,1761542820.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-27T05:27:00.228Z,1761542820.228 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.809639 2025-10-27T05:27:00.321Z,1761542820.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522047,0.850807,0.059955],[-0.852636,-0.522389,-0.011085],[0.021889,-0.056907,0.998140]] 2025-10-27T05:27:00.338Z,1761542820.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-27T05:27:00.480Z,1761542820.480 [DAT](INFO): DAT read: Rx Time:05:26:59.2843 2025-10-27T05:27:00.481Z,1761542820.481 [DAT](INFO): Rx dataTimestamp_ set to:1761542820.480637 2025-10-27T05:27:00.482Z,1761542820.482 [DAT](INFO): DAT read: Bearing 194.4, 19.3 (Local) 2025-10-27T05:27:00.482Z,1761542820.482 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 19.3 (Local) 2025-10-27T05:27:00.485Z,1761542820.485 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 2025-10-27T05:27:00.491Z,1761542820.491 [DAT](INFO): DAT read: 05:26:59.2843 LVL= 23408, 22369, 32754, 32755, AGC= 62, IDX= 511, 0.29, 0.883, 2.226, 0.290, 1.418, PHS=-0.433, 0.853,-1.172, RAW= 351.1, 8.5, CAL= 351.2, 8.7, ROT= 158.8, -8.7 2025-10-27T05:27:00.493Z,1761542820.493 [DAT](INFO): got valid direction response: 05:26:59.2843 LVL= 23408, 22369, 32754, 32755, AGC= 62, IDX= 511, 0.29, 0.883, 2.226, 0.290, 1.418, PHS=-0.433, 0.853,-1.172, RAW= 351.1, 8.5, CAL= 351.2, 8.7, ROT= 158.8, -8.7 2025-10-27T05:27:00.494Z,1761542820.494 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:27:00.496Z,1761542820.496 [DAT](INFO): direction in FSK: [-0.921596,0.357464,0.151261] 2025-10-27T05:27:00.497Z,1761542820.497 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:00.503Z,1761542820.503 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.084328 2025-10-27T05:27:00.728Z,1761542820.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520068,0.852056,0.059415],[-0.853867,-0.520360,-0.011663],[0.020980,-0.056798,0.998165]] 2025-10-27T05:27:00.732Z,1761542820.732 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.313900 2025-10-27T05:27:00.785Z,1761542820.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503775 s, deltaX: 0.100000 m, approachRate: 0.198502 m/s, rangeRepo size: 4 2025-10-27T05:27:00.801Z,1761542820.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.359034 m, bearing: 37.077594 deg, lat: 36.779339 deg, lon: -121.859665 deg, deltaT: 0.503775 s, deltaX: 0.099453 m, approachRate: 0.197415 m/s, posRepo size: 4 2025-10-27T05:27:00.807Z,1761542820.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-27T05:27:00.985Z,1761542820.985 [DAT](INFO): DAT read: Rx Time:05:26:59.7843 2025-10-27T05:27:00.985Z,1761542820.985 [DAT](INFO): Rx dataTimestamp_ set to:1761542820.984753 2025-10-27T05:27:00.986Z,1761542820.986 [DAT](INFO): DAT read: Bearing 194.4, 19.0 (Local) 2025-10-27T05:27:00.987Z,1761542820.987 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 19.0 (Local) 2025-10-27T05:27:00.993Z,1761542820.993 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 2025-10-27T05:27:01.040Z,1761542821.040 [DAT](INFO): DAT read: 05:26:59.7843 LVL= 24848, 24385, 32754, 32755, AGC= 63, IDX= 511,-0.32,-1.056, 0.295,-1.636,-0.513, PHS=-0.442, 0.852,-1.168, RAW= 350.8, 8.6, CAL= 350.8, 8.8, ROT= 159.2, -8.8 2025-10-27T05:27:01.042Z,1761542821.042 [DAT](INFO): got valid direction response: 05:26:59.7843 LVL= 24848, 24385, 32754, 32755, AGC= 63, IDX= 511,-0.32,-1.056, 0.295,-1.636,-0.513, PHS=-0.442, 0.852,-1.168, RAW= 350.8, 8.6, CAL= 350.8, 8.8, ROT= 159.2, -8.8 2025-10-27T05:27:01.042Z,1761542821.042 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:27:01.067Z,1761542821.067 [DAT](INFO): direction in FSK: [-0.923821,0.350927,0.152986] 2025-10-27T05:27:01.068Z,1761542821.068 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:01.091Z,1761542821.091 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.672993 2025-10-27T05:27:01.126Z,1761542821.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518237,0.853197,0.059028],[-0.854995,-0.518495,-0.012053],[0.020323,-0.056715,0.998184]] 2025-10-27T05:27:01.177Z,1761542821.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504116 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:01.179Z,1761542821.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.359034 m, bearing: 37.592709 deg, lat: 36.779339 deg, lon: -121.859664 deg, deltaT: 0.504116 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:27:01.180Z,1761542821.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-27T05:27:01.237Z,1761542821.237 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.818054 2025-10-27T05:27:01.509Z,1761542821.509 [DAT](INFO): DAT read: Rx Time:05:27:00.2843 2025-10-27T05:27:01.533Z,1761542821.533 [DAT](INFO): Rx dataTimestamp_ set to:1761542821.510589 2025-10-27T05:27:01.535Z,1761542821.535 [DAT](INFO): DAT read: Bearing 194.7, 20.0 (Local) 2025-10-27T05:27:01.536Z,1761542821.536 [DAT](INFO): Local bearing/azimuth received: Bearing 194.7, 20.0 (Local) 2025-10-27T05:27:01.538Z,1761542821.538 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 2025-10-27T05:27:01.549Z,1761542821.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516275,0.854412,0.058655],[-0.856196,-0.516502,-0.012399],[0.019702,-0.056622,0.998201]] 2025-10-27T05:27:01.558Z,1761542821.558 [DAT](INFO): DAT read: 05:27:00.2843 LVL= 21920, 22081, 32754, 32755, AGC= 62, IDX= 511, 0.03,-0.628, 0.705,-1.246,-0.108, PHS=-0.418, 0.858,-1.183, RAW= 351.8, 8.4, CAL= 351.8, 8.5, ROT= 158.2, -8.5 2025-10-27T05:27:01.572Z,1761542821.572 [DAT](INFO): got valid direction response: 05:27:00.2843 LVL= 21920, 22081, 32754, 32755, AGC= 62, IDX= 511, 0.03,-0.628, 0.705,-1.246,-0.108, PHS=-0.418, 0.858,-1.183, RAW= 351.8, 8.4, CAL= 351.8, 8.5, ROT= 158.2, -8.5 2025-10-27T05:27:01.572Z,1761542821.572 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:27:01.573Z,1761542821.573 [DAT](INFO): direction in FSK: [-0.918287,0.367289,0.147809] 2025-10-27T05:27:01.573Z,1761542821.573 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:01.585Z,1761542821.585 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.166950 2025-10-27T05:27:01.691Z,1761542821.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.525836 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:01.697Z,1761542821.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.359045 m, bearing: 36.743810 deg, lat: 36.779339 deg, lon: -121.859664 deg, deltaT: 0.525836 s, deltaX: 0.000011 m, approachRate: 0.000022 m/s, posRepo size: 4 2025-10-27T05:27:01.697Z,1761542821.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-27T05:27:01.740Z,1761542821.740 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.321663 2025-10-27T05:27:01.988Z,1761542821.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514755,0.855359,0.058201],[-0.857118,-0.514971,-0.012376],[0.019386,-0.056255,0.998228]] 2025-10-27T05:27:01.994Z,1761542821.994 [DAT](INFO): DAT read: Rx Time:05:27:00.7843 2025-10-27T05:27:01.995Z,1761542821.995 [DAT](INFO): Rx dataTimestamp_ set to:1761542821.994621 2025-10-27T05:27:01.997Z,1761542821.997 [DAT](INFO): DAT read: Bearing 195.0, 20.8 (Local) 2025-10-27T05:27:01.997Z,1761542821.997 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 20.8 (Local) 2025-10-27T05:27:02.004Z,1761542822.004 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 2025-10-27T05:27:02.022Z,1761542822.022 [DAT](INFO): DAT read: 05:27:00.7843 LVL= 21552, 20417, 32754, 32755, AGC= 63, IDX= 510, 0.37,-1.420,-0.109,-2.068,-0.921, PHS=-0.398, 0.856,-1.192, RAW= 352.6, 8.2, CAL= 352.6, 8.3, ROT= 157.4, -8.3 2025-10-27T05:27:02.044Z,1761542822.044 [DAT](INFO): got valid direction response: 05:27:00.7843 LVL= 21552, 20417, 32754, 32755, AGC= 63, IDX= 510, 0.37,-1.420,-0.109,-2.068,-0.921, PHS=-0.398, 0.856,-1.192, RAW= 352.6, 8.2, CAL= 352.6, 8.3, ROT= 157.4, -8.3 2025-10-27T05:27:02.044Z,1761542822.044 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:27:02.045Z,1761542822.045 [DAT](INFO): direction in FSK: [-0.913540,0.380270,0.144356] 2025-10-27T05:27:02.046Z,1761542822.046 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:02.062Z,1761542822.062 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.643223 2025-10-27T05:27:02.087Z,1761542822.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.484032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:02.089Z,1761542822.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.359045 m, bearing: 36.061325 deg, lat: 36.779340 deg, lon: -121.859664 deg, deltaT: 0.484032 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:27:02.090Z,1761542822.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-27T05:27:02.244Z,1761542822.244 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.825886 2025-10-27T05:27:02.376Z,1761542822.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513229,0.856312,0.057670],[-0.858039,-0.513436,-0.012298],[0.019079,-0.055795,0.998260]] 2025-10-27T05:27:02.395Z,1761542822.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-27T05:27:02.498Z,1761542822.498 [DAT](INFO): DAT read: Rx Time:05:27:01.2844 2025-10-27T05:27:02.499Z,1761542822.499 [DAT](INFO): Rx dataTimestamp_ set to:1761542822.497963 2025-10-27T05:27:02.501Z,1761542822.501 [DAT](INFO): DAT read: Bearing 159.3, 9.8 (Local) 2025-10-27T05:27:02.501Z,1761542822.501 [DAT](INFO): Local bearing/azimuth received: Bearing 159.3, 9.8 (Local) 2025-10-27T05:27:02.505Z,1761542822.505 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.0 2025-10-27T05:27:02.517Z,1761542822.517 [DAT](INFO): DAT read: 05:27:01.2844 LVL= 22704, 22177, 32754, 32755, AGC= 63, IDX= 512,-0.15, 1.585, 2.684, 1.198, 2.932, PHS=-1.245,-0.203,-1.778, RAW= 349.4, 39.4, CAL= 348.0, 44.3, ROT= 162.0, -44.3 2025-10-27T05:27:02.518Z,1761542822.518 [DAT](INFO): got valid direction response: 05:27:01.2844 LVL= 22704, 22177, 32754, 32755, AGC= 63, IDX= 512,-0.15, 1.585, 2.684, 1.198, 2.932, PHS=-1.245,-0.203,-1.778, RAW= 349.4, 39.4, CAL= 348.0, 44.3, ROT= 162.0, -44.3 2025-10-27T05:27:02.519Z,1761542822.519 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:27:02.525Z,1761542822.525 [DAT](INFO): direction in FSK: [-0.680664,0.221161,0.698415] 2025-10-27T05:27:02.525Z,1761542822.525 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:02.533Z,1761542822.533 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.115044 2025-10-27T05:27:02.748Z,1761542822.748 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.329540 2025-10-27T05:27:02.779Z,1761542822.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511691,0.857230,0.057700],[-0.858958,-0.511902,-0.012180],[0.019096,-0.055794,0.998260]] 2025-10-27T05:27:02.860Z,1761542822.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503342 s, deltaX: 0.200001 m, approachRate: 0.397346 m/s, rangeRepo size: 4 2025-10-27T05:27:02.862Z,1761542822.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.557913 m, bearing: 38.684135 deg, lat: 36.779340 deg, lon: -121.859664 deg, deltaT: 0.503342 s, deltaX: 0.198868 m, approachRate: 0.395095 m/s, posRepo size: 4 2025-10-27T05:27:02.862Z,1761542822.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-27T05:27:03.002Z,1761542823.002 [DAT](INFO): DAT read: Rx Time:05:27:01.7843 2025-10-27T05:27:03.003Z,1761542823.003 [DAT](INFO): Rx dataTimestamp_ set to:1761542823.002377 2025-10-27T05:27:03.005Z,1761542823.005 [DAT](INFO): DAT read: Bearing 194.5, 22.0 (Local) 2025-10-27T05:27:03.006Z,1761542823.006 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 22.0 (Local) 2025-10-27T05:27:03.010Z,1761542823.010 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 2025-10-27T05:27:03.020Z,1761542823.020 [DAT](INFO): DAT read: 05:27:01.7843 LVL= 25488, 21217, 32754, 32755, AGC= 63, IDX= 511, 0.15,-2.477,-1.201, 3.124,-1.992, PHS=-0.383, 0.835,-1.211, RAW= 353.7, 8.6, CAL= 353.8, 8.8, ROT= 156.2, -8.8 2025-10-27T05:27:03.021Z,1761542823.021 [DAT](INFO): got valid direction response: 05:27:01.7843 LVL= 25488, 21217, 32754, 32755, AGC= 63, IDX= 511, 0.15,-2.477,-1.201, 3.124,-1.992, PHS=-0.383, 0.835,-1.211, RAW= 353.7, 8.6, CAL= 353.8, 8.8, ROT= 156.2, -8.8 2025-10-27T05:27:03.022Z,1761542823.022 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:27:03.027Z,1761542823.027 [DAT](INFO): direction in FSK: [-0.904189,0.398795,0.152986] 2025-10-27T05:27:03.027Z,1761542823.027 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:03.035Z,1761542823.035 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.612446 2025-10-27T05:27:03.181Z,1761542823.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510464,0.857964,0.057656],[-0.859686,-0.510682,-0.011999],[0.019149,-0.055692,0.998264]] 2025-10-27T05:27:03.234Z,1761542823.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504414 s, deltaX: -0.200001 m, approachRate: -0.396501 m/s, rangeRepo size: 4 2025-10-27T05:27:03.236Z,1761542823.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.359018 m, bearing: 35.136389 deg, lat: 36.779340 deg, lon: -121.859667 deg, deltaT: 0.504414 s, deltaX: -0.198895 m, approachRate: -0.394308 m/s, posRepo size: 4 2025-10-27T05:27:03.236Z,1761542823.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-27T05:27:03.255Z,1761542823.255 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.836460 2025-10-27T05:27:03.511Z,1761542823.511 [DAT](INFO): DAT read: Rx Time:05:27:02.2844 2025-10-27T05:27:03.513Z,1761542823.513 [DAT](INFO): Rx dataTimestamp_ set to:1761542823.512173 2025-10-27T05:27:03.517Z,1761542823.517 [DAT](INFO): DAT read: Bearing 210.5, 23.7 (Local) 2025-10-27T05:27:03.518Z,1761542823.518 [DAT](INFO): Local bearing/azimuth received: Bearing 210.5, 23.7 (Local) 2025-10-27T05:27:03.525Z,1761542823.525 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.0 2025-10-27T05:27:03.530Z,1761542823.530 [DAT](INFO): DAT read: 05:27:02.2844 LVL= 23248, 20593, 32754, 32755, AGC= 64, IDX= 513,-0.39, 2.230,-2.667, 1.404, 2.352, PHS=-0.020, 1.309,-0.992, RAW= 354.9, -3.0, CAL= 354.5, -5.9, ROT= 155.5, 5.9 2025-10-27T05:27:03.531Z,1761542823.531 [DAT](INFO): got valid direction response: 05:27:02.2844 LVL= 23248, 20593, 32754, 32755, AGC= 64, IDX= 513,-0.39, 2.230,-2.667, 1.404, 2.352, PHS=-0.020, 1.309,-0.992, RAW= 354.9, -3.0, CAL= 354.5, -5.9, ROT= 155.5, 5.9 2025-10-27T05:27:03.531Z,1761542823.531 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:27:03.532Z,1761542823.532 [DAT](INFO): direction in FSK: [-0.905141,0.412497,-0.102793] 2025-10-27T05:27:03.532Z,1761542823.532 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:03.536Z,1761542823.536 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.117958 2025-10-27T05:27:03.619Z,1761542823.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509555,0.858490,0.057873],[-0.860217,-0.509795,-0.011637],[0.019514,-0.055713,0.998256]] 2025-10-27T05:27:03.712Z,1761542823.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.509796 s, deltaX: 0.200001 m, approachRate: 0.392315 m/s, rangeRepo size: 4 2025-10-27T05:27:03.720Z,1761542823.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.557899 m, bearing: 35.131889 deg, lat: 36.779341 deg, lon: -121.859669 deg, deltaT: 0.509796 s, deltaX: 0.198881 m, approachRate: 0.390119 m/s, posRepo size: 4 2025-10-27T05:27:03.720Z,1761542823.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-27T05:27:03.756Z,1761542823.756 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.338074 2025-10-27T05:27:04.010Z,1761542824.010 [DAT](INFO): DAT read: Rx Time:05:27:02.7843 2025-10-27T05:27:04.012Z,1761542824.012 [DAT](INFO): Rx dataTimestamp_ set to:1761542824.010861 2025-10-27T05:27:04.013Z,1761542824.013 [DAT](INFO): DAT read: Bearing 186.0, 33.2 (Local) 2025-10-27T05:27:04.014Z,1761542824.014 [DAT](INFO): Local bearing/azimuth received: Bearing 186.0, 33.2 (Local) 2025-10-27T05:27:04.017Z,1761542824.017 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 2025-10-27T05:27:04.021Z,1761542824.021 [DAT](INFO): DAT read: 05:27:02.7843 LVL= 21728, 22417, 30898, 31523, AGC= 63, IDX= 512,-0.02, 1.765, 2.604, 0.745, 2.086, PHS=-0.219, 0.563,-1.386, RAW= 6.5, 12.2, CAL= 6.5, 14.4, ROT= 143.5, -14.4 2025-10-27T05:27:04.022Z,1761542824.022 [DAT](INFO): got valid direction response: 05:27:02.7843 LVL= 21728, 22417, 30898, 31523, AGC= 63, IDX= 512,-0.02, 1.765, 2.604, 0.745, 2.086, PHS=-0.219, 0.563,-1.386, RAW= 6.5, 12.2, CAL= 6.5, 14.4, ROT= 143.5, -14.4 2025-10-27T05:27:04.036Z,1761542824.036 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:27:04.037Z,1761542824.037 [DAT](INFO): direction in FSK: [-0.778602,0.576135,0.248690] 2025-10-27T05:27:04.037Z,1761542824.037 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:04.041Z,1761542824.041 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.622723 2025-10-27T05:27:04.048Z,1761542824.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508874,0.858879,0.058095],[-0.860611,-0.509137,-0.011278],[0.019892,-0.055737,0.998247]] 2025-10-27T05:27:04.119Z,1761542824.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.498688 s, deltaX: -0.200001 m, approachRate: -0.401054 m/s, rangeRepo size: 4 2025-10-27T05:27:04.125Z,1761542824.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.359005 m, bearing: 22.439029 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 0.498688 s, deltaX: -0.198895 m, approachRate: -0.398836 m/s, posRepo size: 4 2025-10-27T05:27:04.125Z,1761542824.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-27T05:27:04.260Z,1761542824.260 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.841686 2025-10-27T05:27:04.401Z,1761542824.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508626,0.859008,0.058346],[-0.860744,-0.508924,-0.010759],[0.020452,-0.055693,0.998238]] 2025-10-27T05:27:04.517Z,1761542824.517 [DAT](INFO): DAT read: Rx Time:05:27:03.2845 2025-10-27T05:27:04.518Z,1761542824.518 [DAT](INFO): Rx dataTimestamp_ set to:1761542824.517229 2025-10-27T05:27:04.522Z,1761542824.522 [DAT](INFO): DAT read: Bearing 198.1, 15.1 (Local) 2025-10-27T05:27:04.524Z,1761542824.524 [DAT](INFO): Local bearing/azimuth received: Bearing 198.1, 15.1 (Local) 2025-10-27T05:27:04.526Z,1761542824.526 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.1 2025-10-27T05:27:04.540Z,1761542824.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-27T05:27:04.539Z,1761542824.539 [DAT](INFO): DAT read: 05:27:03.2845 LVL= 22688, 21521, 32754, 32755, AGC= 63, IDX= 512, 0.36, 2.592,-2.314, 2.180, 3.142, PHS=-0.448, 0.872,-1.006, RAW= 346.8, 7.0, CAL= 346.7, 6.4, ROT= 163.3, -6.4 2025-10-27T05:27:04.548Z,1761542824.548 [DAT](INFO): got valid direction response: 05:27:03.2845 LVL= 22688, 21521, 32754, 32755, AGC= 63, IDX= 512, 0.36, 2.592,-2.314, 2.180, 3.142, PHS=-0.448, 0.872,-1.006, RAW= 346.8, 7.0, CAL= 346.7, 6.4, ROT= 163.3, -6.4 2025-10-27T05:27:04.548Z,1761542824.548 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:27:04.549Z,1761542824.549 [DAT](INFO): direction in FSK: [-0.951853,0.285570,0.111469] 2025-10-27T05:27:04.550Z,1761542824.550 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:04.566Z,1761542824.566 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.147167 2025-10-27T05:27:04.764Z,1761542824.764 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.345673 2025-10-27T05:27:04.800Z,1761542824.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508879,0.858849,0.058482],[-0.860577,-0.509222,-0.009992],[0.021199,-0.055413,0.998238]] 2025-10-27T05:27:04.861Z,1761542824.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.506368 s, deltaX: 0.299999 m, approachRate: 0.592453 m/s, rangeRepo size: 4 2025-10-27T05:27:04.879Z,1761542824.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.657309 m, bearing: 42.417241 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 0.506368 s, deltaX: 0.298304 m, approachRate: 0.589104 m/s, posRepo size: 4 2025-10-27T05:27:04.879Z,1761542824.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:27:05.017Z,1761542825.017 [DAT](INFO): DAT read: Rx Time:05:27:03.7844 2025-10-27T05:27:05.017Z,1761542825.017 [DAT](INFO): Rx dataTimestamp_ set to:1761542825.016998 2025-10-27T05:27:05.019Z,1761542825.019 [DAT](INFO): DAT read: Bearing 202.3, 29.2 (Local) 2025-10-27T05:27:05.019Z,1761542825.019 [DAT](INFO): Local bearing/azimuth received: Bearing 202.3, 29.2 (Local) 2025-10-27T05:27:05.021Z,1761542825.021 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.0 2025-10-27T05:27:05.026Z,1761542825.026 [DAT](INFO): DAT read: 05:27:03.7844 LVL= 21680, 20081, 31778, 32243, AGC= 63, IDX= 512,-0.09,-0.214, 0.840,-1.100,-0.016, PHS=-0.096, 0.901,-1.128, RAW= 0.6, 3.7, CAL= 0.4, 1.3, ROT= 149.6, -1.3 2025-10-27T05:27:05.027Z,1761542825.027 [DAT](INFO): got valid direction response: 05:27:03.7844 LVL= 21680, 20081, 31778, 32243, AGC= 63, IDX= 512,-0.09,-0.214, 0.840,-1.100,-0.016, PHS=-0.096, 0.901,-1.128, RAW= 0.6, 3.7, CAL= 0.4, 1.3, ROT= 149.6, -1.3 2025-10-27T05:27:05.027Z,1761542825.027 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:27:05.028Z,1761542825.028 [DAT](INFO): direction in FSK: [-0.862292,0.505903,0.022687] 2025-10-27T05:27:05.029Z,1761542825.029 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:05.033Z,1761542825.033 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.614536 2025-10-27T05:27:05.209Z,1761542825.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509350,0.858558,0.058661],[-0.860279,-0.509741,-0.009227],[0.021980,-0.055164,0.998235]] 2025-10-27T05:27:05.236Z,1761542825.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.499769 s, deltaX: -0.099998 m, approachRate: -0.200089 m/s, rangeRepo size: 4 2025-10-27T05:27:05.238Z,1761542825.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.557861 m, bearing: 28.938079 deg, lat: 36.779342 deg, lon: -121.859670 deg, deltaT: 0.499769 s, deltaX: -0.099447 m, approachRate: -0.198986 m/s, posRepo size: 4 2025-10-27T05:27:05.238Z,1761542825.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-27T05:27:05.268Z,1761542825.268 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.849522 2025-10-27T05:27:05.529Z,1761542825.529 [DAT](INFO): DAT read: Rx Time:05:27:04.2845 2025-10-27T05:27:05.530Z,1761542825.530 [DAT](INFO): Rx dataTimestamp_ set to:1761542825.529298 2025-10-27T05:27:05.534Z,1761542825.534 [DAT](INFO): DAT read: Bearing 193.1, 22.6 (Local) 2025-10-27T05:27:05.536Z,1761542825.536 [DAT](INFO): Local bearing/azimuth received: Bearing 193.1, 22.6 (Local) 2025-10-27T05:27:05.559Z,1761542825.559 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.1 2025-10-27T05:27:05.568Z,1761542825.568 [DAT](INFO): DAT read: 05:27:04.2845 LVL= 32752, 32721, 32754, 29507, AGC= 67, IDX= 1, 0.29,-1.667,-0.438,-2.367,-1.177, PHS=-0.388, 0.785,-1.234, RAW= 354.7, 9.6, CAL= 354.8, 10.4, ROT= 155.2, -10.4 2025-10-27T05:27:05.569Z,1761542825.569 [DAT](INFO): got valid direction response: 05:27:04.2845 LVL= 32752, 32721, 32754, 29507, AGC= 67, IDX= 1, 0.29,-1.667,-0.438,-2.367,-1.177, PHS=-0.388, 0.785,-1.234, RAW= 354.7, 9.6, CAL= 354.8, 10.4, ROT= 155.2, -10.4 2025-10-27T05:27:05.570Z,1761542825.570 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:27:05.571Z,1761542825.571 [DAT](INFO): direction in FSK: [-0.892864,0.412561,0.180519] 2025-10-27T05:27:05.575Z,1761542825.575 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:05.587Z,1761542825.587 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.160389 2025-10-27T05:27:05.624Z,1761542825.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510648,0.857763,0.059000],[-0.859468,-0.511131,-0.007731],[0.023526,-0.054657,0.998228]] 2025-10-27T05:27:05.722Z,1761542825.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.512300 s, deltaX: 0.099998 m, approachRate: 0.195195 m/s, rangeRepo size: 4 2025-10-27T05:27:05.729Z,1761542825.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.657261 m, bearing: 34.081823 deg, lat: 36.779343 deg, lon: -121.859674 deg, deltaT: 0.512300 s, deltaX: 0.099400 m, approachRate: 0.194026 m/s, posRepo size: 4 2025-10-27T05:27:05.729Z,1761542825.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:27:05.776Z,1761542825.776 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.357662 2025-10-27T05:27:06.020Z,1761542826.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511420,0.857277,0.059367],[-0.858988,-0.511945,-0.007166],[0.024250,-0.054661,0.998210]] 2025-10-27T05:27:06.029Z,1761542826.029 [DAT](INFO): DAT read: Rx Time:05:27:04.7844 2025-10-27T05:27:06.029Z,1761542826.029 [DAT](INFO): Rx dataTimestamp_ set to:1761542826.028877 2025-10-27T05:27:06.030Z,1761542826.030 [DAT](INFO): DAT read: Bearing 193.3, 22.8 (Local) 2025-10-27T05:27:06.031Z,1761542826.031 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 22.8 (Local) 2025-10-27T05:27:06.033Z,1761542826.033 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.0 2025-10-27T05:27:06.038Z,1761542826.038 [DAT](INFO): DAT read: 05:27:04.7844 LVL= 24624, 22385, 32754, 32755, AGC= 64, IDX= 497,-0.08, 1.686, 2.924, 0.972, 2.173, PHS=-0.385, 0.796,-1.246, RAW= 354.8, 9.4, CAL= 355.0, 10.2, ROT= 155.0, -10.2 2025-10-27T05:27:06.039Z,1761542826.039 [DAT](INFO): got valid direction response: 05:27:04.7844 LVL= 24624, 22385, 32754, 32755, AGC= 64, IDX= 497,-0.08, 1.686, 2.924, 0.972, 2.173, PHS=-0.385, 0.796,-1.246, RAW= 354.8, 9.4, CAL= 355.0, 10.2, ROT= 155.0, -10.2 2025-10-27T05:27:06.039Z,1761542826.039 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:27:06.040Z,1761542826.040 [DAT](INFO): direction in FSK: [-0.891984,0.415939,0.177085] 2025-10-27T05:27:06.040Z,1761542826.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:06.048Z,1761542826.048 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.630005 2025-10-27T05:27:06.116Z,1761542826.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.499579 s, deltaX: -0.099998 m, approachRate: -0.200165 m/s, rangeRepo size: 4 2025-10-27T05:27:06.118Z,1761542826.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.557816 m, bearing: 33.841687 deg, lat: 36.779343 deg, lon: -121.859675 deg, deltaT: 0.499579 s, deltaX: -0.099445 m, approachRate: -0.199058 m/s, posRepo size: 4 2025-10-27T05:27:06.118Z,1761542826.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-27T05:27:06.280Z,1761542826.280 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.861839 2025-10-27T05:27:06.472Z,1761542826.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512190,0.856787,0.059821],[-0.858513,-0.512748,-0.006783],[0.024861,-0.054831,0.998186]] 2025-10-27T05:27:06.538Z,1761542826.538 [DAT](INFO): DAT read: Rx Time:05:27:05.2846 2025-10-27T05:27:06.540Z,1761542826.540 [DAT](INFO): Rx dataTimestamp_ set to:1761542826.539281 2025-10-27T05:27:06.544Z,1761542826.544 [DAT](INFO): DAT read: Bearing 193.3, 22.5 (Local) 2025-10-27T05:27:06.545Z,1761542826.545 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 22.5 (Local) 2025-10-27T05:27:06.551Z,1761542826.551 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 2025-10-27T05:27:06.569Z,1761542826.569 [DAT](INFO): DAT read: 05:27:05.2846 LVL= 22960, 19393, 26226, 26579, AGC= 66, IDX= 3,-0.50, 2.043,-2.997, 1.341, 2.535, PHS=-0.390, 0.796,-1.238, RAW= 354.5, 9.4, CAL= 354.6, 10.2, ROT= 155.4, -10.2 2025-10-27T05:27:06.570Z,1761542826.570 [DAT](INFO): got valid direction response: 05:27:05.2846 LVL= 22960, 19393, 26226, 26579, AGC= 66, IDX= 3,-0.50, 2.043,-2.997, 1.341, 2.535, PHS=-0.390, 0.796,-1.238, RAW= 354.5, 9.4, CAL= 354.6, 10.2, ROT= 155.4, -10.2 2025-10-27T05:27:06.591Z,1761542826.591 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:27:06.592Z,1761542826.592 [DAT](INFO): direction in FSK: [-0.894866,0.409702,0.177085] 2025-10-27T05:27:06.592Z,1761542826.592 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:06.612Z,1761542826.612 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.193703 2025-10-27T05:27:06.632Z,1761542826.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.510404 s, deltaX: 0.299999 m, approachRate: 0.587768 m/s, rangeRepo size: 4 2025-10-27T05:27:06.634Z,1761542826.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.856171 m, bearing: 34.187270 deg, lat: 36.779343 deg, lon: -121.859674 deg, deltaT: 0.510404 s, deltaX: 0.298355 m, approachRate: 0.584547 m/s, posRepo size: 4 2025-10-27T05:27:06.635Z,1761542826.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.86 m. 2025-10-27T05:27:06.788Z,1761542826.788 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.369793 2025-10-27T05:27:06.894Z,1761542826.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512434,0.856573,0.060782],[-0.858351,-0.513019,-0.006751],[0.025400,-0.055632,0.998128]] 2025-10-27T05:27:06.903Z,1761542826.903 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA 85.78, 81.54, 80.18 2025-10-27T05:27:06.992Z,1761542826.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.86 m. 2025-10-27T05:27:07.041Z,1761542827.041 [DAT](INFO): DAT read: Rx Time:05:27:05.7845 2025-10-27T05:27:07.042Z,1761542827.042 [DAT](INFO): Rx dataTimestamp_ set to:1761542827.041182 2025-10-27T05:27:07.044Z,1761542827.044 [DAT](INFO): DAT read: Bearing 193.0, 22.9 (Local) 2025-10-27T05:27:07.044Z,1761542827.044 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 22.9 (Local) 2025-10-27T05:27:07.049Z,1761542827.049 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.1 2025-10-27T05:27:07.055Z,1761542827.055 [DAT](INFO): DAT read: 05:27:05.7845 LVL= 25296, 22833, 32754, 32755, AGC= 64, IDX= 498, 0.09, 1.685, 2.915, 0.963, 2.171, PHS=-0.385, 0.788,-1.252, RAW= 355.1, 9.6, CAL= 355.2, 10.4, ROT= 154.8, -10.4 2025-10-27T05:27:07.056Z,1761542827.056 [DAT](INFO): got valid direction response: 05:27:05.7845 LVL= 25296, 22833, 32754, 32755, AGC= 64, IDX= 498, 0.09, 1.685, 2.915, 0.963, 2.171, PHS=-0.385, 0.788,-1.252, RAW= 355.1, 9.6, CAL= 355.2, 10.4, ROT= 154.8, -10.4 2025-10-27T05:27:07.057Z,1761542827.057 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:27:07.058Z,1761542827.058 [DAT](INFO): direction in FSK: [-0.889962,0.418784,0.180519] 2025-10-27T05:27:07.059Z,1761542827.059 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:07.068Z,1761542827.068 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.650036 2025-10-27T05:27:07.292Z,1761542827.292 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.873474 2025-10-27T05:27:07.296Z,1761542827.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513041,0.856171,0.061313],[-0.857978,-0.513644,-0.006700],[0.025756,-0.056043,0.998096]] 2025-10-27T05:27:07.319Z,1761542827.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.501901 s, deltaX: -0.200001 m, approachRate: -0.398486 m/s, rangeRepo size: 4 2025-10-27T05:27:07.321Z,1761542827.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.657276 m, bearing: 33.519197 deg, lat: 36.779343 deg, lon: -121.859675 deg, deltaT: 0.501901 s, deltaX: -0.198895 m, approachRate: -0.396282 m/s, posRepo size: 4 2025-10-27T05:27:07.322Z,1761542827.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:27:07.548Z,1761542827.548 [DAT](INFO): DAT read: Rx Time:05:27:06.2847 2025-10-27T05:27:07.550Z,1761542827.550 [DAT](INFO): Rx dataTimestamp_ set to:1761542827.548728 2025-10-27T05:27:07.554Z,1761542827.554 [DAT](INFO): DAT read: Bearing 192.3, 22.0 (Local) 2025-10-27T05:27:07.555Z,1761542827.555 [DAT](INFO): Local bearing/azimuth received: Bearing 192.3, 22.0 (Local) 2025-10-27T05:27:07.571Z,1761542827.571 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.0 2025-10-27T05:27:07.602Z,1761542827.602 [DAT](INFO): DAT read: 05:27:06.2847 LVL= 25536, 23793, 32754, 32755, AGC= 64, IDX= 500,-0.24, 0.772, 2.018, 0.087, 1.287, PHS=-0.414, 0.775,-1.245, RAW= 354.2, 10.1, CAL= 354.3, 11.1, ROT= 155.7, -11.1 2025-10-27T05:27:07.612Z,1761542827.612 [DAT](INFO): got valid direction response: 05:27:06.2847 LVL= 25536, 23793, 32754, 32755, AGC= 64, IDX= 500,-0.24, 0.772, 2.018, 0.087, 1.287, PHS=-0.414, 0.775,-1.245, RAW= 354.2, 10.1, CAL= 354.3, 11.1, ROT= 155.7, -11.1 2025-10-27T05:27:07.612Z,1761542827.612 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:27:07.613Z,1761542827.613 [DAT](INFO): direction in FSK: [-0.894353,0.403816,0.192522] 2025-10-27T05:27:07.614Z,1761542827.614 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:07.621Z,1761542827.621 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.203102 2025-10-27T05:27:07.698Z,1761542827.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513451,0.855913,0.061496],[-0.857729,-0.514059,-0.006705],[0.025874,-0.056189,0.998085]] 2025-10-27T05:27:07.768Z,1761542827.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.507546 s, deltaX: 0.300001 m, approachRate: 0.591082 m/s, rangeRepo size: 4 2025-10-27T05:27:07.770Z,1761542827.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.955574 m, bearing: 34.354412 deg, lat: 36.779343 deg, lon: -121.859674 deg, deltaT: 0.507546 s, deltaX: 0.298298 m, approachRate: 0.587726 m/s, posRepo size: 4 2025-10-27T05:27:07.770Z,1761542827.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m. 2025-10-27T05:27:07.796Z,1761542827.796 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.377666 2025-10-27T05:27:08.048Z,1761542828.048 [DAT](INFO): DAT read: Rx Time:05:27:06.7846 2025-10-27T05:27:08.049Z,1761542828.049 [DAT](INFO): Rx dataTimestamp_ set to:1761542828.048650 2025-10-27T05:27:08.050Z,1761542828.050 [DAT](INFO): DAT read: Bearing 191.7, 22.2 (Local) 2025-10-27T05:27:08.051Z,1761542828.051 [DAT](INFO): Local bearing/azimuth received: Bearing 191.7, 22.2 (Local) 2025-10-27T05:27:08.053Z,1761542828.053 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 2025-10-27T05:27:08.057Z,1761542828.057 [DAT](INFO): DAT read: 05:27:06.7846 LVL= 25008, 28145, 32754, 32755, AGC= 64, IDX= 499, 0.21, 1.461, 2.690, 0.770, 1.977, PHS=-0.414, 0.758,-1.251, RAW= 354.5, 10.4, CAL= 354.7, 11.7, ROT= 155.3, -11.7 2025-10-27T05:27:08.058Z,1761542828.058 [DAT](INFO): got valid direction response: 05:27:06.7846 LVL= 25008, 28145, 32754, 32755, AGC= 64, IDX= 499, 0.21, 1.461, 2.690, 0.770, 1.977, PHS=-0.414, 0.758,-1.251, RAW= 354.5, 10.4, CAL= 354.7, 11.7, ROT= 155.3, -11.7 2025-10-27T05:27:08.064Z,1761542828.064 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T05:27:08.064Z,1761542828.064 [DAT](INFO): direction in FSK: [-0.889632,0.409185,0.202787] 2025-10-27T05:27:08.065Z,1761542828.065 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:08.068Z,1761542828.068 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.650097 2025-10-27T05:27:08.115Z,1761542828.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513884,0.855648,0.061569],[-0.857463,-0.514504,-0.006542],[0.026080,-0.056155,0.998081]] 2025-10-27T05:27:08.174Z,1761542828.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.499922 s, deltaX: -0.100000 m, approachRate: -0.200032 m/s, rangeRepo size: 4 2025-10-27T05:27:08.177Z,1761542828.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.856127 m, bearing: 33.905297 deg, lat: 36.779343 deg, lon: -121.859675 deg, deltaT: 0.499922 s, deltaX: -0.099447 m, approachRate: -0.198926 m/s, posRepo size: 4 2025-10-27T05:27:08.178Z,1761542828.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.86 m. 2025-10-27T05:27:08.300Z,1761542828.300 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.881756 2025-10-27T05:27:08.515Z,1761542828.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514355,0.855397,0.061117],[-0.857180,-0.514979,-0.006256],[0.026123,-0.055606,0.998111]] 2025-10-27T05:27:08.556Z,1761542828.556 [DAT](INFO): DAT read: Rx Time:05:27:07.2847 2025-10-27T05:27:08.557Z,1761542828.557 [DAT](INFO): Rx dataTimestamp_ set to:1761542828.556429 2025-10-27T05:27:08.561Z,1761542828.561 [DAT](INFO): DAT read: Bearing 191.9, 21.7 (Local) 2025-10-27T05:27:08.563Z,1761542828.563 [DAT](INFO): Local bearing/azimuth received: Bearing 191.9, 21.7 (Local) 2025-10-27T05:27:08.573Z,1761542828.573 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.0 2025-10-27T05:27:08.612Z,1761542828.612 [DAT](INFO): DAT read: 05:27:07.2847 LVL= 25520, 24817, 32754, 32755, AGC= 64, IDX= 500,-0.17,-0.516, 0.726,-1.188, 0.011, PHS=-0.424, 0.760,-1.243, RAW= 354.0, 10.4, CAL= 354.2, 11.7, ROT= 155.8, -11.7 2025-10-27T05:27:08.613Z,1761542828.613 [DAT](INFO): got valid direction response: 05:27:07.2847 LVL= 25520, 24817, 32754, 32755, AGC= 64, IDX= 500,-0.17,-0.516, 0.726,-1.188, 0.011, PHS=-0.424, 0.760,-1.243, RAW= 354.0, 10.4, CAL= 354.2, 11.7, ROT= 155.8, -11.7 2025-10-27T05:27:08.613Z,1761542828.613 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:27:08.614Z,1761542828.614 [DAT](INFO): direction in FSK: [-0.893169,0.401406,0.202787] 2025-10-27T05:27:08.615Z,1761542828.615 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:08.630Z,1761542828.630 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.212044 2025-10-27T05:27:08.656Z,1761542828.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.507779 s, deltaX: 0.100000 m, approachRate: 0.196937 m/s, rangeRepo size: 4 2025-10-27T05:27:08.658Z,1761542828.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.955580 m, bearing: 34.374615 deg, lat: 36.779342 deg, lon: -121.859673 deg, deltaT: 0.507779 s, deltaX: 0.099453 m, approachRate: 0.195859 m/s, posRepo size: 4 2025-10-27T05:27:08.658Z,1761542828.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m. 2025-10-27T05:27:08.804Z,1761542828.804 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.385677 2025-10-27T05:27:08.910Z,1761542828.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514174,0.855532,0.060745],[-0.857293,-0.514791,-0.006217],[0.025952,-0.055273,0.998134]] 2025-10-27T05:27:09.033Z,1761542829.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m. 2025-10-27T05:27:09.057Z,1761542829.057 [DAT](INFO): DAT read: Rx Time:05:27:07.7846 2025-10-27T05:27:09.057Z,1761542829.057 [DAT](INFO): Rx dataTimestamp_ set to:1761542829.056762 2025-10-27T05:27:09.058Z,1761542829.058 [DAT](INFO): DAT read: Bearing 190.4, 21.5 (Local) 2025-10-27T05:27:09.059Z,1761542829.059 [DAT](INFO): Local bearing/azimuth received: Bearing 190.4, 21.5 (Local) 2025-10-27T05:27:09.061Z,1761542829.061 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 2025-10-27T05:27:09.065Z,1761542829.065 [DAT](INFO): DAT read: 05:27:07.7846 LVL= 25296, 32385, 32754, 32755, AGC= 64, IDX= 499, 0.14, 0.789, 2.018, 0.129, 1.337, PHS=-0.446, 0.726,-1.252, RAW= 353.9, 11.3, CAL= 354.2, 13.0, ROT= 155.8, -13.0 2025-10-27T05:27:09.067Z,1761542829.067 [DAT](INFO): got valid direction response: 05:27:07.7846 LVL= 25296, 32385, 32754, 32755, AGC= 64, IDX= 499, 0.14, 0.789, 2.018, 0.129, 1.337, PHS=-0.446, 0.726,-1.252, RAW= 353.9, 11.3, CAL= 354.2, 13.0, ROT= 155.8, -13.0 2025-10-27T05:27:09.067Z,1761542829.067 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:27:09.068Z,1761542829.068 [DAT](INFO): direction in FSK: [-0.888743,0.399417,0.224951] 2025-10-27T05:27:09.068Z,1761542829.068 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:09.080Z,1761542829.080 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.661758 2025-10-27T05:27:09.308Z,1761542829.308 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.889732 2025-10-27T05:27:09.315Z,1761542829.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513370,0.856029,0.060542],[-0.857788,-0.513961,-0.006566],[0.025495,-0.055303,0.998144]] 2025-10-27T05:27:09.338Z,1761542829.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.500333 s, deltaX: -0.100000 m, approachRate: -0.199868 m/s, rangeRepo size: 4 2025-10-27T05:27:09.340Z,1761542829.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.856133 m, bearing: 34.387995 deg, lat: 36.779342 deg, lon: -121.859674 deg, deltaT: 0.500333 s, deltaX: -0.099447 m, approachRate: -0.198762 m/s, posRepo size: 4 2025-10-27T05:27:09.341Z,1761542829.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.86 m. 2025-10-27T05:27:09.564Z,1761542829.564 [DAT](INFO): DAT read: Rx Time:05:27:08.2848 2025-10-27T05:27:09.566Z,1761542829.566 [DAT](INFO): Rx dataTimestamp_ set to:1761542829.564828 2025-10-27T05:27:09.573Z,1761542829.573 [DAT](INFO): DAT read: Bearing 192.4, 21.8 (Local) 2025-10-27T05:27:09.575Z,1761542829.575 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 21.8 (Local) 2025-10-27T05:27:09.585Z,1761542829.585 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.1 2025-10-27T05:27:09.623Z,1761542829.623 [DAT](INFO): DAT read: 05:27:08.2848 LVL= 25280, 23825, 32754, 32755, AGC= 64, IDX= 501,-0.30,-0.036, 1.213,-0.719, 0.481, PHS=-0.415, 0.777,-1.244, RAW= 354.1, 10.1, CAL= 354.3, 11.1, ROT= 155.7, -11.1 2025-10-27T05:27:09.636Z,1761542829.636 [DAT](INFO): got valid direction response: 05:27:08.2848 LVL= 25280, 23825, 32754, 32755, AGC= 64, IDX= 501,-0.30,-0.036, 1.213,-0.719, 0.481, PHS=-0.415, 0.777,-1.244, RAW= 354.1, 10.1, CAL= 354.3, 11.1, ROT= 155.7, -11.1 2025-10-27T05:27:09.636Z,1761542829.636 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:27:09.637Z,1761542829.637 [DAT](INFO): direction in FSK: [-0.894353,0.403816,0.192522] 2025-10-27T05:27:09.638Z,1761542829.638 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:09.649Z,1761542829.649 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.231155 2025-10-27T05:27:09.796Z,1761542829.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.508066 s, deltaX: 0.299999 m, approachRate: 0.590473 m/s, rangeRepo size: 4 2025-10-27T05:27:09.798Z,1761542829.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.154457 m, bearing: 34.366938 deg, lat: 36.779342 deg, lon: -121.859673 deg, deltaT: 0.508066 s, deltaX: 0.298325 m, approachRate: 0.587177 m/s, posRepo size: 4 2025-10-27T05:27:09.798Z,1761542829.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.15 m. 2025-10-27T05:27:09.812Z,1761542829.812 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.393967 2025-10-27T05:27:10.065Z,1761542830.065 [DAT](INFO): DAT read: Rx Time:05:27:08.7847 2025-10-27T05:27:10.065Z,1761542830.065 [DAT](INFO): Rx dataTimestamp_ set to:1761542830.064733 2025-10-27T05:27:10.066Z,1761542830.066 [DAT](INFO): DAT read: Bearing 191.0, 21.5 (Local) 2025-10-27T05:27:10.067Z,1761542830.067 [DAT](INFO): Local bearing/azimuth received: Bearing 191.0, 21.5 (Local) 2025-10-27T05:27:10.069Z,1761542830.069 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.1 2025-10-27T05:27:10.073Z,1761542830.073 [DAT](INFO): DAT read: 05:27:08.7847 LVL= 27968, 25905, 32754, 32755, AGC= 65, IDX= 500,-0.01, 1.172, 2.406, 0.509, 1.711, PHS=-0.437, 0.740,-1.246, RAW= 353.9, 10.9, CAL= 354.1, 12.5, ROT= 155.9, -12.5 2025-10-27T05:27:10.075Z,1761542830.075 [DAT](INFO): got valid direction response: 05:27:08.7847 LVL= 27968, 25905, 32754, 32755, AGC= 65, IDX= 500,-0.01, 1.172, 2.406, 0.509, 1.711, PHS=-0.437, 0.740,-1.246, RAW= 353.9, 10.9, CAL= 354.1, 12.5, ROT= 155.9, -12.5 2025-10-27T05:27:10.075Z,1761542830.075 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:27:10.076Z,1761542830.076 [DAT](INFO): direction in FSK: [-0.891196,0.398651,0.216440] 2025-10-27T05:27:10.076Z,1761542830.076 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:10.080Z,1761542830.080 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.661663 2025-10-27T05:27:10.160Z,1761542830.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510849,0.857510,0.060910],[-0.859321,-0.511378,-0.007741],[0.024510,-0.056296,0.998113]] 2025-10-27T05:27:10.208Z,1761542830.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.499905 s, deltaX: -0.199999 m, approachRate: -0.400074 m/s, rangeRepo size: 4 2025-10-27T05:27:10.210Z,1761542830.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.955564 m, bearing: 34.662253 deg, lat: 36.779341 deg, lon: -121.859673 deg, deltaT: 0.499905 s, deltaX: -0.198893 m, approachRate: -0.397861 m/s, posRepo size: 4 2025-10-27T05:27:10.210Z,1761542830.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m. 2025-10-27T05:27:10.317Z,1761542830.317 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.898228 2025-10-27T05:27:10.529Z,1761542830.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509467,0.858363,0.060470],[-0.860158,-0.509963,-0.008083],[0.023899,-0.056131,0.998137]] 2025-10-27T05:27:10.573Z,1761542830.573 [DAT](INFO): DAT read: Rx Time:05:27:09.2849 2025-10-27T05:27:10.574Z,1761542830.574 [DAT](INFO): Rx dataTimestamp_ set to:1761542830.573173 2025-10-27T05:27:10.578Z,1761542830.578 [DAT](INFO): DAT read: Bearing 193.0, 22.4 (Local) 2025-10-27T05:27:10.579Z,1761542830.579 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 22.4 (Local) 2025-10-27T05:27:10.594Z,1761542830.594 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed -0.1 2025-10-27T05:27:10.630Z,1761542830.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m. 2025-10-27T05:27:10.631Z,1761542830.631 [DAT](INFO): DAT read: 05:27:09.2849 LVL= 24720, 25025, 32754, 32755, AGC= 64, IDX= 501, 0.36,-2.110,-0.885,-2.803,-1.617, PHS=-0.391, 0.777,-1.230, RAW= 354.6, 9.7, CAL= 354.8, 10.6, ROT= 155.2, -10.6 2025-10-27T05:27:10.632Z,1761542830.632 [DAT](INFO): got valid direction response: 05:27:09.2849 LVL= 24720, 25025, 32754, 32755, AGC= 64, IDX= 501, 0.36,-2.110,-0.885,-2.803,-1.617, PHS=-0.391, 0.777,-1.230, RAW= 354.6, 9.7, CAL= 354.8, 10.6, ROT= 155.2, -10.6 2025-10-27T05:27:10.633Z,1761542830.633 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:27:10.634Z,1761542830.634 [DAT](INFO): direction in FSK: [-0.892287,0.412294,0.183951] 2025-10-27T05:27:10.634Z,1761542830.634 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:10.646Z,1761542830.646 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.227535 2025-10-27T05:27:10.820Z,1761542830.820 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.401672 2025-10-27T05:27:10.992Z,1761542830.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507833,0.859404,0.059418],[-0.861142,-0.508299,-0.008111],[0.023232,-0.055287,0.998200]] 2025-10-27T05:27:11.044Z,1761542831.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.508440 s, deltaX: 0.299999 m, approachRate: 0.590039 m/s, rangeRepo size: 4 2025-10-27T05:27:11.046Z,1761542831.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.253895 m, bearing: 34.254928 deg, lat: 36.779341 deg, lon: -121.859672 deg, deltaT: 0.508440 s, deltaX: 0.298330 m, approachRate: 0.586756 m/s, posRepo size: 4 2025-10-27T05:27:11.047Z,1761542831.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-27T05:27:11.073Z,1761542831.073 [DAT](INFO): DAT read: Rx Time:05:27:09.7848 2025-10-27T05:27:11.073Z,1761542831.073 [DAT](INFO): Rx dataTimestamp_ set to:1761542831.072743 2025-10-27T05:27:11.074Z,1761542831.074 [DAT](INFO): DAT read: Bearing 189.4, 20.2 (Local) 2025-10-27T05:27:11.075Z,1761542831.075 [DAT](INFO): Local bearing/azimuth received: Bearing 189.4, 20.2 (Local) 2025-10-27T05:27:11.077Z,1761542831.077 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.1 2025-10-27T05:27:11.082Z,1761542831.082 [DAT](INFO): DAT read: 05:27:09.7848 LVL= 32752, 32241, 32754, 32755, AGC= 65, IDX= 501,-0.12, 1.241, 2.476, 0.634, 1.824, PHS=-0.482, 0.696,-1.234, RAW= 352.7, 12.1, CAL= 353.1, 14.3, ROT= 156.9, -14.3 2025-10-27T05:27:11.083Z,1761542831.083 [DAT](INFO): got valid direction response: 05:27:09.7848 LVL= 32752, 32241, 32754, 32755, AGC= 65, IDX= 501,-0.12, 1.241, 2.476, 0.634, 1.824, PHS=-0.482, 0.696,-1.234, RAW= 352.7, 12.1, CAL= 353.1, 14.3, ROT= 156.9, -14.3 2025-10-27T05:27:11.083Z,1761542831.083 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:27:11.084Z,1761542831.084 [DAT](INFO): direction in FSK: [-0.891321,0.380181,0.246999] 2025-10-27T05:27:11.084Z,1761542831.084 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:11.103Z,1761542831.103 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.672314 2025-10-27T05:27:11.324Z,1761542831.324 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.905693 2025-10-27T05:27:11.348Z,1761542831.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506167,0.860425,0.058857],[-0.862141,-0.506597,-0.008468],[0.022531,-0.055029,0.998230]] 2025-10-27T05:27:11.484Z,1761542831.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.499570 s, deltaX: -0.100000 m, approachRate: -0.200173 m/s, rangeRepo size: 4 2025-10-27T05:27:11.488Z,1761542831.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.154448 m, bearing: 35.893104 deg, lat: 36.779339 deg, lon: -121.859671 deg, deltaT: 0.499570 s, deltaX: -0.099447 m, approachRate: -0.199066 m/s, posRepo size: 4 2025-10-27T05:27:11.489Z,1761542831.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.15 m. 2025-10-27T05:27:11.580Z,1761542831.580 [DAT](INFO): DAT read: Rx Time:05:27:10.2849 2025-10-27T05:27:11.581Z,1761542831.581 [DAT](INFO): Rx dataTimestamp_ set to:1761542831.580238 2025-10-27T05:27:11.586Z,1761542831.586 [DAT](INFO): DAT read: Bearing 192.4, 22.3 (Local) 2025-10-27T05:27:11.588Z,1761542831.588 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 22.3 (Local) 2025-10-27T05:27:11.632Z,1761542831.632 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.0 2025-10-27T05:27:11.656Z,1761542831.656 [DAT](INFO): DAT read: 05:27:10.2849 LVL= 24032, 25041, 32754, 32755, AGC= 62, IDX= 502, 0.33, 2.870,-2.188, 2.178,-2.907, PHS=-0.404, 0.764,-1.243, RAW= 354.6, 10.1, CAL= 354.8, 11.3, ROT= 155.2, -11.3 2025-10-27T05:27:11.658Z,1761542831.658 [DAT](INFO): got valid direction response: 05:27:10.2849 LVL= 24032, 25041, 32754, 32755, AGC= 62, IDX= 502, 0.33, 2.870,-2.188, 2.178,-2.907, PHS=-0.404, 0.764,-1.243, RAW= 354.6, 10.1, CAL= 354.8, 11.3, ROT= 155.2, -11.3 2025-10-27T05:27:11.658Z,1761542831.658 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:27:11.672Z,1761542831.672 [DAT](INFO): direction in FSK: [-0.890180,0.411321,0.195946] 2025-10-27T05:27:11.672Z,1761542831.672 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:11.684Z,1761542831.684 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.265392 2025-10-27T05:27:11.828Z,1761542831.828 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.409798 2025-10-27T05:27:11.990Z,1761542831.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.507495 s, deltaX: 0.100000 m, approachRate: 0.197047 m/s, rangeRepo size: 4 2025-10-27T05:27:11.998Z,1761542831.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.253893 m, bearing: 34.337091 deg, lat: 36.779341 deg, lon: -121.859670 deg, deltaT: 0.507495 s, deltaX: 0.099445 m, approachRate: 0.195953 m/s, posRepo size: 4 2025-10-27T05:27:12.003Z,1761542832.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-27T05:27:12.082Z,1761542832.082 [DAT](INFO): DAT read: Rx Time:05:27:10.7849 2025-10-27T05:27:12.082Z,1761542832.082 [DAT](INFO): Rx dataTimestamp_ set to:1761542832.082096 2025-10-27T05:27:12.084Z,1761542832.084 [DAT](INFO): DAT read: Bearing 192.3, 22.0 (Local) 2025-10-27T05:27:12.085Z,1761542832.085 [DAT](INFO): Local bearing/azimuth received: Bearing 192.3, 22.0 (Local) 2025-10-27T05:27:12.087Z,1761542832.087 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.0 2025-10-27T05:27:12.092Z,1761542832.092 [DAT](INFO): DAT read: 05:27:10.7849 LVL= 24880, 25617, 32754, 32755, AGC= 65, IDX= 502,-0.29, 1.014, 2.247, 0.335, 1.532, PHS=-0.416, 0.760,-1.241, RAW= 354.2, 10.3, CAL= 354.4, 11.5, ROT= 155.6, -11.5 2025-10-27T05:27:12.093Z,1761542832.093 [DAT](INFO): got valid direction response: 05:27:10.7849 LVL= 24880, 25617, 32754, 32755, AGC= 65, IDX= 502,-0.29, 1.014, 2.247, 0.335, 1.532, PHS=-0.416, 0.760,-1.241, RAW= 354.2, 10.3, CAL= 354.4, 11.5, ROT= 155.6, -11.5 2025-10-27T05:27:12.094Z,1761542832.094 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T05:27:12.095Z,1761542832.095 [DAT](INFO): direction in FSK: [-0.892401,0.404811,0.199368] 2025-10-27T05:27:12.095Z,1761542832.095 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:12.099Z,1761542832.099 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.680233 2025-10-27T05:27:12.255Z,1761542832.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503206,0.862215,0.058041],[-0.863901,-0.503581,-0.009044],[0.021430,-0.054693,0.998273]] 2025-10-27T05:27:12.294Z,1761542832.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.501858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:12.297Z,1761542832.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.253893 m, bearing: 34.921722 deg, lat: 36.779339 deg, lon: -121.859669 deg, deltaT: 0.501858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:27:12.297Z,1761542832.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-27T05:27:12.333Z,1761542832.333 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.914211 2025-10-27T05:27:12.589Z,1761542832.589 [DAT](INFO): DAT read: Rx Time:05:27:11.2849 2025-10-27T05:27:12.591Z,1761542832.591 [DAT](INFO): Rx dataTimestamp_ set to:1761542832.589649 2025-10-27T05:27:12.595Z,1761542832.595 [DAT](INFO): DAT read: Bearing 192.7, 22.4 (Local) 2025-10-27T05:27:12.596Z,1761542832.596 [DAT](INFO): Local bearing/azimuth received: Bearing 192.7, 22.4 (Local) 2025-10-27T05:27:12.605Z,1761542832.605 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.0 2025-10-27T05:27:12.632Z,1761542832.632 [DAT](INFO): DAT read: 05:27:11.2849 LVL= 23600, 25505, 32754, 32755, AGC= 64, IDX= 502, 0.00, 2.237,-2.824, 1.543, 2.740, PHS=-0.401, 0.764,-1.241, RAW= 354.7, 10.1, CAL= 354.8, 11.2, ROT= 155.2, -11.2 2025-10-27T05:27:12.663Z,1761542832.663 [DAT](INFO): got valid direction response: 05:27:11.2849 LVL= 23600, 25505, 32754, 32755, AGC= 64, IDX= 502, 0.00, 2.237,-2.824, 1.543, 2.740, PHS=-0.401, 0.764,-1.241, RAW= 354.7, 10.1, CAL= 354.8, 11.2, ROT= 155.2, -11.2 2025-10-27T05:27:12.664Z,1761542832.664 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T05:27:12.665Z,1761542832.665 [DAT](INFO): direction in FSK: [-0.890489,0.411464,0.194234] 2025-10-27T05:27:12.665Z,1761542832.665 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:12.692Z,1761542832.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501486,0.863219,0.058001],[-0.864911,-0.501836,-0.009435],[0.020962,-0.054897,0.998272]] 2025-10-27T05:27:12.694Z,1761542832.694 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.275555 2025-10-27T05:27:12.803Z,1761542832.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.507553 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:12.805Z,1761542832.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.253899 m, bearing: 34.648262 deg, lat: 36.779339 deg, lon: -121.859667 deg, deltaT: 0.507553 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 2025-10-27T05:27:12.806Z,1761542832.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-27T05:27:12.836Z,1761542832.836 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.417686 2025-10-27T05:27:13.063Z,1761542833.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500249,0.863938,0.057984],[-0.865633,-0.500586,-0.009610],[0.020723,-0.055000,0.998271]] 2025-10-27T05:27:13.089Z,1761542833.089 [DAT](INFO): DAT read: Rx Time:05:27:11.7848 2025-10-27T05:27:13.089Z,1761542833.089 [DAT](INFO): Rx dataTimestamp_ set to:1761542833.088829 2025-10-27T05:27:13.090Z,1761542833.090 [DAT](INFO): DAT read: Bearing 190.9, 21.6 (Local) 2025-10-27T05:27:13.091Z,1761542833.091 [DAT](INFO): Local bearing/azimuth received: Bearing 190.9, 21.6 (Local) 2025-10-27T05:27:13.093Z,1761542833.093 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.0 2025-10-27T05:27:13.098Z,1761542833.098 [DAT](INFO): DAT read: 05:27:11.7848 LVL= 27120, 27185, 32754, 32755, AGC= 64, IDX= 501, 0.22, 2.511,-2.549, 1.854, 3.056, PHS=-0.442, 0.723,-1.246, RAW= 353.9, 11.2, CAL= 354.2, 13.0, ROT= 155.8, -13.0 2025-10-27T05:27:13.099Z,1761542833.099 [DAT](INFO): got valid direction response: 05:27:11.7848 LVL= 27120, 27185, 32754, 32755, AGC= 64, IDX= 501, 0.22, 2.511,-2.549, 1.854, 3.056, PHS=-0.442, 0.723,-1.246, RAW= 353.9, 11.2, CAL= 354.2, 13.0, ROT= 155.8, -13.0 2025-10-27T05:27:13.100Z,1761542833.100 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:27:13.101Z,1761542833.101 [DAT](INFO): direction in FSK: [-0.888743,0.399417,0.224951] 2025-10-27T05:27:13.101Z,1761542833.101 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:13.105Z,1761542833.105 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.686436 2025-10-27T05:27:13.150Z,1761542833.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.499180 s, deltaX: -0.100000 m, approachRate: -0.200329 m/s, rangeRepo size: 4 2025-10-27T05:27:13.156Z,1761542833.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.154453 m, bearing: 35.246363 deg, lat: 36.779339 deg, lon: -121.859667 deg, deltaT: 0.499180 s, deltaX: -0.099445 m, approachRate: -0.199217 m/s, posRepo size: 4 2025-10-27T05:27:13.157Z,1761542833.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.15 m. 2025-10-27T05:27:13.340Z,1761542833.340 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.921616 2025-10-27T05:27:13.505Z,1761542833.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498853,0.864736,0.058115],[-0.866446,-0.499172,-0.009931],[0.020421,-0.055307,0.998260]] 2025-10-27T05:27:13.523Z,1761542833.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.15 m. 2025-10-27T05:27:13.596Z,1761542833.596 [DAT](INFO): DAT read: Rx Time:05:27:12.2850 2025-10-27T05:27:13.597Z,1761542833.597 [DAT](INFO): Rx dataTimestamp_ set to:1761542833.596648 2025-10-27T05:27:13.598Z,1761542833.598 [DAT](INFO): DAT read: Bearing 192.2, 21.9 (Local) 2025-10-27T05:27:13.599Z,1761542833.599 [DAT](INFO): Local bearing/azimuth received: Bearing 192.2, 21.9 (Local) 2025-10-27T05:27:13.606Z,1761542833.606 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 2025-10-27T05:27:13.687Z,1761542833.687 [DAT](INFO): DAT read: 05:27:12.2850 LVL= 22704, 21969, 32754, 32755, AGC= 63, IDX= 503,-0.30, 0.700, 1.937, 0.020, 1.225, PHS=-0.423, 0.757,-1.250, RAW= 354.2, 10.5, CAL= 354.4, 11.8, ROT= 155.6, -11.8 2025-10-27T05:27:13.688Z,1761542833.688 [DAT](INFO): got valid direction response: 05:27:12.2850 LVL= 22704, 21969, 32754, 32755, AGC= 63, IDX= 503,-0.30, 0.700, 1.937, 0.020, 1.225, PHS=-0.423, 0.757,-1.250, RAW= 354.2, 10.5, CAL= 354.4, 11.8, ROT= 155.6, -11.8 2025-10-27T05:27:13.689Z,1761542833.689 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T05:27:13.690Z,1761542833.690 [DAT](INFO): direction in FSK: [-0.891439,0.404374,0.204496] 2025-10-27T05:27:13.690Z,1761542833.690 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:13.708Z,1761542833.708 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.290092 2025-10-27T05:27:13.844Z,1761542833.844 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.425652 2025-10-27T05:27:13.870Z,1761542833.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497903,0.865285,0.058096],[-0.866996,-0.498214,-0.010035],[0.020262,-0.055366,0.998261]] 2025-10-27T05:27:14.002Z,1761542834.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.507819 s, deltaX: 0.300001 m, approachRate: 0.590764 m/s, rangeRepo size: 4 2025-10-27T05:27:14.008Z,1761542834.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.452776 m, bearing: 35.249745 deg, lat: 36.779339 deg, lon: -121.859667 deg, deltaT: 0.507819 s, deltaX: 0.298323 m, approachRate: 0.587459 m/s, posRepo size: 4 2025-10-27T05:27:14.009Z,1761542834.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-27T05:27:14.099Z,1761542834.099 [DAT](INFO): DAT read: Rx Time:05:27:12.7849 2025-10-27T05:27:14.099Z,1761542834.099 [DAT](INFO): Rx dataTimestamp_ set to:1761542834.099017 2025-10-27T05:27:14.101Z,1761542834.101 [DAT](INFO): DAT read: Bearing 191.3, 21.1 (Local) 2025-10-27T05:27:14.101Z,1761542834.101 [DAT](INFO): Local bearing/azimuth received: Bearing 191.3, 21.1 (Local) 2025-10-27T05:27:14.103Z,1761542834.103 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.0 2025-10-27T05:27:14.109Z,1761542834.109 [DAT](INFO): DAT read: 05:27:12.7849 LVL= 26768, 24369, 32754, 32755, AGC= 65, IDX= 502,-0.05, 0.066, 1.317,-0.583, 0.623, PHS=-0.455, 0.739,-1.250, RAW= 353.4, 11.1, CAL= 353.6, 12.8, ROT= 156.4, -12.8 2025-10-27T05:27:14.110Z,1761542834.110 [DAT](INFO): got valid direction response: 05:27:12.7849 LVL= 26768, 24369, 32754, 32755, AGC= 65, IDX= 502,-0.05, 0.066, 1.317,-0.583, 0.623, PHS=-0.455, 0.739,-1.250, RAW= 353.4, 11.1, CAL= 353.6, 12.8, ROT= 156.4, -12.8 2025-10-27T05:27:14.112Z,1761542834.112 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:27:14.114Z,1761542834.114 [DAT](INFO): direction in FSK: [-0.893590,0.390400,0.221548] 2025-10-27T05:27:14.114Z,1761542834.114 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:14.127Z,1761542834.127 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.708958 2025-10-27T05:27:14.274Z,1761542834.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497314,0.865626,0.058058],[-0.867333,-0.497629,-0.009931],[0.020295,-0.055294,0.998264]] 2025-10-27T05:27:14.318Z,1761542834.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.502369 s, deltaX: -0.200001 m, approachRate: -0.398115 m/s, rangeRepo size: 4 2025-10-27T05:27:14.321Z,1761542834.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.253881 m, bearing: 36.038674 deg, lat: 36.779338 deg, lon: -121.859666 deg, deltaT: 0.502369 s, deltaX: -0.198895 m, approachRate: -0.395913 m/s, posRepo size: 4 2025-10-27T05:27:14.321Z,1761542834.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-27T05:27:14.353Z,1761542834.353 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.934757 2025-10-27T05:27:14.605Z,1761542834.605 [DAT](INFO): DAT read: Rx Time:05:27:13.2850 2025-10-27T05:27:14.605Z,1761542834.605 [DAT](INFO): Rx dataTimestamp_ set to:1761542834.604742 2025-10-27T05:27:14.608Z,1761542834.608 [DAT](INFO): DAT read: Bearing 191.7, 21.4 (Local) 2025-10-27T05:27:14.609Z,1761542834.609 [DAT](INFO): Local bearing/azimuth received: Bearing 191.7, 21.4 (Local) 2025-10-27T05:27:14.628Z,1761542834.628 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 2025-10-27T05:27:14.685Z,1761542834.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496950,0.865850,0.057841],[-0.867542,-0.497268,-0.009772],[0.020302,-0.055035,0.998278]] 2025-10-27T05:27:14.713Z,1761542834.713 [DAT](INFO): DAT read: 05:27:13.2850 LVL= 22256, 22081, 32754, 32755, AGC= 62, IDX= 503, 0.18, 3.081,-1.961, 2.426,-2.658, PHS=-0.442, 0.742,-1.243, RAW= 353.6, 10.9, CAL= 353.9, 12.5, ROT= 156.1, -12.5 2025-10-27T05:27:14.714Z,1761542834.714 [DAT](INFO): got valid direction response: 05:27:13.2850 LVL= 22256, 22081, 32754, 32755, AGC= 62, IDX= 503, 0.18, 3.081,-1.961, 2.426,-2.658, PHS=-0.442, 0.742,-1.243, RAW= 353.6, 10.9, CAL= 353.9, 12.5, ROT= 156.1, -12.5 2025-10-27T05:27:14.727Z,1761542834.727 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:27:14.729Z,1761542834.729 [DAT](INFO): direction in FSK: [-0.892583,0.395538,0.216440] 2025-10-27T05:27:14.729Z,1761542834.729 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:14.750Z,1761542834.750 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.331863 2025-10-27T05:27:14.826Z,1761542834.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.505725 s, deltaX: 0.200001 m, approachRate: 0.395473 m/s, rangeRepo size: 4 2025-10-27T05:27:14.833Z,1761542834.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.452785 m, bearing: 35.781433 deg, lat: 36.779336 deg, lon: -121.859663 deg, deltaT: 0.505725 s, deltaX: 0.198904 m, approachRate: 0.393305 m/s, posRepo size: 4 2025-10-27T05:27:14.833Z,1761542834.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-27T05:27:14.856Z,1761542834.856 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.437679 2025-10-27T05:27:15.082Z,1761542835.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496733,0.865981,0.057734],[-0.867663,-0.497061,-0.009551],[0.020427,-0.054838,0.998286]] 2025-10-27T05:27:15.108Z,1761542835.108 [DAT](INFO): DAT read: Rx Time:05:27:13.7850 2025-10-27T05:27:15.109Z,1761542835.109 [DAT](INFO): Rx dataTimestamp_ set to:1761542835.108627 2025-10-27T05:27:15.110Z,1761542835.110 [DAT](INFO): DAT read: Bearing 191.8, 21.0 (Local) 2025-10-27T05:27:15.110Z,1761542835.110 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 21.0 (Local) 2025-10-27T05:27:15.113Z,1761542835.113 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 2025-10-27T05:27:15.117Z,1761542835.117 [DAT](INFO): DAT read: 05:27:13.7850 LVL= 23424, 22625, 32754, 32755, AGC= 64, IDX= 502, 0.44, 1.265, 2.522, 0.622, 1.821, PHS=-0.454, 0.746,-1.243, RAW= 353.2, 11.0, CAL= 353.4, 12.6, ROT= 156.6, -12.6 2025-10-27T05:27:15.118Z,1761542835.118 [DAT](INFO): got valid direction response: 05:27:13.7850 LVL= 23424, 22625, 32754, 32755, AGC= 64, IDX= 502, 0.44, 1.265, 2.522, 0.622, 1.821, PHS=-0.454, 0.746,-1.243, RAW= 353.2, 11.0, CAL= 353.4, 12.6, ROT= 156.6, -12.6 2025-10-27T05:27:15.119Z,1761542835.119 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:27:15.120Z,1761542835.120 [DAT](INFO): direction in FSK: [-0.895652,0.387583,0.218143] 2025-10-27T05:27:15.120Z,1761542835.120 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:15.124Z,1761542835.124 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.705276 2025-10-27T05:27:15.232Z,1761542835.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.503885 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:15.234Z,1761542835.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.452785 m, bearing: 36.289379 deg, lat: 36.779335 deg, lon: -121.859661 deg, deltaT: 0.503885 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:27:15.240Z,1761542835.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-27T05:27:15.360Z,1761542835.360 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.941917 2025-10-27T05:27:15.548Z,1761542835.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-27T05:27:15.613Z,1761542835.613 [DAT](INFO): DAT read: Rx Time:05:27:14.2851 2025-10-27T05:27:15.615Z,1761542835.615 [DAT](INFO): Rx dataTimestamp_ set to:1761542835.613613 2025-10-27T05:27:15.631Z,1761542835.631 [DAT](INFO): DAT read: Bearing 191.8, 20.8 (Local) 2025-10-27T05:27:15.632Z,1761542835.632 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 20.8 (Local) 2025-10-27T05:27:15.645Z,1761542835.645 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.0 2025-10-27T05:27:15.692Z,1761542835.692 [DAT](INFO): DAT read: 05:27:14.2851 LVL= 21968, 22049, 32754, 32755, AGC= 61, IDX= 504,-0.21, 1.030, 2.285, 0.396, 1.588, PHS=-0.456, 0.742,-1.236, RAW= 353.0, 11.0, CAL= 353.3, 12.6, ROT= 156.7, -12.6 2025-10-27T05:27:15.707Z,1761542835.707 [DAT](INFO): got valid direction response: 05:27:14.2851 LVL= 21968, 22049, 32754, 32755, AGC= 61, IDX= 504,-0.21, 1.030, 2.285, 0.396, 1.588, PHS=-0.456, 0.742,-1.236, RAW= 353.0, 11.0, CAL= 353.3, 12.6, ROT= 156.7, -12.6 2025-10-27T05:27:15.708Z,1761542835.708 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:27:15.709Z,1761542835.709 [DAT](INFO): direction in FSK: [-0.896327,0.386019,0.218143] 2025-10-27T05:27:15.710Z,1761542835.710 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:15.724Z,1761542835.724 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.300480 2025-10-27T05:27:15.827Z,1761542835.827 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:27:15.864Z,1761542835.864 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.445858 2025-10-27T05:27:15.898Z,1761542835.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496941,0.865875,0.057535],[-0.867537,-0.497289,-0.009109],[0.020724,-0.054440,0.998302]] 2025-10-27T05:27:16.025Z,1761542836.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504986 s, deltaX: 0.100000 m, approachRate: 0.198026 m/s, rangeRepo size: 4 2025-10-27T05:27:16.048Z,1761542836.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.552229 m, bearing: 36.380023 deg, lat: 36.779334 deg, lon: -121.859661 deg, deltaT: 0.504986 s, deltaX: 0.099443 m, approachRate: 0.196923 m/s, posRepo size: 4 2025-10-27T05:27:16.048Z,1761542836.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.55 m. 2025-10-27T05:27:16.118Z,1761542836.118 [DAT](INFO): DAT read: Rx Time:05:27:14.7850 2025-10-27T05:27:16.118Z,1761542836.118 [DAT](INFO): Rx dataTimestamp_ set to:1761542836.117982 2025-10-27T05:27:16.120Z,1761542836.120 [DAT](INFO): DAT read: Bearing 191.5, 20.7 (Local) 2025-10-27T05:27:16.121Z,1761542836.121 [DAT](INFO): Local bearing/azimuth received: Bearing 191.5, 20.7 (Local) 2025-10-27T05:27:16.124Z,1761542836.124 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 2025-10-27T05:27:16.130Z,1761542836.130 [DAT](INFO): DAT read: 05:27:14.7850 LVL= 21616, 22689, 32754, 32755, AGC= 60, IDX= 503, 0.00, 0.682, 1.936, 0.053, 1.245, PHS=-0.461, 0.736,-1.236, RAW= 352.9, 11.2, CAL= 353.2, 12.9, ROT= 156.8, -12.9 2025-10-27T05:27:16.131Z,1761542836.131 [DAT](INFO): got valid direction response: 05:27:14.7850 LVL= 21616, 22689, 32754, 32755, AGC= 60, IDX= 503, 0.00, 0.682, 1.936, 0.053, 1.245, PHS=-0.461, 0.736,-1.236, RAW= 352.9, 11.2, CAL= 353.2, 12.9, ROT= 156.8, -12.9 2025-10-27T05:27:16.132Z,1761542836.132 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:27:16.133Z,1761542836.133 [DAT](INFO): direction in FSK: [-0.895937,0.383999,0.223250] 2025-10-27T05:27:16.133Z,1761542836.133 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:16.142Z,1761542836.142 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.723900 2025-10-27T05:27:16.301Z,1761542836.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496915,0.865868,0.057863],[-0.867546,-0.497274,-0.009042],[0.020945,-0.054692,0.998284]] 2025-10-27T05:27:16.352Z,1761542836.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504369 s, deltaX: -0.100000 m, approachRate: -0.198268 m/s, rangeRepo size: 4 2025-10-27T05:27:16.354Z,1761542836.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.452782 m, bearing: 36.465848 deg, lat: 36.779334 deg, lon: -121.859658 deg, deltaT: 0.504369 s, deltaX: -0.099447 m, approachRate: -0.197172 m/s, posRepo size: 4 2025-10-27T05:27:16.355Z,1761542836.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-27T05:27:16.368Z,1761542836.368 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.949505 2025-10-27T05:27:16.622Z,1761542836.622 [DAT](INFO): DAT read: Rx Time:05:27:15.2850 2025-10-27T05:27:16.629Z,1761542836.629 [DAT](INFO): Rx dataTimestamp_ set to:1761542836.622275 2025-10-27T05:27:16.630Z,1761542836.630 [DAT](INFO): DAT read: Bearing 191.1, 20.8 (Local) 2025-10-27T05:27:16.631Z,1761542836.631 [DAT](INFO): Local bearing/azimuth received: Bearing 191.1, 20.8 (Local) 2025-10-27T05:27:16.633Z,1761542836.633 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 2025-10-27T05:27:16.642Z,1761542836.642 [DAT](INFO): DAT read: 05:27:15.2850 LVL= 21968, 22321, 32754, 32755, AGC= 60, IDX= 503, 0.21, 1.775, 3.020, 1.147, 2.340, PHS=-0.463, 0.725,-1.237, RAW= 353.1, 11.4, CAL= 353.3, 13.2, ROT= 156.7, -13.2 2025-10-27T05:27:16.676Z,1761542836.676 [DAT](INFO): got valid direction response: 05:27:15.2850 LVL= 21968, 22321, 32754, 32755, AGC= 60, IDX= 503, 0.21, 1.775, 3.020, 1.147, 2.340, PHS=-0.463, 0.725,-1.237, RAW= 353.1, 11.4, CAL= 353.3, 13.2, ROT= 156.7, -13.2 2025-10-27T05:27:16.677Z,1761542836.677 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:27:16.736Z,1761542836.736 [DAT](INFO): direction in FSK: [-0.894180,0.385095,0.228351] 2025-10-27T05:27:16.736Z,1761542836.736 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:16.752Z,1761542836.752 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.333385 2025-10-27T05:27:16.764Z,1761542836.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496978,0.865817,0.058088],[-0.867509,-0.497338,-0.009101],[0.021009,-0.054915,0.998270]] 2025-10-27T05:27:16.831Z,1761542836.831 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:27:16.872Z,1761542836.872 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.453659 2025-10-27T05:27:16.898Z,1761542836.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504293 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:16.904Z,1761542836.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.452757 m, bearing: 36.347360 deg, lat: 36.779334 deg, lon: -121.859658 deg, deltaT: 0.504293 s, deltaX: -0.000025 m, approachRate: -0.000049 m/s, posRepo size: 4 2025-10-27T05:27:16.905Z,1761542836.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-27T05:27:17.124Z,1761542837.124 [DAT](INFO): DAT read: Rx Time:05:27:15.7850 2025-10-27T05:27:17.125Z,1761542837.125 [DAT](INFO): Rx dataTimestamp_ set to:1761542837.124685 2025-10-27T05:27:17.126Z,1761542837.126 [DAT](INFO): DAT read: Bearing 190.9, 20.5 (Local) 2025-10-27T05:27:17.127Z,1761542837.127 [DAT](INFO): Local bearing/azimuth received: Bearing 190.9, 20.5 (Local) 2025-10-27T05:27:17.129Z,1761542837.129 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.1 2025-10-27T05:27:17.133Z,1761542837.133 [DAT](INFO): DAT read: 05:27:15.7850 LVL= 20544, 22161, 32754, 32755, AGC= 59, IDX= 503,-0.42,-0.792, 0.455,-1.410,-0.219, PHS=-0.471, 0.719,-1.235, RAW= 352.8, 11.6, CAL= 353.1, 13.5, ROT= 156.9, -13.5 2025-10-27T05:27:17.134Z,1761542837.134 [DAT](INFO): got valid direction response: 05:27:15.7850 LVL= 20544, 22161, 32754, 32755, AGC= 59, IDX= 503,-0.42,-0.792, 0.455,-1.410,-0.219, PHS=-0.471, 0.719,-1.235, RAW= 352.8, 11.6, CAL= 353.1, 13.5, ROT= 156.9, -13.5 2025-10-27T05:27:17.135Z,1761542837.135 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:27:17.136Z,1761542837.136 [DAT](INFO): direction in FSK: [-0.894407,0.381497,0.233445] 2025-10-27T05:27:17.136Z,1761542837.136 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:17.152Z,1761542837.152 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.733711 2025-10-27T05:27:17.213Z,1761542837.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497371,0.865579,0.058264],[-0.867279,-0.497742,-0.008998],[0.021212,-0.055007,0.998261]] 2025-10-27T05:27:17.265Z,1761542837.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.502410 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:17.271Z,1761542837.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.452757 m, bearing: 36.505997 deg, lat: 36.779332 deg, lon: -121.859657 deg, deltaT: 0.502410 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:27:17.272Z,1761542837.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-27T05:27:17.377Z,1761542837.377 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.958099 2025-10-27T05:27:17.604Z,1761542837.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497594,0.865444,0.058364],[-0.867149,-0.497967,-0.008999],[0.021275,-0.055088,0.998255]] 2025-10-27T05:27:17.629Z,1761542837.629 [DAT](INFO): DAT read: Rx Time:05:27:16.2851 2025-10-27T05:27:17.629Z,1761542837.629 [DAT](INFO): Rx dataTimestamp_ set to:1761542837.628844 2025-10-27T05:27:17.630Z,1761542837.630 [DAT](INFO): DAT read: Bearing 190.6, 20.5 (Local) 2025-10-27T05:27:17.631Z,1761542837.631 [DAT](INFO): Local bearing/azimuth received: Bearing 190.6, 20.5 (Local) 2025-10-27T05:27:17.633Z,1761542837.633 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.0 2025-10-27T05:27:17.638Z,1761542837.638 [DAT](INFO): DAT read: 05:27:16.2851 LVL= 19440, 22049, 32754, 32755, AGC= 61, IDX= 504,-0.12, 0.443, 1.697,-0.176, 1.025, PHS=-0.480, 0.717,-1.245, RAW= 352.7, 11.8, CAL= 353.1, 13.8, ROT= 156.9, -13.8 2025-10-27T05:27:17.639Z,1761542837.639 [DAT](INFO): got valid direction response: 05:27:16.2851 LVL= 19440, 22049, 32754, 32755, AGC= 61, IDX= 504,-0.12, 0.443, 1.697,-0.176, 1.025, PHS=-0.480, 0.717,-1.245, RAW= 352.7, 11.8, CAL= 353.1, 13.8, ROT= 156.9, -13.8 2025-10-27T05:27:17.639Z,1761542837.639 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:27:17.640Z,1761542837.640 [DAT](INFO): direction in FSK: [-0.893270,0.381012,0.238533] 2025-10-27T05:27:17.640Z,1761542837.640 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:17.648Z,1761542837.648 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.229668 2025-10-27T05:27:17.739Z,1761542837.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504159 s, deltaX: 0.100000 m, approachRate: 0.198351 m/s, rangeRepo size: 4 2025-10-27T05:27:17.741Z,1761542837.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.552214 m, bearing: 36.477364 deg, lat: 36.779332 deg, lon: -121.859657 deg, deltaT: 0.504159 s, deltaX: 0.099457 m, approachRate: 0.197273 m/s, posRepo size: 4 2025-10-27T05:27:17.741Z,1761542837.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.55 m. 2025-10-27T05:27:17.880Z,1761542837.880 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.461815 2025-10-27T05:27:18.023Z,1761542838.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497803,0.865325,0.058346],[-0.867029,-0.498177,-0.008978],[0.021298,-0.055057,0.998256]] 2025-10-27T05:27:18.073Z,1761542838.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.55 m. 2025-10-27T05:27:18.133Z,1761542838.133 [DAT](INFO): DAT read: Rx Time:05:27:16.7850 2025-10-27T05:27:18.133Z,1761542838.133 [DAT](INFO): Rx dataTimestamp_ set to:1761542838.133131 2025-10-27T05:27:18.135Z,1761542838.135 [DAT](INFO): DAT read: Bearing 189.4, 20.0 (Local) 2025-10-27T05:27:18.135Z,1761542838.135 [DAT](INFO): Local bearing/azimuth received: Bearing 189.4, 20.0 (Local) 2025-10-27T05:27:18.137Z,1761542838.137 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0 2025-10-27T05:27:18.155Z,1761542838.155 [DAT](INFO): DAT read: 05:27:16.7850 LVL= 21232, 22497, 32754, 32755, AGC= 60, IDX= 503, 0.14, 0.842, 2.088, 0.244, 1.447, PHS=-0.503, 0.686,-1.247, RAW= 352.4, 12.6, CAL= 352.8, 15.1, ROT= 157.2, -15.1 2025-10-27T05:27:18.157Z,1761542838.157 [DAT](INFO): got valid direction response: 05:27:16.7850 LVL= 21232, 22497, 32754, 32755, AGC= 60, IDX= 503, 0.14, 0.842, 2.088, 0.244, 1.447, PHS=-0.503, 0.686,-1.247, RAW= 352.4, 12.6, CAL= 352.8, 15.1, ROT= 157.2, -15.1 2025-10-27T05:27:18.158Z,1761542838.158 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:27:18.163Z,1761542838.163 [DAT](INFO): direction in FSK: [-0.890034,0.374136,0.260505] 2025-10-27T05:27:18.164Z,1761542838.164 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:18.192Z,1761542838.192 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.773365 2025-10-27T05:27:18.384Z,1761542838.384 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.965645 2025-10-27T05:27:18.422Z,1761542838.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497938,0.865257,0.058210],[-0.866953,-0.498308,-0.009007],[0.021213,-0.054950,0.998264]] 2025-10-27T05:27:18.512Z,1761542838.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504287 s, deltaX: -0.100000 m, approachRate: -0.198301 m/s, rangeRepo size: 4 2025-10-27T05:27:18.514Z,1761542838.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.452768 m, bearing: 36.695276 deg, lat: 36.779331 deg, lon: -121.859657 deg, deltaT: 0.504287 s, deltaX: -0.099445 m, approachRate: -0.197200 m/s, posRepo size: 4 2025-10-27T05:27:18.514Z,1761542838.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-27T05:27:18.637Z,1761542838.637 [DAT](INFO): DAT read: Rx Time:05:27:17.2852 2025-10-27T05:27:18.637Z,1761542838.637 [DAT](INFO): Rx dataTimestamp_ set to:1761542838.636758 2025-10-27T05:27:18.638Z,1761542838.638 [DAT](INFO): DAT read: Bearing 189.1, 20.4 (Local) 2025-10-27T05:27:18.639Z,1761542838.639 [DAT](INFO): Local bearing/azimuth received: Bearing 189.1, 20.4 (Local) 2025-10-27T05:27:18.642Z,1761542838.642 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.0 2025-10-27T05:27:18.646Z,1761542838.646 [DAT](INFO): DAT read: 05:27:17.2852 LVL= 21136, 24801, 32754, 32755, AGC= 60, IDX= 504, 0.48, 2.420,-2.640, 1.817, 3.017, PHS=-0.495, 0.671,-1.243, RAW= 352.8, 12.7, CAL= 353.2, 15.3, ROT= 156.8, -15.3 2025-10-27T05:27:18.656Z,1761542838.656 [DAT](INFO): got valid direction response: 05:27:17.2852 LVL= 21136, 24801, 32754, 32755, AGC= 60, IDX= 504, 0.48, 2.420,-2.640, 1.817, 3.017, PHS=-0.495, 0.671,-1.243, RAW= 352.8, 12.7, CAL= 353.2, 15.3, ROT= 156.8, -15.3 2025-10-27T05:27:18.657Z,1761542838.657 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:27:18.658Z,1761542838.658 [DAT](INFO): direction in FSK: [-0.886559,0.379980,0.263873] 2025-10-27T05:27:18.658Z,1761542838.658 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:18.662Z,1761542838.662 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.243332 2025-10-27T05:27:18.814Z,1761542838.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498051,0.865209,0.057961],[-0.866891,-0.498416,-0.009010],[0.021093,-0.054733,0.998278]] 2025-10-27T05:27:18.888Z,1761542838.888 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.469681 2025-10-27T05:27:18.908Z,1761542838.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503627 s, deltaX: 0.299999 m, approachRate: 0.595677 m/s, rangeRepo size: 4 2025-10-27T05:27:18.910Z,1761542838.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.751110 m, bearing: 36.285743 deg, lat: 36.779331 deg, lon: -121.859657 deg, deltaT: 0.503627 s, deltaX: 0.298342 m, approachRate: 0.592386 m/s, posRepo size: 4 2025-10-27T05:27:18.915Z,1761542838.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-27T05:27:19.141Z,1761542839.141 [DAT](INFO): DAT read: Rx Time:05:27:17.7851 2025-10-27T05:27:19.141Z,1761542839.141 [DAT](INFO): Rx dataTimestamp_ set to:1761542839.140737 2025-10-27T05:27:19.142Z,1761542839.142 [DAT](INFO): DAT read: Bearing 187.8, 19.4 (Local) 2025-10-27T05:27:19.143Z,1761542839.143 [DAT](INFO): Local bearing/azimuth received: Bearing 187.8, 19.4 (Local) 2025-10-27T05:27:19.145Z,1761542839.145 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.0 2025-10-27T05:27:19.149Z,1761542839.149 [DAT](INFO): DAT read: 05:27:17.7851 LVL= 21936, 23665, 32754, 32755, AGC= 60, IDX= 504,-0.10,-0.347, 0.887,-0.915, 0.286, PHS=-0.532, 0.645,-1.245, RAW= 351.9, 13.6, CAL= 352.4, 16.7, ROT= 157.6, -16.7 2025-10-27T05:27:19.151Z,1761542839.151 [DAT](INFO): got valid direction response: 05:27:17.7851 LVL= 21936, 23665, 32754, 32755, AGC= 60, IDX= 504,-0.10,-0.347, 0.887,-0.915, 0.286, PHS=-0.532, 0.645,-1.245, RAW= 351.9, 13.6, CAL= 352.4, 16.7, ROT= 157.6, -16.7 2025-10-27T05:27:19.151Z,1761542839.151 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:27:19.152Z,1761542839.152 [DAT](INFO): direction in FSK: [-0.885551,0.364998,0.287361] 2025-10-27T05:27:19.152Z,1761542839.152 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:19.156Z,1761542839.156 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.737751 2025-10-27T05:27:19.306Z,1761542839.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.503979 s, deltaX: -0.199999 m, approachRate: -0.396840 m/s, rangeRepo size: 4 2025-10-27T05:27:19.316Z,1761542839.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.552219 m, bearing: 37.013686 deg, lat: 36.779331 deg, lon: -121.859657 deg, deltaT: 0.503979 s, deltaX: -0.198891 m, approachRate: -0.394641 m/s, posRepo size: 4 2025-10-27T05:27:19.317Z,1761542839.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.55 m. 2025-10-27T05:27:19.393Z,1761542839.393 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.974243 2025-10-27T05:27:19.645Z,1761542839.645 [DAT](INFO): DAT read: Rx Time:05:27:18.2852 2025-10-27T05:27:19.645Z,1761542839.645 [DAT](INFO): Rx dataTimestamp_ set to:1761542839.644808 2025-10-27T05:27:19.646Z,1761542839.646 [DAT](INFO): DAT read: Bearing 189.2, 20.1 (Local) 2025-10-27T05:27:19.647Z,1761542839.647 [DAT](INFO): Local bearing/azimuth received: Bearing 189.2, 20.1 (Local) 2025-10-27T05:27:19.649Z,1761542839.649 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.0 2025-10-27T05:27:19.657Z,1761542839.657 [DAT](INFO): DAT read: 05:27:18.2852 LVL= 22064, 24145, 32754, 32755, AGC= 61, IDX= 505, 0.22, 2.225,-2.822, 1.629, 2.829, PHS=-0.502, 0.677,-1.244, RAW= 352.5, 12.7, CAL= 352.9, 15.3, ROT= 157.1, -15.3 2025-10-27T05:27:19.659Z,1761542839.659 [DAT](INFO): got valid direction response: 05:27:18.2852 LVL= 22064, 24145, 32754, 32755, AGC= 61, IDX= 505, 0.22, 2.225,-2.822, 1.629, 2.829, PHS=-0.502, 0.677,-1.244, RAW= 352.5, 12.7, CAL= 352.9, 15.3, ROT= 157.1, -15.3 2025-10-27T05:27:19.659Z,1761542839.659 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:27:19.660Z,1761542839.660 [DAT](INFO): direction in FSK: [-0.888536,0.375332,0.263873] 2025-10-27T05:27:19.660Z,1761542839.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:19.725Z,1761542839.725 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.305565 2025-10-27T05:27:19.765Z,1761542839.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504071 s, deltaX: 0.199999 m, approachRate: 0.396767 m/s, rangeRepo size: 4 2025-10-27T05:27:19.772Z,1761542839.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.751211 m, bearing: 36.582389 deg, lat: 36.779330 deg, lon: -121.859657 deg, deltaT: 0.504071 s, deltaX: 0.198992 m, approachRate: 0.394769 m/s, posRepo size: 4 2025-10-27T05:27:19.772Z,1761542839.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-27T05:27:19.896Z,1761542839.896 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.477825 2025-10-27T05:27:20.040Z,1761542840.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495357,0.866754,0.057959],[-0.868466,-0.495640,-0.010407],[0.019707,-0.055491,0.998265]] 2025-10-27T05:27:20.077Z,1761542840.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-27T05:27:20.150Z,1761542840.150 [DAT](INFO): DAT read: Rx Time:05:27:18.7852 2025-10-27T05:27:20.150Z,1761542840.150 [DAT](INFO): Rx dataTimestamp_ set to:1761542840.149982 2025-10-27T05:27:20.152Z,1761542840.152 [DAT](INFO): DAT read: Bearing 186.8, 18.9 (Local) 2025-10-27T05:27:20.153Z,1761542840.153 [DAT](INFO): Local bearing/azimuth received: Bearing 186.8, 18.9 (Local) 2025-10-27T05:27:20.156Z,1761542840.156 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.1 2025-10-27T05:27:20.162Z,1761542840.162 [DAT](INFO): DAT read: 05:27:18.7852 LVL= 22560, 25121, 32754, 32755, AGC= 60, IDX= 505,-0.37,-0.278, 0.951,-0.825, 0.374, PHS=-0.550, 0.622,-1.243, RAW= 351.5, 14.2, CAL= 352.1, 17.7, ROT= 157.9, -17.7 2025-10-27T05:27:20.164Z,1761542840.164 [DAT](INFO): got valid direction response: 05:27:18.7852 LVL= 22560, 25121, 32754, 32755, AGC= 60, IDX= 505,-0.37,-0.278, 0.951,-0.825, 0.374, PHS=-0.550, 0.622,-1.243, RAW= 351.5, 14.2, CAL= 352.1, 17.7, ROT= 157.9, -17.7 2025-10-27T05:27:20.165Z,1761542840.165 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:27:20.166Z,1761542840.166 [DAT](INFO): direction in FSK: [-0.882668,0.358414,0.304033] 2025-10-27T05:27:20.166Z,1761542840.166 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:20.170Z,1761542840.170 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.751621 2025-10-27T05:27:20.400Z,1761542840.400 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.981628 2025-10-27T05:27:20.474Z,1761542840.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494290,0.867376,0.057763],[-0.869085,-0.494545,-0.010786],[0.019211,-0.055532,0.998272]] 2025-10-27T05:27:20.537Z,1761542840.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.505174 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:20.540Z,1761542840.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.751211 m, bearing: 37.489613 deg, lat: 36.779329 deg, lon: -121.859656 deg, deltaT: 0.505174 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:27:20.540Z,1761542840.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-27T05:27:20.653Z,1761542840.653 [DAT](INFO): DAT read: Rx Time:05:27:19.2852 2025-10-27T05:27:20.653Z,1761542840.653 [DAT](INFO): Rx dataTimestamp_ set to:1761542840.652707 2025-10-27T05:27:20.661Z,1761542840.661 [DAT](INFO): DAT read: Bearing 189.2, 20.3 (Local) 2025-10-27T05:27:20.662Z,1761542840.662 [DAT](INFO): Local bearing/azimuth received: Bearing 189.2, 20.3 (Local) 2025-10-27T05:27:20.664Z,1761542840.664 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.0 2025-10-27T05:27:20.669Z,1761542840.669 [DAT](INFO): DAT read: 05:27:19.2852 LVL= 21648, 24049, 32754, 32755, AGC= 60, IDX= 505, 0.06, 0.514, 1.747,-0.090, 1.116, PHS=-0.500, 0.676,-1.250, RAW= 352.7, 12.7, CAL= 353.1, 15.3, ROT= 156.9, -15.3 2025-10-27T05:27:20.670Z,1761542840.670 [DAT](INFO): got valid direction response: 05:27:19.2852 LVL= 21648, 24049, 32754, 32755, AGC= 60, IDX= 505, 0.06, 0.514, 1.747,-0.090, 1.116, PHS=-0.500, 0.676,-1.250, RAW= 352.7, 12.7, CAL= 353.1, 15.3, ROT= 156.9, -15.3 2025-10-27T05:27:20.670Z,1761542840.670 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:27:20.672Z,1761542840.672 [DAT](INFO): direction in FSK: [-0.887221,0.378432,0.263873] 2025-10-27T05:27:20.672Z,1761542840.672 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:20.680Z,1761542840.680 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.261726 2025-10-27T05:27:20.842Z,1761542840.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492934,0.868164,0.057503],[-0.869868,-0.493156,-0.011262],[0.018580,-0.055571,0.998282]] 2025-10-27T05:27:20.890Z,1761542840.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.502725 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:20.892Z,1761542840.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.751120 m, bearing: 36.699358 deg, lat: 36.779328 deg, lon: -121.859655 deg, deltaT: 0.502725 s, deltaX: -0.000092 m, approachRate: -0.000182 m/s, posRepo size: 4 2025-10-27T05:27:20.893Z,1761542840.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-27T05:27:20.904Z,1761542840.904 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.485664 2025-10-27T05:27:21.160Z,1761542841.160 [DAT](INFO): DAT read: Rx Time:05:27:19.7852 2025-10-27T05:27:21.160Z,1761542841.160 [DAT](INFO): Rx dataTimestamp_ set to:1761542841.159815 2025-10-27T05:27:21.161Z,1761542841.161 [DAT](INFO): DAT read: Bearing 187.7, 19.8 (Local) 2025-10-27T05:27:21.162Z,1761542841.162 [DAT](INFO): Local bearing/azimuth received: Bearing 187.7, 19.8 (Local) 2025-10-27T05:27:21.164Z,1761542841.164 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.1 2025-10-27T05:27:21.169Z,1761542841.169 [DAT](INFO): DAT read: 05:27:19.7852 LVL= 20592, 25169, 32754, 32755, AGC= 60, IDX= 504, 0.36,-0.131, 1.093,-0.714, 0.498, PHS=-0.526, 0.640,-1.256, RAW= 352.4, 13.7, CAL= 352.9, 16.9, ROT= 157.1, -16.9 2025-10-27T05:27:21.176Z,1761542841.176 [DAT](INFO): got valid direction response: 05:27:19.7852 LVL= 20592, 25169, 32754, 32755, AGC= 60, IDX= 504, 0.36,-0.131, 1.093,-0.714, 0.498, PHS=-0.526, 0.640,-1.256, RAW= 352.4, 13.7, CAL= 352.9, 16.9, ROT= 157.1, -16.9 2025-10-27T05:27:21.176Z,1761542841.176 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:27:21.177Z,1761542841.177 [DAT](INFO): direction in FSK: [-0.881403,0.372319,0.290702] 2025-10-27T05:27:21.178Z,1761542841.178 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:21.181Z,1761542841.181 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.762974 2025-10-27T05:27:21.262Z,1761542841.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491532,0.868986,0.057093],[-0.870676,-0.491719,-0.011699],[0.017907,-0.055459,0.998300]] 2025-10-27T05:27:21.316Z,1761542841.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.507108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:21.318Z,1761542841.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.751120 m, bearing: 36.912919 deg, lat: 36.779326 deg, lon: -121.859653 deg, deltaT: 0.507108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:27:21.318Z,1761542841.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-27T05:27:21.408Z,1761542841.408 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.989841 2025-10-27T05:27:21.640Z,1761542841.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490320,0.869695,0.056718],[-0.871368,-0.490484,-0.011953],[0.017424,-0.055283,0.998319]] 2025-10-27T05:27:21.661Z,1761542841.661 [DAT](INFO): DAT read: Rx Time:05:27:20.2853 2025-10-27T05:27:21.661Z,1761542841.661 [DAT](INFO): Rx dataTimestamp_ set to:1761542841.660754 2025-10-27T05:27:21.662Z,1761542841.662 [DAT](INFO): DAT read: Bearing 188.8, 19.2 (Local) 2025-10-27T05:27:21.663Z,1761542841.663 [DAT](INFO): Local bearing/azimuth received: Bearing 188.8, 19.2 (Local) 2025-10-27T05:27:21.665Z,1761542841.665 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.0 2025-10-27T05:27:21.669Z,1761542841.669 [DAT](INFO): DAT read: 05:27:20.2853 LVL= 20976, 21553, 32754, 32755, AGC= 59, IDX= 506,-0.13,-1.437,-0.192,-1.994,-0.808, PHS=-0.527, 0.661,-1.229, RAW= 351.6, 13.2, CAL= 352.0, 16.0, ROT= 158.0, -16.0 2025-10-27T05:27:21.670Z,1761542841.670 [DAT](INFO): got valid direction response: 05:27:20.2853 LVL= 20976, 21553, 32754, 32755, AGC= 59, IDX= 506,-0.13,-1.437,-0.192,-1.994,-0.808, PHS=-0.527, 0.661,-1.229, RAW= 351.6, 13.2, CAL= 352.0, 16.0, ROT= 158.0, -16.0 2025-10-27T05:27:21.671Z,1761542841.671 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:27:21.672Z,1761542841.672 [DAT](INFO): direction in FSK: [-0.891266,0.360095,0.275637] 2025-10-27T05:27:21.672Z,1761542841.672 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:21.676Z,1761542841.676 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:27:21.676Z,1761542841.676 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:27:21.676Z,1761542841.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:21.716Z,1761542841.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.500939 s, deltaX: 0.100000 m, approachRate: 0.199626 m/s, rangeRepo size: 4 2025-10-27T05:27:21.724Z,1761542841.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.850573 m, bearing: 37.925012 deg, lat: 36.779326 deg, lon: -121.859653 deg, deltaT: 0.500939 s, deltaX: 0.099453 m, approachRate: 0.198533 m/s, posRepo size: 4 2025-10-27T05:27:21.724Z,1761542841.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m. 2025-10-27T05:27:21.912Z,1761542841.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:22.093Z,1761542842.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488981,0.870468,0.056413],[-0.872130,-0.489121,-0.012259],[0.016922,-0.055194,0.998332]] 2025-10-27T05:27:22.165Z,1761542842.165 [DAT](INFO): DAT read: Rx Time:05:27:20.7852 2025-10-27T05:27:22.165Z,1761542842.165 [DAT](INFO): Rx dataTimestamp_ set to:1761542842.164832 2025-10-27T05:27:22.166Z,1761542842.166 [DAT](INFO): DAT read: Bearing 188.3, 19.8 (Local) 2025-10-27T05:27:22.167Z,1761542842.167 [DAT](INFO): Local bearing/azimuth received: Bearing 188.3, 19.8 (Local) 2025-10-27T05:27:22.169Z,1761542842.169 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.0 2025-10-27T05:27:22.174Z,1761542842.174 [DAT](INFO): DAT read: 05:27:20.7852 LVL= 20720, 24049, 32754, 32755, AGC= 60, IDX= 505, 0.12,-1.127, 0.103,-1.706,-0.503, PHS=-0.522, 0.651,-1.247, RAW= 352.2, 13.4, CAL= 352.7, 16.4, ROT= 157.3, -16.4 2025-10-27T05:27:22.175Z,1761542842.175 [DAT](INFO): got valid direction response: 05:27:20.7852 LVL= 20720, 24049, 32754, 32755, AGC= 60, IDX= 505, 0.12,-1.127, 0.103,-1.706,-0.503, PHS=-0.522, 0.651,-1.247, RAW= 352.2, 13.4, CAL= 352.7, 16.4, ROT= 157.3, -16.4 2025-10-27T05:27:22.176Z,1761542842.176 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:27:22.177Z,1761542842.177 [DAT](INFO): direction in FSK: [-0.885004,0.370205,0.282341] 2025-10-27T05:27:22.177Z,1761542842.177 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:22.180Z,1761542842.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:22.181Z,1761542842.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:22.240Z,1761542842.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504078 s, deltaX: -0.100000 m, approachRate: -0.198383 m/s, rangeRepo size: 4 2025-10-27T05:27:22.242Z,1761542842.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.751125 m, bearing: 37.300528 deg, lat: 36.779325 deg, lon: -121.859652 deg, deltaT: 0.504078 s, deltaX: -0.099447 m, approachRate: -0.197285 m/s, posRepo size: 4 2025-10-27T05:27:22.242Z,1761542842.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-27T05:27:22.417Z,1761542842.417 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:22.501Z,1761542842.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487865,0.871106,0.056237],[-0.872761,-0.487991,-0.012394],[0.016646,-0.055128,0.998341]] 2025-10-27T05:27:22.519Z,1761542842.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-27T05:27:22.669Z,1761542842.669 [DAT](INFO): DAT read: Rx Time:05:27:21.2854 2025-10-27T05:27:22.669Z,1761542842.669 [DAT](INFO): Rx dataTimestamp_ set to:1761542842.668698 2025-10-27T05:27:22.670Z,1761542842.670 [DAT](INFO): DAT read: Bearing 188.1, 19.9 (Local) 2025-10-27T05:27:22.671Z,1761542842.671 [DAT](INFO): Local bearing/azimuth received: Bearing 188.1, 19.9 (Local) 2025-10-27T05:27:22.673Z,1761542842.673 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.0 2025-10-27T05:27:22.677Z,1761542842.677 [DAT](INFO): DAT read: 05:27:21.2854 LVL= 22928, 21745, 32754, 32755, AGC= 60, IDX= 506, 0.40,-0.021, 1.211,-0.608, 0.608, PHS=-0.527, 0.647,-1.260, RAW= 352.4, 13.6, CAL= 352.9, 16.7, ROT= 157.1, -16.7 2025-10-27T05:27:22.678Z,1761542842.678 [DAT](INFO): got valid direction response: 05:27:21.2854 LVL= 22928, 21745, 32754, 32755, AGC= 60, IDX= 506, 0.40,-0.021, 1.211,-0.608, 0.608, PHS=-0.527, 0.647,-1.260, RAW= 352.4, 13.6, CAL= 352.9, 16.7, ROT= 157.1, -16.7 2025-10-27T05:27:22.679Z,1761542842.679 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:27:22.680Z,1761542842.680 [DAT](INFO): direction in FSK: [-0.882332,0.372712,0.287361] 2025-10-27T05:27:22.680Z,1761542842.680 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:22.721Z,1761542842.721 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:22.721Z,1761542842.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:22.902Z,1761542842.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486605,0.871800,0.056402],[-0.873467,-0.486719,-0.012617],[0.016453,-0.055405,0.998328]] 2025-10-27T05:27:22.922Z,1761542842.922 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:23.005Z,1761542843.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503866 s, deltaX: 0.300001 m, approachRate: 0.595399 m/s, rangeRepo size: 4 2025-10-27T05:27:23.008Z,1761542843.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.049480 m, bearing: 37.239006 deg, lat: 36.779326 deg, lon: -121.859650 deg, deltaT: 0.503866 s, deltaX: 0.298355 m, approachRate: 0.592132 m/s, posRepo size: 4 2025-10-27T05:27:23.008Z,1761542843.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:23.172Z,1761542843.172 [DAT](INFO): DAT read: Rx Time:05:27:21.7853 2025-10-27T05:27:23.173Z,1761542843.173 [DAT](INFO): Rx dataTimestamp_ set to:1761542843.172633 2025-10-27T05:27:23.174Z,1761542843.174 [DAT](INFO): DAT read: Bearing 188.2, 19.5 (Local) 2025-10-27T05:27:23.175Z,1761542843.175 [DAT](INFO): Local bearing/azimuth received: Bearing 188.2, 19.5 (Local) 2025-10-27T05:27:23.177Z,1761542843.177 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.0 2025-10-27T05:27:23.181Z,1761542843.181 [DAT](INFO): DAT read: 05:27:21.7853 LVL= 21072, 22369, 32754, 32755, AGC= 59, IDX= 506,-0.19,-2.780,-1.548, 2.939,-2.148, PHS=-0.531, 0.644,-1.241, RAW= 351.9, 13.6, CAL= 352.4, 16.7, ROT= 157.6, -16.7 2025-10-27T05:27:23.182Z,1761542843.182 [DAT](INFO): got valid direction response: 05:27:21.7853 LVL= 21072, 22369, 32754, 32755, AGC= 59, IDX= 506,-0.19,-2.780,-1.548, 2.939,-2.148, PHS=-0.531, 0.644,-1.241, RAW= 351.9, 13.6, CAL= 352.4, 16.7, ROT= 157.6, -16.7 2025-10-27T05:27:23.183Z,1761542843.183 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:27:23.184Z,1761542843.184 [DAT](INFO): direction in FSK: [-0.885551,0.364998,0.287361] 2025-10-27T05:27:23.184Z,1761542843.184 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:23.187Z,1761542843.187 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:23.188Z,1761542843.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:23.306Z,1761542843.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485616,0.872352,0.056385],[-0.874020,-0.485724,-0.012709],[0.016301,-0.055453,0.998328]] 2025-10-27T05:27:23.347Z,1761542843.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503935 s, deltaX: -0.200001 m, approachRate: -0.396878 m/s, rangeRepo size: 4 2025-10-27T05:27:23.353Z,1761542843.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.850586 m, bearing: 37.796639 deg, lat: 36.779325 deg, lon: -121.859647 deg, deltaT: 0.503935 s, deltaX: -0.198895 m, approachRate: -0.394683 m/s, posRepo size: 4 2025-10-27T05:27:23.353Z,1761542843.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m. 2025-10-27T05:27:23.428Z,1761542843.428 [DAT](INFO): DAT read: Rx Time:05:27:22.2854 2025-10-27T05:27:23.430Z,1761542843.430 [DAT](INFO): Rx dataTimestamp_ set to:1761542843.429100 2025-10-27T05:27:23.432Z,1761542843.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:23.677Z,1761542843.677 [DAT](INFO): DAT read: Bearing 187.0, 19.5 (Local) 2025-10-27T05:27:23.677Z,1761542843.677 [DAT](INFO): Local bearing/azimuth received: Bearing 187.0, 19.5 (Local) 2025-10-27T05:27:23.679Z,1761542843.679 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.0 2025-10-27T05:27:23.684Z,1761542843.684 [DAT](INFO): DAT read: 05:27:22.2854 LVL= 21680, 24961, 32754, 32755, AGC= 60, IDX= 507,-0.02,-0.590, 0.638,-1.164, 0.061, PHS=-0.549, 0.622,-1.269, RAW= 352.2, 14.3, CAL= 352.7, 17.9, ROT= 157.3, -17.9 2025-10-27T05:27:23.685Z,1761542843.685 [DAT](INFO): got valid direction response: 05:27:22.2854 LVL= 21680, 24961, 32754, 32755, AGC= 60, IDX= 507,-0.02,-0.590, 0.638,-1.164, 0.061, PHS=-0.549, 0.622,-1.269, RAW= 352.2, 14.3, CAL= 352.7, 17.9, ROT= 157.3, -17.9 2025-10-27T05:27:23.685Z,1761542843.685 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:27:23.686Z,1761542843.686 [DAT](INFO): direction in FSK: [-0.877882,0.367226,0.307357] 2025-10-27T05:27:23.692Z,1761542843.692 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:23.703Z,1761542843.703 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:23.704Z,1761542843.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:23.748Z,1761542843.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484941,0.872732,0.056303],[-0.874394,-0.485053,-0.012583],[0.016328,-0.055333,0.998334]] 2025-10-27T05:27:23.852Z,1761542843.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.502892 s, deltaX: 0.200001 m, approachRate: 0.397701 m/s, rangeRepo size: 4 2025-10-27T05:27:23.854Z,1761542843.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.049419 m, bearing: 37.488513 deg, lat: 36.779325 deg, lon: -121.859647 deg, deltaT: 0.502892 s, deltaX: 0.198833 m, approachRate: 0.395380 m/s, posRepo size: 4 2025-10-27T05:27:23.854Z,1761542843.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:23.931Z,1761542843.931 [DAT](INFO): DAT read: Rx Time:05:27:22.7853 2025-10-27T05:27:23.933Z,1761542843.933 [DAT](INFO): Rx dataTimestamp_ set to:1761542843.932051 2025-10-27T05:27:23.936Z,1761542843.936 [DAT](INFO): DAT read: Bearing 185.7, 19.4 (Local) 2025-10-27T05:27:23.937Z,1761542843.937 [DAT](INFO): Local bearing/azimuth received: Bearing 185.7, 19.4 (Local) 2025-10-27T05:27:23.938Z,1761542843.938 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:24.114Z,1761542844.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484358,0.873060,0.056245],[-0.874716,-0.484478,-0.012395],[0.016428,-0.055202,0.998340]] 2025-10-27T05:27:24.163Z,1761542844.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:24.181Z,1761542844.181 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.1 2025-10-27T05:27:24.186Z,1761542844.186 [DAT](INFO): DAT read: 05:27:22.7853 LVL= 21856, 23809, 32754, 32755, AGC= 60, IDX= 506, 0.14,-0.245, 0.963,-0.809, 0.420, PHS=-0.562, 0.588,-1.272, RAW= 352.2, 15.2, CAL= 352.8, 19.2, ROT= 157.2, -19.2 2025-10-27T05:27:24.187Z,1761542844.187 [DAT](INFO): got valid direction response: 05:27:22.7853 LVL= 21856, 23809, 32754, 32755, AGC= 60, IDX= 506, 0.14,-0.245, 0.963,-0.809, 0.420, PHS=-0.562, 0.588,-1.272, RAW= 352.2, 15.2, CAL= 352.8, 19.2, ROT= 157.2, -19.2 2025-10-27T05:27:24.188Z,1761542844.188 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:27:24.189Z,1761542844.189 [DAT](INFO): direction in FSK: [-0.870586,0.365961,0.328867] 2025-10-27T05:27:24.189Z,1761542844.189 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:24.192Z,1761542844.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:24.193Z,1761542844.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:24.439Z,1761542844.439 [DAT](INFO): DAT read: Rx Time:05:27:23.2854 2025-10-27T05:27:24.441Z,1761542844.441 [DAT](INFO): Rx dataTimestamp_ set to:1761542844.440182 2025-10-27T05:27:24.444Z,1761542844.444 [DAT](INFO): DAT read: Bearing 185.9, 19.8 (Local) 2025-10-27T05:27:24.445Z,1761542844.445 [DAT](INFO): Local bearing/azimuth received: Bearing 185.9, 19.8 (Local) 2025-10-27T05:27:24.449Z,1761542844.449 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.0 2025-10-27T05:27:24.460Z,1761542844.460 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:27:24.463Z,1761542844.463 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:24.464Z,1761542844.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:24.518Z,1761542844.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484223,0.873138,0.056187],[-0.874784,-0.484366,-0.011959],[0.016773,-0.054942,0.998349]] 2025-10-27T05:27:24.570Z,1761542844.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.764657 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:27:24.577Z,1761542844.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.049419 m, bearing: 37.383198 deg, lat: 36.779324 deg, lon: -121.859647 deg, deltaT: 0.764657 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:27:24.577Z,1761542844.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:24.695Z,1761542844.695 [DAT](INFO): DAT read: 05:27:23.2854 LVL= 21872, 24225, 32754, 32755, AGC= 60, IDX= 506, 0.38,-0.275, 0.928,-0.854, 0.381, PHS=-0.554, 0.592,-1.279, RAW=35.6 15.0, CAL= 353.2, 19.0, ROT= 156.8, -19.0 2025-10-27T05:27:24.697Z,1761542844.697 [DAT](INFO): unknown deviceResponse_: 05:27:23.2854 LVL= 21872, 24225, 32754, 32755, AGC= 60, IDX= 506, 0.38,-0.275, 0.928,-0.854, 0.381, PHS=-0.554, 0.592,-1.279, RAW=35.6 15.0, CAL= 353.2, 19.0, ROT= 156.8, -19.0 2025-10-27T05:27:24.697Z,1761542844.697 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:24.943Z,1761542844.943 [DAT](INFO): DAT read: Rx Time:05:27:23.7853 2025-10-27T05:27:24.945Z,1761542844.945 [DAT](INFO): Rx dataTimestamp_ set to:1761542844.943879 2025-10-27T05:27:24.948Z,1761542844.948 [DAT](INFO): DAT read: Bearing 186.3, 19.6 (Local) 2025-10-27T05:27:24.949Z,1761542844.949 [DAT](INFO): Local bearing/azimuth received: Bearing 186.3, 19.6 (Local) 2025-10-27T05:27:24.954Z,1761542844.954 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.1 2025-10-27T05:27:24.958Z,1761542844.958 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:27:24.961Z,1761542844.961 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:24.962Z,1761542844.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:24.977Z,1761542844.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484351,0.873073,0.056100],[-0.874707,-0.484515,-0.011555],[0.017092,-0.054668,0.998358]] 2025-10-27T05:27:25.075Z,1761542845.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503697 s, deltaX: -0.200001 m, approachRate: -0.397066 m/s, rangeRepo size: 4 2025-10-27T05:27:25.076Z,1761542845.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:25.197Z,1761542845.197 [DAT](INFO): DAT read: 05:27:23.7853 LVL= 22400, 24225, 32754, 32755, AGC= 60, IDX= 506,-0.25, 2.844,-2.227, 2.266,-2.783, PHS=-0.554, 0.601,-1.78 AW= 352.5, 14.9, CAL= 353.0, 18.7, ROT= 157.0, -18.7 2025-10-27T05:27:25.199Z,1761542845.199 [DAT](INFO): unknown deviceResponse_: 05:27:23.7853 LVL= 22400, 24225, 32754, 32755, AGC= 60, IDX= 506,-0.25, 2.844,-2.227, 2.266,-2.783, PHS=-0.554, 0.601,-1.78 AW= 352.5, 14.9, CAL= 353.0, 18.7, ROT= 157.0, -18.7 2025-10-27T05:27:25.200Z,1761542845.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:25.326Z,1761542845.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484717,0.872851,0.056397],[-0.874493,-0.484912,-0.011085],[0.017672,-0.054692,0.998347]] 2025-10-27T05:27:25.369Z,1761542845.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:25.449Z,1761542845.449 [DAT](INFO): DAT read: Rx Time:05:27:24.2854 2025-10-27T05:27:25.451Z,1761542845.451 [DAT](INFO): Rx dataTimestamp_ set to:1761542845.449660 2025-10-27T05:27:25.455Z,1761542845.455 [DAT](INFO): DAT read: Bearing 186.7, 20.2 (Local) 2025-10-27T05:27:25.457Z,1761542845.457 [DAT](INFO): Local bearing/azimuth received: Bearing 186.7, 20.2 (Local) 2025-10-27T05:27:25.464Z,1761542845.464 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.0 2025-10-27T05:27:25.467Z,1761542845.467 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:27:25.470Z,1761542845.470 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:25.471Z,1761542845.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:25.701Z,1761542845.701 [DAT](INFO): DAT read: 05:27:24.2854 LVL= 22464, 23825, 32754, 32755, AGC= 59, IDX= 507,-0.01,-1.376,-0.175,-1.975,-0.739, PHS=-0.535, 0.609,-1.281, RAW= 353.0, 14.5, CAL= 353.6, 18.1, ROT= 156.4, -18. 2025-10-27T05:27:25.702Z,1761542845.702 [DAT](INFO): got valid direction response: 05:27:24.2854 LVL= 22464, 23825, 32754, 32755, AGC= 59, IDX= 507,-0.01,-1.376,-0.175,-1.975,-0.739, PHS=-0.535, 0.609,-1.281, RAW= 353.0, 14.5, CAL= 353.6, 18.1, ROT= 156.4, -18. 2025-10-27T05:27:25.703Z,1761542845.703 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:27:25.704Z,1761542845.704 [DAT](INFO): direction in FSK: [-0.871513,0.380755,0.309017] 2025-10-27T05:27:25.711Z,1761542845.711 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:25.760Z,1761542845.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485269,0.872520,0.056768],[-0.874174,-0.485497,-0.010625],[0.018291,-0.054781,0.998331]] 2025-10-27T05:27:25.859Z,1761542845.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.505781 s, deltaX: 0.200001 m, approachRate: 0.395430 m/s, rangeRepo size: 4 2025-10-27T05:27:25.861Z,1761542845.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.049414 m, bearing: 36.594019 deg, lat: 36.779324 deg, lon: -121.859647 deg, deltaT: 1.009478 s, deltaX: -0.000006 m, approachRate: -0.000006 m/s, posRepo size: 4 2025-10-27T05:27:25.862Z,1761542845.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:25.950Z,1761542845.950 [DAT](INFO): DAT read: user:423> 2025-10-27T05:27:25.952Z,1761542845.952 [DAT](INFO): DAT read: Tx time:05:27:25.1736 2025-10-27T05:27:25.952Z,1761542845.952 [DAT](INFO): Ping request sent. 2025-10-27T05:27:25.952Z,1761542845.952 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:27:25.953Z,1761542845.953 [DAT](INFO): publishing transmit ping time 2025-10-27T05:27:26.134Z,1761542846.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486334,0.871908,0.057054],[-0.873567,-0.486599,-0.010099],[0.018957,-0.054752,0.998320]] 2025-10-27T05:27:26.182Z,1761542846.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:26.550Z,1761542846.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487419,0.871279,0.057408],[-0.872946,-0.487725,-0.009507],[0.019716,-0.054748,0.998306]] 2025-10-27T05:27:26.585Z,1761542846.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:26.942Z,1761542846.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488495,0.870658,0.057680],[-0.872329,-0.488838,-0.008982],[0.020376,-0.054703,0.998295]] 2025-10-27T05:27:27.016Z,1761542847.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:27.346Z,1761542847.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489799,0.869920,0.057769],[-0.871584,-0.490173,-0.008482],[0.020939,-0.054505,0.998294]] 2025-10-27T05:27:27.380Z,1761542847.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:27.753Z,1761542847.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490715,0.869379,0.058125],[-0.871055,-0.491118,-0.008117],[0.021490,-0.054613,0.998276]] 2025-10-27T05:27:27.771Z,1761542847.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:28.155Z,1761542848.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491762,0.868769,0.058399],[-0.870453,-0.492190,-0.007817],[0.021953,-0.054678,0.998263]] 2025-10-27T05:27:28.192Z,1761542848.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:28.558Z,1761542848.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492706,0.868211,0.058740],[-0.869909,-0.493154,-0.007627],[0.022345,-0.054856,0.998244]] 2025-10-27T05:27:28.588Z,1761542848.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:28.988Z,1761542848.988 [DAT](INFO): DAT read: Rx Time:05:27:27.6142 2025-10-27T05:27:28.988Z,1761542848.988 [DAT](INFO): Rx dataTimestamp_ set to:1761542848.988019 2025-10-27T05:27:29.023Z,1761542849.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:29.366Z,1761542849.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493861,0.867537,0.059001],[-0.869248,-0.494318,-0.007609],[0.022564,-0.055045,0.998229]] 2025-10-27T05:27:29.393Z,1761542849.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-27T05:27:29.504Z,1761542849.504 [DAT](INFO): DAT read: 05:27:27.6142 LVL= 19040, 19505, 25122, 26483, AGC= 63, IDX= 1, 0.49,-2.905,-1.711, 2.733,-2.302, PHS=-0.502, 0.636,-1.293, RAW= 354.1, 13.7, CAL= 354.5, 16.9, ROT= 155.5, -16.9 2025-10-27T05:27:29.505Z,1761542849.505 [DAT](INFO): got valid direction response: 05:27:27.6142 LVL= 19040, 19505, 25122, 26483, AGC= 63, IDX= 1, 0.49,-2.905,-1.711, 2.733,-2.302, PHS=-0.502, 0.636,-1.293, RAW= 354.1, 13.7, CAL= 354.5, 16.9, ROT= 155.5, -16.9 2025-10-27T05:27:29.506Z,1761542849.506 [DAT](INFO): DAT read: Bearing 187.0, 21.2 (Local) 2025-10-27T05:27:29.506Z,1761542849.506 [DAT](INFO): Local bearing/azimuth received: Bearing 187.0, 21.2 (Local) 2025-10-27T05:27:29.508Z,1761542849.508 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (Round-trip 36.5 ms) speed 0.0 m/s 2025-10-27T05:27:29.508Z,1761542849.508 [DAT](INFO): DAT read: user:424> 2025-10-27T05:27:29.509Z,1761542849.509 [DAT](INFO): DAT read: Tx time:05:27:28.7236 2025-10-27T05:27:29.509Z,1761542849.509 [DAT](INFO): Ping request sent. 2025-10-27T05:27:29.509Z,1761542849.509 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:27:29.510Z,1761542849.510 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:27:29.515Z,1761542849.515 [DAT](INFO): direction in FSK: [-0.870663,0.396784,0.290702] 2025-10-27T05:27:29.515Z,1761542849.515 [DAT](INFO): publishing transmit ping time 2025-10-27T05:27:29.515Z,1761542849.515 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:29.519Z,1761542849.519 [DAT](INFO): publishing transmit ping time 2025-10-27T05:27:29.523Z,1761542849.523 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:29.773Z,1761542849.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493867,0.867527,0.059092],[-0.869248,-0.494315,-0.007800],[0.022443,-0.055218,0.998222]] 2025-10-27T05:27:29.805Z,1761542849.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 4.044700 s, deltaX: 0.099998 m, approachRate: 0.024723 m/s, rangeRepo size: 4 2025-10-27T05:27:29.807Z,1761542849.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.149137 m, bearing: 35.207403 deg, lat: 36.779324 deg, lon: -121.859648 deg, deltaT: 4.044700 s, deltaX: 0.099724 m, approachRate: 0.024655 m/s, posRepo size: 4 2025-10-27T05:27:29.823Z,1761542849.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:27:30.174Z,1761542850.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493864,0.867547,0.058821],[-0.869257,-0.494295,-0.008007],[0.022129,-0.055085,0.998236]] 2025-10-27T05:27:30.218Z,1761542850.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:27:30.628Z,1761542850.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:27:30.985Z,1761542850.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492944,0.868111,0.058227],[-0.869803,-0.493323,-0.008667],[0.021201,-0.054919,0.998266]] 2025-10-27T05:27:31.051Z,1761542851.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:27:31.386Z,1761542851.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492068,0.868621,0.058019],[-0.870312,-0.492417,-0.009114],[0.020653,-0.054979,0.998274]] 2025-10-27T05:27:31.414Z,1761542851.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:27:31.790Z,1761542851.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490874,0.869311,0.057807],[-0.871001,-0.491187,-0.009646],[0.020009,-0.055085,0.998281]] 2025-10-27T05:27:31.824Z,1761542851.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:27:32.194Z,1761542852.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489738,0.869979,0.057388],[-0.871656,-0.490015,-0.010104],[0.019331,-0.054971,0.998301]] 2025-10-27T05:27:32.244Z,1761542852.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:27:32.516Z,1761542852.516 [DAT](INFO): DAT read: Rx Time:05:27:31.1646 2025-10-27T05:27:32.516Z,1761542852.516 [DAT](INFO): Rx dataTimestamp_ set to:1761542852.516101 2025-10-27T05:27:32.634Z,1761542852.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:27:33.035Z,1761542853.035 [DAT](INFO): DAT read: 05:27:31.1646 LVL= 23872, 25025, 32754, 32755, AGC= 60, IDX= 438,-0.47,-1.941,-0.786,-2.568,-1.306, PHS=-0.533, 0.564,-1.306, RAW= 354.3, 15.5, CAL= 354.9, 19.6, ROT= 155.1, -19.6 2025-10-27T05:27:33.036Z,1761542853.036 [DAT](INFO): got valid direction response: 05:27:31.1646 LVL= 23872, 25025, 32754, 32755, AGC= 60, IDX= 438,-0.47,-1.941,-0.786,-2.568,-1.306, PHS=-0.533, 0.564,-1.306, RAW= 354.3, 15.5, CAL= 354.9, 19.6, ROT= 155.1, -19.6 2025-10-27T05:27:33.037Z,1761542853.037 [DAT](INFO): DAT read: Bearing 184.0, 21.0 (Local) 2025-10-27T05:27:33.038Z,1761542853.038 [DAT](INFO): Local bearing/azimuth received: Bearing 184.0, 21.0 (Local) 2025-10-27T05:27:33.039Z,1761542853.039 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (Round-trip 36.9 ms) speed 0.0 m/s 2025-10-27T05:27:33.040Z,1761542853.040 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:27:33.041Z,1761542853.041 [DAT](INFO): direction in FSK: [-0.854488,0.396640,0.335452] 2025-10-27T05:27:33.041Z,1761542853.041 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:33.052Z,1761542853.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487365,0.871367,0.056524],[-0.873011,-0.487578,-0.010894],[0.018067,-0.054655,0.998342]] 2025-10-27T05:27:33.185Z,1761542853.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 3.526336 s, deltaX: 0.300001 m, approachRate: 0.085074 m/s, rangeRepo size: 4 2025-10-27T05:27:33.192Z,1761542853.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.447489 m, bearing: 35.100721 deg, lat: 36.779324 deg, lon: -121.859648 deg, deltaT: 3.526336 s, deltaX: 0.298351 m, approachRate: 0.084607 m/s, posRepo size: 4 2025-10-27T05:27:33.192Z,1761542853.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:33.416Z,1761542853.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486045,0.872129,0.056132],[-0.873760,-0.486226,-0.011316],[0.017423,-0.054546,0.998359]] 2025-10-27T05:27:33.436Z,1761542853.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:33.819Z,1761542853.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485026,0.872706,0.055987],[-0.874333,-0.485189,-0.011552],[0.017083,-0.054554,0.998365]] 2025-10-27T05:27:33.837Z,1761542853.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:34.221Z,1761542854.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484102,0.873229,0.055818],[-0.874851,-0.484248,-0.011782],[0.016741,-0.054536,0.998371]] 2025-10-27T05:27:34.264Z,1761542854.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:34.673Z,1761542854.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:35.029Z,1761542855.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483033,0.873848,0.055406],[-0.875450,-0.483159,-0.011980],[0.016301,-0.054292,0.998392]] 2025-10-27T05:27:35.086Z,1761542855.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:35.440Z,1761542855.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482894,0.873922,0.055439],[-0.875526,-0.483022,-0.011949],[0.016336,-0.054309,0.998390]] 2025-10-27T05:27:35.469Z,1761542855.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:35.872Z,1761542855.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483126,0.873791,0.055494],[-0.875395,-0.483263,-0.011804],[0.016504,-0.054282,0.998389]] 2025-10-27T05:27:35.890Z,1761542855.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:36.274Z,1761542856.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483615,0.873514,0.055585],[-0.875120,-0.483767,-0.011582],[0.016773,-0.054244,0.998387]] 2025-10-27T05:27:36.327Z,1761542856.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:36.742Z,1761542856.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:37.158Z,1761542857.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:37.486Z,1761542857.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486752,0.871731,0.056196],[-0.873350,-0.486979,-0.010502],[0.018211,-0.054191,0.998365]] 2025-10-27T05:27:37.521Z,1761542857.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:37.889Z,1761542857.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487889,0.871075,0.056507],[-0.872706,-0.488139,-0.010221],[0.018680,-0.054301,0.998350]] 2025-10-27T05:27:37.909Z,1761542857.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:38.295Z,1761542858.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489359,0.870236,0.056723],[-0.871871,-0.489637,-0.009825],[0.019224,-0.054263,0.998342]] 2025-10-27T05:27:38.333Z,1761542858.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:38.698Z,1761542858.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490701,0.869450,0.057181],[-0.871103,-0.491008,-0.009532],[0.019789,-0.054488,0.998318]] 2025-10-27T05:27:38.742Z,1761542858.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:39.102Z,1761542859.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492200,0.868584,0.057455],[-0.870247,-0.492528,-0.009283],[0.020235,-0.054569,0.998305]] 2025-10-27T05:27:39.148Z,1761542859.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:39.506Z,1761542859.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493556,0.867798,0.057698],[-0.869470,-0.493903,-0.009091],[0.020608,-0.054654,0.998293]] 2025-10-27T05:27:39.525Z,1761542859.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:39.910Z,1761542859.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495034,0.866939,0.057950],[-0.868618,-0.495405,-0.008803],[0.021077,-0.054694,0.998281]] 2025-10-27T05:27:39.954Z,1761542859.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:40.313Z,1761542860.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496328,0.866190,0.058073],[-0.867871,-0.496715,-0.008599],[0.021397,-0.054668,0.998275]] 2025-10-27T05:27:40.361Z,1761542860.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:40.726Z,1761542860.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497478,0.865531,0.058067],[-0.867208,-0.497873,-0.008492],[0.021560,-0.054581,0.998277]] 2025-10-27T05:27:40.763Z,1761542860.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:41.122Z,1761542861.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498362,0.865010,0.058255],[-0.866697,-0.498762,-0.008498],[0.021704,-0.054725,0.998266]] 2025-10-27T05:27:41.175Z,1761542861.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:41.552Z,1761542861.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499219,0.864506,0.058396],[-0.866200,-0.499627,-0.008444],[0.021876,-0.054798,0.998258]] 2025-10-27T05:27:41.570Z,1761542861.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:41.939Z,1761542861.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499949,0.864093,0.058270],[-0.865780,-0.500352,-0.008503],[0.021808,-0.054700,0.998265]] 2025-10-27T05:27:41.972Z,1761542861.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:42.333Z,1761542862.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500557,0.863749,0.058143],[-0.865430,-0.500957,-0.008529],[0.021760,-0.054588,0.998272]] 2025-10-27T05:27:42.396Z,1761542862.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:42.748Z,1761542862.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500562,0.863746,0.058134],[-0.865434,-0.500945,-0.008836],[0.021490,-0.054734,0.998270]] 2025-10-27T05:27:42.767Z,1761542862.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:43.142Z,1761542863.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500491,0.863800,0.057954],[-0.865484,-0.500854,-0.009131],[0.021140,-0.054728,0.998277]] 2025-10-27T05:27:43.186Z,1761542863.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:43.546Z,1761542863.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500487,0.863823,0.057643],[-0.865493,-0.500834,-0.009297],[0.020838,-0.054543,0.998294]] 2025-10-27T05:27:43.585Z,1761542863.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:43.956Z,1761542863.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500372,0.863904,0.057422],[-0.865567,-0.500702,-0.009517],[0.020530,-0.054464,0.998305]] 2025-10-27T05:27:43.975Z,1761542863.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:44.416Z,1761542864.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:27:44.421Z,1761542864.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:44.616Z,1761542864.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:27:44.616Z,1761542864.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:27:44.758Z,1761542864.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499903,0.864201,0.057046],[-0.865853,-0.500199,-0.009990],[0.019901,-0.054387,0.998322]] 2025-10-27T05:27:44.792Z,1761542864.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:44.868Z,1761542864.868 [DAT](INFO): DAT read: user:425> 2025-10-27T05:27:44.869Z,1761542864.869 [DAT](INFO): DAT read: Tx time:05:27:43.9235 2025-10-27T05:27:44.869Z,1761542864.869 [DAT](INFO): Ping request sent. 2025-10-27T05:27:44.869Z,1761542864.869 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:27:44.869Z,1761542864.869 [DAT](INFO): publishing transmit ping time 2025-10-27T05:27:44.870Z,1761542864.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T05:27:45.123Z,1761542865.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252951 2025-10-27T05:27:45.161Z,1761542865.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499499,0.864441,0.056941],[-0.866093,-0.499777,-0.010260],[0.019589,-0.054441,0.998325]] 2025-10-27T05:27:45.211Z,1761542865.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:45.372Z,1761542865.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502681 2025-10-27T05:27:45.566Z,1761542865.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499379,0.864531,0.056635],[-0.866169,-0.499642,-0.010430],[0.019280,-0.054264,0.998341]] 2025-10-27T05:27:45.585Z,1761542865.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:45.624Z,1761542865.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754854 2025-10-27T05:27:45.876Z,1761542865.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006794 2025-10-27T05:27:45.970Z,1761542865.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499050,0.864725,0.056571],[-0.866365,-0.499298,-0.010674],[0.019016,-0.054338,0.998342]] 2025-10-27T05:27:45.989Z,1761542865.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:46.131Z,1761542866.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261423 2025-10-27T05:27:46.376Z,1761542866.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498911,0.864814,0.056437],[-0.866449,-0.499148,-0.010818],[0.018814,-0.054297,0.998348]] 2025-10-27T05:27:46.380Z,1761542866.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510878 2025-10-27T05:27:46.422Z,1761542866.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:46.632Z,1761542866.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846 2025-10-27T05:27:46.778Z,1761542866.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498605,0.864994,0.056372],[-0.866632,-0.498823,-0.011146],[0.018478,-0.054411,0.998348]] 2025-10-27T05:27:46.817Z,1761542866.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:46.884Z,1761542866.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014687 2025-10-27T05:27:46.976Z,1761542866.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:27:47.139Z,1761542867.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268864 2025-10-27T05:27:47.182Z,1761542867.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498361,0.865118,0.056627],[-0.866773,-0.498575,-0.011292],[0.018464,-0.054710,0.998332]] 2025-10-27T05:27:47.233Z,1761542867.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:47.388Z,1761542867.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518812 2025-10-27T05:27:47.587Z,1761542867.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498705,0.864934,0.056419],[-0.866578,-0.498912,-0.011370],[0.018314,-0.054561,0.998342]] 2025-10-27T05:27:47.606Z,1761542867.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:47.642Z,1761542867.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772687 2025-10-27T05:27:47.892Z,1761542867.892 [DAT](INFO): DAT read: Rx Time:05:27:46.3658 2025-10-27T05:27:47.893Z,1761542867.893 [DAT](INFO): Rx dataTimestamp_ set to:1761542867.892326 2025-10-27T05:27:47.893Z,1761542867.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024032 2025-10-27T05:27:47.979Z,1761542867.979 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:27:47.994Z,1761542867.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499105,0.864706,0.056370],[-0.866348,-0.499312,-0.011365],[0.018319,-0.054508,0.998345]] 2025-10-27T05:27:48.019Z,1761542868.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:27:48.146Z,1761542868.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276781 2025-10-27T05:27:48.394Z,1761542868.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499658,0.864394,0.056254],[-0.866027,-0.499870,-0.011239],[0.018405,-0.054333,0.998353]] 2025-10-27T05:27:48.402Z,1761542868.402 [DAT](INFO): DAT read: 05:27:46.3658 LVL= 25136, 23025, 32754, 32755, AGC= 60, IDX= 451, 0.03, 1.710, 2.728, 0.923, 2.204, PHS=-0.392, 0.569,-1.325, RAW= 359.5, 13.9, CAL= 359.9, 17.0, ROT= 150.1, -17.0 2025-10-27T05:27:48.403Z,1761542868.403 [DAT](INFO): got valid direction response: 05:27:46.3658 LVL= 25136, 23025, 32754, 32755, AGC= 60, IDX= 451, 0.03, 1.710, 2.728, 0.923, 2.204, PHS=-0.392, 0.569,-1.325, RAW= 359.5, 13.9, CAL= 359.9, 17.0, ROT= 150.1, -17.0 2025-10-27T05:27:48.404Z,1761542868.404 [DAT](INFO): DAT read: Bearing 184.8, 26.3 (Local) 2025-10-27T05:27:48.404Z,1761542868.404 [DAT](INFO): Local bearing/azimuth received: Bearing 184.8, 26.3 (Local) 2025-10-27T05:27:48.406Z,1761542868.406 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (Round-trip 38.1 ms) speed 0.0 m/s 2025-10-27T05:27:48.406Z,1761542868.406 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:27:48.414Z,1761542868.414 [DAT](INFO): direction in FSK: [-0.829018,0.476706,0.292372] 2025-10-27T05:27:48.414Z,1761542868.414 [DAT](INFO): publishing direction and range info 2025-10-27T05:27:48.546Z,1761542868.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 15.374796 s, deltaX: 0.900000 m, approachRate: 0.058537 m/s, rangeRepo size: 4 2025-10-27T05:27:48.552Z,1761542868.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.346792 m, bearing: 29.478279 deg, lat: 36.779325 deg, lon: -121.859649 deg, deltaT: 15.374796 s, deltaX: 0.899303 m, approachRate: 0.058492 m/s, posRepo size: 4 2025-10-27T05:27:48.553Z,1761542868.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:48.802Z,1761542868.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500262,0.864057,0.056071],[-0.865678,-0.500478,-0.011131],[0.018444,-0.054107,0.998365]] 2025-10-27T05:27:48.826Z,1761542868.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:49.204Z,1761542869.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501213,0.863513,0.055953],[-0.865124,-0.501437,-0.010976],[0.018578,-0.053907,0.998373]] 2025-10-27T05:27:49.241Z,1761542869.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:49.606Z,1761542869.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501948,0.863063,0.056300],[-0.864691,-0.502187,-0.010859],[0.018901,-0.054133,0.998355]] 2025-10-27T05:27:49.632Z,1761542869.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:50.010Z,1761542870.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502731,0.862600,0.056415],[-0.864232,-0.502978,-0.010770],[0.019085,-0.054170,0.998349]] 2025-10-27T05:27:50.045Z,1761542870.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:50.425Z,1761542870.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503594,0.862087,0.056563],[-0.863726,-0.503848,-0.010723],[0.019255,-0.054255,0.998341]] 2025-10-27T05:27:50.479Z,1761542870.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:50.833Z,1761542870.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504724,0.861418,0.056687],[-0.863059,-0.504993,-0.010516],[0.019568,-0.054232,0.998337]] 2025-10-27T05:27:50.856Z,1761542870.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:51.245Z,1761542871.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505589,0.860896,0.056895],[-0.862548,-0.505867,-0.010470],[0.019767,-0.054368,0.998325]] 2025-10-27T05:27:51.314Z,1761542871.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:51.654Z,1761542871.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506827,0.860163,0.056967],[-0.861814,-0.507119,-0.010278],[0.020048,-0.054304,0.998323]] 2025-10-27T05:27:51.673Z,1761542871.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:52.059Z,1761542872.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507959,0.859483,0.057148],[-0.861141,-0.508265,-0.010129],[0.020341,-0.054357,0.998314]] 2025-10-27T05:27:52.077Z,1761542872.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:52.460Z,1761542872.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510063,0.858213,0.057490],[-0.859884,-0.510394,-0.009887],[0.020857,-0.054477,0.998297]] 2025-10-27T05:27:52.505Z,1761542872.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:52.904Z,1761542872.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:53.268Z,1761542873.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512599,0.856687,0.057705],[-0.858360,-0.512959,-0.009525],[0.021440,-0.054414,0.998288]] 2025-10-27T05:27:53.325Z,1761542873.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:53.708Z,1761542873.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:54.071Z,1761542874.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515023,0.855237,0.057623],[-0.856899,-0.515401,-0.009252],[0.021786,-0.054143,0.998296]] 2025-10-27T05:27:54.106Z,1761542874.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:54.474Z,1761542874.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516240,0.854506,0.057574],[-0.856162,-0.516626,-0.009127],[0.021946,-0.054004,0.998299]] 2025-10-27T05:27:54.529Z,1761542874.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:54.883Z,1761542874.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517097,0.853978,0.057729],[-0.855644,-0.517482,-0.009232],[0.021990,-0.054170,0.998290]] 2025-10-27T05:27:54.907Z,1761542874.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:55.290Z,1761542875.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517854,0.853507,0.057915],[-0.855187,-0.518235,-0.009404],[0.021987,-0.054398,0.998277]] 2025-10-27T05:27:55.330Z,1761542875.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:55.686Z,1761542875.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518768,0.852955,0.057857],[-0.854636,-0.519138,-0.009608],[0.021841,-0.054431,0.998279]] 2025-10-27T05:27:55.733Z,1761542875.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:56.090Z,1761542876.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519598,0.852453,0.057799],[-0.854136,-0.519957,-0.009843],[0.021662,-0.054482,0.998280]] 2025-10-27T05:27:56.109Z,1761542876.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:56.495Z,1761542876.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520406,0.851975,0.057584],[-0.853650,-0.520750,-0.010046],[0.021428,-0.054385,0.998290]] 2025-10-27T05:27:56.564Z,1761542876.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:56.902Z,1761542876.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520964,0.851653,0.057312],[-0.853319,-0.521286,-0.010366],[0.021048,-0.054306,0.998302]] 2025-10-27T05:27:56.936Z,1761542876.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:57.313Z,1761542877.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521398,0.851410,0.056969],[-0.853065,-0.521694,-0.010744],[0.020573,-0.054200,0.998318]] 2025-10-27T05:27:57.362Z,1761542877.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:57.709Z,1761542877.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521523,0.851354,0.056662],[-0.853003,-0.521786,-0.011221],[0.020012,-0.054185,0.998330]] 2025-10-27T05:27:57.758Z,1761542877.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:58.147Z,1761542878.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:58.514Z,1761542878.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521358,0.851485,0.056208],[-0.853129,-0.521557,-0.012242],[0.018892,-0.054335,0.998344]] 2025-10-27T05:27:58.558Z,1761542878.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:58.963Z,1761542878.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:59.344Z,1761542879.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520505,0.852048,0.055568],[-0.853678,-0.520630,-0.013359],[0.017548,-0.054391,0.998366]] 2025-10-27T05:27:59.397Z,1761542879.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:27:59.734Z,1761542879.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520041,0.852360,0.055131],[-0.853974,-0.520131,-0.013824],[0.016892,-0.054270,0.998383]] 2025-10-27T05:27:59.755Z,1761542879.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:00.130Z,1761542880.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519223,0.852881,0.054785],[-0.854486,-0.519276,-0.014377],[0.016187,-0.054278,0.998395]] 2025-10-27T05:28:00.153Z,1761542880.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:00.534Z,1761542880.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518694,0.853230,0.054355],[-0.854816,-0.518724,-0.014658],[0.015689,-0.054067,0.998414]] 2025-10-27T05:28:00.585Z,1761542880.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:00.938Z,1761542880.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517933,0.853716,0.053995],[-0.855288,-0.517933,-0.015083],[0.015089,-0.053993,0.998427]] 2025-10-27T05:28:00.963Z,1761542880.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:01.372Z,1761542881.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517251,0.854144,0.053763],[-0.855707,-0.517234,-0.015307],[0.014733,-0.053923,0.998436]] 2025-10-27T05:28:01.449Z,1761542881.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:01.774Z,1761542881.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516717,0.854483,0.053499],[-0.856035,-0.516686,-0.015483],[0.014412,-0.053797,0.998448]] 2025-10-27T05:28:01.792Z,1761542881.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:02.179Z,1761542882.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516443,0.854664,0.053257],[-0.856203,-0.516405,-0.015533],[0.014227,-0.053621,0.998460]] 2025-10-27T05:28:02.198Z,1761542882.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:02.582Z,1761542882.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516172,0.854828,0.053255],[-0.856367,-0.516132,-0.015558],[0.014187,-0.053637,0.998460]] 2025-10-27T05:28:02.626Z,1761542882.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:02.986Z,1761542882.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516125,0.854851,0.053331],[-0.856394,-0.516089,-0.015503],[0.014271,-0.053674,0.998456]] 2025-10-27T05:28:03.004Z,1761542883.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:03.416Z,1761542883.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516479,0.854620,0.053617],[-0.856175,-0.516461,-0.015252],[0.014657,-0.053783,0.998445]] 2025-10-27T05:28:03.466Z,1761542883.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:03.831Z,1761542883.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:04.236Z,1761542884.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517963,0.853683,0.054225],[-0.855261,-0.517989,-0.014666],[0.015568,-0.053973,0.998421]] 2025-10-27T05:28:04.254Z,1761542884.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:04.640Z,1761542884.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519309,0.852842,0.054571],[-0.854433,-0.519368,-0.014221],[0.016214,-0.054012,0.998409]] 2025-10-27T05:28:04.676Z,1761542884.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:05.076Z,1761542885.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521001,0.851803,0.054680],[-0.853391,-0.521091,-0.013716],[0.016810,-0.053809,0.998410]] 2025-10-27T05:28:05.094Z,1761542885.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:05.488Z,1761542885.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522686,0.850741,0.055133],[-0.852344,-0.522814,-0.013226],[0.017572,-0.053905,0.998391]] 2025-10-27T05:28:05.537Z,1761542885.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:05.902Z,1761542885.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524653,0.849521,0.055251],[-0.851122,-0.524813,-0.012758],[0.018159,-0.053719,0.998391]] 2025-10-27T05:28:05.949Z,1761542885.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:06.290Z,1761542886.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526394,0.848421,0.055598],[-0.850034,-0.526581,-0.012423],[0.018737,-0.053800,0.998376]] 2025-10-27T05:28:06.316Z,1761542886.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:06.793Z,1761542886.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528138,0.847320,0.055849],[-0.848942,-0.528344,-0.012209],[0.019163,-0.053860,0.998365]] 2025-10-27T05:28:06.846Z,1761542886.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:07.098Z,1761542887.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530298,0.845980,0.055692],[-0.847590,-0.530515,-0.012039],[0.019361,-0.053588,0.998375]] 2025-10-27T05:28:07.116Z,1761542887.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:07.502Z,1761542887.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531891,0.844982,0.055650],[-0.846593,-0.532100,-0.012210],[0.019294,-0.053607,0.998376]] 2025-10-27T05:28:07.546Z,1761542887.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:07.915Z,1761542887.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533021,0.844268,0.055672],[-0.845890,-0.533207,-0.012710],[0.018955,-0.053867,0.998368]] 2025-10-27T05:28:07.955Z,1761542887.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:08.310Z,1761542888.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534075,0.843603,0.055661],[-0.845235,-0.534229,-0.013328],[0.018493,-0.054165,0.998361]] 2025-10-27T05:28:08.329Z,1761542888.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:08.721Z,1761542888.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535085,0.842985,0.055313],[-0.844611,-0.535198,-0.014013],[0.017791,-0.054216,0.998371]] 2025-10-27T05:28:08.776Z,1761542888.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:09.120Z,1761542889.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535588,0.842702,0.054757],[-0.844314,-0.535640,-0.014974],[0.016711,-0.054252,0.998387]] 2025-10-27T05:28:09.138Z,1761542889.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:09.521Z,1761542889.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535628,0.842716,0.054149],[-0.844313,-0.535609,-0.016083],[0.015450,-0.054333,0.998403]] 2025-10-27T05:28:09.569Z,1761542889.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:09.926Z,1761542889.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535731,0.842714,0.053155],[-0.844273,-0.535637,-0.017198],[0.013979,-0.054091,0.998438]] 2025-10-27T05:28:09.969Z,1761542889.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:10.330Z,1761542890.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535485,0.842931,0.052175],[-0.844453,-0.535312,-0.018418],[0.012405,-0.053922,0.998468]] 2025-10-27T05:28:10.352Z,1761542890.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:10.740Z,1761542890.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534869,0.843376,0.051299],[-0.844866,-0.534613,-0.019752],[0.010767,-0.053906,0.998488]] 2025-10-27T05:28:10.777Z,1761542890.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:11.138Z,1761542891.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533946,0.844015,0.050401],[-0.845470,-0.533602,-0.021185],[0.009013,-0.053924,0.998504]] 2025-10-27T05:28:11.172Z,1761542891.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:11.541Z,1761542891.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532849,0.844764,0.049444],[-0.846180,-0.532414,-0.022691],[0.007156,-0.053929,0.998519]] 2025-10-27T05:28:11.631Z,1761542891.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:11.952Z,1761542891.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531719,0.845526,0.048591],[-0.846904,-0.531199,-0.024111],[0.005425,-0.053973,0.998528]] 2025-10-27T05:28:11.970Z,1761542891.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:12.414Z,1761542892.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:12.754Z,1761542892.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529369,0.847103,0.046746],[-0.848389,-0.528692,-0.026837],[0.001981,-0.053866,0.998546]] 2025-10-27T05:28:12.798Z,1761542892.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:13.199Z,1761542893.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:13.562Z,1761542893.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527639,0.848286,0.044813],[-0.849468,-0.526847,-0.028920],[-0.000923,-0.053327,0.998577]] 2025-10-27T05:28:13.628Z,1761542893.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:13.985Z,1761542893.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526929,0.848757,0.044246],[-0.849907,-0.526088,-0.029822],[-0.002034,-0.053319,0.998575]] 2025-10-27T05:28:14.007Z,1761542894.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:14.457Z,1761542894.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:14.822Z,1761542894.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526592,0.849013,0.043332],[-0.850110,-0.525673,-0.031319],[-0.003812,-0.053330,0.998570]] 2025-10-27T05:28:14.858Z,1761542894.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:15.227Z,1761542895.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526678,0.848966,0.043219],[-0.850054,-0.525726,-0.031949],[-0.004402,-0.053565,0.998555]] 2025-10-27T05:28:15.245Z,1761542895.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:15.631Z,1761542895.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527065,0.848734,0.043055],[-0.849811,-0.526089,-0.032426],[-0.004870,-0.053680,0.998546]] 2025-10-27T05:28:15.680Z,1761542895.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:16.034Z,1761542896.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528118,0.848101,0.042610],[-0.849155,-0.527140,-0.032538],[-0.005134,-0.053366,0.998562]] 2025-10-27T05:28:16.052Z,1761542896.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:16.438Z,1761542896.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529105,0.847498,0.042382],[-0.848540,-0.528127,-0.032581],[-0.005229,-0.053201,0.998570]] 2025-10-27T05:28:16.457Z,1761542896.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:16.842Z,1761542896.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530040,0.846919,0.042266],[-0.847956,-0.529057,-0.032696],[-0.005330,-0.053170,0.998571]] 2025-10-27T05:28:16.905Z,1761542896.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:17.246Z,1761542897.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530966,0.846337,0.042286],[-0.847376,-0.529976,-0.032863],[-0.005402,-0.053281,0.998565]] 2025-10-27T05:28:17.265Z,1761542897.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:17.651Z,1761542897.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531993,0.845683,0.042470],[-0.846732,-0.530999,-0.032936],[-0.005302,-0.053483,0.998555]] 2025-10-27T05:28:17.701Z,1761542897.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:18.053Z,1761542898.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533231,0.844901,0.042503],[-0.845954,-0.532238,-0.032933],[-0.005203,-0.053516,0.998553]] 2025-10-27T05:28:18.089Z,1761542898.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:18.099Z,1761542898.099 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:28:18.498Z,1761542898.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:18.867Z,1761542898.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535369,0.843557,0.042339],[-0.844603,-0.534379,-0.032943],[-0.005164,-0.053396,0.998560]] 2025-10-27T05:28:18.924Z,1761542898.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:19.103Z,1761542899.103 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:28:19.267Z,1761542899.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536208,0.843025,0.042303],[-0.844071,-0.535224,-0.032872],[-0.005071,-0.053333,0.998564]] 2025-10-27T05:28:19.291Z,1761542899.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:19.670Z,1761542899.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536923,0.842572,0.042263],[-0.843616,-0.535945,-0.032776],[-0.004965,-0.053252,0.998569]] 2025-10-27T05:28:19.729Z,1761542899.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:20.074Z,1761542900.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537279,0.842342,0.042317],[-0.843390,-0.536299,-0.032812],[-0.004944,-0.053319,0.998565]] 2025-10-27T05:28:20.110Z,1761542900.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:20.483Z,1761542900.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537540,0.842171,0.042400],[-0.843224,-0.536557,-0.032864],[-0.004928,-0.053418,0.998560]] 2025-10-27T05:28:20.502Z,1761542900.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:20.894Z,1761542900.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537821,0.841978,0.042683],[-0.843046,-0.536842,-0.032780],[-0.004686,-0.053614,0.998551]] 2025-10-27T05:28:20.944Z,1761542900.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:21.290Z,1761542901.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537565,0.842141,0.042686],[-0.843209,-0.536587,-0.032755],[-0.004680,-0.053602,0.998551]] 2025-10-27T05:28:21.309Z,1761542901.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:21.697Z,1761542901.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537254,0.842339,0.042692],[-0.843408,-0.536280,-0.032672],[-0.004626,-0.053560,0.998554]] 2025-10-27T05:28:21.768Z,1761542901.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:22.098Z,1761542902.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536946,0.842535,0.042706],[-0.843605,-0.535985,-0.032408],[-0.004415,-0.053429,0.998562]] 2025-10-27T05:28:22.124Z,1761542902.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:22.499Z,1761542902.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536506,0.842803,0.042940],[-0.843886,-0.535557,-0.032161],[-0.004109,-0.053491,0.998560]] 2025-10-27T05:28:22.517Z,1761542902.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:22.902Z,1761542902.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536353,0.842898,0.043003],[-0.843986,-0.535428,-0.031698],[-0.003693,-0.053296,0.998572]] 2025-10-27T05:28:22.963Z,1761542902.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:23.306Z,1761542903.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536104,0.843047,0.043172],[-0.844146,-0.535203,-0.031250],[-0.003239,-0.053196,0.998579]] 2025-10-27T05:28:23.333Z,1761542903.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:23.715Z,1761542903.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535891,0.843165,0.043525],[-0.844283,-0.535018,-0.030688],[-0.002588,-0.053193,0.998581]] 2025-10-27T05:28:23.765Z,1761542903.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:24.114Z,1761542904.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535518,0.843383,0.043877],[-0.844522,-0.534669,-0.030201],[-0.002011,-0.053228,0.998580]] 2025-10-27T05:28:24.133Z,1761542904.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:24.519Z,1761542904.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535138,0.843603,0.044285],[-0.844763,-0.534317,-0.029666],[-0.001364,-0.053285,0.998578]] 2025-10-27T05:28:24.537Z,1761542904.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:24.922Z,1761542904.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535017,0.843664,0.044579],[-0.844841,-0.534232,-0.028977],[-0.000631,-0.053166,0.998586]] 2025-10-27T05:28:24.969Z,1761542904.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:25.325Z,1761542905.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535085,0.843598,0.045020],[-0.844798,-0.534342,-0.028180],[0.000284,-0.053112,0.998589]] 2025-10-27T05:28:25.368Z,1761542905.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:25.738Z,1761542905.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535167,0.843520,0.045511],[-0.844746,-0.534467,-0.027391],[0.001219,-0.053104,0.998588]] 2025-10-27T05:28:25.787Z,1761542905.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:26.136Z,1761542906.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535283,0.843422,0.045947],[-0.844671,-0.534622,-0.026666],[0.002073,-0.053084,0.998588]] 2025-10-27T05:28:26.159Z,1761542906.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:26.616Z,1761542906.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:26.941Z,1761542906.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535877,0.842991,0.046928],[-0.844288,-0.535296,-0.025235],[0.003847,-0.053144,0.998579]] 2025-10-27T05:28:26.993Z,1761542906.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:27.346Z,1761542907.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536295,0.842709,0.047218],[-0.844018,-0.535754,-0.024509],[0.004643,-0.052996,0.998584]] 2025-10-27T05:28:27.399Z,1761542907.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:27.762Z,1761542907.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536436,0.842584,0.047838],[-0.843923,-0.535932,-0.023899],[0.005501,-0.053192,0.998569]] 2025-10-27T05:28:27.823Z,1761542907.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:28.154Z,1761542908.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536919,0.842256,0.048191],[-0.843610,-0.536455,-0.023192],[0.006319,-0.053107,0.998569]] 2025-10-27T05:28:28.179Z,1761542908.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:28.558Z,1761542908.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537156,0.842081,0.048613],[-0.843454,-0.536722,-0.022687],[0.006988,-0.053189,0.998560]] 2025-10-27T05:28:28.575Z,1761542908.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:28.962Z,1761542908.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537228,0.842019,0.048893],[-0.843404,-0.536816,-0.022305],[0.007465,-0.053220,0.998555]] 2025-10-27T05:28:29.025Z,1761542909.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:29.374Z,1761542909.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537354,0.841921,0.049202],[-0.843320,-0.536961,-0.022008],[0.007891,-0.053319,0.998546]] 2025-10-27T05:28:29.408Z,1761542909.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:29.789Z,1761542909.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537640,0.841732,0.049295],[-0.843134,-0.537268,-0.021635],[0.008274,-0.053194,0.998550]] 2025-10-27T05:28:29.833Z,1761542909.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:30.175Z,1761542910.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537630,0.841734,0.049370],[-0.843138,-0.537271,-0.021423],[0.008492,-0.053143,0.998551]] 2025-10-27T05:28:30.194Z,1761542910.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:30.578Z,1761542910.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537552,0.841779,0.049452],[-0.843186,-0.537202,-0.021259],[0.008671,-0.053125,0.998550]] 2025-10-27T05:28:30.607Z,1761542910.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:30.982Z,1761542910.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537215,0.841997,0.049399],[-0.843401,-0.536863,-0.021277],[0.008606,-0.053093,0.998553]] 2025-10-27T05:28:31.033Z,1761542911.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:31.387Z,1761542911.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536721,0.842313,0.049384],[-0.843717,-0.536362,-0.021380],[0.008479,-0.053141,0.998551]] 2025-10-27T05:28:31.406Z,1761542911.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:31.817Z,1761542911.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536269,0.842612,0.049202],[-0.844007,-0.535900,-0.021518],[0.008236,-0.053067,0.998557]] 2025-10-27T05:28:31.876Z,1761542911.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:32.193Z,1761542912.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535734,0.842958,0.049101],[-0.844349,-0.535352,-0.021734],[0.007965,-0.053102,0.998557]] 2025-10-27T05:28:32.221Z,1761542912.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:32.598Z,1761542912.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534979,0.843457,0.048762],[-0.844833,-0.534572,-0.022133],[0.007399,-0.053036,0.998565]] 2025-10-27T05:28:32.635Z,1761542912.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:33.006Z,1761542913.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534123,0.844001,0.048728],[-0.845378,-0.533695,-0.022503],[0.007013,-0.053213,0.998559]] 2025-10-27T05:28:33.071Z,1761542913.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:33.408Z,1761542913.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533381,0.844490,0.048385],[-0.845850,-0.532931,-0.022847],[0.006492,-0.053112,0.998567]] 2025-10-27T05:28:33.426Z,1761542913.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:33.846Z,1761542913.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532835,0.844862,0.047909],[-0.846198,-0.532366,-0.023136],[0.005959,-0.052868,0.998584]] 2025-10-27T05:28:33.899Z,1761542913.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:34.213Z,1761542914.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532314,0.845207,0.047615],[-0.846529,-0.531827,-0.023430],[0.005520,-0.052780,0.998591]] 2025-10-27T05:28:34.247Z,1761542914.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:34.618Z,1761542914.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531725,0.845589,0.047419],[-0.846902,-0.531217,-0.023778],[0.005083,-0.052802,0.998592]] 2025-10-27T05:28:34.639Z,1761542914.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:35.027Z,1761542915.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531235,0.845909,0.047205],[-0.847212,-0.530706,-0.024131],[0.004639,-0.052812,0.998594]] 2025-10-27T05:28:35.085Z,1761542915.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:35.428Z,1761542915.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530821,0.846168,0.047219],[-0.847473,-0.530275,-0.024452],[0.004349,-0.052996,0.998585]] 2025-10-27T05:28:35.446Z,1761542915.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:35.874Z,1761542915.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530590,0.846318,0.047118],[-0.847619,-0.530030,-0.024715],[0.004057,-0.053052,0.998583]] 2025-10-27T05:28:35.917Z,1761542915.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:36.234Z,1761542916.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530657,0.846286,0.046943],[-0.847578,-0.530088,-0.024878],[0.003830,-0.052990,0.998588]] 2025-10-27T05:28:36.253Z,1761542916.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:36.638Z,1761542916.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530571,0.846342,0.046893],[-0.847633,-0.529987,-0.025144],[0.003572,-0.053089,0.998583]] 2025-10-27T05:28:36.660Z,1761542916.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:37.046Z,1761542917.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530957,0.846102,0.046862],[-0.847391,-0.530373,-0.025165],[0.003562,-0.053073,0.998584]] 2025-10-27T05:28:37.084Z,1761542917.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:37.484Z,1761542917.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:37.897Z,1761542917.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531348,0.845848,0.047009],[-0.847146,-0.530754,-0.025364],[0.003496,-0.053301,0.998572]] 2025-10-27T05:28:37.953Z,1761542917.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:38.255Z,1761542918.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531711,0.845623,0.046965],[-0.846919,-0.531114,-0.025425],[0.003444,-0.053294,0.998573]] 2025-10-27T05:28:38.273Z,1761542918.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:38.696Z,1761542918.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:39.117Z,1761542919.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:39.466Z,1761542919.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532526,0.845114,0.046884],[-0.846408,-0.531916,-0.025678],[0.003237,-0.053357,0.998570]] 2025-10-27T05:28:39.485Z,1761542919.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:39.894Z,1761542919.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532855,0.844915,0.046730],[-0.846200,-0.532244,-0.025705],[0.003153,-0.053241,0.998577]] 2025-10-27T05:28:39.950Z,1761542919.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:40.273Z,1761542920.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533122,0.844753,0.046605],[-0.846032,-0.532513,-0.025675],[0.003129,-0.053117,0.998583]] 2025-10-27T05:28:40.322Z,1761542920.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:40.681Z,1761542920.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533273,0.844658,0.046604],[-0.845937,-0.532663,-0.025690],[0.003125,-0.053124,0.998583]] 2025-10-27T05:28:40.701Z,1761542920.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:41.086Z,1761542921.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533125,0.844753,0.046585],[-0.846031,-0.532507,-0.025829],[0.002988,-0.053182,0.998580]] 2025-10-27T05:28:41.144Z,1761542921.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:41.485Z,1761542921.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532799,0.844962,0.046514],[-0.846237,-0.532170,-0.026031],[0.002758,-0.053231,0.998578]] 2025-10-27T05:28:41.514Z,1761542921.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:41.894Z,1761542921.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532803,0.844978,0.046181],[-0.846236,-0.532170,-0.026074],[0.002544,-0.052972,0.998593]] 2025-10-27T05:28:42.003Z,1761542922.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:42.293Z,1761542922.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532358,0.845257,0.046221],[-0.846516,-0.531715,-0.026251],[0.002387,-0.053102,0.998586]] 2025-10-27T05:28:42.350Z,1761542922.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:42.702Z,1761542922.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532011,0.845473,0.046255],[-0.846734,-0.531363,-0.026343],[0.002306,-0.053181,0.998582]] 2025-10-27T05:28:42.749Z,1761542922.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:43.102Z,1761542923.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531561,0.845767,0.046041],[-0.847017,-0.530901,-0.026572],[0.001969,-0.053122,0.998586]] 2025-10-27T05:28:43.156Z,1761542923.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:43.507Z,1761542923.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530830,0.846229,0.045992],[-0.847477,-0.530151,-0.026890],[0.001628,-0.053252,0.998580]] 2025-10-27T05:28:43.526Z,1761542923.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:43.910Z,1761542923.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530063,0.846721,0.045784],[-0.847957,-0.529367,-0.027183],[0.001220,-0.053231,0.998582]] 2025-10-27T05:28:43.997Z,1761542923.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:44.313Z,1761542924.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529208,0.847271,0.045500],[-0.848492,-0.528494,-0.027484],[0.000760,-0.053151,0.998586]] 2025-10-27T05:28:44.375Z,1761542924.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:44.736Z,1761542924.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528097,0.847978,0.045232],[-0.849184,-0.527364,-0.027827],[0.000257,-0.053106,0.998589]] 2025-10-27T05:28:44.753Z,1761542924.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:28:44.755Z,1761542924.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:44.900Z,1761542924.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:28:44.901Z,1761542924.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:28:45.122Z,1761542925.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527212,0.848531,0.045202],[-0.849734,-0.526469,-0.027978],[0.000057,-0.053161,0.998586]] 2025-10-27T05:28:45.152Z,1761542925.152 [DAT](INFO): DAT read: user:426> 2025-10-27T05:28:45.153Z,1761542925.153 [DAT](INFO): DAT read: Tx time:05:28:44.2234 2025-10-27T05:28:45.153Z,1761542925.153 [DAT](INFO): Ping request sent. 2025-10-27T05:28:45.153Z,1761542925.153 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:28:45.153Z,1761542925.153 [DAT](INFO): publishing transmit ping time 2025-10-27T05:28:45.154Z,1761542925.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T05:28:45.169Z,1761542925.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:45.404Z,1761542925.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250863 2025-10-27T05:28:45.525Z,1761542925.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525953,0.849328,0.044905],[-0.850514,-0.525187,-0.028375],[-0.000516,-0.053116,0.998588]] 2025-10-27T05:28:45.548Z,1761542925.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:45.660Z,1761542925.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506519 2025-10-27T05:28:45.908Z,1761542925.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754795 2025-10-27T05:28:45.937Z,1761542925.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524583,0.850180,0.044790],[-0.851359,-0.523794,-0.028780],[-0.001007,-0.053229,0.998582]] 2025-10-27T05:28:45.986Z,1761542925.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:46.160Z,1761542926.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006841 2025-10-27T05:28:46.348Z,1761542926.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523363,0.850940,0.044622],[-0.852108,-0.522557,-0.029083],[-0.001430,-0.053244,0.998581]] 2025-10-27T05:28:46.386Z,1761542926.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:46.412Z,1761542926.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258923 2025-10-27T05:28:46.664Z,1761542926.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511389 2025-10-27T05:28:46.745Z,1761542926.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521881,0.851849,0.044653],[-0.853016,-0.521053,-0.029452],[-0.001822,-0.053460,0.998568]] 2025-10-27T05:28:46.775Z,1761542926.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:46.916Z,1761542926.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762801 2025-10-27T05:28:47.142Z,1761542927.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520398,0.852756,0.044641],[-0.853921,-0.519553,-0.029736],[-0.002165,-0.053594,0.998560]] 2025-10-27T05:28:47.175Z,1761542927.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022148 2025-10-27T05:28:47.195Z,1761542927.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:47.430Z,1761542927.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276988 2025-10-27T05:28:47.547Z,1761542927.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518953,0.853644,0.044503],[-0.854800,-0.518098,-0.029878],[-0.002448,-0.053547,0.998562]] 2025-10-27T05:28:47.565Z,1761542927.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:47.680Z,1761542927.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526798 2025-10-27T05:28:47.932Z,1761542927.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778789 2025-10-27T05:28:47.955Z,1761542927.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517803,0.854355,0.044234],[-0.855496,-0.516951,-0.029811],[-0.002602,-0.053279,0.998576]] 2025-10-27T05:28:47.977Z,1761542927.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:48.184Z,1761542928.184 [DAT](INFO): DAT read: Rx Time:05:28:46.6705 2025-10-27T05:28:48.184Z,1761542928.184 [DAT](INFO): Rx dataTimestamp_ set to:1761542928.184215 2025-10-27T05:28:48.185Z,1761542928.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032005 2025-10-27T05:28:48.357Z,1761542928.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516725,0.855018,0.044043],[-0.856147,-0.515875,-0.029751],[-0.002717,-0.053080,0.998587]] 2025-10-27T05:28:48.401Z,1761542928.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:28:48.438Z,1761542928.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284495 2025-10-27T05:28:48.693Z,1761542928.693 [DAT](INFO): DAT read: 05:28:46.6705 LVL= 27952, 24561, 32754, 32755, AGC= 58, IDX= 484, 0.24, 2.891,-2.635, 1.883,-2.980, PHS=-0.310, 0.391,-1.464, RAW= 8.0, 16.8, CAL= 8.0, 20.8, ROT= 142.0, -20.8 2025-10-27T05:28:48.694Z,1761542928.694 [DAT](INFO): got valid direction response: 05:28:46.6705 LVL= 27952, 24561, 32754, 32755, AGC= 58, IDX= 484, 0.24, 2.891,-2.635, 1.883,-2.980, PHS=-0.310, 0.391,-1.464, RAW= 8.0, 16.8, CAL= 8.0, 20.8, ROT= 142.0, -20.8 2025-10-27T05:28:48.696Z,1761542928.696 [DAT](INFO): DAT read: Bearing 176.8, 33.6 (Local) 2025-10-27T05:28:48.696Z,1761542928.696 [DAT](INFO): Local bearing/azimuth received: Bearing 176.8, 33.6 (Local) 2025-10-27T05:28:48.698Z,1761542928.698 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (Round-trip 42.9 ms) speed 0.0 m/s 2025-10-27T05:28:48.699Z,1761542928.699 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:28:48.700Z,1761542928.700 [DAT](INFO): direction in FSK: [-0.736653,0.575536,0.355107] 2025-10-27T05:28:48.701Z,1761542928.701 [DAT](INFO): publishing direction and range info 2025-10-27T05:28:48.765Z,1761542928.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515642,0.855666,0.044141],[-0.856800,-0.514796,-0.029661],[-0.002656,-0.053114,0.998585]] 2025-10-27T05:28:48.809Z,1761542928.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 60.291854 s, deltaX: 3.599998 m, approachRate: 0.059710 m/s, rangeRepo size: 4 2025-10-27T05:28:48.815Z,1761542928.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.926918 m, bearing: 20.065230 deg, lat: 36.779327 deg, lon: -121.859649 deg, deltaT: 60.291854 s, deltaX: 3.580126 m, approachRate: 0.059380 m/s, posRepo size: 4 2025-10-27T05:28:48.816Z,1761542928.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:49.163Z,1761542929.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514641,0.856264,0.044231],[-0.857402,-0.513797,-0.029571],[-0.002595,-0.053142,0.998584]] 2025-10-27T05:28:49.200Z,1761542929.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:49.247Z,1761542929.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:28:49.566Z,1761542929.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513559,0.856896,0.044576],[-0.858051,-0.512715,-0.029536],[-0.002454,-0.053417,0.998569]] 2025-10-27T05:28:49.595Z,1761542929.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:49.971Z,1761542929.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512871,0.857296,0.044811],[-0.858463,-0.512036,-0.029339],[-0.002208,-0.053516,0.998565]] 2025-10-27T05:28:49.989Z,1761542929.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:50.251Z,1761542930.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:28:50.375Z,1761542930.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512596,0.857460,0.044805],[-0.858628,-0.511784,-0.028908],[-0.001857,-0.053289,0.998577]] 2025-10-27T05:28:50.412Z,1761542930.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:50.824Z,1761542930.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:51.182Z,1761542931.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512346,0.857590,0.045178],[-0.858779,-0.511582,-0.027983],[-0.000885,-0.053135,0.998587]] 2025-10-27T05:28:51.237Z,1761542931.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:51.648Z,1761542931.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:51.990Z,1761542931.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512843,0.857255,0.045894],[-0.858482,-0.512124,-0.027149],[0.000230,-0.053322,0.998577]] 2025-10-27T05:28:52.014Z,1761542932.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:52.394Z,1761542932.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513355,0.856926,0.046299],[-0.858176,-0.512657,-0.026774],[0.000792,-0.053477,0.998569]] 2025-10-27T05:28:52.437Z,1761542932.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:52.798Z,1761542932.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514028,0.856505,0.046639],[-0.857772,-0.513352,-0.026395],[0.001335,-0.053573,0.998563]] 2025-10-27T05:28:52.852Z,1761542932.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:53.203Z,1761542933.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514736,0.856065,0.046895],[-0.857347,-0.514081,-0.026032],[0.001823,-0.053604,0.998561]] 2025-10-27T05:28:53.244Z,1761542933.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:53.606Z,1761542933.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515218,0.855761,0.047167],[-0.857057,-0.514575,-0.025820],[0.002176,-0.053728,0.998553]] 2025-10-27T05:28:53.638Z,1761542933.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:54.010Z,1761542934.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515795,0.855404,0.047310],[-0.856708,-0.515166,-0.025588],[0.002484,-0.053729,0.998552]] 2025-10-27T05:28:54.028Z,1761542934.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:54.415Z,1761542934.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516114,0.855219,0.047190],[-0.856516,-0.515487,-0.025536],[0.002487,-0.053598,0.998559]] 2025-10-27T05:28:54.459Z,1761542934.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:54.841Z,1761542934.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516067,0.855242,0.047285],[-0.856545,-0.515437,-0.025621],[0.002460,-0.053724,0.998553]] 2025-10-27T05:28:54.859Z,1761542934.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:55.278Z,1761542935.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:55.627Z,1761542935.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515130,0.855819,0.047057],[-0.857110,-0.514475,-0.026035],[0.001928,-0.053744,0.998553]] 2025-10-27T05:28:55.646Z,1761542935.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:56.030Z,1761542936.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514131,0.856432,0.046843],[-0.857711,-0.513453,-0.026428],[0.001418,-0.053765,0.998553]] 2025-10-27T05:28:56.056Z,1761542936.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:56.434Z,1761542936.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512614,0.857358,0.046520],[-0.858619,-0.511902,-0.027000],[0.000665,-0.053784,0.998552]] 2025-10-27T05:28:56.491Z,1761542936.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:56.846Z,1761542936.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511098,0.858276,0.046266],[-0.859522,-0.510365,-0.027364],[0.000127,-0.053752,0.998554]] 2025-10-27T05:28:56.865Z,1761542936.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:57.242Z,1761542937.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509474,0.859266,0.045806],[-0.860486,-0.508719,-0.027729],[-0.000524,-0.053543,0.998565]] 2025-10-27T05:28:57.288Z,1761542937.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:57.646Z,1761542937.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507384,0.860525,0.045357],[-0.861719,-0.506599,-0.028244],[-0.001327,-0.053415,0.998571]] 2025-10-27T05:28:57.671Z,1761542937.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:58.051Z,1761542938.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505081,0.861898,0.045006],[-0.863069,-0.504260,-0.028861],[-0.002180,-0.053420,0.998570]] 2025-10-27T05:28:58.070Z,1761542938.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:58.454Z,1761542938.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502970,0.863148,0.044682],[-0.864299,-0.502122,-0.029323],[-0.002875,-0.053367,0.998571]] 2025-10-27T05:28:58.498Z,1761542938.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:58.858Z,1761542938.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500708,0.864470,0.044530],[-0.865609,-0.499833,-0.029792],[-0.003497,-0.053463,0.998564]] 2025-10-27T05:28:58.877Z,1761542938.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:59.264Z,1761542939.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498485,0.865764,0.044341],[-0.866889,-0.497583,-0.030247],[-0.004123,-0.053516,0.998558]] 2025-10-27T05:28:59.308Z,1761542939.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:28:59.666Z,1761542939.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496567,0.866873,0.044177],[-0.867986,-0.495650,-0.030506],[-0.004549,-0.053493,0.998558]] 2025-10-27T05:28:59.695Z,1761542939.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:00.070Z,1761542940.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495032,0.867765,0.043893],[-0.868861,-0.494109,-0.030611],[-0.004876,-0.053290,0.998567]] 2025-10-27T05:29:00.088Z,1761542940.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:00.473Z,1761542940.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493475,0.868664,0.043652],[-0.869744,-0.492542,-0.030770],[-0.005228,-0.053151,0.998573]] 2025-10-27T05:29:00.526Z,1761542940.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:00.937Z,1761542940.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:01.282Z,1761542941.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491224,0.869945,0.043528],[-0.871017,-0.490292,-0.030722],[-0.005385,-0.053005,0.998580]] 2025-10-27T05:29:01.362Z,1761542941.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:01.685Z,1761542941.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490709,0.870224,0.043760],[-0.871309,-0.489788,-0.030478],[-0.005089,-0.053084,0.998577]] 2025-10-27T05:29:01.725Z,1761542941.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:02.090Z,1761542942.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490479,0.870344,0.043951],[-0.871440,-0.489569,-0.030254],[-0.004814,-0.053139,0.998576]] 2025-10-27T05:29:02.108Z,1761542942.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:02.495Z,1761542942.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490429,0.870362,0.044157],[-0.871469,-0.489528,-0.030056],[-0.004543,-0.053222,0.998572]] 2025-10-27T05:29:02.556Z,1761542942.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:02.897Z,1761542942.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490571,0.870267,0.044441],[-0.871391,-0.489683,-0.029808],[-0.004180,-0.053348,0.998567]] 2025-10-27T05:29:02.932Z,1761542942.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:03.325Z,1761542943.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490840,0.870100,0.044743],[-0.871242,-0.489964,-0.029555],[-0.003793,-0.053488,0.998561]] 2025-10-27T05:29:03.362Z,1761542943.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:03.709Z,1761542943.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491313,0.869828,0.044848],[-0.870976,-0.490453,-0.029265],[-0.003460,-0.053440,0.998565]] 2025-10-27T05:29:03.755Z,1761542943.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:04.110Z,1761542944.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491514,0.869708,0.044959],[-0.870863,-0.490663,-0.029097],[-0.003246,-0.053455,0.998565]] 2025-10-27T05:29:04.134Z,1761542944.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:04.143Z,1761542944.143 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T05:19:03.8Z 2025-10-27T05:29:04.143Z,1761542944.143 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T05:29:04.144Z,1761542944.144 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:29:04.144Z,1761542944.144 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T05:29:04.144Z,1761542944.144 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:29:04.144Z,1761542944.144 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T05:29:04.514Z,1761542944.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491730,0.869576,0.045161],[-0.870743,-0.490886,-0.028952],[-0.003007,-0.053560,0.998560]] 2025-10-27T05:29:04.562Z,1761542944.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:04.583Z,1761542944.583 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T05:29:04.583Z,1761542944.583 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T05:29:04.584Z,1761542944.584 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T05:29:04.584Z,1761542944.584 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:29:04.584Z,1761542944.584 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T05:29:05.042Z,1761542945.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491903,0.869474,0.045241],[-0.870645,-0.491060,-0.028936],[-0.002943,-0.053623,0.998557]] 2025-10-27T05:29:05.062Z,1761542945.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:05.466Z,1761542945.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491788,0.869544,0.045148],[-0.870709,-0.490940,-0.029026],[-0.003075,-0.053586,0.998559]] 2025-10-27T05:29:05.533Z,1761542945.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:05.906Z,1761542945.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491677,0.869609,0.045101],[-0.870772,-0.490827,-0.029064],[-0.003137,-0.053563,0.998559]] 2025-10-27T05:29:05.940Z,1761542945.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:06.331Z,1761542946.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491152,0.869910,0.045004],[-0.871067,-0.490295,-0.029203],[-0.003339,-0.053545,0.998560]] 2025-10-27T05:29:06.376Z,1761542946.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:06.722Z,1761542946.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490259,0.870427,0.044758],[-0.871569,-0.489389,-0.029419],[-0.003703,-0.053433,0.998565]] 2025-10-27T05:29:06.745Z,1761542946.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:07.118Z,1761542947.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488948,0.871174,0.044562],[-0.872303,-0.488055,-0.029835],[-0.004243,-0.053460,0.998561]] 2025-10-27T05:29:07.144Z,1761542947.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:07.522Z,1761542947.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487726,0.871882,0.044112],[-0.872984,-0.486818,-0.030131],[-0.004796,-0.053205,0.998572]] 2025-10-27T05:29:07.568Z,1761542947.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:07.972Z,1761542947.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:08.360Z,1761542948.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484218,0.873852,0.043764],[-0.874927,-0.483259,-0.031040],[-0.005975,-0.053320,0.998560]] 2025-10-27T05:29:08.407Z,1761542948.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:08.739Z,1761542948.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482175,0.874994,0.043508],[-0.876049,-0.481185,-0.031595],[-0.006710,-0.053349,0.998553]] 2025-10-27T05:29:08.765Z,1761542948.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:09.138Z,1761542949.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480429,0.875970,0.043170],[-0.877004,-0.479424,-0.031883],[-0.007232,-0.053178,0.998559]] 2025-10-27T05:29:09.182Z,1761542949.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:09.542Z,1761542949.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478281,0.877146,0.043151],[-0.878173,-0.477256,-0.032219],[-0.007666,-0.053304,0.998549]] 2025-10-27T05:29:09.601Z,1761542949.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:09.952Z,1761542949.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476182,0.878292,0.043046],[-0.879309,-0.475142,-0.032474],[-0.008069,-0.053315,0.998545]] 2025-10-27T05:29:09.970Z,1761542949.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:10.395Z,1761542950.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474185,0.879374,0.043019],[-0.880386,-0.473137,-0.032574],[-0.008291,-0.053319,0.998543]] 2025-10-27T05:29:10.442Z,1761542950.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:10.754Z,1761542950.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472237,0.880433,0.042784],[-0.881430,-0.471186,-0.032626],[-0.008566,-0.053118,0.998551]] 2025-10-27T05:29:10.773Z,1761542950.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:11.159Z,1761542951.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470357,0.881436,0.042824],[-0.882434,-0.469306,-0.032591],[-0.008629,-0.053119,0.998551]] 2025-10-27T05:29:11.184Z,1761542951.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:11.562Z,1761542951.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468620,0.882358,0.042883],[-0.883358,-0.467575,-0.032432],[-0.008565,-0.053079,0.998554]] 2025-10-27T05:29:11.646Z,1761542951.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:11.966Z,1761542951.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467017,0.883207,0.042894],[-0.884208,-0.465981,-0.032223],[-0.008472,-0.052976,0.998560]] 2025-10-27T05:29:12.000Z,1761542952.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:12.413Z,1761542952.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465373,0.884062,0.043152],[-0.885077,-0.464346,-0.031966],[-0.008222,-0.053069,0.998557]] 2025-10-27T05:29:12.479Z,1761542952.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:12.777Z,1761542952.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464131,0.884708,0.043290],[-0.885732,-0.463127,-0.031495],[-0.007815,-0.052961,0.998566]] 2025-10-27T05:29:12.809Z,1761542952.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:13.187Z,1761542953.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462948,0.885319,0.043464],[-0.886355,-0.461966,-0.031030],[-0.007393,-0.052890,0.998573]] 2025-10-27T05:29:13.206Z,1761542953.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:13.582Z,1761542953.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461932,0.885844,0.043587],[-0.886888,-0.460976,-0.030495],[-0.006922,-0.052744,0.998584]] 2025-10-27T05:29:13.626Z,1761542953.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:13.986Z,1761542953.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461080,0.886278,0.043788],[-0.887336,-0.460152,-0.029927],[-0.006375,-0.052653,0.998592]] 2025-10-27T05:29:14.005Z,1761542954.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:14.432Z,1761542954.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460089,0.886777,0.044091],[-0.887853,-0.459183,-0.029457],[-0.005876,-0.052699,0.998593]] 2025-10-27T05:29:14.503Z,1761542954.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:14.805Z,1761542954.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459346,0.887153,0.044281],[-0.888242,-0.458469,-0.028849],[-0.005292,-0.052584,0.998602]] 2025-10-27T05:29:14.824Z,1761542954.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:15.198Z,1761542955.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458650,0.887497,0.044597],[-0.888605,-0.457803,-0.028247],[-0.004652,-0.052584,0.998606]] 2025-10-27T05:29:15.228Z,1761542955.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:15.602Z,1761542955.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457817,0.887910,0.044935],[-0.889037,-0.456992,-0.027779],[-0.004130,-0.052666,0.998604]] 2025-10-27T05:29:15.664Z,1761542955.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:16.012Z,1761542956.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456936,0.888350,0.045200],[-0.889492,-0.456129,-0.027402],[-0.003725,-0.052726,0.998602]] 2025-10-27T05:29:16.030Z,1761542956.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:16.433Z,1761542956.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455676,0.888975,0.045643],[-0.890139,-0.454880,-0.027134],[-0.003360,-0.052993,0.998589]] 2025-10-27T05:29:16.504Z,1761542956.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:16.824Z,1761542956.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454649,0.889486,0.045913],[-0.890666,-0.453869,-0.026796],[-0.002996,-0.053076,0.998586]] 2025-10-27T05:29:16.869Z,1761542956.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:17.226Z,1761542957.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453574,0.890014,0.046313],[-0.891215,-0.452809,-0.026473],[-0.002590,-0.053283,0.998576]] 2025-10-27T05:29:17.245Z,1761542957.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:17.630Z,1761542957.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452405,0.890598,0.046539],[-0.891810,-0.451650,-0.026234],[-0.002345,-0.053372,0.998572]] 2025-10-27T05:29:17.666Z,1761542957.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:18.040Z,1761542958.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.451305,0.891149,0.046653],[-0.892367,-0.450566,-0.025903],[-0.002063,-0.053322,0.998575]] 2025-10-27T05:29:18.059Z,1761542958.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:18.466Z,1761542958.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450036,0.891784,0.046787],[-0.893009,-0.449308,-0.025656],[-0.001858,-0.053328,0.998575]] 2025-10-27T05:29:18.528Z,1761542958.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:18.842Z,1761542958.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448426,0.892585,0.046975],[-0.893818,-0.447701,-0.025560],[-0.001783,-0.053449,0.998569]] 2025-10-27T05:29:18.893Z,1761542958.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:19.273Z,1761542959.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447017,0.893286,0.047086],[-0.894524,-0.446300,-0.025353],[-0.001633,-0.053453,0.998569]] 2025-10-27T05:29:19.314Z,1761542959.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:19.670Z,1761542959.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445554,0.894011,0.047185],[-0.895254,-0.444846,-0.025148],[-0.001493,-0.053447,0.998570]] 2025-10-27T05:29:19.748Z,1761542959.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:20.075Z,1761542960.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444108,0.894734,0.047109],[-0.895972,-0.443407,-0.024977],[-0.001459,-0.053301,0.998577]] 2025-10-27T05:29:20.093Z,1761542960.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:20.371Z,1761542960.371 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:29:20.534Z,1761542960.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442540,0.895505,0.047210],[-0.896748,-0.441844,-0.024842],[-0.001386,-0.053329,0.998576]] 2025-10-27T05:29:20.604Z,1761542960.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:20.997Z,1761542960.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439985,0.896760,0.047279],[-0.898004,-0.439307,-0.024445],[-0.001152,-0.053212,0.998583]] 2025-10-27T05:29:21.037Z,1761542961.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:21.375Z,1761542961.375 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:29:21.399Z,1761542961.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438956,0.897263,0.047295],[-0.898508,-0.438292,-0.024156],[-0.000945,-0.053098,0.998589]] 2025-10-27T05:29:21.499Z,1761542961.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:21.808Z,1761542961.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438034,0.897708,0.047397],[-0.898958,-0.437379,-0.023952],[-0.000772,-0.053100,0.998589]] 2025-10-27T05:29:21.844Z,1761542961.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:22.206Z,1761542962.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437276,0.898076,0.047415],[-0.899327,-0.436633,-0.023718],[-0.000597,-0.053013,0.998594]] 2025-10-27T05:29:22.240Z,1761542962.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:22.609Z,1761542962.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436581,0.898410,0.047496],[-0.899665,-0.435947,-0.023523],[-0.000427,-0.053001,0.998594]] 2025-10-27T05:29:22.654Z,1761542962.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:23.014Z,1761542963.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435708,0.898823,0.047700],[-0.900088,-0.435076,-0.023454],[-0.000328,-0.053153,0.998586]] 2025-10-27T05:29:23.035Z,1761542963.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:23.419Z,1761542963.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435188,0.899070,0.047798],[-0.900340,-0.434564,-0.023296],[-0.000174,-0.053173,0.998585]] 2025-10-27T05:29:23.438Z,1761542963.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:23.822Z,1761542963.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434758,0.899270,0.047953],[-0.900547,-0.434142,-0.023129],[0.000019,-0.053239,0.998582]] 2025-10-27T05:29:23.865Z,1761542963.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:24.232Z,1761542964.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434273,0.899509,0.047863],[-0.900781,-0.433657,-0.023127],[-0.000047,-0.053157,0.998586]] 2025-10-27T05:29:24.277Z,1761542964.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:24.630Z,1761542964.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433733,0.899771,0.047844],[-0.901042,-0.433116,-0.023127],[-0.000087,-0.053140,0.998587]] 2025-10-27T05:29:24.690Z,1761542964.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:25.072Z,1761542965.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433327,0.899974,0.047693],[-0.901237,-0.432712,-0.023081],[-0.000135,-0.052985,0.998595]] 2025-10-27T05:29:25.110Z,1761542965.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:25.485Z,1761542965.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432725,0.900270,0.047566],[-0.901526,-0.432104,-0.023171],[-0.000307,-0.052909,0.998599]] 2025-10-27T05:29:25.519Z,1761542965.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:25.908Z,1761542965.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432065,0.900594,0.047433],[-0.901842,-0.431435,-0.023331],[-0.000547,-0.052858,0.998602]] 2025-10-27T05:29:25.952Z,1761542965.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:26.310Z,1761542966.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431048,0.901075,0.047548],[-0.902328,-0.430398,-0.023687],[-0.000879,-0.053114,0.998588]] 2025-10-27T05:29:26.351Z,1761542966.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:26.737Z,1761542966.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430028,0.901565,0.047503],[-0.902814,-0.429355,-0.024089],[-0.001322,-0.053245,0.998581]] 2025-10-27T05:29:26.795Z,1761542966.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:27.167Z,1761542967.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428882,0.902128,0.047181],[-0.903359,-0.428180,-0.024606],[-0.001996,-0.053175,0.998583]] 2025-10-27T05:29:27.196Z,1761542967.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:27.577Z,1761542967.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427725,0.902685,0.047022],[-0.903905,-0.426993,-0.025148],[-0.002623,-0.053260,0.998577]] 2025-10-27T05:29:27.657Z,1761542967.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:28.029Z,1761542968.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426582,0.903245,0.046654],[-0.904443,-0.425824,-0.025623],[-0.003278,-0.053126,0.998582]] 2025-10-27T05:29:28.091Z,1761542968.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:28.485Z,1761542968.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425340,0.903846,0.046360],[-0.905025,-0.424554,-0.026138],[-0.003943,-0.053075,0.998583]] 2025-10-27T05:29:28.508Z,1761542968.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:28.886Z,1761542968.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424032,0.904470,0.046167],[-0.905636,-0.423220,-0.026610],[-0.004529,-0.053094,0.998579]] 2025-10-27T05:29:28.929Z,1761542968.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:29.292Z,1761542969.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422664,0.905122,0.045929],[-0.906271,-0.421822,-0.027171],[-0.005219,-0.053108,0.998575]] 2025-10-27T05:29:29.329Z,1761542969.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:29.696Z,1761542969.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421348,0.905747,0.045694],[-0.906880,-0.420479,-0.027671],[-0.005850,-0.053098,0.998572]] 2025-10-27T05:29:29.770Z,1761542969.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:30.103Z,1761542970.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419975,0.906389,0.045612],[-0.907513,-0.419082,-0.028106],[-0.006360,-0.053197,0.998564]] 2025-10-27T05:29:30.121Z,1761542970.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:30.502Z,1761542970.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418637,0.907015,0.045453],[-0.908128,-0.417724,-0.028476],[-0.006841,-0.053198,0.998561]] 2025-10-27T05:29:30.528Z,1761542970.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:30.911Z,1761542970.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417479,0.907551,0.045414],[-0.908659,-0.416553,-0.028676],[-0.007108,-0.053237,0.998557]] 2025-10-27T05:29:30.961Z,1761542970.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:31.313Z,1761542971.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416334,0.908075,0.045450],[-0.909183,-0.415404,-0.028741],[-0.007219,-0.053288,0.998553]] 2025-10-27T05:29:31.332Z,1761542971.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:31.730Z,1761542971.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415507,0.908464,0.045249],[-0.909561,-0.414581,-0.028669],[-0.007286,-0.053069,0.998564]] 2025-10-27T05:29:31.781Z,1761542971.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:32.122Z,1761542972.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414749,0.908802,0.045417],[-0.909909,-0.413836,-0.028373],[-0.006990,-0.053093,0.998565]] 2025-10-27T05:29:32.155Z,1761542972.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:32.565Z,1761542972.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:32.945Z,1761542972.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413749,0.909249,0.045579],[-0.910371,-0.412890,-0.027328],[-0.006029,-0.052800,0.998587]] 2025-10-27T05:29:33.021Z,1761542973.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:33.345Z,1761542973.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413683,0.909263,0.045912],[-0.910406,-0.412864,-0.026524],[-0.005162,-0.052771,0.998593]] 2025-10-27T05:29:33.369Z,1761542973.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:33.826Z,1761542973.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:34.186Z,1761542974.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:34.547Z,1761542974.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413943,0.909061,0.047532],[-0.910301,-0.413270,-0.023679],[-0.001882,-0.053070,0.998589]] 2025-10-27T05:29:34.571Z,1761542974.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:34.959Z,1761542974.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414923,0.908548,0.048777],[-0.909856,-0.414379,-0.021247],[0.000909,-0.053196,0.998584]] 2025-10-27T05:29:35.018Z,1761542975.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:35.359Z,1761542975.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415838,0.908093,0.049452],[-0.909435,-0.415370,-0.019878],[0.002490,-0.053240,0.998579]] 2025-10-27T05:29:35.385Z,1761542975.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:35.786Z,1761542975.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416426,0.907784,0.050173],[-0.909161,-0.416027,-0.018651],[0.003942,-0.053382,0.998566]] 2025-10-27T05:29:35.823Z,1761542975.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:36.168Z,1761542976.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417491,0.907257,0.050860],[-0.908664,-0.417172,-0.017244],[0.005572,-0.053414,0.998557]] 2025-10-27T05:29:36.187Z,1761542976.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:36.590Z,1761542976.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418687,0.906673,0.051425],[-0.908102,-0.418453,-0.015769],[0.007221,-0.053301,0.998552]] 2025-10-27T05:29:36.665Z,1761542976.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:36.972Z,1761542976.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419634,0.906192,0.052190],[-0.907651,-0.419477,-0.014461],[0.008788,-0.053438,0.998532]] 2025-10-27T05:29:37.016Z,1761542977.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:37.380Z,1761542977.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420643,0.905683,0.052902],[-0.907168,-0.420561,-0.013214],[0.010280,-0.053549,0.998512]] 2025-10-27T05:29:37.399Z,1761542977.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:37.813Z,1761542977.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421446,0.905274,0.053498],[-0.906780,-0.421430,-0.012126],[0.011568,-0.053622,0.998494]] 2025-10-27T05:29:37.863Z,1761542977.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:38.182Z,1761542978.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422053,0.904956,0.054090],[-0.906482,-0.422097,-0.011163],[0.012729,-0.053743,0.998474]] 2025-10-27T05:29:38.216Z,1761542978.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:38.602Z,1761542978.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422426,0.904759,0.054480],[-0.906295,-0.422519,-0.010379],[0.013628,-0.053760,0.998461]] 2025-10-27T05:29:38.648Z,1761542978.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:38.990Z,1761542978.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422737,0.904581,0.055014],[-0.906135,-0.422879,-0.009597],[0.014583,-0.053907,0.998439]] 2025-10-27T05:29:39.032Z,1761542979.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:39.394Z,1761542979.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422794,0.904535,0.055333],[-0.906098,-0.422972,-0.009017],[0.015248,-0.053949,0.998427]] 2025-10-27T05:29:39.429Z,1761542979.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:39.850Z,1761542979.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422565,0.904627,0.055584],[-0.906196,-0.422770,-0.008593],[0.015725,-0.054001,0.998417]] 2025-10-27T05:29:39.904Z,1761542979.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:40.264Z,1761542980.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.422184,0.904798,0.055696],[-0.906369,-0.422406,-0.008295],[0.016021,-0.053983,0.998413]] 2025-10-27T05:29:40.281Z,1761542980.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:40.654Z,1761542980.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421597,0.905070,0.055706],[-0.906638,-0.421832,-0.008049],[0.016213,-0.053898,0.998415]] 2025-10-27T05:29:40.689Z,1761542980.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:41.058Z,1761542981.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420825,0.905429,0.055715],[-0.906995,-0.421067,-0.007912],[0.016296,-0.053863,0.998415]] 2025-10-27T05:29:41.114Z,1761542981.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:41.464Z,1761542981.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419853,0.905885,0.055640],[-0.907448,-0.420090,-0.007940],[0.016181,-0.053824,0.998419]] 2025-10-27T05:29:41.482Z,1761542981.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:41.874Z,1761542981.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418622,0.906461,0.055535],[-0.908022,-0.418845,-0.008119],[0.015901,-0.053826,0.998424]] 2025-10-27T05:29:41.912Z,1761542981.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:42.271Z,1761542982.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417422,0.907022,0.055412],[-0.908579,-0.417629,-0.008347],[0.015570,-0.053831,0.998429]] 2025-10-27T05:29:42.307Z,1761542982.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:42.674Z,1761542982.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416214,0.907590,0.055188],[-0.909141,-0.416397,-0.008680],[0.015102,-0.053787,0.998438]] 2025-10-27T05:29:42.692Z,1761542982.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:43.079Z,1761542983.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415082,0.908124,0.054928],[-0.909665,-0.415246,-0.008948],[0.014683,-0.053681,0.998450]] 2025-10-27T05:29:43.132Z,1761542983.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:43.483Z,1761542983.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413705,0.908763,0.054760],[-0.910302,-0.413839,-0.009392],[0.014126,-0.053733,0.998455]] 2025-10-27T05:29:43.502Z,1761542983.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:43.968Z,1761542983.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:44.290Z,1761542984.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411835,0.909639,0.054298],[-0.911163,-0.411923,-0.010090],[0.013189,-0.053630,0.998474]] 2025-10-27T05:29:44.325Z,1761542984.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:44.694Z,1761542984.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411170,0.909955,0.054045],[-0.911470,-0.411235,-0.010421],[0.012742,-0.053546,0.998484]] 2025-10-27T05:29:44.720Z,1761542984.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:45.101Z,1761542985.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410632,0.910209,0.053855],[-0.911718,-0.410677,-0.010737],[0.012344,-0.053510,0.998491]] 2025-10-27T05:29:45.135Z,1761542985.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:29:45.137Z,1761542985.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:45.156Z,1761542985.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:29:45.156Z,1761542985.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:29:45.408Z,1761542985.408 [DAT](INFO): DAT read: user:427> 2025-10-27T05:29:45.409Z,1761542985.409 [DAT](INFO): DAT read: Tx time:05:29:44.4733 2025-10-27T05:29:45.409Z,1761542985.409 [DAT](INFO): Ping request sent. 2025-10-27T05:29:45.409Z,1761542985.409 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:29:45.409Z,1761542985.409 [DAT](INFO): publishing transmit ping time 2025-10-27T05:29:45.410Z,1761542985.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T05:29:45.502Z,1761542985.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410303,0.910371,0.053634],[-0.911871,-0.410330,-0.011016],[0.011979,-0.053427,0.998500]] 2025-10-27T05:29:45.537Z,1761542985.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:45.660Z,1761542985.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250862 2025-10-27T05:29:45.915Z,1761542985.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505083 2025-10-27T05:29:45.929Z,1761542985.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410062,0.910479,0.053641],[-0.911984,-0.410068,-0.011414],[0.011604,-0.053600,0.998495]] 2025-10-27T05:29:45.975Z,1761542985.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:46.166Z,1761542986.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757298 2025-10-27T05:29:46.320Z,1761542986.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410485,0.910305,0.053360],[-0.911797,-0.410478,-0.011604],[0.011340,-0.053417,0.998508]] 2025-10-27T05:29:46.338Z,1761542986.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:46.416Z,1761542986.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006935 2025-10-27T05:29:46.668Z,1761542986.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990 2025-10-27T05:29:46.735Z,1761542986.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411092,0.910038,0.053236],[-0.911525,-0.411077,-0.011737],[0.011203,-0.053351,0.998513]] 2025-10-27T05:29:46.765Z,1761542986.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:46.922Z,1761542986.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513205 2025-10-27T05:29:47.150Z,1761542987.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411878,0.909686,0.053174],[-0.911171,-0.411857,-0.011860],[0.011111,-0.053335,0.998515]] 2025-10-27T05:29:47.172Z,1761542987.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762971 2025-10-27T05:29:47.216Z,1761542987.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:47.425Z,1761542987.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015571 2025-10-27T05:29:47.632Z,1761542987.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412632,0.909348,0.053123],[-0.910832,-0.412601,-0.012057],[0.010954,-0.053361,0.998515]] 2025-10-27T05:29:47.650Z,1761542987.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:47.676Z,1761542987.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266995 2025-10-27T05:29:47.931Z,1761542987.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521568 2025-10-27T05:29:48.067Z,1761542988.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413660,0.908876,0.053191],[-0.910366,-0.413625,-0.012172],[0.010938,-0.053458,0.998510]] 2025-10-27T05:29:48.112Z,1761542988.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:48.180Z,1761542988.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771021 2025-10-27T05:29:48.432Z,1761542988.432 [DAT](INFO): DAT read: Rx Time:05:29:46.9257 2025-10-27T05:29:48.432Z,1761542988.432 [DAT](INFO): Rx dataTimestamp_ set to:1761542988.432114 2025-10-27T05:29:48.433Z,1761542988.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023920 2025-10-27T05:29:48.495Z,1761542988.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414900,0.908318,0.053061],[-0.909802,-0.414861,-0.012270],[0.010868,-0.053366,0.998516]] 2025-10-27T05:29:48.514Z,1761542988.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-27T05:29:48.685Z,1761542988.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275265 2025-10-27T05:29:48.930Z,1761542988.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416525,0.907573,0.053089],[-0.909058,-0.416491,-0.012237],[0.011005,-0.053358,0.998515]] 2025-10-27T05:29:48.962Z,1761542988.962 [DAT](INFO): DAT read: 05:29:46.9257 LVL= 16976, 15281, 27378, 27427, AGC= 56, IDX= 492,-0.23,-2.500,-2.607, 2.254,-2.500, PHS= 0.102,-0.062,-1.573, RAW= 35.1, 18.7, CAL= 31.9, 21.7, ROT= 118.1, -21.7 2025-10-27T05:29:48.969Z,1761542988.969 [DAT](INFO): got valid direction response: 05:29:46.9257 LVL= 16976, 15281, 27378, 27427, AGC= 56, IDX= 492,-0.23,-2.500,-2.607, 2.254,-2.500, PHS= 0.102,-0.062,-1.573, RAW= 35.1, 18.7, CAL= 31.9, 21.7, ROT= 118.1, -21.7 2025-10-27T05:29:48.970Z,1761542988.970 [DAT](INFO): DAT read: Bearing 169.1, 52.6 (Local) 2025-10-27T05:29:48.970Z,1761542988.970 [DAT](INFO): Local bearing/azimuth received: Bearing 169.1, 52.6 (Local) 2025-10-27T05:29:48.976Z,1761542988.976 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m (Round-trip 48.4 ms) speed 0.0 m/s 2025-10-27T05:29:48.977Z,1761542988.977 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:29:48.978Z,1761542988.978 [DAT](INFO): direction in FSK: [-0.437632,0.819613,0.369747] 2025-10-27T05:29:48.978Z,1761542988.978 [DAT](INFO): publishing direction and range info 2025-10-27T05:29:49.052Z,1761542989.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 60.249545 s, deltaX: 4.200001 m, approachRate: 0.069710 m/s, rangeRepo size: 4 2025-10-27T05:29:49.054Z,1761542989.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.098949 m, bearing: 3.143855 deg, lat: 36.779329 deg, lon: -121.859652 deg, deltaT: 60.249545 s, deltaX: 4.172031 m, approachRate: 0.069246 m/s, posRepo size: 4 2025-10-27T05:29:49.054Z,1761542989.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:49.329Z,1761542989.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417962,0.906901,0.053280],[-0.908397,-0.417927,-0.012349],[0.011068,-0.053560,0.998503]] 2025-10-27T05:29:49.369Z,1761542989.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:49.797Z,1761542989.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:50.182Z,1761542990.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:50.593Z,1761542990.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423746,0.904242,0.052777],[-0.905722,-0.423661,-0.013344],[0.010293,-0.053456,0.998517]] 2025-10-27T05:29:50.624Z,1761542990.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:51.057Z,1761542991.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:51.457Z,1761542991.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426320,0.903036,0.052709],[-0.904520,-0.426199,-0.014077],[0.009753,-0.053677,0.998511]] 2025-10-27T05:29:51.475Z,1761542991.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:51.495Z,1761542991.495 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:29:51.859Z,1761542991.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427326,0.902570,0.052544],[-0.904050,-0.427177,-0.014605],[0.009263,-0.053743,0.998512]] 2025-10-27T05:29:51.883Z,1761542991.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:52.262Z,1761542992.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428410,0.902061,0.052452],[-0.903540,-0.428240,-0.015002],[0.008930,-0.053819,0.998511]] 2025-10-27T05:29:52.346Z,1761542992.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:52.499Z,1761542992.499 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:29:52.666Z,1761542992.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.429383,0.901616,0.052142],[-0.903083,-0.429191,-0.015393],[0.008500,-0.053698,0.998521]] 2025-10-27T05:29:52.734Z,1761542992.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:53.070Z,1761542993.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430261,0.901215,0.051824],[-0.902668,-0.430047,-0.015786],[0.008060,-0.053572,0.998531]] 2025-10-27T05:29:53.142Z,1761542993.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:53.476Z,1761542993.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430946,0.900906,0.051518],[-0.902345,-0.430711,-0.016147],[0.007642,-0.053446,0.998542]] 2025-10-27T05:29:53.494Z,1761542993.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:53.878Z,1761542993.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431482,0.900663,0.051288],[-0.902093,-0.431224,-0.016551],[0.007210,-0.053408,0.998547]] 2025-10-27T05:29:53.902Z,1761542993.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:54.282Z,1761542994.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431711,0.900554,0.051273],[-0.901986,-0.431430,-0.017003],[0.006809,-0.053588,0.998540]] 2025-10-27T05:29:54.336Z,1761542994.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:54.686Z,1761542994.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432107,0.900374,0.051098],[-0.901799,-0.431807,-0.017336],[0.006456,-0.053571,0.998543]] 2025-10-27T05:29:54.709Z,1761542994.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:55.092Z,1761542995.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432560,0.900163,0.050973],[-0.901583,-0.432251,-0.017516],[0.006266,-0.053533,0.998546]] 2025-10-27T05:29:55.148Z,1761542995.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:55.494Z,1761542995.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432969,0.899974,0.050843],[-0.901388,-0.432651,-0.017666],[0.006098,-0.053478,0.998550]] 2025-10-27T05:29:55.521Z,1761542995.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:55.898Z,1761542995.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433275,0.899828,0.050810],[-0.901242,-0.432953,-0.017752],[0.006025,-0.053483,0.998551]] 2025-10-27T05:29:55.937Z,1761542995.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:56.302Z,1761542996.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433665,0.899636,0.050886],[-0.901053,-0.433346,-0.017722],[0.006108,-0.053536,0.998547]] 2025-10-27T05:29:56.369Z,1761542996.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:56.718Z,1761542996.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434428,0.899269,0.050867],[-0.900684,-0.434124,-0.017459],[0.006382,-0.053399,0.998553]] 2025-10-27T05:29:56.765Z,1761542996.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:57.111Z,1761542997.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434953,0.899006,0.051036],[-0.900428,-0.434663,-0.017233],[0.006691,-0.053450,0.998548]] 2025-10-27T05:29:57.149Z,1761542997.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:57.515Z,1761542997.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435324,0.898819,0.051158],[-0.900247,-0.435045,-0.017040],[0.006940,-0.053472,0.998545]] 2025-10-27T05:29:57.545Z,1761542997.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:57.918Z,1761542997.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.435678,0.898637,0.051351],[-0.900074,-0.435413,-0.016839],[0.007227,-0.053556,0.998539]] 2025-10-27T05:29:57.936Z,1761542997.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:58.322Z,1761542998.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436415,0.898268,0.051545],[-0.899712,-0.436176,-0.016403],[0.007748,-0.053534,0.998536]] 2025-10-27T05:29:58.378Z,1761542998.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:58.738Z,1761542998.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436953,0.897996,0.051732],[-0.899447,-0.436739,-0.015973],[0.008250,-0.053510,0.998533]] 2025-10-27T05:29:58.756Z,1761542998.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:59.130Z,1761542999.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437863,0.897530,0.052111],[-0.898996,-0.437690,-0.015303],[0.009073,-0.053548,0.998524]] 2025-10-27T05:29:59.177Z,1761542999.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:59.536Z,1761542999.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438629,0.897141,0.052374],[-0.898616,-0.438489,-0.014733],[0.009748,-0.053527,0.998519]] 2025-10-27T05:29:59.575Z,1761542999.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:29:59.946Z,1761542999.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439374,0.896754,0.052754],[-0.898242,-0.439276,-0.014059],[0.010566,-0.053563,0.998509]] 2025-10-27T05:29:59.964Z,1761542999.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:00.343Z,1761543000.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440228,0.896319,0.053029],[-0.897814,-0.440173,-0.013336],[0.011388,-0.053481,0.998504]] 2025-10-27T05:30:00.390Z,1761543000.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:00.747Z,1761543000.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.441141,0.895858,0.053222],[-0.897355,-0.441130,-0.012579],[0.012209,-0.053309,0.998504]] 2025-10-27T05:30:00.774Z,1761543000.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:01.150Z,1761543001.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442117,0.895356,0.053578],[-0.896860,-0.442160,-0.011695],[0.013219,-0.053223,0.998495]] 2025-10-27T05:30:01.215Z,1761543001.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:01.554Z,1761543001.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442798,0.894980,0.054219],[-0.896508,-0.442892,-0.010935],[0.014226,-0.053450,0.998469]] 2025-10-27T05:30:01.573Z,1761543001.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:01.960Z,1761543001.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443485,0.894611,0.054706],[-0.896154,-0.443624,-0.010235],[0.015113,-0.053564,0.998450]] 2025-10-27T05:30:01.978Z,1761543001.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:02.365Z,1761543002.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444235,0.894195,0.055409],[-0.895765,-0.444425,-0.009509],[0.016122,-0.053858,0.998419]] 2025-10-27T05:30:02.433Z,1761543002.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:02.824Z,1761543002.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.445310,0.893629,0.055920],[-0.895213,-0.445554,-0.008700],[0.017141,-0.053934,0.998397]] 2025-10-27T05:30:02.852Z,1761543002.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:03.235Z,1761543003.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446507,0.893008,0.056283],[-0.894596,-0.446806,-0.007867],[0.018122,-0.053864,0.998384]] 2025-10-27T05:30:03.278Z,1761543003.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:03.628Z,1761543003.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447891,0.892300,0.056516],[-0.893883,-0.448246,-0.006931],[0.019148,-0.053623,0.998378]] 2025-10-27T05:30:03.646Z,1761543003.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:04.034Z,1761543004.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449263,0.891591,0.056819],[-0.893174,-0.449670,-0.006113],[0.020099,-0.053496,0.998366]] 2025-10-27T05:30:04.052Z,1761543004.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:04.442Z,1761543004.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450691,0.890839,0.057311],[-0.892431,-0.451153,-0.005336],[0.021103,-0.053550,0.998342]] 2025-10-27T05:30:04.494Z,1761543004.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:04.883Z,1761543004.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:05.346Z,1761543005.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:05.648Z,1761543005.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455505,0.888277,0.058984],[-0.889925,-0.456090,-0.003924],[0.023416,-0.054279,0.998251]] 2025-10-27T05:30:05.666Z,1761543005.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:06.101Z,1761543006.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:06.469Z,1761543006.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459351,0.886255,0.059574],[-0.887921,-0.459982,-0.003450],[0.024345,-0.054482,0.998218]] 2025-10-27T05:30:06.522Z,1761543006.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:06.881Z,1761543006.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461595,0.885099,0.059405],[-0.886750,-0.462239,-0.003240],[0.024592,-0.054173,0.998229]] 2025-10-27T05:30:06.920Z,1761543006.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:07.274Z,1761543007.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463729,0.883996,0.059208],[-0.885634,-0.464373,-0.003210],[0.024658,-0.053925,0.998240]] 2025-10-27T05:30:07.310Z,1761543007.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:07.677Z,1761543007.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465391,0.883129,0.059116],[-0.884769,-0.466016,-0.003578],[0.024389,-0.053969,0.998245]] 2025-10-27T05:30:07.718Z,1761543007.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:08.104Z,1761543008.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466653,0.882461,0.059149],[-0.884116,-0.467248,-0.004173],[0.023955,-0.054241,0.998240]] 2025-10-27T05:30:08.122Z,1761543008.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:08.502Z,1761543008.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467810,0.881862,0.058938],[-0.883524,-0.468360,-0.004956],[0.023234,-0.054392,0.998249]] 2025-10-27T05:30:08.549Z,1761543008.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:08.943Z,1761543008.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:09.310Z,1761543009.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469579,0.880970,0.058202],[-0.882634,-0.470009,-0.006928],[0.021252,-0.054625,0.998281]] 2025-10-27T05:30:09.362Z,1761543009.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:09.724Z,1761543009.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470085,0.880745,0.057509],[-0.882395,-0.470441,-0.008039],[0.019974,-0.054525,0.998313]] 2025-10-27T05:30:09.746Z,1761543009.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:10.151Z,1761543010.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:10.522Z,1761543010.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470390,0.880696,0.055742],[-0.882294,-0.470582,-0.010466],[0.017014,-0.054104,0.998390]] 2025-10-27T05:30:10.564Z,1761543010.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:10.926Z,1761543010.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470020,0.880946,0.054913],[-0.882522,-0.470121,-0.011859],[0.015369,-0.054036,0.998421]] 2025-10-27T05:30:10.943Z,1761543010.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:11.332Z,1761543011.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469257,0.881395,0.054223],[-0.882955,-0.469268,-0.013315],[0.013710,-0.054124,0.998440]] 2025-10-27T05:30:11.368Z,1761543011.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:11.766Z,1761543011.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468256,0.881962,0.053659],[-0.883510,-0.468178,-0.014782],[0.012085,-0.054330,0.998450]] 2025-10-27T05:30:11.834Z,1761543011.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:12.139Z,1761543012.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467401,0.882460,0.052921],[-0.883982,-0.467244,-0.016073],[0.010543,-0.054294,0.998469]] 2025-10-27T05:30:12.173Z,1761543012.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:12.542Z,1761543012.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466482,0.882983,0.052299],[-0.884484,-0.466249,-0.017307],[0.009102,-0.054332,0.998481]] 2025-10-27T05:30:12.608Z,1761543012.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:12.947Z,1761543012.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465524,0.883529,0.051618],[-0.885002,-0.465224,-0.018417],[0.007742,-0.054255,0.998497]] 2025-10-27T05:30:12.965Z,1761543012.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:13.350Z,1761543013.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464610,0.884043,0.051039],[-0.885491,-0.464250,-0.019422],[0.006525,-0.054218,0.998508]] 2025-10-27T05:30:13.399Z,1761543013.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:13.754Z,1761543013.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464015,0.884387,0.050503],[-0.885810,-0.463612,-0.020125],[0.005615,-0.054074,0.998521]] 2025-10-27T05:30:13.796Z,1761543013.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:14.213Z,1761543014.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:14.564Z,1761543014.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463757,0.884545,0.050103],[-0.885950,-0.463308,-0.020943],[0.004688,-0.054101,0.998524]] 2025-10-27T05:30:14.606Z,1761543014.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:14.966Z,1761543014.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464243,0.884294,0.050034],[-0.885696,-0.463792,-0.020982],[0.004651,-0.054056,0.998527]] 2025-10-27T05:30:15.001Z,1761543015.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:15.370Z,1761543015.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465205,0.883790,0.049993],[-0.885190,-0.464763,-0.020836],[0.004820,-0.053946,0.998532]] 2025-10-27T05:30:15.420Z,1761543015.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:15.783Z,1761543015.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466674,0.883017,0.049951],[-0.884414,-0.466257,-0.020416],[0.005262,-0.053705,0.998543]] 2025-10-27T05:30:15.813Z,1761543015.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:16.192Z,1761543016.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468364,0.882106,0.050234],[-0.883515,-0.467981,-0.019878],[0.005974,-0.053693,0.998540]] 2025-10-27T05:30:16.217Z,1761543016.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:16.582Z,1761543016.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470451,0.880987,0.050384],[-0.882401,-0.470103,-0.019277],[0.006702,-0.053528,0.998544]] 2025-10-27T05:30:16.632Z,1761543016.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:16.999Z,1761543016.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475321,0.878315,0.051319],[-0.879770,-0.475065,-0.017858],[0.008695,-0.053637,0.998523]] 2025-10-27T05:30:17.037Z,1761543017.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:17.459Z,1761543017.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:17.835Z,1761543017.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:18.243Z,1761543018.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:18.609Z,1761543018.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485983,0.872336,0.053388],[-0.873881,-0.485892,-0.015538],[0.012387,-0.054206,0.998453]] 2025-10-27T05:30:18.660Z,1761543018.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:19.012Z,1761543019.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.488605,0.870850,0.053718],[-0.872407,-0.488545,-0.015148],[0.013052,-0.054265,0.998441]] 2025-10-27T05:30:19.031Z,1761543019.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:19.423Z,1761543019.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490923,0.869533,0.053911],[-0.871099,-0.490880,-0.014949],[0.013465,-0.054300,0.998434]] 2025-10-27T05:30:19.484Z,1761543019.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:19.818Z,1761543019.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492898,0.868403,0.054102],[-0.869978,-0.492866,-0.014870],[0.013752,-0.054397,0.998425]] 2025-10-27T05:30:19.864Z,1761543019.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:20.224Z,1761543020.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494205,0.867660,0.054102],[-0.869238,-0.494164,-0.015066],[0.013663,-0.054473,0.998422]] 2025-10-27T05:30:20.242Z,1761543020.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:20.626Z,1761543020.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495383,0.866997,0.053959],[-0.868569,-0.495333,-0.015239],[0.013515,-0.054416,0.998427]] 2025-10-27T05:30:20.703Z,1761543020.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:21.029Z,1761543021.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495798,0.866773,0.053746],[-0.868340,-0.495722,-0.015685],[0.013048,-0.054446,0.998431]] 2025-10-27T05:30:21.048Z,1761543021.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:21.461Z,1761543021.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495737,0.866815,0.053627],[-0.868382,-0.495631,-0.016196],[0.012540,-0.054598,0.998430]] 2025-10-27T05:30:21.542Z,1761543021.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:21.841Z,1761543021.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495435,0.867018,0.053145],[-0.868561,-0.495308,-0.016460],[0.012052,-0.054314,0.998451]] 2025-10-27T05:30:21.858Z,1761543021.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:22.242Z,1761543022.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494563,0.867565,0.052322],[-0.869065,-0.494420,-0.016559],[0.011503,-0.053661,0.998493]] 2025-10-27T05:30:22.269Z,1761543022.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:22.631Z,1761543022.631 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:30:22.646Z,1761543022.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492786,0.868614,0.051694],[-0.870085,-0.492605,-0.017070],[0.010638,-0.053390,0.998517]] 2025-10-27T05:30:22.744Z,1761543022.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:23.050Z,1761543023.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491020,0.869633,0.051356],[-0.871095,-0.490790,-0.017864],[0.009670,-0.053507,0.998521]] 2025-10-27T05:30:23.068Z,1761543023.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:23.474Z,1761543023.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489238,0.870645,0.051224],[-0.872105,-0.488969,-0.018512],[0.008929,-0.053729,0.998516]] 2025-10-27T05:30:23.537Z,1761543023.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:23.636Z,1761543023.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:30:23.857Z,1761543023.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487413,0.871676,0.051087],[-0.873132,-0.487112,-0.019032],[0.008295,-0.053882,0.998513]] 2025-10-27T05:30:23.883Z,1761543023.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:24.263Z,1761543024.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485508,0.872747,0.050943],[-0.874198,-0.485180,-0.019449],[0.007743,-0.053977,0.998512]] 2025-10-27T05:30:24.293Z,1761543024.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:24.674Z,1761543024.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483614,0.873812,0.050692],[-0.875251,-0.483269,-0.019672],[0.007309,-0.053882,0.998521]] 2025-10-27T05:30:24.737Z,1761543024.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:25.071Z,1761543025.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481905,0.874763,0.050569],[-0.876195,-0.481551,-0.019770],[0.007057,-0.053836,0.998525]] 2025-10-27T05:30:25.089Z,1761543025.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:25.552Z,1761543025.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:25.878Z,1761543025.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479484,0.876094,0.050531],[-0.877519,-0.479159,-0.019155],[0.007431,-0.053526,0.998539]] 2025-10-27T05:30:25.912Z,1761543025.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:26.282Z,1761543026.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478609,0.876560,0.050761],[-0.877992,-0.478311,-0.018660],[0.007923,-0.053499,0.998536]] 2025-10-27T05:30:26.300Z,1761543026.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:26.918Z,1761543026.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:27.132Z,1761543027.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478762,0.876440,0.051374],[-0.877890,-0.478564,-0.016892],[0.009781,-0.053188,0.998537]] 2025-10-27T05:30:27.172Z,1761543027.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:27.542Z,1761543027.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479364,0.876075,0.051999],[-0.877548,-0.479224,-0.015942],[0.010953,-0.053274,0.998520]] 2025-10-27T05:30:27.595Z,1761543027.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:27.940Z,1761543027.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480661,0.875320,0.052719],[-0.876819,-0.480594,-0.014769],[0.012408,-0.053324,0.998500]] 2025-10-27T05:30:27.958Z,1761543027.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:28.375Z,1761543028.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:28.747Z,1761543028.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484436,0.873138,0.054327],[-0.874690,-0.484524,-0.012416],[0.015482,-0.053534,0.998446]] 2025-10-27T05:30:28.797Z,1761543028.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:29.157Z,1761543029.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486773,0.871791,0.055060],[-0.873364,-0.486938,-0.011303],[0.016957,-0.053590,0.998419]] 2025-10-27T05:30:29.201Z,1761543029.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:29.566Z,1761543029.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489427,0.870265,0.055679],[-0.871851,-0.489665,-0.010220],[0.018370,-0.053546,0.998396]] 2025-10-27T05:30:29.622Z,1761543029.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:29.984Z,1761543029.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:30.361Z,1761543030.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495328,0.866832,0.057034],[-0.868450,-0.495708,-0.008276],[0.021098,-0.053631,0.998338]] 2025-10-27T05:30:30.400Z,1761543030.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:30.822Z,1761543030.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:31.232Z,1761543031.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:31.592Z,1761543031.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502767,0.862441,0.058486],[-0.864106,-0.503261,-0.007033],[0.023368,-0.054074,0.998263]] 2025-10-27T05:30:31.629Z,1761543031.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:31.978Z,1761543031.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504584,0.861376,0.058533],[-0.863045,-0.505078,-0.007124],[0.023427,-0.054112,0.998260]] 2025-10-27T05:30:31.996Z,1761543031.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:32.383Z,1761543032.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506092,0.860501,0.058379],[-0.862166,-0.506574,-0.007335],[0.023261,-0.054045,0.998268]] 2025-10-27T05:30:32.402Z,1761543032.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:32.786Z,1761543032.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507153,0.859896,0.058098],[-0.861556,-0.507603,-0.007827],[0.022761,-0.054024,0.998280]] 2025-10-27T05:30:32.831Z,1761543032.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:33.192Z,1761543033.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507618,0.859652,0.057645],[-0.861303,-0.508019,-0.008571],[0.021917,-0.054000,0.998300]] 2025-10-27T05:30:33.230Z,1761543033.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:33.632Z,1761543033.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507598,0.859694,0.057192],[-0.861339,-0.507944,-0.009386],[0.020981,-0.054026,0.998319]] 2025-10-27T05:30:33.775Z,1761543033.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:34.033Z,1761543034.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507143,0.860004,0.056556],[-0.861635,-0.507421,-0.010409],[0.019746,-0.054010,0.998345]] 2025-10-27T05:30:34.086Z,1761543034.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:34.423Z,1761543034.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506369,0.860520,0.055644],[-0.862123,-0.506568,-0.011513],[0.018280,-0.053802,0.998384]] 2025-10-27T05:30:34.465Z,1761543034.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:34.826Z,1761543034.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505320,0.861190,0.054805],[-0.862768,-0.505443,-0.012613],[0.016838,-0.053658,0.998417]] 2025-10-27T05:30:34.991Z,1761543034.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:35.308Z,1761543035.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:35.672Z,1761543035.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502375,0.863017,0.053115],[-0.864541,-0.502339,-0.014995],[0.013741,-0.053454,0.998476]] 2025-10-27T05:30:35.816Z,1761543035.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:36.070Z,1761543036.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500693,0.864041,0.052342],[-0.865539,-0.500580,-0.016197],[0.012207,-0.053414,0.998498]] 2025-10-27T05:30:36.129Z,1761543036.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:36.462Z,1761543036.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498933,0.865101,0.051632],[-0.866575,-0.498745,-0.017388],[0.010709,-0.053418,0.998515]] 2025-10-27T05:30:36.509Z,1761543036.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:36.866Z,1761543036.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497451,0.865996,0.050926],[-0.867442,-0.497194,-0.018488],[0.009310,-0.053372,0.998531]] 2025-10-27T05:30:36.965Z,1761543036.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:37.330Z,1761543037.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:37.704Z,1761543037.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495074,0.867426,0.049737],[-0.868823,-0.494706,-0.020322],[0.006978,-0.053274,0.998556]] 2025-10-27T05:30:37.820Z,1761543037.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:38.092Z,1761543038.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494094,0.868008,0.049325],[-0.869388,-0.493678,-0.021135],[0.006005,-0.053325,0.998559]] 2025-10-27T05:30:38.127Z,1761543038.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:38.482Z,1761543038.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493775,0.868214,0.048894],[-0.869574,-0.493327,-0.021680],[0.005298,-0.053222,0.998569]] 2025-10-27T05:30:38.534Z,1761543038.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:38.888Z,1761543038.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493837,0.868188,0.048720],[-0.869540,-0.493373,-0.021986],[0.004949,-0.053221,0.998571]] 2025-10-27T05:30:38.972Z,1761543038.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:39.323Z,1761543039.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:39.729Z,1761543039.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494803,0.867647,0.048577],[-0.868994,-0.494313,-0.022464],[0.004521,-0.053328,0.998567]] 2025-10-27T05:30:39.785Z,1761543039.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:40.097Z,1761543040.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495916,0.867018,0.048458],[-0.868359,-0.495429,-0.022430],[0.004560,-0.053203,0.998573]] 2025-10-27T05:30:40.127Z,1761543040.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:40.503Z,1761543040.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497315,0.866204,0.048676],[-0.867556,-0.496838,-0.022300],[0.004867,-0.053320,0.998566]] 2025-10-27T05:30:40.521Z,1761543040.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:40.955Z,1761543040.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:41.310Z,1761543041.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500593,0.864292,0.049055],[-0.865665,-0.500145,-0.021901],[0.005606,-0.053429,0.998556]] 2025-10-27T05:30:41.329Z,1761543041.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:41.752Z,1761543041.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502374,0.863240,0.049374],[-0.864629,-0.501943,-0.021664],[0.006082,-0.053574,0.998545]] 2025-10-27T05:30:41.807Z,1761543041.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:42.118Z,1761543042.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504395,0.862056,0.049449],[-0.863449,-0.503985,-0.021337],[0.006528,-0.053458,0.998549]] 2025-10-27T05:30:42.157Z,1761543042.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:42.522Z,1761543042.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506354,0.860887,0.049790],[-0.862296,-0.505967,-0.021042],[0.007078,-0.053588,0.998538]] 2025-10-27T05:30:42.566Z,1761543042.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:42.927Z,1761543042.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508367,0.859689,0.049971],[-0.861107,-0.508002,-0.020700],[0.007589,-0.053553,0.998536]] 2025-10-27T05:30:42.980Z,1761543042.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:43.331Z,1761543043.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510445,0.858442,0.050242],[-0.859872,-0.510106,-0.020319],[0.008186,-0.053574,0.998530]] 2025-10-27T05:30:43.349Z,1761543043.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:43.769Z,1761543043.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512109,0.857433,0.050526],[-0.858877,-0.511787,-0.020108],[0.008618,-0.053693,0.998520]] 2025-10-27T05:30:43.824Z,1761543043.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:44.154Z,1761543044.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513948,0.856323,0.050679],[-0.857773,-0.513646,-0.019812],[0.009065,-0.053653,0.998519]] 2025-10-27T05:30:44.173Z,1761543044.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:44.542Z,1761543044.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515752,0.855225,0.050888],[-0.856684,-0.515475,-0.019448],[0.009599,-0.053626,0.998515]] 2025-10-27T05:30:44.590Z,1761543044.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:44.947Z,1761543044.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517280,0.854299,0.050937],[-0.855759,-0.517017,-0.019243],[0.009896,-0.053544,0.998516]] 2025-10-27T05:30:45.005Z,1761543045.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:45.351Z,1761543045.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518571,0.853503,0.051157],[-0.854974,-0.518320,-0.019101],[0.010213,-0.053644,0.998508]] 2025-10-27T05:30:45.368Z,1761543045.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:30:45.370Z,1761543045.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:45.444Z,1761543045.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:30:45.444Z,1761543045.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:30:45.696Z,1761543045.696 [DAT](INFO): DAT read: user:428> 2025-10-27T05:30:45.697Z,1761543045.697 [DAT](INFO): DAT read: Tx time:05:30:44.7231 2025-10-27T05:30:45.697Z,1761543045.697 [DAT](INFO): Ping request sent. 2025-10-27T05:30:45.697Z,1761543045.697 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:30:45.697Z,1761543045.697 [DAT](INFO): publishing transmit ping time 2025-10-27T05:30:45.698Z,1761543045.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000897 2025-10-27T05:30:45.812Z,1761543045.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519893,0.852688,0.051326],[-0.854167,-0.519653,-0.018961],[0.010504,-0.053699,0.998502]] 2025-10-27T05:30:45.896Z,1761543045.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:45.949Z,1761543045.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251603 2025-10-27T05:30:46.164Z,1761543046.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521053,0.851979,0.051339],[-0.853458,-0.520820,-0.018868],[0.010664,-0.053647,0.998503]] 2025-10-27T05:30:46.183Z,1761543046.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:46.200Z,1761543046.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502975 2025-10-27T05:30:46.452Z,1761543046.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755068 2025-10-27T05:30:46.575Z,1761543046.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522173,0.851292,0.051364],[-0.852771,-0.521950,-0.018728],[0.010866,-0.053580,0.998504]] 2025-10-27T05:30:46.593Z,1761543046.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:46.705Z,1761543046.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007432 2025-10-27T05:30:46.956Z,1761543046.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258799 2025-10-27T05:30:46.971Z,1761543046.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522747,0.850937,0.051398],[-0.852419,-0.522518,-0.018879],[0.010792,-0.053682,0.998500]] 2025-10-27T05:30:47.019Z,1761543047.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:47.022Z,1761543047.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 36.30 m and bearing: 355.522704 deg. Not drifting fast enough. 2025-10-27T05:30:47.208Z,1761543047.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510790 2025-10-27T05:30:47.374Z,1761543047.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523526,0.850460,0.051372],[-0.851941,-0.523298,-0.018863],[0.010841,-0.053642,0.998501]] 2025-10-27T05:30:47.393Z,1761543047.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:47.412Z,1761543047.412 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T05:30:47.412Z,1761543047.412 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:30:47.412Z,1761543047.412 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T05:30:47.412Z,1761543047.412 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T05:30:47.460Z,1761543047.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763059 2025-10-27T05:30:47.713Z,1761543047.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015592 2025-10-27T05:30:47.841Z,1761543047.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524558,0.849833,0.051212],[-0.851308,-0.524322,-0.019022],[0.010686,-0.053575,0.998507]] 2025-10-27T05:30:47.889Z,1761543047.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:47.964Z,1761543047.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266973 2025-10-27T05:30:48.216Z,1761543048.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519026 2025-10-27T05:30:48.217Z,1761543048.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:48.468Z,1761543048.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770714 2025-10-27T05:30:48.586Z,1761543048.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524794,0.849690,0.051176],[-0.851164,-0.524551,-0.019147],[0.010575,-0.053608,0.998506]] 2025-10-27T05:30:48.634Z,1761543048.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:48.721Z,1761543048.721 [DAT](INFO): DAT read: Rx Time:05:30:47.1814 2025-10-27T05:30:48.722Z,1761543048.722 [DAT](INFO): Rx dataTimestamp_ set to:1761543048.721071 2025-10-27T05:30:48.722Z,1761543048.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025229 2025-10-27T05:30:48.972Z,1761543048.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274926 2025-10-27T05:30:48.990Z,1761543048.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525002,0.849568,0.051071],[-0.851037,-0.524751,-0.019272],[0.010426,-0.053581,0.998509]] 2025-10-27T05:30:49.089Z,1761543049.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-27T05:30:49.229Z,1761543049.229 [DAT](INFO): DAT read: 05:30:47.1814 LVL= 17392, 13601, 27186, 29347, AGC= 54, IDX= 503,-0.25, 1.632, 1.468, 0.105, 1.601, PHS= 0.133,-0.088,-1.540, RAW= 37.0, 18.6, CAL= 33.5, 21.5, ROT= 116.5, -21.5 2025-10-27T05:30:49.230Z,1761543049.230 [DAT](INFO): got valid direction response: 05:30:47.1814 LVL= 17392, 13601, 27186, 29347, AGC= 54, IDX= 503,-0.25, 1.632, 1.468, 0.105, 1.601, PHS= 0.133,-0.088,-1.540, RAW= 37.0, 18.6, CAL= 33.5, 21.5, ROT= 116.5, -21.5 2025-10-27T05:30:49.231Z,1761543049.231 [DAT](INFO): DAT read: Bearing 160.2, 53.6 (Local) 2025-10-27T05:30:49.231Z,1761543049.231 [DAT](INFO): Local bearing/azimuth received: Bearing 160.2, 53.6 (Local) 2025-10-27T05:30:49.233Z,1761543049.233 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m (Round-trip 54.1 ms) speed -0.1 m/s 2025-10-27T05:30:49.233Z,1761543049.233 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:30:49.234Z,1761543049.234 [DAT](INFO): direction in FSK: [-0.415150,0.832663,0.366501] 2025-10-27T05:30:49.235Z,1761543049.235 [DAT](INFO): publishing direction and range info 2025-10-27T05:30:49.438Z,1761543049.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.500000 m, deltaT: 60.286372 s, deltaX: 4.200001 m, approachRate: 0.069667 m/s, rangeRepo size: 4 2025-10-27T05:30:49.441Z,1761543049.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.277370 m, bearing: 354.512532 deg, lat: 36.779333 deg, lon: -121.859652 deg, deltaT: 60.286372 s, deltaX: 4.178421 m, approachRate: 0.069310 m/s, posRepo size: 4 2025-10-27T05:30:49.441Z,1761543049.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:49.866Z,1761543049.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524987,0.849607,0.050564],[-0.851055,-0.524701,-0.019837],[0.009677,-0.053447,0.998524]] 2025-10-27T05:30:49.910Z,1761543049.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:50.236Z,1761543050.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524857,0.849696,0.050423],[-0.851139,-0.524558,-0.020060],[0.009405,-0.053445,0.998527]] 2025-10-27T05:30:50.268Z,1761543050.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:50.649Z,1761543050.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525101,0.849548,0.050364],[-0.850988,-0.524803,-0.020031],[0.009413,-0.053377,0.998530]] 2025-10-27T05:30:50.683Z,1761543050.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:51.044Z,1761543051.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525030,0.849603,0.050183],[-0.851034,-0.524723,-0.020176],[0.009190,-0.053300,0.998536]] 2025-10-27T05:30:51.081Z,1761543051.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:51.445Z,1761543051.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524948,0.849633,0.050530],[-0.851090,-0.524602,-0.020949],[0.008709,-0.054003,0.998503]] 2025-10-27T05:30:51.478Z,1761543051.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:51.890Z,1761543051.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523530,0.850062,0.057532],[-0.851979,-0.522869,-0.027214],[0.006948,-0.063263,0.997973]] 2025-10-27T05:30:51.926Z,1761543051.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:52.257Z,1761543052.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522061,0.849907,0.071491],[-0.852889,-0.520780,-0.036999],[0.005786,-0.080290,0.996755]] 2025-10-27T05:30:52.277Z,1761543052.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:52.658Z,1761543052.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521510,0.849156,0.083437],[-0.853229,-0.519609,-0.044803],[0.005309,-0.094556,0.995505]] 2025-10-27T05:30:52.682Z,1761543052.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:53.061Z,1761543053.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521622,0.848706,0.087227],[-0.853160,-0.519525,-0.047035],[0.005397,-0.098953,0.995077]] 2025-10-27T05:30:53.105Z,1761543053.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:53.465Z,1761543053.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522812,0.848463,0.082330],[-0.852428,-0.521022,-0.043621],[0.005885,-0.092986,0.995650]] 2025-10-27T05:30:53.484Z,1761543053.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:53.761Z,1761543053.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:30:53.918Z,1761543053.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525332,0.847668,0.074069],[-0.850872,-0.524001,-0.037956],[0.006638,-0.082962,0.996531]] 2025-10-27T05:30:53.956Z,1761543053.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:54.282Z,1761543054.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528712,0.845974,0.069225],[-0.848767,-0.527658,-0.034211],[0.007586,-0.076844,0.997014]] 2025-10-27T05:30:54.300Z,1761543054.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:54.682Z,1761543054.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532047,0.843748,0.070822],[-0.846671,-0.531005,-0.034375],[0.008603,-0.078252,0.996897]] 2025-10-27T05:30:54.722Z,1761543054.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:54.764Z,1761543054.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:30:55.086Z,1761543055.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536541,0.840348,0.077065],[-0.843815,-0.535343,-0.037202],[0.009993,-0.084989,0.996332]] 2025-10-27T05:30:55.152Z,1761543055.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:55.492Z,1761543055.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541198,0.836666,0.084232],[-0.840821,-0.539759,-0.040994],[0.011167,-0.093010,0.995603]] 2025-10-27T05:30:55.510Z,1761543055.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:55.934Z,1761543055.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546771,0.832442,0.089899],[-0.837187,-0.545167,-0.043716],[0.012620,-0.099165,0.994991]] 2025-10-27T05:30:55.985Z,1761543055.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:56.298Z,1761543056.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553291,0.827769,0.093097],[-0.832865,-0.551664,-0.044751],[0.014315,-0.102297,0.994651]] 2025-10-27T05:30:56.332Z,1761543056.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:56.737Z,1761543056.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560351,0.822762,0.095240],[-0.828100,-0.558757,-0.045175],[0.016048,-0.104182,0.994429]] 2025-10-27T05:30:56.757Z,1761543056.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:57.113Z,1761543057.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568315,0.817078,0.096967],[-0.822610,-0.566824,-0.044985],[0.018207,-0.105332,0.994270]] 2025-10-27T05:30:57.172Z,1761543057.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:57.511Z,1761543057.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576684,0.810939,0.099066],[-0.816707,-0.575306,-0.044861],[0.020614,-0.106779,0.994069]] 2025-10-27T05:30:57.529Z,1761543057.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:57.994Z,1761543057.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:58.376Z,1761543058.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:58.732Z,1761543058.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603774,0.789708,0.108706],[-0.796680,-0.602486,-0.048081],[0.027523,-0.115634,0.992911]] 2025-10-27T05:30:58.751Z,1761543058.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:59.136Z,1761543059.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613083,0.781623,0.114870],[-0.789464,-0.611589,-0.052016],[0.029597,-0.122576,0.992018]] 2025-10-27T05:30:59.173Z,1761543059.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:59.530Z,1761543059.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622608,0.772879,0.122549],[-0.781887,-0.620783,-0.057275],[0.031810,-0.131480,0.990808]] 2025-10-27T05:30:59.562Z,1761543059.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:30:59.946Z,1761543059.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631836,0.764066,0.130331],[-0.774357,-0.629613,-0.062924],[0.033980,-0.140680,0.989472]] 2025-10-27T05:31:00.016Z,1761543060.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:00.338Z,1761543060.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641193,0.755093,0.136772],[-0.766532,-0.638605,-0.067912],[0.036063,-0.148385,0.988272]] 2025-10-27T05:31:00.394Z,1761543060.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:00.746Z,1761543060.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650766,0.745859,0.142118],[-0.758331,-0.647812,-0.072617],[0.037903,-0.155029,0.987182]] 2025-10-27T05:31:00.765Z,1761543060.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:01.146Z,1761543061.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659821,0.737080,0.146110],[-0.750386,-0.656545,-0.076615],[0.039457,-0.160192,0.986297]] 2025-10-27T05:31:01.189Z,1761543061.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:01.550Z,1761543061.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668814,0.728397,0.148747],[-0.742306,-0.665295,-0.079772],[0.040855,-0.163768,0.985653]] 2025-10-27T05:31:01.587Z,1761543061.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:01.960Z,1761543061.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.677414,0.720130,0.150073],[-0.734400,-0.673739,-0.082047],[0.042025,-0.165794,0.985265]] 2025-10-27T05:31:02.066Z,1761543062.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:02.440Z,1761543062.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686172,0.711637,0.150798],[-0.726173,-0.682324,-0.084304],[0.042900,-0.167353,0.984963]] 2025-10-27T05:31:02.500Z,1761543062.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:02.844Z,1761543062.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695198,0.702751,0.151130],[-0.717476,-0.691229,-0.086194],[0.043892,-0.168354,0.984749]] 2025-10-27T05:31:02.862Z,1761543062.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:03.246Z,1761543063.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704136,0.693879,0.150745],[-0.708682,-0.699989,-0.088230],[0.044299,-0.168956,0.984627]] 2025-10-27T05:31:03.289Z,1761543063.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:03.653Z,1761543063.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712859,0.684649,0.151949],[-0.699896,-0.708265,-0.092232],[0.044474,-0.172097,0.984076]] 2025-10-27T05:31:03.688Z,1761543063.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:04.070Z,1761543064.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721812,0.674614,0.154540],[-0.690622,-0.716625,-0.097413],[0.045031,-0.177043,0.983172]] 2025-10-27T05:31:04.133Z,1761543064.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:04.466Z,1761543064.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730921,0.664166,0.156965],[-0.680917,-0.725184,-0.102276],[0.045900,-0.181636,0.982294]] 2025-10-27T05:31:04.484Z,1761543064.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:04.864Z,1761543064.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740443,0.653076,0.158858],[-0.670485,-0.734186,-0.106864],[0.046841,-0.185639,0.981501]] 2025-10-27T05:31:04.890Z,1761543064.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:05.265Z,1761543065.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750138,0.641297,0.161341],[-0.659545,-0.743228,-0.112306],[0.047892,-0.190657,0.980488]] 2025-10-27T05:31:05.313Z,1761543065.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:05.670Z,1761543065.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759774,0.629085,0.164304],[-0.648339,-0.752065,-0.118548],[0.048990,-0.196595,0.979260]] 2025-10-27T05:31:05.689Z,1761543065.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:06.155Z,1761543066.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:06.477Z,1761543066.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779346,0.603596,0.168204],[-0.624438,-0.770407,-0.128648],[0.051934,-0.205294,0.977322]] 2025-10-27T05:31:06.507Z,1761543066.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:06.883Z,1761543066.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789754,0.589772,0.168693],[-0.611051,-0.780531,-0.131861],[0.053903,-0.207218,0.976809]] 2025-10-27T05:31:06.901Z,1761543066.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:07.286Z,1761543067.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799628,0.576182,0.169144],[-0.597886,-0.790150,-0.134889],[0.055928,-0.208990,0.976317]] 2025-10-27T05:31:07.338Z,1761543067.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:07.694Z,1761543067.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810180,0.560749,0.170789],[-0.583291,-0.800104,-0.140018],[0.058134,-0.213060,0.975308]] 2025-10-27T05:31:07.744Z,1761543067.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:08.127Z,1761543068.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820440,0.545187,0.172191],[-0.568590,-0.809582,-0.145883],[0.059870,-0.217595,0.974201]] 2025-10-27T05:31:08.178Z,1761543068.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:08.498Z,1761543068.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831053,0.528402,0.173614],[-0.552734,-0.819375,-0.152018],[0.061929,-0.222297,0.973010]] 2025-10-27T05:31:08.533Z,1761543068.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:08.903Z,1761543068.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841663,0.511190,0.174036],[-0.536222,-0.829249,-0.157520],[0.063797,-0.225901,0.972059]] 2025-10-27T05:31:08.921Z,1761543068.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:09.307Z,1761543069.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852264,0.493325,0.174002],[-0.519002,-0.839033,-0.163280],[0.065443,-0.229465,0.971114]] 2025-10-27T05:31:09.344Z,1761543069.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:09.723Z,1761543069.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862680,0.475153,0.173242],[-0.501300,-0.848698,-0.168553],[0.066942,-0.232253,0.970349]] 2025-10-27T05:31:09.765Z,1761543069.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:10.154Z,1761543070.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872924,0.456572,0.171887],[-0.483064,-0.858185,-0.173687],[0.068210,-0.234648,0.969684]] 2025-10-27T05:31:10.204Z,1761543070.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:10.518Z,1761543070.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882990,0.437593,0.169827],[-0.464243,-0.867582,-0.178267],[0.069331,-0.236249,0.969216]] 2025-10-27T05:31:10.559Z,1761543070.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:10.000Z,1761543071.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892586,0.418519,0.167726],[-0.445359,-0.876411,-0.183195],[0.070326,-0.238215,0.968663]] 2025-10-27T05:31:11.030Z,1761543071.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:11.402Z,1761543071.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901711,0.399467,0.165358],[-0.426393,-0.884908,-0.187423],[0.071458,-0.239509,0.968261]] 2025-10-27T05:31:11.460Z,1761543071.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:11.918Z,1761543071.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919044,0.360108,0.160252],[-0.387384,-0.900269,-0.198618],[0.072746,-0.244617,0.966887]] 2025-10-27T05:31:11.938Z,1761543071.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:12.348Z,1761543072.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927097,0.340070,0.157616],[-0.367551,-0.907246,-0.204475],[0.073461,-0.247500,0.966099]] 2025-10-27T05:31:12.409Z,1761543072.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:12.757Z,1761543072.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934795,0.319858,0.154431],[-0.347450,-0.913732,-0.210647],[0.073731,-0.250569,0.965287]] 2025-10-27T05:31:12.809Z,1761543072.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:13.192Z,1761543073.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941932,0.299886,0.151104],[-0.327561,-0.919622,-0.216791],[0.073946,-0.253698,0.964453]] 2025-10-27T05:31:13.248Z,1761543073.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:13.555Z,1761543073.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948762,0.279696,0.147038],[-0.307139,-0.925631,-0.221073],[0.074269,-0.254907,0.964109]] 2025-10-27T05:31:13.593Z,1761543073.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:13.958Z,1761543073.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955069,0.259805,0.142635],[-0.286867,-0.931287,-0.224524],[0.074502,-0.255353,0.963973]] 2025-10-27T05:31:13.976Z,1761543073.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:14.364Z,1761543074.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960875,0.239950,0.138356],[-0.266664,-0.936470,-0.227849],[0.074893,-0.255829,0.963817]] 2025-10-27T05:31:14.401Z,1761543074.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:14.766Z,1761543074.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966221,0.220276,0.133772],[-0.246549,-0.941206,-0.230964],[0.075031,-0.256144,0.963722]] 2025-10-27T05:31:14.790Z,1761543074.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:15.173Z,1761543075.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971224,0.200640,0.128327],[-0.225937,-0.946616,-0.229937],[0.075342,-0.252314,0.964708]] 2025-10-27T05:31:15.261Z,1761543075.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:15.589Z,1761543075.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975788,0.181008,0.122778],[-0.205337,-0.951475,-0.229199],[0.075333,-0.248861,0.965605]] 2025-10-27T05:31:15.642Z,1761543075.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:15.986Z,1761543075.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980024,0.160849,0.116964],[-0.184223,-0.955795,-0.229168],[0.074933,-0.246138,0.966334]] 2025-10-27T05:31:16.004Z,1761543076.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:16.394Z,1761543076.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983877,0.140563,0.110584],[-0.162883,-0.959597,-0.229441],[0.073865,-0.243754,0.967020]] 2025-10-27T05:31:16.462Z,1761543076.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:16.790Z,1761543076.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987250,0.120259,0.104282],[-0.141711,-0.962400,-0.231743],[0.072491,-0.243566,0.967171]] 2025-10-27T05:31:16.820Z,1761543076.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:17.198Z,1761543077.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990262,0.099521,0.097347],[-0.119898,-0.965040,-0.233073],[0.070748,-0.242475,0.967575]] 2025-10-27T05:31:17.279Z,1761543077.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:17.606Z,1761543077.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992807,0.078844,0.090099],[-0.098194,-0.966783,-0.235984],[0.068500,-0.243133,0.967571]] 2025-10-27T05:31:17.657Z,1761543077.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:18.011Z,1761543078.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994907,0.057888,0.082515],[-0.076245,-0.967664,-0.240442],[0.065928,-0.245509,0.967150]] 2025-10-27T05:31:18.036Z,1761543078.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:18.406Z,1761543078.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996484,0.037859,0.074747],[-0.054970,-0.968670,-0.242193],[0.063235,-0.245450,0.967345]] 2025-10-27T05:31:18.449Z,1761543078.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:18.810Z,1761543078.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997640,0.017915,0.066278],[-0.033508,-0.969625,-0.242290],[0.059924,-0.243940,0.967937]] 2025-10-27T05:31:18.853Z,1761543078.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:19.313Z,1761543079.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:19.619Z,1761543079.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998525,-0.021789,0.049734],[0.009054,-0.969944,-0.243161],[0.053538,-0.242352,0.968710]] 2025-10-27T05:31:19.658Z,1761543079.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:20.022Z,1761543080.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998333,-0.039799,0.041807],[0.028367,-0.969071,-0.245145],[0.050271,-0.243550,0.968585]] 2025-10-27T05:31:20.055Z,1761543080.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:20.426Z,1761543080.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997821,-0.056808,0.033548],[0.046849,-0.968144,-0.245970],[0.046452,-0.243863,0.968697]] 2025-10-27T05:31:20.474Z,1761543080.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:20.830Z,1761543080.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997008,-0.073051,0.025274],[0.064549,-0.966680,-0.247715],[0.042528,-0.245342,0.968503]] 2025-10-27T05:31:20.848Z,1761543080.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:21.235Z,1761543081.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996143,-0.085951,0.017627],[0.078874,-0.965237,-0.249193],[0.038433,-0.246841,0.968293]] 2025-10-27T05:31:21.258Z,1761543081.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:21.638Z,1761543081.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995184,-0.097431,0.010749],[0.091867,-0.965311,-0.244406],[0.034189,-0.242242,0.969613]] 2025-10-27T05:31:21.687Z,1761543081.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:22.042Z,1761543082.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994220,-0.107264,0.004680],[0.103110,-0.966047,-0.236901],[0.029932,-0.235049,0.971523]] 2025-10-27T05:31:22.083Z,1761543082.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:22.446Z,1761543082.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993381,-0.114863,-0.000204],[0.111926,-0.967575,-0.226430],[0.025811,-0.224954,0.974027]] 2025-10-27T05:31:22.483Z,1761543082.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:22.853Z,1761543082.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992686,-0.120653,-0.004181],[0.118728,-0.969402,-0.214856],[0.021870,-0.213781,0.976637]] 2025-10-27T05:31:22.871Z,1761543082.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:23.254Z,1761543083.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992162,-0.124705,-0.007940],[0.123693,-0.971123,-0.204012],[0.017730,-0.203395,0.978936]] 2025-10-27T05:31:23.290Z,1761543083.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:23.657Z,1761543083.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991779,-0.127469,-0.011255],[0.127243,-0.973031,-0.192404],[0.013574,-0.192254,0.981251]] 2025-10-27T05:31:23.728Z,1761543083.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:24.068Z,1761543084.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991613,-0.128490,-0.013912],[0.128866,-0.974790,-0.182148],[0.009843,-0.182413,0.983173]] 2025-10-27T05:31:24.119Z,1761543084.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:24.469Z,1761543084.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991608,-0.128250,-0.016283],[0.129125,-0.976401,-0.173110],[0.006303,-0.173760,0.984768]] 2025-10-27T05:31:24.505Z,1761543084.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:24.899Z,1761543084.899 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:31:24.947Z,1761543084.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991671,-0.127416,-0.018814],[0.128773,-0.978011,-0.164050],[0.002502,-0.165107,0.986273]] 2025-10-27T05:31:24.965Z,1761543084.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:25.411Z,1761543085.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991842,-0.125733,-0.020990],[0.127468,-0.979685,-0.154821],[-0.001098,-0.156234,0.987720]] 2025-10-27T05:31:25.448Z,1761543085.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:25.887Z,1761543085.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992447,-0.120278,-0.024126],[0.122453,-0.983115,-0.135981],[-0.007363,-0.137909,0.990418]] 2025-10-27T05:31:25.903Z,1761543085.903 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:31:25.906Z,1761543085.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:26.288Z,1761543086.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992750,-0.117451,-0.025544],[0.119759,-0.984666,-0.126849],[-0.010254,-0.128989,0.991593]] 2025-10-27T05:31:26.308Z,1761543086.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:26.690Z,1761543086.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993019,-0.114702,-0.027504],[0.117200,-0.985791,-0.120331],[-0.013311,-0.122715,0.992353]] 2025-10-27T05:31:26.780Z,1761543086.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:27.104Z,1761543087.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993360,-0.111277,-0.029203],[0.113970,-0.986468,-0.117863],[-0.015693,-0.120408,0.992600]] 2025-10-27T05:31:27.122Z,1761543087.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:27.497Z,1761543087.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993667,-0.108060,-0.030802],[0.110959,-0.986873,-0.117343],[-0.017717,-0.120018,0.992614]] 2025-10-27T05:31:27.541Z,1761543087.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:27.902Z,1761543087.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993932,-0.105055,-0.032597],[0.108202,-0.987106,-0.117956],[-0.019785,-0.120767,0.992484]] 2025-10-27T05:31:27.937Z,1761543087.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:28.307Z,1761543088.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994234,-0.101606,-0.034281],[0.105039,-0.987127,-0.120614],[-0.021585,-0.123520,0.992107]] 2025-10-27T05:31:28.325Z,1761543088.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:28.717Z,1761543088.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994591,-0.097612,-0.035505],[0.101250,-0.987388,-0.121707],[-0.023177,-0.124644,0.991931]] 2025-10-27T05:31:28.775Z,1761543088.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:29.120Z,1761543089.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994883,-0.094126,-0.036720],[0.097961,-0.987618,-0.122537],[-0.024731,-0.125507,0.991784]] 2025-10-27T05:31:29.140Z,1761543089.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:29.517Z,1761543089.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995152,-0.090797,-0.037787],[0.094829,-0.987741,-0.124000],[-0.026065,-0.126983,0.991562]] 2025-10-27T05:31:29.576Z,1761543089.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:29.922Z,1761543089.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995388,-0.087481,-0.039355],[0.091819,-0.987655,-0.126914],[-0.027767,-0.129942,0.991133]] 2025-10-27T05:31:29.941Z,1761543089.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:30.327Z,1761543090.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995588,-0.084509,-0.040788],[0.089081,-0.987802,-0.127716],[-0.029497,-0.130786,0.990972]] 2025-10-27T05:31:30.352Z,1761543090.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:30.737Z,1761543090.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995769,-0.081819,-0.041836],[0.086578,-0.987903,-0.128651],[-0.030804,-0.131729,0.990807]] 2025-10-27T05:31:30.784Z,1761543090.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:31.138Z,1761543091.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995892,-0.079590,-0.043177],[0.084592,-0.987881,-0.130136],[-0.032297,-0.133254,0.990556]] 2025-10-27T05:31:31.183Z,1761543091.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:31.539Z,1761543091.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996017,-0.077142,-0.044723],[0.082435,-0.987811,-0.132034],[-0.033993,-0.135195,0.990236]] 2025-10-27T05:31:31.606Z,1761543091.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:31.946Z,1761543091.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996072,-0.075384,-0.046447],[0.080977,-0.987741,-0.133458],[-0.035817,-0.136695,0.989965]] 2025-10-27T05:31:31.964Z,1761543091.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:32.348Z,1761543092.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996069,-0.074304,-0.048232],[0.080166,-0.987750,-0.133879],[-0.037694,-0.137219,0.989823]] 2025-10-27T05:31:32.374Z,1761543092.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:32.751Z,1761543092.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996050,-0.073394,-0.049985],[0.079529,-0.987719,-0.134484],[-0.039501,-0.137928,0.989654]] 2025-10-27T05:31:32.812Z,1761543092.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:33.166Z,1761543093.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996015,-0.072735,-0.051606],[0.079129,-0.987655,-0.135192],[-0.041136,-0.138737,0.989475]] 2025-10-27T05:31:33.185Z,1761543093.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:33.669Z,1761543093.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:34.025Z,1761543094.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995791,-0.073125,-0.055255],[0.080111,-0.987308,-0.137131],[-0.044526,-0.140981,0.989011]] 2025-10-27T05:31:34.072Z,1761543094.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:34.522Z,1761543094.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995634,-0.073739,-0.057230],[0.081099,-0.986930,-0.139254],[-0.046214,-0.143288,0.988602]] 2025-10-27T05:31:34.592Z,1761543094.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:34.901Z,1761543094.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995456,-0.074748,-0.058996],[0.082476,-0.986454,-0.141796],[-0.047598,-0.146018,0.988136]] 2025-10-27T05:31:34.919Z,1761543094.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:35.306Z,1761543095.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995274,-0.076067,-0.060356],[0.084037,-0.986162,-0.142903],[-0.048651,-0.147300,0.987895]] 2025-10-27T05:31:35.324Z,1761543095.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:35.722Z,1761543095.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995053,-0.077855,-0.061710],[0.086017,-0.985966,-0.143081],[-0.049704,-0.147681,0.987785]] 2025-10-27T05:31:35.793Z,1761543095.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:36.113Z,1761543096.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994897,-0.079533,-0.062084],[0.087721,-0.985856,-0.142804],[-0.049848,-0.147521,0.987802]] 2025-10-27T05:31:36.141Z,1761543096.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:36.558Z,1761543096.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994727,-0.081141,-0.062720],[0.089379,-0.985794,-0.142200],[-0.050290,-0.147056,0.987849]] 2025-10-27T05:31:36.614Z,1761543096.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:37.081Z,1761543097.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994370,-0.084215,-0.064312],[0.092814,-0.985044,-0.145171],[-0.051125,-0.150323,0.987314]] 2025-10-27T05:31:37.110Z,1761543097.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:37.478Z,1761543097.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:37.898Z,1761543097.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993982,-0.087844,-0.065453],[0.096524,-0.984848,-0.144076],[-0.051805,-0.149526,0.987400]] 2025-10-27T05:31:37.960Z,1761543097.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:38.301Z,1761543098.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993856,-0.089279,-0.065424],[0.097924,-0.984759,-0.143740],[-0.051594,-0.149263,0.987451]] 2025-10-27T05:31:38.319Z,1761543098.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:38.704Z,1761543098.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993780,-0.090622,-0.064727],[0.099130,-0.984698,-0.143332],[-0.050747,-0.148857,0.987556]] 2025-10-27T05:31:38.777Z,1761543098.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:39.106Z,1761543099.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993766,-0.091920,-0.063090],[0.100092,-0.984832,-0.141730],[-0.049105,-0.147162,0.987893]] 2025-10-27T05:31:39.124Z,1761543099.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:39.510Z,1761543099.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993782,-0.092825,-0.061494],[0.100684,-0.984976,-0.140302],[-0.047547,-0.145621,0.988197]] 2025-10-27T05:31:39.537Z,1761543099.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:39.917Z,1761543099.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993800,-0.093777,-0.059733],[0.101221,-0.985375,-0.137081],[-0.046004,-0.142278,0.988757]] 2025-10-27T05:31:39.954Z,1761543099.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:40.318Z,1761543100.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993851,-0.094160,-0.058251],[0.101285,-0.985688,-0.134758],[-0.044728,-0.139830,0.989165]] 2025-10-27T05:31:40.348Z,1761543100.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:40.733Z,1761543100.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993882,-0.094891,-0.056515],[0.101614,-0.986126,-0.131260],[-0.043276,-0.136200,0.989736]] 2025-10-27T05:31:40.785Z,1761543100.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:41.129Z,1761543101.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993860,-0.095722,-0.055490],[0.102230,-0.986276,-0.129649],[-0.042318,-0.134525,0.990006]] 2025-10-27T05:31:41.151Z,1761543101.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:41.533Z,1761543101.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993943,-0.095508,-0.054367],[0.101921,-0.986133,-0.130971],[-0.041104,-0.135719,0.989894]] 2025-10-27T05:31:41.628Z,1761543101.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:41.933Z,1761543101.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994092,-0.094659,-0.053119],[0.100963,-0.986055,-0.132296],[-0.039855,-0.136877,0.989786]] 2025-10-27T05:31:41.985Z,1761543101.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:42.371Z,1761543102.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:42.752Z,1761543102.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994259,-0.094378,-0.050408],[0.100359,-0.985949,-0.133536],[-0.037097,-0.137829,0.989761]] 2025-10-27T05:31:42.788Z,1761543102.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:43.142Z,1761543103.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994416,-0.093511,-0.048917],[0.099310,-0.985995,-0.133982],[-0.035703,-0.138092,0.989776]] 2025-10-27T05:31:43.161Z,1761543103.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:43.557Z,1761543103.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994541,-0.092713,-0.047884],[0.098401,-0.985991,-0.134680],[-0.034726,-0.138656,0.989732]] 2025-10-27T05:31:43.577Z,1761543103.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:43.952Z,1761543103.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994715,-0.091559,-0.046475],[0.097056,-0.986142,-0.134552],[-0.033511,-0.138352,0.989816]] 2025-10-27T05:31:43.989Z,1761543103.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:44.383Z,1761543104.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:44.754Z,1761543104.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995086,-0.089238,-0.042902],[0.094218,-0.986612,-0.133117],[-0.030449,-0.136505,0.990171]] 2025-10-27T05:31:44.804Z,1761543104.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:45.161Z,1761543105.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995270,-0.087967,-0.041217],[0.092758,-0.986608,-0.134163],[-0.028863,-0.137352,0.990102]] 2025-10-27T05:31:45.179Z,1761543105.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:45.566Z,1761543105.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995507,-0.086061,-0.039501],[0.090704,-0.986441,-0.136772],[-0.027195,-0.139740,0.989815]] 2025-10-27T05:31:45.589Z,1761543105.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:31:45.591Z,1761543105.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:45.696Z,1761543105.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:31:45.696Z,1761543105.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:31:45.948Z,1761543105.948 [DAT](INFO): DAT read: user:429> 2025-10-27T05:31:45.949Z,1761543105.949 [DAT](INFO): DAT read: Tx time:05:31:44.9730 2025-10-27T05:31:45.949Z,1761543105.949 [DAT](INFO): Ping request sent. 2025-10-27T05:31:45.949Z,1761543105.949 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:31:45.949Z,1761543105.949 [DAT](INFO): publishing transmit ping time 2025-10-27T05:31:45.950Z,1761543105.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-27T05:31:45.965Z,1761543105.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995692,-0.084722,-0.037689],[0.089152,-0.986431,-0.137865],[-0.025497,-0.140631,0.989734]] 2025-10-27T05:31:46.063Z,1761543106.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:46.200Z,1761543106.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250633 2025-10-27T05:31:46.372Z,1761543106.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995905,-0.083183,-0.035422],[0.087331,-0.986467,-0.138768],[-0.023400,-0.141293,0.989691]] 2025-10-27T05:31:46.390Z,1761543106.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:46.452Z,1761543106.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502838 2025-10-27T05:31:46.704Z,1761543106.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755270 2025-10-27T05:31:46.784Z,1761543106.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996051,-0.082304,-0.033302],[0.086185,-0.986404,-0.139926],[-0.021333,-0.142243,0.989602]] 2025-10-27T05:31:46.825Z,1761543106.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:46.956Z,1761543106.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006826 2025-10-27T05:31:47.177Z,1761543107.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996214,-0.080979,-0.031611],[0.084692,-0.986106,-0.142904],[-0.019599,-0.145040,0.989232]] 2025-10-27T05:31:47.208Z,1761543107.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258678 2025-10-27T05:31:47.213Z,1761543107.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:47.460Z,1761543107.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510702 2025-10-27T05:31:47.582Z,1761543107.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996327,-0.080259,-0.029860],[0.083761,-0.985902,-0.144852],[-0.017813,-0.146821,0.989003]] 2025-10-27T05:31:47.600Z,1761543107.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:47.720Z,1761543107.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769607 2025-10-27T05:31:47.968Z,1761543107.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018733 2025-10-27T05:31:48.055Z,1761543108.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996415,-0.079545,-0.028817],[0.082915,-0.985845,-0.145721],[-0.016818,-0.147588,0.988906]] 2025-10-27T05:31:48.102Z,1761543108.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:48.220Z,1761543108.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270681 2025-10-27T05:31:48.399Z,1761543108.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996480,-0.079197,-0.027468],[0.082380,-0.985816,-0.146223],[-0.015498,-0.147971,0.988870]] 2025-10-27T05:31:48.417Z,1761543108.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:48.473Z,1761543108.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523456 2025-10-27T05:31:48.725Z,1761543108.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775128 2025-10-27T05:31:48.860Z,1761543108.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996554,-0.078946,-0.025448],[0.081864,-0.985508,-0.148569],[-0.013350,-0.150140,0.988575]] 2025-10-27T05:31:48.904Z,1761543108.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:48.985Z,1761543108.985 [DAT](INFO): DAT read: 05:31:47.4743 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 351, 0.23, 0.672, 2.450, 0.664, 1.275, PHS=-0.500, 1.221,-0.654, RAW= 334.2, -0.7, CAL= 333.5, -3.6, ROT= 176.5, 3.6 2025-10-27T05:31:48.987Z,1761543108.987 [DAT](INFO): got valid direction response: 05:31:47.4743 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 351, 0.23, 0.672, 2.450, 0.664, 1.275, PHS=-0.500, 1.221,-0.654, RAW= 334.2, -0.7, CAL= 333.5, -3.6, ROT= 176.5, 3.6 2025-10-27T05:31:48.988Z,1761543108.988 [DAT](INFO): DAT read: Rx Time:05:31:47.4743 2025-10-27T05:31:48.989Z,1761543108.989 [DAT](INFO): Rx dataTimestamp_ set to:1761543108.988440 2025-10-27T05:31:48.990Z,1761543108.990 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-27T05:31:48.990Z,1761543108.990 [DAT](INFO): Received low SNR in chirp 2025-10-27T05:31:49.003Z,1761543109.003 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:31:49.004Z,1761543109.004 [DAT](INFO): direction in FSK: [-0.996165,0.060928,-0.062791] 2025-10-27T05:31:49.244Z,1761543109.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:49.614Z,1761543109.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996606,-0.079263,-0.022203],[0.081716,-0.985156,-0.150961],[-0.009908,-0.152263,0.988290]] 2025-10-27T05:31:49.632Z,1761543109.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:50.025Z,1761543110.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996596,-0.079790,-0.020754],[0.082038,-0.984716,-0.153635],[-0.008178,-0.154814,0.987910]] 2025-10-27T05:31:50.080Z,1761543110.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:50.425Z,1761543110.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996539,-0.080767,-0.019671],[0.082839,-0.984580,-0.154079],[-0.006923,-0.155176,0.987863]] 2025-10-27T05:31:50.443Z,1761543110.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:50.861Z,1761543110.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996474,-0.081896,-0.018220],[0.083723,-0.984676,-0.152983],[-0.005412,-0.153969,0.988061]] 2025-10-27T05:31:50.910Z,1761543110.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:51.335Z,1761543111.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996357,-0.083512,-0.017254],[0.085170,-0.984589,-0.152745],[-0.004232,-0.153658,0.988115]] 2025-10-27T05:31:51.373Z,1761543111.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:51.864Z,1761543111.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:52.253Z,1761543112.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:52.612Z,1761543112.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995982,-0.088464,-0.013961],[0.089558,-0.984410,-0.151382],[-0.000351,-0.152024,0.988377]] 2025-10-27T05:31:52.630Z,1761543112.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:53.021Z,1761543113.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995873,-0.089866,-0.012659],[0.090746,-0.984367,-0.150954],[0.001105,-0.151479,0.988460]] 2025-10-27T05:31:53.074Z,1761543113.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:53.418Z,1761543113.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995722,-0.091717,-0.011179],[0.092358,-0.984529,-0.148905],[0.002651,-0.149300,0.988788]] 2025-10-27T05:31:53.436Z,1761543113.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:53.824Z,1761543113.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995566,-0.093572,-0.009596],[0.093965,-0.984699,-0.146757],[0.004283,-0.147008,0.989126]] 2025-10-27T05:31:53.904Z,1761543113.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:54.229Z,1761543114.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995416,-0.095315,-0.007862],[0.095448,-0.984878,-0.144589],[0.006039,-0.144677,0.989461]] 2025-10-27T05:31:54.248Z,1761543114.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:54.630Z,1761543114.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995290,-0.096758,-0.006019],[0.096636,-0.985257,-0.141173],[0.007729,-0.141090,0.989967]] 2025-10-27T05:31:54.657Z,1761543114.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:55.046Z,1761543115.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995151,-0.098273,-0.004040],[0.097898,-0.985725,-0.136972],[0.009479,-0.136704,0.990567]] 2025-10-27T05:31:55.095Z,1761543115.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:55.438Z,1761543115.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995026,-0.099589,-0.002336],[0.099009,-0.986106,-0.133389],[0.010981,-0.132957,0.991061]] 2025-10-27T05:31:55.457Z,1761543115.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:55.860Z,1761543115.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994945,-0.100423,-0.000749],[0.099640,-0.986200,-0.132221],[0.012540,-0.131627,0.991220]] 2025-10-27T05:31:55.921Z,1761543115.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:56.032Z,1761543116.032 [DAT](INFO): Reached modem response timeout 2025-10-27T05:31:56.043Z,1761543116.043 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:31:56.246Z,1761543116.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994825,-0.101606,0.000488],[0.100655,-0.986154,-0.131787],[0.013871,-0.131055,0.991278]] 2025-10-27T05:31:56.275Z,1761543116.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:56.650Z,1761543116.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994798,-0.101848,0.001985],[0.100700,-0.986152,-0.131774],[0.015379,-0.130889,0.991278]] 2025-10-27T05:31:56.669Z,1761543116.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:57.047Z,1761543117.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:31:57.056Z,1761543117.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994832,-0.101474,0.003564],[0.100133,-0.986291,-0.131166],[0.016825,-0.130131,0.991354]] 2025-10-27T05:31:57.112Z,1761543117.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:57.461Z,1761543117.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994800,-0.101715,0.005198],[0.100184,-0.986460,-0.129845],[0.018335,-0.128649,0.991521]] 2025-10-27T05:31:57.479Z,1761543117.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:57.902Z,1761543117.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994851,-0.101001,0.008326],[0.099069,-0.986547,-0.130043],[0.021349,-0.128549,0.991473]] 2025-10-27T05:31:57.963Z,1761543117.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:58.300Z,1761543118.300 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:31:58.300Z,1761543118.300 [DAT](INFO): response not received 2025-10-27T05:31:58.301Z,1761543118.301 [DAT](ERROR): No response from remote modem. 2025-10-27T05:31:58.314Z,1761543118.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:58.781Z,1761543118.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995057,-0.098683,0.011094],[0.096332,-0.986358,-0.133483],[0.024115,-0.131754,0.990989]] 2025-10-27T05:31:58.813Z,1761543118.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:59.321Z,1761543119.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995177,-0.097262,0.012765],[0.094677,-0.986378,-0.134517],[0.025675,-0.132660,0.990829]] 2025-10-27T05:31:59.385Z,1761543119.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:31:59.800Z,1761543119.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995322,-0.095553,0.014248],[0.092724,-0.986254,-0.136765],[0.027120,-0.134804,0.990501]] 2025-10-27T05:31:59.823Z,1761543119.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:00.252Z,1761543120.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:00.606Z,1761543120.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995714,-0.090952,0.016800],[0.087617,-0.985737,-0.143689],[0.029629,-0.141601,0.989480]] 2025-10-27T05:32:00.625Z,1761543120.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:01.025Z,1761543121.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995858,-0.088995,0.018633],[0.085367,-0.985689,-0.145362],[0.031303,-0.143169,0.989203]] 2025-10-27T05:32:01.088Z,1761543121.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:01.414Z,1761543121.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995988,-0.087132,0.020416],[0.083227,-0.985690,-0.146591],[0.032897,-0.144304,0.988986]] 2025-10-27T05:32:01.452Z,1761543121.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:01.819Z,1761543121.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996111,-0.085341,0.021921],[0.081179,-0.985612,-0.148254],[0.034257,-0.145898,0.988706]] 2025-10-27T05:32:01.838Z,1761543121.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:02.266Z,1761543122.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:02.626Z,1761543122.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996269,-0.082823,0.024244],[0.078157,-0.985060,-0.153454],[0.036591,-0.150987,0.987858]] 2025-10-27T05:32:02.660Z,1761543122.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:03.036Z,1761543123.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996291,-0.082347,0.024983],[0.077496,-0.984786,-0.155533],[0.037410,-0.153020,0.987515]] 2025-10-27T05:32:03.080Z,1761543123.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:03.440Z,1761543123.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996306,-0.081881,0.025888],[0.076818,-0.984516,-0.157564],[0.038388,-0.154993,0.987169]] 2025-10-27T05:32:03.458Z,1761543123.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:03.838Z,1761543123.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996229,-0.082515,0.026819],[0.077300,-0.984477,-0.157575],[0.039405,-0.154908,0.987143]] 2025-10-27T05:32:03.866Z,1761543123.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:04.242Z,1761543124.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996107,-0.083784,0.027411],[0.078445,-0.984322,-0.157975],[0.040217,-0.155209,0.987063]] 2025-10-27T05:32:04.288Z,1761543124.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:04.647Z,1761543124.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995982,-0.085236,0.027486],[0.079769,-0.983823,-0.160403],[0.040714,-0.157566,0.986669]] 2025-10-27T05:32:04.665Z,1761543124.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:05.051Z,1761543125.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995821,-0.087079,0.027522],[0.081535,-0.983488,-0.161563],[0.041136,-0.158644,0.986479]] 2025-10-27T05:32:05.095Z,1761543125.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:05.454Z,1761543125.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995661,-0.088815,0.027756],[0.083192,-0.983268,-0.162058],[0.041685,-0.159046,0.986391]] 2025-10-27T05:32:05.488Z,1761543125.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:05.858Z,1761543125.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995444,-0.091128,0.028042],[0.085436,-0.983096,-0.161934],[0.042325,-0.158800,0.986403]] 2025-10-27T05:32:05.877Z,1761543125.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:06.271Z,1761543126.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995220,-0.093443,0.028386],[0.087669,-0.982905,-0.161903],[0.043029,-0.158640,0.986398]] 2025-10-27T05:32:06.340Z,1761543126.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:06.676Z,1761543126.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995048,-0.095045,0.029080],[0.089113,-0.982673,-0.162518],[0.044022,-0.159122,0.986277]] 2025-10-27T05:32:06.694Z,1761543126.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:07.138Z,1761543127.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:07.485Z,1761543127.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994631,-0.099092,0.029847],[0.093003,-0.982366,-0.162196],[0.045393,-0.158550,0.986307]] 2025-10-27T05:32:07.537Z,1761543127.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:07.890Z,1761543127.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994442,-0.100851,0.030248],[0.094685,-0.982235,-0.162016],[0.046050,-0.158251,0.986324]] 2025-10-27T05:32:07.917Z,1761543127.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:08.290Z,1761543128.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994347,-0.101511,0.031137],[0.095239,-0.982329,-0.161121],[0.046943,-0.157245,0.986443]] 2025-10-27T05:32:08.338Z,1761543128.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:08.694Z,1761543128.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994252,-0.102127,0.032153],[0.095726,-0.982409,-0.160343],[0.047963,-0.156343,0.986538]] 2025-10-27T05:32:08.741Z,1761543128.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:09.099Z,1761543129.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994288,-0.101384,0.033367],[0.094862,-0.982691,-0.159119],[0.048922,-0.155045,0.986695]] 2025-10-27T05:32:09.141Z,1761543129.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:09.525Z,1761543129.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994511,-0.098386,0.035611],[0.091642,-0.983284,-0.157335],[0.050495,-0.153208,0.986903]] 2025-10-27T05:32:09.544Z,1761543129.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:09.917Z,1761543129.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994710,-0.095943,0.036698],[0.089133,-0.983741,-0.155912],[0.051060,-0.151816,0.987089]] 2025-10-27T05:32:09.955Z,1761543129.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:10.316Z,1761543130.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994894,-0.093506,0.037974],[0.086614,-0.984222,-0.154292],[0.051802,-0.150215,0.987295]] 2025-10-27T05:32:10.369Z,1761543130.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:10.728Z,1761543130.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995118,-0.090656,0.039009],[0.083706,-0.984674,-0.153007],[0.052282,-0.148995,0.987455]] 2025-10-27T05:32:10.749Z,1761543130.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:11.176Z,1761543131.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995362,-0.087579,0.039797],[0.080627,-0.985170,-0.151459],[0.052472,-0.147548,0.987662]] 2025-10-27T05:32:11.222Z,1761543131.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:11.614Z,1761543131.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:11.739Z,1761543131.739 [DockingStepper](ERROR): getADC uart error serial timeout 2025-10-27T05:32:11.739Z,1761543131.739 [DockingStepper](FAULT): uart error - getPosition..serial timeout 2025-10-27T05:32:11.739Z,1761543131.739 [DockingStepper] Communications Fault, FailCount= 1 2025-10-27T05:32:11.739Z,1761543131.739 [DockingStepper](ERROR): Communications Fault 2025-10-27T05:32:11.947Z,1761543131.947 [CBIT](ERROR): Communications Fault in component: DockingStepper 2025-10-27T05:32:11.997Z,1761543131.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995777,-0.082342,0.040604],[0.075399,-0.985800,-0.150042],[0.052382,-0.146347,0.987845]] 2025-10-27T05:32:12.093Z,1761543132.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:12.127Z,1761543132.127 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T05:32:12.127Z,1761543132.127 [DockingStepper](INFO): Powering down 2025-10-27T05:32:12.386Z,1761543132.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995941,-0.080350,0.040561],[0.073424,-0.985922,-0.150224],[0.052060,-0.146636,0.987820]] 2025-10-27T05:32:12.432Z,1761543132.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:12.790Z,1761543132.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996059,-0.079135,0.040050],[0.072232,-0.985823,-0.151447],[0.051467,-0.147958,0.987654]] 2025-10-27T05:32:12.815Z,1761543132.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:13.195Z,1761543133.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996143,-0.078501,0.039213],[0.071628,-0.985563,-0.153408],[0.050690,-0.150008,0.987385]] 2025-10-27T05:32:13.238Z,1761543133.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:13.629Z,1761543133.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:14.015Z,1761543134.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996234,-0.078286,0.037264],[0.071559,-0.985090,-0.156453],[0.048957,-0.153197,0.986982]] 2025-10-27T05:32:14.110Z,1761543134.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:14.407Z,1761543134.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996259,-0.078725,0.035648],[0.072103,-0.984593,-0.159302],[0.047640,-0.156136,0.986586]] 2025-10-27T05:32:14.445Z,1761543134.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:14.807Z,1761543134.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996273,-0.079358,0.033795],[0.072961,-0.984328,-0.160546],[0.046006,-0.157482,0.986450]] 2025-10-27T05:32:14.842Z,1761543134.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:15.211Z,1761543135.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996257,-0.080404,0.031746],[0.074274,-0.984070,-0.161520],[0.044227,-0.158557,0.986359]] 2025-10-27T05:32:15.261Z,1761543135.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:15.615Z,1761543135.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996246,-0.081573,0.028972],[0.075782,-0.983616,-0.163574],[0.041840,-0.160764,0.986106]] 2025-10-27T05:32:15.633Z,1761543135.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:16.032Z,1761543136.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996232,-0.082743,0.025980],[0.077390,-0.983370,-0.164297],[0.039142,-0.161668,0.986069]] 2025-10-27T05:32:16.050Z,1761543136.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:16.422Z,1761543136.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996261,-0.083314,0.022865],[0.078454,-0.983266,-0.164415],[0.036181,-0.162006,0.986126]] 2025-10-27T05:32:16.467Z,1761543136.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:16.826Z,1761543136.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996268,-0.084062,0.019579],[0.079708,-0.983075,-0.164954],[0.033114,-0.162778,0.986107]] 2025-10-27T05:32:16.844Z,1761543136.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:17.297Z,1761543137.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:17.634Z,1761543137.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996260,-0.085539,0.012233],[0.082351,-0.982786,-0.165376],[0.026169,-0.163750,0.986155]] 2025-10-27T05:32:17.659Z,1761543137.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:18.084Z,1761543138.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:18.441Z,1761543138.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996228,-0.086608,0.005431],[0.084580,-0.983083,-0.162462],[0.019409,-0.161390,0.986700]] 2025-10-27T05:32:18.508Z,1761543138.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:18.847Z,1761543138.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996209,-0.086971,0.001839],[0.085559,-0.983419,-0.159897],[0.015715,-0.159133,0.987132]] 2025-10-27T05:32:18.865Z,1761543138.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:19.251Z,1761543139.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996187,-0.087227,-0.001676],[0.086408,-0.983821,-0.156940],[0.012040,-0.156487,0.987607]] 2025-10-27T05:32:19.291Z,1761543139.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:19.654Z,1761543139.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996179,-0.087199,-0.004949],[0.086924,-0.984329,-0.153429],[0.008507,-0.153273,0.988147]] 2025-10-27T05:32:19.689Z,1761543139.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:20.058Z,1761543140.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996114,-0.087672,-0.008347],[0.087933,-0.984861,-0.149389],[0.004877,-0.149543,0.988743]] 2025-10-27T05:32:20.077Z,1761543140.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:20.462Z,1761543140.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996014,-0.088422,-0.011697],[0.089183,-0.985364,-0.145275],[0.001320,-0.145739,0.989322]] 2025-10-27T05:32:20.525Z,1761543140.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:20.900Z,1761543140.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:21.270Z,1761543141.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995916,-0.088507,-0.017823],[0.090147,-0.985680,-0.142510],[-0.004954,-0.143535,0.989633]] 2025-10-27T05:32:21.314Z,1761543141.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:21.740Z,1761543141.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995855,-0.088579,-0.020659],[0.090624,-0.985689,-0.142141],[-0.007773,-0.143424,0.989631]] 2025-10-27T05:32:21.814Z,1761543141.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:22.240Z,1761543142.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995825,-0.088257,-0.023307],[0.090686,-0.985678,-0.142177],[-0.010425,-0.143697,0.989567]] 2025-10-27T05:32:22.294Z,1761543142.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:22.680Z,1761543142.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995753,-0.088475,-0.025453],[0.091195,-0.985807,-0.140954],[-0.012621,-0.142677,0.989689]] 2025-10-27T05:32:22.719Z,1761543142.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:23.096Z,1761543143.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995726,-0.088243,-0.027248],[0.091224,-0.985767,-0.141217],[-0.014399,-0.143099,0.989604]] 2025-10-27T05:32:23.132Z,1761543143.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:23.504Z,1761543143.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995712,-0.087909,-0.028795],[0.091113,-0.985802,-0.141039],[-0.015988,-0.143058,0.989585]] 2025-10-27T05:32:23.559Z,1761543143.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:23.948Z,1761543143.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:24.307Z,1761543144.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995728,-0.086720,-0.031719],[0.090340,-0.985976,-0.140324],[-0.019105,-0.142590,0.989597]] 2025-10-27T05:32:24.368Z,1761543144.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:24.722Z,1761543144.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995690,-0.086743,-0.032831],[0.090483,-0.986230,-0.138428],[-0.020371,-0.140802,0.989828]] 2025-10-27T05:32:24.746Z,1761543144.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:25.114Z,1761543145.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995671,-0.086445,-0.034167],[0.090392,-0.986136,-0.139159],[-0.021663,-0.141645,0.989680]] 2025-10-27T05:32:25.157Z,1761543145.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:25.523Z,1761543145.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995714,-0.085457,-0.035363],[0.089632,-0.985906,-0.141267],[-0.022792,-0.143831,0.989340]] 2025-10-27T05:32:25.567Z,1761543145.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:25.998Z,1761543145.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:26.333Z,1761543146.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995779,-0.082764,-0.039672],[0.087662,-0.985688,-0.143994],[-0.027187,-0.146864,0.988783]] 2025-10-27T05:32:26.370Z,1761543146.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:26.740Z,1761543146.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995800,-0.081788,-0.041144],[0.086930,-0.985663,-0.144607],[-0.028727,-0.147576,0.988633]] 2025-10-27T05:32:26.785Z,1761543146.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:27.146Z,1761543147.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995833,-0.080428,-0.042977],[0.085857,-0.985752,-0.144646],[-0.030731,-0.147734,0.988550]] 2025-10-27T05:32:27.164Z,1761543147.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:27.179Z,1761543147.179 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:32:27.547Z,1761543147.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995849,-0.079206,-0.044850],[0.084923,-0.985835,-0.144628],[-0.032759,-0.147837,0.988469]] 2025-10-27T05:32:27.622Z,1761543147.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:27.949Z,1761543147.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995869,-0.077879,-0.046683],[0.083904,-0.985825,-0.145290],[-0.034707,-0.148607,0.988287]] 2025-10-27T05:32:27.996Z,1761543147.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:28.183Z,1761543148.183 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:32:28.353Z,1761543148.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995888,-0.076415,-0.048669],[0.082792,-0.985755,-0.146401],[-0.036789,-0.149828,0.988027]] 2025-10-27T05:32:28.406Z,1761543148.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:28.758Z,1761543148.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995885,-0.075490,-0.050144],[0.082045,-0.986020,-0.145025],[-0.038495,-0.148542,0.988156]] 2025-10-27T05:32:28.776Z,1761543148.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:29.165Z,1761543149.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995874,-0.074734,-0.051468],[0.081509,-0.986006,-0.145427],[-0.039879,-0.149022,0.988029]] 2025-10-27T05:32:29.198Z,1761543149.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:29.566Z,1761543149.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995911,-0.073755,-0.052174],[0.080698,-0.985883,-0.146703],[-0.040617,-0.150314,0.987804]] 2025-10-27T05:32:29.611Z,1761543149.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:29.982Z,1761543149.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995898,-0.073377,-0.052946],[0.080533,-0.985566,-0.148910],[-0.041255,-0.152563,0.987432]] 2025-10-27T05:32:30.019Z,1761543150.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:30.374Z,1761543150.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995867,-0.073357,-0.053549],[0.080719,-0.985139,-0.151611],[-0.041632,-0.155307,0.986989]] 2025-10-27T05:32:30.434Z,1761543150.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:30.779Z,1761543150.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995880,-0.073381,-0.053281],[0.080740,-0.984993,-0.152545],[-0.041288,-0.156218,0.986859]] 2025-10-27T05:32:30.798Z,1761543150.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:31.182Z,1761543151.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995904,-0.073369,-0.052843],[0.080702,-0.984837,-0.153566],[-0.040775,-0.157201,0.986724]] 2025-10-27T05:32:31.218Z,1761543151.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:31.585Z,1761543151.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995926,-0.073619,-0.052074],[0.080855,-0.984722,-0.154227],[-0.039924,-0.157809,0.986662]] 2025-10-27T05:32:31.630Z,1761543151.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:32.035Z,1761543152.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:32.397Z,1761543152.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995883,-0.075015,-0.050889],[0.082116,-0.984342,-0.155972],[-0.038392,-0.159509,0.986450]] 2025-10-27T05:32:32.433Z,1761543152.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:32.798Z,1761543152.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995787,-0.076577,-0.050441],[0.083586,-0.984225,-0.155930],[-0.037705,-0.159490,0.986479]] 2025-10-27T05:32:32.825Z,1761543152.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:33.058Z,1761543153.058 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T05:32:33.058Z,1761543153.058 [DockingStepper] No Fault, FailCount= 1 2025-10-27T05:32:33.202Z,1761543153.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995669,-0.078138,-0.050367],[0.085113,-0.984113,-0.155810],[-0.037392,-0.159422,0.986502]] 2025-10-27T05:32:33.237Z,1761543153.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:33.267Z,1761543153.267 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T05:32:33.267Z,1761543153.267 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T05:32:33.606Z,1761543153.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995616,-0.079134,-0.049856],[0.086014,-0.984043,-0.155762],[-0.036734,-0.159367,0.986536]] 2025-10-27T05:32:33.667Z,1761543153.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:34.014Z,1761543154.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995562,-0.079837,-0.049828],[0.086665,-0.984154,-0.154695],[-0.036688,-0.158327,0.986705]] 2025-10-27T05:32:34.033Z,1761543154.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:34.423Z,1761543154.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995501,-0.080547,-0.049906],[0.087289,-0.984475,-0.152283],[-0.036866,-0.155954,0.987076]] 2025-10-27T05:32:34.492Z,1761543154.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:34.842Z,1761543154.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995431,-0.081363,-0.049966],[0.088001,-0.984842,-0.149472],[-0.037047,-0.153187,0.987503]] 2025-10-27T05:32:34.860Z,1761543154.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:35.242Z,1761543155.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995374,-0.082011,-0.050055],[0.088543,-0.985238,-0.146512],[-0.037300,-0.150266,0.987942]] 2025-10-27T05:32:35.276Z,1761543155.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:35.647Z,1761543155.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995387,-0.081874,-0.050022],[0.088349,-0.985470,-0.145065],[-0.037418,-0.148815,0.988157]] 2025-10-27T05:32:35.696Z,1761543155.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:36.050Z,1761543156.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995384,-0.081691,-0.050364],[0.088172,-0.985663,-0.143854],[-0.037891,-0.147631,0.988316]] 2025-10-27T05:32:36.068Z,1761543156.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:36.470Z,1761543156.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995426,-0.081161,-0.050395],[0.087629,-0.985796,-0.143274],[-0.038051,-0.147035,0.988399]] 2025-10-27T05:32:36.524Z,1761543156.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:36.857Z,1761543156.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995414,-0.081266,-0.050467],[0.087674,-0.986053,-0.141464],[-0.038267,-0.145239,0.988656]] 2025-10-27T05:32:36.885Z,1761543156.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:36.900Z,1761543156.900 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T05:32:37.262Z,1761543157.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995468,-0.080631,-0.050415],[0.087061,-0.986019,-0.142079],[-0.038255,-0.145824,0.988571]] 2025-10-27T05:32:37.309Z,1761543157.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:37.666Z,1761543157.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995502,-0.080152,-0.050514],[0.086555,-0.986233,-0.140901],[-0.038525,-0.144640,0.988734]] 2025-10-27T05:32:37.730Z,1761543157.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:38.076Z,1761543158.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995595,-0.079181,-0.050203],[0.085590,-0.986162,-0.141982],[-0.038266,-0.145653,0.988595]] 2025-10-27T05:32:38.095Z,1761543158.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:38.484Z,1761543158.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995728,-0.077627,-0.049992],[0.084087,-0.986042,-0.143704],[-0.038139,-0.147294,0.988357]] 2025-10-27T05:32:38.521Z,1761543158.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:38.918Z,1761543158.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:39.282Z,1761543159.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995875,-0.075425,-0.050441],[0.082065,-0.985864,-0.146073],[-0.038710,-0.149610,0.987987]] 2025-10-27T05:32:39.300Z,1761543159.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:39.686Z,1761543159.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995929,-0.074347,-0.050973],[0.081127,-0.985758,-0.147304],[-0.039296,-0.150840,0.987777]] 2025-10-27T05:32:39.797Z,1761543159.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:40.103Z,1761543160.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996024,-0.072916,-0.051182],[0.079808,-0.985619,-0.148948],[-0.039585,-0.152440,0.987520]] 2025-10-27T05:32:40.129Z,1761543160.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:40.512Z,1761543160.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996080,-0.071934,-0.051480],[0.078937,-0.985483,-0.150305],[-0.039921,-0.153780,0.987298]] 2025-10-27T05:32:40.556Z,1761543160.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:40.910Z,1761543160.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996160,-0.070575,-0.051805],[0.077704,-0.985349,-0.151818],[-0.040332,-0.155260,0.987050]] 2025-10-27T05:32:40.930Z,1761543160.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:41.316Z,1761543161.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996182,-0.069707,-0.052551],[0.077052,-0.985062,-0.153999],[-0.041031,-0.157460,0.986673]] 2025-10-27T05:32:41.333Z,1761543161.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:41.773Z,1761543161.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:42.120Z,1761543162.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996176,-0.068531,-0.054188],[0.076271,-0.984679,-0.156813],[-0.042611,-0.160346,0.986141]] 2025-10-27T05:32:42.138Z,1761543162.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:42.541Z,1761543162.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996208,-0.067748,-0.054582],[0.075617,-0.984518,-0.158135],[-0.043023,-0.161663,0.985908]] 2025-10-27T05:32:42.589Z,1761543162.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:42.926Z,1761543162.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996220,-0.067208,-0.055037],[0.075219,-0.984322,-0.159538],[-0.043452,-0.163075,0.985656]] 2025-10-27T05:32:42.967Z,1761543162.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:43.330Z,1761543163.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996156,-0.067635,-0.055665],[0.075722,-0.984362,-0.159054],[-0.044037,-0.162657,0.985699]] 2025-10-27T05:32:43.364Z,1761543163.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:43.740Z,1761543163.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996115,-0.067773,-0.056230],[0.076002,-0.984153,-0.160208],[-0.044481,-0.163859,0.985480]] 2025-10-27T05:32:43.791Z,1761543163.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:44.140Z,1761543164.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996043,-0.068065,-0.057148],[0.076551,-0.983721,-0.162584],[-0.045151,-0.166315,0.985038]] 2025-10-27T05:32:44.158Z,1761543164.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:44.595Z,1761543164.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995999,-0.068275,-0.057653],[0.076845,-0.983687,-0.162649],[-0.045608,-0.166429,0.984998]] 2025-10-27T05:32:44.632Z,1761543164.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:45.002Z,1761543165.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995890,-0.069404,-0.058191],[0.078066,-0.983536,-0.162980],[-0.045922,-0.166853,0.984912]] 2025-10-27T05:32:45.031Z,1761543165.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:45.502Z,1761543165.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:45.856Z,1761543165.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995684,-0.071656,-0.058976],[0.080419,-0.983355,-0.162928],[-0.046320,-0.166968,0.984874]] 2025-10-27T05:32:45.899Z,1761543165.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:32:45.901Z,1761543165.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:45.976Z,1761543165.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:32:45.976Z,1761543165.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:32:46.228Z,1761543166.228 [DAT](INFO): DAT read: 2025-10-27T05:32:46.228Z,1761543166.228 [DAT](INFO): DAT read: Tx time:05:32:45.2729 2025-10-27T05:32:46.229Z,1761543166.229 [DAT](INFO): Ping request sent. 2025-10-27T05:32:46.229Z,1761543166.229 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:32:46.229Z,1761543166.229 [DAT](INFO): publishing transmit ping time 2025-10-27T05:32:46.230Z,1761543166.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-27T05:32:46.311Z,1761543166.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:46.480Z,1761543166.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251193 2025-10-27T05:32:46.665Z,1761543166.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995437,-0.074650,-0.059443],[0.083429,-0.983193,-0.162395],[-0.046321,-0.166613,0.984934]] 2025-10-27T05:32:46.724Z,1761543166.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:46.733Z,1761543166.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503799 2025-10-27T05:32:46.984Z,1761543166.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755166 2025-10-27T05:32:47.111Z,1761543167.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:47.236Z,1761543167.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007223 2025-10-27T05:32:47.472Z,1761543167.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995209,-0.077594,-0.059490],[0.086320,-0.983029,-0.161873],[-0.045920,-0.166232,0.985017]] 2025-10-27T05:32:47.488Z,1761543167.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259274 2025-10-27T05:32:47.512Z,1761543167.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:47.741Z,1761543167.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511867 2025-10-27T05:32:47.874Z,1761543167.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995103,-0.079315,-0.058983],[0.087873,-0.983114,-0.160514],[-0.045255,-0.164911,0.985270]] 2025-10-27T05:32:47.957Z,1761543167.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:47.993Z,1761543167.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764587 2025-10-27T05:32:48.244Z,1761543168.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015136 2025-10-27T05:32:48.284Z,1761543168.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994997,-0.081031,-0.058432],[0.089414,-0.983205,-0.159098],[-0.044559,-0.163527,0.985532]] 2025-10-27T05:32:48.307Z,1761543168.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:48.496Z,1761543168.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267465 2025-10-27T05:32:48.682Z,1761543168.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994934,-0.082091,-0.058038],[0.090368,-0.983223,-0.158450],[-0.044057,-0.162892,0.985660]] 2025-10-27T05:32:48.742Z,1761543168.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:48.748Z,1761543168.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519223 2025-10-27T05:32:48.000Z,1761543169.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771185 2025-10-27T05:32:49.127Z,1761543169.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:49.252Z,1761543169.252 [DAT](INFO): DAT read: Rx Time:05:32:47.9122 2025-10-27T05:32:49.253Z,1761543169.253 [DAT](INFO): Rx dataTimestamp_ set to:1761543169.252253 2025-10-27T05:32:49.253Z,1761543169.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024347 2025-10-27T05:32:49.490Z,1761543169.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994928,-0.083558,-0.056002],[0.091295,-0.983844,-0.154002],[-0.042229,-0.158334,0.986482]] 2025-10-27T05:32:49.504Z,1761543169.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275300 2025-10-27T05:32:49.510Z,1761543169.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:49.759Z,1761543169.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529422 2025-10-27T05:32:49.979Z,1761543169.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.28 m. 2025-10-27T05:32:50.016Z,1761543170.016 [DAT](INFO): DAT read: 05:32:47.9122 LVL= 32752, 32241, 32754, 27923, AGC= 74, IDX= 309,-0.41,-2.914,-2.076,-3.052, 2.632, PHS= 0.839, 1.619, 0.555, RAW= 344.9, -48.1, CAL= 346.0, -50.1, ROT= 164.0, 50.1 2025-10-27T05:32:50.017Z,1761543170.017 [DAT](INFO): got valid direction response: 05:32:47.9122 LVL= 32752, 32241, 32754, 27923, AGC= 74, IDX= 309,-0.41,-2.914,-2.076,-3.052, 2.632, PHS= 0.839, 1.619, 0.555, RAW= 344.9, -48.1, CAL= 346.0, -50.1, ROT= 164.0, 50.1 2025-10-27T05:32:50.023Z,1761543170.023 [DAT](INFO): DAT read: Bearing 196.2, 19.3 (Local) 2025-10-27T05:32:50.023Z,1761543170.023 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 19.3 (Local) 2025-10-27T05:32:50.025Z,1761543170.025 [DAT](INFO): DAT read: Range 11 to 50 : 176.4 m (Round-trip 235.2 ms) speed -1.0 m/s 2025-10-27T05:32:50.026Z,1761543170.026 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:32:50.032Z,1761543170.032 [DAT](INFO): direction in FSK: [-0.616601,0.176807,-0.767165] 2025-10-27T05:32:50.033Z,1761543170.033 [DAT](INFO): publishing direction and range info 2025-10-27T05:32:50.360Z,1761543170.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.399994 m, deltaT: 120.784394 s, deltaX: 135.899994 m, approachRate: 1.125145 m/s, rangeRepo size: 4 2025-10-27T05:32:50.362Z,1761543170.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 175.421661 m, bearing: 350.090404 deg, lat: 36.779334 deg, lon: -121.859654 deg, deltaT: 120.784394 s, deltaX: 135.144287 m, approachRate: 1.118889 m/s, posRepo size: 4 2025-10-27T05:32:50.362Z,1761543170.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.42 m. 2025-10-27T05:32:50.367Z,1761543170.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 176.40 m. Resuming terminal guidance. 2025-10-27T05:32:50.367Z,1761543170.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T05:32:50.705Z,1761543170.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995077,-0.083533,-0.053320],[0.090592,-0.984872,-0.147715],[-0.040174,-0.151818,0.987592]] 2025-10-27T05:32:50.761Z,1761543170.761 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T05:32:50.761Z,1761543170.761 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:32:50.761Z,1761543170.761 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T05:32:50.763Z,1761543170.763 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 176.399994 m (mode 1.000000 count ). 2025-10-27T05:32:50.764Z,1761543170.764 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T05:32:50.764Z,1761543170.764 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T05:32:51.106Z,1761543171.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995091,-0.083628,-0.052913],[0.090617,-0.984896,-0.147544],[-0.039774,-0.151615,0.987639]] 2025-10-27T05:32:51.122Z,1761543171.122 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T05:32:51.122Z,1761543171.122 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T05:32:51.123Z,1761543171.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:32:51.268Z,1761543171.268 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:32:51.268Z,1761543171.268 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:32:51.268Z,1761543171.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:32:51.511Z,1761543171.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995172,-0.083327,-0.051866],[0.090095,-0.985190,-0.145887],[-0.038941,-0.149855,0.987941]] 2025-10-27T05:32:51.520Z,1761543171.520 [DAT](INFO): DAT read: user:431> 2025-10-27T05:32:51.521Z,1761543171.521 [DAT](INFO): DAT read: Tx time:05:32:50.5729 2025-10-27T05:32:51.521Z,1761543171.521 [DAT](INFO): Ping request sent. 2025-10-27T05:32:51.521Z,1761543171.521 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:32:51.521Z,1761543171.521 [DAT](INFO): publishing transmit ping time 2025-10-27T05:32:51.522Z,1761543171.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T05:32:51.532Z,1761543171.532 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T05:32:51.532Z,1761543171.532 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T05:32:51.772Z,1761543171.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250841 2025-10-27T05:32:51.914Z,1761543171.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995223,-0.083116,-0.051221],[0.089771,-0.985289,-0.145416],[-0.038381,-0.149320,0.988044]] 2025-10-27T05:32:51.975Z,1761543171.975 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T05:32:51.976Z,1761543171.976 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:32:51.976Z,1761543171.976 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T05:32:51.976Z,1761543171.976 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:32:52.025Z,1761543172.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503609 2025-10-27T05:32:52.276Z,1761543172.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754781 2025-10-27T05:32:52.318Z,1761543172.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995287,-0.082870,-0.050361],[0.089391,-0.985354,-0.145215],[-0.037590,-0.149032,0.988118]] 2025-10-27T05:32:52.528Z,1761543172.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006839 2025-10-27T05:32:52.732Z,1761543172.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995148,-0.084935,-0.049669],[0.091378,-0.984985,-0.146474],[-0.036482,-0.150302,0.987967]] 2025-10-27T05:32:52.780Z,1761543172.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258869 2025-10-27T05:32:53.032Z,1761543173.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511165 2025-10-27T05:32:53.126Z,1761543173.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994757,-0.089379,-0.049709],[0.096037,-0.983460,-0.153569],[-0.035161,-0.157538,0.986887]] 2025-10-27T05:32:53.156Z,1761543173.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:32:53.290Z,1761543173.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768443 2025-10-27T05:32:53.529Z,1761543173.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994188,-0.095069,-0.050521],[0.102239,-0.980746,-0.166387],[-0.033730,-0.170585,0.984765]] 2025-10-27T05:32:53.536Z,1761543173.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014701 2025-10-27T05:32:53.788Z,1761543173.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266785 2025-10-27T05:32:53.951Z,1761543173.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993458,-0.101796,-0.051749],[0.109573,-0.977371,-0.180943],[-0.032158,-0.185430,0.982131]] 2025-10-27T05:32:54.041Z,1761543174.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519572 2025-10-27T05:32:54.292Z,1761543174.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770703 2025-10-27T05:32:54.342Z,1761543174.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992396,-0.110797,-0.053608],[0.119345,-0.972732,-0.198872],[-0.030112,-0.203758,0.978558]] 2025-10-27T05:32:54.544Z,1761543174.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023093 2025-10-27T05:32:54.747Z,1761543174.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990814,-0.122942,-0.056323],[0.132404,-0.966657,-0.219187],[-0.027498,-0.224631,0.974056]] 2025-10-27T05:32:54.796Z,1761543174.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274957 2025-10-27T05:32:55.048Z,1761543175.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526756 2025-10-27T05:32:55.152Z,1761543175.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988534,-0.138540,-0.060054],[0.149004,-0.959415,-0.239418],[-0.024447,-0.245621,0.969058]] 2025-10-27T05:32:55.169Z,1761543175.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:32:55.300Z,1761543175.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778825 2025-10-27T05:32:55.552Z,1761543175.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031274 2025-10-27T05:32:55.560Z,1761543175.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981792,-0.177301,-0.068187],[0.189307,-0.942954,-0.273862],[-0.015741,-0.281783,0.959349]] 2025-10-27T05:32:55.804Z,1761543175.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282714 2025-10-27T05:32:55.962Z,1761543175.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977251,-0.199177,-0.072869],[0.211794,-0.934586,-0.285818],[-0.011173,-0.294749,0.955509]] 2025-10-27T05:32:56.057Z,1761543176.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535409 2025-10-27T05:32:56.308Z,1761543176.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786836 2025-10-27T05:32:56.367Z,1761543176.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972299,-0.220583,-0.077316],[0.233657,-0.926089,-0.296251],[-0.006254,-0.306110,0.951976]] 2025-10-27T05:32:56.560Z,1761543176.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038649 2025-10-27T05:32:56.767Z,1761543176.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966657,-0.242606,-0.081952],[0.256070,-0.917491,-0.304366],[-0.001349,-0.315203,0.949023]] 2025-10-27T05:32:56.812Z,1761543176.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291375 2025-10-27T05:32:57.064Z,1761543177.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542835 2025-10-27T05:32:57.170Z,1761543177.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960201,-0.265416,-0.087000],[0.279294,-0.908997,-0.309385],[0.003033,-0.321370,0.946949]] 2025-10-27T05:32:57.186Z,1761543177.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:32:57.316Z,1761543177.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794707 2025-10-27T05:32:57.568Z,1761543177.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046890 2025-10-27T05:32:57.575Z,1761543177.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953043,-0.288438,-0.092265],[0.302750,-0.900259,-0.312853],[0.007177,-0.326095,0.945310]] 2025-10-27T05:32:57.821Z,1761543177.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299853 2025-10-27T05:32:57.974Z,1761543177.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945510,-0.311081,-0.096121],[0.325407,-0.892880,-0.311249],[0.010999,-0.325568,0.945455]] 2025-10-27T05:32:58.073Z,1761543178.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551478 2025-10-27T05:32:58.307Z,1761543178.307 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:32:58.324Z,1761543178.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802793 2025-10-27T05:32:58.382Z,1761543178.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937505,-0.334393,-0.096257],[0.347662,-0.888449,-0.299650],[0.014681,-0.314388,0.949181]] 2025-10-27T05:32:58.576Z,1761543178.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054908 2025-10-27T05:32:58.828Z,1761543178.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306834 2025-10-27T05:32:59.084Z,1761543179.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562662 2025-10-27T05:32:59.188Z,1761543179.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918777,-0.384611,-0.089014],[0.394183,-0.881404,-0.260282],[0.021650,-0.274229,0.961421]] 2025-10-27T05:32:59.204Z,1761543179.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:32:59.311Z,1761543179.311 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:32:59.332Z,1761543179.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810873 2025-10-27T05:32:59.584Z,1761543179.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062856 2025-10-27T05:32:59.592Z,1761543179.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908396,-0.408907,-0.087243],[0.417395,-0.874680,-0.246407],[0.024448,-0.260250,0.965232]] 2025-10-27T05:32:59.836Z,1761543179.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314852 2025-10-27T05:32:59.994Z,1761543179.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897182,-0.433153,-0.086277],[0.440836,-0.866315,-0.234865],[0.026990,-0.248751,0.968191]] 2025-10-27T05:33:00.089Z,1761543180.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567640 2025-10-27T05:33:00.340Z,1761543180.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818771 2025-10-27T05:33:00.417Z,1761543180.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885328,-0.456393,-0.088883],[0.464047,-0.855255,-0.230651],[0.029250,-0.245448,0.968969]] 2025-10-27T05:33:00.592Z,1761543180.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070766 2025-10-27T05:33:00.844Z,1761543180.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322906 2025-10-27T05:33:01.096Z,1761543181.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574725 2025-10-27T05:33:01.207Z,1761543181.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859246,-0.501259,-0.102155],[0.510517,-0.827462,-0.233835],[0.032683,-0.253074,0.966895]] 2025-10-27T05:33:01.244Z,1761543181.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:01.348Z,1761543181.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826797 2025-10-27T05:33:01.600Z,1761543181.600 [DAT](INFO): Reached modem response timeout 2025-10-27T05:33:01.600Z,1761543181.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:01.600Z,1761543181.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:01.614Z,1761543181.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845346,-0.522268,-0.112365],[0.533129,-0.811323,-0.239851],[0.034102,-0.262662,0.964285]] 2025-10-27T05:33:01.852Z,1761543181.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:02.014Z,1761543182.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830667,-0.543568,-0.120523],[0.555618,-0.795386,-0.242177],[0.035777,-0.268134,0.962717]] 2025-10-27T05:33:02.104Z,1761543182.104 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:02.358Z,1761543182.358 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:02.443Z,1761543182.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815644,-0.564000,-0.128951],[0.577373,-0.779272,-0.243672],[0.036943,-0.273202,0.961247]] 2025-10-27T05:33:02.608Z,1761543182.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:02.840Z,1761543182.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800068,-0.584467,-0.135235],[0.598707,-0.763651,-0.241634],[0.037955,-0.274290,0.960898]] 2025-10-27T05:33:02.860Z,1761543182.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:03.113Z,1761543183.113 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:03.230Z,1761543183.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783710,-0.605270,-0.139452],[0.619923,-0.748255,-0.236239],[0.038643,-0.271593,0.961636]] 2025-10-27T05:33:03.247Z,1761543183.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:03.364Z,1761543183.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:03.616Z,1761543183.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:03.634Z,1761543183.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767144,-0.625450,-0.142487],[0.640260,-0.732896,-0.230069],[0.039468,-0.267725,0.962687]] 2025-10-27T05:33:03.868Z,1761543183.868 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:33:03.869Z,1761543183.869 [DAT](INFO): response not received 2025-10-27T05:33:03.869Z,1761543183.869 [DAT](INFO): DAT read: user:432> 2025-10-27T05:33:03.870Z,1761543183.870 [DAT](INFO): DAT read: Tx time:05:33:03.0228 2025-10-27T05:33:03.870Z,1761543183.870 [DAT](INFO): Ping request sent. 2025-10-27T05:33:03.870Z,1761543183.870 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:03.870Z,1761543183.870 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:03.871Z,1761543183.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000878 2025-10-27T05:33:04.038Z,1761543184.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750013,-0.645112,-0.145983],[0.660211,-0.716825,-0.224240],[0.040016,-0.264562,0.963538]] 2025-10-27T05:33:04.121Z,1761543184.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251259 2025-10-27T05:33:04.372Z,1761543184.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501817 2025-10-27T05:33:04.446Z,1761543184.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732959,-0.663692,-0.149278],[0.679043,-0.700611,-0.219192],[0.040890,-0.262025,0.964194]] 2025-10-27T05:33:04.624Z,1761543184.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753704 2025-10-27T05:33:04.867Z,1761543184.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715112,-0.682246,-0.152167],[0.697776,-0.683803,-0.213359],[0.041511,-0.258754,0.965051]] 2025-10-27T05:33:04.876Z,1761543184.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005830 2025-10-27T05:33:05.128Z,1761543185.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257700 2025-10-27T05:33:05.302Z,1761543185.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:05.380Z,1761543185.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509818 2025-10-27T05:33:05.632Z,1761543185.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761677 2025-10-27T05:33:05.668Z,1761543185.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679731,-0.716104,-0.158620],[0.732231,-0.650014,-0.203272],[0.042458,-0.254317,0.966188]] 2025-10-27T05:33:05.884Z,1761543185.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014124 2025-10-27T05:33:06.066Z,1761543186.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661429,-0.732377,-0.161666],[0.748783,-0.632515,-0.198110],[0.042835,-0.252088,0.966756]] 2025-10-27T05:33:06.136Z,1761543186.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265810 2025-10-27T05:33:06.388Z,1761543186.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518068 2025-10-27T05:33:06.470Z,1761543186.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643035,-0.747487,-0.166642],[0.764619,-0.614365,-0.194715],[0.043168,-0.252626,0.966601]] 2025-10-27T05:33:06.640Z,1761543186.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769709 2025-10-27T05:33:06.893Z,1761543186.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022362 2025-10-27T05:33:06.917Z,1761543186.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624271,-0.761922,-0.172512],[0.780006,-0.595683,-0.191706],[0.043303,-0.254237,0.966172]] 2025-10-27T05:33:07.144Z,1761543187.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273797 2025-10-27T05:33:07.286Z,1761543187.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604725,-0.776322,-0.177852],[0.795263,-0.576478,-0.187697],[0.043186,-0.254945,0.965991]] 2025-10-27T05:33:07.400Z,1761543187.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528953 2025-10-27T05:33:07.648Z,1761543187.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777681 2025-10-27T05:33:07.692Z,1761543187.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585106,-0.790086,-0.182796],[0.809803,-0.557222,-0.183636],[0.043230,-0.255475,0.965849]] 2025-10-27T05:33:07.717Z,1761543187.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:07.901Z,1761543187.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030488 2025-10-27T05:33:08.090Z,1761543188.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565442,-0.803306,-0.187017],[0.823635,-0.537959,-0.179514],[0.043597,-0.255539,0.965815]] 2025-10-27T05:33:08.154Z,1761543188.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283446 2025-10-27T05:33:08.406Z,1761543188.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534987 2025-10-27T05:33:08.510Z,1761543188.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545177,-0.815686,-0.193494],[0.837192,-0.517765,-0.176149],[0.043498,-0.258023,0.965159]] 2025-10-27T05:33:08.657Z,1761543188.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786459 2025-10-27T05:33:08.912Z,1761543188.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040436 2025-10-27T05:33:08.932Z,1761543188.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524313,-0.828601,-0.196254],[0.850426,-0.497832,-0.170115],[0.043256,-0.256093,0.965684]] 2025-10-27T05:33:09.164Z,1761543189.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293514 2025-10-27T05:33:09.373Z,1761543189.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503068,-0.840797,-0.199956],[0.863185,-0.477351,-0.164463],[0.042831,-0.255335,0.965903]] 2025-10-27T05:33:09.412Z,1761543189.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541932 2025-10-27T05:33:09.664Z,1761543189.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793652 2025-10-27T05:33:09.919Z,1761543189.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048389 2025-10-27T05:33:09.955Z,1761543189.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:10.168Z,1761543190.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297718 2025-10-27T05:33:10.309Z,1761543190.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459770,-0.864263,-0.204111],[0.887069,-0.436238,-0.151016],[0.041476,-0.250493,0.967229]] 2025-10-27T05:33:10.421Z,1761543190.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550668 2025-10-27T05:33:10.672Z,1761543190.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801761 2025-10-27T05:33:10.727Z,1761543190.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.437797,-0.875321,-0.205297],[0.898156,-0.415481,-0.143846],[0.040615,-0.247364,0.968071]] 2025-10-27T05:33:10.927Z,1761543190.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055748 2025-10-27T05:33:11.176Z,1761543191.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305854 2025-10-27T05:33:11.432Z,1761543191.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561468 2025-10-27T05:33:11.520Z,1761543191.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391991,-0.894882,-0.213377],[0.919192,-0.371449,-0.130811],[0.037802,-0.247411,0.968173]] 2025-10-27T05:33:11.680Z,1761543191.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809790 2025-10-27T05:33:11.934Z,1761543191.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063857 2025-10-27T05:33:11.957Z,1761543191.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369021,-0.903393,-0.218413],[0.928705,-0.349186,-0.124807],[0.036483,-0.248898,0.967842]] 2025-10-27T05:33:12.010Z,1761543192.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:12.184Z,1761543192.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313773 2025-10-27T05:33:12.321Z,1761543192.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346077,-0.912231,-0.219238],[0.937537,-0.327433,-0.117522],[0.035422,-0.246215,0.968568]] 2025-10-27T05:33:12.437Z,1761543192.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566307 2025-10-27T05:33:12.688Z,1761543192.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817859 2025-10-27T05:33:12.734Z,1761543192.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322461,-0.920300,-0.221511],[0.945975,-0.304924,-0.110235],[0.033905,-0.245091,0.968907]] 2025-10-27T05:33:12.946Z,1761543192.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074707 2025-10-27T05:33:13.128Z,1761543193.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.298553,-0.928150,-0.222270],[0.953848,-0.282309,-0.102347],[0.032244,-0.242567,0.969599]] 2025-10-27T05:33:13.192Z,1761543193.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321957 2025-10-27T05:33:13.444Z,1761543193.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573784 2025-10-27T05:33:13.540Z,1761543193.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274950,-0.935083,-0.223657],[0.960953,-0.259725,-0.095456],[0.031170,-0.241170,0.969982]] 2025-10-27T05:33:13.696Z,1761543193.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825802 2025-10-27T05:33:13.950Z,1761543193.950 [DAT](INFO): Reached modem response timeout 2025-10-27T05:33:13.951Z,1761543193.951 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:13.951Z,1761543193.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:14.049Z,1761543194.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:14.200Z,1761543194.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:14.452Z,1761543194.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:14.704Z,1761543194.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:14.754Z,1761543194.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202062,-0.951076,-0.233719],[0.978982,-0.189406,-0.075627],[0.027659,-0.244088,0.969358]] 2025-10-27T05:33:14.958Z,1761543194.958 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:15.160Z,1761543195.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177554,-0.955557,-0.235339],[0.983751,-0.165874,-0.068696],[0.026606,-0.243713,0.969482]] 2025-10-27T05:33:15.208Z,1761543195.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:15.460Z,1761543195.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:15.561Z,1761543195.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153135,-0.959152,-0.237860],[0.987870,-0.142314,-0.062125],[0.025737,-0.244489,0.969311]] 2025-10-27T05:33:15.712Z,1761543195.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:15.966Z,1761543195.966 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:16.014Z,1761543196.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.106822,-0.964361,-0.242067],[0.993973,-0.097546,-0.050023],[0.024627,-0.245952,0.968969]] 2025-10-27T05:33:16.064Z,1761543196.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:16.216Z,1761543196.216 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:33:16.216Z,1761543196.216 [DAT](INFO): response not received 2025-10-27T05:33:16.217Z,1761543196.217 [DAT](INFO): DAT read: user:433> 2025-10-27T05:33:16.217Z,1761543196.217 [DAT](ERROR): No response from remote modem. 2025-10-27T05:33:16.217Z,1761543196.217 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:33:16.217Z,1761543196.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:16.374Z,1761543196.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083181,-0.966519,-0.242739],[0.996246,-0.074787,-0.043609],[0.023996,-0.245455,0.969111]] 2025-10-27T05:33:16.469Z,1761543196.469 [DAT](INFO): DAT read: Tx time:05:33:15.4728 2025-10-27T05:33:16.469Z,1761543196.469 [DAT](INFO): Ping request sent. 2025-10-27T05:33:16.469Z,1761543196.469 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:16.470Z,1761543196.470 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:16.471Z,1761543196.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001091 2025-10-27T05:33:16.721Z,1761543196.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251570 2025-10-27T05:33:16.785Z,1761543196.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059623,-0.968026,-0.243662],[0.997945,-0.052062,-0.037358],[0.023478,-0.245389,0.969140]] 2025-10-27T05:33:16.972Z,1761543196.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502689 2025-10-27T05:33:17.190Z,1761543197.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.036229,-0.968775,-0.245281],[0.999075,-0.029421,-0.031363],[0.023168,-0.246190,0.968945]] 2025-10-27T05:33:17.224Z,1761543197.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755032 2025-10-27T05:33:17.476Z,1761543197.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007071 2025-10-27T05:33:17.586Z,1761543197.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012450,-0.969158,-0.246126],[0.999662,-0.006445,-0.025189],[0.022826,-0.246356,0.968911]] 2025-10-27T05:33:17.728Z,1761543197.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259191 2025-10-27T05:33:17.983Z,1761543197.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513019 2025-10-27T05:33:18.045Z,1761543198.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010680,-0.969448,-0.245065],[0.999683,0.015945,-0.019510],[0.022821,-0.244779,0.969310]] 2025-10-27T05:33:18.096Z,1761543198.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:18.232Z,1761543198.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762676 2025-10-27T05:33:18.416Z,1761543198.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034157,-0.969281,-0.243573],[0.999158,0.038662,-0.013739],[0.022734,-0.242898,0.969785]] 2025-10-27T05:33:18.489Z,1761543198.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019311 2025-10-27T05:33:18.740Z,1761543198.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270729 2025-10-27T05:33:18.819Z,1761543198.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056940,-0.968424,-0.242718],[0.998118,0.060762,-0.008283],[0.022769,-0.241789,0.970062]] 2025-10-27T05:33:18.993Z,1761543198.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523913 2025-10-27T05:33:19.214Z,1761543199.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080827,-0.966920,-0.241936],[0.996480,0.083802,-0.002013],[0.022221,-0.240921,0.970290]] 2025-10-27T05:33:19.244Z,1761543199.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774711 2025-10-27T05:33:19.497Z,1761543199.497 [DAT](INFO): DAT read: Rx Time:05:33:18.0588 2025-10-27T05:33:19.498Z,1761543199.498 [DAT](INFO): Rx dataTimestamp_ set to:1761543199.497132 2025-10-27T05:33:19.498Z,1761543199.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029095 2025-10-27T05:33:19.618Z,1761543199.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104469,-0.964666,-0.241880],[0.994290,0.106626,0.004191],[0.021747,-0.240937,0.970297]] 2025-10-27T05:33:19.748Z,1761543199.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278778 2025-10-27T05:33:20.016Z,1761543200.016 [DAT](INFO): DAT read: 05:33:18.0588 LVL= 26768, 27281, 22866, 23235, AGC= 64, IDX= 323,-0.08, 0.363, 1.605, 2.683, 1.377, PHS=-0.912, 0.273, 1.262, RAW= 243.0, -6.7, CAL= 241.0, -10.5, ROT= 269.0, 10.5 2025-10-27T05:33:20.024Z,1761543200.024 [DAT](INFO): got valid direction response: 05:33:18.0588 LVL= 26768, 27281, 22866, 23235, AGC= 64, IDX= 323,-0.08, 0.363, 1.605, 2.683, 1.377, PHS=-0.912, 0.273, 1.262, RAW= 243.0, -6.7, CAL= 241.0, -10.5, ROT= 269.0, 10.5 2025-10-27T05:33:20.032Z,1761543200.032 [DAT](INFO): DAT read: Bearing 145.7, -65.2 (Local) 2025-10-27T05:33:20.033Z,1761543200.033 [DAT](INFO): Local bearing/azimuth received: Bearing 145.7, -65.2 (Local) 2025-10-27T05:33:20.042Z,1761543200.042 [DAT](INFO): DAT read: Range 11 to 50 : 136.4 m (Round-trip 181.9 ms) speed -0.2 m/s 2025-10-27T05:33:20.083Z,1761543200.083 [DAT](INFO): DAT read: user:434> 2025-10-27T05:33:20.084Z,1761543200.084 [DAT](INFO): DAT read: Tx time:05:33:19.1744 2025-10-27T05:33:20.084Z,1761543200.084 [DAT](INFO): Ping request sent. 2025-10-27T05:33:20.085Z,1761543200.085 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:20.085Z,1761543200.085 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:20.086Z,1761543200.086 [DAT](INFO): direction in FSK: [-0.017160,-0.983105,-0.182236] 2025-10-27T05:33:20.086Z,1761543200.086 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:20.086Z,1761543200.086 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:20.102Z,1761543200.102 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:20.102Z,1761543200.102 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:20.117Z,1761543200.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127736,-0.962137,-0.240783],[0.991575,0.129145,0.009987],[0.021487,-0.240030,0.970528]] 2025-10-27T05:33:20.239Z,1761543200.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.399994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T05:33:20.242Z,1761543200.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.641052 m, bearing: 351.601877 deg, lat: 36.779343 deg, lon: -121.859654 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T05:33:20.243Z,1761543200.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:20.249Z,1761543200.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.606659 m, bearing: 344.196287 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 355.522704 deg, new cmd heading: 344.196287 deg. 2025-10-27T05:33:20.250Z,1761543200.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007359 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:20.551Z,1761543200.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151742,-0.958503,-0.241344],[0.988202,0.152247,0.016665],[0.020771,-0.241025,0.970297]] 2025-10-27T05:33:20.587Z,1761543200.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:20.593Z,1761543200.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:20.600Z,1761543200.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.656403 m, bearing: 344.088778 deg, approach rate: 0.138726 m/s, LOS rate: -0.299711 deg/s, cmd heading: 344.196291 deg, new cmd heading: 344.088778 deg. 2025-10-27T05:33:20.601Z,1761543200.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.005482 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:20.756Z,1761543200.756 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:20.756Z,1761543200.756 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:20.756Z,1761543200.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:20.954Z,1761543200.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175646,-0.954254,-0.241966],[0.984247,0.175253,0.023322],[0.020150,-0.242251,0.970004]] 2025-10-27T05:33:20.973Z,1761543200.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:20.975Z,1761543200.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.706192 m, bearing: 343.967268 deg, approach rate: 0.131179 m/s, LOS rate: -0.320019 deg/s, cmd heading: 344.088784 deg, new cmd heading: 343.967268 deg. 2025-10-27T05:33:20.976Z,1761543200.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003361 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:21.008Z,1761543201.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.923424 2025-10-27T05:33:21.260Z,1761543201.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175327 2025-10-27T05:33:21.361Z,1761543201.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200103,-0.949772,-0.240607],[0.979588,0.198731,0.030213],[0.019120,-0.241741,0.970152]] 2025-10-27T05:33:21.434Z,1761543201.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:21.441Z,1761543201.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.751556 m, bearing: 343.835878 deg, approach rate: 0.098226 m/s, LOS rate: -0.284394 deg/s, cmd heading: 343.967261 deg, new cmd heading: 343.835878 deg. 2025-10-27T05:33:21.442Z,1761543201.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001068 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:21.513Z,1761543201.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427662 2025-10-27T05:33:21.764Z,1761543201.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679373 2025-10-27T05:33:21.766Z,1761543201.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225099,-0.944749,-0.238283],[0.974170,0.222734,0.037171],[0.017957,-0.240496,0.970484]] 2025-10-27T05:33:21.784Z,1761543201.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:21.786Z,1761543201.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.781738 m, bearing: 343.732019 deg, approach rate: 0.086383 m/s, LOS rate: -0.297188 deg/s, cmd heading: 343.835876 deg, new cmd heading: 343.732019 deg. 2025-10-27T05:33:21.787Z,1761543201.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999256 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:22.016Z,1761543202.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931232 2025-10-27T05:33:22.165Z,1761543202.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249221,-0.939056,-0.236774],[0.968303,0.245831,0.044228],[0.016674,-0.240291,0.970558]] 2025-10-27T05:33:22.216Z,1761543202.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:22.220Z,1761543202.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.811783 m, bearing: 343.613304 deg, approach rate: 0.069472 m/s, LOS rate: -0.274439 deg/s, cmd heading: 343.732029 deg, new cmd heading: 343.613304 deg. 2025-10-27T05:33:22.220Z,1761543202.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997183 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:22.269Z,1761543202.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184010 2025-10-27T05:33:22.520Z,1761543202.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435280 2025-10-27T05:33:22.582Z,1761543202.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273856,-0.932043,-0.237273],[0.961644,0.269356,0.051843],[0.015592,-0.242370,0.970059]] 2025-10-27T05:33:22.598Z,1761543202.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:22.600Z,1761543202.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:22.603Z,1761543202.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.832718 m, bearing: 343.507688 deg, approach rate: 0.054489 m/s, LOS rate: -0.274852 deg/s, cmd heading: 343.613293 deg, new cmd heading: 343.507688 deg. 2025-10-27T05:33:22.604Z,1761543202.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995340 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:22.773Z,1761543202.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687351 2025-10-27T05:33:22.973Z,1761543202.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298512,-0.924743,-0.236097],[0.954294,0.292987,0.059004],[0.014610,-0.242919,0.969937]] 2025-10-27T05:33:22.993Z,1761543202.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:22.996Z,1761543202.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.848175 m, bearing: 343.399437 deg, approach rate: 0.039390 m/s, LOS rate: -0.275829 deg/s, cmd heading: 343.507699 deg, new cmd heading: 343.399437 deg. 2025-10-27T05:33:22.996Z,1761543202.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993451 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:23.024Z,1761543203.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939323 2025-10-27T05:33:23.277Z,1761543203.277 [DAT](INFO): DAT read: Rx Time:05:33:21.7612 2025-10-27T05:33:23.278Z,1761543203.278 [DAT](INFO): Rx dataTimestamp_ set to:1761543203.277286 2025-10-27T05:33:23.278Z,1761543203.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193840 2025-10-27T05:33:23.389Z,1761543203.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323122,-0.916900,-0.234278],[0.946257,0.316627,0.065910],[0.013746,-0.242985,0.969933]] 2025-10-27T05:33:23.451Z,1761543203.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.64 m. 2025-10-27T05:33:23.453Z,1761543203.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 135.641052 m, nav range: 131.861450 m, bearing: 343.270277 deg, approach rate: 0.029003 m/s, LOS rate: -0.282159 deg/s, cmd heading: 343.399426 deg, new cmd heading: 343.270277 deg. 2025-10-27T05:33:23.454Z,1761543203.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991197 target range: 135.641052 and range: 136.40 m. 2025-10-27T05:33:23.528Z,1761543203.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443437 2025-10-27T05:33:23.785Z,1761543203.785 [DAT](INFO): DAT read: 05:33:21.7612 LVL= 28656, 25665, 18226, 26067, AGC= 64, IDX= 427, 0.07, 1.370, 2.428,-2.819, 2.407, PHS=-0.935, 0.066, 1.014, RAW= 240.9, -1.7, CAL= 237.4, -2.6, ROT= 272.6, 2.6 2025-10-27T05:33:23.787Z,1761543203.787 [DAT](INFO): got valid direction response: 05:33:21.7612 LVL= 28656, 25665, 18226, 26067, AGC= 64, IDX= 427, 0.07, 1.370, 2.428,-2.819, 2.407, PHS=-0.935, 0.066, 1.014, RAW= 240.9, -1.7, CAL= 237.4, -2.6, ROT= 272.6, 2.6 2025-10-27T05:33:23.788Z,1761543203.788 [DAT](INFO): DAT read: Bearing 143.7, -72.6 (Local) 2025-10-27T05:33:23.788Z,1761543203.788 [DAT](INFO): Local bearing/azimuth received: Bearing 143.7, -72.6 (Local) 2025-10-27T05:33:23.789Z,1761543203.789 [DAT](INFO): DAT read: Range 11 to 50 : 137.0 m (Round-trip 182.7 ms) speed -0.4 m/s 2025-10-27T05:33:23.790Z,1761543203.790 [DAT](INFO): DAT read: user:435> 2025-10-27T05:33:23.791Z,1761543203.791 [DAT](INFO): DAT read: Tx time:05:33:22.8728 2025-10-27T05:33:23.791Z,1761543203.791 [DAT](INFO): Ping request sent. 2025-10-27T05:33:23.791Z,1761543203.791 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:23.792Z,1761543203.792 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:23.793Z,1761543203.793 [DAT](INFO): direction in FSK: [0.045316,-0.997942,-0.045363] 2025-10-27T05:33:23.793Z,1761543203.793 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:23.793Z,1761543203.793 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:23.796Z,1761543203.796 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:23.797Z,1761543203.797 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:23.814Z,1761543203.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347863,-0.908183,-0.232799],[0.937453,0.340425,0.072753],[0.013177,-0.243546,0.969800]] 2025-10-27T05:33:23.879Z,1761543203.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.000000 m, deltaT: 3.779870 s, deltaX: 0.600006 m, approachRate: 0.158737 m/s, rangeRepo size: 2 2025-10-27T05:33:23.888Z,1761543203.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.237106 m, bearing: 342.138440 deg, lat: 36.779344 deg, lon: -121.859656 deg, deltaT: 3.779870 s, deltaX: 0.596054 m, approachRate: 0.157692 m/s, posRepo size: 2 2025-10-27T05:33:23.890Z,1761543203.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:23.894Z,1761543203.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 132.030334 m, bearing: 343.096502 deg, approach rate: 0.000000 m/s, LOS rate: -0.282159 deg/s, cmd heading: 343.270281 deg, new cmd heading: 342.915461 deg. 2025-10-27T05:33:23.901Z,1761543203.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985004 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:24.231Z,1761543204.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372190,-0.898598,-0.232369],[0.928066,0.363793,0.079672],[0.012941,-0.245307,0.969359]] 2025-10-27T05:33:24.302Z,1761543204.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:24.308Z,1761543204.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 132.033447 m, bearing: 342.967713 deg, approach rate: 0.007210 m/s, LOS rate: -0.298298 deg/s, cmd heading: 342.915467 deg, new cmd heading: 342.529113 deg. 2025-10-27T05:33:24.309Z,1761543204.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978261 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:24.634Z,1761543204.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395708,-0.889077,-0.230123],[0.918284,0.386598,0.085417],[0.013023,-0.245119,0.969406]] 2025-10-27T05:33:24.652Z,1761543204.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:24.654Z,1761543204.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:24.657Z,1761543204.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 132.030380 m, bearing: 342.865227 deg, approach rate: -0.008710 m/s, LOS rate: -0.291058 deg/s, cmd heading: 342.529124 deg, new cmd heading: 342.221662 deg. 2025-10-27T05:33:24.658Z,1761543204.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972895 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:24.788Z,1761543204.788 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:24.788Z,1761543204.788 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:24.788Z,1761543204.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:25.026Z,1761543205.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419303,-0.879012,-0.226987],[0.907754,0.409512,0.091013],[0.012952,-0.244211,0.969636]] 2025-10-27T05:33:25.040Z,1761543205.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248685 2025-10-27T05:33:25.046Z,1761543205.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:25.049Z,1761543205.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 132.020920 m, bearing: 342.753919 deg, approach rate: -0.024118 m/s, LOS rate: -0.283781 deg/s, cmd heading: 342.221656 deg, new cmd heading: 341.887713 deg. 2025-10-27T05:33:25.050Z,1761543205.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967066 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:25.292Z,1761543205.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500589 2025-10-27T05:33:25.430Z,1761543205.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442630,-0.867570,-0.226716],[0.896613,0.431804,0.098129],[0.012763,-0.246712,0.969005]] 2025-10-27T05:33:25.480Z,1761543205.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:25.484Z,1761543205.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 132.017349 m, bearing: 342.625021 deg, approach rate: -0.008219 m/s, LOS rate: -0.296709 deg/s, cmd heading: 341.887714 deg, new cmd heading: 341.501016 deg. 2025-10-27T05:33:25.485Z,1761543205.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960317 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:25.545Z,1761543205.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753231 2025-10-27T05:33:25.796Z,1761543205.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004518 2025-10-27T05:33:25.840Z,1761543205.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465105,-0.856129,-0.225212],[0.885163,0.453423,0.104370],[0.012762,-0.247893,0.968704]] 2025-10-27T05:33:25.859Z,1761543205.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:25.862Z,1761543205.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 132.008286 m, bearing: 342.513290 deg, approach rate: -0.023940 m/s, LOS rate: -0.295138 deg/s, cmd heading: 341.501016 deg, new cmd heading: 341.165806 deg. 2025-10-27T05:33:25.863Z,1761543205.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954467 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:26.048Z,1761543206.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256455 2025-10-27T05:33:26.237Z,1761543206.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486836,-0.844248,-0.224136],[0.873396,0.474318,0.110463],[0.013053,-0.249537,0.968277]] 2025-10-27T05:33:26.294Z,1761543206.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:26.297Z,1761543206.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 131.997986 m, bearing: 342.377858 deg, approach rate: -0.023648 m/s, LOS rate: -0.310971 deg/s, cmd heading: 341.165818 deg, new cmd heading: 340.759497 deg. 2025-10-27T05:33:26.298Z,1761543206.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947375 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:26.300Z,1761543206.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508670 2025-10-27T05:33:26.553Z,1761543206.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761191 2025-10-27T05:33:26.642Z,1761543206.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507077,-0.833111,-0.220904],[0.861799,0.494019,0.115097],[0.013242,-0.248738,0.968480]] 2025-10-27T05:33:26.739Z,1761543206.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:26.749Z,1761543206.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:26.792Z,1761543206.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 131.981766 m, bearing: 342.247652 deg, approach rate: -0.035692 m/s, LOS rate: -0.286554 deg/s, cmd heading: 340.759504 deg, new cmd heading: 340.368843 deg. 2025-10-27T05:33:26.793Z,1761543206.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940557 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:26.804Z,1761543206.804 [DAT](INFO): DAT read: Rx Time:05:33:25.4598 2025-10-27T05:33:26.804Z,1761543206.804 [DAT](INFO): Rx dataTimestamp_ set to:1761543206.804130 2025-10-27T05:33:26.805Z,1761543206.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013603 2025-10-27T05:33:27.056Z,1761543207.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264569 2025-10-27T05:33:27.267Z,1761543207.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.24 m. 2025-10-27T05:33:27.270Z,1761543207.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.237106 m, nav range: 131.972366 m, bearing: 342.067762 deg, approach rate: -0.018154 m/s, LOS rate: -0.347472 deg/s, cmd heading: 340.368844 deg, new cmd heading: 339.829153 deg. 2025-10-27T05:33:27.272Z,1761543207.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931138 target range: 136.237106 and range: 137.00 m. 2025-10-27T05:33:27.311Z,1761543207.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518741 2025-10-27T05:33:27.566Z,1761543207.566 [DAT](INFO): DAT read: 05:33:25.4598 LVL= 23968, 24625, 16642, 24051, AGC= 61, IDX= 430,-0.31,-2.027,-1.302, 0.108,-1.134, PHS=-0.791,-0.123, 1.198, RAW= 229.3, -3.3, CAL= 226.7, -4.6, ROT= 283.3, 4.6 2025-10-27T05:33:27.568Z,1761543207.568 [DAT](INFO): got valid direction response: 05:33:25.4598 LVL= 23968, 24625, 16642, 24051, AGC= 61, IDX= 430,-0.31,-2.027,-1.302, 0.108,-1.134, PHS=-0.791,-0.123, 1.198, RAW= 229.3, -3.3, CAL= 226.7, -4.6, ROT= 283.3, 4.6 2025-10-27T05:33:27.569Z,1761543207.569 [DAT](INFO): DAT read: Bearing 155.6, -66.2 (Local) 2025-10-27T05:33:27.569Z,1761543207.569 [DAT](INFO): Local bearing/azimuth received: Bearing 155.6, -66.2 (Local) 2025-10-27T05:33:27.570Z,1761543207.570 [DAT](INFO): DAT read: Range 11 to 50 : 137.1 m (Round-trip 182.9 ms) speed 0.0 m/s 2025-10-27T05:33:27.572Z,1761543207.572 [DAT](INFO): DAT read: user:436> 2025-10-27T05:33:27.572Z,1761543207.572 [DAT](INFO): DAT read: Tx time:05:33:26.5728 2025-10-27T05:33:27.573Z,1761543207.573 [DAT](INFO): Ping request sent. 2025-10-27T05:33:27.573Z,1761543207.573 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:27.573Z,1761543207.573 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:27.574Z,1761543207.574 [DAT](INFO): direction in FSK: [0.229309,-0.970044,-0.080199] 2025-10-27T05:33:27.574Z,1761543207.574 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:27.575Z,1761543207.575 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:27.584Z,1761543207.584 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:27.584Z,1761543207.584 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:27.655Z,1761543207.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564794,-0.797062,-0.213776],[0.825117,0.549766,0.130152],[0.013787,-0.249899,0.968174]] 2025-10-27T05:33:27.720Z,1761543207.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 3.780377 s, deltaX: 0.100006 m, approachRate: 0.026454 m/s, rangeRepo size: 3 2025-10-27T05:33:27.722Z,1761543207.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.334610 m, bearing: 338.922166 deg, lat: 36.779344 deg, lon: -121.859656 deg, deltaT: 3.780377 s, deltaX: 0.097504 m, approachRate: 0.025792 m/s, posRepo size: 3 2025-10-27T05:33:27.736Z,1761543207.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:27.738Z,1761543207.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.944702 m, bearing: 341.932423 deg, approach rate: 0.000000 m/s, LOS rate: -0.347472 deg/s, cmd heading: 339.829150 deg, new cmd heading: 339.367039 deg. 2025-10-27T05:33:27.744Z,1761543207.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923072 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:28.052Z,1761543208.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582556,-0.785760,-0.207870],[0.812670,0.567506,0.132305],[0.014008,-0.246004,0.969167]] 2025-10-27T05:33:28.073Z,1761543208.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:28.076Z,1761543208.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.912964 m, bearing: 341.804675 deg, approach rate: -0.087400 m/s, LOS rate: -0.351874 deg/s, cmd heading: 339.367047 deg, new cmd heading: 338.983716 deg. 2025-10-27T05:33:28.077Z,1761543208.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916382 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:28.454Z,1761543208.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599813,-0.773997,-0.202860],[0.800018,0.584559,0.135138],[0.013987,-0.243349,0.969838]] 2025-10-27T05:33:28.501Z,1761543208.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:28.504Z,1761543208.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.879684 m, bearing: 341.664985 deg, approach rate: -0.077777 m/s, LOS rate: -0.326548 deg/s, cmd heading: 338.983709 deg, new cmd heading: 338.564543 deg. 2025-10-27T05:33:28.505Z,1761543208.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909066 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:28.860Z,1761543208.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616952,-0.761307,-0.199455],[0.786872,0.601287,0.138875],[0.014203,-0.242624,0.970016]] 2025-10-27T05:33:28.892Z,1761543208.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:28.916Z,1761543208.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:28.918Z,1761543208.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.844330 m, bearing: 341.539957 deg, approach rate: -0.085226 m/s, LOS rate: -0.301476 deg/s, cmd heading: 338.564554 deg, new cmd heading: 338.189372 deg. 2025-10-27T05:33:28.924Z,1761543208.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902518 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:29.072Z,1761543209.072 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:29.072Z,1761543209.072 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:29.072Z,1761543209.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:29.262Z,1761543209.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634090,-0.747641,-0.197391],[0.773124,0.617745,0.143771],[0.014448,-0.243771,0.969725]] 2025-10-27T05:33:29.316Z,1761543209.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:29.318Z,1761543209.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.807281 m, bearing: 341.402330 deg, approach rate: -0.092629 m/s, LOS rate: -0.344194 deg/s, cmd heading: 338.189386 deg, new cmd heading: 337.776398 deg. 2025-10-27T05:33:29.320Z,1761543209.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895310 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:29.324Z,1761543209.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751160 2025-10-27T05:33:29.439Z,1761543209.439 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:33:29.576Z,1761543209.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003087 2025-10-27T05:33:29.666Z,1761543209.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651147,-0.733603,-0.194512],[0.758812,0.634203,0.148292],[0.014573,-0.244158,0.969626]] 2025-10-27T05:33:29.705Z,1761543209.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:29.710Z,1761543209.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.768036 m, bearing: 341.278055 deg, approach rate: -0.100797 m/s, LOS rate: -0.319278 deg/s, cmd heading: 337.776405 deg, new cmd heading: 337.403474 deg. 2025-10-27T05:33:29.712Z,1761543209.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888802 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:29.828Z,1761543209.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255046 2025-10-27T05:33:30.069Z,1761543210.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668398,-0.719226,-0.189625],[0.743661,0.651177,0.151446],[0.014556,-0.242243,0.970106]] 2025-10-27T05:33:30.080Z,1761543210.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507162 2025-10-27T05:33:30.092Z,1761543210.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:30.094Z,1761543210.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.722885 m, bearing: 341.154021 deg, approach rate: -0.116770 m/s, LOS rate: -0.320888 deg/s, cmd heading: 337.403477 deg, new cmd heading: 337.031253 deg. 2025-10-27T05:33:30.116Z,1761543210.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882305 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:30.333Z,1761543210.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759884 2025-10-27T05:33:30.443Z,1761543210.443 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:33:30.473Z,1761543210.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685475,-0.703835,-0.186387],[0.727950,0.667627,0.156083],[0.014580,-0.242672,0.969999]] 2025-10-27T05:33:30.523Z,1761543210.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:30.526Z,1761543210.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.661499 m, bearing: 341.021139 deg, approach rate: -0.142298 m/s, LOS rate: -0.308175 deg/s, cmd heading: 337.031259 deg, new cmd heading: 336.632434 deg. 2025-10-27T05:33:30.543Z,1761543210.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875344 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:30.584Z,1761543210.584 [DAT](INFO): DAT read: Rx Time:05:33:29.1601 2025-10-27T05:33:30.585Z,1761543210.585 [DAT](INFO): Rx dataTimestamp_ set to:1761543210.584224 2025-10-27T05:33:30.585Z,1761543210.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012195 2025-10-27T05:33:30.836Z,1761543210.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263301 2025-10-27T05:33:30.889Z,1761543210.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702269,-0.687922,-0.183255],[0.711756,0.683845,0.160499],[0.014907,-0.243146,0.969875]] 2025-10-27T05:33:30.923Z,1761543210.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:30.925Z,1761543210.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.33 m. 2025-10-27T05:33:30.928Z,1761543210.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.334610 m, nav range: 131.598602 m, bearing: 340.898436 deg, approach rate: -0.156435 m/s, LOS rate: -0.305330 deg/s, cmd heading: 336.632430 deg, new cmd heading: 336.264149 deg. 2025-10-27T05:33:30.929Z,1761543210.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868917 target range: 136.334610 and range: 137.10 m. 2025-10-27T05:33:31.094Z,1761543211.094 [DAT](INFO): DAT read: 05:33:29.1601 LVL= 30176, 32753, 19618, 26291, AGC= 61, IDX= 449,-0.25,-0.208, 0.097, 1.843, 0.411, PHS=-0.517,-0.269, 1.388, RAW= 216.9, -6.8, CAL= 215.6, -9.8, ROT= 294.4, 9.8 2025-10-27T05:33:31.095Z,1761543211.095 [DAT](INFO): got valid direction response: 05:33:29.1601 LVL= 30176, 32753, 19618, 26291, AGC= 61, IDX= 449,-0.25,-0.208, 0.097, 1.843, 0.411, PHS=-0.517,-0.269, 1.388, RAW= 216.9, -6.8, CAL= 215.6, -9.8, ROT= 294.4, 9.8 2025-10-27T05:33:31.096Z,1761543211.096 [DAT](INFO): DAT read: Bearing 152.7, -55.1 (Local) 2025-10-27T05:33:31.096Z,1761543211.096 [DAT](INFO): Local bearing/azimuth received: Bearing 152.7, -55.1 (Local) 2025-10-27T05:33:31.098Z,1761543211.098 [DAT](INFO): DAT read: Range 11 to 50 : 137.4 m (Round-trip 183.2 ms) speed 0.0 m/s 2025-10-27T05:33:31.099Z,1761543211.099 [DAT](INFO): DAT read: user:437> 2025-10-27T05:33:31.099Z,1761543211.099 [DAT](INFO): DAT read: Tx time:05:33:30.2728 2025-10-27T05:33:31.100Z,1761543211.100 [DAT](INFO): Ping request sent. 2025-10-27T05:33:31.100Z,1761543211.100 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:31.100Z,1761543211.100 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:31.101Z,1761543211.101 [DAT](INFO): direction in FSK: [0.407076,-0.897395,-0.170209] 2025-10-27T05:33:31.101Z,1761543211.101 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:31.102Z,1761543211.102 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:31.113Z,1761543211.113 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:31.113Z,1761543211.113 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:31.290Z,1761543211.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719340,-0.671211,-0.178956],[0.694501,0.700372,0.164765],[0.014744,-0.242807,0.969963]] 2025-10-27T05:33:31.401Z,1761543211.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.399994 m, deltaT: 3.527834 s, deltaX: 0.299988 m, approachRate: 0.085035 m/s, rangeRepo size: 4 2025-10-27T05:33:31.402Z,1761543211.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.632278 m, bearing: 338.007366 deg, lat: 36.779350 deg, lon: -121.859685 deg, deltaT: 3.527834 s, deltaX: 0.297668 m, approachRate: 0.084377 m/s, posRepo size: 4 2025-10-27T05:33:31.407Z,1761543211.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:31.410Z,1761543211.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 133.076416 m, bearing: 339.839617 deg, approach rate: 0.000000 m/s, LOS rate: -0.305330 deg/s, cmd heading: 336.264146 deg, new cmd heading: 335.829396 deg. 2025-10-27T05:33:31.415Z,1761543211.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861329 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:31.738Z,1761543211.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736259,-0.653393,-0.176070],[0.676542,0.716351,0.170682],[0.014606,-0.244785,0.969467]] 2025-10-27T05:33:31.757Z,1761543211.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:31.760Z,1761543211.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 133.009018 m, bearing: 339.731443 deg, approach rate: -0.188609 m/s, LOS rate: -0.302873 deg/s, cmd heading: 335.829391 deg, new cmd heading: 335.504707 deg. 2025-10-27T05:33:31.761Z,1761543211.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855662 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:32.133Z,1761543212.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752212,-0.635769,-0.173131],[0.658760,0.731413,0.176267],[0.014566,-0.246642,0.968997]] 2025-10-27T05:33:32.155Z,1761543212.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:32.158Z,1761543212.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 132.935257 m, bearing: 339.622744 deg, approach rate: -0.185598 m/s, LOS rate: -0.273661 deg/s, cmd heading: 335.504711 deg, new cmd heading: 335.178437 deg. 2025-10-27T05:33:32.158Z,1761543212.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849967 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:32.534Z,1761543212.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768623,-0.616852,-0.169448],[0.639530,0.747106,0.181199],[0.014823,-0.247641,0.968738]] 2025-10-27T05:33:32.581Z,1761543212.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:32.584Z,1761543212.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 132.842300 m, bearing: 339.513596 deg, approach rate: -0.218187 m/s, LOS rate: -0.256370 deg/s, cmd heading: 335.178447 deg, new cmd heading: 334.850778 deg. 2025-10-27T05:33:32.585Z,1761543212.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844249 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:32.954Z,1761543212.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784722,-0.597763,-0.163983],[0.619668,0.762913,0.184324],[0.014923,-0.246258,0.969089]] 2025-10-27T05:33:32.982Z,1761543212.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:33.005Z,1761543213.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:33.012Z,1761543213.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 132.749847 m, bearing: 339.412389 deg, approach rate: -0.218080 m/s, LOS rate: -0.238895 deg/s, cmd heading: 334.850789 deg, new cmd heading: 334.546961 deg. 2025-10-27T05:33:33.013Z,1761543213.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838946 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:33.104Z,1761543213.104 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:33.104Z,1761543213.104 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:33.104Z,1761543213.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:33.354Z,1761543213.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800676,-0.577580,-0.159120],[0.598904,0.778417,0.188097],[0.015221,-0.245902,0.969175]] 2025-10-27T05:33:33.356Z,1761543213.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256122 2025-10-27T05:33:33.438Z,1761543213.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:33.448Z,1761543213.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 132.633087 m, bearing: 339.309117 deg, approach rate: -0.269130 m/s, LOS rate: -0.238250 deg/s, cmd heading: 334.546955 deg, new cmd heading: 334.236869 deg. 2025-10-27T05:33:33.449Z,1761543213.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833534 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:33.608Z,1761543213.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507968 2025-10-27T05:33:33.749Z,1761543213.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816411,-0.556516,-0.154151],[0.577273,0.793496,0.192664],[0.015098,-0.246280,0.969081]] 2025-10-27T05:33:33.768Z,1761543213.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:33.770Z,1761543213.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 132.537415 m, bearing: 339.229582 deg, approach rate: -0.290594 m/s, LOS rate: -0.241753 deg/s, cmd heading: 334.236864 deg, new cmd heading: 333.998088 deg. 2025-10-27T05:33:33.772Z,1761543213.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829366 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:33.860Z,1761543213.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760290 2025-10-27T05:33:34.112Z,1761543214.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012039 2025-10-27T05:33:34.158Z,1761543214.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831335,-0.535030,-0.150416],[0.555558,0.807501,0.198235],[0.015399,-0.248365,0.968544]] 2025-10-27T05:33:34.179Z,1761543214.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:34.182Z,1761543214.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 132.418060 m, bearing: 339.136074 deg, approach rate: -0.290314 m/s, LOS rate: -0.227651 deg/s, cmd heading: 333.998081 deg, new cmd heading: 333.717307 deg. 2025-10-27T05:33:34.183Z,1761543214.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824466 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:34.365Z,1761543214.365 [DAT](INFO): DAT read: Rx Time:05:33:32.8595 2025-10-27T05:33:34.366Z,1761543214.366 [DAT](INFO): Rx dataTimestamp_ set to:1761543214.365724 2025-10-27T05:33:34.368Z,1761543214.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267613 2025-10-27T05:33:34.610Z,1761543214.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.63 m. 2025-10-27T05:33:34.613Z,1761543214.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.632278 m, nav range: 132.288818 m, bearing: 339.041827 deg, approach rate: -0.299789 m/s, LOS rate: -0.218829 deg/s, cmd heading: 333.717305 deg, new cmd heading: 333.434290 deg. 2025-10-27T05:33:34.614Z,1761543214.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819526 target range: 136.632278 and range: 137.40 m. 2025-10-27T05:33:34.616Z,1761543214.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516137 2025-10-27T05:33:34.878Z,1761543214.878 [DAT](INFO): DAT read: 05:33:32.8595 LVL= 30832, 30753, 19650, 28243, AGC= 61, IDX= 442, 0.25, 1.036, 0.728, 2.736, 1.463, PHS=-0.325,-0.691, 1.228, RAW= 199.7, -2.4, CAL= 199.6, -5.0, ROT= 310.4, 5.0 2025-10-27T05:33:34.879Z,1761543214.879 [DAT](INFO): got valid direction response: 05:33:32.8595 LVL= 30832, 30753, 19650, 28243, AGC= 61, IDX= 442, 0.25, 1.036, 0.728, 2.736, 1.463, PHS=-0.325,-0.691, 1.228, RAW= 199.7, -2.4, CAL= 199.6, -5.0, ROT= 310.4, 5.0 2025-10-27T05:33:34.881Z,1761543214.881 [DAT](INFO): DAT read: Bearing 159.9, -44.7 (Local) 2025-10-27T05:33:34.882Z,1761543214.882 [DAT](INFO): Local bearing/azimuth received: Bearing 159.9, -44.7 (Local) 2025-10-27T05:33:34.884Z,1761543214.884 [DAT](INFO): DAT read: Range 11 to 50 : 136.9 m (Round-trip 182.6 ms) speed 0.2 m/s 2025-10-27T05:33:34.886Z,1761543214.886 [DAT](INFO): DAT read: user:438> 2025-10-27T05:33:34.887Z,1761543214.887 [DAT](INFO): DAT read: Tx time:05:33:33.9728 2025-10-27T05:33:34.888Z,1761543214.888 [DAT](INFO): Ping request sent. 2025-10-27T05:33:34.888Z,1761543214.888 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:34.889Z,1761543214.889 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:34.890Z,1761543214.890 [DAT](INFO): direction in FSK: [0.645654,-0.758640,-0.087156] 2025-10-27T05:33:34.891Z,1761543214.891 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:34.893Z,1761543214.893 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:34.896Z,1761543214.896 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:34.896Z,1761543214.896 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:34.958Z,1761543214.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860292,-0.489734,-0.141628],[0.509561,0.834573,0.209370],[0.015664,-0.252288,0.967526]] 2025-10-27T05:33:35.013Z,1761543215.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.899994 m, deltaT: 3.780599 s, deltaX: -0.500000 m, approachRate: -0.132254 m/s, rangeRepo size: 4 2025-10-27T05:33:35.019Z,1761543215.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.131409 m, bearing: 341.057120 deg, lat: 36.779364 deg, lon: -121.859685 deg, deltaT: 3.780599 s, deltaX: -0.500870 m, approachRate: -0.132484 m/s, posRepo size: 4 2025-10-27T05:33:35.020Z,1761543215.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:35.023Z,1761543215.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 133.609924 m, bearing: 339.199264 deg, approach rate: 0.000000 m/s, LOS rate: -0.218829 deg/s, cmd heading: 333.434290 deg, new cmd heading: 333.170031 deg. 2025-10-27T05:33:35.025Z,1761543215.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814914 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:35.366Z,1761543215.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873582,-0.467361,-0.135749],[0.486419,0.847554,0.212249],[0.015858,-0.251448,0.967741]] 2025-10-27T05:33:35.421Z,1761543215.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:35.423Z,1761543215.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:35.426Z,1761543215.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 133.469543 m, bearing: 339.111444 deg, approach rate: -0.341908 m/s, LOS rate: -0.214116 deg/s, cmd heading: 333.170043 deg, new cmd heading: 332.906309 deg. 2025-10-27T05:33:35.427Z,1761543215.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810311 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:35.624Z,1761543215.624 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:35.624Z,1761543215.624 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:35.624Z,1761543215.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:35.769Z,1761543215.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886255,-0.444826,-0.129161],[0.462913,0.860362,0.213279],[0.016253,-0.248810,0.968416]] 2025-10-27T05:33:35.788Z,1761543215.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:35.790Z,1761543215.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 133.346207 m, bearing: 339.038231 deg, approach rate: -0.338261 m/s, LOS rate: -0.200978 deg/s, cmd heading: 332.906316 deg, new cmd heading: 332.686476 deg. 2025-10-27T05:33:35.792Z,1761543215.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806474 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:35.877Z,1761543215.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988977 2025-10-27T05:33:36.128Z,1761543216.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239935 2025-10-27T05:33:36.177Z,1761543216.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897966,-0.422513,-0.123047],[0.439757,0.872013,0.214958],[0.016476,-0.247136,0.968841]] 2025-10-27T05:33:36.198Z,1761543216.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:36.201Z,1761543216.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 133.202774 m, bearing: 338.957264 deg, approach rate: -0.349126 m/s, LOS rate: -0.197292 deg/s, cmd heading: 332.686466 deg, new cmd heading: 332.443305 deg. 2025-10-27T05:33:36.202Z,1761543216.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802230 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:36.381Z,1761543216.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493400 2025-10-27T05:33:36.593Z,1761543216.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909261,-0.399274,-0.117579],[0.415897,0.882779,0.218477],[0.016564,-0.247553,0.968733]] 2025-10-27T05:33:36.632Z,1761543216.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743996 2025-10-27T05:33:36.660Z,1761543216.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:36.663Z,1761543216.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 133.040955 m, bearing: 338.866731 deg, approach rate: -0.350562 m/s, LOS rate: -0.196368 deg/s, cmd heading: 332.443311 deg, new cmd heading: 332.171382 deg. 2025-10-27T05:33:36.664Z,1761543216.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797484 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:36.885Z,1761543216.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997180 2025-10-27T05:33:37.031Z,1761543217.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919745,-0.376141,-0.112196],[0.392164,0.892708,0.221989],[0.016659,-0.248172,0.968573]] 2025-10-27T05:33:37.059Z,1761543217.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:37.062Z,1761543217.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 132.896530 m, bearing: 338.789809 deg, approach rate: -0.362233 m/s, LOS rate: -0.193137 deg/s, cmd heading: 332.171388 deg, new cmd heading: 331.940374 deg. 2025-10-27T05:33:37.063Z,1761543217.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793452 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:37.136Z,1761543217.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248117 2025-10-27T05:33:37.389Z,1761543217.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500775 2025-10-27T05:33:37.433Z,1761543217.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929593,-0.353066,-0.105835],[0.368228,0.902258,0.224364],[0.016275,-0.247538,0.968741]] 2025-10-27T05:33:37.483Z,1761543217.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:37.485Z,1761543217.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:37.488Z,1761543217.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 132.749481 m, bearing: 338.703522 deg, approach rate: -0.344840 m/s, LOS rate: -0.202572 deg/s, cmd heading: 331.940363 deg, new cmd heading: 331.681219 deg. 2025-10-27T05:33:37.489Z,1761543217.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788929 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:37.640Z,1761543217.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752022 2025-10-27T05:33:37.842Z,1761543217.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938557,-0.330040,-0.100921],[0.344747,0.910237,0.229386],[0.016155,-0.250084,0.968089]] 2025-10-27T05:33:37.890Z,1761543217.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:37.892Z,1761543217.892 [DAT](INFO): DAT read: Rx Time:05:33:36.5580 2025-10-27T05:33:37.893Z,1761543217.893 [DAT](INFO): Rx dataTimestamp_ set to:1761543217.892369 2025-10-27T05:33:37.893Z,1761543217.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005264 2025-10-27T05:33:37.897Z,1761543217.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 132.615784 m, bearing: 338.628794 deg, approach rate: -0.330930 m/s, LOS rate: -0.185155 deg/s, cmd heading: 331.681226 deg, new cmd heading: 331.456816 deg. 2025-10-27T05:33:37.898Z,1761543217.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785013 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:38.145Z,1761543218.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256982 2025-10-27T05:33:38.249Z,1761543218.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946850,-0.307288,-0.095126],[0.321302,0.917682,0.233721],[0.015475,-0.251863,0.967639]] 2025-10-27T05:33:38.303Z,1761543218.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.13 m. 2025-10-27T05:33:38.321Z,1761543218.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.131409 m, nav range: 132.462952 m, bearing: 338.547326 deg, approach rate: -0.385651 m/s, LOS rate: -0.205810 deg/s, cmd heading: 331.456813 deg, new cmd heading: 331.212130 deg. 2025-10-27T05:33:38.329Z,1761543218.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780742 target range: 136.131409 and range: 136.90 m. 2025-10-27T05:33:38.403Z,1761543218.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514734 2025-10-27T05:33:38.658Z,1761543218.658 [DAT](INFO): DAT read: 05:33:36.5580 LVL= 29472, 32673, 23714, 32067, AGC= 64, IDX= 426,-0.05,-2.005,-2.995,-0.832,-1.792, PHS=-0.111,-1.158, 0.916, RAW= 179.7, 4.0, CAL= 179.3, 1.8, ROT= 330.7, -1.8 2025-10-27T05:33:38.659Z,1761543218.659 [DAT](INFO): got valid direction response: 05:33:36.5580 LVL= 29472, 32673, 23714, 32067, AGC= 64, IDX= 426,-0.05,-2.005,-2.995,-0.832,-1.792, PHS=-0.111,-1.158, 0.916, RAW= 179.7, 4.0, CAL= 179.3, 1.8, ROT= 330.7, -1.8 2025-10-27T05:33:38.660Z,1761543218.660 [DAT](INFO): DAT read: Bearing 163.6, -28.0 (Local) 2025-10-27T05:33:38.660Z,1761543218.660 [DAT](INFO): Local bearing/azimuth received: Bearing 163.6, -28.0 (Local) 2025-10-27T05:33:38.662Z,1761543218.662 [DAT](INFO): DAT read: Range 11 to 50 : 135.7 m (Round-trip 181.0 ms) speed 0.3 m/s 2025-10-27T05:33:38.662Z,1761543218.662 [DAT](INFO): DAT read: user:439> 2025-10-27T05:33:38.668Z,1761543218.668 [DAT](INFO): DAT read: Tx time:05:33:37.6728 2025-10-27T05:33:38.670Z,1761543218.670 [DAT](INFO): Ping request sent. 2025-10-27T05:33:38.670Z,1761543218.670 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:38.681Z,1761543218.681 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:38.683Z,1761543218.683 [DAT](INFO): direction in FSK: [0.871639,-0.489141,0.031411] 2025-10-27T05:33:38.684Z,1761543218.684 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:38.684Z,1761543218.684 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:38.698Z,1761543218.698 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:38.698Z,1761543218.698 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:38.885Z,1761543218.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.699997 m, deltaT: 3.783336 s, deltaX: -1.199997 m, approachRate: -0.317180 m/s, rangeRepo size: 4 2025-10-27T05:33:38.892Z,1761543218.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 134.937378 m, bearing: 350.573825 deg, lat: 36.779364 deg, lon: -121.859685 deg, deltaT: 3.783336 s, deltaX: -1.194031 m, approachRate: -0.315603 m/s, posRepo size: 4 2025-10-27T05:33:38.893Z,1761543218.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:38.900Z,1761543218.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 132.270111 m, bearing: 338.427387 deg, approach rate: 0.000000 m/s, LOS rate: -0.205810 deg/s, cmd heading: 331.212129 deg, new cmd heading: 330.846023 deg. 2025-10-27T05:33:38.901Z,1761543218.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774353 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:39.180Z,1761543219.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961394,-0.262471,-0.082650],[0.274832,0.930884,0.240670],[0.013769,-0.254094,0.967082]] 2025-10-27T05:33:39.207Z,1761543219.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:39.210Z,1761543219.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 132.144638 m, bearing: 338.356630 deg, approach rate: -0.381839 m/s, LOS rate: -0.215531 deg/s, cmd heading: 330.846031 deg, new cmd heading: 330.633559 deg. 2025-10-27T05:33:39.211Z,1761543219.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770644 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:39.578Z,1761543219.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967731,-0.240357,-0.075662],[0.251659,0.937134,0.241760],[0.012797,-0.252999,0.967382]] 2025-10-27T05:33:39.627Z,1761543219.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:39.629Z,1761543219.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:39.632Z,1761543219.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 131.993683 m, bearing: 338.270446 deg, approach rate: -0.357926 m/s, LOS rate: -0.204583 deg/s, cmd heading: 330.633557 deg, new cmd heading: 330.374710 deg. 2025-10-27T05:33:39.633Z,1761543219.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766127 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:39.660Z,1761543219.660 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:39.660Z,1761543219.660 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:39.660Z,1761543219.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:39.912Z,1761543219.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242257 2025-10-27T05:33:39.982Z,1761543219.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973498,-0.218283,-0.068222],[0.228389,0.943384,0.240551],[0.011851,-0.249757,0.968236]] 2025-10-27T05:33:40.018Z,1761543220.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:40.021Z,1761543220.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 131.851288 m, bearing: 338.192686 deg, approach rate: -0.366193 m/s, LOS rate: -0.200188 deg/s, cmd heading: 330.374720 deg, new cmd heading: 330.141190 deg. 2025-10-27T05:33:40.021Z,1761543220.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762051 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:40.164Z,1761543220.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494353 2025-10-27T05:33:40.400Z,1761543220.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983076,-0.175367,-0.052985],[0.182968,0.954321,0.236206],[0.009142,-0.241903,0.970257]] 2025-10-27T05:33:40.422Z,1761543220.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752517 2025-10-27T05:33:40.445Z,1761543220.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:40.448Z,1761543220.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 131.696945 m, bearing: 338.108211 deg, approach rate: -0.361236 m/s, LOS rate: -0.197944 deg/s, cmd heading: 330.141182 deg, new cmd heading: 329.887462 deg. 2025-10-27T05:33:40.449Z,1761543220.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757622 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:40.676Z,1761543220.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006338 2025-10-27T05:33:40.820Z,1761543220.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:40.823Z,1761543220.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 131.561676 m, bearing: 338.033881 deg, approach rate: -0.360290 m/s, LOS rate: -0.198183 deg/s, cmd heading: 329.887454 deg, new cmd heading: 329.664236 deg. 2025-10-27T05:33:40.824Z,1761543220.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753726 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:40.928Z,1761543220.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258443 2025-10-27T05:33:41.180Z,1761543221.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510166 2025-10-27T05:33:41.201Z,1761543221.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990439,-0.132126,-0.039669],[0.137795,0.961270,0.238690],[0.006596,-0.241874,0.970285]] 2025-10-27T05:33:41.223Z,1761543221.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:41.226Z,1761543221.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 131.409927 m, bearing: 337.957601 deg, approach rate: -0.376782 m/s, LOS rate: -0.189615 deg/s, cmd heading: 329.664244 deg, new cmd heading: 329.435143 deg. 2025-10-27T05:33:41.243Z,1761543221.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749728 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:41.432Z,1761543221.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762736 2025-10-27T05:33:41.604Z,1761543221.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993341,-0.110274,-0.033356],[0.115082,0.963338,0.242356],[0.005408,-0.244581,0.969614]] 2025-10-27T05:33:41.639Z,1761543221.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:41.641Z,1761543221.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:41.661Z,1761543221.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 131.245987 m, bearing: 337.880036 deg, approach rate: -0.392004 m/s, LOS rate: -0.185700 deg/s, cmd heading: 329.435132 deg, new cmd heading: 329.202148 deg. 2025-10-27T05:33:41.662Z,1761543221.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745661 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:41.684Z,1761543221.684 [DAT](INFO): DAT read: Rx Time:05:33:40.2564 2025-10-27T05:33:41.685Z,1761543221.685 [DAT](INFO): Rx dataTimestamp_ set to:1761543221.684337 2025-10-27T05:33:41.685Z,1761543221.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015596 2025-10-27T05:33:41.936Z,1761543221.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266241 2025-10-27T05:33:42.011Z,1761543222.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995820,-0.087341,-0.026730],[0.091233,0.965249,0.244891],[0.004412,-0.246306,0.969182]] 2025-10-27T05:33:42.030Z,1761543222.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.94 m. 2025-10-27T05:33:42.033Z,1761543222.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.937378 m, nav range: 131.090668 m, bearing: 337.809761 deg, approach rate: -0.399550 m/s, LOS rate: -0.180993 deg/s, cmd heading: 329.202141 deg, new cmd heading: 328.991067 deg. 2025-10-27T05:33:42.034Z,1761543222.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741977 target range: 134.937378 and range: 135.70 m. 2025-10-27T05:33:42.193Z,1761543222.193 [DAT](INFO): DAT read: 05:33:40.2564 LVL= 32752, 32753, 26562, 32755, AGC= 64, IDX= 427,-0.27,-1.359,-2.443,-0.371,-1.202, PHS=-0.055,-1.196, 0.787, RAW= 175.0, 5.4, CAL= 174.5, 4.3, ROT= 335.5, -4.3 2025-10-27T05:33:42.195Z,1761543222.195 [DAT](INFO): got valid direction response: 05:33:40.2564 LVL= 32752, 32753, 26562, 32755, AGC= 64, IDX= 427,-0.27,-1.359,-2.443,-0.371,-1.202, PHS=-0.055,-1.196, 0.787, RAW= 175.0, 5.4, CAL= 174.5, 4.3, ROT= 335.5, -4.3 2025-10-27T05:33:42.196Z,1761543222.196 [DAT](INFO): DAT read: Bearing 153.9, -24.3 (Local) 2025-10-27T05:33:42.196Z,1761543222.196 [DAT](INFO): Local bearing/azimuth received: Bearing 153.9, -24.3 (Local) 2025-10-27T05:33:42.197Z,1761543222.197 [DAT](INFO): DAT read: Range 11 to 50 : 134.5 m (Round-trip 179.4 ms) speed 0.0 m/s 2025-10-27T05:33:42.198Z,1761543222.198 [DAT](INFO): DAT read: user:440> 2025-10-27T05:33:42.199Z,1761543222.199 [DAT](INFO): DAT read: Tx time:05:33:41.3728 2025-10-27T05:33:42.199Z,1761543222.199 [DAT](INFO): Ping request sent. 2025-10-27T05:33:42.199Z,1761543222.199 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:42.200Z,1761543222.200 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:42.201Z,1761543222.201 [DAT](INFO): direction in FSK: [0.907400,-0.413526,0.074979] 2025-10-27T05:33:42.201Z,1761543222.201 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:42.201Z,1761543222.201 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:42.204Z,1761543222.204 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:42.205Z,1761543222.205 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:42.448Z,1761543222.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997723,-0.064350,-0.020205],[0.067338,0.967370,0.244254],[0.003828,-0.245058,0.969501]] 2025-10-27T05:33:42.538Z,1761543222.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.500000 m, deltaT: 3.535925 s, deltaX: -1.199997 m, approachRate: -0.339373 m/s, rangeRepo size: 4 2025-10-27T05:33:42.545Z,1761543222.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.744385 m, bearing: 340.986600 deg, lat: 36.779391 deg, lon: -121.859645 deg, deltaT: 3.535925 s, deltaX: -1.192993 m, approachRate: -0.337392 m/s, posRepo size: 4 2025-10-27T05:33:42.545Z,1761543222.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:42.552Z,1761543222.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 132.365723 m, bearing: 339.635445 deg, approach rate: 0.000000 m/s, LOS rate: -0.180993 deg/s, cmd heading: 328.991060 deg, new cmd heading: 328.715531 deg. 2025-10-27T05:33:42.553Z,1761543222.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737168 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:42.818Z,1761543222.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999034,-0.041694,-0.013896],[0.043827,0.968645,0.244554],[0.003264,-0.244927,0.969536]] 2025-10-27T05:33:42.858Z,1761543222.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:42.868Z,1761543222.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 132.232758 m, bearing: 339.582742 deg, approach rate: -0.415465 m/s, LOS rate: -0.164842 deg/s, cmd heading: 328.715531 deg, new cmd heading: 328.557264 deg. 2025-10-27T05:33:42.869Z,1761543222.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734406 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:43.222Z,1761543223.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999790,-0.019115,-0.007455],[0.020356,0.969630,0.243728],[0.002569,-0.243829,0.969815]] 2025-10-27T05:33:43.258Z,1761543223.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:43.260Z,1761543223.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 132.053391 m, bearing: 339.514671 deg, approach rate: -0.448506 m/s, LOS rate: -0.170443 deg/s, cmd heading: 328.557261 deg, new cmd heading: 328.352771 deg. 2025-10-27T05:33:43.261Z,1761543223.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730837 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:43.626Z,1761543223.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999993,0.003733,-0.000872],[-0.003404,0.969400,0.245464],[0.001761,-0.245459,0.969405]] 2025-10-27T05:33:43.670Z,1761543223.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:43.672Z,1761543223.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:43.675Z,1761543223.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 131.870819 m, bearing: 339.453325 deg, approach rate: -0.440467 m/s, LOS rate: -0.148207 deg/s, cmd heading: 328.352766 deg, new cmd heading: 328.168473 deg. 2025-10-27T05:33:43.676Z,1761543223.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727620 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:43.713Z,1761543223.713 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:43.713Z,1761543223.713 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:43.713Z,1761543223.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:43.964Z,1761543223.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764541 2025-10-27T05:33:44.031Z,1761543224.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999638,0.026287,0.005772],[-0.026900,0.969118,0.245127],[0.000850,-0.245194,0.969474]] 2025-10-27T05:33:44.050Z,1761543224.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:44.053Z,1761543224.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 131.700531 m, bearing: 339.398635 deg, approach rate: -0.450542 m/s, LOS rate: -0.144884 deg/s, cmd heading: 328.168460 deg, new cmd heading: 328.004178 deg. 2025-10-27T05:33:44.054Z,1761543224.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724753 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:44.216Z,1761543224.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016461 2025-10-27T05:33:44.444Z,1761543224.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998726,0.048877,0.012511],[-0.050453,0.968303,0.244629],[-0.000158,-0.244948,0.969536]] 2025-10-27T05:33:44.468Z,1761543224.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268568 2025-10-27T05:33:44.482Z,1761543224.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:44.485Z,1761543224.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 131.498444 m, bearing: 339.341203 deg, approach rate: -0.467617 m/s, LOS rate: -0.133098 deg/s, cmd heading: 328.004180 deg, new cmd heading: 327.831621 deg. 2025-10-27T05:33:44.486Z,1761543224.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721741 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:44.722Z,1761543224.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522119 2025-10-27T05:33:44.841Z,1761543224.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997266,0.071414,0.019011],[-0.073893,0.967331,0.242510],[-0.001072,-0.243252,0.969963]] 2025-10-27T05:33:44.872Z,1761543224.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:44.877Z,1761543224.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 131.318008 m, bearing: 339.292303 deg, approach rate: -0.464420 m/s, LOS rate: -0.126037 deg/s, cmd heading: 327.831622 deg, new cmd heading: 327.684720 deg. 2025-10-27T05:33:44.879Z,1761543224.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719177 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:44.973Z,1761543224.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773416 2025-10-27T05:33:45.224Z,1761543225.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024487 2025-10-27T05:33:45.246Z,1761543225.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995257,0.093757,0.025938],[-0.097250,0.965460,0.241722],[-0.002379,-0.243098,0.969999]] 2025-10-27T05:33:45.286Z,1761543225.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:45.289Z,1761543225.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 131.114609 m, bearing: 339.239824 deg, approach rate: -0.489228 m/s, LOS rate: -0.126420 deg/s, cmd heading: 327.684718 deg, new cmd heading: 327.527039 deg. 2025-10-27T05:33:45.290Z,1761543225.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716425 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:45.476Z,1761543225.476 [DAT](INFO): DAT read: Rx Time:05:33:43.9546 2025-10-27T05:33:45.476Z,1761543225.476 [DAT](INFO): Rx dataTimestamp_ set to:1761543225.476201 2025-10-27T05:33:45.477Z,1761543225.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277647 2025-10-27T05:33:45.649Z,1761543225.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992774,0.115517,0.032506],[-0.119951,0.963243,0.240362],[-0.003545,-0.242524,0.970139]] 2025-10-27T05:33:45.685Z,1761543225.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:45.687Z,1761543225.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.74 m. 2025-10-27T05:33:45.690Z,1761543225.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.744385 m, nav range: 130.913086 m, bearing: 339.198533 deg, approach rate: -0.503203 m/s, LOS rate: -0.103262 deg/s, cmd heading: 327.527050 deg, new cmd heading: 327.402987 deg. 2025-10-27T05:33:45.691Z,1761543225.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714260 target range: 133.744385 and range: 134.50 m. 2025-10-27T05:33:45.729Z,1761543225.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529248 2025-10-27T05:33:45.988Z,1761543225.988 [DAT](INFO): DAT read: 05:33:43.9546 LVL= 32752, 32753, 31650, 32755, AGC= 60, IDX= 425,-0.04,-2.614, 2.354,-1.947,-2.646, PHS= 0.134,-1.238, 0.655, RAW= 165.4, 5.4, CAL= 164.6, 4.5, ROT= 345.4, -4.5 2025-10-27T05:33:45.990Z,1761543225.990 [DAT](INFO): got valid direction response: 05:33:43.9546 LVL= 32752, 32753, 31650, 32755, AGC= 60, IDX= 425,-0.04,-2.614, 2.354,-1.947,-2.646, PHS= 0.134,-1.238, 0.655, RAW= 165.4, 5.4, CAL= 164.6, 4.5, ROT= 345.4, -4.5 2025-10-27T05:33:46.010Z,1761543226.010 [DAT](INFO): DAT read: Bearing 143.2, -15.1 (Local) 2025-10-27T05:33:46.011Z,1761543226.011 [DAT](INFO): Local bearing/azimuth received: Bearing 143.2, -15.1 (Local) 2025-10-27T05:33:46.012Z,1761543226.012 [DAT](INFO): DAT read: Range 11 to 50 : 133.2 m (Round-trip 177.7 ms) speed 0.2 m/s 2025-10-27T05:33:46.013Z,1761543226.013 [DAT](INFO): DAT read: user:441> 2025-10-27T05:33:46.014Z,1761543226.014 [DAT](INFO): DAT read: Tx time:05:33:45.0728 2025-10-27T05:33:46.014Z,1761543226.014 [DAT](INFO): Ping request sent. 2025-10-27T05:33:46.014Z,1761543226.014 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:46.020Z,1761543226.020 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:46.021Z,1761543226.021 [DAT](INFO): direction in FSK: [0.964726,-0.251292,0.078459] 2025-10-27T05:33:46.022Z,1761543226.022 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:46.022Z,1761543226.022 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:46.025Z,1761543226.025 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:46.026Z,1761543226.026 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:46.060Z,1761543226.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989636,0.138146,0.039195],[-0.143528,0.960143,0.239844],[-0.004499,-0.242984,0.970020]] 2025-10-27T05:33:46.137Z,1761543226.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.199997 m, deltaT: 3.792617 s, deltaX: -1.300003 m, approachRate: -0.342772 m/s, rangeRepo size: 4 2025-10-27T05:33:46.143Z,1761543226.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 132.450806 m, bearing: 338.644672 deg, lat: 36.779392 deg, lon: -121.859645 deg, deltaT: 3.792617 s, deltaX: -1.293579 m, approachRate: -0.341078 m/s, posRepo size: 4 2025-10-27T05:33:46.144Z,1761543226.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:46.146Z,1761543226.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 130.809189 m, bearing: 339.175413 deg, approach rate: 0.000000 m/s, LOS rate: -0.103262 deg/s, cmd heading: 327.402987 deg, new cmd heading: 327.263844 deg. 2025-10-27T05:33:46.151Z,1761543226.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711832 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:46.473Z,1761543226.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985981,0.160465,0.045740],[-0.166765,0.956782,0.238238],[-0.005535,-0.242526,0.970129]] 2025-10-27T05:33:46.521Z,1761543226.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:46.524Z,1761543226.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 130.605179 m, bearing: 339.141063 deg, approach rate: -0.529592 m/s, LOS rate: -0.089310 deg/s, cmd heading: 327.263842 deg, new cmd heading: 327.160630 deg. 2025-10-27T05:33:46.525Z,1761543226.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710030 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:46.886Z,1761543226.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981795,0.182550,0.052473],[-0.189815,0.953050,0.235937],[-0.006939,-0.241602,0.970351]] 2025-10-27T05:33:46.924Z,1761543226.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:46.927Z,1761543226.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 130.408600 m, bearing: 339.110141 deg, approach rate: -0.488207 m/s, LOS rate: -0.076912 deg/s, cmd heading: 327.160624 deg, new cmd heading: 327.067718 deg. 2025-10-27T05:33:46.932Z,1761543226.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708408 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:47.295Z,1761543227.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977036,0.204630,0.059394],[-0.212903,0.948755,0.233531],[-0.008563,-0.240813,0.970534]] 2025-10-27T05:33:47.318Z,1761543227.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:47.321Z,1761543227.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 130.195724 m, bearing: 339.079001 deg, approach rate: -0.540249 m/s, LOS rate: -0.079158 deg/s, cmd heading: 327.067707 deg, new cmd heading: 326.974135 deg. 2025-10-27T05:33:47.322Z,1761543227.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706775 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:47.763Z,1761543227.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:47.765Z,1761543227.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:47.781Z,1761543227.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 129.975861 m, bearing: 339.054851 deg, approach rate: -0.491692 m/s, LOS rate: -0.054099 deg/s, cmd heading: 326.974133 deg, new cmd heading: 326.901561 deg. 2025-10-27T05:33:47.782Z,1761543227.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705509 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:48.003Z,1761543228.003 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:48.003Z,1761543228.003 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:48.003Z,1761543228.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:48.100Z,1761543228.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965593,0.249560,0.073139],[-0.259827,0.937625,0.230973],[-0.010936,-0.242030,0.970207]] 2025-10-27T05:33:48.135Z,1761543228.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:48.141Z,1761543228.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 129.785629 m, bearing: 339.038156 deg, approach rate: -0.514819 m/s, LOS rate: -0.045247 deg/s, cmd heading: 326.901569 deg, new cmd heading: 326.851412 deg. 2025-10-27T05:33:48.142Z,1761543228.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704633 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:48.252Z,1761543228.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237757 2025-10-27T05:33:48.504Z,1761543228.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489549 2025-10-27T05:33:48.509Z,1761543228.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959196,0.271601,0.078584],[-0.282506,0.931984,0.227149],[-0.011545,-0.240081,0.970684]] 2025-10-27T05:33:48.570Z,1761543228.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:48.577Z,1761543228.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 129.551620 m, bearing: 339.022592 deg, approach rate: -0.537389 m/s, LOS rate: -0.035807 deg/s, cmd heading: 326.851408 deg, new cmd heading: 326.804632 deg. 2025-10-27T05:33:48.578Z,1761543228.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703817 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:48.756Z,1761543228.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741983 2025-10-27T05:33:48.906Z,1761543228.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952153,0.293815,0.084125],[-0.305391,0.925375,0.224537],[-0.011875,-0.239485,0.970828]] 2025-10-27T05:33:48.923Z,1761543228.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:48.926Z,1761543228.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 129.344025 m, bearing: 339.010978 deg, approach rate: -0.587549 m/s, LOS rate: -0.032924 deg/s, cmd heading: 326.804635 deg, new cmd heading: 326.769736 deg. 2025-10-27T05:33:48.927Z,1761543228.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703208 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:49.010Z,1761543229.010 [DAT](INFO): DAT read: Rx Time:05:33:47.6523 2025-10-27T05:33:49.010Z,1761543229.010 [DAT](INFO): Rx dataTimestamp_ set to:1761543229.009904 2025-10-27T05:33:49.011Z,1761543229.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996368 2025-10-27T05:33:49.260Z,1761543229.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245584 2025-10-27T05:33:49.313Z,1761543229.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944411,0.316170,0.090132],[-0.328545,0.917660,0.223514],[-0.012043,-0.240702,0.970524]] 2025-10-27T05:33:49.385Z,1761543229.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:49.388Z,1761543229.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 129.101791 m, bearing: 339.000045 deg, approach rate: -0.524589 m/s, LOS rate: -0.023721 deg/s, cmd heading: 326.769746 deg, new cmd heading: 326.736886 deg. 2025-10-27T05:33:49.389Z,1761543229.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702634 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:49.527Z,1761543229.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511748 2025-10-27T05:33:49.721Z,1761543229.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935684,0.339278,0.096878],[-0.352633,0.908575,0.223922],[-0.012049,-0.243683,0.969780]] 2025-10-27T05:33:49.768Z,1761543229.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:49.770Z,1761543229.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.45 m. 2025-10-27T05:33:49.773Z,1761543229.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 132.450806 m, nav range: 128.894775 m, bearing: 338.991295 deg, approach rate: -0.537753 m/s, LOS rate: -0.022767 deg/s, cmd heading: 326.736879 deg, new cmd heading: 326.710585 deg. 2025-10-27T05:33:49.774Z,1761543229.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702176 target range: 132.450806 and range: 133.20 m. 2025-10-27T05:33:49.782Z,1761543229.782 [DAT](INFO): DAT read: 05:33:47.6523 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.36,-3.117, 1.563,-2.764, 3.020, PHS= 0.248,-1.411, 0.456, RAW= 155.8, 8.0, CAL= 155.4, 8.4, ROT= 354.6, -8.4 2025-10-27T05:33:49.783Z,1761543229.783 [DAT](INFO): got valid direction response: 05:33:47.6523 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 416, 0.36,-3.117, 1.563,-2.764, 3.020, PHS= 0.248,-1.411, 0.456, RAW= 155.8, 8.0, CAL= 155.4, 8.4, ROT= 354.6, -8.4 2025-10-27T05:33:49.784Z,1761543229.784 [DAT](INFO): DAT read: Bearing 137.6, -7.8 (Local) 2025-10-27T05:33:49.784Z,1761543229.784 [DAT](INFO): Local bearing/azimuth received: Bearing 137.6, -7.8 (Local) 2025-10-27T05:33:49.786Z,1761543229.786 [DAT](INFO): DAT read: Range 11 to 50 : 131.4 m (Round-trip 175.3 ms) speed 0.3 m/s 2025-10-27T05:33:49.787Z,1761543229.787 [DAT](INFO): DAT read: user:442> 2025-10-27T05:33:49.787Z,1761543229.787 [DAT](INFO): DAT read: Tx time:05:33:48.7728 2025-10-27T05:33:49.788Z,1761543229.788 [DAT](INFO): Ping request sent. 2025-10-27T05:33:49.788Z,1761543229.788 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:49.788Z,1761543229.788 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:49.789Z,1761543229.789 [DAT](INFO): direction in FSK: [0.984882,-0.093099,0.146083] 2025-10-27T05:33:49.789Z,1761543229.789 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:49.790Z,1761543229.790 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:49.813Z,1761543229.813 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:49.813Z,1761543229.813 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:50.160Z,1761543230.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.399994 m, deltaT: 3.795576 s, deltaX: -1.800003 m, approachRate: -0.474237 m/s, rangeRepo size: 4 2025-10-27T05:33:50.162Z,1761543230.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.657288 m, bearing: 336.177723 deg, lat: 36.779392 deg, lon: -121.859645 deg, deltaT: 3.795576 s, deltaX: -1.793518 m, approachRate: -0.472529 m/s, posRepo size: 4 2025-10-27T05:33:50.163Z,1761543230.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.66 m. 2025-10-27T05:33:50.181Z,1761543230.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.657288 m, nav range: 128.698273 m, bearing: 338.982962 deg, approach rate: 0.000000 m/s, LOS rate: -0.022767 deg/s, cmd heading: 326.710597 deg, new cmd heading: 326.684035 deg. 2025-10-27T05:33:50.182Z,1761543230.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701712 target range: 130.657288 and range: 131.40 m. 2025-10-27T05:33:50.584Z,1761543230.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.66 m. 2025-10-27T05:33:50.587Z,1761543230.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.657288 m, nav range: 128.485275 m, bearing: 338.970360 deg, approach rate: -0.501300 m/s, LOS rate: -0.029709 deg/s, cmd heading: 326.684041 deg, new cmd heading: 326.646171 deg. 2025-10-27T05:33:50.588Z,1761543230.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701051 target range: 130.657288 and range: 131.40 m. 2025-10-27T05:33:50.925Z,1761543230.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907530,0.404472,0.113105],[-0.419718,0.883101,0.209688],[-0.015070,-0.237770,0.971205]] 2025-10-27T05:33:50.955Z,1761543230.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.66 m. 2025-10-27T05:33:50.958Z,1761543230.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.657288 m, nav range: 128.299042 m, bearing: 338.965395 deg, approach rate: -0.501718 m/s, LOS rate: -0.013394 deg/s, cmd heading: 326.646175 deg, new cmd heading: 326.631260 deg. 2025-10-27T05:33:50.960Z,1761543230.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700791 target range: 130.657288 and range: 131.40 m. 2025-10-27T05:33:51.333Z,1761543231.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897703,0.424259,0.118885],[-0.440285,0.874007,0.205574],[-0.016690,-0.236888,0.971394]] 2025-10-27T05:33:51.379Z,1761543231.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.66 m. 2025-10-27T05:33:51.382Z,1761543231.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.657288 m, nav range: 128.100586 m, bearing: 338.962113 deg, approach rate: -0.472876 m/s, LOS rate: -0.007832 deg/s, cmd heading: 326.631257 deg, new cmd heading: 326.621396 deg. 2025-10-27T05:33:51.387Z,1761543231.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700619 target range: 130.657288 and range: 131.40 m. 2025-10-27T05:33:51.741Z,1761543231.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887830,0.442800,0.125244],[-0.459793,0.864649,0.202415],[-0.018663,-0.237297,0.971258]] 2025-10-27T05:33:51.793Z,1761543231.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:51.799Z,1761543231.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.66 m. 2025-10-27T05:33:51.802Z,1761543231.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.657288 m, nav range: 127.892632 m, bearing: 338.953948 deg, approach rate: -0.494710 m/s, LOS rate: -0.019457 deg/s, cmd heading: 326.621395 deg, new cmd heading: 326.596858 deg. 2025-10-27T05:33:51.815Z,1761543231.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700191 target range: 130.657288 and range: 131.40 m. 2025-10-27T05:33:52.044Z,1761543232.044 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:52.044Z,1761543232.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:52.044Z,1761543232.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:52.138Z,1761543232.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878232,0.459393,0.132914],[-0.477756,0.855209,0.200913],[-0.021371,-0.239949,0.970550]] 2025-10-27T05:33:52.156Z,1761543232.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.66 m. 2025-10-27T05:33:52.158Z,1761543232.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.657288 m, nav range: 127.707520 m, bearing: 338.948368 deg, approach rate: -0.513215 m/s, LOS rate: -0.015493 deg/s, cmd heading: 326.596861 deg, new cmd heading: 326.580096 deg. 2025-10-27T05:33:52.176Z,1761543232.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699898 target range: 130.657288 and range: 131.40 m. 2025-10-27T05:33:52.296Z,1761543232.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508057 2025-10-27T05:33:52.550Z,1761543232.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762265 2025-10-27T05:33:52.566Z,1761543232.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868706,0.475182,0.139831],[-0.494735,0.846184,0.198012],[-0.024231,-0.241193,0.970175]] 2025-10-27T05:33:52.618Z,1761543232.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.66 m. 2025-10-27T05:33:52.625Z,1761543232.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.657288 m, nav range: 127.498253 m, bearing: 338.938615 deg, approach rate: -0.452865 m/s, LOS rate: -0.021140 deg/s, cmd heading: 326.580086 deg, new cmd heading: 326.550779 deg. 2025-10-27T05:33:52.626Z,1761543232.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699386 target range: 130.657288 and range: 131.40 m. 2025-10-27T05:33:52.800Z,1761543232.800 [DAT](INFO): DAT read: Rx Time:05:33:51.3499 2025-10-27T05:33:52.801Z,1761543232.801 [DAT](INFO): Rx dataTimestamp_ set to:1761543232.800891 2025-10-27T05:33:52.804Z,1761543232.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015650 2025-10-27T05:33:52.947Z,1761543232.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860284,0.488831,0.144762],[-0.509096,0.838788,0.193016],[-0.027073,-0.239746,0.970458]] 2025-10-27T05:33:52.971Z,1761543232.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.66 m. 2025-10-27T05:33:52.974Z,1761543232.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.657288 m, nav range: 127.324646 m, bearing: 338.931796 deg, approach rate: -0.491594 m/s, LOS rate: -0.019334 deg/s, cmd heading: 326.550770 deg, new cmd heading: 326.530287 deg. 2025-10-27T05:33:52.976Z,1761543232.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699028 target range: 130.657288 and range: 131.40 m. 2025-10-27T05:33:53.054Z,1761543233.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265594 2025-10-27T05:33:53.310Z,1761543233.310 [DAT](INFO): DAT read: 05:33:51.3499 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424,-0.32,-2.327, 2.202,-2.401,-2.561, PHS= 0.335,-1.475, 0.116, RAW= 143.6, 11.9, CAL= 143.1, 13.0, ROT= 6.9, -13.0 2025-10-27T05:33:53.311Z,1761543233.311 [DAT](INFO): got valid direction response: 05:33:51.3499 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424,-0.32,-2.327, 2.202,-2.401,-2.561, PHS= 0.335,-1.475, 0.116, RAW= 143.6, 11.9, CAL= 143.1, 13.0, ROT= 6.9, -13.0 2025-10-27T05:33:53.312Z,1761543233.312 [DAT](INFO): DAT read: Bearing 133.4, 1.9 (Local) 2025-10-27T05:33:53.312Z,1761543233.312 [DAT](INFO): Local bearing/azimuth received: Bearing 133.4, 1.9 (Local) 2025-10-27T05:33:53.314Z,1761543233.314 [DAT](INFO): DAT read: Range 11 to 50 : 129.6 m (Round-trip 172.9 ms) speed -0.1 m/s 2025-10-27T05:33:53.314Z,1761543233.314 [DAT](INFO): DAT read: user:443> 2025-10-27T05:33:53.315Z,1761543233.315 [DAT](INFO): DAT read: Tx time:05:33:52.4728 2025-10-27T05:33:53.315Z,1761543233.315 [DAT](INFO): Ping request sent. 2025-10-27T05:33:53.316Z,1761543233.316 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:53.316Z,1761543233.316 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:53.317Z,1761543233.317 [DAT](INFO): direction in FSK: [0.967313,0.117058,0.224951] 2025-10-27T05:33:53.317Z,1761543233.317 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:53.317Z,1761543233.317 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:53.354Z,1761543233.354 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:53.355Z,1761543233.355 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:53.398Z,1761543233.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852571,0.500711,0.149705],[-0.521758,0.831874,0.189085],[-0.029859,-0.239318,0.970482]] 2025-10-27T05:33:53.454Z,1761543233.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.600006 m, deltaT: 3.527842 s, deltaX: -1.799988 m, approachRate: -0.510223 m/s, rangeRepo size: 4 2025-10-27T05:33:53.465Z,1761543233.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.868301 m, bearing: 338.306669 deg, lat: 36.779392 deg, lon: -121.859660 deg, deltaT: 3.527842 s, deltaX: -1.788986 m, approachRate: -0.507105 m/s, posRepo size: 4 2025-10-27T05:33:53.465Z,1761543233.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:53.476Z,1761543233.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 127.578972 m, bearing: 338.379726 deg, approach rate: 0.000000 m/s, LOS rate: -0.019334 deg/s, cmd heading: 326.530280 deg, new cmd heading: 326.502294 deg. 2025-10-27T05:33:53.477Z,1761543233.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698540 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:53.753Z,1761543233.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845475,0.510933,0.155307],[-0.533038,0.825038,0.187573],[-0.032297,-0.241373,0.969895]] 2025-10-27T05:33:53.801Z,1761543233.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:53.808Z,1761543233.808 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:53.808Z,1761543233.808 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:53.808Z,1761543233.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:53.810Z,1761543233.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:53.817Z,1761543233.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 127.414841 m, bearing: 338.370665 deg, approach rate: -0.469913 m/s, LOS rate: -0.025974 deg/s, cmd heading: 326.502303 deg, new cmd heading: 326.475086 deg. 2025-10-27T05:33:53.818Z,1761543233.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698065 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:54.060Z,1761543234.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744314 2025-10-27T05:33:54.158Z,1761543234.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839542,0.519601,0.158696],[-0.542196,0.819874,0.183931],[-0.034540,-0.240462,0.970044]] 2025-10-27T05:33:54.194Z,1761543234.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:54.197Z,1761543234.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 127.235184 m, bearing: 338.361597 deg, approach rate: -0.459582 m/s, LOS rate: -0.023231 deg/s, cmd heading: 326.475092 deg, new cmd heading: 326.447848 deg. 2025-10-27T05:33:54.198Z,1761543234.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697590 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:54.312Z,1761543234.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996391 2025-10-27T05:33:54.567Z,1761543234.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250864 2025-10-27T05:33:54.586Z,1761543234.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834432,0.527162,0.160694],[-0.549910,0.815671,0.179668],[-0.036359,-0.238287,0.970514]] 2025-10-27T05:33:54.633Z,1761543234.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:54.636Z,1761543234.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 127.045418 m, bearing: 338.348870 deg, approach rate: -0.432022 m/s, LOS rate: -0.029018 deg/s, cmd heading: 326.447853 deg, new cmd heading: 326.409615 deg. 2025-10-27T05:33:54.637Z,1761543234.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696922 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:54.816Z,1761543234.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500268 2025-10-27T05:33:54.965Z,1761543234.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830412,0.533496,0.160616],[-0.555866,0.812882,0.173883],[-0.037796,-0.233675,0.971580]] 2025-10-27T05:33:54.993Z,1761543234.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:54.996Z,1761543234.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 126.889717 m, bearing: 338.338856 deg, approach rate: -0.432899 m/s, LOS rate: -0.027876 deg/s, cmd heading: 326.409604 deg, new cmd heading: 326.379526 deg. 2025-10-27T05:33:54.997Z,1761543234.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696397 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:55.070Z,1761543235.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754018 2025-10-27T05:33:55.320Z,1761543235.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004381 2025-10-27T05:33:55.394Z,1761543235.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827174,0.538886,0.159330],[-0.560584,0.811038,0.167222],[-0.039109,-0.227639,0.972960]] 2025-10-27T05:33:55.412Z,1761543235.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:55.415Z,1761543235.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 126.708015 m, bearing: 338.327532 deg, approach rate: -0.432837 m/s, LOS rate: -0.027013 deg/s, cmd heading: 326.379524 deg, new cmd heading: 326.345504 deg. 2025-10-27T05:33:55.416Z,1761543235.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695804 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:55.575Z,1761543235.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258653 2025-10-27T05:33:55.775Z,1761543235.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824637,0.543288,0.157518],[-0.564226,0.809838,0.160657],[-0.040281,-0.221360,0.974360]] 2025-10-27T05:33:55.810Z,1761543235.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:55.812Z,1761543235.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:55.815Z,1761543235.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 126.530052 m, bearing: 338.321024 deg, approach rate: -0.445472 m/s, LOS rate: -0.016314 deg/s, cmd heading: 326.345510 deg, new cmd heading: 326.325958 deg. 2025-10-27T05:33:55.824Z,1761543235.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508253 2025-10-27T05:33:55.832Z,1761543235.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695462 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:56.076Z,1761543236.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760386 2025-10-27T05:33:56.177Z,1761543236.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822766,0.546836,0.155005],[-0.566886,0.809260,0.154073],[-0.041187,-0.214636,0.975825]] 2025-10-27T05:33:56.209Z,1761543236.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:56.212Z,1761543236.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 126.352325 m, bearing: 338.314677 deg, approach rate: -0.447744 m/s, LOS rate: -0.016013 deg/s, cmd heading: 326.325948 deg, new cmd heading: 326.306880 deg. 2025-10-27T05:33:56.213Z,1761543236.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695129 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:56.328Z,1761543236.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012320 2025-10-27T05:33:56.583Z,1761543236.583 [DAT](INFO): DAT read: Rx Time:05:33:55.0476 2025-10-27T05:33:56.584Z,1761543236.584 [DAT](INFO): Rx dataTimestamp_ set to:1761543236.583539 2025-10-27T05:33:56.586Z,1761543236.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270488 2025-10-27T05:33:56.631Z,1761543236.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821597,0.549434,0.151990],[-0.568518,0.809361,0.147389],[-0.042034,-0.207503,0.977331]] 2025-10-27T05:33:56.685Z,1761543236.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:56.691Z,1761543236.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 126.128784 m, bearing: 338.314755 deg, approach rate: -0.470046 m/s, LOS rate: 0.000164 deg/s, cmd heading: 326.306878 deg, new cmd heading: 326.307112 deg. 2025-10-27T05:33:56.692Z,1761543236.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695134 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:56.832Z,1761543236.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516410 2025-10-27T05:33:57.063Z,1761543237.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.87 m. 2025-10-27T05:33:57.066Z,1761543237.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.868301 m, nav range: 125.935539 m, bearing: 338.314822 deg, approach rate: -0.510336 m/s, LOS rate: 0.000178 deg/s, cmd heading: 326.307124 deg, new cmd heading: 326.307327 deg. 2025-10-27T05:33:57.067Z,1761543237.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695137 target range: 128.868301 and range: 129.60 m. 2025-10-27T05:33:57.089Z,1761543237.089 [DAT](INFO): DAT read: 05:33:55.0476 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.03,-2.461, 1.950,-2.796,-2.812, PHS= 0.453,-1.476,-0.027, RAW= 136.2, 12.0, CAL= 135.6, 13.1, ROT= 14.4, -13.1 2025-10-27T05:33:57.091Z,1761543237.091 [DAT](INFO): got valid direction response: 05:33:55.0476 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400, 0.03,-2.461, 1.950,-2.796,-2.812, PHS= 0.453,-1.476,-0.027, RAW= 136.2, 12.0, CAL= 135.6, 13.1, ROT= 14.4, -13.1 2025-10-27T05:33:57.092Z,1761543237.092 [DAT](INFO): DAT read: Bearing 128.5, 9.0 (Local) 2025-10-27T05:33:57.092Z,1761543237.092 [DAT](INFO): Local bearing/azimuth received: Bearing 128.5, 9.0 (Local) 2025-10-27T05:33:57.093Z,1761543237.093 [DAT](INFO): DAT read: Range 11 to 50 : 128.0 m (Round-trip 170.7 ms) speed 0.4 m/s 2025-10-27T05:33:57.094Z,1761543237.094 [DAT](INFO): DAT read: user:444> 2025-10-27T05:33:57.095Z,1761543237.095 [DAT](INFO): DAT read: Tx time:05:33:56.1728 2025-10-27T05:33:57.095Z,1761543237.095 [DAT](INFO): Ping request sent. 2025-10-27T05:33:57.095Z,1761543237.095 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:33:57.096Z,1761543237.096 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:33:57.097Z,1761543237.097 [DAT](INFO): direction in FSK: [0.943377,0.242218,0.226651] 2025-10-27T05:33:57.097Z,1761543237.097 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:57.097Z,1761543237.097 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:57.100Z,1761543237.100 [DAT](INFO): publishing transmit ping time 2025-10-27T05:33:57.100Z,1761543237.100 [DAT](INFO): publishing direction and range info 2025-10-27T05:33:57.491Z,1761543237.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.000000 m, deltaT: 3.779882 s, deltaX: -1.600006 m, approachRate: -0.423295 m/s, rangeRepo size: 4 2025-10-27T05:33:57.493Z,1761543237.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.283356 m, bearing: 341.966625 deg, lat: 36.779392 deg, lon: -121.859660 deg, deltaT: 3.779882 s, deltaX: -1.584946 m, approachRate: -0.419311 m/s, posRepo size: 4 2025-10-27T05:33:57.494Z,1761543237.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m. 2025-10-27T05:33:57.497Z,1761543237.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.283356 m, nav range: 125.734612 m, bearing: 338.314892 deg, approach rate: 0.000000 m/s, LOS rate: 0.000178 deg/s, cmd heading: 326.307315 deg, new cmd heading: 326.307544 deg. 2025-10-27T05:33:57.498Z,1761543237.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695141 target range: 127.283356 and range: 128.00 m. 2025-10-27T05:33:57.836Z,1761543237.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818546,0.556161,0.143760],[-0.572804,0.809117,0.131245],[-0.043325,-0.189777,0.980871]] 2025-10-27T05:33:57.905Z,1761543237.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:57.911Z,1761543237.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m. 2025-10-27T05:33:57.914Z,1761543237.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.283356 m, nav range: 125.518799 m, bearing: 338.321179 deg, approach rate: -0.518104 m/s, LOS rate: 0.015119 deg/s, cmd heading: 326.307534 deg, new cmd heading: 326.326427 deg. 2025-10-27T05:33:57.919Z,1761543237.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695471 target range: 127.283356 and range: 128.00 m. 2025-10-27T05:33:58.096Z,1761543238.096 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:33:58.096Z,1761543238.096 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:33:58.096Z,1761543238.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:33:58.238Z,1761543238.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817586,0.558184,0.141365],[-0.574157,0.808864,0.126816],[-0.043559,-0.184849,0.981801]] 2025-10-27T05:33:58.272Z,1761543238.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m. 2025-10-27T05:33:58.275Z,1761543238.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.283356 m, nav range: 125.328850 m, bearing: 338.326830 deg, approach rate: -0.520286 m/s, LOS rate: 0.015502 deg/s, cmd heading: 326.326440 deg, new cmd heading: 326.343418 deg. 2025-10-27T05:33:58.276Z,1761543238.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695767 target range: 127.283356 and range: 128.00 m. 2025-10-27T05:33:58.349Z,1761543238.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254080 2025-10-27T05:33:58.602Z,1761543238.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506590 2025-10-27T05:33:58.657Z,1761543238.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816700,0.559882,0.139761],[-0.575376,0.808571,0.123105],[-0.044083,-0.180955,0.982503]] 2025-10-27T05:33:58.715Z,1761543238.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m. 2025-10-27T05:33:58.724Z,1761543238.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.283356 m, nav range: 125.087410 m, bearing: 338.341587 deg, approach rate: -0.550472 m/s, LOS rate: 0.033710 deg/s, cmd heading: 326.343406 deg, new cmd heading: 326.387762 deg. 2025-10-27T05:33:58.725Z,1761543238.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696541 target range: 127.283356 and range: 128.00 m. 2025-10-27T05:33:58.854Z,1761543238.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758381 2025-10-27T05:33:59.046Z,1761543239.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815877,0.561546,0.137877],[-0.576495,0.808406,0.118887],[-0.044701,-0.176483,0.983288]] 2025-10-27T05:33:59.081Z,1761543239.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m. 2025-10-27T05:33:59.084Z,1761543239.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.283356 m, nav range: 124.873047 m, bearing: 338.354847 deg, approach rate: -0.579540 m/s, LOS rate: 0.035909 deg/s, cmd heading: 326.387775 deg, new cmd heading: 326.427622 deg. 2025-10-27T05:33:59.084Z,1761543239.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697237 target range: 127.283356 and range: 128.00 m. 2025-10-27T05:33:59.104Z,1761543239.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008647 2025-10-27T05:33:59.356Z,1761543239.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260888 2025-10-27T05:33:59.487Z,1761543239.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m. 2025-10-27T05:33:59.490Z,1761543239.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.283356 m, nav range: 124.648315 m, bearing: 338.368797 deg, approach rate: -0.552863 m/s, LOS rate: 0.034381 deg/s, cmd heading: 326.427609 deg, new cmd heading: 326.469534 deg. 2025-10-27T05:33:59.491Z,1761543239.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697968 target range: 127.283356 and range: 128.00 m. 2025-10-27T05:33:59.612Z,1761543239.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515748 2025-10-27T05:33:59.861Z,1761543239.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765342 2025-10-27T05:33:59.875Z,1761543239.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814058,0.564761,0.135478],[-0.578965,0.807566,0.112414],[-0.045920,-0.169948,0.984383]] 2025-10-27T05:33:59.912Z,1761543239.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:33:59.914Z,1761543239.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m. 2025-10-27T05:33:59.933Z,1761543239.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.283356 m, nav range: 124.408318 m, bearing: 338.386933 deg, approach rate: -0.562182 m/s, LOS rate: 0.042565 deg/s, cmd heading: 326.469546 deg, new cmd heading: 326.524059 deg. 2025-10-27T05:33:59.934Z,1761543239.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698920 target range: 127.283356 and range: 128.00 m. 2025-10-27T05:34:00.112Z,1761543240.112 [DAT](INFO): DAT read: Rx Time:05:33:58.7450 2025-10-27T05:34:00.112Z,1761543240.112 [DAT](INFO): Rx dataTimestamp_ set to:1761543240.112106 2025-10-27T05:34:00.113Z,1761543240.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017629 2025-10-27T05:34:00.258Z,1761543240.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813294,0.566030,0.134768],[-0.579994,0.807147,0.110093],[-0.046461,-0.167702,0.984742]] 2025-10-27T05:34:00.277Z,1761543240.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.28 m. 2025-10-27T05:34:00.280Z,1761543240.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.283356 m, nav range: 124.203629 m, bearing: 338.402576 deg, approach rate: -0.563709 m/s, LOS rate: 0.043152 deg/s, cmd heading: 326.524051 deg, new cmd heading: 326.571058 deg. 2025-10-27T05:34:00.281Z,1761543240.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699740 target range: 127.283356 and range: 128.00 m. 2025-10-27T05:34:00.369Z,1761543240.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273417 2025-10-27T05:34:00.564Z,1761543240.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:34:00.641Z,1761543240.641 [DAT](INFO): DAT read: 05:33:58.7450 LVL= 27296, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.18,-0.178,-2.079,-0.515,-0.527, PHS= 0.451,-1.507,-0.032, RAW= 136.3, 12.3, CAL= 135.7, 13.3, ROT= 14.3, -13.3 2025-10-27T05:34:00.645Z,1761543240.645 [DAT](INFO): got valid direction response: 05:33:58.7450 LVL= 27296, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.18,-0.178,-2.079,-0.515,-0.527, PHS= 0.451,-1.507,-0.032, RAW= 136.3, 12.3, CAL= 135.7, 13.3, ROT= 14.3, -13.3 2025-10-27T05:34:00.651Z,1761543240.651 [DAT](INFO): DAT read: Bearing 127.3, 9.2 (Local) 2025-10-27T05:34:00.652Z,1761543240.652 [DAT](INFO): Local bearing/azimuth received: Bearing 127.3, 9.2 (Local) 2025-10-27T05:34:00.671Z,1761543240.671 [DAT](INFO): DAT read: Range 11 to 50 : 126.0 m (Round-trip 168.0 ms) speed 0.3 m/s 2025-10-27T05:34:00.672Z,1761543240.672 [DAT](INFO): DAT read: user:445> 2025-10-27T05:34:00.673Z,1761543240.673 [DAT](INFO): DAT read: Tx time:05:33:59.8728 2025-10-27T05:34:00.673Z,1761543240.673 [DAT](INFO): Ping request sent. 2025-10-27T05:34:00.673Z,1761543240.673 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:00.674Z,1761543240.674 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:00.675Z,1761543240.675 [DAT](INFO): direction in FSK: [0.943026,0.240374,0.230050] 2025-10-27T05:34:00.683Z,1761543240.683 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:00.683Z,1761543240.683 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:00.686Z,1761543240.686 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:00.704Z,1761543240.704 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:00.726Z,1761543240.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812747,0.567225,0.133034],[-0.580711,0.807141,0.106295],[-0.047084,-0.163645,0.985395]] 2025-10-27T05:34:00.874Z,1761543240.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.000000 m, deltaT: 3.541316 s, deltaX: -2.000000 m, approachRate: -0.564762 m/s, rangeRepo size: 4 2025-10-27T05:34:00.881Z,1761543240.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.292847 m, bearing: 340.575032 deg, lat: 36.779392 deg, lon: -121.859660 deg, deltaT: 3.541316 s, deltaX: -1.990509 m, approachRate: -0.562082 m/s, posRepo size: 4 2025-10-27T05:34:00.883Z,1761543240.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:00.886Z,1761543240.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 123.885414 m, bearing: 338.424266 deg, approach rate: 0.000000 m/s, LOS rate: 0.043152 deg/s, cmd heading: 326.571070 deg, new cmd heading: 326.648297 deg. 2025-10-27T05:34:00.887Z,1761543240.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701088 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:01.183Z,1761543241.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812781,0.567725,0.130672],[-0.580610,0.807786,0.101852],[-0.047732,-0.158653,0.986180]] 2025-10-27T05:34:01.222Z,1761543241.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:01.225Z,1761543241.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 123.668983 m, bearing: 338.439066 deg, approach rate: -0.620696 m/s, LOS rate: 0.042520 deg/s, cmd heading: 326.648306 deg, new cmd heading: 326.692785 deg. 2025-10-27T05:34:01.226Z,1761543241.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701865 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:01.567Z,1761543241.567 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:34:01.586Z,1761543241.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812905,0.568030,0.128559],[-0.580395,0.808412,0.098039],[-0.048239,-0.154311,0.986844]] 2025-10-27T05:34:01.750Z,1761543241.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:01.764Z,1761543241.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 123.423935 m, bearing: 338.455853 deg, approach rate: -0.464715 m/s, LOS rate: 0.031899 deg/s, cmd heading: 326.692784 deg, new cmd heading: 326.743245 deg. 2025-10-27T05:34:01.765Z,1761543241.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702745 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:02.054Z,1761543242.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814229,0.566872,0.125253],[-0.578401,0.810640,0.091187],[-0.049844,-0.146693,0.987925]] 2025-10-27T05:34:02.104Z,1761543242.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:02.106Z,1761543242.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:02.113Z,1761543242.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 123.173508 m, bearing: 338.470053 deg, approach rate: -0.701817 m/s, LOS rate: 0.039876 deg/s, cmd heading: 326.743245 deg, new cmd heading: 326.785932 deg. 2025-10-27T05:34:02.114Z,1761543242.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703490 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:02.136Z,1761543242.136 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:02.136Z,1761543242.136 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:02.136Z,1761543242.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:02.388Z,1761543242.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714500 2025-10-27T05:34:02.446Z,1761543242.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815391,0.565683,0.123047],[-0.576669,0.812361,0.086730],[-0.050897,-0.141676,0.988604]] 2025-10-27T05:34:02.483Z,1761543242.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:02.486Z,1761543242.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 122.950592 m, bearing: 338.482521 deg, approach rate: -0.592328 m/s, LOS rate: 0.033190 deg/s, cmd heading: 326.785920 deg, new cmd heading: 326.823392 deg. 2025-10-27T05:34:02.487Z,1761543242.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704144 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:02.644Z,1761543242.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968719 2025-10-27T05:34:02.863Z,1761543242.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816748,0.564016,0.121693],[-0.574653,0.814120,0.083570],[-0.051938,-0.138187,0.989043]] 2025-10-27T05:34:02.892Z,1761543242.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218652 2025-10-27T05:34:02.910Z,1761543242.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:02.916Z,1761543242.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 122.720848 m, bearing: 338.489545 deg, approach rate: -0.537689 m/s, LOS rate: 0.016468 deg/s, cmd heading: 326.823404 deg, new cmd heading: 326.844514 deg. 2025-10-27T05:34:02.917Z,1761543242.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704513 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:03.145Z,1761543243.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471579 2025-10-27T05:34:03.254Z,1761543243.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818289,0.561890,0.121174],[-0.572340,0.815978,0.081280],[-0.053205,-0.135863,0.989298]] 2025-10-27T05:34:03.292Z,1761543243.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:03.294Z,1761543243.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 122.525833 m, bearing: 338.495270 deg, approach rate: -0.511187 m/s, LOS rate: 0.015032 deg/s, cmd heading: 326.844523 deg, new cmd heading: 326.861727 deg. 2025-10-27T05:34:03.295Z,1761543243.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704813 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:03.396Z,1761543243.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722632 2025-10-27T05:34:03.651Z,1761543243.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977136 2025-10-27T05:34:03.668Z,1761543243.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819802,0.559596,0.121559],[-0.570029,0.817730,0.079902],[-0.054690,-0.134796,0.989363]] 2025-10-27T05:34:03.750Z,1761543243.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:03.753Z,1761543243.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 122.268837 m, bearing: 338.502506 deg, approach rate: -0.560001 m/s, LOS rate: 0.015801 deg/s, cmd heading: 326.861735 deg, new cmd heading: 326.883490 deg. 2025-10-27T05:34:03.754Z,1761543243.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705193 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:03.900Z,1761543243.900 [DAT](INFO): DAT read: Rx Time:05:34:02.4423 2025-10-27T05:34:03.900Z,1761543243.900 [DAT](INFO): Rx dataTimestamp_ set to:1761543243.900117 2025-10-27T05:34:03.901Z,1761543243.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227582 2025-10-27T05:34:04.065Z,1761543244.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821050,0.557650,0.122080],[-0.568092,0.819192,0.078719],[-0.056109,-0.133985,0.989394]] 2025-10-27T05:34:04.102Z,1761543244.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.29 m. 2025-10-27T05:34:04.105Z,1761543244.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.292847 m, nav range: 122.088158 m, bearing: 338.502571 deg, approach rate: -0.513439 m/s, LOS rate: 0.000184 deg/s, cmd heading: 326.883483 deg, new cmd heading: 326.883677 deg. 2025-10-27T05:34:04.106Z,1761543244.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705196 target range: 125.292847 and range: 126.00 m. 2025-10-27T05:34:04.153Z,1761543244.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479703 2025-10-27T05:34:04.410Z,1761543244.410 [DAT](INFO): DAT read: 05:34:02.4423 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.13,-0.642,-2.464,-0.936,-0.946, PHS= 0.406,-1.472,-0.034, RAW= 137.1, 12.9, CAL= 136.4, 13.9, ROT= 13.6, -13.9 2025-10-27T05:34:04.411Z,1761543244.411 [DAT](INFO): got valid direction response: 05:34:02.4423 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410, 0.13,-0.642,-2.464,-0.936,-0.946, PHS= 0.406,-1.472,-0.034, RAW= 137.1, 12.9, CAL= 136.4, 13.9, ROT= 13.6, -13.9 2025-10-27T05:34:04.412Z,1761543244.412 [DAT](INFO): DAT read: Bearing 128.4, 8.3 (Local) 2025-10-27T05:34:04.412Z,1761543244.412 [DAT](INFO): Local bearing/azimuth received: Bearing 128.4, 8.3 (Local) 2025-10-27T05:34:04.419Z,1761543244.419 [DAT](INFO): DAT read: Range 11 to 50 : 124.0 m (Round-trip 165.4 ms) speed 0.4 m/s 2025-10-27T05:34:04.420Z,1761543244.420 [DAT](INFO): DAT read: user:446> 2025-10-27T05:34:04.421Z,1761543244.421 [DAT](INFO): DAT read: Tx time:05:34:03.5728 2025-10-27T05:34:04.421Z,1761543244.421 [DAT](INFO): Ping request sent. 2025-10-27T05:34:04.421Z,1761543244.421 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:04.421Z,1761543244.421 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:04.422Z,1761543244.422 [DAT](INFO): direction in FSK: [0.943499,0.228256,0.240228] 2025-10-27T05:34:04.427Z,1761543244.427 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:04.428Z,1761543244.428 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:04.439Z,1761543244.439 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:04.440Z,1761543244.440 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:04.516Z,1761543244.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822299,0.555822,0.122008],[-0.566187,0.820628,0.077472],[-0.057063,-0.132785,0.989501]] 2025-10-27T05:34:04.576Z,1761543244.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.000000 m, deltaT: 3.778877 s, deltaX: -2.000000 m, approachRate: -0.529258 m/s, rangeRepo size: 4 2025-10-27T05:34:04.578Z,1761543244.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.303703 m, bearing: 340.596908 deg, lat: 36.779406 deg, lon: -121.859613 deg, deltaT: 3.778877 s, deltaX: -1.989143 m, approachRate: -0.526385 m/s, posRepo size: 4 2025-10-27T05:34:04.578Z,1761543244.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:04.589Z,1761543244.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 121.841179 m, bearing: 340.597164 deg, approach rate: 0.000000 m/s, LOS rate: 0.000184 deg/s, cmd heading: 326.883674 deg, new cmd heading: 326.883933 deg. 2025-10-27T05:34:04.590Z,1761543244.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705201 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:04.908Z,1761543244.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823393,0.553873,0.123484],[-0.564450,0.821809,0.077633],[-0.058482,-0.133623,0.989305]] 2025-10-27T05:34:04.958Z,1761543244.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:04.961Z,1761543244.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:04.963Z,1761543244.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 121.629890 m, bearing: 340.598181 deg, approach rate: -0.542171 m/s, LOS rate: 0.002614 deg/s, cmd heading: 326.883920 deg, new cmd heading: 326.886976 deg. 2025-10-27T05:34:04.964Z,1761543244.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705254 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:05.160Z,1761543245.160 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:05.160Z,1761543245.160 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:05.161Z,1761543245.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:05.310Z,1761543245.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824703,0.551636,0.124752],[-0.562358,0.823288,0.077139],[-0.060154,-0.133772,0.989185]] 2025-10-27T05:34:05.354Z,1761543245.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:05.360Z,1761543245.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 121.431686 m, bearing: 340.598904 deg, approach rate: -0.503711 m/s, LOS rate: 0.001839 deg/s, cmd heading: 326.886980 deg, new cmd heading: 326.889151 deg. 2025-10-27T05:34:05.361Z,1761543245.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705292 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:05.412Z,1761543245.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990997 2025-10-27T05:34:05.664Z,1761543245.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242848 2025-10-27T05:34:05.765Z,1761543245.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825890,0.549559,0.126060],[-0.560432,0.824644,0.076669],[-0.061820,-0.133968,0.989055]] 2025-10-27T05:34:05.802Z,1761543245.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:05.804Z,1761543245.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 121.197418 m, bearing: 340.602454 deg, approach rate: -0.523429 m/s, LOS rate: 0.007947 deg/s, cmd heading: 326.889138 deg, new cmd heading: 326.899809 deg. 2025-10-27T05:34:05.805Z,1761543245.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705478 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:05.917Z,1761543245.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495730 2025-10-27T05:34:06.151Z,1761543246.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:06.154Z,1761543246.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 121.016815 m, bearing: 340.605200 deg, approach rate: -0.517024 m/s, LOS rate: 0.007873 deg/s, cmd heading: 326.899820 deg, new cmd heading: 326.908071 deg. 2025-10-27T05:34:06.155Z,1761543246.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705622 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:06.168Z,1761543246.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746928 2025-10-27T05:34:06.421Z,1761543246.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000229 2025-10-27T05:34:06.522Z,1761543246.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827592,0.545893,0.130735],[-0.557511,0.826479,0.078195],[-0.065364,-0.137600,0.988329]] 2025-10-27T05:34:06.560Z,1761543246.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:06.562Z,1761543246.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 120.813774 m, bearing: 340.607983 deg, approach rate: -0.496364 m/s, LOS rate: 0.006815 deg/s, cmd heading: 326.908071 deg, new cmd heading: 326.916434 deg. 2025-10-27T05:34:06.568Z,1761543246.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705768 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:06.673Z,1761543246.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252393 2025-10-27T05:34:06.924Z,1761543246.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502733 2025-10-27T05:34:06.936Z,1761543246.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827876,0.544847,0.133274],[-0.556885,0.826812,0.079125],[-0.067082,-0.139724,0.987916]] 2025-10-27T05:34:06.991Z,1761543246.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:07.001Z,1761543247.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:07.004Z,1761543247.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 120.583923 m, bearing: 340.614261 deg, approach rate: -0.521412 m/s, LOS rate: 0.014268 deg/s, cmd heading: 326.916431 deg, new cmd heading: 326.935301 deg. 2025-10-27T05:34:07.005Z,1761543247.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706098 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:07.176Z,1761543247.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754790 2025-10-27T05:34:07.333Z,1761543247.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827880,0.544317,0.135400],[-0.556696,0.826884,0.079697],[-0.068579,-0.141357,0.987581]] 2025-10-27T05:34:07.381Z,1761543247.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:07.384Z,1761543247.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 120.368996 m, bearing: 340.620144 deg, approach rate: -0.565757 m/s, LOS rate: 0.015513 deg/s, cmd heading: 326.935310 deg, new cmd heading: 326.952990 deg. 2025-10-27T05:34:07.384Z,1761543247.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706406 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:07.428Z,1761543247.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007040 2025-10-27T05:34:07.680Z,1761543247.680 [DAT](INFO): DAT read: Rx Time:05:34:06.1397 2025-10-27T05:34:07.680Z,1761543247.680 [DAT](INFO): Rx dataTimestamp_ set to:1761543247.680178 2025-10-27T05:34:07.681Z,1761543247.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259989 2025-10-27T05:34:07.803Z,1761543247.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827951,0.543602,0.137823],[-0.556390,0.827008,0.080546],[-0.070196,-0.143371,0.987176]] 2025-10-27T05:34:07.873Z,1761543247.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.30 m. 2025-10-27T05:34:07.876Z,1761543247.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.303703 m, nav range: 120.099716 m, bearing: 340.632632 deg, approach rate: -0.546645 m/s, LOS rate: 0.025409 deg/s, cmd heading: 326.952987 deg, new cmd heading: 326.990536 deg. 2025-10-27T05:34:07.877Z,1761543247.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707061 target range: 123.303703 and range: 124.00 m. 2025-10-27T05:34:07.933Z,1761543247.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511753 2025-10-27T05:34:08.190Z,1761543248.190 [DAT](INFO): DAT read: 05:34:06.1397 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.20,-0.656,-2.535,-0.943,-0.998, PHS= 0.444,-1.492, 0.012, RAW= 137.7, 11.8, CAL= 137.1, 12.8, ROT= 12.9, -12.8 2025-10-27T05:34:08.192Z,1761543248.192 [DAT](INFO): got valid direction response: 05:34:06.1397 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.20,-0.656,-2.535,-0.943,-0.998, PHS= 0.444,-1.492, 0.012, RAW= 137.7, 11.8, CAL= 137.1, 12.8, ROT= 12.9, -12.8 2025-10-27T05:34:08.193Z,1761543248.193 [DAT](INFO): DAT read: Bearing 127.8, 6.8 (Local) 2025-10-27T05:34:08.193Z,1761543248.193 [DAT](INFO): Local bearing/azimuth received: Bearing 127.8, 6.8 (Local) 2025-10-27T05:34:08.194Z,1761543248.194 [DAT](INFO): DAT read: Range 11 to 50 : 122.1 m (Round-trip 162.8 ms) speed 0.8 m/s 2025-10-27T05:34:08.199Z,1761543248.199 [DAT](INFO): DAT read: user:447> 2025-10-27T05:34:08.200Z,1761543248.200 [DAT](INFO): DAT read: Tx time:05:34:07.2227 2025-10-27T05:34:08.200Z,1761543248.200 [DAT](INFO): Ping request sent. 2025-10-27T05:34:08.201Z,1761543248.201 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:08.201Z,1761543248.201 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:08.202Z,1761543248.202 [DAT](INFO): direction in FSK: [0.950538,0.217702,0.221548] 2025-10-27T05:34:08.202Z,1761543248.202 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:08.202Z,1761543248.202 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:08.206Z,1761543248.206 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:08.206Z,1761543248.206 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:08.273Z,1761543248.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 122.099998 m, deltaT: 3.780190 s, deltaX: -1.900002 m, approachRate: -0.502621 m/s, rangeRepo size: 4 2025-10-27T05:34:08.282Z,1761543248.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.414047 m, bearing: 340.523238 deg, lat: 36.779408 deg, lon: -121.859613 deg, deltaT: 3.780190 s, deltaX: -1.889656 m, approachRate: -0.499884 m/s, posRepo size: 4 2025-10-27T05:34:08.303Z,1761543248.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:08.306Z,1761543248.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 120.097900 m, bearing: 340.673938 deg, approach rate: 0.000000 m/s, LOS rate: 0.025409 deg/s, cmd heading: 326.990525 deg, new cmd heading: 327.020959 deg. 2025-10-27T05:34:08.311Z,1761543248.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707592 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:08.674Z,1761543248.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:08.677Z,1761543248.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 119.854393 m, bearing: 340.685365 deg, approach rate: -0.606414 m/s, LOS rate: 0.028515 deg/s, cmd heading: 327.020961 deg, new cmd heading: 327.055311 deg. 2025-10-27T05:34:08.678Z,1761543248.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708192 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:09.044Z,1761543249.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827199,0.543400,0.143035],[-0.557124,0.826289,0.082824],[-0.073182,-0.148200,0.986246]] 2025-10-27T05:34:09.079Z,1761543249.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:09.081Z,1761543249.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:09.084Z,1761543249.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 119.619553 m, bearing: 340.701970 deg, approach rate: -0.576421 m/s, LOS rate: 0.040838 deg/s, cmd heading: 327.055303 deg, new cmd heading: 327.105217 deg. 2025-10-27T05:34:09.085Z,1761543249.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709063 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:09.193Z,1761543249.193 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:09.193Z,1761543249.193 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:09.193Z,1761543249.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:09.444Z,1761543249.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243364 2025-10-27T05:34:09.448Z,1761543249.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827270,0.542938,0.144370],[-0.556854,0.826483,0.082700],[-0.074418,-0.148809,0.986062]] 2025-10-27T05:34:09.488Z,1761543249.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:09.491Z,1761543249.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 119.396500 m, bearing: 340.717775 deg, approach rate: -0.548700 m/s, LOS rate: 0.038953 deg/s, cmd heading: 327.105218 deg, new cmd heading: 327.152722 deg. 2025-10-27T05:34:09.496Z,1761543249.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709892 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:09.696Z,1761543249.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495428 2025-10-27T05:34:09.862Z,1761543249.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826813,0.543281,0.145694],[-0.557417,0.826076,0.082970],[-0.075278,-0.149813,0.985844]] 2025-10-27T05:34:09.898Z,1761543249.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:09.901Z,1761543249.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 119.143631 m, bearing: 340.740367 deg, approach rate: -0.616944 m/s, LOS rate: 0.055235 deg/s, cmd heading: 327.152729 deg, new cmd heading: 327.220646 deg. 2025-10-27T05:34:09.902Z,1761543249.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711078 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:09.948Z,1761543249.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747389 2025-10-27T05:34:10.200Z,1761543250.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999372 2025-10-27T05:34:10.262Z,1761543250.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826411,0.543635,0.146650],[-0.557922,0.825729,0.083035],[-0.075952,-0.150440,0.985697]] 2025-10-27T05:34:10.281Z,1761543250.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:10.284Z,1761543250.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 118.918465 m, bearing: 340.760639 deg, approach rate: -0.587957 m/s, LOS rate: 0.053035 deg/s, cmd heading: 327.220648 deg, new cmd heading: 327.281579 deg. 2025-10-27T05:34:10.285Z,1761543250.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712141 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:10.452Z,1761543250.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251318 2025-10-27T05:34:10.658Z,1761543250.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826504,0.543545,0.146457],[-0.557700,0.826010,0.081715],[-0.076560,-0.149217,0.985836]] 2025-10-27T05:34:10.676Z,1761543250.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:10.679Z,1761543250.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 118.686172 m, bearing: 340.781603 deg, approach rate: -0.587647 m/s, LOS rate: 0.053139 deg/s, cmd heading: 327.281573 deg, new cmd heading: 327.344590 deg. 2025-10-27T05:34:10.680Z,1761543250.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713241 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:10.704Z,1761543250.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503800 2025-10-27T05:34:10.957Z,1761543250.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755823 2025-10-27T05:34:11.118Z,1761543251.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:11.120Z,1761543251.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:11.123Z,1761543251.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 118.428696 m, bearing: 340.801164 deg, approach rate: -0.579660 m/s, LOS rate: 0.044134 deg/s, cmd heading: 327.344602 deg, new cmd heading: 327.403413 deg. 2025-10-27T05:34:11.124Z,1761543251.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714268 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:11.209Z,1761543251.209 [DAT](INFO): DAT read: Rx Time:05:34:09.7868 2025-10-27T05:34:11.210Z,1761543251.210 [DAT](INFO): Rx dataTimestamp_ set to:1761543251.209321 2025-10-27T05:34:11.211Z,1761543251.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009758 2025-10-27T05:34:11.460Z,1761543251.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259379 2025-10-27T05:34:11.467Z,1761543251.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826256,0.543942,0.146381],[-0.558048,0.825823,0.081230],[-0.076701,-0.148804,0.985888]] 2025-10-27T05:34:11.514Z,1761543251.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.41 m. 2025-10-27T05:34:11.521Z,1761543251.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.414047 m, nav range: 118.215080 m, bearing: 340.817504 deg, approach rate: -0.542951 m/s, LOS rate: 0.041607 deg/s, cmd heading: 327.403424 deg, new cmd heading: 327.452533 deg. 2025-10-27T05:34:11.522Z,1761543251.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715125 target range: 121.414047 and range: 122.10 m. 2025-10-27T05:34:11.721Z,1761543251.721 [DAT](INFO): DAT read: 05:34:09.7868 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.30, 0.172,-1.718,-0.081,-0.150, PHS= 0.424,-1.523, 0.025, RAW= 138.8, 12.0, CAL= 138.2, 13.1, ROT= 11.8, -13.1 2025-10-27T05:34:11.723Z,1761543251.723 [DAT](INFO): got valid direction response: 05:34:09.7868 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.30, 0.172,-1.718,-0.081,-0.150, PHS= 0.424,-1.523, 0.025, RAW= 138.8, 12.0, CAL= 138.2, 13.1, ROT= 11.8, -13.1 2025-10-27T05:34:11.724Z,1761543251.724 [DAT](INFO): DAT read: Bearing 129.2, 4.7 (Local) 2025-10-27T05:34:11.725Z,1761543251.725 [DAT](INFO): Local bearing/azimuth received: Bearing 129.2, 4.7 (Local) 2025-10-27T05:34:11.727Z,1761543251.727 [DAT](INFO): DAT read: Range 11 to 50 : 119.9 m (Round-trip 159.9 ms) speed 0.1 m/s 2025-10-27T05:34:11.728Z,1761543251.728 [DAT](INFO): DAT read: user:448> 2025-10-27T05:34:11.729Z,1761543251.729 [DAT](INFO): DAT read: Tx time:05:34:10.8727 2025-10-27T05:34:11.730Z,1761543251.730 [DAT](INFO): Ping request sent. 2025-10-27T05:34:11.730Z,1761543251.730 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:11.730Z,1761543251.730 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:11.732Z,1761543251.732 [DAT](INFO): direction in FSK: [0.953393,0.199174,0.226651] 2025-10-27T05:34:11.732Z,1761543251.732 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:11.733Z,1761543251.733 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:11.773Z,1761543251.773 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:11.773Z,1761543251.773 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:11.924Z,1761543251.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826378,0.543886,0.145899],[-0.557947,0.825857,0.081579],[-0.076122,-0.148819,0.985930]] 2025-10-27T05:34:12.010Z,1761543252.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.900002 m, deltaT: 3.528065 s, deltaX: -2.199997 m, approachRate: -0.623570 m/s, rangeRepo size: 4 2025-10-27T05:34:12.016Z,1761543252.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.225632 m, bearing: 339.417436 deg, lat: 36.779408 deg, lon: -121.859613 deg, deltaT: 3.528065 s, deltaX: -2.188416 m, approachRate: -0.620288 m/s, posRepo size: 4 2025-10-27T05:34:12.017Z,1761543252.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:12.027Z,1761543252.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 117.926071 m, bearing: 340.839282 deg, approach rate: 0.000000 m/s, LOS rate: 0.041607 deg/s, cmd heading: 327.452519 deg, new cmd heading: 327.514403 deg. 2025-10-27T05:34:12.029Z,1761543252.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716205 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:12.488Z,1761543252.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827080,0.543527,0.143235],[-0.557190,0.826365,0.081607],[-0.074009,-0.147304,0.986319]] 2025-10-27T05:34:12.511Z,1761543252.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:12.527Z,1761543252.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 117.623138 m, bearing: 340.862074 deg, approach rate: -0.604563 m/s, LOS rate: 0.045602 deg/s, cmd heading: 327.514401 deg, new cmd heading: 327.582952 deg. 2025-10-27T05:34:12.528Z,1761543252.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717401 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:13.036Z,1761543253.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:13.039Z,1761543253.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 117.328575 m, bearing: 340.879256 deg, approach rate: -0.560353 m/s, LOS rate: 0.032767 deg/s, cmd heading: 327.582949 deg, new cmd heading: 327.634624 deg. 2025-10-27T05:34:13.040Z,1761543253.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718303 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:13.445Z,1761543253.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828792,0.541643,0.140454],[-0.554983,0.827730,0.082807],[-0.071406,-0.146579,0.986618]] 2025-10-27T05:34:13.461Z,1761543253.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:13.463Z,1761543253.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:13.466Z,1761543253.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 117.089478 m, bearing: 340.892937 deg, approach rate: -0.560273 m/s, LOS rate: 0.032125 deg/s, cmd heading: 327.634612 deg, new cmd heading: 327.675741 deg. 2025-10-27T05:34:13.467Z,1761543253.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719020 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:13.484Z,1761543253.484 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:13.484Z,1761543253.484 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:13.484Z,1761543253.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:13.736Z,1761543253.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006283 2025-10-27T05:34:13.884Z,1761543253.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829920,0.540287,0.139010],[-0.553454,0.828697,0.083364],[-0.070157,-0.146121,0.986776]] 2025-10-27T05:34:13.927Z,1761543253.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:13.930Z,1761543253.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 116.843140 m, bearing: 340.902789 deg, approach rate: -0.530678 m/s, LOS rate: 0.021268 deg/s, cmd heading: 327.675730 deg, new cmd heading: 327.705347 deg. 2025-10-27T05:34:13.931Z,1761543253.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719537 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:13.989Z,1761543253.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258969 2025-10-27T05:34:14.240Z,1761543254.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510038 2025-10-27T05:34:14.252Z,1761543254.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830966,0.538954,0.137925],[-0.552029,0.829552,0.084301],[-0.068982,-0.146191,0.986848]] 2025-10-27T05:34:14.287Z,1761543254.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:14.290Z,1761543254.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 116.661263 m, bearing: 340.909932 deg, approach rate: -0.506159 m/s, LOS rate: 0.019910 deg/s, cmd heading: 327.705346 deg, new cmd heading: 327.726808 deg. 2025-10-27T05:34:14.291Z,1761543254.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719912 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:14.492Z,1761543254.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761858 2025-10-27T05:34:14.653Z,1761543254.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832171,0.537518,0.136257],[-0.550333,0.830704,0.084051],[-0.068011,-0.144931,0.987102]] 2025-10-27T05:34:14.678Z,1761543254.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:14.680Z,1761543254.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 116.445068 m, bearing: 340.918228 deg, approach rate: -0.552969 m/s, LOS rate: 0.021259 deg/s, cmd heading: 327.726820 deg, new cmd heading: 327.751755 deg. 2025-10-27T05:34:14.681Z,1761543254.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720347 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:14.746Z,1761543254.746 [DAT](INFO): DAT read: Rx Time:05:34:13.4341 2025-10-27T05:34:14.746Z,1761543254.746 [DAT](INFO): Rx dataTimestamp_ set to:1761543254.745906 2025-10-27T05:34:14.748Z,1761543254.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016784 2025-10-27T05:34:14.996Z,1761543254.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265910 2025-10-27T05:34:15.106Z,1761543255.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:15.109Z,1761543255.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 116.217667 m, bearing: 340.926988 deg, approach rate: -0.530397 m/s, LOS rate: 0.020471 deg/s, cmd heading: 327.751764 deg, new cmd heading: 327.778094 deg. 2025-10-27T05:34:15.110Z,1761543255.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720807 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:15.248Z,1761543255.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517845 2025-10-27T05:34:15.468Z,1761543255.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834937,0.533875,0.133635],[-0.546250,0.833491,0.083094],[-0.067022,-0.142376,0.987541]] 2025-10-27T05:34:15.485Z,1761543255.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:15.487Z,1761543255.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:15.490Z,1761543255.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 116.015770 m, bearing: 340.934296 deg, approach rate: -0.530274 m/s, LOS rate: 0.019229 deg/s, cmd heading: 327.778101 deg, new cmd heading: 327.800064 deg. 2025-10-27T05:34:15.491Z,1761543255.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721190 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:15.506Z,1761543255.506 [DAT](INFO): DAT read: 05:34:13.4341 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.36,-2.276, 2.227,-2.461,-2.555, PHS= 0.381,-1.456, 0.050, RAW= 140.3, 12.1, CAL= 139.6, 13.1, ROT= 10.4, -13.1 2025-10-27T05:34:15.511Z,1761543255.511 [DAT](INFO): got valid direction response: 05:34:13.4341 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.36,-2.276, 2.227,-2.461,-2.555, PHS= 0.381,-1.456, 0.050, RAW= 140.3, 12.1, CAL= 139.6, 13.1, ROT= 10.4, -13.1 2025-10-27T05:34:15.512Z,1761543255.512 [DAT](INFO): DAT read: $Error in header 2025-10-27T05:34:15.512Z,1761543255.512 [DAT](INFO): Received a bad header 2025-10-27T05:34:15.523Z,1761543255.523 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:34:15.524Z,1761543255.524 [DAT](INFO): direction in FSK: [0.957975,0.175821,0.226651] 2025-10-27T05:34:15.528Z,1761543255.528 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:15.528Z,1761543255.528 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:15.528Z,1761543255.528 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:15.752Z,1761543255.752 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:15.752Z,1761543255.752 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:15.752Z,1761543255.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:15.904Z,1761543255.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835884,0.532647,0.132609],[-0.544846,0.834454,0.082641],[-0.066638,-0.141330,0.987717]] 2025-10-27T05:34:15.961Z,1761543255.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:15.964Z,1761543255.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 115.765976 m, bearing: 340.941168 deg, approach rate: -0.527047 m/s, LOS rate: 0.014529 deg/s, cmd heading: 327.800067 deg, new cmd heading: 327.820725 deg. 2025-10-27T05:34:15.965Z,1761543255.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721551 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:16.005Z,1761543256.005 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:16.005Z,1761543256.005 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:16.005Z,1761543256.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:16.256Z,1761543256.256 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:16.256Z,1761543256.256 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:16.256Z,1761543256.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:16.271Z,1761543256.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836717,0.531204,0.133140],[-0.543455,0.835399,0.082247],[-0.067535,-0.141173,0.987679]] 2025-10-27T05:34:16.290Z,1761543256.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:16.293Z,1761543256.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 115.592224 m, bearing: 340.945822 deg, approach rate: -0.528492 m/s, LOS rate: 0.014178 deg/s, cmd heading: 327.820721 deg, new cmd heading: 327.834705 deg. 2025-10-27T05:34:16.293Z,1761543256.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721795 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:16.508Z,1761543256.508 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:16.508Z,1761543256.508 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:16.508Z,1761543256.508 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:16.678Z,1761543256.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837483,0.529934,0.133386],[-0.542176,0.836294,0.081589],[-0.068313,-0.140648,0.987700]] 2025-10-27T05:34:16.697Z,1761543256.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:16.701Z,1761543256.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 115.377670 m, bearing: 340.951424 deg, approach rate: -0.527301 m/s, LOS rate: 0.013793 deg/s, cmd heading: 327.834709 deg, new cmd heading: 327.851546 deg. 2025-10-27T05:34:16.702Z,1761543256.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722089 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:16.761Z,1761543256.761 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:16.761Z,1761543256.761 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:16.762Z,1761543256.762 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:17.012Z,1761543257.012 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:17.012Z,1761543257.012 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:17.012Z,1761543257.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:17.082Z,1761543257.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838258,0.528607,0.133785],[-0.540875,0.837182,0.081120],[-0.069122,-0.140361,0.987685]] 2025-10-27T05:34:17.106Z,1761543257.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:17.108Z,1761543257.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 115.162010 m, bearing: 340.956908 deg, approach rate: -0.527245 m/s, LOS rate: 0.013434 deg/s, cmd heading: 327.851539 deg, new cmd heading: 327.868024 deg. 2025-10-27T05:34:17.109Z,1761543257.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722376 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:17.264Z,1761543257.264 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:17.264Z,1761543257.264 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:17.264Z,1761543257.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:17.485Z,1761543257.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838807,0.527494,0.134734],[-0.539946,0.837716,0.081792],[-0.069724,-0.141356,0.987500]] 2025-10-27T05:34:17.515Z,1761543257.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:17.516Z,1761543257.516 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:17.516Z,1761543257.516 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:17.516Z,1761543257.516 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:17.518Z,1761543257.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:17.521Z,1761543257.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 114.945435 m, bearing: 340.962325 deg, approach rate: -0.524727 m/s, LOS rate: 0.013148 deg/s, cmd heading: 327.868013 deg, new cmd heading: 327.884293 deg. 2025-10-27T05:34:17.522Z,1761543257.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722661 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:17.768Z,1761543257.768 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:17.768Z,1761543257.768 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:17.768Z,1761543257.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:17.929Z,1761543257.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838919,0.527096,0.135593],[-0.539699,0.837838,0.082177],[-0.070290,-0.142119,0.987351]] 2025-10-27T05:34:17.988Z,1761543257.988 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD +0.00, +0.00, 20.00,631.32 2025-10-27T05:34:18.003Z,1761543258.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:18.006Z,1761543258.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 114.688805 m, bearing: 340.968739 deg, approach rate: -0.529306 m/s, LOS rate: 0.013259 deg/s, cmd heading: 327.884297 deg, new cmd heading: 327.903582 deg. 2025-10-27T05:34:18.007Z,1761543258.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722997 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:18.020Z,1761543258.020 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:18.020Z,1761543258.020 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:18.020Z,1761543258.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:18.272Z,1761543258.272 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:18.272Z,1761543258.272 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:18.272Z,1761543258.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:18.293Z,1761543258.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839273,0.526352,0.136285],[-0.539047,0.838269,0.082055],[-0.071054,-0.142331,0.987266]] 2025-10-27T05:34:18.352Z,1761543258.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:18.354Z,1761543258.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 114.526451 m, bearing: 340.972751 deg, approach rate: -0.465820 m/s, LOS rate: 0.011526 deg/s, cmd heading: 327.903585 deg, new cmd heading: 327.915637 deg. 2025-10-27T05:34:18.356Z,1761543258.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723207 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:18.524Z,1761543258.524 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:18.524Z,1761543258.524 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:18.524Z,1761543258.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:18.744Z,1761543258.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:18.747Z,1761543258.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 114.298798 m, bearing: 340.978395 deg, approach rate: -0.580025 m/s, LOS rate: 0.014410 deg/s, cmd heading: 327.915634 deg, new cmd heading: 327.932601 deg. 2025-10-27T05:34:18.748Z,1761543258.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723504 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:18.784Z,1761543258.784 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:18.784Z,1761543258.784 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:18.784Z,1761543258.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:19.036Z,1761543259.036 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:19.036Z,1761543259.036 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:19.036Z,1761543259.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:19.110Z,1761543259.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839324,0.525619,0.138781],[-0.538720,0.838421,0.082650],[-0.072914,-0.144134,0.986868]] 2025-10-27T05:34:19.158Z,1761543259.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:19.162Z,1761543259.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 114.064812 m, bearing: 340.989965 deg, approach rate: -0.565566 m/s, LOS rate: 0.028023 deg/s, cmd heading: 327.932600 deg, new cmd heading: 327.967381 deg. 2025-10-27T05:34:19.163Z,1761543259.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724111 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:19.288Z,1761543259.288 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:19.288Z,1761543259.288 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:19.288Z,1761543259.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:19.537Z,1761543259.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:19.540Z,1761543259.540 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:19.540Z,1761543259.540 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:19.540Z,1761543259.540 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:19.541Z,1761543259.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:19.544Z,1761543259.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 113.849823 m, bearing: 341.000638 deg, approach rate: -0.561321 m/s, LOS rate: 0.027919 deg/s, cmd heading: 327.967379 deg, new cmd heading: 327.999458 deg. 2025-10-27T05:34:19.545Z,1761543259.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724670 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:19.792Z,1761543259.792 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:19.792Z,1761543259.792 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:19.792Z,1761543259.792 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:19.944Z,1761543259.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838653,0.526001,0.141365],[-0.539581,0.837734,0.083987],[-0.074249,-0.146714,0.986389]] 2025-10-27T05:34:19.981Z,1761543259.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:20.001Z,1761543260.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 113.600441 m, bearing: 341.013221 deg, approach rate: -0.566533 m/s, LOS rate: 0.028650 deg/s, cmd heading: 327.999454 deg, new cmd heading: 328.037288 deg. 2025-10-27T05:34:20.002Z,1761543260.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725331 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:20.044Z,1761543260.044 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:20.044Z,1761543260.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:20.044Z,1761543260.044 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:20.296Z,1761543260.296 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:20.296Z,1761543260.296 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:20.297Z,1761543260.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:20.357Z,1761543260.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838295,0.526311,0.142332],[-0.540054,0.837404,0.084238],[-0.074854,-0.147484,0.986228]] 2025-10-27T05:34:20.401Z,1761543260.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:20.405Z,1761543260.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 113.357895 m, bearing: 341.027358 deg, approach rate: -0.577087 m/s, LOS rate: 0.033707 deg/s, cmd heading: 328.037293 deg, new cmd heading: 328.079794 deg. 2025-10-27T05:34:20.406Z,1761543260.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726073 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:20.548Z,1761543260.548 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:20.548Z,1761543260.548 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:20.548Z,1761543260.548 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:20.758Z,1761543260.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837798,0.526471,0.144649],[-0.540743,0.836720,0.086582],[-0.075447,-0.150756,0.985688]] 2025-10-27T05:34:20.776Z,1761543260.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:20.778Z,1761543260.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 113.142082 m, bearing: 341.040096 deg, approach rate: -0.577430 m/s, LOS rate: 0.034147 deg/s, cmd heading: 328.079804 deg, new cmd heading: 328.118091 deg. 2025-10-27T05:34:20.779Z,1761543260.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726741 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:20.800Z,1761543260.800 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:20.800Z,1761543260.800 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:20.800Z,1761543260.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:21.052Z,1761543261.052 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:21.052Z,1761543261.052 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:21.052Z,1761543261.052 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:21.237Z,1761543261.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837184,0.526928,0.146527],[-0.541638,0.835937,0.088529],[-0.075839,-0.153479,0.985237]] 2025-10-27T05:34:21.275Z,1761543261.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:21.278Z,1761543261.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 112.854614 m, bearing: 341.057603 deg, approach rate: -0.575448 m/s, LOS rate: 0.035135 deg/s, cmd heading: 328.118080 deg, new cmd heading: 328.170735 deg. 2025-10-27T05:34:21.295Z,1761543261.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727660 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:21.304Z,1761543261.304 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:21.304Z,1761543261.304 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:21.304Z,1761543261.304 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:21.556Z,1761543261.556 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:21.556Z,1761543261.556 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:21.556Z,1761543261.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:34:21.642Z,1761543261.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836986,0.526076,0.150661],[-0.541773,0.835388,0.092783],[-0.077049,-0.159282,0.984222]] 2025-10-27T05:34:21.666Z,1761543261.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:21.669Z,1761543261.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:21.671Z,1761543261.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 112.628189 m, bearing: 341.071496 deg, approach rate: -0.574858 m/s, LOS rate: 0.035343 deg/s, cmd heading: 328.170727 deg, new cmd heading: 328.212490 deg. 2025-10-27T05:34:21.672Z,1761543261.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728389 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:21.808Z,1761543261.808 [DAT](INFO): Reached modem response timeout 2025-10-27T05:34:21.808Z,1761543261.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:21.808Z,1761543261.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:22.060Z,1761543262.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:22.096Z,1761543262.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837019,0.525536,0.152354],[-0.541740,0.835080,0.095709],[-0.076929,-0.162647,0.983681]] 2025-10-27T05:34:22.161Z,1761543262.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:22.168Z,1761543262.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 112.352661 m, bearing: 341.085694 deg, approach rate: -0.560074 m/s, LOS rate: 0.028931 deg/s, cmd heading: 328.212501 deg, new cmd heading: 328.255199 deg. 2025-10-27T05:34:22.169Z,1761543262.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729134 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:22.313Z,1761543262.313 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:22.504Z,1761543262.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837136,0.524741,0.154434],[-0.541605,0.834701,0.099691],[-0.076594,-0.167097,0.982961]] 2025-10-27T05:34:22.523Z,1761543262.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:22.526Z,1761543262.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 112.141602 m, bearing: 341.096610 deg, approach rate: -0.582257 m/s, LOS rate: 0.030171 deg/s, cmd heading: 328.255203 deg, new cmd heading: 328.288013 deg. 2025-10-27T05:34:22.527Z,1761543262.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729707 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:22.564Z,1761543262.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:22.817Z,1761543262.817 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:22.902Z,1761543262.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837592,0.523401,0.156493],[-0.540932,0.834655,0.103650],[-0.076367,-0.171469,0.982225]] 2025-10-27T05:34:22.934Z,1761543262.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:22.968Z,1761543262.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 111.909134 m, bearing: 341.108597 deg, approach rate: -0.567151 m/s, LOS rate: 0.029305 deg/s, cmd heading: 328.288015 deg, new cmd heading: 328.324051 deg. 2025-10-27T05:34:22.977Z,1761543262.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730336 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:23.069Z,1761543263.069 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:23.320Z,1761543263.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:23.372Z,1761543263.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:23.392Z,1761543263.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 111.663223 m, bearing: 341.121270 deg, approach rate: -0.559676 m/s, LOS rate: 0.028907 deg/s, cmd heading: 328.324052 deg, new cmd heading: 328.362155 deg. 2025-10-27T05:34:23.393Z,1761543263.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731001 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:23.572Z,1761543263.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:23.765Z,1761543263.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:23.767Z,1761543263.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:23.770Z,1761543263.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 111.443535 m, bearing: 341.132640 deg, approach rate: -0.556744 m/s, LOS rate: 0.028871 deg/s, cmd heading: 328.362164 deg, new cmd heading: 328.396341 deg. 2025-10-27T05:34:23.771Z,1761543263.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731597 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:23.825Z,1761543263.825 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:24.076Z,1761543264.076 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:34:24.076Z,1761543264.076 [DAT](INFO): response not received 2025-10-27T05:34:24.077Z,1761543264.077 [DAT](INFO): DAT read: user:450> 2025-10-27T05:34:24.077Z,1761543264.077 [DAT](ERROR): No response from remote modem. 2025-10-27T05:34:24.077Z,1761543264.077 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:24.078Z,1761543264.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:24.138Z,1761543264.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840377,0.518866,0.156664],[-0.536754,0.836841,0.107666],[-0.075239,-0.174570,0.981766]] 2025-10-27T05:34:24.200Z,1761543264.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:24.203Z,1761543264.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 111.216728 m, bearing: 341.142926 deg, approach rate: -0.523794 m/s, LOS rate: 0.023803 deg/s, cmd heading: 328.396342 deg, new cmd heading: 328.427262 deg. 2025-10-27T05:34:24.204Z,1761543264.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732137 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:24.329Z,1761543264.329 [DAT](INFO): DAT read: Tx time:05:34:23.3227 2025-10-27T05:34:24.330Z,1761543264.330 [DAT](INFO): Ping request sent. 2025-10-27T05:34:24.330Z,1761543264.330 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:24.331Z,1761543264.331 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:24.332Z,1761543264.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001794 2025-10-27T05:34:24.530Z,1761543264.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841348,0.517347,0.156479],[-0.535331,0.837543,0.109280],[-0.074523,-0.175711,0.981617]] 2025-10-27T05:34:24.547Z,1761543264.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:24.550Z,1761543264.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 111.018547 m, bearing: 341.151776 deg, approach rate: -0.570356 m/s, LOS rate: 0.025515 deg/s, cmd heading: 328.427269 deg, new cmd heading: 328.453867 deg. 2025-10-27T05:34:24.551Z,1761543264.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732602 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:24.583Z,1761543264.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252911 2025-10-27T05:34:24.833Z,1761543264.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502568 2025-10-27T05:34:24.930Z,1761543264.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842620,0.515678,0.155135],[-0.533401,0.838826,0.108878],[-0.073986,-0.174492,0.981875]] 2025-10-27T05:34:24.970Z,1761543264.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:24.993Z,1761543264.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 110.800110 m, bearing: 341.161299 deg, approach rate: -0.518518 m/s, LOS rate: 0.022651 deg/s, cmd heading: 328.453880 deg, new cmd heading: 328.482506 deg. 2025-10-27T05:34:25.001Z,1761543265.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733101 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:25.085Z,1761543265.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754640 2025-10-27T05:34:25.338Z,1761543265.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007638 2025-10-27T05:34:25.358Z,1761543265.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843852,0.514039,0.153874],[-0.531516,0.840075,0.108464],[-0.073511,-0.173314,0.982119]] 2025-10-27T05:34:25.414Z,1761543265.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:25.417Z,1761543265.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 110.553970 m, bearing: 341.173389 deg, approach rate: -0.552930 m/s, LOS rate: 0.027220 deg/s, cmd heading: 328.482512 deg, new cmd heading: 328.518863 deg. 2025-10-27T05:34:25.418Z,1761543265.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733736 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:25.588Z,1761543265.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257882 2025-10-27T05:34:25.764Z,1761543265.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845129,0.512165,0.153114],[-0.529565,0.841224,0.109100],[-0.072926,-0.173287,0.982168]] 2025-10-27T05:34:25.781Z,1761543265.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:25.783Z,1761543265.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:25.785Z,1761543265.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 110.358849 m, bearing: 341.182774 deg, approach rate: -0.529079 m/s, LOS rate: 0.025492 deg/s, cmd heading: 328.518876 deg, new cmd heading: 328.547080 deg. 2025-10-27T05:34:25.786Z,1761543265.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734228 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:25.840Z,1761543265.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509676 2025-10-27T05:34:26.092Z,1761543266.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761776 2025-10-27T05:34:26.319Z,1761543266.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:26.340Z,1761543266.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 110.068985 m, bearing: 341.200154 deg, approach rate: -0.541119 m/s, LOS rate: 0.032530 deg/s, cmd heading: 328.547071 deg, new cmd heading: 328.599347 deg. 2025-10-27T05:34:26.344Z,1761543266.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013996 2025-10-27T05:34:26.345Z,1761543266.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735140 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:26.597Z,1761543266.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267050 2025-10-27T05:34:26.689Z,1761543266.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847252,0.509520,0.150176],[-0.526351,0.843360,0.108157],[-0.071544,-0.170681,0.982726]] 2025-10-27T05:34:26.713Z,1761543266.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:26.717Z,1761543266.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 109.849327 m, bearing: 341.212923 deg, approach rate: -0.557305 m/s, LOS rate: 0.032461 deg/s, cmd heading: 328.599335 deg, new cmd heading: 328.637718 deg. 2025-10-27T05:34:26.735Z,1761543266.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735810 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:26.848Z,1761543266.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517832 2025-10-27T05:34:27.101Z,1761543267.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771266 2025-10-27T05:34:27.226Z,1761543267.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:27.229Z,1761543267.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 109.570572 m, bearing: 341.232093 deg, approach rate: -0.542307 m/s, LOS rate: 0.037390 deg/s, cmd heading: 328.637721 deg, new cmd heading: 328.695378 deg. 2025-10-27T05:34:27.230Z,1761543267.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736816 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:27.352Z,1761543267.352 [DAT](INFO): DAT read: Rx Time:05:34:25.8749 2025-10-27T05:34:27.352Z,1761543267.352 [DAT](INFO): Rx dataTimestamp_ set to:1761543267.352160 2025-10-27T05:34:27.353Z,1761543267.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022935 2025-10-27T05:34:27.566Z,1761543267.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848673,0.507848,0.147796],[-0.524450,0.844225,0.110615],[-0.068598,-0.171388,0.982813]] 2025-10-27T05:34:27.601Z,1761543267.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m. 2025-10-27T05:34:27.604Z,1761543267.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273976 2025-10-27T05:34:27.605Z,1761543267.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.225632 m, nav range: 109.366600 m, bearing: 341.245932 deg, approach rate: -0.545187 m/s, LOS rate: 0.037059 deg/s, cmd heading: 328.695368 deg, new cmd heading: 328.736963 deg. 2025-10-27T05:34:27.606Z,1761543267.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737542 target range: 119.225632 and range: 119.90 m. 2025-10-27T05:34:27.862Z,1761543267.862 [DAT](INFO): DAT read: 05:34:25.8749 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 344, 0.30,-1.446, 2.880,-1.577,-1.712, PHS= 0.368,-1.647, 0.091, RAW= 142.7, 12.5, CAL= 142.2, 13.6, ROT= 7.8, -13.6 2025-10-27T05:34:27.864Z,1761543267.864 [DAT](INFO): got valid direction response: 05:34:25.8749 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 344, 0.30,-1.446, 2.880,-1.577,-1.712, PHS= 0.368,-1.647, 0.091, RAW= 142.7, 12.5, CAL= 142.2, 13.6, ROT= 7.8, -13.6 2025-10-27T05:34:27.865Z,1761543267.865 [DAT](INFO): DAT read: Bearing 137.5, 0.8 (Local) 2025-10-27T05:34:27.866Z,1761543267.866 [DAT](INFO): Local bearing/azimuth received: Bearing 137.5, 0.8 (Local) 2025-10-27T05:34:27.867Z,1761543267.867 [DAT](INFO): DAT read: Range 11 to 50 : 111.0 m (Round-trip 148.0 ms) speed 0.4 m/s 2025-10-27T05:34:27.868Z,1761543267.868 [DAT](INFO): DAT read: user:451> 2025-10-27T05:34:27.869Z,1761543267.869 [DAT](INFO): DAT read: Tx time:05:34:26.9727 2025-10-27T05:34:27.869Z,1761543267.869 [DAT](INFO): Ping request sent. 2025-10-27T05:34:27.869Z,1761543267.869 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:27.869Z,1761543267.869 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:27.870Z,1761543267.870 [DAT](INFO): direction in FSK: [0.962968,0.131910,0.235142] 2025-10-27T05:34:27.871Z,1761543267.871 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:27.874Z,1761543267.874 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:27.908Z,1761543267.908 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:27.908Z,1761543267.908 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:28.104Z,1761543268.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.000000 m, deltaT: 16.143704 s, deltaX: -8.900002 m, approachRate: -0.551299 m/s, rangeRepo size: 4 2025-10-27T05:34:28.106Z,1761543268.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.399277 m, bearing: 338.195306 deg, lat: 36.779406 deg, lon: -121.859618 deg, deltaT: 16.143704 s, deltaX: -8.826355 m, approachRate: -0.546737 m/s, posRepo size: 4 2025-10-27T05:34:28.107Z,1761543268.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:28.113Z,1761543268.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 109.072250 m, bearing: 341.009255 deg, approach rate: 0.000000 m/s, LOS rate: 0.037059 deg/s, cmd heading: 328.736950 deg, new cmd heading: 328.792372 deg. 2025-10-27T05:34:28.114Z,1761543268.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738510 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:28.482Z,1761543268.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:28.485Z,1761543268.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:28.488Z,1761543268.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 108.822121 m, bearing: 341.027725 deg, approach rate: -0.647925 m/s, LOS rate: 0.047954 deg/s, cmd heading: 328.792384 deg, new cmd heading: 328.847922 deg. 2025-10-27T05:34:28.489Z,1761543268.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739479 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:28.612Z,1761543268.612 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:28.612Z,1761543268.612 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:28.612Z,1761543268.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:28.864Z,1761543268.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994732 2025-10-27T05:34:28.912Z,1761543268.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850806,0.507220,0.137319],[-0.522186,0.845307,0.113041],[-0.058740,-0.167882,0.984056]] 2025-10-27T05:34:28.950Z,1761543268.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:28.953Z,1761543268.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 108.573372 m, bearing: 341.045763 deg, approach rate: -0.534716 m/s, LOS rate: 0.038864 deg/s, cmd heading: 328.847927 deg, new cmd heading: 328.902165 deg. 2025-10-27T05:34:28.954Z,1761543268.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740426 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:29.116Z,1761543269.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246749 2025-10-27T05:34:29.344Z,1761543269.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851119,0.507147,0.135641],[-0.522007,0.845000,0.116117],[-0.055729,-0.169635,0.983930]] 2025-10-27T05:34:29.368Z,1761543269.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498821 2025-10-27T05:34:29.390Z,1761543269.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:29.394Z,1761543269.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 108.311684 m, bearing: 341.065262 deg, approach rate: -0.594887 m/s, LOS rate: 0.044432 deg/s, cmd heading: 328.902159 deg, new cmd heading: 328.960795 deg. 2025-10-27T05:34:29.395Z,1761543269.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741449 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:29.620Z,1761543269.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750770 2025-10-27T05:34:29.784Z,1761543269.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851754,0.505873,0.136405],[-0.521228,0.844585,0.122466],[-0.053254,-0.175409,0.983054]] 2025-10-27T05:34:29.811Z,1761543269.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:29.816Z,1761543269.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 108.077072 m, bearing: 341.082723 deg, approach rate: -0.558695 m/s, LOS rate: 0.041671 deg/s, cmd heading: 328.960789 deg, new cmd heading: 329.013285 deg. 2025-10-27T05:34:29.818Z,1761543269.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742365 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:29.872Z,1761543269.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003112 2025-10-27T05:34:30.124Z,1761543270.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254829 2025-10-27T05:34:30.191Z,1761543270.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851961,0.505715,0.135701],[-0.521186,0.843935,0.127042],[-0.050275,-0.178960,0.982571]] 2025-10-27T05:34:30.249Z,1761543270.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:30.256Z,1761543270.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 107.824600 m, bearing: 341.100370 deg, approach rate: -0.575534 m/s, LOS rate: 0.040323 deg/s, cmd heading: 329.013272 deg, new cmd heading: 329.066339 deg. 2025-10-27T05:34:30.257Z,1761543270.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743291 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:30.377Z,1761543270.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507668 2025-10-27T05:34:30.595Z,1761543270.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852489,0.505195,0.134314],[-0.520588,0.843786,0.130433],[-0.047437,-0.181115,0.982317]] 2025-10-27T05:34:30.611Z,1761543270.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:30.613Z,1761543270.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:30.628Z,1761543270.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758818 2025-10-27T05:34:30.632Z,1761543270.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 107.610275 m, bearing: 341.115335 deg, approach rate: -0.588239 m/s, LOS rate: 0.041153 deg/s, cmd heading: 329.066329 deg, new cmd heading: 329.111312 deg. 2025-10-27T05:34:30.633Z,1761543270.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744076 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:30.880Z,1761543270.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010775 2025-10-27T05:34:31.020Z,1761543271.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852888,0.504910,0.132842],[-0.520177,0.843572,0.133423],[-0.044695,-0.182896,0.982116]] 2025-10-27T05:34:31.130Z,1761543271.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:31.132Z,1761543271.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262831 2025-10-27T05:34:31.136Z,1761543271.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 107.333412 m, bearing: 341.134680 deg, approach rate: -0.536104 m/s, LOS rate: 0.037557 deg/s, cmd heading: 329.111299 deg, new cmd heading: 329.169486 deg. 2025-10-27T05:34:31.137Z,1761543271.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745091 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:31.384Z,1761543271.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514738 2025-10-27T05:34:31.402Z,1761543271.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853553,0.504479,0.130189],[-0.519307,0.843944,0.134453],[-0.042044,-0.182371,0.982331]] 2025-10-27T05:34:31.452Z,1761543271.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:31.455Z,1761543271.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 107.122932 m, bearing: 341.148553 deg, approach rate: -0.652517 m/s, LOS rate: 0.043090 deg/s, cmd heading: 329.169492 deg, new cmd heading: 329.211191 deg. 2025-10-27T05:34:31.456Z,1761543271.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745819 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:31.636Z,1761543271.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766733 2025-10-27T05:34:31.687Z,1761543271.687 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:34:31.820Z,1761543271.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854502,0.503340,0.128357],[-0.517929,0.844466,0.136480],[-0.039697,-0.183102,0.982292]] 2025-10-27T05:34:31.841Z,1761543271.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:31.844Z,1761543271.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 106.894485 m, bearing: 341.163467 deg, approach rate: -0.587488 m/s, LOS rate: 0.038438 deg/s, cmd heading: 329.211184 deg, new cmd heading: 329.256024 deg. 2025-10-27T05:34:31.845Z,1761543271.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746602 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:31.888Z,1761543271.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018804 2025-10-27T05:34:32.143Z,1761543272.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273326 2025-10-27T05:34:32.210Z,1761543272.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855729,0.501659,0.126748],[-0.516060,0.845241,0.138739],[-0.037533,-0.184132,0.982185]] 2025-10-27T05:34:32.253Z,1761543272.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:32.255Z,1761543272.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 106.658913 m, bearing: 341.177070 deg, approach rate: -0.572471 m/s, LOS rate: 0.033130 deg/s, cmd heading: 329.256017 deg, new cmd heading: 329.296916 deg. 2025-10-27T05:34:32.256Z,1761543272.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747315 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:32.392Z,1761543272.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523298 2025-10-27T05:34:32.614Z,1761543272.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856889,0.500419,0.123783],[-0.514300,0.846261,0.139061],[-0.035164,-0.182821,0.982517]] 2025-10-27T05:34:32.631Z,1761543272.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:32.633Z,1761543272.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:32.636Z,1761543272.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 106.440994 m, bearing: 341.189454 deg, approach rate: -0.572838 m/s, LOS rate: 0.032620 deg/s, cmd heading: 329.296916 deg, new cmd heading: 329.334144 deg. 2025-10-27T05:34:32.637Z,1761543272.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747965 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:32.644Z,1761543272.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774828 2025-10-27T05:34:32.691Z,1761543272.691 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:34:32.896Z,1761543272.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026713 2025-10-27T05:34:33.018Z,1761543273.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857957,0.499452,0.120239],[-0.512658,0.847450,0.137874],[-0.033035,-0.179932,0.983124]] 2025-10-27T05:34:33.044Z,1761543273.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:33.063Z,1761543273.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 106.204994 m, bearing: 341.202661 deg, approach rate: -0.573549 m/s, LOS rate: 0.032167 deg/s, cmd heading: 329.334155 deg, new cmd heading: 329.373862 deg. 2025-10-27T05:34:33.064Z,1761543273.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748658 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:33.151Z,1761543273.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281460 2025-10-27T05:34:33.400Z,1761543273.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530858 2025-10-27T05:34:33.421Z,1761543273.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859076,0.498120,0.117750],[-0.510904,0.848459,0.138182],[-0.031075,-0.178868,0.983382]] 2025-10-27T05:34:33.469Z,1761543273.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:33.472Z,1761543273.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 105.954895 m, bearing: 341.214679 deg, approach rate: -0.588972 m/s, LOS rate: 0.028371 deg/s, cmd heading: 329.373852 deg, new cmd heading: 329.409993 deg. 2025-10-27T05:34:33.473Z,1761543273.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749289 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:33.652Z,1761543273.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782752 2025-10-27T05:34:33.831Z,1761543273.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859975,0.497049,0.115694],[-0.509517,0.849080,0.139485],[-0.028902,-0.178902,0.983442]] 2025-10-27T05:34:33.853Z,1761543273.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:33.857Z,1761543273.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 105.728508 m, bearing: 341.225406 deg, approach rate: -0.589109 m/s, LOS rate: 0.027973 deg/s, cmd heading: 329.409997 deg, new cmd heading: 329.442246 deg. 2025-10-27T05:34:33.858Z,1761543273.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749852 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:33.905Z,1761543273.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035513 2025-10-27T05:34:34.158Z,1761543274.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288724 2025-10-27T05:34:34.230Z,1761543274.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861005,0.495898,0.112939],[-0.507883,0.850086,0.139314],[-0.026922,-0.177310,0.983787]] 2025-10-27T05:34:34.272Z,1761543274.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:34.275Z,1761543274.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 105.495140 m, bearing: 341.234602 deg, approach rate: -0.558613 m/s, LOS rate: 0.022061 deg/s, cmd heading: 329.442235 deg, new cmd heading: 329.469884 deg. 2025-10-27T05:34:34.276Z,1761543274.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750334 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:34.408Z,1761543274.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538949 2025-10-27T05:34:34.634Z,1761543274.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861660,0.495519,0.109562],[-0.506866,0.850986,0.137512],[-0.025096,-0.174021,0.984422]] 2025-10-27T05:34:34.650Z,1761543274.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:34.652Z,1761543274.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:34.655Z,1761543274.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 105.282410 m, bearing: 341.242866 deg, approach rate: -0.558244 m/s, LOS rate: 0.021730 deg/s, cmd heading: 329.469884 deg, new cmd heading: 329.494727 deg. 2025-10-27T05:34:34.656Z,1761543274.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750768 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:34.660Z,1761543274.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790908 2025-10-27T05:34:34.912Z,1761543274.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043045 2025-10-27T05:34:35.039Z,1761543275.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862457,0.494920,0.105937],[-0.505596,0.852084,0.135373],[-0.023269,-0.170315,0.985115]] 2025-10-27T05:34:35.057Z,1761543275.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:35.060Z,1761543275.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 105.055710 m, bearing: 341.251507 deg, approach rate: -0.559511 m/s, LOS rate: 0.021373 deg/s, cmd heading: 329.494719 deg, new cmd heading: 329.520699 deg. 2025-10-27T05:34:35.061Z,1761543275.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751221 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:35.167Z,1761543275.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297265 2025-10-27T05:34:35.416Z,1761543275.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546698 2025-10-27T05:34:35.442Z,1761543275.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862995,0.494279,0.104532],[-0.504757,0.852337,0.136900],[-0.021430,-0.170908,0.985054]] 2025-10-27T05:34:35.490Z,1761543275.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:35.492Z,1761543275.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 104.802567 m, bearing: 341.264445 deg, approach rate: -0.585752 m/s, LOS rate: 0.030009 deg/s, cmd heading: 329.520701 deg, new cmd heading: 329.559607 deg. 2025-10-27T05:34:35.493Z,1761543275.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751900 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:35.668Z,1761543275.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798777 2025-10-27T05:34:35.893Z,1761543275.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:35.896Z,1761543275.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 104.573982 m, bearing: 341.276182 deg, approach rate: -0.586730 m/s, LOS rate: 0.030192 deg/s, cmd heading: 329.559605 deg, new cmd heading: 329.594893 deg. 2025-10-27T05:34:35.897Z,1761543275.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752516 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:35.920Z,1761543275.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050759 2025-10-27T05:34:36.175Z,1761543276.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305167 2025-10-27T05:34:36.250Z,1761543276.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863802,0.493328,0.102341],[-0.503528,0.852333,0.141377],[-0.017483,-0.173653,0.984652]] 2025-10-27T05:34:36.323Z,1761543276.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:36.329Z,1761543276.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 104.330696 m, bearing: 341.289993 deg, approach rate: -0.548687 m/s, LOS rate: 0.031221 deg/s, cmd heading: 329.594904 deg, new cmd heading: 329.636434 deg. 2025-10-27T05:34:36.330Z,1761543276.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753241 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:36.424Z,1761543276.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.554771 2025-10-27T05:34:36.653Z,1761543276.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864445,0.492240,0.102148],[-0.502481,0.852347,0.144971],[-0.015705,-0.176647,0.984149]] 2025-10-27T05:34:36.676Z,1761543276.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806749 2025-10-27T05:34:36.719Z,1761543276.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:36.722Z,1761543276.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:36.727Z,1761543276.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 104.091194 m, bearing: 341.303507 deg, approach rate: -0.599524 m/s, LOS rate: 0.033907 deg/s, cmd heading: 329.636431 deg, new cmd heading: 329.677067 deg. 2025-10-27T05:34:36.744Z,1761543276.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753950 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:36.928Z,1761543276.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.058725 2025-10-27T05:34:37.097Z,1761543277.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865143,0.491343,0.100542],[-0.501339,0.852728,0.146676],[-0.013667,-0.177302,0.984062]] 2025-10-27T05:34:37.116Z,1761543277.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:37.118Z,1761543277.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 103.861412 m, bearing: 341.316365 deg, approach rate: -0.583746 m/s, LOS rate: 0.032738 deg/s, cmd heading: 329.677057 deg, new cmd heading: 329.715717 deg. 2025-10-27T05:34:37.120Z,1761543277.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754625 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:37.183Z,1761543277.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313148 2025-10-27T05:34:37.432Z,1761543277.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562726 2025-10-27T05:34:37.498Z,1761543277.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866123,0.489963,0.098830],[-0.499692,0.853455,0.148062],[-0.011802,-0.177624,0.984028]] 2025-10-27T05:34:37.567Z,1761543277.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:37.570Z,1761543277.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 103.616875 m, bearing: 341.328985 deg, approach rate: -0.546533 m/s, LOS rate: 0.028271 deg/s, cmd heading: 329.715716 deg, new cmd heading: 329.753664 deg. 2025-10-27T05:34:37.575Z,1761543277.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755287 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:37.684Z,1761543277.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815214 2025-10-27T05:34:37.902Z,1761543277.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867302,0.488290,0.096745],[-0.497685,0.854432,0.149186],[-0.009816,-0.177538,0.984065]] 2025-10-27T05:34:37.921Z,1761543277.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:37.924Z,1761543277.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 103.413864 m, bearing: 341.339244 deg, approach rate: -0.567673 m/s, LOS rate: 0.028744 deg/s, cmd heading: 329.753665 deg, new cmd heading: 329.784502 deg. 2025-10-27T05:34:37.925Z,1761543277.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755826 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:37.936Z,1761543277.936 [DAT](INFO): Reached modem response timeout 2025-10-27T05:34:37.936Z,1761543277.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:37.936Z,1761543277.936 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:38.190Z,1761543278.190 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:38.316Z,1761543278.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868270,0.486958,0.094757],[-0.496032,0.855129,0.150688],[-0.007650,-0.177841,0.984030]] 2025-10-27T05:34:38.360Z,1761543278.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:38.363Z,1761543278.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 103.171150 m, bearing: 341.351725 deg, approach rate: -0.551940 m/s, LOS rate: 0.028450 deg/s, cmd heading: 329.784510 deg, new cmd heading: 329.822042 deg. 2025-10-27T05:34:38.364Z,1761543278.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756481 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:38.441Z,1761543278.441 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:38.692Z,1761543278.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:38.729Z,1761543278.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869508,0.485314,0.091791],[-0.493888,0.856362,0.150728],[-0.005456,-0.176394,0.984305]] 2025-10-27T05:34:38.764Z,1761543278.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:38.766Z,1761543278.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:38.779Z,1761543278.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 102.951950 m, bearing: 341.362739 deg, approach rate: -0.539833 m/s, LOS rate: 0.027182 deg/s, cmd heading: 329.822049 deg, new cmd heading: 329.855161 deg. 2025-10-27T05:34:38.780Z,1761543278.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757059 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:38.944Z,1761543278.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:39.136Z,1761543279.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870702,0.483833,0.088225],[-0.491799,0.857807,0.149335],[-0.003427,-0.173415,0.984843]] 2025-10-27T05:34:39.154Z,1761543279.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:39.160Z,1761543279.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 102.733116 m, bearing: 341.373476 deg, approach rate: -0.564054 m/s, LOS rate: 0.027732 deg/s, cmd heading: 329.855161 deg, new cmd heading: 329.887438 deg. 2025-10-27T05:34:39.163Z,1761543279.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757622 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:39.198Z,1761543279.198 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:39.448Z,1761543279.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:39.538Z,1761543279.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872204,0.481713,0.084935],[-0.489141,0.859505,0.148297],[-0.001565,-0.170890,0.985289]] 2025-10-27T05:34:39.598Z,1761543279.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:39.605Z,1761543279.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 102.494774 m, bearing: 341.385636 deg, approach rate: -0.537369 m/s, LOS rate: 0.027481 deg/s, cmd heading: 329.887427 deg, new cmd heading: 329.923993 deg. 2025-10-27T05:34:39.606Z,1761543279.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758260 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:39.700Z,1761543279.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:39.945Z,1761543279.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873369,0.480115,0.081957],[-0.487060,0.860774,0.147787],[0.000409,-0.168991,0.985618]] 2025-10-27T05:34:39.952Z,1761543279.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:34:39.965Z,1761543279.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:39.968Z,1761543279.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 102.276825 m, bearing: 341.396505 deg, approach rate: -0.594281 m/s, LOS rate: 0.029700 deg/s, cmd heading: 329.923982 deg, new cmd heading: 329.956659 deg. 2025-10-27T05:34:39.969Z,1761543279.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758830 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:40.207Z,1761543280.207 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:34:40.208Z,1761543280.208 [DAT](INFO): response not received 2025-10-27T05:34:40.209Z,1761543280.209 [DAT](INFO): DAT read: user:452> 2025-10-27T05:34:40.212Z,1761543280.212 [DAT](INFO): DAT read: Tx time:05:34:39.4227 2025-10-27T05:34:40.213Z,1761543280.213 [DAT](INFO): Ping request sent. 2025-10-27T05:34:40.213Z,1761543280.213 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:40.214Z,1761543280.214 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:40.216Z,1761543280.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002935 2025-10-27T05:34:40.346Z,1761543280.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874711,0.478054,0.079659],[-0.484641,0.862128,0.147844],[0.002001,-0.167927,0.985797]] 2025-10-27T05:34:40.401Z,1761543280.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:40.404Z,1761543280.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 102.035484 m, bearing: 341.410701 deg, approach rate: -0.552651 m/s, LOS rate: 0.032585 deg/s, cmd heading: 329.956658 deg, new cmd heading: 329.999347 deg. 2025-10-27T05:34:40.405Z,1761543280.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759575 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:40.457Z,1761543280.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243844 2025-10-27T05:34:40.709Z,1761543280.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495893 2025-10-27T05:34:40.751Z,1761543280.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876006,0.475923,0.078172],[-0.482286,0.863150,0.149572],[0.003711,-0.168727,0.985656]] 2025-10-27T05:34:40.797Z,1761543280.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:40.805Z,1761543280.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:40.813Z,1761543280.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 101.831993 m, bearing: 341.422416 deg, approach rate: -0.504412 m/s, LOS rate: 0.029096 deg/s, cmd heading: 329.999333 deg, new cmd heading: 330.034547 deg. 2025-10-27T05:34:40.814Z,1761543280.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760190 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:40.960Z,1761543280.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747160 2025-10-27T05:34:41.154Z,1761543281.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876783,0.474626,0.077340],[-0.480854,0.863457,0.152387],[0.005548,-0.170800,0.985290]] 2025-10-27T05:34:41.173Z,1761543281.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:41.176Z,1761543281.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 101.608940 m, bearing: 341.435112 deg, approach rate: -0.606205 m/s, LOS rate: 0.034583 deg/s, cmd heading: 330.034549 deg, new cmd heading: 330.072723 deg. 2025-10-27T05:34:41.177Z,1761543281.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760856 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:41.215Z,1761543281.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001700 2025-10-27T05:34:41.465Z,1761543281.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252440 2025-10-27T05:34:41.564Z,1761543281.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877368,0.473930,0.074943],[-0.479765,0.864168,0.151783],[0.007171,-0.169124,0.985569]] 2025-10-27T05:34:41.627Z,1761543281.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:41.630Z,1761543281.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 101.367081 m, bearing: 341.452504 deg, approach rate: -0.536177 m/s, LOS rate: 0.038648 deg/s, cmd heading: 330.072717 deg, new cmd heading: 330.125017 deg. 2025-10-27T05:34:41.631Z,1761543281.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761768 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:41.717Z,1761543281.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504024 2025-10-27T05:34:41.968Z,1761543281.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755311 2025-10-27T05:34:41.976Z,1761543281.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877554,0.473967,0.072489],[-0.479398,0.864551,0.150760],[0.008784,-0.167051,0.985909]] 2025-10-27T05:34:42.039Z,1761543282.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:42.042Z,1761543282.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 101.119568 m, bearing: 341.470325 deg, approach rate: -0.596577 m/s, LOS rate: 0.043058 deg/s, cmd heading: 330.125008 deg, new cmd heading: 330.178602 deg. 2025-10-27T05:34:42.043Z,1761543282.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762704 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:42.222Z,1761543282.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009443 2025-10-27T05:34:42.374Z,1761543282.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877469,0.474267,0.071544],[-0.479519,0.864182,0.152483],[0.010491,-0.168106,0.985713]] 2025-10-27T05:34:42.422Z,1761543282.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:42.425Z,1761543282.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 100.898232 m, bearing: 341.487806 deg, approach rate: -0.577952 m/s, LOS rate: 0.045746 deg/s, cmd heading: 330.178612 deg, new cmd heading: 330.231170 deg. 2025-10-27T05:34:42.426Z,1761543282.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763621 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:42.472Z,1761543282.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259356 2025-10-27T05:34:42.724Z,1761543282.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511564 2025-10-27T05:34:42.868Z,1761543282.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876820,0.475272,0.072823],[-0.480619,0.861976,0.161253],[0.013868,-0.176389,0.984223]] 2025-10-27T05:34:42.884Z,1761543282.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:42.886Z,1761543282.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:42.889Z,1761543282.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 100.629845 m, bearing: 341.509330 deg, approach rate: -0.577465 m/s, LOS rate: 0.046435 deg/s, cmd heading: 330.231177 deg, new cmd heading: 330.295922 deg. 2025-10-27T05:34:42.890Z,1761543282.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764751 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:42.978Z,1761543282.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765039 2025-10-27T05:34:43.228Z,1761543283.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015236 2025-10-27T05:34:43.385Z,1761543283.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:43.388Z,1761543283.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 100.348434 m, bearing: 341.530558 deg, approach rate: -0.564110 m/s, LOS rate: 0.042672 deg/s, cmd heading: 330.295927 deg, new cmd heading: 330.359790 deg. 2025-10-27T05:34:43.389Z,1761543283.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765866 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:43.480Z,1761543283.480 [DAT](INFO): DAT read: Rx Time:05:34:41.9625 2025-10-27T05:34:43.481Z,1761543283.481 [DAT](INFO): Rx dataTimestamp_ set to:1761543283.480261 2025-10-27T05:34:43.481Z,1761543283.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268420 2025-10-27T05:34:43.733Z,1761543283.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520081 2025-10-27T05:34:43.853Z,1761543283.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875659,0.477250,0.073846],[-0.482589,0.859010,0.170908],[0.018131,-0.185294,0.982516]] 2025-10-27T05:34:43.872Z,1761543283.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.40 m. 2025-10-27T05:34:43.874Z,1761543283.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.399277 m, nav range: 100.056953 m, bearing: 341.553101 deg, approach rate: -0.599151 m/s, LOS rate: 0.046473 deg/s, cmd heading: 330.359803 deg, new cmd heading: 330.427629 deg. 2025-10-27T05:34:43.876Z,1761543283.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767050 target range: 110.399277 and range: 111.00 m. 2025-10-27T05:34:43.990Z,1761543283.990 [DAT](INFO): DAT read: 05:34:41.9625 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 283,-0.43,-1.447, 3.051,-1.494,-1.668, PHS= 0.323,-1.520, 0.130, RAW= 144.5, 12.1, CAL= 144.1, 13.2, ROT= 5.9, -13.2 2025-10-27T05:34:43.991Z,1761543283.991 [DAT](INFO): got valid direction response: 05:34:41.9625 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 283,-0.43,-1.447, 3.051,-1.494,-1.668, PHS= 0.323,-1.520, 0.130, RAW= 144.5, 12.1, CAL= 144.1, 13.2, ROT= 5.9, -13.2 2025-10-27T05:34:43.992Z,1761543283.992 [DAT](INFO): DAT read: Bearing 141.2, 3.9 (Local) 2025-10-27T05:34:43.992Z,1761543283.992 [DAT](INFO): Local bearing/azimuth received: Bearing 141.2, 3.9 (Local) 2025-10-27T05:34:43.994Z,1761543283.994 [DAT](INFO): DAT read: Range 11 to 50 : 101.7 m (Round-trip 135.7 ms) speed 0.5 m/s 2025-10-27T05:34:43.994Z,1761543283.994 [DAT](INFO): DAT read: user:453> 2025-10-27T05:34:43.996Z,1761543283.996 [DAT](INFO): DAT read: Tx time:05:34:43.0727 2025-10-27T05:34:43.996Z,1761543283.996 [DAT](INFO): Ping request sent. 2025-10-27T05:34:43.996Z,1761543283.996 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:43.997Z,1761543283.997 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:43.998Z,1761543283.998 [DAT](INFO): direction in FSK: [0.968422,0.100077,0.228351] 2025-10-27T05:34:43.998Z,1761543283.998 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:43.998Z,1761543283.998 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:44.047Z,1761543284.047 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:44.047Z,1761543284.047 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:44.338Z,1761543284.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874869,0.478705,0.073794],[-0.483910,0.857295,0.175715],[0.020852,-0.189437,0.981671]] 2025-10-27T05:34:44.380Z,1761543284.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.699997 m, deltaT: 16.127989 s, deltaX: -9.300003 m, approachRate: -0.576638 m/s, rangeRepo size: 4 2025-10-27T05:34:44.382Z,1761543284.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.161766 m, bearing: 339.404928 deg, lat: 36.779402 deg, lon: -121.859645 deg, deltaT: 16.127989 s, deltaX: -9.237511 m, approachRate: -0.572763 m/s, posRepo size: 4 2025-10-27T05:34:44.382Z,1761543284.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.16 m. 2025-10-27T05:34:44.385Z,1761543284.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.161766 m, nav range: 100.182037 m, bearing: 340.173956 deg, approach rate: 0.000000 m/s, LOS rate: 0.046473 deg/s, cmd heading: 330.427640 deg, new cmd heading: 330.498294 deg. 2025-10-27T05:34:44.386Z,1761543284.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768283 target range: 101.161766 and range: 101.70 m. 2025-10-27T05:34:44.689Z,1761543284.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874323,0.479998,0.071850],[-0.484756,0.856349,0.177981],[0.023902,-0.190442,0.981407]] 2025-10-27T05:34:44.734Z,1761543284.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.16 m. 2025-10-27T05:34:44.742Z,1761543284.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.161766 m, nav range: 99.978966 m, bearing: 340.189330 deg, approach rate: -0.571572 m/s, LOS rate: 0.043360 deg/s, cmd heading: 330.498292 deg, new cmd heading: 330.544508 deg. 2025-10-27T05:34:44.752Z,1761543284.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769090 target range: 101.161766 and range: 101.70 m. 2025-10-27T05:34:45.095Z,1761543285.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873733,0.481433,0.069372],[-0.485657,0.855561,0.179310],[0.026973,-0.190360,0.981344]] 2025-10-27T05:34:45.112Z,1761543285.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:45.114Z,1761543285.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.16 m. 2025-10-27T05:34:45.116Z,1761543285.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.161766 m, nav range: 99.732971 m, bearing: 340.208192 deg, approach rate: -0.647917 m/s, LOS rate: 0.049803 deg/s, cmd heading: 330.544519 deg, new cmd heading: 330.601245 deg. 2025-10-27T05:34:45.117Z,1761543285.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770080 target range: 101.161766 and range: 101.70 m. 2025-10-27T05:34:45.244Z,1761543285.244 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:45.244Z,1761543285.244 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:45.244Z,1761543285.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:45.496Z,1761543285.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499558 2025-10-27T05:34:45.499Z,1761543285.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873500,0.482174,0.067130],[-0.485894,0.854973,0.181460],[0.030101,-0.191124,0.981104]] 2025-10-27T05:34:45.551Z,1761543285.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.16 m. 2025-10-27T05:34:45.554Z,1761543285.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.161766 m, nav range: 99.471069 m, bearing: 340.226209 deg, approach rate: -0.598549 m/s, LOS rate: 0.041285 deg/s, cmd heading: 330.601237 deg, new cmd heading: 330.655430 deg. 2025-10-27T05:34:45.556Z,1761543285.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771026 target range: 101.161766 and range: 101.70 m. 2025-10-27T05:34:45.749Z,1761543285.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752190 2025-10-27T05:34:45.901Z,1761543285.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873305,0.482927,0.064194],[-0.486020,0.854574,0.182995],[0.033515,-0.191010,0.981016]] 2025-10-27T05:34:45.929Z,1761543285.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.16 m. 2025-10-27T05:34:45.932Z,1761543285.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.161766 m, nav range: 99.245010 m, bearing: 340.241864 deg, approach rate: -0.598079 m/s, LOS rate: 0.041513 deg/s, cmd heading: 330.655441 deg, new cmd heading: 330.702513 deg. 2025-10-27T05:34:45.933Z,1761543285.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771848 target range: 101.161766 and range: 101.70 m. 2025-10-27T05:34:46.000Z,1761543286.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003786 2025-10-27T05:34:46.252Z,1761543286.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255574 2025-10-27T05:34:46.362Z,1761543286.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873329,0.483206,0.061708],[-0.485740,0.854259,0.185197],[0.036773,-0.191712,0.980762]] 2025-10-27T05:34:46.414Z,1761543286.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.16 m. 2025-10-27T05:34:46.417Z,1761543286.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.161766 m, nav range: 98.964592 m, bearing: 340.256920 deg, approach rate: -0.578393 m/s, LOS rate: 0.031143 deg/s, cmd heading: 330.702515 deg, new cmd heading: 330.747811 deg. 2025-10-27T05:34:46.418Z,1761543286.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772638 target range: 101.161766 and range: 101.70 m. 2025-10-27T05:34:46.505Z,1761543286.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508729 2025-10-27T05:34:46.717Z,1761543286.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873088,0.483991,0.058911],[-0.485927,0.853892,0.186398],[0.039911,-0.191368,0.980706]] 2025-10-27T05:34:46.753Z,1761543286.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.16 m. 2025-10-27T05:34:46.756Z,1761543286.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759790 2025-10-27T05:34:46.757Z,1761543286.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.161766 m, nav range: 98.768829 m, bearing: 340.267513 deg, approach rate: -0.577505 m/s, LOS rate: 0.031310 deg/s, cmd heading: 330.747812 deg, new cmd heading: 330.779653 deg. 2025-10-27T05:34:46.758Z,1761543286.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773194 target range: 101.161766 and range: 101.70 m. 2025-10-27T05:34:47.008Z,1761543287.008 [DAT](INFO): DAT read: Rx Time:05:34:45.6095 2025-10-27T05:34:47.008Z,1761543287.008 [DAT](INFO): Rx dataTimestamp_ set to:1761543287.008087 2025-10-27T05:34:47.009Z,1761543287.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012631 2025-10-27T05:34:47.114Z,1761543287.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873177,0.484294,0.054971],[-0.485521,0.854351,0.185346],[0.042798,-0.188529,0.981135]] 2025-10-27T05:34:47.136Z,1761543287.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:47.138Z,1761543287.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.16 m. 2025-10-27T05:34:47.141Z,1761543287.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.161766 m, nav range: 98.545853 m, bearing: 340.279577 deg, approach rate: -0.578786 m/s, LOS rate: 0.031385 deg/s, cmd heading: 330.779641 deg, new cmd heading: 330.815914 deg. 2025-10-27T05:34:47.142Z,1761543287.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773827 target range: 101.161766 and range: 101.70 m. 2025-10-27T05:34:47.261Z,1761543287.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265058 2025-10-27T05:34:47.518Z,1761543287.518 [DAT](INFO): DAT read: 05:34:45.6095 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.07,-1.913, 2.619,-1.961,-2.068, PHS= 0.257,-1.551, 0.063, RAW= 144.4, 14.2, CAL= 144.0, 15.5, ROT= 6.0, -15.5 2025-10-27T05:34:47.519Z,1761543287.519 [DAT](INFO): got valid direction response: 05:34:45.6095 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.07,-1.913, 2.619,-1.961,-2.068, PHS= 0.257,-1.551, 0.063, RAW= 144.4, 14.2, CAL= 144.0, 15.5, ROT= 6.0, -15.5 2025-10-27T05:34:47.520Z,1761543287.520 [DAT](INFO): DAT read: Bearing 144.4, 4.6 (Local) 2025-10-27T05:34:47.520Z,1761543287.520 [DAT](INFO): Local bearing/azimuth received: Bearing 144.4, 4.6 (Local) 2025-10-27T05:34:47.522Z,1761543287.522 [DAT](INFO): DAT read: Range 11 to 50 : 99.5 m (Round-trip 132.7 ms) speed 0.5 m/s 2025-10-27T05:34:47.522Z,1761543287.522 [DAT](INFO): DAT read: user:454> 2025-10-27T05:34:47.523Z,1761543287.523 [DAT](INFO): DAT read: Tx time:05:34:46.7227 2025-10-27T05:34:47.524Z,1761543287.524 [DAT](INFO): Ping request sent. 2025-10-27T05:34:47.524Z,1761543287.524 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:47.524Z,1761543287.524 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:47.525Z,1761543287.525 [DAT](INFO): direction in FSK: [0.958352,0.100727,0.267238] 2025-10-27T05:34:47.525Z,1761543287.525 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:47.525Z,1761543287.525 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:47.534Z,1761543287.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873256,0.484500,0.051805],[-0.485097,0.854440,0.186044],[0.045874,-0.187595,0.981175]] 2025-10-27T05:34:47.537Z,1761543287.537 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:47.537Z,1761543287.537 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:47.685Z,1761543287.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.500000 m, deltaT: 3.528105 s, deltaX: -2.199997 m, approachRate: -0.623563 m/s, rangeRepo size: 4 2025-10-27T05:34:47.691Z,1761543287.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 98.981369 m, bearing: 339.904011 deg, lat: 36.779391 deg, lon: -121.859645 deg, deltaT: 3.528105 s, deltaX: -2.180397 m, approachRate: -0.618008 m/s, posRepo size: 4 2025-10-27T05:34:47.692Z,1761543287.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:47.694Z,1761543287.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 97.052292 m, bearing: 340.041195 deg, approach rate: 0.000000 m/s, LOS rate: 0.031385 deg/s, cmd heading: 330.815923 deg, new cmd heading: 330.867331 deg. 2025-10-27T05:34:47.700Z,1761543287.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774724 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:48.020Z,1761543288.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873437,0.484437,0.049293],[-0.484486,0.854430,0.187677],[0.048800,-0.187806,0.980993]] 2025-10-27T05:34:48.053Z,1761543288.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:48.057Z,1761543288.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 96.825432 m, bearing: 340.054050 deg, approach rate: -0.615838 m/s, LOS rate: 0.034978 deg/s, cmd heading: 330.867341 deg, new cmd heading: 330.905996 deg. 2025-10-27T05:34:48.062Z,1761543288.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775399 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:48.422Z,1761543288.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873544,0.484560,0.046064],[-0.483993,0.854658,0.187914],[0.051687,-0.186446,0.981105]] 2025-10-27T05:34:48.503Z,1761543288.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:48.506Z,1761543288.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 96.579269 m, bearing: 340.066142 deg, approach rate: -0.551669 m/s, LOS rate: 0.027168 deg/s, cmd heading: 330.906000 deg, new cmd heading: 330.942368 deg. 2025-10-27T05:34:48.507Z,1761543288.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776034 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:48.844Z,1761543288.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873771,0.484505,0.042181],[-0.483298,0.855356,0.186522],[0.054291,-0.183363,0.981545]] 2025-10-27T05:34:48.907Z,1761543288.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:48.910Z,1761543288.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 96.360123 m, bearing: 340.076859 deg, approach rate: -0.595338 m/s, LOS rate: 0.029181 deg/s, cmd heading: 330.942364 deg, new cmd heading: 330.974588 deg. 2025-10-27T05:34:48.911Z,1761543288.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776596 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:49.246Z,1761543289.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873896,0.484515,0.039374],[-0.482783,0.855596,0.186754],[0.056797,-0.182213,0.981617]] 2025-10-27T05:34:49.272Z,1761543289.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:49.276Z,1761543289.276 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:49.277Z,1761543289.277 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:49.277Z,1761543289.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:49.314Z,1761543289.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:49.319Z,1761543289.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 96.132423 m, bearing: 340.087974 deg, approach rate: -0.509499 m/s, LOS rate: 0.024929 deg/s, cmd heading: 330.974575 deg, new cmd heading: 331.007997 deg. 2025-10-27T05:34:49.320Z,1761543289.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777179 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:49.528Z,1761543289.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004195 2025-10-27T05:34:49.699Z,1761543289.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874025,0.484621,0.034960],[-0.481853,0.855289,0.190520],[0.062429,-0.183365,0.981061]] 2025-10-27T05:34:49.754Z,1761543289.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:49.757Z,1761543289.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 95.862068 m, bearing: 340.101229 deg, approach rate: -0.614209 m/s, LOS rate: 0.030198 deg/s, cmd heading: 331.007988 deg, new cmd heading: 331.047865 deg. 2025-10-27T05:34:49.758Z,1761543289.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777875 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:49.781Z,1761543289.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257465 2025-10-27T05:34:50.033Z,1761543290.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509111 2025-10-27T05:34:50.100Z,1761543290.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874308,0.484365,0.031240],[-0.480948,0.855875,0.190178],[0.065378,-0.181299,0.981252]] 2025-10-27T05:34:50.118Z,1761543290.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:50.137Z,1761543290.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 95.660728 m, bearing: 340.111031 deg, approach rate: -0.553315 m/s, LOS rate: 0.026994 deg/s, cmd heading: 331.047876 deg, new cmd heading: 331.077344 deg. 2025-10-27T05:34:50.138Z,1761543290.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778390 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:50.285Z,1761543290.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761077 2025-10-27T05:34:50.495Z,1761543290.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874736,0.483789,0.028009],[-0.479741,0.856355,0.191063],[0.068448,-0.180566,0.981178]] 2025-10-27T05:34:50.537Z,1761543290.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013265 2025-10-27T05:34:50.546Z,1761543290.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:50.549Z,1761543290.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 95.425430 m, bearing: 340.124699 deg, approach rate: -0.549743 m/s, LOS rate: 0.032012 deg/s, cmd heading: 331.077355 deg, new cmd heading: 331.118461 deg. 2025-10-27T05:34:50.550Z,1761543290.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779108 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:50.789Z,1761543290.789 [DAT](INFO): DAT read: Rx Time:05:34:49.2568 2025-10-27T05:34:50.790Z,1761543290.790 [DAT](INFO): Rx dataTimestamp_ set to:1761543290.789021 2025-10-27T05:34:50.791Z,1761543290.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266790 2025-10-27T05:34:50.898Z,1761543290.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875116,0.483193,0.026389],[-0.478582,0.856116,0.195000],[0.071631,-0.183277,0.980448]] 2025-10-27T05:34:50.916Z,1761543290.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.98 m. 2025-10-27T05:34:50.919Z,1761543290.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.981369 m, nav range: 95.217613 m, bearing: 340.136682 deg, approach rate: -0.560728 m/s, LOS rate: 0.032403 deg/s, cmd heading: 331.118473 deg, new cmd heading: 331.154500 deg. 2025-10-27T05:34:50.920Z,1761543290.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779737 target range: 98.981369 and range: 99.50 m. 2025-10-27T05:34:51.040Z,1761543291.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516188 2025-10-27T05:34:51.305Z,1761543291.305 [DAT](INFO): DAT read: 05:34:49.2568 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.13,-0.015,-1.793,-0.088,-0.240, PHS= 0.327,-1.508, 0.109, RAW= 143.7, 12.3, CAL= 143.3, 13.4, ROT= 6.7, -13.4 2025-10-27T05:34:51.306Z,1761543291.306 [DAT](INFO): got valid direction response: 05:34:49.2568 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.13,-0.015,-1.793,-0.088,-0.240, PHS= 0.327,-1.508, 0.109, RAW= 143.7, 12.3, CAL= 143.3, 13.4, ROT= 6.7, -13.4 2025-10-27T05:34:51.307Z,1761543291.307 [DAT](INFO): DAT read: Bearing 143.4, 7.2 (Local) 2025-10-27T05:34:51.307Z,1761543291.307 [DAT](INFO): Local bearing/azimuth received: Bearing 143.4, 7.2 (Local) 2025-10-27T05:34:51.309Z,1761543291.309 [DAT](INFO): DAT read: Range 11 to 50 : 97.4 m (Round-trip 129.9 ms) speed 0.5 m/s 2025-10-27T05:34:51.310Z,1761543291.310 [DAT](INFO): DAT read: user:455> 2025-10-27T05:34:51.310Z,1761543291.310 [DAT](INFO): DAT read: Tx time:05:34:50.3727 2025-10-27T05:34:51.339Z,1761543291.339 [DAT](INFO): Ping request sent. 2025-10-27T05:34:51.340Z,1761543291.340 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:51.341Z,1761543291.341 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:51.342Z,1761543291.342 [DAT](INFO): direction in FSK: [0.966132,0.113494,0.231748] 2025-10-27T05:34:51.343Z,1761543291.343 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:51.351Z,1761543291.351 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:51.368Z,1761543291.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875673,0.482264,0.024873],[-0.477061,0.855937,0.199462],[0.074903,-0.186529,0.979590]] 2025-10-27T05:34:51.420Z,1761543291.420 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:51.420Z,1761543291.420 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:51.512Z,1761543291.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.400002 m, deltaT: 3.780555 s, deltaX: -2.099998 m, approachRate: -0.555474 m/s, rangeRepo size: 4 2025-10-27T05:34:51.514Z,1761543291.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.894470 m, bearing: 340.695590 deg, lat: 36.779384 deg, lon: -121.859645 deg, deltaT: 3.780555 s, deltaX: -2.086899 m, approachRate: -0.552009 m/s, posRepo size: 4 2025-10-27T05:34:51.518Z,1761543291.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.89 m. 2025-10-27T05:34:51.528Z,1761543291.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.894470 m, nav range: 94.239052 m, bearing: 340.009140 deg, approach rate: 0.000000 m/s, LOS rate: 0.032403 deg/s, cmd heading: 331.154509 deg, new cmd heading: 331.211862 deg. 2025-10-27T05:34:51.529Z,1761543291.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780737 target range: 96.894470 and range: 97.40 m. 2025-10-27T05:34:51.847Z,1761543291.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876184,0.481497,0.021506],[-0.475575,0.856434,0.200871],[0.078300,-0.186228,0.979382]] 2025-10-27T05:34:51.878Z,1761543291.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:51.895Z,1761543291.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.89 m. 2025-10-27T05:34:51.920Z,1761543291.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.894470 m, nav range: 94.022324 m, bearing: 340.020548 deg, approach rate: -0.565445 m/s, LOS rate: 0.029831 deg/s, cmd heading: 331.211855 deg, new cmd heading: 331.246157 deg. 2025-10-27T05:34:51.920Z,1761543291.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781336 target range: 96.894470 and range: 97.40 m. 2025-10-27T05:34:52.048Z,1761543292.048 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:52.048Z,1761543292.048 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:52.048Z,1761543292.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:52.301Z,1761543292.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989865 2025-10-27T05:34:52.469Z,1761543292.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.89 m. 2025-10-27T05:34:52.476Z,1761543292.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.894470 m, nav range: 93.708076 m, bearing: 340.037182 deg, approach rate: -0.542551 m/s, LOS rate: 0.028816 deg/s, cmd heading: 331.246170 deg, new cmd heading: 331.296241 deg. 2025-10-27T05:34:52.477Z,1761543292.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782210 target range: 96.894470 and range: 97.40 m. 2025-10-27T05:34:52.552Z,1761543292.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241118 2025-10-27T05:34:52.804Z,1761543292.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493159 2025-10-27T05:34:52.943Z,1761543292.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878413,0.477837,0.007840],[-0.469974,0.860751,0.195529],[0.086683,-0.175440,0.980667]] 2025-10-27T05:34:53.031Z,1761543293.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.89 m. 2025-10-27T05:34:53.034Z,1761543293.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.894470 m, nav range: 93.416512 m, bearing: 340.055547 deg, approach rate: -0.526500 m/s, LOS rate: 0.033266 deg/s, cmd heading: 331.296249 deg, new cmd heading: 331.351516 deg. 2025-10-27T05:34:53.035Z,1761543293.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783175 target range: 96.894470 and range: 97.40 m. 2025-10-27T05:34:53.056Z,1761543293.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745211 2025-10-27T05:34:53.308Z,1761543293.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997064 2025-10-27T05:34:53.461Z,1761543293.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878945,0.476907,0.004018],[-0.468471,0.861756,0.194708],[0.089395,-0.173020,0.980853]] 2025-10-27T05:34:53.506Z,1761543293.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.89 m. 2025-10-27T05:34:53.508Z,1761543293.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.894470 m, nav range: 93.124565 m, bearing: 340.075118 deg, approach rate: -0.604584 m/s, LOS rate: 0.040655 deg/s, cmd heading: 331.351519 deg, new cmd heading: 331.410415 deg. 2025-10-27T05:34:53.509Z,1761543293.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784203 target range: 96.894470 and range: 97.40 m. 2025-10-27T05:34:53.561Z,1761543293.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250052 2025-10-27T05:34:53.812Z,1761543293.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501104 2025-10-27T05:34:53.866Z,1761543293.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880026,0.474925,0.000765],[-0.466036,0.863243,0.193961],[0.091457,-0.171048,0.981009]] 2025-10-27T05:34:53.894Z,1761543293.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:53.896Z,1761543293.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.89 m. 2025-10-27T05:34:53.898Z,1761543293.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.894470 m, nav range: 92.908058 m, bearing: 340.089345 deg, approach rate: -0.554657 m/s, LOS rate: 0.036534 deg/s, cmd heading: 331.410423 deg, new cmd heading: 331.453205 deg. 2025-10-27T05:34:53.900Z,1761543293.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784950 target range: 96.894470 and range: 97.40 m. 2025-10-27T05:34:54.067Z,1761543294.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756677 2025-10-27T05:34:54.266Z,1761543294.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880905,0.473287,-0.002595],[-0.463957,0.864598,0.192909],[0.093545,-0.168731,0.981213]] 2025-10-27T05:34:54.303Z,1761543294.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.89 m. 2025-10-27T05:34:54.306Z,1761543294.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.894470 m, nav range: 92.681618 m, bearing: 340.103971 deg, approach rate: -0.556698 m/s, LOS rate: 0.036044 deg/s, cmd heading: 331.453207 deg, new cmd heading: 331.497191 deg. 2025-10-27T05:34:54.306Z,1761543294.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785717 target range: 96.894470 and range: 97.40 m. 2025-10-27T05:34:54.316Z,1761543294.316 [DAT](INFO): DAT read: Rx Time:05:34:52.9041 2025-10-27T05:34:54.317Z,1761543294.317 [DAT](INFO): Rx dataTimestamp_ set to:1761543294.316276 2025-10-27T05:34:54.317Z,1761543294.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006341 2025-10-27T05:34:54.568Z,1761543294.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257056 2025-10-27T05:34:54.797Z,1761543294.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.89 m. 2025-10-27T05:34:54.804Z,1761543294.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.894470 m, nav range: 92.422333 m, bearing: 340.119253 deg, approach rate: -0.524933 m/s, LOS rate: 0.031027 deg/s, cmd heading: 331.497193 deg, new cmd heading: 331.543170 deg. 2025-10-27T05:34:54.805Z,1761543294.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786520 target range: 96.894470 and range: 97.40 m. 2025-10-27T05:34:54.826Z,1761543294.826 [DAT](INFO): DAT read: 05:34:52.9041 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.17, 1.792,-0.037, 1.748, 1.474, PHS= 0.421,-1.466, 0.231, RAW= 144.8, 9.1, CAL= 144.3, 9.9, ROT= 5.7, -9.9 2025-10-27T05:34:54.827Z,1761543294.827 [DAT](INFO): got valid direction response: 05:34:52.9041 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.17, 1.792,-0.037, 1.748, 1.474, PHS= 0.421,-1.466, 0.231, RAW= 144.8, 9.1, CAL= 144.3, 9.9, ROT= 5.7, -9.9 2025-10-27T05:34:54.828Z,1761543294.828 [DAT](INFO): DAT read: Bearing 141.1, 8.6 (Local) 2025-10-27T05:34:54.828Z,1761543294.828 [DAT](INFO): Local bearing/azimuth received: Bearing 141.1, 8.6 (Local) 2025-10-27T05:34:54.830Z,1761543294.830 [DAT](INFO): DAT read: Range 11 to 50 : 95.4 m (Round-trip 127.2 ms) speed 0.2 m/s 2025-10-27T05:34:54.831Z,1761543294.831 [DAT](INFO): DAT read: user:456> 2025-10-27T05:34:54.831Z,1761543294.831 [DAT](INFO): DAT read: Tx time:05:34:54.0227 2025-10-27T05:34:54.832Z,1761543294.832 [DAT](INFO): Ping request sent. 2025-10-27T05:34:54.832Z,1761543294.832 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:54.832Z,1761543294.832 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:54.833Z,1761543294.833 [DAT](INFO): direction in FSK: [0.980239,0.097841,0.171929] 2025-10-27T05:34:54.833Z,1761543294.833 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:54.834Z,1761543294.834 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:54.837Z,1761543294.837 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:54.837Z,1761543294.837 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:55.100Z,1761543295.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883270,0.468807,-0.007332],[-0.458769,0.867375,0.192853],[0.096771,-0.166977,0.981200]] 2025-10-27T05:34:55.123Z,1761543295.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.527510 s, deltaX: -2.000000 m, approachRate: -0.566972 m/s, rangeRepo size: 4 2025-10-27T05:34:55.125Z,1761543295.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.901703 m, bearing: 339.982515 deg, lat: 36.779381 deg, lon: -121.859647 deg, deltaT: 3.527510 s, deltaX: -1.992767 m, approachRate: -0.564922 m/s, posRepo size: 4 2025-10-27T05:34:55.126Z,1761543295.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:55.129Z,1761543295.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 91.955887 m, bearing: 339.982714 deg, approach rate: 0.000000 m/s, LOS rate: 0.031027 deg/s, cmd heading: 331.543174 deg, new cmd heading: 331.573473 deg. 2025-10-27T05:34:55.129Z,1761543295.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787049 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:55.498Z,1761543295.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884414,0.466613,-0.009186],[-0.456228,0.868541,0.193631],[0.098329,-0.167059,0.981032]] 2025-10-27T05:34:55.535Z,1761543295.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:55.553Z,1761543295.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 91.717613 m, bearing: 339.993050 deg, approach rate: -0.577852 m/s, LOS rate: 0.025132 deg/s, cmd heading: 331.573473 deg, new cmd heading: 331.604562 deg. 2025-10-27T05:34:55.554Z,1761543295.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787591 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:55.903Z,1761543295.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885750,0.464050,-0.010202],[-0.453351,0.869625,0.195512],[0.099599,-0.168550,0.980648]] 2025-10-27T05:34:55.920Z,1761543295.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:55.922Z,1761543295.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:55.925Z,1761543295.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 91.495872 m, bearing: 340.002278 deg, approach rate: -0.571663 m/s, LOS rate: 0.023848 deg/s, cmd heading: 331.604564 deg, new cmd heading: 331.632315 deg. 2025-10-27T05:34:55.926Z,1761543295.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788076 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:56.080Z,1761543296.080 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:34:56.080Z,1761543296.080 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:34:56.080Z,1761543296.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:34:56.306Z,1761543296.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886860,0.461879,-0.012094],[-0.450867,0.870844,0.195832],[0.100983,-0.168223,0.980563]] 2025-10-27T05:34:56.332Z,1761543296.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500141 2025-10-27T05:34:56.345Z,1761543296.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:56.349Z,1761543296.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 91.265358 m, bearing: 340.011520 deg, approach rate: -0.545929 m/s, LOS rate: 0.021943 deg/s, cmd heading: 331.632322 deg, new cmd heading: 331.660118 deg. 2025-10-27T05:34:56.350Z,1761543296.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788561 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:56.584Z,1761543296.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752098 2025-10-27T05:34:56.725Z,1761543296.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888023,0.459544,-0.015290],[-0.448355,0.872816,0.192797],[0.101944,-0.164353,0.981120]] 2025-10-27T05:34:56.793Z,1761543296.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:56.800Z,1761543296.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 91.008560 m, bearing: 340.018839 deg, approach rate: -0.572924 m/s, LOS rate: 0.016374 deg/s, cmd heading: 331.660107 deg, new cmd heading: 331.682125 deg. 2025-10-27T05:34:56.801Z,1761543296.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788945 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:56.836Z,1761543296.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004219 2025-10-27T05:34:57.088Z,1761543297.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256541 2025-10-27T05:34:57.144Z,1761543297.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888898,0.457761,-0.017739],[-0.446401,0.874236,0.190885],[0.102888,-0.161759,0.981452]] 2025-10-27T05:34:57.165Z,1761543297.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:57.167Z,1761543297.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 90.776779 m, bearing: 340.025152 deg, approach rate: -0.623572 m/s, LOS rate: 0.017030 deg/s, cmd heading: 331.682128 deg, new cmd heading: 331.701117 deg. 2025-10-27T05:34:57.168Z,1761543297.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789277 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:57.341Z,1761543297.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508680 2025-10-27T05:34:57.538Z,1761543297.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889563,0.456354,-0.020445],[-0.444859,0.875590,0.188265],[0.103817,-0.158378,0.981906]] 2025-10-27T05:34:57.582Z,1761543297.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:57.585Z,1761543297.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 90.541435 m, bearing: 340.027561 deg, approach rate: -0.563501 m/s, LOS rate: 0.005782 deg/s, cmd heading: 331.701116 deg, new cmd heading: 331.708360 deg. 2025-10-27T05:34:57.586Z,1761543297.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789403 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:57.592Z,1761543297.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760165 2025-10-27T05:34:57.845Z,1761543297.845 [DAT](INFO): DAT read: Rx Time:05:34:56.5513 2025-10-27T05:34:57.845Z,1761543297.845 [DAT](INFO): Rx dataTimestamp_ set to:1761543297.844842 2025-10-27T05:34:57.846Z,1761543297.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014164 2025-10-27T05:34:57.942Z,1761543297.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889720,0.456022,-0.021007],[-0.444481,0.875859,0.187905],[0.104088,-0.157846,0.981963]] 2025-10-27T05:34:57.958Z,1761543297.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:34:57.960Z,1761543297.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:57.964Z,1761543297.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 90.328522 m, bearing: 340.029693 deg, approach rate: -0.563169 m/s, LOS rate: 0.005652 deg/s, cmd heading: 331.708356 deg, new cmd heading: 331.714766 deg. 2025-10-27T05:34:57.965Z,1761543297.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789515 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:58.096Z,1761543298.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264202 2025-10-27T05:34:58.345Z,1761543298.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889725,0.455998,-0.021357],[-0.444465,0.875995,0.187306],[0.104120,-0.157158,0.982069]] 2025-10-27T05:34:58.348Z,1761543298.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516083 2025-10-27T05:34:58.366Z,1761543298.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-27T05:34:58.406Z,1761543298.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.901703 m, nav range: 90.099808 m, bearing: 340.031988 deg, approach rate: -0.564248 m/s, LOS rate: 0.005676 deg/s, cmd heading: 331.714776 deg, new cmd heading: 331.721679 deg. 2025-10-27T05:34:58.424Z,1761543298.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789636 target range: 94.901703 and range: 95.40 m. 2025-10-27T05:34:58.606Z,1761543298.606 [DAT](INFO): DAT read: 05:34:56.5513 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.32, 1.404,-0.355, 1.423, 1.146, PHS= 0.359,-1.457, 0.233, RAW= 146.4, 9.9, CAL= 146.0, 10.8, ROT= 4.0, -10.8 2025-10-27T05:34:58.607Z,1761543298.607 [DAT](INFO): got valid direction response: 05:34:56.5513 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.32, 1.404,-0.355, 1.423, 1.146, PHS= 0.359,-1.457, 0.233, RAW= 146.4, 9.9, CAL= 146.0, 10.8, ROT= 4.0, -10.8 2025-10-27T05:34:58.608Z,1761543298.608 [DAT](INFO): DAT read: Bearing 142.6, 7.7 (Local) 2025-10-27T05:34:58.608Z,1761543298.608 [DAT](INFO): Local bearing/azimuth received: Bearing 142.6, 7.7 (Local) 2025-10-27T05:34:58.610Z,1761543298.610 [DAT](INFO): DAT read: Range 11 to 50 : 93.3 m (Round-trip 124.5 ms) speed 0.4 m/s 2025-10-27T05:34:58.610Z,1761543298.610 [DAT](INFO): DAT read: user:457> 2025-10-27T05:34:58.611Z,1761543298.611 [DAT](INFO): DAT read: Tx time:05:34:57.6727 2025-10-27T05:34:58.612Z,1761543298.612 [DAT](INFO): Ping request sent. 2025-10-27T05:34:58.612Z,1761543298.612 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:34:58.612Z,1761543298.612 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:34:58.613Z,1761543298.613 [DAT](INFO): direction in FSK: [0.979894,0.068521,0.187381] 2025-10-27T05:34:58.613Z,1761543298.613 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:58.614Z,1761543298.614 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:58.617Z,1761543298.617 [DAT](INFO): publishing transmit ping time 2025-10-27T05:34:58.617Z,1761543298.617 [DAT](INFO): publishing direction and range info 2025-10-27T05:34:58.756Z,1761543298.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889755,0.455948,-0.021135],[-0.444348,0.875845,0.188283],[0.104359,-0.158135,0.981887]] 2025-10-27T05:34:58.859Z,1761543298.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.300003 m, deltaT: 3.779842 s, deltaX: -2.099998 m, approachRate: -0.555578 m/s, rangeRepo size: 4 2025-10-27T05:34:58.861Z,1761543298.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.793701 m, bearing: 339.279959 deg, lat: 36.779378 deg, lon: -121.859647 deg, deltaT: 3.779842 s, deltaX: -2.108002 m, approachRate: -0.557696 m/s, posRepo size: 4 2025-10-27T05:34:58.862Z,1761543298.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.79 m. 2025-10-27T05:34:58.878Z,1761543298.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.793701 m, nav range: 89.463089 m, bearing: 339.941754 deg, approach rate: 0.000000 m/s, LOS rate: 0.005676 deg/s, cmd heading: 331.721688 deg, new cmd heading: 331.730013 deg. 2025-10-27T05:34:58.881Z,1761543298.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789781 target range: 92.793701 and range: 93.30 m. 2025-10-27T05:34:59.153Z,1761543299.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889667,0.456180,-0.019816],[-0.444540,0.875246,0.190599],[0.104291,-0.160760,0.981468]] 2025-10-27T05:34:59.178Z,1761543299.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.79 m. 2025-10-27T05:34:59.181Z,1761543299.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.793701 m, nav range: 89.276360 m, bearing: 339.940121 deg, approach rate: -0.576778 m/s, LOS rate: -0.005054 deg/s, cmd heading: 331.730021 deg, new cmd heading: 331.725113 deg. 2025-10-27T05:34:59.182Z,1761543299.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789695 target range: 92.793701 and range: 93.30 m. 2025-10-27T05:34:59.558Z,1761543299.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889216,0.457159,-0.017340],[-0.445419,0.873785,0.195196],[0.104387,-0.165848,0.980611]] 2025-10-27T05:34:59.616Z,1761543299.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.79 m. 2025-10-27T05:34:59.618Z,1761543299.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.793701 m, nav range: 89.048950 m, bearing: 339.935853 deg, approach rate: -0.519964 m/s, LOS rate: -0.009784 deg/s, cmd heading: 331.725103 deg, new cmd heading: 331.712266 deg. 2025-10-27T05:34:59.628Z,1761543299.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789471 target range: 92.793701 and range: 93.30 m. 2025-10-27T05:35:00.036Z,1761543300.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888831,0.457999,-0.014695],[-0.446156,0.872274,0.200208],[0.104513,-0.171395,0.979643]] 2025-10-27T05:35:00.053Z,1761543300.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:00.055Z,1761543300.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.79 m. 2025-10-27T05:35:00.058Z,1761543300.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.793701 m, nav range: 88.797028 m, bearing: 339.931276 deg, approach rate: -0.573179 m/s, LOS rate: -0.010442 deg/s, cmd heading: 331.712262 deg, new cmd heading: 331.698494 deg. 2025-10-27T05:35:00.059Z,1761543300.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789231 target range: 92.793701 and range: 93.30 m. 2025-10-27T05:35:00.112Z,1761543300.112 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:00.113Z,1761543300.113 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:00.113Z,1761543300.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:00.364Z,1761543300.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752071 2025-10-27T05:35:00.476Z,1761543300.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.79 m. 2025-10-27T05:35:00.479Z,1761543300.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.793701 m, nav range: 88.569382 m, bearing: 339.927118 deg, approach rate: -0.540768 m/s, LOS rate: -0.009903 deg/s, cmd heading: 331.698493 deg, new cmd heading: 331.685987 deg. 2025-10-27T05:35:00.480Z,1761543300.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789012 target range: 92.793701 and range: 93.30 m. 2025-10-27T05:35:00.617Z,1761543300.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005002 2025-10-27T05:35:00.870Z,1761543300.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257597 2025-10-27T05:35:00.921Z,1761543300.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887881,0.460031,-0.006276],[-0.448021,0.867642,0.215579],[0.104619,-0.188597,0.976466]] 2025-10-27T05:35:00.971Z,1761543300.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.79 m. 2025-10-27T05:35:00.974Z,1761543300.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.793701 m, nav range: 88.301163 m, bearing: 339.916408 deg, approach rate: -0.541428 m/s, LOS rate: -0.021685 deg/s, cmd heading: 331.685980 deg, new cmd heading: 331.653752 deg. 2025-10-27T05:35:00.976Z,1761543300.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788450 target range: 92.793701 and range: 93.30 m. 2025-10-27T05:35:01.120Z,1761543301.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508058 2025-10-27T05:35:01.372Z,1761543301.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760012 2025-10-27T05:35:01.452Z,1761543301.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887568,0.460659,-0.004041],[-0.448768,0.866572,0.218312],[0.104069,-0.191953,0.975871]] 2025-10-27T05:35:01.504Z,1761543301.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.79 m. 2025-10-27T05:35:01.534Z,1761543301.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.793701 m, nav range: 88.029091 m, bearing: 339.905662 deg, approach rate: -0.519552 m/s, LOS rate: -0.020584 deg/s, cmd heading: 331.653741 deg, new cmd heading: 331.621404 deg. 2025-10-27T05:35:01.546Z,1761543301.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787885 target range: 92.793701 and range: 93.30 m. 2025-10-27T05:35:01.624Z,1761543301.624 [DAT](INFO): DAT read: Rx Time:05:35:00.1984 2025-10-27T05:35:01.625Z,1761543301.625 [DAT](INFO): Rx dataTimestamp_ set to:1761543301.624220 2025-10-27T05:35:01.625Z,1761543301.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013136 2025-10-27T05:35:01.876Z,1761543301.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264127 2025-10-27T05:35:01.885Z,1761543301.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887396,0.461006,-0.001490],[-0.449268,0.865516,0.221453],[0.103381,-0.195847,0.975170]] 2025-10-27T05:35:01.979Z,1761543301.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.79 m. 2025-10-27T05:35:01.986Z,1761543301.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.793701 m, nav range: 87.768700 m, bearing: 339.896391 deg, approach rate: -0.538588 m/s, LOS rate: -0.019234 deg/s, cmd heading: 331.621394 deg, new cmd heading: 331.593496 deg. 2025-10-27T05:35:01.986Z,1761543301.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787398 target range: 92.793701 and range: 93.30 m. 2025-10-27T05:35:02.134Z,1761543302.134 [DAT](INFO): DAT read: 05:35:00.1984 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410,-0.44, 1.037,-0.742, 1.052, 0.784, PHS= 0.355,-1.482, 0.223, RAW= 146.3, 10.2, CAL= 145.9, 11.1, ROT= 4.1, -11.1 2025-10-27T05:35:02.135Z,1761543302.135 [DAT](INFO): got valid direction response: 05:35:00.1984 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410,-0.44, 1.037,-0.742, 1.052, 0.784, PHS= 0.355,-1.482, 0.223, RAW= 146.3, 10.2, CAL= 145.9, 11.1, ROT= 4.1, -11.1 2025-10-27T05:35:02.136Z,1761543302.136 [DAT](INFO): DAT read: Bearing 142.6, 7.6 (Local) 2025-10-27T05:35:02.136Z,1761543302.136 [DAT](INFO): Local bearing/azimuth received: Bearing 142.6, 7.6 (Local) 2025-10-27T05:35:02.138Z,1761543302.138 [DAT](INFO): DAT read: Range 11 to 50 : 91.1 m (Round-trip 121.5 ms) speed 0.4 m/s 2025-10-27T05:35:02.138Z,1761543302.138 [DAT](INFO): DAT read: user:458> 2025-10-27T05:35:02.145Z,1761543302.145 [DAT](INFO): DAT read: Tx time:05:35:01.3227 2025-10-27T05:35:02.145Z,1761543302.145 [DAT](INFO): Ping request sent. 2025-10-27T05:35:02.145Z,1761543302.145 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:02.146Z,1761543302.146 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:02.147Z,1761543302.147 [DAT](INFO): direction in FSK: [0.978781,0.070160,0.192522] 2025-10-27T05:35:02.147Z,1761543302.147 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:02.147Z,1761543302.147 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:02.150Z,1761543302.150 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:02.151Z,1761543302.151 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:02.360Z,1761543302.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887172,0.461438,0.000860],[-0.449863,0.864500,0.224194],[0.102708,-0.199286,0.974544]] 2025-10-27T05:35:02.384Z,1761543302.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 91.099998 m, deltaT: 3.528114 s, deltaX: -2.200005 m, approachRate: -0.623564 m/s, rangeRepo size: 4 2025-10-27T05:35:02.386Z,1761543302.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.605919 m, bearing: 339.518210 deg, lat: 36.779373 deg, lon: -121.859647 deg, deltaT: 3.528114 s, deltaX: -2.187782 m, approachRate: -0.620100 m/s, posRepo size: 4 2025-10-27T05:35:02.386Z,1761543302.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:02.409Z,1761543302.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 87.000313 m, bearing: 339.755439 deg, approach rate: 0.000000 m/s, LOS rate: -0.019234 deg/s, cmd heading: 331.593499 deg, new cmd heading: 331.570174 deg. 2025-10-27T05:35:02.410Z,1761543302.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786991 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:02.815Z,1761543302.815 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:35:02.825Z,1761543302.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:02.827Z,1761543302.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:02.830Z,1761543302.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 86.761307 m, bearing: 339.748505 deg, approach rate: -0.538474 m/s, LOS rate: -0.015664 deg/s, cmd heading: 331.570167 deg, new cmd heading: 331.549309 deg. 2025-10-27T05:35:02.830Z,1761543302.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786627 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:02.884Z,1761543302.884 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:02.884Z,1761543302.884 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:02.884Z,1761543302.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:03.136Z,1761543303.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990829 2025-10-27T05:35:03.166Z,1761543303.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886642,0.462443,0.003553],[-0.451153,0.863257,0.226381],[0.101621,-0.202322,0.974032]] 2025-10-27T05:35:03.202Z,1761543303.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:03.205Z,1761543303.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 86.560966 m, bearing: 339.742884 deg, approach rate: -0.533757 m/s, LOS rate: -0.015011 deg/s, cmd heading: 331.549321 deg, new cmd heading: 331.532419 deg. 2025-10-27T05:35:03.206Z,1761543303.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786332 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:03.393Z,1761543303.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245517 2025-10-27T05:35:03.601Z,1761543303.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886313,0.463066,0.004336],[-0.451823,0.862666,0.227296],[0.101512,-0.203415,0.973816]] 2025-10-27T05:35:03.640Z,1761543303.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494792 2025-10-27T05:35:03.650Z,1761543303.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:03.653Z,1761543303.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 86.318298 m, bearing: 339.743631 deg, approach rate: -0.542144 m/s, LOS rate: 0.001672 deg/s, cmd heading: 331.532410 deg, new cmd heading: 331.534655 deg. 2025-10-27T05:35:03.653Z,1761543303.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786371 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:03.831Z,1761543303.831 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:35:03.892Z,1761543303.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746573 2025-10-27T05:35:03.985Z,1761543303.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886531,0.462651,0.004212],[-0.451415,0.862934,0.227091],[0.101429,-0.203224,0.973864]] 2025-10-27T05:35:04.012Z,1761543304.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:04.016Z,1761543304.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 86.116310 m, bearing: 339.744190 deg, approach rate: -0.557127 m/s, LOS rate: 0.001548 deg/s, cmd heading: 331.534650 deg, new cmd heading: 331.536334 deg. 2025-10-27T05:35:04.017Z,1761543304.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786401 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:04.144Z,1761543304.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998639 2025-10-27T05:35:04.382Z,1761543304.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886382,0.462935,0.004209],[-0.451683,0.862771,0.227174],[0.101536,-0.203264,0.973845]] 2025-10-27T05:35:04.396Z,1761543304.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250815 2025-10-27T05:35:04.403Z,1761543304.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:04.406Z,1761543304.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 85.902832 m, bearing: 339.744829 deg, approach rate: -0.546677 m/s, LOS rate: 0.001640 deg/s, cmd heading: 331.536344 deg, new cmd heading: 331.538265 deg. 2025-10-27T05:35:04.406Z,1761543304.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786434 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:04.652Z,1761543304.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506994 2025-10-27T05:35:04.788Z,1761543304.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885988,0.463694,0.003700],[-0.452396,0.862593,0.226431],[0.101803,-0.202288,0.974020]] 2025-10-27T05:35:04.829Z,1761543304.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:04.832Z,1761543304.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:04.835Z,1761543304.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 85.654167 m, bearing: 339.750386 deg, approach rate: -0.580330 m/s, LOS rate: 0.013006 deg/s, cmd heading: 331.538257 deg, new cmd heading: 331.554976 deg. 2025-10-27T05:35:04.836Z,1761543304.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786726 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:04.904Z,1761543304.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758789 2025-10-27T05:35:05.156Z,1761543305.156 [DAT](INFO): DAT read: Rx Time:05:35:03.8458 2025-10-27T05:35:05.156Z,1761543305.156 [DAT](INFO): Rx dataTimestamp_ set to:1761543305.156177 2025-10-27T05:35:05.157Z,1761543305.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011751 2025-10-27T05:35:05.190Z,1761543305.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885690,0.464262,0.003613],[-0.452930,0.862309,0.226449],[0.102016,-0.202200,0.974016]] 2025-10-27T05:35:05.226Z,1761543305.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:05.229Z,1761543305.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 85.424957 m, bearing: 339.755630 deg, approach rate: -0.580077 m/s, LOS rate: 0.013307 deg/s, cmd heading: 331.554977 deg, new cmd heading: 331.570752 deg. 2025-10-27T05:35:05.230Z,1761543305.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787001 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:05.408Z,1761543305.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262607 2025-10-27T05:35:05.633Z,1761543305.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885161,0.465275,0.003017],[-0.453852,0.861964,0.225911],[0.102510,-0.201337,0.974143]] 2025-10-27T05:35:05.661Z,1761543305.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515455 2025-10-27T05:35:05.749Z,1761543305.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.61 m. 2025-10-27T05:35:05.758Z,1761543305.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.605919 m, nav range: 85.128014 m, bearing: 339.769978 deg, approach rate: -0.568447 m/s, LOS rate: 0.027562 deg/s, cmd heading: 331.570741 deg, new cmd heading: 331.613935 deg. 2025-10-27T05:35:05.760Z,1761543305.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787755 target range: 90.605919 and range: 91.10 m. 2025-10-27T05:35:05.918Z,1761543305.918 [DAT](INFO): DAT read: 05:35:03.8458 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.17,-0.643,-2.431,-0.652,-0.970, PHS= 0.429,-1.416, 0.275, RAW= 145.7, 8.1, CAL= 145.2, 8.8, ROT= 4.8, -8.8 2025-10-27T05:35:05.919Z,1761543305.919 [DAT](INFO): got valid direction response: 05:35:03.8458 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.17,-0.643,-2.431,-0.652,-0.970, PHS= 0.429,-1.416, 0.275, RAW= 145.7, 8.1, CAL= 145.2, 8.8, ROT= 4.8, -8.8 2025-10-27T05:35:05.920Z,1761543305.920 [DAT](INFO): DAT read: Bearing 140.9, 8.7 (Local) 2025-10-27T05:35:05.920Z,1761543305.920 [DAT](INFO): Local bearing/azimuth received: Bearing 140.9, 8.7 (Local) 2025-10-27T05:35:05.921Z,1761543305.921 [DAT](INFO): DAT read: Range 11 to 50 : 89.2 m (Round-trip 119.0 ms) speed 0.4 m/s 2025-10-27T05:35:05.922Z,1761543305.922 [DAT](INFO): DAT read: user:459> 2025-10-27T05:35:05.923Z,1761543305.923 [DAT](INFO): DAT read: Tx time:05:35:04.9727 2025-10-27T05:35:05.923Z,1761543305.923 [DAT](INFO): Ping request sent. 2025-10-27T05:35:05.923Z,1761543305.923 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:05.924Z,1761543305.924 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:05.925Z,1761543305.925 [DAT](INFO): direction in FSK: [0.984763,0.082693,0.152986] 2025-10-27T05:35:05.925Z,1761543305.925 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:05.925Z,1761543305.925 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:05.928Z,1761543305.928 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:05.929Z,1761543305.929 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:06.037Z,1761543306.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884661,0.466229,0.002400],[-0.454711,0.861645,0.225401],[0.103020,-0.200495,0.974263]] 2025-10-27T05:35:06.101Z,1761543306.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.199997 m, deltaT: 3.783822 s, deltaX: -1.900002 m, approachRate: -0.502138 m/s, rangeRepo size: 4 2025-10-27T05:35:06.107Z,1761543306.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.721176 m, bearing: 339.402052 deg, lat: 36.779378 deg, lon: -121.859651 deg, deltaT: 3.783822 s, deltaX: -1.884743 m, approachRate: -0.498106 m/s, posRepo size: 4 2025-10-27T05:35:06.108Z,1761543306.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:06.110Z,1761543306.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 85.612015 m, bearing: 339.674844 deg, approach rate: 0.000000 m/s, LOS rate: 0.027562 deg/s, cmd heading: 331.613935 deg, new cmd heading: 331.643002 deg. 2025-10-27T05:35:06.113Z,1761543306.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788262 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:06.431Z,1761543306.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883993,0.467496,0.001830],[-0.455898,0.861182,0.224774],[0.103505,-0.199533,0.974409]] 2025-10-27T05:35:06.450Z,1761543306.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:06.455Z,1761543306.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 85.388939 m, bearing: 339.685719 deg, approach rate: -0.638491 m/s, LOS rate: 0.031210 deg/s, cmd heading: 331.643004 deg, new cmd heading: 331.675717 deg. 2025-10-27T05:35:06.456Z,1761543306.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788833 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:06.835Z,1761543306.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883255,0.468891,0.000863],[-0.457305,0.861021,0.222520],[0.103594,-0.196936,0.974928]] 2025-10-27T05:35:06.882Z,1761543306.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:06.885Z,1761543306.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:06.887Z,1761543306.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 85.135353 m, bearing: 339.698066 deg, approach rate: -0.583000 m/s, LOS rate: 0.028469 deg/s, cmd heading: 331.675707 deg, new cmd heading: 331.712856 deg. 2025-10-27T05:35:06.888Z,1761543306.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789482 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:06.920Z,1761543306.920 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:06.920Z,1761543306.920 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:06.920Z,1761543306.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:07.172Z,1761543307.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248555 2025-10-27T05:35:07.260Z,1761543307.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882597,0.470130,0.000534],[-0.458548,0.860603,0.221578],[0.103710,-0.195809,0.975142]] 2025-10-27T05:35:07.301Z,1761543307.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:07.304Z,1761543307.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 84.896729 m, bearing: 339.709973 deg, approach rate: -0.572394 m/s, LOS rate: 0.028643 deg/s, cmd heading: 331.712864 deg, new cmd heading: 331.748686 deg. 2025-10-27T05:35:07.305Z,1761543307.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790107 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:07.424Z,1761543307.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500541 2025-10-27T05:35:07.680Z,1761543307.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756249 2025-10-27T05:35:07.688Z,1761543307.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882027,0.471198,0.000946],[-0.459622,0.859913,0.222030],[0.103806,-0.196271,0.975039]] 2025-10-27T05:35:07.771Z,1761543307.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:07.774Z,1761543307.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 84.618553 m, bearing: 339.726823 deg, approach rate: -0.597562 m/s, LOS rate: 0.036316 deg/s, cmd heading: 331.748681 deg, new cmd heading: 331.799398 deg. 2025-10-27T05:35:07.779Z,1761543307.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790992 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:07.928Z,1761543307.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004693 2025-10-27T05:35:08.060Z,1761543308.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881274,0.472595,0.003003],[-0.461166,0.858537,0.224145],[0.103352,-0.198918,0.974551]] 2025-10-27T05:35:08.089Z,1761543308.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:08.108Z,1761543308.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 84.415871 m, bearing: 339.739414 deg, approach rate: -0.630255 m/s, LOS rate: 0.039245 deg/s, cmd heading: 331.799388 deg, new cmd heading: 331.837251 deg. 2025-10-27T05:35:08.109Z,1761543308.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791653 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:08.181Z,1761543308.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257142 2025-10-27T05:35:08.432Z,1761543308.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508474 2025-10-27T05:35:08.462Z,1761543308.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880547,0.473942,0.004068],[-0.462565,0.857476,0.225319],[0.103300,-0.200286,0.974276]] 2025-10-27T05:35:08.515Z,1761543308.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:08.518Z,1761543308.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 84.163467 m, bearing: 339.755455 deg, approach rate: -0.597640 m/s, LOS rate: 0.038096 deg/s, cmd heading: 331.837255 deg, new cmd heading: 331.885523 deg. 2025-10-27T05:35:08.519Z,1761543308.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792495 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:08.688Z,1761543308.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763639 2025-10-27T05:35:08.866Z,1761543308.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880304,0.474383,0.005046],[-0.463112,0.856986,0.226060],[0.102915,-0.201338,0.974100]] 2025-10-27T05:35:08.921Z,1761543308.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:08.923Z,1761543308.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:08.926Z,1761543308.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 83.915573 m, bearing: 339.765389 deg, approach rate: -0.601858 m/s, LOS rate: 0.024188 deg/s, cmd heading: 331.885531 deg, new cmd heading: 331.915419 deg. 2025-10-27T05:35:08.927Z,1761543308.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793017 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:08.936Z,1761543308.936 [DAT](INFO): DAT read: Rx Time:05:35:07.4930 2025-10-27T05:35:08.937Z,1761543308.937 [DAT](INFO): Rx dataTimestamp_ set to:1761543308.936293 2025-10-27T05:35:08.937Z,1761543308.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013762 2025-10-27T05:35:09.188Z,1761543309.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264475 2025-10-27T05:35:09.284Z,1761543309.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880393,0.474232,0.003568],[-0.463041,0.857942,0.222551],[0.102480,-0.197584,0.974914]] 2025-10-27T05:35:09.302Z,1761543309.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.72 m. 2025-10-27T05:35:09.305Z,1761543309.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.721176 m, nav range: 83.690552 m, bearing: 339.774425 deg, approach rate: -0.593647 m/s, LOS rate: 0.023905 deg/s, cmd heading: 331.915420 deg, new cmd heading: 331.942603 deg. 2025-10-27T05:35:09.306Z,1761543309.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793491 target range: 88.721176 and range: 89.20 m. 2025-10-27T05:35:09.449Z,1761543309.449 [DAT](INFO): DAT read: 05:35:07.4930 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418, 0.14,-0.806,-2.611,-0.823,-1.096, PHS= 0.392,-1.469, 0.229, RAW= 145.5, 9.5, CAL= 145.0, 10.4, ROT= 5.0, -10.4 2025-10-27T05:35:09.450Z,1761543309.450 [DAT](INFO): got valid direction response: 05:35:07.4930 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 418, 0.14,-0.806,-2.611,-0.823,-1.096, PHS= 0.392,-1.469, 0.229, RAW= 145.5, 9.5, CAL= 145.0, 10.4, ROT= 5.0, -10.4 2025-10-27T05:35:09.451Z,1761543309.451 [DAT](INFO): DAT read: Bearing 143.3, 8.3 (Local) 2025-10-27T05:35:09.451Z,1761543309.451 [DAT](INFO): Local bearing/azimuth received: Bearing 143.3, 8.3 (Local) 2025-10-27T05:35:09.453Z,1761543309.453 [DAT](INFO): DAT read: Range 11 to 50 : 87.1 m (Round-trip 116.2 ms) speed 0.5 m/s 2025-10-27T05:35:09.454Z,1761543309.454 [DAT](INFO): DAT read: user:460> 2025-10-27T05:35:09.454Z,1761543309.454 [DAT](INFO): DAT read: Tx time:05:35:08.6227 2025-10-27T05:35:09.455Z,1761543309.455 [DAT](INFO): Ping request sent. 2025-10-27T05:35:09.455Z,1761543309.455 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:09.455Z,1761543309.455 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:09.456Z,1761543309.456 [DAT](INFO): direction in FSK: [0.979829,0.085724,0.180519] 2025-10-27T05:35:09.457Z,1761543309.457 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:09.457Z,1761543309.457 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:09.460Z,1761543309.460 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:09.460Z,1761543309.460 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:09.705Z,1761543309.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881641,0.471917,0.001643],[-0.461024,0.860537,0.216640],[0.100822,-0.191756,0.976250]] 2025-10-27T05:35:09.806Z,1761543309.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.099998 m, deltaT: 3.528600 s, deltaX: -2.099998 m, approachRate: -0.595136 m/s, rangeRepo size: 4 2025-10-27T05:35:09.812Z,1761543309.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.635284 m, bearing: 339.465042 deg, lat: 36.779379 deg, lon: -121.859657 deg, deltaT: 3.528600 s, deltaX: -2.085892 m, approachRate: -0.591139 m/s, posRepo size: 4 2025-10-27T05:35:09.813Z,1761543309.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.64 m. 2025-10-27T05:35:09.820Z,1761543309.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.635284 m, nav range: 83.676842 m, bearing: 339.486924 deg, approach rate: 0.000000 m/s, LOS rate: 0.023905 deg/s, cmd heading: 331.942604 deg, new cmd heading: 331.978690 deg. 2025-10-27T05:35:09.821Z,1761543309.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794121 target range: 86.635284 and range: 87.10 m. 2025-10-27T05:35:10.143Z,1761543310.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882121,0.471023,-0.000147],[-0.460264,0.862037,0.212246],[0.100099,-0.187159,0.977216]] 2025-10-27T05:35:10.170Z,1761543310.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.64 m. 2025-10-27T05:35:10.173Z,1761543310.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.635284 m, nav range: 83.452904 m, bearing: 339.488858 deg, approach rate: -0.613606 m/s, LOS rate: 0.005312 deg/s, cmd heading: 331.978694 deg, new cmd heading: 331.984511 deg. 2025-10-27T05:35:10.174Z,1761543310.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794223 target range: 86.635284 and range: 87.10 m. 2025-10-27T05:35:10.546Z,1761543310.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882978,0.469412,-0.001832],[-0.458833,0.863889,0.207769],[0.099111,-0.182615,0.978176]] 2025-10-27T05:35:10.564Z,1761543310.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.64 m. 2025-10-27T05:35:10.567Z,1761543310.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.635284 m, nav range: 83.221321 m, bearing: 339.490578 deg, approach rate: -0.587517 m/s, LOS rate: 0.004378 deg/s, cmd heading: 331.984514 deg, new cmd heading: 331.989690 deg. 2025-10-27T05:35:10.568Z,1761543310.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794313 target range: 86.635284 and range: 87.10 m. 2025-10-27T05:35:10.953Z,1761543310.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883779,0.467891,-0.003585],[-0.457548,0.865796,0.202598],[0.097898,-0.177412,0.979255]] 2025-10-27T05:35:10.993Z,1761543310.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:10.995Z,1761543310.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.64 m. 2025-10-27T05:35:10.998Z,1761543310.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.635284 m, nav range: 82.984879 m, bearing: 339.483166 deg, approach rate: -0.549024 m/s, LOS rate: -0.017262 deg/s, cmd heading: 331.989677 deg, new cmd heading: 331.967376 deg. 2025-10-27T05:35:10.999Z,1761543310.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793924 target range: 86.635284 and range: 87.10 m. 2025-10-27T05:35:11.204Z,1761543311.204 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:11.205Z,1761543311.205 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:11.205Z,1761543311.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:11.451Z,1761543311.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884580,0.466369,-0.004356],[-0.456352,0.867433,0.198248],[0.096235,-0.173379,0.980142]] 2025-10-27T05:35:11.456Z,1761543311.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001224 2025-10-27T05:35:11.470Z,1761543311.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.64 m. 2025-10-27T05:35:11.473Z,1761543311.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.635284 m, nav range: 82.717842 m, bearing: 339.474446 deg, approach rate: -0.561390 m/s, LOS rate: -0.018390 deg/s, cmd heading: 331.967384 deg, new cmd heading: 331.941141 deg. 2025-10-27T05:35:11.474Z,1761543311.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793466 target range: 86.635284 and range: 87.10 m. 2025-10-27T05:35:11.712Z,1761543311.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256027 2025-10-27T05:35:11.854Z,1761543311.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885239,0.465113,-0.004735],[-0.455451,0.868826,0.194181],[0.094430,-0.169739,0.980954]] 2025-10-27T05:35:11.960Z,1761543311.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505233 2025-10-27T05:35:11.963Z,1761543311.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.64 m. 2025-10-27T05:35:11.966Z,1761543311.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.635284 m, nav range: 82.486588 m, bearing: 339.459232 deg, approach rate: -0.477615 m/s, LOS rate: -0.031511 deg/s, cmd heading: 331.941128 deg, new cmd heading: 331.895356 deg. 2025-10-27T05:35:11.966Z,1761543311.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792667 target range: 86.635284 and range: 87.10 m. 2025-10-27T05:35:12.212Z,1761543312.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757188 2025-10-27T05:35:12.419Z,1761543312.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885938,0.463790,-0.003486],[-0.454575,0.869778,0.191959],[0.092060,-0.168479,0.981397]] 2025-10-27T05:35:12.438Z,1761543312.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.64 m. 2025-10-27T05:35:12.444Z,1761543312.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.635284 m, nav range: 82.185844 m, bearing: 339.439069 deg, approach rate: -0.623907 m/s, LOS rate: -0.041981 deg/s, cmd heading: 331.895366 deg, new cmd heading: 331.834657 deg. 2025-10-27T05:35:12.445Z,1761543312.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791607 target range: 86.635284 and range: 87.10 m. 2025-10-27T05:35:12.464Z,1761543312.464 [DAT](INFO): DAT read: Rx Time:05:35:11.1402 2025-10-27T05:35:12.465Z,1761543312.465 [DAT](INFO): Rx dataTimestamp_ set to:1761543312.464265 2025-10-27T05:35:12.465Z,1761543312.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010383 2025-10-27T05:35:12.719Z,1761543312.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263562 2025-10-27T05:35:12.817Z,1761543312.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886415,0.462891,0.000115],[-0.454224,0.869769,0.192826],[0.089158,-0.170976,0.981233]] 2025-10-27T05:35:12.868Z,1761543312.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.64 m. 2025-10-27T05:35:12.871Z,1761543312.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.635284 m, nav range: 81.944588 m, bearing: 339.416829 deg, approach rate: -0.559248 m/s, LOS rate: -0.051706 deg/s, cmd heading: 331.834659 deg, new cmd heading: 331.767742 deg. 2025-10-27T05:35:12.872Z,1761543312.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790440 target range: 86.635284 and range: 87.10 m. 2025-10-27T05:35:12.971Z,1761543312.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515719 2025-10-27T05:35:13.225Z,1761543313.225 [DAT](INFO): DAT read: 05:35:11.1402 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.04,-2.112, 2.452,-2.094,-2.303, PHS= 0.294,-1.483, 0.165, RAW= 146.3, 11.9, CAL= 146.0, 13.0, ROT= 4.0, -13.0 2025-10-27T05:35:13.227Z,1761543313.227 [DAT](INFO): got valid direction response: 05:35:11.1402 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405,-0.04,-2.112, 2.452,-2.094,-2.303, PHS= 0.294,-1.483, 0.165, RAW= 146.3, 11.9, CAL= 146.0, 13.0, ROT= 4.0, -13.0 2025-10-27T05:35:13.228Z,1761543313.228 [DAT](INFO): DAT read: Bearing 146.5, 6.8 (Local) 2025-10-27T05:35:13.229Z,1761543313.229 [DAT](INFO): Local bearing/azimuth received: Bearing 146.5, 6.8 (Local) 2025-10-27T05:35:13.232Z,1761543313.232 [DAT](INFO): DAT read: Range 11 to 50 : 84.9 m (Round-trip 113.3 ms) speed 0.4 m/s 2025-10-27T05:35:13.234Z,1761543313.234 [DAT](INFO): DAT read: user:461> 2025-10-27T05:35:13.236Z,1761543313.236 [DAT](INFO): DAT read: Tx time:05:35:12.2727 2025-10-27T05:35:13.236Z,1761543313.236 [DAT](INFO): Ping request sent. 2025-10-27T05:35:13.237Z,1761543313.237 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:13.237Z,1761543313.237 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:13.238Z,1761543313.238 [DAT](INFO): direction in FSK: [0.971997,0.067969,0.224951] 2025-10-27T05:35:13.239Z,1761543313.239 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:13.240Z,1761543313.240 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:13.254Z,1761543313.254 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:13.254Z,1761543313.254 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:13.296Z,1761543313.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886617,0.462492,0.003307],[-0.454414,0.869755,0.192443],[0.086127,-0.172126,0.981302]] 2025-10-27T05:35:13.332Z,1761543313.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.900002 m, deltaT: 3.779341 s, deltaX: -2.199997 m, approachRate: -0.582111 m/s, rangeRepo size: 4 2025-10-27T05:35:13.334Z,1761543313.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.443245 m, bearing: 339.217024 deg, lat: 36.779373 deg, lon: -121.859657 deg, deltaT: 3.779341 s, deltaX: -2.192039 m, approachRate: -0.580006 m/s, posRepo size: 4 2025-10-27T05:35:13.335Z,1761543313.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:13.345Z,1761543313.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 81.041504 m, bearing: 339.220234 deg, approach rate: 0.000000 m/s, LOS rate: -0.051706 deg/s, cmd heading: 331.767751 deg, new cmd heading: 331.696565 deg. 2025-10-27T05:35:13.346Z,1761543313.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789197 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:13.655Z,1761543313.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886959,0.461820,0.005044],[-0.454394,0.870640,0.188448],[0.082637,-0.169438,0.982070]] 2025-10-27T05:35:13.676Z,1761543313.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:13.678Z,1761543313.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:13.702Z,1761543313.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 80.840202 m, bearing: 339.200832 deg, approach rate: -0.572724 m/s, LOS rate: -0.055336 deg/s, cmd heading: 331.696553 deg, new cmd heading: 331.638205 deg. 2025-10-27T05:35:13.726Z,1761543313.726 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:13.727Z,1761543313.727 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:13.728Z,1761543313.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:13.740Z,1761543313.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788178 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:13.977Z,1761543313.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.740363 2025-10-27T05:35:14.070Z,1761543314.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887111,0.461498,0.007371],[-0.454629,0.870928,0.186542],[0.079669,-0.168835,0.982419]] 2025-10-27T05:35:14.122Z,1761543314.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:14.125Z,1761543314.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 80.594818 m, bearing: 339.179367 deg, approach rate: -0.553777 m/s, LOS rate: -0.048591 deg/s, cmd heading: 331.638196 deg, new cmd heading: 331.573602 deg. 2025-10-27T05:35:14.126Z,1761543314.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787051 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:14.230Z,1761543314.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993205 2025-10-27T05:35:14.475Z,1761543314.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886894,0.461844,0.010903],[-0.455482,0.870248,0.187628],[0.077166,-0.171372,0.982180]] 2025-10-27T05:35:14.480Z,1761543314.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243472 2025-10-27T05:35:14.500Z,1761543314.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:14.502Z,1761543314.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 80.387413 m, bearing: 339.161282 deg, approach rate: -0.548316 m/s, LOS rate: -0.047932 deg/s, cmd heading: 331.573610 deg, new cmd heading: 331.519217 deg. 2025-10-27T05:35:14.504Z,1761543314.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786102 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:14.737Z,1761543314.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499749 2025-10-27T05:35:14.878Z,1761543314.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886392,0.462703,0.014662],[-0.456799,0.869064,0.189901],[0.075126,-0.175024,0.981694]] 2025-10-27T05:35:14.933Z,1761543314.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:14.936Z,1761543314.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 80.131485 m, bearing: 339.144619 deg, approach rate: -0.590319 m/s, LOS rate: -0.038559 deg/s, cmd heading: 331.519214 deg, new cmd heading: 331.469063 deg. 2025-10-27T05:35:14.937Z,1761543314.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785226 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:14.985Z,1761543314.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748269 2025-10-27T05:35:15.237Z,1761543315.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000431 2025-10-27T05:35:15.281Z,1761543315.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885906,0.463452,0.019582],[-0.458049,0.867354,0.194650],[0.073226,-0.181411,0.980677]] 2025-10-27T05:35:15.311Z,1761543315.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:15.314Z,1761543315.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 79.908371 m, bearing: 339.130324 deg, approach rate: -0.590800 m/s, LOS rate: -0.037959 deg/s, cmd heading: 331.469053 deg, new cmd heading: 331.426048 deg. 2025-10-27T05:35:15.315Z,1761543315.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784476 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:15.488Z,1761543315.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251375 2025-10-27T05:35:15.699Z,1761543315.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884197,0.466323,0.027165],[-0.461829,0.863992,0.200578],[0.070064,-0.189896,0.979301]] 2025-10-27T05:35:15.744Z,1761543315.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506810 2025-10-27T05:35:15.785Z,1761543315.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:15.791Z,1761543315.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:15.794Z,1761543315.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 79.643074 m, bearing: 339.114185 deg, approach rate: -0.557405 m/s, LOS rate: -0.034021 deg/s, cmd heading: 331.426050 deg, new cmd heading: 331.377474 deg. 2025-10-27T05:35:15.799Z,1761543315.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783628 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:15.995Z,1761543315.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758661 2025-10-27T05:35:16.171Z,1761543316.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:16.174Z,1761543316.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 79.395927 m, bearing: 339.105184 deg, approach rate: -0.643874 m/s, LOS rate: -0.023524 deg/s, cmd heading: 331.377474 deg, new cmd heading: 331.350386 deg. 2025-10-27T05:35:16.175Z,1761543316.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783155 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:16.247Z,1761543316.247 [DAT](INFO): DAT read: Rx Time:05:35:14.7875 2025-10-27T05:35:16.248Z,1761543316.248 [DAT](INFO): Rx dataTimestamp_ set to:1761543316.247234 2025-10-27T05:35:16.249Z,1761543316.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012200 2025-10-27T05:35:16.496Z,1761543316.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259443 2025-10-27T05:35:16.514Z,1761543316.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882046,0.469830,0.035420],[-0.466304,0.859712,0.208462],[0.067491,-0.200389,0.977389]] 2025-10-27T05:35:16.536Z,1761543316.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.44 m. 2025-10-27T05:35:16.538Z,1761543316.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.443245 m, nav range: 79.178360 m, bearing: 339.098153 deg, approach rate: -0.596230 m/s, LOS rate: -0.019320 deg/s, cmd heading: 331.350399 deg, new cmd heading: 331.329249 deg. 2025-10-27T05:35:16.539Z,1761543316.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782786 target range: 84.443245 and range: 84.90 m. 2025-10-27T05:35:16.795Z,1761543316.795 [DAT](INFO): DAT read: 05:35:14.7875 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.20, 2.098, 0.306, 2.100, 1.859, PHS= 0.341,-1.508, 0.197, RAW= 146.0, 10.9, CAL= 145.6, 11.9, ROT= 4.4, -11.9 2025-10-27T05:35:16.804Z,1761543316.804 [DAT](INFO): got valid direction response: 05:35:14.7875 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.20, 2.098, 0.306, 2.100, 1.859, PHS= 0.341,-1.508, 0.197, RAW= 146.0, 10.9, CAL= 145.6, 11.9, ROT= 4.4, -11.9 2025-10-27T05:35:16.811Z,1761543316.811 [DAT](INFO): DAT read: Bearing 144.2, 6.2 (Local) 2025-10-27T05:35:16.812Z,1761543316.812 [DAT](INFO): Local bearing/azimuth received: Bearing 144.2, 6.2 (Local) 2025-10-27T05:35:16.813Z,1761543316.813 [DAT](INFO): DAT read: Range 11 to 50 : 83.0 m (Round-trip 110.7 ms) speed 0.5 m/s 2025-10-27T05:35:16.814Z,1761543316.814 [DAT](INFO): DAT read: user:462> 2025-10-27T05:35:16.814Z,1761543316.814 [DAT](INFO): DAT read: Tx time:05:35:15.8727 2025-10-27T05:35:16.822Z,1761543316.822 [DAT](INFO): Ping request sent. 2025-10-27T05:35:16.822Z,1761543316.822 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:16.829Z,1761543316.829 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:16.832Z,1761543316.832 [DAT](INFO): direction in FSK: [0.975625,0.075070,0.206204] 2025-10-27T05:35:16.833Z,1761543316.833 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:16.833Z,1761543316.833 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:16.842Z,1761543316.842 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:16.843Z,1761543316.843 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:17.077Z,1761543317.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.000000 m, deltaT: 3.531317 s, deltaX: -1.900002 m, approachRate: -0.538043 m/s, rangeRepo size: 4 2025-10-27T05:35:17.084Z,1761543317.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.548950 m, bearing: 338.959175 deg, lat: 36.779379 deg, lon: -121.859657 deg, deltaT: 3.531317 s, deltaX: -1.894295 m, approachRate: -0.536427 m/s, posRepo size: 4 2025-10-27T05:35:17.084Z,1761543317.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.55 m. 2025-10-27T05:35:17.091Z,1761543317.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.548950 m, nav range: 79.523232 m, bearing: 339.258639 deg, approach rate: 0.000000 m/s, LOS rate: -0.019320 deg/s, cmd heading: 331.329253 deg, new cmd heading: 331.297888 deg. 2025-10-27T05:35:17.092Z,1761543317.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782239 target range: 82.548950 and range: 83.00 m. 2025-10-27T05:35:17.408Z,1761543317.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879462,0.474022,0.043010],[-0.471459,0.855153,0.215501],[0.065372,-0.209802,0.975556]] 2025-10-27T05:35:17.436Z,1761543317.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.55 m. 2025-10-27T05:35:17.438Z,1761543317.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.548950 m, nav range: 79.293327 m, bearing: 339.263240 deg, approach rate: -0.640493 m/s, LOS rate: 0.012856 deg/s, cmd heading: 331.297889 deg, new cmd heading: 331.311733 deg. 2025-10-27T05:35:17.440Z,1761543317.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782481 target range: 82.548950 and range: 83.00 m. 2025-10-27T05:35:17.821Z,1761543317.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878377,0.476058,0.042693],[-0.473623,0.854894,0.211748],[0.064307,-0.206215,0.976391]] 2025-10-27T05:35:17.863Z,1761543317.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:17.865Z,1761543317.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.55 m. 2025-10-27T05:35:17.868Z,1761543317.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.548950 m, nav range: 79.037109 m, bearing: 339.274661 deg, approach rate: -0.596649 m/s, LOS rate: 0.026680 deg/s, cmd heading: 331.311740 deg, new cmd heading: 331.346112 deg. 2025-10-27T05:35:17.869Z,1761543317.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783081 target range: 82.548950 and range: 83.00 m. 2025-10-27T05:35:18.012Z,1761543318.012 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:18.012Z,1761543318.012 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:18.012Z,1761543318.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:18.214Z,1761543318.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877546,0.477560,0.042996],[-0.475321,0.854608,0.209083],[0.063105,-0.203917,0.976952]] 2025-10-27T05:35:18.264Z,1761543318.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441446 2025-10-27T05:35:18.271Z,1761543318.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.55 m. 2025-10-27T05:35:18.274Z,1761543318.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.548950 m, nav range: 78.804573 m, bearing: 339.285387 deg, approach rate: -0.577934 m/s, LOS rate: 0.026737 deg/s, cmd heading: 331.346110 deg, new cmd heading: 331.378384 deg. 2025-10-27T05:35:18.275Z,1761543318.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783644 target range: 82.548950 and range: 83.00 m. 2025-10-27T05:35:18.516Z,1761543318.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693428 2025-10-27T05:35:18.618Z,1761543318.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876620,0.479079,0.044943],[-0.477168,0.853465,0.209545],[0.062031,-0.205137,0.976766]] 2025-10-27T05:35:18.637Z,1761543318.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.55 m. 2025-10-27T05:35:18.640Z,1761543318.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.548950 m, nav range: 78.576035 m, bearing: 339.296349 deg, approach rate: -0.619393 m/s, LOS rate: 0.029797 deg/s, cmd heading: 331.378376 deg, new cmd heading: 331.411359 deg. 2025-10-27T05:35:18.641Z,1761543318.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784219 target range: 82.548950 and range: 83.00 m. 2025-10-27T05:35:18.768Z,1761543318.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945545 2025-10-27T05:35:19.020Z,1761543319.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197873 2025-10-27T05:35:19.031Z,1761543319.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875890,0.480176,0.047411],[-0.478618,0.852164,0.211519],[0.061164,-0.207959,0.976223]] 2025-10-27T05:35:19.071Z,1761543319.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.55 m. 2025-10-27T05:35:19.074Z,1761543319.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.548950 m, nav range: 78.306755 m, bearing: 339.314624 deg, approach rate: -0.619871 m/s, LOS rate: 0.042212 deg/s, cmd heading: 331.411352 deg, new cmd heading: 331.466364 deg. 2025-10-27T05:35:19.095Z,1761543319.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785180 target range: 82.548950 and range: 83.00 m. 2025-10-27T05:35:19.272Z,1761543319.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449361 2025-10-27T05:35:19.426Z,1761543319.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875533,0.480657,0.049104],[-0.479404,0.851584,0.212077],[0.060120,-0.209221,0.976019]] 2025-10-27T05:35:19.463Z,1761543319.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.55 m. 2025-10-27T05:35:19.465Z,1761543319.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.548950 m, nav range: 78.075089 m, bearing: 339.330602 deg, approach rate: -0.591594 m/s, LOS rate: 0.040922 deg/s, cmd heading: 331.466376 deg, new cmd heading: 331.514451 deg. 2025-10-27T05:35:19.466Z,1761543319.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786019 target range: 82.548950 and range: 83.00 m. 2025-10-27T05:35:19.525Z,1761543319.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702931 2025-10-27T05:35:19.779Z,1761543319.779 [DAT](INFO): DAT read: Rx Time:05:35:18.3846 2025-10-27T05:35:19.780Z,1761543319.780 [DAT](INFO): Rx dataTimestamp_ set to:1761543319.779310 2025-10-27T05:35:19.782Z,1761543319.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959206 2025-10-27T05:35:19.863Z,1761543319.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875663,0.480677,0.046513],[-0.479297,0.853269,0.205442],[0.059063,-0.202191,0.977563]] 2025-10-27T05:35:19.900Z,1761543319.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:19.902Z,1761543319.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.55 m. 2025-10-27T05:35:19.905Z,1761543319.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.548950 m, nav range: 77.789467 m, bearing: 339.351299 deg, approach rate: -0.650281 m/s, LOS rate: 0.047295 deg/s, cmd heading: 331.514460 deg, new cmd heading: 331.576781 deg. 2025-10-27T05:35:19.906Z,1761543319.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787107 target range: 82.548950 and range: 83.00 m. 2025-10-27T05:35:20.028Z,1761543320.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205976 2025-10-27T05:35:20.285Z,1761543320.285 [DAT](INFO): DAT read: 05:35:18.3846 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.36, 2.206, 0.449, 2.192, 2.028, PHS= 0.280,-1.534, 0.120, RAW= 145.4, 13.0, CAL= 145.1, 14.2, ROT= 4.9, -14.2 2025-10-27T05:35:20.287Z,1761543320.287 [DAT](INFO): got valid direction response: 05:35:18.3846 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.36, 2.206, 0.449, 2.192, 2.028, PHS= 0.280,-1.534, 0.120, RAW= 145.4, 13.0, CAL= 145.1, 14.2, ROT= 4.9, -14.2 2025-10-27T05:35:20.288Z,1761543320.288 [DAT](INFO): DAT read: Bearing 146.5, 5.0 (Local) 2025-10-27T05:35:20.288Z,1761543320.288 [DAT](INFO): Local bearing/azimuth received: Bearing 146.5, 5.0 (Local) 2025-10-27T05:35:20.289Z,1761543320.289 [DAT](INFO): DAT read: Range 11 to 50 : 80.8 m (Round-trip 107.8 ms) speed 0.5 m/s 2025-10-27T05:35:20.290Z,1761543320.290 [DAT](INFO): DAT read: user:463> 2025-10-27T05:35:20.291Z,1761543320.291 [DAT](INFO): DAT read: Tx time:05:35:19.4727 2025-10-27T05:35:20.291Z,1761543320.291 [DAT](INFO): Ping request sent. 2025-10-27T05:35:20.291Z,1761543320.291 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:20.292Z,1761543320.292 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:20.293Z,1761543320.293 [DAT](INFO): direction in FSK: [0.965902,0.082807,0.245307] 2025-10-27T05:35:20.293Z,1761543320.293 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:20.293Z,1761543320.293 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:20.296Z,1761543320.296 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:20.296Z,1761543320.296 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:20.361Z,1761543320.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.800003 m, deltaT: 3.528679 s, deltaX: -2.199997 m, approachRate: -0.623462 m/s, rangeRepo size: 4 2025-10-27T05:35:20.371Z,1761543320.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.358437 m, bearing: 339.135511 deg, lat: 36.779379 deg, lon: -121.859658 deg, deltaT: 3.528679 s, deltaX: -2.190514 m, approachRate: -0.620774 m/s, posRepo size: 4 2025-10-27T05:35:20.372Z,1761543320.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:20.375Z,1761543320.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 77.553673 m, bearing: 339.313349 deg, approach rate: 0.000000 m/s, LOS rate: 0.047295 deg/s, cmd heading: 331.576779 deg, new cmd heading: 331.641851 deg. 2025-10-27T05:35:20.382Z,1761543320.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788242 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:20.658Z,1761543320.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877063,0.478523,0.042143],[-0.476934,0.856943,0.195404],[0.057391,-0.191481,0.979817]] 2025-10-27T05:35:20.683Z,1761543320.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:20.686Z,1761543320.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 77.328911 m, bearing: 339.329190 deg, approach rate: -0.696597 m/s, LOS rate: 0.049239 deg/s, cmd heading: 331.641857 deg, new cmd heading: 331.689518 deg. 2025-10-27T05:35:20.687Z,1761543320.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789074 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:21.063Z,1761543321.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878255,0.476376,0.041643],[-0.474865,0.858574,0.193270],[0.056315,-0.189515,0.980262]] 2025-10-27T05:35:21.119Z,1761543321.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:21.122Z,1761543321.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 77.068336 m, bearing: 339.339588 deg, approach rate: -0.620453 m/s, LOS rate: 0.024843 deg/s, cmd heading: 331.689532 deg, new cmd heading: 331.720832 deg. 2025-10-27T05:35:21.127Z,1761543321.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789621 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:21.466Z,1761543321.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879414,0.474363,0.040137],[-0.472823,0.860516,0.189606],[0.055403,-0.185719,0.981040]] 2025-10-27T05:35:21.484Z,1761543321.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:21.487Z,1761543321.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 76.831787 m, bearing: 339.348665 deg, approach rate: -0.620821 m/s, LOS rate: 0.023895 deg/s, cmd heading: 331.720841 deg, new cmd heading: 331.748155 deg. 2025-10-27T05:35:21.488Z,1761543321.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790098 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:21.882Z,1761543321.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880532,0.472461,0.037988],[-0.470844,0.862669,0.184682],[0.054484,-0.180505,0.982064]] 2025-10-27T05:35:21.964Z,1761543321.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:21.966Z,1761543321.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:21.969Z,1761543321.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 76.556091 m, bearing: 339.352996 deg, approach rate: -0.572232 m/s, LOS rate: 0.009021 deg/s, cmd heading: 331.748162 deg, new cmd heading: 331.761201 deg. 2025-10-27T05:35:21.970Z,1761543321.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790325 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:22.044Z,1761543322.044 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:22.044Z,1761543322.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:22.044Z,1761543322.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:22.296Z,1761543322.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004689 2025-10-27T05:35:22.315Z,1761543322.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881804,0.470336,0.034732],[-0.468550,0.865305,0.178066],[0.053697,-0.173293,0.983405]] 2025-10-27T05:35:22.333Z,1761543322.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:22.336Z,1761543322.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 76.345406 m, bearing: 339.355897 deg, approach rate: -0.573769 m/s, LOS rate: 0.007921 deg/s, cmd heading: 331.761194 deg, new cmd heading: 331.769920 deg. 2025-10-27T05:35:22.337Z,1761543322.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790477 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:22.548Z,1761543322.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256857 2025-10-27T05:35:22.722Z,1761543322.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883120,0.468115,0.031121],[-0.466188,0.868175,0.170119],[0.052617,-0.164744,0.984932]] 2025-10-27T05:35:22.769Z,1761543322.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:22.772Z,1761543322.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 76.096123 m, bearing: 339.358822 deg, approach rate: -0.572240 m/s, LOS rate: 0.006737 deg/s, cmd heading: 331.769909 deg, new cmd heading: 331.778714 deg. 2025-10-27T05:35:22.773Z,1761543322.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790631 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:22.804Z,1761543322.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511393 2025-10-27T05:35:23.052Z,1761543323.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760607 2025-10-27T05:35:23.175Z,1761543323.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:23.178Z,1761543323.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 75.868866 m, bearing: 339.348829 deg, approach rate: -0.559725 m/s, LOS rate: -0.024686 deg/s, cmd heading: 331.778707 deg, new cmd heading: 331.748637 deg. 2025-10-27T05:35:23.179Z,1761543323.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790106 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:23.304Z,1761543323.304 [DAT](INFO): DAT read: Rx Time:05:35:21.9817 2025-10-27T05:35:23.305Z,1761543323.305 [DAT](INFO): Rx dataTimestamp_ set to:1761543323.304250 2025-10-27T05:35:23.305Z,1761543323.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013790 2025-10-27T05:35:23.518Z,1761543323.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885857,0.463151,0.027348],[-0.461278,0.872882,0.159061],[0.049798,-0.153521,0.986890]] 2025-10-27T05:35:23.553Z,1761543323.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:23.556Z,1761543323.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264723 2025-10-27T05:35:23.560Z,1761543323.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 75.666901 m, bearing: 339.338955 deg, approach rate: -0.534260 m/s, LOS rate: -0.026189 deg/s, cmd heading: 331.748626 deg, new cmd heading: 331.718926 deg. 2025-10-27T05:35:23.561Z,1761543323.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789587 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:23.811Z,1761543323.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519425 2025-10-27T05:35:23.922Z,1761543323.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886576,0.461799,0.026929],[-0.460027,0.874070,0.156131],[0.048563,-0.150811,0.987369]] 2025-10-27T05:35:23.966Z,1761543323.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:23.969Z,1761543323.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.36 m. 2025-10-27T05:35:23.972Z,1761543323.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.358437 m, nav range: 75.428741 m, bearing: 339.318357 deg, approach rate: -0.572068 m/s, LOS rate: -0.049633 deg/s, cmd heading: 331.718929 deg, new cmd heading: 331.656940 deg. 2025-10-27T05:35:23.973Z,1761543323.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788506 target range: 80.358437 and range: 80.80 m. 2025-10-27T05:35:24.066Z,1761543324.066 [DAT](INFO): DAT read: 05:35:21.9817 LVL= 26000, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.38, 0.999,-0.774, 1.035, 0.728, PHS= 0.373,-1.457, 0.263, RAW= 146.9, 9.3, CAL= 146.5, 10.1, ROT= 3.5, -10.1 2025-10-27T05:35:24.067Z,1761543324.067 [DAT](INFO): got valid direction response: 05:35:21.9817 LVL= 26000, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.38, 0.999,-0.774, 1.035, 0.728, PHS= 0.373,-1.457, 0.263, RAW= 146.9, 9.3, CAL= 146.5, 10.1, ROT= 3.5, -10.1 2025-10-27T05:35:24.068Z,1761543324.068 [DAT](INFO): DAT read: Bearing 143.7, 4.5 (Local) 2025-10-27T05:35:24.068Z,1761543324.068 [DAT](INFO): Local bearing/azimuth received: Bearing 143.7, 4.5 (Local) 2025-10-27T05:35:24.070Z,1761543324.070 [DAT](INFO): DAT read: Range 11 to 50 : 78.6 m (Round-trip 104.8 ms) speed 0.4 m/s 2025-10-27T05:35:24.071Z,1761543324.071 [DAT](INFO): DAT read: user:464> 2025-10-27T05:35:24.072Z,1761543324.072 [DAT](INFO): DAT read: Tx time:05:35:23.0727 2025-10-27T05:35:24.072Z,1761543324.072 [DAT](INFO): Ping request sent. 2025-10-27T05:35:24.072Z,1761543324.072 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:24.073Z,1761543324.073 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:24.074Z,1761543324.074 [DAT](INFO): direction in FSK: [0.982667,0.060102,0.175367] 2025-10-27T05:35:24.074Z,1761543324.074 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:24.075Z,1761543324.075 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:24.078Z,1761543324.078 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:24.078Z,1761543324.078 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:24.329Z,1761543324.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886903,0.461167,0.026962],[-0.459501,0.874681,0.154249],[0.047552,-0.149193,0.987664]] 2025-10-27T05:35:24.352Z,1761543324.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.599998 m, deltaT: 3.780293 s, deltaX: -2.200005 m, approachRate: -0.581967 m/s, rangeRepo size: 4 2025-10-27T05:35:24.354Z,1761543324.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.167870 m, bearing: 337.636662 deg, lat: 36.779379 deg, lon: -121.859659 deg, deltaT: 3.780293 s, deltaX: -2.190567 m, approachRate: -0.579470 m/s, posRepo size: 4 2025-10-27T05:35:24.355Z,1761543324.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m. 2025-10-27T05:35:24.357Z,1761543324.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.167870 m, nav range: 75.247162 m, bearing: 339.244450 deg, approach rate: 0.000000 m/s, LOS rate: -0.049633 deg/s, cmd heading: 331.656938 deg, new cmd heading: 331.600041 deg. 2025-10-27T05:35:24.358Z,1761543324.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787512 target range: 78.167870 and range: 78.60 m. 2025-10-27T05:35:24.746Z,1761543324.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887049,0.460790,0.028570],[-0.459341,0.874660,0.154840],[0.046360,-0.150474,0.987526]] 2025-10-27T05:35:24.785Z,1761543324.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m. 2025-10-27T05:35:24.794Z,1761543324.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.167870 m, nav range: 75.017014 m, bearing: 339.223988 deg, approach rate: -0.530819 m/s, LOS rate: -0.047340 deg/s, cmd heading: 331.600029 deg, new cmd heading: 331.538453 deg. 2025-10-27T05:35:24.795Z,1761543324.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786438 target range: 78.167870 and range: 78.60 m. 2025-10-27T05:35:25.201Z,1761543325.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m. 2025-10-27T05:35:25.203Z,1761543325.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.167870 m, nav range: 74.770561 m, bearing: 339.197787 deg, approach rate: -0.592788 m/s, LOS rate: -0.063228 deg/s, cmd heading: 331.538448 deg, new cmd heading: 331.459587 deg. 2025-10-27T05:35:25.204Z,1761543325.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785061 target range: 78.167870 and range: 78.60 m. 2025-10-27T05:35:25.538Z,1761543325.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886224,0.462004,0.034038],[-0.461223,0.873075,0.158158],[0.043352,-0.155863,0.986827]] 2025-10-27T05:35:25.575Z,1761543325.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m. 2025-10-27T05:35:25.578Z,1761543325.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.167870 m, nav range: 74.569016 m, bearing: 339.176634 deg, approach rate: -0.538056 m/s, LOS rate: -0.056624 deg/s, cmd heading: 331.459600 deg, new cmd heading: 331.395969 deg. 2025-10-27T05:35:25.579Z,1761543325.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783951 target range: 78.167870 and range: 78.60 m. 2025-10-27T05:35:25.944Z,1761543325.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885389,0.463361,0.037183],[-0.462953,0.871729,0.160509],[0.041960,-0.159327,0.986334]] 2025-10-27T05:35:26.003Z,1761543326.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:26.005Z,1761543326.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m. 2025-10-27T05:35:26.008Z,1761543326.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.167870 m, nav range: 74.318100 m, bearing: 339.154075 deg, approach rate: -0.583393 m/s, LOS rate: -0.052629 deg/s, cmd heading: 331.395970 deg, new cmd heading: 331.328064 deg. 2025-10-27T05:35:26.009Z,1761543326.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782765 target range: 78.167870 and range: 78.60 m. 2025-10-27T05:35:26.076Z,1761543326.076 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:26.076Z,1761543326.076 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:26.076Z,1761543326.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:26.328Z,1761543326.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255641 2025-10-27T05:35:26.346Z,1761543326.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884211,0.465179,0.042181],[-0.465338,0.869490,0.165671],[0.040391,-0.166117,0.985279]] 2025-10-27T05:35:26.377Z,1761543326.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m. 2025-10-27T05:35:26.383Z,1761543326.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.167870 m, nav range: 74.108780 m, bearing: 339.135697 deg, approach rate: -0.563578 m/s, LOS rate: -0.049621 deg/s, cmd heading: 331.328051 deg, new cmd heading: 331.272761 deg. 2025-10-27T05:35:26.384Z,1761543326.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781800 target range: 78.167870 and range: 78.60 m. 2025-10-27T05:35:26.580Z,1761543326.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507509 2025-10-27T05:35:26.759Z,1761543326.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882685,0.467546,0.047621],[-0.468346,0.866711,0.171650],[0.038980,-0.173816,0.984006]] 2025-10-27T05:35:26.778Z,1761543326.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m. 2025-10-27T05:35:26.781Z,1761543326.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.167870 m, nav range: 73.873123 m, bearing: 339.115668 deg, approach rate: -0.587536 m/s, LOS rate: -0.050096 deg/s, cmd heading: 331.272753 deg, new cmd heading: 331.212474 deg. 2025-10-27T05:35:26.782Z,1761543326.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780748 target range: 78.167870 and range: 78.60 m. 2025-10-27T05:35:26.833Z,1761543326.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760635 2025-10-27T05:35:27.084Z,1761543327.084 [DAT](INFO): DAT read: Rx Time:05:35:25.5791 2025-10-27T05:35:27.084Z,1761543327.084 [DAT](INFO): Rx dataTimestamp_ set to:1761543327.084184 2025-10-27T05:35:27.085Z,1761543327.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012714 2025-10-27T05:35:27.154Z,1761543327.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881165,0.469755,0.053649],[-0.471357,0.863900,0.177482],[0.037026,-0.181679,0.982661]] 2025-10-27T05:35:27.177Z,1761543327.177 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-327W,-32768,-32768,V +0.00, +0.00, 20.00,701.37 2025-10-27T05:35:27.193Z,1761543327.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m. 2025-10-27T05:35:27.196Z,1761543327.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.167870 m, nav range: 73.636200 m, bearing: 339.096197 deg, approach rate: -0.570166 m/s, LOS rate: -0.047008 deg/s, cmd heading: 331.212484 deg, new cmd heading: 331.153884 deg. 2025-10-27T05:35:27.197Z,1761543327.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779726 target range: 78.167870 and range: 78.60 m. 2025-10-27T05:35:27.336Z,1761543327.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263571 2025-10-27T05:35:27.558Z,1761543327.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879409,0.472450,0.058574],[-0.474774,0.861298,0.180983],[0.035056,-0.186968,0.981740]] 2025-10-27T05:35:27.594Z,1761543327.594 [DAT](INFO): DAT read: 05:35:25.5791 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420,-0.11, 2.943, 1.185, 2.971, 2.792, PHS= 0.252,-1.562, 0.135, RAW= 146.7, 13.3, CAL= 146.5, 14.6, ROT= 3.5, -14.6 2025-10-27T05:35:27.595Z,1761543327.595 [DAT](INFO): got valid direction response: 05:35:25.5791 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420,-0.11, 2.943, 1.185, 2.971, 2.792, PHS= 0.252,-1.562, 0.135, RAW= 146.7, 13.3, CAL= 146.5, 14.6, ROT= 3.5, -14.6 2025-10-27T05:35:27.596Z,1761543327.596 [DAT](INFO): DAT read: Bearing 146.8, 3.1 (Local) 2025-10-27T05:35:27.596Z,1761543327.596 [DAT](INFO): Local bearing/azimuth received: Bearing 146.8, 3.1 (Local) 2025-10-27T05:35:27.598Z,1761543327.598 [DAT](INFO): DAT read: Range 11 to 50 : 76.7 m (Round-trip 102.3 ms) speed 0.5 m/s 2025-10-27T05:35:27.598Z,1761543327.598 [DAT](INFO): DAT read: user:465> 2025-10-27T05:35:27.599Z,1761543327.599 [DAT](INFO): DAT read: Tx time:05:35:26.6727 2025-10-27T05:35:27.600Z,1761543327.600 [DAT](INFO): Ping request sent. 2025-10-27T05:35:27.600Z,1761543327.600 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:27.600Z,1761543327.600 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:27.601Z,1761543327.601 [DAT](INFO): direction in FSK: [0.965904,0.059077,0.252069] 2025-10-27T05:35:27.601Z,1761543327.601 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:27.602Z,1761543327.602 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:27.605Z,1761543327.605 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:27.605Z,1761543327.605 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:27.616Z,1761543327.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.699997 m, deltaT: 3.527930 s, deltaX: -1.900002 m, approachRate: -0.538560 m/s, rangeRepo size: 4 2025-10-27T05:35:27.618Z,1761543327.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.274757 m, bearing: 337.908907 deg, lat: 36.779375 deg, lon: -121.859663 deg, deltaT: 3.527930 s, deltaX: -1.893112 m, approachRate: -0.536607 m/s, posRepo size: 4 2025-10-27T05:35:27.631Z,1761543327.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:27.634Z,1761543327.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 73.098991 m, bearing: 338.687187 deg, approach rate: 0.000000 m/s, LOS rate: -0.047008 deg/s, cmd heading: 331.153881 deg, new cmd heading: 331.094300 deg. 2025-10-27T05:35:27.651Z,1761543327.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778686 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:27.999Z,1761543327.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877686,0.475247,0.061706],[-0.478084,0.859364,0.181465],[0.033213,-0.188770,0.981460]] 2025-10-27T05:35:28.052Z,1761543328.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:28.072Z,1761543328.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 72.827606 m, bearing: 338.673822 deg, approach rate: -0.621628 m/s, LOS rate: -0.030727 deg/s, cmd heading: 331.094294 deg, new cmd heading: 331.054051 deg. 2025-10-27T05:35:28.073Z,1761543328.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777983 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:28.394Z,1761543328.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875735,0.478597,0.063510],[-0.481759,0.857662,0.179791],[0.031577,-0.188045,0.981653]] 2025-10-27T05:35:28.411Z,1761543328.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:28.413Z,1761543328.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:28.416Z,1761543328.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 72.611923 m, bearing: 338.663823 deg, approach rate: -0.598023 m/s, LOS rate: -0.027806 deg/s, cmd heading: 331.054051 deg, new cmd heading: 331.023965 deg. 2025-10-27T05:35:28.417Z,1761543328.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777458 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:28.596Z,1761543328.596 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:28.596Z,1761543328.596 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:28.596Z,1761543328.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:28.798Z,1761543328.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874272,0.481035,0.065223],[-0.484520,0.856453,0.178123],[0.029823,-0.187330,0.981844]] 2025-10-27T05:35:28.824Z,1761543328.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:28.827Z,1761543328.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 72.373512 m, bearing: 338.653274 deg, approach rate: -0.580130 m/s, LOS rate: -0.025754 deg/s, cmd heading: 331.023971 deg, new cmd heading: 330.992219 deg. 2025-10-27T05:35:28.832Z,1761543328.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776904 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:28.848Z,1761543328.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248063 2025-10-27T05:35:29.100Z,1761543329.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499921 2025-10-27T05:35:29.201Z,1761543329.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872786,0.483562,0.066419],[-0.487286,0.855352,0.175854],[0.028225,-0.185848,0.982173]] 2025-10-27T05:35:29.259Z,1761543329.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:29.262Z,1761543329.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 72.107140 m, bearing: 338.650450 deg, approach rate: -0.612640 m/s, LOS rate: -0.006518 deg/s, cmd heading: 330.992224 deg, new cmd heading: 330.983722 deg. 2025-10-27T05:35:29.263Z,1761543329.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776756 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:29.353Z,1761543329.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752980 2025-10-27T05:35:29.604Z,1761543329.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003854 2025-10-27T05:35:29.605Z,1761543329.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871275,0.486097,0.067743],[-0.490068,0.854151,0.173950],[0.026693,-0.184757,0.982422]] 2025-10-27T05:35:29.623Z,1761543329.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:29.626Z,1761543329.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 71.887589 m, bearing: 338.648645 deg, approach rate: -0.601983 m/s, LOS rate: -0.004966 deg/s, cmd heading: 330.983727 deg, new cmd heading: 330.978293 deg. 2025-10-27T05:35:29.627Z,1761543329.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776661 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:29.857Z,1761543329.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256712 2025-10-27T05:35:30.006Z,1761543330.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870059,0.488148,0.068619],[-0.492300,0.853330,0.171663],[0.025243,-0.183138,0.982763]] 2025-10-27T05:35:30.050Z,1761543330.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:30.053Z,1761543330.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 71.632339 m, bearing: 338.644720 deg, approach rate: -0.598200 m/s, LOS rate: -0.009231 deg/s, cmd heading: 330.978290 deg, new cmd heading: 330.966474 deg. 2025-10-27T05:35:30.054Z,1761543330.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776455 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:30.109Z,1761543330.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508899 2025-10-27T05:35:30.360Z,1761543330.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759968 2025-10-27T05:35:30.416Z,1761543330.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869057,0.489832,0.069321],[-0.494148,0.852810,0.168917],[0.023623,-0.181053,0.983190]] 2025-10-27T05:35:30.433Z,1761543330.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:30.435Z,1761543330.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:30.437Z,1761543330.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 71.402382 m, bearing: 338.641520 deg, approach rate: -0.598130 m/s, LOS rate: -0.008350 deg/s, cmd heading: 330.966488 deg, new cmd heading: 330.956857 deg. 2025-10-27T05:35:30.438Z,1761543330.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776287 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:30.612Z,1761543330.612 [DAT](INFO): DAT read: Rx Time:05:35:29.1763 2025-10-27T05:35:30.612Z,1761543330.612 [DAT](INFO): Rx dataTimestamp_ set to:1761543330.612141 2025-10-27T05:35:30.613Z,1761543330.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013037 2025-10-27T05:35:30.814Z,1761543330.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868300,0.491114,0.069738],[-0.495539,0.852487,0.166454],[0.022297,-0.179090,0.983580]] 2025-10-27T05:35:30.852Z,1761543330.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.27 m. 2025-10-27T05:35:30.854Z,1761543330.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.274757 m, nav range: 71.156860 m, bearing: 338.638365 deg, approach rate: -0.588388 m/s, LOS rate: -0.007586 deg/s, cmd heading: 330.956844 deg, new cmd heading: 330.947347 deg. 2025-10-27T05:35:30.856Z,1761543330.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776121 target range: 76.274757 and range: 76.70 m. 2025-10-27T05:35:30.864Z,1761543330.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264132 2025-10-27T05:35:31.121Z,1761543331.121 [DAT](INFO): DAT read: 05:35:29.1763 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.29, 0.896,-0.852, 0.870, 0.760, PHS= 0.238,-1.567, 0.066, RAW= 145.1, 14.5, CAL= 144.7, 15.8, ROT= 5.3, -15.8 2025-10-27T05:35:31.123Z,1761543331.123 [DAT](INFO): got valid direction response: 05:35:29.1763 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.29, 0.896,-0.852, 0.870, 0.760, PHS= 0.238,-1.567, 0.066, RAW= 145.1, 14.5, CAL= 144.7, 15.8, ROT= 5.3, -15.8 2025-10-27T05:35:31.124Z,1761543331.124 [DAT](INFO): DAT read: Bearing 147.0, 3.6 (Local) 2025-10-27T05:35:31.124Z,1761543331.124 [DAT](INFO): Local bearing/azimuth received: Bearing 147.0, 3.6 (Local) 2025-10-27T05:35:31.126Z,1761543331.126 [DAT](INFO): DAT read: Range 11 to 50 : 74.6 m (Round-trip 99.5 ms) speed 0.5 m/s 2025-10-27T05:35:31.126Z,1761543331.126 [DAT](INFO): DAT read: user:466> 2025-10-27T05:35:31.127Z,1761543331.127 [DAT](INFO): DAT read: Tx time:05:35:30.2727 2025-10-27T05:35:31.127Z,1761543331.127 [DAT](INFO): Ping request sent. 2025-10-27T05:35:31.127Z,1761543331.127 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:31.128Z,1761543331.128 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:31.129Z,1761543331.129 [DAT](INFO): direction in FSK: [0.958104,0.088881,0.272280] 2025-10-27T05:35:31.129Z,1761543331.129 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:31.129Z,1761543331.129 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:31.133Z,1761543331.133 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:31.133Z,1761543331.133 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:31.239Z,1761543331.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867844,0.491845,0.070249],[-0.496394,0.852387,0.164406],[0.020983,-0.177550,0.983888]] 2025-10-27T05:35:31.362Z,1761543331.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.527857 s, deltaX: -2.099998 m, approachRate: -0.595262 m/s, rangeRepo size: 4 2025-10-27T05:35:31.373Z,1761543331.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.184288 m, bearing: 338.345628 deg, lat: 36.779376 deg, lon: -121.859675 deg, deltaT: 3.527857 s, deltaX: -2.090469 m, approachRate: -0.592561 m/s, posRepo size: 4 2025-10-27T05:35:31.373Z,1761543331.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:31.384Z,1761543331.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 71.402626 m, bearing: 337.894741 deg, approach rate: 0.000000 m/s, LOS rate: -0.007586 deg/s, cmd heading: 330.947336 deg, new cmd heading: 330.935734 deg. 2025-10-27T05:35:31.385Z,1761543331.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775918 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:31.641Z,1761543331.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867916,0.491763,0.069932],[-0.496314,0.852954,0.161685],[0.019862,-0.175037,0.984361]] 2025-10-27T05:35:31.662Z,1761543331.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:31.664Z,1761543331.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 71.195732 m, bearing: 337.890025 deg, approach rate: -0.689865 m/s, LOS rate: -0.015768 deg/s, cmd heading: 330.935725 deg, new cmd heading: 330.921538 deg. 2025-10-27T05:35:31.665Z,1761543331.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775671 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:32.039Z,1761543332.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867724,0.492093,0.069993],[-0.496668,0.852936,0.160688],[0.019373,-0.174196,0.984520]] 2025-10-27T05:35:32.076Z,1761543332.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:32.078Z,1761543332.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 70.953926 m, bearing: 337.881681 deg, approach rate: -0.584057 m/s, LOS rate: -0.020222 deg/s, cmd heading: 330.921545 deg, new cmd heading: 330.896429 deg. 2025-10-27T05:35:32.079Z,1761543332.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775232 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:32.442Z,1761543332.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867695,0.492253,0.069224],[-0.496751,0.853454,0.157652],[0.018524,-0.171181,0.985065]] 2025-10-27T05:35:32.474Z,1761543332.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:32.482Z,1761543332.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:32.485Z,1761543332.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 70.730843 m, bearing: 337.873912 deg, approach rate: -0.548420 m/s, LOS rate: -0.019160 deg/s, cmd heading: 330.896437 deg, new cmd heading: 330.873056 deg. 2025-10-27T05:35:32.486Z,1761543332.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774824 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:32.628Z,1761543332.628 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:32.628Z,1761543332.628 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:32.628Z,1761543332.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:32.846Z,1761543332.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868077,0.491648,0.068737],[-0.496120,0.854293,0.155076],[0.017522,-0.168719,0.985508]] 2025-10-27T05:35:32.864Z,1761543332.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:32.867Z,1761543332.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 70.496315 m, bearing: 337.865519 deg, approach rate: -0.614426 m/s, LOS rate: -0.022062 deg/s, cmd heading: 330.873051 deg, new cmd heading: 330.847788 deg. 2025-10-27T05:35:32.868Z,1761543332.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774383 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:32.880Z,1761543332.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752546 2025-10-27T05:35:33.133Z,1761543333.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005092 2025-10-27T05:35:33.250Z,1761543333.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868361,0.491169,0.068568],[-0.495657,0.854934,0.153009],[0.016532,-0.166853,0.985843]] 2025-10-27T05:35:33.308Z,1761543333.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:33.311Z,1761543333.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 70.249382 m, bearing: 337.853828 deg, approach rate: -0.555651 m/s, LOS rate: -0.026401 deg/s, cmd heading: 330.847779 deg, new cmd heading: 330.812581 deg. 2025-10-27T05:35:33.312Z,1761543333.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773769 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:33.385Z,1761543333.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257291 2025-10-27T05:35:33.636Z,1761543333.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508420 2025-10-27T05:35:33.659Z,1761543333.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868680,0.490740,0.067594],[-0.495133,0.855889,0.149322],[0.015426,-0.163181,0.986476]] 2025-10-27T05:35:33.681Z,1761543333.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:33.684Z,1761543333.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 70.036903 m, bearing: 337.843560 deg, approach rate: -0.570920 m/s, LOS rate: -0.027672 deg/s, cmd heading: 330.812590 deg, new cmd heading: 330.781694 deg. 2025-10-27T05:35:33.684Z,1761543333.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773230 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:33.888Z,1761543333.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760476 2025-10-27T05:35:33.947Z,1761543333.947 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:35:34.061Z,1761543334.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868840,0.490507,0.067236],[-0.494879,0.856418,0.147114],[0.014579,-0.161092,0.986832]] 2025-10-27T05:35:34.112Z,1761543334.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:34.131Z,1761543334.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 69.795036 m, bearing: 337.832837 deg, approach rate: -0.560172 m/s, LOS rate: -0.024921 deg/s, cmd heading: 330.781690 deg, new cmd heading: 330.749409 deg. 2025-10-27T05:35:34.132Z,1761543334.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772666 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:34.140Z,1761543334.140 [DAT](INFO): DAT read: Rx Time:05:35:32.7735 2025-10-27T05:35:34.141Z,1761543334.141 [DAT](INFO): Rx dataTimestamp_ set to:1761543334.140266 2025-10-27T05:35:34.141Z,1761543334.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013625 2025-10-27T05:35:34.392Z,1761543334.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264962 2025-10-27T05:35:34.462Z,1761543334.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868904,0.490328,0.067708],[-0.494787,0.856571,0.146534],[0.013853,-0.160825,0.986886]] 2025-10-27T05:35:34.479Z,1761543334.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:34.481Z,1761543334.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.18 m. 2025-10-27T05:35:34.484Z,1761543334.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.184288 m, nav range: 69.583237 m, bearing: 337.823362 deg, approach rate: -0.574880 m/s, LOS rate: -0.025796 deg/s, cmd heading: 330.749397 deg, new cmd heading: 330.720885 deg. 2025-10-27T05:35:34.485Z,1761543334.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772168 target range: 74.184288 and range: 74.60 m. 2025-10-27T05:35:34.658Z,1761543334.658 [DAT](INFO): DAT read: 05:35:32.7735 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410, 0.28,-1.247,-3.096,-1.256,-1.479, PHS= 0.334,-1.572, 0.179, RAW= 145.8, 11.5, CAL= 145.4, 12.6, ROT= 4.6, -12.6 2025-10-27T05:35:34.660Z,1761543334.660 [DAT](INFO): got valid direction response: 05:35:32.7735 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410, 0.28,-1.247,-3.096,-1.256,-1.479, PHS= 0.334,-1.572, 0.179, RAW= 145.8, 11.5, CAL= 145.4, 12.6, ROT= 4.6, -12.6 2025-10-27T05:35:34.661Z,1761543334.661 [DAT](INFO): DAT read: Bearing 144.0, 3.3 (Local) 2025-10-27T05:35:34.661Z,1761543334.661 [DAT](INFO): Local bearing/azimuth received: Bearing 144.0, 3.3 (Local) 2025-10-27T05:35:34.662Z,1761543334.662 [DAT](INFO): DAT read: Range 11 to 50 : 72.4 m (Round-trip 96.6 ms) speed 0.4 m/s 2025-10-27T05:35:34.663Z,1761543334.663 [DAT](INFO): DAT read: user:467> 2025-10-27T05:35:34.664Z,1761543334.664 [DAT](INFO): DAT read: Tx time:05:35:33.8727 2025-10-27T05:35:34.664Z,1761543334.664 [DAT](INFO): Ping request sent. 2025-10-27T05:35:34.664Z,1761543334.664 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:34.665Z,1761543334.665 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:34.666Z,1761543334.666 [DAT](INFO): direction in FSK: [0.972773,0.078267,0.218143] 2025-10-27T05:35:34.666Z,1761543334.666 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:34.666Z,1761543334.666 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:34.670Z,1761543334.670 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:34.670Z,1761543334.670 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:34.865Z,1761543334.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868948,0.490224,0.067899],[-0.494727,0.856756,0.145649],[0.013228,-0.160153,0.987004]] 2025-10-27T05:35:34.921Z,1761543334.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.400002 m, deltaT: 3.529873 s, deltaX: -2.199997 m, approachRate: -0.623251 m/s, rangeRepo size: 4 2025-10-27T05:35:34.922Z,1761543334.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.996399 m, bearing: 336.943218 deg, lat: 36.779378 deg, lon: -121.859678 deg, deltaT: 3.529873 s, deltaX: -2.187889 m, approachRate: -0.619821 m/s, posRepo size: 4 2025-10-27T05:35:34.923Z,1761543334.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:34.926Z,1761543334.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 69.649910 m, bearing: 337.623819 deg, approach rate: 0.000000 m/s, LOS rate: -0.025796 deg/s, cmd heading: 330.720874 deg, new cmd heading: 330.686894 deg. 2025-10-27T05:35:34.927Z,1761543334.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771575 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:34.951Z,1761543334.951 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:35:35.270Z,1761543335.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869012,0.490134,0.067723],[-0.494635,0.857127,0.143771],[0.012420,-0.158437,0.987291]] 2025-10-27T05:35:35.334Z,1761543335.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:35.337Z,1761543335.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 69.401329 m, bearing: 337.612706 deg, approach rate: -0.600263 m/s, LOS rate: -0.026932 deg/s, cmd heading: 330.686887 deg, new cmd heading: 330.653427 deg. 2025-10-27T05:35:35.338Z,1761543335.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770991 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:35.674Z,1761543335.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868875,0.490359,0.067848],[-0.494888,0.857127,0.142898],[0.011917,-0.157737,0.987409]] 2025-10-27T05:35:35.751Z,1761543335.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:35.754Z,1761543335.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 69.166039 m, bearing: 337.602159 deg, approach rate: -0.564157 m/s, LOS rate: -0.025373 deg/s, cmd heading: 330.653419 deg, new cmd heading: 330.621672 deg. 2025-10-27T05:35:35.755Z,1761543335.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770437 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:35.768Z,1761543335.768 [CTD_Seabird](ERROR): Failed to parse device response: 61,2725.49 2025-10-27T05:35:36.142Z,1761543336.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:36.145Z,1761543336.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 68.942871 m, bearing: 337.593392 deg, approach rate: -0.570231 m/s, LOS rate: -0.022474 deg/s, cmd heading: 330.621673 deg, new cmd heading: 330.595286 deg. 2025-10-27T05:35:36.146Z,1761543336.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769976 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:36.538Z,1761543336.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:36.558Z,1761543336.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:36.561Z,1761543336.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 68.716377 m, bearing: 337.584436 deg, approach rate: -0.544578 m/s, LOS rate: -0.021604 deg/s, cmd heading: 330.595281 deg, new cmd heading: 330.568324 deg. 2025-10-27T05:35:36.562Z,1761543336.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769506 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:36.660Z,1761543336.660 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:36.660Z,1761543336.660 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:36.660Z,1761543336.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:36.912Z,1761543336.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247552 2025-10-27T05:35:36.920Z,1761543336.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867589,0.492158,0.071211],[-0.497196,0.855824,0.142694],[0.009284,-0.159205,0.987202]] 2025-10-27T05:35:36.978Z,1761543336.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:36.985Z,1761543336.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 68.478722 m, bearing: 337.575515 deg, approach rate: -0.566419 m/s, LOS rate: -0.021336 deg/s, cmd heading: 330.568315 deg, new cmd heading: 330.541459 deg. 2025-10-27T05:35:36.986Z,1761543336.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769037 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:37.164Z,1761543337.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499417 2025-10-27T05:35:37.315Z,1761543337.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866815,0.493224,0.073227],[-0.498560,0.854819,0.143955],[0.008406,-0.161290,0.986871]] 2025-10-27T05:35:37.359Z,1761543337.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:37.362Z,1761543337.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 68.254295 m, bearing: 337.568087 deg, approach rate: -0.589506 m/s, LOS rate: -0.019577 deg/s, cmd heading: 330.541459 deg, new cmd heading: 330.519100 deg. 2025-10-27T05:35:37.363Z,1761543337.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768647 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:37.416Z,1761543337.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751795 2025-10-27T05:35:37.668Z,1761543337.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003491 2025-10-27T05:35:37.739Z,1761543337.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866111,0.493967,0.076468],[-0.499793,0.853488,0.147530],[0.007610,-0.165996,0.986097]] 2025-10-27T05:35:37.760Z,1761543337.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:37.762Z,1761543337.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 68.029930 m, bearing: 337.560923 deg, approach rate: -0.559644 m/s, LOS rate: -0.017927 deg/s, cmd heading: 330.519110 deg, new cmd heading: 330.497549 deg. 2025-10-27T05:35:37.763Z,1761543337.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768270 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:37.920Z,1761543337.920 [DAT](INFO): DAT read: Rx Time:05:35:36.3708 2025-10-27T05:35:37.920Z,1761543337.920 [DAT](INFO): Rx dataTimestamp_ set to:1761543337.920102 2025-10-27T05:35:37.921Z,1761543337.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256479 2025-10-27T05:35:38.124Z,1761543338.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865285,0.494969,0.079297],[-0.501230,0.852065,0.150842],[0.007096,-0.170267,0.985372]] 2025-10-27T05:35:38.172Z,1761543338.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507784 2025-10-27T05:35:38.179Z,1761543338.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.00 m. 2025-10-27T05:35:38.182Z,1761543338.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.996399 m, nav range: 67.792236 m, bearing: 337.557563 deg, approach rate: -0.567000 m/s, LOS rate: -0.008044 deg/s, cmd heading: 330.497554 deg, new cmd heading: 330.487438 deg. 2025-10-27T05:35:38.183Z,1761543338.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768094 target range: 71.996399 and range: 72.40 m. 2025-10-27T05:35:38.430Z,1761543338.430 [DAT](INFO): DAT read: 05:35:36.3708 LVL= 29312, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.11, 1.101,-0.665, 1.069, 0.898, PHS= 0.304,-1.518, 0.126, RAW= 144.9, 12.5, CAL= 144.5, 13.6, ROT= 5.5, -13.6 2025-10-27T05:35:38.431Z,1761543338.431 [DAT](INFO): got valid direction response: 05:35:36.3708 LVL= 29312, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.11, 1.101,-0.665, 1.069, 0.898, PHS= 0.304,-1.518, 0.126, RAW= 144.9, 12.5, CAL= 144.5, 13.6, ROT= 5.5, -13.6 2025-10-27T05:35:38.432Z,1761543338.432 [DAT](INFO): DAT read: Bearing 145.3, 3.5 (Local) 2025-10-27T05:35:38.432Z,1761543338.432 [DAT](INFO): Local bearing/azimuth received: Bearing 145.3, 3.5 (Local) 2025-10-27T05:35:38.433Z,1761543338.433 [DAT](INFO): DAT read: Range 11 to 50 : 70.4 m (Round-trip 93.9 ms) speed 0.5 m/s 2025-10-27T05:35:38.434Z,1761543338.434 [DAT](INFO): DAT read: user:468> 2025-10-27T05:35:38.437Z,1761543338.437 [DAT](INFO): DAT read: Tx time:05:35:37.4727 2025-10-27T05:35:38.439Z,1761543338.439 [DAT](INFO): Ping request sent. 2025-10-27T05:35:38.439Z,1761543338.439 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:38.441Z,1761543338.441 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:38.444Z,1761543338.444 [DAT](INFO): direction in FSK: [0.967486,0.093158,0.235142] 2025-10-27T05:35:38.444Z,1761543338.444 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:38.444Z,1761543338.444 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:38.448Z,1761543338.448 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:38.448Z,1761543338.448 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:38.545Z,1761543338.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864460,0.496023,0.081668],[-0.502660,0.850841,0.152976],[0.006393,-0.173293,0.984850]] 2025-10-27T05:35:38.608Z,1761543338.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.400002 m, deltaT: 3.778189 s, deltaX: -2.000000 m, approachRate: -0.529354 m/s, rangeRepo size: 4 2025-10-27T05:35:38.610Z,1761543338.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.006668 m, bearing: 337.632506 deg, lat: 36.779378 deg, lon: -121.859678 deg, deltaT: 3.778189 s, deltaX: -1.989731 m, approachRate: -0.526636 m/s, posRepo size: 4 2025-10-27T05:35:38.615Z,1761543338.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:38.618Z,1761543338.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 67.558411 m, bearing: 337.554586 deg, approach rate: 0.000000 m/s, LOS rate: -0.008044 deg/s, cmd heading: 330.487446 deg, new cmd heading: 330.477096 deg. 2025-10-27T05:35:38.623Z,1761543338.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767913 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:38.926Z,1761543338.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864268,0.496200,0.082619],[-0.503002,0.850723,0.152513],[0.005391,-0.173370,0.984842]] 2025-10-27T05:35:38.943Z,1761543338.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:38.945Z,1761543338.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:38.964Z,1761543338.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 67.354919 m, bearing: 337.552047 deg, approach rate: -0.602753 m/s, LOS rate: -0.007546 deg/s, cmd heading: 330.477091 deg, new cmd heading: 330.469449 deg. 2025-10-27T05:35:38.965Z,1761543338.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767780 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:39.180Z,1761543339.180 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:39.180Z,1761543339.180 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:39.180Z,1761543339.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:39.332Z,1761543339.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863843,0.496652,0.084333],[-0.503742,0.850170,0.153148],[0.004363,-0.174778,0.984598]] 2025-10-27T05:35:39.385Z,1761543339.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:39.393Z,1761543339.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 67.114014 m, bearing: 337.550311 deg, approach rate: -0.547955 m/s, LOS rate: -0.003961 deg/s, cmd heading: 330.469441 deg, new cmd heading: 330.464217 deg. 2025-10-27T05:35:39.394Z,1761543339.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767689 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:39.432Z,1761543339.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993593 2025-10-27T05:35:39.684Z,1761543339.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245484 2025-10-27T05:35:39.746Z,1761543339.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863592,0.497039,0.084621],[-0.504178,0.850108,0.152055],[0.003640,-0.173977,0.984743]] 2025-10-27T05:35:39.781Z,1761543339.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:39.793Z,1761543339.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 66.884468 m, bearing: 337.548739 deg, approach rate: -0.579488 m/s, LOS rate: -0.003983 deg/s, cmd heading: 330.464223 deg, new cmd heading: 330.459490 deg. 2025-10-27T05:35:39.794Z,1761543339.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767606 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:39.936Z,1761543339.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497522 2025-10-27T05:35:40.152Z,1761543340.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863275,0.497479,0.085265],[-0.504725,0.849876,0.151539],[0.002922,-0.173855,0.984767]] 2025-10-27T05:35:40.190Z,1761543340.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751003 2025-10-27T05:35:40.240Z,1761543340.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:40.242Z,1761543340.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 66.653564 m, bearing: 337.542494 deg, approach rate: -0.503167 m/s, LOS rate: -0.013657 deg/s, cmd heading: 330.459496 deg, new cmd heading: 330.440695 deg. 2025-10-27T05:35:40.252Z,1761543340.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767278 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:40.440Z,1761543340.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001407 2025-10-27T05:35:40.542Z,1761543340.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863099,0.497909,0.084539],[-0.505028,0.849995,0.149851],[0.002754,-0.172031,0.985088]] 2025-10-27T05:35:40.577Z,1761543340.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:40.580Z,1761543340.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 66.444855 m, bearing: 337.536861 deg, approach rate: -0.618854 m/s, LOS rate: -0.016753 deg/s, cmd heading: 330.440700 deg, new cmd heading: 330.423750 deg. 2025-10-27T05:35:40.581Z,1761543340.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766983 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:40.693Z,1761543340.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254637 2025-10-27T05:35:40.944Z,1761543340.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505520 2025-10-27T05:35:40.948Z,1761543340.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863142,0.498083,0.083065],[-0.504955,0.850498,0.147223],[0.002682,-0.169019,0.985609]] 2025-10-27T05:35:40.967Z,1761543340.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:40.969Z,1761543340.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:40.972Z,1761543340.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 66.217613 m, bearing: 337.530649 deg, approach rate: -0.579868 m/s, LOS rate: -0.015907 deg/s, cmd heading: 330.423761 deg, new cmd heading: 330.405060 deg. 2025-10-27T05:35:40.973Z,1761543340.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766656 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:41.197Z,1761543341.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758039 2025-10-27T05:35:41.349Z,1761543341.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863132,0.498125,0.082908],[-0.504972,0.850645,0.146308],[0.002355,-0.168149,0.985759]] 2025-10-27T05:35:41.415Z,1761543341.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:41.418Z,1761543341.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 65.981918 m, bearing: 337.524575 deg, approach rate: -0.533567 m/s, LOS rate: -0.013799 deg/s, cmd heading: 330.405074 deg, new cmd heading: 330.386787 deg. 2025-10-27T05:35:41.419Z,1761543341.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766337 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:41.448Z,1761543341.448 [DAT](INFO): DAT read: Rx Time:05:35:39.9681 2025-10-27T05:35:41.449Z,1761543341.449 [DAT](INFO): Rx dataTimestamp_ set to:1761543341.448271 2025-10-27T05:35:41.449Z,1761543341.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010670 2025-10-27T05:35:41.701Z,1761543341.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262784 2025-10-27T05:35:41.761Z,1761543341.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862871,0.498541,0.083130],[-0.505416,0.850196,0.147383],[0.002800,-0.169187,0.985580]] 2025-10-27T05:35:41.826Z,1761543341.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.01 m. 2025-10-27T05:35:41.853Z,1761543341.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.006668 m, nav range: 65.762154 m, bearing: 337.518979 deg, approach rate: -0.534046 m/s, LOS rate: -0.013644 deg/s, cmd heading: 330.386796 deg, new cmd heading: 330.369952 deg. 2025-10-27T05:35:41.854Z,1761543341.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766043 target range: 70.006668 and range: 70.40 m. 2025-10-27T05:35:41.960Z,1761543341.960 [DAT](INFO): DAT read: 05:35:39.9681 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.35, 0.423,-1.369, 0.395, 0.295, PHS= 0.230,-1.619, 0.056, RAW= 145.1, 14.9, CAL= 144.8, 16.3, ROT= 5.2, -16.3 2025-10-27T05:35:41.962Z,1761543341.962 [DAT](INFO): got valid direction response: 05:35:39.9681 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.35, 0.423,-1.369, 0.395, 0.295, PHS= 0.230,-1.619, 0.056, RAW= 145.1, 14.9, CAL= 144.8, 16.3, ROT= 5.2, -16.3 2025-10-27T05:35:41.963Z,1761543341.963 [DAT](INFO): DAT read: Bearing 147.7, 2.3 (Local) 2025-10-27T05:35:41.964Z,1761543341.964 [DAT](INFO): Local bearing/azimuth received: Bearing 147.7, 2.3 (Local) 2025-10-27T05:35:41.966Z,1761543341.966 [DAT](INFO): DAT read: Range 11 to 50 : 68.4 m (Round-trip 91.3 ms) speed 0.4 m/s 2025-10-27T05:35:41.966Z,1761543341.966 [DAT](INFO): DAT read: user:469> 2025-10-27T05:35:41.969Z,1761543341.969 [DAT](INFO): DAT read: Tx time:05:35:41.0727 2025-10-27T05:35:41.969Z,1761543341.969 [DAT](INFO): Ping request sent. 2025-10-27T05:35:41.969Z,1761543341.969 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:41.969Z,1761543341.969 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:41.970Z,1761543341.970 [DAT](INFO): direction in FSK: [0.955855,0.086990,0.280667] 2025-10-27T05:35:41.971Z,1761543341.971 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:41.972Z,1761543341.972 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:41.975Z,1761543341.975 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:41.975Z,1761543341.975 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:42.217Z,1761543342.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862554,0.499049,0.083367],[-0.505957,0.849875,0.147374],[0.002695,-0.169299,0.985561]] 2025-10-27T05:35:42.302Z,1761543342.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.400002 m, deltaT: 3.528634 s, deltaX: -2.000000 m, approachRate: -0.566792 m/s, rangeRepo size: 4 2025-10-27T05:35:42.309Z,1761543342.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.026024 m, bearing: 337.546924 deg, lat: 36.779379 deg, lon: -121.859678 deg, deltaT: 3.528634 s, deltaX: -1.980644 m, approachRate: -0.561306 m/s, posRepo size: 4 2025-10-27T05:35:42.310Z,1761543342.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.03 m. 2025-10-27T05:35:42.317Z,1761543342.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.026024 m, nav range: 65.603973 m, bearing: 337.547081 deg, approach rate: 0.000000 m/s, LOS rate: -0.013644 deg/s, cmd heading: 330.369939 deg, new cmd heading: 330.350312 deg. 2025-10-27T05:35:42.318Z,1761543342.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765701 target range: 68.026024 and range: 68.40 m. 2025-10-27T05:35:42.650Z,1761543342.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862278,0.499554,0.083199],[-0.506427,0.849644,0.147093],[0.002792,-0.168969,0.985617]] 2025-10-27T05:35:42.668Z,1761543342.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.03 m. 2025-10-27T05:35:42.671Z,1761543342.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.026024 m, nav range: 65.387085 m, bearing: 337.545644 deg, approach rate: -0.591420 m/s, LOS rate: -0.003930 deg/s, cmd heading: 330.350323 deg, new cmd heading: 330.345999 deg. 2025-10-27T05:35:42.672Z,1761543342.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765625 target range: 68.026024 and range: 68.40 m. 2025-10-27T05:35:43.060Z,1761543343.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862346,0.499514,0.082730],[-0.506311,0.849878,0.146139],[0.002688,-0.167909,0.985799]] 2025-10-27T05:35:43.077Z,1761543343.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:43.079Z,1761543343.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.03 m. 2025-10-27T05:35:43.082Z,1761543343.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.026024 m, nav range: 65.155106 m, bearing: 337.544062 deg, approach rate: -0.565521 m/s, LOS rate: -0.003871 deg/s, cmd heading: 330.346006 deg, new cmd heading: 330.341242 deg. 2025-10-27T05:35:43.082Z,1761543343.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765543 target range: 68.026024 and range: 68.40 m. 2025-10-27T05:35:43.212Z,1761543343.212 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:43.213Z,1761543343.213 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:43.213Z,1761543343.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:43.464Z,1761543343.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494663 2025-10-27T05:35:43.466Z,1761543343.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862295,0.499580,0.082872],[-0.506401,0.849915,0.145612],[0.002310,-0.167527,0.985865]] 2025-10-27T05:35:43.503Z,1761543343.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.03 m. 2025-10-27T05:35:43.506Z,1761543343.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.026024 m, nav range: 64.923462 m, bearing: 337.538847 deg, approach rate: -0.545707 m/s, LOS rate: -0.012328 deg/s, cmd heading: 330.341252 deg, new cmd heading: 330.325553 deg. 2025-10-27T05:35:43.527Z,1761543343.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765268 target range: 68.026024 and range: 68.40 m. 2025-10-27T05:35:43.718Z,1761543343.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748916 2025-10-27T05:35:43.886Z,1761543343.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862280,0.499599,0.082911],[-0.506428,0.849976,0.145158],[0.002048,-0.167156,0.985928]] 2025-10-27T05:35:43.932Z,1761543343.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.03 m. 2025-10-27T05:35:43.939Z,1761543343.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.026024 m, nav range: 64.700424 m, bearing: 337.533794 deg, approach rate: -0.519906 m/s, LOS rate: -0.011821 deg/s, cmd heading: 330.325543 deg, new cmd heading: 330.310330 deg. 2025-10-27T05:35:43.940Z,1761543343.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765003 target range: 68.026024 and range: 68.40 m. 2025-10-27T05:35:43.968Z,1761543343.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998885 2025-10-27T05:35:44.220Z,1761543344.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250981 2025-10-27T05:35:44.280Z,1761543344.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862331,0.499505,0.082944],[-0.506343,0.850218,0.144037],[0.001427,-0.166206,0.986090]] 2025-10-27T05:35:44.318Z,1761543344.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.03 m. 2025-10-27T05:35:44.321Z,1761543344.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.026024 m, nav range: 64.482658 m, bearing: 337.526450 deg, approach rate: -0.564559 m/s, LOS rate: -0.019104 deg/s, cmd heading: 330.310325 deg, new cmd heading: 330.288219 deg. 2025-10-27T05:35:44.322Z,1761543344.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764617 target range: 68.026024 and range: 68.40 m. 2025-10-27T05:35:44.472Z,1761543344.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502782 2025-10-27T05:35:44.690Z,1761543344.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862287,0.499697,0.082241],[-0.506419,0.850508,0.142042],[0.001031,-0.164129,0.986438]] 2025-10-27T05:35:44.725Z,1761543344.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755342 2025-10-27T05:35:44.742Z,1761543344.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.03 m. 2025-10-27T05:35:44.745Z,1761543344.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.026024 m, nav range: 64.267639 m, bearing: 337.519153 deg, approach rate: -0.507087 m/s, LOS rate: -0.017264 deg/s, cmd heading: 330.288223 deg, new cmd heading: 330.266261 deg. 2025-10-27T05:35:44.746Z,1761543344.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764234 target range: 68.026024 and range: 68.40 m. 2025-10-27T05:35:44.976Z,1761543344.976 [DAT](INFO): DAT read: Rx Time:05:35:43.5655 2025-10-27T05:35:44.976Z,1761543344.976 [DAT](INFO): Rx dataTimestamp_ set to:1761543344.976106 2025-10-27T05:35:44.977Z,1761543344.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007804 2025-10-27T05:35:45.089Z,1761543345.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862251,0.499713,0.082525],[-0.506481,0.850541,0.141620],[0.000579,-0.163909,0.986475]] 2025-10-27T05:35:45.112Z,1761543345.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:45.114Z,1761543345.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.03 m. 2025-10-27T05:35:45.116Z,1761543345.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.026024 m, nav range: 64.055511 m, bearing: 337.511919 deg, approach rate: -0.570822 m/s, LOS rate: -0.019532 deg/s, cmd heading: 330.266257 deg, new cmd heading: 330.244481 deg. 2025-10-27T05:35:45.117Z,1761543345.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763854 target range: 68.026024 and range: 68.40 m. 2025-10-27T05:35:45.229Z,1761543345.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260266 2025-10-27T05:35:45.486Z,1761543345.486 [DAT](INFO): DAT read: 05:35:43.5655 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408, 0.10,-2.563, 1.932,-2.578,-2.700, PHS= 0.240,-1.606, 0.078, RAW= 145.5, 14.4, CAL= 145.2, 15.8, ROT= 4.8, -15.8 2025-10-27T05:35:45.487Z,1761543345.487 [DAT](INFO): got valid direction response: 05:35:43.5655 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408, 0.10,-2.563, 1.932,-2.578,-2.700, PHS= 0.240,-1.606, 0.078, RAW= 145.5, 14.4, CAL= 145.2, 15.8, ROT= 4.8, -15.8 2025-10-27T05:35:45.488Z,1761543345.488 [DAT](INFO): DAT read: Bearing 146.6, 2.1 (Local) 2025-10-27T05:35:45.488Z,1761543345.488 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, 2.1 (Local) 2025-10-27T05:35:45.490Z,1761543345.490 [DAT](INFO): DAT read: Range 11 to 50 : 66.4 m (Round-trip 88.6 ms) speed 0.4 m/s 2025-10-27T05:35:45.490Z,1761543345.490 [DAT](INFO): DAT read: user:470> 2025-10-27T05:35:45.491Z,1761543345.491 [DAT](INFO): DAT read: Tx time:05:35:44.6727 2025-10-27T05:35:45.492Z,1761543345.492 [DAT](INFO): Ping request sent. 2025-10-27T05:35:45.492Z,1761543345.492 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:45.492Z,1761543345.492 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:45.493Z,1761543345.493 [DAT](INFO): direction in FSK: [0.958843,0.080516,0.272280] 2025-10-27T05:35:45.493Z,1761543345.493 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:45.494Z,1761543345.494 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:45.497Z,1761543345.497 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:45.497Z,1761543345.497 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:45.546Z,1761543345.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862157,0.499802,0.082962],[-0.506640,0.850499,0.141302],[0.000064,-0.163856,0.986484]] 2025-10-27T05:35:45.681Z,1761543345.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.400002 m, deltaT: 3.527345 s, deltaX: -2.000000 m, approachRate: -0.566999 m/s, rangeRepo size: 4 2025-10-27T05:35:45.690Z,1761543345.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.037155 m, bearing: 336.931071 deg, lat: 36.779379 deg, lon: -121.859680 deg, deltaT: 3.527345 s, deltaX: -1.988869 m, approachRate: -0.563843 m/s, posRepo size: 4 2025-10-27T05:35:45.696Z,1761543345.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:45.705Z,1761543345.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 63.842430 m, bearing: 337.368725 deg, approach rate: 0.000000 m/s, LOS rate: -0.019532 deg/s, cmd heading: 330.244482 deg, new cmd heading: 330.212060 deg. 2025-10-27T05:35:45.712Z,1761543345.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763288 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:46.019Z,1761543346.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862198,0.499551,0.084047],[-0.506572,0.850253,0.143016],[-0.000017,-0.165884,0.986145]] 2025-10-27T05:35:46.037Z,1761543346.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:46.040Z,1761543346.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 63.631927 m, bearing: 337.365297 deg, approach rate: -0.568589 m/s, LOS rate: -0.009289 deg/s, cmd heading: 330.212052 deg, new cmd heading: 330.201735 deg. 2025-10-27T05:35:46.041Z,1761543346.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763107 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:46.422Z,1761543346.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862238,0.499249,0.085420],[-0.506504,0.849846,0.145657],[0.000126,-0.168856,0.985641]] 2025-10-27T05:35:46.470Z,1761543346.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:46.472Z,1761543346.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 63.403294 m, bearing: 337.361232 deg, approach rate: -0.528601 m/s, LOS rate: -0.009431 deg/s, cmd heading: 330.201725 deg, new cmd heading: 330.189488 deg. 2025-10-27T05:35:46.473Z,1761543346.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762894 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:46.836Z,1761543346.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862052,0.499398,0.086422],[-0.506820,0.849225,0.148158],[0.000598,-0.171521,0.985180]] 2025-10-27T05:35:46.871Z,1761543346.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:46.874Z,1761543346.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 63.199112 m, bearing: 337.357663 deg, approach rate: -0.508936 m/s, LOS rate: -0.008925 deg/s, cmd heading: 330.189485 deg, new cmd heading: 330.178743 deg. 2025-10-27T05:35:46.879Z,1761543346.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762706 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:47.266Z,1761543347.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862101,0.499117,0.087542],[-0.506734,0.848734,0.151230],[0.001181,-0.174736,0.984615]] 2025-10-27T05:35:47.325Z,1761543347.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:47.327Z,1761543347.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:47.330Z,1761543347.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 62.945133 m, bearing: 337.359859 deg, approach rate: -0.556938 m/s, LOS rate: 0.004834 deg/s, cmd heading: 330.178748 deg, new cmd heading: 330.185362 deg. 2025-10-27T05:35:47.331Z,1761543347.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762822 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:47.496Z,1761543347.496 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:47.496Z,1761543347.496 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:47.496Z,1761543347.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:47.648Z,1761543347.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861995,0.499104,0.088655],[-0.506914,0.848126,0.154014],[0.001678,-0.177700,0.984083]] 2025-10-27T05:35:47.665Z,1761543347.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:47.685Z,1761543347.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 62.757812 m, bearing: 337.361549 deg, approach rate: -0.553143 m/s, LOS rate: 0.005005 deg/s, cmd heading: 330.185360 deg, new cmd heading: 330.190445 deg. 2025-10-27T05:35:47.688Z,1761543347.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762910 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:47.748Z,1761543347.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256299 2025-10-27T05:35:48.000Z,1761543348.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508545 2025-10-27T05:35:48.056Z,1761543348.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861949,0.499422,0.087296],[-0.506988,0.848240,0.153141],[0.002434,-0.176258,0.984341]] 2025-10-27T05:35:48.076Z,1761543348.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:48.078Z,1761543348.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 62.534412 m, bearing: 337.363583 deg, approach rate: -0.544334 m/s, LOS rate: 0.004974 deg/s, cmd heading: 330.190442 deg, new cmd heading: 330.196565 deg. 2025-10-27T05:35:48.080Z,1761543348.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763017 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:48.255Z,1761543348.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762935 2025-10-27T05:35:48.458Z,1761543348.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862061,0.499450,0.086024],[-0.506796,0.848584,0.151868],[0.002852,-0.174517,0.984650]] 2025-10-27T05:35:48.504Z,1761543348.504 [DAT](INFO): DAT read: Rx Time:05:35:47.1629 2025-10-27T05:35:48.505Z,1761543348.505 [DAT](INFO): Rx dataTimestamp_ set to:1761543348.504257 2025-10-27T05:35:48.505Z,1761543348.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013293 2025-10-27T05:35:48.512Z,1761543348.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:48.520Z,1761543348.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 62.290276 m, bearing: 337.373752 deg, approach rate: -0.559619 m/s, LOS rate: 0.023401 deg/s, cmd heading: 330.196562 deg, new cmd heading: 330.227188 deg. 2025-10-27T05:35:48.521Z,1761543348.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763552 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:48.756Z,1761543348.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264605 2025-10-27T05:35:48.862Z,1761543348.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861465,0.500431,0.086293],[-0.507802,0.847666,0.153620],[0.003729,-0.176159,0.984355]] 2025-10-27T05:35:48.896Z,1761543348.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.04 m. 2025-10-27T05:35:48.898Z,1761543348.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.037155 m, nav range: 62.081181 m, bearing: 337.382766 deg, approach rate: -0.545095 m/s, LOS rate: 0.023579 deg/s, cmd heading: 330.227188 deg, new cmd heading: 330.254323 deg. 2025-10-27T05:35:48.908Z,1761543348.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764025 target range: 66.037155 and range: 66.40 m. 2025-10-27T05:35:49.011Z,1761543349.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518266 2025-10-27T05:35:49.278Z,1761543349.278 [DAT](INFO): DAT read: 05:35:47.1629 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.20,-0.520,-2.288,-0.552,-0.651, PHS= 0.233,-1.592, 0.054, RAW= 144.9, 14.8, CAL= 144.6, 16.2, ROT= 5.4, -16.2 2025-10-27T05:35:49.286Z,1761543349.286 [DAT](INFO): got valid direction response: 05:35:47.1629 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414,-0.20,-0.520,-2.288,-0.552,-0.651, PHS= 0.233,-1.592, 0.054, RAW= 144.9, 14.8, CAL= 144.6, 16.2, ROT= 5.4, -16.2 2025-10-27T05:35:49.292Z,1761543349.292 [DAT](INFO): DAT read: Bearing 146.8, 2.9 (Local) 2025-10-27T05:35:49.292Z,1761543349.292 [DAT](INFO): Local bearing/azimuth received: Bearing 146.8, 2.9 (Local) 2025-10-27T05:35:49.294Z,1761543349.294 [DAT](INFO): DAT read: Range 11 to 50 : 64.5 m (Round-trip 86.1 ms) speed 0.4 m/s 2025-10-27T05:35:49.294Z,1761543349.294 [DAT](INFO): DAT read: user:471> 2025-10-27T05:35:49.303Z,1761543349.303 [DAT](INFO): DAT read: Tx time:05:35:48.2727 2025-10-27T05:35:49.304Z,1761543349.304 [DAT](INFO): Ping request sent. 2025-10-27T05:35:49.304Z,1761543349.304 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:49.304Z,1761543349.304 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:49.305Z,1761543349.305 [DAT](INFO): direction in FSK: [0.956032,0.090372,0.278991] 2025-10-27T05:35:49.305Z,1761543349.305 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:49.306Z,1761543349.306 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:49.329Z,1761543349.329 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:49.329Z,1761543349.329 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:49.345Z,1761543349.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859798,0.503245,0.086562],[-0.510611,0.845664,0.155337],[0.004971,-0.177758,0.984062]] 2025-10-27T05:35:49.467Z,1761543349.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.500000 m, deltaT: 3.780742 s, deltaX: -1.900002 m, approachRate: -0.502547 m/s, rangeRepo size: 4 2025-10-27T05:35:49.473Z,1761543349.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.149086 m, bearing: 337.550694 deg, lat: 36.779380 deg, lon: -121.859680 deg, deltaT: 3.780742 s, deltaX: -1.888069 m, approachRate: -0.499391 m/s, posRepo size: 4 2025-10-27T05:35:49.474Z,1761543349.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:49.480Z,1761543349.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 61.901024 m, bearing: 337.458621 deg, approach rate: 0.000000 m/s, LOS rate: 0.023579 deg/s, cmd heading: 330.254318 deg, new cmd heading: 330.294650 deg. 2025-10-27T05:35:49.481Z,1761543349.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764729 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:49.785Z,1761543349.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858803,0.504957,0.086466],[-0.512276,0.844597,0.155658],[0.005572,-0.177974,0.984019]] 2025-10-27T05:35:49.801Z,1761543349.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:49.806Z,1761543349.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:49.809Z,1761543349.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 61.699020 m, bearing: 337.473070 deg, approach rate: -0.598951 m/s, LOS rate: 0.042982 deg/s, cmd heading: 330.294643 deg, new cmd heading: 330.338132 deg. 2025-10-27T05:35:49.810Z,1761543349.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765488 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:50.016Z,1761543350.016 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:50.016Z,1761543350.016 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:50.016Z,1761543350.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:50.197Z,1761543350.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858064,0.506365,0.085556],[-0.513504,0.843984,0.154932],[0.006244,-0.176875,0.984214]] 2025-10-27T05:35:50.271Z,1761543350.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966411 2025-10-27T05:35:50.278Z,1761543350.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:50.292Z,1761543350.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 61.462551 m, bearing: 337.490417 deg, approach rate: -0.499166 m/s, LOS rate: 0.036760 deg/s, cmd heading: 330.338138 deg, new cmd heading: 330.390380 deg. 2025-10-27T05:35:50.293Z,1761543350.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766400 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:50.523Z,1761543350.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219093 2025-10-27T05:35:50.623Z,1761543350.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857453,0.507398,0.085570],[-0.514521,0.843336,0.155089],[0.006528,-0.177009,0.984188]] 2025-10-27T05:35:50.659Z,1761543350.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:50.662Z,1761543350.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 61.208050 m, bearing: 337.515675 deg, approach rate: -0.666262 m/s, LOS rate: 0.066396 deg/s, cmd heading: 330.390375 deg, new cmd heading: 330.466462 deg. 2025-10-27T05:35:50.663Z,1761543350.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767728 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:50.773Z,1761543350.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468640 2025-10-27T05:35:51.022Z,1761543351.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857510,0.506945,0.087653],[-0.514427,0.842785,0.158362],[0.006408,-0.180888,0.983483]] 2025-10-27T05:35:51.024Z,1761543351.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720155 2025-10-27T05:35:51.085Z,1761543351.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:51.088Z,1761543351.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 60.960651 m, bearing: 337.540421 deg, approach rate: -0.580424 m/s, LOS rate: 0.058293 deg/s, cmd heading: 330.466463 deg, new cmd heading: 330.541004 deg. 2025-10-27T05:35:51.089Z,1761543351.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769029 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:51.279Z,1761543351.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974360 2025-10-27T05:35:51.426Z,1761543351.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857536,0.506491,0.089993],[-0.514387,0.842148,0.161844],[0.006185,-0.185078,0.982704]] 2025-10-27T05:35:51.462Z,1761543351.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:51.481Z,1761543351.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 60.743095 m, bearing: 337.562587 deg, approach rate: -0.576972 m/s, LOS rate: 0.058996 deg/s, cmd heading: 330.540994 deg, new cmd heading: 330.607730 deg. 2025-10-27T05:35:51.482Z,1761543351.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770194 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:51.528Z,1761543351.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224169 2025-10-27T05:35:51.780Z,1761543351.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476479 2025-10-27T05:35:51.829Z,1761543351.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858030,0.505593,0.090335],[-0.513566,0.842602,0.162087],[0.005834,-0.185468,0.982633]] 2025-10-27T05:35:51.850Z,1761543351.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:51.853Z,1761543351.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:51.872Z,1761543351.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 60.518135 m, bearing: 337.585470 deg, approach rate: -0.575938 m/s, LOS rate: 0.058802 deg/s, cmd heading: 330.607739 deg, new cmd heading: 330.676643 deg. 2025-10-27T05:35:51.873Z,1761543351.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771396 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:52.032Z,1761543352.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728130 2025-10-27T05:35:52.232Z,1761543352.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858908,0.504246,0.089518],[-0.512101,0.843767,0.160653],[0.005476,-0.183829,0.982943]] 2025-10-27T05:35:52.262Z,1761543352.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:52.287Z,1761543352.287 [DAT](INFO): DAT read: Rx Time:05:35:50.7601 2025-10-27T05:35:52.288Z,1761543352.288 [DAT](INFO): Rx dataTimestamp_ set to:1761543352.287756 2025-10-27T05:35:52.291Z,1761543352.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986113 2025-10-27T05:35:52.301Z,1761543352.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 60.286674 m, bearing: 337.608810 deg, approach rate: -0.567948 m/s, LOS rate: 0.057493 deg/s, cmd heading: 330.676642 deg, new cmd heading: 330.746933 deg. 2025-10-27T05:35:52.309Z,1761543352.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772623 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:52.536Z,1761543352.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232060 2025-10-27T05:35:52.731Z,1761543352.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.15 m. 2025-10-27T05:35:52.755Z,1761543352.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.149086 m, nav range: 60.012432 m, bearing: 337.635299 deg, approach rate: -0.582778 m/s, LOS rate: 0.056547 deg/s, cmd heading: 330.746938 deg, new cmd heading: 330.826767 deg. 2025-10-27T05:35:52.756Z,1761543352.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774016 target range: 64.149086 and range: 64.50 m. 2025-10-27T05:35:52.794Z,1761543352.794 [DAT](INFO): DAT read: 05:35:50.7601 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.02, 1.876, 0.072, 1.847, 1.692, PHS= 0.286,-1.575, 0.111, RAW= 145.1, 13.2, CAL= 144.7, 14.4, ROT= 5.3, -14.4 2025-10-27T05:35:52.795Z,1761543352.795 [DAT](INFO): got valid direction response: 05:35:50.7601 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.02, 1.876, 0.072, 1.847, 1.692, PHS= 0.286,-1.575, 0.111, RAW= 145.1, 13.2, CAL= 144.7, 14.4, ROT= 5.3, -14.4 2025-10-27T05:35:52.796Z,1761543352.796 [DAT](INFO): DAT read: Bearing 145.0, 3.0 (Local) 2025-10-27T05:35:52.796Z,1761543352.796 [DAT](INFO): Local bearing/azimuth received: Bearing 145.0, 3.0 (Local) 2025-10-27T05:35:52.798Z,1761543352.798 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.7 m/s 2025-10-27T05:35:52.799Z,1761543352.799 [DAT](INFO): DAT read: user:472> 2025-10-27T05:35:52.800Z,1761543352.800 [DAT](INFO): DAT read: Tx time:05:35:51.8727 2025-10-27T05:35:52.800Z,1761543352.800 [DAT](INFO): Ping request sent. 2025-10-27T05:35:52.800Z,1761543352.800 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:52.800Z,1761543352.800 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:52.801Z,1761543352.801 [DAT](INFO): direction in FSK: [0.964442,0.089469,0.248690] 2025-10-27T05:35:52.801Z,1761543352.801 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:52.802Z,1761543352.802 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:52.805Z,1761543352.805 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:52.805Z,1761543352.805 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:53.103Z,1761543353.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860874,0.502541,0.079679],[-0.508797,0.848757,0.144003],[0.004739,-0.164509,0.986364]] 2025-10-27T05:35:53.126Z,1761543353.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.527427 s, deltaX: -2.099998 m, approachRate: -0.595334 m/s, rangeRepo size: 4 2025-10-27T05:35:53.128Z,1761543353.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.062416 m, bearing: 337.052414 deg, lat: 36.779380 deg, lon: -121.859680 deg, deltaT: 3.527427 s, deltaX: -2.086670 m, approachRate: -0.591556 m/s, posRepo size: 4 2025-10-27T05:35:53.129Z,1761543353.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.06 m. 2025-10-27T05:35:53.149Z,1761543353.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.062416 m, nav range: 59.806046 m, bearing: 337.665861 deg, approach rate: 0.000000 m/s, LOS rate: 0.056547 deg/s, cmd heading: 330.826769 deg, new cmd heading: 330.893683 deg. 2025-10-27T05:35:53.150Z,1761543353.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775184 target range: 62.062416 and range: 62.40 m. 2025-10-27T05:35:53.578Z,1761543353.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.06 m. 2025-10-27T05:35:53.581Z,1761543353.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.062416 m, nav range: 59.553501 m, bearing: 337.686010 deg, approach rate: -0.557901 m/s, LOS rate: 0.044699 deg/s, cmd heading: 330.893678 deg, new cmd heading: 330.954380 deg. 2025-10-27T05:35:53.582Z,1761543353.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776244 target range: 62.062416 and range: 62.40 m. 2025-10-27T05:35:53.910Z,1761543353.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862990,0.500356,0.069939],[-0.505201,0.853436,0.128135],[0.004425,-0.145912,0.989288]] 2025-10-27T05:35:53.941Z,1761543353.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:53.943Z,1761543353.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.06 m. 2025-10-27T05:35:53.946Z,1761543353.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.062416 m, nav range: 59.330997 m, bearing: 337.702963 deg, approach rate: -0.608780 m/s, LOS rate: 0.046558 deg/s, cmd heading: 330.954385 deg, new cmd heading: 331.005434 deg. 2025-10-27T05:35:53.947Z,1761543353.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777135 target range: 62.062416 and range: 62.40 m. 2025-10-27T05:35:54.048Z,1761543354.048 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:54.048Z,1761543354.048 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:54.048Z,1761543354.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:54.303Z,1761543354.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501899 2025-10-27T05:35:54.443Z,1761543354.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.06 m. 2025-10-27T05:35:54.446Z,1761543354.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.062416 m, nav range: 59.051960 m, bearing: 337.709959 deg, approach rate: -0.558674 m/s, LOS rate: 0.014075 deg/s, cmd heading: 331.005447 deg, new cmd heading: 331.026537 deg. 2025-10-27T05:35:54.447Z,1761543354.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777503 target range: 62.062416 and range: 62.40 m. 2025-10-27T05:35:54.553Z,1761543354.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752187 2025-10-27T05:35:54.795Z,1761543354.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865272,0.496751,0.067410],[-0.501288,0.856345,0.124032],[0.003887,-0.141113,0.989986]] 2025-10-27T05:35:54.804Z,1761543354.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004027 2025-10-27T05:35:54.814Z,1761543354.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.06 m. 2025-10-27T05:35:54.817Z,1761543354.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.062416 m, nav range: 58.844193 m, bearing: 337.714286 deg, approach rate: -0.559306 m/s, LOS rate: 0.011689 deg/s, cmd heading: 331.026539 deg, new cmd heading: 331.039565 deg. 2025-10-27T05:35:54.818Z,1761543354.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777730 target range: 62.062416 and range: 62.40 m. 2025-10-27T05:35:55.056Z,1761543355.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256303 2025-10-27T05:35:55.193Z,1761543355.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866353,0.494810,0.067794],[-0.499418,0.857284,0.125086],[0.003775,-0.142226,0.989827]] 2025-10-27T05:35:55.222Z,1761543355.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.06 m. 2025-10-27T05:35:55.225Z,1761543355.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.062416 m, nav range: 58.622932 m, bearing: 337.718462 deg, approach rate: -0.542870 m/s, LOS rate: 0.010285 deg/s, cmd heading: 331.039571 deg, new cmd heading: 331.052147 deg. 2025-10-27T05:35:55.226Z,1761543355.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777950 target range: 62.062416 and range: 62.40 m. 2025-10-27T05:35:55.309Z,1761543355.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508812 2025-10-27T05:35:55.560Z,1761543355.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759898 2025-10-27T05:35:55.653Z,1761543355.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.06 m. 2025-10-27T05:35:55.656Z,1761543355.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.062416 m, nav range: 58.388733 m, bearing: 337.712066 deg, approach rate: -0.542885 m/s, LOS rate: -0.014886 deg/s, cmd heading: 331.052138 deg, new cmd heading: 331.032872 deg. 2025-10-27T05:35:55.657Z,1761543355.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777614 target range: 62.062416 and range: 62.40 m. 2025-10-27T05:35:55.812Z,1761543355.812 [DAT](INFO): DAT read: Rx Time:05:35:54.3573 2025-10-27T05:35:55.812Z,1761543355.812 [DAT](INFO): Rx dataTimestamp_ set to:1761543355.812197 2025-10-27T05:35:55.813Z,1761543355.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013051 2025-10-27T05:35:55.995Z,1761543355.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868106,0.491491,0.069490],[-0.496366,0.858498,0.128848],[0.003671,-0.146346,0.989227]] 2025-10-27T05:35:56.027Z,1761543356.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:56.029Z,1761543356.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.06 m. 2025-10-27T05:35:56.036Z,1761543356.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.062416 m, nav range: 58.182407 m, bearing: 337.705698 deg, approach rate: -0.548659 m/s, LOS rate: -0.016993 deg/s, cmd heading: 331.032877 deg, new cmd heading: 331.013706 deg. 2025-10-27T05:35:56.037Z,1761543356.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777279 target range: 62.062416 and range: 62.40 m. 2025-10-27T05:35:56.064Z,1761543356.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264147 2025-10-27T05:35:56.370Z,1761543356.370 [DAT](INFO): DAT read: 05:35:54.3573 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.05,-0.436,-2.227,-0.419,-0.577, PHS= 0.243,-1.605, 0.114, RAW= 146.4, 13.9, CAL= 146.2, 15.2, ROT= 3.8, -15.2 2025-10-27T05:35:56.374Z,1761543356.374 [DAT](INFO): got valid direction response: 05:35:54.3573 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.05,-0.436,-2.227,-0.419,-0.577, PHS= 0.243,-1.605, 0.114, RAW= 146.4, 13.9, CAL= 146.2, 15.2, ROT= 3.8, -15.2 2025-10-27T05:35:56.384Z,1761543356.384 [DAT](INFO): DAT read: Bearing 146.9, 1.9 (Local) 2025-10-27T05:35:56.384Z,1761543356.384 [DAT](INFO): Local bearing/azimuth received: Bearing 146.9, 1.9 (Local) 2025-10-27T05:35:56.385Z,1761543356.385 [DAT](INFO): DAT read: Range 11 to 50 : 60.3 m (Round-trip 80.4 ms) speed 0.4 m/s 2025-10-27T05:35:56.386Z,1761543356.386 [DAT](INFO): DAT read: user:473> 2025-10-27T05:35:56.392Z,1761543356.392 [DAT](INFO): DAT read: Tx time:05:35:55.4727 2025-10-27T05:35:56.392Z,1761543356.392 [DAT](INFO): Ping request sent. 2025-10-27T05:35:56.392Z,1761543356.392 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:56.392Z,1761543356.392 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:56.393Z,1761543356.393 [DAT](INFO): direction in FSK: [0.962895,0.063955,0.262189] 2025-10-27T05:35:56.394Z,1761543356.394 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:56.394Z,1761543356.394 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:56.429Z,1761543356.429 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:56.430Z,1761543356.430 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:56.434Z,1761543356.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869191,0.489660,0.068850],[-0.494465,0.859735,0.127903],[0.003436,-0.145215,0.989394]] 2025-10-27T05:35:56.560Z,1761543356.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 3.529644 s, deltaX: -2.100002 m, approachRate: -0.594962 m/s, rangeRepo size: 4 2025-10-27T05:35:56.562Z,1761543356.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.971863 m, bearing: 336.379355 deg, lat: 36.779379 deg, lon: -121.859685 deg, deltaT: 3.529644 s, deltaX: -2.090553 m, approachRate: -0.592284 m/s, posRepo size: 4 2025-10-27T05:35:56.568Z,1761543356.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.97 m. 2025-10-27T05:35:56.571Z,1761543356.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.971863 m, nav range: 57.916588 m, bearing: 337.208600 deg, approach rate: 0.000000 m/s, LOS rate: -0.016993 deg/s, cmd heading: 331.013698 deg, new cmd heading: 330.986678 deg. 2025-10-27T05:35:56.576Z,1761543356.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776807 target range: 59.971863 and range: 60.30 m. 2025-10-27T05:35:56.895Z,1761543356.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870330,0.487690,0.068438],[-0.492460,0.861034,0.126899],[0.002960,-0.144148,0.989552]] 2025-10-27T05:35:56.960Z,1761543356.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.97 m. 2025-10-27T05:35:56.963Z,1761543356.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.971863 m, nav range: 57.711380 m, bearing: 337.192580 deg, approach rate: -0.511778 m/s, LOS rate: -0.040093 deg/s, cmd heading: 330.986678 deg, new cmd heading: 330.938449 deg. 2025-10-27T05:35:56.964Z,1761543356.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775966 target range: 59.971863 and range: 60.30 m. 2025-10-27T05:35:57.291Z,1761543357.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871152,0.486191,0.068648],[-0.491007,0.861823,0.127173],[0.002668,-0.144493,0.989502]] 2025-10-27T05:35:57.322Z,1761543357.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.97 m. 2025-10-27T05:35:57.333Z,1761543357.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.971863 m, nav range: 57.513592 m, bearing: 337.176703 deg, approach rate: -0.547812 m/s, LOS rate: -0.044126 deg/s, cmd heading: 330.938457 deg, new cmd heading: 330.890661 deg. 2025-10-27T05:35:57.334Z,1761543357.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775132 target range: 59.971863 and range: 60.30 m. 2025-10-27T05:35:57.743Z,1761543357.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872730,0.483001,0.071080],[-0.488200,0.862913,0.130542],[0.001716,-0.148630,0.988891]] 2025-10-27T05:35:57.788Z,1761543357.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.97 m. 2025-10-27T05:35:57.791Z,1761543357.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.971863 m, nav range: 57.264420 m, bearing: 337.150578 deg, approach rate: -0.534163 m/s, LOS rate: -0.056248 deg/s, cmd heading: 330.890673 deg, new cmd heading: 330.811958 deg. 2025-10-27T05:35:57.792Z,1761543357.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773758 target range: 59.971863 and range: 60.30 m. 2025-10-27T05:35:58.142Z,1761543358.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873089,0.482292,0.071484],[-0.487560,0.863287,0.130467],[0.001212,-0.148762,0.988872]] 2025-10-27T05:35:58.193Z,1761543358.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:35:58.200Z,1761543358.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.97 m. 2025-10-27T05:35:58.202Z,1761543358.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.971863 m, nav range: 57.060905 m, bearing: 337.128919 deg, approach rate: -0.494200 m/s, LOS rate: -0.052783 deg/s, cmd heading: 330.811962 deg, new cmd heading: 330.746752 deg. 2025-10-27T05:35:58.208Z,1761543358.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772620 target range: 59.971863 and range: 60.30 m. 2025-10-27T05:35:58.332Z,1761543358.332 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:35:58.332Z,1761543358.332 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:35:58.332Z,1761543358.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:35:58.546Z,1761543358.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873809,0.480976,0.071561],[-0.486270,0.864146,0.129591],[0.000491,-0.148036,0.988982]] 2025-10-27T05:35:58.584Z,1761543358.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191613 2025-10-27T05:35:58.606Z,1761543358.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.97 m. 2025-10-27T05:35:58.620Z,1761543358.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.971863 m, nav range: 56.851776 m, bearing: 337.102408 deg, approach rate: -0.514744 m/s, LOS rate: -0.065493 deg/s, cmd heading: 330.746747 deg, new cmd heading: 330.666921 deg. 2025-10-27T05:35:58.621Z,1761543358.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771226 target range: 59.971863 and range: 60.30 m. 2025-10-27T05:35:58.836Z,1761543358.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443695 2025-10-27T05:35:58.963Z,1761543358.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874227,0.479821,0.074158],[-0.485518,0.864103,0.132661],[-0.000426,-0.151981,0.988383]] 2025-10-27T05:35:58.982Z,1761543358.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.97 m. 2025-10-27T05:35:58.985Z,1761543358.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.971863 m, nav range: 56.644337 m, bearing: 337.075795 deg, approach rate: -0.552110 m/s, LOS rate: -0.071092 deg/s, cmd heading: 330.666916 deg, new cmd heading: 330.586783 deg. 2025-10-27T05:35:58.986Z,1761543358.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769828 target range: 59.971863 and range: 60.30 m. 2025-10-27T05:35:59.089Z,1761543359.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696243 2025-10-27T05:35:59.340Z,1761543359.340 [DAT](INFO): DAT read: Rx Time:05:35:57.9548 2025-10-27T05:35:59.340Z,1761543359.340 [DAT](INFO): Rx dataTimestamp_ set to:1761543359.340143 2025-10-27T05:35:59.341Z,1761543359.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948787 2025-10-27T05:35:59.370Z,1761543359.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874222,0.479537,0.076029],[-0.485526,0.863671,0.135412],[-0.000729,-0.155295,0.987868]] 2025-10-27T05:35:59.490Z,1761543359.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.97 m. 2025-10-27T05:35:59.501Z,1761543359.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.971863 m, nav range: 56.372723 m, bearing: 337.056230 deg, approach rate: -0.534262 m/s, LOS rate: -0.038670 deg/s, cmd heading: 330.586784 deg, new cmd heading: 330.527805 deg. 2025-10-27T05:35:59.502Z,1761543359.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768798 target range: 59.971863 and range: 60.30 m. 2025-10-27T05:35:59.597Z,1761543359.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204578 2025-10-27T05:35:59.854Z,1761543359.854 [DAT](INFO): DAT read: 05:35:57.9548 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.27, 1.812, 0.024, 1.865, 1.703, PHS= 0.211,-1.634, 0.119, RAW= 147.5, 14.4, CAL= 147.4, 15.8, ROT= 2.6, -15.8 2025-10-27T05:35:59.855Z,1761543359.855 [DAT](INFO): got valid direction response: 05:35:57.9548 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.27, 1.812, 0.024, 1.865, 1.703, PHS= 0.211,-1.634, 0.119, RAW= 147.5, 14.4, CAL= 147.4, 15.8, ROT= 2.6, -15.8 2025-10-27T05:35:59.856Z,1761543359.856 [DAT](INFO): DAT read: Bearing 147.7, 0.5 (Local) 2025-10-27T05:35:59.856Z,1761543359.856 [DAT](INFO): Local bearing/azimuth received: Bearing 147.7, 0.5 (Local) 2025-10-27T05:35:59.858Z,1761543359.858 [DAT](INFO): DAT read: Range 11 to 50 : 58.5 m (Round-trip 78.0 ms) speed 0.4 m/s 2025-10-27T05:35:59.858Z,1761543359.858 [DAT](INFO): DAT read: user:474> 2025-10-27T05:35:59.859Z,1761543359.859 [DAT](INFO): DAT read: Tx time:05:35:59.0727 2025-10-27T05:35:59.860Z,1761543359.860 [DAT](INFO): Ping request sent. 2025-10-27T05:35:59.860Z,1761543359.860 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:35:59.860Z,1761543359.860 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:35:59.861Z,1761543359.861 [DAT](INFO): direction in FSK: [0.961227,0.043649,0.272280] 2025-10-27T05:35:59.861Z,1761543359.861 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:59.861Z,1761543359.861 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:59.869Z,1761543359.869 [DAT](INFO): publishing transmit ping time 2025-10-27T05:35:59.869Z,1761543359.869 [DAT](INFO): publishing direction and range info 2025-10-27T05:35:59.899Z,1761543359.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873940,0.479707,0.078161],[-0.486032,0.862928,0.138308],[-0.001100,-0.158861,0.987300]] 2025-10-27T05:35:59.966Z,1761543359.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 3.530248 s, deltaX: -1.799999 m, approachRate: -0.509879 m/s, rangeRepo size: 4 2025-10-27T05:35:59.972Z,1761543359.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.181164 m, bearing: 336.051607 deg, lat: 36.779377 deg, lon: -121.859689 deg, deltaT: 3.530248 s, deltaX: -1.790699 m, approachRate: -0.507245 m/s, posRepo size: 4 2025-10-27T05:35:59.973Z,1761543359.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:35:59.973Z,1761543359.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:35:59.980Z,1761543359.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 56.092899 m, bearing: 336.643441 deg, approach rate: 0.000000 m/s, LOS rate: -0.038670 deg/s, cmd heading: 330.527798 deg, new cmd heading: 330.472688 deg. 2025-10-27T05:35:59.981Z,1761543359.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767837 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:00.027Z,1761543360.027 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T05:36:00.335Z,1761543360.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873123,0.480725,0.080991],[-0.487498,0.861458,0.142250],[-0.001387,-0.163684,0.986512]] 2025-10-27T05:36:00.352Z,1761543360.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:00.354Z,1761543360.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:36:00.372Z,1761543360.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:36:00.400Z,1761543360.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 55.875187 m, bearing: 336.626579 deg, approach rate: -0.559528 m/s, LOS rate: -0.043505 deg/s, cmd heading: 330.472692 deg, new cmd heading: 330.421909 deg. 2025-10-27T05:36:00.408Z,1761543360.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766950 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:00.604Z,1761543360.604 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:00.604Z,1761543360.604 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:00.604Z,1761543360.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:00.750Z,1761543360.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873251,0.480308,0.082076],[-0.487268,0.861313,0.143908],[-0.001573,-0.165660,0.986182]] 2025-10-27T05:36:00.804Z,1761543360.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:36:00.804Z,1761543360.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:36:00.811Z,1761543360.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 55.634876 m, bearing: 336.618142 deg, approach rate: -0.534922 m/s, LOS rate: -0.018861 deg/s, cmd heading: 330.421903 deg, new cmd heading: 330.396484 deg. 2025-10-27T05:36:00.812Z,1761543360.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766507 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:00.857Z,1761543360.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997809 2025-10-27T05:36:01.108Z,1761543361.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248237 2025-10-27T05:36:01.146Z,1761543361.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873029,0.480422,0.083758],[-0.487667,0.860448,0.147685],[-0.001118,-0.169779,0.985482]] 2025-10-27T05:36:01.189Z,1761543361.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:36:01.190Z,1761543361.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:36:01.193Z,1761543361.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 55.412212 m, bearing: 336.610442 deg, approach rate: -0.577273 m/s, LOS rate: -0.020044 deg/s, cmd heading: 330.396495 deg, new cmd heading: 330.373301 deg. 2025-10-27T05:36:01.194Z,1761543361.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766102 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:01.360Z,1761543361.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500246 2025-10-27T05:36:01.550Z,1761543361.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872367,0.481315,0.085505],[-0.488851,0.859196,0.151022],[-0.000776,-0.173546,0.984825]] 2025-10-27T05:36:01.606Z,1761543361.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:36:01.606Z,1761543361.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:36:01.612Z,1761543361.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752292 2025-10-27T05:36:01.620Z,1761543361.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 55.182026 m, bearing: 336.613881 deg, approach rate: -0.552529 m/s, LOS rate: 0.008291 deg/s, cmd heading: 330.373300 deg, new cmd heading: 330.383661 deg. 2025-10-27T05:36:01.621Z,1761543361.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766283 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:01.864Z,1761543361.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004436 2025-10-27T05:36:01.968Z,1761543361.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872123,0.481812,0.085200],[-0.489287,0.858935,0.151090],[-0.000384,-0.173456,0.984842]] 2025-10-27T05:36:01.996Z,1761543361.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:36:01.997Z,1761543361.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:36:01.000Z,1761543362.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 54.948826 m, bearing: 336.617516 deg, approach rate: -0.597483 m/s, LOS rate: 0.009352 deg/s, cmd heading: 330.383654 deg, new cmd heading: 330.394605 deg. 2025-10-27T05:36:02.001Z,1761543362.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766474 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:02.117Z,1761543362.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256647 2025-10-27T05:36:02.358Z,1761543362.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871805,0.482486,0.084640],[-0.489854,0.858635,0.150963],[0.000162,-0.173072,0.984909]] 2025-10-27T05:36:02.368Z,1761543362.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508379 2025-10-27T05:36:02.377Z,1761543362.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:02.378Z,1761543362.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:36:02.379Z,1761543362.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:36:02.382Z,1761543362.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 54.729988 m, bearing: 336.621099 deg, approach rate: -0.572375 m/s, LOS rate: 0.009409 deg/s, cmd heading: 330.394610 deg, new cmd heading: 330.405402 deg. 2025-10-27T05:36:02.383Z,1761543362.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766662 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:02.620Z,1761543362.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760300 2025-10-27T05:36:02.772Z,1761543362.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871457,0.483090,0.084776],[-0.490472,0.858113,0.151920],[0.000643,-0.173972,0.984750]] 2025-10-27T05:36:02.829Z,1761543362.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:36:02.830Z,1761543362.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:36:02.837Z,1761543362.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 54.478947 m, bearing: 336.634418 deg, approach rate: -0.557284 m/s, LOS rate: 0.029702 deg/s, cmd heading: 330.405401 deg, new cmd heading: 330.445541 deg. 2025-10-27T05:36:02.838Z,1761543362.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767363 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:02.872Z,1761543362.872 [DAT](INFO): DAT read: Rx Time:05:36:01.5523 2025-10-27T05:36:02.872Z,1761543362.872 [DAT](INFO): Rx dataTimestamp_ set to:1761543362.872089 2025-10-27T05:36:02.873Z,1761543362.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013284 2025-10-27T05:36:03.128Z,1761543363.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268121 2025-10-27T05:36:03.197Z,1761543363.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871253,0.483341,0.085435],[-0.490833,0.857542,0.153962],[0.001152,-0.176074,0.984376]] 2025-10-27T05:36:03.215Z,1761543363.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-27T05:36:03.216Z,1761543363.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-27T05:36:03.218Z,1761543363.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.181164 m, nav range: 54.241821 m, bearing: 336.647241 deg, approach rate: -0.614268 m/s, LOS rate: 0.033364 deg/s, cmd heading: 330.445536 deg, new cmd heading: 330.484174 deg. 2025-10-27T05:36:03.232Z,1761543363.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768037 target range: 58.181164 and range: 58.50 m. 2025-10-27T05:36:03.379Z,1761543363.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518906 2025-10-27T05:36:03.586Z,1761543363.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870820,0.484107,0.085514],[-0.491599,0.856931,0.154917],[0.001717,-0.176944,0.984219]] 2025-10-27T05:36:03.634Z,1761543363.634 [DAT](INFO): DAT read: 05:36:01.5523 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417,-0.33, 1.407,-0.267, 1.438, 1.268, PHS= 0.241,-1.490, 0.126, RAW= 146.6, 13.3, CAL= 146.4, 14.6, ROT= 3.6, -14.6 2025-10-27T05:36:03.635Z,1761543363.635 [DAT](INFO): got valid direction response: 05:36:01.5523 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417,-0.33, 1.407,-0.267, 1.438, 1.268, PHS= 0.241,-1.490, 0.126, RAW= 146.6, 13.3, CAL= 146.4, 14.6, ROT= 3.6, -14.6 2025-10-27T05:36:03.636Z,1761543363.636 [DAT](INFO): DAT read: Bearing 146.1, 1.4 (Local) 2025-10-27T05:36:03.636Z,1761543363.636 [DAT](INFO): Local bearing/azimuth received: Bearing 146.1, 1.4 (Local) 2025-10-27T05:36:03.638Z,1761543363.638 [DAT](INFO): DAT read: Range 11 to 50 : 56.5 m (Round-trip 75.4 ms) speed 0.5 m/s 2025-10-27T05:36:03.638Z,1761543363.638 [DAT](INFO): DAT read: user:475> 2025-10-27T05:36:03.639Z,1761543363.639 [DAT](INFO): DAT read: Tx time:05:36:02.6727 2025-10-27T05:36:03.639Z,1761543363.639 [DAT](INFO): Ping request sent. 2025-10-27T05:36:03.640Z,1761543363.640 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:03.640Z,1761543363.640 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:03.641Z,1761543363.641 [DAT](INFO): direction in FSK: [0.965800,0.060763,0.252069] 2025-10-27T05:36:03.641Z,1761543363.641 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:03.641Z,1761543363.641 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:03.646Z,1761543363.646 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:03.647Z,1761543363.647 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:03.737Z,1761543363.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.500000 m, deltaT: 3.780005 s, deltaX: -2.000000 m, approachRate: -0.529100 m/s, rangeRepo size: 4 2025-10-27T05:36:03.744Z,1761543363.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.191296 m, bearing: 336.726752 deg, lat: 36.779380 deg, lon: -121.859691 deg, deltaT: 3.780005 s, deltaX: -1.989868 m, approachRate: -0.526419 m/s, posRepo size: 4 2025-10-27T05:36:03.744Z,1761543363.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:03.745Z,1761543363.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.50 m. 2025-10-27T05:36:03.772Z,1761543363.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 54.372295 m, bearing: 336.640494 deg, approach rate: 0.000000 m/s, LOS rate: 0.033364 deg/s, cmd heading: 330.484167 deg, new cmd heading: 330.536393 deg. 2025-10-27T05:36:03.773Z,1761543363.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768949 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:04.088Z,1761543364.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870615,0.484741,0.083993],[-0.491959,0.857014,0.153307],[0.002331,-0.174792,0.984603]] 2025-10-27T05:36:04.106Z,1761543364.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:04.106Z,1761543364.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.50 m. 2025-10-27T05:36:04.109Z,1761543364.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 54.106361 m, bearing: 336.654675 deg, approach rate: -0.720606 m/s, LOS rate: 0.038616 deg/s, cmd heading: 330.536404 deg, new cmd heading: 330.579157 deg. 2025-10-27T05:36:04.110Z,1761543364.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769695 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:04.510Z,1761543364.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870388,0.485373,0.082692],[-0.492358,0.857018,0.152001],[0.002909,-0.173014,0.984915]] 2025-10-27T05:36:04.550Z,1761543364.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:04.568Z,1761543364.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:04.569Z,1761543364.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.50 m. 2025-10-27T05:36:04.576Z,1761543364.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 53.843006 m, bearing: 336.666766 deg, approach rate: -0.569398 m/s, LOS rate: 0.026270 deg/s, cmd heading: 330.579161 deg, new cmd heading: 330.615612 deg. 2025-10-27T05:36:04.577Z,1761543364.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770331 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:04.636Z,1761543364.636 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:04.637Z,1761543364.637 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:04.637Z,1761543364.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:04.888Z,1761543364.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248234 2025-10-27T05:36:04.910Z,1761543364.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870454,0.485583,0.080743],[-0.492239,0.857583,0.149168],[0.003189,-0.169589,0.985510]] 2025-10-27T05:36:04.934Z,1761543364.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:04.936Z,1761543364.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.50 m. 2025-10-27T05:36:04.952Z,1761543364.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 53.621231 m, bearing: 336.677003 deg, approach rate: -0.610105 m/s, LOS rate: 0.028279 deg/s, cmd heading: 330.615607 deg, new cmd heading: 330.646446 deg. 2025-10-27T05:36:04.953Z,1761543364.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770869 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:05.075Z,1761543365.075 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:36:05.140Z,1761543365.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500259 2025-10-27T05:36:05.298Z,1761543365.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870492,0.485854,0.078678],[-0.492172,0.858217,0.145705],[0.003268,-0.165558,0.986195]] 2025-10-27T05:36:05.325Z,1761543365.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:05.325Z,1761543365.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.50 m. 2025-10-27T05:36:05.328Z,1761543365.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 53.386616 m, bearing: 336.687900 deg, approach rate: -0.597541 m/s, LOS rate: 0.027875 deg/s, cmd heading: 330.646452 deg, new cmd heading: 330.679287 deg. 2025-10-27T05:36:05.329Z,1761543365.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771442 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:05.393Z,1761543365.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753685 2025-10-27T05:36:05.646Z,1761543365.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005704 2025-10-27T05:36:05.704Z,1761543365.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871070,0.485143,0.076636],[-0.491148,0.859388,0.142215],[0.003135,-0.161519,0.986865]] 2025-10-27T05:36:05.761Z,1761543365.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:05.761Z,1761543365.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.50 m. 2025-10-27T05:36:05.764Z,1761543365.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 53.143188 m, bearing: 336.688670 deg, approach rate: -0.557856 m/s, LOS rate: 0.001772 deg/s, cmd heading: 330.679292 deg, new cmd heading: 330.681612 deg. 2025-10-27T05:36:05.765Z,1761543365.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771483 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:05.896Z,1761543365.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256364 2025-10-27T05:36:06.079Z,1761543366.079 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:36:06.110Z,1761543366.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871024,0.485146,0.077135],[-0.491234,0.859423,0.141710],[0.002458,-0.161324,0.986898]] 2025-10-27T05:36:06.127Z,1761543366.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:06.128Z,1761543366.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.50 m. 2025-10-27T05:36:06.128Z,1761543366.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.50 m. 2025-10-27T05:36:06.128Z,1761543366.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T05:36:06.131Z,1761543366.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 52.938717 m, bearing: 336.689344 deg, approach rate: -0.558220 m/s, LOS rate: 0.001846 deg/s, cmd heading: 330.681614 deg, new cmd heading: 330.683643 deg. 2025-10-27T05:36:06.136Z,1761543366.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771518 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:06.150Z,1761543366.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509735 2025-10-27T05:36:06.400Z,1761543366.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760495 2025-10-27T05:36:06.542Z,1761543366.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871921,0.483352,0.078257],[-0.489644,0.860335,0.141676],[0.001152,-0.161849,0.986815]] 2025-10-27T05:36:06.594Z,1761543366.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:06.597Z,1761543366.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:06.600Z,1761543366.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 52.696804 m, bearing: 336.678341 deg, approach rate: -0.515143 m/s, LOS rate: -0.023537 deg/s, cmd heading: 330.683636 deg, new cmd heading: 330.650477 deg. 2025-10-27T05:36:06.601Z,1761543366.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770939 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:06.653Z,1761543366.653 [DAT](INFO): DAT read: Rx Time:05:36:05.1493 2025-10-27T05:36:06.654Z,1761543366.654 [DAT](INFO): Rx dataTimestamp_ set to:1761543366.653421 2025-10-27T05:36:06.655Z,1761543366.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015566 2025-10-27T05:36:06.904Z,1761543366.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264190 2025-10-27T05:36:07.046Z,1761543367.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.19 m. 2025-10-27T05:36:07.053Z,1761543367.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.191296 m, nav range: 52.451077 m, bearing: 336.667061 deg, approach rate: -0.547007 m/s, LOS rate: -0.025227 deg/s, cmd heading: 330.650469 deg, new cmd heading: 330.616470 deg. 2025-10-27T05:36:07.054Z,1761543367.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770346 target range: 56.191296 and range: 56.50 m. 2025-10-27T05:36:07.171Z,1761543367.171 [DAT](INFO): DAT read: 05:36:05.1493 LVL= 30704, 32753, 32754, 32755, AGC= 67, IDX= 418,-0.05, 2.813, 1.022, 2.846, 2.624, PHS= 0.291,-1.557, 0.178, RAW= 146.9, 12.1, CAL= 146.6, 13.3, ROT= 3.4, -13.3 2025-10-27T05:36:07.173Z,1761543367.173 [DAT](INFO): got valid direction response: 05:36:05.1493 LVL= 30704, 32753, 32754, 32755, AGC= 67, IDX= 418,-0.05, 2.813, 1.022, 2.846, 2.624, PHS= 0.291,-1.557, 0.178, RAW= 146.9, 12.1, CAL= 146.6, 13.3, ROT= 3.4, -13.3 2025-10-27T05:36:07.174Z,1761543367.174 [DAT](INFO): DAT read: Bearing 145.6, 1.5 (Local) 2025-10-27T05:36:07.175Z,1761543367.175 [DAT](INFO): Local bearing/azimuth received: Bearing 145.6, 1.5 (Local) 2025-10-27T05:36:07.177Z,1761543367.177 [DAT](INFO): DAT read: Range 11 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.4 m/s 2025-10-27T05:36:07.177Z,1761543367.177 [DAT](INFO): DAT read: user:476> 2025-10-27T05:36:07.178Z,1761543367.178 [DAT](INFO): DAT read: Tx time:05:36:06.2727 2025-10-27T05:36:07.178Z,1761543367.178 [DAT](INFO): Ping request sent. 2025-10-27T05:36:07.178Z,1761543367.178 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:07.179Z,1761543367.179 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:07.180Z,1761543367.180 [DAT](INFO): direction in FSK: [0.971466,0.057716,0.230050] 2025-10-27T05:36:07.180Z,1761543367.180 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:07.180Z,1761543367.180 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:07.184Z,1761543367.184 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:07.184Z,1761543367.184 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:07.375Z,1761543367.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874325,0.479243,0.076697],[-0.485341,0.863357,0.138051],[-0.000057,-0.157926,0.987451]] 2025-10-27T05:36:07.399Z,1761543367.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.528744 s, deltaX: -2.200001 m, approachRate: -0.623452 m/s, rangeRepo size: 4 2025-10-27T05:36:07.401Z,1761543367.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.005367 m, bearing: 336.452289 deg, lat: 36.779382 deg, lon: -121.859694 deg, deltaT: 3.528744 s, deltaX: -2.185928 m, approachRate: -0.619464 m/s, posRepo size: 4 2025-10-27T05:36:07.402Z,1761543367.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.01 m. 2025-10-27T05:36:07.405Z,1761543367.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.005367 m, nav range: 52.565598 m, bearing: 336.457245 deg, approach rate: 0.000000 m/s, LOS rate: -0.025227 deg/s, cmd heading: 330.616482 deg, new cmd heading: 330.589816 deg. 2025-10-27T05:36:07.406Z,1761543367.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769881 target range: 54.005367 and range: 54.30 m. 2025-10-27T05:36:07.770Z,1761543367.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876115,0.476110,0.075773],[-0.482102,0.865496,0.135998],[-0.000831,-0.155680,0.987807]] 2025-10-27T05:36:07.812Z,1761543367.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.01 m. 2025-10-27T05:36:07.815Z,1761543367.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.005367 m, nav range: 52.355892 m, bearing: 336.427910 deg, approach rate: -0.506677 m/s, LOS rate: -0.071160 deg/s, cmd heading: 330.589817 deg, new cmd heading: 330.501460 deg. 2025-10-27T05:36:07.816Z,1761543367.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768339 target range: 54.005367 and range: 54.30 m. 2025-10-27T05:36:08.181Z,1761543368.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877923,0.472938,0.074704],[-0.478799,0.867683,0.133708],[-0.001584,-0.153154,0.988201]] 2025-10-27T05:36:08.198Z,1761543368.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.01 m. 2025-10-27T05:36:08.201Z,1761543368.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.005367 m, nav range: 52.162785 m, bearing: 336.399855 deg, approach rate: -0.499910 m/s, LOS rate: -0.072897 deg/s, cmd heading: 330.501461 deg, new cmd heading: 330.416984 deg. 2025-10-27T05:36:08.202Z,1761543368.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766864 target range: 54.005367 and range: 54.30 m. 2025-10-27T05:36:08.579Z,1761543368.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879567,0.470023,0.073757],[-0.475770,0.869617,0.131940],[-0.002125,-0.151142,0.988510]] 2025-10-27T05:36:08.656Z,1761543368.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:08.660Z,1761543368.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.01 m. 2025-10-27T05:36:08.666Z,1761543368.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.005367 m, nav range: 51.938938 m, bearing: 336.354985 deg, approach rate: -0.485899 m/s, LOS rate: -0.097819 deg/s, cmd heading: 330.416985 deg, new cmd heading: 330.281794 deg. 2025-10-27T05:36:08.669Z,1761543368.669 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:08.669Z,1761543368.669 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:08.670Z,1761543368.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:08.672Z,1761543368.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764505 target range: 54.005367 and range: 54.30 m. 2025-10-27T05:36:08.920Z,1761543368.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741211 2025-10-27T05:36:08.987Z,1761543368.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880820,0.467689,0.073645],[-0.473445,0.870965,0.131413],[-0.002682,-0.150618,0.988588]] 2025-10-27T05:36:09.005Z,1761543369.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.01 m. 2025-10-27T05:36:09.017Z,1761543369.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.005367 m, nav range: 51.763588 m, bearing: 336.319020 deg, approach rate: -0.507210 m/s, LOS rate: -0.104382 deg/s, cmd heading: 330.281802 deg, new cmd heading: 330.173543 deg. 2025-10-27T05:36:09.017Z,1761543369.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762615 target range: 54.005367 and range: 54.30 m. 2025-10-27T05:36:09.172Z,1761543369.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993434 2025-10-27T05:36:09.386Z,1761543369.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881841,0.465612,0.074586],[-0.471536,0.871852,0.132396],[-0.003383,-0.151922,0.988387]] 2025-10-27T05:36:09.415Z,1761543369.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.01 m. 2025-10-27T05:36:09.417Z,1761543369.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.005367 m, nav range: 51.561016 m, bearing: 336.276676 deg, approach rate: -0.494525 m/s, LOS rate: -0.103779 deg/s, cmd heading: 330.173530 deg, new cmd heading: 330.045998 deg. 2025-10-27T05:36:09.418Z,1761543369.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760389 target range: 54.005367 and range: 54.30 m. 2025-10-27T05:36:09.424Z,1761543369.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245683 2025-10-27T05:36:09.676Z,1761543369.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497363 2025-10-27T05:36:09.789Z,1761543369.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882536,0.463705,0.078155],[-0.470224,0.871819,0.137193],[-0.004520,-0.157828,0.987456]] 2025-10-27T05:36:09.845Z,1761543369.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.01 m. 2025-10-27T05:36:09.849Z,1761543369.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.005367 m, nav range: 51.349983 m, bearing: 336.230395 deg, approach rate: -0.490177 m/s, LOS rate: -0.107941 deg/s, cmd heading: 330.045997 deg, new cmd heading: 329.906584 deg. 2025-10-27T05:36:09.850Z,1761543369.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757956 target range: 54.005367 and range: 54.30 m. 2025-10-27T05:36:09.928Z,1761543369.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749819 2025-10-27T05:36:10.180Z,1761543370.180 [DAT](INFO): DAT read: Rx Time:05:36:08.7468 2025-10-27T05:36:10.180Z,1761543370.180 [DAT](INFO): Rx dataTimestamp_ set to:1761543370.180113 2025-10-27T05:36:10.181Z,1761543370.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002425 2025-10-27T05:36:10.213Z,1761543370.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882855,0.462710,0.080422],[-0.469616,0.871695,0.140030],[-0.005310,-0.161393,0.986876]] 2025-10-27T05:36:10.231Z,1761543370.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.01 m. 2025-10-27T05:36:10.234Z,1761543370.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.005367 m, nav range: 51.160770 m, bearing: 336.188477 deg, approach rate: -0.490364 m/s, LOS rate: -0.109036 deg/s, cmd heading: 329.906579 deg, new cmd heading: 329.780361 deg. 2025-10-27T05:36:10.235Z,1761543370.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755753 target range: 54.005367 and range: 54.30 m. 2025-10-27T05:36:10.432Z,1761543370.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253377 2025-10-27T05:36:10.628Z,1761543370.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883134,0.461921,0.081869],[-0.469078,0.871840,0.140928],[-0.006279,-0.162861,0.986629]] 2025-10-27T05:36:10.690Z,1761543370.690 [DAT](INFO): DAT read: 05:36:08.7468 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.22, 1.334,-0.402, 1.440, 1.217, PHS= 0.219,-1.574, 0.179, RAW= 148.9, 13.2, CAL= 148.8, 14.6, ROT= 1.2, -14.6 2025-10-27T05:36:10.691Z,1761543370.691 [DAT](INFO): got valid direction response: 05:36:08.7468 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409, 0.22, 1.334,-0.402, 1.440, 1.217, PHS= 0.219,-1.574, 0.179, RAW= 148.9, 13.2, CAL= 148.8, 14.6, ROT= 1.2, -14.6 2025-10-27T05:36:10.692Z,1761543370.692 [DAT](INFO): DAT read: Bearing 147.8, -1.0 (Local) 2025-10-27T05:36:10.692Z,1761543370.692 [DAT](INFO): Local bearing/azimuth received: Bearing 147.8, -1.0 (Local) 2025-10-27T05:36:10.694Z,1761543370.694 [DAT](INFO): DAT read: Range 11 to 50 : 52.5 m (Round-trip 70.0 ms) speed 0.4 m/s 2025-10-27T05:36:10.694Z,1761543370.694 [DAT](INFO): DAT read: user:477> 2025-10-27T05:36:10.695Z,1761543370.695 [DAT](INFO): DAT read: Tx time:05:36:09.8727 2025-10-27T05:36:10.695Z,1761543370.695 [DAT](INFO): Ping request sent. 2025-10-27T05:36:10.696Z,1761543370.696 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:10.696Z,1761543370.696 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:10.697Z,1761543370.697 [DAT](INFO): direction in FSK: [0.967497,0.020266,0.252069] 2025-10-27T05:36:10.697Z,1761543370.697 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:10.697Z,1761543370.697 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:10.702Z,1761543370.702 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:10.703Z,1761543370.703 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:10.742Z,1761543370.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 3.527219 s, deltaX: -1.799999 m, approachRate: -0.510317 m/s, rangeRepo size: 4 2025-10-27T05:36:10.752Z,1761543370.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.215378 m, bearing: 335.629823 deg, lat: 36.779379 deg, lon: -121.859695 deg, deltaT: 3.527219 s, deltaX: -1.789989 m, approachRate: -0.507479 m/s, posRepo size: 4 2025-10-27T05:36:10.753Z,1761543370.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:10.756Z,1761543370.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 50.592098 m, bearing: 335.896002 deg, approach rate: 0.000000 m/s, LOS rate: -0.109036 deg/s, cmd heading: 329.780357 deg, new cmd heading: 329.613331 deg. 2025-10-27T05:36:10.757Z,1761543370.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752838 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:11.074Z,1761543371.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883279,0.461055,0.085123],[-0.468790,0.871329,0.144992],[-0.007321,-0.167973,0.985764]] 2025-10-27T05:36:11.089Z,1761543371.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:11.092Z,1761543371.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:11.094Z,1761543371.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 50.382992 m, bearing: 335.851005 deg, approach rate: -0.597056 m/s, LOS rate: -0.129010 deg/s, cmd heading: 329.613318 deg, new cmd heading: 329.477769 deg. 2025-10-27T05:36:11.096Z,1761543371.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750472 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:11.190Z,1761543371.190 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:11.191Z,1761543371.191 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:11.192Z,1761543371.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:11.444Z,1761543371.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748632 2025-10-27T05:36:11.473Z,1761543371.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883012,0.460938,0.088459],[-0.469282,0.870263,0.149724],[-0.007969,-0.173720,0.984763]] 2025-10-27T05:36:11.523Z,1761543371.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:11.526Z,1761543371.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 50.169342 m, bearing: 335.804913 deg, approach rate: -0.500287 m/s, LOS rate: -0.108390 deg/s, cmd heading: 329.477780 deg, new cmd heading: 329.338915 deg. 2025-10-27T05:36:11.527Z,1761543371.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748048 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:11.696Z,1761543371.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000468 2025-10-27T05:36:11.878Z,1761543371.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882837,0.460549,0.092163],[-0.469596,0.869242,0.154590],[-0.008916,-0.179757,0.983671]] 2025-10-27T05:36:11.928Z,1761543371.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:11.930Z,1761543371.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 49.948402 m, bearing: 335.765754 deg, approach rate: -0.541492 m/s, LOS rate: -0.096398 deg/s, cmd heading: 329.338908 deg, new cmd heading: 329.220911 deg. 2025-10-27T05:36:11.932Z,1761543371.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745989 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:11.950Z,1761543371.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253999 2025-10-27T05:36:12.200Z,1761543372.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504911 2025-10-27T05:36:12.323Z,1761543372.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:12.326Z,1761543372.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 49.742306 m, bearing: 335.728908 deg, approach rate: -0.520800 m/s, LOS rate: -0.093496 deg/s, cmd heading: 329.220910 deg, new cmd heading: 329.109912 deg. 2025-10-27T05:36:12.326Z,1761543372.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744051 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:12.452Z,1761543372.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756438 2025-10-27T05:36:12.687Z,1761543372.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882213,0.460198,0.099587],[-0.470727,0.866867,0.164187],[-0.010770,-0.191726,0.981389]] 2025-10-27T05:36:12.705Z,1761543372.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009064 2025-10-27T05:36:12.760Z,1761543372.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:12.767Z,1761543372.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 49.518929 m, bearing: 335.691204 deg, approach rate: -0.516317 m/s, LOS rate: -0.087540 deg/s, cmd heading: 329.109906 deg, new cmd heading: 328.996286 deg. 2025-10-27T05:36:12.768Z,1761543372.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742068 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:12.956Z,1761543372.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260248 2025-10-27T05:36:13.090Z,1761543373.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881688,0.460614,0.102282],[-0.471706,0.865540,0.168326],[-0.010996,-0.196658,0.980411]] 2025-10-27T05:36:13.114Z,1761543373.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:13.116Z,1761543373.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:13.119Z,1761543373.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 49.316990 m, bearing: 335.657183 deg, approach rate: -0.559626 m/s, LOS rate: -0.094667 deg/s, cmd heading: 328.996279 deg, new cmd heading: 328.893798 deg. 2025-10-27T05:36:13.120Z,1761543373.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740280 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:13.208Z,1761543373.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512543 2025-10-27T05:36:13.460Z,1761543373.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764450 2025-10-27T05:36:13.559Z,1761543373.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880760,0.462199,0.103121],[-0.473439,0.864380,0.169416],[-0.010831,-0.198037,0.980135]] 2025-10-27T05:36:13.648Z,1761543373.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:13.658Z,1761543373.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 49.059891 m, bearing: 335.614098 deg, approach rate: -0.489103 m/s, LOS rate: -0.082395 deg/s, cmd heading: 328.893799 deg, new cmd heading: 328.763865 deg. 2025-10-27T05:36:13.664Z,1761543373.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738012 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:13.713Z,1761543373.713 [DAT](INFO): DAT read: Rx Time:05:36:12.3446 2025-10-27T05:36:13.714Z,1761543373.714 [DAT](INFO): Rx dataTimestamp_ set to:1761543373.713338 2025-10-27T05:36:13.715Z,1761543373.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019048 2025-10-27T05:36:13.964Z,1761543373.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268406 2025-10-27T05:36:14.050Z,1761543374.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879791,0.464007,0.103276],[-0.475238,0.863495,0.168891],[-0.010811,-0.197669,0.980209]] 2025-10-27T05:36:14.087Z,1761543374.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.22 m. 2025-10-27T05:36:14.090Z,1761543374.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.215378 m, nav range: 48.791622 m, bearing: 335.583390 deg, approach rate: -0.602350 m/s, LOS rate: -0.069329 deg/s, cmd heading: 328.763861 deg, new cmd heading: 328.671230 deg. 2025-10-27T05:36:14.091Z,1761543374.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736395 target range: 52.215378 and range: 52.50 m. 2025-10-27T05:36:14.224Z,1761543374.224 [DAT](INFO): DAT read: 05:36:12.3446 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.26,-1.032,-2.744,-0.876,-1.072, PHS= 0.142,-1.627, 0.152, RAW= 150.3, 14.9, CAL= 150.5, 16.6, ROT= 359.5, -16.6 2025-10-27T05:36:14.225Z,1761543374.225 [DAT](INFO): got valid direction response: 05:36:12.3446 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.26,-1.032,-2.744,-0.876,-1.072, PHS= 0.142,-1.627, 0.152, RAW= 150.3, 14.9, CAL= 150.5, 16.6, ROT= 359.5, -16.6 2025-10-27T05:36:14.226Z,1761543374.226 [DAT](INFO): DAT read: Bearing 149.6, -4.0 (Local) 2025-10-27T05:36:14.226Z,1761543374.226 [DAT](INFO): Local bearing/azimuth received: Bearing 149.6, -4.0 (Local) 2025-10-27T05:36:14.228Z,1761543374.228 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m (Round-trip 67.7 ms) speed 0.5 m/s 2025-10-27T05:36:14.229Z,1761543374.229 [DAT](INFO): DAT read: user:478> 2025-10-27T05:36:14.229Z,1761543374.229 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:14.230Z,1761543374.230 [DAT](INFO): direction in FSK: [0.958286,-0.008363,0.285688] 2025-10-27T05:36:14.230Z,1761543374.230 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:14.236Z,1761543374.236 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:14.237Z,1761543374.237 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:14.238Z,1761543374.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:14.468Z,1761543374.468 [DAT](INFO): DAT read: Tx time:05:36:13.4727 2025-10-27T05:36:14.468Z,1761543374.468 [DAT](INFO): Ping request sent. 2025-10-27T05:36:14.469Z,1761543374.469 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:14.469Z,1761543374.469 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:14.469Z,1761543374.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000774 2025-10-27T05:36:14.470Z,1761543374.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879216,0.465159,0.102986],[-0.476304,0.863040,0.168215],[-0.010634,-0.196950,0.980356]] 2025-10-27T05:36:14.493Z,1761543374.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 3.533646 s, deltaX: -1.799999 m, approachRate: -0.509389 m/s, rangeRepo size: 4 2025-10-27T05:36:14.495Z,1761543374.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.424316 m, bearing: 334.416897 deg, lat: 36.779379 deg, lon: -121.859695 deg, deltaT: 3.533646 s, deltaX: -1.791061 m, approachRate: -0.506859 m/s, posRepo size: 4 2025-10-27T05:36:14.496Z,1761543374.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:14.499Z,1761543374.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 48.584831 m, bearing: 335.523267 deg, approach rate: 0.000000 m/s, LOS rate: -0.069329 deg/s, cmd heading: 328.671244 deg, new cmd heading: 328.586910 deg. 2025-10-27T05:36:14.500Z,1761543374.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734923 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:14.725Z,1761543374.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256048 2025-10-27T05:36:14.866Z,1761543374.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878284,0.467257,0.101431],[-0.478032,0.862614,0.165476],[-0.010176,-0.193823,0.980984]] 2025-10-27T05:36:14.916Z,1761543374.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:14.919Z,1761543374.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 48.347095 m, bearing: 335.500319 deg, approach rate: -0.561423 m/s, LOS rate: -0.054459 deg/s, cmd heading: 328.586905 deg, new cmd heading: 328.517722 deg. 2025-10-27T05:36:14.920Z,1761543374.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733716 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:14.976Z,1761543374.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507560 2025-10-27T05:36:15.228Z,1761543375.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759442 2025-10-27T05:36:15.270Z,1761543375.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877248,0.469658,0.099278],[-0.479943,0.862209,0.162022],[-0.009504,-0.189781,0.981780]] 2025-10-27T05:36:15.287Z,1761543375.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:15.289Z,1761543375.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:15.292Z,1761543375.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 48.139587 m, bearing: 335.480591 deg, approach rate: -0.555930 m/s, LOS rate: -0.053080 deg/s, cmd heading: 328.517728 deg, new cmd heading: 328.458290 deg. 2025-10-27T05:36:15.293Z,1761543375.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732678 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:15.480Z,1761543375.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011414 2025-10-27T05:36:15.687Z,1761543375.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876738,0.470731,0.098704],[-0.480881,0.861818,0.161316],[-0.009128,-0.188897,0.981955]] 2025-10-27T05:36:15.733Z,1761543375.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264074 2025-10-27T05:36:15.751Z,1761543375.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:15.754Z,1761543375.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 47.885468 m, bearing: 335.453979 deg, approach rate: -0.550894 m/s, LOS rate: -0.057998 deg/s, cmd heading: 328.458278 deg, new cmd heading: 328.378018 deg. 2025-10-27T05:36:15.754Z,1761543375.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731277 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:15.986Z,1761543375.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516989 2025-10-27T05:36:16.077Z,1761543376.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876220,0.471789,0.098250],[-0.481835,0.861298,0.161247],[-0.008549,-0.188628,0.982011]] 2025-10-27T05:36:16.096Z,1761543376.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:16.099Z,1761543376.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 47.690598 m, bearing: 335.433633 deg, approach rate: -0.564209 m/s, LOS rate: -0.059150 deg/s, cmd heading: 328.378010 deg, new cmd heading: 328.316722 deg. 2025-10-27T05:36:16.100Z,1761543376.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730208 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:16.236Z,1761543376.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767334 2025-10-27T05:36:16.478Z,1761543376.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875775,0.472520,0.098708],[-0.482649,0.860658,0.162228],[-0.008297,-0.189717,0.981804]] 2025-10-27T05:36:16.488Z,1761543376.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019470 2025-10-27T05:36:16.498Z,1761543376.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:16.501Z,1761543376.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 47.466347 m, bearing: 335.410279 deg, approach rate: -0.557159 m/s, LOS rate: -0.058297 deg/s, cmd heading: 328.316730 deg, new cmd heading: 328.246338 deg. 2025-10-27T05:36:16.502Z,1761543376.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728980 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:16.742Z,1761543376.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273337 2025-10-27T05:36:16.883Z,1761543376.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875516,0.473069,0.098370],[-0.483121,0.860469,0.161827],[-0.008089,-0.189207,0.981904]] 2025-10-27T05:36:16.920Z,1761543376.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:16.923Z,1761543376.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 47.246071 m, bearing: 335.379620 deg, approach rate: -0.522311 m/s, LOS rate: -0.073037 deg/s, cmd heading: 328.246351 deg, new cmd heading: 328.153945 deg. 2025-10-27T05:36:16.924Z,1761543376.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727367 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:16.992Z,1761543376.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523671 2025-10-27T05:36:17.245Z,1761543377.245 [DAT](INFO): DAT read: Rx Time:05:36:15.9418 2025-10-27T05:36:17.245Z,1761543377.245 [DAT](INFO): Rx dataTimestamp_ set to:1761543377.244693 2025-10-27T05:36:17.246Z,1761543377.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776994 2025-10-27T05:36:17.287Z,1761543377.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875578,0.472978,0.098265],[-0.483008,0.860607,0.161427],[-0.008217,-0.188805,0.981980]] 2025-10-27T05:36:17.319Z,1761543377.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:17.321Z,1761543377.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:17.328Z,1761543377.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 47.045208 m, bearing: 335.351375 deg, approach rate: -0.500558 m/s, LOS rate: -0.070690 deg/s, cmd heading: 328.153952 deg, new cmd heading: 328.068854 deg. 2025-10-27T05:36:17.329Z,1761543377.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725882 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:17.496Z,1761543377.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027493 2025-10-27T05:36:17.722Z,1761543377.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875537,0.473110,0.097987],[-0.483076,0.860765,0.160380],[-0.008466,-0.187754,0.982180]] 2025-10-27T05:36:17.752Z,1761543377.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283545 2025-10-27T05:36:17.846Z,1761543377.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.42 m. 2025-10-27T05:36:17.853Z,1761543377.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.424316 m, nav range: 46.776882 m, bearing: 335.308805 deg, approach rate: -0.511667 m/s, LOS rate: -0.081641 deg/s, cmd heading: 328.068848 deg, new cmd heading: 327.940406 deg. 2025-10-27T05:36:17.854Z,1761543377.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723640 target range: 50.424316 and range: 50.70 m. 2025-10-27T05:36:18.011Z,1761543378.011 [DAT](INFO): DAT read: 05:36:15.9418 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.12,-0.143,-1.843,-0.015,-0.229, PHS= 0.188,-1.568, 0.170, RAW= 149.5, 13.8, CAL= 149.6, 15.2, ROT= 0.4, -15.2 2025-10-27T05:36:18.012Z,1761543378.012 [DAT](INFO): got valid direction response: 05:36:15.9418 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406,-0.12,-0.143,-1.843,-0.015,-0.229, PHS= 0.188,-1.568, 0.170, RAW= 149.5, 13.8, CAL= 149.6, 15.2, ROT= 0.4, -15.2 2025-10-27T05:36:18.013Z,1761543378.013 [DAT](INFO): DAT read: Bearing 148.4, -2.7 (Local) 2025-10-27T05:36:18.014Z,1761543378.014 [DAT](INFO): Local bearing/azimuth received: Bearing 148.4, -2.7 (Local) 2025-10-27T05:36:18.015Z,1761543378.015 [DAT](INFO): DAT read: Range 11 to 50 : 48.7 m (Round-trip 65.0 ms) speed 0.4 m/s 2025-10-27T05:36:18.016Z,1761543378.016 [DAT](INFO): DAT read: user:479> 2025-10-27T05:36:18.017Z,1761543378.017 [DAT](INFO): DAT read: Tx time:05:36:17.0727 2025-10-27T05:36:18.017Z,1761543378.017 [DAT](INFO): Ping request sent. 2025-10-27T05:36:18.017Z,1761543378.017 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:18.017Z,1761543378.017 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:18.018Z,1761543378.018 [DAT](INFO): direction in FSK: [0.964993,0.006737,0.262189] 2025-10-27T05:36:18.019Z,1761543378.019 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:18.019Z,1761543378.019 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:18.022Z,1761543378.022 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:18.022Z,1761543378.022 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:18.193Z,1761543378.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876095,0.472275,0.097025],[-0.482056,0.861749,0.158147],[-0.008922,-0.185323,0.982637]] 2025-10-27T05:36:18.229Z,1761543378.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.700001 m, deltaT: 3.787214 s, deltaX: -2.000000 m, approachRate: -0.528093 m/s, rangeRepo size: 4 2025-10-27T05:36:18.231Z,1761543378.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.435558 m, bearing: 334.445967 deg, lat: 36.779379 deg, lon: -121.859698 deg, deltaT: 3.787214 s, deltaX: -1.988758 m, approachRate: -0.525124 m/s, posRepo size: 4 2025-10-27T05:36:18.232Z,1761543378.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:18.234Z,1761543378.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 46.696838 m, bearing: 335.038406 deg, approach rate: 0.000000 m/s, LOS rate: -0.081641 deg/s, cmd heading: 327.940413 deg, new cmd heading: 327.846781 deg. 2025-10-27T05:36:18.244Z,1761543378.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722006 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:18.577Z,1761543378.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876333,0.471915,0.096623],[-0.481617,0.862204,0.157002],[-0.009217,-0.184121,0.982860]] 2025-10-27T05:36:18.595Z,1761543378.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:18.598Z,1761543378.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 46.503223 m, bearing: 335.005731 deg, approach rate: -0.527502 m/s, LOS rate: -0.089393 deg/s, cmd heading: 327.846785 deg, new cmd heading: 327.748353 deg. 2025-10-27T05:36:18.599Z,1761543378.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720288 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:18.982Z,1761543378.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876371,0.471668,0.097483],[-0.481549,0.861943,0.158637],[-0.009201,-0.185968,0.982513]] 2025-10-27T05:36:19.046Z,1761543379.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:19.065Z,1761543379.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 46.270344 m, bearing: 334.971141 deg, approach rate: -0.516963 m/s, LOS rate: -0.077170 deg/s, cmd heading: 327.748349 deg, new cmd heading: 327.644058 deg. 2025-10-27T05:36:19.066Z,1761543379.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718468 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:19.385Z,1761543379.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875637,0.472687,0.099128],[-0.482890,0.860567,0.161993],[-0.008734,-0.189715,0.981800]] 2025-10-27T05:36:19.415Z,1761543379.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:19.419Z,1761543379.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:19.422Z,1761543379.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 46.074520 m, bearing: 334.942216 deg, approach rate: -0.525165 m/s, LOS rate: -0.077902 deg/s, cmd heading: 327.644065 deg, new cmd heading: 327.556921 deg. 2025-10-27T05:36:19.423Z,1761543379.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716947 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:19.516Z,1761543379.516 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:19.516Z,1761543379.516 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:19.517Z,1761543379.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:19.768Z,1761543379.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750792 2025-10-27T05:36:19.790Z,1761543379.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874716,0.474159,0.100227],[-0.484561,0.859311,0.163661],[-0.008525,-0.191723,0.981412]] 2025-10-27T05:36:19.846Z,1761543379.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:19.849Z,1761543379.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 45.861538 m, bearing: 334.907076 deg, approach rate: -0.498346 m/s, LOS rate: -0.082604 deg/s, cmd heading: 327.556912 deg, new cmd heading: 327.451003 deg. 2025-10-27T05:36:19.850Z,1761543379.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715098 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:20.020Z,1761543380.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002983 2025-10-27T05:36:20.230Z,1761543380.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:20.234Z,1761543380.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 45.671246 m, bearing: 334.875400 deg, approach rate: -0.494788 m/s, LOS rate: -0.082707 deg/s, cmd heading: 327.450989 deg, new cmd heading: 327.355564 deg. 2025-10-27T05:36:20.235Z,1761543380.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713432 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:20.272Z,1761543380.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255014 2025-10-27T05:36:20.524Z,1761543380.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506838 2025-10-27T05:36:20.602Z,1761543380.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871888,0.479347,0.100190],[-0.489651,0.856380,0.163872],[-0.007249,-0.191936,0.981381]] 2025-10-27T05:36:20.640Z,1761543380.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:20.662Z,1761543380.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 45.472321 m, bearing: 334.843494 deg, approach rate: -0.485558 m/s, LOS rate: -0.078220 deg/s, cmd heading: 327.355558 deg, new cmd heading: 327.259422 deg. 2025-10-27T05:36:20.667Z,1761543380.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711754 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:20.777Z,1761543380.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759559 2025-10-27T05:36:21.028Z,1761543381.028 [DAT](INFO): DAT read: Rx Time:05:36:19.5394 2025-10-27T05:36:21.028Z,1761543381.028 [DAT](INFO): Rx dataTimestamp_ set to:1761543381.028210 2025-10-27T05:36:21.029Z,1761543381.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011960 2025-10-27T05:36:21.047Z,1761543381.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870458,0.481826,0.100729],[-0.492195,0.854778,0.164617],[-0.006784,-0.192870,0.981201]] 2025-10-27T05:36:21.121Z,1761543381.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:21.134Z,1761543381.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 45.231880 m, bearing: 334.806778 deg, approach rate: -0.500986 m/s, LOS rate: -0.076908 deg/s, cmd heading: 327.259416 deg, new cmd heading: 327.148685 deg. 2025-10-27T05:36:21.136Z,1761543381.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709822 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:21.280Z,1761543381.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262739 2025-10-27T05:36:21.453Z,1761543381.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868824,0.484853,0.100315],[-0.495085,0.853202,0.164124],[-0.006013,-0.192259,0.981326]] 2025-10-27T05:36:21.470Z,1761543381.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:21.472Z,1761543381.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.44 m. 2025-10-27T05:36:21.475Z,1761543381.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.435558 m, nav range: 45.051613 m, bearing: 334.779756 deg, approach rate: -0.512462 m/s, LOS rate: -0.077125 deg/s, cmd heading: 327.148685 deg, new cmd heading: 327.067296 deg. 2025-10-27T05:36:21.476Z,1761543381.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708401 target range: 48.435558 and range: 48.70 m. 2025-10-27T05:36:21.541Z,1761543381.541 [DAT](INFO): DAT read: 05:36:19.5394 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.18, 1.839, 0.145, 1.956, 1.811, PHS= 0.130,-1.622, 0.100, RAW= 149.2, 15.8, CAL= 149.4, 17.6, ROT= 0.6, -17.6 2025-10-27T05:36:21.543Z,1761543381.543 [DAT](INFO): got valid direction response: 05:36:19.5394 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.18, 1.839, 0.145, 1.956, 1.811, PHS= 0.130,-1.622, 0.100, RAW= 149.2, 15.8, CAL= 149.4, 17.6, ROT= 0.6, -17.6 2025-10-27T05:36:21.545Z,1761543381.545 [DAT](INFO): DAT read: Bearing 150.4, -3.1 (Local) 2025-10-27T05:36:21.545Z,1761543381.545 [DAT](INFO): Local bearing/azimuth received: Bearing 150.4, -3.1 (Local) 2025-10-27T05:36:21.547Z,1761543381.547 [DAT](INFO): DAT read: Range 11 to 50 : 46.8 m (Round-trip 62.5 ms) speed 0.4 m/s 2025-10-27T05:36:21.548Z,1761543381.548 [DAT](INFO): DAT read: user:480> 2025-10-27T05:36:21.550Z,1761543381.550 [DAT](INFO): DAT read: Tx time:05:36:20.6227 2025-10-27T05:36:21.550Z,1761543381.550 [DAT](INFO): Ping request sent. 2025-10-27T05:36:21.550Z,1761543381.550 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:21.551Z,1761543381.551 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:21.553Z,1761543381.553 [DAT](INFO): direction in FSK: [0.953138,0.009982,0.302370] 2025-10-27T05:36:21.553Z,1761543381.553 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:21.553Z,1761543381.553 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:21.556Z,1761543381.556 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:21.557Z,1761543381.557 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:21.853Z,1761543381.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867027,0.488064,0.100294],[-0.498235,0.851331,0.164312],[-0.005189,-0.192433,0.981296]] 2025-10-27T05:36:21.908Z,1761543381.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.527988 s, deltaX: -1.900002 m, approachRate: -0.538551 m/s, rangeRepo size: 4 2025-10-27T05:36:21.910Z,1761543381.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.546284 m, bearing: 334.189465 deg, lat: 36.779379 deg, lon: -121.859701 deg, deltaT: 3.527988 s, deltaX: -1.889275 m, approachRate: -0.535510 m/s, posRepo size: 4 2025-10-27T05:36:21.911Z,1761543381.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-27T05:36:21.913Z,1761543381.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.546284 m, nav range: 44.929237 m, bearing: 334.424390 deg, approach rate: 0.000000 m/s, LOS rate: -0.077125 deg/s, cmd heading: 327.067297 deg, new cmd heading: 326.966624 deg. 2025-10-27T05:36:21.914Z,1761543381.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706644 target range: 46.546284 and range: 46.80 m. 2025-10-27T05:36:22.285Z,1761543382.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865482,0.490702,0.100757],[-0.500917,0.849672,0.164742],[-0.004771,-0.193052,0.981177]] 2025-10-27T05:36:22.304Z,1761543382.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-27T05:36:22.307Z,1761543382.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.546284 m, nav range: 44.727787 m, bearing: 334.397686 deg, approach rate: -0.507496 m/s, LOS rate: -0.067577 deg/s, cmd heading: 326.966620 deg, new cmd heading: 326.886146 deg. 2025-10-27T05:36:22.308Z,1761543382.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705239 target range: 46.546284 and range: 46.80 m. 2025-10-27T05:36:22.684Z,1761543382.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863985,0.492779,0.103433],[-0.503496,0.847419,0.168444],[-0.004645,-0.197611,0.980269]] 2025-10-27T05:36:22.769Z,1761543382.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-27T05:36:22.776Z,1761543382.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.546284 m, nav range: 44.525375 m, bearing: 334.371489 deg, approach rate: -0.441686 m/s, LOS rate: -0.057425 deg/s, cmd heading: 326.886133 deg, new cmd heading: 326.807185 deg. 2025-10-27T05:36:22.777Z,1761543382.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.703861 target range: 46.546284 and range: 46.80 m. 2025-10-27T05:36:23.133Z,1761543383.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862264,0.495374,0.105381],[-0.506442,0.845034,0.171562],[-0.004063,-0.201301,0.979521]] 2025-10-27T05:36:23.215Z,1761543383.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-27T05:36:23.223Z,1761543383.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.546284 m, nav range: 44.273254 m, bearing: 334.347645 deg, approach rate: -0.557444 m/s, LOS rate: -0.053018 deg/s, cmd heading: 326.807176 deg, new cmd heading: 326.735238 deg. 2025-10-27T05:36:23.224Z,1761543383.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702606 target range: 46.546284 and range: 46.80 m. 2025-10-27T05:36:23.522Z,1761543383.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860683,0.497859,0.106587],[-0.509127,0.843135,0.172952],[-0.003761,-0.203123,0.979146]] 2025-10-27T05:36:23.538Z,1761543383.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:23.541Z,1761543383.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-27T05:36:23.544Z,1761543383.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.546284 m, nav range: 44.097988 m, bearing: 334.331650 deg, approach rate: -0.537534 m/s, LOS rate: -0.049254 deg/s, cmd heading: 326.735240 deg, new cmd heading: 326.687062 deg. 2025-10-27T05:36:23.544Z,1761543383.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701765 target range: 46.546284 and range: 46.80 m. 2025-10-27T05:36:23.548Z,1761543383.548 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:23.548Z,1761543383.548 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:23.548Z,1761543383.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:23.800Z,1761543383.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250373 2025-10-27T05:36:23.922Z,1761543383.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859398,0.500049,0.106709],[-0.511296,0.841851,0.172809],[-0.003420,-0.203071,0.979158]] 2025-10-27T05:36:23.979Z,1761543383.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-27T05:36:23.982Z,1761543383.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.546284 m, nav range: 43.884659 m, bearing: 334.315728 deg, approach rate: -0.509828 m/s, LOS rate: -0.038236 deg/s, cmd heading: 326.687074 deg, new cmd heading: 326.639076 deg. 2025-10-27T05:36:23.987Z,1761543383.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700927 target range: 46.546284 and range: 46.80 m. 2025-10-27T05:36:24.053Z,1761543384.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502850 2025-10-27T05:36:24.304Z,1761543384.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753945 2025-10-27T05:36:24.334Z,1761543384.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858405,0.501723,0.106835],[-0.512961,0.840940,0.172310],[-0.003390,-0.202714,0.979232]] 2025-10-27T05:36:24.352Z,1761543384.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-27T05:36:24.356Z,1761543384.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.546284 m, nav range: 43.684101 m, bearing: 334.301124 deg, approach rate: -0.509669 m/s, LOS rate: -0.037283 deg/s, cmd heading: 326.639071 deg, new cmd heading: 326.595057 deg. 2025-10-27T05:36:24.356Z,1761543384.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700159 target range: 46.546284 and range: 46.80 m. 2025-10-27T05:36:24.557Z,1761543384.557 [DAT](INFO): DAT read: Rx Time:05:36:23.0872 2025-10-27T05:36:24.557Z,1761543384.557 [DAT](INFO): Rx dataTimestamp_ set to:1761543384.556708 2025-10-27T05:36:24.558Z,1761543384.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007592 2025-10-27T05:36:24.752Z,1761543384.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857695,0.503160,0.105775],[-0.514148,0.840604,0.170399],[-0.003177,-0.200534,0.979682]] 2025-10-27T05:36:24.808Z,1761543384.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257989 2025-10-27T05:36:24.836Z,1761543384.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-27T05:36:24.839Z,1761543384.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.546284 m, nav range: 43.441525 m, bearing: 334.284423 deg, approach rate: -0.501281 m/s, LOS rate: -0.034705 deg/s, cmd heading: 326.595057 deg, new cmd heading: 326.544675 deg. 2025-10-27T05:36:24.840Z,1761543384.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699280 target range: 46.546284 and range: 46.80 m. 2025-10-27T05:36:25.066Z,1761543385.066 [DAT](INFO): DAT read: 05:36:23.0872 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.00, 0.733,-1.048, 0.779, 0.611, PHS= 0.224,-1.614, 0.124, RAW= 147.2, 14.0, CAL= 147.1, 15.4, ROT= 2.9, -15.4 2025-10-27T05:36:25.068Z,1761543385.068 [DAT](INFO): got valid direction response: 05:36:23.0872 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422,-0.00, 0.733,-1.048, 0.779, 0.611, PHS= 0.224,-1.614, 0.124, RAW= 147.2, 14.0, CAL= 147.1, 15.4, ROT= 2.9, -15.4 2025-10-27T05:36:25.069Z,1761543385.069 [DAT](INFO): DAT read: Bearing 147.4, -0.6 (Local) 2025-10-27T05:36:25.069Z,1761543385.069 [DAT](INFO): Local bearing/azimuth received: Bearing 147.4, -0.6 (Local) 2025-10-27T05:36:25.074Z,1761543385.074 [DAT](INFO): DAT read: Range 11 to 50 : 45.2 m (Round-trip 60.3 ms) speed 0.4 m/s 2025-10-27T05:36:25.075Z,1761543385.075 [DAT](INFO): DAT read: user:481> 2025-10-27T05:36:25.076Z,1761543385.076 [DAT](INFO): DAT read: Tx time:05:36:24.1727 2025-10-27T05:36:25.076Z,1761543385.076 [DAT](INFO): Ping request sent. 2025-10-27T05:36:25.076Z,1761543385.076 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:25.077Z,1761543385.077 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:25.078Z,1761543385.078 [DAT](INFO): direction in FSK: [0.962861,0.048776,0.265556] 2025-10-27T05:36:25.078Z,1761543385.078 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:25.078Z,1761543385.078 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:25.152Z,1761543385.152 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:25.153Z,1761543385.153 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:25.182Z,1761543385.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857343,0.504020,0.104532],[-0.514736,0.840721,0.168032],[-0.003191,-0.197868,0.980224]] 2025-10-27T05:36:25.241Z,1761543385.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.200001 m, deltaT: 3.527155 s, deltaX: -1.599998 m, approachRate: -0.453623 m/s, rangeRepo size: 4 2025-10-27T05:36:25.248Z,1761543385.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.954948 m, bearing: 334.965525 deg, lat: 36.779379 deg, lon: -121.859701 deg, deltaT: 3.527155 s, deltaX: -1.591335 m, approachRate: -0.451167 m/s, posRepo size: 4 2025-10-27T05:36:25.248Z,1761543385.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:25.255Z,1761543385.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 43.246796 m, bearing: 334.271026 deg, approach rate: 0.000000 m/s, LOS rate: -0.034705 deg/s, cmd heading: 326.544678 deg, new cmd heading: 326.502571 deg. 2025-10-27T05:36:25.256Z,1761543385.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698545 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:25.576Z,1761543385.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857150,0.504540,0.103603],[-0.515057,0.840898,0.166154],[-0.003288,-0.195780,0.980642]] 2025-10-27T05:36:25.596Z,1761543385.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:25.598Z,1761543385.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:25.601Z,1761543385.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 43.061443 m, bearing: 334.258231 deg, approach rate: -0.518483 m/s, LOS rate: -0.035946 deg/s, cmd heading: 326.502577 deg, new cmd heading: 326.464026 deg. 2025-10-27T05:36:25.602Z,1761543385.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697872 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:25.818Z,1761543385.818 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:25.818Z,1761543385.818 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:25.819Z,1761543385.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:25.975Z,1761543385.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856953,0.505067,0.102656],[-0.515385,0.840969,0.164772],[-0.003109,-0.194109,0.980975]] 2025-10-27T05:36:26.016Z,1761543386.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:26.018Z,1761543386.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 42.848457 m, bearing: 334.242822 deg, approach rate: -0.510355 m/s, LOS rate: -0.037105 deg/s, cmd heading: 326.464027 deg, new cmd heading: 326.417572 deg. 2025-10-27T05:36:26.036Z,1761543386.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697062 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:26.068Z,1761543386.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991765 2025-10-27T05:36:26.320Z,1761543386.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243499 2025-10-27T05:36:26.378Z,1761543386.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856924,0.505240,0.102047],[-0.515433,0.841138,0.163755],[-0.003100,-0.192924,0.981209]] 2025-10-27T05:36:26.416Z,1761543386.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:26.418Z,1761543386.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 42.655922 m, bearing: 334.228764 deg, approach rate: -0.481523 m/s, LOS rate: -0.035317 deg/s, cmd heading: 326.417582 deg, new cmd heading: 326.375217 deg. 2025-10-27T05:36:26.420Z,1761543386.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696322 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:26.572Z,1761543386.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495396 2025-10-27T05:36:26.827Z,1761543386.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749925 2025-10-27T05:36:26.833Z,1761543386.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857092,0.505013,0.101761],[-0.515152,0.841464,0.162960],[-0.003331,-0.192094,0.981371]] 2025-10-27T05:36:26.888Z,1761543386.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:26.890Z,1761543386.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 42.404934 m, bearing: 334.200311 deg, approach rate: -0.531556 m/s, LOS rate: -0.060618 deg/s, cmd heading: 326.375207 deg, new cmd heading: 326.289341 deg. 2025-10-27T05:36:26.892Z,1761543386.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694823 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:27.076Z,1761543387.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999436 2025-10-27T05:36:27.231Z,1761543387.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857119,0.505365,0.099767],[-0.515108,0.842116,0.159702],[-0.003307,-0.188274,0.982111]] 2025-10-27T05:36:27.249Z,1761543387.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:27.268Z,1761543387.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 42.220337 m, bearing: 334.179112 deg, approach rate: -0.511152 m/s, LOS rate: -0.058956 deg/s, cmd heading: 326.289338 deg, new cmd heading: 326.225464 deg. 2025-10-27T05:36:27.269Z,1761543387.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693708 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:27.329Z,1761543387.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251981 2025-10-27T05:36:27.580Z,1761543387.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503492 2025-10-27T05:36:27.646Z,1761543387.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856940,0.506128,0.097408],[-0.515407,0.842589,0.156201],[-0.003017,-0.184059,0.982911]] 2025-10-27T05:36:27.665Z,1761543387.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:27.667Z,1761543387.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:27.670Z,1761543387.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 42.006939 m, bearing: 334.154422 deg, approach rate: -0.510363 m/s, LOS rate: -0.059348 deg/s, cmd heading: 326.225462 deg, new cmd heading: 326.151017 deg. 2025-10-27T05:36:27.671Z,1761543387.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692409 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:27.835Z,1761543387.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758050 2025-10-27T05:36:28.043Z,1761543388.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856768,0.506675,0.096068],[-0.515695,0.842736,0.154453],[-0.002703,-0.181872,0.983319]] 2025-10-27T05:36:28.080Z,1761543388.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:28.082Z,1761543388.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 41.791824 m, bearing: 334.135247 deg, approach rate: -0.521312 m/s, LOS rate: -0.046709 deg/s, cmd heading: 326.151013 deg, new cmd heading: 326.093192 deg. 2025-10-27T05:36:28.084Z,1761543388.084 [DAT](INFO): DAT read: Rx Time:05:36:26.6346 2025-10-27T05:36:28.085Z,1761543388.085 [DAT](INFO): Rx dataTimestamp_ set to:1761543388.084526 2025-10-27T05:36:28.085Z,1761543388.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008923 2025-10-27T05:36:28.086Z,1761543388.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691400 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:28.336Z,1761543388.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259964 2025-10-27T05:36:28.533Z,1761543388.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.95 m. 2025-10-27T05:36:28.537Z,1761543388.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.954948 m, nav range: 41.568584 m, bearing: 334.115137 deg, approach rate: -0.492199 m/s, LOS rate: -0.044576 deg/s, cmd heading: 326.093202 deg, new cmd heading: 326.032549 deg. 2025-10-27T05:36:28.538Z,1761543388.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.690341 target range: 44.954948 and range: 45.20 m. 2025-10-27T05:36:28.601Z,1761543388.601 [DAT](INFO): DAT read: 05:36:26.6346 LVL= 31584, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.36, 2.883, 1.099, 2.943, 2.737, PHS= 0.248,-1.594, 0.162, RAW= 147.6, 13.1, CAL= 147.5, 14.4, ROT= 2.5, -14.4 2025-10-27T05:36:28.602Z,1761543388.602 [DAT](INFO): got valid direction response: 05:36:26.6346 LVL= 31584, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.36, 2.883, 1.099, 2.943, 2.737, PHS= 0.248,-1.594, 0.162, RAW= 147.6, 13.1, CAL= 147.5, 14.4, ROT= 2.5, -14.4 2025-10-27T05:36:28.629Z,1761543388.629 [DAT](INFO): DAT read: Bearing 146.0, -0.2 (Local) 2025-10-27T05:36:28.630Z,1761543388.630 [DAT](INFO): Local bearing/azimuth received: Bearing 146.0, -0.2 (Local) 2025-10-27T05:36:28.633Z,1761543388.633 [DAT](INFO): DAT read: Range 11 to 50 : 43.4 m (Round-trip 57.9 ms) speed 0.4 m/s 2025-10-27T05:36:28.634Z,1761543388.634 [DAT](INFO): DAT read: user:482> 2025-10-27T05:36:28.640Z,1761543388.640 [DAT](INFO): DAT read: Tx time:05:36:27.7226 2025-10-27T05:36:28.642Z,1761543388.642 [DAT](INFO): Ping request sent. 2025-10-27T05:36:28.642Z,1761543388.642 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:28.642Z,1761543388.642 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:28.652Z,1761543388.652 [DAT](INFO): direction in FSK: [0.967661,0.042249,0.248690] 2025-10-27T05:36:28.652Z,1761543388.652 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:28.652Z,1761543388.652 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:28.657Z,1761543388.657 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:28.657Z,1761543388.657 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:28.882Z,1761543388.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855074,0.509500,0.096215],[-0.518505,0.840522,0.157084],[-0.000837,-0.184206,0.982887]] 2025-10-27T05:36:28.973Z,1761543388.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.400002 m, deltaT: 3.528441 s, deltaX: -1.799999 m, approachRate: -0.510140 m/s, rangeRepo size: 4 2025-10-27T05:36:28.975Z,1761543388.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.165455 m, bearing: 333.924192 deg, lat: 36.779379 deg, lon: -121.859704 deg, deltaT: 3.528441 s, deltaX: -1.789494 m, approachRate: -0.507163 m/s, posRepo size: 4 2025-10-27T05:36:28.979Z,1761543388.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.17 m. 2025-10-27T05:36:28.982Z,1761543388.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.165455 m, nav range: 41.477863 m, bearing: 333.774799 deg, approach rate: 0.000000 m/s, LOS rate: -0.044576 deg/s, cmd heading: 326.032550 deg, new cmd heading: 325.973870 deg. 2025-10-27T05:36:28.987Z,1761543388.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689317 target range: 43.165455 and range: 43.40 m. 2025-10-27T05:36:29.319Z,1761543389.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853904,0.511188,0.097645],[-0.520430,0.838548,0.161213],[0.000530,-0.188478,0.982077]] 2025-10-27T05:36:29.337Z,1761543389.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.17 m. 2025-10-27T05:36:29.353Z,1761543389.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.165455 m, nav range: 41.272522 m, bearing: 333.747887 deg, approach rate: -0.561829 m/s, LOS rate: -0.073999 deg/s, cmd heading: 325.973865 deg, new cmd heading: 325.892729 deg. 2025-10-27T05:36:29.360Z,1761543389.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687901 target range: 43.165455 and range: 43.40 m. 2025-10-27T05:36:29.729Z,1761543389.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852473,0.513569,0.097656],[-0.522767,0.836701,0.163237],[0.002125,-0.190207,0.981742]] 2025-10-27T05:36:29.748Z,1761543389.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:29.750Z,1761543389.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.17 m. 2025-10-27T05:36:29.753Z,1761543389.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.165455 m, nav range: 41.056915 m, bearing: 333.720200 deg, approach rate: -0.522108 m/s, LOS rate: -0.067398 deg/s, cmd heading: 325.892723 deg, new cmd heading: 325.809225 deg. 2025-10-27T05:36:29.754Z,1761543389.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686444 target range: 43.165455 and range: 43.40 m. 2025-10-27T05:36:29.850Z,1761543389.850 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:29.851Z,1761543389.851 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:29.852Z,1761543389.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:30.100Z,1761543390.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457960 2025-10-27T05:36:30.223Z,1761543390.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849489,0.518827,0.095852],[-0.527583,0.833569,0.163766],[0.005067,-0.189687,0.981831]] 2025-10-27T05:36:30.275Z,1761543390.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.17 m. 2025-10-27T05:36:30.278Z,1761543390.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.165455 m, nav range: 40.793163 m, bearing: 333.691367 deg, approach rate: -0.518758 m/s, LOS rate: -0.057077 deg/s, cmd heading: 325.809231 deg, new cmd heading: 325.722171 deg. 2025-10-27T05:36:30.283Z,1761543390.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684924 target range: 43.165455 and range: 43.40 m. 2025-10-27T05:36:30.352Z,1761543390.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710199 2025-10-27T05:36:30.606Z,1761543390.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963755 2025-10-27T05:36:30.651Z,1761543390.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848215,0.520841,0.096210],[-0.529611,0.831780,0.166297],[0.006588,-0.192010,0.981371]] 2025-10-27T05:36:30.685Z,1761543390.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.17 m. 2025-10-27T05:36:30.692Z,1761543390.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.165455 m, nav range: 40.580364 m, bearing: 333.668603 deg, approach rate: -0.499338 m/s, LOS rate: -0.053696 deg/s, cmd heading: 325.722159 deg, new cmd heading: 325.653510 deg. 2025-10-27T05:36:30.693Z,1761543390.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683726 target range: 43.165455 and range: 43.40 m. 2025-10-27T05:36:30.859Z,1761543390.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216602 2025-10-27T05:36:31.089Z,1761543391.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847079,0.522324,0.098161],[-0.531406,0.829587,0.171445],[0.008116,-0.197391,0.980291]] 2025-10-27T05:36:31.109Z,1761543391.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467376 2025-10-27T05:36:31.165Z,1761543391.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.17 m. 2025-10-27T05:36:31.168Z,1761543391.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.165455 m, nav range: 40.325066 m, bearing: 333.642894 deg, approach rate: -0.531579 m/s, LOS rate: -0.053870 deg/s, cmd heading: 325.653502 deg, new cmd heading: 325.575887 deg. 2025-10-27T05:36:31.169Z,1761543391.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682371 target range: 43.165455 and range: 43.40 m. 2025-10-27T05:36:31.363Z,1761543391.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720830 2025-10-27T05:36:31.497Z,1761543391.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845839,0.523963,0.100095],[-0.533351,0.827306,0.176354],[0.009594,-0.202552,0.979224]] 2025-10-27T05:36:31.532Z,1761543391.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.17 m. 2025-10-27T05:36:31.535Z,1761543391.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.165455 m, nav range: 40.144615 m, bearing: 333.625215 deg, approach rate: -0.492361 m/s, LOS rate: -0.048454 deg/s, cmd heading: 325.575884 deg, new cmd heading: 325.522609 deg. 2025-10-27T05:36:31.540Z,1761543391.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681441 target range: 43.165455 and range: 43.40 m. 2025-10-27T05:36:31.613Z,1761543391.613 [DAT](INFO): DAT read: Rx Time:05:36:30.1821 2025-10-27T05:36:31.614Z,1761543391.614 [DAT](INFO): Rx dataTimestamp_ set to:1761543391.613242 2025-10-27T05:36:31.615Z,1761543391.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972822 2025-10-27T05:36:31.867Z,1761543391.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224381 2025-10-27T05:36:32.068Z,1761543392.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:32.070Z,1761543392.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.17 m. 2025-10-27T05:36:32.077Z,1761543392.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.165455 m, nav range: 39.878376 m, bearing: 333.602678 deg, approach rate: -0.494580 m/s, LOS rate: -0.042146 deg/s, cmd heading: 325.522608 deg, new cmd heading: 325.454546 deg. 2025-10-27T05:36:32.078Z,1761543392.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680254 target range: 43.165455 and range: 43.40 m. 2025-10-27T05:36:32.127Z,1761543392.127 [DAT](INFO): DAT read: 05:36:30.1821 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420,-0.48,-0.090,-1.852,-0.076,-0.221, PHS= 0.233,-1.586, 0.101, RAW= 146.2, 14.1, CAL= 146.0, 15.5, ROT= 4.0, -15.5 2025-10-27T05:36:32.129Z,1761543392.129 [DAT](INFO): got valid direction response: 05:36:30.1821 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420,-0.48,-0.090,-1.852,-0.076,-0.221, PHS= 0.233,-1.586, 0.101, RAW= 146.2, 14.1, CAL= 146.0, 15.5, ROT= 4.0, -15.5 2025-10-27T05:36:32.131Z,1761543392.131 [DAT](INFO): DAT read: Bearing 146.8, 1.2 (Local) 2025-10-27T05:36:32.131Z,1761543392.131 [DAT](INFO): Local bearing/azimuth received: Bearing 146.8, 1.2 (Local) 2025-10-27T05:36:32.133Z,1761543392.133 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.3 ms) speed 0.4 m/s 2025-10-27T05:36:32.134Z,1761543392.134 [DAT](INFO): DAT read: user:483> 2025-10-27T05:36:32.134Z,1761543392.134 [DAT](INFO): DAT read: Tx time:05:36:31.2726 2025-10-27T05:36:32.135Z,1761543392.135 [DAT](INFO): Ping request sent. 2025-10-27T05:36:32.135Z,1761543392.135 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:32.135Z,1761543392.135 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:32.136Z,1761543392.136 [DAT](INFO): direction in FSK: [0.961283,0.067219,0.267238] 2025-10-27T05:36:32.136Z,1761543392.136 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:32.137Z,1761543392.137 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:32.140Z,1761543392.140 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:32.140Z,1761543392.140 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:32.432Z,1761543392.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843192,0.528822,0.096818],[-0.537455,0.824813,0.175575],[0.012991,-0.200079,0.979694]] 2025-10-27T05:36:32.460Z,1761543392.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.528451 s, deltaX: -2.000000 m, approachRate: -0.566821 m/s, rangeRepo size: 4 2025-10-27T05:36:32.462Z,1761543392.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.176781 m, bearing: 334.587027 deg, lat: 36.779382 deg, lon: -121.859701 deg, deltaT: 3.528451 s, deltaX: -1.988674 m, approachRate: -0.563611 m/s, posRepo size: 4 2025-10-27T05:36:32.462Z,1761543392.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-27T05:36:32.481Z,1761543392.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.176781 m, nav range: 39.891293 m, bearing: 334.166860 deg, approach rate: 0.000000 m/s, LOS rate: -0.042146 deg/s, cmd heading: 325.454552 deg, new cmd heading: 325.405391 deg. 2025-10-27T05:36:32.482Z,1761543392.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679396 target range: 41.176781 and range: 41.40 m. 2025-10-27T05:36:32.834Z,1761543392.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842346,0.530151,0.096920],[-0.538743,0.823485,0.177845],[0.014473,-0.202022,0.979274]] 2025-10-27T05:36:32.924Z,1761543392.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-27T05:36:32.931Z,1761543392.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.176781 m, nav range: 39.676907 m, bearing: 334.153551 deg, approach rate: -0.460966 m/s, LOS rate: -0.028771 deg/s, cmd heading: 325.405402 deg, new cmd heading: 325.365260 deg. 2025-10-27T05:36:32.932Z,1761543392.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678695 target range: 41.176781 and range: 41.40 m. 2025-10-27T05:36:33.260Z,1761543393.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841453,0.531391,0.097877],[-0.540094,0.821817,0.181426],[0.015972,-0.205525,0.978522]] 2025-10-27T05:36:33.316Z,1761543393.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-27T05:36:33.323Z,1761543393.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.176781 m, nav range: 39.469170 m, bearing: 334.142916 deg, approach rate: -0.529609 m/s, LOS rate: -0.027255 deg/s, cmd heading: 325.365268 deg, new cmd heading: 325.333197 deg. 2025-10-27T05:36:33.324Z,1761543393.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678135 target range: 41.176781 and range: 41.40 m. 2025-10-27T05:36:33.667Z,1761543393.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840331,0.533231,0.097513],[-0.541783,0.820282,0.183326],[0.017767,-0.206885,0.978204]] 2025-10-27T05:36:33.685Z,1761543393.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-27T05:36:33.688Z,1761543393.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.176781 m, nav range: 39.284657 m, bearing: 334.133948 deg, approach rate: -0.499847 m/s, LOS rate: -0.024409 deg/s, cmd heading: 325.333194 deg, new cmd heading: 325.306162 deg. 2025-10-27T05:36:33.689Z,1761543393.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677664 target range: 41.176781 and range: 41.40 m. 2025-10-27T05:36:34.072Z,1761543394.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839686,0.534836,0.094226],[-0.542718,0.820142,0.181174],[0.019619,-0.203267,0.978927]] 2025-10-27T05:36:34.151Z,1761543394.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:34.153Z,1761543394.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-27T05:36:34.169Z,1761543394.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.176781 m, nav range: 39.070572 m, bearing: 334.126109 deg, approach rate: -0.457769 m/s, LOS rate: -0.016854 deg/s, cmd heading: 325.306173 deg, new cmd heading: 325.282526 deg. 2025-10-27T05:36:34.170Z,1761543394.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677251 target range: 41.176781 and range: 41.40 m. 2025-10-27T05:36:34.384Z,1761543394.384 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:34.384Z,1761543394.384 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:34.385Z,1761543394.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:34.479Z,1761543394.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839113,0.536302,0.090941],[-0.543533,0.820051,0.179134],[0.021494,-0.199743,0.979613]] 2025-10-27T05:36:34.497Z,1761543394.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-27T05:36:34.500Z,1761543394.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.176781 m, nav range: 38.905960 m, bearing: 334.120221 deg, approach rate: -0.477942 m/s, LOS rate: -0.017168 deg/s, cmd heading: 325.282514 deg, new cmd heading: 325.264774 deg. 2025-10-27T05:36:34.501Z,1761543394.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676941 target range: 41.176781 and range: 41.40 m. 2025-10-27T05:36:34.636Z,1761543394.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501230 2025-10-27T05:36:34.891Z,1761543394.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755597 2025-10-27T05:36:34.929Z,1761543394.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838670,0.537355,0.088783],[-0.544125,0.819581,0.179488],[0.023684,-0.198841,0.979746]] 2025-10-27T05:36:34.991Z,1761543394.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-27T05:36:34.994Z,1761543394.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.176781 m, nav range: 38.667183 m, bearing: 334.119711 deg, approach rate: -0.483772 m/s, LOS rate: -0.001039 deg/s, cmd heading: 325.264782 deg, new cmd heading: 325.263243 deg. 2025-10-27T05:36:34.995Z,1761543394.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676915 target range: 41.176781 and range: 41.40 m. 2025-10-27T05:36:35.140Z,1761543395.140 [DAT](INFO): DAT read: Rx Time:05:36:33.7296 2025-10-27T05:36:35.140Z,1761543395.140 [DAT](INFO): Rx dataTimestamp_ set to:1761543395.140194 2025-10-27T05:36:35.141Z,1761543395.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006245 2025-10-27T05:36:35.311Z,1761543395.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837982,0.538649,0.087423],[-0.545078,0.818589,0.181112],[0.025992,-0.199421,0.979569]] 2025-10-27T05:36:35.329Z,1761543395.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-27T05:36:35.352Z,1761543395.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.176781 m, nav range: 38.503036 m, bearing: 334.119655 deg, approach rate: -0.485187 m/s, LOS rate: -0.000166 deg/s, cmd heading: 325.263253 deg, new cmd heading: 325.263084 deg. 2025-10-27T05:36:35.353Z,1761543395.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676912 target range: 41.176781 and range: 41.40 m. 2025-10-27T05:36:35.392Z,1761543395.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257571 2025-10-27T05:36:35.652Z,1761543395.652 [DAT](INFO): DAT read: 05:36:33.7297 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411,-0.48, 2.955, 1.215, 2.946, 2.905, PHS= 0.152,-1.645,-0.003, RAW= 145.5, 17.1, CAL= 145.3, 18.7, ROT= 4.7, -18.7 2025-10-27T05:36:35.653Z,1761543395.653 [DAT](INFO): got valid direction response: 05:36:33.7297 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 411,-0.48, 2.955, 1.215, 2.946, 2.905, PHS= 0.152,-1.645,-0.003, RAW= 145.5, 17.1, CAL= 145.3, 18.7, ROT= 4.7, -18.7 2025-10-27T05:36:35.654Z,1761543395.654 [DAT](INFO): DAT read: Bearing 150.0, 2.1 (Local) 2025-10-27T05:36:35.655Z,1761543395.655 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, 2.1 (Local) 2025-10-27T05:36:35.656Z,1761543395.656 [DAT](INFO): DAT read: Range 11 to 50 : 39.6 m (Round-trip 52.9 ms) speed 0.4 m/s 2025-10-27T05:36:35.657Z,1761543395.657 [DAT](INFO): DAT read: user:484> 2025-10-27T05:36:35.658Z,1761543395.658 [DAT](INFO): DAT read: Tx time:05:36:34.8227 2025-10-27T05:36:35.658Z,1761543395.658 [DAT](INFO): Ping request sent. 2025-10-27T05:36:35.658Z,1761543395.658 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:35.658Z,1761543395.658 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:35.660Z,1761543395.660 [DAT](INFO): direction in FSK: [0.944025,0.077613,0.320613] 2025-10-27T05:36:35.660Z,1761543395.660 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:35.661Z,1761543395.661 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:35.693Z,1761543395.693 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:35.693Z,1761543395.693 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:35.771Z,1761543395.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837195,0.540114,0.085919],[-0.546170,0.817548,0.182521],[0.028339,-0.199732,0.979441]] 2025-10-27T05:36:35.837Z,1761543395.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 3.527409 s, deltaX: -1.800003 m, approachRate: -0.510290 m/s, rangeRepo size: 4 2025-10-27T05:36:35.840Z,1761543395.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.386467 m, bearing: 335.401089 deg, lat: 36.779382 deg, lon: -121.859697 deg, deltaT: 3.527409 s, deltaX: -1.790314 m, approachRate: -0.507544 m/s, posRepo size: 4 2025-10-27T05:36:35.840Z,1761543395.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:35.851Z,1761543395.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 38.124882 m, bearing: 334.558089 deg, approach rate: 0.000000 m/s, LOS rate: -0.000166 deg/s, cmd heading: 325.263089 deg, new cmd heading: 325.262835 deg. 2025-10-27T05:36:35.852Z,1761543395.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676908 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:36.154Z,1761543396.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836547,0.541389,0.084188],[-0.547058,0.816854,0.182965],[0.030286,-0.199115,0.979508]] 2025-10-27T05:36:36.199Z,1761543396.199 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:36:36.229Z,1761543396.229 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T05:36:36.229Z,1761543396.229 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:36:36.229Z,1761543396.229 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T05:36:36.235Z,1761543396.235 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.599998 m (mode 2.000000 count ). 2025-10-27T05:36:36.235Z,1761543396.235 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T05:36:36.235Z,1761543396.235 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T05:36:36.236Z,1761543396.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:36.238Z,1761543396.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:36.245Z,1761543396.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 37.931980 m, bearing: 334.561548 deg, approach rate: -0.480731 m/s, LOS rate: 0.008664 deg/s, cmd heading: 325.262843 deg, new cmd heading: 325.273273 deg. 2025-10-27T05:36:36.246Z,1761543396.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677090 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:36.400Z,1761543396.400 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:36.400Z,1761543396.400 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:36.400Z,1761543396.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:36:36.554Z,1761543396.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835678,0.542875,0.083242],[-0.548279,0.815746,0.184251],[0.032120,-0.199614,0.979348]] 2025-10-27T05:36:36.592Z,1761543396.592 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T05:36:36.592Z,1761543396.592 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T05:36:36.602Z,1761543396.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:36.615Z,1761543396.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 37.758335 m, bearing: 334.565097 deg, approach rate: -0.477662 m/s, LOS rate: 0.009806 deg/s, cmd heading: 325.273279 deg, new cmd heading: 325.283974 deg. 2025-10-27T05:36:36.617Z,1761543396.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677276 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:36.652Z,1761543396.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994123 2025-10-27T05:36:36.904Z,1761543396.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245719 2025-10-27T05:36:37.044Z,1761543397.044 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, - 8, +6.96, 8.64, 0.00 2025-10-27T05:36:37.058Z,1761543397.058 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T05:36:37.058Z,1761543397.058 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T05:36:37.076Z,1761543397.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:37.083Z,1761543397.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 37.524681 m, bearing: 334.569924 deg, approach rate: -0.492058 m/s, LOS rate: 0.010228 deg/s, cmd heading: 325.283962 deg, new cmd heading: 325.298532 deg. 2025-10-27T05:36:37.084Z,1761543397.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677530 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:37.157Z,1761543397.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498562 2025-10-27T05:36:37.203Z,1761543397.203 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:36:37.402Z,1761543397.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833866,0.545841,0.082000],[-0.550922,0.813916,0.184461],[0.033945,-0.198991,0.979413]] 2025-10-27T05:36:37.408Z,1761543397.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749954 2025-10-27T05:36:37.430Z,1761543397.430 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T05:36:37.430Z,1761543397.430 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:36:37.430Z,1761543397.430 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T05:36:37.430Z,1761543397.430 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:36:37.433Z,1761543397.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:37.452Z,1761543397.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 37.349361 m, bearing: 334.574439 deg, approach rate: -0.491540 m/s, LOS rate: 0.012718 deg/s, cmd heading: 325.298524 deg, new cmd heading: 325.312133 deg. 2025-10-27T05:36:37.453Z,1761543397.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677768 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:37.660Z,1761543397.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001784 2025-10-27T05:36:37.802Z,1761543397.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833554,0.546418,0.081331],[-0.551383,0.813803,0.183579],[0.034123,-0.197867,0.979635]] 2025-10-27T05:36:37.828Z,1761543397.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:37.831Z,1761543397.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 37.152695 m, bearing: 334.579703 deg, approach rate: -0.497724 m/s, LOS rate: 0.013394 deg/s, cmd heading: 325.312129 deg, new cmd heading: 325.328006 deg. 2025-10-27T05:36:37.832Z,1761543397.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678045 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:37.913Z,1761543397.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254640 2025-10-27T05:36:38.168Z,1761543398.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509214 2025-10-27T05:36:38.211Z,1761543398.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833216,0.547186,0.079622],[-0.551905,0.814132,0.180526],[0.033958,-0.194361,0.980342]] 2025-10-27T05:36:38.261Z,1761543398.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:38.263Z,1761543398.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:38.266Z,1761543398.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 36.938755 m, bearing: 334.585448 deg, approach rate: -0.492329 m/s, LOS rate: 0.013297 deg/s, cmd heading: 325.328003 deg, new cmd heading: 325.345337 deg. 2025-10-27T05:36:38.266Z,1761543398.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678347 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:38.416Z,1761543398.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757701 2025-10-27T05:36:38.628Z,1761543398.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833060,0.547616,0.078287],[-0.552137,0.814419,0.178509],[0.033996,-0.191934,0.980819]] 2025-10-27T05:36:38.646Z,1761543398.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:38.649Z,1761543398.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 36.749180 m, bearing: 334.590646 deg, approach rate: -0.494216 m/s, LOS rate: 0.013620 deg/s, cmd heading: 325.345324 deg, new cmd heading: 325.360998 deg. 2025-10-27T05:36:38.650Z,1761543398.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678621 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:38.669Z,1761543398.669 [DAT](INFO): DAT read: Rx Time:05:36:37.2775 2025-10-27T05:36:38.670Z,1761543398.670 [DAT](INFO): Rx dataTimestamp_ set to:1761543398.669355 2025-10-27T05:36:38.670Z,1761543398.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012084 2025-10-27T05:36:38.920Z,1761543398.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261786 2025-10-27T05:36:39.024Z,1761543399.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832946,0.547909,0.077442],[-0.552316,0.814630,0.176988],[0.033887,-0.190194,0.981162]] 2025-10-27T05:36:39.081Z,1761543399.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.39 m. 2025-10-27T05:36:39.089Z,1761543399.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.386467 m, nav range: 36.533401 m, bearing: 334.591344 deg, approach rate: -0.496600 m/s, LOS rate: 0.001616 deg/s, cmd heading: 325.361006 deg, new cmd heading: 325.363113 deg. 2025-10-27T05:36:39.096Z,1761543399.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678658 target range: 39.386467 and range: 39.60 m. 2025-10-27T05:36:39.180Z,1761543399.180 [DAT](INFO): DAT read: 05:36:37.2775 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420, 0.03, 0.926,-0.915, 0.872, 0.712, PHS= 0.316,-1.582, 0.116, RAW= 144.5, 12.7, CAL= 144.1, 13.8, ROT= 5.9, -13.8 2025-10-27T05:36:39.182Z,1761543399.182 [DAT](INFO): got valid direction response: 05:36:37.2775 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420, 0.03, 0.926,-0.915, 0.872, 0.712, PHS= 0.316,-1.582, 0.116, RAW= 144.5, 12.7, CAL= 144.1, 13.8, ROT= 5.9, -13.8 2025-10-27T05:36:39.182Z,1761543399.182 [DAT](INFO): DAT read: Bearing 145.3, 5.0 (Local) 2025-10-27T05:36:39.183Z,1761543399.183 [DAT](INFO): Local bearing/azimuth received: Bearing 145.3, 5.0 (Local) 2025-10-27T05:36:39.184Z,1761543399.184 [DAT](INFO): DAT read: Range 11 to 50 : 38.0 m (Round-trip 50.7 ms) speed 0.4 m/s 2025-10-27T05:36:39.185Z,1761543399.185 [DAT](INFO): DAT read: user:485> 2025-10-27T05:36:39.187Z,1761543399.187 [DAT](INFO): DAT read: Tx time:05:36:38.3726 2025-10-27T05:36:39.192Z,1761543399.192 [DAT](INFO): Ping request sent. 2025-10-27T05:36:39.192Z,1761543399.192 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:39.192Z,1761543399.192 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:39.194Z,1761543399.194 [DAT](INFO): direction in FSK: [0.965990,0.099825,0.238533] 2025-10-27T05:36:39.194Z,1761543399.194 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:39.195Z,1761543399.195 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:39.219Z,1761543399.219 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:39.228Z,1761543399.228 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:39.448Z,1761543399.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833030,0.547875,0.076772],[-0.552196,0.814964,0.175821],[0.033762,-0.188858,0.981424]] 2025-10-27T05:36:39.495Z,1761543399.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 3.530056 s, deltaX: -1.599998 m, approachRate: -0.453250 m/s, rangeRepo size: 4 2025-10-27T05:36:39.497Z,1761543399.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.795330 m, bearing: 334.954817 deg, lat: 36.779383 deg, lon: -121.859697 deg, deltaT: 3.530056 s, deltaX: -1.591137 m, approachRate: -0.450740 m/s, posRepo size: 4 2025-10-27T05:36:39.498Z,1761543399.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.80 m. 2025-10-27T05:36:39.505Z,1761543399.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.795330 m, nav range: 36.398937 m, bearing: 334.679656 deg, approach rate: 0.000000 m/s, LOS rate: 0.001616 deg/s, cmd heading: 325.363110 deg, new cmd heading: 325.365095 deg. 2025-10-27T05:36:39.506Z,1761543399.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678692 target range: 37.795330 and range: 38.00 m. 2025-10-27T05:36:39.850Z,1761543399.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833534,0.547088,0.076911],[-0.551454,0.815475,0.175782],[0.033449,-0.188933,0.981420]] 2025-10-27T05:36:39.869Z,1761543399.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.80 m. 2025-10-27T05:36:39.872Z,1761543399.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.795330 m, nav range: 36.190948 m, bearing: 334.680475 deg, approach rate: -0.548605 m/s, LOS rate: 0.002172 deg/s, cmd heading: 325.365104 deg, new cmd heading: 325.367575 deg. 2025-10-27T05:36:39.873Z,1761543399.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678735 target range: 37.795330 and range: 38.00 m. 2025-10-27T05:36:40.261Z,1761543400.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833705,0.546920,0.076250],[-0.551194,0.815834,0.174926],[0.033464,-0.187866,0.981625]] 2025-10-27T05:36:40.301Z,1761543400.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:40.319Z,1761543400.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.80 m. 2025-10-27T05:36:40.322Z,1761543400.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.795330 m, nav range: 35.964806 m, bearing: 334.683528 deg, approach rate: -0.521675 m/s, LOS rate: 0.007089 deg/s, cmd heading: 325.367563 deg, new cmd heading: 325.376782 deg. 2025-10-27T05:36:40.327Z,1761543400.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678896 target range: 37.795330 and range: 38.00 m. 2025-10-27T05:36:40.432Z,1761543400.432 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:36:40.433Z,1761543400.433 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:36:40.433Z,1761543400.433 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:36:40.659Z,1761543400.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833903,0.546785,0.075049],[-0.550879,0.816302,0.173733],[0.033732,-0.186220,0.981929]] 2025-10-27T05:36:40.678Z,1761543400.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.80 m. 2025-10-27T05:36:40.681Z,1761543400.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.795330 m, nav range: 35.768650 m, bearing: 334.686062 deg, approach rate: -0.522953 m/s, LOS rate: 0.006792 deg/s, cmd heading: 325.376770 deg, new cmd heading: 325.384413 deg. 2025-10-27T05:36:40.682Z,1761543400.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679029 target range: 37.795330 and range: 38.00 m. 2025-10-27T05:36:40.684Z,1761543400.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491844 2025-10-27T05:36:40.936Z,1761543400.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743776 2025-10-27T05:36:41.062Z,1761543401.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834242,0.546352,0.074432],[-0.550333,0.816616,0.173990],[0.034278,-0.186111,0.981930]] 2025-10-27T05:36:41.133Z,1761543401.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.80 m. 2025-10-27T05:36:41.140Z,1761543401.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.795330 m, nav range: 35.533325 m, bearing: 334.688501 deg, approach rate: -0.516996 m/s, LOS rate: 0.005393 deg/s, cmd heading: 325.384420 deg, new cmd heading: 325.391784 deg. 2025-10-27T05:36:41.144Z,1761543401.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679158 target range: 37.795330 and range: 38.00 m. 2025-10-27T05:36:41.189Z,1761543401.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996771 2025-10-27T05:36:41.440Z,1761543401.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247722 2025-10-27T05:36:41.466Z,1761543401.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834401,0.546064,0.074764],[-0.550025,0.816295,0.176451],[0.035324,-0.188353,0.981466]] 2025-10-27T05:36:41.504Z,1761543401.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.80 m. 2025-10-27T05:36:41.514Z,1761543401.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.795330 m, nav range: 35.341625 m, bearing: 334.690450 deg, approach rate: -0.515976 m/s, LOS rate: 0.005275 deg/s, cmd heading: 325.391797 deg, new cmd heading: 325.397676 deg. 2025-10-27T05:36:41.516Z,1761543401.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679261 target range: 37.795330 and range: 38.00 m. 2025-10-27T05:36:41.692Z,1761543401.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499699 2025-10-27T05:36:41.870Z,1761543401.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834337,0.546256,0.074075],[-0.550076,0.816216,0.176656],[0.036038,-0.188138,0.981481]] 2025-10-27T05:36:41.889Z,1761543401.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.80 m. 2025-10-27T05:36:41.915Z,1761543401.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.795330 m, nav range: 35.137154 m, bearing: 334.692575 deg, approach rate: -0.532183 m/s, LOS rate: 0.005563 deg/s, cmd heading: 325.397671 deg, new cmd heading: 325.404083 deg. 2025-10-27T05:36:41.916Z,1761543401.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679373 target range: 37.795330 and range: 38.00 m. 2025-10-27T05:36:41.948Z,1761543401.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756031 2025-10-27T05:36:42.200Z,1761543402.200 [DAT](INFO): DAT read: Rx Time:05:36:40.8250 2025-10-27T05:36:42.201Z,1761543402.201 [DAT](INFO): Rx dataTimestamp_ set to:1761543402.200602 2025-10-27T05:36:42.201Z,1761543402.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009306 2025-10-27T05:36:42.279Z,1761543402.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834180,0.546713,0.072453],[-0.550280,0.816426,0.175044],[0.036546,-0.185888,0.981891]] 2025-10-27T05:36:42.312Z,1761543402.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:42.314Z,1761543402.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.80 m. 2025-10-27T05:36:42.321Z,1761543402.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.795330 m, nav range: 34.919792 m, bearing: 334.694902 deg, approach rate: -0.511411 m/s, LOS rate: 0.005510 deg/s, cmd heading: 325.404091 deg, new cmd heading: 325.411116 deg. 2025-10-27T05:36:42.322Z,1761543402.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679495 target range: 37.795330 and range: 38.00 m. 2025-10-27T05:36:42.452Z,1761543402.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259850 2025-10-27T05:36:42.713Z,1761543402.713 [DAT](INFO): DAT read: 05:36:40.8250 LVL= 32224, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.48,-2.589, 1.884,-2.620,-2.787, PHS= 0.300,-1.567, 0.123, RAW= 145.1, 12.8, CAL= 144.7, 13.9, ROT= 5.3, -13.9 2025-10-27T05:36:42.715Z,1761543402.715 [DAT](INFO): got valid direction response: 05:36:40.8250 LVL= 32224, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.48,-2.589, 1.884,-2.620,-2.787, PHS= 0.300,-1.567, 0.123, RAW= 145.1, 12.8, CAL= 144.7, 13.9, ROT= 5.3, -13.9 2025-10-27T05:36:42.716Z,1761543402.716 [DAT](INFO): DAT read: Bearing 145.3, 4.5 (Local) 2025-10-27T05:36:42.717Z,1761543402.717 [DAT](INFO): Local bearing/azimuth received: Bearing 145.3, 4.5 (Local) 2025-10-27T05:36:42.723Z,1761543402.723 [DAT](INFO): DAT read: Range 11 to 50 : 36.2 m (Round-trip 48.3 ms) speed 0.4 m/s 2025-10-27T05:36:42.724Z,1761543402.724 [DAT](INFO): DAT read: user:486> 2025-10-27T05:36:42.725Z,1761543402.725 [DAT](INFO): DAT read: Tx time:05:36:41.9226 2025-10-27T05:36:42.726Z,1761543402.726 [DAT](INFO): Ping request sent. 2025-10-27T05:36:42.726Z,1761543402.726 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:36:42.726Z,1761543402.726 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:36:42.736Z,1761543402.736 [DAT](INFO): direction in FSK: [0.966566,0.089666,0.240228] 2025-10-27T05:36:42.736Z,1761543402.736 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:42.736Z,1761543402.736 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:42.740Z,1761543402.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833741,0.547765,0.069499],[-0.550889,0.816687,0.171883],[0.037392,-0.181592,0.982663]] 2025-10-27T05:36:42.781Z,1761543402.781 [DAT](INFO): publishing transmit ping time 2025-10-27T05:36:42.781Z,1761543402.781 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:42.788Z,1761543402.788 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.062769 2025-10-27T05:36:42.830Z,1761543402.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.200001 m, deltaT: 3.530824 s, deltaX: -1.799999 m, approachRate: -0.509796 m/s, rangeRepo size: 4 2025-10-27T05:36:42.837Z,1761543402.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.005005 m, bearing: 334.383271 deg, lat: 36.779383 deg, lon: -121.859697 deg, deltaT: 3.530824 s, deltaX: -1.790325 m, approachRate: -0.507056 m/s, posRepo size: 4 2025-10-27T05:36:42.838Z,1761543402.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.01 m. 2025-10-27T05:36:42.845Z,1761543402.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.005005 m, nav range: 34.672489 m, bearing: 334.669266 deg, approach rate: 0.000000 m/s, LOS rate: 0.005510 deg/s, cmd heading: 325.411112 deg, new cmd heading: 325.419641 deg. 2025-10-27T05:36:42.846Z,1761543402.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679644 target range: 36.005005 and range: 36.20 m. 2025-10-27T05:36:42.957Z,1761543402.957 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.231089 2025-10-27T05:36:43.166Z,1761543403.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833215,0.548707,0.068361],[-0.551619,0.816263,0.171557],[0.038334,-0.180653,0.982800]] 2025-10-27T05:36:43.208Z,1761543403.208 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.482281 2025-10-27T05:36:43.246Z,1761543403.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.01 m. 2025-10-27T05:36:43.252Z,1761543403.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.005005 m, nav range: 34.447536 m, bearing: 334.674860 deg, approach rate: -0.540994 m/s, LOS rate: 0.013540 deg/s, cmd heading: 325.419637 deg, new cmd heading: 325.436527 deg. 2025-10-27T05:36:43.253Z,1761543403.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679939 target range: 36.005005 and range: 36.20 m. 2025-10-27T05:36:43.463Z,1761543403.463 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.737031 2025-10-27T05:36:43.563Z,1761543403.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832495,0.549856,0.067896],[-0.552639,0.815459,0.172096],[0.039262,-0.180791,0.982738]] 2025-10-27T05:36:43.585Z,1761543403.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.01 m. 2025-10-27T05:36:43.611Z,1761543403.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.005005 m, nav range: 34.261166 m, bearing: 334.679943 deg, approach rate: -0.549831 m/s, LOS rate: 0.015079 deg/s, cmd heading: 325.436521 deg, new cmd heading: 325.451854 deg. 2025-10-27T05:36:43.616Z,1761543403.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680206 target range: 36.005005 and range: 36.20 m. 2025-10-27T05:36:43.713Z,1761543403.713 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.987317 2025-10-27T05:36:43.964Z,1761543403.964 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.238123 2025-10-27T05:36:43.973Z,1761543403.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831458,0.551280,0.069053],[-0.554114,0.813775,0.175295],[0.040443,-0.184014,0.982091]] 2025-10-27T05:36:43.992Z,1761543403.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.01 m. 2025-10-27T05:36:43.994Z,1761543403.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.005005 m, nav range: 34.046608 m, bearing: 334.686599 deg, approach rate: -0.526907 m/s, LOS rate: 0.016448 deg/s, cmd heading: 325.451848 deg, new cmd heading: 325.471941 deg. 2025-10-27T05:36:43.996Z,1761543403.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680557 target range: 36.005005 and range: 36.20 m. 2025-10-27T05:36:44.216Z,1761543404.216 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.490289 2025-10-27T05:36:44.369Z,1761543404.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830558,0.552616,0.069199],[-0.555407,0.812675,0.176303],[0.041192,-0.184863,0.981901]] 2025-10-27T05:36:44.424Z,1761543404.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:44.426Z,1761543404.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.01 m. 2025-10-27T05:36:44.429Z,1761543404.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.005005 m, nav range: 33.815384 m, bearing: 334.704545 deg, approach rate: -0.532665 m/s, LOS rate: 0.041626 deg/s, cmd heading: 325.471928 deg, new cmd heading: 325.526136 deg. 2025-10-27T05:36:44.430Z,1761543404.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681503 target range: 36.005005 and range: 36.20 m. 2025-10-27T05:36:44.469Z,1761543404.469 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.743001 2025-10-27T05:36:44.721Z,1761543404.721 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.994610 2025-10-27T05:36:44.774Z,1761543404.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829943,0.553750,0.067501],[-0.556275,0.812437,0.174654],[0.041874,-0.182502,0.982313]] 2025-10-27T05:36:44.805Z,1761543404.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.01 m. 2025-10-27T05:36:44.808Z,1761543404.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.005005 m, nav range: 33.613056 m, bearing: 334.720781 deg, approach rate: -0.533497 m/s, LOS rate: 0.043067 deg/s, cmd heading: 325.526133 deg, new cmd heading: 325.575132 deg. 2025-10-27T05:36:44.809Z,1761543404.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.682358 target range: 36.005005 and range: 36.20 m. 2025-10-27T05:36:44.976Z,1761543404.976 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.249856 2025-10-27T05:36:45.178Z,1761543405.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829730,0.554206,0.066367],[-0.556563,0.812475,0.173557],[0.042265,-0.180943,0.982585]] 2025-10-27T05:36:45.226Z,1761543405.226 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.499217 2025-10-27T05:36:45.239Z,1761543405.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.01 m. 2025-10-27T05:36:45.285Z,1761543405.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.005005 m, nav range: 33.394226 m, bearing: 334.735142 deg, approach rate: -0.509744 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.575119 deg, new cmd heading: 325.618484 deg. 2025-10-27T05:36:45.286Z,1761543405.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683115 target range: 36.005005 and range: 36.20 m. 2025-10-27T05:36:45.476Z,1761543405.476 [DAT](INFO): DAT read: Rx Time:05:36:44.0976 2025-10-27T05:36:45.477Z,1761543405.477 [DAT](INFO): Rx dataTimestamp_ set to:1761543405.476628 2025-10-27T05:36:45.478Z,1761543405.478 [DAT](INFO): DAT read: Bearing 146.1, 4.7 (Local) 2025-10-27T05:36:45.478Z,1761543405.478 [DAT](INFO): Local bearing/azimuth received: Bearing 146.1, 4.7 (Local) 2025-10-27T05:36:45.481Z,1761543405.481 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 2025-10-27T05:36:45.486Z,1761543405.486 [DAT](INFO): DAT read: 05:36:44.0976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 162, 0.42, 2.069, 0.292, 2.041, 1.907, PHS= 0.264,-1.570, 0.090, RAW= 145.1, 13.8, CAL= 144.7, 15.0, ROT= 5.3, -15.0 2025-10-27T05:36:45.487Z,1761543405.487 [DAT](INFO): got valid direction response: 05:36:44.0976 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 162, 0.42, 2.069, 0.292, 2.041, 1.907, PHS= 0.264,-1.570, 0.090, RAW= 145.1, 13.8, CAL= 144.7, 15.0, ROT= 5.3, -15.0 2025-10-27T05:36:45.488Z,1761543405.488 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:36:45.489Z,1761543405.489 [DAT](INFO): direction in FSK: [0.961796,0.089223,0.258819] 2025-10-27T05:36:45.489Z,1761543405.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:45.493Z,1761543405.493 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.767097 2025-10-27T05:36:45.634Z,1761543405.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830000,0.553826,0.066156],[-0.556115,0.812593,0.174437],[0.042849,-0.181573,0.982444]] 2025-10-27T05:36:45.678Z,1761543405.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 2.772039 s, deltaX: -1.799999 m, approachRate: -0.649341 m/s, rangeRepo size: 4 2025-10-27T05:36:45.684Z,1761543405.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.215775 m, bearing: 334.245882 deg, lat: 36.779382 deg, lon: -121.859697 deg, deltaT: 2.772039 s, deltaX: -1.789230 m, approachRate: -0.645456 m/s, posRepo size: 4 2025-10-27T05:36:45.688Z,1761543405.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.22 m. 2025-10-27T05:36:45.690Z,1761543405.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.215775 m, nav range: 33.085972 m, bearing: 334.683915 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.618477 deg, new cmd heading: 325.663202 deg. 2025-10-27T05:36:45.692Z,1761543405.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683895 target range: 34.215775 and range: 34.40 m. 2025-10-27T05:36:45.732Z,1761543405.732 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.004763 2025-10-27T05:36:45.982Z,1761543405.982 [DAT](INFO): DAT read: Rx Time:05:36:44.5974 2025-10-27T05:36:45.983Z,1761543405.983 [DAT](INFO): Rx dataTimestamp_ set to:1761543405.982484 2025-10-27T05:36:45.985Z,1761543405.985 [DAT](INFO): DAT read: Bearing 144.9, 5.1 (Local) 2025-10-27T05:36:45.985Z,1761543405.985 [DAT](INFO): Local bearing/azimuth received: Bearing 144.9, 5.1 (Local) 2025-10-27T05:36:45.988Z,1761543405.988 [DAT](INFO): DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 2025-10-27T05:36:45.995Z,1761543405.995 [DAT](INFO): DAT read: 05:36:44.5974 LVL= 32032, 32753, 32226, 32755, AGC= 64, IDX= 496,-0.17,-1.238,-3.018,-1.267,-1.439, PHS= 0.304,-1.534, 0.128, RAW= 145.0, 12.5, CAL= 144.7, 13.6, ROT= 5.3, -13.6 2025-10-27T05:36:45.996Z,1761543405.996 [DAT](INFO): got valid direction response: 05:36:44.5974 LVL= 32032, 32753, 32226, 32755, AGC= 64, IDX= 496,-0.17,-1.238,-3.018,-1.267,-1.439, PHS= 0.304,-1.534, 0.128, RAW= 145.0, 12.5, CAL= 144.7, 13.6, ROT= 5.3, -13.6 2025-10-27T05:36:45.997Z,1761543405.997 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:36:45.997Z,1761543405.997 [DAT](INFO): direction in FSK: [0.967806,0.089781,0.235142] 2025-10-27T05:36:45.998Z,1761543405.998 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:46.001Z,1761543406.001 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.275609 2025-10-27T05:36:46.237Z,1761543406.237 [DAT](INFO): DAT read: Rx Time:05:36:45.0973 2025-10-27T05:36:46.241Z,1761543406.241 [DAT](INFO): Rx dataTimestamp_ set to:1761543406.237772 2025-10-27T05:36:46.244Z,1761543406.244 [DAT](INFO): DAT read: Bearing 144.7, 4.9 (Local) 2025-10-27T05:36:46.245Z,1761543406.245 [DAT](INFO): Local bearing/azimuth received: Bearing 144.7, 4.9 (Local) 2025-10-27T05:36:46.248Z,1761543406.248 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.520885 2025-10-27T05:36:46.295Z,1761543406.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.505856 s, deltaX: -0.300003 m, approachRate: -0.593060 m/s, rangeRepo size: 4 2025-10-27T05:36:46.297Z,1761543406.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.917332 m, bearing: 333.967233 deg, lat: 36.779380 deg, lon: -121.859699 deg, deltaT: 0.505856 s, deltaX: -0.298443 m, approachRate: -0.589976 m/s, posRepo size: 4 2025-10-27T05:36:46.298Z,1761543406.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.92 m. 2025-10-27T05:36:46.305Z,1761543406.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.917332 m, nav range: 32.684193 m, bearing: 334.333129 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.663201 deg, new cmd heading: 325.725134 deg. 2025-10-27T05:36:46.306Z,1761543406.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684976 target range: 33.917332 and range: 34.10 m. 2025-10-27T05:36:46.486Z,1761543406.486 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.6 2025-10-27T05:36:46.490Z,1761543406.490 [DAT](INFO): DAT read: 05:36:45.0973 LVL= 31968, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.11, 1.737,-0.045, 1.714, 1.530, PHS= 0.308,-1.530, 0.140, RAW= 145.2, 12.3, CAL= 144.9, 13.4, ROT= 5.1, -13.4 2025-10-27T05:36:46.492Z,1761543406.492 [DAT](INFO): got valid direction response: 05:36:45.0973 LVL= 31968, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.11, 1.737,-0.045, 1.714, 1.530, PHS= 0.308,-1.530, 0.140, RAW= 145.2, 12.3, CAL= 144.9, 13.4, ROT= 5.1, -13.4 2025-10-27T05:36:46.492Z,1761543406.492 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:36:46.493Z,1761543406.493 [DAT](INFO): direction in FSK: [0.968925,0.086474,0.231748] 2025-10-27T05:36:46.493Z,1761543406.493 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:46.498Z,1761543406.498 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.772136 2025-10-27T05:36:46.629Z,1761543406.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831487,0.551495,0.066956],[-0.553811,0.813337,0.178260],[0.043851,-0.185302,0.981703]] 2025-10-27T05:36:46.679Z,1761543406.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.501030 s, deltaX: -0.199997 m, approachRate: -0.399172 m/s, rangeRepo size: 4 2025-10-27T05:36:46.681Z,1761543406.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.718403 m, bearing: 333.936721 deg, lat: 36.779381 deg, lon: -121.859700 deg, deltaT: 0.501030 s, deltaX: -0.198929 m, approachRate: -0.397040 m/s, posRepo size: 4 2025-10-27T05:36:46.682Z,1761543406.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.72 m. 2025-10-27T05:36:46.685Z,1761543406.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.718403 m, nav range: 32.531528 m, bearing: 334.231061 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.725137 deg, new cmd heading: 325.764314 deg. 2025-10-27T05:36:46.686Z,1761543406.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685660 target range: 33.718403 and range: 33.90 m. 2025-10-27T05:36:46.739Z,1761543406.739 [DAT](INFO): DAT read: Rx Time:05:36:45.5970 2025-10-27T05:36:46.741Z,1761543406.741 [DAT](INFO): Rx dataTimestamp_ set to:1761543406.740146 2025-10-27T05:36:46.743Z,1761543406.743 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.016413 2025-10-27T05:36:46.989Z,1761543406.989 [DAT](INFO): DAT read: Bearing 146.7, 4.5 (Local) 2025-10-27T05:36:46.989Z,1761543406.989 [DAT](INFO): Local bearing/azimuth received: Bearing 146.7, 4.5 (Local) 2025-10-27T05:36:46.991Z,1761543406.991 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 2025-10-27T05:36:46.000Z,1761543407.000 [DAT](INFO): DAT read: 05:36:45.5970 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.48,-0.794,-2.538,-0.816,-0.944, PHS= 0.252,-1.549, 0.084, RAW= 145.2, 14.0, CAL= 144.8, 15.3, ROT= 5.2, -15.3 2025-10-27T05:36:47.001Z,1761543407.001 [DAT](INFO): got valid direction response: 05:36:45.5970 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.48,-0.794,-2.538,-0.816,-0.944, PHS= 0.252,-1.549, 0.084, RAW= 145.2, 14.0, CAL= 144.8, 15.3, ROT= 5.2, -15.3 2025-10-27T05:36:47.001Z,1761543407.001 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:36:47.002Z,1761543407.002 [DAT](INFO): direction in FSK: [0.960588,0.087420,0.263873] 2025-10-27T05:36:47.003Z,1761543407.003 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:47.008Z,1761543407.008 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.282187 2025-10-27T05:36:47.165Z,1761543407.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503932 s, deltaX: -0.400002 m, approachRate: -0.793761 m/s, rangeRepo size: 4 2025-10-27T05:36:47.171Z,1761543407.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.320168 m, bearing: 334.421599 deg, lat: 36.779380 deg, lon: -121.859700 deg, deltaT: 0.503932 s, deltaX: -0.398235 m, approachRate: -0.790256 m/s, posRepo size: 4 2025-10-27T05:36:47.172Z,1761543407.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.32 m. 2025-10-27T05:36:47.174Z,1761543407.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.320168 m, nav range: 32.244328 m, bearing: 334.189910 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.764315 deg, new cmd heading: 325.813436 deg. 2025-10-27T05:36:47.184Z,1761543407.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686517 target range: 33.320168 and range: 33.50 m. 2025-10-27T05:36:47.246Z,1761543407.246 [DAT](INFO): DAT read: Rx Time:05:36:46.0970 2025-10-27T05:36:47.248Z,1761543407.248 [DAT](INFO): Rx dataTimestamp_ set to:1761543407.247061 2025-10-27T05:36:47.253Z,1761543407.253 [DAT](INFO): DAT read: Bearing 145.2, 4.7 (Local) 2025-10-27T05:36:47.254Z,1761543407.254 [DAT](INFO): Local bearing/azimuth received: Bearing 145.2, 4.7 (Local) 2025-10-27T05:36:47.261Z,1761543407.261 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 2025-10-27T05:36:47.284Z,1761543407.284 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-27T05:36:47.286Z,1761543407.286 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.560336 2025-10-27T05:36:47.451Z,1761543407.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832413,0.550796,0.060934],[-0.552375,0.815896,0.170867],[0.044397,-0.175890,0.983408]] 2025-10-27T05:36:47.496Z,1761543407.496 [DAT](INFO): DAT read: 05:36:46.0970 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.03, 0.136,-1.652, 0.122,-0.063, PHS= 0.300,-1.544, 0.140, RAW= 145.5, 12.4, CAL= 145.2, 13.6, ROT= 4.8, -13.6 2025-10-27T05:36:47.497Z,1761543407.497 [DAT](INFO): got valid direction response: 05:36:46.0970 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.03, 0.136,-1.652, 0.122,-0.063, PHS= 0.300,-1.544, 0.140, RAW= 145.5, 12.4, CAL= 145.2, 13.6, ROT= 4.8, -13.6 2025-10-27T05:36:47.497Z,1761543407.497 [DAT](INFO): #Rx 7: Read direction message, but no range. 2025-10-27T05:36:47.498Z,1761543407.498 [DAT](INFO): direction in FSK: [0.968552,0.081332,0.235142] 2025-10-27T05:36:47.502Z,1761543407.502 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.775893 2025-10-27T05:36:47.584Z,1761543407.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.259615 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:36:47.592Z,1761543407.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.320168 m, bearing: 333.658503 deg, lat: 36.779380 deg, lon: -121.859701 deg, deltaT: 0.259615 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:36:47.592Z,1761543407.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.32 m. 2025-10-27T05:36:47.602Z,1761543407.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.320168 m, nav range: 32.092655 m, bearing: 333.956113 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.813438 deg, new cmd heading: 325.855166 deg. 2025-10-27T05:36:47.605Z,1761543407.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687245 target range: 33.320168 and range: 33.50 m. 2025-10-27T05:36:47.748Z,1761543407.748 [DAT](INFO): DAT read: Rx Time:05:36:46.5967 2025-10-27T05:36:47.750Z,1761543407.750 [DAT](INFO): Rx dataTimestamp_ set to:1761543407.748732 2025-10-27T05:36:47.753Z,1761543407.753 [DAT](INFO): DAT read: Bearing 146.7, 4.4 (Local) 2025-10-27T05:36:47.755Z,1761543407.755 [DAT](INFO): Local bearing/azimuth received: Bearing 146.7, 4.4 (Local) 2025-10-27T05:36:47.786Z,1761543407.786 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 2025-10-27T05:36:47.806Z,1761543407.806 [DAT](INFO): DAT read: 05:36:46.5967 LVL= 32064, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.31, 1.013,-0.751, 1.003, 0.860, PHS= 0.255,-1.565, 0.099, RAW= 145.6, 13.8, CAL= 145.3, 15.0, ROT= 4.7, -15.0 2025-10-27T05:36:47.820Z,1761543407.820 [DAT](INFO): got valid direction response: 05:36:46.5967 LVL= 32064, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.31, 1.013,-0.751, 1.003, 0.860, PHS= 0.255,-1.565, 0.099, RAW= 145.6, 13.8, CAL= 145.3, 15.0, ROT= 4.7, -15.0 2025-10-27T05:36:47.820Z,1761543407.820 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:36:47.821Z,1761543407.821 [DAT](INFO): direction in FSK: [0.962678,0.079147,0.258819] 2025-10-27T05:36:47.822Z,1761543407.822 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:47.830Z,1761543407.830 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.103836 2025-10-27T05:36:47.846Z,1761543407.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832667,0.550600,0.059211],[-0.551974,0.816585,0.168860],[0.044624,-0.173286,0.983860]] 2025-10-27T05:36:47.902Z,1761543407.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.501671 s, deltaX: -0.500000 m, approachRate: -0.996669 m/s, rangeRepo size: 4 2025-10-27T05:36:47.908Z,1761543407.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.822849 m, bearing: 333.820164 deg, lat: 36.779380 deg, lon: -121.859701 deg, deltaT: 0.501671 s, deltaX: -0.497318 m, approachRate: -0.991324 m/s, posRepo size: 4 2025-10-27T05:36:47.909Z,1761543407.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.82 m. 2025-10-27T05:36:47.920Z,1761543407.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.822849 m, nav range: 31.929276 m, bearing: 333.955210 deg, approach rate: 0.000000 m/s, LOS rate: 0.033672 deg/s, cmd heading: 325.855157 deg, new cmd heading: 325.887881 deg. 2025-10-27T05:36:47.921Z,1761543407.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687817 target range: 32.822849 and range: 33.00 m. 2025-10-27T05:36:47.996Z,1761543407.996 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.270484 2025-10-27T05:36:48.251Z,1761543408.251 [DAT](INFO): DAT read: Rx Time:05:36:47.0966 2025-10-27T05:36:48.253Z,1761543408.253 [DAT](INFO): Rx dataTimestamp_ set to:1761543408.251795 2025-10-27T05:36:48.256Z,1761543408.256 [DAT](INFO): DAT read: Bearing 144.4, 4.9 (Local) 2025-10-27T05:36:48.258Z,1761543408.258 [DAT](INFO): Local bearing/azimuth received: Bearing 144.4, 4.9 (Local) 2025-10-27T05:36:48.262Z,1761543408.262 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4 2025-10-27T05:36:48.265Z,1761543408.265 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-27T05:36:48.268Z,1761543408.268 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.542201 2025-10-27T05:36:48.299Z,1761543408.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833004,0.550103,0.059083],[-0.551441,0.816840,0.169366],[0.044908,-0.173663,0.983781]] 2025-10-27T05:36:48.406Z,1761543408.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:48.409Z,1761543408.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.503063 s, deltaX: -0.099998 m, approachRate: -0.198779 m/s, rangeRepo size: 4 2025-10-27T05:36:48.410Z,1761543408.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.82 m. 2025-10-27T05:36:48.413Z,1761543408.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.822849 m, nav range: 31.669989 m, bearing: 333.947117 deg, approach rate: -0.510870 m/s, LOS rate: -0.016077 deg/s, cmd heading: 325.887887 deg, new cmd heading: 325.863409 deg. 2025-10-27T05:36:48.414Z,1761543408.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687389 target range: 32.822849 and range: 32.90 m. 2025-10-27T05:36:48.506Z,1761543408.506 [DAT](INFO): DAT read: 05:36:47.0966 LVL= 31600, 32753, 32754, 32755, AGC= 63, IDX= 504,-0.07,-1.617, 2.887,-1.623,-1.839, PHS= 0.324,-1.512, 0.172, RAW= 145.7, 11.5, CAL= 145.4, 12.6, ROT= 4.6, -12.6 2025-10-27T05:36:48.508Z,1761543408.508 [DAT](INFO): got valid direction response: 05:36:47.0966 LVL= 31600, 32753, 32754, 32755, AGC= 63, IDX= 504,-0.07,-1.617, 2.887,-1.623,-1.839, PHS= 0.324,-1.512, 0.172, RAW= 145.7, 11.5, CAL= 145.4, 12.6, ROT= 4.6, -12.6 2025-10-27T05:36:48.508Z,1761543408.508 [DAT](INFO): #Rx 10: Read direction message, but no range. 2025-10-27T05:36:48.509Z,1761543408.509 [DAT](INFO): direction in FSK: [0.972773,0.078267,0.218143] 2025-10-27T05:36:48.515Z,1761543408.515 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.788972 2025-10-27T05:36:48.762Z,1761543408.762 [DAT](INFO): DAT read: Rx Time:05:36:47.5963 2025-10-27T05:36:48.764Z,1761543408.764 [DAT](INFO): Rx dataTimestamp_ set to:1761543408.762289 2025-10-27T05:36:48.768Z,1761543408.768 [DAT](INFO): DAT read: Bearing 143.9, 4.6 (Local) 2025-10-27T05:36:48.769Z,1761543408.769 [DAT](INFO): Local bearing/azimuth received: Bearing 143.9, 4.6 (Local) 2025-10-27T05:36:48.786Z,1761543408.786 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 2025-10-27T05:36:48.787Z,1761543408.787 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-27T05:36:48.788Z,1761543408.788 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.062093 2025-10-27T05:36:48.820Z,1761543408.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833320,0.549696,0.058404],[-0.550947,0.817272,0.168892],[0.045107,-0.172919,0.983903]] 2025-10-27T05:36:48.876Z,1761543408.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.510494 s, deltaX: -0.500000 m, approachRate: -0.979443 m/s, rangeRepo size: 4 2025-10-27T05:36:48.878Z,1761543408.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.225655 m, bearing: 333.332411 deg, lat: 36.779379 deg, lon: -121.859702 deg, deltaT: 1.013557 s, deltaX: -0.597195 m, approachRate: -0.589207 m/s, posRepo size: 4 2025-10-27T05:36:48.883Z,1761543408.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.23 m. 2025-10-27T05:36:48.886Z,1761543408.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.225655 m, nav range: 31.266859 m, bearing: 333.697208 deg, approach rate: 0.000000 m/s, LOS rate: -0.016077 deg/s, cmd heading: 325.863408 deg, new cmd heading: 325.841114 deg. 2025-10-27T05:36:48.891Z,1761543408.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687000 target range: 32.225655 and range: 32.40 m. 2025-10-27T05:36:49.012Z,1761543409.012 [DAT](INFO): DAT read: 05:36:47.5963 LVL= 31424, 32753, 32754, 32755, AGC= 63, IDX= 501, 0.31,-1.115,-2.896,-1.107,-1.349, PHS= 0.336,-1.503, 0.197, RAW= 146.1, 10.9, CAL= 145.8, 11.9, ROT= 4.2, -11.9 2025-10-27T05:36:49.013Z,1761543409.013 [DAT](INFO): got valid direction response: 05:36:47.5963 LVL= 31424, 32753, 32754, 32755, AGC= 63, IDX= 501, 0.31,-1.115,-2.896,-1.107,-1.349, PHS= 0.336,-1.503, 0.197, RAW= 146.1, 10.9, CAL= 145.8, 11.9, ROT= 4.2, -11.9 2025-10-27T05:36:49.014Z,1761543409.014 [DAT](INFO): #Rx 12: Read direction message, but no range. 2025-10-27T05:36:49.015Z,1761543409.015 [DAT](INFO): direction in FSK: [0.975881,0.071664,0.206204] 2025-10-27T05:36:49.019Z,1761543409.019 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.292983 2025-10-27T05:36:49.223Z,1761543409.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834043,0.548562,0.058758],[-0.549835,0.817748,0.170204],[0.045318,-0.174265,0.983655]] 2025-10-27T05:36:49.265Z,1761543409.265 [DAT](INFO): DAT read: Rx Time:05:36:48.0963 2025-10-27T05:36:49.267Z,1761543409.267 [DAT](INFO): Rx dataTimestamp_ set to:1761543409.265827 2025-10-27T05:36:49.274Z,1761543409.274 [DAT](INFO): DAT read: Bearing 146.6, 4.2 (Local) 2025-10-27T05:36:49.275Z,1761543409.275 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, 4.2 (Local) 2025-10-27T05:36:49.300Z,1761543409.300 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 2025-10-27T05:36:49.321Z,1761543409.321 [DAT](INFO): DAT read: 05:36:48.0963 LVL= 32288, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.16,-1.756, 2.781,-1.750,-1.916, PHS= 0.262,-1.542, 0.121, RAW= 146.0, 13.3, CAL= 145.7, 14.5, ROT= 4.3, -14.5 2025-10-27T05:36:49.322Z,1761543409.322 [DAT](INFO): got valid direction response: 05:36:48.0963 LVL= 32288, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.16,-1.756, 2.781,-1.750,-1.916, PHS= 0.262,-1.542, 0.121, RAW= 146.0, 13.3, CAL= 145.7, 14.5, ROT= 4.3, -14.5 2025-10-27T05:36:49.322Z,1761543409.322 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:36:49.336Z,1761543409.336 [DAT](INFO): direction in FSK: [0.965422,0.072590,0.250380] 2025-10-27T05:36:49.336Z,1761543409.336 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:49.353Z,1761543409.353 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.626854 2025-10-27T05:36:49.384Z,1761543409.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503538 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:36:49.386Z,1761543409.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.225876 m, bearing: 333.489413 deg, lat: 36.779378 deg, lon: -121.859703 deg, deltaT: 0.503538 s, deltaX: 0.000221 m, approachRate: 0.000439 m/s, posRepo size: 4 2025-10-27T05:36:49.386Z,1761543409.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.23 m. 2025-10-27T05:36:49.394Z,1761543409.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.225876 m, nav range: 30.961248 m, bearing: 333.489498 deg, approach rate: 0.000000 m/s, LOS rate: -0.016077 deg/s, cmd heading: 325.841114 deg, new cmd heading: 325.817009 deg. 2025-10-27T05:36:49.399Z,1761543409.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686580 target range: 32.225876 and range: 32.40 m. 2025-10-27T05:36:49.512Z,1761543409.512 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.786481 2025-10-27T05:36:49.705Z,1761543409.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834612,0.547613,0.059523],[-0.548951,0.817943,0.172112],[0.045565,-0.176322,0.983277]] 2025-10-27T05:36:49.768Z,1761543409.768 [DAT](INFO): DAT read: Rx Time:05:36:48.5960 2025-10-27T05:36:49.770Z,1761543409.770 [DAT](INFO): Rx dataTimestamp_ set to:1761543409.768665 2025-10-27T05:36:49.774Z,1761543409.774 [DAT](INFO): DAT read: Bearing 145.2, 4.0 (Local) 2025-10-27T05:36:49.776Z,1761543409.776 [DAT](INFO): Local bearing/azimuth received: Bearing 145.2, 4.0 (Local) 2025-10-27T05:36:49.789Z,1761543409.789 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 2025-10-27T05:36:49.798Z,1761543409.798 [DAT](INFO): DAT read: 05:36:48.5960 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.23,-1.089,-2.846,-1.068,-1.284, PHS= 0.297,-1.517, 0.172, RAW= 146.5, 11.9, CAL= 146.2, 13.1, ROT= 3.8, -13.1 2025-10-27T05:36:49.799Z,1761543409.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.23 m. 2025-10-27T05:36:49.802Z,1761543409.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.225876 m, nav range: 30.764091 m, bearing: 333.479152 deg, approach rate: -0.524249 m/s, LOS rate: -0.027687 deg/s, cmd heading: 325.817017 deg, new cmd heading: 325.785780 deg. 2025-10-27T05:36:49.807Z,1761543409.807 [DAT](INFO): got valid direction response: 05:36:48.5960 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.23,-1.089,-2.846,-1.068,-1.284, PHS= 0.297,-1.517, 0.172, RAW= 146.5, 11.9, CAL= 146.2, 13.1, ROT= 3.8, -13.1 2025-10-27T05:36:49.808Z,1761543409.808 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:36:49.809Z,1761543409.809 [DAT](INFO): direction in FSK: [0.971835,0.064549,0.226651] 2025-10-27T05:36:49.809Z,1761543409.809 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:49.811Z,1761543409.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686035 target range: 32.225876 and range: 32.40 m. 2025-10-27T05:36:49.821Z,1761543409.821 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.095158 2025-10-27T05:36:50.017Z,1761543410.017 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.290811 2025-10-27T05:36:50.170Z,1761543410.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835183,0.546577,0.061012],[-0.548063,0.817912,0.175059],[0.045781,-0.179645,0.982666]] 2025-10-27T05:36:50.273Z,1761543410.273 [DAT](INFO): DAT read: Rx Time:05:36:49.0960 2025-10-27T05:36:50.277Z,1761543410.277 [DAT](INFO): Rx dataTimestamp_ set to:1761543410.273417 2025-10-27T05:36:50.281Z,1761543410.281 [DAT](INFO): DAT read: Bearing 145.8, 3.6 (Local) 2025-10-27T05:36:50.290Z,1761543410.290 [DAT](INFO): Local bearing/azimuth received: Bearing 145.8, 3.6 (Local) 2025-10-27T05:36:50.301Z,1761543410.301 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 2025-10-27T05:36:50.304Z,1761543410.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.502838 s, deltaX: -0.400002 m, approachRate: -0.795488 m/s, rangeRepo size: 4 2025-10-27T05:36:50.306Z,1761543410.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.828045 m, bearing: 332.917094 deg, lat: 36.779378 deg, lon: -121.859703 deg, deltaT: 0.502838 s, deltaX: -0.397831 m, approachRate: -0.791171 m/s, posRepo size: 4 2025-10-27T05:36:50.313Z,1761543410.313 [DAT](INFO): DAT read: 05:36:49.0960 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.20,-1.798, 2.729,-1.769,-1.975, PHS= 0.279,-1.535, 0.161, RAW= 146.7, 12.4, CAL= 146.4, 13.6, ROT= 3.6, -13.6 2025-10-27T05:36:50.315Z,1761543410.315 [DAT](INFO): got valid direction response: 05:36:49.0960 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498,-0.20,-1.798, 2.729,-1.769,-1.975, PHS= 0.279,-1.535, 0.161, RAW= 146.7, 12.4, CAL= 146.4, 13.6, ROT= 3.6, -13.6 2025-10-27T05:36:50.315Z,1761543410.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.83 m. 2025-10-27T05:36:50.318Z,1761543410.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.828045 m, nav range: 30.565582 m, bearing: 333.309128 deg, approach rate: 0.000000 m/s, LOS rate: -0.027687 deg/s, cmd heading: 325.785789 deg, new cmd heading: 325.739562 deg. 2025-10-27T05:36:50.323Z,1761543410.323 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:36:50.324Z,1761543410.324 [DAT](INFO): direction in FSK: [0.970043,0.061030,0.235142] 2025-10-27T05:36:50.324Z,1761543410.324 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:50.319Z,1761543410.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685228 target range: 31.828045 and range: 32.00 m. 2025-10-27T05:36:50.340Z,1761543410.340 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.614605 2025-10-27T05:36:50.520Z,1761543410.520 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.794248 2025-10-27T05:36:50.648Z,1761543410.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835917,0.545598,0.059707],[-0.546878,0.818735,0.174922],[0.046553,-0.178873,0.982770]] 2025-10-27T05:36:50.672Z,1761543410.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.504752 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:36:50.674Z,1761543410.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.828045 m, bearing: 332.888047 deg, lat: 36.779378 deg, lon: -121.859704 deg, deltaT: 0.504752 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:36:50.674Z,1761543410.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.83 m. 2025-10-27T05:36:50.677Z,1761543410.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.828045 m, nav range: 30.371586 m, bearing: 333.235770 deg, approach rate: 0.000000 m/s, LOS rate: -0.027687 deg/s, cmd heading: 325.739563 deg, new cmd heading: 325.709062 deg. 2025-10-27T05:36:50.678Z,1761543410.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684696 target range: 31.828045 and range: 32.00 m. 2025-10-27T05:36:50.779Z,1761543410.779 [DAT](INFO): DAT read: Rx Time:05:36:49.5958 2025-10-27T05:36:50.781Z,1761543410.781 [DAT](INFO): Rx dataTimestamp_ set to:1761543410.779680 2025-10-27T05:36:50.786Z,1761543410.786 [DAT](INFO): DAT read: Bearing 144.1, 3.9 (Local) 2025-10-27T05:36:50.787Z,1761543410.787 [DAT](INFO): Local bearing/azimuth received: Bearing 144.1, 3.9 (Local) 2025-10-27T05:36:50.789Z,1761543410.789 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 2025-10-27T05:36:50.789Z,1761543410.789 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T05:36:50.790Z,1761543410.790 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.064496 2025-10-27T05:36:51.028Z,1761543411.028 [DAT](INFO): DAT read: 05:36:49.5958 LVL= 31840, 32753, 32754, 32755, AGC= 63, IDX= 495, 0.16,-1.426, 3.086,-1.392,-1.654, PHS= 0.330,-1.497, 0.218, RAW= 146.9, 10.7, CAL= 146.5, 11.7, ROT= 3.5, -11.7 2025-10-27T05:36:51.029Z,1761543411.029 [DAT](INFO): got valid direction response: 05:36:49.5958 LVL= 31840, 32753, 32754, 32755, AGC= 63, IDX= 495, 0.16,-1.426, 3.086,-1.392,-1.654, PHS= 0.330,-1.497, 0.218, RAW= 146.9, 10.7, CAL= 146.5, 11.7, ROT= 3.5, -11.7 2025-10-27T05:36:51.029Z,1761543411.029 [DAT](INFO): #Rx 17: Read direction message, but no range. 2025-10-27T05:36:51.030Z,1761543411.030 [DAT](INFO): direction in FSK: [0.977396,0.059780,0.202787] 2025-10-27T05:36:51.034Z,1761543411.034 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.308701 2025-10-27T05:36:51.284Z,1761543411.284 [DAT](INFO): DAT read: Rx Time:05:36:50.0958 2025-10-27T05:36:51.285Z,1761543411.285 [DAT](INFO): Rx dataTimestamp_ set to:1761543411.284472 2025-10-27T05:36:51.288Z,1761543411.288 [DAT](INFO): DAT read: Bearing 145.8, 3.3 (Local) 2025-10-27T05:36:51.288Z,1761543411.288 [DAT](INFO): Local bearing/azimuth received: Bearing 145.8, 3.3 (Local) 2025-10-27T05:36:51.290Z,1761543411.290 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 2025-10-27T05:36:51.335Z,1761543411.335 [DAT](INFO): DAT read: 05:36:50.0958 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 511,-0.34,-1.788, 2.743,-1.745,-1.966, PHS= 0.280,-1.529, 0.177, RAW= 147.1, 12.2, CAL= 146.8, 13.3, ROT= 3.2, -13.3 2025-10-27T05:36:51.336Z,1761543411.336 [DAT](INFO): got valid direction response: 05:36:50.0958 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 511,-0.34,-1.788, 2.743,-1.745,-1.966, PHS= 0.280,-1.529, 0.177, RAW= 147.1, 12.2, CAL= 146.8, 13.3, ROT= 3.2, -13.3 2025-10-27T05:36:51.336Z,1761543411.336 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:36:51.337Z,1761543411.337 [DAT](INFO): direction in FSK: [0.971661,0.054324,0.230050] 2025-10-27T05:36:51.338Z,1761543411.338 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:51.349Z,1761543411.349 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=8.623779 2025-10-27T05:36:51.425Z,1761543411.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 1.011055 s, deltaX: -0.500000 m, approachRate: -0.494533 m/s, rangeRepo size: 4 2025-10-27T05:36:51.436Z,1761543411.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.330696 m, bearing: 332.433504 deg, lat: 36.779378 deg, lon: -121.859707 deg, deltaT: 1.011055 s, deltaX: -0.497349 m, approachRate: -0.491911 m/s, posRepo size: 4 2025-10-27T05:36:51.436Z,1761543411.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.33 m. 2025-10-27T05:36:51.447Z,1761543411.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.330696 m, nav range: 30.151672 m, bearing: 332.755444 deg, approach rate: 0.000000 m/s, LOS rate: -0.027687 deg/s, cmd heading: 325.709073 deg, new cmd heading: 325.646446 deg. 2025-10-27T05:36:51.448Z,1761543411.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683603 target range: 31.330696 and range: 31.50 m. 2025-10-27T05:36:51.528Z,1761543411.528 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=8.802329 2025-10-27T05:36:51.786Z,1761543411.786 [DAT](INFO): DAT read: Rx Time:05:36:50.5955 2025-10-27T05:36:51.787Z,1761543411.787 [DAT](INFO): Rx dataTimestamp_ set to:1761543411.786595 2025-10-27T05:36:51.788Z,1761543411.788 [DAT](INFO): DAT read: Bearing 146.0, 3.1 (Local) 2025-10-27T05:36:51.788Z,1761543411.788 [DAT](INFO): Local bearing/azimuth received: Bearing 146.0, 3.1 (Local) 2025-10-27T05:36:51.790Z,1761543411.790 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-27T05:36:51.792Z,1761543411.792 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-27T05:36:51.793Z,1761543411.793 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.067075 2025-10-27T05:36:51.938Z,1761543411.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:51.941Z,1761543411.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502123 s, deltaX: -0.299999 m, approachRate: -0.597462 m/s, rangeRepo size: 4 2025-10-27T05:36:51.942Z,1761543411.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.33 m. 2025-10-27T05:36:51.945Z,1761543411.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.330696 m, nav range: 29.889107 m, bearing: 332.708269 deg, approach rate: -0.508939 m/s, LOS rate: -0.092244 deg/s, cmd heading: 325.646453 deg, new cmd heading: 325.503686 deg. 2025-10-27T05:36:51.946Z,1761543411.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681111 target range: 31.330696 and range: 31.20 m. 2025-10-27T05:36:52.036Z,1761543412.036 [DAT](INFO): DAT read: 05:36:50.5955 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.02,-1.742, 2.806,-1.694,-1.909, PHS= 0.269,-1.522, 0.171, RAW= 147.2, 12.4, CAL= 147.0, 13.6, ROT= 3.0, -13.6 2025-10-27T05:36:52.037Z,1761543412.037 [DAT](INFO): got valid direction response: 05:36:50.5955 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.02,-1.742, 2.806,-1.694,-1.909, PHS= 0.269,-1.522, 0.171, RAW= 147.2, 12.4, CAL= 147.0, 13.6, ROT= 3.0, -13.6 2025-10-27T05:36:52.037Z,1761543412.037 [DAT](INFO): #Rx 20: Read direction message, but no range. 2025-10-27T05:36:52.038Z,1761543412.038 [DAT](INFO): direction in FSK: [0.970629,0.050869,0.235142] 2025-10-27T05:36:52.042Z,1761543412.042 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=9.316148 2025-10-27T05:36:52.287Z,1761543412.287 [DAT](INFO): DAT read: Rx Time:05:36:51.0953 2025-10-27T05:36:52.288Z,1761543412.288 [DAT](INFO): Rx dataTimestamp_ set to:1761543412.287506 2025-10-27T05:36:52.289Z,1761543412.289 [DAT](INFO): DAT read: Bearing 144.0, 3.3 (Local) 2025-10-27T05:36:52.289Z,1761543412.289 [DAT](INFO): Local bearing/azimuth received: Bearing 144.0, 3.3 (Local) 2025-10-27T05:36:52.291Z,1761543412.291 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 2025-10-27T05:36:52.292Z,1761543412.292 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-27T05:36:52.293Z,1761543412.293 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=9.567126 2025-10-27T05:36:52.427Z,1761543412.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.500911 s, deltaX: -0.300001 m, approachRate: -0.598911 m/s, rangeRepo size: 4 2025-10-27T05:36:52.429Z,1761543412.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.733944 m, bearing: 332.293824 deg, lat: 36.779378 deg, lon: -121.859707 deg, deltaT: 1.003034 s, deltaX: -0.596752 m, approachRate: -0.594947 m/s, posRepo size: 4 2025-10-27T05:36:52.429Z,1761543412.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m. 2025-10-27T05:36:52.433Z,1761543412.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.733944 m, nav range: 29.666136 m, bearing: 332.570424 deg, approach rate: 0.000000 m/s, LOS rate: -0.092244 deg/s, cmd heading: 325.503675 deg, new cmd heading: 325.369377 deg. 2025-10-27T05:36:52.434Z,1761543412.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678767 target range: 30.733944 and range: 30.90 m. 2025-10-27T05:36:52.540Z,1761543412.540 [DAT](INFO): DAT read: 05:36:51.0953 LVL= 31008, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.38,-1.413, 3.100,-1.351,-1.637, PHS= 0.326,-1.501, 0.242, RAW= 147.7, 10.5, CAL= 147.3, 11.4, ROT= 2.7, -11.4 2025-10-27T05:36:52.541Z,1761543412.541 [DAT](INFO): got valid direction response: 05:36:51.0953 LVL= 31008, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.38,-1.413, 3.100,-1.351,-1.637, PHS= 0.326,-1.501, 0.242, RAW= 147.7, 10.5, CAL= 147.3, 11.4, ROT= 2.7, -11.4 2025-10-27T05:36:52.541Z,1761543412.541 [DAT](INFO): #Rx 22: Read direction message, but no range. 2025-10-27T05:36:52.542Z,1761543412.542 [DAT](INFO): direction in FSK: [0.979183,0.046177,0.197657] 2025-10-27T05:36:52.546Z,1761543412.546 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=9.820642 2025-10-27T05:36:52.789Z,1761543412.789 [DAT](INFO): DAT read: Rx Time:05:36:51.5951 2025-10-27T05:36:52.789Z,1761543412.789 [DAT](INFO): Rx dataTimestamp_ set to:1761543412.788908 2025-10-27T05:36:52.790Z,1761543412.790 [DAT](INFO): DAT read: Bearing 144.9, 2.9 (Local) 2025-10-27T05:36:52.792Z,1761543412.792 [DAT](INFO): Local bearing/azimuth received: Bearing 144.9, 2.9 (Local) 2025-10-27T05:36:52.794Z,1761543412.794 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 2025-10-27T05:36:52.798Z,1761543412.798 [DAT](INFO): DAT read: 05:36:51.5951 LVL= 30576, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.12, 1.835, 0.078, 1.902, 1.640, PHS= 0.296,-1.517, 0.217, RAW= 147.8, 11.3, CAL= 147.5, 12.4, ROT= 2.5, -12.4 2025-10-27T05:36:52.799Z,1761543412.799 [DAT](INFO): got valid direction response: 05:36:51.5951 LVL= 30576, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.12, 1.835, 0.078, 1.902, 1.640, PHS= 0.296,-1.517, 0.217, RAW= 147.8, 11.3, CAL= 147.5, 12.4, ROT= 2.5, -12.4 2025-10-27T05:36:52.800Z,1761543412.800 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:36:52.801Z,1761543412.801 [DAT](INFO): direction in FSK: [0.975743,0.042602,0.214735] 2025-10-27T05:36:52.801Z,1761543412.801 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:52.805Z,1761543412.805 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.078959 2025-10-27T05:36:52.848Z,1761543412.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836750,0.544833,0.054838],[-0.545545,0.820803,0.169304],[0.047231,-0.171582,0.984037]] 2025-10-27T05:36:52.901Z,1761543412.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.501402 s, deltaX: -0.299999 m, approachRate: -0.598321 m/s, rangeRepo size: 4 2025-10-27T05:36:52.907Z,1761543412.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.435558 m, bearing: 331.567880 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.501402 s, deltaX: -0.298386 m, approachRate: -0.595103 m/s, posRepo size: 4 2025-10-27T05:36:52.908Z,1761543412.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.44 m. 2025-10-27T05:36:52.910Z,1761543412.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.435558 m, nav range: 29.484903 m, bearing: 332.340593 deg, approach rate: 0.000000 m/s, LOS rate: -0.092244 deg/s, cmd heading: 325.369366 deg, new cmd heading: 325.238164 deg. 2025-10-27T05:36:52.915Z,1761543412.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676477 target range: 30.435558 and range: 30.60 m. 2025-10-27T05:36:53.040Z,1761543413.040 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.314327 2025-10-27T05:36:53.191Z,1761543413.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837288,0.543927,0.055601],[-0.544770,0.821240,0.169680],[0.046632,-0.172361,0.983929]] 2025-10-27T05:36:53.293Z,1761543413.293 [DAT](INFO): DAT read: Rx Time:05:36:52.0950 2025-10-27T05:36:53.293Z,1761543413.293 [DAT](INFO): Rx dataTimestamp_ set to:1761543413.292852 2025-10-27T05:36:53.294Z,1761543413.294 [DAT](INFO): DAT read: Bearing 145.4, 2.5 (Local) 2025-10-27T05:36:53.296Z,1761543413.296 [DAT](INFO): Local bearing/azimuth received: Bearing 145.4, 2.5 (Local) 2025-10-27T05:36:53.298Z,1761543413.298 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-27T05:36:53.315Z,1761543413.315 [DAT](INFO): DAT read: 05:36:52.0950 LVL= 31856, 32753, 32754, 32755, AGC= 63, IDX= 503, 0.14,-0.960,-2.709,-0.884,-1.138, PHS= 0.280,-1.526, 0.210, RAW= 148.0, 11.7, CAL= 147.8, 12.8, ROT= 2.2, -12.8 2025-10-27T05:36:53.316Z,1761543413.316 [DAT](INFO): got valid direction response: 05:36:52.0950 LVL= 31856, 32753, 32754, 32755, AGC= 63, IDX= 503, 0.14,-0.960,-2.709,-0.884,-1.138, PHS= 0.280,-1.526, 0.210, RAW= 148.0, 11.7, CAL= 147.8, 12.8, ROT= 2.2, -12.8 2025-10-27T05:36:53.317Z,1761543413.317 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:36:53.318Z,1761543413.318 [DAT](INFO): direction in FSK: [0.974431,0.037434,0.221548] 2025-10-27T05:36:53.318Z,1761543413.318 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:53.322Z,1761543413.322 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=10.595791 2025-10-27T05:36:53.354Z,1761543413.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.503944 s, deltaX: -0.100000 m, approachRate: -0.198436 m/s, rangeRepo size: 4 2025-10-27T05:36:53.360Z,1761543413.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.336065 m, bearing: 331.407470 deg, lat: 36.779377 deg, lon: -121.859709 deg, deltaT: 0.503944 s, deltaX: -0.099493 m, approachRate: -0.197429 m/s, posRepo size: 4 2025-10-27T05:36:53.361Z,1761543413.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.34 m. 2025-10-27T05:36:53.372Z,1761543413.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.336065 m, nav range: 29.172937 m, bearing: 332.121237 deg, approach rate: 0.000000 m/s, LOS rate: -0.092244 deg/s, cmd heading: 325.238172 deg, new cmd heading: 325.112714 deg. 2025-10-27T05:36:53.373Z,1761543413.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674287 target range: 30.336065 and range: 30.50 m. 2025-10-27T05:36:53.544Z,1761543413.544 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=10.818317 2025-10-27T05:36:53.689Z,1761543413.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.34 m. 2025-10-27T05:36:53.692Z,1761543413.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.336065 m, nav range: 29.000536 m, bearing: 332.078991 deg, approach rate: -0.513569 m/s, LOS rate: -0.126595 deg/s, cmd heading: 325.112715 deg, new cmd heading: 324.985225 deg. 2025-10-27T05:36:53.693Z,1761543413.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672062 target range: 30.336065 and range: 30.50 m. 2025-10-27T05:36:53.797Z,1761543413.797 [DAT](INFO): DAT read: Rx Time:05:36:52.5948 2025-10-27T05:36:53.797Z,1761543413.797 [DAT](INFO): Rx dataTimestamp_ set to:1761543413.796899 2025-10-27T05:36:53.798Z,1761543413.798 [DAT](INFO): DAT read: Bearing 145.6, 2.2 (Local) 2025-10-27T05:36:53.799Z,1761543413.799 [DAT](INFO): Local bearing/azimuth received: Bearing 145.6, 2.2 (Local) 2025-10-27T05:36:53.801Z,1761543413.801 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 2025-10-27T05:36:53.806Z,1761543413.806 [DAT](INFO): DAT read: 05:36:52.5948 LVL= 32176, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.39, 2.927, 1.181, 3.010, 2.757, PHS= 0.271,-1.532, 0.208, RAW= 148.2, 11.9, CAL= 148.0, 13.0, ROT= 2.0, -13.0 2025-10-27T05:36:53.807Z,1761543413.807 [DAT](INFO): got valid direction response: 05:36:52.5948 LVL= 32176, 32753, 32754, 32755, AGC= 63, IDX= 501,-0.39, 2.927, 1.181, 3.010, 2.757, PHS= 0.271,-1.532, 0.208, RAW= 148.2, 11.9, CAL= 148.0, 13.0, ROT= 2.0, -13.0 2025-10-27T05:36:53.807Z,1761543413.807 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:36:53.808Z,1761543413.808 [DAT](INFO): direction in FSK: [0.973777,0.034005,0.224951] 2025-10-27T05:36:53.808Z,1761543413.808 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:53.812Z,1761543413.812 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=11.086423 2025-10-27T05:36:54.044Z,1761543414.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838228,0.542088,0.059281],[-0.543445,0.821388,0.173174],[0.045183,-0.177375,0.983106]] 2025-10-27T05:36:54.048Z,1761543414.048 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=11.322148 2025-10-27T05:36:54.080Z,1761543414.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504047 s, deltaX: -0.299999 m, approachRate: -0.595181 m/s, rangeRepo size: 4 2025-10-27T05:36:54.084Z,1761543414.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.037678 m, bearing: 331.402435 deg, lat: 36.779377 deg, lon: -121.859712 deg, deltaT: 0.504047 s, deltaX: -0.298388 m, approachRate: -0.591984 m/s, posRepo size: 4 2025-10-27T05:36:54.085Z,1761543414.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.04 m. 2025-10-27T05:36:54.090Z,1761543414.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.037678 m, nav range: 28.950327 m, bearing: 331.495042 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.985236 deg, new cmd heading: 324.837357 deg. 2025-10-27T05:36:54.116Z,1761543414.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669481 target range: 30.037678 and range: 30.20 m. 2025-10-27T05:36:54.301Z,1761543414.301 [DAT](INFO): DAT read: Rx Time:05:36:53.0947 2025-10-27T05:36:54.301Z,1761543414.301 [DAT](INFO): Rx dataTimestamp_ set to:1761543414.300866 2025-10-27T05:36:54.302Z,1761543414.302 [DAT](INFO): DAT read: Bearing 145.2, 1.9 (Local) 2025-10-27T05:36:54.303Z,1761543414.303 [DAT](INFO): Local bearing/azimuth received: Bearing 145.2, 1.9 (Local) 2025-10-27T05:36:54.305Z,1761543414.305 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T05:36:54.310Z,1761543414.310 [DAT](INFO): DAT read: 05:36:53.0947 LVL= 31648, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.01,-1.767, 2.774,-1.673,-1.945, PHS= 0.280,-1.519, 0.228, RAW= 148.5, 11.4, CAL= 148.3, 12.5, ROT= 1.7, -12.5 2025-10-27T05:36:54.311Z,1761543414.311 [DAT](INFO): got valid direction response: 05:36:53.0947 LVL= 31648, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.01,-1.767, 2.774,-1.673,-1.945, PHS= 0.280,-1.519, 0.228, RAW= 148.5, 11.4, CAL= 148.3, 12.5, ROT= 1.7, -12.5 2025-10-27T05:36:54.311Z,1761543414.311 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:36:54.312Z,1761543414.312 [DAT](INFO): direction in FSK: [0.975866,0.028963,0.216440] 2025-10-27T05:36:54.312Z,1761543414.312 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:54.316Z,1761543414.316 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.590540 2025-10-27T05:36:54.450Z,1761543414.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838661,0.541230,0.060971],[-0.542805,0.821345,0.175372],[0.044839,-0.180173,0.982612]] 2025-10-27T05:36:54.542Z,1761543414.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503967 s, deltaX: -0.200001 m, approachRate: -0.396853 m/s, rangeRepo size: 4 2025-10-27T05:36:54.548Z,1761543414.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.838787 m, bearing: 331.088190 deg, lat: 36.779377 deg, lon: -121.859713 deg, deltaT: 0.503967 s, deltaX: -0.198891 m, approachRate: -0.394650 m/s, posRepo size: 4 2025-10-27T05:36:54.549Z,1761543414.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.84 m. 2025-10-27T05:36:54.552Z,1761543414.552 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.826470 2025-10-27T05:36:54.556Z,1761543414.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.838787 m, nav range: 28.747639 m, bearing: 331.304268 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.837349 deg, new cmd heading: 324.661701 deg. 2025-10-27T05:36:54.556Z,1761543414.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666416 target range: 29.838787 and range: 30.00 m. 2025-10-27T05:36:54.805Z,1761543414.805 [DAT](INFO): DAT read: Rx Time:05:36:53.5944 2025-10-27T05:36:54.806Z,1761543414.806 [DAT](INFO): Rx dataTimestamp_ set to:1761543414.805538 2025-10-27T05:36:54.807Z,1761543414.807 [DAT](INFO): DAT read: Bearing 143.9, 1.9 (Local) 2025-10-27T05:36:54.808Z,1761543414.808 [DAT](INFO): Local bearing/azimuth received: Bearing 143.9, 1.9 (Local) 2025-10-27T05:36:54.810Z,1761543414.810 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 2025-10-27T05:36:54.815Z,1761543414.815 [DAT](INFO): DAT read: 05:36:53.5944 LVL= 28736, 31009, 31522, 32755, AGC= 62, IDX= 497, 0.40,-2.516, 2.026,-2.409,-2.726, PHS= 0.312,-1.487, 0.272, RAW= 148.9, 10.2, CAL= 148.6, 11.1, ROT= 1.4, -11.1 2025-10-27T05:36:54.816Z,1761543414.816 [DAT](INFO): got valid direction response: 05:36:53.5944 LVL= 28736, 31009, 31522, 32755, AGC= 62, IDX= 497, 0.40,-2.516, 2.026,-2.409,-2.726, PHS= 0.312,-1.487, 0.272, RAW= 148.9, 10.2, CAL= 148.6, 11.1, ROT= 1.4, -11.1 2025-10-27T05:36:54.817Z,1761543414.817 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:36:54.818Z,1761543414.818 [DAT](INFO): direction in FSK: [0.981000,0.023975,0.192522] 2025-10-27T05:36:54.818Z,1761543414.818 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:54.822Z,1761543414.822 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.095931 2025-10-27T05:36:54.916Z,1761543414.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839214,0.540241,0.062127],[-0.541988,0.821618,0.176616],[0.044371,-0.181891,0.982317]] 2025-10-27T05:36:54.961Z,1761543414.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.504672 s, deltaX: -0.400000 m, approachRate: -0.792593 m/s, rangeRepo size: 4 2025-10-27T05:36:54.967Z,1761543414.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.440937 m, bearing: 330.596740 deg, lat: 36.779376 deg, lon: -121.859713 deg, deltaT: 0.504672 s, deltaX: -0.397850 m, approachRate: -0.788334 m/s, posRepo size: 4 2025-10-27T05:36:54.968Z,1761543414.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m. 2025-10-27T05:36:54.975Z,1761543414.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.440937 m, nav range: 28.502283 m, bearing: 331.177197 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.661704 deg, new cmd heading: 324.502347 deg. 2025-10-27T05:36:54.976Z,1761543414.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663634 target range: 29.440937 and range: 29.60 m. 2025-10-27T05:36:55.058Z,1761543415.058 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.332196 2025-10-27T05:36:55.293Z,1761543415.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839539,0.539748,0.062023],[-0.541503,0.822017,0.176247],[0.044145,-0.181552,0.982390]] 2025-10-27T05:36:55.309Z,1761543415.309 [DAT](INFO): DAT read: Rx Time:05:36:54.0944 2025-10-27T05:36:55.309Z,1761543415.309 [DAT](INFO): Rx dataTimestamp_ set to:1761543415.309015 2025-10-27T05:36:55.311Z,1761543415.311 [DAT](INFO): DAT read: Bearing 131.5, 2.4 (Local) 2025-10-27T05:36:55.320Z,1761543415.320 [DAT](INFO): Local bearing/azimuth received: Bearing 131.5, 2.4 (Local) 2025-10-27T05:36:55.322Z,1761543415.322 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 2025-10-27T05:36:55.326Z,1761543415.326 [DAT](INFO): DAT read: 05:36:54.0944 LVL= 31328, 32753, 32754, 32755, AGC= 62, IDX= 513,-0.14,-1.405, 2.931,-1.194,-1.963, PHS= 0.660,-1.344, 0.725, RAW= 151.6, -0.4, CAL= 150.5, -1.2, ROT= 359.5, 1.2 2025-10-27T05:36:55.328Z,1761543415.328 [DAT](INFO): got valid direction response: 05:36:54.0944 LVL= 31328, 32753, 32754, 32755, AGC= 62, IDX= 513,-0.14,-1.405, 2.931,-1.194,-1.963, PHS= 0.660,-1.344, 0.725, RAW= 151.6, -0.4, CAL= 150.5, -1.2, ROT= 359.5, 1.2 2025-10-27T05:36:55.328Z,1761543415.328 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:36:55.329Z,1761543415.329 [DAT](INFO): direction in FSK: [0.999743,-0.008724,-0.020942] 2025-10-27T05:36:55.329Z,1761543415.329 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:55.353Z,1761543415.353 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.627385 2025-10-27T05:36:55.458Z,1761543415.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.503477 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:36:55.468Z,1761543415.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.440857 m, bearing: 326.468098 deg, lat: 36.779376 deg, lon: -121.859715 deg, deltaT: 0.503477 s, deltaX: -0.000080 m, approachRate: -0.000159 m/s, posRepo size: 4 2025-10-27T05:36:55.469Z,1761543415.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m. 2025-10-27T05:36:55.480Z,1761543415.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.440857 m, nav range: 28.334665 m, bearing: 330.848889 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.502342 deg, new cmd heading: 324.313737 deg. 2025-10-27T05:36:55.481Z,1761543415.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660343 target range: 29.440857 and range: 29.60 m. 2025-10-27T05:36:55.562Z,1761543415.562 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.835755 2025-10-27T05:36:55.813Z,1761543415.813 [DAT](INFO): DAT read: Rx Time:05:36:54.5941 2025-10-27T05:36:55.813Z,1761543415.813 [DAT](INFO): Rx dataTimestamp_ set to:1761543415.812796 2025-10-27T05:36:55.814Z,1761543415.814 [DAT](INFO): DAT read: Bearing 146.7, 0.8 (Local) 2025-10-27T05:36:55.815Z,1761543415.815 [DAT](INFO): Local bearing/azimuth received: Bearing 146.7, 0.8 (Local) 2025-10-27T05:36:55.817Z,1761543415.817 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 2025-10-27T05:36:55.822Z,1761543415.822 [DAT](INFO): DAT read: 05:36:54.5941 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.21,-1.933, 2.634,-1.822,-2.058, PHS= 0.228,-1.546, 0.192, RAW= 149.0, 12.8, CAL= 148.9, 14.1, ROT= 1.1, -14.1 2025-10-27T05:36:55.823Z,1761543415.823 [DAT](INFO): got valid direction response: 05:36:54.5941 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.21,-1.933, 2.634,-1.822,-2.058, PHS= 0.228,-1.546, 0.192, RAW= 149.0, 12.8, CAL= 148.9, 14.1, ROT= 1.1, -14.1 2025-10-27T05:36:55.823Z,1761543415.823 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:36:55.824Z,1761543415.824 [DAT](INFO): direction in FSK: [0.969693,0.018619,0.243615] 2025-10-27T05:36:55.824Z,1761543415.824 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:55.833Z,1761543415.833 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=13.107261 2025-10-27T05:36:55.848Z,1761543415.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839124,0.540329,0.062569],[-0.542223,0.821791,0.175083],[0.043184,-0.180843,0.982563]] 2025-10-27T05:36:55.912Z,1761543415.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503781 s, deltaX: -0.500000 m, approachRate: -0.992495 m/s, rangeRepo size: 4 2025-10-27T05:36:55.914Z,1761543415.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.943544 m, bearing: 330.855356 deg, lat: 36.779376 deg, lon: -121.859715 deg, deltaT: 0.503781 s, deltaX: -0.497313 m, approachRate: -0.987160 m/s, posRepo size: 4 2025-10-27T05:36:55.919Z,1761543415.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.94 m. 2025-10-27T05:36:55.922Z,1761543415.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.943544 m, nav range: 28.093618 m, bearing: 330.777727 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.313747 deg, new cmd heading: 324.141174 deg. 2025-10-27T05:36:55.927Z,1761543415.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657331 target range: 28.943544 and range: 29.10 m. 2025-10-27T05:36:56.066Z,1761543416.066 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=13.339951 2025-10-27T05:36:56.300Z,1761543416.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838556,0.541026,0.064144],[-0.543127,0.820885,0.176526],[0.042850,-0.182865,0.982204]] 2025-10-27T05:36:56.317Z,1761543416.317 [DAT](INFO): DAT read: Rx Time:05:36:55.0940 2025-10-27T05:36:56.317Z,1761543416.317 [DAT](INFO): Rx dataTimestamp_ set to:1761543416.316782 2025-10-27T05:36:56.318Z,1761543416.318 [DAT](INFO): DAT read: Bearing 146.4, 1.1 (Local) 2025-10-27T05:36:56.324Z,1761543416.324 [DAT](INFO): Local bearing/azimuth received: Bearing 146.4, 1.1 (Local) 2025-10-27T05:36:56.326Z,1761543416.326 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.4 2025-10-27T05:36:56.330Z,1761543416.330 [DAT](INFO): DAT read: 05:36:55.0940 LVL= 31440, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.24, 2.299, 0.591, 2.404, 2.163, PHS= 0.238,-1.527, 0.196, RAW= 148.8, 12.5, CAL= 148.7, 13.8, ROT= 1.3, -13.8 2025-10-27T05:36:56.344Z,1761543416.344 [DAT](INFO): got valid direction response: 05:36:55.0940 LVL= 31440, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.24, 2.299, 0.591, 2.404, 2.163, PHS= 0.238,-1.527, 0.196, RAW= 148.8, 12.5, CAL= 148.7, 13.8, ROT= 1.3, -13.8 2025-10-27T05:36:56.344Z,1761543416.344 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T05:36:56.345Z,1761543416.345 [DAT](INFO): direction in FSK: [0.970884,0.022032,0.238533] 2025-10-27T05:36:56.345Z,1761543416.345 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:56.357Z,1761543416.357 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=13.631269 2025-10-27T05:36:56.417Z,1761543416.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503986 s, deltaX: -0.100000 m, approachRate: -0.198419 m/s, rangeRepo size: 4 2025-10-27T05:36:56.428Z,1761543416.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.844101 m, bearing: 330.961173 deg, lat: 36.779376 deg, lon: -121.859715 deg, deltaT: 0.503986 s, deltaX: -0.099443 m, approachRate: -0.197314 m/s, posRepo size: 4 2025-10-27T05:36:56.428Z,1761543416.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m. 2025-10-27T05:36:56.440Z,1761543416.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.844101 m, nav range: 27.824606 m, bearing: 330.714119 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 324.141162 deg, new cmd heading: 323.949461 deg. 2025-10-27T05:36:56.440Z,1761543416.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653985 target range: 28.844101 and range: 29.00 m. 2025-10-27T05:36:56.570Z,1761543416.570 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=13.844003 2025-10-27T05:36:56.793Z,1761543416.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837484,0.542543,0.065326],[-0.544770,0.819505,0.177868],[0.042967,-0.184549,0.981884]] 2025-10-27T05:36:56.821Z,1761543416.821 [DAT](INFO): DAT read: Rx Time:05:36:55.5937 2025-10-27T05:36:56.821Z,1761543416.821 [DAT](INFO): Rx dataTimestamp_ set to:1761543416.820772 2025-10-27T05:36:56.822Z,1761543416.822 [DAT](INFO): DAT read: Bearing 145.7, 1.4 (Local) 2025-10-27T05:36:56.823Z,1761543416.823 [DAT](INFO): Local bearing/azimuth received: Bearing 145.7, 1.4 (Local) 2025-10-27T05:36:56.825Z,1761543416.825 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T05:36:56.829Z,1761543416.829 [DAT](INFO): DAT read: 05:36:55.5937 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.10,-2.960, 1.600,-2.860,-3.115, PHS= 0.257,-1.523, 0.211, RAW= 148.7, 12.0, CAL= 148.6, 13.2, ROT= 1.4, -13.2 2025-10-27T05:36:56.831Z,1761543416.831 [DAT](INFO): got valid direction response: 05:36:55.5937 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.10,-2.960, 1.600,-2.860,-3.115, PHS= 0.257,-1.523, 0.211, RAW= 148.7, 12.0, CAL= 148.6, 13.2, ROT= 1.4, -13.2 2025-10-27T05:36:56.832Z,1761543416.832 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T05:36:56.833Z,1761543416.833 [DAT](INFO): direction in FSK: [0.973288,0.023787,0.228351] 2025-10-27T05:36:56.833Z,1761543416.833 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:56.837Z,1761543416.837 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.110813 2025-10-27T05:36:56.868Z,1761543416.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503990 s, deltaX: -0.500000 m, approachRate: -0.992083 m/s, rangeRepo size: 4 2025-10-27T05:36:56.870Z,1761543416.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.346788 m, bearing: 330.851399 deg, lat: 36.779375 deg, lon: -121.859713 deg, deltaT: 0.503990 s, deltaX: -0.497313 m, approachRate: -0.986751 m/s, posRepo size: 4 2025-10-27T05:36:56.870Z,1761543416.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:36:56.877Z,1761543416.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.346788 m, nav range: 27.387569 m, bearing: 330.745654 deg, approach rate: 0.000000 m/s, LOS rate: -0.126595 deg/s, cmd heading: 323.949452 deg, new cmd heading: 323.779966 deg. 2025-10-27T05:36:56.878Z,1761543416.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651026 target range: 28.346788 and range: 28.50 m. 2025-10-27T05:36:57.074Z,1761543417.074 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.347872 2025-10-27T05:36:57.194Z,1761543417.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835883,0.544763,0.067328],[-0.547214,0.817379,0.180136],[0.043099,-0.187416,0.981335]] 2025-10-27T05:36:57.289Z,1761543417.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:57.291Z,1761543417.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:36:57.294Z,1761543417.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.346788 m, nav range: 27.134119 m, bearing: 330.690472 deg, approach rate: -0.591586 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.779954 deg, new cmd heading: 323.612863 deg. 2025-10-27T05:36:57.295Z,1761543417.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648110 target range: 28.346788 and range: 28.50 m. 2025-10-27T05:36:57.326Z,1761543417.326 [DAT](INFO): DAT read: Rx Time:05:36:56.0937 2025-10-27T05:36:57.328Z,1761543417.328 [DAT](INFO): Rx dataTimestamp_ set to:1761543417.326522 2025-10-27T05:36:57.329Z,1761543417.329 [DAT](INFO): DAT read: Bearing 144.8, 1.5 (Local) 2025-10-27T05:36:57.330Z,1761543417.330 [DAT](INFO): Local bearing/azimuth received: Bearing 144.8, 1.5 (Local) 2025-10-27T05:36:57.332Z,1761543417.332 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T05:36:57.337Z,1761543417.337 [DAT](INFO): DAT read: 05:36:56.0937 LVL= 30240, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.36, 2.280, 0.548, 2.383, 2.104, PHS= 0.279,-1.511, 0.235, RAW= 148.8, 11.3, CAL= 148.6, 12.4, ROT= 1.4, -12.4 2025-10-27T05:36:57.354Z,1761543417.354 [DAT](INFO): got valid direction response: 05:36:56.0937 LVL= 30240, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.36, 2.280, 0.548, 2.383, 2.104, PHS= 0.279,-1.511, 0.235, RAW= 148.8, 11.3, CAL= 148.6, 12.4, ROT= 1.4, -12.4 2025-10-27T05:36:57.354Z,1761543417.354 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T05:36:57.364Z,1761543417.364 [DAT](INFO): direction in FSK: [0.976381,0.023862,0.214735] 2025-10-27T05:36:57.365Z,1761543417.365 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:57.374Z,1761543417.374 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.647981 2025-10-27T05:36:57.577Z,1761543417.577 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.851218 2025-10-27T05:36:57.611Z,1761543417.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834202,0.547230,0.068158],[-0.549746,0.815504,0.180918],[0.043421,-0.188392,0.981134]] 2025-10-27T05:36:57.670Z,1761543417.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.505750 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:36:57.676Z,1761543417.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.346821 m, bearing: 330.398960 deg, lat: 36.779375 deg, lon: -121.859713 deg, deltaT: 0.505750 s, deltaX: 0.000032 m, approachRate: 0.000064 m/s, posRepo size: 4 2025-10-27T05:36:57.677Z,1761543417.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-27T05:36:57.684Z,1761543417.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.346821 m, nav range: 26.945887 m, bearing: 330.661527 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.612860 deg, new cmd heading: 323.465431 deg. 2025-10-27T05:36:57.685Z,1761543417.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645537 target range: 28.346821 and range: 28.50 m. 2025-10-27T05:36:57.829Z,1761543417.829 [DAT](INFO): DAT read: Rx Time:05:36:56.5934 2025-10-27T05:36:57.830Z,1761543417.830 [DAT](INFO): Rx dataTimestamp_ set to:1761543417.829364 2025-10-27T05:36:57.831Z,1761543417.831 [DAT](INFO): DAT read: Bearing 144.1, 1.6 (Local) 2025-10-27T05:36:57.831Z,1761543417.831 [DAT](INFO): Local bearing/azimuth received: Bearing 144.1, 1.6 (Local) 2025-10-27T05:36:57.833Z,1761543417.833 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 2025-10-27T05:36:57.839Z,1761543417.839 [DAT](INFO): DAT read: 05:36:56.5934 LVL= 28912, 32017, 31826, 32755, AGC= 62, IDX= 503,-0.01, 2.204, 0.460, 2.307, 2.011, PHS= 0.295,-1.506, 0.252, RAW= 148.8, 10.8, CAL= 148.5, 11.8, ROT= 1.5, -11.8 2025-10-27T05:36:57.840Z,1761543417.840 [DAT](INFO): got valid direction response: 05:36:56.5934 LVL= 28912, 32017, 31826, 32755, AGC= 62, IDX= 503,-0.01, 2.204, 0.460, 2.307, 2.011, PHS= 0.295,-1.506, 0.252, RAW= 148.8, 10.8, CAL= 148.5, 11.8, ROT= 1.5, -11.8 2025-10-27T05:36:57.841Z,1761543417.841 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:36:57.841Z,1761543417.841 [DAT](INFO): direction in FSK: [0.978532,0.025624,0.204496] 2025-10-27T05:36:57.842Z,1761543417.842 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:57.847Z,1761543417.847 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.120870 2025-10-27T05:36:58.040Z,1761543418.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832287,0.550019,0.069118],[-0.552639,0.813480,0.181220],[0.043449,-0.189024,0.981011]] 2025-10-27T05:36:58.073Z,1761543418.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.502842 s, deltaX: -0.400000 m, approachRate: -0.795478 m/s, rangeRepo size: 4 2025-10-27T05:36:58.078Z,1761543418.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.948973 m, bearing: 330.185494 deg, lat: 36.779376 deg, lon: -121.859713 deg, deltaT: 0.502842 s, deltaX: -0.397848 m, approachRate: -0.791199 m/s, posRepo size: 4 2025-10-27T05:36:58.079Z,1761543418.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.95 m. 2025-10-27T05:36:58.081Z,1761543418.081 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.355531 2025-10-27T05:36:58.107Z,1761543418.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.948973 m, nav range: 26.873964 m, bearing: 330.801534 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.465437 deg, new cmd heading: 323.308228 deg. 2025-10-27T05:36:58.108Z,1761543418.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642793 target range: 27.948973 and range: 28.10 m. 2025-10-27T05:36:58.333Z,1761543418.333 [DAT](INFO): DAT read: Rx Time:05:36:57.0933 2025-10-27T05:36:58.333Z,1761543418.333 [DAT](INFO): Rx dataTimestamp_ set to:1761543418.332776 2025-10-27T05:36:58.334Z,1761543418.334 [DAT](INFO): DAT read: Bearing 145.8, 1.7 (Local) 2025-10-27T05:36:58.335Z,1761543418.335 [DAT](INFO): Local bearing/azimuth received: Bearing 145.8, 1.7 (Local) 2025-10-27T05:36:58.337Z,1761543418.337 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4 2025-10-27T05:36:58.342Z,1761543418.342 [DAT](INFO): DAT read: 05:36:57.0933 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502, 0.29,-1.301,-3.024,-1.221,-1.454, PHS= 0.254,-1.526, 0.189, RAW= 148.1, 12.4, CAL= 148.0, 13.6, ROT= 2.0, -13.6 2025-10-27T05:36:58.343Z,1761543418.343 [DAT](INFO): got valid direction response: 05:36:57.0933 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502, 0.29,-1.301,-3.024,-1.221,-1.454, PHS= 0.254,-1.526, 0.189, RAW= 148.1, 12.4, CAL= 148.0, 13.6, ROT= 2.0, -13.6 2025-10-27T05:36:58.343Z,1761543418.343 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T05:36:58.344Z,1761543418.344 [DAT](INFO): direction in FSK: [0.971369,0.033921,0.235142] 2025-10-27T05:36:58.344Z,1761543418.344 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:58.349Z,1761543418.349 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.622788 2025-10-27T05:36:58.460Z,1761543418.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830173,0.552813,0.072181],[-0.555823,0.810651,0.184135],[0.043279,-0.192983,0.980247]] 2025-10-27T05:36:58.538Z,1761543418.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.503412 s, deltaX: -0.200001 m, approachRate: -0.397290 m/s, rangeRepo size: 4 2025-10-27T05:36:58.549Z,1761543418.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.750071 m, bearing: 330.879757 deg, lat: 36.779377 deg, lon: -121.859714 deg, deltaT: 0.503412 s, deltaX: -0.198902 m, approachRate: -0.395108 m/s, posRepo size: 4 2025-10-27T05:36:58.549Z,1761543418.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m. 2025-10-27T05:36:58.558Z,1761543418.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.750071 m, nav range: 26.718412 m, bearing: 330.841638 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.308234 deg, new cmd heading: 323.126675 deg. 2025-10-27T05:36:58.565Z,1761543418.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639625 target range: 27.750071 and range: 27.90 m. 2025-10-27T05:36:58.589Z,1761543418.589 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.862343 2025-10-27T05:36:58.837Z,1761543418.837 [DAT](INFO): DAT read: Rx Time:05:36:57.5931 2025-10-27T05:36:58.838Z,1761543418.838 [DAT](INFO): Rx dataTimestamp_ set to:1761543418.837667 2025-10-27T05:36:58.840Z,1761543418.840 [DAT](INFO): DAT read: Bearing 144.3, 2.1 (Local) 2025-10-27T05:36:58.841Z,1761543418.841 [DAT](INFO): Local bearing/azimuth received: Bearing 144.3, 2.1 (Local) 2025-10-27T05:36:58.844Z,1761543418.844 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-27T05:36:58.849Z,1761543418.849 [DAT](INFO): DAT read: 05:36:57.5931 LVL= 29392, 31377, 32498, 32755, AGC= 62, IDX= 500,-0.21, 1.520,-0.232, 1.598, 1.327, PHS= 0.295,-1.514, 0.228, RAW= 148.1, 11.2, CAL= 147.9, 12.2, ROT= 2.1, -12.2 2025-10-27T05:36:58.850Z,1761543418.850 [DAT](INFO): got valid direction response: 05:36:57.5931 LVL= 29392, 31377, 32498, 32755, AGC= 62, IDX= 500,-0.21, 1.520,-0.232, 1.598, 1.327, PHS= 0.295,-1.514, 0.228, RAW= 148.1, 11.2, CAL= 147.9, 12.2, ROT= 2.1, -12.2 2025-10-27T05:36:58.850Z,1761543418.850 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T05:36:58.872Z,1761543418.872 [DAT](INFO): direction in FSK: [0.976759,0.035816,0.211325] 2025-10-27T05:36:58.873Z,1761543418.873 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:58.882Z,1761543418.882 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.156040 2025-10-27T05:36:58.931Z,1761543418.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828180,0.555496,0.074439],[-0.558806,0.808217,0.185798],[0.043047,-0.195472,0.979764]] 2025-10-27T05:36:58.994Z,1761543418.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.504891 s, deltaX: -0.299999 m, approachRate: -0.594186 m/s, rangeRepo size: 4 2025-10-27T05:36:59.000Z,1761543419.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.451685 m, bearing: 330.511357 deg, lat: 36.779377 deg, lon: -121.859716 deg, deltaT: 0.504891 s, deltaX: -0.298386 m, approachRate: -0.590990 m/s, posRepo size: 4 2025-10-27T05:36:59.001Z,1761543419.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-27T05:36:59.012Z,1761543419.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.451685 m, nav range: 26.615797 m, bearing: 330.487979 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 323.126687 deg, new cmd heading: 322.948951 deg. 2025-10-27T05:36:59.013Z,1761543419.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636522 target range: 27.451685 and range: 27.60 m. 2025-10-27T05:36:59.088Z,1761543419.088 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.362329 2025-10-27T05:36:59.327Z,1761543419.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826171,0.558219,0.076380],[-0.561777,0.805811,0.187282],[0.042996,-0.197636,0.979332]] 2025-10-27T05:36:59.341Z,1761543419.341 [DAT](INFO): DAT read: Rx Time:05:36:58.0929 2025-10-27T05:36:59.341Z,1761543419.341 [DAT](INFO): Rx dataTimestamp_ set to:1761543419.340796 2025-10-27T05:36:59.342Z,1761543419.342 [DAT](INFO): DAT read: Bearing 144.9, 2.0 (Local) 2025-10-27T05:36:59.343Z,1761543419.343 [DAT](INFO): Local bearing/azimuth received: Bearing 144.9, 2.0 (Local) 2025-10-27T05:36:59.345Z,1761543419.345 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 2025-10-27T05:36:59.349Z,1761543419.349 [DAT](INFO): DAT read: 05:36:58.0929 LVL= 30240, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.02, 2.938, 1.178, 3.008, 2.760, PHS= 0.280,-1.537, 0.204, RAW= 147.9, 11.8, CAL= 147.6, 12.9, ROT= 2.4, -12.9 2025-10-27T05:36:59.351Z,1761543419.351 [DAT](INFO): got valid direction response: 05:36:58.0929 LVL= 30240, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.02, 2.938, 1.178, 3.008, 2.760, PHS= 0.280,-1.537, 0.204, RAW= 147.9, 11.8, CAL= 147.6, 12.9, ROT= 2.4, -12.9 2025-10-27T05:36:59.352Z,1761543419.352 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:36:59.353Z,1761543419.353 [DAT](INFO): direction in FSK: [0.973906,0.040819,0.223250] 2025-10-27T05:36:59.353Z,1761543419.353 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:59.357Z,1761543419.357 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.631075 2025-10-27T05:36:59.453Z,1761543419.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503129 s, deltaX: -0.300001 m, approachRate: -0.596271 m/s, rangeRepo size: 4 2025-10-27T05:36:59.460Z,1761543419.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.153351 m, bearing: 330.775813 deg, lat: 36.779377 deg, lon: -121.859716 deg, deltaT: 0.503129 s, deltaX: -0.298334 m, approachRate: -0.592957 m/s, posRepo size: 4 2025-10-27T05:36:59.461Z,1761543419.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:36:59.472Z,1761543419.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.153351 m, nav range: 26.352005 m, bearing: 330.499977 deg, approach rate: 0.000000 m/s, LOS rate: -0.130004 deg/s, cmd heading: 322.948939 deg, new cmd heading: 322.769737 deg. 2025-10-27T05:36:59.472Z,1761543419.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633395 target range: 27.153351 and range: 27.30 m. 2025-10-27T05:36:59.592Z,1761543419.592 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.866310 2025-10-27T05:36:59.803Z,1761543419.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822433,0.563318,0.079224],[-0.567282,0.801786,0.187963],[0.042362,-0.199529,0.978976]] 2025-10-27T05:36:59.821Z,1761543419.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:36:59.823Z,1761543419.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-27T05:36:59.826Z,1761543419.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.153351 m, nav range: 26.135744 m, bearing: 330.513197 deg, approach rate: -0.584664 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.769742 deg, new cmd heading: 322.809731 deg. 2025-10-27T05:36:59.827Z,1761543419.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634093 target range: 27.153351 and range: 27.30 m. 2025-10-27T05:36:59.844Z,1761543419.844 [DAT](INFO): DAT read: Rx Time:05:36:58.5926 2025-10-27T05:36:59.845Z,1761543419.845 [DAT](INFO): Rx dataTimestamp_ set to:1761543419.844584 2025-10-27T05:36:59.846Z,1761543419.846 [DAT](INFO): DAT read: Bearing 144.4, 2.6 (Local) 2025-10-27T05:36:59.846Z,1761543419.846 [DAT](INFO): Local bearing/azimuth received: Bearing 144.4, 2.6 (Local) 2025-10-27T05:36:59.849Z,1761543419.849 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 2025-10-27T05:36:59.853Z,1761543419.853 [DAT](INFO): DAT read: 05:36:58.5926 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 495, 0.22, 2.829, 1.073, 2.880, 2.630, PHS= 0.300,-1.512, 0.206, RAW= 147.3, 11.4, CAL= 147.1, 12.5, ROT= 2.9, -12.5 2025-10-27T05:36:59.854Z,1761543419.854 [DAT](INFO): got valid direction response: 05:36:58.5926 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 495, 0.22, 2.829, 1.073, 2.880, 2.630, PHS= 0.300,-1.512, 0.206, RAW= 147.3, 11.4, CAL= 147.1, 12.5, ROT= 2.9, -12.5 2025-10-27T05:36:59.855Z,1761543419.855 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T05:36:59.856Z,1761543419.856 [DAT](INFO): direction in FSK: [0.975046,0.049394,0.216440] 2025-10-27T05:36:59.856Z,1761543419.856 [DAT](INFO): publishing direction and range info 2025-10-27T05:36:59.859Z,1761543419.859 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.133635 2025-10-27T05:37:00.097Z,1761543420.097 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.371010 2025-10-27T05:37:00.204Z,1761543420.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820779,0.565724,0.079242],[-0.569721,0.800542,0.185879],[0.041720,-0.197711,0.979372]] 2025-10-27T05:37:00.334Z,1761543420.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503788 s, deltaX: -0.400000 m, approachRate: -0.793984 m/s, rangeRepo size: 4 2025-10-27T05:37:00.341Z,1761543420.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.755478 m, bearing: 330.632041 deg, lat: 36.779377 deg, lon: -121.859716 deg, deltaT: 0.503788 s, deltaX: -0.397873 m, approachRate: -0.789763 m/s, posRepo size: 4 2025-10-27T05:37:00.342Z,1761543420.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.76 m. 2025-10-27T05:37:00.349Z,1761543420.349 [DAT](INFO): DAT read: Rx Time:05:36:59.0925 2025-10-27T05:37:00.349Z,1761543420.349 [DAT](INFO): Rx dataTimestamp_ set to:1761543420.348746 2025-10-27T05:37:00.350Z,1761543420.350 [DAT](INFO): DAT read: Bearing 144.9, 2.6 (Local) 2025-10-27T05:37:00.351Z,1761543420.351 [DAT](INFO): Local bearing/azimuth received: Bearing 144.9, 2.6 (Local) 2025-10-27T05:37:00.353Z,1761543420.353 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.4 2025-10-27T05:37:00.358Z,1761543420.358 [DAT](INFO): DAT read: 05:36:59.0925 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.46, 2.557, 0.806, 2.603, 2.372, PHS= 0.287,-1.521, 0.187, RAW= 147.2, 11.9, CAL= 146.9, 13.0, ROT= 3.1, -13.0 2025-10-27T05:37:00.359Z,1761543420.359 [DAT](INFO): got valid direction response: 05:36:59.0925 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.46, 2.557, 0.806, 2.603, 2.372, PHS= 0.287,-1.521, 0.187, RAW= 147.2, 11.9, CAL= 146.9, 13.0, ROT= 3.1, -13.0 2025-10-27T05:37:00.360Z,1761543420.360 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T05:37:00.361Z,1761543420.361 [DAT](INFO): direction in FSK: [0.972944,0.052693,0.224951] 2025-10-27T05:37:00.361Z,1761543420.361 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:00.365Z,1761543420.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.755478 m, nav range: 25.896095 m, bearing: 330.559670 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.809739 deg, new cmd heading: 322.864135 deg. 2025-10-27T05:37:00.366Z,1761543420.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635042 target range: 26.755478 and range: 26.90 m. 2025-10-27T05:37:00.369Z,1761543420.369 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.642921 2025-10-27T05:37:00.602Z,1761543420.602 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.875793 2025-10-27T05:37:00.675Z,1761543420.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819381,0.567670,0.079782],[-0.571760,0.799276,0.185066],[0.041288,-0.197256,0.979482]] 2025-10-27T05:37:00.793Z,1761543420.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504162 s, deltaX: -0.199999 m, approachRate: -0.396696 m/s, rangeRepo size: 4 2025-10-27T05:37:00.799Z,1761543420.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.556553 m, bearing: 330.787139 deg, lat: 36.779378 deg, lon: -121.859715 deg, deltaT: 0.504162 s, deltaX: -0.198925 m, approachRate: -0.394566 m/s, posRepo size: 4 2025-10-27T05:37:00.800Z,1761543420.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.56 m. 2025-10-27T05:37:00.807Z,1761543420.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.556553 m, nav range: 25.635633 m, bearing: 330.691113 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.864135 deg, new cmd heading: 322.914572 deg. 2025-10-27T05:37:00.812Z,1761543420.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635922 target range: 26.556553 and range: 26.70 m. 2025-10-27T05:37:00.857Z,1761543420.857 [DAT](INFO): DAT read: Rx Time:05:36:59.5923 2025-10-27T05:37:00.857Z,1761543420.857 [DAT](INFO): Rx dataTimestamp_ set to:1761543420.856717 2025-10-27T05:37:00.858Z,1761543420.858 [DAT](INFO): DAT read: Bearing 146.1, 2.5 (Local) 2025-10-27T05:37:00.859Z,1761543420.859 [DAT](INFO): Local bearing/azimuth received: Bearing 146.1, 2.5 (Local) 2025-10-27T05:37:00.861Z,1761543420.861 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 2025-10-27T05:37:00.866Z,1761543420.866 [DAT](INFO): DAT read: 05:36:59.5923 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.20, 1.043,-0.725, 1.080, 0.887, PHS= 0.258,-1.567, 0.149, RAW= 146.9, 13.0, CAL= 146.7, 14.3, ROT= 3.3, -14.3 2025-10-27T05:37:00.868Z,1761543420.868 [DAT](INFO): got valid direction response: 05:36:59.5923 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.20, 1.043,-0.725, 1.080, 0.887, PHS= 0.258,-1.567, 0.149, RAW= 146.9, 13.0, CAL= 146.7, 14.3, ROT= 3.3, -14.3 2025-10-27T05:37:00.868Z,1761543420.868 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:37:00.870Z,1761543420.870 [DAT](INFO): direction in FSK: [0.967409,0.055780,0.246999] 2025-10-27T05:37:00.870Z,1761543420.870 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:00.890Z,1761543420.890 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.164303 2025-10-27T05:37:01.091Z,1761543421.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818061,0.569578,0.079725],[-0.573705,0.798399,0.182817],[0.040476,-0.195294,0.979909]] 2025-10-27T05:37:01.104Z,1761543421.104 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.378298 2025-10-27T05:37:01.118Z,1761543421.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.507971 s, deltaX: -0.300001 m, approachRate: -0.590587 m/s, rangeRepo size: 4 2025-10-27T05:37:01.120Z,1761543421.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.258163 m, bearing: 331.098396 deg, lat: 36.779378 deg, lon: -121.859715 deg, deltaT: 0.507971 s, deltaX: -0.298389 m, approachRate: -0.587414 m/s, posRepo size: 4 2025-10-27T05:37:01.121Z,1761543421.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.26 m. 2025-10-27T05:37:01.124Z,1761543421.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.258163 m, nav range: 25.434366 m, bearing: 330.709999 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.914569 deg, new cmd heading: 322.949707 deg. 2025-10-27T05:37:01.125Z,1761543421.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636536 target range: 26.258163 and range: 26.40 m. 2025-10-27T05:37:01.357Z,1761543421.357 [DAT](INFO): DAT read: Rx Time:05:37:00.0922 2025-10-27T05:37:01.357Z,1761543421.357 [DAT](INFO): Rx dataTimestamp_ set to:1761543421.356742 2025-10-27T05:37:01.358Z,1761543421.358 [DAT](INFO): DAT read: Bearing 144.9, 3.2 (Local) 2025-10-27T05:37:01.359Z,1761543421.359 [DAT](INFO): Local bearing/azimuth received: Bearing 144.9, 3.2 (Local) 2025-10-27T05:37:01.362Z,1761543421.362 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 2025-10-27T05:37:01.366Z,1761543421.366 [DAT](INFO): DAT read: 05:37:00.0922 LVL= 31344, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.03, 2.415, 0.672, 2.440, 2.223, PHS= 0.294,-1.506, 0.173, RAW= 146.6, 11.9, CAL= 146.3, 13.0, ROT= 3.7, -13.0 2025-10-27T05:37:01.367Z,1761543421.367 [DAT](INFO): got valid direction response: 05:37:00.0922 LVL= 31344, 32753, 32754, 32755, AGC= 62, IDX= 507,-0.03, 2.415, 0.672, 2.440, 2.223, PHS= 0.294,-1.506, 0.173, RAW= 146.6, 11.9, CAL= 146.3, 13.0, ROT= 3.7, -13.0 2025-10-27T05:37:01.368Z,1761543421.368 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T05:37:01.369Z,1761543421.369 [DAT](INFO): direction in FSK: [0.972339,0.062878,0.224951] 2025-10-27T05:37:01.369Z,1761543421.369 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:01.373Z,1761543421.373 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.647192 2025-10-27T05:37:01.482Z,1761543421.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816963,0.571174,0.079568],[-0.575319,0.797720,0.180694],[0.039735,-0.193398,0.980316]] 2025-10-27T05:37:01.536Z,1761543421.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.500025 s, deltaX: -0.100000 m, approachRate: -0.199991 m/s, rangeRepo size: 4 2025-10-27T05:37:01.538Z,1761543421.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.158726 m, bearing: 331.080413 deg, lat: 36.779378 deg, lon: -121.859714 deg, deltaT: 0.500025 s, deltaX: -0.099438 m, approachRate: -0.198865 m/s, posRepo size: 4 2025-10-27T05:37:01.539Z,1761543421.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.16 m. 2025-10-27T05:37:01.542Z,1761543421.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.158726 m, nav range: 25.218182 m, bearing: 330.917138 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.949704 deg, new cmd heading: 322.994908 deg. 2025-10-27T05:37:01.543Z,1761543421.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637325 target range: 26.158726 and range: 26.30 m. 2025-10-27T05:37:01.609Z,1761543421.609 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.883057 2025-10-27T05:37:01.860Z,1761543421.860 [DAT](INFO): DAT read: Rx Time:05:37:00.5919 2025-10-27T05:37:01.861Z,1761543421.861 [DAT](INFO): Rx dataTimestamp_ set to:1761543421.860591 2025-10-27T05:37:01.862Z,1761543421.862 [DAT](INFO): DAT read: Bearing 145.0, 3.1 (Local) 2025-10-27T05:37:01.862Z,1761543421.862 [DAT](INFO): Local bearing/azimuth received: Bearing 145.0, 3.1 (Local) 2025-10-27T05:37:01.865Z,1761543421.865 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.4 2025-10-27T05:37:01.869Z,1761543421.869 [DAT](INFO): DAT read: 05:37:00.5919 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.12, 2.906, 1.142, 2.930, 2.714, PHS= 0.295,-1.527, 0.173, RAW= 146.6, 12.0, CAL= 146.3, 13.1, ROT= 3.7, -13.1 2025-10-27T05:37:01.870Z,1761543421.870 [DAT](INFO): got valid direction response: 05:37:00.5919 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504, 0.12, 2.906, 1.142, 2.930, 2.714, PHS= 0.295,-1.527, 0.173, RAW= 146.6, 12.0, CAL= 146.3, 13.1, ROT= 3.7, -13.1 2025-10-27T05:37:01.871Z,1761543421.871 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:37:01.876Z,1761543421.876 [DAT](INFO): direction in FSK: [0.971946,0.062853,0.226651] 2025-10-27T05:37:01.876Z,1761543421.876 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:01.880Z,1761543421.880 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.153767 2025-10-27T05:37:01.910Z,1761543421.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816085,0.572347,0.080145],[-0.576628,0.797068,0.179395],[0.038795,-0.192615,0.980507]] 2025-10-27T05:37:02.041Z,1761543422.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.503849 s, deltaX: -0.500000 m, approachRate: -0.992361 m/s, rangeRepo size: 4 2025-10-27T05:37:02.047Z,1761543422.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.661413 m, bearing: 330.999455 deg, lat: 36.779378 deg, lon: -121.859714 deg, deltaT: 0.503849 s, deltaX: -0.497313 m, approachRate: -0.987027 m/s, posRepo size: 4 2025-10-27T05:37:02.049Z,1761543422.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:37:02.058Z,1761543422.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.661413 m, nav range: 24.996862 m, bearing: 330.935601 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 322.994919 deg, new cmd heading: 323.049516 deg. 2025-10-27T05:37:02.065Z,1761543422.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638278 target range: 25.661413 and range: 25.80 m. 2025-10-27T05:37:02.112Z,1761543422.112 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.386297 2025-10-27T05:37:02.369Z,1761543422.369 [DAT](INFO): DAT read: Rx Time:05:37:01.0918 2025-10-27T05:37:02.369Z,1761543422.369 [DAT](INFO): Rx dataTimestamp_ set to:1761543422.368845 2025-10-27T05:37:02.370Z,1761543422.370 [DAT](INFO): DAT read: Bearing 144.8, 3.2 (Local) 2025-10-27T05:37:02.371Z,1761543422.371 [DAT](INFO): Local bearing/azimuth received: Bearing 144.8, 3.2 (Local) 2025-10-27T05:37:02.373Z,1761543422.373 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 2025-10-27T05:37:02.378Z,1761543422.378 [DAT](INFO): DAT read: 05:37:01.0918 LVL= 29552, 32753, 32738, 32755, AGC= 61, IDX= 503, 0.33,-2.482, 2.024,-2.461,-2.682, PHS= 0.302,-1.532, 0.177, RAW= 146.5, 11.8, CAL= 146.2, 13.0, ROT= 3.8, -13.0 2025-10-27T05:37:02.379Z,1761543422.379 [DAT](INFO): got valid direction response: 05:37:01.0918 LVL= 29552, 32753, 32738, 32755, AGC= 61, IDX= 503, 0.33,-2.482, 2.024,-2.461,-2.682, PHS= 0.302,-1.532, 0.177, RAW= 146.5, 11.8, CAL= 146.2, 13.0, ROT= 3.8, -13.0 2025-10-27T05:37:02.379Z,1761543422.379 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:37:02.380Z,1761543422.380 [DAT](INFO): direction in FSK: [0.972228,0.064575,0.224951] 2025-10-27T05:37:02.381Z,1761543422.381 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:02.384Z,1761543422.384 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.658566 2025-10-27T05:37:02.420Z,1761543422.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815203,0.573677,0.079616],[-0.577894,0.796539,0.177663],[0.038504,-0.190841,0.980865]] 2025-10-27T05:37:02.516Z,1761543422.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.508254 s, deltaX: -0.099998 m, approachRate: -0.196749 m/s, rangeRepo size: 4 2025-10-27T05:37:02.518Z,1761543422.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.561983 m, bearing: 330.966122 deg, lat: 36.779378 deg, lon: -121.859714 deg, deltaT: 0.508254 s, deltaX: -0.099430 m, approachRate: -0.195631 m/s, posRepo size: 4 2025-10-27T05:37:02.523Z,1761543422.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-27T05:37:02.526Z,1761543422.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.561983 m, nav range: 24.757465 m, bearing: 330.988730 deg, approach rate: 0.000000 m/s, LOS rate: 0.036037 deg/s, cmd heading: 323.049506 deg, new cmd heading: 323.100373 deg. 2025-10-27T05:37:02.527Z,1761543422.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639165 target range: 25.561983 and range: 25.70 m. 2025-10-27T05:37:02.621Z,1761543422.621 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.894985 2025-10-27T05:37:02.870Z,1761543422.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:02.873Z,1761543422.873 [DAT](INFO): DAT read: Rx Time:05:37:01.5916 2025-10-27T05:37:02.873Z,1761543422.873 [DAT](INFO): Rx dataTimestamp_ set to:1761543422.872792 2025-10-27T05:37:02.874Z,1761543422.874 [DAT](INFO): DAT read: Bearing 149.3, 2.0 (Local) 2025-10-27T05:37:02.883Z,1761543422.883 [DAT](INFO): Local bearing/azimuth received: Bearing 149.3, 2.0 (Local) 2025-10-27T05:37:02.885Z,1761543422.885 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 2025-10-27T05:37:02.889Z,1761543422.889 [DAT](INFO): DAT read: 05:37:01.5916 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.29, 0.497,-1.268, 0.518, 0.429, PHS= 0.170,-1.652, 0.045, RAW= 146.5, 16.1, CAL= 146.4, 17.7, ROT= 3.6, -17.7 2025-10-27T05:37:02.891Z,1761543422.891 [DAT](INFO): got valid direction response: 05:37:01.5916 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.29, 0.497,-1.268, 0.518, 0.429, PHS= 0.170,-1.652, 0.045, RAW= 146.5, 16.1, CAL= 146.4, 17.7, ROT= 3.6, -17.7 2025-10-27T05:37:02.900Z,1761543422.900 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:37:02.901Z,1761543422.901 [DAT](INFO): direction in FSK: [0.950782,0.059818,0.304033] 2025-10-27T05:37:02.901Z,1761543422.901 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:02.909Z,1761543422.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503947 s, deltaX: -0.300001 m, approachRate: -0.595303 m/s, rangeRepo size: 4 2025-10-27T05:37:02.909Z,1761543422.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-27T05:37:02.913Z,1761543422.913 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.186974 2025-10-27T05:37:02.924Z,1761543422.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.561983 m, nav range: 24.561571 m, bearing: 330.992184 deg, approach rate: -0.493270 m/s, LOS rate: 0.008769 deg/s, cmd heading: 323.100377 deg, new cmd heading: 323.110825 deg. 2025-10-27T05:37:02.925Z,1761543422.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639348 target range: 25.561983 and range: 25.40 m. 2025-10-27T05:37:03.129Z,1761543423.129 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.402214 2025-10-27T05:37:03.293Z,1761543423.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814488,0.574617,0.080159],[-0.578941,0.795924,0.177007],[0.037910,-0.190578,0.980940]] 2025-10-27T05:37:03.377Z,1761543423.377 [DAT](INFO): DAT read: Rx Time:05:37:02.0915 2025-10-27T05:37:03.377Z,1761543423.377 [DAT](INFO): Rx dataTimestamp_ set to:1761543423.376792 2025-10-27T05:37:03.378Z,1761543423.378 [DAT](INFO): DAT read: Bearing 147.3, 2.8 (Local) 2025-10-27T05:37:03.379Z,1761543423.379 [DAT](INFO): Local bearing/azimuth received: Bearing 147.3, 2.8 (Local) 2025-10-27T05:37:03.381Z,1761543423.381 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 2025-10-27T05:37:03.385Z,1761543423.385 [DAT](INFO): DAT read: 05:37:02.0915 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.02, 1.043,-0.705, 1.056, 0.914, PHS= 0.231,-1.574, 0.098, RAW= 146.2, 14.2, CAL= 146.0, 15.5, ROT= 4.0, -15.5 2025-10-27T05:37:03.387Z,1761543423.387 [DAT](INFO): got valid direction response: 05:37:02.0915 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.02, 1.043,-0.705, 1.056, 0.914, PHS= 0.231,-1.574, 0.098, RAW= 146.2, 14.2, CAL= 146.0, 15.5, ROT= 4.0, -15.5 2025-10-27T05:37:03.389Z,1761543423.389 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:37:03.394Z,1761543423.394 [DAT](INFO): direction in FSK: [0.961283,0.067219,0.267238] 2025-10-27T05:37:03.395Z,1761543423.395 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:03.402Z,1761543423.402 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.676617 2025-10-27T05:37:03.412Z,1761543423.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504000 s, deltaX: -0.299999 m, approachRate: -0.595237 m/s, rangeRepo size: 4 2025-10-27T05:37:03.414Z,1761543423.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.263458 m, bearing: 331.677700 deg, lat: 36.779377 deg, lon: -121.859713 deg, deltaT: 0.503947 s, deltaX: -0.298525 m, approachRate: -0.592373 m/s, posRepo size: 4 2025-10-27T05:37:03.423Z,1761543423.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-27T05:37:03.426Z,1761543423.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.263458 m, nav range: 24.155542 m, bearing: 331.025057 deg, approach rate: 0.000000 m/s, LOS rate: 0.008769 deg/s, cmd heading: 323.110814 deg, new cmd heading: 323.123934 deg. 2025-10-27T05:37:03.431Z,1761543423.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639576 target range: 25.263458 and range: 25.10 m. 2025-10-27T05:37:03.628Z,1761543423.628 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.902445 2025-10-27T05:37:03.788Z,1761543423.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814354,0.574912,0.079398],[-0.579153,0.796159,0.175252],[0.037541,-0.188701,0.981317]] 2025-10-27T05:37:03.840Z,1761543423.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-27T05:37:03.842Z,1761543423.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.263458 m, nav range: 23.907557 m, bearing: 331.007380 deg, approach rate: -0.573093 m/s, LOS rate: -0.041276 deg/s, cmd heading: 323.123928 deg, new cmd heading: 323.070346 deg. 2025-10-27T05:37:03.844Z,1761543423.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638641 target range: 25.263458 and range: 25.10 m. 2025-10-27T05:37:03.882Z,1761543423.882 [DAT](INFO): DAT read: Rx Time:05:37:02.5912 2025-10-27T05:37:03.882Z,1761543423.882 [DAT](INFO): Rx dataTimestamp_ set to:1761543423.881888 2025-10-27T05:37:03.884Z,1761543423.884 [DAT](INFO): DAT read: Bearing 145.4, 3.1 (Local) 2025-10-27T05:37:03.884Z,1761543423.884 [DAT](INFO): Local bearing/azimuth received: Bearing 145.4, 3.1 (Local) 2025-10-27T05:37:03.886Z,1761543423.886 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 2025-10-27T05:37:03.891Z,1761543423.891 [DAT](INFO): DAT read: 05:37:02.5912 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.35, 0.233,-1.549, 0.248, 0.051, PHS= 0.284,-1.555, 0.153, RAW= 146.3, 12.5, CAL= 146.1, 13.7, ROT= 3.9, -13.7 2025-10-27T05:37:03.892Z,1761543423.892 [DAT](INFO): got valid direction response: 05:37:02.5912 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.35, 0.233,-1.549, 0.248, 0.051, PHS= 0.284,-1.555, 0.153, RAW= 146.3, 12.5, CAL= 146.1, 13.7, ROT= 3.9, -13.7 2025-10-27T05:37:03.893Z,1761543423.893 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:37:03.894Z,1761543423.894 [DAT](INFO): direction in FSK: [0.969299,0.066080,0.236838] 2025-10-27T05:37:03.896Z,1761543423.896 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:03.906Z,1761543423.906 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.180508 2025-10-27T05:37:04.132Z,1761543424.132 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.406248 2025-10-27T05:37:04.170Z,1761543424.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814259,0.575154,0.078615],[-0.579315,0.796457,0.173348],[0.037088,-0.186693,0.981718]] 2025-10-27T05:37:04.213Z,1761543424.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.505096 s, deltaX: -0.300001 m, approachRate: -0.593949 m/s, rangeRepo size: 4 2025-10-27T05:37:04.215Z,1761543424.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.666744 m, bearing: 331.053803 deg, lat: 36.779378 deg, lon: -121.859713 deg, deltaT: 1.009096 s, deltaX: -0.596714 m, approachRate: -0.591335 m/s, posRepo size: 4 2025-10-27T05:37:04.216Z,1761543424.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.67 m. 2025-10-27T05:37:04.218Z,1761543424.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.666744 m, nav range: 23.825823 m, bearing: 331.132868 deg, approach rate: 0.000000 m/s, LOS rate: -0.041276 deg/s, cmd heading: 323.070352 deg, new cmd heading: 323.024225 deg. 2025-10-27T05:37:04.221Z,1761543424.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637836 target range: 24.666744 and range: 24.80 m. 2025-10-27T05:37:04.389Z,1761543424.389 [DAT](INFO): DAT read: Rx Time:05:37:03.0912 2025-10-27T05:37:04.390Z,1761543424.390 [DAT](INFO): Rx dataTimestamp_ set to:1761543424.389456 2025-10-27T05:37:04.399Z,1761543424.399 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 2025-10-27T05:37:04.400Z,1761543424.400 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-27T05:37:04.400Z,1761543424.400 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.674726 2025-10-27T05:37:04.581Z,1761543424.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814378,0.575109,0.077706],[-0.579177,0.796985,0.171373],[0.036628,-0.184568,0.982137]] 2025-10-27T05:37:04.630Z,1761543424.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.507568 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:04.631Z,1761543424.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.67 m. 2025-10-27T05:37:04.634Z,1761543424.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.666744 m, nav range: 23.628742 m, bearing: 331.093766 deg, approach rate: -0.472230 m/s, LOS rate: -0.094476 deg/s, cmd heading: 323.024235 deg, new cmd heading: 322.905949 deg. 2025-10-27T05:37:04.636Z,1761543424.636 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.910360 2025-10-27T05:37:04.637Z,1761543424.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635772 target range: 24.666744 and range: 24.80 m. 2025-10-27T05:37:04.888Z,1761543424.888 [DAT](INFO): DAT read: Rx Time:05:37:03.5909 2025-10-27T05:37:04.889Z,1761543424.889 [DAT](INFO): Rx dataTimestamp_ set to:1761543424.888633 2025-10-27T05:37:04.890Z,1761543424.890 [DAT](INFO): DAT read: Bearing 149.0, 2.5 (Local) 2025-10-27T05:37:04.890Z,1761543424.890 [DAT](INFO): Local bearing/azimuth received: Bearing 149.0, 2.5 (Local) 2025-10-27T05:37:04.893Z,1761543424.893 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 2025-10-27T05:37:04.897Z,1761543424.897 [DAT](INFO): DAT read: 05:37:03.5909 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.11, 1.037,-0.663, 1.049, 0.966, PHS= 0.173,-1.583, 0.039, RAW= 146.1, 16.0, CAL= 145.9, 17.5, ROT= 4.1, -17.5 2025-10-27T05:37:04.898Z,1761543424.898 [DAT](INFO): got valid direction response: 05:37:03.5909 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.11, 1.037,-0.663, 1.049, 0.966, PHS= 0.173,-1.583, 0.039, RAW= 146.1, 16.0, CAL= 145.9, 17.5, ROT= 4.1, -17.5 2025-10-27T05:37:04.899Z,1761543424.899 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:37:04.900Z,1761543424.900 [DAT](INFO): direction in FSK: [0.951276,0.068188,0.300706] 2025-10-27T05:37:04.900Z,1761543424.900 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:04.904Z,1761543424.904 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.177803 2025-10-27T05:37:05.046Z,1761543425.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.499177 s, deltaX: -0.500000 m, approachRate: -1.001649 m/s, rangeRepo size: 4 2025-10-27T05:37:05.054Z,1761543425.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.169430 m, bearing: 332.005899 deg, lat: 36.779378 deg, lon: -121.859711 deg, deltaT: 1.006745 s, deltaX: -0.497314 m, approachRate: -0.493983 m/s, posRepo size: 4 2025-10-27T05:37:05.060Z,1761543425.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:37:05.069Z,1761543425.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.169430 m, nav range: 23.351248 m, bearing: 331.474126 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.905936 deg, new cmd heading: 322.789882 deg. 2025-10-27T05:37:05.071Z,1761543425.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633746 target range: 24.169430 and range: 24.30 m. 2025-10-27T05:37:05.141Z,1761543425.141 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.415064 2025-10-27T05:37:05.401Z,1761543425.401 [DAT](INFO): DAT read: Rx Time:05:37:04.0909 2025-10-27T05:37:05.401Z,1761543425.401 [DAT](INFO): Rx dataTimestamp_ set to:1761543425.400790 2025-10-27T05:37:05.402Z,1761543425.402 [DAT](INFO): DAT read: Bearing 147.3, 3.0 (Local) 2025-10-27T05:37:05.403Z,1761543425.403 [DAT](INFO): Local bearing/azimuth received: Bearing 147.3, 3.0 (Local) 2025-10-27T05:37:05.405Z,1761543425.405 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 2025-10-27T05:37:05.409Z,1761543425.409 [DAT](INFO): DAT read: 05:37:04.0909 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.23,-0.983,-2.728,-0.981,-1.106, PHS= 0.225,-1.577, 0.081, RAW= 145.9, 14.5, CAL= 145.6, 15.9, ROT= 4.4, -15.9 2025-10-27T05:37:05.410Z,1761543425.410 [DAT](INFO): got valid direction response: 05:37:04.0909 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.23,-0.983,-2.728,-0.981,-1.106, PHS= 0.225,-1.577, 0.081, RAW= 145.9, 14.5, CAL= 145.6, 15.9, ROT= 4.4, -15.9 2025-10-27T05:37:05.415Z,1761543425.415 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:37:05.416Z,1761543425.416 [DAT](INFO): direction in FSK: [0.958907,0.073784,0.273959] 2025-10-27T05:37:05.416Z,1761543425.416 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:05.420Z,1761543425.420 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.693899 2025-10-27T05:37:05.592Z,1761543425.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.512157 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:05.594Z,1761543425.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.169516 m, bearing: 331.972356 deg, lat: 36.779378 deg, lon: -121.859709 deg, deltaT: 0.512157 s, deltaX: 0.000086 m, approachRate: 0.000168 m/s, posRepo size: 4 2025-10-27T05:37:05.594Z,1761543425.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-27T05:37:05.601Z,1761543425.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.169516 m, nav range: 23.027296 m, bearing: 331.762220 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.789877 deg, new cmd heading: 322.634566 deg. 2025-10-27T05:37:05.602Z,1761543425.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631035 target range: 24.169516 and range: 24.30 m. 2025-10-27T05:37:05.653Z,1761543425.653 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.927074 2025-10-27T05:37:05.900Z,1761543425.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811023,0.579440,0.080568],[-0.583881,0.793169,0.173106],[0.036400,-0.187435,0.981602]] 2025-10-27T05:37:05.905Z,1761543425.905 [DAT](INFO): DAT read: Rx Time:05:37:04.5906 2025-10-27T05:37:05.905Z,1761543425.905 [DAT](INFO): Rx dataTimestamp_ set to:1761543425.904786 2025-10-27T05:37:05.906Z,1761543425.906 [DAT](INFO): DAT read: Bearing 148.3, 2.9 (Local) 2025-10-27T05:37:05.907Z,1761543425.907 [DAT](INFO): Local bearing/azimuth received: Bearing 148.3, 2.9 (Local) 2025-10-27T05:37:05.909Z,1761543425.909 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 2025-10-27T05:37:05.926Z,1761543425.926 [DAT](INFO): DAT read: 05:37:04.5906 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.11, 0.607,-1.114, 0.606, 0.515, PHS= 0.195,-1.583, 0.048, RAW= 145.7, 15.5, CAL= 145.5, 17.0, ROT= 4.5, -17.0 2025-10-27T05:37:05.927Z,1761543425.927 [DAT](INFO): got valid direction response: 05:37:04.5906 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506, 0.11, 0.607,-1.114, 0.606, 0.515, PHS= 0.195,-1.583, 0.048, RAW= 145.7, 15.5, CAL= 145.5, 17.0, ROT= 4.5, -17.0 2025-10-27T05:37:05.927Z,1761543425.927 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:37:05.928Z,1761543425.928 [DAT](INFO): direction in FSK: [0.953357,0.075031,0.292372] 2025-10-27T05:37:05.928Z,1761543425.928 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:05.941Z,1761543425.941 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.214851 2025-10-27T05:37:06.016Z,1761543426.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503996 s, deltaX: -0.400000 m, approachRate: -0.793656 m/s, rangeRepo size: 4 2025-10-27T05:37:06.018Z,1761543426.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.771664 m, bearing: 332.012335 deg, lat: 36.779378 deg, lon: -121.859709 deg, deltaT: 0.503996 s, deltaX: -0.397852 m, approachRate: -0.789395 m/s, posRepo size: 4 2025-10-27T05:37:06.018Z,1761543426.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-27T05:37:06.030Z,1761543426.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.771664 m, nav range: 22.825474 m, bearing: 331.775505 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.634559 deg, new cmd heading: 322.515557 deg. 2025-10-27T05:37:06.031Z,1761543426.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628958 target range: 23.771664 and range: 23.90 m. 2025-10-27T05:37:06.156Z,1761543426.156 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.430536 2025-10-27T05:37:06.412Z,1761543426.412 [DAT](INFO): DAT read: Rx Time:05:37:05.0906 2025-10-27T05:37:06.414Z,1761543426.414 [DAT](INFO): Rx dataTimestamp_ set to:1761543426.412791 2025-10-27T05:37:06.418Z,1761543426.418 [DAT](INFO): DAT read: Bearing 148.4, 2.9 (Local) 2025-10-27T05:37:06.430Z,1761543426.430 [DAT](INFO): Local bearing/azimuth received: Bearing 148.4, 2.9 (Local) 2025-10-27T05:37:06.432Z,1761543426.432 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 2025-10-27T05:37:06.440Z,1761543426.440 [DAT](INFO): DAT read: 05:37:05.0906 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.35, 0.564,-1.218, 0.557, 0.473, PHS= 0.194,-1.645, 0.040, RAW= 145.7, 15.8, CAL= 145.4, 17.3, ROT= 4.6, -17.3 2025-10-27T05:37:06.442Z,1761543426.442 [DAT](INFO): got valid direction response: 05:37:05.0906 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.35, 0.564,-1.218, 0.557, 0.473, PHS= 0.194,-1.645, 0.040, RAW= 145.7, 15.8, CAL= 145.4, 17.3, ROT= 4.6, -17.3 2025-10-27T05:37:06.442Z,1761543426.442 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:37:06.443Z,1761543426.443 [DAT](INFO): direction in FSK: [0.951685,0.076571,0.297375] 2025-10-27T05:37:06.443Z,1761543426.443 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:06.457Z,1761543426.457 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.721088 2025-10-27T05:37:06.473Z,1761543426.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809994,0.581010,0.079601],[-0.585316,0.792571,0.170983],[0.036253,-0.185087,0.982053]] 2025-10-27T05:37:06.626Z,1761543426.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.508005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:06.637Z,1761543426.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.771664 m, bearing: 332.032565 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.508005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:37:06.637Z,1761543426.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-27T05:37:06.644Z,1761543426.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.771664 m, nav range: 22.489874 m, bearing: 331.907724 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.515549 deg, new cmd heading: 322.340106 deg. 2025-10-27T05:37:06.645Z,1761543426.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625896 target range: 23.771664 and range: 23.90 m. 2025-10-27T05:37:06.660Z,1761543426.660 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.934378 2025-10-27T05:37:06.913Z,1761543426.913 [DAT](INFO): DAT read: Rx Time:05:37:05.5903 2025-10-27T05:37:06.913Z,1761543426.913 [DAT](INFO): Rx dataTimestamp_ set to:1761543426.912728 2025-10-27T05:37:06.914Z,1761543426.914 [DAT](INFO): DAT read: Bearing 146.9, 3.1 (Local) 2025-10-27T05:37:06.915Z,1761543426.915 [DAT](INFO): Local bearing/azimuth received: Bearing 146.9, 3.1 (Local) 2025-10-27T05:37:06.917Z,1761543426.917 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 2025-10-27T05:37:06.922Z,1761543426.922 [DAT](INFO): DAT read: 05:37:05.5903 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.14, 0.491,-1.267, 0.489, 0.364, PHS= 0.229,-1.586, 0.081, RAW= 145.8, 14.5, CAL= 145.5, 15.9, ROT= 4.5, -15.9 2025-10-27T05:37:06.926Z,1761543426.926 [DAT](INFO): got valid direction response: 05:37:05.5903 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.14, 0.491,-1.267, 0.489, 0.364, PHS= 0.229,-1.586, 0.081, RAW= 145.8, 14.5, CAL= 145.5, 15.9, ROT= 4.5, -15.9 2025-10-27T05:37:06.926Z,1761543426.926 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:37:06.928Z,1761543426.928 [DAT](INFO): direction in FSK: [0.958777,0.075457,0.273959] 2025-10-27T05:37:06.929Z,1761543426.929 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:06.933Z,1761543426.933 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.206772 2025-10-27T05:37:07.164Z,1761543427.164 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.438278 2025-10-27T05:37:07.169Z,1761543427.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.499937 s, deltaX: -0.500000 m, approachRate: -1.000126 m/s, rangeRepo size: 4 2025-10-27T05:37:07.175Z,1761543427.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.274349 m, bearing: 331.645519 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.499937 s, deltaX: -0.497314 m, approachRate: -0.994754 m/s, posRepo size: 4 2025-10-27T05:37:07.176Z,1761543427.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-27T05:37:07.178Z,1761543427.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.274349 m, nav range: 22.239407 m, bearing: 331.817544 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.340095 deg, new cmd heading: 322.186387 deg. 2025-10-27T05:37:07.184Z,1761543427.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623213 target range: 23.274349 and range: 23.40 m. 2025-10-27T05:37:07.405Z,1761543427.405 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:37:07.422Z,1761543427.422 [DAT](INFO): DAT read: Rx Time:05:37:06.0902 2025-10-27T05:37:07.424Z,1761543427.424 [DAT](INFO): Rx dataTimestamp_ set to:1761543427.423184 2025-10-27T05:37:07.441Z,1761543427.441 [DAT](INFO): DAT read: Bearing 148.2, 3.1 (Local) 2025-10-27T05:37:07.441Z,1761543427.441 [DAT](INFO): Local bearing/azimuth received: Bearing 148.2, 3.1 (Local) 2025-10-27T05:37:07.444Z,1761543427.444 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 2025-10-27T05:37:07.449Z,1761543427.449 [DAT](INFO): DAT read: 05:37:06.0902 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.25,-0.285,-2.067,-0.303,-0.384, PHS= 0.200,-1.638, 0.037, RAW= 145.4, 15.7, CAL= 145.1, 17.2, ROT= 4.9, -17.2 2025-10-27T05:37:07.450Z,1761543427.450 [DAT](INFO): got valid direction response: 05:37:06.0902 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.25,-0.285,-2.067,-0.303,-0.384, PHS= 0.200,-1.638, 0.037, RAW= 145.4, 15.7, CAL= 145.1, 17.2, ROT= 4.9, -17.2 2025-10-27T05:37:07.451Z,1761543427.451 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:37:07.468Z,1761543427.468 [DAT](INFO): direction in FSK: [0.951787,0.081597,0.295708] 2025-10-27T05:37:07.469Z,1761543427.469 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:07.483Z,1761543427.483 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.753065 2025-10-27T05:37:07.656Z,1761543427.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.510456 s, deltaX: -0.100000 m, approachRate: -0.195904 m/s, rangeRepo size: 4 2025-10-27T05:37:07.658Z,1761543427.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.174889 m, bearing: 332.307353 deg, lat: 36.779379 deg, lon: -121.859708 deg, deltaT: 0.510456 s, deltaX: -0.099461 m, approachRate: -0.194847 m/s, posRepo size: 4 2025-10-27T05:37:07.663Z,1761543427.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-27T05:37:07.666Z,1761543427.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.174889 m, nav range: 22.118605 m, bearing: 331.896058 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.186389 deg, new cmd heading: 322.049588 deg. 2025-10-27T05:37:07.668Z,1761543427.668 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.942368 2025-10-27T05:37:07.671Z,1761543427.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620826 target range: 23.174889 and range: 23.30 m. 2025-10-27T05:37:07.921Z,1761543427.921 [DAT](INFO): DAT read: Rx Time:05:37:06.5899 2025-10-27T05:37:07.921Z,1761543427.921 [DAT](INFO): Rx dataTimestamp_ set to:1761543427.920701 2025-10-27T05:37:07.922Z,1761543427.922 [DAT](INFO): DAT read: Bearing 145.8, 3.4 (Local) 2025-10-27T05:37:07.923Z,1761543427.923 [DAT](INFO): Local bearing/azimuth received: Bearing 145.8, 3.4 (Local) 2025-10-27T05:37:07.925Z,1761543427.925 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 2025-10-27T05:37:07.930Z,1761543427.930 [DAT](INFO): DAT read: 05:37:06.5899 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.29,-0.740,-2.511,-0.751,-0.898, PHS= 0.260,-1.568, 0.104, RAW= 145.6, 13.6, CAL= 145.3, 14.9, ROT= 4.7, -14.9 2025-10-27T05:37:07.931Z,1761543427.931 [DAT](INFO): got valid direction response: 05:37:06.5899 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.29,-0.740,-2.511,-0.751,-0.898, PHS= 0.260,-1.568, 0.104, RAW= 145.6, 13.6, CAL= 145.3, 14.9, ROT= 4.7, -14.9 2025-10-27T05:37:07.934Z,1761543427.934 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:37:07.936Z,1761543427.936 [DAT](INFO): direction in FSK: [0.963127,0.079183,0.257133] 2025-10-27T05:37:07.936Z,1761543427.936 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:07.953Z,1761543427.953 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.227144 2025-10-27T05:37:08.172Z,1761543428.172 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.446335 2025-10-27T05:37:08.177Z,1761543428.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.497517 s, deltaX: -0.500000 m, approachRate: -1.004991 m/s, rangeRepo size: 4 2025-10-27T05:37:08.181Z,1761543428.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.677574 m, bearing: 331.639074 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.497517 s, deltaX: -0.497314 m, approachRate: -0.999593 m/s, posRepo size: 4 2025-10-27T05:37:08.181Z,1761543428.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:37:08.216Z,1761543428.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.677574 m, nav range: 21.802631 m, bearing: 331.711901 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 322.049594 deg, new cmd heading: 321.900554 deg. 2025-10-27T05:37:08.216Z,1761543428.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618225 target range: 22.677574 and range: 22.80 m. 2025-10-27T05:37:08.408Z,1761543428.408 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:37:08.429Z,1761543428.429 [DAT](INFO): DAT read: Rx Time:05:37:07.0899 2025-10-27T05:37:08.431Z,1761543428.431 [DAT](INFO): Rx dataTimestamp_ set to:1761543428.430025 2025-10-27T05:37:08.448Z,1761543428.448 [DAT](INFO): DAT read: Bearing 147.1, 3.3 (Local) 2025-10-27T05:37:08.449Z,1761543428.449 [DAT](INFO): Local bearing/azimuth received: Bearing 147.1, 3.3 (Local) 2025-10-27T05:37:08.457Z,1761543428.457 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 2025-10-27T05:37:08.475Z,1761543428.475 [DAT](INFO): DAT read: 05:37:07.0899 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.10,-0.795,-2.556,-0.813,-0.916, PHS= 0.223,-1.595, 0.059, RAW= 145.3, 14.9, CAL= 145.0, 16.3, ROT= 5.0, -16.3 2025-10-27T05:37:08.476Z,1761543428.476 [DAT](INFO): got valid direction response: 05:37:07.0899 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.10,-0.795,-2.556,-0.813,-0.916, PHS= 0.223,-1.595, 0.059, RAW= 145.3, 14.9, CAL= 145.0, 16.3, ROT= 5.0, -16.3 2025-10-27T05:37:08.476Z,1761543428.476 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:37:08.477Z,1761543428.477 [DAT](INFO): direction in FSK: [0.956153,0.083653,0.280667] 2025-10-27T05:37:08.478Z,1761543428.478 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:08.486Z,1761543428.486 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.759766 2025-10-27T05:37:08.621Z,1761543428.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805125,0.586071,0.091073],[-0.592154,0.785607,0.179376],[0.033580,-0.198350,0.979556]] 2025-10-27T05:37:08.676Z,1761543428.676 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.950293 2025-10-27T05:37:08.680Z,1761543428.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.509324 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:08.682Z,1761543428.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.677439 m, bearing: 331.939428 deg, lat: 36.779379 deg, lon: -121.859708 deg, deltaT: 0.509324 s, deltaX: -0.000135 m, approachRate: -0.000266 m/s, posRepo size: 4 2025-10-27T05:37:08.683Z,1761543428.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-27T05:37:08.685Z,1761543428.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.677439 m, nav range: 21.644127 m, bearing: 331.795661 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.900559 deg, new cmd heading: 321.758165 deg. 2025-10-27T05:37:08.686Z,1761543428.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615739 target range: 22.677439 and range: 22.80 m. 2025-10-27T05:37:08.930Z,1761543428.930 [DAT](INFO): DAT read: Rx Time:05:37:07.5896 2025-10-27T05:37:08.931Z,1761543428.931 [DAT](INFO): Rx dataTimestamp_ set to:1761543428.930042 2025-10-27T05:37:08.932Z,1761543428.932 [DAT](INFO): DAT read: Bearing 149.0, 2.0 (Local) 2025-10-27T05:37:08.933Z,1761543428.933 [DAT](INFO): Local bearing/azimuth received: Bearing 149.0, 2.0 (Local) 2025-10-27T05:37:08.935Z,1761543428.935 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T05:37:08.942Z,1761543428.942 [DAT](INFO): DAT read: 05:37:07.5896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.44,-0.739,-2.506,-0.735,-0.789, PHS= 0.152,-1.671, 0.011, RAW= 146.0, 16.9, CAL= 145.8, 18.5, ROT= 4.2, -18.5 2025-10-27T05:37:08.943Z,1761543428.944 [DAT](INFO): got valid direction response: 05:37:07.5896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.44,-0.739,-2.506,-0.735,-0.789, PHS= 0.152,-1.671, 0.011, RAW= 146.0, 16.9, CAL= 145.8, 18.5, ROT= 4.2, -18.5 2025-10-27T05:37:08.944Z,1761543428.944 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:37:08.945Z,1761543428.945 [DAT](INFO): direction in FSK: [0.945777,0.069454,0.317305] 2025-10-27T05:37:08.945Z,1761543428.945 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:08.954Z,1761543428.954 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.228365 2025-10-27T05:37:09.180Z,1761543429.180 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.454248 2025-10-27T05:37:09.191Z,1761543429.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804964,0.586234,0.091445],[-0.592409,0.785564,0.178723],[0.032937,-0.198039,0.979641]] 2025-10-27T05:37:09.249Z,1761543429.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.500017 s, deltaX: -0.400000 m, approachRate: -0.799972 m/s, rangeRepo size: 4 2025-10-27T05:37:09.266Z,1761543429.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.279589 m, bearing: 331.617592 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.500017 s, deltaX: -0.397850 m, approachRate: -0.795673 m/s, posRepo size: 4 2025-10-27T05:37:09.273Z,1761543429.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.28 m. 2025-10-27T05:37:09.281Z,1761543429.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.279589 m, nav range: 21.296637 m, bearing: 331.680737 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.758163 deg, new cmd heading: 321.606552 deg. 2025-10-27T05:37:09.284Z,1761543429.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613093 target range: 22.279589 and range: 22.40 m. 2025-10-27T05:37:09.437Z,1761543429.437 [DAT](INFO): DAT read: Rx Time:05:37:08.0896 2025-10-27T05:37:09.441Z,1761543429.441 [DAT](INFO): Rx dataTimestamp_ set to:1761543429.438159 2025-10-27T05:37:09.459Z,1761543429.459 [DAT](INFO): DAT read: Bearing 142.7, 4.9 (Local) 2025-10-27T05:37:09.460Z,1761543429.460 [DAT](INFO): Local bearing/azimuth received: Bearing 142.7, 4.9 (Local) 2025-10-27T05:37:09.462Z,1761543429.462 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T05:37:09.480Z,1761543429.480 [DAT](INFO): DAT read: 05:37:08.0896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.11, 1.107,-1.141, 1.020, 0.757, PHS= 0.452,-1.853, 0.219, RAW= 144.7, 10.8, CAL= 144.3, 11.7, ROT= 5.7, -11.7 2025-10-27T05:37:09.481Z,1761543429.481 [DAT](INFO): got valid direction response: 05:37:08.0896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.11, 1.107,-1.141, 1.020, 0.757, PHS= 0.452,-1.853, 0.219, RAW= 144.7, 10.8, CAL= 144.3, 11.7, ROT= 5.7, -11.7 2025-10-27T05:37:09.482Z,1761543429.482 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:37:09.482Z,1761543429.482 [DAT](INFO): direction in FSK: [0.974381,0.097256,0.202787] 2025-10-27T05:37:09.487Z,1761543429.487 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:09.490Z,1761543429.490 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.764725 2025-10-27T05:37:09.598Z,1761543429.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804890,0.586392,0.091086],[-0.592537,0.785767,0.177401],[0.032454,-0.196760,0.979914]] 2025-10-27T05:37:09.684Z,1761543429.684 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.958294 2025-10-27T05:37:09.694Z,1761543429.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.508117 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:09.702Z,1761543429.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.279589 m, bearing: 331.595621 deg, lat: 36.779379 deg, lon: -121.859708 deg, deltaT: 0.508117 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:37:09.707Z,1761543429.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.28 m. 2025-10-27T05:37:09.717Z,1761543429.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.279589 m, nav range: 21.165699 m, bearing: 331.813303 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.606560 deg, new cmd heading: 321.470556 deg. 2025-10-27T05:37:09.725Z,1761543429.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610720 target range: 22.279589 and range: 22.40 m. 2025-10-27T05:37:09.937Z,1761543429.937 [DAT](INFO): DAT read: Rx Time:05:37:08.5894 2025-10-27T05:37:09.937Z,1761543429.937 [DAT](INFO): Rx dataTimestamp_ set to:1761543429.936736 2025-10-27T05:37:09.938Z,1761543429.938 [DAT](INFO): DAT read: Bearing 149.4, 1.5 (Local) 2025-10-27T05:37:09.939Z,1761543429.939 [DAT](INFO): Local bearing/azimuth received: Bearing 149.4, 1.5 (Local) 2025-10-27T05:37:09.941Z,1761543429.941 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 2025-10-27T05:37:09.946Z,1761543429.946 [DAT](INFO): DAT read: 05:37:08.5894 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510,-0.20,-1.950, 2.570,-1.938,-1.981, PHS= 0.133,-1.687,-0.001, RAW= 146.2, 17.4, CAL= 146.1, 19.1, ROT= 3.9, -19.1 2025-10-27T05:37:09.950Z,1761543429.950 [DAT](INFO): got valid direction response: 05:37:08.5894 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510,-0.20,-1.950, 2.570,-1.938,-1.981, PHS= 0.133,-1.687,-0.001, RAW= 146.2, 17.4, CAL= 146.1, 19.1, ROT= 3.9, -19.1 2025-10-27T05:37:09.950Z,1761543429.950 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:37:09.952Z,1761543429.952 [DAT](INFO): direction in FSK: [0.942761,0.064271,0.327218] 2025-10-27T05:37:09.952Z,1761543429.952 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:09.965Z,1761543429.965 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.238934 2025-10-27T05:37:10.115Z,1761543430.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804785,0.586411,0.091888],[-0.592731,0.785758,0.176785],[0.031467,-0.196739,0.979951]] 2025-10-27T05:37:10.146Z,1761543430.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.498577 s, deltaX: -0.299999 m, approachRate: -0.601711 m/s, rangeRepo size: 4 2025-10-27T05:37:10.149Z,1761543430.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.981201 m, bearing: 331.408259 deg, lat: 36.779378 deg, lon: -121.859708 deg, deltaT: 0.498577 s, deltaX: -0.298388 m, approachRate: -0.598478 m/s, posRepo size: 4 2025-10-27T05:37:10.149Z,1761543430.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m. 2025-10-27T05:37:10.153Z,1761543430.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.981201 m, nav range: 20.861158 m, bearing: 331.664140 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.470558 deg, new cmd heading: 321.342504 deg. 2025-10-27T05:37:10.154Z,1761543430.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608485 target range: 21.981201 and range: 22.10 m. 2025-10-27T05:37:10.188Z,1761543430.188 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.462057 2025-10-27T05:37:10.445Z,1761543430.445 [DAT](INFO): DAT read: Rx Time:05:37:09.0893 2025-10-27T05:37:10.447Z,1761543430.447 [DAT](INFO): Rx dataTimestamp_ set to:1761543430.445802 2025-10-27T05:37:10.451Z,1761543430.451 [DAT](INFO): DAT read: Bearing 145.6, 2.7 (Local) 2025-10-27T05:37:10.466Z,1761543430.466 [DAT](INFO): Local bearing/azimuth received: Bearing 145.6, 2.7 (Local) 2025-10-27T05:37:10.482Z,1761543430.482 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T05:37:10.517Z,1761543430.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804247,0.586956,0.093108],[-0.593504,0.785174,0.176794],[0.030664,-0.197446,0.979834]] 2025-10-27T05:37:10.540Z,1761543430.540 [DAT](INFO): DAT read: 05:37:09.0893 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.43, 0.268,-1.496, 0.273, 0.124, PHS= 0.246,-1.575, 0.105, RAW= 146.0, 13.9, CAL= 145.7, 15.2, ROT= 4.3, -15.2 2025-10-27T05:37:10.551Z,1761543430.551 [DAT](INFO): got valid direction response: 05:37:09.0893 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509, 0.43, 0.268,-1.496, 0.273, 0.124, PHS= 0.246,-1.575, 0.105, RAW= 146.0, 13.9, CAL= 145.7, 15.2, ROT= 4.3, -15.2 2025-10-27T05:37:10.552Z,1761543430.552 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:37:10.554Z,1761543430.554 [DAT](INFO): direction in FSK: [0.962300,0.072356,0.262189] 2025-10-27T05:37:10.554Z,1761543430.554 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:10.578Z,1761543430.578 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.852383 2025-10-27T05:37:10.675Z,1761543430.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.509066 s, deltaX: -0.200001 m, approachRate: -0.392878 m/s, rangeRepo size: 4 2025-10-27T05:37:10.677Z,1761543430.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.782391 m, bearing: 330.901289 deg, lat: 36.779380 deg, lon: -121.859708 deg, deltaT: 0.509066 s, deltaX: -0.198811 m, approachRate: -0.390540 m/s, posRepo size: 4 2025-10-27T05:37:10.678Z,1761543430.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-27T05:37:10.685Z,1761543430.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.782391 m, nav range: 20.760084 m, bearing: 331.910540 deg, approach rate: 0.000000 m/s, LOS rate: -0.094476 deg/s, cmd heading: 321.342505 deg, new cmd heading: 321.193777 deg. 2025-10-27T05:37:10.686Z,1761543430.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605889 target range: 21.782391 and range: 21.90 m. 2025-10-27T05:37:10.692Z,1761543430.692 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.966389 2025-10-27T05:37:10.945Z,1761543430.945 [DAT](INFO): DAT read: Rx Time:05:37:09.5891 2025-10-27T05:37:10.946Z,1761543430.946 [DAT](INFO): Rx dataTimestamp_ set to:1761543430.945452 2025-10-27T05:37:10.947Z,1761543430.947 [DAT](INFO): DAT read: Bearing 147.2, 2.5 (Local) 2025-10-27T05:37:10.948Z,1761543430.948 [DAT](INFO): Local bearing/azimuth received: Bearing 147.2, 2.5 (Local) 2025-10-27T05:37:10.949Z,1761543430.949 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 2025-10-27T05:37:10.953Z,1761543430.953 [DAT](INFO): DAT read: 05:37:09.5891 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.00,-0.789,-2.526,-0.789145.8, 15.2, CAL= 145.5, 16.7, ROT= 4.5, -16.7 2025-10-27T05:37:10.954Z,1761543430.954 [DAT](INFO): unknown deviceResponse_: 05:37:09.5891 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.00,-0.789,-2.526,-0.789145.8, 15.2, CAL= 145.5, 16.7, ROT= 4.5, -16.7 2025-10-27T05:37:10.954Z,1761543430.954 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-27T05:37:10.962Z,1761543430.962 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.234903 2025-10-27T05:37:11.114Z,1761543431.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:11.117Z,1761543431.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.499650 s, deltaX: -0.299999 m, approachRate: -0.600419 m/s, rangeRepo size: 4 2025-10-27T05:37:11.117Z,1761543431.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-27T05:37:11.120Z,1761543431.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.782391 m, nav range: 20.533688 m, bearing: 331.934463 deg, approach rate: -0.507867 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.193771 deg, new cmd heading: 321.266330 deg. 2025-10-27T05:37:11.121Z,1761543431.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607155 target range: 21.782391 and range: 21.60 m. 2025-10-27T05:37:11.196Z,1761543431.196 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.470310 2025-10-27T05:37:11.472Z,1761543431.472 [DAT](INFO): DAT read: Rx Time:05:37:10.0890 2025-10-27T05:37:11.474Z,1761543431.474 [DAT](INFO): Rx dataTimestamp_ set to:1761543431.473175 2025-10-27T05:37:11.478Z,1761543431.478 [DAT](INFO): DAT read: Bearing 149.1, 1.4 (Local) 2025-10-27T05:37:11.479Z,1761543431.479 [DAT](INFO): Local bearing/azimuth received: Bearing 149.1, 1.4 (Local) 2025-10-27T05:37:11.486Z,1761543431.486 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 2025-10-27T05:37:11.497Z,1761543431.497 [DAT](INFO): DAT read: 05:37:10.0890 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.37,-1.494, 3.041,-1.479,-1.531, PHS= 0.139,-1.667, 0.007, RAW= 146.2, 17.1, CAL= 146.1, 18.8, ROT= 3.9, -18.8 2025-10-27T05:37:11.498Z,1761543431.498 [DAT](INFO): got valid direction response: 05:37:10.0890 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.37,-1.494, 3.041,-1.479,-1.531, PHS= 0.139,-1.667, 0.007, RAW= 146.2, 17.1, CAL= 146.1, 18.8, ROT= 3.9, -18.8 2025-10-27T05:37:11.498Z,1761543431.498 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:37:11.504Z,1761543431.504 [DAT](INFO): direction in FSK: [0.944457,0.064387,0.322266] 2025-10-27T05:37:11.504Z,1761543431.504 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:11.512Z,1761543431.512 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.786274 2025-10-27T05:37:11.513Z,1761543431.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802464,0.588937,0.095939],[-0.595991,0.783245,0.176979],[0.029086,-0.199198,0.979528]] 2025-10-27T05:37:11.634Z,1761543431.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.527723 s, deltaX: -0.100000 m, approachRate: -0.189494 m/s, rangeRepo size: 4 2025-10-27T05:37:11.645Z,1761543431.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.384413 m, bearing: 331.150832 deg, lat: 36.779378 deg, lon: -121.859710 deg, deltaT: 1.027373 s, deltaX: -0.397978 m, approachRate: -0.387374 m/s, posRepo size: 4 2025-10-27T05:37:11.645Z,1761543431.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-27T05:37:11.672Z,1761543431.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.384413 m, nav range: 20.184135 m, bearing: 331.150890 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.266335 deg, new cmd heading: 321.350590 deg. 2025-10-27T05:37:11.672Z,1761543431.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608626 target range: 21.384413 and range: 21.50 m. 2025-10-27T05:37:11.710Z,1761543431.710 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.984140 2025-10-27T05:37:11.961Z,1761543431.961 [DAT](INFO): DAT read: Rx Time:05:37:10.5887 2025-10-27T05:37:11.961Z,1761543431.961 [DAT](INFO): Rx dataTimestamp_ set to:1761543431.960704 2025-10-27T05:37:11.962Z,1761543431.962 [DAT](INFO): DAT read: Bearing 146.6, 2.8 (Local) 2025-10-27T05:37:11.963Z,1761543431.963 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, 2.8 (Local) 2025-10-27T05:37:11.968Z,1761543431.968 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-27T05:37:11.990Z,1761543431.990 [DAT](INFO): DAT read: 05:37:10.5887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503, 0.12,-0.293,-2.035,-0.299,-0.413, PHS= 0.222,-1.577, 0.070, RAW= 145.6, 14.7, CAL= 145.4, 16.1, ROT= 4.6, -16.1 2025-10-27T05:37:12.050Z,1761543432.050 [DAT](INFO): got valid direction response: 05:37:10.5887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503, 0.12,-0.293,-2.035,-0.299,-0.413, PHS= 0.222,-1.577, 0.070, RAW= 145.6, 14.7, CAL= 145.4, 16.1, ROT= 4.6, -16.1 2025-10-27T05:37:12.050Z,1761543432.050 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:37:12.068Z,1761543432.068 [DAT](INFO): direction in FSK: [0.957684,0.077053,0.277315] 2025-10-27T05:37:12.068Z,1761543432.068 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:12.084Z,1761543432.084 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.358084 2025-10-27T05:37:12.182Z,1761543432.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.487529 s, deltaX: -0.500000 m, approachRate: -1.025580 m/s, rangeRepo size: 4 2025-10-27T05:37:12.204Z,1761543432.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.886654 m, bearing: 331.237907 deg, lat: 36.779379 deg, lon: -121.859711 deg, deltaT: 0.487529 s, deltaX: -0.497759 m, approachRate: -1.020983 m/s, posRepo size: 4 2025-10-27T05:37:12.204Z,1761543432.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T05:37:12.212Z,1761543432.212 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.486334 2025-10-27T05:37:12.213Z,1761543432.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.886654 m, nav range: 20.025740 m, bearing: 331.237965 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.350592 deg, new cmd heading: 321.439757 deg. 2025-10-27T05:37:12.221Z,1761543432.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610182 target range: 20.886654 and range: 21.00 m. 2025-10-27T05:37:12.481Z,1761543432.481 [DAT](INFO): DAT read: Rx Time:05:37:11.0887 2025-10-27T05:37:12.482Z,1761543432.482 [DAT](INFO): Rx dataTimestamp_ set to:1761543432.481470 2025-10-27T05:37:12.492Z,1761543432.492 [DAT](INFO): DAT read: Bearing 146.9, 2.7 (Local) 2025-10-27T05:37:12.493Z,1761543432.493 [DAT](INFO): Local bearing/azimuth received: Bearing 146.9, 2.7 (Local) 2025-10-27T05:37:12.502Z,1761543432.502 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-27T05:37:12.547Z,1761543432.547 [DAT](INFO): DAT read: 05:37:11.0887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.31,-0.871,-2.605,-0.879,-0.980, PHS= 0.212,-1.580, 0.057, RAW= 145.5, 15.1, CAL= 145.3, 16.5, ROT= 4.7, -16.5 2025-10-27T05:37:12.549Z,1761543432.549 [DAT](INFO): got valid direction response: 05:37:11.0887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.31,-0.871,-2.605,-0.879,-0.980, PHS= 0.212,-1.580, 0.057, RAW= 145.5, 15.1, CAL= 145.3, 16.5, ROT= 4.7, -16.5 2025-10-27T05:37:12.550Z,1761543432.550 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:37:12.557Z,1761543432.557 [DAT](INFO): direction in FSK: [0.955596,0.078564,0.284015] 2025-10-27T05:37:12.557Z,1761543432.557 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:12.582Z,1761543432.582 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.855955 2025-10-27T05:37:12.612Z,1761543432.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800294,0.592013,0.095130],[-0.598922,0.781672,0.174013],[0.028658,-0.196237,0.980138]] 2025-10-27T05:37:12.719Z,1761543432.719 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.992508 2025-10-27T05:37:12.776Z,1761543432.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.520766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:12.778Z,1761543432.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.886654 m, bearing: 331.166339 deg, lat: 36.779379 deg, lon: -121.859711 deg, deltaT: 0.520766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:37:12.783Z,1761543432.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-27T05:37:12.786Z,1761543432.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.886654 m, nav range: 19.740074 m, bearing: 331.351222 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.439767 deg, new cmd heading: 321.536454 deg. 2025-10-27T05:37:12.791Z,1761543432.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611870 target range: 20.886654 and range: 21.00 m. 2025-10-27T05:37:12.969Z,1761543432.969 [DAT](INFO): DAT read: Rx Time:05:37:11.5884 2025-10-27T05:37:12.969Z,1761543432.969 [DAT](INFO): Rx dataTimestamp_ set to:1761543432.968866 2025-10-27T05:37:12.970Z,1761543432.970 [DAT](INFO): DAT read: Bearing 147.1, 2.4 (Local) 2025-10-27T05:37:12.974Z,1761543432.974 [DAT](INFO): Local bearing/azimuth received: Bearing 147.1, 2.4 (Local) 2025-10-27T05:37:12.977Z,1761543432.977 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 2025-10-27T05:37:12.982Z,1761543432.982 [DAT](INFO): DAT read: 05:37:11.5884 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.08,-0.380,-2.173,-0.387,-0.483, PHS= 0.205,-1.645, 0.052, RAW= 145.7, 15.4, CAL= 145.5, 16.9, ROT= 4.5, -16.9 2025-10-27T05:37:12.983Z,1761543432.983 [DAT](INFO): got valid direction response: 05:37:11.5884 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.08,-0.380,-2.173,-0.387,-0.483, PHS= 0.205,-1.645, 0.052, RAW= 145.7, 15.4, CAL= 145.5, 16.9, ROT= 4.5, -16.9 2025-10-27T05:37:12.983Z,1761543432.983 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:37:12.984Z,1761543432.984 [DAT](INFO): direction in FSK: [0.953864,0.075071,0.290702] 2025-10-27T05:37:12.984Z,1761543432.984 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:13.003Z,1761543433.003 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.275988 2025-10-27T05:37:13.112Z,1761543433.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797826,0.595300,0.095347],[-0.602226,0.779515,0.172281],[0.028235,-0.194870,0.980422]] 2025-10-27T05:37:13.164Z,1761543433.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.487396 s, deltaX: -0.400000 m, approachRate: -0.820687 m/s, rangeRepo size: 4 2025-10-27T05:37:13.166Z,1761543433.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.488813 m, bearing: 330.797119 deg, lat: 36.779379 deg, lon: -121.859713 deg, deltaT: 0.487396 s, deltaX: -0.397840 m, approachRate: -0.816257 m/s, posRepo size: 4 2025-10-27T05:37:13.166Z,1761543433.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-27T05:37:13.182Z,1761543433.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.488813 m, nav range: 19.576231 m, bearing: 331.066006 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.536455 deg, new cmd heading: 321.598864 deg. 2025-10-27T05:37:13.183Z,1761543433.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612959 target range: 20.488813 and range: 20.60 m. 2025-10-27T05:37:13.223Z,1761543433.223 [DAT](INFO): DAT read: Rx Time:05:37:12.0883 2025-10-27T05:37:13.225Z,1761543433.225 [DAT](INFO): Rx dataTimestamp_ set to:1761543433.224010 2025-10-27T05:37:13.228Z,1761543433.228 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.501011 2025-10-27T05:37:13.497Z,1761543433.497 [DAT](INFO): DAT read: Bearing 147.4, 2.2 (Local) 2025-10-27T05:37:13.498Z,1761543433.498 [DAT](INFO): Local bearing/azimuth received: Bearing 147.4, 2.2 (Local) 2025-10-27T05:37:13.513Z,1761543433.513 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-27T05:37:13.542Z,1761543433.542 [DAT](INFO): DAT read: 05:37:12.0883 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.45, 0.787,-1.013, 0.782, 0.695, PHS= 0.194,-1.664, 0.042, RAW= 145.8, 15.8, CAL= 145.6, 17.3, ROT= 4.4, -17.3 2025-10-27T05:37:13.551Z,1761543433.551 [DAT](INFO): got valid direction response: 05:37:12.0883 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499, 0.45, 0.787,-1.013, 0.782, 0.695, PHS= 0.194,-1.664, 0.042, RAW= 145.8, 15.8, CAL= 145.6, 17.3, ROT= 4.4, -17.3 2025-10-27T05:37:13.552Z,1761543433.552 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:37:13.553Z,1761543433.553 [DAT](INFO): direction in FSK: [0.951947,0.073248,0.297375] 2025-10-27T05:37:13.554Z,1761543433.554 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:13.566Z,1761543433.566 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.840366 2025-10-27T05:37:13.686Z,1761543433.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.524111 s, deltaX: -0.200001 m, approachRate: -0.381600 m/s, rangeRepo size: 4 2025-10-27T05:37:13.692Z,1761543433.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.289209 m, bearing: 330.785455 deg, lat: 36.779379 deg, lon: -121.859713 deg, deltaT: 0.524111 s, deltaX: -0.199604 m, approachRate: -0.380843 m/s, posRepo size: 4 2025-10-27T05:37:13.693Z,1761543433.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.29 m. 2025-10-27T05:37:13.701Z,1761543433.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.289209 m, nav range: 19.270737 m, bearing: 331.091095 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.598856 deg, new cmd heading: 321.684479 deg. 2025-10-27T05:37:13.703Z,1761543433.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614453 target range: 20.289209 and range: 20.40 m. 2025-10-27T05:37:13.728Z,1761543433.728 [DAT](INFO): DAT read: Rx Time:05:37:12.5881 2025-10-27T05:37:13.729Z,1761543433.729 [DAT](INFO): Rx dataTimestamp_ set to:1761543433.728388 2025-10-27T05:37:13.732Z,1761543433.732 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.004692 2025-10-27T05:37:13.978Z,1761543433.978 [DAT](INFO): DAT read: Bearing 148.9, 1.9 (Local) 2025-10-27T05:37:13.983Z,1761543433.983 [DAT](INFO): Local bearing/azimuth received: Bearing 148.9, 1.9 (Local) 2025-10-27T05:37:13.986Z,1761543433.986 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.5 2025-10-27T05:37:14.004Z,1761543434.004 [DAT](INFO): DAT read: 05:37:12.5881 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497,-0.23,-1.386, 3.120,-1.391,-1.431, PHS= 0.147,-1.687,-0.004, RAW= 145.8, 17.2, CAL= 145.6, 18.9, ROT= 4.4, -18.9 2025-10-27T05:37:14.005Z,1761543434.005 [DAT](INFO): got valid direction response: 05:37:12.5881 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497,-0.23,-1.386, 3.120,-1.391,-1.431, PHS= 0.147,-1.687,-0.004, RAW= 145.8, 17.2, CAL= 145.6, 18.9, ROT= 4.4, -18.9 2025-10-27T05:37:14.006Z,1761543434.006 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:37:14.007Z,1761543434.007 [DAT](INFO): direction in FSK: [0.943297,0.072583,0.323917] 2025-10-27T05:37:14.007Z,1761543434.007 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:14.011Z,1761543434.011 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.284777 2025-10-27T05:37:14.078Z,1761543434.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795103,0.599101,0.094285],[-0.605830,0.777431,0.169033],[0.027968,-0.191519,0.981090]] 2025-10-27T05:37:14.134Z,1761543434.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.483712 s, deltaX: -0.299999 m, approachRate: -0.620202 m/s, rangeRepo size: 4 2025-10-27T05:37:14.141Z,1761543434.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.990839 m, bearing: 330.813019 deg, lat: 36.779379 deg, lon: -121.859713 deg, deltaT: 0.483712 s, deltaX: -0.298370 m, approachRate: -0.616835 m/s, posRepo size: 4 2025-10-27T05:37:14.141Z,1761543434.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m. 2025-10-27T05:37:14.148Z,1761543434.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.990839 m, nav range: 19.046913 m, bearing: 331.111494 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.684479 deg, new cmd heading: 321.757510 deg. 2025-10-27T05:37:14.149Z,1761543434.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615728 target range: 19.990839 and range: 20.10 m. 2025-10-27T05:37:14.233Z,1761543434.233 [DAT](INFO): DAT read: Rx Time:05:37:13.0880 2025-10-27T05:37:14.235Z,1761543434.235 [DAT](INFO): Rx dataTimestamp_ set to:1761543434.233536 2025-10-27T05:37:14.238Z,1761543434.238 [DAT](INFO): DAT read: Bearing 142.7, 8.5 (Local) 2025-10-27T05:37:14.239Z,1761543434.239 [DAT](INFO): Local bearing/azimuth received: Bearing 142.7, 8.5 (Local) 2025-10-27T05:37:14.241Z,1761543434.241 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.514917 2025-10-27T05:37:14.498Z,1761543434.498 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.5 2025-10-27T05:37:14.516Z,1761543434.516 [DAT](INFO): DAT read: 05:37:13.0880 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512,-0.06, 0.862,-1.224, 0.643, 0.473, PHS= 0.491,-1.652, 0.127, RAW= 140.9, 10.4, CAL= 140.3, 11.3, ROT= 9.7, -11.3 2025-10-27T05:37:14.520Z,1761543434.520 [DAT](INFO): got valid direction response: 05:37:13.0880 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512,-0.06, 0.862,-1.224, 0.643, 0.473, PHS= 0.491,-1.652, 0.127, RAW= 140.9, 10.4, CAL= 140.3, 11.3, ROT= 9.7, -11.3 2025-10-27T05:37:14.521Z,1761543434.521 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:37:14.541Z,1761543434.541 [DAT](INFO): direction in FSK: [0.966595,0.165223,0.195946] 2025-10-27T05:37:14.542Z,1761543434.542 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:14.561Z,1761543434.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793571,0.601068,0.094668],[-0.607844,0.775994,0.168405],[0.027762,-0.191185,0.981161]] 2025-10-27T05:37:14.568Z,1761543434.568 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.842539 2025-10-27T05:37:14.673Z,1761543434.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.502585 s, deltaX: -0.100000 m, approachRate: -0.198972 m/s, rangeRepo size: 4 2025-10-27T05:37:14.675Z,1761543434.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.891626 m, bearing: 334.276671 deg, lat: 36.779379 deg, lon: -121.859713 deg, deltaT: 0.502585 s, deltaX: -0.099213 m, approachRate: -0.197405 m/s, posRepo size: 4 2025-10-27T05:37:14.680Z,1761543434.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m. 2025-10-27T05:37:14.682Z,1761543434.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.891626 m, nav range: 18.754049 m, bearing: 331.256981 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.757508 deg, new cmd heading: 321.845113 deg. 2025-10-27T05:37:14.687Z,1761543434.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617257 target range: 19.891626 and range: 20.00 m. 2025-10-27T05:37:14.736Z,1761543434.736 [DAT](INFO): DAT read: Rx Time:05:37:13.5877 2025-10-27T05:37:14.738Z,1761543434.738 [DAT](INFO): Rx dataTimestamp_ set to:1761543434.736744 2025-10-27T05:37:14.743Z,1761543434.743 [DAT](INFO): DAT read: Bearing 148.2, 2.6 (Local) 2025-10-27T05:37:14.745Z,1761543434.745 [DAT](INFO): Local bearing/azimuth received: Bearing 148.2, 2.6 (Local) 2025-10-27T05:37:14.763Z,1761543434.763 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.5 2025-10-27T05:37:14.766Z,1761543434.766 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-27T05:37:14.785Z,1761543434.785 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.058949 2025-10-27T05:37:14.991Z,1761543434.991 [DAT](INFO): DAT read: 05:37:13.5877 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.01, 0.130,-1.671, 0.100, 0.051, PHS= 0.181,-1.677, 0.005, RAW= 145.1, 16.5, CAL= 144.8, 18.0, ROT= 5.2, -18.0 2025-10-27T05:37:14.992Z,1761543434.992 [DAT](INFO): got valid direction response: 05:37:13.5877 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.01, 0.130,-1.671, 0.100, 0.051, PHS= 0.181,-1.677, 0.005, RAW= 145.1, 16.5, CAL= 144.8, 18.0, ROT= 5.2, -18.0 2025-10-27T05:37:14.992Z,1761543434.992 [DAT](INFO): #Rx 68: Read direction message, but no range. 2025-10-27T05:37:14.993Z,1761543434.993 [DAT](INFO): direction in FSK: [0.947142,0.086197,0.309017] 2025-10-27T05:37:15.020Z,1761543435.020 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.294174 2025-10-27T05:37:15.050Z,1761543435.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790658,0.604752,0.095581],[-0.611665,0.773335,0.166789],[0.026950,-0.190336,0.981349]] 2025-10-27T05:37:15.113Z,1761543435.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.257470 s, deltaX: -0.500000 m, approachRate: -1.941974 m/s, rangeRepo size: 4 2025-10-27T05:37:15.119Z,1761543435.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.394335 m, bearing: 330.959661 deg, lat: 36.779378 deg, lon: -121.859713 deg, deltaT: 0.257470 s, deltaX: -0.497292 m, approachRate: -1.931454 m/s, posRepo size: 4 2025-10-27T05:37:15.120Z,1761543435.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m. 2025-10-27T05:37:15.123Z,1761543435.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.394335 m, nav range: 18.490355 m, bearing: 331.316367 deg, approach rate: 0.000000 m/s, LOS rate: 0.054257 deg/s, cmd heading: 321.845125 deg, new cmd heading: 321.916806 deg. 2025-10-27T05:37:15.128Z,1761543435.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618508 target range: 19.394335 and range: 19.50 m. 2025-10-27T05:37:15.240Z,1761543435.240 [DAT](INFO): DAT read: Rx Time:05:37:14.0875 2025-10-27T05:37:15.242Z,1761543435.242 [DAT](INFO): Rx dataTimestamp_ set to:1761543435.240881 2025-10-27T05:37:15.245Z,1761543435.245 [DAT](INFO): DAT read: Bearing 145.6, 3.7 (Local) 2025-10-27T05:37:15.246Z,1761543435.246 [DAT](INFO): Local bearing/azimuth received: Bearing 145.6, 3.7 (Local) 2025-10-27T05:37:15.256Z,1761543435.256 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.530010 2025-10-27T05:37:15.462Z,1761543435.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:15.464Z,1761543435.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m. 2025-10-27T05:37:15.472Z,1761543435.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.394335 m, nav range: 18.289354 m, bearing: 331.424186 deg, approach rate: -0.571709 m/s, LOS rate: 0.310042 deg/s, cmd heading: 321.916815 deg, new cmd heading: 322.243823 deg. 2025-10-27T05:37:15.473Z,1761543435.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624216 target range: 19.394335 and range: 19.50 m. 2025-10-27T05:37:15.510Z,1761543435.510 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 2025-10-27T05:37:15.551Z,1761543435.551 [DAT](INFO): DAT read: 05:37:14.0875 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.04, 0.836,-0.955, 0.792, 0.674, PHS= 0.264,-1.584, 0.073, RAW= 144.6, 14.1, CAL= 144.2, 15.3, ROT= 5.8, -15.3 2025-10-27T05:37:15.553Z,1761543435.553 [DAT](INFO): got valid direction response: 05:37:14.0875 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.04, 0.836,-0.955, 0.792, 0.674, PHS= 0.264,-1.584, 0.073, RAW= 144.6, 14.1, CAL= 144.2, 15.3, ROT= 5.8, -15.3 2025-10-27T05:37:15.554Z,1761543435.554 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:37:15.567Z,1761543435.567 [DAT](INFO): direction in FSK: [0.959620,0.097475,0.263873] 2025-10-27T05:37:15.568Z,1761543435.568 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:15.576Z,1761543435.576 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.849899 2025-10-27T05:37:15.744Z,1761543435.744 [DAT](INFO): DAT read: Rx Time:05:37:14.5873 2025-10-27T05:37:15.745Z,1761543435.745 [DAT](INFO): Rx dataTimestamp_ set to:1761543435.744363 2025-10-27T05:37:15.749Z,1761543435.749 [DAT](INFO): DAT read: Bearing 149.0, 2.6 (Local) 2025-10-27T05:37:15.750Z,1761543435.750 [DAT](INFO): Local bearing/azimuth received: Bearing 149.0, 2.6 (Local) 2025-10-27T05:37:15.756Z,1761543435.756 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T05:37:15.758Z,1761543435.758 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-27T05:37:15.769Z,1761543435.769 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.042896 2025-10-27T05:37:15.826Z,1761543435.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789744,0.606223,0.093801],[-0.612924,0.773555,0.161047],[0.025070,-0.184679,0.982479]] 2025-10-27T05:37:15.921Z,1761543435.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.007619 s, deltaX: -0.700001 m, approachRate: -0.694708 m/s, rangeRepo size: 4 2025-10-27T05:37:15.927Z,1761543435.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.696949 m, bearing: 330.806851 deg, lat: 36.779377 deg, lon: -121.859714 deg, deltaT: 1.007619 s, deltaX: -0.697386 m, approachRate: -0.692113 m/s, posRepo size: 4 2025-10-27T05:37:15.928Z,1761543435.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:37:15.930Z,1761543435.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.696949 m, nav range: 17.980852 m, bearing: 331.168371 deg, approach rate: 0.000000 m/s, LOS rate: 0.310042 deg/s, cmd heading: 322.243817 deg, new cmd heading: 322.668227 deg. 2025-10-27T05:37:15.936Z,1761543435.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631623 target range: 18.696949 and range: 18.80 m. 2025-10-27T05:37:16.002Z,1761543436.002 [DAT](INFO): DAT read: 05:37:14.5873 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.03, 0.101,-1.707, 0.061, 0.040, PHS= 0.163,-1.702,-0.022, RAW= 144.8, 17.2, CAL= 144.5, 18.8, ROT= 5.5, -18.8 2025-10-27T05:37:16.004Z,1761543436.004 [DAT](INFO): got valid direction response: 05:37:14.5873 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.03, 0.101,-1.707, 0.061, 0.040, PHS= 0.163,-1.702,-0.022, RAW= 144.8, 17.2, CAL= 144.5, 18.8, ROT= 5.5, -18.8 2025-10-27T05:37:16.005Z,1761543436.005 [DAT](INFO): #Rx 71: Read direction message, but no range. 2025-10-27T05:37:16.006Z,1761543436.006 [DAT](INFO): direction in FSK: [0.942291,0.090732,0.322266] 2025-10-27T05:37:16.012Z,1761543436.012 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.285889 2025-10-27T05:37:16.248Z,1761543436.248 [DAT](INFO): DAT read: Rx Time:05:37:15.0872 2025-10-27T05:37:16.249Z,1761543436.249 [DAT](INFO): Rx dataTimestamp_ set to:1761543436.248370 2025-10-27T05:37:16.262Z,1761543436.262 [DAT](INFO): DAT read: Bearing 149.6, 2.4 (Local) 2025-10-27T05:37:16.263Z,1761543436.263 [DAT](INFO): Local bearing/azimuth received: Bearing 149.6, 2.4 (Local) 2025-10-27T05:37:16.280Z,1761543436.280 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T05:37:16.292Z,1761543436.292 [DAT](INFO): DAT read: 05:37:15.0872 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.05, 1.642,-0.156, 1.607, 1.601, PHS= 0.143,-1.712,-0.038, RAW= 144.9, 17.8, CAL= 144.6, 19.4, ROT= 5.4, -19.4 2025-10-27T05:37:16.294Z,1761543436.294 [DAT](INFO): got valid direction response: 05:37:15.0872 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.05, 1.642,-0.156, 1.607, 1.601, PHS= 0.143,-1.712,-0.038, RAW= 144.9, 17.8, CAL= 144.6, 19.4, ROT= 5.4, -19.4 2025-10-27T05:37:16.294Z,1761543436.294 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:37:16.303Z,1761543436.303 [DAT](INFO): direction in FSK: [0.939037,0.088765,0.332161] 2025-10-27T05:37:16.303Z,1761543436.303 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:16.309Z,1761543436.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789309,0.606999,0.092436],[-0.613522,0.773793,0.157594],[0.024133,-0.181102,0.983168]] 2025-10-27T05:37:16.315Z,1761543436.315 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.589634 2025-10-27T05:37:16.363Z,1761543436.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:16.365Z,1761543436.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.695187 m, bearing: 331.140669 deg, lat: 36.779377 deg, lon: -121.859714 deg, deltaT: 0.504007 s, deltaX: -0.001762 m, approachRate: -0.003497 m/s, posRepo size: 4 2025-10-27T05:37:16.366Z,1761543436.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:37:16.377Z,1761543436.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.695187 m, nav range: 17.720638 m, bearing: 331.307163 deg, approach rate: 0.000000 m/s, LOS rate: 0.310042 deg/s, cmd heading: 322.668218 deg, new cmd heading: 323.075849 deg. 2025-10-27T05:37:16.378Z,1761543436.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638737 target range: 18.695187 and range: 18.80 m. 2025-10-27T05:37:16.500Z,1761543436.500 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.774471 2025-10-27T05:37:16.689Z,1761543436.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789402,0.607206,0.090254],[-0.613447,0.774773,0.153000],[0.022976,-0.176144,0.984096]] 2025-10-27T05:37:16.751Z,1761543436.751 [DAT](INFO): DAT read: Rx Time:05:37:15.5869 2025-10-27T05:37:16.753Z,1761543436.753 [DAT](INFO): Rx dataTimestamp_ set to:1761543436.752021 2025-10-27T05:37:16.757Z,1761543436.757 [DAT](INFO): DAT read: Bearing 149.6, 2.4 (Local) 2025-10-27T05:37:16.758Z,1761543436.758 [DAT](INFO): Local bearing/azimuth received: Bearing 149.6, 2.4 (Local) 2025-10-27T05:37:16.764Z,1761543436.764 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4 2025-10-27T05:37:16.766Z,1761543436.766 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-27T05:37:16.770Z,1761543436.770 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.043514 2025-10-27T05:37:16.831Z,1761543436.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503651 s, deltaX: -0.500000 m, approachRate: -0.992751 m/s, rangeRepo size: 4 2025-10-27T05:37:16.840Z,1761543436.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:37:16.842Z,1761543436.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.695187 m, nav range: 17.466393 m, bearing: 331.384275 deg, approach rate: -0.539171 m/s, LOS rate: 0.165909 deg/s, cmd heading: 323.075843 deg, new cmd heading: 323.310544 deg. 2025-10-27T05:37:16.847Z,1761543436.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642834 target range: 18.695187 and range: 18.30 m. 2025-10-27T05:37:17.012Z,1761543437.012 [DAT](INFO): DAT read: 05:37:15.5869 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.19,-0.791,-2.594,-0.825,-0.835, PHS= 0.145,-1.714,-0.034, RAW= 145.0, 17.7, CAL= 144.7, 19.3, ROT= 5.3, -19.3 2025-10-27T05:37:17.013Z,1761543437.013 [DAT](INFO): got valid direction response: 05:37:15.5869 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.19,-0.791,-2.594,-0.825,-0.835, PHS= 0.145,-1.714,-0.034, RAW= 145.0, 17.7, CAL= 144.7, 19.3, ROT= 5.3, -19.3 2025-10-27T05:37:17.013Z,1761543437.013 [DAT](INFO): #Rx 74: Read direction message, but no range. 2025-10-27T05:37:17.014Z,1761543437.014 [DAT](INFO): direction in FSK: [0.939766,0.087179,0.330514] 2025-10-27T05:37:17.018Z,1761543437.018 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.291801 2025-10-27T05:37:17.265Z,1761543437.265 [DAT](INFO): DAT read: Rx Time:05:37:16.0868 2025-10-27T05:37:17.273Z,1761543437.273 [DAT](INFO): Rx dataTimestamp_ set to:1761543437.265818 2025-10-27T05:37:17.276Z,1761543437.276 [DAT](INFO): DAT read: Bearing 148.3, 2.9 (Local) 2025-10-27T05:37:17.276Z,1761543437.276 [DAT](INFO): Local bearing/azimuth received: Bearing 148.3, 2.9 (Local) 2025-10-27T05:37:17.278Z,1761543437.278 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 2025-10-27T05:37:17.303Z,1761543437.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-27T05:37:17.306Z,1761543437.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.695187 m, nav range: 17.235407 m, bearing: 331.456312 deg, approach rate: -0.501428 m/s, LOS rate: 0.158476 deg/s, cmd heading: 323.310556 deg, new cmd heading: 323.529564 deg. 2025-10-27T05:37:17.307Z,1761543437.307 [DAT](INFO): DAT read: 05:37:16.0868 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.49,-2.354, 2.100,-2.400,-2.449, PHS= 0.197,-1.689, 0.005, RAW= 144.7, 16.3, CAL= 144.3, 17.8, ROT= 5.7, -17.8 2025-10-27T05:37:17.308Z,1761543437.308 [DAT](INFO): got valid direction response: 05:37:16.0868 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.49,-2.354, 2.100,-2.400,-2.449, PHS= 0.197,-1.689, 0.005, RAW= 144.7, 16.3, CAL= 144.3, 17.8, ROT= 5.7, -17.8 2025-10-27T05:37:17.309Z,1761543437.309 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:37:17.310Z,1761543437.310 [DAT](INFO): direction in FSK: [0.947422,0.094565,0.305695] 2025-10-27T05:37:17.310Z,1761543437.310 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:17.335Z,1761543437.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646656 target range: 18.695187 and range: 18.30 m. 2025-10-27T05:37:17.342Z,1761543437.342 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=34.616581 2025-10-27T05:37:17.505Z,1761543437.505 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=34.779240 2025-10-27T05:37:17.602Z,1761543437.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790900,0.605255,0.090244],[-0.611627,0.777088,0.148484],[0.019743,-0.172632,0.984789]] 2025-10-27T05:37:17.643Z,1761543437.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.513797 s, deltaX: -0.099998 m, approachRate: -0.194626 m/s, rangeRepo size: 4 2025-10-27T05:37:17.678Z,1761543437.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.099672 m, bearing: 331.093543 deg, lat: 36.779377 deg, lon: -121.859714 deg, deltaT: 1.017448 s, deltaX: -0.595514 m, approachRate: -0.585302 m/s, posRepo size: 4 2025-10-27T05:37:17.683Z,1761543437.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:37:17.686Z,1761543437.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.099672 m, nav range: 17.064411 m, bearing: 331.437210 deg, approach rate: 0.000000 m/s, LOS rate: 0.158476 deg/s, cmd heading: 323.529559 deg, new cmd heading: 323.696558 deg. 2025-10-27T05:37:17.687Z,1761543437.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649571 target range: 18.099672 and range: 18.20 m. 2025-10-27T05:37:17.760Z,1761543437.760 [DAT](INFO): DAT read: Rx Time:05:37:16.5866 2025-10-27T05:37:17.762Z,1761543437.762 [DAT](INFO): Rx dataTimestamp_ set to:1761543437.760610 2025-10-27T05:37:17.766Z,1761543437.766 [DAT](INFO): DAT read: Bearing 150.1, 1.8 (Local) 2025-10-27T05:37:17.767Z,1761543437.767 [DAT](INFO): Local bearing/azimuth received: Bearing 150.1, 1.8 (Local) 2025-10-27T05:37:17.773Z,1761543437.773 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 2025-10-27T05:37:17.776Z,1761543437.776 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-27T05:37:17.777Z,1761543437.777 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.050789 2025-10-27T05:37:18.018Z,1761543438.018 [DAT](INFO): DAT read: 05:37:16.5866 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.24, 2.243, 0.442, 2.223, 2.213, PHS= 0.132,-1.726,-0.034, RAW= 145.3, 17.9, CAL= 145.1, 19.6, ROT= 4.9, -19.6 2025-10-27T05:37:18.020Z,1761543438.020 [DAT](INFO): got valid direction response: 05:37:16.5866 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497,-0.24, 2.243, 0.442, 2.223, 2.213, PHS= 0.132,-1.726,-0.034, RAW= 145.3, 17.9, CAL= 145.1, 19.6, ROT= 4.9, -19.6 2025-10-27T05:37:18.021Z,1761543438.021 [DAT](INFO): #Rx 77: Read direction message, but no range. 2025-10-27T05:37:18.022Z,1761543438.022 [DAT](INFO): direction in FSK: [0.938615,0.080468,0.335452] 2025-10-27T05:37:18.032Z,1761543438.032 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=35.305897 2025-10-27T05:37:18.086Z,1761543438.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791991,0.603968,0.089290],[-0.610262,0.778776,0.145214],[0.018168,-0.169499,0.985363]] 2025-10-27T05:37:18.141Z,1761543438.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.494792 s, deltaX: -0.300001 m, approachRate: -0.606318 m/s, rangeRepo size: 4 2025-10-27T05:37:18.147Z,1761543438.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.801325 m, bearing: 330.690537 deg, lat: 36.779377 deg, lon: -121.859715 deg, deltaT: 0.494792 s, deltaX: -0.298347 m, approachRate: -0.602976 m/s, posRepo size: 4 2025-10-27T05:37:18.148Z,1761543438.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:37:18.151Z,1761543438.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.801325 m, nav range: 16.876225 m, bearing: 331.067150 deg, approach rate: 0.000000 m/s, LOS rate: 0.158476 deg/s, cmd heading: 323.696571 deg, new cmd heading: 323.933470 deg. 2025-10-27T05:37:18.156Z,1761543438.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653706 target range: 17.801325 and range: 17.90 m. 2025-10-27T05:37:18.265Z,1761543438.265 [DAT](INFO): DAT read: Rx Time:05:37:17.0865 2025-10-27T05:37:18.267Z,1761543438.267 [DAT](INFO): Rx dataTimestamp_ set to:1761543438.265447 2025-10-27T05:37:18.272Z,1761543438.272 [DAT](INFO): DAT read: Bearing 140.7, 2.1 (Local) 2025-10-27T05:37:18.273Z,1761543438.273 [DAT](INFO): Local bearing/azimuth received: Bearing 140.7, 2.1 (Local) 2025-10-27T05:37:18.277Z,1761543438.277 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 2025-10-27T05:37:18.278Z,1761543438.278 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-27T05:37:18.279Z,1761543438.279 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=35.553474 2025-10-27T05:37:18.471Z,1761543438.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793306,0.602413,0.088113],[-0.608599,0.780740,0.141611],[0.016515,-0.165966,0.985993]] 2025-10-27T05:37:18.489Z,1761543438.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:18.492Z,1761543438.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504837 s, deltaX: -0.199999 m, approachRate: -0.396165 m/s, rangeRepo size: 4 2025-10-27T05:37:18.493Z,1761543438.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:37:18.496Z,1761543438.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.801325 m, nav range: 16.696743 m, bearing: 331.074894 deg, approach rate: -0.511036 m/s, LOS rate: 0.022286 deg/s, cmd heading: 323.933469 deg, new cmd heading: 323.956950 deg. 2025-10-27T05:37:18.497Z,1761543438.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654115 target range: 17.801325 and range: 17.70 m. 2025-10-27T05:37:18.519Z,1761543438.519 [DAT](INFO): DAT read: 05:37:17.0865 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.12,-1.171, 2.959,-1.154,-1.516, PHS= 0.446,-1.764, 0.317, RAW= 147.0, 9.3, CAL= 146.6, 10.2, ROT= 3.4, -10.2 2025-10-27T05:37:18.520Z,1761543438.520 [DAT](INFO): got valid direction response: 05:37:17.0865 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.12,-1.171, 2.959,-1.154,-1.516, PHS= 0.446,-1.764, 0.317, RAW= 147.0, 9.3, CAL= 146.6, 10.2, ROT= 3.4, -10.2 2025-10-27T05:37:18.521Z,1761543438.521 [DAT](INFO): #Rx 79: Read direction message, but no range. 2025-10-27T05:37:18.523Z,1761543438.523 [DAT](INFO): direction in FSK: [0.982463,0.058369,0.177085] 2025-10-27T05:37:18.533Z,1761543438.533 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=35.806789 2025-10-27T05:37:18.768Z,1761543438.768 [DAT](INFO): DAT read: Rx Time:05:37:17.5862 2025-10-27T05:37:18.770Z,1761543438.770 [DAT](INFO): Rx dataTimestamp_ set to:1761543438.769089 2025-10-27T05:37:18.775Z,1761543438.775 [DAT](INFO): DAT read: Bearing 149.5, 1.6 (Local) 2025-10-27T05:37:18.779Z,1761543438.779 [DAT](INFO): Local bearing/azimuth received: Bearing 149.5, 1.6 (Local) 2025-10-27T05:37:18.784Z,1761543438.784 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 2025-10-27T05:37:18.794Z,1761543438.794 [DAT](INFO): DAT read: 05:37:17.5862 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510,-0.27, 0.443,-1.378, 0.429, 0.387, PHS= 0.158,-1.720,-0.003, RAW= 145.6, 17.1, CAL= 145.4, 18.7, ROT= 4.6, -18.7 2025-10-27T05:37:18.800Z,1761543438.800 [DAT](INFO): got valid direction response: 05:37:17.5862 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510,-0.27, 0.443,-1.378, 0.429, 0.387, PHS= 0.158,-1.720,-0.003, RAW= 145.6, 17.1, CAL= 145.4, 18.7, ROT= 4.6, -18.7 2025-10-27T05:37:18.800Z,1761543438.800 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:37:18.801Z,1761543438.801 [DAT](INFO): direction in FSK: [0.944159,0.075965,0.320613] 2025-10-27T05:37:18.802Z,1761543438.802 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:18.819Z,1761543438.819 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=36.088779 2025-10-27T05:37:18.913Z,1761543438.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795006,0.600238,0.087638],[-0.606426,0.782961,0.138635],[0.014597,-0.163361,0.986458]] 2025-10-27T05:37:19.016Z,1761543439.016 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=36.290379 2025-10-27T05:37:19.042Z,1761543439.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503642 s, deltaX: -0.400002 m, approachRate: -0.794218 m/s, rangeRepo size: 4 2025-10-27T05:37:19.050Z,1761543439.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.201977 m, bearing: 330.380819 deg, lat: 36.779376 deg, lon: -121.859716 deg, deltaT: 1.008479 s, deltaX: -0.599348 m, approachRate: -0.594309 m/s, posRepo size: 4 2025-10-27T05:37:19.055Z,1761543439.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-27T05:37:19.058Z,1761543439.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.201977 m, nav range: 16.396801 m, bearing: 330.694383 deg, approach rate: 0.000000 m/s, LOS rate: 0.022286 deg/s, cmd heading: 323.956938 deg, new cmd heading: 323.993628 deg. 2025-10-27T05:37:19.067Z,1761543439.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654756 target range: 17.201977 and range: 17.30 m. 2025-10-27T05:37:19.273Z,1761543439.273 [DAT](INFO): DAT read: Rx Time:05:37:18.0861 2025-10-27T05:37:19.274Z,1761543439.274 [DAT](INFO): Rx dataTimestamp_ set to:1761543439.273341 2025-10-27T05:37:19.277Z,1761543439.277 [DAT](INFO): DAT read: Bearing 150.5, 1.0 (Local) 2025-10-27T05:37:19.277Z,1761543439.277 [DAT](INFO): Local bearing/azimuth received: Bearing 150.5, 1.0 (Local) 2025-10-27T05:37:19.302Z,1761543439.302 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-27T05:37:19.306Z,1761543439.306 [DAT](INFO): DAT read: 05:37:18.0861 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.10, 2.965, 1.184, 2.968, 2.944, PHS= 0.124,-1.714,-0.020, RAW= 146.0, 17.8, CAL= 145.8, 19.6, ROT= 4.2, -19.6 2025-10-27T05:37:19.329Z,1761543439.329 [DAT](INFO): got valid direction response: 05:37:18.0861 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.10, 2.965, 1.184, 2.968, 2.944, PHS= 0.124,-1.714,-0.020, RAW= 146.0, 17.8, CAL= 145.8, 19.6, ROT= 4.2, -19.6 2025-10-27T05:37:19.329Z,1761543439.329 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:37:19.331Z,1761543439.331 [DAT](INFO): direction in FSK: [0.939528,0.068995,0.335452] 2025-10-27T05:37:19.332Z,1761543439.332 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:19.340Z,1761543439.340 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=36.614323 2025-10-27T05:37:19.393Z,1761543439.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797296,0.597564,0.085059],[-0.603455,0.786207,0.133119],[0.012673,-0.157465,0.987443]] 2025-10-27T05:37:19.443Z,1761543439.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504252 s, deltaX: -0.199999 m, approachRate: -0.396625 m/s, rangeRepo size: 4 2025-10-27T05:37:19.449Z,1761543439.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.002254 m, bearing: 330.247072 deg, lat: 36.779376 deg, lon: -121.859716 deg, deltaT: 0.504252 s, deltaX: -0.199722 m, approachRate: -0.396076 m/s, posRepo size: 4 2025-10-27T05:37:19.450Z,1761543439.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m. 2025-10-27T05:37:19.456Z,1761543439.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.002254 m, nav range: 16.180164 m, bearing: 330.570530 deg, approach rate: 0.000000 m/s, LOS rate: 0.022286 deg/s, cmd heading: 323.993630 deg, new cmd heading: 324.020489 deg. 2025-10-27T05:37:19.457Z,1761543439.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655224 target range: 17.002254 and range: 17.10 m. 2025-10-27T05:37:19.522Z,1761543439.522 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=36.795822 2025-10-27T05:37:19.776Z,1761543439.776 [DAT](INFO): DAT read: Rx Time:05:37:18.5858 2025-10-27T05:37:19.777Z,1761543439.777 [DAT](INFO): Rx dataTimestamp_ set to:1761543439.776363 2025-10-27T05:37:19.778Z,1761543439.778 [DAT](INFO): DAT read: Bearing 150.1, 0.9 (Local) 2025-10-27T05:37:19.778Z,1761543439.778 [DAT](INFO): Local bearing/azimuth received: Bearing 150.1, 0.9 (Local) 2025-10-27T05:37:19.781Z,1761543439.781 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-27T05:37:19.785Z,1761543439.785 [DAT](INFO): DAT read: 05:37:18.5858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.19, 0.086,-1.727, 0.094, 0.046, PHS= 0.142,-1.728, 0.004, RAW= 146.2, 17.2, CAL= 146.1, 18.9, ROT= 3.9, -18.9 2025-10-27T05:37:19.786Z,1761543439.786 [DAT](INFO): got valid direction response: 05:37:18.5858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.19, 0.086,-1.727, 0.094, 0.046, PHS= 0.142,-1.728, 0.004, RAW= 146.2, 17.2, CAL= 146.1, 18.9, ROT= 3.9, -18.9 2025-10-27T05:37:19.786Z,1761543439.786 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:37:19.792Z,1761543439.792 [DAT](INFO): direction in FSK: [0.943894,0.064348,0.323917] 2025-10-27T05:37:19.792Z,1761543439.792 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:19.796Z,1761543439.796 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=37.069973 2025-10-27T05:37:19.850Z,1761543439.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802050,0.591450,0.083079],[-0.597190,0.792096,0.126286],[0.008885,-0.150902,0.988509]] 2025-10-27T05:37:19.970Z,1761543439.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503022 s, deltaX: -0.400000 m, approachRate: -0.795193 m/s, rangeRepo size: 4 2025-10-27T05:37:19.976Z,1761543439.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.604542 m, bearing: 330.145812 deg, lat: 36.779375 deg, lon: -121.859716 deg, deltaT: 0.503022 s, deltaX: -0.397713 m, approachRate: -0.790647 m/s, posRepo size: 4 2025-10-27T05:37:19.977Z,1761543439.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m. 2025-10-27T05:37:19.981Z,1761543439.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.604542 m, nav range: 15.873910 m, bearing: 330.302046 deg, approach rate: 0.000000 m/s, LOS rate: 0.022286 deg/s, cmd heading: 324.020486 deg, new cmd heading: 324.055743 deg. 2025-10-27T05:37:19.982Z,1761543439.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655839 target range: 16.604542 and range: 16.70 m. 2025-10-27T05:37:20.026Z,1761543440.026 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=37.300148 2025-10-27T05:37:20.278Z,1761543440.278 [DAT](INFO): DAT read: Rx Time:05:37:19.0858 2025-10-27T05:37:20.278Z,1761543440.278 [DAT](INFO): Rx dataTimestamp_ set to:1761543440.277738 2025-10-27T05:37:20.279Z,1761543440.279 [DAT](INFO): DAT read: Bearing 150.6, -0.0 (Local) 2025-10-27T05:37:20.280Z,1761543440.280 [DAT](INFO): Local bearing/azimuth received: Bearing 150.6, -0.0 (Local) 2025-10-27T05:37:20.282Z,1761543440.282 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-27T05:37:20.282Z,1761543440.282 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-27T05:37:20.287Z,1761543440.287 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=37.561073 2025-10-27T05:37:20.348Z,1761543440.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804351,0.588455,0.082099],[-0.594113,0.794942,0.122872],[0.007041,-0.147608,0.989021]] 2025-10-27T05:37:20.368Z,1761543440.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.501375 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:20.368Z,1761543440.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m. 2025-10-27T05:37:20.371Z,1761543440.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.604542 m, nav range: 15.694310 m, bearing: 330.206095 deg, approach rate: -0.451812 m/s, LOS rate: -0.244142 deg/s, cmd heading: 324.055730 deg, new cmd heading: 323.764586 deg. 2025-10-27T05:37:20.372Z,1761543440.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.650758 target range: 16.604542 and range: 16.70 m. 2025-10-27T05:37:20.537Z,1761543440.537 [DAT](INFO): DAT read: 05:37:19.0858 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.30,-2.531, 1.951,-2.497,-2.548, PHS= 0.119,-1.739, 0.007, RAW= 146.9, 17.5, CAL= 146.9, 19.3, ROT= 3.1, -19.3 2025-10-27T05:37:20.538Z,1761543440.538 [DAT](INFO): got valid direction response: 05:37:19.0858 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 505, 0.30,-2.531, 1.951,-2.497,-2.548, PHS= 0.119,-1.739, 0.007, RAW= 146.9, 17.5, CAL= 146.9, 19.3, ROT= 3.1, -19.3 2025-10-27T05:37:20.539Z,1761543440.539 [DAT](INFO): #Rx 84: Read direction message, but no range. 2025-10-27T05:37:20.541Z,1761543440.541 [DAT](INFO): direction in FSK: [0.942420,0.051040,0.330514] 2025-10-27T05:37:20.548Z,1761543440.548 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.820972 2025-10-27T05:37:20.781Z,1761543440.781 [DAT](INFO): DAT read: Rx Time:05:37:19.5856 2025-10-27T05:37:20.781Z,1761543440.781 [DAT](INFO): Rx dataTimestamp_ set to:1761543440.780728 2025-10-27T05:37:20.782Z,1761543440.782 [DAT](INFO): DAT read: Bearing 150.1, 0.0 (Local) 2025-10-27T05:37:20.783Z,1761543440.783 [DAT](INFO): Local bearing/azimuth received: Bearing 150.1, 0.0 (Local) 2025-10-27T05:37:20.785Z,1761543440.785 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.3 2025-10-27T05:37:20.789Z,1761543440.789 [DAT](INFO): DAT read: 05:37:19.5856 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.04, 2.137, 0.326, 2.170, 2.100, PHS= 0.139,-1.729, 0.026, RAW= 146.9, 16.9, CAL= 146.9, 18.7, ROT= 3.1, -18.7 2025-10-27T05:37:20.791Z,1761543440.791 [DAT](INFO): got valid direction response: 05:37:19.5856 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.04, 2.137, 0.326, 2.170, 2.100, PHS= 0.139,-1.729, 0.026, RAW= 146.9, 16.9, CAL= 146.9, 18.7, ROT= 3.1, -18.7 2025-10-27T05:37:20.791Z,1761543440.791 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:37:20.792Z,1761543440.792 [DAT](INFO): direction in FSK: [0.945824,0.051224,0.320613] 2025-10-27T05:37:20.792Z,1761543440.792 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:20.808Z,1761543440.808 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=38.082199 2025-10-27T05:37:20.902Z,1761543440.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.502990 s, deltaX: -0.300001 m, approachRate: -0.596436 m/s, rangeRepo size: 4 2025-10-27T05:37:20.928Z,1761543440.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.306118 m, bearing: 329.478080 deg, lat: 36.779374 deg, lon: -121.859716 deg, deltaT: 1.004365 s, deltaX: -0.298424 m, approachRate: -0.297127 m/s, posRepo size: 4 2025-10-27T05:37:20.929Z,1761543440.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-27T05:37:20.940Z,1761543440.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.306118 m, nav range: 15.408617 m, bearing: 329.886125 deg, approach rate: 0.000000 m/s, LOS rate: -0.244142 deg/s, cmd heading: 323.764572 deg, new cmd heading: 323.373053 deg. 2025-10-27T05:37:20.941Z,1761543440.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643925 target range: 16.306118 and range: 16.40 m. 2025-10-27T05:37:21.034Z,1761543441.034 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=38.307884 2025-10-27T05:37:21.212Z,1761543441.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808729,0.582033,0.084823],[-0.588174,0.799528,0.121684],[0.003006,-0.148300,0.988938]] 2025-10-27T05:37:21.285Z,1761543441.285 [DAT](INFO): DAT read: Rx Time:05:37:20.0856 2025-10-27T05:37:21.285Z,1761543441.285 [DAT](INFO): Rx dataTimestamp_ set to:1761543441.284831 2025-10-27T05:37:21.286Z,1761543441.286 [DAT](INFO): DAT read: Bearing 151.0, -0.4 (Local) 2025-10-27T05:37:21.287Z,1761543441.287 [DAT](INFO): Local bearing/azimuth received: Bearing 151.0, -0.4 (Local) 2025-10-27T05:37:21.289Z,1761543441.289 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.3 2025-10-27T05:37:21.294Z,1761543441.294 [DAT](INFO): DAT read: 05:37:20.0856 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.20, 2.788, 1.021, 2.831, 2.776, PHS= 0.113,-1.710, 0.010, RAW= 147.1, 17.5, CAL= 147.2, 19.4, ROT= 2.8, -19.4 2025-10-27T05:37:21.295Z,1761543441.295 [DAT](INFO): got valid direction response: 05:37:20.0856 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.20, 2.788, 1.021, 2.831, 2.776, PHS= 0.113,-1.710, 0.010, RAW= 147.1, 17.5, CAL= 147.2, 19.4, ROT= 2.8, -19.4 2025-10-27T05:37:21.295Z,1761543441.295 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:37:21.296Z,1761543441.296 [DAT](INFO): direction in FSK: [0.942097,0.046076,0.332161] 2025-10-27T05:37:21.296Z,1761543441.296 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:21.300Z,1761543441.300 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.574528 2025-10-27T05:37:21.344Z,1761543441.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:21.346Z,1761543441.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.305424 m, bearing: 329.725922 deg, lat: 36.779374 deg, lon: -121.859716 deg, deltaT: 0.504103 s, deltaX: -0.000694 m, approachRate: -0.001377 m/s, posRepo size: 4 2025-10-27T05:37:21.346Z,1761543441.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-27T05:37:21.357Z,1761543441.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.305424 m, nav range: 15.246733 m, bearing: 329.695824 deg, approach rate: 0.000000 m/s, LOS rate: -0.244142 deg/s, cmd heading: 323.373066 deg, new cmd heading: 323.052688 deg. 2025-10-27T05:37:21.358Z,1761543441.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638333 target range: 16.305424 and range: 16.40 m. 2025-10-27T05:37:21.537Z,1761543441.537 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.810547 2025-10-27T05:37:21.661Z,1761543441.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810700,0.579158,0.085676],[-0.585460,0.801708,0.120415],[0.001053,-0.147781,0.989020]] 2025-10-27T05:37:21.789Z,1761543441.789 [DAT](INFO): DAT read: Rx Time:05:37:20.5853 2025-10-27T05:37:21.789Z,1761543441.789 [DAT](INFO): Rx dataTimestamp_ set to:1761543441.788723 2025-10-27T05:37:21.790Z,1761543441.790 [DAT](INFO): DAT read: Bearing 150.0, -0.9 (Local) 2025-10-27T05:37:21.791Z,1761543441.791 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, -0.9 (Local) 2025-10-27T05:37:21.793Z,1761543441.793 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.3 2025-10-27T05:37:21.797Z,1761543441.797 [DAT](INFO): DAT read: 05:37:20.5853 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33, 0.834,-0.971, 0.895, 0.796, PHS= 0.141,-1.721, 0.055, RAW= 147.7, 16.5, CAL= 147.7, 18.3, ROT= 2.3, -18.3 2025-10-27T05:37:21.798Z,1761543441.798 [DAT](INFO): got valid direction response: 05:37:20.5853 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33, 0.834,-0.971, 0.895, 0.796, PHS= 0.141,-1.721, 0.055, RAW= 147.7, 16.5, CAL= 147.7, 18.3, ROT= 2.3, -18.3 2025-10-27T05:37:21.799Z,1761543441.799 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:37:21.800Z,1761543441.800 [DAT](INFO): direction in FSK: [0.948661,0.038102,0.313992] 2025-10-27T05:37:21.800Z,1761543441.800 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:21.804Z,1761543441.804 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=39.078098 2025-10-27T05:37:21.826Z,1761543441.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503892 s, deltaX: -0.500000 m, approachRate: -0.992276 m/s, rangeRepo size: 4 2025-10-27T05:37:21.832Z,1761543441.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.808308 m, bearing: 329.231426 deg, lat: 36.779374 deg, lon: -121.859717 deg, deltaT: 0.503892 s, deltaX: -0.497116 m, approachRate: -0.986553 m/s, posRepo size: 4 2025-10-27T05:37:21.833Z,1761543441.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-27T05:37:21.840Z,1761543441.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.808308 m, nav range: 15.075739 m, bearing: 329.288677 deg, approach rate: 0.000000 m/s, LOS rate: -0.244142 deg/s, cmd heading: 323.052675 deg, new cmd heading: 322.696325 deg. 2025-10-27T05:37:21.841Z,1761543441.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632113 target range: 15.808308 and range: 15.90 m. 2025-10-27T05:37:22.042Z,1761543442.042 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=39.315296 2025-10-27T05:37:22.143Z,1761543442.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812651,0.576243,0.086848],[-0.582751,0.803748,0.119959],[-0.000679,-0.148095,0.988973]] 2025-10-27T05:37:22.160Z,1761543442.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:22.162Z,1761543442.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-27T05:37:22.165Z,1761543442.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.808308 m, nav range: 14.919150 m, bearing: 329.167230 deg, approach rate: -0.464987 m/s, LOS rate: -0.364420 deg/s, cmd heading: 322.696331 deg, new cmd heading: 322.328171 deg. 2025-10-27T05:37:22.166Z,1761543442.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625688 target range: 15.808308 and range: 15.90 m. 2025-10-27T05:37:22.294Z,1761543442.294 [DAT](INFO): DAT read: Rx Time:05:37:21.0853 2025-10-27T05:37:22.295Z,1761543442.295 [DAT](INFO): Rx dataTimestamp_ set to:1761543442.294282 2025-10-27T05:37:22.297Z,1761543442.297 [DAT](INFO): DAT read: Bearing 150.0, -2.0 (Local) 2025-10-27T05:37:22.297Z,1761543442.297 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, -2.0 (Local) 2025-10-27T05:37:22.300Z,1761543442.300 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.3 2025-10-27T05:37:22.305Z,1761543442.305 [DAT](INFO): DAT read: 05:37:21.0853 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.37,-2.147, 2.349,-2.049,-2.170, PHS= 0.126,-1.719, 0.077, RAW= 148.7, 16.4, CAL= 148.9, 18.2, ROT= 1.1, -18.2 2025-10-27T05:37:22.306Z,1761543442.306 [DAT](INFO): got valid direction response: 05:37:21.0853 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.37,-2.147, 2.349,-2.049,-2.170, PHS= 0.126,-1.719, 0.077, RAW= 148.7, 16.4, CAL= 148.9, 18.2, ROT= 1.1, -18.2 2025-10-27T05:37:22.309Z,1761543442.309 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:37:22.313Z,1761543442.313 [DAT](INFO): direction in FSK: [0.949797,0.018237,0.312335] 2025-10-27T05:37:22.313Z,1761543442.313 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:22.332Z,1761543442.332 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.593079 2025-10-27T05:37:22.545Z,1761543442.545 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.819141 2025-10-27T05:37:22.558Z,1761543442.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814165,0.573999,0.087527],[-0.580629,0.805432,0.118947],[-0.002222,-0.147663,0.989035]] 2025-10-27T05:37:22.675Z,1761543442.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.505559 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:22.677Z,1761543442.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.807890 m, bearing: 328.366710 deg, lat: 36.779374 deg, lon: -121.859717 deg, deltaT: 0.505559 s, deltaX: -0.000418 m, approachRate: -0.000826 m/s, posRepo size: 4 2025-10-27T05:37:22.678Z,1761543442.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-27T05:37:22.684Z,1761543442.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.807890 m, nav range: 14.737931 m, bearing: 329.000655 deg, approach rate: 0.000000 m/s, LOS rate: -0.364420 deg/s, cmd heading: 322.328184 deg, new cmd heading: 321.772891 deg. 2025-10-27T05:37:22.685Z,1761543442.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615996 target range: 15.807890 and range: 15.90 m. 2025-10-27T05:37:22.797Z,1761543442.797 [DAT](INFO): DAT read: Rx Time:05:37:21.5851 2025-10-27T05:37:22.797Z,1761543442.797 [DAT](INFO): Rx dataTimestamp_ set to:1761543442.796870 2025-10-27T05:37:22.798Z,1761543442.798 [DAT](INFO): DAT read: Bearing 148.1, -1.7 (Local) 2025-10-27T05:37:22.799Z,1761543442.799 [DAT](INFO): Local bearing/azimuth received: Bearing 148.1, -1.7 (Local) 2025-10-27T05:37:22.801Z,1761543442.801 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.3 2025-10-27T05:37:22.808Z,1761543442.808 [DAT](INFO): DAT read: 05:37:21.5851 LVL= 30448, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.22, 2.405, 0.585, 2.504, 2.322, PHS= 0.185,-1.692, 0.138, RAW= 148.7, 14.6, CAL= 148.8, 16.2, ROT= 1.2, -16.2 2025-10-27T05:37:22.810Z,1761543442.810 [DAT](INFO): got valid direction response: 05:37:21.5851 LVL= 30448, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.22, 2.405, 0.585, 2.504, 2.322, PHS= 0.185,-1.692, 0.138, RAW= 148.7, 14.6, CAL= 148.8, 16.2, ROT= 1.2, -16.2 2025-10-27T05:37:22.810Z,1761543442.810 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:37:22.814Z,1761543442.814 [DAT](INFO): direction in FSK: [0.960083,0.020111,0.278991] 2025-10-27T05:37:22.814Z,1761543442.814 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:22.822Z,1761543442.822 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=40.096024 2025-10-27T05:37:23.048Z,1761543443.048 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=40.322308 2025-10-27T05:37:23.124Z,1761543443.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.502588 s, deltaX: -0.299999 m, approachRate: -0.596909 m/s, rangeRepo size: 4 2025-10-27T05:37:23.126Z,1761543443.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.509629 m, bearing: 328.143440 deg, lat: 36.779376 deg, lon: -121.859718 deg, deltaT: 0.502588 s, deltaX: -0.298261 m, approachRate: -0.593450 m/s, posRepo size: 4 2025-10-27T05:37:23.131Z,1761543443.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T05:37:23.134Z,1761543443.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.509629 m, nav range: 14.676212 m, bearing: 329.105469 deg, approach rate: 0.000000 m/s, LOS rate: -0.364420 deg/s, cmd heading: 321.772889 deg, new cmd heading: 321.276863 deg. 2025-10-27T05:37:23.139Z,1761543443.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607339 target range: 15.509629 and range: 15.60 m. 2025-10-27T05:37:23.301Z,1761543443.301 [DAT](INFO): DAT read: Rx Time:05:37:22.0850 2025-10-27T05:37:23.301Z,1761543443.301 [DAT](INFO): Rx dataTimestamp_ set to:1761543443.300776 2025-10-27T05:37:23.302Z,1761543443.302 [DAT](INFO): DAT read: Bearing 148.3, -2.3 (Local) 2025-10-27T05:37:23.303Z,1761543443.303 [DAT](INFO): Local bearing/azimuth received: Bearing 148.3, -2.3 (Local) 2025-10-27T05:37:23.305Z,1761543443.305 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.3 2025-10-27T05:37:23.310Z,1761543443.310 [DAT](INFO): DAT read: 05:37:22.0850 LVL= 29904, 32753, 32754, 32755, AGC= 60, IDX= 497, 0.06, 1.739,-0.073, 1.854, 1.668, PHS= 0.174,-1.695, 0.142, RAW= 149.2, 14.7, CAL= 149.3, 16.4, ROT= 0.7, -16.4 2025-10-27T05:37:23.311Z,1761543443.311 [DAT](INFO): got valid direction response: 05:37:22.0850 LVL= 29904, 32753, 32754, 32755, AGC= 60, IDX= 497, 0.06, 1.739,-0.073, 1.854, 1.668, PHS= 0.174,-1.695, 0.142, RAW= 149.2, 14.7, CAL= 149.3, 16.4, ROT= 0.7, -16.4 2025-10-27T05:37:23.312Z,1761543443.312 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:37:23.313Z,1761543443.313 [DAT](INFO): direction in FSK: [0.959242,0.011720,0.282341] 2025-10-27T05:37:23.313Z,1761543443.313 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:23.316Z,1761543443.316 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.590694 2025-10-27T05:37:23.416Z,1761543443.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815985,0.570603,0.092630],[-0.578051,0.806786,0.122283],[-0.004958,-0.153326,0.988163]] 2025-10-27T05:37:23.460Z,1761543443.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503906 s, deltaX: -0.100000 m, approachRate: -0.198450 m/s, rangeRepo size: 4 2025-10-27T05:37:23.462Z,1761543443.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.410283 m, bearing: 327.955236 deg, lat: 36.779376 deg, lon: -121.859721 deg, deltaT: 0.503906 s, deltaX: -0.099346 m, approachRate: -0.197152 m/s, posRepo size: 4 2025-10-27T05:37:23.468Z,1761543443.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T05:37:23.470Z,1761543443.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.410283 m, nav range: 14.706877 m, bearing: 328.114013 deg, approach rate: 0.000000 m/s, LOS rate: -0.364420 deg/s, cmd heading: 321.276854 deg, new cmd heading: 320.909727 deg. 2025-10-27T05:37:23.476Z,1761543443.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600931 target range: 15.410283 and range: 15.50 m. 2025-10-27T05:37:23.554Z,1761543443.554 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.827766 2025-10-27T05:37:23.805Z,1761543443.805 [DAT](INFO): DAT read: Rx Time:05:37:22.5848 2025-10-27T05:37:23.805Z,1761543443.805 [DAT](INFO): Rx dataTimestamp_ set to:1761543443.804732 2025-10-27T05:37:23.806Z,1761543443.806 [DAT](INFO): DAT read: Bearing 148.7, -2.7 (Local) 2025-10-27T05:37:23.807Z,1761543443.807 [DAT](INFO): Local bearing/azimuth received: Bearing 148.7, -2.7 (Local) 2025-10-27T05:37:23.813Z,1761543443.813 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.3 2025-10-27T05:37:23.818Z,1761543443.818 [DAT](INFO): DAT read: 05:37:22.5848 LVL= 30704, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.09,-0.270,-2.067,-0.146,-0.325, PHS= 0.157,-1.697, 0.135, RAW= 149.4, 15.1, CAL= 149.6, 16.8, ROT= 0.4, -16.8 2025-10-27T05:37:23.824Z,1761543443.824 [DAT](INFO): got valid direction response: 05:37:22.5848 LVL= 30704, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.09,-0.270,-2.067,-0.146,-0.325, PHS= 0.157,-1.697, 0.135, RAW= 149.4, 15.1, CAL= 149.6, 16.8, ROT= 0.4, -16.8 2025-10-27T05:37:23.824Z,1761543443.824 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:37:23.825Z,1761543443.825 [DAT](INFO): direction in FSK: [0.957296,0.006683,0.289032] 2025-10-27T05:37:23.826Z,1761543443.826 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:23.829Z,1761543443.829 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=41.103542 2025-10-27T05:37:23.837Z,1761543443.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815636,0.570409,0.096802],[-0.578537,0.805730,0.126860],[-0.005635,-0.159475,0.987186]] 2025-10-27T05:37:23.960Z,1761543443.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503956 s, deltaX: -0.300000 m, approachRate: -0.595290 m/s, rangeRepo size: 4 2025-10-27T05:37:23.962Z,1761543443.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.112020 m, bearing: 327.796940 deg, lat: 36.779376 deg, lon: -121.859721 deg, deltaT: 0.503956 s, deltaX: -0.298264 m, approachRate: -0.591844 m/s, posRepo size: 4 2025-10-27T05:37:23.967Z,1761543443.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T05:37:23.970Z,1761543443.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.112020 m, nav range: 14.519856 m, bearing: 327.815233 deg, approach rate: 0.000000 m/s, LOS rate: -0.364420 deg/s, cmd heading: 320.909717 deg, new cmd heading: 320.367929 deg. 2025-10-27T05:37:23.970Z,1761543443.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.591475 target range: 15.112020 and range: 15.20 m. 2025-10-27T05:37:24.056Z,1761543444.056 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=41.330376 2025-10-27T05:37:24.273Z,1761543444.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814558,0.571439,0.099760],[-0.580053,0.804100,0.130238],[-0.005794,-0.163953,0.986451]] 2025-10-27T05:37:24.302Z,1761543444.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:24.304Z,1761543444.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T05:37:24.309Z,1761543444.309 [DAT](INFO): DAT read: Rx Time:05:37:23.0847 2025-10-27T05:37:24.309Z,1761543444.309 [DAT](INFO): Rx dataTimestamp_ set to:1761543444.308872 2025-10-27T05:37:24.310Z,1761543444.310 [DAT](INFO): DAT read: Bearing 148.8, -3.4 (Local) 2025-10-27T05:37:24.311Z,1761543444.311 [DAT](INFO): Local bearing/azimuth received: Bearing 148.8, -3.4 (Local) 2025-10-27T05:37:24.313Z,1761543444.313 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T05:37:24.318Z,1761543444.318 [DAT](INFO): DAT read: 05:37:23.0847 LVL= 30288, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.30, 0.532,-1.258, 0.670, 0.494, PHS= 0.140,-1.707, 0.132, RAW= 149.8, 15.4, CAL= 150.1, 17.2, ROT= 359.9, -17.2 2025-10-27T05:37:24.319Z,1761543444.319 [DAT](INFO): got valid direction response: 05:37:23.0847 LVL= 30288, 32753, 32754, 32755, AGC= 60, IDX= 511,-0.30, 0.532,-1.258, 0.670, 0.494, PHS= 0.140,-1.707, 0.132, RAW= 149.8, 15.4, CAL= 150.1, 17.2, ROT= 359.9, -17.2 2025-10-27T05:37:24.319Z,1761543444.319 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:37:24.320Z,1761543444.320 [DAT](INFO): direction in FSK: [0.955277,-0.001667,0.295708] 2025-10-27T05:37:24.320Z,1761543444.320 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:24.307Z,1761543444.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.112020 m, nav range: 14.360324 m, bearing: 327.735671 deg, approach rate: -0.457436 m/s, LOS rate: -0.230667 deg/s, cmd heading: 320.367919 deg, new cmd heading: 320.126583 deg. 2025-10-27T05:37:24.324Z,1761543444.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587263 target range: 15.112020 and range: 15.20 m. 2025-10-27T05:37:24.329Z,1761543444.329 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.602962 2025-10-27T05:37:24.560Z,1761543444.560 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.834267 2025-10-27T05:37:24.664Z,1761543444.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812726,0.573076,0.105167],[-0.582615,0.801176,0.136661],[-0.005940,-0.172340,0.985020]] 2025-10-27T05:37:24.796Z,1761543444.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504140 s, deltaX: -0.200000 m, approachRate: -0.396715 m/s, rangeRepo size: 4 2025-10-27T05:37:24.798Z,1761543444.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.913330 m, bearing: 327.314810 deg, lat: 36.779377 deg, lon: -121.859721 deg, deltaT: 0.504140 s, deltaX: -0.198689 m, approachRate: -0.394116 m/s, posRepo size: 4 2025-10-27T05:37:24.799Z,1761543444.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T05:37:24.802Z,1761543444.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.913330 m, nav range: 14.176148 m, bearing: 327.812989 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 320.126595 deg, new cmd heading: 319.786328 deg. 2025-10-27T05:37:24.803Z,1761543444.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581324 target range: 14.913330 and range: 15.00 m. 2025-10-27T05:37:24.813Z,1761543444.813 [DAT](INFO): DAT read: Rx Time:05:37:23.5845 2025-10-27T05:37:24.813Z,1761543444.813 [DAT](INFO): Rx dataTimestamp_ set to:1761543444.812777 2025-10-27T05:37:24.814Z,1761543444.814 [DAT](INFO): DAT read: Bearing 145.1, -2.6 (Local) 2025-10-27T05:37:24.815Z,1761543444.815 [DAT](INFO): Local bearing/azimuth received: Bearing 145.1, -2.6 (Local) 2025-10-27T05:37:24.817Z,1761543444.817 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 2025-10-27T05:37:24.821Z,1761543444.821 [DAT](INFO): DAT read: 05:37:23.5845 LVL= 25040, 32753, 31074, 32755, AGC= 58, IDX= 508, 0.41, 0.705,-1.095, 0.844, 0.565, PHS= 0.242,-1.614, 0.236, RAW= 149.8, 12.2, CAL= 149.7, 13.5, ROT= 0.3, -13.5 2025-10-27T05:37:24.823Z,1761543444.823 [DAT](INFO): got valid direction response: 05:37:23.5845 LVL= 25040, 32753, 31074, 32755, AGC= 58, IDX= 508, 0.41, 0.705,-1.095, 0.844, 0.565, PHS= 0.242,-1.614, 0.236, RAW= 149.8, 12.2, CAL= 149.7, 13.5, ROT= 0.3, -13.5 2025-10-27T05:37:24.839Z,1761543444.839 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T05:37:24.840Z,1761543444.840 [DAT](INFO): direction in FSK: [0.972357,0.005091,0.233445] 2025-10-27T05:37:24.840Z,1761543444.840 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:24.844Z,1761543444.844 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=42.118366 2025-10-27T05:37:25.065Z,1761543445.065 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=42.338959 2025-10-27T05:37:25.290Z,1761543445.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810522,0.575039,0.111286],[-0.585681,0.797563,0.144469],[-0.005683,-0.182274,0.983231]] 2025-10-27T05:37:25.317Z,1761543445.317 [DAT](INFO): DAT read: Rx Time:05:37:24.0845 2025-10-27T05:37:25.317Z,1761543445.317 [DAT](INFO): Rx dataTimestamp_ set to:1761543445.316794 2025-10-27T05:37:25.318Z,1761543445.318 [DAT](INFO): DAT read: Bearing 146.9, -3.5 (Local) 2025-10-27T05:37:25.319Z,1761543445.319 [DAT](INFO): Local bearing/azimuth received: Bearing 146.9, -3.5 (Local) 2025-10-27T05:37:25.321Z,1761543445.321 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 2025-10-27T05:37:25.325Z,1761543445.325 [DAT](INFO): DAT read: 05:37:24.0845 LVL= 28192, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.08, 2.019, 0.217, 2.164, 1.942, PHS= 0.178,-1.681, 0.177, RAW= 150.0, 14.2, CAL= 150.1, 15.7, ROT= 359.9, -15.7 2025-10-27T05:37:25.327Z,1761543445.327 [DAT](INFO): got valid direction response: 05:37:24.0845 LVL= 28192, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.08, 2.019, 0.217, 2.164, 1.942, PHS= 0.178,-1.681, 0.177, RAW= 150.0, 14.2, CAL= 150.1, 15.7, ROT= 359.9, -15.7 2025-10-27T05:37:25.327Z,1761543445.327 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:37:25.328Z,1761543445.328 [DAT](INFO): direction in FSK: [0.962690,-0.001680,0.270600] 2025-10-27T05:37:25.328Z,1761543445.328 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:25.340Z,1761543445.340 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.614296 2025-10-27T05:37:25.346Z,1761543445.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 1.007922 s, deltaX: -0.300000 m, approachRate: -0.297642 m/s, rangeRepo size: 4 2025-10-27T05:37:25.364Z,1761543445.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.615365 m, bearing: 326.944639 deg, lat: 36.779377 deg, lon: -121.859722 deg, deltaT: 0.503905 s, deltaX: -0.297965 m, approachRate: -0.591312 m/s, posRepo size: 4 2025-10-27T05:37:25.365Z,1761543445.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-27T05:37:25.372Z,1761543445.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.615365 m, nav range: 13.967518 m, bearing: 327.684072 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 319.786315 deg, new cmd heading: 319.405970 deg. 2025-10-27T05:37:25.373Z,1761543445.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574686 target range: 14.615365 and range: 14.70 m. 2025-10-27T05:37:25.568Z,1761543445.568 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.842461 2025-10-27T05:37:25.822Z,1761543445.822 [DAT](INFO): DAT read: Rx Time:05:37:24.5842 2025-10-27T05:37:25.822Z,1761543445.822 [DAT](INFO): Rx dataTimestamp_ set to:1761543445.821992 2025-10-27T05:37:25.824Z,1761543445.824 [DAT](INFO): DAT read: Bearing 145.2, -2.9 (Local) 2025-10-27T05:37:25.824Z,1761543445.824 [DAT](INFO): Local bearing/azimuth received: Bearing 145.2, -2.9 (Local) 2025-10-27T05:37:25.826Z,1761543445.826 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-27T05:37:25.831Z,1761543445.831 [DAT](INFO): DAT read: 05:37:24.5842 LVL= 26048, 32753, 30146, 32755, AGC= 58, IDX= 506,-0.19,-0.235,-2.024,-0.102,-0.356, PHS= 0.223,-1.623, 0.211, RAW= 149.7, 12.9, CAL= 149.6, 14.2, ROT= 0.4, -14.2 2025-10-27T05:37:25.832Z,1761543445.832 [DAT](INFO): got valid direction response: 05:37:24.5842 LVL= 26048, 32753, 30146, 32755, AGC= 58, IDX= 506,-0.19,-0.235,-2.024,-0.102,-0.356, PHS= 0.223,-1.623, 0.211, RAW= 149.7, 12.9, CAL= 149.6, 14.2, ROT= 0.4, -14.2 2025-10-27T05:37:25.832Z,1761543445.832 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:37:25.833Z,1761543445.833 [DAT](INFO): direction in FSK: [0.969422,0.006768,0.245307] 2025-10-27T05:37:25.833Z,1761543445.833 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:25.842Z,1761543445.842 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=43.116249 2025-10-27T05:37:25.956Z,1761543445.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804305,0.581187,0.123754],[-0.594194,0.788421,0.159139],[-0.005080,-0.201530,0.979469]] 2025-10-27T05:37:26.053Z,1761543446.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.505198 s, deltaX: -0.400000 m, approachRate: -0.791768 m/s, rangeRepo size: 4 2025-10-27T05:37:26.059Z,1761543446.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.217669 m, bearing: 326.850163 deg, lat: 36.779377 deg, lon: -121.859723 deg, deltaT: 1.009215 s, deltaX: -0.397696 m, approachRate: -0.394065 m/s, posRepo size: 4 2025-10-27T05:37:26.060Z,1761543446.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-27T05:37:26.062Z,1761543446.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.217669 m, nav range: 13.693132 m, bearing: 327.255283 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 319.405983 deg, new cmd heading: 318.916790 deg. 2025-10-27T05:37:26.068Z,1761543446.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566148 target range: 14.217669 and range: 14.30 m. 2025-10-27T05:37:26.072Z,1761543446.072 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=43.346321 2025-10-27T05:37:26.325Z,1761543446.325 [DAT](INFO): DAT read: Rx Time:05:37:25.0842 2025-10-27T05:37:26.325Z,1761543446.325 [DAT](INFO): Rx dataTimestamp_ set to:1761543446.324701 2025-10-27T05:37:26.326Z,1761543446.326 [DAT](INFO): DAT read: Bearing 144.2, -2.8 (Local) 2025-10-27T05:37:26.327Z,1761543446.327 [DAT](INFO): Local bearing/azimuth received: Bearing 144.2, -2.8 (Local) 2025-10-27T05:37:26.329Z,1761543446.329 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-27T05:37:26.352Z,1761543446.352 [DAT](INFO): DAT read: 05:37:25.0842 LVL= 25200, 32753, 30482, 32755, AGC= 58, IDX= 505, 0.25,-2.863, 1.617,-2.731,-3.006, PHS= 0.245,-1.615, 0.231, RAW= 149.6, 12.3, CAL= 149.6, 13.5, ROT= 0.4, -13.5 2025-10-27T05:37:26.353Z,1761543446.353 [DAT](INFO): got valid direction response: 05:37:25.0842 LVL= 25200, 32753, 30482, 32755, AGC= 58, IDX= 505, 0.25,-2.863, 1.617,-2.731,-3.006, PHS= 0.245,-1.615, 0.231, RAW= 149.6, 12.3, CAL= 149.6, 13.5, ROT= 0.4, -13.5 2025-10-27T05:37:26.353Z,1761543446.353 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:37:26.354Z,1761543446.354 [DAT](INFO): direction in FSK: [0.972346,0.006788,0.233445] 2025-10-27T05:37:26.354Z,1761543446.354 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:26.362Z,1761543446.362 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.636536 2025-10-27T05:37:26.488Z,1761543446.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801078,0.584855,0.127356],[-0.598547,0.784150,0.163860],[-0.004032,-0.207493,0.978228]] 2025-10-27T05:37:26.534Z,1761543446.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502709 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:26.538Z,1761543446.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.219339 m, bearing: 326.472835 deg, lat: 36.779377 deg, lon: -121.859725 deg, deltaT: 0.502709 s, deltaX: 0.001671 m, approachRate: 0.003324 m/s, posRepo size: 4 2025-10-27T05:37:26.540Z,1761543446.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-27T05:37:26.544Z,1761543446.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.219339 m, nav range: 13.578135 m, bearing: 326.841797 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 318.916777 deg, new cmd heading: 318.584216 deg. 2025-10-27T05:37:26.545Z,1761543446.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560344 target range: 14.219339 and range: 14.30 m. 2025-10-27T05:37:26.576Z,1761543446.576 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.850376 2025-10-27T05:37:26.829Z,1761543446.829 [DAT](INFO): DAT read: Rx Time:05:37:25.5839 2025-10-27T05:37:26.829Z,1761543446.829 [DAT](INFO): Rx dataTimestamp_ set to:1761543446.828698 2025-10-27T05:37:26.830Z,1761543446.830 [DAT](INFO): DAT read: Bearing 144.5, -2.4 (Local) 2025-10-27T05:37:26.831Z,1761543446.831 [DAT](INFO): Local bearing/azimuth received: Bearing 144.5, -2.4 (Local) 2025-10-27T05:37:26.833Z,1761543446.833 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 2025-10-27T05:37:26.840Z,1761543446.840 [DAT](INFO): DAT read: 05:37:25.5839 LVL= 26608, 32753, 30706, 32755, AGC= 58, IDX= 503,-0.16, 0.301,-1.504, 0.410, 0.165, PHS= 0.238,-1.624, 0.201, RAW= 149.0, 12.8, CAL= 148.9, 14.1, ROT= 1.1, -14.1 2025-10-27T05:37:26.841Z,1761543446.841 [DAT](INFO): got valid direction response: 05:37:25.5839 LVL= 26608, 32753, 30706, 32755, AGC= 58, IDX= 503,-0.16, 0.301,-1.504, 0.410, 0.165, PHS= 0.238,-1.624, 0.201, RAW= 149.0, 12.8, CAL= 148.9, 14.1, ROT= 1.1, -14.1 2025-10-27T05:37:26.841Z,1761543446.841 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:37:26.842Z,1761543446.842 [DAT](INFO): direction in FSK: [0.969693,0.018619,0.243615] 2025-10-27T05:37:26.842Z,1761543446.842 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:26.852Z,1761543446.852 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=44.126331 2025-10-27T05:37:26.947Z,1761543446.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797533,0.589122,0.129905],[-0.603270,0.779677,0.167836],[-0.002408,-0.212222,0.977218]] 2025-10-27T05:37:27.069Z,1761543447.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503997 s, deltaX: -0.500000 m, approachRate: -0.992069 m/s, rangeRepo size: 4 2025-10-27T05:37:27.071Z,1761543447.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.722159 m, bearing: 327.015798 deg, lat: 36.779378 deg, lon: -121.859725 deg, deltaT: 0.503997 s, deltaX: -0.497180 m, approachRate: -0.986474 m/s, posRepo size: 4 2025-10-27T05:37:27.072Z,1761543447.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-27T05:37:27.074Z,1761543447.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.722159 m, nav range: 13.348482 m, bearing: 327.015841 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 318.584229 deg, new cmd heading: 318.213811 deg. 2025-10-27T05:37:27.075Z,1761543447.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553879 target range: 13.722159 and range: 13.80 m. 2025-10-27T05:37:27.080Z,1761543447.080 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=44.354324 2025-10-27T05:37:27.334Z,1761543447.334 [DAT](INFO): DAT read: Rx Time:05:37:26.0838 2025-10-27T05:37:27.334Z,1761543447.334 [DAT](INFO): Rx dataTimestamp_ set to:1761543447.333858 2025-10-27T05:37:27.336Z,1761543447.336 [DAT](INFO): DAT read: Bearing 147.6, -3.9 (Local) 2025-10-27T05:37:27.337Z,1761543447.337 [DAT](INFO): Local bearing/azimuth received: Bearing 147.6, -3.9 (Local) 2025-10-27T05:37:27.340Z,1761543447.340 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-27T05:37:27.344Z,1761543447.344 [DAT](INFO): DAT read: 05:37:26.0838 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.11,-3.118, 1.366,-2.994, 3.140, PHS= 0.127,-1.729, 0.105, RAW= 149.4, 16.0, CAL= 149.7, 17.9, ROT= 0.3, -17.9 2025-10-27T05:37:27.346Z,1761543447.346 [DAT](INFO): got valid direction response: 05:37:26.0838 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.11,-3.118, 1.366,-2.994, 3.140, PHS= 0.127,-1.729, 0.105, RAW= 149.4, 16.0, CAL= 149.7, 17.9, ROT= 0.3, -17.9 2025-10-27T05:37:27.346Z,1761543447.346 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:37:27.348Z,1761543447.348 [DAT](INFO): direction in FSK: [0.951581,0.004983,0.307357] 2025-10-27T05:37:27.348Z,1761543447.348 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:27.404Z,1761543447.404 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.677998 2025-10-27T05:37:27.433Z,1761543447.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789595,0.599037,0.133016],[-0.613627,0.770507,0.172573],[0.000888,-0.217885,0.975974]] 2025-10-27T05:37:27.481Z,1761543447.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.505160 s, deltaX: -0.100000 m, approachRate: -0.197958 m/s, rangeRepo size: 4 2025-10-27T05:37:27.492Z,1761543447.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.623596 m, bearing: 326.465802 deg, lat: 36.779378 deg, lon: -121.859725 deg, deltaT: 0.505160 s, deltaX: -0.098563 m, approachRate: -0.195113 m/s, posRepo size: 4 2025-10-27T05:37:27.492Z,1761543447.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-27T05:37:27.499Z,1761543447.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.623596 m, nav range: 13.131749 m, bearing: 327.071817 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 318.213814 deg, new cmd heading: 317.928389 deg. 2025-10-27T05:37:27.500Z,1761543447.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548897 target range: 13.623596 and range: 13.70 m. 2025-10-27T05:37:27.585Z,1761543447.585 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.859032 2025-10-27T05:37:27.836Z,1761543447.836 [DAT](INFO): DAT read: Rx Time:05:37:26.5835 2025-10-27T05:37:27.837Z,1761543447.837 [DAT](INFO): Rx dataTimestamp_ set to:1761543447.836566 2025-10-27T05:37:27.838Z,1761543447.838 [DAT](INFO): DAT read: Bearing 146.6, -2.2 (Local) 2025-10-27T05:37:27.838Z,1761543447.838 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, -2.2 (Local) 2025-10-27T05:37:27.841Z,1761543447.841 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-27T05:37:27.845Z,1761543447.845 [DAT](INFO): DAT read: 05:37:26.5835 LVL= 30848, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.44, 0.344,-1.489, 0.420, 0.269, PHS= 0.177,-1.713, 0.107, RAW= 148.1, 15.2, CAL= 148.2, 16.8, ROT= 1.8, -16.8 2025-10-27T05:37:27.846Z,1761543447.846 [DAT](INFO): got valid direction response: 05:37:26.5835 LVL= 30848, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.44, 0.344,-1.489, 0.420, 0.269, PHS= 0.177,-1.713, 0.107, RAW= 148.1, 15.2, CAL= 148.2, 16.8, ROT= 1.8, -16.8 2025-10-27T05:37:27.846Z,1761543447.846 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:37:27.847Z,1761543447.847 [DAT](INFO): direction in FSK: [0.956847,0.030070,0.289032] 2025-10-27T05:37:27.848Z,1761543447.848 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:27.851Z,1761543447.851 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=45.125645 2025-10-27T05:37:27.857Z,1761543447.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785733,0.603933,0.133748],[-0.618561,0.766290,0.173726],[0.002429,-0.219234,0.975669]] 2025-10-27T05:37:27.978Z,1761543447.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.502708 s, deltaX: -0.500000 m, approachRate: -0.994613 m/s, rangeRepo size: 4 2025-10-27T05:37:27.984Z,1761543447.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.126385 m, bearing: 327.326411 deg, lat: 36.779377 deg, lon: -121.859725 deg, deltaT: 0.502708 s, deltaX: -0.497211 m, approachRate: -0.989066 m/s, posRepo size: 4 2025-10-27T05:37:27.985Z,1761543447.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-27T05:37:27.992Z,1761543447.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.126385 m, nav range: 12.796887 m, bearing: 327.049326 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 317.928394 deg, new cmd heading: 317.584506 deg. 2025-10-27T05:37:27.993Z,1761543447.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542895 target range: 13.126385 and range: 13.20 m. 2025-10-27T05:37:28.088Z,1761543448.088 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=45.362423 2025-10-27T05:37:28.326Z,1761543448.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781582,0.609242,0.133992],[-0.623788,0.761841,0.174606],[0.004296,-0.220051,0.975479]] 2025-10-27T05:37:28.341Z,1761543448.341 [DAT](INFO): DAT read: Rx Time:05:37:27.0834 2025-10-27T05:37:28.341Z,1761543448.341 [DAT](INFO): Rx dataTimestamp_ set to:1761543448.340807 2025-10-27T05:37:28.342Z,1761543448.342 [DAT](INFO): DAT read: Bearing 145.8, -1.1 (Local) 2025-10-27T05:37:28.343Z,1761543448.343 [DAT](INFO): Local bearing/azimuth received: Bearing 145.8, -1.1 (Local) 2025-10-27T05:37:28.345Z,1761543448.345 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4 2025-10-27T05:37:28.349Z,1761543448.349 [DAT](INFO): DAT read: 05:37:27.0834 LVL= 29424, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.15, 0.948,-0.909, 0.992, 0.837, PHS= 0.213,-1.701, 0.112, RAW= 147.3, 14.6, CAL= 147.2, 16.1, ROT= 2.8, -16.1 2025-10-27T05:37:28.351Z,1761543448.351 [DAT](INFO): got valid direction response: 05:37:27.0834 LVL= 29424, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.15, 0.948,-0.909, 0.992, 0.837, PHS= 0.213,-1.701, 0.112, RAW= 147.3, 14.6, CAL= 147.2, 16.1, ROT= 2.8, -16.1 2025-10-27T05:37:28.351Z,1761543448.351 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:37:28.352Z,1761543448.352 [DAT](INFO): direction in FSK: [0.959632,0.046934,0.277315] 2025-10-27T05:37:28.352Z,1761543448.352 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:28.356Z,1761543448.356 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=45.630257 2025-10-27T05:37:28.372Z,1761543448.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504241 s, deltaX: -0.099999 m, approachRate: -0.198317 m/s, rangeRepo size: 4 2025-10-27T05:37:28.374Z,1761543448.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.028581 m, bearing: 327.764639 deg, lat: 36.779378 deg, lon: -121.859725 deg, deltaT: 0.504241 s, deltaX: -0.097804 m, approachRate: -0.193963 m/s, posRepo size: 4 2025-10-27T05:37:28.374Z,1761543448.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-27T05:37:28.397Z,1761543448.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.028581 m, nav range: 12.622844 m, bearing: 327.340765 deg, approach rate: 0.000000 m/s, LOS rate: -0.230667 deg/s, cmd heading: 317.584508 deg, new cmd heading: 317.312313 deg. 2025-10-27T05:37:28.398Z,1761543448.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.538145 target range: 13.028581 and range: 13.10 m. 2025-10-27T05:37:28.593Z,1761543448.593 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=45.866745 2025-10-27T05:37:28.778Z,1761543448.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777595,0.614561,0.132894],[-0.628735,0.757900,0.174014],[0.006221,-0.218868,0.975735]] 2025-10-27T05:37:28.819Z,1761543448.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:28.821Z,1761543448.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-27T05:37:28.824Z,1761543448.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.028581 m, nav range: 12.364141 m, bearing: 327.499699 deg, approach rate: -0.574556 m/s, LOS rate: 0.360365 deg/s, cmd heading: 317.312311 deg, new cmd heading: 317.799079 deg. 2025-10-27T05:37:28.825Z,1761543448.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546640 target range: 13.028581 and range: 13.10 m. 2025-10-27T05:37:28.844Z,1761543448.844 [DAT](INFO): DAT read: Rx Time:05:37:27.5832 2025-10-27T05:37:28.845Z,1761543448.845 [DAT](INFO): Rx dataTimestamp_ set to:1761543448.844614 2025-10-27T05:37:28.846Z,1761543448.846 [DAT](INFO): DAT read: Bearing 146.9, -0.9 (Local) 2025-10-27T05:37:28.846Z,1761543448.846 [DAT](INFO): Local bearing/azimuth received: Bearing 146.9, -0.9 (Local) 2025-10-27T05:37:28.849Z,1761543448.849 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 2025-10-27T05:37:28.853Z,1761543448.853 [DAT](INFO): DAT read: 05:37:27.5832 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 511,-0.04, 0.538,-1.311, 0.568, 0.461, PHS= 0.179,-1.727, 0.063, RAW= 146.9, 15.8, CAL= 146.8, 17.4, ROT= 3.2, -17.4 2025-10-27T05:37:28.854Z,1761543448.854 [DAT](INFO): got valid direction response: 05:37:27.5832 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 511,-0.04, 0.538,-1.311, 0.568, 0.461, PHS= 0.179,-1.727, 0.063, RAW= 146.9, 15.8, CAL= 146.8, 17.4, ROT= 3.2, -17.4 2025-10-27T05:37:28.855Z,1761543448.855 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T05:37:28.856Z,1761543448.856 [DAT](INFO): direction in FSK: [0.952752,0.053267,0.299041] 2025-10-27T05:37:28.856Z,1761543448.856 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:28.859Z,1761543448.859 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=46.133690 2025-10-27T05:37:29.097Z,1761543449.097 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=46.371700 2025-10-27T05:37:29.139Z,1761543449.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773723,0.619629,0.131952],[-0.633473,0.754055,0.173531],[0.008026,-0.217853,0.975949]] 2025-10-27T05:37:29.195Z,1761543449.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503807 s, deltaX: -0.500000 m, approachRate: -0.992444 m/s, rangeRepo size: 4 2025-10-27T05:37:29.197Z,1761543449.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.531306 m, bearing: 327.717433 deg, lat: 36.779377 deg, lon: -121.859724 deg, deltaT: 0.503807 s, deltaX: -0.497274 m, approachRate: -0.987034 m/s, posRepo size: 4 2025-10-27T05:37:29.198Z,1761543449.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-27T05:37:29.201Z,1761543449.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.531306 m, nav range: 12.000769 m, bearing: 327.717470 deg, approach rate: 0.000000 m/s, LOS rate: 0.360365 deg/s, cmd heading: 317.799085 deg, new cmd heading: 318.197884 deg. 2025-10-27T05:37:29.202Z,1761543449.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553601 target range: 12.531306 and range: 12.60 m. 2025-10-27T05:37:29.350Z,1761543449.350 [DAT](INFO): DAT read: Rx Time:05:37:28.0832 2025-10-27T05:37:29.350Z,1761543449.350 [DAT](INFO): Rx dataTimestamp_ set to:1761543449.349730 2025-10-27T05:37:29.353Z,1761543449.353 [DAT](INFO): DAT read: Bearing 144.0, 0.8 (Local) 2025-10-27T05:37:29.354Z,1761543449.354 [DAT](INFO): Local bearing/azimuth received: Bearing 144.0, 0.8 (Local) 2025-10-27T05:37:29.357Z,1761543449.357 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 2025-10-27T05:37:29.361Z,1761543449.361 [DAT](INFO): DAT read: 05:37:28.0832 LVL= 25760, 32753, 30610, 32755, AGC= 57, IDX= 510, 0.07, 2.482, 0.587, 2.479, 2.303, PHS= 0.281,-1.671, 0.132, RAW= 146.1, 13.3, CAL= 145.8, 14.5, ROT= 4.2, -14.5 2025-10-27T05:37:29.362Z,1761543449.362 [DAT](INFO): got valid direction response: 05:37:28.0832 LVL= 25760, 32753, 30610, 32755, AGC= 57, IDX= 510, 0.07, 2.482, 0.587, 2.479, 2.303, PHS= 0.281,-1.671, 0.132, RAW= 146.1, 13.3, CAL= 145.8, 14.5, ROT= 4.2, -14.5 2025-10-27T05:37:29.363Z,1761543449.363 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T05:37:29.364Z,1761543449.364 [DAT](INFO): direction in FSK: [0.965548,0.070905,0.250380] 2025-10-27T05:37:29.364Z,1761543449.364 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:29.368Z,1761543449.368 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.642349 2025-10-27T05:37:29.585Z,1761543449.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.505116 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:29.588Z,1761543449.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.531840 m, bearing: 328.009240 deg, lat: 36.779377 deg, lon: -121.859724 deg, deltaT: 0.505116 s, deltaX: 0.000534 m, approachRate: 0.001057 m/s, posRepo size: 4 2025-10-27T05:37:29.588Z,1761543449.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-27T05:37:29.591Z,1761543449.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.531840 m, nav range: 11.769518 m, bearing: 327.881307 deg, approach rate: 0.000000 m/s, LOS rate: 0.360365 deg/s, cmd heading: 318.197886 deg, new cmd heading: 318.624766 deg. 2025-10-27T05:37:29.592Z,1761543449.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.561051 target range: 12.531840 and range: 12.60 m. 2025-10-27T05:37:29.600Z,1761543449.600 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.874252 2025-10-27T05:37:29.853Z,1761543449.853 [DAT](INFO): DAT read: Rx Time:05:37:28.5829 2025-10-27T05:37:29.854Z,1761543449.854 [DAT](INFO): Rx dataTimestamp_ set to:1761543449.853572 2025-10-27T05:37:29.855Z,1761543449.855 [DAT](INFO): DAT read: Bearing 145.0, 1.0 (Local) 2025-10-27T05:37:29.856Z,1761543449.856 [DAT](INFO): Local bearing/azimuth received: Bearing 145.0, 1.0 (Local) 2025-10-27T05:37:29.858Z,1761543449.858 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.5 2025-10-27T05:37:29.862Z,1761543449.862 [DAT](INFO): DAT read: 05:37:28.5829 LVL= 29424, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.11, 2.485, 0.573, 2.467, 2.334, PHS= 0.253,-1.716, 0.089, RAW= 145.7, 14.4, CAL= 145.4, 15.8, ROT= 4.6, -15.8 2025-10-27T05:37:29.863Z,1761543449.863 [DAT](INFO): got valid direction response: 05:37:28.5829 LVL= 29424, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.11, 2.485, 0.573, 2.467, 2.334, PHS= 0.253,-1.716, 0.089, RAW= 145.7, 14.4, CAL= 145.4, 15.8, ROT= 4.6, -15.8 2025-10-27T05:37:29.864Z,1761543449.864 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:37:29.865Z,1761543449.865 [DAT](INFO): direction in FSK: [0.959119,0.077169,0.272280] 2025-10-27T05:37:29.865Z,1761543449.865 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:29.895Z,1761543449.895 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=47.160946 2025-10-27T05:37:29.974Z,1761543449.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765943,0.629350,0.131339],[-0.642800,0.745907,0.174443],[0.011818,-0.218038,0.975869]] 2025-10-27T05:37:30.072Z,1761543450.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503842 s, deltaX: -0.300000 m, approachRate: -0.595425 m/s, rangeRepo size: 4 2025-10-27T05:37:30.074Z,1761543450.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.233463 m, bearing: 328.013978 deg, lat: 36.779378 deg, lon: -121.859724 deg, deltaT: 0.503842 s, deltaX: -0.298377 m, approachRate: -0.592204 m/s, posRepo size: 4 2025-10-27T05:37:30.074Z,1761543450.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T05:37:30.082Z,1761543450.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.233463 m, nav range: 11.618122 m, bearing: 328.381544 deg, approach rate: 0.000000 m/s, LOS rate: 0.360365 deg/s, cmd heading: 318.624773 deg, new cmd heading: 319.141363 deg. 2025-10-27T05:37:30.091Z,1761543450.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570067 target range: 12.233463 and range: 12.30 m. 2025-10-27T05:37:30.104Z,1761543450.104 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=47.378342 2025-10-27T05:37:30.357Z,1761543450.357 [DAT](INFO): DAT read: Rx Time:05:37:29.0827 2025-10-27T05:37:30.357Z,1761543450.357 [DAT](INFO): Rx dataTimestamp_ set to:1761543450.356837 2025-10-27T05:37:30.365Z,1761543450.365 [DAT](INFO): DAT read: Bearing 144.9, 1.5 (Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 2025-10-27T05:37:30.366Z,1761543450.366 [DAT](INFO): unknown deviceResponse_: Bearing 144.9, 1.5 (Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 2025-10-27T05:37:30.370Z,1761543450.370 [DAT](INFO): DAT read: 05:37:29.0827 LVL= 28512, 32753, 31906, 32755, AGC= 58, IDX= 505, 0.14, 2.513, 0.588, 2.481, 2.356, PHS= 0.260,-1.723, 0.082, RAW= 145.3, 14.4, CAL= 145.0, 15.8, ROT= 5.0, -15.8 2025-10-27T05:37:30.379Z,1761543450.379 [DAT](INFO): got valid direction response: 05:37:29.0827 LVL= 28512, 32753, 31906, 32755, AGC= 58, IDX= 505, 0.14, 2.513, 0.588, 2.481, 2.356, PHS= 0.260,-1.723, 0.082, RAW= 145.3, 14.4, CAL= 145.0, 15.8, ROT= 5.0, -15.8 2025-10-27T05:37:30.379Z,1761543450.379 [DAT](INFO): #Rx 104: Read direction message, but no range. 2025-10-27T05:37:30.380Z,1761543450.380 [DAT](INFO): direction in FSK: [0.958556,0.083863,0.272280] 2025-10-27T05:37:30.384Z,1761543450.384 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.658092 2025-10-27T05:37:30.466Z,1761543450.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T05:37:30.473Z,1761543450.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.233463 m, nav range: 11.386024 m, bearing: 328.539126 deg, approach rate: -0.575032 m/s, LOS rate: 0.398371 deg/s, cmd heading: 319.141354 deg, new cmd heading: 319.623722 deg. 2025-10-27T05:37:30.474Z,1761543450.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578486 target range: 12.233463 and range: 12.30 m. 2025-10-27T05:37:30.608Z,1761543450.608 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.882290 2025-10-27T05:37:30.803Z,1761543450.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758851,0.638706,0.127277],[-0.651097,0.739605,0.170461],[0.014740,-0.212224,0.977110]] 2025-10-27T05:37:30.854Z,1761543450.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:30.856Z,1761543450.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T05:37:30.861Z,1761543450.861 [DAT](INFO): DAT read: Rx Time:05:37:29.5823 2025-10-27T05:37:30.861Z,1761543450.861 [DAT](INFO): Rx dataTimestamp_ set to:1761543450.860820 2025-10-27T05:37:30.862Z,1761543450.862 [DAT](INFO): DAT read: Bearing 141.0, 2.6 (Local) 2025-10-27T05:37:30.863Z,1761543450.863 [DAT](INFO): Local bearing/azimuth received: Bearing 141.0, 2.6 (Local) 2025-10-27T05:37:30.865Z,1761543450.865 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.6 2025-10-27T05:37:30.870Z,1761543450.870 [DAT](INFO): DAT read: 05:37:29.5823 LVL= 23008, 32753, 26450, 32755, AGC= 55, IDX= 502, 0.19, 1.279,-0.658, 1.241, 1.005, PHS= 0.376,-1.618, 0.192, RAW= 145.2, 11.0, CAL= 144.8, 12.0, ROT= 5.2, -12.0 2025-10-27T05:37:30.871Z,1761543450.871 [DAT](INFO): got valid direction response: 05:37:29.5823 LVL= 23008, 32753, 26450, 32755, AGC= 55, IDX= 502, 0.19, 1.279,-0.658, 1.241, 1.005, PHS= 0.376,-1.618, 0.192, RAW= 145.2, 11.0, CAL= 144.8, 12.0, ROT= 5.2, -12.0 2025-10-27T05:37:30.872Z,1761543450.872 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:37:30.873Z,1761543450.873 [DAT](INFO): direction in FSK: [0.974122,0.088652,0.207912] 2025-10-27T05:37:30.873Z,1761543450.873 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:30.877Z,1761543450.877 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=48.150944 2025-10-27T05:37:30.877Z,1761543450.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.233463 m, nav range: 11.181134 m, bearing: 328.628122 deg, approach rate: -0.525751 m/s, LOS rate: 0.232553 deg/s, cmd heading: 319.623729 deg, new cmd heading: 319.895610 deg. 2025-10-27T05:37:30.878Z,1761543450.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583231 target range: 12.233463 and range: 12.30 m. 2025-10-27T05:37:31.112Z,1761543451.112 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=48.386242 2025-10-27T05:37:31.297Z,1761543451.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 1.007248 s, deltaX: -0.900001 m, approachRate: -0.893524 m/s, rangeRepo size: 4 2025-10-27T05:37:31.303Z,1761543451.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.338223 m, bearing: 327.037634 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 1.007248 s, deltaX: -0.895241 m, approachRate: -0.888799 m/s, posRepo size: 4 2025-10-27T05:37:31.304Z,1761543451.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-27T05:37:31.306Z,1761543451.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.338223 m, nav range: 11.049285 m, bearing: 327.990990 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 319.895598 deg, new cmd heading: 320.202562 deg. 2025-10-27T05:37:31.311Z,1761543451.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.588589 target range: 11.338223 and range: 11.40 m. 2025-10-27T05:37:31.365Z,1761543451.365 [DAT](INFO): DAT read: Rx Time:05:37:30.0823 2025-10-27T05:37:31.366Z,1761543451.366 [DAT](INFO): Rx dataTimestamp_ set to:1761543451.365674 2025-10-27T05:37:31.368Z,1761543451.368 [DAT](INFO): DAT read: Bearing 146.5, 1.4 (Local) 2025-10-27T05:37:31.368Z,1761543451.368 [DAT](INFO): Local bearing/azimuth received: Bearing 146.5, 1.4 (Local) 2025-10-27T05:37:31.371Z,1761543451.371 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 2025-10-27T05:37:31.377Z,1761543451.377 [DAT](INFO): DAT read: 05:37:30.0823 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501, 0.26, 2.545, 0.608, 2.506, 2.449, PHS= 0.199,-1.796, 0.013, RAW= 145.2, 16.4, CAL= 144.9, 17.9, ROT= 5.1, -17.9 2025-10-27T05:37:31.379Z,1761543451.379 [DAT](INFO): got valid direction response: 05:37:30.0823 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501, 0.26, 2.545, 0.608, 2.506, 2.449, PHS= 0.199,-1.796, 0.013, RAW= 145.2, 16.4, CAL= 144.9, 17.9, ROT= 5.1, -17.9 2025-10-27T05:37:31.380Z,1761543451.380 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:37:31.381Z,1761543451.381 [DAT](INFO): direction in FSK: [0.947827,0.084591,0.307357] 2025-10-27T05:37:31.382Z,1761543451.382 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:31.388Z,1761543451.388 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.662018 2025-10-27T05:37:31.606Z,1761543451.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753982,0.645040,0.124235],[-0.656697,0.735508,0.166663],[0.016129,-0.207246,0.978156]] 2025-10-27T05:37:31.616Z,1761543451.616 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.890068 2025-10-27T05:37:31.667Z,1761543451.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504854 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:31.669Z,1761543451.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.338223 m, bearing: 327.772084 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 0.504854 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:37:31.670Z,1761543451.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-27T05:37:31.676Z,1761543451.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.338223 m, nav range: 10.841970 m, bearing: 327.839737 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 320.202574 deg, new cmd heading: 320.457965 deg. 2025-10-27T05:37:31.677Z,1761543451.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593047 target range: 11.338223 and range: 11.40 m. 2025-10-27T05:37:31.869Z,1761543451.869 [DAT](INFO): DAT read: Rx Time:05:37:30.5820 2025-10-27T05:37:31.870Z,1761543451.870 [DAT](INFO): Rx dataTimestamp_ set to:1761543451.869354 2025-10-27T05:37:31.871Z,1761543451.871 [DAT](INFO): DAT read: Bearing 140.6, 2.7 (Local) 2025-10-27T05:37:31.871Z,1761543451.871 [DAT](INFO): Local bearing/azimuth received: Bearing 140.6, 2.7 (Local) 2025-10-27T05:37:31.873Z,1761543451.873 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 2025-10-27T05:37:31.878Z,1761543451.878 [DAT](INFO): DAT read: 05:37:30.5820 LVL= 24288, 32753, 29026, 32755, AGC= 53, IDX= 499,-0.46,-1.040,-3.009,-1.078,-1.321, PHS= 0.383,-1.643, 0.199, RAW= 145.3, 10.9, CAL= 144.9, 11.9, ROT= 5.1, -11.9 2025-10-27T05:37:31.879Z,1761543451.879 [DAT](INFO): got valid direction response: 05:37:30.5820 LVL= 24288, 32753, 29026, 32755, AGC= 53, IDX= 499,-0.46,-1.040,-3.009,-1.078,-1.321, PHS= 0.383,-1.643, 0.199, RAW= 145.3, 10.9, CAL= 144.9, 11.9, ROT= 5.1, -11.9 2025-10-27T05:37:31.880Z,1761543451.880 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:37:31.880Z,1761543451.880 [DAT](INFO): direction in FSK: [0.974635,0.086984,0.206204] 2025-10-27T05:37:31.881Z,1761543451.881 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:31.885Z,1761543451.885 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=49.159519 2025-10-27T05:37:32.045Z,1761543452.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752428,0.647085,0.123015],[-0.658475,0.734367,0.164669],[0.016217,-0.204904,0.978648]] 2025-10-27T05:37:32.116Z,1761543452.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503680 s, deltaX: -0.400000 m, approachRate: -0.794154 m/s, rangeRepo size: 4 2025-10-27T05:37:32.118Z,1761543452.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.940391 m, bearing: 326.280310 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 0.503680 s, deltaX: -0.397832 m, approachRate: -0.789851 m/s, posRepo size: 4 2025-10-27T05:37:32.118Z,1761543452.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-27T05:37:32.120Z,1761543452.120 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=49.394306 2025-10-27T05:37:32.125Z,1761543452.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.940391 m, nav range: 10.609035 m, bearing: 327.813832 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 320.457969 deg, new cmd heading: 320.762595 deg. 2025-10-27T05:37:32.126Z,1761543452.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598363 target range: 10.940391 and range: 11.00 m. 2025-10-27T05:37:32.373Z,1761543452.373 [DAT](INFO): DAT read: Rx Time:05:37:31.0819 2025-10-27T05:37:32.374Z,1761543452.374 [DAT](INFO): Rx dataTimestamp_ set to:1761543452.373597 2025-10-27T05:37:32.375Z,1761543452.375 [DAT](INFO): DAT read: Bearing 146.0, 1.3 (Local) 2025-10-27T05:37:32.376Z,1761543452.376 [DAT](INFO): Local bearing/azimuth received: Bearing 146.0, 1.3 (Local) 2025-10-27T05:37:32.378Z,1761543452.378 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4 2025-10-27T05:37:32.382Z,1761543452.382 [DAT](INFO): DAT read: 05:37:31.0819 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.22,-0.791,-2.753,-0.825,-0.896, PHS= 0.207,-1.812, 0.027, RAW= 145.4, 16.1, CAL= 145.1, 17.6, ROT= 4.9, -17.6 2025-10-27T05:37:32.383Z,1761543452.383 [DAT](INFO): got valid direction response: 05:37:31.0819 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.22,-0.791,-2.753,-0.825,-0.896, PHS= 0.207,-1.812, 0.027, RAW= 145.4, 16.1, CAL= 145.1, 17.6, ROT= 4.9, -17.6 2025-10-27T05:37:32.384Z,1761543452.384 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:37:32.385Z,1761543452.385 [DAT](INFO): direction in FSK: [0.949707,0.081419,0.302370] 2025-10-27T05:37:32.385Z,1761543452.385 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:32.392Z,1761543452.392 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.664989 2025-10-27T05:37:32.437Z,1761543452.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751386,0.648837,0.120124],[-0.659667,0.734167,0.160747],[0.016107,-0.200025,0.979658]] 2025-10-27T05:37:32.498Z,1761543452.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504243 s, deltaX: -0.200000 m, approachRate: -0.396634 m/s, rangeRepo size: 4 2025-10-27T05:37:32.513Z,1761543452.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.741588 m, bearing: 327.160892 deg, lat: 36.779377 deg, lon: -121.859726 deg, deltaT: 0.504243 s, deltaX: -0.198803 m, approachRate: -0.394260 m/s, posRepo size: 4 2025-10-27T05:37:32.514Z,1761543452.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m. 2025-10-27T05:37:32.528Z,1761543452.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.741588 m, nav range: 10.402493 m, bearing: 327.656178 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 320.762595 deg, new cmd heading: 321.040535 deg. 2025-10-27T05:37:32.532Z,1761543452.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603214 target range: 10.741588 and range: 10.80 m. 2025-10-27T05:37:32.625Z,1761543452.625 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.898685 2025-10-27T05:37:32.832Z,1761543452.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751662,0.649176,0.116513],[-0.659363,0.735445,0.156079],[0.015634,-0.194143,0.980849]] 2025-10-27T05:37:32.877Z,1761543452.877 [DAT](INFO): DAT read: Rx Time:05:37:31.5816 2025-10-27T05:37:32.877Z,1761543452.877 [DAT](INFO): Rx dataTimestamp_ set to:1761543452.876774 2025-10-27T05:37:32.878Z,1761543452.878 [DAT](INFO): DAT read: Bearing 141.6, 2.7 (Local) 2025-10-27T05:37:32.879Z,1761543452.879 [DAT](INFO): Local bearing/azimuth received: Bearing 141.6, 2.7 (Local) 2025-10-27T05:37:32.881Z,1761543452.881 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 2025-10-27T05:37:32.885Z,1761543452.885 [DAT](INFO): DAT read: 05:37:31.5816 LVL= 23632, 32753, 29938, 32755, AGC= 55, IDX= 511, 0.10,-1.358, 2.914,-1.407,-1.616, PHS= 0.360,-1.708, 0.164, RAW= 145.1, 12.0, CAL= 144.7, 13.0, ROT= 5.3, -13.0 2025-10-27T05:37:32.887Z,1761543452.887 [DAT](INFO): got valid direction response: 05:37:31.5816 LVL= 23632, 32753, 29938, 32755, AGC= 55, IDX= 511, 0.10,-1.358, 2.914,-1.407,-1.616, PHS= 0.360,-1.708, 0.164, RAW= 145.1, 12.0, CAL= 144.7, 13.0, ROT= 5.3, -13.0 2025-10-27T05:37:32.887Z,1761543452.887 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:37:32.888Z,1761543452.888 [DAT](INFO): direction in FSK: [0.970204,0.090003,0.224951] 2025-10-27T05:37:32.888Z,1761543452.888 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:32.908Z,1761543452.908 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=50.182667 2025-10-27T05:37:32.914Z,1761543452.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503177 s, deltaX: -0.400001 m, approachRate: -0.794950 m/s, rangeRepo size: 4 2025-10-27T05:37:32.920Z,1761543452.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.343751 m, bearing: 326.514502 deg, lat: 36.779377 deg, lon: -121.859727 deg, deltaT: 0.503177 s, deltaX: -0.397837 m, approachRate: -0.790650 m/s, posRepo size: 4 2025-10-27T05:37:32.921Z,1761543452.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-27T05:37:32.932Z,1761543452.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.343751 m, nav range: 10.234597 m, bearing: 327.032976 deg, approach rate: 0.000000 m/s, LOS rate: 0.232553 deg/s, cmd heading: 321.040529 deg, new cmd heading: 321.330984 deg. 2025-10-27T05:37:32.933Z,1761543452.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608284 target range: 10.343751 and range: 10.40 m. 2025-10-27T05:37:33.129Z,1761543453.129 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=50.402809 2025-10-27T05:37:33.335Z,1761543453.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:33.337Z,1761543453.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-27T05:37:33.340Z,1761543453.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.343751 m, nav range: 10.031094 m, bearing: 326.889879 deg, approach rate: -0.480050 m/s, LOS rate: -0.344401 deg/s, cmd heading: 321.330976 deg, new cmd heading: 320.892986 deg. 2025-10-27T05:37:33.341Z,1761543453.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600639 target range: 10.343751 and range: 10.40 m. 2025-10-27T05:37:33.381Z,1761543453.381 [DAT](INFO): DAT read: Rx Time:05:37:32.0816 2025-10-27T05:37:33.382Z,1761543453.382 [DAT](INFO): Rx dataTimestamp_ set to:1761543453.381524 2025-10-27T05:37:33.384Z,1761543453.384 [DAT](INFO): DAT read: Bearing 144.2, 2.2 (Local) 2025-10-27T05:37:33.384Z,1761543453.384 [DAT](INFO): Local bearing/azimuth received: Bearing 144.2, 2.2 (Local) 2025-10-27T05:37:33.387Z,1761543453.387 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 2025-10-27T05:37:33.394Z,1761543453.394 [DAT](INFO): DAT read: 05:37:32.0816 LVL= 29248, 32753, 32690, 32755, AGC= 57, IDX= 511,-0.34,-2.235, 2.030,-2.285,-2.414, PHS= 0.281,-1.795, 0.084, RAW= 145.1, 14.3, CAL= 144.7, 15.6, ROT= 5.3, -15.6 2025-10-27T05:37:33.396Z,1761543453.396 [DAT](INFO): got valid direction response: 05:37:32.0816 LVL= 29248, 32753, 32690, 32755, AGC= 57, IDX= 511,-0.34,-2.235, 2.030,-2.285,-2.414, PHS= 0.281,-1.795, 0.084, RAW= 145.1, 14.3, CAL= 144.7, 15.6, ROT= 5.3, -15.6 2025-10-27T05:37:33.396Z,1761543453.396 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:37:33.398Z,1761543453.398 [DAT](INFO): direction in FSK: [0.959045,0.088968,0.268920] 2025-10-27T05:37:33.398Z,1761543453.398 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:33.402Z,1761543453.402 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.676220 2025-10-27T05:37:33.632Z,1761543453.632 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.906166 2025-10-27T05:37:33.670Z,1761543453.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754961,0.646322,0.110908],[-0.655630,0.740440,0.147981],[0.013523,-0.184435,0.982752]] 2025-10-27T05:37:33.820Z,1761543453.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504750 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:33.828Z,1761543453.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.343842 m, bearing: 327.189215 deg, lat: 36.779377 deg, lon: -121.859727 deg, deltaT: 0.504750 s, deltaX: 0.000091 m, approachRate: 0.000179 m/s, posRepo size: 4 2025-10-27T05:37:33.829Z,1761543453.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-27T05:37:33.836Z,1761543453.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.343842 m, nav range: 9.852492 m, bearing: 326.753740 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 320.892997 deg, new cmd heading: 320.402914 deg. 2025-10-27T05:37:33.837Z,1761543453.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592086 target range: 10.343842 and range: 10.40 m. 2025-10-27T05:37:33.885Z,1761543453.885 [DAT](INFO): DAT read: Rx Time:05:37:32.5813 2025-10-27T05:37:33.885Z,1761543453.885 [DAT](INFO): Rx dataTimestamp_ set to:1761543453.884803 2025-10-27T05:37:33.886Z,1761543453.886 [DAT](INFO): DAT read: Bearing 141.3, 3.2 (Local) 2025-10-27T05:37:33.887Z,1761543453.887 [DAT](INFO): Local bearing/azimuth received: Bearing 141.3, 3.2 (Local) 2025-10-27T05:37:33.889Z,1761543453.889 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-27T05:37:33.894Z,1761543453.894 [DAT](INFO): DAT read: 05:37:32.5813 LVL= 24368, 32753, 31698, 32755, AGC= 54, IDX= 508, 0.14,-2.057, 2.198,-2.117,-2.342, PHS= 0.386,-1.698, 0.181, RAW= 144.9, 11.4, CAL= 144.5, 12.4, ROT= 5.5, -12.4 2025-10-27T05:37:33.895Z,1761543453.895 [DAT](INFO): got valid direction response: 05:37:32.5813 LVL= 24368, 32753, 31698, 32755, AGC= 54, IDX= 508, 0.14,-2.057, 2.198,-2.117,-2.342, PHS= 0.386,-1.698, 0.181, RAW= 144.9, 11.4, CAL= 144.5, 12.4, ROT= 5.5, -12.4 2025-10-27T05:37:33.895Z,1761543453.895 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:37:33.896Z,1761543453.896 [DAT](INFO): direction in FSK: [0.972176,0.093610,0.214735] 2025-10-27T05:37:33.897Z,1761543453.897 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:33.900Z,1761543453.900 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=51.174698 2025-10-27T05:37:34.141Z,1761543454.141 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=51.414211 2025-10-27T05:37:34.179Z,1761543454.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757878,0.643565,0.106985],[-0.652288,0.744496,0.142293],[0.011925,-0.177626,0.984026]] 2025-10-27T05:37:34.307Z,1761543454.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503279 s, deltaX: -0.500000 m, approachRate: -0.993485 m/s, rangeRepo size: 4 2025-10-27T05:37:34.309Z,1761543454.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.846462 m, bearing: 326.932654 deg, lat: 36.779377 deg, lon: -121.859727 deg, deltaT: 0.503279 s, deltaX: -0.497379 m, approachRate: -0.988277 m/s, posRepo size: 4 2025-10-27T05:37:34.310Z,1761543454.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-27T05:37:34.310Z,1761543454.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-27T05:37:34.311Z,1761543454.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T05:37:34.317Z,1761543454.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 9.616580 m, bearing: 326.407225 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 320.402917 deg, new cmd heading: 319.895873 deg. 2025-10-27T05:37:34.318Z,1761543454.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583236 target range: 9.846462 and range: 9.90 m. 2025-10-27T05:37:34.390Z,1761543454.390 [DAT](INFO): DAT read: Rx Time:05:37:33.0813 2025-10-27T05:37:34.390Z,1761543454.390 [DAT](INFO): Rx dataTimestamp_ set to:1761543454.390123 2025-10-27T05:37:34.393Z,1761543454.393 [DAT](INFO): DAT read: Bearing 142.2, 3.4 (Local) 2025-10-27T05:37:34.394Z,1761543454.394 [DAT](INFO): Local bearing/azimuth received: Bearing 142.2, 3.4 (Local) 2025-10-27T05:37:34.397Z,1761543454.397 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-27T05:37:34.404Z,1761543454.404 [DAT](INFO): DAT read: 05:37:33.0813 LVL= 23984, 32753, 28722, 32755, AGC= 54, IDX= 508,-0.14,-2.151, 2.093,-2.219,-2.422, PHS= 0.373,-1.723, 0.159, RAW= 144.7, 11.9, CAL= 144.3, 13.0, ROT= 5.7, -13.0 2025-10-27T05:37:34.405Z,1761543454.405 [DAT](INFO): got valid direction response: 05:37:33.0813 LVL= 23984, 32753, 28722, 32755, AGC= 54, IDX= 508,-0.14,-2.151, 2.093,-2.219,-2.422, PHS= 0.373,-1.723, 0.159, RAW= 144.7, 11.9, CAL= 144.3, 13.0, ROT= 5.7, -13.0 2025-10-27T05:37:34.406Z,1761543454.406 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:37:34.406Z,1761543454.406 [DAT](INFO): direction in FSK: [0.969552,0.096774,0.224951] 2025-10-27T05:37:34.419Z,1761543454.419 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:34.429Z,1761543454.429 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.702740 2025-10-27T05:37:34.582Z,1761543454.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761391,0.640037,0.103133],[-0.648211,0.749061,0.136861],[0.010343,-0.171056,0.985207]] 2025-10-27T05:37:34.632Z,1761543454.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.505320 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:34.634Z,1761543454.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.846462 m, bearing: 327.466971 deg, lat: 36.779378 deg, lon: -121.859727 deg, deltaT: 0.505320 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:37:34.640Z,1761543454.640 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.914265 2025-10-27T05:37:34.651Z,1761543454.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:34.669Z,1761543454.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 9.483261 m, bearing: 326.198443 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 319.895871 deg, new cmd heading: 319.555984 deg. 2025-10-27T05:37:34.670Z,1761543454.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577304 target range: 9.846462 and range: 9.90 m. 2025-10-27T05:37:34.897Z,1761543454.897 [DAT](INFO): DAT read: Rx Time:05:37:33.5810 2025-10-27T05:37:34.897Z,1761543454.897 [DAT](INFO): Rx dataTimestamp_ set to:1761543454.896752 2025-10-27T05:37:34.898Z,1761543454.898 [DAT](INFO): DAT read: Bearing 145.1, 3.1 (Local) 2025-10-27T05:37:34.899Z,1761543454.899 [DAT](INFO): Local bearing/azimuth received: Bearing 145.1, 3.1 (Local) 2025-10-27T05:37:34.901Z,1761543454.901 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-27T05:37:34.907Z,1761543454.907 [DAT](INFO): DAT read: 05:37:33.5810 LVL= 27776, 32753, 30946, 32755, AGC= 56, IDX= 505, 0.43,-1.099,-3.117,-1.172,-1.287, PHS= 0.290,-1.785, 0.072, RAW= 144.5, 14.3, CAL= 144.1, 15.6, ROT= 5.9, -15.6 2025-10-27T05:37:34.908Z,1761543454.908 [DAT](INFO): got valid direction response: 05:37:33.5810 LVL= 27776, 32753, 30946, 32755, AGC= 56, IDX= 505, 0.43,-1.099,-3.117,-1.172,-1.287, PHS= 0.290,-1.785, 0.072, RAW= 144.5, 14.3, CAL= 144.1, 15.6, ROT= 5.9, -15.6 2025-10-27T05:37:34.909Z,1761543454.909 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:37:34.910Z,1761543454.910 [DAT](INFO): direction in FSK: [0.958061,0.099006,0.268920] 2025-10-27T05:37:34.910Z,1761543454.910 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:34.916Z,1761543454.916 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.189816 2025-10-27T05:37:34.986Z,1761543454.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765394,0.635837,0.099412],[-0.643504,0.754075,0.131427],[0.008602,-0.164565,0.986329]] 2025-10-27T05:37:35.125Z,1761543455.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.506629 s, deltaX: -0.400000 m, approachRate: -0.789532 m/s, rangeRepo size: 4 2025-10-27T05:37:35.131Z,1761543455.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.448626 m, bearing: 328.389161 deg, lat: 36.779378 deg, lon: -121.859727 deg, deltaT: 1.011949 s, deltaX: -0.397837 m, approachRate: -0.393139 m/s, posRepo size: 4 2025-10-27T05:37:35.132Z,1761543455.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.85 m. 2025-10-27T05:37:35.136Z,1761543455.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 9.297796 m, bearing: 325.806101 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 319.555974 deg, new cmd heading: 319.046684 deg. 2025-10-27T05:37:35.137Z,1761543455.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568415 target range: 9.846462 and range: 9.50 m. 2025-10-27T05:37:35.144Z,1761543455.144 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.418419 2025-10-27T05:37:35.389Z,1761543455.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769711,0.631021,0.096740],[-0.638357,0.759179,0.127073],[0.006743,-0.159564,0.987165]] 2025-10-27T05:37:35.396Z,1761543455.396 [DAT](INFO): DAT read: Rx Time:05:37:34.0809 2025-10-27T05:37:35.397Z,1761543455.397 [DAT](INFO): Rx dataTimestamp_ set to:1761543455.396616 2025-10-27T05:37:35.398Z,1761543455.398 [DAT](INFO): DAT read: Bearing 144.2, 3.6 (Local) 2025-10-27T05:37:35.398Z,1761543455.398 [DAT](INFO): Local bearing/azimuth received: Bearing 144.2, 3.6 (Local) 2025-10-27T05:37:35.401Z,1761543455.401 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.3 2025-10-27T05:37:35.405Z,1761543455.405 [DAT](INFO): DAT read: 05:37:34.0809 LVL= 26736, 32753, 27314, 32755, AGC= 56, IDX= 504, 0.18,-0.887,-2.897,-0.966,-1.116, PHS= 0.331,-1.736, 0.106, RAW= 144.3, 13.2, CAL= 143.9, 14.3, ROT= 6.1, -14.3 2025-10-27T05:37:35.406Z,1761543455.406 [DAT](INFO): got valid direction response: 05:37:34.0809 LVL= 26736, 32753, 27314, 32755, AGC= 56, IDX= 504, 0.18,-0.887,-2.897,-0.966,-1.116, PHS= 0.331,-1.736, 0.106, RAW= 144.3, 13.2, CAL= 143.9, 14.3, ROT= 6.1, -14.3 2025-10-27T05:37:35.407Z,1761543455.407 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:37:35.408Z,1761543455.408 [DAT](INFO): direction in FSK: [0.963529,0.102972,0.246999] 2025-10-27T05:37:35.408Z,1761543455.408 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:35.416Z,1761543455.416 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.690365 2025-10-27T05:37:35.546Z,1761543455.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.499864 s, deltaX: -0.200000 m, approachRate: -0.400108 m/s, rangeRepo size: 4 2025-10-27T05:37:35.553Z,1761543455.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.249743 m, bearing: 328.671958 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 1.511813 s, deltaX: -0.596720 m, approachRate: -0.394705 m/s, posRepo size: 4 2025-10-27T05:37:35.554Z,1761543455.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 9.85 m. 2025-10-27T05:37:35.558Z,1761543455.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 9.147682 m, bearing: 325.468429 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 319.046688 deg, new cmd heading: 318.611340 deg. 2025-10-27T05:37:35.558Z,1761543455.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560817 target range: 9.846462 and range: 9.30 m. 2025-10-27T05:37:35.648Z,1761543455.648 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.922325 2025-10-27T05:37:35.900Z,1761543455.900 [DAT](INFO): DAT read: Rx Time:05:37:34.5807 2025-10-27T05:37:35.901Z,1761543455.901 [DAT](INFO): Rx dataTimestamp_ set to:1761543455.900524 2025-10-27T05:37:35.902Z,1761543455.902 [DAT](INFO): DAT read: Bearing 146.1, 3.5 (Local) 2025-10-27T05:37:35.902Z,1761543455.902 [DAT](INFO): Local bearing/azimuth received: Bearing 146.1, 3.5 (Local) 2025-10-27T05:37:35.904Z,1761543455.904 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.3 2025-10-27T05:37:35.909Z,1761543455.909 [DAT](INFO): DAT read: 05:37:34.5807 LVL= 31024, 32753, 32482, 32755, AGC= 57, IDX= 502, 0.02,-2.485, 1.797,-2.570,-2.664, PHS= 0.281,-1.778, 0.050, RAW= 144.1, 14.7, CAL= 143.7, 16.0, ROT= 6.3, -16.0 2025-10-27T05:37:35.910Z,1761543455.910 [DAT](INFO): got valid direction response: 05:37:34.5807 LVL= 31024, 32753, 32482, 32755, AGC= 57, IDX= 502, 0.02,-2.485, 1.797,-2.570,-2.664, PHS= 0.281,-1.778, 0.050, RAW= 144.1, 14.7, CAL= 143.7, 16.0, ROT= 6.3, -16.0 2025-10-27T05:37:35.910Z,1761543455.910 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:37:35.911Z,1761543455.911 [DAT](INFO): direction in FSK: [0.955457,0.105483,0.275637] 2025-10-27T05:37:35.912Z,1761543455.912 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:35.915Z,1761543455.915 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.189587 2025-10-27T05:37:36.057Z,1761543456.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503908 s, deltaX: -0.300000 m, approachRate: -0.595347 m/s, rangeRepo size: 4 2025-10-27T05:37:36.063Z,1761543456.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.951364 m, bearing: 329.157170 deg, lat: 36.779378 deg, lon: -121.859722 deg, deltaT: 2.015721 s, deltaX: -0.895099 m, approachRate: -0.444059 m/s, posRepo size: 4 2025-10-27T05:37:36.064Z,1761543456.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.95 m. 9.85 m. 2025-10-27T05:37:36.071Z,1761543456.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 8.946658 m, bearing: 325.016523 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 318.611331 deg, new cmd heading: 318.083693 deg. 2025-10-27T05:37:36.076Z,1761543456.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551608 target range: 9.846462 and range: 9.00 m. 2025-10-27T05:37:36.153Z,1761543456.153 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.427460 2025-10-27T05:37:36.292Z,1761543456.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779940,0.619386,0.089750],[-0.625851,0.771376,0.115282],[0.002173,-0.146083,0.989270]] 2025-10-27T05:37:36.323Z,1761543456.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:36.325Z,1761543456.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:36.328Z,1761543456.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 8.840821 m, bearing: 324.755679 deg, approach rate: -0.394360 m/s, LOS rate: -0.983565 deg/s, cmd heading: 318.083685 deg, new cmd heading: 317.291840 deg. 2025-10-27T05:37:36.329Z,1761543456.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537787 target range: 9.846462 and range: 9.00 m. 2025-10-27T05:37:36.406Z,1761543456.406 [DAT](INFO): DAT read: Rx Time:05:37:35.0810 2025-10-27T05:37:36.406Z,1761543456.406 [DAT](INFO): Rx dataTimestamp_ set to:1761543456.406021 2025-10-27T05:37:36.408Z,1761543456.408 [DAT](INFO): DAT read: Bearing 148.6, 3.3 (Local) 2025-10-27T05:37:36.409Z,1761543456.409 [DAT](INFO): Local bearing/azimuth received: Bearing 148.6, 3.3 (Local) 2025-10-27T05:37:36.412Z,1761543456.412 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.3 2025-10-27T05:37:36.417Z,1761543456.417 [DAT](INFO): DAT read: 05:37:35.0810 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.09,-2.094, 2.208,-2.183,-2.201, PHS= 0.209,-1.829,-0.026, RAW= 143.9, 16.8, CAL= 143.5, 18.2, ROT= 6.5, -18.2 2025-10-27T05:37:36.418Z,1761543456.418 [DAT](INFO): got valid direction response: 05:37:35.0810 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.09,-2.094, 2.208,-2.183,-2.201, PHS= 0.209,-1.829,-0.026, RAW= 143.9, 16.8, CAL= 143.5, 18.2, ROT= 6.5, -18.2 2025-10-27T05:37:36.418Z,1761543456.418 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:37:36.419Z,1761543456.419 [DAT](INFO): direction in FSK: [0.943865,0.107540,0.312335] 2025-10-27T05:37:36.419Z,1761543456.419 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:36.423Z,1761543456.423 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.697369 2025-10-27T05:37:36.656Z,1761543456.656 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.930176 2025-10-27T05:37:36.715Z,1761543456.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782176,0.616495,0.090191],[-0.623057,0.773794,0.114203],[0.000616,-0.145521,0.989355]] 2025-10-27T05:37:36.806Z,1761543456.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.505497 s, deltaX: 0.500000 m, approachRate: 0.989126 m/s, rangeRepo size: 4 2025-10-27T05:37:36.821Z,1761543456.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.448738 m, bearing: 330.601262 deg, lat: 36.779378 deg, lon: -121.859722 deg, deltaT: 2.521218 s, deltaX: -0.397724 m, approachRate: -0.157751 m/s, posRepo size: 4 2025-10-27T05:37:36.828Z,1761543456.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 9.50 m. 2025-10-27T05:37:36.830Z,1761543456.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.85 m. 2025-10-27T05:37:36.887Z,1761543456.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 8.674166 m, bearing: 324.326314 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 317.291848 deg, new cmd heading: 316.795240 deg. 2025-10-27T05:37:36.888Z,1761543456.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529120 target range: 9.846462 and range: 9.50 m. 2025-10-27T05:37:36.909Z,1761543456.909 [DAT](INFO): DAT read: Rx Time:05:37:35.5808 2025-10-27T05:37:36.909Z,1761543456.909 [DAT](INFO): Rx dataTimestamp_ set to:1761543456.908849 2025-10-27T05:37:36.910Z,1761543456.910 [DAT](INFO): DAT read: Bearing 146.6, 3.5 (Local) 2025-10-27T05:37:36.911Z,1761543456.911 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, 3.5 (Local) 2025-10-27T05:37:36.913Z,1761543456.913 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.3 2025-10-27T05:37:36.917Z,1761543456.917 [DAT](INFO): DAT read: 05:37:35.5808 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.14, 2.370, 0.394, 2.287, 2.199, PHS= 0.273,-1.760, 0.044, RAW= 144.1, 14.8, CAL= 143.6, 16.1, ROT= 6.4, -16.1 2025-10-27T05:37:36.919Z,1761543456.919 [DAT](INFO): got valid direction response: 05:37:35.5808 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.14, 2.370, 0.394, 2.287, 2.199, PHS= 0.273,-1.760, 0.044, RAW= 144.1, 14.8, CAL= 143.6, 16.1, ROT= 6.4, -16.1 2025-10-27T05:37:36.919Z,1761543456.919 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:37:36.920Z,1761543456.920 [DAT](INFO): direction in FSK: [0.954791,0.107097,0.277315] 2025-10-27T05:37:36.920Z,1761543456.920 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:36.924Z,1761543456.924 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.198299 2025-10-27T05:37:37.160Z,1761543457.160 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.434261 2025-10-27T05:37:37.201Z,1761543457.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502828 s, deltaX: -0.300000 m, approachRate: -0.596626 m/s, rangeRepo size: 4 2025-10-27T05:37:37.207Z,1761543457.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.150356 m, bearing: 330.173922 deg, lat: 36.779378 deg, lon: -121.859721 deg, deltaT: 3.024046 s, deltaX: -0.696106 m, approachRate: -0.230190 m/s, posRepo size: 4 2025-10-27T05:37:37.208Z,1761543457.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 9.20 m. 2025-10-27T05:37:37.209Z,1761543457.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.85 m. 2025-10-27T05:37:37.223Z,1761543457.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 8.523389 m, bearing: 324.010122 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 316.795239 deg, new cmd heading: 316.387184 deg. 2025-10-27T05:37:37.232Z,1761543457.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521998 target range: 9.846462 and range: 9.20 m. 2025-10-27T05:37:37.413Z,1761543457.413 [DAT](INFO): DAT read: Rx Time:05:37:36.0808 2025-10-27T05:37:37.413Z,1761543457.413 [DAT](INFO): Rx dataTimestamp_ set to:1761543457.412839 2025-10-27T05:37:37.414Z,1761543457.414 [DAT](INFO): DAT read: Bearing 146.4, 3.2 (Local) 2025-10-27T05:37:37.415Z,1761543457.415 [DAT](INFO): Local bearing/azimuth received: Bearing 146.4, 3.2 (Local) 2025-10-27T05:37:37.417Z,1761543457.417 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.3 2025-10-27T05:37:37.426Z,1761543457.426 [DAT](INFO): DAT read: 05:37:36.0808 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.22,-2.978, 1.353,-3.048, 3.135, PHS= 0.273,-1.736, 0.057, RAW= 144.4, 14.6, CAL= 144.0, 15.9, ROT= 6.0, -15.9 2025-10-27T05:37:37.428Z,1761543457.428 [DAT](INFO): got valid direction response: 05:37:36.0808 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.22,-2.978, 1.353,-3.048, 3.135, PHS= 0.273,-1.736, 0.057, RAW= 144.4, 14.6, CAL= 144.0, 15.9, ROT= 6.0, -15.9 2025-10-27T05:37:37.429Z,1761543457.429 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:37:37.430Z,1761543457.430 [DAT](INFO): direction in FSK: [0.956473,0.100529,0.273959] 2025-10-27T05:37:37.430Z,1761543457.430 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:37.434Z,1761543457.434 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.708031 2025-10-27T05:37:37.588Z,1761543457.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783880,0.613259,0.097187],[-0.620910,0.774624,0.120118],[-0.001620,-0.154503,0.987991]] 2025-10-27T05:37:37.644Z,1761543457.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:37.646Z,1761543457.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.150576 m, bearing: 330.037797 deg, lat: 36.779384 deg, lon: -121.859721 deg, deltaT: 3.528036 s, deltaX: -0.695887 m, approachRate: -0.197245 m/s, posRepo size: 4 2025-10-27T05:37:37.646Z,1761543457.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 9.20 m. 2025-10-27T05:37:37.651Z,1761543457.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.85 m. 2025-10-27T05:37:37.654Z,1761543457.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 8.359769 m, bearing: 323.651426 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 316.387176 deg, new cmd heading: 315.934264 deg. 2025-10-27T05:37:37.659Z,1761543457.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514093 target range: 9.846462 and range: 9.20 m. 2025-10-27T05:37:37.664Z,1761543457.664 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.938332 2025-10-27T05:37:37.917Z,1761543457.917 [DAT](INFO): DAT read: Rx Time:05:37:36.5806 2025-10-27T05:37:37.917Z,1761543457.917 [DAT](INFO): Rx dataTimestamp_ set to:1761543457.916760 2025-10-27T05:37:37.918Z,1761543457.918 [DAT](INFO): DAT read: Bearing 146.1, 2.3 (Local) 2025-10-27T05:37:37.919Z,1761543457.919 [DAT](INFO): Local bearing/azimuth received: Bearing 146.1, 2.3 (Local) 2025-10-27T05:37:37.921Z,1761543457.921 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.3 2025-10-27T05:37:37.926Z,1761543457.926 [DAT](INFO): DAT read: 05:37:36.5806 LVL= 32368, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.27, 2.108, 0.179, 2.067, 1.948, PHS= 0.262,-1.724, 0.075, RAW= 145.1, 14.5, CAL= 144.8, 15.8, ROT= 5.2, -15.8 2025-10-27T05:37:37.927Z,1761543457.927 [DAT](INFO): got valid direction response: 05:37:36.5806 LVL= 32368, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.27, 2.108, 0.179, 2.067, 1.948, PHS= 0.262,-1.724, 0.075, RAW= 145.1, 14.5, CAL= 144.8, 15.8, ROT= 5.2, -15.8 2025-10-27T05:37:37.927Z,1761543457.927 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:37:37.928Z,1761543457.928 [DAT](INFO): direction in FSK: [0.958258,0.087208,0.272280] 2025-10-27T05:37:37.928Z,1761543457.928 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:37.932Z,1761543457.932 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.206505 2025-10-27T05:37:38.104Z,1761543458.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503921 s, deltaX: -0.300000 m, approachRate: -0.595332 m/s, rangeRepo size: 4 2025-10-27T05:37:38.106Z,1761543458.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.852187 m, bearing: 329.235843 deg, lat: 36.779384 deg, lon: -121.859721 deg, deltaT: 4.031957 s, deltaX: -0.994275 m, approachRate: -0.246599 m/s, posRepo size: 4 2025-10-27T05:37:38.107Z,1761543458.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.90 m. 2025-10-27T05:37:38.111Z,1761543458.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.85 m. 2025-10-27T05:37:38.114Z,1761543458.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 8.165394 m, bearing: 323.398931 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 315.934252 deg, new cmd heading: 315.458799 deg. 2025-10-27T05:37:38.120Z,1761543458.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505795 target range: 9.846462 and range: 8.90 m. 2025-10-27T05:37:38.169Z,1761543458.169 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.443222 2025-10-27T05:37:38.403Z,1761543458.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780672,0.614929,0.111413],[-0.624938,0.768672,0.136365],[-0.001785,-0.176083,0.984374]] 2025-10-27T05:37:38.421Z,1761543458.421 [DAT](INFO): DAT read: Rx Time:05:37:37.0805 2025-10-27T05:37:38.421Z,1761543458.421 [DAT](INFO): Rx dataTimestamp_ set to:1761543458.420792 2025-10-27T05:37:38.422Z,1761543458.422 [DAT](INFO): DAT read: Bearing 146.0, 1.2 (Local) 2025-10-27T05:37:38.423Z,1761543458.423 [DAT](INFO): Local bearing/azimuth received: Bearing 146.0, 1.2 (Local) 2025-10-27T05:37:38.425Z,1761543458.425 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.3 2025-10-27T05:37:38.430Z,1761543458.430 [DAT](INFO): DAT read: 05:37:37.0805 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.35, 2.162, 0.267, 2.156, 2.026, PHS= 0.238,-1.714, 0.086, RAW= 146.0, 14.6, CAL= 145.7, 16.0, ROT= 4.3, -16.0 2025-10-27T05:37:38.443Z,1761543458.443 [DAT](INFO): got valid direction response: 05:37:37.0805 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.35, 2.162, 0.267, 2.156, 2.026, PHS= 0.238,-1.714, 0.086, RAW= 146.0, 14.6, CAL= 145.7, 16.0, ROT= 4.3, -16.0 2025-10-27T05:37:38.443Z,1761543458.443 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:37:38.444Z,1761543458.444 [DAT](INFO): direction in FSK: [0.958556,0.072074,0.275637] 2025-10-27T05:37:38.444Z,1761543458.444 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:38.452Z,1761543458.452 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:37:38.452Z,1761543458.452 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:37:38.452Z,1761543458.452 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:38.467Z,1761543458.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504032 s, deltaX: -0.200000 m, approachRate: -0.396800 m/s, rangeRepo size: 4 2025-10-27T05:37:38.469Z,1761543458.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.653287 m, bearing: 328.424136 deg, lat: 36.779384 deg, lon: -121.859721 deg, deltaT: 4.535989 s, deltaX: -1.193175 m, approachRate: -0.263046 m/s, posRepo size: 4 2025-10-27T05:37:38.470Z,1761543458.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.85 m. 2025-10-27T05:37:38.481Z,1761543458.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 8.021044 m, bearing: 323.211869 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 315.458789 deg, new cmd heading: 315.083735 deg. 2025-10-27T05:37:38.482Z,1761543458.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499249 target range: 9.846462 and range: 8.70 m. 2025-10-27T05:37:38.529Z,1761543458.529 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:37:38.672Z,1761543458.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:38.805Z,1761543458.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777383,0.617722,0.118720],[-0.629026,0.763761,0.144900],[-0.001166,-0.187321,0.982298]] 2025-10-27T05:37:38.909Z,1761543458.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:38.920Z,1761543458.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:38.925Z,1761543458.925 [DAT](INFO): DAT read: Rx Time:05:37:37.5803 2025-10-27T05:37:38.925Z,1761543458.925 [DAT](INFO): Rx dataTimestamp_ set to:1761543458.924724 2025-10-27T05:37:38.926Z,1761543458.926 [DAT](INFO): DAT read: Bearing 144.2, 0.8 (Local) 2025-10-27T05:37:38.927Z,1761543458.927 [DAT](INFO): Local bearing/azimuth received: Bearing 144.2, 0.8 (Local) 2025-10-27T05:37:38.929Z,1761543458.929 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.3 2025-10-27T05:37:38.933Z,1761543458.933 [DAT](INFO): DAT read: 05:37:37.5803 LVL= 30672, 32753, 32754, 32755, AGC= 56, IDX= 495,-0.40, 0.790,-1.079, 0.805, 0.622, PHS= 0.269,-1.656, 0.139, RAW= 146.5, 13.3, CAL= 146.3, 14.6, ROT= 3.7, -14.6 2025-10-27T05:37:38.934Z,1761543458.934 [DAT](INFO): got valid direction response: 05:37:37.5803 LVL= 30672, 32753, 32754, 32755, AGC= 56, IDX= 495,-0.40, 0.790,-1.079, 0.805, 0.622, PHS= 0.269,-1.656, 0.139, RAW= 146.5, 13.3, CAL= 146.3, 14.6, ROT= 3.7, -14.6 2025-10-27T05:37:38.935Z,1761543458.935 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:38.936Z,1761543458.936 [DAT](INFO): direction in FSK: [0.965692,0.062449,0.252069] 2025-10-27T05:37:38.936Z,1761543458.936 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:38.946Z,1761543458.946 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:38.946Z,1761543458.946 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:38.923Z,1761543458.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 7.841292 m, bearing: 322.978348 deg, approach rate: -0.392661 m/s, LOS rate: -0.521809 deg/s, cmd heading: 315.083730 deg, new cmd heading: 314.367148 deg. 2025-10-27T05:37:38.959Z,1761543458.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486742 target range: 9.846462 and range: 8.70 m. 2025-10-27T05:37:39.176Z,1761543459.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:39.287Z,1761543459.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773582,0.620852,0.126936],[-0.633696,0.758060,0.154192],[-0.000495,-0.199720,0.979853]] 2025-10-27T05:37:39.344Z,1761543459.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503932 s, deltaX: -0.300000 m, approachRate: -0.595319 m/s, rangeRepo size: 4 2025-10-27T05:37:39.346Z,1761543459.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.354835 m, bearing: 327.264127 deg, lat: 36.779384 deg, lon: -121.859722 deg, deltaT: 5.039921 s, deltaX: -1.491628 m, approachRate: -0.295963 m/s, posRepo size: 4 2025-10-27T05:37:39.347Z,1761543459.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.85 m. 2025-10-27T05:37:39.353Z,1761543459.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 7.614682 m, bearing: 322.898214 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 314.367161 deg, new cmd heading: 313.946683 deg. 2025-10-27T05:37:39.354Z,1761543459.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479403 target range: 9.846462 and range: 8.40 m. 2025-10-27T05:37:39.433Z,1761543459.433 [DAT](INFO): DAT read: Rx Time:05:37:38.0802 2025-10-27T05:37:39.433Z,1761543459.433 [DAT](INFO): Rx dataTimestamp_ set to:1761543459.432795 2025-10-27T05:37:39.434Z,1761543459.434 [DAT](INFO): DAT read: Bearing 145.7, -1.6 (Local) 2025-10-27T05:37:39.435Z,1761543459.435 [DAT](INFO): Local bearing/azimuth received: Bearing 145.7, -1.6 (Local) 2025-10-27T05:37:39.437Z,1761543459.437 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.3 2025-10-27T05:37:39.449Z,1761543459.449 [DAT](INFO): DAT read: 05:37:38.0802 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510, 0.33,-2.159, 2.288,-2.084,-2.232, PHS= 0.175,-1.718, 0.104, RAW= 148.1, 15.3, CAL= 148.2, 16.9, ROT= 1.8, -16.9 2025-10-27T05:37:39.450Z,1761543459.450 [DAT](INFO): got valid direction response: 05:37:38.0802 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510, 0.33,-2.159, 2.288,-2.084,-2.232, PHS= 0.175,-1.718, 0.104, RAW= 148.1, 15.3, CAL= 148.2, 16.9, ROT= 1.8, -16.9 2025-10-27T05:37:39.452Z,1761543459.452 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:39.453Z,1761543459.453 [DAT](INFO): direction in FSK: [0.956341,0.030054,0.290702] 2025-10-27T05:37:39.453Z,1761543459.453 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:39.472Z,1761543459.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:39.473Z,1761543459.473 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:39.531Z,1761543459.531 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:37:39.665Z,1761543459.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769131,0.624715,0.134789],[-0.639091,0.751716,0.162747],[0.000348,-0.211316,0.977418]] 2025-10-27T05:37:39.684Z,1761543459.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:39.767Z,1761543459.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.508071 s, deltaX: -0.099999 m, approachRate: -0.196822 m/s, rangeRepo size: 4 2025-10-27T05:37:39.769Z,1761543459.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.255373 m, bearing: 325.700540 deg, lat: 36.779384 deg, lon: -121.859723 deg, deltaT: 5.547992 s, deltaX: -1.591089 m, approachRate: -0.286786 m/s, posRepo size: 4 2025-10-27T05:37:39.770Z,1761543459.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.26 m. 9.85 m. 2025-10-27T05:37:39.777Z,1761543459.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 7.434121 m, bearing: 322.842268 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 313.946695 deg, new cmd heading: 313.504216 deg. 2025-10-27T05:37:39.778Z,1761543459.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471681 target range: 9.846462 and range: 8.30 m. 2025-10-27T05:37:39.937Z,1761543459.937 [DAT](INFO): DAT read: Rx Time:05:37:38.5800 2025-10-27T05:37:39.937Z,1761543459.937 [DAT](INFO): Rx dataTimestamp_ set to:1761543459.936834 2025-10-27T05:37:39.938Z,1761543459.938 [DAT](INFO): DAT read: Bearing 145.9, -2.6 (Local) 2025-10-27T05:37:39.939Z,1761543459.939 [DAT](INFO): Local bearing/azimuth received: Bearing 145.9, -2.6 (Local) 2025-10-27T05:37:39.941Z,1761543459.941 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.3 2025-10-27T05:37:39.946Z,1761543459.946 [DAT](INFO): DAT read: 05:37:38.5800 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 508, 0.17,-2.930, 1.530,-2.835,-2.970, PHS= 0.142,-1.738, 0.091, RAW= 148.6, 16.0, CAL= 148.8, 17.8, ROT= 1.2, -17.8 2025-10-27T05:37:39.947Z,1761543459.947 [DAT](INFO): got valid direction response: 05:37:38.5800 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 508, 0.17,-2.930, 1.530,-2.835,-2.970, PHS= 0.142,-1.738, 0.091, RAW= 148.6, 16.0, CAL= 148.8, 17.8, ROT= 1.2, -17.8 2025-10-27T05:37:39.947Z,1761543459.947 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:39.948Z,1761543459.948 [DAT](INFO): direction in FSK: [0.951921,0.019940,0.305695] 2025-10-27T05:37:39.949Z,1761543459.949 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:39.952Z,1761543459.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:39.952Z,1761543459.952 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:40.120Z,1761543460.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763931,0.629622,0.141371],[-0.645297,0.744886,0.169520],[0.001428,-0.220728,0.975334]] 2025-10-27T05:37:40.179Z,1761543460.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504039 s, deltaX: -0.300000 m, approachRate: -0.595192 m/s, rangeRepo size: 4 2025-10-27T05:37:40.181Z,1761543460.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.956985 m, bearing: 325.031751 deg, lat: 36.779383 deg, lon: -121.859725 deg, deltaT: 6.052031 s, deltaX: -1.889477 m, approachRate: -0.312205 m/s, posRepo size: 4 2025-10-27T05:37:40.182Z,1761543460.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.85 m. 2025-10-27T05:37:40.185Z,1761543460.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 7.189711 m, bearing: 322.906068 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 313.504208 deg, new cmd heading: 313.066670 deg. 2025-10-27T05:37:40.186Z,1761543460.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464044 target range: 9.846462 and range: 8.00 m. 2025-10-27T05:37:40.188Z,1761543460.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:40.441Z,1761543460.441 [DAT](INFO): DAT read: Rx Time:05:37:39.0801 2025-10-27T05:37:40.442Z,1761543460.442 [DAT](INFO): Rx dataTimestamp_ set to:1761543460.441846 2025-10-27T05:37:40.445Z,1761543460.445 [DAT](INFO): DAT read: Bearing 145.6, -2.2 (Local) 2025-10-27T05:37:40.445Z,1761543460.445 [DAT](INFO): Local bearing/azimuth received: Bearing 145.6, -2.2 (Local) 2025-10-27T05:37:40.448Z,1761543460.448 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 2025-10-27T05:37:40.457Z,1761543460.457 [DAT](INFO): DAT read: 05:37:39.0801 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.00,-1.547, 2.941,-1.467,-1.591, PHS= 0.146,-1.706, 0.080, RAW= 148.2, 16.0, CAL= 148.3, 17.8, ROT= 1.7, -17.8 2025-10-27T05:37:40.458Z,1761543460.458 [DAT](INFO): got valid direction response: 05:37:39.0801 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.00,-1.547, 2.941,-1.467,-1.591, PHS= 0.146,-1.706, 0.080, RAW= 148.2, 16.0, CAL= 148.3, 17.8, ROT= 1.7, -17.8 2025-10-27T05:37:40.463Z,1761543460.463 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:40.465Z,1761543460.465 [DAT](INFO): direction in FSK: [0.951710,0.028246,0.305695] 2025-10-27T05:37:40.465Z,1761543460.465 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:40.474Z,1761543460.474 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:40.474Z,1761543460.474 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:40.692Z,1761543460.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:40.697Z,1761543460.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752180,0.641939,0.148793],[-0.658940,0.731102,0.176881],[0.004764,-0.231093,0.972920]] 2025-10-27T05:37:40.803Z,1761543460.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.505012 s, deltaX: 0.100000 m, approachRate: 0.198016 m/s, rangeRepo size: 4 2025-10-27T05:37:40.805Z,1761543460.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.056527 m, bearing: 324.675615 deg, lat: 36.779383 deg, lon: -121.859727 deg, deltaT: 6.557043 s, deltaX: -1.789935 m, approachRate: -0.272979 m/s, posRepo size: 4 2025-10-27T05:37:40.806Z,1761543460.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.06 m. 9.85 m. 2025-10-27T05:37:40.813Z,1761543460.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 6.875357 m, bearing: 323.043254 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 313.066666 deg, new cmd heading: 312.426387 deg. 2025-10-27T05:37:40.814Z,1761543460.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452869 target range: 9.846462 and range: 8.10 m. 2025-10-27T05:37:40.945Z,1761543460.945 [DAT](INFO): DAT read: Rx Time:05:37:39.5798 2025-10-27T05:37:40.945Z,1761543460.945 [DAT](INFO): Rx dataTimestamp_ set to:1761543460.944839 2025-10-27T05:37:40.946Z,1761543460.946 [DAT](INFO): DAT read: Bearing 146.7, -2.2 (Local) 2025-10-27T05:37:40.947Z,1761543460.947 [DAT](INFO): Local bearing/azimuth received: Bearing 146.7, -2.2 (Local) 2025-10-27T05:37:40.949Z,1761543460.949 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 2025-10-27T05:37:40.954Z,1761543460.954 [DAT](INFO): DAT read: 05:37:39.5798 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.35,-2.660, 1.834,-2.600,-2.668, PHS= 0.109,-1.737, 0.024, RAW= 147.6, 17.4, CAL= 147.8, 19.3, ROT= 2.2, -19.3 2025-10-27T05:37:40.955Z,1761543460.955 [DAT](INFO): got valid direction response: 05:37:39.5798 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.35,-2.660, 1.834,-2.600,-2.668, PHS= 0.109,-1.737, 0.024, RAW= 147.6, 17.4, CAL= 147.8, 19.3, ROT= 2.2, -19.3 2025-10-27T05:37:40.955Z,1761543460.955 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:40.956Z,1761543460.956 [DAT](INFO): direction in FSK: [0.943105,0.036230,0.330514] 2025-10-27T05:37:40.956Z,1761543460.956 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:40.976Z,1761543460.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:40.977Z,1761543460.977 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:41.196Z,1761543461.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:41.292Z,1761543461.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746377,0.648476,0.149666],[-0.665494,0.725133,0.176916],[0.006198,-0.231649,0.972780]] 2025-10-27T05:37:41.342Z,1761543461.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.502993 s, deltaX: -0.400001 m, approachRate: -0.795241 m/s, rangeRepo size: 4 2025-10-27T05:37:41.344Z,1761543461.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.658752 m, bearing: 325.053824 deg, lat: 36.779383 deg, lon: -121.859728 deg, deltaT: 7.060036 s, deltaX: -2.187710 m, approachRate: -0.309872 m/s, posRepo size: 4 2025-10-27T05:37:41.345Z,1761543461.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.85 m. 2025-10-27T05:37:41.364Z,1761543461.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 6.558266 m, bearing: 323.370948 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 312.426376 deg, new cmd heading: 311.865384 deg. 2025-10-27T05:37:41.365Z,1761543461.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443078 target range: 9.846462 and range: 7.70 m. 2025-10-27T05:37:41.449Z,1761543461.449 [DAT](INFO): DAT read: Rx Time:05:37:40.0798 2025-10-27T05:37:41.449Z,1761543461.449 [DAT](INFO): Rx dataTimestamp_ set to:1761543461.448812 2025-10-27T05:37:41.450Z,1761543461.450 [DAT](INFO): DAT read: Bearing 146.2, -2.2 (Local) 2025-10-27T05:37:41.451Z,1761543461.451 [DAT](INFO): Local bearing/azimuth received: Bearing 146.2, -2.2 (Local) 2025-10-27T05:37:41.453Z,1761543461.453 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 2025-10-27T05:37:41.457Z,1761543461.457 [DAT](INFO): DAT read: 05:37:40.0798 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 506, 0.11, 0.845,-0.962, 0.906, 0.838, PHS= 0.109,-1.755, 0.024, RAW= 147.7, 17.5, CAL= 147.8, 19.3, ROT= 2.2, -19.3 2025-10-27T05:37:41.458Z,1761543461.458 [DAT](INFO): got valid direction response: 05:37:40.0798 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 506, 0.11, 0.845,-0.962, 0.906, 0.838, PHS= 0.109,-1.755, 0.024, RAW= 147.7, 17.5, CAL= 147.8, 19.3, ROT= 2.2, -19.3 2025-10-27T05:37:41.460Z,1761543461.460 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:41.461Z,1761543461.461 [DAT](INFO): direction in FSK: [0.943105,0.036230,0.330514] 2025-10-27T05:37:41.461Z,1761543461.461 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:41.465Z,1761543461.465 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:41.465Z,1761543461.465 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:41.700Z,1761543461.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:41.799Z,1761543461.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740479,0.655071,0.150242],[-0.672037,0.719183,0.176471],[0.007549,-0.231642,0.972772]] 2025-10-27T05:37:41.842Z,1761543461.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.503973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:41.848Z,1761543461.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.658752 m, bearing: 324.552115 deg, lat: 36.779383 deg, lon: -121.859730 deg, deltaT: 7.564009 s, deltaX: -2.187710 m, approachRate: -0.289226 m/s, posRepo size: 4 2025-10-27T05:37:41.852Z,1761543461.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.85 m. 2025-10-27T05:37:41.854Z,1761543461.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 6.284561 m, bearing: 323.702979 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 311.865372 deg, new cmd heading: 311.348397 deg. 2025-10-27T05:37:41.857Z,1761543461.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434055 target range: 9.846462 and range: 7.70 m. 2025-10-27T05:37:41.953Z,1761543461.953 [DAT](INFO): DAT read: Rx Time:05:37:40.5795 2025-10-27T05:37:41.953Z,1761543461.953 [DAT](INFO): Rx dataTimestamp_ set to:1761543461.952904 2025-10-27T05:37:41.954Z,1761543461.954 [DAT](INFO): DAT read: Bearing 146.6, -1.3 (Local) 2025-10-27T05:37:41.955Z,1761543461.955 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, -1.3 (Local) 2025-10-27T05:37:41.957Z,1761543461.957 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 2025-10-27T05:37:41.962Z,1761543461.962 [DAT](INFO): DAT read: 05:37:40.5795 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.46,-0.656,-2.483,-0.632,-0.658, PHS= 0.104,-1.780,-0.018, RAW= 146.7, 18.2, CAL= 146.7, 20.0, ROT= 3.3, -20.0 2025-10-27T05:37:41.963Z,1761543461.963 [DAT](INFO): got valid direction response: 05:37:40.5795 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.46,-0.656,-2.483,-0.632,-0.658, PHS= 0.104,-1.780,-0.018, RAW= 146.7, 18.2, CAL= 146.7, 20.0, ROT= 3.3, -20.0 2025-10-27T05:37:41.963Z,1761543461.963 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:41.964Z,1761543461.964 [DAT](INFO): direction in FSK: [0.938134,0.054092,0.342020] 2025-10-27T05:37:41.964Z,1761543461.964 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:41.972Z,1761543461.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:41.972Z,1761543461.972 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:42.206Z,1761543462.206 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:42.354Z,1761543462.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504092 s, deltaX: -0.500000 m, approachRate: -0.991882 m/s, rangeRepo size: 4 2025-10-27T05:37:42.356Z,1761543462.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.161258 m, bearing: 325.794880 deg, lat: 36.779384 deg, lon: -121.859731 deg, deltaT: 8.068101 s, deltaX: -2.685205 m, approachRate: -0.332817 m/s, posRepo size: 4 2025-10-27T05:37:42.357Z,1761543462.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.85 m. 2025-10-27T05:37:42.359Z,1761543462.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 5.970973 m, bearing: 324.146126 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 311.348409 deg, new cmd heading: 310.820125 deg. 2025-10-27T05:37:42.360Z,1761543462.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424835 target range: 9.846462 and range: 7.20 m. 2025-10-27T05:37:42.458Z,1761543462.458 [DAT](INFO): DAT read: Rx Time:05:37:41.0794 2025-10-27T05:37:42.458Z,1761543462.458 [DAT](INFO): Rx dataTimestamp_ set to:1761543462.457822 2025-10-27T05:37:42.460Z,1761543462.460 [DAT](INFO): DAT read: Bearing 144.4, 0.2 (Local) 2025-10-27T05:37:42.461Z,1761543462.461 [DAT](INFO): Local bearing/azimuth received: Bearing 144.4, 0.2 (Local) 2025-10-27T05:37:42.464Z,1761543462.464 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.5 2025-10-27T05:37:42.469Z,1761543462.469 [DAT](INFO): DAT read: 05:37:41.0794 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.09,-1.305, 3.105,-1.312,-1.380, PHS= 0.177,-1.753, 0.024, RAW= 145.9, 16.5, CAL= 145.7, 18.0, ROT= 4.3, -18.0 2025-10-27T05:37:42.470Z,1761543462.470 [DAT](INFO): got valid direction response: 05:37:41.0794 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.09,-1.305, 3.105,-1.312,-1.380, PHS= 0.177,-1.753, 0.024, RAW= 145.9, 16.5, CAL= 145.7, 18.0, ROT= 4.3, -18.0 2025-10-27T05:37:42.470Z,1761543462.470 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:42.471Z,1761543462.471 [DAT](INFO): direction in FSK: [0.948379,0.071309,0.309017] 2025-10-27T05:37:42.472Z,1761543462.472 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:42.475Z,1761543462.475 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:42.475Z,1761543462.475 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:42.689Z,1761543462.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721638,0.675847,0.149901],[-0.692154,0.700413,0.174199],[0.012739,-0.229463,0.973234]] 2025-10-27T05:37:42.711Z,1761543462.711 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:42.787Z,1761543462.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.504918 s, deltaX: -0.100000 m, approachRate: -0.198052 m/s, rangeRepo size: 4 2025-10-27T05:37:42.793Z,1761543462.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.061796 m, bearing: 324.643463 deg, lat: 36.779384 deg, lon: -121.859731 deg, deltaT: 8.573019 s, deltaX: -2.784667 m, approachRate: -0.324817 m/s, posRepo size: 4 2025-10-27T05:37:42.794Z,1761543462.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.85 m. 2025-10-27T05:37:42.800Z,1761543462.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 5.733180 m, bearing: 324.582586 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 310.820134 deg, new cmd heading: 310.372789 deg. 2025-10-27T05:37:42.801Z,1761543462.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417027 target range: 9.846462 and range: 7.10 m. 2025-10-27T05:37:42.966Z,1761543462.966 [DAT](INFO): DAT read: Rx Time:05:37:41.5791 2025-10-27T05:37:42.968Z,1761543462.968 [DAT](INFO): Rx dataTimestamp_ set to:1761543462.966443 2025-10-27T05:37:42.969Z,1761543462.969 [DAT](INFO): DAT read: Bearing 144.7, -0.4 (Local) 2025-10-27T05:37:42.969Z,1761543462.969 [DAT](INFO): Local bearing/azimuth received: Bearing 144.7, -0.4 (Local) 2025-10-27T05:37:42.971Z,1761543462.971 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5 2025-10-27T05:37:42.976Z,1761543462.976 [DAT](INFO): DAT read: 05:37:41.5791 LVL= 32752, 31729, 32754, 32755, AGC= 51, IDX= 499, 0.14,-2.639, 1.735,-2.634,-2.682, PHS= 0.145,-1.821, 0.004, RAW= 146.3, 17.3, CAL= 146.2, 19.0, ROT= 3.8, -19.0 2025-10-27T05:37:42.977Z,1761543462.977 [DAT](INFO): got valid direction response: 05:37:41.5791 LVL= 32752, 31729, 32754, 32755, AGC= 51, IDX= 499, 0.14,-2.639, 1.735,-2.634,-2.682, PHS= 0.145,-1.821, 0.004, RAW= 146.3, 17.3, CAL= 146.2, 19.0, ROT= 3.8, -19.0 2025-10-27T05:37:42.978Z,1761543462.978 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:42.979Z,1761543462.979 [DAT](INFO): direction in FSK: [0.943440,0.062663,0.325568] 2025-10-27T05:37:42.979Z,1761543462.979 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:42.987Z,1761543462.987 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:42.988Z,1761543462.988 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:43.094Z,1761543463.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715419,0.682469,0.149707],[-0.698545,0.694198,0.173563],[0.014525,-0.228747,0.973377]] 2025-10-27T05:37:43.180Z,1761543463.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.508621 s, deltaX: -0.500000 m, approachRate: -0.983050 m/s, rangeRepo size: 4 2025-10-27T05:37:43.182Z,1761543463.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.564486 m, bearing: 323.894371 deg, lat: 36.779384 deg, lon: -121.859733 deg, deltaT: 9.081640 s, deltaX: -3.281976 m, approachRate: -0.361386 m/s, posRepo size: 4 2025-10-27T05:37:43.187Z,1761543463.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.85 m. 2025-10-27T05:37:43.189Z,1761543463.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 5.492387 m, bearing: 325.019623 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 310.372784 deg, new cmd heading: 309.970935 deg. 2025-10-27T05:37:43.190Z,1761543463.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410013 target range: 9.846462 and range: 6.60 m. 2025-10-27T05:37:43.215Z,1761543463.215 [DAT](INFO): DAT read: Rx Time:05:37:42.0791 2025-10-27T05:37:43.217Z,1761543463.217 [DAT](INFO): Rx dataTimestamp_ set to:1761543463.215440 2025-10-27T05:37:43.218Z,1761543463.218 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:43.465Z,1761543463.465 [DAT](INFO): DAT read: Bearing 148.8, -4.7 (Local) 2025-10-27T05:37:43.466Z,1761543463.466 [DAT](INFO): Local bearing/azimuth received: Bearing 148.8, -4.7 (Local) 2025-10-27T05:37:43.468Z,1761543463.468 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.5 2025-10-27T05:37:43.472Z,1761543463.472 [DAT](INFO): DAT read: 05:37:42.0791 LVL= 32752, 28465, 32754, 32755, AGC= 50, IDX= 498, 0.46, 2.174, 0.464, 2.249, 2.255, PHS= 0.020,-1.747,-0.050, RAW= 148.0, 19.9, CAL= 149.6, 24.5, ROT= 0.4, -24.5 2025-10-27T05:37:43.473Z,1761543463.473 [DAT](INFO): got valid direction response: 05:37:42.0791 LVL= 32752, 28465, 32754, 32755, AGC= 50, IDX= 498, 0.46, 2.174, 0.464, 2.249, 2.255, PHS= 0.020,-1.747,-0.050, RAW= 148.0, 19.9, CAL= 149.6, 24.5, ROT= 0.4, -24.5 2025-10-27T05:37:43.474Z,1761543463.474 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:37:43.475Z,1761543463.475 [DAT](INFO): direction in FSK: [0.909939,0.006353,0.414693] 2025-10-27T05:37:43.475Z,1761543463.475 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:43.478Z,1761543463.478 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:43.480Z,1761543463.480 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:43.604Z,1761543463.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709145,0.688814,0.150491],[-0.704872,0.687664,0.173993],[0.016362,-0.229464,0.973180]] 2025-10-27T05:37:43.647Z,1761543463.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.497555 s, deltaX: -0.100000 m, approachRate: -0.200983 m/s, rangeRepo size: 4 2025-10-27T05:37:43.649Z,1761543463.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.465131 m, bearing: 321.575570 deg, lat: 36.779384 deg, lon: -121.859733 deg, deltaT: 9.579195 s, deltaX: -3.381331 m, approachRate: -0.352987 m/s, posRepo size: 4 2025-10-27T05:37:43.650Z,1761543463.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.47 m. 9.85 m. 2025-10-27T05:37:43.653Z,1761543463.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 5.211882 m, bearing: 325.609004 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 309.970923 deg, new cmd heading: 309.483649 deg. 2025-10-27T05:37:43.654Z,1761543463.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401509 target range: 9.846462 and range: 6.50 m. 2025-10-27T05:37:43.721Z,1761543463.721 [DAT](INFO): DAT read: Rx Time:05:37:42.5788 2025-10-27T05:37:43.725Z,1761543463.725 [DAT](INFO): Rx dataTimestamp_ set to:1761543463.722085 2025-10-27T05:37:43.730Z,1761543463.730 [DAT](INFO): DAT read: Bearing 159.5, -13.2 (Local) 2025-10-27T05:37:43.745Z,1761543463.745 [DAT](INFO): Local bearing/azimuth received: Bearing 159.5, -13.2 (Local) 2025-10-27T05:37:43.751Z,1761543463.751 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 2025-10-27T05:37:43.754Z,1761543463.754 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:37:43.765Z,1761543463.765 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:43.765Z,1761543463.765 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:37:43.977Z,1761543463.977 [DAT](INFO): DAT read: 05:37:42.5788 LVL= 32752, 26161, 24386, 32755, AGC= 49, IDX= 496,-0.29,-2.659, 2.476,-2.435,-2.383, PHS=-0.175,-1.380,-0.096, RAW= 153.1, 25.1, CAL= 157.1, 36.9, ROT= 352.9, -36.9 2025-10-27T05:37:43.978Z,1761543463.978 [DAT](INFO): got valid direction response: 05:37:42.5788 LVL= 32752, 26161, 24386, 32755, AGC= 49, IDX= 496,-0.29,-2.659, 2.476,-2.435,-2.383, PHS=-0.175,-1.380,-0.096, RAW= 153.1, 25.1, CAL= 157.1, 36.9, ROT= 352.9, -36.9 2025-10-27T05:37:43.979Z,1761543463.979 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:37:43.981Z,1761543463.981 [DAT](INFO): direction in FSK: [0.793553,-0.098842,0.600420] 2025-10-27T05:37:43.992Z,1761543463.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:44.014Z,1761543464.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702412,0.695524,0.151206],[-0.711541,0.680755,0.174018],[0.018099,-0.229822,0.973064]] 2025-10-27T05:37:44.100Z,1761543464.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.258087 s, deltaX: -0.300000 m, approachRate: -1.162399 m/s, rangeRepo size: 4 2025-10-27T05:37:44.102Z,1761543464.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.166740 m, bearing: 317.689316 deg, lat: 36.779382 deg, lon: -121.859733 deg, deltaT: 9.837282 s, deltaX: -3.679722 m, approachRate: -0.374059 m/s, posRepo size: 4 2025-10-27T05:37:44.107Z,1761543464.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.85 m. 2025-10-27T05:37:44.110Z,1761543464.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 4.946431 m, bearing: 326.160324 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 309.483658 deg, new cmd heading: 309.020167 deg. 2025-10-27T05:37:44.115Z,1761543464.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393419 target range: 9.846462 and range: 6.20 m. 2025-10-27T05:37:44.221Z,1761543464.221 [DAT](INFO): DAT read: Rx Time:05:37:43.0787 2025-10-27T05:37:44.222Z,1761543464.222 [DAT](INFO): Rx dataTimestamp_ set to:1761543464.221669 2025-10-27T05:37:44.222Z,1761543464.222 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:37:44.416Z,1761543464.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696006,0.701701,0.152291],[-0.717760,0.674022,0.174687],[0.019931,-0.230891,0.972775]] 2025-10-27T05:37:44.433Z,1761543464.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:44.436Z,1761543464.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:44.438Z,1761543464.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 4.732077 m, bearing: 326.675512 deg, approach rate: -0.630270 m/s, LOS rate: 1.583419 deg/s, cmd heading: 309.020161 deg, new cmd heading: 310.635286 deg. 2025-10-27T05:37:44.439Z,1761543464.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421608 target range: 9.846462 and range: 6.20 m. 2025-10-27T05:37:44.473Z,1761543464.473 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.5 2025-10-27T05:37:44.474Z,1761543464.474 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:37:44.475Z,1761543464.475 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=61.749725 2025-10-27T05:37:44.724Z,1761543464.724 [DAT](INFO): DAT read: Rx Time:05:37:43.5784 2025-10-27T05:37:44.725Z,1761543464.725 [DAT](INFO): Rx dataTimestamp_ set to:1761543464.724971 2025-10-27T05:37:44.726Z,1761543464.726 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=62.000439 2025-10-27T05:37:44.814Z,1761543464.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689402,0.707783,0.154171],[-0.724046,0.666843,0.176287],[0.021965,-0.233160,0.972190]] 2025-10-27T05:37:44.852Z,1761543464.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.749321 s, deltaX: -0.200000 m, approachRate: -0.266908 m/s, rangeRepo size: 4 2025-10-27T05:37:44.853Z,1761543464.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:44.856Z,1761543464.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 4.484806 m, bearing: 327.362359 deg, approach rate: -0.593581 m/s, LOS rate: 1.739656 deg/s, cmd heading: 310.635282 deg, new cmd heading: 312.808336 deg. 2025-10-27T05:37:44.857Z,1761543464.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459536 target range: 9.846462 and range: 6.00 m. 2025-10-27T05:37:44.984Z,1761543464.984 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5 2025-10-27T05:37:44.986Z,1761543464.986 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-27T05:37:44.992Z,1761543464.992 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=62.265526 2025-10-27T05:37:45.218Z,1761543465.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683254,0.713242,0.156365],[-0.729779,0.659934,0.178636],[0.024220,-0.236165,0.971411]] 2025-10-27T05:37:45.228Z,1761543465.228 [DAT](INFO): DAT read: user:487> 2025-10-27T05:37:45.228Z,1761543465.228 [DAT](INFO): DAT read: 120 2025-10-27T05:37:45.229Z,1761543465.229 [DAT](INFO): unknown deviceResponse_: 120 2025-10-27T05:37:45.229Z,1761543465.229 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=62.503395 2025-10-27T05:37:45.320Z,1761543465.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.506715 s, deltaX: -0.400000 m, approachRate: -0.789399 m/s, rangeRepo size: 4 2025-10-27T05:37:45.321Z,1761543465.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:45.328Z,1761543465.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 4.241587 m, bearing: 327.897190 deg, approach rate: -0.525150 m/s, LOS rate: 1.220989 deg/s, cmd heading: 312.808348 deg, new cmd heading: 314.504323 deg. 2025-10-27T05:37:45.328Z,1761543465.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489136 target range: 9.846462 and range: 5.60 m. 2025-10-27T05:37:45.481Z,1761543465.481 [DAT](INFO): DAT read: Ok 2025-10-27T05:37:45.482Z,1761543465.482 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T05:37:45.483Z,1761543465.483 [DAT](INFO): DAT read: user:488> 2025-10-27T05:37:45.485Z,1761543465.485 [DAT](INFO): DAT read: Tx time:05:37:44.5226 2025-10-27T05:37:45.485Z,1761543465.485 [DAT](INFO): Ping request sent. 2025-10-27T05:37:45.485Z,1761543465.485 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:37:45.486Z,1761543465.486 [DAT](INFO): publishing transmit ping time 2025-10-27T05:37:45.486Z,1761543465.486 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.001162 2025-10-27T05:37:45.651Z,1761543465.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677172,0.719080,0.156082],[-0.735341,0.653636,0.178981],[0.026681,-0.235974,0.971393]] 2025-10-27T05:37:45.670Z,1761543465.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:45.673Z,1761543465.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 4.044292 m, bearing: 328.402828 deg, approach rate: -0.555960 m/s, LOS rate: 1.494332 deg/s, cmd heading: 314.504311 deg, new cmd heading: 316.094796 deg. 2025-10-27T05:37:45.674Z,1761543465.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516895 target range: 9.846462 and range: 5.60 m. 2025-10-27T05:37:45.733Z,1761543465.733 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.247748 2025-10-27T05:37:45.988Z,1761543465.988 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.501592 2025-10-27T05:37:46.054Z,1761543466.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671081,0.725040,0.154817],[-0.740798,0.647462,0.178917],[0.029484,-0.234756,0.971607]] 2025-10-27T05:37:46.108Z,1761543466.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:46.110Z,1761543466.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 3.835264 m, bearing: 328.814406 deg, approach rate: -0.496126 m/s, LOS rate: 1.030110 deg/s, cmd heading: 316.094789 deg, new cmd heading: 317.396583 deg. 2025-10-27T05:37:46.115Z,1761543466.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539616 target range: 9.846462 and range: 5.60 m. 2025-10-27T05:37:46.237Z,1761543466.237 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.751589 2025-10-27T05:37:46.457Z,1761543466.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665789,0.730438,0.152265],[-0.745458,0.642461,0.177582],[0.031888,-0.231740,0.972255]] 2025-10-27T05:37:46.489Z,1761543466.489 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.003138 2025-10-27T05:37:46.508Z,1761543466.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:46.510Z,1761543466.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:46.513Z,1761543466.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 3.631204 m, bearing: 329.285465 deg, approach rate: -0.487037 m/s, LOS rate: 1.187463 deg/s, cmd heading: 317.396596 deg, new cmd heading: 318.888835 deg. 2025-10-27T05:37:46.514Z,1761543466.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.565660 target range: 9.846462 and range: 5.60 m. 2025-10-27T05:37:46.740Z,1761543466.740 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.254831 2025-10-27T05:37:46.861Z,1761543466.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661959,0.734332,0.150221],[-0.748781,0.638855,0.176610],[0.033721,-0.229391,0.972750]] 2025-10-27T05:37:46.892Z,1761543466.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:46.894Z,1761543466.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 3.439296 m, bearing: 329.796676 deg, approach rate: -0.502972 m/s, LOS rate: 1.414578 deg/s, cmd heading: 318.888828 deg, new cmd heading: 320.507585 deg. 2025-10-27T05:37:46.896Z,1761543466.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593913 target range: 9.846462 and range: 5.60 m. 2025-10-27T05:37:46.996Z,1761543466.996 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.510349 2025-10-27T05:37:47.244Z,1761543467.244 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.758675 2025-10-27T05:37:47.269Z,1761543467.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660714,0.736025,0.147395],[-0.749841,0.638113,0.174787],[0.034593,-0.226007,0.973511]] 2025-10-27T05:37:47.334Z,1761543467.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:47.341Z,1761543467.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 3.259393 m, bearing: 330.070437 deg, approach rate: -0.406944 m/s, LOS rate: 0.653427 deg/s, cmd heading: 320.507583 deg, new cmd heading: 321.374126 deg. 2025-10-27T05:37:47.342Z,1761543467.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609036 target range: 9.846462 and range: 5.60 m. 2025-10-27T05:37:47.497Z,1761543467.497 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.011504 2025-10-27T05:37:47.670Z,1761543467.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661539,0.736692,0.140184],[-0.749093,0.640441,0.169395],[0.035013,-0.217073,0.975527]] 2025-10-27T05:37:47.689Z,1761543467.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:47.692Z,1761543467.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 3.108554 m, bearing: 330.320433 deg, approach rate: -0.425164 m/s, LOS rate: 0.738842 deg/s, cmd heading: 321.374115 deg, new cmd heading: 322.160443 deg. 2025-10-27T05:37:47.692Z,1761543467.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622760 target range: 9.846462 and range: 5.60 m. 2025-10-27T05:37:47.749Z,1761543467.749 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.263348 2025-10-27T05:37:48.004Z,1761543468.004 [DAT](INFO): DAT read: Rx Time:05:37:46.6567 2025-10-27T05:37:48.006Z,1761543468.006 [DAT](INFO): Rx dataTimestamp_ set to:1761543468.004755 2025-10-27T05:37:48.010Z,1761543468.010 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.3 2025-10-27T05:37:48.013Z,1761543468.013 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T05:37:48.017Z,1761543468.017 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.530940 2025-10-27T05:37:48.082Z,1761543468.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664305,0.736108,0.129781],[-0.746641,0.645363,0.161349],[0.035014,-0.204085,0.978327]] 2025-10-27T05:37:48.131Z,1761543468.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 3.026634 s, deltaX: -1.800000 m, approachRate: -0.594720 m/s, rangeRepo size: 4 2025-10-27T05:37:48.132Z,1761543468.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:48.134Z,1761543468.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 2.935137 m, bearing: 330.447526 deg, approach rate: -0.392764 m/s, LOS rate: 0.304856 deg/s, cmd heading: 322.160434 deg, new cmd heading: 322.564235 deg. 2025-10-27T05:37:48.136Z,1761543468.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629808 target range: 9.846462 and range: 3.80 m. 2025-10-27T05:37:48.253Z,1761543468.253 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.767421 2025-10-27T05:37:48.486Z,1761543468.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669142,0.733676,0.118191],[-0.742323,0.652471,0.152441],[0.034726,-0.189741,0.981220]] 2025-10-27T05:37:48.506Z,1761543468.506 [DAT](INFO): DAT read: Rx Time:05:37:47.1567 2025-10-27T05:37:48.506Z,1761543468.506 [DAT](INFO): Rx dataTimestamp_ set to:1761543468.505881 2025-10-27T05:37:48.508Z,1761543468.508 [DAT](INFO): DAT read: Bearing 225.7, -58.8 (Local) 2025-10-27T05:37:48.508Z,1761543468.508 [DAT](INFO): Local bearing/azimuth received: Bearing 225.7, -58.8 (Local) 2025-10-27T05:37:48.510Z,1761543468.510 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.3 2025-10-27T05:37:48.514Z,1761543468.514 [DAT](INFO): DAT read: 05:37:47.1567 LVL= 17696, 14241, 9330, 25555, AGC= 43, IDX= 512,-0.18, 1.982, 2.853,-2.878,-2.831, PHS=-1.368,-0.554,-0.091, RAW= 249.0, 32.4, CAL= 252.3, 41.5, ROT= 257.7, -41.5 2025-10-27T05:37:48.516Z,1761543468.516 [DAT](INFO): got valid direction response: 05:37:47.1567 LVL= 17696, 14241, 9330, 25555, AGC= 43, IDX= 512,-0.18, 1.982, 2.853,-2.878,-2.831, PHS=-1.368,-0.554,-0.091, RAW= 249.0, 32.4, CAL= 252.3, 41.5, ROT= 257.7, -41.5 2025-10-27T05:37:48.516Z,1761543468.516 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:37:48.517Z,1761543468.517 [DAT](INFO): direction in FSK: [-0.159550,-0.731764,0.662620] 2025-10-27T05:37:48.517Z,1761543468.517 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:48.529Z,1761543468.529 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.043899 2025-10-27T05:37:48.580Z,1761543468.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.501126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:48.582Z,1761543468.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.779594 m, bearing: 204.531329 deg, lat: 36.779380 deg, lon: -121.859733 deg, deltaT: 14.621078 s, deltaX: -6.066868 m, approachRate: -0.414940 m/s, posRepo size: 4 2025-10-27T05:37:48.583Z,1761543468.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.85 m. 2025-10-27T05:37:48.586Z,1761543468.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 2.773055 m, bearing: 330.554994 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 322.564235 deg, new cmd heading: 322.117244 deg. 2025-10-27T05:37:48.587Z,1761543468.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622006 target range: 9.846462 and range: 3.80 m. 2025-10-27T05:37:48.757Z,1761543468.757 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.271338 2025-10-27T05:37:49.014Z,1761543469.014 [DAT](INFO): DAT read: Rx Time:05:37:47.6565 2025-10-27T05:37:49.016Z,1761543469.016 [DAT](INFO): Rx dataTimestamp_ set to:1761543469.014971 2025-10-27T05:37:49.021Z,1761543469.021 [DAT](INFO): DAT read: Bearing 267.8, -15.8 (Local) 2025-10-27T05:37:49.022Z,1761543469.022 [DAT](INFO): Local bearing/azimuth received: Bearing 267.8, -15.8 (Local) 2025-10-27T05:37:49.030Z,1761543469.030 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3 2025-10-27T05:37:49.084Z,1761543469.084 [DAT](INFO): DAT read: 05:37:47.6565 LVL= 26048, 23953, 14994, 24371, AGC= 47, IDX= 510, 0.06,-1.479, 0.583,-0.953, 0.399, PHS=-1.777, 0.229,-1.396, RAW= 319.7, 29.4, CAL= 319.7, 34.7, ROT= 190.3, -34.7 2025-10-27T05:37:49.085Z,1761543469.085 [DAT](INFO): got valid direction response: 05:37:47.6565 LVL= 26048, 23953, 14994, 24371, AGC= 47, IDX= 510, 0.06,-1.479, 0.583,-0.953, 0.399, PHS=-1.777, 0.229,-1.396, RAW= 319.7, 29.4, CAL= 319.7, 34.7, ROT= 190.3, -34.7 2025-10-27T05:37:49.086Z,1761543469.086 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:37:49.087Z,1761543469.087 [DAT](INFO): direction in FSK: [-0.808895,-0.147001,0.569280] 2025-10-27T05:37:49.103Z,1761543469.103 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:49.107Z,1761543469.107 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.621473 2025-10-27T05:37:49.128Z,1761543469.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685463,0.723083,0.085393],[-0.727346,0.674656,0.125723],[0.033297,-0.148289,0.988383]] 2025-10-27T05:37:49.231Z,1761543469.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.509090 s, deltaX: -0.300000 m, approachRate: -0.589287 m/s, rangeRepo size: 4 2025-10-27T05:37:49.233Z,1761543469.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.481205 m, bearing: 137.509566 deg, lat: 36.779372 deg, lon: -121.859733 deg, deltaT: 15.130168 s, deltaX: -6.365257 m, approachRate: -0.420700 m/s, posRepo size: 4 2025-10-27T05:37:49.234Z,1761543469.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.85 m. 2025-10-27T05:37:49.241Z,1761543469.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 2.533605 m, bearing: 330.274951 deg, approach rate: 0.000000 m/s, LOS rate: -0.344401 deg/s, cmd heading: 322.117240 deg, new cmd heading: 321.431450 deg. 2025-10-27T05:37:49.242Z,1761543469.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610037 target range: 9.846462 and range: 3.50 m. 2025-10-27T05:37:49.260Z,1761543469.260 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.775102 2025-10-27T05:37:49.513Z,1761543469.513 [DAT](INFO): DAT read: Rx Time:05:37:48.1564 2025-10-27T05:37:49.514Z,1761543469.514 [DAT](INFO): Rx dataTimestamp_ set to:1761543469.512919 2025-10-27T05:37:49.515Z,1761543469.515 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.2 2025-10-27T05:37:49.516Z,1761543469.516 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-10-27T05:37:49.518Z,1761543469.518 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.032286 2025-10-27T05:37:49.740Z,1761543469.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696157,0.714794,0.066593],[-0.717173,0.688318,0.109003],[0.032078,-0.123642,0.991808]] 2025-10-27T05:37:49.764Z,1761543469.764 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.278994 2025-10-27T05:37:49.777Z,1761543469.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:49.797Z,1761543469.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.497948 s, deltaX: -0.200000 m, approachRate: -0.401648 m/s, rangeRepo size: 4 2025-10-27T05:37:49.798Z,1761543469.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-27T05:37:49.805Z,1761543469.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846462 m, nav range: 2.331908 m, bearing: 329.908180 deg, approach rate: -0.365052 m/s, LOS rate: -0.721232 deg/s, cmd heading: 321.431462 deg, new cmd heading: 320.236158 deg. 2025-10-27T05:37:49.806Z,1761543469.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589175 target range: 9.846462 and range: 3.30 m. 2025-10-27T05:37:50.019Z,1761543470.019 [DAT](INFO): DAT read: Rx Time:05:37:48.6561 2025-10-27T05:37:50.020Z,1761543470.020 [DAT](INFO): Rx dataTimestamp_ set to:1761543470.019297 2025-10-27T05:37:50.024Z,1761543470.024 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.2 2025-10-27T05:37:50.026Z,1761543470.026 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-27T05:37:50.029Z,1761543470.029 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=4.543598 2025-10-27T05:37:50.165Z,1761543470.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707639,0.704705,0.051355],[-0.705912,0.701962,0.094538],[0.030572,-0.103151,0.994196]] 2025-10-27T05:37:50.222Z,1761543470.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.506378 s, deltaX: -0.400000 m, approachRate: -0.789923 m/s, rangeRepo size: 4 2025-10-27T05:37:50.227Z,1761543470.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-27T05:37:50.228Z,1761543470.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T05:37:50.268Z,1761543470.268 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=4.782930 2025-10-27T05:37:50.520Z,1761543470.520 [DAT](INFO): DAT read: Rx Time:05:37:49.1561 2025-10-27T05:37:50.521Z,1761543470.521 [DAT](INFO): Rx dataTimestamp_ set to:1761543470.520669 2025-10-27T05:37:50.522Z,1761543470.522 [DAT](INFO): DAT read: Bearing 263.5, -0.8 (Local) 2025-10-27T05:37:50.523Z,1761543470.523 [DAT](INFO): Local bearing/azimuth received: Bearing 263.5, -0.8 (Local) 2025-10-27T05:37:50.525Z,1761543470.525 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.2 2025-10-27T05:37:50.529Z,1761543470.529 [DAT](INFO): DAT read: 05:37:49.1561 LVL= 20816, 11473, 15474, 28195, AGC= 44, IDX= 507,-0.08,-2.932,-1.783,-2.939,-1.735, PHS=-1.096,-0.003,-1.248, RAW= 336.4, 35.2, CAL= 335.4, 40.5, ROT= 174.6, -40.5 2025-10-27T05:37:50.530Z,1761543470.530 [DAT](INFO): got valid direction response: 05:37:49.1561 LVL= 20816, 11473, 15474, 28195, AGC= 44, IDX= 507,-0.08,-2.932,-1.783,-2.939,-1.735, PHS=-1.096,-0.003,-1.248, RAW= 336.4, 35.2, CAL= 335.4, 40.5, ROT= 174.6, -40.5 2025-10-27T05:37:50.531Z,1761543470.531 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:37:50.532Z,1761543470.532 [DAT](INFO): direction in FSK: [-0.757031,0.071560,0.649448] 2025-10-27T05:37:50.532Z,1761543470.532 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:50.536Z,1761543470.536 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.050700 2025-10-27T05:37:50.579Z,1761543470.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719707,0.693223,0.038267],[-0.693662,0.715654,0.081680],[0.029236,-0.085330,0.995924]] 2025-10-27T05:37:50.653Z,1761543470.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.501372 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:50.659Z,1761543470.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.884167 m, bearing: 126.773243 deg, lat: 36.779349 deg, lon: -121.859723 deg, deltaT: 16.635866 s, deltaX: -6.962295 m, approachRate: -0.418511 m/s, posRepo size: 4 2025-10-27T05:37:50.772Z,1761543470.772 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.286961 2025-10-27T05:37:50.968Z,1761543470.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731911,0.680826,0.027984],[-0.680840,0.729026,0.070559],[0.027638,-0.070696,0.997115]] 2025-10-27T05:37:51.028Z,1761543471.028 [DAT](INFO): DAT read: Rx Time:05:37:49.6560 2025-10-27T05:37:51.030Z,1761543471.030 [DAT](INFO): Rx dataTimestamp_ set to:1761543471.029023 2025-10-27T05:37:51.035Z,1761543471.035 [DAT](INFO): DAT read: Bearing 259.8, -19.5 (Local) 2025-10-27T05:37:51.037Z,1761543471.037 [DAT](INFO): Local bearing/azimuth received: Bearing 259.8, -19.5 (Local) 2025-10-27T05:37:51.056Z,1761543471.056 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.2 2025-10-27T05:37:51.096Z,1761543471.096 [DAT](INFO): DAT read: 05:37:49.6560 LVL= 21888, 21985, 18098, 32755, AGC= 45, IDX= 505, 0.20, 0.829, 2.520, 1.613, 2.791, PHS=-1.860,-0.225,-1.222, RAW= 307.2, 39.3, CAL= 308.6, 44.2, ROT= 201.4, -44.2 2025-10-27T05:37:51.097Z,1761543471.097 [DAT](INFO): got valid direction response: 05:37:49.6560 LVL= 21888, 21985, 18098, 32755, AGC= 45, IDX= 505, 0.20, 0.829, 2.520, 1.613, 2.791, PHS=-1.860,-0.225,-1.222, RAW= 307.2, 39.3, CAL= 308.6, 44.2, ROT= 201.4, -44.2 2025-10-27T05:37:51.098Z,1761543471.098 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:37:51.111Z,1761543471.111 [DAT](INFO): direction in FSK: [-0.667484,-0.261584,0.697165] 2025-10-27T05:37:51.111Z,1761543471.111 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:51.124Z,1761543471.124 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.638394 2025-10-27T05:37:51.276Z,1761543471.276 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.790987 2025-10-27T05:37:51.428Z,1761543471.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.508354 s, deltaX: -0.200000 m, approachRate: -0.393427 m/s, rangeRepo size: 4 2025-10-27T05:37:51.430Z,1761543471.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.685348 m, bearing: 154.192214 deg, lat: 36.779348 deg, lon: -121.859708 deg, deltaT: 0.508354 s, deltaX: -0.198819 m, approachRate: -0.391104 m/s, posRepo size: 4 2025-10-27T05:37:51.530Z,1761543471.530 [DAT](INFO): DAT read: Rx Time:05:37:50.1560 2025-10-27T05:37:51.531Z,1761543471.531 [DAT](INFO): Rx dataTimestamp_ set to:1761543471.530594 2025-10-27T05:37:51.532Z,1761543471.532 [DAT](INFO): DAT read: Bearing 275.0, -10.8 (Local) 2025-10-27T05:37:51.533Z,1761543471.533 [DAT](INFO): Local bearing/azimuth received: Bearing 275.0, -10.8 (Local) 2025-10-27T05:37:51.535Z,1761543471.535 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.2 2025-10-27T05:37:51.541Z,1761543471.541 [DAT](INFO): DAT read: 05:37:50.1560 LVL= 32752, 27377, 32754, 32755, AGC= 51, IDX= 506, 0.41,-2.221,-0.321,-1.778,-0.596, PHS=-1.523, 0.320,-1.226, RAW= 321.4, 26.6, CAL= 321.1, 31.7, ROT= 188.9, -31.7 2025-10-27T05:37:51.542Z,1761543471.542 [DAT](INFO): got valid direction response: 05:37:50.1560 LVL= 32752, 27377, 32754, 32755, AGC= 51, IDX= 506, 0.41,-2.221,-0.321,-1.778,-0.596, PHS=-1.523, 0.320,-1.226, RAW= 321.4, 26.6, CAL= 321.1, 31.7, ROT= 188.9, -31.7 2025-10-27T05:37:51.549Z,1761543471.549 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:37:51.550Z,1761543471.550 [DAT](INFO): direction in FSK: [-0.840567,-0.131629,0.525472] 2025-10-27T05:37:51.550Z,1761543471.550 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:51.569Z,1761543471.569 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.084152 2025-10-27T05:37:51.773Z,1761543471.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754541,0.656102,0.014071],[-0.655755,0.752959,0.055123],[0.025571,-0.050820,0.998380]] 2025-10-27T05:37:51.780Z,1761543471.780 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.294921 2025-10-27T05:37:51.876Z,1761543471.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:51.878Z,1761543471.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.685348 m, bearing: 146.000320 deg, lat: 36.779348 deg, lon: -121.859703 deg, deltaT: 0.501571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:37:52.037Z,1761543472.037 [DAT](INFO): DAT read: Rx Time:05:37:50.6559 2025-10-27T05:37:52.038Z,1761543472.038 [DAT](INFO): Rx dataTimestamp_ set to:1761543472.037477 2025-10-27T05:37:52.042Z,1761543472.042 [DAT](INFO): DAT read: Bearing 264.4, -7.9 (Local) 2025-10-27T05:37:52.044Z,1761543472.044 [DAT](INFO): Local bearing/azimuth received: Bearing 264.4, -7.9 (Local) 2025-10-27T05:37:52.050Z,1761543472.050 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1 2025-10-27T05:37:52.108Z,1761543472.108 [DAT](INFO): DAT read: 05:37:50.6559 LVL= 17392, 20657, 32754, 32723, AGC= 53, IDX= 504,-0.06,-1.610,-0.211,-1.308,-0.068, PHS=-1.440,-0.097,-1.283, RAW= 323.9, 38.1, CAL= 323.7, 43.3, ROT= 186.3, -43.3 2025-10-27T05:37:52.109Z,1761543472.109 [DAT](INFO): got valid direction response: 05:37:50.6559 LVL= 17392, 20657, 32754, 32723, AGC= 53, IDX= 504,-0.06,-1.610,-0.211,-1.308,-0.068, PHS=-1.440,-0.097,-1.283, RAW= 323.9, 38.1, CAL= 323.7, 43.3, ROT= 186.3, -43.3 2025-10-27T05:37:52.109Z,1761543472.109 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:37:52.110Z,1761543472.110 [DAT](INFO): direction in FSK: [-0.723378,-0.079862,0.685818] 2025-10-27T05:37:52.115Z,1761543472.115 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:52.132Z,1761543472.132 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.646907 2025-10-27T05:37:52.227Z,1761543472.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764094,0.645016,0.010739],[-0.644623,0.762772,0.051383],[0.024952,-0.046184,0.998621]] 2025-10-27T05:37:52.246Z,1761543472.246 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309261067,35.0, +100,14 2025-10-27T05:37:52.287Z,1761543472.287 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.801145 2025-10-27T05:37:52.336Z,1761543472.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.506883 s, deltaX: -0.100000 m, approachRate: -0.197284 m/s, rangeRepo size: 4 2025-10-27T05:37:52.348Z,1761543472.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585891 m, bearing: 143.564298 deg, lat: 36.779348 deg, lon: -121.859703 deg, deltaT: 0.506883 s, deltaX: -0.099458 m, approachRate: -0.196214 m/s, posRepo size: 4 2025-10-27T05:37:52.349Z,1761543472.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-27T05:37:52.536Z,1761543472.536 [DAT](INFO): DAT read: Rx Time:05:37:51.1562 2025-10-27T05:37:52.537Z,1761543472.537 [DAT](INFO): Rx dataTimestamp_ set to:1761543472.536606 2025-10-27T05:37:52.538Z,1761543472.538 [DAT](INFO): DAT read: Bearing 207.1, 20.8 (Local) 2025-10-27T05:37:52.538Z,1761543472.538 [DAT](INFO): Local bearing/azimuth received: Bearing 207.1, 20.8 (Local) 2025-10-27T05:37:52.541Z,1761543472.541 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.1 2025-10-27T05:37:52.545Z,1761543472.545 [DAT](INFO): DAT read: 05:37:51.1562 LVL= 26896, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.45, 2.776, 2.161, 2.215,-2.772, PHS=-0.633,-1.305,-1.340, RAW= 87.5, 59.2, CAL= 86.5, 63.7, ROT= 63.5, -63.7 2025-10-27T05:37:52.547Z,1761543472.547 [DAT](INFO): got valid direction response: 05:37:51.1562 LVL= 26896, 32753, 32754, 32755, AGC= 54, IDX= 507,-0.45, 2.776, 2.161, 2.215,-2.772, PHS=-0.633,-1.305,-1.340, RAW= 87.5, 59.2, CAL= 86.5, 63.7, ROT= 63.5, -63.7 2025-10-27T05:37:52.547Z,1761543472.547 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:37:52.548Z,1761543472.548 [DAT](INFO): direction in FSK: [0.197697,0.396520,0.896486] 2025-10-27T05:37:52.548Z,1761543472.548 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:52.552Z,1761543472.552 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.066875 2025-10-27T05:37:52.659Z,1761543472.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778395,0.627627,0.013600],[-0.627304,0.776791,0.055545],[0.024297,-0.051767,0.998364]] 2025-10-27T05:37:52.709Z,1761543472.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.499129 s, deltaX: 0.400000 m, approachRate: 0.801396 m/s, rangeRepo size: 4 2025-10-27T05:37:52.716Z,1761543472.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.983650 m, bearing: 29.398088 deg, lat: 36.779349 deg, lon: -121.859706 deg, deltaT: 0.499129 s, deltaX: 0.397759 m, approachRate: 0.796907 m/s, posRepo size: 4 2025-10-27T05:37:52.793Z,1761543472.793 [DAT](INFO): DAT read: Rx Time:05:37:51.6557 2025-10-27T05:37:52.795Z,1761543472.795 [DAT](INFO): Rx dataTimestamp_ set to:1761543472.793539 2025-10-27T05:37:52.797Z,1761543472.797 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.312164 2025-10-27T05:37:53.043Z,1761543473.043 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.1 2025-10-27T05:37:53.044Z,1761543473.044 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-27T05:37:53.045Z,1761543473.045 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.559516 2025-10-27T05:37:53.123Z,1761543473.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:53.126Z,1761543473.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504838 s, deltaX: -0.700000 m, approachRate: -1.386584 m/s, rangeRepo size: 4 2025-10-27T05:37:53.295Z,1761543473.295 [DAT](INFO): DAT read: Rx Time:05:37:52.1559 2025-10-27T05:37:53.297Z,1761543473.297 [DAT](INFO): Rx dataTimestamp_ set to:1761543473.295557 2025-10-27T05:37:53.299Z,1761543473.299 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.813082 2025-10-27T05:37:53.445Z,1761543473.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785714,0.618037,0.026144],[-0.618064,0.782603,0.074359],[0.025497,-0.074584,0.996889]] 2025-10-27T05:37:53.507Z,1761543473.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m. 2025-10-27T05:37:53.545Z,1761543473.545 [DAT](INFO): DAT read: Bearing 209.5, 18.8 (Local) 2025-10-27T05:37:53.545Z,1761543473.545 [DAT](INFO): Local bearing/azimuth received: Bearing 209.5, 18.8 (Local) 2025-10-27T05:37:53.547Z,1761543473.547 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1 2025-10-27T05:37:53.552Z,1761543473.552 [DAT](INFO): DAT read: 05:37:52.1559 LVL= 18912, 13841, 15122, 32755, AGC= 50, IDX= 503, 0.11, 0.905, 0.111, 0.140, 1.917, PHS=-0.910,-1.762,-1.822, RAW= 86.6, 60.9, CAL= 85.5, 65.2, ROT= 64.5, -65.2 2025-10-27T05:37:53.553Z,1761543473.553 [DAT](INFO): got valid direction response: 05:37:52.1559 LVL= 18912, 13841, 15122, 32755, AGC= 50, IDX= 503, 0.11, 0.905, 0.111, 0.140, 1.917, PHS=-0.910,-1.762,-1.822, RAW= 86.6, 60.9, CAL= 85.5, 65.2, ROT= 64.5, -65.2 2025-10-27T05:37:53.553Z,1761543473.553 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:37:53.554Z,1761543473.554 [DAT](INFO): direction in FSK: [0.180579,0.378591,0.907777] 2025-10-27T05:37:53.555Z,1761543473.555 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:53.558Z,1761543473.558 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.073058 2025-10-27T05:37:53.798Z,1761543473.798 [DAT](INFO): DAT read: Rx Time:05:37:52.6555 2025-10-27T05:37:53.799Z,1761543473.799 [DAT](INFO): Rx dataTimestamp_ set to:1761543473.798311 2025-10-27T05:37:53.801Z,1761543473.801 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T05:37:53.801Z,1761543473.801 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T05:37:53.802Z,1761543473.802 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.317071 2025-10-27T05:37:53.846Z,1761543473.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787547,0.615263,0.034949],[-0.615700,0.783163,0.087005],[0.026160,-0.090038,0.995595]] 2025-10-27T05:37:53.917Z,1761543473.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.756867 s, deltaX: -0.300000 m, approachRate: -0.396371 m/s, rangeRepo size: 4 2025-10-27T05:37:53.923Z,1761543473.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.988910 m, bearing: 33.007001 deg, lat: 36.779353 deg, lon: -121.859708 deg, deltaT: 1.261705 s, deltaX: -0.994740 m, approachRate: -0.788409 m/s, posRepo size: 4 2025-10-27T05:37:54.049Z,1761543474.049 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.563075 2025-10-27T05:37:54.267Z,1761543474.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788342,0.613661,0.044022],[-0.614651,0.782448,0.099900],[0.026860,-0.105814,0.994023]] 2025-10-27T05:37:54.304Z,1761543474.304 [DAT](INFO): DAT read: Rx Time:05:37:53.1557 2025-10-27T05:37:54.306Z,1761543474.306 [DAT](INFO): Rx dataTimestamp_ set to:1761543474.304652 2025-10-27T05:37:54.309Z,1761543474.309 [DAT](INFO): DAT read: Bearing 234.0, -32.8 (Local) 2025-10-27T05:37:54.311Z,1761543474.311 [DAT](INFO): Local bearing/azimuth received: Bearing 234.0, -32.8 (Local) 2025-10-27T05:37:54.328Z,1761543474.328 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 2025-10-27T05:37:54.330Z,1761543474.330 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-27T05:37:54.342Z,1761543474.342 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.856816 2025-10-27T05:37:54.430Z,1761543474.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.506341 s, deltaX: 0.300000 m, approachRate: 0.592486 m/s, rangeRepo size: 4 2025-10-27T05:37:54.556Z,1761543474.556 [DAT](INFO): DAT read: 05:37:53.1557 LVL= 15920, 15729, 21282, 26707, AGC= 42, IDX= 502, 0.17,-1.958,-0.768,-0.527, 0.577, PHS=-2.433,-1.300,-1.147, RAW= 263.8, 54.8, CAL= 265.3, 60.3, ROT= 244.7, -60.3 2025-10-27T05:37:54.558Z,1761543474.558 [DAT](INFO): got valid direction response: 05:37:53.1557 LVL= 15920, 15729, 21282, 26707, AGC= 42, IDX= 502, 0.17,-1.958,-0.768,-0.527, 0.577, PHS=-2.433,-1.300,-1.147, RAW= 263.8, 54.8, CAL= 265.3, 60.3, ROT= 244.7, -60.3 2025-10-27T05:37:54.558Z,1761543474.558 [DAT](INFO): #Rx 18: Read direction message, but no range. 2025-10-27T05:37:54.559Z,1761543474.559 [DAT](INFO): direction in FSK: [-0.211738,-0.447936,0.868631] 2025-10-27T05:37:54.562Z,1761543474.562 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.077168 2025-10-27T05:37:54.669Z,1761543474.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788455,0.612727,0.053884],[-0.614465,0.780671,0.113951],[0.027756,-0.122955,0.992024]] 2025-10-27T05:37:54.697Z,1761543474.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m. 2025-10-27T05:37:54.808Z,1761543474.808 [DAT](INFO): DAT read: Rx Time:05:37:53.6556 2025-10-27T05:37:54.810Z,1761543474.810 [DAT](INFO): Rx dataTimestamp_ set to:1761543474.808770 2025-10-27T05:37:54.814Z,1761543474.814 [DAT](INFO): DAT read: Bearing 239.0, -39.6 (Local) 2025-10-27T05:37:54.815Z,1761543474.815 [DAT](INFO): Local bearing/azimuth received: Bearing 239.0, -39.6 (Local) 2025-10-27T05:37:54.842Z,1761543474.842 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T05:37:54.842Z,1761543474.842 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-27T05:37:54.844Z,1761543474.844 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.358377 2025-10-27T05:37:55.066Z,1761543475.066 [DAT](INFO): DAT read: 05:37:53.6556 LVL= 21168, 19185, 25378, 29939, AGC= 43, IDX= 501, 0.12,-2.257,-0.846,-0.587, 0.259, PHS=-2.414,-1.060,-0.890, RAW= 264.2, 46.8, CAL= 266.0, 53.6, ROT= 244.0, -53.6 2025-10-27T05:37:55.070Z,1761543475.070 [DAT](INFO): got valid direction response: 05:37:53.6556 LVL= 21168, 19185, 25378, 29939, AGC= 43, IDX= 501, 0.12,-2.257,-0.846,-0.587, 0.259, PHS=-2.414,-1.060,-0.890, RAW= 264.2, 46.8, CAL= 266.0, 53.6, ROT= 244.0, -53.6 2025-10-27T05:37:55.071Z,1761543475.071 [DAT](INFO): #Rx 20: Read direction message, but no range. 2025-10-27T05:37:55.072Z,1761543475.072 [DAT](INFO): direction in FSK: [-0.260138,-0.533361,0.804894] 2025-10-27T05:37:55.085Z,1761543475.085 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=9.599059 2025-10-27T05:37:55.101Z,1761543475.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787731,0.612973,0.061190],[-0.615350,0.778351,0.124558],[0.028724,-0.135771,0.990324]] 2025-10-27T05:37:55.239Z,1761543475.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504118 s, deltaX: -0.200000 m, approachRate: -0.396733 m/s, rangeRepo size: 4 2025-10-27T05:37:55.245Z,1761543475.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.088439 m, bearing: 197.785329 deg, lat: 36.779368 deg, lon: -121.859711 deg, deltaT: 1.010459 s, deltaX: 0.099529 m, approachRate: 0.098498 m/s, posRepo size: 4 2025-10-27T05:37:55.245Z,1761543475.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m. 2025-10-27T05:37:55.312Z,1761543475.312 [DAT](INFO): DAT read: Rx Time:05:37:54.1559 2025-10-27T05:37:55.313Z,1761543475.313 [DAT](INFO): Rx dataTimestamp_ set to:1761543475.312349 2025-10-27T05:37:55.317Z,1761543475.317 [DAT](INFO): DAT read: Bearing 225.5, -42.0 (Local) 2025-10-27T05:37:55.318Z,1761543475.318 [DAT](INFO): Local bearing/azimuth received: Bearing 225.5, -42.0 (Local) 2025-10-27T05:37:55.328Z,1761543475.328 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.1 2025-10-27T05:37:55.330Z,1761543475.330 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-27T05:37:55.345Z,1761543475.345 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=9.860112 2025-10-27T05:37:55.569Z,1761543475.569 [DAT](INFO): DAT read: 05:37:54.1559 LVL= 26752, 15953, 16178, 29555, AGC= 47, IDX= 504,-0.32, 2.161, 3.043,-2.571,-1.929, PHS=-2.091,-1.266,-0.686, RAW= 245.8, 49.4, CAL= 248.3, 55.9, ROT= 261.7, -55.9 2025-10-27T05:37:55.570Z,1761543475.570 [DAT](INFO): got valid direction response: 05:37:54.1559 LVL= 26752, 15953, 16178, 29555, AGC= 47, IDX= 504,-0.32, 2.161, 3.043,-2.571,-1.929, PHS=-2.091,-1.266,-0.686, RAW= 245.8, 49.4, CAL= 248.3, 55.9, ROT= 261.7, -55.9 2025-10-27T05:37:55.571Z,1761543475.571 [DAT](INFO): #Rx 22: Read direction message, but no range. 2025-10-27T05:37:55.572Z,1761543475.572 [DAT](INFO): direction in FSK: [-0.080932,-0.554767,0.828060] 2025-10-27T05:37:55.579Z,1761543475.579 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=10.093649 2025-10-27T05:37:55.651Z,1761543475.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786783,0.613488,0.067861],[-0.616518,0.775835,0.134111],[0.029627,-0.147354,0.988640]] 2025-10-27T05:37:55.764Z,1761543475.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503579 s, deltaX: 0.500000 m, approachRate: 0.992893 m/s, rangeRepo size: 4 2025-10-27T05:37:55.766Z,1761543475.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585646 m, bearing: 217.764864 deg, lat: 36.779372 deg, lon: -121.859716 deg, deltaT: 0.503579 s, deltaX: 0.497208 m, approachRate: 0.987348 m/s, posRepo size: 4 2025-10-27T05:37:55.766Z,1761543475.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-27T05:37:55.816Z,1761543475.816 [DAT](INFO): DAT read: Rx Time:05:37:54.6557 2025-10-27T05:37:55.818Z,1761543475.818 [DAT](INFO): Rx dataTimestamp_ set to:1761543475.816982 2025-10-27T05:37:55.822Z,1761543475.822 [DAT](INFO): DAT read: Bearing 214.3, -44.6 (Local) 2025-10-27T05:37:55.824Z,1761543475.824 [DAT](INFO): Local bearing/azimuth received: Bearing 214.3, -44.6 (Local) 2025-10-27T05:37:55.851Z,1761543475.851 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.2 2025-10-27T05:37:55.861Z,1761543475.861 [DAT](INFO): DAT read: 05:37:54.6557 LVL= 32752, 20833, 20658, 32755, AGC= 47, IDX= 502, 0.22, 0.735, 1.360, 2.396, 2.830, PHS=-1.993,-1.425,-0.478, RAW= 231.8, 46.1, CAL= 234.2, 53.9, ROT= 275.8, -53.9 2025-10-27T05:37:55.862Z,1761543475.862 [DAT](INFO): got valid direction response: 05:37:54.6557 LVL= 32752, 20833, 20658, 32755, AGC= 47, IDX= 502, 0.22, 0.735, 1.360, 2.396, 2.830, PHS=-1.993,-1.425,-0.478, RAW= 231.8, 46.1, CAL= 234.2, 53.9, ROT= 275.8, -53.9 2025-10-27T05:37:55.862Z,1761543475.862 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:37:55.868Z,1761543475.868 [DAT](INFO): direction in FSK: [0.059542,-0.586180,0.807990] 2025-10-27T05:37:55.880Z,1761543475.880 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:55.886Z,1761543475.886 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.400540 2025-10-27T05:37:56.064Z,1761543476.064 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.578994 2025-10-27T05:37:56.170Z,1761543476.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785386,0.614638,0.073411],[-0.618254,0.773045,0.142002],[0.030529,-0.156913,0.987140]] 2025-10-27T05:37:56.227Z,1761543476.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504633 s, deltaX: -0.300000 m, approachRate: -0.594491 m/s, rangeRepo size: 4 2025-10-27T05:37:56.229Z,1761543476.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.287302 m, bearing: 235.882488 deg, lat: 36.779376 deg, lon: -121.859731 deg, deltaT: 0.504633 s, deltaX: -0.298344 m, approachRate: -0.591210 m/s, posRepo size: 4 2025-10-27T05:37:56.230Z,1761543476.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m. 2025-10-27T05:37:56.325Z,1761543476.325 [DAT](INFO): DAT read: Rx Time:05:37:55.1559 2025-10-27T05:37:56.327Z,1761543476.327 [DAT](INFO): Rx dataTimestamp_ set to:1761543476.325700 2025-10-27T05:37:56.330Z,1761543476.330 [DAT](INFO): DAT read: Bearing 228.2, -49.7 (Local) 2025-10-27T05:37:56.341Z,1761543476.341 [DAT](INFO): Local bearing/azimuth received: Bearing 228.2, -49.7 (Local) 2025-10-27T05:37:56.344Z,1761543476.344 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.3 2025-10-27T05:37:56.344Z,1761543476.344 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T05:37:56.345Z,1761543476.345 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=10.860026 2025-10-27T05:37:56.578Z,1761543476.578 [DAT](INFO): DAT read: 05:37:55.1559 LVL= 30816, 28113, 23858, 32019, AGC= 47, IDX= 503, 0.30,-1.966,-0.861,-0.060, 0.349, PHS=-2.213,-1.165,-0.453, RAW= 246.3, 41.5, CAL= 249.3, 49.1, ROT= 260.7, -49.1 2025-10-27T05:37:56.579Z,1761543476.579 [DAT](INFO): got valid direction response: 05:37:55.1559 LVL= 30816, 28113, 23858, 32019, AGC= 47, IDX= 503, 0.30,-1.966,-0.861,-0.060, 0.349, PHS=-2.213,-1.165,-0.453, RAW= 246.3, 41.5, CAL= 249.3, 49.1, ROT= 260.7, -49.1 2025-10-27T05:37:56.579Z,1761543476.579 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-27T05:37:56.580Z,1761543476.580 [DAT](INFO): direction in FSK: [-0.105808,-0.646135,0.755853] 2025-10-27T05:37:56.584Z,1761543476.584 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=11.098396 2025-10-27T05:37:56.696Z,1761543476.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782435,0.617802,0.078203],[-0.621894,0.768680,0.149595],[0.032307,-0.165682,0.985650]] 2025-10-27T05:37:56.732Z,1761543476.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.508718 s, deltaX: 0.300000 m, approachRate: 0.589718 m/s, rangeRepo size: 4 2025-10-27T05:37:56.735Z,1761543476.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585585 m, bearing: 216.926346 deg, lat: 36.779374 deg, lon: -121.859737 deg, deltaT: 0.508718 s, deltaX: 0.298283 m, approachRate: 0.586342 m/s, posRepo size: 4 2025-10-27T05:37:56.736Z,1761543476.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-27T05:37:56.833Z,1761543476.833 [DAT](INFO): DAT read: Rx Time:05:37:55.6559 2025-10-27T05:37:56.844Z,1761543476.844 [DAT](INFO): Rx dataTimestamp_ set to:1761543476.833490 2025-10-27T05:37:56.845Z,1761543476.845 [DAT](INFO): DAT read: Bearing 246.6, -51.0 (Local) 2025-10-27T05:37:56.845Z,1761543476.845 [DAT](INFO): Local bearing/azimuth received: Bearing 246.6, -51.0 (Local) 2025-10-27T05:37:56.847Z,1761543476.847 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.3 2025-10-27T05:37:56.848Z,1761543476.848 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-27T05:37:56.848Z,1761543476.848 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.363278 2025-10-27T05:37:57.089Z,1761543477.089 [DAT](INFO): DAT read: 05:37:55.6559 LVL= 24976, 23825, 18290, 30867, AGC= 48, IDX= 504,-0.44, 0.556, 2.151, 2.523, 2.886, PHS=-2.228,-0.690,-0.407, RAW= 261.7, 34.7, CAL= 264.0, 43.4, ROT= 246.0, -43.4 2025-10-27T05:37:57.090Z,1761543477.090 [DAT](INFO): got valid direction response: 05:37:55.6559 LVL= 24976, 23825, 18290, 30867, AGC= 48, IDX= 504,-0.44, 0.556, 2.151, 2.523, 2.886, PHS=-2.228,-0.690,-0.407, RAW= 261.7, 34.7, CAL= 264.0, 43.4, ROT= 246.0, -43.4 2025-10-27T05:37:57.091Z,1761543477.091 [DAT](INFO): #Rx 27: Read direction message, but no range. 2025-10-27T05:37:57.092Z,1761543477.092 [DAT](INFO): direction in FSK: [-0.295525,-0.663759,0.687088] 2025-10-27T05:37:57.102Z,1761543477.102 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.615801 2025-10-27T05:37:57.290Z,1761543477.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.507790 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:37:57.298Z,1761543477.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585585 m, bearing: 200.838569 deg, lat: 36.779372 deg, lon: -121.859741 deg, deltaT: 0.507790 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:37:57.300Z,1761543477.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m. 2025-10-27T05:37:57.338Z,1761543477.338 [DAT](INFO): DAT read: Rx Time:05:37:56.1560 2025-10-27T05:37:57.345Z,1761543477.345 [DAT](INFO): Rx dataTimestamp_ set to:1761543477.344639 2025-10-27T05:37:57.346Z,1761543477.346 [DAT](INFO): DAT read: Bearing 279.5, -59.8 (Local) 2025-10-27T05:37:57.347Z,1761543477.347 [DAT](INFO): Local bearing/azimuth received: Bearing 279.5, -59.8 (Local) 2025-10-27T05:37:57.349Z,1761543477.349 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.4 2025-10-27T05:37:57.358Z,1761543477.358 [DAT](INFO): DAT read: 05:37:56.1560 LVL= 21744, 22609, 11698, 17731, AGC= 46, IDX= 505,-0.14, 0.945, 3.087,-3.061, 3.064, PHS=-2.017, 0.068, 0.114, RAW= 268.9, 17.1, CAL= 269.8, 23.9, ROT= 240.2, -23.9 2025-10-27T05:37:57.371Z,1761543477.371 [DAT](INFO): got valid direction response: 05:37:56.1560 LVL= 21744, 22609, 11698, 17731, AGC= 46, IDX= 505,-0.14, 0.945, 3.087,-3.061, 3.064, PHS=-2.017, 0.068, 0.114, RAW= 268.9, 17.1, CAL= 269.8, 23.9, ROT= 240.2, -23.9 2025-10-27T05:37:57.371Z,1761543477.371 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:37:57.372Z,1761543477.372 [DAT](INFO): direction in FSK: [-0.454360,-0.793358,0.405142] 2025-10-27T05:37:57.373Z,1761543477.373 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:57.387Z,1761543477.387 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.901980 2025-10-27T05:37:57.584Z,1761543477.584 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.098970 2025-10-27T05:37:57.772Z,1761543477.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780019,0.620181,0.083341],[-0.624835,0.764709,0.157487],[0.033939,-0.174918,0.983998]] 2025-10-27T05:37:57.809Z,1761543477.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.511149 s, deltaX: 0.100000 m, approachRate: 0.195638 m/s, rangeRepo size: 4 2025-10-27T05:37:57.812Z,1761543477.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.685033 m, bearing: 197.676127 deg, lat: 36.779372 deg, lon: -121.859742 deg, deltaT: 0.511149 s, deltaX: 0.099447 m, approachRate: 0.194556 m/s, posRepo size: 4 2025-10-27T05:37:57.813Z,1761543477.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m. 2025-10-27T05:37:57.836Z,1761543477.836 [DAT](INFO): DAT read: Rx Time:05:37:56.6561 2025-10-27T05:37:57.836Z,1761543477.836 [DAT](INFO): Rx dataTimestamp_ set to:1761543477.836141 2025-10-27T05:37:57.838Z,1761543477.838 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.4 2025-10-27T05:37:57.838Z,1761543477.838 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T05:37:57.839Z,1761543477.839 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.354095 2025-10-27T05:37:58.090Z,1761543478.090 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.605119 2025-10-27T05:37:58.189Z,1761543478.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779061,0.621355,0.083556],[-0.626005,0.763642,0.158017],[0.034377,-0.175412,0.983895]] 2025-10-27T05:37:58.257Z,1761543478.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:37:58.280Z,1761543478.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.491502 s, deltaX: 0.200000 m, approachRate: 0.406916 m/s, rangeRepo size: 4 2025-10-27T05:37:58.281Z,1761543478.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m. 2025-10-27T05:37:58.342Z,1761543478.342 [DAT](INFO): DAT read: Rx Time:05:37:57.1563 2025-10-27T05:37:58.342Z,1761543478.342 [DAT](INFO): Rx dataTimestamp_ set to:1761543478.341930 2025-10-27T05:37:58.344Z,1761543478.344 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.6 2025-10-27T05:37:58.344Z,1761543478.344 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T05:37:58.345Z,1761543478.345 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.859903 2025-10-27T05:37:58.578Z,1761543478.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778353,0.622153,0.084218],[-0.626834,0.762555,0.159967],[0.035303,-0.177302,0.983523]] 2025-10-27T05:37:58.592Z,1761543478.592 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=13.106872 2025-10-27T05:37:58.637Z,1761543478.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.505789 s, deltaX: 0.300000 m, approachRate: 0.593133 m/s, rangeRepo size: 4 2025-10-27T05:37:58.846Z,1761543478.846 [DAT](INFO): DAT read: Rx Time:05:37:57.6564 2025-10-27T05:37:58.846Z,1761543478.846 [DAT](INFO): Rx dataTimestamp_ set to:1761543478.846121 2025-10-27T05:37:58.848Z,1761543478.848 [DAT](INFO): DAT read: Bearing 293.5, -48.5 (Local) 2025-10-27T05:37:58.848Z,1761543478.848 [DAT](INFO): Local bearing/azimuth received: Bearing 293.5, -48.5 (Local) 2025-10-27T05:37:58.850Z,1761543478.850 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed -0.5 2025-10-27T05:37:58.863Z,1761543478.863 [DAT](INFO): DAT read: 05:37:57.6564 LVL= 30256, 17985, 16946, 28083, AGC= 50, IDX= 510,-0.48, 0.153, 2.594, 2.009, 2.063, PHS=-1.808, 0.577,-0.097, RAW= 285.9, 12.4, CAL= 283.7, 19.0, ROT= 226.3, -19.0 2025-10-27T05:37:58.864Z,1761543478.864 [DAT](INFO): got valid direction response: 05:37:57.6564 LVL= 30256, 17985, 16946, 28083, AGC= 50, IDX= 510,-0.48, 0.153, 2.594, 2.009, 2.063, PHS=-1.808, 0.577,-0.097, RAW= 285.9, 12.4, CAL= 283.7, 19.0, ROT= 226.3, -19.0 2025-10-27T05:37:58.865Z,1761543478.865 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T05:37:58.865Z,1761543478.865 [DAT](INFO): direction in FSK: [-0.653242,-0.683579,0.325568] 2025-10-27T05:37:58.866Z,1761543478.866 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:58.886Z,1761543478.886 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.400463 2025-10-27T05:37:58.990Z,1761543478.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777836,0.622745,0.084614],[-0.627445,0.761828,0.161028],[0.035817,-0.178344,0.983316]] 2025-10-27T05:37:59.042Z,1761543479.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.504191 s, deltaX: 0.100000 m, approachRate: 0.198337 m/s, rangeRepo size: 4 2025-10-27T05:37:59.050Z,1761543479.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.281721 m, bearing: 183.691502 deg, lat: 36.779372 deg, lon: -121.859743 deg, deltaT: 1.501482 s, deltaX: 0.596688 m, approachRate: 0.397400 m/s, posRepo size: 4 2025-10-27T05:37:59.096Z,1761543479.096 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.610942 2025-10-27T05:37:59.349Z,1761543479.349 [DAT](INFO): DAT read: Rx Time:05:37:58.1567 2025-10-27T05:37:59.349Z,1761543479.349 [DAT](INFO): Rx dataTimestamp_ set to:1761543479.348704 2025-10-27T05:37:59.350Z,1761543479.350 [DAT](INFO): DAT read: Bearing 246.6, -63.9 (Local) 2025-10-27T05:37:59.351Z,1761543479.351 [DAT](INFO): Local bearing/azimuth received: Bearing 246.6, -63.9 (Local) 2025-10-27T05:37:59.353Z,1761543479.353 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.5 2025-10-27T05:37:59.361Z,1761543479.361 [DAT](INFO): DAT read: 05:37:58.1567 LVL= 24688, 14689, 9058, 17155, AGC= 49, IDX= 513,-0.17,-0.728, 0.634, 1.322, 1.210, PHS=-1.836,-0.531, 0.068, RAW= 252.1, 25.7, CAL= 255.1, 33.3, ROT= 254.9, -33.3 2025-10-27T05:37:59.362Z,1761543479.362 [DAT](INFO): got valid direction response: 05:37:58.1567 LVL= 24688, 14689, 9058, 17155, AGC= 49, IDX= 513,-0.17,-0.728, 0.634, 1.322, 1.210, PHS=-1.836,-0.531, 0.068, RAW= 252.1, 25.7, CAL= 255.1, 33.3, ROT= 254.9, -33.3 2025-10-27T05:37:59.362Z,1761543479.362 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T05:37:59.364Z,1761543479.364 [DAT](INFO): direction in FSK: [-0.217732,-0.806949,0.549023] 2025-10-27T05:37:59.364Z,1761543479.364 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:59.386Z,1761543479.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777630,0.623044,0.084307],[-0.627681,0.761619,0.161098],[0.036162,-0.178192,0.983331]] 2025-10-27T05:37:59.388Z,1761543479.388 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.902471 2025-10-27T05:37:59.536Z,1761543479.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.502583 s, deltaX: 0.500000 m, approachRate: 0.994861 m/s, rangeRepo size: 4 2025-10-27T05:37:59.538Z,1761543479.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.779063 m, bearing: 211.896898 deg, lat: 36.779372 deg, lon: -121.859745 deg, deltaT: 0.502583 s, deltaX: 0.497343 m, approachRate: 0.989573 m/s, posRepo size: 4 2025-10-27T05:37:59.601Z,1761543479.601 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.115397 2025-10-27T05:37:59.853Z,1761543479.853 [DAT](INFO): DAT read: Rx Time:05:37:58.6568 2025-10-27T05:37:59.853Z,1761543479.853 [DAT](INFO): Rx dataTimestamp_ set to:1761543479.852856 2025-10-27T05:37:59.854Z,1761543479.854 [DAT](INFO): DAT read: Bearing 260.2, -46.2 (Local) 2025-10-27T05:37:59.855Z,1761543479.855 [DAT](INFO): Local bearing/azimuth received: Bearing 260.2, -46.2 (Local) 2025-10-27T05:37:59.857Z,1761543479.857 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.5 2025-10-27T05:37:59.866Z,1761543479.866 [DAT](INFO): DAT read: 05:37:58.6568 LVL= 22512, 14113, 12306, 19619, AGC= 48, IDX= 514,-0.12,-2.828,-1.604,-1.613,-1.299, PHS=-1.427,-0.260,-0.358, RAW= 274.3, 32.8, CAL= 277.4, 40.9, ROT= 232.6, -40.9 2025-10-27T05:37:59.867Z,1761543479.867 [DAT](INFO): got valid direction response: 05:37:58.6568 LVL= 22512, 14113, 12306, 19619, AGC= 48, IDX= 514,-0.12,-2.828,-1.604,-1.613,-1.299, PHS=-1.427,-0.260,-0.358, RAW= 274.3, 32.8, CAL= 277.4, 40.9, ROT= 232.6, -40.9 2025-10-27T05:37:59.867Z,1761543479.867 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:37:59.868Z,1761543479.868 [DAT](INFO): direction in FSK: [-0.459087,-0.600461,0.654741] 2025-10-27T05:37:59.868Z,1761543479.868 [DAT](INFO): publishing direction and range info 2025-10-27T05:37:59.873Z,1761543479.873 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.387518 2025-10-27T05:37:59.890Z,1761543479.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778383,0.622290,0.082913],[-0.626692,0.762409,0.161215],[0.037109,-0.177448,0.983430]] 2025-10-27T05:38:00.007Z,1761543480.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504152 s, deltaX: 0.100000 m, approachRate: 0.198353 m/s, rangeRepo size: 4 2025-10-27T05:38:00.009Z,1761543480.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.878513 m, bearing: 185.447686 deg, lat: 36.779372 deg, lon: -121.859746 deg, deltaT: 0.504152 s, deltaX: 0.099449 m, approachRate: 0.197260 m/s, posRepo size: 4 2025-10-27T05:38:00.105Z,1761543480.105 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.619424 2025-10-27T05:38:00.352Z,1761543480.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778611,0.622078,0.082368],[-0.626365,0.762553,0.161803],[0.037844,-0.177574,0.983380]] 2025-10-27T05:38:00.357Z,1761543480.357 [DAT](INFO): DAT read: Rx Time:05:37:59.1571 2025-10-27T05:38:00.357Z,1761543480.357 [DAT](INFO): Rx dataTimestamp_ set to:1761543480.356708 2025-10-27T05:38:00.358Z,1761543480.358 [DAT](INFO): DAT read: Bearing 306.8, -12.4 (Local) 2025-10-27T05:38:00.359Z,1761543480.359 [DAT](INFO): Local bearing/azimuth received: Bearing 306.8, -12.4 (Local) 2025-10-27T05:38:00.361Z,1761543480.361 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.5 2025-10-27T05:38:00.368Z,1761543480.368 [DAT](INFO): DAT read: 05:37:59.1571 LVL= 13296, 10529, 9874, 9603, AGC= 53, IDX= 4, 0.27, 1.813,-2.320, 2.277, 2.937, PHS=-1.021, 1.072,-0.703, RAW= 321.9, 6.7, CAL= 320.4, 6.1, ROT= 189.6, -6.1 2025-10-27T05:38:00.369Z,1761543480.369 [DAT](INFO): got valid direction response: 05:37:59.1571 LVL= 13296, 10529, 9874, 9603, AGC= 53, IDX= 4, 0.27, 1.813,-2.320, 2.277, 2.937, PHS=-1.021, 1.072,-0.703, RAW= 321.9, 6.7, CAL= 320.4, 6.1, ROT= 189.6, -6.1 2025-10-27T05:38:00.370Z,1761543480.370 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T05:38:00.375Z,1761543480.375 [DAT](INFO): direction in FSK: [-0.980413,-0.165824,0.106264] 2025-10-27T05:38:00.375Z,1761543480.375 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:00.379Z,1761543480.379 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.893521 2025-10-27T05:38:00.488Z,1761543480.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503852 s, deltaX: 0.500000 m, approachRate: 0.992355 m/s, rangeRepo size: 4 2025-10-27T05:38:00.490Z,1761543480.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.375677 m, bearing: 149.520860 deg, lat: 36.779368 deg, lon: -121.859746 deg, deltaT: 0.503852 s, deltaX: 0.497164 m, approachRate: 0.986727 m/s, posRepo size: 4 2025-10-27T05:38:00.608Z,1761543480.608 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.123027 2025-10-27T05:38:00.817Z,1761543480.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779005,0.621931,0.079705],[-0.625820,0.763360,0.160094],[0.038723,-0.174595,0.983879]] 2025-10-27T05:38:00.834Z,1761543480.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:38:00.860Z,1761543480.860 [DAT](INFO): DAT read: Rx Time:05:37:59.6572 2025-10-27T05:38:00.860Z,1761543480.860 [DAT](INFO): Rx dataTimestamp_ set to:1761543480.860188 2025-10-27T05:38:00.862Z,1761543480.862 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 2025-10-27T05:38:00.862Z,1761543480.862 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-27T05:38:00.863Z,1761543480.863 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.378163 2025-10-27T05:38:01.112Z,1761543481.112 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.626893 2025-10-27T05:38:01.244Z,1761543481.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779892,0.620971,0.078505],[-0.624682,0.764348,0.159824],[0.039241,-0.173686,0.984019]] 2025-10-27T05:38:01.350Z,1761543481.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.503480 s, deltaX: 0.100000 m, approachRate: 0.198617 m/s, rangeRepo size: 4 2025-10-27T05:38:01.365Z,1761543481.365 [DAT](INFO): DAT read: Rx Time:05:38:00.1574 2025-10-27T05:38:01.365Z,1761543481.365 [DAT](INFO): Rx dataTimestamp_ set to:1761543481.364888 2025-10-27T05:38:01.366Z,1761543481.366 [DAT](INFO): DAT read: Bearing 278.5, 7.6 (Local) 2025-10-27T05:38:01.367Z,1761543481.367 [DAT](INFO): Local bearing/azimuth received: Bearing 278.5, 7.6 (Local) 2025-10-27T05:38:01.369Z,1761543481.369 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 2025-10-27T05:38:01.380Z,1761543481.380 [DAT](INFO): DAT read: 05:38:00.1574 LVL= 25968, 16673, 23202, 21235, AGC= 54, IDX= 501, 0.21,-2.353,-0.878,-2.837,-1.183, PHS=-1.068, 0.350,-1.699, RAW= 347.5, 25.2, CAL= 347.0, 30.0, ROT= 163.0, -30.0 2025-10-27T05:38:01.381Z,1761543481.381 [DAT](INFO): got valid direction response: 05:38:00.1574 LVL= 25968, 16673, 23202, 21235, AGC= 54, IDX= 501, 0.21,-2.353,-0.878,-2.837,-1.183, PHS=-1.068, 0.350,-1.699, RAW= 347.5, 25.2, CAL= 347.0, 30.0, ROT= 163.0, -30.0 2025-10-27T05:38:01.382Z,1761543481.382 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:38:01.403Z,1761543481.403 [DAT](INFO): direction in FSK: [-0.828184,0.253201,0.500000] 2025-10-27T05:38:01.403Z,1761543481.403 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:01.419Z,1761543481.419 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.921637 2025-10-27T05:38:01.616Z,1761543481.616 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.130835 2025-10-27T05:38:01.718Z,1761543481.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780778,0.619972,0.077588],[-0.623544,0.765270,0.159859],[0.039733,-0.173194,0.984086]] 2025-10-27T05:38:01.758Z,1761543481.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504700 s, deltaX: 0.300000 m, approachRate: 0.594413 m/s, rangeRepo size: 4 2025-10-27T05:38:01.761Z,1761543481.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.773398 m, bearing: 119.710293 deg, lat: 36.779373 deg, lon: -121.859745 deg, deltaT: 1.008180 s, deltaX: 0.397721 m, approachRate: 0.394494 m/s, posRepo size: 4 2025-10-27T05:38:01.869Z,1761543481.869 [DAT](INFO): DAT read: Rx Time:05:38:00.6575 2025-10-27T05:38:01.869Z,1761543481.869 [DAT](INFO): Rx dataTimestamp_ set to:1761543481.869189 2025-10-27T05:38:01.871Z,1761543481.871 [DAT](INFO): DAT read: Bearing 276.8, -27.8 (Local) 2025-10-27T05:38:01.871Z,1761543481.871 [DAT](INFO): Local bearing/azimuth received: Bearing 276.8, -27.8 (Local) 2025-10-27T05:38:01.873Z,1761543481.873 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed -0.4 2025-10-27T05:38:01.882Z,1761543481.882 [DAT](INFO): DAT read: 05:38:00.6575 LVL= 23120, 12049, 16194, 20259, AGC= 51, IDX= 505, 0.08, 0.091, 1.642, 0.884, 1.590, PHS=-1.397, 0.097,-0.750, RAW= 304.4, 29.2, CAL= 305.3, 34.7, ROT= 204.7, -34.7 2025-10-27T05:38:01.883Z,1761543481.883 [DAT](INFO): got valid direction response: 05:38:00.6575 LVL= 23120, 12049, 16194, 20259, AGC= 51, IDX= 505, 0.08, 0.091, 1.642, 0.884, 1.590, PHS=-1.397, 0.097,-0.750, RAW= 304.4, 29.2, CAL= 305.3, 34.7, ROT= 204.7, -34.7 2025-10-27T05:38:01.884Z,1761543481.884 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T05:38:01.885Z,1761543481.885 [DAT](INFO): direction in FSK: [-0.746925,-0.343547,0.569280] 2025-10-27T05:38:01.885Z,1761543481.885 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:01.889Z,1761543481.889 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.403618 2025-10-27T05:38:02.118Z,1761543482.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781263,0.619310,0.077998],[-0.622879,0.765365,0.161981],[0.040619,-0.175133,0.983707]] 2025-10-27T05:38:02.120Z,1761543482.120 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.634939 2025-10-27T05:38:02.164Z,1761543482.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.504301 s, deltaX: 0.200000 m, approachRate: 0.396588 m/s, rangeRepo size: 4 2025-10-27T05:38:02.166Z,1761543482.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.972290 m, bearing: 158.609975 deg, lat: 36.779373 deg, lon: -121.859735 deg, deltaT: 0.504301 s, deltaX: 0.198891 m, approachRate: 0.394390 m/s, posRepo size: 4 2025-10-27T05:38:02.373Z,1761543482.373 [DAT](INFO): DAT read: Rx Time:05:38:01.1577 2025-10-27T05:38:02.373Z,1761543482.373 [DAT](INFO): Rx dataTimestamp_ set to:1761543482.372716 2025-10-27T05:38:02.374Z,1761543482.374 [DAT](INFO): DAT read: Bearing 326.2, -32.4 (Local) 2025-10-27T05:38:02.375Z,1761543482.375 [DAT](INFO): Local bearing/azimuth received: Bearing 326.2, -32.4 (Local) 2025-10-27T05:38:02.378Z,1761543482.378 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 2025-10-27T05:38:02.390Z,1761543482.390 [DAT](INFO): DAT read: 05:38:01.1577 LVL= 19824, 10865, 11378, 18931, AGC= 52, IDX= 506, 0.33, 1.954,-1.786,-2.877,-3.060, PHS=-1.167, 1.320, 0.139, RAW= 298.3, -2.7, CAL= 297.4, -7.1, ROT= 212.6, 7.1 2025-10-27T05:38:02.392Z,1761543482.392 [DAT](INFO): got valid direction response: 05:38:01.1577 LVL= 19824, 10865, 11378, 18931, AGC= 52, IDX= 506, 0.33, 1.954,-1.786,-2.877,-3.060, PHS=-1.167, 1.320, 0.139, RAW= 298.3, -2.7, CAL= 297.4, -7.1, ROT= 212.6, 7.1 2025-10-27T05:38:02.393Z,1761543482.393 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T05:38:02.394Z,1761543482.394 [DAT](INFO): direction in FSK: [-0.835992,-0.534640,-0.123601] 2025-10-27T05:38:02.394Z,1761543482.394 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:02.402Z,1761543482.402 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.916620 2025-10-27T05:38:02.537Z,1761543482.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781668,0.618615,0.079442],[-0.622314,0.765114,0.165307],[0.041479,-0.178654,0.983037]] 2025-10-27T05:38:02.621Z,1761543482.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.503527 s, deltaX: 0.300000 m, approachRate: 0.595798 m/s, rangeRepo size: 4 2025-10-27T05:38:02.624Z,1761543482.624 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.138918 2025-10-27T05:38:02.625Z,1761543482.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.270761 m, bearing: 174.783184 deg, lat: 36.779371 deg, lon: -121.859735 deg, deltaT: 0.503527 s, deltaX: 0.298471 m, approachRate: 0.592761 m/s, posRepo size: 4 2025-10-27T05:38:02.877Z,1761543482.877 [DAT](INFO): DAT read: Rx Time:05:38:01.6578 2025-10-27T05:38:02.878Z,1761543482.878 [DAT](INFO): Rx dataTimestamp_ set to:1761543482.877453 2025-10-27T05:38:02.879Z,1761543482.879 [DAT](INFO): DAT read: Bearing 327.7, -34.7 (Local) 2025-10-27T05:38:02.879Z,1761543482.879 [DAT](INFO): Local bearing/azimuth received: Bearing 327.7, -34.7 (Local) 2025-10-27T05:38:02.881Z,1761543482.881 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 2025-10-27T05:38:02.890Z,1761543482.890 [DAT](INFO): DAT read: 05:38:01.6578 LVL= 18624, 10513, 15058, 17139, AGC= 52, IDX= 507,-0.34, 1.437,-2.208, 3.039, 2.777, PHS=-1.238, 1.343, 0.218, RAW= 295.8, -2.9, CAL= 295.0, -7.5, ROT= 215.0, 7.5 2025-10-27T05:38:02.892Z,1761543482.892 [DAT](INFO): got valid direction response: 05:38:01.6578 LVL= 18624, 10513, 15058, 17139, AGC= 52, IDX= 507,-0.34, 1.437,-2.208, 3.039, 2.777, PHS=-1.238, 1.343, 0.218, RAW= 295.8, -2.9, CAL= 295.0, -7.5, ROT= 215.0, 7.5 2025-10-27T05:38:02.892Z,1761543482.892 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:38:02.893Z,1761543482.893 [DAT](INFO): direction in FSK: [-0.812144,-0.568669,-0.130526] 2025-10-27T05:38:02.893Z,1761543482.893 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:02.898Z,1761543482.898 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.412355 2025-10-27T05:38:02.996Z,1761543482.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782309,0.617659,0.080561],[-0.621457,0.765184,0.168177],[0.042232,-0.181632,0.982459]] 2025-10-27T05:38:03.085Z,1761543483.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504737 s, deltaX: 0.100000 m, approachRate: 0.198123 m/s, rangeRepo size: 4 2025-10-27T05:38:03.091Z,1761543483.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.370209 m, bearing: 177.265493 deg, lat: 36.779364 deg, lon: -121.859735 deg, deltaT: 0.504737 s, deltaX: 0.099448 m, approachRate: 0.197030 m/s, posRepo size: 4 2025-10-27T05:38:03.128Z,1761543483.128 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.642813 2025-10-27T05:38:03.381Z,1761543483.381 [DAT](INFO): DAT read: Rx Time:05:38:02.1580 2025-10-27T05:38:03.382Z,1761543483.382 [DAT](INFO): Rx dataTimestamp_ set to:1761543483.381378 2025-10-27T05:38:03.390Z,1761543483.390 [DAT](INFO): DAT read: Bearing 324.1, -32.1 (Local) 2025-10-27T05:38:03.391Z,1761543483.391 [DAT](INFO): Local bearing/azimuth received: Bearing 324.1, -32.1 (Local) 2025-10-27T05:38:03.393Z,1761543483.393 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.4 2025-10-27T05:38:03.398Z,1761543483.398 [DAT](INFO): DAT read: 05:38:02.1580 LVL= 13104, 12369, 15826, 15571, AGC= 53, IDX= 509,-0.17,-0.861, 1.789, 0.593, 0.505, PHS=-1.264, 1.328, 0.044, RAW= 299.7, -1.0, CAL= 298.4, -5.2, ROT= 211.6, 5.2 2025-10-27T05:38:03.416Z,1761543483.416 [DAT](INFO): got valid direction response: 05:38:02.1580 LVL= 13104, 12369, 15826, 15571, AGC= 53, IDX= 509,-0.17,-0.861, 1.789, 0.593, 0.505, PHS=-1.264, 1.328, 0.044, RAW= 299.7, -1.0, CAL= 298.4, -5.2, ROT= 211.6, 5.2 2025-10-27T05:38:03.416Z,1761543483.416 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T05:38:03.417Z,1761543483.417 [DAT](INFO): direction in FSK: [-0.848221,-0.521830,-0.090633] 2025-10-27T05:38:03.418Z,1761543483.418 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:03.421Z,1761543483.421 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.936010 2025-10-27T05:38:03.426Z,1761543483.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782837,0.616798,0.082013],[-0.620739,0.765043,0.171442],[0.043002,-0.185120,0.981775]] 2025-10-27T05:38:03.573Z,1761543483.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503925 s, deltaX: 0.300000 m, approachRate: 0.595326 m/s, rangeRepo size: 4 2025-10-27T05:38:03.580Z,1761543483.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.668790 m, bearing: 173.580315 deg, lat: 36.779359 deg, lon: -121.859746 deg, deltaT: 0.503925 s, deltaX: 0.298581 m, approachRate: 0.592511 m/s, posRepo size: 4 2025-10-27T05:38:03.633Z,1761543483.633 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.147438 2025-10-27T05:38:03.885Z,1761543483.885 [DAT](INFO): DAT read: Rx Time:05:38:02.6580 2025-10-27T05:38:03.885Z,1761543483.885 [DAT](INFO): Rx dataTimestamp_ set to:1761543483.884739 2025-10-27T05:38:03.886Z,1761543483.886 [DAT](INFO): DAT read: Bearing 320.6, -30.3 (Local) 2025-10-27T05:38:03.887Z,1761543483.887 [DAT](INFO): Local bearing/azimuth received: Bearing 320.6, -30.3 (Local) 2025-10-27T05:38:03.889Z,1761543483.889 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.4 2025-10-27T05:38:03.896Z,1761543483.896 [DAT](INFO): DAT read: 05:38:02.6580 LVL= 15008, 12401, 17458, 21843, AGC= 54, IDX= 509,-0.05, 1.373,-2.336, 2.666, 2.738, PHS=-1.263, 1.254,-0.116, RAW= 302.9, 1.2, CAL= 301.1, -2.7, ROT= 208.9, 2.7 2025-10-27T05:38:03.898Z,1761543483.898 [DAT](INFO): got valid direction response: 05:38:02.6580 LVL= 15008, 12401, 17458, 21843, AGC= 54, IDX= 509,-0.05, 1.373,-2.336, 2.666, 2.738, PHS=-1.263, 1.254,-0.116, RAW= 302.9, 1.2, CAL= 301.1, -2.7, ROT= 208.9, 2.7 2025-10-27T05:38:03.898Z,1761543483.898 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:38:03.899Z,1761543483.899 [DAT](INFO): direction in FSK: [-0.874493,-0.482746,-0.047106] 2025-10-27T05:38:03.899Z,1761543483.899 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:03.911Z,1761543483.911 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.417616 2025-10-27T05:38:03.918Z,1761543483.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784250,0.615106,0.081221],[-0.618902,0.766341,0.172283],[0.043730,-0.185381,0.981693]] 2025-10-27T05:38:04.010Z,1761543484.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503361 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:04.020Z,1761543484.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.668790 m, bearing: 170.609400 deg, lat: 36.779359 deg, lon: -121.859746 deg, deltaT: 0.503361 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:04.136Z,1761543484.136 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.650997 2025-10-27T05:38:04.389Z,1761543484.389 [DAT](INFO): DAT read: Rx Time:05:38:03.1582 2025-10-27T05:38:04.389Z,1761543484.389 [DAT](INFO): Rx dataTimestamp_ set to:1761543484.388805 2025-10-27T05:38:04.390Z,1761543484.390 [DAT](INFO): DAT read: Bearing 317.1, -32.2 (Local) 2025-10-27T05:38:04.391Z,1761543484.391 [DAT](INFO): Local bearing/azimuth received: Bearing 317.1, -32.2 (Local) 2025-10-27T05:38:04.393Z,1761543484.393 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-27T05:38:04.413Z,1761543484.413 [DAT](INFO): DAT read: 05:38:03.1582 LVL= 18416, 11137, 20162, 22563, AGC= 54, IDX= 511, 0.21,-1.283, 1.222, 0.000, 0.160, PHS=-1.340, 1.108,-0.204, RAW= 302.4, 4.2, CAL= 300.0, 0.7, ROT= 210.0, -0.7 2025-10-27T05:38:04.414Z,1761543484.414 [DAT](INFO): got valid direction response: 05:38:03.1582 LVL= 18416, 11137, 20162, 22563, AGC= 54, IDX= 511, 0.21,-1.283, 1.222, 0.000, 0.160, PHS=-1.340, 1.108,-0.204, RAW= 302.4, 4.2, CAL= 300.0, 0.7, ROT= 210.0, -0.7 2025-10-27T05:38:04.414Z,1761543484.414 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:38:04.428Z,1761543484.428 [DAT](INFO): direction in FSK: [-0.865961,-0.499963,0.012217] 2025-10-27T05:38:04.428Z,1761543484.428 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:04.450Z,1761543484.450 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.964485 2025-10-27T05:38:04.533Z,1761543484.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504066 s, deltaX: 0.300000 m, approachRate: 0.595161 m/s, rangeRepo size: 4 2025-10-27T05:38:04.535Z,1761543484.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.967216 m, bearing: 171.068415 deg, lat: 36.779359 deg, lon: -121.859746 deg, deltaT: 0.504066 s, deltaX: 0.298426 m, approachRate: 0.592038 m/s, posRepo size: 4 2025-10-27T05:38:04.640Z,1761543484.640 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.154940 2025-10-27T05:38:04.857Z,1761543484.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785612,0.613447,0.080604],[-0.617108,0.767492,0.173589],[0.044624,-0.186115,0.981514]] 2025-10-27T05:38:04.875Z,1761543484.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:38:04.894Z,1761543484.894 [DAT](INFO): DAT read: Rx Time:05:38:03.6583 2025-10-27T05:38:04.894Z,1761543484.894 [DAT](INFO): Rx dataTimestamp_ set to:1761543484.894021 2025-10-27T05:38:04.912Z,1761543484.912 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-27T05:38:04.913Z,1761543484.913 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-27T05:38:04.914Z,1761543484.914 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.428820 2025-10-27T05:38:05.148Z,1761543485.148 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.662809 2025-10-27T05:38:05.309Z,1761543485.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786676,0.612171,0.079924],[-0.615741,0.768614,0.173481],[0.044770,-0.185685,0.981589]] 2025-10-27T05:38:05.393Z,1761543485.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.505216 s, deltaX: 0.200000 m, approachRate: 0.395870 m/s, rangeRepo size: 4 2025-10-27T05:38:05.401Z,1761543485.401 [DAT](INFO): DAT read: Rx Time:05:38:04.1583 2025-10-27T05:38:05.401Z,1761543485.401 [DAT](INFO): Rx dataTimestamp_ set to:1761543485.400787 2025-10-27T05:38:05.402Z,1761543485.402 [DAT](INFO): DAT read: Bearing 311.9, 79.4 (Local) 2025-10-27T05:38:05.406Z,1761543485.406 [DAT](INFO): Local bearing/azimuth received: Bearing 311.9, 79.4 (Local) 2025-10-27T05:38:05.408Z,1761543485.408 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-27T05:38:05.412Z,1761543485.412 [DAT](INFO): DAT read: 05:38:04.1583 LVL= 25072, 15825, 24898, 24995, AGC= 56, IDX= 513, 0.04,-2.268,-2.870, 2.222, 2.977, PHS= 1.141, 0.481,-0.799, RAW= 49.5, -9.7, CAL= 51.9, -10.9, ROT= 98.1, 10.9 2025-10-27T05:38:05.414Z,1761543485.414 [DAT](INFO): got valid direction response: 05:38:04.1583 LVL= 25072, 15825, 24898, 24995, AGC= 56, IDX= 513, 0.04,-2.268,-2.870, 2.222, 2.977, PHS= 1.141, 0.481,-0.799, RAW= 49.5, -9.7, CAL= 51.9, -10.9, ROT= 98.1, 10.9 2025-10-27T05:38:05.414Z,1761543485.414 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:38:05.415Z,1761543485.415 [DAT](INFO): direction in FSK: [-0.138359,0.972162,-0.189095] 2025-10-27T05:38:05.415Z,1761543485.415 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:05.431Z,1761543485.431 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.933674 2025-10-27T05:38:05.653Z,1761543485.653 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.167818 2025-10-27T05:38:05.863Z,1761543485.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788854,0.609698,0.077314],[-0.612902,0.771158,0.172239],[0.045392,-0.183257,0.982016]] 2025-10-27T05:38:05.886Z,1761543485.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.506766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:05.888Z,1761543485.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.165162 m, bearing: 59.681068 deg, lat: 36.779360 deg, lon: -121.859744 deg, deltaT: 1.011982 s, deltaX: 0.197946 m, approachRate: 0.195602 m/s, posRepo size: 4 2025-10-27T05:38:05.904Z,1761543485.904 [DAT](INFO): DAT read: Rx Time:05:38:04.6584 2025-10-27T05:38:05.905Z,1761543485.905 [DAT](INFO): Rx dataTimestamp_ set to:1761543485.904677 2025-10-27T05:38:05.906Z,1761543485.906 [DAT](INFO): DAT read: Bearing 312.8, -37.1 (Local) 2025-10-27T05:38:05.907Z,1761543485.907 [DAT](INFO): Local bearing/azimuth received: Bearing 312.8, -37.1 (Local) 2025-10-27T05:38:05.912Z,1761543485.912 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-27T05:38:05.917Z,1761543485.917 [DAT](INFO): DAT read: 05:38:04.6584 LVL= 27056, 16369, 30946, 31555, AGC= 59, IDX= 2,-0.43, 0.166, 2.759, 1.645, 1.797, PHS=-1.529, 1.007,-0.196, RAW= 298.3, 6.6, CAL= 296.0, 5.2, ROT= 214.0, -5.2 2025-10-27T05:38:05.919Z,1761543485.919 [DAT](INFO): got valid direction response: 05:38:04.6584 LVL= 27056, 16369, 30946, 31555, AGC= 59, IDX= 2,-0.43, 0.166, 2.759, 1.645, 1.797, PHS=-1.529, 1.007,-0.196, RAW= 298.3, 6.6, CAL= 296.0, 5.2, ROT= 214.0, -5.2 2025-10-27T05:38:05.919Z,1761543485.919 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:38:05.920Z,1761543485.920 [DAT](INFO): direction in FSK: [-0.825626,-0.556892,0.090633] 2025-10-27T05:38:05.920Z,1761543485.920 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:05.932Z,1761543485.932 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.446808 2025-10-27T05:38:06.156Z,1761543486.156 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.670837 2025-10-27T05:38:06.401Z,1761543486.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503890 s, deltaX: 0.100000 m, approachRate: 0.198457 m/s, rangeRepo size: 4 2025-10-27T05:38:06.404Z,1761543486.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.264601 m, bearing: 174.646885 deg, lat: 36.779360 deg, lon: -121.859744 deg, deltaT: 0.503890 s, deltaX: 0.099439 m, approachRate: 0.197342 m/s, posRepo size: 4 2025-10-27T05:38:06.409Z,1761543486.409 [DAT](INFO): DAT read: Rx Time:05:38:05.1586 2025-10-27T05:38:06.409Z,1761543486.409 [DAT](INFO): Rx dataTimestamp_ set to:1761543486.408810 2025-10-27T05:38:06.410Z,1761543486.410 [DAT](INFO): DAT read: Bearing 316.9, -38.2 (Local) 2025-10-27T05:38:06.414Z,1761543486.414 [DAT](INFO): Local bearing/azimuth received: Bearing 316.9, -38.2 (Local) 2025-10-27T05:38:06.416Z,1761543486.416 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-27T05:38:06.421Z,1761543486.421 [DAT](INFO): DAT read: 05:38:05.1586 LVL= 27616, 18641, 26226, 27635, AGC= 57, IDX= 500, 0.00, 2.098,-1.599,-2.642,-2.580, PHS=-1.504, 1.026,-0.106, RAW= 296.5, 5.4, CAL= 294.3, 2.3, ROT= 215.7, -2.3 2025-10-27T05:38:06.422Z,1761543486.422 [DAT](INFO): got valid direction response: 05:38:05.1586 LVL= 27616, 18641, 26226, 27635, AGC= 57, IDX= 500, 0.00, 2.098,-1.599,-2.642,-2.580, PHS=-1.504, 1.026,-0.106, RAW= 296.5, 5.4, CAL= 294.3, 2.3, ROT= 215.7, -2.3 2025-10-27T05:38:06.422Z,1761543486.422 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:38:06.423Z,1761543486.423 [DAT](INFO): direction in FSK: [-0.811429,-0.583071,0.040132] 2025-10-27T05:38:06.423Z,1761543486.423 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:06.455Z,1761543486.455 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.970049 2025-10-27T05:38:06.660Z,1761543486.660 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.175102 2025-10-27T05:38:06.764Z,1761543486.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791366,0.606745,0.074827],[-0.609684,0.774278,0.169645],[0.044994,-0.179873,0.982660]] 2025-10-27T05:38:06.853Z,1761543486.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504133 s, deltaX: 0.300000 m, approachRate: 0.595080 m/s, rangeRepo size: 4 2025-10-27T05:38:06.859Z,1761543486.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.563035 m, bearing: 177.113459 deg, lat: 36.779362 deg, lon: -121.859744 deg, deltaT: 0.504133 s, deltaX: 0.298434 m, approachRate: 0.591974 m/s, posRepo size: 4 2025-10-27T05:38:06.914Z,1761543486.914 [DAT](INFO): DAT read: Rx Time:05:38:05.6587 2025-10-27T05:38:06.914Z,1761543486.914 [DAT](INFO): Rx dataTimestamp_ set to:1761543486.913767 2025-10-27T05:38:06.922Z,1761543486.922 [DAT](INFO): DAT read: Bearing 320.4, -37.8 (Local) 2025-10-27T05:38:06.922Z,1761543486.922 [DAT](INFO): Local bearing/azimuth received: Bearing 320.4, -37.8 (Local) 2025-10-27T05:38:06.926Z,1761543486.926 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4 2025-10-27T05:38:06.930Z,1761543486.930 [DAT](INFO): DAT read: 05:38:05.6587 LVL= 32752, 17601, 32754, 32755, AGC= 57, IDX= 500, 0.48, 1.094,-2.609, 2.650, 2.649, PHS=-1.453, 1.070,-0.043, RAW= 296.1, 3.9, CAL= 294.1, -0.4, ROT= 215.9, 0.4 2025-10-27T05:38:06.946Z,1761543486.946 [DAT](INFO): got valid direction response: 05:38:05.6587 LVL= 32752, 17601, 32754, 32755, AGC= 57, IDX= 500, 0.48, 1.094,-2.609, 2.650, 2.649, PHS=-1.453, 1.070,-0.043, RAW= 296.1, 3.9, CAL= 294.1, -0.4, ROT= 215.9, 0.4 2025-10-27T05:38:06.952Z,1761543486.952 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:38:06.954Z,1761543486.954 [DAT](INFO): direction in FSK: [-0.810022,-0.586358,-0.006981] 2025-10-27T05:38:06.954Z,1761543486.954 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:06.984Z,1761543486.984 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.499289 2025-10-27T05:38:07.164Z,1761543487.164 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.678682 2025-10-27T05:38:07.213Z,1761543487.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504957 s, deltaX: 0.200000 m, approachRate: 0.396074 m/s, rangeRepo size: 4 2025-10-27T05:38:07.216Z,1761543487.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.761915 m, bearing: 177.779568 deg, lat: 36.779362 deg, lon: -121.859751 deg, deltaT: 0.504957 s, deltaX: 0.198880 m, approachRate: 0.393856 m/s, posRepo size: 4 2025-10-27T05:38:07.417Z,1761543487.417 [DAT](INFO): DAT read: Rx Time:05:38:06.1589 2025-10-27T05:38:07.417Z,1761543487.417 [DAT](INFO): Rx dataTimestamp_ set to:1761543487.416807 2025-10-27T05:38:07.418Z,1761543487.418 [DAT](INFO): DAT read: Bearing 322.8, -38.1 (Local) 2025-10-27T05:38:07.422Z,1761543487.422 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, -38.1 (Local) 2025-10-27T05:38:07.424Z,1761543487.424 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-27T05:38:07.439Z,1761543487.439 [DAT](INFO): DAT read: 05:38:06.1589 LVL= 32752, 23393, 32754, 32755, AGC= 61, IDX= 503,-0.01, 1.340,-2.389, 2.922, 2.835, PHS=-1.392, 1.104, 0.043, RAW= 295.1, 2.3, CAL= 293.4, -2.2, ROT= 216.6, 2.2 2025-10-27T05:38:07.441Z,1761543487.441 [DAT](INFO): got valid direction response: 05:38:06.1589 LVL= 32752, 23393, 32754, 32755, AGC= 61, IDX= 503,-0.01, 1.340,-2.389, 2.922, 2.835, PHS=-1.392, 1.104, 0.043, RAW= 295.1, 2.3, CAL= 293.4, -2.2, ROT= 216.6, 2.2 2025-10-27T05:38:07.441Z,1761543487.441 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:38:07.495Z,1761543487.495 [DAT](INFO): direction in FSK: [-0.802226,-0.595786,-0.038388] 2025-10-27T05:38:07.495Z,1761543487.495 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:07.499Z,1761543487.499 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.013487 2025-10-27T05:38:07.570Z,1761543487.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793058,0.604428,0.075677],[-0.607532,0.775786,0.170474],[0.044330,-0.181172,0.982452]] 2025-10-27T05:38:07.648Z,1761543487.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503040 s, deltaX: 0.300000 m, approachRate: 0.596373 m/s, rangeRepo size: 4 2025-10-27T05:38:07.650Z,1761543487.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.059974 m, bearing: 178.931808 deg, lat: 36.779362 deg, lon: -121.859755 deg, deltaT: 0.503040 s, deltaX: 0.298059 m, approachRate: 0.592516 m/s, posRepo size: 4 2025-10-27T05:38:07.668Z,1761543487.668 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.182838 2025-10-27T05:38:07.922Z,1761543487.922 [DAT](INFO): DAT read: Rx Time:05:38:06.6590 2025-10-27T05:38:07.922Z,1761543487.922 [DAT](INFO): Rx dataTimestamp_ set to:1761543487.922059 2025-10-27T05:38:07.927Z,1761543487.927 [DAT](INFO): DAT read: Bearing 325.3, -36.8 (Local) 2025-10-27T05:38:07.928Z,1761543487.928 [DAT](INFO): Local bearing/azimuth received: Bearing 325.3, -36.8 (Local) 2025-10-27T05:38:07.930Z,1761543487.930 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4 2025-10-27T05:38:07.935Z,1761543487.935 [DAT](INFO): DAT read: 05:38:06.6590 LVL= 32752, 21857, 31074, 32755, AGC= 62, IDX= 503, 0.49, 0.790,-3.005, 2.324, 2.172, PHS=-1.280, 1.151, 0.107, RAW= 295.3, 0.2, CAL= 294.0, -4.3, ROT= 216.0, 4.3 2025-10-27T05:38:07.936Z,1761543487.936 [DAT](INFO): got valid direction response: 05:38:06.6590 LVL= 32752, 21857, 31074, 32755, AGC= 62, IDX= 503, 0.49, 0.790,-3.005, 2.324, 2.172, PHS=-1.280, 1.151, 0.107, RAW= 295.3, 0.2, CAL= 294.0, -4.3, ROT= 216.0, 4.3 2025-10-27T05:38:07.936Z,1761543487.936 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:38:07.937Z,1761543487.937 [DAT](INFO): direction in FSK: [-0.806740,-0.586131,-0.074979] 2025-10-27T05:38:07.938Z,1761543487.938 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:07.955Z,1761543487.955 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.469141 2025-10-27T05:38:08.019Z,1761543488.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793455,0.603724,0.077114],[-0.607038,0.775846,0.171955],[0.043985,-0.183249,0.982082]] 2025-10-27T05:38:08.080Z,1761543488.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.505252 s, deltaX: 0.100000 m, approachRate: 0.197921 m/s, rangeRepo size: 4 2025-10-27T05:38:08.082Z,1761543488.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.159410 m, bearing: 178.734725 deg, lat: 36.779361 deg, lon: -121.859756 deg, deltaT: 0.505252 s, deltaX: 0.099436 m, approachRate: 0.196804 m/s, posRepo size: 4 2025-10-27T05:38:08.172Z,1761543488.172 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.686926 2025-10-27T05:38:08.396Z,1761543488.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793354,0.603824,0.077373],[-0.607153,0.775610,0.172613],[0.044217,-0.183920,0.981946]] 2025-10-27T05:38:08.425Z,1761543488.425 [DAT](INFO): DAT read: Rx Time:05:38:07.1591 2025-10-27T05:38:08.425Z,1761543488.425 [DAT](INFO): Rx dataTimestamp_ set to:1761543488.424708 2025-10-27T05:38:08.426Z,1761543488.426 [DAT](INFO): DAT read: Bearing 325.2, -35.6 (Local) 2025-10-27T05:38:08.427Z,1761543488.427 [DAT](INFO): Local bearing/azimuth received: Bearing 325.2, -35.6 (Local) 2025-10-27T05:38:08.429Z,1761543488.429 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 2025-10-27T05:38:08.436Z,1761543488.436 [DAT](INFO): DAT read: 05:38:07.1591 LVL= 32752, 25633, 29746, 32755, AGC= 63, IDX= 505, 0.00, 0.110, 2.515, 1.552, 1.422, PHS=-1.211, 1.138, 0.086, RAW= 296.6, -0.1, CAL= 295.3, -4.6, ROT= 214.7, 4.6 2025-10-27T05:38:08.437Z,1761543488.437 [DAT](INFO): got valid direction response: 05:38:07.1591 LVL= 32752, 25633, 29746, 32755, AGC= 63, IDX= 505, 0.00, 0.110, 2.515, 1.552, 1.422, PHS=-1.211, 1.138, 0.086, RAW= 296.6, -0.1, CAL= 295.3, -4.6, ROT= 214.7, 4.6 2025-10-27T05:38:08.438Z,1761543488.438 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:38:08.441Z,1761543488.441 [DAT](INFO): direction in FSK: [-0.819496,-0.567446,-0.080199] 2025-10-27T05:38:08.441Z,1761543488.441 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:08.477Z,1761543488.477 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.991615 2025-10-27T05:38:08.554Z,1761543488.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.502649 s, deltaX: 0.200000 m, approachRate: 0.397893 m/s, rangeRepo size: 4 2025-10-27T05:38:08.561Z,1761543488.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.357612 m, bearing: 177.501023 deg, lat: 36.779361 deg, lon: -121.859758 deg, deltaT: 0.502649 s, deltaX: 0.198202 m, approachRate: 0.394314 m/s, posRepo size: 4 2025-10-27T05:38:08.677Z,1761543488.677 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.191683 2025-10-27T05:38:08.879Z,1761543488.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793034,0.604165,0.077984],[-0.607565,0.775119,0.173364],[0.044293,-0.184864,0.981765]] 2025-10-27T05:38:08.912Z,1761543488.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:38:08.929Z,1761543488.929 [DAT](INFO): DAT read: Rx Time:05:38:07.6592 2025-10-27T05:38:08.929Z,1761543488.929 [DAT](INFO): Rx dataTimestamp_ set to:1761543488.928848 2025-10-27T05:38:08.930Z,1761543488.930 [DAT](INFO): DAT read: Bearing 325.1, -33.8 (Local) 2025-10-27T05:38:08.932Z,1761543488.932 [DAT](INFO): Local bearing/azimuth received: Bearing 325.1, -33.8 (Local) 2025-10-27T05:38:08.934Z,1761543488.934 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 2025-10-27T05:38:08.947Z,1761543488.947 [DAT](INFO): DAT read: 05:38:07.6592 LVL= 32752, 23217, 27618, 32755, AGC= 64, IDX= 506,-0.42,-2.162, 0.212,-0.796,-0.903, PHS=-1.157, 1.160, 0.063, RAW= 298.2, -0.7, CAL= 297.0, -5.0, ROT= 213.0, 5.0 2025-10-27T05:38:08.949Z,1761543488.949 [DAT](INFO): got valid direction response: 05:38:07.6592 LVL= 32752, 23217, 27618, 32755, AGC= 64, IDX= 506,-0.42,-2.162, 0.212,-0.796,-0.903, PHS=-1.157, 1.160, 0.063, RAW= 298.2, -0.7, CAL= 297.0, -5.0, ROT= 213.0, 5.0 2025-10-27T05:38:08.949Z,1761543488.949 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:38:08.954Z,1761543488.954 [DAT](INFO): direction in FSK: [-0.835479,-0.542566,-0.087156] 2025-10-27T05:38:08.955Z,1761543488.955 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:08.980Z,1761543488.980 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.495272 2025-10-27T05:38:09.180Z,1761543489.180 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.694897 2025-10-27T05:38:09.305Z,1761543489.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792462,0.604832,0.078628],[-0.608279,0.774278,0.174615],[0.044733,-0.186204,0.981492]] 2025-10-27T05:38:09.390Z,1761543489.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504140 s, deltaX: 0.100000 m, approachRate: 0.198357 m/s, rangeRepo size: 4 2025-10-27T05:38:09.393Z,1761543489.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.457038 m, bearing: 175.819087 deg, lat: 36.779361 deg, lon: -121.859758 deg, deltaT: 0.504140 s, deltaX: 0.099427 m, approachRate: 0.197221 m/s, posRepo size: 4 2025-10-27T05:38:09.433Z,1761543489.433 [DAT](INFO): DAT read: Rx Time:05:38:08.1594 2025-10-27T05:38:09.433Z,1761543489.433 [DAT](INFO): Rx dataTimestamp_ set to:1761543489.432781 2025-10-27T05:38:09.434Z,1761543489.434 [DAT](INFO): DAT read: Bearing 324.1, -33.3 (Local) 2025-10-27T05:38:09.435Z,1761543489.435 [DAT](INFO): Local bearing/azimuth received: Bearing 324.1, -33.3 (Local) 2025-10-27T05:38:09.437Z,1761543489.437 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.5 2025-10-27T05:38:09.449Z,1761543489.449 [DAT](INFO): DAT read: 05:38:08.1594 LVL= 32752, 27057, 31666, 32755, AGC= 65, IDX= 508, 0.07, 0.264, 2.601, 1.582, 1.513, PHS=-1.147, 1.133, 0.025, RAW= 299.1, -0.1, CAL= 297.6, -4.3, ROT= 212.4, 4.3 2025-10-27T05:38:09.451Z,1761543489.451 [DAT](INFO): got valid direction response: 05:38:08.1594 LVL= 32752, 27057, 31666, 32755, AGC= 65, IDX= 508, 0.07, 0.264, 2.601, 1.582, 1.513, PHS=-1.147, 1.133, 0.025, RAW= 299.1, -0.1, CAL= 297.6, -4.3, ROT= 212.4, 4.3 2025-10-27T05:38:09.472Z,1761543489.472 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:38:09.473Z,1761543489.473 [DAT](INFO): direction in FSK: [-0.841951,-0.534318,-0.074979] 2025-10-27T05:38:09.474Z,1761543489.474 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:09.477Z,1761543489.477 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.992010 2025-10-27T05:38:09.651Z,1761543489.651 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:38:09.684Z,1761543489.684 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.198807 2025-10-27T05:38:09.865Z,1761543489.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503933 s, deltaX: 0.300000 m, approachRate: 0.595318 m/s, rangeRepo size: 4 2025-10-27T05:38:09.871Z,1761543489.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.755968 m, bearing: 175.104203 deg, lat: 36.779361 deg, lon: -121.859758 deg, deltaT: 0.503933 s, deltaX: 0.298929 m, approachRate: 0.593192 m/s, posRepo size: 4 2025-10-27T05:38:09.938Z,1761543489.938 [DAT](INFO): DAT read: Rx Time:05:38:08.6595 2025-10-27T05:38:09.940Z,1761543489.940 [DAT](INFO): Rx dataTimestamp_ set to:1761543489.938968 2025-10-27T05:38:09.942Z,1761543489.942 [DAT](INFO): DAT read: Bearing 323.0, -32.0 (Local) 2025-10-27T05:38:09.945Z,1761543489.945 [DAT](INFO): Local bearing/azimuth received: Bearing 323.0, -32.0 (Local) 2025-10-27T05:38:09.949Z,1761543489.949 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 2025-10-27T05:38:09.965Z,1761543489.965 [DAT](INFO): DAT read: 05:38:08.6595 LVL= 32752, 23137, 27362, 32755, AGC= 65, IDX= 509,-0.27,-2.186, 0.119,-0.941,-0.960, PHS=-1.123, 1.124,-0.025, RAW= 300.7, 0.2, CAL= 299.2, -3.8, ROT= 210.8, 3.8 2025-10-27T05:38:09.966Z,1761543489.966 [DAT](INFO): got valid direction response: 05:38:08.6595 LVL= 32752, 23137, 27362, 32755, AGC= 65, IDX= 509,-0.27,-2.186, 0.119,-0.941,-0.960, PHS=-1.123, 1.124,-0.025, RAW= 300.7, 0.2, CAL= 299.2, -3.8, ROT= 210.8, 3.8 2025-10-27T05:38:09.979Z,1761543489.979 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:38:09.981Z,1761543489.981 [DAT](INFO): direction in FSK: [-0.857071,-0.510917,-0.066274] 2025-10-27T05:38:09.981Z,1761543489.981 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:09.989Z,1761543489.989 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.504021 2025-10-27T05:38:10.129Z,1761543490.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790935,0.606559,0.080670],[-0.610175,0.771932,0.178347],[0.045906,-0.190284,0.980655]] 2025-10-27T05:38:10.176Z,1761543490.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.506187 s, deltaX: 0.200000 m, approachRate: 0.395111 m/s, rangeRepo size: 4 2025-10-27T05:38:10.178Z,1761543490.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.954839 m, bearing: 173.295213 deg, lat: 36.779362 deg, lon: -121.859757 deg, deltaT: 0.506187 s, deltaX: 0.198871 m, approachRate: 0.392881 m/s, posRepo size: 4 2025-10-27T05:38:10.188Z,1761543490.188 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.702879 2025-10-27T05:38:10.446Z,1761543490.446 [DAT](INFO): DAT read: Rx Time:05:38:09.1597 2025-10-27T05:38:10.450Z,1761543490.450 [DAT](INFO): Rx dataTimestamp_ set to:1761543490.446331 2025-10-27T05:38:10.452Z,1761543490.452 [DAT](INFO): DAT read: Bearing 323.0, -32.0 (Local) 2025-10-27T05:38:10.453Z,1761543490.453 [DAT](INFO): Local bearing/azimuth received: Bearing 323.0, -32.0 (Local) 2025-10-27T05:38:10.464Z,1761543490.464 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.3 2025-10-27T05:38:10.471Z,1761543490.471 [DAT](INFO): DAT read: 05:38:09.1597 LVL= 32752, 22257, 25922, 32755, AGC= 64, IDX= 511, 0.22, 0.873,-3.130, 2.104, 2.087, PHS=-1.112, 1.111,-0.027, RAW= 300.8, 0.3, CAL= 299.2, -3.8, ROT= 210.8, 3.8 2025-10-27T05:38:10.489Z,1761543490.489 [DAT](INFO): got valid direction response: 05:38:09.1597 LVL= 32752, 22257, 25922, 32755, AGC= 64, IDX= 511, 0.22, 0.873,-3.130, 2.104, 2.087, PHS=-1.112, 1.111,-0.027, RAW= 300.8, 0.3, CAL= 299.2, -3.8, ROT= 210.8, 3.8 2025-10-27T05:38:10.489Z,1761543490.489 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:38:10.490Z,1761543490.490 [DAT](INFO): direction in FSK: [-0.857071,-0.510917,-0.066274] 2025-10-27T05:38:10.490Z,1761543490.490 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:10.499Z,1761543490.499 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.009600 2025-10-27T05:38:10.533Z,1761543490.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789971,0.607880,0.080168],[-0.611351,0.770907,0.178751],[0.046857,-0.190219,0.980623]] 2025-10-27T05:38:10.657Z,1761543490.657 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:38:10.696Z,1761543490.696 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.210859 2025-10-27T05:38:10.702Z,1761543490.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.507363 s, deltaX: 0.300000 m, approachRate: 0.591293 m/s, rangeRepo size: 4 2025-10-27T05:38:10.721Z,1761543490.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.253718 m, bearing: 173.208373 deg, lat: 36.779362 deg, lon: -121.859757 deg, deltaT: 0.507363 s, deltaX: 0.298880 m, approachRate: 0.589084 m/s, posRepo size: 4 2025-10-27T05:38:10.950Z,1761543490.950 [DAT](INFO): DAT read: Rx Time:05:38:09.6598 2025-10-27T05:38:10.953Z,1761543490.953 [DAT](INFO): Rx dataTimestamp_ set to:1761543490.952298 2025-10-27T05:38:10.955Z,1761543490.955 [DAT](INFO): DAT read: Bearing 325.6, -42.7 (Local) 2025-10-27T05:38:10.956Z,1761543490.956 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, -42.7 (Local) 2025-10-27T05:38:10.962Z,1761543490.962 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-27T05:38:10.972Z,1761543490.972 [DAT](INFO): DAT read: 05:38:09.6598 LVL= 32752, 27521, 30706, 32755, AGC= 63, IDX= 512,-0.06, 1.270, 3.076, 2.564, 2.396, PHS=-1.024, 0.725, 0.124, RAW= 289.8, 2.3, CAL= 288.3, -2.6, ROT= 221.7, 2.6 2025-10-27T05:38:10.973Z,1761543490.973 [DAT](INFO): got valid direction response: 05:38:09.6598 LVL= 32752, 27521, 30706, 32755, AGC= 63, IDX= 512,-0.06, 1.270, 3.076, 2.564, 2.396, PHS=-1.024, 0.725, 0.124, RAW= 289.8, 2.3, CAL= 288.3, -2.6, ROT= 221.7, 2.6 2025-10-27T05:38:10.974Z,1761543490.974 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:38:11.001Z,1761543491.001 [DAT](INFO): direction in FSK: [-0.745870,-0.664545,-0.045363] 2025-10-27T05:38:11.001Z,1761543491.001 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:11.030Z,1761543491.030 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.544386 2025-10-27T05:38:11.076Z,1761543491.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787923,0.610391,0.081237],[-0.613842,0.768147,0.182065],[0.048729,-0.193321,0.979925]] 2025-10-27T05:38:11.140Z,1761543491.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.505967 s, deltaX: 0.099999 m, approachRate: 0.197640 m/s, rangeRepo size: 4 2025-10-27T05:38:11.142Z,1761543491.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.353161 m, bearing: 183.494359 deg, lat: 36.779362 deg, lon: -121.859757 deg, deltaT: 0.505967 s, deltaX: 0.099442 m, approachRate: 0.196539 m/s, posRepo size: 4 2025-10-27T05:38:11.201Z,1761543491.201 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.716076 2025-10-27T05:38:11.454Z,1761543491.454 [DAT](INFO): DAT read: Rx Time:05:38:10.1600 2025-10-27T05:38:11.467Z,1761543491.467 [DAT](INFO): Rx dataTimestamp_ set to:1761543491.454505 2025-10-27T05:38:11.468Z,1761543491.468 [DAT](INFO): DAT read: Bearing 321.5, -32.7 (Local) 2025-10-27T05:38:11.469Z,1761543491.469 [DAT](INFO): Local bearing/azimuth received: Bearing 321.5, -32.7 (Local) 2025-10-27T05:38:11.471Z,1761543491.471 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.5 2025-10-27T05:38:11.476Z,1761543491.476 [DAT](INFO): DAT read: 05:38:10.1600 LVL= 32752, 20161, 23410, 32755, AGC= 67, IDX= 3,-0.34,-0.343, 1.914, 0.879, 0.904, PHS=-1.145, 1.055,-0.069, RAW= 300.7, 1.7, CAL= 298.8, -2.3, ROT= 211.2, 2.3 2025-10-27T05:38:11.477Z,1761543491.477 [DAT](INFO): got valid direction response: 05:38:10.1600 LVL= 32752, 20161, 23410, 32755, AGC= 67, IDX= 3,-0.34,-0.343, 1.914, 0.879, 0.904, PHS=-1.145, 1.055,-0.069, RAW= 300.7, 1.7, CAL= 298.8, -2.3, ROT= 211.2, 2.3 2025-10-27T05:38:11.477Z,1761543491.477 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:38:11.478Z,1761543491.478 [DAT](INFO): direction in FSK: [-0.854675,-0.517610,-0.040132] 2025-10-27T05:38:11.478Z,1761543491.478 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:11.503Z,1761543491.503 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.017378 2025-10-27T05:38:11.632Z,1761543491.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.502207 s, deltaX: 0.300000 m, approachRate: 0.597364 m/s, rangeRepo size: 4 2025-10-27T05:38:11.633Z,1761543491.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.651238 m, bearing: 173.122267 deg, lat: 36.779362 deg, lon: -121.859757 deg, deltaT: 0.502207 s, deltaX: 0.298078 m, approachRate: 0.593535 m/s, posRepo size: 4 2025-10-27T05:38:11.705Z,1761543491.705 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.219431 2025-10-27T05:38:11.957Z,1761543491.957 [DAT](INFO): DAT read: Rx Time:05:38:10.6601 2025-10-27T05:38:11.959Z,1761543491.959 [DAT](INFO): Rx dataTimestamp_ set to:1761543491.957954 2025-10-27T05:38:11.962Z,1761543491.962 [DAT](INFO): DAT read: Bearing 321.0, -33.3 (Local) 2025-10-27T05:38:11.963Z,1761543491.963 [DAT](INFO): Local bearing/azimuth received: Bearing 321.0, -33.3 (Local) 2025-10-27T05:38:11.966Z,1761543491.966 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.5 2025-10-27T05:38:11.971Z,1761543491.971 [DAT](INFO): DAT read: 05:38:10.6601 LVL= 32752, 27889, 32754, 32755, AGC= 63, IDX= 499, 0.32, 0.589, 2.836, 1.820, 1.851, PHS=-1.160, 1.030,-0.074, RAW= 300.3, 2.2, CAL= 298.3, -1.9, ROT= 211.7, 1.9 2025-10-27T05:38:11.972Z,1761543491.972 [DAT](INFO): got valid direction response: 05:38:10.6601 LVL= 32752, 27889, 32754, 32755, AGC= 63, IDX= 499, 0.32, 0.589, 2.836, 1.820, 1.851, PHS=-1.160, 1.030,-0.074, RAW= 300.3, 2.2, CAL= 298.3, -1.9, ROT= 211.7, 1.9 2025-10-27T05:38:11.972Z,1761543491.972 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:38:11.973Z,1761543491.973 [DAT](INFO): direction in FSK: [-0.850343,-0.525183,-0.033155] 2025-10-27T05:38:11.974Z,1761543491.974 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:11.977Z,1761543491.977 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.492102 2025-10-27T05:38:12.008Z,1761543492.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785468,0.613732,0.079829],[-0.616817,0.765700,0.182320],[0.050770,-0.192446,0.979993]] 2025-10-27T05:38:12.129Z,1761543492.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503449 s, deltaX: 0.200000 m, approachRate: 0.397259 m/s, rangeRepo size: 4 2025-10-27T05:38:12.136Z,1761543492.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.850118 m, bearing: 173.317576 deg, lat: 36.779362 deg, lon: -121.859760 deg, deltaT: 0.503449 s, deltaX: 0.198879 m, approachRate: 0.395034 m/s, posRepo size: 4 2025-10-27T05:38:12.208Z,1761543492.208 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.722900 2025-10-27T05:38:12.462Z,1761543492.462 [DAT](INFO): DAT read: Rx Time:05:38:11.1603 2025-10-27T05:38:12.473Z,1761543492.473 [DAT](INFO): Rx dataTimestamp_ set to:1761543492.472671 2025-10-27T05:38:12.474Z,1761543492.474 [DAT](INFO): DAT read: Bearing 320.8, -33.1 (Local) 2025-10-27T05:38:12.475Z,1761543492.475 [DAT](INFO): Local bearing/azimuth received: Bearing 320.8, -33.1 (Local) 2025-10-27T05:38:12.477Z,1761543492.477 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.6 2025-10-27T05:38:12.481Z,1761543492.481 [DAT](INFO): DAT read: 05:38:11.1603 LVL= 32752, 26785, 32754, 32755, AGC= 62, IDX= 501, 0.16, 1.592,-2.435, 2.820, 2.859, PHS=-1.165, 1.035,-0.083, RAW= 300.5, 2.3, CAL= 298.6, -1.8, ROT= 211.4, 1.8 2025-10-27T05:38:12.483Z,1761543492.483 [DAT](INFO): got valid direction response: 05:38:11.1603 LVL= 32752, 26785, 32754, 32755, AGC= 62, IDX= 501, 0.16, 1.592,-2.435, 2.820, 2.859, PHS=-1.165, 1.035,-0.083, RAW= 300.5, 2.3, CAL= 298.6, -1.8, ROT= 211.4, 1.8 2025-10-27T05:38:12.487Z,1761543492.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784206,0.615385,0.079513],[-0.618334,0.764324,0.182954],[0.051813,-0.192640,0.979901]] 2025-10-27T05:38:12.487Z,1761543492.487 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:38:12.488Z,1761543492.488 [DAT](INFO): direction in FSK: [-0.853130,-0.520752,-0.031411] 2025-10-27T05:38:12.488Z,1761543492.488 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:12.497Z,1761543492.497 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.011580 2025-10-27T05:38:12.613Z,1761543492.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.514717 s, deltaX: 0.300000 m, approachRate: 0.582845 m/s, rangeRepo size: 4 2025-10-27T05:38:12.615Z,1761543492.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.147873 m, bearing: 172.889207 deg, lat: 36.779362 deg, lon: -121.859762 deg, deltaT: 0.514717 s, deltaX: 0.297755 m, approachRate: 0.578483 m/s, posRepo size: 4 2025-10-27T05:38:12.713Z,1761543492.713 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.227663 2025-10-27T05:38:12.965Z,1761543492.965 [DAT](INFO): DAT read: Rx Time:05:38:11.6604 2025-10-27T05:38:12.966Z,1761543492.966 [DAT](INFO): Rx dataTimestamp_ set to:1761543492.965685 2025-10-27T05:38:12.967Z,1761543492.967 [DAT](INFO): DAT read: Bearing 320.0, -33.7 (Local) 2025-10-27T05:38:12.968Z,1761543492.968 [DAT](INFO): Local bearing/azimuth received: Bearing 320.0, -33.7 (Local) 2025-10-27T05:38:12.970Z,1761543492.970 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.5 2025-10-27T05:38:12.976Z,1761543492.976 [DAT](INFO): DAT read: 05:38:11.6604 LVL= 32752, 24321, 28370, 32755, AGC= 62, IDX= 502, 0.21,-0.227, 2.095, 1.041, 1.101, PHS=-1.225, 1.039,-0.103, RAW= 300.3, 3.0, CAL= 298.2, -1.0, ROT= 211.8, 1.0 2025-10-27T05:38:12.977Z,1761543492.977 [DAT](INFO): got valid direction response: 05:38:11.6604 LVL= 32752, 24321, 28370, 32755, AGC= 62, IDX= 502, 0.21,-0.227, 2.095, 1.041, 1.101, PHS=-1.225, 1.039,-0.103, RAW= 300.3, 3.0, CAL= 298.2, -1.0, ROT= 211.8, 1.0 2025-10-27T05:38:12.977Z,1761543492.977 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:38:12.978Z,1761543492.978 [DAT](INFO): direction in FSK: [-0.849763,-0.526876,-0.017452] 2025-10-27T05:38:12.982Z,1761543492.982 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:12.985Z,1761543492.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783057,0.616976,0.078499],[-0.619736,0.763390,0.182107],[0.052430,-0.191248,0.980140]] 2025-10-27T05:38:12.994Z,1761543492.994 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.508490 2025-10-27T05:38:13.077Z,1761543493.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.493014 s, deltaX: 0.100000 m, approachRate: 0.202835 m/s, rangeRepo size: 4 2025-10-27T05:38:13.083Z,1761543493.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.247307 m, bearing: 173.031017 deg, lat: 36.779362 deg, lon: -121.859763 deg, deltaT: 0.493014 s, deltaX: 0.099434 m, approachRate: 0.201686 m/s, posRepo size: 4 2025-10-27T05:38:13.084Z,1761543493.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 9.30 m. Rolling out. 2025-10-27T05:38:13.085Z,1761543493.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T05:38:13.110Z,1761543493.110 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T05:38:13.217Z,1761543493.217 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.731649 2025-10-27T05:38:13.452Z,1761543493.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781761,0.618804,0.077014],[-0.621291,0.762364,0.181103],[0.053355,-0.189427,0.980444]] 2025-10-27T05:38:13.469Z,1761543493.469 [DAT](INFO): DAT read: Rx Time:05:38:12.1607 2025-10-27T05:38:13.469Z,1761543493.469 [DAT](INFO): Rx dataTimestamp_ set to:1761543493.468777 2025-10-27T05:38:13.470Z,1761543493.470 [DAT](INFO): DAT read: Bearing 319.0, -31.4 (Local) 2025-10-27T05:38:13.471Z,1761543493.471 [DAT](INFO): Local bearing/azimuth received: Bearing 319.0, -31.4 (Local) 2025-10-27T05:38:13.473Z,1761543493.473 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.5 2025-10-27T05:38:13.480Z,1761543493.480 [DAT](INFO): DAT read: 05:38:12.1607 LVL= 28736, 21665, 26226, 32755, AGC= 62, IDX= 505, 0.35, 0.714, 2.987, 1.874, 1.987, PHS=-1.171, 1.045,-0.156, RAW= 302.8, 3.0, CAL= 300.5, -0.8, ROT= 209.5, 0.8 2025-10-27T05:38:13.481Z,1761543493.481 [DAT](INFO): got valid direction response: 05:38:12.1607 LVL= 28736, 21665, 26226, 32755, AGC= 62, IDX= 505, 0.35, 0.714, 2.987, 1.874, 1.987, PHS=-1.171, 1.045,-0.156, RAW= 302.8, 3.0, CAL= 300.5, -0.8, ROT= 209.5, 0.8 2025-10-27T05:38:13.482Z,1761543493.482 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:38:13.483Z,1761543493.483 [DAT](INFO): direction in FSK: [-0.870271,-0.492376,-0.013962] 2025-10-27T05:38:13.487Z,1761543493.487 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:13.490Z,1761543493.490 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.005247 2025-10-27T05:38:13.597Z,1761543493.597 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T05:38:13.597Z,1761543493.597 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:38:13.597Z,1761543493.597 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T05:38:13.598Z,1761543493.598 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 9.300000 m (mode 5.000000 count ). 2025-10-27T05:38:13.599Z,1761543493.599 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T05:38:13.599Z,1761543493.599 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T05:38:13.604Z,1761543493.604 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T05:38:13.604Z,1761543493.604 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:38:13.604Z,1761543493.604 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T05:38:13.605Z,1761543493.605 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 9.300000 m (mode 5.000000 count ). 2025-10-27T05:38:13.605Z,1761543493.605 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T05:38:13.605Z,1761543493.605 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T05:38:13.620Z,1761543493.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503092 s, deltaX: 0.500000 m, approachRate: 0.993854 m/s, rangeRepo size: 4 2025-10-27T05:38:13.622Z,1761543493.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.743741 m, bearing: 170.625743 deg, lat: 36.779362 deg, lon: -121.859762 deg, deltaT: 0.503092 s, deltaX: 0.496434 m, approachRate: 0.986766 m/s, posRepo size: 4 2025-10-27T05:38:13.627Z,1761543493.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m. 2025-10-27T05:38:13.629Z,1761543493.629 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T05:38:13.629Z,1761543493.629 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:38:13.629Z,1761543493.629 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T05:38:13.629Z,1761543493.629 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T05:38:13.721Z,1761543493.721 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.235949 2025-10-27T05:38:13.973Z,1761543493.973 [DAT](INFO): DAT read: Rx Time:05:38:12.6608 2025-10-27T05:38:13.973Z,1761543493.973 [DAT](INFO): Rx dataTimestamp_ set to:1761543493.972799 2025-10-27T05:38:13.974Z,1761543493.974 [DAT](INFO): DAT read: Bearing 318.6, -28.2 (Local) 2025-10-27T05:38:13.975Z,1761543493.975 [DAT](INFO): Local bearing/azimuth received: Bearing 318.6, -28.2 (Local) 2025-10-27T05:38:13.977Z,1761543493.977 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.6 2025-10-27T05:38:13.985Z,1761543493.985 [DAT](INFO): DAT read: 05:38:12.6608 LVL= 32752, 26609, 32754, 32755, AGC= 59, IDX= 507,-0.43,-2.469,-0.209,-1.419,-1.259, PHS=-1.108, 1.095,-0.204, RAW= 305.9, 2.3, CAL= 303.7, -1.3, ROT= 206.3, 1.3 2025-10-27T05:38:13.987Z,1761543493.987 [DAT](INFO): got valid direction response: 05:38:12.6608 LVL= 32752, 26609, 32754, 32755, AGC= 59, IDX= 507,-0.43,-2.469,-0.209,-1.419,-1.259, PHS=-1.108, 1.095,-0.204, RAW= 305.9, 2.3, CAL= 303.7, -1.3, ROT= 206.3, 1.3 2025-10-27T05:38:13.987Z,1761543493.987 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:38:13.988Z,1761543493.988 [DAT](INFO): direction in FSK: [-0.896256,-0.442957,-0.022687] 2025-10-27T05:38:13.988Z,1761543493.988 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:14.020Z,1761543494.020 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.534842 2025-10-27T05:38:14.042Z,1761543494.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781568,0.619253,0.075344],[-0.621436,0.762334,0.180732],[0.054481,-0.188076,0.980642]] 2025-10-27T05:38:14.084Z,1761543494.084 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T05:38:14.084Z,1761543494.084 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T05:38:14.084Z,1761543494.084 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T05:38:14.085Z,1761543494.085 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T05:38:14.111Z,1761543494.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504022 s, deltaX: 0.099999 m, approachRate: 0.198403 m/s, rangeRepo size: 4 2025-10-27T05:38:14.113Z,1761543494.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.843166 m, bearing: 167.572714 deg, lat: 36.779362 deg, lon: -121.859762 deg, deltaT: 0.504022 s, deltaX: 0.099425 m, approachRate: 0.197264 m/s, posRepo size: 4 2025-10-27T05:38:14.114Z,1761543494.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m. 2025-10-27T05:38:14.224Z,1761543494.224 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.738964 2025-10-27T05:38:14.431Z,1761543494.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780510,0.621008,0.071785],[-0.622646,0.761998,0.177964],[0.055817,-0.183600,0.981415]] 2025-10-27T05:38:14.477Z,1761543494.477 [DAT](INFO): DAT read: Rx Time:05:38:13.1612 2025-10-27T05:38:14.477Z,1761543494.477 [DAT](INFO): Rx dataTimestamp_ set to:1761543494.476800 2025-10-27T05:38:14.478Z,1761543494.478 [DAT](INFO): DAT read: Bearing 317.8, -26.6 (Local) 2025-10-27T05:38:14.479Z,1761543494.479 [DAT](INFO): Local bearing/azimuth received: Bearing 317.8, -26.6 (Local) 2025-10-27T05:38:14.481Z,1761543494.481 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.5 2025-10-27T05:38:14.489Z,1761543494.489 [DAT](INFO): DAT read: 05:38:13.1612 LVL= 30320, 30913, 32754, 32755, AGC= 57, IDX= 510,-0.25,-0.867, 1.340, 0.103, 0.305, PHS=-1.070, 1.081,-0.245, RAW= 307.7, 2.5, CAL= 305.4, -0.9, ROT= 204.6, 0.9 2025-10-27T05:38:14.490Z,1761543494.490 [DAT](INFO): got valid direction response: 05:38:13.1612 LVL= 30320, 30913, 32754, 32755, AGC= 57, IDX= 510,-0.25,-0.867, 1.340, 0.103, 0.305, PHS=-1.070, 1.081,-0.245, RAW= 307.7, 2.5, CAL= 305.4, -0.9, ROT= 204.6, 0.9 2025-10-27T05:38:14.490Z,1761543494.490 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:38:14.491Z,1761543494.491 [DAT](INFO): direction in FSK: [-0.909124,-0.416230,-0.015707] 2025-10-27T05:38:14.492Z,1761543494.492 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:14.500Z,1761543494.500 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.014790 2025-10-27T05:38:14.556Z,1761543494.556 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T05:38:14.556Z,1761543494.556 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T05:38:14.557Z,1761543494.557 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T05:38:14.557Z,1761543494.557 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T05:38:14.584Z,1761543494.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504001 s, deltaX: 0.600000 m, approachRate: 1.190475 m/s, rangeRepo size: 4 2025-10-27T05:38:14.586Z,1761543494.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.439355 m, bearing: 165.752336 deg, lat: 36.779361 deg, lon: -121.859762 deg, deltaT: 0.504001 s, deltaX: 0.596189 m, approachRate: 1.182911 m/s, posRepo size: 4 2025-10-27T05:38:14.586Z,1761543494.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-27T05:38:14.729Z,1761543494.729 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.243683 2025-10-27T05:38:14.968Z,1761543494.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780204,0.622157,0.064827],[-0.622949,0.763411,0.170699],[0.056712,-0.173564,0.983188]] 2025-10-27T05:38:14.981Z,1761543494.981 [DAT](INFO): DAT read: Rx Time:05:38:13.6613 2025-10-27T05:38:14.981Z,1761543494.981 [DAT](INFO): Rx dataTimestamp_ set to:1761543494.980841 2025-10-27T05:38:14.982Z,1761543494.982 [DAT](INFO): DAT read: Bearing 317.1, -24.8 (Local) 2025-10-27T05:38:14.983Z,1761543494.983 [DAT](INFO): Local bearing/azimuth received: Bearing 317.1, -24.8 (Local) 2025-10-27T05:38:14.985Z,1761543494.985 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.6 2025-10-27T05:38:14.993Z,1761543494.993 [DAT](INFO): DAT read: 05:38:13.6613 LVL= 32752, 27729, 32754, 32755, AGC= 60, IDX= 511,-0.16,-2.014, 0.232,-1.093,-0.848, PHS=-1.065, 1.125,-0.289, RAW= 309.6, 2.4, CAL= 307.3, -0.8, ROT= 202.7, 0.8 2025-10-27T05:38:14.994Z,1761543494.994 [DAT](INFO): got valid direction response: 05:38:13.6613 LVL= 32752, 27729, 32754, 32755, AGC= 60, IDX= 511,-0.16,-2.014, 0.232,-1.093,-0.848, PHS=-1.065, 1.125,-0.289, RAW= 309.6, 2.4, CAL= 307.3, -0.8, ROT= 202.7, 0.8 2025-10-27T05:38:14.994Z,1761543494.994 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:38:14.996Z,1761543494.996 [DAT](INFO): direction in FSK: [-0.922448,-0.385868,-0.013962] 2025-10-27T05:38:14.996Z,1761543494.996 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:15.032Z,1761543495.032 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.546474 2025-10-27T05:38:15.043Z,1761543495.043 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T05:38:15.043Z,1761543495.043 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:38:15.043Z,1761543495.043 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T05:38:15.043Z,1761543495.043 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:38:15.044Z,1761543495.044 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T05:38:15.044Z,1761543495.044 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:38:15.044Z,1761543495.044 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T05:38:15.044Z,1761543495.044 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:38:15.071Z,1761543495.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504041 s, deltaX: 0.200000 m, approachRate: 0.396793 m/s, rangeRepo size: 4 2025-10-27T05:38:15.073Z,1761543495.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.638200 m, bearing: 163.878264 deg, lat: 36.779360 deg, lon: -121.859757 deg, deltaT: 0.504041 s, deltaX: 0.198845 m, approachRate: 0.394501 m/s, posRepo size: 4 2025-10-27T05:38:15.074Z,1761543495.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-27T05:38:15.237Z,1761543495.237 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.751753 2025-10-27T05:38:15.472Z,1761543495.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781196,0.621978,0.053624],[-0.621743,0.767395,0.156655],[0.056285,-0.155719,0.986196]] 2025-10-27T05:38:15.485Z,1761543495.485 [DAT](INFO): DAT read: Rx Time:05:38:14.1616 2025-10-27T05:38:15.485Z,1761543495.485 [DAT](INFO): Rx dataTimestamp_ set to:1761543495.484713 2025-10-27T05:38:15.486Z,1761543495.486 [DAT](INFO): DAT read: Bearing 316.4, -24.3 (Local) 2025-10-27T05:38:15.487Z,1761543495.487 [DAT](INFO): Local bearing/azimuth received: Bearing 316.4, -24.3 (Local) 2025-10-27T05:38:15.489Z,1761543495.489 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.5 2025-10-27T05:38:15.497Z,1761543495.497 [DAT](INFO): DAT read: 05:38:14.1616 LVL= 25296, 18913, 23282, 32755, AGC= 62, IDX= 2,-0.17,-0.253, 1.973, 0.640, 0.904, PHS=-1.055, 1.114,-0.308, RAW= 310.2, 2.6, CAL= 307.9, -0.5, ROT= 202.1, 0.5 2025-10-27T05:38:15.498Z,1761543495.498 [DAT](INFO): got valid direction response: 05:38:14.1616 LVL= 25296, 18913, 23282, 32755, AGC= 62, IDX= 2,-0.17,-0.253, 1.973, 0.640, 0.904, PHS=-1.055, 1.114,-0.308, RAW= 310.2, 2.6, CAL= 307.9, -0.5, ROT= 202.1, 0.5 2025-10-27T05:38:15.498Z,1761543495.498 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:38:15.511Z,1761543495.511 [DAT](INFO): direction in FSK: [-0.926493,-0.376210,-0.008727] 2025-10-27T05:38:15.512Z,1761543495.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:15.520Z,1761543495.520 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.034687 2025-10-27T05:38:15.613Z,1761543495.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503872 s, deltaX: 0.400001 m, approachRate: 0.793854 m/s, rangeRepo size: 4 2025-10-27T05:38:15.620Z,1761543495.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.036165 m, bearing: 163.383006 deg, lat: 36.779360 deg, lon: -121.859754 deg, deltaT: 0.503872 s, deltaX: 0.397965 m, approachRate: 0.789815 m/s, posRepo size: 4 2025-10-27T05:38:15.620Z,1761543495.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-27T05:38:15.736Z,1761543495.736 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.251282 2025-10-27T05:38:15.984Z,1761543495.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782466,0.620818,0.048288],[-0.620221,0.770112,0.149175],[0.055424,-0.146674,0.987631]] 2025-10-27T05:38:15.988Z,1761543495.988 [DAT](INFO): DAT read: Rx Time:05:38:14.6616 2025-10-27T05:38:15.989Z,1761543495.989 [DAT](INFO): Rx dataTimestamp_ set to:1761543495.988641 2025-10-27T05:38:15.990Z,1761543495.990 [DAT](INFO): DAT read: Bearing 316.6, -21.1 (Local) 2025-10-27T05:38:15.990Z,1761543495.990 [DAT](INFO): Local bearing/azimuth received: Bearing 316.6, -21.1 (Local) 2025-10-27T05:38:15.993Z,1761543495.993 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4 2025-10-27T05:38:16.001Z,1761543496.001 [DAT](INFO): DAT read: 05:38:14.6616 LVL= 30992, 29233, 32754, 32755, AGC= 57, IDX= 499,-0.31,-0.258, 1.961, 0.531, 0.832, PHS=-0.988, 1.174,-0.346, RAW= 313.2, 1.7, CAL= 311.0, -1.4, ROT= 199.0, 1.4 2025-10-27T05:38:16.002Z,1761543496.002 [DAT](INFO): got valid direction response: 05:38:14.6616 LVL= 30992, 29233, 32754, 32755, AGC= 57, IDX= 499,-0.31,-0.258, 1.961, 0.531, 0.832, PHS=-0.988, 1.174,-0.346, RAW= 313.2, 1.7, CAL= 311.0, -1.4, ROT= 199.0, 1.4 2025-10-27T05:38:16.002Z,1761543496.002 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:38:16.007Z,1761543496.007 [DAT](INFO): direction in FSK: [-0.945236,-0.325471,-0.024432] 2025-10-27T05:38:16.008Z,1761543496.008 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:16.011Z,1761543496.011 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.526167 2025-10-27T05:38:16.180Z,1761543496.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:16.182Z,1761543496.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.036165 m, bearing: 160.603745 deg, lat: 36.779360 deg, lon: -121.859751 deg, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:16.182Z,1761543496.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-27T05:38:16.241Z,1761543496.241 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.755552 2025-10-27T05:38:16.460Z,1761543496.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784076,0.619099,0.044061],[-0.618302,0.772934,0.142393],[0.054099,-0.138889,0.988829]] 2025-10-27T05:38:16.493Z,1761543496.493 [DAT](INFO): DAT read: Rx Time:05:38:15.1618 2025-10-27T05:38:16.493Z,1761543496.493 [DAT](INFO): Rx dataTimestamp_ set to:1761543496.492768 2025-10-27T05:38:16.494Z,1761543496.494 [DAT](INFO): DAT read: Bearing 314.5, -23.2 (Local) 2025-10-27T05:38:16.495Z,1761543496.495 [DAT](INFO): Local bearing/azimuth received: Bearing 314.5, -23.2 (Local) 2025-10-27T05:38:16.509Z,1761543496.509 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-27T05:38:16.526Z,1761543496.526 [DAT](INFO): DAT read: 05:38:15.1618 LVL= 32752, 29505, 32754, 32755, AGC= 61, IDX= 500, 0.24, 2.634,-1.437,-2.812,-2.489, PHS=-1.058, 1.097,-0.367, RAW= 311.7, 3.5, CAL= 309.3, 0.8, ROT= 200.7, -0.8 2025-10-27T05:38:16.535Z,1761543496.535 [DAT](INFO): got valid direction response: 05:38:15.1618 LVL= 32752, 29505, 32754, 32755, AGC= 61, IDX= 500, 0.24, 2.634,-1.437,-2.812,-2.489, PHS=-1.058, 1.097,-0.367, RAW= 311.7, 3.5, CAL= 309.3, 0.8, ROT= 200.7, -0.8 2025-10-27T05:38:16.535Z,1761543496.535 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:38:16.536Z,1761543496.536 [DAT](INFO): direction in FSK: [-0.935353,-0.353440,0.013962] 2025-10-27T05:38:16.536Z,1761543496.536 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:16.552Z,1761543496.552 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.067144 2025-10-27T05:38:16.564Z,1761543496.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504127 s, deltaX: 0.299999 m, approachRate: 0.595087 m/s, rangeRepo size: 4 2025-10-27T05:38:16.566Z,1761543496.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.334301 m, bearing: 162.112078 deg, lat: 36.779360 deg, lon: -121.859750 deg, deltaT: 0.504127 s, deltaX: 0.298136 m, approachRate: 0.591390 m/s, posRepo size: 4 2025-10-27T05:38:16.566Z,1761543496.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T05:38:16.744Z,1761543496.744 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.258930 2025-10-27T05:38:16.868Z,1761543496.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785746,0.617215,0.040617],[-0.616299,0.775601,0.136453],[0.052718,-0.132249,0.989814]] 2025-10-27T05:38:16.908Z,1761543496.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T05:38:16.997Z,1761543496.997 [DAT](INFO): DAT read: Rx Time:05:38:15.6619 2025-10-27T05:38:16.998Z,1761543496.998 [DAT](INFO): Rx dataTimestamp_ set to:1761543496.997248 2025-10-27T05:38:16.999Z,1761543496.999 [DAT](INFO): DAT read: Bearing 316.8, -19.3 (Local) 2025-10-27T05:38:16.999Z,1761543496.999 [DAT](INFO): Local bearing/azimuth received: Bearing 316.8, -19.3 (Local) 2025-10-27T05:38:17.001Z,1761543497.001 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4 2025-10-27T05:38:17.010Z,1761543497.010 [DAT](INFO): DAT read: 05:38:15.6619 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.08,-0.338, 1.966, 0.420, 0.752, PHS=-0.988, 1.259,-0.377, RAW= 314.7, 1.1, CAL= 312.8, -2.0, ROT= 197.2, 2.0 2025-10-27T05:38:17.011Z,1761543497.011 [DAT](INFO): got valid direction response: 05:38:15.6619 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.08,-0.338, 1.966, 0.420, 0.752, PHS=-0.988, 1.259,-0.377, RAW= 314.7, 1.1, CAL= 312.8, -2.0, ROT= 197.2, 2.0 2025-10-27T05:38:17.011Z,1761543497.011 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:38:17.012Z,1761543497.012 [DAT](INFO): direction in FSK: [-0.954696,-0.295528,-0.034899] 2025-10-27T05:38:17.012Z,1761543497.012 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:17.017Z,1761543497.017 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.531672 2025-10-27T05:38:17.234Z,1761543497.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787228,0.615453,0.038594],[-0.614534,0.777779,0.131937],[0.051184,-0.127582,0.990506]] 2025-10-27T05:38:17.256Z,1761543497.256 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.770998 2025-10-27T05:38:17.298Z,1761543497.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504480 s, deltaX: 0.200001 m, approachRate: 0.396449 m/s, rangeRepo size: 4 2025-10-27T05:38:17.326Z,1761543497.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.533150 m, bearing: 159.353408 deg, lat: 36.779360 deg, lon: -121.859749 deg, deltaT: 0.504480 s, deltaX: 0.198849 m, approachRate: 0.394166 m/s, posRepo size: 4 2025-10-27T05:38:17.332Z,1761543497.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-27T05:38:17.508Z,1761543497.508 [DAT](INFO): DAT read: Rx Time:05:38:16.1621 2025-10-27T05:38:17.509Z,1761543497.509 [DAT](INFO): Rx dataTimestamp_ set to:1761543497.508641 2025-10-27T05:38:17.510Z,1761543497.510 [DAT](INFO): DAT read: Bearing 314.2, -21.8 (Local) 2025-10-27T05:38:17.510Z,1761543497.510 [DAT](INFO): Local bearing/azimuth received: Bearing 314.2, -21.8 (Local) 2025-10-27T05:38:17.513Z,1761543497.513 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3 2025-10-27T05:38:17.517Z,1761543497.517 [DAT](INFO): DAT read: 05:38:16.1621 LVL= 32096, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.25, 2.265,-1.904, 3.029,-2.924, PHS=-0.993, 1.065,-0.375, RAW= 313.0, 3.4, CAL= 310.6, 0.7, ROT= 199.4, -0.7 2025-10-27T05:38:17.518Z,1761543497.518 [DAT](INFO): got valid direction response: 05:38:16.1621 LVL= 32096, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.25, 2.265,-1.904, 3.029,-2.924, PHS=-0.993, 1.065,-0.375, RAW= 313.0, 3.4, CAL= 310.6, 0.7, ROT= 199.4, -0.7 2025-10-27T05:38:17.519Z,1761543497.519 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:38:17.520Z,1761543497.520 [DAT](INFO): direction in FSK: [-0.943152,-0.332136,0.012217] 2025-10-27T05:38:17.520Z,1761543497.520 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:17.524Z,1761543497.524 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.038445 2025-10-27T05:38:17.640Z,1761543497.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788970,0.613246,0.038138],[-0.612389,0.779776,0.130110],[0.050051,-0.126008,0.990766]] 2025-10-27T05:38:17.684Z,1761543497.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.511393 s, deltaX: 0.299999 m, approachRate: 0.586631 m/s, rangeRepo size: 4 2025-10-27T05:38:17.686Z,1761543497.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.831339 m, bearing: 161.326122 deg, lat: 36.779360 deg, lon: -121.859746 deg, deltaT: 0.511393 s, deltaX: 0.298189 m, approachRate: 0.583092 m/s, posRepo size: 4 2025-10-27T05:38:17.686Z,1761543497.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m. 2025-10-27T05:38:17.761Z,1761543497.761 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.275764 2025-10-27T05:38:18.013Z,1761543498.013 [DAT](INFO): DAT read: Rx Time:05:38:16.6621 2025-10-27T05:38:18.013Z,1761543498.013 [DAT](INFO): Rx dataTimestamp_ set to:1761543498.012711 2025-10-27T05:38:18.014Z,1761543498.014 [DAT](INFO): DAT read: Bearing 316.6, -18.7 (Local) 2025-10-27T05:38:18.015Z,1761543498.015 [DAT](INFO): Local bearing/azimuth received: Bearing 316.6, -18.7 (Local) 2025-10-27T05:38:18.017Z,1761543498.017 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3 2025-10-27T05:38:18.021Z,1761543498.021 [DAT](INFO): DAT read: 05:38:16.6621 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.20,-1.959, 0.224,-1.252,-0.930, PHS=-0.926, 1.200,-0.365, RAW= 315.3, 1.0, CAL= 313.3, -2.1, ROT= 196.7, 2.1 2025-10-27T05:38:18.022Z,1761543498.022 [DAT](INFO): got valid direction response: 05:38:16.6621 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.20,-1.959, 0.224,-1.252,-0.930, PHS=-0.926, 1.200,-0.365, RAW= 315.3, 1.0, CAL= 313.3, -2.1, ROT= 196.7, 2.1 2025-10-27T05:38:18.023Z,1761543498.023 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:38:18.024Z,1761543498.024 [DAT](INFO): direction in FSK: [-0.957179,-0.287167,-0.036644] 2025-10-27T05:38:18.024Z,1761543498.024 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:18.050Z,1761543498.050 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.565060 2025-10-27T05:38:18.058Z,1761543498.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790661,0.611049,0.038392],[-0.610310,0.781608,0.128884],[0.048747,-0.125334,0.990916]] 2025-10-27T05:38:18.126Z,1761543498.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:18.132Z,1761543498.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.831339 m, bearing: 159.182429 deg, lat: 36.779363 deg, lon: -121.859746 deg, deltaT: 0.504070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:18.132Z,1761543498.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m. 2025-10-27T05:38:18.267Z,1761543498.267 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.781448 2025-10-27T05:38:18.481Z,1761543498.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792042,0.609265,0.038268],[-0.608594,0.783154,0.127606],[0.047777,-0.124359,0.991086]] 2025-10-27T05:38:18.517Z,1761543498.517 [DAT](INFO): DAT read: Rx Time:05:38:17.1624 2025-10-27T05:38:18.517Z,1761543498.517 [DAT](INFO): Rx dataTimestamp_ set to:1761543498.516796 2025-10-27T05:38:18.518Z,1761543498.518 [DAT](INFO): DAT read: Bearing 312.4, -25.2 (Local) 2025-10-27T05:38:18.519Z,1761543498.519 [DAT](INFO): Local bearing/azimuth received: Bearing 312.4, -25.2 (Local) 2025-10-27T05:38:18.521Z,1761543498.521 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -3.3 2025-10-27T05:38:18.525Z,1761543498.525 [DAT](INFO): DAT read: 05:38:17.1624 LVL= 22672, 25169, 25586, 32179, AGC= 63, IDX= 506,-0.22, 0.711, 2.783, 1.567, 1.858, PHS=-1.045, 0.970,-0.335, RAW= 309.7, 4.7, CAL= 307.3, 2.6, ROT= 202.7, -2.6 2025-10-27T05:38:18.527Z,1761543498.527 [DAT](INFO): got valid direction response: 05:38:17.1624 LVL= 22672, 25169, 25586, 32179, AGC= 63, IDX= 506,-0.22, 0.711, 2.783, 1.567, 1.858, PHS=-1.045, 0.970,-0.335, RAW= 309.7, 4.7, CAL= 307.3, 2.6, ROT= 202.7, -2.6 2025-10-27T05:38:18.531Z,1761543498.531 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:38:18.532Z,1761543498.532 [DAT](INFO): direction in FSK: [-0.921588,-0.385509,0.045363] 2025-10-27T05:38:18.532Z,1761543498.532 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:18.540Z,1761543498.540 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.054871 2025-10-27T05:38:18.604Z,1761543498.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504085 s, deltaX: 0.400001 m, approachRate: 0.793518 m/s, rangeRepo size: 4 2025-10-27T05:38:18.606Z,1761543498.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.229396 m, bearing: 164.629172 deg, lat: 36.779360 deg, lon: -121.859746 deg, deltaT: 0.504085 s, deltaX: 0.398057 m, approachRate: 0.789662 m/s, posRepo size: 4 2025-10-27T05:38:18.606Z,1761543498.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T05:38:18.768Z,1761543498.768 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.283043 2025-10-27T05:38:18.883Z,1761543498.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792868,0.608197,0.038166],[-0.607595,0.784170,0.126115],[0.046774,-0.123182,0.991281]] 2025-10-27T05:38:18.918Z,1761543498.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T05:38:19.022Z,1761543499.022 [DAT](INFO): DAT read: Rx Time:05:38:17.6623 2025-10-27T05:38:19.022Z,1761543499.022 [DAT](INFO): Rx dataTimestamp_ set to:1761543499.021815 2025-10-27T05:38:19.023Z,1761543499.023 [DAT](INFO): DAT read: Bearing 315.4, -24.5 (Local) 2025-10-27T05:38:19.024Z,1761543499.024 [DAT](INFO): Local bearing/azimuth received: Bearing 315.4, -24.5 (Local) 2025-10-27T05:38:19.026Z,1761543499.026 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.3 2025-10-27T05:38:19.030Z,1761543499.030 [DAT](INFO): DAT read: 05:38:17.6623 LVL= 29424, 32753, 32754, 32755, AGC= 62, IDX= 490,-0.32, 1.463,-2.641, 2.340, 2.606, PHS=-1.041, 1.082,-0.310, RAW= 310.2, 2.9, CAL= 307.8, -0.2, ROT= 202.2, 0.2 2025-10-27T05:38:19.032Z,1761543499.032 [DAT](INFO): got valid direction response: 05:38:17.6623 LVL= 29424, 32753, 32754, 32755, AGC= 62, IDX= 490,-0.32, 1.463,-2.641, 2.340, 2.606, PHS=-1.041, 1.082,-0.310, RAW= 310.2, 2.9, CAL= 307.8, -0.2, ROT= 202.2, 0.2 2025-10-27T05:38:19.032Z,1761543499.032 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:38:19.033Z,1761543499.033 [DAT](INFO): direction in FSK: [-0.925865,-0.377838,-0.003491] 2025-10-27T05:38:19.033Z,1761543499.033 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:19.044Z,1761543499.044 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.559025 2025-10-27T05:38:19.265Z,1761543499.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792558,0.608602,0.038149],[-0.608080,0.784088,0.124277],[0.045723,-0.121695,0.991514]] 2025-10-27T05:38:19.272Z,1761543499.272 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.786617 2025-10-27T05:38:19.362Z,1761543499.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.505019 s, deltaX: -0.100000 m, approachRate: -0.198013 m/s, rangeRepo size: 4 2025-10-27T05:38:19.365Z,1761543499.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.129970 m, bearing: 164.555350 deg, lat: 36.779360 deg, lon: -121.859746 deg, deltaT: 0.505019 s, deltaX: -0.099426 m, approachRate: -0.196876 m/s, posRepo size: 4 2025-10-27T05:38:19.365Z,1761543499.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-27T05:38:19.525Z,1761543499.525 [DAT](INFO): DAT read: Rx Time:05:38:18.1625 2025-10-27T05:38:19.525Z,1761543499.525 [DAT](INFO): Rx dataTimestamp_ set to:1761543499.524828 2025-10-27T05:38:19.526Z,1761543499.526 [DAT](INFO): DAT read: Bearing 314.3, -23.5 (Local) 2025-10-27T05:38:19.527Z,1761543499.527 [DAT](INFO): Local bearing/azimuth received: Bearing 314.3, -23.5 (Local) 2025-10-27T05:38:19.529Z,1761543499.529 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.2 2025-10-27T05:38:19.537Z,1761543499.537 [DAT](INFO): DAT read: 05:38:18.1625 LVL= 32752, 25665, 32754, 32755, AGC= 63, IDX= 508,-0.40,-2.723,-0.559,-1.886,-1.586, PHS=-1.035, 1.072,-0.344, RAW= 311.2, 3.3, CAL= 308.8, 0.5, ROT= 201.2, -0.5 2025-10-27T05:38:19.538Z,1761543499.538 [DAT](INFO): got valid direction response: 05:38:18.1625 LVL= 32752, 25665, 32754, 32755, AGC= 63, IDX= 508,-0.40,-2.723,-0.559,-1.886,-1.586, PHS=-1.035, 1.072,-0.344, RAW= 311.2, 3.3, CAL= 308.8, 0.5, ROT= 201.2, -0.5 2025-10-27T05:38:19.539Z,1761543499.539 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:38:19.541Z,1761543499.541 [DAT](INFO): direction in FSK: [-0.932288,-0.361611,0.008727] 2025-10-27T05:38:19.541Z,1761543499.541 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:19.548Z,1761543499.548 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.063122 2025-10-27T05:38:19.670Z,1761543499.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792221,0.608986,0.039010],[-0.608590,0.783781,0.123717],[0.044767,-0.121752,0.991550]] 2025-10-27T05:38:19.763Z,1761543499.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503013 s, deltaX: 0.300000 m, approachRate: 0.596406 m/s, rangeRepo size: 4 2025-10-27T05:38:19.765Z,1761543499.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.428714 m, bearing: 163.437887 deg, lat: 36.779360 deg, lon: -121.859749 deg, deltaT: 0.503013 s, deltaX: 0.298744 m, approachRate: 0.593910 m/s, posRepo size: 4 2025-10-27T05:38:19.765Z,1761543499.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-27T05:38:19.776Z,1761543499.776 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.290874 2025-10-27T05:38:20.029Z,1761543500.029 [DAT](INFO): DAT read: Rx Time:05:38:18.6625 2025-10-27T05:38:20.029Z,1761543500.029 [DAT](INFO): Rx dataTimestamp_ set to:1761543500.028778 2025-10-27T05:38:20.030Z,1761543500.030 [DAT](INFO): DAT read: Bearing 312.1, -24.9 (Local) 2025-10-27T05:38:20.031Z,1761543500.031 [DAT](INFO): Local bearing/azimuth received: Bearing 312.1, -24.9 (Local) 2025-10-27T05:38:20.033Z,1761543500.033 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.3 2025-10-27T05:38:20.037Z,1761543500.037 [DAT](INFO): DAT read: 05:38:18.6625 LVL= 32752, 27633, 32754, 32755, AGC= 66, IDX= 508,-0.40, 2.060,-2.060, 2.933,-3.036, PHS=-1.086, 1.020,-0.358, RAW= 310.1, 4.6, CAL= 307.8, 2.6, ROT= 202.2, -2.6 2025-10-27T05:38:20.039Z,1761543500.039 [DAT](INFO): got valid direction response: 05:38:18.6625 LVL= 32752, 27633, 32754, 32755, AGC= 66, IDX= 508,-0.40, 2.060,-2.060, 2.933,-3.036, PHS=-1.086, 1.020,-0.358, RAW= 310.1, 4.6, CAL= 307.8, 2.6, ROT= 202.2, -2.6 2025-10-27T05:38:20.039Z,1761543500.039 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:38:20.040Z,1761543500.040 [DAT](INFO): direction in FSK: [-0.924918,-0.377452,0.045363] 2025-10-27T05:38:20.040Z,1761543500.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:20.068Z,1761543500.068 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.582771 2025-10-27T05:38:20.095Z,1761543500.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791522,0.609879,0.039248],[-0.609548,0.783195,0.122707],[0.044097,-0.121049,0.991667]] 2025-10-27T05:38:20.144Z,1761543500.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:20.146Z,1761543500.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.428714 m, bearing: 164.093332 deg, lat: 36.779360 deg, lon: -121.859751 deg, deltaT: 0.503950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:20.146Z,1761543500.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-27T05:38:20.280Z,1761543500.280 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.795002 2025-10-27T05:38:20.510Z,1761543500.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790840,0.610778,0.039012],[-0.610459,0.782664,0.121559],[0.043712,-0.119949,0.991817]] 2025-10-27T05:38:20.533Z,1761543500.533 [DAT](INFO): DAT read: Rx Time:05:38:19.1625 2025-10-27T05:38:20.533Z,1761543500.533 [DAT](INFO): Rx dataTimestamp_ set to:1761543500.532738 2025-10-27T05:38:20.534Z,1761543500.534 [DAT](INFO): DAT read: Bearing 315.2, -25.8 (Local) 2025-10-27T05:38:20.535Z,1761543500.535 [DAT](INFO): Local bearing/azimuth received: Bearing 315.2, -25.8 (Local) 2025-10-27T05:38:20.541Z,1761543500.541 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-27T05:38:20.562Z,1761543500.562 [DAT](INFO): DAT read: 05:38:19.1625 LVL= 32752, 21489, 30482, 32755, AGC= 63, IDX= 508, 0.45,-2.723,-0.536,-1.802,-1.558, PHS=-1.062, 1.067,-0.288, RAW= 308.9, 3.1, CAL= 306.5, -0.2, ROT= 203.5, 0.2 2025-10-27T05:38:20.575Z,1761543500.575 [DAT](INFO): got valid direction response: 05:38:19.1625 LVL= 32752, 21489, 30482, 32755, AGC= 63, IDX= 508, 0.45,-2.723,-0.536,-1.802,-1.558, PHS=-1.062, 1.067,-0.288, RAW= 308.9, 3.1, CAL= 306.5, -0.2, ROT= 203.5, 0.2 2025-10-27T05:38:20.575Z,1761543500.575 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:38:20.576Z,1761543500.576 [DAT](INFO): direction in FSK: [-0.917055,-0.398747,-0.003491] 2025-10-27T05:38:20.577Z,1761543500.577 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:20.592Z,1761543500.592 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.107250 2025-10-27T05:38:20.617Z,1761543500.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503960 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:20.624Z,1761543500.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.428549 m, bearing: 165.681144 deg, lat: 36.779360 deg, lon: -121.859753 deg, deltaT: 0.503960 s, deltaX: -0.000165 m, approachRate: -0.000327 m/s, posRepo size: 4 2025-10-27T05:38:20.624Z,1761543500.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-27T05:38:20.784Z,1761543500.784 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.298904 2025-10-27T05:38:20.886Z,1761543500.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789796,0.612136,0.038892],[-0.611814,0.781695,0.120981],[0.043655,-0.119345,0.991893]] 2025-10-27T05:38:20.938Z,1761543500.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-27T05:38:21.037Z,1761543501.037 [DAT](INFO): DAT read: Rx Time:05:38:19.6625 2025-10-27T05:38:21.037Z,1761543501.037 [DAT](INFO): Rx dataTimestamp_ set to:1761543501.036805 2025-10-27T05:38:21.038Z,1761543501.038 [DAT](INFO): DAT read: Bearing 312.6, -27.1 (Local) 2025-10-27T05:38:21.039Z,1761543501.039 [DAT](INFO): Local bearing/azimuth received: Bearing 312.6, -27.1 (Local) 2025-10-27T05:38:21.041Z,1761543501.041 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.3 2025-10-27T05:38:21.048Z,1761543501.048 [DAT](INFO): DAT read: 05:38:19.6625 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 508, 0.45, 1.782,-2.338, 2.728, 2.989, PHS=-1.105, 1.001,-0.305, RAW= 307.9, 4.5, CAL= 305.5, 2.1, ROT= 204.5, -2.1 2025-10-27T05:38:21.050Z,1761543501.050 [DAT](INFO): got valid direction response: 05:38:19.6625 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 508, 0.45, 1.782,-2.338, 2.728, 2.989, PHS=-1.105, 1.001,-0.305, RAW= 307.9, 4.5, CAL= 305.5, 2.1, ROT= 204.5, -2.1 2025-10-27T05:38:21.050Z,1761543501.050 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:38:21.052Z,1761543501.052 [DAT](INFO): direction in FSK: [-0.909350,-0.414415,0.036644] 2025-10-27T05:38:21.052Z,1761543501.052 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:21.059Z,1761543501.059 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.573360 2025-10-27T05:38:21.286Z,1761543501.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788504,0.613787,0.039077],[-0.613479,0.780418,0.120793],[0.043645,-0.119219,0.991908]] 2025-10-27T05:38:21.291Z,1761543501.291 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.805176 2025-10-27T05:38:21.382Z,1761543501.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504067 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:21.393Z,1761543501.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.428549 m, bearing: 166.164759 deg, lat: 36.779360 deg, lon: -121.859753 deg, deltaT: 0.504067 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:21.393Z,1761543501.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-27T05:38:21.541Z,1761543501.541 [DAT](INFO): DAT read: Rx Time:05:38:20.1627 2025-10-27T05:38:21.541Z,1761543501.541 [DAT](INFO): Rx dataTimestamp_ set to:1761543501.540891 2025-10-27T05:38:21.542Z,1761543501.542 [DAT](INFO): DAT read: Bearing 314.4, -27.6 (Local) 2025-10-27T05:38:21.543Z,1761543501.543 [DAT](INFO): Local bearing/azimuth received: Bearing 314.4, -27.6 (Local) 2025-10-27T05:38:21.545Z,1761543501.545 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.2 2025-10-27T05:38:21.550Z,1761543501.550 [DAT](INFO): DAT read: 05:38:20.1627 LVL= 32752, 24337, 32402, 32755, AGC= 65, IDX= 510, 0.29,-2.239,-0.052,-1.261,-1.038, PHS=-1.099, 1.030,-0.268, RAW= 307.2, 3.7, CAL= 304.8, 0.5, ROT= 205.2, -0.5 2025-10-27T05:38:21.551Z,1761543501.551 [DAT](INFO): got valid direction response: 05:38:20.1627 LVL= 32752, 24337, 32402, 32755, AGC= 65, IDX= 510, 0.29,-2.239,-0.052,-1.261,-1.038, PHS=-1.099, 1.030,-0.268, RAW= 307.2, 3.7, CAL= 304.8, 0.5, ROT= 205.2, -0.5 2025-10-27T05:38:21.551Z,1761543501.551 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:38:21.552Z,1761543501.552 [DAT](INFO): direction in FSK: [-0.904793,-0.425763,0.008727] 2025-10-27T05:38:21.552Z,1761543501.552 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:21.565Z,1761543501.565 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.080223 2025-10-27T05:38:21.738Z,1761543501.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786861,0.615942,0.038283],[-0.615583,0.778988,0.119313],[0.043668,-0.117449,0.992118]] 2025-10-27T05:38:21.780Z,1761543501.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504086 s, deltaX: 0.300000 m, approachRate: 0.595137 m/s, rangeRepo size: 4 2025-10-27T05:38:21.782Z,1761543501.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.726562 m, bearing: 166.915146 deg, lat: 36.779360 deg, lon: -121.859755 deg, deltaT: 0.504086 s, deltaX: 0.298014 m, approachRate: 0.591196 m/s, posRepo size: 4 2025-10-27T05:38:21.794Z,1761543501.794 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.308590 2025-10-27T05:38:21.808Z,1761543501.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T05:38:22.044Z,1761543502.044 [DAT](INFO): DAT read: Rx Time:05:38:20.6627 2025-10-27T05:38:22.045Z,1761543502.045 [DAT](INFO): Rx dataTimestamp_ set to:1761543502.044645 2025-10-27T05:38:22.046Z,1761543502.046 [DAT](INFO): DAT read: Bearing 312.5, -27.9 (Local) 2025-10-27T05:38:22.046Z,1761543502.046 [DAT](INFO): Local bearing/azimuth received: Bearing 312.5, -27.9 (Local) 2025-10-27T05:38:22.062Z,1761543502.062 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 2025-10-27T05:38:22.091Z,1761543502.091 [DAT](INFO): DAT read: 05:38:20.6627 LVL= 32752, 29649, 32754, 32755, AGC= 67, IDX= 510, 0.22, 2.429,-1.706,-2.887,-2.646, PHS=-1.107, 0.985,-0.285, RAW= 307.1, 4.5, CAL= 304.7, 2.0, ROT= 205.3, -2.0 2025-10-27T05:38:22.124Z,1761543502.124 [DAT](INFO): got valid direction response: 05:38:20.6627 LVL= 32752, 29649, 32754, 32755, AGC= 67, IDX= 510, 0.22, 2.429,-1.706,-2.887,-2.646, PHS=-1.107, 0.985,-0.285, RAW= 307.1, 4.5, CAL= 304.7, 2.0, ROT= 205.3, -2.0 2025-10-27T05:38:22.125Z,1761543502.125 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:38:22.126Z,1761543502.126 [DAT](INFO): direction in FSK: [-0.903532,-0.427098,0.034899] 2025-10-27T05:38:22.126Z,1761543502.126 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:22.138Z,1761543502.138 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.652729 2025-10-27T05:38:22.243Z,1761543502.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:22.266Z,1761543502.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.726562 m, bearing: 166.826910 deg, lat: 36.779360 deg, lon: -121.859757 deg, deltaT: 0.503754 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:22.269Z,1761543502.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T05:38:22.299Z,1761543502.299 [DAT](INFO): DAT read: Rx Time:05:38:21.1629 2025-10-27T05:38:22.301Z,1761543502.301 [DAT](INFO): Rx dataTimestamp_ set to:1761543502.299949 2025-10-27T05:38:22.304Z,1761543502.304 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.817062 2025-10-27T05:38:22.549Z,1761543502.549 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.0 2025-10-27T05:38:22.549Z,1761543502.549 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-27T05:38:22.550Z,1761543502.550 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.065121 2025-10-27T05:38:22.551Z,1761543502.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783442,0.620382,0.036673],[-0.619910,0.775948,0.116685],[0.043933,-0.114150,0.992492]] 2025-10-27T05:38:22.636Z,1761543502.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.502875 s, deltaX: 0.300000 m, approachRate: 0.596570 m/s, rangeRepo size: 4 2025-10-27T05:38:22.636Z,1761543502.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T05:38:22.803Z,1761543502.803 [DAT](INFO): DAT read: Rx Time:05:38:21.6629 2025-10-27T05:38:22.805Z,1761543502.805 [DAT](INFO): Rx dataTimestamp_ set to:1761543502.803895 2025-10-27T05:38:22.808Z,1761543502.808 [DAT](INFO): DAT read: Bearing 278.9, -26.3 (Local) 2025-10-27T05:38:22.809Z,1761543502.809 [DAT](INFO): Local bearing/azimuth received: Bearing 278.9, -26.3 (Local) 2025-10-27T05:38:22.811Z,1761543502.811 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.325024 2025-10-27T05:38:22.949Z,1761543502.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781663,0.622678,0.035697],[-0.622146,0.774400,0.115057],[0.044000,-0.112145,0.992717]] 2025-10-27T05:38:22.968Z,1761543502.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-27T05:38:23.055Z,1761543503.055 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-27T05:38:23.060Z,1761543503.060 [DAT](INFO): DAT read: 05:38:21.6629 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 512, 0.11,-0.797, 0.565,-0.108, 0.446, PHS=-1.141, 0.164,-0.598, RAW= 305.5, 26.1, CAL= 305.8, 31.7, ROT= 204.2, -31.7 2025-10-27T05:38:23.061Z,1761543503.061 [DAT](INFO): got valid direction response: 05:38:21.6629 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 512, 0.11,-0.797, 0.565,-0.108, 0.446, PHS=-1.141, 0.164,-0.598, RAW= 305.5, 26.1, CAL= 305.8, 31.7, ROT= 204.2, -31.7 2025-10-27T05:38:23.061Z,1761543503.061 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:38:23.062Z,1761543503.062 [DAT](INFO): direction in FSK: [-0.776042,-0.348767,0.525472] 2025-10-27T05:38:23.062Z,1761543503.062 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:23.077Z,1761543503.077 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.591991 2025-10-27T05:38:23.307Z,1761543503.307 [DAT](INFO): DAT read: Rx Time:05:38:22.1631 2025-10-27T05:38:23.309Z,1761543503.309 [DAT](INFO): Rx dataTimestamp_ set to:1761543503.307813 2025-10-27T05:38:23.311Z,1761543503.311 [DAT](INFO): DAT read: Bearing 313.8, -28.1 (Local) 2025-10-27T05:38:23.312Z,1761543503.312 [DAT](INFO): Local bearing/azimuth received: Bearing 313.8, -28.1 (Local) 2025-10-27T05:38:23.314Z,1761543503.314 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.828503 2025-10-27T05:38:23.379Z,1761543503.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779738,0.625141,0.034753],[-0.624548,0.772686,0.113556],[0.044136,-0.110249,0.992924]] 2025-10-27T05:38:23.448Z,1761543503.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:23.450Z,1761543503.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.024045 m, bearing: 161.145373 deg, lat: 36.779361 deg, lon: -121.859757 deg, deltaT: 1.007079 s, deltaX: 0.297482 m, approachRate: 0.295391 m/s, posRepo size: 4 2025-10-27T05:38:23.450Z,1761543503.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-27T05:38:23.570Z,1761543503.570 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.3 2025-10-27T05:38:23.574Z,1761543503.574 [DAT](INFO): DAT read: 05:38:22.1631 LVL= 32752, 25633, 32754, 32755, AGC= 69, IDX= 2, 0.05,-3.101,-0.944,-2.116,-1.906, PHS=-1.093, 1.007,-0.254, RAW= 306.6, 3.7, CAL= 304.2, 0.6, ROT= 205.8, -0.6 2025-10-27T05:38:23.580Z,1761543503.580 [DAT](INFO): got valid direction response: 05:38:22.1631 LVL= 32752, 25633, 32754, 32755, AGC= 69, IDX= 2, 0.05,-3.101,-0.944,-2.116,-1.906, PHS=-1.093, 1.007,-0.254, RAW= 306.6, 3.7, CAL= 304.2, 0.6, ROT= 205.8, -0.6 2025-10-27T05:38:23.580Z,1761543503.580 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:38:23.581Z,1761543503.581 [DAT](INFO): direction in FSK: [-0.900269,-0.435207,0.010472] 2025-10-27T05:38:23.582Z,1761543503.582 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:23.585Z,1761543503.585 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.100204 2025-10-27T05:38:23.745Z,1761543503.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777716,0.627703,0.033868],[-0.627053,0.770856,0.112185],[0.044312,-0.108485,0.993110]] 2025-10-27T05:38:23.811Z,1761543503.811 [DAT](INFO): DAT read: Rx Time:05:38:22.6631 2025-10-27T05:38:23.813Z,1761543503.813 [DAT](INFO): Rx dataTimestamp_ set to:1761543503.811857 2025-10-27T05:38:23.816Z,1761543503.816 [DAT](INFO): DAT read: Bearing 313.7, -27.9 (Local) 2025-10-27T05:38:23.817Z,1761543503.817 [DAT](INFO): Local bearing/azimuth received: Bearing 313.7, -27.9 (Local) 2025-10-27T05:38:23.821Z,1761543503.821 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 2025-10-27T05:38:23.842Z,1761543503.842 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-27T05:38:23.852Z,1761543503.852 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.367271 2025-10-27T05:38:23.971Z,1761543503.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.760133 s, deltaX: 0.299999 m, approachRate: 0.394667 m/s, rangeRepo size: 4 2025-10-27T05:38:23.973Z,1761543503.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.322182 m, bearing: 166.688519 deg, lat: 36.779361 deg, lon: -121.859758 deg, deltaT: 0.760133 s, deltaX: 0.298137 m, approachRate: 0.392217 m/s, posRepo size: 4 2025-10-27T05:38:23.974Z,1761543503.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m. 2025-10-27T05:38:24.065Z,1761543504.065 [DAT](INFO): DAT read: 05:38:22.6631 LVL= 32752, 26369, 32754, 32755, AGC= 66, IDX= 498, 0.03, 1.495,-2.627, 2.475, 2.688, PHS=-1.091, 1.014,-0.257, RAW= 306.8, 3.7, CAL= 304.4, 0.5, ROT= 205.6, -0.5 2025-10-27T05:38:24.066Z,1761543504.066 [DAT](INFO): got valid direction response: 05:38:22.6631 LVL= 32752, 26369, 32754, 32755, AGC= 66, IDX= 498, 0.03, 1.495,-2.627, 2.475, 2.688, PHS=-1.091, 1.014,-0.257, RAW= 306.8, 3.7, CAL= 304.4, 0.5, ROT= 205.6, -0.5 2025-10-27T05:38:24.067Z,1761543504.067 [DAT](INFO): #Rx 82: Read direction message, but no range. 2025-10-27T05:38:24.068Z,1761543504.068 [DAT](INFO): direction in FSK: [-0.901798,-0.432069,0.008727] 2025-10-27T05:38:24.072Z,1761543504.072 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.586506 2025-10-27T05:38:24.194Z,1761543504.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776022,0.629882,0.032232],[-0.629140,0.769483,0.109904],[0.044424,-0.105566,0.993419]] 2025-10-27T05:38:24.219Z,1761543504.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m. 2025-10-27T05:38:24.316Z,1761543504.316 [DAT](INFO): DAT read: Rx Time:05:38:23.1632 2025-10-27T05:38:24.318Z,1761543504.318 [DAT](INFO): Rx dataTimestamp_ set to:1761543504.316678 2025-10-27T05:38:24.334Z,1761543504.334 [DAT](INFO): DAT read: Bearing 314.4, -27.8 (Local) 2025-10-27T05:38:24.335Z,1761543504.335 [DAT](INFO): Local bearing/azimuth received: Bearing 314.4, -27.8 (Local) 2025-10-27T05:38:24.371Z,1761543504.371 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3 2025-10-27T05:38:24.388Z,1761543504.388 [DAT](INFO): DAT read: 05:38:23.1632 LVL= 32752, 24785, 32754, 32755, AGC= 65, IDX= 499, 0.04, 1.461,-2.653, 2.448, 2.642, PHS=-1.079, 1.034,-0.237, RAW= 306.7, 3.1, CAL= 304.3, -0.4, ROT= 205.7, 0.4 2025-10-27T05:38:24.389Z,1761543504.389 [DAT](INFO): got valid direction response: 05:38:23.1632 LVL= 32752, 24785, 32754, 32755, AGC= 65, IDX= 499, 0.04, 1.461,-2.653, 2.448, 2.642, PHS=-1.079, 1.034,-0.237, RAW= 306.7, 3.1, CAL= 304.3, -0.4, ROT= 205.7, 0.4 2025-10-27T05:38:24.390Z,1761543504.390 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:38:24.399Z,1761543504.399 [DAT](INFO): direction in FSK: [-0.901055,-0.433648,-0.006981] 2025-10-27T05:38:24.399Z,1761543504.399 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:24.403Z,1761543504.403 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=38.917526 2025-10-27T05:38:24.566Z,1761543504.566 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.080364 2025-10-27T05:38:24.594Z,1761543504.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774263,0.632181,0.029403],[-0.631287,0.768221,0.106364],[0.044653,-0.100915,0.993892]] 2025-10-27T05:38:24.684Z,1761543504.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504821 s, deltaX: 0.100000 m, approachRate: 0.198091 m/s, rangeRepo size: 4 2025-10-27T05:38:24.686Z,1761543504.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.421680 m, bearing: 166.411598 deg, lat: 36.779361 deg, lon: -121.859759 deg, deltaT: 0.504821 s, deltaX: 0.099499 m, approachRate: 0.197097 m/s, posRepo size: 4 2025-10-27T05:38:24.686Z,1761543504.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-27T05:38:24.820Z,1761543504.820 [DAT](INFO): DAT read: Rx Time:05:38:23.6632 2025-10-27T05:38:24.822Z,1761543504.822 [DAT](INFO): Rx dataTimestamp_ set to:1761543504.821062 2025-10-27T05:38:24.826Z,1761543504.826 [DAT](INFO): DAT read: Bearing 313.3, -28.4 (Local) 2025-10-27T05:38:24.827Z,1761543504.827 [DAT](INFO): Local bearing/azimuth received: Bearing 313.3, -28.4 (Local) 2025-10-27T05:38:24.832Z,1761543504.832 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 2025-10-27T05:38:24.834Z,1761543504.834 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-27T05:38:24.851Z,1761543504.851 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.353325 2025-10-27T05:38:24.994Z,1761543504.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772884,0.633963,0.027235],[-0.632963,0.767212,0.103655],[0.044818,-0.097353,0.994240]] 2025-10-27T05:38:25.040Z,1761543505.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504384 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:25.040Z,1761543505.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-27T05:38:25.081Z,1761543505.081 [DAT](INFO): DAT read: 05:38:23.6632 LVL= 32752, 31521, 32754, 32755, AGC= 67, IDX= 499, 0.12, 0.127, 2.302, 1.129, 1.335, PHS=-1.106, 1.012,-0.249, RAW= 306.3, 3.8, CAL= 303.9, 0.5, ROT= 206.1, -0.5 2025-10-27T05:38:25.092Z,1761543505.092 [DAT](INFO): got valid direction response: 05:38:23.6632 LVL= 32752, 31521, 32754, 32755, AGC= 67, IDX= 499, 0.12, 0.127, 2.302, 1.129, 1.335, PHS=-1.106, 1.012,-0.249, RAW= 306.3, 3.8, CAL= 303.9, 0.5, ROT= 206.1, -0.5 2025-10-27T05:38:25.092Z,1761543505.092 [DAT](INFO): #Rx 85: Read direction message, but no range. 2025-10-27T05:38:25.094Z,1761543505.094 [DAT](INFO): direction in FSK: [-0.897993,-0.439922,0.008727] 2025-10-27T05:38:25.128Z,1761543505.128 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=39.613640 2025-10-27T05:38:25.324Z,1761543505.324 [DAT](INFO): DAT read: Rx Time:05:38:24.1634 2025-10-27T05:38:25.325Z,1761543505.325 [DAT](INFO): Rx dataTimestamp_ set to:1761543505.324060 2025-10-27T05:38:25.328Z,1761543505.328 [DAT](INFO): DAT read: Bearing 313.9, -27.6 (Local) 2025-10-27T05:38:25.329Z,1761543505.329 [DAT](INFO): Local bearing/azimuth received: Bearing 313.9, -27.6 (Local) 2025-10-27T05:38:25.334Z,1761543505.334 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3 2025-10-27T05:38:25.336Z,1761543505.336 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-27T05:38:25.348Z,1761543505.348 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=39.853676 2025-10-27T05:38:25.398Z,1761543505.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771719,0.635456,0.025413],[-0.634379,0.766360,0.101277],[0.044881,-0.094279,0.994534]] 2025-10-27T05:38:25.462Z,1761543505.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.502998 s, deltaX: 0.300000 m, approachRate: 0.596424 m/s, rangeRepo size: 4 2025-10-27T05:38:25.470Z,1761543505.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.719940 m, bearing: 166.501252 deg, lat: 36.779361 deg, lon: -121.859761 deg, deltaT: 1.007382 s, deltaX: 0.298260 m, approachRate: 0.296074 m/s, posRepo size: 4 2025-10-27T05:38:25.475Z,1761543505.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-27T05:38:25.602Z,1761543505.602 [DAT](INFO): DAT read: 05:38:24.1634 LVL= 32752, 26353, 32754, 32755, AGC= 64, IDX= 501, 0.13, 1.640,-2.484, 2.617, 2.817, PHS=-1.075, 1.027,-0.244, RAW= 306.9, 3.2, CAL= 304.5, -0.2, ROT= 205.5, 0.2 2025-10-27T05:38:25.603Z,1761543505.603 [DAT](INFO): got valid direction response: 05:38:24.1634 LVL= 32752, 26353, 32754, 32755, AGC= 64, IDX= 501, 0.13, 1.640,-2.484, 2.617, 2.817, PHS=-1.075, 1.027,-0.244, RAW= 306.9, 3.2, CAL= 304.5, -0.2, ROT= 205.5, 0.2 2025-10-27T05:38:25.604Z,1761543505.604 [DAT](INFO): #Rx 87: Read direction message, but no range. 2025-10-27T05:38:25.605Z,1761543505.605 [DAT](INFO): direction in FSK: [-0.902580,-0.430508,-0.003491] 2025-10-27T05:38:25.608Z,1761543505.608 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.123074 2025-10-27T05:38:25.828Z,1761543505.828 [DAT](INFO): DAT read: Rx Time:05:38:24.6634 2025-10-27T05:38:25.829Z,1761543505.829 [DAT](INFO): Rx dataTimestamp_ set to:1761543505.828520 2025-10-27T05:38:25.833Z,1761543505.833 [DAT](INFO): DAT read: Bearing 313.2, -27.9 (Local) 2025-10-27T05:38:25.834Z,1761543505.834 [DAT](INFO): Local bearing/azimuth received: Bearing 313.2, -27.9 (Local) 2025-10-27T05:38:25.849Z,1761543505.849 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3 2025-10-27T05:38:25.850Z,1761543505.850 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-27T05:38:25.851Z,1761543505.851 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=40.365845 2025-10-27T05:38:25.866Z,1761543505.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770465,0.637034,0.023896],[-0.635881,0.765335,0.099589],[0.045153,-0.091925,0.994742]] 2025-10-27T05:38:25.000Z,1761543506.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504460 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:26.002Z,1761543506.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.719983 m, bearing: 165.871019 deg, lat: 36.779361 deg, lon: -121.859762 deg, deltaT: 0.504460 s, deltaX: 0.000043 m, approachRate: 0.000085 m/s, posRepo size: 4 2025-10-27T05:38:26.002Z,1761543506.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-27T05:38:26.082Z,1761543506.082 [DAT](INFO): DAT read: 05:38:24.6634 LVL= 32752, 27937, 32754, 32755, AGC= 65, IDX= 501, 0.29, 0.660, 2.822, 1.646, 1.854, PHS=-1.092, 1.013,-0.252, RAW= 306.6, 3.6, CAL= 304.2, 0.4, ROT= 205.8, -0.4 2025-10-27T05:38:26.084Z,1761543506.084 [DAT](INFO): got valid direction response: 05:38:24.6634 LVL= 32752, 27937, 32754, 32755, AGC= 65, IDX= 501, 0.29, 0.660, 2.822, 1.646, 1.854, PHS=-1.092, 1.013,-0.252, RAW= 306.6, 3.6, CAL= 304.2, 0.4, ROT= 205.8, -0.4 2025-10-27T05:38:26.084Z,1761543506.084 [DAT](INFO): #Rx 89: Read direction message, but no range. 2025-10-27T05:38:26.086Z,1761543506.086 [DAT](INFO): direction in FSK: [-0.900297,-0.435221,0.006981] 2025-10-27T05:38:26.091Z,1761543506.091 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=40.606308 2025-10-27T05:38:26.256Z,1761543506.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769630,0.638113,0.021940],[-0.636878,0.764794,0.097349],[0.045340,-0.088896,0.995008]] 2025-10-27T05:38:26.305Z,1761543506.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-27T05:38:26.332Z,1761543506.332 [DAT](INFO): DAT read: Rx Time:05:38:25.1636 2025-10-27T05:38:26.334Z,1761543506.334 [DAT](INFO): Rx dataTimestamp_ set to:1761543506.332782 2025-10-27T05:38:26.337Z,1761543506.337 [DAT](INFO): DAT read: Bearing 311.8, -27.6 (Local) 2025-10-27T05:38:26.338Z,1761543506.338 [DAT](INFO): Local bearing/azimuth received: Bearing 311.8, -27.6 (Local) 2025-10-27T05:38:26.346Z,1761543506.346 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 2025-10-27T05:38:26.385Z,1761543506.385 [DAT](INFO): DAT read: 05:38:25.1636 LVL= 32752, 29761, 32754, 32755, AGC= 65, IDX= 504,-0.37,-0.864, 1.294, 0.110, 0.340, PHS=-1.102, 0.998,-0.274, RAW= 307.0, 4.2, CAL= 304.6, 1.4, ROT= 205.4, -1.4 2025-10-27T05:38:26.386Z,1761543506.386 [DAT](INFO): got valid direction response: 05:38:25.1636 LVL= 32752, 29761, 32754, 32755, AGC= 65, IDX= 504,-0.37,-0.864, 1.294, 0.110, 0.340, PHS=-1.102, 0.998,-0.274, RAW= 307.0, 4.2, CAL= 304.6, 1.4, ROT= 205.4, -1.4 2025-10-27T05:38:26.393Z,1761543506.393 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:38:26.394Z,1761543506.394 [DAT](INFO): direction in FSK: [-0.903066,-0.428807,0.024432] 2025-10-27T05:38:26.394Z,1761543506.394 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:26.417Z,1761543506.417 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.931721 2025-10-27T05:38:26.582Z,1761543506.582 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=41.096554 2025-10-27T05:38:26.658Z,1761543506.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769078,0.638829,0.020410],[-0.637534,0.764463,0.095642],[0.045496,-0.086568,0.995207]] 2025-10-27T05:38:26.742Z,1761543506.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504262 s, deltaX: 0.300000 m, approachRate: 0.594929 m/s, rangeRepo size: 4 2025-10-27T05:38:26.744Z,1761543506.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.018613 m, bearing: 165.503734 deg, lat: 36.779361 deg, lon: -121.859763 deg, deltaT: 0.504262 s, deltaX: 0.298630 m, approachRate: 0.592211 m/s, posRepo size: 4 2025-10-27T05:38:26.744Z,1761543506.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-27T05:38:26.836Z,1761543506.836 [DAT](INFO): DAT read: Rx Time:05:38:25.6637 2025-10-27T05:38:26.838Z,1761543506.838 [DAT](INFO): Rx dataTimestamp_ set to:1761543506.836758 2025-10-27T05:38:26.841Z,1761543506.841 [DAT](INFO): DAT read: Bearing 313.4, -27.2 (Local) 2025-10-27T05:38:26.842Z,1761543506.842 [DAT](INFO): Local bearing/azimuth received: Bearing 313.4, -27.2 (Local) 2025-10-27T05:38:26.854Z,1761543506.854 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.3 2025-10-27T05:38:26.858Z,1761543506.858 [DAT](INFO): DAT read: 05:38:25.6637 LVL= 32752, 25889, 32754, 32755, AGC= 65, IDX= 504,-0.15,-1.537, 0.638,-0.566,-0.350, PHS=-1.085, 1.033,-0.259, RAW= 307.3, 3.4, CAL= 304.8, 0.0, ROT= 205.2, -0.0 2025-10-27T05:38:26.874Z,1761543506.874 [DAT](INFO): got valid direction response: 05:38:25.6637 LVL= 32752, 25889, 32754, 32755, AGC= 65, IDX= 504,-0.15,-1.537, 0.638,-0.566,-0.350, PHS=-1.085, 1.033,-0.259, RAW= 307.3, 3.4, CAL= 304.8, 0.0, ROT= 205.2, -0.0 2025-10-27T05:38:26.874Z,1761543506.874 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:38:26.879Z,1761543506.879 [DAT](INFO): direction in FSK: [-0.904827,-0.425779,0.000000] 2025-10-27T05:38:26.879Z,1761543506.879 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:26.887Z,1761543506.887 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=41.402256 2025-10-27T05:38:27.084Z,1761543507.084 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=41.598717 2025-10-27T05:38:27.136Z,1761543507.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503976 s, deltaX: 0.200000 m, approachRate: 0.396844 m/s, rangeRepo size: 4 2025-10-27T05:38:27.138Z,1761543507.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.217459 m, bearing: 165.441518 deg, lat: 36.779361 deg, lon: -121.859763 deg, deltaT: 0.503976 s, deltaX: 0.198846 m, approachRate: 0.394554 m/s, posRepo size: 4 2025-10-27T05:38:27.139Z,1761543507.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-27T05:38:27.341Z,1761543507.341 [DAT](INFO): DAT read: Rx Time:05:38:26.1638 2025-10-27T05:38:27.342Z,1761543507.342 [DAT](INFO): Rx dataTimestamp_ set to:1761543507.341508 2025-10-27T05:38:27.346Z,1761543507.346 [DAT](INFO): DAT read: Bearing 313.4, -27.0 (Local) 2025-10-27T05:38:27.349Z,1761543507.349 [DAT](INFO): Local bearing/azimuth received: Bearing 313.4, -27.0 (Local) 2025-10-27T05:38:27.356Z,1761543507.356 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4 2025-10-27T05:38:27.360Z,1761543507.360 [DAT](INFO): DAT read: 05:38:26.1638 LVL= 32752, 24545, 31922, 32755, AGC= 65, IDX= 506, 0.01, 0.681, 2.871, 1.653, 1.872, PHS=-1.088, 1.045,-0.263, RAW= 307.4, 3.3, CAL= 305.0, -0.1, ROT= 205.0, 0.1 2025-10-27T05:38:27.362Z,1761543507.362 [DAT](INFO): got valid direction response: 05:38:26.1638 LVL= 32752, 24545, 31922, 32755, AGC= 65, IDX= 506, 0.01, 0.681, 2.871, 1.653, 1.872, PHS=-1.088, 1.045,-0.263, RAW= 307.4, 3.3, CAL= 305.0, -0.1, ROT= 205.0, 0.1 2025-10-27T05:38:27.362Z,1761543507.362 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:38:27.364Z,1761543507.364 [DAT](INFO): direction in FSK: [-0.906306,-0.422618,-0.001745] 2025-10-27T05:38:27.364Z,1761543507.364 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:27.386Z,1761543507.386 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.900410 2025-10-27T05:38:27.552Z,1761543507.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504750 s, deltaX: 0.099999 m, approachRate: 0.198117 m/s, rangeRepo size: 4 2025-10-27T05:38:27.554Z,1761543507.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.316881 m, bearing: 165.252240 deg, lat: 36.779361 deg, lon: -121.859763 deg, deltaT: 0.504750 s, deltaX: 0.099422 m, approachRate: 0.196974 m/s, posRepo size: 4 2025-10-27T05:38:27.555Z,1761543507.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-27T05:38:27.592Z,1761543507.592 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=42.106155 2025-10-27T05:38:27.844Z,1761543507.844 [DAT](INFO): DAT read: Rx Time:05:38:26.6638 2025-10-27T05:38:27.845Z,1761543507.845 [DAT](INFO): Rx dataTimestamp_ set to:1761543507.844339 2025-10-27T05:38:27.849Z,1761543507.849 [DAT](INFO): DAT read: Bearing 313.3, -26.6 (Local) 2025-10-27T05:38:27.850Z,1761543507.850 [DAT](INFO): Local bearing/azimuth received: Bearing 313.3, -26.6 (Local) 2025-10-27T05:38:27.852Z,1761543507.852 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4 2025-10-27T05:38:27.853Z,1761543507.853 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T05:38:27.854Z,1761543507.854 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=42.368362 2025-10-27T05:38:27.898Z,1761543507.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768593,0.639517,0.016833],[-0.638109,0.764494,0.091461],[0.045622,-0.081038,0.995666]] 2025-10-27T05:38:28.009Z,1761543508.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:28.010Z,1761543508.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-27T05:38:28.096Z,1761543508.096 [DAT](INFO): DAT read: 05:38:26.6638 LVL= 32752, 26097, 32754, 32755, AGC= 63, IDX= 506, 0.15, 0.272, 2.449, 1.226, 1.451, PHS=-1.077, 1.044,-0.268, RAW= 307.8, 3.3, CAL= 305.4, -0.1, ROT= 204.6, 0.1 2025-10-27T05:38:28.097Z,1761543508.097 [DAT](INFO): got valid direction response: 05:38:26.6638 LVL= 32752, 26097, 32754, 32755, AGC= 63, IDX= 506, 0.15, 0.272, 2.449, 1.226, 1.451, PHS=-1.077, 1.044,-0.268, RAW= 307.8, 3.3, CAL= 305.4, -0.1, ROT= 204.6, 0.1 2025-10-27T05:38:28.097Z,1761543508.097 [DAT](INFO): #Rx 94: Read direction message, but no range. 2025-10-27T05:38:28.099Z,1761543508.099 [DAT](INFO): direction in FSK: [-0.909235,-0.416280,-0.001745] 2025-10-27T05:38:28.104Z,1761543508.104 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.618561 2025-10-27T05:38:28.286Z,1761543508.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769155,0.638863,0.015956],[-0.637456,0.765212,0.090007],[0.045292,-0.079401,0.995813]] 2025-10-27T05:38:28.348Z,1761543508.348 [DAT](INFO): DAT read: Rx Time:05:38:27.1639 2025-10-27T05:38:28.349Z,1761543508.349 [DAT](INFO): Rx dataTimestamp_ set to:1761543508.348554 2025-10-27T05:38:28.351Z,1761543508.351 [DAT](INFO): DAT read: Bearing 313.3, -26.4 (Local) 2025-10-27T05:38:28.351Z,1761543508.351 [DAT](INFO): Local bearing/azimuth received: Bearing 313.3, -26.4 (Local) 2025-10-27T05:38:28.353Z,1761543508.353 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3 2025-10-27T05:38:28.358Z,1761543508.358 [DAT](INFO): DAT read: 05:38:27.1639 LVL= 32752, 25505, 31650, 32755, AGC= 65, IDX= 507, 0.27, 0.822, 2.997, 1.769, 1.996, PHS=-1.072, 1.047,-0.271, RAW= 308.0, 3.2, CAL= 305.6, -0.1, ROT= 204.4, 0.1 2025-10-27T05:38:28.359Z,1761543508.359 [DAT](INFO): got valid direction response: 05:38:27.1639 LVL= 32752, 25505, 31650, 32755, AGC= 65, IDX= 507, 0.27, 0.822, 2.997, 1.769, 1.996, PHS=-1.072, 1.047,-0.271, RAW= 308.0, 3.2, CAL= 305.6, -0.1, ROT= 204.4, 0.1 2025-10-27T05:38:28.360Z,1761543508.360 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:38:28.361Z,1761543508.361 [DAT](INFO): direction in FSK: [-0.910682,-0.413104,-0.001745] 2025-10-27T05:38:28.361Z,1761543508.361 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:28.365Z,1761543508.365 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.879333 2025-10-27T05:38:28.396Z,1761543508.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504215 s, deltaX: 0.200001 m, approachRate: 0.396658 m/s, rangeRepo size: 4 2025-10-27T05:38:28.398Z,1761543508.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.516340 m, bearing: 164.676751 deg, lat: 36.779361 deg, lon: -121.859763 deg, deltaT: 1.007046 s, deltaX: 0.199459 m, approachRate: 0.198064 m/s, posRepo size: 4 2025-10-27T05:38:28.399Z,1761543508.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-27T05:38:28.628Z,1761543508.628 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=43.143017 2025-10-27T05:38:28.695Z,1761543508.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769801,0.638101,0.015294],[-0.636707,0.765995,0.088636],[0.044844,-0.077970,0.995947]] 2025-10-27T05:38:28.779Z,1761543508.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-27T05:38:28.865Z,1761543508.865 [DAT](INFO): DAT read: Rx Time:05:38:27.6639 2025-10-27T05:38:28.865Z,1761543508.865 [DAT](INFO): Rx dataTimestamp_ set to:1761543508.864784 2025-10-27T05:38:28.866Z,1761543508.866 [DAT](INFO): DAT read: Bearing 312.6, -26.0 (Local) 2025-10-27T05:38:28.867Z,1761543508.867 [DAT](INFO): Local bearing/azimuth received: Bearing 312.6, -26.0 (Local) 2025-10-27T05:38:28.869Z,1761543508.869 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3 2025-10-27T05:38:28.875Z,1761543508.875 [DAT](INFO): DAT read: 05:38:27.6639 LVL= 32752, 24145, 32754, 32755, AGC= 66, IDX= 507, 0.43,-0.416, 1.771, 0.521, 0.768, PHS=-1.082, 1.048,-0.291, RAW= 308.5, 3.5, CAL= 306.0, 0.4, ROT= 204.0, -0.4 2025-10-27T05:38:28.877Z,1761543508.877 [DAT](INFO): got valid direction response: 05:38:27.6639 LVL= 32752, 24145, 32754, 32755, AGC= 66, IDX= 507, 0.43,-0.416, 1.771, 0.521, 0.768, PHS=-1.082, 1.048,-0.291, RAW= 308.5, 3.5, CAL= 306.0, 0.4, ROT= 204.0, -0.4 2025-10-27T05:38:28.877Z,1761543508.877 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:38:28.884Z,1761543508.884 [DAT](INFO): direction in FSK: [-0.913523,-0.406727,0.006981] 2025-10-27T05:38:28.884Z,1761543508.884 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:28.928Z,1761543508.928 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.443275 2025-10-27T05:38:29.092Z,1761543509.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770574,0.637180,0.014757],[-0.635810,0.766895,0.087282],[0.044298,-0.076640,0.996074]] 2025-10-27T05:38:29.116Z,1761543509.116 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.631042 2025-10-27T05:38:29.187Z,1761543509.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.516230 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:29.189Z,1761543509.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.516364 m, bearing: 164.364278 deg, lat: 36.779361 deg, lon: -121.859763 deg, deltaT: 0.516230 s, deltaX: 0.000024 m, approachRate: 0.000046 m/s, posRepo size: 4 2025-10-27T05:38:29.190Z,1761543509.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-27T05:38:29.369Z,1761543509.369 [DAT](INFO): DAT read: Rx Time:05:38:28.1641 2025-10-27T05:38:29.369Z,1761543509.369 [DAT](INFO): Rx dataTimestamp_ set to:1761543509.368711 2025-10-27T05:38:29.370Z,1761543509.370 [DAT](INFO): DAT read: Bearing 313.3, -25.7 (Local) 2025-10-27T05:38:29.371Z,1761543509.371 [DAT](INFO): Local bearing/azimuth received: Bearing 313.3, -25.7 (Local) 2025-10-27T05:38:29.373Z,1761543509.373 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.2 2025-10-27T05:38:29.377Z,1761543509.377 [DAT](INFO): DAT read: 05:38:28.1641 LVL= 32752, 21169, 29170, 32755, AGC= 67, IDX= 510,-0.43,-1.406, 0.773,-0.480,-0.243, PHS=-1.061, 1.061,-0.281, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T05:38:29.378Z,1761543509.378 [DAT](INFO): got valid direction response: 05:38:28.1641 LVL= 32752, 21169, 29170, 32755, AGC= 67, IDX= 510,-0.43,-1.406, 0.773,-0.480,-0.243, PHS=-1.061, 1.061,-0.281, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T05:38:29.379Z,1761543509.379 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:38:29.380Z,1761543509.380 [DAT](INFO): direction in FSK: [-0.915657,-0.401945,-0.003491] 2025-10-27T05:38:29.380Z,1761543509.380 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:29.384Z,1761543509.384 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.898682 2025-10-27T05:38:29.498Z,1761543509.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771300,0.636304,0.014632],[-0.634976,0.767708,0.086202],[0.043618,-0.075779,0.996170]] 2025-10-27T05:38:29.570Z,1761543509.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503927 s, deltaX: 0.299999 m, approachRate: 0.595323 m/s, rangeRepo size: 4 2025-10-27T05:38:29.583Z,1761543509.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.814645 m, bearing: 164.183025 deg, lat: 36.779361 deg, lon: -121.859762 deg, deltaT: 0.503927 s, deltaX: 0.298281 m, approachRate: 0.591913 m/s, posRepo size: 4 2025-10-27T05:38:29.584Z,1761543509.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T05:38:29.622Z,1761543509.622 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=44.136719 2025-10-27T05:38:29.875Z,1761543509.875 [DAT](INFO): DAT read: Rx Time:05:38:28.6642 2025-10-27T05:38:29.877Z,1761543509.877 [DAT](INFO): Rx dataTimestamp_ set to:1761543509.876038 2025-10-27T05:38:29.879Z,1761543509.879 [DAT](INFO): DAT read: Bearing 314.2, -24.3 (Local) 2025-10-27T05:38:29.879Z,1761543509.879 [DAT](INFO): Local bearing/azimuth received: Bearing 314.2, -24.3 (Local) 2025-10-27T05:38:29.881Z,1761543509.881 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.1 2025-10-27T05:38:29.890Z,1761543509.890 [DAT](INFO): DAT read: 05:38:28.6642 LVL= 32752, 22417, 32754, 32755, AGC= 68, IDX= 510,-0.18, 0.676, 2.821, 1.554, 1.778, PHS=-1.001, 1.087,-0.269, RAW= 309.8, 2.0, CAL= 307.6, -1.2, ROT= 202.4, 1.2 2025-10-27T05:38:29.891Z,1761543509.891 [DAT](INFO): got valid direction response: 05:38:28.6642 LVL= 32752, 22417, 32754, 32755, AGC= 68, IDX= 510,-0.18, 0.676, 2.821, 1.554, 1.778, PHS=-1.001, 1.087,-0.269, RAW= 309.8, 2.0, CAL= 307.6, -1.2, ROT= 202.4, 1.2 2025-10-27T05:38:29.891Z,1761543509.891 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:38:29.892Z,1761543509.892 [DAT](INFO): direction in FSK: [-0.924343,-0.380987,-0.020942] 2025-10-27T05:38:29.893Z,1761543509.893 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:29.901Z,1761543509.901 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.415672 2025-10-27T05:38:29.973Z,1761543509.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772109,0.635326,0.014427],[-0.634040,0.768617,0.084977],[0.042900,-0.074759,0.996278]] 2025-10-27T05:38:30.082Z,1761543510.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.507327 s, deltaX: 0.100000 m, approachRate: 0.197112 m/s, rangeRepo size: 4 2025-10-27T05:38:30.085Z,1761543510.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.913595 m, bearing: 163.045732 deg, lat: 36.779361 deg, lon: -121.859762 deg, deltaT: 0.507327 s, deltaX: 0.098950 m, approachRate: 0.195043 m/s, posRepo size: 4 2025-10-27T05:38:30.085Z,1761543510.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T05:38:30.124Z,1761543510.124 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.638927 2025-10-27T05:38:30.326Z,1761543510.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773079,0.634147,0.014398],[-0.632918,0.769681,0.083701],[0.041997,-0.073821,0.996387]] 2025-10-27T05:38:30.359Z,1761543510.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T05:38:30.378Z,1761543510.378 [DAT](INFO): DAT read: Rx Time:05:38:29.1644 2025-10-27T05:38:30.378Z,1761543510.378 [DAT](INFO): Rx dataTimestamp_ set to:1761543510.377960 2025-10-27T05:38:30.380Z,1761543510.380 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 2025-10-27T05:38:30.380Z,1761543510.380 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-27T05:38:30.381Z,1761543510.381 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.895931 2025-10-27T05:38:30.642Z,1761543510.642 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=45.144913 2025-10-27T05:38:30.736Z,1761543510.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774135,0.632853,0.014572],[-0.631690,0.770811,0.082569],[0.041021,-0.073124,0.996479]] 2025-10-27T05:38:30.862Z,1761543510.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.501922 s, deltaX: 0.300000 m, approachRate: 0.597703 m/s, rangeRepo size: 4 2025-10-27T05:38:30.862Z,1761543510.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T05:38:30.881Z,1761543510.881 [DAT](INFO): DAT read: Rx Time:05:38:29.6643 2025-10-27T05:38:30.881Z,1761543510.881 [DAT](INFO): Rx dataTimestamp_ set to:1761543510.880842 2025-10-27T05:38:30.882Z,1761543510.882 [DAT](INFO): DAT read: Bearing 314.9, -24.3 (Local) 2025-10-27T05:38:30.883Z,1761543510.883 [DAT](INFO): Local bearing/azimuth received: Bearing 314.9, -24.3 (Local) 2025-10-27T05:38:30.885Z,1761543510.885 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 2025-10-27T05:38:30.890Z,1761543510.890 [DAT](INFO): DAT read: 05:38:29.6643 LVL= 32752, 23025, 30818, 32755, AGC= 70, IDX= 511, 0.28, 2.411,-1.737,-2.991,-2.791, PHS=-0.980, 1.098,-0.245, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 2025-10-27T05:38:30.891Z,1761543510.891 [DAT](INFO): got valid direction response: 05:38:29.6643 LVL= 32752, 23025, 30818, 32755, AGC= 70, IDX= 511, 0.28, 2.411,-1.737,-2.991,-2.791, PHS=-0.980, 1.098,-0.245, RAW= 309.6, 1.4, CAL= 307.5, -1.9, ROT= 202.5, 1.9 2025-10-27T05:38:30.891Z,1761543510.891 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:38:30.892Z,1761543510.892 [DAT](INFO): direction in FSK: [-0.923372,-0.382473,-0.033155] 2025-10-27T05:38:30.892Z,1761543510.892 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:30.914Z,1761543510.914 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=45.428062 2025-10-27T05:38:31.132Z,1761543511.132 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=45.646843 2025-10-27T05:38:31.157Z,1761543511.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774935,0.631858,0.015187],[-0.630773,0.771637,0.081859],[0.040004,-0.073015,0.996528]] 2025-10-27T05:38:31.198Z,1761543511.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.502882 s, deltaX: -0.100000 m, approachRate: -0.198855 m/s, rangeRepo size: 4 2025-10-27T05:38:31.204Z,1761543511.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.111823 m, bearing: 163.450388 deg, lat: 36.779362 deg, lon: -121.859761 deg, deltaT: 1.004804 s, deltaX: 0.198228 m, approachRate: 0.197280 m/s, posRepo size: 4 2025-10-27T05:38:31.205Z,1761543511.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T05:38:31.384Z,1761543511.384 [DAT](INFO): DAT read: Rx Time:05:38:30.1645 2025-10-27T05:38:31.384Z,1761543511.384 [DAT](INFO): Rx dataTimestamp_ set to:1761543511.384209 2025-10-27T05:38:31.386Z,1761543511.386 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 2025-10-27T05:38:31.386Z,1761543511.386 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T05:38:31.387Z,1761543511.387 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.902191 2025-10-27T05:38:31.541Z,1761543511.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775936,0.630614,0.015796],[-0.629617,0.772683,0.080897],[0.038809,-0.072716,0.996597]] 2025-10-27T05:38:31.580Z,1761543511.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503367 s, deltaX: 0.300000 m, approachRate: 0.595987 m/s, rangeRepo size: 4 2025-10-27T05:38:31.580Z,1761543511.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T05:38:31.639Z,1761543511.639 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=46.153076 2025-10-27T05:38:31.888Z,1761543511.888 [DAT](INFO): DAT read: Rx Time:05:38:30.6644 2025-10-27T05:38:31.889Z,1761543511.889 [DAT](INFO): Rx dataTimestamp_ set to:1761543511.888238 2025-10-27T05:38:31.890Z,1761543511.890 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T05:38:31.890Z,1761543511.890 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T05:38:31.891Z,1761543511.891 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.406208 2025-10-27T05:38:31.966Z,1761543511.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776710,0.629640,0.016601],[-0.628737,0.773486,0.080061],[0.037569,-0.072622,0.996652]] 2025-10-27T05:38:32.026Z,1761543512.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504029 s, deltaX: -0.200000 m, approachRate: -0.396802 m/s, rangeRepo size: 4 2025-10-27T05:38:32.026Z,1761543512.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T05:38:32.140Z,1761543512.140 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.654831 2025-10-27T05:38:32.362Z,1761543512.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777518,0.628625,0.017191],[-0.627809,0.774348,0.079002],[0.036351,-0.072218,0.996726]] 2025-10-27T05:38:32.381Z,1761543512.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T05:38:32.393Z,1761543512.393 [DAT](INFO): DAT read: Rx Time:05:38:31.1644 2025-10-27T05:38:32.394Z,1761543512.394 [DAT](INFO): Rx dataTimestamp_ set to:1761543512.393305 2025-10-27T05:38:32.395Z,1761543512.395 [DAT](INFO): DAT read: Bearing 319.0, -29.6 (Local) 2025-10-27T05:38:32.395Z,1761543512.395 [DAT](INFO): Local bearing/azimuth received: Bearing 319.0, -29.6 (Local) 2025-10-27T05:38:32.397Z,1761543512.397 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T05:38:32.412Z,1761543512.412 [DAT](INFO): DAT read: 05:38:31.1644 LVL= 32752, 25073, 32754, 32755, AGC= 68, IDX= 513,-0.27, 3.076,-0.983,-2.076,-2.085, PHS=-1.020, 1.147,-0.034, RAW= 303.0, -1.0, CAL= 301.6, -4.9, ROT= 208.4, 4.9 2025-10-27T05:38:32.414Z,1761543512.414 [DAT](INFO): got valid direction response: 05:38:31.1644 LVL= 32752, 25073, 32754, 32755, AGC= 68, IDX= 513,-0.27, 3.076,-0.983,-2.076,-2.085, PHS=-1.020, 1.147,-0.034, RAW= 303.0, -1.0, CAL= 301.6, -4.9, ROT= 208.4, 4.9 2025-10-27T05:38:32.415Z,1761543512.415 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:38:32.443Z,1761543512.443 [DAT](INFO): direction in FSK: [-0.876434,-0.473886,-0.085417] 2025-10-27T05:38:32.444Z,1761543512.444 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:32.448Z,1761543512.448 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.962727 2025-10-27T05:38:32.647Z,1761543512.647 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=47.161163 2025-10-27T05:38:32.754Z,1761543512.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778237,0.627727,0.017508],[-0.626983,0.775147,0.077709],[0.035208,-0.071453,0.996822]] 2025-10-27T05:38:32.872Z,1761543512.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.505067 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:32.874Z,1761543512.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.209947 m, bearing: 169.855249 deg, lat: 36.779362 deg, lon: -121.859761 deg, deltaT: 1.512463 s, deltaX: 0.098124 m, approachRate: 0.064877 m/s, posRepo size: 4 2025-10-27T05:38:32.874Z,1761543512.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T05:38:32.897Z,1761543512.897 [DAT](INFO): DAT read: Rx Time:05:38:31.6644 2025-10-27T05:38:32.897Z,1761543512.897 [DAT](INFO): Rx dataTimestamp_ set to:1761543512.896811 2025-10-27T05:38:32.899Z,1761543512.899 [DAT](INFO): DAT read: Bearing 324.6, -19.7 (Local) 2025-10-27T05:38:32.900Z,1761543512.900 [DAT](INFO): Local bearing/azimuth received: Bearing 324.6, -19.7 (Local) 2025-10-27T05:38:32.904Z,1761543512.904 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T05:38:32.915Z,1761543512.915 [DAT](INFO): DAT read: 05:38:31.6644 LVL= 32752, 25073, 31794, 32755, AGC= 67, IDX= 512, 0.10,-2.005, 0.540,-1.034,-1.082, PHS=-0.822, 1.667, 0.004, RAW= 311.0, -7.8, CAL= 310.7, -11.4, ROT= 199.3, 11.4 2025-10-27T05:38:32.918Z,1761543512.918 [DAT](INFO): got valid direction response: 05:38:31.6644 LVL= 32752, 25073, 31794, 32755, AGC= 67, IDX= 512, 0.10,-2.005, 0.540,-1.034,-1.082, PHS=-0.822, 1.667, 0.004, RAW= 311.0, -7.8, CAL= 310.7, -11.4, ROT= 199.3, 11.4 2025-10-27T05:38:32.918Z,1761543512.918 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T05:38:32.932Z,1761543512.932 [DAT](INFO): direction in FSK: [-0.925181,-0.323994,-0.197657] 2025-10-27T05:38:32.932Z,1761543512.932 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:32.952Z,1761543512.952 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.466419 2025-10-27T05:38:33.148Z,1761543513.148 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.662849 2025-10-27T05:38:33.177Z,1761543513.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778738,0.627083,0.018277],[-0.626433,0.775699,0.076633],[0.033878,-0.071126,0.996892]] 2025-10-27T05:38:33.201Z,1761543513.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503506 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:33.202Z,1761543513.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.209947 m, bearing: 161.342346 deg, lat: 36.779362 deg, lon: -121.859758 deg, deltaT: 0.503506 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:33.204Z,1761543513.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T05:38:33.402Z,1761543513.402 [DAT](INFO): DAT read: Rx Time:05:38:32.1645 2025-10-27T05:38:33.402Z,1761543513.402 [DAT](INFO): Rx dataTimestamp_ set to:1761543513.401925 2025-10-27T05:38:33.405Z,1761543513.405 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 2025-10-27T05:38:33.406Z,1761543513.406 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T05:38:33.408Z,1761543513.408 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.923248 2025-10-27T05:38:33.562Z,1761543513.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779168,0.626521,0.019208],[-0.625972,0.776165,0.075679],[0.032506,-0.070990,0.996947]] 2025-10-27T05:38:33.582Z,1761543513.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505114 s, deltaX: 0.200000 m, approachRate: 0.395950 m/s, rangeRepo size: 4 2025-10-27T05:38:33.583Z,1761543513.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T05:38:33.657Z,1761543513.657 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=48.171341 2025-10-27T05:38:33.906Z,1761543513.906 [DAT](INFO): DAT read: Rx Time:05:38:32.6645 2025-10-27T05:38:33.907Z,1761543513.907 [DAT](INFO): Rx dataTimestamp_ set to:1761543513.906315 2025-10-27T05:38:33.909Z,1761543513.909 [DAT](INFO): DAT read: Bearing 319.6, -46.1 (Local) 2025-10-27T05:38:33.909Z,1761543513.909 [DAT](INFO): Local bearing/azimuth received: Bearing 319.6, -46.1 (Local) 2025-10-27T05:38:33.913Z,1761543513.913 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 2025-10-27T05:38:33.920Z,1761543513.920 [DAT](INFO): DAT read: 05:38:32.6645 LVL= 32752, 28449, 32754, 32755, AGC= 67, IDX= 513, 0.15,-2.080, 0.017,-0.487,-0.748, PHS=-1.230, 0.811, 0.217, RAW= 286.4, 2.2, CAL= 285.0, -2.9, ROT= 225.0, 2.9 2025-10-27T05:38:33.922Z,1761543513.922 [DAT](INFO): got valid direction response: 05:38:32.6645 LVL= 32752, 28449, 32754, 32755, AGC= 67, IDX= 513, 0.15,-2.080, 0.017,-0.487,-0.748, PHS=-1.230, 0.811, 0.217, RAW= 286.4, 2.2, CAL= 285.0, -2.9, ROT= 225.0, 2.9 2025-10-27T05:38:33.922Z,1761543513.922 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:38:33.924Z,1761543513.924 [DAT](INFO): direction in FSK: [-0.706201,-0.706201,-0.050593] 2025-10-27T05:38:33.925Z,1761543513.925 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:33.931Z,1761543513.931 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.445686 2025-10-27T05:38:33.970Z,1761543513.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779305,0.626324,0.020048],[-0.625863,0.776337,0.074811],[0.031292,-0.070848,0.996996]] 2025-10-27T05:38:34.125Z,1761543514.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504390 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:34.129Z,1761543514.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.408691 m, bearing: 186.319780 deg, lat: 36.779362 deg, lon: -121.859758 deg, deltaT: 1.009504 s, deltaX: 0.198745 m, approachRate: 0.196874 m/s, posRepo size: 4 2025-10-27T05:38:34.129Z,1761543514.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T05:38:34.156Z,1761543514.156 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.670734 2025-10-27T05:38:34.372Z,1761543514.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779363,0.626229,0.020758],[-0.625850,0.776445,0.073789],[0.030092,-0.070500,0.997058]] 2025-10-27T05:38:34.409Z,1761543514.409 [DAT](INFO): DAT read: Rx Time:05:38:33.1646 2025-10-27T05:38:34.410Z,1761543514.410 [DAT](INFO): Rx dataTimestamp_ set to:1761543514.409589 2025-10-27T05:38:34.412Z,1761543514.412 [DAT](INFO): DAT read: Bearing 311.9, -26.7 (Local) 2025-10-27T05:38:34.413Z,1761543514.413 [DAT](INFO): Local bearing/azimuth received: Bearing 311.9, -26.7 (Local) 2025-10-27T05:38:34.416Z,1761543514.416 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 2025-10-27T05:38:34.423Z,1761543514.423 [DAT](INFO): DAT read: 05:38:33.1646 LVL= 32752, 25745, 32754, 32755, AGC= 70, IDX= 3,-0.23,-0.467, 1.698, 0.497, 0.727, PHS=-1.092, 1.017,-0.274, RAW= 307.4, 3.8, CAL= 305.0, 0.8, ROT= 205.0, -0.8 2025-10-27T05:38:34.425Z,1761543514.425 [DAT](INFO): got valid direction response: 05:38:33.1646 LVL= 32752, 25745, 32754, 32755, AGC= 70, IDX= 3,-0.23,-0.467, 1.698, 0.497, 0.727, PHS=-1.092, 1.017,-0.274, RAW= 307.4, 3.8, CAL= 305.0, 0.8, ROT= 205.0, -0.8 2025-10-27T05:38:34.426Z,1761543514.426 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:38:34.428Z,1761543514.428 [DAT](INFO): direction in FSK: [-0.906219,-0.422577,0.013962] 2025-10-27T05:38:34.429Z,1761543514.429 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:34.433Z,1761543514.433 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.947540 2025-10-27T05:38:34.466Z,1761543514.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503274 s, deltaX: 0.100000 m, approachRate: 0.198700 m/s, rangeRepo size: 4 2025-10-27T05:38:34.472Z,1761543514.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.508102 m, bearing: 166.106857 deg, lat: 36.779362 deg, lon: -121.859763 deg, deltaT: 0.503274 s, deltaX: 0.099411 m, approachRate: 0.197529 m/s, posRepo size: 4 2025-10-27T05:38:34.473Z,1761543514.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T05:38:34.663Z,1761543514.663 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=49.177357 2025-10-27T05:38:34.776Z,1761543514.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779001,0.626657,0.021417],[-0.626346,0.776119,0.073016],[0.029134,-0.070294,0.997101]] 2025-10-27T05:38:34.886Z,1761543514.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T05:38:34.914Z,1761543514.914 [DAT](INFO): DAT read: Rx Time:05:38:33.6646 2025-10-27T05:38:34.914Z,1761543514.914 [DAT](INFO): Rx dataTimestamp_ set to:1761543514.913868 2025-10-27T05:38:34.918Z,1761543514.918 [DAT](INFO): DAT read: Bearing 311.3, -25.9 (Local) 2025-10-27T05:38:34.918Z,1761543514.918 [DAT](INFO): Local bearing/azimuth received: Bearing 311.3, -25.9 (Local) 2025-10-27T05:38:34.921Z,1761543514.921 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.1 2025-10-27T05:38:34.929Z,1761543514.929 [DAT](INFO): DAT read: 05:38:33.6646 LVL= 32752, 27889, 32754, 32755, AGC= 67, IDX= 498, 0.13, 0.429, 2.555, 1.354, 1.599, PHS=-1.068, 1.001,-0.289, RAW= 308.1, 4.0, CAL= 305.7, 1.2, ROT= 204.3, -1.2 2025-10-27T05:38:34.930Z,1761543514.930 [DAT](INFO): got valid direction response: 05:38:33.6646 LVL= 32752, 27889, 32754, 32755, AGC= 67, IDX= 498, 0.13, 0.429, 2.555, 1.354, 1.599, PHS=-1.068, 1.001,-0.289, RAW= 308.1, 4.0, CAL= 305.7, 1.2, ROT= 204.3, -1.2 2025-10-27T05:38:34.930Z,1761543514.930 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:38:34.948Z,1761543514.948 [DAT](INFO): direction in FSK: [-0.911203,-0.411424,0.020942] 2025-10-27T05:38:34.948Z,1761543514.948 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:34.958Z,1761543514.958 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.472317 2025-10-27T05:38:35.164Z,1761543515.164 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.678719 2025-10-27T05:38:35.182Z,1761543515.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778381,0.627406,0.022028],[-0.627154,0.775528,0.072352],[0.028311,-0.070132,0.997136]] 2025-10-27T05:38:35.230Z,1761543515.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504279 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:35.241Z,1761543515.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.508089 m, bearing: 165.286754 deg, lat: 36.779362 deg, lon: -121.859763 deg, deltaT: 0.504279 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 2025-10-27T05:38:35.241Z,1761543515.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T05:38:35.418Z,1761543515.418 [DAT](INFO): DAT read: Rx Time:05:38:34.1647 2025-10-27T05:38:35.419Z,1761543515.419 [DAT](INFO): Rx dataTimestamp_ set to:1761543515.418104 2025-10-27T05:38:35.421Z,1761543515.421 [DAT](INFO): DAT read: Bearing 311.2, -26.0 (Local) 2025-10-27T05:38:35.422Z,1761543515.422 [DAT](INFO): Local bearing/azimuth received: Bearing 311.2, -26.0 (Local) 2025-10-27T05:38:35.425Z,1761543515.425 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2 2025-10-27T05:38:35.431Z,1761543515.431 [DAT](INFO): DAT read: 05:38:34.1647 LVL= 32752, 26913, 32754, 32755, AGC= 66, IDX= 500,-0.27, 0.136, 2.280, 1.073, 1.318, PHS=-1.080, 1.007,-0.289, RAW= 308.0, 4.0, CAL= 305.6, 1.2, ROT= 204.4, -1.2 2025-10-27T05:38:35.432Z,1761543515.432 [DAT](INFO): got valid direction response: 05:38:34.1647 LVL= 32752, 26913, 32754, 32755, AGC= 66, IDX= 500,-0.27, 0.136, 2.280, 1.073, 1.318, PHS=-1.080, 1.007,-0.289, RAW= 308.0, 4.0, CAL= 305.6, 1.2, ROT= 204.4, -1.2 2025-10-27T05:38:35.433Z,1761543515.433 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:38:35.433Z,1761543515.433 [DAT](INFO): direction in FSK: [-0.910484,-0.413014,0.020942] 2025-10-27T05:38:35.434Z,1761543515.434 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:35.458Z,1761543515.458 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.972538 2025-10-27T05:38:35.581Z,1761543515.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777281,0.628743,0.022712],[-0.628541,0.774426,0.072118],[0.027755,-0.070331,0.997137]] 2025-10-27T05:38:35.622Z,1761543515.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504236 s, deltaX: 0.200000 m, approachRate: 0.396639 m/s, rangeRepo size: 4 2025-10-27T05:38:35.628Z,1761543515.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.706910 m, bearing: 165.284773 deg, lat: 36.779362 deg, lon: -121.859761 deg, deltaT: 0.504236 s, deltaX: 0.198821 m, approachRate: 0.394302 m/s, posRepo size: 4 2025-10-27T05:38:35.629Z,1761543515.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-27T05:38:35.670Z,1761543515.670 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=50.184452 2025-10-27T05:38:35.922Z,1761543515.922 [DAT](INFO): DAT read: Rx Time:05:38:34.6647 2025-10-27T05:38:35.923Z,1761543515.923 [DAT](INFO): Rx dataTimestamp_ set to:1761543515.922191 2025-10-27T05:38:35.925Z,1761543515.925 [DAT](INFO): DAT read: Bearing 311.1, -25.3 (Local) 2025-10-27T05:38:35.925Z,1761543515.925 [DAT](INFO): Local bearing/azimuth received: Bearing 311.1, -25.3 (Local) 2025-10-27T05:38:35.928Z,1761543515.928 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-27T05:38:35.933Z,1761543515.933 [DAT](INFO): DAT read: 05:38:34.6647 LVL= 32752, 30273, 32754, 32755, AGC= 67, IDX= 499, 0.13, 0.517, 2.642, 1.428, 1.681, PHS=-1.062, 1.006,-0.297, RAW= 308.6, 3.9, CAL= 306.2, 1.2, ROT= 203.8, -1.2 2025-10-27T05:38:35.934Z,1761543515.934 [DAT](INFO): got valid direction response: 05:38:34.6647 LVL= 32752, 30273, 32754, 32755, AGC= 67, IDX= 499, 0.13, 0.517, 2.642, 1.428, 1.681, PHS=-1.062, 1.006,-0.297, RAW= 308.6, 3.9, CAL= 306.2, 1.2, ROT= 203.8, -1.2 2025-10-27T05:38:35.934Z,1761543515.934 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:38:35.935Z,1761543515.935 [DAT](INFO): direction in FSK: [-0.914759,-0.403457,0.020942] 2025-10-27T05:38:35.936Z,1761543515.936 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:35.939Z,1761543515.939 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.454193 2025-10-27T05:38:36.023Z,1761543516.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776027,0.630264,0.023436],[-0.630108,0.773157,0.072051],[0.027291,-0.070680,0.997126]] 2025-10-27T05:38:36.106Z,1761543516.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504087 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:36.113Z,1761543516.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.707129 m, bearing: 164.570642 deg, lat: 36.779362 deg, lon: -121.859761 deg, deltaT: 0.504087 s, deltaX: 0.000218 m, approachRate: 0.000433 m/s, posRepo size: 4 2025-10-27T05:38:36.113Z,1761543516.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-27T05:38:36.173Z,1761543516.173 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.687344 2025-10-27T05:38:36.389Z,1761543516.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774655,0.631921,0.024192],[-0.631814,0.771765,0.072044],[0.026855,-0.071094,0.997108]] 2025-10-27T05:38:36.426Z,1761543516.426 [DAT](INFO): DAT read: Rx Time:05:38:35.1647 2025-10-27T05:38:36.426Z,1761543516.426 [DAT](INFO): Rx dataTimestamp_ set to:1761543516.426147 2025-10-27T05:38:36.428Z,1761543516.428 [DAT](INFO): DAT read: Bearing 310.6, -25.3 (Local) 2025-10-27T05:38:36.428Z,1761543516.428 [DAT](INFO): Local bearing/azimuth received: Bearing 310.6, -25.3 (Local) 2025-10-27T05:38:36.430Z,1761543516.430 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.2 2025-10-27T05:38:36.435Z,1761543516.435 [DAT](INFO): DAT read: 05:38:35.1647 LVL= 32752, 28449, 32754, 32755, AGC= 67, IDX= 500,-0.20,-1.434, 0.697,-0.521,-0.260, PHS=-1.072, 1.002,-0.305, RAW= 308.5, 4.2, CAL= 306.2, 1.6, ROT= 203.8, -1.6 2025-10-27T05:38:36.436Z,1761543516.436 [DAT](INFO): got valid direction response: 05:38:35.1647 LVL= 32752, 28449, 32754, 32755, AGC= 67, IDX= 500,-0.20,-1.434, 0.697,-0.521,-0.260, PHS=-1.072, 1.002,-0.305, RAW= 308.5, 4.2, CAL= 306.2, 1.6, ROT= 203.8, -1.6 2025-10-27T05:38:36.436Z,1761543516.436 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:38:36.437Z,1761543516.437 [DAT](INFO): direction in FSK: [-0.914603,-0.403388,0.027922] 2025-10-27T05:38:36.438Z,1761543516.438 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:36.458Z,1761543516.458 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.972584 2025-10-27T05:38:36.490Z,1761543516.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:36.500Z,1761543516.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.707129 m, bearing: 164.413875 deg, lat: 36.779363 deg, lon: -121.859760 deg, deltaT: 0.503956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:36.501Z,1761543516.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-27T05:38:36.676Z,1761543516.676 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=51.190792 2025-10-27T05:38:36.802Z,1761543516.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773183,0.633704,0.024657],[-0.633622,0.770279,0.072062],[0.026673,-0.071340,0.997095]] 2025-10-27T05:38:36.931Z,1761543516.931 [DAT](INFO): DAT read: Rx Time:05:38:35.6647 2025-10-27T05:38:36.932Z,1761543516.932 [DAT](INFO): Rx dataTimestamp_ set to:1761543516.931445 2025-10-27T05:38:36.933Z,1761543516.933 [DAT](INFO): DAT read: Bearing 311.8, -24.8 (Local) 2025-10-27T05:38:36.933Z,1761543516.933 [DAT](INFO): Local bearing/azimuth received: Bearing 311.8, -24.8 (Local) 2025-10-27T05:38:36.936Z,1761543516.936 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-27T05:38:36.940Z,1761543516.940 [DAT](INFO): DAT read: 05:38:35.6647 LVL= 32752, 24481, 32754, 32755, AGC= 65, IDX= 499, 0.24,-0.686, 1.450, 0.217, 0.465, PHS=-1.048, 1.030,-0.292, RAW= 308.9, 3.4, CAL= 306.5, 0.3, ROT= 203.5, -0.3 2025-10-27T05:38:36.941Z,1761543516.941 [DAT](INFO): got valid direction response: 05:38:35.6647 LVL= 32752, 24481, 32754, 32755, AGC= 65, IDX= 499, 0.24,-0.686, 1.450, 0.217, 0.465, PHS=-1.048, 1.030,-0.292, RAW= 308.9, 3.4, CAL= 306.5, 0.3, ROT= 203.5, -0.3 2025-10-27T05:38:36.942Z,1761543516.942 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:38:36.943Z,1761543516.943 [DAT](INFO): direction in FSK: [-0.917048,-0.398744,0.005236] 2025-10-27T05:38:36.947Z,1761543516.947 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:36.951Z,1761543516.951 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.465374 2025-10-27T05:38:37.001Z,1761543517.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.505298 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:37.011Z,1761543517.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.707596 m, bearing: 164.079308 deg, lat: 36.779363 deg, lon: -121.859759 deg, deltaT: 0.505298 s, deltaX: 0.000467 m, approachRate: 0.000925 m/s, posRepo size: 4 2025-10-27T05:38:37.012Z,1761543517.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-27T05:38:37.184Z,1761543517.184 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.698997 2025-10-27T05:38:37.248Z,1761543517.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771457,0.635792,0.024964],[-0.635719,0.768531,0.072253],[0.026752,-0.071611,0.997074]] 2025-10-27T05:38:37.348Z,1761543517.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-27T05:38:37.437Z,1761543517.437 [DAT](INFO): DAT read: Rx Time:05:38:36.1649 2025-10-27T05:38:37.437Z,1761543517.437 [DAT](INFO): Rx dataTimestamp_ set to:1761543517.436710 2025-10-27T05:38:37.438Z,1761543517.438 [DAT](INFO): DAT read: Bearing 311.3, -24.7 (Local) 2025-10-27T05:38:37.439Z,1761543517.439 [DAT](INFO): Local bearing/azimuth received: Bearing 311.3, -24.7 (Local) 2025-10-27T05:38:37.442Z,1761543517.442 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-27T05:38:37.449Z,1761543517.449 [DAT](INFO): DAT read: 05:38:36.1649 LVL= 32752, 27409, 32754, 32755, AGC= 67, IDX= 501,-0.06,-2.344,-0.217,-1.447,-1.192, PHS=-1.050, 1.020,-0.299, RAW= 309.0, 3.7, CAL= 306.6, 0.8, ROT= 203.4, -0.8 2025-10-27T05:38:37.451Z,1761543517.451 [DAT](INFO): got valid direction response: 05:38:36.1649 LVL= 32752, 27409, 32754, 32755, AGC= 67, IDX= 501,-0.06,-2.344,-0.217,-1.447,-1.192, PHS=-1.050, 1.020,-0.299, RAW= 309.0, 3.7, CAL= 306.6, 0.8, ROT= 203.4, -0.8 2025-10-27T05:38:37.451Z,1761543517.451 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:38:37.452Z,1761543517.452 [DAT](INFO): direction in FSK: [-0.917665,-0.397109,0.013962] 2025-10-27T05:38:37.452Z,1761543517.452 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:37.456Z,1761543517.456 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.971066 2025-10-27T05:38:37.646Z,1761543517.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769885,0.637689,0.025086],[-0.637619,0.766959,0.072226],[0.026818,-0.071601,0.997073]] 2025-10-27T05:38:37.688Z,1761543517.688 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.202854 2025-10-27T05:38:37.818Z,1761543517.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.505265 s, deltaX: 0.300000 m, approachRate: 0.593748 m/s, rangeRepo size: 4 2025-10-27T05:38:37.841Z,1761543517.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.005865 m, bearing: 163.643841 deg, lat: 36.779364 deg, lon: -121.859758 deg, deltaT: 0.505265 s, deltaX: 0.298269 m, approachRate: 0.590322 m/s, posRepo size: 4 2025-10-27T05:38:37.851Z,1761543517.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-27T05:38:37.941Z,1761543517.941 [DAT](INFO): DAT read: Rx Time:05:38:36.6648 2025-10-27T05:38:37.942Z,1761543517.942 [DAT](INFO): Rx dataTimestamp_ set to:1761543517.941587 2025-10-27T05:38:37.944Z,1761543517.944 [DAT](INFO): DAT read: Bearing 311.7, -24.9 (Local) 2025-10-27T05:38:37.945Z,1761543517.945 [DAT](INFO): Local bearing/azimuth received: Bearing 311.7, -24.9 (Local) 2025-10-27T05:38:37.948Z,1761543517.948 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.2 2025-10-27T05:38:37.953Z,1761543517.953 [DAT](INFO): DAT read: 05:38:36.6648 LVL= 32752, 25489, 32754, 32755, AGC= 66, IDX= 501,-0.40, 2.152,-2.001, 3.059,-2.981, PHS=-1.048, 1.025,-0.287, RAW= 308.7, 3.4, CAL= 306.3, 0.3, ROT= 203.7, -0.3 2025-10-27T05:38:37.954Z,1761543517.954 [DAT](INFO): got valid direction response: 05:38:36.6648 LVL= 32752, 25489, 32754, 32755, AGC= 66, IDX= 501,-0.40, 2.152,-2.001, 3.059,-2.981, PHS=-1.048, 1.025,-0.287, RAW= 308.7, 3.4, CAL= 306.3, 0.3, ROT= 203.7, -0.3 2025-10-27T05:38:37.954Z,1761543517.954 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:38:37.955Z,1761543517.955 [DAT](INFO): direction in FSK: [-0.915650,-0.401942,0.005236] 2025-10-27T05:38:37.956Z,1761543517.956 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:37.960Z,1761543517.960 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.474743 2025-10-27T05:38:38.088Z,1761543518.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768454,0.639419,0.024925],[-0.639338,0.765552,0.071947],[0.026923,-0.071223,0.997097]] 2025-10-27T05:38:38.192Z,1761543518.192 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.707169 2025-10-27T05:38:38.234Z,1761543518.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504877 s, deltaX: -0.200001 m, approachRate: -0.396138 m/s, rangeRepo size: 4 2025-10-27T05:38:38.240Z,1761543518.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.807034 m, bearing: 163.853699 deg, lat: 36.779364 deg, lon: -121.859758 deg, deltaT: 0.504877 s, deltaX: -0.198832 m, approachRate: -0.393822 m/s, posRepo size: 4 2025-10-27T05:38:38.241Z,1761543518.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-27T05:38:38.445Z,1761543518.445 [DAT](INFO): DAT read: 0.276, RAW= 308.9, 2.9, CAL= 306.6, -0.4, ROT= 203.4, 0.4 2025-10-27T05:38:38.445Z,1761543518.445 [DAT](INFO): unknown deviceResponse_: 0.276, RAW= 308.9, 2.9, CAL= 306.6, -0.4, ROT= 203.4, 0.4 2025-10-27T05:38:38.446Z,1761543518.446 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.960670 2025-10-27T05:38:38.598Z,1761543518.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-27T05:38:38.705Z,1761543518.705 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.213367 2025-10-27T05:38:38.949Z,1761543518.949 [DAT](INFO): DAT read: Rx Time:05:38:37.6650 2025-10-27T05:38:38.949Z,1761543518.949 [DAT](INFO): Rx dataTimestamp_ set to:1761543518.948764 2025-10-27T05:38:38.950Z,1761543518.950 [DAT](INFO): DAT read: Bearing 312.1, -24.9 (Local) 2025-10-27T05:38:38.951Z,1761543518.951 [DAT](INFO): Local bearing/azimuth received: Bearing 312.1, -24.9 (Local) 2025-10-27T05:38:38.953Z,1761543518.953 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 2025-10-27T05:38:38.957Z,1761543518.957 [DAT](INFO): DAT read: 05:38:37.6650 LVL= 32752, 29329, 32754, 32755, AGC= 67, IDX= 502,-0.10, 1.523,-2.628, 2.433, 2.664, PHS=-1.039, 1.036,-0.275, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T05:38:38.959Z,1761543518.959 [DAT](INFO): got valid direction response: 05:38:37.6650 LVL= 32752, 29329, 32754, 32755, AGC= 67, IDX= 502,-0.10, 1.523,-2.628, 2.433, 2.664, PHS=-1.039, 1.036,-0.275, RAW= 308.7, 3.1, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T05:38:38.959Z,1761543518.959 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:38:38.960Z,1761543518.960 [DAT](INFO): direction in FSK: [-0.915657,-0.401945,-0.003491] 2025-10-27T05:38:38.960Z,1761543518.960 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:38.964Z,1761543518.964 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.478809 2025-10-27T05:38:38.981Z,1761543518.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765788,0.642622,0.024620],[-0.642527,0.762946,0.071218],[0.026982,-0.070357,0.997157]] 2025-10-27T05:38:39.090Z,1761543519.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 1.007177 s, deltaX: 0.300001 m, approachRate: 0.297863 m/s, rangeRepo size: 4 2025-10-27T05:38:39.097Z,1761543519.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.105051 m, bearing: 163.654839 deg, lat: 36.779365 deg, lon: -121.859758 deg, deltaT: 1.007177 s, deltaX: 0.298018 m, approachRate: 0.295894 m/s, posRepo size: 4 2025-10-27T05:38:39.098Z,1761543519.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-27T05:38:39.201Z,1761543519.201 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.715317 2025-10-27T05:38:39.384Z,1761543519.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764531,0.644124,0.024429],[-0.644021,0.761721,0.070844],[0.027024,-0.069896,0.997188]] 2025-10-27T05:38:39.437Z,1761543519.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-27T05:38:39.453Z,1761543519.453 [DAT](INFO): DAT read: Rx Time:05:38:38.1650 2025-10-27T05:38:39.453Z,1761543519.453 [DAT](INFO): Rx dataTimestamp_ set to:1761543519.452751 2025-10-27T05:38:39.454Z,1761543519.454 [DAT](INFO): DAT read: Bearing 311.2, -24.9 (Local) 2025-10-27T05:38:39.455Z,1761543519.455 [DAT](INFO): Local bearing/azimuth received: Bearing 311.2, -24.9 (Local) 2025-10-27T05:38:39.457Z,1761543519.457 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 2025-10-27T05:38:39.461Z,1761543519.461 [DAT](INFO): DAT read: 05:38:38.1650 LVL= 32752, 31217, 32754, 32755, AGC= 68, IDX= 503,-0.34, 0.912, 3.039, 1.819, 2.065, PHS=-1.051, 1.019,-0.290, RAW= 308.7, 3.6, CAL= 306.3, 0.6, ROT= 203.7, -0.6 2025-10-27T05:38:39.463Z,1761543519.463 [DAT](INFO): got valid direction response: 05:38:38.1650 LVL= 32752, 31217, 32754, 32755, AGC= 68, IDX= 503,-0.34, 0.912, 3.039, 1.819, 2.065, PHS=-1.051, 1.019,-0.290, RAW= 308.7, 3.6, CAL= 306.3, 0.6, ROT= 203.7, -0.6 2025-10-27T05:38:39.463Z,1761543519.463 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:38:39.464Z,1761543519.464 [DAT](INFO): direction in FSK: [-0.915612,-0.401926,0.010472] 2025-10-27T05:38:39.464Z,1761543519.464 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:39.476Z,1761543519.476 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.990799 2025-10-27T05:38:39.705Z,1761543519.705 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.219490 2025-10-27T05:38:39.814Z,1761543519.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763682,0.645148,0.023959],[-0.645027,0.760933,0.070153],[0.027028,-0.069029,0.997248]] 2025-10-27T05:38:39.910Z,1761543519.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503987 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:39.914Z,1761543519.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.104988 m, bearing: 163.410286 deg, lat: 36.779365 deg, lon: -121.859758 deg, deltaT: 0.503987 s, deltaX: -0.000063 m, approachRate: -0.000125 m/s, posRepo size: 4 2025-10-27T05:38:39.916Z,1761543519.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m. 2025-10-27T05:38:39.957Z,1761543519.957 [DAT](INFO): DAT read: Rx Time:05:38:38.6650 2025-10-27T05:38:39.957Z,1761543519.957 [DAT](INFO): Rx dataTimestamp_ set to:1761543519.957016 2025-10-27T05:38:39.959Z,1761543519.959 [DAT](INFO): DAT read: Bearing 311.9, -24.2 (Local) 2025-10-27T05:38:39.959Z,1761543519.959 [DAT](INFO): Local bearing/azimuth received: Bearing 311.9, -24.2 (Local) 2025-10-27T05:38:39.961Z,1761543519.961 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 2025-10-27T05:38:39.966Z,1761543519.966 [DAT](INFO): DAT read: 05:38:38.6650 LVL= 32752, 27953, 32754, 32755, AGC= 67, IDX= 502, 0.23, 2.753,-1.401,-2.640,-2.396, PHS=-1.032, 1.040,-0.288, RAW= 309.2, 3.1, CAL= 306.8, -0.1, ROT= 203.2, 0.1 2025-10-27T05:38:39.967Z,1761543519.967 [DAT](INFO): got valid direction response: 05:38:38.6650 LVL= 32752, 27953, 32754, 32755, AGC= 67, IDX= 502, 0.23, 2.753,-1.401,-2.640,-2.396, PHS=-1.032, 1.040,-0.288, RAW= 309.2, 3.1, CAL= 306.8, -0.1, ROT= 203.2, 0.1 2025-10-27T05:38:39.968Z,1761543519.968 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:38:39.969Z,1761543519.969 [DAT](INFO): direction in FSK: [-0.919134,-0.393941,-0.001745] 2025-10-27T05:38:39.969Z,1761543519.969 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:39.973Z,1761543519.973 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.487370 2025-10-27T05:38:40.191Z,1761543520.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762795,0.646194,0.024034],[-0.646084,0.760070,0.069779],[0.026823,-0.068755,0.997273]] 2025-10-27T05:38:40.208Z,1761543520.208 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.722874 2025-10-27T05:38:40.240Z,1761543520.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504265 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:40.242Z,1761543520.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.104988 m, bearing: 162.884860 deg, lat: 36.779366 deg, lon: -121.859758 deg, deltaT: 0.504265 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:40.242Z,1761543520.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m. 2025-10-27T05:38:40.461Z,1761543520.461 [DAT](INFO): DAT read: Rx Time:05:38:39.1652 2025-10-27T05:38:40.461Z,1761543520.461 [DAT](INFO): Rx dataTimestamp_ set to:1761543520.460834 2025-10-27T05:38:40.462Z,1761543520.462 [DAT](INFO): DAT read: Bearing 310.7, -25.0 (Local) 2025-10-27T05:38:40.463Z,1761543520.463 [DAT](INFO): Local bearing/azimuth received: Bearing 310.7, -25.0 (Local) 2025-10-27T05:38:40.465Z,1761543520.465 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 2025-10-27T05:38:40.469Z,1761543520.469 [DAT](INFO): DAT read: 05:38:39.1652 LVL= 32752, 28785, 32754, 32755, AGC= 67, IDX= 504, 0.08,-2.934,-0.818,-2.025,-1.777, PHS=-1.056, 1.004,-0.292, RAW= 308.5, 3.9, CAL= 306.1, 1.0, ROT= 203.9, -1.0 2025-10-27T05:38:40.471Z,1761543520.471 [DAT](INFO): got valid direction response: 05:38:39.1652 LVL= 32752, 28785, 32754, 32755, AGC= 67, IDX= 504, 0.08,-2.934,-0.818,-2.025,-1.777, PHS=-1.056, 1.004,-0.292, RAW= 308.5, 3.9, CAL= 306.1, 1.0, ROT= 203.9, -1.0 2025-10-27T05:38:40.472Z,1761543520.472 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:38:40.473Z,1761543520.473 [DAT](INFO): direction in FSK: [-0.914115,-0.405080,0.017452] 2025-10-27T05:38:40.473Z,1761543520.473 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:40.477Z,1761543520.477 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.991455 2025-10-27T05:38:40.594Z,1761543520.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762261,0.646825,0.023998],[-0.646723,0.759568,0.069322],[0.026611,-0.068361,0.997306]] 2025-10-27T05:38:40.629Z,1761543520.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503818 s, deltaX: 0.299999 m, approachRate: 0.595452 m/s, rangeRepo size: 4 2025-10-27T05:38:40.631Z,1761543520.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.403227 m, bearing: 163.455222 deg, lat: 36.779366 deg, lon: -121.859758 deg, deltaT: 0.503818 s, deltaX: 0.298239 m, approachRate: 0.591957 m/s, posRepo size: 4 2025-10-27T05:38:40.632Z,1761543520.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T05:38:40.713Z,1761543520.713 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.227764 2025-10-27T05:38:40.793Z,1761543520.793 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:38:40.964Z,1761543520.964 [DAT](INFO): DAT read: Rx Time:05:38:39.6652 2025-10-27T05:38:40.965Z,1761543520.965 [DAT](INFO): Rx dataTimestamp_ set to:1761543520.964684 2025-10-27T05:38:40.966Z,1761543520.966 [DAT](INFO): DAT read: Bearing 310.6, -24.6 (Local) 2025-10-27T05:38:40.967Z,1761543520.967 [DAT](INFO): Local bearing/azimuth received: Bearing 310.6, -24.6 (Local) 2025-10-27T05:38:40.969Z,1761543520.969 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.3 2025-10-27T05:38:40.974Z,1761543520.974 [DAT](INFO): DAT read: 05:38:39.6652 LVL= 32752, 27825, 32754, 32755, AGC= 65, IDX= 504,-0.03, 1.470,-2.694, 2.367, 2.625, PHS=-1.053, 1.008,-0.302, RAW= 308.9, 3.9, CAL= 306.5, 1.1, ROT= 203.5, -1.1 2025-10-27T05:38:40.975Z,1761543520.975 [DAT](INFO): got valid direction response: 05:38:39.6652 LVL= 32752, 27825, 32754, 32755, AGC= 65, IDX= 504,-0.03, 1.470,-2.694, 2.367, 2.625, PHS=-1.053, 1.008,-0.302, RAW= 308.9, 3.9, CAL= 306.5, 1.1, ROT= 203.5, -1.1 2025-10-27T05:38:40.975Z,1761543520.975 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:38:40.976Z,1761543520.976 [DAT](INFO): direction in FSK: [-0.916891,-0.398676,0.019197] 2025-10-27T05:38:40.977Z,1761543520.977 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:40.980Z,1761543520.980 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.495174 2025-10-27T05:38:40.997Z,1761543520.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761960,0.647183,0.023899],[-0.647089,0.759313,0.068694],[0.026311,-0.067806,0.997351]] 2025-10-27T05:38:41.133Z,1761543521.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503850 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:41.135Z,1761543521.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.403082 m, bearing: 163.023447 deg, lat: 36.779366 deg, lon: -121.859758 deg, deltaT: 0.503850 s, deltaX: -0.000145 m, approachRate: -0.000288 m/s, posRepo size: 4 2025-10-27T05:38:41.135Z,1761543521.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T05:38:41.216Z,1761543521.216 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.730953 2025-10-27T05:38:41.413Z,1761543521.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762181,0.646937,0.023500],[-0.646847,0.759621,0.067562],[0.025858,-0.066695,0.997438]] 2025-10-27T05:38:41.442Z,1761543521.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T05:38:41.469Z,1761543521.469 [DAT](INFO): DAT read: Rx Time:05:38:40.1654 2025-10-27T05:38:41.469Z,1761543521.469 [DAT](INFO): Rx dataTimestamp_ set to:1761543521.468724 2025-10-27T05:38:41.470Z,1761543521.470 [DAT](INFO): DAT read: Bearing 311.5, -25.4 (Local) 2025-10-27T05:38:41.471Z,1761543521.471 [DAT](INFO): Local bearing/azimuth received: Bearing 311.5, -25.4 (Local) 2025-10-27T05:38:41.474Z,1761543521.474 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2 2025-10-27T05:38:41.502Z,1761543521.502 [DAT](INFO): DAT read: 05:38:40.1654 LVL= 32752, 24481, 32754, 32755, AGC= 66, IDX= 506,-0.08, 2.138,-1.986, 3.078,-2.970, PHS=-1.073, 1.029,-0.278, RAW= 308.0, 3.5, CAL= 305.6, 0.4, ROT= 204.4, -0.4 2025-10-27T05:38:41.512Z,1761543521.512 [DAT](INFO): got valid direction response: 05:38:40.1654 LVL= 32752, 24481, 32754, 32755, AGC= 66, IDX= 506,-0.08, 2.138,-1.986, 3.078,-2.970, PHS=-1.073, 1.029,-0.278, RAW= 308.0, 3.5, CAL= 305.6, 0.4, ROT= 204.4, -0.4 2025-10-27T05:38:41.512Z,1761543521.512 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:38:41.513Z,1761543521.513 [DAT](INFO): direction in FSK: [-0.910662,-0.413094,0.006981] 2025-10-27T05:38:41.513Z,1761543521.513 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:41.517Z,1761543521.517 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:38:41.517Z,1761543521.517 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:38:41.518Z,1761543521.518 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:41.720Z,1761543521.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:41.797Z,1761543521.797 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:38:41.858Z,1761543521.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762378,0.646719,0.023140],[-0.646635,0.759904,0.066400],[0.025358,-0.065585,0.997525]] 2025-10-27T05:38:41.942Z,1761543521.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504040 s, deltaX: 0.299999 m, approachRate: 0.595189 m/s, rangeRepo size: 4 2025-10-27T05:38:41.948Z,1761543521.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.701250 m, bearing: 164.012104 deg, lat: 36.779366 deg, lon: -121.859758 deg, deltaT: 0.504040 s, deltaX: 0.298168 m, approachRate: 0.591557 m/s, posRepo size: 4 2025-10-27T05:38:41.948Z,1761543521.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:38:41.973Z,1761543521.973 [DAT](INFO): DAT read: Rx Time:05:38:40.6653 2025-10-27T05:38:41.973Z,1761543521.973 [DAT](INFO): Rx dataTimestamp_ set to:1761543521.972819 2025-10-27T05:38:41.974Z,1761543521.974 [DAT](INFO): DAT read: Bearing 311.4, -24.8 (Local) 2025-10-27T05:38:41.975Z,1761543521.975 [DAT](INFO): Local bearing/azimuth received: Bearing 311.4, -24.8 (Local) 2025-10-27T05:38:41.977Z,1761543521.977 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2 2025-10-27T05:38:41.982Z,1761543521.982 [DAT](INFO): DAT read: 05:38:40.6653 LVL= 32752, 26161, 32754, 32755, AGC= 66, IDX= 506,-0.16, 0.402, 2.545, 1.318, 1.563, PHS=-1.058, 1.028,-0.289, RAW= 308.6, 3.5, CAL= 306.2, 0.5, ROT= 203.8, -0.5 2025-10-27T05:38:41.983Z,1761543521.983 [DAT](INFO): got valid direction response: 05:38:40.6653 LVL= 32752, 26161, 32754, 32755, AGC= 66, IDX= 506,-0.16, 0.402, 2.545, 1.318, 1.563, PHS=-1.058, 1.028,-0.289, RAW= 308.6, 3.5, CAL= 306.2, 0.5, ROT= 203.8, -0.5 2025-10-27T05:38:41.984Z,1761543521.984 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:41.985Z,1761543521.985 [DAT](INFO): direction in FSK: [-0.914925,-0.403530,0.008727] 2025-10-27T05:38:41.985Z,1761543521.985 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:41.988Z,1761543521.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:41.989Z,1761543521.989 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:42.227Z,1761543522.227 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:42.268Z,1761543522.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762917,0.646087,0.023001],[-0.646023,0.760516,0.065337],[0.024721,-0.064706,0.997598]] 2025-10-27T05:38:42.354Z,1761543522.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504095 s, deltaX: -0.099998 m, approachRate: -0.198372 m/s, rangeRepo size: 4 2025-10-27T05:38:42.361Z,1761543522.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.601839 m, bearing: 163.455326 deg, lat: 36.779365 deg, lon: -121.859758 deg, deltaT: 0.504095 s, deltaX: -0.099411 m, approachRate: -0.197207 m/s, posRepo size: 4 2025-10-27T05:38:42.361Z,1761543522.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m. 2025-10-27T05:38:42.477Z,1761543522.477 [DAT](INFO): DAT read: Rx Time:05:38:41.1655 2025-10-27T05:38:42.477Z,1761543522.477 [DAT](INFO): Rx dataTimestamp_ set to:1761543522.477185 2025-10-27T05:38:42.479Z,1761543522.479 [DAT](INFO): DAT read: Bearing 312.2, -25.4 (Local) 2025-10-27T05:38:42.479Z,1761543522.479 [DAT](INFO): Local bearing/azimuth received: Bearing 312.2, -25.4 (Local) 2025-10-27T05:38:42.481Z,1761543522.481 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.2 2025-10-27T05:38:42.486Z,1761543522.486 [DAT](INFO): DAT read: 05:38:41.1655 LVL= 32752, 26033, 32402, 32755, AGC= 69, IDX= 508,-0.18,-0.103, 2.054, 0.839, 1.061, PHS=-1.062, 1.038,-0.266, RAW= 308.0, 3.2, CAL= 305.6, -0.2, ROT= 204.4, 0.2 2025-10-27T05:38:42.487Z,1761543522.487 [DAT](INFO): got valid direction response: 05:38:41.1655 LVL= 32752, 26033, 32402, 32755, AGC= 69, IDX= 508,-0.18,-0.103, 2.054, 0.839, 1.061, PHS=-1.062, 1.038,-0.266, RAW= 308.0, 3.2, CAL= 305.6, -0.2, ROT= 204.4, 0.2 2025-10-27T05:38:42.488Z,1761543522.488 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:42.489Z,1761543522.489 [DAT](INFO): direction in FSK: [-0.910678,-0.413102,-0.003491] 2025-10-27T05:38:42.489Z,1761543522.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:42.493Z,1761543522.493 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:42.493Z,1761543522.493 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:42.678Z,1761543522.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763540,0.645343,0.023227],[-0.645318,0.761190,0.064461],[0.023919,-0.064207,0.997650]] 2025-10-27T05:38:42.728Z,1761543522.728 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:42.874Z,1761543522.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504366 s, deltaX: 0.299999 m, approachRate: 0.594805 m/s, rangeRepo size: 4 2025-10-27T05:38:42.881Z,1761543522.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.899855 m, bearing: 164.156949 deg, lat: 36.779365 deg, lon: -121.859758 deg, deltaT: 0.504366 s, deltaX: 0.298016 m, approachRate: 0.590872 m/s, posRepo size: 4 2025-10-27T05:38:42.881Z,1761543522.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m. 2025-10-27T05:38:42.981Z,1761543522.981 [DAT](INFO): DAT read: Rx Time:05:38:41.6655 2025-10-27T05:38:42.982Z,1761543522.982 [DAT](INFO): Rx dataTimestamp_ set to:1761543522.981670 2025-10-27T05:38:42.984Z,1761543522.984 [DAT](INFO): DAT read: Bearing 312.8, -24.1 (Local) 2025-10-27T05:38:42.985Z,1761543522.985 [DAT](INFO): Local bearing/azimuth received: Bearing 312.8, -24.1 (Local) 2025-10-27T05:38:42.989Z,1761543522.989 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.2 2025-10-27T05:38:42.996Z,1761543522.996 [DAT](INFO): DAT read: 05:38:41.6655 LVL= 32752, 24801, 31570, 32755, AGC= 69, IDX= 508,-0.28,-2.344,-0.210,-1.446,-1.226, PHS=-1.016, 1.061,-0.264, RAW= 309.0, 2.4, CAL= 306.8, -0.9, ROT= 203.2, 0.9 2025-10-27T05:38:42.997Z,1761543522.997 [DAT](INFO): got valid direction response: 05:38:41.6655 LVL= 32752, 24801, 31570, 32755, AGC= 69, IDX= 508,-0.28,-2.344,-0.210,-1.446,-1.226, PHS=-1.016, 1.061,-0.264, RAW= 309.0, 2.4, CAL= 306.8, -0.9, ROT= 203.2, 0.9 2025-10-27T05:38:42.997Z,1761543522.997 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:42.998Z,1761543522.998 [DAT](INFO): direction in FSK: [-0.919022,-0.393893,-0.015707] 2025-10-27T05:38:43.023Z,1761543523.023 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:43.032Z,1761543523.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:43.032Z,1761543523.032 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:43.145Z,1761543523.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765055,0.643550,0.023095],[-0.643570,0.762838,0.062423],[0.022555,-0.062620,0.997783]] 2025-10-27T05:38:43.228Z,1761543523.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504485 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:43.230Z,1761543523.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.899855 m, bearing: 163.141006 deg, lat: 36.779364 deg, lon: -121.859758 deg, deltaT: 0.504485 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:43.232Z,1761543523.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:43.238Z,1761543523.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m. 2025-10-27T05:38:43.485Z,1761543523.485 [DAT](INFO): DAT read: Rx Time:05:38:42.1656 2025-10-27T05:38:43.485Z,1761543523.485 [DAT](INFO): Rx dataTimestamp_ set to:1761543523.484717 2025-10-27T05:38:43.491Z,1761543523.491 [DAT](INFO): DAT read: Bearing 313.5, -24.1 (Local) 2025-10-27T05:38:43.491Z,1761543523.491 [DAT](INFO): Local bearing/azimuth received: Bearing 313.5, -24.1 (Local) 2025-10-27T05:38:43.494Z,1761543523.494 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-27T05:38:43.498Z,1761543523.498 [DAT](INFO): DAT read: 05:38:42.1656 LVL= 32752, 22897, 32674, 32755, AGC= 69, IDX= 508, 0.32,-1.260, 0.874,-0.357,-0.160, PHS=-0.999, 1.078,-0.241, RAW= 308.9, 1.8, CAL= 306.7, -1.5, ROT= 203.3, 1.5 2025-10-27T05:38:43.499Z,1761543523.499 [DAT](INFO): got valid direction response: 05:38:42.1656 LVL= 32752, 22897, 32674, 32755, AGC= 69, IDX= 508, 0.32,-1.260, 0.874,-0.357,-0.160, PHS=-0.999, 1.078,-0.241, RAW= 308.9, 1.8, CAL= 306.7, -1.5, ROT= 203.3, 1.5 2025-10-27T05:38:43.500Z,1761543523.500 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:43.501Z,1761543523.501 [DAT](INFO): direction in FSK: [-0.918132,-0.395410,-0.026177] 2025-10-27T05:38:43.501Z,1761543523.501 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:43.504Z,1761543523.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:43.505Z,1761543523.505 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:43.554Z,1761543523.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766053,0.642362,0.023078],[-0.642409,0.763906,0.061304],[0.021750,-0.061788,0.997852]] 2025-10-27T05:38:43.618Z,1761543523.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503047 s, deltaX: 0.100000 m, approachRate: 0.198789 m/s, rangeRepo size: 4 2025-10-27T05:38:43.629Z,1761543523.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.999266 m, bearing: 163.368089 deg, lat: 36.779364 deg, lon: -121.859758 deg, deltaT: 0.503047 s, deltaX: 0.099411 m, approachRate: 0.197618 m/s, posRepo size: 4 2025-10-27T05:38:43.629Z,1761543523.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m. 2025-10-27T05:38:43.736Z,1761543523.736 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:43.950Z,1761543523.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766794,0.641461,0.023548],[-0.641544,0.764649,0.061103],[0.021189,-0.061961,0.997854]] 2025-10-27T05:38:43.989Z,1761543523.989 [DAT](INFO): DAT read: Rx Time:05:38:42.6656 2025-10-27T05:38:43.989Z,1761543523.989 [DAT](INFO): Rx dataTimestamp_ set to:1761543523.988719 2025-10-27T05:38:43.990Z,1761543523.990 [DAT](INFO): DAT read: Bearing 313.7, -23.9 (Local) 2025-10-27T05:38:43.991Z,1761543523.991 [DAT](INFO): Local bearing/azimuth received: Bearing 313.7, -23.9 (Local) 2025-10-27T05:38:43.993Z,1761543523.993 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-27T05:38:43.997Z,1761543523.997 [DAT](INFO): DAT read: 05:38:42.6656 LVL= 32752, 21073, 29810, 32755, AGC= 68, IDX= 508,-0.06, 2.709,-1.463,-2.683,-2.492, PHS=-0.980, 1.073,-0.236, RAW= 309.0, 1.6, CAL= 306.9, -1.7, ROT= 203.1, 1.7 2025-10-27T05:38:43.998Z,1761543523.998 [DAT](INFO): got valid direction response: 05:38:42.6656 LVL= 32752, 21073, 29810, 32755, AGC= 68, IDX= 508,-0.06, 2.709,-1.463,-2.683,-2.492, PHS=-0.980, 1.073,-0.236, RAW= 309.0, 1.6, CAL= 306.9, -1.7, ROT= 203.1, 1.7 2025-10-27T05:38:43.999Z,1761543523.999 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:43.000Z,1761543524.000 [DAT](INFO): direction in FSK: [-0.919417,-0.392165,-0.029666] 2025-10-27T05:38:44.000Z,1761543524.000 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:44.008Z,1761543524.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:44.008Z,1761543524.008 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:44.101Z,1761543524.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:44.108Z,1761543524.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.999220 m, bearing: 163.246584 deg, lat: 36.779364 deg, lon: -121.859756 deg, deltaT: 0.504002 s, deltaX: -0.000046 m, approachRate: -0.000091 m/s, posRepo size: 4 2025-10-27T05:38:44.108Z,1761543524.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m. 2025-10-27T05:38:44.240Z,1761543524.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:44.368Z,1761543524.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767735,0.640311,0.024179],[-0.640433,0.765570,0.061213],[0.020685,-0.062480,0.997832]] 2025-10-27T05:38:44.396Z,1761543524.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m. 2025-10-27T05:38:44.494Z,1761543524.494 [DAT](INFO): DAT read: Rx Time:05:38:43.1658 2025-10-27T05:38:44.494Z,1761543524.494 [DAT](INFO): Rx dataTimestamp_ set to:1761543524.493697 2025-10-27T05:38:44.495Z,1761543524.495 [DAT](INFO): DAT read: Bearing 313.8, -23.7 (Local) 2025-10-27T05:38:44.496Z,1761543524.496 [DAT](INFO): Local bearing/azimuth received: Bearing 313.8, -23.7 (Local) 2025-10-27T05:38:44.498Z,1761543524.498 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-27T05:38:44.503Z,1761543524.503 [DAT](INFO): DAT read: 05:38:43.1658 LVL= 32752, 20305, 27618, 32755, AGC= 68, IDX= 510, 0.40, 0.329, 2.465, 1.223, 1.419, PHS=-0.988, 1.092,-0.240, RAW= 309.2, 1.5, CAL= 307.1, -1.8, ROT= 202.9, 1.8 2025-10-27T05:38:44.505Z,1761543524.505 [DAT](INFO): got valid direction response: 05:38:43.1658 LVL= 32752, 20305, 27618, 32755, AGC= 68, IDX= 510, 0.40, 0.329, 2.465, 1.223, 1.419, PHS=-0.988, 1.092,-0.240, RAW= 309.2, 1.5, CAL= 307.1, -1.8, ROT= 202.9, 1.8 2025-10-27T05:38:44.505Z,1761543524.505 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:44.507Z,1761543524.507 [DAT](INFO): direction in FSK: [-0.920731,-0.388932,-0.031411] 2025-10-27T05:38:44.508Z,1761543524.508 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:44.532Z,1761543524.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:44.533Z,1761543524.533 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:44.744Z,1761543524.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:44.764Z,1761543524.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768407,0.639485,0.024679],[-0.639652,0.766265,0.060693],[0.019902,-0.062423,0.997851]] 2025-10-27T05:38:44.869Z,1761543524.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504978 s, deltaX: 0.299999 m, approachRate: 0.594084 m/s, rangeRepo size: 4 2025-10-27T05:38:44.875Z,1761543524.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.297653 m, bearing: 163.195379 deg, lat: 36.779364 deg, lon: -121.859756 deg, deltaT: 0.504978 s, deltaX: 0.298433 m, approachRate: 0.590983 m/s, posRepo size: 4 2025-10-27T05:38:44.876Z,1761543524.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:44.997Z,1761543524.997 [DAT](INFO): DAT read: Rx Time:05:38:43.6658 2025-10-27T05:38:44.997Z,1761543524.997 [DAT](INFO): Rx dataTimestamp_ set to:1761543524.997142 2025-10-27T05:38:44.999Z,1761543524.999 [DAT](INFO): DAT read: Bearing 313.1, -24.1 (Local) 2025-10-27T05:38:44.999Z,1761543524.999 [DAT](INFO): Local bearing/azimuth received: Bearing 313.1, -24.1 (Local) 2025-10-27T05:38:45.001Z,1761543525.001 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.2 2025-10-27T05:38:45.006Z,1761543525.006 [DAT](INFO): DAT read: 05:38:43.6658 LVL= 32752, 27377, 30178, 32755, AGC= 69, IDX= 510,-0.13,-1.587, 0.550,-0.686,-0.474, PHS=-1.011, 1.069,-0.256, RAW= 309.0, 2.2, CAL= 306.8, -1.1, ROT= 203.2, 1.1 2025-10-27T05:38:45.007Z,1761543525.007 [DAT](INFO): got valid direction response: 05:38:43.6658 LVL= 32752, 27377, 30178, 32755, AGC= 69, IDX= 510,-0.13,-1.587, 0.550,-0.686,-0.474, PHS=-1.011, 1.069,-0.256, RAW= 309.0, 2.2, CAL= 306.8, -1.1, ROT= 203.2, 1.1 2025-10-27T05:38:45.008Z,1761543525.008 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:45.009Z,1761543525.009 [DAT](INFO): direction in FSK: [-0.918966,-0.393869,-0.019197] 2025-10-27T05:38:45.009Z,1761543525.009 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:45.012Z,1761543525.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:45.013Z,1761543525.013 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:45.162Z,1761543525.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768769,0.639030,0.025202],[-0.639232,0.766623,0.060585],[0.019395,-0.062686,0.997845]] 2025-10-27T05:38:45.217Z,1761543525.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503445 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:45.219Z,1761543525.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.297653 m, bearing: 163.480507 deg, lat: 36.779364 deg, lon: -121.859755 deg, deltaT: 0.503445 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:45.220Z,1761543525.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:45.248Z,1761543525.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:45.500Z,1761543525.500 [DAT](INFO): DAT read: Rx Time:05:38:44.1659 2025-10-27T05:38:45.501Z,1761543525.501 [DAT](INFO): Rx dataTimestamp_ set to:1761543525.500661 2025-10-27T05:38:45.502Z,1761543525.502 [DAT](INFO): DAT read: Bearing 312.7, -24.4 (Local) 2025-10-27T05:38:45.503Z,1761543525.503 [DAT](INFO): Local bearing/azimuth received: Bearing 312.7, -24.4 (Local) 2025-10-27T05:38:45.505Z,1761543525.505 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2025-10-27T05:38:45.509Z,1761543525.509 [DAT](INFO): DAT read: 05:38:44.1659 LVL= 32752, 25393, 32338, 32755, AGC= 69, IDX= 511, 0.02, 2.322,-1.826,-3.055,-2.834, PHS=-1.026, 1.053,-0.266, RAW= 308.8, 2.7, CAL= 306.5, -0.6, ROT= 203.5, 0.6 2025-10-27T05:38:45.510Z,1761543525.510 [DAT](INFO): got valid direction response: 05:38:44.1659 LVL= 32752, 25393, 32338, 32755, AGC= 69, IDX= 511, 0.02, 2.322,-1.826,-3.055,-2.834, PHS=-1.026, 1.053,-0.266, RAW= 308.8, 2.7, CAL= 306.5, -0.6, ROT= 203.5, 0.6 2025-10-27T05:38:45.511Z,1761543525.511 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:45.512Z,1761543525.512 [DAT](INFO): direction in FSK: [-0.917010,-0.398727,-0.010472] 2025-10-27T05:38:45.512Z,1761543525.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:45.516Z,1761543525.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:45.516Z,1761543525.516 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:45.572Z,1761543525.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769082,0.638629,0.025795],[-0.638869,0.766923,0.060621],[0.018931,-0.063102,0.997827]] 2025-10-27T05:38:45.626Z,1761543525.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503519 s, deltaX: 0.200001 m, approachRate: 0.397206 m/s, rangeRepo size: 4 2025-10-27T05:38:45.632Z,1761543525.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.496477 m, bearing: 163.774249 deg, lat: 36.779363 deg, lon: -121.859754 deg, deltaT: 0.503519 s, deltaX: 0.198824 m, approachRate: 0.394869 m/s, posRepo size: 4 2025-10-27T05:38:45.633Z,1761543525.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:45.752Z,1761543525.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:45.972Z,1761543525.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769408,0.638219,0.026231],[-0.638487,0.767240,0.060633],[0.018572,-0.063400,0.997815]] 2025-10-27T05:38:46.005Z,1761543526.005 [DAT](INFO): DAT read: Rx Time:05:38:44.6658 2025-10-27T05:38:46.005Z,1761543526.005 [DAT](INFO): Rx dataTimestamp_ set to:1761543526.004831 2025-10-27T05:38:46.006Z,1761543526.006 [DAT](INFO): DAT read: Bearing 312.4, -24.1 (Local) 2025-10-27T05:38:46.007Z,1761543526.007 [DAT](INFO): Local bearing/azimuth received: Bearing 312.4, -24.1 (Local) 2025-10-27T05:38:46.009Z,1761543526.009 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.2 2025-10-27T05:38:46.014Z,1761543526.014 [DAT](INFO): DAT read: 05:38:44.6658 LVL= 32752, 25025, 32594, 32755, AGC= 66, IDX= 510, 0.11,-2.295,-0.158,-1.400,-1.162, PHS=-1.032, 1.048,-0.283, RAW= 309.2, 3.0, CAL= 306.8, -0.3, ROT= 203.2, 0.3 2025-10-27T05:38:46.015Z,1761543526.015 [DAT](INFO): got valid direction response: 05:38:44.6658 LVL= 32752, 25025, 32594, 32755, AGC= 66, IDX= 510, 0.11,-2.295,-0.158,-1.400,-1.162, PHS=-1.032, 1.048,-0.283, RAW= 309.2, 3.0, CAL= 306.8, -0.3, ROT= 203.2, 0.3 2025-10-27T05:38:46.015Z,1761543526.015 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:46.016Z,1761543526.016 [DAT](INFO): direction in FSK: [-0.919123,-0.393936,-0.005236] 2025-10-27T05:38:46.016Z,1761543526.016 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:46.028Z,1761543526.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:46.029Z,1761543526.029 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:46.056Z,1761543526.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504170 s, deltaX: -0.200001 m, approachRate: -0.396693 m/s, rangeRepo size: 4 2025-10-27T05:38:46.058Z,1761543526.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.298048 m, bearing: 163.483708 deg, lat: 36.779363 deg, lon: -121.859754 deg, deltaT: 0.504170 s, deltaX: -0.198429 m, approachRate: -0.393576 m/s, posRepo size: 4 2025-10-27T05:38:46.058Z,1761543526.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:46.256Z,1761543526.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:46.374Z,1761543526.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769711,0.637853,0.026257],[-0.638128,0.767556,0.060413],[0.018381,-0.063256,0.997828]] 2025-10-27T05:38:46.421Z,1761543526.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:46.509Z,1761543526.509 [DAT](INFO): DAT read: Rx Time:05:38:45.1658 2025-10-27T05:38:46.510Z,1761543526.510 [DAT](INFO): Rx dataTimestamp_ set to:1761543526.509236 2025-10-27T05:38:46.511Z,1761543526.511 [DAT](INFO): DAT read: Bearing 311.0, -24.2 (Local) 2025-10-27T05:38:46.511Z,1761543526.511 [DAT](INFO): Local bearing/azimuth received: Bearing 311.0, -24.2 (Local) 2025-10-27T05:38:46.513Z,1761543526.513 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-27T05:38:46.518Z,1761543526.518 [DAT](INFO): DAT read: 05:38:45.1658 LVL= 32752, 27025, 32754, 32755, AGC= 67, IDX= 510, 0.31,-1.075, 1.055,-0.185, 0.079, PHS=-1.052, 1.021,-0.308, RAW= 309.2, 3.8, CAL= 306.8, 1.0, ROT= 203.2, -1.0 2025-10-27T05:38:46.519Z,1761543526.519 [DAT](INFO): got valid direction response: 05:38:45.1658 LVL= 32752, 27025, 32754, 32755, AGC= 67, IDX= 510, 0.31,-1.075, 1.055,-0.185, 0.079, PHS=-1.052, 1.021,-0.308, RAW= 309.2, 3.8, CAL= 306.8, 1.0, ROT= 203.2, -1.0 2025-10-27T05:38:46.519Z,1761543526.519 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:46.520Z,1761543526.520 [DAT](INFO): direction in FSK: [-0.918995,-0.393882,0.017452] 2025-10-27T05:38:46.521Z,1761543526.521 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:46.525Z,1761543526.525 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:46.525Z,1761543526.525 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:46.760Z,1761543526.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:46.785Z,1761543526.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770338,0.637114,0.025780],[-0.637375,0.768238,0.059696],[0.018228,-0.062418,0.997884]] 2025-10-27T05:38:46.921Z,1761543526.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504405 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:46.927Z,1761543526.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.299767 m, bearing: 163.484049 deg, lat: 36.779363 deg, lon: -121.859754 deg, deltaT: 0.504405 s, deltaX: 0.001719 m, approachRate: 0.003407 m/s, posRepo size: 4 2025-10-27T05:38:46.928Z,1761543526.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:47.014Z,1761543527.014 [DAT](INFO): DAT read: Rx Time:05:38:45.6657 2025-10-27T05:38:47.014Z,1761543527.014 [DAT](INFO): Rx dataTimestamp_ set to:1761543527.014123 2025-10-27T05:38:47.016Z,1761543527.016 [DAT](INFO): DAT read: Bearing 310.4, -24.2 (Local) 2025-10-27T05:38:47.016Z,1761543527.016 [DAT](INFO): Local bearing/azimuth received: Bearing 310.4, -24.2 (Local) 2025-10-27T05:38:47.018Z,1761543527.018 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-27T05:38:47.024Z,1761543527.024 [DAT](INFO): DAT read: 05:38:45.6657 LVL= 32752, 27201, 32754, 32755, AGC= 65, IDX= 510,-0.31, 2.206,-1.949, 3.093,-2.916, PHS=-1.059, 1.013,-0.318, RAW= 309.3, 4.1, CAL= 306.9, 1.5, ROT= 203.1, -1.5 2025-10-27T05:38:47.026Z,1761543527.026 [DAT](INFO): got valid direction response: 05:38:45.6657 LVL= 32752, 27201, 32754, 32755, AGC= 65, IDX= 510,-0.31, 2.206,-1.949, 3.093,-2.916, PHS=-1.059, 1.013,-0.318, RAW= 309.3, 4.1, CAL= 306.9, 1.5, ROT= 203.1, -1.5 2025-10-27T05:38:47.026Z,1761543527.026 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:47.028Z,1761543527.028 [DAT](INFO): direction in FSK: [-0.919506,-0.392203,0.026177] 2025-10-27T05:38:47.029Z,1761543527.029 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:47.041Z,1761543527.041 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:47.041Z,1761543527.041 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:47.183Z,1761543527.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770534,0.636893,0.025388],[-0.637136,0.768463,0.059349],[0.018289,-0.061906,0.997914]] 2025-10-27T05:38:47.264Z,1761543527.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:47.269Z,1761543527.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504887 s, deltaX: -0.100000 m, approachRate: -0.198065 m/s, rangeRepo size: 4 2025-10-27T05:38:47.284Z,1761543527.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.200342 m, bearing: 163.371069 deg, lat: 36.779363 deg, lon: -121.859754 deg, deltaT: 0.504887 s, deltaX: -0.099424 m, approachRate: -0.196924 m/s, posRepo size: 4 2025-10-27T05:38:47.284Z,1761543527.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-27T05:38:47.516Z,1761543527.516 [DAT](INFO): DAT read: Rx Time:05:38:46.1659 2025-10-27T05:38:47.517Z,1761543527.517 [DAT](INFO): Rx dataTimestamp_ set to:1761543527.516691 2025-10-27T05:38:47.518Z,1761543527.518 [DAT](INFO): DAT read: Bearing 310.7, -24.1 (Local) 2025-10-27T05:38:47.519Z,1761543527.519 [DAT](INFO): Local bearing/azimuth received: Bearing 310.7, -24.1 (Local) 2025-10-27T05:38:47.521Z,1761543527.521 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.1 2025-10-27T05:38:47.525Z,1761543527.525 [DAT](INFO): DAT read: 05:38:46.1659 LVL= 32752, 27185, 32754, 32755, AGC= 64, IDX= 511,-0.09,-2.629,-0.503,-1.744,-1.474, PHS=-1.053, 1.016,-0.314, RAW= 309.4, 3.9, CAL= 307.0, 1.2, ROT= 203.0, -1.2 2025-10-27T05:38:47.526Z,1761543527.526 [DAT](INFO): got valid direction response: 05:38:46.1659 LVL= 32752, 27185, 32754, 32755, AGC= 64, IDX= 511,-0.09,-2.629,-0.503,-1.744,-1.474, PHS=-1.053, 1.016,-0.314, RAW= 309.4, 3.9, CAL= 307.0, 1.2, ROT= 203.0, -1.2 2025-10-27T05:38:47.527Z,1761543527.527 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:47.528Z,1761543527.528 [DAT](INFO): direction in FSK: [-0.920303,-0.390645,0.020942] 2025-10-27T05:38:47.528Z,1761543527.528 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:47.531Z,1761543527.531 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:47.532Z,1761543527.532 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:38:47.601Z,1761543527.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770508,0.636938,0.025036],[-0.637161,0.768445,0.059317],[0.018542,-0.061656,0.997925]] 2025-10-27T05:38:47.668Z,1761543527.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.502568 s, deltaX: 0.300001 m, approachRate: 0.596936 m/s, rangeRepo size: 4 2025-10-27T05:38:47.670Z,1761543527.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.498615 m, bearing: 163.288932 deg, lat: 36.779363 deg, lon: -121.859753 deg, deltaT: 0.502568 s, deltaX: 0.298273 m, approachRate: 0.593498 m/s, posRepo size: 4 2025-10-27T05:38:47.675Z,1761543527.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:47.768Z,1761543527.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:38:48.020Z,1761543528.020 [DAT](INFO): DAT read: user:489> 2025-10-27T05:38:48.021Z,1761543528.021 [DAT](INFO): DAT read: Command 'bl' not found 2025-10-27T05:38:48.021Z,1761543528.021 [DAT](INFO): unknown deviceResponse_: Command 'bl' not found 2025-10-27T05:38:48.021Z,1761543528.021 [DAT](INFO): DAT read: Error 2025-10-27T05:38:48.022Z,1761543528.022 [DAT](INFO): unknown deviceResponse_: Error 2025-10-27T05:38:48.022Z,1761543528.022 [DAT](INFO): DAT read: user:490> 2025-10-27T05:38:48.023Z,1761543528.023 [DAT](INFO): DAT read: Tx time:05:38:47.1224 2025-10-27T05:38:48.023Z,1761543528.023 [DAT](INFO): Ping request sent. 2025-10-27T05:38:48.023Z,1761543528.023 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:38:48.024Z,1761543528.024 [DAT](INFO): publishing transmit ping time 2025-10-27T05:38:48.024Z,1761543528.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-27T05:38:48.120Z,1761543528.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:48.272Z,1761543528.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248437 2025-10-27T05:38:48.410Z,1761543528.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770045,0.637520,0.024459],[-0.637697,0.767964,0.059780],[0.019328,-0.061630,0.997912]] 2025-10-27T05:38:48.429Z,1761543528.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:48.524Z,1761543528.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500400 2025-10-27T05:38:48.776Z,1761543528.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752442 2025-10-27T05:38:48.802Z,1761543528.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769689,0.637964,0.024070],[-0.638109,0.767595,0.060123],[0.019880,-0.061636,0.997901]] 2025-10-27T05:38:48.838Z,1761543528.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:49.028Z,1761543529.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004453 2025-10-27T05:38:49.206Z,1761543529.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769262,0.638496,0.023627],[-0.638606,0.767158,0.060429],[0.020458,-0.061575,0.997893]] 2025-10-27T05:38:49.257Z,1761543529.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:49.280Z,1761543529.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256484 2025-10-27T05:38:49.532Z,1761543529.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508444 2025-10-27T05:38:49.660Z,1761543529.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:49.784Z,1761543529.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760472 2025-10-27T05:38:50.014Z,1761543530.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768239,0.639754,0.022900],[-0.639795,0.766093,0.061346],[0.021703,-0.061780,0.997854]] 2025-10-27T05:38:50.036Z,1761543530.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012426 2025-10-27T05:38:50.113Z,1761543530.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:50.288Z,1761543530.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264512 2025-10-27T05:38:50.456Z,1761543530.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767796,0.640298,0.022520],[-0.640307,0.765635,0.061729],[0.022283,-0.061815,0.997839]] 2025-10-27T05:38:50.511Z,1761543530.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:50.541Z,1761543530.541 [DAT](INFO): DAT read: Rx Time:05:38:49.2746 2025-10-27T05:38:50.541Z,1761543530.541 [DAT](INFO): Rx dataTimestamp_ set to:1761543530.540947 2025-10-27T05:38:50.542Z,1761543530.542 [DAT](INFO): DAT read: Bearing 312.6, -25.0 (Local) 2025-10-27T05:38:50.543Z,1761543530.543 [DAT](INFO): Local bearing/azimuth received: Bearing 312.6, -25.0 (Local) 2025-10-27T05:38:50.546Z,1761543530.546 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-27T05:38:50.552Z,1761543530.552 [DAT](INFO): DAT read: 05:38:49.2746 LVL= 32752, 24353, 32754, 32755, AGC= 68, IDX= 312, 0.40, 2.216,-1.910, 3.140,-2.928, PHS=-1.037, 1.062,-0.259, RAW= 308.5, 2.6, CAL= 306.2, -0.7, ROT= 203.8, 0.7 2025-10-27T05:38:50.553Z,1761543530.553 [DAT](INFO): got valid direction response: 05:38:49.2746 LVL= 32752, 24353, 32754, 32755, AGC= 68, IDX= 312, 0.40, 2.216,-1.910, 3.140,-2.928, PHS=-1.037, 1.062,-0.259, RAW= 308.5, 2.6, CAL= 306.2, -0.7, ROT= 203.8, 0.7 2025-10-27T05:38:50.554Z,1761543530.554 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:38:50.555Z,1761543530.555 [DAT](INFO): direction in FSK: [-0.914891,-0.403515,-0.012217] 2025-10-27T05:38:50.556Z,1761543530.556 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:50.561Z,1761543530.561 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.537464 2025-10-27T05:38:50.792Z,1761543530.792 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768424 2025-10-27T05:38:50.823Z,1761543530.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767260,0.640954,0.022135],[-0.640929,0.765086,0.062069],[0.022848,-0.061810,0.997826]] 2025-10-27T05:38:50.868Z,1761543530.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 3.024256 s, deltaX: -0.300001 m, approachRate: -0.099198 m/s, rangeRepo size: 4 2025-10-27T05:38:50.873Z,1761543530.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.200132 m, bearing: 163.924266 deg, lat: 36.779364 deg, lon: -121.859753 deg, deltaT: 3.024256 s, deltaX: -0.298483 m, approachRate: -0.098696 m/s, posRepo size: 4 2025-10-27T05:38:50.875Z,1761543530.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-27T05:38:51.045Z,1761543531.045 [DAT](INFO): DAT read: Rx Time:05:38:49.7746 2025-10-27T05:38:51.046Z,1761543531.046 [DAT](INFO): Rx dataTimestamp_ set to:1761543531.045687 2025-10-27T05:38:51.048Z,1761543531.048 [DAT](INFO): DAT read: Bearing 311.7, -25.1 (Local) 2025-10-27T05:38:51.048Z,1761543531.048 [DAT](INFO): Local bearing/azimuth received: Bearing 311.7, -25.1 (Local) 2025-10-27T05:38:51.050Z,1761543531.050 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.1 2025-10-27T05:38:51.055Z,1761543531.055 [DAT](INFO): DAT read: 05:38:49.7746 LVL= 32752, 24225, 32754, 32755, AGC= 67, IDX= 504,-0.13,-0.263, 1.912, 0.665, 0.906, PHS=-1.068, 1.051,-0.285, RAW= 308.6, 3.3, CAL= 306.2, 0.0, ROT= 203.8, -0.0 2025-10-27T05:38:51.056Z,1761543531.056 [DAT](INFO): got valid direction response: 05:38:49.7746 LVL= 32752, 24225, 32754, 32755, AGC= 67, IDX= 504,-0.13,-0.263, 1.912, 0.665, 0.906, PHS=-1.068, 1.051,-0.285, RAW= 308.6, 3.3, CAL= 306.2, 0.0, ROT= 203.8, -0.0 2025-10-27T05:38:51.057Z,1761543531.057 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:38:51.058Z,1761543531.058 [DAT](INFO): direction in FSK: [-0.914960,-0.403545,0.000000] 2025-10-27T05:38:51.058Z,1761543531.058 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:51.066Z,1761543531.066 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042662 2025-10-27T05:38:51.226Z,1761543531.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766799,0.641524,0.021588],[-0.641457,0.764622,0.062330],[0.023480,-0.061642,0.997822]] 2025-10-27T05:38:51.296Z,1761543531.296 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272421 2025-10-27T05:38:51.324Z,1761543531.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504740 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:51.326Z,1761543531.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.200132 m, bearing: 163.838292 deg, lat: 36.779366 deg, lon: -121.859753 deg, deltaT: 0.504740 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:51.326Z,1761543531.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-27T05:38:51.548Z,1761543531.548 [DAT](INFO): DAT read: Rx Time:05:38:50.2747 2025-10-27T05:38:51.549Z,1761543531.549 [DAT](INFO): Rx dataTimestamp_ set to:1761543531.548610 2025-10-27T05:38:51.550Z,1761543531.550 [DAT](INFO): DAT read: Bearing 312.4, -25.5 (Local) 2025-10-27T05:38:51.550Z,1761543531.550 [DAT](INFO): Local bearing/azimuth received: Bearing 312.4, -25.5 (Local) 2025-10-27T05:38:51.553Z,1761543531.553 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-27T05:38:51.557Z,1761543531.557 [DAT](INFO): DAT read: 05:38:50.2747 LVL= 32752, 24417, 30610, 32755, AGC= 68, IDX= 505, 0.18, 2.659,-1.460,-2.684,-2.470, PHS=-1.052, 1.055,-0.258, RAW= 308.1, 2.8, CAL= 305.8, -0.6, ROT= 204.2, 0.6 2025-10-27T05:38:51.558Z,1761543531.558 [DAT](INFO): got valid direction response: 05:38:50.2747 LVL= 32752, 24417, 30610, 32755, AGC= 68, IDX= 505, 0.18, 2.659,-1.460,-2.684,-2.470, PHS=-1.052, 1.055,-0.258, RAW= 308.1, 2.8, CAL= 305.8, -0.6, ROT= 204.2, 0.6 2025-10-27T05:38:51.559Z,1761543531.559 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:38:51.560Z,1761543531.560 [DAT](INFO): direction in FSK: [-0.912070,-0.409900,-0.010472] 2025-10-27T05:38:51.560Z,1761543531.560 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:51.564Z,1761543531.564 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.540755 2025-10-27T05:38:51.634Z,1761543531.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766301,0.642130,0.021261],[-0.642033,0.764109,0.062706],[0.024020,-0.061702,0.997806]] 2025-10-27T05:38:51.692Z,1761543531.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.502923 s, deltaX: 0.100000 m, approachRate: 0.198838 m/s, rangeRepo size: 4 2025-10-27T05:38:51.694Z,1761543531.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.299557 m, bearing: 164.233320 deg, lat: 36.779368 deg, lon: -121.859754 deg, deltaT: 0.502923 s, deltaX: 0.099424 m, approachRate: 0.197693 m/s, posRepo size: 4 2025-10-27T05:38:51.694Z,1761543531.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:51.802Z,1761543531.802 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778566 2025-10-27T05:38:52.034Z,1761543532.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765847,0.642686,0.020787],[-0.642551,0.763650,0.062983],[0.024605,-0.061592,0.997798]] 2025-10-27T05:38:52.053Z,1761543532.053 [DAT](INFO): DAT read: Rx Time:05:38:50.7746 2025-10-27T05:38:52.053Z,1761543532.053 [DAT](INFO): Rx dataTimestamp_ set to:1761543532.052770 2025-10-27T05:38:52.054Z,1761543532.054 [DAT](INFO): DAT read: Bearing 311.6, -25.2 (Local) 2025-10-27T05:38:52.055Z,1761543532.055 [DAT](INFO): Local bearing/azimuth received: Bearing 311.6, -25.2 (Local) 2025-10-27T05:38:52.057Z,1761543532.057 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-27T05:38:52.062Z,1761543532.062 [DAT](INFO): DAT read: 05:38:50.7746 LVL= 32752, 26017, 32754, 32755, AGC= 67, IDX= 505,-0.43, 0.420, 2.588, 1.344, 1.588, PHS=-1.066, 1.045,-0.288, RAW= 308.6, 3.4, CAL= 306.2, 0.2, ROT= 203.8, -0.2 2025-10-27T05:38:52.063Z,1761543532.063 [DAT](INFO): got valid direction response: 05:38:50.7746 LVL= 32752, 26017, 32754, 32755, AGC= 67, IDX= 505,-0.43, 0.420, 2.588, 1.344, 1.588, PHS=-1.066, 1.045,-0.288, RAW= 308.6, 3.4, CAL= 306.2, 0.2, ROT= 203.8, -0.2 2025-10-27T05:38:52.064Z,1761543532.064 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:38:52.065Z,1761543532.065 [DAT](INFO): direction in FSK: [-0.914954,-0.403543,0.003491] 2025-10-27T05:38:52.065Z,1761543532.065 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:52.116Z,1761543532.116 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.092142 2025-10-27T05:38:52.189Z,1761543532.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504160 s, deltaX: -0.100000 m, approachRate: -0.198350 m/s, rangeRepo size: 4 2025-10-27T05:38:52.199Z,1761543532.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.199919 m, bearing: 163.741926 deg, lat: 36.779368 deg, lon: -121.859754 deg, deltaT: 0.504160 s, deltaX: -0.099638 m, approachRate: -0.197632 m/s, posRepo size: 4 2025-10-27T05:38:52.200Z,1761543532.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-27T05:38:52.305Z,1761543532.305 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281408 2025-10-27T05:38:52.471Z,1761543532.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765700,0.642876,0.020343],[-0.642715,0.763516,0.062940],[0.024930,-0.061267,0.997810]] 2025-10-27T05:38:52.498Z,1761543532.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-27T05:38:52.557Z,1761543532.557 [DAT](INFO): DAT read: Rx Time:05:38:51.2748 2025-10-27T05:38:52.558Z,1761543532.558 [DAT](INFO): Rx dataTimestamp_ set to:1761543532.557495 2025-10-27T05:38:52.559Z,1761543532.559 [DAT](INFO): DAT read: Bearing 312.1, -25.4 (Local) 2025-10-27T05:38:52.559Z,1761543532.559 [DAT](INFO): Local bearing/azimuth received: Bearing 312.1, -25.4 (Local) 2025-10-27T05:38:52.562Z,1761543532.562 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.1 2025-10-27T05:38:52.566Z,1761543532.566 [DAT](INFO): DAT read: 05:38:51.2748 LVL= 32752, 25777, 32754, 32755, AGC= 67, IDX= 506,-0.07, 2.700,-1.414,-2.649,-2.421, PHS=-1.060, 1.052,-0.272, RAW= 308.3, 3.1, CAL= 306.0, -0.2, ROT= 204.0, 0.2 2025-10-27T05:38:52.567Z,1761543532.567 [DAT](INFO): got valid direction response: 05:38:51.2748 LVL= 32752, 25777, 32754, 32755, AGC= 67, IDX= 506,-0.07, 2.700,-1.414,-2.649,-2.421, PHS=-1.060, 1.052,-0.272, RAW= 308.3, 3.1, CAL= 306.0, -0.2, ROT= 204.0, 0.2 2025-10-27T05:38:52.568Z,1761543532.568 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:38:52.569Z,1761543532.569 [DAT](INFO): direction in FSK: [-0.913540,-0.406734,-0.003491] 2025-10-27T05:38:52.569Z,1761543532.569 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:52.578Z,1761543532.578 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.554875 2025-10-27T05:38:52.808Z,1761543532.808 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.784506 2025-10-27T05:38:52.862Z,1761543532.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765313,0.643359,0.019628],[-0.643155,0.763154,0.062835],[0.025446,-0.060712,0.997831]] 2025-10-27T05:38:52.995Z,1761543532.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504725 s, deltaX: 0.300001 m, approachRate: 0.594385 m/s, rangeRepo size: 4 2025-10-27T05:38:52.998Z,1761543532.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.497820 m, bearing: 163.923046 deg, lat: 36.779368 deg, lon: -121.859754 deg, deltaT: 0.504725 s, deltaX: 0.297901 m, approachRate: 0.590225 m/s, posRepo size: 4 2025-10-27T05:38:52.998Z,1761543532.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:53.061Z,1761543533.061 [DAT](INFO): DAT read: Rx Time:05:38:51.7747 2025-10-27T05:38:53.061Z,1761543533.061 [DAT](INFO): Rx dataTimestamp_ set to:1761543533.060806 2025-10-27T05:38:53.062Z,1761543533.062 [DAT](INFO): DAT read: Bearing 311.1, -25.6 (Local) 2025-10-27T05:38:53.063Z,1761543533.063 [DAT](INFO): Local bearing/azimuth received: Bearing 311.1, -25.6 (Local) 2025-10-27T05:38:53.065Z,1761543533.065 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-27T05:38:53.070Z,1761543533.070 [DAT](INFO): DAT read: 05:38:51.7747 LVL= 32752, 24881, 32754, 32755, AGC= 67, IDX= 505, 0.21,-2.750,-0.602,-1.819,-1.577, PHS=-1.070, 1.021,-0.285, RAW= 308.2, 3.7, CAL= 305.8, 0.7, ROT= 204.2, -0.7 2025-10-27T05:38:53.071Z,1761543533.071 [DAT](INFO): got valid direction response: 05:38:51.7747 LVL= 32752, 24881, 32754, 32755, AGC= 67, IDX= 505, 0.21,-2.750,-0.602,-1.819,-1.577, PHS=-1.070, 1.021,-0.285, RAW= 308.2, 3.7, CAL= 305.8, 0.7, ROT= 204.2, -0.7 2025-10-27T05:38:53.071Z,1761543533.071 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:38:53.072Z,1761543533.072 [DAT](INFO): direction in FSK: [-0.912052,-0.409892,0.012217] 2025-10-27T05:38:53.072Z,1761543533.072 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:53.092Z,1761543533.092 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.068680 2025-10-27T05:38:53.300Z,1761543533.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765179,0.643538,0.018990],[-0.643301,0.763050,0.062598],[0.025794,-0.060115,0.997858]] 2025-10-27T05:38:53.323Z,1761543533.323 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.299683 2025-10-27T05:38:53.384Z,1761543533.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503311 s, deltaX: -0.200001 m, approachRate: -0.397370 m/s, rangeRepo size: 4 2025-10-27T05:38:53.393Z,1761543533.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.298981 m, bearing: 164.053198 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.503311 s, deltaX: -0.198839 m, approachRate: -0.395062 m/s, posRepo size: 4 2025-10-27T05:38:53.394Z,1761543533.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:53.577Z,1761543533.577 [DAT](INFO): DAT read: Rx Time:05:38:52.2747 2025-10-27T05:38:53.577Z,1761543533.577 [DAT](INFO): Rx dataTimestamp_ set to:1761543533.576780 2025-10-27T05:38:53.578Z,1761543533.578 [DAT](INFO): DAT read: Bearing 310.3, -26.0 (Local) 2025-10-27T05:38:53.579Z,1761543533.579 [DAT](INFO): Local bearing/azimuth received: Bearing 310.3, -26.0 (Local) 2025-10-27T05:38:53.581Z,1761543533.581 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-27T05:38:53.586Z,1761543533.586 [DAT](INFO): DAT read: 05:38:52.2747 LVL= 32752, 25329, 32754, 32755, AGC= 68, IDX= 506,-0.21, 1.283,-2.810, 2.240, 2.493, PHS=-1.108, 1.025,-0.297, RAW= 307.9, 4.1, CAL= 305.5, 1.4, ROT= 204.5, -1.4 2025-10-27T05:38:53.590Z,1761543533.590 [DAT](INFO): got valid direction response: 05:38:52.2747 LVL= 32752, 25329, 32754, 32755, AGC= 68, IDX= 506,-0.21, 1.283,-2.810, 2.240, 2.493, PHS=-1.108, 1.025,-0.297, RAW= 307.9, 4.1, CAL= 305.5, 1.4, ROT= 204.5, -1.4 2025-10-27T05:38:53.590Z,1761543533.590 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:38:53.600Z,1761543533.600 [DAT](INFO): direction in FSK: [-0.909690,-0.414569,0.024432] 2025-10-27T05:38:53.600Z,1761543533.600 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:53.616Z,1761543533.616 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.592965 2025-10-27T05:38:53.703Z,1761543533.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765015,0.643734,0.018919],[-0.643486,0.762873,0.062847],[0.026024,-0.060253,0.997844]] 2025-10-27T05:38:53.759Z,1761543533.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.515974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:53.761Z,1761543533.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.298382 m, bearing: 164.292091 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.515974 s, deltaX: -0.000599 m, approachRate: -0.001161 m/s, posRepo size: 4 2025-10-27T05:38:53.762Z,1761543533.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:53.829Z,1761543533.829 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.804850 2025-10-27T05:38:54.081Z,1761543534.081 [DAT](INFO): DAT read: Rx Time:05:38:52.7747 2025-10-27T05:38:54.081Z,1761543534.081 [DAT](INFO): Rx dataTimestamp_ set to:1761543534.080836 2025-10-27T05:38:54.082Z,1761543534.082 [DAT](INFO): DAT read: Bearing 311.3, -25.8 (Local) 2025-10-27T05:38:54.083Z,1761543534.083 [DAT](INFO): Local bearing/azimuth received: Bearing 311.3, -25.8 (Local) 2025-10-27T05:38:54.085Z,1761543534.085 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-27T05:38:54.090Z,1761543534.090 [DAT](INFO): DAT read: 05:38:52.7747 LVL= 32752, 25393, 32754, 32755, AGC= 66, IDX= 505, 0.15, 1.534,-2.576, 2.480, 2.719, PHS=-1.083, 1.033,-0.284, RAW= 308.0, 3.7, CAL= 305.6, 0.6, ROT= 204.4, -0.6 2025-10-27T05:38:54.091Z,1761543534.091 [DAT](INFO): got valid direction response: 05:38:52.7747 LVL= 32752, 25393, 32754, 32755, AGC= 66, IDX= 505, 0.15, 1.534,-2.576, 2.480, 2.719, PHS=-1.083, 1.033,-0.284, RAW= 308.0, 3.7, CAL= 305.6, 0.6, ROT= 204.4, -0.6 2025-10-27T05:38:54.096Z,1761543534.096 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:38:54.097Z,1761543534.097 [DAT](INFO): direction in FSK: [-0.910634,-0.413082,0.010472] 2025-10-27T05:38:54.097Z,1761543534.097 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:54.117Z,1761543534.117 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.093862 2025-10-27T05:38:54.120Z,1761543534.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764812,0.643969,0.019131],[-0.643720,0.762635,0.063336],[0.026196,-0.060755,0.997809]] 2025-10-27T05:38:54.241Z,1761543534.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504056 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:54.255Z,1761543534.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.298382 m, bearing: 164.225946 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.504056 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:54.256Z,1761543534.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:54.332Z,1761543534.332 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.308675 2025-10-27T05:38:54.512Z,1761543534.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764697,0.644107,0.019096],[-0.643847,0.762502,0.063653],[0.026439,-0.060970,0.997789]] 2025-10-27T05:38:54.530Z,1761543534.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:38:54.585Z,1761543534.585 [DAT](INFO): DAT read: Rx Time:05:38:53.2748 2025-10-27T05:38:54.586Z,1761543534.586 [DAT](INFO): Rx dataTimestamp_ set to:1761543534.585816 2025-10-27T05:38:54.588Z,1761543534.588 [DAT](INFO): DAT read: Bearing 311.6, -25.9 (Local) 2025-10-27T05:38:54.588Z,1761543534.588 [DAT](INFO): Local bearing/azimuth received: Bearing 311.6, -25.9 (Local) 2025-10-27T05:38:54.598Z,1761543534.598 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2025-10-27T05:38:54.611Z,1761543534.611 [DAT](INFO): DAT read: 05:38:53.2748 LVL= 32752, 28657, 32754, 32755, AGC= 69, IDX= 507,-0.23,-0.141, 2.037, 0.807, 1.043, PHS=-1.082, 1.039,-0.280, RAW= 308.0, 3.5, CAL= 305.6, 0.4, ROT= 204.4, -0.4 2025-10-27T05:38:54.612Z,1761543534.612 [DAT](INFO): got valid direction response: 05:38:53.2748 LVL= 32752, 28657, 32754, 32755, AGC= 69, IDX= 507,-0.23,-0.141, 2.037, 0.807, 1.043, PHS=-1.082, 1.039,-0.280, RAW= 308.0, 3.5, CAL= 305.6, 0.4, ROT= 204.4, -0.4 2025-10-27T05:38:54.612Z,1761543534.612 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:38:54.613Z,1761543534.613 [DAT](INFO): direction in FSK: [-0.910662,-0.413094,0.006981] 2025-10-27T05:38:54.614Z,1761543534.614 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:54.622Z,1761543534.622 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.598120 2025-10-27T05:38:54.836Z,1761543534.836 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.812541 2025-10-27T05:38:54.938Z,1761543534.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764850,0.643926,0.019054],[-0.643665,0.762657,0.063642],[0.026448,-0.060941,0.997791]] 2025-10-27T05:38:55.037Z,1761543535.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504980 s, deltaX: 0.200001 m, approachRate: 0.396057 m/s, rangeRepo size: 4 2025-10-27T05:38:55.043Z,1761543535.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.496954 m, bearing: 164.242591 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.504980 s, deltaX: 0.198572 m, approachRate: 0.393228 m/s, posRepo size: 4 2025-10-27T05:38:55.044Z,1761543535.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:55.089Z,1761543535.089 [DAT](INFO): DAT read: Rx Time:05:38:53.7748 2025-10-27T05:38:55.089Z,1761543535.089 [DAT](INFO): Rx dataTimestamp_ set to:1761543535.088841 2025-10-27T05:38:55.090Z,1761543535.090 [DAT](INFO): DAT read: Bearing 312.7, -25.6 (Local) 2025-10-27T05:38:55.091Z,1761543535.091 [DAT](INFO): Local bearing/azimuth received: Bearing 312.7, -25.6 (Local) 2025-10-27T05:38:55.093Z,1761543535.093 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2025-10-27T05:38:55.102Z,1761543535.102 [DAT](INFO): DAT read: 05:38:53.7748 LVL= 32752, 24049, 32754, 32755, AGC= 68, IDX= 506, 0.20,-0.868, 1.295, 0.071, 0.283, PHS=-1.049, 1.057,-0.256, RAW= 308.1, 2.7, CAL= 305.8, -0.6, ROT= 204.2, 0.6 2025-10-27T05:38:55.104Z,1761543535.104 [DAT](INFO): got valid direction response: 05:38:53.7748 LVL= 32752, 24049, 32754, 32755, AGC= 68, IDX= 506, 0.20,-0.868, 1.295, 0.071, 0.283, PHS=-1.049, 1.057,-0.256, RAW= 308.1, 2.7, CAL= 305.8, -0.6, ROT= 204.2, 0.6 2025-10-27T05:38:55.104Z,1761543535.104 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:38:55.105Z,1761543535.105 [DAT](INFO): direction in FSK: [-0.912070,-0.409900,-0.010472] 2025-10-27T05:38:55.105Z,1761543535.105 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:55.109Z,1761543535.109 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.085773 2025-10-27T05:38:55.318Z,1761543535.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765091,0.643643,0.018954],[-0.643379,0.762906,0.063541],[0.026438,-0.060809,0.997799]] 2025-10-27T05:38:55.340Z,1761543535.340 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.316536 2025-10-27T05:38:55.441Z,1761543535.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:55.465Z,1761543535.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.496954 m, bearing: 164.131010 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.503025 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:55.465Z,1761543535.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-27T05:38:55.592Z,1761543535.592 [DAT](INFO): DAT read: Rx Time:05:38:54.2749 2025-10-27T05:38:55.593Z,1761543535.593 [DAT](INFO): Rx dataTimestamp_ set to:1761543535.592687 2025-10-27T05:38:55.594Z,1761543535.594 [DAT](INFO): DAT read: Bearing 313.1, -24.7 (Local) 2025-10-27T05:38:55.595Z,1761543535.595 [DAT](INFO): Local bearing/azimuth received: Bearing 313.1, -24.7 (Local) 2025-10-27T05:38:55.597Z,1761543535.597 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 2025-10-27T05:38:55.601Z,1761543535.601 [DAT](INFO): DAT read: 05:38:54.2749 LVL= 32752, 21537, 27442, 32755, AGC= 68, IDX= 508,-0.24,-2.250,-0.090,-1.335,-1.122, PHS=-1.027, 1.077,-0.257, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 2025-10-27T05:38:55.602Z,1761543535.602 [DAT](INFO): got valid direction response: 05:38:54.2749 LVL= 32752, 21537, 27442, 32755, AGC= 68, IDX= 508,-0.24,-2.250,-0.090,-1.335,-1.122, PHS=-1.027, 1.077,-0.257, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 2025-10-27T05:38:55.603Z,1761543535.603 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:38:55.604Z,1761543535.604 [DAT](INFO): direction in FSK: [-0.917615,-0.397087,-0.017452] 2025-10-27T05:38:55.604Z,1761543535.604 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:55.608Z,1761543535.608 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.585007 2025-10-27T05:38:55.731Z,1761543535.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765240,0.643477,0.018582],[-0.643197,0.763078,0.063321],[0.026566,-0.060408,0.997820]] 2025-10-27T05:38:55.784Z,1761543535.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503846 s, deltaX: 0.100000 m, approachRate: 0.198474 m/s, rangeRepo size: 4 2025-10-27T05:38:55.786Z,1761543535.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.597303 m, bearing: 163.373083 deg, lat: 36.779369 deg, lon: -121.859754 deg, deltaT: 0.503846 s, deltaX: 0.100349 m, approachRate: 0.199167 m/s, posRepo size: 4 2025-10-27T05:38:55.786Z,1761543535.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:38:55.844Z,1761543535.844 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.820592 2025-10-27T05:38:56.096Z,1761543536.096 [DAT](INFO): DAT read: Rx Time:05:38:54.7749 2025-10-27T05:38:56.097Z,1761543536.097 [DAT](INFO): Rx dataTimestamp_ set to:1761543536.096647 2025-10-27T05:38:56.098Z,1761543536.098 [DAT](INFO): DAT read: Bearing 313.0, -24.9 (Local) 2025-10-27T05:38:56.098Z,1761543536.099 [DAT](INFO): Local bearing/azimuth received: Bearing 313.0, -24.9 (Local) 2025-10-27T05:38:56.101Z,1761543536.101 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 2025-10-27T05:38:56.105Z,1761543536.105 [DAT](INFO): DAT read: 05:38:54.7749 LVL= 32752, 20193, 23922, 32755, AGC= 67, IDX= 507, 0.02,-1.556, 0.598,-0.641,-0.427, PHS=-1.027, 1.070,-0.258, RAW= 308.7, 2.4, CAL= 306.5, -0.9, ROT= 203.5, 0.9 2025-10-27T05:38:56.106Z,1761543536.106 [DAT](INFO): got valid direction response: 05:38:54.7749 LVL= 32752, 20193, 23922, 32755, AGC= 67, IDX= 507, 0.02,-1.556, 0.598,-0.641,-0.427, PHS=-1.027, 1.070,-0.258, RAW= 308.7, 2.4, CAL= 306.5, -0.9, ROT= 203.5, 0.9 2025-10-27T05:38:56.119Z,1761543536.119 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:38:56.121Z,1761543536.121 [DAT](INFO): direction in FSK: [-0.916947,-0.398700,-0.015707] 2025-10-27T05:38:56.121Z,1761543536.121 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:56.124Z,1761543536.124 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.101008 2025-10-27T05:38:56.176Z,1761543536.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765312,0.643396,0.018382],[-0.643107,0.763162,0.063225],[0.026651,-0.060208,0.997830]] 2025-10-27T05:38:56.315Z,1761543536.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503960 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:56.317Z,1761543536.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.597303 m, bearing: 163.473052 deg, lat: 36.779369 deg, lon: -121.859753 deg, deltaT: 0.503960 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:56.318Z,1761543536.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:38:56.348Z,1761543536.348 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.324574 2025-10-27T05:38:56.582Z,1761543536.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765441,0.643247,0.018263],[-0.642952,0.763297,0.063168],[0.026693,-0.060093,0.997836]] 2025-10-27T05:38:56.601Z,1761543536.601 [DAT](INFO): DAT read: Rx Time:05:38:55.2750 2025-10-27T05:38:56.601Z,1761543536.601 [DAT](INFO): Rx dataTimestamp_ set to:1761543536.600837 2025-10-27T05:38:56.602Z,1761543536.602 [DAT](INFO): DAT read: Bearing 312.9, -25.0 (Local) 2025-10-27T05:38:56.603Z,1761543536.603 [DAT](INFO): Local bearing/azimuth received: Bearing 312.9, -25.0 (Local) 2025-10-27T05:38:56.605Z,1761543536.605 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:38:56.610Z,1761543536.610 [DAT](INFO): DAT read: 05:38:55.2750 LVL= 32752, 20705, 23890, 32755, AGC= 67, IDX= 508, 0.26, 0.670, 2.813, 1.583, 1.798, PHS=-1.027, 1.060,-0.260, RAW= 308.7, 2.5, CAL= 306.4, -0.8, ROT= 203.6, 0.8 2025-10-27T05:38:56.611Z,1761543536.611 [DAT](INFO): got valid direction response: 05:38:55.2750 LVL= 32752, 20705, 23890, 32755, AGC= 67, IDX= 508, 0.26, 0.670, 2.813, 1.583, 1.798, PHS=-1.027, 1.060,-0.260, RAW= 308.7, 2.5, CAL= 306.4, -0.8, ROT= 203.6, 0.8 2025-10-27T05:38:56.611Z,1761543536.611 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:38:56.612Z,1761543536.612 [DAT](INFO): direction in FSK: [-0.916273,-0.400310,-0.013962] 2025-10-27T05:38:56.612Z,1761543536.612 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:56.617Z,1761543536.617 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.593359 2025-10-27T05:38:56.646Z,1761543536.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504190 s, deltaX: 0.199999 m, approachRate: 0.396674 m/s, rangeRepo size: 4 2025-10-27T05:38:56.653Z,1761543536.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.796141 m, bearing: 163.577887 deg, lat: 36.779369 deg, lon: -121.859751 deg, deltaT: 0.504190 s, deltaX: 0.198837 m, approachRate: 0.394370 m/s, posRepo size: 4 2025-10-27T05:38:56.653Z,1761543536.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:38:56.852Z,1761543536.852 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.828773 2025-10-27T05:38:57.068Z,1761543537.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:38:57.106Z,1761543537.106 [DAT](INFO): DAT read: Rx Time:05:38:55.7749 2025-10-27T05:38:57.106Z,1761543537.106 [DAT](INFO): Rx dataTimestamp_ set to:1761543537.106215 2025-10-27T05:38:57.108Z,1761543537.108 [DAT](INFO): DAT read: Bearing 313.0, -24.6 (Local) 2025-10-27T05:38:57.108Z,1761543537.108 [DAT](INFO): Local bearing/azimuth received: Bearing 313.0, -24.6 (Local) 2025-10-27T05:38:57.110Z,1761543537.110 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 2025-10-27T05:38:57.115Z,1761543537.115 [DAT](INFO): DAT read: 05:38:55.7749 LVL= 32736, 19361, 23122, 32755, AGC= 66, IDX= 508,-0.29,-2.342,-0.195,-1.442,-1.221, PHS=-1.019, 1.071,-0.265, RAW= 309.1, 2.4, CAL= 306.9, -0.9, ROT= 203.1, 0.9 2025-10-27T05:38:57.116Z,1761543537.116 [DAT](INFO): got valid direction response: 05:38:55.7749 LVL= 32736, 19361, 23122, 32755, AGC= 66, IDX= 508,-0.29,-2.342,-0.195,-1.442,-1.221, PHS=-1.019, 1.071,-0.265, RAW= 309.1, 2.4, CAL= 306.9, -0.9, ROT= 203.1, 0.9 2025-10-27T05:38:57.116Z,1761543537.116 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:38:57.117Z,1761543537.117 [DAT](INFO): direction in FSK: [-0.919708,-0.392289,-0.015707] 2025-10-27T05:38:57.118Z,1761543537.118 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:57.121Z,1761543537.121 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.097906 2025-10-27T05:38:57.356Z,1761543537.356 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.332678 2025-10-27T05:38:57.426Z,1761543537.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765875,0.642735,0.018089],[-0.642433,0.763740,0.063091],[0.026736,-0.059940,0.997844]] 2025-10-27T05:38:57.524Z,1761543537.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.505378 s, deltaX: -0.199999 m, approachRate: -0.395741 m/s, rangeRepo size: 4 2025-10-27T05:38:57.526Z,1761543537.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.597582 m, bearing: 163.124452 deg, lat: 36.779369 deg, lon: -121.859751 deg, deltaT: 0.505378 s, deltaX: -0.198559 m, approachRate: -0.392892 m/s, posRepo size: 4 2025-10-27T05:38:57.526Z,1761543537.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:38:57.609Z,1761543537.609 [DAT](INFO): DAT read: Rx Time:05:38:56.2750 2025-10-27T05:38:57.609Z,1761543537.609 [DAT](INFO): Rx dataTimestamp_ set to:1761543537.608850 2025-10-27T05:38:57.610Z,1761543537.610 [DAT](INFO): DAT read: Bearing 313.2, -24.8 (Local) 2025-10-27T05:38:57.611Z,1761543537.611 [DAT](INFO): Local bearing/azimuth received: Bearing 313.2, -24.8 (Local) 2025-10-27T05:38:57.613Z,1761543537.613 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:38:57.618Z,1761543537.618 [DAT](INFO): DAT read: 05:38:56.2750 LVL= 32752, 19697, 26194, 32755, AGC= 67, IDX= 508,-0.02,-1.799, 0.363,-0.883,-0.669, PHS=-1.028, 1.077,-0.257, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 2025-10-27T05:38:57.619Z,1761543537.619 [DAT](INFO): got valid direction response: 05:38:56.2750 LVL= 32752, 19697, 26194, 32755, AGC= 67, IDX= 508,-0.02,-1.799, 0.363,-0.883,-0.669, PHS=-1.028, 1.077,-0.257, RAW= 308.8, 2.3, CAL= 306.6, -1.0, ROT= 203.4, 1.0 2025-10-27T05:38:57.619Z,1761543537.619 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:38:57.620Z,1761543537.620 [DAT](INFO): direction in FSK: [-0.917615,-0.397087,-0.017452] 2025-10-27T05:38:57.620Z,1761543537.620 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:57.624Z,1761543537.624 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.600864 2025-10-27T05:38:57.797Z,1761543537.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766110,0.642451,0.018233],[-0.642160,0.763973,0.063052],[0.026579,-0.060013,0.997844]] 2025-10-27T05:38:57.824Z,1761543537.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.502635 s, deltaX: 0.199999 m, approachRate: 0.397901 m/s, rangeRepo size: 4 2025-10-27T05:38:57.826Z,1761543537.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.796366 m, bearing: 163.450907 deg, lat: 36.779369 deg, lon: -121.859750 deg, deltaT: 0.502635 s, deltaX: 0.198784 m, approachRate: 0.395484 m/s, posRepo size: 4 2025-10-27T05:38:57.826Z,1761543537.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:38:57.861Z,1761543537.861 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.837384 2025-10-27T05:38:58.113Z,1761543538.113 [DAT](INFO): DAT read: Rx Time:05:38:56.7749 2025-10-27T05:38:58.113Z,1761543538.113 [DAT](INFO): Rx dataTimestamp_ set to:1761543538.112735 2025-10-27T05:38:58.114Z,1761543538.114 [DAT](INFO): DAT read: Bearing 313.1, -25.6 (Local) 2025-10-27T05:38:58.115Z,1761543538.115 [DAT](INFO): Local bearing/azimuth received: Bearing 313.1, -25.6 (Local) 2025-10-27T05:38:58.117Z,1761543538.117 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.1 2025-10-27T05:38:58.121Z,1761543538.121 [DAT](INFO): DAT read: 05:38:56.7749 LVL= 32752, 22097, 26994, 32755, AGC= 68, IDX= 507, 0.25,-2.544,-0.377,-1.602,-1.394, PHS=-1.047, 1.063,-0.252, RAW= 308.1, 2.6, CAL= 305.8, -0.8, ROT= 204.2, 0.8 2025-10-27T05:38:58.122Z,1761543538.122 [DAT](INFO): got valid direction response: 05:38:56.7749 LVL= 32752, 22097, 26994, 32755, AGC= 68, IDX= 507, 0.25,-2.544,-0.377,-1.602,-1.394, PHS=-1.047, 1.063,-0.252, RAW= 308.1, 2.6, CAL= 305.8, -0.8, ROT= 204.2, 0.8 2025-10-27T05:38:58.123Z,1761543538.123 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:38:58.124Z,1761543538.124 [DAT](INFO): direction in FSK: [-0.912031,-0.409883,-0.013962] 2025-10-27T05:38:58.124Z,1761543538.124 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:58.128Z,1761543538.128 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.104488 2025-10-27T05:38:58.198Z,1761543538.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766159,0.642389,0.018352],[-0.642100,0.764006,0.063262],[0.026618,-0.060253,0.997828]] 2025-10-27T05:38:58.276Z,1761543538.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503885 s, deltaX: -0.199999 m, approachRate: -0.396914 m/s, rangeRepo size: 4 2025-10-27T05:38:58.278Z,1761543538.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.597527 m, bearing: 164.240303 deg, lat: 36.779370 deg, lon: -121.859750 deg, deltaT: 0.503885 s, deltaX: -0.198839 m, approachRate: -0.394612 m/s, posRepo size: 4 2025-10-27T05:38:58.278Z,1761543538.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:38:58.366Z,1761543538.366 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.342788 2025-10-27T05:38:58.602Z,1761543538.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766377,0.642121,0.018618],[-0.641845,0.764211,0.063372],[0.026464,-0.060517,0.997816]] 2025-10-27T05:38:58.621Z,1761543538.621 [DAT](INFO): DAT read: Rx Time:05:38:57.2749 2025-10-27T05:38:58.621Z,1761543538.621 [DAT](INFO): Rx dataTimestamp_ set to:1761543538.620785 2025-10-27T05:38:58.622Z,1761543538.622 [DAT](INFO): DAT read: Bearing 313.0, -25.7 (Local) 2025-10-27T05:38:58.623Z,1761543538.623 [DAT](INFO): Local bearing/azimuth received: Bearing 313.0, -25.7 (Local) 2025-10-27T05:38:58.625Z,1761543538.625 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 2025-10-27T05:38:58.629Z,1761543538.629 [DAT](INFO): DAT read: 05:38:57.2749 LVL= 32752, 21057, 27058, 32755, AGC= 66, IDX= 509,-0.38,-2.457,-0.282,-1.508,-1.300, PHS=-1.055, 1.063,-0.252, RAW= 308.0, 2.7, CAL= 305.7, -0.7, ROT= 204.3, 0.7 2025-10-27T05:38:58.630Z,1761543538.630 [DAT](INFO): got valid direction response: 05:38:57.2749 LVL= 32752, 21057, 27058, 32755, AGC= 66, IDX= 509,-0.38,-2.457,-0.282,-1.508,-1.300, PHS=-1.055, 1.063,-0.252, RAW= 308.0, 2.7, CAL= 305.7, -0.7, ROT= 204.3, 0.7 2025-10-27T05:38:58.631Z,1761543538.631 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:38:58.632Z,1761543538.632 [DAT](INFO): direction in FSK: [-0.911335,-0.411484,-0.012217] 2025-10-27T05:38:58.633Z,1761543538.633 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:58.637Z,1761543538.637 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.613049 2025-10-27T05:38:58.684Z,1761543538.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.508050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:58.686Z,1761543538.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.597527 m, bearing: 164.352452 deg, lat: 36.779371 deg, lon: -121.859750 deg, deltaT: 0.508050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:38:58.687Z,1761543538.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:38:58.873Z,1761543538.873 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.849656 2025-10-27T05:38:59.011Z,1761543539.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766551,0.641908,0.018802],[-0.641640,0.764369,0.063551],[0.026423,-0.060779,0.997801]] 2025-10-27T05:38:59.096Z,1761543539.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:38:59.125Z,1761543539.125 [DAT](INFO): DAT read: Rx Time:05:38:57.7749 2025-10-27T05:38:59.125Z,1761543539.125 [DAT](INFO): Rx dataTimestamp_ set to:1761543539.124764 2025-10-27T05:38:59.126Z,1761543539.126 [DAT](INFO): DAT read: Bearing 312.9, -26.4 (Local) 2025-10-27T05:38:59.127Z,1761543539.127 [DAT](INFO): Local bearing/azimuth received: Bearing 312.9, -26.4 (Local) 2025-10-27T05:38:59.129Z,1761543539.129 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 2025-10-27T05:38:59.133Z,1761543539.133 [DAT](INFO): DAT read: 05:38:57.7749 LVL= 32752, 22337, 29458, 32755, AGC= 68, IDX= 508,-0.13, 2.792,-1.305,-2.520,-2.317, PHS=-1.073, 1.056,-0.248, RAW= 307.4, 2.9, CAL= 305.1, -0.5, ROT= 204.9, 0.5 2025-10-27T05:38:59.135Z,1761543539.135 [DAT](INFO): got valid direction response: 05:38:57.7749 LVL= 32752, 22337, 29458, 32755, AGC= 68, IDX= 508,-0.13, 2.792,-1.305,-2.520,-2.317, PHS=-1.073, 1.056,-0.248, RAW= 307.4, 2.9, CAL= 305.1, -0.5, ROT= 204.9, 0.5 2025-10-27T05:38:59.135Z,1761543539.135 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:38:59.136Z,1761543539.136 [DAT](INFO): direction in FSK: [-0.907010,-0.421020,-0.008727] 2025-10-27T05:38:59.136Z,1761543539.136 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:59.144Z,1761543539.144 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.120792 2025-10-27T05:38:59.377Z,1761543539.377 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.353124 2025-10-27T05:38:59.466Z,1761543539.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766811,0.641594,0.018925],[-0.641334,0.764626,0.063544],[0.026299,-0.060863,0.997800]] 2025-10-27T05:38:59.538Z,1761543539.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503979 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:38:59.544Z,1761543539.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.598032 m, bearing: 164.975908 deg, lat: 36.779371 deg, lon: -121.859752 deg, deltaT: 0.503979 s, deltaX: 0.000505 m, approachRate: 0.001003 m/s, posRepo size: 4 2025-10-27T05:38:59.545Z,1761543539.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:38:59.634Z,1761543539.634 [DAT](INFO): DAT read: Rx Time:05:38:58.2750 2025-10-27T05:38:59.635Z,1761543539.635 [DAT](INFO): Rx dataTimestamp_ set to:1761543539.634531 2025-10-27T05:38:59.636Z,1761543539.636 [DAT](INFO): DAT read: Bearing 312.1, -27.0 (Local) 2025-10-27T05:38:59.637Z,1761543539.637 [DAT](INFO): Local bearing/azimuth received: Bearing 312.1, -27.0 (Local) 2025-10-27T05:38:59.639Z,1761543539.639 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:38:59.644Z,1761543539.644 [DAT](INFO): DAT read: 05:38:58.2750 LVL= 32752, 24033, 32754, 32755, AGC= 68, IDX= 509, 0.02,-0.882, 1.315, 0.111, 0.325, PHS=-1.105, 1.036,-0.258, RAW= 306.9, 3.5, CAL= 304.5, 0.2, ROT= 205.5, -0.2 2025-10-27T05:38:59.646Z,1761543539.646 [DAT](INFO): got valid direction response: 05:38:58.2750 LVL= 32752, 24033, 32754, 32755, AGC= 68, IDX= 509, 0.02,-0.882, 1.315, 0.111, 0.325, PHS=-1.105, 1.036,-0.258, RAW= 306.9, 3.5, CAL= 304.5, 0.2, ROT= 205.5, -0.2 2025-10-27T05:38:59.646Z,1761543539.646 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:38:59.648Z,1761543539.648 [DAT](INFO): direction in FSK: [-0.902580,-0.430508,0.003491] 2025-10-27T05:38:59.648Z,1761543539.648 [DAT](INFO): publishing direction and range info 2025-10-27T05:38:59.651Z,1761543539.651 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.628027 2025-10-27T05:38:59.852Z,1761543539.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767170,0.641166,0.018851],[-0.640910,0.765003,0.063283],[0.026154,-0.060631,0.997818]] 2025-10-27T05:38:59.885Z,1761543539.885 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.861070 2025-10-27T05:38:59.968Z,1761543539.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.509767 s, deltaX: 0.199999 m, approachRate: 0.392334 m/s, rangeRepo size: 4 2025-10-27T05:38:59.970Z,1761543539.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.796436 m, bearing: 165.560501 deg, lat: 36.779371 deg, lon: -121.859752 deg, deltaT: 0.509767 s, deltaX: 0.198404 m, approachRate: 0.389206 m/s, posRepo size: 4 2025-10-27T05:38:59.970Z,1761543539.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:00.137Z,1761543540.137 [DAT](INFO): DAT read: Rx Time:05:38:58.7749 2025-10-27T05:39:00.137Z,1761543540.137 [DAT](INFO): Rx dataTimestamp_ set to:1761543540.136696 2025-10-27T05:39:00.138Z,1761543540.138 [DAT](INFO): DAT read: Bearing 312.6, -27.5 (Local) 2025-10-27T05:39:00.139Z,1761543540.139 [DAT](INFO): Local bearing/azimuth received: Bearing 312.6, -27.5 (Local) 2025-10-27T05:39:00.141Z,1761543540.141 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 2025-10-27T05:39:00.145Z,1761543540.145 [DAT](INFO): DAT read: 05:38:58.7749 LVL= 32752, 24529, 32754, 32755, AGC= 67, IDX= 508, 0.19,-1.249, 0.946,-0.242,-0.046, PHS=-1.100, 1.037,-0.240, RAW= 306.4, 3.3, CAL= 304.0, -0.2, ROT= 206.0, 0.2 2025-10-27T05:39:00.146Z,1761543540.146 [DAT](INFO): got valid direction response: 05:38:58.7749 LVL= 32752, 24529, 32754, 32755, AGC= 67, IDX= 508, 0.19,-1.249, 0.946,-0.242,-0.046, PHS=-1.100, 1.037,-0.240, RAW= 306.4, 3.3, CAL= 304.0, -0.2, ROT= 206.0, 0.2 2025-10-27T05:39:00.147Z,1761543540.147 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:39:00.148Z,1761543540.148 [DAT](INFO): direction in FSK: [-0.898789,-0.438368,-0.003491] 2025-10-27T05:39:00.148Z,1761543540.148 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:00.152Z,1761543540.152 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.128599 2025-10-27T05:39:00.254Z,1761543540.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767559,0.640700,0.018855],[-0.640451,0.765405,0.063070],[0.025977,-0.060486,0.997831]] 2025-10-27T05:39:00.338Z,1761543540.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.502165 s, deltaX: -0.199999 m, approachRate: -0.398273 m/s, rangeRepo size: 4 2025-10-27T05:39:00.345Z,1761543540.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.597595 m, bearing: 166.120492 deg, lat: 36.779371 deg, lon: -121.859753 deg, deltaT: 0.502165 s, deltaX: -0.198841 m, approachRate: -0.395968 m/s, posRepo size: 4 2025-10-27T05:39:00.345Z,1761543540.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:39:00.390Z,1761543540.390 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.366594 2025-10-27T05:39:00.644Z,1761543540.644 [DAT](INFO): DAT read: Rx Time:05:38:59.2750 2025-10-27T05:39:00.645Z,1761543540.645 [DAT](INFO): Rx dataTimestamp_ set to:1761543540.644639 2025-10-27T05:39:00.646Z,1761543540.646 [DAT](INFO): DAT read: Bearing 311.7, -28.1 (Local) 2025-10-27T05:39:00.646Z,1761543540.646 [DAT](INFO): Local bearing/azimuth received: Bearing 311.7, -28.1 (Local) 2025-10-27T05:39:00.649Z,1761543540.649 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:00.653Z,1761543540.653 [DAT](INFO): DAT read: 05:38:59.2750 LVL= 32752, 21441, 28978, 32755, AGC= 67, IDX= 509, 0.42, 0.628, 2.818, 1.649, 1.850, PHS=-1.120, 1.013,-0.245, RAW= 305.9, 3.8, CAL= 303.5, 0.6, ROT= 206.5, -0.6 2025-10-27T05:39:00.654Z,1761543540.654 [DAT](INFO): got valid direction response: 05:38:59.2750 LVL= 32752, 21441, 28978, 32755, AGC= 67, IDX= 509, 0.42, 0.628, 2.818, 1.649, 1.850, PHS=-1.120, 1.013,-0.245, RAW= 305.9, 3.8, CAL= 303.5, 0.6, ROT= 206.5, -0.6 2025-10-27T05:39:00.655Z,1761543540.655 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:39:00.656Z,1761543540.656 [DAT](INFO): direction in FSK: [-0.894885,-0.446173,0.010472] 2025-10-27T05:39:00.656Z,1761543540.656 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:00.660Z,1761543540.660 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.636147 2025-10-27T05:39:00.675Z,1761543540.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767865,0.640342,0.018571],[-0.640082,0.765730,0.062868],[0.026037,-0.060161,0.997849]] 2025-10-27T05:39:00.763Z,1761543540.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.507943 s, deltaX: 0.199999 m, approachRate: 0.393743 m/s, rangeRepo size: 4 2025-10-27T05:39:00.765Z,1761543540.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.796436 m, bearing: 166.595020 deg, lat: 36.779370 deg, lon: -121.859754 deg, deltaT: 0.507943 s, deltaX: 0.198841 m, approachRate: 0.391463 m/s, posRepo size: 4 2025-10-27T05:39:00.766Z,1761543540.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:00.896Z,1761543540.896 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.872742 2025-10-27T05:39:01.114Z,1761543541.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768427,0.639666,0.018639],[-0.639412,0.766291,0.062846],[0.025918,-0.060211,0.997849]] 2025-10-27T05:39:01.149Z,1761543541.149 [DAT](INFO): DAT read: Rx Time:05:38:59.7750 2025-10-27T05:39:01.149Z,1761543541.149 [DAT](INFO): Rx dataTimestamp_ set to:1761543541.148935 2025-10-27T05:39:01.150Z,1761543541.150 [DAT](INFO): DAT read: Bearing 313.0, -28.2 (Local) 2025-10-27T05:39:01.151Z,1761543541.151 [DAT](INFO): Local bearing/azimuth received: Bearing 313.0, -28.2 (Local) 2025-10-27T05:39:01.154Z,1761543541.154 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1 2025-10-27T05:39:01.158Z,1761543541.158 [DAT](INFO): DAT read: 05:38:59.7750 LVL= 32752, 23825, 29682, 32755, AGC= 67, IDX= 509,-0.26,-2.116, 0.103,-1.072,-0.901, PHS=-1.112, 1.049,-0.214, RAW= 305.6, 3.0, CAL= 303.3, -0.6, ROT= 206.7, 0.6 2025-10-27T05:39:01.159Z,1761543541.159 [DAT](INFO): got valid direction response: 05:38:59.7750 LVL= 32752, 23825, 29682, 32755, AGC= 67, IDX= 509,-0.26,-2.116, 0.103,-1.072,-0.901, PHS=-1.112, 1.049,-0.214, RAW= 305.6, 3.0, CAL= 303.3, -0.6, ROT= 206.7, 0.6 2025-10-27T05:39:01.160Z,1761543541.160 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:39:01.161Z,1761543541.161 [DAT](INFO): direction in FSK: [-0.893322,-0.449294,-0.010472] 2025-10-27T05:39:01.161Z,1761543541.161 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:01.165Z,1761543541.165 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.141296 2025-10-27T05:39:01.210Z,1761543541.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504296 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:01.217Z,1761543541.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.796860 m, bearing: 166.923154 deg, lat: 36.779369 deg, lon: -121.859756 deg, deltaT: 0.504296 s, deltaX: 0.000423 m, approachRate: 0.000840 m/s, posRepo size: 4 2025-10-27T05:39:01.217Z,1761543541.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:01.400Z,1761543541.400 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.376494 2025-10-27T05:39:01.530Z,1761543541.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:01.652Z,1761543541.652 [DAT](INFO): DAT read: Rx Time:05:39:00.2750 2025-10-27T05:39:01.653Z,1761543541.653 [DAT](INFO): Rx dataTimestamp_ set to:1761543541.652633 2025-10-27T05:39:01.654Z,1761543541.654 [DAT](INFO): DAT read: Bearing 307.8, -27.7 (Local) 2025-10-27T05:39:01.654Z,1761543541.654 [DAT](INFO): Local bearing/azimuth received: Bearing 307.8, -27.7 (Local) 2025-10-27T05:39:01.657Z,1761543541.657 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:01.661Z,1761543541.661 [DAT](INFO): DAT read: 05:39:00.2750 LVL= 32752, 25697, 31314, 32755, AGC= 67, IDX= 509,-0.17,-0.924, 1.241, 0.067, 0.333, PHS=-1.155, 0.954,-0.310, RAW= 306.5, 5.6, CAL= 304.2, 4.0, ROT= 205.8, -4.0 2025-10-27T05:39:01.662Z,1761543541.662 [DAT](INFO): got valid direction response: 05:39:00.2750 LVL= 32752, 25697, 31314, 32755, AGC= 67, IDX= 509,-0.17,-0.924, 1.241, 0.067, 0.333, PHS=-1.155, 0.954,-0.310, RAW= 306.5, 5.6, CAL= 304.2, 4.0, ROT= 205.8, -4.0 2025-10-27T05:39:01.663Z,1761543541.663 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:39:01.664Z,1761543541.664 [DAT](INFO): direction in FSK: [-0.898126,-0.434171,0.069756] 2025-10-27T05:39:01.664Z,1761543541.664 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:01.671Z,1761543541.671 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.647084 2025-10-27T05:39:01.902Z,1761543541.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768639,0.639411,0.018645],[-0.639159,0.766505,0.062823],[0.025879,-0.060205,0.997850]] 2025-10-27T05:39:01.909Z,1761543541.909 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.884231 2025-10-27T05:39:02.000Z,1761543542.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503698 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:02.003Z,1761543542.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.796713 m, bearing: 165.742433 deg, lat: 36.779369 deg, lon: -121.859756 deg, deltaT: 0.503698 s, deltaX: -0.000147 m, approachRate: -0.000292 m/s, posRepo size: 4 2025-10-27T05:39:02.007Z,1761543542.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:02.157Z,1761543542.157 [DAT](INFO): DAT read: Rx Time:05:39:00.7749 2025-10-27T05:39:02.158Z,1761543542.158 [DAT](INFO): Rx dataTimestamp_ set to:1761543542.157303 2025-10-27T05:39:02.159Z,1761543542.159 [DAT](INFO): DAT read: Bearing 313.2, -29.6 (Local) 2025-10-27T05:39:02.159Z,1761543542.159 [DAT](INFO): Local bearing/azimuth received: Bearing 313.2, -29.6 (Local) 2025-10-27T05:39:02.161Z,1761543542.161 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 2025-10-27T05:39:02.166Z,1761543542.166 [DAT](INFO): DAT read: 05:39:00.7749 LVL= 32752, 22769, 32754, 32755, AGC= 68, IDX= 508, 0.07,-2.023, 0.214,-0.927,-0.782, PHS=-1.139, 1.041,-0.189, RAW= 304.3, 3.1, CAL= 302.0, -0.6, ROT= 208.0, 0.6 2025-10-27T05:39:02.167Z,1761543542.167 [DAT](INFO): got valid direction response: 05:39:00.7749 LVL= 32752, 22769, 32754, 32755, AGC= 68, IDX= 508, 0.07,-2.023, 0.214,-0.927,-0.782, PHS=-1.139, 1.041,-0.189, RAW= 304.3, 3.1, CAL= 302.0, -0.6, ROT= 208.0, 0.6 2025-10-27T05:39:02.168Z,1761543542.168 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:39:02.169Z,1761543542.169 [DAT](INFO): direction in FSK: [-0.882899,-0.469446,-0.010472] 2025-10-27T05:39:02.169Z,1761543542.169 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:02.178Z,1761543542.178 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.154415 2025-10-27T05:39:02.400Z,1761543542.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768813,0.639205,0.018551],[-0.638947,0.766679,0.062855],[0.025955,-0.060176,0.997850]] 2025-10-27T05:39:02.411Z,1761543542.411 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.387120 2025-10-27T05:39:02.458Z,1761543542.458 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 90.02, 85.95, 84.93 2025-10-27T05:39:02.502Z,1761543542.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504670 s, deltaX: -0.199999 m, approachRate: -0.396296 m/s, rangeRepo size: 4 2025-10-27T05:39:02.508Z,1761543542.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.597868 m, bearing: 168.255018 deg, lat: 36.779370 deg, lon: -121.859757 deg, deltaT: 0.504670 s, deltaX: -0.198845 m, approachRate: -0.394010 m/s, posRepo size: 4 2025-10-27T05:39:02.509Z,1761543542.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:39:02.661Z,1761543542.661 [DAT](INFO): DAT read: Rx Time:05:39:01.2750 2025-10-27T05:39:02.661Z,1761543542.661 [DAT](INFO): Rx dataTimestamp_ set to:1761543542.660719 2025-10-27T05:39:02.662Z,1761543542.662 [DAT](INFO): DAT read: Bearing 312.0, -30.1 (Local) 2025-10-27T05:39:02.663Z,1761543542.663 [DAT](INFO): Local bearing/azimuth received: Bearing 312.0, -30.1 (Local) 2025-10-27T05:39:02.665Z,1761543542.665 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:02.669Z,1761543542.669 [DAT](INFO): DAT read: 05:39:01.2750 LVL= 32752, 25073, 32754, 32755, AGC= 69, IDX= 509, 0.21,-0.132, 2.112, 0.978, 1.142, PHS=-1.172, 1.015,-0.208, RAW= 303.9, 3.9, CAL= 301.5, 0.4, ROT= 208.5, -0.4 2025-10-27T05:39:02.670Z,1761543542.670 [DAT](INFO): got valid direction response: 05:39:01.2750 LVL= 32752, 25073, 32754, 32755, AGC= 69, IDX= 509, 0.21,-0.132, 2.112, 0.978, 1.142, PHS=-1.172, 1.015,-0.208, RAW= 303.9, 3.9, CAL= 301.5, 0.4, ROT= 208.5, -0.4 2025-10-27T05:39:02.671Z,1761543542.671 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:39:02.672Z,1761543542.672 [DAT](INFO): direction in FSK: [-0.878796,-0.477147,0.006981] 2025-10-27T05:39:02.672Z,1761543542.672 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:02.676Z,1761543542.676 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.652479 2025-10-27T05:39:02.779Z,1761543542.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768852,0.639159,0.018516],[-0.638895,0.766709,0.063014],[0.026080,-0.060278,0.997841]] 2025-10-27T05:39:02.838Z,1761543542.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503416 s, deltaX: 0.199999 m, approachRate: 0.397283 m/s, rangeRepo size: 4 2025-10-27T05:39:02.844Z,1761543542.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797239 m, bearing: 168.692111 deg, lat: 36.779369 deg, lon: -121.859757 deg, deltaT: 0.503416 s, deltaX: 0.199371 m, approachRate: 0.396037 m/s, posRepo size: 4 2025-10-27T05:39:02.845Z,1761543542.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:02.914Z,1761543542.914 [DAT](INFO): DAT read: Rx Time:05:39:01.7749 2025-10-27T05:39:02.916Z,1761543542.916 [DAT](INFO): Rx dataTimestamp_ set to:1761543542.914744 2025-10-27T05:39:02.917Z,1761543542.917 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.893408 2025-10-27T05:39:03.165Z,1761543543.165 [DAT](INFO): DAT read: Bearing 313.3, -29.8 (Local) 2025-10-27T05:39:03.165Z,1761543543.165 [DAT](INFO): Local bearing/azimuth received: Bearing 313.3, -29.8 (Local) 2025-10-27T05:39:03.167Z,1761543543.167 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 2025-10-27T05:39:03.172Z,1761543543.172 [DAT](INFO): DAT read: 05:39:01.7749 LVL= 32752, 22321, 30450, 32755, AGC= 67, IDX= 508, 0.39,-1.498, 0.747,-0.391,-0.254, PHS=-1.142, 1.046,-0.181, RAW= 304.0, 3.0, CAL= 301.8, -0.7, ROT= 208.2, 0.7 2025-10-27T05:39:03.173Z,1761543543.173 [DAT](INFO): got valid direction response: 05:39:01.7749 LVL= 32752, 22321, 30450, 32755, AGC= 67, IDX= 508, 0.39,-1.498, 0.747,-0.391,-0.254, PHS=-1.142, 1.046,-0.181, RAW= 304.0, 3.0, CAL= 301.8, -0.7, ROT= 208.2, 0.7 2025-10-27T05:39:03.173Z,1761543543.173 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:39:03.174Z,1761543543.174 [DAT](INFO): direction in FSK: [-0.881238,-0.472515,-0.012217] 2025-10-27T05:39:03.174Z,1761543543.174 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:03.178Z,1761543543.178 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.154621 2025-10-27T05:39:03.185Z,1761543543.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768623,0.639435,0.018497],[-0.639160,0.766460,0.063360],[0.026338,-0.060522,0.997819]] 2025-10-27T05:39:03.296Z,1761543543.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.502735 s, deltaX: -0.199999 m, approachRate: -0.397822 m/s, rangeRepo size: 4 2025-10-27T05:39:03.298Z,1761543543.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.598389 m, bearing: 168.444442 deg, lat: 36.779370 deg, lon: -121.859761 deg, deltaT: 0.502735 s, deltaX: -0.198851 m, approachRate: -0.395538 m/s, posRepo size: 4 2025-10-27T05:39:03.298Z,1761543543.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:39:03.419Z,1761543543.419 [DAT](INFO): DAT read: Rx Time:05:39:02.2750 2025-10-27T05:39:03.421Z,1761543543.421 [DAT](INFO): Rx dataTimestamp_ set to:1761543543.419718 2025-10-27T05:39:03.422Z,1761543543.422 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.398487 2025-10-27T05:39:03.574Z,1761543543.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768612,0.639458,0.018130],[-0.639162,0.766460,0.063338],[0.026606,-0.060271,0.997827]] 2025-10-27T05:39:03.599Z,1761543543.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:39:03.674Z,1761543543.674 [DAT](INFO): DAT read: Bearing 309.7, -30.1 (Local) 2025-10-27T05:39:03.674Z,1761543543.674 [DAT](INFO): Local bearing/azimuth received: Bearing 309.7, -30.1 (Local) 2025-10-27T05:39:03.677Z,1761543543.677 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:03.682Z,1761543543.682 [DAT](INFO): DAT read: 05:39:02.2750 LVL= 32752, 26289, 32754, 32755, AGC= 69, IDX= 510,-0.47,-0.587, 1.652, 0.515, 0.713, PHS=-1.198, 0.984,-0.242, RAW= 304.1, 4.9, CAL= 301.7, 2.4, ROT= 208.3, -2.4 2025-10-27T05:39:03.684Z,1761543543.684 [DAT](INFO): got valid direction response: 05:39:02.2750 LVL= 32752, 26289, 32754, 32755, AGC= 69, IDX= 510,-0.47,-0.587, 1.652, 0.515, 0.713, PHS=-1.198, 0.984,-0.242, RAW= 304.1, 4.9, CAL= 301.7, 2.4, ROT= 208.3, -2.4 2025-10-27T05:39:03.684Z,1761543543.684 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:39:03.686Z,1761543543.686 [DAT](INFO): direction in FSK: [-0.879705,-0.473672,0.041876] 2025-10-27T05:39:03.686Z,1761543543.686 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:03.694Z,1761543543.694 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.670932 2025-10-27T05:39:03.927Z,1761543543.927 [DAT](INFO): DAT read: Rx Time:05:39:02.7750 2025-10-27T05:39:03.929Z,1761543543.929 [DAT](INFO): Rx dataTimestamp_ set to:1761543543.927803 2025-10-27T05:39:03.931Z,1761543543.931 [DAT](INFO): DAT read: Bearing 312.0, -30.3 (Local) 2025-10-27T05:39:03.932Z,1761543543.932 [DAT](INFO): Local bearing/azimuth received: Bearing 312.0, -30.3 (Local) 2025-10-27T05:39:03.936Z,1761543543.936 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:03.938Z,1761543543.938 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T05:39:03.958Z,1761543543.958 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.933707 2025-10-27T05:39:03.993Z,1761543543.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768392,0.639740,0.017507],[-0.639408,0.766264,0.063216],[0.027027,-0.059769,0.997846]] 2025-10-27T05:39:04.066Z,1761543544.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.764349 s, deltaX: 0.199999 m, approachRate: 0.261659 m/s, rangeRepo size: 4 2025-10-27T05:39:04.072Z,1761543544.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797241 m, bearing: 168.322835 deg, lat: 36.779370 deg, lon: -121.859761 deg, deltaT: 0.764349 s, deltaX: 0.198853 m, approachRate: 0.260159 m/s, posRepo size: 4 2025-10-27T05:39:04.072Z,1761543544.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:04.182Z,1761543544.182 [DAT](INFO): DAT read: 05:39:02.7750 LVL= 32752, 23105, 30002, 32755, AGC= 67, IDX= 509,-0.28,-2.236,-0.008,-1.130,-0.972, PHS=-1.162, 1.009,-0.202, RAW= 303.8, 3.8, CAL= 301.4, 0.3, ROT= 208.6, -0.3 2025-10-27T05:39:04.184Z,1761543544.184 [DAT](INFO): got valid direction response: 05:39:02.7750 LVL= 32752, 23105, 30002, 32755, AGC= 67, IDX= 509,-0.28,-2.236,-0.008,-1.130,-0.972, PHS=-1.162, 1.009,-0.202, RAW= 303.8, 3.8, CAL= 301.4, 0.3, ROT= 208.6, -0.3 2025-10-27T05:39:04.184Z,1761543544.184 [DAT](INFO): #Rx 29: Read direction message, but no range. 2025-10-27T05:39:04.186Z,1761543544.186 [DAT](INFO): direction in FSK: [-0.877971,-0.478685,0.005236] 2025-10-27T05:39:04.191Z,1761543544.191 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.166851 2025-10-27T05:39:04.390Z,1761543544.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768030,0.640188,0.016980],[-0.639828,0.765924,0.063093],[0.027385,-0.059322,0.997863]] 2025-10-27T05:39:04.433Z,1761543544.433 [DAT](INFO): DAT read: Rx Time:05:39:03.2750 2025-10-27T05:39:04.434Z,1761543544.434 [DAT](INFO): Rx dataTimestamp_ set to:1761543544.433373 2025-10-27T05:39:04.446Z,1761543544.446 [DAT](INFO): DAT read: Bearing 312.7, -30.5 (Local) 2025-10-27T05:39:04.447Z,1761543544.447 [DAT](INFO): Local bearing/azimuth received: Bearing 312.7, -30.5 (Local) 2025-10-27T05:39:04.464Z,1761543544.464 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:04.466Z,1761543544.466 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T05:39:04.479Z,1761543544.479 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.455748 2025-10-27T05:39:04.502Z,1761543544.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.505570 s, deltaX: 0.100000 m, approachRate: 0.197797 m/s, rangeRepo size: 4 2025-10-27T05:39:04.508Z,1761543544.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896669 m, bearing: 168.728816 deg, lat: 36.779369 deg, lon: -121.859761 deg, deltaT: 0.505570 s, deltaX: 0.099428 m, approachRate: 0.196665 m/s, posRepo size: 4 2025-10-27T05:39:04.509Z,1761543544.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:04.684Z,1761543544.684 [DAT](INFO): DAT read: 05:39:03.2750 LVL= 32752, 22417, 26866, 32755, AGC= 67, IDX= 510,-0.16,-0.799, 1.457, 0.329, 0.469, PHS=-1.166, 1.032,-0.184, RAW= 303.5, 3.4, CAL= 301.2, -0.3, ROT= 208.8, 0.3 2025-10-27T05:39:04.685Z,1761543544.685 [DAT](INFO): got valid direction response: 05:39:03.2750 LVL= 32752, 22417, 26866, 32755, AGC= 67, IDX= 510,-0.16,-0.799, 1.457, 0.329, 0.469, PHS=-1.166, 1.032,-0.184, RAW= 303.5, 3.4, CAL= 301.2, -0.3, ROT= 208.8, 0.3 2025-10-27T05:39:04.685Z,1761543544.685 [DAT](INFO): #Rx 31: Read direction message, but no range. 2025-10-27T05:39:04.686Z,1761543544.686 [DAT](INFO): direction in FSK: [-0.876295,-0.481747,-0.005236] 2025-10-27T05:39:04.690Z,1761543544.690 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.666212 2025-10-27T05:39:04.786Z,1761543544.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767482,0.640855,0.016647],[-0.640472,0.765384,0.063104],[0.027699,-0.059093,0.997868]] 2025-10-27T05:39:04.827Z,1761543544.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:04.831Z,1761543544.831 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T05:29:04.6Z 2025-10-27T05:39:04.832Z,1761543544.832 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T05:39:04.832Z,1761543544.832 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:39:04.832Z,1761543544.832 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T05:39:04.832Z,1761543544.832 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:39:04.832Z,1761543544.832 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T05:39:04.936Z,1761543544.936 [DAT](INFO): DAT read: Rx Time:05:39:03.7750 2025-10-27T05:39:04.937Z,1761543544.937 [DAT](INFO): Rx dataTimestamp_ set to:1761543544.936291 2025-10-27T05:39:04.941Z,1761543544.941 [DAT](INFO): DAT read: Bearing 313.3, -31.3 (Local) 2025-10-27T05:39:04.942Z,1761543544.942 [DAT](INFO): Local bearing/azimuth received: Bearing 313.3, -31.3 (Local) 2025-10-27T05:39:04.946Z,1761543544.946 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:04.957Z,1761543544.957 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-27T05:39:04.965Z,1761543544.965 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.940746 2025-10-27T05:39:05.188Z,1761543545.188 [DAT](INFO): DAT read: 05:39:03.7750 LVL= 32752, 21809, 25890, 32755, AGC= 67, IDX= 509,-0.05,-1.873, 0.410,-0.699,-0.593, PHS=-1.179, 1.048,-0.151, RAW= 302.5, 3.0, CAL= 300.3, -0.9, ROT= 209.7, 0.9 2025-10-27T05:39:05.189Z,1761543545.189 [DAT](INFO): got valid direction response: 05:39:03.7750 LVL= 32752, 21809, 25890, 32755, AGC= 67, IDX= 509,-0.05,-1.873, 0.410,-0.699,-0.593, PHS=-1.179, 1.048,-0.151, RAW= 302.5, 3.0, CAL= 300.3, -0.9, ROT= 209.7, 0.9 2025-10-27T05:39:05.189Z,1761543545.189 [DAT](INFO): #Rx 33: Read direction message, but no range. 2025-10-27T05:39:05.190Z,1761543545.190 [DAT](INFO): direction in FSK: [-0.868524,-0.495398,-0.015707] 2025-10-27T05:39:05.197Z,1761543545.197 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.174017 2025-10-27T05:39:05.214Z,1761543545.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766719,0.641767,0.016636],[-0.641371,0.764600,0.063478],[0.028018,-0.059340,0.997845]] 2025-10-27T05:39:05.303Z,1761543545.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.502918 s, deltaX: -0.100000 m, approachRate: -0.198840 m/s, rangeRepo size: 4 2025-10-27T05:39:05.306Z,1761543545.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797245 m, bearing: 169.788751 deg, lat: 36.779368 deg, lon: -121.859761 deg, deltaT: 0.502918 s, deltaX: -0.099424 m, approachRate: -0.197695 m/s, posRepo size: 4 2025-10-27T05:39:05.306Z,1761543545.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:05.310Z,1761543545.310 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T05:39:05.310Z,1761543545.310 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T05:39:05.310Z,1761543545.310 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T05:39:05.311Z,1761543545.311 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:39:05.319Z,1761543545.319 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T05:39:05.440Z,1761543545.440 [DAT](INFO): DAT read: Rx Time:05:39:04.2750 2025-10-27T05:39:05.441Z,1761543545.441 [DAT](INFO): Rx dataTimestamp_ set to:1761543545.440459 2025-10-27T05:39:05.448Z,1761543545.448 [DAT](INFO): DAT read: Bearing 311.8, -31.1 (Local) 2025-10-27T05:39:05.449Z,1761543545.449 [DAT](INFO): Local bearing/azimuth received: Bearing 311.8, -31.1 (Local) 2025-10-27T05:39:05.467Z,1761543545.467 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:05.476Z,1761543545.476 [DAT](INFO): DAT read: 05:39:04.2750 LVL= 32752, 26817, 31298, 32755, AGC= 68, IDX= 509, 0.03,-0.185, 2.068, 0.961, 1.107, PHS=-1.190, 1.006,-0.190, RAW= 302.9, 4.0, CAL= 300.5, 0.4, ROT= 209.5, -0.4 2025-10-27T05:39:05.477Z,1761543545.477 [DAT](INFO): got valid direction response: 05:39:04.2750 LVL= 32752, 26817, 31298, 32755, AGC= 68, IDX= 509, 0.03,-0.185, 2.068, 0.961, 1.107, PHS=-1.190, 1.006,-0.190, RAW= 302.9, 4.0, CAL= 300.5, 0.4, ROT= 209.5, -0.4 2025-10-27T05:39:05.478Z,1761543545.478 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T05:39:05.483Z,1761543545.483 [DAT](INFO): direction in FSK: [-0.870334,-0.492412,0.006981] 2025-10-27T05:39:05.483Z,1761543545.483 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:05.491Z,1761543545.491 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.467611 2025-10-27T05:39:05.689Z,1761543545.689 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.665625 2025-10-27T05:39:05.828Z,1761543545.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765900,0.642736,0.016953],[-0.642342,0.763743,0.063978],[0.028173,-0.059891,0.997807]] 2025-10-27T05:39:05.885Z,1761543545.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504168 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:05.889Z,1761543545.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797174 m, bearing: 169.430036 deg, lat: 36.779369 deg, lon: -121.859761 deg, deltaT: 0.504168 s, deltaX: -0.000071 m, approachRate: -0.000140 m/s, posRepo size: 4 2025-10-27T05:39:05.889Z,1761543545.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:05.944Z,1761543545.944 [DAT](INFO): DAT read: Rx Time:05:39:04.7749 2025-10-27T05:39:05.946Z,1761543545.946 [DAT](INFO): Rx dataTimestamp_ set to:1761543545.944643 2025-10-27T05:39:05.949Z,1761543545.949 [DAT](INFO): DAT read: Bearing 312.6, -30.9 (Local) 2025-10-27T05:39:05.950Z,1761543545.950 [DAT](INFO): Local bearing/azimuth received: Bearing 312.6, -30.9 (Local) 2025-10-27T05:39:05.954Z,1761543545.954 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 2025-10-27T05:39:05.957Z,1761543545.957 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-27T05:39:05.979Z,1761543545.979 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.954231 2025-10-27T05:39:06.202Z,1761543546.202 [DAT](INFO): DAT read: 05:39:04.7749 LVL= 32752, 23953, 29170, 32755, AGC= 67, IDX= 508, 0.13,-0.923, 1.337, 0.225, 0.353, PHS=-1.174, 1.029,-0.172, RAW= 303.0, 3.4, CAL= 300.7, -0.4, ROT= 209.3, 0.4 2025-10-27T05:39:06.203Z,1761543546.203 [DAT](INFO): got valid direction response: 05:39:04.7749 LVL= 32752, 23953, 29170, 32755, AGC= 67, IDX= 508, 0.13,-0.923, 1.337, 0.225, 0.353, PHS=-1.174, 1.029,-0.172, RAW= 303.0, 3.4, CAL= 300.7, -0.4, ROT= 209.3, 0.4 2025-10-27T05:39:06.204Z,1761543546.204 [DAT](INFO): #Rx 36: Read direction message, but no range. 2025-10-27T05:39:06.205Z,1761543546.205 [DAT](INFO): direction in FSK: [-0.872048,-0.489371,-0.006981] 2025-10-27T05:39:06.208Z,1761543546.208 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.184668 2025-10-27T05:39:06.230Z,1761543546.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765334,0.643409,0.017011],[-0.643014,0.763169,0.064076],[0.028245,-0.059978,0.997800]] 2025-10-27T05:39:06.326Z,1761543546.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504184 s, deltaX: -0.199999 m, approachRate: -0.396678 m/s, rangeRepo size: 4 2025-10-27T05:39:06.333Z,1761543546.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.598326 m, bearing: 169.232765 deg, lat: 36.779369 deg, lon: -121.859764 deg, deltaT: 0.504184 s, deltaX: -0.198849 m, approachRate: -0.394397 m/s, posRepo size: 4 2025-10-27T05:39:06.333Z,1761543546.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-27T05:39:06.449Z,1761543546.449 [DAT](INFO): DAT read: Rx Time:05:39:05.2750 2025-10-27T05:39:06.452Z,1761543546.452 [DAT](INFO): Rx dataTimestamp_ set to:1761543546.450111 2025-10-27T05:39:06.455Z,1761543546.455 [DAT](INFO): DAT read: Bearing 312.6, -30.7 (Local) 2025-10-27T05:39:06.456Z,1761543546.456 [DAT](INFO): Local bearing/azimuth received: Bearing 312.6, -30.7 (Local) 2025-10-27T05:39:06.462Z,1761543546.462 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1 2025-10-27T05:39:06.464Z,1761543546.464 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-27T05:39:06.468Z,1761543546.468 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.443380 2025-10-27T05:39:06.701Z,1761543546.701 [DAT](INFO): DAT read: 05:39:05.2750 LVL= 32752, 23873, 29538, 32755, AGC= 67, IDX= 509, 0.34, 0.286, 2.550, 1.434, 1.561, PHS=-1.173, 1.034,-0.171, RAW= 303.0, 3.3, CAL= 300.7, -0.5, ROT= 209.3, 0.5 2025-10-27T05:39:06.702Z,1761543546.702 [DAT](INFO): got valid direction response: 05:39:05.2750 LVL= 32752, 23873, 29538, 32755, AGC= 67, IDX= 509, 0.34, 0.286, 2.550, 1.434, 1.561, PHS=-1.173, 1.034,-0.171, RAW= 303.0, 3.3, CAL= 300.7, -0.5, ROT= 209.3, 0.5 2025-10-27T05:39:06.703Z,1761543546.703 [DAT](INFO): #Rx 38: Read direction message, but no range. 2025-10-27T05:39:06.705Z,1761543546.705 [DAT](INFO): direction in FSK: [-0.872036,-0.489364,-0.008727] 2025-10-27T05:39:06.716Z,1761543546.716 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.691807 2025-10-27T05:39:06.743Z,1761543546.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764503,0.644407,0.016602],[-0.644025,0.762437,0.062616],[0.027692,-0.058562,0.997900]] 2025-10-27T05:39:06.793Z,1761543546.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.505468 s, deltaX: 0.199999 m, approachRate: 0.395671 m/s, rangeRepo size: 4 2025-10-27T05:39:06.800Z,1761543546.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797222 m, bearing: 169.166278 deg, lat: 36.779369 deg, lon: -121.859764 deg, deltaT: 0.505468 s, deltaX: 0.198896 m, approachRate: 0.393490 m/s, posRepo size: 4 2025-10-27T05:39:06.800Z,1761543546.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:06.953Z,1761543546.953 [DAT](INFO): DAT read: Rx Time:05:39:05.7750 2025-10-27T05:39:06.955Z,1761543546.955 [DAT](INFO): Rx dataTimestamp_ set to:1761543546.953728 2025-10-27T05:39:06.958Z,1761543546.958 [DAT](INFO): DAT read: Bearing 312.0, -30.5 (Local) 2025-10-27T05:39:06.960Z,1761543546.960 [DAT](INFO): Local bearing/azimuth received: Bearing 312.0, -30.5 (Local) 2025-10-27T05:39:06.966Z,1761543546.966 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:06.972Z,1761543546.972 [DAT](INFO): DAT read: 05:39:05.7750 LVL= 32752, 23825, 31106, 32755, AGC= 67, IDX= 509,-0.31, 2.854,-1.189,-2.304,-2.157, PHS=-1.171, 1.013,-0.191, RAW= 303.4, 3.7, CAL= 301.0, 0.0, ROT= 209.0, -0.0 2025-10-27T05:39:06.973Z,1761543546.973 [DAT](INFO): got valid direction response: 05:39:05.7750 LVL= 32752, 23825, 31106, 32755, AGC= 67, IDX= 509,-0.31, 2.854,-1.189,-2.304,-2.157, PHS=-1.171, 1.013,-0.191, RAW= 303.4, 3.7, CAL= 301.0, 0.0, ROT= 209.0, -0.0 2025-10-27T05:39:06.973Z,1761543546.973 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:39:06.974Z,1761543546.974 [DAT](INFO): direction in FSK: [-0.874620,-0.484810,0.000000] 2025-10-27T05:39:06.974Z,1761543546.974 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:06.978Z,1761543546.978 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.954641 2025-10-27T05:39:07.135Z,1761543547.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764128,0.644854,0.016517],[-0.644486,0.762107,0.061898],[0.027328,-0.057943,0.997946]] 2025-10-27T05:39:07.200Z,1761543547.200 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.176685 2025-10-27T05:39:07.262Z,1761543547.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503617 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:07.269Z,1761543547.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797222 m, bearing: 168.801707 deg, lat: 36.779369 deg, lon: -121.859764 deg, deltaT: 0.503617 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:07.269Z,1761543547.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:07.456Z,1761543547.456 [DAT](INFO): DAT read: Rx Time:05:39:06.2750 2025-10-27T05:39:07.458Z,1761543547.458 [DAT](INFO): Rx dataTimestamp_ set to:1761543547.456956 2025-10-27T05:39:07.462Z,1761543547.462 [DAT](INFO): DAT read: Bearing 311.3, -30.4 (Local) 2025-10-27T05:39:07.464Z,1761543547.464 [DAT](INFO): Local bearing/azimuth received: Bearing 311.3, -30.4 (Local) 2025-10-27T05:39:07.468Z,1761543547.468 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.1 2025-10-27T05:39:07.469Z,1761543547.469 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T05:39:07.470Z,1761543547.470 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.446503 2025-10-27T05:39:07.550Z,1761543547.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763883,0.645144,0.016482],[-0.644787,0.761890,0.061428],[0.027072,-0.057551,0.997975]] 2025-10-27T05:39:07.641Z,1761543547.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503228 s, deltaX: 0.100000 m, approachRate: 0.198718 m/s, rangeRepo size: 4 2025-10-27T05:39:07.641Z,1761543547.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:07.710Z,1761543547.710 [DAT](INFO): DAT read: 05:39:06.2750 LVL= 32752, 22769, 30578, 32755, AGC= 66, IDX= 510,-0.07,-1.690, 0.556,-0.562,-0.405, PHS=-1.182, 1.007,-0.201, RAW= 303.4, 4.0, CAL= 301.0, 0.6, ROT= 209.0, -0.6 2025-10-27T05:39:07.712Z,1761543547.712 [DAT](INFO): got valid direction response: 05:39:06.2750 LVL= 32752, 22769, 30578, 32755, AGC= 66, IDX= 510,-0.07,-1.690, 0.556,-0.562,-0.405, PHS=-1.182, 1.007,-0.201, RAW= 303.4, 4.0, CAL= 301.0, 0.6, ROT= 209.0, -0.6 2025-10-27T05:39:07.713Z,1761543547.713 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T05:39:07.714Z,1761543547.714 [DAT](INFO): direction in FSK: [-0.874572,-0.484783,0.010472] 2025-10-27T05:39:07.719Z,1761543547.719 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.695623 2025-10-27T05:39:07.960Z,1761543547.960 [DAT](INFO): DAT read: Rx Time:05:39:06.7750 2025-10-27T05:39:07.962Z,1761543547.962 [DAT](INFO): Rx dataTimestamp_ set to:1761543547.960651 2025-10-27T05:39:07.966Z,1761543547.966 [DAT](INFO): DAT read: Bearing 312.4, -29.9 (Local) 2025-10-27T05:39:07.967Z,1761543547.967 [DAT](INFO): Local bearing/azimuth received: Bearing 312.4, -29.9 (Local) 2025-10-27T05:39:07.969Z,1761543547.969 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:07.969Z,1761543547.969 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T05:39:07.970Z,1761543547.970 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.946775 2025-10-27T05:39:08.020Z,1761543548.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763864,0.645157,0.016848],[-0.644833,0.761888,0.060962],[0.026494,-0.057431,0.997998]] 2025-10-27T05:39:08.077Z,1761543548.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503695 s, deltaX: -0.100000 m, approachRate: -0.198534 m/s, rangeRepo size: 4 2025-10-27T05:39:08.081Z,1761543548.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797409 m, bearing: 168.739923 deg, lat: 36.779370 deg, lon: -121.859763 deg, deltaT: 1.006923 s, deltaX: 0.000187 m, approachRate: 0.000186 m/s, posRepo size: 4 2025-10-27T05:39:08.081Z,1761543548.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:08.236Z,1761543548.236 [DAT](INFO): DAT read: 05:39:06.7750 LVL= 32752, 20049, 25138, 32755, AGC= 67, IDX= 509, 0.17,-2.063, 0.168,-0.953,-0.811, PHS=-1.151, 1.024,-0.186, RAW= 303.7, 3.4, CAL= 301.4, -0.3, ROT= 208.6, 0.3 2025-10-27T05:39:08.237Z,1761543548.237 [DAT](INFO): got valid direction response: 05:39:06.7750 LVL= 32752, 20049, 25138, 32755, AGC= 67, IDX= 509, 0.17,-2.063, 0.168,-0.953,-0.811, PHS=-1.151, 1.024,-0.186, RAW= 303.7, 3.4, CAL= 301.4, -0.3, ROT= 208.6, 0.3 2025-10-27T05:39:08.237Z,1761543548.237 [DAT](INFO): #Rx 43: Read direction message, but no range. 2025-10-27T05:39:08.238Z,1761543548.238 [DAT](INFO): direction in FSK: [-0.877971,-0.478685,-0.005236] 2025-10-27T05:39:08.242Z,1761543548.242 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.218197 2025-10-27T05:39:08.330Z,1761543548.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763977,0.645006,0.017525],[-0.644732,0.762007,0.060555],[0.025704,-0.057561,0.998011]] 2025-10-27T05:39:08.464Z,1761543548.464 [DAT](INFO): DAT read: Rx Time:05:39:07.2751 2025-10-27T05:39:08.465Z,1761543548.465 [DAT](INFO): Rx dataTimestamp_ set to:1761543548.464508 2025-10-27T05:39:08.468Z,1761543548.468 [DAT](INFO): DAT read: Bearing 312.5, -29.3 (Local) 2025-10-27T05:39:08.468Z,1761543548.468 [DAT](INFO): Local bearing/azimuth received: Bearing 312.5, -29.3 (Local) 2025-10-27T05:39:08.470Z,1761543548.470 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:08.475Z,1761543548.475 [DAT](INFO): DAT read: 05:39:07.2751 LVL= 32752, 21297, 26674, 32755, AGC= 67, IDX= 511,-0.34, 2.225,-1.815,-2.957,-2.807, PHS=-1.149, 1.037,-0.194, RAW= 304.2, 3.3, CAL= 301.8, -0.4, ROT= 208.2, 0.4 2025-10-27T05:39:08.476Z,1761543548.476 [DAT](INFO): got valid direction response: 05:39:07.2751 LVL= 32752, 21297, 26674, 32755, AGC= 67, IDX= 511,-0.34, 2.225,-1.815,-2.957,-2.807, PHS=-1.149, 1.037,-0.194, RAW= 304.2, 3.3, CAL= 301.8, -0.4, ROT= 208.2, 0.4 2025-10-27T05:39:08.476Z,1761543548.476 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:39:08.477Z,1761543548.477 [DAT](INFO): direction in FSK: [-0.881282,-0.472539,-0.006981] 2025-10-27T05:39:08.477Z,1761543548.477 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:08.485Z,1761543548.485 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.461775 2025-10-27T05:39:08.503Z,1761543548.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503857 s, deltaX: 0.300001 m, approachRate: 0.595409 m/s, rangeRepo size: 4 2025-10-27T05:39:08.505Z,1761543548.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095692 m, bearing: 168.012974 deg, lat: 36.779370 deg, lon: -121.859762 deg, deltaT: 0.503857 s, deltaX: 0.298283 m, approachRate: 0.591999 m/s, posRepo size: 4 2025-10-27T05:39:08.506Z,1761543548.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:08.718Z,1761543548.718 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.694090 2025-10-27T05:39:08.756Z,1761543548.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764304,0.644593,0.018435],[-0.644381,0.762330,0.060212],[0.024759,-0.057899,0.998015]] 2025-10-27T05:39:08.791Z,1761543548.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:08.968Z,1761543548.968 [DAT](INFO): DAT read: Rx Time:05:39:07.7750 2025-10-27T05:39:08.968Z,1761543548.968 [DAT](INFO): Rx dataTimestamp_ set to:1761543548.967739 2025-10-27T05:39:08.969Z,1761543548.969 [DAT](INFO): DAT read: Bearing 312.4, -28.9 (Local) 2025-10-27T05:39:08.970Z,1761543548.970 [DAT](INFO): Local bearing/azimuth received: Bearing 312.4, -28.9 (Local) 2025-10-27T05:39:08.972Z,1761543548.972 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.1 2025-10-27T05:39:08.976Z,1761543548.976 [DAT](INFO): DAT read: 05:39:07.7750 LVL= 32752, 20369, 27122, 32755, AGC= 67, IDX= 510,-0.05, 0.659, 2.893, 1.742, 1.902, PHS=-1.141, 1.036,-0.204, RAW= 304.6, 3.3, CAL= 302.2, -0.3, ROT= 207.8, 0.3 2025-10-27T05:39:08.978Z,1761543548.978 [DAT](INFO): got valid direction response: 05:39:07.7750 LVL= 32752, 20369, 27122, 32755, AGC= 67, IDX= 510,-0.05, 0.659, 2.893, 1.742, 1.902, PHS=-1.141, 1.036,-0.204, RAW= 304.6, 3.3, CAL= 302.2, -0.3, ROT= 207.8, 0.3 2025-10-27T05:39:08.978Z,1761543548.978 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:39:08.984Z,1761543548.984 [DAT](INFO): direction in FSK: [-0.884569,-0.466380,-0.005236] 2025-10-27T05:39:08.984Z,1761543548.984 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:08.993Z,1761543548.993 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.969341 2025-10-27T05:39:09.171Z,1761543549.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764975,0.643770,0.019316],[-0.643627,0.763017,0.059583],[0.023620,-0.058012,0.998036]] 2025-10-27T05:39:09.219Z,1761543549.219 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.194414 2025-10-27T05:39:09.332Z,1761543549.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503231 s, deltaX: -0.200001 m, approachRate: -0.397433 m/s, rangeRepo size: 4 2025-10-27T05:39:09.334Z,1761543549.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896587 m, bearing: 167.692159 deg, lat: 36.779370 deg, lon: -121.859762 deg, deltaT: 0.503231 s, deltaX: -0.199104 m, approachRate: -0.395652 m/s, posRepo size: 4 2025-10-27T05:39:09.334Z,1761543549.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:09.469Z,1761543549.469 [DAT](INFO): DAT read: Rx Time:05:39:08.2750 2025-10-27T05:39:09.470Z,1761543549.470 [DAT](INFO): Rx dataTimestamp_ set to:1761543549.469595 2025-10-27T05:39:09.471Z,1761543549.471 [DAT](INFO): DAT read: Bearing 311.9, -28.7 (Local) 2025-10-27T05:39:09.472Z,1761543549.472 [DAT](INFO): Local bearing/azimuth received: Bearing 311.9, -28.7 (Local) 2025-10-27T05:39:09.474Z,1761543549.474 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.1 2025-10-27T05:39:09.478Z,1761543549.478 [DAT](INFO): DAT read: 05:39:08.2750 LVL= 32752, 19889, 27858, 32755, AGC= 66, IDX= 510, 0.14, 2.130,-1.948,-3.089,-2.916, PHS=-1.135, 1.013,-0.217, RAW= 304.8, 3.7, CAL= 302.4, 0.1, ROT= 207.6, -0.1 2025-10-27T05:39:09.480Z,1761543549.480 [DAT](INFO): got valid direction response: 05:39:08.2750 LVL= 32752, 19889, 27858, 32755, AGC= 66, IDX= 510, 0.14, 2.130,-1.948,-3.089,-2.916, PHS=-1.135, 1.013,-0.217, RAW= 304.8, 3.7, CAL= 302.4, 0.1, ROT= 207.6, -0.1 2025-10-27T05:39:09.480Z,1761543549.480 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:39:09.481Z,1761543549.481 [DAT](INFO): direction in FSK: [-0.886202,-0.463295,0.001745] 2025-10-27T05:39:09.481Z,1761543549.481 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:09.485Z,1761543549.485 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.461617 2025-10-27T05:39:09.621Z,1761543549.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765850,0.642698,0.020317],[-0.642634,0.763915,0.058779],[0.022257,-0.058072,0.998064]] 2025-10-27T05:39:09.691Z,1761543549.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.501856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:09.693Z,1761543549.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896587 m, bearing: 167.543614 deg, lat: 36.779370 deg, lon: -121.859758 deg, deltaT: 0.501856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:09.694Z,1761543549.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:09.721Z,1761543549.721 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.696987 2025-10-27T05:39:09.973Z,1761543549.973 [DAT](INFO): DAT read: Rx Time:05:39:08.7750 2025-10-27T05:39:09.973Z,1761543549.973 [DAT](INFO): Rx dataTimestamp_ set to:1761543549.972784 2025-10-27T05:39:09.974Z,1761543549.974 [DAT](INFO): DAT read: Bearing 312.1, -28.2 (Local) 2025-10-27T05:39:09.975Z,1761543549.975 [DAT](INFO): Local bearing/azimuth received: Bearing 312.1, -28.2 (Local) 2025-10-27T05:39:09.977Z,1761543549.977 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1 2025-10-27T05:39:09.982Z,1761543549.982 [DAT](INFO): DAT read: 05:39:08.7750 LVL= 32752, 20769, 25170, 32755, AGC= 64, IDX= 509, 0.32, 1.424,-2.664, 2.468, 2.647, PHS=-1.120, 1.018,-0.223, RAW= 305.3, 3.5, CAL= 302.9, -0.0, ROT= 207.1, 0.0 2025-10-27T05:39:09.983Z,1761543549.983 [DAT](INFO): got valid direction response: 05:39:08.7750 LVL= 32752, 20769, 25170, 32755, AGC= 64, IDX= 509, 0.32, 1.424,-2.664, 2.468, 2.647, PHS=-1.120, 1.018,-0.223, RAW= 305.3, 3.5, CAL= 302.9, -0.0, ROT= 207.1, 0.0 2025-10-27T05:39:09.983Z,1761543549.983 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:39:09.984Z,1761543549.984 [DAT](INFO): direction in FSK: [-0.890213,-0.455545,-0.000000] 2025-10-27T05:39:09.984Z,1761543549.984 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:09.988Z,1761543549.988 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.964615 2025-10-27T05:39:10.030Z,1761543550.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767050,0.641246,0.020932],[-0.641247,0.765170,0.057603],[0.020921,-0.057607,0.998120]] 2025-10-27T05:39:10.106Z,1761543550.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503189 s, deltaX: -0.100000 m, approachRate: -0.198733 m/s, rangeRepo size: 4 2025-10-27T05:39:10.113Z,1761543550.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797131 m, bearing: 167.156840 deg, lat: 36.779370 deg, lon: -121.859757 deg, deltaT: 0.503189 s, deltaX: -0.099457 m, approachRate: -0.197653 m/s, posRepo size: 4 2025-10-27T05:39:10.113Z,1761543550.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:10.228Z,1761543550.228 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.202826 2025-10-27T05:39:10.477Z,1761543550.477 [DAT](INFO): DAT read: Rx Time:05:39:09.2751 2025-10-27T05:39:10.477Z,1761543550.477 [DAT](INFO): Rx dataTimestamp_ set to:1761543550.476796 2025-10-27T05:39:10.478Z,1761543550.478 [DAT](INFO): DAT read: Bearing 311.9, -28.7 (Local) 2025-10-27T05:39:10.479Z,1761543550.479 [DAT](INFO): Local bearing/azimuth received: Bearing 311.9, -28.7 (Local) 2025-10-27T05:39:10.482Z,1761543550.482 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 2025-10-27T05:39:10.486Z,1761543550.486 [DAT](INFO): DAT read: 05:39:09.2751 LVL= 32752, 22769, 28530, 32755, AGC= 65, IDX= 510, 0.48,-2.880,-0.672,-1.813,-1.639, PHS=-1.139, 1.011,-0.219, RAW= 304.8, 3.7, CAL= 302.3, 0.3, ROT= 207.7, -0.3 2025-10-27T05:39:10.487Z,1761543550.487 [DAT](INFO): got valid direction response: 05:39:09.2751 LVL= 32752, 22769, 28530, 32755, AGC= 65, IDX= 510, 0.48,-2.880,-0.672,-1.813,-1.639, PHS=-1.139, 1.011,-0.219, RAW= 304.8, 3.7, CAL= 302.3, 0.3, ROT= 207.7, -0.3 2025-10-27T05:39:10.488Z,1761543550.488 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:39:10.489Z,1761543550.489 [DAT](INFO): direction in FSK: [-0.885381,-0.464836,0.005236] 2025-10-27T05:39:10.489Z,1761543550.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:10.493Z,1761543550.493 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.469273 2025-10-27T05:39:10.494Z,1761543550.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768492,0.639492,0.021665],[-0.639568,0.766679,0.056174],[0.019313,-0.057026,0.998186]] 2025-10-27T05:39:10.618Z,1761543550.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504012 s, deltaX: 0.300001 m, approachRate: 0.595226 m/s, rangeRepo size: 4 2025-10-27T05:39:10.629Z,1761543550.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095409 m, bearing: 167.866036 deg, lat: 36.779370 deg, lon: -121.859756 deg, deltaT: 0.504012 s, deltaX: 0.298279 m, approachRate: 0.591809 m/s, posRepo size: 4 2025-10-27T05:39:10.629Z,1761543550.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:10.729Z,1761543550.729 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.705364 2025-10-27T05:39:10.879Z,1761543550.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769889,0.637777,0.022597],[-0.637933,0.768132,0.054910],[0.017663,-0.056690,0.998236]] 2025-10-27T05:39:10.897Z,1761543550.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:39:10.900Z,1761543550.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:10.981Z,1761543550.981 [DAT](INFO): DAT read: Rx Time:05:39:09.7750 2025-10-27T05:39:10.981Z,1761543550.981 [DAT](INFO): Rx dataTimestamp_ set to:1761543550.980988 2025-10-27T05:39:10.983Z,1761543550.983 [DAT](INFO): DAT read: Bearing 312.7, -28.7 (Local) 2025-10-27T05:39:10.983Z,1761543550.983 [DAT](INFO): Local bearing/azimuth received: Bearing 312.7, -28.7 (Local) 2025-10-27T05:39:10.985Z,1761543550.985 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:10.990Z,1761543550.990 [DAT](INFO): DAT read: 05:39:09.7750 LVL= 32752, 19057, 26946, 32755, AGC= 65, IDX= 510,-0.30, 0.503, 2.728, 1.584, 1.738, PHS=-1.133, 1.035,-0.198, RAW= 304.5, 3.2, CAL= 302.2, -0.5, ROT= 207.8, 0.5 2025-10-27T05:39:10.991Z,1761543550.991 [DAT](INFO): got valid direction response: 05:39:09.7750 LVL= 32752, 19057, 26946, 32755, AGC= 65, IDX= 510,-0.30, 0.503, 2.728, 1.584, 1.738, PHS=-1.133, 1.035,-0.198, RAW= 304.5, 3.2, CAL= 302.2, -0.5, ROT= 207.8, 0.5 2025-10-27T05:39:10.992Z,1761543550.992 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:39:10.993Z,1761543550.993 [DAT](INFO): direction in FSK: [-0.884547,-0.466369,-0.008727] 2025-10-27T05:39:10.993Z,1761543550.993 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:11.005Z,1761543551.005 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.981167 2025-10-27T05:39:11.234Z,1761543551.234 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.210335 2025-10-27T05:39:11.277Z,1761543551.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771202,0.636146,0.023781],[-0.636389,0.769481,0.053934],[0.016011,-0.056728,0.998261]] 2025-10-27T05:39:11.330Z,1761543551.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504192 s, deltaX: -0.200001 m, approachRate: -0.396676 m/s, rangeRepo size: 4 2025-10-27T05:39:11.354Z,1761543551.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896511 m, bearing: 168.253332 deg, lat: 36.779370 deg, lon: -121.859756 deg, deltaT: 0.504192 s, deltaX: -0.198898 m, approachRate: -0.394489 m/s, posRepo size: 4 2025-10-27T05:39:11.359Z,1761543551.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:11.485Z,1761543551.485 [DAT](INFO): DAT read: Rx Time:05:39:10.2751 2025-10-27T05:39:11.485Z,1761543551.485 [DAT](INFO): Rx dataTimestamp_ set to:1761543551.484835 2025-10-27T05:39:11.486Z,1761543551.486 [DAT](INFO): DAT read: Bearing 310.8, -28.3 (Local) 2025-10-27T05:39:11.487Z,1761543551.487 [DAT](INFO): Local bearing/azimuth received: Bearing 310.8, -28.3 (Local) 2025-10-27T05:39:11.489Z,1761543551.489 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 2025-10-27T05:39:11.493Z,1761543551.493 [DAT](INFO): DAT read: 05:39:10.2751 LVL= 32752, 20465, 27330, 32755, AGC= 65, IDX= 511,-0.15, 1.758,-2.323, 2.812, 3.008, PHS=-1.147, 0.998,-0.240, RAW= 305.1, 4.2, CAL= 302.7, 1.2, ROT= 207.3, -1.2 2025-10-27T05:39:11.494Z,1761543551.494 [DAT](INFO): got valid direction response: 05:39:10.2751 LVL= 32752, 20465, 27330, 32755, AGC= 65, IDX= 511,-0.15, 1.758,-2.323, 2.812, 3.008, PHS=-1.147, 0.998,-0.240, RAW= 305.1, 4.2, CAL= 302.7, 1.2, ROT= 207.3, -1.2 2025-10-27T05:39:11.495Z,1761543551.495 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:39:11.496Z,1761543551.496 [DAT](INFO): direction in FSK: [-0.888422,-0.458549,0.020942] 2025-10-27T05:39:11.496Z,1761543551.496 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:11.500Z,1761543551.500 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.476282 2025-10-27T05:39:11.683Z,1761543551.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772318,0.634745,0.024977],[-0.635069,0.770615,0.053288],[0.014576,-0.057018,0.998267]] 2025-10-27T05:39:11.720Z,1761543551.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503847 s, deltaX: 0.200001 m, approachRate: 0.396947 m/s, rangeRepo size: 4 2025-10-27T05:39:11.723Z,1761543551.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095362 m, bearing: 167.755497 deg, lat: 36.779370 deg, lon: -121.859756 deg, deltaT: 0.503847 s, deltaX: 0.198851 m, approachRate: 0.394665 m/s, posRepo size: 4 2025-10-27T05:39:11.724Z,1761543551.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:11.736Z,1761543551.736 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.712851 2025-10-27T05:39:11.929Z,1761543551.929 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:39:11.988Z,1761543551.988 [DAT](INFO): DAT read: Rx Time:05:39:10.7750 2025-10-27T05:39:11.989Z,1761543551.989 [DAT](INFO): Rx dataTimestamp_ set to:1761543551.988661 2025-10-27T05:39:11.990Z,1761543551.990 [DAT](INFO): DAT read: Bearing 312.4, -29.1 (Local) 2025-10-27T05:39:11.991Z,1761543551.991 [DAT](INFO): Local bearing/azimuth received: Bearing 312.4, -29.1 (Local) 2025-10-27T05:39:11.993Z,1761543551.993 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:11.997Z,1761543551.997 [DAT](INFO): DAT read: 05:39:10.7750 LVL= 32752, 20113, 27250, 32755, AGC= 66, IDX= 510,-0.04, 0.303, 2.532, 1.400, 1.558, PHS=-1.153, 1.019,-0.202, RAW= 304.1, 3.6, CAL= 301.7, -0.1, ROT= 208.3, 0.1 2025-10-27T05:39:11.998Z,1761543551.998 [DAT](INFO): got valid direction response: 05:39:10.7750 LVL= 32752, 20113, 27250, 32755, AGC= 66, IDX= 510,-0.04, 0.303, 2.532, 1.400, 1.558, PHS=-1.153, 1.019,-0.202, RAW= 304.1, 3.6, CAL= 301.7, -0.1, ROT= 208.3, 0.1 2025-10-27T05:39:11.999Z,1761543551.999 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:39:11.000Z,1761543552.000 [DAT](INFO): direction in FSK: [-0.880476,-0.474088,-0.001745] 2025-10-27T05:39:11.000Z,1761543552.000 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:12.004Z,1761543552.004 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.980415 2025-10-27T05:39:12.086Z,1761543552.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773341,0.633443,0.026356],[-0.633855,0.771649,0.052780],[0.013096,-0.057523,0.998258]] 2025-10-27T05:39:12.170Z,1761543552.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503826 s, deltaX: -0.200001 m, approachRate: -0.396964 m/s, rangeRepo size: 4 2025-10-27T05:39:12.176Z,1761543552.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896688 m, bearing: 168.919254 deg, lat: 36.779370 deg, lon: -121.859756 deg, deltaT: 0.503826 s, deltaX: -0.198673 m, approachRate: -0.394329 m/s, posRepo size: 4 2025-10-27T05:39:12.177Z,1761543552.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:12.243Z,1761543552.243 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.218990 2025-10-27T05:39:12.492Z,1761543552.492 [DAT](INFO): DAT read: Rx Time:05:39:11.2751 2025-10-27T05:39:12.493Z,1761543552.493 [DAT](INFO): Rx dataTimestamp_ set to:1761543552.492648 2025-10-27T05:39:12.494Z,1761543552.494 [DAT](INFO): DAT read: Bearing 313.2, -29.5 (Local) 2025-10-27T05:39:12.494Z,1761543552.494 [DAT](INFO): Local bearing/azimuth received: Bearing 313.2, -29.5 (Local) 2025-10-27T05:39:12.497Z,1761543552.497 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:12.501Z,1761543552.501 [DAT](INFO): DAT read: 05:39:11.2751 LVL= 32752, 19361, 25282, 32755, AGC= 66, IDX= 511,-0.00, 2.322,-1.728,-2.842,-2.714, PHS=-1.145, 1.031,-0.172, RAW= 303.5, 3.1, CAL= 301.2, -0.7, ROT= 208.8, 0.7 2025-10-27T05:39:12.502Z,1761543552.502 [DAT](INFO): got valid direction response: 05:39:11.2751 LVL= 32752, 19361, 25282, 32755, AGC= 66, IDX= 511,-0.00, 2.322,-1.728,-2.842,-2.714, PHS=-1.145, 1.031,-0.172, RAW= 303.5, 3.1, CAL= 301.2, -0.7, ROT= 208.8, 0.7 2025-10-27T05:39:12.503Z,1761543552.503 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:39:12.504Z,1761543552.504 [DAT](INFO): direction in FSK: [-0.876241,-0.481718,-0.012217] 2025-10-27T05:39:12.504Z,1761543552.504 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:12.507Z,1761543552.507 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.483999 2025-10-27T05:39:12.516Z,1761543552.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774284,0.632243,0.027429],[-0.632728,0.772614,0.052188],[0.011804,-0.057764,0.998260]] 2025-10-27T05:39:12.651Z,1761543552.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503987 s, deltaX: 0.200001 m, approachRate: 0.396837 m/s, rangeRepo size: 4 2025-10-27T05:39:12.653Z,1761543552.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095541 m, bearing: 169.536724 deg, lat: 36.779369 deg, lon: -121.859756 deg, deltaT: 0.503987 s, deltaX: 0.198853 m, approachRate: 0.394559 m/s, posRepo size: 4 2025-10-27T05:39:12.654Z,1761543552.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:12.744Z,1761543552.744 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.720688 2025-10-27T05:39:12.933Z,1761543552.933 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:39:13.001Z,1761543553.001 [DAT](INFO): DAT read: Rx Time:05:39:11.7750 2025-10-27T05:39:13.002Z,1761543553.002 [DAT](INFO): Rx dataTimestamp_ set to:1761543553.001360 2025-10-27T05:39:13.003Z,1761543553.003 [DAT](INFO): DAT read: Bearing 312.9, -30.3 (Local) 2025-10-27T05:39:13.004Z,1761543553.004 [DAT](INFO): Local bearing/azimuth received: Bearing 312.9, -30.3 (Local) 2025-10-27T05:39:13.006Z,1761543553.006 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:13.011Z,1761543553.011 [DAT](INFO): DAT read: 05:39:11.7750 LVL= 32752, 21745, 25714, 32755, AGC= 67, IDX= 510,-0.03, 1.787,-2.259, 2.935, 3.058, PHS=-1.169, 1.011,-0.167, RAW= 302.7, 3.5, CAL= 300.3, -0.3, ROT= 209.7, 0.3 2025-10-27T05:39:13.013Z,1761543553.013 [DAT](INFO): got valid direction response: 05:39:11.7750 LVL= 32752, 21745, 25714, 32755, AGC= 67, IDX= 510,-0.03, 1.787,-2.259, 2.935, 3.058, PHS=-1.169, 1.011,-0.167, RAW= 302.7, 3.5, CAL= 300.3, -0.3, ROT= 209.7, 0.3 2025-10-27T05:39:13.013Z,1761543553.013 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:39:13.014Z,1761543553.014 [DAT](INFO): direction in FSK: [-0.868620,-0.495452,-0.005236] 2025-10-27T05:39:13.015Z,1761543553.015 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:13.019Z,1761543553.019 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.995171 2025-10-27T05:39:13.084Z,1761543553.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775185,0.631091,0.028507],[-0.631647,0.773534,0.051643],[0.010540,-0.058039,0.998259]] 2025-10-27T05:39:13.150Z,1761543553.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.508712 s, deltaX: -0.200001 m, approachRate: -0.393151 m/s, rangeRepo size: 4 2025-10-27T05:39:13.156Z,1761543553.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896708 m, bearing: 170.493564 deg, lat: 36.779369 deg, lon: -121.859757 deg, deltaT: 0.508712 s, deltaX: -0.198833 m, approachRate: -0.390857 m/s, posRepo size: 4 2025-10-27T05:39:13.156Z,1761543553.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:13.251Z,1761543553.251 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.226812 2025-10-27T05:39:13.469Z,1761543553.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775685,0.630433,0.029466],[-0.631049,0.774048,0.051252],[0.009503,-0.058350,0.998251]] 2025-10-27T05:39:13.501Z,1761543553.501 [DAT](INFO): DAT read: Rx Time:05:39:12.2750 2025-10-27T05:39:13.501Z,1761543553.501 [DAT](INFO): Rx dataTimestamp_ set to:1761543553.500700 2025-10-27T05:39:13.502Z,1761543553.502 [DAT](INFO): DAT read: Bearing 313.0, -30.6 (Local) 2025-10-27T05:39:13.503Z,1761543553.503 [DAT](INFO): Local bearing/azimuth received: Bearing 313.0, -30.6 (Local) 2025-10-27T05:39:13.505Z,1761543553.505 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:13.509Z,1761543553.509 [DAT](INFO): DAT read: 05:39:12.2750 LVL= 32752, 21137, 25474, 32755, AGC= 67, IDX= 510,-0.03, 2.490,-1.542,-2.628,-2.512, PHS=-1.179, 1.015,-0.159, RAW= 302.3, 3.4, CAL= 300.0, -0.4, ROT= 210.0, 0.4 2025-10-27T05:39:13.511Z,1761543553.511 [DAT](INFO): got valid direction response: 05:39:12.2750 LVL= 32752, 21137, 25474, 32755, AGC= 67, IDX= 510,-0.03, 2.490,-1.542,-2.628,-2.512, PHS=-1.179, 1.015,-0.159, RAW= 302.3, 3.4, CAL= 300.0, -0.4, ROT= 210.0, 0.4 2025-10-27T05:39:13.511Z,1761543553.511 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:39:13.512Z,1761543553.512 [DAT](INFO): direction in FSK: [-0.866004,-0.499988,-0.006981] 2025-10-27T05:39:13.512Z,1761543553.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:13.521Z,1761543553.521 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.497410 2025-10-27T05:39:13.566Z,1761543553.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.499340 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:13.572Z,1761543553.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896708 m, bearing: 170.843333 deg, lat: 36.779369 deg, lon: -121.859758 deg, deltaT: 0.499340 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:13.573Z,1761543553.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:13.752Z,1761543553.752 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.728626 2025-10-27T05:39:13.863Z,1761543553.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776025,0.629974,0.030296],[-0.630643,0.774403,0.050887],[0.008596,-0.058596,0.998245]] 2025-10-27T05:39:13.899Z,1761543553.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:14.005Z,1761543554.005 [DAT](INFO): DAT read: Rx Time:05:39:12.7750 2025-10-27T05:39:14.006Z,1761543554.006 [DAT](INFO): Rx dataTimestamp_ set to:1761543554.005445 2025-10-27T05:39:14.008Z,1761543554.008 [DAT](INFO): DAT read: Bearing 312.7, -31.1 (Local) 2025-10-27T05:39:14.008Z,1761543554.008 [DAT](INFO): Local bearing/azimuth received: Bearing 312.7, -31.1 (Local) 2025-10-27T05:39:14.011Z,1761543554.011 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:14.016Z,1761543554.016 [DAT](INFO): DAT read: 05:39:12.7750 LVL= 32752, 24513, 28770, 32755, AGC= 67, IDX= 509, 0.03, 2.195,-1.850,-2.913,-2.797, PHS=-1.189, 0.992,-0.160, RAW= 301.9, 3.8, CAL= 299.5, -0.0, ROT= 210.5, 0.0 2025-10-27T05:39:14.017Z,1761543554.017 [DAT](INFO): got valid direction response: 05:39:12.7750 LVL= 32752, 24513, 28770, 32755, AGC= 67, IDX= 509, 0.03, 2.195,-1.850,-2.913,-2.797, PHS=-1.189, 0.992,-0.160, RAW= 301.9, 3.8, CAL= 299.5, -0.0, ROT= 210.5, 0.0 2025-10-27T05:39:14.018Z,1761543554.018 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:39:14.022Z,1761543554.022 [DAT](INFO): direction in FSK: [-0.861629,-0.507538,-0.000000] 2025-10-27T05:39:14.023Z,1761543554.023 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:14.028Z,1761543554.028 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.004732 2025-10-27T05:39:14.259Z,1761543554.259 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.234617 2025-10-27T05:39:14.280Z,1761543554.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776177,0.629758,0.030896],[-0.630466,0.774571,0.050523],[0.007886,-0.058693,0.998245]] 2025-10-27T05:39:14.377Z,1761543554.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504745 s, deltaX: -0.100000 m, approachRate: -0.198121 m/s, rangeRepo size: 4 2025-10-27T05:39:14.379Z,1761543554.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797224 m, bearing: 171.364794 deg, lat: 36.779369 deg, lon: -121.859761 deg, deltaT: 0.504745 s, deltaX: -0.099483 m, approachRate: -0.197097 m/s, posRepo size: 4 2025-10-27T05:39:14.380Z,1761543554.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:14.509Z,1761543554.509 [DAT](INFO): DAT read: Rx Time:05:39:13.2750 2025-10-27T05:39:14.510Z,1761543554.510 [DAT](INFO): Rx dataTimestamp_ set to:1761543554.509514 2025-10-27T05:39:14.512Z,1761543554.512 [DAT](INFO): DAT read: Bearing 312.3, -30.4 (Local) 2025-10-27T05:39:14.512Z,1761543554.512 [DAT](INFO): Local bearing/azimuth received: Bearing 312.3, -30.4 (Local) 2025-10-27T05:39:14.515Z,1761543554.515 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.2 2025-10-27T05:39:14.521Z,1761543554.521 [DAT](INFO): DAT read: 05:39:13.2750 LVL= 32752, 21057, 24482, 32755, AGC= 66, IDX= 510, 0.08,-2.510,-0.283,-1.367,-1.231, PHS=-1.177, 0.993,-0.180, RAW= 302.7, 3.9, CAL= 300.3, 0.3, ROT= 209.7, -0.3 2025-10-27T05:39:14.523Z,1761543554.523 [DAT](INFO): got valid direction response: 05:39:13.2750 LVL= 32752, 21057, 24482, 32755, AGC= 66, IDX= 510, 0.08,-2.510,-0.283,-1.367,-1.231, PHS=-1.177, 0.993,-0.180, RAW= 302.7, 3.9, CAL= 300.3, 0.3, ROT= 209.7, -0.3 2025-10-27T05:39:14.523Z,1761543554.523 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:39:14.525Z,1761543554.525 [DAT](INFO): direction in FSK: [-0.868620,-0.495452,0.005236] 2025-10-27T05:39:14.525Z,1761543554.525 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:14.533Z,1761543554.533 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.509054 2025-10-27T05:39:14.698Z,1761543554.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775941,0.630029,0.031283],[-0.630761,0.774343,0.050333],[0.007488,-0.058788,0.998242]] 2025-10-27T05:39:14.760Z,1761543554.760 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.736591 2025-10-27T05:39:14.770Z,1761543554.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504069 s, deltaX: 0.100000 m, approachRate: 0.198386 m/s, rangeRepo size: 4 2025-10-27T05:39:14.772Z,1761543554.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896650 m, bearing: 170.527794 deg, lat: 36.779369 deg, lon: -121.859761 deg, deltaT: 0.504069 s, deltaX: 0.099426 m, approachRate: 0.197247 m/s, posRepo size: 4 2025-10-27T05:39:14.773Z,1761543554.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:15.012Z,1761543555.012 [DAT](INFO): DAT read: Rx Time:05:39:13.7750 2025-10-27T05:39:15.013Z,1761543555.013 [DAT](INFO): Rx dataTimestamp_ set to:1761543555.012554 2025-10-27T05:39:15.014Z,1761543555.014 [DAT](INFO): DAT read: Bearing 310.4, -30.0 (Local) 2025-10-27T05:39:15.014Z,1761543555.014 [DAT](INFO): Local bearing/azimuth received: Bearing 310.4, -30.0 (Local) 2025-10-27T05:39:15.017Z,1761543555.017 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:15.021Z,1761543555.021 [DAT](INFO): DAT read: 05:39:13.7750 LVL= 32752, 24513, 27218, 32755, AGC= 67, IDX= 509, 0.24, 2.621,-1.454,-2.542,-2.375, PHS=-1.185, 0.966,-0.211, RAW= 303.1, 4.7, CAL= 300.7, 1.8, ROT= 209.3, -1.8 2025-10-27T05:39:15.022Z,1761543555.022 [DAT](INFO): got valid direction response: 05:39:13.7750 LVL= 32752, 24513, 27218, 32755, AGC= 67, IDX= 509, 0.24, 2.621,-1.454,-2.542,-2.375, PHS=-1.185, 0.966,-0.211, RAW= 303.1, 4.7, CAL= 300.7, 1.8, ROT= 209.3, -1.8 2025-10-27T05:39:15.023Z,1761543555.023 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:39:15.024Z,1761543555.024 [DAT](INFO): direction in FSK: [-0.871639,-0.489141,0.031411] 2025-10-27T05:39:15.024Z,1761543555.024 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:15.028Z,1761543555.028 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.004055 2025-10-27T05:39:15.104Z,1761543555.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775850,0.630131,0.031480],[-0.630878,0.774276,0.049905],[0.007073,-0.058579,0.998258]] 2025-10-27T05:39:15.169Z,1761543555.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503040 s, deltaX: -0.100000 m, approachRate: -0.198792 m/s, rangeRepo size: 4 2025-10-27T05:39:15.176Z,1761543555.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797150 m, bearing: 170.038516 deg, lat: 36.779370 deg, lon: -121.859761 deg, deltaT: 0.503040 s, deltaX: -0.099501 m, approachRate: -0.197799 m/s, posRepo size: 4 2025-10-27T05:39:15.176Z,1761543555.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:15.267Z,1761543555.267 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.242723 2025-10-27T05:39:15.506Z,1761543555.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775396,0.630690,0.031483],[-0.631438,0.773843,0.049528],[0.006874,-0.058283,0.998276]] 2025-10-27T05:39:15.518Z,1761543555.518 [DAT](INFO): DAT read: Rx Time:05:39:14.2751 2025-10-27T05:39:15.520Z,1761543555.520 [DAT](INFO): Rx dataTimestamp_ set to:1761543555.519169 2025-10-27T05:39:15.523Z,1761543555.523 [DAT](INFO): DAT read: Bearing 312.0, -29.7 (Local) 2025-10-27T05:39:15.524Z,1761543555.524 [DAT](INFO): Local bearing/azimuth received: Bearing 312.0, -29.7 (Local) 2025-10-27T05:39:15.526Z,1761543555.526 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.1 2025-10-27T05:39:15.530Z,1761543555.530 [DAT](INFO): DAT read: 05:39:14.2751 LVL= 32752, 20321, 24130, 32755, AGC= 66, IDX= 510, 0.45, 2.621,-1.446,-2.541,-2.394, PHS=-1.166, 0.993,-0.191, RAW= 303.2, 3.9, CAL= 300.8, 0.4, ROT= 209.2, -0.4 2025-10-27T05:39:15.536Z,1761543555.536 [DAT](INFO): got valid direction response: 05:39:14.2751 LVL= 32752, 20321, 24130, 32755, AGC= 66, IDX= 510, 0.45, 2.621,-1.446,-2.541,-2.394, PHS=-1.166, 0.993,-0.191, RAW= 303.2, 3.9, CAL= 300.8, 0.4, ROT= 209.2, -0.4 2025-10-27T05:39:15.536Z,1761543555.536 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:39:15.537Z,1761543555.537 [DAT](INFO): direction in FSK: [-0.872901,-0.487848,0.006981] 2025-10-27T05:39:15.537Z,1761543555.537 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:15.545Z,1761543555.545 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.521496 2025-10-27T05:39:15.692Z,1761543555.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.506615 s, deltaX: 0.300001 m, approachRate: 0.592168 m/s, rangeRepo size: 4 2025-10-27T05:39:15.694Z,1761543555.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095428 m, bearing: 169.974495 deg, lat: 36.779370 deg, lon: -121.859759 deg, deltaT: 0.506615 s, deltaX: 0.298279 m, approachRate: 0.588768 m/s, posRepo size: 4 2025-10-27T05:39:15.694Z,1761543555.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:15.769Z,1761543555.769 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.745075 2025-10-27T05:39:15.977Z,1761543555.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773700,0.632770,0.031456],[-0.633512,0.772144,0.049549],[0.007064,-0.058264,0.998276]] 2025-10-27T05:39:15.996Z,1761543555.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:16.021Z,1761543556.021 [DAT](INFO): DAT read: Rx Time:05:39:14.7750 2025-10-27T05:39:16.021Z,1761543556.021 [DAT](INFO): Rx dataTimestamp_ set to:1761543556.020798 2025-10-27T05:39:16.022Z,1761543556.022 [DAT](INFO): DAT read: Bearing 310.4, -29.9 (Local) 2025-10-27T05:39:16.023Z,1761543556.023 [DAT](INFO): Local bearing/azimuth received: Bearing 310.4, -29.9 (Local) 2025-10-27T05:39:16.025Z,1761543556.025 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:16.029Z,1761543556.029 [DAT](INFO): DAT read: 05:39:14.7750 LVL= 32752, 23793, 25074, 32755, AGC= 66, IDX= 510,-0.31,-0.308, 1.910, 0.819, 0.985, PHS=-1.192, 0.970,-0.210, RAW= 303.0, 4.7, CAL= 300.6, 1.8, ROT= 209.4, -1.8 2025-10-27T05:39:16.031Z,1761543556.031 [DAT](INFO): got valid direction response: 05:39:14.7750 LVL= 32752, 23793, 25074, 32755, AGC= 66, IDX= 510,-0.31,-0.308, 1.910, 0.819, 0.985, PHS=-1.192, 0.970,-0.210, RAW= 303.0, 4.7, CAL= 300.6, 1.8, ROT= 209.4, -1.8 2025-10-27T05:39:16.031Z,1761543556.031 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:39:16.032Z,1761543556.032 [DAT](INFO): direction in FSK: [-0.870784,-0.490661,0.031411] 2025-10-27T05:39:16.032Z,1761543556.032 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:16.040Z,1761543556.040 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.016476 2025-10-27T05:39:16.272Z,1761543556.272 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.248543 2025-10-27T05:39:16.378Z,1761543556.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772945,0.633696,0.031398],[-0.634432,0.771387,0.049585],[0.007202,-0.058246,0.998276]] 2025-10-27T05:39:16.498Z,1761543556.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.501629 s, deltaX: -0.200001 m, approachRate: -0.398703 m/s, rangeRepo size: 4 2025-10-27T05:39:16.504Z,1761543556.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896605 m, bearing: 169.876279 deg, lat: 36.779370 deg, lon: -121.859757 deg, deltaT: 0.501629 s, deltaX: -0.198824 m, approachRate: -0.396357 m/s, posRepo size: 4 2025-10-27T05:39:16.504Z,1761543556.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:16.525Z,1761543556.525 [DAT](INFO): DAT read: Rx Time:05:39:15.2750 2025-10-27T05:39:16.525Z,1761543556.525 [DAT](INFO): Rx dataTimestamp_ set to:1761543556.524874 2025-10-27T05:39:16.526Z,1761543556.526 [DAT](INFO): DAT read: Bearing 310.8, -28.7 (Local) 2025-10-27T05:39:16.527Z,1761543556.527 [DAT](INFO): Local bearing/azimuth received: Bearing 310.8, -28.7 (Local) 2025-10-27T05:39:16.529Z,1761543556.529 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:16.534Z,1761543556.534 [DAT](INFO): DAT read: 05:39:15.2750 LVL= 32752, 19697, 24354, 32755, AGC= 65, IDX= 510,-0.15, 0.186, 2.393, 1.272, 1.452, PHS=-1.165, 0.986,-0.225, RAW= 304.2, 4.4, CAL= 301.8, 1.4, ROT= 208.2, -1.4 2025-10-27T05:39:16.536Z,1761543556.536 [DAT](INFO): got valid direction response: 05:39:15.2750 LVL= 32752, 19697, 24354, 32755, AGC= 65, IDX= 510,-0.15, 0.186, 2.393, 1.272, 1.452, PHS=-1.165, 0.986,-0.225, RAW= 304.2, 4.4, CAL= 301.8, 1.4, ROT= 208.2, -1.4 2025-10-27T05:39:16.536Z,1761543556.536 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:39:16.537Z,1761543556.537 [DAT](INFO): direction in FSK: [-0.881040,-0.472410,0.024432] 2025-10-27T05:39:16.537Z,1761543556.537 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:16.541Z,1761543556.541 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.517286 2025-10-27T05:39:16.776Z,1761543556.776 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.752516 2025-10-27T05:39:16.786Z,1761543556.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772160,0.634650,0.031443],[-0.635386,0.770595,0.049682],[0.007301,-0.058341,0.998270]] 2025-10-27T05:39:16.809Z,1761543556.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:16.816Z,1761543556.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896605 m, bearing: 168.627749 deg, lat: 36.779371 deg, lon: -121.859756 deg, deltaT: 0.504076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:16.816Z,1761543556.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:17.029Z,1761543557.029 [DAT](INFO): DAT read: Rx Time:05:39:15.7750 2025-10-27T05:39:17.029Z,1761543557.029 [DAT](INFO): Rx dataTimestamp_ set to:1761543557.028828 2025-10-27T05:39:17.030Z,1761543557.030 [DAT](INFO): DAT read: Bearing 309.7, -29.2 (Local) 2025-10-27T05:39:17.031Z,1761543557.031 [DAT](INFO): Local bearing/azimuth received: Bearing 309.7, -29.2 (Local) 2025-10-27T05:39:17.033Z,1761543557.033 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:17.037Z,1761543557.037 [DAT](INFO): DAT read: 05:39:15.7750 LVL= 32752, 23281, 24482, 32755, AGC= 66, IDX= 509, 0.01,-0.436, 1.767, 0.662, 0.849, PHS=-1.183, 0.963,-0.231, RAW= 303.7, 4.9, CAL= 301.3, 2.4, ROT= 208.7, -2.4 2025-10-27T05:39:17.038Z,1761543557.038 [DAT](INFO): got valid direction response: 05:39:15.7750 LVL= 32752, 23281, 24482, 32755, AGC= 66, IDX= 509, 0.01,-0.436, 1.767, 0.662, 0.849, PHS=-1.183, 0.963,-0.231, RAW= 303.7, 4.9, CAL= 301.3, 2.4, ROT= 208.7, -2.4 2025-10-27T05:39:17.039Z,1761543557.039 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:39:17.040Z,1761543557.040 [DAT](INFO): direction in FSK: [-0.876377,-0.479802,0.041876] 2025-10-27T05:39:17.040Z,1761543557.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:17.049Z,1761543557.049 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.024357 2025-10-27T05:39:17.232Z,1761543557.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503954 s, deltaX: -0.100000 m, approachRate: -0.198432 m/s, rangeRepo size: 4 2025-10-27T05:39:17.234Z,1761543557.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797125 m, bearing: 169.072523 deg, lat: 36.779371 deg, lon: -121.859756 deg, deltaT: 0.503954 s, deltaX: -0.099480 m, approachRate: -0.197398 m/s, posRepo size: 4 2025-10-27T05:39:17.235Z,1761543557.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:17.282Z,1761543557.282 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.258047 2025-10-27T05:39:17.533Z,1761543557.533 [DAT](INFO): DAT read: Rx Time:05:39:16.2750 2025-10-27T05:39:17.533Z,1761543557.533 [DAT](INFO): Rx dataTimestamp_ set to:1761543557.532693 2025-10-27T05:39:17.534Z,1761543557.534 [DAT](INFO): DAT read: Bearing 309.1, -28.7 (Local) 2025-10-27T05:39:17.535Z,1761543557.535 [DAT](INFO): Local bearing/azimuth received: Bearing 309.1, -28.7 (Local) 2025-10-27T05:39:17.537Z,1761543557.537 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.1 2025-10-27T05:39:17.541Z,1761543557.541 [DAT](INFO): DAT read: 05:39:16.2750 LVL= 32752, 26545, 25074, 32755, AGC= 66, IDX= 510, 0.17, 1.565,-2.531, 2.642, 2.842, PHS=-1.176, 0.955,-0.244, RAW= 304.1, 5.1, CAL= 301.7, 2.8, ROT= 208.3, -2.8 2025-10-27T05:39:17.542Z,1761543557.542 [DAT](INFO): got valid direction response: 05:39:16.2750 LVL= 32752, 26545, 25074, 32755, AGC= 66, IDX= 510, 0.17, 1.565,-2.531, 2.642, 2.842, PHS=-1.176, 0.955,-0.244, RAW= 304.1, 5.1, CAL= 301.7, 2.8, ROT= 208.3, -2.8 2025-10-27T05:39:17.543Z,1761543557.543 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:39:17.544Z,1761543557.544 [DAT](INFO): direction in FSK: [-0.879426,-0.473522,0.048850] 2025-10-27T05:39:17.545Z,1761543557.545 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:17.548Z,1761543557.548 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.524689 2025-10-27T05:39:17.590Z,1761543557.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770777,0.636359,0.030824],[-0.637057,0.769226,0.049494],[0.007785,-0.057785,0.998299]] 2025-10-27T05:39:17.704Z,1761543557.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503865 s, deltaX: 0.100000 m, approachRate: 0.198467 m/s, rangeRepo size: 4 2025-10-27T05:39:17.716Z,1761543557.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896549 m, bearing: 168.527668 deg, lat: 36.779372 deg, lon: -121.859754 deg, deltaT: 0.503865 s, deltaX: 0.099424 m, approachRate: 0.197323 m/s, posRepo size: 4 2025-10-27T05:39:17.716Z,1761543557.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:17.785Z,1761543557.785 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.761179 2025-10-27T05:39:18.037Z,1761543558.037 [DAT](INFO): DAT read: Rx Time:05:39:16.7750 2025-10-27T05:39:18.037Z,1761543558.037 [DAT](INFO): Rx dataTimestamp_ set to:1761543558.036787 2025-10-27T05:39:18.038Z,1761543558.038 [DAT](INFO): DAT read: Bearing 308.9, -28.5 (Local) 2025-10-27T05:39:18.039Z,1761543558.039 [DAT](INFO): Local bearing/azimuth received: Bearing 308.9, -28.5 (Local) 2025-10-27T05:39:18.041Z,1761543558.041 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:18.058Z,1761543558.058 [DAT](INFO): DAT read: 05:39:16.7750 LVL= 32752, 25393, 25650, 32755, AGC= 66, IDX= 509, 0.37, 0.516, 2.707, 1.589, 1.797, PHS=-1.179, 0.956,-0.251, RAW= 304.3, 5.2, CAL= 301.9, 3.0, ROT= 208.1, -3.0 2025-10-27T05:39:18.059Z,1761543558.059 [DAT](INFO): got valid direction response: 05:39:16.7750 LVL= 32752, 25393, 25650, 32755, AGC= 66, IDX= 509, 0.37, 0.516, 2.707, 1.589, 1.797, PHS=-1.179, 0.956,-0.251, RAW= 304.3, 5.2, CAL= 301.9, 3.0, ROT= 208.1, -3.0 2025-10-27T05:39:18.059Z,1761543558.059 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:39:18.060Z,1761543558.060 [DAT](INFO): direction in FSK: [-0.880918,-0.470366,0.052336] 2025-10-27T05:39:18.060Z,1761543558.060 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:18.075Z,1761543558.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:18.095Z,1761543558.095 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.067385 2025-10-27T05:39:18.289Z,1761543558.289 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.265383 2025-10-27T05:39:18.473Z,1761543558.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769965,0.637364,0.030362],[-0.638037,0.768440,0.049083],[0.007952,-0.057164,0.998333]] 2025-10-27T05:39:18.530Z,1761543558.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504094 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:18.541Z,1761543558.541 [DAT](INFO): DAT read: Rx Time:05:39:17.2751 2025-10-27T05:39:18.541Z,1761543558.541 [DAT](INFO): Rx dataTimestamp_ set to:1761543558.540706 2025-10-27T05:39:18.542Z,1761543558.542 [DAT](INFO): DAT read: Bearing 310.3, -28.8 (Local) 2025-10-27T05:39:18.543Z,1761543558.543 [DAT](INFO): Local bearing/azimuth received: Bearing 310.3, -28.8 (Local) 2025-10-27T05:39:18.545Z,1761543558.545 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:18.549Z,1761543558.549 [DAT](INFO): DAT read: 05:39:17.2751 LVL= 32752, 21393, 22882, 32755, AGC= 65, IDX= 511,-0.38, 0.488, 2.689, 1.575, 1.760, PHS=-1.170, 0.975,-0.229, RAW= 304.0, 4.6, CAL= 301.6, 1.8, ROT= 208.4, -1.8 2025-10-27T05:39:18.550Z,1761543558.550 [DAT](INFO): got valid direction response: 05:39:17.2751 LVL= 32752, 21393, 22882, 32755, AGC= 65, IDX= 511,-0.38, 0.488, 2.689, 1.575, 1.760, PHS=-1.170, 0.975,-0.229, RAW= 304.0, 4.6, CAL= 301.6, 1.8, ROT= 208.4, -1.8 2025-10-27T05:39:18.551Z,1761543558.551 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:39:18.552Z,1761543558.552 [DAT](INFO): direction in FSK: [-0.879215,-0.475390,0.031411] 2025-10-27T05:39:18.552Z,1761543558.552 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:18.556Z,1761543558.556 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.532383 2025-10-27T05:39:18.568Z,1761543558.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896448 m, bearing: 168.246034 deg, lat: 36.779372 deg, lon: -121.859752 deg, deltaT: 0.504094 s, deltaX: -0.000101 m, approachRate: -0.000201 m/s, posRepo size: 4 2025-10-27T05:39:18.568Z,1761543558.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:18.792Z,1761543558.792 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.768452 2025-10-27T05:39:18.871Z,1761543558.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769693,0.637696,0.030287],[-0.638365,0.768173,0.048994],[0.007978,-0.057045,0.998340]] 2025-10-27T05:39:18.961Z,1761543558.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503919 s, deltaX: 0.200001 m, approachRate: 0.396891 m/s, rangeRepo size: 4 2025-10-27T05:39:18.967Z,1761543558.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095280 m, bearing: 168.587032 deg, lat: 36.779372 deg, lon: -121.859752 deg, deltaT: 0.503919 s, deltaX: 0.198832 m, approachRate: 0.394570 m/s, posRepo size: 4 2025-10-27T05:39:18.968Z,1761543558.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:19.045Z,1761543559.045 [DAT](INFO): DAT read: Rx Time:05:39:17.7750 2025-10-27T05:39:19.046Z,1761543559.046 [DAT](INFO): Rx dataTimestamp_ set to:1761543559.045290 2025-10-27T05:39:19.047Z,1761543559.047 [DAT](INFO): DAT read: Bearing 309.3, -29.5 (Local) 2025-10-27T05:39:19.047Z,1761543559.047 [DAT](INFO): Local bearing/azimuth received: Bearing 309.3, -29.5 (Local) 2025-10-27T05:39:19.049Z,1761543559.049 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:19.058Z,1761543559.058 [DAT](INFO): DAT read: 05:39:17.7750 LVL= 32752, 25025, 26738, 32755, AGC= 66, IDX= 510,-0.18,-1.169, 1.050,-0.051, 0.137, PHS=-1.203, 0.958,-0.232, RAW= 303.4, 5.1, CAL= 300.9, 2.8, ROT= 209.1, -2.8 2025-10-27T05:39:19.060Z,1761543559.060 [DAT](INFO): got valid direction response: 05:39:17.7750 LVL= 32752, 25025, 26738, 32755, AGC= 66, IDX= 510,-0.18,-1.169, 1.050,-0.051, 0.137, PHS=-1.203, 0.958,-0.232, RAW= 303.4, 5.1, CAL= 300.9, 2.8, ROT= 209.1, -2.8 2025-10-27T05:39:19.060Z,1761543559.060 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:39:19.061Z,1761543559.061 [DAT](INFO): direction in FSK: [-0.872729,-0.485755,0.048850] 2025-10-27T05:39:19.062Z,1761543559.062 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:19.085Z,1761543559.085 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.061886 2025-10-27T05:39:19.274Z,1761543559.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769548,0.637865,0.030417],[-0.638541,0.768026,0.049005],[0.007898,-0.057134,0.998335]] 2025-10-27T05:39:19.299Z,1761543559.299 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.274593 2025-10-27T05:39:19.392Z,1761543559.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504584 s, deltaX: -0.200001 m, approachRate: -0.396368 m/s, rangeRepo size: 4 2025-10-27T05:39:19.394Z,1761543559.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896429 m, bearing: 169.219432 deg, lat: 36.779372 deg, lon: -121.859752 deg, deltaT: 0.504584 s, deltaX: -0.198851 m, approachRate: -0.394088 m/s, posRepo size: 4 2025-10-27T05:39:19.399Z,1761543559.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:19.549Z,1761543559.549 [DAT](INFO): DAT read: Rx Time:05:39:18.2751 2025-10-27T05:39:19.549Z,1761543559.549 [DAT](INFO): Rx dataTimestamp_ set to:1761543559.548773 2025-10-27T05:39:19.550Z,1761543559.550 [DAT](INFO): DAT read: Bearing 308.7, -29.0 (Local) 2025-10-27T05:39:19.551Z,1761543559.551 [DAT](INFO): Local bearing/azimuth received: Bearing 308.7, -29.0 (Local) 2025-10-27T05:39:19.553Z,1761543559.553 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 2025-10-27T05:39:19.561Z,1761543559.561 [DAT](INFO): DAT read: 05:39:18.2751 LVL= 32752, 25649, 25842, 32755, AGC= 64, IDX= 511,-0.06, 1.003,-3.085, 2.096, 2.298, PHS=-1.193, 0.945,-0.246, RAW= 303.8, 5.4, CAL= 301.4, 3.3, ROT= 208.6, -3.3 2025-10-27T05:39:19.572Z,1761543559.572 [DAT](INFO): got valid direction response: 05:39:18.2751 LVL= 32752, 25649, 25842, 32755, AGC= 64, IDX= 511,-0.06, 1.003,-3.085, 2.096, 2.298, PHS=-1.193, 0.945,-0.246, RAW= 303.8, 5.4, CAL= 301.4, 3.3, ROT= 208.6, -3.3 2025-10-27T05:39:19.572Z,1761543559.572 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:39:19.573Z,1761543559.573 [DAT](INFO): direction in FSK: [-0.876527,-0.477898,0.057564] 2025-10-27T05:39:19.573Z,1761543559.573 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:19.581Z,1761543559.581 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.557800 2025-10-27T05:39:19.698Z,1761543559.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769617,0.637774,0.030554],[-0.638459,0.768096,0.048974],[0.007766,-0.057199,0.998333]] 2025-10-27T05:39:19.766Z,1761543559.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503483 s, deltaX: 0.200001 m, approachRate: 0.397234 m/s, rangeRepo size: 4 2025-10-27T05:39:19.769Z,1761543559.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095280 m, bearing: 168.698571 deg, lat: 36.779372 deg, lon: -121.859751 deg, deltaT: 0.503483 s, deltaX: 0.198851 m, approachRate: 0.394950 m/s, posRepo size: 4 2025-10-27T05:39:19.769Z,1761543559.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:19.801Z,1761543559.801 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.777147 2025-10-27T05:39:20.053Z,1761543560.053 [DAT](INFO): DAT read: Rx Time:05:39:18.7750 2025-10-27T05:39:20.053Z,1761543560.053 [DAT](INFO): Rx dataTimestamp_ set to:1761543560.052731 2025-10-27T05:39:20.054Z,1761543560.054 [DAT](INFO): DAT read: Bearing 307.7, -29.3 (Local) 2025-10-27T05:39:20.055Z,1761543560.055 [DAT](INFO): Local bearing/azimuth received: Bearing 307.7, -29.3 (Local) 2025-10-27T05:39:20.057Z,1761543560.057 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:20.061Z,1761543560.061 [DAT](INFO): DAT read: 05:39:18.7750 LVL= 32752, 28209, 30370, 32755, AGC= 66, IDX= 510, 0.09, 1.579,-2.520, 2.674, 2.885, PHS=-1.204, 0.924,-0.255, RAW= 303.6, 5.9, CAL= 301.2, 4.3, ROT= 208.8, -4.3 2025-10-27T05:39:20.062Z,1761543560.062 [DAT](INFO): got valid direction response: 05:39:18.7750 LVL= 32752, 28209, 30370, 32755, AGC= 66, IDX= 510, 0.09, 1.579,-2.520, 2.674, 2.885, PHS=-1.204, 0.924,-0.255, RAW= 303.6, 5.9, CAL= 301.2, 4.3, ROT= 208.8, -4.3 2025-10-27T05:39:20.067Z,1761543560.067 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:39:20.068Z,1761543560.068 [DAT](INFO): direction in FSK: [-0.873840,-0.480398,0.074979] 2025-10-27T05:39:20.068Z,1761543560.068 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:20.072Z,1761543560.072 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.048332 2025-10-27T05:39:20.188Z,1761543560.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503958 s, deltaX: -0.200001 m, approachRate: -0.396860 m/s, rangeRepo size: 4 2025-10-27T05:39:20.190Z,1761543560.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896465 m, bearing: 168.844284 deg, lat: 36.779372 deg, lon: -121.859751 deg, deltaT: 0.503958 s, deltaX: -0.198814 m, approachRate: -0.394506 m/s, posRepo size: 4 2025-10-27T05:39:20.190Z,1761543560.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:20.305Z,1761543560.305 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.281109 2025-10-27T05:39:20.502Z,1761543560.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770464,0.636740,0.030774],[-0.637443,0.768974,0.048431],[0.007174,-0.056931,0.998352]] 2025-10-27T05:39:20.557Z,1761543560.557 [DAT](INFO): DAT read: Rx Time:05:39:19.2750 2025-10-27T05:39:20.557Z,1761543560.557 [DAT](INFO): Rx dataTimestamp_ set to:1761543560.556802 2025-10-27T05:39:20.558Z,1761543560.558 [DAT](INFO): DAT read: Bearing 308.9, -29.4 (Local) 2025-10-27T05:39:20.559Z,1761543560.559 [DAT](INFO): Local bearing/azimuth received: Bearing 308.9, -29.4 (Local) 2025-10-27T05:39:20.561Z,1761543560.561 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:20.573Z,1761543560.573 [DAT](INFO): DAT read: 05:39:19.2750 LVL= 32752, 25057, 27506, 32755, AGC= 67, IDX= 510, 0.32, 1.035,-3.049, 2.142, 2.335, PHS=-1.199, 0.944,-0.237, RAW= 303.4, 5.3, CAL= 301.0, 3.2, ROT= 209.0, -3.2 2025-10-27T05:39:20.575Z,1761543560.575 [DAT](INFO): got valid direction response: 05:39:19.2750 LVL= 32752, 25057, 27506, 32755, AGC= 67, IDX= 510, 0.32, 1.035,-3.049, 2.142, 2.335, PHS=-1.199, 0.944,-0.237, RAW= 303.4, 5.3, CAL= 301.0, 3.2, ROT= 209.0, -3.2 2025-10-27T05:39:20.575Z,1761543560.575 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:39:20.576Z,1761543560.576 [DAT](INFO): direction in FSK: [-0.873256,-0.484054,0.055822] 2025-10-27T05:39:20.577Z,1761543560.577 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:20.592Z,1761543560.592 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.569008 2025-10-27T05:39:20.611Z,1761543560.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:20.613Z,1761543560.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896465 m, bearing: 169.182189 deg, lat: 36.779372 deg, lon: -121.859752 deg, deltaT: 0.504071 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:20.614Z,1761543560.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:20.808Z,1761543560.808 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.784580 2025-10-27T05:39:20.935Z,1761543560.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771158,0.635898,0.030805],[-0.636608,0.769697,0.047929],[0.006768,-0.056571,0.998376]] 2025-10-27T05:39:21.014Z,1761543561.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:21.060Z,1761543561.060 [DAT](INFO): DAT read: Rx Time:05:39:19.7750 2025-10-27T05:39:21.061Z,1761543561.061 [DAT](INFO): Rx dataTimestamp_ set to:1761543561.060638 2025-10-27T05:39:21.062Z,1761543561.062 [DAT](INFO): DAT read: Bearing 310.9, -29.0 (Local) 2025-10-27T05:39:21.062Z,1761543561.062 [DAT](INFO): Local bearing/azimuth received: Bearing 310.9, -29.0 (Local) 2025-10-27T05:39:21.065Z,1761543561.065 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:21.069Z,1761543561.069 [DAT](INFO): DAT read: 05:39:19.7750 LVL= 32752, 21233, 25154, 32755, AGC= 65, IDX= 510,-0.32,-2.154, 0.048,-1.055,-0.882, PHS=-1.170, 0.976,-0.217, RAW= 303.7, 4.5, CAL= 301.3, 1.5, ROT= 208.7, -1.5 2025-10-27T05:39:21.070Z,1761543561.070 [DAT](INFO): got valid direction response: 05:39:19.7750 LVL= 32752, 21233, 25154, 32755, AGC= 65, IDX= 510,-0.32,-2.154, 0.048,-1.055,-0.882, PHS=-1.170, 0.976,-0.217, RAW= 303.7, 4.5, CAL= 301.3, 1.5, ROT= 208.7, -1.5 2025-10-27T05:39:21.071Z,1761543561.071 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:39:21.072Z,1761543561.072 [DAT](INFO): direction in FSK: [-0.876846,-0.480059,0.026177] 2025-10-27T05:39:21.072Z,1761543561.072 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:21.076Z,1761543561.076 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.052200 2025-10-27T05:39:21.309Z,1761543561.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771881,0.635015,0.030905],[-0.635736,0.770451,0.047387],[0.006280,-0.056225,0.998398]] 2025-10-27T05:39:21.312Z,1761543561.312 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.288532 2025-10-27T05:39:21.464Z,1761543561.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503836 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:21.466Z,1761543561.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896521 m, bearing: 169.103487 deg, lat: 36.779373 deg, lon: -121.859752 deg, deltaT: 0.503836 s, deltaX: 0.000055 m, approachRate: 0.000110 m/s, posRepo size: 4 2025-10-27T05:39:21.466Z,1761543561.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:21.565Z,1761543561.565 [DAT](INFO): DAT read: Rx Time:05:39:20.2751 2025-10-27T05:39:21.565Z,1761543561.565 [DAT](INFO): Rx dataTimestamp_ set to:1761543561.565202 2025-10-27T05:39:21.567Z,1761543561.567 [DAT](INFO): DAT read: Bearing 311.5, -28.6 (Local) 2025-10-27T05:39:21.567Z,1761543561.567 [DAT](INFO): Local bearing/azimuth received: Bearing 311.5, -28.6 (Local) 2025-10-27T05:39:21.569Z,1761543561.569 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:21.586Z,1761543561.586 [DAT](INFO): DAT read: 05:39:20.2751 LVL= 32752, 22129, 25170, 32755, AGC= 65, IDX= 511,-0.08,-1.751, 0.450,-0.667,-0.495, PHS=-1.155, 0.990,-0.216, RAW= 304.1, 4.1, CAL= 301.7, 0.9, ROT= 208.3, -0.9 2025-10-27T05:39:21.588Z,1761543561.588 [DAT](INFO): got valid direction response: 05:39:20.2751 LVL= 32752, 22129, 25170, 32755, AGC= 65, IDX= 511,-0.08,-1.751, 0.450,-0.667,-0.495, PHS=-1.155, 0.990,-0.216, RAW= 304.1, 4.1, CAL= 301.7, 0.9, ROT= 208.3, -0.9 2025-10-27T05:39:21.588Z,1761543561.588 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:39:21.589Z,1761543561.589 [DAT](INFO): direction in FSK: [-0.880369,-0.474030,0.015707] 2025-10-27T05:39:21.589Z,1761543561.589 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:21.593Z,1761543561.593 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.569641 2025-10-27T05:39:21.720Z,1761543561.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772483,0.634272,0.031114],[-0.635008,0.771068,0.047113],[0.005892,-0.056151,0.998405]] 2025-10-27T05:39:21.816Z,1761543561.816 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.792419 2025-10-27T05:39:21.941Z,1761543561.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504564 s, deltaX: 0.200001 m, approachRate: 0.396383 m/s, rangeRepo size: 4 2025-10-27T05:39:21.961Z,1761543561.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095310 m, bearing: 168.789982 deg, lat: 36.779373 deg, lon: -121.859752 deg, deltaT: 0.504564 s, deltaX: 0.198790 m, approachRate: 0.393983 m/s, posRepo size: 4 2025-10-27T05:39:21.962Z,1761543561.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:22.069Z,1761543562.069 [DAT](INFO): DAT read: Rx Time:05:39:20.7750 2025-10-27T05:39:22.069Z,1761543562.069 [DAT](INFO): Rx dataTimestamp_ set to:1761543562.068811 2025-10-27T05:39:22.070Z,1761543562.070 [DAT](INFO): DAT read: Bearing 311.4, -28.2 (Local) 2025-10-27T05:39:22.071Z,1761543562.071 [DAT](INFO): Local bearing/azimuth received: Bearing 311.4, -28.2 (Local) 2025-10-27T05:39:22.073Z,1761543562.073 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:22.078Z,1761543562.078 [DAT](INFO): DAT read: 05:39:20.7750 LVL= 32752, 19121, 23570, 32755, AGC= 64, IDX= 510,-0.05,-2.207,-0.016,-1.140,-0.960, PHS=-1.145, 0.988,-0.224, RAW= 304.5, 4.2, CAL= 302.1, 1.0, ROT= 207.9, -1.0 2025-10-27T05:39:22.079Z,1761543562.079 [DAT](INFO): got valid direction response: 05:39:20.7750 LVL= 32752, 19121, 23570, 32755, AGC= 64, IDX= 510,-0.05,-2.207,-0.016,-1.140,-0.960, PHS=-1.145, 0.988,-0.224, RAW= 304.5, 4.2, CAL= 302.1, 1.0, ROT= 207.9, -1.0 2025-10-27T05:39:22.079Z,1761543562.079 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:39:22.080Z,1761543562.080 [DAT](INFO): direction in FSK: [-0.883631,-0.467858,0.017452] 2025-10-27T05:39:22.080Z,1761543562.080 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:22.088Z,1761543562.088 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.064594 2025-10-27T05:39:22.322Z,1761543562.322 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.297966 2025-10-27T05:39:22.349Z,1761543562.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503609 s, deltaX: -0.200001 m, approachRate: -0.397135 m/s, rangeRepo size: 4 2025-10-27T05:39:22.352Z,1761543562.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896460 m, bearing: 168.385045 deg, lat: 36.779373 deg, lon: -121.859752 deg, deltaT: 0.503609 s, deltaX: -0.198851 m, approachRate: -0.394851 m/s, posRepo size: 4 2025-10-27T05:39:22.353Z,1761543562.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:22.573Z,1761543562.573 [DAT](INFO): DAT read: Rx Time:05:39:21.2751 2025-10-27T05:39:22.573Z,1761543562.573 [DAT](INFO): Rx dataTimestamp_ set to:1761543562.572706 2025-10-27T05:39:22.574Z,1761543562.574 [DAT](INFO): DAT read: Bearing 311.2, -28.3 (Local) 2025-10-27T05:39:22.575Z,1761543562.575 [DAT](INFO): Local bearing/azimuth received: Bearing 311.2, -28.3 (Local) 2025-10-27T05:39:22.577Z,1761543562.577 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:22.582Z,1761543562.582 [DAT](INFO): DAT read: 05:39:21.2751 LVL= 32752, 19185, 22178, 32755, AGC= 61, IDX= 511,-0.04, 0.104, 2.296, 1.176, 1.357, PHS=-1.151, 0.984,-0.225, RAW= 304.4, 4.3, CAL= 302.0, 1.3, ROT= 208.0, -1.3 2025-10-27T05:39:22.583Z,1761543562.583 [DAT](INFO): got valid direction response: 05:39:21.2751 LVL= 32752, 19185, 22178, 32755, AGC= 61, IDX= 511,-0.04, 0.104, 2.296, 1.176, 1.357, PHS=-1.151, 0.984,-0.225, RAW= 304.4, 4.3, CAL= 302.0, 1.3, ROT= 208.0, -1.3 2025-10-27T05:39:22.584Z,1761543562.584 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:39:22.585Z,1761543562.585 [DAT](INFO): direction in FSK: [-0.882720,-0.469351,0.022687] 2025-10-27T05:39:22.585Z,1761543562.585 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:22.593Z,1761543562.593 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.569199 2025-10-27T05:39:22.686Z,1761543562.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773646,0.632799,0.032199],[-0.633599,0.772233,0.046992],[0.004872,-0.056757,0.998376]] 2025-10-27T05:39:22.801Z,1761543562.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503895 s, deltaX: 0.200001 m, approachRate: 0.396910 m/s, rangeRepo size: 4 2025-10-27T05:39:22.807Z,1761543562.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095310 m, bearing: 168.573572 deg, lat: 36.779373 deg, lon: -121.859750 deg, deltaT: 0.503895 s, deltaX: 0.198851 m, approachRate: 0.394627 m/s, posRepo size: 4 2025-10-27T05:39:22.808Z,1761543562.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:22.825Z,1761543562.825 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.801697 2025-10-27T05:39:23.077Z,1761543563.077 [DAT](INFO): DAT read: Rx Time:05:39:21.7750 2025-10-27T05:39:23.077Z,1761543563.077 [DAT](INFO): Rx dataTimestamp_ set to:1761543563.076720 2025-10-27T05:39:23.078Z,1761543563.078 [DAT](INFO): DAT read: Bearing 311.2, -28.5 (Local) 2025-10-27T05:39:23.079Z,1761543563.079 [DAT](INFO): Local bearing/azimuth received: Bearing 311.2, -28.5 (Local) 2025-10-27T05:39:23.081Z,1761543563.081 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:23.085Z,1761543563.085 [DAT](INFO): DAT read: 05:39:21.7750 LVL= 30816, 18625, 22210, 32755, AGC= 60, IDX= 510,-0.05,-0.189, 2.009, 0.891, 1.070, PHS=-1.157, 0.984,-0.224, RAW= 304.2, 4.3, CAL= 301.8, 1.3, ROT= 208.2, -1.3 2025-10-27T05:39:23.086Z,1761543563.086 [DAT](INFO): got valid direction response: 05:39:21.7750 LVL= 30816, 18625, 22210, 32755, AGC= 60, IDX= 510,-0.05,-0.189, 2.009, 0.891, 1.070, PHS=-1.157, 0.984,-0.224, RAW= 304.2, 4.3, CAL= 301.8, 1.3, ROT= 208.2, -1.3 2025-10-27T05:39:23.087Z,1761543563.087 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:39:23.088Z,1761543563.088 [DAT](INFO): direction in FSK: [-0.881077,-0.472429,0.022687] 2025-10-27T05:39:23.088Z,1761543563.088 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:23.104Z,1761543563.104 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.080921 2025-10-27T05:39:23.197Z,1761543563.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774886,0.631243,0.032925],[-0.632089,0.773499,0.046497],[0.003884,-0.056841,0.998376]] 2025-10-27T05:39:23.245Z,1761543563.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504014 s, deltaX: -0.200001 m, approachRate: -0.396816 m/s, rangeRepo size: 4 2025-10-27T05:39:23.247Z,1761543563.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896498 m, bearing: 168.886386 deg, lat: 36.779373 deg, lon: -121.859749 deg, deltaT: 0.504014 s, deltaX: -0.198812 m, approachRate: -0.394458 m/s, posRepo size: 4 2025-10-27T05:39:23.248Z,1761543563.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:23.329Z,1761543563.329 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.305672 2025-10-27T05:39:23.580Z,1761543563.580 [DAT](INFO): DAT read: Rx Time:05:39:22.2751 2025-10-27T05:39:23.581Z,1761543563.581 [DAT](INFO): Rx dataTimestamp_ set to:1761543563.580613 2025-10-27T05:39:23.582Z,1761543563.582 [DAT](INFO): DAT read: Bearing 310.6, -28.3 (Local) 2025-10-27T05:39:23.582Z,1761543563.582 [DAT](INFO): Local bearing/azimuth received: Bearing 310.6, -28.3 (Local) 2025-10-27T05:39:23.585Z,1761543563.585 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:23.589Z,1761543563.589 [DAT](INFO): DAT read: 05:39:22.2751 LVL= 32752, 17905, 21442, 32755, AGC= 60, IDX= 511,-0.01, 1.620,-2.478, 2.689, 2.879, PHS=-1.157, 0.971,-0.235, RAW= 304.4, 4.6, CAL= 302.0, 1.9, ROT= 208.0, -1.9 2025-10-27T05:39:23.590Z,1761543563.590 [DAT](INFO): got valid direction response: 05:39:22.2751 LVL= 32752, 17905, 21442, 32755, AGC= 60, IDX= 511,-0.01, 1.620,-2.478, 2.689, 2.879, PHS=-1.157, 0.971,-0.235, RAW= 304.4, 4.6, CAL= 302.0, 1.9, ROT= 208.0, -1.9 2025-10-27T05:39:23.591Z,1761543563.591 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:39:23.592Z,1761543563.592 [DAT](INFO): direction in FSK: [-0.882462,-0.469213,0.033155] 2025-10-27T05:39:23.592Z,1761543563.592 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:23.596Z,1761543563.596 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.572140 2025-10-27T05:39:23.616Z,1761543563.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775427,0.630561,0.033245],[-0.631428,0.774054,0.046246],[0.003427,-0.056852,0.998377]] 2025-10-27T05:39:23.740Z,1761543563.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503893 s, deltaX: 0.200001 m, approachRate: 0.396911 m/s, rangeRepo size: 4 2025-10-27T05:39:23.742Z,1761543563.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095348 m, bearing: 168.704827 deg, lat: 36.779372 deg, lon: -121.859748 deg, deltaT: 0.503893 s, deltaX: 0.198851 m, approachRate: 0.394629 m/s, posRepo size: 4 2025-10-27T05:39:23.743Z,1761543563.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:23.833Z,1761543563.833 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.809372 2025-10-27T05:39:24.017Z,1761543564.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775808,0.630076,0.033567],[-0.630962,0.774445,0.046062],[0.003026,-0.056915,0.998374]] 2025-10-27T05:39:24.036Z,1761543564.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:24.085Z,1761543564.085 [DAT](INFO): DAT read: Rx Time:05:39:22.7750 2025-10-27T05:39:24.086Z,1761543564.086 [DAT](INFO): Rx dataTimestamp_ set to:1761543564.085653 2025-10-27T05:39:24.088Z,1761543564.088 [DAT](INFO): DAT read: Bearing 309.4, -27.9 (Local) 2025-10-27T05:39:24.088Z,1761543564.088 [DAT](INFO): Local bearing/azimuth received: Bearing 309.4, -27.9 (Local) 2025-10-27T05:39:24.092Z,1761543564.092 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:24.097Z,1761543564.097 [DAT](INFO): DAT read: 05:39:22.7750 LVL= 32752, 16481, 22226, 32755, AGC= 60, IDX= 510, 0.11, 0.624, 2.790, 1.670, 1.884, PHS=-1.158, 0.951,-0.258, RAW= 304.8, 5.1, CAL= 302.4, 2.9, ROT= 207.6, -2.9 2025-10-27T05:39:24.098Z,1761543564.098 [DAT](INFO): got valid direction response: 05:39:22.7750 LVL= 32752, 16481, 22226, 32755, AGC= 60, IDX= 510, 0.11, 0.624, 2.790, 1.670, 1.884, PHS=-1.158, 0.951,-0.258, RAW= 304.8, 5.1, CAL= 302.4, 2.9, ROT= 207.6, -2.9 2025-10-27T05:39:24.099Z,1761543564.099 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:39:24.100Z,1761543564.100 [DAT](INFO): direction in FSK: [-0.885069,-0.462703,0.050593] 2025-10-27T05:39:24.100Z,1761543564.100 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:24.112Z,1761543564.112 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.088417 2025-10-27T05:39:24.337Z,1761543564.337 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.313580 2025-10-27T05:39:24.468Z,1761543564.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776264,0.629499,0.033847],[-0.630403,0.774911,0.045890],[0.002660,-0.056960,0.998373]] 2025-10-27T05:39:24.518Z,1761543564.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.505040 s, deltaX: -0.200001 m, approachRate: -0.396010 m/s, rangeRepo size: 4 2025-10-27T05:39:24.520Z,1761543564.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896582 m, bearing: 168.329653 deg, lat: 36.779373 deg, lon: -121.859748 deg, deltaT: 0.505040 s, deltaX: -0.198767 m, approachRate: -0.393566 m/s, posRepo size: 4 2025-10-27T05:39:24.521Z,1761543564.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:24.589Z,1761543564.589 [DAT](INFO): DAT read: Rx Time:05:39:23.2751 2025-10-27T05:39:24.589Z,1761543564.589 [DAT](INFO): Rx dataTimestamp_ set to:1761543564.588901 2025-10-27T05:39:24.590Z,1761543564.590 [DAT](INFO): DAT read: Bearing 309.9, -27.6 (Local) 2025-10-27T05:39:24.591Z,1761543564.591 [DAT](INFO): Local bearing/azimuth received: Bearing 309.9, -27.6 (Local) 2025-10-27T05:39:24.593Z,1761543564.593 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:24.600Z,1761543564.600 [DAT](INFO): DAT read: 05:39:23.2751 LVL= 29776, 19313, 21874, 31443, AGC= 63, IDX= 510, 0.31,-1.077, 1.102,-0.035, 0.179, PHS=-1.154, 0.968,-0.258, RAW= 305.1, 4.9, CAL= 302.7, 2.5, ROT= 207.3, -2.5 2025-10-27T05:39:24.601Z,1761543564.601 [DAT](INFO): got valid direction response: 05:39:23.2751 LVL= 29776, 19313, 21874, 31443, AGC= 63, IDX= 510, 0.31,-1.077, 1.102,-0.035, 0.179, PHS=-1.154, 0.968,-0.258, RAW= 305.1, 4.9, CAL= 302.7, 2.5, ROT= 207.3, -2.5 2025-10-27T05:39:24.602Z,1761543564.602 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:39:24.619Z,1761543564.619 [DAT](INFO): direction in FSK: [-0.887771,-0.458213,0.043619] 2025-10-27T05:39:24.620Z,1761543564.620 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:24.628Z,1761543564.628 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.604431 2025-10-27T05:39:24.822Z,1761543564.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776641,0.629006,0.034345],[-0.629940,0.775296,0.045746],[0.002147,-0.057163,0.998362]] 2025-10-27T05:39:24.841Z,1761543564.841 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.817165 2025-10-27T05:39:24.880Z,1761543564.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503248 s, deltaX: 0.200001 m, approachRate: 0.397420 m/s, rangeRepo size: 4 2025-10-27T05:39:24.882Z,1761543564.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095438 m, bearing: 168.084853 deg, lat: 36.779372 deg, lon: -121.859747 deg, deltaT: 0.503248 s, deltaX: 0.198856 m, approachRate: 0.395146 m/s, posRepo size: 4 2025-10-27T05:39:24.883Z,1761543564.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:25.092Z,1761543565.092 [DAT](INFO): DAT read: Rx Time:05:39:23.7750 2025-10-27T05:39:25.093Z,1761543565.093 [DAT](INFO): Rx dataTimestamp_ set to:1761543565.092621 2025-10-27T05:39:25.094Z,1761543565.094 [DAT](INFO): DAT read: Bearing 309.3, -27.3 (Local) 2025-10-27T05:39:25.094Z,1761543565.094 [DAT](INFO): Local bearing/azimuth received: Bearing 309.3, -27.3 (Local) 2025-10-27T05:39:25.097Z,1761543565.097 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:25.101Z,1761543565.101 [DAT](INFO): DAT read: 05:39:23.7750 LVL= 31536, 17489, 21970, 32755, AGC= 63, IDX= 510,-0.49, 2.396,-1.724,-2.861,-2.635, PHS=-1.150, 0.955,-0.271, RAW= 305.4, 5.1, CAL= 303.0, 3.0, ROT= 207.0, -3.0 2025-10-27T05:39:25.102Z,1761543565.102 [DAT](INFO): got valid direction response: 05:39:23.7750 LVL= 31536, 17489, 21970, 32755, AGC= 63, IDX= 510,-0.49, 2.396,-1.724,-2.861,-2.635, PHS=-1.150, 0.955,-0.271, RAW= 305.4, 5.1, CAL= 303.0, 3.0, ROT= 207.0, -3.0 2025-10-27T05:39:25.103Z,1761543565.103 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:39:25.104Z,1761543565.104 [DAT](INFO): direction in FSK: [-0.889785,-0.453368,0.052336] 2025-10-27T05:39:25.104Z,1761543565.104 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:25.112Z,1761543565.112 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.088066 2025-10-27T05:39:25.222Z,1761543565.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776800,0.628802,0.034495],[-0.629744,0.775458,0.045685],[0.001978,-0.057211,0.998360]] 2025-10-27T05:39:25.273Z,1761543565.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503720 s, deltaX: -0.200001 m, approachRate: -0.397047 m/s, rangeRepo size: 4 2025-10-27T05:39:25.279Z,1761543565.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896587 m, bearing: 167.773333 deg, lat: 36.779373 deg, lon: -121.859745 deg, deltaT: 0.503720 s, deltaX: -0.198851 m, approachRate: -0.394764 m/s, posRepo size: 4 2025-10-27T05:39:25.280Z,1761543565.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:25.346Z,1761543565.346 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.322300 2025-10-27T05:39:25.596Z,1761543565.596 [DAT](INFO): DAT read: Rx Time:05:39:24.2751 2025-10-27T05:39:25.597Z,1761543565.597 [DAT](INFO): Rx dataTimestamp_ set to:1761543565.596611 2025-10-27T05:39:25.598Z,1761543565.598 [DAT](INFO): DAT read: Bearing 309.2, -27.2 (Local) 2025-10-27T05:39:25.598Z,1761543565.598 [DAT](INFO): Local bearing/azimuth received: Bearing 309.2, -27.2 (Local) 2025-10-27T05:39:25.601Z,1761543565.601 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:25.605Z,1761543565.605 [DAT](INFO): DAT read: 05:39:24.2751 LVL= 30448, 18385, 22706, 32755, AGC= 63, IDX= 511,-0.36,-2.923,-0.755,-1.897,-1.667, PHS=-1.154, 0.957,-0.274, RAW= 305.5, 5.2, CAL= 303.1, 3.1, ROT= 206.9, -3.1 2025-10-27T05:39:25.606Z,1761543565.606 [DAT](INFO): got valid direction response: 05:39:24.2751 LVL= 30448, 18385, 22706, 32755, AGC= 63, IDX= 511,-0.36,-2.923,-0.755,-1.897,-1.667, PHS=-1.154, 0.957,-0.274, RAW= 305.5, 5.2, CAL= 303.1, 3.1, ROT= 206.9, -3.1 2025-10-27T05:39:25.606Z,1761543565.606 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:39:25.608Z,1761543565.608 [DAT](INFO): direction in FSK: [-0.890493,-0.451773,0.054079] 2025-10-27T05:39:25.608Z,1761543565.608 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:25.615Z,1761543565.615 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.592007 2025-10-27T05:39:25.672Z,1761543565.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776845,0.628725,0.034865],[-0.629689,0.775504,0.045671],[0.001677,-0.057433,0.998348]] 2025-10-27T05:39:25.773Z,1761543565.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503990 s, deltaX: 0.200001 m, approachRate: 0.396835 m/s, rangeRepo size: 4 2025-10-27T05:39:25.779Z,1761543565.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.095438 m, bearing: 167.671874 deg, lat: 36.779373 deg, lon: -121.859743 deg, deltaT: 0.503990 s, deltaX: 0.198851 m, approachRate: 0.394553 m/s, posRepo size: 4 2025-10-27T05:39:25.780Z,1761543565.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:25.849Z,1761543565.849 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.825371 2025-10-27T05:39:26.033Z,1761543566.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777047,0.628456,0.035213],[-0.629441,0.775714,0.045524],[0.001295,-0.057539,0.998342]] 2025-10-27T05:39:26.052Z,1761543566.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:26.101Z,1761543566.101 [DAT](INFO): DAT read: Rx Time:05:39:24.7750 2025-10-27T05:39:26.102Z,1761543566.102 [DAT](INFO): Rx dataTimestamp_ set to:1761543566.101685 2025-10-27T05:39:26.104Z,1761543566.104 [DAT](INFO): DAT read: Bearing 308.2, -27.6 (Local) 2025-10-27T05:39:26.105Z,1761543566.105 [DAT](INFO): Local bearing/azimuth received: Bearing 308.2, -27.6 (Local) 2025-10-27T05:39:26.108Z,1761543566.108 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:26.113Z,1761543566.113 [DAT](INFO): DAT read: 05:39:24.7750 LVL= 32688, 23153, 24114, 32755, AGC= 64, IDX= 510,-0.26, 2.716,-1.396,-2.527,-2.290, PHS=-1.176, 0.939,-0.281, RAW= 305.1, 5.7, CAL= 302.7, 4.1, ROT= 207.3, -4.1 2025-10-27T05:39:26.114Z,1761543566.114 [DAT](INFO): got valid direction response: 05:39:24.7750 LVL= 32688, 23153, 24114, 32755, AGC= 64, IDX= 510,-0.26, 2.716,-1.396,-2.527,-2.290, PHS=-1.176, 0.939,-0.281, RAW= 305.1, 5.7, CAL= 302.7, 4.1, ROT= 207.3, -4.1 2025-10-27T05:39:26.115Z,1761543566.115 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:39:26.116Z,1761543566.116 [DAT](INFO): direction in FSK: [-0.886343,-0.457476,0.071497] 2025-10-27T05:39:26.116Z,1761543566.116 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:26.128Z,1761543566.128 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.104259 2025-10-27T05:39:26.352Z,1761543566.352 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.328590 2025-10-27T05:39:26.487Z,1761543566.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777272,0.628177,0.035240],[-0.629163,0.775951,0.045310],[0.001118,-0.057390,0.998351]] 2025-10-27T05:39:26.541Z,1761543566.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.505074 s, deltaX: -0.200001 m, approachRate: -0.395983 m/s, rangeRepo size: 4 2025-10-27T05:39:26.543Z,1761543566.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896618 m, bearing: 168.060206 deg, lat: 36.779374 deg, lon: -121.859742 deg, deltaT: 0.505074 s, deltaX: -0.198820 m, approachRate: -0.393646 m/s, posRepo size: 4 2025-10-27T05:39:26.544Z,1761543566.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:26.605Z,1761543566.605 [DAT](INFO): DAT read: Rx Time:05:39:25.2751 2025-10-27T05:39:26.605Z,1761543566.605 [DAT](INFO): Rx dataTimestamp_ set to:1761543566.604717 2025-10-27T05:39:26.606Z,1761543566.606 [DAT](INFO): DAT read: Bearing 307.7, -27.3 (Local) 2025-10-27T05:39:26.607Z,1761543566.607 [DAT](INFO): Local bearing/azimuth received: Bearing 307.7, -27.3 (Local) 2025-10-27T05:39:26.609Z,1761543566.609 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:26.613Z,1761543566.613 [DAT](INFO): DAT read: 05:39:25.2751 LVL= 32752, 23057, 24850, 32755, AGC= 64, IDX= 511,-0.14,-2.365,-0.195,-1.336,-1.085, PHS=-1.179, 0.935,-0.295, RAW= 305.4, 5.9, CAL= 303.0, 4.5, ROT= 207.0, -4.5 2025-10-27T05:39:26.615Z,1761543566.615 [DAT](INFO): got valid direction response: 05:39:25.2751 LVL= 32752, 23057, 24850, 32755, AGC= 64, IDX= 511,-0.14,-2.365,-0.195,-1.336,-1.085, PHS=-1.179, 0.935,-0.295, RAW= 305.4, 5.9, CAL= 303.0, 4.5, ROT= 207.0, -4.5 2025-10-27T05:39:26.615Z,1761543566.615 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:39:26.616Z,1761543566.616 [DAT](INFO): direction in FSK: [-0.888260,-0.452591,0.078459] 2025-10-27T05:39:26.616Z,1761543566.616 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:26.620Z,1761543566.620 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.596676 2025-10-27T05:39:26.856Z,1761543566.856 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.832661 2025-10-27T05:39:26.884Z,1761543566.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777414,0.628000,0.035262],[-0.628989,0.776106,0.045074],[0.000939,-0.057221,0.998361]] 2025-10-27T05:39:26.982Z,1761543566.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503032 s, deltaX: 0.200001 m, approachRate: 0.397591 m/s, rangeRepo size: 4 2025-10-27T05:39:26.989Z,1761543566.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.096371 m, bearing: 167.753372 deg, lat: 36.779373 deg, lon: -121.859742 deg, deltaT: 0.503032 s, deltaX: 0.199753 m, approachRate: 0.397098 m/s, posRepo size: 4 2025-10-27T05:39:26.989Z,1761543566.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:27.108Z,1761543567.108 [DAT](INFO): DAT read: Rx Time:05:39:25.7750 2025-10-27T05:39:27.109Z,1761543567.109 [DAT](INFO): Rx dataTimestamp_ set to:1761543567.108668 2025-10-27T05:39:27.110Z,1761543567.110 [DAT](INFO): DAT read: Bearing 307.0, -27.1 (Local) 2025-10-27T05:39:27.111Z,1761543567.111 [DAT](INFO): Local bearing/azimuth received: Bearing 307.0, -27.1 (Local) 2025-10-27T05:39:27.148Z,1761543567.148 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:27.182Z,1761543567.182 [DAT](INFO): DAT read: 05:39:25.7750 LVL= 32752, 23185, 24738, 32755, AGC= 64, IDX= 510,-0.06,-2.778,-0.615,-1.756,-1.494, PHS=-1.181, 0.924,-0.306, RAW= 305.6, 6.2, CAL= 303.2, 5.1, ROT= 206.8, -5.1 2025-10-27T05:39:27.204Z,1761543567.204 [DAT](INFO): got valid direction response: 05:39:25.7750 LVL= 32752, 23185, 24738, 32755, AGC= 64, IDX= 510,-0.06,-2.778,-0.615,-1.756,-1.494, PHS=-1.181, 0.924,-0.306, RAW= 305.6, 6.2, CAL= 303.2, 5.1, ROT= 206.8, -5.1 2025-10-27T05:39:27.205Z,1761543567.205 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:39:27.206Z,1761543567.206 [DAT](INFO): direction in FSK: [-0.889052,-0.449093,0.088894] 2025-10-27T05:39:27.206Z,1761543567.206 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:27.229Z,1761543567.229 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.205719 2025-10-27T05:39:27.361Z,1761543567.361 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.337112 2025-10-27T05:39:27.381Z,1761543567.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777727,0.627616,0.035206],[-0.628602,0.776440,0.044717],[0.000730,-0.056908,0.998379]] 2025-10-27T05:39:27.502Z,1761543567.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503951 s, deltaX: -0.200001 m, approachRate: -0.396865 m/s, rangeRepo size: 4 2025-10-27T05:39:27.508Z,1761543567.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.897509 m, bearing: 167.552876 deg, lat: 36.779374 deg, lon: -121.859741 deg, deltaT: 0.503951 s, deltaX: -0.198862 m, approachRate: -0.394606 m/s, posRepo size: 4 2025-10-27T05:39:27.509Z,1761543567.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:27.613Z,1761543567.613 [DAT](INFO): DAT read: Rx Time:05:39:26.2751 2025-10-27T05:39:27.614Z,1761543567.614 [DAT](INFO): Rx dataTimestamp_ set to:1761543567.613658 2025-10-27T05:39:27.616Z,1761543567.616 [DAT](INFO): DAT read: Bearing 306.6, -27.0 (Local) 2025-10-27T05:39:27.616Z,1761543567.616 [DAT](INFO): Local bearing/azimuth received: Bearing 306.6, -27.0 (Local) 2025-10-27T05:39:27.620Z,1761543567.620 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:27.626Z,1761543567.626 [DAT](INFO): DAT read: 05:39:26.2751 LVL= 32752, 23361, 24626, 32755, AGC= 65, IDX= 511, 0.04,-0.971, 1.200, 0.050, 0.322, PHS=-1.191, 0.923,-0.315, RAW= 305.7, 6.4, CAL= 303.3, 5.4, ROT= 206.7, -5.4 2025-10-27T05:39:27.637Z,1761543567.637 [DAT](INFO): got valid direction response: 05:39:26.2751 LVL= 32752, 23361, 24626, 32755, AGC= 65, IDX= 511, 0.04,-0.971, 1.200, 0.050, 0.322, PHS=-1.191, 0.923,-0.315, RAW= 305.7, 6.4, CAL= 303.3, 5.4, ROT= 206.7, -5.4 2025-10-27T05:39:27.637Z,1761543567.637 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:39:27.638Z,1761543567.638 [DAT](INFO): direction in FSK: [-0.889407,-0.447325,0.094108] 2025-10-27T05:39:27.638Z,1761543567.638 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:27.651Z,1761543567.651 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.619240 2025-10-27T05:39:27.789Z,1761543567.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777894,0.627415,0.035092],[-0.628396,0.776623,0.044444],[0.000632,-0.056625,0.998395]] 2025-10-27T05:39:27.864Z,1761543567.864 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.840553 2025-10-27T05:39:27.880Z,1761543567.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504990 s, deltaX: 0.200001 m, approachRate: 0.396049 m/s, rangeRepo size: 4 2025-10-27T05:39:27.882Z,1761543567.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.097305 m, bearing: 167.454459 deg, lat: 36.779374 deg, lon: -121.859740 deg, deltaT: 0.504990 s, deltaX: 0.199797 m, approachRate: 0.395645 m/s, posRepo size: 4 2025-10-27T05:39:27.887Z,1761543567.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:28.117Z,1761543568.117 [DAT](INFO): DAT read: Rx Time:05:39:26.7750 2025-10-27T05:39:28.118Z,1761543568.118 [DAT](INFO): Rx dataTimestamp_ set to:1761543568.117478 2025-10-27T05:39:28.119Z,1761543568.119 [DAT](INFO): DAT read: Bearing 306.6, -26.6 (Local) 2025-10-27T05:39:28.119Z,1761543568.119 [DAT](INFO): Local bearing/azimuth received: Bearing 306.6, -26.6 (Local) 2025-10-27T05:39:28.121Z,1761543568.121 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:28.126Z,1761543568.126 [DAT](INFO): DAT read: 05:39:26.7750 LVL= 29216, 19681, 21186, 32755, AGC= 62, IDX= 510, 0.16,-2.192,-0.043,-1.194,-0.917, PHS=-1.173, 0.919,-0.320, RAW= 306.1, 6.3, CAL= 303.8, 5.4, ROT= 206.2, -5.4 2025-10-27T05:39:28.130Z,1761543568.130 [DAT](INFO): got valid direction response: 05:39:26.7750 LVL= 29216, 19681, 21186, 32755, AGC= 62, IDX= 510, 0.16,-2.192,-0.043,-1.194,-0.917, PHS=-1.173, 0.919,-0.320, RAW= 306.1, 6.3, CAL= 303.8, 5.4, ROT= 206.2, -5.4 2025-10-27T05:39:28.132Z,1761543568.132 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:39:28.136Z,1761543568.136 [DAT](INFO): direction in FSK: [-0.893276,-0.439546,0.094108] 2025-10-27T05:39:28.136Z,1761543568.136 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:28.140Z,1761543568.140 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.116142 2025-10-27T05:39:28.217Z,1761543568.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778054,0.627214,0.035140],[-0.628197,0.776796,0.044236],[0.000448,-0.056493,0.998403]] 2025-10-27T05:39:28.285Z,1761543568.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503820 s, deltaX: -0.200001 m, approachRate: -0.396969 m/s, rangeRepo size: 4 2025-10-27T05:39:28.291Z,1761543568.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898432 m, bearing: 166.969786 deg, lat: 36.779375 deg, lon: -121.859739 deg, deltaT: 0.503820 s, deltaX: -0.198874 m, approachRate: -0.394731 m/s, posRepo size: 4 2025-10-27T05:39:28.291Z,1761543568.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:28.368Z,1761543568.368 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.344639 2025-10-27T05:39:28.620Z,1761543568.620 [DAT](INFO): DAT read: Rx Time:05:39:27.2750 2025-10-27T05:39:28.621Z,1761543568.621 [DAT](INFO): Rx dataTimestamp_ set to:1761543568.620682 2025-10-27T05:39:28.622Z,1761543568.622 [DAT](INFO): DAT read: Bearing 306.4, -26.4 (Local) 2025-10-27T05:39:28.623Z,1761543568.623 [DAT](INFO): Local bearing/azimuth received: Bearing 306.4, -26.4 (Local) 2025-10-27T05:39:28.625Z,1761543568.625 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:28.629Z,1761543568.629 [DAT](INFO): DAT read: 05:39:27.2750 LVL= 29152, 21809, 23154, 31699, AGC= 63, IDX= 510, 0.29,-2.142, 0.014,-1.145,-0.862, PHS=-1.177, 0.921,-0.327, RAW= 306.2, 6.4, CAL= 303.9, 5.6, ROT= 206.1, -5.6 2025-10-27T05:39:28.630Z,1761543568.630 [DAT](INFO): got valid direction response: 05:39:27.2750 LVL= 29152, 21809, 23154, 31699, AGC= 63, IDX= 510, 0.29,-2.142, 0.014,-1.145,-0.862, PHS=-1.177, 0.921,-0.327, RAW= 306.2, 6.4, CAL= 303.9, 5.6, ROT= 206.1, -5.6 2025-10-27T05:39:28.631Z,1761543568.631 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:39:28.632Z,1761543568.632 [DAT](INFO): direction in FSK: [-0.893742,-0.437840,0.097583] 2025-10-27T05:39:28.632Z,1761543568.632 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:28.637Z,1761543568.637 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.613056 2025-10-27T05:39:28.726Z,1761543568.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778053,0.627206,0.035313],[-0.628199,0.776791,0.044291],[0.000349,-0.056645,0.998394]] 2025-10-27T05:39:28.824Z,1761543568.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:28.832Z,1761543568.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898432 m, bearing: 166.858560 deg, lat: 36.779375 deg, lon: -121.859738 deg, deltaT: 0.503204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:28.833Z,1761543568.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:28.873Z,1761543568.873 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.849476 2025-10-27T05:39:29.077Z,1761543569.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777995,0.627273,0.035399],[-0.628271,0.776727,0.044408],[0.000361,-0.056789,0.998386]] 2025-10-27T05:39:29.115Z,1761543569.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:29.125Z,1761543569.125 [DAT](INFO): DAT read: Rx Time:05:39:27.7750 2025-10-27T05:39:29.125Z,1761543569.125 [DAT](INFO): Rx dataTimestamp_ set to:1761543569.124818 2025-10-27T05:39:29.126Z,1761543569.126 [DAT](INFO): DAT read: Bearing 306.3, -26.6 (Local) 2025-10-27T05:39:29.127Z,1761543569.127 [DAT](INFO): Local bearing/azimuth received: Bearing 306.3, -26.6 (Local) 2025-10-27T05:39:29.129Z,1761543569.129 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:29.138Z,1761543569.138 [DAT](INFO): DAT read: 05:39:27.7750 LVL= 31664, 18481, 22050, 32755, AGC= 62, IDX= 509, 0.47, 2.342,-1.803,-2.945,-2.667, PHS=-1.172, 0.908,-0.322, RAW= 306.0, 6.5, CAL= 303.7, 5.7, ROT= 206.3, -5.7 2025-10-27T05:39:29.167Z,1761543569.167 [DAT](INFO): got valid direction response: 05:39:27.7750 LVL= 31664, 18481, 22050, 32755, AGC= 62, IDX= 509, 0.47, 2.342,-1.803,-2.945,-2.667, PHS=-1.172, 0.908,-0.322, RAW= 306.0, 6.5, CAL= 303.7, 5.7, ROT= 206.3, -5.7 2025-10-27T05:39:29.168Z,1761543569.168 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:39:29.169Z,1761543569.169 [DAT](INFO): direction in FSK: [-0.892054,-0.440881,0.099320] 2025-10-27T05:39:29.169Z,1761543569.169 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:29.178Z,1761543569.178 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.154079 2025-10-27T05:39:29.376Z,1761543569.376 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.352432 2025-10-27T05:39:29.516Z,1761543569.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778058,0.627193,0.035427],[-0.628192,0.776791,0.044385],[0.000319,-0.056789,0.998386]] 2025-10-27T05:39:29.592Z,1761543569.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504136 s, deltaX: -0.100000 m, approachRate: -0.198360 m/s, rangeRepo size: 4 2025-10-27T05:39:29.594Z,1761543569.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.799311 m, bearing: 167.053319 deg, lat: 36.779376 deg, lon: -121.859736 deg, deltaT: 0.504136 s, deltaX: -0.099121 m, approachRate: -0.196616 m/s, posRepo size: 4 2025-10-27T05:39:29.595Z,1761543569.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:29.629Z,1761543569.629 [DAT](INFO): DAT read: Rx Time:05:39:28.2751 2025-10-27T05:39:29.629Z,1761543569.629 [DAT](INFO): Rx dataTimestamp_ set to:1761543569.629035 2025-10-27T05:39:29.631Z,1761543569.631 [DAT](INFO): DAT read: Bearing 306.8, -26.7 (Local) 2025-10-27T05:39:29.631Z,1761543569.631 [DAT](INFO): Local bearing/azimuth received: Bearing 306.8, -26.7 (Local) 2025-10-27T05:39:29.633Z,1761543569.633 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:29.638Z,1761543569.638 [DAT](INFO): DAT read: 05:39:28.2751 LVL= 32240, 17937, 21778, 32755, AGC= 61, IDX= 511,-0.36, 2.148,-1.995,-3.135,-2.867, PHS=-1.167, 0.917,-0.312, RAW= 305.9, 6.2, CAL= 303.6, 5.2, ROT= 206.4, -5.2 2025-10-27T05:39:29.639Z,1761543569.639 [DAT](INFO): got valid direction response: 05:39:28.2751 LVL= 32240, 17937, 21778, 32755, AGC= 61, IDX= 511,-0.36, 2.148,-1.995,-3.135,-2.867, PHS=-1.167, 0.917,-0.312, RAW= 305.9, 6.2, CAL= 303.6, 5.2, ROT= 206.4, -5.2 2025-10-27T05:39:29.639Z,1761543569.639 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:39:29.640Z,1761543569.640 [DAT](INFO): direction in FSK: [-0.892025,-0.442805,0.090633] 2025-10-27T05:39:29.641Z,1761543569.641 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:29.648Z,1761543569.648 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.624931 2025-10-27T05:39:29.880Z,1761543569.880 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.856537 2025-10-27T05:39:29.983Z,1761543569.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504217 s, deltaX: 0.300001 m, approachRate: 0.594984 m/s, rangeRepo size: 4 2025-10-27T05:39:29.985Z,1761543569.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.097998 m, bearing: 167.179334 deg, lat: 36.779376 deg, lon: -121.859736 deg, deltaT: 0.504217 s, deltaX: 0.298687 m, approachRate: 0.592378 m/s, posRepo size: 4 2025-10-27T05:39:29.986Z,1761543569.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:30.133Z,1761543570.133 [DAT](INFO): DAT read: Rx Time:05:39:28.7750 2025-10-27T05:39:30.134Z,1761543570.134 [DAT](INFO): Rx dataTimestamp_ set to:1761543570.133563 2025-10-27T05:39:30.136Z,1761543570.136 [DAT](INFO): DAT read: Bearing 306.4, -27.0 (Local) 2025-10-27T05:39:30.136Z,1761543570.136 [DAT](INFO): Local bearing/azimuth received: Bearing 306.4, -27.0 (Local) 2025-10-27T05:39:30.138Z,1761543570.138 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:30.143Z,1761543570.143 [DAT](INFO): DAT read: 05:39:28.7750 LVL= 31056, 19537, 22146, 32755, AGC= 61, IDX= 510,-0.23, 1.013,-3.124, 2.025, 2.293, PHS=-1.178, 0.912,-0.312, RAW= 305.6, 6.4, CAL= 303.3, 5.5, ROT= 206.7, -5.5 2025-10-27T05:39:30.144Z,1761543570.144 [DAT](INFO): got valid direction response: 05:39:28.7750 LVL= 31056, 19537, 22146, 32755, AGC= 61, IDX= 510,-0.23, 1.013,-3.124, 2.025, 2.293, PHS=-1.178, 0.912,-0.312, RAW= 305.6, 6.4, CAL= 303.3, 5.5, ROT= 206.7, -5.5 2025-10-27T05:39:30.145Z,1761543570.145 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:39:30.146Z,1761543570.146 [DAT](INFO): direction in FSK: [-0.889259,-0.447250,0.095846] 2025-10-27T05:39:30.146Z,1761543570.146 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:30.150Z,1761543570.150 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.126186 2025-10-27T05:39:30.289Z,1761543570.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778206,0.627021,0.035227],[-0.628009,0.776966,0.043911],[0.000163,-0.056295,0.998414]] 2025-10-27T05:39:30.358Z,1761543570.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504528 s, deltaX: -0.200001 m, approachRate: -0.396412 m/s, rangeRepo size: 4 2025-10-27T05:39:30.364Z,1761543570.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.899118 m, bearing: 167.481283 deg, lat: 36.779376 deg, lon: -121.859736 deg, deltaT: 0.504528 s, deltaX: -0.198879 m, approachRate: -0.394189 m/s, posRepo size: 4 2025-10-27T05:39:30.364Z,1761543570.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:30.384Z,1761543570.384 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.360546 2025-10-27T05:39:30.637Z,1761543570.637 [DAT](INFO): DAT read: Rx Time:05:39:29.2751 2025-10-27T05:39:30.637Z,1761543570.637 [DAT](INFO): Rx dataTimestamp_ set to:1761543570.636763 2025-10-27T05:39:30.638Z,1761543570.638 [DAT](INFO): DAT read: Bearing 306.4, -26.7 (Local) 2025-10-27T05:39:30.639Z,1761543570.639 [DAT](INFO): Local bearing/azimuth received: Bearing 306.4, -26.7 (Local) 2025-10-27T05:39:30.641Z,1761543570.641 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:30.645Z,1761543570.645 [DAT](INFO): DAT read: 05:39:29.2751 LVL= 32224, 18833, 21650, 32755, AGC= 61, IDX= 511,-0.10, 2.258,-1.882,-3.021,-2.750, PHS=-1.173, 0.914,-0.315, RAW= 305.8, 6.4, CAL= 303.5, 5.4, ROT= 206.5, -5.4 2025-10-27T05:39:30.646Z,1761543570.646 [DAT](INFO): got valid direction response: 05:39:29.2751 LVL= 32224, 18833, 21650, 32755, AGC= 61, IDX= 511,-0.10, 2.258,-1.882,-3.021,-2.750, PHS=-1.173, 0.914,-0.315, RAW= 305.8, 6.4, CAL= 303.5, 5.4, ROT= 206.5, -5.4 2025-10-27T05:39:30.647Z,1761543570.647 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:39:30.648Z,1761543570.648 [DAT](INFO): direction in FSK: [-0.890963,-0.444218,0.094108] 2025-10-27T05:39:30.648Z,1761543570.648 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:30.652Z,1761543570.652 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.628510 2025-10-27T05:39:30.745Z,1761543570.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778219,0.627005,0.035209],[-0.627993,0.776998,0.043577],[-0.000034,-0.056023,0.998429]] 2025-10-27T05:39:30.873Z,1761543570.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503200 s, deltaX: 0.200001 m, approachRate: 0.397458 m/s, rangeRepo size: 4 2025-10-27T05:39:30.879Z,1761543570.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.097998 m, bearing: 167.289601 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.503200 s, deltaX: 0.198879 m, approachRate: 0.395229 m/s, posRepo size: 4 2025-10-27T05:39:30.879Z,1761543570.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:30.888Z,1761543570.888 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.864525 2025-10-27T05:39:31.141Z,1761543571.141 [DAT](INFO): DAT read: Rx Time:05:39:29.7750 2025-10-27T05:39:31.141Z,1761543571.141 [DAT](INFO): Rx dataTimestamp_ set to:1761543571.140786 2025-10-27T05:39:31.142Z,1761543571.142 [DAT](INFO): DAT read: Bearing 306.4, -26.8 (Local) 2025-10-27T05:39:31.143Z,1761543571.143 [DAT](INFO): Local bearing/azimuth received: Bearing 306.4, -26.8 (Local) 2025-10-27T05:39:31.145Z,1761543571.145 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:31.149Z,1761543571.149 [DAT](INFO): DAT read: 05:39:29.7750 LVL= 31984, 19953, 22146, 32755, AGC= 61, IDX= 510,-0.02, 1.806,-2.315, 2.822, 3.094, PHS=-1.186, 0.919,-0.316, RAW= 305.7, 6.4, CAL= 303.4, 5.5, ROT= 206.6, -5.5 2025-10-27T05:39:31.151Z,1761543571.151 [DAT](INFO): got valid direction response: 05:39:29.7750 LVL= 31984, 19953, 22146, 32755, AGC= 61, IDX= 510,-0.02, 1.806,-2.315, 2.822, 3.094, PHS=-1.186, 0.919,-0.316, RAW= 305.7, 6.4, CAL= 303.4, 5.5, ROT= 206.6, -5.5 2025-10-27T05:39:31.151Z,1761543571.151 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:39:31.152Z,1761543571.152 [DAT](INFO): direction in FSK: [-0.890038,-0.445698,0.095846] 2025-10-27T05:39:31.152Z,1761543571.152 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:31.160Z,1761543571.160 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.136627 2025-10-27T05:39:31.169Z,1761543571.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777590,0.627761,0.035622],[-0.628771,0.776366,0.043619],[-0.000273,-0.056316,0.998413]] 2025-10-27T05:39:31.234Z,1761543571.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504023 s, deltaX: -0.200001 m, approachRate: -0.396809 m/s, rangeRepo size: 4 2025-10-27T05:39:31.240Z,1761543571.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.899567 m, bearing: 167.326261 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.504023 s, deltaX: -0.198431 m, approachRate: -0.393694 m/s, posRepo size: 4 2025-10-27T05:39:31.241Z,1761543571.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:31.393Z,1761543571.393 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.369122 2025-10-27T05:39:31.569Z,1761543571.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777246,0.628148,0.036310],[-0.629197,0.776011,0.043796],[-0.000666,-0.056886,0.998380]] 2025-10-27T05:39:31.614Z,1761543571.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:31.645Z,1761543571.645 [DAT](INFO): DAT read: Rx Time:05:39:30.2751 2025-10-27T05:39:31.645Z,1761543571.645 [DAT](INFO): Rx dataTimestamp_ set to:1761543571.645157 2025-10-27T05:39:31.647Z,1761543571.647 [DAT](INFO): DAT read: Bearing 305.7, -26.8 (Local) 2025-10-27T05:39:31.648Z,1761543571.648 [DAT](INFO): Local bearing/azimuth received: Bearing 305.7, -26.8 (Local) 2025-10-27T05:39:31.651Z,1761543571.651 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:31.657Z,1761543571.657 [DAT](INFO): DAT read: 05:39:30.2751 LVL= 32752, 15857, 22130, 32755, AGC= 60, IDX= 511, 0.09,-2.495,-0.346,-1.482,-1.204, PHS=-1.189, 0.903,-0.322, RAW= 305.6, 6.7, CAL= 303.3, 6.1, ROT= 206.7, -6.1 2025-10-27T05:39:31.658Z,1761543571.658 [DAT](INFO): got valid direction response: 05:39:30.2751 LVL= 32752, 15857, 22130, 32755, AGC= 60, IDX= 511, 0.09,-2.495,-0.346,-1.482,-1.204, PHS=-1.189, 0.903,-0.322, RAW= 305.6, 6.7, CAL= 303.3, 6.1, ROT= 206.7, -6.1 2025-10-27T05:39:31.659Z,1761543571.659 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:39:31.661Z,1761543571.661 [DAT](INFO): direction in FSK: [-0.888313,-0.446775,0.106264] 2025-10-27T05:39:31.661Z,1761543571.661 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:31.666Z,1761543571.666 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.642429 2025-10-27T05:39:31.896Z,1761543571.896 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.872444 2025-10-27T05:39:31.972Z,1761543571.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777133,0.628257,0.036833],[-0.629335,0.775908,0.043630],[-0.001169,-0.057087,0.998369]] 2025-10-27T05:39:32.005Z,1761543572.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504371 s, deltaX: 0.200001 m, approachRate: 0.396535 m/s, rangeRepo size: 4 2025-10-27T05:39:32.008Z,1761543572.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.098520 m, bearing: 167.351990 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.504371 s, deltaX: 0.198954 m, approachRate: 0.394459 m/s, posRepo size: 4 2025-10-27T05:39:32.008Z,1761543572.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:32.149Z,1761543572.149 [DAT](INFO): DAT read: Rx Time:05:39:30.7750 2025-10-27T05:39:32.149Z,1761543572.149 [DAT](INFO): Rx dataTimestamp_ set to:1761543572.148832 2025-10-27T05:39:32.150Z,1761543572.150 [DAT](INFO): DAT read: Bearing 305.8, -26.9 (Local) 2025-10-27T05:39:32.151Z,1761543572.151 [DAT](INFO): Local bearing/azimuth received: Bearing 305.8, -26.9 (Local) 2025-10-27T05:39:32.153Z,1761543572.153 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:32.158Z,1761543572.158 [DAT](INFO): DAT read: 05:39:30.7750 LVL= 32224, 16945, 21874, 32755, AGC= 60, IDX= 510, 0.22, 2.901,-1.238,-2.367,-2.094, PHS=-1.186, 0.901,-0.317, RAW= 305.5, 6.7, CAL= 303.2, 6.0, ROT= 206.8, -6.0 2025-10-27T05:39:32.159Z,1761543572.159 [DAT](INFO): got valid direction response: 05:39:30.7750 LVL= 32224, 16945, 21874, 32755, AGC= 60, IDX= 510, 0.22, 2.901,-1.238,-2.367,-2.094, PHS=-1.186, 0.901,-0.317, RAW= 305.5, 6.7, CAL= 303.2, 6.0, ROT= 206.8, -6.0 2025-10-27T05:39:32.159Z,1761543572.159 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:39:32.160Z,1761543572.160 [DAT](INFO): direction in FSK: [-0.887696,-0.448408,0.104528] 2025-10-27T05:39:32.160Z,1761543572.160 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:32.164Z,1761543572.164 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.140953 2025-10-27T05:39:32.351Z,1761543572.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776936,0.628483,0.037128],[-0.629577,0.775733,0.043262],[-0.001612,-0.056987,0.998374]] 2025-10-27T05:39:32.380Z,1761543572.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503675 s, deltaX: -0.200001 m, approachRate: -0.397083 m/s, rangeRepo size: 4 2025-10-27T05:39:32.382Z,1761543572.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.899635 m, bearing: 167.441617 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.503675 s, deltaX: -0.198885 m, approachRate: -0.394868 m/s, posRepo size: 4 2025-10-27T05:39:32.383Z,1761543572.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:32.425Z,1761543572.425 [DAT](INFO): DAT read: Rx Time:05:39:31.2750 2025-10-27T05:39:32.426Z,1761543572.426 [DAT](INFO): Rx dataTimestamp_ set to:1761543572.425414 2025-10-27T05:39:32.432Z,1761543572.432 [DAT](INFO): DAT read: Bearing 306.0, -27.0 (Local) 2025-10-27T05:39:32.433Z,1761543572.433 [DAT](INFO): Local bearing/azimuth received: Bearing 306.0, -27.0 (Local) 2025-10-27T05:39:32.458Z,1761543572.458 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:32.464Z,1761543572.464 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-27T05:39:32.465Z,1761543572.465 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.441620 2025-10-27T05:39:32.676Z,1761543572.676 [DAT](INFO): DAT read: 05:39:31.2750 LVL= 32368, 16449, 23218, 32755, AGC= 60, IDX= 510, 0.41, 2.680,-1.458,-2.584,-2.316, PHS=-1.186, 0.903,-0.313, RAW= 305.4, 6.6, CAL= 303.0, 5.9, ROT= 207.0, -5.9 2025-10-27T05:39:32.677Z,1761543572.677 [DAT](INFO): got valid direction response: 05:39:31.2750 LVL= 32368, 16449, 23218, 32755, AGC= 60, IDX= 510, 0.41, 2.680,-1.458,-2.584,-2.316, PHS=-1.186, 0.903,-0.313, RAW= 305.4, 6.6, CAL= 303.0, 5.9, ROT= 207.0, -5.9 2025-10-27T05:39:32.677Z,1761543572.677 [DAT](INFO): #Rx 93: Read direction message, but no range. 2025-10-27T05:39:32.678Z,1761543572.678 [DAT](INFO): direction in FSK: [-0.886287,-0.451586,0.102793] 2025-10-27T05:39:32.694Z,1761543572.694 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.671017 2025-10-27T05:39:32.751Z,1761543572.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776642,0.628846,0.037158],[-0.629940,0.775469,0.042705],[-0.001960,-0.056574,0.998397]] 2025-10-27T05:39:32.819Z,1761543572.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.276582 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:32.822Z,1761543572.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.899635 m, bearing: 167.624231 deg, lat: 36.779377 deg, lon: -121.859735 deg, deltaT: 0.276582 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:32.824Z,1761543572.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:32.928Z,1761543572.928 [DAT](INFO): DAT read: Rx Time:05:39:31.7750 2025-10-27T05:39:32.929Z,1761543572.929 [DAT](INFO): Rx dataTimestamp_ set to:1761543572.928042 2025-10-27T05:39:32.934Z,1761543572.934 [DAT](INFO): DAT read: Bearing 305.5, -27.0 (Local) 2025-10-27T05:39:32.935Z,1761543572.935 [DAT](INFO): Local bearing/azimuth received: Bearing 305.5, -27.0 (Local) 2025-10-27T05:39:32.939Z,1761543572.939 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:32.941Z,1761543572.941 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-27T05:39:32.944Z,1761543572.944 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.920414 2025-10-27T05:39:33.180Z,1761543573.180 [DAT](INFO): DAT read: 05:39:31.7750 LVL= 32752, 20385, 24914, 32755, AGC= 60, IDX= 510,-0.33, 0.061, 2.200, 1.079, 1.351, PHS=-1.189, 0.894,-0.317, RAW= 305.4, 6.8, CAL= 303.0, 6.2, ROT= 207.0, -6.2 2025-10-27T05:39:33.181Z,1761543573.181 [DAT](INFO): got valid direction response: 05:39:31.7750 LVL= 32752, 20385, 24914, 32755, AGC= 60, IDX= 510,-0.33, 0.061, 2.200, 1.079, 1.351, PHS=-1.189, 0.894,-0.317, RAW= 305.4, 6.8, CAL= 303.0, 6.2, ROT= 207.0, -6.2 2025-10-27T05:39:33.181Z,1761543573.181 [DAT](INFO): #Rx 95: Read direction message, but no range. 2025-10-27T05:39:33.182Z,1761543573.182 [DAT](INFO): direction in FSK: [-0.885795,-0.451335,0.107999] 2025-10-27T05:39:33.194Z,1761543573.194 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.170338 2025-10-27T05:39:33.254Z,1761543573.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.502628 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:33.261Z,1761543573.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.899445 m, bearing: 167.609111 deg, lat: 36.779377 deg, lon: -121.859735 deg, deltaT: 0.502628 s, deltaX: -0.000191 m, approachRate: -0.000379 m/s, posRepo size: 4 2025-10-27T05:39:33.261Z,1761543573.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:33.434Z,1761543573.434 [DAT](INFO): DAT read: Rx Time:05:39:32.2751 2025-10-27T05:39:33.435Z,1761543573.435 [DAT](INFO): Rx dataTimestamp_ set to:1761543573.434171 2025-10-27T05:39:33.438Z,1761543573.438 [DAT](INFO): DAT read: Bearing 306.2, -27.2 (Local) 2025-10-27T05:39:33.441Z,1761543573.441 [DAT](INFO): Local bearing/azimuth received: Bearing 306.2, -27.2 (Local) 2025-10-27T05:39:33.446Z,1761543573.446 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:33.465Z,1761543573.465 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T05:39:33.471Z,1761543573.471 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.443302 2025-10-27T05:39:33.684Z,1761543573.684 [DAT](INFO): DAT read: 05:39:32.2751 LVL= 31728, 17761, 22370, 32755, AGC= 60, IDX= 511,-0.15, 1.336,-2.789, 2.370, 2.630, PHS=-1.192, 0.909,-0.304, RAW= 305.1, 6.5, CAL= 302.7, 5.6, ROT= 207.3, -5.6 2025-10-27T05:39:33.685Z,1761543573.685 [DAT](INFO): got valid direction response: 05:39:32.2751 LVL= 31728, 17761, 22370, 32755, AGC= 60, IDX= 511,-0.15, 1.336,-2.789, 2.370, 2.630, PHS=-1.192, 0.909,-0.304, RAW= 305.1, 6.5, CAL= 302.7, 5.6, ROT= 207.3, -5.6 2025-10-27T05:39:33.685Z,1761543573.685 [DAT](INFO): #Rx 97: Read direction message, but no range. 2025-10-27T05:39:33.686Z,1761543573.686 [DAT](INFO): direction in FSK: [-0.884376,-0.456461,0.097583] 2025-10-27T05:39:33.690Z,1761543573.690 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.666252 2025-10-27T05:39:33.805Z,1761543573.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.506129 s, deltaX: 0.200001 m, approachRate: 0.395158 m/s, rangeRepo size: 4 2025-10-27T05:39:33.812Z,1761543573.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.098328 m, bearing: 167.939876 deg, lat: 36.779377 deg, lon: -121.859735 deg, deltaT: 0.506129 s, deltaX: 0.198883 m, approachRate: 0.392949 m/s, posRepo size: 4 2025-10-27T05:39:33.813Z,1761543573.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:33.937Z,1761543573.937 [DAT](INFO): DAT read: Rx Time:05:39:32.7750 2025-10-27T05:39:33.940Z,1761543573.940 [DAT](INFO): Rx dataTimestamp_ set to:1761543573.937954 2025-10-27T05:39:33.943Z,1761543573.943 [DAT](INFO): DAT read: Bearing 306.3, -26.8 (Local) 2025-10-27T05:39:33.944Z,1761543573.944 [DAT](INFO): Local bearing/azimuth received: Bearing 306.3, -26.8 (Local) 2025-10-27T05:39:33.950Z,1761543573.950 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:33.965Z,1761543573.965 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-27T05:39:33.966Z,1761543573.966 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=45.942516 2025-10-27T05:39:34.076Z,1761543574.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775827,0.629798,0.038029],[-0.630934,0.774759,0.040868],[-0.003725,-0.055700,0.998441]] 2025-10-27T05:39:34.104Z,1761543574.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503783 s, deltaX: -0.200001 m, approachRate: -0.396998 m/s, rangeRepo size: 4 2025-10-27T05:39:34.104Z,1761543574.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:34.189Z,1761543574.189 [DAT](INFO): DAT read: 05:39:32.7750 LVL= 32544, 19057, 24786, 32755, AGC= 59, IDX= 510, 0.00, 0.993,-3.135, 2.017, 2.280, PHS=-1.186, 0.912,-0.307, RAW= 305.4, 6.4, CAL= 303.0, 5.5, ROT= 207.0, -5.5 2025-10-27T05:39:34.192Z,1761543574.192 [DAT](INFO): got valid direction response: 05:39:32.7750 LVL= 32544, 19057, 24786, 32755, AGC= 59, IDX= 510, 0.00, 0.993,-3.135, 2.017, 2.280, PHS=-1.186, 0.912,-0.307, RAW= 305.4, 6.4, CAL= 303.0, 5.5, ROT= 207.0, -5.5 2025-10-27T05:39:34.193Z,1761543574.193 [DAT](INFO): #Rx 99: Read direction message, but no range. 2025-10-27T05:39:34.194Z,1761543574.194 [DAT](INFO): direction in FSK: [-0.886904,-0.451900,0.095846] 2025-10-27T05:39:34.202Z,1761543574.202 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.178230 2025-10-27T05:39:34.440Z,1761543574.440 [DAT](INFO): DAT read: Rx Time:05:39:33.2751 2025-10-27T05:39:34.441Z,1761543574.441 [DAT](INFO): Rx dataTimestamp_ set to:1761543574.440317 2025-10-27T05:39:34.445Z,1761543574.445 [DAT](INFO): DAT read: Bearing 306.7, -26.9 (Local) 2025-10-27T05:39:34.445Z,1761543574.445 [DAT](INFO): Local bearing/azimuth received: Bearing 306.7, -26.9 (Local) 2025-10-27T05:39:34.453Z,1761543574.453 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:34.479Z,1761543574.479 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-27T05:39:34.480Z,1761543574.480 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.456413 2025-10-27T05:39:34.508Z,1761543574.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775558,0.630077,0.038892],[-0.631260,0.774509,0.040572],[-0.004559,-0.056017,0.998419]] 2025-10-27T05:39:34.609Z,1761543574.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.502363 s, deltaX: 0.200001 m, approachRate: 0.398120 m/s, rangeRepo size: 4 2025-10-27T05:39:34.618Z,1761543574.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.098862 m, bearing: 167.558316 deg, lat: 36.779377 deg, lon: -121.859735 deg, deltaT: 1.006146 s, deltaX: 0.000534 m, approachRate: 0.000531 m/s, posRepo size: 4 2025-10-27T05:39:34.618Z,1761543574.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:34.692Z,1761543574.692 [DAT](INFO): DAT read: 05:39:33.2751 LVL= 32592, 15905, 22194, 32755, AGC= 58, IDX= 511, 0.13, 3.065,-1.075,-2.192,-1.939, PHS=-1.177, 0.908,-0.297, RAW= 305.1, 6.3, CAL= 302.8, 5.2, ROT= 207.2, -5.2 2025-10-27T05:39:34.693Z,1761543574.693 [DAT](INFO): got valid direction response: 05:39:33.2751 LVL= 32592, 15905, 22194, 32755, AGC= 58, IDX= 511, 0.13, 3.065,-1.075,-2.192,-1.939, PHS=-1.177, 0.908,-0.297, RAW= 305.1, 6.3, CAL= 302.8, 5.2, ROT= 207.2, -5.2 2025-10-27T05:39:34.693Z,1761543574.693 [DAT](INFO): #Rx 101: Read direction message, but no range. 2025-10-27T05:39:34.694Z,1761543574.694 [DAT](INFO): direction in FSK: [-0.885756,-0.455217,0.090633] 2025-10-27T05:39:34.709Z,1761543574.709 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=46.685585 2025-10-27T05:39:34.882Z,1761543574.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775373,0.630239,0.039957],[-0.631480,0.774341,0.040362],[-0.005503,-0.056528,0.998386]] 2025-10-27T05:39:34.944Z,1761543574.944 [DAT](INFO): DAT read: Rx Time:05:39:33.7750 2025-10-27T05:39:34.945Z,1761543574.945 [DAT](INFO): Rx dataTimestamp_ set to:1761543574.944524 2025-10-27T05:39:34.949Z,1761543574.949 [DAT](INFO): DAT read: Bearing 306.8, -27.2 (Local) 2025-10-27T05:39:34.950Z,1761543574.950 [DAT](INFO): Local bearing/azimuth received: Bearing 306.8, -27.2 (Local) 2025-10-27T05:39:34.959Z,1761543574.959 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:34.961Z,1761543574.961 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T05:39:34.971Z,1761543574.971 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.948006 2025-10-27T05:39:35.020Z,1761543575.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504207 s, deltaX: -0.200001 m, approachRate: -0.396664 m/s, rangeRepo size: 4 2025-10-27T05:39:35.022Z,1761543575.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.900139 m, bearing: 167.756715 deg, lat: 36.779377 deg, lon: -121.859735 deg, deltaT: 0.504207 s, deltaX: -0.198723 m, approachRate: -0.394129 m/s, posRepo size: 4 2025-10-27T05:39:35.031Z,1761543575.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:35.196Z,1761543575.196 [DAT](INFO): DAT read: 05:39:33.7750 LVL= 28656, 15777, 19522, 32115, AGC= 58, IDX= 510, 0.25, 2.734,-1.389,-2.503,-2.257, PHS=-1.190, 0.913,-0.291, RAW= 304.8, 6.3, CAL= 302.4, 5.2, ROT= 207.6, -5.2 2025-10-27T05:39:35.197Z,1761543575.197 [DAT](INFO): got valid direction response: 05:39:33.7750 LVL= 28656, 15777, 19522, 32115, AGC= 58, IDX= 510, 0.25, 2.734,-1.389,-2.503,-2.257, PHS=-1.190, 0.913,-0.291, RAW= 304.8, 6.3, CAL= 302.4, 5.2, ROT= 207.6, -5.2 2025-10-27T05:39:35.197Z,1761543575.197 [DAT](INFO): #Rx 103: Read direction message, but no range. 2025-10-27T05:39:35.198Z,1761543575.198 [DAT](INFO): direction in FSK: [-0.882556,-0.461389,0.090633] 2025-10-27T05:39:35.202Z,1761543575.202 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=47.178570 2025-10-27T05:39:35.286Z,1761543575.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775416,0.630124,0.040917],[-0.631417,0.774415,0.039920],[-0.006532,-0.056790,0.998365]] 2025-10-27T05:39:35.341Z,1761543575.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:35.448Z,1761543575.448 [DAT](INFO): DAT read: Rx Time:05:39:34.2751 2025-10-27T05:39:35.450Z,1761543575.450 [DAT](INFO): Rx dataTimestamp_ set to:1761543575.448459 2025-10-27T05:39:35.453Z,1761543575.453 [DAT](INFO): DAT read: Bearing 306.6, -27.2 (Local) 2025-10-27T05:39:35.455Z,1761543575.455 [DAT](INFO): Local bearing/azimuth received: Bearing 306.6, -27.2 (Local) 2025-10-27T05:39:35.462Z,1761543575.462 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:35.464Z,1761543575.464 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-27T05:39:35.465Z,1761543575.465 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.441887 2025-10-27T05:39:35.692Z,1761543575.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775535,0.629927,0.041688],[-0.631260,0.774574,0.039321],[-0.007521,-0.056811,0.998357]] 2025-10-27T05:39:35.701Z,1761543575.701 [DAT](INFO): DAT read: 05:39:34.2751 LVL= 31344, 17217, 20914, 32755, AGC= 58, IDX= 511, 0.43,-1.641, 0.522,-0.591,-0.342, PHS=-1.197, 0.910,-0.293, RAW= 304.7, 6.4, CAL= 302.3, 5.4, ROT= 207.7, -5.4 2025-10-27T05:39:35.702Z,1761543575.702 [DAT](INFO): got valid direction response: 05:39:34.2751 LVL= 31344, 17217, 20914, 32755, AGC= 58, IDX= 511, 0.43,-1.641, 0.522,-0.591,-0.342, PHS=-1.197, 0.910,-0.293, RAW= 304.7, 6.4, CAL= 302.3, 5.4, ROT= 207.7, -5.4 2025-10-27T05:39:35.703Z,1761543575.703 [DAT](INFO): #Rx 105: Read direction message, but no range. 2025-10-27T05:39:35.705Z,1761543575.705 [DAT](INFO): direction in FSK: [-0.881464,-0.462779,0.094108] 2025-10-27T05:39:35.714Z,1761543575.714 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.690468 2025-10-27T05:39:35.885Z,1761543575.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503935 s, deltaX: 0.200001 m, approachRate: 0.396878 m/s, rangeRepo size: 4 2025-10-27T05:39:35.891Z,1761543575.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.099030 m, bearing: 168.268806 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.503935 s, deltaX: 0.198891 m, approachRate: 0.394675 m/s, posRepo size: 4 2025-10-27T05:39:35.909Z,1761543575.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:35.954Z,1761543575.954 [DAT](INFO): DAT read: Rx Time:05:39:34.7751 2025-10-27T05:39:35.956Z,1761543575.956 [DAT](INFO): Rx dataTimestamp_ set to:1761543575.954962 2025-10-27T05:39:35.959Z,1761543575.959 [DAT](INFO): DAT read: Bearing 305.8, -26.6 (Local) 2025-10-27T05:39:35.960Z,1761543575.960 [DAT](INFO): Local bearing/azimuth received: Bearing 305.8, -26.6 (Local) 2025-10-27T05:39:35.965Z,1761543575.965 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:35.966Z,1761543575.966 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-27T05:39:35.983Z,1761543575.983 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.943180 2025-10-27T05:39:36.188Z,1761543576.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775717,0.629647,0.042520],[-0.631022,0.774804,0.038601],[-0.008640,-0.056775,0.998350]] 2025-10-27T05:39:36.204Z,1761543576.204 [DAT](INFO): DAT read: 05:39:34.7751 LVL= 32752, 21489, 28530, 32755, AGC= 55, IDX= 511,-0.32, 2.011,-2.134, 3.032,-2.983, PHS=-1.188, 0.894,-0.312, RAW= 305.2, 6.8, CAL= 302.9, 6.1, ROT= 207.1, -6.1 2025-10-27T05:39:36.205Z,1761543576.205 [DAT](INFO): got valid direction response: 05:39:34.7751 LVL= 32752, 21489, 28530, 32755, AGC= 55, IDX= 511,-0.32, 2.011,-2.134, 3.032,-2.983, PHS=-1.188, 0.894,-0.312, RAW= 305.2, 6.8, CAL= 302.9, 6.1, ROT= 207.1, -6.1 2025-10-27T05:39:36.205Z,1761543576.205 [DAT](INFO): #Rx 107: Read direction message, but no range. 2025-10-27T05:39:36.206Z,1761543576.206 [DAT](INFO): direction in FSK: [-0.885172,-0.452966,0.106264] 2025-10-27T05:39:36.210Z,1761543576.210 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.186237 2025-10-27T05:39:36.275Z,1761543576.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.506503 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:36.293Z,1761543576.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.098999 m, bearing: 167.655218 deg, lat: 36.779376 deg, lon: -121.859734 deg, deltaT: 0.506503 s, deltaX: -0.000031 m, approachRate: -0.000060 m/s, posRepo size: 4 2025-10-27T05:39:36.293Z,1761543576.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:36.456Z,1761543576.456 [DAT](INFO): DAT read: Rx Time:05:39:35.2751 2025-10-27T05:39:36.458Z,1761543576.458 [DAT](INFO): Rx dataTimestamp_ set to:1761543576.456599 2025-10-27T05:39:36.461Z,1761543576.461 [DAT](INFO): DAT read: Bearing 307.1, -27.2 (Local) 2025-10-27T05:39:36.462Z,1761543576.462 [DAT](INFO): Local bearing/azimuth received: Bearing 307.1, -27.2 (Local) 2025-10-27T05:39:36.466Z,1761543576.466 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:36.466Z,1761543576.466 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-27T05:39:36.468Z,1761543576.468 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.444302 2025-10-27T05:39:36.709Z,1761543576.709 [DAT](INFO): DAT read: 05:39:35.2751 LVL= 31216, 15185, 21490, 32755, AGC= 56, IDX= 511,-0.18, 1.648,-2.469, 2.703, 2.943, PHS=-1.193, 0.916,-0.284, RAW= 304.6, 6.2, CAL= 302.2, 5.0, ROT= 207.8, -5.0 2025-10-27T05:39:36.711Z,1761543576.711 [DAT](INFO): got valid direction response: 05:39:35.2751 LVL= 31216, 15185, 21490, 32755, AGC= 56, IDX= 511,-0.18, 1.648,-2.469, 2.703, 2.943, PHS=-1.193, 0.916,-0.284, RAW= 304.6, 6.2, CAL= 302.2, 5.0, ROT= 207.8, -5.0 2025-10-27T05:39:36.712Z,1761543576.712 [DAT](INFO): #Rx 109: Read direction message, but no range. 2025-10-27T05:39:36.713Z,1761543576.713 [DAT](INFO): direction in FSK: [-0.881215,-0.464612,0.087156] 2025-10-27T05:39:36.723Z,1761543576.723 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.700016 2025-10-27T05:39:36.774Z,1761543576.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.501637 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:36.784Z,1761543576.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.098999 m, bearing: 168.409072 deg, lat: 36.779376 deg, lon: -121.859734 deg, deltaT: 0.501637 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:36.785Z,1761543576.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:36.960Z,1761543576.960 [DAT](INFO): DAT read: Rx Time:05:39:35.7750 2025-10-27T05:39:36.962Z,1761543576.962 [DAT](INFO): Rx dataTimestamp_ set to:1761543576.960782 2025-10-27T05:39:36.965Z,1761543576.965 [DAT](INFO): DAT read: Bearing 306.8, -27.3 (Local) 2025-10-27T05:39:36.965Z,1761543576.965 [DAT](INFO): Local bearing/azimuth received: Bearing 306.8, -27.3 (Local) 2025-10-27T05:39:36.968Z,1761543576.968 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:36.972Z,1761543576.972 [DAT](INFO): DAT read: 05:39:35.7750 LVL= 28528, 15601, 18770, 32739, AGC= 56, IDX= 510,-0.10, 1.139,-2.968, 2.205, 2.446, PHS=-1.205, 0.914,-0.286, RAW= 304.4, 6.3, CAL= 302.0, 5.2, ROT= 208.0, -5.2 2025-10-27T05:39:36.973Z,1761543576.973 [DAT](INFO): got valid direction response: 05:39:35.7750 LVL= 28528, 15601, 18770, 32739, AGC= 56, IDX= 510,-0.10, 1.139,-2.968, 2.205, 2.446, PHS=-1.205, 0.914,-0.286, RAW= 304.4, 6.3, CAL= 302.0, 5.2, ROT= 208.0, -5.2 2025-10-27T05:39:36.974Z,1761543576.974 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:39:36.976Z,1761543576.976 [DAT](INFO): direction in FSK: [-0.879314,-0.467539,0.090633] 2025-10-27T05:39:36.976Z,1761543576.976 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:36.980Z,1761543576.980 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=48.956150 2025-10-27T05:39:37.070Z,1761543577.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776826,0.628187,0.043858],[-0.629615,0.776064,0.036203],[-0.011294,-0.055737,0.998382]] 2025-10-27T05:39:37.188Z,1761543577.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504183 s, deltaX: -0.200001 m, approachRate: -0.396683 m/s, rangeRepo size: 4 2025-10-27T05:39:37.190Z,1761543577.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.899744 m, bearing: 168.717847 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.504183 s, deltaX: -0.199255 m, approachRate: -0.395204 m/s, posRepo size: 4 2025-10-27T05:39:37.190Z,1761543577.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:37.208Z,1761543577.208 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.184811 2025-10-27T05:39:37.464Z,1761543577.464 [DAT](INFO): DAT read: Rx Time:05:39:36.2751 2025-10-27T05:39:37.465Z,1761543577.465 [DAT](INFO): Rx dataTimestamp_ set to:1761543577.464665 2025-10-27T05:39:37.466Z,1761543577.466 [DAT](INFO): DAT read: Bearing 307.1, -27.5 (Local) 2025-10-27T05:39:37.467Z,1761543577.467 [DAT](INFO): Local bearing/azimuth received: Bearing 307.1, -27.5 (Local) 2025-10-27T05:39:37.469Z,1761543577.469 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:37.474Z,1761543577.474 [DAT](INFO): DAT read: 05:39:36.2751 LVL= 30704, 16833, 20530, 32755, AGC= 57, IDX= 511,-0.02, 2.772,-1.343,-2.442,-2.210, PHS=-1.199, 0.913,-0.276, RAW= 304.1, 6.2, CAL= 301.7, 4.9, ROT= 208.3, -4.9 2025-10-27T05:39:37.499Z,1761543577.499 [DAT](INFO): got valid direction response: 05:39:36.2751 LVL= 30704, 16833, 20530, 32755, AGC= 57, IDX= 511,-0.02, 2.772,-1.343,-2.442,-2.210, PHS=-1.199, 0.913,-0.276, RAW= 304.1, 6.2, CAL= 301.7, 4.9, ROT= 208.3, -4.9 2025-10-27T05:39:37.499Z,1761543577.499 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:39:37.500Z,1761543577.500 [DAT](INFO): direction in FSK: [-0.877259,-0.472356,0.085417] 2025-10-27T05:39:37.501Z,1761543577.501 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:37.520Z,1761543577.520 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.496304 2025-10-27T05:39:37.653Z,1761543577.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503883 s, deltaX: 0.200001 m, approachRate: 0.396919 m/s, rangeRepo size: 4 2025-10-27T05:39:37.660Z,1761543577.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.098631 m, bearing: 169.032072 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.503883 s, deltaX: 0.198887 m, approachRate: 0.394708 m/s, posRepo size: 4 2025-10-27T05:39:37.660Z,1761543577.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:37.713Z,1761543577.713 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.689175 2025-10-27T05:39:37.966Z,1761543577.966 [DAT](INFO): DAT read: Rx Time:05:39:36.7750 2025-10-27T05:39:37.967Z,1761543577.967 [DAT](INFO): Rx dataTimestamp_ set to:1761543577.966310 2025-10-27T05:39:37.968Z,1761543577.968 [DAT](INFO): DAT read: Bearing 307.1, -27.5 (Local) 2025-10-27T05:39:37.968Z,1761543577.968 [DAT](INFO): Local bearing/azimuth received: Bearing 307.1, -27.5 (Local) 2025-10-27T05:39:37.970Z,1761543577.970 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:37.971Z,1761543577.971 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-27T05:39:37.972Z,1761543577.972 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=49.948643 2025-10-27T05:39:37.980Z,1761543577.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778228,0.626234,0.046822],[-0.627792,0.777663,0.033431],[-0.015477,-0.055411,0.998344]] 2025-10-27T05:39:38.067Z,1761543578.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.501645 s, deltaX: -0.200001 m, approachRate: -0.398690 m/s, rangeRepo size: 4 2025-10-27T05:39:38.068Z,1761543578.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:38.220Z,1761543578.220 [DAT](INFO): DAT read: 05:39:36.7750 LVL= 28832, 15137, 20306, 32755, AGC= 57, IDX= 510, 0.09, 1.855,-2.260, 2.926,-3.127, PHS=-1.199, 0.912,-0.274, RAW= 304.1, 6.2, CAL= 301.7, 4.9, ROT= 208.3, -4.9 2025-10-27T05:39:38.221Z,1761543578.221 [DAT](INFO): got valid direction response: 05:39:36.7750 LVL= 28832, 15137, 20306, 32755, AGC= 57, IDX= 510, 0.09, 1.855,-2.260, 2.926,-3.127, PHS=-1.199, 0.912,-0.274, RAW= 304.1, 6.2, CAL= 301.7, 4.9, ROT= 208.3, -4.9 2025-10-27T05:39:38.221Z,1761543578.221 [DAT](INFO): #Rx 113: Read direction message, but no range. 2025-10-27T05:39:38.222Z,1761543578.222 [DAT](INFO): direction in FSK: [-0.877259,-0.472356,0.085417] 2025-10-27T05:39:38.226Z,1761543578.226 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.202118 2025-10-27T05:39:38.350Z,1761543578.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:38.472Z,1761543578.472 [DAT](INFO): DAT read: Rx Time:05:39:37.2751 2025-10-27T05:39:38.473Z,1761543578.473 [DAT](INFO): Rx dataTimestamp_ set to:1761543578.472375 2025-10-27T05:39:38.474Z,1761543578.474 [DAT](INFO): DAT read: Bearing 307.3, -27.9 (Local) 2025-10-27T05:39:38.474Z,1761543578.474 [DAT](INFO): Local bearing/azimuth received: Bearing 307.3, -27.9 (Local) 2025-10-27T05:39:38.476Z,1761543578.476 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:38.481Z,1761543578.481 [DAT](INFO): DAT read: 05:39:37.2751 LVL= 31184, 16497, 22610, 32755, AGC= 59, IDX= 511, 0.17, 2.993,-1.127,-2.207,-1.988, PHS=-1.201, 0.905,-0.264, RAW= 303.6, 6.2, CAL= 301.2, 4.9, ROT= 208.8, -4.9 2025-10-27T05:39:38.482Z,1761543578.482 [DAT](INFO): got valid direction response: 05:39:37.2751 LVL= 31184, 16497, 22610, 32755, AGC= 59, IDX= 511, 0.17, 2.993,-1.127,-2.207,-1.988, PHS=-1.201, 0.905,-0.264, RAW= 303.6, 6.2, CAL= 301.2, 4.9, ROT= 208.8, -4.9 2025-10-27T05:39:38.482Z,1761543578.482 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:39:38.484Z,1761543578.484 [DAT](INFO): direction in FSK: [-0.873104,-0.479993,0.085417] 2025-10-27T05:39:38.484Z,1761543578.484 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:38.488Z,1761543578.488 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=50.464756 2025-10-27T05:39:38.713Z,1761543578.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778596,0.625665,0.048281],[-0.627297,0.778081,0.032990],[-0.016926,-0.055972,0.998289]] 2025-10-27T05:39:38.725Z,1761543578.725 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=50.701065 2025-10-27T05:39:38.819Z,1761543578.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.506065 s, deltaX: 0.200001 m, approachRate: 0.395208 m/s, rangeRepo size: 4 2025-10-27T05:39:38.823Z,1761543578.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.098454 m, bearing: 169.718607 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 1.007710 s, deltaX: -0.000177 m, approachRate: -0.000176 m/s, posRepo size: 4 2025-10-27T05:39:38.827Z,1761543578.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:38.977Z,1761543578.977 [DAT](INFO): DAT read: Rx Time:05:39:37.7750 2025-10-27T05:39:38.977Z,1761543578.977 [DAT](INFO): Rx dataTimestamp_ set to:1761543578.977133 2025-10-27T05:39:38.979Z,1761543578.979 [DAT](INFO): DAT read: Bearing 306.9, -27.7 (Local) 2025-10-27T05:39:38.979Z,1761543578.979 [DAT](INFO): Local bearing/azimuth received: Bearing 306.9, -27.7 (Local) 2025-10-27T05:39:38.981Z,1761543578.981 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:38.986Z,1761543578.986 [DAT](INFO): DAT read: 05:39:37.7750 LVL= 31536, 18353, 23106, 32755, AGC= 58, IDX= 510, 0.26, 0.933, 3.105, 2.015, 2.243, PHS=-1.208, 0.906,-0.272, RAW= 303.8, 6.3, CAL= 301.4, 5.2, ROT= 208.6, -5.2 2025-10-27T05:39:38.988Z,1761543578.988 [DAT](INFO): got valid direction response: 05:39:37.7750 LVL= 31536, 18353, 23106, 32755, AGC= 58, IDX= 510, 0.26, 0.933, 3.105, 2.015, 2.243, PHS=-1.208, 0.906,-0.272, RAW= 303.8, 6.3, CAL= 301.4, 5.2, ROT= 208.6, -5.2 2025-10-27T05:39:38.988Z,1761543578.988 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:39:38.989Z,1761543578.989 [DAT](INFO): direction in FSK: [-0.874370,-0.476722,0.090633] 2025-10-27T05:39:38.989Z,1761543578.989 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:38.997Z,1761543578.997 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=50.973591 2025-10-27T05:39:39.114Z,1761543579.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779039,0.625015,0.049540],[-0.626709,0.778574,0.032521],[-0.018245,-0.056382,0.998242]] 2025-10-27T05:39:39.149Z,1761543579.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504758 s, deltaX: -0.200001 m, approachRate: -0.396231 m/s, rangeRepo size: 4 2025-10-27T05:39:39.151Z,1761543579.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898903 m, bearing: 169.549934 deg, lat: 36.779376 deg, lon: -121.859735 deg, deltaT: 0.504758 s, deltaX: -0.199551 m, approachRate: -0.395339 m/s, posRepo size: 4 2025-10-27T05:39:39.152Z,1761543579.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:39.229Z,1761543579.229 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.205418 2025-10-27T05:39:39.481Z,1761543579.481 [DAT](INFO): DAT read: Rx Time:05:39:38.2750 2025-10-27T05:39:39.481Z,1761543579.481 [DAT](INFO): Rx dataTimestamp_ set to:1761543579.480702 2025-10-27T05:39:39.482Z,1761543579.482 [DAT](INFO): DAT read: Bearing 307.1, -28.5 (Local) 2025-10-27T05:39:39.483Z,1761543579.483 [DAT](INFO): Local bearing/azimuth received: Bearing 307.1, -28.5 (Local) 2025-10-27T05:39:39.485Z,1761543579.485 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:39.489Z,1761543579.489 [DAT](INFO): DAT read: 05:39:38.2750 LVL= 30912, 18833, 22770, 32755, AGC= 60, IDX= 510, 0.28, 1.219,-2.878, 2.334, 2.545, PHS=-1.224, 0.905,-0.255, RAW= 303.0, 6.3, CAL= 300.5, 5.0, ROT= 209.5, -5.0 2025-10-27T05:39:39.490Z,1761543579.490 [DAT](INFO): got valid direction response: 05:39:38.2750 LVL= 30912, 18833, 22770, 32755, AGC= 60, IDX= 510, 0.28, 1.219,-2.878, 2.334, 2.545, PHS=-1.224, 0.905,-0.255, RAW= 303.0, 6.3, CAL= 300.5, 5.0, ROT= 209.5, -5.0 2025-10-27T05:39:39.491Z,1761543579.491 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:39:39.492Z,1761543579.492 [DAT](INFO): direction in FSK: [-0.867044,-0.490550,0.087156] 2025-10-27T05:39:39.492Z,1761543579.492 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:39.496Z,1761543579.496 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.472446 2025-10-27T05:39:39.518Z,1761543579.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779513,0.624342,0.050555],[-0.626083,0.779104,0.031900],[-0.019471,-0.056518,0.998212]] 2025-10-27T05:39:39.573Z,1761543579.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503569 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:39.588Z,1761543579.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898903 m, bearing: 170.510526 deg, lat: 36.779377 deg, lon: -121.859736 deg, deltaT: 0.503569 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:39.588Z,1761543579.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:39.738Z,1761543579.738 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.714264 2025-10-27T05:39:39.977Z,1761543579.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780631,0.622857,0.051625],[-0.624617,0.780360,0.029879],[-0.021676,-0.055570,0.998219]] 2025-10-27T05:39:39.989Z,1761543579.989 [DAT](INFO): DAT read: Rx Time:05:39:38.7750 2025-10-27T05:39:39.989Z,1761543579.989 [DAT](INFO): Rx dataTimestamp_ set to:1761543579.988746 2025-10-27T05:39:39.990Z,1761543579.990 [DAT](INFO): DAT read: Bearing 307.1, -28.7 (Local) 2025-10-27T05:39:39.991Z,1761543579.991 [DAT](INFO): Local bearing/azimuth received: Bearing 307.1, -28.7 (Local) 2025-10-27T05:39:39.993Z,1761543579.993 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:39.997Z,1761543579.997 [DAT](INFO): DAT read: 05:39:38.7750 LVL= 30096, 17009, 21234, 32755, AGC= 58, IDX= 509, 0.30, 0.263, 2.451, 1.388, 1.593, PHS=-1.228, 0.903,-0.249, RAW= 302.7, 6.3, CAL= 300.3, 5.0, ROT= 209.7, -5.0 2025-10-27T05:39:39.999Z,1761543579.999 [DAT](INFO): got valid direction response: 05:39:38.7750 LVL= 30096, 17009, 21234, 32755, AGC= 58, IDX= 509, 0.30, 0.263, 2.451, 1.388, 1.593, PHS=-1.228, 0.903,-0.249, RAW= 302.7, 6.3, CAL= 300.3, 5.0, ROT= 209.7, -5.0 2025-10-27T05:39:39.999Z,1761543579.999 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:39:39.000Z,1761543580.000 [DAT](INFO): direction in FSK: [-0.865326,-0.493573,0.087156] 2025-10-27T05:39:40.000Z,1761543580.000 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:40.004Z,1761543580.004 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=51.980892 2025-10-27T05:39:40.086Z,1761543580.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.508044 s, deltaX: -0.100000 m, approachRate: -0.196834 m/s, rangeRepo size: 4 2025-10-27T05:39:40.093Z,1761543580.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.799244 m, bearing: 170.830484 deg, lat: 36.779377 deg, lon: -121.859736 deg, deltaT: 0.508044 s, deltaX: -0.099659 m, approachRate: -0.196162 m/s, posRepo size: 4 2025-10-27T05:39:40.094Z,1761543580.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:40.242Z,1761543580.242 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.218182 2025-10-27T05:39:40.482Z,1761543580.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781003,0.622350,0.052097],[-0.624116,0.780796,0.028950],[-0.022660,-0.055125,0.998222]] 2025-10-27T05:39:40.493Z,1761543580.493 [DAT](INFO): DAT read: Rx Time:05:39:39.2750 2025-10-27T05:39:40.493Z,1761543580.493 [DAT](INFO): Rx dataTimestamp_ set to:1761543580.492837 2025-10-27T05:39:40.494Z,1761543580.494 [DAT](INFO): DAT read: Bearing 307.4, -29.6 (Local) 2025-10-27T05:39:40.495Z,1761543580.495 [DAT](INFO): Local bearing/azimuth received: Bearing 307.4, -29.6 (Local) 2025-10-27T05:39:40.497Z,1761543580.497 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:40.502Z,1761543580.502 [DAT](INFO): DAT read: 05:39:39.2750 LVL= 30192, 17873, 21570, 32755, AGC= 60, IDX= 510, 0.30, 1.584,-2.509, 2.741, 2.922, PHS=-1.236, 0.897,-0.225, RAW= 301.7, 6.2, CAL= 299.3, 4.7, ROT= 210.7, -4.7 2025-10-27T05:39:40.503Z,1761543580.503 [DAT](INFO): got valid direction response: 05:39:39.2750 LVL= 30192, 17873, 21570, 32755, AGC= 60, IDX= 510, 0.30, 1.584,-2.509, 2.741, 2.922, PHS=-1.236, 0.897,-0.225, RAW= 301.7, 6.2, CAL= 299.3, 4.7, ROT= 210.7, -4.7 2025-10-27T05:39:40.515Z,1761543580.515 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:39:40.516Z,1761543580.516 [DAT](INFO): direction in FSK: [-0.856961,-0.508826,0.081939] 2025-10-27T05:39:40.517Z,1761543580.517 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:40.520Z,1761543580.520 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.496796 2025-10-27T05:39:40.564Z,1761543580.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504091 s, deltaX: 0.100000 m, approachRate: 0.198378 m/s, rangeRepo size: 4 2025-10-27T05:39:40.566Z,1761543580.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898682 m, bearing: 171.887952 deg, lat: 36.779377 deg, lon: -121.859738 deg, deltaT: 0.504091 s, deltaX: 0.099438 m, approachRate: 0.197261 m/s, posRepo size: 4 2025-10-27T05:39:40.567Z,1761543580.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:40.750Z,1761543580.750 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.726994 2025-10-27T05:39:40.888Z,1761543580.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781207,0.622042,0.052718],[-0.623826,0.781052,0.028268],[-0.023592,-0.054970,0.998209]] 2025-10-27T05:39:40.997Z,1761543580.997 [DAT](INFO): DAT read: Rx Time:05:39:39.7750 2025-10-27T05:39:40.997Z,1761543580.997 [DAT](INFO): Rx dataTimestamp_ set to:1761543580.996749 2025-10-27T05:39:40.998Z,1761543580.998 [DAT](INFO): DAT read: Bearing 308.3, -29.7 (Local) 2025-10-27T05:39:40.999Z,1761543580.999 [DAT](INFO): Local bearing/azimuth received: Bearing 308.3, -29.7 (Local) 2025-10-27T05:39:41.001Z,1761543581.001 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:41.005Z,1761543581.005 [DAT](INFO): DAT read: 05:39:39.7750 LVL= 28016, 15969, 21762, 32755, AGC= 59, IDX= 509, 0.37,-0.008, 2.202, 1.165, 1.333, PHS=-1.239, 0.915,-0.211, RAW= 301.5, 5.8, CAL= 299.1, 3.9, ROT= 210.9, -3.9 2025-10-27T05:39:41.007Z,1761543581.007 [DAT](INFO): got valid direction response: 05:39:39.7750 LVL= 28016, 15969, 21762, 32755, AGC= 59, IDX= 509, 0.37,-0.008, 2.202, 1.165, 1.333, PHS=-1.239, 0.915,-0.211, RAW= 301.5, 5.8, CAL= 299.1, 3.9, ROT= 210.9, -3.9 2025-10-27T05:39:41.007Z,1761543581.007 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:39:41.008Z,1761543581.008 [DAT](INFO): direction in FSK: [-0.856078,-0.512352,0.068015] 2025-10-27T05:39:41.008Z,1761543581.008 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:41.016Z,1761543581.016 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=52.992569 2025-10-27T05:39:41.022Z,1761543581.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503912 s, deltaX: -0.100000 m, approachRate: -0.198448 m/s, rangeRepo size: 4 2025-10-27T05:39:41.025Z,1761543581.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.799551 m, bearing: 172.141916 deg, lat: 36.779377 deg, lon: -121.859738 deg, deltaT: 0.503912 s, deltaX: -0.099131 m, approachRate: -0.196722 m/s, posRepo size: 4 2025-10-27T05:39:41.025Z,1761543581.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:41.248Z,1761543581.248 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.224506 2025-10-27T05:39:41.296Z,1761543581.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781117,0.622088,0.053506],[-0.623908,0.780996,0.027979],[-0.024383,-0.055238,0.998176]] 2025-10-27T05:39:41.343Z,1761543581.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:41.500Z,1761543581.500 [DAT](INFO): DAT read: Rx Time:05:39:40.2750 2025-10-27T05:39:41.501Z,1761543581.501 [DAT](INFO): Rx dataTimestamp_ set to:1761543581.500613 2025-10-27T05:39:41.502Z,1761543581.502 [DAT](INFO): DAT read: Bearing 308.1, -30.1 (Local) 2025-10-27T05:39:41.502Z,1761543581.502 [DAT](INFO): Local bearing/azimuth received: Bearing 308.1, -30.1 (Local) 2025-10-27T05:39:41.505Z,1761543581.505 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:41.509Z,1761543581.509 [DAT](INFO): DAT read: 05:39:40.2750 LVL= 31296, 20369, 21586, 32755, AGC= 59, IDX= 510, 0.40, 0.918, 3.115, 2.099, 2.259, PHS=-1.239, 0.901,-0.205, RAW= 301.1, 5.9, CAL= 298.7, 4.1, ROT= 211.3, -4.1 2025-10-27T05:39:41.510Z,1761543581.510 [DAT](INFO): got valid direction response: 05:39:40.2750 LVL= 31296, 20369, 21586, 32755, AGC= 59, IDX= 510, 0.40, 0.918, 3.115, 2.099, 2.259, PHS=-1.239, 0.901,-0.205, RAW= 301.1, 5.9, CAL= 298.7, 4.1, ROT= 211.3, -4.1 2025-10-27T05:39:41.511Z,1761543581.511 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:39:41.512Z,1761543581.512 [DAT](INFO): direction in FSK: [-0.852272,-0.518190,0.071497] 2025-10-27T05:39:41.512Z,1761543581.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:41.515Z,1761543581.515 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:39:41.515Z,1761543581.515 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:39:41.516Z,1761543581.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:41.739Z,1761543581.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781029,0.622138,0.054211],[-0.623994,0.780934,0.027829],[-0.025022,-0.055563,0.998142]] 2025-10-27T05:39:41.752Z,1761543581.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:41.829Z,1761543581.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503864 s, deltaX: 0.100000 m, approachRate: 0.198467 m/s, rangeRepo size: 4 2025-10-27T05:39:41.835Z,1761543581.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898991 m, bearing: 172.524989 deg, lat: 36.779376 deg, lon: -121.859741 deg, deltaT: 0.503864 s, deltaX: 0.099440 m, approachRate: 0.197354 m/s, posRepo size: 4 2025-10-27T05:39:41.836Z,1761543581.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:42.005Z,1761543582.005 [DAT](INFO): DAT read: Rx Time:05:39:40.7750 2025-10-27T05:39:42.005Z,1761543582.005 [DAT](INFO): Rx dataTimestamp_ set to:1761543582.004826 2025-10-27T05:39:42.006Z,1761543582.006 [DAT](INFO): DAT read: Bearing 308.7, -30.7 (Local) 2025-10-27T05:39:42.007Z,1761543582.007 [DAT](INFO): Local bearing/azimuth received: Bearing 308.7, -30.7 (Local) 2025-10-27T05:39:42.009Z,1761543582.009 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:42.016Z,1761543582.016 [DAT](INFO): DAT read: 05:39:40.7750 LVL= 32752, 18545, 21410, 32755, AGC= 60, IDX= 509, 0.46,-0.520, 1.694, 0.691, 0.831, PHS=-1.249, 0.908,-0.184, RAW= 300.4, 5.7, CAL= 298.0, 3.5, ROT= 212.0, -3.5 2025-10-27T05:39:42.017Z,1761543582.017 [DAT](INFO): got valid direction response: 05:39:40.7750 LVL= 32752, 18545, 21410, 32755, AGC= 60, IDX= 509, 0.46,-0.520, 1.694, 0.691, 0.831, PHS=-1.249, 0.908,-0.184, RAW= 300.4, 5.7, CAL= 298.0, 3.5, ROT= 212.0, -3.5 2025-10-27T05:39:42.018Z,1761543582.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:42.060Z,1761543582.060 [DAT](INFO): direction in FSK: [-0.846466,-0.528931,0.061049] 2025-10-27T05:39:42.061Z,1761543582.061 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:42.076Z,1761543582.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:42.076Z,1761543582.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:42.108Z,1761543582.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780746,0.622434,0.054880],[-0.624329,0.780665,0.027867],[-0.025497,-0.056020,0.998104]] 2025-10-27T05:39:42.178Z,1761543582.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504213 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:42.188Z,1761543582.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.899130 m, bearing: 173.223245 deg, lat: 36.779376 deg, lon: -121.859741 deg, deltaT: 0.504213 s, deltaX: 0.000139 m, approachRate: 0.000276 m/s, posRepo size: 4 2025-10-27T05:39:42.189Z,1761543582.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:42.256Z,1761543582.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:42.502Z,1761543582.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780664,0.622504,0.055249],[-0.624413,0.780605,0.027645],[-0.025918,-0.056079,0.998090]] 2025-10-27T05:39:42.509Z,1761543582.509 [DAT](INFO): DAT read: Rx Time:05:39:41.2751 2025-10-27T05:39:42.509Z,1761543582.509 [DAT](INFO): Rx dataTimestamp_ set to:1761543582.508736 2025-10-27T05:39:42.510Z,1761543582.510 [DAT](INFO): DAT read: Bearing 308.1, -30.5 (Local) 2025-10-27T05:39:42.511Z,1761543582.511 [DAT](INFO): Local bearing/azimuth received: Bearing 308.1, -30.5 (Local) 2025-10-27T05:39:42.513Z,1761543582.513 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:42.517Z,1761543582.517 [DAT](INFO): DAT read: 05:39:41.2751 LVL= 32752, 18497, 21490, 32755, AGC= 59, IDX= 511,-0.47,-0.045, 2.159, 1.156, 1.306, PHS=-1.249, 0.897,-0.194, RAW= 300.6, 5.9, CAL= 298.2, 4.1, ROT= 211.8, -4.1 2025-10-27T05:39:42.519Z,1761543582.519 [DAT](INFO): got valid direction response: 05:39:41.2751 LVL= 32752, 18497, 21490, 32755, AGC= 59, IDX= 511,-0.47,-0.045, 2.159, 1.156, 1.306, PHS=-1.249, 0.897,-0.194, RAW= 300.6, 5.9, CAL= 298.2, 4.1, ROT= 211.8, -4.1 2025-10-27T05:39:42.519Z,1761543582.519 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:42.520Z,1761543582.520 [DAT](INFO): direction in FSK: [-0.847718,-0.525607,0.071497] 2025-10-27T05:39:42.520Z,1761543582.520 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:42.556Z,1761543582.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:42.556Z,1761543582.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:42.606Z,1761543582.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503910 s, deltaX: 0.200001 m, approachRate: 0.396898 m/s, rangeRepo size: 4 2025-10-27T05:39:42.613Z,1761543582.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.098009 m, bearing: 172.996270 deg, lat: 36.779375 deg, lon: -121.859741 deg, deltaT: 0.503910 s, deltaX: 0.198879 m, approachRate: 0.394672 m/s, posRepo size: 4 2025-10-27T05:39:42.613Z,1761543582.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:42.760Z,1761543582.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:42.908Z,1761543582.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780435,0.622779,0.055389],[-0.624691,0.780390,0.027440],[-0.026137,-0.056016,0.998088]] 2025-10-27T05:39:43.008Z,1761543583.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:43.013Z,1761543583.013 [DAT](INFO): DAT read: Rx Time:05:39:41.7750 2025-10-27T05:39:43.013Z,1761543583.013 [DAT](INFO): Rx dataTimestamp_ set to:1761543583.012801 2025-10-27T05:39:43.014Z,1761543583.014 [DAT](INFO): DAT read: Bearing 307.9, -30.5 (Local) 2025-10-27T05:39:43.015Z,1761543583.015 [DAT](INFO): Local bearing/azimuth received: Bearing 307.9, -30.5 (Local) 2025-10-27T05:39:43.017Z,1761543583.017 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:43.022Z,1761543583.022 [DAT](INFO): DAT read: 05:39:41.7750 LVL= 32752, 18513, 22514, 32755, AGC= 58, IDX= 510,-0.39,-1.176, 1.029, 0.024, 0.177, PHS=-1.251, 0.897,-0.197, RAW= 300.6, 6.0, CAL= 298.2, 4.2, ROT= 211.8, -4.2 2025-10-27T05:39:43.023Z,1761543583.023 [DAT](INFO): got valid direction response: 05:39:41.7750 LVL= 32752, 18513, 22514, 32755, AGC= 58, IDX= 510,-0.39,-1.176, 1.029, 0.024, 0.177, PHS=-1.251, 0.897,-0.197, RAW= 300.6, 6.0, CAL= 298.2, 4.2, ROT= 211.8, -4.2 2025-10-27T05:39:43.023Z,1761543583.023 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:43.024Z,1761543583.024 [DAT](INFO): direction in FSK: [-0.847610,-0.525541,0.073238] 2025-10-27T05:39:43.024Z,1761543583.024 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:43.032Z,1761543583.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:43.032Z,1761543583.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:43.051Z,1761543583.051 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:39:43.264Z,1761543583.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:43.330Z,1761543583.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780237,0.623040,0.055232],[-0.624935,0.780205,0.027124],[-0.026193,-0.055680,0.998105]] 2025-10-27T05:39:43.355Z,1761543583.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504065 s, deltaX: -0.200001 m, approachRate: -0.396776 m/s, rangeRepo size: 4 2025-10-27T05:39:43.357Z,1761543583.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898848 m, bearing: 172.957047 deg, lat: 36.779375 deg, lon: -121.859741 deg, deltaT: 0.504065 s, deltaX: -0.199162 m, approachRate: -0.395111 m/s, posRepo size: 4 2025-10-27T05:39:43.357Z,1761543583.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:43.517Z,1761543583.517 [DAT](INFO): DAT read: Rx Time:05:39:42.2750 2025-10-27T05:39:43.517Z,1761543583.517 [DAT](INFO): Rx dataTimestamp_ set to:1761543583.516739 2025-10-27T05:39:43.518Z,1761543583.518 [DAT](INFO): DAT read: Bearing 307.3, -30.4 (Local) 2025-10-27T05:39:43.519Z,1761543583.519 [DAT](INFO): Local bearing/azimuth received: Bearing 307.3, -30.4 (Local) 2025-10-27T05:39:43.521Z,1761543583.521 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:43.525Z,1761543583.525 [DAT](INFO): DAT read: 05:39:42.2750 LVL= 32752, 18801, 21106, 32755, AGC= 58, IDX= 510,-0.29,-1.701, 0.488,-0.510,-0.350, PHS=-1.249, 0.883,-0.204, RAW= 300.6, 6.2, CAL= 298.2, 4.7, ROT= 211.8, -4.7 2025-10-27T05:39:43.527Z,1761543583.527 [DAT](INFO): got valid direction response: 05:39:42.2750 LVL= 32752, 18801, 21106, 32755, AGC= 58, IDX= 510,-0.29,-1.701, 0.488,-0.510,-0.350, PHS=-1.249, 0.883,-0.204, RAW= 300.6, 6.2, CAL= 298.2, 4.7, ROT= 211.8, -4.7 2025-10-27T05:39:43.527Z,1761543583.527 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:43.528Z,1761543583.528 [DAT](INFO): direction in FSK: [-0.847035,-0.525184,0.081939] 2025-10-27T05:39:43.528Z,1761543583.528 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:43.532Z,1761543583.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:43.532Z,1761543583.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:43.745Z,1761543583.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779948,0.623399,0.055269],[-0.625288,0.779931,0.026859],[-0.026362,-0.055508,0.998110]] 2025-10-27T05:39:43.768Z,1761543583.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:43.837Z,1761543583.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:43.843Z,1761543583.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898848 m, bearing: 172.915409 deg, lat: 36.779375 deg, lon: -121.859741 deg, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:43.844Z,1761543583.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:44.020Z,1761543584.020 [DAT](INFO): DAT read: Rx Time:05:39:42.7750 2025-10-27T05:39:44.021Z,1761543584.021 [DAT](INFO): Rx dataTimestamp_ set to:1761543584.020642 2025-10-27T05:39:44.022Z,1761543584.022 [DAT](INFO): DAT read: Bearing 306.8, -30.3 (Local) 2025-10-27T05:39:44.023Z,1761543584.023 [DAT](INFO): Local bearing/azimuth received: Bearing 306.8, -30.3 (Local) 2025-10-27T05:39:44.025Z,1761543584.025 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:44.029Z,1761543584.029 [DAT](INFO): DAT read: 05:39:42.7750 LVL= 32752, 19617, 20706, 32755, AGC= 59, IDX= 509,-0.24,-2.722,-0.544,-1.539,-1.372, PHS=-1.248, 0.873,-0.211, RAW= 300.7, 6.4, CAL= 298.3, 5.2, ROT= 211.7, -5.2 2025-10-27T05:39:44.030Z,1761543584.030 [DAT](INFO): got valid direction response: 05:39:42.7750 LVL= 32752, 19617, 20706, 32755, AGC= 59, IDX= 509,-0.24,-2.722,-0.544,-1.539,-1.372, PHS=-1.248, 0.873,-0.211, RAW= 300.7, 6.4, CAL= 298.3, 5.2, ROT= 211.7, -5.2 2025-10-27T05:39:44.031Z,1761543584.031 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:44.032Z,1761543584.032 [DAT](INFO): direction in FSK: [-0.847310,-0.523309,0.090633] 2025-10-27T05:39:44.032Z,1761543584.032 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:44.035Z,1761543584.035 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:44.036Z,1761543584.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:44.059Z,1761543584.059 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:39:44.118Z,1761543584.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779563,0.623885,0.055209],[-0.625769,0.779549,0.026761],[-0.026343,-0.055410,0.998116]] 2025-10-27T05:39:44.205Z,1761543584.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503903 s, deltaX: -0.100000 m, approachRate: -0.198452 m/s, rangeRepo size: 4 2025-10-27T05:39:44.211Z,1761543584.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.799259 m, bearing: 172.763047 deg, lat: 36.779376 deg, lon: -121.859741 deg, deltaT: 0.503903 s, deltaX: -0.099588 m, approachRate: -0.197634 m/s, posRepo size: 4 2025-10-27T05:39:44.212Z,1761543584.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:44.272Z,1761543584.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:44.523Z,1761543584.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778936,0.624661,0.055299],[-0.626556,0.778907,0.027023],[-0.026193,-0.055697,0.998104]] 2025-10-27T05:39:44.525Z,1761543584.525 [DAT](INFO): DAT read: Rx Time:05:39:43.2750 2025-10-27T05:39:44.525Z,1761543584.525 [DAT](INFO): Rx dataTimestamp_ set to:1761543584.524787 2025-10-27T05:39:44.526Z,1761543584.526 [DAT](INFO): DAT read: Bearing 306.7, -30.0 (Local) 2025-10-27T05:39:44.527Z,1761543584.527 [DAT](INFO): Local bearing/azimuth received: Bearing 306.7, -30.0 (Local) 2025-10-27T05:39:44.529Z,1761543584.529 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:44.533Z,1761543584.533 [DAT](INFO): DAT read: 05:39:43.2750 LVL= 32752, 20273, 20898, 32755, AGC= 59, IDX= 510,-0.15,-1.223, 0.961,-0.049, 0.127, PHS=-1.248, 0.878,-0.220, RAW= 301.1, 6.5, CAL= 298.7, 5.2, ROT= 211.3, -5.2 2025-10-27T05:39:44.535Z,1761543584.535 [DAT](INFO): got valid direction response: 05:39:43.2750 LVL= 32752, 20273, 20898, 32755, AGC= 59, IDX= 510,-0.15,-1.223, 0.961,-0.049, 0.127, PHS=-1.248, 0.878,-0.220, RAW= 301.1, 6.5, CAL= 298.7, 5.2, ROT= 211.3, -5.2 2025-10-27T05:39:44.536Z,1761543584.536 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:44.537Z,1761543584.537 [DAT](INFO): direction in FSK: [-0.850942,-0.517381,0.090633] 2025-10-27T05:39:44.537Z,1761543584.537 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:44.540Z,1761543584.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:44.541Z,1761543584.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:44.595Z,1761543584.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504145 s, deltaX: 0.100000 m, approachRate: 0.198356 m/s, rangeRepo size: 4 2025-10-27T05:39:44.597Z,1761543584.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898697 m, bearing: 172.300957 deg, lat: 36.779376 deg, lon: -121.859740 deg, deltaT: 0.504145 s, deltaX: 0.099438 m, approachRate: 0.197240 m/s, posRepo size: 4 2025-10-27T05:39:44.598Z,1761543584.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:44.776Z,1761543584.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:44.977Z,1761543584.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778530,0.625163,0.055348],[-0.627066,0.778491,0.027207],[-0.026079,-0.055888,0.998096]] 2025-10-27T05:39:45.020Z,1761543585.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:45.029Z,1761543585.029 [DAT](INFO): DAT read: Rx Time:05:39:43.7750 2025-10-27T05:39:45.029Z,1761543585.029 [DAT](INFO): Rx dataTimestamp_ set to:1761543585.028858 2025-10-27T05:39:45.030Z,1761543585.030 [DAT](INFO): DAT read: Bearing 306.8, -29.7 (Local) 2025-10-27T05:39:45.031Z,1761543585.031 [DAT](INFO): Local bearing/azimuth received: Bearing 306.8, -29.7 (Local) 2025-10-27T05:39:45.033Z,1761543585.033 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:45.038Z,1761543585.038 [DAT](INFO): DAT read: 05:39:43.7750 LVL= 32752, 17969, 20098, 32755, AGC= 59, IDX= 509,-0.06,-2.656,-0.478,-1.491,-1.313, PHS=-1.241, 0.880,-0.222, RAW= 301.3, 6.4, CAL= 298.9, 5.1, ROT= 211.1, -5.1 2025-10-27T05:39:45.047Z,1761543585.047 [DAT](INFO): got valid direction response: 05:39:43.7750 LVL= 32752, 17969, 20098, 32755, AGC= 59, IDX= 509,-0.06,-2.656,-0.478,-1.491,-1.313, PHS=-1.241, 0.880,-0.222, RAW= 301.3, 6.4, CAL= 298.9, 5.1, ROT= 211.1, -5.1 2025-10-27T05:39:45.047Z,1761543585.047 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:45.048Z,1761543585.048 [DAT](INFO): direction in FSK: [-0.852877,-0.514488,0.088894] 2025-10-27T05:39:45.048Z,1761543585.048 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:45.052Z,1761543585.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:45.053Z,1761543585.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:45.280Z,1761543585.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:45.332Z,1761543585.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778073,0.625754,0.055075],[-0.627645,0.778022,0.027292],[-0.025772,-0.055803,0.998109]] 2025-10-27T05:39:45.392Z,1761543585.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504071 s, deltaX: -0.100000 m, approachRate: -0.198386 m/s, rangeRepo size: 4 2025-10-27T05:39:45.394Z,1761543585.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.799353 m, bearing: 172.021452 deg, lat: 36.779376 deg, lon: -121.859740 deg, deltaT: 0.504071 s, deltaX: -0.099344 m, approachRate: -0.197084 m/s, posRepo size: 4 2025-10-27T05:39:45.399Z,1761543585.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:45.534Z,1761543585.534 [DAT](INFO): DAT read: Rx Time:05:39:44.2750 2025-10-27T05:39:45.535Z,1761543585.535 [DAT](INFO): Rx dataTimestamp_ set to:1761543585.534295 2025-10-27T05:39:45.536Z,1761543585.536 [DAT](INFO): DAT read: Bearing 305.5, -29.3 (Local) 2025-10-27T05:39:45.536Z,1761543585.536 [DAT](INFO): Local bearing/azimuth received: Bearing 305.5, -29.3 (Local) 2025-10-27T05:39:45.538Z,1761543585.538 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:45.544Z,1761543585.544 [DAT](INFO): DAT read: 05:39:44.2750 LVL= 32752, 19489, 21474, 32755, AGC= 59, IDX= 510, 0.04,-0.317, 1.861, 0.833, 1.037, PHS=-1.252, 0.869,-0.248, RAW= 301.8, 6.9, CAL= 299.3, 6.3, ROT= 210.7, -6.3 2025-10-27T05:39:45.548Z,1761543585.548 [DAT](INFO): got valid direction response: 05:39:44.2750 LVL= 32752, 19489, 21474, 32755, AGC= 59, IDX= 510, 0.04,-0.317, 1.861, 0.833, 1.037, PHS=-1.252, 0.869,-0.248, RAW= 301.8, 6.9, CAL= 299.3, 6.3, ROT= 210.7, -6.3 2025-10-27T05:39:45.549Z,1761543585.549 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:45.556Z,1761543585.556 [DAT](INFO): direction in FSK: [-0.854660,-0.507460,0.109734] 2025-10-27T05:39:45.556Z,1761543585.556 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:45.608Z,1761543585.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:45.608Z,1761543585.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:45.769Z,1761543585.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777696,0.626263,0.054621],[-0.628123,0.777642,0.027108],[-0.025498,-0.055390,0.998139]] 2025-10-27T05:39:45.785Z,1761543585.785 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:45.862Z,1761543585.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.505437 s, deltaX: 0.100000 m, approachRate: 0.197849 m/s, rangeRepo size: 4 2025-10-27T05:39:45.864Z,1761543585.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898790 m, bearing: 171.543129 deg, lat: 36.779377 deg, lon: -121.859737 deg, deltaT: 0.505437 s, deltaX: 0.099438 m, approachRate: 0.196736 m/s, posRepo size: 4 2025-10-27T05:39:45.865Z,1761543585.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:46.036Z,1761543586.036 [DAT](INFO): DAT read: Rx Time:05:39:44.7750 2025-10-27T05:39:46.037Z,1761543586.037 [DAT](INFO): Rx dataTimestamp_ set to:1761543586.036663 2025-10-27T05:39:46.038Z,1761543586.038 [DAT](INFO): DAT read: Bearing 306.6, -29.0 (Local) 2025-10-27T05:39:46.039Z,1761543586.039 [DAT](INFO): Local bearing/azimuth received: Bearing 306.6, -29.0 (Local) 2025-10-27T05:39:46.041Z,1761543586.041 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:46.045Z,1761543586.045 [DAT](INFO): DAT read: 05:39:44.7750 LVL= 32752, 19121, 20578, 32755, AGC= 59, IDX= 509, 0.15,-1.636, 0.536,-0.498,-0.304, PHS=-1.231, 0.884,-0.238, RAW= 302.0, 6.4, CAL= 299.6, 5.3, ROT= 210.4, -5.3 2025-10-27T05:39:46.046Z,1761543586.046 [DAT](INFO): got valid direction response: 05:39:44.7750 LVL= 32752, 19121, 20578, 32755, AGC= 59, IDX= 509, 0.15,-1.636, 0.536,-0.498,-0.304, PHS=-1.231, 0.884,-0.238, RAW= 302.0, 6.4, CAL= 299.6, 5.3, ROT= 210.4, -5.3 2025-10-27T05:39:46.047Z,1761543586.047 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:46.048Z,1761543586.048 [DAT](INFO): direction in FSK: [-0.858826,-0.503870,0.092371] 2025-10-27T05:39:46.048Z,1761543586.048 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:46.052Z,1761543586.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:46.052Z,1761543586.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:46.187Z,1761543586.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.502368 s, deltaX: -0.100000 m, approachRate: -0.199058 m/s, rangeRepo size: 4 2025-10-27T05:39:46.189Z,1761543586.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.799292 m, bearing: 171.276942 deg, lat: 36.779377 deg, lon: -121.859736 deg, deltaT: 0.502368 s, deltaX: -0.099499 m, approachRate: -0.198059 m/s, posRepo size: 4 2025-10-27T05:39:46.190Z,1761543586.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:46.289Z,1761543586.289 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:46.540Z,1761543586.540 [DAT](INFO): DAT read: Rx Time:05:39:45.2750 2025-10-27T05:39:46.541Z,1761543586.541 [DAT](INFO): Rx dataTimestamp_ set to:1761543586.540639 2025-10-27T05:39:46.542Z,1761543586.542 [DAT](INFO): DAT read: Bearing 305.3, -29.1 (Local) 2025-10-27T05:39:46.543Z,1761543586.543 [DAT](INFO): Local bearing/azimuth received: Bearing 305.3, -29.1 (Local) 2025-10-27T05:39:46.545Z,1761543586.545 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:46.549Z,1761543586.549 [DAT](INFO): DAT read: 05:39:45.2750 LVL= 32752, 18417, 19778, 32755, AGC= 59, IDX= 510, 0.26,-0.579, 1.591, 0.559, 0.768, PHS=-1.245, 0.868,-0.253, RAW= 302.0, 6.9, CAL= 299.6, 6.3, ROT= 210.4, -6.3 2025-10-27T05:39:46.550Z,1761543586.550 [DAT](INFO): got valid direction response: 05:39:45.2750 LVL= 32752, 18417, 19778, 32755, AGC= 59, IDX= 510, 0.26,-0.579, 1.591, 0.559, 0.768, PHS=-1.245, 0.868,-0.253, RAW= 302.0, 6.9, CAL= 299.6, 6.3, ROT= 210.4, -6.3 2025-10-27T05:39:46.551Z,1761543586.551 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:46.552Z,1761543586.552 [DAT](INFO): direction in FSK: [-0.857305,-0.502978,0.109734] 2025-10-27T05:39:46.552Z,1761543586.552 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:46.555Z,1761543586.555 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:46.556Z,1761543586.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:46.562Z,1761543586.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776711,0.627542,0.053953],[-0.629368,0.776632,0.027196],[-0.024835,-0.055079,0.998173]] 2025-10-27T05:39:46.618Z,1761543586.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503976 s, deltaX: 0.100000 m, approachRate: 0.198423 m/s, rangeRepo size: 4 2025-10-27T05:39:46.625Z,1761543586.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898729 m, bearing: 171.149221 deg, lat: 36.779377 deg, lon: -121.859734 deg, deltaT: 0.503976 s, deltaX: 0.099438 m, approachRate: 0.197306 m/s, posRepo size: 4 2025-10-27T05:39:46.626Z,1761543586.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:46.794Z,1761543586.794 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:46.981Z,1761543586.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776042,0.628372,0.053930],[-0.630208,0.775931,0.027722],[-0.024426,-0.055501,0.998160]] 2025-10-27T05:39:47.042Z,1761543587.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:47.045Z,1761543587.045 [DAT](INFO): DAT read: Rx Time:05:39:45.7750 2025-10-27T05:39:47.045Z,1761543587.045 [DAT](INFO): Rx dataTimestamp_ set to:1761543587.044797 2025-10-27T05:39:47.046Z,1761543587.046 [DAT](INFO): DAT read: Bearing 306.1, -28.9 (Local) 2025-10-27T05:39:47.047Z,1761543587.047 [DAT](INFO): Local bearing/azimuth received: Bearing 306.1, -28.9 (Local) 2025-10-27T05:39:47.049Z,1761543587.049 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:47.053Z,1761543587.053 [DAT](INFO): DAT read: 05:39:45.7750 LVL= 32752, 19201, 19506, 32755, AGC= 60, IDX= 509, 0.41,-1.850, 0.314,-0.719,-0.518, PHS=-1.230, 0.876,-0.245, RAW= 302.1, 6.6, CAL= 299.7, 5.7, ROT= 210.3, -5.7 2025-10-27T05:39:47.055Z,1761543587.055 [DAT](INFO): got valid direction response: 05:39:45.7750 LVL= 32752, 19201, 19506, 32755, AGC= 60, IDX= 509, 0.41,-1.850, 0.314,-0.719,-0.518, PHS=-1.230, 0.876,-0.245, RAW= 302.1, 6.6, CAL= 299.7, 5.7, ROT= 210.3, -5.7 2025-10-27T05:39:47.055Z,1761543587.055 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:47.056Z,1761543587.056 [DAT](INFO): direction in FSK: [-0.859126,-0.502033,0.099320] 2025-10-27T05:39:47.056Z,1761543587.056 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:47.072Z,1761543587.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:47.072Z,1761543587.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:47.297Z,1761543587.297 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:47.356Z,1761543587.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775444,0.629099,0.054045],[-0.630956,0.775301,0.028329],[-0.024079,-0.056067,0.998137]] 2025-10-27T05:39:47.380Z,1761543587.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504158 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:47.382Z,1761543587.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898760 m, bearing: 170.944514 deg, lat: 36.779377 deg, lon: -121.859733 deg, deltaT: 0.504158 s, deltaX: 0.000031 m, approachRate: 0.000061 m/s, posRepo size: 4 2025-10-27T05:39:47.399Z,1761543587.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:47.554Z,1761543587.554 [DAT](INFO): DAT read: Rx Time:05:39:46.2750 2025-10-27T05:39:47.555Z,1761543587.555 [DAT](INFO): Rx dataTimestamp_ set to:1761543587.554376 2025-10-27T05:39:47.556Z,1761543587.556 [DAT](INFO): DAT read: Bearing 305.9, -28.8 (Local) 2025-10-27T05:39:47.556Z,1761543587.556 [DAT](INFO): Local bearing/azimuth received: Bearing 305.9, -28.8 (Local) 2025-10-27T05:39:47.558Z,1761543587.558 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:47.568Z,1761543587.568 [DAT](INFO): DAT read: 05:39:46.2750 LVL= 32752, 19489, 19954, 32755, AGC= 60, IDX= 510,-0.41, 2.887,-1.240,-2.272,-2.066, PHS=-1.228, 0.871,-0.250, RAW= 302.3, 6.7, CAL= 299.8, 5.9, ROT= 210.2, -5.9 2025-10-27T05:39:47.569Z,1761543587.569 [DAT](INFO): got valid direction response: 05:39:46.2750 LVL= 32752, 19489, 19954, 32755, AGC= 60, IDX= 510,-0.41, 2.887,-1.240,-2.272,-2.066, PHS=-1.228, 0.871,-0.250, RAW= 302.3, 6.7, CAL= 299.8, 5.9, ROT= 210.2, -5.9 2025-10-27T05:39:47.569Z,1761543587.569 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:47.570Z,1761543587.570 [DAT](INFO): direction in FSK: [-0.859697,-0.500355,0.102793] 2025-10-27T05:39:47.570Z,1761543587.570 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:47.591Z,1761543587.591 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:47.591Z,1761543587.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:47.796Z,1761543587.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774921,0.629745,0.054025],[-0.631615,0.774744,0.028885],[-0.023666,-0.056507,0.998122]] 2025-10-27T05:39:47.800Z,1761543587.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:47.856Z,1761543587.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.509579 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:47.858Z,1761543587.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898760 m, bearing: 170.783781 deg, lat: 36.779377 deg, lon: -121.859732 deg, deltaT: 0.509579 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:39:47.858Z,1761543587.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:48.053Z,1761543588.053 [DAT](INFO): DAT read: Rx Time:05:39:46.7750 2025-10-27T05:39:48.053Z,1761543588.053 [DAT](INFO): Rx dataTimestamp_ set to:1761543588.052724 2025-10-27T05:39:48.054Z,1761543588.054 [DAT](INFO): DAT read: Bearing 305.2, -28.5 (Local) 2025-10-27T05:39:48.055Z,1761543588.055 [DAT](INFO): Local bearing/azimuth received: Bearing 305.2, -28.5 (Local) 2025-10-27T05:39:48.057Z,1761543588.057 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-27T05:39:48.061Z,1761543588.061 [DAT](INFO): DAT read: 05:39:46.7750 LVL= 32752, 18241, 19298, 32755, AGC= 59, IDX= 509,-0.27, 1.465,-2.665, 2.577, 2.799, PHS=-1.232, 0.865,-0.266, RAW= 302.6, 7.0, CAL= 300.1, 6.5, ROT= 209.9, -6.5 2025-10-27T05:39:48.062Z,1761543588.062 [DAT](INFO): got valid direction response: 05:39:46.7750 LVL= 32752, 18241, 19298, 32755, AGC= 59, IDX= 509,-0.27, 1.465,-2.665, 2.577, 2.799, PHS=-1.232, 0.865,-0.266, RAW= 302.6, 7.0, CAL= 300.1, 6.5, ROT= 209.9, -6.5 2025-10-27T05:39:48.063Z,1761543588.063 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:48.064Z,1761543588.064 [DAT](INFO): direction in FSK: [-0.861324,-0.495283,0.113203] 2025-10-27T05:39:48.064Z,1761543588.064 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:48.068Z,1761543588.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:48.068Z,1761543588.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:48.170Z,1761543588.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774791,0.629924,0.053793],[-0.631783,0.774603,0.028975],[-0.023416,-0.056435,0.998132]] 2025-10-27T05:39:48.223Z,1761543588.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.498348 s, deltaX: -0.100000 m, approachRate: -0.200664 m/s, rangeRepo size: 4 2025-10-27T05:39:48.225Z,1761543588.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.799227 m, bearing: 170.446383 deg, lat: 36.779377 deg, lon: -121.859731 deg, deltaT: 0.498348 s, deltaX: -0.099533 m, approachRate: -0.199726 m/s, posRepo size: 4 2025-10-27T05:39:48.226Z,1761543588.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-27T05:39:48.305Z,1761543588.305 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:48.557Z,1761543588.557 [DAT](INFO): DAT read: Rx Time:05:39:47.2751 2025-10-27T05:39:48.557Z,1761543588.557 [DAT](INFO): Rx dataTimestamp_ set to:1761543588.556805 2025-10-27T05:39:48.558Z,1761543588.558 [DAT](INFO): DAT read: Bearing 305.1, -28.6 (Local) 2025-10-27T05:39:48.559Z,1761543588.559 [DAT](INFO): Local bearing/azimuth received: Bearing 305.1, -28.6 (Local) 2025-10-27T05:39:48.561Z,1761543588.561 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:48.566Z,1761543588.566 [DAT](INFO): DAT read: 05:39:47.2751 LVL= 32752, 21265, 21090, 32755, AGC= 60, IDX= 511,-0.20,-2.124, 0.035,-1.007,-0.786, PHS=-1.236, 0.866,-0.265, RAW= 302.5, 7.0, CAL= 300.1, 6.5, ROT= 209.9, -6.5 2025-10-27T05:39:48.567Z,1761543588.567 [DAT](INFO): got valid direction response: 05:39:47.2751 LVL= 32752, 21265, 21090, 32755, AGC= 60, IDX= 511,-0.20,-2.124, 0.035,-1.007,-0.786, PHS=-1.236, 0.866,-0.265, RAW= 302.5, 7.0, CAL= 300.1, 6.5, ROT= 209.9, -6.5 2025-10-27T05:39:48.567Z,1761543588.567 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:48.568Z,1761543588.568 [DAT](INFO): direction in FSK: [-0.861324,-0.495283,0.113203] 2025-10-27T05:39:48.568Z,1761543588.568 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:48.578Z,1761543588.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774873,0.629871,0.053239],[-0.631692,0.774689,0.028678],[-0.023180,-0.055853,0.998170]] 2025-10-27T05:39:48.580Z,1761543588.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:48.580Z,1761543588.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:48.645Z,1761543588.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504081 s, deltaX: 0.300001 m, approachRate: 0.595145 m/s, rangeRepo size: 4 2025-10-27T05:39:48.656Z,1761543588.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.097538 m, bearing: 170.456247 deg, lat: 36.779377 deg, lon: -121.859730 deg, deltaT: 0.504081 s, deltaX: 0.298311 m, approachRate: 0.591792 m/s, posRepo size: 4 2025-10-27T05:39:48.656Z,1761543588.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:48.809Z,1761543588.809 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:49.035Z,1761543589.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:49.061Z,1761543589.061 [DAT](INFO): DAT read: Rx Time:05:39:47.7750 2025-10-27T05:39:49.061Z,1761543589.061 [DAT](INFO): Rx dataTimestamp_ set to:1761543589.060745 2025-10-27T05:39:49.062Z,1761543589.062 [DAT](INFO): DAT read: Bearing 304.8, -28.4 (Local) 2025-10-27T05:39:49.063Z,1761543589.063 [DAT](INFO): Local bearing/azimuth received: Bearing 304.8, -28.4 (Local) 2025-10-27T05:39:49.065Z,1761543589.065 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:49.069Z,1761543589.069 [DAT](INFO): DAT read: 05:39:47.7750 LVL= 32752, 18161, 20722, 32755, AGC= 59, IDX= 510,-0.13,-3.099,-0.957,-1.997,-1.770, PHS=-1.227, 0.858,-0.272, RAW= 302.8, 7.2, CAL= 300.3, 6.8, ROT= 209.7, -6.8 2025-10-27T05:39:49.071Z,1761543589.071 [DAT](INFO): got valid direction response: 05:39:47.7750 LVL= 32752, 18161, 20722, 32755, AGC= 59, IDX= 510,-0.13,-3.099,-0.957,-1.997,-1.770, PHS=-1.227, 0.858,-0.272, RAW= 302.8, 7.2, CAL= 300.3, 6.8, ROT= 209.7, -6.8 2025-10-27T05:39:49.071Z,1761543589.071 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:49.072Z,1761543589.072 [DAT](INFO): direction in FSK: [-0.862521,-0.491973,0.118404] 2025-10-27T05:39:49.072Z,1761543589.072 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:49.080Z,1761543589.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:49.080Z,1761543589.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:49.312Z,1761543589.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:49.377Z,1761543589.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775074,0.629701,0.052317],[-0.631455,0.774905,0.028033],[-0.022888,-0.054764,0.998237]] 2025-10-27T05:39:49.408Z,1761543589.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503940 s, deltaX: -0.200001 m, approachRate: -0.396874 m/s, rangeRepo size: 4 2025-10-27T05:39:49.417Z,1761543589.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898916 m, bearing: 170.267777 deg, lat: 36.779377 deg, lon: -121.859729 deg, deltaT: 0.503940 s, deltaX: -0.198622 m, approachRate: -0.394138 m/s, posRepo size: 4 2025-10-27T05:39:49.435Z,1761543589.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:49.565Z,1761543589.565 [DAT](INFO): DAT read: Rx Time:05:39:48.2751 2025-10-27T05:39:49.565Z,1761543589.565 [DAT](INFO): Rx dataTimestamp_ set to:1761543589.564888 2025-10-27T05:39:49.566Z,1761543589.566 [DAT](INFO): DAT read: Bearing 304.6, -28.3 (Local) 2025-10-27T05:39:49.567Z,1761543589.567 [DAT](INFO): Local bearing/azimuth received: Bearing 304.6, -28.3 (Local) 2025-10-27T05:39:49.569Z,1761543589.569 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-27T05:39:49.574Z,1761543589.574 [DAT](INFO): DAT read: 05:39:48.2751 LVL= 32752, 18161, 19570, 32755, AGC= 58, IDX= 511,-0.11,-1.919, 0.228,-0.817,-0.585, PHS=-1.232, 0.858,-0.277, RAW= 302.8, 7.2, CAL= 300.4, 7.0, ROT= 209.6, -7.0 2025-10-27T05:39:49.575Z,1761543589.575 [DAT](INFO): got valid direction response: 05:39:48.2751 LVL= 32752, 18161, 19570, 32755, AGC= 58, IDX= 511,-0.11,-1.919, 0.228,-0.817,-0.585, PHS=-1.232, 0.858,-0.277, RAW= 302.8, 7.2, CAL= 300.4, 7.0, ROT= 209.6, -7.0 2025-10-27T05:39:49.575Z,1761543589.575 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:49.576Z,1761543589.576 [DAT](INFO): direction in FSK: [-0.863014,-0.490260,0.121869] 2025-10-27T05:39:49.577Z,1761543589.577 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:49.580Z,1761543589.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:49.580Z,1761543589.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:49.818Z,1761543589.818 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:49.830Z,1761543589.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775255,0.629481,0.052271],[-0.631235,0.775083,0.028088],[-0.022834,-0.054771,0.998238]] 2025-10-27T05:39:49.884Z,1761543589.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504143 s, deltaX: 0.200001 m, approachRate: 0.396714 m/s, rangeRepo size: 4 2025-10-27T05:39:49.886Z,1761543589.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.097795 m, bearing: 170.175740 deg, lat: 36.779377 deg, lon: -121.859728 deg, deltaT: 0.504143 s, deltaX: 0.198879 m, approachRate: 0.394490 m/s, posRepo size: 4 2025-10-27T05:39:49.886Z,1761543589.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-27T05:39:50.068Z,1761543590.068 [DAT](INFO): DAT read: Rx Time:05:39:48.7750 2025-10-27T05:39:50.069Z,1761543590.069 [DAT](INFO): Rx dataTimestamp_ set to:1761543590.068675 2025-10-27T05:39:50.070Z,1761543590.070 [DAT](INFO): DAT read: Bearing 304.1, -28.1 (Local) 2025-10-27T05:39:50.071Z,1761543590.071 [DAT](INFO): Local bearing/azimuth received: Bearing 304.1, -28.1 (Local) 2025-10-27T05:39:50.073Z,1761543590.073 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-27T05:39:50.077Z,1761543590.077 [DAT](INFO): DAT read: 05:39:48.7750 LVL= 32752, 19169, 20130, 32755, AGC= 57, IDX= 510,-0.13,-1.989, 0.153,-0.895,-0.651, PHS=-1.236, 0.850,-0.288, RAW= 303.0, 7.5, CAL= 300.6, 7.5, ROT= 209.4, -7.5 2025-10-27T05:39:50.078Z,1761543590.078 [DAT](INFO): got valid direction response: 05:39:48.7750 LVL= 32752, 19169, 20130, 32755, AGC= 57, IDX= 510,-0.13,-1.989, 0.153,-0.895,-0.651, PHS=-1.236, 0.850,-0.288, RAW= 303.0, 7.5, CAL= 300.6, 7.5, ROT= 209.4, -7.5 2025-10-27T05:39:50.079Z,1761543590.079 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:50.081Z,1761543590.081 [DAT](INFO): direction in FSK: [-0.863761,-0.486704,0.130526] 2025-10-27T05:39:50.081Z,1761543590.081 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:50.110Z,1761543590.110 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:50.110Z,1761543590.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:39:50.178Z,1761543590.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775445,0.629234,0.052429],[-0.631003,0.775263,0.028348],[-0.022809,-0.055065,0.998222]] 2025-10-27T05:39:50.218Z,1761543590.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503787 s, deltaX: -0.200001 m, approachRate: -0.396995 m/s, rangeRepo size: 4 2025-10-27T05:39:50.225Z,1761543590.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898884 m, bearing: 169.970489 deg, lat: 36.779378 deg, lon: -121.859727 deg, deltaT: 0.503787 s, deltaX: -0.198912 m, approachRate: -0.394833 m/s, posRepo size: 4 2025-10-27T05:39:50.225Z,1761543590.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:50.320Z,1761543590.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:39:50.572Z,1761543590.572 [DAT](INFO): DAT read: user:491> 2025-10-27T05:39:50.572Z,1761543590.572 [DAT](INFO): DAT read: 0 2025-10-27T05:39:50.573Z,1761543590.573 [DAT](INFO): unknown deviceResponse_: 0 2025-10-27T05:39:50.573Z,1761543590.573 [DAT](INFO): DAT read: Ok 2025-10-27T05:39:50.573Z,1761543590.573 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T05:39:50.573Z,1761543590.573 [DAT](INFO): DAT read: user:492> 2025-10-27T05:39:50.574Z,1761543590.574 [DAT](INFO): DAT read: Tx time:05:39:49.6723 2025-10-27T05:39:50.574Z,1761543590.574 [DAT](INFO): Ping request sent. 2025-10-27T05:39:50.575Z,1761543590.575 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:39:50.575Z,1761543590.575 [DAT](INFO): publishing transmit ping time 2025-10-27T05:39:50.575Z,1761543590.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000873 2025-10-27T05:39:50.586Z,1761543590.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775793,0.628770,0.052844],[-0.630569,0.775603,0.028678],[-0.022954,-0.055571,0.998191]] 2025-10-27T05:39:50.606Z,1761543590.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:50.838Z,1761543590.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251615 2025-10-27T05:39:50.990Z,1761543590.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776385,0.628015,0.053132],[-0.629832,0.776199,0.028753],[-0.023184,-0.055788,0.998173]] 2025-10-27T05:39:51.050Z,1761543591.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:51.076Z,1761543591.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501435 2025-10-27T05:39:51.328Z,1761543591.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753284 2025-10-27T05:39:51.389Z,1761543591.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777010,0.627254,0.052998],[-0.629061,0.776829,0.028629],[-0.023212,-0.055584,0.998184]] 2025-10-27T05:39:51.417Z,1761543591.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:51.580Z,1761543591.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005293 2025-10-27T05:39:51.826Z,1761543591.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777983,0.626067,0.052753],[-0.627849,0.777827,0.028130],[-0.023421,-0.055005,0.998211]] 2025-10-27T05:39:51.835Z,1761543591.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259549 2025-10-27T05:39:51.906Z,1761543591.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:52.084Z,1761543592.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509308 2025-10-27T05:39:52.198Z,1761543592.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778846,0.625006,0.052602],[-0.626771,0.778708,0.027777],[-0.023601,-0.054604,0.998229]] 2025-10-27T05:39:52.217Z,1761543592.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:52.336Z,1761543592.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761352 2025-10-27T05:39:52.588Z,1761543592.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013318 2025-10-27T05:39:52.609Z,1761543592.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779573,0.624096,0.052626],[-0.625862,0.779441,0.027732],[-0.023712,-0.054556,0.998229]] 2025-10-27T05:39:52.628Z,1761543592.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:52.851Z,1761543592.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267562 2025-10-27T05:39:53.005Z,1761543593.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780245,0.623238,0.052833],[-0.625019,0.780111,0.027897],[-0.023829,-0.054789,0.998214]] 2025-10-27T05:39:53.057Z,1761543593.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:53.092Z,1761543593.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517370 2025-10-27T05:39:53.344Z,1761543593.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769345 2025-10-27T05:39:53.414Z,1761543593.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780744,0.622586,0.053162],[-0.624394,0.780599,0.028247],[-0.023912,-0.055248,0.998186]] 2025-10-27T05:39:53.432Z,1761543593.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:53.596Z,1761543593.596 [DAT](INFO): DAT read: Rx Time:05:39:52.1004 2025-10-27T05:39:53.596Z,1761543593.596 [DAT](INFO): Rx dataTimestamp_ set to:1761543593.596137 2025-10-27T05:39:53.597Z,1761543593.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022379 2025-10-27T05:39:53.818Z,1761543593.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781155,0.622052,0.053359],[-0.623878,0.781000,0.028542],[-0.023918,-0.055585,0.998167]] 2025-10-27T05:39:53.862Z,1761543593.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286734 2025-10-27T05:39:53.924Z,1761543593.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:54.113Z,1761543594.113 [DAT](INFO): DAT read: 05:39:52.1004 LVL= 32752, 20209, 19474, 32755, AGC= 58, IDX= 482,-0.09, 1.634,-2.526, 2.664, 2.973, PHS=-1.237, 0.830,-0.353, RAW= 304.8, 8.5, CAL= 302.4, 9.5, ROT= 207.6, -9.5 2025-10-27T05:39:54.115Z,1761543594.115 [DAT](INFO): got valid direction response: 05:39:52.1004 LVL= 32752, 20209, 19474, 32755, AGC= 58, IDX= 482,-0.09, 1.634,-2.526, 2.664, 2.973, PHS=-1.237, 0.830,-0.353, RAW= 304.8, 8.5, CAL= 302.4, 9.5, ROT= 207.6, -9.5 2025-10-27T05:39:54.116Z,1761543594.116 [DAT](INFO): DAT read: Bearing 302.2, -26.6 (Local) 2025-10-27T05:39:54.116Z,1761543594.116 [DAT](INFO): Local bearing/azimuth received: Bearing 302.2, -26.6 (Local) 2025-10-27T05:39:54.117Z,1761543594.117 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (Round-trip 24.0 ms) speed 0.0 m/s 2025-10-27T05:39:54.118Z,1761543594.118 [DAT](INFO): DAT read: user:493> 2025-10-27T05:39:54.119Z,1761543594.119 [DAT](INFO): DAT read: Tx time:05:39:53.2223 2025-10-27T05:39:54.119Z,1761543594.119 [DAT](INFO): Ping request sent. 2025-10-27T05:39:54.119Z,1761543594.119 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:39:54.120Z,1761543594.120 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:39:54.121Z,1761543594.121 [DAT](INFO): direction in FSK: [-0.874050,-0.456942,0.165048] 2025-10-27T05:39:54.121Z,1761543594.121 [DAT](INFO): publishing transmit ping time 2025-10-27T05:39:54.121Z,1761543594.121 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:54.124Z,1761543594.124 [DAT](INFO): publishing transmit ping time 2025-10-27T05:39:54.125Z,1761543594.125 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:54.376Z,1761543594.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782101,0.620901,0.052919],[-0.622700,0.781944,0.028425],[-0.023730,-0.055184,0.998194]] 2025-10-27T05:39:54.455Z,1761543594.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 4.038635 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:39:54.457Z,1761543594.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.898800 m, bearing: 168.693293 deg, lat: 36.779378 deg, lon: -121.859726 deg, deltaT: 4.038635 s, deltaX: -0.000084 m, approachRate: -0.000021 m/s, posRepo size: 4 2025-10-27T05:39:54.458Z,1761543594.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:54.781Z,1761543594.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782114,0.620907,0.052646],[-0.622695,0.781943,0.028577],[-0.023423,-0.055133,0.998204]] 2025-10-27T05:39:54.808Z,1761543594.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:55.174Z,1761543595.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782046,0.621006,0.052487],[-0.622789,0.781862,0.028740],[-0.023190,-0.055164,0.998208]] 2025-10-27T05:39:55.218Z,1761543595.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:55.576Z,1761543595.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781846,0.621290,0.052103],[-0.623055,0.781643,0.028914],[-0.022762,-0.055069,0.998223]] 2025-10-27T05:39:55.600Z,1761543595.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:55.981Z,1761543595.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781459,0.621806,0.051750],[-0.623558,0.781231,0.029208],[-0.022267,-0.055094,0.998233]] 2025-10-27T05:39:56.031Z,1761543596.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:56.386Z,1761543596.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780752,0.622728,0.051342],[-0.624469,0.780483,0.029734],[-0.021556,-0.055276,0.998238]] 2025-10-27T05:39:56.422Z,1761543596.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:56.796Z,1761543596.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780226,0.623417,0.050978],[-0.625146,0.779927,0.030124],[-0.020979,-0.055372,0.998245]] 2025-10-27T05:39:56.815Z,1761543596.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:57.132Z,1761543597.132 [DAT](INFO): DAT read: Rx Time:05:39:55.6502 2025-10-27T05:39:57.132Z,1761543597.132 [DAT](INFO): Rx dataTimestamp_ set to:1761543597.132195 2025-10-27T05:39:57.251Z,1761543597.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:57.628Z,1761543597.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-27T05:39:57.642Z,1761543597.642 [DAT](INFO): DAT read: 05:39:55.6502 LVL= 28656, 17393, 18466, 32755, AGC= 57, IDX= 432,-0.08, 0.175, 2.308, 1.240, 1.555, PHS=-1.278, 0.799,-0.359, RAW= 303.8, 9.3, CAL= 301.4, 11.1, ROT= 208.6, -11.1 2025-10-27T05:39:57.643Z,1761543597.643 [DAT](INFO): got valid direction response: 05:39:55.6502 LVL= 28656, 17393, 18466, 32755, AGC= 57, IDX= 432,-0.08, 0.175, 2.308, 1.240, 1.555, PHS=-1.278, 0.799,-0.359, RAW= 303.8, 9.3, CAL= 301.4, 11.1, ROT= 208.6, -11.1 2025-10-27T05:39:57.644Z,1761543597.644 [DAT](INFO): DAT read: Bearing 300.2, -27.7 (Local) 2025-10-27T05:39:57.644Z,1761543597.644 [DAT](INFO): Local bearing/azimuth received: Bearing 300.2, -27.7 (Local) 2025-10-27T05:39:57.646Z,1761543597.646 [DAT](INFO): DAT read: Range 11 to 50 : 17.8 m (Round-trip 23.8 ms) speed 0.0 m/s 2025-10-27T05:39:57.646Z,1761543597.646 [DAT](INFO): DAT read: user:494> 2025-10-27T05:39:57.667Z,1761543597.667 [DAT](INFO): DAT read: Tx time:05:39:56.7723 2025-10-27T05:39:57.668Z,1761543597.668 [DAT](INFO): Ping request sent. 2025-10-27T05:39:57.668Z,1761543597.668 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:39:57.668Z,1761543597.668 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:39:57.669Z,1761543597.669 [DAT](INFO): direction in FSK: [-0.861558,-0.469737,0.192522] 2025-10-27T05:39:57.669Z,1761543597.669 [DAT](INFO): publishing transmit ping time 2025-10-27T05:39:57.670Z,1761543597.670 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:57.673Z,1761543597.673 [DAT](INFO): publishing transmit ping time 2025-10-27T05:39:57.673Z,1761543597.673 [DAT](INFO): publishing direction and range info 2025-10-27T05:39:58.003Z,1761543598.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778271,0.625950,0.049814],[-0.627629,0.777900,0.030891],[-0.019414,-0.055306,0.998281]] 2025-10-27T05:39:58.074Z,1761543598.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.799999 m, deltaT: 3.528174 s, deltaX: -0.200001 m, approachRate: -0.056687 m/s, rangeRepo size: 4 2025-10-27T05:39:58.081Z,1761543598.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.699148 m, bearing: 169.251656 deg, lat: 36.779378 deg, lon: -121.859725 deg, deltaT: 3.528174 s, deltaX: -0.199652 m, approachRate: -0.056588 m/s, posRepo size: 4 2025-10-27T05:39:58.081Z,1761543598.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:39:58.407Z,1761543598.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777930,0.626421,0.049219],[-0.628062,0.777559,0.030656],[-0.019067,-0.054760,0.998317]] 2025-10-27T05:39:58.442Z,1761543598.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:39:58.810Z,1761543598.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777449,0.627055,0.048736],[-0.628668,0.777072,0.030576],[-0.018699,-0.054410,0.998344]] 2025-10-27T05:39:58.836Z,1761543598.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:39:59.215Z,1761543599.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777062,0.627542,0.048640],[-0.629152,0.776677,0.030668],[-0.018533,-0.054433,0.998345]] 2025-10-27T05:39:59.280Z,1761543599.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:39:59.618Z,1761543599.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776478,0.628246,0.048869],[-0.629876,0.776072,0.031114],[-0.018378,-0.054941,0.998320]] 2025-10-27T05:39:59.642Z,1761543599.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:00.022Z,1761543600.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776226,0.628530,0.049225],[-0.630185,0.775808,0.031428],[-0.018436,-0.055417,0.998293]] 2025-10-27T05:40:00.074Z,1761543600.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:00.434Z,1761543600.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776416,0.628285,0.049360],[-0.629944,0.776012,0.031245],[-0.018673,-0.055353,0.998292]] 2025-10-27T05:40:00.453Z,1761543600.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:00.661Z,1761543600.661 [DAT](INFO): DAT read: Rx Time:05:39:59.2002 2025-10-27T05:40:00.661Z,1761543600.661 [DAT](INFO): Rx dataTimestamp_ set to:1761543600.660951 2025-10-27T05:40:00.864Z,1761543600.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:01.172Z,1761543601.172 [DAT](INFO): DAT read: 05:39:59.2002 LVL= 29552, 19265, 19298, 32755, AGC= 57, IDX= 448,-0.39,-1.651, 0.508,-0.525,-0.248, PHS=-1.301, 0.801,-0.321, RAW= 302.2, 9.1, CAL= 299.7, 10.6, ROT= 210.3, -10.6 2025-10-27T05:40:01.174Z,1761543601.174 [DAT](INFO): got valid direction response: 05:39:59.2002 LVL= 29552, 19265, 19298, 32755, AGC= 57, IDX= 448,-0.39,-1.651, 0.508,-0.525,-0.248, PHS=-1.301, 0.801,-0.321, RAW= 302.2, 9.1, CAL= 299.7, 10.6, ROT= 210.3, -10.6 2025-10-27T05:40:01.174Z,1761543601.174 [DAT](INFO): DAT read: Bearing 300.6, -29.1 (Local) 2025-10-27T05:40:01.175Z,1761543601.175 [DAT](INFO): Local bearing/azimuth received: Bearing 300.6, -29.1 (Local) 2025-10-27T05:40:01.176Z,1761543601.176 [DAT](INFO): DAT read: Range 11 to 50 : 17.8 m (Round-trip 23.8 ms) speed 0.0 m/s 2025-10-27T05:40:01.177Z,1761543601.177 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:40:01.178Z,1761543601.178 [DAT](INFO): direction in FSK: [-0.848662,-0.495918,0.183951] 2025-10-27T05:40:01.178Z,1761543601.178 [DAT](INFO): publishing direction and range info 2025-10-27T05:40:01.246Z,1761543601.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776932,0.627639,0.049457],[-0.629289,0.776574,0.030455],[-0.019292,-0.054784,0.998312]] 2025-10-27T05:40:01.370Z,1761543601.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.799999 m, deltaT: 3.530248 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:40:01.377Z,1761543601.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.698675 m, bearing: 170.869254 deg, lat: 36.779379 deg, lon: -121.859715 deg, deltaT: 3.530248 s, deltaX: -0.000473 m, approachRate: -0.000134 m/s, posRepo size: 4 2025-10-27T05:40:01.377Z,1761543601.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:01.636Z,1761543601.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777413,0.627040,0.049492],[-0.628680,0.777093,0.029810],[-0.019768,-0.054289,0.998330]] 2025-10-27T05:40:01.675Z,1761543601.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:02.042Z,1761543602.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777750,0.626594,0.049850],[-0.628244,0.777461,0.029385],[-0.020344,-0.054173,0.998324]] 2025-10-27T05:40:02.101Z,1761543602.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:02.449Z,1761543602.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778207,0.625970,0.050545],[-0.627652,0.777953,0.029041],[-0.021143,-0.054324,0.998300]] 2025-10-27T05:40:02.468Z,1761543602.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:02.880Z,1761543602.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:03.311Z,1761543603.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:03.655Z,1761543603.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779347,0.624406,0.052307],[-0.626164,0.779183,0.028150],[-0.023180,-0.054692,0.998234]] 2025-10-27T05:40:03.674Z,1761543603.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:04.057Z,1761543604.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779742,0.623883,0.052645],[-0.625646,0.779621,0.027553],[-0.023853,-0.054422,0.998233]] 2025-10-27T05:40:04.110Z,1761543604.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:04.461Z,1761543604.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779998,0.623543,0.052898],[-0.625306,0.779912,0.027011],[-0.024413,-0.054146,0.998235]] 2025-10-27T05:40:04.480Z,1761543604.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:04.866Z,1761543604.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780057,0.623437,0.053267],[-0.625213,0.779998,0.026704],[-0.024900,-0.054134,0.998223]] 2025-10-27T05:40:04.885Z,1761543604.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:05.282Z,1761543605.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780000,0.623456,0.053877],[-0.625263,0.779960,0.026607],[-0.025434,-0.054441,0.998193]] 2025-10-27T05:40:05.332Z,1761543605.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:05.673Z,1761543605.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780146,0.623234,0.054326],[-0.625058,0.780135,0.026318],[-0.025979,-0.054489,0.998176]] 2025-10-27T05:40:05.707Z,1761543605.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:06.083Z,1761543606.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780032,0.623344,0.054707],[-0.625185,0.780037,0.026188],[-0.026349,-0.054629,0.998159]] 2025-10-27T05:40:06.126Z,1761543606.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:06.482Z,1761543606.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779827,0.623583,0.054900],[-0.625430,0.779847,0.025991],[-0.026606,-0.054605,0.998154]] 2025-10-27T05:40:06.508Z,1761543606.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:06.887Z,1761543606.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779713,0.623711,0.055061],[-0.625558,0.779755,0.025681],[-0.026917,-0.054467,0.998153]] 2025-10-27T05:40:06.906Z,1761543606.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:07.342Z,1761543607.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:07.693Z,1761543607.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778971,0.624601,0.055478],[-0.626470,0.779022,0.025681],[-0.027179,-0.054760,0.998130]] 2025-10-27T05:40:07.742Z,1761543607.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:08.106Z,1761543608.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778619,0.625033,0.055563],[-0.626907,0.778671,0.025677],[-0.027216,-0.054826,0.998125]] 2025-10-27T05:40:08.157Z,1761543608.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:08.509Z,1761543608.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778145,0.625612,0.055672],[-0.627494,0.778195,0.025744],[-0.027218,-0.054967,0.998117]] 2025-10-27T05:40:08.528Z,1761543608.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:08.939Z,1761543608.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:09.309Z,1761543609.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777543,0.626360,0.055677],[-0.628236,0.777604,0.025517],[-0.027312,-0.054819,0.998123]] 2025-10-27T05:40:09.353Z,1761543609.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:09.720Z,1761543609.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777487,0.626447,0.055474],[-0.628300,0.777566,0.025079],[-0.027424,-0.054354,0.998145]] 2025-10-27T05:40:09.770Z,1761543609.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:10.135Z,1761543610.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777286,0.626693,0.055524],[-0.628542,0.777379,0.024834],[-0.027600,-0.054202,0.998148]] 2025-10-27T05:40:10.189Z,1761543610.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:10.522Z,1761543610.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777120,0.626888,0.055642],[-0.628739,0.777225,0.024657],[-0.027789,-0.054146,0.998146]] 2025-10-27T05:40:10.555Z,1761543610.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:10.925Z,1761543610.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777015,0.627003,0.055815],[-0.628860,0.777130,0.024570],[-0.027970,-0.054191,0.998139]] 2025-10-27T05:40:10.942Z,1761543610.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:40:10.961Z,1761543610.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:10.992Z,1761543610.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:40:10.992Z,1761543610.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:40:11.245Z,1761543611.245 [DAT](INFO): DAT read: user:495> 2025-10-27T05:40:11.246Z,1761543611.246 [DAT](INFO): DAT read: Tx time:05:40:10.2723 2025-10-27T05:40:11.248Z,1761543611.248 [DAT](INFO): Ping request sent. 2025-10-27T05:40:11.248Z,1761543611.248 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:40:11.248Z,1761543611.248 [DAT](INFO): publishing transmit ping time 2025-10-27T05:40:11.249Z,1761543611.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001095 2025-10-27T05:40:11.329Z,1761543611.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777023,0.626968,0.056091],[-0.628839,0.777149,0.024515],[-0.028221,-0.054321,0.998125]] 2025-10-27T05:40:11.386Z,1761543611.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:11.496Z,1761543611.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248229 2025-10-27T05:40:11.749Z,1761543611.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500772 2025-10-27T05:40:11.769Z,1761543611.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777043,0.626914,0.056408],[-0.628801,0.777181,0.024465],[-0.028502,-0.054480,0.998108]] 2025-10-27T05:40:11.830Z,1761543611.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:11.000Z,1761543612.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752103 2025-10-27T05:40:12.186Z,1761543612.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777185,0.626701,0.056827],[-0.628606,0.777345,0.024293],[-0.028950,-0.054602,0.998088]] 2025-10-27T05:40:12.230Z,1761543612.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:12.253Z,1761543612.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005133 2025-10-27T05:40:12.504Z,1761543612.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256167 2025-10-27T05:40:12.542Z,1761543612.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777476,0.626339,0.056834],[-0.628233,0.777658,0.023909],[-0.029222,-0.054294,0.998097]] 2025-10-27T05:40:12.585Z,1761543612.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:12.757Z,1761543612.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508511 2025-10-27T05:40:12.946Z,1761543612.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777628,0.626118,0.057194],[-0.628027,0.777830,0.023724],[-0.029633,-0.054368,0.998081]] 2025-10-27T05:40:12.965Z,1761543612.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:13.008Z,1761543613.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760292 2025-10-27T05:40:13.261Z,1761543613.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013117 2025-10-27T05:40:13.351Z,1761543613.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777907,0.625746,0.057474],[-0.627663,0.778131,0.023505],[-0.030014,-0.054359,0.998070]] 2025-10-27T05:40:13.388Z,1761543613.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:13.512Z,1761543613.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264176 2025-10-27T05:40:13.765Z,1761543613.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516574 2025-10-27T05:40:13.769Z,1761543613.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778219,0.625331,0.057766],[-0.627260,0.778459,0.023379],[-0.030348,-0.054428,0.998056]] 2025-10-27T05:40:13.789Z,1761543613.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:14.016Z,1761543614.016 [DAT](INFO): DAT read: Rx Time:05:40:12.6997 2025-10-27T05:40:14.016Z,1761543614.016 [DAT](INFO): Rx dataTimestamp_ set to:1761543614.016180 2025-10-27T05:40:14.017Z,1761543614.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769219 2025-10-27T05:40:14.177Z,1761543614.177 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:40:14.188Z,1761543614.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778435,0.625039,0.058012],[-0.626977,0.778691,0.023257],[-0.030637,-0.054476,0.998045]] 2025-10-27T05:40:14.236Z,1761543614.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:14.268Z,1761543614.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020213 2025-10-27T05:40:14.523Z,1761543614.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274655 2025-10-27T05:40:14.589Z,1761543614.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778576,0.624838,0.058294],[-0.626791,0.778841,0.023243],[-0.030878,-0.054635,0.998029]] 2025-10-27T05:40:14.621Z,1761543614.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.70 m. 2025-10-27T05:40:14.782Z,1761543614.782 [DAT](INFO): DAT read: 05:40:12.6997 LVL= 30992, 18897, 17682, 32755, AGC= 54, IDX= 442,-0.12,-3.014,-0.935,-1.891,-1.603, PHS=-1.309, 0.714,-0.332, RAW= 301.1, 10.6, CAL= 298.6, 13.8, ROT= 211.4, -13.8 2025-10-27T05:40:14.783Z,1761543614.783 [DAT](INFO): got valid direction response: 05:40:12.6997 LVL= 30992, 18897, 17682, 32755, AGC= 54, IDX= 442,-0.12,-3.014,-0.935,-1.891,-1.603, PHS=-1.309, 0.714,-0.332, RAW= 301.1, 10.6, CAL= 298.6, 13.8, ROT= 211.4, -13.8 2025-10-27T05:40:14.784Z,1761543614.784 [DAT](INFO): DAT read: Bearing 296.9, -29.4 (Local) 2025-10-27T05:40:14.784Z,1761543614.784 [DAT](INFO): Local bearing/azimuth received: Bearing 296.9, -29.4 (Local) 2025-10-27T05:40:14.785Z,1761543614.785 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (Round-trip 23.2 ms) speed 0.0 m/s 2025-10-27T05:40:14.786Z,1761543614.786 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:40:14.788Z,1761543614.788 [DAT](INFO): direction in FSK: [-0.828912,-0.505970,0.238533] 2025-10-27T05:40:14.788Z,1761543614.788 [DAT](INFO): publishing direction and range info 2025-10-27T05:40:14.965Z,1761543614.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778726,0.624635,0.058456],[-0.626593,0.779003,0.023139],[-0.031084,-0.054647,0.998022]] 2025-10-27T05:40:14.998Z,1761543614.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 13.605602 s, deltaX: -0.400000 m, approachRate: -0.029400 m/s, rangeRepo size: 4 2025-10-27T05:40:15.000Z,1761543615.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.299700 m, bearing: 172.143424 deg, lat: 36.779379 deg, lon: -121.859714 deg, deltaT: 13.605602 s, deltaX: -0.398975 m, approachRate: -0.029324 m/s, posRepo size: 4 2025-10-27T05:40:15.001Z,1761543615.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:15.181Z,1761543615.181 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:40:15.369Z,1761543615.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778903,0.624417,0.058418],[-0.626369,0.779188,0.022982],[-0.031168,-0.054492,0.998028]] 2025-10-27T05:40:15.423Z,1761543615.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:15.778Z,1761543615.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778963,0.624342,0.058427],[-0.626291,0.779254,0.022861],[-0.031256,-0.054400,0.998030]] 2025-10-27T05:40:15.798Z,1761543615.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:16.216Z,1761543616.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779237,0.624006,0.058364],[-0.625943,0.779541,0.022603],[-0.031393,-0.054146,0.998039]] 2025-10-27T05:40:16.275Z,1761543616.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:16.582Z,1761543616.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778966,0.624346,0.058353],[-0.626288,0.779259,0.022787],[-0.031245,-0.054296,0.998036]] 2025-10-27T05:40:16.601Z,1761543616.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:16.000Z,1761543617.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779156,0.624115,0.058279],[-0.626049,0.779455,0.022659],[-0.031284,-0.054140,0.998043]] 2025-10-27T05:40:17.039Z,1761543617.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:17.402Z,1761543617.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779054,0.624259,0.058103],[-0.626185,0.779344,0.022695],[-0.031115,-0.054064,0.998053]] 2025-10-27T05:40:17.429Z,1761543617.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:17.807Z,1761543617.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778734,0.624672,0.057943],[-0.626593,0.779014,0.022800],[-0.030896,-0.054062,0.998060]] 2025-10-27T05:40:17.827Z,1761543617.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:18.250Z,1761543618.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778650,0.624806,0.057632],[-0.626706,0.778925,0.022698],[-0.030709,-0.053792,0.998080]] 2025-10-27T05:40:18.299Z,1761543618.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:18.614Z,1761543618.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778451,0.625064,0.057526],[-0.626958,0.778723,0.022678],[-0.030621,-0.053721,0.998086]] 2025-10-27T05:40:18.645Z,1761543618.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:19.018Z,1761543619.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778201,0.625405,0.057208],[-0.627283,0.778460,0.022719],[-0.030326,-0.053565,0.998104]] 2025-10-27T05:40:19.037Z,1761543619.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:19.488Z,1761543619.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:19.825Z,1761543619.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777640,0.626115,0.057068],[-0.627998,0.777872,0.023099],[-0.029929,-0.053801,0.998103]] 2025-10-27T05:40:19.854Z,1761543619.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:20.276Z,1761543620.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777305,0.626531,0.057063],[-0.628422,0.777521,0.023384],[-0.029717,-0.054036,0.998097]] 2025-10-27T05:40:20.339Z,1761543620.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:20.635Z,1761543620.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777188,0.626690,0.056909],[-0.628574,0.777397,0.023421],[-0.029563,-0.053974,0.998105]] 2025-10-27T05:40:20.655Z,1761543620.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:21.040Z,1761543621.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777120,0.626776,0.056894],[-0.628657,0.777332,0.023357],[-0.029586,-0.053917,0.998107]] 2025-10-27T05:40:21.061Z,1761543621.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:21.442Z,1761543621.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777165,0.626728,0.056812],[-0.628601,0.777381,0.023240],[-0.029599,-0.053773,0.998114]] 2025-10-27T05:40:21.486Z,1761543621.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:21.860Z,1761543621.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777050,0.626885,0.056654],[-0.628746,0.777266,0.023140],[-0.029529,-0.053602,0.998126]] 2025-10-27T05:40:21.887Z,1761543621.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:22.299Z,1761543622.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777149,0.626748,0.056809],[-0.628616,0.777374,0.023066],[-0.029705,-0.053637,0.998119]] 2025-10-27T05:40:22.360Z,1761543622.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:22.666Z,1761543622.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777201,0.626661,0.057041],[-0.628541,0.777434,0.023059],[-0.029896,-0.053774,0.998106]] 2025-10-27T05:40:22.685Z,1761543622.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:23.071Z,1761543623.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777331,0.626469,0.057394],[-0.628364,0.777581,0.022944],[-0.030254,-0.053900,0.998088]] 2025-10-27T05:40:23.096Z,1761543623.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:23.473Z,1761543623.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777666,0.626042,0.057503],[-0.627932,0.777940,0.022587],[-0.030594,-0.053673,0.998090]] 2025-10-27T05:40:23.525Z,1761543623.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:23.916Z,1761543623.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:24.324Z,1761543624.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778420,0.625057,0.058024],[-0.626944,0.778766,0.021585],[-0.031695,-0.053180,0.998082]] 2025-10-27T05:40:24.392Z,1761543624.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:24.691Z,1761543624.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778667,0.624713,0.058416],[-0.626608,0.779047,0.021197],[-0.032267,-0.053109,0.998067]] 2025-10-27T05:40:24.720Z,1761543624.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:25.095Z,1761543625.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778983,0.624266,0.058965],[-0.626177,0.779404,0.020776],[-0.032987,-0.053107,0.998044]] 2025-10-27T05:40:25.114Z,1761543625.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:25.493Z,1761543625.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779268,0.623851,0.059584],[-0.625781,0.779732,0.020382],[-0.033744,-0.053170,0.998015]] 2025-10-27T05:40:25.538Z,1761543625.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:25.898Z,1761543625.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779616,0.623363,0.060149],[-0.625308,0.780123,0.019959],[-0.034482,-0.053172,0.997990]] 2025-10-27T05:40:25.917Z,1761543625.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:26.316Z,1761543626.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779743,0.623149,0.060718],[-0.625111,0.780290,0.019589],[-0.035171,-0.053230,0.997963]] 2025-10-27T05:40:26.396Z,1761543626.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:26.832Z,1761543626.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:27.213Z,1761543627.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779718,0.623022,0.062318],[-0.625027,0.780386,0.018417],[-0.037158,-0.053311,0.997886]] 2025-10-27T05:40:27.263Z,1761543627.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:27.635Z,1761543627.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:27.977Z,1761543627.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779526,0.623206,0.062876],[-0.625230,0.780230,0.018110],[-0.037771,-0.053429,0.997857]] 2025-10-27T05:40:28.034Z,1761543628.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:28.498Z,1761543628.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:28.823Z,1761543628.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:29.195Z,1761543629.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778072,0.624903,0.064036],[-0.626957,0.778863,0.017247],[-0.039098,-0.053568,0.997799]] 2025-10-27T05:40:29.251Z,1761543629.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:29.660Z,1761543629.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:30.004Z,1761543630.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775965,0.627428,0.064895],[-0.629489,0.776841,0.016169],[-0.040269,-0.053397,0.997761]] 2025-10-27T05:40:30.025Z,1761543630.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:30.435Z,1761543630.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775285,0.628236,0.065223],[-0.630298,0.776193,0.015766],[-0.040721,-0.053333,0.997746]] 2025-10-27T05:40:30.480Z,1761543630.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:30.810Z,1761543630.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774658,0.628965,0.065641],[-0.631036,0.775601,0.015411],[-0.041219,-0.053360,0.997724]] 2025-10-27T05:40:30.849Z,1761543630.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:31.217Z,1761543631.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774226,0.629456,0.066029],[-0.631525,0.775213,0.014856],[-0.041836,-0.053201,0.997707]] 2025-10-27T05:40:31.280Z,1761543631.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:31.615Z,1761543631.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773760,0.630008,0.066221],[-0.632067,0.774781,0.014338],[-0.042273,-0.052950,0.997702]] 2025-10-27T05:40:31.702Z,1761543631.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:32.017Z,1761543632.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773563,0.630212,0.066583],[-0.632268,0.774626,0.013829],[-0.042861,-0.052796,0.997685]] 2025-10-27T05:40:32.043Z,1761543632.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:32.465Z,1761543632.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773514,0.630220,0.067078],[-0.632283,0.774622,0.013384],[-0.043525,-0.052765,0.997658]] 2025-10-27T05:40:32.514Z,1761543632.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:32.825Z,1761543632.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773606,0.630021,0.067876],[-0.632111,0.774768,0.013035],[-0.044376,-0.052989,0.997609]] 2025-10-27T05:40:32.845Z,1761543632.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:33.245Z,1761543633.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773766,0.629770,0.068381],[-0.631871,0.774970,0.012680],[-0.045008,-0.053020,0.997579]] 2025-10-27T05:40:33.317Z,1761543633.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:33.635Z,1761543633.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773989,0.629415,0.069119],[-0.631541,0.775243,0.012391],[-0.045785,-0.053242,0.997531]] 2025-10-27T05:40:33.699Z,1761543633.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:34.037Z,1761543634.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774471,0.628772,0.069568],[-0.630898,0.775775,0.011885],[-0.046497,-0.053095,0.997506]] 2025-10-27T05:40:34.081Z,1761543634.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:34.496Z,1761543634.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774946,0.628136,0.070032],[-0.630262,0.776299,0.011388],[-0.047212,-0.052964,0.997480]] 2025-10-27T05:40:34.546Z,1761543634.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:34.846Z,1761543634.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775549,0.627348,0.070411],[-0.629468,0.776950,0.010864],[-0.047890,-0.052747,0.997459]] 2025-10-27T05:40:34.864Z,1761543634.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:35.294Z,1761543635.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:35.654Z,1761543635.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776594,0.625946,0.071363],[-0.628089,0.778073,0.010344],[-0.049051,-0.052855,0.997397]] 2025-10-27T05:40:35.728Z,1761543635.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:36.057Z,1761543636.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776919,0.625502,0.071732],[-0.627662,0.778418,0.010320],[-0.049382,-0.053041,0.997371]] 2025-10-27T05:40:36.097Z,1761543636.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:36.512Z,1761543636.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777284,0.625007,0.072089],[-0.627183,0.778804,0.010277],[-0.049721,-0.053201,0.997345]] 2025-10-27T05:40:36.568Z,1761543636.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:36.906Z,1761543636.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:37.270Z,1761543637.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777927,0.624186,0.072253],[-0.626363,0.779465,0.010154],[-0.049981,-0.053156,0.997335]] 2025-10-27T05:40:37.306Z,1761543637.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:37.674Z,1761543637.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778004,0.624113,0.072061],[-0.626281,0.779531,0.010185],[-0.049817,-0.053054,0.997348]] 2025-10-27T05:40:37.761Z,1761543637.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:38.078Z,1761543638.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777929,0.624235,0.071810],[-0.626395,0.779438,0.010274],[-0.049558,-0.052974,0.997365]] 2025-10-27T05:40:38.097Z,1761543638.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:38.502Z,1761543638.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777627,0.624652,0.071457],[-0.626806,0.779104,0.010518],[-0.049102,-0.052969,0.997388]] 2025-10-27T05:40:38.561Z,1761543638.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:38.885Z,1761543638.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777143,0.625311,0.070956],[-0.627459,0.778573,0.010929],[-0.048411,-0.053015,0.997420]] 2025-10-27T05:40:38.932Z,1761543638.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:39.291Z,1761543639.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776574,0.626089,0.070332],[-0.628230,0.777944,0.011444],[-0.047549,-0.053072,0.997458]] 2025-10-27T05:40:39.320Z,1761543639.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:39.697Z,1761543639.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775833,0.627064,0.069820],[-0.629210,0.777142,0.012087],[-0.046680,-0.053309,0.997486]] 2025-10-27T05:40:39.762Z,1761543639.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:40.098Z,1761543640.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775041,0.628106,0.069242],[-0.630259,0.776278,0.012869],[-0.045668,-0.053614,0.997517]] 2025-10-27T05:40:40.118Z,1761543640.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:40.508Z,1761543640.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774130,0.629303,0.068556],[-0.631459,0.775288,0.013711],[-0.044522,-0.053905,0.997553]] 2025-10-27T05:40:40.588Z,1761543640.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:40.905Z,1761543640.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773238,0.630503,0.067591],[-0.632641,0.774310,0.014463],[-0.043217,-0.053944,0.997608]] 2025-10-27T05:40:40.951Z,1761543640.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:41.313Z,1761543641.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772259,0.631806,0.066620],[-0.633923,0.773248,0.015156],[-0.041938,-0.053936,0.997663]] 2025-10-27T05:40:41.332Z,1761543641.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:41.726Z,1761543641.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771305,0.633080,0.065557],[-0.635167,0.772213,0.015785],[-0.040630,-0.053814,0.997724]] 2025-10-27T05:40:41.793Z,1761543641.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:42.117Z,1761543642.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770354,0.634354,0.064417],[-0.636407,0.771178,0.016429],[-0.039255,-0.053651,0.997788]] 2025-10-27T05:40:42.163Z,1761543642.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:42.526Z,1761543642.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769265,0.635777,0.063387],[-0.637802,0.770011,0.017096],[-0.037940,-0.053580,0.997843]] 2025-10-27T05:40:42.616Z,1761543642.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:42.926Z,1761543642.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768167,0.637210,0.062313],[-0.639202,0.768834,0.017734],[-0.036608,-0.053453,0.997899]] 2025-10-27T05:40:42.990Z,1761543642.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:43.330Z,1761543643.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767218,0.638451,0.061296],[-0.640408,0.767819,0.018224],[-0.035429,-0.053236,0.997953]] 2025-10-27T05:40:43.365Z,1761543643.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:43.753Z,1761543643.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766328,0.639605,0.060382],[-0.641532,0.766868,0.018729],[-0.034326,-0.053089,0.998000]] 2025-10-27T05:40:43.798Z,1761543643.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:44.154Z,1761543644.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765491,0.640691,0.059489],[-0.642585,0.765975,0.019157],[-0.033293,-0.052891,0.998045]] 2025-10-27T05:40:44.213Z,1761543644.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:44.622Z,1761543644.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765003,0.641324,0.058943],[-0.643196,0.765456,0.019382],[-0.032688,-0.052739,0.998073]] 2025-10-27T05:40:44.674Z,1761543644.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:45.048Z,1761543645.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764724,0.641691,0.058565],[-0.643549,0.765155,0.019540],[-0.032273,-0.052632,0.998092]] 2025-10-27T05:40:45.077Z,1761543645.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:45.308Z,1761543645.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:40:45.449Z,1761543645.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764365,0.642127,0.058479],[-0.643994,0.764771,0.019939],[-0.031919,-0.052901,0.998089]] 2025-10-27T05:40:45.469Z,1761543645.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:45.862Z,1761543645.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764407,0.642067,0.058589],[-0.643943,0.764811,0.020036],[-0.031945,-0.053043,0.998081]] 2025-10-27T05:40:45.925Z,1761543645.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:46.284Z,1761543646.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764594,0.641825,0.058798],[-0.643711,0.765008,0.020000],[-0.032144,-0.053141,0.998070]] 2025-10-27T05:40:46.308Z,1761543646.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:46.312Z,1761543646.312 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:40:46.709Z,1761543646.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764971,0.641361,0.058962],[-0.643247,0.765404,0.019760],[-0.032456,-0.053043,0.998065]] 2025-10-27T05:40:46.763Z,1761543646.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:47.120Z,1761543647.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765693,0.640461,0.059361],[-0.642357,0.766160,0.019420],[-0.033042,-0.053000,0.998048]] 2025-10-27T05:40:47.139Z,1761543647.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:47.668Z,1761543647.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:47.989Z,1761543647.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767954,0.637639,0.060521],[-0.639560,0.768521,0.018410],[-0.034772,-0.052845,0.997997]] 2025-10-27T05:40:48.042Z,1761543648.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:48.394Z,1761543648.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769109,0.636177,0.061241],[-0.638116,0.769732,0.017881],[-0.035764,-0.052831,0.997963]] 2025-10-27T05:40:48.425Z,1761543648.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:48.799Z,1761543648.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770267,0.634711,0.061888],[-0.636664,0.770946,0.017346],[-0.036702,-0.052763,0.997932]] 2025-10-27T05:40:48.862Z,1761543648.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:49.228Z,1761543649.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772818,0.631476,0.063170],[-0.633445,0.773621,0.016058],[-0.038729,-0.052425,0.997874]] 2025-10-27T05:40:49.247Z,1761543649.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:49.622Z,1761543649.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773905,0.630082,0.063781],[-0.632066,0.774757,0.015656],[-0.039550,-0.052430,0.997841]] 2025-10-27T05:40:49.652Z,1761543649.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:50.048Z,1761543650.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774617,0.629131,0.064520],[-0.631154,0.775499,0.015679],[-0.040171,-0.052868,0.997793]] 2025-10-27T05:40:50.086Z,1761543650.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:50.446Z,1761543650.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775231,0.628304,0.065208],[-0.630368,0.776134,0.015842],[-0.040657,-0.053386,0.997746]] 2025-10-27T05:40:50.480Z,1761543650.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:50.853Z,1761543650.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775643,0.627767,0.065472],[-0.629855,0.776547,0.016072],[-0.040752,-0.053704,0.997725]] 2025-10-27T05:40:50.905Z,1761543650.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:51.259Z,1761543651.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775899,0.627437,0.065611],[-0.629541,0.776796,0.016302],[-0.040738,-0.053954,0.997712]] 2025-10-27T05:40:51.279Z,1761543651.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:51.661Z,1761543651.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776018,0.627350,0.065026],[-0.629419,0.776898,0.016198],[-0.040356,-0.053499,0.997752]] 2025-10-27T05:40:51.730Z,1761543651.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:52.116Z,1761543652.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775820,0.627666,0.064331],[-0.629705,0.776662,0.016367],[-0.039691,-0.053208,0.997794]] 2025-10-27T05:40:52.161Z,1761543652.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:52.517Z,1761543652.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775183,0.628537,0.063500],[-0.630551,0.775965,0.016842],[-0.038688,-0.053095,0.997840]] 2025-10-27T05:40:52.537Z,1761543652.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:52.944Z,1761543652.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774117,0.629915,0.062843],[-0.631926,0.774827,0.017654],[-0.037572,-0.053378,0.997867]] 2025-10-27T05:40:52.991Z,1761543652.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:53.357Z,1761543653.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772712,0.631716,0.062056],[-0.633728,0.773328,0.018792],[-0.036119,-0.053847,0.997896]] 2025-10-27T05:40:53.404Z,1761543653.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:53.791Z,1761543653.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771273,0.633567,0.061077],[-0.635568,0.771788,0.019926],[-0.034514,-0.054187,0.997934]] 2025-10-27T05:40:53.828Z,1761543653.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:54.163Z,1761543654.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769689,0.635660,0.059288],[-0.637592,0.770096,0.020702],[-0.032498,-0.053736,0.998026]] 2025-10-27T05:40:54.197Z,1761543654.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:54.574Z,1761543654.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768106,0.637769,0.057136],[-0.639604,0.768411,0.021271],[-0.030338,-0.052883,0.998140]] 2025-10-27T05:40:54.593Z,1761543654.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:54.973Z,1761543654.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766530,0.639826,0.055263],[-0.641588,0.766730,0.022132],[-0.028211,-0.052421,0.998226]] 2025-10-27T05:40:55.021Z,1761543655.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:55.385Z,1761543655.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764812,0.641980,0.054072],[-0.643716,0.764905,0.023445],[-0.026309,-0.052738,0.998262]] 2025-10-27T05:40:55.421Z,1761543655.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:55.896Z,1761543655.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:56.221Z,1761543656.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761913,0.645643,0.051317],[-0.647297,0.761793,0.026054],[-0.022271,-0.053068,0.998343]] 2025-10-27T05:40:56.256Z,1761543656.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:56.623Z,1761543656.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760647,0.647225,0.050147],[-0.648847,0.760422,0.027504],[-0.020331,-0.053458,0.998363]] 2025-10-27T05:40:56.643Z,1761543656.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:57.025Z,1761543657.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759489,0.648676,0.048946],[-0.650259,0.759162,0.028905],[-0.018408,-0.053780,0.998383]] 2025-10-27T05:40:57.086Z,1761543657.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:57.476Z,1761543657.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758801,0.649581,0.047591],[-0.651110,0.758390,0.029987],[-0.016614,-0.053741,0.998417]] 2025-10-27T05:40:57.507Z,1761543657.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:57.878Z,1761543657.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758420,0.650129,0.046177],[-0.651594,0.757943,0.030783],[-0.014986,-0.053435,0.998459]] 2025-10-27T05:40:57.931Z,1761543657.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:58.281Z,1761543658.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758450,0.650185,0.044868],[-0.651590,0.757921,0.031418],[-0.013579,-0.053065,0.998499]] 2025-10-27T05:40:58.301Z,1761543658.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:58.697Z,1761543658.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758610,0.650073,0.043767],[-0.651429,0.758029,0.032138],[-0.012284,-0.052892,0.998525]] 2025-10-27T05:40:58.728Z,1761543658.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:59.090Z,1761543659.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759060,0.649597,0.043026],[-0.650924,0.758428,0.032943],[-0.011233,-0.053012,0.998531]] 2025-10-27T05:40:59.137Z,1761543659.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:59.493Z,1761543659.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759494,0.649121,0.042548],[-0.650432,0.758808,0.033882],[-0.010292,-0.053408,0.998520]] 2025-10-27T05:40:59.533Z,1761543659.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:40:59.897Z,1761543659.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760177,0.648348,0.042146],[-0.649647,0.759440,0.034771],[-0.009464,-0.053812,0.998506]] 2025-10-27T05:40:59.962Z,1761543659.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:00.303Z,1761543660.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761083,0.647309,0.041764],[-0.648595,0.760305,0.035499],[-0.008775,-0.054106,0.998497]] 2025-10-27T05:41:00.322Z,1761543660.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:00.709Z,1761543660.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762124,0.646114,0.041266],[-0.647380,0.761315,0.036039],[-0.008131,-0.054181,0.998498]] 2025-10-27T05:41:00.743Z,1761543660.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:01.109Z,1761543661.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763227,0.644860,0.040506],[-0.646088,0.762398,0.036333],[-0.007452,-0.053900,0.998519]] 2025-10-27T05:41:01.178Z,1761543661.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:01.513Z,1761543661.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764293,0.643644,0.039727],[-0.644833,0.763451,0.036517],[-0.006825,-0.053527,0.998543]] 2025-10-27T05:41:01.533Z,1761543661.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:02.036Z,1761543662.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:02.415Z,1761543662.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766130,0.641523,0.038642],[-0.642660,0.765248,0.037199],[-0.005707,-0.053333,0.998560]] 2025-10-27T05:41:02.465Z,1761543662.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:02.817Z,1761543662.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766753,0.640791,0.038426],[-0.641922,0.765832,0.037923],[-0.005127,-0.053744,0.998542]] 2025-10-27T05:41:02.915Z,1761543662.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:03.276Z,1761543663.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:03.633Z,1761543663.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768280,0.639033,0.037183],[-0.640106,0.767260,0.039707],[-0.003155,-0.054307,0.998519]] 2025-10-27T05:41:03.652Z,1761543663.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:04.034Z,1761543664.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768748,0.638521,0.036296],[-0.639547,0.767717,0.039869],[-0.002408,-0.053862,0.998545]] 2025-10-27T05:41:04.066Z,1761543664.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:04.440Z,1761543664.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769006,0.638255,0.035497],[-0.639239,0.767962,0.040100],[-0.001666,-0.053528,0.998565]] 2025-10-27T05:41:04.482Z,1761543664.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:04.842Z,1761543664.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768981,0.638328,0.034717],[-0.639271,0.767916,0.040467],[-0.000828,-0.053312,0.998578]] 2025-10-27T05:41:04.866Z,1761543664.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:05.245Z,1761543665.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768850,0.638508,0.034308],[-0.639429,0.767756,0.041003],[-0.000160,-0.053463,0.998570]] 2025-10-27T05:41:05.304Z,1761543665.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:05.646Z,1761543665.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768633,0.638788,0.033961],[-0.639690,0.767501,0.041700],[0.000572,-0.053777,0.998553]] 2025-10-27T05:41:05.688Z,1761543665.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:06.050Z,1761543666.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768353,0.639145,0.033567],[-0.640025,0.767186,0.042356],[0.001319,-0.054029,0.998538]] 2025-10-27T05:41:06.101Z,1761543666.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:06.454Z,1761543666.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767846,0.639779,0.033098],[-0.640631,0.766640,0.043072],[0.002183,-0.054276,0.998524]] 2025-10-27T05:41:06.478Z,1761543666.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:06.859Z,1761543666.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767489,0.640230,0.032661],[-0.641056,0.766256,0.043576],[0.002872,-0.054382,0.998516]] 2025-10-27T05:41:06.878Z,1761543666.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:07.262Z,1761543667.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767249,0.640540,0.032212],[-0.641340,0.766004,0.043817],[0.003393,-0.054277,0.998520]] 2025-10-27T05:41:07.315Z,1761543667.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:07.676Z,1761543667.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766854,0.641040,0.031655],[-0.641809,0.765600,0.044025],[0.003987,-0.054077,0.998529]] 2025-10-27T05:41:07.725Z,1761543667.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:08.071Z,1761543668.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766514,0.641470,0.031192],[-0.642213,0.765257,0.044100],[0.004419,-0.053835,0.998540]] 2025-10-27T05:41:08.124Z,1761543668.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:08.476Z,1761543668.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766294,0.641749,0.030858],[-0.642473,0.765039,0.044086],[0.004684,-0.053608,0.998551]] 2025-10-27T05:41:08.504Z,1761543668.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:08.877Z,1761543668.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766049,0.642051,0.030662],[-0.642764,0.764791,0.044161],[0.004904,-0.053538,0.998554]] 2025-10-27T05:41:08.908Z,1761543668.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:09.286Z,1761543669.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765948,0.642168,0.030709],[-0.642884,0.764694,0.044080],[0.004824,-0.053505,0.998556]] 2025-10-27T05:41:09.343Z,1761543669.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:09.689Z,1761543669.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765685,0.642471,0.030945],[-0.643199,0.764428,0.044106],[0.004682,-0.053675,0.998547]] 2025-10-27T05:41:09.714Z,1761543669.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:10.089Z,1761543670.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765676,0.642472,0.031140],[-0.643211,0.764428,0.043929],[0.004419,-0.053664,0.998549]] 2025-10-27T05:41:10.134Z,1761543670.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:10.494Z,1761543670.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765776,0.642350,0.031199],[-0.643095,0.764549,0.043525],[0.004105,-0.053394,0.998565]] 2025-10-27T05:41:10.533Z,1761543670.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:10.898Z,1761543670.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766054,0.642005,0.031472],[-0.642766,0.764856,0.042980],[0.003522,-0.053154,0.998580]] 2025-10-27T05:41:10.926Z,1761543670.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:11.306Z,1761543671.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766417,0.641545,0.032006],[-0.642337,0.765244,0.042479],[0.002760,-0.053115,0.998585]] 2025-10-27T05:41:11.342Z,1761543671.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:41:11.344Z,1761543671.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:11.492Z,1761543671.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:41:11.492Z,1761543671.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:41:11.709Z,1761543671.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766672,0.641204,0.032716],[-0.642036,0.765520,0.042064],[0.001927,-0.053254,0.998579]] 2025-10-27T05:41:11.742Z,1761543671.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:11.744Z,1761543671.744 [DAT](INFO): DAT read: user:496> 2025-10-27T05:41:11.745Z,1761543671.745 [DAT](INFO): DAT read: Tx time:05:41:10.7722 2025-10-27T05:41:11.745Z,1761543671.745 [DAT](INFO): Ping request sent. 2025-10-27T05:41:11.745Z,1761543671.745 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:41:11.745Z,1761543671.745 [DAT](INFO): publishing transmit ping time 2025-10-27T05:41:11.746Z,1761543671.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T05:41:11.999Z,1761543671.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252948 2025-10-27T05:41:12.109Z,1761543672.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766992,0.640771,0.033684],[-0.641655,0.765856,0.041740],[0.000949,-0.053628,0.998561]] 2025-10-27T05:41:12.178Z,1761543672.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:12.249Z,1761543672.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503533 2025-10-27T05:41:12.500Z,1761543672.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754722 2025-10-27T05:41:12.530Z,1761543672.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767581,0.640014,0.034672],[-0.640952,0.766469,0.041301],[-0.000142,-0.053925,0.998545]] 2025-10-27T05:41:12.569Z,1761543672.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:12.752Z,1761543672.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912 2025-10-27T05:41:12.919Z,1761543672.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768252,0.639153,0.035673],[-0.640146,0.767172,0.040742],[-0.001327,-0.054136,0.998533]] 2025-10-27T05:41:12.938Z,1761543672.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:13.007Z,1761543673.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261238 2025-10-27T05:41:13.256Z,1761543673.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510766 2025-10-27T05:41:13.377Z,1761543673.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:13.508Z,1761543673.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762817 2025-10-27T05:41:13.732Z,1761543673.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769990,0.636968,0.037240],[-0.638044,0.769014,0.038947],[-0.003830,-0.053749,0.998547]] 2025-10-27T05:41:13.760Z,1761543673.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014671 2025-10-27T05:41:13.772Z,1761543673.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:14.012Z,1761543674.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266721 2025-10-27T05:41:14.131Z,1761543674.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770862,0.635872,0.037927],[-0.636981,0.769946,0.037928],[-0.005085,-0.053396,0.998560]] 2025-10-27T05:41:14.196Z,1761543674.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:14.264Z,1761543674.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519066 2025-10-27T05:41:14.516Z,1761543674.516 [DAT](INFO): DAT read: Rx Time:05:41:13.1988 2025-10-27T05:41:14.516Z,1761543674.516 [DAT](INFO): Rx dataTimestamp_ set to:1761543674.516135 2025-10-27T05:41:14.517Z,1761543674.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771834 2025-10-27T05:41:14.537Z,1761543674.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771633,0.634891,0.038685],[-0.636037,0.770772,0.036974],[-0.006343,-0.053135,0.998567]] 2025-10-27T05:41:14.593Z,1761543674.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:14.768Z,1761543674.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022784 2025-10-27T05:41:14.973Z,1761543674.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-27T05:41:15.024Z,1761543675.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278129 2025-10-27T05:41:15.277Z,1761543675.277 [DAT](INFO): DAT read: 05:41:13.1988 LVL= 26832, 14577, 15682, 26835, AGC= 47, IDX= 434,-0.28,-2.084,-0.298, 0.095,-0.400, PHS=-1.583, 0.146, 0.450, RAW= 262.0, 10.4, CAL= 261.7, 11.2, ROT= 248.3, -11.2 2025-10-27T05:41:15.278Z,1761543675.278 [DAT](INFO): got valid direction response: 05:41:13.1988 LVL= 26832, 14577, 15682, 26835, AGC= 47, IDX= 434,-0.28,-2.084,-0.298, 0.095,-0.400, PHS=-1.583, 0.146, 0.450, RAW= 262.0, 10.4, CAL= 261.7, 11.2, ROT= 248.3, -11.2 2025-10-27T05:41:15.300Z,1761543675.300 [DAT](INFO): DAT read: Bearing 288.6, -66.7 (Local) 2025-10-27T05:41:15.300Z,1761543675.300 [DAT](INFO): Local bearing/azimuth received: Bearing 288.6, -66.7 (Local) 2025-10-27T05:41:15.301Z,1761543675.301 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (Round-trip 22.4 ms) speed 0.0 m/s 2025-10-27T05:41:15.302Z,1761543675.302 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:41:15.303Z,1761543675.303 [DAT](INFO): direction in FSK: [-0.362705,-0.911437,0.194234] 2025-10-27T05:41:15.303Z,1761543675.303 [DAT](INFO): publishing direction and range info 2025-10-27T05:41:15.350Z,1761543675.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773005,0.633114,0.040364],[-0.634340,0.772241,0.035467],[-0.008716,-0.053021,0.998555]] 2025-10-27T05:41:15.438Z,1761543675.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 60.500036 s, deltaX: -0.600000 m, approachRate: -0.009917 m/s, rangeRepo size: 4 2025-10-27T05:41:15.440Z,1761543675.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.702135 m, bearing: 208.790834 deg, lat: 36.779379 deg, lon: -121.859714 deg, deltaT: 60.500036 s, deltaX: -0.597565 m, approachRate: -0.009877 m/s, posRepo size: 4 2025-10-27T05:41:15.440Z,1761543675.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:15.747Z,1761543675.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773686,0.632230,0.041185],[-0.633493,0.772964,0.034830],[-0.009814,-0.053038,0.998544]] 2025-10-27T05:41:15.766Z,1761543675.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:16.170Z,1761543676.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774172,0.631576,0.042070],[-0.632882,0.773485,0.034359],[-0.010840,-0.053225,0.998524]] 2025-10-27T05:41:16.223Z,1761543676.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:16.437Z,1761543676.437 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:41:16.557Z,1761543676.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774367,0.631287,0.042802],[-0.632630,0.773703,0.034105],[-0.011586,-0.053487,0.998501]] 2025-10-27T05:41:16.588Z,1761543676.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:16.957Z,1761543676.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774552,0.631027,0.043292],[-0.632392,0.773914,0.033734],[-0.012217,-0.053506,0.998493]] 2025-10-27T05:41:16.977Z,1761543676.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:17.366Z,1761543677.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774771,0.630742,0.043534],[-0.632114,0.774161,0.033258],[-0.012725,-0.053286,0.998498]] 2025-10-27T05:41:17.424Z,1761543677.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:17.439Z,1761543677.439 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:41:17.767Z,1761543677.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774751,0.630737,0.043946],[-0.632129,0.774157,0.033073],[-0.013161,-0.053403,0.998486]] 2025-10-27T05:41:17.786Z,1761543677.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:18.172Z,1761543678.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774539,0.630981,0.044170],[-0.632384,0.773951,0.033006],[-0.013359,-0.053497,0.998479]] 2025-10-27T05:41:18.220Z,1761543678.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:18.577Z,1761543678.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774183,0.631396,0.044496],[-0.632819,0.773586,0.033226],[-0.013442,-0.053881,0.998457]] 2025-10-27T05:41:18.641Z,1761543678.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:18.978Z,1761543678.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773981,0.631651,0.044390],[-0.633069,0.773380,0.033285],[-0.013306,-0.053863,0.998460]] 2025-10-27T05:41:19.003Z,1761543679.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:19.383Z,1761543679.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773619,0.632103,0.044258],[-0.633516,0.773007,0.033433],[-0.013079,-0.053902,0.998461]] 2025-10-27T05:41:19.421Z,1761543679.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:19.786Z,1761543679.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773361,0.632448,0.043844],[-0.633839,0.772740,0.033491],[-0.012698,-0.053691,0.998477]] 2025-10-27T05:41:19.813Z,1761543679.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:20.190Z,1761543680.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773007,0.632904,0.043503],[-0.634278,0.772373,0.033640],[-0.012309,-0.053597,0.998487]] 2025-10-27T05:41:20.233Z,1761543680.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:20.611Z,1761543680.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772809,0.633177,0.043055],[-0.634529,0.772159,0.033814],[-0.011835,-0.053451,0.998500]] 2025-10-27T05:41:20.664Z,1761543680.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:21.014Z,1761543681.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772675,0.633370,0.042613],[-0.634700,0.772010,0.034006],[-0.011360,-0.053322,0.998513]] 2025-10-27T05:41:21.033Z,1761543681.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:21.420Z,1761543681.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772508,0.633599,0.042232],[-0.634913,0.771819,0.034384],[-0.010810,-0.053375,0.998516]] 2025-10-27T05:41:21.473Z,1761543681.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:21.878Z,1761543681.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772678,0.633409,0.041965],[-0.634713,0.771964,0.034790],[-0.010360,-0.053517,0.998513]] 2025-10-27T05:41:21.898Z,1761543681.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:22.278Z,1761543682.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772890,0.633180,0.041529],[-0.634465,0.772150,0.035192],[-0.009783,-0.053548,0.998517]] 2025-10-27T05:41:22.334Z,1761543682.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:22.738Z,1761543682.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773157,0.632879,0.041146],[-0.634147,0.772394,0.035565],[-0.009273,-0.053590,0.998520]] 2025-10-27T05:41:22.774Z,1761543682.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:23.184Z,1761543683.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773702,0.632245,0.040639],[-0.633489,0.772926,0.035744],[-0.008812,-0.053399,0.998534]] 2025-10-27T05:41:23.254Z,1761543683.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:23.628Z,1761543683.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774428,0.631391,0.040075],[-0.632606,0.773646,0.035810],[-0.008394,-0.053084,0.998555]] 2025-10-27T05:41:23.673Z,1761543683.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:24.074Z,1761543684.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775757,0.629807,0.039283],[-0.630986,0.774945,0.036294],[-0.007584,-0.052942,0.998569]] 2025-10-27T05:41:24.094Z,1761543684.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:24.549Z,1761543684.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:24.878Z,1761543684.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777195,0.628063,0.038802],[-0.629225,0.776328,0.037304],[-0.006694,-0.053407,0.998550]] 2025-10-27T05:41:24.921Z,1761543684.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:25.282Z,1761543685.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777936,0.627163,0.038495],[-0.628313,0.777043,0.037772],[-0.006223,-0.053571,0.998545]] 2025-10-27T05:41:25.332Z,1761543685.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:25.694Z,1761543685.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778542,0.626442,0.037974],[-0.627568,0.777622,0.038257],[-0.005564,-0.053616,0.998546]] 2025-10-27T05:41:25.720Z,1761543685.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:26.091Z,1761543686.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779378,0.625430,0.037505],[-0.626533,0.778440,0.038573],[-0.005071,-0.053561,0.998552]] 2025-10-27T05:41:26.112Z,1761543686.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:26.494Z,1761543686.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780007,0.624678,0.036966],[-0.625754,0.779046,0.038974],[-0.004451,-0.053532,0.998556]] 2025-10-27T05:41:26.538Z,1761543686.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:26.897Z,1761543686.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780500,0.624097,0.036381],[-0.625145,0.779508,0.039511],[-0.003700,-0.053582,0.998557]] 2025-10-27T05:41:26.917Z,1761543686.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:27.302Z,1761543687.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780914,0.623619,0.035675],[-0.624633,0.779888,0.040108],[-0.002811,-0.053604,0.998558]] 2025-10-27T05:41:27.315Z,1761543687.315 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 86.96, 80.50, 82.54 2025-10-27T05:41:27.331Z,1761543687.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:27.709Z,1761543687.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781261,0.623220,0.035041],[-0.624202,0.780201,0.040727],[-0.001957,-0.053691,0.998556]] 2025-10-27T05:41:27.749Z,1761543687.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:28.109Z,1761543688.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781416,0.623059,0.034445],[-0.624010,0.780316,0.041464],[-0.001044,-0.053895,0.998546]] 2025-10-27T05:41:28.160Z,1761543688.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:28.547Z,1761543688.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781576,0.622899,0.033701],[-0.623810,0.780440,0.042118],[-0.000066,-0.053941,0.998544]] 2025-10-27T05:41:28.594Z,1761543688.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:28.950Z,1761543688.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781727,0.622753,0.032895],[-0.623621,0.780561,0.042677],[0.000901,-0.053876,0.998547]] 2025-10-27T05:41:28.984Z,1761543688.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:29.357Z,1761543689.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781814,0.622688,0.032046],[-0.623509,0.780624,0.043163],[0.001861,-0.053727,0.998554]] 2025-10-27T05:41:29.418Z,1761543689.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:29.759Z,1761543689.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781727,0.622842,0.031162],[-0.623614,0.780508,0.043728],[0.002913,-0.053617,0.998557]] 2025-10-27T05:41:29.778Z,1761543689.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:30.162Z,1761543690.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781714,0.622901,0.030282],[-0.623625,0.780472,0.044219],[0.003910,-0.053451,0.998563]] 2025-10-27T05:41:30.342Z,1761543690.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:30.601Z,1761543690.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781588,0.623092,0.029614],[-0.623777,0.780313,0.044884],[0.004859,-0.053554,0.998553]] 2025-10-27T05:41:30.719Z,1761543690.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:31.002Z,1761543691.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781503,0.623226,0.029022],[-0.623875,0.780194,0.045585],[0.005767,-0.053731,0.998539]] 2025-10-27T05:41:31.071Z,1761543691.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:31.408Z,1761543691.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781452,0.623322,0.028323],[-0.623929,0.780112,0.046227],[0.006719,-0.053796,0.998529]] 2025-10-27T05:41:31.493Z,1761543691.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:31.809Z,1761543691.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781612,0.623149,0.027701],[-0.623720,0.780252,0.046695],[0.007484,-0.053775,0.998525]] 2025-10-27T05:41:31.829Z,1761543691.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:32.246Z,1761543692.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781786,0.622960,0.027032],[-0.623493,0.780415,0.047008],[0.008188,-0.053605,0.998529]] 2025-10-27T05:41:32.278Z,1761543692.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:32.629Z,1761543692.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782150,0.622531,0.026389],[-0.623028,0.780777,0.047158],[0.008753,-0.053326,0.998539]] 2025-10-27T05:41:32.695Z,1761543692.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:33.022Z,1761543693.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782547,0.622051,0.025949],[-0.622525,0.781169,0.047317],[0.009163,-0.053182,0.998543]] 2025-10-27T05:41:33.052Z,1761543693.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:33.497Z,1761543693.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:33.846Z,1761543693.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783512,0.620849,0.025600],[-0.621303,0.782118,0.047687],[0.009584,-0.053268,0.998534]] 2025-10-27T05:41:33.881Z,1761543693.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:34.312Z,1761543694.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:34.736Z,1761543694.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784615,0.619456,0.025546],[-0.619906,0.783202,0.048080],[0.009776,-0.053560,0.998517]] 2025-10-27T05:41:34.789Z,1761543694.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:35.140Z,1761543695.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785344,0.618530,0.025608],[-0.618984,0.783933,0.048039],[0.009639,-0.053578,0.998517]] 2025-10-27T05:41:35.159Z,1761543695.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:35.539Z,1761543695.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785809,0.617930,0.025818],[-0.618397,0.784391,0.048130],[0.009489,-0.053787,0.998507]] 2025-10-27T05:41:35.577Z,1761543695.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:35.972Z,1761543695.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:36.345Z,1761543696.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787069,0.616311,0.026138],[-0.616802,0.785676,0.047624],[0.008815,-0.053605,0.998523]] 2025-10-27T05:41:36.465Z,1761543696.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:36.753Z,1761543696.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787485,0.615770,0.026366],[-0.616276,0.786103,0.047382],[0.008450,-0.053562,0.998529]] 2025-10-27T05:41:36.795Z,1761543696.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:37.151Z,1761543697.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787791,0.615358,0.026816],[-0.615891,0.786417,0.047190],[0.007950,-0.053691,0.998526]] 2025-10-27T05:41:37.188Z,1761543697.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:37.554Z,1761543697.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788067,0.614992,0.027101],[-0.615543,0.786702,0.046982],[0.007573,-0.053707,0.998528]] 2025-10-27T05:41:37.600Z,1761543697.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:37.958Z,1761543697.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788090,0.614944,0.027542],[-0.615519,0.786727,0.046878],[0.007160,-0.053896,0.998521]] 2025-10-27T05:41:38.008Z,1761543698.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:38.364Z,1761543698.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788157,0.614838,0.027970],[-0.615438,0.786806,0.046604],[0.006647,-0.053945,0.998522]] 2025-10-27T05:41:38.448Z,1761543698.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:38.765Z,1761543698.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788274,0.614670,0.028378],[-0.615294,0.786940,0.046250],[0.006097,-0.053919,0.998527]] 2025-10-27T05:41:38.817Z,1761543698.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:39.173Z,1761543699.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788400,0.614489,0.028771],[-0.615138,0.787087,0.045829],[0.005516,-0.053830,0.998535]] 2025-10-27T05:41:39.216Z,1761543699.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:39.586Z,1761543699.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788635,0.614176,0.029027],[-0.614842,0.787356,0.045162],[0.004883,-0.053463,0.998558]] 2025-10-27T05:41:39.651Z,1761543699.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:39.986Z,1761543699.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788869,0.613854,0.029465],[-0.614547,0.787618,0.044619],[0.004183,-0.053306,0.998569]] 2025-10-27T05:41:40.010Z,1761543700.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:40.390Z,1761543700.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788877,0.613826,0.029857],[-0.614540,0.787639,0.044332],[0.003696,-0.053321,0.998571]] 2025-10-27T05:41:40.486Z,1761543700.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:40.794Z,1761543700.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789133,0.613466,0.030480],[-0.614215,0.787912,0.043991],[0.002972,-0.053436,0.998567]] 2025-10-27T05:41:40.812Z,1761543700.812 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +78, -14,A 2025-10-27T05:41:40.848Z,1761543700.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:41.232Z,1761543701.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:41.613Z,1761543701.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790121,0.612119,0.031919],[-0.612950,0.788947,0.043067],[0.001179,-0.053593,0.998562]] 2025-10-27T05:41:41.676Z,1761543701.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:42.006Z,1761543702.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790866,0.611129,0.032437],[-0.611990,0.789727,0.042427],[0.000312,-0.053405,0.998573]] 2025-10-27T05:41:42.040Z,1761543702.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:42.414Z,1761543702.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791543,0.610226,0.032933],[-0.611114,0.790437,0.041827],[-0.000507,-0.053234,0.998582]] 2025-10-27T05:41:42.462Z,1761543702.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:42.829Z,1761543702.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792225,0.609308,0.033528],[-0.610228,0.791147,0.041322],[-0.001348,-0.053196,0.998583]] 2025-10-27T05:41:42.894Z,1761543702.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:43.217Z,1761543703.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792819,0.608498,0.034181],[-0.609453,0.791763,0.040958],[-0.002141,-0.053304,0.998576]] 2025-10-27T05:41:43.245Z,1761543703.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:43.680Z,1761543703.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:44.026Z,1761543704.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794083,0.606787,0.035232],[-0.607799,0.793069,0.040273],[-0.003505,-0.053394,0.998567]] 2025-10-27T05:41:44.045Z,1761543704.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:44.440Z,1761543704.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794485,0.606237,0.035646],[-0.607271,0.793479,0.040151],[-0.003943,-0.053547,0.998558]] 2025-10-27T05:41:44.471Z,1761543704.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:44.833Z,1761543704.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794750,0.605876,0.035873],[-0.606922,0.793748,0.040111],[-0.004172,-0.053651,0.998551]] 2025-10-27T05:41:44.883Z,1761543704.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:45.251Z,1761543705.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794870,0.605710,0.036018],[-0.606765,0.793869,0.040107],[-0.004300,-0.053734,0.998546]] 2025-10-27T05:41:45.290Z,1761543705.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:45.653Z,1761543705.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794987,0.605555,0.036037],[-0.606610,0.793989,0.040058],[-0.004356,-0.053707,0.998547]] 2025-10-27T05:41:45.705Z,1761543705.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:46.058Z,1761543706.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795004,0.605546,0.035826],[-0.606590,0.794006,0.040027],[-0.004207,-0.053554,0.998556]] 2025-10-27T05:41:46.082Z,1761543706.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:46.472Z,1761543706.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794379,0.606400,0.035222],[-0.607413,0.793354,0.040497],[-0.003386,-0.053564,0.998559]] 2025-10-27T05:41:46.496Z,1761543706.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:46.918Z,1761543706.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:47.276Z,1761543707.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793487,0.607613,0.034411],[-0.608583,0.792418,0.041246],[-0.002206,-0.053670,0.998556]] 2025-10-27T05:41:47.319Z,1761543707.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:47.567Z,1761543707.567 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:41:47.680Z,1761543707.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792905,0.608399,0.033939],[-0.609343,0.791809,0.041701],[-0.001502,-0.053745,0.998554]] 2025-10-27T05:41:47.748Z,1761543707.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:48.090Z,1761543708.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792370,0.609129,0.033346],[-0.610041,0.791246,0.042180],[-0.000692,-0.053765,0.998553]] 2025-10-27T05:41:48.120Z,1761543708.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:48.525Z,1761543708.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:48.572Z,1761543708.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:41:48.886Z,1761543708.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791522,0.610302,0.031990],[-0.611139,0.790354,0.042997],[0.000958,-0.053583,0.998563]] 2025-10-27T05:41:48.945Z,1761543708.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:49.348Z,1761543709.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791093,0.610891,0.031368],[-0.611693,0.789900,0.043478],[0.001783,-0.053583,0.998562]] 2025-10-27T05:41:49.368Z,1761543709.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:49.745Z,1761543709.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790758,0.611358,0.030722],[-0.612124,0.789541,0.043928],[0.002600,-0.053542,0.998562]] 2025-10-27T05:41:49.788Z,1761543709.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:50.145Z,1761543710.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790677,0.611484,0.030289],[-0.612226,0.789445,0.044233],[0.003136,-0.053518,0.998562]] 2025-10-27T05:41:50.165Z,1761543710.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:50.554Z,1761543710.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790622,0.611575,0.029896],[-0.612293,0.789368,0.044665],[0.003717,-0.053618,0.998555]] 2025-10-27T05:41:50.646Z,1761543710.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:51.031Z,1761543711.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790626,0.611590,0.029456],[-0.612284,0.789354,0.045049],[0.004300,-0.053653,0.998550]] 2025-10-27T05:41:51.151Z,1761543711.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:51.436Z,1761543711.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790960,0.611171,0.029174],[-0.611850,0.789681,0.045208],[0.004592,-0.053608,0.998551]] 2025-10-27T05:41:51.466Z,1761543711.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:51.852Z,1761543711.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791402,0.610612,0.028928],[-0.611277,0.790113,0.045399],[0.004865,-0.053612,0.998550]] 2025-10-27T05:41:51.916Z,1761543711.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:52.282Z,1761543712.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792011,0.609831,0.028719],[-0.610487,0.790726,0.045370],[0.004959,-0.053466,0.998557]] 2025-10-27T05:41:52.330Z,1761543712.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:52.731Z,1761543712.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792657,0.608992,0.028703],[-0.609648,0.791367,0.045477],[0.004981,-0.053547,0.998553]] 2025-10-27T05:41:52.770Z,1761543712.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:53.147Z,1761543713.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793279,0.608181,0.028706],[-0.608837,0.791984,0.045591],[0.004993,-0.053644,0.998548]] 2025-10-27T05:41:53.166Z,1761543713.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:53.546Z,1761543713.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793936,0.607318,0.028824],[-0.607981,0.792631,0.045767],[0.004948,-0.053861,0.998536]] 2025-10-27T05:41:53.583Z,1761543713.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:53.949Z,1761543713.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794837,0.606138,0.028843],[-0.606805,0.793538,0.045670],[0.004794,-0.053802,0.998540]] 2025-10-27T05:41:54.013Z,1761543714.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:54.359Z,1761543714.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795600,0.605137,0.028820],[-0.605804,0.794301,0.045691],[0.004757,-0.053811,0.998540]] 2025-10-27T05:41:54.378Z,1761543714.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:54.757Z,1761543714.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796200,0.604354,0.028652],[-0.605014,0.794900,0.045749],[0.004873,-0.053760,0.998542]] 2025-10-27T05:41:54.802Z,1761543714.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:55.162Z,1761543715.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796682,0.603723,0.028576],[-0.604379,0.795375,0.045880],[0.004970,-0.053823,0.998538]] 2025-10-27T05:41:55.198Z,1761543715.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:55.566Z,1761543715.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797031,0.603273,0.028357],[-0.603916,0.795715,0.046076],[0.005233,-0.053850,0.998535]] 2025-10-27T05:41:55.614Z,1761543715.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:55.971Z,1761543715.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797334,0.602879,0.028186],[-0.603513,0.796007,0.046320],[0.005489,-0.053943,0.998529]] 2025-10-27T05:41:56.008Z,1761543716.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:56.378Z,1761543716.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797608,0.602530,0.027890],[-0.603147,0.796272,0.046528],[0.005827,-0.053933,0.998528]] 2025-10-27T05:41:56.408Z,1761543716.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:56.778Z,1761543716.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797744,0.602373,0.027413],[-0.602963,0.796397,0.046768],[0.006340,-0.053838,0.998530]] 2025-10-27T05:41:56.823Z,1761543716.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:57.182Z,1761543717.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797699,0.602449,0.027051],[-0.603017,0.796336,0.047113],[0.006841,-0.053894,0.998523]] 2025-10-27T05:41:57.201Z,1761543717.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:57.598Z,1761543717.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797483,0.602761,0.026470],[-0.603294,0.796100,0.047548],[0.007587,-0.053888,0.998518]] 2025-10-27T05:41:57.617Z,1761543717.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:57.990Z,1761543717.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797076,0.603314,0.026096],[-0.603822,0.795663,0.048156],[0.008289,-0.054141,0.998499]] 2025-10-27T05:41:58.034Z,1761543718.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:58.444Z,1761543718.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:58.798Z,1761543718.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796444,0.604202,0.024838],[-0.604633,0.795002,0.048895],[0.009796,-0.053960,0.998495]] 2025-10-27T05:41:58.840Z,1761543718.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:59.202Z,1761543719.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795948,0.604875,0.024342],[-0.605272,0.794481,0.049452],[0.010573,-0.054095,0.998480]] 2025-10-27T05:41:59.240Z,1761543719.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:41:59.608Z,1761543719.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795484,0.605507,0.023791],[-0.605868,0.793996,0.049950],[0.011355,-0.054148,0.998468]] 2025-10-27T05:41:59.629Z,1761543719.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:00.009Z,1761543720.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794909,0.606283,0.023235],[-0.606606,0.793397,0.050506],[0.012186,-0.054243,0.998453]] 2025-10-27T05:42:00.072Z,1761543720.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:00.422Z,1761543720.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794416,0.606951,0.022650],[-0.607235,0.792887,0.050951],[0.012966,-0.054230,0.998444]] 2025-10-27T05:42:00.441Z,1761543720.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:00.818Z,1761543720.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793891,0.607659,0.022089],[-0.607905,0.792345,0.051387],[0.013724,-0.054223,0.998434]] 2025-10-27T05:42:00.862Z,1761543720.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:01.221Z,1761543721.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793440,0.608259,0.021777],[-0.608481,0.791877,0.051790],[0.014257,-0.054343,0.998421]] 2025-10-27T05:42:01.265Z,1761543721.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:01.768Z,1761543721.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:02.031Z,1761543722.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793035,0.608813,0.021055],[-0.608989,0.791458,0.052225],[0.015131,-0.054239,0.998413]] 2025-10-27T05:42:02.106Z,1761543722.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:02.437Z,1761543722.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792896,0.608998,0.020923],[-0.609164,0.791310,0.052425],[0.015370,-0.054313,0.998406]] 2025-10-27T05:42:02.472Z,1761543722.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:02.838Z,1761543722.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792941,0.608940,0.020889],[-0.609103,0.791353,0.052476],[0.015424,-0.054334,0.998404]] 2025-10-27T05:42:02.895Z,1761543722.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:03.242Z,1761543723.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792936,0.608947,0.020868],[-0.609108,0.791346,0.052516],[0.015466,-0.054353,0.998402]] 2025-10-27T05:42:03.262Z,1761543723.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:03.646Z,1761543723.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792960,0.608916,0.020856],[-0.609077,0.791371,0.052502],[0.015464,-0.054335,0.998403]] 2025-10-27T05:42:03.672Z,1761543723.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:04.114Z,1761543724.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:04.456Z,1761543724.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793440,0.608278,0.021211],[-0.608467,0.791872,0.052025],[0.014849,-0.054185,0.998420]] 2025-10-27T05:42:04.476Z,1761543724.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:04.858Z,1761543724.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793758,0.607853,0.021505],[-0.608064,0.792205,0.051679],[0.014377,-0.054097,0.998432]] 2025-10-27T05:42:04.921Z,1761543724.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:05.262Z,1761543725.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794217,0.607241,0.021875],[-0.607478,0.792681,0.051260],[0.013787,-0.054000,0.998446]] 2025-10-27T05:42:05.351Z,1761543725.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:05.665Z,1761543725.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794372,0.607018,0.022433],[-0.607288,0.792836,0.051116],[0.013243,-0.054228,0.998441]] 2025-10-27T05:42:05.735Z,1761543725.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:06.079Z,1761543726.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794756,0.606495,0.022970],[-0.606800,0.793234,0.050727],[0.012545,-0.054254,0.998448]] 2025-10-27T05:42:06.140Z,1761543726.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:06.482Z,1761543726.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795185,0.605909,0.023584],[-0.606253,0.793676,0.050360],[0.011796,-0.054344,0.998453]] 2025-10-27T05:42:06.536Z,1761543726.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:06.879Z,1761543726.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795758,0.605137,0.024043],[-0.605514,0.794275,0.049801],[0.011040,-0.054188,0.998470]] 2025-10-27T05:42:06.930Z,1761543726.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:07.282Z,1761543727.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796144,0.604611,0.024482],[-0.605017,0.794680,0.049381],[0.010401,-0.054127,0.998480]] 2025-10-27T05:42:07.322Z,1761543727.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:07.691Z,1761543727.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796744,0.603800,0.024986],[-0.604241,0.795305,0.048808],[0.009599,-0.053985,0.998496]] 2025-10-27T05:42:07.734Z,1761543727.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:08.099Z,1761543728.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797574,0.602658,0.026059],[-0.603165,0.796171,0.047986],[0.008172,-0.053990,0.998508]] 2025-10-27T05:42:08.156Z,1761543728.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:08.509Z,1761543728.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797919,0.602177,0.026618],[-0.602718,0.796529,0.047671],[0.007504,-0.054081,0.998508]] 2025-10-27T05:42:08.533Z,1761543728.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:08.907Z,1761543728.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798185,0.601805,0.027053],[-0.602372,0.796805,0.047433],[0.006990,-0.054156,0.998508]] 2025-10-27T05:42:08.951Z,1761543728.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:09.306Z,1761543729.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798320,0.601605,0.027507],[-0.602198,0.796943,0.047325],[0.006550,-0.054345,0.998501]] 2025-10-27T05:42:09.325Z,1761543729.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:09.713Z,1761543729.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798626,0.601184,0.027837],[-0.601797,0.797264,0.047012],[0.006069,-0.054298,0.998506]] 2025-10-27T05:42:09.741Z,1761543729.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:10.110Z,1761543730.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798660,0.601125,0.028108],[-0.601754,0.797302,0.046920],[0.005795,-0.054387,0.998503]] 2025-10-27T05:42:10.154Z,1761543730.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:10.514Z,1761543730.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798503,0.601324,0.028327],[-0.601964,0.797145,0.046899],[0.005621,-0.054501,0.998498]] 2025-10-27T05:42:10.571Z,1761543730.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:10.932Z,1761543730.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798401,0.601459,0.028336],[-0.602101,0.797046,0.046818],[0.005574,-0.054441,0.998501]] 2025-10-27T05:42:10.976Z,1761543730.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:11.324Z,1761543731.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798122,0.601826,0.028402],[-0.602470,0.796764,0.046881],[0.005585,-0.054528,0.998497]] 2025-10-27T05:42:11.342Z,1761543731.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:11.748Z,1761543731.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797718,0.602362,0.028385],[-0.603003,0.796352,0.047022],[0.005720,-0.054627,0.998490]] 2025-10-27T05:42:11.765Z,1761543731.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:42:11.767Z,1761543731.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:11.988Z,1761543731.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:42:11.988Z,1761543731.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:42:12.130Z,1761543732.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797285,0.602941,0.028261],[-0.603574,0.795915,0.047094],[0.005902,-0.054605,0.998491]] 2025-10-27T05:42:12.180Z,1761543732.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:12.240Z,1761543732.240 [DAT](INFO): DAT read: user:497> 2025-10-27T05:42:12.241Z,1761543732.241 [DAT](INFO): DAT read: Tx time:05:42:11.2721 2025-10-27T05:42:12.241Z,1761543732.241 [DAT](INFO): Ping request sent. 2025-10-27T05:42:12.241Z,1761543732.241 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:42:12.241Z,1761543732.241 [DAT](INFO): publishing transmit ping time 2025-10-27T05:42:12.242Z,1761543732.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000772 2025-10-27T05:42:12.495Z,1761543732.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254005 2025-10-27T05:42:12.545Z,1761543732.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796789,0.603606,0.028055],[-0.604227,0.795413,0.047209],[0.006180,-0.054567,0.998491]] 2025-10-27T05:42:12.595Z,1761543732.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:12.744Z,1761543732.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502682 2025-10-27T05:42:12.960Z,1761543732.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796141,0.604483,0.027582],[-0.605075,0.794763,0.047291],[0.006665,-0.054340,0.998500]] 2025-10-27T05:42:12.996Z,1761543732.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754883 2025-10-27T05:42:13.005Z,1761543733.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:13.248Z,1761543733.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006797 2025-10-27T05:42:13.376Z,1761543733.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:13.500Z,1761543733.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258889 2025-10-27T05:42:13.747Z,1761543733.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794992,0.606018,0.027002],[-0.606574,0.793604,0.047546],[0.007385,-0.054177,0.998504]] 2025-10-27T05:42:13.752Z,1761543733.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867 2025-10-27T05:42:13.785Z,1761543733.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:14.004Z,1761543734.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762820 2025-10-27T05:42:14.149Z,1761543734.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794380,0.606830,0.026809],[-0.607373,0.792980,0.047769],[0.007728,-0.054229,0.998499]] 2025-10-27T05:42:14.201Z,1761543734.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:14.257Z,1761543734.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015459 2025-10-27T05:42:14.508Z,1761543734.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266768 2025-10-27T05:42:14.580Z,1761543734.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793634,0.607815,0.026557],[-0.608339,0.792210,0.048236],[0.008280,-0.054438,0.998483]] 2025-10-27T05:42:14.610Z,1761543734.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:14.760Z,1761543734.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518801 2025-10-27T05:42:14.990Z,1761543734.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793077,0.608559,0.026166],[-0.609058,0.791643,0.048470],[0.008783,-0.054377,0.998482]] 2025-10-27T05:42:15.021Z,1761543735.021 [DAT](INFO): DAT read: Rx Time:05:42:13.7028 2025-10-27T05:42:15.021Z,1761543735.021 [DAT](INFO): Rx dataTimestamp_ set to:1761543735.020708 2025-10-27T05:42:15.022Z,1761543735.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780388 2025-10-27T05:42:15.042Z,1761543735.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:15.272Z,1761543735.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030851 2025-10-27T05:42:15.362Z,1761543735.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792713,0.609047,0.025833],[-0.609525,0.791270,0.048693],[0.009215,-0.054345,0.998480]] 2025-10-27T05:42:15.399Z,1761543735.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-27T05:42:15.527Z,1761543735.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285520 2025-10-27T05:42:15.766Z,1761543735.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792306,0.609589,0.025531],[-0.610047,0.790851,0.048966],[0.009658,-0.054371,0.998474]] 2025-10-27T05:42:15.781Z,1761543735.781 [DAT](INFO): DAT read: 05:42:13.7028 LVL= 23536, 17393, 8178, 23011, AGC= 47, IDX= 476, 0.09,-1.823,-0.628, 0.797,-0.472, PHS=-1.249,-0.111, 1.225, RAW= 237.3, 1.3, CAL= 234.2, 1.8, ROT= 275.8, -1.8 2025-10-27T05:42:15.782Z,1761543735.782 [DAT](INFO): got valid direction response: 05:42:13.7028 LVL= 23536, 17393, 8178, 23011, AGC= 47, IDX= 476, 0.09,-1.823,-0.628, 0.797,-0.472, PHS=-1.249,-0.111, 1.225, RAW= 237.3, 1.3, CAL= 234.2, 1.8, ROT= 275.8, -1.8 2025-10-27T05:42:15.783Z,1761543735.783 [DAT](INFO): DAT read: Bearing 114.9, -83.6 (Local) 2025-10-27T05:42:15.784Z,1761543735.784 [DAT](INFO): Local bearing/azimuth received: Bearing 114.9, -83.6 (Local) 2025-10-27T05:42:15.785Z,1761543735.785 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (Round-trip 26.5 ms) speed 0.0 m/s 2025-10-27T05:42:15.786Z,1761543735.786 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:42:15.787Z,1761543735.787 [DAT](INFO): direction in FSK: [0.101006,-0.994390,0.031411] 2025-10-27T05:42:15.787Z,1761543735.787 [DAT](INFO): publishing direction and range info 2025-10-27T05:42:15.873Z,1761543735.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 60.503911 s, deltaX: 3.000000 m, approachRate: 0.049584 m/s, rangeRepo size: 4 2025-10-27T05:42:15.880Z,1761543735.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.682852 m, bearing: 238.176008 deg, lat: 36.779380 deg, lon: -121.859715 deg, deltaT: 60.503911 s, deltaX: 2.980717 m, approachRate: 0.049265 m/s, posRepo size: 4 2025-10-27T05:42:15.880Z,1761543735.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:16.172Z,1761543736.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792206,0.609735,0.025160],[-0.610171,0.790749,0.049051],[0.010013,-0.054210,0.998479]] 2025-10-27T05:42:16.210Z,1761543736.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:16.589Z,1761543736.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792196,0.609759,0.024909],[-0.610180,0.790733,0.049202],[0.010305,-0.054176,0.998478]] 2025-10-27T05:42:16.608Z,1761543736.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:17.015Z,1761543737.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792333,0.609585,0.024788],[-0.610000,0.790868,0.049282],[0.010438,-0.054168,0.998477]] 2025-10-27T05:42:17.079Z,1761543737.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:17.382Z,1761543737.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792525,0.609343,0.024597],[-0.609747,0.791056,0.049379],[0.010631,-0.054132,0.998477]] 2025-10-27T05:42:17.401Z,1761543737.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:17.787Z,1761543737.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792801,0.608986,0.024543],[-0.609387,0.791328,0.049470],[0.010705,-0.054176,0.998474]] 2025-10-27T05:42:17.807Z,1761543737.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:18.190Z,1761543738.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793375,0.608238,0.024546],[-0.608639,0.791903,0.049472],[0.010653,-0.054190,0.998474]] 2025-10-27T05:42:18.233Z,1761543738.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:18.597Z,1761543738.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793879,0.607580,0.024560],[-0.607983,0.792404,0.049515],[0.010623,-0.054242,0.998471]] 2025-10-27T05:42:18.641Z,1761543738.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:18.700Z,1761543738.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:42:19.041Z,1761543739.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794386,0.606918,0.024540],[-0.607320,0.792906,0.049619],[0.010657,-0.054320,0.998467]] 2025-10-27T05:42:19.118Z,1761543739.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:19.402Z,1761543739.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795223,0.605817,0.024633],[-0.606228,0.793751,0.049465],[0.010414,-0.054269,0.998472]] 2025-10-27T05:42:19.421Z,1761543739.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:19.704Z,1761543739.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:42:19.806Z,1761543739.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796015,0.604771,0.024743],[-0.605191,0.794545,0.049408],[0.010221,-0.054303,0.998472]] 2025-10-27T05:42:19.893Z,1761543739.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:20.209Z,1761543740.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796804,0.603729,0.024810],[-0.604155,0.795339,0.049319],[0.010043,-0.054287,0.998475]] 2025-10-27T05:42:20.285Z,1761543740.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:20.613Z,1761543740.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797623,0.602635,0.025068],[-0.603078,0.796163,0.049207],[0.009696,-0.054367,0.998474]] 2025-10-27T05:42:20.664Z,1761543740.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:21.048Z,1761543741.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798507,0.601457,0.025199],[-0.601911,0.797055,0.049055],[0.009420,-0.054338,0.998478]] 2025-10-27T05:42:21.133Z,1761543741.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:21.424Z,1761543741.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799105,0.600656,0.025371],[-0.601121,0.797653,0.049030],[0.009213,-0.054431,0.998475]] 2025-10-27T05:42:21.442Z,1761543741.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:21.827Z,1761543741.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799621,0.599962,0.025524],[-0.600436,0.798165,0.049090],[0.009079,-0.054579,0.998468]] 2025-10-27T05:42:21.854Z,1761543741.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:22.230Z,1761543742.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800089,0.599330,0.025722],[-0.599816,0.798628,0.049133],[0.008904,-0.054739,0.998461]] 2025-10-27T05:42:22.328Z,1761543742.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:22.640Z,1761543742.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800331,0.599009,0.025664],[-0.599491,0.798866,0.049224],[0.008983,-0.054781,0.998458]] 2025-10-27T05:42:22.659Z,1761543742.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:23.070Z,1761543743.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800651,0.598587,0.025507],[-0.599062,0.799188,0.049222],[0.009079,-0.054690,0.998462]] 2025-10-27T05:42:23.162Z,1761543743.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:23.442Z,1761543743.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800735,0.598478,0.025450],[-0.598948,0.799262,0.049412],[0.009231,-0.054810,0.998454]] 2025-10-27T05:42:23.469Z,1761543743.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:23.845Z,1761543743.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800923,0.598235,0.025223],[-0.598692,0.799450,0.049465],[0.009427,-0.054718,0.998457]] 2025-10-27T05:42:23.882Z,1761543743.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:24.249Z,1761543744.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800869,0.598314,0.025097],[-0.598762,0.799384,0.049691],[0.009669,-0.054823,0.998449]] 2025-10-27T05:42:24.303Z,1761543744.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:24.662Z,1761543744.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800609,0.598669,0.024920],[-0.599103,0.799108,0.050023],[0.010034,-0.054978,0.998437]] 2025-10-27T05:42:24.681Z,1761543744.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:25.068Z,1761543745.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800258,0.599150,0.024615],[-0.599564,0.798742,0.050352],[0.010507,-0.055052,0.998428]] 2025-10-27T05:42:25.152Z,1761543745.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:25.461Z,1761543745.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800000,0.599514,0.024145],[-0.599898,0.798475,0.050596],[0.011054,-0.054961,0.998427]] 2025-10-27T05:42:25.506Z,1761543745.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:25.867Z,1761543745.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799521,0.600168,0.023775],[-0.600526,0.797978,0.050993],[0.011633,-0.055047,0.998416]] 2025-10-27T05:42:25.886Z,1761543745.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:26.270Z,1761543746.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799069,0.600789,0.023275],[-0.601115,0.797518,0.051243],[0.012225,-0.054938,0.998415]] 2025-10-27T05:42:26.324Z,1761543746.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:26.739Z,1761543746.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798790,0.601175,0.022856],[-0.601476,0.797235,0.051403],[0.012681,-0.054807,0.998416]] 2025-10-27T05:42:26.760Z,1761543746.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:27.077Z,1761543747.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798242,0.601920,0.022425],[-0.602190,0.796671,0.051787],[0.013306,-0.054843,0.998406]] 2025-10-27T05:42:27.160Z,1761543747.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:27.482Z,1761543747.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797719,0.602623,0.022133],[-0.602871,0.796130,0.052200],[0.013836,-0.054984,0.998391]] 2025-10-27T05:42:27.544Z,1761543747.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:27.885Z,1761543747.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797404,0.603051,0.021803],[-0.603277,0.795809,0.052388],[0.014241,-0.054928,0.998389]] 2025-10-27T05:42:27.911Z,1761543747.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:28.339Z,1761543748.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:28.716Z,1761543748.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796596,0.604143,0.021105],[-0.604321,0.794983,0.052900],[0.015181,-0.054894,0.998377]] 2025-10-27T05:42:28.809Z,1761543748.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:29.097Z,1761543749.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796426,0.604378,0.020788],[-0.604536,0.794810,0.053042],[0.015535,-0.054811,0.998376]] 2025-10-27T05:42:29.126Z,1761543749.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:29.501Z,1761543749.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796501,0.604282,0.020702],[-0.604436,0.794886,0.053043],[0.015597,-0.054762,0.998378]] 2025-10-27T05:42:29.559Z,1761543749.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:29.953Z,1761543749.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:30.311Z,1761543750.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796724,0.603991,0.020629],[-0.604142,0.795115,0.052966],[0.015589,-0.054662,0.998383]] 2025-10-27T05:42:30.348Z,1761543750.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:30.732Z,1761543750.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796951,0.603693,0.020600],[-0.603845,0.795349,0.052828],[0.015508,-0.054540,0.998391]] 2025-10-27T05:42:30.762Z,1761543750.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:31.117Z,1761543751.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797336,0.603175,0.020893],[-0.603346,0.795739,0.052659],[0.015137,-0.054592,0.998394]] 2025-10-27T05:42:31.153Z,1761543751.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:31.532Z,1761543751.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797808,0.602546,0.021024],[-0.602729,0.796222,0.052414],[0.014842,-0.054488,0.998404]] 2025-10-27T05:42:31.579Z,1761543751.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:31.928Z,1761543751.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798465,0.601664,0.021330],[-0.601871,0.796894,0.052068],[0.014329,-0.054412,0.998416]] 2025-10-27T05:42:31.967Z,1761543751.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:32.389Z,1761543752.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:32.745Z,1761543752.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799908,0.599716,0.022090],[-0.599977,0.798363,0.051419],[0.013200,-0.054384,0.998433]] 2025-10-27T05:42:32.774Z,1761543752.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:33.138Z,1761543753.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800737,0.598594,0.022507],[-0.598884,0.799204,0.051095],[0.012597,-0.054393,0.998440]] 2025-10-27T05:42:33.167Z,1761543753.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:33.546Z,1761543753.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801616,0.597397,0.022986],[-0.597721,0.800101,0.050678],[0.011884,-0.054363,0.998451]] 2025-10-27T05:42:33.596Z,1761543753.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:33.948Z,1761543753.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802500,0.596187,0.023547],[-0.596548,0.800999,0.050314],[0.011135,-0.054424,0.998456]] 2025-10-27T05:42:33.967Z,1761543753.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:34.349Z,1761543754.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803417,0.594931,0.024024],[-0.595325,0.801934,0.049903],[0.010424,-0.054395,0.998465]] 2025-10-27T05:42:34.453Z,1761543754.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:34.796Z,1761543754.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:35.158Z,1761543755.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805096,0.592620,0.024958],[-0.593074,0.803638,0.049280],[0.009147,-0.054477,0.998473]] 2025-10-27T05:42:35.208Z,1761543755.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:35.562Z,1761543755.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805793,0.591651,0.025441],[-0.592136,0.804343,0.049076],[0.008572,-0.054610,0.998471]] 2025-10-27T05:42:35.640Z,1761543755.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:35.967Z,1761543755.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806425,0.590778,0.025672],[-0.591279,0.804988,0.048816],[0.008174,-0.054545,0.998478]] 2025-10-27T05:42:35.986Z,1761543755.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:36.370Z,1761543756.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806776,0.590284,0.026043],[-0.590806,0.805337,0.048784],[0.007823,-0.054744,0.998470]] 2025-10-27T05:42:36.424Z,1761543756.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:36.782Z,1761543756.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807318,0.589531,0.026284],[-0.590070,0.805889,0.048586],[0.007461,-0.054734,0.998473]] 2025-10-27T05:42:36.800Z,1761543756.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:37.177Z,1761543757.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807750,0.588935,0.026379],[-0.589481,0.806329,0.048427],[0.007251,-0.054667,0.998478]] 2025-10-27T05:42:37.208Z,1761543757.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:37.581Z,1761543757.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807797,0.588862,0.026553],[-0.589417,0.806368,0.048559],[0.007183,-0.054877,0.998467]] 2025-10-27T05:42:37.618Z,1761543757.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:37.986Z,1761543757.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808003,0.588577,0.026604],[-0.589135,0.806574,0.048559],[0.007123,-0.054909,0.998466]] 2025-10-27T05:42:38.031Z,1761543758.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:38.390Z,1761543758.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807935,0.588676,0.026514],[-0.589228,0.806504,0.048605],[0.007229,-0.054892,0.998466]] 2025-10-27T05:42:38.448Z,1761543758.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:38.802Z,1761543758.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807954,0.588645,0.026580],[-0.589200,0.806514,0.048763],[0.007267,-0.055059,0.998457]] 2025-10-27T05:42:38.821Z,1761543758.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:39.232Z,1761543759.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:39.659Z,1761543759.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:40.016Z,1761543760.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807398,0.589436,0.025979],[-0.589952,0.805931,0.049317],[0.008132,-0.055145,0.998445]] 2025-10-27T05:42:40.040Z,1761543760.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:40.410Z,1761543760.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807150,0.589793,0.025557],[-0.590284,0.805677,0.049487],[0.008597,-0.055029,0.998448]] 2025-10-27T05:42:40.454Z,1761543760.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:40.813Z,1761543760.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806738,0.590373,0.025163],[-0.590838,0.805255,0.049743],[0.009105,-0.054997,0.998445]] 2025-10-27T05:42:40.849Z,1761543760.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:41.269Z,1761543761.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:41.623Z,1761543761.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805851,0.591621,0.024262],[-0.592029,0.804343,0.050337],[0.010266,-0.054928,0.998438]] 2025-10-27T05:42:41.681Z,1761543761.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:42.068Z,1761543762.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:42.429Z,1761543762.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805244,0.592483,0.023358],[-0.592835,0.803720,0.050797],[0.011323,-0.054752,0.998436]] 2025-10-27T05:42:42.481Z,1761543762.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:42.877Z,1761543762.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:43.238Z,1761543763.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804936,0.592931,0.022606],[-0.593235,0.803394,0.051289],[0.012249,-0.054695,0.998428]] 2025-10-27T05:42:43.257Z,1761543763.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:43.641Z,1761543763.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804874,0.593028,0.022278],[-0.593312,0.803326,0.051452],[0.012615,-0.054630,0.998427]] 2025-10-27T05:42:43.690Z,1761543763.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:44.046Z,1761543764.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804818,0.593112,0.022052],[-0.593380,0.803259,0.051721],[0.012963,-0.054711,0.998418]] 2025-10-27T05:42:44.080Z,1761543764.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:44.449Z,1761543764.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804913,0.592992,0.021808],[-0.593245,0.803348,0.051894],[0.013253,-0.054707,0.998415]] 2025-10-27T05:42:44.521Z,1761543764.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:44.862Z,1761543764.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805257,0.592528,0.021718],[-0.592776,0.803692,0.051918],[0.013308,-0.054681,0.998415]] 2025-10-27T05:42:44.881Z,1761543764.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:45.258Z,1761543765.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805584,0.592089,0.021571],[-0.592330,0.804021,0.051919],[0.013397,-0.054602,0.998418]] 2025-10-27T05:42:45.284Z,1761543765.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:45.662Z,1761543765.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806256,0.591178,0.021457],[-0.591417,0.804704,0.051741],[0.013322,-0.054406,0.998430]] 2025-10-27T05:42:45.721Z,1761543765.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:46.065Z,1761543766.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806956,0.590219,0.021520],[-0.590465,0.805409,0.051652],[0.013153,-0.054388,0.998433]] 2025-10-27T05:42:46.084Z,1761543766.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:46.542Z,1761543766.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:46.874Z,1761543766.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808600,0.587957,0.021748],[-0.588223,0.807066,0.051367],[0.012650,-0.054328,0.998443]] 2025-10-27T05:42:46.898Z,1761543766.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:47.300Z,1761543767.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809489,0.586720,0.022073],[-0.587008,0.807958,0.051237],[0.012228,-0.054433,0.998443]] 2025-10-27T05:42:47.330Z,1761543767.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:47.685Z,1761543767.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810668,0.585080,0.022318],[-0.585388,0.809152,0.050921],[0.011734,-0.054345,0.998453]] 2025-10-27T05:42:47.748Z,1761543767.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:48.086Z,1761543768.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811785,0.583516,0.022689],[-0.583850,0.810281,0.050629],[0.011158,-0.054347,0.998460]] 2025-10-27T05:42:48.105Z,1761543768.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:48.501Z,1761543768.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812753,0.582156,0.022957],[-0.582509,0.811255,0.050495],[0.010772,-0.054412,0.998460]] 2025-10-27T05:42:48.565Z,1761543768.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:48.894Z,1761543768.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813651,0.580887,0.023284],[-0.581261,0.812154,0.050412],[0.010373,-0.054552,0.998457]] 2025-10-27T05:42:48.991Z,1761543768.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:49.343Z,1761543769.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815767,0.577886,0.023935],[-0.578306,0.814295,0.049855],[0.009321,-0.054511,0.998470]] 2025-10-27T05:42:49.370Z,1761543769.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:49.744Z,1761543769.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816483,0.576869,0.024037],[-0.577298,0.815017,0.049737],[0.009102,-0.054486,0.998473]] 2025-10-27T05:42:49.813Z,1761543769.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:49.832Z,1761543769.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:42:50.138Z,1761543770.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817063,0.576042,0.024172],[-0.576480,0.815601,0.049654],[0.008888,-0.054505,0.998474]] 2025-10-27T05:42:50.180Z,1761543770.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:50.542Z,1761543770.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817428,0.575518,0.024291],[-0.575963,0.815963,0.049709],[0.008788,-0.054624,0.998468]] 2025-10-27T05:42:50.595Z,1761543770.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:50.835Z,1761543770.835 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:42:50.986Z,1761543770.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:51.349Z,1761543771.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817765,0.575041,0.024246],[-0.575483,0.816290,0.049901],[0.008904,-0.054760,0.998460]] 2025-10-27T05:42:51.384Z,1761543771.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:51.750Z,1761543771.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817655,0.575203,0.024112],[-0.575637,0.816176,0.049995],[0.009078,-0.054758,0.998458]] 2025-10-27T05:42:51.795Z,1761543771.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:52.154Z,1761543772.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817285,0.575732,0.024024],[-0.576157,0.815788,0.050322],[0.009373,-0.054969,0.998444]] 2025-10-27T05:42:52.179Z,1761543772.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:52.560Z,1761543772.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816906,0.576281,0.023751],[-0.576688,0.815400,0.050533],[0.009755,-0.054977,0.998440]] 2025-10-27T05:42:52.602Z,1761543772.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:52.979Z,1761543772.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816364,0.577064,0.023394],[-0.577447,0.814845,0.050825],[0.010267,-0.055000,0.998434]] 2025-10-27T05:42:53.010Z,1761543773.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:53.412Z,1761543773.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:53.777Z,1761543773.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815264,0.578652,0.022511],[-0.578981,0.813739,0.051096],[0.011249,-0.054690,0.998440]] 2025-10-27T05:42:53.824Z,1761543773.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:54.181Z,1761543774.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814716,0.579440,0.022077],[-0.579743,0.813194,0.051133],[0.011675,-0.054458,0.998448]] 2025-10-27T05:42:54.200Z,1761543774.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:54.587Z,1761543774.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814273,0.580074,0.021765],[-0.580360,0.812761,0.051006],[0.011897,-0.054164,0.998461]] 2025-10-27T05:42:54.625Z,1761543774.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:55.001Z,1761543775.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813684,0.580896,0.021850],[-0.581184,0.812163,0.051161],[0.011973,-0.054328,0.998451]] 2025-10-27T05:42:55.027Z,1761543775.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:55.397Z,1761543775.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813528,0.581108,0.022023],[-0.581407,0.812013,0.051002],[0.011754,-0.054296,0.998456]] 2025-10-27T05:42:55.416Z,1761543775.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:55.801Z,1761543775.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813401,0.581273,0.022397],[-0.581593,0.811890,0.050843],[0.011370,-0.054382,0.998456]] 2025-10-27T05:42:55.861Z,1761543775.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:56.204Z,1761543776.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813527,0.581075,0.022903],[-0.581427,0.812030,0.050496],[0.010744,-0.054397,0.998462]] 2025-10-27T05:42:56.223Z,1761543776.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:56.606Z,1761543776.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813831,0.580625,0.023536],[-0.581017,0.812354,0.050004],[0.009914,-0.054369,0.998472]] 2025-10-27T05:42:56.652Z,1761543776.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:57.012Z,1761543777.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814450,0.579729,0.024189],[-0.580166,0.813008,0.049251],[0.008886,-0.054147,0.998493]] 2025-10-27T05:42:57.031Z,1761543777.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:57.470Z,1761543777.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:57.819Z,1761543777.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816253,0.577109,0.026002],[-0.577661,0.814902,0.047351],[0.006138,-0.053671,0.998540]] 2025-10-27T05:42:57.857Z,1761543777.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:58.221Z,1761543778.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817263,0.575625,0.027145],[-0.576246,0.815953,0.046484],[0.004608,-0.053632,0.998550]] 2025-10-27T05:42:58.257Z,1761543778.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:58.628Z,1761543778.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818252,0.574155,0.028439],[-0.574851,0.816981,0.045699],[0.003004,-0.053741,0.998550]] 2025-10-27T05:42:58.673Z,1761543778.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:59.029Z,1761543779.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819263,0.572635,0.029964],[-0.573417,0.818029,0.044968],[0.001239,-0.054022,0.998539]] 2025-10-27T05:42:59.049Z,1761543779.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:59.444Z,1761543779.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820506,0.570776,0.031379],[-0.571638,0.819325,0.044014],[-0.000587,-0.054051,0.998538]] 2025-10-27T05:42:59.466Z,1761543779.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:42:59.838Z,1761543779.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821678,0.569006,0.032840],[-0.569947,0.820553,0.043039],[-0.002457,-0.054081,0.998533]] 2025-10-27T05:42:59.884Z,1761543779.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:00.268Z,1761543780.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822888,0.567169,0.034290],[-0.568187,0.821828,0.041974],[-0.004374,-0.054023,0.998530]] 2025-10-27T05:43:00.287Z,1761543780.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:00.666Z,1761543780.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823900,0.565613,0.035653],[-0.566702,0.822903,0.040985],[-0.006157,-0.053972,0.998523]] 2025-10-27T05:43:00.718Z,1761543780.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:01.070Z,1761543781.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824695,0.564361,0.037076],[-0.565523,0.823754,0.040157],[-0.007879,-0.054085,0.998505]] 2025-10-27T05:43:01.089Z,1761543781.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:01.488Z,1761543781.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825292,0.563389,0.038542],[-0.564625,0.824406,0.039415],[-0.009568,-0.054290,0.998479]] 2025-10-27T05:43:01.522Z,1761543781.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:01.880Z,1761543781.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825768,0.562609,0.039733],[-0.563902,0.824936,0.038667],[-0.011023,-0.054336,0.998462]] 2025-10-27T05:43:01.918Z,1761543781.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:02.282Z,1761543782.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826001,0.562191,0.040797],[-0.563536,0.825213,0.038086],[-0.012254,-0.054450,0.998441]] 2025-10-27T05:43:02.337Z,1761543782.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:02.688Z,1761543782.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826113,0.561963,0.041654],[-0.563349,0.825365,0.037566],[-0.013269,-0.054499,0.998426]] 2025-10-27T05:43:02.751Z,1761543782.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:03.090Z,1761543783.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825948,0.562159,0.042282],[-0.563573,0.825232,0.037126],[-0.014022,-0.054493,0.998416]] 2025-10-27T05:43:03.174Z,1761543783.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:03.504Z,1761543783.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825794,0.562359,0.042629],[-0.563783,0.825112,0.036582],[-0.014601,-0.054243,0.998421]] 2025-10-27T05:43:03.530Z,1761543783.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:03.899Z,1761543783.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825337,0.563010,0.042877],[-0.564444,0.824673,0.036313],[-0.014915,-0.054172,0.998420]] 2025-10-27T05:43:03.983Z,1761543783.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:04.304Z,1761543784.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824761,0.563837,0.043105],[-0.565279,0.824106,0.036167],[-0.015131,-0.054195,0.998416]] 2025-10-27T05:43:04.344Z,1761543784.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:04.723Z,1761543784.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824130,0.564756,0.043118],[-0.566199,0.823476,0.036148],[-0.015091,-0.054204,0.998416]] 2025-10-27T05:43:04.792Z,1761543784.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:05.109Z,1761543785.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823571,0.565577,0.043043],[-0.567015,0.822914,0.036136],[-0.014983,-0.054166,0.998420]] 2025-10-27T05:43:05.140Z,1761543785.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:05.513Z,1761543785.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822943,0.566509,0.042795],[-0.567934,0.822277,0.036209],[-0.014677,-0.054102,0.998428]] 2025-10-27T05:43:05.532Z,1761543785.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:05.935Z,1761543785.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822528,0.567131,0.042553],[-0.568542,0.821855,0.036244],[-0.014418,-0.054005,0.998437]] 2025-10-27T05:43:06.002Z,1761543786.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:06.338Z,1761543786.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822109,0.567758,0.042273],[-0.569157,0.821421,0.036437],[-0.014037,-0.054015,0.998441]] 2025-10-27T05:43:06.357Z,1761543786.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:06.750Z,1761543786.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821834,0.568196,0.041751],[-0.569568,0.821128,0.036625],[-0.013473,-0.053880,0.998456]] 2025-10-27T05:43:06.790Z,1761543786.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:07.146Z,1761543787.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821679,0.568445,0.041398],[-0.569802,0.820954,0.036877],[-0.013023,-0.053890,0.998462]] 2025-10-27T05:43:07.176Z,1761543787.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:07.549Z,1761543787.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821677,0.568471,0.041073],[-0.569814,0.820934,0.037142],[-0.012604,-0.053922,0.998466]] 2025-10-27T05:43:07.570Z,1761543787.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:07.961Z,1761543787.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821921,0.568151,0.040614],[-0.569472,0.821162,0.037347],[-0.012132,-0.053825,0.998477]] 2025-10-27T05:43:08.024Z,1761543788.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:08.358Z,1761543788.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822352,0.567557,0.040196],[-0.568858,0.821579,0.037541],[-0.011718,-0.053738,0.998486]] 2025-10-27T05:43:08.383Z,1761543788.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:08.778Z,1761543788.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822854,0.566867,0.039669],[-0.568143,0.822063,0.037773],[-0.011198,-0.053619,0.998499]] 2025-10-27T05:43:08.826Z,1761543788.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:09.166Z,1761543789.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823325,0.566213,0.039234],[-0.567471,0.822507,0.038210],[-0.010636,-0.053723,0.998499]] 2025-10-27T05:43:09.185Z,1761543789.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:09.570Z,1761543789.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824051,0.565188,0.038768],[-0.566425,0.823215,0.038483],[-0.010164,-0.053671,0.998507]] 2025-10-27T05:43:09.606Z,1761543789.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:09.982Z,1761543789.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824654,0.564338,0.038316],[-0.565556,0.823791,0.038925],[-0.009598,-0.053770,0.998507]] 2025-10-27T05:43:10.030Z,1761543790.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:10.378Z,1761543790.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825355,0.563338,0.037955],[-0.564541,0.824468,0.039321],[-0.009141,-0.053881,0.998506]] 2025-10-27T05:43:10.398Z,1761543790.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:10.809Z,1761543790.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825943,0.562504,0.037513],[-0.563688,0.825031,0.039735],[-0.008599,-0.053965,0.998506]] 2025-10-27T05:43:10.846Z,1761543790.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:11.186Z,1761543791.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826726,0.561390,0.036951],[-0.562547,0.825797,0.039995],[-0.008061,-0.053851,0.998516]] 2025-10-27T05:43:11.204Z,1761543791.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:11.596Z,1761543791.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827555,0.560200,0.036445],[-0.561333,0.826613,0.040200],[-0.007606,-0.053726,0.998527]] 2025-10-27T05:43:11.614Z,1761543791.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:12.078Z,1761543792.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:43:12.084Z,1761543792.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:12.268Z,1761543792.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:43:12.269Z,1761543792.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:43:12.432Z,1761543792.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828619,0.558680,0.035596],[-0.559776,0.827620,0.041187],[-0.006450,-0.054054,0.998517]] 2025-10-27T05:43:12.460Z,1761543792.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:12.520Z,1761543792.520 [DAT](INFO): DAT read: user:498> 2025-10-27T05:43:12.522Z,1761543792.522 [DAT](INFO): DAT read: Tx time:05:43:11.5720 2025-10-27T05:43:12.522Z,1761543792.522 [DAT](INFO): Ping request sent. 2025-10-27T05:43:12.522Z,1761543792.522 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:43:12.522Z,1761543792.522 [DAT](INFO): publishing transmit ping time 2025-10-27T05:43:12.526Z,1761543792.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004382 2025-10-27T05:43:12.775Z,1761543792.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251959 2025-10-27T05:43:12.841Z,1761543792.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829195,0.557857,0.035086],[-0.558928,0.828174,0.041565],[-0.005870,-0.054076,0.998520]] 2025-10-27T05:43:12.884Z,1761543792.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:13.024Z,1761543793.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501998 2025-10-27T05:43:13.273Z,1761543793.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:13.274Z,1761543793.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 19.80 m and bearing: 250.819246 deg. Not drifting fast enough. 2025-10-27T05:43:13.276Z,1761543793.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753962 2025-10-27T05:43:13.528Z,1761543793.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005910 2025-10-27T05:43:13.642Z,1761543793.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830176,0.556473,0.033856],[-0.557483,0.829117,0.042169],[-0.004605,-0.053881,0.998537]] 2025-10-27T05:43:13.661Z,1761543793.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:13.663Z,1761543793.663 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T05:43:13.663Z,1761543793.663 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:43:13.663Z,1761543793.663 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T05:43:13.663Z,1761543793.663 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T05:43:13.780Z,1761543793.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257955 2025-10-27T05:43:14.032Z,1761543794.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509801 2025-10-27T05:43:14.063Z,1761543794.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830717,0.555703,0.033212],[-0.556680,0.829650,0.042291],[-0.004053,-0.053620,0.998553]] 2025-10-27T05:43:14.116Z,1761543794.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:14.284Z,1761543794.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762004 2025-10-27T05:43:14.468Z,1761543794.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831223,0.554975,0.032741],[-0.555928,0.830150,0.042366],[-0.003668,-0.053417,0.998565]] 2025-10-27T05:43:14.489Z,1761543794.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:14.537Z,1761543794.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014786 2025-10-27T05:43:14.790Z,1761543794.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267782 2025-10-27T05:43:14.864Z,1761543794.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831684,0.554302,0.032414],[-0.555238,0.830603,0.042532],[-0.003348,-0.053371,0.998569]] 2025-10-27T05:43:14.915Z,1761543794.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:15.041Z,1761543795.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518885 2025-10-27T05:43:15.292Z,1761543795.292 [DAT](INFO): DAT read: Rx Time:05:43:14.0107 2025-10-27T05:43:15.293Z,1761543795.293 [DAT](INFO): Rx dataTimestamp_ set to:1761543795.292343 2025-10-27T05:43:15.293Z,1761543795.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771129 2025-10-27T05:43:15.315Z,1761543795.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:15.544Z,1761543795.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021828 2025-10-27T05:43:15.665Z,1761543795.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832398,0.553245,0.032152],[-0.554171,0.831290,0.043025],[-0.002924,-0.053631,0.998556]] 2025-10-27T05:43:15.683Z,1761543795.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-27T05:43:15.796Z,1761543795.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273802 2025-10-27T05:43:16.061Z,1761543796.061 [DAT](INFO): DAT read: 05:43:14.0107 LVL= 26752, 32753, 15474, 27763, AGC= 55, IDX= 15,-0.40,-0.093, 0.405, 2.325, 1.175, PHS=-1.166,-0.726, 1.106, RAW= 220.5, 7.6, CAL= 220.7, 8.9, ROT= 289.3, -8.9 2025-10-27T05:43:16.062Z,1761543796.062 [DAT](INFO): got valid direction response: 05:43:14.0107 LVL= 26752, 32753, 15474, 27763, AGC= 55, IDX= 15,-0.40,-0.093, 0.405, 2.325, 1.175, PHS=-1.166,-0.726, 1.106, RAW= 220.5, 7.6, CAL= 220.7, 8.9, ROT= 289.3, -8.9 2025-10-27T05:43:16.063Z,1761543796.063 [DAT](INFO): DAT read: Bearing 153.1, -70.1 (Local) 2025-10-27T05:43:16.064Z,1761543796.064 [DAT](INFO): Local bearing/azimuth received: Bearing 153.1, -70.1 (Local) 2025-10-27T05:43:16.065Z,1761543796.065 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (Round-trip 34.5 ms) speed -0.1 m/s 2025-10-27T05:43:16.066Z,1761543796.066 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:43:16.067Z,1761543796.067 [DAT](INFO): direction in FSK: [0.326535,-0.932438,0.154710] 2025-10-27T05:43:16.067Z,1761543796.067 [DAT](INFO): publishing direction and range info 2025-10-27T05:43:16.209Z,1761543796.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 60.272080 s, deltaX: 6.000000 m, approachRate: 0.099549 m/s, rangeRepo size: 4 2025-10-27T05:43:16.216Z,1761543796.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.657345 m, bearing: 255.865571 deg, lat: 36.779381 deg, lon: -121.859733 deg, deltaT: 60.272080 s, deltaX: 5.974493 m, approachRate: 0.099125 m/s, posRepo size: 4 2025-10-27T05:43:16.216Z,1761543796.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:16.477Z,1761543796.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833196,0.552037,0.032253],[-0.552971,0.832074,0.043314],[-0.002926,-0.053924,0.998541]] 2025-10-27T05:43:16.496Z,1761543796.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:16.895Z,1761543796.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833722,0.551238,0.032312],[-0.552176,0.832608,0.043206],[-0.003087,-0.053864,0.998544]] 2025-10-27T05:43:16.964Z,1761543796.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:17.277Z,1761543797.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834266,0.550407,0.032433],[-0.551351,0.833168,0.042919],[-0.003400,-0.053688,0.998552]] 2025-10-27T05:43:17.412Z,1761543797.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:17.765Z,1761543797.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835406,0.548634,0.033127],[-0.549615,0.834350,0.042226],[-0.004473,-0.053483,0.998559]] 2025-10-27T05:43:17.791Z,1761543797.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:18.244Z,1761543798.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:18.584Z,1761543798.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838294,0.543149,0.047449],[-0.545134,0.836512,0.055466],[-0.009565,-0.072363,0.997332]] 2025-10-27T05:43:18.623Z,1761543798.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:18.976Z,1761543798.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838893,0.541223,0.057761],[-0.544175,0.836207,0.068057],[-0.011466,-0.088524,0.996008]] 2025-10-27T05:43:19.013Z,1761543799.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:19.385Z,1761543799.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839061,0.540352,0.063214],[-0.543890,0.835859,0.074323],[-0.012677,-0.096743,0.995229]] 2025-10-27T05:43:19.404Z,1761543799.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:19.785Z,1761543799.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839212,0.540250,0.062082],[-0.543645,0.836246,0.071707],[-0.013176,-0.093928,0.995492]] 2025-10-27T05:43:19.820Z,1761543799.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:20.262Z,1761543800.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840114,0.539383,0.057225],[-0.542234,0.837843,0.063258],[-0.013825,-0.084173,0.996355]] 2025-10-27T05:43:20.306Z,1761543800.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:20.666Z,1761543800.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841029,0.538423,0.052633],[-0.540810,0.839270,0.056125],[-0.013954,-0.075667,0.997036]] 2025-10-27T05:43:20.702Z,1761543800.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:20.956Z,1761543800.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:43:21.069Z,1761543801.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842263,0.536632,0.051183],[-0.538884,0.840646,0.054014],[-0.014042,-0.073076,0.997228]] 2025-10-27T05:43:21.129Z,1761543801.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:21.476Z,1761543801.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843657,0.534321,0.052389],[-0.536700,0.841891,0.056319],[-0.014013,-0.075631,0.997037]] 2025-10-27T05:43:21.495Z,1761543801.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:21.880Z,1761543801.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845209,0.531671,0.054298],[-0.534252,0.843212,0.059729],[-0.014029,-0.079492,0.996737]] 2025-10-27T05:43:21.909Z,1761543801.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:21.961Z,1761543801.961 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:43:22.282Z,1761543802.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847152,0.528544,0.054548],[-0.531172,0.845060,0.061073],[-0.013817,-0.080712,0.996642]] 2025-10-27T05:43:22.366Z,1761543802.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:22.685Z,1761543802.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849652,0.524635,0.053384],[-0.527168,0.847622,0.060260],[-0.013635,-0.079342,0.996754]] 2025-10-27T05:43:22.725Z,1761543802.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:23.090Z,1761543803.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852610,0.519997,0.051577],[-0.522373,0.850721,0.058320],[-0.013552,-0.076667,0.996965]] 2025-10-27T05:43:23.154Z,1761543803.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:23.495Z,1761543803.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856090,0.514446,0.049548],[-0.516656,0.854329,0.056471],[-0.013279,-0.073943,0.997174]] 2025-10-27T05:43:23.520Z,1761543803.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:23.897Z,1761543803.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859834,0.508355,0.047543],[-0.510412,0.858165,0.055057],[-0.012811,-0.071606,0.997351]] 2025-10-27T05:43:23.932Z,1761543803.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:24.307Z,1761543804.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864071,0.501321,0.045361],[-0.503218,0.862507,0.053412],[-0.012348,-0.068979,0.997542]] 2025-10-27T05:43:24.352Z,1761543804.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:24.715Z,1761543804.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868451,0.493938,0.042631],[-0.495640,0.867003,0.051453],[-0.011547,-0.065814,0.997765]] 2025-10-27T05:43:24.757Z,1761543804.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:25.117Z,1761543805.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873476,0.485238,0.039788],[-0.486742,0.872180,0.048833],[-0.011006,-0.062021,0.998014]] 2025-10-27T05:43:25.187Z,1761543805.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:25.518Z,1761543805.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878870,0.475650,0.036668],[-0.476949,0.877736,0.045827],[-0.010387,-0.057765,0.998276]] 2025-10-27T05:43:25.544Z,1761543805.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:25.928Z,1761543805.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884420,0.465537,0.032819],[-0.466591,0.883506,0.041351],[-0.009746,-0.051884,0.998606]] 2025-10-27T05:43:26.007Z,1761543806.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:26.325Z,1761543806.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890043,0.454933,0.029328],[-0.455783,0.889320,0.037020],[-0.009240,-0.046316,0.998884]] 2025-10-27T05:43:26.387Z,1761543806.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:26.738Z,1761543806.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895756,0.443739,0.026775],[-0.444454,0.895171,0.033611],[-0.009054,-0.042007,0.999076]] 2025-10-27T05:43:26.757Z,1761543806.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:27.133Z,1761543807.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901657,0.431772,0.024239],[-0.432362,0.901192,0.030267],[-0.008776,-0.037771,0.999248]] 2025-10-27T05:43:27.193Z,1761543807.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:27.537Z,1761543807.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907737,0.418951,0.022199],[-0.419445,0.907382,0.026908],[-0.008870,-0.033737,0.999391]] 2025-10-27T05:43:27.557Z,1761543807.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:27.951Z,1761543807.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913829,0.405590,0.020334],[-0.406005,0.913553,0.024127],[-0.008791,-0.030304,0.999502]] 2025-10-27T05:43:27.970Z,1761543807.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:28.347Z,1761543808.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919909,0.391686,0.018728],[-0.392036,0.919695,0.021656],[-0.008742,-0.027264,0.999590]] 2025-10-27T05:43:28.384Z,1761543808.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:28.750Z,1761543808.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925782,0.377662,0.017281],[-0.377957,0.925621,0.019328],[-0.008696,-0.024425,0.999664]] 2025-10-27T05:43:28.783Z,1761543808.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:29.154Z,1761543809.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931774,0.362664,0.016508],[-0.362923,0.931662,0.017127],[-0.009169,-0.021950,0.999717]] 2025-10-27T05:43:29.209Z,1761543809.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:29.558Z,1761543809.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937558,0.347466,0.015865],[-0.347687,0.937503,0.014231],[-0.009929,-0.018858,0.999773]] 2025-10-27T05:43:29.577Z,1761543809.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:29.963Z,1761543809.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943202,0.331856,0.015565],[-0.332040,0.943198,0.011241],[-0.010950,-0.015771,0.999816]] 2025-10-27T05:43:29.982Z,1761543809.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:30.366Z,1761543810.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948666,0.315886,0.015796],[-0.316045,0.948703,0.008822],[-0.012199,-0.013361,0.999836]] 2025-10-27T05:43:30.425Z,1761543810.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:30.770Z,1761543810.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953942,0.299563,0.016018],[-0.299683,0.954022,0.005661],[-0.013586,-0.010201,0.999856]] 2025-10-27T05:43:30.789Z,1761543810.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:31.178Z,1761543811.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959034,0.282826,0.016218],[-0.282887,0.959152,0.001581],[-0.015108,-0.006104,0.999867]] 2025-10-27T05:43:31.237Z,1761543811.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:31.578Z,1761543811.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963765,0.266240,0.016549],[-0.266254,0.963902,-0.001385],[-0.016320,-0.003072,0.999862]] 2025-10-27T05:43:31.663Z,1761543811.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:31.989Z,1761543811.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968401,0.248822,0.016971],[-0.248771,0.968549,-0.005054],[-0.017695,0.000673,0.999843]] 2025-10-27T05:43:32.056Z,1761543812.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:32.462Z,1761543812.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:32.792Z,1761543812.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976818,0.213233,0.018949],[-0.213078,0.976985,-0.009888],[-0.020621,0.005621,0.999772]] 2025-10-27T05:43:32.832Z,1761543812.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:33.197Z,1761543813.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980659,0.194703,0.019950],[-0.194479,0.980825,-0.012633],[-0.022027,0.008509,0.999721]] 2025-10-27T05:43:33.246Z,1761543813.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:33.597Z,1761543813.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984149,0.176095,0.020999],[-0.175788,0.984303,-0.015693],[-0.023433,0.011753,0.999656]] 2025-10-27T05:43:33.629Z,1761543813.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:34.002Z,1761543814.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987339,0.157111,0.021879],[-0.156699,0.987456,-0.019413],[-0.024655,0.015739,0.999572]] 2025-10-27T05:43:34.021Z,1761543814.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:34.412Z,1761543814.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990173,0.137820,0.023720],[-0.137292,0.990272,-0.022630],[-0.026608,0.019151,0.999462]] 2025-10-27T05:43:34.473Z,1761543814.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:34.843Z,1761543814.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:35.219Z,1761543815.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994765,0.098427,0.027462],[-0.097706,0.994864,-0.026453],[-0.029925,0.023631,0.999273]] 2025-10-27T05:43:35.274Z,1761543815.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:35.618Z,1761543815.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996476,0.078545,0.029426],[-0.077653,0.996519,-0.030319],[-0.031705,0.027927,0.999107]] 2025-10-27T05:43:35.637Z,1761543815.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:36.024Z,1761543816.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997782,0.058279,0.032159],[-0.057210,0.997809,-0.033236],[-0.034026,0.031322,0.998930]] 2025-10-27T05:43:36.053Z,1761543816.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:36.439Z,1761543816.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998675,0.037413,0.035333],[-0.036190,0.998745,-0.034624],[-0.036584,0.033299,0.998776]] 2025-10-27T05:43:36.477Z,1761543816.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:36.830Z,1761543816.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999109,0.016666,0.038772],[-0.015386,0.999334,-0.033076],[-0.039297,0.032450,0.998701]] 2025-10-27T05:43:36.849Z,1761543816.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:37.239Z,1761543817.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999111,-0.003941,0.041974],[0.005278,0.999481,-0.031779],[-0.041827,0.031972,0.998613]] 2025-10-27T05:43:37.300Z,1761543817.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:37.640Z,1761543817.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998636,-0.025201,0.045737],[0.026656,0.999149,-0.031488],[-0.044904,0.032664,0.998457]] 2025-10-27T05:43:37.663Z,1761543817.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:38.069Z,1761543818.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997690,-0.046450,0.049560],[0.048050,0.998345,-0.031600],[-0.048010,0.033908,0.998271]] 2025-10-27T05:43:38.088Z,1761543818.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:38.446Z,1761543818.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996238,-0.068033,0.053670],[0.069876,0.997002,-0.033242],[-0.051247,0.036867,0.998005]] 2025-10-27T05:43:38.500Z,1761543818.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:38.850Z,1761543818.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994282,-0.089219,0.058676],[0.091425,0.995160,-0.036031],[-0.055177,0.041189,0.997627]] 2025-10-27T05:43:38.869Z,1761543818.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:39.258Z,1761543819.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991800,-0.110768,0.063744],[0.113327,0.992830,-0.038022],[-0.059076,0.044935,0.997242]] 2025-10-27T05:43:39.318Z,1761543819.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:39.657Z,1761543819.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988819,-0.132360,0.068687],[0.135054,0.990178,-0.036159],[-0.063227,0.045031,0.996983]] 2025-10-27T05:43:39.689Z,1761543819.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:40.062Z,1761543820.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985371,-0.153901,0.073204],[0.156598,0.987123,-0.032626],[-0.067240,0.043613,0.996783]] 2025-10-27T05:43:40.080Z,1761543820.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:40.465Z,1761543820.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981329,-0.175817,0.077983],[0.178659,0.983421,-0.031052],[-0.071231,0.044404,0.996471]] 2025-10-27T05:43:40.526Z,1761543820.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:40.871Z,1761543820.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976648,-0.197970,0.083468],[0.201244,0.978994,-0.032738],[-0.075234,0.048771,0.995973]] 2025-10-27T05:43:40.890Z,1761543820.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:41.275Z,1761543821.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971355,-0.220576,0.088404],[0.224177,0.973990,-0.032998],[-0.078826,0.051871,0.995538]] 2025-10-27T05:43:41.325Z,1761543821.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:41.678Z,1761543821.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965283,-0.244051,0.093102],[0.247910,0.968246,-0.032241],[-0.082277,0.054203,0.995134]] 2025-10-27T05:43:41.714Z,1761543821.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:42.081Z,1761543822.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958973,-0.266082,0.097833],[0.270267,0.962250,-0.032112],[-0.085595,0.057236,0.994685]] 2025-10-27T05:43:42.101Z,1761543822.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:42.488Z,1761543822.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951737,-0.289152,0.102899],[0.293819,0.955285,-0.033198],[-0.088699,0.061830,0.994138]] 2025-10-27T05:43:42.530Z,1761543822.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:42.889Z,1761543822.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944515,-0.310925,0.105911],[0.315476,0.948493,-0.028900],[-0.091470,0.060709,0.993956]] 2025-10-27T05:43:42.937Z,1761543822.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:43.295Z,1761543823.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936915,-0.332289,0.108508],[0.336753,0.941254,-0.025259],[-0.093740,0.060206,0.993775]] 2025-10-27T05:43:43.345Z,1761543823.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:43.698Z,1761543823.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928911,-0.353063,0.111672],[0.357784,0.933474,-0.024851],[-0.095469,0.063038,0.993434]] 2025-10-27T05:43:43.747Z,1761543823.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:44.103Z,1761543824.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920075,-0.374308,0.115566],[0.379378,0.924912,-0.024700],[-0.097642,0.066569,0.992993]] 2025-10-27T05:43:44.122Z,1761543824.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:44.505Z,1761543824.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910903,-0.395426,0.117878],[0.400407,0.916095,-0.021079],[-0.099652,0.066400,0.992804]] 2025-10-27T05:43:44.551Z,1761543824.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:44.921Z,1761543824.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901164,-0.416812,0.119048],[0.421267,0.906830,-0.013888],[-0.102168,0.062666,0.992791]] 2025-10-27T05:43:44.952Z,1761543824.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:45.324Z,1761543825.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890909,-0.438186,0.119472],[0.442026,0.896979,-0.006375],[-0.104370,0.058489,0.992817]] 2025-10-27T05:43:45.372Z,1761543825.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:45.725Z,1761543825.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880097,-0.459087,0.121112],[0.462803,0.886456,-0.002904],[-0.106027,0.058607,0.992635]] 2025-10-27T05:43:45.749Z,1761543825.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:46.122Z,1761543826.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868765,-0.479556,0.123586],[0.483459,0.875365,-0.001832],[-0.107304,0.061341,0.992332]] 2025-10-27T05:43:46.213Z,1761543826.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:46.621Z,1761543826.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:46.994Z,1761543826.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:47.377Z,1761543827.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833154,-0.537253,0.131200],[0.541631,0.840612,0.002732],[-0.111755,0.068786,0.991352]] 2025-10-27T05:43:47.423Z,1761543827.423 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, 8+316.79, +5.78, 9.57, 0.00 2025-10-27T05:43:47.455Z,1761543827.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:47.742Z,1761543827.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820957,-0.555788,0.130880],[0.559703,0.828653,0.008123],[-0.112969,0.066585,0.991365]] 2025-10-27T05:43:47.777Z,1761543827.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:48.142Z,1761543828.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808557,-0.573903,0.129890],[0.577272,0.816435,0.013832],[-0.113985,0.063798,0.991432]] 2025-10-27T05:43:48.161Z,1761543828.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:48.548Z,1761543828.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795669,-0.592390,0.126428],[0.594746,0.803603,0.022351],[-0.114839,0.057408,0.991724]] 2025-10-27T05:43:48.608Z,1761543828.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:48.949Z,1761543828.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782291,-0.610625,0.123113],[0.611967,0.790273,0.031062],[-0.116260,0.051041,0.991906]] 2025-10-27T05:43:49.005Z,1761543829.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:49.377Z,1761543829.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768221,-0.628775,0.120328],[0.629353,0.776191,0.037961],[-0.117267,0.046567,0.992008]] 2025-10-27T05:43:49.456Z,1761543829.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:49.758Z,1761543829.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753240,-0.646490,0.121160],[0.647025,0.761406,0.040244],[-0.118269,0.048080,0.991817]] 2025-10-27T05:43:49.783Z,1761543829.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:50.163Z,1761543830.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737361,-0.663686,0.125774],[0.664871,0.745967,0.038465],[-0.119352,0.055261,0.991313]] 2025-10-27T05:43:50.182Z,1761543830.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:50.565Z,1761543830.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721120,-0.680449,0.130291],[0.682211,0.730188,0.037608],[-0.120727,0.061766,0.990762]] 2025-10-27T05:43:50.621Z,1761543830.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:51.013Z,1761543831.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:51.485Z,1761543831.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:51.815Z,1761543831.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:52.079Z,1761543832.079 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:43:52.220Z,1761543832.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:52.585Z,1761543832.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635845,-0.761534,0.125568],[0.761373,0.645558,0.059721],[-0.126541,0.057631,0.990286]] 2025-10-27T05:43:52.638Z,1761543832.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:53.000Z,1761543833.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597436,-0.792269,0.124018],[0.791473,0.607439,0.067735],[-0.128997,0.057690,0.989965]] 2025-10-27T05:43:53.019Z,1761543833.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:53.083Z,1761543833.083 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:43:53.487Z,1761543833.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:53.837Z,1761543833.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:54.207Z,1761543834.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534543,-0.835637,0.126389],[0.834601,0.545485,0.076730],[-0.133062,0.064469,0.989009]] 2025-10-27T05:43:54.260Z,1761543834.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:54.611Z,1761543834.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513485,-0.849126,0.123766],[0.847472,0.524452,0.082101],[-0.134623,0.062730,0.988909]] 2025-10-27T05:43:54.650Z,1761543834.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:55.010Z,1761543835.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492759,-0.861629,0.121593],[0.859455,0.503775,0.086873],[-0.136108,0.061697,0.988771]] 2025-10-27T05:43:55.045Z,1761543835.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:55.466Z,1761543835.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473018,-0.873264,0.116897],[0.870235,0.483807,0.092854],[-0.137642,0.057806,0.988794]] 2025-10-27T05:43:55.516Z,1761543835.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:55.819Z,1761543835.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454162,-0.883952,0.111201],[0.880025,0.464560,0.098695],[-0.138901,0.053036,0.988885]] 2025-10-27T05:43:55.838Z,1761543835.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:56.224Z,1761543836.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437080,-0.893280,0.104934],[0.888377,0.446993,0.104804],[-0.140524,0.047413,0.988941]] 2025-10-27T05:43:56.243Z,1761543836.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:56.625Z,1761543836.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421869,-0.901631,0.095333],[0.895459,0.430824,0.111998],[-0.142053,0.038118,0.989125]] 2025-10-27T05:43:56.674Z,1761543836.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:57.030Z,1761543837.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409210,-0.908916,0.080121],[0.901058,0.416371,0.121366],[-0.143672,0.022530,0.989369]] 2025-10-27T05:43:57.049Z,1761543837.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:57.544Z,1761543837.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:57.840Z,1761543837.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388282,-0.920160,0.050424],[0.909711,0.391463,0.138503],[-0.147184,-0.007907,0.989078]] 2025-10-27T05:43:57.859Z,1761543837.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:58.242Z,1761543838.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380787,-0.923939,0.036573],[0.912531,0.381883,0.146469],[-0.149295,-0.022399,0.988539]] 2025-10-27T05:43:58.269Z,1761543838.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:58.645Z,1761543838.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374233,-0.926978,0.025727],[0.914897,0.373600,0.152927],[-0.151371,-0.033692,0.987903]] 2025-10-27T05:43:58.700Z,1761543838.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:59.049Z,1761543839.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369076,-0.929280,0.014875],[0.916702,0.366624,0.158882],[-0.153100,-0.045003,0.987185]] 2025-10-27T05:43:59.069Z,1761543839.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:59.512Z,1761543839.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365767,-0.930698,0.003903],[0.917702,0.361351,0.165067],[-0.155038,-0.056794,0.986275]] 2025-10-27T05:43:59.550Z,1761543839.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:43:59.891Z,1761543839.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363649,-0.931513,-0.006571],[0.918175,0.357233,0.171289],[-0.157211,-0.068322,0.985199]] 2025-10-27T05:43:59.913Z,1761543839.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:00.277Z,1761543840.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361830,-0.932115,-0.015546],[0.918496,0.353591,0.177029],[-0.159515,-0.078333,0.984083]] 2025-10-27T05:44:00.312Z,1761543840.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:00.802Z,1761543840.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:01.119Z,1761543841.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359448,-0.932586,-0.032882],[0.918564,0.347394,0.188569],[-0.164434,-0.097985,0.981509]] 2025-10-27T05:44:01.157Z,1761543841.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:01.550Z,1761543841.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358317,-0.932633,-0.042472],[0.918552,0.344041,0.194674],[-0.166947,-0.108768,0.979948]] 2025-10-27T05:44:01.621Z,1761543841.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:01.926Z,1761543841.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357375,-0.932533,-0.051627],[0.918512,0.340914,0.200282],[-0.169169,-0.118996,0.978377]] 2025-10-27T05:44:01.988Z,1761543841.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:02.331Z,1761543842.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357587,-0.931992,-0.059349],[0.918013,0.339135,0.205524],[-0.171419,-0.127976,0.976851]] 2025-10-27T05:44:02.402Z,1761543842.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:02.810Z,1761543842.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:03.268Z,1761543843.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356686,-0.932381,-0.058656],[0.917628,0.337876,0.209282],[-0.175312,-0.128473,0.976095]] 2025-10-27T05:44:03.287Z,1761543843.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:03.741Z,1761543843.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356236,-0.932576,-0.058286],[0.917416,0.337244,0.211221],[-0.177323,-0.128718,0.975699]] 2025-10-27T05:44:03.777Z,1761543843.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:04.249Z,1761543844.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355844,-0.932107,-0.067466],[0.916908,0.334259,0.218062],[-0.180706,-0.139456,0.973600]] 2025-10-27T05:44:04.276Z,1761543844.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:04.650Z,1761543844.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354935,-0.932333,-0.069108],[0.917022,0.332816,0.219782],[-0.181910,-0.141382,0.973098]] 2025-10-27T05:44:04.702Z,1761543844.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:05.058Z,1761543845.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353711,-0.932905,-0.067656],[0.917400,0.331908,0.219579],[-0.182391,-0.139735,0.973246]] 2025-10-27T05:44:05.083Z,1761543845.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:05.466Z,1761543845.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352377,-0.933596,-0.065037],[0.917782,0.331143,0.219135],[-0.183047,-0.136907,0.973525]] 2025-10-27T05:44:05.501Z,1761543845.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:05.870Z,1761543845.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350938,-0.934294,-0.062749],[0.918190,0.330190,0.218866],[-0.183766,-0.134424,0.973735]] 2025-10-27T05:44:05.921Z,1761543845.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:06.265Z,1761543846.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350513,-0.934480,-0.062350],[0.918215,0.329774,0.219387],[-0.184452,-0.134149,0.973643]] 2025-10-27T05:44:06.284Z,1761543846.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:06.672Z,1761543846.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349790,-0.934762,-0.062180],[0.918347,0.329016,0.219969],[-0.185161,-0.134046,0.973523]] 2025-10-27T05:44:06.714Z,1761543846.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:07.073Z,1761543847.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348106,-0.935284,-0.063764],[0.918756,0.326854,0.221481],[-0.186306,-0.135683,0.973078]] 2025-10-27T05:44:07.105Z,1761543847.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:07.481Z,1761543847.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346225,-0.935769,-0.066814],[0.919262,0.324173,0.223314],[-0.187312,-0.138736,0.972454]] 2025-10-27T05:44:07.515Z,1761543847.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:07.890Z,1761543847.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344379,-0.936388,-0.067679],[0.919800,0.322079,0.224129],[-0.188074,-0.139436,0.972207]] 2025-10-27T05:44:07.941Z,1761543847.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:08.287Z,1761543848.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342855,-0.937005,-0.066869],[0.920186,0.320675,0.224555],[-0.188966,-0.138522,0.972164]] 2025-10-27T05:44:08.306Z,1761543848.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:08.690Z,1761543848.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341284,-0.937583,-0.066808],[0.920629,0.319079,0.225011],[-0.189649,-0.138298,0.972063]] 2025-10-27T05:44:08.747Z,1761543848.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:09.094Z,1761543849.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339262,-0.938474,-0.064562],[0.921260,0.317592,0.224536],[-0.190217,-0.135655,0.972325]] 2025-10-27T05:44:09.113Z,1761543849.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:09.502Z,1761543849.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337711,-0.939195,-0.062154],[0.921722,0.316602,0.224037],[-0.190737,-0.132949,0.972597]] 2025-10-27T05:44:09.521Z,1761543849.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:09.903Z,1761543849.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335936,-0.939864,-0.061671],[0.922275,0.314944,0.224097],[-0.191198,-0.132160,0.972614]] 2025-10-27T05:44:09.940Z,1761543849.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:10.306Z,1761543850.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334360,-0.940359,-0.062681],[0.922804,0.313159,0.224420],[-0.191406,-0.132879,0.972475]] 2025-10-27T05:44:10.336Z,1761543850.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:10.716Z,1761543850.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333111,-0.940721,-0.063878],[0.923339,0.311732,0.224205],[-0.191001,-0.133666,0.972446]] 2025-10-27T05:44:10.767Z,1761543850.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:11.199Z,1761543851.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333018,-0.940668,-0.065138],[0.923435,0.311386,0.224293],[-0.190702,-0.134844,0.972342]] 2025-10-27T05:44:11.222Z,1761543851.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:11.602Z,1761543851.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332429,-0.940815,-0.066013],[0.923806,0.310724,0.223683],[-0.189932,-0.135342,0.972424]] 2025-10-27T05:44:11.707Z,1761543851.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:12.234Z,1761543852.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:44:12.236Z,1761543852.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:12.312Z,1761543852.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:44:12.312Z,1761543852.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:44:12.564Z,1761543852.564 [DAT](INFO): DAT read: user:499> 2025-10-27T05:44:12.565Z,1761543852.565 [DAT](INFO): DAT read: Tx time:05:44:11.6220 2025-10-27T05:44:12.565Z,1761543852.565 [DAT](INFO): Ping request sent. 2025-10-27T05:44:12.565Z,1761543852.565 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:44:12.565Z,1761543852.565 [DAT](INFO): publishing transmit ping time 2025-10-27T05:44:12.566Z,1761543852.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T05:44:12.750Z,1761543852.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:12.821Z,1761543852.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255462 2025-10-27T05:44:13.072Z,1761543853.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506731 2025-10-27T05:44:13.074Z,1761543853.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329309,-0.940368,-0.085224],[0.925574,0.303638,0.226092],[-0.186732,-0.153335,0.970371]] 2025-10-27T05:44:13.124Z,1761543853.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:13.324Z,1761543853.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758581 2025-10-27T05:44:13.471Z,1761543853.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328494,-0.940507,-0.086820],[0.925937,0.302535,0.226081],[-0.186365,-0.154656,0.970232]] 2025-10-27T05:44:13.489Z,1761543853.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:13.577Z,1761543853.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011395 2025-10-27T05:44:13.828Z,1761543853.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262651 2025-10-27T05:44:13.886Z,1761543853.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327173,-0.940983,-0.086651],[0.926477,0.301371,0.225423],[-0.186005,-0.154032,0.970400]] 2025-10-27T05:44:13.946Z,1761543853.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:14.080Z,1761543854.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514917 2025-10-27T05:44:14.278Z,1761543854.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325886,-0.941579,-0.085009],[0.926946,0.300544,0.224600],[-0.185929,-0.151993,0.970736]] 2025-10-27T05:44:14.332Z,1761543854.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766758 2025-10-27T05:44:14.334Z,1761543854.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:14.585Z,1761543854.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019313 2025-10-27T05:44:14.691Z,1761543854.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324781,-0.942101,-0.083444],[0.927431,0.299935,0.223408],[-0.185445,-0.149947,0.971147]] 2025-10-27T05:44:14.786Z,1761543854.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:14.837Z,1761543854.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270920 2025-10-27T05:44:15.086Z,1761543855.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322973,-0.942762,-0.083000],[0.928140,0.298370,0.222558],[-0.185054,-0.148915,0.971380]] 2025-10-27T05:44:15.088Z,1761543855.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522764 2025-10-27T05:44:15.220Z,1761543855.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:15.343Z,1761543855.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776985 2025-10-27T05:44:15.537Z,1761543855.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321554,-0.943222,-0.083279],[0.928585,0.296905,0.222659],[-0.185291,-0.148929,0.971333]] 2025-10-27T05:44:15.583Z,1761543855.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:15.592Z,1761543855.592 [DAT](INFO): DAT read: Rx Time:05:44:14.0981 2025-10-27T05:44:15.593Z,1761543855.593 [DAT](INFO): Rx dataTimestamp_ set to:1761543855.592226 2025-10-27T05:44:15.593Z,1761543855.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027966 2025-10-27T05:44:15.846Z,1761543855.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280246 2025-10-27T05:44:15.980Z,1761543855.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320725,-0.943417,-0.084262],[0.928872,0.295878,0.222828],[-0.185289,-0.149735,0.971209]] 2025-10-27T05:44:16.038Z,1761543856.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-27T05:44:16.101Z,1761543856.101 [DAT](INFO): DAT read: 05:44:14.0981 LVL= 32752, 32097, 32754, 32755, AGC= 70, IDX= 301, 0.32,-0.358, 1.263,-0.442, 0.209, PHS=-0.465, 1.099,-0.695, RAW= 336.8, 0.7, CAL= 336.1, -2.1, ROT= 173.9, 2.1 2025-10-27T05:44:16.102Z,1761543856.102 [DAT](INFO): got valid direction response: 05:44:14.0981 LVL= 32752, 32097, 32754, 32755, AGC= 70, IDX= 301, 0.32,-0.358, 1.263,-0.442, 0.209, PHS=-0.465, 1.099,-0.695, RAW= 336.8, 0.7, CAL= 336.1, -2.1, ROT= 173.9, 2.1 2025-10-27T05:44:16.104Z,1761543856.104 [DAT](INFO): DAT read: Bearing 61.2, 17.2 (Local) 2025-10-27T05:44:16.105Z,1761543856.105 [DAT](INFO): Local bearing/azimuth received: Bearing 61.2, 17.2 (Local) 2025-10-27T05:44:16.107Z,1761543856.107 [DAT](INFO): DAT read: Range 11 to 50 : 53.9 m (Round-trip 71.9 ms) speed -0.7 m/s 2025-10-27T05:44:16.108Z,1761543856.108 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:44:16.109Z,1761543856.109 [DAT](INFO): direction in FSK: [-0.993670,0.106193,-0.036644] 2025-10-27T05:44:16.110Z,1761543856.110 [DAT](INFO): publishing direction and range info 2025-10-27T05:44:16.507Z,1761543856.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320168,-0.943488,-0.085571],[0.929107,0.295070,0.222922],[-0.185074,-0.150877,0.971073]] 2025-10-27T05:44:16.542Z,1761543856.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 60.048091 s, deltaX: 28.100002 m, approachRate: 0.467958 m/s, rangeRepo size: 4 2025-10-27T05:44:16.544Z,1761543856.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.610966 m, bearing: 245.236115 deg, lat: 36.779385 deg, lon: -121.859733 deg, deltaT: 60.048091 s, deltaX: 27.953621 m, approachRate: 0.465521 m/s, posRepo size: 4 2025-10-27T05:44:16.545Z,1761543856.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:16.910Z,1761543856.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319824,-0.943388,-0.087930],[0.929314,0.294256,0.223134],[-0.184628,-0.153078,0.970814]] 2025-10-27T05:44:16.961Z,1761543856.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:17.400Z,1761543857.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320425,-0.942836,-0.091585],[0.929233,0.294070,0.223718],[-0.183997,-0.156789,0.970341]] 2025-10-27T05:44:17.434Z,1761543857.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:17.802Z,1761543857.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321315,-0.942285,-0.094109],[0.929143,0.294510,0.223512],[-0.182896,-0.159258,0.970147]] 2025-10-27T05:44:17.901Z,1761543857.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:18.208Z,1761543858.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323053,-0.941504,-0.095952],[0.928790,0.295957,0.223065],[-0.181619,-0.161181,0.970070]] 2025-10-27T05:44:18.231Z,1761543858.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:18.624Z,1761543858.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327346,-0.939900,-0.097121],[0.927738,0.300194,0.221778],[-0.179294,-0.162702,0.970248]] 2025-10-27T05:44:18.642Z,1761543858.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:19.065Z,1761543859.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:19.516Z,1761543859.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333239,-0.937662,-0.098700],[0.925982,0.305773,0.221495],[-0.177507,-0.165205,0.970154]] 2025-10-27T05:44:19.551Z,1761543859.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:19.917Z,1761543859.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336023,-0.936383,-0.101372],[0.925138,0.307955,0.221997],[-0.176656,-0.168379,0.969763]] 2025-10-27T05:44:19.970Z,1761543859.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:20.440Z,1761543860.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339046,-0.935027,-0.103789],[0.924246,0.310471,0.222211],[-0.175550,-0.171266,0.969459]] 2025-10-27T05:44:20.458Z,1761543860.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:20.863Z,1761543860.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341763,-0.934106,-0.103173],[0.923526,0.313486,0.220965],[-0.174062,-0.170800,0.969809]] 2025-10-27T05:44:20.921Z,1761543860.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:21.245Z,1761543861.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343566,-0.933271,-0.104730],[0.923172,0.315152,0.220075],[-0.172383,-0.172294,0.969845]] 2025-10-27T05:44:21.280Z,1761543861.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:21.651Z,1761543861.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345071,-0.932659,-0.105228],[0.922985,0.316848,0.218418],[-0.170368,-0.172494,0.970165]] 2025-10-27T05:44:21.673Z,1761543861.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:22.055Z,1761543862.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345554,-0.932555,-0.104568],[0.923235,0.317901,0.215814],[-0.168016,-0.171116,0.970819]] 2025-10-27T05:44:22.112Z,1761543862.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:22.457Z,1761543862.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345679,-0.932627,-0.103503],[0.923651,0.318738,0.212781],[-0.165455,-0.169155,0.971602]] 2025-10-27T05:44:22.484Z,1761543862.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:22.883Z,1761543862.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345354,-0.933222,-0.099130],[0.924271,0.319918,0.208271],[-0.162649,-0.163550,0.973035]] 2025-10-27T05:44:22.921Z,1761543862.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:23.203Z,1761543863.203 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:44:23.276Z,1761543863.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344821,-0.933734,-0.096117],[0.925026,0.320628,0.203777],[-0.159456,-0.159177,0.974288]] 2025-10-27T05:44:23.294Z,1761543863.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:23.679Z,1761543863.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343763,-0.934462,-0.092774],[0.926035,0.320942,0.198635],[-0.155842,-0.154195,0.975673]] 2025-10-27T05:44:23.707Z,1761543863.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:24.082Z,1761543864.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342480,-0.934956,-0.092544],[0.927141,0.320382,0.194331],[-0.152042,-0.152356,0.976561]] 2025-10-27T05:44:24.158Z,1761543864.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:24.207Z,1761543864.207 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:44:24.486Z,1761543864.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340963,-0.935139,-0.096221],[0.928311,0.318784,0.191350],[-0.148265,-0.154566,0.976794]] 2025-10-27T05:44:24.520Z,1761543864.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:24.910Z,1761543864.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339690,-0.935228,-0.099800],[0.929400,0.317491,0.188190],[-0.144315,-0.156680,0.977049]] 2025-10-27T05:44:24.955Z,1761543864.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:25.297Z,1761543865.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337638,-0.935639,-0.102855],[0.930775,0.315595,0.184548],[-0.140210,-0.158045,0.977427]] 2025-10-27T05:44:25.315Z,1761543865.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:25.700Z,1761543865.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335364,-0.936233,-0.104877],[0.932222,0.313720,0.180394],[-0.135988,-0.158266,0.977987]] 2025-10-27T05:44:25.738Z,1761543865.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:26.161Z,1761543866.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:26.506Z,1761543866.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330701,-0.937263,-0.110336],[0.935072,0.309613,0.172567],[-0.127579,-0.160240,0.978799]] 2025-10-27T05:44:26.525Z,1761543866.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:26.939Z,1761543866.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328165,-0.937858,-0.112830],[0.936523,0.307416,0.168581],[-0.123419,-0.160990,0.979209]] 2025-10-27T05:44:26.983Z,1761543866.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:27.314Z,1761543867.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325813,-0.938402,-0.115099],[0.937896,0.305468,0.164443],[-0.119155,-0.161529,0.979648]] 2025-10-27T05:44:27.395Z,1761543867.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:27.725Z,1761543867.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324004,-0.938821,-0.116772],[0.939005,0.304089,0.160625],[-0.115289,-0.161692,0.980084]] 2025-10-27T05:44:27.759Z,1761543867.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:28.125Z,1761543868.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322324,-0.939104,-0.119126],[0.940032,0.302702,0.157200],[-0.111568,-0.162652,0.980356]] 2025-10-27T05:44:28.189Z,1761543868.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:28.529Z,1761543868.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321303,-0.939228,-0.120896],[0.940821,0.302070,0.153657],[-0.107800,-0.163112,0.980701]] 2025-10-27T05:44:28.547Z,1761543868.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:28.970Z,1761543868.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320791,-0.939283,-0.121819],[0.941357,0.301978,0.150518],[-0.104592,-0.162960,0.981073]] 2025-10-27T05:44:29.021Z,1761543869.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:29.472Z,1761543869.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321443,-0.939070,-0.121743],[0.941827,0.303730,0.143909],[-0.098164,-0.160919,0.982074]] 2025-10-27T05:44:29.556Z,1761543869.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:29.921Z,1761543869.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322342,-0.938691,-0.122291],[0.941834,0.305046,0.141052],[-0.095100,-0.160645,0.982420]] 2025-10-27T05:44:30.024Z,1761543870.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:30.443Z,1761543870.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323916,-0.937751,-0.125304],[0.941590,0.306641,0.139208],[-0.092119,-0.163077,0.982303]] 2025-10-27T05:44:30.474Z,1761543870.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:30.852Z,1761543870.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325842,-0.936742,-0.127833],[0.941237,0.308708,0.137012],[-0.088882,-0.164965,0.982286]] 2025-10-27T05:44:30.894Z,1761543870.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:31.328Z,1761543871.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:31.654Z,1761543871.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330103,-0.934291,-0.134656],[0.940339,0.313020,0.133348],[-0.082436,-0.170641,0.981879]] 2025-10-27T05:44:31.687Z,1761543871.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:32.057Z,1761543872.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332446,-0.933328,-0.135565],[0.939794,0.315768,0.130679],[-0.079159,-0.170847,0.982113]] 2025-10-27T05:44:32.115Z,1761543872.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:32.462Z,1761543872.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334304,-0.932566,-0.136244],[0.939417,0.318104,0.127693],[-0.075743,-0.170678,0.982411]] 2025-10-27T05:44:32.481Z,1761543872.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:32.869Z,1761543872.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336193,-0.931750,-0.137169],[0.939009,0.320436,0.124827],[-0.072354,-0.170769,0.982651]] 2025-10-27T05:44:32.891Z,1761543872.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:33.269Z,1761543873.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338082,-0.930855,-0.138598],[0.938582,0.322695,0.122192],[-0.069018,-0.171397,0.982782]] 2025-10-27T05:44:33.356Z,1761543873.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:33.673Z,1761543873.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339652,-0.930031,-0.140279],[0.938267,0.324649,0.119410],[-0.065514,-0.172177,0.982885]] 2025-10-27T05:44:33.692Z,1761543873.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:34.114Z,1761543874.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341097,-0.929141,-0.142653],[0.937969,0.326368,0.117041],[-0.062190,-0.173727,0.982828]] 2025-10-27T05:44:34.214Z,1761543874.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:34.548Z,1761543874.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:35.060Z,1761543875.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342552,-0.927904,-0.147148],[0.938139,0.329412,0.106686],[-0.050522,-0.174591,0.983344]] 2025-10-27T05:44:35.104Z,1761543875.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:35.517Z,1761543875.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342057,-0.927936,-0.148091],[0.938559,0.329687,0.102050],[-0.045872,-0.173899,0.983694]] 2025-10-27T05:44:35.535Z,1761543875.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:35.919Z,1761543875.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341793,-0.927879,-0.149057],[0.938875,0.330201,0.097374],[-0.041132,-0.173228,0.984023]] 2025-10-27T05:44:35.938Z,1761543875.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:36.335Z,1761543876.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340639,-0.928072,-0.150488],[0.939512,0.329910,0.092065],[-0.035795,-0.172747,0.984316]] 2025-10-27T05:44:36.380Z,1761543876.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:36.743Z,1761543876.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338846,-0.928549,-0.151593],[0.940345,0.329006,0.086636],[-0.030571,-0.171906,0.984639]] 2025-10-27T05:44:36.762Z,1761543876.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:37.183Z,1761543877.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:37.535Z,1761543877.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335025,-0.929684,-0.153121],[0.941997,0.327051,0.075357],[-0.019980,-0.169486,0.985330]] 2025-10-27T05:44:37.573Z,1761543877.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:37.938Z,1761543877.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333390,-0.929809,-0.155906],[0.942677,0.326206,0.070357],[-0.014561,-0.170425,0.985263]] 2025-10-27T05:44:37.957Z,1761543877.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:38.347Z,1761543878.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331554,-0.930182,-0.157587],[0.943391,0.325250,0.065003],[-0.009209,-0.170218,0.985363]] 2025-10-27T05:44:38.441Z,1761543878.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:38.758Z,1761543878.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329736,-0.930535,-0.159305],[0.944064,0.324278,0.059887],[-0.004068,-0.170141,0.985411]] 2025-10-27T05:44:38.797Z,1761543878.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:39.229Z,1761543879.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:39.566Z,1761543879.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326954,-0.931203,-0.161126],[0.945017,0.323351,0.048856],[0.006605,-0.168241,0.985724]] 2025-10-27T05:44:39.616Z,1761543879.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:40.104Z,1761543880.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325936,-0.931462,-0.161694],[0.945319,0.323230,0.043519],[0.011728,-0.167036,0.985881]] 2025-10-27T05:44:40.155Z,1761543880.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:40.511Z,1761543880.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325169,-0.931540,-0.162786],[0.945509,0.323301,0.038595],[0.016676,-0.166465,0.985906]] 2025-10-27T05:44:40.530Z,1761543880.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:40.975Z,1761543880.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324416,-0.931611,-0.163877],[0.945669,0.323371,0.033772],[0.021531,-0.165929,0.985903]] 2025-10-27T05:44:40.996Z,1761543880.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:41.380Z,1761543881.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323922,-0.931603,-0.164897],[0.945724,0.323650,0.029280],[0.026091,-0.165432,0.985876]] 2025-10-27T05:44:41.441Z,1761543881.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:41.782Z,1761543881.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323225,-0.931492,-0.166881],[0.945834,0.323661,0.025345],[0.030404,-0.166033,0.985651]] 2025-10-27T05:44:41.831Z,1761543881.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:42.186Z,1761543882.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323396,-0.931280,-0.167725],[0.945646,0.324469,0.021739],[0.034177,-0.165639,0.985594]] 2025-10-27T05:44:42.241Z,1761543882.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:42.590Z,1761543882.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323051,-0.931075,-0.169520],[0.945628,0.324720,0.018566],[0.037760,-0.166301,0.985352]] 2025-10-27T05:44:42.632Z,1761543882.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:42.995Z,1761543882.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322991,-0.930883,-0.170687],[0.945515,0.325206,0.015608],[0.040980,-0.166428,0.985202]] 2025-10-27T05:44:43.054Z,1761543883.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:43.402Z,1761543883.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323109,-0.930726,-0.171317],[0.945342,0.325829,0.012794],[0.043912,-0.166087,0.985133]] 2025-10-27T05:44:43.470Z,1761543883.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:43.829Z,1761543883.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323481,-0.930412,-0.172316],[0.945093,0.326632,0.010545],[0.046473,-0.166266,0.984985]] 2025-10-27T05:44:43.917Z,1761543883.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:44.253Z,1761543884.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324387,-0.929548,-0.175254],[0.944510,0.328422,0.006293],[0.051707,-0.167570,0.984503]] 2025-10-27T05:44:44.347Z,1761543884.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:44.661Z,1761543884.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325246,-0.929115,-0.175954],[0.944077,0.329700,0.004137],[0.054168,-0.167460,0.984390]] 2025-10-27T05:44:44.700Z,1761543884.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:45.058Z,1761543885.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326247,-0.928494,-0.177373],[0.943583,0.331129,0.002196],[0.056694,-0.168083,0.984141]] 2025-10-27T05:44:45.101Z,1761543885.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:45.459Z,1761543885.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327213,-0.927921,-0.178592],[0.943086,0.332550,0.000052],[0.059343,-0.168444,0.983923]] 2025-10-27T05:44:45.502Z,1761543885.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:45.862Z,1761543885.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328453,-0.927338,-0.179341],[0.942482,0.334249,-0.002234],[0.062016,-0.168292,0.983784]] 2025-10-27T05:44:45.901Z,1761543885.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:46.267Z,1761543886.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329549,-0.926643,-0.180913],[0.941918,0.335815,-0.004271],[0.064711,-0.168998,0.983490]] 2025-10-27T05:44:46.351Z,1761543886.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:46.686Z,1761543886.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330597,-0.926065,-0.181957],[0.941347,0.337374,-0.006725],[0.067616,-0.169062,0.983283]] 2025-10-27T05:44:46.749Z,1761543886.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:47.073Z,1761543887.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331640,-0.925601,-0.182420],[0.940779,0.338895,-0.009215],[0.070350,-0.168561,0.983177]] 2025-10-27T05:44:47.108Z,1761543887.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:47.478Z,1761543887.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332529,-0.925232,-0.182673],[0.940269,0.340233,-0.011648],[0.072928,-0.167888,0.983105]] 2025-10-27T05:44:47.537Z,1761543887.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:47.889Z,1761543887.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333294,-0.924748,-0.183727],[0.939797,0.341455,-0.013776],[0.075474,-0.168074,0.982881]] 2025-10-27T05:44:47.907Z,1761543887.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:48.300Z,1761543888.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334503,-0.924241,-0.184085],[0.939173,0.343075,-0.015908],[0.077858,-0.167566,0.982782]] 2025-10-27T05:44:48.410Z,1761543888.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:48.747Z,1761543888.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335490,-0.923573,-0.185634],[0.938634,0.344472,-0.017471],[0.080082,-0.168381,0.982464]] 2025-10-27T05:44:48.818Z,1761543888.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:49.150Z,1761543889.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336567,-0.922890,-0.187071],[0.938094,0.345882,-0.018597],[0.081868,-0.169231,0.982170]] 2025-10-27T05:44:49.175Z,1761543889.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:49.550Z,1761543889.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337920,-0.921958,-0.189218],[0.937483,0.347512,-0.019009],[0.083281,-0.170965,0.981751]] 2025-10-27T05:44:49.593Z,1761543889.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:49.954Z,1761543889.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338449,-0.921604,-0.189994],[0.937147,0.348343,-0.020303],[0.084894,-0.171181,0.981575]] 2025-10-27T05:44:49.988Z,1761543889.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:50.414Z,1761543890.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:50.763Z,1761543890.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337981,-0.921654,-0.190585],[0.937089,0.348347,-0.022760],[0.087366,-0.170903,0.981407]] 2025-10-27T05:44:50.786Z,1761543890.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:51.166Z,1761543891.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337048,-0.922055,-0.190297],[0.937327,0.347614,-0.024145],[0.088413,-0.170232,0.981430]] 2025-10-27T05:44:51.190Z,1761543891.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:51.570Z,1761543891.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336023,-0.922446,-0.190214],[0.937616,0.346755,-0.025244],[0.089244,-0.169865,0.981418]] 2025-10-27T05:44:51.733Z,1761543891.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:52.036Z,1761543892.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334924,-0.922907,-0.189916],[0.937909,0.345855,-0.026664],[0.090292,-0.169193,0.981438]] 2025-10-27T05:44:52.081Z,1761543892.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:52.512Z,1761543892.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:52.841Z,1761543892.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333203,-0.923636,-0.189399],[0.938283,0.344586,-0.029744],[0.092737,-0.167799,0.981450]] 2025-10-27T05:44:52.887Z,1761543892.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:53.342Z,1761543893.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:53.652Z,1761543893.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332065,-0.924149,-0.188896],[0.938390,0.343976,-0.033235],[0.095690,-0.166222,0.981435]] 2025-10-27T05:44:53.712Z,1761543893.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:54.053Z,1761543894.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331837,-0.924276,-0.188676],[0.938352,0.343948,-0.034575],[0.096851,-0.165571,0.981431]] 2025-10-27T05:44:54.079Z,1761543894.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:54.336Z,1761543894.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:44:54.458Z,1761543894.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331953,-0.924292,-0.188394],[0.938207,0.344227,-0.035699],[0.097847,-0.164902,0.981445]] 2025-10-27T05:44:54.509Z,1761543894.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:54.861Z,1761543894.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331842,-0.924205,-0.189015],[0.938124,0.344348,-0.036708],[0.099013,-0.165138,0.981288]] 2025-10-27T05:44:54.887Z,1761543894.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:55.270Z,1761543895.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332362,-0.923999,-0.189108],[0.937844,0.345022,-0.037524],[0.099919,-0.164882,0.981239]] 2025-10-27T05:44:55.341Z,1761543895.341 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:44:55.363Z,1761543895.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:55.675Z,1761543895.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332559,-0.923852,-0.189477],[0.937667,0.345407,-0.038399],[0.100921,-0.164897,0.981134]] 2025-10-27T05:44:55.722Z,1761543895.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:56.073Z,1761543896.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332800,-0.923467,-0.190927],[0.937518,0.345808,-0.038424],[0.101508,-0.166210,0.980852]] 2025-10-27T05:44:56.110Z,1761543896.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:56.478Z,1761543896.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333414,-0.923153,-0.191372],[0.937237,0.346532,-0.038746],[0.102085,-0.166442,0.980753]] 2025-10-27T05:44:56.528Z,1761543896.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:56.882Z,1761543896.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334207,-0.922749,-0.191936],[0.936921,0.347391,-0.038703],[0.102390,-0.166894,0.980644]] 2025-10-27T05:44:56.904Z,1761543896.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:57.301Z,1761543897.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334908,-0.922371,-0.192530],[0.936659,0.348125,-0.038463],[0.102502,-0.167453,0.980537]] 2025-10-27T05:44:57.365Z,1761543897.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:57.724Z,1761543897.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335573,-0.922008,-0.193112],[0.936407,0.348825,-0.038252],[0.102631,-0.167995,0.980431]] 2025-10-27T05:44:57.765Z,1761543897.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:58.114Z,1761543898.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335938,-0.921797,-0.193486],[0.936252,0.349238,-0.038266],[0.102846,-0.168297,0.980357]] 2025-10-27T05:44:58.199Z,1761543898.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:58.518Z,1761543898.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335815,-0.921851,-0.193442],[0.936266,0.349164,-0.038593],[0.103120,-0.168153,0.980352]] 2025-10-27T05:44:58.621Z,1761543898.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:58.929Z,1761543898.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336142,-0.921732,-0.193439],[0.936139,0.349502,-0.038623],[0.103208,-0.168103,0.980352]] 2025-10-27T05:44:58.984Z,1761543898.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:59.325Z,1761543899.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335981,-0.921836,-0.193221],[0.936153,0.349406,-0.039156],[0.103608,-0.167729,0.980374]] 2025-10-27T05:44:59.419Z,1761543899.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:44:59.737Z,1761543899.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335607,-0.921931,-0.193421],[0.936231,0.349138,-0.039683],[0.104116,-0.167769,0.980313]] 2025-10-27T05:44:59.818Z,1761543899.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:00.134Z,1761543900.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335425,-0.922043,-0.193200],[0.936274,0.348984,-0.040005],[0.104310,-0.167470,0.980343]] 2025-10-27T05:45:00.152Z,1761543900.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:00.539Z,1761543900.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335486,-0.921978,-0.193407],[0.936227,0.349094,-0.040155],[0.104539,-0.167602,0.980296]] 2025-10-27T05:45:00.591Z,1761543900.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:00.942Z,1761543900.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335345,-0.921982,-0.193630],[0.936226,0.349047,-0.040576],[0.104997,-0.167674,0.980235]] 2025-10-27T05:45:00.977Z,1761543900.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:01.411Z,1761543901.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:01.757Z,1761543901.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334518,-0.921947,-0.195223],[0.936417,0.348473,-0.041107],[0.105928,-0.169059,0.979897]] 2025-10-27T05:45:01.820Z,1761543901.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:02.158Z,1761543902.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334245,-0.922051,-0.195196],[0.936462,0.348287,-0.041652],[0.106390,-0.168871,0.979879]] 2025-10-27T05:45:02.184Z,1761543902.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:02.562Z,1761543902.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334000,-0.922139,-0.195203],[0.936495,0.348132,-0.042197],[0.106868,-0.168713,0.979855]] 2025-10-27T05:45:02.603Z,1761543902.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:02.966Z,1761543902.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333845,-0.922146,-0.195432],[0.936488,0.348089,-0.042709],[0.107412,-0.168762,0.979787]] 2025-10-27T05:45:02.986Z,1761543902.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:03.372Z,1761543903.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333711,-0.922312,-0.194879],[0.936479,0.348020,-0.043459],[0.107904,-0.167997,0.979864]] 2025-10-27T05:45:03.396Z,1761543903.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:03.854Z,1761543903.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:04.178Z,1761543904.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334143,-0.922117,-0.195062],[0.936250,0.348570,-0.043991],[0.108558,-0.167928,0.979804]] 2025-10-27T05:45:04.212Z,1761543904.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:04.582Z,1761543904.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334355,-0.922089,-0.194827],[0.936136,0.348825,-0.044378],[0.108881,-0.167547,0.979833]] 2025-10-27T05:45:04.644Z,1761543904.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:04.990Z,1761543904.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334621,-0.921842,-0.195542],[0.936011,0.349168,-0.044331],[0.109143,-0.168195,0.979693]] 2025-10-27T05:45:05.074Z,1761543905.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:05.404Z,1761543905.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334998,-0.921703,-0.195548],[0.935847,0.349584,-0.044518],[0.109393,-0.168090,0.979683]] 2025-10-27T05:45:05.434Z,1761543905.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:05.803Z,1761543905.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335550,-0.921846,-0.193922],[0.935645,0.350053,-0.045065],[0.109426,-0.166321,0.979981]] 2025-10-27T05:45:05.907Z,1761543905.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:06.215Z,1761543906.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335978,-0.921566,-0.194514],[0.935486,0.350510,-0.044807],[0.109471,-0.166911,0.979876]] 2025-10-27T05:45:06.261Z,1761543906.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:06.617Z,1761543906.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336769,-0.921565,-0.193146],[0.935200,0.351224,-0.045197],[0.109490,-0.165409,0.980128]] 2025-10-27T05:45:06.679Z,1761543906.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:07.030Z,1761543907.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336885,-0.921607,-0.192739],[0.935138,0.351349,-0.045508],[0.109659,-0.164906,0.980194]] 2025-10-27T05:45:07.049Z,1761543907.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:07.428Z,1761543907.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337321,-0.921532,-0.192336],[0.934981,0.351758,-0.045585],[0.109664,-0.164454,0.980270]] 2025-10-27T05:45:07.461Z,1761543907.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:07.829Z,1761543907.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337626,-0.921553,-0.191699],[0.934869,0.352028,-0.045778],[0.109670,-0.163758,0.980386]] 2025-10-27T05:45:07.880Z,1761543907.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:08.235Z,1761543908.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337859,-0.921472,-0.191678],[0.934782,0.352260,-0.045768],[0.109694,-0.163715,0.980390]] 2025-10-27T05:45:08.294Z,1761543908.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:08.640Z,1761543908.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337841,-0.921494,-0.191602],[0.934762,0.352279,-0.046046],[0.109929,-0.163546,0.980392]] 2025-10-27T05:45:08.709Z,1761543908.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:09.043Z,1761543909.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338046,-0.921538,-0.191032],[0.934681,0.352462,-0.046281],[0.109981,-0.162909,0.980492]] 2025-10-27T05:45:09.073Z,1761543909.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:09.446Z,1761543909.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338041,-0.921536,-0.191050],[0.934657,0.352496,-0.046509],[0.110204,-0.162844,0.980478]] 2025-10-27T05:45:09.491Z,1761543909.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:09.850Z,1761543909.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338120,-0.921445,-0.191348],[0.934605,0.352623,-0.046586],[0.110401,-0.163083,0.980416]] 2025-10-27T05:45:09.909Z,1761543909.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:10.262Z,1761543910.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337896,-0.921317,-0.192356],[0.934677,0.352468,-0.046325],[0.110479,-0.164138,0.980231]] 2025-10-27T05:45:10.296Z,1761543910.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:10.658Z,1761543910.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337620,-0.921289,-0.192973],[0.934728,0.352299,-0.046570],[0.110888,-0.164654,0.980098]] 2025-10-27T05:45:10.711Z,1761543910.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:11.062Z,1761543911.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337189,-0.921413,-0.193138],[0.934837,0.351953,-0.047000],[0.111282,-0.164704,0.980045]] 2025-10-27T05:45:11.086Z,1761543911.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:11.474Z,1761543911.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336371,-0.921446,-0.194400],[0.935053,0.351331,-0.047367],[0.111944,-0.165841,0.979778]] 2025-10-27T05:45:11.492Z,1761543911.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:11.875Z,1761543911.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335850,-0.921618,-0.194489],[0.935204,0.350876,-0.047744],[0.112243,-0.165852,0.979742]] 2025-10-27T05:45:11.919Z,1761543911.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:12.285Z,1761543912.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335183,-0.921886,-0.194369],[0.935393,0.350289,-0.048352],[0.112660,-0.165604,0.979736]] 2025-10-27T05:45:12.303Z,1761543912.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:45:12.305Z,1761543912.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:12.328Z,1761543912.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:45:12.328Z,1761543912.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:45:12.586Z,1761543912.586 [DAT](INFO): DAT read: user:500> 2025-10-27T05:45:12.590Z,1761543912.590 [DAT](INFO): DAT read: Tx time:05:45:11.6219 2025-10-27T05:45:12.591Z,1761543912.591 [DAT](INFO): Ping request sent. 2025-10-27T05:45:12.592Z,1761543912.592 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:45:12.593Z,1761543912.593 [DAT](INFO): publishing transmit ping time 2025-10-27T05:45:12.594Z,1761543912.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002461 2025-10-27T05:45:12.682Z,1761543912.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334442,-0.921983,-0.195180],[0.935598,0.349692,-0.048707],[0.113159,-0.166320,0.979557]] 2025-10-27T05:45:12.816Z,1761543912.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:12.836Z,1761543912.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244803 2025-10-27T05:45:13.088Z,1761543913.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496651 2025-10-27T05:45:13.093Z,1761543913.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333584,-0.922342,-0.194955],[0.935851,0.348915,-0.049417],[0.113602,-0.165964,0.979567]] 2025-10-27T05:45:13.152Z,1761543913.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:13.340Z,1761543913.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748674 2025-10-27T05:45:13.494Z,1761543913.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333313,-0.922463,-0.194847],[0.935941,0.348652,-0.049565],[0.113656,-0.165845,0.979580]] 2025-10-27T05:45:13.547Z,1761543913.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:13.595Z,1761543913.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002878 2025-10-27T05:45:13.844Z,1761543913.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252863 2025-10-27T05:45:13.903Z,1761543913.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333152,-0.922889,-0.193096],[0.936013,0.348378,-0.050131],[0.113536,-0.164039,0.979898]] 2025-10-27T05:45:13.966Z,1761543913.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:14.096Z,1761543914.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504599 2025-10-27T05:45:14.343Z,1761543914.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:14.348Z,1761543914.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756869 2025-10-27T05:45:14.602Z,1761543914.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010739 2025-10-27T05:45:14.710Z,1761543914.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332769,-0.922963,-0.193403],[0.936132,0.348042,-0.050227],[0.113670,-0.164337,0.979833]] 2025-10-27T05:45:14.790Z,1761543914.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:14.852Z,1761543914.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261095 2025-10-27T05:45:15.104Z,1761543915.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512839 2025-10-27T05:45:15.112Z,1761543915.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333180,-0.922842,-0.193273],[0.935997,0.348424,-0.050108],[0.113583,-0.164208,0.979865]] 2025-10-27T05:45:15.131Z,1761543915.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:15.356Z,1761543915.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764699 2025-10-27T05:45:15.516Z,1761543915.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333611,-0.922809,-0.192687],[0.935846,0.348812,-0.050229],[0.113563,-0.163568,0.979974]] 2025-10-27T05:45:15.534Z,1761543915.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:15.611Z,1761543915.611 [DAT](INFO): DAT read: Rx Time:05:45:14.1990 2025-10-27T05:45:15.612Z,1761543915.612 [DAT](INFO): Rx dataTimestamp_ set to:1761543915.611171 2025-10-27T05:45:15.614Z,1761543915.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021949 2025-10-27T05:45:15.860Z,1761543915.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268723 2025-10-27T05:45:15.917Z,1761543915.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334268,-0.922942,-0.190902],[0.935608,0.349366,-0.050814],[0.113593,-0.161624,0.980293]] 2025-10-27T05:45:15.969Z,1761543915.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:16.118Z,1761543916.118 [DAT](INFO): DAT read: 05:45:14.1990 LVL= 32752, 32337, 32754, 32755, AGC= 73, IDX= 439, 0.09,-1.900,-0.027,-1.439,-1.085, PHS=-0.712, 1.103,-0.397, RAW= 320.7, 0.1, CAL= 319.1, -3.0, ROT= 190.9, 3.0 2025-10-27T05:45:16.119Z,1761543916.119 [DAT](INFO): got valid direction response: 05:45:14.1990 LVL= 32752, 32337, 32754, 32755, AGC= 73, IDX= 439, 0.09,-1.900,-0.027,-1.439,-1.085, PHS=-0.712, 1.103,-0.397, RAW= 320.7, 0.1, CAL= 319.1, -3.0, ROT= 190.9, 3.0 2025-10-27T05:45:16.120Z,1761543916.120 [DAT](INFO): DAT read: $Error in header 2025-10-27T05:45:16.120Z,1761543916.120 [DAT](INFO): Received a bad header 2025-10-27T05:45:16.155Z,1761543916.155 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:45:16.156Z,1761543916.156 [DAT](INFO): direction in FSK: [-0.980613,-0.188836,-0.052336] 2025-10-27T05:45:16.321Z,1761543916.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334758,-0.922725,-0.191090],[0.935442,0.349843,-0.050566],[0.113510,-0.161826,0.980269]] 2025-10-27T05:45:16.361Z,1761543916.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:16.732Z,1761543916.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335329,-0.922438,-0.191474],[0.935229,0.350439,-0.050393],[0.113584,-0.162174,0.980203]] 2025-10-27T05:45:16.794Z,1761543916.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:17.131Z,1761543917.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336095,-0.922121,-0.191657],[0.934964,0.351188,-0.050094],[0.113501,-0.162356,0.980183]] 2025-10-27T05:45:17.149Z,1761543917.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:17.535Z,1761543917.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336835,-0.921679,-0.192484],[0.934687,0.351976,-0.049733],[0.113588,-0.163161,0.980039]] 2025-10-27T05:45:17.554Z,1761543917.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:17.938Z,1761543917.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337231,-0.921470,-0.192794],[0.934525,0.352409,-0.049707],[0.113746,-0.163408,0.979980]] 2025-10-27T05:45:18.018Z,1761543918.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:18.346Z,1761543918.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337441,-0.921301,-0.193231],[0.934421,0.352679,-0.049740],[0.113974,-0.163775,0.979892]] 2025-10-27T05:45:18.432Z,1761543918.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:18.758Z,1761543918.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338124,-0.920797,-0.194435],[0.934215,0.353356,-0.048801],[0.113641,-0.165143,0.979701]] 2025-10-27T05:45:18.828Z,1761543918.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:19.155Z,1761543919.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338406,-0.920709,-0.194360],[0.934132,0.353601,-0.048612],[0.113483,-0.165108,0.979725]] 2025-10-27T05:45:19.191Z,1761543919.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:19.553Z,1761543919.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338849,-0.920548,-0.194351],[0.934008,0.353984,-0.048218],[0.113184,-0.165187,0.979746]] 2025-10-27T05:45:19.588Z,1761543919.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:19.958Z,1761543919.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338999,-0.920579,-0.193945],[0.933980,0.354071,-0.048117],[0.112965,-0.164829,0.979832]] 2025-10-27T05:45:20.014Z,1761543920.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:20.370Z,1761543920.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338856,-0.920733,-0.193463],[0.934047,0.353883,-0.048197],[0.112839,-0.164372,0.979923]] 2025-10-27T05:45:20.388Z,1761543920.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:20.774Z,1761543920.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338858,-0.920824,-0.193024],[0.934066,0.353833,-0.048188],[0.112671,-0.163968,0.980010]] 2025-10-27T05:45:20.810Z,1761543920.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:21.170Z,1761543921.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338791,-0.921195,-0.191365],[0.934120,0.353638,-0.048586],[0.112431,-0.162298,0.980316]] 2025-10-27T05:45:21.200Z,1761543921.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:21.574Z,1761543921.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338519,-0.921366,-0.191023],[0.934217,0.353354,-0.048782],[0.112445,-0.161943,0.980373]] 2025-10-27T05:45:21.593Z,1761543921.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:21.979Z,1761543921.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338033,-0.921566,-0.190918],[0.934394,0.352869,-0.048899],[0.112432,-0.161863,0.980387]] 2025-10-27T05:45:22.031Z,1761543922.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:22.388Z,1761543922.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337744,-0.921474,-0.191872],[0.934504,0.352627,-0.048538],[0.112386,-0.162912,0.980219]] 2025-10-27T05:45:22.457Z,1761543922.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:22.666Z,1761543922.666 [DAT](INFO): Reached modem response timeout 2025-10-27T05:45:22.786Z,1761543922.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337724,-0.921433,-0.192104],[0.934519,0.352609,-0.048388],[0.112324,-0.163184,0.980181]] 2025-10-27T05:45:22.836Z,1761543922.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:23.190Z,1761543923.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336816,-0.921616,-0.192819],[0.934831,0.351776,-0.048418],[0.112452,-0.163945,0.980039]] 2025-10-27T05:45:23.209Z,1761543923.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:23.593Z,1761543923.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335949,-0.921923,-0.192862],[0.935108,0.350977,-0.048867],[0.112741,-0.163930,0.980008]] 2025-10-27T05:45:23.613Z,1761543923.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:24.010Z,1761543924.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335151,-0.922235,-0.192762],[0.935362,0.350234,-0.049338],[0.113013,-0.163766,0.980004]] 2025-10-27T05:45:24.070Z,1761543924.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:24.402Z,1761543924.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333672,-0.922959,-0.191861],[0.935780,0.348889,-0.050906],[0.113922,-0.162554,0.980101]] 2025-10-27T05:45:24.439Z,1761543924.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:24.805Z,1761543924.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332493,-0.923792,-0.189885],[0.936108,0.347749,-0.052658],[0.114678,-0.160245,0.980393]] 2025-10-27T05:45:24.850Z,1761543924.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:24.933Z,1761543924.933 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:45:24.933Z,1761543924.933 [DAT](INFO): response not received 2025-10-27T05:45:24.933Z,1761543924.933 [DAT](ERROR): No response from remote modem. 2025-10-27T05:45:25.210Z,1761543925.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331303,-0.924262,-0.189678],[0.936435,0.346698,-0.053754],[0.115444,-0.159813,0.980374]] 2025-10-27T05:45:25.235Z,1761543925.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:25.459Z,1761543925.459 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:45:25.617Z,1761543925.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330362,-0.924588,-0.189733],[0.936689,0.345884,-0.054569],[0.116080,-0.159693,0.980318]] 2025-10-27T05:45:25.635Z,1761543925.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:26.018Z,1761543926.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329819,-0.924611,-0.190563],[0.936842,0.345452,-0.054685],[0.116393,-0.160491,0.980151]] 2025-10-27T05:45:26.063Z,1761543926.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:26.422Z,1761543926.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329548,-0.924532,-0.191412],[0.936890,0.345300,-0.054810],[0.116768,-0.161270,0.979978]] 2025-10-27T05:45:26.452Z,1761543926.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:26.463Z,1761543926.463 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:45:26.825Z,1761543926.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329275,-0.924570,-0.191699],[0.936954,0.345094,-0.055021],[0.117025,-0.161496,0.979910]] 2025-10-27T05:45:26.929Z,1761543926.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:27.241Z,1761543927.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329609,-0.924150,-0.193143],[0.936842,0.345499,-0.054372],[0.116979,-0.163023,0.979663]] 2025-10-27T05:45:27.274Z,1761543927.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:27.634Z,1761543927.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329534,-0.924428,-0.191939],[0.936852,0.345378,-0.054978],[0.117114,-0.161701,0.979866]] 2025-10-27T05:45:27.668Z,1761543927.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:28.091Z,1761543928.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329613,-0.924350,-0.192180],[0.936806,0.345495,-0.055023],[0.117258,-0.161899,0.979816]] 2025-10-27T05:45:28.150Z,1761543928.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:28.603Z,1761543928.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329658,-0.924091,-0.193344],[0.936740,0.345678,-0.054997],[0.117657,-0.162983,0.979588]] 2025-10-27T05:45:28.622Z,1761543928.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:29.076Z,1761543929.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329802,-0.923470,-0.196045],[0.936606,0.346096,-0.054654],[0.118321,-0.165592,0.979071]] 2025-10-27T05:45:29.125Z,1761543929.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:29.536Z,1761543929.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:29.905Z,1761543929.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330589,-0.923525,-0.194453],[0.936186,0.346970,-0.056274],[0.119440,-0.163441,0.979296]] 2025-10-27T05:45:29.957Z,1761543929.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:30.345Z,1761543930.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:30.714Z,1761543930.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330479,-0.923410,-0.195185],[0.936225,0.346907,-0.056021],[0.119441,-0.164223,0.979165]] 2025-10-27T05:45:30.775Z,1761543930.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:31.168Z,1761543931.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:31.516Z,1761543931.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330503,-0.923250,-0.195902],[0.936255,0.346921,-0.055433],[0.119141,-0.165094,0.979056]] 2025-10-27T05:45:31.591Z,1761543931.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:31.921Z,1761543931.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330260,-0.923422,-0.195498],[0.936356,0.346637,-0.055506],[0.119022,-0.164724,0.979132]] 2025-10-27T05:45:31.984Z,1761543931.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:32.322Z,1761543932.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330444,-0.923479,-0.194918],[0.936284,0.346792,-0.055747],[0.119077,-0.164077,0.979234]] 2025-10-27T05:45:32.352Z,1761543932.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:32.742Z,1761543932.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331201,-0.923311,-0.194431],[0.935987,0.347547,-0.056032],[0.119309,-0.163427,0.979315]] 2025-10-27T05:45:32.777Z,1761543932.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:33.130Z,1761543933.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332096,-0.922890,-0.194901],[0.935605,0.348544,-0.056221],[0.119818,-0.163680,0.979210]] 2025-10-27T05:45:33.182Z,1761543933.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:33.533Z,1761543933.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333068,-0.921628,-0.199166],[0.935182,0.349862,-0.055047],[0.120414,-0.167922,0.978418]] 2025-10-27T05:45:33.559Z,1761543933.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:33.938Z,1761543933.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333676,-0.920526,-0.203207],[0.934838,0.350879,-0.054427],[0.121403,-0.171804,0.977622]] 2025-10-27T05:45:33.983Z,1761543933.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:34.382Z,1761543934.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:34.808Z,1761543934.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:35.151Z,1761543935.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334226,-0.919092,-0.208719],[0.934328,0.352191,-0.054708],[0.123791,-0.176727,0.976444]] 2025-10-27T05:45:35.188Z,1761543935.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:35.553Z,1761543935.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333661,-0.919838,-0.206319],[0.934390,0.351689,-0.056837],[0.124841,-0.173818,0.976833]] 2025-10-27T05:45:35.582Z,1761543935.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:35.965Z,1761543935.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332761,-0.920660,-0.204098],[0.934539,0.350901,-0.059196],[0.126117,-0.171039,0.977159]] 2025-10-27T05:45:36.010Z,1761543936.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:36.362Z,1761543936.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331797,-0.921257,-0.202969],[0.934754,0.350054,-0.060799],[0.127062,-0.169554,0.977296]] 2025-10-27T05:45:36.381Z,1761543936.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:36.777Z,1761543936.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330369,-0.922167,-0.201157],[0.935084,0.348762,-0.063106],[0.128350,-0.167250,0.977524]] 2025-10-27T05:45:36.795Z,1761543936.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:37.170Z,1761543937.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328798,-0.923090,-0.199490],[0.935466,0.347325,-0.065329],[0.129592,-0.165136,0.977720]] 2025-10-27T05:45:37.228Z,1761543937.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:37.574Z,1761543937.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328031,-0.923604,-0.198374],[0.935588,0.346678,-0.067001],[0.130654,-0.163618,0.977834]] 2025-10-27T05:45:37.593Z,1761543937.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:37.992Z,1761543937.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326686,-0.924177,-0.197921],[0.935887,0.345538,-0.068699],[0.131879,-0.162789,0.977808]] 2025-10-27T05:45:38.036Z,1761543938.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:38.384Z,1761543938.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325847,-0.924314,-0.198666],[0.936022,0.344963,-0.069739],[0.132993,-0.163231,0.977583]] 2025-10-27T05:45:38.404Z,1761543938.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:38.786Z,1761543938.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325137,-0.924095,-0.200833],[0.936130,0.344601,-0.070073],[0.133961,-0.165222,0.977116]] 2025-10-27T05:45:38.818Z,1761543938.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:39.288Z,1761543939.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:39.608Z,1761543939.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324086,-0.923442,-0.205483],[0.936236,0.344244,-0.070416],[0.135761,-0.169560,0.976124]] 2025-10-27T05:45:39.628Z,1761543939.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:40.022Z,1761543940.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323322,-0.923604,-0.205959],[0.936403,0.343652,-0.071078],[0.136426,-0.169879,0.975976]] 2025-10-27T05:45:40.082Z,1761543940.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:40.406Z,1761543940.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322787,-0.923786,-0.205980],[0.936520,0.343213,-0.071657],[0.136891,-0.169774,0.975929]] 2025-10-27T05:45:40.449Z,1761543940.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:40.811Z,1761543940.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322179,-0.923781,-0.206951],[0.936694,0.342737,-0.071662],[0.137130,-0.170762,0.975723]] 2025-10-27T05:45:40.830Z,1761543940.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:41.225Z,1761543941.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321966,-0.924096,-0.205875],[0.936784,0.342424,-0.071986],[0.137018,-0.169683,0.975927]] 2025-10-27T05:45:41.340Z,1761543941.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:41.620Z,1761543941.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321232,-0.924795,-0.203874],[0.937099,0.341469,-0.072413],[0.136583,-0.167789,0.976316]] 2025-10-27T05:45:41.646Z,1761543941.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:42.052Z,1761543942.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320703,-0.925568,-0.201181],[0.937380,0.340618,-0.072790],[0.135898,-0.165239,0.976846]] 2025-10-27T05:45:42.121Z,1761543942.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:42.477Z,1761543942.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319864,-0.926086,-0.200130],[0.937761,0.339597,-0.072652],[0.135246,-0.164435,0.977072]] 2025-10-27T05:45:42.533Z,1761543942.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:42.900Z,1761543942.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:43.243Z,1761543943.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321002,-0.925647,-0.200337],[0.937510,0.340562,-0.071369],[0.134290,-0.164909,0.977124]] 2025-10-27T05:45:43.280Z,1761543943.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:43.642Z,1761543943.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321017,-0.925552,-0.200752],[0.937589,0.340504,-0.070594],[0.133696,-0.165561,0.977095]] 2025-10-27T05:45:43.679Z,1761543943.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:44.082Z,1761543944.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321525,-0.925371,-0.200773],[0.937521,0.340872,-0.069713],[0.132949,-0.165814,0.977154]] 2025-10-27T05:45:44.120Z,1761543944.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:44.457Z,1761543944.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321705,-0.925440,-0.200168],[0.937551,0.340889,-0.069226],[0.132300,-0.165398,0.977313]] 2025-10-27T05:45:44.475Z,1761543944.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:44.882Z,1761543944.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321758,-0.925700,-0.198877],[0.937615,0.340741,-0.069083],[0.131716,-0.164242,0.977587]] 2025-10-27T05:45:44.972Z,1761543944.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:45.270Z,1761543945.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321965,-0.925975,-0.197254],[0.937621,0.340728,-0.069072],[0.131169,-0.162710,0.977916]] 2025-10-27T05:45:45.325Z,1761543945.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:45.674Z,1761543945.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322290,-0.925916,-0.196998],[0.937592,0.340927,-0.068491],[0.130579,-0.162629,0.978009]] 2025-10-27T05:45:45.739Z,1761543945.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:46.134Z,1761543946.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322168,-0.926039,-0.196620],[0.937672,0.340731,-0.068365],[0.130303,-0.162340,0.978093]] 2025-10-27T05:45:46.208Z,1761543946.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:46.572Z,1761543946.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:47.009Z,1761543947.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321498,-0.926887,-0.193700],[0.937929,0.339822,-0.069359],[0.130112,-0.159378,0.978606]] 2025-10-27T05:45:47.032Z,1761543947.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:47.493Z,1761543947.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:47.815Z,1761543947.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319120,-0.927829,-0.193121],[0.938484,0.337752,-0.071909],[0.131947,-0.158294,0.978536]] 2025-10-27T05:45:47.844Z,1761543947.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:48.225Z,1761543948.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317323,-0.928185,-0.194367],[0.938788,0.336448,-0.074022],[0.134101,-0.158981,0.978132]] 2025-10-27T05:45:48.269Z,1761543948.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:48.622Z,1761543948.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315737,-0.928735,-0.194325],[0.938984,0.335284,-0.076767],[0.136450,-0.158230,0.977929]] 2025-10-27T05:45:48.644Z,1761543948.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:49.027Z,1761543949.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313774,-0.929226,-0.195152],[0.939259,0.333866,-0.079535],[0.139061,-0.158342,0.977543]] 2025-10-27T05:45:49.052Z,1761543949.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:49.480Z,1761543949.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:49.834Z,1761543949.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309088,-0.930270,-0.197641],[0.939969,0.330431,-0.085291],[0.144650,-0.159414,0.976557]] 2025-10-27T05:45:49.868Z,1761543949.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:50.238Z,1761543950.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306317,-0.930904,-0.198968],[0.940437,0.328315,-0.088245],[0.147472,-0.160086,0.976025]] 2025-10-27T05:45:50.294Z,1761543950.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:50.645Z,1761543950.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303611,-0.931477,-0.200426],[0.940892,0.326258,-0.090989],[0.150145,-0.160954,0.975474]] 2025-10-27T05:45:50.665Z,1761543950.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:51.045Z,1761543951.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301024,-0.932049,-0.201664],[0.941309,0.324284,-0.093683],[0.152713,-0.161627,0.974964]] 2025-10-27T05:45:51.076Z,1761543951.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:51.516Z,1761543951.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:51.944Z,1761543951.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294909,-0.932595,-0.208075],[0.942040,0.320225,-0.100082],[0.159966,-0.166500,0.972979]] 2025-10-27T05:45:51.978Z,1761543951.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:52.346Z,1761543952.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293815,-0.932732,-0.209006],[0.942009,0.319642,-0.102215],[0.162147,-0.166854,0.972558]] 2025-10-27T05:45:52.391Z,1761543952.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:52.804Z,1761543952.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293117,-0.932716,-0.210058],[0.941886,0.319423,-0.104012],[0.164111,-0.167363,0.972140]] 2025-10-27T05:45:52.823Z,1761543952.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:53.217Z,1761543953.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293425,-0.932040,-0.212609],[0.941508,0.320299,-0.104742],[0.165722,-0.169439,0.971507]] 2025-10-27T05:45:53.276Z,1761543953.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:53.610Z,1761543953.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294172,-0.931253,-0.215010],[0.940994,0.321587,-0.105410],[0.167308,-0.171315,0.970906]] 2025-10-27T05:45:53.636Z,1761543953.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:54.015Z,1761543954.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295962,-0.929734,-0.219090],[0.940202,0.324033,-0.104984],[0.168600,-0.174918,0.970040]] 2025-10-27T05:45:54.034Z,1761543954.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:54.427Z,1761543954.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298654,-0.928177,-0.222020],[0.939128,0.327224,-0.104708],[0.169838,-0.177234,0.969404]] 2025-10-27T05:45:54.466Z,1761543954.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:54.861Z,1761543954.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:55.234Z,1761543955.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305165,-0.924610,-0.227970],[0.936708,0.334582,-0.103116],[0.171617,-0.182074,0.968192]] 2025-10-27T05:45:55.279Z,1761543955.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:55.745Z,1761543955.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:56.035Z,1761543956.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314027,-0.919690,-0.235707],[0.933680,0.344165,-0.098955],[0.172130,-0.189000,0.966773]] 2025-10-27T05:45:56.062Z,1761543956.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:56.441Z,1761543956.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318559,-0.917723,-0.237286],[0.932120,0.348772,-0.097524],[0.172259,-0.190112,0.966532]] 2025-10-27T05:45:56.525Z,1761543956.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:56.604Z,1761543956.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:45:56.842Z,1761543956.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323283,-0.915678,-0.238793],[0.930463,0.353561,-0.096088],[0.172414,-0.191124,0.966305]] 2025-10-27T05:45:56.888Z,1761543956.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:57.316Z,1761543957.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:57.607Z,1761543957.607 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:45:57.649Z,1761543957.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332515,-0.912206,-0.239403],[0.927215,0.362598,-0.093784],[0.172357,-0.190794,0.966380]] 2025-10-27T05:45:57.696Z,1761543957.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:58.146Z,1761543958.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:58.466Z,1761543958.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341111,-0.909339,-0.238215],[0.924078,0.370857,-0.092442],[0.172404,-0.188596,0.966803]] 2025-10-27T05:45:58.574Z,1761543958.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:58.883Z,1761543958.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344662,-0.908227,-0.237342],[0.922715,0.374274,-0.092277],[0.172640,-0.187195,0.967033]] 2025-10-27T05:45:58.932Z,1761543958.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:59.296Z,1761543959.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348190,-0.907391,-0.235384],[0.921310,0.377598,-0.092776],[0.173064,-0.184558,0.967464]] 2025-10-27T05:45:59.361Z,1761543959.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:45:59.710Z,1761543959.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351453,-0.906626,-0.233475],[0.919984,0.380674,-0.093362],[0.173523,-0.181981,0.967870]] 2025-10-27T05:45:59.738Z,1761543959.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:00.097Z,1761543960.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355007,-0.905538,-0.232318],[0.918572,0.384069,-0.093361],[0.173768,-0.180256,0.968149]] 2025-10-27T05:46:00.128Z,1761543960.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:00.502Z,1761543960.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358004,-0.904604,-0.231355],[0.917285,0.387020,-0.093830],[0.174418,-0.178627,0.968334]] 2025-10-27T05:46:00.555Z,1761543960.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:01.010Z,1761543961.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360384,-0.904294,-0.228860],[0.916187,0.389249,-0.095325],[0.175285,-0.175325,0.968781]] 2025-10-27T05:46:01.029Z,1761543961.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:01.454Z,1761543961.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:01.897Z,1761543961.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363396,-0.904490,-0.223252],[0.914727,0.391852,-0.098624],[0.176686,-0.168375,0.969759]] 2025-10-27T05:46:01.921Z,1761543961.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:02.390Z,1761543962.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:02.749Z,1761543962.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:03.106Z,1761543963.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362510,-0.907866,-0.210631],[0.915043,0.389604,-0.104430],[0.176871,-0.154880,0.971972]] 2025-10-27T05:46:03.129Z,1761543963.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:03.514Z,1761543963.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360649,-0.909315,-0.207553],[0.915815,0.387393,-0.105874],[0.176677,-0.151897,0.972477]] 2025-10-27T05:46:03.573Z,1761543963.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:04.008Z,1761543964.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356770,-0.911950,-0.202638],[0.917495,0.382879,-0.107738],[0.175837,-0.147482,0.973309]] 2025-10-27T05:46:04.047Z,1761543964.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:04.406Z,1761543964.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354740,-0.913544,-0.198989],[0.918414,0.380346,-0.108872],[0.175144,-0.144133,0.973936]] 2025-10-27T05:46:04.468Z,1761543964.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:04.914Z,1761543964.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352800,-0.914942,-0.195993],[0.919391,0.377897,-0.109150],[0.173931,-0.141686,0.974512]] 2025-10-27T05:46:04.933Z,1761543964.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:05.380Z,1761543965.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351373,-0.915777,-0.194653],[0.920264,0.376071,-0.108098],[0.172197,-0.141149,0.974897]] 2025-10-27T05:46:05.427Z,1761543965.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:05.768Z,1761543965.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350017,-0.916906,-0.191757],[0.921159,0.374090,-0.107344],[0.170159,-0.139067,0.975554]] 2025-10-27T05:46:05.788Z,1761543965.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:06.184Z,1761543966.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348978,-0.917502,-0.190799],[0.921942,0.372639,-0.105659],[0.168041,-0.139033,0.975926]] 2025-10-27T05:46:06.206Z,1761543966.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:06.573Z,1761543966.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348243,-0.917861,-0.190417],[0.922637,0.371525,-0.103492],[0.165735,-0.139645,0.976233]] 2025-10-27T05:46:06.617Z,1761543966.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:06.978Z,1761543966.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347538,-0.918106,-0.190523],[0.923299,0.370507,-0.101213],[0.163514,-0.140734,0.976451]] 2025-10-27T05:46:06.997Z,1761543966.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:07.409Z,1761543967.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347316,-0.918299,-0.189997],[0.923790,0.369878,-0.099010],[0.161197,-0.141130,0.976779]] 2025-10-27T05:46:07.498Z,1761543967.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:07.800Z,1761543967.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347267,-0.918192,-0.190603],[0.924202,0.369545,-0.096374],[0.158926,-0.142688,0.976925]] 2025-10-27T05:46:07.829Z,1761543967.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:08.199Z,1761543968.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346815,-0.918035,-0.192176],[0.924662,0.369000,-0.094021],[0.157227,-0.145090,0.976846]] 2025-10-27T05:46:08.233Z,1761543968.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:08.602Z,1761543968.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346882,-0.917824,-0.193060],[0.924930,0.368881,-0.091820],[0.155491,-0.146717,0.976881]] 2025-10-27T05:46:08.676Z,1761543968.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:09.008Z,1761543969.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346848,-0.917479,-0.194754],[0.925238,0.368732,-0.089280],[0.153724,-0.149227,0.976781]] 2025-10-27T05:46:09.026Z,1761543969.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:09.437Z,1761543969.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346745,-0.917366,-0.195469],[0.925540,0.368442,-0.087332],[0.152134,-0.150632,0.976814]] 2025-10-27T05:46:09.490Z,1761543969.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:09.815Z,1761543969.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346820,-0.917412,-0.195117],[0.925860,0.368135,-0.085203],[0.149995,-0.151101,0.977072]] 2025-10-27T05:46:09.842Z,1761543969.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:10.309Z,1761543970.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:10.622Z,1761543970.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347158,-0.917194,-0.195541],[0.926521,0.367692,-0.079761],[0.145056,-0.153484,0.977446]] 2025-10-27T05:46:10.735Z,1761543970.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:11.036Z,1761543971.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347552,-0.917165,-0.194978],[0.926813,0.367561,-0.076923],[0.142217,-0.153973,0.977787]] 2025-10-27T05:46:11.097Z,1761543971.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:11.466Z,1761543971.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348085,-0.917728,-0.191343],[0.927069,0.367289,-0.075113],[0.139212,-0.151242,0.978645]] 2025-10-27T05:46:11.666Z,1761543971.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:11.943Z,1761543971.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349227,-0.919329,-0.181313],[0.927556,0.366617,-0.072327],[0.132965,-0.142919,0.980762]] 2025-10-27T05:46:11.969Z,1761543971.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:12.344Z,1761543972.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350548,-0.919335,-0.178715],[0.927568,0.367166,-0.069334],[0.129359,-0.141466,0.981455]] 2025-10-27T05:46:12.382Z,1761543972.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:46:12.384Z,1761543972.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:12.588Z,1761543972.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:46:12.589Z,1761543972.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:46:12.745Z,1761543972.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352091,-0.918859,-0.178131],[0.927439,0.368138,-0.065817],[0.126053,-0.142032,0.981803]] 2025-10-27T05:46:12.798Z,1761543972.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:12.841Z,1761543972.841 [DAT](INFO): DAT read: 2025-10-27T05:46:12.841Z,1761543972.841 [DAT](INFO): DAT read: Tx time:05:46:11.8719 2025-10-27T05:46:12.842Z,1761543972.842 [DAT](INFO): Ping request sent. 2025-10-27T05:46:12.842Z,1761543972.842 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:46:12.842Z,1761543972.842 [DAT](INFO): publishing transmit ping time 2025-10-27T05:46:12.843Z,1761543972.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T05:46:13.092Z,1761543973.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250161 2025-10-27T05:46:13.178Z,1761543973.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353529,-0.918841,-0.175354],[0.927307,0.368889,-0.063419],[0.122958,-0.140187,0.982461]] 2025-10-27T05:46:13.204Z,1761543973.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:13.344Z,1761543973.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502196 2025-10-27T05:46:13.556Z,1761543973.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356216,-0.917761,-0.175572],[0.926741,0.371016,-0.059142],[0.119418,-0.141643,0.982688]] 2025-10-27T05:46:13.596Z,1761543973.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754345 2025-10-27T05:46:13.602Z,1761543973.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:13.849Z,1761543973.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007142 2025-10-27T05:46:13.957Z,1761543973.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359313,-0.916388,-0.176431],[0.925955,0.373627,-0.054862],[0.116194,-0.143655,0.982783]] 2025-10-27T05:46:13.994Z,1761543973.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:14.100Z,1761543974.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258187 2025-10-27T05:46:14.352Z,1761543974.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510179 2025-10-27T05:46:14.363Z,1761543974.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362648,-0.915001,-0.176802],[0.925027,0.376468,-0.050962],[0.113191,-0.145065,0.982926]] 2025-10-27T05:46:14.382Z,1761543974.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:14.604Z,1761543974.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762204 2025-10-27T05:46:14.766Z,1761543974.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365572,-0.913578,-0.178134],[0.924102,0.379129,-0.047929],[0.111322,-0.147092,0.982838]] 2025-10-27T05:46:14.819Z,1761543974.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:14.856Z,1761543974.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014235 2025-10-27T05:46:15.108Z,1761543975.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266135 2025-10-27T05:46:15.180Z,1761543975.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367686,-0.912235,-0.180651],[0.923375,0.381190,-0.045519],[0.110386,-0.150072,0.982493]] 2025-10-27T05:46:15.198Z,1761543975.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:15.360Z,1761543975.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518115 2025-10-27T05:46:15.573Z,1761543975.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368722,-0.910890,-0.185265],[0.922978,0.382414,-0.043259],[0.110252,-0.155045,0.981736]] 2025-10-27T05:46:15.612Z,1761543975.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770251 2025-10-27T05:46:15.636Z,1761543975.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:15.867Z,1761543975.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025253 2025-10-27T05:46:15.996Z,1761543975.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369083,-0.909403,-0.191740],[0.922813,0.383097,-0.040651],[0.110424,-0.161937,0.980603]] 2025-10-27T05:46:16.047Z,1761543976.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:16.117Z,1761543976.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274930 2025-10-27T05:46:16.368Z,1761543976.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526047 2025-10-27T05:46:16.390Z,1761543976.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368595,-0.908602,-0.196417],[0.922930,0.382939,-0.039466],[0.111075,-0.166732,0.979726]] 2025-10-27T05:46:16.415Z,1761543976.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:16.621Z,1761543976.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778566 2025-10-27T05:46:16.872Z,1761543976.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030363 2025-10-27T05:46:16.928Z,1761543976.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:17.124Z,1761543977.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282262 2025-10-27T05:46:17.268Z,1761543977.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363741,-0.910456,-0.196884],[0.924620,0.378539,-0.042265],[0.113009,-0.166669,0.979515]] 2025-10-27T05:46:17.286Z,1761543977.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:17.376Z,1761543977.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534097 2025-10-27T05:46:17.628Z,1761543977.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786222 2025-10-27T05:46:17.756Z,1761543977.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:17.880Z,1761543977.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038155 2025-10-27T05:46:18.095Z,1761543978.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356338,-0.913940,-0.194262],[0.927573,0.371029,-0.044113],[0.112393,-0.164473,0.979957]] 2025-10-27T05:46:18.113Z,1761543978.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:18.135Z,1761543978.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293429 2025-10-27T05:46:18.384Z,1761543978.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542488 2025-10-27T05:46:18.497Z,1761543978.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352314,-0.916100,-0.191404],[0.929320,0.366625,-0.044164],[0.110632,-0.162315,0.980517]] 2025-10-27T05:46:18.574Z,1761543978.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:18.636Z,1761543978.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794340 2025-10-27T05:46:18.888Z,1761543978.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046123 2025-10-27T05:46:18.911Z,1761543978.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347588,-0.919450,-0.183830],[0.931384,0.361188,-0.045458],[0.108193,-0.155416,0.981906]] 2025-10-27T05:46:18.960Z,1761543978.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:19.144Z,1761543979.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301652 2025-10-27T05:46:19.314Z,1761543979.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342711,-0.922640,-0.176877],[0.933507,0.355584,-0.046093],[0.105422,-0.149319,0.983153]] 2025-10-27T05:46:19.355Z,1761543979.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:19.393Z,1761543979.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551028 2025-10-27T05:46:19.645Z,1761543979.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803330 2025-10-27T05:46:19.857Z,1761543979.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:19.896Z,1761543979.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054225 2025-10-27T05:46:20.149Z,1761543980.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306853 2025-10-27T05:46:20.220Z,1761543980.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333657,-0.927753,-0.167174],[0.937340,0.345378,-0.045916],[0.100337,-0.141379,0.984858]] 2025-10-27T05:46:20.249Z,1761543980.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:20.401Z,1761543980.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558833 2025-10-27T05:46:20.653Z,1761543980.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811316 2025-10-27T05:46:20.686Z,1761543980.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330004,-0.929473,-0.164857],[0.938865,0.341327,-0.045039],[0.098133,-0.139916,0.985289]] 2025-10-27T05:46:20.766Z,1761543980.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:20.904Z,1761543980.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062144 2025-10-27T05:46:21.086Z,1761543981.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326291,-0.931188,-0.162550],[0.940431,0.337162,-0.043723],[0.095520,-0.138600,0.985731]] 2025-10-27T05:46:21.105Z,1761543981.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:21.157Z,1761543981.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315131 2025-10-27T05:46:21.408Z,1761543981.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566207 2025-10-27T05:46:21.490Z,1761543981.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322765,-0.932666,-0.161114],[0.941962,0.333147,-0.041475],[0.092356,-0.138377,0.986064]] 2025-10-27T05:46:21.510Z,1761543981.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:21.667Z,1761543981.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820901 2025-10-27T05:46:21.916Z,1761543981.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074332 2025-10-27T05:46:21.975Z,1761543981.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:22.168Z,1761543982.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326204 2025-10-27T05:46:22.316Z,1761543982.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319050,-0.933611,-0.163027],[0.943935,0.328428,-0.033498],[0.084816,-0.143200,0.986053]] 2025-10-27T05:46:22.340Z,1761543982.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:22.420Z,1761543982.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578286 2025-10-27T05:46:22.672Z,1761543982.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830154 2025-10-27T05:46:22.802Z,1761543982.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:22.924Z,1761543982.924 [DAT](INFO): Reached modem response timeout 2025-10-27T05:46:23.118Z,1761543983.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317972,-0.934760,-0.158488],[0.945044,0.325898,-0.026119],[0.076066,-0.141474,0.987015]] 2025-10-27T05:46:23.177Z,1761543983.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:23.523Z,1761543983.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319300,-0.934937,-0.154726],[0.945025,0.326294,-0.021445],[0.070536,-0.139373,0.987725]] 2025-10-27T05:46:23.547Z,1761543983.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:23.926Z,1761543983.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321530,-0.935023,-0.149503],[0.944739,0.327432,-0.016015],[0.063926,-0.136092,0.988632]] 2025-10-27T05:46:23.989Z,1761543983.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:24.332Z,1761543984.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325484,-0.934039,-0.147077],[0.943860,0.330238,-0.008456],[0.056468,-0.136068,0.989089]] 2025-10-27T05:46:24.401Z,1761543984.401 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-27T05:46:24.420Z,1761543984.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:24.764Z,1761543984.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335954,-0.930176,-0.148009],[0.940960,0.338393,0.009148],[0.041576,-0.142344,0.988944]] 2025-10-27T05:46:24.838Z,1761543984.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:25.176Z,1761543985.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342797,-0.927271,-0.150529],[0.938787,0.343974,0.018978],[0.034180,-0.147820,0.988423]] 2025-10-27T05:46:25.192Z,1761543985.192 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:46:25.192Z,1761543985.192 [DAT](INFO): response not received 2025-10-27T05:46:25.192Z,1761543985.192 [DAT](ERROR): No response from remote modem. 2025-10-27T05:46:25.304Z,1761543985.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:25.775Z,1761543985.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350088,-0.924764,-0.149163],[0.936326,0.350074,0.027230],[0.027037,-0.149198,0.988438]] 2025-10-27T05:46:25.848Z,1761543985.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:26.289Z,1761543986.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357697,-0.921857,-0.149103],[0.933610,0.356546,0.035313],[0.020608,-0.151835,0.988191]] 2025-10-27T05:46:26.353Z,1761543986.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:26.773Z,1761543986.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371034,-0.916510,-0.149478],[0.928542,0.368243,0.046981],[0.011986,-0.156228,0.987648]] 2025-10-27T05:46:26.868Z,1761543986.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:27.176Z,1761543987.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375596,-0.914501,-0.150386],[0.926738,0.372211,0.051149],[0.009199,-0.158580,0.987303]] 2025-10-27T05:46:27.197Z,1761543987.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:27.578Z,1761543987.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378223,-0.913046,-0.152625],[0.925684,0.374378,0.054321],[0.007542,-0.161828,0.986790]] 2025-10-27T05:46:27.603Z,1761543987.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:27.728Z,1761543987.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:46:27.986Z,1761543987.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379043,-0.912513,-0.153777],[0.925360,0.374828,0.056678],[0.005921,-0.163783,0.986479]] 2025-10-27T05:46:28.028Z,1761543988.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:28.423Z,1761543988.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:28.732Z,1761543988.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:46:28.791Z,1761543988.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375830,-0.914331,-0.150831],[0.926684,0.371354,0.057910],[0.003063,-0.161537,0.986862]] 2025-10-27T05:46:28.834Z,1761543988.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:29.194Z,1761543989.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372356,-0.916499,-0.146224],[0.928089,0.367965,0.057031],[0.001536,-0.156944,0.987606]] 2025-10-27T05:46:29.238Z,1761543989.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:29.598Z,1761543989.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368814,-0.918569,-0.142148],[0.929503,0.364424,0.056737],[-0.000315,-0.153052,0.988218]] 2025-10-27T05:46:29.676Z,1761543989.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:30.001Z,1761543990.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365346,-0.920677,-0.137393],[0.930869,0.360973,0.056410],[-0.002340,-0.148503,0.988909]] 2025-10-27T05:46:30.078Z,1761543990.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:30.407Z,1761543990.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361123,-0.923499,-0.129385],[0.932506,0.356924,0.055116],[-0.004719,-0.140556,0.990061]] 2025-10-27T05:46:30.448Z,1761543990.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:30.810Z,1761543990.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357258,-0.925971,-0.122243],[0.933977,0.353141,0.054584],[-0.007374,-0.133673,0.990998]] 2025-10-27T05:46:30.862Z,1761543990.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:31.214Z,1761543991.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353735,-0.927678,-0.119520],[0.935295,0.349482,0.055556],[-0.009768,-0.131438,0.991276]] 2025-10-27T05:46:31.234Z,1761543991.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:31.619Z,1761543991.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350242,-0.928892,-0.120373],[0.936585,0.345697,0.057458],[-0.011759,-0.132864,0.991065]] 2025-10-27T05:46:31.658Z,1761543991.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:32.022Z,1761543992.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346366,-0.929865,-0.124023],[0.938007,0.341431,0.059733],[-0.013198,-0.137024,0.990480]] 2025-10-27T05:46:32.066Z,1761543992.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:32.425Z,1761543992.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341784,-0.931149,-0.127065],[0.939667,0.336527,0.061443],[-0.014452,-0.140399,0.989990]] 2025-10-27T05:46:32.444Z,1761543992.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:32.831Z,1761543992.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337367,-0.932762,-0.127035],[0.941234,0.331916,0.062526],[-0.016157,-0.140664,0.989926]] 2025-10-27T05:46:32.868Z,1761543992.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:33.233Z,1761543993.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333372,-0.934284,-0.126398],[0.942625,0.327755,0.063513],[-0.017912,-0.140320,0.989944]] 2025-10-27T05:46:33.259Z,1761543993.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:33.654Z,1761543993.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329338,-0.935792,-0.125818],[0.944004,0.323530,0.064688],[-0.019828,-0.140077,0.989942]] 2025-10-27T05:46:33.682Z,1761543993.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:34.041Z,1761543994.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325755,-0.937052,-0.125768],[0.945205,0.319720,0.066082],[-0.021711,-0.140403,0.989856]] 2025-10-27T05:46:34.099Z,1761543994.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:34.448Z,1761543994.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322233,-0.938363,-0.125060],[0.946377,0.316082,0.066798],[-0.023151,-0.139878,0.989898]] 2025-10-27T05:46:34.467Z,1761543994.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:34.849Z,1761543994.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320348,-0.939233,-0.123361],[0.946971,0.314080,0.067821],[-0.024954,-0.138545,0.990042]] 2025-10-27T05:46:34.898Z,1761543994.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:35.254Z,1761543995.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319827,-0.939568,-0.122161],[0.947089,0.313347,0.069535],[-0.027054,-0.137937,0.990072]] 2025-10-27T05:46:35.296Z,1761543995.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:35.665Z,1761543995.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320461,-0.939616,-0.120115],[0.946815,0.313831,0.071069],[-0.029082,-0.136502,0.990213]] 2025-10-27T05:46:35.699Z,1761543995.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:36.063Z,1761543996.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322411,-0.939200,-0.118127],[0.946083,0.315594,0.072989],[-0.031271,-0.135290,0.990312]] 2025-10-27T05:46:36.100Z,1761543996.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:36.466Z,1761543996.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325274,-0.937951,-0.120185],[0.945031,0.317950,0.076318],[-0.033370,-0.138403,0.989814]] 2025-10-27T05:46:36.490Z,1761543996.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:36.870Z,1761543996.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328912,-0.936002,-0.125371],[0.943689,0.320763,0.081008],[-0.035609,-0.144956,0.988797]] 2025-10-27T05:46:36.915Z,1761543996.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:37.274Z,1761543997.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333778,-0.933701,-0.129594],[0.941857,0.324686,0.086512],[-0.038699,-0.150935,0.987786]] 2025-10-27T05:46:37.294Z,1761543997.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:37.686Z,1761543997.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338938,-0.931322,-0.133267],[0.939870,0.328861,0.092164],[-0.042008,-0.156492,0.986786]] 2025-10-27T05:46:37.710Z,1761543997.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:38.082Z,1761543998.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343811,-0.929311,-0.134814],[0.937963,0.332989,0.096661],[-0.044937,-0.159683,0.986145]] 2025-10-27T05:46:38.156Z,1761543998.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:38.485Z,1761543998.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348563,-0.927425,-0.135602],[0.936083,0.337126,0.100474],[-0.047467,-0.161956,0.985656]] 2025-10-27T05:46:38.520Z,1761543998.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:39.003Z,1761543999.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:39.297Z,1761543999.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355757,-0.924532,-0.136667],[0.933141,0.343285,0.106785],[-0.051811,-0.165519,0.984845]] 2025-10-27T05:46:39.326Z,1761543999.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:39.775Z,1761543999.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358828,-0.923243,-0.137351],[0.931830,0.345782,0.110126],[-0.054179,-0.167504,0.984381]] 2025-10-27T05:46:39.883Z,1761543999.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:40.179Z,1761544000.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361274,-0.922327,-0.137087],[0.930751,0.347798,0.112869],[-0.056423,-0.168370,0.984108]] 2025-10-27T05:46:40.247Z,1761544000.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:40.669Z,1761544000.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361783,-0.922499,-0.134565],[0.930484,0.348401,0.113209],[-0.057553,-0.166168,0.984417]] 2025-10-27T05:46:40.706Z,1761544000.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:41.122Z,1761544001.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:41.465Z,1761544001.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360424,-0.924796,-0.121850],[0.930933,0.348390,0.109493],[-0.058808,-0.152898,0.986491]] 2025-10-27T05:46:41.484Z,1761544001.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:41.920Z,1761544001.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359300,-0.926171,-0.114500],[0.931334,0.348064,0.107087],[-0.059328,-0.145114,0.987635]] 2025-10-27T05:46:41.962Z,1761544001.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:42.274Z,1761544002.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357593,-0.927528,-0.108712],[0.931986,0.347036,0.104733],[-0.059416,-0.138770,0.988541]] 2025-10-27T05:46:42.359Z,1761544002.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:42.678Z,1761544002.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355761,-0.928490,-0.106491],[0.932709,0.345536,0.103242],[-0.059063,-0.136055,0.988939]] 2025-10-27T05:46:42.737Z,1761544002.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:43.183Z,1761544003.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:43.489Z,1761544003.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350926,-0.929977,-0.109520],[0.934660,0.340734,0.101547],[-0.057119,-0.138000,0.988784]] 2025-10-27T05:46:43.545Z,1761544003.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:43.946Z,1761544003.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348624,-0.930125,-0.115447],[0.935632,0.338106,0.101371],[-0.055254,-0.143356,0.988128]] 2025-10-27T05:46:44.063Z,1761544004.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:44.381Z,1761544004.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343085,-0.930664,-0.127112],[0.938001,0.332332,0.098533],[-0.049458,-0.153036,0.986982]] 2025-10-27T05:46:44.400Z,1761544004.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:44.770Z,1761544004.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339745,-0.930991,-0.133527],[0.939409,0.329018,0.096216],[-0.045643,-0.158125,0.986364]] 2025-10-27T05:46:44.797Z,1761544004.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:45.180Z,1761544005.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336366,-0.931801,-0.136396],[0.940788,0.326007,0.092933],[-0.042129,-0.159579,0.986286]] 2025-10-27T05:46:45.225Z,1761544005.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:45.582Z,1761544005.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332281,-0.932828,-0.139362],[0.942376,0.322252,0.089895],[-0.038947,-0.161201,0.986153]] 2025-10-27T05:46:45.600Z,1761544005.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:46.059Z,1761544006.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328271,-0.933892,-0.141720],[0.943887,0.318555,0.087179],[-0.036270,-0.162386,0.986061]] 2025-10-27T05:46:46.107Z,1761544006.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:46.562Z,1761544006.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324214,-0.935538,-0.140195],[0.945377,0.315118,0.083448],[-0.033890,-0.159592,0.986601]] 2025-10-27T05:46:46.580Z,1761544006.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:47.003Z,1761544007.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320049,-0.936864,-0.140905],[0.946879,0.311378,0.080401],[-0.031450,-0.159152,0.986753]] 2025-10-27T05:46:47.046Z,1761544007.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:47.366Z,1761544007.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316520,-0.938247,-0.139671],[0.948130,0.308358,0.077225],[-0.029388,-0.156869,0.987182]] 2025-10-27T05:46:47.409Z,1761544007.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:47.770Z,1761544007.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313263,-0.939686,-0.137320],[0.949261,0.305615,0.074181],[-0.027740,-0.153591,0.987745]] 2025-10-27T05:46:47.789Z,1761544007.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:48.176Z,1761544008.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310894,-0.940942,-0.134064],[0.950073,0.303722,0.071513],[-0.026572,-0.149604,0.988389]] 2025-10-27T05:46:48.212Z,1761544008.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:48.577Z,1761544008.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309396,-0.941405,-0.134279],[0.950587,0.302371,0.070402],[-0.025675,-0.149426,0.988440]] 2025-10-27T05:46:48.615Z,1761544008.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:49.027Z,1761544009.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309429,-0.941244,-0.135327],[0.950591,0.302414,0.070168],[-0.025121,-0.150353,0.988313]] 2025-10-27T05:46:49.082Z,1761544009.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:49.388Z,1761544009.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310289,-0.942006,-0.127846],[0.950329,0.303920,0.067131],[-0.024382,-0.142325,0.989520]] 2025-10-27T05:46:49.410Z,1761544009.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:49.790Z,1761544009.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311929,-0.942379,-0.120923],[0.949809,0.306115,0.064474],[-0.023742,-0.134965,0.990566]] 2025-10-27T05:46:49.821Z,1761544009.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:50.194Z,1761544010.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314471,-0.941374,-0.122160],[0.948982,0.308610,0.064751],[-0.023255,-0.136290,0.990396]] 2025-10-27T05:46:50.242Z,1761544010.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:50.598Z,1761544010.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318099,-0.939904,-0.124066],[0.947772,0.312060,0.065922],[-0.023244,-0.138557,0.990082]] 2025-10-27T05:46:50.645Z,1761544010.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:51.026Z,1761544011.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322773,-0.938095,-0.125682],[0.946182,0.316504,0.067560],[-0.023598,-0.140725,0.989767]] 2025-10-27T05:46:51.138Z,1761544011.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:51.472Z,1761544011.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327984,-0.936002,-0.127776],[0.944380,0.321439,0.069448],[-0.023931,-0.143447,0.989369]] 2025-10-27T05:46:51.490Z,1761544011.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:51.861Z,1761544011.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333671,-0.933748,-0.129534],[0.942368,0.326805,0.071694],[-0.024611,-0.145991,0.988980]] 2025-10-27T05:46:51.888Z,1761544011.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:52.265Z,1761544012.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339315,-0.931286,-0.132560],[0.940335,0.332034,0.074315],[-0.025194,-0.149867,0.988385]] 2025-10-27T05:46:52.371Z,1761544012.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:52.750Z,1761544012.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:53.110Z,1761544013.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349375,-0.926406,-0.140389],[0.936609,0.341060,0.080260],[-0.026472,-0.159530,0.986838]] 2025-10-27T05:46:53.185Z,1761544013.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:53.495Z,1761544013.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352117,-0.924998,-0.142799],[0.935555,0.343383,0.082612],[-0.027381,-0.162686,0.986298]] 2025-10-27T05:46:53.533Z,1761544013.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:53.894Z,1761544013.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353739,-0.923760,-0.146754],[0.934897,0.344342,0.085997],[-0.028907,-0.167620,0.985428]] 2025-10-27T05:46:53.923Z,1761544013.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:54.298Z,1761544014.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354127,-0.923104,-0.149909],[0.934692,0.344091,0.089172],[-0.030733,-0.171697,0.984670]] 2025-10-27T05:46:54.353Z,1761544014.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:54.708Z,1761544014.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352876,-0.923949,-0.147636],[0.935105,0.342763,0.089954],[-0.032509,-0.169798,0.984943]] 2025-10-27T05:46:54.786Z,1761544014.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:55.261Z,1761544015.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347499,-0.928326,-0.132119],[0.936968,0.338277,0.087523],[-0.036557,-0.154206,0.987362]] 2025-10-27T05:46:55.356Z,1761544015.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:55.808Z,1761544015.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:56.174Z,1761544016.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341737,-0.932289,-0.118549],[0.938896,0.333165,0.086458],[-0.041108,-0.140851,0.989177]] 2025-10-27T05:46:56.234Z,1761544016.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:56.578Z,1761544016.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339072,-0.933704,-0.115009],[0.939774,0.330579,0.086848],[-0.043070,-0.137530,0.989561]] 2025-10-27T05:46:56.634Z,1761544016.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:56.992Z,1761544016.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335850,-0.935310,-0.111354],[0.940846,0.327484,0.086969],[-0.044876,-0.133976,0.989968]] 2025-10-27T05:46:57.010Z,1761544017.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:57.386Z,1761544017.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332676,-0.937008,-0.106499],[0.941906,0.324610,0.086262],[-0.046257,-0.129010,0.990564]] 2025-10-27T05:46:57.432Z,1761544017.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:57.793Z,1761544017.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329657,-0.938496,-0.102718],[0.942915,0.321838,0.085623],[-0.047298,-0.125080,0.991019]] 2025-10-27T05:46:57.846Z,1761544017.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:58.195Z,1761544018.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327219,-0.939740,-0.099073],[0.943699,0.319596,0.085387],[-0.048578,-0.121435,0.991410]] 2025-10-27T05:46:58.241Z,1761544018.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:58.608Z,1761544018.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324968,-0.940356,-0.100626],[0.944408,0.317061,0.086977],[-0.049885,-0.123296,0.991115]] 2025-10-27T05:46:58.649Z,1761544018.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:58.867Z,1761544018.867 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:46:59.003Z,1761544019.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323622,-0.940445,-0.104077],[0.944802,0.315239,0.089298],[-0.051171,-0.127231,0.990552]] 2025-10-27T05:46:59.052Z,1761544019.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:59.468Z,1761544019.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:59.809Z,1761544019.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322386,-0.939809,-0.113255],[0.945062,0.312710,0.095241],[-0.054092,-0.137737,0.988991]] 2025-10-27T05:46:59.853Z,1761544019.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:46:59.871Z,1761544019.871 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:47:00.214Z,1761544020.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322633,-0.939645,-0.113907],[0.944903,0.312701,0.096831],[-0.055367,-0.138872,0.988761]] 2025-10-27T05:47:00.261Z,1761544020.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:00.624Z,1761544020.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323092,-0.939397,-0.114651],[0.944682,0.312912,0.098298],[-0.056465,-0.140068,0.988531]] 2025-10-27T05:47:00.642Z,1761544020.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:01.026Z,1761544021.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324195,-0.938542,-0.118471],[0.944202,0.313338,0.101499],[-0.058139,-0.144766,0.987756]] 2025-10-27T05:47:01.061Z,1761544021.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:01.496Z,1761544021.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:01.830Z,1761544021.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326689,-0.936880,-0.124622],[0.943220,0.314798,0.106013],[-0.060091,-0.152179,0.986524]] 2025-10-27T05:47:01.858Z,1761544021.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:02.234Z,1761544022.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327876,-0.936278,-0.126023],[0.942757,0.315673,0.107516],[-0.060883,-0.154061,0.986184]] 2025-10-27T05:47:02.288Z,1761544022.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:02.640Z,1761544022.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329114,-0.936013,-0.124750],[0.942272,0.316900,0.108158],[-0.061704,-0.153145,0.986275]] 2025-10-27T05:47:02.658Z,1761544022.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:03.049Z,1761544023.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330969,-0.935653,-0.122530],[0.941537,0.318768,0.109061],[-0.062985,-0.151462,0.986454]] 2025-10-27T05:47:03.067Z,1761544023.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:03.446Z,1761544023.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332916,-0.934891,-0.123070],[0.940766,0.320410,0.110893],[-0.064240,-0.152698,0.986183]] 2025-10-27T05:47:03.492Z,1761544023.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:03.850Z,1761544023.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334915,-0.934203,-0.122870],[0.939974,0.322200,0.112407],[-0.065422,-0.153142,0.986036]] 2025-10-27T05:47:03.894Z,1761544023.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:04.258Z,1761544024.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337322,-0.933598,-0.120864],[0.938988,0.324514,0.113979],[-0.067189,-0.151938,0.986104]] 2025-10-27T05:47:04.312Z,1761544024.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:04.659Z,1761544024.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339547,-0.933018,-0.119100],[0.938049,0.326605,0.115724],[-0.069074,-0.151015,0.986115]] 2025-10-27T05:47:04.678Z,1761544024.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:05.062Z,1761544025.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342000,-0.932440,-0.116580],[0.937003,0.328992,0.117426],[-0.071139,-0.149395,0.986215]] 2025-10-27T05:47:05.113Z,1761544025.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:05.466Z,1761544025.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343948,-0.931823,-0.115788],[0.936145,0.330700,0.119455],[-0.073020,-0.149480,0.986065]] 2025-10-27T05:47:05.509Z,1761544025.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:05.869Z,1761544025.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345988,-0.931115,-0.115397],[0.935265,0.332487,0.121376],[-0.074647,-0.149922,0.985876]] 2025-10-27T05:47:05.888Z,1761544025.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:06.285Z,1761544026.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347985,-0.930282,-0.116111],[0.934433,0.334165,0.123163],[-0.075777,-0.151357,0.985570]] 2025-10-27T05:47:06.348Z,1761544026.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:06.678Z,1761544026.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349524,-0.929542,-0.117412],[0.933788,0.335357,0.124804],[-0.076636,-0.153260,0.985210]] 2025-10-27T05:47:06.709Z,1761544026.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:07.092Z,1761544027.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350761,-0.928864,-0.119068],[0.933267,0.336228,0.126344],[-0.077322,-0.155439,0.984815]] 2025-10-27T05:47:07.124Z,1761544027.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:07.510Z,1761544027.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351521,-0.928828,-0.117094],[0.932932,0.337141,0.126391],[-0.077919,-0.153670,0.985045]] 2025-10-27T05:47:07.562Z,1761544027.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:07.897Z,1761544027.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352297,-0.928922,-0.113980],[0.932586,0.338220,0.126056],[-0.078546,-0.150705,0.985453]] 2025-10-27T05:47:07.917Z,1761544027.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:08.313Z,1761544028.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352992,-0.928936,-0.111687],[0.932293,0.339152,0.125719],[-0.078906,-0.148503,0.985759]] 2025-10-27T05:47:08.422Z,1761544028.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:08.722Z,1761544028.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353585,-0.929126,-0.108178],[0.932028,0.340131,0.125036],[-0.079379,-0.145036,0.986237]] 2025-10-27T05:47:08.753Z,1761544028.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:09.115Z,1761544029.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353578,-0.929329,-0.106445],[0.932008,0.340316,0.124688],[-0.079652,-0.143294,0.986470]] 2025-10-27T05:47:09.157Z,1761544029.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:09.517Z,1761544029.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354296,-0.929323,-0.104081],[0.931632,0.341154,0.125203],[-0.080846,-0.141324,0.986657]] 2025-10-27T05:47:09.621Z,1761544029.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:09.990Z,1761544029.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:10.349Z,1761544030.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355776,-0.929117,-0.100822],[0.930864,0.342697,0.126696],[-0.083165,-0.138927,0.986804]] 2025-10-27T05:47:10.415Z,1761544030.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:10.747Z,1761544030.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356741,-0.928721,-0.101064],[0.930397,0.343446,0.128090],[-0.084250,-0.139724,0.986600]] 2025-10-27T05:47:10.832Z,1761544030.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:11.150Z,1761544031.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357569,-0.928453,-0.100599],[0.930008,0.344204,0.128878],[-0.085030,-0.139641,0.986545]] 2025-10-27T05:47:11.192Z,1761544031.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:11.554Z,1761544031.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358208,-0.928327,-0.099474],[0.929684,0.344859,0.129464],[-0.085880,-0.138855,0.986582]] 2025-10-27T05:47:11.662Z,1761544031.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:11.972Z,1761544031.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358785,-0.928070,-0.099797],[0.929398,0.345277,0.130396],[-0.086559,-0.139535,0.986427]] 2025-10-27T05:47:12.026Z,1761544032.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:12.378Z,1761544032.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359329,-0.927726,-0.101029],[0.929132,0.345544,0.131582],[-0.087162,-0.141150,0.986144]] 2025-10-27T05:47:12.440Z,1761544032.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:12.442Z,1761544032.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:12.600Z,1761544032.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:12.600Z,1761544032.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:12.777Z,1761544032.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360050,-0.927278,-0.102570],[0.928783,0.345916,0.133060],[-0.087903,-0.143174,0.985786]] 2025-10-27T05:47:12.808Z,1761544032.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:12.852Z,1761544032.852 [DAT](INFO): DAT read: user:502> 2025-10-27T05:47:12.853Z,1761544032.853 [DAT](INFO): DAT read: Tx time:05:47:11.9219 2025-10-27T05:47:12.854Z,1761544032.854 [DAT](INFO): Ping request sent. 2025-10-27T05:47:12.854Z,1761544032.854 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:47:12.854Z,1761544032.854 [DAT](INFO): publishing transmit ping time 2025-10-27T05:47:12.855Z,1761544032.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001513 2025-10-27T05:47:13.104Z,1761544033.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249929 2025-10-27T05:47:13.181Z,1761544033.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359580,-0.927332,-0.103716],[0.928947,0.345263,0.133606],[-0.088088,-0.144388,0.985592]] 2025-10-27T05:47:13.224Z,1761544033.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:13.359Z,1761544033.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504441 2025-10-27T05:47:13.601Z,1761544033.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357382,-0.928216,-0.103406],[0.929793,0.343156,0.133151],[-0.088109,-0.143732,0.985686]] 2025-10-27T05:47:13.608Z,1761544033.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753975 2025-10-27T05:47:13.658Z,1761544033.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:13.861Z,1761544033.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006630 2025-10-27T05:47:13.997Z,1761544033.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354544,-0.929621,-0.100518],[0.930885,0.340802,0.131553],[-0.088038,-0.140212,0.986200]] 2025-10-27T05:47:14.016Z,1761544034.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:14.112Z,1761544034.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258473 2025-10-27T05:47:14.367Z,1761544034.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512184 2025-10-27T05:47:14.404Z,1761544034.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351439,-0.931038,-0.098282],[0.932108,0.338149,0.129729],[-0.087549,-0.137201,0.986667]] 2025-10-27T05:47:14.451Z,1761544034.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:14.616Z,1761544034.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761908 2025-10-27T05:47:14.802Z,1761544034.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348146,-0.932600,-0.095145],[0.933423,0.335476,0.127192],[-0.086701,-0.133092,0.987304]] 2025-10-27T05:47:14.821Z,1761544034.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:14.868Z,1761544034.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014171 2025-10-27T05:47:15.120Z,1761544035.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265939 2025-10-27T05:47:15.205Z,1761544035.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344906,-0.934184,-0.091327],[0.934704,0.332934,0.124431],[-0.085835,-0.128281,0.988016]] 2025-10-27T05:47:15.223Z,1761544035.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:15.375Z,1761544035.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520062 2025-10-27T05:47:15.616Z,1761544035.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341717,-0.935561,-0.089189],[0.935948,0.330192,0.122374],[-0.085038,-0.125294,0.988468]] 2025-10-27T05:47:15.624Z,1761544035.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770060 2025-10-27T05:47:15.655Z,1761544035.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:15.876Z,1761544035.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021903 2025-10-27T05:47:16.009Z,1761544036.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338955,-0.936698,-0.087789],[0.937012,0.327748,0.120792],[-0.084373,-0.123202,0.988788]] 2025-10-27T05:47:16.046Z,1761544036.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:16.133Z,1761544036.133 [DAT](INFO): DAT read: Rx Time:05:47:14.6071 2025-10-27T05:47:16.134Z,1761544036.134 [DAT](INFO): Rx dataTimestamp_ set to:1761544036.133393 2025-10-27T05:47:16.135Z,1761544036.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280638 2025-10-27T05:47:16.388Z,1761544036.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532806 2025-10-27T05:47:16.477Z,1761544036.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337371,-0.937347,-0.086956],[0.937615,0.326343,0.119912],[-0.084022,-0.121986,0.988969]] 2025-10-27T05:47:16.524Z,1761544036.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.61 m. 2025-10-27T05:47:16.641Z,1761544036.641 [DAT](INFO): DAT read: 05:47:14.6071 LVL= 32752, 27041, 32754, 32755, AGC= 69, IDX= 212,-0.41, 0.568, 2.455, 0.928, 1.184, PHS=-0.514, 1.316,-0.300, RAW= 323.9, -5.9, CAL= 323.3, -9.1, ROT= 186.7, 9.1 2025-10-27T05:47:16.642Z,1761544036.642 [DAT](INFO): got valid direction response: 05:47:14.6071 LVL= 32752, 27041, 32754, 32755, AGC= 69, IDX= 212,-0.41, 0.568, 2.455, 0.928, 1.184, PHS=-0.514, 1.316,-0.300, RAW= 323.9, -5.9, CAL= 323.3, -9.1, ROT= 186.7, 9.1 2025-10-27T05:47:16.643Z,1761544036.643 [DAT](INFO): DAT read: Bearing 45.1, -0.2 (Local) 2025-10-27T05:47:16.644Z,1761544036.644 [DAT](INFO): Local bearing/azimuth received: Bearing 45.1, -0.2 (Local) 2025-10-27T05:47:16.645Z,1761544036.645 [DAT](INFO): DAT read: Range 11 to 50 : 210.7 m (Round-trip 281.0 ms) speed -0.2 m/s 2025-10-27T05:47:16.646Z,1761544036.646 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:47:16.647Z,1761544036.647 [DAT](INFO): direction in FSK: [-0.980670,-0.115202,-0.158158] 2025-10-27T05:47:16.647Z,1761544036.647 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:16.816Z,1761544036.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336159,-0.937783,-0.086952],[0.938056,0.325160,0.119679],[-0.083959,-0.121797,0.988998]] 2025-10-27T05:47:16.866Z,1761544036.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 210.699997 m, deltaT: 180.539911 s, deltaX: 156.799988 m, approachRate: 0.868506 m/s, rangeRepo size: 4 2025-10-27T05:47:16.877Z,1761544036.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 209.371262 m, bearing: 257.980191 deg, lat: 36.779389 deg, lon: -121.859733 deg, deltaT: 180.539911 s, deltaX: 155.760300 m, approachRate: 0.862747 m/s, posRepo size: 4 2025-10-27T05:47:16.877Z,1761544036.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.37 m. 2025-10-27T05:47:16.878Z,1761544036.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 210.70 m. Resuming terminal guidance. 2025-10-27T05:47:16.878Z,1761544036.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T05:47:17.221Z,1761544037.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334721,-0.938102,-0.089031],[0.938575,0.323488,0.120133],[-0.083897,-0.123774,0.988757]] 2025-10-27T05:47:17.237Z,1761544037.237 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T05:47:17.237Z,1761544037.237 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:47:17.238Z,1761544037.238 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T05:47:17.239Z,1761544037.239 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 210.699997 m (mode 1.000000 count ). 2025-10-27T05:47:17.239Z,1761544037.239 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T05:47:17.239Z,1761544037.239 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T05:47:17.625Z,1761544037.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333856,-0.938134,-0.091894],[0.938848,0.322218,0.121405],[-0.084284,-0.126806,0.988340]] 2025-10-27T05:47:17.678Z,1761544037.678 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T05:47:17.679Z,1761544037.679 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T05:47:17.680Z,1761544037.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:17.900Z,1761544037.900 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:17.901Z,1761544037.901 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:17.901Z,1761544037.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:18.027Z,1761544038.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332392,-0.938420,-0.094254],[0.939331,0.320417,0.122433],[-0.084692,-0.129232,0.987991]] 2025-10-27T05:47:18.049Z,1761544038.049 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T05:47:18.049Z,1761544038.049 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T05:47:18.152Z,1761544038.152 [DAT](INFO): DAT read: user:503> 2025-10-27T05:47:18.153Z,1761544038.153 [DAT](INFO): DAT read: Tx time:05:47:17.2219 2025-10-27T05:47:18.153Z,1761544038.153 [DAT](INFO): Ping request sent. 2025-10-27T05:47:18.153Z,1761544038.153 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:47:18.153Z,1761544038.153 [DAT](INFO): publishing transmit ping time 2025-10-27T05:47:18.154Z,1761544038.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T05:47:18.407Z,1761544038.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253578 2025-10-27T05:47:18.463Z,1761544038.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331370,-0.938765,-0.094418],[0.939653,0.319334,0.122789],[-0.085119,-0.129409,0.987931]] 2025-10-27T05:47:18.504Z,1761544038.504 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T05:47:18.504Z,1761544038.504 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:47:18.504Z,1761544038.504 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T05:47:18.505Z,1761544038.505 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T05:47:18.657Z,1761544038.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503592 2025-10-27T05:47:18.834Z,1761544038.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329765,-0.939468,-0.093034],[0.940134,0.317813,0.123057],[-0.086040,-0.128044,0.988029]] 2025-10-27T05:47:18.909Z,1761544038.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755555 2025-10-27T05:47:19.160Z,1761544039.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007167 2025-10-27T05:47:19.237Z,1761544039.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325410,-0.941569,-0.086931],[0.941476,0.314078,0.122386],[-0.087932,-0.121670,0.988668]] 2025-10-27T05:47:19.412Z,1761544039.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258890 2025-10-27T05:47:19.645Z,1761544039.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318724,-0.944662,-0.077639],[0.943551,0.308423,0.120778],[-0.090149,-0.111751,0.989639]] 2025-10-27T05:47:19.664Z,1761544039.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510893 2025-10-27T05:47:19.713Z,1761544039.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:19.916Z,1761544039.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762849 2025-10-27T05:47:20.047Z,1761544040.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309599,-0.948426,-0.068094],[0.946380,0.300398,0.118849],[-0.092265,-0.101238,0.990575]] 2025-10-27T05:47:20.168Z,1761544040.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014910 2025-10-27T05:47:20.422Z,1761544040.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268937 2025-10-27T05:47:20.674Z,1761544040.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520270 2025-10-27T05:47:20.854Z,1761544040.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284663,-0.957922,-0.036782],[0.953706,0.279111,0.111989],[-0.097010,-0.066958,0.993028]] 2025-10-27T05:47:20.924Z,1761544040.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770899 2025-10-27T05:47:21.176Z,1761544041.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022832 2025-10-27T05:47:21.258Z,1761544041.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266198,-0.963847,-0.011713],[0.958797,0.263513,0.106162],[-0.099237,-0.039490,0.994280]] 2025-10-27T05:47:21.428Z,1761544041.428 [DAT](INFO): DAT read: Rx Time:05:47:19.8851 2025-10-27T05:47:21.429Z,1761544041.429 [DAT](INFO): Rx dataTimestamp_ set to:1761544041.428192 2025-10-27T05:47:21.429Z,1761544041.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276009 2025-10-27T05:47:21.680Z,1761544041.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526901 2025-10-27T05:47:21.692Z,1761544041.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243789,-0.969626,0.019781],[0.964536,0.244537,0.099362],[-0.101181,-0.005144,0.994855]] 2025-10-27T05:47:21.812Z,1761544041.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:21.937Z,1761544041.937 [DAT](INFO): DAT read: 05:47:19.8851 LVL= 32752, 27025, 32754, 32755, AGC= 70, IDX= 201, 0.17,-0.928, 0.813,-0.701,-0.413, PHS=-0.413, 1.272,-0.332, RAW= 327.6, -6.5, CAL= 327.1, -9.6, ROT= 182.9, 9.6 2025-10-27T05:47:21.938Z,1761544041.938 [DAT](INFO): got valid direction response: 05:47:19.8851 LVL= 32752, 27025, 32754, 32755, AGC= 70, IDX= 201, 0.17,-0.928, 0.813,-0.701,-0.413, PHS=-0.413, 1.272,-0.332, RAW= 327.6, -6.5, CAL= 327.1, -9.6, ROT= 182.9, 9.6 2025-10-27T05:47:21.939Z,1761544041.939 [DAT](INFO): DAT read: Bearing 48.5, 3.6 (Local) 2025-10-27T05:47:21.940Z,1761544041.940 [DAT](INFO): Local bearing/azimuth received: Bearing 48.5, 3.6 (Local) 2025-10-27T05:47:21.941Z,1761544041.941 [DAT](INFO): DAT read: Range 11 to 50 : 194.2 m (Round-trip 259.0 ms) speed -0.7 m/s 2025-10-27T05:47:21.942Z,1761544041.942 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:47:21.943Z,1761544041.943 [DAT](INFO): direction in FSK: [-0.984733,-0.049884,-0.166769] 2025-10-27T05:47:21.943Z,1761544041.943 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:21.946Z,1761544041.946 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:21.946Z,1761544041.946 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:21.947Z,1761544041.947 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:22.180Z,1761544042.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 194.199997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T05:47:22.182Z,1761544042.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 193.050262 m, bearing: 258.730527 deg, lat: 36.779393 deg, lon: -121.859746 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T05:47:22.184Z,1761544042.184 [DAT](INFO): DAT read: user:504> 2025-10-27T05:47:22.185Z,1761544042.185 [DAT](INFO): DAT read: Tx time:05:47:21.2719 2025-10-27T05:47:22.185Z,1761544042.185 [DAT](INFO): Ping request sent. 2025-10-27T05:47:22.185Z,1761544042.185 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:47:22.185Z,1761544042.185 [DAT](INFO): publishing transmit ping time 2025-10-27T05:47:22.186Z,1761544042.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T05:47:22.187Z,1761544042.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:22.190Z,1761544042.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 194.238129 m, bearing: 254.693603 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 250.819246 deg, new cmd heading: 254.693603 deg. 2025-10-27T05:47:22.191Z,1761544042.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445242 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:22.436Z,1761544042.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251010 2025-10-27T05:47:22.587Z,1761544042.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192766,-0.977540,0.085184],[0.975717,0.200158,0.088957],[-0.104010,0.065968,0.992386]] 2025-10-27T05:47:22.639Z,1761544042.639 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-27T05:47:22.639Z,1761544042.639 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-27T05:47:22.639Z,1761544042.639 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-27T05:47:22.686Z,1761544042.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:22.688Z,1761544042.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502965 2025-10-27T05:47:22.690Z,1761544042.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 194.607803 m, bearing: 254.710448 deg, approach rate: 0.728591 m/s, LOS rate: 0.033138 deg/s, cmd heading: 254.693601 deg, new cmd heading: 254.710448 deg. 2025-10-27T05:47:22.700Z,1761544042.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445536 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:22.940Z,1761544042.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755167 2025-10-27T05:47:23.006Z,1761544043.006 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-27T05:47:23.024Z,1761544043.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166308,-0.980653,0.103255],[0.980508,0.175571,0.088200],[-0.104622,0.086574,0.990737]] 2025-10-27T05:47:23.028Z,1761544043.028 [RDI_Pathfinder](INFO): Powering down 2025-10-27T05:47:23.097Z,1761544043.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:23.104Z,1761544043.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 194.897980 m, bearing: 254.726010 deg, approach rate: 0.705642 m/s, LOS rate: 0.037787 deg/s, cmd heading: 254.710458 deg, new cmd heading: 254.726010 deg. 2025-10-27T05:47:23.105Z,1761544043.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445807 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:23.193Z,1761544043.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006910 2025-10-27T05:47:23.429Z,1761544043.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140487,-0.983956,0.109974],[0.984485,0.150624,0.090014],[-0.105135,0.095622,0.989850]] 2025-10-27T05:47:23.444Z,1761544043.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258726 2025-10-27T05:47:23.466Z,1761544043.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:23.469Z,1761544043.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 195.168243 m, bearing: 254.742631 deg, approach rate: 0.732261 m/s, LOS rate: 0.044970 deg/s, cmd heading: 254.726004 deg, new cmd heading: 254.742631 deg. 2025-10-27T05:47:23.470Z,1761544043.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446098 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:23.697Z,1761544043.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511454 2025-10-27T05:47:23.948Z,1761544043.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762868 2025-10-27T05:47:23.961Z,1761544043.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:23.963Z,1761544043.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:23.966Z,1761544043.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 195.523636 m, bearing: 254.764415 deg, approach rate: 0.714919 m/s, LOS rate: 0.043742 deg/s, cmd heading: 254.742642 deg, new cmd heading: 254.764415 deg. 2025-10-27T05:47:23.968Z,1761544043.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446478 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:24.201Z,1761544044.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015438 2025-10-27T05:47:24.447Z,1761544044.447 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-27T05:47:24.447Z,1761544044.447 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-27T05:47:24.452Z,1761544044.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266799 2025-10-27T05:47:24.467Z,1761544044.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064329,-0.992290,0.105934],[0.992363,0.074804,0.098079],[-0.105247,0.098815,0.989524]] 2025-10-27T05:47:24.479Z,1761544044.479 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-27T05:47:24.494Z,1761544044.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:24.513Z,1761544044.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 195.897232 m, bearing: 254.796171 deg, approach rate: 0.704298 m/s, LOS rate: 0.059753 deg/s, cmd heading: 254.764417 deg, new cmd heading: 254.796171 deg. 2025-10-27T05:47:24.513Z,1761544044.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447032 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:24.705Z,1761544044.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519552 2025-10-27T05:47:24.956Z,1761544044.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771134 2025-10-27T05:47:24.985Z,1761544044.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039706,-0.994192,0.100030],[0.993661,0.049825,0.100776],[-0.105174,0.095394,0.989868]] 2025-10-27T05:47:25.023Z,1761544045.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:25.025Z,1761544045.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 196.266373 m, bearing: 254.830341 deg, approach rate: 0.697979 m/s, LOS rate: 0.064488 deg/s, cmd heading: 254.796164 deg, new cmd heading: 254.830341 deg. 2025-10-27T05:47:25.026Z,1761544045.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447628 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:25.208Z,1761544045.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023026 2025-10-27T05:47:25.461Z,1761544045.461 [DAT](INFO): DAT read: Rx Time:05:47:23.9916 2025-10-27T05:47:25.461Z,1761544045.461 [DAT](INFO): Rx dataTimestamp_ set to:1761544045.460896 2025-10-27T05:47:25.462Z,1761544045.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276907 2025-10-27T05:47:25.576Z,1761544045.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:25.579Z,1761544045.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 196.647507 m, bearing: 254.865480 deg, approach rate: 0.688757 m/s, LOS rate: 0.063377 deg/s, cmd heading: 254.830342 deg, new cmd heading: 254.865480 deg. 2025-10-27T05:47:25.580Z,1761544045.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448242 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:25.713Z,1761544045.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527687 2025-10-27T05:47:25.909Z,1761544045.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009305,-0.996231,0.086237],[0.994435,-0.000169,0.105351],[-0.104939,0.086737,0.990689]] 2025-10-27T05:47:25.930Z,1761544045.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:25.933Z,1761544045.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 196.894974 m, bearing: 254.892182 deg, approach rate: 0.700153 m/s, LOS rate: 0.075453 deg/s, cmd heading: 254.865476 deg, new cmd heading: 254.892182 deg. 2025-10-27T05:47:25.934Z,1761544045.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448708 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:25.970Z,1761544045.970 [DAT](INFO): DAT read: 05:47:23.9916 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 228, 0.04,-1.428, 0.046,-1.710,-1.073, PHS=-0.252, 1.164,-0.681, RAW= 342.8, -2.8, CAL= 342.4, -5.8, ROT= 167.6, 5.8 2025-10-27T05:47:25.971Z,1761544045.971 [DAT](INFO): got valid direction response: 05:47:23.9916 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 228, 0.04,-1.428, 0.046,-1.710,-1.073, PHS=-0.252, 1.164,-0.681, RAW= 342.8, -2.8, CAL= 342.4, -5.8, ROT= 167.6, 5.8 2025-10-27T05:47:25.972Z,1761544045.972 [DAT](INFO): DAT read: $Error in header 2025-10-27T05:47:25.972Z,1761544045.972 [DAT](INFO): Received a bad header 2025-10-27T05:47:25.984Z,1761544045.984 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:47:25.985Z,1761544045.985 [DAT](INFO): direction in FSK: [-0.971672,0.213636,-0.101056] 2025-10-27T05:47:25.989Z,1761544045.989 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:25.989Z,1761544045.989 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:25.989Z,1761544045.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:26.217Z,1761544046.217 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:26.217Z,1761544046.217 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:26.217Z,1761544046.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:26.314Z,1761544046.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.033955,-0.996263,0.079416],[0.993906,-0.025322,0.107284],[-0.104872,0.082575,0.991052]] 2025-10-27T05:47:26.331Z,1761544046.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:26.333Z,1761544046.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:26.336Z,1761544046.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 197.169037 m, bearing: 254.923934 deg, approach rate: 0.679051 m/s, LOS rate: 0.078563 deg/s, cmd heading: 254.892169 deg, new cmd heading: 254.923934 deg. 2025-10-27T05:47:26.337Z,1761544046.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449262 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:26.468Z,1761544046.468 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:26.468Z,1761544046.468 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:26.468Z,1761544046.468 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:26.721Z,1761544046.721 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:26.721Z,1761544046.721 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:26.721Z,1761544046.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:26.727Z,1761544046.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.058836,-0.995565,0.073406],[0.992789,-0.050662,0.108641],[-0.104440,0.079269,0.991367]] 2025-10-27T05:47:26.777Z,1761544046.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:26.784Z,1761544046.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 197.449265 m, bearing: 254.958682 deg, approach rate: 0.631239 m/s, LOS rate: 0.078161 deg/s, cmd heading: 254.923943 deg, new cmd heading: 254.958682 deg. 2025-10-27T05:47:26.785Z,1761544046.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449869 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:26.972Z,1761544046.972 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:26.972Z,1761544046.972 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:26.972Z,1761544046.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:27.125Z,1761544047.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083754,-0.994093,0.069028],[0.991015,-0.075845,0.110164],[-0.104278,0.077634,0.991513]] 2025-10-27T05:47:27.143Z,1761544047.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:27.145Z,1761544047.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 197.711411 m, bearing: 254.993369 deg, approach rate: 0.717104 m/s, LOS rate: 0.094763 deg/s, cmd heading: 254.958695 deg, new cmd heading: 254.993369 deg. 2025-10-27T05:47:27.146Z,1761544047.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450474 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:27.225Z,1761544047.225 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:27.226Z,1761544047.226 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:27.226Z,1761544047.226 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:27.476Z,1761544047.476 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:27.476Z,1761544047.476 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:27.476Z,1761544047.476 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:27.570Z,1761544047.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.108164,-0.992079,0.063868],[0.988640,-0.100600,0.111672],[-0.104362,0.075221,0.991691]] 2025-10-27T05:47:27.600Z,1761544047.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:27.604Z,1761544047.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 198.009903 m, bearing: 255.035342 deg, approach rate: 0.656257 m/s, LOS rate: 0.092141 deg/s, cmd heading: 254.993365 deg, new cmd heading: 255.035342 deg. 2025-10-27T05:47:27.605Z,1761544047.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451206 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:27.728Z,1761544047.728 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:27.729Z,1761544047.729 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:27.729Z,1761544047.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:27.943Z,1761544047.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132914,-0.989433,0.057934],[0.985599,-0.125781,0.113018],[-0.104536,0.072122,0.991903]] 2025-10-27T05:47:27.961Z,1761544047.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:27.964Z,1761544047.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 198.247406 m, bearing: 255.070787 deg, approach rate: 0.652687 m/s, LOS rate: 0.097290 deg/s, cmd heading: 255.035329 deg, new cmd heading: 255.070787 deg. 2025-10-27T05:47:27.965Z,1761544047.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451825 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:27.980Z,1761544047.980 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:27.980Z,1761544047.980 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:27.980Z,1761544047.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:28.232Z,1761544048.232 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:28.233Z,1761544048.233 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:28.233Z,1761544048.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:28.346Z,1761544048.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157663,-0.986128,0.051909],[0.981922,-0.150982,0.114161],[-0.104740,0.068970,0.992105]] 2025-10-27T05:47:28.381Z,1761544048.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:28.383Z,1761544048.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:28.385Z,1761544048.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 198.510193 m, bearing: 255.112340 deg, approach rate: 0.623905 m/s, LOS rate: 0.098523 deg/s, cmd heading: 255.070792 deg, new cmd heading: 255.112340 deg. 2025-10-27T05:47:28.386Z,1761544048.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452550 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:28.484Z,1761544048.484 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:28.484Z,1761544048.484 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:28.484Z,1761544048.484 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:28.736Z,1761544048.736 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:28.736Z,1761544048.736 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:28.736Z,1761544048.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:28.754Z,1761544048.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181819,-0.982193,0.047312],[0.977665,-0.175404,0.115775],[-0.105415,0.067305,0.992148]] 2025-10-27T05:47:28.811Z,1761544048.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:28.813Z,1761544048.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 198.778214 m, bearing: 255.157097 deg, approach rate: 0.632021 m/s, LOS rate: 0.105400 deg/s, cmd heading: 255.112347 deg, new cmd heading: 255.157097 deg. 2025-10-27T05:47:28.814Z,1761544048.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453331 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:28.988Z,1761544048.988 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:28.988Z,1761544048.988 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:28.988Z,1761544048.988 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:29.158Z,1761544049.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206236,-0.977556,0.043033],[0.972760,-0.200070,0.117092],[-0.105855,0.066009,0.992188]] 2025-10-27T05:47:29.186Z,1761544049.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:29.189Z,1761544049.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.023026 m, bearing: 255.200243 deg, approach rate: 0.645035 m/s, LOS rate: 0.113541 deg/s, cmd heading: 255.157098 deg, new cmd heading: 255.200243 deg. 2025-10-27T05:47:29.190Z,1761544049.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454084 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:29.241Z,1761544049.241 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:29.241Z,1761544049.241 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:29.241Z,1761544049.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:29.492Z,1761544049.492 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:29.492Z,1761544049.492 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:29.492Z,1761544049.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:29.579Z,1761544049.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230005,-0.972297,0.041665],[0.967331,-0.223720,0.119251],[-0.106626,0.067732,0.991990]] 2025-10-27T05:47:29.617Z,1761544049.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:29.620Z,1761544049.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.281036 m, bearing: 255.248119 deg, approach rate: 0.598641 m/s, LOS rate: 0.110939 deg/s, cmd heading: 255.200238 deg, new cmd heading: 255.248119 deg. 2025-10-27T05:47:29.621Z,1761544049.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454920 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:29.744Z,1761544049.744 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:29.744Z,1761544049.744 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:29.744Z,1761544049.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:29.966Z,1761544049.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253589,-0.966485,0.039992],[0.961359,-0.247233,0.121097],[-0.107151,0.069155,0.991835]] 2025-10-27T05:47:29.991Z,1761544049.991 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:47:29.993Z,1761544049.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:29.996Z,1761544049.996 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:29.996Z,1761544049.996 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:29.996Z,1761544049.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:29.997Z,1761544049.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.514343 m, bearing: 255.293636 deg, approach rate: 0.620700 m/s, LOS rate: 0.120955 deg/s, cmd heading: 255.248131 deg, new cmd heading: 255.293636 deg. 2025-10-27T05:47:29.998Z,1761544049.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455715 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:30.248Z,1761544050.248 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:30.248Z,1761544050.248 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:30.248Z,1761544050.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:30.407Z,1761544050.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:30.409Z,1761544050.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:30.412Z,1761544050.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.764099 m, bearing: 255.342222 deg, approach rate: 0.599796 m/s, LOS rate: 0.116536 deg/s, cmd heading: 255.293647 deg, new cmd heading: 255.342222 deg. 2025-10-27T05:47:30.413Z,1761544050.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456563 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:30.500Z,1761544050.500 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:30.500Z,1761544050.500 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:30.500Z,1761544050.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:30.752Z,1761544050.752 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:30.752Z,1761544050.752 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:30.752Z,1761544050.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:30.778Z,1761544050.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300149,-0.953289,0.033924],[0.947767,-0.294009,0.123678],[-0.107927,0.069274,0.991742]] 2025-10-27T05:47:30.819Z,1761544050.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:30.821Z,1761544050.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 199.998627 m, bearing: 255.392652 deg, approach rate: 0.578882 m/s, LOS rate: 0.124330 deg/s, cmd heading: 255.342223 deg, new cmd heading: 255.392652 deg. 2025-10-27T05:47:30.822Z,1761544050.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457443 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:30.995Z,1761544050.995 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:47:31.004Z,1761544051.004 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:31.004Z,1761544051.004 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:31.004Z,1761544051.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:31.177Z,1761544051.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323105,-0.945850,0.031142],[0.940178,-0.317064,0.124639],[-0.108016,0.069551,0.991713]] 2025-10-27T05:47:31.223Z,1761544051.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:31.226Z,1761544051.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 200.227768 m, bearing: 255.444315 deg, approach rate: 0.565620 m/s, LOS rate: 0.127379 deg/s, cmd heading: 255.392658 deg, new cmd heading: 255.444315 deg. 2025-10-27T05:47:31.226Z,1761544051.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458344 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:31.256Z,1761544051.256 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:31.256Z,1761544051.256 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:31.256Z,1761544051.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:31.508Z,1761544051.508 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:31.508Z,1761544051.508 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:31.508Z,1761544051.508 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:31.582Z,1761544051.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346146,-0.937746,0.028556],[0.931992,-0.340213,0.125088],[-0.107586,0.069913,0.991735]] 2025-10-27T05:47:31.618Z,1761544051.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:31.621Z,1761544051.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 200.461838 m, bearing: 255.499642 deg, approach rate: 0.587125 m/s, LOS rate: 0.138618 deg/s, cmd heading: 255.444321 deg, new cmd heading: 255.499642 deg. 2025-10-27T05:47:31.622Z,1761544051.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459310 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:31.760Z,1761544051.760 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:31.760Z,1761544051.760 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:31.760Z,1761544051.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:31.986Z,1761544051.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368589,-0.929223,0.026222],[0.923418,-0.362749,0.125351],[-0.106967,0.070417,0.991766]] 2025-10-27T05:47:32.012Z,1761544052.012 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:32.012Z,1761544052.012 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:32.012Z,1761544052.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:47:32.044Z,1761544052.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:32.056Z,1761544052.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 200.682617 m, bearing: 255.554278 deg, approach rate: 0.520350 m/s, LOS rate: 0.128627 deg/s, cmd heading: 255.499646 deg, new cmd heading: 255.554278 deg. 2025-10-27T05:47:32.058Z,1761544052.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460264 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:32.264Z,1761544052.264 [DAT](INFO): Reached modem response timeout 2025-10-27T05:47:32.264Z,1761544052.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:32.264Z,1761544052.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:32.392Z,1761544052.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390610,-0.920246,0.023907],[0.914395,-0.384865,0.125538],[-0.106325,0.070897,0.991801]] 2025-10-27T05:47:32.419Z,1761544052.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:32.421Z,1761544052.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:32.424Z,1761544052.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 200.900818 m, bearing: 255.610773 deg, approach rate: 0.577130 m/s, LOS rate: 0.149266 deg/s, cmd heading: 255.554287 deg, new cmd heading: 255.610773 deg. 2025-10-27T05:47:32.424Z,1761544052.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461250 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:32.517Z,1761544052.517 [DAT](INFO): DAT read: 2025-10-27T05:47:32.517Z,1761544052.517 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:32.768Z,1761544052.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:32.794Z,1761544052.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412661,-0.910638,0.021205],[0.904761,-0.407081,0.125274],[-0.105447,0.070882,0.991896]] 2025-10-27T05:47:32.833Z,1761544052.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:32.835Z,1761544052.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.119507 m, bearing: 255.670025 deg, approach rate: 0.530797 m/s, LOS rate: 0.143657 deg/s, cmd heading: 255.610787 deg, new cmd heading: 255.670025 deg. 2025-10-27T05:47:32.836Z,1761544052.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462284 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:33.020Z,1761544053.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:33.198Z,1761544053.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.434484,-0.900480,0.018947],[0.894611,-0.429023,0.124943],[-0.104381,0.071236,0.991983]] 2025-10-27T05:47:33.223Z,1761544053.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:33.225Z,1761544053.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.321396 m, bearing: 255.727262 deg, approach rate: 0.517927 m/s, LOS rate: 0.146690 deg/s, cmd heading: 255.670018 deg, new cmd heading: 255.727262 deg. 2025-10-27T05:47:33.226Z,1761544053.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463283 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:33.272Z,1761544053.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:33.524Z,1761544053.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:33.602Z,1761544053.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456209,-0.889716,0.016726],[0.883879,-0.450878,0.124370],[-0.103112,0.071523,0.992095]] 2025-10-27T05:47:33.625Z,1761544053.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:33.644Z,1761544053.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.525543 m, bearing: 255.787843 deg, approach rate: 0.507148 m/s, LOS rate: 0.150343 deg/s, cmd heading: 255.727255 deg, new cmd heading: 255.787843 deg. 2025-10-27T05:47:33.645Z,1761544053.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464340 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:33.776Z,1761544053.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:34.013Z,1761544054.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497752,-0.867237,0.011933],[0.861481,-0.492761,0.122628],[-0.100468,0.071318,0.992381]] 2025-10-27T05:47:34.029Z,1761544054.029 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:34.053Z,1761544054.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:34.057Z,1761544054.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.727737 m, bearing: 255.853625 deg, approach rate: 0.474798 m/s, LOS rate: 0.154316 deg/s, cmd heading: 255.787852 deg, new cmd heading: 255.853625 deg. 2025-10-27T05:47:34.058Z,1761544054.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465488 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:34.280Z,1761544054.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:34.415Z,1761544054.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518066,-0.855291,0.009217],[0.849575,-0.513295,0.121451],[-0.099145,0.070750,0.992555]] 2025-10-27T05:47:34.500Z,1761544054.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:34.502Z,1761544054.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:34.505Z,1761544054.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 201.941910 m, bearing: 255.926468 deg, approach rate: 0.475082 m/s, LOS rate: 0.161412 deg/s, cmd heading: 255.853613 deg, new cmd heading: 255.926468 deg. 2025-10-27T05:47:34.505Z,1761544054.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466760 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:34.534Z,1761544054.534 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:47:34.535Z,1761544054.535 [DAT](INFO): response not received 2025-10-27T05:47:34.548Z,1761544054.548 [DAT](INFO): DAT read: user:506>Tx time:05:47:33.7219 2025-10-27T05:47:34.549Z,1761544054.549 [DAT](ERROR): No response from remote modem. 2025-10-27T05:47:34.550Z,1761544054.550 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:34.550Z,1761544054.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:34.784Z,1761544054.784 [DAT](INFO): DAT read: 2025-10-27T05:47:34.784Z,1761544054.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:34.818Z,1761544054.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538069,-0.842873,0.006776],[0.837221,-0.533495,0.120184],[-0.097685,0.070340,0.992729]] 2025-10-27T05:47:34.868Z,1761544054.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:34.870Z,1761544054.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.107346 m, bearing: 255.985326 deg, approach rate: 0.452313 m/s, LOS rate: 0.160791 deg/s, cmd heading: 255.926478 deg, new cmd heading: 255.985326 deg. 2025-10-27T05:47:34.875Z,1761544054.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467787 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:35.036Z,1761544055.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:35.225Z,1761544055.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557969,-0.829848,0.004808],[0.824255,-0.553518,0.119251],[-0.096299,0.070501,0.992853]] 2025-10-27T05:47:35.274Z,1761544055.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:35.280Z,1761544055.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.284409 m, bearing: 256.051287 deg, approach rate: 0.436164 m/s, LOS rate: 0.162341 deg/s, cmd heading: 255.985327 deg, new cmd heading: 256.051287 deg. 2025-10-27T05:47:35.281Z,1761544055.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468938 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:35.288Z,1761544055.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:35.541Z,1761544055.541 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:35.628Z,1761544055.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577055,-0.816699,0.003259],[0.811136,-0.572650,0.118867],[-0.095212,0.071237,0.992905]] 2025-10-27T05:47:35.667Z,1761544055.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:35.669Z,1761544055.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.458237 m, bearing: 256.119046 deg, approach rate: 0.442211 m/s, LOS rate: 0.172228 deg/s, cmd heading: 256.051279 deg, new cmd heading: 256.119046 deg. 2025-10-27T05:47:35.670Z,1761544055.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470120 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:35.792Z,1761544055.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:36.044Z,1761544056.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:36.077Z,1761544056.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:36.080Z,1761544056.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.635361 m, bearing: 256.187856 deg, approach rate: 0.431159 m/s, LOS rate: 0.167352 deg/s, cmd heading: 256.119035 deg, new cmd heading: 256.187856 deg. 2025-10-27T05:47:36.081Z,1761544056.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471322 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:36.296Z,1761544056.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:36.435Z,1761544056.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615259,-0.788315,0.003835],[0.782943,-0.610484,0.119621],[-0.091958,0.076600,0.992812]] 2025-10-27T05:47:36.462Z,1761544056.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:36.464Z,1761544056.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.790359 m, bearing: 256.254310 deg, approach rate: 0.403347 m/s, LOS rate: 0.172798 deg/s, cmd heading: 256.187856 deg, new cmd heading: 256.254310 deg. 2025-10-27T05:47:36.465Z,1761544056.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472481 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:36.549Z,1761544056.549 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:36.802Z,1761544056.802 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:36.871Z,1761544056.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633764,-0.773517,0.003829],[0.768259,-0.628863,0.119624],[-0.090123,0.078755,0.992812]] 2025-10-27T05:47:36.889Z,1761544056.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:36.891Z,1761544056.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:36.893Z,1761544056.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 202.957230 m, bearing: 256.329421 deg, approach rate: 0.389082 m/s, LOS rate: 0.174989 deg/s, cmd heading: 256.254300 deg, new cmd heading: 256.329421 deg. 2025-10-27T05:47:36.894Z,1761544056.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473793 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:37.052Z,1761544057.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:37.242Z,1761544057.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652080,-0.758145,0.002742],[0.753011,-0.647235,0.118579],[-0.088125,0.079388,0.992941]] 2025-10-27T05:47:37.304Z,1761544057.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:37.326Z,1761544057.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:37.329Z,1761544057.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 203.120972 m, bearing: 256.406894 deg, approach rate: 0.375983 m/s, LOS rate: 0.177749 deg/s, cmd heading: 256.329432 deg, new cmd heading: 256.406894 deg. 2025-10-27T05:47:37.330Z,1761544057.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475144 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:37.556Z,1761544057.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:37.646Z,1761544057.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670177,-0.742199,0.001849],[0.737193,-0.665364,0.117634],[-0.086077,0.080198,0.993055]] 2025-10-27T05:47:37.698Z,1761544057.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:37.710Z,1761544057.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 203.252808 m, bearing: 256.472595 deg, approach rate: 0.354398 m/s, LOS rate: 0.176500 deg/s, cmd heading: 256.406886 deg, new cmd heading: 256.472595 deg. 2025-10-27T05:47:37.711Z,1761544057.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476291 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:37.809Z,1761544057.809 [DAT](INFO): DAT read: Rx Time:05:47:36.4000 2025-10-27T05:47:37.809Z,1761544057.809 [DAT](INFO): Rx dataTimestamp_ set to:1761544057.808875 2025-10-27T05:47:37.810Z,1761544057.810 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:38.057Z,1761544058.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.687972,-0.725737,-0.000782],[0.720853,-0.683466,0.115091],[-0.084060,0.078616,0.993355]] 2025-10-27T05:47:38.060Z,1761544058.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:38.104Z,1761544058.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.05 m. 2025-10-27T05:47:38.106Z,1761544058.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 193.050262 m, nav range: 203.395798 m, bearing: 256.547791 deg, approach rate: 0.352382 m/s, LOS rate: 0.185183 deg/s, cmd heading: 256.472592 deg, new cmd heading: 256.547791 deg. 2025-10-27T05:47:38.107Z,1761544058.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477603 target range: 193.050262 and range: 194.20 m. 2025-10-27T05:47:38.318Z,1761544058.318 [DAT](INFO): DAT read: 05:47:36.4000 LVL= 32752, 25809, 32754, 32755, AGC= 66, IDX= 2,-0.10,-2.966,-2.450, 2.121,-2.938, PHS= 0.074, 0.533,-1.268, RAW= 15.8, 8.2, CAL= 15.6, 8.5, ROT= 134.4, -8.5 2025-10-27T05:47:38.319Z,1761544058.319 [DAT](INFO): got valid direction response: 05:47:36.4000 LVL= 32752, 25809, 32754, 32755, AGC= 66, IDX= 2,-0.10,-2.966,-2.450, 2.121,-2.938, PHS= 0.074, 0.533,-1.268, RAW= 15.8, 8.2, CAL= 15.6, 8.5, ROT= 134.4, -8.5 2025-10-27T05:47:38.320Z,1761544058.320 [DAT](INFO): DAT read: Bearing 86.7, 50.9 (Local) 2025-10-27T05:47:38.320Z,1761544058.320 [DAT](INFO): Local bearing/azimuth received: Bearing 86.7, 50.9 (Local) 2025-10-27T05:47:38.322Z,1761544058.322 [DAT](INFO): DAT read: Range 11 to 50 : 205.5 m (Round-trip 274.0 ms) speed -0.4 m/s 2025-10-27T05:47:38.323Z,1761544058.323 [DAT](INFO): DAT read: user:507>Tx time:05:47:37.4719 2025-10-27T05:47:38.324Z,1761544058.324 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:47:38.325Z,1761544058.325 [DAT](INFO): direction in FSK: [-0.691978,0.706625,0.147809] 2025-10-27T05:47:38.325Z,1761544058.325 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:38.329Z,1761544058.329 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:38.329Z,1761544058.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:38.455Z,1761544058.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705321,-0.708876,-0.004133],[0.704078,-0.701202,0.112207],[-0.082439,0.076232,0.993676]] 2025-10-27T05:47:38.516Z,1761544058.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 205.500000 m, deltaT: 16.380046 s, deltaX: 11.300003 m, approachRate: 0.689864 m/s, rangeRepo size: 2 2025-10-27T05:47:38.518Z,1761544058.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 204.343124 m, bearing: 269.202202 deg, lat: 36.779455 deg, lon: -121.859740 deg, deltaT: 16.380046 s, deltaX: 11.292862 m, approachRate: 0.689428 m/s, posRepo size: 2 2025-10-27T05:47:38.524Z,1761544058.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:38.530Z,1761544058.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 201.469330 m, bearing: 258.490943 deg, approach rate: 0.000000 m/s, LOS rate: 0.185183 deg/s, cmd heading: 256.547779 deg, new cmd heading: 256.776574 deg. 2025-10-27T05:47:38.540Z,1761544058.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481596 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:38.564Z,1761544058.564 [DAT](INFO): DAT read: 2025-10-27T05:47:38.564Z,1761544058.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:38.816Z,1761544058.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:38.895Z,1761544058.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722533,-0.691309,-0.006135],[0.686578,-0.718571,0.110751],[-0.080972,0.075809,0.993829]] 2025-10-27T05:47:38.954Z,1761544058.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:38.957Z,1761544058.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:38.959Z,1761544058.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 201.652985 m, bearing: 258.567230 deg, approach rate: 0.416620 m/s, LOS rate: 0.172900 deg/s, cmd heading: 256.776563 deg, new cmd heading: 257.005216 deg. 2025-10-27T05:47:38.960Z,1761544058.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485587 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:39.068Z,1761544059.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:39.262Z,1761544059.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739038,-0.673598,-0.009404],[0.668925,-0.735421,0.108148],[-0.079764,0.073635,0.994090]] 2025-10-27T05:47:39.287Z,1761544059.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:39.290Z,1761544059.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 201.780228 m, bearing: 258.622750 deg, approach rate: 0.385266 m/s, LOS rate: 0.167996 deg/s, cmd heading: 257.005211 deg, new cmd heading: 257.171664 deg. 2025-10-27T05:47:39.290Z,1761544059.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488492 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:39.320Z,1761544059.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:39.572Z,1761544059.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:39.666Z,1761544059.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755180,-0.655366,-0.014101],[0.650789,-0.752138,0.103741],[-0.078594,0.069166,0.994504]] 2025-10-27T05:47:39.685Z,1761544059.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:39.688Z,1761544059.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 201.927338 m, bearing: 258.690261 deg, approach rate: 0.369087 m/s, LOS rate: 0.169255 deg/s, cmd heading: 257.171676 deg, new cmd heading: 257.374060 deg. 2025-10-27T05:47:39.689Z,1761544059.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492025 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:39.824Z,1761544059.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:40.070Z,1761544060.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770773,-0.636804,-0.019751],[0.632334,-0.768415,0.098447],[-0.077868,0.063391,0.994946]] 2025-10-27T05:47:40.076Z,1761544060.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:40.125Z,1761544060.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:40.128Z,1761544060.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 202.079041 m, bearing: 258.762234 deg, approach rate: 0.345109 m/s, LOS rate: 0.163609 deg/s, cmd heading: 257.374068 deg, new cmd heading: 257.589825 deg. 2025-10-27T05:47:40.129Z,1761544060.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495790 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:40.328Z,1761544060.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:40.474Z,1761544060.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785821,-0.617970,-0.024448],[0.613607,-0.783993,0.094029],[-0.077274,0.058888,0.995269]] 2025-10-27T05:47:40.492Z,1761544060.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:40.495Z,1761544060.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 202.210892 m, bearing: 258.828101 deg, approach rate: 0.358764 m/s, LOS rate: 0.179105 deg/s, cmd heading: 257.589820 deg, new cmd heading: 257.787291 deg. 2025-10-27T05:47:40.496Z,1761544060.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499237 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:40.580Z,1761544060.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:40.832Z,1761544060.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:40.914Z,1761544060.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800570,-0.598484,-0.030080],[0.594303,-0.799404,0.088075],[-0.076758,0.052634,0.995660]] 2025-10-27T05:47:40.978Z,1761544060.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:40.981Z,1761544060.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:40.984Z,1761544060.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 202.381531 m, bearing: 258.914346 deg, approach rate: 0.349414 m/s, LOS rate: 0.176454 deg/s, cmd heading: 257.787295 deg, new cmd heading: 258.045812 deg. 2025-10-27T05:47:40.985Z,1761544060.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503749 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:41.084Z,1761544061.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:41.282Z,1761544061.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815075,-0.578256,-0.035677],[0.574283,-0.814536,0.082033],[-0.076496,0.046374,0.995991]] 2025-10-27T05:47:41.312Z,1761544061.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:41.314Z,1761544061.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 202.492569 m, bearing: 258.973644 deg, approach rate: 0.335597 m/s, LOS rate: 0.179119 deg/s, cmd heading: 258.045804 deg, new cmd heading: 258.223597 deg. 2025-10-27T05:47:41.315Z,1761544061.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506852 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:41.353Z,1761544061.353 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:41.604Z,1761544061.604 [DAT](INFO): DAT read: Rx Time:05:47:40.1522 2025-10-27T05:47:41.604Z,1761544061.604 [DAT](INFO): Rx dataTimestamp_ set to:1761544061.604159 2025-10-27T05:47:41.605Z,1761544061.605 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:41.729Z,1761544061.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.34 m. 2025-10-27T05:47:41.734Z,1761544061.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.343124 m, nav range: 202.631653 m, bearing: 259.047664 deg, approach rate: 0.333201 m/s, LOS rate: 0.177208 deg/s, cmd heading: 258.223607 deg, new cmd heading: 258.445515 deg. 2025-10-27T05:47:41.735Z,1761544061.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510725 target range: 204.343124 and range: 205.50 m. 2025-10-27T05:47:41.857Z,1761544061.857 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:42.090Z,1761544062.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842334,-0.537172,-0.043821],[0.533556,-0.842614,0.072937],[-0.076104,0.038056,0.996373]] 2025-10-27T05:47:42.114Z,1761544062.114 [DAT](INFO): DAT read: 05:47:40.1522 LVL= 24016, 25297, 29858, 30067, AGC= 63, IDX= 444, 0.02, 0.719, 0.442,-0.994, 0.536, PHS= 0.285,-0.049,-1.574, RAW= 39.7, 15.4, CAL= 36.3, 17.5, ROT= 113.7, -17.5 2025-10-27T05:47:42.115Z,1761544062.115 [DAT](INFO): got valid direction response: 05:47:40.1522 LVL= 24016, 25297, 29858, 30067, AGC= 63, IDX= 444, 0.02, 0.719, 0.442,-0.994, 0.536, PHS= 0.285,-0.049,-1.574, RAW= 39.7, 15.4, CAL= 36.3, 17.5, ROT= 113.7, -17.5 2025-10-27T05:47:42.116Z,1761544062.116 [DAT](INFO): DAT read: Bearing 67.8, 65.7 (Local) 2025-10-27T05:47:42.116Z,1761544062.116 [DAT](INFO): Local bearing/azimuth received: Bearing 67.8, 65.7 (Local) 2025-10-27T05:47:42.118Z,1761544062.118 [DAT](INFO): DAT read: Range 11 to 50 : 207.0 m (Round-trip 276.1 ms) speed -0.4 m/s 2025-10-27T05:47:42.119Z,1761544062.119 [DAT](INFO): DAT read: user:508>Tx time:05:47:41.2219 2025-10-27T05:47:42.119Z,1761544062.119 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:47:42.120Z,1761544062.120 [DAT](INFO): direction in FSK: [-0.383344,0.873283,0.300706] 2025-10-27T05:47:42.121Z,1761544062.121 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:42.148Z,1761544062.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:42.148Z,1761544062.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:42.224Z,1761544062.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 207.000000 m, deltaT: 3.796066 s, deltaX: 1.500000 m, approachRate: 0.395146 m/s, rangeRepo size: 3 2025-10-27T05:47:42.226Z,1761544062.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 205.855759 m, bearing: 260.155548 deg, lat: 36.779504 deg, lon: -121.859740 deg, deltaT: 3.796066 s, deltaX: 1.512634 m, approachRate: 0.398474 m/s, posRepo size: 3 2025-10-27T05:47:42.227Z,1761544062.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:42.233Z,1761544062.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 201.828003 m, bearing: 260.645310 deg, approach rate: 0.000000 m/s, LOS rate: 0.177208 deg/s, cmd heading: 258.445506 deg, new cmd heading: 258.701628 deg. 2025-10-27T05:47:42.234Z,1761544062.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515195 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:42.360Z,1761544062.360 [DAT](INFO): DAT read: 2025-10-27T05:47:42.360Z,1761544062.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:42.494Z,1761544062.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855244,-0.516186,-0.045938],[0.512599,-0.855655,0.071388],[-0.076156,0.037506,0.996390]] 2025-10-27T05:47:42.566Z,1761544062.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:42.573Z,1761544062.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 201.936218 m, bearing: 260.706419 deg, approach rate: 0.304476 m/s, LOS rate: 0.171846 deg/s, cmd heading: 258.701638 deg, new cmd heading: 258.884867 deg. 2025-10-27T05:47:42.574Z,1761544062.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518394 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:42.612Z,1761544062.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:42.864Z,1761544062.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:42.938Z,1761544062.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867746,-0.494739,-0.047433],[0.491126,-0.868202,0.070855],[-0.076236,0.038189,0.996358]] 2025-10-27T05:47:43.050Z,1761544063.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:43.071Z,1761544063.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:43.074Z,1761544063.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 202.115829 m, bearing: 260.804875 deg, approach rate: 0.355785 m/s, LOS rate: 0.194854 deg/s, cmd heading: 258.884879 deg, new cmd heading: 259.179981 deg. 2025-10-27T05:47:43.075Z,1761544063.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523544 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:43.117Z,1761544063.117 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:43.302Z,1761544063.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879875,-0.472784,-0.047912],[0.469044,-0.880224,0.072136],[-0.076278,0.040998,0.996243]] 2025-10-27T05:47:43.332Z,1761544063.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:43.335Z,1761544063.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 202.217484 m, bearing: 260.863972 deg, approach rate: 0.389642 m/s, LOS rate: 0.226406 deg/s, cmd heading: 259.179970 deg, new cmd heading: 259.357171 deg. 2025-10-27T05:47:43.336Z,1761544063.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526637 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:43.368Z,1761544063.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:43.620Z,1761544063.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:43.708Z,1761544063.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891175,-0.451111,-0.048019],[0.447171,-0.891333,0.074595],[-0.076452,0.045004,0.996057]] 2025-10-27T05:47:43.750Z,1761544063.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:43.752Z,1761544063.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 202.351196 m, bearing: 260.946544 deg, approach rate: 0.320288 m/s, LOS rate: 0.197657 deg/s, cmd heading: 259.357173 deg, new cmd heading: 259.604723 deg. 2025-10-27T05:47:43.753Z,1761544063.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530957 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:43.872Z,1761544063.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:44.109Z,1761544064.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902160,-0.428520,-0.049785],[0.424501,-0.902355,0.074525],[-0.076859,0.046099,0.995976]] 2025-10-27T05:47:44.124Z,1761544064.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:44.153Z,1761544064.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:44.157Z,1761544064.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 202.490189 m, bearing: 261.027235 deg, approach rate: 0.344179 m/s, LOS rate: 0.199672 deg/s, cmd heading: 259.604726 deg, new cmd heading: 259.846629 deg. 2025-10-27T05:47:44.158Z,1761544064.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535179 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:44.376Z,1761544064.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:44.518Z,1761544064.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912770,-0.405093,-0.052439],[0.401075,-0.913145,0.072828],[-0.077387,0.045444,0.995965]] 2025-10-27T05:47:44.567Z,1761544064.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:44.570Z,1761544064.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 202.618500 m, bearing: 261.106535 deg, approach rate: 0.310105 m/s, LOS rate: 0.191534 deg/s, cmd heading: 259.846624 deg, new cmd heading: 260.084373 deg. 2025-10-27T05:47:44.572Z,1761544064.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539329 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:44.628Z,1761544064.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:44.880Z,1761544064.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:44.941Z,1761544064.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922915,-0.380929,-0.055872],[0.377072,-0.923637,0.068632],[-0.077749,0.042274,0.996076]] 2025-10-27T05:47:45.036Z,1761544065.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:45.044Z,1761544065.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 202.762833 m, bearing: 261.201788 deg, approach rate: 0.311525 m/s, LOS rate: 0.205445 deg/s, cmd heading: 260.084369 deg, new cmd heading: 260.369922 deg. 2025-10-27T05:47:45.045Z,1761544065.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544312 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:45.133Z,1761544065.133 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:45.322Z,1761544065.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932620,-0.356083,-0.058532],[0.352322,-0.933570,0.065698],[-0.078037,0.040649,0.996121]] 2025-10-27T05:47:45.338Z,1761544065.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:45.340Z,1761544065.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:45.343Z,1761544065.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 202.858170 m, bearing: 261.269330 deg, approach rate: 0.307572 m/s, LOS rate: 0.217800 deg/s, cmd heading: 260.369926 deg, new cmd heading: 260.572456 deg. 2025-10-27T05:47:45.344Z,1761544065.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547847 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:45.384Z,1761544065.384 [DAT](INFO): DAT read: Rx Time:05:47:43.9046 2025-10-27T05:47:45.385Z,1761544065.385 [DAT](INFO): Rx dataTimestamp_ set to:1761544065.384257 2025-10-27T05:47:45.385Z,1761544065.385 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:45.636Z,1761544065.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:45.754Z,1761544065.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941751,-0.330972,-0.059682],[0.327169,-0.942706,0.065307],[-0.077878,0.041977,0.996079]] 2025-10-27T05:47:45.803Z,1761544065.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.86 m. 2025-10-27T05:47:45.806Z,1761544065.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 205.855759 m, nav range: 202.984192 m, bearing: 261.365609 deg, approach rate: 0.272543 m/s, LOS rate: 0.208089 deg/s, cmd heading: 260.572454 deg, new cmd heading: 260.861109 deg. 2025-10-27T05:47:45.808Z,1761544065.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552885 target range: 205.855759 and range: 207.00 m. 2025-10-27T05:47:45.897Z,1761544065.897 [DAT](INFO): DAT read: 05:47:43.9046 LVL= 28704, 26593, 31570, 30163, AGC= 65, IDX= 449, 0.16,-0.969,-1.727,-2.672,-1.422, PHS= 0.555,-0.260,-1.294, RAW= 56.1, 12.4, CAL= 52.7, 15.0, ROT= 97.3, -15.0 2025-10-27T05:47:45.898Z,1761544065.898 [DAT](INFO): got valid direction response: 05:47:43.9046 LVL= 28704, 26593, 31570, 30163, AGC= 65, IDX= 449, 0.16,-0.969,-1.727,-2.672,-1.422, PHS= 0.555,-0.260,-1.294, RAW= 56.1, 12.4, CAL= 52.7, 15.0, ROT= 97.3, -15.0 2025-10-27T05:47:45.900Z,1761544065.900 [DAT](INFO): DAT read: Bearing 42.3, 76.7 (Local) 2025-10-27T05:47:45.900Z,1761544065.900 [DAT](INFO): Local bearing/azimuth received: Bearing 42.3, 76.7 (Local) 2025-10-27T05:47:45.902Z,1761544065.902 [DAT](INFO): DAT read: Range 11 to 50 : 208.9 m (Round-trip 278.6 ms) speed -0.3 m/s 2025-10-27T05:47:45.907Z,1761544065.907 [DAT](INFO): DAT read: user:509>Tx time:05:47:44.9719 2025-10-27T05:47:45.908Z,1761544065.908 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:47:45.909Z,1761544065.909 [DAT](INFO): direction in FSK: [-0.122735,0.958096,0.258819] 2025-10-27T05:47:45.909Z,1761544065.909 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:45.916Z,1761544065.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:45.917Z,1761544065.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:46.132Z,1761544066.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950090,-0.306182,-0.059845],[0.302228,-0.950889,0.066846],[-0.077373,0.045423,0.995967]] 2025-10-27T05:47:46.140Z,1761544066.140 [DAT](INFO): DAT read: 2025-10-27T05:47:46.140Z,1761544066.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:46.202Z,1761544066.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 208.899994 m, deltaT: 3.780403 s, deltaX: 1.899994 m, approachRate: 0.502590 m/s, rangeRepo size: 4 2025-10-27T05:47:46.208Z,1761544066.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 207.730453 m, bearing: 258.331616 deg, lat: 36.779504 deg, lon: -121.859740 deg, deltaT: 3.780403 s, deltaX: 1.874695 m, approachRate: 0.495898 m/s, posRepo size: 4 2025-10-27T05:47:46.209Z,1761544066.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:46.216Z,1761544066.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.079269 m, bearing: 261.444161 deg, approach rate: 0.000000 m/s, LOS rate: 0.208089 deg/s, cmd heading: 260.861098 deg, new cmd heading: 261.109879 deg. 2025-10-27T05:47:46.220Z,1761544066.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557227 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:46.392Z,1761544066.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:46.542Z,1761544066.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957916,-0.280750,-0.059805],[0.276656,-0.958528,0.068448],[-0.076542,0.049022,0.995861]] 2025-10-27T05:47:46.570Z,1761544066.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:46.572Z,1761544066.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.171417 m, bearing: 261.527106 deg, approach rate: 0.250273 m/s, LOS rate: 0.225176 deg/s, cmd heading: 261.109881 deg, new cmd heading: 261.358602 deg. 2025-10-27T05:47:46.573Z,1761544066.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561568 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:46.644Z,1761544066.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:46.896Z,1761544066.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:46.953Z,1761544066.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964870,-0.256013,-0.059022],[0.251556,-0.965041,0.073594],[-0.075800,0.056161,0.995540]] 2025-10-27T05:47:47.064Z,1761544067.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:47.066Z,1761544067.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.315979 m, bearing: 261.630078 deg, approach rate: 0.292597 m/s, LOS rate: 0.208271 deg/s, cmd heading: 261.358609 deg, new cmd heading: 261.667304 deg. 2025-10-27T05:47:47.068Z,1761544067.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566956 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:47.149Z,1761544067.149 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:47.342Z,1761544067.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971119,-0.231315,-0.058483],[0.226639,-0.970936,0.076928],[-0.074578,0.061452,0.995320]] 2025-10-27T05:47:47.400Z,1761544067.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:47.432Z,1761544067.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:47.434Z,1761544067.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:47.438Z,1761544067.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.418106 m, bearing: 261.708330 deg, approach rate: 0.275441 m/s, LOS rate: 0.210942 deg/s, cmd heading: 261.667306 deg, new cmd heading: 261.901942 deg. 2025-10-27T05:47:47.439Z,1761544067.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571051 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:47.652Z,1761544067.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:47.747Z,1761544067.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976654,-0.206687,-0.058543],[0.201835,-0.976201,0.079335],[-0.073547,0.065667,0.995127]] 2025-10-27T05:47:47.792Z,1761544067.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:47.799Z,1761544067.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.504929 m, bearing: 261.780210 deg, approach rate: 0.242499 m/s, LOS rate: 0.200678 deg/s, cmd heading: 261.901937 deg, new cmd heading: 262.117483 deg. 2025-10-27T05:47:47.800Z,1761544067.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574813 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:47.904Z,1761544067.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:48.151Z,1761544068.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981471,-0.182360,-0.058815],[0.177458,-0.980875,0.079950],[-0.072270,0.068032,0.995062]] 2025-10-27T05:47:48.156Z,1761544068.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:48.230Z,1761544068.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:48.240Z,1761544068.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.607346 m, bearing: 261.870869 deg, approach rate: 0.234213 m/s, LOS rate: 0.207221 deg/s, cmd heading: 262.117471 deg, new cmd heading: 262.389310 deg. 2025-10-27T05:47:48.241Z,1761544068.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579557 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:48.408Z,1761544068.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:48.553Z,1761544068.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985706,-0.157567,-0.059635],[0.152822,-0.985236,0.077173],[-0.070915,0.066956,0.995233]] 2025-10-27T05:47:48.591Z,1761544068.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:48.594Z,1761544068.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.691772 m, bearing: 261.952157 deg, approach rate: 0.233594 m/s, LOS rate: 0.224816 deg/s, cmd heading: 262.389312 deg, new cmd heading: 262.633073 deg. 2025-10-27T05:47:48.595Z,1761544068.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583812 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:48.660Z,1761544068.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:48.912Z,1761544068.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:48.965Z,1761544068.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989198,-0.133465,-0.060614],[0.128777,-0.988787,0.075612],[-0.070026,0.066989,0.995293]] 2025-10-27T05:47:49.049Z,1761544069.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:49.056Z,1761544069.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.775970 m, bearing: 262.040667 deg, approach rate: 0.183812 m/s, LOS rate: 0.193145 deg/s, cmd heading: 262.633068 deg, new cmd heading: 262.898486 deg. 2025-10-27T05:47:49.057Z,1761544069.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588444 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:49.164Z,1761544069.164 [DAT](INFO): DAT read: Rx Time:05:47:47.6565 2025-10-27T05:47:49.164Z,1761544069.164 [DAT](INFO): Rx dataTimestamp_ set to:1761544069.164213 2025-10-27T05:47:49.165Z,1761544069.165 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:49.358Z,1761544069.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992066,-0.109718,-0.061384],[0.105160,-0.991763,0.073119],[-0.068900,0.066084,0.995432]] 2025-10-27T05:47:49.409Z,1761544069.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.73 m. 2025-10-27T05:47:49.412Z,1761544069.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.730453 m, nav range: 203.840683 m, bearing: 262.122790 deg, approach rate: 0.179692 m/s, LOS rate: 0.227965 deg/s, cmd heading: 262.898489 deg, new cmd heading: 263.144779 deg. 2025-10-27T05:47:49.413Z,1761544069.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592743 target range: 207.730453 and range: 208.90 m. 2025-10-27T05:47:49.416Z,1761544069.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:47:49.674Z,1761544069.674 [DAT](INFO): DAT read: 05:47:47.6565 LVL= 29456, 31473, 32754, 32755, AGC= 64, IDX= 452, 0.08, 2.019, 0.995, 0.086, 1.309, PHS= 0.812,-0.269,-1.267, RAW= 61.3, 8.1, CAL= 59.5, 9.4, ROT= 90.5, -9.4 2025-10-27T05:47:49.675Z,1761544069.675 [DAT](INFO): got valid direction response: 05:47:47.6565 LVL= 29456, 31473, 32754, 32755, AGC= 64, IDX= 452, 0.08, 2.019, 0.995, 0.086, 1.309, PHS= 0.812,-0.269,-1.267, RAW= 61.3, 8.1, CAL= 59.5, 9.4, ROT= 90.5, -9.4 2025-10-27T05:47:49.676Z,1761544069.676 [DAT](INFO): DAT read: Bearing 10.2, 82.9 (Local) 2025-10-27T05:47:49.676Z,1761544069.676 [DAT](INFO): Local bearing/azimuth received: Bearing 10.2, 82.9 (Local) 2025-10-27T05:47:49.678Z,1761544069.678 [DAT](INFO): DAT read: Range 11 to 50 : 210.3 m (Round-trip 280.4 ms) speed 0.0 m/s 2025-10-27T05:47:49.678Z,1761544069.678 [DAT](INFO): DAT read: Tx time:05:47:48.7219 2025-10-27T05:47:49.680Z,1761544069.680 [DAT](INFO): Ping request sent. 2025-10-27T05:47:49.680Z,1761544069.680 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:47:49.680Z,1761544069.680 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:47:49.681Z,1761544069.681 [DAT](INFO): direction in FSK: [-0.008609,0.986535,0.163326] 2025-10-27T05:47:49.682Z,1761544069.682 [DAT](INFO): publishing transmit ping time 2025-10-27T05:47:49.682Z,1761544069.682 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:49.685Z,1761544069.685 [DAT](INFO): publishing transmit ping time 2025-10-27T05:47:49.685Z,1761544069.685 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:49.837Z,1761544069.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 210.300003 m, deltaT: 3.779505 s, deltaX: 1.400009 m, approachRate: 0.370421 m/s, rangeRepo size: 4 2025-10-27T05:47:49.843Z,1761544069.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 209.125961 m, bearing: 263.528824 deg, lat: 36.779516 deg, lon: -121.859740 deg, deltaT: 3.779505 s, deltaX: 1.395508 m, approachRate: 0.369230 m/s, posRepo size: 4 2025-10-27T05:47:49.844Z,1761544069.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:49.847Z,1761544069.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.734222 m, bearing: 262.569765 deg, approach rate: 0.000000 m/s, LOS rate: 0.227965 deg/s, cmd heading: 263.144786 deg, new cmd heading: 263.436923 deg. 2025-10-27T05:47:49.856Z,1761544069.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597842 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:50.165Z,1761544070.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995997,-0.063132,-0.063283],[0.058680,-0.995827,0.069902],[-0.067432,0.065908,0.995545]] 2025-10-27T05:47:50.270Z,1761544070.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:50.272Z,1761544070.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:50.274Z,1761544070.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.776184 m, bearing: 262.661616 deg, approach rate: 0.096393 m/s, LOS rate: 0.210953 deg/s, cmd heading: 263.436927 deg, new cmd heading: 263.712419 deg. 2025-10-27T05:47:50.276Z,1761544070.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602650 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:50.425Z,1761544070.425 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:50.425Z,1761544070.425 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:50.425Z,1761544070.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:50.569Z,1761544070.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997120,-0.040046,-0.064407],[0.035641,-0.997039,0.068144],[-0.066945,0.065652,0.995594]] 2025-10-27T05:47:50.624Z,1761544070.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:50.626Z,1761544070.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.802002 m, bearing: 262.729818 deg, approach rate: 0.073373 m/s, LOS rate: 0.193804 deg/s, cmd heading: 263.712429 deg, new cmd heading: 263.917011 deg. 2025-10-27T05:47:50.635Z,1761544070.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606221 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:50.676Z,1761544070.676 [DAT](INFO): DAT read: user:510> 2025-10-27T05:47:50.677Z,1761544070.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997843 2025-10-27T05:47:50.928Z,1761544070.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249054 2025-10-27T05:47:50.973Z,1761544070.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997717,-0.016935,-0.065383],[0.012461,-0.997592,0.068232],[-0.066381,0.067261,0.995525]] 2025-10-27T05:47:51.077Z,1761544071.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:51.084Z,1761544071.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.827484 m, bearing: 262.814841 deg, approach rate: 0.056196 m/s, LOS rate: 0.187477 deg/s, cmd heading: 263.917007 deg, new cmd heading: 264.172039 deg. 2025-10-27T05:47:51.085Z,1761544071.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610672 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:51.181Z,1761544071.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501529 2025-10-27T05:47:51.378Z,1761544071.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997761,0.006450,-0.066564],[-0.010911,-0.997702,0.066871],[-0.065980,0.067448,0.995539]] 2025-10-27T05:47:51.432Z,1761544071.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753192 2025-10-27T05:47:51.440Z,1761544071.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:51.442Z,1761544071.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.832840 m, bearing: 262.892717 deg, approach rate: 0.014762 m/s, LOS rate: 0.214642 deg/s, cmd heading: 264.172046 deg, new cmd heading: 264.405669 deg. 2025-10-27T05:47:51.444Z,1761544071.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614749 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:51.684Z,1761544071.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005109 2025-10-27T05:47:51.781Z,1761544071.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997283,0.029408,-0.067549],[-0.033896,-0.997225,0.066278],[-0.065412,0.068387,0.995512]] 2025-10-27T05:47:51.801Z,1761544071.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:51.803Z,1761544071.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.832245 m, bearing: 262.961322 deg, approach rate: -0.001650 m/s, LOS rate: 0.190233 deg/s, cmd heading: 264.405666 deg, new cmd heading: 264.611481 deg. 2025-10-27T05:47:51.804Z,1761544071.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618341 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:51.940Z,1761544071.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260993 2025-10-27T05:47:52.186Z,1761544072.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996263,0.052136,-0.068863],[-0.056743,-0.996157,0.066722],[-0.065120,0.070380,0.995392]] 2025-10-27T05:47:52.188Z,1761544072.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509195 2025-10-27T05:47:52.249Z,1761544072.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:52.256Z,1761544072.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.814209 m, bearing: 263.042045 deg, approach rate: -0.040182 m/s, LOS rate: 0.179856 deg/s, cmd heading: 264.611473 deg, new cmd heading: 264.853662 deg. 2025-10-27T05:47:52.257Z,1761544072.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622569 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:52.444Z,1761544072.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765168 2025-10-27T05:47:52.589Z,1761544072.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994767,0.074685,-0.069711],[-0.079267,-0.994702,0.065453],[-0.064454,0.070636,0.995418]] 2025-10-27T05:47:52.610Z,1761544072.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:52.612Z,1761544072.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:52.631Z,1761544072.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.793900 m, bearing: 263.109802 deg, approach rate: -0.055985 m/s, LOS rate: 0.186797 deg/s, cmd heading: 264.853672 deg, new cmd heading: 265.056961 deg. 2025-10-27T05:47:52.632Z,1761544072.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626117 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:52.696Z,1761544072.696 [DAT](INFO): DAT read: Rx Time:05:47:51.4068 2025-10-27T05:47:52.697Z,1761544072.697 [DAT](INFO): Rx dataTimestamp_ set to:1761544072.696314 2025-10-27T05:47:52.697Z,1761544072.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018342 2025-10-27T05:47:52.948Z,1761544072.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269020 2025-10-27T05:47:52.993Z,1761544072.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992725,0.097584,-0.070522],[-0.102168,-0.992666,0.064614],[-0.063700,0.071349,0.995415]] 2025-10-27T05:47:53.090Z,1761544073.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.13 m. 2025-10-27T05:47:53.104Z,1761544073.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.125961 m, nav range: 203.764130 m, bearing: 263.188582 deg, approach rate: -0.062433 m/s, LOS rate: 0.165241 deg/s, cmd heading: 265.056965 deg, new cmd heading: 265.293340 deg. 2025-10-27T05:47:53.105Z,1761544073.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630242 target range: 209.125961 and range: 210.30 m. 2025-10-27T05:47:53.200Z,1761544073.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521081 2025-10-27T05:47:53.398Z,1761544073.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990257,0.119650,-0.071236],[-0.124213,-0.990223,0.063483],[-0.062944,0.071713,0.995437]] 2025-10-27T05:47:53.458Z,1761544073.458 [DAT](INFO): DAT read: 05:47:51.4068 LVL= 29072, 32753, 32754, 32755, AGC= 66, IDX= 439,-0.16,-1.909, 3.078, 2.493,-2.618, PHS= 0.810,-0.542,-1.217, RAW= 70.9, 10.6, CAL= 69.6, 14.1, ROT= 80.4, -14.1 2025-10-27T05:47:53.459Z,1761544073.459 [DAT](INFO): got valid direction response: 05:47:51.4068 LVL= 29072, 32753, 32754, 32755, AGC= 66, IDX= 439,-0.16,-1.909, 3.078, 2.493,-2.618, PHS= 0.810,-0.542,-1.217, RAW= 70.9, 10.6, CAL= 69.6, 14.1, ROT= 80.4, -14.1 2025-10-27T05:47:53.460Z,1761544073.460 [DAT](INFO): DAT read: Bearing 5.1, 72.9 (Local) 2025-10-27T05:47:53.460Z,1761544073.460 [DAT](INFO): Local bearing/azimuth received: Bearing 5.1, 72.9 (Local) 2025-10-27T05:47:53.462Z,1761544073.462 [DAT](INFO): DAT read: Range 11 to 50 : 210.5 m (Round-trip 280.7 ms) speed -0.1 m/s 2025-10-27T05:47:53.463Z,1761544073.463 [DAT](INFO): DAT read: Tx time:05:47:52.4719 2025-10-27T05:47:53.463Z,1761544073.463 [DAT](INFO): Ping request sent. 2025-10-27T05:47:53.463Z,1761544073.463 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:47:53.464Z,1761544073.464 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:47:53.465Z,1761544073.465 [DAT](INFO): direction in FSK: [0.161744,0.956290,0.243615] 2025-10-27T05:47:53.465Z,1761544073.465 [DAT](INFO): publishing transmit ping time 2025-10-27T05:47:53.465Z,1761544073.465 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:53.473Z,1761544073.473 [DAT](INFO): publishing transmit ping time 2025-10-27T05:47:53.473Z,1761544073.473 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:53.501Z,1761544073.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 210.500000 m, deltaT: 3.784092 s, deltaX: 0.199997 m, approachRate: 0.052852 m/s, rangeRepo size: 4 2025-10-27T05:47:53.517Z,1761544073.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 209.328796 m, bearing: 266.206017 deg, lat: 36.779546 deg, lon: -121.859704 deg, deltaT: 3.784092 s, deltaX: 0.202835 m, approachRate: 0.053602 m/s, posRepo size: 4 2025-10-27T05:47:53.523Z,1761544073.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:53.536Z,1761544073.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 200.242264 m, bearing: 264.125009 deg, approach rate: 0.000000 m/s, LOS rate: 0.165241 deg/s, cmd heading: 265.293345 deg, new cmd heading: 265.492611 deg. 2025-10-27T05:47:53.537Z,1761544073.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633720 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:53.802Z,1761544073.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987322,0.141495,-0.071936],[-0.146055,-0.987291,0.062650],[-0.062157,0.072362,0.995440]] 2025-10-27T05:47:53.836Z,1761544073.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:53.843Z,1761544073.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 200.202988 m, bearing: 264.193014 deg, approach rate: -0.113685 m/s, LOS rate: 0.196880 deg/s, cmd heading: 265.492622 deg, new cmd heading: 265.696677 deg. 2025-10-27T05:47:53.848Z,1761544073.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637282 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:54.205Z,1761544074.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983888,0.163573,-0.072167],[-0.168161,-0.983752,0.062870],[-0.060710,0.073993,0.995409]] 2025-10-27T05:47:54.258Z,1761544074.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:54.260Z,1761544074.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 200.151901 m, bearing: 264.271225 deg, approach rate: -0.121297 m/s, LOS rate: 0.185747 deg/s, cmd heading: 265.696681 deg, new cmd heading: 265.931371 deg. 2025-10-27T05:47:54.261Z,1761544074.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641378 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:54.609Z,1761544074.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979991,0.185676,-0.071706],[-0.190155,-0.979815,0.061678],[-0.058806,0.074079,0.995517]] 2025-10-27T05:47:54.637Z,1761544074.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:54.640Z,1761544074.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:54.642Z,1761544074.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 200.101822 m, bearing: 264.339854 deg, approach rate: -0.131061 m/s, LOS rate: 0.179651 deg/s, cmd heading: 265.931366 deg, new cmd heading: 266.137304 deg. 2025-10-27T05:47:54.644Z,1761544074.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644972 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:54.712Z,1761544074.712 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:54.713Z,1761544074.713 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:54.713Z,1761544074.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:54.964Z,1761544074.964 [DAT](INFO): DAT read: user:511> 2025-10-27T05:47:54.965Z,1761544074.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501247 2025-10-27T05:47:55.047Z,1761544075.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975531,0.208161,-0.070772],[-0.212508,-0.975274,0.060673],[-0.056392,0.074228,0.995646]] 2025-10-27T05:47:55.123Z,1761544075.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:55.134Z,1761544075.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 200.039291 m, bearing: 264.417203 deg, approach rate: -0.130534 m/s, LOS rate: 0.161518 deg/s, cmd heading: 266.137310 deg, new cmd heading: 266.369428 deg. 2025-10-27T05:47:55.139Z,1761544075.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649024 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:55.216Z,1761544075.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752613 2025-10-27T05:47:55.420Z,1761544075.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970497,0.230884,-0.069489],[-0.235039,-0.970191,0.059049],[-0.053784,0.073639,0.995834]] 2025-10-27T05:47:55.461Z,1761544075.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:55.468Z,1761544075.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004964 2025-10-27T05:47:55.483Z,1761544075.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 199.987213 m, bearing: 264.487570 deg, approach rate: -0.152358 m/s, LOS rate: 0.205916 deg/s, cmd heading: 266.369427 deg, new cmd heading: 266.580583 deg. 2025-10-27T05:47:55.484Z,1761544075.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652709 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:55.720Z,1761544075.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257029 2025-10-27T05:47:55.822Z,1761544075.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965016,0.253327,-0.067596],[-0.257267,-0.964613,0.057759],[-0.050572,0.073128,0.996040]] 2025-10-27T05:47:55.855Z,1761544075.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:55.858Z,1761544075.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 199.929047 m, bearing: 264.558544 deg, approach rate: -0.147468 m/s, LOS rate: 0.179991 deg/s, cmd heading: 266.580589 deg, new cmd heading: 266.793573 deg. 2025-10-27T05:47:55.859Z,1761544075.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656426 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:55.972Z,1761544075.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509081 2025-10-27T05:47:56.224Z,1761544076.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760574 2025-10-27T05:47:56.228Z,1761544076.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959086,0.275535,-0.065078],[-0.279146,-0.958674,0.054961],[-0.047245,0.070879,0.996365]] 2025-10-27T05:47:56.285Z,1761544076.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:56.292Z,1761544076.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 199.873413 m, bearing: 264.637106 deg, approach rate: -0.129460 m/s, LOS rate: 0.182866 deg/s, cmd heading: 266.793582 deg, new cmd heading: 267.029333 deg. 2025-10-27T05:47:56.293Z,1761544076.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660541 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:56.476Z,1761544076.476 [DAT](INFO): DAT read: Rx Time:05:47:55.1556 2025-10-27T05:47:56.476Z,1761544076.476 [DAT](INFO): Rx dataTimestamp_ set to:1761544076.476170 2025-10-27T05:47:56.477Z,1761544076.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013677 2025-10-27T05:47:56.630Z,1761544076.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952593,0.297662,-0.062962],[-0.301055,-0.952094,0.053700],[-0.043962,0.070110,0.996570]] 2025-10-27T05:47:56.653Z,1761544076.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:56.656Z,1761544076.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:56.659Z,1761544076.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 199.818146 m, bearing: 264.707354 deg, approach rate: -0.148713 m/s, LOS rate: 0.189074 deg/s, cmd heading: 267.029333 deg, new cmd heading: 267.240132 deg. 2025-10-27T05:47:56.660Z,1761544076.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664220 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:56.730Z,1761544076.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266668 2025-10-27T05:47:56.983Z,1761544076.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518794 2025-10-27T05:47:57.060Z,1761544077.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945331,0.320525,-0.060104],[-0.323614,-0.944789,0.051468],[-0.040289,0.068105,0.996864]] 2025-10-27T05:47:57.125Z,1761544077.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.33 m. 2025-10-27T05:47:57.137Z,1761544077.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.328796 m, nav range: 199.748703 m, bearing: 264.787244 deg, approach rate: -0.151421 m/s, LOS rate: 0.174261 deg/s, cmd heading: 267.240140 deg, new cmd heading: 267.479891 deg. 2025-10-27T05:47:57.145Z,1761544077.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668405 target range: 209.328796 and range: 210.50 m. 2025-10-27T05:47:57.240Z,1761544077.240 [DAT](INFO): DAT read: 05:47:55.1556 LVL= 21744, 30945, 31346, 32755, AGC= 63, IDX= 412,-0.44, 1.399,-0.420,-0.269, 0.696, PHS= 0.805,-1.071,-1.009, RAW= 91.6, 13.7, CAL= 91.7, 16.4, ROT= 58.3, -16.4 2025-10-27T05:47:57.242Z,1761544077.242 [DAT](INFO): got valid direction response: 05:47:55.1556 LVL= 21744, 30945, 31346, 32755, AGC= 63, IDX= 412,-0.44, 1.399,-0.420,-0.269, 0.696, PHS= 0.805,-1.071,-1.009, RAW= 91.6, 13.7, CAL= 91.7, 16.4, ROT= 58.3, -16.4 2025-10-27T05:47:57.243Z,1761544077.243 [DAT](INFO): DAT read: Bearing 3.1, 53.5 (Local) 2025-10-27T05:47:57.247Z,1761544077.247 [DAT](INFO): Local bearing/azimuth received: Bearing 3.1, 53.5 (Local) 2025-10-27T05:47:57.251Z,1761544077.251 [DAT](INFO): DAT read: Range 11 to 50 : 209.6 m (Round-trip 279.5 ms) speed 0.0 m/s 2025-10-27T05:47:57.253Z,1761544077.253 [DAT](INFO): DAT read: user:512>Tx time:05:47:56.2219 2025-10-27T05:47:57.253Z,1761544077.253 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:47:57.255Z,1761544077.255 [DAT](INFO): direction in FSK: [0.504092,0.816195,0.282341] 2025-10-27T05:47:57.256Z,1761544077.256 [DAT](INFO): publishing direction and range info 2025-10-27T05:47:57.261Z,1761544077.261 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:47:57.261Z,1761544077.261 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:47:57.262Z,1761544077.262 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:47:57.438Z,1761544077.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937653,0.342856,-0.057058],[-0.345643,-0.937070,0.049299],[-0.036565,0.065947,0.997153]] 2025-10-27T05:47:57.484Z,1761544077.484 [DAT](INFO): DAT read: 2025-10-27T05:47:57.484Z,1761544077.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021123 2025-10-27T05:47:57.516Z,1761544077.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 209.600006 m, deltaT: 3.780691 s, deltaX: -0.899994 m, approachRate: -0.238050 m/s, rangeRepo size: 4 2025-10-27T05:47:57.533Z,1761544077.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 208.442551 m, bearing: 257.273796 deg, lat: 36.779504 deg, lon: -121.859656 deg, deltaT: 3.780691 s, deltaX: -0.886246 m, approachRate: -0.234414 m/s, posRepo size: 4 2025-10-27T05:47:57.546Z,1761544077.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:47:57.557Z,1761544077.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.866043 m, bearing: 263.377242 deg, approach rate: 0.000000 m/s, LOS rate: 0.174261 deg/s, cmd heading: 267.479879 deg, new cmd heading: 267.688547 deg. 2025-10-27T05:47:57.558Z,1761544077.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672047 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:47:57.736Z,1761544077.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272957 2025-10-27T05:47:57.884Z,1761544077.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:47:57.887Z,1761544077.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.803375 m, bearing: 263.452881 deg, approach rate: -0.169486 m/s, LOS rate: 0.204631 deg/s, cmd heading: 267.688555 deg, new cmd heading: 267.915543 deg. 2025-10-27T05:47:57.888Z,1761544077.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676008 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:47:57.991Z,1761544077.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.527402 2025-10-27T05:47:58.240Z,1761544078.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776475 2025-10-27T05:47:58.253Z,1761544078.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920551,0.387202,-0.051577],[-0.389521,-0.919825,0.046860],[-0.029297,0.063227,0.997569]] 2025-10-27T05:47:58.291Z,1761544078.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:47:58.293Z,1761544078.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.737335 m, bearing: 263.533670 deg, approach rate: -0.162393 m/s, LOS rate: 0.198727 deg/s, cmd heading: 267.915536 deg, new cmd heading: 268.157983 deg. 2025-10-27T05:47:58.294Z,1761544078.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680240 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:47:58.493Z,1761544078.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029658 2025-10-27T05:47:58.650Z,1761544078.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911123,0.409363,-0.047713],[-0.411342,-0.910431,0.043740],[-0.025534,0.059479,0.997903]] 2025-10-27T05:47:58.667Z,1761544078.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:47:58.669Z,1761544078.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:47:58.672Z,1761544078.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.670151 m, bearing: 263.608438 deg, approach rate: -0.177516 m/s, LOS rate: 0.197621 deg/s, cmd heading: 268.157981 deg, new cmd heading: 268.382360 deg. 2025-10-27T05:47:58.673Z,1761544078.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684156 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:47:58.745Z,1761544078.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281234 2025-10-27T05:47:58.997Z,1761544078.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533729 2025-10-27T05:47:59.058Z,1761544079.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901150,0.431248,-0.044191],[-0.432957,-0.900449,0.041698],[-0.021810,0.056709,0.998152]] 2025-10-27T05:47:59.093Z,1761544079.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:47:59.100Z,1761544079.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.589890 m, bearing: 263.690285 deg, approach rate: -0.189345 m/s, LOS rate: 0.193166 deg/s, cmd heading: 268.382366 deg, new cmd heading: 268.628006 deg. 2025-10-27T05:47:59.101Z,1761544079.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688443 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:47:59.248Z,1761544079.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784626 2025-10-27T05:47:59.458Z,1761544079.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890693,0.452667,-0.041929],[-0.454249,-0.889852,0.042681],[-0.017990,0.057062,0.998209]] 2025-10-27T05:47:59.501Z,1761544079.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036920 2025-10-27T05:47:59.555Z,1761544079.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:47:59.558Z,1761544079.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.510147 m, bearing: 263.780286 deg, approach rate: -0.173830 m/s, LOS rate: 0.196273 deg/s, cmd heading: 268.628007 deg, new cmd heading: 268.898120 deg. 2025-10-27T05:47:59.559Z,1761544079.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693158 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:47:59.752Z,1761544079.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288560 2025-10-27T05:47:59.863Z,1761544079.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879776,0.473668,-0.040409],[-0.475174,-0.878753,0.044764],[-0.014306,0.058584,0.998180]] 2025-10-27T05:47:59.884Z,1761544079.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:47:59.887Z,1761544079.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.444580 m, bearing: 263.848049 deg, approach rate: -0.197780 m/s, LOS rate: 0.204474 deg/s, cmd heading: 268.898127 deg, new cmd heading: 269.101485 deg. 2025-10-27T05:47:59.888Z,1761544079.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696707 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:48:00.006Z,1761544080.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542467 2025-10-27T05:48:00.256Z,1761544080.256 [DAT](INFO): DAT read: Rx Time:05:47:58.9051 2025-10-27T05:48:00.257Z,1761544080.257 [DAT](INFO): Rx dataTimestamp_ set to:1761544080.256264 2025-10-27T05:48:00.257Z,1761544080.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793775 2025-10-27T05:48:00.269Z,1761544080.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868282,0.494512,-0.039291],[-0.495958,-0.867044,0.047541],[-0.010558,0.060765,0.998096]] 2025-10-27T05:48:00.375Z,1761544080.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:48:00.377Z,1761544080.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.360260 m, bearing: 263.945808 deg, approach rate: -0.171623 m/s, LOS rate: 0.199061 deg/s, cmd heading: 269.101476 deg, new cmd heading: 269.394875 deg. 2025-10-27T05:48:00.378Z,1761544080.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701828 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:48:00.509Z,1761544080.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045399 2025-10-27T05:48:00.669Z,1761544080.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856300,0.514982,-0.039296],[-0.516426,-0.854815,0.050940],[-0.007358,0.063913,0.997928]] 2025-10-27T05:48:00.698Z,1761544080.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:00.717Z,1761544080.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.44 m. 2025-10-27T05:48:00.739Z,1761544080.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.442551 m, nav range: 195.299545 m, bearing: 264.010108 deg, approach rate: -0.177040 m/s, LOS rate: 0.187553 deg/s, cmd heading: 269.394873 deg, new cmd heading: 269.587833 deg. 2025-10-27T05:48:00.747Z,1761544080.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705195 target range: 208.442551 and range: 209.60 m. 2025-10-27T05:48:00.763Z,1761544080.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.298941 2025-10-27T05:48:01.020Z,1761544081.020 [DAT](INFO): DAT read: 05:47:58.9051 LVL= 24256, 32753, 32754, 32755, AGC= 64, IDX= 438, 0.10, 0.705,-1.307,-0.658,-0.081, PHS= 0.888,-1.181,-0.621, RAW= 105.2, 9.9, CAL= 106.5, 11.1, ROT= 43.5, -11.1 2025-10-27T05:48:01.021Z,1761544081.021 [DAT](INFO): got valid direction response: 05:47:58.9051 LVL= 24256, 32753, 32754, 32755, AGC= 64, IDX= 438, 0.10, 0.705,-1.307,-0.658,-0.081, PHS= 0.888,-1.181,-0.621, RAW= 105.2, 9.9, CAL= 106.5, 11.1, ROT= 43.5, -11.1 2025-10-27T05:48:01.022Z,1761544081.022 [DAT](INFO): DAT read: Bearing 4.4, 42.0 (Local) 2025-10-27T05:48:01.023Z,1761544081.023 [DAT](INFO): Local bearing/azimuth received: Bearing 4.4, 42.0 (Local) 2025-10-27T05:48:01.024Z,1761544081.024 [DAT](INFO): DAT read: Range 11 to 50 : 209.3 m (Round-trip 279.1 ms) speed 0.0 m/s 2025-10-27T05:48:01.025Z,1761544081.025 [DAT](INFO): DAT read: Tx time:05:47:59.9719 2025-10-27T05:48:01.025Z,1761544081.025 [DAT](INFO): Ping request sent. 2025-10-27T05:48:01.026Z,1761544081.026 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:01.026Z,1761544081.026 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:01.079Z,1761544081.079 [DAT](INFO): direction in FSK: [0.711805,0.675477,0.192522] 2025-10-27T05:48:01.079Z,1761544081.079 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:01.080Z,1761544081.080 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:01.083Z,1761544081.083 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:01.083Z,1761544081.083 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:01.115Z,1761544081.115 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:48:01.116Z,1761544081.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843873,0.535151,-0.038628],[-0.536527,-0.842213,0.053065],[-0.004135,0.065505,0.997844]] 2025-10-27T05:48:01.264Z,1761544081.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 209.300003 m, deltaT: 3.779913 s, deltaX: -0.300003 m, approachRate: -0.079368 m/s, rangeRepo size: 4 2025-10-27T05:48:01.266Z,1761544081.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 208.147385 m, bearing: 255.307408 deg, lat: 36.779417 deg, lon: -121.859674 deg, deltaT: 3.779913 s, deltaX: -0.295166 m, approachRate: -0.078088 m/s, posRepo size: 4 2025-10-27T05:48:01.271Z,1761544081.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:01.274Z,1761544081.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 198.027084 m, bearing: 261.361080 deg, approach rate: 0.000000 m/s, LOS rate: 0.187553 deg/s, cmd heading: 269.587840 deg, new cmd heading: 269.887576 deg. 2025-10-27T05:48:01.274Z,1761544081.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710427 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:01.478Z,1761544081.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830904,0.555173,-0.037169],[-0.556415,-0.829158,0.053844],[-0.000926,0.065420,0.997857]] 2025-10-27T05:48:01.574Z,1761544081.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:01.577Z,1761544081.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 197.945007 m, bearing: 261.426827 deg, approach rate: -0.253280 m/s, LOS rate: 0.202972 deg/s, cmd heading: 269.887576 deg, new cmd heading: 270.084898 deg. 2025-10-27T05:48:01.578Z,1761544081.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713871 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:01.881Z,1761544081.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817409,0.574924,-0.036120],[-0.576053,-0.815552,0.055112],[0.002227,0.065856,0.997827]] 2025-10-27T05:48:01.910Z,1761544081.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:01.913Z,1761544081.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 197.863953 m, bearing: 261.487419 deg, approach rate: -0.241411 m/s, LOS rate: 0.180537 deg/s, cmd heading: 270.084886 deg, new cmd heading: 270.266734 deg. 2025-10-27T05:48:01.914Z,1761544081.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717044 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:02.120Z,1761544082.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:48:02.287Z,1761544082.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803748,0.593887,-0.035875],[-0.594948,-0.801739,0.057028],[0.005106,0.067180,0.997728]] 2025-10-27T05:48:02.333Z,1761544082.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:02.336Z,1761544082.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 197.757996 m, bearing: 261.560607 deg, approach rate: -0.250252 m/s, LOS rate: 0.172951 deg/s, cmd heading: 270.266733 deg, new cmd heading: 270.486415 deg. 2025-10-27T05:48:02.337Z,1761544082.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720879 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:02.690Z,1761544082.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789412,0.612909,-0.034237],[-0.613813,-0.787394,0.056957],[0.007951,0.065977,0.997789]] 2025-10-27T05:48:02.712Z,1761544082.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:02.736Z,1761544082.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:02.738Z,1761544082.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 197.658630 m, bearing: 261.625161 deg, approach rate: -0.260369 m/s, LOS rate: 0.169236 deg/s, cmd heading: 270.486419 deg, new cmd heading: 270.680176 deg. 2025-10-27T05:48:02.740Z,1761544082.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724260 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:02.776Z,1761544082.776 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:02.776Z,1761544082.776 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:02.776Z,1761544082.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:03.028Z,1761544083.028 [DAT](INFO): DAT read: user:513> 2025-10-27T05:48:03.029Z,1761544083.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002947 2025-10-27T05:48:03.098Z,1761544083.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774813,0.631352,-0.032545],[-0.632099,-0.772800,0.056841],[0.010736,0.064613,0.997853]] 2025-10-27T05:48:03.180Z,1761544083.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:03.183Z,1761544083.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 197.529755 m, bearing: 261.704188 deg, approach rate: -0.276875 m/s, LOS rate: 0.169893 deg/s, cmd heading: 270.680178 deg, new cmd heading: 270.917414 deg. 2025-10-27T05:48:03.186Z,1761544083.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728401 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:03.281Z,1761544083.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255272 2025-10-27T05:48:03.532Z,1761544083.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506129 2025-10-27T05:48:03.594Z,1761544083.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:03.601Z,1761544083.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 197.418274 m, bearing: 261.769778 deg, approach rate: -0.269319 m/s, LOS rate: 0.158544 deg/s, cmd heading: 270.917404 deg, new cmd heading: 271.114285 deg. 2025-10-27T05:48:03.602Z,1761544083.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731837 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:03.785Z,1761544083.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758928 2025-10-27T05:48:03.952Z,1761544083.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:03.955Z,1761544083.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 197.310333 m, bearing: 261.833507 deg, approach rate: -0.301588 m/s, LOS rate: 0.178157 deg/s, cmd heading: 271.114278 deg, new cmd heading: 271.305568 deg. 2025-10-27T05:48:03.956Z,1761544083.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.735176 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:04.039Z,1761544084.039 [DAT](INFO): DAT read: Rx Time:05:48:02.6546 2025-10-27T05:48:04.039Z,1761544084.039 [DAT](INFO): Rx dataTimestamp_ set to:1761544084.038946 2025-10-27T05:48:04.040Z,1761544084.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014174 2025-10-27T05:48:04.288Z,1761544084.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262305 2025-10-27T05:48:04.306Z,1761544084.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726862,0.686109,-0.030430],[-0.686565,-0.724801,0.057373],[0.017309,0.062595,0.997889]] 2025-10-27T05:48:04.372Z,1761544084.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.15 m. 2025-10-27T05:48:04.374Z,1761544084.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 208.147385 m, nav range: 197.170975 m, bearing: 261.898546 deg, approach rate: -0.332252 m/s, LOS rate: 0.155174 deg/s, cmd heading: 271.305578 deg, new cmd heading: 271.500833 deg. 2025-10-27T05:48:04.376Z,1761544084.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738584 target range: 208.147385 and range: 209.30 m. 2025-10-27T05:48:04.545Z,1761544084.545 [DAT](INFO): DAT read: 05:48:02.6546 LVL= 26160, 32753, 32754, 32755, AGC= 66, IDX= 418,-0.17, 1.312,-0.763, 0.275, 0.618, PHS= 0.796,-1.335,-0.386, RAW= 116.4, 10.0, CAL= 117.6, 11.2, ROT= 32.4, -11.2 2025-10-27T05:48:04.547Z,1761544084.547 [DAT](INFO): got valid direction response: 05:48:02.6546 LVL= 26160, 32753, 32754, 32755, AGC= 66, IDX= 418,-0.17, 1.312,-0.763, 0.275, 0.618, PHS= 0.796,-1.335,-0.386, RAW= 116.4, 10.0, CAL= 117.6, 11.2, ROT= 32.4, -11.2 2025-10-27T05:48:04.548Z,1761544084.548 [DAT](INFO): DAT read: Bearing 16.1, 32.8 (Local) 2025-10-27T05:48:04.548Z,1761544084.548 [DAT](INFO): Local bearing/azimuth received: Bearing 16.1, 32.8 (Local) 2025-10-27T05:48:04.549Z,1761544084.549 [DAT](INFO): DAT read: Range 11 to 50 : 208.9 m (Round-trip 278.6 ms) speed 0.8 m/s 2025-10-27T05:48:04.550Z,1761544084.550 [DAT](INFO): DAT read: user:514>Tx time:05:48:03.7219 2025-10-27T05:48:04.555Z,1761544084.555 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:04.556Z,1761544084.556 [DAT](INFO): direction in FSK: [0.828248,0.525622,0.194234] 2025-10-27T05:48:04.556Z,1761544084.556 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:04.560Z,1761544084.560 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:04.560Z,1761544084.560 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:04.560Z,1761544084.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:04.717Z,1761544084.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709579,0.703928,-0.031356],[-0.704376,-0.707438,0.058183],[0.018774,0.063372,0.997813]] 2025-10-27T05:48:04.778Z,1761544084.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 208.899994 m, deltaT: 3.527262 s, deltaX: -0.400009 m, approachRate: -0.113405 m/s, rangeRepo size: 4 2025-10-27T05:48:04.782Z,1761544084.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 207.743668 m, bearing: 256.662140 deg, lat: 36.779315 deg, lon: -121.859685 deg, deltaT: 3.527262 s, deltaX: -0.403717 m, approachRate: -0.114456 m/s, posRepo size: 4 2025-10-27T05:48:04.792Z,1761544084.792 [DAT](INFO): DAT read: 2025-10-27T05:48:04.793Z,1761544084.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766921 2025-10-27T05:48:04.795Z,1761544084.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:04.798Z,1761544084.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 199.903259 m, bearing: 258.804047 deg, approach rate: 0.000000 m/s, LOS rate: 0.155174 deg/s, cmd heading: 271.500839 deg, new cmd heading: 271.689661 deg. 2025-10-27T05:48:04.815Z,1761544084.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741879 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:05.044Z,1761544085.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018242 2025-10-27T05:48:05.113Z,1761544085.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692827,0.720282,-0.034422],[-0.720819,-0.690423,0.061116],[0.020255,0.067155,0.997537]] 2025-10-27T05:48:05.152Z,1761544085.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:05.154Z,1761544085.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:05.157Z,1761544085.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 199.747574 m, bearing: 258.861785 deg, approach rate: -0.413441 m/s, LOS rate: 0.153451 deg/s, cmd heading: 271.689653 deg, new cmd heading: 271.863003 deg. 2025-10-27T05:48:05.158Z,1761544085.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744905 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:05.296Z,1761544085.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270393 2025-10-27T05:48:05.524Z,1761544085.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675390,0.736538,-0.036884],[-0.737159,-0.672838,0.062336],[0.021096,0.069291,0.997373]] 2025-10-27T05:48:05.548Z,1761544085.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522459 2025-10-27T05:48:05.580Z,1761544085.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:05.583Z,1761544085.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 199.581268 m, bearing: 258.920282 deg, approach rate: -0.389947 m/s, LOS rate: 0.137274 deg/s, cmd heading: 271.863003 deg, new cmd heading: 272.038637 deg. 2025-10-27T05:48:05.584Z,1761544085.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.747970 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:05.800Z,1761544085.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.774261 2025-10-27T05:48:05.923Z,1761544085.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657822,0.752178,-0.038716],[-0.752866,-0.655214,0.062351],[0.021532,0.070164,0.997303]] 2025-10-27T05:48:05.941Z,1761544085.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:05.944Z,1761544085.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 199.436844 m, bearing: 258.968836 deg, approach rate: -0.400475 m/s, LOS rate: 0.134734 deg/s, cmd heading: 272.038648 deg, new cmd heading: 272.184416 deg. 2025-10-27T05:48:05.945Z,1761544085.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.750514 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:06.053Z,1761544086.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026788 2025-10-27T05:48:06.306Z,1761544086.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280125 2025-10-27T05:48:06.326Z,1761544086.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639998,0.767327,-0.040140],[-0.768061,-0.637364,0.062045],[0.022025,0.070539,0.997266]] 2025-10-27T05:48:06.419Z,1761544086.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:06.422Z,1761544086.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 199.239319 m, bearing: 259.028902 deg, approach rate: -0.413497 m/s, LOS rate: 0.125867 deg/s, cmd heading: 272.184404 deg, new cmd heading: 272.364781 deg. 2025-10-27T05:48:06.422Z,1761544086.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.753662 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:06.556Z,1761544086.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.530326 2025-10-27T05:48:06.785Z,1761544086.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:06.788Z,1761544086.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 199.093658 m, bearing: 259.073315 deg, approach rate: -0.397475 m/s, LOS rate: 0.121281 deg/s, cmd heading: 272.364776 deg, new cmd heading: 272.498111 deg. 2025-10-27T05:48:06.789Z,1761544086.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.755989 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:06.808Z,1761544086.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.782360 2025-10-27T05:48:07.060Z,1761544087.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034320 2025-10-27T05:48:07.134Z,1761544087.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602988,0.796707,-0.040780],[-0.797429,-0.600508,0.059136],[0.022626,0.068178,0.997417]] 2025-10-27T05:48:07.162Z,1761544087.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:07.164Z,1761544087.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:07.167Z,1761544087.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 198.923630 m, bearing: 259.120601 deg, approach rate: -0.448706 m/s, LOS rate: 0.124896 deg/s, cmd heading: 272.498101 deg, new cmd heading: 272.640082 deg. 2025-10-27T05:48:07.168Z,1761544087.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.758467 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:07.313Z,1761544087.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287021 2025-10-27T05:48:07.564Z,1761544087.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.538642 2025-10-27T05:48:07.623Z,1761544087.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:07.626Z,1761544087.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 198.719925 m, bearing: 259.173092 deg, approach rate: -0.444174 m/s, LOS rate: 0.114573 deg/s, cmd heading: 272.640087 deg, new cmd heading: 272.797722 deg. 2025-10-27T05:48:07.627Z,1761544087.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761219 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:07.816Z,1761544087.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.790353 2025-10-27T05:48:07.992Z,1761544087.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:07.997Z,1761544087.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 198.563171 m, bearing: 259.213592 deg, approach rate: -0.424429 m/s, LOS rate: 0.109746 deg/s, cmd heading: 272.797728 deg, new cmd heading: 272.919324 deg. 2025-10-27T05:48:07.999Z,1761544087.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763341 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:08.068Z,1761544088.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042507 2025-10-27T05:48:08.323Z,1761544088.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296408 2025-10-27T05:48:08.411Z,1761544088.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:08.414Z,1761544088.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 198.360672 m, bearing: 259.263445 deg, approach rate: -0.483351 m/s, LOS rate: 0.119116 deg/s, cmd heading: 272.919333 deg, new cmd heading: 273.069044 deg. 2025-10-27T05:48:08.415Z,1761544088.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.765954 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:08.576Z,1761544088.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550383 2025-10-27T05:48:08.750Z,1761544088.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527066,0.848603,-0.045546],[-0.849492,-0.524605,0.056152],[0.023757,0.068287,0.997383]] 2025-10-27T05:48:08.777Z,1761544088.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:08.796Z,1761544088.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 198.177994 m, bearing: 259.300716 deg, approach rate: -0.499259 m/s, LOS rate: 0.101955 deg/s, cmd heading: 273.069051 deg, new cmd heading: 273.180966 deg. 2025-10-27T05:48:08.797Z,1761544088.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767907 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:08.828Z,1761544088.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802508 2025-10-27T05:48:09.080Z,1761544089.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054317 2025-10-27T05:48:09.153Z,1761544089.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.508042,0.860061,-0.046783],[-0.860998,-0.505584,0.055383],[0.023980,0.068417,0.997369]] 2025-10-27T05:48:09.196Z,1761544089.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:09.198Z,1761544089.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:09.201Z,1761544089.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 197.974350 m, bearing: 259.340431 deg, approach rate: -0.483623 m/s, LOS rate: 0.094413 deg/s, cmd heading: 273.180956 deg, new cmd heading: 273.300222 deg. 2025-10-27T05:48:09.202Z,1761544089.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769989 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:09.335Z,1761544089.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308632 2025-10-27T05:48:09.584Z,1761544089.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.558096 2025-10-27T05:48:09.631Z,1761544089.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:09.634Z,1761544089.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 197.747406 m, bearing: 259.384681 deg, approach rate: -0.523874 m/s, LOS rate: 0.102266 deg/s, cmd heading: 273.300211 deg, new cmd heading: 273.433117 deg. 2025-10-27T05:48:09.635Z,1761544089.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.772308 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:09.836Z,1761544089.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810291 2025-10-27T05:48:09.961Z,1761544089.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468302,0.882238,-0.048470],[-0.883229,-0.465898,0.053341],[0.024477,0.067790,0.997399]] 2025-10-27T05:48:10.010Z,1761544090.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:10.014Z,1761544090.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 197.552277 m, bearing: 259.419186 deg, approach rate: -0.515061 m/s, LOS rate: 0.091166 deg/s, cmd heading: 273.433127 deg, new cmd heading: 273.536741 deg. 2025-10-27T05:48:10.014Z,1761544090.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.774117 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:10.093Z,1761544090.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066992 2025-10-27T05:48:10.346Z,1761544090.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320393 2025-10-27T05:48:10.386Z,1761544090.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448465,0.892419,-0.049671],[-0.893442,-0.446017,0.053205],[0.025327,0.068239,0.997348]] 2025-10-27T05:48:10.443Z,1761544090.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:10.446Z,1761544090.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 197.333099 m, bearing: 259.453637 deg, approach rate: -0.508535 m/s, LOS rate: 0.080024 deg/s, cmd heading: 273.536755 deg, new cmd heading: 273.640224 deg. 2025-10-27T05:48:10.452Z,1761544090.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775923 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:10.596Z,1761544090.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570662 2025-10-27T05:48:10.769Z,1761544090.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428115,0.902322,-0.050316],[-0.903351,-0.425674,0.052524],[0.025975,0.067939,0.997351]] 2025-10-27T05:48:10.799Z,1761544090.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:10.802Z,1761544090.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 197.132294 m, bearing: 259.483586 deg, approach rate: -0.561143 m/s, LOS rate: 0.083775 deg/s, cmd heading: 273.640218 deg, new cmd heading: 273.730155 deg. 2025-10-27T05:48:10.803Z,1761544090.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.777493 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:10.849Z,1761544090.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822712 2025-10-27T05:48:11.100Z,1761544091.100 [DAT](INFO): Reached modem response timeout 2025-10-27T05:48:11.100Z,1761544091.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:11.100Z,1761544091.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:11.175Z,1761544091.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406857,0.912061,-0.051112],[-0.913096,-0.404398,0.052123],[0.026870,0.067877,0.997332]] 2025-10-27T05:48:11.198Z,1761544091.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:11.200Z,1761544091.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:11.203Z,1761544091.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 196.915558 m, bearing: 259.514148 deg, approach rate: -0.540183 m/s, LOS rate: 0.076255 deg/s, cmd heading: 273.730158 deg, new cmd heading: 273.821945 deg. 2025-10-27T05:48:11.204Z,1761544091.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779095 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:11.354Z,1761544091.354 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:11.581Z,1761544091.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385948,0.921011,-0.052746],[-0.922076,-0.383357,0.053040],[0.028630,0.069107,0.997198]] 2025-10-27T05:48:11.604Z,1761544091.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:11.650Z,1761544091.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:11.657Z,1761544091.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 196.672089 m, bearing: 259.545366 deg, approach rate: -0.541161 m/s, LOS rate: 0.069476 deg/s, cmd heading: 273.821956 deg, new cmd heading: 273.915728 deg. 2025-10-27T05:48:11.658Z,1761544091.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780731 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:11.856Z,1761544091.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:11.994Z,1761544091.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365401,0.929258,-0.054427],[-0.930344,-0.362649,0.054285],[0.030707,0.070471,0.997041]] 2025-10-27T05:48:12.016Z,1761544092.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:12.018Z,1761544092.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 196.456818 m, bearing: 259.571392 deg, approach rate: -0.588515 m/s, LOS rate: 0.071227 deg/s, cmd heading: 273.915721 deg, new cmd heading: 273.993883 deg. 2025-10-27T05:48:12.020Z,1761544092.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782095 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:12.108Z,1761544092.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:12.361Z,1761544092.361 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:12.408Z,1761544092.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344826,0.937000,-0.055913],[-0.938101,-0.341937,0.055194],[0.032598,0.071484,0.996909]] 2025-10-27T05:48:12.459Z,1761544092.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:12.462Z,1761544092.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 196.206238 m, bearing: 259.600946 deg, approach rate: -0.565378 m/s, LOS rate: 0.066767 deg/s, cmd heading: 273.993885 deg, new cmd heading: 274.082661 deg. 2025-10-27T05:48:12.463Z,1761544092.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783645 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:12.612Z,1761544092.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:12.790Z,1761544092.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323620,0.944542,-0.055777],[-0.945543,-0.320664,0.055880],[0.034895,0.070824,0.996878]] 2025-10-27T05:48:12.818Z,1761544092.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:12.821Z,1761544092.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 196.001282 m, bearing: 259.623627 deg, approach rate: -0.570514 m/s, LOS rate: 0.063201 deg/s, cmd heading: 274.082651 deg, new cmd heading: 274.150765 deg. 2025-10-27T05:48:12.822Z,1761544092.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784833 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:12.864Z,1761544092.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:13.116Z,1761544093.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:13.194Z,1761544093.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301725,0.951876,-0.053793],[-0.952667,-0.298811,0.056011],[0.037242,0.068147,0.996980]] 2025-10-27T05:48:13.229Z,1761544093.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:13.231Z,1761544093.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:13.234Z,1761544093.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 195.764008 m, bearing: 259.648139 deg, approach rate: -0.574661 m/s, LOS rate: 0.059439 deg/s, cmd heading: 274.150761 deg, new cmd heading: 274.224387 deg. 2025-10-27T05:48:13.235Z,1761544093.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786119 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:13.380Z,1761544093.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:13.628Z,1761544093.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:13.726Z,1761544093.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:13.730Z,1761544093.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 195.496155 m, bearing: 259.678853 deg, approach rate: -0.541235 m/s, LOS rate: 0.062146 deg/s, cmd heading: 274.224391 deg, new cmd heading: 274.316657 deg. 2025-10-27T05:48:13.752Z,1761544093.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787729 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:13.880Z,1761544093.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:14.006Z,1761544094.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258008,0.964745,-0.051947],[-0.965232,-0.255058,0.057211],[0.041945,0.064902,0.997010]] 2025-10-27T05:48:14.038Z,1761544094.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:14.041Z,1761544094.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 195.321075 m, bearing: 259.696329 deg, approach rate: -0.561258 m/s, LOS rate: 0.056074 deg/s, cmd heading: 274.316653 deg, new cmd heading: 274.369128 deg. 2025-10-27T05:48:14.044Z,1761544094.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788645 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:14.132Z,1761544094.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:14.386Z,1761544094.386 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:14.438Z,1761544094.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235526,0.970485,-0.051838],[-0.970867,-0.232528,0.057865],[0.044103,0.063957,0.996978]] 2025-10-27T05:48:14.529Z,1761544094.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:14.537Z,1761544094.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 195.071518 m, bearing: 259.720284 deg, approach rate: -0.508396 m/s, LOS rate: 0.048863 deg/s, cmd heading: 274.369136 deg, new cmd heading: 274.441093 deg. 2025-10-27T05:48:14.537Z,1761544094.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789901 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:14.636Z,1761544094.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:14.809Z,1761544094.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212593,0.975775,-0.051638],[-0.976054,-0.209568,0.058304],[0.046070,0.062796,0.996962]] 2025-10-27T05:48:14.870Z,1761544094.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:14.873Z,1761544094.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 194.893753 m, bearing: 259.736036 deg, approach rate: -0.520487 m/s, LOS rate: 0.046163 deg/s, cmd heading: 274.441099 deg, new cmd heading: 274.488398 deg. 2025-10-27T05:48:14.874Z,1761544094.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790726 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:14.888Z,1761544094.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:15.140Z,1761544095.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:15.216Z,1761544095.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.189130,0.980554,-0.052375],[-0.980797,-0.186052,0.058492],[0.047610,0.062432,0.996913]] 2025-10-27T05:48:15.239Z,1761544095.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:15.241Z,1761544095.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:15.249Z,1761544095.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 194.683868 m, bearing: 259.753072 deg, approach rate: -0.565606 m/s, LOS rate: 0.045960 deg/s, cmd heading: 274.488391 deg, new cmd heading: 274.539556 deg. 2025-10-27T05:48:15.250Z,1761544095.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791619 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:15.395Z,1761544095.395 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:15.621Z,1761544095.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165142,0.984787,-0.054066],[-0.985072,-0.161993,0.058237],[0.048592,0.062876,0.996838]] 2025-10-27T05:48:15.647Z,1761544095.647 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:15.685Z,1761544095.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:15.688Z,1761544095.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 194.461441 m, bearing: 259.772422 deg, approach rate: -0.501491 m/s, LOS rate: 0.043676 deg/s, cmd heading: 274.539563 deg, new cmd heading: 274.597678 deg. 2025-10-27T05:48:15.689Z,1761544095.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792634 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:15.896Z,1761544095.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:16.022Z,1761544096.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140841,0.988526,-0.054600],[-0.988803,-0.137704,0.057505],[0.049327,0.062088,0.996851]] 2025-10-27T05:48:16.106Z,1761544096.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:16.113Z,1761544096.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 194.249298 m, bearing: 259.789257 deg, approach rate: -0.504026 m/s, LOS rate: 0.040043 deg/s, cmd heading: 274.597674 deg, new cmd heading: 274.648236 deg. 2025-10-27T05:48:16.114Z,1761544096.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793516 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:16.148Z,1761544096.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:16.402Z,1761544096.402 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:16.543Z,1761544096.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:16.546Z,1761544096.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 194.048706 m, bearing: 259.806839 deg, approach rate: -0.458862 m/s, LOS rate: 0.040261 deg/s, cmd heading: 274.648245 deg, new cmd heading: 274.701046 deg. 2025-10-27T05:48:16.547Z,1761544096.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794438 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:16.652Z,1761544096.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:16.897Z,1761544096.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:16.900Z,1761544096.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 193.888596 m, bearing: 259.820900 deg, approach rate: -0.452456 m/s, LOS rate: 0.039766 deg/s, cmd heading: 274.701056 deg, new cmd heading: 274.743272 deg. 2025-10-27T05:48:16.901Z,1761544096.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795175 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:16.904Z,1761544096.904 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:48:16.904Z,1761544096.904 [DAT](INFO): response not received 2025-10-27T05:48:16.905Z,1761544096.905 [DAT](INFO): DAT read: user:515> 2025-10-27T05:48:16.905Z,1761544096.905 [DAT](ERROR): No response from remote modem. 2025-10-27T05:48:16.905Z,1761544096.905 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:48:16.906Z,1761544096.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:17.156Z,1761544097.156 [DAT](INFO): DAT read: Tx time:05:48:16.1719 2025-10-27T05:48:17.156Z,1761544097.156 [DAT](INFO): Ping request sent. 2025-10-27T05:48:17.156Z,1761544097.156 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:17.157Z,1761544097.157 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:17.157Z,1761544097.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769 2025-10-27T05:48:17.255Z,1761544097.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046926,0.997839,-0.045986],[-0.997618,-0.044486,0.052724],[0.050564,0.048351,0.997550]] 2025-10-27T05:48:17.294Z,1761544097.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:17.296Z,1761544097.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:17.299Z,1761544097.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 193.698975 m, bearing: 259.831967 deg, approach rate: -0.475101 m/s, LOS rate: 0.027756 deg/s, cmd heading: 274.743267 deg, new cmd heading: 274.776500 deg. 2025-10-27T05:48:17.300Z,1761544097.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795754 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:17.411Z,1761544097.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254674 2025-10-27T05:48:17.660Z,1761544097.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503556 2025-10-27T05:48:17.729Z,1761544097.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025184,0.998917,-0.039117],[-0.998399,-0.023151,0.051602],[0.050640,0.040354,0.997901]] 2025-10-27T05:48:17.778Z,1761544097.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:17.780Z,1761544097.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 193.490234 m, bearing: 259.843683 deg, approach rate: -0.433442 m/s, LOS rate: 0.024355 deg/s, cmd heading: 274.776489 deg, new cmd heading: 274.811676 deg. 2025-10-27T05:48:17.781Z,1761544097.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796369 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:17.912Z,1761544097.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755819 2025-10-27T05:48:18.129Z,1761544098.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003621,0.999404,-0.034319],[-0.998723,-0.001885,0.050485],[0.050391,0.034458,0.998135]] 2025-10-27T05:48:18.151Z,1761544098.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:18.154Z,1761544098.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 193.327774 m, bearing: 259.851752 deg, approach rate: -0.435078 m/s, LOS rate: 0.021627 deg/s, cmd heading: 274.811678 deg, new cmd heading: 274.835904 deg. 2025-10-27T05:48:18.156Z,1761544098.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796792 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:18.164Z,1761544098.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007562 2025-10-27T05:48:18.416Z,1761544098.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259692 2025-10-27T05:48:18.582Z,1761544098.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:18.605Z,1761544098.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 193.147400 m, bearing: 259.858415 deg, approach rate: -0.418349 m/s, LOS rate: 0.015467 deg/s, cmd heading: 274.835911 deg, new cmd heading: 274.855918 deg. 2025-10-27T05:48:18.606Z,1761544098.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797141 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:18.669Z,1761544098.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512240 2025-10-27T05:48:18.920Z,1761544098.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763429 2025-10-27T05:48:18.935Z,1761544098.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034084,0.999120,-0.024449],[-0.998211,0.035235,0.048307],[0.049126,0.022759,0.998533]] 2025-10-27T05:48:19.001Z,1761544099.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:19.004Z,1761544099.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 192.980194 m, bearing: 259.862728 deg, approach rate: -0.399052 m/s, LOS rate: 0.010302 deg/s, cmd heading: 274.855910 deg, new cmd heading: 274.868860 deg. 2025-10-27T05:48:19.005Z,1761544099.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797367 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:19.173Z,1761544099.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016707 2025-10-27T05:48:19.337Z,1761544099.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049729,0.998647,-0.015227],[-0.997603,0.050400,0.047410],[0.048113,0.012833,0.998759]] 2025-10-27T05:48:19.362Z,1761544099.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:19.368Z,1761544099.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:19.375Z,1761544099.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 192.822159 m, bearing: 259.866084 deg, approach rate: -0.430538 m/s, LOS rate: 0.009152 deg/s, cmd heading: 274.868860 deg, new cmd heading: 274.878939 deg. 2025-10-27T05:48:19.376Z,1761544099.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797543 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:19.424Z,1761544099.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267611 2025-10-27T05:48:19.676Z,1761544099.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519511 2025-10-27T05:48:19.746Z,1761544099.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063459,0.997978,-0.003667],[-0.996870,0.063562,0.047017],[0.047155,0.000672,0.998887]] 2025-10-27T05:48:19.782Z,1761544099.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:19.785Z,1761544099.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 192.642593 m, bearing: 259.868134 deg, approach rate: -0.433705 m/s, LOS rate: 0.004955 deg/s, cmd heading: 274.878941 deg, new cmd heading: 274.885096 deg. 2025-10-27T05:48:19.786Z,1761544099.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797650 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:19.928Z,1761544099.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771597 2025-10-27T05:48:20.157Z,1761544100.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074609,0.997188,0.007106],[-0.996131,0.074195,0.047102],[0.046442,-0.010592,0.998865]] 2025-10-27T05:48:20.180Z,1761544100.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023598 2025-10-27T05:48:20.193Z,1761544100.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:20.200Z,1761544100.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 192.473236 m, bearing: 259.869524 deg, approach rate: -0.412453 m/s, LOS rate: 0.003388 deg/s, cmd heading: 274.885089 deg, new cmd heading: 274.889262 deg. 2025-10-27T05:48:20.201Z,1761544100.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797723 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:20.432Z,1761544100.432 [DAT](INFO): DAT read: Rx Time:05:48:18.8951 2025-10-27T05:48:20.432Z,1761544100.432 [DAT](INFO): Rx dataTimestamp_ set to:1761544100.432148 2025-10-27T05:48:20.433Z,1761544100.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276587 2025-10-27T05:48:20.554Z,1761544100.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083514,0.996337,0.018373],[-0.995461,0.082568,0.047335],[0.045644,-0.022243,0.998710]] 2025-10-27T05:48:20.604Z,1761544100.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.74 m. 2025-10-27T05:48:20.606Z,1761544100.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 207.743668 m, nav range: 192.276367 m, bearing: 259.865991 deg, approach rate: -0.479023 m/s, LOS rate: -0.008604 deg/s, cmd heading: 274.889269 deg, new cmd heading: 274.878660 deg. 2025-10-27T05:48:20.608Z,1761544100.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797538 target range: 207.743668 and range: 208.90 m. 2025-10-27T05:48:20.684Z,1761544100.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527713 2025-10-27T05:48:20.950Z,1761544100.950 [DAT](INFO): DAT read: 05:48:18.8951 LVL= 23664, 32753, 22194, 30163, AGC= 67, IDX= 62,-0.22,-1.224,-2.698,-0.808,-1.329, PHS= 0.207,-1.325, 0.477, RAW= 158.0, 7.7, CAL= 157.5, 7.9, ROT= 352.5, -7.9 2025-10-27T05:48:20.955Z,1761544100.955 [DAT](INFO): got valid direction response: 05:48:18.8951 LVL= 23664, 32753, 22194, 30163, AGC= 67, IDX= 62,-0.22,-1.224,-2.698,-0.808,-1.329, PHS= 0.207,-1.325, 0.477, RAW= 158.0, 7.7, CAL= 157.5, 7.9, ROT= 352.5, -7.9 2025-10-27T05:48:20.957Z,1761544100.957 [DAT](INFO): DAT read: Bearing 65.4, -4.9 (Local) 2025-10-27T05:48:20.958Z,1761544100.958 [DAT](INFO): Local bearing/azimuth received: Bearing 65.4, -4.9 (Local) 2025-10-27T05:48:20.969Z,1761544100.969 [DAT](INFO): DAT read: Range 11 to 50 : 239.2 m (Round-trip 319.0 ms) speed 0.2 m/s 2025-10-27T05:48:20.970Z,1761544100.970 [DAT](INFO): DAT read: user:516> 2025-10-27T05:48:20.973Z,1761544100.973 [DAT](INFO): DAT read: Tx time:05:48:20.0219 2025-10-27T05:48:20.973Z,1761544100.973 [DAT](INFO): Ping request sent. 2025-10-27T05:48:20.974Z,1761544100.974 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:20.974Z,1761544100.974 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:20.995Z,1761544100.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090407,0.995462,0.029687],[-0.994894,0.088933,0.047717],[0.044860,-0.033849,0.998420]] 2025-10-27T05:48:20.991Z,1761544100.991 [DAT](INFO): direction in FSK: [0.982036,-0.129287,0.137445] 2025-10-27T05:48:20.999Z,1761544100.999 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:20.999Z,1761544100.999 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:21.003Z,1761544101.003 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:21.015Z,1761544101.015 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:21.051Z,1761544101.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 239.199997 m, deltaT: 16.396024 s, deltaX: 30.300003 m, approachRate: 1.848009 m/s, rangeRepo size: 4 2025-10-27T05:48:21.053Z,1761544101.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 237.850388 m, bearing: 267.909879 deg, lat: 36.779315 deg, lon: -121.859685 deg, deltaT: 16.396024 s, deltaX: 30.106720 m, approachRate: 1.836221 m/s, posRepo size: 4 2025-10-27T05:48:21.054Z,1761544101.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:21.065Z,1761544101.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 192.076508 m, bearing: 259.862018 deg, approach rate: 0.000000 m/s, LOS rate: -0.008604 deg/s, cmd heading: 274.878668 deg, new cmd heading: 274.867245 deg. 2025-10-27T05:48:21.066Z,1761544101.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797338 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:21.367Z,1761544101.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095243,0.994573,0.041865],[-0.994474,0.093199,0.048324],[0.044160,-0.046236,0.997954]] 2025-10-27T05:48:21.384Z,1761544101.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:21.386Z,1761544101.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:21.390Z,1761544101.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 191.909683 m, bearing: 259.858482 deg, approach rate: -0.490891 m/s, LOS rate: -0.010414 deg/s, cmd heading: 274.867248 deg, new cmd heading: 274.856631 deg. 2025-10-27T05:48:21.391Z,1761544101.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797153 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:21.443Z,1761544101.443 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:21.443Z,1761544101.443 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:21.444Z,1761544101.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:21.696Z,1761544101.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.722588 2025-10-27T05:48:21.769Z,1761544101.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098146,0.993666,0.054728],[-0.994210,0.095484,0.049296],[0.043758,-0.059249,0.997284]] 2025-10-27T05:48:21.822Z,1761544101.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:21.825Z,1761544101.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 191.691116 m, bearing: 259.850870 deg, approach rate: -0.501408 m/s, LOS rate: -0.017485 deg/s, cmd heading: 274.856620 deg, new cmd heading: 274.833755 deg. 2025-10-27T05:48:21.826Z,1761544101.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796754 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:21.948Z,1761544101.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974541 2025-10-27T05:48:22.189Z,1761544102.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099393,0.992522,0.070852],[-0.994085,0.095913,0.050951],[0.043774,-0.075497,0.996185]] 2025-10-27T05:48:22.200Z,1761544102.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226704 2025-10-27T05:48:22.210Z,1761544102.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:22.214Z,1761544102.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 191.496567 m, bearing: 259.844035 deg, approach rate: -0.501550 m/s, LOS rate: -0.017638 deg/s, cmd heading: 274.833753 deg, new cmd heading: 274.813228 deg. 2025-10-27T05:48:22.215Z,1761544102.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796396 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:22.456Z,1761544102.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482314 2025-10-27T05:48:22.598Z,1761544102.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099198,0.991230,0.087305],[-0.994091,0.094832,0.052819],[0.044076,-0.092029,0.994780]] 2025-10-27T05:48:22.646Z,1761544102.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:22.649Z,1761544102.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 191.261139 m, bearing: 259.833485 deg, approach rate: -0.540310 m/s, LOS rate: -0.024242 deg/s, cmd heading: 274.813235 deg, new cmd heading: 274.781546 deg. 2025-10-27T05:48:22.650Z,1761544102.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795843 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:22.705Z,1761544102.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731698 2025-10-27T05:48:22.958Z,1761544102.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984144 2025-10-27T05:48:22.995Z,1761544102.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098252,0.989774,0.103410],[-0.994164,0.092972,0.054710],[0.044536,-0.108182,0.993133]] 2025-10-27T05:48:23.013Z,1761544103.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:23.016Z,1761544103.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 191.061844 m, bearing: 259.824604 deg, approach rate: -0.542478 m/s, LOS rate: -0.024198 deg/s, cmd heading: 274.781543 deg, new cmd heading: 274.754873 deg. 2025-10-27T05:48:23.017Z,1761544103.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795377 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:23.208Z,1761544103.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234481 2025-10-27T05:48:23.386Z,1761544103.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096595,0.988256,0.118405],[-0.994313,0.090453,0.056205],[0.044835,-0.123160,0.991373]] 2025-10-27T05:48:23.404Z,1761544103.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:23.406Z,1761544103.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:23.409Z,1761544103.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 190.849487 m, bearing: 259.815241 deg, approach rate: -0.540778 m/s, LOS rate: -0.023869 deg/s, cmd heading: 274.754878 deg, new cmd heading: 274.726758 deg. 2025-10-27T05:48:23.410Z,1761544103.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794887 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:23.461Z,1761544103.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487606 2025-10-27T05:48:23.713Z,1761544103.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739732 2025-10-27T05:48:23.793Z,1761544103.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094681,0.986985,0.129988],[-0.994483,0.087852,0.057316],[0.045150,-0.134698,0.989857]] 2025-10-27T05:48:23.830Z,1761544103.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:23.853Z,1761544103.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 190.606491 m, bearing: 259.802956 deg, approach rate: -0.572576 m/s, LOS rate: -0.028986 deg/s, cmd heading: 274.726765 deg, new cmd heading: 274.689861 deg. 2025-10-27T05:48:23.854Z,1761544103.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794242 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:23.965Z,1761544103.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990857 2025-10-27T05:48:24.205Z,1761544104.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092928,0.986313,0.136204],[-0.994635,0.085714,0.057920],[0.045453,-0.140856,0.988986]] 2025-10-27T05:48:24.216Z,1761544104.216 [DAT](INFO): DAT read: Rx Time:05:48:22.7409 2025-10-27T05:48:24.217Z,1761544104.217 [DAT](INFO): Rx dataTimestamp_ set to:1761544104.216280 2025-10-27T05:48:24.217Z,1761544104.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243757 2025-10-27T05:48:24.251Z,1761544104.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:24.254Z,1761544104.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 190.379654 m, bearing: 259.791576 deg, approach rate: -0.571692 m/s, LOS rate: -0.028715 deg/s, cmd heading: 274.689854 deg, new cmd heading: 274.655674 deg. 2025-10-27T05:48:24.259Z,1761544104.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793646 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:24.469Z,1761544104.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495919 2025-10-27T05:48:24.623Z,1761544104.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091017,0.985851,0.140761],[-0.994788,0.083483,0.058543],[0.045964,-0.145355,0.988311]] 2025-10-27T05:48:24.677Z,1761544104.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.85 m. 2025-10-27T05:48:24.680Z,1761544104.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.850388 m, nav range: 190.104919 m, bearing: 259.778021 deg, approach rate: -0.610641 m/s, LOS rate: -0.030172 deg/s, cmd heading: 274.655676 deg, new cmd heading: 274.614952 deg. 2025-10-27T05:48:24.681Z,1761544104.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792935 target range: 237.850388 and range: 239.20 m. 2025-10-27T05:48:24.729Z,1761544104.729 [DAT](INFO): DAT read: 05:48:22.7409 LVL= 32752, 32753, 30002, 32755, AGC= 64, IDX= 144,-0.26, 1.275,-0.020, 1.779, 1.177, PHS= 0.200,-1.152, 0.558, RAW= 161.5, 5.1, CAL= 160.5, 4.3, ROT= 349.5, -4.3 2025-10-27T05:48:24.731Z,1761544104.731 [DAT](INFO): got valid direction response: 05:48:22.7409 LVL= 32752, 32753, 30002, 32755, AGC= 64, IDX= 144,-0.26, 1.275,-0.020, 1.779, 1.177, PHS= 0.200,-1.152, 0.558, RAW= 161.5, 5.1, CAL= 160.5, 4.3, ROT= 349.5, -4.3 2025-10-27T05:48:24.732Z,1761544104.732 [DAT](INFO): DAT read: Bearing 61.8, -8.4 (Local) 2025-10-27T05:48:24.733Z,1761544104.733 [DAT](INFO): Local bearing/azimuth received: Bearing 61.8, -8.4 (Local) 2025-10-27T05:48:24.736Z,1761544104.736 [DAT](INFO): DAT read: Range 11 to 50 : 236.1 m (Round-trip 314.8 ms) speed 0.1 m/s 2025-10-27T05:48:24.738Z,1761544104.738 [DAT](INFO): DAT read: user:517> 2025-10-27T05:48:24.740Z,1761544104.740 [DAT](INFO): DAT read: Tx time:05:48:23.8719 2025-10-27T05:48:24.740Z,1761544104.740 [DAT](INFO): Ping request sent. 2025-10-27T05:48:24.740Z,1761544104.740 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:24.741Z,1761544104.741 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:24.742Z,1761544104.742 [DAT](INFO): direction in FSK: [0.980487,-0.181723,0.074979] 2025-10-27T05:48:24.742Z,1761544104.742 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:24.743Z,1761544104.743 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:24.746Z,1761544104.746 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:24.746Z,1761544104.746 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:25.002Z,1761544105.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088787,0.985750,0.142879],[-0.994969,0.081090,0.058826],[0.046401,-0.147384,0.987990]] 2025-10-27T05:48:25.050Z,1761544105.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 236.100006 m, deltaT: 3.784618 s, deltaX: -3.099991 m, approachRate: -0.819103 m/s, rangeRepo size: 4 2025-10-27T05:48:25.056Z,1761544105.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 234.735535 m, bearing: 265.281983 deg, lat: 36.779315 deg, lon: -121.859685 deg, deltaT: 3.784618 s, deltaX: -3.114853 m, approachRate: -0.823030 m/s, posRepo size: 4 2025-10-27T05:48:25.057Z,1761544105.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:25.064Z,1761544105.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 189.890274 m, bearing: 259.767548 deg, approach rate: 0.000000 m/s, LOS rate: -0.030172 deg/s, cmd heading: 274.614941 deg, new cmd heading: 274.581239 deg. 2025-10-27T05:48:25.065Z,1761544105.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792346 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:25.406Z,1761544105.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086391,0.985599,0.145367],[-0.995157,0.078502,0.059164],[0.046900,-0.149774,0.987607]] 2025-10-27T05:48:25.441Z,1761544105.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:25.444Z,1761544105.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:25.450Z,1761544105.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 189.648361 m, bearing: 259.755892 deg, approach rate: -0.613481 m/s, LOS rate: -0.029598 deg/s, cmd heading: 274.581227 deg, new cmd heading: 274.546214 deg. 2025-10-27T05:48:25.452Z,1761544105.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791735 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:25.478Z,1761544105.478 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:25.478Z,1761544105.478 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:25.478Z,1761544105.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:25.729Z,1761544105.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988433 2025-10-27T05:48:25.809Z,1761544105.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084832,0.985457,0.147236],[-0.995279,0.076815,0.059317],[0.047144,-0.151572,0.987321]] 2025-10-27T05:48:25.867Z,1761544105.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:25.870Z,1761544105.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 189.385559 m, bearing: 259.741529 deg, approach rate: -0.626758 m/s, LOS rate: -0.034300 deg/s, cmd heading: 274.546202 deg, new cmd heading: 274.503056 deg. 2025-10-27T05:48:25.875Z,1761544105.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790982 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:25.980Z,1761544105.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239856 2025-10-27T05:48:26.214Z,1761544106.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083105,0.985100,0.150573],[-0.995404,0.074842,0.059746],[0.047586,-0.154846,0.986792]] 2025-10-27T05:48:26.232Z,1761544106.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491809 2025-10-27T05:48:26.254Z,1761544106.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:26.258Z,1761544106.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 189.135025 m, bearing: 259.727924 deg, approach rate: -0.641329 m/s, LOS rate: -0.034874 deg/s, cmd heading: 274.503062 deg, new cmd heading: 274.462192 deg. 2025-10-27T05:48:26.263Z,1761544106.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790269 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:26.485Z,1761544106.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744209 2025-10-27T05:48:26.736Z,1761544106.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996270 2025-10-27T05:48:26.759Z,1761544106.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:26.768Z,1761544106.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 188.827560 m, bearing: 259.712361 deg, approach rate: -0.623596 m/s, LOS rate: -0.031617 deg/s, cmd heading: 274.462191 deg, new cmd heading: 274.415425 deg. 2025-10-27T05:48:26.769Z,1761544106.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789453 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:26.991Z,1761544106.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250961 2025-10-27T05:48:27.184Z,1761544107.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:27.186Z,1761544107.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 188.565140 m, bearing: 259.699037 deg, approach rate: -0.606759 m/s, LOS rate: -0.030848 deg/s, cmd heading: 274.415417 deg, new cmd heading: 274.375392 deg. 2025-10-27T05:48:27.188Z,1761544107.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788754 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:27.240Z,1761544107.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499907 2025-10-27T05:48:27.492Z,1761544107.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752239 2025-10-27T05:48:27.520Z,1761544107.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078244,0.985068,0.153360],[-0.995671,0.069472,0.061756],[0.050179,-0.157528,0.986239]] 2025-10-27T05:48:27.635Z,1761544107.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:27.637Z,1761544107.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:27.644Z,1761544107.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 188.282349 m, bearing: 259.685056 deg, approach rate: -0.617461 m/s, LOS rate: -0.030575 deg/s, cmd heading: 274.375393 deg, new cmd heading: 274.333384 deg. 2025-10-27T05:48:27.645Z,1761544107.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788021 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:27.745Z,1761544107.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004245 2025-10-27T05:48:27.975Z,1761544107.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076616,0.984964,0.154845],[-0.995745,0.067610,0.062618],[0.051207,-0.158983,0.985952]] 2025-10-27T05:48:27.996Z,1761544107.996 [DAT](INFO): DAT read: Rx Time:05:48:26.5378 2025-10-27T05:48:27.996Z,1761544107.996 [DAT](INFO): Rx dataTimestamp_ set to:1761544107.996205 2025-10-27T05:48:27.997Z,1761544107.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256873 2025-10-27T05:48:27.998Z,1761544107.998 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309364620,35.0, +10.5, 0.0,1491.8RA, 0.00, 90.49, 91.01, 86.60 2025-10-27T05:48:28.014Z,1761544108.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:28.017Z,1761544108.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 188.044434 m, bearing: 259.673375 deg, approach rate: -0.631654 m/s, LOS rate: -0.031050 deg/s, cmd heading: 274.333373 deg, new cmd heading: 274.298288 deg. 2025-10-27T05:48:28.018Z,1761544108.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787408 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:28.248Z,1761544108.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507677 2025-10-27T05:48:28.416Z,1761544108.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074748,0.984954,0.155817],[-0.995828,0.065526,0.063513],[0.052347,-0.159915,0.985742]] 2025-10-27T05:48:28.440Z,1761544108.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:28.446Z,1761544108.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 187.783752 m, bearing: 259.660692 deg, approach rate: -0.612454 m/s, LOS rate: -0.029840 deg/s, cmd heading: 274.298293 deg, new cmd heading: 274.260190 deg. 2025-10-27T05:48:28.449Z,1761544108.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786743 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:28.509Z,1761544108.509 [DAT](INFO): DAT read: 05:48:26.5378 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.01, 0.367,-1.074, 0.946, 0.264, PHS= 0.206,-1.293, 0.639, RAW= 162.3, 5.2, CAL= 161.4, 4.3, ROT= 348.6, -4.3 2025-10-27T05:48:28.510Z,1761544108.510 [DAT](INFO): got valid direction response: 05:48:26.5378 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405, 0.01, 0.367,-1.074, 0.946, 0.264, PHS= 0.206,-1.293, 0.639, RAW= 162.3, 5.2, CAL= 161.4, 4.3, ROT= 348.6, -4.3 2025-10-27T05:48:28.511Z,1761544108.511 [DAT](INFO): DAT read: Bearing 61.2, -9.5 (Local) 2025-10-27T05:48:28.511Z,1761544108.511 [DAT](INFO): Local bearing/azimuth received: Bearing 61.2, -9.5 (Local) 2025-10-27T05:48:28.514Z,1761544108.514 [DAT](INFO): DAT read: Range 11 to 50 : 196.3 m (Round-trip 261.8 ms) speed -0.5 m/s 2025-10-27T05:48:28.515Z,1761544108.515 [DAT](INFO): DAT read: user:518> 2025-10-27T05:48:28.516Z,1761544108.516 [DAT](INFO): DAT read: Tx time:05:48:27.6719 2025-10-27T05:48:28.517Z,1761544108.517 [DAT](INFO): Ping request sent. 2025-10-27T05:48:28.517Z,1761544108.517 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:28.517Z,1761544108.517 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:28.522Z,1761544108.522 [DAT](INFO): direction in FSK: [0.977512,-0.197101,0.074979] 2025-10-27T05:48:28.522Z,1761544108.522 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:28.522Z,1761544108.522 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:28.529Z,1761544108.529 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:28.529Z,1761544108.529 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:28.795Z,1761544108.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073196,0.984930,0.156704],[-0.995889,0.063775,0.064334],[0.053371,-0.160769,0.985548]] 2025-10-27T05:48:28.874Z,1761544108.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 196.300003 m, deltaT: 3.782465 s, deltaX: -39.800003 m, approachRate: -10.522240 m/s, rangeRepo size: 4 2025-10-27T05:48:28.874Z,1761544108.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:28.881Z,1761544108.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 187.543839 m, bearing: 259.650475 deg, approach rate: -0.553192 m/s, LOS rate: -0.023587 deg/s, cmd heading: 274.260181 deg, new cmd heading: 274.229492 deg. 2025-10-27T05:48:28.882Z,1761544108.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786208 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:29.193Z,1761544109.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071658,0.984919,0.157482],[-0.995935,0.062013,0.065331],[0.054580,-0.161523,0.985358]] 2025-10-27T05:48:29.284Z,1761544109.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:29.305Z,1761544109.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 187.302216 m, bearing: 259.640271 deg, approach rate: -0.587750 m/s, LOS rate: -0.024853 deg/s, cmd heading: 274.229500 deg, new cmd heading: 274.198848 deg. 2025-10-27T05:48:29.306Z,1761544109.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785673 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:29.644Z,1761544109.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070387,0.984965,0.157764],[-0.995959,0.060549,0.066323],[0.055774,-0.161795,0.985247]] 2025-10-27T05:48:29.768Z,1761544109.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:29.770Z,1761544109.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:29.777Z,1761544109.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 187.068054 m, bearing: 259.632349 deg, approach rate: -0.481797 m/s, LOS rate: -0.016321 deg/s, cmd heading: 274.198846 deg, new cmd heading: 274.175049 deg. 2025-10-27T05:48:29.778Z,1761544109.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785257 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:30.016Z,1761544110.016 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:30.016Z,1761544110.016 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:30.016Z,1761544110.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:30.090Z,1761544110.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069036,0.984910,0.158703],[-0.995947,0.058850,0.068018],[0.057652,-0.162755,0.984981]] 2025-10-27T05:48:30.128Z,1761544110.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:30.130Z,1761544110.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 186.863602 m, bearing: 259.625497 deg, approach rate: -0.571930 m/s, LOS rate: -0.019188 deg/s, cmd heading: 274.175049 deg, new cmd heading: 274.154471 deg. 2025-10-27T05:48:30.132Z,1761544110.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784898 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:30.268Z,1761544110.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751175 2025-10-27T05:48:30.487Z,1761544110.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069265,0.985088,0.157496],[-0.995865,0.058976,0.069094],[0.058775,-0.161631,0.985099]] 2025-10-27T05:48:30.520Z,1761544110.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003331 2025-10-27T05:48:30.525Z,1761544110.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:30.528Z,1761544110.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 186.657669 m, bearing: 259.618574 deg, approach rate: -0.518731 m/s, LOS rate: -0.017459 deg/s, cmd heading: 274.154477 deg, new cmd heading: 274.133684 deg. 2025-10-27T05:48:30.529Z,1761544110.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784535 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:30.775Z,1761544110.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258010 2025-10-27T05:48:30.970Z,1761544110.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:30.993Z,1761544110.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 186.453705 m, bearing: 259.610753 deg, approach rate: -0.457572 m/s, LOS rate: -0.017565 deg/s, cmd heading: 274.133686 deg, new cmd heading: 274.110197 deg. 2025-10-27T05:48:30.994Z,1761544110.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784125 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:31.024Z,1761544111.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507446 2025-10-27T05:48:31.276Z,1761544111.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759224 2025-10-27T05:48:31.303Z,1761544111.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070127,0.984961,0.157906],[-0.995730,0.059592,0.070497],[0.060027,-0.162176,0.984934]] 2025-10-27T05:48:31.335Z,1761544111.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:31.337Z,1761544111.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 186.270828 m, bearing: 259.603674 deg, approach rate: -0.502210 m/s, LOS rate: -0.019459 deg/s, cmd heading: 274.110190 deg, new cmd heading: 274.088932 deg. 2025-10-27T05:48:31.338Z,1761544111.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783754 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:31.528Z,1761544111.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011227 2025-10-27T05:48:31.780Z,1761544111.780 [DAT](INFO): DAT read: Rx Time:05:48:30.3624 2025-10-27T05:48:31.780Z,1761544111.780 [DAT](INFO): Rx dataTimestamp_ set to:1761544111.780151 2025-10-27T05:48:31.781Z,1761544111.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264264 2025-10-27T05:48:31.864Z,1761544111.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:31.866Z,1761544111.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.74 m. 2025-10-27T05:48:31.885Z,1761544111.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 234.735535 m, nav range: 186.047714 m, bearing: 259.599126 deg, approach rate: -0.419511 m/s, LOS rate: -0.008561 deg/s, cmd heading: 274.088934 deg, new cmd heading: 274.075275 deg. 2025-10-27T05:48:31.886Z,1761544111.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783516 target range: 234.735535 and range: 236.10 m. 2025-10-27T05:48:32.032Z,1761544112.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515184 2025-10-27T05:48:32.251Z,1761544112.251 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:48:32.279Z,1761544112.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071471,0.984849,0.157999],[-0.995523,0.060610,0.072529],[0.061853,-0.162475,0.984772]] 2025-10-27T05:48:32.290Z,1761544112.290 [DAT](INFO): DAT read: 05:48:30.3624 LVL= 32752, 32753, 30834, 32755, AGC= 71, IDX= 161,-0.20,-1.805, 3.075,-1.278,-1.901, PHS= 0.197,-1.263, 0.579, RAW= 161.3, 5.8, CAL= 160.5, 5.3, ROT= 349.5, -5.3 2025-10-27T05:48:32.291Z,1761544112.291 [DAT](INFO): got valid direction response: 05:48:30.3624 LVL= 32752, 32753, 30834, 32755, AGC= 71, IDX= 161,-0.20,-1.805, 3.075,-1.278,-1.901, PHS= 0.197,-1.263, 0.579, RAW= 161.3, 5.8, CAL= 160.5, 5.3, ROT= 349.5, -5.3 2025-10-27T05:48:32.292Z,1761544112.292 [DAT](INFO): DAT read: Bearing 63.5, -8.0 (Local) 2025-10-27T05:48:32.292Z,1761544112.292 [DAT](INFO): Local bearing/azimuth received: Bearing 63.5, -8.0 (Local) 2025-10-27T05:48:32.294Z,1761544112.294 [DAT](INFO): DAT read: Range 11 to 50 : 214.7 m (Round-trip 286.3 ms) speed 0.8 m/s 2025-10-27T05:48:32.294Z,1761544112.294 [DAT](INFO): DAT read: user:519> 2025-10-27T05:48:32.296Z,1761544112.296 [DAT](INFO): DAT read: Tx time:05:48:31.4719 2025-10-27T05:48:32.296Z,1761544112.296 [DAT](INFO): Ping request sent. 2025-10-27T05:48:32.296Z,1761544112.296 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:32.296Z,1761544112.296 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:32.297Z,1761544112.297 [DAT](INFO): direction in FSK: [0.979051,-0.181457,0.092371] 2025-10-27T05:48:32.297Z,1761544112.297 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:32.298Z,1761544112.298 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:32.301Z,1761544112.301 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:32.301Z,1761544112.301 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:32.366Z,1761544112.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 214.699997 m, deltaT: 7.563444 s, deltaX: -21.400009 m, approachRate: -2.829400 m/s, rangeRepo size: 4 2025-10-27T05:48:32.369Z,1761544112.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 213.493195 m, bearing: 264.507225 deg, lat: 36.779437 deg, lon: -121.859979 deg, deltaT: 7.563444 s, deltaX: -21.242340 m, approachRate: -2.808554 m/s, posRepo size: 4 2025-10-27T05:48:32.369Z,1761544112.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:32.380Z,1761544112.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 209.967041 m, bearing: 264.507934 deg, approach rate: 0.000000 m/s, LOS rate: -0.008561 deg/s, cmd heading: 274.075274 deg, new cmd heading: 274.062464 deg. 2025-10-27T05:48:32.381Z,1761544112.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783292 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:32.826Z,1761544112.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072872,0.984717,0.158181],[-0.995377,0.061860,0.073466],[0.062558,-0.162803,0.984673]] 2025-10-27T05:48:32.885Z,1761544112.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:32.892Z,1761544112.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 209.747360 m, bearing: 264.510363 deg, approach rate: -0.422552 m/s, LOS rate: 0.004678 deg/s, cmd heading: 274.062461 deg, new cmd heading: 274.069757 deg. 2025-10-27T05:48:32.893Z,1761544112.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783420 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:33.227Z,1761544113.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075020,0.984615,0.157815],[-0.995207,0.063971,0.073970],[0.062736,-0.162607,0.984694]] 2025-10-27T05:48:33.246Z,1761544113.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:33.255Z,1761544113.255 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:48:33.269Z,1761544113.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 209.592667 m, bearing: 264.511987 deg, approach rate: -0.428665 m/s, LOS rate: 0.004502 deg/s, cmd heading: 274.069755 deg, new cmd heading: 274.074629 deg. 2025-10-27T05:48:33.270Z,1761544113.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783504 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:33.638Z,1761544113.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077821,0.984427,0.157627],[-0.995008,0.066783,0.074161],[0.062480,-0.162612,0.984710]] 2025-10-27T05:48:33.725Z,1761544113.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:33.733Z,1761544113.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 209.408142 m, bearing: 264.513784 deg, approach rate: -0.385268 m/s, LOS rate: 0.003755 deg/s, cmd heading: 274.074618 deg, new cmd heading: 274.080014 deg. 2025-10-27T05:48:33.739Z,1761544113.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783599 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:34.094Z,1761544114.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:34.096Z,1761544114.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:34.099Z,1761544114.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 209.248703 m, bearing: 264.516767 deg, approach rate: -0.429070 m/s, LOS rate: 0.008035 deg/s, cmd heading: 274.080028 deg, new cmd heading: 274.088985 deg. 2025-10-27T05:48:34.100Z,1761544114.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783755 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:34.304Z,1761544114.304 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:34.304Z,1761544114.304 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:34.304Z,1761544114.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:34.445Z,1761544114.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084355,0.984190,0.155736],[-0.994648,0.073811,0.072298],[0.059660,-0.161001,0.985149]] 2025-10-27T05:48:34.487Z,1761544114.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:34.490Z,1761544114.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 209.090179 m, bearing: 264.519452 deg, approach rate: -0.405700 m/s, LOS rate: 0.006876 deg/s, cmd heading: 274.088989 deg, new cmd heading: 274.097049 deg. 2025-10-27T05:48:34.491Z,1761544114.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783896 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:34.556Z,1761544114.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260176 2025-10-27T05:48:34.808Z,1761544114.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511945 2025-10-27T05:48:34.848Z,1761544114.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087111,0.984144,0.154505],[-0.994509,0.076883,0.070996],[0.057992,-0.159841,0.985438]] 2025-10-27T05:48:34.902Z,1761544114.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:34.905Z,1761544114.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 208.911835 m, bearing: 264.522244 deg, approach rate: -0.429998 m/s, LOS rate: 0.006737 deg/s, cmd heading: 274.097049 deg, new cmd heading: 274.105432 deg. 2025-10-27T05:48:34.906Z,1761544114.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784042 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:35.060Z,1761544115.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764340 2025-10-27T05:48:35.246Z,1761544115.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089877,0.983952,0.154146],[-0.994372,0.079936,0.069537],[0.056100,-0.159528,0.985598]] 2025-10-27T05:48:35.281Z,1761544115.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:35.288Z,1761544115.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 208.755569 m, bearing: 264.524573 deg, approach rate: -0.411803 m/s, LOS rate: 0.006143 deg/s, cmd heading: 274.105436 deg, new cmd heading: 274.112430 deg. 2025-10-27T05:48:35.289Z,1761544115.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784164 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:35.312Z,1761544115.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016002 2025-10-27T05:48:35.565Z,1761544115.565 [DAT](INFO): DAT read: Rx Time:05:48:34.1579 2025-10-27T05:48:35.565Z,1761544115.565 [DAT](INFO): Rx dataTimestamp_ set to:1761544115.564716 2025-10-27T05:48:35.566Z,1761544115.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269595 2025-10-27T05:48:35.653Z,1761544115.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091885,0.983876,0.153442],[-0.994276,0.082214,0.068235],[0.054519,-0.158834,0.985799]] 2025-10-27T05:48:35.738Z,1761544115.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.49 m. 2025-10-27T05:48:35.741Z,1761544115.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.493195 m, nav range: 208.571274 m, bearing: 264.527223 deg, approach rate: -0.403919 m/s, LOS rate: 0.005812 deg/s, cmd heading: 274.112430 deg, new cmd heading: 274.120385 deg. 2025-10-27T05:48:35.742Z,1761544115.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784303 target range: 213.493195 and range: 214.70 m. 2025-10-27T05:48:35.816Z,1761544115.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520126 2025-10-27T05:48:36.076Z,1761544116.076 [DAT](INFO): DAT read: 05:48:34.1579 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402, 0.21,-2.250, 2.638,-1.740,-2.332, PHS= 0.185,-1.268, 0.549, RAW= 160.9, 6.5, CAL= 160.2, 6.2, ROT= 349.8, -6.2 2025-10-27T05:48:36.077Z,1761544116.077 [DAT](INFO): got valid direction response: 05:48:34.1579 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 402, 0.21,-2.250, 2.638,-1.740,-2.332, PHS= 0.185,-1.268, 0.549, RAW= 160.9, 6.5, CAL= 160.2, 6.2, ROT= 349.8, -6.2 2025-10-27T05:48:36.078Z,1761544116.078 [DAT](INFO): DAT read: Bearing 65.9, -7.5 (Local) 2025-10-27T05:48:36.078Z,1761544116.078 [DAT](INFO): Local bearing/azimuth received: Bearing 65.9, -7.5 (Local) 2025-10-27T05:48:36.091Z,1761544116.091 [DAT](INFO): DAT read: Range 11 to 50 : 211.3 m (Round-trip 281.8 ms) speed 0.6 m/s 2025-10-27T05:48:36.092Z,1761544116.092 [DAT](INFO): DAT read: user:520> 2025-10-27T05:48:36.093Z,1761544116.093 [DAT](INFO): DAT read: Tx time:05:48:35.2719 2025-10-27T05:48:36.093Z,1761544116.093 [DAT](INFO): Ping request sent. 2025-10-27T05:48:36.093Z,1761544116.093 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:36.093Z,1761544116.093 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:36.094Z,1761544116.094 [DAT](INFO): direction in FSK: [0.978439,-0.176049,0.107999] 2025-10-27T05:48:36.103Z,1761544116.103 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:36.103Z,1761544116.103 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:36.106Z,1761544116.106 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:36.107Z,1761544116.107 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:36.110Z,1761544116.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094699,0.983940,0.151306],[-0.994169,0.085600,0.065577],[0.051573,-0.156633,0.986309]] 2025-10-27T05:48:36.246Z,1761544116.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 211.300003 m, deltaT: 3.785695 s, deltaX: -3.399994 m, approachRate: -0.898116 m/s, rangeRepo size: 4 2025-10-27T05:48:36.253Z,1761544116.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 210.088806 m, bearing: 266.253294 deg, lat: 36.779447 deg, lon: -121.859979 deg, deltaT: 3.785695 s, deltaX: -3.404388 m, approachRate: -0.899277 m/s, posRepo size: 4 2025-10-27T05:48:36.253Z,1761544116.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:36.260Z,1761544116.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 208.199905 m, bearing: 264.845680 deg, approach rate: 0.000000 m/s, LOS rate: 0.005812 deg/s, cmd heading: 274.120381 deg, new cmd heading: 274.129238 deg. 2025-10-27T05:48:36.261Z,1761544116.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784458 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:36.571Z,1761544116.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094539,0.984278,0.149193],[-0.994235,0.085736,0.064389],[0.050586,-0.154420,0.986709]] 2025-10-27T05:48:36.589Z,1761544116.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:36.591Z,1761544116.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:36.594Z,1761544116.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 208.021759 m, bearing: 264.845491 deg, approach rate: -0.515359 m/s, LOS rate: -0.000545 deg/s, cmd heading: 274.129233 deg, new cmd heading: 274.128667 deg. 2025-10-27T05:48:36.595Z,1761544116.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784448 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:36.824Z,1761544116.824 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:36.824Z,1761544116.824 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:36.824Z,1761544116.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:36.971Z,1761544116.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093670,0.984359,0.149211],[-0.994376,0.085060,0.063092],[0.049414,-0.154281,0.986791]] 2025-10-27T05:48:37.036Z,1761544117.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:37.039Z,1761544117.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 207.771118 m, bearing: 264.842460 deg, approach rate: -0.563553 m/s, LOS rate: -0.006823 deg/s, cmd heading: 274.128659 deg, new cmd heading: 274.119555 deg. 2025-10-27T05:48:37.040Z,1761544117.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784289 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:37.076Z,1761544117.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982735 2025-10-27T05:48:37.328Z,1761544117.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235191 2025-10-27T05:48:37.381Z,1761544117.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092303,0.984256,0.150732],[-0.994573,0.083836,0.061610],[0.048003,-0.155600,0.986653]] 2025-10-27T05:48:37.419Z,1761544117.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:37.422Z,1761544117.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 207.553406 m, bearing: 264.839907 deg, approach rate: -0.574372 m/s, LOS rate: -0.006744 deg/s, cmd heading: 274.119561 deg, new cmd heading: 274.111892 deg. 2025-10-27T05:48:37.428Z,1761544117.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784155 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:37.580Z,1761544117.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486755 2025-10-27T05:48:37.778Z,1761544117.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090116,0.984363,0.151357],[-0.994849,0.081890,0.059741],[0.046412,-0.155961,0.986672]] 2025-10-27T05:48:37.832Z,1761544117.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738839 2025-10-27T05:48:37.846Z,1761544117.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:37.857Z,1761544117.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 207.273209 m, bearing: 264.834768 deg, approach rate: -0.649948 m/s, LOS rate: -0.011935 deg/s, cmd heading: 274.111884 deg, new cmd heading: 274.096448 deg. 2025-10-27T05:48:37.858Z,1761544117.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783885 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:38.084Z,1761544118.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990839 2025-10-27T05:48:38.200Z,1761544118.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087331,0.984543,0.151815],[-0.995167,0.079352,0.057851],[0.044910,-0.156133,0.986715]] 2025-10-27T05:48:38.220Z,1761544118.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:38.223Z,1761544118.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 207.025497 m, bearing: 264.830407 deg, approach rate: -0.662733 m/s, LOS rate: -0.011682 deg/s, cmd heading: 274.096448 deg, new cmd heading: 274.083348 deg. 2025-10-27T05:48:38.224Z,1761544118.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783657 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:38.337Z,1761544118.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243377 2025-10-27T05:48:38.588Z,1761544118.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494723 2025-10-27T05:48:38.599Z,1761544118.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084239,0.984721,0.152408],[-0.995504,0.076521,0.055831],[0.043315,-0.156426,0.986739]] 2025-10-27T05:48:38.616Z,1761544118.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:38.618Z,1761544118.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:38.639Z,1761544118.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 206.764969 m, bearing: 264.826034 deg, approach rate: -0.654239 m/s, LOS rate: -0.010995 deg/s, cmd heading: 274.083361 deg, new cmd heading: 274.070226 deg. 2025-10-27T05:48:38.640Z,1761544118.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783428 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:38.840Z,1761544118.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746854 2025-10-27T05:48:39.002Z,1761544119.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080442,0.984981,0.152778],[-0.995876,0.072971,0.053901],[0.041943,-0.156483,0.986790]] 2025-10-27T05:48:39.047Z,1761544119.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:39.049Z,1761544119.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 206.453293 m, bearing: 264.817749 deg, approach rate: -0.727632 m/s, LOS rate: -0.019371 deg/s, cmd heading: 274.070220 deg, new cmd heading: 274.045328 deg. 2025-10-27T05:48:39.050Z,1761544119.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782993 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:39.092Z,1761544119.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998955 2025-10-27T05:48:39.344Z,1761544119.344 [DAT](INFO): DAT read: Rx Time:05:48:37.9570 2025-10-27T05:48:39.345Z,1761544119.345 [DAT](INFO): Rx dataTimestamp_ set to:1761544119.344332 2025-10-27T05:48:39.345Z,1761544119.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252001 2025-10-27T05:48:39.464Z,1761544119.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.09 m. 2025-10-27T05:48:39.467Z,1761544119.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.088806 m, nav range: 206.149429 m, bearing: 264.809648 deg, approach rate: -0.727587 m/s, LOS rate: -0.019427 deg/s, cmd heading: 274.045330 deg, new cmd heading: 274.020990 deg. 2025-10-27T05:48:39.468Z,1761544119.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782568 target range: 210.088806 and range: 211.30 m. 2025-10-27T05:48:39.596Z,1761544119.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502808 2025-10-27T05:48:39.854Z,1761544119.854 [DAT](INFO): DAT read: 05:48:37.9570 LVL= 30448, 32753, 29474, 32755, AGC= 65, IDX= 144, 0.50, 0.963,-0.405, 1.435, 0.884, PHS= 0.181,-1.244, 0.507, RAW= 160.1, 6.9, CAL= 159.5, 6.8, ROT= 350.5, -6.8 2025-10-27T05:48:39.855Z,1761544119.855 [DAT](INFO): got valid direction response: 05:48:37.9570 LVL= 30448, 32753, 29474, 32755, AGC= 65, IDX= 144, 0.50, 0.963,-0.405, 1.435, 0.884, PHS= 0.181,-1.244, 0.507, RAW= 160.1, 6.9, CAL= 159.5, 6.8, ROT= 350.5, -6.8 2025-10-27T05:48:39.856Z,1761544119.856 [DAT](INFO): DAT read: Bearing 67.3, -7.6 (Local) 2025-10-27T05:48:39.856Z,1761544119.856 [DAT](INFO): Local bearing/azimuth received: Bearing 67.3, -7.6 (Local) 2025-10-27T05:48:39.858Z,1761544119.858 [DAT](INFO): DAT read: Range 11 to 50 : 210.6 m (Round-trip 280.9 ms) speed -0.1 m/s 2025-10-27T05:48:39.859Z,1761544119.859 [DAT](INFO): DAT read: user:521> 2025-10-27T05:48:39.859Z,1761544119.859 [DAT](INFO): DAT read: Tx time:05:48:39.0719 2025-10-27T05:48:39.860Z,1761544119.860 [DAT](INFO): Ping request sent. 2025-10-27T05:48:39.860Z,1761544119.860 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:39.860Z,1761544119.860 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:39.861Z,1761544119.861 [DAT](INFO): direction in FSK: [0.979348,-0.163886,0.118404] 2025-10-27T05:48:39.861Z,1761544119.861 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:39.862Z,1761544119.862 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:39.881Z,1761544119.881 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:39.881Z,1761544119.881 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:40.120Z,1761544120.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 210.600006 m, deltaT: 3.778484 s, deltaX: -0.699997 m, approachRate: -0.185259 m/s, rangeRepo size: 4 2025-10-27T05:48:40.122Z,1761544120.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 209.381699 m, bearing: 266.234611 deg, lat: 36.779447 deg, lon: -121.859979 deg, deltaT: 3.778484 s, deltaX: -0.707108 m, approachRate: -0.187141 m/s, posRepo size: 4 2025-10-27T05:48:40.127Z,1761544120.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:40.130Z,1761544120.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 205.675949 m, bearing: 264.795331 deg, approach rate: 0.000000 m/s, LOS rate: -0.019427 deg/s, cmd heading: 274.020988 deg, new cmd heading: 273.983052 deg. 2025-10-27T05:48:40.131Z,1761544120.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781906 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:40.516Z,1761544120.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:40.518Z,1761544120.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 205.364899 m, bearing: 264.785889 deg, approach rate: -0.777949 m/s, LOS rate: -0.023650 deg/s, cmd heading: 273.983039 deg, new cmd heading: 273.954671 deg. 2025-10-27T05:48:40.520Z,1761544120.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781411 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:40.942Z,1761544120.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:40.946Z,1761544120.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:40.952Z,1761544120.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 205.076004 m, bearing: 264.778016 deg, approach rate: -0.670253 m/s, LOS rate: -0.018290 deg/s, cmd heading: 273.954680 deg, new cmd heading: 273.931030 deg. 2025-10-27T05:48:40.953Z,1761544120.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780998 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:41.108Z,1761544121.108 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:41.108Z,1761544121.108 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:41.108Z,1761544121.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:41.277Z,1761544121.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054360,0.986302,0.155735],[-0.997851,0.047943,0.044665],[0.036587,-0.157828,0.986789]] 2025-10-27T05:48:41.309Z,1761544121.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:41.311Z,1761544121.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 204.821671 m, bearing: 264.772932 deg, approach rate: -0.701486 m/s, LOS rate: -0.014040 deg/s, cmd heading: 273.931020 deg, new cmd heading: 273.915750 deg. 2025-10-27T05:48:41.312Z,1761544121.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780732 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:41.361Z,1761544121.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500824 2025-10-27T05:48:41.612Z,1761544121.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752021 2025-10-27T05:48:41.682Z,1761544121.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050975,0.986551,0.155303],[-0.998038,0.044659,0.043892],[0.036366,-0.157236,0.986891]] 2025-10-27T05:48:41.704Z,1761544121.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:41.724Z,1761544121.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 204.552567 m, bearing: 264.767799 deg, approach rate: -0.682183 m/s, LOS rate: -0.013029 deg/s, cmd heading: 273.915748 deg, new cmd heading: 273.900329 deg. 2025-10-27T05:48:41.725Z,1761544121.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780463 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:41.864Z,1761544121.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004203 2025-10-27T05:48:42.083Z,1761544122.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048244,0.986406,0.157084],[-0.998181,0.041920,0.043325],[0.036151,-0.158888,0.986635]] 2025-10-27T05:48:42.116Z,1761544122.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256085 2025-10-27T05:48:42.143Z,1761544122.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:42.146Z,1761544122.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 204.291397 m, bearing: 264.762639 deg, approach rate: -0.594786 m/s, LOS rate: -0.011766 deg/s, cmd heading: 273.900339 deg, new cmd heading: 273.884839 deg. 2025-10-27T05:48:42.147Z,1761544122.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780192 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:42.369Z,1761544122.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508874 2025-10-27T05:48:42.488Z,1761544122.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047379,0.986312,0.157935],[-0.998249,0.041146,0.042502],[0.035422,-0.159672,0.986534]] 2025-10-27T05:48:42.608Z,1761544122.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:42.610Z,1761544122.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 204.012833 m, bearing: 264.757182 deg, approach rate: -0.599252 m/s, LOS rate: -0.011756 deg/s, cmd heading: 273.884848 deg, new cmd heading: 273.868454 deg. 2025-10-27T05:48:42.611Z,1761544122.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779906 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:42.620Z,1761544122.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760119 2025-10-27T05:48:42.876Z,1761544122.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015569 2025-10-27T05:48:42.892Z,1761544122.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047903,0.986306,0.157812],[-0.998254,0.041808,0.041720],[0.034551,-0.159535,0.986587]] 2025-10-27T05:48:42.983Z,1761544122.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:42.985Z,1761544122.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:42.990Z,1761544122.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 203.791016 m, bearing: 264.755795 deg, approach rate: -0.586973 m/s, LOS rate: -0.003675 deg/s, cmd heading: 273.868456 deg, new cmd heading: 273.864289 deg. 2025-10-27T05:48:42.991Z,1761544122.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779833 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:43.124Z,1761544123.124 [DAT](INFO): DAT read: Rx Time:05:48:41.7556 2025-10-27T05:48:43.124Z,1761544123.124 [DAT](INFO): Rx dataTimestamp_ set to:1761544123.124065 2025-10-27T05:48:43.125Z,1761544123.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265006 2025-10-27T05:48:43.298Z,1761544123.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049044,0.986546,0.155957],[-0.998219,0.043105,0.041242],[0.033965,-0.157702,0.986903]] 2025-10-27T05:48:43.360Z,1761544123.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:43.362Z,1761544123.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 203.603714 m, bearing: 264.754573 deg, approach rate: -0.499884 m/s, LOS rate: -0.003264 deg/s, cmd heading: 273.864276 deg, new cmd heading: 273.860607 deg. 2025-10-27T05:48:43.367Z,1761544123.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779769 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:43.376Z,1761544123.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516197 2025-10-27T05:48:43.641Z,1761544123.641 [DAT](INFO): DAT read: 05:48:41.7556 LVL= 32752, 32753, 31938, 32755, AGC= 71, IDX= 411,-0.17,-2.363, 2.539,-1.854,-2.440, PHS= 0.179,-1.259, 0.542, RAW= 161.0, 6.6, CAL= 160.3, 6.3, ROT= 349.7, -6.3 2025-10-27T05:48:43.643Z,1761544123.643 [DAT](INFO): got valid direction response: 05:48:41.7556 LVL= 32752, 32753, 31938, 32755, AGC= 71, IDX= 411,-0.17,-2.363, 2.539,-1.854,-2.440, PHS= 0.179,-1.259, 0.542, RAW= 161.0, 6.6, CAL= 160.3, 6.3, ROT= 349.7, -6.3 2025-10-27T05:48:43.652Z,1761544123.652 [DAT](INFO): DAT read: Bearing 66.8, -9.6 (Local) 2025-10-27T05:48:43.653Z,1761544123.653 [DAT](INFO): Local bearing/azimuth received: Bearing 66.8, -9.6 (Local) 2025-10-27T05:48:43.653Z,1761544123.653 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:48:43.654Z,1761544123.654 [DAT](INFO): direction in FSK: [0.977943,-0.177722,0.109734] 2025-10-27T05:48:43.658Z,1761544123.658 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:43.658Z,1761544123.658 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:43.658Z,1761544123.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:48:43.746Z,1761544123.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052093,0.986655,0.154267],[-0.998113,0.046410,0.040215],[0.032518,-0.156070,0.987211]] 2025-10-27T05:48:43.861Z,1761544123.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:43.868Z,1761544123.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 203.344193 m, bearing: 264.752667 deg, approach rate: -0.517794 m/s, LOS rate: -0.003807 deg/s, cmd heading: 273.860615 deg, new cmd heading: 273.854891 deg. 2025-10-27T05:48:43.869Z,1761544123.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779669 target range: 209.381699 and range: 210.60 m. 2025-10-27T05:48:43.881Z,1761544123.881 [DAT](INFO): DAT read: Range 11 to 50 : 209.6 m (Round-trip 279.5 ms) speed 1.9 m/s 2025-10-27T05:48:43.882Z,1761544123.882 [DAT](INFO): DAT read: user:522> 2025-10-27T05:48:43.882Z,1761544123.882 [DAT](INFO): DAT read: Tx time:05:48:42.8719 2025-10-27T05:48:43.883Z,1761544123.883 [DAT](INFO): Ping request sent. 2025-10-27T05:48:43.883Z,1761544123.883 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:43.883Z,1761544123.883 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:48:43.883Z,1761544123.883 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:43.884Z,1761544123.884 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:44.195Z,1761544124.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055329,0.986677,0.152995],[-0.997980,0.049860,0.039357],[0.031204,-0.154863,0.987443]] 2025-10-27T05:48:44.262Z,1761544124.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 209.600006 m, deltaT: 4.031907 s, deltaX: -1.000000 m, approachRate: -0.248022 m/s, rangeRepo size: 4 2025-10-27T05:48:44.262Z,1761544124.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:44.269Z,1761544124.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 203.167068 m, bearing: 264.755825 deg, approach rate: -0.442346 m/s, LOS rate: 0.007894 deg/s, cmd heading: 273.854877 deg, new cmd heading: 273.864360 deg. 2025-10-27T05:48:44.270Z,1761544124.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779835 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:44.597Z,1761544124.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059237,0.986400,0.153315],[-0.997798,0.053918,0.038626],[0.029835,-0.155266,0.987422]] 2025-10-27T05:48:44.629Z,1761544124.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:44.631Z,1761544124.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 203.013046 m, bearing: 264.758400 deg, approach rate: -0.419208 m/s, LOS rate: 0.007012 deg/s, cmd heading: 273.864358 deg, new cmd heading: 273.872086 deg. 2025-10-27T05:48:44.632Z,1761544124.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779970 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:45.002Z,1761544125.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064232,0.986122,0.153096],[-0.997540,0.059128,0.037666],[0.028091,-0.155139,0.987493]] 2025-10-27T05:48:45.053Z,1761544125.053 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:45.059Z,1761544125.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:45.062Z,1761544125.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 202.869537 m, bearing: 264.764219 deg, approach rate: -0.336520 m/s, LOS rate: 0.013655 deg/s, cmd heading: 273.872090 deg, new cmd heading: 273.889559 deg. 2025-10-27T05:48:45.067Z,1761544125.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780274 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:45.140Z,1761544125.140 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:45.140Z,1761544125.140 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:45.141Z,1761544125.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:45.392Z,1761544125.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509294 2025-10-27T05:48:45.415Z,1761544125.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069037,0.985850,0.152756],[-0.997267,0.064160,0.036636],[0.026317,-0.154868,0.987585]] 2025-10-27T05:48:45.448Z,1761544125.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:45.451Z,1761544125.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 202.727859 m, bearing: 264.769773 deg, approach rate: -0.360182 m/s, LOS rate: 0.014130 deg/s, cmd heading: 273.889548 deg, new cmd heading: 273.906221 deg. 2025-10-27T05:48:45.452Z,1761544125.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780565 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:45.644Z,1761544125.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760918 2025-10-27T05:48:45.814Z,1761544125.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074370,0.985603,0.151844],[-0.996932,0.069751,0.035528],[0.024426,-0.154020,0.987766]] 2025-10-27T05:48:45.896Z,1761544125.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012977 2025-10-27T05:48:45.905Z,1761544125.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:45.913Z,1761544125.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 202.571243 m, bearing: 264.775682 deg, approach rate: -0.343214 m/s, LOS rate: 0.012959 deg/s, cmd heading: 273.906213 deg, new cmd heading: 273.923954 deg. 2025-10-27T05:48:45.919Z,1761544125.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780875 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:46.148Z,1761544126.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264883 2025-10-27T05:48:46.216Z,1761544126.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079220,0.985270,0.151552],[-0.996601,0.074832,0.034453],[0.022605,-0.153766,0.987849]] 2025-10-27T05:48:46.277Z,1761544126.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:46.284Z,1761544126.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 202.453125 m, bearing: 264.781967 deg, approach rate: -0.317568 m/s, LOS rate: 0.016909 deg/s, cmd heading: 273.923944 deg, new cmd heading: 273.942812 deg. 2025-10-27T05:48:46.285Z,1761544126.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781204 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:46.402Z,1761544126.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518857 2025-10-27T05:48:46.630Z,1761544126.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084023,0.984903,0.151351],[-0.996247,0.079865,0.033361],[0.020769,-0.153586,0.987917]] 2025-10-27T05:48:46.648Z,1761544126.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:46.652Z,1761544126.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769016 2025-10-27T05:48:46.653Z,1761544126.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 202.326340 m, bearing: 264.788540 deg, approach rate: -0.341176 m/s, LOS rate: 0.017700 deg/s, cmd heading: 273.942823 deg, new cmd heading: 273.962555 deg. 2025-10-27T05:48:46.654Z,1761544126.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781549 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:46.907Z,1761544126.907 [DAT](INFO): DAT read: Rx Time:05:48:45.5246 2025-10-27T05:48:46.909Z,1761544126.909 [DAT](INFO): Rx dataTimestamp_ set to:1761544126.907854 2025-10-27T05:48:46.912Z,1761544126.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027585 2025-10-27T05:48:47.030Z,1761544127.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088317,0.984492,0.151576],[-0.995909,0.084349,0.032427],[0.019139,-0.153819,0.987914]] 2025-10-27T05:48:47.075Z,1761544127.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:47.077Z,1761544127.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:47.080Z,1761544127.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 202.167160 m, bearing: 264.795383 deg, approach rate: -0.371420 m/s, LOS rate: 0.015977 deg/s, cmd heading: 273.962549 deg, new cmd heading: 273.983091 deg. 2025-10-27T05:48:47.081Z,1761544127.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781907 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:47.156Z,1761544127.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272987 2025-10-27T05:48:47.424Z,1761544127.424 [DAT](INFO): DAT read: 05:48:45.5246 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 124, 0.49, 1.651, 0.207, 2.219, 1.603, PHS= 0.150,-1.351, 0.572, RAW= 162.1, 7.2, CAL= 161.5, 7.1, ROT= 348.5, -7.1 2025-10-27T05:48:47.426Z,1761544127.426 [DAT](INFO): got valid direction response: 05:48:45.5246 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 124, 0.49, 1.651, 0.207, 2.219, 1.603, PHS= 0.150,-1.351, 0.572, RAW= 162.1, 7.2, CAL= 161.5, 7.1, ROT= 348.5, -7.1 2025-10-27T05:48:47.428Z,1761544127.428 [DAT](INFO): DAT read: Bearing 69.2, -10.8 (Local) 2025-10-27T05:48:47.428Z,1761544127.428 [DAT](INFO): Local bearing/azimuth received: Bearing 69.2, -10.8 (Local) 2025-10-27T05:48:47.439Z,1761544127.439 [DAT](INFO): DAT read: Range 11 to 50 : 186.3 m (Round-trip 248.5 ms) speed 0.2 m/s 2025-10-27T05:48:47.441Z,1761544127.441 [DAT](INFO): DAT read: user:523> 2025-10-27T05:48:47.442Z,1761544127.442 [DAT](INFO): DAT read: Tx time:05:48:46.6219 2025-10-27T05:48:47.442Z,1761544127.442 [DAT](INFO): Ping request sent. 2025-10-27T05:48:47.442Z,1761544127.442 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:47.451Z,1761544127.451 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:47.452Z,1761544127.452 [DAT](INFO): direction in FSK: [0.972411,-0.197839,0.123601] 2025-10-27T05:48:47.452Z,1761544127.452 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:47.453Z,1761544127.453 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:47.464Z,1761544127.464 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:47.464Z,1761544127.464 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:47.469Z,1761544127.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092323,0.984087,0.151820],[-0.995578,0.088569,0.031320],[0.017375,-0.154041,0.987912]] 2025-10-27T05:48:47.542Z,1761544127.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 186.300003 m, deltaT: 3.528404 s, deltaX: -23.300003 m, approachRate: -6.603553 m/s, rangeRepo size: 4 2025-10-27T05:48:47.543Z,1761544127.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:47.554Z,1761544127.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 202.004868 m, bearing: 264.802179 deg, approach rate: -0.349363 m/s, LOS rate: 0.014643 deg/s, cmd heading: 273.983094 deg, new cmd heading: 274.003500 deg. 2025-10-27T05:48:47.569Z,1761544127.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782263 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:47.954Z,1761544127.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094955,0.983510,0.153920],[-0.995364,0.091427,0.029854],[0.015289,-0.156041,0.987632]] 2025-10-27T05:48:48.005Z,1761544128.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:48.008Z,1761544128.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 201.782303 m, bearing: 264.807760 deg, approach rate: -0.480296 m/s, LOS rate: 0.012058 deg/s, cmd heading: 274.003502 deg, new cmd heading: 274.020265 deg. 2025-10-27T05:48:48.009Z,1761544128.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782556 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:48.339Z,1761544128.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095743,0.983211,0.155338],[-0.995311,0.092404,0.028595],[0.013762,-0.157347,0.987447]] 2025-10-27T05:48:48.378Z,1761544128.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:48.385Z,1761544128.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 201.618866 m, bearing: 264.811832 deg, approach rate: -0.437793 m/s, LOS rate: 0.010916 deg/s, cmd heading: 274.020277 deg, new cmd heading: 274.032503 deg. 2025-10-27T05:48:48.386Z,1761544128.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782769 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:48.757Z,1761544128.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095028,0.983017,0.156997],[-0.995395,0.091834,0.027492],[0.012607,-0.158887,0.987216]] 2025-10-27T05:48:48.805Z,1761544128.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:48.807Z,1761544128.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 201.424042 m, bearing: 264.816738 deg, approach rate: -0.456861 m/s, LOS rate: 0.011515 deg/s, cmd heading: 274.032490 deg, new cmd heading: 274.047221 deg. 2025-10-27T05:48:48.808Z,1761544128.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783026 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:49.146Z,1761544129.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093149,0.982987,0.158302],[-0.995583,0.090077,0.026487],[0.011777,-0.160070,0.987035]] 2025-10-27T05:48:49.193Z,1761544129.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:49.195Z,1761544129.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:49.197Z,1761544129.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 201.198776 m, bearing: 264.815899 deg, approach rate: -0.577380 m/s, LOS rate: -0.002153 deg/s, cmd heading: 274.047216 deg, new cmd heading: 274.044695 deg. 2025-10-27T05:48:49.198Z,1761544129.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782982 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:49.429Z,1761544129.429 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:49.429Z,1761544129.429 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:49.429Z,1761544129.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:49.549Z,1761544129.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090194,0.982898,0.160553],[-0.995860,0.087180,0.025731],[0.011294,-0.162209,0.986692]] 2025-10-27T05:48:49.574Z,1761544129.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:49.577Z,1761544129.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 200.983398 m, bearing: 264.815283 deg, approach rate: -0.567287 m/s, LOS rate: -0.001624 deg/s, cmd heading: 274.044702 deg, new cmd heading: 274.042853 deg. 2025-10-27T05:48:49.578Z,1761544129.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782950 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:49.683Z,1761544129.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240351 2025-10-27T05:48:49.935Z,1761544129.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492041 2025-10-27T05:48:49.974Z,1761544129.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086444,0.982965,0.162194],[-0.996194,0.083462,0.025120],[0.011155,-0.163748,0.986439]] 2025-10-27T05:48:50.018Z,1761544130.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:50.021Z,1761544130.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 200.688843 m, bearing: 264.809815 deg, approach rate: -0.663708 m/s, LOS rate: -0.012339 deg/s, cmd heading: 274.042844 deg, new cmd heading: 274.026416 deg. 2025-10-27T05:48:50.022Z,1761544130.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782663 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:50.184Z,1761544130.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741463 2025-10-27T05:48:50.377Z,1761544130.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:50.380Z,1761544130.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 200.450668 m, bearing: 264.805382 deg, approach rate: -0.664212 m/s, LOS rate: -0.012378 deg/s, cmd heading: 274.026425 deg, new cmd heading: 274.013109 deg. 2025-10-27T05:48:50.381Z,1761544130.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782431 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:50.437Z,1761544130.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994722 2025-10-27T05:48:50.688Z,1761544130.688 [DAT](INFO): DAT read: Rx Time:05:48:49.2717 2025-10-27T05:48:50.688Z,1761544130.688 [DAT](INFO): Rx dataTimestamp_ set to:1761544130.688157 2025-10-27T05:48:50.689Z,1761544130.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246500 2025-10-27T05:48:50.769Z,1761544130.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076945,0.982925,0.167147],[-0.996963,0.073833,0.024761],[0.011998,-0.168545,0.985621]] 2025-10-27T05:48:50.796Z,1761544130.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.38 m. 2025-10-27T05:48:50.798Z,1761544130.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.381699 m, nav range: 200.177505 m, bearing: 264.801044 deg, approach rate: -0.651738 m/s, LOS rate: -0.010364 deg/s, cmd heading: 274.013119 deg, new cmd heading: 274.000088 deg. 2025-10-27T05:48:50.800Z,1761544130.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782204 target range: 209.381699 and range: 209.60 m. 2025-10-27T05:48:50.943Z,1761544130.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499818 2025-10-27T05:48:51.165Z,1761544131.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071570,0.983187,0.167990],[-0.997358,0.068444,0.024333],[0.012426,-0.169288,0.985488]] 2025-10-27T05:48:51.198Z,1761544131.198 [DAT](INFO): DAT read: 05:48:49.2717 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 416, 0.19, 2.340, 0.954, 2.824, 2.210, PHS= 0.232,-1.211, 0.570, RAW= 160.3, 5.1, CAL= 159.4, 4.3, ROT= 350.6, -4.3 2025-10-27T05:48:51.199Z,1761544131.199 [DAT](INFO): got valid direction response: 05:48:49.2717 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 416, 0.19, 2.340, 0.954, 2.824, 2.210, PHS= 0.232,-1.211, 0.570, RAW= 160.3, 5.1, CAL= 159.4, 4.3, ROT= 350.6, -4.3 2025-10-27T05:48:51.200Z,1761544131.200 [DAT](INFO): DAT read: Bearing 66.4, -8.7 (Local) 2025-10-27T05:48:51.200Z,1761544131.200 [DAT](INFO): Local bearing/azimuth received: Bearing 66.4, -8.7 (Local) 2025-10-27T05:48:51.202Z,1761544131.202 [DAT](INFO): DAT read: Range 11 to 50 : 184.2 m (Round-trip 245.7 ms) speed 0.7 m/s 2025-10-27T05:48:51.202Z,1761544131.202 [DAT](INFO): DAT read: user:524> 2025-10-27T05:48:51.203Z,1761544131.203 [DAT](INFO): DAT read: Tx time:05:48:50.3719 2025-10-27T05:48:51.204Z,1761544131.204 [DAT](INFO): Ping request sent. 2025-10-27T05:48:51.204Z,1761544131.204 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:51.204Z,1761544131.204 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:51.205Z,1761544131.205 [DAT](INFO): direction in FSK: [0.983795,-0.162866,0.074979] 2025-10-27T05:48:51.205Z,1761544131.205 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:51.205Z,1761544131.205 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:51.253Z,1761544131.253 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:51.253Z,1761544131.253 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:51.311Z,1761544131.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 184.199997 m, deltaT: 7.311930 s, deltaX: -25.400009 m, approachRate: -3.473776 m/s, rangeRepo size: 4 2025-10-27T05:48:51.313Z,1761544131.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 183.121368 m, bearing: 265.547911 deg, lat: 36.779483 deg, lon: -121.859965 deg, deltaT: 11.343837 s, deltaX: -26.260330 m, approachRate: -2.314943 m/s, posRepo size: 4 2025-10-27T05:48:51.314Z,1761544131.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:51.317Z,1761544131.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 198.209412 m, bearing: 265.914792 deg, approach rate: 0.000000 m/s, LOS rate: -0.010364 deg/s, cmd heading: 274.000087 deg, new cmd heading: 273.984725 deg. 2025-10-27T05:48:51.318Z,1761544131.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781936 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:51.626Z,1761544131.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066168,0.983289,0.169600],[-0.997727,0.063022,0.023871],[0.012784,-0.170794,0.985224]] 2025-10-27T05:48:51.649Z,1761544131.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:51.652Z,1761544131.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:51.654Z,1761544131.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 197.889053 m, bearing: 265.909157 deg, approach rate: -0.885618 m/s, LOS rate: -0.015603 deg/s, cmd heading: 273.984733 deg, new cmd heading: 273.967801 deg. 2025-10-27T05:48:51.655Z,1761544131.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781640 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:51.701Z,1761544131.701 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:51.701Z,1761544131.701 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:51.702Z,1761544131.702 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:51.955Z,1761544131.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750538 2025-10-27T05:48:52.026Z,1761544132.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060726,0.983486,0.170491],[-0.998068,0.057576,0.023368],[0.013166,-0.171580,0.985082]] 2025-10-27T05:48:52.069Z,1761544132.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:52.072Z,1761544132.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 197.556641 m, bearing: 265.901951 deg, approach rate: -0.795804 m/s, LOS rate: -0.017279 deg/s, cmd heading: 273.967794 deg, new cmd heading: 273.946141 deg. 2025-10-27T05:48:52.073Z,1761544132.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781262 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:52.204Z,1761544132.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000755 2025-10-27T05:48:52.444Z,1761544132.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055590,0.983916,0.169761],[-0.998362,0.052473,0.022792],[0.013518,-0.170750,0.985222]] 2025-10-27T05:48:52.456Z,1761544132.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252384 2025-10-27T05:48:52.488Z,1761544132.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:52.490Z,1761544132.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 197.244034 m, bearing: 265.895625 deg, approach rate: -0.747559 m/s, LOS rate: -0.015153 deg/s, cmd heading: 273.946129 deg, new cmd heading: 273.927119 deg. 2025-10-27T05:48:52.499Z,1761544132.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780930 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:52.708Z,1761544132.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504601 2025-10-27T05:48:52.834Z,1761544132.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051112,0.984040,0.170448],[-0.998595,0.047963,0.022544],[0.014009,-0.171361,0.985109]] 2025-10-27T05:48:52.868Z,1761544132.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:52.870Z,1761544132.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 196.921783 m, bearing: 265.889503 deg, approach rate: -0.847414 m/s, LOS rate: -0.016125 deg/s, cmd heading: 273.927114 deg, new cmd heading: 273.908718 deg. 2025-10-27T05:48:52.872Z,1761544132.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780609 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:52.963Z,1761544132.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758646 2025-10-27T05:48:53.212Z,1761544133.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008246 2025-10-27T05:48:53.241Z,1761544133.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047447,0.984587,0.168335],[-0.998767,0.044297,0.022422],[0.014619,-0.169192,0.985475]] 2025-10-27T05:48:53.307Z,1761544133.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:53.309Z,1761544133.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 196.615204 m, bearing: 265.884370 deg, approach rate: -0.705081 m/s, LOS rate: -0.011822 deg/s, cmd heading: 273.908727 deg, new cmd heading: 273.893305 deg. 2025-10-27T05:48:53.310Z,1761544133.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780340 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:53.464Z,1761544133.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260272 2025-10-27T05:48:53.643Z,1761544133.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045026,0.984939,0.166937],[-0.998868,0.041818,0.022683],[0.015361,-0.167769,0.985707]] 2025-10-27T05:48:53.666Z,1761544133.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:53.668Z,1761544133.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:53.670Z,1761544133.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 196.330673 m, bearing: 265.879803 deg, approach rate: -0.779139 m/s, LOS rate: -0.012524 deg/s, cmd heading: 273.893318 deg, new cmd heading: 273.879597 deg. 2025-10-27T05:48:53.672Z,1761544133.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780101 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:53.717Z,1761544133.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512877 2025-10-27T05:48:53.970Z,1761544133.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766096 2025-10-27T05:48:54.048Z,1761544134.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044037,0.985124,0.166105],[-0.998902,0.040763,0.023072],[0.015958,-0.166939,0.985838]] 2025-10-27T05:48:54.090Z,1761544134.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:54.109Z,1761544134.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 196.059982 m, bearing: 265.877124 deg, approach rate: -0.641391 m/s, LOS rate: -0.006358 deg/s, cmd heading: 273.879603 deg, new cmd heading: 273.871553 deg. 2025-10-27T05:48:54.110Z,1761544134.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779960 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:54.223Z,1761544134.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019335 2025-10-27T05:48:54.450Z,1761544134.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044320,0.985587,0.163261],[-0.998894,0.041148,0.022765],[0.015719,-0.164089,0.986320]] 2025-10-27T05:48:54.469Z,1761544134.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:54.471Z,1761544134.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 195.811050 m, bearing: 265.874656 deg, approach rate: -0.657515 m/s, LOS rate: -0.006526 deg/s, cmd heading: 273.871543 deg, new cmd heading: 273.864131 deg. 2025-10-27T05:48:54.472Z,1761544134.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779831 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:54.476Z,1761544134.476 [DAT](INFO): DAT read: Rx Time:05:48:53.0185 2025-10-27T05:48:54.477Z,1761544134.477 [DAT](INFO): Rx dataTimestamp_ set to:1761544134.476242 2025-10-27T05:48:54.477Z,1761544134.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273392 2025-10-27T05:48:54.729Z,1761544134.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525043 2025-10-27T05:48:54.902Z,1761544134.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048327,0.986395,0.157131],[-0.998727,0.045439,0.021920],[0.014482,-0.157991,0.987334]] 2025-10-27T05:48:54.961Z,1761544134.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.12 m. 2025-10-27T05:48:54.978Z,1761544134.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.121368 m, nav range: 195.511459 m, bearing: 265.871387 deg, approach rate: -0.607893 m/s, LOS rate: -0.006644 deg/s, cmd heading: 273.864139 deg, new cmd heading: 273.854316 deg. 2025-10-27T05:48:55.005Z,1761544135.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779659 target range: 183.121368 and range: 184.20 m. 2025-10-27T05:48:55.012Z,1761544135.012 [DAT](INFO): DAT read: 05:48:53.0185 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416,-0.21, 2.004, 0.578, 2.533, 1.930, PHS= 0.176,-1.307, 0.559, RAW= 161.2, 6.8, CAL= 160.6, 6.5, ROT= 349.4, -6.5 2025-10-27T05:48:55.026Z,1761544135.026 [DAT](INFO): got valid direction response: 05:48:53.0185 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416,-0.21, 2.004, 0.578, 2.533, 1.930, PHS= 0.176,-1.307, 0.559, RAW= 161.2, 6.8, CAL= 160.6, 6.5, ROT= 349.4, -6.5 2025-10-27T05:48:55.036Z,1761544135.036 [DAT](INFO): DAT read: Bearing 67.9, -10.9 (Local) 2025-10-27T05:48:55.037Z,1761544135.037 [DAT](INFO): Local bearing/azimuth received: Bearing 67.9, -10.9 (Local) 2025-10-27T05:48:55.038Z,1761544135.038 [DAT](INFO): DAT read: Range 11 to 50 : 181.8 m (Round-trip 242.4 ms) speed 0.5 m/s 2025-10-27T05:48:55.059Z,1761544135.059 [DAT](INFO): DAT read: user:525> 2025-10-27T05:48:55.060Z,1761544135.060 [DAT](INFO): DAT read: Tx time:05:48:54.1219 2025-10-27T05:48:55.060Z,1761544135.060 [DAT](INFO): Ping request sent. 2025-10-27T05:48:55.060Z,1761544135.060 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:55.061Z,1761544135.061 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:55.062Z,1761544135.062 [DAT](INFO): direction in FSK: [0.976617,-0.182769,0.113203] 2025-10-27T05:48:55.062Z,1761544135.062 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:55.062Z,1761544135.062 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:55.082Z,1761544135.082 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:55.082Z,1761544135.082 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:55.307Z,1761544135.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051477,0.986668,0.154393],[-0.998585,0.048785,0.021179],[0.013365,-0.155264,0.987783]] 2025-10-27T05:48:55.381Z,1761544135.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 181.800003 m, deltaT: 3.789665 s, deltaX: -2.399994 m, approachRate: -0.633300 m/s, rangeRepo size: 4 2025-10-27T05:48:55.387Z,1761544135.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 180.725449 m, bearing: 263.458274 deg, lat: 36.779483 deg, lon: -121.859781 deg, deltaT: 3.789665 s, deltaX: -2.395920 m, approachRate: -0.632225 m/s, posRepo size: 4 2025-10-27T05:48:55.388Z,1761544135.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:55.391Z,1761544135.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 178.997467 m, bearing: 265.493963 deg, approach rate: 0.000000 m/s, LOS rate: -0.006644 deg/s, cmd heading: 273.854304 deg, new cmd heading: 273.845951 deg. 2025-10-27T05:48:55.394Z,1761544135.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779513 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:55.715Z,1761544135.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055554,0.986824,0.151960],[-0.998387,0.053111,0.020090],[0.011755,-0.152831,0.988182]] 2025-10-27T05:48:55.800Z,1761544135.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:55.802Z,1761544135.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:55.805Z,1761544135.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 178.751129 m, bearing: 265.491907 deg, approach rate: -0.584542 m/s, LOS rate: -0.004886 deg/s, cmd heading: 273.845944 deg, new cmd heading: 273.839766 deg. 2025-10-27T05:48:55.806Z,1761544135.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779406 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:55.990Z,1761544135.990 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:48:55.990Z,1761544135.990 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:48:55.991Z,1761544135.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:48:56.113Z,1761544136.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060005,0.986932,0.149548],[-0.998145,0.057785,0.019149],[0.010257,-0.150420,0.988569]] 2025-10-27T05:48:56.165Z,1761544136.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:56.187Z,1761544136.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 178.583145 m, bearing: 265.494407 deg, approach rate: -0.463098 m/s, LOS rate: 0.006900 deg/s, cmd heading: 273.839769 deg, new cmd heading: 273.847278 deg. 2025-10-27T05:48:56.188Z,1761544136.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779537 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:56.241Z,1761544136.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.180534 2025-10-27T05:48:56.492Z,1761544136.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.431355 2025-10-27T05:48:56.518Z,1761544136.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064192,0.986748,0.149025],[-0.997902,0.062212,0.017915],[0.008407,-0.149862,0.988671]] 2025-10-27T05:48:56.561Z,1761544136.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:56.564Z,1761544136.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 178.399643 m, bearing: 265.496898 deg, approach rate: -0.463146 m/s, LOS rate: 0.006293 deg/s, cmd heading: 273.847282 deg, new cmd heading: 273.854762 deg. 2025-10-27T05:48:56.565Z,1761544136.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779667 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:56.747Z,1761544136.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.686427 2025-10-27T05:48:56.932Z,1761544136.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068381,0.986628,0.147951],[-0.997638,0.066663,0.016546],[0.006462,-0.148733,0.988856]] 2025-10-27T05:48:56.999Z,1761544136.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.938048 2025-10-27T05:48:57.006Z,1761544137.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:57.016Z,1761544137.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 178.198517 m, bearing: 265.499369 deg, approach rate: -0.453352 m/s, LOS rate: 0.005576 deg/s, cmd heading: 273.854768 deg, new cmd heading: 273.862189 deg. 2025-10-27T05:48:57.031Z,1761544137.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779797 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:57.251Z,1761544137.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190362 2025-10-27T05:48:57.325Z,1761544137.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072847,0.986344,0.147713],[-0.997333,0.071384,0.015193],[0.004441,-0.148426,0.988914]] 2025-10-27T05:48:57.373Z,1761544137.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:57.376Z,1761544137.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 178.039551 m, bearing: 265.503943 deg, approach rate: -0.431803 m/s, LOS rate: 0.012436 deg/s, cmd heading: 273.862199 deg, new cmd heading: 273.875934 deg. 2025-10-27T05:48:57.377Z,1761544137.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780037 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:57.500Z,1761544137.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440081 2025-10-27T05:48:57.736Z,1761544137.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077093,0.986055,0.147486],[-0.997020,0.075846,0.014075],[0.002693,-0.148131,0.988964]] 2025-10-27T05:48:57.752Z,1761544137.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691535 2025-10-27T05:48:57.773Z,1761544137.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:57.776Z,1761544137.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 177.870529 m, bearing: 265.508581 deg, approach rate: -0.421581 m/s, LOS rate: 0.011579 deg/s, cmd heading: 273.875942 deg, new cmd heading: 273.889869 deg. 2025-10-27T05:48:57.777Z,1761544137.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780280 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:58.006Z,1761544138.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945310 2025-10-27T05:48:58.133Z,1761544138.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080632,0.985730,0.147768],[-0.996743,0.079546,0.013256],[0.001312,-0.148356,0.988933]] 2025-10-27T05:48:58.192Z,1761544138.192 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:48:58.194Z,1761544138.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:58.197Z,1761544138.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 177.695312 m, bearing: 265.514437 deg, approach rate: -0.416683 m/s, LOS rate: 0.013941 deg/s, cmd heading: 273.889875 deg, new cmd heading: 273.907462 deg. 2025-10-27T05:48:58.198Z,1761544138.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780587 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:58.257Z,1761544138.257 [DAT](INFO): DAT read: Rx Time:05:48:56.7935 2025-10-27T05:48:58.257Z,1761544138.257 [DAT](INFO): Rx dataTimestamp_ set to:1761544138.257024 2025-10-27T05:48:58.258Z,1761544138.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.197447 2025-10-27T05:48:58.508Z,1761544138.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447522 2025-10-27T05:48:58.537Z,1761544138.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083944,0.985296,0.148813],[-0.996470,0.082992,0.012606],[0.000071,-0.149346,0.988785]] 2025-10-27T05:48:58.678Z,1761544138.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.73 m. 2025-10-27T05:48:58.684Z,1761544138.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.725449 m, nav range: 177.513397 m, bearing: 265.520330 deg, approach rate: -0.376220 m/s, LOS rate: 0.012199 deg/s, cmd heading: 273.907470 deg, new cmd heading: 273.925165 deg. 2025-10-27T05:48:58.685Z,1761544138.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780896 target range: 180.725449 and range: 181.80 m. 2025-10-27T05:48:58.769Z,1761544138.769 [DAT](INFO): DAT read: 05:48:56.7935 LVL= 29008, 32753, 29042, 32755, AGC= 64, IDX= 191,-0.09, 0.858,-0.653, 1.407, 0.794, PHS= 0.166,-1.402, 0.569, RAW= 161.2, 7.4, CAL= 160.7, 7.4, ROT= 349.3, -7.4 2025-10-27T05:48:58.770Z,1761544138.770 [DAT](INFO): got valid direction response: 05:48:56.7935 LVL= 29008, 32753, 29042, 32755, AGC= 64, IDX= 191,-0.09, 0.858,-0.653, 1.407, 0.794, PHS= 0.166,-1.402, 0.569, RAW= 161.2, 7.4, CAL= 160.7, 7.4, ROT= 349.3, -7.4 2025-10-27T05:48:58.772Z,1761544138.772 [DAT](INFO): DAT read: Bearing 70.6, -11.1 (Local) 2025-10-27T05:48:58.772Z,1761544138.772 [DAT](INFO): Local bearing/azimuth received: Bearing 70.6, -11.1 (Local) 2025-10-27T05:48:58.774Z,1761544138.774 [DAT](INFO): DAT read: Range 11 to 50 : 200.5 m (Round-trip 267.4 ms) speed 0.1 m/s 2025-10-27T05:48:58.783Z,1761544138.783 [DAT](INFO): DAT read: user:526> 2025-10-27T05:48:58.784Z,1761544138.784 [DAT](INFO): DAT read: Tx time:05:48:57.9219 2025-10-27T05:48:58.784Z,1761544138.784 [DAT](INFO): Ping request sent. 2025-10-27T05:48:58.785Z,1761544138.785 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:48:58.785Z,1761544138.785 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:48:58.786Z,1761544138.786 [DAT](INFO): direction in FSK: [0.974429,-0.184120,0.128796] 2025-10-27T05:48:58.786Z,1761544138.786 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:58.786Z,1761544138.786 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:58.797Z,1761544138.797 [DAT](INFO): publishing transmit ping time 2025-10-27T05:48:58.798Z,1761544138.798 [DAT](INFO): publishing direction and range info 2025-10-27T05:48:59.008Z,1761544139.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086271,0.984784,0.150860],[-0.996271,0.085395,0.012283],[-0.000787,-0.151357,0.988479]] 2025-10-27T05:48:59.110Z,1761544139.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 200.500000 m, deltaT: 3.778711 s, deltaX: 18.699997 m, approachRate: 4.948777 m/s, rangeRepo size: 4 2025-10-27T05:48:59.116Z,1761544139.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 199.297760 m, bearing: 265.482214 deg, lat: 36.779468 deg, lon: -121.859781 deg, deltaT: 3.778711 s, deltaX: 18.572311 m, approachRate: 4.914986 m/s, posRepo size: 4 2025-10-27T05:48:59.117Z,1761544139.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:48:59.124Z,1761544139.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 177.462723 m, bearing: 264.988857 deg, approach rate: 0.000000 m/s, LOS rate: 0.012199 deg/s, cmd heading: 273.925174 deg, new cmd heading: 273.940976 deg. 2025-10-27T05:48:59.125Z,1761544139.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781172 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:48:59.436Z,1761544139.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087596,0.984311,0.153161],[-0.996155,0.086741,0.012268],[-0.001210,-0.153647,0.988125]] 2025-10-27T05:48:59.484Z,1761544139.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:48:59.487Z,1761544139.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 177.287308 m, bearing: 264.994273 deg, approach rate: -0.467937 m/s, LOS rate: 0.014462 deg/s, cmd heading: 273.940965 deg, new cmd heading: 273.957229 deg. 2025-10-27T05:48:59.488Z,1761544139.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781456 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:48:59.839Z,1761544139.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087746,0.983938,0.155459],[-0.996142,0.086882,0.012357],[-0.001348,-0.155943,0.987765]] 2025-10-27T05:48:59.858Z,1761544139.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:48:59.861Z,1761544139.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 177.124237 m, bearing: 264.999307 deg, approach rate: -0.436083 m/s, LOS rate: 0.013474 deg/s, cmd heading: 273.957221 deg, new cmd heading: 273.972337 deg. 2025-10-27T05:48:59.862Z,1761544139.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781719 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:49:00.242Z,1761544140.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086920,0.983821,0.156656],[-0.996215,0.085993,0.012701],[-0.000976,-0.157167,0.987572]] 2025-10-27T05:49:00.302Z,1761544140.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:00.305Z,1761544140.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:49:00.312Z,1761544140.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 176.904419 m, bearing: 265.002077 deg, approach rate: -0.492307 m/s, LOS rate: 0.006211 deg/s, cmd heading: 273.972329 deg, new cmd heading: 273.980649 deg. 2025-10-27T05:49:00.312Z,1761544140.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781865 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:49:00.524Z,1761544140.524 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:00.524Z,1761544140.524 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:00.525Z,1761544140.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:00.648Z,1761544140.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085585,0.983421,0.159871],[-0.996331,0.084540,0.013340],[-0.000397,-0.160426,0.987048]] 2025-10-27T05:49:00.666Z,1761544140.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:49:00.669Z,1761544140.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 176.701965 m, bearing: 265.004723 deg, approach rate: -0.559661 m/s, LOS rate: 0.007322 deg/s, cmd heading: 273.980662 deg, new cmd heading: 273.988608 deg. 2025-10-27T05:49:00.670Z,1761544140.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782003 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:49:00.776Z,1761544140.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991478 2025-10-27T05:49:01.028Z,1761544141.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243193 2025-10-27T05:49:01.053Z,1761544141.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083377,0.983263,0.161996],[-0.996518,0.082175,0.014114],[0.000565,-0.162608,0.986691]] 2025-10-27T05:49:01.138Z,1761544141.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:49:01.145Z,1761544141.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 176.459671 m, bearing: 265.008072 deg, approach rate: -0.513415 m/s, LOS rate: 0.007106 deg/s, cmd heading: 273.988613 deg, new cmd heading: 273.998673 deg. 2025-10-27T05:49:01.146Z,1761544141.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782179 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:49:01.280Z,1761544141.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495368 2025-10-27T05:49:01.472Z,1761544141.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080950,0.983006,0.164765],[-0.996717,0.079584,0.014883],[0.001518,-0.165428,0.986221]] 2025-10-27T05:49:01.532Z,1761544141.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747486 2025-10-27T05:49:01.537Z,1761544141.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:49:01.544Z,1761544141.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 176.226883 m, bearing: 265.008304 deg, approach rate: -0.583506 m/s, LOS rate: 0.000584 deg/s, cmd heading: 273.998667 deg, new cmd heading: 273.999366 deg. 2025-10-27T05:49:01.545Z,1761544141.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782191 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:49:01.784Z,1761544141.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999318 2025-10-27T05:49:01.875Z,1761544141.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078638,0.982851,0.166791],[-0.996901,0.077144,0.015428],[0.002297,-0.167488,0.985872]] 2025-10-27T05:49:01.905Z,1761544141.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:49:01.910Z,1761544141.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 176.012833 m, bearing: 265.008680 deg, approach rate: -0.582602 m/s, LOS rate: 0.001022 deg/s, cmd heading: 273.999377 deg, new cmd heading: 274.000504 deg. 2025-10-27T05:49:01.912Z,1761544141.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782211 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:49:02.043Z,1761544142.043 [DAT](INFO): DAT read: Rx Time:05:49:00.5927 2025-10-27T05:49:02.044Z,1761544142.044 [DAT](INFO): Rx dataTimestamp_ set to:1761544142.043667 2025-10-27T05:49:02.044Z,1761544142.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259938 2025-10-27T05:49:02.296Z,1761544142.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510943 2025-10-27T05:49:02.342Z,1761544142.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:02.345Z,1761544142.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.30 m. 2025-10-27T05:49:02.347Z,1761544142.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 199.297760 m, nav range: 175.728027 m, bearing: 265.005938 deg, approach rate: -0.647419 m/s, LOS rate: -0.006243 deg/s, cmd heading: 274.000497 deg, new cmd heading: 273.992258 deg. 2025-10-27T05:49:02.348Z,1761544142.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782067 target range: 199.297760 and range: 200.50 m. 2025-10-27T05:49:02.554Z,1761544142.554 [DAT](INFO): DAT read: 05:49:00.5927 LVL= 32752, 32753, 30290, 32755, AGC= 65, IDX= 439, 0.17, 0.362,-1.066, 0.840, 0.265, PHS= 0.199,-1.286, 0.531, RAW= 159.9, 6.7, CAL= 159.3, 6.5, ROT= 350.7, -6.5 2025-10-27T05:49:02.555Z,1761544142.555 [DAT](INFO): got valid direction response: 05:49:00.5927 LVL= 32752, 32753, 30290, 32755, AGC= 65, IDX= 439, 0.17, 0.362,-1.066, 0.840, 0.265, PHS= 0.199,-1.286, 0.531, RAW= 159.9, 6.7, CAL= 159.3, 6.5, ROT= 350.7, -6.5 2025-10-27T05:49:02.556Z,1761544142.556 [DAT](INFO): DAT read: Bearing 69.3, -9.5 (Local) 2025-10-27T05:49:02.557Z,1761544142.557 [DAT](INFO): Local bearing/azimuth received: Bearing 69.3, -9.5 (Local) 2025-10-27T05:49:02.558Z,1761544142.558 [DAT](INFO): DAT read: Range 11 to 50 : 199.9 m (Round-trip 266.6 ms) speed 0.8 m/s 2025-10-27T05:49:02.559Z,1761544142.559 [DAT](INFO): DAT read: user:527> 2025-10-27T05:49:02.560Z,1761544142.560 [DAT](INFO): DAT read: Tx time:05:49:01.7219 2025-10-27T05:49:02.560Z,1761544142.560 [DAT](INFO): Ping request sent. 2025-10-27T05:49:02.560Z,1761544142.560 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:02.560Z,1761544142.560 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:02.561Z,1761544142.561 [DAT](INFO): direction in FSK: [0.980512,-0.160565,0.113203] 2025-10-27T05:49:02.562Z,1761544142.562 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:02.562Z,1761544142.562 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:02.565Z,1761544142.565 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:02.565Z,1761544142.565 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:02.708Z,1761544142.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072963,0.983097,0.167918],[-0.997327,0.071265,0.016124],[0.003885,-0.168646,0.985669]] 2025-10-27T05:49:02.778Z,1761544142.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 199.899994 m, deltaT: 3.787570 s, deltaX: -0.600006 m, approachRate: -0.158415 m/s, rangeRepo size: 4 2025-10-27T05:49:02.784Z,1761544142.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 198.715256 m, bearing: 266.101187 deg, lat: 36.779468 deg, lon: -121.859781 deg, deltaT: 3.787570 s, deltaX: -0.582504 m, approachRate: -0.153794 m/s, posRepo size: 4 2025-10-27T05:49:02.785Z,1761544142.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:02.792Z,1761544142.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 175.467438 m, bearing: 265.003904 deg, approach rate: 0.000000 m/s, LOS rate: -0.006243 deg/s, cmd heading: 273.992246 deg, new cmd heading: 273.984139 deg. 2025-10-27T05:49:02.793Z,1761544142.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781925 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:03.155Z,1761544143.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070382,0.983109,0.168948],[-0.997510,0.068612,0.016296],[0.004429,-0.169674,0.985490]] 2025-10-27T05:49:03.215Z,1761544143.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:03.218Z,1761544143.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 175.179932 m, bearing: 265.000881 deg, approach rate: -0.657172 m/s, LOS rate: -0.006919 deg/s, cmd heading: 273.984132 deg, new cmd heading: 273.975050 deg. 2025-10-27T05:49:03.219Z,1761544143.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781767 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:03.375Z,1761544143.375 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:49:03.529Z,1761544143.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067998,0.983619,0.166943],[-0.997674,0.066241,0.016080],[0.004758,-0.167648,0.985835]] 2025-10-27T05:49:03.548Z,1761544143.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:03.551Z,1761544143.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 174.946976 m, bearing: 264.998617 deg, approach rate: -0.698797 m/s, LOS rate: -0.006803 deg/s, cmd heading: 273.975061 deg, new cmd heading: 273.968258 deg. 2025-10-27T05:49:03.552Z,1761544143.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781648 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:03.928Z,1761544143.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065906,0.983923,0.165986],[-0.997813,0.064150,0.015923],[0.005019,-0.166673,0.985999]] 2025-10-27T05:49:03.946Z,1761544143.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:03.965Z,1761544143.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 174.686127 m, bearing: 264.996258 deg, approach rate: -0.655604 m/s, LOS rate: -0.005937 deg/s, cmd heading: 273.968259 deg, new cmd heading: 273.961172 deg. 2025-10-27T05:49:03.966Z,1761544143.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781525 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:04.393Z,1761544144.393 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:49:04.417Z,1761544144.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:04.419Z,1761544144.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:04.422Z,1761544144.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 174.385742 m, bearing: 264.991509 deg, approach rate: -0.635126 m/s, LOS rate: -0.010058 deg/s, cmd heading: 273.961183 deg, new cmd heading: 273.946911 deg. 2025-10-27T05:49:04.423Z,1761544144.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781276 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:04.564Z,1761544144.564 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:04.564Z,1761544144.564 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:04.564Z,1761544144.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:04.740Z,1761544144.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063263,0.984571,0.163149],[-0.997982,0.061526,0.015682],[0.005403,-0.163812,0.986477]] 2025-10-27T05:49:04.773Z,1761544144.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:04.776Z,1761544144.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 174.164658 m, bearing: 264.988211 deg, approach rate: -0.625222 m/s, LOS rate: -0.009338 deg/s, cmd heading: 273.946921 deg, new cmd heading: 273.937015 deg. 2025-10-27T05:49:04.777Z,1761544144.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781103 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:04.817Z,1761544144.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256533 2025-10-27T05:49:05.068Z,1761544145.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507666 2025-10-27T05:49:05.216Z,1761544145.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:05.219Z,1761544145.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 173.883331 m, bearing: 264.984456 deg, approach rate: -0.634022 m/s, LOS rate: -0.008477 deg/s, cmd heading: 273.937004 deg, new cmd heading: 273.925720 deg. 2025-10-27T05:49:05.220Z,1761544145.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780906 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:05.320Z,1761544145.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759921 2025-10-27T05:49:05.543Z,1761544145.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062996,0.984625,0.162924],[-0.997995,0.061148,0.016338],[0.006125,-0.163626,0.986503]] 2025-10-27T05:49:05.561Z,1761544145.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:05.572Z,1761544145.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012057 2025-10-27T05:49:05.580Z,1761544145.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 173.671188 m, bearing: 264.981636 deg, approach rate: -0.615037 m/s, LOS rate: -0.008185 deg/s, cmd heading: 273.925720 deg, new cmd heading: 273.917251 deg. 2025-10-27T05:49:05.581Z,1761544145.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780758 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:05.590Z,1761544145.590 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T05:39:05.3Z 2025-10-27T05:49:05.590Z,1761544145.590 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T05:49:05.590Z,1761544145.590 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:49:05.590Z,1761544145.590 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T05:49:05.590Z,1761544145.590 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:49:05.590Z,1761544145.590 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T05:49:05.824Z,1761544145.824 [DAT](INFO): DAT read: Rx Time:05:49:04.3893 2025-10-27T05:49:05.824Z,1761544145.824 [DAT](INFO): Rx dataTimestamp_ set to:1761544145.824083 2025-10-27T05:49:05.825Z,1761544145.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264750 2025-10-27T05:49:05.947Z,1761544145.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063544,0.984400,0.164072],[-0.997961,0.061687,0.016389],[0.006012,-0.164779,0.986312]] 2025-10-27T05:49:05.966Z,1761544145.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.72 m. 2025-10-27T05:49:05.969Z,1761544145.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.715256 m, nav range: 173.422241 m, bearing: 264.978267 deg, approach rate: -0.614926 m/s, LOS rate: -0.008336 deg/s, cmd heading: 273.917251 deg, new cmd heading: 273.907127 deg. 2025-10-27T05:49:05.970Z,1761544145.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780581 target range: 198.715256 and range: 199.90 m. 2025-10-27T05:49:05.974Z,1761544145.974 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T05:49:05.974Z,1761544145.974 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T05:49:05.974Z,1761544145.974 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T05:49:05.974Z,1761544145.974 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:49:05.974Z,1761544145.974 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T05:49:06.076Z,1761544146.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515907 2025-10-27T05:49:06.334Z,1761544146.334 [DAT](INFO): DAT read: 05:49:04.3893 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 399,-0.15, 2.935, 1.513,-2.853, 2.869, PHS= 0.168,-1.311, 0.517, RAW= 160.4, 7.5, CAL= 159.9, 7.5, ROT= 350.1, -7.5 2025-10-27T05:49:06.335Z,1761544146.335 [DAT](INFO): got valid direction response: 05:49:04.3893 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 399,-0.15, 2.935, 1.513,-2.853, 2.869, PHS= 0.168,-1.311, 0.517, RAW= 160.4, 7.5, CAL= 159.9, 7.5, ROT= 350.1, -7.5 2025-10-27T05:49:06.336Z,1761544146.336 [DAT](INFO): DAT read: Bearing 70.7, -10.6 (Local) 2025-10-27T05:49:06.336Z,1761544146.336 [DAT](INFO): Local bearing/azimuth received: Bearing 70.7, -10.6 (Local) 2025-10-27T05:49:06.338Z,1761544146.338 [DAT](INFO): DAT read: Range 11 to 50 : 197.4 m (Round-trip 263.2 ms) speed 0.4 m/s 2025-10-27T05:49:06.338Z,1761544146.338 [DAT](INFO): DAT read: user:528> 2025-10-27T05:49:06.339Z,1761544146.339 [DAT](INFO): DAT read: Tx time:05:49:05.5219 2025-10-27T05:49:06.340Z,1761544146.340 [DAT](INFO): Ping request sent. 2025-10-27T05:49:06.340Z,1761544146.340 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:06.340Z,1761544146.340 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:06.341Z,1761544146.341 [DAT](INFO): direction in FSK: [0.976682,-0.170458,0.130526] 2025-10-27T05:49:06.341Z,1761544146.341 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:06.341Z,1761544146.341 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:06.353Z,1761544146.353 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:06.353Z,1761544146.353 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:06.648Z,1761544146.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065126,0.984276,0.164193],[-0.997861,0.063302,0.016321],[0.005670,-0.164904,0.986293]] 2025-10-27T05:49:06.709Z,1761544146.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 197.399994 m, deltaT: 3.780077 s, deltaX: -2.500000 m, approachRate: -0.661362 m/s, rangeRepo size: 4 2025-10-27T05:49:06.717Z,1761544146.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 196.235352 m, bearing: 265.189984 deg, lat: 36.779468 deg, lon: -121.860000 deg, deltaT: 3.780077 s, deltaX: -2.479904 m, approachRate: -0.656046 m/s, posRepo size: 4 2025-10-27T05:49:06.718Z,1761544146.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:06.726Z,1761544146.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 192.445297 m, bearing: 265.481102 deg, approach rate: 0.000000 m/s, LOS rate: -0.008336 deg/s, cmd heading: 273.907115 deg, new cmd heading: 273.888565 deg. 2025-10-27T05:49:06.733Z,1761544146.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780257 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:07.049Z,1761544147.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065577,0.984297,0.163890],[-0.997832,0.063762,0.016313],[0.005607,-0.164604,0.986344]] 2025-10-27T05:49:07.066Z,1761544147.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:07.068Z,1761544147.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:07.084Z,1761544147.084 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:07.084Z,1761544147.084 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:07.084Z,1761544147.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:07.091Z,1761544147.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 192.222794 m, bearing: 265.479698 deg, approach rate: -0.617747 m/s, LOS rate: -0.003904 deg/s, cmd heading: 273.888564 deg, new cmd heading: 273.884346 deg. 2025-10-27T05:49:07.092Z,1761544147.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780184 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:07.336Z,1761544147.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996470 2025-10-27T05:49:07.451Z,1761544147.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066494,0.984361,0.163134],[-0.997773,0.064729,0.016119],[0.005308,-0.163842,0.986472]] 2025-10-27T05:49:07.505Z,1761544147.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:07.512Z,1761544147.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 191.995041 m, bearing: 265.480117 deg, approach rate: -0.521079 m/s, LOS rate: 0.000961 deg/s, cmd heading: 273.884357 deg, new cmd heading: 273.885616 deg. 2025-10-27T05:49:07.513Z,1761544147.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780206 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:07.589Z,1761544147.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248916 2025-10-27T05:49:07.840Z,1761544147.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500087 2025-10-27T05:49:07.856Z,1761544147.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067580,0.984373,0.162615],[-0.997702,0.065865,0.015919],[0.004960,-0.163317,0.986561]] 2025-10-27T05:49:07.895Z,1761544147.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:07.913Z,1761544147.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 191.786880 m, bearing: 265.480436 deg, approach rate: -0.563607 m/s, LOS rate: 0.000864 deg/s, cmd heading: 273.885613 deg, new cmd heading: 273.886570 deg. 2025-10-27T05:49:07.914Z,1761544147.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780222 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:08.092Z,1761544148.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752112 2025-10-27T05:49:08.325Z,1761544148.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:08.328Z,1761544148.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 191.553802 m, bearing: 265.482064 deg, approach rate: -0.517680 m/s, LOS rate: 0.003620 deg/s, cmd heading: 273.886570 deg, new cmd heading: 273.891459 deg. 2025-10-27T05:49:08.329Z,1761544148.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780308 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:08.347Z,1761544148.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007305 2025-10-27T05:49:08.601Z,1761544148.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261298 2025-10-27T05:49:08.661Z,1761544148.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070139,0.984407,0.161315],[-0.997530,0.068610,0.015038],[0.003735,-0.161972,0.986788]] 2025-10-27T05:49:08.752Z,1761544148.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:08.755Z,1761544148.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 191.328522 m, bearing: 265.483473 deg, approach rate: -0.527117 m/s, LOS rate: 0.003300 deg/s, cmd heading: 273.891460 deg, new cmd heading: 273.895691 deg. 2025-10-27T05:49:08.756Z,1761544148.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780382 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:08.852Z,1761544148.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512293 2025-10-27T05:49:09.089Z,1761544149.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071231,0.984636,0.159430],[-0.997456,0.069876,0.014097],[0.002740,-0.160029,0.987109]] 2025-10-27T05:49:09.104Z,1761544149.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764294 2025-10-27T05:49:09.134Z,1761544149.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:09.140Z,1761544149.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:09.147Z,1761544149.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 191.130173 m, bearing: 265.484656 deg, approach rate: -0.510957 m/s, LOS rate: 0.003052 deg/s, cmd heading: 273.895695 deg, new cmd heading: 273.899249 deg. 2025-10-27T05:49:09.150Z,1761544149.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780444 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:09.356Z,1761544149.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016123 2025-10-27T05:49:09.490Z,1761544149.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072414,0.984688,0.158576],[-0.997373,0.071189,0.013397],[0.001903,-0.159129,0.987256]] 2025-10-27T05:49:09.561Z,1761544149.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:09.564Z,1761544149.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 190.908264 m, bearing: 265.485759 deg, approach rate: -0.527268 m/s, LOS rate: 0.002623 deg/s, cmd heading: 273.899246 deg, new cmd heading: 273.902558 deg. 2025-10-27T05:49:09.565Z,1761544149.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780501 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:09.609Z,1761544149.609 [DAT](INFO): DAT read: Rx Time:05:49:08.1575 2025-10-27T05:49:09.609Z,1761544149.609 [DAT](INFO): Rx dataTimestamp_ set to:1761544149.609129 2025-10-27T05:49:09.610Z,1761544149.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270573 2025-10-27T05:49:09.860Z,1761544149.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520121 2025-10-27T05:49:09.901Z,1761544149.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073197,0.984567,0.158965],[-0.997317,0.072211,0.011981],[0.000317,-0.159416,0.987211]] 2025-10-27T05:49:09.940Z,1761544149.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:09.942Z,1761544149.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 190.708237 m, bearing: 265.486706 deg, approach rate: -0.528382 m/s, LOS rate: 0.002505 deg/s, cmd heading: 273.902552 deg, new cmd heading: 273.905397 deg. 2025-10-27T05:49:09.944Z,1761544149.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780551 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:10.117Z,1761544150.117 [DAT](INFO): DAT read: 05:49:08.1575 LVL= 32752, 32753, 29842, 32755, AGC= 70, IDX= 110, 0.28,-1.620,-3.084,-1.068,-1.708, PHS= 0.190,-1.331, 0.595, RAW= 161.5, 6.3, CAL= 160.8, 5.8, ROT= 349.2, -5.8 2025-10-27T05:49:10.119Z,1761544150.119 [DAT](INFO): got valid direction response: 05:49:08.1575 LVL= 32752, 32753, 29842, 32755, AGC= 70, IDX= 110, 0.28,-1.620,-3.084,-1.068,-1.708, PHS= 0.190,-1.331, 0.595, RAW= 161.5, 6.3, CAL= 160.8, 5.8, ROT= 349.2, -5.8 2025-10-27T05:49:10.120Z,1761544150.120 [DAT](INFO): DAT read: Bearing 70.5, -11.3 (Local) 2025-10-27T05:49:10.120Z,1761544150.120 [DAT](INFO): Local bearing/azimuth received: Bearing 70.5, -11.3 (Local) 2025-10-27T05:49:10.121Z,1761544150.121 [DAT](INFO): DAT read: Range 11 to 50 : 173.5 m (Round-trip 231.4 ms) speed 0.4 m/s 2025-10-27T05:49:10.122Z,1761544150.122 [DAT](INFO): DAT read: user:529> 2025-10-27T05:49:10.125Z,1761544150.125 [DAT](INFO): DAT read: Tx time:05:49:09.2719 2025-10-27T05:49:10.126Z,1761544150.126 [DAT](INFO): Ping request sent. 2025-10-27T05:49:10.127Z,1761544150.127 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:10.128Z,1761544150.128 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:10.167Z,1761544150.167 [DAT](INFO): direction in FSK: [0.977259,-0.186422,0.101056] 2025-10-27T05:49:10.167Z,1761544150.167 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:10.168Z,1761544150.168 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:10.185Z,1761544150.185 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:10.186Z,1761544150.186 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:10.294Z,1761544150.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072987,0.984330,0.160525],[-0.997332,0.072252,0.010420],[-0.001341,-0.160857,0.986977]] 2025-10-27T05:49:10.422Z,1761544150.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 173.500000 m, deltaT: 3.783891 s, deltaX: -23.899994 m, approachRate: -6.316248 m/s, rangeRepo size: 4 2025-10-27T05:49:10.423Z,1761544150.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:10.426Z,1761544150.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 190.469040 m, bearing: 265.488569 deg, approach rate: -0.496705 m/s, LOS rate: 0.003873 deg/s, cmd heading: 273.905394 deg, new cmd heading: 273.910989 deg. 2025-10-27T05:49:10.435Z,1761544150.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780649 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:10.738Z,1761544150.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072268,0.984237,0.161417],[-0.997381,0.071766,0.008943],[-0.002782,-0.161641,0.986846]] 2025-10-27T05:49:10.765Z,1761544150.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:10.768Z,1761544150.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 190.269241 m, bearing: 265.490169 deg, approach rate: -0.581373 m/s, LOS rate: 0.004660 deg/s, cmd heading: 273.910994 deg, new cmd heading: 273.915799 deg. 2025-10-27T05:49:10.769Z,1761544150.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780733 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:11.135Z,1761544151.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071579,0.983975,0.163307],[-0.997427,0.071280,0.007698],[-0.004066,-0.163438,0.986545]] 2025-10-27T05:49:11.152Z,1761544151.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:11.154Z,1761544151.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:11.157Z,1761544151.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 190.062103 m, bearing: 265.491868 deg, approach rate: -0.532223 m/s, LOS rate: 0.004371 deg/s, cmd heading: 273.915803 deg, new cmd heading: 273.920906 deg. 2025-10-27T05:49:11.158Z,1761544151.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780822 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:11.377Z,1761544151.377 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:11.377Z,1761544151.377 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:11.378Z,1761544151.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:11.538Z,1761544151.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071241,0.983813,0.164428],[-0.997445,0.071146,0.006475],[-0.005329,-0.164469,0.986368]] 2025-10-27T05:49:11.587Z,1761544151.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:11.590Z,1761544151.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 189.822098 m, bearing: 265.493756 deg, approach rate: -0.554820 m/s, LOS rate: 0.004370 deg/s, cmd heading: 273.920912 deg, new cmd heading: 273.926583 deg. 2025-10-27T05:49:11.591Z,1761544151.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780921 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:11.628Z,1761544151.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501913 2025-10-27T05:49:11.881Z,1761544151.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755190 2025-10-27T05:49:11.943Z,1761544151.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070360,0.983797,0.164901],[-0.997505,0.070355,0.005878],[-0.005819,-0.164904,0.986293]] 2025-10-27T05:49:11.962Z,1761544151.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:11.965Z,1761544151.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 189.614044 m, bearing: 265.495450 deg, approach rate: -0.554795 m/s, LOS rate: 0.004524 deg/s, cmd heading: 273.926594 deg, new cmd heading: 273.931684 deg. 2025-10-27T05:49:11.966Z,1761544151.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781010 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:12.132Z,1761544152.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005784 2025-10-27T05:49:12.349Z,1761544152.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069964,0.983529,0.166658],[-0.997533,0.069954,0.005939],[-0.005817,-0.166663,0.985997]] 2025-10-27T05:49:12.384Z,1761544152.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258403 2025-10-27T05:49:12.429Z,1761544152.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:12.436Z,1761544152.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 189.358261 m, bearing: 265.496772 deg, approach rate: -0.547691 m/s, LOS rate: 0.002834 deg/s, cmd heading: 273.931676 deg, new cmd heading: 273.935646 deg. 2025-10-27T05:49:12.437Z,1761544152.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781079 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:12.636Z,1761544152.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509740 2025-10-27T05:49:12.761Z,1761544152.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069365,0.983594,0.166527],[-0.997578,0.069249,0.006508],[-0.005130,-0.166575,0.986015]] 2025-10-27T05:49:12.781Z,1761544152.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:12.784Z,1761544152.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 189.161789 m, bearing: 265.497826 deg, approach rate: -0.558129 m/s, LOS rate: 0.002997 deg/s, cmd heading: 273.935638 deg, new cmd heading: 273.938802 deg. 2025-10-27T05:49:12.785Z,1761544152.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781134 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:12.890Z,1761544152.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763599 2025-10-27T05:49:13.140Z,1761544153.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013640 2025-10-27T05:49:13.162Z,1761544153.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069187,0.983530,0.166981],[-0.997594,0.068961,0.007159],[-0.004474,-0.167074,0.985934]] 2025-10-27T05:49:13.178Z,1761544153.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:13.180Z,1761544153.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:13.183Z,1761544153.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 188.940857 m, bearing: 265.499024 deg, approach rate: -0.552967 m/s, LOS rate: 0.003003 deg/s, cmd heading: 273.938807 deg, new cmd heading: 273.942406 deg. 2025-10-27T05:49:13.184Z,1761544153.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781197 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:13.395Z,1761544153.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268893 2025-10-27T05:49:13.626Z,1761544153.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069174,0.983299,0.168340],[-0.997598,0.068806,0.008023],[-0.003694,-0.168491,0.985696]] 2025-10-27T05:49:13.644Z,1761544153.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517918 2025-10-27T05:49:13.665Z,1761544153.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:13.692Z,1761544153.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 188.670151 m, bearing: 265.499917 deg, approach rate: -0.558410 m/s, LOS rate: 0.001845 deg/s, cmd heading: 273.942413 deg, new cmd heading: 273.945096 deg. 2025-10-27T05:49:13.693Z,1761544153.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781244 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:13.897Z,1761544153.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770742 2025-10-27T05:49:14.017Z,1761544154.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068919,0.983499,0.167273],[-0.997618,0.068410,0.008811],[-0.002778,-0.167482,0.985871]] 2025-10-27T05:49:14.044Z,1761544154.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:14.047Z,1761544154.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 188.458633 m, bearing: 265.500636 deg, approach rate: -0.558167 m/s, LOS rate: 0.001900 deg/s, cmd heading: 273.945091 deg, new cmd heading: 273.947251 deg. 2025-10-27T05:49:14.048Z,1761544154.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781281 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:14.148Z,1761544154.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021907 2025-10-27T05:49:14.400Z,1761544154.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274092 2025-10-27T05:49:14.422Z,1761544154.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068532,0.983826,0.165500],[-0.997647,0.067871,0.009656],[-0.001733,-0.165772,0.986163]] 2025-10-27T05:49:14.478Z,1761544154.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:14.481Z,1761544154.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 188.204834 m, bearing: 265.501103 deg, approach rate: -0.584698 m/s, LOS rate: 0.001078 deg/s, cmd heading: 273.947249 deg, new cmd heading: 273.948652 deg. 2025-10-27T05:49:14.482Z,1761544154.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781306 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:14.652Z,1761544154.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525750 2025-10-27T05:49:14.828Z,1761544154.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068418,0.984159,0.163555],[-0.997656,0.067667,0.010163],[-0.001066,-0.163867,0.986482]] 2025-10-27T05:49:14.848Z,1761544154.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:14.850Z,1761544154.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 187.989166 m, bearing: 265.501513 deg, approach rate: -0.584065 m/s, LOS rate: 0.001110 deg/s, cmd heading: 273.948642 deg, new cmd heading: 273.949872 deg. 2025-10-27T05:49:14.851Z,1761544154.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781327 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:14.907Z,1761544154.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781055 2025-10-27T05:49:15.156Z,1761544155.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029837 2025-10-27T05:49:15.230Z,1761544155.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068467,0.984340,0.162441],[-0.997653,0.067668,0.010450],[-0.000706,-0.162775,0.986663]] 2025-10-27T05:49:15.262Z,1761544155.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:15.283Z,1761544155.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:15.301Z,1761544155.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 187.752670 m, bearing: 265.501962 deg, approach rate: -0.558404 m/s, LOS rate: 0.001062 deg/s, cmd heading: 273.949872 deg, new cmd heading: 273.951221 deg. 2025-10-27T05:49:15.309Z,1761544155.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781351 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:15.345Z,1761544155.345 [CTD_Seabird](ERROR): Failed to parse device response: 63.36,10.6308,3.741.61 2025-10-27T05:49:15.408Z,1761544155.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281836 2025-10-27T05:49:15.660Z,1761544155.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533881 2025-10-27T05:49:15.693Z,1761544155.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:15.695Z,1761544155.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 187.482040 m, bearing: 265.499873 deg, approach rate: -0.642006 m/s, LOS rate: -0.004964 deg/s, cmd heading: 273.951210 deg, new cmd heading: 273.944933 deg. 2025-10-27T05:49:15.696Z,1761544155.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781241 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:15.912Z,1761544155.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785901 2025-10-27T05:49:16.038Z,1761544156.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067239,0.985068,0.158491],[-0.997737,0.066278,0.011348],[0.000674,-0.158896,0.987295]] 2025-10-27T05:49:16.057Z,1761544156.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:16.059Z,1761544156.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 187.257919 m, bearing: 265.498228 deg, approach rate: -0.615638 m/s, LOS rate: -0.004522 deg/s, cmd heading: 273.944927 deg, new cmd heading: 273.939988 deg. 2025-10-27T05:49:16.060Z,1761544156.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781155 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:16.164Z,1761544156.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038329 2025-10-27T05:49:16.416Z,1761544156.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289807 2025-10-27T05:49:16.442Z,1761544156.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066768,0.985373,0.156789],[-0.997768,0.065775,0.011522],[0.001041,-0.157209,0.987565]] 2025-10-27T05:49:16.492Z,1761544156.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:16.494Z,1761544156.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 186.996399 m, bearing: 265.494811 deg, approach rate: -0.600850 m/s, LOS rate: -0.007861 deg/s, cmd heading: 273.939982 deg, new cmd heading: 273.929717 deg. 2025-10-27T05:49:16.496Z,1761544156.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780975 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:16.668Z,1761544156.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541937 2025-10-27T05:49:16.849Z,1761544156.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065644,0.985775,0.154723],[-0.997842,0.064624,0.011622],[0.001458,-0.155152,0.987889]] 2025-10-27T05:49:16.875Z,1761544156.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:16.880Z,1761544156.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 186.770386 m, bearing: 265.491934 deg, approach rate: -0.590844 m/s, LOS rate: -0.007532 deg/s, cmd heading: 273.929709 deg, new cmd heading: 273.921065 deg. 2025-10-27T05:49:16.882Z,1761544156.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780825 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:16.920Z,1761544156.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793889 2025-10-27T05:49:17.172Z,1761544157.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046113 2025-10-27T05:49:17.249Z,1761544157.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064758,0.986028,0.153479],[-0.997899,0.063713,0.011722],[0.001780,-0.153916,0.988082]] 2025-10-27T05:49:17.267Z,1761544157.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:17.269Z,1761544157.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:17.272Z,1761544157.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 186.528549 m, bearing: 265.488916 deg, approach rate: -0.612161 m/s, LOS rate: -0.007649 deg/s, cmd heading: 273.921076 deg, new cmd heading: 273.912010 deg. 2025-10-27T05:49:17.273Z,1761544157.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780666 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:17.424Z,1761544157.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297765 2025-10-27T05:49:17.680Z,1761544157.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553904 2025-10-27T05:49:17.753Z,1761544157.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:17.760Z,1761544157.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 186.229965 m, bearing: 265.485554 deg, approach rate: -0.617384 m/s, LOS rate: -0.006961 deg/s, cmd heading: 273.912005 deg, new cmd heading: 273.901906 deg. 2025-10-27T05:49:17.761Z,1761544157.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780490 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:17.932Z,1761544157.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.805786 2025-10-27T05:49:18.092Z,1761544158.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062663,0.986178,0.153383],[-0.998035,0.061954,0.009403],[-0.000230,-0.153671,0.988122]] 2025-10-27T05:49:18.116Z,1761544158.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:18.118Z,1761544158.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 186.000793 m, bearing: 265.483116 deg, approach rate: -0.631990 m/s, LOS rate: -0.006733 deg/s, cmd heading: 273.901897 deg, new cmd heading: 273.894572 deg. 2025-10-27T05:49:18.139Z,1761544158.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780362 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:18.184Z,1761544158.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058098 2025-10-27T05:49:18.436Z,1761544158.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309801 2025-10-27T05:49:18.493Z,1761544158.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060883,0.986570,0.151570],[-0.998144,0.060369,0.007994],[-0.001263,-0.151776,0.988414]] 2025-10-27T05:49:18.548Z,1761544158.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:18.550Z,1761544158.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 185.738022 m, bearing: 265.481046 deg, approach rate: -0.608086 m/s, LOS rate: -0.004796 deg/s, cmd heading: 273.894575 deg, new cmd heading: 273.888357 deg. 2025-10-27T05:49:18.568Z,1761544158.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780253 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:18.688Z,1761544158.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.561796 2025-10-27T05:49:18.930Z,1761544158.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:18.932Z,1761544158.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 185.508591 m, bearing: 265.479235 deg, approach rate: -0.601016 m/s, LOS rate: -0.004752 deg/s, cmd heading: 273.888345 deg, new cmd heading: 273.882904 deg. 2025-10-27T05:49:18.933Z,1761544158.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780159 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:18.944Z,1761544158.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818187 2025-10-27T05:49:19.196Z,1761544159.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069809 2025-10-27T05:49:19.301Z,1761544159.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057199,0.986709,0.152100],[-0.998356,0.057083,0.005130],[-0.003621,-0.152143,0.988352]] 2025-10-27T05:49:19.390Z,1761544159.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:19.394Z,1761544159.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:19.405Z,1761544159.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 185.262177 m, bearing: 265.477562 deg, approach rate: -0.530409 m/s, LOS rate: -0.003604 deg/s, cmd heading: 273.882909 deg, new cmd heading: 273.877885 deg. 2025-10-27T05:49:19.406Z,1761544159.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780071 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:19.449Z,1761544159.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323182 2025-10-27T05:49:19.701Z,1761544159.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574608 2025-10-27T05:49:19.725Z,1761544159.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054758,0.986090,0.156931],[-0.998479,0.055097,0.002187],[-0.006490,-0.156812,0.987607]] 2025-10-27T05:49:19.781Z,1761544159.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:19.783Z,1761544159.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 185.019424 m, bearing: 265.478075 deg, approach rate: -0.628179 m/s, LOS rate: 0.001329 deg/s, cmd heading: 273.877882 deg, new cmd heading: 273.879422 deg. 2025-10-27T05:49:19.784Z,1761544159.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780097 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:19.952Z,1761544159.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825709 2025-10-27T05:49:20.114Z,1761544160.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054488,0.985676,0.159607],[-0.998484,0.055040,0.000959],[-0.007839,-0.159417,0.987180]] 2025-10-27T05:49:20.152Z,1761544160.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:20.154Z,1761544160.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 184.824738 m, bearing: 265.478489 deg, approach rate: -0.524360 m/s, LOS rate: 0.001114 deg/s, cmd heading: 273.879412 deg, new cmd heading: 273.880653 deg. 2025-10-27T05:49:20.156Z,1761544160.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780119 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:20.205Z,1761544160.205 [DAT](INFO): Reached modem response timeout 2025-10-27T05:49:20.205Z,1761544160.205 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:20.205Z,1761544160.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:20.456Z,1761544160.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:20.521Z,1761544160.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054664,0.985320,0.161727],[-0.998467,0.055353,0.000245],[-0.008710,-0.161492,0.986836]] 2025-10-27T05:49:20.578Z,1761544160.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:20.586Z,1761544160.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 184.603027 m, bearing: 265.480860 deg, approach rate: -0.520208 m/s, LOS rate: 0.005569 deg/s, cmd heading: 273.880641 deg, new cmd heading: 273.887762 deg. 2025-10-27T05:49:20.587Z,1761544160.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780243 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:20.709Z,1761544160.709 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:20.922Z,1761544160.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055614,0.985022,0.163216],[-0.998405,0.056458,-0.000534],[-0.009740,-0.162926,0.986590]] 2025-10-27T05:49:20.960Z,1761544160.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:20.962Z,1761544160.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:20.965Z,1761544160.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 184.401657 m, bearing: 265.482947 deg, approach rate: -0.524339 m/s, LOS rate: 0.005441 deg/s, cmd heading: 273.887772 deg, new cmd heading: 273.894041 deg. 2025-10-27T05:49:20.966Z,1761544160.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780353 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:21.212Z,1761544161.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:21.328Z,1761544161.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056935,0.984727,0.164530],[-0.998321,0.057916,-0.001170],[-0.010681,-0.164188,0.986371]] 2025-10-27T05:49:21.351Z,1761544161.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:21.401Z,1761544161.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 184.188660 m, bearing: 265.485061 deg, approach rate: -0.548040 m/s, LOS rate: 0.005447 deg/s, cmd heading: 273.894028 deg, new cmd heading: 273.900379 deg. 2025-10-27T05:49:21.409Z,1761544161.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780463 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:21.464Z,1761544161.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:21.716Z,1761544161.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:21.747Z,1761544161.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058777,0.984432,0.165646],[-0.998205,0.059875,-0.001640],[-0.011533,-0.165252,0.986184]] 2025-10-27T05:49:21.797Z,1761544161.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:21.800Z,1761544161.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:21.802Z,1761544161.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 183.982849 m, bearing: 265.489801 deg, approach rate: -0.459258 m/s, LOS rate: 0.010588 deg/s, cmd heading: 273.900367 deg, new cmd heading: 273.914602 deg. 2025-10-27T05:49:21.803Z,1761544161.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780712 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:21.968Z,1761544161.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:22.138Z,1761544162.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060697,0.984347,0.165459],[-0.998077,0.061938,-0.002342],[-0.012553,-0.164998,0.986214]] 2025-10-27T05:49:22.178Z,1761544162.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:22.181Z,1761544162.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 183.805206 m, bearing: 265.493794 deg, approach rate: -0.468737 m/s, LOS rate: 0.010545 deg/s, cmd heading: 273.914601 deg, new cmd heading: 273.926590 deg. 2025-10-27T05:49:22.182Z,1761544162.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780921 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:22.220Z,1761544162.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:22.472Z,1761544162.472 [DAT](INFO): DAT read: Response Not Received 2025-10-27T05:49:22.472Z,1761544162.472 [DAT](INFO): response not received 2025-10-27T05:49:22.473Z,1761544162.473 [DAT](INFO): DAT read: user:530> 2025-10-27T05:49:22.473Z,1761544162.473 [DAT](ERROR): No response from remote modem. 2025-10-27T05:49:22.473Z,1761544162.473 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:49:22.473Z,1761544162.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:22.546Z,1761544162.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062833,0.984572,0.163308],[-0.997936,0.064150,-0.002800],[-0.013233,-0.162795,0.986571]] 2025-10-27T05:49:22.584Z,1761544162.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:22.587Z,1761544162.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 183.606033 m, bearing: 265.497625 deg, approach rate: -0.490134 m/s, LOS rate: 0.009439 deg/s, cmd heading: 273.926594 deg, new cmd heading: 273.938101 deg. 2025-10-27T05:49:22.588Z,1761544162.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781122 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:22.725Z,1761544162.725 [DAT](INFO): DAT read: Tx time:05:49:21.7235 2025-10-27T05:49:22.726Z,1761544162.726 [DAT](INFO): Ping request sent. 2025-10-27T05:49:22.726Z,1761544162.726 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:22.726Z,1761544162.726 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:22.728Z,1761544162.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001779 2025-10-27T05:49:22.948Z,1761544162.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064558,0.984717,0.161753],[-0.997819,0.065940,-0.003180],[-0.013798,-0.161194,0.986826]] 2025-10-27T05:49:22.966Z,1761544162.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:22.969Z,1761544162.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 183.427414 m, bearing: 265.500979 deg, approach rate: -0.467619 m/s, LOS rate: 0.008788 deg/s, cmd heading: 273.938097 deg, new cmd heading: 273.948167 deg. 2025-10-27T05:49:22.970Z,1761544162.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781298 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:22.976Z,1761544162.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250413 2025-10-27T05:49:23.229Z,1761544163.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503030 2025-10-27T05:49:23.353Z,1761544163.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066307,0.984694,0.161184],[-0.997694,0.067772,-0.003601],[-0.014470,-0.160574,0.986918]] 2025-10-27T05:49:23.459Z,1761544163.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:23.461Z,1761544163.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 183.217819 m, bearing: 265.504810 deg, approach rate: -0.429066 m/s, LOS rate: 0.007852 deg/s, cmd heading: 273.948178 deg, new cmd heading: 273.959685 deg. 2025-10-27T05:49:23.462Z,1761544163.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781498 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:23.480Z,1761544163.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754135 2025-10-27T05:49:23.733Z,1761544163.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007027 2025-10-27T05:49:23.804Z,1761544163.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068164,0.984780,0.159882],[-0.997572,0.069569,-0.003200],[-0.014274,-0.159276,0.987131]] 2025-10-27T05:49:23.882Z,1761544163.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:23.889Z,1761544163.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:23.896Z,1761544163.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 183.003937 m, bearing: 265.509632 deg, approach rate: -0.492759 m/s, LOS rate: 0.011123 deg/s, cmd heading: 273.959680 deg, new cmd heading: 273.974164 deg. 2025-10-27T05:49:23.897Z,1761544163.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781751 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:23.989Z,1761544163.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262668 2025-10-27T05:49:24.212Z,1761544164.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070077,0.985054,0.157345],[-0.997455,0.071270,-0.001947],[-0.013132,-0.156808,0.987542]] 2025-10-27T05:49:24.231Z,1761544164.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:24.234Z,1761544164.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 182.824890 m, bearing: 265.513579 deg, approach rate: -0.523166 m/s, LOS rate: 0.011542 deg/s, cmd heading: 273.974160 deg, new cmd heading: 273.986011 deg. 2025-10-27T05:49:24.235Z,1761544164.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781958 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:24.240Z,1761544164.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514129 2025-10-27T05:49:24.492Z,1761544164.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766024 2025-10-27T05:49:24.660Z,1761544164.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071888,0.985221,0.155473],[-0.997342,0.072859,-0.000551],[-0.011871,-0.155021,0.987840]] 2025-10-27T05:49:24.738Z,1761544164.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:24.744Z,1761544164.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018208 2025-10-27T05:49:24.752Z,1761544164.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 182.559570 m, bearing: 265.516857 deg, approach rate: -0.523010 m/s, LOS rate: 0.006472 deg/s, cmd heading: 273.986017 deg, new cmd heading: 273.995867 deg. 2025-10-27T05:49:24.752Z,1761544164.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782130 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:24.996Z,1761544164.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270051 2025-10-27T05:49:25.062Z,1761544165.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072785,0.985474,0.153436],[-0.997293,0.073530,0.000825],[-0.010470,-0.153081,0.988158]] 2025-10-27T05:49:25.087Z,1761544165.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:25.090Z,1761544165.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 182.362961 m, bearing: 265.519241 deg, approach rate: -0.564171 m/s, LOS rate: 0.006847 deg/s, cmd heading: 273.995880 deg, new cmd heading: 274.003039 deg. 2025-10-27T05:49:25.091Z,1761544165.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782255 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:25.249Z,1761544165.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522518 2025-10-27T05:49:25.493Z,1761544165.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072338,0.985547,0.153183],[-0.997338,0.072893,0.001995],[-0.009200,-0.152919,0.988196]] 2025-10-27T05:49:25.500Z,1761544165.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774052 2025-10-27T05:49:25.580Z,1761544165.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:25.583Z,1761544165.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 182.079315 m, bearing: 265.520612 deg, approach rate: -0.574853 m/s, LOS rate: 0.002784 deg/s, cmd heading: 274.003038 deg, new cmd heading: 274.007159 deg. 2025-10-27T05:49:25.584Z,1761544165.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782327 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:25.752Z,1761544165.752 [DAT](INFO): DAT read: Rx Time:05:49:24.3467 2025-10-27T05:49:25.752Z,1761544165.752 [DAT](INFO): Rx dataTimestamp_ set to:1761544165.752130 2025-10-27T05:49:25.753Z,1761544165.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027039 2025-10-27T05:49:25.880Z,1761544165.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071510,0.985526,0.153707],[-0.997412,0.071801,0.003666],[-0.007423,-0.153571,0.988110]] 2025-10-27T05:49:25.898Z,1761544165.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:25.932Z,1761544165.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.24 m. 2025-10-27T05:49:25.939Z,1761544165.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 196.235352 m, nav range: 181.894577 m, bearing: 265.521556 deg, approach rate: -0.524394 m/s, LOS rate: 0.002681 deg/s, cmd heading: 274.007163 deg, new cmd heading: 274.009997 deg. 2025-10-27T05:49:25.940Z,1761544165.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782377 target range: 196.235352 and range: 197.40 m. 2025-10-27T05:49:26.005Z,1761544166.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278796 2025-10-27T05:49:26.261Z,1761544166.261 [DAT](INFO): DAT read: 05:49:24.3467 LVL= 32752, 32753, 30866, 32755, AGC= 68, IDX= 289,-0.30,-2.696, 2.132,-2.179,-2.751, PHS= 0.157,-1.355, 0.528, RAW= 160.7, 7.8, CAL= 160.3, 7.9, ROT= 349.7, -7.9 2025-10-27T05:49:26.263Z,1761544166.263 [DAT](INFO): got valid direction response: 05:49:24.3467 LVL= 32752, 32753, 30866, 32755, AGC= 68, IDX= 289,-0.30,-2.696, 2.132,-2.179,-2.751, PHS= 0.157,-1.355, 0.528, RAW= 160.7, 7.8, CAL= 160.3, 7.9, ROT= 349.7, -7.9 2025-10-27T05:49:26.264Z,1761544166.264 [DAT](INFO): DAT read: Bearing 76.1, -11.4 (Local) 2025-10-27T05:49:26.264Z,1761544166.264 [DAT](INFO): Local bearing/azimuth received: Bearing 76.1, -11.4 (Local) 2025-10-27T05:49:26.265Z,1761544166.265 [DAT](INFO): DAT read: Range 11 to 50 : 164.3 m (Round-trip 219.1 ms) speed 0.0 m/s 2025-10-27T05:49:26.266Z,1761544166.266 [DAT](INFO): DAT read: user:531> 2025-10-27T05:49:26.271Z,1761544166.271 [DAT](INFO): DAT read: Tx time:05:49:25.4719 2025-10-27T05:49:26.271Z,1761544166.271 [DAT](INFO): Ping request sent. 2025-10-27T05:49:26.271Z,1761544166.271 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:26.272Z,1761544166.272 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:26.273Z,1761544166.273 [DAT](INFO): direction in FSK: [0.974547,-0.177105,0.137445] 2025-10-27T05:49:26.273Z,1761544166.273 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:26.273Z,1761544166.273 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:26.277Z,1761544166.277 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:26.277Z,1761544166.277 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:26.335Z,1761544166.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069785,0.985671,0.153568],[-0.997548,0.069778,0.005441],[-0.005353,-0.153571,0.988123]] 2025-10-27T05:49:26.471Z,1761544166.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 164.300003 m, deltaT: 19.927881 s, deltaX: -33.099991 m, approachRate: -1.660989 m/s, rangeRepo size: 4 2025-10-27T05:49:26.487Z,1761544166.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 163.359039 m, bearing: 265.035659 deg, lat: 36.779468 deg, lon: -121.860000 deg, deltaT: 19.927881 s, deltaX: -32.876312 m, approachRate: -1.649765 m/s, posRepo size: 4 2025-10-27T05:49:26.488Z,1761544166.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:26.490Z,1761544166.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 181.605331 m, bearing: 265.523195 deg, approach rate: 0.000000 m/s, LOS rate: 0.002681 deg/s, cmd heading: 274.010005 deg, new cmd heading: 274.014239 deg. 2025-10-27T05:49:26.495Z,1761544166.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782451 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:26.815Z,1761544166.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067663,0.985430,0.156046],[-0.997703,0.067327,0.007447],[-0.003167,-0.156191,0.987722]] 2025-10-27T05:49:26.890Z,1761544166.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:26.897Z,1761544166.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 181.318512 m, bearing: 265.521512 deg, approach rate: -0.665845 m/s, LOS rate: -0.003915 deg/s, cmd heading: 274.014239 deg, new cmd heading: 274.009181 deg. 2025-10-27T05:49:26.897Z,1761544166.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782362 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:27.222Z,1761544167.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064853,0.985127,0.159119],[-0.997894,0.064193,0.009290],[-0.001063,-0.159387,0.987216]] 2025-10-27T05:49:27.241Z,1761544167.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:27.244Z,1761544167.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 181.090103 m, bearing: 265.520364 deg, approach rate: -0.650528 m/s, LOS rate: -0.003272 deg/s, cmd heading: 274.009185 deg, new cmd heading: 274.005739 deg. 2025-10-27T05:49:27.245Z,1761544167.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782302 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:27.725Z,1761544167.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:27.729Z,1761544167.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 180.787201 m, bearing: 265.518075 deg, approach rate: -0.625812 m/s, LOS rate: -0.004737 deg/s, cmd heading: 274.005743 deg, new cmd heading: 273.998864 deg. 2025-10-27T05:49:27.731Z,1761544167.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782182 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:28.030Z,1761544168.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057308,0.984791,0.164019],[-0.998353,0.056109,0.011941],[0.002556,-0.164433,0.986385]] 2025-10-27T05:49:28.047Z,1761544168.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:28.049Z,1761544168.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:28.052Z,1761544168.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 180.567322 m, bearing: 265.516920 deg, approach rate: -0.677752 m/s, LOS rate: -0.003564 deg/s, cmd heading: 273.998858 deg, new cmd heading: 273.995389 deg. 2025-10-27T05:49:28.053Z,1761544168.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782122 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:28.272Z,1761544168.272 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:28.272Z,1761544168.272 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:28.273Z,1761544168.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:28.437Z,1761544168.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053960,0.984760,0.165339],[-0.998531,0.052408,0.013735],[0.004860,-0.165838,0.986141]] 2025-10-27T05:49:28.524Z,1761544168.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252570 2025-10-27T05:49:28.534Z,1761544168.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:28.541Z,1761544168.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 180.275101 m, bearing: 265.515688 deg, approach rate: -0.602937 m/s, LOS rate: -0.002548 deg/s, cmd heading: 273.995388 deg, new cmd heading: 273.991684 deg. 2025-10-27T05:49:28.542Z,1761544168.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782057 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:28.776Z,1761544168.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504532 2025-10-27T05:49:28.841Z,1761544168.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050995,0.984497,0.167824],[-0.998674,0.049079,0.015552],[0.007074,-0.168394,0.985694]] 2025-10-27T05:49:28.899Z,1761544168.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:28.902Z,1761544168.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 180.019852 m, bearing: 265.514852 deg, approach rate: -0.699579 m/s, LOS rate: -0.002292 deg/s, cmd heading: 273.991673 deg, new cmd heading: 273.989163 deg. 2025-10-27T05:49:28.903Z,1761544168.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782013 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:29.028Z,1761544169.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756472 2025-10-27T05:49:29.241Z,1761544169.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048563,0.984267,0.169881],[-0.998776,0.046248,0.017563],[0.009430,-0.170525,0.985308]] 2025-10-27T05:49:29.273Z,1761544169.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:29.276Z,1761544169.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 179.779373 m, bearing: 265.514240 deg, approach rate: -0.642510 m/s, LOS rate: -0.001639 deg/s, cmd heading: 273.989159 deg, new cmd heading: 273.987319 deg. 2025-10-27T05:49:29.277Z,1761544169.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781981 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:29.280Z,1761544169.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008535 2025-10-27T05:49:29.553Z,1761544169.553 [DAT](INFO): DAT read: Rx Time:05:49:28.0922 2025-10-27T05:49:29.554Z,1761544169.554 [DAT](INFO): Rx dataTimestamp_ set to:1761544169.553345 2025-10-27T05:49:29.554Z,1761544169.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282712 2025-10-27T05:49:29.646Z,1761544169.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047018,0.984237,0.170492],[-0.998826,0.044331,0.019537],[0.011671,-0.171211,0.985165]] 2025-10-27T05:49:29.699Z,1761544169.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.36 m. 2025-10-27T05:49:29.704Z,1761544169.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.359039 m, nav range: 179.523163 m, bearing: 265.514916 deg, approach rate: -0.602125 m/s, LOS rate: 0.001592 deg/s, cmd heading: 273.987329 deg, new cmd heading: 273.989361 deg. 2025-10-27T05:49:29.705Z,1761544169.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782016 target range: 163.359039 and range: 164.30 m. 2025-10-27T05:49:29.785Z,1761544169.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513598 2025-10-27T05:49:30.041Z,1761544170.041 [DAT](INFO): DAT read: 05:49:28.0922 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418,-0.15,-3.116, 1.731,-2.579, 3.136, PHS= 0.133,-1.360, 0.524, RAW= 161.3, 8.2, CAL= 161.0, 8.4, ROT= 349.0, -8.4 2025-10-27T05:49:30.043Z,1761544170.043 [DAT](INFO): got valid direction response: 05:49:28.0922 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418,-0.15,-3.116, 1.731,-2.579, 3.136, PHS= 0.133,-1.360, 0.524, RAW= 161.3, 8.2, CAL= 161.0, 8.4, ROT= 349.0, -8.4 2025-10-27T05:49:30.044Z,1761544170.044 [DAT](INFO): DAT read: Bearing 76.5, -11.9 (Local) 2025-10-27T05:49:30.044Z,1761544170.044 [DAT](INFO): Local bearing/azimuth received: Bearing 76.5, -11.9 (Local) 2025-10-27T05:49:30.045Z,1761544170.045 [DAT](INFO): DAT read: Range 11 to 50 : 162.1 m (Round-trip 216.2 ms) speed 0.1 m/s 2025-10-27T05:49:30.046Z,1761544170.046 [DAT](INFO): DAT read: user:532> 2025-10-27T05:49:30.047Z,1761544170.047 [DAT](INFO): DAT read: Tx time:05:49:29.2219 2025-10-27T05:49:30.047Z,1761544170.047 [DAT](INFO): Ping request sent. 2025-10-27T05:49:30.047Z,1761544170.047 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:30.048Z,1761544170.048 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:30.049Z,1761544170.049 [DAT](INFO): direction in FSK: [0.971097,-0.188762,0.146083] 2025-10-27T05:49:30.049Z,1761544170.049 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:30.049Z,1761544170.049 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:30.053Z,1761544170.053 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:30.053Z,1761544170.053 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:30.122Z,1761544170.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046163,0.984253,0.170629],[-0.998841,0.043148,0.021337],[0.013638,-0.171417,0.985104]] 2025-10-27T05:49:30.180Z,1761544170.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.100006 m, deltaT: 3.779985 s, deltaX: -2.199997 m, approachRate: -0.582012 m/s, rangeRepo size: 4 2025-10-27T05:49:30.182Z,1761544170.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 161.168610 m, bearing: 263.213115 deg, lat: 36.779459 deg, lon: -121.859780 deg, deltaT: 3.779985 s, deltaX: -2.190430 m, approachRate: -0.579481 m/s, posRepo size: 4 2025-10-27T05:49:30.182Z,1761544170.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:30.193Z,1761544170.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 159.780685 m, bearing: 264.582081 deg, approach rate: 0.000000 m/s, LOS rate: 0.001592 deg/s, cmd heading: 273.989350 deg, new cmd heading: 273.991643 deg. 2025-10-27T05:49:30.194Z,1761544170.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782056 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:30.597Z,1761544170.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:30.599Z,1761544170.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:30.601Z,1761544170.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 159.541260 m, bearing: 264.583022 deg, approach rate: -0.569948 m/s, LOS rate: 0.002242 deg/s, cmd heading: 273.991645 deg, new cmd heading: 273.994471 deg. 2025-10-27T05:49:30.602Z,1761544170.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782105 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:30.792Z,1761544170.792 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:30.792Z,1761544170.792 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:30.792Z,1761544170.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:30.932Z,1761544170.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048977,0.984656,0.167490],[-0.998627,0.045152,0.026575],[0.018605,-0.168562,0.985515]] 2025-10-27T05:49:30.958Z,1761544170.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:30.961Z,1761544170.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 159.343460 m, bearing: 264.583634 deg, approach rate: -0.549673 m/s, LOS rate: 0.001704 deg/s, cmd heading: 273.994459 deg, new cmd heading: 273.996299 deg. 2025-10-27T05:49:30.962Z,1761544170.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782137 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:31.045Z,1761544171.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997480 2025-10-27T05:49:31.296Z,1761544171.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248554 2025-10-27T05:49:31.344Z,1761544171.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051496,0.984811,0.165819],[-0.998466,0.047387,0.028646],[0.020353,-0.167040,0.985740]] 2025-10-27T05:49:31.393Z,1761544171.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:31.396Z,1761544171.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 159.116959 m, bearing: 264.584151 deg, approach rate: -0.544183 m/s, LOS rate: 0.001243 deg/s, cmd heading: 273.996290 deg, new cmd heading: 273.997841 deg. 2025-10-27T05:49:31.397Z,1761544171.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782165 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:31.551Z,1761544171.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503200 2025-10-27T05:49:31.754Z,1761544171.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054588,0.984752,0.165176],[-0.998271,0.050212,0.030557],[0.021798,-0.166558,0.985791]] 2025-10-27T05:49:31.790Z,1761544171.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:31.800Z,1761544171.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752620 2025-10-27T05:49:31.817Z,1761544171.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 158.905426 m, bearing: 264.586026 deg, approach rate: -0.509022 m/s, LOS rate: 0.004518 deg/s, cmd heading: 273.997847 deg, new cmd heading: 274.003480 deg. 2025-10-27T05:49:31.818Z,1761544171.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782263 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:32.052Z,1761544172.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004665 2025-10-27T05:49:32.156Z,1761544172.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058227,0.985098,0.161840],[-0.998037,0.053695,0.032242],[0.023072,-0.163399,0.986290]] 2025-10-27T05:49:32.174Z,1761544172.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:32.177Z,1761544172.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 158.711533 m, bearing: 264.587524 deg, approach rate: -0.504997 m/s, LOS rate: 0.003908 deg/s, cmd heading: 274.003475 deg, new cmd heading: 274.007976 deg. 2025-10-27T05:49:32.178Z,1761544172.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782341 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:32.304Z,1761544172.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256570 2025-10-27T05:49:32.560Z,1761544172.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512337 2025-10-27T05:49:32.585Z,1761544172.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062520,0.985110,0.160152],[-0.997750,0.057802,0.033958],[0.024195,-0.161915,0.986508]] 2025-10-27T05:49:32.662Z,1761544172.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:32.668Z,1761544172.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:32.675Z,1761544172.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 158.486496 m, bearing: 264.591398 deg, approach rate: -0.455589 m/s, LOS rate: 0.007853 deg/s, cmd heading: 274.007983 deg, new cmd heading: 274.019620 deg. 2025-10-27T05:49:32.676Z,1761544172.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782545 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:32.808Z,1761544172.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760487 2025-10-27T05:49:32.975Z,1761544172.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066443,0.985275,0.157541],[-0.997461,0.061531,0.035858],[0.025636,-0.159523,0.986861]] 2025-10-27T05:49:32.994Z,1761544172.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:32.997Z,1761544172.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 158.331406 m, bearing: 264.593870 deg, approach rate: -0.476023 m/s, LOS rate: 0.007597 deg/s, cmd heading: 274.019622 deg, new cmd heading: 274.027047 deg. 2025-10-27T05:49:32.998Z,1761544172.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782674 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:33.061Z,1761544173.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013212 2025-10-27T05:49:33.312Z,1761544173.312 [DAT](INFO): DAT read: Rx Time:05:49:31.8397 2025-10-27T05:49:33.312Z,1761544173.312 [DAT](INFO): Rx dataTimestamp_ set to:1761544173.312151 2025-10-27T05:49:33.313Z,1761544173.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265668 2025-10-27T05:49:33.379Z,1761544173.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070212,0.985420,0.154979],[-0.997166,0.065126,0.037663],[0.027021,-0.157184,0.987200]] 2025-10-27T05:49:33.406Z,1761544173.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.17 m. 2025-10-27T05:49:33.408Z,1761544173.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 161.168610 m, nav range: 158.140518 m, bearing: 264.596680 deg, approach rate: -0.463699 m/s, LOS rate: 0.006833 deg/s, cmd heading: 274.027053 deg, new cmd heading: 274.035492 deg. 2025-10-27T05:49:33.409Z,1761544173.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782822 target range: 161.168610 and range: 162.10 m. 2025-10-27T05:49:33.566Z,1761544173.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518634 2025-10-27T05:49:33.781Z,1761544173.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072939,0.985399,0.153847],[-0.996932,0.067642,0.039393],[0.028411,-0.156248,0.987309]] 2025-10-27T05:49:33.822Z,1761544173.822 [DAT](INFO): DAT read: 05:49:31.8397 LVL= 32752, 32753, 30082, 32755, AGC= 67, IDX= 408,-0.02, 0.728,-0.753, 1.263, 0.652, PHS= 0.178,-1.360, 0.567, RAW= 161.0, 7.0, CAL= 160.4, 6.9, ROT= 349.6, -6.9 2025-10-27T05:49:33.823Z,1761544173.823 [DAT](INFO): got valid direction response: 05:49:31.8397 LVL= 32752, 32753, 30082, 32755, AGC= 67, IDX= 408,-0.02, 0.728,-0.753, 1.263, 0.652, PHS= 0.178,-1.360, 0.567, RAW= 161.0, 7.0, CAL= 160.4, 6.9, ROT= 349.6, -6.9 2025-10-27T05:49:33.824Z,1761544173.824 [DAT](INFO): DAT read: Bearing 76.7, -10.1 (Local) 2025-10-27T05:49:33.824Z,1761544173.824 [DAT](INFO): Local bearing/azimuth received: Bearing 76.7, -10.1 (Local) 2025-10-27T05:49:33.826Z,1761544173.826 [DAT](INFO): DAT read: Range 11 to 50 : 160.2 m (Round-trip 213.6 ms) speed 0.1 m/s 2025-10-27T05:49:33.826Z,1761544173.826 [DAT](INFO): DAT read: user:533> 2025-10-27T05:49:33.827Z,1761544173.827 [DAT](INFO): DAT read: Tx time:05:49:32.9719 2025-10-27T05:49:33.828Z,1761544173.828 [DAT](INFO): Ping request sent. 2025-10-27T05:49:33.828Z,1761544173.828 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:33.828Z,1761544173.828 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:33.829Z,1761544173.829 [DAT](INFO): direction in FSK: [0.976448,-0.179212,0.120137] 2025-10-27T05:49:33.829Z,1761544173.829 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:33.830Z,1761544173.830 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:33.849Z,1761544173.849 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:33.849Z,1761544173.849 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:33.906Z,1761544173.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.199997 m, deltaT: 3.780188 s, deltaX: -1.900009 m, approachRate: -0.502623 m/s, rangeRepo size: 4 2025-10-27T05:49:33.917Z,1761544173.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.269684 m, bearing: 264.937476 deg, lat: 36.779459 deg, lon: -121.859772 deg, deltaT: 3.780188 s, deltaX: -1.898926 m, approachRate: -0.502336 m/s, posRepo size: 4 2025-10-27T05:49:33.917Z,1761544173.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:33.928Z,1761544173.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 157.211365 m, bearing: 264.576317 deg, approach rate: 0.000000 m/s, LOS rate: 0.006833 deg/s, cmd heading: 274.035495 deg, new cmd heading: 274.045734 deg. 2025-10-27T05:49:33.929Z,1761544173.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783000 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:34.252Z,1761544174.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075714,0.985198,0.153793],[-0.996701,0.070255,0.040638],[0.029231,-0.156363,0.987267]] 2025-10-27T05:49:34.274Z,1761544174.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:34.277Z,1761544174.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 157.038147 m, bearing: 264.579474 deg, approach rate: -0.469126 m/s, LOS rate: 0.008558 deg/s, cmd heading: 274.045740 deg, new cmd heading: 274.055220 deg. 2025-10-27T05:49:34.278Z,1761544174.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783166 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:34.512Z,1761544174.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:49:34.650Z,1761544174.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077416,0.985043,0.153938],[-0.996554,0.071842,0.041454],[0.029775,-0.156617,0.987211]] 2025-10-27T05:49:34.709Z,1761544174.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:34.716Z,1761544174.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:34.725Z,1761544174.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 156.855133 m, bearing: 264.582761 deg, approach rate: -0.414329 m/s, LOS rate: 0.007451 deg/s, cmd heading: 274.055221 deg, new cmd heading: 274.065095 deg. 2025-10-27T05:49:34.726Z,1761544174.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783338 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:34.824Z,1761544174.824 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:34.824Z,1761544174.824 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:34.824Z,1761544174.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:35.064Z,1761544175.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079039,0.984842,0.154402],[-0.996415,0.073364,0.042123],[0.030157,-0.157178,0.987110]] 2025-10-27T05:49:35.076Z,1761544175.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248307 2025-10-27T05:49:35.085Z,1761544175.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:35.088Z,1761544175.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 156.679504 m, bearing: 264.585817 deg, approach rate: -0.475722 m/s, LOS rate: 0.008286 deg/s, cmd heading: 274.065083 deg, new cmd heading: 274.074260 deg. 2025-10-27T05:49:35.089Z,1761544175.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783498 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:35.328Z,1761544175.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500246 2025-10-27T05:49:35.462Z,1761544175.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079660,0.984239,0.157887],[-0.996359,0.073787,0.042723],[0.030399,-0.160716,0.986532]] 2025-10-27T05:49:35.482Z,1761544175.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:35.484Z,1761544175.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 156.504684 m, bearing: 264.588812 deg, approach rate: -0.441125 m/s, LOS rate: 0.007568 deg/s, cmd heading: 274.074263 deg, new cmd heading: 274.083260 deg. 2025-10-27T05:49:35.485Z,1761544175.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783655 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:35.515Z,1761544175.515 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:49:35.583Z,1761544175.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754440 2025-10-27T05:49:35.833Z,1761544175.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005221 2025-10-27T05:49:35.870Z,1761544175.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080083,0.983656,0.161267],[-0.996328,0.074074,0.042944],[0.030296,-0.164114,0.985976]] 2025-10-27T05:49:35.916Z,1761544175.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:35.919Z,1761544175.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 156.304306 m, bearing: 264.591239 deg, approach rate: -0.460831 m/s, LOS rate: 0.005588 deg/s, cmd heading: 274.083252 deg, new cmd heading: 274.090541 deg. 2025-10-27T05:49:35.920Z,1761544175.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783782 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:36.084Z,1761544176.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256205 2025-10-27T05:49:36.274Z,1761544176.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080424,0.983429,0.162481],[-0.996296,0.074332,0.043243],[0.030449,-0.165357,0.985764]] 2025-10-27T05:49:36.294Z,1761544176.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:36.297Z,1761544176.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 156.130493 m, bearing: 264.593324 deg, approach rate: -0.459923 m/s, LOS rate: 0.005523 deg/s, cmd heading: 274.090546 deg, new cmd heading: 274.096808 deg. 2025-10-27T05:49:36.298Z,1761544176.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783892 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:36.338Z,1761544176.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509784 2025-10-27T05:49:36.591Z,1761544176.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762383 2025-10-27T05:49:36.841Z,1761544176.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013100 2025-10-27T05:49:36.854Z,1761544176.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080443,0.982570,0.167586],[-0.996298,0.074147,0.043499],[0.030315,-0.170465,0.984897]] 2025-10-27T05:49:36.919Z,1761544176.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:36.921Z,1761544176.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:36.943Z,1761544176.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 155.812744 m, bearing: 264.595324 deg, approach rate: -0.507153 m/s, LOS rate: 0.003199 deg/s, cmd heading: 274.096803 deg, new cmd heading: 274.102815 deg. 2025-10-27T05:49:36.944Z,1761544176.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783997 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:37.092Z,1761544177.092 [DAT](INFO): DAT read: Rx Time:05:49:35.5872 2025-10-27T05:49:37.092Z,1761544177.092 [DAT](INFO): Rx dataTimestamp_ set to:1761544177.092104 2025-10-27T05:49:37.093Z,1761544177.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265237 2025-10-27T05:49:37.252Z,1761544177.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080216,0.982080,0.170543],[-0.996315,0.073786,0.043723],[0.030356,-0.173422,0.984380]] 2025-10-27T05:49:37.290Z,1761544177.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.27 m. 2025-10-27T05:49:37.297Z,1761544177.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.269684 m, nav range: 155.635193 m, bearing: 264.596454 deg, approach rate: -0.480623 m/s, LOS rate: 0.003064 deg/s, cmd heading: 274.102813 deg, new cmd heading: 274.106209 deg. 2025-10-27T05:49:37.298Z,1761544177.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784056 target range: 159.269684 and range: 160.20 m. 2025-10-27T05:49:37.345Z,1761544177.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516910 2025-10-27T05:49:37.662Z,1761544177.662 [DAT](INFO): DAT read: 05:49:35.5872 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 414, 0.41,-2.015, 2.860,-1.470,-2.092, PHS= 0.179,-1.286, 0.577, RAW= 161.7, 6.3, CAL= 161.0, 5.9, ROT= 349.0, -5.9 2025-10-27T05:49:37.671Z,1761544177.671 [DAT](INFO): got valid direction response: 05:49:35.5872 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 414, 0.41,-2.015, 2.860,-1.470,-2.092, PHS= 0.179,-1.286, 0.577, RAW= 161.7, 6.3, CAL= 161.0, 5.9, ROT= 349.0, -5.9 2025-10-27T05:49:37.672Z,1761544177.672 [DAT](INFO): DAT read: Bearing 76.6, -9.9 (Local) 2025-10-27T05:49:37.673Z,1761544177.673 [DAT](INFO): Local bearing/azimuth received: Bearing 76.6, -9.9 (Local) 2025-10-27T05:49:37.674Z,1761544177.674 [DAT](INFO): DAT read: Range 11 to 50 : 158.3 m (Round-trip 211.1 ms) speed 0.4 m/s 2025-10-27T05:49:37.704Z,1761544177.704 [DAT](INFO): DAT read: user:534> 2025-10-27T05:49:37.705Z,1761544177.705 [DAT](INFO): DAT read: Tx time:05:49:36.7219 2025-10-27T05:49:37.705Z,1761544177.705 [DAT](INFO): Ping request sent. 2025-10-27T05:49:37.705Z,1761544177.705 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:37.706Z,1761544177.706 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:37.716Z,1761544177.716 [DAT](INFO): direction in FSK: [0.976427,-0.189798,0.102793] 2025-10-27T05:49:37.716Z,1761544177.716 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:37.717Z,1761544177.717 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:37.737Z,1761544177.737 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:37.737Z,1761544177.737 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:37.753Z,1761544177.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080250,0.982198,0.169844],[-0.996259,0.073552,0.045376],[0.032076,-0.172850,0.984426]] 2025-10-27T05:49:37.872Z,1761544177.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.300003 m, deltaT: 3.781540 s, deltaX: -1.899994 m, approachRate: -0.502439 m/s, rangeRepo size: 4 2025-10-27T05:49:37.874Z,1761544177.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.388077 m, bearing: 264.728979 deg, lat: 36.779462 deg, lon: -121.859771 deg, deltaT: 3.781540 s, deltaX: -1.881607 m, approachRate: -0.497577 m/s, posRepo size: 4 2025-10-27T05:49:37.874Z,1761544177.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:37.881Z,1761544177.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 155.222595 m, bearing: 264.729502 deg, approach rate: 0.000000 m/s, LOS rate: 0.003064 deg/s, cmd heading: 274.106201 deg, new cmd heading: 274.111496 deg. 2025-10-27T05:49:37.882Z,1761544177.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784148 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:38.196Z,1761544178.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079801,0.982524,0.168162],[-0.996261,0.073011,0.046190],[0.033105,-0.171219,0.984677]] 2025-10-27T05:49:38.230Z,1761544178.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:38.233Z,1761544178.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 155.028915 m, bearing: 264.730944 deg, approach rate: -0.531922 m/s, LOS rate: 0.003965 deg/s, cmd heading: 274.111501 deg, new cmd heading: 274.115832 deg. 2025-10-27T05:49:38.234Z,1761544178.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784224 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:38.627Z,1761544178.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078774,0.983177,0.164795],[-0.996292,0.071906,0.047242],[0.034598,-0.167905,0.985196]] 2025-10-27T05:49:38.683Z,1761544178.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:38.686Z,1761544178.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 154.795273 m, bearing: 264.732787 deg, approach rate: -0.516402 m/s, LOS rate: 0.004078 deg/s, cmd heading: 274.115845 deg, new cmd heading: 274.121381 deg. 2025-10-27T05:49:38.687Z,1761544178.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784321 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:39.002Z,1761544179.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077749,0.983862,0.161152],[-0.996314,0.070802,0.048421],[0.036230,-0.164323,0.985741]] 2025-10-27T05:49:39.049Z,1761544179.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:39.051Z,1761544179.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:39.054Z,1761544179.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 154.583130 m, bearing: 264.731141 deg, approach rate: -0.576513 m/s, LOS rate: -0.004478 deg/s, cmd heading: 274.121391 deg, new cmd heading: 274.116448 deg. 2025-10-27T05:49:39.054Z,1761544179.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784235 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:39.108Z,1761544179.108 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:39.109Z,1761544179.109 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:39.109Z,1761544179.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:39.360Z,1761544179.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.654793 2025-10-27T05:49:39.406Z,1761544179.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076445,0.984308,0.159041],[-0.996346,0.069316,0.049909],[0.038102,-0.162275,0.986010]] 2025-10-27T05:49:39.432Z,1761544179.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:39.435Z,1761544179.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 154.367828 m, bearing: 264.729578 deg, approach rate: -0.565989 m/s, LOS rate: -0.004115 deg/s, cmd heading: 274.116446 deg, new cmd heading: 274.111750 deg. 2025-10-27T05:49:39.436Z,1761544179.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784153 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:39.614Z,1761544179.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.908455 2025-10-27T05:49:39.814Z,1761544179.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075172,0.984478,0.158595],[-0.996376,0.067809,0.051349],[0.039798,-0.161880,0.986008]] 2025-10-27T05:49:39.864Z,1761544179.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.159152 2025-10-27T05:49:39.907Z,1761544179.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:39.910Z,1761544179.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 154.088821 m, bearing: 264.726653 deg, approach rate: -0.586384 m/s, LOS rate: -0.006157 deg/s, cmd heading: 274.111747 deg, new cmd heading: 274.102958 deg. 2025-10-27T05:49:39.911Z,1761544179.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783999 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:40.117Z,1761544180.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.411894 2025-10-27T05:49:40.216Z,1761544180.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073972,0.984659,0.158035],[-0.996394,0.066369,0.052865],[0.041565,-0.161375,0.986017]] 2025-10-27T05:49:40.235Z,1761544180.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:40.238Z,1761544180.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 153.884506 m, bearing: 264.724599 deg, approach rate: -0.622705 m/s, LOS rate: -0.006268 deg/s, cmd heading: 274.102950 deg, new cmd heading: 274.096780 deg. 2025-10-27T05:49:40.239Z,1761544180.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783891 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:40.368Z,1761544180.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.662678 2025-10-27T05:49:40.620Z,1761544180.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.914819 2025-10-27T05:49:40.624Z,1761544180.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072777,0.984640,0.158705],[-0.996397,0.064832,0.054689],[0.043560,-0.162113,0.985810]] 2025-10-27T05:49:40.721Z,1761544180.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:40.731Z,1761544180.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 153.602066 m, bearing: 264.721876 deg, approach rate: -0.581079 m/s, LOS rate: -0.005613 deg/s, cmd heading: 274.096775 deg, new cmd heading: 274.088590 deg. 2025-10-27T05:49:40.740Z,1761544180.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783748 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:40.872Z,1761544180.872 [DAT](INFO): DAT read: Rx Time:05:49:39.3344 2025-10-27T05:49:40.872Z,1761544180.872 [DAT](INFO): Rx dataTimestamp_ set to:1761544180.872163 2025-10-27T05:49:40.873Z,1761544180.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.167834 2025-10-27T05:49:41.062Z,1761544181.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071700,0.984734,0.158611],[-0.996391,0.063471,0.056357],[0.045430,-0.162080,0.985731]] 2025-10-27T05:49:41.114Z,1761544181.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:41.116Z,1761544181.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.39 m. 2025-10-27T05:49:41.119Z,1761544181.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.388077 m, nav range: 153.372009 m, bearing: 264.721943 deg, approach rate: -0.582431 m/s, LOS rate: 0.000170 deg/s, cmd heading: 274.088579 deg, new cmd heading: 274.088781 deg. 2025-10-27T05:49:41.120Z,1761544181.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783751 target range: 157.388077 and range: 158.30 m. 2025-10-27T05:49:41.124Z,1761544181.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.418829 2025-10-27T05:49:41.381Z,1761544181.381 [DAT](INFO): DAT read: 05:49:39.3344 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 418, 0.38,-1.152,-2.569,-0.591,-1.182, PHS= 0.132,-1.342, 0.547, RAW= 162.1, 7.8, CAL= 161.6, 7.8, ROT= 348.4, -7.8 2025-10-27T05:49:41.383Z,1761544181.383 [DAT](INFO): got valid direction response: 05:49:39.3344 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 418, 0.38,-1.152,-2.569,-0.591,-1.182, PHS= 0.132,-1.342, 0.547, RAW= 162.1, 7.8, CAL= 161.6, 7.8, ROT= 348.4, -7.8 2025-10-27T05:49:41.384Z,1761544181.384 [DAT](INFO): DAT read: Bearing 79.2, -10.1 (Local) 2025-10-27T05:49:41.384Z,1761544181.384 [DAT](INFO): Local bearing/azimuth received: Bearing 79.2, -10.1 (Local) 2025-10-27T05:49:41.386Z,1761544181.386 [DAT](INFO): DAT read: Range 11 to 50 : 156.2 m (Round-trip 208.3 ms) speed 0.2 m/s 2025-10-27T05:49:41.386Z,1761544181.386 [DAT](INFO): DAT read: user:535> 2025-10-27T05:49:41.403Z,1761544181.403 [DAT](INFO): DAT read: Tx time:05:49:40.4219 2025-10-27T05:49:41.404Z,1761544181.404 [DAT](INFO): Ping request sent. 2025-10-27T05:49:41.404Z,1761544181.404 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:41.404Z,1761544181.404 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:41.405Z,1761544181.405 [DAT](INFO): direction in FSK: [0.970512,-0.199218,0.135716] 2025-10-27T05:49:41.405Z,1761544181.405 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:41.406Z,1761544181.406 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:41.418Z,1761544181.418 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:41.437Z,1761544181.437 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:41.461Z,1761544181.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070684,0.984620,0.159775],[-0.996395,0.062159,0.057741],[0.046922,-0.163281,0.985463]] 2025-10-27T05:49:41.509Z,1761544181.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.199997 m, deltaT: 3.778318 s, deltaX: -2.100006 m, approachRate: -0.555804 m/s, rangeRepo size: 4 2025-10-27T05:49:41.515Z,1761544181.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.309952 m, bearing: 263.781058 deg, lat: 36.779462 deg, lon: -121.859769 deg, deltaT: 3.778318 s, deltaX: -2.078125 m, approachRate: -0.550013 m/s, posRepo size: 4 2025-10-27T05:49:41.516Z,1761544181.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:41.518Z,1761544181.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 152.947266 m, bearing: 264.715359 deg, approach rate: 0.000000 m/s, LOS rate: 0.000170 deg/s, cmd heading: 274.088770 deg, new cmd heading: 274.088971 deg. 2025-10-27T05:49:41.524Z,1761544181.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783755 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:41.846Z,1761544181.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069738,0.984491,0.160978],[-0.996401,0.060948,0.058917],[0.048192,-0.164508,0.985198]] 2025-10-27T05:49:41.906Z,1761544181.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:41.913Z,1761544181.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 152.721008 m, bearing: 264.715152 deg, approach rate: -0.568593 m/s, LOS rate: -0.000523 deg/s, cmd heading: 274.088962 deg, new cmd heading: 274.088338 deg. 2025-10-27T05:49:41.914Z,1761544181.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783744 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:42.234Z,1761544182.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069533,0.984400,0.161623],[-0.996406,0.060677,0.059107],[0.048379,-0.165152,0.985081]] 2025-10-27T05:49:42.253Z,1761544182.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:42.256Z,1761544182.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 152.514709 m, bearing: 264.714974 deg, approach rate: -0.595169 m/s, LOS rate: -0.000512 deg/s, cmd heading: 274.088333 deg, new cmd heading: 274.087801 deg. 2025-10-27T05:49:42.257Z,1761544182.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783735 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:42.739Z,1761544182.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:42.742Z,1761544182.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 152.240463 m, bearing: 264.714738 deg, approach rate: -0.564413 m/s, LOS rate: -0.000487 deg/s, cmd heading: 274.087814 deg, new cmd heading: 274.087104 deg. 2025-10-27T05:49:42.743Z,1761544182.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783722 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:43.134Z,1761544183.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:43.136Z,1761544183.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:43.139Z,1761544183.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 152.028748 m, bearing: 264.714858 deg, approach rate: -0.532882 m/s, LOS rate: 0.000303 deg/s, cmd heading: 274.087104 deg, new cmd heading: 274.087465 deg. 2025-10-27T05:49:43.140Z,1761544183.140 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:43.140Z,1761544183.140 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:43.140Z,1761544183.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:43.143Z,1761544183.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783729 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:43.392Z,1761544183.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988526 2025-10-27T05:49:43.470Z,1761544183.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069664,0.984131,0.163197],[-0.996448,0.060889,0.058170],[0.047310,-0.166670,0.984877]] 2025-10-27T05:49:43.500Z,1761544183.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:43.503Z,1761544183.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 151.816910 m, bearing: 264.714956 deg, approach rate: -0.582036 m/s, LOS rate: 0.000270 deg/s, cmd heading: 274.087459 deg, new cmd heading: 274.087754 deg. 2025-10-27T05:49:43.504Z,1761544183.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783734 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:43.644Z,1761544183.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240006 2025-10-27T05:49:43.872Z,1761544183.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069503,0.983913,0.164573],[-0.996483,0.060736,0.057725],[0.046801,-0.168006,0.984674]] 2025-10-27T05:49:43.896Z,1761544183.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492152 2025-10-27T05:49:43.938Z,1761544183.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:43.941Z,1761544183.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 151.583542 m, bearing: 264.716923 deg, approach rate: -0.532626 m/s, LOS rate: 0.004495 deg/s, cmd heading: 274.087760 deg, new cmd heading: 274.093667 deg. 2025-10-27T05:49:43.942Z,1761544183.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783837 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:44.148Z,1761544184.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744053 2025-10-27T05:49:44.275Z,1761544184.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069737,0.983703,0.165729],[-0.996498,0.061012,0.057174],[0.046131,-0.169136,0.984513]] 2025-10-27T05:49:44.294Z,1761544184.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:44.296Z,1761544184.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 151.394165 m, bearing: 264.718498 deg, approach rate: -0.532707 m/s, LOS rate: 0.004437 deg/s, cmd heading: 274.093661 deg, new cmd heading: 274.098392 deg. 2025-10-27T05:49:44.297Z,1761544184.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783919 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:44.400Z,1761544184.400 [DAT](INFO): DAT read: Rx Time:05:49:43.0317 2025-10-27T05:49:44.401Z,1761544184.401 [DAT](INFO): Rx dataTimestamp_ set to:1761544184.400526 2025-10-27T05:49:44.401Z,1761544184.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997474 2025-10-27T05:49:44.652Z,1761544184.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248006 2025-10-27T05:49:44.704Z,1761544184.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070546,0.983679,0.165527],[-0.996433,0.061789,0.057475],[0.046309,-0.168991,0.984529]] 2025-10-27T05:49:44.773Z,1761544184.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.31 m. 2025-10-27T05:49:44.784Z,1761544184.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.309952 m, nav range: 151.143280 m, bearing: 264.720515 deg, approach rate: -0.523205 m/s, LOS rate: 0.004214 deg/s, cmd heading: 274.098387 deg, new cmd heading: 274.104449 deg. 2025-10-27T05:49:44.785Z,1761544184.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784025 target range: 155.309952 and range: 156.20 m. 2025-10-27T05:49:44.916Z,1761544184.916 [DAT](INFO): DAT read: 05:49:43.0317 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.21, 1.545, 0.113, 2.102, 1.514, PHS= 0.133,-1.356, 0.544, RAW= 161.9, 7.9, CAL= 161.4, 8.0, ROT= 348.6, -8.0 2025-10-27T05:49:44.917Z,1761544184.917 [DAT](INFO): got valid direction response: 05:49:43.0317 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.21, 1.545, 0.113, 2.102, 1.514, PHS= 0.133,-1.356, 0.544, RAW= 161.9, 7.9, CAL= 161.4, 8.0, ROT= 348.6, -8.0 2025-10-27T05:49:44.918Z,1761544184.918 [DAT](INFO): DAT read: Bearing 79.0, -10.0 (Local) 2025-10-27T05:49:44.919Z,1761544184.919 [DAT](INFO): Local bearing/azimuth received: Bearing 79.0, -10.0 (Local) 2025-10-27T05:49:44.920Z,1761544184.920 [DAT](INFO): DAT read: Range 11 to 50 : 154.2 m (Round-trip 205.6 ms) speed 0.7 m/s 2025-10-27T05:49:44.921Z,1761544184.921 [DAT](INFO): DAT read: user:536> 2025-10-27T05:49:44.922Z,1761544184.922 [DAT](INFO): DAT read: Tx time:05:49:44.1219 2025-10-27T05:49:44.922Z,1761544184.922 [DAT](INFO): Ping request sent. 2025-10-27T05:49:44.922Z,1761544184.922 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:44.922Z,1761544184.922 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:44.924Z,1761544184.924 [DAT](INFO): direction in FSK: [0.970731,-0.195734,0.139173] 2025-10-27T05:49:44.924Z,1761544184.924 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:44.924Z,1761544184.924 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:44.939Z,1761544184.939 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:44.939Z,1761544184.939 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:45.167Z,1761544185.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071600,0.983352,0.167010],[-0.996372,0.062791,0.057449],[0.046006,-0.170518,0.984280]] 2025-10-27T05:49:45.216Z,1761544185.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.529850 s, deltaX: -2.000000 m, approachRate: -0.566596 m/s, rangeRepo size: 4 2025-10-27T05:49:45.218Z,1761544185.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.315536 m, bearing: 264.138999 deg, lat: 36.779449 deg, lon: -121.859758 deg, deltaT: 3.529850 s, deltaX: -1.994415 m, approachRate: -0.565014 m/s, posRepo size: 4 2025-10-27T05:49:45.218Z,1761544185.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:45.221Z,1761544185.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 150.125854 m, bearing: 264.155032 deg, approach rate: 0.000000 m/s, LOS rate: 0.004214 deg/s, cmd heading: 274.104453 deg, new cmd heading: 274.110035 deg. 2025-10-27T05:49:45.222Z,1761544185.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784122 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:45.549Z,1761544185.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072240,0.983833,0.163870],[-0.996320,0.063583,0.057480],[0.046131,-0.167419,0.984806]] 2025-10-27T05:49:45.579Z,1761544185.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:45.581Z,1761544185.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:45.584Z,1761544185.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 149.929962 m, bearing: 264.157472 deg, approach rate: -0.534790 m/s, LOS rate: 0.006669 deg/s, cmd heading: 274.110026 deg, new cmd heading: 274.117355 deg. 2025-10-27T05:49:45.585Z,1761544185.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784250 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:45.660Z,1761544185.660 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:45.660Z,1761544185.660 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:45.660Z,1761544185.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:45.912Z,1761544185.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989639 2025-10-27T05:49:45.956Z,1761544185.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072947,0.984373,0.160274],[-0.996257,0.064448,0.057608],[0.046379,-0.163877,0.985390]] 2025-10-27T05:49:46.016Z,1761544186.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:46.019Z,1761544186.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 149.718735 m, bearing: 264.160771 deg, approach rate: -0.485709 m/s, LOS rate: 0.007596 deg/s, cmd heading: 274.117348 deg, new cmd heading: 274.127258 deg. 2025-10-27T05:49:46.020Z,1761544186.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784423 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:46.164Z,1761544186.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241688 2025-10-27T05:49:46.362Z,1761544186.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073865,0.984622,0.158316],[-0.996173,0.065411,0.057969],[0.046722,-0.161992,0.985685]] 2025-10-27T05:49:46.384Z,1761544186.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:46.387Z,1761544186.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 149.517487 m, bearing: 264.163863 deg, approach rate: -0.546082 m/s, LOS rate: 0.008401 deg/s, cmd heading: 274.127265 deg, new cmd heading: 274.136553 deg. 2025-10-27T05:49:46.388Z,1761544186.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784585 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:46.416Z,1761544186.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493541 2025-10-27T05:49:46.668Z,1761544186.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746025 2025-10-27T05:49:46.786Z,1761544186.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074734,0.984645,0.157764],[-0.996096,0.066256,0.058339],[0.046991,-0.161508,0.985752]] 2025-10-27T05:49:46.851Z,1761544186.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:46.857Z,1761544186.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 149.287338 m, bearing: 264.167783 deg, approach rate: -0.493760 m/s, LOS rate: 0.008423 deg/s, cmd heading: 274.136554 deg, new cmd heading: 274.148333 deg. 2025-10-27T05:49:46.858Z,1761544186.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784791 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:46.921Z,1761544186.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998604 2025-10-27T05:49:47.169Z,1761544187.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075434,0.984707,0.157040],[-0.996023,0.066920,0.058820],[0.047411,-0.160853,0.985839]] 2025-10-27T05:49:47.172Z,1761544187.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249695 2025-10-27T05:49:47.189Z,1761544187.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:47.192Z,1761544187.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 149.101501 m, bearing: 264.170911 deg, approach rate: -0.549317 m/s, LOS rate: 0.009256 deg/s, cmd heading: 274.148330 deg, new cmd heading: 274.157724 deg. 2025-10-27T05:49:47.193Z,1761544187.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784955 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:47.424Z,1761544187.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502071 2025-10-27T05:49:47.571Z,1761544187.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076451,0.984730,0.156406],[-0.995940,0.067941,0.059053],[0.047525,-0.160286,0.985926]] 2025-10-27T05:49:47.588Z,1761544187.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:47.590Z,1761544187.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:47.593Z,1761544187.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 148.894272 m, bearing: 264.174329 deg, approach rate: -0.516479 m/s, LOS rate: 0.008530 deg/s, cmd heading: 274.157728 deg, new cmd heading: 274.167996 deg. 2025-10-27T05:49:47.594Z,1761544187.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785134 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:47.676Z,1761544187.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753867 2025-10-27T05:49:47.933Z,1761544187.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010809 2025-10-27T05:49:47.981Z,1761544187.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077938,0.984703,0.155838],[-0.995839,0.069489,0.058960],[0.047229,-0.159785,0.986021]] 2025-10-27T05:49:48.018Z,1761544188.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:48.038Z,1761544188.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 148.670822 m, bearing: 264.176343 deg, approach rate: -0.522223 m/s, LOS rate: 0.004714 deg/s, cmd heading: 274.168001 deg, new cmd heading: 274.174052 deg. 2025-10-27T05:49:48.039Z,1761544188.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785240 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:48.184Z,1761544188.184 [DAT](INFO): DAT read: Rx Time:05:49:46.7291 2025-10-27T05:49:48.184Z,1761544188.184 [DAT](INFO): Rx dataTimestamp_ set to:1761544188.184142 2025-10-27T05:49:48.185Z,1761544188.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262747 2025-10-27T05:49:48.406Z,1761544188.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.32 m. 2025-10-27T05:49:48.408Z,1761544188.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.315536 m, nav range: 148.468460 m, bearing: 264.178172 deg, approach rate: -0.522086 m/s, LOS rate: 0.004726 deg/s, cmd heading: 274.174066 deg, new cmd heading: 274.179562 deg. 2025-10-27T05:49:48.409Z,1761544188.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785336 target range: 153.315536 and range: 154.20 m. 2025-10-27T05:49:48.436Z,1761544188.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513992 2025-10-27T05:49:48.700Z,1761544188.700 [DAT](INFO): DAT read: 05:49:46.7291 LVL= 32752, 32753, 31218, 32755, AGC= 64, IDX= 411, 0.20, 0.844,-0.603, 1.400, 0.797, PHS= 0.149,-1.355, 0.560, RAW= 161.8, 7.4, CAL= 161.3, 7.4, ROT= 348.7, -7.4 2025-10-27T05:49:48.702Z,1761544188.702 [DAT](INFO): got valid direction response: 05:49:46.7291 LVL= 32752, 32753, 31218, 32755, AGC= 64, IDX= 411, 0.20, 0.844,-0.603, 1.400, 0.797, PHS= 0.149,-1.355, 0.560, RAW= 161.8, 7.4, CAL= 161.3, 7.4, ROT= 348.7, -7.4 2025-10-27T05:49:48.705Z,1761544188.705 [DAT](INFO): DAT read: Bearing 79.3, -9.5 (Local) 2025-10-27T05:49:48.706Z,1761544188.706 [DAT](INFO): Local bearing/azimuth received: Bearing 79.3, -9.5 (Local) 2025-10-27T05:49:48.708Z,1761544188.708 [DAT](INFO): DAT read: Range 11 to 50 : 152.2 m (Round-trip 203.0 ms) speed 0.0 m/s 2025-10-27T05:49:48.709Z,1761544188.709 [DAT](INFO): DAT read: user:537> 2025-10-27T05:49:48.710Z,1761544188.710 [DAT](INFO): DAT read: Tx time:05:49:47.8219 2025-10-27T05:49:48.711Z,1761544188.711 [DAT](INFO): Ping request sent. 2025-10-27T05:49:48.711Z,1761544188.711 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:48.711Z,1761544188.711 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:48.713Z,1761544188.713 [DAT](INFO): direction in FSK: [0.972447,-0.194314,0.128796] 2025-10-27T05:49:48.713Z,1761544188.713 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:48.714Z,1761544188.714 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:48.727Z,1761544188.727 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:48.748Z,1761544188.748 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:48.850Z,1761544188.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080272,0.984782,0.154147],[-0.995700,0.072047,0.058227],[0.046235,-0.158159,0.986331]] 2025-10-27T05:49:48.963Z,1761544188.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.199997 m, deltaT: 3.784552 s, deltaX: -2.000000 m, approachRate: -0.528464 m/s, rangeRepo size: 4 2025-10-27T05:49:48.965Z,1761544188.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.338440 m, bearing: 264.524222 deg, lat: 36.779457 deg, lon: -121.859759 deg, deltaT: 3.784552 s, deltaX: -1.977097 m, approachRate: -0.522412 m/s, posRepo size: 4 2025-10-27T05:49:48.966Z,1761544188.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:48.973Z,1761544188.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 148.195999 m, bearing: 264.524722 deg, approach rate: 0.000000 m/s, LOS rate: 0.004726 deg/s, cmd heading: 274.179557 deg, new cmd heading: 274.187396 deg. 2025-10-27T05:49:48.974Z,1761544188.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785473 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:49.287Z,1761544189.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081023,0.984806,0.153595],[-0.995652,0.072865,0.058032],[0.045958,-0.157629,0.986428]] 2025-10-27T05:49:49.322Z,1761544189.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:49.328Z,1761544189.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 147.990585 m, bearing: 264.526882 deg, approach rate: -0.565875 m/s, LOS rate: 0.005956 deg/s, cmd heading: 274.187398 deg, new cmd heading: 274.193885 deg. 2025-10-27T05:49:49.330Z,1761544189.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785586 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:49.690Z,1761544189.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081146,0.984761,0.153823],[-0.995661,0.073038,0.057655],[0.045541,-0.157834,0.986415]] 2025-10-27T05:49:49.734Z,1761544189.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:49.747Z,1761544189.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:49.750Z,1761544189.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 147.779251 m, bearing: 264.529098 deg, approach rate: -0.496099 m/s, LOS rate: 0.005210 deg/s, cmd heading: 274.193873 deg, new cmd heading: 274.200531 deg. 2025-10-27T05:49:49.755Z,1761544189.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785702 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:49.948Z,1761544189.948 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:49.948Z,1761544189.948 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:49.948Z,1761544189.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:50.103Z,1761544190.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080869,0.984425,0.156103],[-0.995712,0.072732,0.057164],[0.044920,-0.160056,0.986085]] 2025-10-27T05:49:50.154Z,1761544190.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:50.157Z,1761544190.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 147.538284 m, bearing: 264.529919 deg, approach rate: -0.592828 m/s, LOS rate: 0.002024 deg/s, cmd heading: 274.200540 deg, new cmd heading: 274.203008 deg. 2025-10-27T05:49:50.158Z,1761544190.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785745 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:50.201Z,1761544190.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490035 2025-10-27T05:49:50.452Z,1761544190.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741303 2025-10-27T05:49:50.550Z,1761544190.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:50.569Z,1761544190.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 147.324417 m, bearing: 264.530650 deg, approach rate: -0.539913 m/s, LOS rate: 0.001849 deg/s, cmd heading: 274.202999 deg, new cmd heading: 274.205196 deg. 2025-10-27T05:49:50.570Z,1761544190.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785783 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:50.705Z,1761544190.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994169 2025-10-27T05:49:50.914Z,1761544190.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079389,0.984600,0.155755],[-0.995810,0.071219,0.057360],[0.045384,-0.159656,0.986129]] 2025-10-27T05:49:50.956Z,1761544190.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245460 2025-10-27T05:49:50.994Z,1761544190.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:51.001Z,1761544191.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 147.085861 m, bearing: 264.533240 deg, approach rate: -0.536931 m/s, LOS rate: 0.005838 deg/s, cmd heading: 274.205184 deg, new cmd heading: 274.212965 deg. 2025-10-27T05:49:51.002Z,1761544191.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785919 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:51.208Z,1761544191.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497369 2025-10-27T05:49:51.353Z,1761544191.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076569,0.985011,0.154566],[-0.995947,0.068220,0.058622],[0.047199,-0.158428,0.986242]] 2025-10-27T05:49:51.373Z,1761544191.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:51.376Z,1761544191.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 146.864182 m, bearing: 264.535910 deg, approach rate: -0.585704 m/s, LOS rate: 0.007064 deg/s, cmd heading: 274.212971 deg, new cmd heading: 274.220992 deg. 2025-10-27T05:49:51.377Z,1761544191.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786059 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:51.461Z,1761544191.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750362 2025-10-27T05:49:51.712Z,1761544191.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001805 2025-10-27T05:49:51.757Z,1761544191.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074414,0.985350,0.153454],[-0.996032,0.065908,0.059801],[0.048811,-0.157296,0.986345]] 2025-10-27T05:49:51.776Z,1761544191.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:51.778Z,1761544191.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:51.796Z,1761544191.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 146.640060 m, bearing: 264.538817 deg, approach rate: -0.553815 m/s, LOS rate: 0.007194 deg/s, cmd heading: 274.221003 deg, new cmd heading: 274.229737 deg. 2025-10-27T05:49:51.797Z,1761544191.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786212 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:51.964Z,1761544191.964 [DAT](INFO): DAT read: Rx Time:05:49:50.4264 2025-10-27T05:49:51.964Z,1761544191.964 [DAT](INFO): Rx dataTimestamp_ set to:1761544191.964089 2025-10-27T05:49:51.965Z,1761544191.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254405 2025-10-27T05:49:52.153Z,1761544192.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072806,0.985683,0.152080],[-0.996083,0.064193,0.060803],[0.050170,-0.155912,0.986496]] 2025-10-27T05:49:52.201Z,1761544192.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m. 2025-10-27T05:49:52.204Z,1761544192.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.338440 m, nav range: 146.408524 m, bearing: 264.541677 deg, approach rate: -0.546152 m/s, LOS rate: 0.006758 deg/s, cmd heading: 274.229746 deg, new cmd heading: 274.238341 deg. 2025-10-27T05:49:52.205Z,1761544192.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786362 target range: 151.338440 and range: 152.20 m. 2025-10-27T05:49:52.216Z,1761544192.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505671 2025-10-27T05:49:52.476Z,1761544192.476 [DAT](INFO): DAT read: 05:49:50.4264 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.10, 1.807, 0.349, 2.362, 1.703, PHS= 0.206,-1.309, 0.615, RAW= 161.6, 5.6, CAL= 160.8, 5.0, ROT= 349.2, -5.0 2025-10-27T05:49:52.477Z,1761544192.477 [DAT](INFO): got valid direction response: 05:49:50.4264 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 416, 0.10, 1.807, 0.349, 2.362, 1.703, PHS= 0.206,-1.309, 0.615, RAW= 161.6, 5.6, CAL= 160.8, 5.0, ROT= 349.2, -5.0 2025-10-27T05:49:52.478Z,1761544192.478 [DAT](INFO): DAT read: Bearing 76.9, -8.7 (Local) 2025-10-27T05:49:52.479Z,1761544192.479 [DAT](INFO): Local bearing/azimuth received: Bearing 76.9, -8.7 (Local) 2025-10-27T05:49:52.480Z,1761544192.480 [DAT](INFO): DAT read: Range 11 to 50 : 150.2 m (Round-trip 200.3 ms) speed 0.8 m/s 2025-10-27T05:49:52.481Z,1761544192.481 [DAT](INFO): DAT read: user:538> 2025-10-27T05:49:52.482Z,1761544192.482 [DAT](INFO): DAT read: Tx time:05:49:51.5219 2025-10-27T05:49:52.482Z,1761544192.482 [DAT](INFO): Ping request sent. 2025-10-27T05:49:52.482Z,1761544192.482 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:52.482Z,1761544192.482 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:52.484Z,1761544192.484 [DAT](INFO): direction in FSK: [0.978549,-0.186668,0.087156] 2025-10-27T05:49:52.484Z,1761544192.484 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:52.484Z,1761544192.484 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:52.488Z,1761544192.488 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:52.488Z,1761544192.488 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:52.579Z,1761544192.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071454,0.985747,0.152306],[-0.996113,0.062636,0.061937],[0.051514,-0.156140,0.986391]] 2025-10-27T05:49:52.729Z,1761544192.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 150.199997 m, deltaT: 3.778402 s, deltaX: -2.000000 m, approachRate: -0.529324 m/s, rangeRepo size: 4 2025-10-27T05:49:52.733Z,1761544192.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 149.354996 m, bearing: 264.132871 deg, lat: 36.779449 deg, lon: -121.859759 deg, deltaT: 3.778402 s, deltaX: -1.983444 m, approachRate: -0.524943 m/s, posRepo size: 4 2025-10-27T05:49:52.734Z,1761544192.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.35 m. 2025-10-27T05:49:52.745Z,1761544192.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.354996 m, nav range: 146.233353 m, bearing: 264.199496 deg, approach rate: 0.000000 m/s, LOS rate: 0.006758 deg/s, cmd heading: 274.238352 deg, new cmd heading: 274.248923 deg. 2025-10-27T05:49:52.746Z,1761544192.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786547 target range: 149.354996 and range: 150.20 m. 2025-10-27T05:49:53.061Z,1761544193.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070513,0.985549,0.154018],[-0.996118,0.061414,0.063060],[0.052690,-0.157867,0.986054]] 2025-10-27T05:49:53.124Z,1761544193.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.35 m. 2025-10-27T05:49:53.127Z,1761544193.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.354996 m, nav range: 146.008942 m, bearing: 264.204637 deg, approach rate: -0.559242 m/s, LOS rate: 0.012831 deg/s, cmd heading: 274.248925 deg, new cmd heading: 274.264371 deg. 2025-10-27T05:49:53.128Z,1761544193.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786816 target range: 149.354996 and range: 150.20 m. 2025-10-27T05:49:53.461Z,1761544193.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070201,0.985427,0.154938],[-0.996091,0.060899,0.063991],[0.053623,-0.158824,0.985850]] 2025-10-27T05:49:53.492Z,1761544193.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.35 m. 2025-10-27T05:49:53.499Z,1761544193.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.354996 m, nav range: 145.808701 m, bearing: 264.209257 deg, approach rate: -0.543959 m/s, LOS rate: 0.012568 deg/s, cmd heading: 274.264361 deg, new cmd heading: 274.278240 deg. 2025-10-27T05:49:53.500Z,1761544193.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787058 target range: 149.354996 and range: 150.20 m. 2025-10-27T05:49:53.902Z,1761544193.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070521,0.985326,0.155435],[-0.996045,0.061114,0.064497],[0.054051,-0.159368,0.985738]] 2025-10-27T05:49:53.941Z,1761544193.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:53.960Z,1761544193.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.35 m. 2025-10-27T05:49:53.962Z,1761544193.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.354996 m, nav range: 145.584473 m, bearing: 264.215770 deg, approach rate: -0.479952 m/s, LOS rate: 0.013962 deg/s, cmd heading: 274.278240 deg, new cmd heading: 274.297809 deg. 2025-10-27T05:49:53.967Z,1761544193.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787400 target range: 149.354996 and range: 150.20 m. 2025-10-27T05:49:53.980Z,1761544193.980 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:53.980Z,1761544193.980 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:53.980Z,1761544193.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:54.232Z,1761544194.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749959 2025-10-27T05:49:54.276Z,1761544194.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070791,0.985326,0.155313],[-0.996006,0.061330,0.064892],[0.054415,-0.159287,0.985732]] 2025-10-27T05:49:54.304Z,1761544194.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.35 m. 2025-10-27T05:49:54.309Z,1761544194.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.354996 m, nav range: 145.406860 m, bearing: 264.220926 deg, approach rate: -0.518334 m/s, LOS rate: 0.015065 deg/s, cmd heading: 274.297802 deg, new cmd heading: 274.313288 deg. 2025-10-27T05:49:54.310Z,1761544194.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787670 target range: 149.354996 and range: 150.20 m. 2025-10-27T05:49:54.484Z,1761544194.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001772 2025-10-27T05:49:54.674Z,1761544194.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071580,0.985283,0.155221],[-0.995941,0.062087,0.065171],[0.054575,-0.159256,0.985728]] 2025-10-27T05:49:54.692Z,1761544194.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.35 m. 2025-10-27T05:49:54.695Z,1761544194.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.354996 m, nav range: 145.211975 m, bearing: 264.226537 deg, approach rate: -0.499374 m/s, LOS rate: 0.014398 deg/s, cmd heading: 274.313292 deg, new cmd heading: 274.330149 deg. 2025-10-27T05:49:54.696Z,1761544194.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787964 target range: 149.354996 and range: 150.20 m. 2025-10-27T05:49:54.736Z,1761544194.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254264 2025-10-27T05:49:54.988Z,1761544194.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505776 2025-10-27T05:49:55.077Z,1761544195.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072480,0.984940,0.156974],[-0.995837,0.062745,0.066116],[0.055270,-0.161112,0.985387]] 2025-10-27T05:49:55.128Z,1761544195.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.35 m. 2025-10-27T05:49:55.131Z,1761544195.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.354996 m, nav range: 144.986450 m, bearing: 264.232670 deg, approach rate: -0.517663 m/s, LOS rate: 0.014099 deg/s, cmd heading: 274.330149 deg, new cmd heading: 274.348577 deg. 2025-10-27T05:49:55.132Z,1761544195.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788286 target range: 149.354996 and range: 150.20 m. 2025-10-27T05:49:55.240Z,1761544195.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757921 2025-10-27T05:49:55.488Z,1761544195.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073374,0.984824,0.157285],[-0.995753,0.063551,0.066607],[0.055600,-0.161504,0.985304]] 2025-10-27T05:49:55.492Z,1761544195.492 [DAT](INFO): DAT read: Rx Time:05:49:54.1236 2025-10-27T05:49:55.493Z,1761544195.493 [DAT](INFO): Rx dataTimestamp_ set to:1761544195.492239 2025-10-27T05:49:55.493Z,1761544195.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010958 2025-10-27T05:49:55.513Z,1761544195.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.35 m. 2025-10-27T05:49:55.516Z,1761544195.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.354996 m, nav range: 144.789062 m, bearing: 264.237982 deg, approach rate: -0.512223 m/s, LOS rate: 0.013803 deg/s, cmd heading: 274.348564 deg, new cmd heading: 274.364520 deg. 2025-10-27T05:49:55.517Z,1761544195.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788564 target range: 149.354996 and range: 150.20 m. 2025-10-27T05:49:55.747Z,1761544195.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264674 2025-10-27T05:49:55.932Z,1761544195.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074432,0.984770,0.157121],[-0.995660,0.064561,0.067028],[0.055864,-0.161429,0.985302]] 2025-10-27T05:49:56.009Z,1761544196.009 [DAT](INFO): DAT read: 05:49:54.1236 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.18, 2.074, 0.641, 2.611, 2.007, PHS= 0.169,-1.320, 0.561, RAW= 161.4, 6.9, CAL= 160.8, 6.7, ROT= 349.2, -6.7 2025-10-27T05:49:56.010Z,1761544196.010 [DAT](INFO): got valid direction response: 05:49:54.1236 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.18, 2.074, 0.641, 2.611, 2.007, PHS= 0.169,-1.320, 0.561, RAW= 161.4, 6.9, CAL= 160.8, 6.7, ROT= 349.2, -6.7 2025-10-27T05:49:56.015Z,1761544196.015 [DAT](INFO): DAT read: Bearing 79.1, -8.4 (Local) 2025-10-27T05:49:56.016Z,1761544196.016 [DAT](INFO): Local bearing/azimuth received: Bearing 79.1, -8.4 (Local) 2025-10-27T05:49:56.017Z,1761544196.017 [DAT](INFO): DAT read: Range 11 to 50 : 148.2 m (Round-trip 197.6 ms) speed 0.4 m/s 2025-10-27T05:49:56.018Z,1761544196.018 [DAT](INFO): DAT read: user:539> 2025-10-27T05:49:56.018Z,1761544196.018 [DAT](INFO): DAT read: Tx time:05:49:55.2218 2025-10-27T05:49:56.027Z,1761544196.027 [DAT](INFO): Ping request sent. 2025-10-27T05:49:56.027Z,1761544196.027 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:56.027Z,1761544196.027 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:56.028Z,1761544196.028 [DAT](INFO): direction in FSK: [0.975579,-0.186102,0.116671] 2025-10-27T05:49:56.029Z,1761544196.029 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:56.029Z,1761544196.029 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:56.034Z,1761544196.034 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:56.034Z,1761544196.034 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:56.081Z,1761544196.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 148.199997 m, deltaT: 3.528819 s, deltaX: -2.000000 m, approachRate: -0.566762 m/s, rangeRepo size: 4 2025-10-27T05:49:56.087Z,1761544196.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.372437 m, bearing: 264.593847 deg, lat: 36.779449 deg, lon: -121.859759 deg, deltaT: 3.528819 s, deltaX: -1.982559 m, approachRate: -0.561819 m/s, posRepo size: 4 2025-10-27T05:49:56.088Z,1761544196.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:56.090Z,1761544196.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 144.495850 m, bearing: 264.246329 deg, approach rate: 0.000000 m/s, LOS rate: 0.013803 deg/s, cmd heading: 274.364519 deg, new cmd heading: 274.387989 deg. 2025-10-27T05:49:56.100Z,1761544196.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788974 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:56.403Z,1761544196.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075590,0.984665,0.157232],[-0.995550,0.065628,0.067621],[0.056265,-0.161644,0.985244]] 2025-10-27T05:49:56.437Z,1761544196.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:56.439Z,1761544196.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:56.442Z,1761544196.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 144.316422 m, bearing: 264.252355 deg, approach rate: -0.500244 m/s, LOS rate: 0.016822 deg/s, cmd heading: 274.387987 deg, new cmd heading: 274.406088 deg. 2025-10-27T05:49:56.443Z,1761544196.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789290 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:56.501Z,1761544196.501 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:49:56.501Z,1761544196.501 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:49:56.501Z,1761544196.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:49:56.752Z,1761544196.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.724814 2025-10-27T05:49:56.815Z,1761544196.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076415,0.984648,0.156934],[-0.995449,0.066352,0.068400],[0.056937,-0.161446,0.985238]] 2025-10-27T05:49:56.846Z,1761544196.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:56.853Z,1761544196.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 144.107147 m, bearing: 264.259336 deg, approach rate: -0.513615 m/s, LOS rate: 0.017158 deg/s, cmd heading: 274.406101 deg, new cmd heading: 274.427074 deg. 2025-10-27T05:49:56.854Z,1761544196.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789656 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:57.004Z,1761544197.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976802 2025-10-27T05:49:57.209Z,1761544197.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077061,0.984689,0.156361],[-0.995350,0.066889,0.069308],[0.057788,-0.160975,0.985265]] 2025-10-27T05:49:57.256Z,1761544197.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228674 2025-10-27T05:49:57.268Z,1761544197.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:57.270Z,1761544197.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 143.895401 m, bearing: 264.265116 deg, approach rate: -0.502321 m/s, LOS rate: 0.013733 deg/s, cmd heading: 274.427083 deg, new cmd heading: 274.444451 deg. 2025-10-27T05:49:57.276Z,1761544197.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789959 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:57.516Z,1761544197.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488803 2025-10-27T05:49:57.617Z,1761544197.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078161,0.984733,0.155540],[-0.995223,0.067915,0.070139],[0.058504,-0.160279,0.985336]] 2025-10-27T05:49:57.659Z,1761544197.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:57.662Z,1761544197.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 143.688629 m, bearing: 264.270691 deg, approach rate: -0.528934 m/s, LOS rate: 0.014280 deg/s, cmd heading: 274.444459 deg, new cmd heading: 274.461207 deg. 2025-10-27T05:49:57.680Z,1761544197.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790252 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:57.761Z,1761544197.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733728 2025-10-27T05:49:58.012Z,1761544198.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984847 2025-10-27T05:49:58.026Z,1761544198.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079016,0.984912,0.153966],[-0.995106,0.068738,0.070981],[0.059327,-0.158821,0.985523]] 2025-10-27T05:49:58.063Z,1761544198.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:58.066Z,1761544198.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 143.453705 m, bearing: 264.273561 deg, approach rate: -0.581268 m/s, LOS rate: 0.007113 deg/s, cmd heading: 274.461207 deg, new cmd heading: 274.469832 deg. 2025-10-27T05:49:58.067Z,1761544198.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790402 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:58.267Z,1761544198.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240179 2025-10-27T05:49:58.424Z,1761544198.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079365,0.985066,0.152792],[-0.995017,0.069003,0.071972],[0.060354,-0.157742,0.985634]] 2025-10-27T05:49:58.441Z,1761544198.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:49:58.443Z,1761544198.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:58.446Z,1761544198.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 143.244751 m, bearing: 264.276098 deg, approach rate: -0.550052 m/s, LOS rate: 0.006687 deg/s, cmd heading: 274.469840 deg, new cmd heading: 274.477461 deg. 2025-10-27T05:49:58.447Z,1761544198.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790535 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:58.517Z,1761544198.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489882 2025-10-27T05:49:58.768Z,1761544198.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740766 2025-10-27T05:49:58.832Z,1761544198.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079134,0.985295,0.151429],[-0.994958,0.068677,0.073089],[0.061614,-0.156449,0.985762]] 2025-10-27T05:49:58.851Z,1761544198.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:58.871Z,1761544198.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 143.020126 m, bearing: 264.278860 deg, approach rate: -0.550908 m/s, LOS rate: 0.006786 deg/s, cmd heading: 274.477463 deg, new cmd heading: 274.485763 deg. 2025-10-27T05:49:58.872Z,1761544198.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790680 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:59.020Z,1761544199.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992772 2025-10-27T05:49:59.272Z,1761544199.272 [DAT](INFO): DAT read: Rx Time:05:49:57.8211 2025-10-27T05:49:59.273Z,1761544199.273 [DAT](INFO): Rx dataTimestamp_ set to:1761544199.272245 2025-10-27T05:49:59.273Z,1761544199.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245978 2025-10-27T05:49:59.286Z,1761544199.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:59.288Z,1761544199.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 142.773865 m, bearing: 264.279890 deg, approach rate: -0.566152 m/s, LOS rate: 0.002371 deg/s, cmd heading: 274.485768 deg, new cmd heading: 274.488863 deg. 2025-10-27T05:49:59.289Z,1761544199.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790734 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:59.524Z,1761544199.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497304 2025-10-27T05:49:59.642Z,1761544199.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078910,0.985822,0.148080],[-0.994838,0.068369,0.074985],[0.063798,-0.153233,0.986129]] 2025-10-27T05:49:59.725Z,1761544199.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.37 m. 2025-10-27T05:49:59.734Z,1761544199.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.372437 m, nav range: 142.534393 m, bearing: 264.280935 deg, approach rate: -0.544890 m/s, LOS rate: 0.002381 deg/s, cmd heading: 274.488856 deg, new cmd heading: 274.491995 deg. 2025-10-27T05:49:59.739Z,1761544199.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790789 target range: 147.372437 and range: 148.20 m. 2025-10-27T05:49:59.784Z,1761544199.784 [DAT](INFO): DAT read: 05:49:57.8211 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.08, 1.439, 0.042, 1.996, 1.399, PHS= 0.142,-1.311, 0.553, RAW= 162.1, 7.3, CAL= 161.6, 7.2, ROT= 348.4, -7.2 2025-10-27T05:49:59.785Z,1761544199.785 [DAT](INFO): got valid direction response: 05:49:57.8211 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.08, 1.439, 0.042, 1.996, 1.399, PHS= 0.142,-1.311, 0.553, RAW= 162.1, 7.3, CAL= 161.6, 7.2, ROT= 348.4, -7.2 2025-10-27T05:49:59.786Z,1761544199.786 [DAT](INFO): DAT read: Bearing 80.1, -8.7 (Local) 2025-10-27T05:49:59.786Z,1761544199.786 [DAT](INFO): Local bearing/azimuth received: Bearing 80.1, -8.7 (Local) 2025-10-27T05:49:59.788Z,1761544199.788 [DAT](INFO): DAT read: Range 11 to 50 : 146.4 m (Round-trip 195.2 ms) speed 0.5 m/s 2025-10-27T05:49:59.790Z,1761544199.790 [DAT](INFO): DAT read: user:540> 2025-10-27T05:49:59.792Z,1761544199.792 [DAT](INFO): DAT read: Tx time:05:49:58.9218 2025-10-27T05:49:59.793Z,1761544199.793 [DAT](INFO): Ping request sent. 2025-10-27T05:49:59.793Z,1761544199.793 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:49:59.794Z,1761544199.794 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:49:59.804Z,1761544199.804 [DAT](INFO): direction in FSK: [0.971851,-0.199492,0.125333] 2025-10-27T05:49:59.805Z,1761544199.805 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:59.805Z,1761544199.805 [DAT](INFO): publishing direction and range info 2025-10-27T05:49:59.820Z,1761544199.820 [DAT](INFO): publishing transmit ping time 2025-10-27T05:49:59.821Z,1761544199.821 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:00.050Z,1761544200.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078586,0.985909,0.147672],[-0.994787,0.067899,0.076080],[0.064981,-0.152881,0.986106]] 2025-10-27T05:50:00.153Z,1761544200.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.399994 m, deltaT: 3.780401 s, deltaX: -1.800003 m, approachRate: -0.476141 m/s, rangeRepo size: 4 2025-10-27T05:50:00.163Z,1761544200.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.570663 m, bearing: 264.013761 deg, lat: 36.779449 deg, lon: -121.859759 deg, deltaT: 3.780401 s, deltaX: -1.801773 m, approachRate: -0.476609 m/s, posRepo size: 4 2025-10-27T05:50:00.164Z,1761544200.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.57 m. 2025-10-27T05:50:00.166Z,1761544200.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.570663 m, nav range: 142.290802 m, bearing: 264.280270 deg, approach rate: 0.000000 m/s, LOS rate: 0.002381 deg/s, cmd heading: 274.491998 deg, new cmd heading: 274.495049 deg. 2025-10-27T05:50:00.168Z,1761544200.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790843 target range: 145.570663 and range: 146.40 m. 2025-10-27T05:50:00.502Z,1761544200.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078346,0.985909,0.147800],[-0.994750,0.067520,0.076903],[0.065840,-0.153049,0.986023]] 2025-10-27T05:50:00.537Z,1761544200.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:00.539Z,1761544200.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.57 m. 2025-10-27T05:50:00.542Z,1761544200.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.570663 m, nav range: 142.055298 m, bearing: 264.279648 deg, approach rate: -0.609202 m/s, LOS rate: -0.001611 deg/s, cmd heading: 274.495057 deg, new cmd heading: 274.493189 deg. 2025-10-27T05:50:00.543Z,1761544200.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790810 target range: 145.570663 and range: 146.40 m. 2025-10-27T05:50:00.784Z,1761544200.784 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:00.784Z,1761544200.784 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:00.785Z,1761544200.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:01.008Z,1761544201.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.57 m. 2025-10-27T05:50:01.010Z,1761544201.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.570663 m, nav range: 141.796570 m, bearing: 264.278962 deg, approach rate: -0.551568 m/s, LOS rate: -0.001464 deg/s, cmd heading: 274.493200 deg, new cmd heading: 274.491139 deg. 2025-10-27T05:50:01.016Z,1761544201.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790774 target range: 145.570663 and range: 146.40 m. 2025-10-27T05:50:01.037Z,1761544201.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243661 2025-10-27T05:50:01.289Z,1761544201.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496222 2025-10-27T05:50:01.338Z,1761544201.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078386,0.985337,0.151544],[-0.994727,0.067221,0.077453],[0.066131,-0.156816,0.985411]] 2025-10-27T05:50:01.388Z,1761544201.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.57 m. 2025-10-27T05:50:01.392Z,1761544201.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.570663 m, nav range: 141.564926 m, bearing: 264.279089 deg, approach rate: -0.608580 m/s, LOS rate: 0.000333 deg/s, cmd heading: 274.491151 deg, new cmd heading: 274.491531 deg. 2025-10-27T05:50:01.393Z,1761544201.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790781 target range: 145.570663 and range: 146.40 m. 2025-10-27T05:50:01.540Z,1761544201.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746998 2025-10-27T05:50:01.748Z,1761544201.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079001,0.985073,0.152940],[-0.994696,0.067758,0.077387],[0.065869,-0.158242,0.985201]] 2025-10-27T05:50:01.770Z,1761544201.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.57 m. 2025-10-27T05:50:01.774Z,1761544201.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.570663 m, nav range: 141.345688 m, bearing: 264.279145 deg, approach rate: -0.574434 m/s, LOS rate: 0.000147 deg/s, cmd heading: 274.491533 deg, new cmd heading: 274.491701 deg. 2025-10-27T05:50:01.775Z,1761544201.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790784 target range: 145.570663 and range: 146.40 m. 2025-10-27T05:50:01.794Z,1761544201.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000627 2025-10-27T05:50:02.044Z,1761544202.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250994 2025-10-27T05:50:02.146Z,1761544202.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079525,0.985016,0.153032],[-0.994633,0.068215,0.077794],[0.066190,-0.158397,0.985154]] 2025-10-27T05:50:02.208Z,1761544202.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.57 m. 2025-10-27T05:50:02.215Z,1761544202.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.570663 m, nav range: 141.119217 m, bearing: 264.279339 deg, approach rate: -0.516777 m/s, LOS rate: 0.000445 deg/s, cmd heading: 274.491697 deg, new cmd heading: 274.492281 deg. 2025-10-27T05:50:02.216Z,1761544202.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790794 target range: 145.570663 and range: 146.40 m. 2025-10-27T05:50:02.297Z,1761544202.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504125 2025-10-27T05:50:02.551Z,1761544202.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757310 2025-10-27T05:50:02.558Z,1761544202.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082127,0.984944,0.152119],[-0.994463,0.070946,0.077529],[0.065570,-0.157644,0.985317]] 2025-10-27T05:50:02.592Z,1761544202.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:02.594Z,1761544202.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.57 m. 2025-10-27T05:50:02.601Z,1761544202.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.570663 m, nav range: 140.908478 m, bearing: 264.279301 deg, approach rate: -0.546860 m/s, LOS rate: -0.000100 deg/s, cmd heading: 274.492271 deg, new cmd heading: 274.492155 deg. 2025-10-27T05:50:02.601Z,1761544202.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790792 target range: 145.570663 and range: 146.40 m. 2025-10-27T05:50:02.801Z,1761544202.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008406 2025-10-27T05:50:03.052Z,1761544203.052 [DAT](INFO): DAT read: Rx Time:05:50:01.5182 2025-10-27T05:50:03.053Z,1761544203.053 [DAT](INFO): Rx dataTimestamp_ set to:1761544203.052654 2025-10-27T05:50:03.053Z,1761544203.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260628 2025-10-27T05:50:03.085Z,1761544203.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083538,0.985020,0.150855],[-0.994365,0.072483,0.077365],[0.065271,-0.156468,0.985524]] 2025-10-27T05:50:03.158Z,1761544203.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.57 m. 2025-10-27T05:50:03.165Z,1761544203.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.570663 m, nav range: 140.608734 m, bearing: 264.279066 deg, approach rate: -0.531508 m/s, LOS rate: -0.000416 deg/s, cmd heading: 274.492161 deg, new cmd heading: 274.491457 deg. 2025-10-27T05:50:03.166Z,1761544203.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790780 target range: 145.570663 and range: 146.40 m. 2025-10-27T05:50:03.305Z,1761544203.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511445 2025-10-27T05:50:03.562Z,1761544203.562 [DAT](INFO): DAT read: 05:50:01.5182 LVL= 32752, 32753, 30994, 32755, AGC= 69, IDX= 414,-0.36,-0.765,-2.168,-0.189,-0.815, PHS= 0.152,-1.308, 0.582, RAW= 162.5, 6.7, CAL= 161.9, 6.5, ROT= 348.1, -6.5 2025-10-27T05:50:03.563Z,1761544203.563 [DAT](INFO): got valid direction response: 05:50:01.5182 LVL= 32752, 32753, 30994, 32755, AGC= 69, IDX= 414,-0.36,-0.765,-2.168,-0.189,-0.815, PHS= 0.152,-1.308, 0.582, RAW= 162.5, 6.7, CAL= 161.9, 6.5, ROT= 348.1, -6.5 2025-10-27T05:50:03.564Z,1761544203.564 [DAT](INFO): DAT read: Bearing 79.6, -8.8 (Local) 2025-10-27T05:50:03.564Z,1761544203.564 [DAT](INFO): Local bearing/azimuth received: Bearing 79.6, -8.8 (Local) 2025-10-27T05:50:03.566Z,1761544203.566 [DAT](INFO): DAT read: Range 11 to 50 : 144.1 m (Round-trip 192.2 ms) speed 0.5 m/s 2025-10-27T05:50:03.567Z,1761544203.567 [DAT](INFO): DAT read: user:541> 2025-10-27T05:50:03.567Z,1761544203.567 [DAT](INFO): DAT read: Tx time:05:50:02.6218 2025-10-27T05:50:03.568Z,1761544203.568 [DAT](INFO): Ping request sent. 2025-10-27T05:50:03.568Z,1761544203.568 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:03.568Z,1761544203.568 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:03.569Z,1761544203.569 [DAT](INFO): direction in FSK: [0.972219,-0.204878,0.113203] 2025-10-27T05:50:03.569Z,1761544203.569 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:03.570Z,1761544203.570 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:03.593Z,1761544203.593 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:03.593Z,1761544203.593 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:03.657Z,1761544203.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084938,0.985056,0.149834],[-0.994261,0.073978,0.077275],[0.065036,-0.155538,0.985687]] 2025-10-27T05:50:03.728Z,1761544203.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.100006 m, deltaT: 3.778346 s, deltaX: -2.299988 m, approachRate: -0.608729 m/s, rangeRepo size: 4 2025-10-27T05:50:03.735Z,1761544203.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 143.257843 m, bearing: 263.999723 deg, lat: 36.779447 deg, lon: -121.859759 deg, deltaT: 3.778346 s, deltaX: -2.312820 m, approachRate: -0.612125 m/s, posRepo size: 4 2025-10-27T05:50:03.736Z,1761544203.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.26 m. 2025-10-27T05:50:03.743Z,1761544203.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.257843 m, nav range: 140.351929 m, bearing: 264.166407 deg, approach rate: 0.000000 m/s, LOS rate: -0.000416 deg/s, cmd heading: 274.491451 deg, new cmd heading: 274.490747 deg. 2025-10-27T05:50:03.744Z,1761544203.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790767 target range: 143.257843 and range: 144.10 m. 2025-10-27T05:50:04.182Z,1761544204.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087279,0.984689,0.150900],[-0.994135,0.076383,0.076563],[0.063865,-0.156697,0.985580]] 2025-10-27T05:50:04.244Z,1761544204.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.26 m. 2025-10-27T05:50:04.246Z,1761544204.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.257843 m, nav range: 140.075699 m, bearing: 264.168168 deg, approach rate: -0.529495 m/s, LOS rate: 0.003381 deg/s, cmd heading: 274.490741 deg, new cmd heading: 274.496032 deg. 2025-10-27T05:50:04.275Z,1761544204.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790860 target range: 143.257843 and range: 144.10 m. 2025-10-27T05:50:04.582Z,1761544204.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088107,0.984372,0.152474],[-0.994104,0.077182,0.076157],[0.063198,-0.158285,0.985369]] 2025-10-27T05:50:04.607Z,1761544204.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:04.609Z,1761544204.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.26 m. 2025-10-27T05:50:04.612Z,1761544204.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.257843 m, nav range: 139.871490 m, bearing: 264.169394 deg, approach rate: -0.558967 m/s, LOS rate: 0.003362 deg/s, cmd heading: 274.496041 deg, new cmd heading: 274.499726 deg. 2025-10-27T05:50:04.613Z,1761544204.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790924 target range: 143.257843 and range: 144.10 m. 2025-10-27T05:50:04.816Z,1761544204.816 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:04.816Z,1761544204.816 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:04.817Z,1761544204.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:05.006Z,1761544205.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089089,0.984146,0.153360],[-0.994054,0.078174,0.075800],[0.062610,-0.159201,0.985259]] 2025-10-27T05:50:05.068Z,1761544205.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500099 2025-10-27T05:50:05.102Z,1761544205.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.26 m. 2025-10-27T05:50:05.105Z,1761544205.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.257843 m, nav range: 139.616562 m, bearing: 264.171315 deg, approach rate: -0.516996 m/s, LOS rate: 0.003903 deg/s, cmd heading: 274.499729 deg, new cmd heading: 274.505503 deg. 2025-10-27T05:50:05.106Z,1761544205.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791025 target range: 143.257843 and range: 144.10 m. 2025-10-27T05:50:05.321Z,1761544205.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752801 2025-10-27T05:50:05.443Z,1761544205.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.26 m. 2025-10-27T05:50:05.446Z,1761544205.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.257843 m, nav range: 139.439850 m, bearing: 264.172651 deg, approach rate: -0.517654 m/s, LOS rate: 0.003918 deg/s, cmd heading: 274.505494 deg, new cmd heading: 274.509506 deg. 2025-10-27T05:50:05.447Z,1761544205.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791095 target range: 143.257843 and range: 144.10 m. 2025-10-27T05:50:05.572Z,1761544205.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003973 2025-10-27T05:50:05.636Z,1761544205.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:50:05.818Z,1761544205.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089959,0.983364,0.157809],[-0.994043,0.078864,0.075223],[0.061526,-0.163635,0.984600]] 2025-10-27T05:50:05.824Z,1761544205.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256056 2025-10-27T05:50:05.838Z,1761544205.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.26 m. 2025-10-27T05:50:05.857Z,1761544205.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.257843 m, nav range: 139.235886 m, bearing: 264.174096 deg, approach rate: -0.516756 m/s, LOS rate: 0.003667 deg/s, cmd heading: 274.509510 deg, new cmd heading: 274.513852 deg. 2025-10-27T05:50:05.858Z,1761544205.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791171 target range: 143.257843 and range: 144.10 m. 2025-10-27T05:50:06.079Z,1761544206.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510317 2025-10-27T05:50:06.214Z,1761544206.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089990,0.982748,0.161582],[-0.994054,0.078641,0.075318],[0.061311,-0.167399,0.983981]] 2025-10-27T05:50:06.258Z,1761544206.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.26 m. 2025-10-27T05:50:06.261Z,1761544206.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.257843 m, nav range: 139.005234 m, bearing: 264.178004 deg, approach rate: -0.549140 m/s, LOS rate: 0.009320 deg/s, cmd heading: 274.513854 deg, new cmd heading: 274.525599 deg. 2025-10-27T05:50:06.262Z,1761544206.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791376 target range: 143.257843 and range: 144.10 m. 2025-10-27T05:50:06.328Z,1761544206.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760048 2025-10-27T05:50:06.580Z,1761544206.580 [DAT](INFO): DAT read: Rx Time:05:50:05.2154 2025-10-27T05:50:06.580Z,1761544206.580 [DAT](INFO): Rx dataTimestamp_ set to:1761544206.580083 2025-10-27T05:50:06.581Z,1761544206.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013023 2025-10-27T05:50:06.618Z,1761544206.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090082,0.982530,0.162850],[-0.994039,0.078616,0.075544],[0.061421,-0.168685,0.983754]] 2025-10-27T05:50:06.639Z,1761544206.639 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:50:06.661Z,1761544206.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:06.671Z,1761544206.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.26 m. 2025-10-27T05:50:06.674Z,1761544206.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.257843 m, nav range: 138.788116 m, bearing: 264.181680 deg, approach rate: -0.536172 m/s, LOS rate: 0.009092 deg/s, cmd heading: 274.525602 deg, new cmd heading: 274.536648 deg. 2025-10-27T05:50:06.683Z,1761544206.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791568 target range: 143.257843 and range: 144.10 m. 2025-10-27T05:50:06.832Z,1761544206.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264011 2025-10-27T05:50:07.096Z,1761544207.096 [DAT](INFO): DAT read: 05:50:05.2154 LVL= 32752, 32753, 30130, 32755, AGC= 64, IDX= 416, 0.45, 1.095,-0.313, 1.671, 1.044, PHS= 0.153,-1.311, 0.584, RAW= 162.5, 6.7, CAL= 161.9, 6.5, ROT= 348.1, -6.5 2025-10-27T05:50:07.097Z,1761544207.097 [DAT](INFO): got valid direction response: 05:50:05.2154 LVL= 32752, 32753, 30130, 32755, AGC= 64, IDX= 416, 0.45, 1.095,-0.313, 1.671, 1.044, PHS= 0.153,-1.311, 0.584, RAW= 162.5, 6.7, CAL= 161.9, 6.5, ROT= 348.1, -6.5 2025-10-27T05:50:07.098Z,1761544207.098 [DAT](INFO): DAT read: Bearing 80.0, -9.0 (Local) 2025-10-27T05:50:07.098Z,1761544207.098 [DAT](INFO): Local bearing/azimuth received: Bearing 80.0, -9.0 (Local) 2025-10-27T05:50:07.104Z,1761544207.104 [DAT](INFO): DAT read: Range 11 to 50 : 142.0 m (Round-trip 189.4 ms) speed 0.1 m/s 2025-10-27T05:50:07.105Z,1761544207.105 [DAT](INFO): DAT read: user:542> 2025-10-27T05:50:07.105Z,1761544207.105 [DAT](INFO): DAT read: Tx time:05:50:06.3218 2025-10-27T05:50:07.106Z,1761544207.106 [DAT](INFO): Ping request sent. 2025-10-27T05:50:07.106Z,1761544207.106 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:07.106Z,1761544207.106 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:07.108Z,1761544207.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090286,0.982567,0.162511],[-0.994018,0.078838,0.075576],[0.061446,-0.168362,0.983808]] 2025-10-27T05:50:07.115Z,1761544207.115 [DAT](INFO): direction in FSK: [0.972219,-0.204878,0.113203] 2025-10-27T05:50:07.115Z,1761544207.115 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:07.116Z,1761544207.116 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:07.127Z,1761544207.127 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:07.127Z,1761544207.127 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:07.209Z,1761544207.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.000000 m, deltaT: 3.529304 s, deltaX: -2.100006 m, approachRate: -0.595020 m/s, rangeRepo size: 4 2025-10-27T05:50:07.220Z,1761544207.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 141.168808 m, bearing: 264.421498 deg, lat: 36.779447 deg, lon: -121.859757 deg, deltaT: 3.529304 s, deltaX: -2.089035 m, approachRate: -0.591911 m/s, posRepo size: 4 2025-10-27T05:50:07.220Z,1761544207.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:07.227Z,1761544207.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 138.265152 m, bearing: 264.178186 deg, approach rate: 0.000000 m/s, LOS rate: 0.009092 deg/s, cmd heading: 274.536640 deg, new cmd heading: 274.551526 deg. 2025-10-27T05:50:07.228Z,1761544207.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791828 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:07.547Z,1761544207.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090026,0.982256,0.164524],[-0.994037,0.078415,0.075767],[0.061522,-0.170364,0.983459]] 2025-10-27T05:50:07.571Z,1761544207.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:07.574Z,1761544207.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 138.052139 m, bearing: 264.182576 deg, approach rate: -0.588178 m/s, LOS rate: 0.012141 deg/s, cmd heading: 274.551529 deg, new cmd heading: 274.564720 deg. 2025-10-27T05:50:07.575Z,1761544207.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792058 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:07.967Z,1761544207.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089600,0.982419,0.163784],[-0.994059,0.078008,0.075900],[0.061790,-0.169612,0.983572]] 2025-10-27T05:50:08.002Z,1761544208.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:08.020Z,1761544208.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 137.815262 m, bearing: 264.187523 deg, approach rate: -0.549995 m/s, LOS rate: 0.011505 deg/s, cmd heading: 274.564725 deg, new cmd heading: 274.579590 deg. 2025-10-27T05:50:08.021Z,1761544208.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792318 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:08.412Z,1761544208.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089263,0.982528,0.163313],[-0.994073,0.077667,0.076071],[0.062058,-0.169135,0.983637]] 2025-10-27T05:50:08.473Z,1761544208.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:08.479Z,1761544208.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 137.561081 m, bearing: 264.192119 deg, approach rate: -0.546266 m/s, LOS rate: 0.009897 deg/s, cmd heading: 274.579588 deg, new cmd heading: 274.593403 deg. 2025-10-27T05:50:08.480Z,1761544208.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792559 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:08.821Z,1761544208.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089343,0.982561,0.163067],[-0.994077,0.077795,0.075892],[0.061883,-0.168882,0.983692]] 2025-10-27T05:50:08.838Z,1761544208.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:08.840Z,1761544208.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:08.843Z,1761544208.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 137.340225 m, bearing: 264.196121 deg, approach rate: -0.591268 m/s, LOS rate: 0.010731 deg/s, cmd heading: 274.593412 deg, new cmd heading: 274.605437 deg. 2025-10-27T05:50:08.844Z,1761544208.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792769 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:08.848Z,1761544208.848 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:08.848Z,1761544208.848 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:08.848Z,1761544208.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:09.103Z,1761544209.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996842 2025-10-27T05:50:09.217Z,1761544209.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089666,0.982610,0.162596],[-0.994072,0.078216,0.075517],[0.061486,-0.168404,0.983799]] 2025-10-27T05:50:09.264Z,1761544209.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:09.266Z,1761544209.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 137.103378 m, bearing: 264.198602 deg, approach rate: -0.559734 m/s, LOS rate: 0.005873 deg/s, cmd heading: 274.605433 deg, new cmd heading: 274.612888 deg. 2025-10-27T05:50:09.268Z,1761544209.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792899 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:09.352Z,1761544209.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246435 2025-10-27T05:50:09.604Z,1761544209.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498217 2025-10-27T05:50:09.621Z,1761544209.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089397,0.982763,0.161816],[-0.994112,0.078056,0.075152],[0.061226,-0.167582,0.983955]] 2025-10-27T05:50:09.653Z,1761544209.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:09.656Z,1761544209.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 136.886551 m, bearing: 264.200911 deg, approach rate: -0.556654 m/s, LOS rate: 0.005939 deg/s, cmd heading: 274.612892 deg, new cmd heading: 274.619832 deg. 2025-10-27T05:50:09.657Z,1761544209.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793020 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:09.857Z,1761544209.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751021 2025-10-27T05:50:10.025Z,1761544210.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089466,0.982853,0.161233],[-0.994140,0.078261,0.074567],[0.060670,-0.166959,0.984095]] 2025-10-27T05:50:10.044Z,1761544210.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:10.047Z,1761544210.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 136.666702 m, bearing: 264.203259 deg, approach rate: -0.562235 m/s, LOS rate: 0.006012 deg/s, cmd heading: 274.619831 deg, new cmd heading: 274.626884 deg. 2025-10-27T05:50:10.048Z,1761544210.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793143 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:10.111Z,1761544210.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004428 2025-10-27T05:50:10.360Z,1761544210.360 [DAT](INFO): DAT read: Rx Time:05:50:08.9114 2025-10-27T05:50:10.361Z,1761544210.361 [DAT](INFO): Rx dataTimestamp_ set to:1761544210.360926 2025-10-27T05:50:10.362Z,1761544210.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256095 2025-10-27T05:50:10.429Z,1761544210.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089917,0.982866,0.160904],[-0.994149,0.078866,0.073809],[0.059854,-0.166599,0.984206]] 2025-10-27T05:50:10.481Z,1761544210.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:10.484Z,1761544210.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 136.428986 m, bearing: 264.203935 deg, approach rate: -0.544474 m/s, LOS rate: 0.001552 deg/s, cmd heading: 274.626880 deg, new cmd heading: 274.628912 deg. 2025-10-27T05:50:10.485Z,1761544210.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793179 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:10.612Z,1761544210.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506369 2025-10-27T05:50:10.833Z,1761544210.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090271,0.982834,0.160897],[-0.994162,0.079341,0.073122],[0.059101,-0.166558,0.984259]] 2025-10-27T05:50:10.857Z,1761544210.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:10.859Z,1761544210.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.17 m. 2025-10-27T05:50:10.862Z,1761544210.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.168808 m, nav range: 136.222534 m, bearing: 264.204492 deg, approach rate: -0.545974 m/s, LOS rate: 0.001475 deg/s, cmd heading: 274.628902 deg, new cmd heading: 274.630575 deg. 2025-10-27T05:50:10.870Z,1761544210.870 [DAT](INFO): DAT read: 05:50:08.9114 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 423, 0.13, 0.022,-1.385, 0.593,-0.019, PHS= 0.143,-1.321, 0.568, RAW= 162.4, 7.2, CAL= 161.8, 7.0, ROT= 348.2, -7.0 2025-10-27T05:50:10.871Z,1761544210.871 [DAT](INFO): got valid direction response: 05:50:08.9114 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 423, 0.13, 0.022,-1.385, 0.593,-0.019, PHS= 0.143,-1.321, 0.568, RAW= 162.4, 7.2, CAL= 161.8, 7.0, ROT= 348.2, -7.0 2025-10-27T05:50:10.872Z,1761544210.872 [DAT](INFO): DAT read: Bearing 80.7, -9.3 (Local) 2025-10-27T05:50:10.872Z,1761544210.872 [DAT](INFO): Local bearing/azimuth received: Bearing 80.7, -9.3 (Local) 2025-10-27T05:50:10.874Z,1761544210.874 [DAT](INFO): DAT read: Range 11 to 50 : 140.2 m (Round-trip 187.0 ms) speed 0.4 m/s 2025-10-27T05:50:10.875Z,1761544210.875 [DAT](INFO): DAT read: user:543> 2025-10-27T05:50:10.875Z,1761544210.875 [DAT](INFO): DAT read: Tx time:05:50:10.0203 2025-10-27T05:50:10.876Z,1761544210.876 [DAT](INFO): Ping request sent. 2025-10-27T05:50:10.876Z,1761544210.876 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:10.876Z,1761544210.876 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:10.877Z,1761544210.877 [DAT](INFO): direction in FSK: [0.971571,-0.202972,0.121869] 2025-10-27T05:50:10.877Z,1761544210.877 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:10.878Z,1761544210.878 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:10.863Z,1761544210.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793208 target range: 141.168808 and range: 142.00 m. 2025-10-27T05:50:10.885Z,1761544210.885 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:10.885Z,1761544210.885 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:11.237Z,1761544211.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090832,0.982885,0.160273],[-0.994159,0.080076,0.072355],[0.058282,-0.165909,0.984417]] 2025-10-27T05:50:11.325Z,1761544211.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 140.199997 m, deltaT: 3.778437 s, deltaX: -1.800003 m, approachRate: -0.476388 m/s, rangeRepo size: 4 2025-10-27T05:50:11.327Z,1761544211.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.376907 m, bearing: 264.617023 deg, lat: 36.779452 deg, lon: -121.859757 deg, deltaT: 3.778437 s, deltaX: -1.791901 m, approachRate: -0.474244 m/s, posRepo size: 4 2025-10-27T05:50:11.328Z,1761544211.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.38 m. 2025-10-27T05:50:11.330Z,1761544211.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.376907 m, nav range: 135.939514 m, bearing: 264.454902 deg, approach rate: 0.000000 m/s, LOS rate: 0.001475 deg/s, cmd heading: 274.630568 deg, new cmd heading: 274.632627 deg. 2025-10-27T05:50:11.332Z,1761544211.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793243 target range: 139.376907 and range: 140.20 m. 2025-10-27T05:50:11.645Z,1761544211.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091217,0.982878,0.160094],[-0.994168,0.080593,0.071662],[0.057533,-0.165697,0.984497]] 2025-10-27T05:50:11.753Z,1761544211.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.38 m. 2025-10-27T05:50:11.781Z,1761544211.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.376907 m, nav range: 135.727081 m, bearing: 264.455612 deg, approach rate: -0.494920 m/s, LOS rate: 0.001658 deg/s, cmd heading: 274.632617 deg, new cmd heading: 274.634752 deg. 2025-10-27T05:50:11.828Z,1761544211.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793281 target range: 139.376907 and range: 140.20 m. 2025-10-27T05:50:12.334Z,1761544212.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.38 m. 2025-10-27T05:50:12.337Z,1761544212.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.376907 m, nav range: 135.396851 m, bearing: 264.454307 deg, approach rate: -0.568391 m/s, LOS rate: -0.002253 deg/s, cmd heading: 274.634748 deg, new cmd heading: 274.630822 deg. 2025-10-27T05:50:12.338Z,1761544212.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793212 target range: 139.376907 and range: 140.20 m. 2025-10-27T05:50:12.817Z,1761544212.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093431,0.982489,0.161204],[-0.994105,0.083110,0.069635],[0.055018,-0.166760,0.984461]] 2025-10-27T05:50:12.836Z,1761544212.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.38 m. 2025-10-27T05:50:12.859Z,1761544212.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.376907 m, nav range: 135.134918 m, bearing: 264.453008 deg, approach rate: -0.521780 m/s, LOS rate: -0.002593 deg/s, cmd heading: 274.630814 deg, new cmd heading: 274.626910 deg. 2025-10-27T05:50:12.860Z,1761544212.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793144 target range: 139.376907 and range: 140.20 m. 2025-10-27T05:50:13.302Z,1761544213.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093795,0.982369,0.161722],[-0.994109,0.083550,0.069039],[0.054310,-0.167245,0.984418]] 2025-10-27T05:50:13.345Z,1761544213.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:13.347Z,1761544213.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.38 m. 2025-10-27T05:50:13.350Z,1761544213.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.376907 m, nav range: 134.875259 m, bearing: 264.450438 deg, approach rate: -0.508351 m/s, LOS rate: -0.005040 deg/s, cmd heading: 274.626907 deg, new cmd heading: 274.619184 deg. 2025-10-27T05:50:13.351Z,1761544213.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793009 target range: 139.376907 and range: 140.20 m. 2025-10-27T05:50:13.384Z,1761544213.384 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:13.384Z,1761544213.384 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:13.384Z,1761544213.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:13.636Z,1761544213.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760082 2025-10-27T05:50:13.694Z,1761544213.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094573,0.982278,0.161819],[-0.994085,0.084464,0.068266],[0.053389,-0.167318,0.984456]] 2025-10-27T05:50:13.731Z,1761544213.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.38 m. 2025-10-27T05:50:13.735Z,1761544213.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.376907 m, nav range: 134.682678 m, bearing: 264.448461 deg, approach rate: -0.502491 m/s, LOS rate: -0.005167 deg/s, cmd heading: 274.619176 deg, new cmd heading: 274.613234 deg. 2025-10-27T05:50:13.736Z,1761544213.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792905 target range: 139.376907 and range: 140.20 m. 2025-10-27T05:50:13.892Z,1761544213.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016136 2025-10-27T05:50:14.143Z,1761544214.143 [DAT](INFO): DAT read: Rx Time:05:50:12.6102 2025-10-27T05:50:14.145Z,1761544214.145 [DAT](INFO): Rx dataTimestamp_ set to:1761544214.143573 2025-10-27T05:50:14.147Z,1761544214.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270272 2025-10-27T05:50:14.173Z,1761544214.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095532,0.982228,0.161563],[-0.994055,0.085618,0.067268],[0.052239,-0.167029,0.984567]] 2025-10-27T05:50:14.254Z,1761544214.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.38 m. 2025-10-27T05:50:14.257Z,1761544214.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.376907 m, nav range: 134.405594 m, bearing: 264.444622 deg, approach rate: -0.529148 m/s, LOS rate: -0.007346 deg/s, cmd heading: 274.613247 deg, new cmd heading: 274.601707 deg. 2025-10-27T05:50:14.258Z,1761544214.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792704 target range: 139.376907 and range: 140.20 m. 2025-10-27T05:50:14.392Z,1761544214.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516655 2025-10-27T05:50:14.543Z,1761544214.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.38 m. 2025-10-27T05:50:14.546Z,1761544214.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.376907 m, nav range: 134.254089 m, bearing: 264.442516 deg, approach rate: -0.524351 m/s, LOS rate: -0.007296 deg/s, cmd heading: 274.601718 deg, new cmd heading: 274.595394 deg. 2025-10-27T05:50:14.547Z,1761544214.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792594 target range: 139.376907 and range: 140.20 m. 2025-10-27T05:50:14.650Z,1761544214.650 [DAT](INFO): DAT read: 05:50:12.6102 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.33,-1.115,-2.496,-0.566,-1.161, PHS= 0.148,-1.291, 0.551, RAW= 162.0, 7.1, CAL= 161.4, 7.0, ROT= 348.6, -7.0 2025-10-27T05:50:14.651Z,1761544214.651 [DAT](INFO): got valid direction response: 05:50:12.6102 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.33,-1.115,-2.496,-0.566,-1.161, PHS= 0.148,-1.291, 0.551, RAW= 162.0, 7.1, CAL= 161.4, 7.0, ROT= 348.6, -7.0 2025-10-27T05:50:14.652Z,1761544214.652 [DAT](INFO): DAT read: Bearing 81.5, -9.4 (Local) 2025-10-27T05:50:14.652Z,1761544214.652 [DAT](INFO): Local bearing/azimuth received: Bearing 81.5, -9.4 (Local) 2025-10-27T05:50:14.654Z,1761544214.654 [DAT](INFO): DAT read: Range 11 to 50 : 138.1 m (Round-trip 184.2 ms) speed 0.4 m/s 2025-10-27T05:50:14.655Z,1761544214.655 [DAT](INFO): DAT read: user:544> 2025-10-27T05:50:14.656Z,1761544214.656 [DAT](INFO): DAT read: Tx time:05:50:13.7234 2025-10-27T05:50:14.656Z,1761544214.656 [DAT](INFO): Ping request sent. 2025-10-27T05:50:14.657Z,1761544214.657 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:14.657Z,1761544214.657 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:14.658Z,1761544214.658 [DAT](INFO): direction in FSK: [0.972964,-0.196184,0.121869] 2025-10-27T05:50:14.658Z,1761544214.658 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:14.658Z,1761544214.658 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:14.662Z,1761544214.662 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:14.662Z,1761544214.662 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:14.915Z,1761544214.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094838,0.981295,0.167528],[-0.994230,0.084895,0.065564],[0.050116,-0.172780,0.983685]] 2025-10-27T05:50:14.945Z,1761544214.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 138.100006 m, deltaT: 3.780014 s, deltaX: -2.099991 m, approachRate: -0.555551 m/s, rangeRepo size: 4 2025-10-27T05:50:14.947Z,1761544214.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.288879 m, bearing: 265.324445 deg, lat: 36.779452 deg, lon: -121.859757 deg, deltaT: 3.780014 s, deltaX: -2.088028 m, approachRate: -0.552386 m/s, posRepo size: 4 2025-10-27T05:50:14.948Z,1761544214.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.29 m. 2025-10-27T05:50:14.951Z,1761544214.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.288879 m, nav range: 134.045898 m, bearing: 264.439661 deg, approach rate: 0.000000 m/s, LOS rate: -0.007296 deg/s, cmd heading: 274.595407 deg, new cmd heading: 274.586615 deg. 2025-10-27T05:50:14.968Z,1761544214.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792440 target range: 137.288879 and range: 138.10 m. 2025-10-27T05:50:15.321Z,1761544215.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094373,0.981044,0.169253],[-0.994322,0.084488,0.064696],[0.049170,-0.174398,0.983447]] 2025-10-27T05:50:15.356Z,1761544215.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:15.358Z,1761544215.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.29 m. 2025-10-27T05:50:15.366Z,1761544215.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.288879 m, nav range: 133.815216 m, bearing: 264.437153 deg, approach rate: -0.558008 m/s, LOS rate: -0.006077 deg/s, cmd heading: 274.586609 deg, new cmd heading: 274.579072 deg. 2025-10-27T05:50:15.384Z,1761544215.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792309 target range: 137.288879 and range: 138.10 m. 2025-10-27T05:50:15.400Z,1761544215.400 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:15.400Z,1761544215.400 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:15.400Z,1761544215.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:15.656Z,1761544215.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999177 2025-10-27T05:50:15.729Z,1761544215.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093822,0.981094,0.169267],[-0.994395,0.084022,0.064178],[0.048742,-0.174340,0.983478]] 2025-10-27T05:50:15.758Z,1761544215.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.29 m. 2025-10-27T05:50:15.763Z,1761544215.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.288879 m, nav range: 133.593781 m, bearing: 264.434790 deg, approach rate: -0.553655 m/s, LOS rate: -0.005919 deg/s, cmd heading: 274.579069 deg, new cmd heading: 274.571967 deg. 2025-10-27T05:50:15.767Z,1761544215.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792185 target range: 137.288879 and range: 138.10 m. 2025-10-27T05:50:15.904Z,1761544215.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247308 2025-10-27T05:50:16.136Z,1761544216.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092937,0.981336,0.168351],[-0.994513,0.083336,0.063239],[0.048029,-0.173304,0.983697]] 2025-10-27T05:50:16.156Z,1761544216.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499389 2025-10-27T05:50:16.163Z,1761544216.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.29 m. 2025-10-27T05:50:16.190Z,1761544216.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.288879 m, nav range: 133.374069 m, bearing: 264.432524 deg, approach rate: -0.545169 m/s, LOS rate: -0.005632 deg/s, cmd heading: 274.571965 deg, new cmd heading: 274.565156 deg. 2025-10-27T05:50:16.198Z,1761544216.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792066 target range: 137.288879 and range: 138.10 m. 2025-10-27T05:50:16.408Z,1761544216.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751274 2025-10-27T05:50:16.530Z,1761544216.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092206,0.981501,0.167791],[-0.994609,0.082754,0.062496],[0.047454,-0.172649,0.983840]] 2025-10-27T05:50:16.594Z,1761544216.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.29 m. 2025-10-27T05:50:16.601Z,1761544216.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.288879 m, nav range: 133.134644 m, bearing: 264.430106 deg, approach rate: -0.552958 m/s, LOS rate: -0.005594 deg/s, cmd heading: 274.565163 deg, new cmd heading: 274.557895 deg. 2025-10-27T05:50:16.602Z,1761544216.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791939 target range: 137.288879 and range: 138.10 m. 2025-10-27T05:50:16.660Z,1761544216.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003571 2025-10-27T05:50:16.912Z,1761544216.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255240 2025-10-27T05:50:16.940Z,1761544216.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091042,0.981693,0.167303],[-0.994738,0.081720,0.061794],[0.046991,-0.172049,0.983967]] 2025-10-27T05:50:16.959Z,1761544216.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.29 m. 2025-10-27T05:50:16.962Z,1761544216.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.288879 m, nav range: 132.907181 m, bearing: 264.427918 deg, approach rate: -0.623649 m/s, LOS rate: -0.006010 deg/s, cmd heading: 274.557895 deg, new cmd heading: 274.551319 deg. 2025-10-27T05:50:16.967Z,1761544216.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791824 target range: 137.288879 and range: 138.10 m. 2025-10-27T05:50:17.166Z,1761544217.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509395 2025-10-27T05:50:17.338Z,1761544217.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089362,0.981937,0.166776],[-0.994914,0.080189,0.060961],[0.046486,-0.171375,0.984109]] 2025-10-27T05:50:17.393Z,1761544217.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:17.395Z,1761544217.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.29 m. 2025-10-27T05:50:17.398Z,1761544217.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.288879 m, nav range: 132.636871 m, bearing: 264.423653 deg, approach rate: -0.618794 m/s, LOS rate: -0.009783 deg/s, cmd heading: 274.551311 deg, new cmd heading: 274.538490 deg. 2025-10-27T05:50:17.399Z,1761544217.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791601 target range: 137.288879 and range: 138.10 m. 2025-10-27T05:50:17.416Z,1761544217.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759401 2025-10-27T05:50:17.669Z,1761544217.669 [DAT](INFO): DAT read: Rx Time:05:50:16.3086 2025-10-27T05:50:17.669Z,1761544217.669 [DAT](INFO): Rx dataTimestamp_ set to:1761544217.668747 2025-10-27T05:50:17.670Z,1761544217.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012972 2025-10-27T05:50:17.746Z,1761544217.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088091,0.982083,0.166590],[-0.995048,0.079029,0.060278],[0.046033,-0.171075,0.984182]] 2025-10-27T05:50:17.787Z,1761544217.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.29 m. 2025-10-27T05:50:17.811Z,1761544217.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.288879 m, nav range: 132.398285 m, bearing: 264.420007 deg, approach rate: -0.610383 m/s, LOS rate: -0.009344 deg/s, cmd heading: 274.538497 deg, new cmd heading: 274.527540 deg. 2025-10-27T05:50:17.812Z,1761544217.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791409 target range: 137.288879 and range: 138.10 m. 2025-10-27T05:50:17.920Z,1761544217.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263802 2025-10-27T05:50:18.185Z,1761544218.185 [DAT](INFO): DAT read: 05:50:16.3086 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.22, 1.783, 0.383, 2.363, 1.743, PHS= 0.142,-1.314, 0.576, RAW= 162.7, 7.0, CAL= 162.1, 6.8, ROT= 347.9, -6.8 2025-10-27T05:50:18.186Z,1761544218.186 [DAT](INFO): got valid direction response: 05:50:16.3086 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.22, 1.783, 0.383, 2.363, 1.743, PHS= 0.142,-1.314, 0.576, RAW= 162.7, 7.0, CAL= 162.1, 6.8, ROT= 347.9, -6.8 2025-10-27T05:50:18.199Z,1761544218.199 [DAT](INFO): DAT read: Bearing 80.6, -10.5 (Local) 2025-10-27T05:50:18.200Z,1761544218.200 [DAT](INFO): Local bearing/azimuth received: Bearing 80.6, -10.5 (Local) 2025-10-27T05:50:18.217Z,1761544218.217 [DAT](INFO): DAT read: Range 11 to 50 : 135.8 m (Round-trip 181.1 ms) speed 0.2 m/s 2025-10-27T05:50:18.221Z,1761544218.221 [DAT](INFO): DAT read: user:545> 2025-10-27T05:50:18.228Z,1761544218.228 [DAT](INFO): DAT read: Tx time:05:50:17.4218 2025-10-27T05:50:18.229Z,1761544218.229 [DAT](INFO): Ping request sent. 2025-10-27T05:50:18.229Z,1761544218.229 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:18.230Z,1761544218.230 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:18.251Z,1761544218.251 [DAT](INFO): direction in FSK: [0.970905,-0.208144,0.118404] 2025-10-27T05:50:18.252Z,1761544218.252 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:18.253Z,1761544218.253 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:18.274Z,1761544218.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084790,0.982249,0.167324],[-0.995382,0.075916,0.058745],[0.045000,-0.171533,0.984150]] 2025-10-27T05:50:18.277Z,1761544218.277 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:18.277Z,1761544218.277 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:18.414Z,1761544218.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.800003 m, deltaT: 3.529592 s, deltaX: -2.300003 m, approachRate: -0.651634 m/s, rangeRepo size: 4 2025-10-27T05:50:18.420Z,1761544218.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.002213 m, bearing: 264.011055 deg, lat: 36.779452 deg, lon: -121.859760 deg, deltaT: 3.529592 s, deltaX: -2.286667 m, approachRate: -0.647856 m/s, posRepo size: 4 2025-10-27T05:50:18.421Z,1761544218.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:18.428Z,1761544218.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 132.288528 m, bearing: 264.428014 deg, approach rate: 0.000000 m/s, LOS rate: -0.009344 deg/s, cmd heading: 274.527542 deg, new cmd heading: 274.509960 deg. 2025-10-27T05:50:18.429Z,1761544218.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791102 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:18.748Z,1761544218.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082973,0.982418,0.167246],[-0.995554,0.074205,0.058020],[0.044589,-0.171316,0.984207]] 2025-10-27T05:50:18.793Z,1761544218.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:18.799Z,1761544218.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 132.058105 m, bearing: 264.426178 deg, approach rate: -0.607939 m/s, LOS rate: -0.004851 deg/s, cmd heading: 274.509947 deg, new cmd heading: 274.504432 deg. 2025-10-27T05:50:18.800Z,1761544218.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791006 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:19.154Z,1761544219.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081100,0.982560,0.167331],[-0.995731,0.072448,0.057186],[0.044066,-0.171255,0.984241]] 2025-10-27T05:50:19.174Z,1761544219.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:19.177Z,1761544219.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 131.807739 m, bearing: 264.424381 deg, approach rate: -0.656660 m/s, LOS rate: -0.004722 deg/s, cmd heading: 274.504428 deg, new cmd heading: 274.499028 deg. 2025-10-27T05:50:19.178Z,1761544219.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790912 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:19.552Z,1761544219.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078836,0.982600,0.168173],[-0.995938,0.070272,0.056288],[0.043491,-0.171928,0.984149]] 2025-10-27T05:50:19.596Z,1761544219.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:19.598Z,1761544219.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:19.605Z,1761544219.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 131.553024 m, bearing: 264.425516 deg, approach rate: -0.600301 m/s, LOS rate: 0.002678 deg/s, cmd heading: 274.499019 deg, new cmd heading: 274.502429 deg. 2025-10-27T05:50:19.606Z,1761544219.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790971 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:19.685Z,1761544219.685 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:19.685Z,1761544219.685 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:19.685Z,1761544219.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:19.936Z,1761544219.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706736 2025-10-27T05:50:19.954Z,1761544219.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077145,0.982056,0.172092],[-0.996112,0.068554,0.055327],[0.042536,-0.175691,0.983526]] 2025-10-27T05:50:19.974Z,1761544219.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:19.989Z,1761544219.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 131.326996 m, bearing: 264.426659 deg, approach rate: -0.601397 m/s, LOS rate: 0.003046 deg/s, cmd heading: 274.502434 deg, new cmd heading: 274.505868 deg. 2025-10-27T05:50:19.990Z,1761544219.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791031 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:20.188Z,1761544220.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958770 2025-10-27T05:50:20.357Z,1761544220.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076255,0.981506,0.175589],[-0.996232,0.067702,0.054200],[0.041310,-0.179061,0.982970]] 2025-10-27T05:50:20.410Z,1761544220.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:20.413Z,1761544220.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 131.069992 m, bearing: 264.429492 deg, approach rate: -0.589499 m/s, LOS rate: 0.006511 deg/s, cmd heading: 274.505876 deg, new cmd heading: 274.514393 deg. 2025-10-27T05:50:20.414Z,1761544220.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791180 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:20.440Z,1761544220.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210807 2025-10-27T05:50:20.692Z,1761544220.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462729 2025-10-27T05:50:20.773Z,1761544220.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075393,0.981588,0.175499],[-0.996335,0.067025,0.053138],[0.040397,-0.178863,0.983044]] 2025-10-27T05:50:20.800Z,1761544220.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:20.802Z,1761544220.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 130.840530 m, bearing: 264.432117 deg, approach rate: -0.588519 m/s, LOS rate: 0.006746 deg/s, cmd heading: 274.514401 deg, new cmd heading: 274.522291 deg. 2025-10-27T05:50:20.843Z,1761544220.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791318 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:20.944Z,1761544220.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715175 2025-10-27T05:50:21.177Z,1761544221.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075262,0.982392,0.171001],[-0.996400,0.067377,0.051461],[0.039033,-0.174258,0.983926]] 2025-10-27T05:50:21.196Z,1761544221.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966947 2025-10-27T05:50:21.205Z,1761544221.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:21.210Z,1761544221.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 130.600922 m, bearing: 264.434926 deg, approach rate: -0.591073 m/s, LOS rate: 0.006940 deg/s, cmd heading: 274.522296 deg, new cmd heading: 274.530737 deg. 2025-10-27T05:50:21.214Z,1761544221.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791465 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:21.448Z,1761544221.448 [DAT](INFO): DAT read: Rx Time:05:50:20.0043 2025-10-27T05:50:21.448Z,1761544221.448 [DAT](INFO): Rx dataTimestamp_ set to:1761544221.448103 2025-10-27T05:50:21.449Z,1761544221.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219820 2025-10-27T05:50:21.605Z,1761544221.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075564,0.982528,0.170082],[-0.996431,0.067970,0.050046],[0.037611,-0.173257,0.984158]] 2025-10-27T05:50:21.646Z,1761544221.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:21.649Z,1761544221.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.00 m. 2025-10-27T05:50:21.684Z,1761544221.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.002213 m, nav range: 130.352051 m, bearing: 264.438560 deg, approach rate: -0.561134 m/s, LOS rate: 0.008209 deg/s, cmd heading: 274.530738 deg, new cmd heading: 274.541661 deg. 2025-10-27T05:50:21.685Z,1761544221.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791656 target range: 135.002213 and range: 135.80 m. 2025-10-27T05:50:21.701Z,1761544221.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471587 2025-10-27T05:50:21.959Z,1761544221.959 [DAT](INFO): DAT read: 05:50:20.0043 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.29,-0.571,-1.998,-0.008,-0.593, PHS= 0.124,-1.359, 0.541, RAW= 162.1, 8.1, CAL= 161.7, 8.3, ROT= 348.3, -8.3 2025-10-27T05:50:21.960Z,1761544221.960 [DAT](INFO): got valid direction response: 05:50:20.0043 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.29,-0.571,-1.998,-0.008,-0.593, PHS= 0.124,-1.359, 0.541, RAW= 162.1, 8.1, CAL= 161.7, 8.3, ROT= 348.3, -8.3 2025-10-27T05:50:21.961Z,1761544221.961 [DAT](INFO): DAT read: Bearing 81.4, -10.9 (Local) 2025-10-27T05:50:21.962Z,1761544221.962 [DAT](INFO): Local bearing/azimuth received: Bearing 81.4, -10.9 (Local) 2025-10-27T05:50:21.963Z,1761544221.963 [DAT](INFO): DAT read: Range 11 to 50 : 133.8 m (Round-trip 178.4 ms) speed 0.1 m/s 2025-10-27T05:50:21.964Z,1761544221.964 [DAT](INFO): DAT read: user:546> 2025-10-27T05:50:21.965Z,1761544221.965 [DAT](INFO): DAT read: Tx time:05:50:21.1218 2025-10-27T05:50:21.965Z,1761544221.965 [DAT](INFO): Ping request sent. 2025-10-27T05:50:21.965Z,1761544221.965 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:21.965Z,1761544221.965 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:21.966Z,1761544221.966 [DAT](INFO): direction in FSK: [0.968966,-0.200664,0.144356] 2025-10-27T05:50:21.967Z,1761544221.967 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:21.967Z,1761544221.967 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:21.970Z,1761544221.970 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:21.970Z,1761544221.970 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:22.027Z,1761544222.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075877,0.982526,0.169957],[-0.996457,0.068514,0.048783],[0.036286,-0.173056,0.984243]] 2025-10-27T05:50:22.137Z,1761544222.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 133.800003 m, deltaT: 3.778542 s, deltaX: -2.000000 m, approachRate: -0.529305 m/s, rangeRepo size: 4 2025-10-27T05:50:22.143Z,1761544222.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.013718 m, bearing: 264.179899 deg, lat: 36.779452 deg, lon: -121.859760 deg, deltaT: 3.778542 s, deltaX: -1.988495 m, approachRate: -0.526260 m/s, posRepo size: 4 2025-10-27T05:50:22.148Z,1761544222.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:22.155Z,1761544222.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 130.119095 m, bearing: 264.441940 deg, approach rate: 0.000000 m/s, LOS rate: 0.008209 deg/s, cmd heading: 274.541667 deg, new cmd heading: 274.553684 deg. 2025-10-27T05:50:22.156Z,1761544222.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791866 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:22.500Z,1761544222.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077391,0.982685,0.168344],[-0.996391,0.070331,0.047514],[0.034851,-0.171414,0.984582]] 2025-10-27T05:50:22.549Z,1761544222.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:22.552Z,1761544222.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 129.862030 m, bearing: 264.449182 deg, approach rate: -0.623268 m/s, LOS rate: 0.017593 deg/s, cmd heading: 274.553688 deg, new cmd heading: 274.575456 deg. 2025-10-27T05:50:22.553Z,1761544222.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792246 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:22.920Z,1761544222.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:22.923Z,1761544222.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 129.665833 m, bearing: 264.454728 deg, approach rate: -0.528870 m/s, LOS rate: 0.014973 deg/s, cmd heading: 274.575462 deg, new cmd heading: 274.592126 deg. 2025-10-27T05:50:22.924Z,1761544222.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792537 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:23.325Z,1761544223.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081383,0.983359,0.162428],[-0.996177,0.075063,0.044685],[0.031749,-0.165443,0.985708]] 2025-10-27T05:50:23.373Z,1761544223.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:23.376Z,1761544223.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 129.442032 m, bearing: 264.460658 deg, approach rate: -0.496642 m/s, LOS rate: 0.013182 deg/s, cmd heading: 274.592128 deg, new cmd heading: 274.609949 deg. 2025-10-27T05:50:23.377Z,1761544223.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792848 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:23.705Z,1761544223.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083713,0.983640,0.159516],[-0.996027,0.077717,0.043473],[0.030365,-0.162521,0.986238]] 2025-10-27T05:50:23.757Z,1761544223.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:23.762Z,1761544223.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:23.777Z,1761544223.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 129.250031 m, bearing: 264.465584 deg, approach rate: -0.491370 m/s, LOS rate: 0.012625 deg/s, cmd heading: 274.609941 deg, new cmd heading: 274.624741 deg. 2025-10-27T05:50:23.784Z,1761544223.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793106 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:23.972Z,1761544223.972 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:23.972Z,1761544223.972 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:23.972Z,1761544223.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:24.106Z,1761544224.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086012,0.983581,0.158655],[-0.995865,0.080206,0.042654],[0.029229,-0.161667,0.986412]] 2025-10-27T05:50:24.149Z,1761544224.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:24.152Z,1761544224.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 129.061127 m, bearing: 264.470255 deg, approach rate: -0.511419 m/s, LOS rate: 0.012664 deg/s, cmd heading: 274.624749 deg, new cmd heading: 274.638782 deg. 2025-10-27T05:50:24.153Z,1761544224.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793351 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:24.224Z,1761544224.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259151 2025-10-27T05:50:24.476Z,1761544224.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510822 2025-10-27T05:50:24.514Z,1761544224.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088127,0.984021,0.154715],[-0.995708,0.082613,0.041732],[0.028283,-0.157729,0.987077]] 2025-10-27T05:50:24.551Z,1761544224.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:24.553Z,1761544224.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 128.854828 m, bearing: 264.473667 deg, approach rate: -0.491350 m/s, LOS rate: 0.008139 deg/s, cmd heading: 274.638792 deg, new cmd heading: 274.649043 deg. 2025-10-27T05:50:24.554Z,1761544224.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793530 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:24.729Z,1761544224.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763588 2025-10-27T05:50:24.951Z,1761544224.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:24.954Z,1761544224.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 128.658020 m, bearing: 264.476932 deg, approach rate: -0.491614 m/s, LOS rate: 0.008168 deg/s, cmd heading: 274.649037 deg, new cmd heading: 274.658847 deg. 2025-10-27T05:50:24.972Z,1761544224.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793701 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:24.980Z,1761544224.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015039 2025-10-27T05:50:25.233Z,1761544225.233 [DAT](INFO): DAT read: Rx Time:05:50:23.7020 2025-10-27T05:50:25.234Z,1761544225.234 [DAT](INFO): Rx dataTimestamp_ set to:1761544225.233544 2025-10-27T05:50:25.235Z,1761544225.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269685 2025-10-27T05:50:25.427Z,1761544225.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.01 m. 2025-10-27T05:50:25.430Z,1761544225.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.013718 m, nav range: 128.414459 m, bearing: 264.478286 deg, approach rate: -0.511853 m/s, LOS rate: 0.002852 deg/s, cmd heading: 274.658845 deg, new cmd heading: 274.662916 deg. 2025-10-27T05:50:25.431Z,1761544225.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793772 target range: 133.013718 and range: 133.80 m. 2025-10-27T05:50:25.485Z,1761544225.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519752 2025-10-27T05:50:25.749Z,1761544225.749 [DAT](INFO): DAT read: 05:50:23.7020 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 423,-0.04, 0.928,-0.499, 1.493, 0.909, PHS= 0.121,-1.363, 0.541, RAW= 162.1, 8.1, CAL= 161.7, 8.4, ROT= 348.3, -8.4 2025-10-27T05:50:25.760Z,1761544225.760 [DAT](INFO): got valid direction response: 05:50:23.7020 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 423,-0.04, 0.928,-0.499, 1.493, 0.909, PHS= 0.121,-1.363, 0.541, RAW= 162.1, 8.1, CAL= 161.7, 8.4, ROT= 348.3, -8.4 2025-10-27T05:50:25.761Z,1761544225.761 [DAT](INFO): DAT read: Bearing 82.2, -11.3 (Local) 2025-10-27T05:50:25.762Z,1761544225.762 [DAT](INFO): Local bearing/azimuth received: Bearing 82.2, -11.3 (Local) 2025-10-27T05:50:25.764Z,1761544225.764 [DAT](INFO): DAT read: Range 11 to 50 : 132.0 m (Round-trip 176.0 ms) speed 0.4 m/s 2025-10-27T05:50:25.765Z,1761544225.765 [DAT](INFO): DAT read: user:547> 2025-10-27T05:50:25.780Z,1761544225.780 [DAT](INFO): DAT read: Tx time:05:50:24.8218 2025-10-27T05:50:25.780Z,1761544225.780 [DAT](INFO): Ping request sent. 2025-10-27T05:50:25.780Z,1761544225.780 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:25.781Z,1761544225.781 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:25.782Z,1761544225.782 [DAT](INFO): direction in FSK: [0.968718,-0.200612,0.146083] 2025-10-27T05:50:25.782Z,1761544225.782 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:25.782Z,1761544225.782 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:25.793Z,1761544225.793 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:25.794Z,1761544225.794 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:25.829Z,1761544225.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093331,0.984442,0.148872],[-0.995309,0.088423,0.039266],[0.025491,-0.151838,0.988077]] 2025-10-27T05:50:25.913Z,1761544225.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.000000 m, deltaT: 3.789698 s, deltaX: -1.800003 m, approachRate: -0.474973 m/s, rangeRepo size: 4 2025-10-27T05:50:25.920Z,1761544225.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.223907 m, bearing: 265.004220 deg, lat: 36.779455 deg, lon: -121.859761 deg, deltaT: 3.789698 s, deltaX: -1.789810 m, approachRate: -0.472283 m/s, posRepo size: 4 2025-10-27T05:50:25.921Z,1761544225.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:25.928Z,1761544225.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 128.229172 m, bearing: 264.640225 deg, approach rate: 0.000000 m/s, LOS rate: 0.002852 deg/s, cmd heading: 274.662916 deg, new cmd heading: 274.667072 deg. 2025-10-27T05:50:25.929Z,1761544225.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793845 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:26.235Z,1761544226.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093355,0.984228,0.150268],[-0.995307,0.088393,0.039387],[0.025483,-0.153240,0.987860]] 2025-10-27T05:50:26.281Z,1761544226.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:26.287Z,1761544226.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:26.290Z,1761544226.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 128.043579 m, bearing: 264.641076 deg, approach rate: -0.500763 m/s, LOS rate: 0.002298 deg/s, cmd heading: 274.667069 deg, new cmd heading: 274.669624 deg. 2025-10-27T05:50:26.295Z,1761544226.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793890 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:26.496Z,1761544226.496 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:26.496Z,1761544226.496 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:26.496Z,1761544226.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:26.652Z,1761544226.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093468,0.983893,0.152375],[-0.995291,0.088387,0.039797],[0.025688,-0.155377,0.987521]] 2025-10-27T05:50:26.723Z,1761544226.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:26.731Z,1761544226.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 127.803833 m, bearing: 264.636012 deg, approach rate: -0.550602 m/s, LOS rate: -0.011651 deg/s, cmd heading: 274.669637 deg, new cmd heading: 274.654418 deg. 2025-10-27T05:50:26.733Z,1761544226.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793624 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:26.749Z,1761544226.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.968549 2025-10-27T05:50:26.000Z,1761544227.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219554 2025-10-27T05:50:27.058Z,1761544227.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092279,0.984087,0.151845],[-0.995400,0.087223,0.039641],[0.025766,-0.154804,0.987609]] 2025-10-27T05:50:27.089Z,1761544227.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:27.096Z,1761544227.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 127.589211 m, bearing: 264.631580 deg, approach rate: -0.579169 m/s, LOS rate: -0.011982 deg/s, cmd heading: 274.654419 deg, new cmd heading: 274.641099 deg. 2025-10-27T05:50:27.097Z,1761544227.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793391 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:27.254Z,1761544227.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472856 2025-10-27T05:50:27.462Z,1761544227.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091252,0.983759,0.154569],[-0.995482,0.086024,0.040196],[0.026246,-0.157539,0.987164]] 2025-10-27T05:50:27.504Z,1761544227.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723630 2025-10-27T05:50:27.507Z,1761544227.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:27.509Z,1761544227.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 127.346184 m, bearing: 264.625974 deg, approach rate: -0.582242 m/s, LOS rate: -0.013457 deg/s, cmd heading: 274.641087 deg, new cmd heading: 274.624236 deg. 2025-10-27T05:50:27.510Z,1761544227.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793097 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:27.757Z,1761544227.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976498 2025-10-27T05:50:27.865Z,1761544227.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090321,0.983112,0.159162],[-0.995561,0.084884,0.040645],[0.026449,-0.162127,0.986415]] 2025-10-27T05:50:27.884Z,1761544227.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:27.886Z,1761544227.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 127.130272 m, bearing: 264.621057 deg, approach rate: -0.572201 m/s, LOS rate: -0.013052 deg/s, cmd heading: 274.624230 deg, new cmd heading: 274.609455 deg. 2025-10-27T05:50:27.888Z,1761544227.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792839 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:28.008Z,1761544228.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228097 2025-10-27T05:50:28.260Z,1761544228.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479908 2025-10-27T05:50:28.292Z,1761544228.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088457,0.982913,0.161425],[-0.995712,0.082853,0.041139],[0.027061,-0.164372,0.986027]] 2025-10-27T05:50:28.309Z,1761544228.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:28.311Z,1761544228.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:28.314Z,1761544228.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 126.887589 m, bearing: 264.615711 deg, approach rate: -0.568280 m/s, LOS rate: -0.012542 deg/s, cmd heading: 274.609449 deg, new cmd heading: 274.593381 deg. 2025-10-27T05:50:28.315Z,1761544228.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792559 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:28.512Z,1761544228.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731737 2025-10-27T05:50:28.690Z,1761544228.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086732,0.982705,0.163612],[-0.995853,0.080995,0.041431],[0.027462,-0.166527,0.985654]] 2025-10-27T05:50:28.765Z,1761544228.765 [DAT](INFO): DAT read: Rx Time:05:50:27.3988 2025-10-27T05:50:28.766Z,1761544228.766 [DAT](INFO): Rx dataTimestamp_ set to:1761544228.765606 2025-10-27T05:50:28.767Z,1761544228.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986090 2025-10-27T05:50:28.785Z,1761544228.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:28.791Z,1761544228.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 126.616272 m, bearing: 264.608255 deg, approach rate: -0.572886 m/s, LOS rate: -0.015778 deg/s, cmd heading: 274.593385 deg, new cmd heading: 274.570968 deg. 2025-10-27T05:50:28.792Z,1761544228.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792168 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:29.016Z,1761544229.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235465 2025-10-27T05:50:29.090Z,1761544229.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084760,0.982784,0.164169],[-0.996007,0.078932,0.041715],[0.028038,-0.167049,0.985550]] 2025-10-27T05:50:29.116Z,1761544229.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.22 m. 2025-10-27T05:50:29.119Z,1761544229.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.223907 m, nav range: 126.397263 m, bearing: 264.602409 deg, approach rate: -0.660740 m/s, LOS rate: -0.017667 deg/s, cmd heading: 274.570982 deg, new cmd heading: 274.553414 deg. 2025-10-27T05:50:29.120Z,1761544229.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791861 target range: 131.223907 and range: 132.00 m. 2025-10-27T05:50:29.280Z,1761544229.280 [DAT](INFO): DAT read: 05:50:27.3988 LVL= 32752, 32753, 30098, 32755, AGC= 63, IDX= 407,-0.22, 2.031, 0.607, 2.562, 1.944, PHS= 0.189,-1.292, 0.574, RAW= 161.3, 6.2, CAL= 160.6, 5.8, ROT= 349.4, -5.8 2025-10-27T05:50:29.281Z,1761544229.281 [DAT](INFO): got valid direction response: 05:50:27.3988 LVL= 32752, 32753, 30098, 32755, AGC= 63, IDX= 407,-0.22, 2.031, 0.607, 2.562, 1.944, PHS= 0.189,-1.292, 0.574, RAW= 161.3, 6.2, CAL= 160.6, 5.8, ROT= 349.4, -5.8 2025-10-27T05:50:29.282Z,1761544229.282 [DAT](INFO): DAT read: Bearing 80.2, -9.8 (Local) 2025-10-27T05:50:29.295Z,1761544229.295 [DAT](INFO): Local bearing/azimuth received: Bearing 80.2, -9.8 (Local) 2025-10-27T05:50:29.296Z,1761544229.296 [DAT](INFO): DAT read: Range 11 to 50 : 129.6 m (Round-trip 172.8 ms) speed 0.4 m/s 2025-10-27T05:50:29.297Z,1761544229.297 [DAT](INFO): DAT read: user:548> 2025-10-27T05:50:29.298Z,1761544229.298 [DAT](INFO): DAT read: Tx time:05:50:28.5218 2025-10-27T05:50:29.298Z,1761544229.298 [DAT](INFO): Ping request sent. 2025-10-27T05:50:29.298Z,1761544229.298 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:29.303Z,1761544229.303 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:29.305Z,1761544229.305 [DAT](INFO): direction in FSK: [0.977903,-0.183010,0.101056] 2025-10-27T05:50:29.305Z,1761544229.305 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:29.306Z,1761544229.306 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:29.322Z,1761544229.322 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:29.322Z,1761544229.322 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:29.493Z,1761544229.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083447,0.982894,0.164184],[-0.996113,0.077608,0.041676],[0.028221,-0.167023,0.985549]] 2025-10-27T05:50:29.567Z,1761544229.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.600006 m, deltaT: 3.528199 s, deltaX: -2.399994 m, approachRate: -0.680232 m/s, rangeRepo size: 4 2025-10-27T05:50:29.570Z,1761544229.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.837601 m, bearing: 265.255069 deg, lat: 36.779462 deg, lon: -121.859763 deg, deltaT: 3.528199 s, deltaX: -2.386307 m, approachRate: -0.676353 m/s, posRepo size: 4 2025-10-27T05:50:29.570Z,1761544229.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:29.577Z,1761544229.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 126.284279 m, bearing: 264.959839 deg, approach rate: 0.000000 m/s, LOS rate: -0.017667 deg/s, cmd heading: 274.553415 deg, new cmd heading: 274.530385 deg. 2025-10-27T05:50:29.578Z,1761544229.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791459 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:29.906Z,1761544229.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081716,0.983004,0.164395],[-0.996245,0.075830,0.041778],[0.028602,-0.167191,0.985510]] 2025-10-27T05:50:29.926Z,1761544229.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:29.929Z,1761544229.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 126.049744 m, bearing: 264.956263 deg, approach rate: -0.625121 m/s, LOS rate: -0.009549 deg/s, cmd heading: 274.530383 deg, new cmd heading: 274.519636 deg. 2025-10-27T05:50:29.929Z,1761544229.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791272 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:30.305Z,1761544230.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079991,0.982972,0.165433],[-0.996376,0.074036,0.041867],[0.028906,-0.168183,0.985332]] 2025-10-27T05:50:30.336Z,1761544230.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:30.338Z,1761544230.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:30.340Z,1761544230.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 125.795715 m, bearing: 264.952571 deg, approach rate: -0.616848 m/s, LOS rate: -0.008984 deg/s, cmd heading: 274.519646 deg, new cmd heading: 274.508547 deg. 2025-10-27T05:50:30.341Z,1761544230.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791078 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:30.528Z,1761544230.528 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:30.528Z,1761544230.528 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:30.529Z,1761544230.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:30.716Z,1761544230.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078413,0.982571,0.168541],[-0.996494,0.072305,0.042091],[0.029172,-0.171251,0.984796]] 2025-10-27T05:50:30.780Z,1761544230.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481559 2025-10-27T05:50:30.810Z,1761544230.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:30.816Z,1761544230.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 125.510559 m, bearing: 264.949025 deg, approach rate: -0.604193 m/s, LOS rate: -0.007530 deg/s, cmd heading: 274.508554 deg, new cmd heading: 274.497892 deg. 2025-10-27T05:50:30.817Z,1761544230.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790892 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:31.035Z,1761544231.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736595 2025-10-27T05:50:31.151Z,1761544231.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076895,0.982497,0.169670],[-0.996603,0.070710,0.042210],[0.029474,-0.172340,0.984597]] 2025-10-27T05:50:31.179Z,1761544231.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:31.182Z,1761544231.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 125.278229 m, bearing: 264.946280 deg, approach rate: -0.628001 m/s, LOS rate: -0.007434 deg/s, cmd heading: 274.497899 deg, new cmd heading: 274.489648 deg. 2025-10-27T05:50:31.183Z,1761544231.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790748 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:31.284Z,1761544231.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985628 2025-10-27T05:50:31.536Z,1761544231.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237440 2025-10-27T05:50:31.556Z,1761544231.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075928,0.982510,0.170027],[-0.996674,0.069722,0.042191],[0.029599,-0.172665,0.984536]] 2025-10-27T05:50:31.613Z,1761544231.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:31.620Z,1761544231.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 125.032524 m, bearing: 264.946661 deg, approach rate: -0.566258 m/s, LOS rate: 0.000882 deg/s, cmd heading: 274.489648 deg, new cmd heading: 274.490796 deg. 2025-10-27T05:50:31.621Z,1761544231.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790768 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:31.788Z,1761544231.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489628 2025-10-27T05:50:31.957Z,1761544231.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075468,0.982619,0.169604],[-0.996715,0.069321,0.041883],[0.029398,-0.172207,0.984622]] 2025-10-27T05:50:31.977Z,1761544231.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:31.980Z,1761544231.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 124.804810 m, bearing: 264.947068 deg, approach rate: -0.626548 m/s, LOS rate: 0.001122 deg/s, cmd heading: 274.490795 deg, new cmd heading: 274.492019 deg. 2025-10-27T05:50:31.981Z,1761544231.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790790 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:32.040Z,1761544232.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741627 2025-10-27T05:50:32.292Z,1761544232.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993450 2025-10-27T05:50:32.362Z,1761544232.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075209,0.982721,0.169127],[-0.996738,0.069110,0.041671],[0.029262,-0.171709,0.984713]] 2025-10-27T05:50:32.398Z,1761544232.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:32.400Z,1761544232.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:32.405Z,1761544232.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 124.558899 m, bearing: 264.947543 deg, approach rate: -0.580611 m/s, LOS rate: 0.001124 deg/s, cmd heading: 274.492025 deg, new cmd heading: 274.493453 deg. 2025-10-27T05:50:32.410Z,1761544232.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790814 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:32.544Z,1761544232.544 [DAT](INFO): DAT read: Rx Time:05:50:31.0959 2025-10-27T05:50:32.545Z,1761544232.545 [DAT](INFO): Rx dataTimestamp_ set to:1761544232.544525 2025-10-27T05:50:32.545Z,1761544232.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246963 2025-10-27T05:50:32.778Z,1761544232.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076111,0.983026,0.166934],[-0.996688,0.070198,0.041045],[0.028630,-0.169505,0.985114]] 2025-10-27T05:50:32.804Z,1761544232.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505566 2025-10-27T05:50:32.838Z,1761544232.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.84 m. 2025-10-27T05:50:32.841Z,1761544232.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.837601 m, nav range: 124.307442 m, bearing: 264.950918 deg, approach rate: -0.574262 m/s, LOS rate: 0.007723 deg/s, cmd heading: 274.493446 deg, new cmd heading: 274.503590 deg. 2025-10-27T05:50:32.842Z,1761544232.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790991 target range: 128.837601 and range: 129.60 m. 2025-10-27T05:50:33.065Z,1761544233.065 [DAT](INFO): DAT read: 05:50:31.0959 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.05, 0.662,-0.799, 1.225, 0.604, PHS= 0.160,-1.358, 0.577, RAW= 161.8, 7.1, CAL= 161.3, 6.9, ROT= 348.7, -6.9 2025-10-27T05:50:33.066Z,1761544233.066 [DAT](INFO): got valid direction response: 05:50:31.0959 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.05, 0.662,-0.799, 1.225, 0.604, PHS= 0.160,-1.358, 0.577, RAW= 161.8, 7.1, CAL= 161.3, 6.9, ROT= 348.7, -6.9 2025-10-27T05:50:33.069Z,1761544233.069 [DAT](INFO): DAT read: Bearing 81.4, -10.9 (Local) 2025-10-27T05:50:33.070Z,1761544233.070 [DAT](INFO): Local bearing/azimuth received: Bearing 81.4, -10.9 (Local) 2025-10-27T05:50:33.073Z,1761544233.073 [DAT](INFO): DAT read: Range 11 to 50 : 127.5 m (Round-trip 170.0 ms) speed 0.4 m/s 2025-10-27T05:50:33.074Z,1761544233.074 [DAT](INFO): DAT read: user:549> 2025-10-27T05:50:33.076Z,1761544233.076 [DAT](INFO): DAT read: Tx time:05:50:32.2218 2025-10-27T05:50:33.077Z,1761544233.077 [DAT](INFO): Ping request sent. 2025-10-27T05:50:33.077Z,1761544233.077 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:33.077Z,1761544233.077 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:33.080Z,1761544233.080 [DAT](INFO): direction in FSK: [0.973512,-0.194527,0.120137] 2025-10-27T05:50:33.080Z,1761544233.080 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:33.081Z,1761544233.081 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:33.085Z,1761544233.085 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:33.086Z,1761544233.086 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:33.187Z,1761544233.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077242,0.983161,0.165614],[-0.996622,0.071493,0.040407],[0.027886,-0.168175,0.985363]] 2025-10-27T05:50:33.248Z,1761544233.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.786436 s, deltaX: -2.100006 m, approachRate: -0.554613 m/s, rangeRepo size: 4 2025-10-27T05:50:33.261Z,1761544233.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.748207 m, bearing: 264.391893 deg, lat: 36.779451 deg, lon: -121.859765 deg, deltaT: 3.786436 s, deltaX: -2.089394 m, approachRate: -0.551810 m/s, posRepo size: 4 2025-10-27T05:50:33.262Z,1761544233.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.75 m. 2025-10-27T05:50:33.276Z,1761544233.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.748207 m, nav range: 124.418266 m, bearing: 264.378728 deg, approach rate: 0.000000 m/s, LOS rate: 0.007723 deg/s, cmd heading: 274.503582 deg, new cmd heading: 274.512761 deg. 2025-10-27T05:50:33.277Z,1761544233.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791152 target range: 126.748207 and range: 127.50 m. 2025-10-27T05:50:33.744Z,1761544233.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078582,0.983300,0.164149],[-0.996538,0.072997,0.039797],[0.027150,-0.166708,0.985632]] 2025-10-27T05:50:33.835Z,1761544233.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.75 m. 2025-10-27T05:50:33.838Z,1761544233.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.748207 m, nav range: 124.089500 m, bearing: 264.382589 deg, approach rate: -0.551243 m/s, LOS rate: 0.006490 deg/s, cmd heading: 274.512761 deg, new cmd heading: 274.524373 deg. 2025-10-27T05:50:33.839Z,1761544233.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791354 target range: 126.748207 and range: 127.50 m. 2025-10-27T05:50:34.317Z,1761544234.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082174,0.983529,0.160990],[-0.996304,0.077015,0.038038],[0.025013,-0.163520,0.986223]] 2025-10-27T05:50:34.336Z,1761544234.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.75 m. 2025-10-27T05:50:34.338Z,1761544234.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.748207 m, nav range: 123.812126 m, bearing: 264.385432 deg, approach rate: -0.549218 m/s, LOS rate: 0.005643 deg/s, cmd heading: 274.524373 deg, new cmd heading: 274.532923 deg. 2025-10-27T05:50:34.340Z,1761544234.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791503 target range: 126.748207 and range: 127.50 m. 2025-10-27T05:50:34.788Z,1761544234.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083983,0.983867,0.157963],[-0.996194,0.079186,0.036430],[0.023334,-0.160421,0.986773]] 2025-10-27T05:50:34.841Z,1761544234.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:34.847Z,1761544234.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.75 m. 2025-10-27T05:50:34.850Z,1761544234.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.748207 m, nav range: 123.569000 m, bearing: 264.387552 deg, approach rate: -0.479455 m/s, LOS rate: 0.004188 deg/s, cmd heading: 274.532924 deg, new cmd heading: 274.539295 deg. 2025-10-27T05:50:34.855Z,1761544234.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791615 target range: 126.748207 and range: 127.50 m. 2025-10-27T05:50:35.072Z,1761544235.072 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:35.072Z,1761544235.072 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:35.072Z,1761544235.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:35.185Z,1761544235.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086044,0.984096,0.155406],[-0.996066,0.081653,0.034436],[0.021199,-0.157757,0.987250]] 2025-10-27T05:50:35.212Z,1761544235.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.75 m. 2025-10-27T05:50:35.214Z,1761544235.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.748207 m, nav range: 123.377022 m, bearing: 264.389064 deg, approach rate: -0.520563 m/s, LOS rate: 0.004106 deg/s, cmd heading: 274.539290 deg, new cmd heading: 274.543833 deg. 2025-10-27T05:50:35.216Z,1761544235.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791694 target range: 126.748207 and range: 127.50 m. 2025-10-27T05:50:35.324Z,1761544235.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247239 2025-10-27T05:50:35.576Z,1761544235.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499169 2025-10-27T05:50:35.591Z,1761544235.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087736,0.984256,0.153434],[-0.995965,0.083753,0.032241],[0.018883,-0.155643,0.987633]] 2025-10-27T05:50:35.648Z,1761544235.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.75 m. 2025-10-27T05:50:35.651Z,1761544235.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.748207 m, nav range: 123.174637 m, bearing: 264.391932 deg, approach rate: -0.463921 m/s, LOS rate: 0.006585 deg/s, cmd heading: 274.543825 deg, new cmd heading: 274.552443 deg. 2025-10-27T05:50:35.656Z,1761544235.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791844 target range: 126.748207 and range: 127.50 m. 2025-10-27T05:50:35.828Z,1761544235.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751086 2025-10-27T05:50:36.006Z,1761544236.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089368,0.984192,0.152901],[-0.995866,0.085788,0.029865],[0.016276,-0.154937,0.987790]] 2025-10-27T05:50:36.025Z,1761544236.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.75 m. 2025-10-27T05:50:36.028Z,1761544236.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.748207 m, nav range: 122.981544 m, bearing: 264.394530 deg, approach rate: -0.512482 m/s, LOS rate: 0.006906 deg/s, cmd heading: 274.552431 deg, new cmd heading: 274.560237 deg. 2025-10-27T05:50:36.029Z,1761544236.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791980 target range: 126.748207 and range: 127.50 m. 2025-10-27T05:50:36.081Z,1761544236.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004605 2025-10-27T05:50:36.332Z,1761544236.332 [DAT](INFO): DAT read: Rx Time:05:50:34.7936 2025-10-27T05:50:36.332Z,1761544236.332 [DAT](INFO): Rx dataTimestamp_ set to:1761544236.332122 2025-10-27T05:50:36.333Z,1761544236.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256220 2025-10-27T05:50:36.443Z,1761544236.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.75 m. 2025-10-27T05:50:36.446Z,1761544236.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.748207 m, nav range: 122.778069 m, bearing: 264.397276 deg, approach rate: -0.486548 m/s, LOS rate: 0.006578 deg/s, cmd heading: 274.560245 deg, new cmd heading: 274.568498 deg. 2025-10-27T05:50:36.447Z,1761544236.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792124 target range: 126.748207 and range: 127.50 m. 2025-10-27T05:50:36.587Z,1761544236.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509960 2025-10-27T05:50:36.760Z,1761544236.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:50:36.814Z,1761544236.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091360,0.983919,0.153480],[-0.995753,0.088499,0.025386],[0.011395,-0.155147,0.987826]] 2025-10-27T05:50:36.842Z,1761544236.842 [DAT](INFO): DAT read: 05:50:34.7936 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 417, 0.25,-0.282,-1.700, 0.290,-0.301, PHS= 0.121,-1.354, 0.546, RAW= 162.3, 8.0, CAL= 161.9, 8.2, ROT= 348.1, -8.2 2025-10-27T05:50:36.857Z,1761544236.857 [DAT](INFO): got valid direction response: 05:50:34.7936 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 417, 0.25,-0.282,-1.700, 0.290,-0.301, PHS= 0.121,-1.354, 0.546, RAW= 162.3, 8.0, CAL= 161.9, 8.2, ROT= 348.1, -8.2 2025-10-27T05:50:36.858Z,1761544236.858 [DAT](INFO): DAT read: Bearing 83.2, -12.1 (Local) 2025-10-27T05:50:36.859Z,1761544236.859 [DAT](INFO): Local bearing/azimuth received: Bearing 83.2, -12.1 (Local) 2025-10-27T05:50:36.860Z,1761544236.860 [DAT](INFO): DAT read: Range 11 to 50 : 125.7 m (Round-trip 167.6 ms) speed 0.4 m/s 2025-10-27T05:50:36.861Z,1761544236.861 [DAT](INFO): DAT read: user:550> 2025-10-27T05:50:36.862Z,1761544236.862 [DAT](INFO): DAT read: Tx time:05:50:35.9218 2025-10-27T05:50:36.862Z,1761544236.862 [DAT](INFO): Ping request sent. 2025-10-27T05:50:36.862Z,1761544236.862 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:36.862Z,1761544236.862 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:36.912Z,1761544236.912 [DAT](INFO): direction in FSK: [0.968505,-0.204096,0.142629] 2025-10-27T05:50:36.912Z,1761544236.912 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:36.912Z,1761544236.912 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:36.920Z,1761544236.920 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:36.920Z,1761544236.920 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:36.957Z,1761544236.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.699997 m, deltaT: 3.779488 s, deltaX: -1.800003 m, approachRate: -0.476256 m/s, rangeRepo size: 4 2025-10-27T05:50:36.960Z,1761544236.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.956863 m, bearing: 264.721077 deg, lat: 36.779457 deg, lon: -121.859769 deg, deltaT: 3.779488 s, deltaX: -1.791344 m, approachRate: -0.473965 m/s, posRepo size: 4 2025-10-27T05:50:36.960Z,1761544236.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:36.971Z,1761544236.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 122.772011 m, bearing: 264.718863 deg, approach rate: 0.000000 m/s, LOS rate: 0.006578 deg/s, cmd heading: 274.568496 deg, new cmd heading: 274.578629 deg. 2025-10-27T05:50:36.972Z,1761544236.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792301 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:37.252Z,1761544237.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091836,0.983648,0.154930],[-0.995733,0.089294,0.023303],[0.009088,-0.156409,0.987651]] 2025-10-27T05:50:37.273Z,1761544237.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:37.275Z,1761544237.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:37.278Z,1761544237.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 122.610970 m, bearing: 264.718615 deg, approach rate: -0.505719 m/s, LOS rate: -0.000782 deg/s, cmd heading: 274.578632 deg, new cmd heading: 274.577885 deg. 2025-10-27T05:50:37.279Z,1761544237.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792288 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:37.340Z,1761544237.340 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:37.340Z,1761544237.340 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:37.340Z,1761544237.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:37.592Z,1761544237.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.729691 2025-10-27T05:50:37.642Z,1761544237.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092145,0.983476,0.155834],[-0.995723,0.089950,0.021091],[0.006725,-0.157111,0.987558]] 2025-10-27T05:50:37.763Z,1761544237.763 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:50:37.765Z,1761544237.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:37.771Z,1761544237.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 122.388969 m, bearing: 264.716560 deg, approach rate: -0.458417 m/s, LOS rate: -0.004250 deg/s, cmd heading: 274.577894 deg, new cmd heading: 274.571719 deg. 2025-10-27T05:50:37.772Z,1761544237.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792181 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:37.844Z,1761544237.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981803 2025-10-27T05:50:38.047Z,1761544238.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092451,0.983174,0.157549],[-0.995706,0.090546,0.019242],[0.004653,-0.158652,0.987324]] 2025-10-27T05:50:38.066Z,1761544238.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:38.069Z,1761544238.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 122.228416 m, bearing: 264.715039 deg, approach rate: -0.523236 m/s, LOS rate: -0.004962 deg/s, cmd heading: 274.571720 deg, new cmd heading: 274.567151 deg. 2025-10-27T05:50:38.070Z,1761544238.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792101 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:38.096Z,1761544238.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233644 2025-10-27T05:50:38.348Z,1761544238.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485700 2025-10-27T05:50:38.450Z,1761544238.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092525,0.982908,0.159159],[-0.995707,0.090938,0.017242],[0.002473,-0.160071,0.987102]] 2025-10-27T05:50:38.492Z,1761544238.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:38.509Z,1761544238.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 122.030144 m, bearing: 264.713141 deg, approach rate: -0.465230 m/s, LOS rate: -0.004462 deg/s, cmd heading: 274.567157 deg, new cmd heading: 274.561452 deg. 2025-10-27T05:50:38.517Z,1761544238.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792001 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:38.600Z,1761544238.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737755 2025-10-27T05:50:38.852Z,1761544238.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989656 2025-10-27T05:50:38.941Z,1761544238.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:38.944Z,1761544238.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 121.789177 m, bearing: 264.708747 deg, approach rate: -0.537335 m/s, LOS rate: -0.009816 deg/s, cmd heading: 274.561447 deg, new cmd heading: 274.548241 deg. 2025-10-27T05:50:38.945Z,1761544238.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791771 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:39.104Z,1761544239.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241695 2025-10-27T05:50:39.293Z,1761544239.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091152,0.982385,0.163129],[-0.995836,0.090168,0.013438],[-0.001508,-0.163675,0.986513]] 2025-10-27T05:50:39.310Z,1761544239.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:39.313Z,1761544239.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:39.318Z,1761544239.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 121.596153 m, bearing: 264.705331 deg, approach rate: -0.519004 m/s, LOS rate: -0.009202 deg/s, cmd heading: 274.548251 deg, new cmd heading: 274.537984 deg. 2025-10-27T05:50:39.319Z,1761544239.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791592 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:39.357Z,1761544239.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494334 2025-10-27T05:50:39.608Z,1761544239.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746112 2025-10-27T05:50:39.706Z,1761544239.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090245,0.982208,0.164694],[-0.995913,0.089596,0.011385],[-0.003574,-0.165048,0.986279]] 2025-10-27T05:50:39.772Z,1761544239.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:39.775Z,1761544239.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 121.344849 m, bearing: 264.701390 deg, approach rate: -0.548072 m/s, LOS rate: -0.008613 deg/s, cmd heading: 274.537978 deg, new cmd heading: 274.526131 deg. 2025-10-27T05:50:39.776Z,1761544239.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791385 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:39.861Z,1761544239.861 [DAT](INFO): DAT read: Rx Time:05:50:38.4910 2025-10-27T05:50:39.862Z,1761544239.862 [DAT](INFO): Rx dataTimestamp_ set to:1761544239.861161 2025-10-27T05:50:39.862Z,1761544239.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000116 2025-10-27T05:50:40.112Z,1761544240.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249821 2025-10-27T05:50:40.160Z,1761544240.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:40.162Z,1761544240.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 121.132217 m, bearing: 264.698043 deg, approach rate: -0.547030 m/s, LOS rate: -0.008626 deg/s, cmd heading: 274.526121 deg, new cmd heading: 274.516062 deg. 2025-10-27T05:50:40.164Z,1761544240.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791209 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:40.373Z,1761544240.373 [DAT](INFO): DAT read: 05:50:38.4910 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422, 0.37,-1.218,-2.635,-0.651,-1.253, PHS= 0.136,-1.337, 0.557, RAW= 162.2, 7.5, CAL= 161.7, 7.5, ROT= 348.3, -7.5 2025-10-27T05:50:40.374Z,1761544240.374 [DAT](INFO): got valid direction response: 05:50:38.4910 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 422, 0.37,-1.218,-2.635,-0.651,-1.253, PHS= 0.136,-1.337, 0.557, RAW= 162.2, 7.5, CAL= 161.7, 7.5, ROT= 348.3, -7.5 2025-10-27T05:50:40.375Z,1761544240.375 [DAT](INFO): DAT read: Bearing 82.0, -12.8 (Local) 2025-10-27T05:50:40.375Z,1761544240.375 [DAT](INFO): Local bearing/azimuth received: Bearing 82.0, -12.8 (Local) 2025-10-27T05:50:40.376Z,1761544240.376 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:50:40.377Z,1761544240.377 [DAT](INFO): direction in FSK: [0.970845,-0.201053,0.130526] 2025-10-27T05:50:40.384Z,1761544240.384 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:40.384Z,1761544240.384 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:40.384Z,1761544240.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:50:40.552Z,1761544240.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087130,0.982140,0.166763],[-0.996170,0.087129,0.007339],[-0.007322,-0.166764,0.985970]] 2025-10-27T05:50:40.608Z,1761544240.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:40.612Z,1761544240.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 120.886024 m, bearing: 264.694511 deg, approach rate: -0.548923 m/s, LOS rate: -0.007891 deg/s, cmd heading: 274.516067 deg, new cmd heading: 274.505449 deg. 2025-10-27T05:50:40.613Z,1761544240.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791024 target range: 124.956863 and range: 125.70 m. 2025-10-27T05:50:40.617Z,1761544240.617 [DAT](INFO): DAT read: Range 11 to 50 : 123.7 m (Round-trip 165.0 ms) speed 0.2 m/s 2025-10-27T05:50:40.618Z,1761544240.618 [DAT](INFO): DAT read: user:551> 2025-10-27T05:50:40.619Z,1761544240.619 [DAT](INFO): DAT read: Tx time:05:50:39.6218 2025-10-27T05:50:40.619Z,1761544240.619 [DAT](INFO): Ping request sent. 2025-10-27T05:50:40.619Z,1761544240.619 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:40.620Z,1761544240.620 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:50:40.620Z,1761544240.620 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:40.620Z,1761544240.620 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:40.992Z,1761544240.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.699997 m, deltaT: 3.780319 s, deltaX: -2.000000 m, approachRate: -0.529056 m/s, rangeRepo size: 4 2025-10-27T05:50:40.992Z,1761544240.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:40.995Z,1761544240.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 120.679008 m, bearing: 264.690011 deg, approach rate: -0.544106 m/s, LOS rate: -0.011847 deg/s, cmd heading: 274.505439 deg, new cmd heading: 274.491917 deg. 2025-10-27T05:50:40.996Z,1761544240.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790788 target range: 124.956863 and range: 123.70 m. 2025-10-27T05:50:41.370Z,1761544241.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:41.374Z,1761544241.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:41.393Z,1761544241.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 120.467583 m, bearing: 264.685399 deg, approach rate: -0.549205 m/s, LOS rate: -0.012000 deg/s, cmd heading: 274.491916 deg, new cmd heading: 274.478057 deg. 2025-10-27T05:50:41.394Z,1761544241.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790546 target range: 124.956863 and range: 123.70 m. 2025-10-27T05:50:41.624Z,1761544241.624 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:41.624Z,1761544241.624 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:41.624Z,1761544241.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:41.757Z,1761544241.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080669,0.981151,0.175598],[-0.996671,0.081496,0.002506],[-0.011852,-0.175216,0.984459]] 2025-10-27T05:50:41.817Z,1761544241.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:41.824Z,1761544241.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 120.224976 m, bearing: 264.681959 deg, approach rate: -0.547706 m/s, LOS rate: -0.007783 deg/s, cmd heading: 274.478064 deg, new cmd heading: 274.467721 deg. 2025-10-27T05:50:41.825Z,1761544241.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790365 target range: 124.956863 and range: 123.70 m. 2025-10-27T05:50:41.876Z,1761544241.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256625 2025-10-27T05:50:42.129Z,1761544242.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509397 2025-10-27T05:50:42.171Z,1761544242.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078881,0.981047,0.176985],[-0.996791,0.080041,0.000589],[-0.013589,-0.176464,0.984213]] 2025-10-27T05:50:42.196Z,1761544242.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:42.199Z,1761544242.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 120.004875 m, bearing: 264.679004 deg, approach rate: -0.581573 m/s, LOS rate: -0.007822 deg/s, cmd heading: 274.467709 deg, new cmd heading: 274.458829 deg. 2025-10-27T05:50:42.216Z,1761544242.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790210 target range: 124.956863 and range: 123.70 m. 2025-10-27T05:50:42.380Z,1761544242.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760994 2025-10-27T05:50:42.624Z,1761544242.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074845,0.981132,0.178266],[-0.997063,0.076546,-0.002673],[-0.016268,-0.177543,0.983979]] 2025-10-27T05:50:42.632Z,1761544242.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012636 2025-10-27T05:50:42.700Z,1761544242.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:42.722Z,1761544242.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 119.725388 m, bearing: 264.677178 deg, approach rate: -0.597849 m/s, LOS rate: -0.003916 deg/s, cmd heading: 274.458830 deg, new cmd heading: 274.453338 deg. 2025-10-27T05:50:42.729Z,1761544242.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790114 target range: 124.956863 and range: 123.70 m. 2025-10-27T05:50:42.884Z,1761544242.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264528 2025-10-27T05:50:43.046Z,1761544243.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074208,0.981007,0.179214],[-0.997086,0.076176,-0.004117],[-0.017690,-0.178386,0.983801]] 2025-10-27T05:50:43.065Z,1761544243.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:43.080Z,1761544243.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 119.487366 m, bearing: 264.675680 deg, approach rate: -0.591257 m/s, LOS rate: -0.003728 deg/s, cmd heading: 274.453339 deg, new cmd heading: 274.448836 deg. 2025-10-27T05:50:43.081Z,1761544243.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790036 target range: 124.956863 and range: 123.70 m. 2025-10-27T05:50:43.137Z,1761544243.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517536 2025-10-27T05:50:43.393Z,1761544243.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771481 2025-10-27T05:50:43.446Z,1761544243.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073466,0.980807,0.180609],[-0.997125,0.075607,-0.004989],[-0.018549,-0.179723,0.983542]] 2025-10-27T05:50:43.463Z,1761544243.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:43.465Z,1761544243.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:43.468Z,1761544243.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 119.250717 m, bearing: 264.674257 deg, approach rate: -0.591682 m/s, LOS rate: -0.003564 deg/s, cmd heading: 274.448831 deg, new cmd heading: 274.444554 deg. 2025-10-27T05:50:43.469Z,1761544243.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789961 target range: 124.956863 and range: 123.70 m. 2025-10-27T05:50:43.640Z,1761544243.640 [DAT](INFO): DAT read: Rx Time:05:50:42.1881 2025-10-27T05:50:43.640Z,1761544243.640 [DAT](INFO): Rx dataTimestamp_ set to:1761544243.640157 2025-10-27T05:50:43.641Z,1761544243.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021689 2025-10-27T05:50:43.850Z,1761544243.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073185,0.980846,0.180512],[-0.997130,0.075482,-0.005877],[-0.019390,-0.179564,0.983555]] 2025-10-27T05:50:43.892Z,1761544243.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272702 2025-10-27T05:50:43.931Z,1761544243.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.96 m. 2025-10-27T05:50:43.937Z,1761544243.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.956863 m, nav range: 118.978149 m, bearing: 264.675032 deg, approach rate: -0.585682 m/s, LOS rate: 0.001668 deg/s, cmd heading: 274.444541 deg, new cmd heading: 274.446870 deg. 2025-10-27T05:50:43.938Z,1761544243.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790001 target range: 124.956863 and range: 123.70 m. 2025-10-27T05:50:44.149Z,1761544244.149 [DAT](INFO): DAT read: 05:50:42.1881 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.30,-2.572, 2.266,-2.073,-2.635, PHS= 0.165,-1.337, 0.518, RAW= 160.3, 7.7, CAL= 159.9, 7.8, ROT= 350.1, -7.8 2025-10-27T05:50:44.151Z,1761544244.151 [DAT](INFO): got valid direction response: 05:50:42.1881 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.30,-2.572, 2.266,-2.073,-2.635, PHS= 0.165,-1.337, 0.518, RAW= 160.3, 7.7, CAL= 159.9, 7.8, ROT= 350.1, -7.8 2025-10-27T05:50:44.152Z,1761544244.152 [DAT](INFO): DAT read: Bearing 81.3, -12.0 (Local) 2025-10-27T05:50:44.152Z,1761544244.152 [DAT](INFO): Local bearing/azimuth received: Bearing 81.3, -12.0 (Local) 2025-10-27T05:50:44.153Z,1761544244.153 [DAT](INFO): DAT read: Range 11 to 50 : 121.6 m (Round-trip 162.2 ms) speed 0.4 m/s 2025-10-27T05:50:44.154Z,1761544244.154 [DAT](INFO): DAT read: user:552> 2025-10-27T05:50:44.155Z,1761544244.155 [DAT](INFO): DAT read: Tx time:05:50:43.3218 2025-10-27T05:50:44.155Z,1761544244.155 [DAT](INFO): Ping request sent. 2025-10-27T05:50:44.155Z,1761544244.155 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:44.156Z,1761544244.156 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:44.157Z,1761544244.157 [DAT](INFO): direction in FSK: [0.975995,-0.170338,0.135716] 2025-10-27T05:50:44.157Z,1761544244.157 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:44.157Z,1761544244.157 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:44.160Z,1761544244.160 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:44.161Z,1761544244.161 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:44.272Z,1761544244.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073564,0.981434,0.177132],[-0.997075,0.076074,-0.007414],[-0.020751,-0.176068,0.984159]] 2025-10-27T05:50:44.341Z,1761544244.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.599998 m, deltaT: 3.527509 s, deltaX: -2.099998 m, approachRate: -0.595321 m/s, rangeRepo size: 4 2025-10-27T05:50:44.347Z,1761544244.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.880699 m, bearing: 265.866417 deg, lat: 36.779462 deg, lon: -121.859769 deg, deltaT: 7.307828 s, deltaX: -4.076164 m, approachRate: -0.557781 m/s, posRepo size: 4 2025-10-27T05:50:44.348Z,1761544244.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:44.350Z,1761544244.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 118.748184 m, bearing: 264.969859 deg, approach rate: 0.000000 m/s, LOS rate: 0.001668 deg/s, cmd heading: 274.446864 deg, new cmd heading: 274.448913 deg. 2025-10-27T05:50:44.358Z,1761544244.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790037 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:44.772Z,1761544244.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:44.781Z,1761544244.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 118.492050 m, bearing: 264.970681 deg, approach rate: -0.592641 m/s, LOS rate: 0.001906 deg/s, cmd heading: 274.448913 deg, new cmd heading: 274.451384 deg. 2025-10-27T05:50:44.782Z,1761544244.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790080 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:45.083Z,1761544245.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074895,0.982353,0.171387],[-0.996918,0.077786,-0.010204],[-0.023355,-0.170094,0.985151]] 2025-10-27T05:50:45.115Z,1761544245.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:45.118Z,1761544245.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 118.290970 m, bearing: 264.971249 deg, approach rate: -0.586666 m/s, LOS rate: 0.001660 deg/s, cmd heading: 274.451372 deg, new cmd heading: 274.453078 deg. 2025-10-27T05:50:45.119Z,1761544245.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790110 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:45.486Z,1761544245.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075912,0.982413,0.170594],[-0.996808,0.079014,-0.011457],[-0.024735,-0.169179,0.985275]] 2025-10-27T05:50:45.505Z,1761544245.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:45.507Z,1761544245.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:45.510Z,1761544245.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 118.066399 m, bearing: 264.971782 deg, approach rate: -0.572779 m/s, LOS rate: 0.001361 deg/s, cmd heading: 274.453065 deg, new cmd heading: 274.454666 deg. 2025-10-27T05:50:45.535Z,1761544245.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790138 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:45.656Z,1761544245.656 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:45.656Z,1761544245.656 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:45.657Z,1761544245.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:45.898Z,1761544245.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077268,0.983090,0.166024],[-0.996670,0.080511,-0.012883],[-0.026032,-0.164475,0.986038]] 2025-10-27T05:50:45.908Z,1761544245.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752646 2025-10-27T05:50:45.959Z,1761544245.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:45.962Z,1761544245.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 117.813324 m, bearing: 264.972611 deg, approach rate: -0.586176 m/s, LOS rate: 0.001924 deg/s, cmd heading: 274.454677 deg, new cmd heading: 274.457170 deg. 2025-10-27T05:50:45.963Z,1761544245.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790181 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:46.160Z,1761544246.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004571 2025-10-27T05:50:46.294Z,1761544246.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078397,0.983437,0.163418],[-0.996549,0.081790,-0.014131],[-0.027263,-0.161747,0.986456]] 2025-10-27T05:50:46.314Z,1761544246.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:46.317Z,1761544246.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 117.595673 m, bearing: 264.973226 deg, approach rate: -0.579790 m/s, LOS rate: 0.001641 deg/s, cmd heading: 274.457164 deg, new cmd heading: 274.459012 deg. 2025-10-27T05:50:46.318Z,1761544246.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790214 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:46.413Z,1761544246.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257343 2025-10-27T05:50:46.670Z,1761544246.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514113 2025-10-27T05:50:46.774Z,1761544246.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079236,0.983522,0.162500],[-0.996451,0.082791,-0.015216],[-0.028419,-0.160718,0.986591]] 2025-10-27T05:50:46.828Z,1761544246.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:46.830Z,1761544246.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 117.305161 m, bearing: 264.972678 deg, approach rate: -0.565962 m/s, LOS rate: -0.001071 deg/s, cmd heading: 274.459021 deg, new cmd heading: 274.457372 deg. 2025-10-27T05:50:46.831Z,1761544246.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790185 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:46.916Z,1761544246.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760769 2025-10-27T05:50:47.169Z,1761544247.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013996 2025-10-27T05:50:47.210Z,1761544247.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080112,0.983911,0.159693],[-0.996343,0.083816,-0.016582],[-0.029700,-0.157781,0.987027]] 2025-10-27T05:50:47.265Z,1761544247.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:47.272Z,1761544247.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 117.062660 m, bearing: 264.972134 deg, approach rate: -0.554295 m/s, LOS rate: -0.001246 deg/s, cmd heading: 274.457382 deg, new cmd heading: 274.455747 deg. 2025-10-27T05:50:47.273Z,1761544247.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790156 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:47.421Z,1761544247.421 [DAT](INFO): DAT read: Rx Time:05:50:45.8851 2025-10-27T05:50:47.421Z,1761544247.421 [DAT](INFO): Rx dataTimestamp_ set to:1761544247.420935 2025-10-27T05:50:47.422Z,1761544247.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266820 2025-10-27T05:50:47.629Z,1761544247.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080631,0.984323,0.156864],[-0.996261,0.084487,-0.018059],[-0.031029,-0.154821,0.987455]] 2025-10-27T05:50:47.675Z,1761544247.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519280 2025-10-27T05:50:47.776Z,1761544247.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:47.778Z,1761544247.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.88 m. 2025-10-27T05:50:47.785Z,1761544247.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.880699 m, nav range: 116.778748 m, bearing: 264.971445 deg, approach rate: -0.553494 m/s, LOS rate: -0.001346 deg/s, cmd heading: 274.455743 deg, new cmd heading: 274.453672 deg. 2025-10-27T05:50:47.786Z,1761544247.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790120 target range: 120.880699 and range: 121.60 m. 2025-10-27T05:50:47.929Z,1761544247.929 [DAT](INFO): DAT read: 05:50:45.8851 LVL= 32752, 32753, 27058, 32755, AGC= 67, IDX= 410, 0.31, 0.474,-0.993, 1.037, 0.378, PHS= 0.198,-1.326, 0.614, RAW= 161.8, 5.9, CAL= 161.0, 5.3, ROT= 349.0, -5.3 2025-10-27T05:50:47.931Z,1761544247.931 [DAT](INFO): got valid direction response: 05:50:45.8851 LVL= 32752, 32753, 27058, 32755, AGC= 67, IDX= 410, 0.31, 0.474,-0.993, 1.037, 0.378, PHS= 0.198,-1.326, 0.614, RAW= 161.8, 5.9, CAL= 161.0, 5.3, ROT= 349.0, -5.3 2025-10-27T05:50:47.932Z,1761544247.932 [DAT](INFO): DAT read: Bearing 78.8, -13.3 (Local) 2025-10-27T05:50:47.932Z,1761544247.932 [DAT](INFO): Local bearing/azimuth received: Bearing 78.8, -13.3 (Local) 2025-10-27T05:50:47.933Z,1761544247.933 [DAT](INFO): DAT read: Range 11 to 50 : 119.3 m (Round-trip 159.1 ms) speed 0.4 m/s 2025-10-27T05:50:47.934Z,1761544247.934 [DAT](INFO): DAT read: user:553> 2025-10-27T05:50:47.935Z,1761544247.935 [DAT](INFO): DAT read: Tx time:05:50:47.0218 2025-10-27T05:50:47.935Z,1761544247.935 [DAT](INFO): Ping request sent. 2025-10-27T05:50:47.935Z,1761544247.935 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:47.936Z,1761544247.936 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:47.937Z,1761544247.937 [DAT](INFO): direction in FSK: [0.977430,-0.189993,0.092371] 2025-10-27T05:50:47.937Z,1761544247.937 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:47.937Z,1761544247.937 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:47.941Z,1761544247.941 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:47.941Z,1761544247.941 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:48.251Z,1761544248.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079516,0.984290,0.157639],[-0.996300,0.083646,-0.019727],[-0.032603,-0.155487,0.987300]] 2025-10-27T05:50:48.302Z,1761544248.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.300003 m, deltaT: 3.780055 s, deltaX: -2.299995 m, approachRate: -0.608456 m/s, rangeRepo size: 4 2025-10-27T05:50:48.304Z,1761544248.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.593857 m, bearing: 264.542800 deg, lat: 36.779457 deg, lon: -121.859774 deg, deltaT: 3.780055 s, deltaX: -2.286842 m, approachRate: -0.604976 m/s, posRepo size: 4 2025-10-27T05:50:48.305Z,1761544248.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:48.308Z,1761544248.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 116.946564 m, bearing: 264.686872 deg, approach rate: 0.000000 m/s, LOS rate: -0.001346 deg/s, cmd heading: 274.453667 deg, new cmd heading: 274.451552 deg. 2025-10-27T05:50:48.309Z,1761544248.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790083 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:48.754Z,1761544248.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:48.761Z,1761544248.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 116.707008 m, bearing: 264.681056 deg, approach rate: -0.529651 m/s, LOS rate: -0.012886 deg/s, cmd heading: 274.451563 deg, new cmd heading: 274.434078 deg. 2025-10-27T05:50:48.762Z,1761544248.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789778 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:49.097Z,1761544249.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078307,0.984368,0.157756],[-0.996351,0.082663,-0.021229],[-0.033938,-0.155518,0.987250]] 2025-10-27T05:50:49.150Z,1761544249.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:49.158Z,1761544249.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 116.478851 m, bearing: 264.672364 deg, approach rate: -0.576463 m/s, LOS rate: -0.022004 deg/s, cmd heading: 274.434078 deg, new cmd heading: 274.407951 deg. 2025-10-27T05:50:49.163Z,1761544249.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789322 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:49.500Z,1761544249.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077527,0.984523,0.157173],[-0.996401,0.081930,-0.021717],[-0.034258,-0.154924,0.987332]] 2025-10-27T05:50:49.520Z,1761544249.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:49.522Z,1761544249.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 116.269440 m, bearing: 264.664441 deg, approach rate: -0.566161 m/s, LOS rate: -0.021460 deg/s, cmd heading: 274.407959 deg, new cmd heading: 274.384146 deg. 2025-10-27T05:50:49.524Z,1761544249.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788907 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:49.905Z,1761544249.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076808,0.984612,0.156971],[-0.996441,0.081285,-0.022298],[-0.034714,-0.154699,0.987352]] 2025-10-27T05:50:49.954Z,1761544249.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:49.957Z,1761544249.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:49.960Z,1761544249.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 116.031609 m, bearing: 264.654370 deg, approach rate: -0.543989 m/s, LOS rate: -0.023082 deg/s, cmd heading: 274.384135 deg, new cmd heading: 274.353860 deg. 2025-10-27T05:50:49.961Z,1761544249.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788378 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:50.192Z,1761544250.192 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:50.192Z,1761544250.192 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:50.193Z,1761544250.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:50.308Z,1761544250.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075764,0.984631,0.157358],[-0.996516,0.080285,-0.022570],[-0.034856,-0.155100,0.987284]] 2025-10-27T05:50:50.327Z,1761544250.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:50.330Z,1761544250.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 115.829842 m, bearing: 264.645897 deg, approach rate: -0.545216 m/s, LOS rate: -0.022936 deg/s, cmd heading: 274.353864 deg, new cmd heading: 274.328400 deg. 2025-10-27T05:50:50.331Z,1761544250.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787934 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:50.444Z,1761544250.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508615 2025-10-27T05:50:50.698Z,1761544250.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762192 2025-10-27T05:50:50.758Z,1761544250.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075038,0.984238,0.160141],[-0.996557,0.079697,-0.022857],[-0.035260,-0.157874,0.986830]] 2025-10-27T05:50:50.814Z,1761544250.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:50.817Z,1761544250.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 115.577698 m, bearing: 264.636237 deg, approach rate: -0.517692 m/s, LOS rate: -0.019876 deg/s, cmd heading: 274.328401 deg, new cmd heading: 274.299358 deg. 2025-10-27T05:50:50.818Z,1761544250.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787427 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:50.948Z,1761544250.948 [DAT](INFO): DAT read: Rx Time:05:50:49.5825 2025-10-27T05:50:50.948Z,1761544250.948 [DAT](INFO): Rx dataTimestamp_ set to:1761544250.948094 2025-10-27T05:50:50.949Z,1761544250.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013559 2025-10-27T05:50:51.121Z,1761544251.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074358,0.983820,0.163002],[-0.996593,0.079160,-0.023157],[-0.035685,-0.160725,0.986354]] 2025-10-27T05:50:51.140Z,1761544251.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:51.143Z,1761544251.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 115.408730 m, bearing: 264.629779 deg, approach rate: -0.517845 m/s, LOS rate: -0.019822 deg/s, cmd heading: 274.299359 deg, new cmd heading: 274.279956 deg. 2025-10-27T05:50:51.144Z,1761544251.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787088 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:51.201Z,1761544251.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265018 2025-10-27T05:50:51.462Z,1761544251.462 [DAT](INFO): DAT read: 05:50:49.5825 LVL= 30192, 32753, 25394, 32755, AGC= 67, IDX= 415, 0.15,-1.689, 3.101,-1.071,-1.731, PHS= 0.144,-1.406, 0.616, RAW= 162.9, 7.1, CAL= 162.3, 7.0, ROT= 347.7, -7.0 2025-10-27T05:50:51.464Z,1761544251.464 [DAT](INFO): got valid direction response: 05:50:49.5825 LVL= 30192, 32753, 25394, 32755, AGC= 67, IDX= 415, 0.15,-1.689, 3.101,-1.071,-1.731, PHS= 0.144,-1.406, 0.616, RAW= 162.9, 7.1, CAL= 162.3, 7.0, ROT= 347.7, -7.0 2025-10-27T05:50:51.464Z,1761544251.464 [DAT](INFO): DAT read: Bearing 79.9, -15.2 (Local) 2025-10-27T05:50:51.465Z,1761544251.465 [DAT](INFO): Local bearing/azimuth received: Bearing 79.9, -15.2 (Local) 2025-10-27T05:50:51.465Z,1761544251.465 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:50:51.466Z,1761544251.466 [DAT](INFO): direction in FSK: [0.969763,-0.211442,0.121869] 2025-10-27T05:50:51.469Z,1761544251.469 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:51.469Z,1761544251.469 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:51.469Z,1761544251.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:50:51.522Z,1761544251.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073852,0.983580,0.164670],[-0.996612,0.078784,-0.023616],[-0.036201,-0.162368,0.986066]] 2025-10-27T05:50:51.559Z,1761544251.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:51.562Z,1761544251.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 115.194992 m, bearing: 264.621624 deg, approach rate: -0.512759 m/s, LOS rate: -0.019601 deg/s, cmd heading: 274.279961 deg, new cmd heading: 274.255449 deg. 2025-10-27T05:50:51.563Z,1761544251.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786661 target range: 118.593857 and range: 119.30 m. 2025-10-27T05:50:51.713Z,1761544251.713 [DAT](INFO): DAT read: Range 11 to 50 : 117.3 m (Round-trip 156.5 ms) speed 0.1 m/s 2025-10-27T05:50:51.717Z,1761544251.717 [DAT](INFO): DAT read: user:554> 2025-10-27T05:50:51.721Z,1761544251.721 [DAT](INFO): DAT read: Tx time:05:50:50.6718 2025-10-27T05:50:51.722Z,1761544251.722 [DAT](INFO): Ping request sent. 2025-10-27T05:50:51.723Z,1761544251.723 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:51.740Z,1761544251.740 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:50:51.740Z,1761544251.740 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:51.741Z,1761544251.741 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:51.929Z,1761544251.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073573,0.983260,0.166693],[-0.996607,0.078671,-0.024183],[-0.036892,-0.164348,0.985712]] 2025-10-27T05:50:51.997Z,1761544251.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:52.001Z,1761544252.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.300003 m, deltaT: 3.782704 s, deltaX: -2.000000 m, approachRate: -0.528722 m/s, rangeRepo size: 4 2025-10-27T05:50:52.001Z,1761544252.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:52.004Z,1761544252.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 114.977814 m, bearing: 264.615459 deg, approach rate: -0.491233 m/s, LOS rate: -0.013969 deg/s, cmd heading: 274.255454 deg, new cmd heading: 274.236927 deg. 2025-10-27T05:50:52.005Z,1761544252.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786337 target range: 118.593857 and range: 117.30 m. 2025-10-27T05:50:52.209Z,1761544252.209 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:52.209Z,1761544252.209 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:52.210Z,1761544252.210 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:52.363Z,1761544252.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:52.366Z,1761544252.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 114.800186 m, bearing: 264.610400 deg, approach rate: -0.488241 m/s, LOS rate: -0.013928 deg/s, cmd heading: 274.236931 deg, new cmd heading: 274.221730 deg. 2025-10-27T05:50:52.367Z,1761544252.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786072 target range: 118.593857 and range: 117.30 m. 2025-10-27T05:50:52.460Z,1761544252.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738026 2025-10-27T05:50:52.716Z,1761544252.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993571 2025-10-27T05:50:52.789Z,1761544252.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074424,0.982829,0.168846],[-0.996468,0.079895,-0.025834],[-0.038881,-0.166327,0.985304]] 2025-10-27T05:50:52.841Z,1761544252.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:52.844Z,1761544252.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 114.569000 m, bearing: 264.608923 deg, approach rate: -0.483104 m/s, LOS rate: -0.003093 deg/s, cmd heading: 274.221741 deg, new cmd heading: 274.217300 deg. 2025-10-27T05:50:52.845Z,1761544252.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785995 target range: 118.593857 and range: 117.30 m. 2025-10-27T05:50:52.964Z,1761544252.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242000 2025-10-27T05:50:53.146Z,1761544253.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075182,0.982177,0.172265],[-0.996375,0.080888,-0.026338],[-0.039802,-0.169660,0.984698]] 2025-10-27T05:50:53.166Z,1761544253.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:53.169Z,1761544253.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 114.412331 m, bearing: 264.607831 deg, approach rate: -0.482608 m/s, LOS rate: -0.003367 deg/s, cmd heading: 274.217287 deg, new cmd heading: 274.214008 deg. 2025-10-27T05:50:53.170Z,1761544253.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785937 target range: 118.593857 and range: 117.30 m. 2025-10-27T05:50:53.217Z,1761544253.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494892 2025-10-27T05:50:53.468Z,1761544253.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745909 2025-10-27T05:50:53.545Z,1761544253.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075923,0.981800,0.174079],[-0.996277,0.081845,-0.027085],[-0.040840,-0.171375,0.984359]] 2025-10-27T05:50:53.571Z,1761544253.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:53.574Z,1761544253.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 114.216446 m, bearing: 264.606371 deg, approach rate: -0.484040 m/s, LOS rate: -0.003615 deg/s, cmd heading: 274.214009 deg, new cmd heading: 274.209620 deg. 2025-10-27T05:50:53.575Z,1761544253.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785861 target range: 118.593857 and range: 117.30 m. 2025-10-27T05:50:53.724Z,1761544253.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001294 2025-10-27T05:50:53.949Z,1761544253.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077066,0.981467,0.175450],[-0.996137,0.083224,-0.028006],[-0.042088,-0.172614,0.984090]] 2025-10-27T05:50:53.972Z,1761544253.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250000 2025-10-27T05:50:54.023Z,1761544254.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:54.025Z,1761544254.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:54.032Z,1761544254.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 114.013611 m, bearing: 264.607724 deg, approach rate: -0.446561 m/s, LOS rate: 0.002985 deg/s, cmd heading: 274.209610 deg, new cmd heading: 274.213677 deg. 2025-10-27T05:50:54.033Z,1761544254.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785932 target range: 118.593857 and range: 117.30 m. 2025-10-27T05:50:54.225Z,1761544254.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503082 2025-10-27T05:50:54.357Z,1761544254.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078026,0.981203,0.176499],[-0.996018,0.084380,-0.028774],[-0.043126,-0.173551,0.983880]] 2025-10-27T05:50:54.376Z,1761544254.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:54.378Z,1761544254.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 113.843300 m, bearing: 264.608772 deg, approach rate: -0.485398 m/s, LOS rate: 0.002990 deg/s, cmd heading: 274.213681 deg, new cmd heading: 274.216829 deg. 2025-10-27T05:50:54.380Z,1761544254.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785986 target range: 118.593857 and range: 117.30 m. 2025-10-27T05:50:54.476Z,1761544254.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754134 2025-10-27T05:50:54.729Z,1761544254.729 [DAT](INFO): DAT read: Rx Time:05:50:53.2303 2025-10-27T05:50:54.730Z,1761544254.730 [DAT](INFO): Rx dataTimestamp_ set to:1761544254.729007 2025-10-27T05:50:54.731Z,1761544254.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008587 2025-10-27T05:50:54.838Z,1761544254.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079085,0.980921,0.177595],[-0.995893,0.085622,-0.029440],[-0.044084,-0.174537,0.983663]] 2025-10-27T05:50:54.932Z,1761544254.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.59 m. 2025-10-27T05:50:54.935Z,1761544254.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.593857 m, nav range: 113.596992 m, bearing: 264.617731 deg, approach rate: -0.442899 m/s, LOS rate: 0.016146 deg/s, cmd heading: 274.216823 deg, new cmd heading: 274.243761 deg. 2025-10-27T05:50:54.944Z,1761544254.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786457 target range: 118.593857 and range: 117.30 m. 2025-10-27T05:50:54.980Z,1761544254.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257934 2025-10-27T05:50:55.244Z,1761544255.244 [DAT](INFO): DAT read: 05:50:53.2303 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 425, 0.15, 1.997, 0.558, 2.564, 1.964, PHS= 0.135,-1.361, 0.555, RAW= 162.0, 7.7, CAL= 161.6, 7.8, ROT= 348.4, -7.8 2025-10-27T05:50:55.246Z,1761544255.246 [DAT](INFO): got valid direction response: 05:50:53.2303 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 425, 0.15, 1.997, 0.558, 2.564, 1.964, PHS= 0.135,-1.361, 0.555, RAW= 162.0, 7.7, CAL= 161.6, 7.8, ROT= 348.4, -7.8 2025-10-27T05:50:55.260Z,1761544255.260 [DAT](INFO): DAT read: Bearing 80.6, -15.0 (Local) 2025-10-27T05:50:55.261Z,1761544255.261 [DAT](INFO): Local bearing/azimuth received: Bearing 80.6, -15.0 (Local) 2025-10-27T05:50:55.262Z,1761544255.262 [DAT](INFO): DAT read: Range 11 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.4 m/s 2025-10-27T05:50:55.283Z,1761544255.283 [DAT](INFO): DAT read: user:555> 2025-10-27T05:50:55.284Z,1761544255.284 [DAT](INFO): DAT read: Tx time:05:50:54.3218 2025-10-27T05:50:55.284Z,1761544255.284 [DAT](INFO): Ping request sent. 2025-10-27T05:50:55.284Z,1761544255.284 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:55.285Z,1761544255.285 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:55.285Z,1761544255.285 [DAT](INFO): direction in FSK: [0.970512,-0.199218,0.135716] 2025-10-27T05:50:55.286Z,1761544255.286 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:55.286Z,1761544255.286 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:55.298Z,1761544255.298 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:55.298Z,1761544255.298 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:55.301Z,1761544255.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080701,0.980973,0.176579],[-0.995737,0.087283,-0.029820],[-0.044665,-0.173420,0.983835]] 2025-10-27T05:50:55.364Z,1761544255.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.699997 m, deltaT: 3.528296 s, deltaX: -1.600006 m, approachRate: -0.453478 m/s, rangeRepo size: 4 2025-10-27T05:50:55.366Z,1761544255.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.014175 m, bearing: 264.613474 deg, lat: 36.779456 deg, lon: -121.859781 deg, deltaT: 7.311000 s, deltaX: -3.579681 m, approachRate: -0.489630 m/s, posRepo size: 4 2025-10-27T05:50:55.371Z,1761544255.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m. 2025-10-27T05:50:55.374Z,1761544255.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.014175 m, nav range: 114.024048 m, bearing: 264.609493 deg, approach rate: 0.000000 m/s, LOS rate: 0.016146 deg/s, cmd heading: 274.243761 deg, new cmd heading: 274.264670 deg. 2025-10-27T05:50:55.375Z,1761544255.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786821 target range: 115.014175 and range: 115.70 m. 2025-10-27T05:50:55.715Z,1761544255.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082290,0.981041,0.175463],[-0.995593,0.088867,-0.029946],[-0.044971,-0.172226,0.984030]] 2025-10-27T05:50:55.817Z,1761544255.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m. 2025-10-27T05:50:55.824Z,1761544255.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.014175 m, nav range: 113.807640 m, bearing: 264.617027 deg, approach rate: -0.477519 m/s, LOS rate: 0.016656 deg/s, cmd heading: 274.264662 deg, new cmd heading: 274.287306 deg. 2025-10-27T05:50:55.825Z,1761544255.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787217 target range: 115.014175 and range: 115.70 m. 2025-10-27T05:50:56.131Z,1761544256.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083208,0.980892,0.175861],[-0.995500,0.089848,-0.030126],[-0.045351,-0.172563,0.983954]] 2025-10-27T05:50:56.174Z,1761544256.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:56.176Z,1761544256.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m. 2025-10-27T05:50:56.179Z,1761544256.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.014175 m, nav range: 113.621902 m, bearing: 264.621342 deg, approach rate: -0.516519 m/s, LOS rate: 0.012019 deg/s, cmd heading: 274.287310 deg, new cmd heading: 274.300276 deg. 2025-10-27T05:50:56.180Z,1761544256.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787443 target range: 115.014175 and range: 115.70 m. 2025-10-27T05:50:56.240Z,1761544256.240 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:50:56.240Z,1761544256.240 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:50:56.241Z,1761544256.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:50:56.492Z,1761544256.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207620 2025-10-27T05:50:56.533Z,1761544256.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084167,0.980943,0.175118],[-0.995426,0.090742,-0.029873],[-0.045195,-0.171803,0.984094]] 2025-10-27T05:50:56.560Z,1761544256.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m. 2025-10-27T05:50:56.562Z,1761544256.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.014175 m, nav range: 113.436516 m, bearing: 264.625579 deg, approach rate: -0.483796 m/s, LOS rate: 0.011076 deg/s, cmd heading: 274.300288 deg, new cmd heading: 274.313021 deg. 2025-10-27T05:50:56.595Z,1761544256.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787665 target range: 115.014175 and range: 115.70 m. 2025-10-27T05:50:56.744Z,1761544256.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459775 2025-10-27T05:50:56.937Z,1761544256.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085488,0.981254,0.172721],[-0.995307,0.091994,-0.030006],[-0.045333,-0.169345,0.984514]] 2025-10-27T05:50:56.992Z,1761544256.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m. 2025-10-27T05:50:56.996Z,1761544256.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711732 2025-10-27T05:50:56.997Z,1761544256.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.014175 m, nav range: 113.198181 m, bearing: 264.628613 deg, approach rate: -0.550630 m/s, LOS rate: 0.007023 deg/s, cmd heading: 274.313019 deg, new cmd heading: 274.322139 deg. 2025-10-27T05:50:56.998Z,1761544256.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787825 target range: 115.014175 and range: 115.70 m. 2025-10-27T05:50:57.248Z,1761544257.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963770 2025-10-27T05:50:57.345Z,1761544257.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086686,0.981476,0.170852],[-0.995196,0.093145,-0.030147],[-0.045502,-0.167418,0.984835]] 2025-10-27T05:50:57.364Z,1761544257.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m. 2025-10-27T05:50:57.367Z,1761544257.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.014175 m, nav range: 112.993668 m, bearing: 264.631112 deg, approach rate: -0.550370 m/s, LOS rate: 0.006737 deg/s, cmd heading: 274.322144 deg, new cmd heading: 274.329655 deg. 2025-10-27T05:50:57.368Z,1761544257.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787956 target range: 115.014175 and range: 115.70 m. 2025-10-27T05:50:57.500Z,1761544257.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215659 2025-10-27T05:50:57.748Z,1761544257.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086721,0.981397,0.171287],[-0.995190,0.093203,-0.030155],[-0.045558,-0.167848,0.984760]] 2025-10-27T05:50:57.758Z,1761544257.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473466 2025-10-27T05:50:57.841Z,1761544257.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m. 2025-10-27T05:50:57.852Z,1761544257.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.014175 m, nav range: 112.743355 m, bearing: 264.634175 deg, approach rate: -0.524503 m/s, LOS rate: 0.006434 deg/s, cmd heading: 274.329658 deg, new cmd heading: 274.338869 deg. 2025-10-27T05:50:57.853Z,1761544257.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788116 target range: 115.014175 and range: 115.70 m. 2025-10-27T05:50:58.012Z,1761544258.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727514 2025-10-27T05:50:58.264Z,1761544258.264 [DAT](INFO): DAT read: Rx Time:05:50:56.8779 2025-10-27T05:50:58.264Z,1761544258.264 [DAT](INFO): Rx dataTimestamp_ set to:1761544258.264190 2025-10-27T05:50:58.265Z,1761544258.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980758 2025-10-27T05:50:58.338Z,1761544258.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086717,0.982034,0.167600],[-0.995206,0.093028,-0.030164],[-0.045213,-0.164180,0.985394]] 2025-10-27T05:50:58.395Z,1761544258.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:50:58.397Z,1761544258.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m. 2025-10-27T05:50:58.404Z,1761544258.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.014175 m, nav range: 112.418182 m, bearing: 264.631105 deg, approach rate: -0.585301 m/s, LOS rate: -0.005544 deg/s, cmd heading: 274.338865 deg, new cmd heading: 274.329625 deg. 2025-10-27T05:50:58.405Z,1761544258.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787955 target range: 115.014175 and range: 115.70 m. 2025-10-27T05:50:58.521Z,1761544258.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236271 2025-10-27T05:50:58.780Z,1761544258.780 [DAT](INFO): DAT read: 05:50:56.8779 LVL= 32752, 32753, 32530, 32755, AGC= 69, IDX= 416, 0.04,-1.804, 3.006,-1.232,-1.840, PHS= 0.138,-1.391, 0.565, RAW= 162.0, 7.8, CAL= 161.5, 7.9, ROT= 348.5, -7.9 2025-10-27T05:50:58.783Z,1761544258.783 [DAT](INFO): got valid direction response: 05:50:56.8779 LVL= 32752, 32753, 32530, 32755, AGC= 69, IDX= 416, 0.04,-1.804, 3.006,-1.232,-1.840, PHS= 0.138,-1.391, 0.565, RAW= 162.0, 7.8, CAL= 161.5, 7.9, ROT= 348.5, -7.9 2025-10-27T05:50:58.784Z,1761544258.784 [DAT](INFO): DAT read: Bearing 81.1, -14.7 (Local) 2025-10-27T05:50:58.784Z,1761544258.784 [DAT](INFO): Local bearing/azimuth received: Bearing 81.1, -14.7 (Local) 2025-10-27T05:50:58.786Z,1761544258.786 [DAT](INFO): DAT read: Range 11 to 50 : 113.9 m (Round-trip 151.9 ms) speed 0.7 m/s 2025-10-27T05:50:58.787Z,1761544258.787 [DAT](INFO): DAT read: user:556> 2025-10-27T05:50:58.787Z,1761544258.787 [DAT](INFO): DAT read: Tx time:05:50:57.9718 2025-10-27T05:50:58.788Z,1761544258.788 [DAT](INFO): Ping request sent. 2025-10-27T05:50:58.788Z,1761544258.788 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:50:58.788Z,1761544258.788 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:50:58.789Z,1761544258.789 [DAT](INFO): direction in FSK: [0.970625,-0.197476,0.137445] 2025-10-27T05:50:58.789Z,1761544258.789 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:58.790Z,1761544258.790 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:58.832Z,1761544258.832 [DAT](INFO): publishing transmit ping time 2025-10-27T05:50:58.833Z,1761544258.833 [DAT](INFO): publishing direction and range info 2025-10-27T05:50:58.871Z,1761544258.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086172,0.982190,0.166966],[-0.995262,0.092440,-0.030125],[-0.045023,-0.163579,0.985502]] 2025-10-27T05:50:58.989Z,1761544258.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.900002 m, deltaT: 3.537144 s, deltaX: -1.799995 m, approachRate: -0.508884 m/s, rangeRepo size: 4 2025-10-27T05:50:58.996Z,1761544258.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.224297 m, bearing: 264.948599 deg, lat: 36.779457 deg, lon: -121.859782 deg, deltaT: 3.537144 s, deltaX: -1.789879 m, approachRate: -0.506024 m/s, posRepo size: 4 2025-10-27T05:50:58.997Z,1761544258.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:50:59.009Z,1761544259.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 112.143150 m, bearing: 264.672248 deg, approach rate: 0.000000 m/s, LOS rate: -0.005544 deg/s, cmd heading: 274.329630 deg, new cmd heading: 274.319785 deg. 2025-10-27T05:50:59.010Z,1761544259.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787784 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:50:59.433Z,1761544259.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083409,0.982611,0.165885],[-0.995557,0.089464,-0.029359],[-0.043689,-0.162699,0.985708]] 2025-10-27T05:50:59.452Z,1761544259.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:50:59.454Z,1761544259.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 111.837158 m, bearing: 264.666442 deg, approach rate: -0.661084 m/s, LOS rate: -0.012577 deg/s, cmd heading: 274.319795 deg, new cmd heading: 274.302330 deg. 2025-10-27T05:50:59.455Z,1761544259.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787479 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:50:59.867Z,1761544259.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081557,0.982775,0.165834],[-0.995752,0.087481,-0.028729],[-0.042741,-0.162786,0.985735]] 2025-10-27T05:50:59.904Z,1761544259.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:50:59.923Z,1761544259.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 111.540115 m, bearing: 264.656220 deg, approach rate: -0.656322 m/s, LOS rate: -0.022647 deg/s, cmd heading: 274.302337 deg, new cmd heading: 274.271588 deg. 2025-10-27T05:50:59.924Z,1761544259.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786942 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:51:00.237Z,1761544260.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079113,0.982920,0.166161],[-0.996007,0.084854,-0.027732],[-0.041358,-0.163303,0.985709]] 2025-10-27T05:51:00.267Z,1761544260.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:51:00.270Z,1761544260.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 111.301720 m, bearing: 264.648277 deg, approach rate: -0.656987 m/s, LOS rate: -0.021935 deg/s, cmd heading: 274.271601 deg, new cmd heading: 274.247723 deg. 2025-10-27T05:51:00.271Z,1761544260.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786526 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:51:00.638Z,1761544260.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076728,0.982866,0.167593],[-0.996248,0.082325,-0.026693],[-0.040033,-0.164916,0.985495]] 2025-10-27T05:51:00.656Z,1761544260.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:00.658Z,1761544260.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:51:00.661Z,1761544260.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 111.045464 m, bearing: 264.640014 deg, approach rate: -0.656000 m/s, LOS rate: -0.021204 deg/s, cmd heading: 274.247723 deg, new cmd heading: 274.222874 deg. 2025-10-27T05:51:00.662Z,1761544260.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786092 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:51:00.788Z,1761544260.788 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:00.788Z,1761544260.788 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:00.789Z,1761544260.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:01.040Z,1761544261.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252068 2025-10-27T05:51:01.055Z,1761544261.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074849,0.982834,0.168627],[-0.996432,0.080330,-0.025906],[-0.039007,-0.166086,0.985340]] 2025-10-27T05:51:01.112Z,1761544261.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:51:01.115Z,1761544261.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 110.769135 m, bearing: 264.627296 deg, approach rate: -0.608362 m/s, LOS rate: -0.028068 deg/s, cmd heading: 274.222861 deg, new cmd heading: 274.184613 deg. 2025-10-27T05:51:01.120Z,1761544261.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785424 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:51:01.292Z,1761544261.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503986 2025-10-27T05:51:01.445Z,1761544261.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072916,0.982875,0.169233],[-0.996617,0.078259,-0.025110],[-0.037924,-0.166829,0.985256]] 2025-10-27T05:51:01.464Z,1761544261.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:51:01.467Z,1761544261.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 110.532150 m, bearing: 264.616575 deg, approach rate: -0.672845 m/s, LOS rate: -0.030505 deg/s, cmd heading: 274.184612 deg, new cmd heading: 274.152379 deg. 2025-10-27T05:51:01.468Z,1761544261.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784862 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:51:01.545Z,1761544261.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756777 2025-10-27T05:51:01.796Z,1761544261.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007989 2025-10-27T05:51:01.891Z,1761544261.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070930,0.982969,0.169534],[-0.996801,0.076125,-0.024331],[-0.036823,-0.167266,0.985224]] 2025-10-27T05:51:01.935Z,1761544261.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:51:01.938Z,1761544261.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 110.233528 m, bearing: 264.603580 deg, approach rate: -0.634653 m/s, LOS rate: -0.027693 deg/s, cmd heading: 274.152373 deg, new cmd heading: 274.113282 deg. 2025-10-27T05:51:01.938Z,1761544261.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784179 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:51:02.048Z,1761544262.048 [DAT](INFO): DAT read: Rx Time:05:51:00.5244 2025-10-27T05:51:02.048Z,1761544262.048 [DAT](INFO): Rx dataTimestamp_ set to:1761544262.048172 2025-10-27T05:51:02.049Z,1761544262.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261110 2025-10-27T05:51:02.254Z,1761544262.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069092,0.983037,0.169894],[-0.996971,0.074136,-0.023521],[-0.035717,-0.167754,0.985182]] 2025-10-27T05:51:02.288Z,1761544262.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.22 m. 2025-10-27T05:51:02.291Z,1761544262.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.224297 m, nav range: 110.019226 m, bearing: 264.594415 deg, approach rate: -0.606238 m/s, LOS rate: -0.025977 deg/s, cmd heading: 274.113277 deg, new cmd heading: 274.085729 deg. 2025-10-27T05:51:02.292Z,1761544262.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783699 target range: 113.224297 and range: 113.90 m. 2025-10-27T05:51:02.300Z,1761544262.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512233 2025-10-27T05:51:02.568Z,1761544262.568 [DAT](INFO): DAT read: 05:51:00.5244 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412, 0.11,-0.428,-1.889, 0.118,-0.476, PHS= 0.150,-1.368, 0.550, RAW= 161.4, 7.7, CAL= 160.9, 7.7, ROT= 349.1, -7.7 2025-10-27T05:51:02.570Z,1761544262.570 [DAT](INFO): got valid direction response: 05:51:00.5244 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412, 0.11,-0.428,-1.889, 0.118,-0.476, PHS= 0.150,-1.368, 0.550, RAW= 161.4, 7.7, CAL= 160.9, 7.7, ROT= 349.1, -7.7 2025-10-27T05:51:02.595Z,1761544262.595 [DAT](INFO): DAT read: Bearing 81.2, -14.1 (Local) 2025-10-27T05:51:02.596Z,1761544262.596 [DAT](INFO): Local bearing/azimuth received: Bearing 81.2, -14.1 (Local) 2025-10-27T05:51:02.597Z,1761544262.597 [DAT](INFO): DAT read: Range 11 to 50 : 111.3 m (Round-trip 148.4 ms) speed 0.3 m/s 2025-10-27T05:51:02.598Z,1761544262.598 [DAT](INFO): DAT read: user:557> 2025-10-27T05:51:02.598Z,1761544262.598 [DAT](INFO): DAT read: Tx time:05:51:01.6218 2025-10-27T05:51:02.616Z,1761544262.616 [DAT](INFO): Ping request sent. 2025-10-27T05:51:02.616Z,1761544262.616 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:02.616Z,1761544262.616 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:02.617Z,1761544262.617 [DAT](INFO): direction in FSK: [0.973105,-0.187390,0.133986] 2025-10-27T05:51:02.617Z,1761544262.617 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:02.618Z,1761544262.618 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:02.629Z,1761544262.629 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:02.629Z,1761544262.629 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:02.749Z,1761544262.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.786675 s, deltaX: -2.599998 m, approachRate: -0.686618 m/s, rangeRepo size: 4 2025-10-27T05:51:02.756Z,1761544262.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.640221 m, bearing: 264.548441 deg, lat: 36.779456 deg, lon: -121.859782 deg, deltaT: 3.786675 s, deltaX: -2.584076 m, approachRate: -0.682413 m/s, posRepo size: 4 2025-10-27T05:51:02.757Z,1761544262.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:02.764Z,1761544262.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 109.761772 m, bearing: 264.550870 deg, approach rate: 0.000000 m/s, LOS rate: -0.025977 deg/s, cmd heading: 274.085738 deg, new cmd heading: 274.049859 deg. 2025-10-27T05:51:02.765Z,1761544262.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783072 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:03.094Z,1761544263.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066272,0.982994,0.171264],[-0.997222,0.071097,-0.022193],[-0.033992,-0.169317,0.984975]] 2025-10-27T05:51:03.129Z,1761544263.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:03.147Z,1761544263.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:03.150Z,1761544263.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 109.492279 m, bearing: 264.542262 deg, approach rate: -0.675752 m/s, LOS rate: -0.021638 deg/s, cmd heading: 274.049866 deg, new cmd heading: 274.023977 deg. 2025-10-27T05:51:03.155Z,1761544263.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782620 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:03.308Z,1761544263.308 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:03.308Z,1761544263.308 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:03.308Z,1761544263.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:03.535Z,1761544263.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:03.538Z,1761544263.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 109.246651 m, bearing: 264.534379 deg, approach rate: -0.633159 m/s, LOS rate: -0.020367 deg/s, cmd heading: 274.023966 deg, new cmd heading: 274.000263 deg. 2025-10-27T05:51:03.539Z,1761544263.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782207 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:03.560Z,1761544263.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.944075 2025-10-27T05:51:03.814Z,1761544263.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197666 2025-10-27T05:51:03.927Z,1761544263.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064009,0.983336,0.170155],[-0.997424,0.068569,-0.021052],[-0.032369,-0.168369,0.985193]] 2025-10-27T05:51:03.964Z,1761544263.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:03.966Z,1761544263.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 109.018768 m, bearing: 264.531347 deg, approach rate: -0.532280 m/s, LOS rate: -0.007095 deg/s, cmd heading: 274.000251 deg, new cmd heading: 273.991138 deg. 2025-10-27T05:51:03.967Z,1761544263.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782047 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:04.064Z,1761544264.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448166 2025-10-27T05:51:04.301Z,1761544264.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063382,0.983258,0.170843],[-0.997478,0.067894,-0.020689],[-0.031942,-0.169101,0.985081]] 2025-10-27T05:51:04.316Z,1761544264.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700233 2025-10-27T05:51:04.337Z,1761544264.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:04.344Z,1761544264.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 108.822075 m, bearing: 264.528777 deg, approach rate: -0.527006 m/s, LOS rate: -0.006899 deg/s, cmd heading: 273.991126 deg, new cmd heading: 273.983402 deg. 2025-10-27T05:51:04.345Z,1761544264.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781912 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:04.569Z,1761544264.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953083 2025-10-27T05:51:04.717Z,1761544264.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063247,0.983193,0.171265],[-0.997492,0.067743,-0.020530],[-0.031787,-0.169537,0.985011]] 2025-10-27T05:51:04.761Z,1761544264.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:04.764Z,1761544264.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 108.603546 m, bearing: 264.525921 deg, approach rate: -0.514773 m/s, LOS rate: -0.006743 deg/s, cmd heading: 273.983394 deg, new cmd heading: 273.974807 deg. 2025-10-27T05:51:04.765Z,1761544264.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781763 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:04.821Z,1761544264.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205208 2025-10-27T05:51:05.072Z,1761544265.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456065 2025-10-27T05:51:05.115Z,1761544265.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063735,0.983019,0.172078],[-0.997455,0.068272,-0.020573],[-0.031972,-0.170329,0.984868]] 2025-10-27T05:51:05.151Z,1761544265.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:05.153Z,1761544265.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:05.156Z,1761544265.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 108.411026 m, bearing: 264.528308 deg, approach rate: -0.491501 m/s, LOS rate: 0.006105 deg/s, cmd heading: 273.974816 deg, new cmd heading: 273.981990 deg. 2025-10-27T05:51:05.157Z,1761544265.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781888 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:05.324Z,1761544265.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.707888 2025-10-27T05:51:05.513Z,1761544265.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064531,0.982773,0.173187],[-0.997399,0.069103,-0.020495],[-0.032109,-0.171414,0.984676]] 2025-10-27T05:51:05.559Z,1761544265.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:05.562Z,1761544265.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 108.230255 m, bearing: 264.530463 deg, approach rate: -0.445285 m/s, LOS rate: 0.005317 deg/s, cmd heading: 273.982001 deg, new cmd heading: 273.988476 deg. 2025-10-27T05:51:05.564Z,1761544265.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782001 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:05.576Z,1761544265.576 [DAT](INFO): DAT read: Rx Time:05:51:04.1716 2025-10-27T05:51:05.577Z,1761544265.577 [DAT](INFO): Rx dataTimestamp_ set to:1761544265.576227 2025-10-27T05:51:05.577Z,1761544265.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961199 2025-10-27T05:51:05.828Z,1761544265.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212126 2025-10-27T05:51:05.952Z,1761544265.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065569,0.982181,0.176126],[-0.997339,0.070143,-0.019864],[-0.031864,-0.174355,0.984167]] 2025-10-27T05:51:06.012Z,1761544266.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.64 m. 2025-10-27T05:51:06.060Z,1761544266.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.640221 m, nav range: 108.037476 m, bearing: 264.540782 deg, approach rate: -0.427334 m/s, LOS rate: 0.022916 deg/s, cmd heading: 273.988476 deg, new cmd heading: 274.019489 deg. 2025-10-27T05:51:06.061Z,1761544266.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782542 target range: 110.640221 and range: 111.30 m. 2025-10-27T05:51:06.086Z,1761544266.086 [DAT](INFO): DAT read: 05:51:04.1716 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.30,-1.898, 2.979,-1.409,-1.873, PHS= 0.078,-1.386, 0.421, RAW= 160.3, 10.7, CAL= 160.4, 11.7, ROT= 349.6, -11.7 2025-10-27T05:51:06.087Z,1761544266.087 [DAT](INFO): got valid direction response: 05:51:04.1716 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.30,-1.898, 2.979,-1.409,-1.873, PHS= 0.078,-1.386, 0.421, RAW= 160.3, 10.7, CAL= 160.4, 11.7, ROT= 349.6, -11.7 2025-10-27T05:51:06.088Z,1761544266.088 [DAT](INFO): DAT read: Bearing 85.1, -14.0 (Local) 2025-10-27T05:51:06.088Z,1761544266.088 [DAT](INFO): Local bearing/azimuth received: Bearing 85.1, -14.0 (Local) 2025-10-27T05:51:06.090Z,1761544266.090 [DAT](INFO): DAT read: Range 11 to 50 : 109.2 m (Round-trip 145.7 ms) speed 0.0 m/s 2025-10-27T05:51:06.091Z,1761544266.091 [DAT](INFO): DAT read: user:558> 2025-10-27T05:51:06.092Z,1761544266.092 [DAT](INFO): DAT read: Tx time:05:51:05.2718 2025-10-27T05:51:06.092Z,1761544266.092 [DAT](INFO): Ping request sent. 2025-10-27T05:51:06.092Z,1761544266.092 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:06.092Z,1761544266.092 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:06.093Z,1761544266.093 [DAT](INFO): direction in FSK: [0.963136,-0.176768,0.202787] 2025-10-27T05:51:06.094Z,1761544266.094 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:06.095Z,1761544266.095 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:06.098Z,1761544266.098 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:06.098Z,1761544266.098 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:06.383Z,1761544266.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066820,0.981729,0.178165],[-0.997253,0.071431,-0.019587],[-0.031956,-0.176367,0.983806]] 2025-10-27T05:51:06.413Z,1761544266.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.199997 m, deltaT: 3.521306 s, deltaX: -2.100006 m, approachRate: -0.596371 m/s, rangeRepo size: 4 2025-10-27T05:51:06.415Z,1761544266.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.553665 m, bearing: 265.724197 deg, lat: 36.779456 deg, lon: -121.859782 deg, deltaT: 3.521306 s, deltaX: -2.086555 m, approachRate: -0.592552 m/s, posRepo size: 4 2025-10-27T05:51:06.416Z,1761544266.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:06.419Z,1761544266.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 107.864128 m, bearing: 264.549939 deg, approach rate: 0.000000 m/s, LOS rate: 0.022916 deg/s, cmd heading: 274.019485 deg, new cmd heading: 274.047146 deg. 2025-10-27T05:51:06.420Z,1761544266.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783025 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:06.785Z,1761544266.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069605,0.981771,0.176864],[-0.997045,0.074241,-0.019723],[-0.032494,-0.174968,0.984038]] 2025-10-27T05:51:06.826Z,1761544266.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:06.829Z,1761544266.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 107.695442 m, bearing: 264.558647 deg, approach rate: -0.408043 m/s, LOS rate: 0.021099 deg/s, cmd heading: 274.047134 deg, new cmd heading: 274.073301 deg. 2025-10-27T05:51:06.830Z,1761544266.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783482 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:07.198Z,1761544267.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073228,0.982136,0.173339],[-0.996768,0.077833,-0.019909],[-0.033045,-0.171320,0.984661]] 2025-10-27T05:51:07.248Z,1761544267.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:07.250Z,1761544267.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:07.253Z,1761544267.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 107.516502 m, bearing: 264.573693 deg, approach rate: -0.421599 m/s, LOS rate: 0.035508 deg/s, cmd heading: 274.073307 deg, new cmd heading: 274.118519 deg. 2025-10-27T05:51:07.254Z,1761544267.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784271 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:07.340Z,1761544267.340 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:07.341Z,1761544267.341 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:07.341Z,1761544267.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:07.592Z,1761544267.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499846 2025-10-27T05:51:07.607Z,1761544267.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076706,0.982478,0.169864],[-0.996489,0.081273,-0.020088],[-0.033541,-0.167726,0.985263]] 2025-10-27T05:51:07.626Z,1761544267.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:07.629Z,1761544267.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 107.363365 m, bearing: 264.586371 deg, approach rate: -0.407900 m/s, LOS rate: 0.033818 deg/s, cmd heading: 274.118523 deg, new cmd heading: 274.156611 deg. 2025-10-27T05:51:07.630Z,1761544267.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784935 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:07.844Z,1761544267.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751909 2025-10-27T05:51:07.884Z,1761544267.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:51:08.072Z,1761544268.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:08.075Z,1761544268.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 107.193794 m, bearing: 264.601664 deg, approach rate: -0.380100 m/s, LOS rate: 0.034333 deg/s, cmd heading: 274.156608 deg, new cmd heading: 274.202558 deg. 2025-10-27T05:51:08.076Z,1761544268.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785738 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:08.113Z,1761544268.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020948 2025-10-27T05:51:08.364Z,1761544268.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271770 2025-10-27T05:51:08.402Z,1761544268.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082875,0.983376,0.161566],[-0.995994,0.087194,-0.019819],[-0.033577,-0.159277,0.986663]] 2025-10-27T05:51:08.433Z,1761544268.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:08.436Z,1761544268.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 107.044456 m, bearing: 264.614782 deg, approach rate: -0.413012 m/s, LOS rate: 0.036331 deg/s, cmd heading: 274.202561 deg, new cmd heading: 274.241971 deg. 2025-10-27T05:51:08.437Z,1761544268.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786425 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:08.618Z,1761544268.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526057 2025-10-27T05:51:08.815Z,1761544268.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085720,0.983495,0.159338],[-0.995756,0.089944,-0.019475],[-0.033485,-0.156992,0.987032]] 2025-10-27T05:51:08.834Z,1761544268.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:08.837Z,1761544268.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 106.879089 m, bearing: 264.629128 deg, approach rate: -0.413153 m/s, LOS rate: 0.035897 deg/s, cmd heading: 274.241958 deg, new cmd heading: 274.285062 deg. 2025-10-27T05:51:08.838Z,1761544268.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787178 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:08.869Z,1761544268.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776639 2025-10-27T05:51:08.888Z,1761544268.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:51:09.120Z,1761544269.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027759 2025-10-27T05:51:09.218Z,1761544269.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087968,0.983342,0.159062],[-0.995576,0.092086,-0.018693],[-0.033029,-0.156714,0.987092]] 2025-10-27T05:51:09.254Z,1761544269.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:09.272Z,1761544269.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:09.275Z,1761544269.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 106.689186 m, bearing: 264.641229 deg, approach rate: -0.433154 m/s, LOS rate: 0.027651 deg/s, cmd heading: 274.285070 deg, new cmd heading: 274.321438 deg. 2025-10-27T05:51:09.280Z,1761544269.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787812 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:09.373Z,1761544269.373 [DAT](INFO): DAT read: Rx Time:05:51:07.8202 2025-10-27T05:51:09.374Z,1761544269.374 [DAT](INFO): Rx dataTimestamp_ set to:1761544269.373306 2025-10-27T05:51:09.374Z,1761544269.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282047 2025-10-27T05:51:09.613Z,1761544269.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089779,0.983043,0.159892],[-0.995425,0.093836,-0.017991],[-0.032689,-0.157546,0.986971]] 2025-10-27T05:51:09.624Z,1761544269.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531969 2025-10-27T05:51:09.666Z,1761544269.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.55 m. 2025-10-27T05:51:09.688Z,1761544269.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.553665 m, nav range: 106.518539 m, bearing: 264.651965 deg, approach rate: -0.434749 m/s, LOS rate: 0.027394 deg/s, cmd heading: 274.321434 deg, new cmd heading: 274.353692 deg. 2025-10-27T05:51:09.696Z,1761544269.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788375 target range: 108.553665 and range: 109.20 m. 2025-10-27T05:51:09.881Z,1761544269.881 [DAT](INFO): DAT read: 05:51:07.8202 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 433, 0.24, 0.478,-0.971, 1.014, 0.500, PHS= 0.080,-1.427, 0.470, RAW= 161.2, 10.1, CAL= 161.2, 11.0, ROT= 348.8, -11.0 2025-10-27T05:51:09.883Z,1761544269.883 [DAT](INFO): got valid direction response: 05:51:07.8202 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 433, 0.24, 0.478,-0.971, 1.014, 0.500, PHS= 0.080,-1.427, 0.470, RAW= 161.2, 10.1, CAL= 161.2, 11.0, ROT= 348.8, -11.0 2025-10-27T05:51:09.884Z,1761544269.884 [DAT](INFO): DAT read: Bearing 84.2, -14.0 (Local) 2025-10-27T05:51:09.884Z,1761544269.884 [DAT](INFO): Local bearing/azimuth received: Bearing 84.2, -14.0 (Local) 2025-10-27T05:51:09.885Z,1761544269.885 [DAT](INFO): DAT read: Range 11 to 50 : 108.1 m (Round-trip 144.2 ms) speed 0.4 m/s 2025-10-27T05:51:09.886Z,1761544269.886 [DAT](INFO): DAT read: user:559> 2025-10-27T05:51:09.887Z,1761544269.887 [DAT](INFO): DAT read: Tx time:05:51:08.9218 2025-10-27T05:51:09.887Z,1761544269.887 [DAT](INFO): Ping request sent. 2025-10-27T05:51:09.887Z,1761544269.887 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:09.888Z,1761544269.888 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:09.889Z,1761544269.889 [DAT](INFO): direction in FSK: [0.962932,-0.190666,0.190809] 2025-10-27T05:51:09.889Z,1761544269.889 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:09.889Z,1761544269.889 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:09.893Z,1761544269.893 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:09.893Z,1761544269.893 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:10.052Z,1761544270.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091090,0.982312,0.163599],[-0.995326,0.095095,-0.016803],[-0.032063,-0.161304,0.986384]] 2025-10-27T05:51:10.144Z,1761544270.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.099998 m, deltaT: 3.795837 s, deltaX: -1.099998 m, approachRate: -0.289791 m/s, rangeRepo size: 4 2025-10-27T05:51:10.146Z,1761544270.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.459335 m, bearing: 266.008635 deg, lat: 36.779461 deg, lon: -121.859782 deg, deltaT: 3.795837 s, deltaX: -1.094330 m, approachRate: -0.288297 m/s, posRepo size: 4 2025-10-27T05:51:10.155Z,1761544270.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m. 2025-10-27T05:51:10.158Z,1761544270.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.459335 m, nav range: 106.183151 m, bearing: 264.973775 deg, approach rate: 0.000000 m/s, LOS rate: 0.027394 deg/s, cmd heading: 274.353700 deg, new cmd heading: 274.392943 deg. 2025-10-27T05:51:10.158Z,1761544270.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789060 target range: 107.459335 and range: 108.10 m. 2025-10-27T05:51:10.645Z,1761544270.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091891,0.981550,0.167677],[-0.995299,0.095709,-0.014812],[-0.030587,-0.165527,0.985731]] 2025-10-27T05:51:10.687Z,1761544270.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m. 2025-10-27T05:51:10.692Z,1761544270.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.459335 m, nav range: 105.911385 m, bearing: 264.986362 deg, approach rate: -0.499644 m/s, LOS rate: 0.023202 deg/s, cmd heading: 274.392932 deg, new cmd heading: 274.430792 deg. 2025-10-27T05:51:10.694Z,1761544270.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789721 target range: 107.459335 and range: 108.10 m. 2025-10-27T05:51:11.156Z,1761544271.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091153,0.981519,0.168259],[-0.995400,0.094809,-0.013803],[-0.029500,-0.166227,0.985646]] 2025-10-27T05:51:11.219Z,1761544271.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m. 2025-10-27T05:51:11.222Z,1761544271.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.459335 m, nav range: 105.599915 m, bearing: 264.990557 deg, approach rate: -0.584311 m/s, LOS rate: 0.007892 deg/s, cmd heading: 274.430799 deg, new cmd heading: 274.443420 deg. 2025-10-27T05:51:11.223Z,1761544271.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789941 target range: 107.459335 and range: 108.10 m. 2025-10-27T05:51:11.673Z,1761544271.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090046,0.981545,0.168707],[-0.995545,0.093467,-0.012429],[-0.027968,-0.166836,0.985588]] 2025-10-27T05:51:11.722Z,1761544271.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:11.730Z,1761544271.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m. 2025-10-27T05:51:11.737Z,1761544271.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.459335 m, nav range: 105.321594 m, bearing: 264.994493 deg, approach rate: -0.545403 m/s, LOS rate: 0.007734 deg/s, cmd heading: 274.443421 deg, new cmd heading: 274.455261 deg. 2025-10-27T05:51:11.738Z,1761544271.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790148 target range: 107.459335 and range: 108.10 m. 2025-10-27T05:51:11.892Z,1761544271.892 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:11.892Z,1761544271.892 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:11.892Z,1761544271.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:12.074Z,1761544272.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088291,0.981882,0.167666],[-0.995772,0.091290,-0.010248],[-0.025369,-0.166052,0.985791]] 2025-10-27T05:51:12.129Z,1761544272.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m. 2025-10-27T05:51:12.132Z,1761544272.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.459335 m, nav range: 105.045670 m, bearing: 264.994026 deg, approach rate: -0.689603 m/s, LOS rate: -0.001170 deg/s, cmd heading: 274.455251 deg, new cmd heading: 274.453846 deg. 2025-10-27T05:51:12.133Z,1761544272.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790123 target range: 107.459335 and range: 108.10 m. 2025-10-27T05:51:12.144Z,1761544272.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256680 2025-10-27T05:51:12.397Z,1761544272.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509542 2025-10-27T05:51:12.481Z,1761544272.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086250,0.982040,0.167802],[-0.996005,0.088904,-0.008360],[-0.023128,-0.166411,0.985785]] 2025-10-27T05:51:12.499Z,1761544272.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m. 2025-10-27T05:51:12.502Z,1761544272.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.459335 m, nav range: 104.806473 m, bearing: 264.993887 deg, approach rate: -0.647013 m/s, LOS rate: -0.000378 deg/s, cmd heading: 274.453858 deg, new cmd heading: 274.453439 deg. 2025-10-27T05:51:12.503Z,1761544272.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790116 target range: 107.459335 and range: 108.10 m. 2025-10-27T05:51:12.648Z,1761544272.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760565 2025-10-27T05:51:12.882Z,1761544272.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083818,0.982231,0.167919],[-0.996268,0.086089,-0.006281],[-0.020625,-0.166766,0.985781]] 2025-10-27T05:51:12.900Z,1761544272.900 [DAT](INFO): DAT read: Rx Time:05:51:11.4672 2025-10-27T05:51:12.901Z,1761544272.901 [DAT](INFO): Rx dataTimestamp_ set to:1761544272.900239 2025-10-27T05:51:12.901Z,1761544272.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013761 2025-10-27T05:51:12.917Z,1761544272.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m. 2025-10-27T05:51:12.924Z,1761544272.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.459335 m, nav range: 104.547279 m, bearing: 264.994081 deg, approach rate: -0.620784 m/s, LOS rate: 0.000467 deg/s, cmd heading: 274.453448 deg, new cmd heading: 274.454033 deg. 2025-10-27T05:51:12.928Z,1761544272.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790126 target range: 107.459335 and range: 108.10 m. 2025-10-27T05:51:13.156Z,1761544273.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268528 2025-10-27T05:51:13.310Z,1761544273.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081056,0.982245,0.169190],[-0.996552,0.082886,-0.003765],[-0.017722,-0.168302,0.985576]] 2025-10-27T05:51:13.380Z,1761544273.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.46 m. 2025-10-27T05:51:13.382Z,1761544273.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.459335 m, nav range: 104.216141 m, bearing: 264.985910 deg, approach rate: -0.715466 m/s, LOS rate: -0.017712 deg/s, cmd heading: 274.454022 deg, new cmd heading: 274.429429 deg. 2025-10-27T05:51:13.383Z,1761544273.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789697 target range: 107.459335 and range: 108.10 m. 2025-10-27T05:51:13.410Z,1761544273.410 [DAT](INFO): DAT read: 05:51:11.4672 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.47, 2.266, 0.825, 2.827, 2.274, PHS= 0.094,-1.404, 0.509, RAW= 161.9, 9.2, CAL= 161.7, 9.8, ROT= 348.3, -9.8 2025-10-27T05:51:13.411Z,1761544273.411 [DAT](INFO): got valid direction response: 05:51:11.4672 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.47, 2.266, 0.825, 2.827, 2.274, PHS= 0.094,-1.404, 0.509, RAW= 161.9, 9.2, CAL= 161.7, 9.8, ROT= 348.3, -9.8 2025-10-27T05:51:13.412Z,1761544273.412 [DAT](INFO): DAT read: Bearing 82.9, -13.8 (Local) 2025-10-27T05:51:13.412Z,1761544273.412 [DAT](INFO): Local bearing/azimuth received: Bearing 82.9, -13.8 (Local) 2025-10-27T05:51:13.414Z,1761544273.414 [DAT](INFO): DAT read: Range 11 to 50 : 105.9 m (Round-trip 141.3 ms) speed 0.6 m/s 2025-10-27T05:51:13.415Z,1761544273.415 [DAT](INFO): DAT read: user:560> 2025-10-27T05:51:13.415Z,1761544273.415 [DAT](INFO): DAT read: Tx time:05:51:12.5718 2025-10-27T05:51:13.416Z,1761544273.416 [DAT](INFO): Ping request sent. 2025-10-27T05:51:13.416Z,1761544273.416 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:13.417Z,1761544273.417 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:13.422Z,1761544273.422 [DAT](INFO): direction in FSK: [0.964934,-0.199829,0.170209] 2025-10-27T05:51:13.422Z,1761544273.422 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:13.422Z,1761544273.422 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:13.434Z,1761544273.434 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:13.434Z,1761544273.434 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:13.864Z,1761544273.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074874,0.982452,0.170825],[-0.997123,0.075789,0.001170],[-0.011797,-0.170421,0.985301]] 2025-10-27T05:51:13.909Z,1761544273.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.900002 m, deltaT: 3.528249 s, deltaX: -2.199997 m, approachRate: -0.623538 m/s, rangeRepo size: 4 2025-10-27T05:51:13.911Z,1761544273.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.271927 m, bearing: 264.446966 deg, lat: 36.779461 deg, lon: -121.859776 deg, deltaT: 3.528249 s, deltaX: -2.187408 m, approachRate: -0.619970 m/s, posRepo size: 4 2025-10-27T05:51:13.912Z,1761544273.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.27 m. 2025-10-27T05:51:13.914Z,1761544273.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.271927 m, nav range: 103.379585 m, bearing: 264.954682 deg, approach rate: 0.000000 m/s, LOS rate: -0.017712 deg/s, cmd heading: 274.429433 deg, new cmd heading: 274.401442 deg. 2025-10-27T05:51:13.916Z,1761544273.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789208 target range: 105.271927 and range: 105.90 m. 2025-10-27T05:51:14.266Z,1761544274.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071533,0.982637,0.171197],[-0.997399,0.071992,0.003529],[-0.008857,-0.171004,0.985230]] 2025-10-27T05:51:14.308Z,1761544274.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:14.310Z,1761544274.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.27 m. 2025-10-27T05:51:14.314Z,1761544274.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.271927 m, nav range: 103.078110 m, bearing: 264.948730 deg, approach rate: -0.747429 m/s, LOS rate: -0.014801 deg/s, cmd heading: 274.401429 deg, new cmd heading: 274.383519 deg. 2025-10-27T05:51:14.315Z,1761544274.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788896 target range: 105.271927 and range: 105.90 m. 2025-10-27T05:51:14.412Z,1761544274.412 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:14.412Z,1761544274.412 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:14.412Z,1761544274.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:14.664Z,1761544274.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248093 2025-10-27T05:51:14.678Z,1761544274.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068215,0.982446,0.173629],[-0.997658,0.068067,0.006813],[-0.005125,-0.173687,0.984788]] 2025-10-27T05:51:14.739Z,1761544274.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.27 m. 2025-10-27T05:51:14.742Z,1761544274.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.271927 m, nav range: 102.798882 m, bearing: 264.943684 deg, approach rate: -0.657043 m/s, LOS rate: -0.011906 deg/s, cmd heading: 274.383507 deg, new cmd heading: 274.368327 deg. 2025-10-27T05:51:14.747Z,1761544274.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788630 target range: 105.271927 and range: 105.90 m. 2025-10-27T05:51:14.916Z,1761544274.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500068 2025-10-27T05:51:15.104Z,1761544275.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065493,0.982367,0.175115],[-0.997853,0.064639,0.010583],[-0.000922,-0.175432,0.984491]] 2025-10-27T05:51:15.153Z,1761544275.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.27 m. 2025-10-27T05:51:15.156Z,1761544275.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.271927 m, nav range: 102.494164 m, bearing: 264.935242 deg, approach rate: -0.728731 m/s, LOS rate: -0.020247 deg/s, cmd heading: 274.368316 deg, new cmd heading: 274.342917 deg. 2025-10-27T05:51:15.157Z,1761544275.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788187 target range: 105.271927 and range: 105.90 m. 2025-10-27T05:51:15.169Z,1761544275.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753148 2025-10-27T05:51:15.424Z,1761544275.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007447 2025-10-27T05:51:15.477Z,1761544275.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063347,0.982831,0.173295],[-0.997986,0.061815,0.014226],[0.003270,-0.173847,0.984767]] 2025-10-27T05:51:15.507Z,1761544275.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.27 m. 2025-10-27T05:51:15.509Z,1761544275.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.271927 m, nav range: 102.253517 m, bearing: 264.928855 deg, approach rate: -0.680021 m/s, LOS rate: -0.018093 deg/s, cmd heading: 274.342908 deg, new cmd heading: 274.323700 deg. 2025-10-27T05:51:15.510Z,1761544275.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787852 target range: 105.271927 and range: 105.90 m. 2025-10-27T05:51:15.674Z,1761544275.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257390 2025-10-27T05:51:15.924Z,1761544275.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508105 2025-10-27T05:51:15.924Z,1761544275.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.27 m. 2025-10-27T05:51:15.927Z,1761544275.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.271927 m, nav range: 101.976036 m, bearing: 264.921452 deg, approach rate: -0.667055 m/s, LOS rate: -0.017845 deg/s, cmd heading: 274.323702 deg, new cmd heading: 274.301432 deg. 2025-10-27T05:51:15.928Z,1761544275.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787463 target range: 105.271927 and range: 105.90 m. 2025-10-27T05:51:16.176Z,1761544276.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760252 2025-10-27T05:51:16.286Z,1761544276.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061108,0.983530,0.170099],[-0.998065,0.058241,0.021798],[0.011532,-0.171102,0.985186]] 2025-10-27T05:51:16.324Z,1761544276.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:16.326Z,1761544276.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.27 m. 2025-10-27T05:51:16.329Z,1761544276.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.271927 m, nav range: 101.720016 m, bearing: 264.917563 deg, approach rate: -0.634724 m/s, LOS rate: -0.009665 deg/s, cmd heading: 274.301435 deg, new cmd heading: 274.289739 deg. 2025-10-27T05:51:16.330Z,1761544276.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787259 target range: 105.271927 and range: 105.90 m. 2025-10-27T05:51:16.428Z,1761544276.428 [DAT](INFO): DAT read: Rx Time:05:51:15.1135 2025-10-27T05:51:16.429Z,1761544276.429 [DAT](INFO): Rx dataTimestamp_ set to:1761544276.428306 2025-10-27T05:51:16.429Z,1761544276.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013248 2025-10-27T05:51:16.681Z,1761544276.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265295 2025-10-27T05:51:16.713Z,1761544276.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061969,0.983252,0.171391],[-0.997965,0.058459,0.025455],[0.015010,-0.172620,0.984874]] 2025-10-27T05:51:16.740Z,1761544276.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.27 m. 2025-10-27T05:51:16.743Z,1761544276.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.271927 m, nav range: 101.463486 m, bearing: 264.913503 deg, approach rate: -0.619713 m/s, LOS rate: -0.009833 deg/s, cmd heading: 274.289742 deg, new cmd heading: 274.277531 deg. 2025-10-27T05:51:16.768Z,1761544276.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787046 target range: 105.271927 and range: 105.90 m. 2025-10-27T05:51:16.935Z,1761544276.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518767 2025-10-27T05:51:17.136Z,1761544277.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063322,0.983379,0.170164],[-0.997825,0.059251,0.028899],[0.018337,-0.171624,0.984992]] 2025-10-27T05:51:17.194Z,1761544277.194 [DAT](INFO): DAT read: 05:51:15.1135 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 398,-0.09, 1.066,-0.366, 1.612, 1.077, PHS= 0.091,-1.398, 0.490, RAW= 161.6, 9.5, CAL= 161.5, 10.2, ROT= 348.5, -10.2 2025-10-27T05:51:17.196Z,1761544277.196 [DAT](INFO): got valid direction response: 05:51:15.1135 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 398,-0.09, 1.066,-0.366, 1.612, 1.077, PHS= 0.091,-1.398, 0.490, RAW= 161.6, 9.5, CAL= 161.5, 10.2, ROT= 348.5, -10.2 2025-10-27T05:51:17.198Z,1761544277.198 [DAT](INFO): DAT read: Bearing 83.2, -12.7 (Local) 2025-10-27T05:51:17.198Z,1761544277.198 [DAT](INFO): Local bearing/azimuth received: Bearing 83.2, -12.7 (Local) 2025-10-27T05:51:17.208Z,1761544277.208 [DAT](INFO): DAT read: Range 11 to 50 : 103.2 m (Round-trip 137.6 ms) speed 0.4 m/s 2025-10-27T05:51:17.209Z,1761544277.209 [DAT](INFO): DAT read: user:561> 2025-10-27T05:51:17.209Z,1761544277.209 [DAT](INFO): DAT read: Tx time:05:51:16.2217 2025-10-27T05:51:17.210Z,1761544277.210 [DAT](INFO): Ping request sent. 2025-10-27T05:51:17.210Z,1761544277.210 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:17.210Z,1761544277.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:17.219Z,1761544277.219 [DAT](INFO): direction in FSK: [0.964438,-0.196217,0.177085] 2025-10-27T05:51:17.220Z,1761544277.220 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:17.220Z,1761544277.220 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:17.231Z,1761544277.231 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:17.231Z,1761544277.231 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:17.276Z,1761544277.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.199997 m, deltaT: 3.780323 s, deltaX: -2.700005 m, approachRate: -0.714226 m/s, rangeRepo size: 4 2025-10-27T05:51:17.278Z,1761544277.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.588387 m, bearing: 264.004540 deg, lat: 36.779456 deg, lon: -121.859775 deg, deltaT: 3.780323 s, deltaX: -2.683540 m, approachRate: -0.709871 m/s, posRepo size: 4 2025-10-27T05:51:17.283Z,1761544277.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.59 m. 2025-10-27T05:51:17.286Z,1761544277.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.588387 m, nav range: 101.122658 m, bearing: 264.580401 deg, approach rate: 0.000000 m/s, LOS rate: -0.009833 deg/s, cmd heading: 274.277530 deg, new cmd heading: 274.261866 deg. 2025-10-27T05:51:17.295Z,1761544277.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786773 target range: 102.588387 and range: 103.20 m. 2025-10-27T05:51:17.611Z,1761544277.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065360,0.983692,0.167568],[-0.997627,0.060772,0.032371],[0.021659,-0.169286,0.985329]] 2025-10-27T05:51:17.630Z,1761544277.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.59 m. 2025-10-27T05:51:17.633Z,1761544277.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.588387 m, nav range: 100.889244 m, bearing: 264.581067 deg, approach rate: -0.650154 m/s, LOS rate: 0.001862 deg/s, cmd heading: 274.261875 deg, new cmd heading: 274.263880 deg. 2025-10-27T05:51:17.634Z,1761544277.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786808 target range: 102.588387 and range: 103.20 m. 2025-10-27T05:51:18.012Z,1761544278.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067840,0.984050,0.164447],[-0.997386,0.062782,0.035766],[0.024871,-0.166443,0.985737]] 2025-10-27T05:51:18.031Z,1761544278.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.59 m. 2025-10-27T05:51:18.034Z,1761544278.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.588387 m, nav range: 100.659973 m, bearing: 264.581462 deg, approach rate: -0.571734 m/s, LOS rate: 0.000987 deg/s, cmd heading: 274.263869 deg, new cmd heading: 274.265056 deg. 2025-10-27T05:51:18.035Z,1761544278.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786828 target range: 102.588387 and range: 103.20 m. 2025-10-27T05:51:18.413Z,1761544278.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070757,0.984581,0.159978],[-0.997100,0.065309,0.039066],[0.028015,-0.162278,0.986347]] 2025-10-27T05:51:18.460Z,1761544278.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:18.462Z,1761544278.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.59 m. 2025-10-27T05:51:18.465Z,1761544278.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.588387 m, nav range: 100.442154 m, bearing: 264.585583 deg, approach rate: -0.504804 m/s, LOS rate: 0.009572 deg/s, cmd heading: 274.265044 deg, new cmd heading: 274.277434 deg. 2025-10-27T05:51:18.466Z,1761544278.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787045 target range: 102.588387 and range: 103.20 m. 2025-10-27T05:51:18.696Z,1761544278.696 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:18.696Z,1761544278.696 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:18.696Z,1761544278.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:18.925Z,1761544278.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074750,0.984648,0.157736],[-0.996729,0.068900,0.042246],[0.030729,-0.160378,0.986577]] 2025-10-27T05:51:18.945Z,1761544278.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.59 m. 2025-10-27T05:51:18.948Z,1761544278.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738468 2025-10-27T05:51:18.949Z,1761544278.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.588387 m, nav range: 100.198128 m, bearing: 264.589711 deg, approach rate: -0.505850 m/s, LOS rate: 0.008576 deg/s, cmd heading: 274.277448 deg, new cmd heading: 274.289859 deg. 2025-10-27T05:51:18.950Z,1761544278.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787261 target range: 102.588387 and range: 103.20 m. 2025-10-27T05:51:19.203Z,1761544279.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993297 2025-10-27T05:51:19.377Z,1761544279.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.59 m. 2025-10-27T05:51:19.380Z,1761544279.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.588387 m, nav range: 100.002548 m, bearing: 264.601529 deg, approach rate: -0.452263 m/s, LOS rate: 0.027382 deg/s, cmd heading: 274.289851 deg, new cmd heading: 274.325375 deg. 2025-10-27T05:51:19.381Z,1761544279.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787881 target range: 102.588387 and range: 103.20 m. 2025-10-27T05:51:19.452Z,1761544279.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242448 2025-10-27T05:51:19.705Z,1761544279.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494496 2025-10-27T05:51:19.832Z,1761544279.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085342,0.983708,0.158223],[-0.995611,0.078073,0.051611],[0.038417,-0.161933,0.986054]] 2025-10-27T05:51:19.856Z,1761544279.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.59 m. 2025-10-27T05:51:19.859Z,1761544279.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.588387 m, nav range: 99.786125 m, bearing: 264.613342 deg, approach rate: -0.452012 m/s, LOS rate: 0.024726 deg/s, cmd heading: 274.325368 deg, new cmd heading: 274.360885 deg. 2025-10-27T05:51:19.860Z,1761544279.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788501 target range: 102.588387 and range: 103.20 m. 2025-10-27T05:51:19.956Z,1761544279.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746400 2025-10-27T05:51:20.208Z,1761544280.208 [DAT](INFO): DAT read: Rx Time:05:51:18.7612 2025-10-27T05:51:20.208Z,1761544280.208 [DAT](INFO): Rx dataTimestamp_ set to:1761544280.208206 2025-10-27T05:51:20.209Z,1761544280.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999356 2025-10-27T05:51:20.368Z,1761544280.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.59 m. 2025-10-27T05:51:20.371Z,1761544280.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.588387 m, nav range: 99.563606 m, bearing: 264.628012 deg, approach rate: -0.434522 m/s, LOS rate: 0.028711 deg/s, cmd heading: 274.360885 deg, new cmd heading: 274.404994 deg. 2025-10-27T05:51:20.372Z,1761544280.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789270 target range: 102.588387 and range: 103.20 m. 2025-10-27T05:51:20.461Z,1761544280.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250864 2025-10-27T05:51:20.653Z,1761544280.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092067,0.983432,0.156158],[-0.994842,0.084136,0.056670],[0.042593,-0.160570,0.986105]] 2025-10-27T05:51:20.717Z,1761544280.717 [DAT](INFO): DAT read: 05:51:18.7612 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 422,-0.12, 1.382, 0.003, 1.954, 1.353, PHS= 0.130,-1.305, 0.556, RAW= 162.6, 7.4, CAL= 162.1, 7.3, ROT= 347.9, -7.3 2025-10-27T05:51:20.719Z,1761544280.719 [DAT](INFO): got valid direction response: 05:51:18.7612 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 422,-0.12, 1.382, 0.003, 1.954, 1.353, PHS= 0.130,-1.305, 0.556, RAW= 162.6, 7.4, CAL= 162.1, 7.3, ROT= 347.9, -7.3 2025-10-27T05:51:20.720Z,1761544280.720 [DAT](INFO): DAT read: Bearing 81.0, -10.9 (Local) 2025-10-27T05:51:20.720Z,1761544280.720 [DAT](INFO): Local bearing/azimuth received: Bearing 81.0, -10.9 (Local) 2025-10-27T05:51:20.721Z,1761544280.721 [DAT](INFO): DAT read: Range 11 to 50 : 101.4 m (Round-trip 135.3 ms) speed 0.4 m/s 2025-10-27T05:51:20.722Z,1761544280.722 [DAT](INFO): DAT read: user:562> 2025-10-27T05:51:20.723Z,1761544280.723 [DAT](INFO): DAT read: Tx time:05:51:19.8717 2025-10-27T05:51:20.723Z,1761544280.723 [DAT](INFO): Ping request sent. 2025-10-27T05:51:20.724Z,1761544280.724 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:20.724Z,1761544280.724 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:20.725Z,1761544280.725 [DAT](INFO): direction in FSK: [0.969858,-0.207919,0.127065] 2025-10-27T05:51:20.725Z,1761544280.725 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:20.725Z,1761544280.725 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:20.729Z,1761544280.729 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:20.729Z,1761544280.729 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:20.840Z,1761544280.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 3.527399 s, deltaX: -1.799995 m, approachRate: -0.510290 m/s, rangeRepo size: 4 2025-10-27T05:51:20.842Z,1761544280.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 100.799271 m, bearing: 264.415899 deg, lat: 36.779453 deg, lon: -121.859768 deg, deltaT: 3.527399 s, deltaX: -1.789116 m, approachRate: -0.507205 m/s, posRepo size: 4 2025-10-27T05:51:20.844Z,1761544280.844 [CTD_Seabird](ERROR): Failed to parse device response: .57 2025-10-27T05:51:20.846Z,1761544280.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:20.856Z,1761544280.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 98.762817 m, bearing: 264.416706 deg, approach rate: 0.000000 m/s, LOS rate: 0.028711 deg/s, cmd heading: 274.404981 deg, new cmd heading: 274.444470 deg. 2025-10-27T05:51:20.857Z,1761544280.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789959 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:21.104Z,1761544281.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094702,0.983247,0.155749],[-0.994499,0.086408,0.059201],[0.044751,-0.160499,0.986021]] 2025-10-27T05:51:21.204Z,1761544281.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:21.206Z,1761544281.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:21.213Z,1761544281.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 98.599815 m, bearing: 264.426362 deg, approach rate: -0.429681 m/s, LOS rate: 0.025494 deg/s, cmd heading: 274.444459 deg, new cmd heading: 274.473474 deg. 2025-10-27T05:51:21.214Z,1761544281.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790466 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:21.220Z,1761544281.220 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:21.220Z,1761544281.220 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:21.220Z,1761544281.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:21.473Z,1761544281.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749747 2025-10-27T05:51:21.551Z,1761544281.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096833,0.983218,0.154612],[-0.994201,0.088251,0.061454],[0.046778,-0.159666,0.986062]] 2025-10-27T05:51:21.616Z,1761544281.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:21.619Z,1761544281.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 98.400688 m, bearing: 264.441315 deg, approach rate: -0.485519 m/s, LOS rate: 0.036534 deg/s, cmd heading: 274.473474 deg, new cmd heading: 274.518425 deg. 2025-10-27T05:51:21.620Z,1761544281.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791250 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:21.725Z,1761544281.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001178 2025-10-27T05:51:21.957Z,1761544281.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098365,0.983037,0.154795],[-0.993955,0.089428,0.063692],[0.048769,-0.160125,0.985891]] 2025-10-27T05:51:21.976Z,1761544281.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252433 2025-10-27T05:51:21.977Z,1761544281.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:21.980Z,1761544281.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 98.239510 m, bearing: 264.453320 deg, approach rate: -0.446727 m/s, LOS rate: 0.033327 deg/s, cmd heading: 274.518417 deg, new cmd heading: 274.554489 deg. 2025-10-27T05:51:21.981Z,1761544281.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791880 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:22.231Z,1761544282.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507641 2025-10-27T05:51:22.357Z,1761544282.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099642,0.982559,0.157000],[-0.993732,0.090230,0.065999],[0.050682,-0.162592,0.985391]] 2025-10-27T05:51:22.406Z,1761544282.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:22.409Z,1761544282.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 98.036888 m, bearing: 264.467915 deg, approach rate: -0.472442 m/s, LOS rate: 0.034102 deg/s, cmd heading: 274.554480 deg, new cmd heading: 274.598357 deg. 2025-10-27T05:51:22.410Z,1761544282.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792645 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:22.480Z,1761544282.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756676 2025-10-27T05:51:22.733Z,1761544282.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009226 2025-10-27T05:51:22.788Z,1761544282.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100336,0.982420,0.157426],[-0.993535,0.090484,0.068566],[0.053116,-0.163288,0.985148]] 2025-10-27T05:51:22.815Z,1761544282.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:22.818Z,1761544282.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 97.847908 m, bearing: 264.481509 deg, approach rate: -0.461776 m/s, LOS rate: 0.033281 deg/s, cmd heading: 274.598357 deg, new cmd heading: 274.639217 deg. 2025-10-27T05:51:22.823Z,1761544282.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793359 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:22.984Z,1761544282.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260293 2025-10-27T05:51:23.223Z,1761544283.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100277,0.982266,0.158426],[-0.993397,0.089922,0.071248],[0.055739,-0.164525,0.984797]] 2025-10-27T05:51:23.244Z,1761544283.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520491 2025-10-27T05:51:23.276Z,1761544283.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:23.278Z,1761544283.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:23.281Z,1761544283.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 97.613258 m, bearing: 264.492710 deg, approach rate: -0.506386 m/s, LOS rate: 0.024229 deg/s, cmd heading: 274.639229 deg, new cmd heading: 274.672911 deg. 2025-10-27T05:51:23.282Z,1761544283.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793947 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:23.497Z,1761544283.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772977 2025-10-27T05:51:23.593Z,1761544283.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100483,0.981601,0.162363],[-0.993242,0.089441,0.073962],[0.058079,-0.168698,0.983955]] 2025-10-27T05:51:23.624Z,1761544283.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:23.626Z,1761544283.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 97.442482 m, bearing: 264.500855 deg, approach rate: -0.494690 m/s, LOS rate: 0.023636 deg/s, cmd heading: 274.672916 deg, new cmd heading: 274.697395 deg. 2025-10-27T05:51:23.651Z,1761544283.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794374 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:23.748Z,1761544283.748 [DAT](INFO): DAT read: Rx Time:05:51:22.4090 2025-10-27T05:51:23.749Z,1761544283.749 [DAT](INFO): Rx dataTimestamp_ set to:1761544283.748257 2025-10-27T05:51:23.749Z,1761544283.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025554 2025-10-27T05:51:23.000Z,1761544284.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276391 2025-10-27T05:51:24.028Z,1761544284.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:24.030Z,1761544284.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 97.238930 m, bearing: 264.510601 deg, approach rate: -0.503699 m/s, LOS rate: 0.024168 deg/s, cmd heading: 274.697395 deg, new cmd heading: 274.726695 deg. 2025-10-27T05:51:24.032Z,1761544284.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794885 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:24.257Z,1761544284.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531004 2025-10-27T05:51:24.394Z,1761544284.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098774,0.981683,0.162916],[-0.993127,0.086917,0.078380],[0.062784,-0.169538,0.983522]] 2025-10-27T05:51:24.438Z,1761544284.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.80 m. 2025-10-27T05:51:24.441Z,1761544284.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.799271 m, nav range: 97.013367 m, bearing: 264.517417 deg, approach rate: -0.549761 m/s, LOS rate: 0.016650 deg/s, cmd heading: 274.726683 deg, new cmd heading: 274.747176 deg. 2025-10-27T05:51:24.442Z,1761544284.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795243 target range: 100.799271 and range: 101.40 m. 2025-10-27T05:51:24.513Z,1761544284.513 [DAT](INFO): DAT read: 05:51:22.4090 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.05,-0.263,-1.664, 0.335,-0.251, PHS= 0.090,-1.368, 0.542, RAW= 163.1, 8.6, CAL= 162.8, 8.9, ROT= 347.2, -8.9 2025-10-27T05:51:24.515Z,1761544284.515 [DAT](INFO): got valid direction response: 05:51:22.4090 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 416, 0.05,-0.263,-1.664, 0.335,-0.251, PHS= 0.090,-1.368, 0.542, RAW= 163.1, 8.6, CAL= 162.8, 8.9, ROT= 347.2, -8.9 2025-10-27T05:51:24.517Z,1761544284.517 [DAT](INFO): DAT read: Bearing 82.3, -10.4 (Local) 2025-10-27T05:51:24.517Z,1761544284.517 [DAT](INFO): Local bearing/azimuth received: Bearing 82.3, -10.4 (Local) 2025-10-27T05:51:24.531Z,1761544284.531 [DAT](INFO): DAT read: Range 11 to 50 : 99.9 m (Round-trip 133.2 ms) speed 0.7 m/s 2025-10-27T05:51:24.532Z,1761544284.532 [DAT](INFO): DAT read: user:563> 2025-10-27T05:51:24.533Z,1761544284.533 [DAT](INFO): DAT read: Tx time:05:51:23.5217 2025-10-27T05:51:24.533Z,1761544284.533 [DAT](INFO): Ping request sent. 2025-10-27T05:51:24.533Z,1761544284.533 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:24.533Z,1761544284.533 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:24.534Z,1761544284.534 [DAT](INFO): direction in FSK: [0.963408,-0.218881,0.154710] 2025-10-27T05:51:24.535Z,1761544284.535 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:24.552Z,1761544284.552 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:24.560Z,1761544284.560 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:24.561Z,1761544284.561 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:24.837Z,1761544284.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.793151 s, deltaX: -1.500000 m, approachRate: -0.395450 m/s, rangeRepo size: 4 2025-10-27T05:51:24.839Z,1761544284.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.308449 m, bearing: 264.398979 deg, lat: 36.779453 deg, lon: -121.859768 deg, deltaT: 3.793151 s, deltaX: -1.490822 m, approachRate: -0.393030 m/s, posRepo size: 4 2025-10-27T05:51:24.839Z,1761544284.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.31 m. 2025-10-27T05:51:24.842Z,1761544284.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.308449 m, nav range: 96.797256 m, bearing: 264.523495 deg, approach rate: 0.000000 m/s, LOS rate: 0.016650 deg/s, cmd heading: 274.747173 deg, new cmd heading: 274.767003 deg. 2025-10-27T05:51:24.844Z,1761544284.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795589 target range: 99.308449 and range: 99.90 m. 2025-10-27T05:51:25.317Z,1761544285.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:25.320Z,1761544285.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.31 m. 2025-10-27T05:51:25.322Z,1761544285.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.308449 m, nav range: 96.517067 m, bearing: 264.526681 deg, approach rate: -0.578449 m/s, LOS rate: 0.006597 deg/s, cmd heading: 274.767008 deg, new cmd heading: 274.776594 deg. 2025-10-27T05:51:25.323Z,1761544285.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795756 target range: 99.308449 and range: 99.90 m. 2025-10-27T05:51:25.512Z,1761544285.512 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:25.512Z,1761544285.512 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:25.512Z,1761544285.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:25.644Z,1761544285.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095489,0.982134,0.162156],[-0.993065,0.082765,0.083499],[0.068587,-0.169004,0.983226]] 2025-10-27T05:51:25.692Z,1761544285.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.31 m. 2025-10-27T05:51:25.694Z,1761544285.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.308449 m, nav range: 96.316422 m, bearing: 264.529388 deg, approach rate: -0.539304 m/s, LOS rate: 0.007291 deg/s, cmd heading: 274.776598 deg, new cmd heading: 274.784736 deg. 2025-10-27T05:51:25.700Z,1761544285.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795898 target range: 99.308449 and range: 99.90 m. 2025-10-27T05:51:25.765Z,1761544285.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231222 2025-10-27T05:51:26.016Z,1761544286.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482767 2025-10-27T05:51:26.046Z,1761544286.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094320,0.981863,0.164466],[-0.993031,0.081064,0.085542],[0.070658,-0.171388,0.982667]] 2025-10-27T05:51:26.076Z,1761544286.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.31 m. 2025-10-27T05:51:26.078Z,1761544286.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.308449 m, nav range: 96.082802 m, bearing: 264.532702 deg, approach rate: -0.608123 m/s, LOS rate: 0.008649 deg/s, cmd heading: 274.784739 deg, new cmd heading: 274.794707 deg. 2025-10-27T05:51:26.080Z,1761544286.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796072 target range: 99.308449 and range: 99.90 m. 2025-10-27T05:51:26.268Z,1761544286.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734842 2025-10-27T05:51:26.516Z,1761544286.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.31 m. 2025-10-27T05:51:26.518Z,1761544286.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.308449 m, nav range: 95.823532 m, bearing: 264.535465 deg, approach rate: -0.589512 m/s, LOS rate: 0.006299 deg/s, cmd heading: 274.794712 deg, new cmd heading: 274.803023 deg. 2025-10-27T05:51:26.520Z,1761544286.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986859 2025-10-27T05:51:26.521Z,1761544286.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796217 target range: 99.308449 and range: 99.90 m. 2025-10-27T05:51:26.773Z,1761544286.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239658 2025-10-27T05:51:26.853Z,1761544286.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092435,0.981730,0.166319],[-0.992932,0.078395,0.089103],[0.074436,-0.173380,0.982038]] 2025-10-27T05:51:26.890Z,1761544286.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.31 m. 2025-10-27T05:51:26.893Z,1761544286.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.308449 m, nav range: 95.602699 m, bearing: 264.538073 deg, approach rate: -0.589908 m/s, LOS rate: 0.006983 deg/s, cmd heading: 274.803017 deg, new cmd heading: 274.810859 deg. 2025-10-27T05:51:26.894Z,1761544286.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796354 target range: 99.308449 and range: 99.90 m. 2025-10-27T05:51:27.024Z,1761544287.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490751 2025-10-27T05:51:27.279Z,1761544287.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744864 2025-10-27T05:51:27.298Z,1761544287.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091380,0.982080,0.164832],[-0.992894,0.077184,0.090578],[0.076232,-0.171937,0.982154]] 2025-10-27T05:51:27.374Z,1761544287.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:27.377Z,1761544287.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.31 m. 2025-10-27T05:51:27.380Z,1761544287.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.308449 m, nav range: 95.324249 m, bearing: 264.539089 deg, approach rate: -0.572109 m/s, LOS rate: 0.002093 deg/s, cmd heading: 274.810858 deg, new cmd heading: 274.813914 deg. 2025-10-27T05:51:27.381Z,1761544287.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796408 target range: 99.308449 and range: 99.90 m. 2025-10-27T05:51:27.528Z,1761544287.528 [DAT](INFO): DAT read: Rx Time:05:51:26.0561 2025-10-27T05:51:27.529Z,1761544287.529 [DAT](INFO): Rx dataTimestamp_ set to:1761544287.528322 2025-10-27T05:51:27.529Z,1761544287.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996007 2025-10-27T05:51:27.683Z,1761544287.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090858,0.982423,0.163061],[-0.992809,0.076541,0.092045],[0.077946,-0.170252,0.982313]] 2025-10-27T05:51:27.705Z,1761544287.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.31 m. 2025-10-27T05:51:27.709Z,1761544287.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.308449 m, nav range: 95.118835 m, bearing: 264.539928 deg, approach rate: -0.626319 m/s, LOS rate: 0.002564 deg/s, cmd heading: 274.813918 deg, new cmd heading: 274.816441 deg. 2025-10-27T05:51:27.710Z,1761544287.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796452 target range: 99.308449 and range: 99.90 m. 2025-10-27T05:51:27.781Z,1761544287.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248112 2025-10-27T05:51:28.037Z,1761544288.037 [DAT](INFO): DAT read: 05:51:26.0561 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.14, 0.730,-0.644, 1.326, 0.748, PHS= 0.085,-1.347, 0.534, RAW= 163.2, 8.6, CAL= 162.9, 9.0, ROT= 347.1, -9.0 2025-10-27T05:51:28.039Z,1761544288.039 [DAT](INFO): got valid direction response: 05:51:26.0561 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.14, 0.730,-0.644, 1.326, 0.748, PHS= 0.085,-1.347, 0.534, RAW= 163.2, 8.6, CAL= 162.9, 9.0, ROT= 347.1, -9.0 2025-10-27T05:51:28.040Z,1761544288.040 [DAT](INFO): DAT read: Bearing 81.8, -9.7 (Local) 2025-10-27T05:51:28.040Z,1761544288.040 [DAT](INFO): Local bearing/azimuth received: Bearing 81.8, -9.7 (Local) 2025-10-27T05:51:28.041Z,1761544288.041 [DAT](INFO): DAT read: Range 11 to 50 : 97.6 m (Round-trip 130.2 ms) speed 0.4 m/s 2025-10-27T05:51:28.042Z,1761544288.042 [DAT](INFO): DAT read: user:564> 2025-10-27T05:51:28.043Z,1761544288.043 [DAT](INFO): DAT read: Tx time:05:51:27.1717 2025-10-27T05:51:28.043Z,1761544288.043 [DAT](INFO): Ping request sent. 2025-10-27T05:51:28.043Z,1761544288.043 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:28.044Z,1761544288.044 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:28.044Z,1761544288.044 [DAT](INFO): direction in FSK: [0.962760,-0.220502,0.156434] 2025-10-27T05:51:28.045Z,1761544288.045 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:28.045Z,1761544288.045 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:28.060Z,1761544288.060 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:28.060Z,1761544288.060 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:28.105Z,1761544288.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090276,0.982406,0.163491],[-0.992725,0.075634,0.093679],[0.079665,-0.170759,0.982087]] 2025-10-27T05:51:28.193Z,1761544288.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.599998 m, deltaT: 3.526884 s, deltaX: -2.300003 m, approachRate: -0.652135 m/s, rangeRepo size: 4 2025-10-27T05:51:28.204Z,1761544288.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.022385 m, bearing: 263.795005 deg, lat: 36.779452 deg, lon: -121.859760 deg, deltaT: 3.526884 s, deltaX: -2.286064 m, approachRate: -0.648182 m/s, posRepo size: 4 2025-10-27T05:51:28.204Z,1761544288.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:28.211Z,1761544288.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 94.238998 m, bearing: 264.415892 deg, approach rate: 0.000000 m/s, LOS rate: 0.002564 deg/s, cmd heading: 274.816432 deg, new cmd heading: 274.820182 deg. 2025-10-27T05:51:28.213Z,1761544288.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796517 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:28.610Z,1761544288.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:28.613Z,1761544288.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 93.970146 m, bearing: 264.412253 deg, approach rate: -0.643484 m/s, LOS rate: -0.008735 deg/s, cmd heading: 274.820174 deg, new cmd heading: 274.809225 deg. 2025-10-27T05:51:28.614Z,1761544288.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796326 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:28.985Z,1761544288.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088955,0.981946,0.166941],[-0.992555,0.073390,0.097207],[0.083200,-0.174345,0.981163]] 2025-10-27T05:51:29.005Z,1761544289.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:29.008Z,1761544289.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 93.738518 m, bearing: 264.409252 deg, approach rate: -0.586489 m/s, LOS rate: -0.007617 deg/s, cmd heading: 274.809219 deg, new cmd heading: 274.800195 deg. 2025-10-27T05:51:29.009Z,1761544289.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796168 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:29.386Z,1761544289.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088597,0.981975,0.166963],[-0.992433,0.072717,0.098943],[0.085018,-0.174465,0.980986]] 2025-10-27T05:51:29.429Z,1761544289.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:29.431Z,1761544289.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:29.439Z,1761544289.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 93.480896 m, bearing: 264.407425 deg, approach rate: -0.604858 m/s, LOS rate: -0.004302 deg/s, cmd heading: 274.800203 deg, new cmd heading: 274.794706 deg. 2025-10-27T05:51:29.440Z,1761544289.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796072 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:29.544Z,1761544289.544 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:29.544Z,1761544289.544 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:29.544Z,1761544289.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:29.796Z,1761544289.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752674 2025-10-27T05:51:29.822Z,1761544289.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088613,0.982410,0.164371],[-0.992286,0.072703,0.100416],[0.086700,-0.172002,0.981274]] 2025-10-27T05:51:29.862Z,1761544289.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:29.865Z,1761544289.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 93.219337 m, bearing: 264.405595 deg, approach rate: -0.606206 m/s, LOS rate: -0.004252 deg/s, cmd heading: 274.794712 deg, new cmd heading: 274.789208 deg. 2025-10-27T05:51:29.866Z,1761544289.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795977 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:30.049Z,1761544290.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005653 2025-10-27T05:51:30.303Z,1761544290.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258817 2025-10-27T05:51:30.336Z,1761544290.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089018,0.982679,0.162533],[-0.991996,0.072797,0.103174],[0.089555,-0.170416,0.981294]] 2025-10-27T05:51:30.381Z,1761544290.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:30.384Z,1761544290.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 92.919983 m, bearing: 264.406209 deg, approach rate: -0.577071 m/s, LOS rate: 0.001186 deg/s, cmd heading: 274.789220 deg, new cmd heading: 274.791066 deg. 2025-10-27T05:51:30.385Z,1761544290.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796009 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:30.552Z,1761544290.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508595 2025-10-27T05:51:30.714Z,1761544290.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089415,0.982608,0.162748],[-0.991862,0.072977,0.104330],[0.090638,-0.170752,0.981136]] 2025-10-27T05:51:30.750Z,1761544290.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:30.753Z,1761544290.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 92.708847 m, bearing: 264.406591 deg, approach rate: -0.577281 m/s, LOS rate: 0.001048 deg/s, cmd heading: 274.791078 deg, new cmd heading: 274.792227 deg. 2025-10-27T05:51:30.754Z,1761544290.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796029 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:30.805Z,1761544290.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761517 2025-10-27T05:51:31.056Z,1761544291.056 [DAT](INFO): DAT read: Rx Time:05:51:29.7032 2025-10-27T05:51:31.056Z,1761544291.056 [DAT](INFO): Rx dataTimestamp_ set to:1761544291.056117 2025-10-27T05:51:31.057Z,1761544291.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013662 2025-10-27T05:51:31.124Z,1761544291.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090002,0.982529,0.162898],[-0.991729,0.073387,0.105296],[0.091502,-0.171027,0.981008]] 2025-10-27T05:51:31.146Z,1761544291.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:31.168Z,1761544291.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 92.480255 m, bearing: 264.406923 deg, approach rate: -0.573026 m/s, LOS rate: 0.000833 deg/s, cmd heading: 274.792225 deg, new cmd heading: 274.793223 deg. 2025-10-27T05:51:31.170Z,1761544291.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796047 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:31.312Z,1761544291.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267085 2025-10-27T05:51:31.518Z,1761544291.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090864,0.982436,0.162979],[-0.991600,0.074129,0.105989],[0.092046,-0.171241,0.980920]] 2025-10-27T05:51:31.563Z,1761544291.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519484 2025-10-27T05:51:31.618Z,1761544291.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:31.620Z,1761544291.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.02 m. 2025-10-27T05:51:31.622Z,1761544291.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.022385 m, nav range: 92.211769 m, bearing: 264.402687 deg, approach rate: -0.566267 m/s, LOS rate: -0.008959 deg/s, cmd heading: 274.793236 deg, new cmd heading: 274.780493 deg. 2025-10-27T05:51:31.625Z,1761544291.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795825 target range: 97.022385 and range: 97.60 m. 2025-10-27T05:51:31.817Z,1761544291.817 [DAT](INFO): DAT read: 05:51:29.7032 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 404, 0.13, 0.989,-0.372, 1.565, 1.012, PHS= 0.078,-1.339, 0.508, RAW= 162.9, 9.0, CAL= 162.6, 9.6, ROT= 347.4, -9.6 2025-10-27T05:51:31.819Z,1761544291.819 [DAT](INFO): got valid direction response: 05:51:29.7032 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 404, 0.13, 0.989,-0.372, 1.565, 1.012, PHS= 0.078,-1.339, 0.508, RAW= 162.9, 9.0, CAL= 162.6, 9.6, ROT= 347.4, -9.6 2025-10-27T05:51:31.820Z,1761544291.820 [DAT](INFO): DAT read: Bearing 82.1, -8.9 (Local) 2025-10-27T05:51:31.820Z,1761544291.820 [DAT](INFO): Local bearing/azimuth received: Bearing 82.1, -8.9 (Local) 2025-10-27T05:51:31.822Z,1761544291.822 [DAT](INFO): DAT read: Range 11 to 50 : 95.4 m (Round-trip 127.3 ms) speed 0.4 m/s 2025-10-27T05:51:31.822Z,1761544291.822 [DAT](INFO): DAT read: user:565> 2025-10-27T05:51:31.823Z,1761544291.823 [DAT](INFO): DAT read: Tx time:05:51:30.8217 2025-10-27T05:51:31.823Z,1761544291.823 [DAT](INFO): Ping request sent. 2025-10-27T05:51:31.823Z,1761544291.823 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:31.824Z,1761544291.824 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:31.825Z,1761544291.825 [DAT](INFO): direction in FSK: [0.962250,-0.215088,0.166769] 2025-10-27T05:51:31.825Z,1761544291.825 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:31.825Z,1761544291.825 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:31.829Z,1761544291.829 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:31.829Z,1761544291.829 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:31.971Z,1761544291.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091587,0.982728,0.160802],[-0.991541,0.075085,0.105870],[0.091968,-0.169138,0.981292]] 2025-10-27T05:51:32.015Z,1761544292.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.780050 s, deltaX: -2.199997 m, approachRate: -0.582002 m/s, rangeRepo size: 4 2025-10-27T05:51:32.017Z,1761544292.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.834030 m, bearing: 264.219940 deg, lat: 36.779450 deg, lon: -121.859760 deg, deltaT: 3.780050 s, deltaX: -2.188354 m, approachRate: -0.578922 m/s, posRepo size: 4 2025-10-27T05:51:32.018Z,1761544292.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.83 m. 2025-10-27T05:51:32.025Z,1761544292.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.834030 m, nav range: 91.992691 m, bearing: 264.295375 deg, approach rate: 0.000000 m/s, LOS rate: -0.008959 deg/s, cmd heading: 274.780505 deg, new cmd heading: 274.770008 deg. 2025-10-27T05:51:32.026Z,1761544292.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795641 target range: 94.834030 and range: 95.40 m. 2025-10-27T05:51:32.366Z,1761544292.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091931,0.982966,0.159141],[-0.991487,0.075561,0.106036],[0.092205,-0.167534,0.981545]] 2025-10-27T05:51:32.418Z,1761544292.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.83 m. 2025-10-27T05:51:32.425Z,1761544292.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.834030 m, nav range: 91.766640 m, bearing: 264.294424 deg, approach rate: -0.554028 m/s, LOS rate: -0.002336 deg/s, cmd heading: 274.770014 deg, new cmd heading: 274.767155 deg. 2025-10-27T05:51:32.426Z,1761544292.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795591 target range: 94.834030 and range: 95.40 m. 2025-10-27T05:51:32.772Z,1761544292.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092585,0.982963,0.158784],[-0.991399,0.076191,0.106408],[0.092497,-0.167270,0.981563]] 2025-10-27T05:51:32.812Z,1761544292.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.83 m. 2025-10-27T05:51:32.814Z,1761544292.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.834030 m, nav range: 91.551147 m, bearing: 264.293428 deg, approach rate: -0.554307 m/s, LOS rate: -0.002568 deg/s, cmd heading: 274.767145 deg, new cmd heading: 274.764150 deg. 2025-10-27T05:51:32.820Z,1761544292.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795539 target range: 94.834030 and range: 95.40 m. 2025-10-27T05:51:33.182Z,1761544293.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093335,0.983180,0.156990],[-0.991342,0.077144,0.106256],[0.092358,-0.165548,0.981868]] 2025-10-27T05:51:33.201Z,1761544293.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.83 m. 2025-10-27T05:51:33.204Z,1761544293.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.834030 m, nav range: 91.324181 m, bearing: 264.292285 deg, approach rate: -0.576635 m/s, LOS rate: -0.002913 deg/s, cmd heading: 274.764140 deg, new cmd heading: 274.760700 deg. 2025-10-27T05:51:33.205Z,1761544293.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795479 target range: 94.834030 and range: 95.40 m. 2025-10-27T05:51:33.581Z,1761544293.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094307,0.983108,0.156858],[-0.991242,0.078097,0.106490],[0.092441,-0.165527,0.981863]] 2025-10-27T05:51:33.620Z,1761544293.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:33.622Z,1761544293.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.83 m. 2025-10-27T05:51:33.624Z,1761544293.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.834030 m, nav range: 91.105522 m, bearing: 264.291602 deg, approach rate: -0.519739 m/s, LOS rate: -0.001627 deg/s, cmd heading: 274.760697 deg, new cmd heading: 274.758644 deg. 2025-10-27T05:51:33.625Z,1761544293.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795443 target range: 94.834030 and range: 95.40 m. 2025-10-27T05:51:33.828Z,1761544293.828 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:33.829Z,1761544293.829 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:33.829Z,1761544293.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:34.080Z,1761544294.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256435 2025-10-27T05:51:34.088Z,1761544294.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094953,0.982989,0.157216],[-0.991196,0.078718,0.106464],[0.092278,-0.165941,0.981809]] 2025-10-27T05:51:34.138Z,1761544294.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.83 m. 2025-10-27T05:51:34.153Z,1761544294.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.834030 m, nav range: 90.848442 m, bearing: 264.290684 deg, approach rate: -0.498233 m/s, LOS rate: -0.001784 deg/s, cmd heading: 274.758648 deg, new cmd heading: 274.755887 deg. 2025-10-27T05:51:34.154Z,1761544294.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795395 target range: 94.834030 and range: 95.40 m. 2025-10-27T05:51:34.335Z,1761544294.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510765 2025-10-27T05:51:34.500Z,1761544294.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095137,0.982443,0.160482],[-0.991240,0.078658,0.106095],[0.091609,-0.169170,0.981320]] 2025-10-27T05:51:34.555Z,1761544294.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.83 m. 2025-10-27T05:51:34.558Z,1761544294.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.834030 m, nav range: 90.619263 m, bearing: 264.290396 deg, approach rate: -0.550049 m/s, LOS rate: -0.000692 deg/s, cmd heading: 274.755889 deg, new cmd heading: 274.755023 deg. 2025-10-27T05:51:34.559Z,1761544294.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795380 target range: 94.834030 and range: 95.40 m. 2025-10-27T05:51:34.584Z,1761544294.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760619 2025-10-27T05:51:34.836Z,1761544294.836 [DAT](INFO): DAT read: Rx Time:05:51:33.3504 2025-10-27T05:51:34.836Z,1761544294.836 [DAT](INFO): Rx dataTimestamp_ set to:1761544294.836104 2025-10-27T05:51:34.837Z,1761544294.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013469 2025-10-27T05:51:34.982Z,1761544294.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095245,0.982164,0.162120],[-0.991331,0.078777,0.105153],[0.090506,-0.170730,0.981152]] 2025-10-27T05:51:35.002Z,1761544295.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.83 m. 2025-10-27T05:51:35.004Z,1761544295.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.834030 m, nav range: 90.368683 m, bearing: 264.290042 deg, approach rate: -0.559940 m/s, LOS rate: -0.000793 deg/s, cmd heading: 274.755014 deg, new cmd heading: 274.753949 deg. 2025-10-27T05:51:35.005Z,1761544295.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795361 target range: 94.834030 and range: 95.40 m. 2025-10-27T05:51:35.089Z,1761544295.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265328 2025-10-27T05:51:35.363Z,1761544295.363 [DAT](INFO): DAT read: 05:51:33.3504 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.50,-1.464,-2.793,-0.902,-1.436, PHS= 0.075,-1.312, 0.490, RAW= 162.7, 9.2, CAL= 162.5, 9.8, ROT= 347.5, -9.8 2025-10-27T05:51:35.375Z,1761544295.375 [DAT](INFO): got valid direction response: 05:51:33.3504 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.50,-1.464,-2.793,-0.902,-1.436, PHS= 0.075,-1.312, 0.490, RAW= 162.7, 9.2, CAL= 162.5, 9.8, ROT= 347.5, -9.8 2025-10-27T05:51:35.378Z,1761544295.378 [DAT](INFO): DAT read: Bearing 82.3, -8.6 (Local) 2025-10-27T05:51:35.383Z,1761544295.383 [DAT](INFO): Local bearing/azimuth received: Bearing 82.3, -8.6 (Local) 2025-10-27T05:51:35.399Z,1761544295.399 [DAT](INFO): DAT read: Range 11 to 50 : 93.4 m (Round-trip 124.6 ms) speed 0.5 m/s 2025-10-27T05:51:35.401Z,1761544295.401 [DAT](INFO): DAT read: user:566> 2025-10-27T05:51:35.401Z,1761544295.401 [DAT](INFO): DAT read: Tx time:05:51:34.4717 2025-10-27T05:51:35.402Z,1761544295.402 [DAT](INFO): Ping request sent. 2025-10-27T05:51:35.402Z,1761544295.402 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:35.402Z,1761544295.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:35.444Z,1761544295.444 [DAT](INFO): direction in FSK: [0.962050,-0.213281,0.170209] 2025-10-27T05:51:35.444Z,1761544295.444 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:35.445Z,1761544295.445 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:35.460Z,1761544295.460 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:35.460Z,1761544295.460 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:35.465Z,1761544295.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095286,0.981963,0.163306],[-0.991598,0.079213,0.102267],[0.087486,-0.171678,0.981261]] 2025-10-27T05:51:35.576Z,1761544295.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.400002 m, deltaT: 3.529489 s, deltaX: -2.000000 m, approachRate: -0.566654 m/s, rangeRepo size: 4 2025-10-27T05:51:35.578Z,1761544295.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.846092 m, bearing: 264.609491 deg, lat: 36.779452 deg, lon: -121.859751 deg, deltaT: 3.529489 s, deltaX: -1.987938 m, approachRate: -0.563237 m/s, posRepo size: 4 2025-10-27T05:51:35.583Z,1761544295.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:35.586Z,1761544295.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 89.226181 m, bearing: 264.345408 deg, approach rate: 0.000000 m/s, LOS rate: -0.000793 deg/s, cmd heading: 274.753949 deg, new cmd heading: 274.752594 deg. 2025-10-27T05:51:35.587Z,1761544295.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795337 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:35.899Z,1761544295.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095414,0.981912,0.163539],[-0.991753,0.079647,0.100408],[0.085566,-0.171771,0.981414]] 2025-10-27T05:51:35.937Z,1761544295.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:35.939Z,1761544295.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:35.949Z,1761544295.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 89.029877 m, bearing: 264.347940 deg, approach rate: -0.533679 m/s, LOS rate: 0.006898 deg/s, cmd heading: 274.752583 deg, new cmd heading: 274.760195 deg. 2025-10-27T05:51:35.950Z,1761544295.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795470 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:36.096Z,1761544296.096 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:36.096Z,1761544296.096 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:36.096Z,1761544296.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:36.306Z,1761544296.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095238,0.981765,0.164522],[-0.991927,0.079694,0.098641],[0.083731,-0.172588,0.981429]] 2025-10-27T05:51:36.351Z,1761544296.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948188 2025-10-27T05:51:36.364Z,1761544296.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:36.387Z,1761544296.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 88.824173 m, bearing: 264.350615 deg, approach rate: -0.490929 m/s, LOS rate: 0.006400 deg/s, cmd heading: 274.760205 deg, new cmd heading: 274.768250 deg. 2025-10-27T05:51:36.395Z,1761544296.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795610 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:36.600Z,1761544296.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197965 2025-10-27T05:51:36.718Z,1761544296.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095065,0.981703,0.164993],[-0.992104,0.079813,0.096740],[0.081802,-0.172887,0.981539]] 2025-10-27T05:51:36.771Z,1761544296.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:36.774Z,1761544296.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 88.589470 m, bearing: 264.354480 deg, approach rate: -0.568343 m/s, LOS rate: 0.009384 deg/s, cmd heading: 274.768238 deg, new cmd heading: 274.779864 deg. 2025-10-27T05:51:36.775Z,1761544296.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795814 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:36.853Z,1761544296.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450794 2025-10-27T05:51:37.104Z,1761544297.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702077 2025-10-27T05:51:37.121Z,1761544297.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095332,0.981496,0.166063],[-0.992265,0.080372,0.094602],[0.079505,-0.173797,0.981567]] 2025-10-27T05:51:37.149Z,1761544297.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:37.155Z,1761544297.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 88.394264 m, bearing: 264.357661 deg, approach rate: -0.516068 m/s, LOS rate: 0.008427 deg/s, cmd heading: 274.779876 deg, new cmd heading: 274.789439 deg. 2025-10-27T05:51:37.157Z,1761544297.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795980 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:37.356Z,1761544297.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954129 2025-10-27T05:51:37.517Z,1761544297.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094900,0.981581,0.165810],[-0.992460,0.080311,0.092587],[0.077566,-0.173346,0.981802]] 2025-10-27T05:51:37.566Z,1761544297.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:37.569Z,1761544297.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 88.175667 m, bearing: 264.364185 deg, approach rate: -0.523978 m/s, LOS rate: 0.015677 deg/s, cmd heading: 274.789439 deg, new cmd heading: 274.809059 deg. 2025-10-27T05:51:37.570Z,1761544297.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796323 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:37.609Z,1761544297.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206848 2025-10-27T05:51:37.860Z,1761544297.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457969 2025-10-27T05:51:37.926Z,1761544297.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094871,0.981457,0.166559],[-0.992635,0.080604,0.090436],[0.075334,-0.173912,0.981875]] 2025-10-27T05:51:37.961Z,1761544297.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:37.964Z,1761544297.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:37.967Z,1761544297.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 87.971352 m, bearing: 264.370301 deg, approach rate: -0.513027 m/s, LOS rate: 0.015393 deg/s, cmd heading: 274.809055 deg, new cmd heading: 274.827445 deg. 2025-10-27T05:51:37.968Z,1761544297.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796644 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:38.112Z,1761544298.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710034 2025-10-27T05:51:38.334Z,1761544298.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094076,0.981906,0.164346],[-0.992852,0.080354,0.088250],[0.073447,-0.171474,0.982447]] 2025-10-27T05:51:38.356Z,1761544298.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:38.359Z,1761544298.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 87.771088 m, bearing: 264.376446 deg, approach rate: -0.510657 m/s, LOS rate: 0.015707 deg/s, cmd heading: 274.827442 deg, new cmd heading: 274.845921 deg. 2025-10-27T05:51:38.360Z,1761544298.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796966 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:38.375Z,1761544298.375 [DAT](INFO): DAT read: Rx Time:05:51:36.9979 2025-10-27T05:51:38.376Z,1761544298.376 [DAT](INFO): Rx dataTimestamp_ set to:1761544298.375626 2025-10-27T05:51:38.378Z,1761544298.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975910 2025-10-27T05:51:38.624Z,1761544298.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222101 2025-10-27T05:51:38.736Z,1761544298.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094043,0.982134,0.162998],[-0.993028,0.080850,0.085780],[0.071069,-0.169929,0.982890]] 2025-10-27T05:51:38.780Z,1761544298.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.85 m. 2025-10-27T05:51:38.782Z,1761544298.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.846092 m, nav range: 87.542572 m, bearing: 264.381206 deg, approach rate: -0.539955 m/s, LOS rate: 0.011277 deg/s, cmd heading: 274.845911 deg, new cmd heading: 274.860228 deg. 2025-10-27T05:51:38.783Z,1761544298.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797216 target range: 92.846092 and range: 93.40 m. 2025-10-27T05:51:38.891Z,1761544298.891 [DAT](INFO): DAT read: 05:51:36.9979 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.11,-0.890,-2.230,-0.313,-0.824, PHS= 0.036,-1.362, 0.466, RAW= 163.0, 10.4, CAL= 163.0, 11.4, ROT= 347.0, -11.4 2025-10-27T05:51:38.928Z,1761544298.928 [DAT](INFO): got valid direction response: 05:51:36.9979 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.11,-0.890,-2.230,-0.313,-0.824, PHS= 0.036,-1.362, 0.466, RAW= 163.0, 10.4, CAL= 163.0, 11.4, ROT= 347.0, -11.4 2025-10-27T05:51:38.929Z,1761544298.929 [DAT](INFO): DAT read: Bearing 83.9, -10.3 (Local) 2025-10-27T05:51:38.929Z,1761544298.929 [DAT](INFO): Local bearing/azimuth received: Bearing 83.9, -10.3 (Local) 2025-10-27T05:51:38.931Z,1761544298.931 [DAT](INFO): DAT read: Range 11 to 50 : 91.5 m (Round-trip 122.0 ms) speed 0.4 m/s 2025-10-27T05:51:38.940Z,1761544298.940 [DAT](INFO): DAT read: user:567> 2025-10-27T05:51:38.940Z,1761544298.940 [DAT](INFO): DAT read: Tx time:05:51:38.1217 2025-10-27T05:51:38.941Z,1761544298.941 [DAT](INFO): Ping request sent. 2025-10-27T05:51:38.941Z,1761544298.941 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:38.941Z,1761544298.941 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:38.942Z,1761544298.942 [DAT](INFO): direction in FSK: [0.955147,-0.220513,0.197657] 2025-10-27T05:51:38.942Z,1761544298.942 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:38.943Z,1761544298.943 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:38.946Z,1761544298.946 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:38.946Z,1761544298.946 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:39.012Z,1761544299.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:51:39.154Z,1761544299.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093881,0.982308,0.162043],[-0.993199,0.081150,0.083489],[0.068862,-0.168779,0.983245]] 2025-10-27T05:51:39.204Z,1761544299.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 91.500000 m, deltaT: 3.539666 s, deltaX: -1.900002 m, approachRate: -0.536774 m/s, rangeRepo size: 4 2025-10-27T05:51:39.206Z,1761544299.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.956367 m, bearing: 264.294896 deg, lat: 36.779451 deg, lon: -121.859748 deg, deltaT: 3.539666 s, deltaX: -1.889725 m, approachRate: -0.533871 m/s, posRepo size: 4 2025-10-27T05:51:39.206Z,1761544299.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:39.214Z,1761544299.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 87.069351 m, bearing: 264.310090 deg, approach rate: 0.000000 m/s, LOS rate: 0.011277 deg/s, cmd heading: 274.860227 deg, new cmd heading: 274.874409 deg. 2025-10-27T05:51:39.220Z,1761544299.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797463 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:39.559Z,1761544299.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093690,0.982227,0.162643],[-0.993359,0.081265,0.081451],[0.066786,-0.169194,0.983317]] 2025-10-27T05:51:39.604Z,1761544299.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:39.606Z,1761544299.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 86.841110 m, bearing: 264.313955 deg, approach rate: -0.563650 m/s, LOS rate: 0.009568 deg/s, cmd heading: 274.874406 deg, new cmd heading: 274.886030 deg. 2025-10-27T05:51:39.608Z,1761544299.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797666 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:40.015Z,1761544300.015 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:51:40.057Z,1761544300.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:40.077Z,1761544300.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:40.080Z,1761544300.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 86.599854 m, bearing: 264.318062 deg, approach rate: -0.509588 m/s, LOS rate: 0.008699 deg/s, cmd heading: 274.886017 deg, new cmd heading: 274.898372 deg. 2025-10-27T05:51:40.081Z,1761544300.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797882 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:40.140Z,1761544300.140 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:40.140Z,1761544300.140 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:40.141Z,1761544300.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:40.372Z,1761544300.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093338,0.982173,0.163170],[-0.993617,0.081462,0.078034],[0.063351,-0.169412,0.983507]] 2025-10-27T05:51:40.394Z,1761544300.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453090 2025-10-27T05:51:40.464Z,1761544300.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:40.466Z,1761544300.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 86.412148 m, bearing: 264.321306 deg, approach rate: -0.493219 m/s, LOS rate: 0.008545 deg/s, cmd heading: 274.898366 deg, new cmd heading: 274.908122 deg. 2025-10-27T05:51:40.472Z,1761544300.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798052 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:40.648Z,1761544300.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706676 2025-10-27T05:51:40.780Z,1761544300.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093292,0.982104,0.163612],[-0.993720,0.081651,0.076503],[0.061775,-0.169722,0.983554]] 2025-10-27T05:51:40.840Z,1761544300.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:40.847Z,1761544300.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 86.191864 m, bearing: 264.323452 deg, approach rate: -0.575996 m/s, LOS rate: 0.005626 deg/s, cmd heading: 274.908120 deg, new cmd heading: 274.914574 deg. 2025-10-27T05:51:40.852Z,1761544300.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798164 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:40.897Z,1761544300.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955626 2025-10-27T05:51:41.149Z,1761544301.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207914 2025-10-27T05:51:41.274Z,1761544301.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:41.277Z,1761544301.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 85.952820 m, bearing: 264.325793 deg, approach rate: -0.550634 m/s, LOS rate: 0.005408 deg/s, cmd heading: 274.914568 deg, new cmd heading: 274.921611 deg. 2025-10-27T05:51:41.278Z,1761544301.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798287 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:41.400Z,1761544301.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459317 2025-10-27T05:51:41.587Z,1761544301.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094020,0.981630,0.166018],[-0.993858,0.082769,0.073449],[0.058358,-0.171904,0.983384]] 2025-10-27T05:51:41.653Z,1761544301.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712149 2025-10-27T05:51:41.663Z,1761544301.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:41.666Z,1761544301.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 85.760796 m, bearing: 264.323097 deg, approach rate: -0.499391 m/s, LOS rate: -0.007029 deg/s, cmd heading: 274.921616 deg, new cmd heading: 274.913508 deg. 2025-10-27T05:51:41.671Z,1761544301.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.798146 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:41.904Z,1761544301.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963124 2025-10-27T05:51:41.989Z,1761544301.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094390,0.981696,0.165422],[-0.993922,0.083472,0.071771],[0.056649,-0.171191,0.983608]] 2025-10-27T05:51:42.028Z,1761544302.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:42.031Z,1761544302.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 85.548531 m, bearing: 264.320050 deg, approach rate: -0.574665 m/s, LOS rate: -0.008268 deg/s, cmd heading: 274.913502 deg, new cmd heading: 274.904341 deg. 2025-10-27T05:51:42.032Z,1761544302.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797986 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:42.157Z,1761544302.157 [DAT](INFO): DAT read: Rx Time:05:51:40.6455 2025-10-27T05:51:42.158Z,1761544302.158 [DAT](INFO): Rx dataTimestamp_ set to:1761544302.157415 2025-10-27T05:51:42.159Z,1761544302.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217844 2025-10-27T05:51:42.394Z,1761544302.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094542,0.982092,0.162963],[-0.993997,0.084069,0.070021],[0.055067,-0.168605,0.984144]] 2025-10-27T05:51:42.412Z,1761544302.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471142 2025-10-27T05:51:42.541Z,1761544302.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:42.547Z,1761544302.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.96 m. 2025-10-27T05:51:42.550Z,1761544302.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.956367 m, nav range: 85.281784 m, bearing: 264.316190 deg, approach rate: -0.518310 m/s, LOS rate: -0.007524 deg/s, cmd heading: 274.904350 deg, new cmd heading: 274.892732 deg. 2025-10-27T05:51:42.556Z,1761544302.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797783 target range: 90.956367 and range: 91.50 m. 2025-10-27T05:51:42.666Z,1761544302.666 [DAT](INFO): DAT read: 05:51:40.6455 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 421, 0.32, 1.538, 0.147, 2.113, 1.522, PHS= 0.119,-1.329, 0.547, RAW= 162.6, 7.8, CAL= 162.2, 8.0, ROT= 347.8, -8.0 2025-10-27T05:51:42.667Z,1761544302.667 [DAT](INFO): got valid direction response: 05:51:40.6455 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 421, 0.32, 1.538, 0.147, 2.113, 1.522, PHS= 0.119,-1.329, 0.547, RAW= 162.6, 7.8, CAL= 162.2, 8.0, ROT= 347.8, -8.0 2025-10-27T05:51:42.668Z,1761544302.668 [DAT](INFO): DAT read: Bearing 80.4, -9.8 (Local) 2025-10-27T05:51:42.669Z,1761544302.669 [DAT](INFO): Local bearing/azimuth received: Bearing 80.4, -9.8 (Local) 2025-10-27T05:51:42.670Z,1761544302.670 [DAT](INFO): DAT read: Range 11 to 50 : 89.7 m (Round-trip 119.6 ms) speed 0.4 m/s 2025-10-27T05:51:42.671Z,1761544302.671 [DAT](INFO): DAT read: user:568> 2025-10-27T05:51:42.672Z,1761544302.672 [DAT](INFO): DAT read: Tx time:05:51:41.7717 2025-10-27T05:51:42.672Z,1761544302.672 [DAT](INFO): Ping request sent. 2025-10-27T05:51:42.672Z,1761544302.672 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:42.673Z,1761544302.673 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:42.673Z,1761544302.673 [DAT](INFO): direction in FSK: [0.967904,-0.209269,0.139173] 2025-10-27T05:51:42.674Z,1761544302.674 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:42.674Z,1761544302.674 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:42.700Z,1761544302.700 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:42.700Z,1761544302.700 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:42.947Z,1761544302.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.778994 s, deltaX: -1.800003 m, approachRate: -0.476318 m/s, rangeRepo size: 4 2025-10-27T05:51:42.949Z,1761544302.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.167442 m, bearing: 264.620670 deg, lat: 36.779451 deg, lon: -121.859748 deg, deltaT: 3.778994 s, deltaX: -1.788925 m, approachRate: -0.473387 m/s, posRepo size: 4 2025-10-27T05:51:42.950Z,1761544302.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m. 2025-10-27T05:51:42.953Z,1761544302.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.167442 m, nav range: 85.054497 m, bearing: 264.307757 deg, approach rate: 0.000000 m/s, LOS rate: -0.007524 deg/s, cmd heading: 274.892738 deg, new cmd heading: 274.883639 deg. 2025-10-27T05:51:42.954Z,1761544302.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797625 target range: 89.167442 and range: 89.70 m. 2025-10-27T05:51:43.266Z,1761544303.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093531,0.982881,0.158736],[-0.994250,0.083860,0.066585],[0.052134,-0.164051,0.985073]] 2025-10-27T05:51:43.286Z,1761544303.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m. 2025-10-27T05:51:43.289Z,1761544303.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.167442 m, nav range: 84.860298 m, bearing: 264.300669 deg, approach rate: -0.571196 m/s, LOS rate: -0.020897 deg/s, cmd heading: 274.883641 deg, new cmd heading: 274.862326 deg. 2025-10-27T05:51:43.290Z,1761544303.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.797253 target range: 89.167442 and range: 89.70 m. 2025-10-27T05:51:43.668Z,1761544303.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093045,0.983326,0.156247],[-0.994378,0.083809,0.064711],[0.050537,-0.161390,0.985596]] 2025-10-27T05:51:43.741Z,1761544303.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m. 2025-10-27T05:51:43.748Z,1761544303.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.167442 m, nav range: 84.611465 m, bearing: 264.289851 deg, approach rate: -0.547559 m/s, LOS rate: -0.023876 deg/s, cmd heading: 274.862330 deg, new cmd heading: 274.829780 deg. 2025-10-27T05:51:43.752Z,1761544303.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796685 target range: 89.167442 and range: 89.70 m. 2025-10-27T05:51:44.073Z,1761544304.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091992,0.983049,0.158592],[-0.994531,0.082795,0.063664],[0.049454,-0.163581,0.985290]] 2025-10-27T05:51:44.092Z,1761544304.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m. 2025-10-27T05:51:44.095Z,1761544304.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.167442 m, nav range: 84.403137 m, bearing: 264.280883 deg, approach rate: -0.591897 m/s, LOS rate: -0.025540 deg/s, cmd heading: 274.829791 deg, new cmd heading: 274.802824 deg. 2025-10-27T05:51:44.096Z,1761544304.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.796214 target range: 89.167442 and range: 89.70 m. 2025-10-27T05:51:44.521Z,1761544304.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090759,0.982964,0.159827],[-0.994694,0.081670,0.062561],[0.048442,-0.164657,0.985161]] 2025-10-27T05:51:44.557Z,1761544304.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:44.576Z,1761544304.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m. 2025-10-27T05:51:44.578Z,1761544304.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.167442 m, nav range: 84.131989 m, bearing: 264.268034 deg, approach rate: -0.561100 m/s, LOS rate: -0.026676 deg/s, cmd heading: 274.802826 deg, new cmd heading: 274.764153 deg. 2025-10-27T05:51:44.584Z,1761544304.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795539 target range: 89.167442 and range: 89.70 m. 2025-10-27T05:51:44.676Z,1761544304.676 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:44.676Z,1761544304.676 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:44.676Z,1761544304.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:44.898Z,1761544304.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089712,0.982933,0.160604],[-0.994832,0.080739,0.061562],[0.047544,-0.165296,0.985097]] 2025-10-27T05:51:44.916Z,1761544304.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m. 2025-10-27T05:51:44.919Z,1761544304.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.167442 m, nav range: 83.922874 m, bearing: 264.258216 deg, approach rate: -0.614081 m/s, LOS rate: -0.028904 deg/s, cmd heading: 274.764140 deg, new cmd heading: 274.734611 deg. 2025-10-27T05:51:44.920Z,1761544304.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795023 target range: 89.167442 and range: 89.70 m. 2025-10-27T05:51:44.928Z,1761544304.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255782 2025-10-27T05:51:45.180Z,1761544305.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507691 2025-10-27T05:51:45.298Z,1761544305.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088179,0.982469,0.164254],[-0.994996,0.079098,0.061042],[0.046980,-0.168815,0.984528]] 2025-10-27T05:51:45.341Z,1761544305.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m. 2025-10-27T05:51:45.344Z,1761544305.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.167442 m, nav range: 83.685852 m, bearing: 264.247265 deg, approach rate: -0.560683 m/s, LOS rate: -0.025977 deg/s, cmd heading: 274.734606 deg, new cmd heading: 274.701661 deg. 2025-10-27T05:51:45.345Z,1761544305.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794448 target range: 89.167442 and range: 89.70 m. 2025-10-27T05:51:45.432Z,1761544305.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759722 2025-10-27T05:51:45.684Z,1761544305.684 [DAT](INFO): DAT read: Rx Time:05:51:44.2926 2025-10-27T05:51:45.684Z,1761544305.684 [DAT](INFO): Rx dataTimestamp_ set to:1761544305.684066 2025-10-27T05:51:45.685Z,1761544305.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012648 2025-10-27T05:51:45.720Z,1761544305.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086570,0.982057,0.167538],[-0.995162,0.077403,0.060504],[0.046451,-0.171966,0.984007]] 2025-10-27T05:51:45.782Z,1761544305.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.17 m. 2025-10-27T05:51:45.785Z,1761544305.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.167442 m, nav range: 83.406525 m, bearing: 264.232724 deg, approach rate: -0.630635 m/s, LOS rate: -0.032940 deg/s, cmd heading: 274.701657 deg, new cmd heading: 274.657887 deg. 2025-10-27T05:51:45.786Z,1761544305.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793684 target range: 89.167442 and range: 89.70 m. 2025-10-27T05:51:45.936Z,1761544305.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263679 2025-10-27T05:51:46.106Z,1761544306.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085127,0.982346,0.166581],[-0.995321,0.076169,0.059458],[0.045720,-0.170863,0.984234]] 2025-10-27T05:51:46.194Z,1761544306.194 [DAT](INFO): DAT read: 05:51:44.2926 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408, 0.04,-3.032, 1.807,-2.422,-3.061, PHS= 0.131,-1.370, 0.595, RAW= 163.0, 7.3, CAL= 162.5, 7.2, ROT= 347.5, -7.2 2025-10-27T05:51:46.195Z,1761544306.195 [DAT](INFO): got valid direction response: 05:51:44.2926 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 408, 0.04,-3.032, 1.807,-2.422,-3.061, PHS= 0.131,-1.370, 0.595, RAW= 163.0, 7.3, CAL= 162.5, 7.2, ROT= 347.5, -7.2 2025-10-27T05:51:46.196Z,1761544306.196 [DAT](INFO): DAT read: Bearing 79.3, -10.7 (Local) 2025-10-27T05:51:46.197Z,1761544306.197 [DAT](INFO): Local bearing/azimuth received: Bearing 79.3, -10.7 (Local) 2025-10-27T05:51:46.198Z,1761544306.198 [DAT](INFO): DAT read: Range 11 to 50 : 87.5 m (Round-trip 116.7 ms) speed 0.6 m/s 2025-10-27T05:51:46.199Z,1761544306.199 [DAT](INFO): DAT read: user:569> 2025-10-27T05:51:46.199Z,1761544306.199 [DAT](INFO): DAT read: Tx time:05:51:45.4216 2025-10-27T05:51:46.200Z,1761544306.200 [DAT](INFO): Ping request sent. 2025-10-27T05:51:46.200Z,1761544306.200 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:46.200Z,1761544306.200 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:46.201Z,1761544306.201 [DAT](INFO): direction in FSK: [0.968598,-0.214733,0.125333] 2025-10-27T05:51:46.201Z,1761544306.201 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:46.202Z,1761544306.202 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:46.206Z,1761544306.206 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:46.212Z,1761544306.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.500000 m, deltaT: 3.528059 s, deltaX: -2.199997 m, approachRate: -0.623571 m/s, rangeRepo size: 4 2025-10-27T05:51:46.214Z,1761544306.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.980713 m, bearing: 263.688742 deg, lat: 36.779451 deg, lon: -121.859748 deg, deltaT: 3.528059 s, deltaX: -2.186729 m, approachRate: -0.619811 m/s, posRepo size: 4 2025-10-27T05:51:46.214Z,1761544306.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:46.223Z,1761544306.223 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:46.229Z,1761544306.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 83.161308 m, bearing: 264.220127 deg, approach rate: 0.000000 m/s, LOS rate: -0.032940 deg/s, cmd heading: 274.657889 deg, new cmd heading: 274.615492 deg. 2025-10-27T05:51:46.230Z,1761544306.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792944 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:46.553Z,1761544306.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083299,0.982395,0.167214],[-0.995499,0.074423,0.058673],[0.045196,-0.171349,0.984173]] 2025-10-27T05:51:46.610Z,1761544306.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:46.613Z,1761544306.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 82.901337 m, bearing: 264.211263 deg, approach rate: -0.651230 m/s, LOS rate: -0.022276 deg/s, cmd heading: 274.615487 deg, new cmd heading: 274.588810 deg. 2025-10-27T05:51:46.614Z,1761544306.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792479 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:46.922Z,1761544306.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081315,0.982293,0.168783],[-0.995681,0.072450,0.058047],[0.044791,-0.172774,0.983943]] 2025-10-27T05:51:46.939Z,1761544306.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:46.941Z,1761544306.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:46.944Z,1761544306.944 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:46.944Z,1761544306.944 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:46.944Z,1761544306.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:46.951Z,1761544306.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 82.693962 m, bearing: 264.204431 deg, approach rate: -0.627116 m/s, LOS rate: -0.020712 deg/s, cmd heading: 274.588822 deg, new cmd heading: 274.568275 deg. 2025-10-27T05:51:46.952Z,1761544306.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792120 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:47.196Z,1761544307.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995941 2025-10-27T05:51:47.317Z,1761544307.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079034,0.982155,0.170660],[-0.995883,0.070168,0.057386],[0.044387,-0.174493,0.983658]] 2025-10-27T05:51:47.343Z,1761544307.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:47.346Z,1761544307.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 82.445259 m, bearing: 264.196577 deg, approach rate: -0.619020 m/s, LOS rate: -0.019607 deg/s, cmd heading: 274.568277 deg, new cmd heading: 274.544645 deg. 2025-10-27T05:51:47.346Z,1761544307.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791708 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:47.448Z,1761544307.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248173 2025-10-27T05:51:47.701Z,1761544307.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500325 2025-10-27T05:51:47.742Z,1761544307.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077396,0.982010,0.172237],[-0.996033,0.068551,0.056733],[0.043905,-0.175945,0.983420]] 2025-10-27T05:51:47.823Z,1761544307.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:47.826Z,1761544307.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 82.165474 m, bearing: 264.189130 deg, approach rate: -0.587023 m/s, LOS rate: -0.015678 deg/s, cmd heading: 274.544645 deg, new cmd heading: 274.522227 deg. 2025-10-27T05:51:47.835Z,1761544307.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791317 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:47.953Z,1761544307.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752364 2025-10-27T05:51:48.163Z,1761544308.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075938,0.982156,0.172057],[-0.996172,0.067235,0.055861],[0.043295,-0.175641,0.983502]] 2025-10-27T05:51:48.202Z,1761544308.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:48.204Z,1761544308.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004143 2025-10-27T05:51:48.209Z,1761544308.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 81.935760 m, bearing: 264.183214 deg, approach rate: -0.600480 m/s, LOS rate: -0.015506 deg/s, cmd heading: 274.522214 deg, new cmd heading: 274.504419 deg. 2025-10-27T05:51:48.210Z,1761544308.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791006 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:48.461Z,1761544308.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260585 2025-10-27T05:51:48.585Z,1761544308.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074605,0.982754,0.169203],[-0.996302,0.066205,0.054763],[0.042617,-0.172663,0.984059]] 2025-10-27T05:51:48.687Z,1761544308.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:48.690Z,1761544308.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 81.633034 m, bearing: 264.181538 deg, approach rate: -0.624399 m/s, LOS rate: -0.003470 deg/s, cmd heading: 274.504428 deg, new cmd heading: 274.499381 deg. 2025-10-27T05:51:48.691Z,1761544308.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790918 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:48.709Z,1761544308.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508415 2025-10-27T05:51:48.960Z,1761544308.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759916 2025-10-27T05:51:49.044Z,1761544309.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073505,0.983093,0.167707],[-0.996415,0.065331,0.053757],[0.041892,-0.171057,0.984370]] 2025-10-27T05:51:49.084Z,1761544309.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:49.086Z,1761544309.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:49.089Z,1761544309.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 81.402672 m, bearing: 264.180451 deg, approach rate: -0.576621 m/s, LOS rate: -0.002729 deg/s, cmd heading: 274.499374 deg, new cmd heading: 274.496103 deg. 2025-10-27T05:51:49.090Z,1761544309.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790861 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:49.212Z,1761544309.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011937 2025-10-27T05:51:49.438Z,1761544309.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072633,0.983154,0.167727],[-0.996499,0.064554,0.053134],[0.041412,-0.170999,0.984401]] 2025-10-27T05:51:49.464Z,1761544309.464 [DAT](INFO): DAT read: Rx Time:05:51:47.9391 2025-10-27T05:51:49.464Z,1761544309.464 [DAT](INFO): Rx dataTimestamp_ set to:1761544309.464215 2025-10-27T05:51:49.465Z,1761544309.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265114 2025-10-27T05:51:49.477Z,1761544309.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:49.480Z,1761544309.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 81.158180 m, bearing: 264.179441 deg, approach rate: -0.625081 m/s, LOS rate: -0.002590 deg/s, cmd heading: 274.496096 deg, new cmd heading: 274.493056 deg. 2025-10-27T05:51:49.481Z,1761544309.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790808 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:49.716Z,1761544309.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516428 2025-10-27T05:51:49.903Z,1761544309.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.98 m. 2025-10-27T05:51:49.905Z,1761544309.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.980713 m, nav range: 80.921967 m, bearing: 264.183765 deg, approach rate: -0.555426 m/s, LOS rate: 0.010197 deg/s, cmd heading: 274.493063 deg, new cmd heading: 274.506073 deg. 2025-10-27T05:51:49.906Z,1761544309.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791035 target range: 86.980713 and range: 87.50 m. 2025-10-27T05:51:49.974Z,1761544309.974 [DAT](INFO): DAT read: 05:51:47.9391 LVL= 32752, 32753, 32338, 32755, AGC= 65, IDX= 406,-0.22,-2.037, 2.878,-1.466,-2.019, PHS= 0.085,-1.340, 0.510, RAW= 162.7, 8.9, CAL= 162.4, 9.4, ROT= 347.6, -9.4 2025-10-27T05:51:49.975Z,1761544309.975 [DAT](INFO): got valid direction response: 05:51:47.9391 LVL= 32752, 32753, 32338, 32755, AGC= 65, IDX= 406,-0.22,-2.037, 2.878,-1.466,-2.019, PHS= 0.085,-1.340, 0.510, RAW= 162.7, 8.9, CAL= 162.4, 9.4, ROT= 347.6, -9.4 2025-10-27T05:51:49.976Z,1761544309.976 [DAT](INFO): DAT read: Bearing 81.1, -11.5 (Local) 2025-10-27T05:51:49.976Z,1761544309.976 [DAT](INFO): Local bearing/azimuth received: Bearing 81.1, -11.5 (Local) 2025-10-27T05:51:49.978Z,1761544309.978 [DAT](INFO): DAT read: Range 11 to 50 : 84.9 m (Round-trip 113.3 ms) speed -0.1 m/s 2025-10-27T05:51:49.978Z,1761544309.978 [DAT](INFO): DAT read: user:570> 2025-10-27T05:51:49.979Z,1761544309.979 [DAT](INFO): DAT read: Tx time:05:51:49.0716 2025-10-27T05:51:49.980Z,1761544309.980 [DAT](INFO): Ping request sent. 2025-10-27T05:51:49.980Z,1761544309.980 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:49.980Z,1761544309.980 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:49.981Z,1761544309.981 [DAT](INFO): direction in FSK: [0.963558,-0.211852,0.163326] 2025-10-27T05:51:49.981Z,1761544309.981 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:49.981Z,1761544309.981 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:49.985Z,1761544309.985 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:49.985Z,1761544309.985 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:50.246Z,1761544310.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072780,0.983339,0.166573],[-0.996542,0.064985,0.051786],[0.040098,-0.169766,0.984668]] 2025-10-27T05:51:50.287Z,1761544310.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.900002 m, deltaT: 3.779950 s, deltaX: -2.599998 m, approachRate: -0.687839 m/s, rangeRepo size: 4 2025-10-27T05:51:50.289Z,1761544310.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.395027 m, bearing: 263.442611 deg, lat: 36.779442 deg, lon: -121.859769 deg, deltaT: 3.779950 s, deltaX: -2.585686 m, approachRate: -0.684053 m/s, posRepo size: 4 2025-10-27T05:51:50.290Z,1761544310.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.40 m. 2025-10-27T05:51:50.293Z,1761544310.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.395027 m, nav range: 82.654335 m, bearing: 263.638629 deg, approach rate: 0.000000 m/s, LOS rate: 0.010197 deg/s, cmd heading: 274.506068 deg, new cmd heading: 274.517802 deg. 2025-10-27T05:51:50.293Z,1761544310.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791239 target range: 84.395027 and range: 84.90 m. 2025-10-27T05:51:50.659Z,1761544310.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073623,0.983498,0.165262],[-0.996508,0.066002,0.051146],[0.039394,-0.168451,0.984923]] 2025-10-27T05:51:50.706Z,1761544310.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.40 m. 2025-10-27T05:51:50.710Z,1761544310.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.395027 m, nav range: 82.438438 m, bearing: 263.644676 deg, approach rate: -0.514496 m/s, LOS rate: 0.014449 deg/s, cmd heading: 274.517788 deg, new cmd heading: 274.535977 deg. 2025-10-27T05:51:50.712Z,1761544310.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791557 target range: 84.395027 and range: 84.90 m. 2025-10-27T05:51:51.061Z,1761544311.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075211,0.983710,0.163271],[-0.996429,0.067840,0.050266],[0.038371,-0.166469,0.985300]] 2025-10-27T05:51:51.079Z,1761544311.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.40 m. 2025-10-27T05:51:51.082Z,1761544311.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.395027 m, nav range: 82.245605 m, bearing: 263.649919 deg, approach rate: -0.516358 m/s, LOS rate: 0.014071 deg/s, cmd heading: 274.535984 deg, new cmd heading: 274.551749 deg. 2025-10-27T05:51:51.083Z,1761544311.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791832 target range: 84.395027 and range: 84.90 m. 2025-10-27T05:51:51.464Z,1761544311.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079258,0.983516,0.162528],[-0.996172,0.072113,0.049411],[0.036876,-0.165822,0.985466]] 2025-10-27T05:51:51.483Z,1761544311.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:51.485Z,1761544311.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.40 m. 2025-10-27T05:51:51.505Z,1761544311.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.395027 m, nav range: 82.038124 m, bearing: 263.655002 deg, approach rate: -0.511028 m/s, LOS rate: 0.012552 deg/s, cmd heading: 274.551748 deg, new cmd heading: 274.567037 deg. 2025-10-27T05:51:51.506Z,1761544311.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792099 target range: 84.395027 and range: 84.90 m. 2025-10-27T05:51:51.732Z,1761544311.732 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:51.732Z,1761544311.732 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:51.733Z,1761544311.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:51.866Z,1761544311.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081877,0.983516,0.161221],[-0.996003,0.074951,0.048593],[0.035708,-0.164555,0.985721]] 2025-10-27T05:51:51.910Z,1761544311.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.40 m. 2025-10-27T05:51:51.913Z,1761544311.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.395027 m, nav range: 81.834152 m, bearing: 263.662328 deg, approach rate: -0.479761 m/s, LOS rate: 0.017273 deg/s, cmd heading: 274.567048 deg, new cmd heading: 274.589079 deg. 2025-10-27T05:51:51.914Z,1761544311.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792483 target range: 84.395027 and range: 84.90 m. 2025-10-27T05:51:51.984Z,1761544311.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004399 2025-10-27T05:51:52.236Z,1761544312.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256150 2025-10-27T05:51:52.288Z,1761544312.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084544,0.983357,0.160814],[-0.995825,0.077811,0.047730],[0.034423,-0.164178,0.985830]] 2025-10-27T05:51:52.343Z,1761544312.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.40 m. 2025-10-27T05:51:52.346Z,1761544312.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.395027 m, nav range: 81.642700 m, bearing: 263.668876 deg, approach rate: -0.446878 m/s, LOS rate: 0.015321 deg/s, cmd heading: 274.589068 deg, new cmd heading: 274.608759 deg. 2025-10-27T05:51:52.347Z,1761544312.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792827 target range: 84.395027 and range: 84.90 m. 2025-10-27T05:51:52.488Z,1761544312.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508168 2025-10-27T05:51:52.674Z,1761544312.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087598,0.983087,0.160832],[-0.995609,0.081050,0.046845],[0.033017,-0.164230,0.985869]] 2025-10-27T05:51:52.740Z,1761544312.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760215 2025-10-27T05:51:52.763Z,1761544312.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.40 m. 2025-10-27T05:51:52.774Z,1761544312.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.395027 m, nav range: 81.457718 m, bearing: 263.677776 deg, approach rate: -0.441881 m/s, LOS rate: 0.021308 deg/s, cmd heading: 274.608766 deg, new cmd heading: 274.635527 deg. 2025-10-27T05:51:52.775Z,1761544312.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793294 target range: 84.395027 and range: 84.90 m. 2025-10-27T05:51:52.992Z,1761544312.992 [DAT](INFO): DAT read: Rx Time:05:51:51.5870 2025-10-27T05:51:52.993Z,1761544312.993 [DAT](INFO): Rx dataTimestamp_ set to:1761544312.992844 2025-10-27T05:51:52.994Z,1761544312.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014126 2025-10-27T05:51:53.081Z,1761544313.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090410,0.982899,0.160423],[-0.995402,0.084069,0.045895],[0.031624,-0.163835,0.985981]] 2025-10-27T05:51:53.100Z,1761544313.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.40 m. 2025-10-27T05:51:53.119Z,1761544313.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.395027 m, nav range: 81.292145 m, bearing: 263.685445 deg, approach rate: -0.483071 m/s, LOS rate: 0.022419 deg/s, cmd heading: 274.635513 deg, new cmd heading: 274.658566 deg. 2025-10-27T05:51:53.121Z,1761544313.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793696 target range: 84.395027 and range: 84.90 m. 2025-10-27T05:51:53.244Z,1761544313.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264618 2025-10-27T05:51:53.502Z,1761544313.502 [DAT](INFO): DAT read: 05:51:51.5870 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 399, 0.10,-2.746, 2.141,-2.127,-2.740, PHS= 0.096,-1.357, 0.570, RAW= 163.6, 8.0, CAL= 163.3, 8.2, ROT= 346.7, -8.2 2025-10-27T05:51:53.503Z,1761544313.503 [DAT](INFO): got valid direction response: 05:51:51.5870 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 399, 0.10,-2.746, 2.141,-2.127,-2.740, PHS= 0.096,-1.357, 0.570, RAW= 163.6, 8.0, CAL= 163.3, 8.2, ROT= 346.7, -8.2 2025-10-27T05:51:53.504Z,1761544313.504 [DAT](INFO): DAT read: Bearing 80.1, -12.4 (Local) 2025-10-27T05:51:53.504Z,1761544313.504 [DAT](INFO): Local bearing/azimuth received: Bearing 80.1, -12.4 (Local) 2025-10-27T05:51:53.505Z,1761544313.505 [DAT](INFO): DAT read: Range 11 to 50 : 83.4 m (Round-trip 111.2 ms) speed 0.3 m/s 2025-10-27T05:51:53.506Z,1761544313.506 [DAT](INFO): DAT read: user:571> 2025-10-27T05:51:53.507Z,1761544313.507 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:53.508Z,1761544313.508 [DAT](INFO): direction in FSK: [0.963229,-0.227697,0.142629] 2025-10-27T05:51:53.508Z,1761544313.508 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:53.512Z,1761544313.512 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:53.512Z,1761544313.512 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:53.512Z,1761544313.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:53.539Z,1761544313.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093116,0.982734,0.159887],[-0.995197,0.086995,0.044883],[0.030199,-0.163298,0.986115]] 2025-10-27T05:51:53.609Z,1761544313.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.400002 m, deltaT: 3.527962 s, deltaX: -1.500000 m, approachRate: -0.425175 m/s, rangeRepo size: 4 2025-10-27T05:51:53.626Z,1761544313.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.903931 m, bearing: 263.469568 deg, lat: 36.779441 deg, lon: -121.859769 deg, deltaT: 3.527962 s, deltaX: -1.491096 m, approachRate: -0.422651 m/s, posRepo size: 4 2025-10-27T05:51:53.633Z,1761544313.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:53.654Z,1761544313.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 81.100861 m, bearing: 263.581398 deg, approach rate: 0.000000 m/s, LOS rate: 0.022419 deg/s, cmd heading: 274.658572 deg, new cmd heading: 274.692335 deg. 2025-10-27T05:51:53.666Z,1761544313.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794286 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:53.749Z,1761544313.749 [DAT](INFO): DAT read: Tx time:05:51:52.7216 2025-10-27T05:51:53.750Z,1761544313.750 [DAT](INFO): Ping request sent. 2025-10-27T05:51:53.750Z,1761544313.750 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:53.750Z,1761544313.750 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:53.751Z,1761544313.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001605 2025-10-27T05:51:53.934Z,1761544313.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095063,0.982782,0.158439],[-0.995050,0.089184,0.043830],[0.028945,-0.161821,0.986396]] 2025-10-27T05:51:53.987Z,1761544313.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:53.989Z,1761544313.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:53.992Z,1761544313.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 80.907974 m, bearing: 263.586494 deg, approach rate: -0.498532 m/s, LOS rate: 0.013203 deg/s, cmd heading: 274.692341 deg, new cmd heading: 274.707666 deg. 2025-10-27T05:51:53.993Z,1761544313.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794553 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:53.000Z,1761544314.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250336 2025-10-27T05:51:54.252Z,1761544314.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502365 2025-10-27T05:51:54.336Z,1761544314.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096620,0.982859,0.157010],[-0.994931,0.090956,0.042882],[0.027866,-0.160357,0.986666]] 2025-10-27T05:51:54.360Z,1761544314.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:54.363Z,1761544314.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 80.736328 m, bearing: 263.590865 deg, approach rate: -0.462333 m/s, LOS rate: 0.011799 deg/s, cmd heading: 274.707668 deg, new cmd heading: 274.720809 deg. 2025-10-27T05:51:54.364Z,1761544314.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794783 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:54.504Z,1761544314.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754491 2025-10-27T05:51:54.743Z,1761544314.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098080,0.982775,0.156633],[-0.994822,0.092608,0.041877],[0.026651,-0.159929,0.986769]] 2025-10-27T05:51:54.756Z,1761544314.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006393 2025-10-27T05:51:54.793Z,1761544314.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:54.796Z,1761544314.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 80.528000 m, bearing: 263.594854 deg, approach rate: -0.481705 m/s, LOS rate: 0.009246 deg/s, cmd heading: 274.720809 deg, new cmd heading: 274.732805 deg. 2025-10-27T05:51:54.797Z,1761544314.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794992 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:55.009Z,1761544315.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259321 2025-10-27T05:51:55.149Z,1761544315.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098165,0.982283,0.159635],[-0.994840,0.092728,0.041177],[0.025645,-0.162853,0.986317]] 2025-10-27T05:51:55.168Z,1761544315.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:55.171Z,1761544315.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 80.346962 m, bearing: 263.598313 deg, approach rate: -0.481925 m/s, LOS rate: 0.009230 deg/s, cmd heading: 274.732803 deg, new cmd heading: 274.743205 deg. 2025-10-27T05:51:55.172Z,1761544315.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795174 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:55.260Z,1761544315.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510410 2025-10-27T05:51:55.512Z,1761544315.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762300 2025-10-27T05:51:55.705Z,1761544315.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:55.709Z,1761544315.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 80.096481 m, bearing: 263.603126 deg, approach rate: -0.467151 m/s, LOS rate: 0.009004 deg/s, cmd heading: 274.743212 deg, new cmd heading: 274.757695 deg. 2025-10-27T05:51:55.710Z,1761544315.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795426 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:55.764Z,1761544315.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014531 2025-10-27T05:51:56.017Z,1761544316.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267040 2025-10-27T05:51:56.065Z,1761544316.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096137,0.981624,0.164840],[-0.995065,0.090692,0.040268],[0.024578,-0.167898,0.985498]] 2025-10-27T05:51:56.156Z,1761544316.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:56.158Z,1761544316.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:56.166Z,1761544316.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 79.836853 m, bearing: 263.598343 deg, approach rate: -0.572262 m/s, LOS rate: -0.010577 deg/s, cmd heading: 274.757692 deg, new cmd heading: 274.743296 deg. 2025-10-27T05:51:56.166Z,1761544316.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.795175 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:56.269Z,1761544316.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519200 2025-10-27T05:51:56.500Z,1761544316.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094045,0.981361,0.167591],[-0.995271,0.088561,0.039915],[0.024329,-0.170553,0.985048]] 2025-10-27T05:51:56.520Z,1761544316.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770215 2025-10-27T05:51:56.560Z,1761544316.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:56.564Z,1761544316.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 79.618767 m, bearing: 263.594625 deg, approach rate: -0.542274 m/s, LOS rate: -0.009270 deg/s, cmd heading: 274.743294 deg, new cmd heading: 274.732109 deg. 2025-10-27T05:51:56.564Z,1761544316.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794980 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:56.772Z,1761544316.772 [DAT](INFO): DAT read: Rx Time:05:51:55.2347 2025-10-27T05:51:56.772Z,1761544316.772 [DAT](INFO): Rx dataTimestamp_ set to:1761544316.772105 2025-10-27T05:51:56.773Z,1761544316.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023358 2025-10-27T05:51:56.980Z,1761544316.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.90 m. 2025-10-27T05:51:56.983Z,1761544316.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.903931 m, nav range: 79.350647 m, bearing: 263.584108 deg, approach rate: -0.638572 m/s, LOS rate: -0.025133 deg/s, cmd heading: 274.732120 deg, new cmd heading: 274.700462 deg. 2025-10-27T05:51:56.984Z,1761544316.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794427 target range: 82.903931 and range: 83.40 m. 2025-10-27T05:51:57.024Z,1761544317.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274397 2025-10-27T05:51:57.285Z,1761544317.285 [DAT](INFO): DAT read: 05:51:55.2347 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 424,-0.18, 0.313,-1.082, 0.927, 0.336, PHS= 0.078,-1.373, 0.547, RAW= 163.5, 8.7, CAL= 163.3, 9.1, ROT= 346.7, -9.1 2025-10-27T05:51:57.286Z,1761544317.286 [DAT](INFO): got valid direction response: 05:51:55.2347 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 424,-0.18, 0.313,-1.082, 0.927, 0.336, PHS= 0.078,-1.373, 0.547, RAW= 163.5, 8.7, CAL= 163.3, 9.1, ROT= 346.7, -9.1 2025-10-27T05:51:57.287Z,1761544317.287 [DAT](INFO): DAT read: Bearing 81.2, -12.9 (Local) 2025-10-27T05:51:57.287Z,1761544317.287 [DAT](INFO): Local bearing/azimuth received: Bearing 81.2, -12.9 (Local) 2025-10-27T05:51:57.289Z,1761544317.289 [DAT](INFO): DAT read: Range 11 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.6 m/s 2025-10-27T05:51:57.289Z,1761544317.289 [DAT](INFO): DAT read: user:572> 2025-10-27T05:51:57.290Z,1761544317.290 [DAT](INFO): DAT read: Tx time:05:51:56.3716 2025-10-27T05:51:57.290Z,1761544317.290 [DAT](INFO): Ping request sent. 2025-10-27T05:51:57.290Z,1761544317.290 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:51:57.327Z,1761544317.327 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:51:57.328Z,1761544317.328 [DAT](INFO): direction in FSK: [0.960930,-0.227154,0.158158] 2025-10-27T05:51:57.328Z,1761544317.328 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:57.328Z,1761544317.328 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:57.347Z,1761544317.347 [DAT](INFO): publishing transmit ping time 2025-10-27T05:51:57.348Z,1761544317.348 [DAT](INFO): publishing direction and range info 2025-10-27T05:51:57.418Z,1761544317.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.780335 s, deltaX: -1.800003 m, approachRate: -0.476149 m/s, rangeRepo size: 4 2025-10-27T05:51:57.424Z,1761544317.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.114296 m, bearing: 263.762232 deg, lat: 36.779441 deg, lon: -121.859769 deg, deltaT: 3.780335 s, deltaX: -1.789635 m, approachRate: -0.473406 m/s, posRepo size: 4 2025-10-27T05:51:57.425Z,1761544317.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:51:57.432Z,1761544317.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 79.133080 m, bearing: 263.577145 deg, approach rate: 0.000000 m/s, LOS rate: -0.025133 deg/s, cmd heading: 274.700455 deg, new cmd heading: 274.667503 deg. 2025-10-27T05:51:57.433Z,1761544317.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793852 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:51:57.773Z,1761544317.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086883,0.980963,0.173673],[-0.995916,0.081233,0.039396],[0.024539,-0.176386,0.984015]] 2025-10-27T05:51:57.839Z,1761544317.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:51:57.842Z,1761544317.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 78.864563 m, bearing: 263.562693 deg, approach rate: -0.643076 m/s, LOS rate: -0.034728 deg/s, cmd heading: 274.667506 deg, new cmd heading: 274.624004 deg. 2025-10-27T05:51:57.847Z,1761544317.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.793093 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:51:58.171Z,1761544318.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084060,0.980878,0.175536],[-0.996147,0.078302,0.039490],[0.024990,-0.178180,0.983681]] 2025-10-27T05:51:58.189Z,1761544318.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:51:58.191Z,1761544318.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:51:58.193Z,1761544318.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 78.620613 m, bearing: 263.549977 deg, approach rate: -0.685811 m/s, LOS rate: -0.035860 deg/s, cmd heading: 274.624011 deg, new cmd heading: 274.585744 deg. 2025-10-27T05:51:58.194Z,1761544318.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.792425 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:51:58.284Z,1761544318.284 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:51:58.284Z,1761544318.284 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:51:58.284Z,1761544318.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:51:58.536Z,1761544318.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245490 2025-10-27T05:51:58.574Z,1761544318.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081718,0.980893,0.176553],[-0.996332,0.075885,0.039552],[0.025399,-0.179138,0.983496]] 2025-10-27T05:51:58.612Z,1761544318.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:51:58.620Z,1761544318.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 78.358955 m, bearing: 263.536697 deg, approach rate: -0.628864 m/s, LOS rate: -0.032023 deg/s, cmd heading: 274.585735 deg, new cmd heading: 274.545763 deg. 2025-10-27T05:51:58.622Z,1761544318.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791728 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:51:58.788Z,1761544318.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497510 2025-10-27T05:51:59.040Z,1761544319.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749575 2025-10-27T05:51:59.064Z,1761544319.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:51:59.069Z,1761544319.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 78.060860 m, bearing: 263.525441 deg, approach rate: -0.677307 m/s, LOS rate: -0.025672 deg/s, cmd heading: 274.545765 deg, new cmd heading: 274.511868 deg. 2025-10-27T05:51:59.070Z,1761544319.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791136 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:51:59.292Z,1761544319.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001490 2025-10-27T05:51:59.417Z,1761544319.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078617,0.981539,0.174355],[-0.996549,0.072707,0.040034],[0.026618,-0.176901,0.983869]] 2025-10-27T05:51:59.437Z,1761544319.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:51:59.440Z,1761544319.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 77.803329 m, bearing: 263.516264 deg, approach rate: -0.660510 m/s, LOS rate: -0.023616 deg/s, cmd heading: 274.511860 deg, new cmd heading: 274.484236 deg. 2025-10-27T05:51:59.441Z,1761544319.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790654 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:51:59.544Z,1761544319.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253600 2025-10-27T05:51:59.796Z,1761544319.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505467 2025-10-27T05:51:59.818Z,1761544319.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076781,0.982048,0.172296],[-0.996676,0.070877,0.040171],[0.027239,-0.174808,0.984226]] 2025-10-27T05:51:59.873Z,1761544319.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:51:59.876Z,1761544319.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 77.518478 m, bearing: 263.506018 deg, approach rate: -0.652377 m/s, LOS rate: -0.023552 deg/s, cmd heading: 274.484238 deg, new cmd heading: 274.453387 deg. 2025-10-27T05:51:59.877Z,1761544319.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790115 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:52:00.048Z,1761544320.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757593 2025-10-27T05:52:00.224Z,1761544320.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075423,0.982450,0.170600],[-0.996770,0.069547,0.040167],[0.027597,-0.173078,0.984521]] 2025-10-27T05:52:00.241Z,1761544320.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:00.243Z,1761544320.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:52:00.246Z,1761544320.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 77.271568 m, bearing: 263.497349 deg, approach rate: -0.667254 m/s, LOS rate: -0.023502 deg/s, cmd heading: 274.453393 deg, new cmd heading: 274.427303 deg. 2025-10-27T05:52:00.248Z,1761544320.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789660 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:52:00.301Z,1761544320.301 [DAT](INFO): DAT read: Rx Time:05:51:58.8812 2025-10-27T05:52:00.302Z,1761544320.302 [DAT](INFO): Rx dataTimestamp_ set to:1761544320.301491 2025-10-27T05:52:00.303Z,1761544320.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012245 2025-10-27T05:52:00.552Z,1761544320.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261510 2025-10-27T05:52:00.633Z,1761544320.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074225,0.982871,0.168684],[-0.996850,0.068390,0.040147],[0.027923,-0.171133,0.984852]] 2025-10-27T05:52:00.670Z,1761544320.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.11 m. 2025-10-27T05:52:00.676Z,1761544320.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.114296 m, nav range: 77.002068 m, bearing: 263.488094 deg, approach rate: -0.632423 m/s, LOS rate: -0.021794 deg/s, cmd heading: 274.427302 deg, new cmd heading: 274.399440 deg. 2025-10-27T05:52:00.683Z,1761544320.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789174 target range: 81.114296 and range: 81.60 m. 2025-10-27T05:52:00.811Z,1761544320.811 [DAT](INFO): DAT read: 05:51:58.8812 LVL= 32752, 32753, 27378, 32755, AGC= 68, IDX= 404, 0.16, 0.323,-1.111, 0.952, 0.295, PHS= 0.130,-1.361, 0.613, RAW= 163.6, 7.0, CAL= 163.0, 6.8, ROT= 347.0, -6.8 2025-10-27T05:52:00.813Z,1761544320.813 [DAT](INFO): got valid direction response: 05:51:58.8812 LVL= 32752, 32753, 27378, 32755, AGC= 68, IDX= 404, 0.16, 0.323,-1.111, 0.952, 0.295, PHS= 0.130,-1.361, 0.613, RAW= 163.6, 7.0, CAL= 163.0, 6.8, ROT= 347.0, -6.8 2025-10-27T05:52:00.814Z,1761544320.814 [DAT](INFO): DAT read: Bearing 78.8, -12.7 (Local) 2025-10-27T05:52:00.816Z,1761544320.816 [DAT](INFO): Local bearing/azimuth received: Bearing 78.8, -12.7 (Local) 2025-10-27T05:52:00.818Z,1761544320.818 [DAT](INFO): DAT read: Range 11 to 50 : 79.0 m (Round-trip 105.4 ms) speed 0.3 m/s 2025-10-27T05:52:00.819Z,1761544320.819 [DAT](INFO): DAT read: user:573> 2025-10-27T05:52:00.821Z,1761544320.821 [DAT](INFO): DAT read: Tx time:05:51:59.9716 2025-10-27T05:52:00.821Z,1761544320.821 [DAT](INFO): Ping request sent. 2025-10-27T05:52:00.821Z,1761544320.821 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:00.822Z,1761544320.822 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:00.836Z,1761544320.836 [DAT](INFO): direction in FSK: [0.967516,-0.223369,0.118404] 2025-10-27T05:52:00.836Z,1761544320.836 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:00.836Z,1761544320.836 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:00.847Z,1761544320.847 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:00.847Z,1761544320.847 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:01.080Z,1761544321.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073033,0.983795,0.163751],[-0.996937,0.067409,0.039647],[0.027967,-0.166145,0.985705]] 2025-10-27T05:52:01.165Z,1761544321.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.000000 m, deltaT: 3.527684 s, deltaX: -2.599998 m, approachRate: -0.737027 m/s, rangeRepo size: 4 2025-10-27T05:52:01.168Z,1761544321.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.530777 m, bearing: 262.422031 deg, lat: 36.779440 deg, lon: -121.859770 deg, deltaT: 3.527684 s, deltaX: -2.583519 m, approachRate: -0.732356 m/s, posRepo size: 4 2025-10-27T05:52:01.168Z,1761544321.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:01.171Z,1761544321.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 76.765762 m, bearing: 263.450684 deg, approach rate: 0.000000 m/s, LOS rate: -0.021794 deg/s, cmd heading: 274.399435 deg, new cmd heading: 274.367055 deg. 2025-10-27T05:52:01.172Z,1761544321.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788609 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:01.482Z,1761544321.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072869,0.983922,0.163057],[-0.996954,0.067301,0.039421],[0.027814,-0.165433,0.985829]] 2025-10-27T05:52:01.505Z,1761544321.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:01.508Z,1761544321.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 76.545433 m, bearing: 263.445022 deg, approach rate: -0.647291 m/s, LOS rate: -0.016680 deg/s, cmd heading: 274.367060 deg, new cmd heading: 274.350027 deg. 2025-10-27T05:52:01.509Z,1761544321.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788311 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:01.883Z,1761544321.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072833,0.983761,0.164039],[-0.996956,0.067223,0.039502],[0.027834,-0.166416,0.985663]] 2025-10-27T05:52:01.927Z,1761544321.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:01.930Z,1761544321.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 76.307869 m, bearing: 263.443655 deg, approach rate: -0.563083 m/s, LOS rate: -0.003251 deg/s, cmd heading: 274.350039 deg, new cmd heading: 274.345924 deg. 2025-10-27T05:52:01.931Z,1761544321.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788239 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:02.284Z,1761544322.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073314,0.983709,0.164140],[-0.996929,0.067743,0.039291],[0.027532,-0.166517,0.985654]] 2025-10-27T05:52:02.308Z,1761544322.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:02.310Z,1761544322.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:02.312Z,1761544322.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 76.092583 m, bearing: 263.442327 deg, approach rate: -0.562718 m/s, LOS rate: -0.003479 deg/s, cmd heading: 274.345913 deg, new cmd heading: 274.341920 deg. 2025-10-27T05:52:02.313Z,1761544322.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788170 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:02.316Z,1761544322.316 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:02.316Z,1761544322.316 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:02.316Z,1761544322.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:02.572Z,1761544322.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750854 2025-10-27T05:52:02.686Z,1761544322.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074096,0.983789,0.163306],[-0.996890,0.068664,0.038667],[0.026827,-0.165663,0.985817]] 2025-10-27T05:52:02.738Z,1761544322.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:02.808Z,1761544322.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 75.869774 m, bearing: 263.440826 deg, approach rate: -0.521878 m/s, LOS rate: -0.003527 deg/s, cmd heading: 274.341925 deg, new cmd heading: 274.337407 deg. 2025-10-27T05:52:02.809Z,1761544322.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788091 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:02.820Z,1761544322.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998985 2025-10-27T05:52:03.072Z,1761544323.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250927 2025-10-27T05:52:03.247Z,1761544323.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075360,0.983520,0.164343],[-0.996828,0.070075,0.037731],[0.025593,-0.166665,0.985681]] 2025-10-27T05:52:03.264Z,1761544323.264 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -115, +509A 2025-10-27T05:52:03.300Z,1761544323.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:03.307Z,1761544323.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 75.545387 m, bearing: 263.438280 deg, approach rate: -0.575347 m/s, LOS rate: -0.004534 deg/s, cmd heading: 274.337417 deg, new cmd heading: 274.329747 deg. 2025-10-27T05:52:03.308Z,1761544323.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787957 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:03.324Z,1761544323.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503209 2025-10-27T05:52:03.576Z,1761544323.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754908 2025-10-27T05:52:03.652Z,1761544323.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076748,0.983349,0.164727],[-0.996761,0.071692,0.036428],[0.024011,-0.166989,0.985666]] 2025-10-27T05:52:03.675Z,1761544323.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:03.678Z,1761544323.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 75.323196 m, bearing: 263.436278 deg, approach rate: -0.593135 m/s, LOS rate: -0.005362 deg/s, cmd heading: 274.329740 deg, new cmd heading: 274.323714 deg. 2025-10-27T05:52:03.679Z,1761544323.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787852 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:03.828Z,1761544323.828 [DAT](INFO): DAT read: Rx Time:05:52:02.4785 2025-10-27T05:52:03.828Z,1761544323.828 [DAT](INFO): Rx dataTimestamp_ set to:1761544323.828182 2025-10-27T05:52:03.829Z,1761544323.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008025 2025-10-27T05:52:04.064Z,1761544324.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078550,0.983143,0.165106],[-0.996663,0.073757,0.034974],[0.022206,-0.167303,0.985655]] 2025-10-27T05:52:04.080Z,1761544324.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258989 2025-10-27T05:52:04.147Z,1761544324.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:04.150Z,1761544324.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 75.087997 m, bearing: 263.444002 deg, approach rate: -0.503006 m/s, LOS rate: 0.016572 deg/s, cmd heading: 274.323702 deg, new cmd heading: 274.346948 deg. 2025-10-27T05:52:04.151Z,1761544324.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788258 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:04.335Z,1761544324.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513671 2025-10-27T05:52:04.457Z,1761544324.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079947,0.983249,0.163801],[-0.996592,0.075492,0.033256],[0.020333,-0.165901,0.985933]] 2025-10-27T05:52:04.482Z,1761544324.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:04.485Z,1761544324.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.53 m. 2025-10-27T05:52:04.488Z,1761544324.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.530777 m, nav range: 74.914162 m, bearing: 263.449567 deg, approach rate: -0.508140 m/s, LOS rate: 0.016305 deg/s, cmd heading: 274.346952 deg, new cmd heading: 274.363685 deg. 2025-10-27T05:52:04.488Z,1761544324.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788549 target range: 78.530777 and range: 79.00 m. 2025-10-27T05:52:04.593Z,1761544324.593 [DAT](INFO): DAT read: 05:52:02.4785 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 408,-0.15,-2.547, 2.361,-1.977,-2.545, PHS= 0.100,-1.332, 0.524, RAW= 162.6, 8.5, CAL= 162.3, 8.8, ROT= 347.7, -8.8 2025-10-27T05:52:04.596Z,1761544324.596 [DAT](INFO): got valid direction response: 05:52:02.4785 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 408,-0.15,-2.547, 2.361,-1.977,-2.545, PHS= 0.100,-1.332, 0.524, RAW= 162.6, 8.5, CAL= 162.3, 8.8, ROT= 347.7, -8.8 2025-10-27T05:52:04.597Z,1761544324.597 [DAT](INFO): DAT read: Bearing 81.3, -12.5 (Local) 2025-10-27T05:52:04.598Z,1761544324.598 [DAT](INFO): Local bearing/azimuth received: Bearing 81.3, -12.5 (Local) 2025-10-27T05:52:04.604Z,1761544324.604 [DAT](INFO): DAT read: Range 11 to 50 : 77.0 m (Round-trip 102.7 ms) speed 0.3 m/s 2025-10-27T05:52:04.605Z,1761544324.605 [DAT](INFO): DAT read: user:574> 2025-10-27T05:52:04.619Z,1761544324.619 [DAT](INFO): DAT read: Tx time:05:52:03.5716 2025-10-27T05:52:04.620Z,1761544324.620 [DAT](INFO): Ping request sent. 2025-10-27T05:52:04.620Z,1761544324.620 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:04.621Z,1761544324.621 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:04.622Z,1761544324.622 [DAT](INFO): direction in FSK: [0.965544,-0.210522,0.152986] 2025-10-27T05:52:04.622Z,1761544324.622 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:04.622Z,1761544324.622 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:04.626Z,1761544324.626 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:04.626Z,1761544324.626 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:04.862Z,1761544324.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081346,0.983292,0.162851],[-0.996518,0.077238,0.031415],[0.018312,-0.164840,0.986150]] 2025-10-27T05:52:04.914Z,1761544324.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.000000 m, deltaT: 3.780017 s, deltaX: -2.000000 m, approachRate: -0.529098 m/s, rangeRepo size: 4 2025-10-27T05:52:04.917Z,1761544324.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.542557 m, bearing: 263.929334 deg, lat: 36.779440 deg, lon: -121.859770 deg, deltaT: 3.780017 s, deltaX: -1.988220 m, approachRate: -0.525982 m/s, posRepo size: 4 2025-10-27T05:52:04.917Z,1761544324.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.54 m. 2025-10-27T05:52:04.920Z,1761544324.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.542557 m, nav range: 74.709793 m, bearing: 263.457155 deg, approach rate: 0.000000 m/s, LOS rate: 0.016305 deg/s, cmd heading: 274.363672 deg, new cmd heading: 274.384651 deg. 2025-10-27T05:52:04.921Z,1761544324.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788916 target range: 76.542557 and range: 77.00 m. 2025-10-27T05:52:05.266Z,1761544325.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082548,0.983038,0.163774],[-0.996461,0.078796,0.029285],[0.015883,-0.165612,0.986063]] 2025-10-27T05:52:05.298Z,1761544325.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.54 m. 2025-10-27T05:52:05.300Z,1761544325.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.542557 m, nav range: 74.523094 m, bearing: 263.463931 deg, approach rate: -0.486308 m/s, LOS rate: 0.017695 deg/s, cmd heading: 274.384654 deg, new cmd heading: 274.405034 deg. 2025-10-27T05:52:05.301Z,1761544325.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789271 target range: 76.542557 and range: 77.00 m. 2025-10-27T05:52:05.726Z,1761544325.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.54 m. 2025-10-27T05:52:05.738Z,1761544325.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.542557 m, nav range: 74.327888 m, bearing: 263.471053 deg, approach rate: -0.455627 m/s, LOS rate: 0.016667 deg/s, cmd heading: 274.405036 deg, new cmd heading: 274.426457 deg. 2025-10-27T05:52:05.738Z,1761544325.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789645 target range: 76.542557 and range: 77.00 m. 2025-10-27T05:52:06.081Z,1761544326.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085060,0.982904,0.163293],[-0.996299,0.081872,0.026169],[0.012353,-0.164915,0.986230]] 2025-10-27T05:52:06.145Z,1761544326.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.54 m. 2025-10-27T05:52:06.148Z,1761544326.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.542557 m, nav range: 74.110733 m, bearing: 263.479177 deg, approach rate: -0.518348 m/s, LOS rate: 0.019449 deg/s, cmd heading: 274.426455 deg, new cmd heading: 274.450898 deg. 2025-10-27T05:52:06.149Z,1761544326.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790072 target range: 76.542557 and range: 77.00 m. 2025-10-27T05:52:06.478Z,1761544326.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085798,0.982949,0.162632],[-0.996257,0.082920,0.024415],[0.010513,-0.164118,0.986385]] 2025-10-27T05:52:06.506Z,1761544326.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:06.509Z,1761544326.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.54 m. 2025-10-27T05:52:06.512Z,1761544326.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.542557 m, nav range: 73.932175 m, bearing: 263.485793 deg, approach rate: -0.490713 m/s, LOS rate: 0.018226 deg/s, cmd heading: 274.450907 deg, new cmd heading: 274.470803 deg. 2025-10-27T05:52:06.513Z,1761544326.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790419 target range: 76.542557 and range: 77.00 m. 2025-10-27T05:52:06.601Z,1761544326.601 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:06.601Z,1761544326.601 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:06.601Z,1761544326.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:06.852Z,1761544326.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232267 2025-10-27T05:52:06.882Z,1761544326.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086534,0.982862,0.162768],[-0.996212,0.083969,0.022585],[0.008531,-0.164106,0.986406]] 2025-10-27T05:52:06.956Z,1761544326.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.54 m. 2025-10-27T05:52:06.959Z,1761544326.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.542557 m, nav range: 73.701653 m, bearing: 263.493354 deg, approach rate: -0.515472 m/s, LOS rate: 0.016960 deg/s, cmd heading: 274.470797 deg, new cmd heading: 274.493550 deg. 2025-10-27T05:52:06.960Z,1761544326.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790816 target range: 76.542557 and range: 77.00 m. 2025-10-27T05:52:07.105Z,1761544327.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484386 2025-10-27T05:52:07.322Z,1761544327.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.54 m. 2025-10-27T05:52:07.325Z,1761544327.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.542557 m, nav range: 73.513138 m, bearing: 263.499573 deg, approach rate: -0.514724 m/s, LOS rate: 0.017023 deg/s, cmd heading: 274.493555 deg, new cmd heading: 274.512258 deg. 2025-10-27T05:52:07.326Z,1761544327.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791143 target range: 76.542557 and range: 77.00 m. 2025-10-27T05:52:07.356Z,1761544327.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736526 2025-10-27T05:52:07.609Z,1761544327.609 [DAT](INFO): DAT read: Rx Time:05:52:06.0763 2025-10-27T05:52:07.610Z,1761544327.610 [DAT](INFO): Rx dataTimestamp_ set to:1761544327.609527 2025-10-27T05:52:07.612Z,1761544327.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991726 2025-10-27T05:52:07.689Z,1761544327.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087577,0.982705,0.163162],[-0.996146,0.085602,0.019110],[0.004813,-0.164207,0.986414]] 2025-10-27T05:52:07.740Z,1761544327.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.54 m. 2025-10-27T05:52:07.747Z,1761544327.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.542557 m, nav range: 73.308228 m, bearing: 263.506192 deg, approach rate: -0.489935 m/s, LOS rate: 0.015871 deg/s, cmd heading: 274.512270 deg, new cmd heading: 274.532183 deg. 2025-10-27T05:52:07.751Z,1761544327.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791491 target range: 76.542557 and range: 77.00 m. 2025-10-27T05:52:07.864Z,1761544327.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243646 2025-10-27T05:52:08.108Z,1761544328.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087667,0.982847,0.162257],[-0.996145,0.085985,0.017375],[0.003126,-0.163154,0.986596]] 2025-10-27T05:52:08.120Z,1761544328.120 [DAT](INFO): DAT read: 05:52:06.0763 LVL= 32752, 32753, 31282, 32755, AGC= 67, IDX= 418, 0.10, 0.740,-0.685, 1.340, 0.730, PHS= 0.112,-1.370, 0.567, RAW= 163.0, 7.9, CAL= 162.6, 8.1, ROT= 347.4, -8.1 2025-10-27T05:52:08.121Z,1761544328.121 [DAT](INFO): got valid direction response: 05:52:06.0763 LVL= 32752, 32753, 31282, 32755, AGC= 67, IDX= 418, 0.10, 0.740,-0.685, 1.340, 0.730, PHS= 0.112,-1.370, 0.567, RAW= 163.0, 7.9, CAL= 162.6, 8.1, ROT= 347.4, -8.1 2025-10-27T05:52:08.122Z,1761544328.122 [DAT](INFO): DAT read: Bearing 79.9, -13.4 (Local) 2025-10-27T05:52:08.122Z,1761544328.122 [DAT](INFO): Local bearing/azimuth received: Bearing 79.9, -13.4 (Local) 2025-10-27T05:52:08.124Z,1761544328.124 [DAT](INFO): DAT read: Range 11 to 50 : 75.3 m (Round-trip 100.5 ms) speed 0.4 m/s 2025-10-27T05:52:08.124Z,1761544328.124 [DAT](INFO): DAT read: user:575> 2025-10-27T05:52:08.125Z,1761544328.125 [DAT](INFO): DAT read: Tx time:05:52:07.1716 2025-10-27T05:52:08.125Z,1761544328.125 [DAT](INFO): Ping request sent. 2025-10-27T05:52:08.125Z,1761544328.125 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:08.126Z,1761544328.126 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:08.127Z,1761544328.127 [DAT](INFO): direction in FSK: [0.966181,-0.215967,0.140901] 2025-10-27T05:52:08.128Z,1761544328.128 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:08.128Z,1761544328.128 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:08.131Z,1761544328.131 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:08.132Z,1761544328.132 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:08.248Z,1761544328.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.300003 m, deltaT: 3.528431 s, deltaX: -1.699997 m, approachRate: -0.481800 m/s, rangeRepo size: 4 2025-10-27T05:52:08.250Z,1761544328.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.851852 m, bearing: 263.893146 deg, lat: 36.779443 deg, lon: -121.859773 deg, deltaT: 3.528431 s, deltaX: -1.690704 m, approachRate: -0.479166 m/s, posRepo size: 4 2025-10-27T05:52:08.259Z,1761544328.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:08.261Z,1761544328.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 73.299843 m, bearing: 263.764052 deg, approach rate: 0.000000 m/s, LOS rate: 0.015871 deg/s, cmd heading: 274.532186 deg, new cmd heading: 274.556121 deg. 2025-10-27T05:52:08.262Z,1761544328.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791908 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:08.518Z,1761544328.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087721,0.982853,0.162186],[-0.996144,0.086276,0.015943],[0.001677,-0.162959,0.986631]] 2025-10-27T05:52:08.552Z,1761544328.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:08.557Z,1761544328.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:08.563Z,1761544328.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 73.134377 m, bearing: 263.764780 deg, approach rate: -0.527379 m/s, LOS rate: 0.002324 deg/s, cmd heading: 274.556119 deg, new cmd heading: 274.558307 deg. 2025-10-27T05:52:08.564Z,1761544328.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791946 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:08.618Z,1761544328.618 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:08.619Z,1761544328.619 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:08.619Z,1761544328.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:08.875Z,1761544328.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748640 2025-10-27T05:52:08.925Z,1761544328.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087255,0.982852,0.162449],[-0.996186,0.086006,0.014716],[0.000492,-0.163113,0.986607]] 2025-10-27T05:52:08.982Z,1761544328.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:08.989Z,1761544328.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 72.892639 m, bearing: 263.761285 deg, approach rate: -0.568140 m/s, LOS rate: -0.008241 deg/s, cmd heading: 274.558305 deg, new cmd heading: 274.547785 deg. 2025-10-27T05:52:08.990Z,1761544328.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791763 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:09.124Z,1761544329.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998581 2025-10-27T05:52:09.326Z,1761544329.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087086,0.983154,0.160698],[-0.996200,0.086159,0.012741],[-0.001319,-0.161197,0.986921]] 2025-10-27T05:52:09.345Z,1761544329.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:09.348Z,1761544329.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 72.674568 m, bearing: 263.758149 deg, approach rate: -0.600538 m/s, LOS rate: -0.008661 deg/s, cmd heading: 274.547787 deg, new cmd heading: 274.538351 deg. 2025-10-27T05:52:09.349Z,1761544329.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791598 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:09.376Z,1761544329.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250590 2025-10-27T05:52:09.628Z,1761544329.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502371 2025-10-27T05:52:09.737Z,1761544329.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086325,0.983235,0.160612],[-0.996264,0.085596,0.011468],[-0.002472,-0.161002,0.986951]] 2025-10-27T05:52:09.757Z,1761544329.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:09.759Z,1761544329.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 72.440666 m, bearing: 263.754906 deg, approach rate: -0.568879 m/s, LOS rate: -0.007913 deg/s, cmd heading: 274.538361 deg, new cmd heading: 274.528601 deg. 2025-10-27T05:52:09.760Z,1761544329.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791428 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:09.884Z,1761544329.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757933 2025-10-27T05:52:10.132Z,1761544330.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006454 2025-10-27T05:52:10.135Z,1761544330.135 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:52:10.136Z,1761544330.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085750,0.983311,0.160456],[-0.996310,0.085230,0.010131],[-0.003714,-0.160733,0.986991]] 2025-10-27T05:52:10.247Z,1761544330.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:10.249Z,1761544330.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 72.146797 m, bearing: 263.749813 deg, approach rate: -0.599844 m/s, LOS rate: -0.010437 deg/s, cmd heading: 274.528607 deg, new cmd heading: 274.513267 deg. 2025-10-27T05:52:10.250Z,1761544330.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.791161 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:10.384Z,1761544330.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258392 2025-10-27T05:52:10.539Z,1761544330.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085017,0.983465,0.159903],[-0.996368,0.084700,0.008812],[-0.004877,-0.160071,0.987093]] 2025-10-27T05:52:10.564Z,1761544330.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:10.566Z,1761544330.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:10.569Z,1761544330.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 71.955444 m, bearing: 263.746589 deg, approach rate: -0.599305 m/s, LOS rate: -0.010124 deg/s, cmd heading: 274.513280 deg, new cmd heading: 274.503582 deg. 2025-10-27T05:52:10.570Z,1761544330.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790991 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:10.637Z,1761544330.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511053 2025-10-27T05:52:10.891Z,1761544330.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764833 2025-10-27T05:52:10.942Z,1761544330.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084160,0.983471,0.160320],[-0.996434,0.084035,0.007569],[-0.006029,-0.160385,0.987036]] 2025-10-27T05:52:11.003Z,1761544331.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:11.006Z,1761544331.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 71.690620 m, bearing: 263.739032 deg, approach rate: -0.605929 m/s, LOS rate: -0.017356 deg/s, cmd heading: 274.503582 deg, new cmd heading: 274.480825 deg. 2025-10-27T05:52:11.007Z,1761544331.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790594 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:11.140Z,1761544331.140 [DAT](INFO): DAT read: Rx Time:05:52:09.6736 2025-10-27T05:52:11.140Z,1761544331.140 [DAT](INFO): Rx dataTimestamp_ set to:1761544331.140080 2025-10-27T05:52:11.141Z,1761544331.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015422 2025-10-27T05:52:11.142Z,1761544331.142 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:52:11.345Z,1761544331.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083503,0.983550,0.160177],[-0.996481,0.083584,0.006245],[-0.007246,-0.160135,0.987069]] 2025-10-27T05:52:11.392Z,1761544331.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266949 2025-10-27T05:52:11.406Z,1761544331.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m. 2025-10-27T05:52:11.409Z,1761544331.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.851852 m, nav range: 71.459816 m, bearing: 263.732522 deg, approach rate: -0.576729 m/s, LOS rate: -0.016318 deg/s, cmd heading: 274.480823 deg, new cmd heading: 274.461232 deg. 2025-10-27T05:52:11.410Z,1761544331.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.790252 target range: 74.851852 and range: 75.30 m. 2025-10-27T05:52:11.649Z,1761544331.649 [DAT](INFO): DAT read: 05:52:09.6736 LVL= 32752, 32753, 31362, 32755, AGC= 68, IDX= 406,-0.20,-2.499, 2.368,-1.900,-2.485, PHS= 0.088,-1.385, 0.541, RAW= 163.0, 8.7, CAL= 162.7, 9.1, ROT= 347.3, -9.1 2025-10-27T05:52:11.651Z,1761544331.651 [DAT](INFO): got valid direction response: 05:52:09.6736 LVL= 32752, 32753, 31362, 32755, AGC= 68, IDX= 406,-0.20,-2.499, 2.368,-1.900,-2.485, PHS= 0.088,-1.385, 0.541, RAW= 163.0, 8.7, CAL= 162.7, 9.1, ROT= 347.3, -9.1 2025-10-27T05:52:11.652Z,1761544331.652 [DAT](INFO): DAT read: Bearing 80.8, -14.6 (Local) 2025-10-27T05:52:11.652Z,1761544331.652 [DAT](INFO): Local bearing/azimuth received: Bearing 80.8, -14.6 (Local) 2025-10-27T05:52:11.653Z,1761544331.653 [DAT](INFO): DAT read: Range 11 to 50 : 73.3 m (Round-trip 97.8 ms) speed 0.1 m/s 2025-10-27T05:52:11.654Z,1761544331.654 [DAT](INFO): DAT read: user:576> 2025-10-27T05:52:11.655Z,1761544331.655 [DAT](INFO): DAT read: Tx time:05:52:10.7716 2025-10-27T05:52:11.655Z,1761544331.655 [DAT](INFO): Ping request sent. 2025-10-27T05:52:11.655Z,1761544331.655 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:11.656Z,1761544331.656 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:11.656Z,1761544331.656 [DAT](INFO): direction in FSK: [0.963256,-0.217079,0.158158] 2025-10-27T05:52:11.657Z,1761544331.657 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:11.657Z,1761544331.657 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:11.661Z,1761544331.661 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:11.661Z,1761544331.661 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:11.754Z,1761544331.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082796,0.983635,0.160023],[-0.996531,0.083083,0.004910],[-0.008465,-0.159874,0.987101]] 2025-10-27T05:52:11.818Z,1761544331.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.300003 m, deltaT: 3.531358 s, deltaX: -2.000000 m, approachRate: -0.566354 m/s, rangeRepo size: 4 2025-10-27T05:52:11.832Z,1761544331.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.861732 m, bearing: 263.666238 deg, lat: 36.779443 deg, lon: -121.859773 deg, deltaT: 3.531358 s, deltaX: -1.990120 m, approachRate: -0.563557 m/s, posRepo size: 4 2025-10-27T05:52:11.833Z,1761544331.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:11.840Z,1761544331.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 71.209312 m, bearing: 263.725874 deg, approach rate: 0.000000 m/s, LOS rate: -0.016318 deg/s, cmd heading: 274.461234 deg, new cmd heading: 274.440952 deg. 2025-10-27T05:52:11.841Z,1761544331.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789898 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:12.165Z,1761544332.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081516,0.983594,0.160927],[-0.996628,0.081965,0.003855],[-0.009398,-0.160699,0.986959]] 2025-10-27T05:52:12.212Z,1761544332.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:12.216Z,1761544332.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 70.960823 m, bearing: 263.718104 deg, approach rate: -0.629058 m/s, LOS rate: -0.019737 deg/s, cmd heading: 274.440962 deg, new cmd heading: 274.417573 deg. 2025-10-27T05:52:12.216Z,1761544332.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789490 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:12.563Z,1761544332.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080438,0.983660,0.161070],[-0.996707,0.081045,0.002811],[-0.010289,-0.160765,0.986939]] 2025-10-27T05:52:12.602Z,1761544332.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:12.608Z,1761544332.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:12.610Z,1761544332.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 70.726578 m, bearing: 263.710934 deg, approach rate: -0.594184 m/s, LOS rate: -0.018248 deg/s, cmd heading: 274.417576 deg, new cmd heading: 274.395994 deg. 2025-10-27T05:52:12.611Z,1761544332.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.789114 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:12.652Z,1761544332.652 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:12.652Z,1761544332.652 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:12.652Z,1761544332.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:12.908Z,1761544332.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251985 2025-10-27T05:52:12.966Z,1761544332.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079683,0.983663,0.161423],[-0.996760,0.080412,0.002021],[-0.010992,-0.161061,0.986883]] 2025-10-27T05:52:13.020Z,1761544333.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:13.022Z,1761544333.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 70.472511 m, bearing: 263.701159 deg, approach rate: -0.615280 m/s, LOS rate: -0.023759 deg/s, cmd heading: 274.395992 deg, new cmd heading: 274.366560 deg. 2025-10-27T05:52:13.023Z,1761544333.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788600 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:13.156Z,1761544333.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500742 2025-10-27T05:52:13.371Z,1761544333.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078824,0.983672,0.161791],[-0.996824,0.079615,0.001602],[-0.011305,-0.161404,0.986824]] 2025-10-27T05:52:13.397Z,1761544333.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:13.399Z,1761544333.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 70.246849 m, bearing: 263.692572 deg, approach rate: -0.598707 m/s, LOS rate: -0.022854 deg/s, cmd heading: 274.366568 deg, new cmd heading: 274.340726 deg. 2025-10-27T05:52:13.400Z,1761544333.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.788149 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:13.408Z,1761544333.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752747 2025-10-27T05:52:13.660Z,1761544333.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004666 2025-10-27T05:52:13.808Z,1761544333.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:13.811Z,1761544333.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 69.998917 m, bearing: 263.683074 deg, approach rate: -0.602307 m/s, LOS rate: -0.023155 deg/s, cmd heading: 274.340723 deg, new cmd heading: 274.312129 deg. 2025-10-27T05:52:13.812Z,1761544333.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787650 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:13.915Z,1761544333.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259233 2025-10-27T05:52:14.164Z,1761544334.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508553 2025-10-27T05:52:14.191Z,1761544334.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078954,0.983185,0.164660],[-0.996818,0.079681,0.002201],[-0.010956,-0.164310,0.986348]] 2025-10-27T05:52:14.248Z,1761544334.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:14.250Z,1761544334.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 69.743774 m, bearing: 263.669470 deg, approach rate: -0.580343 m/s, LOS rate: -0.031056 deg/s, cmd heading: 274.312118 deg, new cmd heading: 274.271157 deg. 2025-10-27T05:52:14.252Z,1761544334.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786935 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:14.416Z,1761544334.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760725 2025-10-27T05:52:14.600Z,1761544334.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079270,0.983078,0.165150],[-0.996789,0.080052,0.001929],[-0.011324,-0.164773,0.986267]] 2025-10-27T05:52:14.638Z,1761544334.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:14.644Z,1761544334.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:14.651Z,1761544334.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 69.516838 m, bearing: 263.657222 deg, approach rate: -0.572251 m/s, LOS rate: -0.030986 deg/s, cmd heading: 274.271164 deg, new cmd heading: 274.234300 deg. 2025-10-27T05:52:14.652Z,1761544334.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.786292 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:14.668Z,1761544334.668 [DAT](INFO): DAT read: Rx Time:05:52:13.2705 2025-10-27T05:52:14.669Z,1761544334.669 [DAT](INFO): Rx dataTimestamp_ set to:1761544334.668333 2025-10-27T05:52:14.669Z,1761544334.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013897 2025-10-27T05:52:14.923Z,1761544334.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266708 2025-10-27T05:52:14.991Z,1761544334.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079691,0.983036,0.165198],[-0.996747,0.080584,0.001300],[-0.012034,-0.164764,0.986260]] 2025-10-27T05:52:15.028Z,1761544335.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.86 m. 2025-10-27T05:52:15.030Z,1761544335.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.861732 m, nav range: 69.293953 m, bearing: 263.644157 deg, approach rate: -0.581188 m/s, LOS rate: -0.034179 deg/s, cmd heading: 274.234308 deg, new cmd heading: 274.194986 deg. 2025-10-27T05:52:15.032Z,1761544335.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.785605 target range: 72.861732 and range: 73.30 m. 2025-10-27T05:52:15.178Z,1761544335.178 [DAT](INFO): DAT read: 05:52:13.2705 LVL= 32752, 32753, 28498, 32755, AGC= 68, IDX= 407,-0.36, 1.475, 0.079, 2.088, 1.451, PHS= 0.127,-1.327, 0.593, RAW= 163.5, 7.1, CAL= 162.9, 6.9, ROT= 347.1, -6.9 2025-10-27T05:52:15.179Z,1761544335.179 [DAT](INFO): got valid direction response: 05:52:13.2705 LVL= 32752, 32753, 28498, 32755, AGC= 68, IDX= 407,-0.36, 1.475, 0.079, 2.088, 1.451, PHS= 0.127,-1.327, 0.593, RAW= 163.5, 7.1, CAL= 162.9, 6.9, ROT= 347.1, -6.9 2025-10-27T05:52:15.180Z,1761544335.180 [DAT](INFO): DAT read: Bearing 78.9, -15.1 (Local) 2025-10-27T05:52:15.180Z,1761544335.180 [DAT](INFO): Local bearing/azimuth received: Bearing 78.9, -15.1 (Local) 2025-10-27T05:52:15.182Z,1761544335.182 [DAT](INFO): DAT read: Range 11 to 50 : 71.0 m (Round-trip 94.7 ms) speed 0.4 m/s 2025-10-27T05:52:15.183Z,1761544335.183 [DAT](INFO): DAT read: user:577> 2025-10-27T05:52:15.184Z,1761544335.184 [DAT](INFO): DAT read: Tx time:05:52:14.3716 2025-10-27T05:52:15.184Z,1761544335.184 [DAT](INFO): Ping request sent. 2025-10-27T05:52:15.184Z,1761544335.184 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:15.184Z,1761544335.184 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:15.185Z,1761544335.185 [DAT](INFO): direction in FSK: [0.967701,-0.221633,0.120137] 2025-10-27T05:52:15.186Z,1761544335.186 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:15.186Z,1761544335.186 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:15.189Z,1761544335.189 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:15.189Z,1761544335.189 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:15.389Z,1761544335.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079812,0.983074,0.164911],[-0.996725,0.080861,0.000351],[-0.012989,-0.164399,0.986308]] 2025-10-27T05:52:15.430Z,1761544335.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.528375 s, deltaX: -2.300003 m, approachRate: -0.651859 m/s, rangeRepo size: 4 2025-10-27T05:52:15.440Z,1761544335.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.567482 m, bearing: 262.987878 deg, lat: 36.779442 deg, lon: -121.859777 deg, deltaT: 3.528375 s, deltaX: -2.294250 m, approachRate: -0.650229 m/s, posRepo size: 4 2025-10-27T05:52:15.441Z,1761544335.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:15.448Z,1761544335.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 69.467758 m, bearing: 263.567278 deg, approach rate: 0.000000 m/s, LOS rate: -0.034179 deg/s, cmd heading: 274.194994 deg, new cmd heading: 274.153832 deg. 2025-10-27T05:52:15.449Z,1761544335.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784887 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:15.798Z,1761544335.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080427,0.983083,0.164557],[-0.996660,0.081656,-0.000702],[-0.014127,-0.163951,0.986367]] 2025-10-27T05:52:15.817Z,1761544335.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:15.819Z,1761544335.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 69.246796 m, bearing: 263.553898 deg, approach rate: -0.570492 m/s, LOS rate: -0.034655 deg/s, cmd heading: 274.153821 deg, new cmd heading: 274.113553 deg. 2025-10-27T05:52:15.820Z,1761544335.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.784184 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:16.198Z,1761544336.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081350,0.983067,0.164202],[-0.996566,0.082783,-0.001894],[-0.015456,-0.163484,0.986425]] 2025-10-27T05:52:16.250Z,1761544336.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:16.253Z,1761544336.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 69.015884 m, bearing: 263.540114 deg, approach rate: -0.533100 m/s, LOS rate: -0.031929 deg/s, cmd heading: 274.113550 deg, new cmd heading: 274.072060 deg. 2025-10-27T05:52:16.253Z,1761544336.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.783460 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:16.608Z,1761544336.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082405,0.983152,0.163161],[-0.996456,0.084052,-0.003209],[-0.016869,-0.162319,0.986594]] 2025-10-27T05:52:16.631Z,1761544336.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:16.634Z,1761544336.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 68.814232 m, bearing: 263.527832 deg, approach rate: -0.529351 m/s, LOS rate: -0.032337 deg/s, cmd heading: 274.072050 deg, new cmd heading: 274.035094 deg. 2025-10-27T05:52:16.635Z,1761544336.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782815 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:17.014Z,1761544337.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083824,0.983369,0.161116],[-0.996297,0.085809,-0.005390],[-0.019126,-0.160067,0.986921]] 2025-10-27T05:52:17.101Z,1761544337.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:17.107Z,1761544337.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:17.110Z,1761544337.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 68.586868 m, bearing: 263.515507 deg, approach rate: -0.481399 m/s, LOS rate: -0.026181 deg/s, cmd heading: 274.035085 deg, new cmd heading: 273.997990 deg. 2025-10-27T05:52:17.115Z,1761544337.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.782167 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:17.188Z,1761544337.188 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:17.188Z,1761544337.188 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:17.189Z,1761544337.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:17.438Z,1761544337.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085219,0.983292,0.160858],[-0.996141,0.087488,-0.007063],[-0.021018,-0.159636,0.986952]] 2025-10-27T05:52:17.440Z,1761544337.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256018 2025-10-27T05:52:17.459Z,1761544337.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:17.462Z,1761544337.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 68.374657 m, bearing: 263.503682 deg, approach rate: -0.596082 m/s, LOS rate: -0.033318 deg/s, cmd heading: 273.997984 deg, new cmd heading: 273.962399 deg. 2025-10-27T05:52:17.463Z,1761544337.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.781546 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:17.692Z,1761544337.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508255 2025-10-27T05:52:17.838Z,1761544337.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086555,0.983205,0.160676],[-0.995970,0.089199,-0.009300],[-0.023476,-0.159223,0.986963]] 2025-10-27T05:52:17.857Z,1761544337.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:17.859Z,1761544337.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 68.164474 m, bearing: 263.491660 deg, approach rate: -0.528561 m/s, LOS rate: -0.030326 deg/s, cmd heading: 273.962412 deg, new cmd heading: 273.926235 deg. 2025-10-27T05:52:17.860Z,1761544337.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780915 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:17.945Z,1761544337.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760727 2025-10-27T05:52:18.196Z,1761544338.196 [DAT](INFO): DAT read: Rx Time:05:52:16.8679 2025-10-27T05:52:18.196Z,1761544338.196 [DAT](INFO): Rx dataTimestamp_ set to:1761544338.196121 2025-10-27T05:52:18.197Z,1761544338.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012972 2025-10-27T05:52:18.242Z,1761544338.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087175,0.983188,0.160443],[-0.995852,0.090220,-0.011778],[-0.026056,-0.158751,0.986975]] 2025-10-27T05:52:18.293Z,1761544338.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:18.296Z,1761544338.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 67.940567 m, bearing: 263.476902 deg, approach rate: -0.513056 m/s, LOS rate: -0.033929 deg/s, cmd heading: 273.926239 deg, new cmd heading: 273.881818 deg. 2025-10-27T05:52:18.297Z,1761544338.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.780139 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:18.448Z,1761544338.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263936 2025-10-27T05:52:18.650Z,1761544338.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087534,0.982629,0.163640],[-0.995753,0.091012,-0.013864],[-0.028516,-0.161731,0.986423]] 2025-10-27T05:52:18.669Z,1761544338.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.57 m. 2025-10-27T05:52:18.672Z,1761544338.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.567482 m, nav range: 67.742081 m, bearing: 263.463650 deg, approach rate: -0.527742 m/s, LOS rate: -0.035337 deg/s, cmd heading: 273.881816 deg, new cmd heading: 273.841944 deg. 2025-10-27T05:52:18.673Z,1761544338.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.779444 target range: 70.567482 and range: 71.00 m. 2025-10-27T05:52:18.704Z,1761544338.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519054 2025-10-27T05:52:18.959Z,1761544338.959 [DAT](INFO): DAT read: 05:52:16.8679 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 412, 0.21, 1.489, 0.110, 2.039, 1.499, PHS= 0.092,-1.344, 0.496, RAW= 162.1, 9.1, CAL= 161.8, 9.6, ROT= 348.2, -9.6 2025-10-27T05:52:18.961Z,1761544338.961 [DAT](INFO): got valid direction response: 05:52:16.8679 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 412, 0.21, 1.489, 0.110, 2.039, 1.499, PHS= 0.092,-1.344, 0.496, RAW= 162.1, 9.1, CAL= 161.8, 9.6, ROT= 348.2, -9.6 2025-10-27T05:52:18.962Z,1761544338.962 [DAT](INFO): DAT read: Bearing 82.5, -15.2 (Local) 2025-10-27T05:52:18.962Z,1761544338.962 [DAT](INFO): Local bearing/azimuth received: Bearing 82.5, -15.2 (Local) 2025-10-27T05:52:18.966Z,1761544338.966 [DAT](INFO): DAT read: Range 11 to 50 : 69.0 m (Round-trip 92.1 ms) speed 0.4 m/s 2025-10-27T05:52:18.996Z,1761544338.996 [DAT](INFO): DAT read: user:578> 2025-10-27T05:52:19.004Z,1761544339.004 [DAT](INFO): DAT read: Tx time:05:52:17.9716 2025-10-27T05:52:19.005Z,1761544339.005 [DAT](INFO): Ping request sent. 2025-10-27T05:52:19.005Z,1761544339.005 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:19.006Z,1761544339.006 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:19.022Z,1761544339.022 [DAT](INFO): direction in FSK: [0.965159,-0.201632,0.166769] 2025-10-27T05:52:19.028Z,1761544339.028 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:19.029Z,1761544339.029 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:19.049Z,1761544339.049 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:19.049Z,1761544339.049 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:19.100Z,1761544339.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087556,0.982085,0.166865],[-0.995687,0.091436,-0.015700],[-0.030677,-0.164771,0.985855]] 2025-10-27T05:52:19.200Z,1761544339.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.000000 m, deltaT: 3.781471 s, deltaX: -2.000000 m, approachRate: -0.528895 m/s, rangeRepo size: 4 2025-10-27T05:52:19.202Z,1761544339.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.569260 m, bearing: 265.013418 deg, lat: 36.779444 deg, lon: -121.859778 deg, deltaT: 3.781471 s, deltaX: -1.998222 m, approachRate: -0.528425 m/s, posRepo size: 4 2025-10-27T05:52:19.207Z,1761544339.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:19.209Z,1761544339.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 67.493736 m, bearing: 263.661836 deg, approach rate: 0.000000 m/s, LOS rate: -0.035337 deg/s, cmd heading: 273.841955 deg, new cmd heading: 273.786191 deg. 2025-10-27T05:52:19.210Z,1761544339.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778471 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:19.465Z,1761544339.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087352,0.981750,0.168928],[-0.995645,0.091587,-0.017431],[-0.032584,-0.166669,0.985474]] 2025-10-27T05:52:19.487Z,1761544339.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:19.489Z,1761544339.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:19.492Z,1761544339.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 67.334305 m, bearing: 263.654314 deg, approach rate: -0.542123 m/s, LOS rate: -0.025638 deg/s, cmd heading: 273.786193 deg, new cmd heading: 273.763574 deg. 2025-10-27T05:52:19.493Z,1761544339.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778076 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:19.708Z,1761544339.708 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:19.708Z,1761544339.708 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:19.708Z,1761544339.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:19.865Z,1761544339.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087466,0.981793,0.168619],[-0.995570,0.092014,-0.019339],[-0.034502,-0.166181,0.985491]] 2025-10-27T05:52:19.907Z,1761544339.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:19.910Z,1761544339.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 67.116859 m, bearing: 263.643980 deg, approach rate: -0.520887 m/s, LOS rate: -0.024837 deg/s, cmd heading: 273.763572 deg, new cmd heading: 273.732467 deg. 2025-10-27T05:52:19.910Z,1761544339.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.777533 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:19.961Z,1761544339.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.956381 2025-10-27T05:52:20.212Z,1761544340.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207209 2025-10-27T05:52:20.272Z,1761544340.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086989,0.981572,0.170147],[-0.995559,0.091827,-0.020760],[-0.036001,-0.167585,0.985200]] 2025-10-27T05:52:20.334Z,1761544340.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:20.341Z,1761544340.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 66.901955 m, bearing: 263.631212 deg, approach rate: -0.502684 m/s, LOS rate: -0.029961 deg/s, cmd heading: 273.732480 deg, new cmd heading: 273.694055 deg. 2025-10-27T05:52:20.342Z,1761544340.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.776863 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:20.464Z,1761544340.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459522 2025-10-27T05:52:20.674Z,1761544340.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086462,0.981445,0.171145],[-0.995557,0.091549,-0.022044],[-0.037303,-0.168479,0.984999]] 2025-10-27T05:52:20.717Z,1761544340.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712085 2025-10-27T05:52:20.722Z,1761544340.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:20.730Z,1761544340.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 66.711357 m, bearing: 263.619899 deg, approach rate: -0.492097 m/s, LOS rate: -0.029292 deg/s, cmd heading: 273.694068 deg, new cmd heading: 273.660032 deg. 2025-10-27T05:52:20.737Z,1761544340.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.776268 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:20.970Z,1761544340.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964668 2025-10-27T05:52:21.100Z,1761544341.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084680,0.980985,0.174634],[-0.995649,0.090146,-0.023596],[-0.038890,-0.171876,0.984351]] 2025-10-27T05:52:21.148Z,1761544341.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:21.151Z,1761544341.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 66.477303 m, bearing: 263.610280 deg, approach rate: -0.548575 m/s, LOS rate: -0.022626 deg/s, cmd heading: 273.660026 deg, new cmd heading: 273.631066 deg. 2025-10-27T05:52:21.152Z,1761544341.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775763 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:21.221Z,1761544341.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216055 2025-10-27T05:52:21.472Z,1761544341.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467346 2025-10-27T05:52:21.494Z,1761544341.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083456,0.980723,0.176684],[-0.995722,0.089123,-0.024370],[-0.039647,-0.173895,0.983966]] 2025-10-27T05:52:21.513Z,1761544341.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:21.515Z,1761544341.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:21.518Z,1761544341.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 66.286789 m, bearing: 263.602582 deg, approach rate: -0.519535 m/s, LOS rate: -0.021051 deg/s, cmd heading: 273.631066 deg, new cmd heading: 273.607908 deg. 2025-10-27T05:52:21.519Z,1761544341.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775359 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:21.727Z,1761544341.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722412 2025-10-27T05:52:21.893Z,1761544341.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082043,0.980057,0.180988],[-0.995816,0.087948,-0.024829],[-0.040252,-0.178193,0.983172]] 2025-10-27T05:52:21.912Z,1761544341.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:21.914Z,1761544341.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 66.080673 m, bearing: 263.594413 deg, approach rate: -0.520528 m/s, LOS rate: -0.020697 deg/s, cmd heading: 273.607898 deg, new cmd heading: 273.583312 deg. 2025-10-27T05:52:21.915Z,1761544341.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.774930 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:21.977Z,1761544341.977 [DAT](INFO): DAT read: Rx Time:05:52:20.4656 2025-10-27T05:52:21.977Z,1761544341.977 [DAT](INFO): Rx dataTimestamp_ set to:1761544341.977188 2025-10-27T05:52:21.978Z,1761544341.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973692 2025-10-27T05:52:22.228Z,1761544342.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223306 2025-10-27T05:52:22.313Z,1761544342.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081056,0.979606,0.183853],[-0.995862,0.087203,-0.025587],[-0.041098,-0.181018,0.982621]] 2025-10-27T05:52:22.384Z,1761544342.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.57 m. 2025-10-27T05:52:22.386Z,1761544342.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.569260 m, nav range: 65.827560 m, bearing: 263.584704 deg, approach rate: -0.535138 m/s, LOS rate: -0.020604 deg/s, cmd heading: 273.583309 deg, new cmd heading: 273.554072 deg. 2025-10-27T05:52:22.388Z,1761544342.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.774419 target range: 68.569260 and range: 69.00 m. 2025-10-27T05:52:22.486Z,1761544342.486 [DAT](INFO): DAT read: 05:52:20.4656 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 420, 0.07,-1.859, 3.022,-1.282,-1.863, PHS= 0.106,-1.353, 0.537, RAW= 162.6, 8.3, CAL= 162.2, 8.6, ROT= 347.8, -8.6 2025-10-27T05:52:22.488Z,1761544342.488 [DAT](INFO): got valid direction response: 05:52:20.4656 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 420, 0.07,-1.859, 3.022,-1.282,-1.863, PHS= 0.106,-1.353, 0.537, RAW= 162.6, 8.3, CAL= 162.2, 8.6, ROT= 347.8, -8.6 2025-10-27T05:52:22.489Z,1761544342.489 [DAT](INFO): DAT read: Bearing 80.6, -16.2 (Local) 2025-10-27T05:52:22.489Z,1761544342.489 [DAT](INFO): Local bearing/azimuth received: Bearing 80.6, -16.2 (Local) 2025-10-27T05:52:22.491Z,1761544342.491 [DAT](INFO): DAT read: Range 11 to 50 : 67.3 m (Round-trip 89.8 ms) speed 0.7 m/s 2025-10-27T05:52:22.492Z,1761544342.492 [DAT](INFO): DAT read: user:579> 2025-10-27T05:52:22.492Z,1761544342.492 [DAT](INFO): DAT read: Tx time:05:52:21.5716 2025-10-27T05:52:22.493Z,1761544342.493 [DAT](INFO): Ping request sent. 2025-10-27T05:52:22.493Z,1761544342.493 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:22.493Z,1761544342.493 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:22.494Z,1761544342.494 [DAT](INFO): direction in FSK: [0.966426,-0.208949,0.149535] 2025-10-27T05:52:22.494Z,1761544342.494 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:22.495Z,1761544342.495 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:22.498Z,1761544342.498 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:22.505Z,1761544342.505 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:22.717Z,1761544342.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080163,0.979324,0.185737],[-0.995893,0.086556,-0.026555],[-0.042083,-0.182845,0.982241]] 2025-10-27T05:52:22.774Z,1761544342.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.300003 m, deltaT: 3.527095 s, deltaX: -1.699997 m, approachRate: -0.481982 m/s, rangeRepo size: 4 2025-10-27T05:52:22.817Z,1761544342.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.883972 m, bearing: 264.235724 deg, lat: 36.779444 deg, lon: -121.859781 deg, deltaT: 3.527095 s, deltaX: -1.685287 m, approachRate: -0.477812 m/s, posRepo size: 4 2025-10-27T05:52:22.823Z,1761544342.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:22.826Z,1761544342.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 65.883186 m, bearing: 263.602139 deg, approach rate: 0.000000 m/s, LOS rate: -0.020604 deg/s, cmd heading: 273.554076 deg, new cmd heading: 273.529984 deg. 2025-10-27T05:52:22.831Z,1761544342.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773999 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:23.195Z,1761544343.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:23.197Z,1761544343.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 65.642090 m, bearing: 263.589236 deg, approach rate: -0.572785 m/s, LOS rate: -0.030766 deg/s, cmd heading: 273.529979 deg, new cmd heading: 273.491129 deg. 2025-10-27T05:52:23.198Z,1761544343.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.773321 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:23.541Z,1761544343.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077815,0.978649,0.190242],[-0.996017,0.084645,-0.028033],[-0.043537,-0.187302,0.981337]] 2025-10-27T05:52:23.576Z,1761544343.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:23.580Z,1761544343.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:23.587Z,1761544343.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 65.433022 m, bearing: 263.578360 deg, approach rate: -0.542278 m/s, LOS rate: -0.028301 deg/s, cmd heading: 273.491129 deg, new cmd heading: 273.458395 deg. 2025-10-27T05:52:23.589Z,1761544343.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.772749 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:23.740Z,1761544343.740 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:23.740Z,1761544343.740 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:23.740Z,1761544343.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:23.945Z,1761544343.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076669,0.978504,0.191446],[-0.996073,0.083696,-0.028880],[-0.044283,-0.188480,0.981078]] 2025-10-27T05:52:23.981Z,1761544343.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:23.984Z,1761544343.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 65.215981 m, bearing: 263.567202 deg, approach rate: -0.541137 m/s, LOS rate: -0.027910 deg/s, cmd heading: 273.458399 deg, new cmd heading: 273.424815 deg. 2025-10-27T05:52:23.985Z,1761544343.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.772163 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:23.992Z,1761544343.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499307 2025-10-27T05:52:24.244Z,1761544344.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751090 2025-10-27T05:52:24.351Z,1761544344.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075379,0.978486,0.192049],[-0.996146,0.082553,-0.029621],[-0.044838,-0.189076,0.980938]] 2025-10-27T05:52:24.467Z,1761544344.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:24.469Z,1761544344.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 64.938995 m, bearing: 263.550300 deg, approach rate: -0.570645 m/s, LOS rate: -0.034970 deg/s, cmd heading: 273.424821 deg, new cmd heading: 273.373899 deg. 2025-10-27T05:52:24.470Z,1761544344.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771275 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:24.496Z,1761544344.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003121 2025-10-27T05:52:24.748Z,1761544344.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255036 2025-10-27T05:52:24.755Z,1761544344.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073934,0.978766,0.191184],[-0.996229,0.081214,-0.030515],[-0.045394,-0.188207,0.981080]] 2025-10-27T05:52:24.825Z,1761544344.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:24.833Z,1761544344.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 64.733719 m, bearing: 263.537951 deg, approach rate: -0.572474 m/s, LOS rate: -0.034550 deg/s, cmd heading: 273.373896 deg, new cmd heading: 273.336729 deg. 2025-10-27T05:52:24.834Z,1761544344.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.770626 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:25.000Z,1761544345.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507327 2025-10-27T05:52:25.225Z,1761544345.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:25.228Z,1761544345.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 64.500610 m, bearing: 263.522726 deg, approach rate: -0.583091 m/s, LOS rate: -0.038220 deg/s, cmd heading: 273.336739 deg, new cmd heading: 273.290901 deg. 2025-10-27T05:52:25.229Z,1761544345.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769826 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:25.252Z,1761544345.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759206 2025-10-27T05:52:25.504Z,1761544345.504 [DAT](INFO): DAT read: Rx Time:05:52:24.0630 2025-10-27T05:52:25.505Z,1761544345.505 [DAT](INFO): Rx dataTimestamp_ set to:1761544345.504380 2025-10-27T05:52:25.505Z,1761544345.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012390 2025-10-27T05:52:25.570Z,1761544345.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071693,0.979083,0.190409],[-0.996320,0.079285,-0.032549],[-0.046965,-0.187375,0.981165]] 2025-10-27T05:52:25.606Z,1761544345.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:25.608Z,1761544345.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:25.611Z,1761544345.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 64.281868 m, bearing: 263.508786 deg, approach rate: -0.571028 m/s, LOS rate: -0.036516 deg/s, cmd heading: 273.290895 deg, new cmd heading: 273.248931 deg. 2025-10-27T05:52:25.612Z,1761544345.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.769094 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:25.756Z,1761544345.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263056 2025-10-27T05:52:25.962Z,1761544345.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070168,0.979276,0.189984],[-0.996403,0.077876,-0.033404],[-0.047507,-0.186957,0.981219]] 2025-10-27T05:52:25.982Z,1761544345.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.88 m. 2025-10-27T05:52:25.984Z,1761544345.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.883972 m, nav range: 64.068306 m, bearing: 263.495380 deg, approach rate: -0.571495 m/s, LOS rate: -0.035993 deg/s, cmd heading: 273.248930 deg, new cmd heading: 273.208580 deg. 2025-10-27T05:52:25.985Z,1761544345.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.768389 target range: 66.883972 and range: 67.30 m. 2025-10-27T05:52:26.014Z,1761544346.014 [DAT](INFO): DAT read: 05:52:24.0630 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 410, 0.33,-3.088, 1.781,-2.539,-3.099, PHS= 0.113,-1.358, 0.516, RAW= 161.8, 8.6, CAL= 161.5, 8.9, ROT= 348.5, -8.9 2025-10-27T05:52:26.015Z,1761544346.015 [DAT](INFO): got valid direction response: 05:52:24.0630 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 410, 0.33,-3.088, 1.781,-2.539,-3.099, PHS= 0.113,-1.358, 0.516, RAW= 161.8, 8.6, CAL= 161.5, 8.9, ROT= 348.5, -8.9 2025-10-27T05:52:26.016Z,1761544346.016 [DAT](INFO): DAT read: Bearing 79.7, -15.9 (Local) 2025-10-27T05:52:26.016Z,1761544346.016 [DAT](INFO): Local bearing/azimuth received: Bearing 79.7, -15.9 (Local) 2025-10-27T05:52:26.018Z,1761544346.018 [DAT](INFO): DAT read: Range 11 to 50 : 65.4 m (Round-trip 87.3 ms) speed 0.4 m/s 2025-10-27T05:52:26.019Z,1761544346.019 [DAT](INFO): DAT read: user:580> 2025-10-27T05:52:26.020Z,1761544346.020 [DAT](INFO): DAT read: Tx time:05:52:25.1716 2025-10-27T05:52:26.020Z,1761544346.020 [DAT](INFO): Ping request sent. 2025-10-27T05:52:26.020Z,1761544346.020 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:26.020Z,1761544346.020 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:26.021Z,1761544346.021 [DAT](INFO): direction in FSK: [0.968126,-0.196968,0.154710] 2025-10-27T05:52:26.022Z,1761544346.022 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:26.022Z,1761544346.022 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:26.025Z,1761544346.025 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:26.025Z,1761544346.025 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:26.365Z,1761544346.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068343,0.979322,0.190413],[-0.996518,0.076148,-0.033973],[-0.047770,-0.187428,0.981116]] 2025-10-27T05:52:26.440Z,1761544346.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.527314 s, deltaX: -1.900002 m, approachRate: -0.538654 m/s, rangeRepo size: 4 2025-10-27T05:52:26.442Z,1761544346.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.005173 m, bearing: 264.360212 deg, lat: 36.779450 deg, lon: -121.859781 deg, deltaT: 3.527314 s, deltaX: -1.878799 m, approachRate: -0.532643 m/s, posRepo size: 4 2025-10-27T05:52:26.442Z,1761544346.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:26.449Z,1761544346.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 63.741676 m, bearing: 264.097973 deg, approach rate: 0.000000 m/s, LOS rate: -0.035993 deg/s, cmd heading: 273.208578 deg, new cmd heading: 273.159654 deg. 2025-10-27T05:52:26.450Z,1761544346.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.767535 target range: 65.005173 and range: 65.40 m. 2025-10-27T05:52:26.771Z,1761544346.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066211,0.979564,0.189920],[-0.996658,0.074050,-0.034474],[-0.047833,-0.187003,0.981194]] 2025-10-27T05:52:26.789Z,1761544346.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:26.808Z,1761544346.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 63.515068 m, bearing: 264.084512 deg, approach rate: -0.639114 m/s, LOS rate: -0.038101 deg/s, cmd heading: 273.159646 deg, new cmd heading: 273.119119 deg. 2025-10-27T05:52:26.809Z,1761544346.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.766828 target range: 65.005173 and range: 65.40 m. 2025-10-27T05:52:27.308Z,1761544347.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:27.311Z,1761544347.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 63.198330 m, bearing: 264.060148 deg, approach rate: -0.610375 m/s, LOS rate: -0.047186 deg/s, cmd heading: 273.119130 deg, new cmd heading: 273.045671 deg. 2025-10-27T05:52:27.312Z,1761544347.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.765546 target range: 65.005173 and range: 65.40 m. 2025-10-27T05:52:27.757Z,1761544347.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062638,0.980175,0.187974],[-0.996858,0.070593,-0.035921],[-0.048478,-0.185133,0.981517]] 2025-10-27T05:52:27.820Z,1761544347.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:27.822Z,1761544347.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:27.829Z,1761544347.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 62.903198 m, bearing: 264.038211 deg, approach rate: -0.574613 m/s, LOS rate: -0.042910 deg/s, cmd heading: 273.045664 deg, new cmd heading: 272.979547 deg. 2025-10-27T05:52:27.830Z,1761544347.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.764392 target range: 65.005173 and range: 65.40 m. 2025-10-27T05:52:28.024Z,1761544348.024 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:28.024Z,1761544348.024 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:28.025Z,1761544348.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:28.273Z,1761544348.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060911,0.980436,0.187178],[-0.996951,0.068921,-0.036579],[-0.048763,-0.184380,0.981645]] 2025-10-27T05:52:28.276Z,1761544348.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256044 2025-10-27T05:52:28.330Z,1761544348.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:28.333Z,1761544348.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 62.587814 m, bearing: 264.022758 deg, approach rate: -0.620616 m/s, LOS rate: -0.030564 deg/s, cmd heading: 272.979548 deg, new cmd heading: 272.932953 deg. 2025-10-27T05:52:28.334Z,1761544348.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763579 target range: 65.005173 and range: 65.40 m. 2025-10-27T05:52:28.528Z,1761544348.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507912 2025-10-27T05:52:28.674Z,1761544348.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059563,0.980710,0.186170],[-0.997009,0.067647,-0.037371],[-0.049244,-0.183388,0.981806]] 2025-10-27T05:52:28.711Z,1761544348.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:28.715Z,1761544348.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 62.367313 m, bearing: 264.012147 deg, approach rate: -0.579359 m/s, LOS rate: -0.027977 deg/s, cmd heading: 272.932966 deg, new cmd heading: 272.901022 deg. 2025-10-27T05:52:28.717Z,1761544348.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763021 target range: 65.005173 and range: 65.40 m. 2025-10-27T05:52:28.781Z,1761544348.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760834 2025-10-27T05:52:29.032Z,1761544349.032 [DAT](INFO): DAT read: Rx Time:05:52:27.6600 2025-10-27T05:52:29.033Z,1761544349.033 [DAT](INFO): Rx dataTimestamp_ set to:1761544349.032265 2025-10-27T05:52:29.033Z,1761544349.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013121 2025-10-27T05:52:29.115Z,1761544349.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056380,0.981141,0.184886],[-0.997183,0.064514,-0.038273],[-0.049479,-0.182207,0.982014]] 2025-10-27T05:52:29.199Z,1761544349.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:29.202Z,1761544349.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 62.085552 m, bearing: 263.999331 deg, approach rate: -0.581084 m/s, LOS rate: -0.026552 deg/s, cmd heading: 272.901028 deg, new cmd heading: 272.862403 deg. 2025-10-27T05:52:29.203Z,1761544349.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762347 target range: 65.005173 and range: 65.40 m. 2025-10-27T05:52:29.284Z,1761544349.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263979 2025-10-27T05:52:29.544Z,1761544349.544 [DAT](INFO): DAT read: 05:52:27.6600 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 412,-0.17, 1.047,-0.388, 1.594, 1.042, PHS= 0.107,-1.385, 0.508, RAW= 161.6, 9.0, CAL= 161.4, 9.4, ROT= 348.6, -9.4 2025-10-27T05:52:29.546Z,1761544349.546 [DAT](INFO): got valid direction response: 05:52:27.6600 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 412,-0.17, 1.047,-0.388, 1.594, 1.042, PHS= 0.107,-1.385, 0.508, RAW= 161.6, 9.0, CAL= 161.4, 9.4, ROT= 348.6, -9.4 2025-10-27T05:52:29.546Z,1761544349.546 [DAT](INFO): DAT read: Bearing 79.4, -15.9 (Local) 2025-10-27T05:52:29.548Z,1761544349.548 [DAT](INFO): Local bearing/azimuth received: Bearing 79.4, -15.9 (Local) 2025-10-27T05:52:29.548Z,1761544349.548 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T05:52:29.550Z,1761544349.550 [DAT](INFO): direction in FSK: [0.967108,-0.195003,0.163326] 2025-10-27T05:52:29.557Z,1761544349.557 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:29.557Z,1761544349.557 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:29.557Z,1761544349.557 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T05:52:29.609Z,1761544349.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055095,0.981624,0.182699],[-0.997259,0.063147,-0.038551],[-0.049379,-0.180074,0.982413]] 2025-10-27T05:52:29.687Z,1761544349.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:29.693Z,1761544349.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 61.800194 m, bearing: 263.990996 deg, approach rate: -0.581231 m/s, LOS rate: -0.017054 deg/s, cmd heading: 272.862396 deg, new cmd heading: 272.837278 deg. 2025-10-27T05:52:29.694Z,1761544349.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761909 target range: 65.005173 and range: 65.40 m. 2025-10-27T05:52:29.789Z,1761544349.789 [DAT](INFO): DAT read: Range 11 to 50 : 63.2 m (Round-trip 84.3 ms) speed 0.5 m/s 2025-10-27T05:52:29.790Z,1761544349.790 [DAT](INFO): DAT read: user:581> 2025-10-27T05:52:29.791Z,1761544349.791 [DAT](INFO): DAT read: Tx time:05:52:28.7731 2025-10-27T05:52:29.791Z,1761544349.791 [DAT](INFO): Ping request sent. 2025-10-27T05:52:29.791Z,1761544349.791 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:29.791Z,1761544349.791 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T05:52:29.792Z,1761544349.792 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:29.792Z,1761544349.792 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:30.018Z,1761544350.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054338,0.981613,0.182984],[-0.997287,0.062464,-0.038938],[-0.049652,-0.180372,0.982344]] 2025-10-27T05:52:30.035Z,1761544350.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:30.037Z,1761544350.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.200001 m, deltaT: 3.780090 s, deltaX: -2.200001 m, approachRate: -0.581997 m/s, rangeRepo size: 4 2025-10-27T05:52:30.038Z,1761544350.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:30.040Z,1761544350.040 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:30.040Z,1761544350.040 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:30.040Z,1761544350.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:30.045Z,1761544350.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 61.592171 m, bearing: 263.985014 deg, approach rate: -0.593885 m/s, LOS rate: -0.017136 deg/s, cmd heading: 272.837289 deg, new cmd heading: 272.819282 deg. 2025-10-27T05:52:30.047Z,1761544350.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761595 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:30.298Z,1761544350.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505803 2025-10-27T05:52:30.418Z,1761544350.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053449,0.981599,0.183322],[-0.997325,0.061642,-0.039283],[-0.049861,-0.180732,0.982268]] 2025-10-27T05:52:30.461Z,1761544350.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:30.464Z,1761544350.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 61.356434 m, bearing: 263.985142 deg, approach rate: -0.555475 m/s, LOS rate: 0.000303 deg/s, cmd heading: 272.819284 deg, new cmd heading: 272.819670 deg. 2025-10-27T05:52:30.465Z,1761544350.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761601 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:30.545Z,1761544350.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753759 2025-10-27T05:52:30.796Z,1761544350.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004687 2025-10-27T05:52:30.822Z,1761544350.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052950,0.981628,0.183312],[-0.997336,0.061209,-0.039690],[-0.050181,-0.180722,0.982253]] 2025-10-27T05:52:30.841Z,1761544350.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:30.844Z,1761544350.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 61.144974 m, bearing: 263.985357 deg, approach rate: -0.557088 m/s, LOS rate: 0.000567 deg/s, cmd heading: 272.819667 deg, new cmd heading: 272.820313 deg. 2025-10-27T05:52:30.845Z,1761544350.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761613 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:31.049Z,1761544351.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257727 2025-10-27T05:52:31.226Z,1761544351.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052829,0.981650,0.183227],[-0.997327,0.061142,-0.040018],[-0.050487,-0.180623,0.982256]] 2025-10-27T05:52:31.277Z,1761544351.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:31.300Z,1761544351.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508842 2025-10-27T05:52:31.301Z,1761544351.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 60.912785 m, bearing: 263.990119 deg, approach rate: -0.532357 m/s, LOS rate: 0.010960 deg/s, cmd heading: 272.820322 deg, new cmd heading: 272.834663 deg. 2025-10-27T05:52:31.302Z,1761544351.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761863 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:31.553Z,1761544351.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761969 2025-10-27T05:52:31.633Z,1761544351.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052898,0.981636,0.183280],[-0.997303,0.061283,-0.040387],[-0.050877,-0.180649,0.982231]] 2025-10-27T05:52:31.652Z,1761544351.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:31.654Z,1761544351.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 60.712933 m, bearing: 263.994232 deg, approach rate: -0.532873 m/s, LOS rate: 0.011003 deg/s, cmd heading: 272.834666 deg, new cmd heading: 272.847046 deg. 2025-10-27T05:52:31.656Z,1761544351.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762079 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:31.805Z,1761544351.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013096 2025-10-27T05:52:32.038Z,1761544352.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053388,0.981733,0.182618],[-0.997268,0.061770,-0.040519],[-0.051059,-0.179956,0.982349]] 2025-10-27T05:52:32.057Z,1761544352.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265569 2025-10-27T05:52:32.069Z,1761544352.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:32.073Z,1761544352.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:32.097Z,1761544352.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 60.494099 m, bearing: 263.998681 deg, approach rate: -0.519683 m/s, LOS rate: 0.010602 deg/s, cmd heading: 272.847042 deg, new cmd heading: 272.860436 deg. 2025-10-27T05:52:32.098Z,1761544352.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762313 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:32.309Z,1761544352.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517333 2025-10-27T05:52:32.440Z,1761544352.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054224,0.981852,0.181732],[-0.997193,0.062659,-0.040995],[-0.051638,-0.178999,0.982493]] 2025-10-27T05:52:32.477Z,1761544352.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:32.496Z,1761544352.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 60.273632 m, bearing: 264.002862 deg, approach rate: -0.545790 m/s, LOS rate: 0.010391 deg/s, cmd heading: 272.860429 deg, new cmd heading: 272.873021 deg. 2025-10-27T05:52:32.497Z,1761544352.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762533 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:32.562Z,1761544352.562 [DAT](INFO): DAT read: Rx Time:05:52:31.2588 2025-10-27T05:52:32.562Z,1761544352.562 [DAT](INFO): Rx dataTimestamp_ set to:1761544352.561866 2025-10-27T05:52:32.564Z,1761544352.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772534 2025-10-27T05:52:32.812Z,1761544352.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021108 2025-10-27T05:52:32.848Z,1761544352.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054423,0.981931,0.181246],[-0.997170,0.062876,-0.041219],[-0.051870,-0.178489,0.982574]] 2025-10-27T05:52:32.867Z,1761544352.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:32.877Z,1761544352.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 60.066204 m, bearing: 264.006794 deg, approach rate: -0.532394 m/s, LOS rate: 0.010127 deg/s, cmd heading: 272.873024 deg, new cmd heading: 272.884861 deg. 2025-10-27T05:52:32.878Z,1761544352.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762739 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:33.064Z,1761544353.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273326 2025-10-27T05:52:33.252Z,1761544353.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055118,0.982164,0.179768],[-0.997122,0.063531,-0.041380],[-0.052063,-0.176970,0.982838]] 2025-10-27T05:52:33.308Z,1761544353.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.01 m. 2025-10-27T05:52:33.310Z,1761544353.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.005173 m, nav range: 59.836258 m, bearing: 264.006571 deg, approach rate: -0.521436 m/s, LOS rate: -0.000508 deg/s, cmd heading: 272.884854 deg, new cmd heading: 272.884182 deg. 2025-10-27T05:52:33.322Z,1761544353.322 [DAT](INFO): DAT read: 05:52:31.2588 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.45,-0.128,-1.570, 0.421,-0.101, PHS= 0.075,-1.424, 0.479, RAW= 161.6, 10.0, CAL= 161.6, 10.9, ROT= 348.4, -10.9 2025-10-27T05:52:33.323Z,1761544353.323 [DAT](INFO): got valid direction response: 05:52:31.2588 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417,-0.45,-0.128,-1.570, 0.421,-0.101, PHS= 0.075,-1.424, 0.479, RAW= 161.6, 10.0, CAL= 161.6, 10.9, ROT= 348.4, -10.9 2025-10-27T05:52:33.324Z,1761544353.324 [DAT](INFO): DAT read: Bearing 80.6, -16.2 (Local) 2025-10-27T05:52:33.324Z,1761544353.324 [DAT](INFO): Local bearing/azimuth received: Bearing 80.6, -16.2 (Local) 2025-10-27T05:52:33.326Z,1761544353.326 [DAT](INFO): DAT read: Range 11 to 50 : 61.2 m (Round-trip 81.6 ms) speed 0.2 m/s 2025-10-27T05:52:33.326Z,1761544353.326 [DAT](INFO): DAT read: user:582> 2025-10-27T05:52:33.327Z,1761544353.327 [DAT](INFO): DAT read: Tx time:05:52:32.3715 2025-10-27T05:52:33.327Z,1761544353.327 [DAT](INFO): Ping request sent. 2025-10-27T05:52:33.327Z,1761544353.327 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:33.328Z,1761544353.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:33.329Z,1761544353.329 [DAT](INFO): direction in FSK: [0.961902,-0.197450,0.189095] 2025-10-27T05:52:33.329Z,1761544353.329 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:33.329Z,1761544353.329 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:33.333Z,1761544353.333 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:33.333Z,1761544353.333 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:33.347Z,1761544353.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762727 target range: 65.005173 and range: 63.20 m. 2025-10-27T05:52:33.651Z,1761544353.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055626,0.982233,0.179230],[-0.997073,0.064076,-0.041704],[-0.052447,-0.176386,0.982923]] 2025-10-27T05:52:33.674Z,1761544353.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.200001 m, deltaT: 3.527821 s, deltaX: -2.000000 m, approachRate: -0.566922 m/s, rangeRepo size: 4 2025-10-27T05:52:33.676Z,1761544353.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.831066 m, bearing: 263.792931 deg, lat: 36.779450 deg, lon: -121.859784 deg, deltaT: 7.307911 s, deltaX: -4.174107 m, approachRate: -0.571176 m/s, posRepo size: 4 2025-10-27T05:52:33.677Z,1761544353.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.83 m. 2025-10-27T05:52:33.680Z,1761544353.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.831066 m, nav range: 59.916279 m, bearing: 264.033309 deg, approach rate: 0.000000 m/s, LOS rate: -0.000508 deg/s, cmd heading: 272.884171 deg, new cmd heading: 272.883613 deg. 2025-10-27T05:52:33.681Z,1761544353.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762718 target range: 60.831066 and range: 61.20 m. 2025-10-27T05:52:34.066Z,1761544354.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055590,0.982248,0.179163],[-0.997071,0.064053,-0.041795],[-0.052529,-0.176315,0.982931]] 2025-10-27T05:52:34.105Z,1761544354.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:34.107Z,1761544354.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.83 m. 2025-10-27T05:52:34.110Z,1761544354.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.831066 m, nav range: 59.697521 m, bearing: 264.033104 deg, approach rate: -0.504421 m/s, LOS rate: -0.000476 deg/s, cmd heading: 272.883625 deg, new cmd heading: 272.883006 deg. 2025-10-27T05:52:34.111Z,1761544354.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762707 target range: 60.831066 and range: 61.20 m. 2025-10-27T05:52:34.324Z,1761544354.324 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:34.324Z,1761544354.324 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:34.324Z,1761544354.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:34.459Z,1761544354.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055428,0.982491,0.177876],[-0.997093,0.063794,-0.041659],[-0.052277,-0.175049,0.983171]] 2025-10-27T05:52:34.497Z,1761544354.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.83 m. 2025-10-27T05:52:34.500Z,1761544354.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.831066 m, nav range: 59.482986 m, bearing: 264.033728 deg, approach rate: -0.550857 m/s, LOS rate: 0.001609 deg/s, cmd heading: 272.882996 deg, new cmd heading: 272.884877 deg. 2025-10-27T05:52:34.500Z,1761544354.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762740 target range: 60.831066 and range: 61.20 m. 2025-10-27T05:52:34.577Z,1761544354.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249348 2025-10-27T05:52:34.828Z,1761544354.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500356 2025-10-27T05:52:34.862Z,1761544354.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055425,0.982497,0.177840],[-0.997096,0.063780,-0.041612],[-0.052226,-0.175017,0.983179]] 2025-10-27T05:52:34.901Z,1761544354.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.83 m. 2025-10-27T05:52:34.911Z,1761544354.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.831066 m, nav range: 59.274765 m, bearing: 264.034340 deg, approach rate: -0.515292 m/s, LOS rate: 0.001519 deg/s, cmd heading: 272.884881 deg, new cmd heading: 272.886722 deg. 2025-10-27T05:52:34.912Z,1761544354.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762772 target range: 60.831066 and range: 61.20 m. 2025-10-27T05:52:35.080Z,1761544355.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752392 2025-10-27T05:52:35.332Z,1761544355.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004487 2025-10-27T05:52:35.339Z,1761544355.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.83 m. 2025-10-27T05:52:35.357Z,1761544355.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.831066 m, nav range: 59.029373 m, bearing: 264.030574 deg, approach rate: -0.560447 m/s, LOS rate: -0.008638 deg/s, cmd heading: 272.886712 deg, new cmd heading: 272.875366 deg. 2025-10-27T05:52:35.358Z,1761544355.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762574 target range: 60.831066 and range: 61.20 m. 2025-10-27T05:52:35.584Z,1761544355.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256417 2025-10-27T05:52:35.686Z,1761544355.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054314,0.982462,0.178375],[-0.997209,0.062536,-0.040795],[-0.051234,-0.175662,0.983117]] 2025-10-27T05:52:35.709Z,1761544355.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.83 m. 2025-10-27T05:52:35.713Z,1761544355.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.831066 m, nav range: 58.826370 m, bearing: 264.027649 deg, approach rate: -0.548585 m/s, LOS rate: -0.007930 deg/s, cmd heading: 272.875374 deg, new cmd heading: 272.866570 deg. 2025-10-27T05:52:35.715Z,1761544355.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762420 target range: 60.831066 and range: 61.20 m. 2025-10-27T05:52:35.837Z,1761544355.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509009 2025-10-27T05:52:36.086Z,1761544356.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053038,0.982634,0.177812],[-0.997323,0.061099,-0.040165],[-0.050332,-0.175206,0.983244]] 2025-10-27T05:52:36.088Z,1761544356.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760478 2025-10-27T05:52:36.106Z,1761544356.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.83 m. 2025-10-27T05:52:36.109Z,1761544356.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.831066 m, nav range: 58.604607 m, bearing: 264.024714 deg, approach rate: -0.557493 m/s, LOS rate: -0.007408 deg/s, cmd heading: 272.866576 deg, new cmd heading: 272.857736 deg. 2025-10-27T05:52:36.110Z,1761544356.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.762266 target range: 60.831066 and range: 61.20 m. 2025-10-27T05:52:36.340Z,1761544356.340 [DAT](INFO): DAT read: Rx Time:05:52:34.8549 2025-10-27T05:52:36.341Z,1761544356.341 [DAT](INFO): Rx dataTimestamp_ set to:1761544356.340265 2025-10-27T05:52:36.341Z,1761544356.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013579 2025-10-27T05:52:36.490Z,1761544356.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051806,0.982549,0.178642],[-0.997442,0.059730,-0.039261],[-0.049247,-0.176151,0.983130]] 2025-10-27T05:52:36.560Z,1761544356.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:36.567Z,1761544356.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.83 m. 2025-10-27T05:52:36.576Z,1761544356.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.831066 m, nav range: 58.360321 m, bearing: 264.016849 deg, approach rate: -0.531333 m/s, LOS rate: -0.017177 deg/s, cmd heading: 272.857725 deg, new cmd heading: 272.834033 deg. 2025-10-27T05:52:36.577Z,1761544356.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761852 target range: 60.831066 and range: 61.20 m. 2025-10-27T05:52:36.592Z,1761544356.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264689 2025-10-27T05:52:36.850Z,1761544356.850 [DAT](INFO): DAT read: 05:52:34.8549 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 424,-0.09,-1.154,-2.582,-0.592,-1.132, PHS= 0.079,-1.405, 0.495, RAW= 162.0, 9.6, CAL= 161.9, 10.3, ROT= 348.1, -10.3 2025-10-27T05:52:36.851Z,1761544356.851 [DAT](INFO): got valid direction response: 05:52:34.8549 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 424,-0.09,-1.154,-2.582,-0.592,-1.132, PHS= 0.079,-1.405, 0.495, RAW= 162.0, 9.6, CAL= 161.9, 10.3, ROT= 348.1, -10.3 2025-10-27T05:52:36.852Z,1761544356.852 [DAT](INFO): DAT read: Bearing 79.6, -16.1 (Local) 2025-10-27T05:52:36.852Z,1761544356.852 [DAT](INFO): Local bearing/azimuth received: Bearing 79.6, -16.1 (Local) 2025-10-27T05:52:36.854Z,1761544356.854 [DAT](INFO): DAT read: Range 11 to 50 : 59.4 m (Round-trip 79.2 ms) speed 0.4 m/s 2025-10-27T05:52:36.854Z,1761544356.854 [DAT](INFO): DAT read: user:583> 2025-10-27T05:52:36.855Z,1761544356.855 [DAT](INFO): DAT read: Tx time:05:52:35.9715 2025-10-27T05:52:36.856Z,1761544356.856 [DAT](INFO): Ping request sent. 2025-10-27T05:52:36.856Z,1761544356.856 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:36.856Z,1761544356.856 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:36.857Z,1761544356.857 [DAT](INFO): direction in FSK: [0.962740,-0.202881,0.178802] 2025-10-27T05:52:36.857Z,1761544356.857 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:36.857Z,1761544356.857 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:36.861Z,1761544356.861 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:36.861Z,1761544356.861 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:37.137Z,1761544357.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.528145 s, deltaX: -1.799999 m, approachRate: -0.510183 m/s, rangeRepo size: 4 2025-10-27T05:52:37.140Z,1761544357.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.045094 m, bearing: 263.157619 deg, lat: 36.779450 deg, lon: -121.859785 deg, deltaT: 3.528145 s, deltaX: -1.785973 m, approachRate: -0.506207 m/s, posRepo size: 4 2025-10-27T05:52:37.140Z,1761544357.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.05 m. 2025-10-27T05:52:37.141Z,1761544357.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T05:52:37.144Z,1761544357.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.045094 m, nav range: 58.112141 m, bearing: 264.016169 deg, approach rate: 0.000000 m/s, LOS rate: -0.017177 deg/s, cmd heading: 272.834037 deg, new cmd heading: 272.804645 deg. 2025-10-27T05:52:37.144Z,1761544357.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.761339 target range: 59.045094 and range: 59.40 m. 2025-10-27T05:52:37.325Z,1761544357.325 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T05:52:37.653Z,1761544357.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047513,0.982480,0.180210],[-0.997807,0.055009,-0.036826],[-0.046094,-0.178065,0.982939]] 2025-10-27T05:52:37.707Z,1761544357.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.05 m. 2025-10-27T05:52:37.708Z,1761544357.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T05:52:37.713Z,1761544357.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.045094 m, nav range: 57.790745 m, bearing: 264.002067 deg, approach rate: -0.563889 m/s, LOS rate: -0.024881 deg/s, cmd heading: 272.804640 deg, new cmd heading: 272.762097 deg. 2025-10-27T05:52:37.714Z,1761544357.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760597 target range: 59.045094 and range: 59.40 m. 2025-10-27T05:52:38.177Z,1761544358.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046581,0.982168,0.182144],[-0.997908,0.053937,-0.035643],[-0.044832,-0.180103,0.982626]] 2025-10-27T05:52:38.196Z,1761544358.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.05 m. 2025-10-27T05:52:38.196Z,1761544358.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T05:52:38.199Z,1761544358.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.045094 m, nav range: 57.513351 m, bearing: 263.990003 deg, approach rate: -0.567147 m/s, LOS rate: -0.024784 deg/s, cmd heading: 272.762102 deg, new cmd heading: 272.725736 deg. 2025-10-27T05:52:38.200Z,1761544358.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759962 target range: 59.045094 and range: 59.40 m. 2025-10-27T05:52:38.686Z,1761544358.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:38.689Z,1761544358.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.05 m. 2025-10-27T05:52:38.689Z,1761544358.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T05:52:38.692Z,1761544358.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.045094 m, nav range: 57.238918 m, bearing: 263.987821 deg, approach rate: -0.556488 m/s, LOS rate: -0.004444 deg/s, cmd heading: 272.725738 deg, new cmd heading: 272.719163 deg. 2025-10-27T05:52:38.693Z,1761544358.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759847 target range: 59.045094 and range: 59.40 m. 2025-10-27T05:52:38.860Z,1761544358.860 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:38.860Z,1761544358.860 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:38.860Z,1761544358.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:39.024Z,1761544359.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045958,0.982892,0.178356],[-0.998023,0.052840,-0.034027],[-0.042869,-0.176440,0.983378]] 2025-10-27T05:52:39.068Z,1761544359.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.05 m. 2025-10-27T05:52:39.069Z,1761544359.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T05:52:39.088Z,1761544359.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.045094 m, nav range: 57.030418 m, bearing: 263.986343 deg, approach rate: -0.549462 m/s, LOS rate: -0.003911 deg/s, cmd heading: 272.719154 deg, new cmd heading: 272.714702 deg. 2025-10-27T05:52:39.089Z,1761544359.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759769 target range: 59.045094 and range: 59.40 m. 2025-10-27T05:52:39.112Z,1761544359.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256237 2025-10-27T05:52:39.364Z,1761544359.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508571 2025-10-27T05:52:39.422Z,1761544359.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045538,0.983102,0.177304],[-0.998080,0.052234,-0.033280],[-0.041979,-0.175448,0.983593]] 2025-10-27T05:52:39.481Z,1761544359.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.05 m. 2025-10-27T05:52:39.481Z,1761544359.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T05:52:39.484Z,1761544359.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.045094 m, nav range: 56.804874 m, bearing: 263.983107 deg, approach rate: -0.546744 m/s, LOS rate: -0.007875 deg/s, cmd heading: 272.714700 deg, new cmd heading: 272.704955 deg. 2025-10-27T05:52:39.485Z,1761544359.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759599 target range: 59.045094 and range: 59.40 m. 2025-10-27T05:52:39.616Z,1761544359.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760163 2025-10-27T05:52:39.833Z,1761544359.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.045843,0.983341,0.175896],[-0.998104,0.052329,-0.032412],[-0.041077,-0.174076,0.983875]] 2025-10-27T05:52:39.868Z,1761544359.868 [DAT](INFO): DAT read: Rx Time:05:52:38.4522 2025-10-27T05:52:39.868Z,1761544359.868 [DAT](INFO): Rx dataTimestamp_ set to:1761544359.868188 2025-10-27T05:52:39.869Z,1761544359.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013284 2025-10-27T05:52:39.874Z,1761544359.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.05 m. 2025-10-27T05:52:39.899Z,1761544359.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T05:52:39.908Z,1761544359.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.045094 m, nav range: 56.594215 m, bearing: 263.980023 deg, approach rate: -0.535099 m/s, LOS rate: -0.007864 deg/s, cmd heading: 272.704947 deg, new cmd heading: 272.695659 deg. 2025-10-27T05:52:39.909Z,1761544359.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759437 target range: 59.045094 and range: 59.40 m. 2025-10-27T05:52:40.120Z,1761544360.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264210 2025-10-27T05:52:40.227Z,1761544360.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046688,0.983647,0.173948],[-0.998089,0.052995,-0.031786],[-0.040485,-0.172132,0.984242]] 2025-10-27T05:52:40.259Z,1761544360.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.05 m. 2025-10-27T05:52:40.260Z,1761544360.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m. 2025-10-27T05:52:40.262Z,1761544360.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.045094 m, nav range: 56.392159 m, bearing: 263.976903 deg, approach rate: -0.525983 m/s, LOS rate: -0.008150 deg/s, cmd heading: 272.695658 deg, new cmd heading: 272.686265 deg. 2025-10-27T05:52:40.264Z,1761544360.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759273 target range: 59.045094 and range: 59.40 m. 2025-10-27T05:52:40.378Z,1761544360.378 [DAT](INFO): DAT read: 05:52:38.4522 LVL= 32752, 32753, 30578, 32755, AGC= 62, IDX= 412,-0.23, 3.126, 1.677,-2.679, 3.112, PHS= 0.116,-1.390, 0.448, RAW= 159.8, 9.8, CAL= 159.7, 10.5, ROT= 350.3, -10.5 2025-10-27T05:52:40.379Z,1761544360.379 [DAT](INFO): got valid direction response: 05:52:38.4522 LVL= 32752, 32753, 30578, 32755, AGC= 62, IDX= 412,-0.23, 3.126, 1.677,-2.679, 3.112, PHS= 0.116,-1.390, 0.448, RAW= 159.8, 9.8, CAL= 159.7, 10.5, ROT= 350.3, -10.5 2025-10-27T05:52:40.380Z,1761544360.380 [DAT](INFO): DAT read: Bearing 79.9, -13.6 (Local) 2025-10-27T05:52:40.380Z,1761544360.380 [DAT](INFO): Local bearing/azimuth received: Bearing 79.9, -13.6 (Local) 2025-10-27T05:52:40.382Z,1761544360.382 [DAT](INFO): DAT read: Range 11 to 50 : 57.3 m (Round-trip 76.5 ms) speed 0.4 m/s 2025-10-27T05:52:40.382Z,1761544360.382 [DAT](INFO): DAT read: user:584> 2025-10-27T05:52:40.383Z,1761544360.383 [DAT](INFO): DAT read: Tx time:05:52:39.5715 2025-10-27T05:52:40.384Z,1761544360.384 [DAT](INFO): Ping request sent. 2025-10-27T05:52:40.384Z,1761544360.384 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:40.384Z,1761544360.384 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:40.385Z,1761544360.385 [DAT](INFO): direction in FSK: [0.969198,-0.165668,0.182236] 2025-10-27T05:52:40.385Z,1761544360.385 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:40.385Z,1761544360.385 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:40.421Z,1761544360.421 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:40.422Z,1761544360.422 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:40.715Z,1761544360.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049266,0.984074,0.170797],[-0.998016,0.055216,-0.030261],[-0.039210,-0.168968,0.984841]] 2025-10-27T05:52:40.731Z,1761544360.731 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 77.09, 83.88, 89.66 2025-10-27T05:52:40.782Z,1761544360.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.299999 m, deltaT: 3.527955 s, deltaX: -2.100002 m, approachRate: -0.595246 m/s, rangeRepo size: 4 2025-10-27T05:52:40.789Z,1761544360.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.957211 m, bearing: 265.101504 deg, lat: 36.779450 deg, lon: -121.859785 deg, deltaT: 3.527955 s, deltaX: -2.087883 m, approachRate: -0.591811 m/s, posRepo size: 4 2025-10-27T05:52:40.789Z,1761544360.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:40.790Z,1761544360.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-27T05:52:40.797Z,1761544360.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 56.154602 m, bearing: 263.975702 deg, approach rate: 0.000000 m/s, LOS rate: -0.008150 deg/s, cmd heading: 272.686259 deg, new cmd heading: 272.673468 deg. 2025-10-27T05:52:40.798Z,1761544360.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759050 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:41.132Z,1761544361.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051228,0.984260,0.169140],[-0.997934,0.057026,-0.029597],[-0.038777,-0.167274,0.985148]] 2025-10-27T05:52:41.152Z,1761544361.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:41.154Z,1761544361.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:41.154Z,1761544361.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-27T05:52:41.157Z,1761544361.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 55.938118 m, bearing: 263.971400 deg, approach rate: -0.582136 m/s, LOS rate: -0.011615 deg/s, cmd heading: 272.673473 deg, new cmd heading: 272.660516 deg. 2025-10-27T05:52:41.158Z,1761544361.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.758824 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:41.260Z,1761544361.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:52:41.380Z,1761544361.380 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:41.380Z,1761544361.380 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:41.381Z,1761544361.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:41.533Z,1761544361.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053175,0.984452,0.167415],[-0.997839,0.058861,-0.029188],[-0.038588,-0.165501,0.985454]] 2025-10-27T05:52:41.592Z,1761544361.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:41.592Z,1761544361.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-27T05:52:41.595Z,1761544361.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 55.713802 m, bearing: 263.978240 deg, approach rate: -0.512121 m/s, LOS rate: 0.015679 deg/s, cmd heading: 272.660523 deg, new cmd heading: 272.681126 deg. 2025-10-27T05:52:41.596Z,1761544361.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759183 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:41.633Z,1761544361.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248920 2025-10-27T05:52:41.884Z,1761544361.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500191 2025-10-27T05:52:41.933Z,1761544361.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.055414,0.984513,0.166323],[-0.997728,0.060994,-0.028627],[-0.038328,-0.164359,0.985656]] 2025-10-27T05:52:41.961Z,1761544361.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:41.961Z,1761544361.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-27T05:52:41.968Z,1761544361.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 55.529167 m, bearing: 263.983505 deg, approach rate: -0.500303 m/s, LOS rate: 0.014313 deg/s, cmd heading: 272.681123 deg, new cmd heading: 272.696970 deg. 2025-10-27T05:52:41.969Z,1761544361.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759460 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:42.136Z,1761544362.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752255 2025-10-27T05:52:42.263Z,1761544362.263 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:52:42.390Z,1761544362.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005999 2025-10-27T05:52:42.398Z,1761544362.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057578,0.984335,0.166640],[-0.997620,0.063071,-0.027859],[-0.037933,-0.164640,0.985624]] 2025-10-27T05:52:42.448Z,1761544362.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:42.448Z,1761544362.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-27T05:52:42.463Z,1761544362.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 55.270813 m, bearing: 263.988805 deg, approach rate: -0.530423 m/s, LOS rate: 0.010932 deg/s, cmd heading: 272.696969 deg, new cmd heading: 272.712944 deg. 2025-10-27T05:52:42.464Z,1761544362.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759739 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:42.640Z,1761544362.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256192 2025-10-27T05:52:42.746Z,1761544362.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.059507,0.984329,0.165998],[-0.997528,0.064864,-0.027036],[-0.037379,-0.163979,0.985755]] 2025-10-27T05:52:42.780Z,1761544362.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:42.781Z,1761544362.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-27T05:52:42.788Z,1761544362.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 55.099537 m, bearing: 263.992012 deg, approach rate: -0.515015 m/s, LOS rate: 0.009673 deg/s, cmd heading: 272.712952 deg, new cmd heading: 272.722602 deg. 2025-10-27T05:52:42.789Z,1761544362.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759907 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:42.892Z,1761544362.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508231 2025-10-27T05:52:43.144Z,1761544363.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760318 2025-10-27T05:52:43.158Z,1761544363.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060063,0.984347,0.165690],[-0.997514,0.065317,-0.026443],[-0.036851,-0.163690,0.985823]] 2025-10-27T05:52:43.177Z,1761544363.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:43.179Z,1761544363.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:43.180Z,1761544363.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-27T05:52:43.180Z,1761544363.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.30 m. 2025-10-27T05:52:43.180Z,1761544363.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T05:52:43.183Z,1761544363.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 54.889668 m, bearing: 263.995852 deg, approach rate: -0.526693 m/s, LOS rate: 0.009675 deg/s, cmd heading: 272.722596 deg, new cmd heading: 272.734162 deg. 2025-10-27T05:52:43.184Z,1761544363.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760109 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:43.397Z,1761544363.397 [DAT](INFO): DAT read: Rx Time:05:52:42.0497 2025-10-27T05:52:43.398Z,1761544363.398 [DAT](INFO): Rx dataTimestamp_ set to:1761544363.397538 2025-10-27T05:52:43.399Z,1761544363.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014998 2025-10-27T05:52:43.560Z,1761544363.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060769,0.984279,0.165835],[-0.997492,0.065926,-0.025766],[-0.036293,-0.163854,0.985817]] 2025-10-27T05:52:43.605Z,1761544363.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:43.608Z,1761544363.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 54.666485 m, bearing: 263.998296 deg, approach rate: -0.523288 m/s, LOS rate: 0.005754 deg/s, cmd heading: 272.734153 deg, new cmd heading: 272.741515 deg. 2025-10-27T05:52:43.609Z,1761544363.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760237 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:43.648Z,1761544363.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264424 2025-10-27T05:52:43.903Z,1761544363.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518454 2025-10-27T05:52:43.960Z,1761544363.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061574,0.984250,0.165715],[-0.997462,0.066626,-0.025093],[-0.035739,-0.163749,0.985854]] 2025-10-27T05:52:43.980Z,1761544363.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.96 m. 2025-10-27T05:52:43.983Z,1761544363.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.957211 m, nav range: 54.471611 m, bearing: 264.000283 deg, approach rate: -0.520068 m/s, LOS rate: 0.005322 deg/s, cmd heading: 272.741502 deg, new cmd heading: 272.747484 deg. 2025-10-27T05:52:43.984Z,1761544363.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760342 target range: 56.957211 and range: 57.30 m. 2025-10-27T05:52:44.158Z,1761544364.158 [DAT](INFO): DAT read: 05:52:42.0497 LVL= 32752, 32753, 26386, 32755, AGC= 66, IDX= 418, 0.46,-1.720, 3.140,-1.108,-1.725, PHS= 0.107,-1.374, 0.573, RAW= 163.2, 7.9, CAL= 162.8, 8.1, ROT= 347.2, -8.1 2025-10-27T05:52:44.159Z,1761544364.159 [DAT](INFO): got valid direction response: 05:52:42.0497 LVL= 32752, 32753, 26386, 32755, AGC= 66, IDX= 418, 0.46,-1.720, 3.140,-1.108,-1.725, PHS= 0.107,-1.374, 0.573, RAW= 163.2, 7.9, CAL= 162.8, 8.1, ROT= 347.2, -8.1 2025-10-27T05:52:44.160Z,1761544364.160 [DAT](INFO): DAT read: Bearing 77.8, -15.9 (Local) 2025-10-27T05:52:44.161Z,1761544364.161 [DAT](INFO): Local bearing/azimuth received: Bearing 77.8, -15.9 (Local) 2025-10-27T05:52:44.162Z,1761544364.162 [DAT](INFO): DAT read: Range 11 to 50 : 55.5 m (Round-trip 74.0 ms) speed 0.4 m/s 2025-10-27T05:52:44.164Z,1761544364.164 [DAT](INFO): DAT read: user:585> 2025-10-27T05:52:44.168Z,1761544364.168 [DAT](INFO): DAT read: Tx time:05:52:43.1715 2025-10-27T05:52:44.170Z,1761544364.170 [DAT](INFO): Ping request sent. 2025-10-27T05:52:44.170Z,1761544364.170 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:44.171Z,1761544364.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:44.172Z,1761544364.172 [DAT](INFO): direction in FSK: [0.965421,-0.219338,0.140901] 2025-10-27T05:52:44.172Z,1761544364.172 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:44.173Z,1761544364.173 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:44.176Z,1761544364.176 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:44.176Z,1761544364.176 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:44.409Z,1761544364.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062086,0.984262,0.165452],[-0.997465,0.066965,-0.024071],[-0.034772,-0.163538,0.985924]] 2025-10-27T05:52:44.470Z,1761544364.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 3.779816 s, deltaX: -1.799999 m, approachRate: -0.476213 m/s, rangeRepo size: 4 2025-10-27T05:52:44.472Z,1761544364.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.168388 m, bearing: 262.300531 deg, lat: 36.779448 deg, lon: -121.859786 deg, deltaT: 3.779816 s, deltaX: -1.788822 m, approachRate: -0.473256 m/s, posRepo size: 4 2025-10-27T05:52:44.473Z,1761544364.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T05:52:44.476Z,1761544364.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.168388 m, nav range: 54.314304 m, bearing: 263.735025 deg, approach rate: 0.000000 m/s, LOS rate: 0.005322 deg/s, cmd heading: 272.747485 deg, new cmd heading: 272.755294 deg. 2025-10-27T05:52:44.477Z,1761544364.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760478 target range: 55.168388 and range: 55.50 m. 2025-10-27T05:52:44.784Z,1761544364.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063160,0.984060,0.166240],[-0.997433,0.067876,-0.022831],[-0.033750,-0.164372,0.985821]] 2025-10-27T05:52:44.803Z,1761544364.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T05:52:44.805Z,1761544364.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.168388 m, nav range: 54.128838 m, bearing: 263.727321 deg, approach rate: -0.556329 m/s, LOS rate: -0.023187 deg/s, cmd heading: 272.755299 deg, new cmd heading: 272.732109 deg. 2025-10-27T05:52:44.806Z,1761544364.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.760073 target range: 55.168388 and range: 55.50 m. 2025-10-27T05:52:45.182Z,1761544365.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063437,0.983832,0.167485],[-0.997465,0.067924,-0.021194],[-0.032227,-0.165716,0.985647]] 2025-10-27T05:52:45.224Z,1761544365.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:45.226Z,1761544365.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T05:52:45.229Z,1761544365.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.168388 m, nav range: 53.904461 m, bearing: 263.717855 deg, approach rate: -0.529711 m/s, LOS rate: -0.022442 deg/s, cmd heading: 272.732104 deg, new cmd heading: 272.703586 deg. 2025-10-27T05:52:45.230Z,1761544365.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.759575 target range: 55.168388 and range: 55.50 m. 2025-10-27T05:52:45.419Z,1761544365.419 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:45.420Z,1761544365.420 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:45.420Z,1761544365.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:45.668Z,1761544365.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498392 2025-10-27T05:52:45.684Z,1761544365.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064198,0.983705,0.167936],[-0.997468,0.068415,-0.019440],[-0.030613,-0.166262,0.985606]] 2025-10-27T05:52:45.750Z,1761544365.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T05:52:45.758Z,1761544365.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.168388 m, nav range: 53.617199 m, bearing: 263.699876 deg, approach rate: -0.548275 m/s, LOS rate: -0.034497 deg/s, cmd heading: 272.703581 deg, new cmd heading: 272.649358 deg. 2025-10-27T05:52:45.759Z,1761544365.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.758629 target range: 55.168388 and range: 55.50 m. 2025-10-27T05:52:45.921Z,1761544365.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750932 2025-10-27T05:52:46.172Z,1761544366.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002781 2025-10-27T05:52:46.208Z,1761544366.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064240,0.983793,0.167404],[-0.997507,0.068213,-0.018087],[-0.029213,-0.165824,0.985722]] 2025-10-27T05:52:46.226Z,1761544366.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T05:52:46.229Z,1761544366.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.168388 m, nav range: 53.341728 m, bearing: 263.682447 deg, approach rate: -0.578425 m/s, LOS rate: -0.036787 deg/s, cmd heading: 272.649349 deg, new cmd heading: 272.596790 deg. 2025-10-27T05:52:46.230Z,1761544366.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.757711 target range: 55.168388 and range: 55.50 m. 2025-10-27T05:52:46.427Z,1761544366.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256772 2025-10-27T05:52:46.663Z,1761544366.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064083,0.983892,0.166883],[-0.997566,0.067763,-0.016445],[-0.027489,-0.165423,0.985840]] 2025-10-27T05:52:46.676Z,1761544366.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506313 2025-10-27T05:52:46.741Z,1761544366.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T05:52:46.748Z,1761544366.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.168388 m, nav range: 53.073891 m, bearing: 263.655847 deg, approach rate: -0.520868 m/s, LOS rate: -0.051991 deg/s, cmd heading: 272.596784 deg, new cmd heading: 272.516580 deg. 2025-10-27T05:52:46.748Z,1761544366.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.756311 target range: 55.168388 and range: 55.50 m. 2025-10-27T05:52:46.928Z,1761544366.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758254 2025-10-27T05:52:47.076Z,1761544367.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064540,0.983761,0.167477],[-0.997599,0.067830,-0.013992],[-0.025124,-0.166172,0.985777]] 2025-10-27T05:52:47.095Z,1761544367.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T05:52:47.098Z,1761544367.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.168388 m, nav range: 52.861763 m, bearing: 263.634476 deg, approach rate: -0.599058 m/s, LOS rate: -0.060593 deg/s, cmd heading: 272.516570 deg, new cmd heading: 272.452202 deg. 2025-10-27T05:52:47.098Z,1761544367.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.755188 target range: 55.168388 and range: 55.50 m. 2025-10-27T05:52:47.180Z,1761544367.180 [DAT](INFO): DAT read: Rx Time:05:52:45.6470 2025-10-27T05:52:47.181Z,1761544367.181 [DAT](INFO): Rx dataTimestamp_ set to:1761544367.180434 2025-10-27T05:52:47.181Z,1761544367.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011645 2025-10-27T05:52:47.435Z,1761544367.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264590 2025-10-27T05:52:47.526Z,1761544367.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065305,0.984180,0.164698],[-0.997655,0.067781,-0.009453],[-0.020467,-0.163695,0.986299]] 2025-10-27T05:52:47.581Z,1761544367.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:47.583Z,1761544367.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.17 m. 2025-10-27T05:52:47.585Z,1761544367.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.168388 m, nav range: 52.590191 m, bearing: 263.604514 deg, approach rate: -0.556558 m/s, LOS rate: -0.061722 deg/s, cmd heading: 272.452203 deg, new cmd heading: 272.361850 deg. 2025-10-27T05:52:47.586Z,1761544367.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.753611 target range: 55.168388 and range: 55.50 m. 2025-10-27T05:52:47.690Z,1761544367.690 [DAT](INFO): DAT read: 05:52:45.6470 LVL= 32752, 32753, 27538, 32755, AGC= 64, IDX= 407, 0.15,-0.308,-1.709, 0.358,-0.266, PHS= 0.060,-1.398, 0.580, RAW= 164.7, 8.6, CAL= 164.4, 9.0, ROT= 345.6, -9.0 2025-10-27T05:52:47.691Z,1761544367.691 [DAT](INFO): got valid direction response: 05:52:45.6470 LVL= 32752, 32753, 27538, 32755, AGC= 64, IDX= 407, 0.15,-0.308,-1.709, 0.358,-0.266, PHS= 0.060,-1.398, 0.580, RAW= 164.7, 8.6, CAL= 164.4, 9.0, ROT= 345.6, -9.0 2025-10-27T05:52:47.692Z,1761544367.692 [DAT](INFO): DAT read: Bearing 79.4, -17.1 (Local) 2025-10-27T05:52:47.692Z,1761544367.692 [DAT](INFO): Local bearing/azimuth received: Bearing 79.4, -17.1 (Local) 2025-10-27T05:52:47.694Z,1761544367.694 [DAT](INFO): DAT read: Range 11 to 50 : 53.4 m (Round-trip 71.3 ms) speed 0.4 m/s 2025-10-27T05:52:47.694Z,1761544367.694 [DAT](INFO): DAT read: user:586> 2025-10-27T05:52:47.696Z,1761544367.696 [DAT](INFO): DAT read: Tx time:05:52:46.7715 2025-10-27T05:52:47.696Z,1761544367.696 [DAT](INFO): Ping request sent. 2025-10-27T05:52:47.696Z,1761544367.696 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:47.696Z,1761544367.696 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:47.697Z,1761544367.697 [DAT](INFO): direction in FSK: [0.956658,-0.245628,0.156434] 2025-10-27T05:52:47.697Z,1761544367.697 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:47.698Z,1761544367.698 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:47.707Z,1761544367.707 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:47.708Z,1761544367.708 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:47.949Z,1761544367.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 3.532255 s, deltaX: -2.099998 m, approachRate: -0.594521 m/s, rangeRepo size: 4 2025-10-27T05:52:47.955Z,1761544367.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.081509 m, bearing: 261.030618 deg, lat: 36.779443 deg, lon: -121.859785 deg, deltaT: 3.532255 s, deltaX: -2.086880 m, approachRate: -0.590807 m/s, posRepo size: 4 2025-10-27T05:52:47.956Z,1761544367.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:47.959Z,1761544367.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 52.386395 m, bearing: 262.889757 deg, approach rate: 0.000000 m/s, LOS rate: -0.061722 deg/s, cmd heading: 272.361853 deg, new cmd heading: 272.294122 deg. 2025-10-27T05:52:47.964Z,1761544367.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.752429 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:48.285Z,1761544368.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066283,0.984080,0.164906],[-0.997646,0.068273,-0.006420],[-0.017576,-0.164092,0.986288]] 2025-10-27T05:52:48.321Z,1761544368.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:48.324Z,1761544368.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 52.172657 m, bearing: 262.862665 deg, approach rate: -0.574213 m/s, LOS rate: -0.073083 deg/s, cmd heading: 272.294125 deg, new cmd heading: 272.212515 deg. 2025-10-27T05:52:48.325Z,1761544368.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.751005 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:48.690Z,1761544368.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067700,0.984103,0.164190],[-0.997588,0.069296,-0.004010],[-0.015324,-0.163522,0.986421]] 2025-10-27T05:52:48.751Z,1761544368.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:48.754Z,1761544368.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 51.940868 m, bearing: 262.838975 deg, approach rate: -0.538325 m/s, LOS rate: -0.055266 deg/s, cmd heading: 272.212518 deg, new cmd heading: 272.141130 deg. 2025-10-27T05:52:48.771Z,1761544368.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749759 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:49.094Z,1761544369.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068999,0.984189,0.163130],[-0.997529,0.070231,-0.001787],[-0.013215,-0.162604,0.986603]] 2025-10-27T05:52:49.118Z,1761544369.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:49.121Z,1761544369.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 51.748528 m, bearing: 262.818890 deg, approach rate: -0.524205 m/s, LOS rate: -0.054943 deg/s, cmd heading: 272.141128 deg, new cmd heading: 272.080650 deg. 2025-10-27T05:52:49.122Z,1761544369.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.748703 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:49.499Z,1761544369.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070332,0.984136,0.162882],[-0.997457,0.071271,0.000080],[-0.011530,-0.162473,0.986646]] 2025-10-27T05:52:49.572Z,1761544369.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:49.575Z,1761544369.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 51.521244 m, bearing: 262.800488 deg, approach rate: -0.500360 m/s, LOS rate: -0.040689 deg/s, cmd heading: 272.080640 deg, new cmd heading: 272.025192 deg. 2025-10-27T05:52:49.576Z,1761544369.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.747735 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:49.943Z,1761544369.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:49.946Z,1761544369.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:49.948Z,1761544369.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 51.336910 m, bearing: 262.785444 deg, approach rate: -0.493826 m/s, LOS rate: -0.040448 deg/s, cmd heading: 272.025179 deg, new cmd heading: 271.979885 deg. 2025-10-27T05:52:49.949Z,1761544369.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.746944 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:49.952Z,1761544369.952 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:49.952Z,1761544369.952 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:49.952Z,1761544369.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:50.204Z,1761544370.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508280 2025-10-27T05:52:50.307Z,1761544370.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076325,0.983343,0.164960],[-0.997050,0.076626,0.004547],[-0.008169,-0.164820,0.986290]] 2025-10-27T05:52:50.330Z,1761544370.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:50.333Z,1761544370.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 51.146168 m, bearing: 262.768435 deg, approach rate: -0.495779 m/s, LOS rate: -0.044376 deg/s, cmd heading: 271.979881 deg, new cmd heading: 271.928663 deg. 2025-10-27T05:52:50.334Z,1761544370.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.746050 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:50.459Z,1761544370.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762317 2025-10-27T05:52:50.708Z,1761544370.708 [DAT](INFO): DAT read: Rx Time:05:52:49.2444 2025-10-27T05:52:50.709Z,1761544370.709 [DAT](INFO): Rx dataTimestamp_ set to:1761544370.708422 2025-10-27T05:52:50.710Z,1761544370.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013501 2025-10-27T05:52:50.726Z,1761544370.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081800,0.982674,0.166315],[-0.996632,0.081612,0.007973],[-0.005738,-0.166407,0.986041]] 2025-10-27T05:52:50.784Z,1761544370.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:50.799Z,1761544370.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 50.938557 m, bearing: 262.756984 deg, approach rate: -0.457423 m/s, LOS rate: -0.025332 deg/s, cmd heading: 271.928655 deg, new cmd heading: 271.894162 deg. 2025-10-27T05:52:50.800Z,1761544370.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.745448 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:50.960Z,1761544370.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263971 2025-10-27T05:52:51.139Z,1761544371.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084319,0.982469,0.166266],[-0.996428,0.083918,0.009444],[-0.004674,-0.166469,0.986036]] 2025-10-27T05:52:51.158Z,1761544371.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.08 m. 2025-10-27T05:52:51.161Z,1761544371.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.081509 m, nav range: 50.767704 m, bearing: 262.747003 deg, approach rate: -0.456723 m/s, LOS rate: -0.026770 deg/s, cmd heading: 271.894149 deg, new cmd heading: 271.864106 deg. 2025-10-27T05:52:51.162Z,1761544371.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744924 target range: 53.081509 and range: 53.40 m. 2025-10-27T05:52:51.218Z,1761544371.218 [DAT](INFO): DAT read: 05:52:49.2444 LVL= 32752, 32753, 28194, 32755, AGC= 63, IDX= 412, 0.03, 2.552, 1.136,-3.037, 2.568, PHS= 0.086,-1.387, 0.634, RAW= 165.2, 7.4, CAL= 164.7, 7.4, ROT= 345.3, -7.4 2025-10-27T05:52:51.219Z,1761544371.219 [DAT](INFO): got valid direction response: 05:52:49.2444 LVL= 32752, 32753, 28194, 32755, AGC= 63, IDX= 412, 0.03, 2.552, 1.136,-3.037, 2.568, PHS= 0.086,-1.387, 0.634, RAW= 165.2, 7.4, CAL= 164.7, 7.4, ROT= 345.3, -7.4 2025-10-27T05:52:51.220Z,1761544371.220 [DAT](INFO): DAT read: Bearing 79.0, -16.3 (Local) 2025-10-27T05:52:51.220Z,1761544371.220 [DAT](INFO): Local bearing/azimuth received: Bearing 79.0, -16.3 (Local) 2025-10-27T05:52:51.222Z,1761544371.222 [DAT](INFO): DAT read: Range 11 to 50 : 51.5 m (Round-trip 68.7 ms) speed 0.4 m/s 2025-10-27T05:52:51.222Z,1761544371.222 [DAT](INFO): DAT read: user:587> 2025-10-27T05:52:51.223Z,1761544371.223 [DAT](INFO): DAT read: Tx time:05:52:50.3715 2025-10-27T05:52:51.224Z,1761544371.224 [DAT](INFO): Ping request sent. 2025-10-27T05:52:51.224Z,1761544371.224 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:51.224Z,1761544371.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:51.225Z,1761544371.225 [DAT](INFO): direction in FSK: [0.959212,-0.251645,0.128796] 2025-10-27T05:52:51.225Z,1761544371.225 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:51.226Z,1761544371.226 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:51.233Z,1761544371.233 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:51.233Z,1761544371.233 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:51.560Z,1761544371.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087025,0.982282,0.165976],[-0.996199,0.086426,0.010843],[-0.003694,-0.166289,0.986070]] 2025-10-27T05:52:51.616Z,1761544371.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 3.527850 s, deltaX: -1.900002 m, approachRate: -0.538572 m/s, rangeRepo size: 4 2025-10-27T05:52:51.618Z,1761544371.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.192795 m, bearing: 261.702145 deg, lat: 36.779436 deg, lon: -121.859785 deg, deltaT: 3.527850 s, deltaX: -1.888714 m, approachRate: -0.535372 m/s, posRepo size: 4 2025-10-27T05:52:51.618Z,1761544371.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.19 m. 2025-10-27T05:52:51.621Z,1761544371.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.192795 m, nav range: 50.674274 m, bearing: 261.892565 deg, approach rate: 0.000000 m/s, LOS rate: -0.026770 deg/s, cmd heading: 271.864096 deg, new cmd heading: 271.827425 deg. 2025-10-27T05:52:51.622Z,1761544371.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744284 target range: 51.192795 and range: 51.50 m. 2025-10-27T05:52:51.962Z,1761544371.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088977,0.981886,0.167283],[-0.996031,0.088109,0.012617],[-0.002351,-0.167742,0.985828]] 2025-10-27T05:52:51.992Z,1761544371.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:51.994Z,1761544371.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.19 m. 2025-10-27T05:52:51.996Z,1761544371.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.192795 m, nav range: 50.509586 m, bearing: 261.889285 deg, approach rate: -0.434886 m/s, LOS rate: -0.008689 deg/s, cmd heading: 271.827431 deg, new cmd heading: 271.817560 deg. 2025-10-27T05:52:51.997Z,1761544371.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744112 target range: 51.192795 and range: 51.50 m. 2025-10-27T05:52:52.220Z,1761544372.220 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:52.220Z,1761544372.220 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:52.220Z,1761544372.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:52.366Z,1761544372.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090930,0.980775,0.172663],[-0.995857,0.089741,0.014697],[-0.001081,-0.173284,0.984871]] 2025-10-27T05:52:52.404Z,1761544372.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.19 m. 2025-10-27T05:52:52.406Z,1761544372.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.192795 m, nav range: 50.340652 m, bearing: 261.885420 deg, approach rate: -0.412027 m/s, LOS rate: -0.009458 deg/s, cmd heading: 271.817569 deg, new cmd heading: 271.805935 deg. 2025-10-27T05:52:52.408Z,1761544372.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743908 target range: 51.192795 and range: 51.50 m. 2025-10-27T05:52:52.473Z,1761544372.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248555 2025-10-27T05:52:52.725Z,1761544372.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500699 2025-10-27T05:52:52.770Z,1761544372.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092474,0.980058,0.175886],[-0.995715,0.091004,0.016422],[0.000088,-0.176651,0.984274]] 2025-10-27T05:52:52.857Z,1761544372.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.19 m. 2025-10-27T05:52:52.866Z,1761544372.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.192795 m, nav range: 50.144157 m, bearing: 261.882770 deg, approach rate: -0.433025 m/s, LOS rate: -0.005862 deg/s, cmd heading: 271.805930 deg, new cmd heading: 271.797950 deg. 2025-10-27T05:52:52.866Z,1761544372.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743769 target range: 51.192795 and range: 51.50 m. 2025-10-27T05:52:52.976Z,1761544372.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752372 2025-10-27T05:52:53.174Z,1761544373.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093146,0.979597,0.178083],[-0.995651,0.091361,0.018215],[0.001574,-0.179005,0.983847]] 2025-10-27T05:52:53.228Z,1761544373.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004071 2025-10-27T05:52:53.282Z,1761544373.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.19 m. 2025-10-27T05:52:53.285Z,1761544373.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.192795 m, nav range: 49.930664 m, bearing: 261.879668 deg, approach rate: -0.502580 m/s, LOS rate: -0.007335 deg/s, cmd heading: 271.797952 deg, new cmd heading: 271.788604 deg. 2025-10-27T05:52:53.286Z,1761544373.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743606 target range: 51.192795 and range: 51.50 m. 2025-10-27T05:52:53.482Z,1761544373.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258100 2025-10-27T05:52:53.709Z,1761544373.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.19 m. 2025-10-27T05:52:53.714Z,1761544373.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.192795 m, nav range: 49.736568 m, bearing: 261.878035 deg, approach rate: -0.454734 m/s, LOS rate: -0.003841 deg/s, cmd heading: 271.788609 deg, new cmd heading: 271.783691 deg. 2025-10-27T05:52:53.716Z,1761544373.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743520 target range: 51.192795 and range: 51.50 m. 2025-10-27T05:52:53.733Z,1761544373.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508505 2025-10-27T05:52:53.985Z,1761544373.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760743 2025-10-27T05:52:54.042Z,1761544374.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093636,0.978808,0.182119],[-0.995596,0.091206,0.021694],[0.004624,-0.183348,0.983037]] 2025-10-27T05:52:54.077Z,1761544374.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:54.083Z,1761544374.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.19 m. 2025-10-27T05:52:54.086Z,1761544374.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.192795 m, nav range: 49.565117 m, bearing: 261.876431 deg, approach rate: -0.458331 m/s, LOS rate: -0.004302 deg/s, cmd heading: 271.783691 deg, new cmd heading: 271.778863 deg. 2025-10-27T05:52:54.087Z,1761544374.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743436 target range: 51.192795 and range: 51.50 m. 2025-10-27T05:52:54.236Z,1761544374.236 [DAT](INFO): DAT read: Rx Time:05:52:52.8423 2025-10-27T05:52:54.236Z,1761544374.236 [DAT](INFO): Rx dataTimestamp_ set to:1761544374.236096 2025-10-27T05:52:54.237Z,1761544374.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013036 2025-10-27T05:52:54.431Z,1761544374.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093459,0.978294,0.184950],[-0.995602,0.090630,0.023714],[0.006438,-0.186353,0.982462]] 2025-10-27T05:52:54.468Z,1761544374.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.19 m. 2025-10-27T05:52:54.471Z,1761544374.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.192795 m, nav range: 49.386604 m, bearing: 261.874746 deg, approach rate: -0.463398 m/s, LOS rate: -0.004390 deg/s, cmd heading: 271.778855 deg, new cmd heading: 271.773782 deg. 2025-10-27T05:52:54.472Z,1761544374.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743347 target range: 51.192795 and range: 51.50 m. 2025-10-27T05:52:54.491Z,1761544374.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266451 2025-10-27T05:52:54.747Z,1761544374.747 [DAT](INFO): DAT read: 05:52:52.8423 LVL= 32752, 32753, 30498, 32755, AGC= 65, IDX= 424, 0.03,-1.231,-2.577,-0.549,-1.181, PHS= 0.051,-1.351, 0.587, RAW= 165.5, 8.3, CAL= 165.2, 8.5, ROT= 344.8, -8.5 2025-10-27T05:52:54.748Z,1761544374.748 [DAT](INFO): got valid direction response: 05:52:52.8423 LVL= 32752, 32753, 30498, 32755, AGC= 65, IDX= 424, 0.03,-1.231,-2.577,-0.549,-1.181, PHS= 0.051,-1.351, 0.587, RAW= 165.5, 8.3, CAL= 165.2, 8.5, ROT= 344.8, -8.5 2025-10-27T05:52:54.749Z,1761544374.749 [DAT](INFO): DAT read: Bearing 79.9, -16.0 (Local) 2025-10-27T05:52:54.749Z,1761544374.749 [DAT](INFO): Local bearing/azimuth received: Bearing 79.9, -16.0 (Local) 2025-10-27T05:52:54.750Z,1761544374.750 [DAT](INFO): DAT read: Range 11 to 50 : 50.0 m (Round-trip 66.7 ms) speed 0.4 m/s 2025-10-27T05:52:54.755Z,1761544374.755 [DAT](INFO): DAT read: user:588> 2025-10-27T05:52:54.757Z,1761544374.757 [DAT](INFO): DAT read: Tx time:05:52:53.9714 2025-10-27T05:52:54.758Z,1761544374.758 [DAT](INFO): Ping request sent. 2025-10-27T05:52:54.758Z,1761544374.758 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:54.758Z,1761544374.758 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:54.780Z,1761544374.780 [DAT](INFO): direction in FSK: [0.954417,-0.259309,0.147809] 2025-10-27T05:52:54.780Z,1761544374.780 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:54.781Z,1761544374.781 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:54.798Z,1761544374.798 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:54.798Z,1761544374.798 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:54.859Z,1761544374.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093025,0.978109,0.186143],[-0.995629,0.089816,0.025620],[0.008341,-0.187712,0.982189]] 2025-10-27T05:52:54.955Z,1761544374.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 3.528357 s, deltaX: -1.500000 m, approachRate: -0.425127 m/s, rangeRepo size: 4 2025-10-27T05:52:54.957Z,1761544374.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.701229 m, bearing: 261.939472 deg, lat: 36.779436 deg, lon: -121.859783 deg, deltaT: 3.528357 s, deltaX: -1.491566 m, approachRate: -0.422737 m/s, posRepo size: 4 2025-10-27T05:52:54.958Z,1761544374.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:54.965Z,1761544374.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 48.948841 m, bearing: 261.833187 deg, approach rate: 0.000000 m/s, LOS rate: -0.004390 deg/s, cmd heading: 271.773773 deg, new cmd heading: 271.767425 deg. 2025-10-27T05:52:54.966Z,1761544374.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.743237 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:55.311Z,1761544375.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:55.314Z,1761544375.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 48.761021 m, bearing: 261.827194 deg, approach rate: -0.521165 m/s, LOS rate: -0.016695 deg/s, cmd heading: 271.767435 deg, new cmd heading: 271.749385 deg. 2025-10-27T05:52:55.315Z,1761544375.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.742921 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:55.744Z,1761544375.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:55.748Z,1761544375.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 48.522903 m, bearing: 261.809658 deg, approach rate: -0.549615 m/s, LOS rate: -0.040675 deg/s, cmd heading: 271.749376 deg, new cmd heading: 271.696510 deg. 2025-10-27T05:52:55.749Z,1761544375.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741999 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:56.074Z,1761544376.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090437,0.977571,0.190200],[-0.995792,0.085919,0.031881],[0.014824,-0.192282,0.981228]] 2025-10-27T05:52:56.091Z,1761544376.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:56.093Z,1761544376.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:56.112Z,1761544376.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 48.330002 m, bearing: 261.795889 deg, approach rate: -0.551860 m/s, LOS rate: -0.039546 deg/s, cmd heading: 271.696510 deg, new cmd heading: 271.655040 deg. 2025-10-27T05:52:56.113Z,1761544376.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.741275 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:56.252Z,1761544376.252 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:52:56.252Z,1761544376.252 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:52:56.252Z,1761544376.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:52:56.477Z,1761544376.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089400,0.977631,0.190383],[-0.995849,0.084460,0.033924],[0.017085,-0.192626,0.981124]] 2025-10-27T05:52:56.505Z,1761544376.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747165 2025-10-27T05:52:56.525Z,1761544376.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:56.553Z,1761544376.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 48.104252 m, bearing: 261.779918 deg, approach rate: -0.524348 m/s, LOS rate: -0.037270 deg/s, cmd heading: 271.655037 deg, new cmd heading: 271.606899 deg. 2025-10-27T05:52:56.561Z,1761544376.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.740435 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:56.756Z,1761544376.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998063 2025-10-27T05:52:56.881Z,1761544376.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088184,0.977874,0.189702],[-0.995913,0.082818,0.036046],[0.019538,-0.192105,0.981180]] 2025-10-27T05:52:56.941Z,1761544376.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:56.948Z,1761544376.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 47.875484 m, bearing: 261.760083 deg, approach rate: -0.548937 m/s, LOS rate: -0.047822 deg/s, cmd heading: 271.606898 deg, new cmd heading: 271.547110 deg. 2025-10-27T05:52:56.949Z,1761544376.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.739391 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:57.010Z,1761544377.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251533 2025-10-27T05:52:57.260Z,1761544377.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502129 2025-10-27T05:52:57.297Z,1761544377.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087131,0.978440,0.187250],[-0.995957,0.081433,0.037924],[0.021858,-0.189797,0.981580]] 2025-10-27T05:52:57.317Z,1761544377.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:57.320Z,1761544377.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 47.659290 m, bearing: 261.741483 deg, approach rate: -0.574372 m/s, LOS rate: -0.049642 deg/s, cmd heading: 271.547120 deg, new cmd heading: 271.491065 deg. 2025-10-27T05:52:57.321Z,1761544377.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.738413 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:57.513Z,1761544377.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754594 2025-10-27T05:52:57.754Z,1761544377.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:57.757Z,1761544377.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 47.412376 m, bearing: 261.714171 deg, approach rate: -0.564661 m/s, LOS rate: -0.062783 deg/s, cmd heading: 271.491058 deg, new cmd heading: 271.408697 deg. 2025-10-27T05:52:57.758Z,1761544377.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.736975 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:57.764Z,1761544377.764 [DAT](INFO): DAT read: Rx Time:05:52:56.4398 2025-10-27T05:52:57.764Z,1761544377.764 [DAT](INFO): Rx dataTimestamp_ set to:1761544377.764152 2025-10-27T05:52:57.765Z,1761544377.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007164 2025-10-27T05:52:58.017Z,1761544378.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259315 2025-10-27T05:52:58.123Z,1761544378.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084285,0.978534,0.188061],[-0.996087,0.077709,0.042082],[0.026564,-0.190872,0.981255]] 2025-10-27T05:52:58.140Z,1761544378.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:52:58.142Z,1761544378.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.70 m. 2025-10-27T05:52:58.145Z,1761544378.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.701229 m, nav range: 47.194477 m, bearing: 261.690587 deg, approach rate: -0.561622 m/s, LOS rate: -0.061067 deg/s, cmd heading: 271.408686 deg, new cmd heading: 271.337607 deg. 2025-10-27T05:52:58.146Z,1761544378.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.735734 target range: 49.701229 and range: 50.00 m. 2025-10-27T05:52:58.271Z,1761544378.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512350 2025-10-27T05:52:58.533Z,1761544378.533 [DAT](INFO): DAT read: 05:52:56.4398 LVL= 32752, 32753, 29522, 32755, AGC= 63, IDX= 414,-0.01,-2.631, 2.322,-1.971,-2.591, PHS= 0.062,-1.325, 0.576, RAW= 165.2, 8.1, CAL= 164.8, 8.3, ROT= 345.2, -8.3 2025-10-27T05:52:58.534Z,1761544378.534 [DAT](INFO): got valid direction response: 05:52:56.4398 LVL= 32752, 32753, 29522, 32755, AGC= 63, IDX= 414,-0.01,-2.631, 2.322,-1.971,-2.591, PHS= 0.062,-1.325, 0.576, RAW= 165.2, 8.1, CAL= 164.8, 8.3, ROT= 345.2, -8.3 2025-10-27T05:52:58.536Z,1761544378.536 [DAT](INFO): DAT read: Bearing 79.4, -14.5 (Local) 2025-10-27T05:52:58.536Z,1761544378.536 [DAT](INFO): Local bearing/azimuth received: Bearing 79.4, -14.5 (Local) 2025-10-27T05:52:58.537Z,1761544378.537 [DAT](INFO): DAT read: Range 11 to 50 : 48.1 m (Round-trip 64.2 ms) speed 0.6 m/s 2025-10-27T05:52:58.538Z,1761544378.538 [DAT](INFO): DAT read: user:589> 2025-10-27T05:52:58.539Z,1761544378.539 [DAT](INFO): DAT read: Tx time:05:52:57.5714 2025-10-27T05:52:58.539Z,1761544378.539 [DAT](INFO): Ping request sent. 2025-10-27T05:52:58.540Z,1761544378.540 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:52:58.540Z,1761544378.540 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:52:58.541Z,1761544378.541 [DAT](INFO): direction in FSK: [0.956697,-0.252770,0.144356] 2025-10-27T05:52:58.541Z,1761544378.541 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:58.541Z,1761544378.541 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:58.583Z,1761544378.583 [DAT](INFO): publishing transmit ping time 2025-10-27T05:52:58.588Z,1761544378.588 [DAT](INFO): publishing direction and range info 2025-10-27T05:52:58.592Z,1761544378.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082983,0.978609,0.188249],[-0.996139,0.076024,0.043901],[0.028651,-0.191165,0.981140]] 2025-10-27T05:52:58.761Z,1761544378.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.099998 m, deltaT: 3.779801 s, deltaX: -1.900002 m, approachRate: -0.502672 m/s, rangeRepo size: 4 2025-10-27T05:52:58.767Z,1761544378.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.812305 m, bearing: 261.706280 deg, lat: 36.779436 deg, lon: -121.859781 deg, deltaT: 3.779801 s, deltaX: -1.888924 m, approachRate: -0.499742 m/s, posRepo size: 4 2025-10-27T05:52:58.768Z,1761544378.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:52:58.775Z,1761544378.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 46.717720 m, bearing: 261.628347 deg, approach rate: 0.000000 m/s, LOS rate: -0.061067 deg/s, cmd heading: 271.337598 deg, new cmd heading: 271.224360 deg. 2025-10-27T05:52:58.776Z,1761544378.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733758 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:52:59.083Z,1761544379.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081532,0.978788,0.187951],[-0.996202,0.074251,0.045472],[0.030552,-0.190945,0.981125]] 2025-10-27T05:52:59.113Z,1761544379.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:52:59.116Z,1761544379.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 46.498856 m, bearing: 261.604657 deg, approach rate: -0.621553 m/s, LOS rate: -0.067594 deg/s, cmd heading: 271.224353 deg, new cmd heading: 271.152949 deg. 2025-10-27T05:52:59.117Z,1761544379.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732512 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:52:59.489Z,1761544379.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080282,0.978724,0.188822],[-0.996247,0.072641,0.047055],[0.032338,-0.191891,0.980883]] 2025-10-27T05:52:59.539Z,1761544379.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:52:59.542Z,1761544379.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 46.273808 m, bearing: 261.580405 deg, approach rate: -0.533299 m/s, LOS rate: -0.057750 deg/s, cmd heading: 271.152937 deg, new cmd heading: 271.079827 deg. 2025-10-27T05:52:59.543Z,1761544379.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731236 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:52:59.907Z,1761544379.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079154,0.978862,0.188584],[-0.996290,0.071271,0.048231],[0.033771,-0.191702,0.980872]] 2025-10-27T05:52:59.964Z,1761544379.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:52:59.967Z,1761544379.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 46.020515 m, bearing: 261.553192 deg, approach rate: -0.590016 m/s, LOS rate: -0.063738 deg/s, cmd heading: 271.079826 deg, new cmd heading: 270.997738 deg. 2025-10-27T05:52:59.968Z,1761544379.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729803 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:53:00.309Z,1761544380.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077933,0.979031,0.188216],[-0.996339,0.069827,0.049331],[0.035154,-0.191371,0.980888]] 2025-10-27T05:53:00.347Z,1761544380.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:00.349Z,1761544380.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:53:00.352Z,1761544380.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 45.816006 m, bearing: 261.531324 deg, approach rate: -0.530725 m/s, LOS rate: -0.057002 deg/s, cmd heading: 270.997727 deg, new cmd heading: 270.931832 deg. 2025-10-27T05:53:00.353Z,1761544380.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728652 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:53:00.536Z,1761544380.536 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:53:00.536Z,1761544380.536 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:53:00.536Z,1761544380.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:53:00.721Z,1761544380.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077238,0.979222,0.187506],[-0.996355,0.068978,0.050195],[0.036218,-0.190700,0.980980]] 2025-10-27T05:53:00.775Z,1761544380.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:53:00.778Z,1761544380.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 45.575729 m, bearing: 261.501130 deg, approach rate: -0.564457 m/s, LOS rate: -0.071306 deg/s, cmd heading: 270.931830 deg, new cmd heading: 270.840770 deg. 2025-10-27T05:53:00.779Z,1761544380.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727063 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:53:00.788Z,1761544380.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248470 2025-10-27T05:53:01.041Z,1761544381.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501154 2025-10-27T05:53:01.121Z,1761544381.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076149,0.979189,0.188125],[-0.996403,0.067693,0.050982],[0.037186,-0.191331,0.980821]] 2025-10-27T05:53:01.145Z,1761544381.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:53:01.148Z,1761544381.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 45.376682 m, bearing: 261.476142 deg, approach rate: -0.538326 m/s, LOS rate: -0.067876 deg/s, cmd heading: 270.840770 deg, new cmd heading: 270.765477 deg. 2025-10-27T05:53:01.149Z,1761544381.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725749 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:53:01.292Z,1761544381.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752345 2025-10-27T05:53:01.540Z,1761544381.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074161,0.979012,0.189830],[-0.996510,0.065435,0.051836],[0.038326,-0.193011,0.980448]] 2025-10-27T05:53:01.544Z,1761544381.544 [DAT](INFO): DAT read: Rx Time:05:53:00.0370 2025-10-27T05:53:01.545Z,1761544381.545 [DAT](INFO): Rx dataTimestamp_ set to:1761544381.544284 2025-10-27T05:53:01.545Z,1761544381.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005577 2025-10-27T05:53:01.561Z,1761544381.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:53:01.564Z,1761544381.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 45.152988 m, bearing: 261.448336 deg, approach rate: -0.537689 m/s, LOS rate: -0.067170 deg/s, cmd heading: 270.765474 deg, new cmd heading: 270.681640 deg. 2025-10-27T05:53:01.565Z,1761544381.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724286 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:53:01.796Z,1761544381.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256457 2025-10-27T05:53:01.938Z,1761544381.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073107,0.979195,0.189296],[-0.996559,0.064288,0.052325],[0.039067,-0.192470,0.980525]] 2025-10-27T05:53:01.975Z,1761544381.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.81 m. 2025-10-27T05:53:01.978Z,1761544381.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.812305 m, nav range: 44.940834 m, bearing: 261.419368 deg, approach rate: -0.512464 m/s, LOS rate: -0.070303 deg/s, cmd heading: 270.681654 deg, new cmd heading: 270.594340 deg. 2025-10-27T05:53:01.979Z,1761544381.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722762 target range: 47.812305 and range: 48.10 m. 2025-10-27T05:53:02.054Z,1761544382.054 [DAT](INFO): DAT read: 05:53:00.0370 LVL= 32752, 32753, 30706, 32755, AGC= 65, IDX= 418,-0.24, 2.864, 1.541,-2.760, 2.907, PHS= 0.059,-1.321, 0.572, RAW= 165.2, 8.2, CAL= 164.9, 8.4, ROT= 345.1, -8.4 2025-10-27T05:53:02.056Z,1761544382.056 [DAT](INFO): got valid direction response: 05:53:00.0370 LVL= 32752, 32753, 30706, 32755, AGC= 65, IDX= 418,-0.24, 2.864, 1.541,-2.760, 2.907, PHS= 0.059,-1.321, 0.572, RAW= 165.2, 8.2, CAL= 164.9, 8.4, ROT= 345.1, -8.4 2025-10-27T05:53:02.057Z,1761544382.057 [DAT](INFO): DAT read: Bearing 79.5, -14.1 (Local) 2025-10-27T05:53:02.057Z,1761544382.057 [DAT](INFO): Local bearing/azimuth received: Bearing 79.5, -14.1 (Local) 2025-10-27T05:53:02.059Z,1761544382.059 [DAT](INFO): DAT read: Range 11 to 50 : 46.0 m (Round-trip 61.4 ms) speed 0.4 m/s 2025-10-27T05:53:02.060Z,1761544382.060 [DAT](INFO): DAT read: user:590> 2025-10-27T05:53:02.061Z,1761544382.061 [DAT](INFO): DAT read: Tx time:05:53:01.1714 2025-10-27T05:53:02.061Z,1761544382.061 [DAT](INFO): Ping request sent. 2025-10-27T05:53:02.062Z,1761544382.062 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:53:02.062Z,1761544382.062 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:53:02.072Z,1761544382.072 [DAT](INFO): direction in FSK: [0.956009,-0.254374,0.146083] 2025-10-27T05:53:02.073Z,1761544382.073 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:02.073Z,1761544382.073 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:02.107Z,1761544382.107 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:02.107Z,1761544382.107 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:02.342Z,1761544382.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072269,0.979481,0.188135],[-0.996598,0.063423,0.052632],[0.039620,-0.191299,0.980732]] 2025-10-27T05:53:02.366Z,1761544382.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.000000 m, deltaT: 3.528348 s, deltaX: -2.099998 m, approachRate: -0.595179 m/s, rangeRepo size: 4 2025-10-27T05:53:02.384Z,1761544382.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.724201 m, bearing: 260.980111 deg, lat: 36.779434 deg, lon: -121.859781 deg, deltaT: 3.528348 s, deltaX: -2.088104 m, approachRate: -0.591808 m/s, posRepo size: 4 2025-10-27T05:53:02.385Z,1761544382.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m. 2025-10-27T05:53:02.393Z,1761544382.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.724201 m, nav range: 44.725239 m, bearing: 261.207837 deg, approach rate: 0.000000 m/s, LOS rate: -0.070303 deg/s, cmd heading: 270.594336 deg, new cmd heading: 270.511915 deg. 2025-10-27T05:53:02.393Z,1761544382.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721323 target range: 45.724201 and range: 46.00 m. 2025-10-27T05:53:02.746Z,1761544382.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071186,0.979717,0.187316],[-0.996647,0.062267,0.053082],[0.040342,-0.190467,0.980864]] 2025-10-27T05:53:02.788Z,1761544382.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:02.790Z,1761544382.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m. 2025-10-27T05:53:02.793Z,1761544382.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.724201 m, nav range: 44.516933 m, bearing: 261.183520 deg, approach rate: -0.491289 m/s, LOS rate: -0.057619 deg/s, cmd heading: 270.511910 deg, new cmd heading: 270.438619 deg. 2025-10-27T05:53:02.793Z,1761544382.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720044 target range: 45.724201 and range: 46.00 m. 2025-10-27T05:53:02.804Z,1761544382.804 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:53:02.804Z,1761544382.804 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:53:02.804Z,1761544382.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:53:03.056Z,1761544383.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994375 2025-10-27T05:53:03.144Z,1761544383.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070292,0.979558,0.188479],[-0.996682,0.061193,0.053675],[0.041044,-0.191626,0.980609]] 2025-10-27T05:53:03.164Z,1761544383.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m. 2025-10-27T05:53:03.166Z,1761544383.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.724201 m, nav range: 44.334389 m, bearing: 261.162215 deg, approach rate: -0.488080 m/s, LOS rate: -0.057199 deg/s, cmd heading: 270.438608 deg, new cmd heading: 270.374430 deg. 2025-10-27T05:53:03.168Z,1761544383.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718924 target range: 45.724201 and range: 46.00 m. 2025-10-27T05:53:03.308Z,1761544383.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246241 2025-10-27T05:53:03.549Z,1761544383.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069183,0.979578,0.188787],[-0.996737,0.059986,0.054011],[0.041583,-0.191907,0.980532]] 2025-10-27T05:53:03.560Z,1761544383.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498180 2025-10-27T05:53:03.588Z,1761544383.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m. 2025-10-27T05:53:03.590Z,1761544383.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.724201 m, nav range: 44.129738 m, bearing: 261.138413 deg, approach rate: -0.482553 m/s, LOS rate: -0.056384 deg/s, cmd heading: 270.374432 deg, new cmd heading: 270.302694 deg. 2025-10-27T05:53:03.596Z,1761544383.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717672 target range: 45.724201 and range: 46.00 m. 2025-10-27T05:53:03.812Z,1761544383.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750454 2025-10-27T05:53:03.950Z,1761544383.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068642,0.979664,0.188540],[-0.996760,0.059405,0.054220],[0.041917,-0.191651,0.980568]] 2025-10-27T05:53:04.000Z,1761544384.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m. 2025-10-27T05:53:04.006Z,1761544384.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.724201 m, nav range: 43.935661 m, bearing: 261.124499 deg, approach rate: -0.470736 m/s, LOS rate: -0.033898 deg/s, cmd heading: 270.302687 deg, new cmd heading: 270.260761 deg. 2025-10-27T05:53:04.007Z,1761544384.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716940 target range: 45.724201 and range: 46.00 m. 2025-10-27T05:53:04.064Z,1761544384.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002408 2025-10-27T05:53:04.316Z,1761544384.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254374 2025-10-27T05:53:04.354Z,1761544384.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068511,0.979639,0.188718],[-0.996766,0.059253,0.054275],[0.041987,-0.191826,0.980530]] 2025-10-27T05:53:04.385Z,1761544384.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m. 2025-10-27T05:53:04.388Z,1761544384.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.724201 m, nav range: 43.750957 m, bearing: 261.111171 deg, approach rate: -0.479942 m/s, LOS rate: -0.034779 deg/s, cmd heading: 270.260750 deg, new cmd heading: 270.220596 deg. 2025-10-27T05:53:04.389Z,1761544384.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716239 target range: 45.724201 and range: 46.00 m. 2025-10-27T05:53:04.568Z,1761544384.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506276 2025-10-27T05:53:04.758Z,1761544384.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067823,0.979595,0.189190],[-0.996796,0.058473,0.054581],[0.042405,-0.192286,0.980422]] 2025-10-27T05:53:04.801Z,1761544384.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:04.803Z,1761544384.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m. 2025-10-27T05:53:04.806Z,1761544384.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.724201 m, nav range: 43.556473 m, bearing: 261.103840 deg, approach rate: -0.464987 m/s, LOS rate: -0.017605 deg/s, cmd heading: 270.220588 deg, new cmd heading: 270.198498 deg. 2025-10-27T05:53:04.807Z,1761544384.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715853 target range: 45.724201 and range: 46.00 m. 2025-10-27T05:53:04.820Z,1761544384.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758372 2025-10-27T05:53:05.072Z,1761544385.072 [DAT](INFO): DAT read: Rx Time:05:53:03.6346 2025-10-27T05:53:05.072Z,1761544385.072 [DAT](INFO): Rx dataTimestamp_ set to:1761544385.072087 2025-10-27T05:53:05.073Z,1761544385.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011303 2025-10-27T05:53:05.162Z,1761544385.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067475,0.979327,0.190700],[-0.996807,0.057993,0.054880],[0.042686,-0.193795,0.980113]] 2025-10-27T05:53:05.180Z,1761544385.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.72 m. 2025-10-27T05:53:05.183Z,1761544385.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.724201 m, nav range: 43.380665 m, bearing: 261.097209 deg, approach rate: -0.466063 m/s, LOS rate: -0.017649 deg/s, cmd heading: 270.198486 deg, new cmd heading: 270.178513 deg. 2025-10-27T05:53:05.184Z,1761544385.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715505 target range: 45.724201 and range: 46.00 m. 2025-10-27T05:53:05.324Z,1761544385.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262307 2025-10-27T05:53:05.565Z,1761544385.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067103,0.979190,0.191529],[-0.996821,0.057528,0.055128],[0.042963,-0.194620,0.979937]] 2025-10-27T05:53:05.581Z,1761544385.581 [DAT](INFO): DAT read: 05:53:03.6346 LVL= 32752, 32753, 30194, 32755, AGC= 63, IDX= 426,-0.49, 2.974, 1.675,-2.670, 3.029, PHS= 0.046,-1.309, 0.540, RAW= 164.9, 8.8, CAL= 164.7, 9.2, ROT= 345.3, -9.2 2025-10-27T05:53:05.582Z,1761544385.582 [DAT](INFO): got valid direction response: 05:53:03.6346 LVL= 32752, 32753, 30194, 32755, AGC= 63, IDX= 426,-0.49, 2.974, 1.675,-2.670, 3.029, PHS= 0.046,-1.309, 0.540, RAW= 164.9, 8.8, CAL= 164.7, 9.2, ROT= 345.3, -9.2 2025-10-27T05:53:05.584Z,1761544385.584 [DAT](INFO): DAT read: Bearing 80.2, -13.8 (Local) 2025-10-27T05:53:05.584Z,1761544385.584 [DAT](INFO): Local bearing/azimuth received: Bearing 80.2, -13.8 (Local) 2025-10-27T05:53:05.585Z,1761544385.585 [DAT](INFO): DAT read: Range 11 to 50 : 44.2 m (Round-trip 59.0 ms) speed 0.3 m/s 2025-10-27T05:53:05.586Z,1761544385.586 [DAT](INFO): DAT read: user:591> 2025-10-27T05:53:05.591Z,1761544385.591 [DAT](INFO): DAT read: Tx time:05:53:04.7714 2025-10-27T05:53:05.591Z,1761544385.591 [DAT](INFO): Ping request sent. 2025-10-27T05:53:05.591Z,1761544385.591 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:53:05.592Z,1761544385.592 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:53:05.592Z,1761544385.592 [DAT](INFO): direction in FSK: [0.954825,-0.250494,0.159881] 2025-10-27T05:53:05.593Z,1761544385.593 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:05.593Z,1761544385.593 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:05.597Z,1761544385.597 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:05.597Z,1761544385.597 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:05.723Z,1761544385.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.200001 m, deltaT: 3.527256 s, deltaX: -1.799999 m, approachRate: -0.510311 m/s, rangeRepo size: 4 2025-10-27T05:53:05.730Z,1761544385.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.934647 m, bearing: 261.061153 deg, lat: 36.779435 deg, lon: -121.859780 deg, deltaT: 3.527256 s, deltaX: -1.789555 m, approachRate: -0.507350 m/s, posRepo size: 4 2025-10-27T05:53:05.735Z,1761544385.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:05.738Z,1761544385.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 43.092628 m, bearing: 261.168584 deg, approach rate: 0.000000 m/s, LOS rate: -0.017649 deg/s, cmd heading: 270.178515 deg, new cmd heading: 270.149868 deg. 2025-10-27T05:53:05.756Z,1761544385.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715004 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:06.096Z,1761544386.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066510,0.979142,0.191982],[-0.996838,0.056820,0.055553],[0.043486,-0.195070,0.979825]] 2025-10-27T05:53:06.142Z,1761544386.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:06.145Z,1761544386.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 42.874302 m, bearing: 261.170957 deg, approach rate: -0.518357 m/s, LOS rate: 0.005664 deg/s, cmd heading: 270.149855 deg, new cmd heading: 270.157012 deg. 2025-10-27T05:53:06.146Z,1761544386.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715129 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:06.510Z,1761544386.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066604,0.978963,0.192862],[-0.996826,0.056838,0.055740],[0.043606,-0.195963,0.979641]] 2025-10-27T05:53:06.534Z,1761544386.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:06.541Z,1761544386.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 42.704277 m, bearing: 261.172782 deg, approach rate: -0.434203 m/s, LOS rate: 0.004680 deg/s, cmd heading: 270.157013 deg, new cmd heading: 270.162510 deg. 2025-10-27T05:53:06.542Z,1761544386.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715225 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:06.979Z,1761544386.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:06.981Z,1761544386.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:06.984Z,1761544386.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 42.513088 m, bearing: 261.182606 deg, approach rate: -0.427638 m/s, LOS rate: 0.022071 deg/s, cmd heading: 270.162505 deg, new cmd heading: 270.192107 deg. 2025-10-27T05:53:06.985Z,1761544386.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715742 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:07.088Z,1761544387.088 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:53:07.089Z,1761544387.089 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:53:07.089Z,1761544387.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:53:07.309Z,1761544387.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066115,0.979100,0.192331],[-0.996806,0.056157,0.056784],[0.044796,-0.195471,0.979686]] 2025-10-27T05:53:07.330Z,1761544387.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:07.333Z,1761544387.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 42.345058 m, bearing: 261.191441 deg, approach rate: -0.482319 m/s, LOS rate: 0.025461 deg/s, cmd heading: 270.192120 deg, new cmd heading: 270.218730 deg. 2025-10-27T05:53:07.333Z,1761544387.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716207 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:07.340Z,1761544387.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748704 2025-10-27T05:53:07.592Z,1761544387.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000742 2025-10-27T05:53:07.751Z,1761544387.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065959,0.979086,0.192458],[-0.996791,0.055884,0.057319],[0.045365,-0.195621,0.979630]] 2025-10-27T05:53:07.845Z,1761544387.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253533 2025-10-27T05:53:07.905Z,1761544387.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:07.908Z,1761544387.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 42.078796 m, bearing: 261.198731 deg, approach rate: -0.462703 m/s, LOS rate: 0.012750 deg/s, cmd heading: 270.218731 deg, new cmd heading: 270.240741 deg. 2025-10-27T05:53:07.909Z,1761544387.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716591 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:08.096Z,1761544388.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504749 2025-10-27T05:53:08.131Z,1761544388.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065694,0.979026,0.192855],[-0.996784,0.055500,0.057798],[0.045882,-0.196032,0.979523]] 2025-10-27T05:53:08.201Z,1761544388.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:08.204Z,1761544388.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 41.927990 m, bearing: 261.202953 deg, approach rate: -0.509436 m/s, LOS rate: 0.014314 deg/s, cmd heading: 270.240751 deg, new cmd heading: 270.253463 deg. 2025-10-27T05:53:08.205Z,1761544388.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716813 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:08.348Z,1761544388.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756737 2025-10-27T05:53:08.537Z,1761544388.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064878,0.979118,0.192664],[-0.996802,0.054563,0.058376],[0.046645,-0.195835,0.979527]] 2025-10-27T05:53:08.584Z,1761544388.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:08.587Z,1761544388.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 41.739410 m, bearing: 261.208496 deg, approach rate: -0.492140 m/s, LOS rate: 0.014530 deg/s, cmd heading: 270.253455 deg, new cmd heading: 270.270158 deg. 2025-10-27T05:53:08.588Z,1761544388.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717104 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:08.600Z,1761544388.600 [DAT](INFO): DAT read: Rx Time:05:53:07.2326 2025-10-27T05:53:08.600Z,1761544388.600 [DAT](INFO): Rx dataTimestamp_ set to:1761544388.600193 2025-10-27T05:53:08.601Z,1761544388.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009813 2025-10-27T05:53:08.852Z,1761544388.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260687 2025-10-27T05:53:08.941Z,1761544388.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064374,0.979275,0.192030],[-0.996814,0.054021,0.058674],[0.047085,-0.195195,0.979634]] 2025-10-27T05:53:09.034Z,1761544389.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:09.041Z,1761544389.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.93 m. 2025-10-27T05:53:09.075Z,1761544389.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.934647 m, nav range: 41.508030 m, bearing: 261.208123 deg, approach rate: -0.506705 m/s, LOS rate: -0.000820 deg/s, cmd heading: 270.270148 deg, new cmd heading: 270.269025 deg. 2025-10-27T05:53:09.092Z,1761544389.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717084 target range: 43.934647 and range: 44.20 m. 2025-10-27T05:53:09.118Z,1761544389.118 [DAT](INFO): DAT read: 05:53:07.2326 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 420, 0.02,-2.395, 2.542,-1.735,-2.369, PHS= 0.076,-1.327, 0.590, RAW= 165.0, 7.7, CAL= 164.6, 7.8, ROT= 345.4, -7.8 2025-10-27T05:53:09.123Z,1761544389.123 [DAT](INFO): got valid direction response: 05:53:07.2326 LVL= 32752, 32753, 31842, 32755, AGC= 63, IDX= 420, 0.02,-2.395, 2.542,-1.735,-2.369, PHS= 0.076,-1.327, 0.590, RAW= 165.0, 7.7, CAL= 164.6, 7.8, ROT= 345.4, -7.8 2025-10-27T05:53:09.124Z,1761544389.124 [DAT](INFO): DAT read: Bearing 77.9, -12.8 (Local) 2025-10-27T05:53:09.125Z,1761544389.125 [DAT](INFO): Local bearing/azimuth received: Bearing 77.9, -12.8 (Local) 2025-10-27T05:53:09.126Z,1761544389.126 [DAT](INFO): DAT read: Range 11 to 50 : 42.7 m (Round-trip 57.0 ms) speed 0.4 m/s 2025-10-27T05:53:09.135Z,1761544389.135 [DAT](INFO): DAT read: user:592> 2025-10-27T05:53:09.136Z,1761544389.136 [DAT](INFO): DAT read: Tx time:05:53:08.3214 2025-10-27T05:53:09.136Z,1761544389.136 [DAT](INFO): Ping request sent. 2025-10-27T05:53:09.136Z,1761544389.136 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:53:09.137Z,1761544389.137 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:53:09.138Z,1761544389.138 [DAT](INFO): direction in FSK: [0.958756,-0.249737,0.135716] 2025-10-27T05:53:09.138Z,1761544389.138 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:09.138Z,1761544389.138 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:09.160Z,1761544389.160 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:09.160Z,1761544389.160 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:09.471Z,1761544389.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063805,0.979472,0.191216],[-0.996824,0.053403,0.059074],[0.047650,-0.194378,0.979769]] 2025-10-27T05:53:09.539Z,1761544389.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.700001 m, deltaT: 3.530245 s, deltaX: -1.500000 m, approachRate: -0.424900 m/s, rangeRepo size: 4 2025-10-27T05:53:09.541Z,1761544389.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.443413 m, bearing: 260.693515 deg, lat: 36.779435 deg, lon: -121.859780 deg, deltaT: 3.530245 s, deltaX: -1.491234 m, approachRate: -0.422417 m/s, posRepo size: 4 2025-10-27T05:53:09.542Z,1761544389.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:09.549Z,1761544389.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 41.264740 m, bearing: 261.207937 deg, approach rate: 0.000000 m/s, LOS rate: -0.000820 deg/s, cmd heading: 270.269028 deg, new cmd heading: 270.267842 deg. 2025-10-27T05:53:09.550Z,1761544389.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717064 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:09.874Z,1761544389.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062416,0.979631,0.190858],[-0.996856,0.051837,0.059933],[0.048819,-0.193999,0.979786]] 2025-10-27T05:53:09.911Z,1761544389.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:09.914Z,1761544389.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 41.031151 m, bearing: 261.197235 deg, approach rate: -0.602206 m/s, LOS rate: -0.027747 deg/s, cmd heading: 270.267853 deg, new cmd heading: 270.235565 deg. 2025-10-27T05:53:09.916Z,1761544389.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716500 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:10.273Z,1761544390.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060770,0.979830,0.190367],[-0.996912,0.050076,0.060494],[0.049741,-0.193455,0.979847]] 2025-10-27T05:53:10.298Z,1761544390.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:10.301Z,1761544390.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 40.816467 m, bearing: 261.187799 deg, approach rate: -0.554457 m/s, LOS rate: -0.024500 deg/s, cmd heading: 270.235560 deg, new cmd heading: 270.207101 deg. 2025-10-27T05:53:10.302Z,1761544390.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716003 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:10.678Z,1761544390.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058977,0.980130,0.189385],[-0.996969,0.048190,0.061072],[0.050732,-0.192413,0.980002]] 2025-10-27T05:53:10.696Z,1761544390.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:10.700Z,1761544390.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 40.595619 m, bearing: 261.178563 deg, approach rate: -0.554357 m/s, LOS rate: -0.023310 deg/s, cmd heading: 270.207092 deg, new cmd heading: 270.179233 deg. 2025-10-27T05:53:10.702Z,1761544390.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715517 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:11.085Z,1761544391.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057110,0.980452,0.188288],[-0.997038,0.046278,0.061434],[0.051520,-0.191238,0.980191]] 2025-10-27T05:53:11.142Z,1761544391.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:11.144Z,1761544391.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:11.147Z,1761544391.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 40.348190 m, bearing: 261.151043 deg, approach rate: -0.552432 m/s, LOS rate: -0.061819 deg/s, cmd heading: 270.179225 deg, new cmd heading: 270.096160 deg. 2025-10-27T05:53:11.148Z,1761544391.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714067 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:11.372Z,1761544391.372 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:53:11.372Z,1761544391.372 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:53:11.372Z,1761544391.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:53:11.497Z,1761544391.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.054932,0.980785,0.187197],[-0.997118,0.044060,0.061755],[0.052321,-0.190050,0.980379]] 2025-10-27T05:53:11.523Z,1761544391.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:11.526Z,1761544391.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 40.133339 m, bearing: 261.127560 deg, approach rate: -0.567714 m/s, LOS rate: -0.062383 deg/s, cmd heading: 270.096170 deg, new cmd heading: 270.025343 deg. 2025-10-27T05:53:11.527Z,1761544391.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712831 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:11.624Z,1761544391.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487630 2025-10-27T05:53:11.876Z,1761544391.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739372 2025-10-27T05:53:11.894Z,1761544391.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052599,0.981036,0.186553],[-0.997201,0.041660,0.062085],[0.053136,-0.189296,0.980481]] 2025-10-27T05:53:11.954Z,1761544391.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:11.957Z,1761544391.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 39.874653 m, bearing: 261.091834 deg, approach rate: -0.599824 m/s, LOS rate: -0.083378 deg/s, cmd heading: 270.025354 deg, new cmd heading: 269.917480 deg. 2025-10-27T05:53:11.958Z,1761544391.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710949 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:12.128Z,1761544392.128 [DAT](INFO): DAT read: Rx Time:05:53:10.7799 2025-10-27T05:53:12.129Z,1761544392.129 [DAT](INFO): Rx dataTimestamp_ set to:1761544392.128247 2025-10-27T05:53:12.129Z,1761544392.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992678 2025-10-27T05:53:12.297Z,1761544392.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.049976,0.981379,0.185465],[-0.997279,0.038958,0.062584],[0.054193,-0.188088,0.980656]] 2025-10-27T05:53:12.338Z,1761544392.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:12.346Z,1761544392.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 39.657436 m, bearing: 261.062321 deg, approach rate: -0.565443 m/s, LOS rate: -0.077245 deg/s, cmd heading: 269.917492 deg, new cmd heading: 269.828470 deg. 2025-10-27T05:53:12.346Z,1761544392.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709395 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:12.380Z,1761544392.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243715 2025-10-27T05:53:12.383Z,1761544392.383 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:53:12.635Z,1761544392.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498274 2025-10-27T05:53:12.706Z,1761544392.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047252,0.981947,0.183161],[-0.997349,0.036221,0.063111],[0.055338,-0.185658,0.981055]] 2025-10-27T05:53:12.740Z,1761544392.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.44 m. 2025-10-27T05:53:12.743Z,1761544392.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.443413 m, nav range: 39.408707 m, bearing: 261.029156 deg, approach rate: -0.618491 m/s, LOS rate: -0.082989 deg/s, cmd heading: 269.828481 deg, new cmd heading: 269.728358 deg. 2025-10-27T05:53:12.744Z,1761544392.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707648 target range: 42.443413 and range: 42.70 m. 2025-10-27T05:53:12.890Z,1761544392.890 [DAT](INFO): DAT read: 05:53:10.7799 LVL= 32752, 32753, 31410, 32755, AGC= 65, IDX= 410,-0.39, 2.744, 1.397,-2.884, 2.776, PHS= 0.070,-1.334, 0.579, RAW= 164.9, 8.0, CAL= 164.5, 8.2, ROT= 345.5, -8.2 2025-10-27T05:53:12.891Z,1761544392.891 [DAT](INFO): got valid direction response: 05:53:10.7799 LVL= 32752, 32753, 31410, 32755, AGC= 65, IDX= 410,-0.39, 2.744, 1.397,-2.884, 2.776, PHS= 0.070,-1.334, 0.579, RAW= 164.9, 8.0, CAL= 164.5, 8.2, ROT= 345.5, -8.2 2025-10-27T05:53:12.892Z,1761544392.892 [DAT](INFO): DAT read: Bearing 77.8, -12.4 (Local) 2025-10-27T05:53:12.892Z,1761544392.892 [DAT](INFO): Local bearing/azimuth received: Bearing 77.8, -12.4 (Local) 2025-10-27T05:53:12.894Z,1761544392.894 [DAT](INFO): DAT read: Range 11 to 50 : 40.7 m (Round-trip 54.3 ms) speed 0.6 m/s 2025-10-27T05:53:12.894Z,1761544392.894 [DAT](INFO): DAT read: user:593> 2025-10-27T05:53:12.895Z,1761544392.895 [DAT](INFO): DAT read: Tx time:05:53:11.8714 2025-10-27T05:53:12.896Z,1761544392.896 [DAT](INFO): Ping request sent. 2025-10-27T05:53:12.896Z,1761544392.896 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:53:12.896Z,1761544392.896 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:53:12.897Z,1761544392.897 [DAT](INFO): direction in FSK: [0.958250,-0.247820,0.142629] 2025-10-27T05:53:12.897Z,1761544392.897 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:12.897Z,1761544392.898 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:12.913Z,1761544392.913 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:12.913Z,1761544392.913 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:13.108Z,1761544393.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044446,0.982294,0.181996],[-0.997424,0.033365,0.063504],[0.056307,-0.184350,0.981246]] 2025-10-27T05:53:13.149Z,1761544393.149 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -33.89, +8.80, 0.00 2025-10-27T05:53:13.170Z,1761544393.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.700001 m, deltaT: 3.778031 s, deltaX: -2.000000 m, approachRate: -0.529376 m/s, rangeRepo size: 4 2025-10-27T05:53:13.172Z,1761544393.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.454487 m, bearing: 259.622660 deg, lat: 36.779433 deg, lon: -121.859780 deg, deltaT: 3.778031 s, deltaX: -1.988926 m, approachRate: -0.526445 m/s, posRepo size: 4 2025-10-27T05:53:13.173Z,1761544393.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:13.176Z,1761544393.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 39.150204 m, bearing: 260.683099 deg, approach rate: 0.000000 m/s, LOS rate: -0.082989 deg/s, cmd heading: 269.728350 deg, new cmd heading: 269.621530 deg. 2025-10-27T05:53:13.177Z,1761544393.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705783 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:13.388Z,1761544393.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:53:13.521Z,1761544393.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041484,0.982346,0.182414],[-0.997482,0.030209,0.064161],[0.057517,-0.184616,0.981126]] 2025-10-27T05:53:13.542Z,1761544393.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:13.544Z,1761544393.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:13.547Z,1761544393.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 38.926014 m, bearing: 260.652574 deg, approach rate: -0.597639 m/s, LOS rate: -0.081841 deg/s, cmd heading: 269.621526 deg, new cmd heading: 269.529424 deg. 2025-10-27T05:53:13.548Z,1761544393.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704176 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:13.641Z,1761544393.641 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:53:13.641Z,1761544393.641 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:53:13.641Z,1761544393.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:53:13.892Z,1761544393.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996124 2025-10-27T05:53:13.917Z,1761544393.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038687,0.982372,0.182887],[-0.997537,0.027253,0.064625],[0.058501,-0.184936,0.981008]] 2025-10-27T05:53:13.972Z,1761544393.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:13.976Z,1761544393.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 38.676716 m, bearing: 260.604775 deg, approach rate: -0.583832 m/s, LOS rate: -0.112663 deg/s, cmd heading: 269.529428 deg, new cmd heading: 269.385106 deg. 2025-10-27T05:53:13.978Z,1761544393.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701657 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:14.144Z,1761544394.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248110 2025-10-27T05:53:14.326Z,1761544394.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036176,0.982518,0.182620],[-0.997579,0.024644,0.065030],[0.059393,-0.184530,0.981031]] 2025-10-27T05:53:14.364Z,1761544394.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:14.367Z,1761544394.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 38.449856 m, bearing: 260.561609 deg, approach rate: -0.577471 m/s, LOS rate: -0.110526 deg/s, cmd heading: 269.385092 deg, new cmd heading: 269.254832 deg. 2025-10-27T05:53:14.368Z,1761544394.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699383 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:14.482Z,1761544394.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.585732 2025-10-27T05:53:14.660Z,1761544394.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762978 2025-10-27T05:53:14.766Z,1761544394.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032249,0.982390,0.184036],[-0.997637,0.020462,0.065591],[0.060670,-0.185717,0.980729]] 2025-10-27T05:53:14.796Z,1761544394.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:14.799Z,1761544394.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 38.203171 m, bearing: 260.515542 deg, approach rate: -0.571275 m/s, LOS rate: -0.107372 deg/s, cmd heading: 269.254827 deg, new cmd heading: 269.115733 deg. 2025-10-27T05:53:14.800Z,1761544394.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696956 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:14.909Z,1761544394.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013080 2025-10-27T05:53:15.160Z,1761544395.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264196 2025-10-27T05:53:15.184Z,1761544395.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:15.186Z,1761544395.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 37.991497 m, bearing: 260.483219 deg, approach rate: -0.546212 m/s, LOS rate: -0.083873 deg/s, cmd heading: 269.115737 deg, new cmd heading: 269.018227 deg. 2025-10-27T05:53:15.204Z,1761544395.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695254 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:15.413Z,1761544395.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516582 2025-10-27T05:53:15.531Z,1761544395.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030857,0.982396,0.184245],[-0.997657,0.019012,0.065717],[0.061057,-0.185842,0.980681]] 2025-10-27T05:53:15.556Z,1761544395.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:15.558Z,1761544395.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:15.561Z,1761544395.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 37.789539 m, bearing: 260.452469 deg, approach rate: -0.539844 m/s, LOS rate: -0.082633 deg/s, cmd heading: 269.018229 deg, new cmd heading: 268.925489 deg. 2025-10-27T05:53:15.562Z,1761544395.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693635 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:15.664Z,1761544395.664 [DAT](INFO): DAT read: Rx Time:05:53:14.3270 2025-10-27T05:53:15.665Z,1761544395.665 [DAT](INFO): Rx dataTimestamp_ set to:1761544395.664306 2025-10-27T05:53:15.665Z,1761544395.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769361 2025-10-27T05:53:15.916Z,1761544395.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020059 2025-10-27T05:53:15.942Z,1761544395.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029744,0.982392,0.184448],[-0.997674,0.017853,0.065794],[0.061343,-0.185976,0.980638]] 2025-10-27T05:53:16.019Z,1761544396.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:16.022Z,1761544396.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 37.572243 m, bearing: 260.429556 deg, approach rate: -0.475338 m/s, LOS rate: -0.050412 deg/s, cmd heading: 268.925475 deg, new cmd heading: 268.856339 deg. 2025-10-27T05:53:16.035Z,1761544396.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692428 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:16.172Z,1761544396.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275006 2025-10-27T05:53:16.362Z,1761544396.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028619,0.982211,0.185586],[-0.997703,0.016665,0.065656],[0.061396,-0.187039,0.980432]] 2025-10-27T05:53:16.380Z,1761544396.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.45 m. 2025-10-27T05:53:16.400Z,1761544396.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.454487 m, nav range: 37.389641 m, bearing: 260.410382 deg, approach rate: -0.499529 m/s, LOS rate: -0.052710 deg/s, cmd heading: 268.856326 deg, new cmd heading: 268.798523 deg. 2025-10-27T05:53:16.401Z,1761544396.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691419 target range: 40.454487 and range: 40.70 m. 2025-10-27T05:53:16.426Z,1761544396.426 [DAT](INFO): DAT read: 05:53:14.3270 LVL= 32752, 32753, 29410, 32755, AGC= 63, IDX= 412,-0.14, 0.326,-1.001, 1.009, 0.351, PHS= 0.078,-1.307, 0.615, RAW= 165.7, 7.2, CAL= 165.2, 7.1, ROT= 344.8, -7.1 2025-10-27T05:53:16.427Z,1761544396.427 [DAT](INFO): got valid direction response: 05:53:14.3270 LVL= 32752, 32753, 29410, 32755, AGC= 63, IDX= 412,-0.14, 0.326,-1.001, 1.009, 0.351, PHS= 0.078,-1.307, 0.615, RAW= 165.7, 7.2, CAL= 165.2, 7.1, ROT= 344.8, -7.1 2025-10-27T05:53:16.428Z,1761544396.428 [DAT](INFO): DAT read: Bearing 76.2, -12.8 (Local) 2025-10-27T05:53:16.428Z,1761544396.428 [DAT](INFO): Local bearing/azimuth received: Bearing 76.2, -12.8 (Local) 2025-10-27T05:53:16.430Z,1761544396.430 [DAT](INFO): DAT read: Range 11 to 50 : 38.5 m (Round-trip 51.4 ms) speed 0.6 m/s 2025-10-27T05:53:16.430Z,1761544396.430 [DAT](INFO): DAT read: user:594> 2025-10-27T05:53:16.431Z,1761544396.431 [DAT](INFO): DAT read: Tx time:05:53:15.4214 2025-10-27T05:53:16.431Z,1761544396.431 [DAT](INFO): Ping request sent. 2025-10-27T05:53:16.432Z,1761544396.432 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:53:16.432Z,1761544396.432 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:53:16.433Z,1761544396.433 [DAT](INFO): direction in FSK: [0.957617,-0.260179,0.123601] 2025-10-27T05:53:16.433Z,1761544396.433 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:16.433Z,1761544396.433 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:16.445Z,1761544396.445 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:16.445Z,1761544396.445 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:16.764Z,1761544396.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028900,0.982046,0.186414],[-0.997730,0.016992,0.065165],[0.060828,-0.187874,0.980308]] 2025-10-27T05:53:16.788Z,1761544396.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.500000 m, deltaT: 3.535959 s, deltaX: -2.200001 m, approachRate: -0.622179 m/s, rangeRepo size: 4 2025-10-27T05:53:16.790Z,1761544396.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.264206 m, bearing: 257.857360 deg, lat: 36.779432 deg, lon: -121.859778 deg, deltaT: 3.535959 s, deltaX: -2.190281 m, approachRate: -0.619431 m/s, posRepo size: 4 2025-10-27T05:53:16.790Z,1761544396.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T05:53:16.793Z,1761544396.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.264206 m, nav range: 37.070724 m, bearing: 260.096733 deg, approach rate: 0.000000 m/s, LOS rate: -0.052710 deg/s, cmd heading: 268.798516 deg, new cmd heading: 268.734273 deg. 2025-10-27T05:53:16.794Z,1761544396.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690298 target range: 38.264206 and range: 38.50 m. 2025-10-27T05:53:17.165Z,1761544397.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029270,0.981760,0.187857],[-0.997750,0.017355,0.064764],[0.060322,-0.189330,0.980059]] 2025-10-27T05:53:17.212Z,1761544397.212 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T05:53:17.212Z,1761544397.212 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:53:17.212Z,1761544397.212 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T05:53:17.213Z,1761544397.213 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.500000 m (mode 2.000000 count ). 2025-10-27T05:53:17.213Z,1761544397.213 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T05:53:17.213Z,1761544397.213 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T05:53:17.216Z,1761544397.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T05:53:17.219Z,1761544397.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.264206 m, nav range: 36.871265 m, bearing: 260.088734 deg, approach rate: -0.464897 m/s, LOS rate: -0.018746 deg/s, cmd heading: 268.734285 deg, new cmd heading: 268.710156 deg. 2025-10-27T05:53:17.236Z,1761544397.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689877 target range: 38.264206 and range: 38.50 m. 2025-10-27T05:53:17.570Z,1761544397.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029616,0.981605,0.188612],[-0.997760,0.017707,0.064513],[0.059986,-0.190100,0.979930]] 2025-10-27T05:53:17.586Z,1761544397.586 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T05:53:17.586Z,1761544397.586 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T05:53:17.603Z,1761544397.603 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:17.605Z,1761544397.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T05:53:17.612Z,1761544397.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.264206 m, nav range: 36.697495 m, bearing: 260.081576 deg, approach rate: -0.446450 m/s, LOS rate: -0.018478 deg/s, cmd heading: 268.710160 deg, new cmd heading: 268.688584 deg. 2025-10-27T05:53:17.613Z,1761544397.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689500 target range: 38.264206 and range: 38.50 m. 2025-10-27T05:53:17.680Z,1761544397.680 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:53:17.681Z,1761544397.681 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:53:17.681Z,1761544397.681 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:53:17.932Z,1761544397.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500331 2025-10-27T05:53:17.986Z,1761544397.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030969,0.981348,0.189731],[-0.997775,0.019140,0.063862],[0.059039,-0.191287,0.979757]] 2025-10-27T05:53:18.008Z,1761544398.008 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309413649,35.0, +10.4, 0.0, 0 2025-10-27T05:53:18.021Z,1761544398.021 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T05:53:18.021Z,1761544398.021 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T05:53:18.024Z,1761544398.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T05:53:18.026Z,1761544398.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.264206 m, nav range: 36.496124 m, bearing: 260.072720 deg, approach rate: -0.480905 m/s, LOS rate: -0.021266 deg/s, cmd heading: 268.688577 deg, new cmd heading: 268.661863 deg. 2025-10-27T05:53:18.028Z,1761544398.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689034 target range: 38.264206 and range: 38.50 m. 2025-10-27T05:53:18.184Z,1761544398.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752354 2025-10-27T05:53:18.386Z,1761544398.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031531,0.981281,0.189981],[-0.997803,0.019823,0.063214],[0.058265,-0.191557,0.979751]] 2025-10-27T05:53:18.426Z,1761544398.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T05:53:18.426Z,1761544398.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:53:18.426Z,1761544398.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T05:53:18.426Z,1761544398.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T05:53:18.432Z,1761544398.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T05:53:18.436Z,1761544398.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004464 2025-10-27T05:53:18.437Z,1761544398.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.264206 m, nav range: 36.310490 m, bearing: 260.064290 deg, approach rate: -0.454175 m/s, LOS rate: -0.020730 deg/s, cmd heading: 268.661857 deg, new cmd heading: 268.636438 deg. 2025-10-27T05:53:18.438Z,1761544398.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688591 target range: 38.264206 and range: 38.50 m. 2025-10-27T05:53:18.688Z,1761544398.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256482 2025-10-27T05:53:18.781Z,1761544398.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032477,0.981274,0.189862],[-0.997841,0.020985,0.062229],[0.057080,-0.191473,0.979837]] 2025-10-27T05:53:18.801Z,1761544398.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T05:53:18.804Z,1761544398.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.264206 m, nav range: 36.135681 m, bearing: 260.056003 deg, approach rate: -0.474267 m/s, LOS rate: -0.022591 deg/s, cmd heading: 268.636449 deg, new cmd heading: 268.611469 deg. 2025-10-27T05:53:18.805Z,1761544398.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688155 target range: 38.264206 and range: 38.50 m. 2025-10-27T05:53:18.940Z,1761544398.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508448 2025-10-27T05:53:19.186Z,1761544399.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033243,0.981361,0.189275],[-0.997866,0.021939,0.061507],[0.056208,-0.190916,0.979996]] 2025-10-27T05:53:19.192Z,1761544399.192 [DAT](INFO): DAT read: Rx Time:05:53:17.8747 2025-10-27T05:53:19.193Z,1761544399.193 [DAT](INFO): Rx dataTimestamp_ set to:1761544399.192379 2025-10-27T05:53:19.193Z,1761544399.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761591 2025-10-27T05:53:19.266Z,1761544399.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T05:53:19.273Z,1761544399.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.264206 m, nav range: 35.944691 m, bearing: 260.081128 deg, approach rate: -0.410683 m/s, LOS rate: 0.054312 deg/s, cmd heading: 268.611478 deg, new cmd heading: 268.687252 deg. 2025-10-27T05:53:19.274Z,1761544399.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689477 target range: 38.264206 and range: 38.50 m. 2025-10-27T05:53:19.444Z,1761544399.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012205 2025-10-27T05:53:19.589Z,1761544399.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033491,0.981465,0.188690],[-0.997896,0.022352,0.060856],[0.055510,-0.190331,0.980149]] 2025-10-27T05:53:19.613Z,1761544399.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:19.616Z,1761544399.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T05:53:19.618Z,1761544399.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.264206 m, nav range: 35.792377 m, bearing: 260.101304 deg, approach rate: -0.435715 m/s, LOS rate: 0.057962 deg/s, cmd heading: 268.687266 deg, new cmd heading: 268.748051 deg. 2025-10-27T05:53:19.620Z,1761544399.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690538 target range: 38.264206 and range: 38.50 m. 2025-10-27T05:53:19.700Z,1761544399.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268081 2025-10-27T05:53:19.953Z,1761544399.953 [DAT](INFO): DAT read: 05:53:17.8747 LVL= 32752, 32753, 27250, 32755, AGC= 62, IDX= 419, 0.02, 1.295,-0.079, 1.966, 1.312, PHS= 0.086,-1.345, 0.610, RAW= 165.0, 7.5, CAL= 164.6, 7.4, ROT= 345.4, -7.4 2025-10-27T05:53:19.955Z,1761544399.955 [DAT](INFO): got valid direction response: 05:53:17.8747 LVL= 32752, 32753, 27250, 32755, AGC= 62, IDX= 419, 0.02, 1.295,-0.079, 1.966, 1.312, PHS= 0.086,-1.345, 0.610, RAW= 165.0, 7.5, CAL= 164.6, 7.4, ROT= 345.4, -7.4 2025-10-27T05:53:19.956Z,1761544399.956 [DAT](INFO): DAT read: Bearing 76.6, -12.1 (Local) 2025-10-27T05:53:19.956Z,1761544399.956 [DAT](INFO): Local bearing/azimuth received: Bearing 76.6, -12.1 (Local) 2025-10-27T05:53:19.957Z,1761544399.957 [DAT](INFO): DAT read: Range 11 to 50 : 36.8 m (Round-trip 49.1 ms) speed 0.3 m/s 2025-10-27T05:53:19.958Z,1761544399.958 [DAT](INFO): DAT read: user:595> 2025-10-27T05:53:19.959Z,1761544399.959 [DAT](INFO): DAT read: Tx time:05:53:18.9714 2025-10-27T05:53:19.959Z,1761544399.959 [DAT](INFO): Ping request sent. 2025-10-27T05:53:19.959Z,1761544399.959 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:53:19.960Z,1761544399.960 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:53:19.961Z,1761544399.961 [DAT](INFO): direction in FSK: [0.959649,-0.249970,0.128796] 2025-10-27T05:53:19.961Z,1761544399.961 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:19.961Z,1761544399.961 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:19.965Z,1761544399.965 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:19.966Z,1761544399.966 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:19.993Z,1761544399.993 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.033281 2025-10-27T05:53:20.022Z,1761544400.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033722,0.981511,0.188409],[-0.997940,0.022772,0.059982],[0.054582,-0.190044,0.980257]] 2025-10-27T05:53:20.161Z,1761544400.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 3.527859 s, deltaX: -1.700001 m, approachRate: -0.481879 m/s, rangeRepo size: 4 2025-10-27T05:53:20.168Z,1761544400.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.571918 m, bearing: 258.828882 deg, lat: 36.779427 deg, lon: -121.859777 deg, deltaT: 3.527859 s, deltaX: -1.692287 m, approachRate: -0.479692 m/s, posRepo size: 4 2025-10-27T05:53:20.168Z,1761544400.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:20.175Z,1761544400.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 35.579517 m, bearing: 259.202371 deg, approach rate: 0.000000 m/s, LOS rate: 0.057962 deg/s, cmd heading: 268.748054 deg, new cmd heading: 268.842830 deg. 2025-10-27T05:53:20.176Z,1761544400.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692193 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:20.203Z,1761544400.203 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.243172 2025-10-27T05:53:20.425Z,1761544400.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033662,0.981197,0.190048],[-0.997982,0.022757,0.059277],[0.053838,-0.191660,0.979984]] 2025-10-27T05:53:20.447Z,1761544400.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:20.450Z,1761544400.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 35.437431 m, bearing: 259.215320 deg, approach rate: -0.495699 m/s, LOS rate: 0.045356 deg/s, cmd heading: 268.842830 deg, new cmd heading: 268.881833 deg. 2025-10-27T05:53:20.452Z,1761544400.452 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492643 2025-10-27T05:53:20.453Z,1761544400.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692873 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:20.704Z,1761544400.704 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744779 2025-10-27T05:53:20.823Z,1761544400.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033320,0.981074,0.190743],[-0.998022,0.022483,0.058702],[0.053303,-0.192322,0.979883]] 2025-10-27T05:53:20.847Z,1761544400.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:20.850Z,1761544400.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 35.254688 m, bearing: 259.232209 deg, approach rate: -0.457394 m/s, LOS rate: 0.042492 deg/s, cmd heading: 268.881844 deg, new cmd heading: 268.932775 deg. 2025-10-27T05:53:20.851Z,1761544400.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693762 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:20.959Z,1761544400.959 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.000070 2025-10-27T05:53:21.208Z,1761544401.208 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.248778 2025-10-27T05:53:21.233Z,1761544401.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032932,0.981117,0.190593],[-0.998064,0.022215,0.058096],[0.052765,-0.192137,0.979949]] 2025-10-27T05:53:21.290Z,1761544401.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:21.297Z,1761544401.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 35.051189 m, bearing: 259.244691 deg, approach rate: -0.459244 m/s, LOS rate: 0.028333 deg/s, cmd heading: 268.932770 deg, new cmd heading: 268.970434 deg. 2025-10-27T05:53:21.298Z,1761544401.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694420 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:21.460Z,1761544401.460 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500499 2025-10-27T05:53:21.634Z,1761544401.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031936,0.981063,0.191040],[-0.998107,0.021253,0.057710],[0.052557,-0.192521,0.979884]] 2025-10-27T05:53:21.676Z,1761544401.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:21.678Z,1761544401.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:21.685Z,1761544401.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 34.866795 m, bearing: 259.256422 deg, approach rate: -0.475658 m/s, LOS rate: 0.030419 deg/s, cmd heading: 268.970445 deg, new cmd heading: 269.005822 deg. 2025-10-27T05:53:21.686Z,1761544401.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695037 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:21.713Z,1761544401.713 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.753661 2025-10-27T05:53:21.965Z,1761544401.965 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.005511 2025-10-27T05:53:22.038Z,1761544402.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030786,0.980995,0.191574],[-0.998158,0.020151,0.057220],[0.052272,-0.192983,0.979809]] 2025-10-27T05:53:22.142Z,1761544402.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:22.145Z,1761544402.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 34.615498 m, bearing: 259.263448 deg, approach rate: -0.540913 m/s, LOS rate: 0.015234 deg/s, cmd heading: 269.005826 deg, new cmd heading: 269.027058 deg. 2025-10-27T05:53:22.146Z,1761544402.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695408 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:22.216Z,1761544402.216 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.256680 2025-10-27T05:53:22.442Z,1761544402.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029799,0.980879,0.192323],[-0.998203,0.019195,0.056765],[0.051988,-0.193669,0.979688]] 2025-10-27T05:53:22.470Z,1761544402.470 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.509968 2025-10-27T05:53:22.490Z,1761544402.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:22.495Z,1761544402.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 34.440857 m, bearing: 259.268665 deg, approach rate: -0.503173 m/s, LOS rate: 0.015106 deg/s, cmd heading: 269.027054 deg, new cmd heading: 269.042783 deg. 2025-10-27T05:53:22.512Z,1761544402.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695683 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:22.721Z,1761544402.721 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.761585 2025-10-27T05:53:22.882Z,1761544402.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028054,0.980844,0.192763],[-0.998246,0.017434,0.056571],[0.052127,-0.194012,0.979613]] 2025-10-27T05:53:22.976Z,1761544402.976 [DAT](INFO): DAT read: Rx Time:05:53:21.4228 2025-10-27T05:53:22.977Z,1761544402.977 [DAT](INFO): Rx dataTimestamp_ set to:1761544402.976380 2025-10-27T05:53:22.979Z,1761544402.979 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.019778 2025-10-27T05:53:22.993Z,1761544402.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:22.000Z,1761544403.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 34.206512 m, bearing: 259.276428 deg, approach rate: -0.466137 m/s, LOS rate: 0.015547 deg/s, cmd heading: 269.042791 deg, new cmd heading: 269.066239 deg. 2025-10-27T05:53:23.001Z,1761544403.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696092 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:23.227Z,1761544403.227 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.267210 2025-10-27T05:53:23.314Z,1761544403.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026237,0.981084,0.191795],[-0.998297,0.015716,0.056176],[0.052100,-0.192942,0.979826]] 2025-10-27T05:53:23.376Z,1761544403.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T05:53:23.378Z,1761544403.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.571918 m, nav range: 33.964741 m, bearing: 259.257048 deg, approach rate: -0.630193 m/s, LOS rate: -0.050874 deg/s, cmd heading: 269.066232 deg, new cmd heading: 269.007679 deg. 2025-10-27T05:53:23.380Z,1761544403.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695070 target range: 36.571918 and range: 36.80 m. 2025-10-27T05:53:23.486Z,1761544403.486 [DAT](INFO): DAT read: 05:53:21.4228 LVL= 32752, 32753, 30914, 32755, AGC= 62, IDX= 416,-0.02, 2.879, 1.541,-2.765, 2.893, PHS= 0.088,-1.307, 0.582, RAW= 164.6, 7.6, CAL= 164.1, 7.6, ROT= 345.9, -7.6 2025-10-27T05:53:23.488Z,1761544403.488 [DAT](INFO): got valid direction response: 05:53:21.4228 LVL= 32752, 32753, 30914, 32755, AGC= 62, IDX= 416,-0.02, 2.879, 1.541,-2.765, 2.893, PHS= 0.088,-1.307, 0.582, RAW= 164.6, 7.6, CAL= 164.1, 7.6, ROT= 345.9, -7.6 2025-10-27T05:53:23.490Z,1761544403.490 [DAT](INFO): DAT read: Bearing 76.5, -11.7 (Local) 2025-10-27T05:53:23.491Z,1761544403.491 [DAT](INFO): Local bearing/azimuth received: Bearing 76.5, -11.7 (Local) 2025-10-27T05:53:23.493Z,1761544403.493 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m (Round-trip 47.2 ms) speed 0.4 m/s 2025-10-27T05:53:23.493Z,1761544403.493 [DAT](INFO): DAT read: user:596> 2025-10-27T05:53:23.494Z,1761544403.494 [DAT](INFO): DAT read: Tx time:05:53:22.5214 2025-10-27T05:53:23.494Z,1761544403.494 [DAT](INFO): Ping request sent. 2025-10-27T05:53:23.494Z,1761544403.494 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:53:23.495Z,1761544403.495 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:53:23.496Z,1761544403.496 [DAT](INFO): direction in FSK: [0.961352,-0.241475,0.132256] 2025-10-27T05:53:23.496Z,1761544403.496 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:23.496Z,1761544403.496 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:23.520Z,1761544403.520 [DAT](INFO): publishing transmit ping time 2025-10-27T05:53:23.520Z,1761544403.520 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:23.524Z,1761544403.524 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.029224 2025-10-27T05:53:23.729Z,1761544403.729 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.234309 2025-10-27T05:53:23.811Z,1761544403.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023778,0.981351,0.190750],[-0.998337,0.013287,0.056089],[0.052508,-0.191766,0.980035]] 2025-10-27T05:53:23.834Z,1761544403.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 3.528070 s, deltaX: -1.399998 m, approachRate: -0.396817 m/s, rangeRepo size: 4 2025-10-27T05:53:23.853Z,1761544403.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.179859 m, bearing: 258.818323 deg, lat: 36.779424 deg, lon: -121.859780 deg, deltaT: 3.528070 s, deltaX: -1.392059 m, approachRate: -0.394567 m/s, posRepo size: 4 2025-10-27T05:53:23.853Z,1761544403.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m. 2025-10-27T05:53:23.860Z,1761544403.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.179859 m, nav range: 33.985317 m, bearing: 258.919287 deg, approach rate: 0.000000 m/s, LOS rate: -0.050874 deg/s, cmd heading: 269.007683 deg, new cmd heading: 268.937761 deg. 2025-10-27T05:53:23.861Z,1761544403.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693850 target range: 35.179859 and range: 35.40 m. 2025-10-27T05:53:23.984Z,1761544403.984 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.489111 2025-10-27T05:53:24.214Z,1761544404.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021453,0.981734,0.189043],[-0.998385,0.011089,0.055713],[0.052599,-0.189933,0.980387]] 2025-10-27T05:53:24.232Z,1761544404.232 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.737745 2025-10-27T05:53:24.269Z,1761544404.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:24.271Z,1761544404.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m. 2025-10-27T05:53:24.274Z,1761544404.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.179859 m, nav range: 33.735832 m, bearing: 258.877985 deg, approach rate: -0.570640 m/s, LOS rate: -0.095167 deg/s, cmd heading: 268.937770 deg, new cmd heading: 268.812949 deg. 2025-10-27T05:53:24.275Z,1761544404.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691671 target range: 35.179859 and range: 35.40 m. 2025-10-27T05:53:24.487Z,1761544404.487 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.992448 2025-10-27T05:53:24.621Z,1761544404.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019175,0.981711,0.189407],[-0.998431,0.008833,0.055296],[0.052612,-0.190170,0.980340]] 2025-10-27T05:53:24.640Z,1761544404.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m. 2025-10-27T05:53:24.642Z,1761544404.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.179859 m, nav range: 33.526680 m, bearing: 258.843705 deg, approach rate: -0.567339 m/s, LOS rate: -0.093567 deg/s, cmd heading: 268.812941 deg, new cmd heading: 268.709459 deg. 2025-10-27T05:53:24.644Z,1761544404.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689865 target range: 35.179859 and range: 35.40 m. 2025-10-27T05:53:24.737Z,1761544404.737 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.242270 2025-10-27T05:53:24.991Z,1761544404.991 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.496203 2025-10-27T05:53:25.039Z,1761544405.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016312,0.981574,0.190385],[-0.998477,0.005957,0.054839],[0.052694,-0.190990,0.980177]] 2025-10-27T05:53:25.097Z,1761544405.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m. 2025-10-27T05:53:25.104Z,1761544405.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.179859 m, nav range: 33.266865 m, bearing: 258.794419 deg, approach rate: -0.568220 m/s, LOS rate: -0.108632 deg/s, cmd heading: 268.709450 deg, new cmd heading: 268.560436 deg. 2025-10-27T05:53:25.105Z,1761544405.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687264 target range: 35.179859 and range: 35.40 m. 2025-10-27T05:53:25.240Z,1761544405.240 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.745826 2025-10-27T05:53:25.440Z,1761544405.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013020,0.981737,0.189798],[-0.998509,0.002704,0.054513],[0.053005,-0.190225,0.980309]] 2025-10-27T05:53:25.492Z,1761544405.492 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.997521 2025-10-27T05:53:25.500Z,1761544405.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m. 2025-10-27T05:53:25.507Z,1761544405.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.179859 m, nav range: 33.039436 m, bearing: 258.751967 deg, approach rate: -0.564179 m/s, LOS rate: -0.106034 deg/s, cmd heading: 268.560443 deg, new cmd heading: 268.432211 deg. 2025-10-27T05:53:25.508Z,1761544405.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685026 target range: 35.179859 and range: 35.40 m. 2025-10-27T05:53:25.744Z,1761544405.744 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.249546 2025-10-27T05:53:25.885Z,1761544405.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009793,0.981945,0.188915],[-0.998528,-0.000477,0.054243],[0.053354,-0.189168,0.980494]] 2025-10-27T05:53:25.904Z,1761544405.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.18 m. 2025-10-27T05:53:25.907Z,1761544405.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.179859 m, nav range: 32.794319 m, bearing: 258.706972 deg, approach rate: -0.606449 m/s, LOS rate: -0.112154 deg/s, cmd heading: 268.432199 deg, new cmd heading: 268.296207 deg. 2025-10-27T05:53:25.908Z,1761544405.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682652 target range: 35.179859 and range: 35.40 m. 2025-10-27T05:53:26.002Z,1761544406.002 [DAT](INFO): DAT read: Rx Time:05:53:24.6954 2025-10-27T05:53:26.003Z,1761544406.003 [DAT](INFO): Rx dataTimestamp_ set to:1761544406.002204 2025-10-27T05:53:26.014Z,1761544406.014 [DAT](INFO): DAT read: Bearing 76.2, -11.7 (Local) 2025-10-27T05:53:26.014Z,1761544406.014 [DAT](INFO): Local bearing/azimuth received: Bearing 76.2, -11.7 (Local) 2025-10-27T05:53:26.021Z,1761544406.021 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.7 2025-10-27T05:53:26.029Z,1761544406.029 [DAT](INFO): DAT read: 05:53:24.6954 LVL= 32752, 32753, 30418, 32755, AGC= 63, IDX= 167,-0.13, 2.788, 1.423,-2.863, 2.798, PHS= 0.092,-1.329, 0.578, RAW= 164.2, 7.7, CAL= 163.8, 7.8, ROT= 346.2, -7.8 2025-10-27T05:53:26.030Z,1761544406.030 [DAT](INFO): got valid direction response: 05:53:24.6954 LVL= 32752, 32753, 30418, 32755, AGC= 63, IDX= 167,-0.13, 2.788, 1.423,-2.863, 2.798, PHS= 0.092,-1.329, 0.578, RAW= 164.2, 7.7, CAL= 163.8, 7.8, ROT= 346.2, -7.8 2025-10-27T05:53:26.048Z,1761544406.048 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:53:26.049Z,1761544406.049 [DAT](INFO): direction in FSK: [0.962149,-0.236326,0.135716] 2025-10-27T05:53:26.049Z,1761544406.049 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:26.065Z,1761544406.065 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.570378 2025-10-27T05:53:26.248Z,1761544406.248 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.753283 2025-10-27T05:53:26.251Z,1761544406.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006483,0.982091,0.188296],[-0.998536,-0.003753,0.053954],[0.053695,-0.188370,0.980629]] 2025-10-27T05:53:26.320Z,1761544406.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 2.526812 s, deltaX: -1.800003 m, approachRate: -0.712361 m/s, rangeRepo size: 4 2025-10-27T05:53:26.323Z,1761544406.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.389973 m, bearing: 258.124660 deg, lat: 36.779423 deg, lon: -121.859778 deg, deltaT: 2.526812 s, deltaX: -1.789886 m, approachRate: -0.708358 m/s, posRepo size: 4 2025-10-27T05:53:26.326Z,1761544406.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.39 m. 2025-10-27T05:53:26.337Z,1761544406.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.389973 m, nav range: 32.466011 m, bearing: 258.418672 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 268.296196 deg, new cmd heading: 268.156788 deg. 2025-10-27T05:53:26.341Z,1761544406.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680219 target range: 33.389973 and range: 33.60 m. 2025-10-27T05:53:26.501Z,1761544406.501 [DAT](INFO): DAT read: Rx Time:05:53:25.1950 2025-10-27T05:53:26.501Z,1761544406.501 [DAT](INFO): Rx dataTimestamp_ set to:1761544406.500979 2025-10-27T05:53:26.503Z,1761544406.503 [DAT](INFO): DAT read: Bearing 77.1, -12.0 (Local) 2025-10-27T05:53:26.503Z,1761544406.503 [DAT](INFO): Local bearing/azimuth received: Bearing 77.1, -12.0 (Local) 2025-10-27T05:53:26.505Z,1761544406.505 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.5 2025-10-27T05:53:26.510Z,1761544406.510 [DAT](INFO): DAT read: 05:53:25.1950 LVL= 32752, 32753, 29250, 32755, AGC= 61, IDX= 500,-0.28, 1.649, 0.303, 2.278, 1.683, PHS= 0.068,-1.335, 0.551, RAW= 164.3, 8.5, CAL= 164.0, 8.8, ROT= 346.0, -8.8 2025-10-27T05:53:26.511Z,1761544406.511 [DAT](INFO): got valid direction response: 05:53:25.1950 LVL= 32752, 32753, 29250, 32755, AGC= 61, IDX= 500,-0.28, 1.649, 0.303, 2.278, 1.683, PHS= 0.068,-1.335, 0.551, RAW= 164.3, 8.5, CAL= 164.0, 8.8, ROT= 346.0, -8.8 2025-10-27T05:53:26.512Z,1761544406.512 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:53:26.512Z,1761544406.512 [DAT](INFO): direction in FSK: [0.958874,-0.239074,0.152986] 2025-10-27T05:53:26.513Z,1761544406.513 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:26.516Z,1761544406.516 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.021998 2025-10-27T05:53:26.650Z,1761544406.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002861,0.981895,0.189403],[-0.998517,-0.007491,0.053916],[0.054358,-0.189277,0.980418]] 2025-10-27T05:53:26.697Z,1761544406.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.498775 s, deltaX: -0.599998 m, approachRate: -1.202944 m/s, rangeRepo size: 4 2025-10-27T05:53:26.708Z,1761544406.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.793518 m, bearing: 257.904714 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.498775 s, deltaX: -0.596455 m, approachRate: -1.195839 m/s, posRepo size: 4 2025-10-27T05:53:26.709Z,1761544406.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.79 m. 2025-10-27T05:53:26.718Z,1761544406.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.793518 m, nav range: 32.158676 m, bearing: 258.051505 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 268.156779 deg, new cmd heading: 268.029658 deg. 2025-10-27T05:53:26.723Z,1761544406.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678000 target range: 32.793518 and range: 33.00 m. 2025-10-27T05:53:26.753Z,1761544406.753 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.258720 2025-10-27T05:53:27.008Z,1761544407.008 [DAT](INFO): DAT read: Rx Time:05:53:25.6947 2025-10-27T05:53:27.010Z,1761544407.010 [DAT](INFO): Rx dataTimestamp_ set to:1761544407.008783 2025-10-27T05:53:27.014Z,1761544407.014 [DAT](INFO): DAT read: Bearing 76.5, -12.3 (Local) 2025-10-27T05:53:27.015Z,1761544407.015 [DAT](INFO): Local bearing/azimuth received: Bearing 76.5, -12.3 (Local) 2025-10-27T05:53:27.021Z,1761544407.021 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.6 2025-10-27T05:53:27.042Z,1761544407.042 [DAT](INFO): DAT read: 05:53:25.6947 LVL= 32752, 32753, 28290, 32755, AGC= 61, IDX= 497,-0.36,-0.239,-1.579, 0.401,-0.207, PHS= 0.069,-1.327, 0.564, RAW= 164.6, 8.2, CAL= 164.3, 8.5, ROT= 345.7, -8.5 2025-10-27T05:53:27.068Z,1761544407.068 [DAT](INFO): got valid direction response: 05:53:25.6947 LVL= 32752, 32753, 28290, 32755, AGC= 61, IDX= 497,-0.36,-0.239,-1.579, 0.401,-0.207, PHS= 0.069,-1.327, 0.564, RAW= 164.6, 8.2, CAL= 164.3, 8.5, ROT= 345.7, -8.5 2025-10-27T05:53:27.068Z,1761544407.068 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:53:27.069Z,1761544407.069 [DAT](INFO): direction in FSK: [0.958372,-0.244286,0.147809] 2025-10-27T05:53:27.069Z,1761544407.069 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:27.093Z,1761544407.093 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.598634 2025-10-27T05:53:27.230Z,1761544407.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.507804 s, deltaX: -0.400002 m, approachRate: -0.787709 m/s, rangeRepo size: 4 2025-10-27T05:53:27.236Z,1761544407.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.396019 m, bearing: 257.549208 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.507804 s, deltaX: -0.397499 m, approachRate: -0.782781 m/s, posRepo size: 4 2025-10-27T05:53:27.237Z,1761544407.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.40 m. 2025-10-27T05:53:27.248Z,1761544407.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.396019 m, nav range: 31.849037 m, bearing: 257.981328 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 268.029655 deg, new cmd heading: 267.850463 deg. 2025-10-27T05:53:27.249Z,1761544407.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674872 target range: 32.396019 and range: 32.60 m. 2025-10-27T05:53:27.256Z,1761544407.256 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.761526 2025-10-27T05:53:27.509Z,1761544407.509 [DAT](INFO): DAT read: Rx Time:05:53:26.1946 2025-10-27T05:53:27.509Z,1761544407.509 [DAT](INFO): Rx dataTimestamp_ set to:1761544407.508715 2025-10-27T05:53:27.510Z,1761544407.510 [DAT](INFO): DAT read: Bearing 78.4, -12.0 (Local) 2025-10-27T05:53:27.511Z,1761544407.511 [DAT](INFO): Local bearing/azimuth received: Bearing 78.4, -12.0 (Local) 2025-10-27T05:53:27.513Z,1761544407.513 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.5 2025-10-27T05:53:27.517Z,1761544407.517 [DAT](INFO): DAT read: 05:53:26.1946 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511, 0.49, 2.609, 1.234,-3.059, 2.665, PHS= 0.046,-1.386, 0.515, RAW= 163.7, 9.7, CAL= 163.6, 10.4, ROT= 346.4, -10.4 2025-10-27T05:53:27.518Z,1761544407.518 [DAT](INFO): got valid direction response: 05:53:26.1946 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511, 0.49, 2.609, 1.234,-3.059, 2.665, PHS= 0.046,-1.386, 0.515, RAW= 163.7, 9.7, CAL= 163.6, 10.4, ROT= 346.4, -10.4 2025-10-27T05:53:27.520Z,1761544407.520 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:53:27.521Z,1761544407.521 [DAT](INFO): direction in FSK: [0.955993,-0.231279,0.180519] 2025-10-27T05:53:27.521Z,1761544407.521 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:27.525Z,1761544407.525 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.030201 2025-10-27T05:53:27.614Z,1761544407.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006387,0.981174,0.193020],[-0.998395,-0.017120,0.053987],[0.056275,-0.192365,0.979708]] 2025-10-27T05:53:27.676Z,1761544407.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.499932 s, deltaX: -0.199997 m, approachRate: -0.400048 m/s, rangeRepo size: 4 2025-10-27T05:53:27.678Z,1761544407.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.197216 m, bearing: 258.103520 deg, lat: 36.779422 deg, lon: -121.859773 deg, deltaT: 0.499932 s, deltaX: -0.198803 m, approachRate: -0.397660 m/s, posRepo size: 4 2025-10-27T05:53:27.678Z,1761544407.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m. 2025-10-27T05:53:27.689Z,1761544407.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.197216 m, nav range: 31.198788 m, bearing: 257.773391 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 267.850458 deg, new cmd heading: 267.702030 deg. 2025-10-27T05:53:27.690Z,1761544407.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672282 target range: 32.197216 and range: 32.40 m. 2025-10-27T05:53:27.761Z,1761544407.761 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.266215 2025-10-27T05:53:28.017Z,1761544408.017 [DAT](INFO): DAT read: Rx Time:05:53:26.6943 2025-10-27T05:53:28.018Z,1761544408.018 [DAT](INFO): Rx dataTimestamp_ set to:1761544408.017311 2025-10-27T05:53:28.023Z,1761544408.023 [DAT](INFO): DAT read: Bearing 75.2, -11.4 (Local) 2025-10-27T05:53:28.024Z,1761544408.024 [DAT](INFO): Local bearing/azimuth received: Bearing 75.2, -11.4 (Local) 2025-10-27T05:53:28.039Z,1761544408.039 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.5 2025-10-27T05:53:28.078Z,1761544408.078 [DAT](INFO): DAT read: 05:53:26.6943 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.47,-0.897,-2.275,-0.272,-0.901, PHS= 0.105,-1.329, 0.584, RAW= 163.9, 7.5, CAL= 163.4, 7.4, ROT= 346.6, -7.4 2025-10-27T05:53:28.088Z,1761544408.088 [DAT](INFO): got valid direction response: 05:53:26.6943 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.47,-0.897,-2.275,-0.272,-0.901, PHS= 0.105,-1.329, 0.584, RAW= 163.9, 7.5, CAL= 163.4, 7.4, ROT= 346.6, -7.4 2025-10-27T05:53:28.088Z,1761544408.088 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:53:28.089Z,1761544408.089 [DAT](INFO): direction in FSK: [0.964674,-0.229818,0.128796] 2025-10-27T05:53:28.089Z,1761544408.089 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:28.101Z,1761544408.101 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.606524 2025-10-27T05:53:28.102Z,1761544408.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009166,0.980775,0.194927],[-0.998332,-0.020087,0.054122],[0.056997,-0.194105,0.979323]] 2025-10-27T05:53:28.201Z,1761544408.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.508596 s, deltaX: -0.400002 m, approachRate: -0.786482 m/s, rangeRepo size: 4 2025-10-27T05:53:28.207Z,1761544408.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.799719 m, bearing: 257.603446 deg, lat: 36.779422 deg, lon: -121.859773 deg, deltaT: 0.508596 s, deltaX: -0.397497 m, approachRate: -0.781558 m/s, posRepo size: 4 2025-10-27T05:53:28.208Z,1761544408.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m. 2025-10-27T05:53:28.210Z,1761544408.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.799719 m, nav range: 30.898596 m, bearing: 257.694311 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 267.702025 deg, new cmd heading: 267.523733 deg. 2025-10-27T05:53:28.216Z,1761544408.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669170 target range: 31.799719 and range: 32.00 m. 2025-10-27T05:53:28.265Z,1761544408.265 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.770298 2025-10-27T05:53:28.512Z,1761544408.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011888,0.980345,0.196930],[-0.998252,-0.023039,0.054431],[0.057899,-0.195939,0.978905]] 2025-10-27T05:53:28.517Z,1761544408.517 [DAT](INFO): DAT read: Rx Time:05:53:27.1942 2025-10-27T05:53:28.517Z,1761544408.517 [DAT](INFO): Rx dataTimestamp_ set to:1761544408.516788 2025-10-27T05:53:28.518Z,1761544408.518 [DAT](INFO): DAT read: Bearing 76.3, -11.9 (Local) 2025-10-27T05:53:28.519Z,1761544408.519 [DAT](INFO): Local bearing/azimuth received: Bearing 76.3, -11.9 (Local) 2025-10-27T05:53:28.521Z,1761544408.521 [DAT](INFO): DAT read: Range 11 to 50 : 31.8 m (trip time 21.2 ms) speed 0.5 2025-10-27T05:53:28.525Z,1761544408.525 [DAT](INFO): DAT read: 05:53:27.1942 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.16, 3.105, 1.759,-2.559, 3.132, PHS= 0.075,-1.329, 0.548, RAW= 164.0, 8.4, CAL= 163.7, 8.7, ROT= 346.3, -8.7 2025-10-27T05:53:28.527Z,1761544408.527 [DAT](INFO): got valid direction response: 05:53:27.1942 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.16, 3.105, 1.759,-2.559, 3.132, PHS= 0.075,-1.329, 0.548, RAW= 164.0, 8.4, CAL= 163.7, 8.7, ROT= 346.3, -8.7 2025-10-27T05:53:28.527Z,1761544408.527 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:53:28.528Z,1761544408.528 [DAT](INFO): direction in FSK: [0.960370,-0.234113,0.151261] 2025-10-27T05:53:28.528Z,1761544408.528 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:28.536Z,1761544408.536 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.041483 2025-10-27T05:53:28.590Z,1761544408.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.499477 s, deltaX: -0.200001 m, approachRate: -0.400420 m/s, rangeRepo size: 4 2025-10-27T05:53:28.596Z,1761544408.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.600937 m, bearing: 257.406127 deg, lat: 36.779421 deg, lon: -121.859772 deg, deltaT: 0.499477 s, deltaX: -0.198782 m, approachRate: -0.397980 m/s, posRepo size: 4 2025-10-27T05:53:28.597Z,1761544408.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m. 2025-10-27T05:53:28.604Z,1761544408.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.600937 m, nav range: 30.631695 m, bearing: 257.507554 deg, approach rate: 0.000000 m/s, LOS rate: -0.112154 deg/s, cmd heading: 267.523729 deg, new cmd heading: 267.392758 deg. 2025-10-27T05:53:28.607Z,1761544408.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666884 target range: 31.600937 and range: 31.80 m. 2025-10-27T05:53:28.768Z,1761544408.768 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.273820 2025-10-27T05:53:28.935Z,1761544408.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013679,0.979917,0.198937],[-0.998193,-0.025024,0.054630],[0.058511,-0.197830,0.978488]] 2025-10-27T05:53:28.994Z,1761544408.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:29.004Z,1761544409.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.60 m. 2025-10-27T05:53:29.014Z,1761544409.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.600937 m, nav range: 30.388323 m, bearing: 257.461740 deg, approach rate: -0.586215 m/s, LOS rate: -0.111237 deg/s, cmd heading: 267.392754 deg, new cmd heading: 267.254211 deg. 2025-10-27T05:53:29.025Z,1761544409.025 [DAT](INFO): DAT read: Rx Time:05:53:27.6940 2025-10-27T05:53:29.026Z,1761544409.026 [DAT](INFO): Rx dataTimestamp_ set to:1761544409.025167 2025-10-27T05:53:29.030Z,1761544409.030 [DAT](INFO): DAT read: Bearing 77.1, -13.0 (Local) 2025-10-27T05:53:29.035Z,1761544409.035 [DAT](INFO): Local bearing/azimuth received: Bearing 77.1, -13.0 (Local) 2025-10-27T05:53:29.042Z,1761544409.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664466 target range: 31.600937 and range: 31.80 m. 2025-10-27T05:53:29.061Z,1761544409.061 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.5 2025-10-27T05:53:29.086Z,1761544409.086 [DAT](INFO): DAT read: 05:53:27.6940 LVL= 32752, 32753, 30098, 32755, AGC= 59, IDX= 505,-0.11, 2.212, 0.870, 2.862, 2.278, PHS= 0.036,-1.363, 0.541, RAW= 164.8, 9.2, CAL= 164.6, 9.9, ROT= 345.4, -9.9 2025-10-27T05:53:29.095Z,1761544409.095 [DAT](INFO): got valid direction response: 05:53:27.6940 LVL= 32752, 32753, 30098, 32755, AGC= 59, IDX= 505,-0.11, 2.212, 0.870, 2.862, 2.278, PHS= 0.036,-1.363, 0.541, RAW= 164.8, 9.2, CAL= 164.6, 9.9, ROT= 345.4, -9.9 2025-10-27T05:53:29.096Z,1761544409.096 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:53:29.097Z,1761544409.097 [DAT](INFO): direction in FSK: [0.953299,-0.248316,0.171929] 2025-10-27T05:53:29.097Z,1761544409.097 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:29.113Z,1761544409.113 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.618117 2025-10-27T05:53:29.272Z,1761544409.272 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.777458 2025-10-27T05:53:29.412Z,1761544409.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015251,0.979806,0.199367],[-0.998139,-0.026693,0.054832],[0.059046,-0.198160,0.978390]] 2025-10-27T05:53:29.494Z,1761544409.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.508379 s, deltaX: -0.299999 m, approachRate: -0.590109 m/s, rangeRepo size: 4 2025-10-27T05:53:29.500Z,1761544409.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.303043 m, bearing: 256.559278 deg, lat: 36.779421 deg, lon: -121.859771 deg, deltaT: 0.508379 s, deltaX: -0.297894 m, approachRate: -0.585967 m/s, posRepo size: 4 2025-10-27T05:53:29.501Z,1761544409.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.30 m. 2025-10-27T05:53:29.508Z,1761544409.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.303043 m, nav range: 30.102232 m, bearing: 257.334118 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 267.254210 deg, new cmd heading: 267.091078 deg. 2025-10-27T05:53:29.509Z,1761544409.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661619 target range: 31.303043 and range: 31.50 m. 2025-10-27T05:53:29.525Z,1761544409.525 [DAT](INFO): DAT read: Rx Time:05:53:28.1939 2025-10-27T05:53:29.525Z,1761544409.525 [DAT](INFO): Rx dataTimestamp_ set to:1761544409.524805 2025-10-27T05:53:29.526Z,1761544409.526 [DAT](INFO): DAT read: Bearing 77.5, -12.3 (Local) 2025-10-27T05:53:29.527Z,1761544409.527 [DAT](INFO): Local bearing/azimuth received: Bearing 77.5, -12.3 (Local) 2025-10-27T05:53:29.529Z,1761544409.529 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.5 2025-10-27T05:53:29.533Z,1761544409.533 [DAT](INFO): DAT read: 05:53:28.1939 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.09,-1.071,-2.412,-0.452,-1.011, PHS= 0.042,-1.356, 0.515, RAW= 164.1, 9.5, CAL= 163.9, 10.3, ROT= 346.1, -10.3 2025-10-27T05:53:29.535Z,1761544409.535 [DAT](INFO): got valid direction response: 05:53:28.1939 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 504,-0.09,-1.071,-2.412,-0.452,-1.011, PHS= 0.042,-1.356, 0.515, RAW= 164.1, 9.5, CAL= 163.9, 10.3, ROT= 346.1, -10.3 2025-10-27T05:53:29.536Z,1761544409.536 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:53:29.537Z,1761544409.537 [DAT](INFO): direction in FSK: [0.955073,-0.236357,0.178802] 2025-10-27T05:53:29.537Z,1761544409.537 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:29.541Z,1761544409.541 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.046916 2025-10-27T05:53:29.777Z,1761544409.777 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.282672 2025-10-27T05:53:29.896Z,1761544409.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016371,0.979953,0.198554],[-0.998097,-0.027826,0.055037],[0.059459,-0.197275,0.978543]] 2025-10-27T05:53:29.918Z,1761544409.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.499638 s, deltaX: -0.100000 m, approachRate: -0.200146 m/s, rangeRepo size: 4 2025-10-27T05:53:29.921Z,1761544409.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.203669 m, bearing: 257.263524 deg, lat: 36.779421 deg, lon: -121.859771 deg, deltaT: 0.499638 s, deltaX: -0.099375 m, approachRate: -0.198894 m/s, posRepo size: 4 2025-10-27T05:53:29.922Z,1761544409.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m. 2025-10-27T05:53:29.925Z,1761544409.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.203669 m, nav range: 29.851913 m, bearing: 257.309367 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 267.091078 deg, new cmd heading: 266.949415 deg. 2025-10-27T05:53:29.926Z,1761544409.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659146 target range: 31.203669 and range: 31.40 m. 2025-10-27T05:53:30.033Z,1761544410.033 [DAT](INFO): DAT read: Rx Time:05:53:28.6936 2025-10-27T05:53:30.034Z,1761544410.034 [DAT](INFO): Rx dataTimestamp_ set to:1761544410.033688 2025-10-27T05:53:30.038Z,1761544410.038 [DAT](INFO): DAT read: Bearing 75.3, -12.2 (Local) 2025-10-27T05:53:30.040Z,1761544410.040 [DAT](INFO): Local bearing/azimuth received: Bearing 75.3, -12.2 (Local) 2025-10-27T05:53:30.050Z,1761544410.050 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 2025-10-27T05:53:30.099Z,1761544410.099 [DAT](INFO): DAT read: 05:53:28.6936 LVL= 32752, 32753, 30066, 32755, AGC= 60, IDX= 501, 0.11,-1.094,-2.467,-0.441,-1.068, PHS= 0.076,-1.354, 0.583, RAW= 164.6, 8.0, CAL= 164.2, 8.2, ROT= 345.8, -8.2 2025-10-27T05:53:30.100Z,1761544410.100 [DAT](INFO): got valid direction response: 05:53:28.6936 LVL= 32752, 32753, 30066, 32755, AGC= 60, IDX= 501, 0.11,-1.094,-2.467,-0.441,-1.068, PHS= 0.076,-1.354, 0.583, RAW= 164.6, 8.0, CAL= 164.2, 8.2, ROT= 345.8, -8.2 2025-10-27T05:53:30.100Z,1761544410.100 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:53:30.101Z,1761544410.101 [DAT](INFO): direction in FSK: [0.959534,-0.242800,0.142629] 2025-10-27T05:53:30.102Z,1761544410.102 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:30.109Z,1761544410.109 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.614962 2025-10-27T05:53:30.280Z,1761544410.280 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.785496 2025-10-27T05:53:30.292Z,1761544410.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.017050,0.979906,0.198731],[-0.998068,-0.028557,0.055182],[0.059748,-0.197407,0.978499]] 2025-10-27T05:53:30.424Z,1761544410.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.508883 s, deltaX: -0.299999 m, approachRate: -0.589525 m/s, rangeRepo size: 4 2025-10-27T05:53:30.426Z,1761544410.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.905588 m, bearing: 256.524629 deg, lat: 36.779420 deg, lon: -121.859773 deg, deltaT: 0.508883 s, deltaX: -0.298080 m, approachRate: -0.585754 m/s, posRepo size: 4 2025-10-27T05:53:30.431Z,1761544410.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.91 m. 2025-10-27T05:53:30.434Z,1761544410.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.905588 m, nav range: 29.724731 m, bearing: 257.262509 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.949420 deg, new cmd heading: 266.782118 deg. 2025-10-27T05:53:30.434Z,1761544410.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656226 target range: 30.905588 and range: 31.10 m. 2025-10-27T05:53:30.533Z,1761544410.533 [DAT](INFO): DAT read: Rx Time:05:53:29.1934 2025-10-27T05:53:30.534Z,1761544410.534 [DAT](INFO): Rx dataTimestamp_ set to:1761544410.533594 2025-10-27T05:53:30.536Z,1761544410.536 [DAT](INFO): DAT read: Bearing 75.7, -11.8 (Local) 2025-10-27T05:53:30.537Z,1761544410.537 [DAT](INFO): Local bearing/azimuth received: Bearing 75.7, -11.8 (Local) 2025-10-27T05:53:30.540Z,1761544410.540 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4 2025-10-27T05:53:30.548Z,1761544410.548 [DAT](INFO): DAT read: 05:53:29.1934 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.31, 1.419, 0.049, 2.049, 1.445, PHS= 0.076,-1.351, 0.559, RAW= 164.1, 8.4, CAL= 163.8, 8.7, ROT= 346.2, -8.7 2025-10-27T05:53:30.550Z,1761544410.550 [DAT](INFO): got valid direction response: 05:53:29.1934 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.31, 1.419, 0.049, 2.049, 1.445, PHS= 0.076,-1.351, 0.559, RAW= 164.1, 8.4, CAL= 163.8, 8.7, ROT= 346.2, -8.7 2025-10-27T05:53:30.550Z,1761544410.550 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:53:30.552Z,1761544410.552 [DAT](INFO): direction in FSK: [0.959960,-0.235788,0.151261] 2025-10-27T05:53:30.553Z,1761544410.553 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:30.558Z,1761544410.558 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.063723 2025-10-27T05:53:30.784Z,1761544410.784 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.289343 2025-10-27T05:53:30.812Z,1761544410.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016872,0.979821,0.199162],[-0.998049,-0.028479,0.055558],[0.060108,-0.197836,0.978390]] 2025-10-27T05:53:30.898Z,1761544410.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.499906 s, deltaX: -0.300001 m, approachRate: -0.600115 m/s, rangeRepo size: 4 2025-10-27T05:53:30.904Z,1761544410.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.607462 m, bearing: 257.034611 deg, lat: 36.779419 deg, lon: -121.859773 deg, deltaT: 0.499906 s, deltaX: -0.298126 m, approachRate: -0.596365 m/s, posRepo size: 4 2025-10-27T05:53:30.905Z,1761544410.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.61 m. 2025-10-27T05:53:30.912Z,1761544410.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.607462 m, nav range: 29.540922 m, bearing: 257.000755 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.782107 deg, new cmd heading: 266.622540 deg. 2025-10-27T05:53:30.913Z,1761544410.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653441 target range: 30.607462 and range: 30.80 m. 2025-10-27T05:53:31.038Z,1761544411.038 [DAT](INFO): DAT read: Rx Time:05:53:29.6932 2025-10-27T05:53:31.038Z,1761544411.038 [DAT](INFO): Rx dataTimestamp_ set to:1761544411.037947 2025-10-27T05:53:31.040Z,1761544411.040 [DAT](INFO): DAT read: Bearing 76.8, -11.8 (Local) 2025-10-27T05:53:31.041Z,1761544411.041 [DAT](INFO): Local bearing/azimuth received: Bearing 76.8, -11.8 (Local) 2025-10-27T05:53:31.048Z,1761544411.048 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-27T05:53:31.081Z,1761544411.081 [DAT](INFO): DAT read: 05:53:29.6932 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.05, 0.812,-0.581, 1.441, 0.857, PHS= 0.057,-1.393, 0.540, RAW= 163.9, 9.2, CAL= 163.7, 9.8, ROT= 346.3, -9.8 2025-10-27T05:53:31.089Z,1761544411.089 [DAT](INFO): got valid direction response: 05:53:29.6932 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 497, 0.05, 0.812,-0.581, 1.441, 0.857, PHS= 0.057,-1.393, 0.540, RAW= 163.9, 9.2, CAL= 163.7, 9.8, ROT= 346.3, -9.8 2025-10-27T05:53:31.095Z,1761544411.095 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:53:31.098Z,1761544411.098 [DAT](INFO): direction in FSK: [0.957372,-0.233382,0.170209] 2025-10-27T05:53:31.104Z,1761544411.104 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:31.114Z,1761544411.114 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.619302 2025-10-27T05:53:31.257Z,1761544411.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016950,0.980132,0.197622],[-0.998026,-0.028540,0.055949],[0.060477,-0.196283,0.978680]] 2025-10-27T05:53:31.288Z,1761544411.288 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.793590 2025-10-27T05:53:31.341Z,1761544411.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.504353 s, deltaX: -0.299999 m, approachRate: -0.594820 m/s, rangeRepo size: 4 2025-10-27T05:53:31.349Z,1761544411.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.309338 m, bearing: 257.319964 deg, lat: 36.779419 deg, lon: -121.859773 deg, deltaT: 0.504353 s, deltaX: -0.298124 m, approachRate: -0.591102 m/s, posRepo size: 4 2025-10-27T05:53:31.352Z,1761544411.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.31 m. 2025-10-27T05:53:31.395Z,1761544411.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.309338 m, nav range: 29.305037 m, bearing: 257.006621 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.622527 deg, new cmd heading: 266.475626 deg. 2025-10-27T05:53:31.396Z,1761544411.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650877 target range: 30.309338 and range: 30.50 m. 2025-10-27T05:53:31.542Z,1761544411.542 [DAT](INFO): DAT read: Rx Time:05:53:30.1931 2025-10-27T05:53:31.542Z,1761544411.542 [DAT](INFO): Rx dataTimestamp_ set to:1761544411.541759 2025-10-27T05:53:31.543Z,1761544411.543 [DAT](INFO): DAT read: Bearing 70.8, -1.1 (Local) 2025-10-27T05:53:31.544Z,1761544411.544 [DAT](INFO): Local bearing/azimuth received: Bearing 70.8, -1.1 (Local) 2025-10-27T05:53:31.546Z,1761544411.546 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4 2025-10-27T05:53:31.558Z,1761544411.558 [DAT](INFO): DAT read: 05:53:30.1931 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.23,-0.337,-2.351, 0.054,-0.746, PHS= 0.512,-1.559, 0.757, RAW= 155.5, 2.7, CAL= 154.3, 1.9, ROT= 355.7, -1.9 2025-10-27T05:53:31.560Z,1761544411.560 [DAT](INFO): got valid direction response: 05:53:30.1931 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.23,-0.337,-2.351, 0.054,-0.746, PHS= 0.512,-1.559, 0.757, RAW= 155.5, 2.7, CAL= 154.3, 1.9, ROT= 355.7, -1.9 2025-10-27T05:53:31.561Z,1761544411.561 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:53:31.562Z,1761544411.562 [DAT](INFO): direction in FSK: [0.996637,-0.074937,0.033155] 2025-10-27T05:53:31.562Z,1761544411.562 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:31.569Z,1761544411.569 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.073671 2025-10-27T05:53:31.796Z,1761544411.796 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.301611 2025-10-27T05:53:31.894Z,1761544411.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503812 s, deltaX: -0.200001 m, approachRate: -0.396975 m/s, rangeRepo size: 4 2025-10-27T05:53:31.916Z,1761544411.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.110598 m, bearing: 265.165548 deg, lat: 36.779420 deg, lon: -121.859773 deg, deltaT: 0.503812 s, deltaX: -0.198740 m, approachRate: -0.394473 m/s, posRepo size: 4 2025-10-27T05:53:31.917Z,1761544411.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.11 m. 2025-10-27T05:53:31.940Z,1761544411.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.110598 m, nav range: 29.083109 m, bearing: 257.312447 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.475623 deg, new cmd heading: 266.290213 deg. 2025-10-27T05:53:31.941Z,1761544411.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647641 target range: 30.110598 and range: 30.30 m. 2025-10-27T05:53:32.053Z,1761544412.053 [DAT](INFO): DAT read: Rx Time:05:53:30.6929 2025-10-27T05:53:32.054Z,1761544412.054 [DAT](INFO): Rx dataTimestamp_ set to:1761544412.053188 2025-10-27T05:53:32.059Z,1761544412.059 [DAT](INFO): DAT read: Bearing 74.7, -11.4 (Local) 2025-10-27T05:53:32.060Z,1761544412.060 [DAT](INFO): Local bearing/azimuth received: Bearing 74.7, -11.4 (Local) 2025-10-27T05:53:32.067Z,1761544412.067 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T05:53:32.126Z,1761544412.126 [DAT](INFO): DAT read: 05:53:30.6929 LVL= 32752, 32753, 32690, 32755, AGC= 61, IDX= 510,-0.11, 1.926, 0.561, 2.560, 1.934, PHS= 0.094,-1.328, 0.582, RAW= 164.2, 7.6, CAL= 163.8, 7.7, ROT= 346.2, -7.7 2025-10-27T05:53:32.133Z,1761544412.133 [DAT](INFO): got valid direction response: 05:53:30.6929 LVL= 32752, 32753, 32690, 32755, AGC= 61, IDX= 510,-0.11, 1.926, 0.561, 2.560, 1.934, PHS= 0.094,-1.328, 0.582, RAW= 164.2, 7.6, CAL= 163.8, 7.7, ROT= 346.2, -7.7 2025-10-27T05:53:32.133Z,1761544412.133 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:53:32.134Z,1761544412.134 [DAT](INFO): direction in FSK: [0.962378,-0.236382,0.133986] 2025-10-27T05:53:32.134Z,1761544412.134 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:32.150Z,1761544412.150 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.655334 2025-10-27T05:53:32.300Z,1761544412.300 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.805637 2025-10-27T05:53:32.409Z,1761544412.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.015240,0.980989,0.193466],[-0.998033,-0.026692,0.056723],[0.060809,-0.192221,0.979466]] 2025-10-27T05:53:32.494Z,1761544412.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.511429 s, deltaX: -0.299999 m, approachRate: -0.586590 m/s, rangeRepo size: 4 2025-10-27T05:53:32.501Z,1761544412.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.812145 m, bearing: 256.879436 deg, lat: 36.779419 deg, lon: -121.859774 deg, deltaT: 0.511429 s, deltaX: -0.298452 m, approachRate: -0.583566 m/s, posRepo size: 4 2025-10-27T05:53:32.501Z,1761544412.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m. 2025-10-27T05:53:32.508Z,1761544412.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.812145 m, nav range: 28.918419 m, bearing: 257.084633 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.290224 deg, new cmd heading: 266.089901 deg. 2025-10-27T05:53:32.509Z,1761544412.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644145 target range: 29.812145 and range: 30.00 m. 2025-10-27T05:53:32.553Z,1761544412.553 [DAT](INFO): DAT read: Rx Time:05:53:31.1928 2025-10-27T05:53:32.553Z,1761544412.553 [DAT](INFO): Rx dataTimestamp_ set to:1761544412.552922 2025-10-27T05:53:32.554Z,1761544412.554 [DAT](INFO): DAT read: Bearing 76.2, -11.8 (Local) 2025-10-27T05:53:32.556Z,1761544412.556 [DAT](INFO): Local bearing/azimuth received: Bearing 76.2, -11.8 (Local) 2025-10-27T05:53:32.558Z,1761544412.558 [DAT](INFO): DAT read: Range 11 to 50 : 29.9 m (trip time 19.9 ms) speed 0.3 2025-10-27T05:53:32.563Z,1761544412.563 [DAT](INFO): DAT read: 05:53:31.1928 LVL= 32752, 32753, 31570, 32755, AGC= 60, IDX= 509, 0.44,-1.753,-3.105,-1.121,-1.711, PHS= 0.060,-1.348, 0.546, RAW= 164.3, 8.8, CAL= 164.0, 9.2, ROT= 346.0, -9.2 2025-10-27T05:53:32.564Z,1761544412.564 [DAT](INFO): got valid direction response: 05:53:31.1928 LVL= 32752, 32753, 31570, 32755, AGC= 60, IDX= 509, 0.44,-1.753,-3.105,-1.121,-1.711, PHS= 0.060,-1.348, 0.546, RAW= 164.3, 8.8, CAL= 164.0, 9.2, ROT= 346.0, -9.2 2025-10-27T05:53:32.564Z,1761544412.564 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:53:32.565Z,1761544412.565 [DAT](INFO): direction in FSK: [0.957814,-0.238810,0.159881] 2025-10-27T05:53:32.566Z,1761544412.566 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:32.569Z,1761544412.569 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.074746 2025-10-27T05:53:32.804Z,1761544412.804 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.309419 2025-10-27T05:53:32.980Z,1761544412.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.014075,0.981300,0.191969],[-0.998062,-0.025426,0.056796],[0.060615,-0.190797,0.979756]] 2025-10-27T05:53:33.012Z,1761544413.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.499734 s, deltaX: -0.100000 m, approachRate: -0.200107 m/s, rangeRepo size: 4 2025-10-27T05:53:33.014Z,1761544413.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.712772 m, bearing: 257.003999 deg, lat: 36.779419 deg, lon: -121.859774 deg, deltaT: 0.499734 s, deltaX: -0.099373 m, approachRate: -0.198852 m/s, posRepo size: 4 2025-10-27T05:53:33.014Z,1761544413.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.71 m. 2025-10-27T05:53:33.017Z,1761544413.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.712772 m, nav range: 28.678602 m, bearing: 257.092509 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 266.089909 deg, new cmd heading: 265.917252 deg. 2025-10-27T05:53:33.018Z,1761544413.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641131 target range: 29.712772 and range: 29.90 m. 2025-10-27T05:53:33.060Z,1761544413.060 [DAT](INFO): DAT read: Rx Time:05:53:31.6926 2025-10-27T05:53:33.061Z,1761544413.061 [DAT](INFO): Rx dataTimestamp_ set to:1761544413.060427 2025-10-27T05:53:33.062Z,1761544413.062 [DAT](INFO): DAT read: Bearing 74.1, -10.8 (Local) 2025-10-27T05:53:33.063Z,1761544413.063 [DAT](INFO): Local bearing/azimuth received: Bearing 74.1, -10.8 (Local) 2025-10-27T05:53:33.065Z,1761544413.065 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 2025-10-27T05:53:33.069Z,1761544413.069 [DAT](INFO): DAT read: 05:53:31.6926 LVL= 32752, 32753, 31474, 32755, AGC= 62, IDX= 507, 0.12,-2.369, 2.531,-1.740,-2.382, PHS= 0.115,-1.325, 0.598, RAW= 164.0, 7.1, CAL= 163.4, 7.0, ROT= 346.6, -7.0 2025-10-27T05:53:33.071Z,1761544413.071 [DAT](INFO): got valid direction response: 05:53:31.6926 LVL= 32752, 32753, 31474, 32755, AGC= 62, IDX= 507, 0.12,-2.369, 2.531,-1.740,-2.382, PHS= 0.115,-1.325, 0.598, RAW= 164.0, 7.1, CAL= 163.4, 7.0, ROT= 346.6, -7.0 2025-10-27T05:53:33.084Z,1761544413.084 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:53:33.100Z,1761544413.100 [DAT](INFO): direction in FSK: [0.965525,-0.230021,0.121869] 2025-10-27T05:53:33.101Z,1761544413.101 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:33.146Z,1761544413.146 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.651807 2025-10-27T05:53:33.308Z,1761544413.308 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.813733 2025-10-27T05:53:33.385Z,1761544413.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013089,0.981516,0.190932],[-0.998080,-0.024387,0.056944],[0.060547,-0.189820,0.979950]] 2025-10-27T05:53:33.478Z,1761544413.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.507505 s, deltaX: -0.299999 m, approachRate: -0.591126 m/s, rangeRepo size: 4 2025-10-27T05:53:33.484Z,1761544413.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.414551 m, bearing: 257.254545 deg, lat: 36.779419 deg, lon: -121.859775 deg, deltaT: 0.507505 s, deltaX: -0.298222 m, approachRate: -0.587623 m/s, posRepo size: 4 2025-10-27T05:53:33.485Z,1761544413.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.41 m. 2025-10-27T05:53:33.492Z,1761544413.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.414551 m, nav range: 28.501345 m, bearing: 257.171758 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.917241 deg, new cmd heading: 265.761713 deg. 2025-10-27T05:53:33.493Z,1761544413.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638417 target range: 29.414551 and range: 29.60 m. 2025-10-27T05:53:33.561Z,1761544413.561 [DAT](INFO): DAT read: Rx Time:05:53:32.1926 2025-10-27T05:53:33.561Z,1761544413.561 [DAT](INFO): Rx dataTimestamp_ set to:1761544413.561034 2025-10-27T05:53:33.563Z,1761544413.563 [DAT](INFO): DAT read: Bearing 73.5, -10.5 (Local) 2025-10-27T05:53:33.564Z,1761544413.564 [DAT](INFO): Local bearing/azimuth received: Bearing 73.5, -10.5 (Local) 2025-10-27T05:53:33.567Z,1761544413.567 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 2025-10-27T05:53:33.574Z,1761544413.574 [DAT](INFO): DAT read: 05:53:32.1926 LVL= 32240, 32753, 30546, 32755, AGC= 62, IDX= 507,-0.11, 2.878, 1.514,-2.785, 2.852, PHS= 0.128,-1.293, 0.602, RAW= 163.9, 6.6, CAL= 163.3, 6.3, ROT= 346.7, -6.3 2025-10-27T05:53:33.575Z,1761544413.575 [DAT](INFO): got valid direction response: 05:53:32.1926 LVL= 32240, 32753, 30546, 32755, AGC= 62, IDX= 507,-0.11, 2.878, 1.514,-2.785, 2.852, PHS= 0.128,-1.293, 0.602, RAW= 163.9, 6.6, CAL= 163.3, 6.3, ROT= 346.7, -6.3 2025-10-27T05:53:33.576Z,1761544413.576 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:53:33.577Z,1761544413.577 [DAT](INFO): direction in FSK: [0.967302,-0.228660,0.109734] 2025-10-27T05:53:33.578Z,1761544413.578 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:33.585Z,1761544413.585 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.090584 2025-10-27T05:53:33.778Z,1761544413.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012315,0.981715,0.189957],[-0.998093,-0.023562,0.057062],[0.060494,-0.188892,0.980133]] 2025-10-27T05:53:33.812Z,1761544413.812 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.317426 2025-10-27T05:53:33.839Z,1761544413.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.500607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:53:33.864Z,1761544413.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.414551 m, bearing: 257.265874 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 0.500607 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:53:33.876Z,1761544413.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.41 m. 2025-10-27T05:53:33.886Z,1761544413.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.414551 m, nav range: 28.530807 m, bearing: 257.160434 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.761704 deg, new cmd heading: 265.643933 deg. 2025-10-27T05:53:33.891Z,1761544413.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636361 target range: 29.414551 and range: 29.60 m. 2025-10-27T05:53:34.064Z,1761544414.064 [DAT](INFO): DAT read: Rx Time:05:53:32.6923 2025-10-27T05:53:34.065Z,1761544414.065 [DAT](INFO): Rx dataTimestamp_ set to:1761544414.064645 2025-10-27T05:53:34.066Z,1761544414.066 [DAT](INFO): DAT read: Bearing 74.1, -10.9 (Local) 2025-10-27T05:53:34.066Z,1761544414.066 [DAT](INFO): Local bearing/azimuth received: Bearing 74.1, -10.9 (Local) 2025-10-27T05:53:34.069Z,1761544414.069 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 2025-10-27T05:53:34.078Z,1761544414.078 [DAT](INFO): DAT read: 05:53:32.6923 LVL= 32752, 32753, 30898, 32755, AGC= 60, IDX= 505,-0.48, 2.234, 0.852, 2.869, 2.225, PHS= 0.112,-1.328, 0.600, RAW= 164.1, 7.1, CAL= 163.6, 7.0, ROT= 346.4, -7.0 2025-10-27T05:53:34.086Z,1761544414.086 [DAT](INFO): got valid direction response: 05:53:32.6923 LVL= 32752, 32753, 30898, 32755, AGC= 60, IDX= 505,-0.48, 2.234, 0.852, 2.869, 2.225, PHS= 0.112,-1.328, 0.600, RAW= 164.1, 7.1, CAL= 163.6, 7.0, ROT= 346.4, -7.0 2025-10-27T05:53:34.088Z,1761544414.088 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:53:34.111Z,1761544414.111 [DAT](INFO): direction in FSK: [0.964716,-0.233390,0.121869] 2025-10-27T05:53:34.112Z,1761544414.112 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:34.160Z,1761544414.160 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.665913 2025-10-27T05:53:34.240Z,1761544414.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.012469,0.981772,0.189651],[-0.998083,-0.023719,0.057167],[0.060624,-0.188575,0.980186]] 2025-10-27T05:53:34.316Z,1761544414.316 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.821553 2025-10-27T05:53:34.368Z,1761544414.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503611 s, deltaX: -0.500000 m, approachRate: -0.992830 m/s, rangeRepo size: 4 2025-10-27T05:53:34.385Z,1761544414.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.917683 m, bearing: 257.077692 deg, lat: 36.779419 deg, lon: -121.859775 deg, deltaT: 0.503611 s, deltaX: -0.496868 m, approachRate: -0.986611 m/s, posRepo size: 4 2025-10-27T05:53:34.385Z,1761544414.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m. 2025-10-27T05:53:34.393Z,1761544414.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.917683 m, nav range: 28.194639 m, bearing: 257.093626 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.643925 deg, new cmd heading: 265.468775 deg. 2025-10-27T05:53:34.394Z,1761544414.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633304 target range: 28.917683 and range: 29.10 m. 2025-10-27T05:53:34.569Z,1761544414.569 [DAT](INFO): DAT read: Rx Time:05:53:33.1922 2025-10-27T05:53:34.569Z,1761544414.569 [DAT](INFO): Rx dataTimestamp_ set to:1761544414.569091 2025-10-27T05:53:34.571Z,1761544414.571 [DAT](INFO): DAT read: Bearing 74.3, -10.9 (Local) 2025-10-27T05:53:34.571Z,1761544414.571 [DAT](INFO): Local bearing/azimuth received: Bearing 74.3, -10.9 (Local) 2025-10-27T05:53:34.573Z,1761544414.573 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.4 2025-10-27T05:53:34.578Z,1761544414.578 [DAT](INFO): DAT read: 05:53:33.1922 LVL= 32752, 32753, 27762, 32755, AGC= 61, IDX= 503, 0.13,-2.733, 2.165,-2.103,-2.741, PHS= 0.109,-1.333, 0.594, RAW= 164.0, 7.3, CAL= 163.5, 7.2, ROT= 346.5, -7.2 2025-10-27T05:53:34.579Z,1761544414.579 [DAT](INFO): got valid direction response: 05:53:33.1922 LVL= 32752, 32753, 27762, 32755, AGC= 61, IDX= 503, 0.13,-2.733, 2.165,-2.103,-2.741, PHS= 0.109,-1.333, 0.594, RAW= 164.0, 7.3, CAL= 163.5, 7.2, ROT= 346.5, -7.2 2025-10-27T05:53:34.579Z,1761544414.579 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:53:34.580Z,1761544414.580 [DAT](INFO): direction in FSK: [0.964703,-0.231605,0.125333] 2025-10-27T05:53:34.580Z,1761544414.580 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:34.584Z,1761544414.584 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.089856 2025-10-27T05:53:34.772Z,1761544414.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.013531,0.981704,0.189932],[-0.998087,-0.024720,0.056664],[0.060322,-0.188802,0.980161]] 2025-10-27T05:53:34.797Z,1761544414.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.504446 s, deltaX: -0.100000 m, approachRate: -0.198238 m/s, rangeRepo size: 4 2025-10-27T05:53:34.799Z,1761544414.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.818264 m, bearing: 257.155620 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 0.504446 s, deltaX: -0.099419 m, approachRate: -0.197085 m/s, posRepo size: 4 2025-10-27T05:53:34.800Z,1761544414.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.82 m. 2025-10-27T05:53:34.802Z,1761544414.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.818264 m, nav range: 28.065392 m, bearing: 257.148503 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.468771 deg, new cmd heading: 265.321511 deg. 2025-10-27T05:53:34.803Z,1761544414.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630734 target range: 28.818264 and range: 29.00 m. 2025-10-27T05:53:34.820Z,1761544414.820 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.325305 2025-10-27T05:53:35.077Z,1761544415.077 [DAT](INFO): DAT read: Rx Time:05:53:33.6920 2025-10-27T05:53:35.078Z,1761544415.078 [DAT](INFO): Rx dataTimestamp_ set to:1761544415.077635 2025-10-27T05:53:35.080Z,1761544415.080 [DAT](INFO): DAT read: Bearing 74.4, -10.6 (Local) 2025-10-27T05:53:35.081Z,1761544415.081 [DAT](INFO): Local bearing/azimuth received: Bearing 74.4, -10.6 (Local) 2025-10-27T05:53:35.084Z,1761544415.084 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 2025-10-27T05:53:35.098Z,1761544415.098 [DAT](INFO): DAT read: 05:53:33.6920 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.11, 0.836,-0.551, 1.452, 0.825, PHS= 0.113,-1.331, 0.583, RAW= 163.6, 7.4, CAL= 163.1, 7.3, ROT= 346.9, -7.3 2025-10-27T05:53:35.103Z,1761544415.103 [DAT](INFO): got valid direction response: 05:53:33.6920 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.11, 0.836,-0.551, 1.452, 0.825, PHS= 0.113,-1.331, 0.583, RAW= 163.6, 7.4, CAL= 163.1, 7.3, ROT= 346.9, -7.3 2025-10-27T05:53:35.104Z,1761544415.104 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:53:35.129Z,1761544415.129 [DAT](INFO): direction in FSK: [0.966081,-0.224815,0.127065] 2025-10-27T05:53:35.129Z,1761544415.129 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:35.174Z,1761544415.174 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.679374 2025-10-27T05:53:35.327Z,1761544415.327 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.831909 2025-10-27T05:53:35.334Z,1761544415.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.508544 s, deltaX: -0.299999 m, approachRate: -0.589918 m/s, rangeRepo size: 4 2025-10-27T05:53:35.355Z,1761544415.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.520145 m, bearing: 257.574497 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 0.508544 s, deltaX: -0.298119 m, approachRate: -0.586220 m/s, posRepo size: 4 2025-10-27T05:53:35.358Z,1761544415.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m. 2025-10-27T05:53:35.387Z,1761544415.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.520145 m, nav range: 27.821125 m, bearing: 257.174712 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.321512 deg, new cmd heading: 265.145781 deg. 2025-10-27T05:53:35.388Z,1761544415.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627667 target range: 28.520145 and range: 28.70 m. 2025-10-27T05:53:35.577Z,1761544415.577 [DAT](INFO): DAT read: Rx Time:05:53:34.1919 2025-10-27T05:53:35.577Z,1761544415.577 [DAT](INFO): Rx dataTimestamp_ set to:1761544415.576717 2025-10-27T05:53:35.578Z,1761544415.578 [DAT](INFO): DAT read: Bearing 74.3, -10.6 (Local) 2025-10-27T05:53:35.579Z,1761544415.579 [DAT](INFO): Local bearing/azimuth received: Bearing 74.3, -10.6 (Local) 2025-10-27T05:53:35.581Z,1761544415.581 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T05:53:35.611Z,1761544415.611 [DAT](INFO): DAT read: 05:53:34.1919 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.49, 2.433, 1.043, 3.048, 2.420, PHS= 0.114,-1.333, 0.584, RAW= 163.6, 7.4, CAL= 163.1, 7.3, ROT= 346.9, -7.3 2025-10-27T05:53:35.612Z,1761544415.612 [DAT](INFO): got valid direction response: 05:53:34.1919 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501,-0.49, 2.433, 1.043, 3.048, 2.420, PHS= 0.114,-1.333, 0.584, RAW= 163.6, 7.4, CAL= 163.1, 7.3, ROT= 346.9, -7.3 2025-10-27T05:53:35.612Z,1761544415.612 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:53:35.613Z,1761544415.613 [DAT](INFO): direction in FSK: [0.966081,-0.224815,0.127065] 2025-10-27T05:53:35.614Z,1761544415.614 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:35.641Z,1761544415.641 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.146939 2025-10-27T05:53:35.785Z,1761544415.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.499082 s, deltaX: -0.200001 m, approachRate: -0.400737 m/s, rangeRepo size: 4 2025-10-27T05:53:35.787Z,1761544415.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.321484 m, bearing: 257.574497 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 0.499082 s, deltaX: -0.198662 m, approachRate: -0.398054 m/s, posRepo size: 4 2025-10-27T05:53:35.791Z,1761544415.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.32 m. 2025-10-27T05:53:35.794Z,1761544415.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.321484 m, nav range: 27.589930 m, bearing: 257.170826 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 265.145785 deg, new cmd heading: 264.991815 deg. 2025-10-27T05:53:35.799Z,1761544415.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624979 target range: 28.321484 and range: 28.50 m. 2025-10-27T05:53:35.832Z,1761544415.832 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.335777 2025-10-27T05:53:36.081Z,1761544416.081 [DAT](INFO): DAT read: Rx Time:05:53:34.6917 2025-10-27T05:53:36.081Z,1761544416.081 [DAT](INFO): Rx dataTimestamp_ set to:1761544416.081007 2025-10-27T05:53:36.083Z,1761544416.083 [DAT](INFO): DAT read: Bearing 76.0, -11.3 (Local) 2025-10-27T05:53:36.083Z,1761544416.083 [DAT](INFO): Local bearing/azimuth received: Bearing 76.0, -11.3 (Local) 2025-10-27T05:53:36.085Z,1761544416.085 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 2025-10-27T05:53:36.094Z,1761544416.094 [DAT](INFO): DAT read: 05:53:34.6917 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.07, 2.578, 1.193,-3.085, 2.610, PHS= 0.070,-1.372, 0.545, RAW= 163.8, 8.8, CAL= 163.5, 9.3, ROT= 346.5, -9.3 2025-10-27T05:53:36.095Z,1761544416.095 [DAT](INFO): got valid direction response: 05:53:34.6917 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.07, 2.578, 1.193,-3.085, 2.610, PHS= 0.070,-1.372, 0.545, RAW= 163.8, 8.8, CAL= 163.5, 9.3, ROT= 346.5, -9.3 2025-10-27T05:53:36.096Z,1761544416.096 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:53:36.097Z,1761544416.097 [DAT](INFO): direction in FSK: [0.959589,-0.230377,0.161604] 2025-10-27T05:53:36.097Z,1761544416.097 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:36.170Z,1761544416.170 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.675535 2025-10-27T05:53:36.212Z,1761544416.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018516,0.980952,0.193364],[-0.997985,-0.029872,0.055977],[0.060687,-0.191938,0.979529]] 2025-10-27T05:53:36.320Z,1761544416.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.504290 s, deltaX: -0.299999 m, approachRate: -0.594894 m/s, rangeRepo size: 4 2025-10-27T05:53:36.330Z,1761544416.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.023363 m, bearing: 257.283745 deg, lat: 36.779420 deg, lon: -121.859777 deg, deltaT: 0.504290 s, deltaX: -0.298120 m, approachRate: -0.591169 m/s, posRepo size: 4 2025-10-27T05:53:36.337Z,1761544416.337 [DAT](INFO): DAT read: Rx Time:05:53:35.1916 2025-10-27T05:53:36.339Z,1761544416.339 [DAT](INFO): Rx dataTimestamp_ set to:1761544416.337522 2025-10-27T05:53:36.342Z,1761544416.342 [DAT](INFO): DAT read: Bearing 74.2, -10.5 (Local) 2025-10-27T05:53:36.344Z,1761544416.344 [DAT](INFO): Local bearing/azimuth received: Bearing 74.2, -10.5 (Local) 2025-10-27T05:53:36.349Z,1761544416.349 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 2025-10-27T05:53:36.358Z,1761544416.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.02 m. 2025-10-27T05:53:36.368Z,1761544416.368 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T05:53:36.379Z,1761544416.379 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.876091 2025-10-27T05:53:36.383Z,1761544416.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.023363 m, nav range: 27.285309 m, bearing: 257.393443 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 264.991805 deg, new cmd heading: 264.814860 deg. 2025-10-27T05:53:36.384Z,1761544416.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621891 target range: 28.023363 and range: 28.20 m. 2025-10-27T05:53:36.588Z,1761544416.588 [DAT](INFO): DAT read: 05:53:35.1916 LVL= 32752, 32753, 29266, 32755, AGC= 59, IDX= 498,-0.30, 2.443, 1.055, 3.051, 2.433, PHS= 0.112,-1.332, 0.574, RAW= 163.4, 7.6, CAL= 163.0, 7.6, ROT= 347.0, -7.6 2025-10-27T05:53:36.589Z,1761544416.589 [DAT](INFO): got valid direction response: 05:53:35.1916 LVL= 32752, 32753, 29266, 32755, AGC= 59, IDX= 498,-0.30, 2.443, 1.055, 3.051, 2.433, PHS= 0.112,-1.332, 0.574, RAW= 163.4, 7.6, CAL= 163.0, 7.6, ROT= 347.0, -7.6 2025-10-27T05:53:36.589Z,1761544416.589 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-27T05:53:36.590Z,1761544416.590 [DAT](INFO): direction in FSK: [0.965811,-0.222975,0.132256] 2025-10-27T05:53:36.594Z,1761544416.594 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.099360 2025-10-27T05:53:36.738Z,1761544416.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020266,0.980420,0.195874],[-0.997949,-0.031735,0.055592],[0.060719,-0.194345,0.979052]] 2025-10-27T05:53:36.840Z,1761544416.840 [DAT](INFO): DAT read: Rx Time:05:53:35.6915 2025-10-27T05:53:36.841Z,1761544416.841 [DAT](INFO): Rx dataTimestamp_ set to:1761544416.840439 2025-10-27T05:53:36.845Z,1761544416.845 [DAT](INFO): DAT read: Bearing 74.1, -10.9 (Local) 2025-10-27T05:53:36.846Z,1761544416.846 [DAT](INFO): Local bearing/azimuth received: Bearing 74.1, -10.9 (Local) 2025-10-27T05:53:36.863Z,1761544416.863 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.4 2025-10-27T05:53:36.866Z,1761544416.866 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-27T05:53:36.869Z,1761544416.869 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.374132 2025-10-27T05:53:36.918Z,1761544416.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.759432 s, deltaX: -0.400002 m, approachRate: -0.526711 m/s, rangeRepo size: 4 2025-10-27T05:53:36.936Z,1761544416.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.625923 m, bearing: 257.396520 deg, lat: 36.779420 deg, lon: -121.859777 deg, deltaT: 0.759432 s, deltaX: -0.397440 m, approachRate: -0.523338 m/s, posRepo size: 4 2025-10-27T05:53:36.938Z,1761544416.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.63 m. 2025-10-27T05:53:36.956Z,1761544416.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.625923 m, nav range: 26.967684 m, bearing: 257.440300 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 264.814849 deg, new cmd heading: 264.613616 deg. 2025-10-27T05:53:36.958Z,1761544416.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618379 target range: 27.625923 and range: 27.80 m. 2025-10-27T05:53:37.092Z,1761544417.092 [DAT](INFO): DAT read: 05:53:35.6915 LVL= 32752, 32753, 27890, 32755, AGC= 61, IDX= 511, 0.12,-2.868, 2.014,-2.242,-2.871, PHS= 0.104,-1.354, 0.584, RAW= 163.8, 7.7, CAL= 163.3, 7.7, ROT= 346.7, -7.7 2025-10-27T05:53:37.093Z,1761544417.093 [DAT](INFO): got valid direction response: 05:53:35.6915 LVL= 32752, 32753, 27890, 32755, AGC= 61, IDX= 511, 0.12,-2.868, 2.014,-2.242,-2.871, PHS= 0.104,-1.354, 0.584, RAW= 163.8, 7.7, CAL= 163.3, 7.7, ROT= 346.7, -7.7 2025-10-27T05:53:37.093Z,1761544417.093 [DAT](INFO): #Rx 27: Read direction message, but no range. 2025-10-27T05:53:37.094Z,1761544417.094 [DAT](INFO): direction in FSK: [0.964404,-0.227975,0.133986] 2025-10-27T05:53:37.097Z,1761544417.097 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.602993 2025-10-27T05:53:37.268Z,1761544417.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.025627,0.979770,0.198479],[-0.997762,-0.037334,0.055469],[0.061757,-0.196613,0.978534]] 2025-10-27T05:53:37.343Z,1761544417.343 [DAT](INFO): DAT read: Rx Time:05:53:36.1914 2025-10-27T05:53:37.345Z,1761544417.345 [DAT](INFO): Rx dataTimestamp_ set to:1761544417.344164 2025-10-27T05:53:37.349Z,1761544417.349 [DAT](INFO): DAT read: Bearing 73.4, -10.2 (Local) 2025-10-27T05:53:37.350Z,1761544417.350 [DAT](INFO): Local bearing/azimuth received: Bearing 73.4, -10.2 (Local) 2025-10-27T05:53:37.355Z,1761544417.355 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-27T05:53:37.358Z,1761544417.358 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T05:53:37.364Z,1761544417.364 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.868191 2025-10-27T05:53:37.452Z,1761544417.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.503725 s, deltaX: -0.199999 m, approachRate: -0.397040 m/s, rangeRepo size: 4 2025-10-27T05:53:37.465Z,1761544417.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.427074 m, bearing: 256.826910 deg, lat: 36.779420 deg, lon: -121.859776 deg, deltaT: 0.503725 s, deltaX: -0.198849 m, approachRate: -0.394757 m/s, posRepo size: 4 2025-10-27T05:53:37.466Z,1761544417.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m. 2025-10-27T05:53:37.484Z,1761544417.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.427074 m, nav range: 26.605568 m, bearing: 257.362972 deg, approach rate: 0.000000 m/s, LOS rate: -0.111237 deg/s, cmd heading: 264.613604 deg, new cmd heading: 264.437126 deg. 2025-10-27T05:53:37.485Z,1761544417.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615299 target range: 27.427074 and range: 27.60 m. 2025-10-27T05:53:37.596Z,1761544417.596 [DAT](INFO): DAT read: 05:53:36.1914 LVL= 32752, 32753, 28658, 32755, AGC= 61, IDX= 511,-0.40,-2.935, 1.967,-2.333,-2.956, PHS= 0.123,-1.315, 0.579, RAW= 163.3, 7.2, CAL= 162.8, 7.1, ROT= 347.2, -7.1 2025-10-27T05:53:37.597Z,1761544417.597 [DAT](INFO): got valid direction response: 05:53:36.1914 LVL= 32752, 32753, 28658, 32755, AGC= 61, IDX= 511,-0.40,-2.935, 1.967,-2.333,-2.956, PHS= 0.123,-1.315, 0.579, RAW= 163.3, 7.2, CAL= 162.8, 7.1, ROT= 347.2, -7.1 2025-10-27T05:53:37.597Z,1761544417.597 [DAT](INFO): #Rx 29: Read direction message, but no range. 2025-10-27T05:53:37.598Z,1761544417.598 [DAT](INFO): direction in FSK: [0.967672,-0.219849,0.123601] 2025-10-27T05:53:37.602Z,1761544417.602 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.107395 2025-10-27T05:53:37.784Z,1761544417.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028908,0.979348,0.200104],[-0.997628,-0.040778,0.055451],[0.062466,-0.198027,0.978204]] 2025-10-27T05:53:37.872Z,1761544417.872 [DAT](INFO): DAT read: Rx Time:05:53:36.6912 2025-10-27T05:53:37.874Z,1761544417.874 [DAT](INFO): Rx dataTimestamp_ set to:1761544417.872896 2025-10-27T05:53:37.892Z,1761544417.892 [DAT](INFO): DAT read: Bearing 73.8, -10.6 (Local) 2025-10-27T05:53:37.893Z,1761544417.893 [DAT](INFO): Local bearing/azimuth received: Bearing 73.8, -10.6 (Local) 2025-10-27T05:53:37.898Z,1761544417.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:37.903Z,1761544417.903 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 2025-10-27T05:53:37.909Z,1761544417.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m. 2025-10-27T05:53:37.916Z,1761544417.916 [DAT](INFO): DAT read: 05:53:36.6912 LVL= 32752, 32753, 29154, 32755, AGC= 60, IDX= 508,-0.04, 2.356, 0.956, 2.972, 2.352, PHS= 0.106,-1.351, 0.576, RAW= 163.5, 7.7, CAL= 163.1, 7.8, ROT= 346.9, -7.8 2025-10-27T05:53:37.917Z,1761544417.917 [DAT](INFO): got valid direction response: 05:53:36.6912 LVL= 32752, 32753, 29154, 32755, AGC= 60, IDX= 508,-0.04, 2.356, 0.956, 2.972, 2.352, PHS= 0.106,-1.351, 0.576, RAW= 163.5, 7.7, CAL= 163.1, 7.8, ROT= 346.9, -7.8 2025-10-27T05:53:37.917Z,1761544417.917 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T05:53:37.918Z,1761544417.918 [DAT](INFO): direction in FSK: [0.964965,-0.224555,0.135716] 2025-10-27T05:53:37.918Z,1761544417.918 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:37.920Z,1761544417.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.427074 m, nav range: 26.393019 m, bearing: 257.337515 deg, approach rate: -0.459310 m/s, LOS rate: -0.055455 deg/s, cmd heading: 264.437139 deg, new cmd heading: 264.360153 deg. 2025-10-27T05:53:37.921Z,1761544417.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613955 target range: 27.427074 and range: 27.60 m. 2025-10-27T05:53:37.930Z,1761544417.930 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.435634 2025-10-27T05:53:38.096Z,1761544418.096 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.601635 2025-10-27T05:53:38.224Z,1761544418.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031926,0.979101,0.200854],[-0.997509,-0.043859,0.055248],[0.062903,-0.198590,0.978062]] 2025-10-27T05:53:38.302Z,1761544418.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.528732 s, deltaX: -0.300001 m, approachRate: -0.567397 m/s, rangeRepo size: 4 2025-10-27T05:53:38.304Z,1761544418.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.128952 m, bearing: 256.701692 deg, lat: 36.779420 deg, lon: -121.859776 deg, deltaT: 0.528732 s, deltaX: -0.298122 m, approachRate: -0.563844 m/s, posRepo size: 4 2025-10-27T05:53:38.305Z,1761544418.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m. 2025-10-27T05:53:38.308Z,1761544418.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.128952 m, nav range: 26.146782 m, bearing: 257.226613 deg, approach rate: 0.000000 m/s, LOS rate: -0.055455 deg/s, cmd heading: 264.360150 deg, new cmd heading: 264.294882 deg. 2025-10-27T05:53:38.309Z,1761544418.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612816 target range: 27.128952 and range: 27.30 m. 2025-10-27T05:53:38.352Z,1761544418.352 [DAT](INFO): DAT read: Rx Time:05:53:37.1910 2025-10-27T05:53:38.353Z,1761544418.353 [DAT](INFO): Rx dataTimestamp_ set to:1761544418.352204 2025-10-27T05:53:38.357Z,1761544418.357 [DAT](INFO): DAT read: Bearing 73.0, -10.3 (Local) 2025-10-27T05:53:38.359Z,1761544418.359 [DAT](INFO): Local bearing/azimuth received: Bearing 73.0, -10.3 (Local) 2025-10-27T05:53:38.366Z,1761544418.366 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 2025-10-27T05:53:38.372Z,1761544418.372 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-27T05:53:38.375Z,1761544418.375 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.880117 2025-10-27T05:53:38.608Z,1761544418.608 [DAT](INFO): DAT read: 05:53:37.1910 LVL= 32752, 32753, 31074, 32755, AGC= 61, IDX= 506, 0.20,-2.233, 2.641,-1.618,-2.254, PHS= 0.123,-1.344, 0.592, RAW= 163.4, 7.2, CAL= 162.9, 7.1, ROT= 347.1, -7.1 2025-10-27T05:53:38.609Z,1761544418.609 [DAT](INFO): got valid direction response: 05:53:37.1910 LVL= 32752, 32753, 31074, 32755, AGC= 61, IDX= 506, 0.20,-2.233, 2.641,-1.618,-2.254, PHS= 0.123,-1.344, 0.592, RAW= 163.4, 7.2, CAL= 162.9, 7.1, ROT= 347.1, -7.1 2025-10-27T05:53:38.610Z,1761544418.610 [DAT](INFO): #Rx 32: Read direction message, but no range. 2025-10-27T05:53:38.611Z,1761544418.611 [DAT](INFO): direction in FSK: [0.967287,-0.221538,0.123601] 2025-10-27T05:53:38.614Z,1761544418.614 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.119530 2025-10-27T05:53:38.629Z,1761544418.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034814,0.979011,0.200812],[-0.997384,-0.046772,0.055115],[0.063351,-0.198367,0.978078]] 2025-10-27T05:53:38.693Z,1761544418.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.479308 s, deltaX: -0.299999 m, approachRate: -0.625901 m/s, rangeRepo size: 4 2025-10-27T05:53:38.718Z,1761544418.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.830519 m, bearing: 256.600167 deg, lat: 36.779418 deg, lon: -121.859776 deg, deltaT: 0.479308 s, deltaX: -0.298433 m, approachRate: -0.622634 m/s, posRepo size: 4 2025-10-27T05:53:38.726Z,1761544418.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m. 2025-10-27T05:53:38.740Z,1761544418.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.830519 m, nav range: 25.992331 m, bearing: 256.723186 deg, approach rate: 0.000000 m/s, LOS rate: -0.055455 deg/s, cmd heading: 264.294880 deg, new cmd heading: 264.230686 deg. 2025-10-27T05:53:38.741Z,1761544418.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611695 target range: 26.830519 and range: 27.00 m. 2025-10-27T05:53:38.856Z,1761544418.856 [DAT](INFO): DAT read: Rx Time:05:53:37.6907 2025-10-27T05:53:38.858Z,1761544418.858 [DAT](INFO): Rx dataTimestamp_ set to:1761544418.856693 2025-10-27T05:53:38.862Z,1761544418.862 [DAT](INFO): DAT read: Bearing 71.4, -9.9 (Local) 2025-10-27T05:53:38.863Z,1761544418.863 [DAT](INFO): Local bearing/azimuth received: Bearing 71.4, -9.9 (Local) 2025-10-27T05:53:38.869Z,1761544418.869 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.5 2025-10-27T05:53:38.892Z,1761544418.892 [DAT](INFO): DAT read: 05:53:37.6907 LVL= 32752, 32753, 30194, 32755, AGC= 60, IDX= 504,-0.45, 1.900, 0.481, 2.518, 1.849, PHS= 0.153,-1.323, 0.625, RAW= 163.4, 6.3, CAL= 162.8, 5.8, ROT= 347.2, -5.8 2025-10-27T05:53:38.893Z,1761544418.893 [DAT](INFO): got valid direction response: 05:53:37.6907 LVL= 32752, 32753, 30194, 32755, AGC= 60, IDX= 504,-0.45, 1.900, 0.481, 2.518, 1.849, PHS= 0.153,-1.323, 0.625, RAW= 163.4, 6.3, CAL= 162.8, 5.8, ROT= 347.2, -5.8 2025-10-27T05:53:38.893Z,1761544418.893 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:53:38.894Z,1761544418.894 [DAT](INFO): direction in FSK: [0.970157,-0.220414,0.101056] 2025-10-27T05:53:38.908Z,1761544418.908 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:38.912Z,1761544418.912 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.417705 2025-10-27T05:53:39.022Z,1761544419.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038286,0.978681,0.201785],[-0.997218,-0.050344,0.054969],[0.063956,-0.199120,0.977886]] 2025-10-27T05:53:39.078Z,1761544419.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504489 s, deltaX: -0.400000 m, approachRate: -0.792881 m/s, rangeRepo size: 4 2025-10-27T05:53:39.084Z,1761544419.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.433029 m, bearing: 256.261062 deg, lat: 36.779417 deg, lon: -121.859776 deg, deltaT: 0.504489 s, deltaX: -0.397490 m, approachRate: -0.787905 m/s, posRepo size: 4 2025-10-27T05:53:39.085Z,1761544419.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:53:39.089Z,1761544419.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.433029 m, nav range: 25.838003 m, bearing: 256.582165 deg, approach rate: 0.000000 m/s, LOS rate: -0.055455 deg/s, cmd heading: 264.230676 deg, new cmd heading: 264.165757 deg. 2025-10-27T05:53:39.090Z,1761544419.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610562 target range: 26.433029 and range: 26.60 m. 2025-10-27T05:53:39.104Z,1761544419.104 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.609514 2025-10-27T05:53:39.360Z,1761544419.360 [DAT](INFO): DAT read: Rx Time:05:53:38.1906 2025-10-27T05:53:39.362Z,1761544419.362 [DAT](INFO): Rx dataTimestamp_ set to:1761544419.361116 2025-10-27T05:53:39.375Z,1761544419.375 [DAT](INFO): DAT read: Bearing 71.5, -10.0 (Local) 2025-10-27T05:53:39.377Z,1761544419.377 [DAT](INFO): Local bearing/azimuth received: Bearing 71.5, -10.0 (Local) 2025-10-27T05:53:39.379Z,1761544419.379 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.5 2025-10-27T05:53:39.380Z,1761544419.380 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T05:53:39.381Z,1761544419.381 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.886241 2025-10-27T05:53:39.446Z,1761544419.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041970,0.978280,0.202995],[-0.997027,-0.054150,0.054820],[0.064621,-0.200091,0.977644]] 2025-10-27T05:53:39.512Z,1761544419.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504423 s, deltaX: -0.200001 m, approachRate: -0.396494 m/s, rangeRepo size: 4 2025-10-27T05:53:39.513Z,1761544419.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:53:39.516Z,1761544419.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.433029 m, nav range: 25.583378 m, bearing: 256.535337 deg, approach rate: -0.586901 m/s, LOS rate: -0.109012 deg/s, cmd heading: 264.165762 deg, new cmd heading: 264.023880 deg. 2025-10-27T05:53:39.517Z,1761544419.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608086 target range: 26.433029 and range: 26.40 m. 2025-10-27T05:53:39.612Z,1761544419.612 [DAT](INFO): DAT read: 05:53:38.1906 LVL= 32752, 32753, 28146, 32755, AGC= 60, IDX= 503,-0.18, 2.059, 0.655, 2.672, 2.016, PHS= 0.144,-1.317, 0.611, RAW= 163.4, 6.5, CAL= 162.8, 6.1, ROT= 347.2, -6.1 2025-10-27T05:53:39.613Z,1761544419.613 [DAT](INFO): got valid direction response: 05:53:38.1906 LVL= 32752, 32753, 28146, 32755, AGC= 60, IDX= 503,-0.18, 2.059, 0.655, 2.672, 2.016, PHS= 0.144,-1.317, 0.611, RAW= 163.4, 6.5, CAL= 162.8, 6.1, ROT= 347.2, -6.1 2025-10-27T05:53:39.613Z,1761544419.613 [DAT](INFO): #Rx 35: Read direction message, but no range. 2025-10-27T05:53:39.614Z,1761544419.614 [DAT](INFO): direction in FSK: [0.969628,-0.220294,0.106264] 2025-10-27T05:53:39.618Z,1761544419.618 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.123323 2025-10-27T05:53:39.865Z,1761544419.865 [DAT](INFO): DAT read: Rx Time:05:53:38.6904 2025-10-27T05:53:39.866Z,1761544419.866 [DAT](INFO): Rx dataTimestamp_ set to:1761544419.865320 2025-10-27T05:53:39.871Z,1761544419.871 [DAT](INFO): DAT read: Bearing 71.8, -9.8 (Local) 2025-10-27T05:53:39.872Z,1761544419.872 [DAT](INFO): Local bearing/azimuth received: Bearing 71.8, -9.8 (Local) 2025-10-27T05:53:39.884Z,1761544419.884 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 2025-10-27T05:53:39.889Z,1761544419.889 [DAT](INFO): DAT read: 05:53:38.6904 LVL= 32752, 32753, 30658, 32755, AGC= 60, IDX= 500,-0.08, 2.210, 0.795, 2.813, 2.170, PHS= 0.142,-1.331, 0.599, RAW= 163.1, 6.8, CAL= 162.5, 6.5, ROT= 347.5, -6.5 2025-10-27T05:53:39.890Z,1761544419.890 [DAT](INFO): got valid direction response: 05:53:38.6904 LVL= 32752, 32753, 30658, 32755, AGC= 60, IDX= 500,-0.08, 2.210, 0.795, 2.813, 2.170, PHS= 0.142,-1.331, 0.599, RAW= 163.1, 6.8, CAL= 162.5, 6.5, ROT= 347.5, -6.5 2025-10-27T05:53:39.890Z,1761544419.890 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:53:39.896Z,1761544419.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046185,0.977987,0.203493],[-0.996792,-0.058448,0.054667],[0.065357,-0.200315,0.977549]] 2025-10-27T05:53:39.915Z,1761544419.915 [DAT](INFO): direction in FSK: [0.970020,-0.215048,0.113203] 2025-10-27T05:53:39.916Z,1761544419.916 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:39.933Z,1761544419.933 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.437841 2025-10-27T05:53:39.996Z,1761544419.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.504204 s, deltaX: -0.299999 m, approachRate: -0.594996 m/s, rangeRepo size: 4 2025-10-27T05:53:39.998Z,1761544419.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.935776 m, bearing: 256.246123 deg, lat: 36.779417 deg, lon: -121.859776 deg, deltaT: 1.008627 s, deltaX: -0.497253 m, approachRate: -0.493000 m/s, posRepo size: 4 2025-10-27T05:53:39.999Z,1761544419.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m. 2025-10-27T05:53:40.006Z,1761544420.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.935776 m, nav range: 25.351154 m, bearing: 256.432256 deg, approach rate: 0.000000 m/s, LOS rate: -0.109012 deg/s, cmd heading: 264.023886 deg, new cmd heading: 263.868232 deg. 2025-10-27T05:53:40.006Z,1761544420.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605370 target range: 25.935776 and range: 26.10 m. 2025-10-27T05:53:40.113Z,1761544420.113 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.618435 2025-10-27T05:53:40.369Z,1761544420.369 [DAT](INFO): DAT read: Rx Time:05:53:39.1903 2025-10-27T05:53:40.371Z,1761544420.371 [DAT](INFO): Rx dataTimestamp_ set to:1761544420.369592 2025-10-27T05:53:40.378Z,1761544420.378 [DAT](INFO): DAT read: Bearing 70.5, -9.7 (Local) 2025-10-27T05:53:40.378Z,1761544420.378 [DAT](INFO): Local bearing/azimuth received: Bearing 70.5, -9.7 (Local) 2025-10-27T05:53:40.380Z,1761544420.380 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.5 2025-10-27T05:53:40.381Z,1761544420.381 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-27T05:53:40.382Z,1761544420.382 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.886999 2025-10-27T05:53:40.386Z,1761544420.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053347,0.977390,0.204603],[-0.996377,-0.065692,0.054023],[0.066242,-0.200980,0.977353]] 2025-10-27T05:53:40.516Z,1761544420.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:40.518Z,1761544420.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504272 s, deltaX: -0.100000 m, approachRate: -0.198306 m/s, rangeRepo size: 4 2025-10-27T05:53:40.523Z,1761544420.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m. 2025-10-27T05:53:40.526Z,1761544420.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.935776 m, nav range: 25.023294 m, bearing: 256.382066 deg, approach rate: -0.617761 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.868239 deg, new cmd heading: 263.715697 deg. 2025-10-27T05:53:40.531Z,1761544420.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602707 target range: 25.935776 and range: 26.00 m. 2025-10-27T05:53:40.620Z,1761544420.620 [DAT](INFO): DAT read: 05:53:39.1903 LVL= 32752, 32753, 29554, 32755, AGC= 59, IDX= 499,-0.01,-2.320, 2.548,-1.708,-2.377, PHS= 0.159,-1.314, 0.625, RAW= 163.3, 6.1, CAL= 162.6, 5.6, ROT= 347.4, -5.6 2025-10-27T05:53:40.621Z,1761544420.621 [DAT](INFO): got valid direction response: 05:53:39.1903 LVL= 32752, 32753, 29554, 32755, AGC= 59, IDX= 499,-0.01,-2.320, 2.548,-1.708,-2.377, PHS= 0.159,-1.314, 0.625, RAW= 163.3, 6.1, CAL= 162.6, 5.6, ROT= 347.4, -5.6 2025-10-27T05:53:40.621Z,1761544420.621 [DAT](INFO): #Rx 38: Read direction message, but no range. 2025-10-27T05:53:40.622Z,1761544420.622 [DAT](INFO): direction in FSK: [0.971259,-0.217102,0.097583] 2025-10-27T05:53:40.626Z,1761544420.626 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.131227 2025-10-27T05:53:40.872Z,1761544420.872 [DAT](INFO): DAT read: Rx Time:05:53:39.6900 2025-10-27T05:53:40.874Z,1761544420.874 [DAT](INFO): Rx dataTimestamp_ set to:1761544420.873150 2025-10-27T05:53:40.878Z,1761544420.878 [DAT](INFO): DAT read: Bearing 72.4, -9.7 (Local) 2025-10-27T05:53:40.878Z,1761544420.878 [DAT](INFO): Local bearing/azimuth received: Bearing 72.4, -9.7 (Local) 2025-10-27T05:53:40.880Z,1761544420.880 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.5 2025-10-27T05:53:40.881Z,1761544420.881 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-27T05:53:40.882Z,1761544420.882 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.387308 2025-10-27T05:53:40.910Z,1761544420.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057489,0.976969,0.205490],[-0.996111,-0.069898,0.053639],[0.066767,-0.201607,0.977188]] 2025-10-27T05:53:40.991Z,1761544420.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503558 s, deltaX: -0.500000 m, approachRate: -0.992934 m/s, rangeRepo size: 4 2025-10-27T05:53:40.993Z,1761544420.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.339506 m, bearing: 255.332453 deg, lat: 36.779417 deg, lon: -121.859776 deg, deltaT: 1.007830 s, deltaX: -0.596270 m, approachRate: -0.591637 m/s, posRepo size: 4 2025-10-27T05:53:40.994Z,1761544420.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m. 2025-10-27T05:53:40.997Z,1761544420.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.339506 m, nav range: 24.781054 m, bearing: 256.182457 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.715708 deg, new cmd heading: 263.581987 deg. 2025-10-27T05:53:40.997Z,1761544420.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600374 target range: 25.339506 and range: 25.50 m. 2025-10-27T05:53:41.124Z,1761544421.124 [DAT](INFO): DAT read: 05:53:39.6900 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.01,-2.706, 2.160,-2.120,-2.729, PHS= 0.125,-1.349, 0.565, RAW= 162.7, 7.6, CAL= 162.2, 7.7, ROT= 347.8, -7.7 2025-10-27T05:53:41.125Z,1761544421.125 [DAT](INFO): got valid direction response: 05:53:39.6900 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.01,-2.706, 2.160,-2.120,-2.729, PHS= 0.125,-1.349, 0.565, RAW= 162.7, 7.6, CAL= 162.2, 7.7, ROT= 347.8, -7.7 2025-10-27T05:53:41.125Z,1761544421.125 [DAT](INFO): #Rx 40: Read direction message, but no range. 2025-10-27T05:53:41.126Z,1761544421.126 [DAT](INFO): direction in FSK: [0.968603,-0.209420,0.133986] 2025-10-27T05:53:41.130Z,1761544421.130 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.635416 2025-10-27T05:53:41.299Z,1761544421.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.061596,0.976246,0.207726],[-0.995832,-0.074135,0.053121],[0.067259,-0.203588,0.976744]] 2025-10-27T05:53:41.376Z,1761544421.376 [DAT](INFO): DAT read: Rx Time:05:53:40.1899 2025-10-27T05:53:41.378Z,1761544421.378 [DAT](INFO): Rx dataTimestamp_ set to:1761544421.377084 2025-10-27T05:53:41.379Z,1761544421.379 [DAT](INFO): DAT read: Bearing 73.3, -10.0 (Local) 2025-10-27T05:53:41.380Z,1761544421.380 [DAT](INFO): Local bearing/azimuth received: Bearing 73.3, -10.0 (Local) 2025-10-27T05:53:41.382Z,1761544421.382 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.5 2025-10-27T05:53:41.386Z,1761544421.386 [DAT](INFO): DAT read: 05:53:40.1899 LVL= 32752, 32753, 31522, 32755, AGC= 58, IDX= 511, 0.02,-1.242,-2.666,-0.658,-1.242, PHS= 0.102,-1.379, 0.540, RAW= 162.6, 8.5, CAL= 162.3, 8.8, ROT= 347.7, -8.8 2025-10-27T05:53:41.392Z,1761544421.392 [DAT](INFO): got valid direction response: 05:53:40.1899 LVL= 32752, 32753, 31522, 32755, AGC= 58, IDX= 511, 0.02,-1.242,-2.666,-0.658,-1.242, PHS= 0.102,-1.379, 0.540, RAW= 162.6, 8.5, CAL= 162.3, 8.8, ROT= 347.7, -8.8 2025-10-27T05:53:41.392Z,1761544421.392 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:53:41.393Z,1761544421.393 [DAT](INFO): direction in FSK: [0.965544,-0.210522,0.152986] 2025-10-27T05:53:41.394Z,1761544421.394 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:41.409Z,1761544421.409 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=17.914934 2025-10-27T05:53:41.485Z,1761544421.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503934 s, deltaX: -0.100000 m, approachRate: -0.198439 m/s, rangeRepo size: 4 2025-10-27T05:53:41.491Z,1761544421.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.240061 m, bearing: 256.034551 deg, lat: 36.779416 deg, lon: -121.859776 deg, deltaT: 0.503934 s, deltaX: -0.099445 m, approachRate: -0.197338 m/s, posRepo size: 4 2025-10-27T05:53:41.492Z,1761544421.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:53:41.494Z,1761544421.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.240061 m, nav range: 24.478865 m, bearing: 256.085920 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.582000 deg, new cmd heading: 263.437950 deg. 2025-10-27T05:53:41.512Z,1761544421.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597859 target range: 25.240061 and range: 25.40 m. 2025-10-27T05:53:41.624Z,1761544421.624 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.129665 2025-10-27T05:53:41.864Z,1761544421.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066150,0.975715,0.208819],[-0.995500,-0.078767,0.052683],[0.067851,-0.204394,0.976534]] 2025-10-27T05:53:41.879Z,1761544421.879 [DAT](INFO): DAT read: Rx Time:05:53:40.6896 2025-10-27T05:53:41.879Z,1761544421.879 [DAT](INFO): Rx dataTimestamp_ set to:1761544421.878877 2025-10-27T05:53:41.880Z,1761544421.880 [DAT](INFO): DAT read: Bearing 72.4, -9.8 (Local) 2025-10-27T05:53:41.881Z,1761544421.881 [DAT](INFO): Local bearing/azimuth received: Bearing 72.4, -9.8 (Local) 2025-10-27T05:53:41.883Z,1761544421.883 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-27T05:53:41.888Z,1761544421.888 [DAT](INFO): DAT read: 05:53:40.6896 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 508, 0.07,-3.128, 1.707,-2.537, 3.139, PHS= 0.118,-1.387, 0.563, RAW= 162.6, 8.0, CAL= 162.2, 8.2, ROT= 347.8, -8.2 2025-10-27T05:53:41.889Z,1761544421.889 [DAT](INFO): got valid direction response: 05:53:40.6896 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 508, 0.07,-3.128, 1.707,-2.537, 3.139, PHS= 0.118,-1.387, 0.563, RAW= 162.6, 8.0, CAL= 162.2, 8.2, ROT= 347.8, -8.2 2025-10-27T05:53:41.889Z,1761544421.889 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:53:41.890Z,1761544421.890 [DAT](INFO): direction in FSK: [0.967423,-0.209165,0.142629] 2025-10-27T05:53:41.890Z,1761544421.890 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:41.898Z,1761544421.898 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.403423 2025-10-27T05:53:41.988Z,1761544421.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.501793 s, deltaX: -0.500000 m, approachRate: -0.996427 m/s, rangeRepo size: 4 2025-10-27T05:53:41.990Z,1761544421.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.743210 m, bearing: 255.761419 deg, lat: 36.779416 deg, lon: -121.859776 deg, deltaT: 0.501793 s, deltaX: -0.496851 m, approachRate: -0.990151 m/s, posRepo size: 4 2025-10-27T05:53:41.990Z,1761544421.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:53:41.997Z,1761544421.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.743210 m, nav range: 24.171896 m, bearing: 255.955987 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.437937 deg, new cmd heading: 263.294772 deg. 2025-10-27T05:53:41.998Z,1761544421.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595361 target range: 24.743210 and range: 24.90 m. 2025-10-27T05:53:42.128Z,1761544422.128 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.633551 2025-10-27T05:53:42.308Z,1761544422.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070724,0.975292,0.209292],[-0.995147,-0.083376,0.052252],[0.068411,-0.204581,0.976456]] 2025-10-27T05:53:42.381Z,1761544422.381 [DAT](INFO): DAT read: Rx Time:05:53:41.1895 2025-10-27T05:53:42.381Z,1761544422.381 [DAT](INFO): Rx dataTimestamp_ set to:1761544422.380823 2025-10-27T05:53:42.382Z,1761544422.382 [DAT](INFO): DAT read: Bearing 71.7, -9.6 (Local) 2025-10-27T05:53:42.383Z,1761544422.383 [DAT](INFO): Local bearing/azimuth received: Bearing 71.7, -9.6 (Local) 2025-10-27T05:53:42.385Z,1761544422.385 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 2025-10-27T05:53:42.390Z,1761544422.390 [DAT](INFO): DAT read: 05:53:41.1895 LVL= 32752, 32753, 29938, 32755, AGC= 56, IDX= 507, 0.10,-2.202, 2.630,-1.613,-2.228, PHS= 0.128,-1.380, 0.571, RAW= 162.5, 7.7, CAL= 162.1, 7.8, ROT= 347.9, -7.8 2025-10-27T05:53:42.392Z,1761544422.392 [DAT](INFO): got valid direction response: 05:53:41.1895 LVL= 32752, 32753, 29938, 32755, AGC= 56, IDX= 507, 0.10,-2.202, 2.630,-1.613,-2.228, PHS= 0.128,-1.380, 0.571, RAW= 162.5, 7.7, CAL= 162.1, 7.8, ROT= 347.9, -7.8 2025-10-27T05:53:42.392Z,1761544422.392 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:53:42.393Z,1761544422.393 [DAT](INFO): direction in FSK: [0.968737,-0.207679,0.135716] 2025-10-27T05:53:42.393Z,1761544422.393 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:42.397Z,1761544422.397 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=18.902447 2025-10-27T05:53:42.517Z,1761544422.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.501946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:53:42.523Z,1761544422.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.742670 m, bearing: 255.519914 deg, lat: 36.779416 deg, lon: -121.859776 deg, deltaT: 0.501946 s, deltaX: -0.000540 m, approachRate: -0.001075 m/s, posRepo size: 4 2025-10-27T05:53:42.524Z,1761544422.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:53:42.526Z,1761544422.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.742670 m, nav range: 23.874376 m, bearing: 255.853930 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.294777 deg, new cmd heading: 263.147382 deg. 2025-10-27T05:53:42.531Z,1761544422.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592788 target range: 24.742670 and range: 24.90 m. 2025-10-27T05:53:42.633Z,1761544422.633 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.138132 2025-10-27T05:53:42.884Z,1761544422.884 [DAT](INFO): DAT read: Rx Time:05:53:41.6892 2025-10-27T05:53:42.885Z,1761544422.885 [DAT](INFO): Rx dataTimestamp_ set to:1761544422.884559 2025-10-27T05:53:42.886Z,1761544422.886 [DAT](INFO): DAT read: Bearing 75.1, -10.9 (Local) 2025-10-27T05:53:42.886Z,1761544422.886 [DAT](INFO): Local bearing/azimuth received: Bearing 75.1, -10.9 (Local) 2025-10-27T05:53:42.889Z,1761544422.889 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.5 2025-10-27T05:53:42.893Z,1761544422.893 [DAT](INFO): DAT read: 05:53:41.6892 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504, 0.05, 3.064, 1.660,-2.640, 3.126, PHS= 0.040,-1.421, 0.473, RAW= 162.6, 10.6, CAL= 162.6, 11.7, ROT= 347.4, -11.7 2025-10-27T05:53:42.894Z,1761544422.894 [DAT](INFO): got valid direction response: 05:53:41.6892 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504, 0.05, 3.064, 1.660,-2.640, 3.126, PHS= 0.040,-1.421, 0.473, RAW= 162.6, 10.6, CAL= 162.6, 11.7, ROT= 347.4, -11.7 2025-10-27T05:53:42.894Z,1761544422.894 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:53:42.897Z,1761544422.897 [DAT](INFO): direction in FSK: [0.955640,-0.213611,0.202787] 2025-10-27T05:53:42.897Z,1761544422.897 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:42.917Z,1761544422.917 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.422342 2025-10-27T05:53:42.958Z,1761544422.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079678,0.974247,0.210935],[-0.994417,-0.092371,0.051007],[0.069178,-0.205693,0.976168]] 2025-10-27T05:53:43.016Z,1761544423.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503736 s, deltaX: -0.400000 m, approachRate: -0.794066 m/s, rangeRepo size: 4 2025-10-27T05:53:43.018Z,1761544423.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.345198 m, bearing: 255.296469 deg, lat: 36.779415 deg, lon: -121.859775 deg, deltaT: 0.503736 s, deltaX: -0.397472 m, approachRate: -0.789049 m/s, posRepo size: 4 2025-10-27T05:53:43.018Z,1761544423.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.35 m. 2025-10-27T05:53:43.045Z,1761544423.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.345198 m, nav range: 23.531269 m, bearing: 255.532569 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 263.147381 deg, new cmd heading: 262.997950 deg. 2025-10-27T05:53:43.046Z,1761544423.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590180 target range: 24.345198 and range: 24.50 m. 2025-10-27T05:53:43.137Z,1761544423.137 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.641903 2025-10-27T05:53:43.389Z,1761544423.389 [DAT](INFO): DAT read: Rx Time:05:53:42.1890 2025-10-27T05:53:43.389Z,1761544423.389 [DAT](INFO): Rx dataTimestamp_ set to:1761544423.388812 2025-10-27T05:53:43.390Z,1761544423.390 [DAT](INFO): DAT read: Bearing 75.4, -10.8 (Local) 2025-10-27T05:53:43.394Z,1761544423.394 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, -10.8 (Local) 2025-10-27T05:53:43.397Z,1761544423.397 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.5 2025-10-27T05:53:43.402Z,1761544423.402 [DAT](INFO): DAT read: 05:53:42.1890 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.03, 2.409, 1.007, 2.976, 2.478, PHS= 0.033,-1.426, 0.454, RAW= 162.3, 11.0, CAL= 162.4, 12.2, ROT= 347.6, -12.2 2025-10-27T05:53:43.419Z,1761544423.419 [DAT](INFO): got valid direction response: 05:53:42.1890 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.03, 2.409, 1.007, 2.976, 2.478, PHS= 0.033,-1.426, 0.454, RAW= 162.3, 11.0, CAL= 162.4, 12.2, ROT= 347.6, -12.2 2025-10-27T05:53:43.420Z,1761544423.420 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:53:43.421Z,1761544423.421 [DAT](INFO): direction in FSK: [0.954615,-0.209886,0.211325] 2025-10-27T05:53:43.421Z,1761544423.421 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:43.446Z,1761544423.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084760,0.973672,0.211610],[-0.993948,-0.097518,0.050581],[0.069885,-0.206042,0.976044]] 2025-10-27T05:53:43.451Z,1761544423.451 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=19.940332 2025-10-27T05:53:43.519Z,1761544423.519 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:53:43.550Z,1761544423.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504253 s, deltaX: -0.299999 m, approachRate: -0.594938 m/s, rangeRepo size: 4 2025-10-27T05:53:43.556Z,1761544423.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.046669 m, bearing: 255.311362 deg, lat: 36.779415 deg, lon: -121.859773 deg, deltaT: 0.504253 s, deltaX: -0.298529 m, approachRate: -0.592022 m/s, posRepo size: 4 2025-10-27T05:53:43.557Z,1761544423.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m. 2025-10-27T05:53:43.561Z,1761544423.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.046669 m, nav range: 23.077847 m, bearing: 255.483912 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.997937 deg, new cmd heading: 262.844401 deg. 2025-10-27T05:53:43.562Z,1761544423.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587500 target range: 24.046669 and range: 24.20 m. 2025-10-27T05:53:43.641Z,1761544423.641 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.146311 2025-10-27T05:53:43.893Z,1761544423.893 [DAT](INFO): DAT read: Rx Time:05:53:42.6887 2025-10-27T05:53:43.893Z,1761544423.893 [DAT](INFO): Rx dataTimestamp_ set to:1761544423.893114 2025-10-27T05:53:43.895Z,1761544423.895 [DAT](INFO): DAT read: Bearing 74.8, -10.7 (Local) 2025-10-27T05:53:43.895Z,1761544423.895 [DAT](INFO): Local bearing/azimuth received: Bearing 74.8, -10.7 (Local) 2025-10-27T05:53:43.897Z,1761544423.897 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.5 2025-10-27T05:53:43.902Z,1761544423.902 [DAT](INFO): DAT read: 05:53:42.6887 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499, 0.06, 0.534,-0.891, 1.107, 0.596, PHS= 0.040,-1.441, 0.468, RAW= 162.3, 10.8, CAL= 162.4, 11.9, ROT= 347.6, -11.9 2025-10-27T05:53:43.903Z,1761544423.903 [DAT](INFO): got valid direction response: 05:53:42.6887 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499, 0.06, 0.534,-0.891, 1.107, 0.596, PHS= 0.040,-1.441, 0.468, RAW= 162.3, 10.8, CAL= 162.4, 11.9, ROT= 347.6, -11.9 2025-10-27T05:53:43.904Z,1761544423.904 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:53:43.904Z,1761544423.904 [DAT](INFO): direction in FSK: [0.955683,-0.210121,0.206204] 2025-10-27T05:53:43.905Z,1761544423.905 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:43.908Z,1761544423.908 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.413855 2025-10-27T05:53:43.934Z,1761544423.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089030,0.973087,0.212547],[-0.993554,-0.101796,0.049872],[0.070166,-0.206737,0.975877]] 2025-10-27T05:53:44.050Z,1761544424.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504302 s, deltaX: -0.500000 m, approachRate: -0.991469 m/s, rangeRepo size: 4 2025-10-27T05:53:44.056Z,1761544424.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.549837 m, bearing: 255.012530 deg, lat: 36.779415 deg, lon: -121.859770 deg, deltaT: 0.504302 s, deltaX: -0.496832 m, approachRate: -0.985187 m/s, posRepo size: 4 2025-10-27T05:53:44.057Z,1761544424.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m. 2025-10-27T05:53:44.064Z,1761544424.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.549837 m, nav range: 22.560890 m, bearing: 255.246686 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.844394 deg, new cmd heading: 262.700612 deg. 2025-10-27T05:53:44.065Z,1761544424.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584991 target range: 23.549837 and range: 23.70 m. 2025-10-27T05:53:44.144Z,1761544424.144 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.649635 2025-10-27T05:53:44.397Z,1761544424.397 [DAT](INFO): DAT read: Rx Time:05:53:43.1886 2025-10-27T05:53:44.397Z,1761544424.397 [DAT](INFO): Rx dataTimestamp_ set to:1761544424.396776 2025-10-27T05:53:44.398Z,1761544424.398 [DAT](INFO): DAT read: Bearing 74.3, -10.5 (Local) 2025-10-27T05:53:44.399Z,1761544424.399 [DAT](INFO): Local bearing/azimuth received: Bearing 74.3, -10.5 (Local) 2025-10-27T05:53:44.401Z,1761544424.401 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.5 2025-10-27T05:53:44.405Z,1761544424.405 [DAT](INFO): DAT read: 05:53:43.1886 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.04, 1.297,-0.106, 1.857, 1.350, PHS= 0.049,-1.411, 0.462, RAW= 162.1, 10.6, CAL= 162.2, 11.7, ROT= 347.8, -11.7 2025-10-27T05:53:44.407Z,1761544424.407 [DAT](INFO): got valid direction response: 05:53:43.1886 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498, 0.04, 1.297,-0.106, 1.857, 1.350, PHS= 0.049,-1.411, 0.462, RAW= 162.1, 10.6, CAL= 162.2, 11.7, ROT= 347.8, -11.7 2025-10-27T05:53:44.407Z,1761544424.407 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:53:44.408Z,1761544424.408 [DAT](INFO): direction in FSK: [0.957108,-0.206934,0.202787] 2025-10-27T05:53:44.408Z,1761544424.408 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:44.416Z,1761544424.416 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=20.921597 2025-10-27T05:53:44.464Z,1761544424.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098280,0.972820,0.209672],[-0.992639,-0.110816,0.048872],[0.070778,-0.203325,0.976550]] 2025-10-27T05:53:44.523Z,1761544424.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:53:44.572Z,1761544424.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503662 s, deltaX: -0.100000 m, approachRate: -0.198547 m/s, rangeRepo size: 4 2025-10-27T05:53:44.574Z,1761544424.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.450090 m, bearing: 254.587740 deg, lat: 36.779415 deg, lon: -121.859770 deg, deltaT: 0.503662 s, deltaX: -0.099747 m, approachRate: -0.198043 m/s, posRepo size: 4 2025-10-27T05:53:44.574Z,1761544424.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m. 2025-10-27T05:53:44.582Z,1761544424.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.450090 m, nav range: 22.255423 m, bearing: 255.118062 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.700605 deg, new cmd heading: 262.551922 deg. 2025-10-27T05:53:44.587Z,1761544424.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582396 target range: 23.450090 and range: 23.60 m. 2025-10-27T05:53:44.648Z,1761544424.648 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.153551 2025-10-27T05:53:44.901Z,1761544424.901 [DAT](INFO): DAT read: Rx Time:05:53:43.6883 2025-10-27T05:53:44.901Z,1761544424.901 [DAT](INFO): Rx dataTimestamp_ set to:1761544424.900821 2025-10-27T05:53:44.902Z,1761544424.902 [DAT](INFO): DAT read: Bearing 75.3, -10.9 (Local) 2025-10-27T05:53:44.903Z,1761544424.903 [DAT](INFO): Local bearing/azimuth received: Bearing 75.3, -10.9 (Local) 2025-10-27T05:53:44.905Z,1761544424.905 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 2025-10-27T05:53:44.909Z,1761544424.909 [DAT](INFO): DAT read: 05:53:43.6883 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 495, 0.06, 0.071,-1.313, 0.624, 0.152, PHS= 0.020,-1.421, 0.428, RAW= 162.1, 11.6, CAL= 162.3, 13.0, ROT= 347.7, -13.0 2025-10-27T05:53:44.911Z,1761544424.911 [DAT](INFO): got valid direction response: 05:53:43.6883 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 495, 0.06, 0.071,-1.313, 0.624, 0.152, PHS= 0.020,-1.421, 0.428, RAW= 162.1, 11.6, CAL= 162.3, 13.0, ROT= 347.7, -13.0 2025-10-27T05:53:44.911Z,1761544424.911 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:53:44.912Z,1761544424.912 [DAT](INFO): direction in FSK: [0.952004,-0.207570,0.224951] 2025-10-27T05:53:44.912Z,1761544424.912 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:44.916Z,1761544424.916 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.421516 2025-10-27T05:53:44.973Z,1761544424.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.102090,0.972624,0.208758],[-0.992268,-0.114456,0.048007],[0.070586,-0.202243,0.976788]] 2025-10-27T05:53:45.054Z,1761544425.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504045 s, deltaX: -0.500000 m, approachRate: -0.991975 m/s, rangeRepo size: 4 2025-10-27T05:53:45.064Z,1761544425.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.953266 m, bearing: 254.515852 deg, lat: 36.779415 deg, lon: -121.859770 deg, deltaT: 0.504045 s, deltaX: -0.496824 m, approachRate: -0.985674 m/s, posRepo size: 4 2025-10-27T05:53:45.065Z,1761544425.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.95 m. 2025-10-27T05:53:45.072Z,1761544425.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.953266 m, nav range: 21.964096 m, bearing: 255.094776 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.551925 deg, new cmd heading: 262.412133 deg. 2025-10-27T05:53:45.073Z,1761544425.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579956 target range: 22.953266 and range: 23.10 m. 2025-10-27T05:53:45.152Z,1761544425.152 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.657654 2025-10-27T05:53:45.402Z,1761544425.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105963,0.972328,0.208206],[-0.991871,-0.118188,0.047147],[0.070450,-0.201518,0.976948]] 2025-10-27T05:53:45.405Z,1761544425.405 [DAT](INFO): DAT read: Rx Time:05:53:44.1881 2025-10-27T05:53:45.405Z,1761544425.405 [DAT](INFO): Rx dataTimestamp_ set to:1761544425.404788 2025-10-27T05:53:45.406Z,1761544425.406 [DAT](INFO): DAT read: Bearing 75.4, -10.3 (Local) 2025-10-27T05:53:45.407Z,1761544425.407 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, -10.3 (Local) 2025-10-27T05:53:45.409Z,1761544425.409 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.5 2025-10-27T05:53:45.417Z,1761544425.417 [DAT](INFO): DAT read: 05:53:44.1881 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.09, 1.230,-0.161, 1.759, 1.304, PHS= 0.028,-1.419, 0.411, RAW= 161.4, 11.7, CAL= 161.7, 13.2, ROT= 348.3, -13.2 2025-10-27T05:53:45.418Z,1761544425.418 [DAT](INFO): got valid direction response: 05:53:44.1881 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510, 0.09, 1.230,-0.161, 1.759, 1.304, PHS= 0.028,-1.419, 0.411, RAW= 161.4, 11.7, CAL= 161.7, 13.2, ROT= 348.3, -13.2 2025-10-27T05:53:45.419Z,1761544425.419 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:53:45.420Z,1761544425.420 [DAT](INFO): direction in FSK: [0.953351,-0.197430,0.228351] 2025-10-27T05:53:45.420Z,1761544425.420 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:45.433Z,1761544425.433 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=21.938540 2025-10-27T05:53:45.560Z,1761544425.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503967 s, deltaX: -0.300001 m, approachRate: -0.595279 m/s, rangeRepo size: 4 2025-10-27T05:53:45.562Z,1761544425.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.655119 m, bearing: 254.929277 deg, lat: 36.779415 deg, lon: -121.859768 deg, deltaT: 0.503967 s, deltaX: -0.298147 m, approachRate: -0.591601 m/s, posRepo size: 4 2025-10-27T05:53:45.563Z,1761544425.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m. 2025-10-27T05:53:45.577Z,1761544425.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.655119 m, nav range: 21.528797 m, bearing: 254.977913 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.412125 deg, new cmd heading: 262.266689 deg. 2025-10-27T05:53:45.577Z,1761544425.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577417 target range: 22.655119 and range: 22.80 m. 2025-10-27T05:53:45.656Z,1761544425.656 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.161613 2025-10-27T05:53:45.909Z,1761544425.909 [DAT](INFO): DAT read: Rx Time:05:53:44.6878 2025-10-27T05:53:45.909Z,1761544425.909 [DAT](INFO): Rx dataTimestamp_ set to:1761544425.908707 2025-10-27T05:53:45.910Z,1761544425.910 [DAT](INFO): DAT read: Bearing 74.7, -10.2 (Local) 2025-10-27T05:53:45.911Z,1761544425.911 [DAT](INFO): Local bearing/azimuth received: Bearing 74.7, -10.2 (Local) 2025-10-27T05:53:45.913Z,1761544425.913 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T05:53:45.939Z,1761544425.939 [DAT](INFO): DAT read: 05:53:44.6878 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.23, 0.140,-1.256, 0.672, 0.204, PHS= 0.037,-1.415, 0.424, RAW= 161.5, 11.4, CAL= 161.7, 12.7, ROT= 348.3, -12.7 2025-10-27T05:53:45.941Z,1761544425.941 [DAT](INFO): got valid direction response: 05:53:44.6878 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.23, 0.140,-1.256, 0.672, 0.204, PHS= 0.037,-1.415, 0.424, RAW= 161.5, 11.4, CAL= 161.7, 12.7, ROT= 348.3, -12.7 2025-10-27T05:53:45.942Z,1761544425.942 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:53:45.980Z,1761544425.980 [DAT](INFO): direction in FSK: [0.955266,-0.197826,0.219846] 2025-10-27T05:53:45.980Z,1761544425.980 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:45.990Z,1761544425.990 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.495129 2025-10-27T05:53:46.021Z,1761544426.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.112431,0.972242,0.205193],[-0.991189,-0.124287,0.045790],[0.070022,-0.198237,0.977650]] 2025-10-27T05:53:46.102Z,1761544426.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503919 s, deltaX: -0.400000 m, approachRate: -0.793778 m/s, rangeRepo size: 4 2025-10-27T05:53:46.109Z,1761544426.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.257660 m, bearing: 254.403696 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.503919 s, deltaX: -0.397459 m, approachRate: -0.788736 m/s, posRepo size: 4 2025-10-27T05:53:46.109Z,1761544426.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m. 2025-10-27T05:53:46.116Z,1761544426.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.257660 m, nav range: 21.135021 m, bearing: 254.524501 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.266697 deg, new cmd heading: 262.110909 deg. 2025-10-27T05:53:46.120Z,1761544426.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574698 target range: 22.257660 and range: 22.40 m. 2025-10-27T05:53:46.161Z,1761544426.161 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.666267 2025-10-27T05:53:46.413Z,1761544426.413 [DAT](INFO): DAT read: Rx Time:05:53:45.1878 2025-10-27T05:53:46.414Z,1761544426.414 [DAT](INFO): Rx dataTimestamp_ set to:1761544426.413864 2025-10-27T05:53:46.416Z,1761544426.416 [DAT](INFO): DAT read: Bearing 74.7, -9.7 (Local) 2025-10-27T05:53:46.417Z,1761544426.417 [DAT](INFO): Local bearing/azimuth received: Bearing 74.7, -9.7 (Local) 2025-10-27T05:53:46.421Z,1761544426.421 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T05:53:46.432Z,1761544426.432 [DAT](INFO): DAT read: 05:53:45.1878 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.49,-0.506,-1.871,-0.004,-0.448, PHS= 0.044,-1.377, 0.401, RAW= 160.9, 11.4, CAL= 161.1, 12.8, ROT= 348.9, -12.8 2025-10-27T05:53:46.434Z,1761544426.434 [DAT](INFO): got valid direction response: 05:53:45.1878 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 507,-0.49,-0.506,-1.871,-0.004,-0.448, PHS= 0.044,-1.377, 0.401, RAW= 160.9, 11.4, CAL= 161.1, 12.8, ROT= 348.9, -12.8 2025-10-27T05:53:46.434Z,1761544426.434 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:53:46.464Z,1761544426.464 [DAT](INFO): direction in FSK: [0.956907,-0.187738,0.221548] 2025-10-27T05:53:46.464Z,1761544426.464 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:46.476Z,1761544426.476 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=22.981277 2025-10-27T05:53:46.587Z,1761544426.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.505157 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:53:46.589Z,1761544426.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.257677 m, bearing: 255.030402 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.505157 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 2025-10-27T05:53:46.590Z,1761544426.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m. 2025-10-27T05:53:46.597Z,1761544426.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.257677 m, nav range: 20.903673 m, bearing: 254.543754 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 262.110914 deg, new cmd heading: 261.972547 deg. 2025-10-27T05:53:46.598Z,1761544426.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572283 target range: 22.257677 and range: 22.40 m. 2025-10-27T05:53:46.664Z,1761544426.664 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.169453 2025-10-27T05:53:46.917Z,1761544426.917 [DAT](INFO): DAT read: Rx Time:05:53:45.6875 2025-10-27T05:53:46.917Z,1761544426.917 [DAT](INFO): Rx dataTimestamp_ set to:1761544426.916925 2025-10-27T05:53:46.918Z,1761544426.918 [DAT](INFO): DAT read: Bearing 74.9, -10.1 (Local) 2025-10-27T05:53:46.919Z,1761544426.919 [DAT](INFO): Local bearing/azimuth received: Bearing 74.9, -10.1 (Local) 2025-10-27T05:53:46.924Z,1761544426.924 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T05:53:46.948Z,1761544426.948 [DAT](INFO): DAT read: 05:53:45.6875 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504,-0.06,-2.409, 2.474,-1.885,-2.337, PHS= 0.031,-1.427, 0.408, RAW= 161.2, 11.8, CAL= 161.5, 13.2, ROT= 348.5, -13.2 2025-10-27T05:53:46.950Z,1761544426.950 [DAT](INFO): got valid direction response: 05:53:45.6875 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 504,-0.06,-2.409, 2.474,-1.885,-2.337, PHS= 0.031,-1.427, 0.408, RAW= 161.2, 11.8, CAL= 161.5, 13.2, ROT= 348.5, -13.2 2025-10-27T05:53:46.950Z,1761544426.950 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:53:46.968Z,1761544426.968 [DAT](INFO): direction in FSK: [0.954034,-0.194101,0.228351] 2025-10-27T05:53:46.969Z,1761544426.969 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:46.985Z,1761544426.985 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.490067 2025-10-27T05:53:47.053Z,1761544427.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.116773,0.972486,0.201579],[-0.990801,-0.128048,0.043787],[0.068394,-0.194612,0.978493]] 2025-10-27T05:53:47.104Z,1761544427.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503061 s, deltaX: -0.500000 m, approachRate: -0.993915 m/s, rangeRepo size: 4 2025-10-27T05:53:47.106Z,1761544427.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.760855 m, bearing: 254.403208 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.503061 s, deltaX: -0.496822 m, approachRate: -0.987599 m/s, posRepo size: 4 2025-10-27T05:53:47.127Z,1761544427.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m. 2025-10-27T05:53:47.130Z,1761544427.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.760855 m, nav range: 20.633427 m, bearing: 254.554876 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.972534 deg, new cmd heading: 261.822721 deg. 2025-10-27T05:53:47.131Z,1761544427.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569669 target range: 21.760855 and range: 21.90 m. 2025-10-27T05:53:47.173Z,1761544427.173 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.678499 2025-10-27T05:53:47.426Z,1761544427.426 [DAT](INFO): DAT read: Rx Time:05:53:46.1874 2025-10-27T05:53:47.427Z,1761544427.427 [DAT](INFO): Rx dataTimestamp_ set to:1761544427.426581 2025-10-27T05:53:47.429Z,1761544427.429 [DAT](INFO): DAT read: Bearing 73.1, -9.8 (Local) 2025-10-27T05:53:47.430Z,1761544427.430 [DAT](INFO): Local bearing/azimuth received: Bearing 73.1, -9.8 (Local) 2025-10-27T05:53:47.433Z,1761544427.433 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 2025-10-27T05:53:47.441Z,1761544427.441 [DAT](INFO): DAT read: 05:53:46.1874 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.30,-1.296,-2.740,-0.757,-1.258, PHS= 0.064,-1.436, 0.457, RAW= 161.3, 10.6, CAL= 161.4, 11.6, ROT= 348.6, -11.6 2025-10-27T05:53:47.443Z,1761544427.443 [DAT](INFO): got valid direction response: 05:53:46.1874 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.30,-1.296,-2.740,-0.757,-1.258, PHS= 0.064,-1.436, 0.457, RAW= 161.3, 10.6, CAL= 161.4, 11.6, ROT= 348.6, -11.6 2025-10-27T05:53:47.461Z,1761544427.461 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:53:47.462Z,1761544427.462 [DAT](INFO): direction in FSK: [0.960249,-0.193620,0.201078] 2025-10-27T05:53:47.462Z,1761544427.462 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:47.472Z,1761544427.472 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=23.977173 2025-10-27T05:53:47.520Z,1761544427.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118402,0.972112,0.202434],[-0.990709,-0.129388,0.041876],[0.066901,-0.195595,0.978400]] 2025-10-27T05:53:47.631Z,1761544427.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.509656 s, deltaX: -0.299999 m, approachRate: -0.588631 m/s, rangeRepo size: 4 2025-10-27T05:53:47.633Z,1761544427.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.462830 m, bearing: 254.114266 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.509656 s, deltaX: -0.298025 m, approachRate: -0.584757 m/s, posRepo size: 4 2025-10-27T05:53:47.634Z,1761544427.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.46 m. 2025-10-27T05:53:47.640Z,1761544427.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.462830 m, nav range: 20.420080 m, bearing: 254.550568 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.822734 deg, new cmd heading: 261.672594 deg. 2025-10-27T05:53:47.641Z,1761544427.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567049 target range: 21.462830 and range: 21.60 m. 2025-10-27T05:53:47.676Z,1761544427.676 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.181580 2025-10-27T05:53:47.931Z,1761544427.931 [DAT](INFO): DAT read: Rx Time:05:53:46.6872 2025-10-27T05:53:47.932Z,1761544427.932 [DAT](INFO): Rx dataTimestamp_ set to:1761544427.931238 2025-10-27T05:53:47.934Z,1761544427.934 [DAT](INFO): DAT read: Bearing 74.0, -10.0 (Local) 2025-10-27T05:53:47.935Z,1761544427.935 [DAT](INFO): Local bearing/azimuth received: Bearing 74.0, -10.0 (Local) 2025-10-27T05:53:47.946Z,1761544427.946 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 2025-10-27T05:53:47.993Z,1761544427.993 [DAT](INFO): DAT read: 05:53:46.6872 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.16, 2.902, 1.474,-2.856, 2.959, PHS= 0.045,-1.440, 0.424, RAW= 161.1, 11.4, CAL= 161.3, 12.7, ROT= 348.7, -12.7 2025-10-27T05:53:47.994Z,1761544427.994 [DAT](INFO): got valid direction response: 05:53:46.6872 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.16, 2.902, 1.474,-2.856, 2.959, PHS= 0.045,-1.440, 0.424, RAW= 161.1, 11.4, CAL= 161.3, 12.7, ROT= 348.7, -12.7 2025-10-27T05:53:47.995Z,1761544427.995 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:53:48.008Z,1761544428.008 [DAT](INFO): direction in FSK: [0.956624,-0.191152,0.219846] 2025-10-27T05:53:48.008Z,1761544428.008 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:48.017Z,1761544428.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.120667,0.972438,0.199511],[-0.990676,-0.130770,0.038212],[0.063249,-0.193039,0.979150]] 2025-10-27T05:53:48.020Z,1761544428.020 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.525267 2025-10-27T05:53:48.069Z,1761544428.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504657 s, deltaX: -0.300001 m, approachRate: -0.594465 m/s, rangeRepo size: 4 2025-10-27T05:53:48.075Z,1761544428.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.164734 m, bearing: 254.273577 deg, lat: 36.779413 deg, lon: -121.859766 deg, deltaT: 0.504657 s, deltaX: -0.298096 m, approachRate: -0.590690 m/s, posRepo size: 4 2025-10-27T05:53:48.076Z,1761544428.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m. 2025-10-27T05:53:48.083Z,1761544428.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.164734 m, nav range: 20.157196 m, bearing: 254.531906 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.672607 deg, new cmd heading: 261.545472 deg. 2025-10-27T05:53:48.092Z,1761544428.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564830 target range: 21.164734 and range: 21.30 m. 2025-10-27T05:53:48.180Z,1761544428.180 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.685513 2025-10-27T05:53:48.434Z,1761544428.434 [DAT](INFO): DAT read: Rx Time:05:53:47.1871 2025-10-27T05:53:48.434Z,1761544428.434 [DAT](INFO): Rx dataTimestamp_ set to:1761544428.433967 2025-10-27T05:53:48.437Z,1761544428.437 [DAT](INFO): DAT read: Bearing 73.2, -9.6 (Local) 2025-10-27T05:53:48.437Z,1761544428.437 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, -9.6 (Local) 2025-10-27T05:53:48.441Z,1761544428.441 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.3 2025-10-27T05:53:48.448Z,1761544428.448 [DAT](INFO): DAT read: 05:53:47.1871 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.33, 0.316,-1.143, 0.839, 0.353, PHS= 0.065,-1.451, 0.442, RAW= 160.9, 10.9, CAL= 161.0, 12.0, ROT= 349.0, -12.0 2025-10-27T05:53:48.450Z,1761544428.450 [DAT](INFO): got valid direction response: 05:53:47.1871 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.33, 0.316,-1.143, 0.839, 0.353, PHS= 0.065,-1.451, 0.442, RAW= 160.9, 10.9, CAL= 161.0, 12.0, ROT= 349.0, -12.0 2025-10-27T05:53:48.463Z,1761544428.463 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:53:48.465Z,1761544428.465 [DAT](INFO): direction in FSK: [0.960176,-0.186640,0.207912] 2025-10-27T05:53:48.465Z,1761544428.465 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:48.489Z,1761544428.489 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=24.994490 2025-10-27T05:53:48.580Z,1761544428.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502729 s, deltaX: -0.099998 m, approachRate: -0.198911 m/s, rangeRepo size: 4 2025-10-27T05:53:48.582Z,1761544428.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.065485 m, bearing: 254.439179 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.502729 s, deltaX: -0.099249 m, approachRate: -0.197420 m/s, posRepo size: 4 2025-10-27T05:53:48.588Z,1761544428.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m. 2025-10-27T05:53:48.592Z,1761544428.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.065485 m, nav range: 20.026899 m, bearing: 254.479716 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.545483 deg, new cmd heading: 261.398537 deg. 2025-10-27T05:53:48.593Z,1761544428.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562265 target range: 21.065485 and range: 21.20 m. 2025-10-27T05:53:48.686Z,1761544428.686 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.191204 2025-10-27T05:53:48.902Z,1761544428.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121907,0.972618,0.197871],[-0.990797,-0.131063,0.033807],[0.058815,-0.191929,0.979645]] 2025-10-27T05:53:48.938Z,1761544428.938 [DAT](INFO): DAT read: Rx Time:05:53:47.6869 2025-10-27T05:53:48.939Z,1761544428.939 [DAT](INFO): Rx dataTimestamp_ set to:1761544428.938414 2025-10-27T05:53:48.941Z,1761544428.941 [DAT](INFO): DAT read: Bearing 72.9, -9.5 (Local) 2025-10-27T05:53:48.942Z,1761544428.942 [DAT](INFO): Local bearing/azimuth received: Bearing 72.9, -9.5 (Local) 2025-10-27T05:53:48.946Z,1761544428.946 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.3 2025-10-27T05:53:48.952Z,1761544428.952 [DAT](INFO): DAT read: 05:53:47.6869 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497, 0.11,-0.856,-2.312,-0.337,-0.824, PHS= 0.070,-1.443, 0.443, RAW= 160.8, 10.7, CAL= 160.8, 11.8, ROT= 349.2, -11.8 2025-10-27T05:53:48.953Z,1761544428.953 [DAT](INFO): got valid direction response: 05:53:47.6869 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497, 0.11,-0.856,-2.312,-0.337,-0.824, PHS= 0.070,-1.443, 0.443, RAW= 160.8, 10.7, CAL= 160.8, 11.8, ROT= 349.2, -11.8 2025-10-27T05:53:48.954Z,1761544428.954 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:53:48.967Z,1761544428.967 [DAT](INFO): direction in FSK: [0.961529,-0.183421,0.204496] 2025-10-27T05:53:48.967Z,1761544428.967 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:48.979Z,1761544428.979 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.476311 2025-10-27T05:53:49.006Z,1761544429.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504447 s, deltaX: -0.300001 m, approachRate: -0.594713 m/s, rangeRepo size: 4 2025-10-27T05:53:49.020Z,1761544429.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.767387 m, bearing: 254.526884 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.504447 s, deltaX: -0.298098 m, approachRate: -0.590939 m/s, posRepo size: 4 2025-10-27T05:53:49.021Z,1761544429.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m. 2025-10-27T05:53:49.028Z,1761544429.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.767387 m, nav range: 19.836332 m, bearing: 254.506631 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.398525 deg, new cmd heading: 261.276229 deg. 2025-10-27T05:53:49.029Z,1761544429.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560131 target range: 20.767387 and range: 20.90 m. 2025-10-27T05:53:49.188Z,1761544429.188 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.693466 2025-10-27T05:53:49.375Z,1761544429.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122293,0.972535,0.198043],[-0.990882,-0.131006,0.031457],[0.056538,-0.192390,0.979689]] 2025-10-27T05:53:49.442Z,1761544429.442 [DAT](INFO): DAT read: Rx Time:05:53:48.1869 2025-10-27T05:53:49.443Z,1761544429.443 [DAT](INFO): Rx dataTimestamp_ set to:1761544429.442345 2025-10-27T05:53:49.445Z,1761544429.445 [DAT](INFO): DAT read: Bearing 71.2, -22.1 (Local) 2025-10-27T05:53:49.446Z,1761544429.446 [DAT](INFO): Local bearing/azimuth received: Bearing 71.2, -22.1 (Local) 2025-10-27T05:53:49.449Z,1761544429.449 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.3 2025-10-27T05:53:49.454Z,1761544429.454 [DAT](INFO): DAT read: 05:53:48.1869 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 513, 0.00,-1.693,-2.740,-0.797,-1.422, PHS=-0.169,-1.273, 0.581, RAW= 173.7, 10.7, CAL= 173.7, 12.3, ROT= 336.3, -12.3 2025-10-27T05:53:49.455Z,1761544429.455 [DAT](INFO): got valid direction response: 05:53:48.1869 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 513, 0.00,-1.693,-2.740,-0.797,-1.422, PHS=-0.169,-1.273, 0.581, RAW= 173.7, 10.7, CAL= 173.7, 12.3, ROT= 336.3, -12.3 2025-10-27T05:53:49.456Z,1761544429.456 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:53:49.457Z,1761544429.457 [DAT](INFO): direction in FSK: [0.894644,-0.392721,0.213030] 2025-10-27T05:53:49.457Z,1761544429.457 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:49.481Z,1761544429.481 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=25.986361 2025-10-27T05:53:49.503Z,1761544429.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503931 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:53:49.505Z,1761544429.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.767351 m, bearing: 241.531831 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.503931 s, deltaX: -0.000036 m, approachRate: -0.000072 m/s, posRepo size: 4 2025-10-27T05:53:49.506Z,1761544429.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m. 2025-10-27T05:53:49.513Z,1761544429.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.767351 m, nav range: 19.643923 m, bearing: 254.552241 deg, approach rate: 0.000000 m/s, LOS rate: -0.095808 deg/s, cmd heading: 261.276237 deg, new cmd heading: 261.134474 deg. 2025-10-27T05:53:49.514Z,1761544429.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557656 target range: 20.767351 and range: 20.90 m. 2025-10-27T05:53:49.692Z,1761544429.692 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.197582 2025-10-27T05:53:49.784Z,1761544429.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122467,0.972659,0.197325],[-0.990988,-0.130714,0.029272],[0.054265,-0.191962,0.979901]] 2025-10-27T05:53:49.801Z,1761544429.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:49.804Z,1761544429.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m. 2025-10-27T05:53:49.806Z,1761544429.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.767351 m, nav range: 19.482809 m, bearing: 254.624334 deg, approach rate: -0.527660 m/s, LOS rate: 0.238061 deg/s, cmd heading: 261.134470 deg, new cmd heading: 261.352535 deg. 2025-10-27T05:53:49.808Z,1761544429.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561462 target range: 20.767351 and range: 20.90 m. 2025-10-27T05:53:49.946Z,1761544429.946 [DAT](INFO): DAT read: Rx Time:05:53:48.6867 2025-10-27T05:53:49.947Z,1761544429.947 [DAT](INFO): Rx dataTimestamp_ set to:1761544429.947183 2025-10-27T05:53:49.949Z,1761544429.949 [DAT](INFO): DAT read: Bearing 73.8, -9.5 (Local) 2025-10-27T05:53:49.949Z,1761544429.949 [DAT](INFO): Local bearing/azimuth received: Bearing 73.8, -9.5 (Local) 2025-10-27T05:53:49.952Z,1761544429.952 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.3 2025-10-27T05:53:49.956Z,1761544429.956 [DAT](INFO): DAT read: 05:53:48.6867 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 511,-0.16,-3.043, 1.802,-2.549,-2.993, PHS= 0.053,-1.443, 0.400, RAW= 160.2, 11.7, CAL= 160.5, 13.0, ROT= 349.5, -13.0 2025-10-27T05:53:49.957Z,1761544429.957 [DAT](INFO): got valid direction response: 05:53:48.6867 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 511,-0.16,-3.043, 1.802,-2.549,-2.993, PHS= 0.053,-1.443, 0.400, RAW= 160.2, 11.7, CAL= 160.5, 13.0, ROT= 349.5, -13.0 2025-10-27T05:53:49.958Z,1761544429.958 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:53:49.960Z,1761544429.960 [DAT](INFO): direction in FSK: [0.958054,-0.177565,0.224951] 2025-10-27T05:53:49.960Z,1761544429.960 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:49.964Z,1761544429.964 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.469065 2025-10-27T05:53:50.186Z,1761544430.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122513,0.973015,0.195533],[-0.991113,-0.130234,0.027081],[0.051815,-0.190478,0.980323]] 2025-10-27T05:53:50.196Z,1761544430.196 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.701418 2025-10-27T05:53:50.228Z,1761544430.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504838 s, deltaX: -0.299999 m, approachRate: -0.594249 m/s, rangeRepo size: 4 2025-10-27T05:53:50.230Z,1761544430.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.469255 m, bearing: 255.025448 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.504838 s, deltaX: -0.298096 m, approachRate: -0.590478 m/s, posRepo size: 4 2025-10-27T05:53:50.231Z,1761544430.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m. 2025-10-27T05:53:50.234Z,1761544430.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.469255 m, nav range: 19.320717 m, bearing: 254.770390 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 261.352544 deg, new cmd heading: 261.654952 deg. 2025-10-27T05:53:50.235Z,1761544430.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566741 target range: 20.469255 and range: 20.60 m. 2025-10-27T05:53:50.449Z,1761544430.449 [DAT](INFO): DAT read: Rx Time:05:53:49.1867 2025-10-27T05:53:50.449Z,1761544430.449 [DAT](INFO): Rx dataTimestamp_ set to:1761544430.449084 2025-10-27T05:53:50.451Z,1761544430.451 [DAT](INFO): DAT read: Bearing 74.0, -9.2 (Local) 2025-10-27T05:53:50.451Z,1761544430.451 [DAT](INFO): Local bearing/azimuth received: Bearing 74.0, -9.2 (Local) 2025-10-27T05:53:50.453Z,1761544430.453 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.3 2025-10-27T05:53:50.458Z,1761544430.458 [DAT](INFO): DAT read: 05:53:49.1867 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 511,-0.31,-2.374, 2.478,-1.900,-2.325, PHS= 0.054,-1.435, 0.381, RAW= 159.7, 11.9, CAL= 160.0, 13.4, ROT= 350.0, -13.4 2025-10-27T05:53:50.459Z,1761544430.459 [DAT](INFO): got valid direction response: 05:53:49.1867 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 511,-0.31,-2.374, 2.478,-1.900,-2.325, PHS= 0.054,-1.435, 0.381, RAW= 159.7, 11.9, CAL= 160.0, 13.4, ROT= 350.0, -13.4 2025-10-27T05:53:50.459Z,1761544430.459 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:53:50.460Z,1761544430.460 [DAT](INFO): direction in FSK: [0.957997,-0.168921,0.231748] 2025-10-27T05:53:50.461Z,1761544430.461 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:50.480Z,1761544430.480 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=26.985378 2025-10-27T05:53:50.643Z,1761544430.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.501901 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:53:50.645Z,1761544430.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.469109 m, bearing: 255.606509 deg, lat: 36.779412 deg, lon: -121.859767 deg, deltaT: 0.501901 s, deltaX: -0.000147 m, approachRate: -0.000293 m/s, posRepo size: 4 2025-10-27T05:53:50.646Z,1761544430.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m. 2025-10-27T05:53:50.649Z,1761544430.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.469109 m, nav range: 19.158461 m, bearing: 254.878331 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 261.654958 deg, new cmd heading: 261.951650 deg. 2025-10-27T05:53:50.650Z,1761544430.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571919 target range: 20.469109 and range: 20.60 m. 2025-10-27T05:53:50.701Z,1761544430.701 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.206686 2025-10-27T05:53:50.952Z,1761544430.952 [DAT](INFO): DAT read: Rx Time:05:53:49.6864 2025-10-27T05:53:50.953Z,1761544430.953 [DAT](INFO): Rx dataTimestamp_ set to:1761544430.952686 2025-10-27T05:53:50.954Z,1761544430.954 [DAT](INFO): DAT read: Bearing 73.7, -9.4 (Local) 2025-10-27T05:53:50.955Z,1761544430.955 [DAT](INFO): Local bearing/azimuth received: Bearing 73.7, -9.4 (Local) 2025-10-27T05:53:50.957Z,1761544430.957 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.3 2025-10-27T05:53:50.962Z,1761544430.962 [DAT](INFO): DAT read: 05:53:49.6864 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508, 0.36,-0.721,-2.185,-0.239,-0.675, PHS= 0.056,-1.464, 0.393, RAW= 159.8, 11.8, CAL= 160.1, 13.3, ROT= 349.9, -13.3 2025-10-27T05:53:50.963Z,1761544430.963 [DAT](INFO): got valid direction response: 05:53:49.6864 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508, 0.36,-0.721,-2.185,-0.239,-0.675, PHS= 0.056,-1.464, 0.393, RAW= 159.8, 11.8, CAL= 160.1, 13.3, ROT= 349.9, -13.3 2025-10-27T05:53:50.963Z,1761544430.963 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:53:50.964Z,1761544430.964 [DAT](INFO): direction in FSK: [0.958098,-0.170663,0.230050] 2025-10-27T05:53:50.964Z,1761544430.964 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:50.968Z,1761544430.968 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.473541 2025-10-27T05:53:51.040Z,1761544431.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124003,0.972786,0.195733],[-0.991130,-0.130926,0.022785],[0.047792,-0.191171,0.980392]] 2025-10-27T05:53:51.106Z,1761544431.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503602 s, deltaX: -0.500000 m, approachRate: -0.992848 m/s, rangeRepo size: 4 2025-10-27T05:53:51.113Z,1761544431.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.972284 m, bearing: 255.421449 deg, lat: 36.779413 deg, lon: -121.859769 deg, deltaT: 0.503602 s, deltaX: -0.496824 m, approachRate: -0.986542 m/s, posRepo size: 4 2025-10-27T05:53:51.113Z,1761544431.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m. 2025-10-27T05:53:51.120Z,1761544431.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.972284 m, nav range: 19.050417 m, bearing: 255.156952 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 261.951661 deg, new cmd heading: 262.282399 deg. 2025-10-27T05:53:51.121Z,1761544431.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577692 target range: 19.972284 and range: 20.10 m. 2025-10-27T05:53:51.204Z,1761544431.204 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.709517 2025-10-27T05:53:51.453Z,1761544431.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.124701,0.972862,0.194909],[-0.991137,-0.131207,0.020784],[0.045794,-0.190590,0.980601]] 2025-10-27T05:53:51.457Z,1761544431.457 [DAT](INFO): DAT read: Rx Time:05:53:50.1863 2025-10-27T05:53:51.457Z,1761544431.457 [DAT](INFO): Rx dataTimestamp_ set to:1761544431.457013 2025-10-27T05:53:51.459Z,1761544431.459 [DAT](INFO): DAT read: Bearing 69.3, -7.9 (Local) 2025-10-27T05:53:51.459Z,1761544431.459 [DAT](INFO): Local bearing/azimuth received: Bearing 69.3, -7.9 (Local) 2025-10-27T05:53:51.461Z,1761544431.461 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 2025-10-27T05:53:51.466Z,1761544431.466 [DAT](INFO): DAT read: 05:53:50.1863 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.16,-1.219,-2.738,-0.735,-1.279, PHS= 0.162,-1.414, 0.500, RAW= 159.5, 8.6, CAL= 159.2, 8.9, ROT= 350.8, -8.9 2025-10-27T05:53:51.471Z,1761544431.471 [DAT](INFO): got valid direction response: 05:53:50.1863 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507, 0.16,-1.219,-2.738,-0.735,-1.279, PHS= 0.162,-1.414, 0.500, RAW= 159.5, 8.6, CAL= 159.2, 8.9, ROT= 350.8, -8.9 2025-10-27T05:53:51.473Z,1761544431.473 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:53:51.474Z,1761544431.474 [DAT](INFO): direction in FSK: [0.975251,-0.157956,0.154710] 2025-10-27T05:53:51.474Z,1761544431.474 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:51.510Z,1761544431.510 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.015585 2025-10-27T05:53:51.681Z,1761544431.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504327 s, deltaX: -0.100000 m, approachRate: -0.198285 m/s, rangeRepo size: 4 2025-10-27T05:53:51.683Z,1761544431.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.872763 m, bearing: 255.423701 deg, lat: 36.779413 deg, lon: -121.859769 deg, deltaT: 0.504327 s, deltaX: -0.099522 m, approachRate: -0.197336 m/s, posRepo size: 4 2025-10-27T05:53:51.684Z,1761544431.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.87 m. 2025-10-27T05:53:51.687Z,1761544431.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.872763 m, nav range: 18.796438 m, bearing: 255.297852 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 262.282406 deg, new cmd heading: 262.692868 deg. 2025-10-27T05:53:51.688Z,1761544431.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584856 target range: 19.872763 and range: 20.00 m. 2025-10-27T05:53:51.708Z,1761544431.708 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.213736 2025-10-27T05:53:51.961Z,1761544431.961 [DAT](INFO): DAT read: Rx Time:05:53:50.6861 2025-10-27T05:53:51.961Z,1761544431.961 [DAT](INFO): Rx dataTimestamp_ set to:1761544431.960700 2025-10-27T05:53:51.962Z,1761544431.962 [DAT](INFO): DAT read: Bearing 70.9, -8.4 (Local) 2025-10-27T05:53:51.963Z,1761544431.963 [DAT](INFO): Local bearing/azimuth received: Bearing 70.9, -8.4 (Local) 2025-10-27T05:53:51.965Z,1761544431.965 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4 2025-10-27T05:53:51.969Z,1761544431.969 [DAT](INFO): DAT read: 05:53:50.6861 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.13, 3.105, 1.606,-2.704, 3.086, PHS= 0.121,-1.435, 0.450, RAW= 159.4, 9.9, CAL= 159.3, 10.7, ROT= 350.7, -10.7 2025-10-27T05:53:51.970Z,1761544431.970 [DAT](INFO): got valid direction response: 05:53:50.6861 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.13, 3.105, 1.606,-2.704, 3.086, PHS= 0.121,-1.435, 0.450, RAW= 159.4, 9.9, CAL= 159.3, 10.7, ROT= 350.7, -10.7 2025-10-27T05:53:51.973Z,1761544431.973 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:53:51.977Z,1761544431.977 [DAT](INFO): direction in FSK: [0.969697,-0.158794,0.185667] 2025-10-27T05:53:51.977Z,1761544431.977 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:51.984Z,1761544431.984 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.489761 2025-10-27T05:53:52.066Z,1761544432.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126951,0.972901,0.193252],[-0.991002,-0.132733,0.017215],[0.042399,-0.189328,0.980998]] 2025-10-27T05:53:52.140Z,1761544432.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503687 s, deltaX: -0.299999 m, approachRate: -0.595606 m/s, rangeRepo size: 4 2025-10-27T05:53:52.142Z,1761544432.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.574671 m, bearing: 255.530535 deg, lat: 36.779413 deg, lon: -121.859771 deg, deltaT: 0.503687 s, deltaX: -0.298092 m, approachRate: -0.591820 m/s, posRepo size: 4 2025-10-27T05:53:52.147Z,1761544432.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.57 m. 2025-10-27T05:53:52.150Z,1761544432.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.574671 m, nav range: 18.766146 m, bearing: 255.526323 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 262.692873 deg, new cmd heading: 263.020688 deg. 2025-10-27T05:53:52.151Z,1761544432.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590577 target range: 19.574671 and range: 19.70 m. 2025-10-27T05:53:52.213Z,1761544432.213 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.718328 2025-10-27T05:53:52.465Z,1761544432.465 [DAT](INFO): DAT read: Rx Time:05:53:51.1860 2025-10-27T05:53:52.465Z,1761544432.465 [DAT](INFO): Rx dataTimestamp_ set to:1761544432.464938 2025-10-27T05:53:52.466Z,1761544432.466 [DAT](INFO): DAT read: Bearing 69.4, -7.7 (Local) 2025-10-27T05:53:52.468Z,1761544432.468 [DAT](INFO): Local bearing/azimuth received: Bearing 69.4, -7.7 (Local) 2025-10-27T05:53:52.470Z,1761544432.470 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 2025-10-27T05:53:52.478Z,1761544432.478 [DAT](INFO): DAT read: 05:53:51.1860 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.33,-0.279,-1.804, 0.190,-0.339, PHS= 0.163,-1.420, 0.486, RAW= 159.1, 8.8, CAL= 158.8, 9.2, ROT= 351.2, -9.2 2025-10-27T05:53:52.480Z,1761544432.480 [DAT](INFO): got valid direction response: 05:53:51.1860 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.33,-0.279,-1.804, 0.190,-0.339, PHS= 0.163,-1.420, 0.486, RAW= 159.1, 8.8, CAL= 158.8, 9.2, ROT= 351.2, -9.2 2025-10-27T05:53:52.480Z,1761544432.480 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:53:52.481Z,1761544432.481 [DAT](INFO): direction in FSK: [0.975516,-0.151017,0.159881] 2025-10-27T05:53:52.481Z,1761544432.481 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:52.485Z,1761544432.485 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=28.990908 2025-10-27T05:53:52.610Z,1761544432.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504238 s, deltaX: -0.200001 m, approachRate: -0.396640 m/s, rangeRepo size: 4 2025-10-27T05:53:52.617Z,1761544432.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.375734 m, bearing: 255.742009 deg, lat: 36.779412 deg, lon: -121.859773 deg, deltaT: 0.504238 s, deltaX: -0.198936 m, approachRate: -0.394529 m/s, posRepo size: 4 2025-10-27T05:53:52.617Z,1761544432.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T05:53:52.624Z,1761544432.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.375734 m, nav range: 18.670912 m, bearing: 255.586103 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 263.020695 deg, new cmd heading: 263.356555 deg. 2025-10-27T05:53:52.625Z,1761544432.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596439 target range: 19.375734 and range: 19.50 m. 2025-10-27T05:53:52.717Z,1761544432.717 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.222219 2025-10-27T05:53:52.960Z,1761544432.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129309,0.973472,0.188764],[-0.990822,-0.134402,0.014380],[0.039369,-0.185172,0.981917]] 2025-10-27T05:53:52.968Z,1761544432.968 [DAT](INFO): DAT read: Rx Time:05:53:51.6858 2025-10-27T05:53:52.969Z,1761544432.969 [DAT](INFO): Rx dataTimestamp_ set to:1761544432.968676 2025-10-27T05:53:52.970Z,1761544432.970 [DAT](INFO): DAT read: Bearing 70.4, -8.0 (Local) 2025-10-27T05:53:52.971Z,1761544432.971 [DAT](INFO): Local bearing/azimuth received: Bearing 70.4, -8.0 (Local) 2025-10-27T05:53:52.973Z,1761544432.973 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4 2025-10-27T05:53:52.981Z,1761544432.981 [DAT](INFO): DAT read: 05:53:51.6858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.13,-2.806, 1.978,-2.349,-2.844, PHS= 0.140,-1.416, 0.451, RAW= 158.9, 9.6, CAL= 158.8, 10.2, ROT= 351.2, -10.2 2025-10-27T05:53:52.982Z,1761544432.982 [DAT](INFO): got valid direction response: 05:53:51.6858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.13,-2.806, 1.978,-2.349,-2.844, PHS= 0.140,-1.416, 0.451, RAW= 158.9, 9.6, CAL= 158.8, 10.2, ROT= 351.2, -10.2 2025-10-27T05:53:53.007Z,1761544433.007 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:53:53.008Z,1761544433.008 [DAT](INFO): direction in FSK: [0.972610,-0.150568,0.177085] 2025-10-27T05:53:53.008Z,1761544433.008 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:53.028Z,1761544433.028 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.533627 2025-10-27T05:53:53.078Z,1761544433.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503738 s, deltaX: -0.299999 m, approachRate: -0.595546 m/s, rangeRepo size: 4 2025-10-27T05:53:53.084Z,1761544433.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.077648 m, bearing: 255.752579 deg, lat: 36.779412 deg, lon: -121.859775 deg, deltaT: 0.503738 s, deltaX: -0.298086 m, approachRate: -0.591748 m/s, posRepo size: 4 2025-10-27T05:53:53.085Z,1761544433.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m. 2025-10-27T05:53:53.092Z,1761544433.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.077648 m, nav range: 18.522495 m, bearing: 255.719975 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 263.356549 deg, new cmd heading: 263.690267 deg. 2025-10-27T05:53:53.096Z,1761544433.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602263 target range: 19.077648 and range: 19.20 m. 2025-10-27T05:53:53.221Z,1761544433.221 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.726929 2025-10-27T05:53:53.396Z,1761544433.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130346,0.973878,0.185934],[-0.990744,-0.135107,0.013114],[0.037892,-0.182504,0.982475]] 2025-10-27T05:53:53.473Z,1761544433.473 [DAT](INFO): DAT read: Rx Time:05:53:52.1857 2025-10-27T05:53:53.473Z,1761544433.473 [DAT](INFO): Rx dataTimestamp_ set to:1761544433.472746 2025-10-27T05:53:53.474Z,1761544433.474 [DAT](INFO): DAT read: Bearing 73.8, -9.0 (Local) 2025-10-27T05:53:53.475Z,1761544433.475 [DAT](INFO): Local bearing/azimuth received: Bearing 73.8, -9.0 (Local) 2025-10-27T05:53:53.482Z,1761544433.482 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.5 2025-10-27T05:53:53.487Z,1761544433.487 [DAT](INFO): DAT read: 05:53:52.1857 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02, 0.259,-1.204, 0.704, 0.300, PHS= 0.062,-1.459, 0.360, RAW= 158.8, 12.2, CAL= 159.1, 13.8, ROT= 350.9, -13.8 2025-10-27T05:53:53.488Z,1761544433.488 [DAT](INFO): got valid direction response: 05:53:52.1857 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.02, 0.259,-1.204, 0.704, 0.300, PHS= 0.062,-1.459, 0.360, RAW= 158.8, 12.2, CAL= 159.1, 13.8, ROT= 350.9, -13.8 2025-10-27T05:53:53.488Z,1761544433.488 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:53:53.489Z,1761544433.489 [DAT](INFO): direction in FSK: [0.958911,-0.153593,0.238533] 2025-10-27T05:53:53.490Z,1761544433.490 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:53.497Z,1761544433.497 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.002813 2025-10-27T05:53:53.538Z,1761544433.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504070 s, deltaX: -0.100000 m, approachRate: -0.198386 m/s, rangeRepo size: 4 2025-10-27T05:53:53.544Z,1761544433.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.977966 m, bearing: 256.040595 deg, lat: 36.779412 deg, lon: -121.859775 deg, deltaT: 0.504070 s, deltaX: -0.099682 m, approachRate: -0.197754 m/s, posRepo size: 4 2025-10-27T05:53:53.545Z,1761544433.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m. 2025-10-27T05:53:53.552Z,1761544433.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.977966 m, nav range: 18.243591 m, bearing: 255.720792 deg, approach rate: 0.000000 m/s, LOS rate: 0.238061 deg/s, cmd heading: 263.690272 deg, new cmd heading: 264.019204 deg. 2025-10-27T05:53:53.553Z,1761544433.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608005 target range: 18.977966 and range: 19.10 m. 2025-10-27T05:53:53.725Z,1761544433.725 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.230324 2025-10-27T05:53:53.889Z,1761544433.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131706,0.974330,0.182578],[-0.990617,-0.136146,0.011944],[0.036494,-0.179292,0.983119]] 2025-10-27T05:53:53.943Z,1761544433.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:53.945Z,1761544433.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m. 2025-10-27T05:53:53.959Z,1761544433.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.977966 m, nav range: 17.978994 m, bearing: 255.722754 deg, approach rate: -0.648576 m/s, LOS rate: 0.004881 deg/s, cmd heading: 264.019214 deg, new cmd heading: 264.025188 deg. 2025-10-27T05:53:53.960Z,1761544433.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608109 target range: 18.977966 and range: 19.10 m. 2025-10-27T05:53:53.980Z,1761544433.980 [DAT](INFO): DAT read: Rx Time:05:53:52.6854 2025-10-27T05:53:53.980Z,1761544433.980 [DAT](INFO): Rx dataTimestamp_ set to:1761544433.980071 2025-10-27T05:53:53.982Z,1761544433.982 [DAT](INFO): DAT read: Bearing 75.0, -9.4 (Local) 2025-10-27T05:53:53.982Z,1761544433.982 [DAT](INFO): Local bearing/azimuth received: Bearing 75.0, -9.4 (Local) 2025-10-27T05:53:53.984Z,1761544433.984 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T05:53:53.989Z,1761544433.989 [DAT](INFO): DAT read: 05:53:52.6854 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.05, 0.750,-0.720, 1.192, 0.814, PHS= 0.037,-1.489, 0.334, RAW= 158.7, 13.1, CAL= 159.2, 14.9, ROT= 350.8, -14.9 2025-10-27T05:53:53.990Z,1761544433.990 [DAT](INFO): got valid direction response: 05:53:52.6854 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.05, 0.750,-0.720, 1.192, 0.814, PHS= 0.037,-1.489, 0.334, RAW= 158.7, 13.1, CAL= 159.2, 14.9, ROT= 350.8, -14.9 2025-10-27T05:53:53.990Z,1761544433.990 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:53:53.995Z,1761544433.995 [DAT](INFO): direction in FSK: [0.953945,-0.154506,0.257133] 2025-10-27T05:53:53.996Z,1761544433.996 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:54.008Z,1761544434.008 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.513103 2025-10-27T05:53:54.228Z,1761544434.228 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.733372 2025-10-27T05:53:54.291Z,1761544434.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133112,0.974868,0.178645],[-0.990480,-0.137229,0.010836],[0.035079,-0.175502,0.983854]] 2025-10-27T05:53:54.381Z,1761544434.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.507325 s, deltaX: -0.300001 m, approachRate: -0.591339 m/s, rangeRepo size: 4 2025-10-27T05:53:54.397Z,1761544434.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.679882 m, bearing: 255.878903 deg, lat: 36.779412 deg, lon: -121.859775 deg, deltaT: 0.507325 s, deltaX: -0.298084 m, approachRate: -0.587561 m/s, posRepo size: 4 2025-10-27T05:53:54.404Z,1761544434.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T05:53:54.439Z,1761544434.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.679882 m, nav range: 17.736082 m, bearing: 255.759809 deg, approach rate: 0.000000 m/s, LOS rate: 0.004881 deg/s, cmd heading: 264.025197 deg, new cmd heading: 264.031446 deg. 2025-10-27T05:53:54.444Z,1761544434.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608218 target range: 18.679882 and range: 18.80 m. 2025-10-27T05:53:54.481Z,1761544434.481 [DAT](INFO): DAT read: Rx Time:05:53:53.1853 2025-10-27T05:53:54.481Z,1761544434.481 [DAT](INFO): Rx dataTimestamp_ set to:1761544434.481213 2025-10-27T05:53:54.484Z,1761544434.484 [DAT](INFO): DAT read: Bearing 75.5, -9.5 (Local) 2025-10-27T05:53:54.484Z,1761544434.484 [DAT](INFO): Local bearing/azimuth received: Bearing 75.5, -9.5 (Local) 2025-10-27T05:53:54.487Z,1761544434.487 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.5 2025-10-27T05:53:54.494Z,1761544434.494 [DAT](INFO): DAT read: 05:53:53.1853 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.03, 1.624, 0.149, 2.064, 1.696, PHS= 0.030,-1.503, 0.323, RAW= 158.6, 13.5, CAL= 159.2, 15.4, ROT= 350.8, -15.4 2025-10-27T05:53:54.496Z,1761544434.496 [DAT](INFO): got valid direction response: 05:53:53.1853 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.03, 1.624, 0.149, 2.064, 1.696, PHS= 0.030,-1.503, 0.323, RAW= 158.6, 13.5, CAL= 159.2, 15.4, ROT= 350.8, -15.4 2025-10-27T05:53:54.496Z,1761544434.496 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:53:54.498Z,1761544434.498 [DAT](INFO): direction in FSK: [0.951694,-0.154141,0.265556] 2025-10-27T05:53:54.498Z,1761544434.498 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:54.510Z,1761544434.510 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.015194 2025-10-27T05:53:54.733Z,1761544434.733 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.237986 2025-10-27T05:53:54.835Z,1761544434.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.501142 s, deltaX: -0.199999 m, approachRate: -0.399086 m/s, rangeRepo size: 4 2025-10-27T05:53:54.872Z,1761544434.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.480881 m, bearing: 255.972127 deg, lat: 36.779413 deg, lon: -121.859775 deg, deltaT: 0.501142 s, deltaX: -0.199001 m, approachRate: -0.397096 m/s, posRepo size: 4 2025-10-27T05:53:54.875Z,1761544434.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m. 2025-10-27T05:53:54.878Z,1761544434.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.480881 m, nav range: 17.417126 m, bearing: 255.833610 deg, approach rate: 0.000000 m/s, LOS rate: 0.004881 deg/s, cmd heading: 264.031454 deg, new cmd heading: 264.038165 deg. 2025-10-27T05:53:54.879Z,1761544434.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608335 target range: 18.480881 and range: 18.60 m. 2025-10-27T05:53:54.985Z,1761544434.985 [DAT](INFO): DAT read: Rx Time:05:53:53.6850 2025-10-27T05:53:54.985Z,1761544434.985 [DAT](INFO): Rx dataTimestamp_ set to:1761544434.984989 2025-10-27T05:53:54.987Z,1761544434.987 [DAT](INFO): DAT read: Bearing 75.7, -9.5 (Local) 2025-10-27T05:53:54.987Z,1761544434.987 [DAT](INFO): Local bearing/azimuth received: Bearing 75.7, -9.5 (Local) 2025-10-27T05:53:54.989Z,1761544434.989 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 2025-10-27T05:53:54.994Z,1761544434.994 [DAT](INFO): DAT read: 05:53:53.6850 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.26, 1.345,-0.139, 1.784, 1.419, PHS= 0.028,-1.513, 0.321, RAW= 158.5, 13.5, CAL= 159.1, 15.5, ROT= 350.9, -15.5 2025-10-27T05:53:54.995Z,1761544434.995 [DAT](INFO): got valid direction response: 05:53:53.6850 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.26, 1.345,-0.139, 1.784, 1.419, PHS= 0.028,-1.513, 0.321, RAW= 158.5, 13.5, CAL= 159.1, 15.5, ROT= 350.9, -15.5 2025-10-27T05:53:54.996Z,1761544434.996 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:53:54.996Z,1761544434.996 [DAT](INFO): direction in FSK: [0.951502,-0.152406,0.267238] 2025-10-27T05:53:54.997Z,1761544434.997 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:55.001Z,1761544435.001 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.506126 2025-10-27T05:53:55.206Z,1761544435.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135517,0.976839,0.165593],[-0.990289,-0.138779,0.008238],[0.031028,-0.162869,0.986160]] 2025-10-27T05:53:55.236Z,1761544435.236 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.741562 2025-10-27T05:53:55.239Z,1761544435.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503776 s, deltaX: -0.400000 m, approachRate: -0.794003 m/s, rangeRepo size: 4 2025-10-27T05:53:55.241Z,1761544435.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.083443 m, bearing: 255.738593 deg, lat: 36.779413 deg, lon: -121.859775 deg, deltaT: 0.503776 s, deltaX: -0.397438 m, approachRate: -0.788918 m/s, posRepo size: 4 2025-10-27T05:53:55.242Z,1761544435.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m. 2025-10-27T05:53:55.244Z,1761544435.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.083443 m, nav range: 17.141460 m, bearing: 255.791152 deg, approach rate: 0.000000 m/s, LOS rate: 0.004881 deg/s, cmd heading: 264.038174 deg, new cmd heading: 264.044140 deg. 2025-10-27T05:53:55.245Z,1761544435.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608439 target range: 18.083443 and range: 18.20 m. 2025-10-27T05:53:55.490Z,1761544435.490 [DAT](INFO): DAT read: Rx Time:05:53:54.1847 2025-10-27T05:53:55.490Z,1761544435.490 [DAT](INFO): Rx dataTimestamp_ set to:1761544435.490209 2025-10-27T05:53:55.492Z,1761544435.492 [DAT](INFO): DAT read: Bearing 75.4, -10.2 (Local) 2025-10-27T05:53:55.493Z,1761544435.493 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, -10.2 (Local) 2025-10-27T05:53:55.496Z,1761544435.496 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.7 2025-10-27T05:53:55.501Z,1761544435.501 [DAT](INFO): DAT read: 05:53:54.1847 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.29,-2.667, 2.132,-2.204,-2.591, PHS= 0.026,-1.515, 0.343, RAW= 159.2, 13.2, CAL= 159.7, 15.1, ROT= 350.3, -15.1 2025-10-27T05:53:55.502Z,1761544435.502 [DAT](INFO): got valid direction response: 05:53:54.1847 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.29,-2.667, 2.132,-2.204,-2.591, PHS= 0.026,-1.515, 0.343, RAW= 159.2, 13.2, CAL= 159.7, 15.1, ROT= 350.3, -15.1 2025-10-27T05:53:55.511Z,1761544435.511 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:53:55.519Z,1761544435.519 [DAT](INFO): direction in FSK: [0.951670,-0.162672,0.260505] 2025-10-27T05:53:55.520Z,1761544435.520 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:55.529Z,1761544435.529 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.034676 2025-10-27T05:53:55.611Z,1761544435.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135899,0.977553,0.160999],[-0.990281,-0.138884,0.007380],[0.029574,-0.158431,0.986927]] 2025-10-27T05:53:55.694Z,1761544435.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.505220 s, deltaX: -0.500000 m, approachRate: -0.989668 m/s, rangeRepo size: 4 2025-10-27T05:53:55.701Z,1761544435.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.586498 m, bearing: 254.973310 deg, lat: 36.779413 deg, lon: -121.859775 deg, deltaT: 0.505220 s, deltaX: -0.496944 m, approachRate: -0.983620 m/s, posRepo size: 4 2025-10-27T05:53:55.702Z,1761544435.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m. 2025-10-27T05:53:55.710Z,1761544435.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.586498 m, nav range: 16.843445 m, bearing: 255.750509 deg, approach rate: 0.000000 m/s, LOS rate: 0.004881 deg/s, cmd heading: 264.044130 deg, new cmd heading: 264.050793 deg. 2025-10-27T05:53:55.716Z,1761544435.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608556 target range: 17.586498 and range: 17.70 m. 2025-10-27T05:53:55.740Z,1761544435.740 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.245537 2025-10-27T05:53:55.994Z,1761544435.994 [DAT](INFO): DAT read: Rx Time:05:53:54.6844 2025-10-27T05:53:55.994Z,1761544435.994 [DAT](INFO): Rx dataTimestamp_ set to:1761544435.993758 2025-10-27T05:53:55.995Z,1761544435.995 [DAT](INFO): DAT read: Bearing 75.4, -9.7 (Local) 2025-10-27T05:53:55.996Z,1761544435.996 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, -9.7 (Local) 2025-10-27T05:53:55.998Z,1761544435.998 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.6 2025-10-27T05:53:56.003Z,1761544436.003 [DAT](INFO): DAT read: 05:53:54.6844 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.04, 1.138,-0.341, 1.578, 1.199, PHS= 0.040,-1.495, 0.335, RAW= 158.6, 13.1, CAL= 159.1, 14.9, ROT= 350.9, -14.9 2025-10-27T05:53:56.008Z,1761544436.008 [DAT](INFO): got valid direction response: 05:53:54.6844 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504,-0.04, 1.138,-0.341, 1.578, 1.199, PHS= 0.040,-1.495, 0.335, RAW= 158.6, 13.1, CAL= 159.1, 14.9, ROT= 350.9, -14.9 2025-10-27T05:53:56.008Z,1761544436.008 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:53:56.009Z,1761544436.009 [DAT](INFO): direction in FSK: [0.954213,-0.152840,0.257133] 2025-10-27T05:53:56.010Z,1761544436.010 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:56.037Z,1761544436.037 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.542957 2025-10-27T05:53:56.059Z,1761544436.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135693,0.978417,0.155842],[-0.990353,-0.138406,0.006641],[0.028067,-0.153438,0.987760]] 2025-10-27T05:53:56.108Z,1761544436.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503549 s, deltaX: -0.400002 m, approachRate: -0.794365 m/s, rangeRepo size: 4 2025-10-27T05:53:56.110Z,1761544436.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.189062 m, bearing: 255.472860 deg, lat: 36.779412 deg, lon: -121.859775 deg, deltaT: 0.503549 s, deltaX: -0.397436 m, approachRate: -0.789270 m/s, posRepo size: 4 2025-10-27T05:53:56.110Z,1761544436.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m. 2025-10-27T05:53:56.117Z,1761544436.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.189062 m, nav range: 16.569706 m, bearing: 255.656936 deg, approach rate: 0.000000 m/s, LOS rate: 0.004881 deg/s, cmd heading: 264.050797 deg, new cmd heading: 264.056736 deg. 2025-10-27T05:53:56.118Z,1761544436.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608659 target range: 17.189062 and range: 17.30 m. 2025-10-27T05:53:56.244Z,1761544436.244 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.749744 2025-10-27T05:53:56.485Z,1761544436.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.135280,0.979010,0.152440],[-0.990453,-0.137735,0.005612],[0.026490,-0.150226,0.988297]] 2025-10-27T05:53:56.497Z,1761544436.497 [DAT](INFO): DAT read: Rx Time:05:53:55.1842 2025-10-27T05:53:56.497Z,1761544436.497 [DAT](INFO): Rx dataTimestamp_ set to:1761544436.496709 2025-10-27T05:53:56.498Z,1761544436.498 [DAT](INFO): DAT read: Bearing 76.7, -10.6 (Local) 2025-10-27T05:53:56.499Z,1761544436.499 [DAT](INFO): Local bearing/azimuth received: Bearing 76.7, -10.6 (Local) 2025-10-27T05:53:56.501Z,1761544436.501 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.6 2025-10-27T05:53:56.505Z,1761544436.505 [DAT](INFO): DAT read: 05:53:55.1842 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.40, 2.067, 0.605, 2.521, 2.163, PHS= 0.006,-1.513, 0.314, RAW= 159.1, 14.0, CAL= 159.7, 16.1, ROT= 350.3, -16.1 2025-10-27T05:53:56.506Z,1761544436.506 [DAT](INFO): got valid direction response: 05:53:55.1842 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.40, 2.067, 0.605, 2.521, 2.163, PHS= 0.006,-1.513, 0.314, RAW= 159.1, 14.0, CAL= 159.7, 16.1, ROT= 350.3, -16.1 2025-10-27T05:53:56.511Z,1761544436.511 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:53:56.512Z,1761544436.512 [DAT](INFO): direction in FSK: [0.947043,-0.161881,0.277315] 2025-10-27T05:53:56.512Z,1761544436.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:56.516Z,1761544436.516 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.021671 2025-10-27T05:53:56.611Z,1761544436.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.502951 s, deltaX: -0.299999 m, approachRate: -0.596478 m/s, rangeRepo size: 4 2025-10-27T05:53:56.613Z,1761544436.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.891081 m, bearing: 255.036285 deg, lat: 36.779412 deg, lon: -121.859773 deg, deltaT: 0.502951 s, deltaX: -0.297981 m, approachRate: -0.592466 m/s, posRepo size: 4 2025-10-27T05:53:56.614Z,1761544436.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m. 2025-10-27T05:53:56.617Z,1761544436.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.891081 m, nav range: 16.066689 m, bearing: 255.445772 deg, approach rate: 0.000000 m/s, LOS rate: 0.004881 deg/s, cmd heading: 264.056725 deg, new cmd heading: 264.064161 deg. 2025-10-27T05:53:56.618Z,1761544436.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608789 target range: 16.891081 and range: 17.00 m. 2025-10-27T05:53:56.748Z,1761544436.748 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.253723 2025-10-27T05:53:56.946Z,1761544436.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.134304,0.979611,0.149414],[-0.990632,-0.136485,0.004395],[0.024698,-0.147424,0.988765]] 2025-10-27T05:53:56.977Z,1761544436.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:53:56.979Z,1761544436.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m. 2025-10-27T05:53:56.981Z,1761544436.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.891081 m, nav range: 15.812036 m, bearing: 255.408959 deg, approach rate: -0.684255 m/s, LOS rate: -0.100511 deg/s, cmd heading: 264.064156 deg, new cmd heading: 263.951938 deg. 2025-10-27T05:53:56.982Z,1761544436.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606831 target range: 16.891081 and range: 17.00 m. 2025-10-27T05:53:57.002Z,1761544437.002 [DAT](INFO): DAT read: Rx Time:05:53:55.6839 2025-10-27T05:53:57.002Z,1761544437.002 [DAT](INFO): Rx dataTimestamp_ set to:1761544437.001942 2025-10-27T05:53:57.004Z,1761544437.004 [DAT](INFO): DAT read: Bearing 75.2, -11.4 (Local) 2025-10-27T05:53:57.004Z,1761544437.004 [DAT](INFO): Local bearing/azimuth received: Bearing 75.2, -11.4 (Local) 2025-10-27T05:53:57.006Z,1761544437.006 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.5 2025-10-27T05:53:57.011Z,1761544437.011 [DAT](INFO): DAT read: 05:53:55.6839 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499, 0.14, 2.303, 0.821, 2.806, 2.384, PHS= 0.021,-1.518, 0.378, RAW= 160.2, 12.8, CAL= 160.6, 14.5, ROT= 349.4, -14.5 2025-10-27T05:53:57.012Z,1761544437.012 [DAT](INFO): got valid direction response: 05:53:55.6839 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499, 0.14, 2.303, 0.821, 2.806, 2.384, PHS= 0.021,-1.518, 0.378, RAW= 160.2, 12.8, CAL= 160.6, 14.5, ROT= 349.4, -14.5 2025-10-27T05:53:57.013Z,1761544437.013 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:53:57.014Z,1761544437.014 [DAT](INFO): direction in FSK: [0.951627,-0.178092,0.250380] 2025-10-27T05:53:57.015Z,1761544437.015 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:57.021Z,1761544437.021 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.526157 2025-10-27T05:53:57.252Z,1761544437.252 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.757412 2025-10-27T05:53:57.376Z,1761544437.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.133170,0.980299,0.145876],[-0.990827,-0.135094,0.003313],[0.022955,-0.144096,0.989297]] 2025-10-27T05:53:57.414Z,1761544437.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.505233 s, deltaX: -0.500000 m, approachRate: -0.989642 m/s, rangeRepo size: 4 2025-10-27T05:53:57.421Z,1761544437.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.394283 m, bearing: 253.910478 deg, lat: 36.779412 deg, lon: -121.859773 deg, deltaT: 0.505233 s, deltaX: -0.496798 m, approachRate: -0.983304 m/s, posRepo size: 4 2025-10-27T05:53:57.422Z,1761544437.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T05:53:57.428Z,1761544437.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.394283 m, nav range: 15.558910 m, bearing: 255.048146 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.951950 deg, new cmd heading: 263.821056 deg. 2025-10-27T05:53:57.430Z,1761544437.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604546 target range: 16.394283 and range: 16.50 m. 2025-10-27T05:53:57.505Z,1761544437.505 [DAT](INFO): DAT read: Rx Time:05:53:56.1838 2025-10-27T05:53:57.505Z,1761544437.505 [DAT](INFO): Rx dataTimestamp_ set to:1761544437.504809 2025-10-27T05:53:57.506Z,1761544437.506 [DAT](INFO): DAT read: Bearing 74.1, -11.3 (Local) 2025-10-27T05:53:57.507Z,1761544437.507 [DAT](INFO): Local bearing/azimuth received: Bearing 74.1, -11.3 (Local) 2025-10-27T05:53:57.509Z,1761544437.509 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5 2025-10-27T05:53:57.517Z,1761544437.517 [DAT](INFO): DAT read: 05:53:56.1838 LVL= 32752, 32753, 30818, 32755, AGC= 58, IDX= 498,-0.03, 1.257,-0.216, 1.761, 1.313, PHS= 0.047,-1.483, 0.404, RAW= 160.3, 11.9, CAL= 160.5, 13.3, ROT= 349.5, -13.3 2025-10-27T05:53:57.518Z,1761544437.518 [DAT](INFO): got valid direction response: 05:53:56.1838 LVL= 32752, 32753, 30818, 32755, AGC= 58, IDX= 498,-0.03, 1.257,-0.216, 1.761, 1.313, PHS= 0.047,-1.483, 0.404, RAW= 160.3, 11.9, CAL= 160.5, 13.3, ROT= 349.5, -13.3 2025-10-27T05:53:57.523Z,1761544437.523 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:53:57.524Z,1761544437.524 [DAT](INFO): direction in FSK: [0.956883,-0.177348,0.230050] 2025-10-27T05:53:57.524Z,1761544437.524 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:57.540Z,1761544437.540 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.045662 2025-10-27T05:53:57.757Z,1761544437.757 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.262230 2025-10-27T05:53:57.826Z,1761544437.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.131604,0.980679,0.144735],[-0.991083,-0.133235,0.001593],[0.020846,-0.143235,0.989469]] 2025-10-27T05:53:57.976Z,1761544437.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.502867 s, deltaX: -0.100000 m, approachRate: -0.198860 m/s, rangeRepo size: 4 2025-10-27T05:53:57.984Z,1761544437.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.294720 m, bearing: 253.914110 deg, lat: 36.779411 deg, lon: -121.859773 deg, deltaT: 0.502867 s, deltaX: -0.099564 m, approachRate: -0.197992 m/s, posRepo size: 4 2025-10-27T05:53:57.985Z,1761544437.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.29 m. 2025-10-27T05:53:57.991Z,1761544437.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.294720 m, nav range: 15.252552 m, bearing: 254.733257 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.821056 deg, new cmd heading: 263.651557 deg. 2025-10-27T05:53:57.992Z,1761544437.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601588 target range: 16.294720 and range: 16.40 m. 2025-10-27T05:53:58.009Z,1761544438.009 [DAT](INFO): DAT read: Rx Time:05:53:56.6835 2025-10-27T05:53:58.009Z,1761544438.009 [DAT](INFO): Rx dataTimestamp_ set to:1761544438.008755 2025-10-27T05:53:58.010Z,1761544438.010 [DAT](INFO): DAT read: Bearing 72.6, -11.2 (Local) 2025-10-27T05:53:58.011Z,1761544438.011 [DAT](INFO): Local bearing/azimuth received: Bearing 72.6, -11.2 (Local) 2025-10-27T05:53:58.013Z,1761544438.013 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.5 2025-10-27T05:53:58.017Z,1761544438.017 [DAT](INFO): DAT read: 05:53:56.6835 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 495,-0.22,-0.335,-1.794, 0.170,-0.313, PHS= 0.080,-1.437, 0.439, RAW= 160.4, 10.7, CAL= 160.5, 11.7, ROT= 349.5, -11.7 2025-10-27T05:53:58.019Z,1761544438.019 [DAT](INFO): got valid direction response: 05:53:56.6835 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 495,-0.22,-0.335,-1.794, 0.170,-0.313, PHS= 0.080,-1.437, 0.439, RAW= 160.4, 10.7, CAL= 160.5, 11.7, ROT= 349.5, -11.7 2025-10-27T05:53:58.019Z,1761544438.019 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:53:58.020Z,1761544438.020 [DAT](INFO): direction in FSK: [0.962826,-0.178449,0.202787] 2025-10-27T05:53:58.020Z,1761544438.020 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:58.048Z,1761544438.048 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.553692 2025-10-27T05:53:58.262Z,1761544438.262 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.767712 2025-10-27T05:53:58.305Z,1761544438.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129807,0.981111,0.143425],[-0.991360,-0.131168,0.000036],[0.018848,-0.142181,0.989661]] 2025-10-27T05:53:58.400Z,1761544438.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503946 s, deltaX: -0.500000 m, approachRate: -0.992170 m/s, rangeRepo size: 4 2025-10-27T05:53:58.410Z,1761544438.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.797930 m, bearing: 253.773477 deg, lat: 36.779409 deg, lon: -121.859773 deg, deltaT: 0.503946 s, deltaX: -0.496790 m, approachRate: -0.985800 m/s, posRepo size: 4 2025-10-27T05:53:58.411Z,1761544438.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T05:53:58.426Z,1761544438.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.797930 m, nav range: 15.103478 m, bearing: 253.820605 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.651558 deg, new cmd heading: 263.523485 deg. 2025-10-27T05:53:58.428Z,1761544438.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599352 target range: 15.797930 and range: 15.90 m. 2025-10-27T05:53:58.513Z,1761544438.513 [DAT](INFO): DAT read: Rx Time:05:53:57.1833 2025-10-27T05:53:58.513Z,1761544438.513 [DAT](INFO): Rx dataTimestamp_ set to:1761544438.513006 2025-10-27T05:53:58.515Z,1761544438.515 [DAT](INFO): DAT read: Bearing 75.8, -11.8 (Local) 2025-10-27T05:53:58.521Z,1761544438.521 [DAT](INFO): Local bearing/azimuth received: Bearing 75.8, -11.8 (Local) 2025-10-27T05:53:58.523Z,1761544438.523 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.6 2025-10-27T05:53:58.528Z,1761544438.528 [DAT](INFO): DAT read: 05:53:57.1833 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.24,-1.533,-2.951,-1.048,-1.450, PHS= 0.018,-1.457, 0.357, RAW= 160.1, 12.9, CAL= 160.6, 14.7, ROT= 349.4, -14.7 2025-10-27T05:53:58.529Z,1761544438.529 [DAT](INFO): got valid direction response: 05:53:57.1833 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.24,-1.533,-2.951,-1.048,-1.450, PHS= 0.018,-1.457, 0.357, RAW= 160.1, 12.9, CAL= 160.6, 14.7, ROT= 349.4, -14.7 2025-10-27T05:53:58.530Z,1761544438.530 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:53:58.531Z,1761544438.531 [DAT](INFO): direction in FSK: [0.950762,-0.177930,0.253758] 2025-10-27T05:53:58.531Z,1761544438.531 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:58.534Z,1761544438.534 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.039974 2025-10-27T05:53:58.764Z,1761544438.764 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=35.269382 2025-10-27T05:53:58.841Z,1761544438.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125148,0.981610,0.144155],[-0.992035,-0.125902,-0.003914],[0.014308,-0.143497,0.989547]] 2025-10-27T05:53:58.965Z,1761544438.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504251 s, deltaX: -0.299999 m, approachRate: -0.594940 m/s, rangeRepo size: 4 2025-10-27T05:53:58.972Z,1761544438.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.499722 m, bearing: 254.417432 deg, lat: 36.779409 deg, lon: -121.859774 deg, deltaT: 0.504251 s, deltaX: -0.298207 m, approachRate: -0.591387 m/s, posRepo size: 4 2025-10-27T05:53:58.972Z,1761544438.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T05:53:58.979Z,1761544438.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.499722 m, nav range: 14.867571 m, bearing: 253.940227 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.523479 deg, new cmd heading: 263.353140 deg. 2025-10-27T05:53:58.980Z,1761544438.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596379 target range: 15.499722 and range: 15.60 m. 2025-10-27T05:53:59.017Z,1761544439.017 [DAT](INFO): DAT read: Rx Time:05:53:57.6831 2025-10-27T05:53:59.018Z,1761544439.018 [DAT](INFO): Rx dataTimestamp_ set to:1761544439.017396 2025-10-27T05:53:59.020Z,1761544439.020 [DAT](INFO): DAT read: Bearing 70.8, -11.7 (Local) 2025-10-27T05:53:59.020Z,1761544439.020 [DAT](INFO): Local bearing/azimuth received: Bearing 70.8, -11.7 (Local) 2025-10-27T05:53:59.024Z,1761544439.024 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 2025-10-27T05:53:59.030Z,1761544439.030 [DAT](INFO): DAT read: 05:53:57.6831 LVL= 32752, 32753, 29058, 32755, AGC= 56, IDX= 506,-0.26,-2.308, 2.534,-1.783,-2.316, PHS= 0.110,-1.388, 0.489, RAW= 161.0, 9.2, CAL= 160.8, 9.8, ROT= 349.2, -9.8 2025-10-27T05:53:59.032Z,1761544439.032 [DAT](INFO): got valid direction response: 05:53:57.6831 LVL= 32752, 32753, 29058, 32755, AGC= 56, IDX= 506,-0.26,-2.308, 2.534,-1.783,-2.316, PHS= 0.110,-1.388, 0.489, RAW= 161.0, 9.2, CAL= 160.8, 9.8, ROT= 349.2, -9.8 2025-10-27T05:53:59.033Z,1761544439.033 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:53:59.034Z,1761544439.034 [DAT](INFO): direction in FSK: [0.967954,-0.184647,0.170209] 2025-10-27T05:53:59.035Z,1761544439.035 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:59.042Z,1761544439.042 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.546692 2025-10-27T05:53:59.231Z,1761544439.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121962,0.981750,0.145917],[-0.992466,-0.122353,-0.006321],[0.011647,-0.145589,0.989277]] 2025-10-27T05:53:59.268Z,1761544439.268 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=35.773628 2025-10-27T05:53:59.283Z,1761544439.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504390 s, deltaX: -0.400001 m, approachRate: -0.793038 m/s, rangeRepo size: 4 2025-10-27T05:53:59.285Z,1761544439.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.102293 m, bearing: 253.707380 deg, lat: 36.779408 deg, lon: -121.859775 deg, deltaT: 0.504390 s, deltaX: -0.397429 m, approachRate: -0.787941 m/s, posRepo size: 4 2025-10-27T05:53:59.286Z,1761544439.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m. 2025-10-27T05:53:59.301Z,1761544439.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.102293 m, nav range: 14.774142 m, bearing: 253.740872 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.353134 deg, new cmd heading: 263.257762 deg. 2025-10-27T05:53:59.302Z,1761544439.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594715 target range: 15.102293 and range: 15.20 m. 2025-10-27T05:53:59.526Z,1761544439.526 [DAT](INFO): DAT read: Rx Time:05:53:58.1830 2025-10-27T05:53:59.528Z,1761544439.528 [DAT](INFO): Rx dataTimestamp_ set to:1761544439.526338 2025-10-27T05:53:59.529Z,1761544439.529 [DAT](INFO): DAT read: Bearing 74.4, -12.5 (Local) 2025-10-27T05:53:59.530Z,1761544439.530 [DAT](INFO): Local bearing/azimuth received: Bearing 74.4, -12.5 (Local) 2025-10-27T05:53:59.532Z,1761544439.532 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T05:53:59.536Z,1761544439.536 [DAT](INFO): DAT read: 05:53:58.1830 LVL= 32752, 32753, 31042, 32755, AGC= 54, IDX= 505, 0.01,-3.125, 1.728,-2.610,-3.062, PHS= 0.039,-1.448, 0.408, RAW= 160.8, 11.8, CAL= 161.1, 13.2, ROT= 348.9, -13.2 2025-10-27T05:53:59.538Z,1761544439.538 [DAT](INFO): got valid direction response: 05:53:58.1830 LVL= 32752, 32753, 31042, 32755, AGC= 54, IDX= 505, 0.01,-3.125, 1.728,-2.610,-3.062, PHS= 0.039,-1.448, 0.408, RAW= 160.8, 11.8, CAL= 161.1, 13.2, ROT= 348.9, -13.2 2025-10-27T05:53:59.538Z,1761544439.538 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:53:59.539Z,1761544439.539 [DAT](INFO): direction in FSK: [0.955366,-0.187435,0.228351] 2025-10-27T05:53:59.539Z,1761544439.539 [DAT](INFO): publishing direction and range info 2025-10-27T05:53:59.543Z,1761544439.543 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.048317 2025-10-27T05:53:59.630Z,1761544439.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118904,0.981833,0.147870],[-0.992863,-0.118952,-0.008551],[0.009194,-0.147832,0.988970]] 2025-10-27T05:53:59.747Z,1761544439.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.508942 s, deltaX: -0.200000 m, approachRate: -0.392972 m/s, rangeRepo size: 4 2025-10-27T05:53:59.749Z,1761544439.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.903644 m, bearing: 254.131151 deg, lat: 36.779408 deg, lon: -121.859775 deg, deltaT: 0.508942 s, deltaX: -0.198649 m, approachRate: -0.390318 m/s, posRepo size: 4 2025-10-27T05:53:59.750Z,1761544439.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m. 2025-10-27T05:53:59.757Z,1761544439.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.903644 m, nav range: 14.553317 m, bearing: 253.806014 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.257757 deg, new cmd heading: 263.118536 deg. 2025-10-27T05:53:59.758Z,1761544439.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592285 target range: 14.903644 and range: 15.00 m. 2025-10-27T05:53:59.772Z,1761544439.772 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.277569 2025-10-27T05:54:00.029Z,1761544440.029 [DAT](INFO): DAT read: Rx Time:05:53:58.6827 2025-10-27T05:54:00.029Z,1761544440.029 [DAT](INFO): Rx dataTimestamp_ set to:1761544440.028919 2025-10-27T05:54:00.031Z,1761544440.031 [DAT](INFO): DAT read: Bearing 74.6, -12.8 (Local) 2025-10-27T05:54:00.032Z,1761544440.032 [DAT](INFO): Local bearing/azimuth received: Bearing 74.6, -12.8 (Local) 2025-10-27T05:54:00.035Z,1761544440.035 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 2025-10-27T05:54:00.042Z,1761544440.042 [DAT](INFO): DAT read: 05:53:58.6827 LVL= 32752, 32753, 29042, 32755, AGC= 53, IDX= 502, 0.37, 1.148,-0.290, 1.669, 1.217, PHS= 0.032,-1.463, 0.408, RAW= 160.9, 11.9, CAL= 161.2, 13.4, ROT= 348.8, -13.4 2025-10-27T05:54:00.043Z,1761544440.043 [DAT](INFO): got valid direction response: 05:53:58.6827 LVL= 32752, 32753, 29042, 32755, AGC= 53, IDX= 502, 0.37, 1.148,-0.290, 1.669, 1.217, PHS= 0.032,-1.463, 0.408, RAW= 160.9, 11.9, CAL= 161.2, 13.4, ROT= 348.8, -13.4 2025-10-27T05:54:00.043Z,1761544440.043 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:54:00.044Z,1761544440.044 [DAT](INFO): direction in FSK: [0.954249,-0.188947,0.231748] 2025-10-27T05:54:00.045Z,1761544440.045 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:00.049Z,1761544440.049 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.554260 2025-10-27T05:54:00.111Z,1761544440.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.115128,0.981951,0.150063],[-0.993330,-0.114773,-0.011055],[0.006367,-0.150334,0.988615]] 2025-10-27T05:54:00.172Z,1761544440.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502581 s, deltaX: -0.400000 m, approachRate: -0.795891 m/s, rangeRepo size: 4 2025-10-27T05:54:00.174Z,1761544440.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.506214 m, bearing: 254.325296 deg, lat: 36.779409 deg, lon: -121.859774 deg, deltaT: 0.502581 s, deltaX: -0.397429 m, approachRate: -0.790777 m/s, posRepo size: 4 2025-10-27T05:54:00.175Z,1761544440.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T05:54:00.182Z,1761544440.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.506214 m, nav range: 14.251608 m, bearing: 254.286588 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 263.118530 deg, new cmd heading: 262.990506 deg. 2025-10-27T05:54:00.184Z,1761544440.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590050 target range: 14.506214 and range: 14.60 m. 2025-10-27T05:54:00.277Z,1761544440.277 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=36.782188 2025-10-27T05:54:00.529Z,1761544440.529 [DAT](INFO): DAT read: Rx Time:05:53:59.1827 2025-10-27T05:54:00.530Z,1761544440.530 [DAT](INFO): Rx dataTimestamp_ set to:1761544440.529630 2025-10-27T05:54:00.531Z,1761544440.531 [DAT](INFO): DAT read: Bearing 74.4, -12.5 (Local) 2025-10-27T05:54:00.532Z,1761544440.532 [DAT](INFO): Local bearing/azimuth received: Bearing 74.4, -12.5 (Local) 2025-10-27T05:54:00.534Z,1761544440.534 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 2025-10-27T05:54:00.538Z,1761544440.538 [DAT](INFO): DAT read: 05:53:59.1827 LVL= 32752, 32753, 31618, 32755, AGC= 53, IDX= 502,-0.17, 0.033,-1.388, 0.534, 0.091, PHS= 0.044,-1.434, 0.399, RAW= 160.5, 11.7, CAL= 160.8, 13.2, ROT= 349.2, -13.2 2025-10-27T05:54:00.540Z,1761544440.540 [DAT](INFO): got valid direction response: 05:53:59.1827 LVL= 32752, 32753, 31618, 32755, AGC= 53, IDX= 502,-0.17, 0.033,-1.388, 0.534, 0.091, PHS= 0.044,-1.434, 0.399, RAW= 160.5, 11.7, CAL= 160.8, 13.2, ROT= 349.2, -13.2 2025-10-27T05:54:00.540Z,1761544440.540 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:54:00.541Z,1761544440.541 [DAT](INFO): direction in FSK: [0.956334,-0.182430,0.228351] 2025-10-27T05:54:00.541Z,1761544440.541 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:00.547Z,1761544440.547 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.052044 2025-10-27T05:54:00.557Z,1761544440.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.111231,0.981823,0.153788],[-0.993788,-0.110472,-0.013500],[0.003735,-0.154334,0.988012]] 2025-10-27T05:54:00.659Z,1761544440.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.500711 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:00.661Z,1761544440.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.506192 m, bearing: 254.983533 deg, lat: 36.779410 deg, lon: -121.859774 deg, deltaT: 0.500711 s, deltaX: -0.000022 m, approachRate: -0.000044 m/s, posRepo size: 4 2025-10-27T05:54:00.662Z,1761544440.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T05:54:00.673Z,1761544440.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.506192 m, nav range: 14.015959 m, bearing: 254.724603 deg, approach rate: 0.000000 m/s, LOS rate: -0.100511 deg/s, cmd heading: 262.990505 deg, new cmd heading: 262.843631 deg. 2025-10-27T05:54:00.674Z,1761544440.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587487 target range: 14.506192 and range: 14.60 m. 2025-10-27T05:54:00.785Z,1761544440.785 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.289486 2025-10-27T05:54:00.984Z,1761544440.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107626,0.981806,0.156440],[-0.994191,-0.106489,-0.015661],[0.001283,-0.157217,0.987563]] 2025-10-27T05:54:01.001Z,1761544441.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:01.003Z,1761544441.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T05:54:01.006Z,1761544441.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.506192 m, nav range: 13.854366 m, bearing: 254.836508 deg, approach rate: -0.463548 m/s, LOS rate: 0.324757 deg/s, cmd heading: 262.843629 deg, new cmd heading: 263.183255 deg. 2025-10-27T05:54:01.007Z,1761544441.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593414 target range: 14.506192 and range: 14.60 m. 2025-10-27T05:54:01.033Z,1761544441.033 [DAT](INFO): DAT read: Rx Time:05:53:59.6824 2025-10-27T05:54:01.033Z,1761544441.033 [DAT](INFO): Rx dataTimestamp_ set to:1761544441.032743 2025-10-27T05:54:01.034Z,1761544441.034 [DAT](INFO): DAT read: Bearing 72.9, -13.6 (Local) 2025-10-27T05:54:01.035Z,1761544441.035 [DAT](INFO): Local bearing/azimuth received: Bearing 72.9, -13.6 (Local) 2025-10-27T05:54:01.037Z,1761544441.037 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 2025-10-27T05:54:01.048Z,1761544441.048 [DAT](INFO): DAT read: 05:53:59.6824 LVL= 32752, 32753, 27826, 32755, AGC= 54, IDX= 499, 0.12, 2.178, 0.731, 2.740, 2.229, PHS= 0.050,-1.453, 0.466, RAW= 161.9, 10.7, CAL= 162.0, 11.8, ROT= 348.0, -11.8 2025-10-27T05:54:01.050Z,1761544441.050 [DAT](INFO): got valid direction response: 05:53:59.6824 LVL= 32752, 32753, 27826, 32755, AGC= 54, IDX= 499, 0.12, 2.178, 0.731, 2.740, 2.229, PHS= 0.050,-1.453, 0.466, RAW= 161.9, 10.7, CAL= 162.0, 11.8, ROT= 348.0, -11.8 2025-10-27T05:54:01.050Z,1761544441.050 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:54:01.056Z,1761544441.056 [DAT](INFO): direction in FSK: [0.957477,-0.203518,0.204496] 2025-10-27T05:54:01.056Z,1761544441.056 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:01.066Z,1761544441.066 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.571075 2025-10-27T05:54:01.284Z,1761544441.284 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.789406 2025-10-27T05:54:01.385Z,1761544441.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.104112,0.981744,0.159185],[-0.994565,-0.102589,-0.017776],[-0.001120,-0.160171,0.987089]] 2025-10-27T05:54:01.450Z,1761544441.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503113 s, deltaX: -0.500000 m, approachRate: -0.993813 m/s, rangeRepo size: 4 2025-10-27T05:54:01.456Z,1761544441.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.009405 m, bearing: 254.066876 deg, lat: 36.779409 deg, lon: -121.859773 deg, deltaT: 0.503113 s, deltaX: -0.496787 m, approachRate: -0.987426 m/s, posRepo size: 4 2025-10-27T05:54:01.457Z,1761544441.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T05:54:01.463Z,1761544441.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.009405 m, nav range: 13.607469 m, bearing: 254.573417 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 263.183253 deg, new cmd heading: 263.617956 deg. 2025-10-27T05:54:01.464Z,1761544441.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601001 target range: 14.009405 and range: 14.10 m. 2025-10-27T05:54:01.541Z,1761544441.541 [DAT](INFO): DAT read: Rx Time:05:54:00.1824 2025-10-27T05:54:01.542Z,1761544441.542 [DAT](INFO): Rx dataTimestamp_ set to:1761544441.541635 2025-10-27T05:54:01.547Z,1761544441.547 [DAT](INFO): DAT read: Bearing 72.9, -13.2 (Local) 2025-10-27T05:54:01.548Z,1761544441.548 [DAT](INFO): Local bearing/azimuth received: Bearing 72.9, -13.2 (Local) 2025-10-27T05:54:01.561Z,1761544441.561 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 2025-10-27T05:54:01.566Z,1761544441.566 [DAT](INFO): DAT read: 05:54:00.1824 LVL= 32752, 32753, 26290, 32755, AGC= 55, IDX= 499,-0.24, 1.843, 0.408, 2.380, 1.883, PHS= 0.062,-1.430, 0.453, RAW= 161.4, 10.7, CAL= 161.4, 11.7, ROT= 348.6, -11.7 2025-10-27T05:54:01.568Z,1761544441.568 [DAT](INFO): got valid direction response: 05:54:00.1824 LVL= 32752, 32753, 26290, 32755, AGC= 55, IDX= 499,-0.24, 1.843, 0.408, 2.380, 1.883, PHS= 0.062,-1.430, 0.453, RAW= 161.4, 10.7, CAL= 161.4, 11.7, ROT= 348.6, -11.7 2025-10-27T05:54:01.568Z,1761544441.568 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:54:01.569Z,1761544441.569 [DAT](INFO): direction in FSK: [0.959904,-0.193550,0.202787] 2025-10-27T05:54:01.569Z,1761544441.569 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:01.573Z,1761544441.573 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.078274 2025-10-27T05:54:01.790Z,1761544441.790 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=38.294727 2025-10-27T05:54:01.894Z,1761544441.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.100528,0.981642,0.162092],[-0.994929,-0.098643,-0.019658],[-0.003308,-0.163246,0.986580]] 2025-10-27T05:54:01.979Z,1761544441.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.508892 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:01.987Z,1761544441.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.009501 m, bearing: 254.899346 deg, lat: 36.779409 deg, lon: -121.859773 deg, deltaT: 0.508892 s, deltaX: 0.000095 m, approachRate: 0.000187 m/s, posRepo size: 4 2025-10-27T05:54:02.020Z,1761544442.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T05:54:02.022Z,1761544442.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.009501 m, nav range: 13.379290 m, bearing: 254.750348 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 263.617954 deg, new cmd heading: 264.133356 deg. 2025-10-27T05:54:02.023Z,1761544442.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609997 target range: 14.009501 and range: 14.10 m. 2025-10-27T05:54:02.041Z,1761544442.041 [DAT](INFO): DAT read: Rx Time:05:54:00.6821 2025-10-27T05:54:02.042Z,1761544442.042 [DAT](INFO): Rx dataTimestamp_ set to:1761544442.041268 2025-10-27T05:54:02.043Z,1761544442.043 [DAT](INFO): DAT read: Bearing 73.0, -13.9 (Local) 2025-10-27T05:54:02.043Z,1761544442.043 [DAT](INFO): Local bearing/azimuth received: Bearing 73.0, -13.9 (Local) 2025-10-27T05:54:02.045Z,1761544442.045 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-27T05:54:02.050Z,1761544442.050 [DAT](INFO): DAT read: 05:54:00.6821 LVL= 32752, 32753, 25762, 32755, AGC= 56, IDX= 496, 0.38, 2.124, 0.673, 2.686, 2.177, PHS= 0.049,-1.459, 0.465, RAW= 161.9, 10.8, CAL= 161.9, 11.9, ROT= 348.1, -11.9 2025-10-27T05:54:02.051Z,1761544442.051 [DAT](INFO): got valid direction response: 05:54:00.6821 LVL= 32752, 32753, 25762, 32755, AGC= 56, IDX= 496, 0.38, 2.124, 0.673, 2.686, 2.177, PHS= 0.049,-1.459, 0.465, RAW= 161.9, 10.8, CAL= 161.9, 11.9, ROT= 348.1, -11.9 2025-10-27T05:54:02.051Z,1761544442.051 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:54:02.052Z,1761544442.052 [DAT](INFO): direction in FSK: [0.957480,-0.201772,0.206204] 2025-10-27T05:54:02.053Z,1761544442.053 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:02.056Z,1761544442.056 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.561703 2025-10-27T05:54:02.292Z,1761544442.292 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.797447 2025-10-27T05:54:02.393Z,1761544442.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093862,0.981195,0.168662],[-0.995558,-0.091254,-0.023167],[-0.007340,-0.170087,0.985402]] 2025-10-27T05:54:02.482Z,1761544442.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.499633 s, deltaX: -0.400001 m, approachRate: -0.800589 m/s, rangeRepo size: 4 2025-10-27T05:54:02.505Z,1761544442.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.612067 m, bearing: 254.925653 deg, lat: 36.779409 deg, lon: -121.859774 deg, deltaT: 0.499633 s, deltaX: -0.397433 m, approachRate: -0.795450 m/s, posRepo size: 4 2025-10-27T05:54:02.528Z,1761544442.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m. 2025-10-27T05:54:02.549Z,1761544442.549 [DAT](INFO): DAT read: Rx Time:05:54:01.1820 2025-10-27T05:54:02.550Z,1761544442.550 [DAT](INFO): Rx dataTimestamp_ set to:1761544442.549152 2025-10-27T05:54:02.554Z,1761544442.554 [DAT](INFO): DAT read: Bearing 75.9, -13.4 (Local) 2025-10-27T05:54:02.562Z,1761544442.562 [DAT](INFO): Local bearing/azimuth received: Bearing 75.9, -13.4 (Local) 2025-10-27T05:54:02.564Z,1761544442.564 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 2025-10-27T05:54:02.577Z,1761544442.577 [DAT](INFO): DAT read: 05:54:01.1820 LVL= 32752, 32753, 29682, 32755, AGC= 56, IDX= 511, 0.10, 2.884, 1.444,-2.893, 2.976, PHS= 0.010,-1.487, 0.371, RAW= 160.5, 12.9, CAL= 161.0, 14.8, ROT= 349.0, -14.8 2025-10-27T05:54:02.579Z,1761544442.579 [DAT](INFO): got valid direction response: 05:54:01.1820 LVL= 32752, 32753, 29682, 32755, AGC= 56, IDX= 511, 0.10, 2.884, 1.444,-2.893, 2.976, PHS= 0.010,-1.487, 0.371, RAW= 160.5, 12.9, CAL= 161.0, 14.8, ROT= 349.0, -14.8 2025-10-27T05:54:02.580Z,1761544442.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.612067 m, nav range: 13.245576 m, bearing: 254.925699 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 264.133360 deg, new cmd heading: 264.624022 deg. 2025-10-27T05:54:02.581Z,1761544442.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618560 target range: 13.612067 and range: 13.70 m. 2025-10-27T05:54:02.587Z,1761544442.587 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:54:02.588Z,1761544442.588 [DAT](INFO): direction in FSK: [0.949060,-0.184479,0.255446] 2025-10-27T05:54:02.589Z,1761544442.589 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:02.609Z,1761544442.609 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.114021 2025-10-27T05:54:02.796Z,1761544442.796 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=39.301491 2025-10-27T05:54:02.944Z,1761544442.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.090772,0.981221,0.170192],[-0.995830,-0.087860,-0.024582],[-0.009167,-0.171714,0.985104]] 2025-10-27T05:54:03.007Z,1761544443.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.507884 s, deltaX: -0.200000 m, approachRate: -0.393790 m/s, rangeRepo size: 4 2025-10-27T05:54:03.013Z,1761544443.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.413290 m, bearing: 256.547950 deg, lat: 36.779409 deg, lon: -121.859774 deg, deltaT: 0.507884 s, deltaX: -0.198777 m, approachRate: -0.391383 m/s, posRepo size: 4 2025-10-27T05:54:03.014Z,1761544443.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m. 2025-10-27T05:54:03.025Z,1761544443.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.413290 m, nav range: 13.010267 m, bearing: 255.116763 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 264.624013 deg, new cmd heading: 265.134866 deg. 2025-10-27T05:54:03.026Z,1761544443.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627476 target range: 13.413290 and range: 13.50 m. 2025-10-27T05:54:03.049Z,1761544443.049 [DAT](INFO): DAT read: Rx Time:05:54:01.6818 2025-10-27T05:54:03.049Z,1761544443.049 [DAT](INFO): Rx dataTimestamp_ set to:1761544443.048880 2025-10-27T05:54:03.050Z,1761544443.050 [DAT](INFO): DAT read: Bearing 75.6, -14.1 (Local) 2025-10-27T05:54:03.051Z,1761544443.051 [DAT](INFO): Local bearing/azimuth received: Bearing 75.6, -14.1 (Local) 2025-10-27T05:54:03.053Z,1761544443.053 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-27T05:54:03.058Z,1761544443.058 [DAT](INFO): DAT read: 05:54:01.6818 LVL= 32752, 32753, 26946, 32755, AGC= 55, IDX= 509,-0.01, 0.206,-1.225, 0.739, 0.307, PHS= 0.001,-1.487, 0.388, RAW= 161.3, 12.8, CAL= 161.7, 14.6, ROT= 348.3, -14.6 2025-10-27T05:54:03.059Z,1761544443.059 [DAT](INFO): got valid direction response: 05:54:01.6818 LVL= 32752, 32753, 26946, 32755, AGC= 55, IDX= 509,-0.01, 0.206,-1.225, 0.739, 0.307, PHS= 0.001,-1.487, 0.388, RAW= 161.3, 12.8, CAL= 161.7, 14.6, ROT= 348.3, -14.6 2025-10-27T05:54:03.060Z,1761544443.060 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:54:03.061Z,1761544443.061 [DAT](INFO): direction in FSK: [0.947603,-0.196239,0.252069] 2025-10-27T05:54:03.061Z,1761544443.061 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:03.065Z,1761544443.065 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.570171 2025-10-27T05:54:03.301Z,1761544443.301 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.806282 2025-10-27T05:54:03.398Z,1761544443.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.088389,0.981159,0.171799],[-0.996032,-0.085255,-0.025549],[-0.010421,-0.173375,0.984801]] 2025-10-27T05:54:03.460Z,1761544443.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.499728 s, deltaX: -0.300000 m, approachRate: -0.600327 m/s, rangeRepo size: 4 2025-10-27T05:54:03.462Z,1761544443.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.115217 m, bearing: 255.986466 deg, lat: 36.779409 deg, lon: -121.859773 deg, deltaT: 0.499728 s, deltaX: -0.298073 m, approachRate: -0.596470 m/s, posRepo size: 4 2025-10-27T05:54:03.462Z,1761544443.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-27T05:54:03.469Z,1761544443.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.115217 m, nav range: 12.783625 m, bearing: 255.246108 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 265.134857 deg, new cmd heading: 265.567840 deg. 2025-10-27T05:54:03.470Z,1761544443.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635033 target range: 13.115217 and range: 13.20 m. 2025-10-27T05:54:03.558Z,1761544443.558 [DAT](INFO): DAT read: Rx Time:05:54:02.1818 2025-10-27T05:54:03.576Z,1761544443.576 [DAT](INFO): Rx dataTimestamp_ set to:1761544443.575310 2025-10-27T05:54:03.580Z,1761544443.580 [DAT](INFO): DAT read: Bearing 75.0, -13.2 (Local) 2025-10-27T05:54:03.581Z,1761544443.581 [DAT](INFO): Local bearing/azimuth received: Bearing 75.0, -13.2 (Local) 2025-10-27T05:54:03.601Z,1761544443.601 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.3 2025-10-27T05:54:03.631Z,1761544443.631 [DAT](INFO): DAT read: 05:54:02.1818 LVL= 32752, 32753, 31602, 32755, AGC= 54, IDX= 509,-0.10, 0.198,-1.240, 0.703, 0.270, PHS= 0.031,-1.465, 0.389, RAW= 160.5, 12.2, CAL= 160.8, 13.8, ROT= 349.2, -13.8 2025-10-27T05:54:03.633Z,1761544443.633 [DAT](INFO): got valid direction response: 05:54:02.1818 LVL= 32752, 32753, 31602, 32755, AGC= 54, IDX= 509,-0.10, 0.198,-1.240, 0.703, 0.270, PHS= 0.031,-1.465, 0.389, RAW= 160.5, 12.2, CAL= 160.8, 13.8, ROT= 349.2, -13.8 2025-10-27T05:54:03.634Z,1761544443.634 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:54:03.650Z,1761544443.650 [DAT](INFO): direction in FSK: [0.953933,-0.181972,0.238533] 2025-10-27T05:54:03.650Z,1761544443.650 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:03.663Z,1761544443.663 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.168064 2025-10-27T05:54:03.805Z,1761544443.805 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=40.310246 2025-10-27T05:54:03.964Z,1761544443.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.526430 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:03.966Z,1761544443.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.115157 m, bearing: 256.728674 deg, lat: 36.779411 deg, lon: -121.859774 deg, deltaT: 0.526430 s, deltaX: -0.000060 m, approachRate: -0.000114 m/s, posRepo size: 4 2025-10-27T05:54:03.967Z,1761544443.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-27T05:54:03.993Z,1761544443.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.115157 m, nav range: 12.504953 m, bearing: 256.287320 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 265.567836 deg, new cmd heading: 266.067349 deg. 2025-10-27T05:54:03.994Z,1761544443.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643751 target range: 13.115157 and range: 13.20 m. 2025-10-27T05:54:04.057Z,1761544444.057 [DAT](INFO): DAT read: Rx Time:05:54:02.6816 2025-10-27T05:54:04.057Z,1761544444.057 [DAT](INFO): Rx dataTimestamp_ set to:1761544444.056919 2025-10-27T05:54:04.058Z,1761544444.058 [DAT](INFO): DAT read: Bearing 75.1, -13.3 (Local) 2025-10-27T05:54:04.059Z,1761544444.059 [DAT](INFO): Local bearing/azimuth received: Bearing 75.1, -13.3 (Local) 2025-10-27T05:54:04.061Z,1761544444.061 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-27T05:54:04.066Z,1761544444.066 [DAT](INFO): DAT read: 05:54:02.6816 LVL= 32752, 32753, 28802, 32755, AGC= 55, IDX= 507,-0.28,-0.915,-2.344,-0.412,-0.841, PHS= 0.028,-1.457, 0.385, RAW= 160.5, 12.3, CAL= 160.9, 13.9, ROT= 349.1, -13.9 2025-10-27T05:54:04.068Z,1761544444.068 [DAT](INFO): got valid direction response: 05:54:02.6816 LVL= 32752, 32753, 28802, 32755, AGC= 55, IDX= 507,-0.28,-0.915,-2.344,-0.412,-0.841, PHS= 0.028,-1.457, 0.385, RAW= 160.5, 12.3, CAL= 160.9, 13.9, ROT= 349.1, -13.9 2025-10-27T05:54:04.068Z,1761544444.068 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:54:04.069Z,1761544444.069 [DAT](INFO): direction in FSK: [0.953204,-0.183558,0.240228] 2025-10-27T05:54:04.069Z,1761544444.069 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:04.074Z,1761544444.074 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.579010 2025-10-27T05:54:04.309Z,1761544444.309 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.814262 2025-10-27T05:54:04.402Z,1761544444.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.082557,0.982700,0.165787],[-0.996503,-0.079250,-0.026480],[-0.012883,-0.167393,0.985806]] 2025-10-27T05:54:04.464Z,1761544444.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.481609 s, deltaX: -0.300000 m, approachRate: -0.622912 m/s, rangeRepo size: 4 2025-10-27T05:54:04.466Z,1761544444.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.817085 m, bearing: 256.893490 deg, lat: 36.779411 deg, lon: -121.859774 deg, deltaT: 0.481609 s, deltaX: -0.298072 m, approachRate: -0.618908 m/s, posRepo size: 4 2025-10-27T05:54:04.467Z,1761544444.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T05:54:04.469Z,1761544444.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.817085 m, nav range: 12.253552 m, bearing: 256.662173 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 266.067342 deg, new cmd heading: 266.554471 deg. 2025-10-27T05:54:04.470Z,1761544444.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652253 target range: 12.817085 and range: 12.90 m. 2025-10-27T05:54:04.580Z,1761544444.580 [DAT](INFO): DAT read: Rx Time:05:54:03.1815 2025-10-27T05:54:04.582Z,1761544444.582 [DAT](INFO): Rx dataTimestamp_ set to:1761544444.580815 2025-10-27T05:54:04.586Z,1761544444.586 [DAT](INFO): DAT read: Bearing 75.3, -13.7 (Local) 2025-10-27T05:54:04.588Z,1761544444.588 [DAT](INFO): Local bearing/azimuth received: Bearing 75.3, -13.7 (Local) 2025-10-27T05:54:04.590Z,1761544444.590 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 2025-10-27T05:54:04.596Z,1761544444.596 [DAT](INFO): DAT read: 05:54:03.1815 LVL= 32752, 32753, 26930, 32755, AGC= 55, IDX= 506, 0.35, 2.620, 1.169,-3.141, 2.702, PHS= 0.020,-1.488, 0.397, RAW= 160.9, 12.4, CAL= 161.2, 14.0, ROT= 348.8, -14.0 2025-10-27T05:54:04.597Z,1761544444.597 [DAT](INFO): got valid direction response: 05:54:03.1815 LVL= 32752, 32753, 26930, 32755, AGC= 55, IDX= 506, 0.35, 2.620, 1.169,-3.141, 2.702, PHS= 0.020,-1.488, 0.397, RAW= 160.9, 12.4, CAL= 161.2, 14.0, ROT= 348.8, -14.0 2025-10-27T05:54:04.597Z,1761544444.597 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:54:04.598Z,1761544444.598 [DAT](INFO): direction in FSK: [0.951817,-0.188465,0.241922] 2025-10-27T05:54:04.599Z,1761544444.599 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:04.646Z,1761544444.646 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.151211 2025-10-27T05:54:04.812Z,1761544444.812 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=41.317520 2025-10-27T05:54:04.949Z,1761544444.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.523896 s, deltaX: -0.099999 m, approachRate: -0.190876 m/s, rangeRepo size: 4 2025-10-27T05:54:04.956Z,1761544444.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.717845 m, bearing: 256.614590 deg, lat: 36.779411 deg, lon: -121.859775 deg, deltaT: 0.523896 s, deltaX: -0.099240 m, approachRate: -0.189427 m/s, posRepo size: 4 2025-10-27T05:54:04.956Z,1761544444.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-27T05:54:04.963Z,1761544444.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.717845 m, nav range: 12.144884 m, bearing: 256.910691 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 266.554471 deg, new cmd heading: 267.027424 deg. 2025-10-27T05:54:04.964Z,1761544444.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660508 target range: 12.717845 and range: 12.80 m. 2025-10-27T05:54:05.065Z,1761544445.065 [DAT](INFO): DAT read: Rx Time:05:54:03.6813 2025-10-27T05:54:05.065Z,1761544445.065 [DAT](INFO): Rx dataTimestamp_ set to:1761544445.064805 2025-10-27T05:54:05.066Z,1761544445.066 [DAT](INFO): DAT read: Bearing 74.7, -13.6 (Local) 2025-10-27T05:54:05.067Z,1761544445.067 [DAT](INFO): Local bearing/azimuth received: Bearing 74.7, -13.6 (Local) 2025-10-27T05:54:05.069Z,1761544445.069 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T05:54:05.076Z,1761544445.076 [DAT](INFO): DAT read: 05:54:03.6813 LVL= 32752, 32753, 29426, 32755, AGC= 54, IDX= 504, 0.08, 1.013,-0.438, 1.543, 1.083, PHS= 0.032,-1.477, 0.416, RAW= 161.1, 11.9, CAL= 161.3, 13.4, ROT= 348.7, -13.4 2025-10-27T05:54:05.078Z,1761544445.078 [DAT](INFO): got valid direction response: 05:54:03.6813 LVL= 32752, 32753, 29426, 32755, AGC= 54, IDX= 504, 0.08, 1.013,-0.438, 1.543, 1.083, PHS= 0.032,-1.477, 0.416, RAW= 161.1, 11.9, CAL= 161.3, 13.4, ROT= 348.7, -13.4 2025-10-27T05:54:05.078Z,1761544445.078 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:54:05.082Z,1761544445.082 [DAT](INFO): direction in FSK: [0.953918,-0.190612,0.231748] 2025-10-27T05:54:05.082Z,1761544445.082 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:05.100Z,1761544445.100 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.605927 2025-10-27T05:54:05.284Z,1761544445.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079589,0.983475,0.162609],[-0.996741,-0.076361,-0.026013],[-0.013166,-0.164149,0.986348]] 2025-10-27T05:54:05.308Z,1761544445.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.483990 s, deltaX: -0.300000 m, approachRate: -0.619848 m/s, rangeRepo size: 4 2025-10-27T05:54:05.310Z,1761544445.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.419770 m, bearing: 256.530087 deg, lat: 36.779411 deg, lon: -121.859776 deg, deltaT: 0.483990 s, deltaX: -0.298075 m, approachRate: -0.615870 m/s, posRepo size: 4 2025-10-27T05:54:05.319Z,1761544445.319 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.824123 2025-10-27T05:54:05.333Z,1761544445.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T05:54:05.357Z,1761544445.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.419770 m, nav range: 11.987062 m, bearing: 256.781296 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 267.027420 deg, new cmd heading: 267.377396 deg. 2025-10-27T05:54:05.366Z,1761544445.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666616 target range: 12.419770 and range: 12.50 m. 2025-10-27T05:54:05.573Z,1761544445.573 [DAT](INFO): DAT read: Rx Time:05:54:04.1813 2025-10-27T05:54:05.575Z,1761544445.575 [DAT](INFO): Rx dataTimestamp_ set to:1761544445.573833 2025-10-27T05:54:05.580Z,1761544445.580 [DAT](INFO): DAT read: Bearing 75.9, -13.1 (Local) 2025-10-27T05:54:05.581Z,1761544445.581 [DAT](INFO): Local bearing/azimuth received: Bearing 75.9, -13.1 (Local) 2025-10-27T05:54:05.589Z,1761544445.589 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T05:54:05.620Z,1761544445.620 [DAT](INFO): DAT read: 05:54:04.1813 LVL= 32752, 32753, 29650, 32755, AGC= 55, IDX= 504,-0.31, 1.317,-0.123, 1.809, 1.395, PHS= 0.024,-1.472, 0.371, RAW= 160.2, 12.7, CAL= 160.6, 14.4, ROT= 349.4, -14.4 2025-10-27T05:54:05.622Z,1761544445.622 [DAT](INFO): got valid direction response: 05:54:04.1813 LVL= 32752, 32753, 29650, 32755, AGC= 55, IDX= 504,-0.31, 1.317,-0.123, 1.809, 1.395, PHS= 0.024,-1.472, 0.371, RAW= 160.2, 12.7, CAL= 160.6, 14.4, ROT= 349.4, -14.4 2025-10-27T05:54:05.622Z,1761544445.622 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:54:05.628Z,1761544445.628 [DAT](INFO): direction in FSK: [0.952055,-0.178172,0.248690] 2025-10-27T05:54:05.628Z,1761544445.628 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:05.642Z,1761544445.642 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.147594 2025-10-27T05:54:05.686Z,1761544445.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.078312,0.984171,0.158979],[-0.996844,-0.075228,-0.025333],[-0.012973,-0.160461,0.986957]] 2025-10-27T05:54:05.812Z,1761544445.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.509028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:05.823Z,1761544445.823 [DAT](INFO): DAT read: Rx Time:05:54:04.6810 2025-10-27T05:54:05.825Z,1761544445.825 [DAT](INFO): Rx dataTimestamp_ set to:1761544445.823898 2025-10-27T05:54:05.827Z,1761544445.827 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.332050 2025-10-27T05:54:05.829Z,1761544445.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.419829 m, bearing: 257.410270 deg, lat: 36.779411 deg, lon: -121.859776 deg, deltaT: 0.509028 s, deltaX: 0.000059 m, approachRate: 0.000116 m/s, posRepo size: 4 2025-10-27T05:54:05.847Z,1761544445.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T05:54:05.871Z,1761544445.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.419829 m, nav range: 11.718995 m, bearing: 257.079287 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 267.377399 deg, new cmd heading: 267.867372 deg. 2025-10-27T05:54:05.875Z,1761544445.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675168 target range: 12.419829 and range: 12.50 m. 2025-10-27T05:54:06.073Z,1761544446.073 [DAT](INFO): DAT read: Bearing 76.0, -13.6 (Local) 2025-10-27T05:54:06.073Z,1761544446.073 [DAT](INFO): Local bearing/azimuth received: Bearing 76.0, -13.6 (Local) 2025-10-27T05:54:06.075Z,1761544446.075 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5 2025-10-27T05:54:06.080Z,1761544446.080 [DAT](INFO): DAT read: 05:54:04.6810 LVL= 32752, 32753, 28226, 32755, AGC= 55, IDX= 501, 0.03, 2.831, 1.385,-2.934, 2.920, PHS= 0.013,-1.490, 0.385, RAW= 160.8, 12.7, CAL= 161.2, 14.4, ROT= 348.8, -14.4 2025-10-27T05:54:06.081Z,1761544446.081 [DAT](INFO): got valid direction response: 05:54:04.6810 LVL= 32752, 32753, 28226, 32755, AGC= 55, IDX= 501, 0.03, 2.831, 1.385,-2.934, 2.920, PHS= 0.013,-1.490, 0.385, RAW= 160.8, 12.7, CAL= 161.2, 14.4, ROT= 348.8, -14.4 2025-10-27T05:54:06.081Z,1761544446.081 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:54:06.082Z,1761544446.082 [DAT](INFO): direction in FSK: [0.950137,-0.188133,0.248690] 2025-10-27T05:54:06.083Z,1761544446.083 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:06.086Z,1761544446.086 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.591770 2025-10-27T05:54:06.327Z,1761544446.327 [DAT](INFO): DAT read: Rx Time:05:54:05.1808 2025-10-27T05:54:06.329Z,1761544446.329 [DAT](INFO): Rx dataTimestamp_ set to:1761544446.327695 2025-10-27T05:54:06.331Z,1761544446.331 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.835911 2025-10-27T05:54:06.342Z,1761544446.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.497597 s, deltaX: -0.300000 m, approachRate: -0.602898 m/s, rangeRepo size: 4 2025-10-27T05:54:06.364Z,1761544446.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.121753 m, bearing: 256.816321 deg, lat: 36.779410 deg, lon: -121.859777 deg, deltaT: 0.497597 s, deltaX: -0.298077 m, approachRate: -0.599032 m/s, posRepo size: 4 2025-10-27T05:54:06.366Z,1761544446.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m. 2025-10-27T05:54:06.381Z,1761544446.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.121753 m, nav range: 11.488423 m, bearing: 256.685449 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 267.867370 deg, new cmd heading: 268.361199 deg. 2025-10-27T05:54:06.382Z,1761544446.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683786 target range: 12.121753 and range: 12.20 m. 2025-10-27T05:54:06.581Z,1761544446.581 [DAT](INFO): DAT read: Bearing 75.1, -14.5 (Local) 2025-10-27T05:54:06.582Z,1761544446.582 [DAT](INFO): Local bearing/azimuth received: Bearing 75.1, -14.5 (Local) 2025-10-27T05:54:06.610Z,1761544446.610 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.5 2025-10-27T05:54:06.632Z,1761544446.632 [DAT](INFO): DAT read: 05:54:05.1808 LVL= 32752, 32753, 26930, 32755, AGC= 55, IDX= 499, 0.32,-2.949, 1.902,-2.389,-2.862, PHS= 0.015,-1.474, 0.429, RAW= 161.9, 11.9, CAL= 162.2, 13.4, ROT= 347.8, -13.4 2025-10-27T05:54:06.633Z,1761544446.633 [DAT](INFO): got valid direction response: 05:54:05.1808 LVL= 32752, 32753, 26930, 32755, AGC= 55, IDX= 499, 0.32,-2.949, 1.902,-2.389,-2.862, PHS= 0.015,-1.474, 0.429, RAW= 161.9, 11.9, CAL= 162.2, 13.4, ROT= 347.8, -13.4 2025-10-27T05:54:06.633Z,1761544446.633 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:54:06.634Z,1761544446.634 [DAT](INFO): direction in FSK: [0.950807,-0.205572,0.231748] 2025-10-27T05:54:06.634Z,1761544446.634 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:06.646Z,1761544446.646 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.151676 2025-10-27T05:54:06.666Z,1761544446.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076705,0.985215,0.153192],[-0.996986,-0.073999,-0.023294],[-0.011613,-0.154517,0.987922]] 2025-10-27T05:54:06.832Z,1761544446.832 [DAT](INFO): DAT read: Rx Time:05:54:05.6806 2025-10-27T05:54:06.834Z,1761544446.834 [DAT](INFO): Rx dataTimestamp_ set to:1761544446.832604 2025-10-27T05:54:06.838Z,1761544446.838 [DAT](INFO): DAT read: Bearing 75.1, -14.0 (Local) 2025-10-27T05:54:06.839Z,1761544446.839 [DAT](INFO): Local bearing/azimuth received: Bearing 75.1, -14.0 (Local) 2025-10-27T05:54:06.871Z,1761544446.871 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.5 2025-10-27T05:54:06.884Z,1761544446.884 [DAT](INFO): DAT read: 05:54:05.6806 LVL= 32752, 32753, 25122, 32755, AGC= 54, IDX= 497,-0.45, 1.722, 0.285, 2.269, 1.797, PHS= 0.027,-1.467, 0.428, RAW= 161.6, 11.7, CAL= 161.8, 13.2, ROT= 348.2, -13.2 2025-10-27T05:54:06.885Z,1761544446.885 [DAT](INFO): got valid direction response: 05:54:05.6806 LVL= 32752, 32753, 25122, 32755, AGC= 54, IDX= 497,-0.45, 1.722, 0.285, 2.269, 1.797, PHS= 0.027,-1.467, 0.428, RAW= 161.6, 11.7, CAL= 161.8, 13.2, ROT= 348.2, -13.2 2025-10-27T05:54:06.885Z,1761544446.885 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:54:06.895Z,1761544446.895 [DAT](INFO): direction in FSK: [0.953005,-0.199093,0.228351] 2025-10-27T05:54:06.896Z,1761544446.896 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:06.908Z,1761544446.908 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.412731 2025-10-27T05:54:06.921Z,1761544446.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.761174 s, deltaX: -0.599999 m, approachRate: -0.788255 m/s, rangeRepo size: 4 2025-10-27T05:54:06.931Z,1761544446.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.823979 m, bearing: 255.652053 deg, lat: 36.779410 deg, lon: -121.859779 deg, deltaT: 0.505793 s, deltaX: -0.297773 m, approachRate: -0.588726 m/s, posRepo size: 4 2025-10-27T05:54:06.932Z,1761544446.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m. 2025-10-27T05:54:06.935Z,1761544446.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.823979 m, nav range: 11.319666 m, bearing: 256.734292 deg, approach rate: 0.000000 m/s, LOS rate: 0.324757 deg/s, cmd heading: 268.361192 deg, new cmd heading: 268.948197 deg. 2025-10-27T05:54:06.940Z,1761544446.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694032 target range: 11.823979 and range: 11.60 m. 2025-10-27T05:54:07.080Z,1761544447.080 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.585541 2025-10-27T05:54:07.296Z,1761544447.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m. 2025-10-27T05:54:07.316Z,1761544447.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.823979 m, nav range: 11.052539 m, bearing: 256.672324 deg, approach rate: -0.710244 m/s, LOS rate: -0.168742 deg/s, cmd heading: 268.948206 deg, new cmd heading: 268.757812 deg. 2025-10-27T05:54:07.325Z,1761544447.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690709 target range: 11.823979 and range: 11.60 m. 2025-10-27T05:54:07.336Z,1761544447.336 [DAT](INFO): DAT read: Rx Time:05:54:06.1805 2025-10-27T05:54:07.337Z,1761544447.337 [DAT](INFO): Rx dataTimestamp_ set to:1761544447.336418 2025-10-27T05:54:07.342Z,1761544447.342 [DAT](INFO): DAT read: Bearing 85.3, -14.2 (Local) 2025-10-27T05:54:07.343Z,1761544447.343 [DAT](INFO): Local bearing/azimuth received: Bearing 85.3, -14.2 (Local) 2025-10-27T05:54:07.353Z,1761544447.353 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 2025-10-27T05:54:07.364Z,1761544447.364 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T05:54:07.375Z,1761544447.375 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.872303 2025-10-27T05:54:07.618Z,1761544447.618 [DAT](INFO): DAT read: 05:54:06.1805 LVL= 32752, 32753, 28770, 32755, AGC= 53, IDX= 512,-0.42,-2.235, 2.511,-1.739,-1.992, PHS=-0.142,-1.735, 0.209, RAW= 159.7, 18.2, CAL= 161.2, 22.8, ROT= 348.8, -22.8 2025-10-27T05:54:07.622Z,1761544447.622 [DAT](INFO): got valid direction response: 05:54:06.1805 LVL= 32752, 32753, 28770, 32755, AGC= 53, IDX= 512,-0.42,-2.235, 2.511,-1.739,-1.992, PHS=-0.142,-1.735, 0.209, RAW= 159.7, 18.2, CAL= 161.2, 22.8, ROT= 348.8, -22.8 2025-10-27T05:54:07.640Z,1761544447.640 [DAT](INFO): #Rx 94: Read direction message, but no range. 2025-10-27T05:54:07.654Z,1761544447.654 [DAT](INFO): direction in FSK: [0.904306,-0.179058,0.387516] 2025-10-27T05:54:07.665Z,1761544447.665 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.170750 2025-10-27T05:54:07.702Z,1761544447.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074240,0.987451,0.139387],[-0.997203,-0.072304,-0.018914],[-0.008598,-0.140401,0.990057]] 2025-10-27T05:54:07.771Z,1761544447.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503814 s, deltaX: -0.200001 m, approachRate: -0.396973 m/s, rangeRepo size: 4 2025-10-27T05:54:07.773Z,1761544447.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.327366 m, bearing: 258.033802 deg, lat: 36.779410 deg, lon: -121.859779 deg, deltaT: 0.759195 s, deltaX: -0.496614 m, approachRate: -0.654132 m/s, posRepo size: 4 2025-10-27T05:54:07.774Z,1761544447.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T05:54:07.777Z,1761544447.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.327366 m, nav range: 10.758498 m, bearing: 256.555246 deg, approach rate: 0.000000 m/s, LOS rate: -0.168742 deg/s, cmd heading: 268.757808 deg, new cmd heading: 268.517742 deg. 2025-10-27T05:54:07.778Z,1761544447.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686519 target range: 11.327366 and range: 11.40 m. 2025-10-27T05:54:07.840Z,1761544447.840 [DAT](INFO): DAT read: Rx Time:05:54:06.6801 2025-10-27T05:54:07.842Z,1761544447.842 [DAT](INFO): Rx dataTimestamp_ set to:1761544447.840503 2025-10-27T05:54:07.846Z,1761544447.846 [DAT](INFO): DAT read: Bearing 74.3, -15.3 (Local) 2025-10-27T05:54:07.847Z,1761544447.847 [DAT](INFO): Local bearing/azimuth received: Bearing 74.3, -15.3 (Local) 2025-10-27T05:54:07.872Z,1761544447.872 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.6 2025-10-27T05:54:07.921Z,1761544447.921 [DAT](INFO): DAT read: 05:54:06.6801 LVL= 32752, 32753, 25074, 32755, AGC= 53, IDX= 508, 0.37,-1.989, 2.871,-1.378,-1.908, PHS= 0.021,-1.460, 0.486, RAW= 163.2, 10.8, CAL= 163.3, 12.1, ROT= 346.7, -12.1 2025-10-27T05:54:07.922Z,1761544447.922 [DAT](INFO): got valid direction response: 05:54:06.6801 LVL= 32752, 32753, 25074, 32755, AGC= 53, IDX= 508, 0.37,-1.989, 2.871,-1.378,-1.908, PHS= 0.021,-1.460, 0.486, RAW= 163.2, 10.8, CAL= 163.3, 12.1, ROT= 346.7, -12.1 2025-10-27T05:54:07.922Z,1761544447.922 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:54:07.938Z,1761544447.938 [DAT](INFO): direction in FSK: [0.951558,-0.224938,0.209619] 2025-10-27T05:54:07.938Z,1761544447.938 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:07.958Z,1761544447.958 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.463573 2025-10-27T05:54:08.088Z,1761544448.088 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.593578 2025-10-27T05:54:08.181Z,1761544448.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504085 s, deltaX: -0.599999 m, approachRate: -1.190274 m/s, rangeRepo size: 4 2025-10-27T05:54:08.187Z,1761544448.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.731189 m, bearing: 254.284367 deg, lat: 36.779409 deg, lon: -121.859779 deg, deltaT: 0.504085 s, deltaX: -0.596177 m, approachRate: -1.182692 m/s, posRepo size: 4 2025-10-27T05:54:08.188Z,1761544448.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m. 2025-10-27T05:54:08.199Z,1761544448.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.731189 m, nav range: 10.515898 m, bearing: 255.597322 deg, approach rate: 0.000000 m/s, LOS rate: -0.168742 deg/s, cmd heading: 268.517740 deg, new cmd heading: 268.310336 deg. 2025-10-27T05:54:08.200Z,1761544448.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682899 target range: 10.731189 and range: 10.80 m. 2025-10-27T05:54:08.345Z,1761544448.345 [DAT](INFO): DAT read: Rx Time:05:54:07.1800 2025-10-27T05:54:08.347Z,1761544448.347 [DAT](INFO): Rx dataTimestamp_ set to:1761544448.345771 2025-10-27T05:54:08.353Z,1761544448.353 [DAT](INFO): DAT read: Bearing 74.2, -15.6 (Local) 2025-10-27T05:54:08.354Z,1761544448.354 [DAT](INFO): Local bearing/azimuth received: Bearing 74.2, -15.6 (Local) 2025-10-27T05:54:08.365Z,1761544448.365 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.5 2025-10-27T05:54:08.368Z,1761544448.368 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T05:54:08.370Z,1761544448.370 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=44.874790 2025-10-27T05:54:08.514Z,1761544448.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070603,0.988385,0.134577],[-0.997480,-0.069020,-0.016402],[-0.006923,-0.135396,0.990767]] 2025-10-27T05:54:08.546Z,1761544448.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:08.549Z,1761544448.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.505268 s, deltaX: -0.100000 m, approachRate: -0.197916 m/s, rangeRepo size: 4 2025-10-27T05:54:08.550Z,1761544448.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m. 2025-10-27T05:54:08.553Z,1761544448.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.731189 m, nav range: 10.256154 m, bearing: 255.440458 deg, approach rate: -0.704671 m/s, LOS rate: -0.436342 deg/s, cmd heading: 268.310348 deg, new cmd heading: 267.827849 deg. 2025-10-27T05:54:08.554Z,1761544448.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674478 target range: 10.731189 and range: 10.70 m. 2025-10-27T05:54:08.627Z,1761544448.627 [DAT](INFO): DAT read: 05:54:07.1800 LVL= 32752, 32753, 26082, 32755, AGC= 51, IDX= 507, 0.11,-0.115,-1.537, 0.517,-0.031, PHS= 0.018,-1.460, 0.504, RAW= 163.7, 10.6, CAL= 163.8, 11.8, ROT= 346.2, -11.8 2025-10-27T05:54:08.647Z,1761544448.647 [DAT](INFO): got valid direction response: 05:54:07.1800 LVL= 32752, 32753, 26082, 32755, AGC= 51, IDX= 507, 0.11,-0.115,-1.537, 0.517,-0.031, PHS= 0.018,-1.460, 0.504, RAW= 163.7, 10.6, CAL= 163.8, 11.8, ROT= 346.2, -11.8 2025-10-27T05:54:08.649Z,1761544448.649 [DAT](INFO): #Rx 97: Read direction message, but no range. 2025-10-27T05:54:08.650Z,1761544448.650 [DAT](INFO): direction in FSK: [0.950612,-0.233492,0.204496] 2025-10-27T05:54:08.658Z,1761544448.658 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.163368 2025-10-27T05:54:08.848Z,1761544448.848 [DAT](INFO): DAT read: Rx Time:05:54:07.6797 2025-10-27T05:54:08.850Z,1761544448.850 [DAT](INFO): Rx dataTimestamp_ set to:1761544448.848538 2025-10-27T05:54:08.855Z,1761544448.855 [DAT](INFO): DAT read: Bearing 73.1, -16.3 (Local) 2025-10-27T05:54:08.857Z,1761544448.857 [DAT](INFO): Local bearing/azimuth received: Bearing 73.1, -16.3 (Local) 2025-10-27T05:54:08.875Z,1761544448.875 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.6 2025-10-27T05:54:08.919Z,1761544448.919 [DAT](INFO): DAT read: 05:54:07.6797 LVL= 32752, 32753, 22578, 32755, AGC= 53, IDX= 504,-0.08,-2.715, 2.166,-2.047,-2.638, PHS= 0.025,-1.434, 0.548, RAW= 164.7, 9.7, CAL= 164.6, 10.6, ROT= 345.4, -10.6 2025-10-27T05:54:08.920Z,1761544448.920 [DAT](INFO): got valid direction response: 05:54:07.6797 LVL= 32752, 32753, 22578, 32755, AGC= 53, IDX= 504,-0.08,-2.715, 2.166,-2.047,-2.638, PHS= 0.025,-1.434, 0.548, RAW= 164.7, 9.7, CAL= 164.6, 10.6, ROT= 345.4, -10.6 2025-10-27T05:54:08.921Z,1761544448.921 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:54:08.922Z,1761544448.922 [DAT](INFO): direction in FSK: [0.951196,-0.247768,0.183951] 2025-10-27T05:54:08.922Z,1761544448.922 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:08.942Z,1761544448.942 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=45.447372 2025-10-27T05:54:08.944Z,1761544448.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.067940,0.988816,0.132765],[-0.997669,-0.066490,-0.015332],[-0.006333,-0.133497,0.991029]] 2025-10-27T05:54:09.033Z,1761544449.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.502767 s, deltaX: -0.500000 m, approachRate: -0.994496 m/s, rangeRepo size: 4 2025-10-27T05:54:09.039Z,1761544449.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.135093 m, bearing: 253.042479 deg, lat: 36.779408 deg, lon: -121.859778 deg, deltaT: 1.008035 s, deltaX: -0.596096 m, approachRate: -0.591345 m/s, posRepo size: 4 2025-10-27T05:54:09.040Z,1761544449.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-27T05:54:09.042Z,1761544449.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.135093 m, nav range: 9.850183 m, bearing: 254.553371 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 267.827837 deg, new cmd heading: 267.195131 deg. 2025-10-27T05:54:09.048Z,1761544449.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663435 target range: 10.135093 and range: 10.20 m. 2025-10-27T05:54:09.097Z,1761544449.097 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=45.602203 2025-10-27T05:54:09.352Z,1761544449.352 [DAT](INFO): DAT read: Rx Time:05:54:08.1796 2025-10-27T05:54:09.354Z,1761544449.354 [DAT](INFO): Rx dataTimestamp_ set to:1761544449.352908 2025-10-27T05:54:09.358Z,1761544449.358 [DAT](INFO): DAT read: Bearing 71.9, -17.2 (Local) 2025-10-27T05:54:09.359Z,1761544449.359 [DAT](INFO): Local bearing/azimuth received: Bearing 71.9, -17.2 (Local) 2025-10-27T05:54:09.366Z,1761544449.366 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.5 2025-10-27T05:54:09.401Z,1761544449.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065231,0.989255,0.130840],[-0.997851,-0.063863,-0.014628],[-0.006115,-0.131514,0.991296]] 2025-10-27T05:54:09.421Z,1761544449.421 [DAT](INFO): DAT read: 05:54:08.1796 LVL= 32752, 32753, 22514, 32755, AGC= 52, IDX= 503,-0.32,-1.680,-3.065,-0.965,-1.610, PHS= 0.032,-1.410, 0.601, RAW= 165.9, 8.7, CAL= 165.7, 9.2, ROT= 344.3, -9.2 2025-10-27T05:54:09.422Z,1761544449.422 [DAT](INFO): got valid direction response: 05:54:08.1796 LVL= 32752, 32753, 22514, 32755, AGC= 52, IDX= 503,-0.32,-1.680,-3.065,-0.965,-1.610, PHS= 0.032,-1.410, 0.601, RAW= 165.9, 8.7, CAL= 165.7, 9.2, ROT= 344.3, -9.2 2025-10-27T05:54:09.422Z,1761544449.422 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:54:09.440Z,1761544449.440 [DAT](INFO): direction in FSK: [0.950308,-0.267120,0.159881] 2025-10-27T05:54:09.440Z,1761544449.440 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:09.448Z,1761544449.448 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=45.953304 2025-10-27T05:54:09.474Z,1761544449.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504370 s, deltaX: -0.099999 m, approachRate: -0.198266 m/s, rangeRepo size: 4 2025-10-27T05:54:09.481Z,1761544449.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.035729 m, bearing: 251.889459 deg, lat: 36.779407 deg, lon: -121.859778 deg, deltaT: 0.504370 s, deltaX: -0.099363 m, approachRate: -0.197005 m/s, posRepo size: 4 2025-10-27T05:54:09.481Z,1761544449.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m. 2025-10-27T05:54:09.490Z,1761544449.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.035729 m, nav range: 9.598991 m, bearing: 253.609208 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 267.195143 deg, new cmd heading: 266.617338 deg. 2025-10-27T05:54:09.500Z,1761544449.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653350 target range: 10.035729 and range: 10.10 m. 2025-10-27T05:54:09.602Z,1761544449.602 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.107105 2025-10-27T05:54:09.856Z,1761544449.856 [DAT](INFO): DAT read: Rx Time:05:54:08.6792 2025-10-27T05:54:09.858Z,1761544449.858 [DAT](INFO): Rx dataTimestamp_ set to:1761544449.857084 2025-10-27T05:54:09.863Z,1761544449.863 [DAT](INFO): DAT read: Bearing 74.7, -18.5 (Local) 2025-10-27T05:54:09.864Z,1761544449.864 [DAT](INFO): Local bearing/azimuth received: Bearing 74.7, -18.5 (Local) 2025-10-27T05:54:09.876Z,1761544449.876 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.6 2025-10-27T05:54:09.899Z,1761544449.899 [DAT](INFO): DAT read: 05:54:08.6792 LVL= 32752, 32753, 26338, 32755, AGC= 52, IDX= 499, 0.32,-1.165,-2.534,-0.419,-1.025, PHS=-0.038,-1.465, 0.561, RAW= 166.7, 10.5, CAL= 166.7, 11.7, ROT= 343.3, -11.7 2025-10-27T05:54:09.902Z,1761544449.902 [DAT](INFO): got valid direction response: 05:54:08.6792 LVL= 32752, 32753, 26338, 32755, AGC= 52, IDX= 499, 0.32,-1.165,-2.534,-0.419,-1.025, PHS=-0.038,-1.465, 0.561, RAW= 166.7, 10.5, CAL= 166.7, 11.7, ROT= 343.3, -11.7 2025-10-27T05:54:09.902Z,1761544449.902 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:54:09.912Z,1761544449.912 [DAT](INFO): direction in FSK: [0.937922,-0.281390,0.202787] 2025-10-27T05:54:09.912Z,1761544449.912 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:09.925Z,1761544449.925 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.430904 2025-10-27T05:54:09.934Z,1761544449.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.062557,0.989831,0.127757],[-0.998022,-0.061251,-0.014126],[-0.006157,-0.128388,0.991705]] 2025-10-27T05:54:10.104Z,1761544450.104 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.609505 2025-10-27T05:54:10.119Z,1761544450.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.504176 s, deltaX: -0.600000 m, approachRate: -1.190061 m/s, rangeRepo size: 4 2025-10-27T05:54:10.121Z,1761544450.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.439375 m, bearing: 251.338056 deg, lat: 36.779406 deg, lon: -121.859777 deg, deltaT: 0.504176 s, deltaX: -0.596354 m, approachRate: -1.182830 m/s, posRepo size: 4 2025-10-27T05:54:10.121Z,1761544450.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m. 2025-10-27T05:54:10.122Z,1761544450.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.50 m. 2025-10-27T05:54:10.122Z,1761544450.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T05:54:10.125Z,1761544450.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 9.223321 m, bearing: 252.381458 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 266.617336 deg, new cmd heading: 265.773845 deg. 2025-10-27T05:54:10.126Z,1761544450.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638628 target range: 9.439375 and range: 9.50 m. 2025-10-27T05:54:10.334Z,1761544450.334 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2025-10-27T05:54:10.360Z,1761544450.360 [DAT](INFO): DAT read: Rx Time:05:54:09.1791 2025-10-27T05:54:10.362Z,1761544450.362 [DAT](INFO): Rx dataTimestamp_ set to:1761544450.360922 2025-10-27T05:54:10.367Z,1761544450.367 [DAT](INFO): DAT read: Bearing 74.3, -19.5 (Local) 2025-10-27T05:54:10.367Z,1761544450.367 [DAT](INFO): Local bearing/azimuth received: Bearing 74.3, -19.5 (Local) 2025-10-27T05:54:10.369Z,1761544450.369 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.5 2025-10-27T05:54:10.370Z,1761544450.370 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T05:54:10.375Z,1761544450.375 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=46.876247 2025-10-27T05:54:10.444Z,1761544450.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503838 s, deltaX: -0.300000 m, approachRate: -0.595430 m/s, rangeRepo size: 4 2025-10-27T05:54:10.445Z,1761544450.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:10.453Z,1761544450.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 9.032357 m, bearing: 252.183344 deg, approach rate: -0.586086 m/s, LOS rate: -0.620884 deg/s, cmd heading: 265.773835 deg, new cmd heading: 265.166951 deg. 2025-10-27T05:54:10.454Z,1761544450.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628036 target range: 9.439375 and range: 9.20 m. 2025-10-27T05:54:10.629Z,1761544450.629 [DAT](INFO): DAT read: 05:54:09.1791 LVL= 32752, 32753, 25314, 32755, AGC= 52, IDX= 497, 0.21,-1.670,-3.027,-0.878,-1.521, PHS=-0.047,-1.462, 0.599, RAW= 167.9, 10.0, CAL= 167.8, 11.1, ROT= 342.2, -11.1 2025-10-27T05:54:10.633Z,1761544450.633 [DAT](INFO): got valid direction response: 05:54:09.1791 LVL= 32752, 32753, 25314, 32755, AGC= 52, IDX= 497, 0.21,-1.670,-3.027,-0.878,-1.521, PHS=-0.047,-1.462, 0.599, RAW= 167.9, 10.0, CAL= 167.8, 11.1, ROT= 342.2, -11.1 2025-10-27T05:54:10.634Z,1761544450.634 [DAT](INFO): #Rx 102: Read direction message, but no range. 2025-10-27T05:54:10.637Z,1761544450.637 [DAT](INFO): direction in FSK: [0.934318,-0.299976,0.192522] 2025-10-27T05:54:10.650Z,1761544450.650 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.155235 2025-10-27T05:54:10.865Z,1761544450.865 [DAT](INFO): DAT read: Rx Time:05:54:09.6788 2025-10-27T05:54:10.871Z,1761544450.871 [DAT](INFO): Rx dataTimestamp_ set to:1761544450.865580 2025-10-27T05:54:10.872Z,1761544450.872 [DAT](INFO): DAT read: Bearing 73.4, -20.7 (Local) 2025-10-27T05:54:10.872Z,1761544450.872 [DAT](INFO): Local bearing/azimuth received: Bearing 73.4, -20.7 (Local) 2025-10-27T05:54:10.874Z,1761544450.874 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.5 2025-10-27T05:54:10.879Z,1761544450.879 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T05:54:10.880Z,1761544450.880 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=47.385323 2025-10-27T05:54:10.962Z,1761544450.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504658 s, deltaX: -0.500000 m, approachRate: -0.990770 m/s, rangeRepo size: 4 2025-10-27T05:54:10.968Z,1761544450.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.644259 m, bearing: 250.161081 deg, lat: 36.779404 deg, lon: -121.859777 deg, deltaT: 1.008496 s, deltaX: -0.795115 m, approachRate: -0.788417 m/s, posRepo size: 4 2025-10-27T05:54:10.969Z,1761544450.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 9.44 m. 2025-10-27T05:54:10.976Z,1761544450.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 8.744341 m, bearing: 251.906611 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 265.166959 deg, new cmd heading: 264.489386 deg. 2025-10-27T05:54:10.977Z,1761544450.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616210 target range: 9.439375 and range: 8.70 m. 2025-10-27T05:54:11.122Z,1761544451.122 [DAT](INFO): DAT read: 05:54:09.6788 LVL= 32752, 32753, 24274, 32755, AGC= 51, IDX= 510, 0.18,-3.126, 1.817,-2.278,-2.967, PHS=-0.057,-1.454, 0.645, RAW= 169.2, 9.4, CAL= 169.0, 10.2, ROT= 341.0, -10.2 2025-10-27T05:54:11.124Z,1761544451.124 [DAT](INFO): got valid direction response: 05:54:09.6788 LVL= 32752, 32753, 24274, 32755, AGC= 51, IDX= 510, 0.18,-3.126, 1.817,-2.278,-2.967, PHS=-0.057,-1.454, 0.645, RAW= 169.2, 9.4, CAL= 169.0, 10.2, ROT= 341.0, -10.2 2025-10-27T05:54:11.125Z,1761544451.125 [DAT](INFO): #Rx 104: Read direction message, but no range. 2025-10-27T05:54:11.126Z,1761544451.126 [DAT](INFO): direction in FSK: [0.930575,-0.320423,0.177085] 2025-10-27T05:54:11.130Z,1761544451.130 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.635895 2025-10-27T05:54:11.173Z,1761544451.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.054415,0.990017,0.130018],[-0.998483,-0.052851,-0.015455],[-0.008429,-0.130662,0.991391]] 2025-10-27T05:54:11.223Z,1761544451.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:11.229Z,1761544451.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:11.244Z,1761544451.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 8.584544 m, bearing: 251.735877 deg, approach rate: -0.597387 m/s, LOS rate: -0.650154 deg/s, cmd heading: 264.489377 deg, new cmd heading: 263.967656 deg. 2025-10-27T05:54:11.245Z,1761544451.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607105 target range: 9.439375 and range: 8.70 m. 2025-10-27T05:54:11.368Z,1761544451.368 [DAT](INFO): DAT read: Rx Time:05:54:10.1786 2025-10-27T05:54:11.368Z,1761544451.368 [DAT](INFO): Rx dataTimestamp_ set to:1761544451.368138 2025-10-27T05:54:11.370Z,1761544451.370 [DAT](INFO): DAT read: Bearing 73.2, -22.1 (Local) 2025-10-27T05:54:11.370Z,1761544451.370 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, -22.1 (Local) 2025-10-27T05:54:11.372Z,1761544451.372 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.5 2025-10-27T05:54:11.373Z,1761544451.373 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T05:54:11.374Z,1761544451.374 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.879166 2025-10-27T05:54:11.578Z,1761544451.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.051974,0.989979,0.131305],[-0.998600,-0.050226,-0.016592],[-0.009831,-0.131983,0.991203]] 2025-10-27T05:54:11.607Z,1761544451.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.502558 s, deltaX: -0.300000 m, approachRate: -0.596946 m/s, rangeRepo size: 4 2025-10-27T05:54:11.608Z,1761544451.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:11.620Z,1761544451.620 [DAT](INFO): DAT read: 05:54:10.1786 LVL= 32752, 32753, 25698, 32755, AGC= 50, IDX= 509, 0.22,-2.511, 2.453,-1.607,-2.330, PHS=-0.079,-1.456, 0.679, RAW= 170.5, 9.2, CAL= 170.3, 9.9, ROT= 339.7, -9.9 2025-10-27T05:54:11.621Z,1761544451.621 [DAT](INFO): got valid direction response: 05:54:10.1786 LVL= 32752, 32753, 25698, 32755, AGC= 50, IDX= 509, 0.22,-2.511, 2.453,-1.607,-2.330, PHS=-0.079,-1.456, 0.679, RAW= 170.5, 9.2, CAL= 170.3, 9.9, ROT= 339.7, -9.9 2025-10-27T05:54:11.621Z,1761544451.621 [DAT](INFO): #Rx 106: Read direction message, but no range. 2025-10-27T05:54:11.622Z,1761544451.622 [DAT](INFO): direction in FSK: [0.923923,-0.341769,0.171929] 2025-10-27T05:54:11.629Z,1761544451.629 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.134064 2025-10-27T05:54:11.611Z,1761544451.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 8.367217 m, bearing: 251.489179 deg, approach rate: -0.576024 m/s, LOS rate: -0.670855 deg/s, cmd heading: 263.967660 deg, new cmd heading: 263.208387 deg. 2025-10-27T05:54:11.651Z,1761544451.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593853 target range: 9.439375 and range: 8.40 m. 2025-10-27T05:54:11.869Z,1761544451.869 [DAT](INFO): DAT read: Rx Time:05:54:10.6783 2025-10-27T05:54:11.870Z,1761544451.870 [DAT](INFO): Rx dataTimestamp_ set to:1761544451.869280 2025-10-27T05:54:11.871Z,1761544451.871 [DAT](INFO): DAT read: Bearing 72.1, -23.4 (Local) 2025-10-27T05:54:11.871Z,1761544451.871 [DAT](INFO): Local bearing/azimuth received: Bearing 72.1, -23.4 (Local) 2025-10-27T05:54:11.873Z,1761544451.873 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-27T05:54:11.874Z,1761544451.874 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T05:54:11.875Z,1761544451.875 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.380234 2025-10-27T05:54:11.982Z,1761544451.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050081,0.989521,0.135427],[-0.998682,-0.048090,-0.017942],[-0.011241,-0.136147,0.990625]] 2025-10-27T05:54:12.080Z,1761544452.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.501142 s, deltaX: -0.400000 m, approachRate: -0.798176 m/s, rangeRepo size: 4 2025-10-27T05:54:12.082Z,1761544452.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.948655 m, bearing: 248.338110 deg, lat: 36.779404 deg, lon: -121.859776 deg, deltaT: 2.012196 s, deltaX: -1.490720 m, approachRate: -0.740842 m/s, posRepo size: 4 2025-10-27T05:54:12.084Z,1761544452.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.44 m. 2025-10-27T05:54:12.086Z,1761544452.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 8.121830 m, bearing: 251.254419 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 263.208388 deg, new cmd heading: 262.594828 deg. 2025-10-27T05:54:12.087Z,1761544452.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583144 target range: 9.439375 and range: 8.00 m. 2025-10-27T05:54:12.124Z,1761544452.124 [DAT](INFO): DAT read: 05:54:10.6783 LVL= 32752, 32753, 25490, 32755, AGC= 50, IDX= 506, 0.48, 1.037,-0.273, 2.006, 1.231, PHS=-0.092,-1.459, 0.731, RAW= 171.8, 8.6, CAL= 171.6, 9.1, ROT= 338.4, -9.1 2025-10-27T05:54:12.125Z,1761544452.125 [DAT](INFO): got valid direction response: 05:54:10.6783 LVL= 32752, 32753, 25490, 32755, AGC= 50, IDX= 506, 0.48, 1.037,-0.273, 2.006, 1.231, PHS=-0.092,-1.459, 0.731, RAW= 171.8, 8.6, CAL= 171.6, 9.1, ROT= 338.4, -9.1 2025-10-27T05:54:12.125Z,1761544452.125 [DAT](INFO): #Rx 108: Read direction message, but no range. 2025-10-27T05:54:12.126Z,1761544452.126 [DAT](INFO): direction in FSK: [0.918074,-0.363491,0.158158] 2025-10-27T05:54:12.131Z,1761544452.131 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.636112 2025-10-27T05:54:12.372Z,1761544452.372 [DAT](INFO): DAT read: Rx Time:05:54:11.1783 2025-10-27T05:54:12.373Z,1761544452.373 [DAT](INFO): Rx dataTimestamp_ set to:1761544452.372644 2025-10-27T05:54:12.374Z,1761544452.374 [DAT](INFO): DAT read: Bearing 69.7, -24.7 (Local) 2025-10-27T05:54:12.374Z,1761544452.374 [DAT](INFO): Local bearing/azimuth received: Bearing 69.7, -24.7 (Local) 2025-10-27T05:54:12.377Z,1761544452.377 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-27T05:54:12.377Z,1761544452.377 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-27T05:54:12.379Z,1761544452.379 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.884502 2025-10-27T05:54:12.414Z,1761544452.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049615,0.987696,0.148309],[-0.998683,-0.047115,-0.020327],[-0.013089,-0.149122,0.988732]] 2025-10-27T05:54:12.486Z,1761544452.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503364 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:12.492Z,1761544452.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.948655 m, bearing: 247.116680 deg, lat: 36.779404 deg, lon: -121.859774 deg, deltaT: 2.515560 s, deltaX: -1.490720 m, approachRate: -0.592600 m/s, posRepo size: 4 2025-10-27T05:54:12.493Z,1761544452.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.44 m. 2025-10-27T05:54:12.502Z,1761544452.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 7.907752 m, bearing: 251.035153 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 262.594819 deg, new cmd heading: 262.057563 deg. 2025-10-27T05:54:12.507Z,1761544452.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573767 target range: 9.439375 and range: 8.00 m. 2025-10-27T05:54:12.637Z,1761544452.637 [DAT](INFO): DAT read: 05:54:11.1783 LVL= 32752, 32753, 20978, 32755, AGC= 47, IDX= 506,-0.24,-0.128,-1.414, 0.912, 0.060, PHS=-0.086,-1.428, 0.808, RAW= 173.4, 7.3, CAL= 173.0, 7.2, ROT= 337.0, -7.2 2025-10-27T05:54:12.638Z,1761544452.638 [DAT](INFO): got valid direction response: 05:54:11.1783 LVL= 32752, 32753, 20978, 32755, AGC= 47, IDX= 506,-0.24,-0.128,-1.414, 0.912, 0.060, PHS=-0.086,-1.428, 0.808, RAW= 173.4, 7.3, CAL= 173.0, 7.2, ROT= 337.0, -7.2 2025-10-27T05:54:12.639Z,1761544452.639 [DAT](INFO): #Rx 110: Read direction message, but no range. 2025-10-27T05:54:12.640Z,1761544452.640 [DAT](INFO): direction in FSK: [0.913246,-0.387650,0.125333] 2025-10-27T05:54:12.660Z,1761544452.660 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.165356 2025-10-27T05:54:12.805Z,1761544452.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.050808,0.986067,0.158399],[-0.998613,-0.047963,-0.021734],[-0.013834,-0.159283,0.987136]] 2025-10-27T05:54:12.877Z,1761544452.877 [DAT](INFO): DAT read: Rx Time:05:54:11.6780 2025-10-27T05:54:12.878Z,1761544452.878 [DAT](INFO): Rx dataTimestamp_ set to:1761544452.877294 2025-10-27T05:54:12.881Z,1761544452.881 [DAT](INFO): DAT read: Bearing 73.2, -24.7 (Local) 2025-10-27T05:54:12.881Z,1761544452.881 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, -24.7 (Local) 2025-10-27T05:54:12.886Z,1761544452.886 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-10-27T05:54:12.919Z,1761544452.919 [DAT](INFO): DAT read: 05:54:11.6780 LVL= 32752, 32753, 25970, 32755, AGC= 46, IDX= 503, 0.24,-2.188, 2.807,-1.182,-1.942, PHS=-0.145,-1.490, 0.715, RAW= 172.8, 9.6, CAL= 172.6, 10.6, ROT= 337.4, -10.6 2025-10-27T05:54:12.940Z,1761544452.940 [DAT](INFO): got valid direction response: 05:54:11.6780 LVL= 32752, 32753, 25970, 32755, AGC= 46, IDX= 503, 0.24,-2.188, 2.807,-1.182,-1.942, PHS=-0.145,-1.490, 0.715, RAW= 172.8, 9.6, CAL= 172.6, 10.6, ROT= 337.4, -10.6 2025-10-27T05:54:12.940Z,1761544452.940 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:54:12.941Z,1761544452.941 [DAT](INFO): direction in FSK: [0.907456,-0.377737,0.183951] 2025-10-27T05:54:12.941Z,1761544452.941 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:12.953Z,1761544452.953 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.458569 2025-10-27T05:54:13.010Z,1761544453.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504650 s, deltaX: -0.500000 m, approachRate: -0.990786 m/s, rangeRepo size: 4 2025-10-27T05:54:13.016Z,1761544453.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.451760 m, bearing: 246.415990 deg, lat: 36.779403 deg, lon: -121.859773 deg, deltaT: 3.020210 s, deltaX: -1.987615 m, approachRate: -0.658105 m/s, posRepo size: 4 2025-10-27T05:54:13.017Z,1761544453.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.45 m. 9.44 m. 2025-10-27T05:54:13.024Z,1761544453.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 7.647720 m, bearing: 250.836355 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 262.057556 deg, new cmd heading: 261.372116 deg. 2025-10-27T05:54:13.025Z,1761544453.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561804 target range: 9.439375 and range: 7.50 m. 2025-10-27T05:54:13.128Z,1761544453.128 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.633621 2025-10-27T05:54:13.383Z,1761544453.383 [DAT](INFO): DAT read: Rx Time:05:54:12.1780 2025-10-27T05:54:13.384Z,1761544453.384 [DAT](INFO): Rx dataTimestamp_ set to:1761544453.383184 2025-10-27T05:54:13.386Z,1761544453.386 [DAT](INFO): DAT read: Bearing 70.0, -25.7 (Local) 2025-10-27T05:54:13.386Z,1761544453.386 [DAT](INFO): Local bearing/azimuth received: Bearing 70.0, -25.7 (Local) 2025-10-27T05:54:13.389Z,1761544453.389 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-10-27T05:54:13.413Z,1761544453.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053119,0.984004,0.170045],[-0.998483,-0.049871,-0.023320],[-0.014467,-0.171026,0.985160]] 2025-10-27T05:54:13.399Z,1761544453.399 [DAT](INFO): DAT read: 05:54:12.1780 LVL= 32752, 32753, 26802, 32755, AGC= 46, IDX= 503,-0.18, 2.290, 1.017,-2.927, 2.530, PHS=-0.138,-1.468, 0.782, RAW= 174.0, 8.5, CAL= 173.7, 8.9, ROT= 336.3, -8.9 2025-10-27T05:54:13.424Z,1761544453.424 [DAT](INFO): got valid direction response: 05:54:12.1780 LVL= 32752, 32753, 26802, 32755, AGC= 46, IDX= 503,-0.18, 2.290, 1.017,-2.927, 2.530, PHS=-0.138,-1.468, 0.782, RAW= 174.0, 8.5, CAL= 173.7, 8.9, ROT= 336.3, -8.9 2025-10-27T05:54:13.425Z,1761544453.425 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:54:13.426Z,1761544453.426 [DAT](INFO): direction in FSK: [0.904638,-0.397108,0.154710] 2025-10-27T05:54:13.426Z,1761544453.426 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:13.458Z,1761544453.458 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=49.963326 2025-10-27T05:54:13.495Z,1761544453.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.505890 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:13.497Z,1761544453.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.451760 m, bearing: 245.060795 deg, lat: 36.779402 deg, lon: -121.859773 deg, deltaT: 3.526100 s, deltaX: -1.987615 m, approachRate: -0.563686 m/s, posRepo size: 4 2025-10-27T05:54:13.498Z,1761544453.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.45 m. 9.44 m. 2025-10-27T05:54:13.509Z,1761544453.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 7.419470 m, bearing: 250.652431 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 261.372106 deg, new cmd heading: 260.763031 deg. 2025-10-27T05:54:13.510Z,1761544453.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551174 target range: 9.439375 and range: 7.50 m. 2025-10-27T05:54:13.633Z,1761544453.633 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.138523 2025-10-27T05:54:13.788Z,1761544453.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.056173,0.981538,0.182834],[-0.998309,-0.052479,-0.024988],[-0.014932,-0.183928,0.982826]] 2025-10-27T05:54:13.886Z,1761544453.886 [DAT](INFO): DAT read: Rx Time:05:54:12.6777 2025-10-27T05:54:13.887Z,1761544453.887 [DAT](INFO): Rx dataTimestamp_ set to:1761544453.886086 2025-10-27T05:54:13.889Z,1761544453.889 [DAT](INFO): DAT read: Bearing 72.4, -24.9 (Local) 2025-10-27T05:54:13.889Z,1761544453.889 [DAT](INFO): Local bearing/azimuth received: Bearing 72.4, -24.9 (Local) 2025-10-27T05:54:13.893Z,1761544453.893 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 2025-10-27T05:54:13.902Z,1761544453.902 [DAT](INFO): DAT read: 05:54:12.6777 LVL= 32752, 32753, 28290, 32755, AGC= 47, IDX= 500, 0.25,-2.976, 2.020,-1.983,-2.710, PHS=-0.164,-1.508, 0.682, RAW= 172.5, 10.4, CAL= 172.5, 11.8, ROT= 337.5, -11.8 2025-10-27T05:54:13.904Z,1761544453.904 [DAT](INFO): got valid direction response: 05:54:12.6777 LVL= 32752, 32753, 28290, 32755, AGC= 47, IDX= 500, 0.25,-2.976, 2.020,-1.983,-2.710, PHS=-0.164,-1.508, 0.682, RAW= 172.5, 10.4, CAL= 172.5, 11.8, ROT= 337.5, -11.8 2025-10-27T05:54:13.905Z,1761544453.905 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:54:13.906Z,1761544453.906 [DAT](INFO): direction in FSK: [0.904356,-0.374596,0.204496] 2025-10-27T05:54:13.906Z,1761544453.906 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:13.916Z,1761544453.916 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.421143 2025-10-27T05:54:13.969Z,1761544453.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502902 s, deltaX: -0.400000 m, approachRate: -0.795384 m/s, rangeRepo size: 4 2025-10-27T05:54:13.983Z,1761544453.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.054358 m, bearing: 246.779531 deg, lat: 36.779402 deg, lon: -121.859772 deg, deltaT: 4.029002 s, deltaX: -2.385017 m, approachRate: -0.591962 m/s, posRepo size: 4 2025-10-27T05:54:13.984Z,1761544453.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.05 m. 9.44 m. 2025-10-27T05:54:13.987Z,1761544453.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 7.186776 m, bearing: 250.528951 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 260.763044 deg, new cmd heading: 260.116742 deg. 2025-10-27T05:54:13.992Z,1761544453.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539894 target range: 9.439375 and range: 7.10 m. 2025-10-27T05:54:14.136Z,1761544454.136 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.641678 2025-10-27T05:54:14.373Z,1761544454.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.059603,0.979406,0.192901],[-0.998103,-0.055488,-0.026670],[-0.015418,-0.194125,0.980856]] 2025-10-27T05:54:14.390Z,1761544454.390 [DAT](INFO): DAT read: Rx Time:05:54:13.1776 2025-10-27T05:54:14.391Z,1761544454.391 [DAT](INFO): Rx dataTimestamp_ set to:1761544454.390100 2025-10-27T05:54:14.396Z,1761544454.396 [DAT](INFO): DAT read: Bearing 68.7, -26.1 (Local) 2025-10-27T05:54:14.397Z,1761544454.397 [DAT](INFO): Local bearing/azimuth received: Bearing 68.7, -26.1 (Local) 2025-10-27T05:54:14.401Z,1761544454.401 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 2025-10-27T05:54:14.412Z,1761544454.412 [DAT](INFO): DAT read: 05:54:13.1776 LVL= 32752, 32753, 27378, 32755, AGC= 45, IDX= 499,-0.08, 1.156,-0.119, 2.231, 1.418, PHS=-0.160,-1.492, 0.770, RAW= 174.1, 9.0, CAL= 173.9, 9.8, ROT= 336.1, -9.8 2025-10-27T05:54:14.413Z,1761544454.413 [DAT](INFO): got valid direction response: 05:54:13.1776 LVL= 32752, 32753, 27378, 32755, AGC= 45, IDX= 499,-0.08, 1.156,-0.119, 2.231, 1.418, PHS=-0.160,-1.492, 0.770, RAW= 174.1, 9.0, CAL= 173.9, 9.8, ROT= 336.1, -9.8 2025-10-27T05:54:14.414Z,1761544454.414 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:54:14.416Z,1761544454.416 [DAT](INFO): direction in FSK: [0.900913,-0.399230,0.170209] 2025-10-27T05:54:14.416Z,1761544454.416 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:14.420Z,1761544454.420 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=50.924995 2025-10-27T05:54:14.453Z,1761544454.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504014 s, deltaX: -0.200000 m, approachRate: -0.396814 m/s, rangeRepo size: 4 2025-10-27T05:54:14.464Z,1761544454.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.855644 m, bearing: 244.958454 deg, lat: 36.779402 deg, lon: -121.859772 deg, deltaT: 4.533016 s, deltaX: -2.583731 m, approachRate: -0.569981 m/s, posRepo size: 4 2025-10-27T05:54:14.465Z,1761544454.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.44 m. 2025-10-27T05:54:14.476Z,1761544454.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 6.959046 m, bearing: 250.404530 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 260.116744 deg, new cmd heading: 259.482525 deg. 2025-10-27T05:54:14.477Z,1761544454.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528824 target range: 9.439375 and range: 6.90 m. 2025-10-27T05:54:14.640Z,1761544454.640 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.145603 2025-10-27T05:54:14.643Z,1761544454.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:54:14.766Z,1761544454.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.063768,0.977473,0.201198],[-0.997843,-0.059298,-0.028174],[-0.015609,-0.202561,0.979145]] 2025-10-27T05:54:14.894Z,1761544454.894 [DAT](INFO): DAT read: Rx Time:05:54:13.6773 2025-10-27T05:54:14.895Z,1761544454.895 [DAT](INFO): Rx dataTimestamp_ set to:1761544454.894316 2025-10-27T05:54:14.897Z,1761544454.897 [DAT](INFO): DAT read: Bearing 68.2, -25.9 (Local) 2025-10-27T05:54:14.897Z,1761544454.897 [DAT](INFO): Local bearing/azimuth received: Bearing 68.2, -25.9 (Local) 2025-10-27T05:54:14.902Z,1761544454.902 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 2025-10-27T05:54:14.913Z,1761544454.913 [DAT](INFO): DAT read: 05:54:13.6773 LVL= 32752, 32753, 25458, 32755, AGC= 45, IDX= 496, 0.46, 1.362, 0.079, 2.430, 1.627, PHS=-0.163,-1.503, 0.759, RAW= 173.9, 9.2, CAL= 173.7, 10.1, ROT= 336.3, -10.1 2025-10-27T05:54:14.914Z,1761544454.914 [DAT](INFO): got valid direction response: 05:54:13.6773 LVL= 32752, 32753, 25458, 32755, AGC= 45, IDX= 496, 0.46, 1.362, 0.079, 2.430, 1.627, PHS=-0.163,-1.503, 0.759, RAW= 173.9, 9.2, CAL= 173.7, 10.1, ROT= 336.3, -10.1 2025-10-27T05:54:14.914Z,1761544454.914 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:54:14.935Z,1761544454.935 [DAT](INFO): direction in FSK: [0.901473,-0.395719,0.175367] 2025-10-27T05:54:14.935Z,1761544454.935 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:14.947Z,1761544454.947 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.444309 2025-10-27T05:54:14.960Z,1761544454.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504216 s, deltaX: -0.400000 m, approachRate: -0.793311 m/s, rangeRepo size: 4 2025-10-27T05:54:14.962Z,1761544454.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.458315 m, bearing: 245.096907 deg, lat: 36.779402 deg, lon: -121.859772 deg, deltaT: 5.037232 s, deltaX: -2.981060 m, approachRate: -0.591805 m/s, posRepo size: 4 2025-10-27T05:54:14.968Z,1761544454.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.44 m. 2025-10-27T05:54:14.970Z,1761544454.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 6.736953 m, bearing: 250.325800 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 259.482520 deg, new cmd heading: 258.825024 deg. 2025-10-27T05:54:14.976Z,1761544454.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517349 target range: 9.439375 and range: 6.50 m. 2025-10-27T05:54:15.144Z,1761544455.144 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.649628 2025-10-27T05:54:15.281Z,1761544455.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074012,0.974209,0.213162],[-0.997150,-0.069161,-0.030139],[-0.014619,-0.214786,0.976552]] 2025-10-27T05:54:15.347Z,1761544455.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:15.349Z,1761544455.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:15.356Z,1761544455.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 6.561981 m, bearing: 250.273363 deg, approach rate: -0.443885 m/s, LOS rate: -0.136573 deg/s, cmd heading: 258.825019 deg, new cmd heading: 258.663514 deg. 2025-10-27T05:54:15.357Z,1761544455.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514530 target range: 9.439375 and range: 6.50 m. 2025-10-27T05:54:15.397Z,1761544455.397 [DAT](INFO): DAT read: Rx Time:05:54:14.1773 2025-10-27T05:54:15.398Z,1761544455.398 [DAT](INFO): Rx dataTimestamp_ set to:1761544455.397101 2025-10-27T05:54:15.400Z,1761544455.400 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 2025-10-27T05:54:15.401Z,1761544455.401 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-27T05:54:15.403Z,1761544455.403 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=51.908119 2025-10-27T05:54:15.648Z,1761544455.648 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.153427 2025-10-27T05:54:15.649Z,1761544455.649 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:54:15.697Z,1761544455.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079627,0.972455,0.219068],[-0.996723,-0.074529,-0.031451],[-0.014257,-0.220854,0.975203]] 2025-10-27T05:54:15.869Z,1761544455.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.502785 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:15.870Z,1761544455.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:15.884Z,1761544455.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 6.326385 m, bearing: 250.184608 deg, approach rate: -0.454385 m/s, LOS rate: -0.177555 deg/s, cmd heading: 258.663526 deg, new cmd heading: 258.387346 deg. 2025-10-27T05:54:15.886Z,1761544455.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509710 target range: 9.439375 and range: 6.50 m. 2025-10-27T05:54:15.902Z,1761544455.902 [DAT](INFO): DAT read: Rx Time:05:54:14.6770 2025-10-27T05:54:15.904Z,1761544455.904 [DAT](INFO): Rx dataTimestamp_ set to:1761544455.903307 2025-10-27T05:54:15.906Z,1761544455.906 [DAT](INFO): DAT read: Bearing 64.7, -26.3 (Local) 2025-10-27T05:54:15.906Z,1761544455.906 [DAT](INFO): Local bearing/azimuth received: Bearing 64.7, -26.3 (Local) 2025-10-27T05:54:15.908Z,1761544455.908 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T05:54:15.913Z,1761544455.913 [DAT](INFO): DAT read: 05:54:14.6770 LVL= 32752, 32753, 22386, 32755, AGC= 45, IDX= 510,-0.27, 2.106, 0.838,-3.071, 2.359, PHS=-0.151,-1.476, 0.809, RAW= 174.7, 8.3, CAL= 174.5, 8.7, ROT= 335.5, -8.7 2025-10-27T05:54:15.914Z,1761544455.914 [DAT](INFO): got valid direction response: 05:54:14.6770 LVL= 32752, 32753, 22386, 32755, AGC= 45, IDX= 510,-0.27, 2.106, 0.838,-3.071, 2.359, PHS=-0.151,-1.476, 0.809, RAW= 174.7, 8.3, CAL= 174.5, 8.7, ROT= 335.5, -8.7 2025-10-27T05:54:15.914Z,1761544455.914 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:54:15.916Z,1761544455.916 [DAT](INFO): direction in FSK: [0.899491,-0.409922,0.151261] 2025-10-27T05:54:15.916Z,1761544455.916 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:15.922Z,1761544455.922 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.427170 2025-10-27T05:54:16.152Z,1761544456.152 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.657455 2025-10-27T05:54:16.239Z,1761544456.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086133,0.970652,0.224534],[-0.996192,-0.080851,-0.032632],[-0.013521,-0.226490,0.973920]] 2025-10-27T05:54:16.292Z,1761544456.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.506206 s, deltaX: -0.300000 m, approachRate: -0.592644 m/s, rangeRepo size: 4 2025-10-27T05:54:16.294Z,1761544456.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.160273 m, bearing: 243.041546 deg, lat: 36.779401 deg, lon: -121.859772 deg, deltaT: 6.046223 s, deltaX: -3.279102 m, approachRate: -0.542339 m/s, posRepo size: 4 2025-10-27T05:54:16.296Z,1761544456.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.44 m. 2025-10-27T05:54:16.299Z,1761544456.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 6.109634 m, bearing: 250.108959 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 258.387340 deg, new cmd heading: 257.832003 deg. 2025-10-27T05:54:16.300Z,1761544456.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500017 target range: 9.439375 and range: 6.20 m. 2025-10-27T05:54:16.405Z,1761544456.405 [DAT](INFO): DAT read: Rx Time:05:54:15.1770 2025-10-27T05:54:16.406Z,1761544456.406 [DAT](INFO): Rx dataTimestamp_ set to:1761544456.405519 2025-10-27T05:54:16.407Z,1761544456.407 [DAT](INFO): DAT read: Bearing 64.5, -26.0 (Local) 2025-10-27T05:54:16.408Z,1761544456.408 [DAT](INFO): Local bearing/azimuth received: Bearing 64.5, -26.0 (Local) 2025-10-27T05:54:16.410Z,1761544456.410 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T05:54:16.414Z,1761544456.414 [DAT](INFO): DAT read: 05:54:15.1770 LVL= 32752, 32753, 23698, 32755, AGC= 47, IDX= 509, 0.31,-1.103,-2.372,-0.028,-0.849, PHS=-0.152,-1.478, 0.776, RAW= 174.2, 8.8, CAL= 174.0, 9.4, ROT= 336.0, -9.4 2025-10-27T05:54:16.415Z,1761544456.415 [DAT](INFO): got valid direction response: 05:54:15.1770 LVL= 32752, 32753, 23698, 32755, AGC= 47, IDX= 509, 0.31,-1.103,-2.372,-0.028,-0.849, PHS=-0.152,-1.478, 0.776, RAW= 174.2, 8.8, CAL= 174.0, 9.4, ROT= 336.0, -9.4 2025-10-27T05:54:16.416Z,1761544456.416 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:54:16.417Z,1761544456.417 [DAT](INFO): direction in FSK: [0.901279,-0.401275,0.163326] 2025-10-27T05:54:16.417Z,1761544456.417 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:16.421Z,1761544456.421 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=52.926216 2025-10-27T05:54:16.641Z,1761544456.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093662,0.969088,0.228247],[-0.995526,-0.088291,-0.033655],[-0.012462,-0.230378,0.973021]] 2025-10-27T05:54:16.656Z,1761544456.656 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.161457 2025-10-27T05:54:16.769Z,1761544456.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:16.775Z,1761544456.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.160319 m, bearing: 243.310841 deg, lat: 36.779401 deg, lon: -121.859772 deg, deltaT: 6.548435 s, deltaX: -3.279056 m, approachRate: -0.500739 m/s, posRepo size: 4 2025-10-27T05:54:16.776Z,1761544456.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.44 m. 2025-10-27T05:54:16.783Z,1761544456.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 5.910032 m, bearing: 250.048237 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 257.831991 deg, new cmd heading: 257.216525 deg. 2025-10-27T05:54:16.784Z,1761544456.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489275 target range: 9.439375 and range: 6.20 m. 2025-10-27T05:54:16.910Z,1761544456.910 [DAT](INFO): DAT read: Rx Time:05:54:15.6768 2025-10-27T05:54:16.910Z,1761544456.910 [DAT](INFO): Rx dataTimestamp_ set to:1761544456.909803 2025-10-27T05:54:16.912Z,1761544456.912 [DAT](INFO): DAT read: Bearing 64.3, -26.3 (Local) 2025-10-27T05:54:16.913Z,1761544456.913 [DAT](INFO): Local bearing/azimuth received: Bearing 64.3, -26.3 (Local) 2025-10-27T05:54:16.916Z,1761544456.916 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-27T05:54:16.921Z,1761544456.921 [DAT](INFO): DAT read: 05:54:15.6768 LVL= 32752, 32753, 24626, 32755, AGC= 48, IDX= 507, 0.06,-2.546, 2.473,-1.461,-2.275, PHS=-0.169,-1.490, 0.770, RAW= 174.4, 9.1, CAL= 174.2, 9.9, ROT= 335.8, -9.9 2025-10-27T05:54:16.922Z,1761544456.922 [DAT](INFO): got valid direction response: 05:54:15.6768 LVL= 32752, 32753, 24626, 32755, AGC= 48, IDX= 507, 0.06,-2.546, 2.473,-1.461,-2.275, PHS=-0.169,-1.490, 0.770, RAW= 174.4, 9.1, CAL= 174.2, 9.9, ROT= 335.8, -9.9 2025-10-27T05:54:16.923Z,1761544456.923 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:54:16.924Z,1761544456.924 [DAT](INFO): direction in FSK: [0.898538,-0.403819,0.171929] 2025-10-27T05:54:16.924Z,1761544456.924 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:16.928Z,1761544456.928 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.433201 2025-10-27T05:54:17.086Z,1761544457.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101229,0.967555,0.231495],[-0.994796,-0.095738,-0.034861],[-0.011567,-0.233819,0.972211]] 2025-10-27T05:54:17.139Z,1761544457.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504284 s, deltaX: -0.300000 m, approachRate: -0.594902 m/s, rangeRepo size: 4 2025-10-27T05:54:17.141Z,1761544457.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.862239 m, bearing: 242.837875 deg, lat: 36.779400 deg, lon: -121.859773 deg, deltaT: 7.052719 s, deltaX: -3.577136 m, approachRate: -0.507200 m/s, posRepo size: 4 2025-10-27T05:54:17.142Z,1761544457.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.86 m. 9.44 m. 2025-10-27T05:54:17.160Z,1761544457.160 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.665768 2025-10-27T05:54:17.169Z,1761544457.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 5.696360 m, bearing: 249.994575 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 257.216537 deg, new cmd heading: 256.723752 deg. 2025-10-27T05:54:17.170Z,1761544457.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480675 target range: 9.439375 and range: 5.90 m. 2025-10-27T05:54:17.413Z,1761544457.413 [DAT](INFO): DAT read: Rx Time:05:54:16.1768 2025-10-27T05:54:17.413Z,1761544457.413 [DAT](INFO): Rx dataTimestamp_ set to:1761544457.412809 2025-10-27T05:54:17.414Z,1761544457.414 [DAT](INFO): DAT read: Bearing 64.8, -26.7 (Local) 2025-10-27T05:54:17.415Z,1761544457.415 [DAT](INFO): Local bearing/azimuth received: Bearing 64.8, -26.7 (Local) 2025-10-27T05:54:17.417Z,1761544457.417 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-27T05:54:17.422Z,1761544457.422 [DAT](INFO): DAT read: 05:54:16.1768 LVL= 32752, 32753, 30706, 32755, AGC= 47, IDX= 507,-0.22,-2.033, 3.000,-0.947,-1.732, PHS=-0.199,-1.506, 0.742, RAW= 174.6, 9.9, CAL= 174.5, 11.2, ROT= 335.5, -11.2 2025-10-27T05:54:17.423Z,1761544457.423 [DAT](INFO): got valid direction response: 05:54:16.1768 LVL= 32752, 32753, 30706, 32755, AGC= 47, IDX= 507,-0.22,-2.033, 3.000,-0.947,-1.732, PHS=-0.199,-1.506, 0.742, RAW= 174.6, 9.9, CAL= 174.5, 11.2, ROT= 335.5, -11.2 2025-10-27T05:54:17.423Z,1761544457.423 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:54:17.424Z,1761544457.424 [DAT](INFO): direction in FSK: [0.892631,-0.406795,0.194234] 2025-10-27T05:54:17.424Z,1761544457.424 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:17.428Z,1761544457.428 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:54:17.428Z,1761544457.428 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:54:17.429Z,1761544457.429 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:17.490Z,1761544457.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.109261,0.965770,0.235268],[-0.993960,-0.103697,-0.035930],[-0.010304,-0.237773,0.971266]] 2025-10-27T05:54:17.567Z,1761544457.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:17.569Z,1761544457.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.862239 m, bearing: 242.438568 deg, lat: 36.779400 deg, lon: -121.859774 deg, deltaT: 7.555725 s, deltaX: -3.577136 m, approachRate: -0.473434 m/s, posRepo size: 4 2025-10-27T05:54:17.570Z,1761544457.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.86 m. 9.44 m. 2025-10-27T05:54:17.577Z,1761544457.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 5.495830 m, bearing: 249.956433 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 256.723752 deg, new cmd heading: 256.169195 deg. 2025-10-27T05:54:17.578Z,1761544457.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470996 target range: 9.439375 and range: 5.90 m. 2025-10-27T05:54:17.665Z,1761544457.665 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:17.918Z,1761544457.918 [DAT](INFO): DAT read: Rx Time:05:54:16.6765 2025-10-27T05:54:17.918Z,1761544457.918 [DAT](INFO): Rx dataTimestamp_ set to:1761544457.917809 2025-10-27T05:54:17.920Z,1761544457.920 [DAT](INFO): DAT read: Bearing 63.4, -26.7 (Local) 2025-10-27T05:54:17.920Z,1761544457.920 [DAT](INFO): Local bearing/azimuth received: Bearing 63.4, -26.7 (Local) 2025-10-27T05:54:17.922Z,1761544457.922 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-27T05:54:17.927Z,1761544457.927 [DAT](INFO): DAT read: 05:54:16.6765 LVL= 32752, 32753, 29218, 32755, AGC= 46, IDX= 504, 0.34,-1.562,-2.815,-0.463,-1.268, PHS=-0.192,-1.503, 0.761, RAW= 174.8, 9.5, CAL= 174.6, 10.6, ROT= 335.4, -10.6 2025-10-27T05:54:17.928Z,1761544457.928 [DAT](INFO): got valid direction response: 05:54:16.6765 LVL= 32752, 32753, 29218, 32755, AGC= 46, IDX= 504, 0.34,-1.562,-2.815,-0.463,-1.268, PHS=-0.192,-1.503, 0.761, RAW= 174.8, 9.5, CAL= 174.6, 10.6, ROT= 335.4, -10.6 2025-10-27T05:54:17.928Z,1761544457.928 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:17.929Z,1761544457.929 [DAT](INFO): direction in FSK: [0.893720,-0.409177,0.183951] 2025-10-27T05:54:17.929Z,1761544457.929 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:17.933Z,1761544457.933 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:17.933Z,1761544457.933 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:17.955Z,1761544457.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117277,0.964204,0.237815],[-0.993058,-0.111679,-0.036922],[-0.009042,-0.240494,0.970608]] 2025-10-27T05:54:18.045Z,1761544458.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.505000 s, deltaX: -0.500000 m, approachRate: -0.990099 m/s, rangeRepo size: 4 2025-10-27T05:54:18.047Z,1761544458.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.365480 m, bearing: 241.769853 deg, lat: 36.779400 deg, lon: -121.859774 deg, deltaT: 8.060725 s, deltaX: -4.073895 m, approachRate: -0.505401 m/s, posRepo size: 4 2025-10-27T05:54:18.052Z,1761544458.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.44 m. 2025-10-27T05:54:18.054Z,1761544458.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 5.251176 m, bearing: 249.913369 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 256.169195 deg, new cmd heading: 255.538520 deg. 2025-10-27T05:54:18.060Z,1761544458.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459989 target range: 9.439375 and range: 5.40 m. 2025-10-27T05:54:18.168Z,1761544458.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:18.400Z,1761544458.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125748,0.962974,0.238473],[-0.992032,-0.120173,-0.037835],[-0.007776,-0.241330,0.970412]] 2025-10-27T05:54:18.421Z,1761544458.421 [DAT](INFO): DAT read: Rx Time:05:54:17.1764 2025-10-27T05:54:18.421Z,1761544458.421 [DAT](INFO): Rx dataTimestamp_ set to:1761544458.420793 2025-10-27T05:54:18.422Z,1761544458.422 [DAT](INFO): DAT read: Bearing 63.4, -27.1 (Local) 2025-10-27T05:54:18.423Z,1761544458.423 [DAT](INFO): Local bearing/azimuth received: Bearing 63.4, -27.1 (Local) 2025-10-27T05:54:18.425Z,1761544458.425 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 2025-10-27T05:54:18.429Z,1761544458.429 [DAT](INFO): DAT read: 05:54:17.1764 LVL= 32752, 32753, 29554, 32755, AGC= 46, IDX= 503,-0.04,-2.487, 2.555,-1.377,-2.172, PHS=-0.213,-1.511, 0.751, RAW= 175.1, 9.9, CAL= 175.0, 11.2, ROT= 335.0, -11.2 2025-10-27T05:54:18.431Z,1761544458.431 [DAT](INFO): got valid direction response: 05:54:17.1764 LVL= 32752, 32753, 29554, 32755, AGC= 46, IDX= 503,-0.04,-2.487, 2.555,-1.377,-2.172, PHS=-0.213,-1.511, 0.751, RAW= 175.1, 9.9, CAL= 175.0, 11.2, ROT= 335.0, -11.2 2025-10-27T05:54:18.431Z,1761544458.431 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:18.432Z,1761544458.432 [DAT](INFO): direction in FSK: [0.889047,-0.414570,0.194234] 2025-10-27T05:54:18.432Z,1761544458.432 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:18.436Z,1761544458.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:18.436Z,1761544458.436 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:18.488Z,1761544458.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.502984 s, deltaX: -0.100000 m, approachRate: -0.198813 m/s, rangeRepo size: 4 2025-10-27T05:54:18.490Z,1761544458.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.266119 m, bearing: 241.033533 deg, lat: 36.779400 deg, lon: -121.859774 deg, deltaT: 8.563709 s, deltaX: -4.173256 m, approachRate: -0.487319 m/s, posRepo size: 4 2025-10-27T05:54:18.504Z,1761544458.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.44 m. 2025-10-27T05:54:18.506Z,1761544458.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 5.034512 m, bearing: 249.892635 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 255.538523 deg, new cmd heading: 255.000830 deg. 2025-10-27T05:54:18.507Z,1761544458.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450604 target range: 9.439375 and range: 5.30 m. 2025-10-27T05:54:18.672Z,1761544458.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:18.877Z,1761544458.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.142278,0.961065,0.236879],[-0.989811,-0.136805,-0.039472],[-0.005529,-0.240082,0.970737]] 2025-10-27T05:54:18.925Z,1761544458.925 [DAT](INFO): DAT read: Rx Time:05:54:17.6761 2025-10-27T05:54:18.925Z,1761544458.925 [DAT](INFO): Rx dataTimestamp_ set to:1761544458.924877 2025-10-27T05:54:18.926Z,1761544458.926 [DAT](INFO): DAT read: Bearing 65.1, -26.8 (Local) 2025-10-27T05:54:18.927Z,1761544458.927 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, -26.8 (Local) 2025-10-27T05:54:18.929Z,1761544458.929 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 2025-10-27T05:54:18.934Z,1761544458.934 [DAT](INFO): DAT read: 05:54:17.6761 LVL= 32752, 32753, 29842, 32755, AGC= 47, IDX= 500, 0.47,-2.149, 2.903,-1.088,-1.812, PHS=-0.235,-1.523, 0.681, RAW= 174.4, 11.2, CAL= 174.4, 13.2, ROT= 335.6, -13.2 2025-10-27T05:54:18.935Z,1761544458.935 [DAT](INFO): got valid direction response: 05:54:17.6761 LVL= 32752, 32753, 29842, 32755, AGC= 47, IDX= 500, 0.47,-2.149, 2.903,-1.088,-1.812, PHS=-0.235,-1.523, 0.681, RAW= 174.4, 11.2, CAL= 174.4, 13.2, ROT= 335.6, -13.2 2025-10-27T05:54:18.935Z,1761544458.935 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:18.936Z,1761544458.936 [DAT](INFO): direction in FSK: [0.886622,-0.402190,0.228351] 2025-10-27T05:54:18.936Z,1761544458.936 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:18.940Z,1761544458.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:18.940Z,1761544458.940 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:18.000Z,1761544459.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504084 s, deltaX: -0.500000 m, approachRate: -0.991898 m/s, rangeRepo size: 4 2025-10-27T05:54:19.002Z,1761544459.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.769377 m, bearing: 241.124923 deg, lat: 36.779400 deg, lon: -121.859774 deg, deltaT: 9.067793 s, deltaX: -4.669998 m, approachRate: -0.515009 m/s, posRepo size: 4 2025-10-27T05:54:19.019Z,1761544459.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.44 m. 2025-10-27T05:54:19.022Z,1761544459.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 4.782589 m, bearing: 249.811903 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 255.000823 deg, new cmd heading: 254.298862 deg. 2025-10-27T05:54:19.023Z,1761544459.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438353 target range: 9.439375 and range: 4.80 m. 2025-10-27T05:54:19.176Z,1761544459.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:19.403Z,1761544459.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150072,0.959874,0.236897],[-0.988664,-0.144557,-0.040584],[-0.004711,-0.240302,0.970687]] 2025-10-27T05:54:19.420Z,1761544459.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:19.422Z,1761544459.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:19.426Z,1761544459.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 4.524394 m, bearing: 249.745580 deg, approach rate: -0.598896 m/s, LOS rate: -0.162618 deg/s, cmd heading: 254.298871 deg, new cmd heading: 254.088549 deg. 2025-10-27T05:54:19.429Z,1761544459.429 [DAT](INFO): DAT read: Rx Time:05:54:18.1761 2025-10-27T05:54:19.429Z,1761544459.429 [DAT](INFO): Rx dataTimestamp_ set to:1761544459.428957 2025-10-27T05:54:19.431Z,1761544459.431 [DAT](INFO): DAT read: Bearing 63.7, -27.5 (Local) 2025-10-27T05:54:19.431Z,1761544459.431 [DAT](INFO): Local bearing/azimuth received: Bearing 63.7, -27.5 (Local) 2025-10-27T05:54:19.433Z,1761544459.433 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 2025-10-27T05:54:19.459Z,1761544459.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434682 target range: 9.439375 and range: 4.80 m. 2025-10-27T05:54:19.464Z,1761544459.464 [DAT](INFO): DAT read: 05:54:18.1761 LVL= 32752, 32753, 30450, 32755, AGC= 47, IDX= 500,-0.03,-1.511,-2.730,-0.400,-1.163, PHS=-0.247,-1.522, 0.719, RAW= 175.4, 10.8, CAL= 175.4, 12.6, ROT= 334.6, -12.6 2025-10-27T05:54:19.465Z,1761544459.465 [DAT](INFO): got valid direction response: 05:54:18.1761 LVL= 32752, 32753, 30450, 32755, AGC= 47, IDX= 500,-0.03,-1.511,-2.730,-0.400,-1.163, PHS=-0.247,-1.522, 0.719, RAW= 175.4, 10.8, CAL= 175.4, 12.6, ROT= 334.6, -12.6 2025-10-27T05:54:19.465Z,1761544459.465 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:19.466Z,1761544459.466 [DAT](INFO): direction in FSK: [0.881580,-0.418605,0.218143] 2025-10-27T05:54:19.466Z,1761544459.466 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:19.478Z,1761544459.478 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:19.478Z,1761544459.478 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:19.680Z,1761544459.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:19.933Z,1761544459.933 [DAT](INFO): DAT read: Rx Time:05:54:18.6758 2025-10-27T05:54:19.933Z,1761544459.933 [DAT](INFO): Rx dataTimestamp_ set to:1761544459.932829 2025-10-27T05:54:19.934Z,1761544459.934 [DAT](INFO): DAT read: Bearing 64.6, -27.6 (Local) 2025-10-27T05:54:19.935Z,1761544459.935 [DAT](INFO): Local bearing/azimuth received: Bearing 64.6, -27.6 (Local) 2025-10-27T05:54:19.937Z,1761544459.937 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-27T05:54:19.942Z,1761544459.942 [DAT](INFO): DAT read: 05:54:18.6758 LVL= 32752, 32753, 30098, 32755, AGC= 46, IDX= 497, 0.36,-0.868,-2.081, 0.228,-0.497, PHS=-0.269,-1.539, 0.681, RAW= 175.2, 11.7, CAL= 175.3, 14.0, ROT= 334.7, -14.0 2025-10-27T05:54:19.943Z,1761544459.943 [DAT](INFO): got valid direction response: 05:54:18.6758 LVL= 32752, 32753, 30098, 32755, AGC= 46, IDX= 497, 0.36,-0.868,-2.081, 0.228,-0.497, PHS=-0.269,-1.539, 0.681, RAW= 175.2, 11.7, CAL= 175.3, 14.0, ROT= 334.7, -14.0 2025-10-27T05:54:19.944Z,1761544459.944 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:19.945Z,1761544459.945 [DAT](INFO): direction in FSK: [0.877227,-0.414663,0.241922] 2025-10-27T05:54:19.945Z,1761544459.945 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:19.949Z,1761544459.949 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:19.949Z,1761544459.949 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:19.931Z,1761544459.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:19.954Z,1761544459.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.769427 m, bearing: 239.528177 deg, lat: 36.779399 deg, lon: -121.859774 deg, deltaT: 9.571873 s, deltaX: -4.669948 m, approachRate: -0.487882 m/s, posRepo size: 4 2025-10-27T05:54:19.971Z,1761544459.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.44 m. 2025-10-27T05:54:19.974Z,1761544459.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 4.244986 m, bearing: 249.696920 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 254.088556 deg, new cmd heading: 253.423692 deg. 2025-10-27T05:54:19.983Z,1761544459.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423078 target range: 9.439375 and range: 4.80 m. 2025-10-27T05:54:20.184Z,1761544460.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:20.349Z,1761544460.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503872 s, deltaX: -0.400000 m, approachRate: -0.793853 m/s, rangeRepo size: 4 2025-10-27T05:54:20.351Z,1761544460.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.371975 m, bearing: 239.969785 deg, lat: 36.779400 deg, lon: -121.859774 deg, deltaT: 10.075745 s, deltaX: -5.067400 m, approachRate: -0.502931 m/s, posRepo size: 4 2025-10-27T05:54:20.352Z,1761544460.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.44 m. 2025-10-27T05:54:20.355Z,1761544460.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 4.013145 m, bearing: 249.651401 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 253.423705 deg, new cmd heading: 252.876214 deg. 2025-10-27T05:54:20.356Z,1761544460.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413523 target range: 9.439375 and range: 4.40 m. 2025-10-27T05:54:20.437Z,1761544460.437 [DAT](INFO): DAT read: Rx Time:05:54:19.1757 2025-10-27T05:54:20.438Z,1761544460.438 [DAT](INFO): Rx dataTimestamp_ set to:1761544460.437575 2025-10-27T05:54:20.440Z,1761544460.440 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 2025-10-27T05:54:20.441Z,1761544460.441 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:54:20.442Z,1761544460.442 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:20.442Z,1761544460.442 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:20.688Z,1761544460.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:20.706Z,1761544460.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176252,0.955740,0.235575],[-0.984344,-0.170841,-0.043351],[-0.001186,-0.239527,0.970889]] 2025-10-27T05:54:20.765Z,1761544460.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504746 s, deltaX: -0.200000 m, approachRate: -0.396239 m/s, rangeRepo size: 4 2025-10-27T05:54:20.773Z,1761544460.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:20.791Z,1761544460.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 3.789283 m, bearing: 249.692399 deg, approach rate: -0.545673 m/s, LOS rate: 0.105840 deg/s, cmd heading: 252.876225 deg, new cmd heading: 253.006487 deg. 2025-10-27T05:54:20.803Z,1761544460.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415796 target range: 9.439375 and range: 4.20 m. 2025-10-27T05:54:20.941Z,1761544460.941 [DAT](INFO): DAT read: Rx Time:05:54:19.6755 2025-10-27T05:54:20.942Z,1761544460.942 [DAT](INFO): Rx dataTimestamp_ set to:1761544460.941683 2025-10-27T05:54:20.944Z,1761544460.944 [DAT](INFO): DAT read: Bearing 61.5, -29.7 (Local) 2025-10-27T05:54:20.945Z,1761544460.945 [DAT](INFO): Local bearing/azimuth received: Bearing 61.5, -29.7 (Local) 2025-10-27T05:54:20.948Z,1761544460.948 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 2025-10-27T05:54:20.954Z,1761544460.954 [DAT](INFO): DAT read: 05:54:19.6755 LVL= 32752, 32753, 26594, 32755, AGC= 46, IDX= 510, 0.18,-0.818,-2.017, 0.437,-0.396, PHS=-0.320,-1.576, 0.789, RAW= 177.9, 10.8, CAL= 177.8, 12.8, ROT= 332.2, -12.8 2025-10-27T05:54:20.957Z,1761544460.957 [DAT](INFO): got valid direction response: 05:54:19.6755 LVL= 32752, 32753, 26594, 32755, AGC= 46, IDX= 510, 0.18,-0.818,-2.017, 0.437,-0.396, PHS=-0.320,-1.576, 0.789, RAW= 177.9, 10.8, CAL= 177.8, 12.8, ROT= 332.2, -12.8 2025-10-27T05:54:20.957Z,1761544460.957 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:20.958Z,1761544460.958 [DAT](INFO): direction in FSK: [0.862599,-0.454796,0.221548] 2025-10-27T05:54:20.959Z,1761544460.959 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:20.962Z,1761544460.962 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:20.963Z,1761544460.963 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:21.192Z,1761544461.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:21.214Z,1761544461.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194020,0.952558,0.234500],[-0.980997,-0.188605,-0.045527],[0.000861,-0.238877,0.971049]] 2025-10-27T05:54:21.406Z,1761544461.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504108 s, deltaX: -0.300000 m, approachRate: -0.595110 m/s, rangeRepo size: 4 2025-10-27T05:54:21.412Z,1761544461.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.875195 m, bearing: 234.548147 deg, lat: 36.779399 deg, lon: -121.859775 deg, deltaT: 11.084599 s, deltaX: -5.564180 m, approachRate: -0.501974 m/s, posRepo size: 4 2025-10-27T05:54:21.413Z,1761544461.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.44 m. 2025-10-27T05:54:21.420Z,1761544461.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 3.434206 m, bearing: 249.691662 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 253.006490 deg, new cmd heading: 252.160048 deg. 2025-10-27T05:54:21.421Z,1761544461.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401023 target range: 9.439375 and range: 3.90 m. 2025-10-27T05:54:21.445Z,1761544461.445 [DAT](INFO): DAT read: Rx Time:05:54:20.1758 2025-10-27T05:54:21.445Z,1761544461.445 [DAT](INFO): Rx dataTimestamp_ set to:1761544461.444806 2025-10-27T05:54:21.446Z,1761544461.446 [DAT](INFO): DAT read: Bearing 67.0, -33.0 (Local) 2025-10-27T05:54:21.447Z,1761544461.447 [DAT](INFO): Local bearing/azimuth received: Bearing 67.0, -33.0 (Local) 2025-10-27T05:54:21.449Z,1761544461.449 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-27T05:54:21.454Z,1761544461.454 [DAT](INFO): DAT read: 05:54:20.1758 LVL= 32752, 32753, 24562, 32755, AGC= 47, IDX= 514,-0.36,-2.683, 2.578,-1.417,-2.110, PHS=-0.471,-1.550, 0.650, RAW= 180.6, 14.3, CAL= 180.6, 18.5, ROT= 329.4, -18.5 2025-10-27T05:54:21.455Z,1761544461.455 [DAT](INFO): got valid direction response: 05:54:20.1758 LVL= 32752, 32753, 24562, 32755, AGC= 47, IDX= 514,-0.36,-2.683, 2.578,-1.417,-2.110, PHS=-0.471,-1.550, 0.650, RAW= 180.6, 14.3, CAL= 180.6, 18.5, ROT= 329.4, -18.5 2025-10-27T05:54:21.455Z,1761544461.455 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:21.456Z,1761544461.456 [DAT](INFO): direction in FSK: [0.816262,-0.482736,0.317305] 2025-10-27T05:54:21.456Z,1761544461.456 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:21.460Z,1761544461.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:21.460Z,1761544461.460 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:21.696Z,1761544461.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:21.741Z,1761544461.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503123 s, deltaX: 0.500000 m, approachRate: 0.993793 m/s, rangeRepo size: 4 2025-10-27T05:54:21.747Z,1761544461.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.372046 m, bearing: 233.095470 deg, lat: 36.779398 deg, lon: -121.859775 deg, deltaT: 11.587722 s, deltaX: -5.067329 m, approachRate: -0.437302 m/s, posRepo size: 4 2025-10-27T05:54:21.748Z,1761544461.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.40 m. 2025-10-27T05:54:21.749Z,1761544461.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.44 m. 2025-10-27T05:54:21.783Z,1761544461.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 3.264110 m, bearing: 249.691252 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 252.160038 deg, new cmd heading: 251.721219 deg. 2025-10-27T05:54:21.784Z,1761544461.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393364 target range: 9.439375 and range: 4.40 m. 2025-10-27T05:54:21.949Z,1761544461.949 [DAT](INFO): DAT read: Rx Time:05:54:20.6755 2025-10-27T05:54:21.950Z,1761544461.950 [DAT](INFO): Rx dataTimestamp_ set to:1761544461.949684 2025-10-27T05:54:21.952Z,1761544461.952 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 2025-10-27T05:54:21.953Z,1761544461.953 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:54:21.954Z,1761544461.954 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:21.954Z,1761544461.954 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:22.097Z,1761544462.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212249,0.948584,0.234815],[-0.977212,-0.206635,-0.048558],[0.002460,-0.239770,0.970827]] 2025-10-27T05:54:22.161Z,1761544462.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:22.164Z,1761544462.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504878 s, deltaX: -0.500000 m, approachRate: -0.990338 m/s, rangeRepo size: 4 2025-10-27T05:54:22.164Z,1761544462.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.90 m. 2025-10-27T05:54:22.165Z,1761544462.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:22.168Z,1761544462.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 2.975663 m, bearing: 249.805088 deg, approach rate: -0.682685 m/s, LOS rate: 0.295540 deg/s, cmd heading: 251.721212 deg, new cmd heading: 252.095819 deg. 2025-10-27T05:54:22.169Z,1761544462.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399902 target range: 9.439375 and range: 3.90 m. 2025-10-27T05:54:22.200Z,1761544462.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:22.452Z,1761544462.452 [DAT](INFO): DAT read: Rx Time:05:54:21.1753 2025-10-27T05:54:22.453Z,1761544462.453 [DAT](INFO): Rx dataTimestamp_ set to:1761544462.452683 2025-10-27T05:54:22.454Z,1761544462.454 [DAT](INFO): DAT read: Bearing 61.2, -32.9 (Local) 2025-10-27T05:54:22.455Z,1761544462.455 [DAT](INFO): Local bearing/azimuth received: Bearing 61.2, -32.9 (Local) 2025-10-27T05:54:22.457Z,1761544462.457 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4 2025-10-27T05:54:22.461Z,1761544462.461 [DAT](INFO): DAT read: 05:54:21.1753 LVL= 27120, 22289, 22226, 32755, AGC= 45, IDX= 505, 0.31,-2.925, 2.193,-1.475,-2.356, PHS=-0.467,-1.689, 0.837, RAW= 181.1, 12.0, CAL= 181.0, 14.8, ROT= 329.0, -14.8 2025-10-27T05:54:22.462Z,1761544462.462 [DAT](INFO): got valid direction response: 05:54:21.1753 LVL= 27120, 22289, 22226, 32755, AGC= 45, IDX= 505, 0.31,-2.925, 2.193,-1.475,-2.356, PHS=-0.467,-1.689, 0.837, RAW= 181.1, 12.0, CAL= 181.0, 14.8, ROT= 329.0, -14.8 2025-10-27T05:54:22.475Z,1761544462.475 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:22.476Z,1761544462.476 [DAT](INFO): direction in FSK: [0.828729,-0.497951,0.255446] 2025-10-27T05:54:22.476Z,1761544462.476 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:22.480Z,1761544462.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:22.480Z,1761544462.480 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:22.498Z,1761544462.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222268,0.946385,0.234418],[-0.974980,-0.216562,-0.050152],[0.003303,-0.239700,0.970841]] 2025-10-27T05:54:22.586Z,1761544462.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.502999 s, deltaX: -0.300000 m, approachRate: -0.596423 m/s, rangeRepo size: 4 2025-10-27T05:54:22.592Z,1761544462.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.577128 m, bearing: 230.126567 deg, lat: 36.779397 deg, lon: -121.859777 deg, deltaT: 12.595599 s, deltaX: -5.862247 m, approachRate: -0.465420 m/s, posRepo size: 4 2025-10-27T05:54:22.593Z,1761544462.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.58 m. 9.44 m. 2025-10-27T05:54:22.602Z,1761544462.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 2.748646 m, bearing: 249.960173 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 252.095807 deg, new cmd heading: 251.542669 deg. 2025-10-27T05:54:22.611Z,1761544462.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390248 target range: 9.439375 and range: 3.60 m. 2025-10-27T05:54:22.705Z,1761544462.705 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:22.957Z,1761544462.957 [DAT](INFO): DAT read: Rx Time:05:54:21.6750 2025-10-27T05:54:22.957Z,1761544462.957 [DAT](INFO): Rx dataTimestamp_ set to:1761544462.956720 2025-10-27T05:54:22.958Z,1761544462.958 [DAT](INFO): DAT read: Bearing 70.6, -33.6 (Local) 2025-10-27T05:54:22.959Z,1761544462.959 [DAT](INFO): Local bearing/azimuth received: Bearing 70.6, -33.6 (Local) 2025-10-27T05:54:22.961Z,1761544462.961 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4 2025-10-27T05:54:22.966Z,1761544462.966 [DAT](INFO): DAT read: 05:54:21.6750 LVL= 25696, 17905, 19218, 28659, AGC= 44, IDX= 503,-0.16,-0.168,-1.281, 1.226, 0.567, PHS=-0.633,-1.803, 0.615, RAW= 181.1, 17.1, CAL= 181.0, 23.2, ROT= 329.0, -23.2 2025-10-27T05:54:22.967Z,1761544462.967 [DAT](INFO): got valid direction response: 05:54:21.6750 LVL= 25696, 17905, 19218, 28659, AGC= 44, IDX= 503,-0.16,-0.168,-1.281, 1.226, 0.567, PHS=-0.633,-1.803, 0.615, RAW= 181.1, 17.1, CAL= 181.0, 23.2, ROT= 329.0, -23.2 2025-10-27T05:54:22.968Z,1761544462.968 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:22.969Z,1761544462.969 [DAT](INFO): direction in FSK: [0.787853,-0.473390,0.393942] 2025-10-27T05:54:22.969Z,1761544462.969 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:22.973Z,1761544462.973 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:22.973Z,1761544462.973 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:22.992Z,1761544462.992 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 97.46, 60.82 2025-10-27T05:54:23.040Z,1761544463.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504037 s, deltaX: -0.400000 m, approachRate: -0.793592 m/s, rangeRepo size: 4 2025-10-27T05:54:23.042Z,1761544463.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.179678 m, bearing: 232.244807 deg, lat: 36.779397 deg, lon: -121.859776 deg, deltaT: 13.099636 s, deltaX: -6.259697 m, approachRate: -0.477853 m/s, posRepo size: 4 2025-10-27T05:54:23.051Z,1761544463.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.44 m. 2025-10-27T05:54:23.054Z,1761544463.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 2.484985 m, bearing: 250.175881 deg, approach rate: 0.000000 m/s, LOS rate: -0.436342 deg/s, cmd heading: 251.542671 deg, new cmd heading: 250.948311 deg. 2025-10-27T05:54:23.059Z,1761544463.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379874 target range: 9.439375 and range: 3.20 m. 2025-10-27T05:54:23.212Z,1761544463.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:23.372Z,1761544463.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242078,0.941899,0.232863],[-0.970245,-0.236162,-0.053398],[0.004698,-0.238861,0.971042]] 2025-10-27T05:54:23.410Z,1761544463.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.44 m. 2025-10-27T05:54:23.413Z,1761544463.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.439375 m, nav range: 2.252085 m, bearing: 250.529944 deg, approach rate: -0.628382 m/s, LOS rate: 1.054073 deg/s, cmd heading: 250.948308 deg, new cmd heading: 252.120171 deg. 2025-10-27T05:54:23.414Z,1761544463.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400327 target range: 9.439375 and range: 3.20 m. 2025-10-27T05:54:23.466Z,1761544463.466 [DAT](INFO): DAT read: Rx Time:05:54:22.1748 2025-10-27T05:54:23.466Z,1761544463.466 [DAT](INFO): Rx dataTimestamp_ set to:1761544463.466132 2025-10-27T05:54:23.468Z,1761544463.468 [DAT](INFO): DAT read: Bearing 87.7, -33.3 (Local) 2025-10-27T05:54:23.469Z,1761544463.469 [DAT](INFO): Local bearing/azimuth received: Bearing 87.7, -33.3 (Local) 2025-10-27T05:54:23.472Z,1761544463.472 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 2025-10-27T05:54:23.476Z,1761544463.476 [DAT](INFO): DAT read: 05:54:22.1748 LVL= 27232, 23489, 19234, 29683, AGC= 44, IDX= 502, 0.26, 1.056, 0.185, 2.251, 1.972, PHS=-0.814,-1.742, 0.235, RAW= 182.0, 25.6, CAL= 181.5, 38.0, ROT= 328.5, -38.0 2025-10-27T05:54:23.477Z,1761544463.477 [DAT](INFO): got valid direction response: 05:54:22.1748 LVL= 27232, 23489, 19234, 29683, AGC= 44, IDX= 502, 0.26, 1.056, 0.185, 2.251, 1.972, PHS=-0.814,-1.742, 0.235, RAW= 182.0, 25.6, CAL= 181.5, 38.0, ROT= 328.5, -38.0 2025-10-27T05:54:23.478Z,1761544463.478 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:23.485Z,1761544463.485 [DAT](INFO): direction in FSK: [0.671890,-0.411735,0.615661] 2025-10-27T05:54:23.485Z,1761544463.485 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:23.488Z,1761544463.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:23.489Z,1761544463.489 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:23.716Z,1761544463.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:23.755Z,1761544463.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250542,0.940051,0.231373],[-0.968092,-0.244543,-0.054741],[0.005121,-0.237705,0.971324]] 2025-10-27T05:54:23.793Z,1761544463.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.509412 s, deltaX: -0.500000 m, approachRate: -0.981524 m/s, rangeRepo size: 4 2025-10-27T05:54:23.799Z,1761544463.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.682853 m, bearing: 234.711540 deg, lat: 36.779397 deg, lon: -121.859776 deg, deltaT: 13.609048 s, deltaX: -6.756522 m, approachRate: -0.496473 m/s, posRepo size: 4 2025-10-27T05:54:23.800Z,1761544463.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m. 2025-10-27T05:54:23.800Z,1761544463.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T05:54:23.969Z,1761544463.969 [DAT](INFO): DAT read: Rx Time:05:54:22.6746 2025-10-27T05:54:23.969Z,1761544463.969 [DAT](INFO): Rx dataTimestamp_ set to:1761544463.968841 2025-10-27T05:54:23.971Z,1761544463.971 [DAT](INFO): DAT read: Bearing 102.3, -36.6 (Local) 2025-10-27T05:54:23.972Z,1761544463.972 [DAT](INFO): Local bearing/azimuth received: Bearing 102.3, -36.6 (Local) 2025-10-27T05:54:23.974Z,1761544463.974 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4 2025-10-27T05:54:23.982Z,1761544463.982 [DAT](INFO): DAT read: 05:54:22.6746 LVL= 32752, 31217, 26514, 32755, AGC= 45, IDX= 500,-0.01, 2.595, 2.215,-2.573,-2.478, PHS=-1.108,-1.545,-0.139, RAW= 192.3, 38.4, CAL= 190.3, 49.2, ROT= 319.7, -49.2 2025-10-27T05:54:23.995Z,1761544463.995 [DAT](INFO): got valid direction response: 05:54:22.6746 LVL= 32752, 31217, 26514, 32755, AGC= 45, IDX= 500,-0.01, 2.595, 2.215,-2.573,-2.478, PHS=-1.108,-1.545,-0.139, RAW= 192.3, 38.4, CAL= 190.3, 49.2, ROT= 319.7, -49.2 2025-10-27T05:54:23.996Z,1761544463.996 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:23.997Z,1761544463.997 [DAT](INFO): direction in FSK: [0.498343,-0.422626,0.756995] 2025-10-27T05:54:23.997Z,1761544463.997 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:24.014Z,1761544464.014 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:24.014Z,1761544464.014 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:24.145Z,1761544464.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259302,0.937862,0.230603],[-0.965781,-0.253151,-0.056407],[0.005475,-0.237339,0.971412]] 2025-10-27T05:54:24.220Z,1761544464.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:24.221Z,1761544464.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.502709 s, deltaX: -0.300000 m, approachRate: -0.596767 m/s, rangeRepo size: 4 2025-10-27T05:54:24.227Z,1761544464.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.384758 m, bearing: 229.910321 deg, lat: 36.779398 deg, lon: -121.859776 deg, deltaT: 0.502709 s, deltaX: -0.298095 m, approachRate: -0.592977 m/s, posRepo size: 4 2025-10-27T05:54:24.473Z,1761544464.473 [DAT](INFO): DAT read: Rx Time:05:54:23.1747 2025-10-27T05:54:24.473Z,1761544464.473 [DAT](INFO): Rx dataTimestamp_ set to:1761544464.473009 2025-10-27T05:54:24.475Z,1761544464.475 [DAT](INFO): DAT read: Bearing 108.5, -44.1 (Local) 2025-10-27T05:54:24.475Z,1761544464.475 [DAT](INFO): Local bearing/azimuth received: Bearing 108.5, -44.1 (Local) 2025-10-27T05:54:24.477Z,1761544464.477 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.2 2025-10-27T05:54:24.482Z,1761544464.482 [DAT](INFO): DAT read: 05:54:23.1747 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 500,-0.03,-1.275,-1.295, 0.213, 0.320, PHS=-1.493,-1.570,-0.151, RAW= 207.2, 39.4, CAL= 204.4, 49.9, ROT= 305.6, -49.9 2025-10-27T05:54:24.483Z,1761544464.483 [DAT](INFO): got valid direction response: 05:54:23.1747 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 500,-0.03,-1.275,-1.295, 0.213, 0.320, PHS=-1.493,-1.570,-0.151, RAW= 207.2, 39.4, CAL= 204.4, 49.9, ROT= 305.6, -49.9 2025-10-27T05:54:24.483Z,1761544464.483 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:24.484Z,1761544464.484 [DAT](INFO): direction in FSK: [0.374959,-0.523737,0.764921] 2025-10-27T05:54:24.484Z,1761544464.484 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:24.492Z,1761544464.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:24.492Z,1761544464.492 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:24.576Z,1761544464.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268594,0.935578,0.229241],[-0.963235,-0.262336,-0.057949],[0.005923,-0.236377,0.971643]] 2025-10-27T05:54:24.621Z,1761544464.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504168 s, deltaX: 0.200000 m, approachRate: 0.396693 m/s, rangeRepo size: 4 2025-10-27T05:54:24.628Z,1761544464.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.583488 m, bearing: 212.841432 deg, lat: 36.779400 deg, lon: -121.859773 deg, deltaT: 0.504168 s, deltaX: 0.198730 m, approachRate: 0.394174 m/s, posRepo size: 4 2025-10-27T05:54:24.725Z,1761544464.725 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:24.977Z,1761544464.977 [DAT](INFO): DAT read: Rx Time:05:54:23.6744 2025-10-27T05:54:24.977Z,1761544464.977 [DAT](INFO): Rx dataTimestamp_ set to:1761544464.977082 2025-10-27T05:54:24.979Z,1761544464.979 [DAT](INFO): DAT read: Bearing 94.1, -34.6 (Local) 2025-10-27T05:54:24.979Z,1761544464.979 [DAT](INFO): Local bearing/azimuth received: Bearing 94.1, -34.6 (Local) 2025-10-27T05:54:24.981Z,1761544464.981 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.3 2025-10-27T05:54:24.986Z,1761544464.986 [DAT](INFO): DAT read: 05:54:23.6744 LVL= 16624, 19761, 17266, 25763, AGC= 42, IDX= 497, 0.27,-2.742, 2.745,-1.341,-1.412, PHS=-1.229,-2.081, 0.027, RAW= 186.3, 32.3, CAL= 185.1, 44.4, ROT= 324.9, -44.4 2025-10-27T05:54:24.987Z,1761544464.987 [DAT](INFO): got valid direction response: 05:54:23.6744 LVL= 16624, 19761, 17266, 25763, AGC= 42, IDX= 497, 0.27,-2.742, 2.745,-1.341,-1.412, PHS=-1.229,-2.081, 0.027, RAW= 186.3, 32.3, CAL= 185.1, 44.4, ROT= 324.9, -44.4 2025-10-27T05:54:24.987Z,1761544464.987 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:24.988Z,1761544464.988 [DAT](INFO): direction in FSK: [0.584546,-0.410826,0.699663] 2025-10-27T05:54:24.989Z,1761544464.989 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:24.992Z,1761544464.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:24.992Z,1761544464.992 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:25.100Z,1761544465.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504073 s, deltaX: -0.500000 m, approachRate: -0.991920 m/s, rangeRepo size: 4 2025-10-27T05:54:25.102Z,1761544465.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.086663 m, bearing: 232.462669 deg, lat: 36.779402 deg, lon: -121.859773 deg, deltaT: 0.504073 s, deltaX: -0.496825 m, approachRate: -0.985621 m/s, posRepo size: 4 2025-10-27T05:54:25.228Z,1761544465.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:25.406Z,1761544465.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284603,0.931994,0.224474],[-0.958627,-0.278146,-0.060575],[0.005981,-0.232427,0.972596]] 2025-10-27T05:54:25.443Z,1761544465.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:25.481Z,1761544465.481 [DAT](INFO): DAT read: Rx Time:05:54:24.1743 2025-10-27T05:54:25.481Z,1761544465.481 [DAT](INFO): Rx dataTimestamp_ set to:1761544465.481017 2025-10-27T05:54:25.483Z,1761544465.483 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.3 2025-10-27T05:54:25.484Z,1761544465.484 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T05:54:25.485Z,1761544465.485 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:25.486Z,1761544465.486 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:54:25.732Z,1761544465.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:54:25.811Z,1761544465.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291734,0.930580,0.221160],[-0.956481,-0.285253,-0.061437],[0.005915,-0.229459,0.973300]] 2025-10-27T05:54:25.853Z,1761544465.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503935 s, deltaX: -0.100000 m, approachRate: -0.198438 m/s, rangeRepo size: 4 2025-10-27T05:54:25.984Z,1761544465.984 [DAT](INFO): DAT read: user:597> 2025-10-27T05:54:25.985Z,1761544465.985 [DAT](INFO): DAT read: user:597> 2025-10-27T05:54:25.986Z,1761544465.986 [DAT](INFO): DAT read: Tx time:05:54:25.0712 2025-10-27T05:54:25.986Z,1761544465.986 [DAT](INFO): Ping request sent. 2025-10-27T05:54:25.986Z,1761544465.986 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:54:25.986Z,1761544465.986 [DAT](INFO): publishing transmit ping time 2025-10-27T05:54:25.987Z,1761544465.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000869 2025-10-27T05:54:26.231Z,1761544466.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297951,0.929693,0.216554],[-0.954566,-0.291458,-0.062097],[0.005385,-0.225217,0.974294]] 2025-10-27T05:54:26.236Z,1761544466.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249770 2025-10-27T05:54:26.488Z,1761544466.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501667 2025-10-27T05:54:26.632Z,1761544466.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.303131,0.928975,0.212408],[-0.952937,-0.296592,-0.062796],[0.004662,-0.221447,0.975161]] 2025-10-27T05:54:26.741Z,1761544466.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754380 2025-10-27T05:54:26.992Z,1761544466.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005632 2025-10-27T05:54:27.034Z,1761544467.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307082,0.928660,0.208064],[-0.951677,-0.300450,-0.063572],[0.003476,-0.217531,0.976047]] 2025-10-27T05:54:27.244Z,1761544467.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257636 2025-10-27T05:54:27.439Z,1761544467.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309443,0.928918,0.203363],[-0.950917,-0.302643,-0.064532],[0.001602,-0.213350,0.976975]] 2025-10-27T05:54:27.474Z,1761544467.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:27.496Z,1761544467.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509666 2025-10-27T05:54:27.748Z,1761544467.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761605 2025-10-27T05:54:27.842Z,1761544467.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310822,0.929525,0.198427],[-0.950468,-0.303905,-0.065207],[-0.000308,-0.208866,0.977944]] 2025-10-27T05:54:28.000Z,1761544468.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013770 2025-10-27T05:54:28.250Z,1761544468.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311817,0.930249,0.193409],[-0.950139,-0.304780,-0.065914],[-0.002369,-0.204318,0.978902]] 2025-10-27T05:54:28.252Z,1761544468.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265693 2025-10-27T05:54:28.300Z,1761544468.300 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,3 2025-10-27T05:54:28.505Z,1761544468.505 [DAT](INFO): DAT read: Rx Time:05:54:27.2032 2025-10-27T05:54:28.505Z,1761544468.505 [DAT](INFO): Rx dataTimestamp_ set to:1761544468.504714 2025-10-27T05:54:28.506Z,1761544468.506 [DAT](INFO): DAT read: Bearing 179.5, -24.1 (Local) 2025-10-27T05:54:28.507Z,1761544468.507 [DAT](INFO): Local bearing/azimuth received: Bearing 179.5, -24.1 (Local) 2025-10-27T05:54:28.509Z,1761544468.509 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.4 2025-10-27T05:54:28.513Z,1761544468.513 [DAT](INFO): DAT read: 05:54:27.2032 LVL= 28768, 29681, 20418, 32755, AGC= 49, IDX= 260,-0.07,-2.400,-0.846,-1.634,-0.420, PHS=-1.878,-0.380,-1.258, RAW= 305.7, 43.6, CAL= 307.1, 48.2, ROT= 202.9, -48.2 2025-10-27T05:54:28.514Z,1761544468.514 [DAT](INFO): got valid direction response: 05:54:27.2032 LVL= 28768, 29681, 20418, 32755, AGC= 49, IDX= 260,-0.07,-2.400,-0.846,-1.634,-0.420, PHS=-1.878,-0.380,-1.258, RAW= 305.7, 43.6, CAL= 307.1, 48.2, ROT= 202.9, -48.2 2025-10-27T05:54:28.515Z,1761544468.515 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:54:28.516Z,1761544468.516 [DAT](INFO): direction in FSK: [-0.614000,-0.259364,0.745476] 2025-10-27T05:54:28.516Z,1761544468.516 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:28.520Z,1761544468.520 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.533758 2025-10-27T05:54:28.680Z,1761544468.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318912,0.927140,0.196738],[-0.947774,-0.311019,-0.070643],[-0.004306,-0.208992,0.977908]] 2025-10-27T05:54:28.756Z,1761544468.756 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769725 2025-10-27T05:54:28.814Z,1761544468.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 3.023697 s, deltaX: 0.100000 m, approachRate: 0.033072 m/s, rangeRepo size: 4 2025-10-27T05:54:28.820Z,1761544468.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.086624 m, bearing: 80.505441 deg, lat: 36.779402 deg, lon: -121.859769 deg, deltaT: 3.527632 s, deltaX: -0.000039 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T05:54:28.821Z,1761544468.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m. 2025-10-27T05:54:29.009Z,1761544469.009 [DAT](INFO): DAT read: Rx Time:05:54:27.7026 2025-10-27T05:54:29.009Z,1761544469.009 [DAT](INFO): Rx dataTimestamp_ set to:1761544469.008713 2025-10-27T05:54:29.010Z,1761544469.010 [DAT](INFO): DAT read: Bearing 188.5, -37.1 (Local) 2025-10-27T05:54:29.011Z,1761544469.011 [DAT](INFO): Local bearing/azimuth received: Bearing 188.5, -37.1 (Local) 2025-10-27T05:54:29.016Z,1761544469.016 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (trip time 0.8 ms) speed -0.4 2025-10-27T05:54:29.029Z,1761544469.029 [DAT](INFO): DAT read: 05:54:27.7026 LVL= 31680, 32753, 32706, 32755, AGC= 50, IDX= 500,-0.01,-1.186, 1.018, 0.378, 1.195, PHS=-2.278,-0.132,-0.860, RAW= 289.5, 31.4, CAL= 292.4, 37.9, ROT= 217.6, -37.9 2025-10-27T05:54:29.030Z,1761544469.030 [DAT](INFO): got valid direction response: 05:54:27.7026 LVL= 31680, 32753, 32706, 32755, AGC= 50, IDX= 500,-0.01,-1.186, 1.018, 0.378, 1.195, PHS=-2.278,-0.132,-0.860, RAW= 289.5, 31.4, CAL= 292.4, 37.9, ROT= 217.6, -37.9 2025-10-27T05:54:29.030Z,1761544469.030 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:54:29.052Z,1761544469.052 [DAT](INFO): direction in FSK: [-0.625183,-0.481456,0.614285] 2025-10-27T05:54:29.052Z,1761544469.052 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:29.072Z,1761544469.072 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.085934 2025-10-27T05:54:29.175Z,1761544469.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332702,0.918854,0.212170],[-0.943005,-0.322461,-0.082223],[-0.007135,-0.227433,0.973768]] 2025-10-27T05:54:29.260Z,1761544469.260 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273756 2025-10-27T05:54:29.267Z,1761544469.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503999 s, deltaX: -0.900000 m, approachRate: -1.785717 m/s, rangeRepo size: 4 2025-10-27T05:54:29.269Z,1761544469.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.192357 m, bearing: 98.523621 deg, lat: 36.779401 deg, lon: -121.859769 deg, deltaT: 0.503999 s, deltaX: -0.894268 m, approachRate: -1.774344 m/s, posRepo size: 4 2025-10-27T05:54:29.270Z,1761544469.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.20 m. 2025-10-27T05:54:29.513Z,1761544469.513 [DAT](INFO): DAT read: Rx Time:05:54:28.2028 2025-10-27T05:54:29.513Z,1761544469.513 [DAT](INFO): Rx dataTimestamp_ set to:1761544469.512720 2025-10-27T05:54:29.514Z,1761544469.514 [DAT](INFO): DAT read: Bearing 191.6, -25.3 (Local) 2025-10-27T05:54:29.515Z,1761544469.515 [DAT](INFO): Local bearing/azimuth received: Bearing 191.6, -25.3 (Local) 2025-10-27T05:54:29.517Z,1761544469.517 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed -0.4 2025-10-27T05:54:29.521Z,1761544469.521 [DAT](INFO): DAT read: 05:54:28.2028 LVL= 26352, 22337, 19122, 32755, AGC= 51, IDX= 501, 0.24, 0.909, 2.823, 1.783, 2.775, PHS=-1.764, 0.093,-1.036, RAW= 307.1, 30.6, CAL= 308.0, 35.9, ROT= 202.0, -35.9 2025-10-27T05:54:29.522Z,1761544469.522 [DAT](INFO): got valid direction response: 05:54:28.2028 LVL= 26352, 22337, 19122, 32755, AGC= 51, IDX= 501, 0.24, 0.909, 2.823, 1.783, 2.775, PHS=-1.764, 0.093,-1.036, RAW= 307.1, 30.6, CAL= 308.0, 35.9, ROT= 202.0, -35.9 2025-10-27T05:54:29.523Z,1761544469.523 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:54:29.524Z,1761544469.524 [DAT](INFO): direction in FSK: [-0.751058,-0.303447,0.586372] 2025-10-27T05:54:29.524Z,1761544469.524 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:29.528Z,1761544469.528 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.541745 2025-10-27T05:54:29.582Z,1761544469.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353047,0.909895,0.217829],[-0.935545,-0.340665,-0.093294],[-0.010681,-0.236726,0.971518]] 2025-10-27T05:54:29.675Z,1761544469.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504007 s, deltaX: 0.300000 m, approachRate: 0.595230 m/s, rangeRepo size: 4 2025-10-27T05:54:29.677Z,1761544469.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.490446 m, bearing: 81.164795 deg, lat: 36.779400 deg, lon: -121.859775 deg, deltaT: 0.504007 s, deltaX: 0.298089 m, approachRate: 0.591439 m/s, posRepo size: 4 2025-10-27T05:54:29.765Z,1761544469.765 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778658 2025-10-27T05:54:29.995Z,1761544469.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376528,0.892017,0.250065],[-0.926313,-0.358709,-0.115206],[-0.013065,-0.275016,0.961351]] 2025-10-27T05:54:30.016Z,1761544470.016 [DAT](INFO): DAT read: Rx Time:05:54:28.7028 2025-10-27T05:54:30.017Z,1761544470.017 [DAT](INFO): Rx dataTimestamp_ set to:1761544470.016536 2025-10-27T05:54:30.018Z,1761544470.018 [DAT](INFO): DAT read: Bearing 189.8, -25.3 (Local) 2025-10-27T05:54:30.018Z,1761544470.018 [DAT](INFO): Local bearing/azimuth received: Bearing 189.8, -25.3 (Local) 2025-10-27T05:54:30.021Z,1761544470.021 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed -0.1 2025-10-27T05:54:30.025Z,1761544470.025 [DAT](INFO): DAT read: 05:54:28.7028 LVL= 19024, 17537, 12242, 20787, AGC= 46, IDX= 501, 0.24, 1.811,-2.483, 2.664,-2.502, PHS=-1.868, 0.064,-1.161, RAW= 308.8, 31.8, CAL= 309.7, 37.0, ROT= 200.3, -37.0 2025-10-27T05:54:30.026Z,1761544470.026 [DAT](INFO): got valid direction response: 05:54:28.7028 LVL= 19024, 17537, 12242, 20787, AGC= 46, IDX= 501, 0.24, 1.811,-2.483, 2.664,-2.502, PHS=-1.868, 0.064,-1.161, RAW= 308.8, 31.8, CAL= 309.7, 37.0, ROT= 200.3, -37.0 2025-10-27T05:54:30.026Z,1761544470.026 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:54:30.028Z,1761544470.028 [DAT](INFO): direction in FSK: [-0.749031,-0.277075,0.601815] 2025-10-27T05:54:30.028Z,1761544470.028 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:30.036Z,1761544470.036 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.049229 2025-10-27T05:54:30.161Z,1761544470.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:30.168Z,1761544470.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.490382 m, bearing: 75.636811 deg, lat: 36.779399 deg, lon: -121.859775 deg, deltaT: 0.503816 s, deltaX: -0.000064 m, approachRate: -0.000127 m/s, posRepo size: 4 2025-10-27T05:54:30.269Z,1761544470.269 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282180 2025-10-27T05:54:30.408Z,1761544470.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407471,0.874001,0.264745],[-0.913151,-0.386429,-0.129724],[-0.011074,-0.294611,0.955553]] 2025-10-27T05:54:30.436Z,1761544470.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:30.521Z,1761544470.521 [DAT](INFO): DAT read: Rx Time:05:54:29.2029 2025-10-27T05:54:30.522Z,1761544470.522 [DAT](INFO): Rx dataTimestamp_ set to:1761544470.521591 2025-10-27T05:54:30.524Z,1761544470.524 [DAT](INFO): DAT read: Bearing 194.9, -36.9 (Local) 2025-10-27T05:54:30.525Z,1761544470.525 [DAT](INFO): Local bearing/azimuth received: Bearing 194.9, -36.9 (Local) 2025-10-27T05:54:30.528Z,1761544470.528 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T05:54:30.533Z,1761544470.533 [DAT](INFO): DAT read: 05:54:29.2029 LVL= 18832, 16673, 13858, 19795, AGC= 46, IDX= 502, 0.24,-0.413, 1.864, 0.986, 1.698, PHS=-2.008, 0.211,-0.756, RAW= 295.7, 25.1, CAL= 296.4, 31.4, ROT= 213.6, -31.4 2025-10-27T05:54:30.534Z,1761544470.534 [DAT](INFO): got valid direction response: 05:54:29.2029 LVL= 18832, 16673, 13858, 19795, AGC= 46, IDX= 502, 0.24,-0.413, 1.864, 0.986, 1.698, PHS=-2.008, 0.211,-0.756, RAW= 295.7, 25.1, CAL= 296.4, 31.4, ROT= 213.6, -31.4 2025-10-27T05:54:30.534Z,1761544470.534 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:54:30.535Z,1761544470.535 [DAT](INFO): direction in FSK: [-0.710941,-0.472348,0.521010] 2025-10-27T05:54:30.536Z,1761544470.536 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:30.539Z,1761544470.539 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.552935 2025-10-27T05:54:30.772Z,1761544470.772 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785653 2025-10-27T05:54:30.802Z,1761544470.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449649,0.852372,0.266980],[-0.893196,-0.427683,-0.138884],[-0.004198,-0.300915,0.953642]] 2025-10-27T05:54:30.954Z,1761544470.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.505055 s, deltaX: 0.200000 m, approachRate: 0.395997 m/s, rangeRepo size: 4 2025-10-27T05:54:30.974Z,1761544470.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.689122 m, bearing: 85.799721 deg, lat: 36.779398 deg, lon: -121.859777 deg, deltaT: 0.505055 s, deltaX: 0.198740 m, approachRate: 0.393501 m/s, posRepo size: 4 2025-10-27T05:54:30.980Z,1761544470.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.70 m. 2025-10-27T05:54:31.025Z,1761544471.025 [DAT](INFO): DAT read: Rx Time:05:54:29.7028 2025-10-27T05:54:31.025Z,1761544471.025 [DAT](INFO): Rx dataTimestamp_ set to:1761544471.024904 2025-10-27T05:54:31.026Z,1761544471.026 [DAT](INFO): DAT read: Bearing 191.9, -39.9 (Local) 2025-10-27T05:54:31.027Z,1761544471.027 [DAT](INFO): Local bearing/azimuth received: Bearing 191.9, -39.9 (Local) 2025-10-27T05:54:31.029Z,1761544471.029 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T05:54:31.036Z,1761544471.036 [DAT](INFO): DAT read: 05:54:29.7028 LVL= 27120, 15569, 14690, 24803, AGC= 47, IDX= 501, 0.27,-2.408,-0.060,-0.856,-0.219, PHS=-2.087, 0.204,-0.681, RAW= 292.5, 24.4, CAL= 293.2, 30.9, ROT= 216.8, -30.9 2025-10-27T05:54:31.038Z,1761544471.038 [DAT](INFO): got valid direction response: 05:54:29.7028 LVL= 27120, 15569, 14690, 24803, AGC= 47, IDX= 501, 0.27,-2.408,-0.060,-0.856,-0.219, PHS=-2.087, 0.204,-0.681, RAW= 292.5, 24.4, CAL= 293.2, 30.9, ROT= 216.8, -30.9 2025-10-27T05:54:31.038Z,1761544471.038 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:54:31.040Z,1761544471.040 [DAT](INFO): direction in FSK: [-0.687079,-0.514001,0.513541] 2025-10-27T05:54:31.040Z,1761544471.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:31.046Z,1761544471.046 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.059376 2025-10-27T05:54:31.236Z,1761544471.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528764,0.821052,0.215135],[-0.848752,-0.513083,-0.127926],[0.005348,-0.250239,0.968169]] 2025-10-27T05:54:31.276Z,1761544471.276 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289886 2025-10-27T05:54:31.290Z,1761544471.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503313 s, deltaX: -0.200000 m, approachRate: -0.397367 m/s, rangeRepo size: 4 2025-10-27T05:54:31.308Z,1761544471.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.490401 m, bearing: 86.209108 deg, lat: 36.779397 deg, lon: -121.859778 deg, deltaT: 0.503313 s, deltaX: -0.198720 m, approachRate: -0.394824 m/s, posRepo size: 4 2025-10-27T05:54:31.309Z,1761544471.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.50 m. 2025-10-27T05:54:31.529Z,1761544471.529 [DAT](INFO): DAT read: Rx Time:05:54:30.2029 2025-10-27T05:54:31.529Z,1761544471.529 [DAT](INFO): Rx dataTimestamp_ set to:1761544471.528763 2025-10-27T05:54:31.530Z,1761544471.530 [DAT](INFO): DAT read: Bearing 184.9, -36.4 (Local) 2025-10-27T05:54:31.531Z,1761544471.531 [DAT](INFO): Local bearing/azimuth received: Bearing 184.9, -36.4 (Local) 2025-10-27T05:54:31.533Z,1761544471.533 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T05:54:31.537Z,1761544471.537 [DAT](INFO): DAT read: 05:54:30.2029 LVL= 23440, 19985, 17794, 22179, AGC= 46, IDX= 502, 0.38,-1.036, 1.267, 0.392, 1.155, PHS=-2.089, 0.157,-0.807, RAW= 295.3, 26.4, CAL= 296.4, 32.6, ROT= 213.6, -32.6 2025-10-27T05:54:31.539Z,1761544471.539 [DAT](INFO): got valid direction response: 05:54:30.2029 LVL= 23440, 19985, 17794, 22179, AGC= 46, IDX= 502, 0.38,-1.036, 1.267, 0.392, 1.155, PHS=-2.089, 0.157,-0.807, RAW= 295.3, 26.4, CAL= 296.4, 32.6, ROT= 213.6, -32.6 2025-10-27T05:54:31.539Z,1761544471.539 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:54:31.540Z,1761544471.540 [DAT](INFO): direction in FSK: [-0.701697,-0.466206,0.538771] 2025-10-27T05:54:31.540Z,1761544471.540 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:31.545Z,1761544471.545 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.558341 2025-10-27T05:54:31.701Z,1761544471.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503859 s, deltaX: 0.200000 m, approachRate: 0.396937 m/s, rangeRepo size: 4 2025-10-27T05:54:31.710Z,1761544471.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.689122 m, bearing: 82.254871 deg, lat: 36.779394 deg, lon: -121.859778 deg, deltaT: 0.503859 s, deltaX: 0.198720 m, approachRate: 0.394396 m/s, posRepo size: 4 2025-10-27T05:54:31.715Z,1761544471.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.70 m. 2025-10-27T05:54:31.780Z,1761544471.780 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793881 2025-10-27T05:54:32.033Z,1761544472.033 [DAT](INFO): DAT read: Rx Time:05:54:30.7028 2025-10-27T05:54:32.033Z,1761544472.033 [DAT](INFO): Rx dataTimestamp_ set to:1761544472.032752 2025-10-27T05:54:32.034Z,1761544472.034 [DAT](INFO): DAT read: Bearing 174.0, -19.4 (Local) 2025-10-27T05:54:32.035Z,1761544472.035 [DAT](INFO): Local bearing/azimuth received: Bearing 174.0, -19.4 (Local) 2025-10-27T05:54:32.037Z,1761544472.037 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T05:54:32.041Z,1761544472.041 [DAT](INFO): DAT read: 05:54:30.7028 LVL= 18512, 18769, 12594, 21219, AGC= 46, IDX= 502,-0.31, 2.589,-1.827,-3.033,-1.809, PHS=-1.783, 0.027,-1.267, RAW= 314.0, 33.5, CAL= 314.6, 38.8, ROT= 195.4, -38.8 2025-10-27T05:54:32.042Z,1761544472.042 [DAT](INFO): got valid direction response: 05:54:30.7028 LVL= 18512, 18769, 12594, 21219, AGC= 46, IDX= 502,-0.31, 2.589,-1.827,-3.033,-1.809, PHS=-1.783, 0.027,-1.267, RAW= 314.0, 33.5, CAL= 314.6, 38.8, ROT= 195.4, -38.8 2025-10-27T05:54:32.043Z,1761544472.043 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:54:32.044Z,1761544472.044 [DAT](INFO): direction in FSK: [-0.751356,-0.206958,0.626604] 2025-10-27T05:54:32.044Z,1761544472.044 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:32.052Z,1761544472.052 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.065728 2025-10-27T05:54:32.060Z,1761544472.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595500,0.794079,0.121732],[-0.803352,-0.589082,-0.087230],[0.002443,-0.149739,0.988723]] 2025-10-27T05:54:32.167Z,1761544472.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503989 s, deltaX: -0.200000 m, approachRate: -0.396834 m/s, rangeRepo size: 4 2025-10-27T05:54:32.169Z,1761544472.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.490375 m, bearing: 61.822701 deg, lat: 36.779394 deg, lon: -121.859779 deg, deltaT: 0.503989 s, deltaX: -0.198747 m, approachRate: -0.394347 m/s, posRepo size: 4 2025-10-27T05:54:32.284Z,1761544472.284 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298126 2025-10-27T05:54:32.445Z,1761544472.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634399,0.768419,0.084087],[-0.772988,-0.631368,-0.062164],[0.005322,-0.104435,0.994517]] 2025-10-27T05:54:32.470Z,1761544472.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:32.537Z,1761544472.537 [DAT](INFO): DAT read: Rx Time:05:54:31.2030 2025-10-27T05:54:32.538Z,1761544472.538 [DAT](INFO): Rx dataTimestamp_ set to:1761544472.537037 2025-10-27T05:54:32.540Z,1761544472.540 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T05:54:32.540Z,1761544472.540 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-27T05:54:32.542Z,1761544472.542 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.555358 2025-10-27T05:54:32.796Z,1761544472.796 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.810086 2025-10-27T05:54:32.893Z,1761544472.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675652,0.734723,0.060632],[-0.737129,-0.674575,-0.039872],[0.011606,-0.071633,0.997364]] 2025-10-27T05:54:32.939Z,1761544472.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504285 s, deltaX: 0.300000 m, approachRate: 0.594902 m/s, rangeRepo size: 4 2025-10-27T05:54:33.050Z,1761544473.050 [DAT](INFO): DAT read: Rx Time:05:54:31.7028 2025-10-27T05:54:33.050Z,1761544473.050 [DAT](INFO): Rx dataTimestamp_ set to:1761544473.050202 2025-10-27T05:54:33.052Z,1761544473.052 [DAT](INFO): DAT read: Bearing 90.5, -36.2 (Local) 2025-10-27T05:54:33.053Z,1761544473.053 [DAT](INFO): Local bearing/azimuth received: Bearing 90.5, -36.2 (Local) 2025-10-27T05:54:33.056Z,1761544473.056 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T05:54:33.062Z,1761544473.062 [DAT](INFO): DAT read: 05:54:31.7028 LVL= 26784, 17169, 20850, 27763, AGC= 51, IDX= 505,-0.01, 2.448, 2.512,-2.652,-2.505, PHS=-1.228,-1.221,-0.191, RAW= 210.4, 42.1, CAL= 207.8, 52.1, ROT= 302.2, -52.1 2025-10-27T05:54:33.064Z,1761544473.064 [DAT](INFO): got valid direction response: 05:54:31.7028 LVL= 26784, 17169, 20850, 27763, AGC= 51, IDX= 505,-0.01, 2.448, 2.512,-2.652,-2.505, PHS=-1.228,-1.221,-0.191, RAW= 210.4, 42.1, CAL= 207.8, 52.1, ROT= 302.2, -52.1 2025-10-27T05:54:33.064Z,1761544473.064 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:54:33.065Z,1761544473.065 [DAT](INFO): direction in FSK: [0.327338,-0.519804,0.789084] 2025-10-27T05:54:33.066Z,1761544473.066 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:33.069Z,1761544473.069 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.083015 2025-10-27T05:54:33.254Z,1761544473.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717279,0.694601,0.055150],[-0.696496,-0.717017,-0.027946],[0.020132,-0.058457,0.998087]] 2025-10-27T05:54:33.300Z,1761544473.300 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.313768 2025-10-27T05:54:33.372Z,1761544473.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.513165 s, deltaX: -0.300000 m, approachRate: -0.584607 m/s, rangeRepo size: 4 2025-10-27T05:54:33.389Z,1761544473.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.490352 m, bearing: 167.478476 deg, lat: 36.779393 deg, lon: -121.859780 deg, deltaT: 1.017450 s, deltaX: -0.000023 m, approachRate: -0.000022 m/s, posRepo size: 4 2025-10-27T05:54:33.553Z,1761544473.553 [DAT](INFO): DAT read: Rx Time:05:54:32.2029 2025-10-27T05:54:33.553Z,1761544473.553 [DAT](INFO): Rx dataTimestamp_ set to:1761544473.552720 2025-10-27T05:54:33.554Z,1761544473.554 [DAT](INFO): DAT read: Bearing 96.2, -12.1 (Local) 2025-10-27T05:54:33.555Z,1761544473.555 [DAT](INFO): Local bearing/azimuth received: Bearing 96.2, -12.1 (Local) 2025-10-27T05:54:33.557Z,1761544473.557 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T05:54:33.561Z,1761544473.561 [DAT](INFO): DAT read: 05:54:32.2029 LVL= 25936, 15537, 24146, 29683, AGC= 52, IDX= 505, 0.13, 1.330, 1.138, 1.763, 2.593, PHS=-1.160,-1.410,-0.874, RAW= 182.3, 69.1, CAL= 182.0, 73.5, ROT= 328.0, -73.5 2025-10-27T05:54:33.562Z,1761544473.562 [DAT](INFO): got valid direction response: 05:54:32.2029 LVL= 25936, 15537, 24146, 29683, AGC= 52, IDX= 505, 0.13, 1.330, 1.138, 1.763, 2.593, PHS=-1.160,-1.410,-0.874, RAW= 182.3, 69.1, CAL= 182.0, 73.5, ROT= 328.0, -73.5 2025-10-27T05:54:33.571Z,1761544473.571 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:54:33.573Z,1761544473.573 [DAT](INFO): direction in FSK: [0.240859,-0.150505,0.958820] 2025-10-27T05:54:33.573Z,1761544473.573 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:33.585Z,1761544473.585 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.598947 2025-10-27T05:54:33.658Z,1761544473.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756643,0.650850,0.062341],[-0.653115,-0.756826,-0.025576],[0.030535,-0.060068,0.997727]] 2025-10-27T05:54:33.722Z,1761544473.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502518 s, deltaX: 0.200000 m, approachRate: 0.397996 m/s, rangeRepo size: 4 2025-10-27T05:54:33.730Z,1761544473.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.689066 m, bearing: 197.126857 deg, lat: 36.779392 deg, lon: -121.859782 deg, deltaT: 0.502518 s, deltaX: 0.198714 m, approachRate: 0.395436 m/s, posRepo size: 4 2025-10-27T05:54:33.805Z,1761544473.805 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.818967 2025-10-27T05:54:34.056Z,1761544474.056 [DAT](INFO): DAT read: Rx Time:05:54:32.7027 2025-10-27T05:54:34.057Z,1761544474.057 [DAT](INFO): Rx dataTimestamp_ set to:1761544474.056226 2025-10-27T05:54:34.058Z,1761544474.058 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2025-10-27T05:54:34.058Z,1761544474.058 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-27T05:54:34.059Z,1761544474.059 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.073069 2025-10-27T05:54:34.066Z,1761544474.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792148,0.605257,0.078527],[-0.608962,-0.792412,-0.035340],[0.040836,-0.075814,0.996285]] 2025-10-27T05:54:34.147Z,1761544474.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503506 s, deltaX: -0.300000 m, approachRate: -0.595822 m/s, rangeRepo size: 4 2025-10-27T05:54:34.308Z,1761544474.308 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.321648 2025-10-27T05:54:34.465Z,1761544474.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823387,0.559343,0.095756],[-0.565279,-0.823280,-0.051672],[0.049932,-0.096675,0.994063]] 2025-10-27T05:54:34.490Z,1761544474.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:34.561Z,1761544474.561 [DAT](INFO): DAT read: Rx Time:05:54:33.2029 2025-10-27T05:54:34.562Z,1761544474.562 [DAT](INFO): Rx dataTimestamp_ set to:1761544474.561229 2025-10-27T05:54:34.564Z,1761544474.564 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T05:54:34.565Z,1761544474.565 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-27T05:54:34.566Z,1761544474.566 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.579634 2025-10-27T05:54:34.812Z,1761544474.812 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.825664 2025-10-27T05:54:34.902Z,1761544474.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851368,0.512628,0.111291],[-0.521343,-0.850365,-0.071290],[0.058093,-0.118714,0.991228]] 2025-10-27T05:54:34.940Z,1761544474.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.505003 s, deltaX: 0.300000 m, approachRate: 0.594056 m/s, rangeRepo size: 4 2025-10-27T05:54:35.065Z,1761544475.065 [DAT](INFO): DAT read: Rx Time:05:54:33.7028 2025-10-27T05:54:35.065Z,1761544475.065 [DAT](INFO): Rx dataTimestamp_ set to:1761544475.064754 2025-10-27T05:54:35.066Z,1761544475.066 [DAT](INFO): DAT read: Bearing 149.9, -2.6 (Local) 2025-10-27T05:54:35.067Z,1761544475.067 [DAT](INFO): Local bearing/azimuth received: Bearing 149.9, -2.6 (Local) 2025-10-27T05:54:35.069Z,1761544475.069 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T05:54:35.094Z,1761544475.094 [DAT](INFO): DAT read: 05:54:33.7028 LVL= 25360, 18705, 14082, 32467, AGC= 50, IDX= 501,-0.12,-2.176,-0.408,-2.213,-0.463, PHS=-1.611, 0.100,-1.795, RAW= 335.0, 32.8, CAL= 334.1, 38.2, ROT= 175.9, -38.2 2025-10-27T05:54:35.111Z,1761544475.111 [DAT](INFO): got valid direction response: 05:54:33.7028 LVL= 25360, 18705, 14082, 32467, AGC= 50, IDX= 501,-0.12,-2.176,-0.408,-2.213,-0.463, PHS=-1.611, 0.100,-1.795, RAW= 335.0, 32.8, CAL= 334.1, 38.2, ROT= 175.9, -38.2 2025-10-27T05:54:35.112Z,1761544475.112 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:54:35.113Z,1761544475.113 [DAT](INFO): direction in FSK: [-0.783846,0.056187,0.618408] 2025-10-27T05:54:35.113Z,1761544475.113 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:35.140Z,1761544475.140 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.153365 2025-10-27T05:54:35.273Z,1761544475.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876236,0.466114,0.122267],[-0.477491,-0.874015,-0.089999],[0.064914,-0.137241,0.988408]] 2025-10-27T05:54:35.316Z,1761544475.316 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.329693 2025-10-27T05:54:35.358Z,1761544475.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503525 s, deltaX: -0.200000 m, approachRate: -0.397200 m/s, rangeRepo size: 4 2025-10-27T05:54:35.385Z,1761544475.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.490445 m, bearing: 18.867824 deg, lat: 36.779392 deg, lon: -121.859787 deg, deltaT: 1.512034 s, deltaX: -0.198621 m, approachRate: -0.131360 m/s, posRepo size: 4 2025-10-27T05:54:35.568Z,1761544475.568 [DAT](INFO): DAT read: Rx Time:05:54:34.2029 2025-10-27T05:54:35.569Z,1761544475.569 [DAT](INFO): Rx dataTimestamp_ set to:1761544475.568685 2025-10-27T05:54:35.570Z,1761544475.570 [DAT](INFO): DAT read: Bearing 148.2, -25.6 (Local) 2025-10-27T05:54:35.571Z,1761544475.571 [DAT](INFO): Local bearing/azimuth received: Bearing 148.2, -25.6 (Local) 2025-10-27T05:54:35.573Z,1761544475.573 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T05:54:35.577Z,1761544475.577 [DAT](INFO): DAT read: 05:54:34.2029 LVL= 24240, 22561, 18114, 32147, AGC= 48, IDX= 502,-0.01,-0.433, 1.602, 0.510, 1.534, PHS=-1.865, 0.113,-1.068, RAW= 306.4, 30.1, CAL= 307.3, 35.5, ROT= 202.7, -35.5 2025-10-27T05:54:35.578Z,1761544475.578 [DAT](INFO): got valid direction response: 05:54:34.2029 LVL= 24240, 22561, 18114, 32147, AGC= 48, IDX= 502,-0.01,-0.433, 1.602, 0.510, 1.534, PHS=-1.865, 0.113,-1.068, RAW= 306.4, 30.1, CAL= 307.3, 35.5, ROT= 202.7, -35.5 2025-10-27T05:54:35.579Z,1761544475.579 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:54:35.580Z,1761544475.580 [DAT](INFO): direction in FSK: [-0.751053,-0.314172,0.580703] 2025-10-27T05:54:35.580Z,1761544475.580 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:35.584Z,1761544475.584 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.597327 2025-10-27T05:54:35.744Z,1761544475.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898383,0.420432,0.127060],[-0.433467,-0.895359,-0.102169],[0.070809,-0.146863,0.986619]] 2025-10-27T05:54:35.820Z,1761544475.820 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.833685 2025-10-27T05:54:35.913Z,1761544475.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503931 s, deltaX: 0.200000 m, approachRate: 0.396880 m/s, rangeRepo size: 4 2025-10-27T05:54:35.915Z,1761544475.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.689199 m, bearing: 41.612039 deg, lat: 36.779392 deg, lon: -121.859787 deg, deltaT: 0.503931 s, deltaX: 0.198754 m, approachRate: 0.394408 m/s, posRepo size: 4 2025-10-27T05:54:36.073Z,1761544476.073 [DAT](INFO): DAT read: Rx Time:05:54:34.7028 2025-10-27T05:54:36.073Z,1761544476.073 [DAT](INFO): Rx dataTimestamp_ set to:1761544476.072927 2025-10-27T05:54:36.074Z,1761544476.074 [DAT](INFO): DAT read: Bearing 143.5, -35.5 (Local) 2025-10-27T05:54:36.075Z,1761544476.075 [DAT](INFO): Local bearing/azimuth received: Bearing 143.5, -35.5 (Local) 2025-10-27T05:54:36.077Z,1761544476.077 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-27T05:54:36.082Z,1761544476.082 [DAT](INFO): DAT read: 05:54:34.7028 LVL= 29456, 24401, 21938, 32755, AGC= 47, IDX= 501, 0.13,-1.395, 0.902, 0.051, 0.876, PHS=-2.169, 0.071,-0.870, RAW= 294.7, 28.3, CAL= 296.3, 34.5, ROT= 213.7, -34.5 2025-10-27T05:54:36.083Z,1761544476.083 [DAT](INFO): got valid direction response: 05:54:34.7028 LVL= 29456, 24401, 21938, 32755, AGC= 47, IDX= 501, 0.13,-1.395, 0.902, 0.051, 0.876, PHS=-2.169, 0.071,-0.870, RAW= 294.7, 28.3, CAL= 296.3, 34.5, ROT= 213.7, -34.5 2025-10-27T05:54:36.083Z,1761544476.083 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:54:36.084Z,1761544476.084 [DAT](INFO): direction in FSK: [-0.685635,-0.457262,0.566406] 2025-10-27T05:54:36.085Z,1761544476.085 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:36.088Z,1761544476.088 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.102107 2025-10-27T05:54:36.314Z,1761544476.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504242 s, deltaX: -0.200000 m, approachRate: -0.396635 m/s, rangeRepo size: 4 2025-10-27T05:54:36.316Z,1761544476.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.490470 m, bearing: 52.617783 deg, lat: 36.779390 deg, lon: -121.859787 deg, deltaT: 0.504242 s, deltaX: -0.198729 m, approachRate: -0.394115 m/s, posRepo size: 4 2025-10-27T05:54:36.324Z,1761544476.324 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.337791 2025-10-27T05:54:36.576Z,1761544476.576 [DAT](INFO): DAT read: Rx Time:05:54:35.2030 2025-10-27T05:54:36.577Z,1761544476.577 [DAT](INFO): Rx dataTimestamp_ set to:1761544476.576319 2025-10-27T05:54:36.578Z,1761544476.578 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.1 2025-10-27T05:54:36.578Z,1761544476.578 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-27T05:54:36.579Z,1761544476.579 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.593184 2025-10-27T05:54:36.666Z,1761544476.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932643,0.341692,0.115861],[-0.352368,-0.931626,-0.088937],[0.077550,-0.123772,0.989276]] 2025-10-27T05:54:36.798Z,1761544476.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:36.801Z,1761544476.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503392 s, deltaX: 0.300000 m, approachRate: 0.595957 m/s, rangeRepo size: 4 2025-10-27T05:54:36.861Z,1761544476.861 [DAT](INFO): DAT read: Rx Time:05:54:35.7029 2025-10-27T05:54:36.862Z,1761544476.862 [DAT](INFO): Rx dataTimestamp_ set to:1761544476.861279 2025-10-27T05:54:36.864Z,1761544476.864 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed -0.1 2025-10-27T05:54:36.866Z,1761544476.866 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-27T05:54:36.868Z,1761544476.868 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.881307 2025-10-27T05:54:37.112Z,1761544477.112 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.125686 2025-10-27T05:54:37.299Z,1761544477.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.284960 s, deltaX: -0.100000 m, approachRate: -0.350926 m/s, rangeRepo size: 4 2025-10-27T05:54:37.366Z,1761544477.366 [DAT](INFO): DAT read: Rx Time:05:54:36.2030 2025-10-27T05:54:37.366Z,1761544477.366 [DAT](INFO): Rx dataTimestamp_ set to:1761544477.366057 2025-10-27T05:54:37.369Z,1761544477.369 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.2 2025-10-27T05:54:37.370Z,1761544477.370 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-27T05:54:37.371Z,1761544477.371 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.384864 2025-10-27T05:54:37.620Z,1761544477.620 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.632524 2025-10-27T05:54:37.783Z,1761544477.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965269,0.242186,0.097985],[-0.247951,-0.967402,-0.051514],[0.082315,-0.074020,0.993854]] 2025-10-27T05:54:37.802Z,1761544477.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504778 s, deltaX: 0.100000 m, approachRate: 0.198107 m/s, rangeRepo size: 4 2025-10-27T05:54:37.870Z,1761544477.870 [DAT](INFO): DAT read: Rx Time:05:54:36.7030 2025-10-27T05:54:37.870Z,1761544477.870 [DAT](INFO): Rx dataTimestamp_ set to:1761544477.870158 2025-10-27T05:54:37.872Z,1761544477.872 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.2 2025-10-27T05:54:37.873Z,1761544477.873 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-27T05:54:37.873Z,1761544477.873 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.887194 2025-10-27T05:54:38.120Z,1761544478.120 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.133582 2025-10-27T05:54:38.377Z,1761544478.377 [DAT](INFO): DAT read: Rx Time:05:54:37.2032 2025-10-27T05:54:38.379Z,1761544478.379 [DAT](INFO): Rx dataTimestamp_ set to:1761544478.377536 2025-10-27T05:54:38.383Z,1761544478.383 [DAT](INFO): DAT read: Bearing 160.2, -64.7 (Local) 2025-10-27T05:54:38.384Z,1761544478.384 [DAT](INFO): Local bearing/azimuth received: Bearing 160.2, -64.7 (Local) 2025-10-27T05:54:38.390Z,1761544478.390 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.2 2025-10-27T05:54:38.392Z,1761544478.392 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-27T05:54:38.392Z,1761544478.392 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.406135 2025-10-27T05:54:38.441Z,1761544478.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 1.011479 s, deltaX: 0.300000 m, approachRate: 0.296595 m/s, rangeRepo size: 4 2025-10-27T05:54:38.628Z,1761544478.628 [DAT](INFO): DAT read: 05:54:37.2032 LVL= 32368, 16257, 15218, 28563, AGC= 46, IDX= 505, 0.16, 1.270,-2.898,-2.880, 3.010, PHS=-1.638, 0.420, 0.349, RAW= 271.7, 8.6, CAL= 270.4, 7.5, ROT= 239.6, -7.5 2025-10-27T05:54:38.629Z,1761544478.629 [DAT](INFO): got valid direction response: 05:54:37.2032 LVL= 32368, 16257, 15218, 28563, AGC= 46, IDX= 505, 0.16, 1.270,-2.898,-2.880, 3.010, PHS=-1.638, 0.420, 0.349, RAW= 271.7, 8.6, CAL= 270.4, 7.5, ROT= 239.6, -7.5 2025-10-27T05:54:38.629Z,1761544478.629 [DAT](INFO): #Rx 22: Read direction message, but no range. 2025-10-27T05:54:38.630Z,1761544478.630 [DAT](INFO): direction in FSK: [-0.501705,-0.855135,0.130526] 2025-10-27T05:54:38.644Z,1761544478.644 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.657228 2025-10-27T05:54:38.765Z,1761544478.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977143,0.188496,0.098295],[-0.196676,-0.977080,-0.081444],[0.080690,-0.098915,0.991819]] 2025-10-27T05:54:38.880Z,1761544478.880 [DAT](INFO): DAT read: Rx Time:05:54:37.7032 2025-10-27T05:54:38.882Z,1761544478.882 [DAT](INFO): Rx dataTimestamp_ set to:1761544478.881076 2025-10-27T05:54:38.895Z,1761544478.895 [DAT](INFO): DAT read: Bearing 132.7, -46.0 (Local) 2025-10-27T05:54:38.895Z,1761544478.895 [DAT](INFO): Local bearing/azimuth received: Bearing 132.7, -46.0 (Local) 2025-10-27T05:54:38.897Z,1761544478.897 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.2 2025-10-27T05:54:38.916Z,1761544478.916 [DAT](INFO): DAT read: 05:54:37.7032 LVL= 31824, 13601, 10466, 24531, AGC= 44, IDX= 505, 0.18,-1.441, 0.425,-0.009, 0.225, PHS=-1.564, 0.245,-0.278, RAW= 286.3, 19.3, CAL= 285.9, 26.4, ROT= 224.1, -26.4 2025-10-27T05:54:38.917Z,1761544478.917 [DAT](INFO): got valid direction response: 05:54:37.7032 LVL= 31824, 13601, 10466, 24531, AGC= 44, IDX= 505, 0.18,-1.441, 0.425,-0.009, 0.225, PHS=-1.564, 0.245,-0.278, RAW= 286.3, 19.3, CAL= 285.9, 26.4, ROT= 224.1, -26.4 2025-10-27T05:54:38.917Z,1761544478.917 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:54:38.918Z,1761544478.918 [DAT](INFO): direction in FSK: [-0.643234,-0.623337,0.444635] 2025-10-27T05:54:38.918Z,1761544478.918 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:38.926Z,1761544478.926 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.939968 2025-10-27T05:54:39.128Z,1761544479.128 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.141654 2025-10-27T05:54:39.174Z,1761544479.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981283,0.167314,0.095339],[-0.175877,-0.980303,-0.089851],[0.078427,-0.104937,0.991382]] 2025-10-27T05:54:39.215Z,1761544479.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503540 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:39.235Z,1761544479.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.086606 m, bearing: 50.239270 deg, lat: 36.779391 deg, lon: -121.859780 deg, deltaT: 2.808149 s, deltaX: 0.596136 m, approachRate: 0.212288 m/s, posRepo size: 4 2025-10-27T05:54:39.384Z,1761544479.384 [DAT](INFO): DAT read: Rx Time:05:54:38.2034 2025-10-27T05:54:39.386Z,1761544479.386 [DAT](INFO): Rx dataTimestamp_ set to:1761544479.384834 2025-10-27T05:54:39.391Z,1761544479.391 [DAT](INFO): DAT read: Bearing 130.9, -27.0 (Local) 2025-10-27T05:54:39.392Z,1761544479.392 [DAT](INFO): Local bearing/azimuth received: Bearing 130.9, -27.0 (Local) 2025-10-27T05:54:39.394Z,1761544479.394 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.2 2025-10-27T05:54:39.399Z,1761544479.399 [DAT](INFO): DAT read: 05:54:38.2034 LVL= 29808, 14513, 12274, 23011, AGC= 44, IDX= 507, 0.13,-1.122, 0.622,-0.290, 0.456, PHS=-1.476, 0.210,-0.790, RAW= 306.1, 26.3, CAL= 306.5, 31.8, ROT= 203.5, -31.8 2025-10-27T05:54:39.404Z,1761544479.404 [DAT](INFO): got valid direction response: 05:54:38.2034 LVL= 29808, 14513, 12274, 23011, AGC= 44, IDX= 507, 0.13,-1.122, 0.622,-0.290, 0.456, PHS=-1.476, 0.210,-0.790, RAW= 306.1, 26.3, CAL= 306.5, 31.8, ROT= 203.5, -31.8 2025-10-27T05:54:39.404Z,1761544479.404 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:54:39.405Z,1761544479.405 [DAT](INFO): direction in FSK: [-0.779403,-0.338894,0.526956] 2025-10-27T05:54:39.406Z,1761544479.406 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:39.414Z,1761544479.414 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.427247 2025-10-27T05:54:39.572Z,1761544479.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984707,0.149617,0.089255],[-0.157354,-0.983698,-0.087051],[0.074775,-0.099764,0.992198]] 2025-10-27T05:54:39.612Z,1761544479.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503758 s, deltaX: 0.300000 m, approachRate: 0.595524 m/s, rangeRepo size: 4 2025-10-27T05:54:39.614Z,1761544479.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.384692 m, bearing: 28.234170 deg, lat: 36.779392 deg, lon: -121.859779 deg, deltaT: 0.503758 s, deltaX: 0.298087 m, approachRate: 0.591726 m/s, posRepo size: 4 2025-10-27T05:54:39.620Z,1761544479.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m. 2025-10-27T05:54:39.632Z,1761544479.632 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.645763 2025-10-27T05:54:39.890Z,1761544479.890 [DAT](INFO): DAT read: Rx Time:05:54:38.7034 2025-10-27T05:54:39.891Z,1761544479.891 [DAT](INFO): Rx dataTimestamp_ set to:1761544479.890263 2025-10-27T05:54:39.892Z,1761544479.892 [DAT](INFO): DAT read: Bearing 131.4, -20.0 (Local) 2025-10-27T05:54:39.893Z,1761544479.893 [DAT](INFO): Local bearing/azimuth received: Bearing 131.4, -20.0 (Local) 2025-10-27T05:54:39.898Z,1761544479.898 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.3 2025-10-27T05:54:39.902Z,1761544479.902 [DAT](INFO): DAT read: 05:54:38.7034 LVL= 30192, 14401, 9762, 22579, AGC= 43, IDX= 507, 0.19,-2.949,-1.154,-2.312,-1.395, PHS=-1.453, 0.286,-0.961, RAW= 314.1, 25.9, CAL= 314.0, 31.0, ROT= 196.0, -31.0 2025-10-27T05:54:39.930Z,1761544479.930 [DAT](INFO): got valid direction response: 05:54:38.7034 LVL= 30192, 14401, 9762, 22579, AGC= 43, IDX= 507, 0.19,-2.949,-1.154,-2.312,-1.395, PHS=-1.453, 0.286,-0.961, RAW= 314.1, 25.9, CAL= 314.0, 31.0, ROT= 196.0, -31.0 2025-10-27T05:54:39.930Z,1761544479.930 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:54:39.936Z,1761544479.936 [DAT](INFO): direction in FSK: [-0.823962,-0.236267,0.515038] 2025-10-27T05:54:39.936Z,1761544479.936 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:39.948Z,1761544479.948 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.961513 2025-10-27T05:54:39.987Z,1761544479.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987497,0.134691,0.081900],[-0.140945,-0.987090,-0.076078],[0.070595,-0.086671,0.993733]] 2025-10-27T05:54:40.041Z,1761544480.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.505429 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:40.049Z,1761544480.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.384483 m, bearing: 20.626758 deg, lat: 36.779392 deg, lon: -121.859777 deg, deltaT: 0.505429 s, deltaX: -0.000210 m, approachRate: -0.000415 m/s, posRepo size: 4 2025-10-27T05:54:40.138Z,1761544480.138 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.151426 2025-10-27T05:54:40.392Z,1761544480.392 [DAT](INFO): DAT read: Rx Time:05:54:39.2036 2025-10-27T05:54:40.393Z,1761544480.393 [DAT](INFO): Rx dataTimestamp_ set to:1761544480.392303 2025-10-27T05:54:40.394Z,1761544480.394 [DAT](INFO): DAT read: Bearing 132.6, -20.6 (Local) 2025-10-27T05:54:40.394Z,1761544480.394 [DAT](INFO): Local bearing/azimuth received: Bearing 132.6, -20.6 (Local) 2025-10-27T05:54:40.396Z,1761544480.396 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 2025-10-27T05:54:40.405Z,1761544480.405 [DAT](INFO): DAT read: 05:54:39.2036 LVL= 28224, 14833, 9714, 21715, AGC= 44, IDX= 509, 0.18,-1.816, 0.164,-1.095,-0.179, PHS=-1.535, 0.388,-0.960, RAW= 313.1, 23.5, CAL= 312.8, 28.7, ROT= 197.2, -28.7 2025-10-27T05:54:40.407Z,1761544480.407 [DAT](INFO): got valid direction response: 05:54:39.2036 LVL= 28224, 14833, 9714, 21715, AGC= 44, IDX= 509, 0.18,-1.816, 0.164,-1.095,-0.179, PHS=-1.535, 0.388,-0.960, RAW= 313.1, 23.5, CAL= 312.8, 28.7, ROT= 197.2, -28.7 2025-10-27T05:54:40.411Z,1761544480.411 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:54:40.412Z,1761544480.412 [DAT](INFO): direction in FSK: [-0.837919,-0.259379,0.480224] 2025-10-27T05:54:40.412Z,1761544480.412 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:40.440Z,1761544480.440 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.453950 2025-10-27T05:54:40.457Z,1761544480.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991493,0.111124,0.067768],[-0.115156,-0.991606,-0.058797],[0.060666,-0.066100,0.995967]] 2025-10-27T05:54:40.550Z,1761544480.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502040 s, deltaX: 0.300000 m, approachRate: 0.597562 m/s, rangeRepo size: 4 2025-10-27T05:54:40.560Z,1761544480.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.682543 m, bearing: 21.305670 deg, lat: 36.779397 deg, lon: -121.859775 deg, deltaT: 0.502040 s, deltaX: 0.298060 m, approachRate: 0.593699 m/s, posRepo size: 4 2025-10-27T05:54:40.640Z,1761544480.640 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.653823 2025-10-27T05:54:40.893Z,1761544480.893 [DAT](INFO): DAT read: Rx Time:05:54:39.7036 2025-10-27T05:54:40.894Z,1761544480.894 [DAT](INFO): Rx dataTimestamp_ set to:1761544480.893404 2025-10-27T05:54:40.895Z,1761544480.895 [DAT](INFO): DAT read: Bearing 136.1, -16.4 (Local) 2025-10-27T05:54:40.895Z,1761544480.895 [DAT](INFO): Local bearing/azimuth received: Bearing 136.1, -16.4 (Local) 2025-10-27T05:54:40.897Z,1761544480.897 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 2025-10-27T05:54:40.898Z,1761544480.898 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-27T05:54:40.899Z,1761544480.899 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.912982 2025-10-27T05:54:40.942Z,1761544480.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992801,0.102776,0.061503],[-0.106406,-0.992572,-0.058977],[0.054985,-0.065097,0.996363]] 2025-10-27T05:54:40.988Z,1761544480.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:40.991Z,1761544480.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:41.148Z,1761544481.148 [DAT](INFO): DAT read: 05:54:39.7036 LVL= 23792, 14177, 14546, 23219, AGC= 45, IDX= 509, 0.08,-1.237, 0.728,-0.669, 0.237, PHS=-1.372, 0.536,-0.951, RAW= 317.9, 20.0, CAL= 317.3, 24.9, ROT= 192.7, -24.9 2025-10-27T05:54:41.149Z,1761544481.149 [DAT](INFO): got valid direction response: 05:54:39.7036 LVL= 23792, 14177, 14546, 23219, AGC= 45, IDX= 509, 0.08,-1.237, 0.728,-0.669, 0.237, PHS=-1.372, 0.536,-0.951, RAW= 317.9, 20.0, CAL= 317.3, 24.9, ROT= 192.7, -24.9 2025-10-27T05:54:41.149Z,1761544481.149 [DAT](INFO): #Rx 28: Read direction message, but no range. 2025-10-27T05:54:41.150Z,1761544481.150 [DAT](INFO): direction in FSK: [-0.884853,-0.199410,0.421036] 2025-10-27T05:54:41.154Z,1761544481.154 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.167252 2025-10-27T05:54:41.397Z,1761544481.397 [DAT](INFO): DAT read: Rx Time:05:54:40.2036 2025-10-27T05:54:41.397Z,1761544481.397 [DAT](INFO): Rx dataTimestamp_ set to:1761544481.397054 2025-10-27T05:54:41.399Z,1761544481.399 [DAT](INFO): DAT read: Bearing 143.1, -5.6 (Local) 2025-10-27T05:54:41.399Z,1761544481.399 [DAT](INFO): Local bearing/azimuth received: Bearing 143.1, -5.6 (Local) 2025-10-27T05:54:41.401Z,1761544481.401 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 2025-10-27T05:54:41.406Z,1761544481.406 [DAT](INFO): DAT read: 05:54:40.2036 LVL= 28304, 14257, 15506, 28307, AGC= 48, IDX= 510,-0.02, 0.457, 2.411, 0.645, 1.650, PHS=-1.091, 0.806,-1.049, RAW= 328.9, 14.1, CAL= 328.6, 17.7, ROT= 181.4, -17.7 2025-10-27T05:54:41.407Z,1761544481.407 [DAT](INFO): got valid direction response: 05:54:40.2036 LVL= 28304, 14257, 15506, 28307, AGC= 48, IDX= 510,-0.02, 0.457, 2.411, 0.645, 1.650, PHS=-1.091, 0.806,-1.049, RAW= 328.9, 14.1, CAL= 328.6, 17.7, ROT= 181.4, -17.7 2025-10-27T05:54:41.408Z,1761544481.408 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:54:41.409Z,1761544481.409 [DAT](INFO): direction in FSK: [-0.952377,-0.023275,0.304033] 2025-10-27T05:54:41.409Z,1761544481.409 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:41.412Z,1761544481.412 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.426210 2025-10-27T05:54:41.452Z,1761544481.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503650 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:41.454Z,1761544481.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.682584 m, bearing: 6.319032 deg, lat: 36.779397 deg, lon: -121.859775 deg, deltaT: 1.004751 s, deltaX: 0.000041 m, approachRate: 0.000041 m/s, posRepo size: 4 2025-10-27T05:54:41.648Z,1761544481.648 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.661874 2025-10-27T05:54:41.774Z,1761544481.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994128,0.095231,0.051381],[-0.098789,-0.992512,-0.071841],[0.044155,-0.076495,0.996092]] 2025-10-27T05:54:41.814Z,1761544481.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m. 2025-10-27T05:54:41.902Z,1761544481.902 [DAT](INFO): DAT read: Rx Time:05:54:40.7037 2025-10-27T05:54:41.902Z,1761544481.902 [DAT](INFO): Rx dataTimestamp_ set to:1761544481.901703 2025-10-27T05:54:41.904Z,1761544481.904 [DAT](INFO): DAT read: Bearing 141.2, 5.2 (Local) 2025-10-27T05:54:41.904Z,1761544481.904 [DAT](INFO): Local bearing/azimuth received: Bearing 141.2, 5.2 (Local) 2025-10-27T05:54:41.906Z,1761544481.906 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.3 2025-10-27T05:54:41.911Z,1761544481.911 [DAT](INFO): DAT read: 05:54:40.7037 LVL= 32544, 13649, 18466, 27123, AGC= 51, IDX= 510,-0.20, 1.869,-2.447, 1.607, 2.998, PHS=-1.027, 0.883,-1.435, RAW= 339.5, 14.6, CAL= 339.8, 18.4, ROT= 170.2, -18.4 2025-10-27T05:54:41.913Z,1761544481.913 [DAT](INFO): got valid direction response: 05:54:40.7037 LVL= 32544, 13649, 18466, 27123, AGC= 51, IDX= 510,-0.20, 1.869,-2.447, 1.607, 2.998, PHS=-1.027, 0.883,-1.435, RAW= 339.5, 14.6, CAL= 339.8, 18.4, ROT= 170.2, -18.4 2025-10-27T05:54:41.913Z,1761544481.913 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T05:54:41.914Z,1761544481.914 [DAT](INFO): direction in FSK: [-0.935030,0.161508,0.315649] 2025-10-27T05:54:41.914Z,1761544481.914 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:41.919Z,1761544481.919 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.932219 2025-10-27T05:54:42.157Z,1761544482.157 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.167894 2025-10-27T05:54:42.178Z,1761544482.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994355,0.095070,0.047125],[-0.098510,-0.992151,-0.077022],[0.039432,-0.081229,0.995915]] 2025-10-27T05:54:42.284Z,1761544482.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504649 s, deltaX: 0.200000 m, approachRate: 0.396315 m/s, rangeRepo size: 4 2025-10-27T05:54:42.286Z,1761544482.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.881378 m, bearing: 354.499587 deg, lat: 36.779399 deg, lon: -121.859777 deg, deltaT: 0.504649 s, deltaX: 0.198794 m, approachRate: 0.393925 m/s, posRepo size: 4 2025-10-27T05:54:42.287Z,1761544482.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m. 2025-10-27T05:54:42.404Z,1761544482.404 [DAT](INFO): DAT read: Rx Time:05:54:41.2039 2025-10-27T05:54:42.405Z,1761544482.405 [DAT](INFO): Rx dataTimestamp_ set to:1761544482.404307 2025-10-27T05:54:42.406Z,1761544482.406 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 2025-10-27T05:54:42.406Z,1761544482.406 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-27T05:54:42.408Z,1761544482.408 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.421276 2025-10-27T05:54:42.638Z,1761544482.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994371,0.096804,0.043080],[-0.099949,-0.991923,-0.078091],[0.035172,-0.081957,0.996015]] 2025-10-27T05:54:42.656Z,1761544482.656 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.669748 2025-10-27T05:54:42.666Z,1761544482.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.502604 s, deltaX: 0.300000 m, approachRate: 0.596891 m/s, rangeRepo size: 4 2025-10-27T05:54:42.909Z,1761544482.909 [DAT](INFO): DAT read: Rx Time:05:54:41.7038 2025-10-27T05:54:42.910Z,1761544482.910 [DAT](INFO): Rx dataTimestamp_ set to:1761544482.909607 2025-10-27T05:54:42.911Z,1761544482.911 [DAT](INFO): DAT read: Bearing 142.4, -3.2 (Local) 2025-10-27T05:54:42.912Z,1761544482.912 [DAT](INFO): Local bearing/azimuth received: Bearing 142.4, -3.2 (Local) 2025-10-27T05:54:42.914Z,1761544482.914 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.3 2025-10-27T05:54:42.965Z,1761544482.965 [DAT](INFO): DAT read: 05:54:41.7038 LVL= 13888, 10129, 13858, 18227, AGC= 51, IDX= 512,-0.01, 0.827, 2.969, 0.955, 2.124, PHS=-1.195, 0.890,-1.213, RAW= 330.4, 14.4, CAL= 330.3, 18.1, ROT= 179.7, -18.1 2025-10-27T05:54:42.966Z,1761544482.966 [DAT](INFO): got valid direction response: 05:54:41.7038 LVL= 13888, 10129, 13858, 18227, AGC= 51, IDX= 512,-0.01, 0.827, 2.969, 0.955, 2.124, PHS=-1.195, 0.890,-1.213, RAW= 330.4, 14.4, CAL= 330.3, 18.1, ROT= 179.7, -18.1 2025-10-27T05:54:42.966Z,1761544482.966 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T05:54:42.978Z,1761544482.978 [DAT](INFO): direction in FSK: [-0.950503,0.004977,0.310676] 2025-10-27T05:54:42.979Z,1761544482.979 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:42.982Z,1761544482.982 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.996119 2025-10-27T05:54:43.038Z,1761544483.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994184,0.100271,0.039298],[-0.103068,-0.991677,-0.077155],[0.031234,-0.080756,0.996244]] 2025-10-27T05:54:43.160Z,1761544483.160 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.173937 2025-10-27T05:54:43.165Z,1761544483.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.505300 s, deltaX: -0.200000 m, approachRate: -0.395805 m/s, rangeRepo size: 4 2025-10-27T05:54:43.167Z,1761544483.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.980622 m, bearing: 4.124593 deg, lat: 36.779399 deg, lon: -121.859778 deg, deltaT: 1.007904 s, deltaX: 0.099244 m, approachRate: 0.098465 m/s, posRepo size: 4 2025-10-27T05:54:43.170Z,1761544483.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m. 2025-10-27T05:54:43.414Z,1761544483.414 [DAT](INFO): DAT read: Rx Time:05:54:42.2041 2025-10-27T05:54:43.415Z,1761544483.415 [DAT](INFO): Rx dataTimestamp_ set to:1761544483.414813 2025-10-27T05:54:43.417Z,1761544483.417 [DAT](INFO): DAT read: Bearing 156.6, -6.5 (Local) 2025-10-27T05:54:43.417Z,1761544483.417 [DAT](INFO): Local bearing/azimuth received: Bearing 156.6, -6.5 (Local) 2025-10-27T05:54:43.424Z,1761544483.424 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3 2025-10-27T05:54:43.454Z,1761544483.454 [DAT](INFO): DAT read: 05:54:42.2041 LVL= 12880, 7153, 6386, 13459, AGC= 55, IDX= 2, 0.21,-2.454,-0.465,-2.186,-1.490, PHS=-0.863, 1.069,-0.741, RAW= 326.8, 5.8, CAL= 325.6, 4.6, ROT= 184.4, -4.6 2025-10-27T05:54:43.472Z,1761544483.472 [DAT](INFO): got valid direction response: 05:54:42.2041 LVL= 12880, 7153, 6386, 13459, AGC= 55, IDX= 2, 0.21,-2.454,-0.465,-2.186,-1.490, PHS=-0.863, 1.069,-0.741, RAW= 326.8, 5.8, CAL= 325.6, 4.6, ROT= 184.4, -4.6 2025-10-27T05:54:43.472Z,1761544483.472 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:54:43.473Z,1761544483.473 [DAT](INFO): direction in FSK: [-0.993841,-0.076472,0.080199] 2025-10-27T05:54:43.473Z,1761544483.473 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:43.497Z,1761544483.497 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.511099 2025-10-27T05:54:43.517Z,1761544483.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993761,0.105588,0.035930],[-0.108057,-0.991261,-0.075659],[0.027627,-0.079070,0.996486]] 2025-10-27T05:54:43.640Z,1761544483.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.505206 s, deltaX: 0.500000 m, approachRate: 0.989695 m/s, rangeRepo size: 4 2025-10-27T05:54:43.642Z,1761544483.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.477392 m, bearing: 10.220202 deg, lat: 36.779399 deg, lon: -121.859778 deg, deltaT: 0.505206 s, deltaX: 0.496770 m, approachRate: 0.983303 m/s, posRepo size: 4 2025-10-27T05:54:43.642Z,1761544483.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m. 2025-10-27T05:54:43.664Z,1761544483.664 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.677752 2025-10-27T05:54:43.916Z,1761544483.916 [DAT](INFO): DAT read: Rx Time:05:54:42.7042 2025-10-27T05:54:43.917Z,1761544483.917 [DAT](INFO): Rx dataTimestamp_ set to:1761544483.916364 2025-10-27T05:54:43.918Z,1761544483.918 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.4 2025-10-27T05:54:43.918Z,1761544483.918 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T05:54:43.920Z,1761544483.920 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.933239 2025-10-27T05:54:43.980Z,1761544483.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993047,0.113108,0.032623],[-0.115219,-0.990697,-0.072411],[0.024129,-0.075666,0.996841]] 2025-10-27T05:54:44.010Z,1761544484.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:44.016Z,1761544484.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.501551 s, deltaX: 0.300000 m, approachRate: 0.598144 m/s, rangeRepo size: 4 2025-10-27T05:54:44.171Z,1761544484.171 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.184013 2025-10-27T05:54:44.405Z,1761544484.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992071,0.122328,0.028815],[-0.124006,-0.990066,-0.066276],[0.020421,-0.069324,0.997385]] 2025-10-27T05:54:44.421Z,1761544484.421 [DAT](INFO): DAT read: Rx Time:05:54:43.2043 2025-10-27T05:54:44.421Z,1761544484.421 [DAT](INFO): Rx dataTimestamp_ set to:1761544484.420772 2025-10-27T05:54:44.425Z,1761544484.425 [DAT](INFO): DAT read: Bearing 153.0, -19.2 (Local) 2025-10-27T05:54:44.429Z,1761544484.429 [DAT](INFO): Local bearing/azimuth received: Bearing 153.0, -19.2 (Local) 2025-10-27T05:54:44.431Z,1761544484.431 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 2025-10-27T05:54:44.468Z,1761544484.468 [DAT](INFO): DAT read: 05:54:43.2043 LVL= 26320, 22401, 32754, 32755, AGC= 58, IDX= 501,-0.07, 2.969,-1.056,-2.549,-1.989, PHS=-1.223, 0.978,-0.604, RAW= 314.2, 8.7, CAL= 312.4, 9.6, ROT= 197.6, -9.6 2025-10-27T05:54:44.469Z,1761544484.469 [DAT](INFO): got valid direction response: 05:54:43.2043 LVL= 26320, 22401, 32754, 32755, AGC= 58, IDX= 501,-0.07, 2.969,-1.056,-2.549,-1.989, PHS=-1.223, 0.978,-0.604, RAW= 314.2, 8.7, CAL= 312.4, 9.6, ROT= 197.6, -9.6 2025-10-27T05:54:44.470Z,1761544484.470 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T05:54:44.471Z,1761544484.471 [DAT](INFO): direction in FSK: [-0.939842,-0.298136,0.166769] 2025-10-27T05:54:44.489Z,1761544484.489 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:44.494Z,1761544484.494 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.508093 2025-10-27T05:54:44.545Z,1761544484.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504408 s, deltaX: 0.100000 m, approachRate: 0.198252 m/s, rangeRepo size: 4 2025-10-27T05:54:44.551Z,1761544484.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.874763 m, bearing: 23.980770 deg, lat: 36.779399 deg, lon: -121.859778 deg, deltaT: 1.005959 s, deltaX: 0.397372 m, approachRate: 0.395018 m/s, posRepo size: 4 2025-10-27T05:54:44.672Z,1761544484.672 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.685827 2025-10-27T05:54:44.803Z,1761544484.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990815,0.132864,0.025161],[-0.134137,-0.989238,-0.058449],[0.017125,-0.061287,0.997973]] 2025-10-27T05:54:44.927Z,1761544484.927 [DAT](INFO): DAT read: Rx Time:05:54:43.7043 2025-10-27T05:54:44.927Z,1761544484.927 [DAT](INFO): Rx dataTimestamp_ set to:1761544484.927208 2025-10-27T05:54:44.929Z,1761544484.929 [DAT](INFO): DAT read: Bearing 150.7, -6.8 (Local) 2025-10-27T05:54:44.929Z,1761544484.929 [DAT](INFO): Local bearing/azimuth received: Bearing 150.7, -6.8 (Local) 2025-10-27T05:54:44.931Z,1761544484.931 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 2025-10-27T05:54:44.936Z,1761544484.936 [DAT](INFO): DAT read: 05:54:43.7043 LVL= 32752, 24561, 31522, 32755, AGC= 58, IDX= 501, 0.16,-1.562, 0.425,-1.251,-0.435, PHS=-1.024, 0.905,-0.859, RAW= 325.6, 10.6, CAL= 324.7, 12.2, ROT= 185.3, -12.2 2025-10-27T05:54:44.938Z,1761544484.938 [DAT](INFO): got valid direction response: 05:54:43.7043 LVL= 32752, 24561, 31522, 32755, AGC= 58, IDX= 501, 0.16,-1.562, 0.425,-1.251,-0.435, PHS=-1.024, 0.905,-0.859, RAW= 325.6, 10.6, CAL= 324.7, 12.2, ROT= 185.3, -12.2 2025-10-27T05:54:44.938Z,1761544484.938 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T05:54:44.948Z,1761544484.948 [DAT](INFO): direction in FSK: [-0.973237,-0.090284,0.211325] 2025-10-27T05:54:44.949Z,1761544484.949 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:44.964Z,1761544484.964 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.968277 2025-10-27T05:54:45.178Z,1761544485.178 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.191612 2025-10-27T05:54:45.211Z,1761544485.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989177,0.145072,0.021957],[-0.146043,-0.987904,-0.052135],[0.014128,-0.054778,0.998399]] 2025-10-27T05:54:45.284Z,1761544485.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.506436 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:45.286Z,1761544485.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.874791 m, bearing: 13.000219 deg, lat: 36.779398 deg, lon: -121.859773 deg, deltaT: 0.506436 s, deltaX: 0.000027 m, approachRate: 0.000054 m/s, posRepo size: 4 2025-10-27T05:54:45.429Z,1761544485.429 [DAT](INFO): DAT read: Rx Time:05:54:44.2043 2025-10-27T05:54:45.429Z,1761544485.429 [DAT](INFO): Rx dataTimestamp_ set to:1761544485.428843 2025-10-27T05:54:45.430Z,1761544485.430 [DAT](INFO): DAT read: Bearing 152.8, 3.7 (Local) 2025-10-27T05:54:45.431Z,1761544485.431 [DAT](INFO): Local bearing/azimuth received: Bearing 152.8, 3.7 (Local) 2025-10-27T05:54:45.433Z,1761544485.433 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 2025-10-27T05:54:45.438Z,1761544485.438 [DAT](INFO): DAT read: 05:54:44.2043 LVL= 32752, 31473, 32738, 30483, AGC= 57, IDX= 503,-0.16, 2.439,-1.990, 2.377,-2.911, PHS=-0.832, 0.966,-1.039, RAW= 335.4, 9.5, CAL= 335.1, 10.5, ROT= 174.9, -10.5 2025-10-27T05:54:45.439Z,1761544485.439 [DAT](INFO): got valid direction response: 05:54:44.2043 LVL= 32752, 31473, 32738, 30483, AGC= 57, IDX= 503,-0.16, 2.439,-1.990, 2.377,-2.911, PHS=-0.832, 0.966,-1.039, RAW= 335.4, 9.5, CAL= 335.1, 10.5, ROT= 174.9, -10.5 2025-10-27T05:54:45.439Z,1761544485.439 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T05:54:45.440Z,1761544485.440 [DAT](INFO): direction in FSK: [-0.979362,0.087406,0.182236] 2025-10-27T05:54:45.440Z,1761544485.440 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:45.448Z,1761544485.448 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.462044 2025-10-27T05:54:45.610Z,1761544485.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987014,0.159524,0.018837],[-0.160237,-0.986012,-0.045871],[0.011256,-0.048293,0.998770]] 2025-10-27T05:54:45.680Z,1761544485.680 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.693588 2025-10-27T05:54:45.698Z,1761544485.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.501635 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:45.705Z,1761544485.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.874791 m, bearing: 3.627752 deg, lat: 36.779397 deg, lon: -121.859773 deg, deltaT: 0.501635 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:54:45.705Z,1761544485.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.90 m. 2025-10-27T05:54:45.768Z,1761544485.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:54:45.933Z,1761544485.933 [DAT](INFO): DAT read: Rx Time:05:54:44.7046 2025-10-27T05:54:45.933Z,1761544485.933 [DAT](INFO): Rx dataTimestamp_ set to:1761544485.932697 2025-10-27T05:54:45.934Z,1761544485.934 [DAT](INFO): DAT read: Bearing 162.4, 27.0 (Local) 2025-10-27T05:54:45.935Z,1761544485.935 [DAT](INFO): Local bearing/azimuth received: Bearing 162.4, 27.0 (Local) 2025-10-27T05:54:45.937Z,1761544485.937 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 2025-10-27T05:54:45.942Z,1761544485.941 [DAT](INFO): DAT read: 05:54:44.7046 LVL= 31856, 22113, 21874, 23363, AGC= 56, IDX= 504,-0.01, 1.988,-2.906, 0.964, 2.268, PHS=-0.178, 1.154,-1.348, RAW= 357.8, 3.5, CAL= 357.6, 0.9, ROT= 152.4, -0.9 2025-10-27T05:54:45.943Z,1761544485.943 [DAT](INFO): got valid direction response: 05:54:44.7046 LVL= 31856, 22113, 21874, 23363, AGC= 56, IDX= 504,-0.01, 1.988,-2.906, 0.964, 2.268, PHS=-0.178, 1.154,-1.348, RAW= 357.8, 3.5, CAL= 357.6, 0.9, ROT= 152.4, -0.9 2025-10-27T05:54:45.947Z,1761544485.947 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T05:54:45.951Z,1761544485.951 [DAT](INFO): direction in FSK: [-0.886094,0.463239,0.015707] 2025-10-27T05:54:45.952Z,1761544485.952 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:45.955Z,1761544485.955 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.969103 2025-10-27T05:54:46.073Z,1761544486.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981435,0.191400,0.012263],[-0.191689,-0.981000,-0.029907],[0.006305,-0.031702,0.999477]] 2025-10-27T05:54:46.114Z,1761544486.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503854 s, deltaX: 0.500000 m, approachRate: 0.992351 m/s, rangeRepo size: 4 2025-10-27T05:54:46.124Z,1761544486.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.371814 m, bearing: 343.437826 deg, lat: 36.779398 deg, lon: -121.859773 deg, deltaT: 0.503854 s, deltaX: 0.497023 m, approachRate: 0.986443 m/s, posRepo size: 4 2025-10-27T05:54:46.125Z,1761544486.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.40 m. 2025-10-27T05:54:46.188Z,1761544486.188 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.200493 2025-10-27T05:54:46.436Z,1761544486.436 [DAT](INFO): DAT read: Rx Time:05:54:45.2049 2025-10-27T05:54:46.437Z,1761544486.437 [DAT](INFO): Rx dataTimestamp_ set to:1761544486.436683 2025-10-27T05:54:46.438Z,1761544486.438 [DAT](INFO): DAT read: Bearing 164.9, 19.7 (Local) 2025-10-27T05:54:46.439Z,1761544486.439 [DAT](INFO): Local bearing/azimuth received: Bearing 164.9, 19.7 (Local) 2025-10-27T05:54:46.441Z,1761544486.441 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 2025-10-27T05:54:46.446Z,1761544486.446 [DAT](INFO): DAT read: 05:54:45.2049 LVL= 17488, 20545, 28338, 31107, AGC= 54, IDX= 507, 0.12,-2.278,-1.126,-2.735,-1.934, PHS=-0.242, 0.853,-0.845, RAW= 350.5, 3.2, CAL= 350.1, 0.2, ROT= 159.9, -0.2 2025-10-27T05:54:46.447Z,1761544486.447 [DAT](INFO): got valid direction response: 05:54:45.2049 LVL= 17488, 20545, 28338, 31107, AGC= 54, IDX= 507, 0.12,-2.278,-1.126,-2.735,-1.934, PHS=-0.242, 0.853,-0.845, RAW= 350.5, 3.2, CAL= 350.1, 0.2, ROT= 159.9, -0.2 2025-10-27T05:54:46.447Z,1761544486.447 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:54:46.448Z,1761544486.448 [DAT](INFO): direction in FSK: [-0.939088,0.343658,0.003491] 2025-10-27T05:54:46.449Z,1761544486.449 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:46.452Z,1761544486.452 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.466055 2025-10-27T05:54:46.514Z,1761544486.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977900,0.208893,0.008709],[-0.209035,-0.977676,-0.021322],[0.004061,-0.022672,0.999735]] 2025-10-27T05:54:46.609Z,1761544486.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503986 s, deltaX: 0.400000 m, approachRate: 0.793673 m/s, rangeRepo size: 4 2025-10-27T05:54:46.615Z,1761544486.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.769252 m, bearing: 351.965893 deg, lat: 36.779398 deg, lon: -121.859774 deg, deltaT: 0.503986 s, deltaX: 0.397438 m, approachRate: 0.788589 m/s, posRepo size: 4 2025-10-27T05:54:46.688Z,1761544486.688 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.701792 2025-10-27T05:54:46.771Z,1761544486.771 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:54:46.931Z,1761544486.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973910,0.226860,0.005855],[-0.226924,-0.973799,-0.014835],[0.002336,-0.015777,0.999873]] 2025-10-27T05:54:46.941Z,1761544486.941 [DAT](INFO): DAT read: Rx Time:05:54:45.7050 2025-10-27T05:54:46.941Z,1761544486.941 [DAT](INFO): Rx dataTimestamp_ set to:1761544486.940831 2025-10-27T05:54:46.942Z,1761544486.942 [DAT](INFO): DAT read: Bearing 158.5, 7.0 (Local) 2025-10-27T05:54:46.943Z,1761544486.943 [DAT](INFO): Local bearing/azimuth received: Bearing 158.5, 7.0 (Local) 2025-10-27T05:54:46.945Z,1761544486.945 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed -0.4 2025-10-27T05:54:46.949Z,1761544486.949 [DAT](INFO): DAT read: 05:54:45.7050 LVL= 23248, 19313, 29394, 32755, AGC= 54, IDX= 508, 0.02, 0.911, 2.516, 0.793, 1.669, PHS=-0.656, 0.892,-0.919, RAW= 337.7, 8.1, CAL= 337.5, 8.3, ROT= 172.5, -8.3 2025-10-27T05:54:46.950Z,1761544486.950 [DAT](INFO): got valid direction response: 05:54:45.7050 LVL= 23248, 19313, 29394, 32755, AGC= 54, IDX= 508, 0.02, 0.911, 2.516, 0.793, 1.669, PHS=-0.656, 0.892,-0.919, RAW= 337.7, 8.1, CAL= 337.5, 8.3, ROT= 172.5, -8.3 2025-10-27T05:54:46.955Z,1761544486.955 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T05:54:46.956Z,1761544486.956 [DAT](INFO): direction in FSK: [-0.981060,0.129159,0.144356] 2025-10-27T05:54:46.956Z,1761544486.956 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:46.960Z,1761544486.960 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.973896 2025-10-27T05:54:46.985Z,1761544486.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.504148 s, deltaX: 0.200000 m, approachRate: 0.396709 m/s, rangeRepo size: 4 2025-10-27T05:54:47.004Z,1761544487.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.967867 m, bearing: 5.488834 deg, lat: 36.779398 deg, lon: -121.859774 deg, deltaT: 0.504148 s, deltaX: 0.198616 m, approachRate: 0.393963 m/s, posRepo size: 4 2025-10-27T05:54:47.195Z,1761544487.195 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.208372 2025-10-27T05:54:47.429Z,1761544487.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:54:47.445Z,1761544487.445 [DAT](INFO): DAT read: Rx Time:05:54:46.2052 2025-10-27T05:54:47.445Z,1761544487.445 [DAT](INFO): Rx dataTimestamp_ set to:1761544487.444748 2025-10-27T05:54:47.446Z,1761544487.446 [DAT](INFO): DAT read: Bearing 159.8, 10.7 (Local) 2025-10-27T05:54:47.447Z,1761544487.447 [DAT](INFO): Local bearing/azimuth received: Bearing 159.8, 10.7 (Local) 2025-10-27T05:54:47.449Z,1761544487.449 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.7 2025-10-27T05:54:47.453Z,1761544487.453 [DAT](INFO): DAT read: 05:54:46.2052 LVL= 28336, 22113, 29746, 32755, AGC= 51, IDX= 510,-0.01,-0.456, 1.135,-0.702, 0.265, PHS=-0.619, 0.915,-1.011, RAW= 341.1, 8.2, CAL= 341.0, 8.3, ROT= 169.0, -8.3 2025-10-27T05:54:47.455Z,1761544487.455 [DAT](INFO): got valid direction response: 05:54:46.2052 LVL= 28336, 22113, 29746, 32755, AGC= 51, IDX= 510,-0.01,-0.456, 1.135,-0.702, 0.265, PHS=-0.619, 0.915,-1.011, RAW= 341.1, 8.2, CAL= 341.0, 8.3, ROT= 169.0, -8.3 2025-10-27T05:54:47.455Z,1761544487.455 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T05:54:47.456Z,1761544487.456 [DAT](INFO): direction in FSK: [-0.971345,0.188810,0.144356] 2025-10-27T05:54:47.456Z,1761544487.456 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:47.464Z,1761544487.464 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.478195 2025-10-27T05:54:47.696Z,1761544487.696 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.709770 2025-10-27T05:54:47.770Z,1761544487.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.964642,0.263553,0.002430],[-0.263564,-0.964598,-0.009167],[-0.000072,-0.009483,0.999955]] 2025-10-27T05:54:47.798Z,1761544487.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.503917 s, deltaX: 0.300000 m, approachRate: 0.595336 m/s, rangeRepo size: 4 2025-10-27T05:54:47.800Z,1761544487.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.265824 m, bearing: 4.204222 deg, lat: 36.779399 deg, lon: -121.859774 deg, deltaT: 0.503917 s, deltaX: 0.297956 m, approachRate: 0.591281 m/s, posRepo size: 4 2025-10-27T05:54:47.801Z,1761544487.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 5.30 m. Rolling out. 2025-10-27T05:54:47.801Z,1761544487.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T05:54:47.880Z,1761544487.880 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T05:54:47.949Z,1761544487.949 [DAT](INFO): DAT read: Rx Time:05:54:46.7053 2025-10-27T05:54:47.949Z,1761544487.949 [DAT](INFO): Rx dataTimestamp_ set to:1761544487.948801 2025-10-27T05:54:47.950Z,1761544487.950 [DAT](INFO): DAT read: Bearing 162.5, 18.4 (Local) 2025-10-27T05:54:47.951Z,1761544487.951 [DAT](INFO): Local bearing/azimuth received: Bearing 162.5, 18.4 (Local) 2025-10-27T05:54:47.953Z,1761544487.953 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.5 2025-10-27T05:54:47.958Z,1761544487.958 [DAT](INFO): DAT read: 05:54:46.7053 LVL= 32336, 22577, 29938, 32755, AGC= 52, IDX= 511,-0.01,-2.407,-0.929,-2.951,-1.838, PHS=-0.467, 0.954,-1.157, RAW= 348.7, 7.2, CAL= 348.6, 6.7, ROT= 161.4, -6.7 2025-10-27T05:54:47.959Z,1761544487.959 [DAT](INFO): got valid direction response: 05:54:46.7053 LVL= 32336, 22577, 29938, 32755, AGC= 52, IDX= 511,-0.01,-2.407,-0.929,-2.951,-1.838, PHS=-0.467, 0.954,-1.157, RAW= 348.7, 7.2, CAL= 348.6, 6.7, ROT= 161.4, -6.7 2025-10-27T05:54:47.959Z,1761544487.959 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:54:47.960Z,1761544487.960 [DAT](INFO): direction in FSK: [-0.941296,0.316781,0.116671] 2025-10-27T05:54:47.960Z,1761544487.960 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:47.973Z,1761544487.973 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.986595 2025-10-27T05:54:48.203Z,1761544488.203 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.216181 2025-10-27T05:54:48.261Z,1761544488.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959528,0.281603,0.002347],[-0.281612,-0.959477,-0.009894],[-0.000534,-0.010154,0.999948]] 2025-10-27T05:54:48.316Z,1761544488.316 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T05:54:48.316Z,1761544488.316 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:54:48.316Z,1761544488.316 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T05:54:48.318Z,1761544488.318 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 5.300000 m (mode 5.000000 count ). 2025-10-27T05:54:48.318Z,1761544488.318 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T05:54:48.318Z,1761544488.318 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T05:54:48.318Z,1761544488.318 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T05:54:48.323Z,1761544488.323 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:54:48.323Z,1761544488.323 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T05:54:48.326Z,1761544488.326 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 5.300000 m (mode 5.000000 count ). 2025-10-27T05:54:48.326Z,1761544488.326 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T05:54:48.331Z,1761544488.331 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T05:54:48.394Z,1761544488.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504053 s, deltaX: 0.100000 m, approachRate: 0.198392 m/s, rangeRepo size: 4 2025-10-27T05:54:48.408Z,1761544488.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.365179 m, bearing: 357.691454 deg, lat: 36.779399 deg, lon: -121.859779 deg, deltaT: 0.504053 s, deltaX: 0.099355 m, approachRate: 0.197112 m/s, posRepo size: 4 2025-10-27T05:54:48.408Z,1761544488.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m. 2025-10-27T05:54:48.410Z,1761544488.410 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T05:54:48.410Z,1761544488.410 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:54:48.410Z,1761544488.410 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T05:54:48.411Z,1761544488.411 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T05:54:48.453Z,1761544488.453 [DAT](INFO): DAT read: Rx Time:05:54:47.2056 2025-10-27T05:54:48.453Z,1761544488.453 [DAT](INFO): Rx dataTimestamp_ set to:1761544488.452857 2025-10-27T05:54:48.454Z,1761544488.454 [DAT](INFO): DAT read: Bearing 168.7, 25.2 (Local) 2025-10-27T05:54:48.455Z,1761544488.455 [DAT](INFO): Local bearing/azimuth received: Bearing 168.7, 25.2 (Local) 2025-10-27T05:54:48.457Z,1761544488.457 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.8 2025-10-27T05:54:48.462Z,1761544488.462 [DAT](INFO): DAT read: 05:54:47.2056 LVL= 17392, 14625, 22322, 22851, AGC= 56, IDX= 2, 0.07,-2.195,-0.847,-3.030,-1.848, PHS=-0.244, 1.047,-1.225, RAW= 355.5, 4.3, CAL= 355.2, 2.2, ROT= 154.8, -2.2 2025-10-27T05:54:48.463Z,1761544488.463 [DAT](INFO): got valid direction response: 05:54:47.2056 LVL= 17392, 14625, 22322, 22851, AGC= 56, IDX= 2, 0.07,-2.195,-0.847,-3.030,-1.848, PHS=-0.244, 1.047,-1.225, RAW= 355.5, 4.3, CAL= 355.2, 2.2, ROT= 154.8, -2.2 2025-10-27T05:54:48.463Z,1761544488.463 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:54:48.464Z,1761544488.464 [DAT](INFO): direction in FSK: [-0.904160,0.425465,0.038388] 2025-10-27T05:54:48.465Z,1761544488.465 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:48.468Z,1761544488.468 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.482115 2025-10-27T05:54:48.709Z,1761544488.709 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.722130 2025-10-27T05:54:48.849Z,1761544488.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948980,0.315321,0.003187],[-0.315337,-0.948940,-0.008683],[0.000286,-0.009245,0.999957]] 2025-10-27T05:54:48.930Z,1761544488.930 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T05:54:48.930Z,1761544488.930 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T05:54:48.930Z,1761544488.930 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T05:54:48.930Z,1761544488.930 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T05:54:48.945Z,1761544488.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504056 s, deltaX: 0.500000 m, approachRate: 0.991953 m/s, rangeRepo size: 4 2025-10-27T05:54:48.952Z,1761544488.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.861951 m, bearing: 353.163963 deg, lat: 36.779400 deg, lon: -121.859779 deg, deltaT: 0.504056 s, deltaX: 0.496773 m, approachRate: 0.985551 m/s, posRepo size: 4 2025-10-27T05:54:48.952Z,1761544488.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m. 2025-10-27T05:54:48.961Z,1761544488.961 [DAT](INFO): DAT read: Rx Time:05:54:47.7057 2025-10-27T05:54:48.961Z,1761544488.961 [DAT](INFO): Rx dataTimestamp_ set to:1761544488.960863 2025-10-27T05:54:48.962Z,1761544488.962 [DAT](INFO): DAT read: Bearing 173.2, 21.2 (Local) 2025-10-27T05:54:48.964Z,1761544488.964 [DAT](INFO): Local bearing/azimuth received: Bearing 173.2, 21.2 (Local) 2025-10-27T05:54:48.966Z,1761544488.966 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.5 2025-10-27T05:54:48.970Z,1761544488.970 [DAT](INFO): DAT read: 05:54:47.7057 LVL= 24464, 25201, 32754, 32755, AGC= 55, IDX= 483, 0.16, 2.098,-2.719, 1.404, 2.462, PHS=-0.261, 1.147,-1.101, RAW= 351.7, 2.2, CAL= 351.3, -0.8, ROT= 158.7, 0.8 2025-10-27T05:54:48.972Z,1761544488.972 [DAT](INFO): got valid direction response: 05:54:47.7057 LVL= 24464, 25201, 32754, 32755, AGC= 55, IDX= 483, 0.16, 2.098,-2.719, 1.404, 2.462, PHS=-0.261, 1.147,-1.101, RAW= 351.7, 2.2, CAL= 351.3, -0.8, ROT= 158.7, 0.8 2025-10-27T05:54:48.972Z,1761544488.972 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T05:54:48.973Z,1761544488.973 [DAT](INFO): direction in FSK: [-0.931600,0.363216,-0.013962] 2025-10-27T05:54:48.973Z,1761544488.973 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:48.977Z,1761544488.977 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.990599 2025-10-27T05:54:49.215Z,1761544489.215 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.227858 2025-10-27T05:54:49.354Z,1761544489.354 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T05:54:49.354Z,1761544489.354 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T05:54:49.357Z,1761544489.357 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T05:54:49.358Z,1761544489.358 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T05:54:49.401Z,1761544489.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.508006 s, deltaX: 0.100000 m, approachRate: 0.196848 m/s, rangeRepo size: 4 2025-10-27T05:54:49.410Z,1761544489.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.961306 m, bearing: 357.088788 deg, lat: 36.779399 deg, lon: -121.859779 deg, deltaT: 0.508006 s, deltaX: 0.099355 m, approachRate: 0.195578 m/s, posRepo size: 4 2025-10-27T05:54:49.415Z,1761544489.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m. 2025-10-27T05:54:49.465Z,1761544489.465 [DAT](INFO): DAT read: Rx Time:05:54:48.2060 2025-10-27T05:54:49.466Z,1761544489.466 [DAT](INFO): Rx dataTimestamp_ set to:1761544489.465673 2025-10-27T05:54:49.468Z,1761544489.468 [DAT](INFO): DAT read: Bearing 171.0, 14.7 (Local) 2025-10-27T05:54:49.468Z,1761544489.468 [DAT](INFO): Local bearing/azimuth received: Bearing 171.0, 14.7 (Local) 2025-10-27T05:54:49.470Z,1761544489.470 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.5 2025-10-27T05:54:49.476Z,1761544489.476 [DAT](INFO): DAT read: 05:54:48.2060 LVL= 22192, 23345, 32754, 32755, AGC= 53, IDX= 502, 0.19, 2.638,-2.050, 2.219,-3.072, PHS=-0.471, 1.067,-1.036, RAW= 345.0, 4.7, CAL= 344.7, 2.8, ROT= 165.3, -2.8 2025-10-27T05:54:49.477Z,1761544489.477 [DAT](INFO): got valid direction response: 05:54:48.2060 LVL= 22192, 23345, 32754, 32755, AGC= 53, IDX= 502, 0.19, 2.638,-2.050, 2.219,-3.072, PHS=-0.471, 1.067,-1.036, RAW= 345.0, 4.7, CAL= 344.7, 2.8, ROT= 165.3, -2.8 2025-10-27T05:54:49.477Z,1761544489.477 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T05:54:49.478Z,1761544489.478 [DAT](INFO): direction in FSK: [-0.966113,0.253455,0.048850] 2025-10-27T05:54:49.478Z,1761544489.478 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:49.495Z,1761544489.495 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.500549 2025-10-27T05:54:49.717Z,1761544489.717 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.730204 2025-10-27T05:54:49.841Z,1761544489.841 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T05:54:49.842Z,1761544489.842 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:54:49.842Z,1761544489.842 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T05:54:49.843Z,1761544489.843 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T05:54:49.846Z,1761544489.846 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T05:54:49.847Z,1761544489.847 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:54:49.847Z,1761544489.847 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T05:54:49.848Z,1761544489.848 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T05:54:49.902Z,1761544489.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504810 s, deltaX: 0.300000 m, approachRate: 0.594283 m/s, rangeRepo size: 4 2025-10-27T05:54:49.909Z,1761544489.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.259347 m, bearing: 3.656923 deg, lat: 36.779399 deg, lon: -121.859779 deg, deltaT: 0.504810 s, deltaX: 0.298041 m, approachRate: 0.590403 m/s, posRepo size: 4 2025-10-27T05:54:49.909Z,1761544489.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m. 2025-10-27T05:54:49.970Z,1761544489.970 [DAT](INFO): DAT read: Rx Time:05:54:48.7061 2025-10-27T05:54:49.970Z,1761544489.970 [DAT](INFO): Rx dataTimestamp_ set to:1761544489.970200 2025-10-27T05:54:49.972Z,1761544489.972 [DAT](INFO): DAT read: Bearing 172.6, 13.0 (Local) 2025-10-27T05:54:49.972Z,1761544489.972 [DAT](INFO): Local bearing/azimuth received: Bearing 172.6, 13.0 (Local) 2025-10-27T05:54:49.974Z,1761544489.974 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.5 2025-10-27T05:54:49.979Z,1761544489.979 [DAT](INFO): DAT read: 05:54:48.7061 LVL= 26544, 22993, 32754, 32755, AGC= 53, IDX= 503, 0.19, 1.844,-2.789, 1.492, 2.461, PHS=-0.515, 1.078,-1.013, RAW= 343.2, 4.8, CAL= 342.8, 3.0, ROT= 167.2, -3.0 2025-10-27T05:54:49.980Z,1761544489.980 [DAT](INFO): got valid direction response: 05:54:48.7061 LVL= 26544, 22993, 32754, 32755, AGC= 53, IDX= 503, 0.19, 1.844,-2.789, 1.492, 2.461, PHS=-0.515, 1.078,-1.013, RAW= 343.2, 4.8, CAL= 342.8, 3.0, ROT= 167.2, -3.0 2025-10-27T05:54:49.981Z,1761544489.981 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T05:54:49.982Z,1761544489.982 [DAT](INFO): direction in FSK: [-0.973813,0.221245,0.052336] 2025-10-27T05:54:49.982Z,1761544489.982 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:50.018Z,1761544490.018 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.031689 2025-10-27T05:54:50.204Z,1761544490.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931452,0.363605,-0.013705],[-0.363860,-0.930622,0.039353],[0.001555,0.041642,0.999131]] 2025-10-27T05:54:50.223Z,1761544490.223 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.236258 2025-10-27T05:54:50.297Z,1761544490.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504527 s, deltaX: 0.200000 m, approachRate: 0.396411 m/s, rangeRepo size: 4 2025-10-27T05:54:50.303Z,1761544490.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.458057 m, bearing: 8.671406 deg, lat: 36.779399 deg, lon: -121.859779 deg, deltaT: 0.504527 s, deltaX: 0.198709 m, approachRate: 0.393853 m/s, posRepo size: 4 2025-10-27T05:54:50.303Z,1761544490.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m. 2025-10-27T05:54:50.472Z,1761544490.472 [DAT](INFO): DAT read: Rx Time:05:54:49.2063 2025-10-27T05:54:50.473Z,1761544490.473 [DAT](INFO): Rx dataTimestamp_ set to:1761544490.472628 2025-10-27T05:54:50.474Z,1761544490.474 [DAT](INFO): DAT read: Bearing 175.6, 13.9 (Local) 2025-10-27T05:54:50.474Z,1761544490.474 [DAT](INFO): Local bearing/azimuth received: Bearing 175.6, 13.9 (Local) 2025-10-27T05:54:50.477Z,1761544490.477 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.5 2025-10-27T05:54:50.481Z,1761544490.481 [DAT](INFO): DAT read: 05:54:49.2063 LVL= 24800, 25169, 32754, 32755, AGC= 52, IDX= 506, 0.14, 2.218,-2.404, 1.820, 2.799, PHS=-0.478, 1.126,-1.022, RAW= 344.1, 3.9, CAL= 343.7, 1.6, ROT= 166.3, -1.6 2025-10-27T05:54:50.482Z,1761544490.482 [DAT](INFO): got valid direction response: 05:54:49.2063 LVL= 24800, 25169, 32754, 32755, AGC= 52, IDX= 506, 0.14, 2.218,-2.404, 1.820, 2.799, PHS=-0.478, 1.126,-1.022, RAW= 344.1, 3.9, CAL= 343.7, 1.6, ROT= 166.3, -1.6 2025-10-27T05:54:50.483Z,1761544490.483 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T05:54:50.484Z,1761544490.484 [DAT](INFO): direction in FSK: [-0.971170,0.236746,0.027922] 2025-10-27T05:54:50.484Z,1761544490.484 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:50.488Z,1761544490.488 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.501308 2025-10-27T05:54:50.725Z,1761544490.725 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.738468 2025-10-27T05:54:50.909Z,1761544490.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919130,0.393813,-0.010540],[-0.393954,-0.918780,0.025384],[0.000313,0.027484,0.999622]] 2025-10-27T05:54:50.978Z,1761544490.978 [DAT](INFO): DAT read: Rx Time:05:54:49.7064 2025-10-27T05:54:50.978Z,1761544490.978 [DAT](INFO): Rx dataTimestamp_ set to:1761544490.977810 2025-10-27T05:54:50.979Z,1761544490.979 [DAT](INFO): DAT read: Bearing 178.0, 15.8 (Local) 2025-10-27T05:54:50.980Z,1761544490.980 [DAT](INFO): Local bearing/azimuth received: Bearing 178.0, 15.8 (Local) 2025-10-27T05:54:50.982Z,1761544490.982 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4 2025-10-27T05:54:50.987Z,1761544490.987 [DAT](INFO): DAT read: 05:54:49.7064 LVL= 26912, 21649, 32754, 32755, AGC= 51, IDX= 507, 0.03, 0.912, 2.523, 0.440, 1.426, PHS=-0.412, 1.142,-1.030, RAW= 346.0, 3.1, CAL= 345.6, 0.3, ROT= 164.4, -0.3 2025-10-27T05:54:50.988Z,1761544490.988 [DAT](INFO): got valid direction response: 05:54:49.7064 LVL= 26912, 21649, 32754, 32755, AGC= 51, IDX= 507, 0.03, 0.912, 2.523, 0.440, 1.426, PHS=-0.412, 1.142,-1.030, RAW= 346.0, 3.1, CAL= 345.6, 0.3, ROT= 164.4, -0.3 2025-10-27T05:54:50.988Z,1761544490.988 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:54:50.989Z,1761544490.989 [DAT](INFO): direction in FSK: [-0.963149,0.268916,0.005236] 2025-10-27T05:54:50.989Z,1761544490.989 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:50.997Z,1761544490.997 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.010736 2025-10-27T05:54:51.114Z,1761544491.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 1.007610 s, deltaX: 0.400000 m, approachRate: 0.396979 m/s, rangeRepo size: 4 2025-10-27T05:54:51.117Z,1761544491.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.855732 m, bearing: 7.614324 deg, lat: 36.779399 deg, lon: -121.859773 deg, deltaT: 1.007610 s, deltaX: 0.397675 m, approachRate: 0.394672 m/s, posRepo size: 4 2025-10-27T05:54:51.117Z,1761544491.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-27T05:54:51.233Z,1761544491.233 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.245556 2025-10-27T05:54:51.481Z,1761544491.481 [DAT](INFO): DAT read: Rx Time:05:54:50.2066 2025-10-27T05:54:51.481Z,1761544491.481 [DAT](INFO): Rx dataTimestamp_ set to:1761544491.481061 2025-10-27T05:54:51.483Z,1761544491.483 [DAT](INFO): DAT read: Bearing 177.7, 16.6 (Local) 2025-10-27T05:54:51.484Z,1761544491.484 [DAT](INFO): Local bearing/azimuth received: Bearing 177.7, 16.6 (Local) 2025-10-27T05:54:51.486Z,1761544491.486 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.4 2025-10-27T05:54:51.493Z,1761544491.493 [DAT](INFO): DAT read: 05:54:50.2066 LVL= 29472, 23361, 32754, 32755, AGC= 52, IDX= 509,-0.14,-0.020, 1.560,-0.516, 0.497, PHS=-0.414, 1.109,-1.057, RAW= 346.8, 3.8, CAL= 346.4, 1.3, ROT= 163.6, -1.3 2025-10-27T05:54:51.494Z,1761544491.494 [DAT](INFO): got valid direction response: 05:54:50.2066 LVL= 29472, 23361, 32754, 32755, AGC= 52, IDX= 509,-0.14,-0.020, 1.560,-0.516, 0.497, PHS=-0.414, 1.109,-1.057, RAW= 346.8, 3.8, CAL= 346.4, 1.3, ROT= 163.6, -1.3 2025-10-27T05:54:51.494Z,1761544491.494 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:54:51.496Z,1761544491.496 [DAT](INFO): direction in FSK: [-0.959067,0.282269,0.022687] 2025-10-27T05:54:51.496Z,1761544491.496 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:51.500Z,1761544491.500 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.513702 2025-10-27T05:54:51.733Z,1761544491.733 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.746138 2025-10-27T05:54:51.742Z,1761544491.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503251 s, deltaX: 0.300000 m, approachRate: 0.596123 m/s, rangeRepo size: 4 2025-10-27T05:54:51.749Z,1761544491.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.153807 m, bearing: 6.841041 deg, lat: 36.779399 deg, lon: -121.859771 deg, deltaT: 0.503251 s, deltaX: 0.298075 m, approachRate: 0.592298 m/s, posRepo size: 4 2025-10-27T05:54:51.749Z,1761544491.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.15 m. 2025-10-27T05:54:51.985Z,1761544491.985 [DAT](INFO): DAT read: Rx Time:05:54:50.7067 2025-10-27T05:54:51.985Z,1761544491.985 [DAT](INFO): Rx dataTimestamp_ set to:1761544491.984791 2025-10-27T05:54:51.986Z,1761544491.986 [DAT](INFO): DAT read: Bearing 180.0, 17.7 (Local) 2025-10-27T05:54:51.987Z,1761544491.987 [DAT](INFO): Local bearing/azimuth received: Bearing 180.0, 17.7 (Local) 2025-10-27T05:54:51.989Z,1761544491.989 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 2025-10-27T05:54:51.994Z,1761544491.994 [DAT](INFO): DAT read: 05:54:50.7067 LVL= 23264, 26577, 32754, 32755, AGC= 53, IDX= 510,-0.47,-0.670, 0.890,-1.215,-0.202, PHS=-0.367, 1.137,-1.057, RAW= 347.9, 3.0, CAL= 347.5, 0.0, ROT= 162.5, -0.0 2025-10-27T05:54:51.995Z,1761544491.995 [DAT](INFO): got valid direction response: 05:54:50.7067 LVL= 23264, 26577, 32754, 32755, AGC= 53, IDX= 510,-0.47,-0.670, 0.890,-1.215,-0.202, PHS=-0.367, 1.137,-1.057, RAW= 347.9, 3.0, CAL= 347.5, 0.0, ROT= 162.5, -0.0 2025-10-27T05:54:51.999Z,1761544491.999 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:54:52.001Z,1761544492.001 [DAT](INFO): direction in FSK: [-0.953717,0.300706,0.000000] 2025-10-27T05:54:52.001Z,1761544492.001 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:52.005Z,1761544492.005 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.018799 2025-10-27T05:54:52.153Z,1761544492.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897972,0.440006,0.006358],[-0.440040,-0.897750,-0.020247],[-0.003201,-0.020979,0.999775]] 2025-10-27T05:54:52.197Z,1761544492.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503730 s, deltaX: 0.200000 m, approachRate: 0.397039 m/s, rangeRepo size: 4 2025-10-27T05:54:52.199Z,1761544492.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.352422 m, bearing: 8.610450 deg, lat: 36.779399 deg, lon: -121.859770 deg, deltaT: 0.503730 s, deltaX: 0.198616 m, approachRate: 0.394290 m/s, posRepo size: 4 2025-10-27T05:54:52.200Z,1761544492.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m. 2025-10-27T05:54:52.237Z,1761544492.237 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.250303 2025-10-27T05:54:52.488Z,1761544492.488 [DAT](INFO): DAT read: Rx Time:05:54:51.2070 2025-10-27T05:54:52.489Z,1761544492.489 [DAT](INFO): Rx dataTimestamp_ set to:1761544492.488250 2025-10-27T05:54:52.490Z,1761544492.490 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4 2025-10-27T05:54:52.490Z,1761544492.490 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-27T05:54:52.491Z,1761544492.491 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.505081 2025-10-27T05:54:52.561Z,1761544492.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890321,0.455295,0.005960],[-0.455300,-0.890017,-0.023919],[-0.005586,-0.024009,0.999696]] 2025-10-27T05:54:52.642Z,1761544492.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503459 s, deltaX: 0.400000 m, approachRate: 0.794504 m/s, rangeRepo size: 4 2025-10-27T05:54:52.643Z,1761544492.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m. 2025-10-27T05:54:52.740Z,1761544492.740 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.753716 2025-10-27T05:54:52.968Z,1761544492.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882275,0.470724,0.003252],[-0.470668,-0.882012,-0.022960],[-0.007939,-0.021788,0.999731]] 2025-10-27T05:54:52.992Z,1761544492.992 [DAT](INFO): DAT read: Rx Time:05:54:51.7070 2025-10-27T05:54:52.993Z,1761544492.993 [DAT](INFO): Rx dataTimestamp_ set to:1761544492.992364 2025-10-27T05:54:52.994Z,1761544492.994 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4 2025-10-27T05:54:52.994Z,1761544492.994 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-27T05:54:52.995Z,1761544492.995 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.009214 2025-10-27T05:54:53.009Z,1761544493.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:53.010Z,1761544493.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m. 2025-10-27T05:54:53.247Z,1761544493.247 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.260212 2025-10-27T05:54:53.397Z,1761544493.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873683,0.486492,-0.001614],[-0.486377,-0.873541,-0.019075],[-0.010690,-0.015880,0.999817]] 2025-10-27T05:54:53.444Z,1761544493.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m. 2025-10-27T05:54:53.497Z,1761544493.497 [DAT](INFO): DAT read: Rx Time:05:54:52.2073 2025-10-27T05:54:53.497Z,1761544493.497 [DAT](INFO): Rx dataTimestamp_ set to:1761544493.497176 2025-10-27T05:54:53.499Z,1761544493.499 [DAT](INFO): DAT read: Bearing 177.5, 20.3 (Local) 2025-10-27T05:54:53.499Z,1761544493.499 [DAT](INFO): Local bearing/azimuth received: Bearing 177.5, 20.3 (Local) 2025-10-27T05:54:53.501Z,1761544493.501 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.4 2025-10-27T05:54:53.506Z,1761544493.506 [DAT](INFO): DAT read: 05:54:52.2073 LVL= 19248, 17681, 27970, 32755, AGC= 56, IDX= 3, 0.17,-3.036,-1.617, 2.678,-2.514, PHS=-0.419, 0.942,-1.135, RAW= 349.8, 6.7, CAL= 349.7, 5.9, ROT= 160.3, -5.9 2025-10-27T05:54:53.507Z,1761544493.507 [DAT](INFO): got valid direction response: 05:54:52.2073 LVL= 19248, 17681, 27970, 32755, AGC= 56, IDX= 3, 0.17,-3.036,-1.617, 2.678,-2.514, PHS=-0.419, 0.942,-1.135, RAW= 349.8, 6.7, CAL= 349.7, 5.9, ROT= 160.3, -5.9 2025-10-27T05:54:53.508Z,1761544493.508 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:54:53.509Z,1761544493.509 [DAT](INFO): direction in FSK: [-0.936483,0.335310,0.102793] 2025-10-27T05:54:53.509Z,1761544493.509 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:53.513Z,1761544493.513 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.526489 2025-10-27T05:54:53.748Z,1761544493.748 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.761658 2025-10-27T05:54:53.821Z,1761544493.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863899,0.503607,-0.007640],[-0.503488,-0.863898,-0.013394],[-0.013345,-0.007724,0.999881]] 2025-10-27T05:54:53.908Z,1761544493.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504812 s, deltaX: 0.500000 m, approachRate: 0.990468 m/s, rangeRepo size: 4 2025-10-27T05:54:53.910Z,1761544493.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.246592 m, bearing: 10.463863 deg, lat: 36.779399 deg, lon: -121.859770 deg, deltaT: 1.512385 s, deltaX: 0.894169 m, approachRate: 0.591231 m/s, posRepo size: 4 2025-10-27T05:54:53.910Z,1761544493.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m. 2025-10-27T05:54:54.001Z,1761544494.001 [DAT](INFO): DAT read: Rx Time:05:54:52.7073 2025-10-27T05:54:54.001Z,1761544494.001 [DAT](INFO): Rx dataTimestamp_ set to:1761544494.000855 2025-10-27T05:54:54.002Z,1761544494.002 [DAT](INFO): DAT read: Bearing 177.8, 18.3 (Local) 2025-10-27T05:54:54.003Z,1761544494.003 [DAT](INFO): Local bearing/azimuth received: Bearing 177.8, 18.3 (Local) 2025-10-27T05:54:54.005Z,1761544494.005 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.4 2025-10-27T05:54:54.010Z,1761544494.010 [DAT](INFO): DAT read: 05:54:52.7073 LVL= 26928, 19825, 32754, 32755, AGC= 51, IDX= 500,-0.26, 0.544, 2.015, 0.053, 1.129, PHS=-0.483, 0.931,-1.120, RAW= 347.7, 7.4, CAL= 347.6, 7.0, ROT= 162.4, -7.0 2025-10-27T05:54:54.012Z,1761544494.012 [DAT](INFO): got valid direction response: 05:54:52.7073 LVL= 26928, 19825, 32754, 32755, AGC= 51, IDX= 500,-0.26, 0.544, 2.015, 0.053, 1.129, PHS=-0.483, 0.931,-1.120, RAW= 347.7, 7.4, CAL= 347.6, 7.0, ROT= 162.4, -7.0 2025-10-27T05:54:54.012Z,1761544494.012 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:54:54.013Z,1761544494.013 [DAT](INFO): direction in FSK: [-0.946086,0.300116,0.121869] 2025-10-27T05:54:54.013Z,1761544494.013 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:54.017Z,1761544494.017 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.030787 2025-10-27T05:54:54.252Z,1761544494.252 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.265593 2025-10-27T05:54:54.313Z,1761544494.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853723,0.520551,-0.013589],[-0.520491,-0.853831,-0.007925],[-0.015728,0.000307,0.999876]] 2025-10-27T05:54:54.424Z,1761544494.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503679 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:54.426Z,1761544494.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.246592 m, bearing: 13.735942 deg, lat: 36.779399 deg, lon: -121.859770 deg, deltaT: 0.503679 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:54:54.426Z,1761544494.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m. 2025-10-27T05:54:54.505Z,1761544494.505 [DAT](INFO): DAT read: Rx Time:05:54:53.2075 2025-10-27T05:54:54.505Z,1761544494.505 [DAT](INFO): Rx dataTimestamp_ set to:1761544494.504965 2025-10-27T05:54:54.507Z,1761544494.507 [DAT](INFO): DAT read: Bearing 177.7, 17.9 (Local) 2025-10-27T05:54:54.507Z,1761544494.507 [DAT](INFO): Local bearing/azimuth received: Bearing 177.7, 17.9 (Local) 2025-10-27T05:54:54.509Z,1761544494.509 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4 2025-10-27T05:54:54.514Z,1761544494.514 [DAT](INFO): DAT read: 05:54:53.2075 LVL= 24400, 20625, 32754, 32755, AGC= 53, IDX= 502, 0.09,-2.985,-1.510, 2.838,-2.359, PHS=-0.524, 0.893,-1.131, RAW= 347.0, 8.5, CAL= 347.0, 8.7, ROT= 163.0, -8.7 2025-10-27T05:54:54.515Z,1761544494.515 [DAT](INFO): got valid direction response: 05:54:53.2075 LVL= 24400, 20625, 32754, 32755, AGC= 53, IDX= 502, 0.09,-2.985,-1.510, 2.838,-2.359, PHS=-0.524, 0.893,-1.131, RAW= 347.0, 8.5, CAL= 347.0, 8.7, ROT= 163.0, -8.7 2025-10-27T05:54:54.516Z,1761544494.516 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:54:54.517Z,1761544494.517 [DAT](INFO): direction in FSK: [-0.945301,0.289008,0.151261] 2025-10-27T05:54:54.517Z,1761544494.517 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:54.521Z,1761544494.521 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.534376 2025-10-27T05:54:54.756Z,1761544494.756 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.769676 2025-10-27T05:54:54.792Z,1761544494.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843039,0.537546,-0.018129],[-0.537545,-0.843218,-0.005332],[-0.018153,0.005250,0.999821]] 2025-10-27T05:54:54.912Z,1761544494.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504110 s, deltaX: 0.300000 m, approachRate: 0.595109 m/s, rangeRepo size: 4 2025-10-27T05:54:54.914Z,1761544494.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.544514 m, bearing: 15.517319 deg, lat: 36.779399 deg, lon: -121.859768 deg, deltaT: 0.504110 s, deltaX: 0.297922 m, approachRate: 0.590986 m/s, posRepo size: 4 2025-10-27T05:54:54.919Z,1761544494.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.54 m. 2025-10-27T05:54:55.009Z,1761544495.009 [DAT](INFO): DAT read: Rx Time:05:54:53.7076 2025-10-27T05:54:55.009Z,1761544495.009 [DAT](INFO): Rx dataTimestamp_ set to:1761544495.008827 2025-10-27T05:54:55.010Z,1761544495.010 [DAT](INFO): DAT read: Bearing 180.9, 18.1 (Local) 2025-10-27T05:54:55.011Z,1761544495.011 [DAT](INFO): Local bearing/azimuth received: Bearing 180.9, 18.1 (Local) 2025-10-27T05:54:55.013Z,1761544495.013 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4 2025-10-27T05:54:55.018Z,1761544495.018 [DAT](INFO): DAT read: 05:54:53.7076 LVL= 23184, 19601, 32754, 32755, AGC= 51, IDX= 503,-0.42, 0.706, 2.197, 0.234, 1.306, PHS=-0.498, 0.936,-1.116, RAW= 347.1, 7.5, CAL= 347.0, 7.1, ROT= 163.0, -7.1 2025-10-27T05:54:55.019Z,1761544495.019 [DAT](INFO): got valid direction response: 05:54:53.7076 LVL= 23184, 19601, 32754, 32755, AGC= 51, IDX= 503,-0.42, 0.706, 2.197, 0.234, 1.306, PHS=-0.498, 0.936,-1.116, RAW= 347.1, 7.5, CAL= 347.0, 7.1, ROT= 163.0, -7.1 2025-10-27T05:54:55.020Z,1761544495.020 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:54:55.021Z,1761544495.021 [DAT](INFO): direction in FSK: [-0.948972,0.290130,0.123601] 2025-10-27T05:54:55.021Z,1761544495.021 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:55.025Z,1761544495.025 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.038683 2025-10-27T05:54:55.261Z,1761544495.261 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.274982 2025-10-27T05:54:55.386Z,1761544495.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820885,0.570612,-0.023444],[-0.570674,-0.821163,-0.004611],[-0.021882,0.009594,0.999714]] 2025-10-27T05:54:55.442Z,1761544495.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503862 s, deltaX: 0.099999 m, approachRate: 0.198466 m/s, rangeRepo size: 4 2025-10-27T05:54:55.444Z,1761544495.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.643868 m, bearing: 17.822567 deg, lat: 36.779396 deg, lon: -121.859764 deg, deltaT: 0.503862 s, deltaX: 0.099355 m, approachRate: 0.197186 m/s, posRepo size: 4 2025-10-27T05:54:55.445Z,1761544495.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.64 m. 2025-10-27T05:54:55.513Z,1761544495.513 [DAT](INFO): DAT read: Rx Time:05:54:54.2077 2025-10-27T05:54:55.513Z,1761544495.513 [DAT](INFO): Rx dataTimestamp_ set to:1761544495.512865 2025-10-27T05:54:55.514Z,1761544495.514 [DAT](INFO): DAT read: Bearing 181.5, 19.3 (Local) 2025-10-27T05:54:55.515Z,1761544495.515 [DAT](INFO): Local bearing/azimuth received: Bearing 181.5, 19.3 (Local) 2025-10-27T05:54:55.517Z,1761544495.517 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 2025-10-27T05:54:55.522Z,1761544495.522 [DAT](INFO): DAT read: 05:54:54.2077 LVL= 23232, 19121, 32754, 32755, AGC= 52, IDX= 504,-0.06, 2.017,-2.817, 1.516, 2.605, PHS=-0.486, 0.907,-1.133, RAW= 348.1, 7.9, CAL= 348.1, 7.8, ROT= 161.9, -7.8 2025-10-27T05:54:55.523Z,1761544495.523 [DAT](INFO): got valid direction response: 05:54:54.2077 LVL= 23232, 19121, 32754, 32755, AGC= 52, IDX= 504,-0.06, 2.017,-2.817, 1.516, 2.605, PHS=-0.486, 0.907,-1.133, RAW= 348.1, 7.9, CAL= 348.1, 7.8, ROT= 161.9, -7.8 2025-10-27T05:54:55.524Z,1761544495.524 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:54:55.525Z,1761544495.525 [DAT](INFO): direction in FSK: [-0.941721,0.307802,0.135716] 2025-10-27T05:54:55.525Z,1761544495.525 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:55.529Z,1761544495.529 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.542995 2025-10-27T05:54:55.764Z,1761544495.764 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.777645 2025-10-27T05:54:55.993Z,1761544495.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504038 s, deltaX: 0.200000 m, approachRate: 0.396795 m/s, rangeRepo size: 4 2025-10-27T05:54:55.995Z,1761544495.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.842353 m, bearing: 16.720642 deg, lat: 36.779396 deg, lon: -121.859761 deg, deltaT: 0.504038 s, deltaX: 0.198484 m, approachRate: 0.393789 m/s, posRepo size: 4 2025-10-27T05:54:55.996Z,1761544495.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m. 2025-10-27T05:54:56.017Z,1761544496.017 [DAT](INFO): DAT read: Rx Time:05:54:54.7077 2025-10-27T05:54:56.017Z,1761544496.017 [DAT](INFO): Rx dataTimestamp_ set to:1761544496.016871 2025-10-27T05:54:56.018Z,1761544496.018 [DAT](INFO): DAT read: Bearing 182.9, 22.0 (Local) 2025-10-27T05:54:56.019Z,1761544496.019 [DAT](INFO): Local bearing/azimuth received: Bearing 182.9, 22.0 (Local) 2025-10-27T05:54:56.021Z,1761544496.021 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 2025-10-27T05:54:56.028Z,1761544496.028 [DAT](INFO): DAT read: 05:54:54.7077 LVL= 24160, 19697, 32754, 32755, AGC= 53, IDX= 504, 0.22, 2.914,-1.993, 2.327,-2.839, PHS=-0.428, 0.891,-1.161, RAW= 350.6, 7.8, CAL= 350.6, 7.6, ROT= 159.4, -7.6 2025-10-27T05:54:56.029Z,1761544496.029 [DAT](INFO): got valid direction response: 05:54:54.7077 LVL= 24160, 19697, 32754, 32755, AGC= 53, IDX= 504, 0.22, 2.914,-1.993, 2.327,-2.839, PHS=-0.428, 0.891,-1.161, RAW= 350.6, 7.8, CAL= 350.6, 7.6, ROT= 159.4, -7.6 2025-10-27T05:54:56.030Z,1761544496.030 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:54:56.037Z,1761544496.037 [DAT](INFO): direction in FSK: [-0.927837,0.348751,0.132256] 2025-10-27T05:54:56.038Z,1761544496.038 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:56.050Z,1761544496.050 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.063959 2025-10-27T05:54:56.268Z,1761544496.268 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.281622 2025-10-27T05:54:56.402Z,1761544496.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798274,0.601789,-0.024666],[-0.601774,-0.798617,-0.008874],[-0.025040,0.007759,0.999656]] 2025-10-27T05:54:56.497Z,1761544496.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:56.499Z,1761544496.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.842353 m, bearing: 16.391992 deg, lat: 36.779395 deg, lon: -121.859759 deg, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:54:56.503Z,1761544496.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m. 2025-10-27T05:54:56.521Z,1761544496.521 [DAT](INFO): DAT read: Rx Time:05:54:55.2080 2025-10-27T05:54:56.521Z,1761544496.521 [DAT](INFO): Rx dataTimestamp_ set to:1761544496.520764 2025-10-27T05:54:56.522Z,1761544496.522 [DAT](INFO): DAT read: Bearing 181.4, 23.0 (Local) 2025-10-27T05:54:56.523Z,1761544496.523 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, 23.0 (Local) 2025-10-27T05:54:56.525Z,1761544496.525 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-27T05:54:56.529Z,1761544496.529 [DAT](INFO): DAT read: 05:54:55.2080 LVL= 24688, 20593, 32754, 32755, AGC= 54, IDX= 507,-0.30, 2.725,-2.229, 2.118,-3.008, PHS=-0.449, 0.823,-1.201, RAW= 351.6, 9.4, CAL= 351.7, 10.0, ROT= 158.3, -10.0 2025-10-27T05:54:56.531Z,1761544496.531 [DAT](INFO): got valid direction response: 05:54:55.2080 LVL= 24688, 20593, 32754, 32755, AGC= 54, IDX= 507,-0.30, 2.725,-2.229, 2.118,-3.008, PHS=-0.449, 0.823,-1.201, RAW= 351.6, 9.4, CAL= 351.7, 10.0, ROT= 158.3, -10.0 2025-10-27T05:54:56.531Z,1761544496.531 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:54:56.532Z,1761544496.532 [DAT](INFO): direction in FSK: [-0.915017,0.364129,0.173648] 2025-10-27T05:54:56.532Z,1761544496.532 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:56.540Z,1761544496.540 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.553932 2025-10-27T05:54:56.772Z,1761544496.772 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.785660 2025-10-27T05:54:56.929Z,1761544496.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776504,0.629853,-0.018048],[-0.629484,-0.776691,-0.022377],[-0.028112,-0.006015,0.999587]] 2025-10-27T05:54:57.019Z,1761544497.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503893 s, deltaX: 0.400001 m, approachRate: 0.793820 m/s, rangeRepo size: 4 2025-10-27T05:54:57.021Z,1761544497.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.239670 m, bearing: 17.162090 deg, lat: 36.779395 deg, lon: -121.859759 deg, deltaT: 0.503893 s, deltaX: 0.397317 m, approachRate: 0.788495 m/s, posRepo size: 4 2025-10-27T05:54:57.022Z,1761544497.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m. 2025-10-27T05:54:57.024Z,1761544497.024 [DAT](INFO): DAT read: Rx Time:05:54 2025-10-27T05:54:57.025Z,1761544497.025 [DAT](INFO): Rx dataTimestamp_ set to:1761544497.024483 2025-10-27T05:54:57.026Z,1761544497.026 [DAT](INFO): DAT read: Bearing 180.1, 24.0 (Local) 2025-10-27T05:54:57.026Z,1761544497.026 [DAT](INFO): Local bearing/azimuth received: Bearing 180.1, 24.0 (Local) 2025-10-27T05:54:57.028Z,1761544497.028 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-27T05:54:57.033Z,1761544497.033 [DAT](INFO): DAT read: 05:54:55.7080 LVL= 25792, 22081, 32754, 32755, AGC= 55, IDX= 507, 0.05,-2.865,-1.588, 2.787,-2.307, PHS=-0.456, 0.764,-1.233, RAW= 352.7, 10.6, CAL= 352.9, 12.0, ROT= 157.1, -12.0 2025-10-27T05:54:57.034Z,1761544497.034 [DAT](INFO): got valid direction response: 05:54:55.7080 LVL= 25792, 22081, 32754, 32755, AGC= 55, IDX= 507, 0.05,-2.865,-1.588, 2.787,-2.307, PHS=-0.456, 0.764,-1.233, RAW= 352.7, 10.6, CAL= 352.9, 12.0, ROT= 157.1, -12.0 2025-10-27T05:54:57.035Z,1761544497.035 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:54:57.036Z,1761544497.036 [DAT](INFO): direction in FSK: [-0.901055,0.380621,0.207912] 2025-10-27T05:54:57.036Z,1761544497.036 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:57.048Z,1761544497.048 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.061575 2025-10-27T05:54:57.276Z,1761544497.276 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.289612 2025-10-27T05:54:57.427Z,1761544497.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765479,0.643326,-0.013137],[-0.642771,-0.765445,-0.030662],[-0.029781,-0.015027,0.999443]] 2025-10-27T05:54:57.507Z,1761544497.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503719 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:57.509Z,1761544497.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.239670 m, bearing: 16.805911 deg, lat: 36.779394 deg, lon: -121.859758 deg, deltaT: 0.503719 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:54:57.509Z,1761544497.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m. 2025-10-27T05:54:57.529Z,1761544497.529 [DAT](INFO): DAT read: Rx Time:05:54:56.2083 2025-10-27T05:54:57.529Z,1761544497.529 [DAT](INFO): Rx dataTimestamp_ set to:1761544497.528819 2025-10-27T05:54:57.530Z,1761544497.530 [DAT](INFO): DAT read: Bearing 179.8, 23.0 (Local) 2025-10-27T05:54:57.531Z,1761544497.531 [DAT](INFO): Local bearing/azimuth received: Bearing 179.8, 23.0 (Local) 2025-10-27T05:54:57.533Z,1761544497.533 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 2025-10-27T05:54:57.538Z,1761544497.538 [DAT](INFO): DAT read: 05:54:56.2083 LVL= 24304, 22081, 32754, 32755, AGC= 54, IDX= 509, 0.50,-2.493,-1.206,-3.088,-1.903, PHS=-0.488, 0.742,-1.229, RAW= 351.8, 11.3, CAL= 352.1, 13.1, ROT= 157.9, -13.1 2025-10-27T05:54:57.539Z,1761544497.539 [DAT](INFO): got valid direction response: 05:54:56.2083 LVL= 24304, 22081, 32754, 32755, AGC= 54, IDX= 509, 0.50,-2.493,-1.206,-3.088,-1.903, PHS=-0.488, 0.742,-1.229, RAW= 351.8, 11.3, CAL= 352.1, 13.1, ROT= 157.9, -13.1 2025-10-27T05:54:57.539Z,1761544497.539 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:54:57.540Z,1761544497.540 [DAT](INFO): direction in FSK: [-0.902417,0.366433,0.226651] 2025-10-27T05:54:57.540Z,1761544497.540 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:57.552Z,1761544497.552 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.565823 2025-10-27T05:54:57.780Z,1761544497.780 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.793636 2025-10-27T05:54:57.892Z,1761544497.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754958,0.655664,-0.011954],[-0.655038,-0.754849,-0.033585],[-0.031044,-0.017525,0.999364]] 2025-10-27T05:54:57.918Z,1761544497.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504336 s, deltaX: 0.500000 m, approachRate: 0.991403 m/s, rangeRepo size: 4 2025-10-27T05:54:57.920Z,1761544497.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.736349 m, bearing: 18.469988 deg, lat: 36.779393 deg, lon: -121.859758 deg, deltaT: 0.504336 s, deltaX: 0.496679 m, approachRate: 0.984818 m/s, posRepo size: 4 2025-10-27T05:54:57.920Z,1761544497.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m. 2025-10-27T05:54:58.033Z,1761544498.033 [DAT](INFO): DAT read: Rx Time:05:54:56.7083 2025-10-27T05:54:58.034Z,1761544498.034 [DAT](INFO): Rx dataTimestamp_ set to:1761544498.032947 2025-10-27T05:54:58.037Z,1761544498.037 [DAT](INFO): DAT read: Bearing 181.0, 21.9 (Local) 2025-10-27T05:54:58.039Z,1761544498.039 [DAT](INFO): Local bearing/azimuth received: Bearing 181.0, 21.9 (Local) 2025-10-27T05:54:58.043Z,1761544498.043 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 2025-10-27T05:54:58.050Z,1761544498.050 [DAT](INFO): DAT read: 05:54:56.7083 LVL= 21488, 20129, 32754, 32755, AGC= 51, IDX= 510,-0.11, 0.397, 1.719,-0.161, 1.010, PHS=-0.511, 0.754,-1.215, RAW= 350.7, 11.3, CAL= 350.9, 13.0, ROT= 159.1, -13.0 2025-10-27T05:54:58.051Z,1761544498.051 [DAT](INFO): got valid direction response: 05:54:56.7083 LVL= 21488, 20129, 32754, 32755, AGC= 51, IDX= 510,-0.11, 0.397, 1.719,-0.161, 1.010, PHS=-0.511, 0.754,-1.215, RAW= 350.7, 11.3, CAL= 350.9, 13.0, ROT= 159.1, -13.0 2025-10-27T05:54:58.052Z,1761544498.052 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:54:58.053Z,1761544498.053 [DAT](INFO): direction in FSK: [-0.910261,0.347595,0.224951] 2025-10-27T05:54:58.054Z,1761544498.054 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:58.060Z,1761544498.060 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.073799 2025-10-27T05:54:58.284Z,1761544498.284 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.297779 2025-10-27T05:54:58.309Z,1761544498.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:54:58.325Z,1761544498.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.736349 m, bearing: 19.679013 deg, lat: 36.779393 deg, lon: -121.859757 deg, deltaT: 0.504128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:54:58.326Z,1761544498.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m. 2025-10-27T05:54:58.536Z,1761544498.536 [DAT](INFO): DAT read: Rx Time:05:54:57.2084 2025-10-27T05:54:58.537Z,1761544498.537 [DAT](INFO): Rx dataTimestamp_ set to:1761544498.536610 2025-10-27T05:54:58.538Z,1761544498.538 [DAT](INFO): DAT read: Bearing 183.7, 17.4 (Local) 2025-10-27T05:54:58.538Z,1761544498.538 [DAT](INFO): Local bearing/azimuth received: Bearing 183.7, 17.4 (Local) 2025-10-27T05:54:58.541Z,1761544498.541 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.3 2025-10-27T05:54:58.545Z,1761544498.545 [DAT](INFO): DAT read: 05:54:57.2084 LVL= 22512, 19889, 32754, 32755, AGC= 50, IDX= 512, 0.12, 0.590, 2.215, 0.116, 1.349, PHS=-0.658, 0.911,-1.277, RAW= 345.9, 10.5, CAL= 346.1, 11.9, ROT= 163.9, -11.9 2025-10-27T05:54:58.546Z,1761544498.546 [DAT](INFO): got valid direction response: 05:54:57.2084 LVL= 22512, 19889, 32754, 32755, AGC= 50, IDX= 512, 0.12, 0.590, 2.215, 0.116, 1.349, PHS=-0.658, 0.911,-1.277, RAW= 345.9, 10.5, CAL= 346.1, 11.9, ROT= 163.9, -11.9 2025-10-27T05:54:58.547Z,1761544498.547 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:54:58.548Z,1761544498.548 [DAT](INFO): direction in FSK: [-0.940131,0.271355,0.206204] 2025-10-27T05:54:58.548Z,1761544498.548 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:58.552Z,1761544498.552 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.565487 2025-10-27T05:54:58.656Z,1761544498.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735781,0.676999,-0.017290],[-0.676404,-0.735908,-0.030300],[-0.033237,-0.010599,0.999391]] 2025-10-27T05:54:58.757Z,1761544498.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503663 s, deltaX: 0.300000 m, approachRate: 0.595637 m/s, rangeRepo size: 4 2025-10-27T05:54:58.762Z,1761544498.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.034401 m, bearing: 26.250416 deg, lat: 36.779392 deg, lon: -121.859754 deg, deltaT: 0.503663 s, deltaX: 0.298052 m, approachRate: 0.591768 m/s, posRepo size: 4 2025-10-27T05:54:58.771Z,1761544498.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.03 m. 2025-10-27T05:54:58.788Z,1761544498.788 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.801735 2025-10-27T05:54:59.041Z,1761544499.041 [DAT](INFO): DAT read: Rx Time:05:54:57.7085 2025-10-27T05:54:59.041Z,1761544499.041 [DAT](INFO): Rx dataTimestamp_ set to:1761544499.040814 2025-10-27T05:54:59.042Z,1761544499.042 [DAT](INFO): DAT read: Bearing 189.5, 18.7 (Local) 2025-10-27T05:54:59.043Z,1761544499.043 [DAT](INFO): Local bearing/azimuth received: Bearing 189.5, 18.7 (Local) 2025-10-27T05:54:59.045Z,1761544499.045 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.3 2025-10-27T05:54:59.050Z,1761544499.050 [DAT](INFO): DAT read: 05:54:57.7085 LVL= 23136, 20977, 32754, 32755, AGC= 49, IDX= 512, 0.36,-0.697, 0.948,-1.238,-0.041, PHS=-0.553, 1.034,-1.241, RAW= 347.1, 7.6, CAL= 347.0, 7.3, ROT= 163.0, -7.3 2025-10-27T05:54:59.051Z,1761544499.051 [DAT](INFO): got valid direction response: 05:54:57.7085 LVL= 23136, 20977, 32754, 32755, AGC= 49, IDX= 512, 0.36,-0.697, 0.948,-1.238,-0.041, PHS=-0.553, 1.034,-1.241, RAW= 347.1, 7.6, CAL= 347.0, 7.3, ROT= 163.0, -7.3 2025-10-27T05:54:59.051Z,1761544499.051 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:54:59.052Z,1761544499.052 [DAT](INFO): direction in FSK: [-0.948553,0.290002,0.127065] 2025-10-27T05:54:59.052Z,1761544499.052 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:59.073Z,1761544499.073 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.086384 2025-10-27T05:54:59.083Z,1761544499.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727060,0.686338,-0.017989],[-0.685746,-0.727220,-0.030057],[-0.033711,-0.009517,0.999386]] 2025-10-27T05:54:59.142Z,1761544499.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504204 s, deltaX: 0.099999 m, approachRate: 0.198331 m/s, rangeRepo size: 4 2025-10-27T05:54:59.153Z,1761544499.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.133935 m, bearing: 26.178382 deg, lat: 36.779391 deg, lon: -121.859752 deg, deltaT: 0.504204 s, deltaX: 0.099534 m, approachRate: 0.197408 m/s, posRepo size: 4 2025-10-27T05:54:59.153Z,1761544499.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m. 2025-10-27T05:54:59.292Z,1761544499.292 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.306149 2025-10-27T05:54:59.453Z,1761544499.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.718768,0.695059,-0.016316],[-0.694421,-0.718859,-0.031958],[-0.033942,-0.011641,0.999356]] 2025-10-27T05:54:59.506Z,1761544499.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m. 2025-10-27T05:54:59.545Z,1761544499.545 [DAT](INFO): DAT read: Rx Time:05:54:58.2086 2025-10-27T05:54:59.545Z,1761544499.545 [DAT](INFO): Rx dataTimestamp_ set to:1761544499.544853 2025-10-27T05:54:59.546Z,1761544499.546 [DAT](INFO): DAT read: Bearing 181.9, 24.1 (Local) 2025-10-27T05:54:59.547Z,1761544499.547 [DAT](INFO): Local bearing/azimuth received: Bearing 181.9, 24.1 (Local) 2025-10-27T05:54:59.549Z,1761544499.549 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 2025-10-27T05:54:59.556Z,1761544499.556 [DAT](INFO): DAT read: 05:54:58.2086 LVL= 16544, 12769, 22178, 23187, AGC= 51, IDX= 2,-0.35, 0.054, 1.309,-0.572, 0.652, PHS=-0.496, 0.702,-1.268, RAW= 352.9, 12.3, CAL= 353.2, 14.7, ROT= 156.8, -14.7 2025-10-27T05:54:59.557Z,1761544499.557 [DAT](INFO): got valid direction response: 05:54:58.2086 LVL= 16544, 12769, 22178, 23187, AGC= 51, IDX= 2,-0.35, 0.054, 1.309,-0.572, 0.652, PHS=-0.496, 0.702,-1.268, RAW= 352.9, 12.3, CAL= 353.2, 14.7, ROT= 156.8, -14.7 2025-10-27T05:54:59.558Z,1761544499.558 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:54:59.566Z,1761544499.566 [DAT](INFO): direction in FSK: [-0.889050,0.381047,0.253758] 2025-10-27T05:54:59.571Z,1761544499.571 [DAT](INFO): publishing direction and range info 2025-10-27T05:54:59.575Z,1761544499.575 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.588306 2025-10-27T05:54:59.796Z,1761544499.796 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.809582 2025-10-27T05:54:59.940Z,1761544499.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504039 s, deltaX: 0.200000 m, approachRate: 0.396794 m/s, rangeRepo size: 4 2025-10-27T05:54:59.942Z,1761544499.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.333209 m, bearing: 20.441366 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.504039 s, deltaX: 0.199274 m, approachRate: 0.395354 m/s, posRepo size: 4 2025-10-27T05:54:59.943Z,1761544499.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.33 m. 2025-10-27T05:55:00.049Z,1761544500.049 [DAT](INFO): DAT read: Rx Time:05:54:58.7086 2025-10-27T05:55:00.049Z,1761544500.049 [DAT](INFO): Rx dataTimestamp_ set to:1761544500.048781 2025-10-27T05:55:00.050Z,1761544500.050 [DAT](INFO): DAT read: Bearing 180.7, 25.4 (Local) 2025-10-27T05:55:00.051Z,1761544500.051 [DAT](INFO): Local bearing/azimuth received: Bearing 180.7, 25.4 (Local) 2025-10-27T05:55:00.053Z,1761544500.053 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 2025-10-27T05:55:00.057Z,1761544500.057 [DAT](INFO): DAT read: 05:54:58.7086 LVL= 25072, 22001, 32754, 32755, AGC= 48, IDX= 498,-0.21,-0.498, 0.694,-1.162, 0.088, PHS=-0.484, 0.651,-1.294, RAW= 354.5, 13.2, CAL= 354.9, 16.1, ROT= 155.1, -16.1 2025-10-27T05:55:00.059Z,1761544500.059 [DAT](INFO): got valid direction response: 05:54:58.7086 LVL= 25072, 22001, 32754, 32755, AGC= 48, IDX= 498,-0.21,-0.498, 0.694,-1.162, 0.088, PHS=-0.484, 0.651,-1.294, RAW= 354.5, 13.2, CAL= 354.9, 16.1, ROT= 155.1, -16.1 2025-10-27T05:55:00.059Z,1761544500.059 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:55:00.060Z,1761544500.060 [DAT](INFO): direction in FSK: [-0.871469,0.404522,0.277315] 2025-10-27T05:55:00.060Z,1761544500.060 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:00.064Z,1761544500.064 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.077969 2025-10-27T05:55:00.301Z,1761544500.301 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.314884 2025-10-27T05:55:00.325Z,1761544500.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703943,0.710217,-0.007516],[-0.709472,-0.703623,-0.039554],[-0.033380,-0.022512,0.999189]] 2025-10-27T05:55:00.456Z,1761544500.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:00.458Z,1761544500.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.333209 m, bearing: 19.751364 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:00.459Z,1761544500.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.33 m. 2025-10-27T05:55:00.553Z,1761544500.553 [DAT](INFO): DAT read: Rx Time:05:54:59.2088 2025-10-27T05:55:00.553Z,1761544500.553 [DAT](INFO): Rx dataTimestamp_ set to:1761544500.552715 2025-10-27T05:55:00.554Z,1761544500.554 [DAT](INFO): DAT read: Bearing 180.7, 26.5 (Local) 2025-10-27T05:55:00.555Z,1761544500.555 [DAT](INFO): Local bearing/azimuth received: Bearing 180.7, 26.5 (Local) 2025-10-27T05:55:00.557Z,1761544500.557 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 2025-10-27T05:55:00.561Z,1761544500.561 [DAT](INFO): DAT read: 05:54:59.2088 LVL= 22848, 21105, 32754, 32755, AGC= 49, IDX= 500,-0.11, 1.088, 2.235, 0.389, 1.650, PHS=-0.460, 0.629,-1.306, RAW= 355.8, 13.5, CAL= 356.3, 16.4, ROT= 153.7, -16.4 2025-10-27T05:55:00.562Z,1761544500.562 [DAT](INFO): got valid direction response: 05:54:59.2088 LVL= 22848, 21105, 32754, 32755, AGC= 49, IDX= 500,-0.11, 1.088, 2.235, 0.389, 1.650, PHS=-0.460, 0.629,-1.306, RAW= 355.8, 13.5, CAL= 356.3, 16.4, ROT= 153.7, -16.4 2025-10-27T05:55:00.563Z,1761544500.563 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:55:00.564Z,1761544500.564 [DAT](INFO): direction in FSK: [-0.860012,0.425044,0.282341] 2025-10-27T05:55:00.564Z,1761544500.564 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:00.568Z,1761544500.568 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.581360 2025-10-27T05:55:00.807Z,1761544500.807 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.820923 2025-10-27T05:55:00.904Z,1761544500.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691039,0.722806,0.004018],[-0.722115,-0.690112,-0.047918],[-0.031863,-0.036015,0.998843]] 2025-10-27T05:55:00.956Z,1761544500.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503934 s, deltaX: 0.300000 m, approachRate: 0.595316 m/s, rangeRepo size: 4 2025-10-27T05:55:00.958Z,1761544500.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.631333 m, bearing: 19.190369 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.503934 s, deltaX: 0.298124 m, approachRate: 0.591594 m/s, posRepo size: 4 2025-10-27T05:55:00.959Z,1761544500.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m. 2025-10-27T05:55:01.057Z,1761544501.057 [DAT](INFO): DAT read: Rx Time:05:54:59.7088 2025-10-27T05:55:01.058Z,1761544501.058 [DAT](INFO): Rx dataTimestamp_ set to:1761544501.057912 2025-10-27T05:55:01.060Z,1761544501.060 [DAT](INFO): DAT read: Bearing 182.1, 27.2 (Local) 2025-10-27T05:55:01.060Z,1761544501.060 [DAT](INFO): Local bearing/azimuth received: Bearing 182.1, 27.2 (Local) 2025-10-27T05:55:01.064Z,1761544501.064 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 2025-10-27T05:55:01.068Z,1761544501.068 [DAT](INFO): DAT read: 05:54:59.7088 LVL= 21872, 20529, 32754, 32755, AGC= 50, IDX= 500, 0.02, 1.141, 2.264, 0.414, 1.668, PHS=-0.425, 0.641,-1.298, RAW= 356.7, 12.8, CAL= 357.1, 15.4, ROT= 152.9, -15.4 2025-10-27T05:55:01.070Z,1761544501.070 [DAT](INFO): got valid direction response: 05:54:59.7088 LVL= 21872, 20529, 32754, 32755, AGC= 50, IDX= 500, 0.02, 1.141, 2.264, 0.414, 1.668, PHS=-0.425, 0.641,-1.298, RAW= 356.7, 12.8, CAL= 357.1, 15.4, ROT= 152.9, -15.4 2025-10-27T05:55:01.070Z,1761544501.070 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:55:01.072Z,1761544501.072 [DAT](INFO): direction in FSK: [-0.858250,0.439189,0.265556] 2025-10-27T05:55:01.072Z,1761544501.072 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:01.076Z,1761544501.076 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.089233 2025-10-27T05:55:01.289Z,1761544501.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.685411,0.728118,0.007408],[-0.727497,-0.684322,-0.049512],[-0.030982,-0.039325,0.998746]] 2025-10-27T05:55:01.308Z,1761544501.308 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.321617 2025-10-27T05:55:01.443Z,1761544501.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.505197 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:01.445Z,1761544501.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.631333 m, bearing: 18.850137 deg, lat: 36.779390 deg, lon: -121.859752 deg, deltaT: 0.505197 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:01.446Z,1761544501.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m. 2025-10-27T05:55:01.561Z,1761544501.561 [DAT](INFO): DAT read: Rx Time:05:55:00.2090 2025-10-27T05:55:01.562Z,1761544501.562 [DAT](INFO): Rx dataTimestamp_ set to:1761544501.561727 2025-10-27T05:55:01.564Z,1761544501.564 [DAT](INFO): DAT read: Bearing 182.2, 27.5 (Local) 2025-10-27T05:55:01.564Z,1761544501.564 [DAT](INFO): Local bearing/azimuth received: Bearing 182.2, 27.5 (Local) 2025-10-27T05:55:01.568Z,1761544501.568 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3 2025-10-27T05:55:01.573Z,1761544501.573 [DAT](INFO): DAT read: 05:55:00.2090 LVL= 21040, 20129, 32754, 32755, AGC= 48, IDX= 502, 0.15, 2.902,-2.280, 2.170,-2.860, PHS=-0.419, 0.626,-1.296, RAW= 357.1, 13.0, CAL= 357.5, 15.7, ROT= 152.5, -15.7 2025-10-27T05:55:01.575Z,1761544501.575 [DAT](INFO): got valid direction response: 05:55:00.2090 LVL= 21040, 20129, 32754, 32755, AGC= 48, IDX= 502, 0.15, 2.902,-2.280, 2.170,-2.860, PHS=-0.419, 0.626,-1.296, RAW= 357.1, 13.0, CAL= 357.5, 15.7, ROT= 152.5, -15.7 2025-10-27T05:55:01.576Z,1761544501.576 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:55:01.576Z,1761544501.576 [DAT](INFO): direction in FSK: [-0.853918,0.444522,0.270600] 2025-10-27T05:55:01.577Z,1761544501.577 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:01.580Z,1761544501.580 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.594143 2025-10-27T05:55:01.710Z,1761544501.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679842,0.733291,0.009964],[-0.732745,-0.678654,-0.050127],[-0.029995,-0.041379,0.998693]] 2025-10-27T05:55:01.790Z,1761544501.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503815 s, deltaX: 0.300000 m, approachRate: 0.595457 m/s, rangeRepo size: 4 2025-10-27T05:55:01.796Z,1761544501.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.929409 m, bearing: 18.853638 deg, lat: 36.779390 deg, lon: -121.859752 deg, deltaT: 0.503815 s, deltaX: 0.298076 m, approachRate: 0.591637 m/s, posRepo size: 4 2025-10-27T05:55:01.797Z,1761544501.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m. 2025-10-27T05:55:01.813Z,1761544501.813 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.826740 2025-10-27T05:55:02.065Z,1761544502.065 [DAT](INFO): DAT read: Rx Time:05:55:00.7090 2025-10-27T05:55:02.065Z,1761544502.065 [DAT](INFO): Rx dataTimestamp_ set to:1761544502.064715 2025-10-27T05:55:02.066Z,1761544502.066 [DAT](INFO): DAT read: Bearing 182.4, 27.7 (Local) 2025-10-27T05:55:02.067Z,1761544502.067 [DAT](INFO): Local bearing/azimuth received: Bearing 182.4, 27.7 (Local) 2025-10-27T05:55:02.069Z,1761544502.069 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3 2025-10-27T05:55:02.073Z,1761544502.073 [DAT](INFO): DAT read: 05:55:00.7090 LVL= 21104, 19601, 32754, 32755, AGC= 47, IDX= 502, 0.30, 2.317,-2.876, 1.579, 2.835, PHS=-0.417, 0.617,-1.300, RAW= 357.4, 13.2, CAL= 357.8, 16.0, ROT= 152.2, -16.0 2025-10-27T05:55:02.074Z,1761544502.074 [DAT](INFO): got valid direction response: 05:55:00.7090 LVL= 21104, 19601, 32754, 32755, AGC= 47, IDX= 502, 0.30, 2.317,-2.876, 1.579, 2.835, PHS=-0.417, 0.617,-1.300, RAW= 357.4, 13.2, CAL= 357.8, 16.0, ROT= 152.2, -16.0 2025-10-27T05:55:02.075Z,1761544502.075 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:55:02.076Z,1761544502.076 [DAT](INFO): direction in FSK: [-0.850314,0.448320,0.275637] 2025-10-27T05:55:02.076Z,1761544502.076 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:02.084Z,1761544502.084 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.097500 2025-10-27T05:55:02.153Z,1761544502.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.674670,0.738039,0.010884],[-0.737558,-0.673509,-0.048917],[-0.028772,-0.041031,0.998744]] 2025-10-27T05:55:02.210Z,1761544502.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.502988 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:02.228Z,1761544502.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.929526 m, bearing: 18.956381 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.502988 s, deltaX: 0.000117 m, approachRate: 0.000233 m/s, posRepo size: 4 2025-10-27T05:55:02.229Z,1761544502.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m. 2025-10-27T05:55:02.319Z,1761544502.319 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.332439 2025-10-27T05:55:02.569Z,1761544502.569 [DAT](INFO): DAT read: Rx Time:05:55:01.2092 2025-10-27T05:55:02.569Z,1761544502.569 [DAT](INFO): Rx dataTimestamp_ set to:1761544502.568759 2025-10-27T05:55:02.570Z,1761544502.570 [DAT](INFO): DAT read: Bearing 182.2, 27.1 (Local) 2025-10-27T05:55:02.571Z,1761544502.571 [DAT](INFO): Local bearing/azimuth received: Bearing 182.2, 27.1 (Local) 2025-10-27T05:55:02.573Z,1761544502.573 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.3 2025-10-27T05:55:02.592Z,1761544502.592 [DAT](INFO): DAT read: 05:55:01.2092 LVL= 21728, 21073, 32754, 32755, AGC= 48, IDX= 504,-0.47, 0.989, 2.083, 0.267, 1.528, PHS=-0.437, 0.600,-1.305, RAW= 357.1, 13.7, CAL= 357.5, 16.9, ROT= 152.5, -16.9 2025-10-27T05:55:02.593Z,1761544502.593 [DAT](INFO): got valid direction response: 05:55:01.2092 LVL= 21728, 21073, 32754, 32755, AGC= 48, IDX= 504,-0.47, 0.989, 2.083, 0.267, 1.528, PHS=-0.437, 0.600,-1.305, RAW= 357.1, 13.7, CAL= 357.5, 16.9, ROT= 152.5, -16.9 2025-10-27T05:55:02.594Z,1761544502.594 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:55:02.627Z,1761544502.627 [DAT](INFO): direction in FSK: [-0.848704,0.441807,0.290702] 2025-10-27T05:55:02.627Z,1761544502.627 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:02.647Z,1761544502.647 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.660801 2025-10-27T05:55:02.691Z,1761544502.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504044 s, deltaX: 0.300000 m, approachRate: 0.595187 m/s, rangeRepo size: 4 2025-10-27T05:55:02.697Z,1761544502.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.227604 m, bearing: 19.207711 deg, lat: 36.779390 deg, lon: -121.859753 deg, deltaT: 0.504044 s, deltaX: 0.298078 m, approachRate: 0.591372 m/s, posRepo size: 4 2025-10-27T05:55:02.697Z,1761544502.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m. 2025-10-27T05:55:02.822Z,1761544502.822 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.835251 2025-10-27T05:55:02.985Z,1761544502.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665342,0.746509,0.006671],[-0.746076,-0.664589,-0.041135],[-0.026274,-0.032346,0.999131]] 2025-10-27T05:55:03.004Z,1761544503.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m. 2025-10-27T05:55:03.073Z,1761544503.073 [DAT](INFO): DAT read: Rx Time:05:55:01.7092 2025-10-27T05:55:03.073Z,1761544503.073 [DAT](INFO): Rx dataTimestamp_ set to:1761544503.072749 2025-10-27T05:55:03.074Z,1761544503.074 [DAT](INFO): DAT read: Bearing 182.8, 27.1 (Local) 2025-10-27T05:55:03.075Z,1761544503.075 [DAT](INFO): Local bearing/azimuth received: Bearing 182.8, 27.1 (Local) 2025-10-27T05:55:03.077Z,1761544503.077 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.3 2025-10-27T05:55:03.082Z,1761544503.082 [DAT](INFO): DAT read: 05:55:01.7092 LVL= 21968, 18353, 32754, 32755, AGC= 48, IDX= 504,-0.23,-0.604, 0.491,-1.320,-0.060, PHS=-0.441, 0.596,-1.304, RAW= 357.0, 13.8, CAL= 357.4, 17.0, ROT= 152.6, -17.0 2025-10-27T05:55:03.083Z,1761544503.083 [DAT](INFO): got valid direction response: 05:55:01.7092 LVL= 21968, 18353, 32754, 32755, AGC= 48, IDX= 504,-0.23,-0.604, 0.491,-1.320,-0.060, PHS=-0.441, 0.596,-1.304, RAW= 357.0, 13.8, CAL= 357.4, 17.0, ROT= 152.6, -17.0 2025-10-27T05:55:03.083Z,1761544503.083 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:55:03.084Z,1761544503.084 [DAT](INFO): direction in FSK: [-0.849022,0.440091,0.292372] 2025-10-27T05:55:03.084Z,1761544503.084 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:03.088Z,1761544503.088 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.101845 2025-10-27T05:55:03.325Z,1761544503.325 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.338146 2025-10-27T05:55:03.421Z,1761544503.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660809,0.750538,0.004907],[-0.750133,-0.660205,-0.037801],[-0.025131,-0.028660,0.999273]] 2025-10-27T05:55:03.511Z,1761544503.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:03.513Z,1761544503.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.227715 m, bearing: 20.583282 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.503990 s, deltaX: 0.000111 m, approachRate: 0.000220 m/s, posRepo size: 4 2025-10-27T05:55:03.513Z,1761544503.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m. 2025-10-27T05:55:03.577Z,1761544503.577 [DAT](INFO): DAT read: Rx Time:05:55:02.2094 2025-10-27T05:55:03.577Z,1761544503.577 [DAT](INFO): Rx dataTimestamp_ set to:1761544503.576983 2025-10-27T05:55:03.579Z,1761544503.579 [DAT](INFO): DAT read: Bearing 183.4, 27.2 (Local) 2025-10-27T05:55:03.579Z,1761544503.579 [DAT](INFO): Local bearing/azimuth received: Bearing 183.4, 27.2 (Local) 2025-10-27T05:55:03.581Z,1761544503.581 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4 2025-10-27T05:55:03.586Z,1761544503.586 [DAT](INFO): DAT read: 05:55:02.2094 LVL= 23104, 18161, 32754, 32755, AGC= 48, IDX= 506,-0.06, 0.936, 2.030, 0.215, 1.480, PHS=-0.442, 0.594,-1.309, RAW= 357.1, 13.9, CAL= 357.5, 17.1, ROT= 152.5, -17.1 2025-10-27T05:55:03.587Z,1761544503.587 [DAT](INFO): got valid direction response: 05:55:02.2094 LVL= 23104, 18161, 32754, 32755, AGC= 48, IDX= 506,-0.06, 0.936, 2.030, 0.215, 1.480, PHS=-0.442, 0.594,-1.309, RAW= 357.1, 13.9, CAL= 357.5, 17.1, ROT= 152.5, -17.1 2025-10-27T05:55:03.588Z,1761544503.588 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:55:03.589Z,1761544503.589 [DAT](INFO): direction in FSK: [-0.847799,0.441336,0.294040] 2025-10-27T05:55:03.589Z,1761544503.589 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:03.598Z,1761544503.598 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.611832 2025-10-27T05:55:03.778Z,1761544503.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656396,0.754398,0.005300],[-0.754040,-0.655831,-0.036175],[-0.023814,-0.027741,0.999331]] 2025-10-27T05:55:03.828Z,1761544503.828 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.841785 2025-10-27T05:55:03.828Z,1761544503.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504234 s, deltaX: 0.300000 m, approachRate: 0.594962 m/s, rangeRepo size: 4 2025-10-27T05:55:03.830Z,1761544503.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.525796 m, bearing: 20.841524 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.504234 s, deltaX: 0.298081 m, approachRate: 0.591157 m/s, posRepo size: 4 2025-10-27T05:55:03.872Z,1761544503.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-27T05:55:04.081Z,1761544504.081 [DAT](INFO): DAT read: Rx Time:05:55:02.7094 2025-10-27T05:55:04.081Z,1761544504.081 [DAT](INFO): Rx dataTimestamp_ set to:1761544504.080747 2025-10-27T05:55:04.082Z,1761544504.082 [DAT](INFO): DAT read: Bearing 184.8, 28.1 (Local) 2025-10-27T05:55:04.083Z,1761544504.083 [DAT](INFO): Local bearing/azimuth received: Bearing 184.8, 28.1 (Local) 2025-10-27T05:55:04.086Z,1761544504.086 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.3 2025-10-27T05:55:04.092Z,1761544504.092 [DAT](INFO): DAT read: 05:55:02.7094 LVL= 25488, 20257, 32754, 32755, AGC= 48, IDX= 506, 0.12, 1.682, 2.765, 0.927, 2.199, PHS=-0.415, 0.611,-1.316, RAW= 357.9, 13.3, CAL= 358.3, 16.2, ROT= 151.7, -16.2 2025-10-27T05:55:04.094Z,1761544504.094 [DAT](INFO): got valid direction response: 05:55:02.7094 LVL= 25488, 20257, 32754, 32755, AGC= 48, IDX= 506, 0.12, 1.682, 2.765, 0.927, 2.199, PHS=-0.415, 0.611,-1.316, RAW= 357.9, 13.3, CAL= 358.3, 16.2, ROT= 151.7, -16.2 2025-10-27T05:55:04.094Z,1761544504.094 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:55:04.095Z,1761544504.095 [DAT](INFO): direction in FSK: [-0.845517,0.455264,0.278991] 2025-10-27T05:55:04.096Z,1761544504.096 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:04.099Z,1761544504.099 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.112846 2025-10-27T05:55:04.182Z,1761544504.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651903,0.758271,0.006932],[-0.757969,-0.651317,-0.035627],[-0.022500,-0.028479,0.999341]] 2025-10-27T05:55:04.229Z,1761544504.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:04.235Z,1761544504.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.525842 m, bearing: 20.418135 deg, lat: 36.779389 deg, lon: -121.859754 deg, deltaT: 0.503764 s, deltaX: 0.000046 m, approachRate: 0.000091 m/s, posRepo size: 4 2025-10-27T05:55:04.235Z,1761544504.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-27T05:55:04.333Z,1761544504.333 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.346607 2025-10-27T05:55:04.585Z,1761544504.585 [DAT](INFO): DAT read: Rx Time:05:55:03.2097 2025-10-27T05:55:04.585Z,1761544504.585 [DAT](INFO): Rx dataTimestamp_ set to:1761544504.584750 2025-10-27T05:55:04.586Z,1761544504.586 [DAT](INFO): DAT read: Bearing 184.1, 27.6 (Local) 2025-10-27T05:55:04.587Z,1761544504.587 [DAT](INFO): Local bearing/azimuth received: Bearing 184.1, 27.6 (Local) 2025-10-27T05:55:04.589Z,1761544504.589 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.3 2025-10-27T05:55:04.593Z,1761544504.593 [DAT](INFO): DAT read: 05:55:03.2097 LVL= 24656, 21665, 32754, 32755, AGC= 49, IDX= 508, 0.33, 2.697,-2.509, 1.960,-3.049, PHS=-0.435, 0.585,-1.319, RAW= 357.6, 14.1, CAL= 358.1, 17.3, ROT= 151.9, -17.3 2025-10-27T05:55:04.594Z,1761544504.594 [DAT](INFO): got valid direction response: 05:55:03.2097 LVL= 24656, 21665, 32754, 32755, AGC= 49, IDX= 508, 0.33, 2.697,-2.509, 1.960,-3.049, PHS=-0.435, 0.585,-1.319, RAW= 357.6, 14.1, CAL= 358.1, 17.3, ROT= 151.9, -17.3 2025-10-27T05:55:04.595Z,1761544504.595 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:55:04.596Z,1761544504.596 [DAT](INFO): direction in FSK: [-0.842220,0.449704,0.297375] 2025-10-27T05:55:04.596Z,1761544504.596 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:04.605Z,1761544504.605 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.618523 2025-10-27T05:55:04.610Z,1761544504.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646996,0.762431,0.009695],[-0.762199,-0.646341,-0.036004],[-0.021184,-0.030684,0.999305]] 2025-10-27T05:55:04.741Z,1761544504.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504003 s, deltaX: 0.400000 m, approachRate: 0.793645 m/s, rangeRepo size: 4 2025-10-27T05:55:04.747Z,1761544504.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.923285 m, bearing: 20.925733 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.504003 s, deltaX: 0.397443 m, approachRate: 0.788572 m/s, posRepo size: 4 2025-10-27T05:55:04.751Z,1761544504.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m. 2025-10-27T05:55:04.859Z,1761544504.859 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.852306 2025-10-27T05:55:04.990Z,1761544504.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641805,0.766757,0.013044],[-0.766610,-0.641054,-0.036879],[-0.019916,-0.033669,0.999235]] 2025-10-27T05:55:05.029Z,1761544505.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m. 2025-10-27T05:55:05.089Z,1761544505.089 [DAT](INFO): DAT read: Rx Time:05:55:03.7097 2025-10-27T05:55:05.089Z,1761544505.089 [DAT](INFO): Rx dataTimestamp_ set to:1761544505.088751 2025-10-27T05:55:05.090Z,1761544505.090 [DAT](INFO): DAT read: Bearing 183.6, 26.8 (Local) 2025-10-27T05:55:05.091Z,1761544505.091 [DAT](INFO): Local bearing/azimuth received: Bearing 183.6, 26.8 (Local) 2025-10-27T05:55:05.093Z,1761544505.093 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.3 2025-10-27T05:55:05.097Z,1761544505.097 [DAT](INFO): DAT read: 05:55:03.7097 LVL= 23696, 19633, 32754, 32755, AGC= 49, IDX= 509,-0.37,-0.324, 0.759,-1.040, 0.237, PHS=-0.459, 0.567,-1.321, RAW= 357.1, 14.7, CAL= 357.7, 18.3, ROT= 152.3, -18.3 2025-10-27T05:55:05.099Z,1761544505.099 [DAT](INFO): got valid direction response: 05:55:03.7097 LVL= 23696, 19633, 32754, 32755, AGC= 49, IDX= 509,-0.37,-0.324, 0.759,-1.040, 0.237, PHS=-0.459, 0.567,-1.321, RAW= 357.1, 14.7, CAL= 357.7, 18.3, ROT= 152.3, -18.3 2025-10-27T05:55:05.099Z,1761544505.099 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:55:05.100Z,1761544505.100 [DAT](INFO): direction in FSK: [-0.840615,0.441333,0.313992] 2025-10-27T05:55:05.100Z,1761544505.100 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:05.104Z,1761544505.104 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.117977 2025-10-27T05:55:05.344Z,1761544505.344 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.357189 2025-10-27T05:55:05.417Z,1761544505.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636094,0.771447,0.015964],[-0.771385,-0.635269,-0.037394],[-0.018706,-0.036100,0.999173]] 2025-10-27T05:55:05.508Z,1761544505.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:05.510Z,1761544505.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.923108 m, bearing: 22.039881 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.504001 s, deltaX: -0.000176 m, approachRate: -0.000350 m/s, posRepo size: 4 2025-10-27T05:55:05.515Z,1761544505.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m. 2025-10-27T05:55:05.593Z,1761544505.593 [DAT](INFO): DAT read: Rx Time:05:55:04.2099 2025-10-27T05:55:05.593Z,1761544505.593 [DAT](INFO): Rx dataTimestamp_ set to:1761544505.592824 2025-10-27T05:55:05.594Z,1761544505.594 [DAT](INFO): DAT read: Bearing 184.6, 27.0 (Local) 2025-10-27T05:55:05.595Z,1761544505.595 [DAT](INFO): Local bearing/azimuth received: Bearing 184.6, 27.0 (Local) 2025-10-27T05:55:05.597Z,1761544505.597 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.3 2025-10-27T05:55:05.602Z,1761544505.602 [DAT](INFO): DAT read: 05:55:04.2099 LVL= 22368, 18929, 32754, 32755, AGC= 49, IDX= 511,-0.15, 0.696, 1.775,-0.030, 1.244, PHS=-0.446, 0.576,-1.318, RAW= 357.4, 14.4, CAL= 357.9, 17.8, ROT= 152.1, -17.8 2025-10-27T05:55:05.603Z,1761544505.603 [DAT](INFO): got valid direction response: 05:55:04.2099 LVL= 22368, 18929, 32754, 32755, AGC= 49, IDX= 511,-0.15, 0.696, 1.775,-0.030, 1.244, PHS=-0.446, 0.576,-1.318, RAW= 357.4, 14.4, CAL= 357.9, 17.8, ROT= 152.1, -17.8 2025-10-27T05:55:05.603Z,1761544505.603 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:55:05.604Z,1761544505.604 [DAT](INFO): direction in FSK: [-0.841459,0.445530,0.305695] 2025-10-27T05:55:05.604Z,1761544505.604 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:05.609Z,1761544505.609 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.622837 2025-10-27T05:55:05.847Z,1761544505.847 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.859837 2025-10-27T05:55:05.921Z,1761544505.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630101,0.776307,0.017916],[-0.776314,-0.629249,-0.037182],[-0.017591,-0.037337,0.999148]] 2025-10-27T05:55:06.051Z,1761544506.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504073 s, deltaX: 0.300000 m, approachRate: 0.595152 m/s, rangeRepo size: 4 2025-10-27T05:55:06.053Z,1761544506.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.221016 m, bearing: 22.298456 deg, lat: 36.779389 deg, lon: -121.859753 deg, deltaT: 0.504073 s, deltaX: 0.297908 m, approachRate: 0.591001 m/s, posRepo size: 4 2025-10-27T05:55:06.054Z,1761544506.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m. 2025-10-27T05:55:06.097Z,1761544506.097 [DAT](INFO): DAT read: Rx Time:05:55:04.7099 2025-10-27T05:55:06.097Z,1761544506.097 [DAT](INFO): Rx dataTimestamp_ set to:1761544506.096874 2025-10-27T05:55:06.098Z,1761544506.098 [DAT](INFO): DAT read: Bearing 185.1, 27.1 (Local) 2025-10-27T05:55:06.099Z,1761544506.099 [DAT](INFO): Local bearing/azimuth received: Bearing 185.1, 27.1 (Local) 2025-10-27T05:55:06.101Z,1761544506.101 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.3 2025-10-27T05:55:06.106Z,1761544506.106 [DAT](INFO): DAT read: 05:55:04.7099 LVL= 22576, 19569, 32754, 32755, AGC= 50, IDX= 511,-0.01,-0.410, 0.661,-1.145, 0.132, PHS=-0.440, 0.574,-1.322, RAW= 357.7, 14.3, CAL= 358.2, 17.8, ROT= 151.8, -17.8 2025-10-27T05:55:06.107Z,1761544506.107 [DAT](INFO): got valid direction response: 05:55:04.7099 LVL= 22576, 19569, 32754, 32755, AGC= 50, IDX= 511,-0.01,-0.410, 0.661,-1.145, 0.132, PHS=-0.440, 0.574,-1.322, RAW= 357.7, 14.3, CAL= 358.2, 17.8, ROT= 151.8, -17.8 2025-10-27T05:55:06.107Z,1761544506.107 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:55:06.108Z,1761544506.108 [DAT](INFO): direction in FSK: [-0.839115,0.449930,0.305695] 2025-10-27T05:55:06.109Z,1761544506.109 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:06.112Z,1761544506.112 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.125866 2025-10-27T05:55:06.351Z,1761544506.351 [DAT](INFO): DAT read: Rx Time:05:55:05.2100 2025-10-27T05:55:06.352Z,1761544506.352 [DAT](INFO): Rx dataTimestamp_ set to:1761544506.351421 2025-10-27T05:55:06.354Z,1761544506.354 [DAT](INFO): DAT read: Bearing 182.9, 24.9 (Local) 2025-10-27T05:55:06.356Z,1761544506.356 [DAT](INFO): Local bearing/azimuth received: Bearing 182.9, 24.9 (Local) 2025-10-27T05:55:06.358Z,1761544506.358 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.370918 2025-10-27T05:55:06.433Z,1761544506.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623921,0.781249,0.019316],[-0.781312,-0.623067,-0.036589],[-0.016550,-0.037921,0.999144]] 2025-10-27T05:55:06.602Z,1761544506.602 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.3 2025-10-27T05:55:06.606Z,1761544506.606 [DAT](INFO): DAT read: 05:55:05.2100 LVL= 21328, 19409, 32754, 32755, AGC= 51, IDX= 512, 0.13,-2.991,-1.833, 2.569,-2.337, PHS=-0.552, 0.550,-1.421, RAW= 356.1, 16.4, CAL= 356.6, 20.7, ROT= 153.4, -20.7 2025-10-27T05:55:06.607Z,1761544506.607 [DAT](INFO): got valid direction response: 05:55:05.2100 LVL= 21328, 19409, 32754, 32755, AGC= 51, IDX= 512, 0.13,-2.991,-1.833, 2.569,-2.337, PHS=-0.552, 0.550,-1.421, RAW= 356.1, 16.4, CAL= 356.6, 20.7, ROT= 153.4, -20.7 2025-10-27T05:55:06.608Z,1761544506.608 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:55:06.609Z,1761544506.609 [DAT](INFO): direction in FSK: [-0.836431,0.418854,0.353475] 2025-10-27T05:55:06.609Z,1761544506.609 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:06.613Z,1761544506.613 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.626450 2025-10-27T05:55:06.614Z,1761544506.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 1.006623 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:06.621Z,1761544506.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.221016 m, bearing: 22.454819 deg, lat: 36.779388 deg, lon: -121.859753 deg, deltaT: 0.504050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:06.621Z,1761544506.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m. 2025-10-27T05:55:06.857Z,1761544506.857 [DAT](INFO): DAT read: Rx Time:05:55:05.7100 2025-10-27T05:55:06.859Z,1761544506.859 [DAT](INFO): Rx dataTimestamp_ set to:1761544506.857919 2025-10-27T05:55:06.861Z,1761544506.861 [DAT](INFO): DAT read: Bearing 178.6, 24.3 (Local) 2025-10-27T05:55:06.862Z,1761544506.862 [DAT](INFO): Local bearing/azimuth received: Bearing 178.6, 24.3 (Local) 2025-10-27T05:55:06.868Z,1761544506.868 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.881466 2025-10-27T05:55:06.946Z,1761544506.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609392,0.792588,0.021108],[-0.792735,-0.608585,-0.034559],[-0.014545,-0.037793,0.999180]] 2025-10-27T05:55:06.993Z,1761544506.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m. 2025-10-27T05:55:07.105Z,1761544507.105 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.3 2025-10-27T05:55:07.110Z,1761544507.110 [DAT](INFO): DAT read: 05:55:05.7100 LVL= 25648, 21905, 32754, 32755, AGC= 53, IDX= 512, 0.16, 2.714,-2.508, 2.006,-2.848, PHS=-0.619, 0.385,-1.473, RAW= 357.3, 20.5, CAL= 357.3, 25.1, ROT= 152.7, -25.1 2025-10-27T05:55:07.111Z,1761544507.111 [DAT](INFO): got valid direction response: 05:55:05.7100 LVL= 25648, 21905, 32754, 32755, AGC= 53, IDX= 512, 0.16, 2.714,-2.508, 2.006,-2.848, PHS=-0.619, 0.385,-1.473, RAW= 357.3, 20.5, CAL= 357.3, 25.1, ROT= 152.7, -25.1 2025-10-27T05:55:07.112Z,1761544507.112 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:55:07.113Z,1761544507.113 [DAT](INFO): direction in FSK: [-0.804704,0.415339,0.424199] 2025-10-27T05:55:07.113Z,1761544507.113 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:07.117Z,1761544507.117 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.130566 2025-10-27T05:55:07.325Z,1761544507.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601502,0.798637,0.019366],[-0.798758,-0.600830,-0.031452],[-0.013483,-0.034387,0.999318]] 2025-10-27T05:55:07.360Z,1761544507.360 [DAT](INFO): DAT read: Rx Time:05:55:06.2102 2025-10-27T05:55:07.362Z,1761544507.362 [DAT](INFO): Rx dataTimestamp_ set to:1761544507.360631 2025-10-27T05:55:07.364Z,1761544507.364 [DAT](INFO): DAT read: Bearing 186.1, 27.6 (Local) 2025-10-27T05:55:07.365Z,1761544507.365 [DAT](INFO): Local bearing/azimuth received: Bearing 186.1, 27.6 (Local) 2025-10-27T05:55:07.368Z,1761544507.368 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.380386 2025-10-27T05:55:07.423Z,1761544507.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503951 s, deltaX: 0.200000 m, approachRate: 0.396864 m/s, rangeRepo size: 4 2025-10-27T05:55:07.433Z,1761544507.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.419709 m, bearing: 24.751544 deg, lat: 36.779387 deg, lon: -121.859751 deg, deltaT: 1.006524 s, deltaX: 0.198693 m, approachRate: 0.197405 m/s, posRepo size: 4 2025-10-27T05:55:07.433Z,1761544507.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T05:55:07.610Z,1761544507.610 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3 2025-10-27T05:55:07.614Z,1761544507.614 [DAT](INFO): DAT read: 05:55:06.2102 LVL= 23536, 21281, 30562, 31395, AGC= 56, IDX= 2, 0.08, 1.229, 2.280, 0.459, 1.769, PHS=-0.438, 0.557,-1.353, RAW= 358.6, 14.8, CAL= 359.1, 18.4, ROT= 150.9, -18.4 2025-10-27T05:55:07.616Z,1761544507.616 [DAT](INFO): got valid direction response: 05:55:06.2102 LVL= 23536, 21281, 30562, 31395, AGC= 56, IDX= 2, 0.08, 1.229, 2.280, 0.459, 1.769, PHS=-0.438, 0.557,-1.353, RAW= 358.6, 14.8, CAL= 359.1, 18.4, ROT= 150.9, -18.4 2025-10-27T05:55:07.616Z,1761544507.616 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:55:07.617Z,1761544507.617 [DAT](INFO): direction in FSK: [-0.829101,0.461472,0.315649] 2025-10-27T05:55:07.617Z,1761544507.617 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:07.621Z,1761544507.621 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.634949 2025-10-27T05:55:07.737Z,1761544507.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593926,0.804348,0.016583],[-0.804425,-0.593415,-0.027530],[-0.012303,-0.029691,0.999483]] 2025-10-27T05:55:07.778Z,1761544507.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504391 s, deltaX: 0.100000 m, approachRate: 0.198260 m/s, rangeRepo size: 4 2025-10-27T05:55:07.806Z,1761544507.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.519068 m, bearing: 23.866763 deg, lat: 36.779385 deg, lon: -121.859749 deg, deltaT: 0.504391 s, deltaX: 0.099359 m, approachRate: 0.196987 m/s, posRepo size: 4 2025-10-27T05:55:07.811Z,1761544507.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T05:55:07.863Z,1761544507.863 [DAT](INFO): DAT read: Rx Time:05:55:06.7102 2025-10-27T05:55:07.865Z,1761544507.865 [DAT](INFO): Rx dataTimestamp_ set to:1761544507.863943 2025-10-27T05:55:07.869Z,1761544507.869 [DAT](INFO): DAT read: Bearing 185.6, 26.8 (Local) 2025-10-27T05:55:07.870Z,1761544507.870 [DAT](INFO): Local bearing/azimuth received: Bearing 185.6, 26.8 (Local) 2025-10-27T05:55:07.888Z,1761544507.888 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3 2025-10-27T05:55:07.890Z,1761544507.890 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-27T05:55:07.898Z,1761544507.898 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.911308 2025-10-27T05:55:08.134Z,1761544508.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586438,0.809867,0.014367],[-0.809916,-0.586042,-0.024304],[-0.011264,-0.025889,0.999601]] 2025-10-27T05:55:08.140Z,1761544508.140 [DAT](INFO): DAT read: 05:55:06.7102 LVL= 21392, 18465, 32754, 32755, AGC= 52, IDX= 498, 0.03, 1.510, 2.559, 0.780, 2.076, PHS=-0.465, 0.527,-1.340, RAW= 357.9, 15.6, CAL= 358.5, 19.7, ROT= 151.5, -19.7 2025-10-27T05:55:08.141Z,1761544508.141 [DAT](INFO): got valid direction response: 05:55:06.7102 LVL= 21392, 18465, 32754, 32755, AGC= 52, IDX= 498, 0.03, 1.510, 2.559, 0.780, 2.076, PHS=-0.465, 0.527,-1.340, RAW= 357.9, 15.6, CAL= 358.5, 19.7, ROT= 151.5, -19.7 2025-10-27T05:55:08.141Z,1761544508.141 [DAT](INFO): #Rx 83: Read direction message, but no range. 2025-10-27T05:55:08.142Z,1761544508.142 [DAT](INFO): direction in FSK: [-0.827380,0.449231,0.337095] 2025-10-27T05:55:08.158Z,1761544508.158 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.171379 2025-10-27T05:55:08.197Z,1761544508.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.256154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:08.208Z,1761544508.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.518975 m, bearing: 25.026600 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 0.256154 s, deltaX: -0.000093 m, approachRate: -0.000361 m/s, posRepo size: 4 2025-10-27T05:55:08.208Z,1761544508.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T05:55:08.368Z,1761544508.368 [DAT](INFO): DAT read: Rx Time:05:55:07.2103 2025-10-27T05:55:08.369Z,1761544508.369 [DAT](INFO): Rx dataTimestamp_ set to:1761544508.368303 2025-10-27T05:55:08.373Z,1761544508.373 [DAT](INFO): DAT read: Bearing 185.4, 26.2 (Local) 2025-10-27T05:55:08.374Z,1761544508.374 [DAT](INFO): Local bearing/azimuth received: Bearing 185.4, 26.2 (Local) 2025-10-27T05:55:08.379Z,1761544508.379 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 2025-10-27T05:55:08.382Z,1761544508.382 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-27T05:55:08.395Z,1761544508.395 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.399944 2025-10-27T05:55:08.555Z,1761544508.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578331,0.815660,0.015245],[-0.815740,-0.577955,-0.023158],[-0.010078,-0.025829,0.999616]] 2025-10-27T05:55:08.608Z,1761544508.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504360 s, deltaX: 0.200000 m, approachRate: 0.396542 m/s, rangeRepo size: 4 2025-10-27T05:55:08.608Z,1761544508.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T05:55:08.620Z,1761544508.620 [DAT](INFO): DAT read: 05:55:07.2103 LVL= 26064, 22913, 32754, 32755, AGC= 52, IDX= 500, 0.02,-3.006,-1.968, 2.571,-2.419, PHS=-0.485, 0.495,-1.337, RAW= 357.7, 16.5, CAL= 358.2, 20.7, ROT= 151.8, -20.7 2025-10-27T05:55:08.621Z,1761544508.621 [DAT](INFO): got valid direction response: 05:55:07.2103 LVL= 26064, 22913, 32754, 32755, AGC= 52, IDX= 500, 0.02,-3.006,-1.968, 2.571,-2.419, PHS=-0.485, 0.495,-1.337, RAW= 357.7, 16.5, CAL= 358.2, 20.7, ROT= 151.8, -20.7 2025-10-27T05:55:08.621Z,1761544508.621 [DAT](INFO): #Rx 85: Read direction message, but no range. 2025-10-27T05:55:08.622Z,1761544508.622 [DAT](INFO): direction in FSK: [-0.824410,0.442045,0.353475] 2025-10-27T05:55:08.626Z,1761544508.626 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.639534 2025-10-27T05:55:08.873Z,1761544508.873 [DAT](INFO): DAT read: Rx Time:05:55:07.7103 2025-10-27T05:55:08.874Z,1761544508.874 [DAT](INFO): Rx dataTimestamp_ set to:1761544508.873190 2025-10-27T05:55:08.898Z,1761544508.898 [DAT](INFO): DAT read: Bearing 187.7, 28.2 (Local) 2025-10-27T05:55:08.898Z,1761544508.898 [DAT](INFO): Local bearing/azimuth received: Bearing 187.7, 28.2 (Local) 2025-10-27T05:55:08.900Z,1761544508.900 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 2025-10-27T05:55:08.901Z,1761544508.901 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-27T05:55:08.902Z,1761544508.902 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.915367 2025-10-27T05:55:08.993Z,1761544508.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504887 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:09.004Z,1761544509.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.717530 m, bearing: 25.879633 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 1.009247 s, deltaX: 0.198555 m, approachRate: 0.196736 m/s, posRepo size: 4 2025-10-27T05:55:09.004Z,1761544509.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-27T05:55:09.124Z,1761544509.124 [DAT](INFO): DAT read: 05:55:07.7103 LVL= 21936, 19345, 32754, 32755, AGC= 51, IDX= 500, 0.08, 1.674, 2.690, 0.890, 2.200, PHS=-0.425, 0.535,-1.354, RAW= 359.5, 15.0, CAL= 360.0, 18.8, ROT= 150.0, -18.8 2025-10-27T05:55:09.125Z,1761544509.125 [DAT](INFO): got valid direction response: 05:55:07.7103 LVL= 21936, 19345, 32754, 32755, AGC= 51, IDX= 500, 0.08, 1.674, 2.690, 0.890, 2.200, PHS=-0.425, 0.535,-1.354, RAW= 359.5, 15.0, CAL= 360.0, 18.8, ROT= 150.0, -18.8 2025-10-27T05:55:09.125Z,1761544509.125 [DAT](INFO): #Rx 87: Read direction message, but no range. 2025-10-27T05:55:09.126Z,1761544509.126 [DAT](INFO): direction in FSK: [-0.819822,0.473325,0.322266] 2025-10-27T05:55:09.130Z,1761544509.130 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.143539 2025-10-27T05:55:09.364Z,1761544509.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561103,0.827404,0.023781],[-0.827709,-0.560575,-0.025556],[-0.007814,-0.034023,0.999390]] 2025-10-27T05:55:09.376Z,1761544509.376 [DAT](INFO): DAT read: Rx Time:05:55:08.2105 2025-10-27T05:55:09.377Z,1761544509.377 [DAT](INFO): Rx dataTimestamp_ set to:1761544509.376397 2025-10-27T05:55:09.381Z,1761544509.381 [DAT](INFO): DAT read: Bearing 185.5, 27.4 (Local) 2025-10-27T05:55:09.382Z,1761544509.382 [DAT](INFO): Local bearing/azimuth received: Bearing 185.5, 27.4 (Local) 2025-10-27T05:55:09.393Z,1761544509.393 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-27T05:55:09.419Z,1761544509.419 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-27T05:55:09.420Z,1761544509.420 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.433693 2025-10-27T05:55:09.591Z,1761544509.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503207 s, deltaX: 0.300000 m, approachRate: 0.596177 m/s, rangeRepo size: 4 2025-10-27T05:55:09.593Z,1761544509.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.015597 m, bearing: 25.235396 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 0.503207 s, deltaX: 0.298067 m, approachRate: 0.592335 m/s, posRepo size: 4 2025-10-27T05:55:09.593Z,1761544509.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-27T05:55:09.629Z,1761544509.629 [DAT](INFO): DAT read: 05:55:08.2105 LVL= 26832, 19953, 32754, 32755, AGC= 51, IDX= 502, 0.03, 2.661,-2.632, 1.895,-3.051, PHS=-0.469, 0.464,-1.381, RAW= 359.6, 17.1, CAL= 0.0, 21.3, ROT= 150.0, -21.3 2025-10-27T05:55:09.631Z,1761544509.631 [DAT](INFO): got valid direction response: 05:55:08.2105 LVL= 26832, 19953, 32754, 32755, AGC= 51, IDX= 502, 0.03, 2.661,-2.632, 1.895,-3.051, PHS=-0.469, 0.464,-1.381, RAW= 359.6, 17.1, CAL= 0.0, 21.3, ROT= 150.0, -21.3 2025-10-27T05:55:09.631Z,1761544509.631 [DAT](INFO): #Rx 89: Read direction message, but no range. 2025-10-27T05:55:09.633Z,1761544509.633 [DAT](INFO): direction in FSK: [-0.806868,0.465846,0.363251] 2025-10-27T05:55:09.637Z,1761544509.637 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.651165 2025-10-27T05:55:09.832Z,1761544509.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552631,0.832921,0.028997],[-0.833401,-0.552010,-0.026987],[-0.006471,-0.039080,0.999215]] 2025-10-27T05:55:09.895Z,1761544509.895 [DAT](INFO): DAT read: Rx Time:05:55:08.7105 2025-10-27T05:55:09.897Z,1761544509.897 [DAT](INFO): Rx dataTimestamp_ set to:1761544509.895953 2025-10-27T05:55:09.898Z,1761544509.898 [DAT](INFO): DAT read: Bearing 185.6, 28.6 (Local) 2025-10-27T05:55:09.899Z,1761544509.899 [DAT](INFO): Local bearing/azimuth received: Bearing 185.6, 28.6 (Local) 2025-10-27T05:55:09.901Z,1761544509.901 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-27T05:55:09.906Z,1761544509.906 [DAT](INFO): DAT read: 05:55:08.7105 LVL= 27616, 20353, 32754, 32755, AGC= 51, IDX= 502,-0.01,-0.352, 0.593,-1.170, 0.190, PHS=-0.440, 0.449,-1.404, RAW= 1.4, 17.1, CAL= 1.7, 21.3, ROT= 148.3, -21.3 2025-10-27T05:55:09.921Z,1761544509.921 [DAT](INFO): got valid direction response: 05:55:08.7105 LVL= 27616, 20353, 32754, 32755, AGC= 51, IDX= 502,-0.01,-0.352, 0.593,-1.170, 0.190, PHS=-0.440, 0.449,-1.404, RAW= 1.4, 17.1, CAL= 1.7, 21.3, ROT= 148.3, -21.3 2025-10-27T05:55:09.921Z,1761544509.921 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:55:09.922Z,1761544509.922 [DAT](INFO): direction in FSK: [-0.792693,0.489577,0.363251] 2025-10-27T05:55:09.923Z,1761544509.923 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:09.938Z,1761544509.938 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.952065 2025-10-27T05:55:09.962Z,1761544509.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.519556 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:09.976Z,1761544509.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.015607 m, bearing: 23.960448 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 0.519556 s, deltaX: 0.000010 m, approachRate: 0.000018 m/s, posRepo size: 4 2025-10-27T05:55:09.976Z,1761544509.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-27T05:55:10.128Z,1761544510.128 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.141792 2025-10-27T05:55:10.218Z,1761544510.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543786,0.838554,0.033537],[-0.839209,-0.543104,-0.027687],[-0.005003,-0.043201,0.999054]] 2025-10-27T05:55:10.264Z,1761544510.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-27T05:55:10.384Z,1761544510.384 [DAT](INFO): DAT read: Rx Time:05:55:09.2106 2025-10-27T05:55:10.385Z,1761544510.385 [DAT](INFO): Rx dataTimestamp_ set to:1761544510.384422 2025-10-27T05:55:10.389Z,1761544510.389 [DAT](INFO): DAT read: Bearing 185.9, 29.3 (Local) 2025-10-27T05:55:10.390Z,1761544510.390 [DAT](INFO): Local bearing/azimuth received: Bearing 185.9, 29.3 (Local) 2025-10-27T05:55:10.398Z,1761544510.398 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.2 2025-10-27T05:55:10.403Z,1761544510.403 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-27T05:55:10.404Z,1761544510.404 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.417614 2025-10-27T05:55:10.624Z,1761544510.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535646,0.843655,0.036466],[-0.844436,-0.534969,-0.027142],[-0.003391,-0.045332,0.998966]] 2025-10-27T05:55:10.636Z,1761544510.636 [DAT](INFO): DAT read: 05:55:09.2106 LVL= 26864, 21041, 32754, 32755, AGC= 52, IDX= 503,-0.11,-1.710,-0.798,-2.559,-1.190, PHS=-0.418, 0.437,-1.412, RAW= 2.5, 17.1, CAL= 2.7, 21.3, ROT= 147.3, -21.3 2025-10-27T05:55:10.637Z,1761544510.637 [DAT](INFO): got valid direction response: 05:55:09.2106 LVL= 26864, 21041, 32754, 32755, AGC= 52, IDX= 503,-0.11,-1.710,-0.798,-2.559,-1.190, PHS=-0.418, 0.437,-1.412, RAW= 2.5, 17.1, CAL= 2.7, 21.3, ROT= 147.3, -21.3 2025-10-27T05:55:10.637Z,1761544510.637 [DAT](INFO): #Rx 92: Read direction message, but no range. 2025-10-27T05:55:10.638Z,1761544510.638 [DAT](INFO): direction in FSK: [-0.784028,0.503337,0.363251] 2025-10-27T05:55:10.642Z,1761544510.642 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.655895 2025-10-27T05:55:10.763Z,1761544510.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.488469 s, deltaX: 0.099999 m, approachRate: 0.204720 m/s, rangeRepo size: 4 2025-10-27T05:55:10.765Z,1761544510.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.114963 m, bearing: 24.055287 deg, lat: 36.779383 deg, lon: -121.859745 deg, deltaT: 0.488469 s, deltaX: 0.099356 m, approachRate: 0.203402 m/s, posRepo size: 4 2025-10-27T05:55:10.766Z,1761544510.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.11 m. 2025-10-27T05:55:10.889Z,1761544510.889 [DAT](INFO): DAT read: Rx Time:05:55:09.7106 2025-10-27T05:55:10.891Z,1761544510.891 [DAT](INFO): Rx dataTimestamp_ set to:1761544510.889935 2025-10-27T05:55:10.898Z,1761544510.898 [DAT](INFO): DAT read: Bearing 186.0, 29.7 (Local) 2025-10-27T05:55:10.898Z,1761544510.898 [DAT](INFO): Local bearing/azimuth received: Bearing 186.0, 29.7 (Local) 2025-10-27T05:55:10.900Z,1761544510.900 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.2 2025-10-27T05:55:10.901Z,1761544510.901 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T05:55:10.902Z,1761544510.902 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.915268 2025-10-27T05:55:11.027Z,1761544511.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527565,0.848662,0.038063],[-0.849513,-0.526954,-0.025426],[-0.001521,-0.045749,0.998952]] 2025-10-27T05:55:11.047Z,1761544511.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.505513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:11.048Z,1761544511.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.11 m. 2025-10-27T05:55:11.140Z,1761544511.140 [DAT](INFO): DAT read: 05:55:09.7106 LVL= 26608, 18929, 32754, 32755, AGC= 51, IDX= 503,-0.22, 2.819,-2.576, 1.951,-2.952, PHS=-0.410, 0.422,-1.424, RAW= 3.3, 17.3, CAL= 3.4, 21.5, ROT= 146.6, -21.5 2025-10-27T05:55:11.141Z,1761544511.141 [DAT](INFO): got valid direction response: 05:55:09.7106 LVL= 26608, 18929, 32754, 32755, AGC= 51, IDX= 503,-0.22, 2.819,-2.576, 1.951,-2.952, PHS=-0.410, 0.422,-1.424, RAW= 3.3, 17.3, CAL= 3.4, 21.5, ROT= 146.6, -21.5 2025-10-27T05:55:11.142Z,1761544511.142 [DAT](INFO): #Rx 94: Read direction message, but no range. 2025-10-27T05:55:11.143Z,1761544511.143 [DAT](INFO): direction in FSK: [-0.776757,0.512177,0.366501] 2025-10-27T05:55:11.146Z,1761544511.146 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.159904 2025-10-27T05:55:11.393Z,1761544511.393 [DAT](INFO): DAT read: Rx Time:05:55:10.2108 2025-10-27T05:55:11.395Z,1761544511.395 [DAT](INFO): Rx dataTimestamp_ set to:1761544511.393895 2025-10-27T05:55:11.398Z,1761544511.398 [DAT](INFO): DAT read: Bearing 186.9, 31.2 (Local) 2025-10-27T05:55:11.398Z,1761544511.398 [DAT](INFO): Local bearing/azimuth received: Bearing 186.9, 31.2 (Local) 2025-10-27T05:55:11.400Z,1761544511.400 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.2 2025-10-27T05:55:11.401Z,1761544511.401 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-27T05:55:11.401Z,1761544511.401 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.415184 2025-10-27T05:55:11.506Z,1761544511.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503960 s, deltaX: 0.300000 m, approachRate: 0.595286 m/s, rangeRepo size: 4 2025-10-27T05:55:11.521Z,1761544511.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.413153 m, bearing: 23.914554 deg, lat: 36.779383 deg, lon: -121.859744 deg, deltaT: 1.009473 s, deltaX: 0.298190 m, approachRate: 0.295392 m/s, posRepo size: 4 2025-10-27T05:55:11.522Z,1761544511.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m. 2025-10-27T05:55:11.644Z,1761544511.644 [DAT](INFO): DAT read: 05:55:10.2108 LVL= 26960, 18561, 32754, 32755, AGC= 50, IDX= 505,-0.45,-1.491,-0.637,-2.417,-1.019, PHS=-0.370, 0.427,-1.442, RAW= 4.9, 16.8, CAL= 5.0, 20.9, ROT= 145.0, -20.9 2025-10-27T05:55:11.645Z,1761544511.645 [DAT](INFO): got valid direction response: 05:55:10.2108 LVL= 26960, 18561, 32754, 32755, AGC= 50, IDX= 505,-0.45,-1.491,-0.637,-2.417,-1.019, PHS=-0.370, 0.427,-1.442, RAW= 4.9, 16.8, CAL= 5.0, 20.9, ROT= 145.0, -20.9 2025-10-27T05:55:11.645Z,1761544511.645 [DAT](INFO): #Rx 96: Read direction message, but no range. 2025-10-27T05:55:11.646Z,1761544511.646 [DAT](INFO): direction in FSK: [-0.765255,0.535838,0.356738] 2025-10-27T05:55:11.660Z,1761544511.660 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.674023 2025-10-27T05:55:11.834Z,1761544511.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513285,0.857384,0.037834],[-0.858214,-0.512922,-0.019482],[0.002703,-0.042470,0.999094]] 2025-10-27T05:55:11.896Z,1761544511.896 [DAT](INFO): DAT read: Rx Time:05:55:10.7107 2025-10-27T05:55:11.898Z,1761544511.898 [DAT](INFO): Rx dataTimestamp_ set to:1761544511.896920 2025-10-27T05:55:11.900Z,1761544511.900 [DAT](INFO): DAT read: Bearing 188.5, 32.5 (Local) 2025-10-27T05:55:11.900Z,1761544511.900 [DAT](INFO): Local bearing/azimuth received: Bearing 188.5, 32.5 (Local) 2025-10-27T05:55:11.902Z,1761544511.902 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 2025-10-27T05:55:11.942Z,1761544511.942 [DAT](INFO): DAT read: 05:55:10.7107 LVL= 24672, 16449, 32754, 32755, AGC= 48, IDX= 504, 0.33,-1.807,-0.984,-2.777,-1.383, PHS=-0.322, 0.444,-1.439, RAW= 6.1, 15.8, CAL= 6.2, 19.8, ROT= 143.8, -19.8 2025-10-27T05:55:11.951Z,1761544511.951 [DAT](INFO): got valid direction response: 05:55:10.7107 LVL= 24672, 16449, 32754, 32755, AGC= 48, IDX= 504, 0.33,-1.807,-0.984,-2.777,-1.383, PHS=-0.322, 0.444,-1.439, RAW= 6.1, 15.8, CAL= 6.2, 19.8, ROT= 143.8, -19.8 2025-10-27T05:55:11.952Z,1761544511.952 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:55:11.953Z,1761544511.953 [DAT](INFO): direction in FSK: [-0.759253,0.555689,0.338738] 2025-10-27T05:55:11.953Z,1761544511.953 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:11.977Z,1761544511.977 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.991192 2025-10-27T05:55:12.010Z,1761544512.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503025 s, deltaX: -0.100000 m, approachRate: -0.198798 m/s, rangeRepo size: 4 2025-10-27T05:55:12.016Z,1761544512.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.313735 m, bearing: 22.271329 deg, lat: 36.779383 deg, lon: -121.859745 deg, deltaT: 0.503025 s, deltaX: -0.099418 m, approachRate: -0.197640 m/s, posRepo size: 4 2025-10-27T05:55:12.017Z,1761544512.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m. 2025-10-27T05:55:12.144Z,1761544512.144 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.157787 2025-10-27T05:55:12.257Z,1761544512.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506971,0.861112,0.038292],[-0.861949,-0.506718,-0.016782],[0.004952,-0.041513,0.999126]] 2025-10-27T05:55:12.275Z,1761544512.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m. 2025-10-27T05:55:12.399Z,1761544512.399 [DAT](INFO): DAT read: Rx Time:05:55:11.2109 2025-10-27T05:55:12.400Z,1761544512.400 [DAT](INFO): Rx dataTimestamp_ set to:1761544512.399409 2025-10-27T05:55:12.402Z,1761544512.402 [DAT](INFO): DAT read: Bearing 188.6, 33.3 (Local) 2025-10-27T05:55:12.402Z,1761544512.402 [DAT](INFO): Local bearing/azimuth received: Bearing 188.6, 33.3 (Local) 2025-10-27T05:55:12.404Z,1761544512.404 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.2 2025-10-27T05:55:12.415Z,1761544512.415 [DAT](INFO): DAT read: 05:55:11.2109 LVL= 22512, 16145, 29474, 32755, AGC= 48, IDX= 506, 0.16,-0.066, 0.726,-1.070, 0.344, PHS=-0.308, 0.427,-1.458, RAW= 7.2, 16.0, CAL= 7.3, 20.0, ROT= 142.7, -20.0 2025-10-27T05:55:12.416Z,1761544512.416 [DAT](INFO): got valid direction response: 05:55:11.2109 LVL= 22512, 16145, 29474, 32755, AGC= 48, IDX= 506, 0.16,-0.066, 0.726,-1.070, 0.344, PHS=-0.308, 0.427,-1.458, RAW= 7.2, 16.0, CAL= 7.3, 20.0, ROT= 142.7, -20.0 2025-10-27T05:55:12.417Z,1761544512.417 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:55:12.418Z,1761544512.418 [DAT](INFO): direction in FSK: [-0.747501,0.569443,0.342020] 2025-10-27T05:55:12.418Z,1761544512.418 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:12.430Z,1761544512.430 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.443459 2025-10-27T05:55:12.648Z,1761544512.648 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.661594 2025-10-27T05:55:12.660Z,1761544512.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500941,0.864598,0.039080],[-0.865452,-0.500787,-0.014350],[0.007163,-0.041010,0.999133]] 2025-10-27T05:55:12.730Z,1761544512.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.502489 s, deltaX: 0.300000 m, approachRate: 0.597028 m/s, rangeRepo size: 4 2025-10-27T05:55:12.733Z,1761544512.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.611804 m, bearing: 22.069377 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 0.502489 s, deltaX: 0.298069 m, approachRate: 0.593185 m/s, posRepo size: 4 2025-10-27T05:55:12.734Z,1761544512.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m. 2025-10-27T05:55:12.901Z,1761544512.901 [DAT](INFO): DAT read: Rx Time:05:55:11.7109 2025-10-27T05:55:12.901Z,1761544512.901 [DAT](INFO): Rx dataTimestamp_ set to:1761544512.900793 2025-10-27T05:55:12.902Z,1761544512.902 [DAT](INFO): DAT read: Bearing 189.1, 33.4 (Local) 2025-10-27T05:55:12.903Z,1761544512.903 [DAT](INFO): Local bearing/azimuth received: Bearing 189.1, 33.4 (Local) 2025-10-27T05:55:12.906Z,1761544512.906 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.2 2025-10-27T05:55:12.914Z,1761544512.914 [DAT](INFO): DAT read: 05:55:11.7109 LVL= 24400, 16353, 31602, 32755, AGC= 47, IDX= 506, 0.06,-0.925,-0.144,-1.936,-0.520, PHS=-0.303, 0.421,-1.460, RAW= 7.6, 16.1, CAL= 7.6, 20.1, ROT= 142.4, -20.1 2025-10-27T05:55:12.916Z,1761544512.916 [DAT](INFO): got valid direction response: 05:55:11.7109 LVL= 24400, 16353, 31602, 32755, AGC= 47, IDX= 506, 0.06,-0.925,-0.144,-1.936,-0.520, PHS=-0.303, 0.421,-1.460, RAW= 7.6, 16.1, CAL= 7.6, 20.1, ROT= 142.4, -20.1 2025-10-27T05:55:12.916Z,1761544512.916 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:55:12.917Z,1761544512.917 [DAT](INFO): direction in FSK: [-0.744035,0.572984,0.343660] 2025-10-27T05:55:12.917Z,1761544512.917 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:12.921Z,1761544512.921 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.934940 2025-10-27T05:55:13.062Z,1761544513.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495377,0.867752,0.040108],[-0.868626,-0.495325,-0.011908],[0.009534,-0.040738,0.999124]] 2025-10-27T05:55:13.110Z,1761544513.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.501384 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:13.124Z,1761544513.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.611756 m, bearing: 22.168543 deg, lat: 36.779383 deg, lon: -121.859748 deg, deltaT: 0.501384 s, deltaX: -0.000048 m, approachRate: -0.000095 m/s, posRepo size: 4 2025-10-27T05:55:13.124Z,1761544513.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m. 2025-10-27T05:55:13.152Z,1761544513.152 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.165848 2025-10-27T05:55:13.405Z,1761544513.405 [DAT](INFO): DAT read: Rx Time:05:55:12.2111 2025-10-27T05:55:13.406Z,1761544513.406 [DAT](INFO): Rx dataTimestamp_ set to:1761544513.405258 2025-10-27T05:55:13.407Z,1761544513.407 [DAT](INFO): DAT read: Bearing 189.2, 33.5 (Local) 2025-10-27T05:55:13.407Z,1761544513.407 [DAT](INFO): Local bearing/azimuth received: Bearing 189.2, 33.5 (Local) 2025-10-27T05:55:13.409Z,1761544513.409 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.2 2025-10-27T05:55:13.414Z,1761544513.414 [DAT](INFO): DAT read: 05:55:12.2111 LVL= 24560, 15713, 31970, 32755, AGC= 47, IDX= 508, 0.01,-0.495, 0.271,-1.515,-0.090, PHS=-0.303, 0.406,-1.469, RAW= 8.0, 16.4, CAL= 8.0, 20.4, ROT= 142.0, -20.4 2025-10-27T05:55:13.420Z,1761544513.420 [DAT](INFO): got valid direction response: 05:55:12.2111 LVL= 24560, 15713, 31970, 32755, AGC= 47, IDX= 508, 0.01,-0.495, 0.271,-1.515,-0.090, PHS=-0.303, 0.406,-1.469, RAW= 8.0, 16.4, CAL= 8.0, 20.4, ROT= 142.0, -20.4 2025-10-27T05:55:13.420Z,1761544513.420 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:55:13.421Z,1761544513.421 [DAT](INFO): direction in FSK: [-0.738588,0.577048,0.348572] 2025-10-27T05:55:13.421Z,1761544513.421 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:13.425Z,1761544513.425 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.438545 2025-10-27T05:55:13.610Z,1761544513.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490395,0.870526,0.041192],[-0.871417,-0.490452,-0.009391],[0.012028,-0.040501,0.999107]] 2025-10-27T05:55:13.657Z,1761544513.657 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.670609 2025-10-27T05:55:13.666Z,1761544513.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504465 s, deltaX: 0.300000 m, approachRate: 0.594690 m/s, rangeRepo size: 4 2025-10-27T05:55:13.668Z,1761544513.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.909823 m, bearing: 22.125108 deg, lat: 36.779383 deg, lon: -121.859748 deg, deltaT: 0.504465 s, deltaX: 0.298067 m, approachRate: 0.590858 m/s, posRepo size: 4 2025-10-27T05:55:13.669Z,1761544513.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T05:55:13.908Z,1761544513.908 [DAT](INFO): DAT read: Rx Time:05:55:12.7111 2025-10-27T05:55:13.909Z,1761544513.909 [DAT](INFO): Rx dataTimestamp_ set to:1761544513.908647 2025-10-27T05:55:13.910Z,1761544513.910 [DAT](INFO): DAT read: Bearing 189.2, 33.9 (Local) 2025-10-27T05:55:13.911Z,1761544513.911 [DAT](INFO): Local bearing/azimuth received: Bearing 189.2, 33.9 (Local) 2025-10-27T05:55:13.921Z,1761544513.921 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.3 2025-10-27T05:55:13.925Z,1761544513.925 [DAT](INFO): DAT read: 05:55:12.7111 LVL= 24032, 16481, 32754, 32755, AGC= 47, IDX= 508,-0.04,-2.138,-1.397, 3.114,-1.740, PHS=-0.296, 0.388,-1.473, RAW= 8.7, 16.7, CAL= 8.6, 20.6, ROT= 141.4, -20.6 2025-10-27T05:55:13.927Z,1761544513.927 [DAT](INFO): got valid direction response: 05:55:12.7111 LVL= 24032, 16481, 32754, 32755, AGC= 47, IDX= 508,-0.04,-2.138,-1.397, 3.114,-1.740, PHS=-0.296, 0.388,-1.473, RAW= 8.7, 16.7, CAL= 8.6, 20.6, ROT= 141.4, -20.6 2025-10-27T05:55:13.927Z,1761544513.927 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T05:55:13.928Z,1761544513.928 [DAT](INFO): direction in FSK: [-0.731550,0.583988,0.351842] 2025-10-27T05:55:13.928Z,1761544513.928 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:13.933Z,1761544513.933 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.946442 2025-10-27T05:55:13.954Z,1761544513.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485810,0.873027,0.042569],[-0.873946,-0.485969,-0.007221],[0.014383,-0.040711,0.999067]] 2025-10-27T05:55:14.001Z,1761544514.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503389 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:14.008Z,1761544514.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.909799 m, bearing: 21.852491 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 0.503389 s, deltaX: -0.000025 m, approachRate: -0.000049 m/s, posRepo size: 4 2025-10-27T05:55:14.009Z,1761544514.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T05:55:14.160Z,1761544514.160 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.173740 2025-10-27T05:55:14.413Z,1761544514.413 [DAT](INFO): DAT read: Rx Time:05:55:13.2112 2025-10-27T05:55:14.413Z,1761544514.413 [DAT](INFO): Rx dataTimestamp_ set to:1761544514.412781 2025-10-27T05:55:14.414Z,1761544514.414 [DAT](INFO): DAT read: Bearing 188.9, 34.0 (Local) 2025-10-27T05:55:14.415Z,1761544514.415 [DAT](INFO): Local bearing/azimuth received: Bearing 188.9, 34.0 (Local) 2025-10-27T05:55:14.417Z,1761544514.417 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.3 2025-10-27T05:55:14.422Z,1761544514.422 [DAT](INFO): DAT read: 05:55:13.2112 LVL= 25632, 18721, 32754, 32755, AGC= 49, IDX= 509,-0.06,-2.218,-1.496, 3.024,-1.817, PHS=-0.299, 0.366,-1.487, RAW= 9.3, 17.2, CAL= 9.1, 21.2, ROT= 140.9, -21.2 2025-10-27T05:55:14.423Z,1761544514.423 [DAT](INFO): got valid direction response: 05:55:13.2112 LVL= 25632, 18721, 32754, 32755, AGC= 49, IDX= 509,-0.06,-2.218,-1.496, 3.024,-1.817, PHS=-0.299, 0.366,-1.487, RAW= 9.3, 17.2, CAL= 9.1, 21.2, ROT= 140.9, -21.2 2025-10-27T05:55:14.424Z,1761544514.424 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T05:55:14.425Z,1761544514.425 [DAT](INFO): direction in FSK: [-0.723527,0.587994,0.361625] 2025-10-27T05:55:14.425Z,1761544514.425 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:14.429Z,1761544514.429 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.442257 2025-10-27T05:55:14.431Z,1761544514.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481608,0.875253,0.044561],[-0.876225,-0.481872,-0.005309],[0.016826,-0.041602,0.998993]] 2025-10-27T05:55:14.526Z,1761544514.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504134 s, deltaX: 0.100000 m, approachRate: 0.198361 m/s, rangeRepo size: 4 2025-10-27T05:55:14.544Z,1761544514.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.009154 m, bearing: 21.634292 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 0.504134 s, deltaX: 0.099356 m, approachRate: 0.197082 m/s, posRepo size: 4 2025-10-27T05:55:14.545Z,1761544514.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T05:55:14.665Z,1761544514.665 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.678345 2025-10-27T05:55:14.850Z,1761544514.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477609,0.877327,0.046765],[-0.878364,-0.477977,-0.003693],[0.019113,-0.042840,0.998899]] 2025-10-27T05:55:14.917Z,1761544514.917 [DAT](INFO): DAT read: Rx Time:05:55:13.7112 2025-10-27T05:55:14.917Z,1761544514.917 [DAT](INFO): Rx dataTimestamp_ set to:1761544514.916835 2025-10-27T05:55:14.918Z,1761544514.918 [DAT](INFO): DAT read: Bearing 189.1, 34.3 (Local) 2025-10-27T05:55:14.919Z,1761544514.919 [DAT](INFO): Local bearing/azimuth received: Bearing 189.1, 34.3 (Local) 2025-10-27T05:55:14.921Z,1761544514.921 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.3 2025-10-27T05:55:14.929Z,1761544514.929 [DAT](INFO): DAT read: 05:55:13.7112 LVL= 25728, 18065, 32754, 32755, AGC= 49, IDX= 509,-0.05, 2.983,-2.591, 1.924,-2.905, PHS=-0.293, 0.359,-1.498, RAW= 9.7, 17.2, CAL= 9.5, 21.2, ROT= 140.5, -21.2 2025-10-27T05:55:14.931Z,1761544514.931 [DAT](INFO): got valid direction response: 05:55:13.7112 LVL= 25728, 18065, 32754, 32755, AGC= 49, IDX= 509,-0.05, 2.983,-2.591, 1.924,-2.905, PHS=-0.293, 0.359,-1.498, RAW= 9.7, 17.2, CAL= 9.5, 21.2, ROT= 140.5, -21.2 2025-10-27T05:55:14.931Z,1761544514.931 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:55:14.932Z,1761544514.932 [DAT](INFO): direction in FSK: [-0.719404,0.593031,0.361625] 2025-10-27T05:55:14.932Z,1761544514.932 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:14.941Z,1761544514.941 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.954216 2025-10-27T05:55:14.990Z,1761544514.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:14.997Z,1761544514.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.009111 m, bearing: 21.508820 deg, lat: 36.779384 deg, lon: -121.859750 deg, deltaT: 0.504054 s, deltaX: -0.000043 m, approachRate: -0.000085 m/s, posRepo size: 4 2025-10-27T05:55:14.997Z,1761544514.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T05:55:15.168Z,1761544515.168 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.181587 2025-10-27T05:55:15.244Z,1761544515.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473876,0.879251,0.048579],[-0.880334,-0.474350,-0.001989],[0.021294,-0.043708,0.998817]] 2025-10-27T05:55:15.284Z,1761544515.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T05:55:15.421Z,1761544515.421 [DAT](INFO): DAT read: Rx Time:05:55:14.2114 2025-10-27T05:55:15.422Z,1761544515.422 [DAT](INFO): Rx dataTimestamp_ set to:1761544515.421627 2025-10-27T05:55:15.424Z,1761544515.424 [DAT](INFO): DAT read: Bearing 189.5, 34.6 (Local) 2025-10-27T05:55:15.424Z,1761544515.424 [DAT](INFO): Local bearing/azimuth received: Bearing 189.5, 34.6 (Local) 2025-10-27T05:55:15.426Z,1761544515.426 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.3 2025-10-27T05:55:15.430Z,1761544515.430 [DAT](INFO): DAT read: 05:55:14.2114 LVL= 25776, 17793, 32754, 32755, AGC= 49, IDX= 511,-0.03,-1.819,-1.119,-2.890,-1.432, PHS=-0.285, 0.358,-1.502, RAW= 10.1, 17.2, CAL= 9.9, 21.2, ROT= 140.1, -21.2 2025-10-27T05:55:15.438Z,1761544515.438 [DAT](INFO): got valid direction response: 05:55:14.2114 LVL= 25776, 17793, 32754, 32755, AGC= 49, IDX= 511,-0.03,-1.819,-1.119,-2.890,-1.432, PHS=-0.285, 0.358,-1.502, RAW= 10.1, 17.2, CAL= 9.9, 21.2, ROT= 140.1, -21.2 2025-10-27T05:55:15.439Z,1761544515.439 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T05:55:15.440Z,1761544515.440 [DAT](INFO): direction in FSK: [-0.715246,0.598039,0.361625] 2025-10-27T05:55:15.440Z,1761544515.440 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:15.444Z,1761544515.444 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.457584 2025-10-27T05:55:15.651Z,1761544515.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469984,0.881253,0.050087],[-0.882370,-0.470556,-0.000429],[0.023190,-0.044397,0.998745]] 2025-10-27T05:55:15.679Z,1761544515.679 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.692554 2025-10-27T05:55:15.716Z,1761544515.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504792 s, deltaX: 0.299999 m, approachRate: 0.594303 m/s, rangeRepo size: 4 2025-10-27T05:55:15.718Z,1761544515.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.307177 m, bearing: 21.634777 deg, lat: 36.779384 deg, lon: -121.859751 deg, deltaT: 0.504792 s, deltaX: 0.298065 m, approachRate: 0.590471 m/s, posRepo size: 4 2025-10-27T05:55:15.720Z,1761544515.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T05:55:15.932Z,1761544515.932 [DAT](INFO): DAT read: Rx Time:05:55:14.7114 2025-10-27T05:55:15.933Z,1761544515.933 [DAT](INFO): Rx dataTimestamp_ set to:1761544515.932626 2025-10-27T05:55:15.934Z,1761544515.934 [DAT](INFO): DAT read: Bearing 189.8, 34.7 (Local) 2025-10-27T05:55:15.934Z,1761544515.934 [DAT](INFO): Local bearing/azimuth received: Bearing 189.8, 34.7 (Local) 2025-10-27T05:55:15.937Z,1761544515.937 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.3 2025-10-27T05:55:15.946Z,1761544515.946 [DAT](INFO): DAT read: 05:55:14.7114 LVL= 25584, 18065, 32754, 32755, AGC= 48, IDX= 511,-0.02,-2.715,-2.024, 2.486,-2.333, PHS=-0.280, 0.354,-1.508, RAW= 10.4, 17.2, CAL= 10.1, 21.2, ROT= 139.9, -21.2 2025-10-27T05:55:15.947Z,1761544515.947 [DAT](INFO): got valid direction response: 05:55:14.7114 LVL= 25584, 18065, 32754, 32755, AGC= 48, IDX= 511,-0.02,-2.715,-2.024, 2.486,-2.333, PHS=-0.280, 0.354,-1.508, RAW= 10.4, 17.2, CAL= 10.1, 21.2, ROT= 139.9, -21.2 2025-10-27T05:55:15.947Z,1761544515.947 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T05:55:15.948Z,1761544515.948 [DAT](INFO): direction in FSK: [-0.713154,0.600532,0.361625] 2025-10-27T05:55:15.949Z,1761544515.949 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:15.974Z,1761544515.974 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.987553 2025-10-27T05:55:16.080Z,1761544516.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.462325,0.885202,0.051689],[-0.886323,-0.463060,0.002547],[0.026190,-0.044635,0.998660]] 2025-10-27T05:55:16.129Z,1761544516.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.510999 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:16.136Z,1761544516.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.307146 m, bearing: 21.965509 deg, lat: 36.779384 deg, lon: -121.859752 deg, deltaT: 0.510999 s, deltaX: -0.000031 m, approachRate: -0.000060 m/s, posRepo size: 4 2025-10-27T05:55:16.136Z,1761544516.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T05:55:16.185Z,1761544516.185 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.198696 2025-10-27T05:55:16.437Z,1761544516.437 [DAT](INFO): DAT read: Rx Time:05:55:15.2116 2025-10-27T05:55:16.437Z,1761544516.437 [DAT](INFO): Rx dataTimestamp_ set to:1761544516.436711 2025-10-27T05:55:16.438Z,1761544516.438 [DAT](INFO): DAT read: Bearing 188.1, 37.7 (Local) 2025-10-27T05:55:16.439Z,1761544516.439 [DAT](INFO): Local bearing/azimuth received: Bearing 188.1, 37.7 (Local) 2025-10-27T05:55:16.452Z,1761544516.452 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.3 2025-10-27T05:55:16.508Z,1761544516.508 [DAT](INFO): DAT read: 05:55:15.2116 LVL= 26688, 19377, 32754, 32755, AGC= 49, IDX= 513,-0.04, 2.524, 3.086, 1.334, 2.849, PHS=-0.223, 0.282,-1.559, RAW= 14.6, 17.8, CAL= 13.8, 21.7, ROT= 136.2, -21.7 2025-10-27T05:55:16.509Z,1761544516.509 [DAT](INFO): got valid direction response: 05:55:15.2116 LVL= 26688, 19377, 32754, 32755, AGC= 49, IDX= 513,-0.04, 2.524, 3.086, 1.334, 2.849, PHS=-0.223, 0.282,-1.559, RAW= 14.6, 17.8, CAL= 13.8, 21.7, ROT= 136.2, -21.7 2025-10-27T05:55:16.510Z,1761544516.510 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T05:55:16.511Z,1761544516.511 [DAT](INFO): direction in FSK: [-0.670611,0.643093,0.369747] 2025-10-27T05:55:16.531Z,1761544516.531 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:16.543Z,1761544516.543 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.548473 2025-10-27T05:55:16.561Z,1761544516.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504085 s, deltaX: 0.300000 m, approachRate: 0.595138 m/s, rangeRepo size: 4 2025-10-27T05:55:16.567Z,1761544516.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.605212 m, bearing: 18.323323 deg, lat: 36.779384 deg, lon: -121.859752 deg, deltaT: 0.504085 s, deltaX: 0.298066 m, approachRate: 0.591301 m/s, posRepo size: 4 2025-10-27T05:55:16.568Z,1761544516.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T05:55:16.688Z,1761544516.688 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.701679 2025-10-27T05:55:16.900Z,1761544516.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453390,0.889795,0.051985],[-0.890882,-0.454211,0.004570],[0.027679,-0.044240,0.998637]] 2025-10-27T05:55:16.941Z,1761544516.941 [DAT](INFO): DAT read: Rx Time:05:55:15.7116 2025-10-27T05:55:16.941Z,1761544516.941 [DAT](INFO): Rx dataTimestamp_ set to:1761544516.940787 2025-10-27T05:55:16.942Z,1761544516.942 [DAT](INFO): DAT read: Bearing 191.0, 36.7 (Local) 2025-10-27T05:55:16.947Z,1761544516.947 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:55:16.947Z,1761544516.947 [DAT](INFO): Local bearing/azimuth received: Bearing 191.0, 36.7 (Local) 2025-10-27T05:55:16.950Z,1761544516.950 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.2 2025-10-27T05:55:16.954Z,1761544516.954 [DAT](INFO): DAT read: 05:55:15.7116 LVL= 27056, 18465, 32754, 32755, AGC= 50, IDX= 513,-0.04, 1.107, 1.709, 0.027, 1.420, PHS=-0.211, 0.334,-1.437, RAW= 12.5, 16.5, CAL= 12.1, 20.3, ROT= 137.9, -20.3 2025-10-27T05:55:16.956Z,1761544516.956 [DAT](INFO): got valid direction response: 05:55:15.7116 LVL= 27056, 18465, 32754, 32755, AGC= 50, IDX= 513,-0.04, 1.107, 1.709, 0.027, 1.420, PHS=-0.211, 0.334,-1.437, RAW= 12.5, 16.5, CAL= 12.1, 20.3, ROT= 137.9, -20.3 2025-10-27T05:55:16.956Z,1761544516.956 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T05:55:16.957Z,1761544516.957 [DAT](INFO): direction in FSK: [-0.695891,0.628786,0.346936] 2025-10-27T05:55:16.957Z,1761544516.957 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:16.965Z,1761544516.965 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.978691 2025-10-27T05:55:17.008Z,1761544517.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:17.010Z,1761544517.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.605184 m, bearing: 20.615213 deg, lat: 36.779385 deg, lon: -121.859752 deg, deltaT: 0.504076 s, deltaX: -0.000029 m, approachRate: -0.000057 m/s, posRepo size: 4 2025-10-27T05:55:17.010Z,1761544517.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T05:55:17.192Z,1761544517.192 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.205685 2025-10-27T05:55:17.268Z,1761544517.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448805,0.892116,0.051989],[-0.893190,-0.449650,0.005233],[0.028045,-0.044087,0.998634]] 2025-10-27T05:55:17.302Z,1761544517.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T05:55:17.444Z,1761544517.444 [DAT](INFO): DAT read: Rx Time:05:55:16.2118 2025-10-27T05:55:17.445Z,1761544517.445 [DAT](INFO): Rx dataTimestamp_ set to:1761544517.444658 2025-10-27T05:55:17.446Z,1761544517.446 [DAT](INFO): DAT read: Bearing 190.9, 34.5 (Local) 2025-10-27T05:55:17.447Z,1761544517.447 [DAT](INFO): Local bearing/azimuth received: Bearing 190.9, 34.5 (Local) 2025-10-27T05:55:17.449Z,1761544517.449 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 2025-10-27T05:55:17.453Z,1761544517.453 [DAT](INFO): DAT read: 05:55:16.2118 LVL= 24432, 16113, 26722, 31523, AGC= 53, IDX= 3,-0.06,-2.387,-1.696, 2.822,-2.000, PHS=-0.285, 0.349,-1.505, RAW= 10.3, 17.3, CAL= 10.0, 21.3, ROT= 140.0, -21.3 2025-10-27T05:55:17.454Z,1761544517.454 [DAT](INFO): got valid direction response: 05:55:16.2118 LVL= 24432, 16113, 26722, 31523, AGC= 53, IDX= 3,-0.06,-2.387,-1.696, 2.822,-2.000, PHS=-0.285, 0.349,-1.505, RAW= 10.3, 17.3, CAL= 10.0, 21.3, ROT= 140.0, -21.3 2025-10-27T05:55:17.455Z,1761544517.455 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T05:55:17.456Z,1761544517.456 [DAT](INFO): direction in FSK: [-0.713717,0.598880,0.363251] 2025-10-27T05:55:17.456Z,1761544517.456 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:17.465Z,1761544517.465 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.478081 2025-10-27T05:55:17.696Z,1761544517.696 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.709747 2025-10-27T05:55:17.702Z,1761544517.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443709,0.894681,0.051665],[-0.895732,-0.444559,0.005691],[0.028059,-0.043753,0.998648]] 2025-10-27T05:55:17.784Z,1761544517.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503871 s, deltaX: 0.300000 m, approachRate: 0.595391 m/s, rangeRepo size: 4 2025-10-27T05:55:17.792Z,1761544517.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.903248 m, bearing: 23.294825 deg, lat: 36.779385 deg, lon: -121.859752 deg, deltaT: 0.503871 s, deltaX: 0.298064 m, approachRate: 0.591549 m/s, posRepo size: 4 2025-10-27T05:55:17.793Z,1761544517.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m. 2025-10-27T05:55:17.949Z,1761544517.949 [DAT](INFO): DAT read: Rx Time:05:55:16.7118 2025-10-27T05:55:17.949Z,1761544517.949 [DAT](INFO): Rx dataTimestamp_ set to:1761544517.948796 2025-10-27T05:55:17.950Z,1761544517.950 [DAT](INFO): DAT read: Bearing 191.5, 35.0 (Local) 2025-10-27T05:55:17.951Z,1761544517.951 [DAT](INFO): Local bearing/azimuth received: Bearing 191.5, 35.0 (Local) 2025-10-27T05:55:17.953Z,1761544517.953 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 2025-10-27T05:55:17.957Z,1761544517.957 [DAT](INFO): DAT read: 05:55:16.7118 LVL= 23792, 16881, 32754, 32755, AGC= 51, IDX= 499,-0.08, 2.345, 3.026, 1.247, 2.717, PHS=-0.270, 0.354,-1.514, RAW= 10.8, 17.1, CAL= 10.5, 21.0, ROT= 139.5, -21.0 2025-10-27T05:55:17.959Z,1761544517.959 [DAT](INFO): got valid direction response: 05:55:16.7118 LVL= 23792, 16881, 32754, 32755, AGC= 51, IDX= 499,-0.08, 2.345, 3.026, 1.247, 2.717, PHS=-0.270, 0.354,-1.514, RAW= 10.8, 17.1, CAL= 10.5, 21.0, ROT= 139.5, -21.0 2025-10-27T05:55:17.959Z,1761544517.959 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T05:55:17.960Z,1761544517.960 [DAT](INFO): direction in FSK: [-0.709900,0.606312,0.358368] 2025-10-27T05:55:17.960Z,1761544517.960 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:17.964Z,1761544517.964 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.977890 2025-10-27T05:55:17.975Z,1761544517.975 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:55:18.098Z,1761544518.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.438488,0.897263,0.051446],[-0.898308,-0.439329,0.005774],[0.027782,-0.043683,0.998659]] 2025-10-27T05:55:18.148Z,1761544518.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504138 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:18.150Z,1761544518.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.903220 m, bearing: 23.140227 deg, lat: 36.779385 deg, lon: -121.859752 deg, deltaT: 0.504138 s, deltaX: -0.000028 m, approachRate: -0.000055 m/s, posRepo size: 4 2025-10-27T05:55:18.151Z,1761544518.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m. 2025-10-27T05:55:18.201Z,1761544518.201 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.214180 2025-10-27T05:55:18.452Z,1761544518.452 [DAT](INFO): DAT read: Rx Time:05:55:17.2119 2025-10-27T05:55:18.453Z,1761544518.453 [DAT](INFO): Rx dataTimestamp_ set to:1761544518.452678 2025-10-27T05:55:18.454Z,1761544518.454 [DAT](INFO): DAT read: Bearing 191.9, 35.2 (Local) 2025-10-27T05:55:18.455Z,1761544518.455 [DAT](INFO): Local bearing/azimuth received: Bearing 191.9, 35.2 (Local) 2025-10-27T05:55:18.461Z,1761544518.461 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 2025-10-27T05:55:18.466Z,1761544518.466 [DAT](INFO): DAT read: 05:55:17.2119 LVL= 26096, 17489, 32754, 32755, AGC= 51, IDX= 500,-0.14, 1.738, 2.413, 0.632, 2.107, PHS=-0.266, 0.351,-1.519, RAW= 11.1, 17.1, CAL= 10.7, 21.0, ROT= 139.3, -21.0 2025-10-27T05:55:18.467Z,1761544518.467 [DAT](INFO): got valid direction response: 05:55:17.2119 LVL= 26096, 17489, 32754, 32755, AGC= 51, IDX= 500,-0.14, 1.738, 2.413, 0.632, 2.107, PHS=-0.266, 0.351,-1.519, RAW= 11.1, 17.1, CAL= 10.7, 21.0, ROT= 139.3, -21.0 2025-10-27T05:55:18.468Z,1761544518.468 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T05:55:18.469Z,1761544518.469 [DAT](INFO): direction in FSK: [-0.707779,0.608786,0.358368] 2025-10-27T05:55:18.469Z,1761544518.469 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:18.473Z,1761544518.473 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.486504 2025-10-27T05:55:18.506Z,1761544518.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432913,0.899943,0.051850],[-0.901023,-0.433739,0.005332],[0.027288,-0.044410,0.998641]] 2025-10-27T05:55:18.585Z,1761544518.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503882 s, deltaX: 0.200000 m, approachRate: 0.396918 m/s, rangeRepo size: 4 2025-10-27T05:55:18.591Z,1761544518.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.101930 m, bearing: 23.281612 deg, lat: 36.779385 deg, lon: -121.859749 deg, deltaT: 0.503882 s, deltaX: 0.198709 m, approachRate: 0.394357 m/s, posRepo size: 4 2025-10-27T05:55:18.592Z,1761544518.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m. 2025-10-27T05:55:18.705Z,1761544518.705 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.718880 2025-10-27T05:55:18.915Z,1761544518.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427098,0.902652,0.052987],[-0.903815,-0.427901,0.004301],[0.026556,-0.046053,0.998586]] 2025-10-27T05:55:18.952Z,1761544518.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m. 2025-10-27T05:55:18.957Z,1761544518.957 [DAT](INFO): DAT read: Rx Time:05:55:17.7119 2025-10-27T05:55:18.957Z,1761544518.957 [DAT](INFO): Rx dataTimestamp_ set to:1761544518.956798 2025-10-27T05:55:18.958Z,1761544518.958 [DAT](INFO): DAT read: Bearing 191.8, 35.1 (Local) 2025-10-27T05:55:18.959Z,1761544518.959 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 35.1 (Local) 2025-10-27T05:55:18.961Z,1761544518.961 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 2025-10-27T05:55:18.978Z,1761544518.978 [DAT](INFO): DAT read: 05:55:17.7119 LVL= 24672, 19073, 32754, 32755, AGC= 52, IDX= 500,-0.31, 1.245, 1.916, 0.137, 1.621, PHS=-0.274, 0.339,-1.528, RAW= 11.2, 17.4, CAL= 10.8, 21.4, ROT= 139.2, -21.4 2025-10-27T05:55:18.979Z,1761544518.979 [DAT](INFO): got valid direction response: 05:55:17.7119 LVL= 24672, 19073, 32754, 32755, AGC= 52, IDX= 500,-0.31, 1.245, 1.916, 0.137, 1.621, PHS=-0.274, 0.339,-1.528, RAW= 11.2, 17.4, CAL= 10.8, 21.4, ROT= 139.2, -21.4 2025-10-27T05:55:18.980Z,1761544518.980 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T05:55:18.981Z,1761544518.981 [DAT](INFO): direction in FSK: [-0.704805,0.608371,0.364877] 2025-10-27T05:55:18.981Z,1761544518.981 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:19.005Z,1761544519.005 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.018440 2025-10-27T05:55:19.208Z,1761544519.208 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.221603 2025-10-27T05:55:19.313Z,1761544519.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421002,0.905401,0.054825],[-0.906696,-0.421775,0.002820],[0.025677,-0.048522,0.998492]] 2025-10-27T05:55:19.400Z,1761544519.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504120 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:19.402Z,1761544519.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.102009 m, bearing: 23.846565 deg, lat: 36.779385 deg, lon: -121.859748 deg, deltaT: 0.504120 s, deltaX: 0.000079 m, approachRate: 0.000157 m/s, posRepo size: 4 2025-10-27T05:55:19.402Z,1761544519.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m. 2025-10-27T05:55:19.462Z,1761544519.462 [DAT](INFO): DAT read: Rx Time:05:55:18.2120 2025-10-27T05:55:19.462Z,1761544519.462 [DAT](INFO): Rx dataTimestamp_ set to:1761544519.462121 2025-10-27T05:55:19.464Z,1761544519.464 [DAT](INFO): DAT read: Bearing 192.1, 35.6 (Local) 2025-10-27T05:55:19.465Z,1761544519.465 [DAT](INFO): Local bearing/azimuth received: Bearing 192.1, 35.6 (Local) 2025-10-27T05:55:19.469Z,1761544519.469 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 2025-10-27T05:55:19.475Z,1761544519.475 [DAT](INFO): DAT read: 05:55:18.2120 LVL= 25584, 19809, 32754, 32755, AGC= 53, IDX= 501, 0.33,-0.827,-0.172,-1.955,-0.465, PHS=-0.260, 0.338,-1.535, RAW= 11.8, 17.3, CAL= 11.3, 21.2, ROT= 138.7, -21.2 2025-10-27T05:55:19.476Z,1761544519.476 [DAT](INFO): got valid direction response: 05:55:18.2120 LVL= 25584, 19809, 32754, 32755, AGC= 53, IDX= 501, 0.33,-0.827,-0.172,-1.955,-0.465, PHS=-0.260, 0.338,-1.535, RAW= 11.8, 17.3, CAL= 11.3, 21.2, ROT= 138.7, -21.2 2025-10-27T05:55:19.476Z,1761544519.476 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:55:19.477Z,1761544519.477 [DAT](INFO): direction in FSK: [-0.700421,0.615335,0.361625] 2025-10-27T05:55:19.478Z,1761544519.478 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:19.481Z,1761544519.481 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.494961 2025-10-27T05:55:19.713Z,1761544519.713 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.726295 2025-10-27T05:55:19.828Z,1761544519.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.505323 s, deltaX: 0.100000 m, approachRate: 0.197894 m/s, rangeRepo size: 4 2025-10-27T05:55:19.830Z,1761544519.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.201365 m, bearing: 23.360226 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 0.505323 s, deltaX: 0.099356 m, approachRate: 0.196618 m/s, posRepo size: 4 2025-10-27T05:55:19.830Z,1761544519.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m. 2025-10-27T05:55:19.965Z,1761544519.965 [DAT](INFO): DAT read: Rx Time:05:55:18.7120 2025-10-27T05:55:19.966Z,1761544519.966 [DAT](INFO): Rx dataTimestamp_ set to:1761544519.965232 2025-10-27T05:55:19.968Z,1761544519.968 [DAT](INFO): DAT read: Bearing 191.5, 35.0 (Local) 2025-10-27T05:55:19.968Z,1761544519.968 [DAT](INFO): Local bearing/azimuth received: Bearing 191.5, 35.0 (Local) 2025-10-27T05:55:19.977Z,1761544519.977 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.2 2025-10-27T05:55:19.982Z,1761544519.982 [DAT](INFO): DAT read: 05:55:18.7120 LVL= 25440, 21937, 32754, 32755, AGC= 53, IDX= 501, 0.13,-1.033,-0.377,-2.145,-0.647, PHS=-0.284, 0.315,-1.542, RAW= 11.6, 18.0, CAL= 11.1, 22.0, ROT= 138.9, -22.0 2025-10-27T05:55:19.992Z,1761544519.992 [DAT](INFO): got valid direction response: 05:55:18.7120 LVL= 25440, 21937, 32754, 32755, AGC= 53, IDX= 501, 0.13,-1.033,-0.377,-2.145,-0.647, PHS=-0.284, 0.315,-1.542, RAW= 11.6, 18.0, CAL= 11.1, 22.0, ROT= 138.9, -22.0 2025-10-27T05:55:19.992Z,1761544519.992 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:55:19.993Z,1761544519.993 [DAT](INFO): direction in FSK: [-0.698692,0.609508,0.374607] 2025-10-27T05:55:19.993Z,1761544519.993 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:20.001Z,1761544520.001 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.015083 2025-10-27T05:55:20.118Z,1761544520.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408648,0.910932,0.056648],[-0.912390,-0.409321,0.000300],[0.023460,-0.051562,0.998394]] 2025-10-27T05:55:20.166Z,1761544520.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503111 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:20.173Z,1761544520.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.201206 m, bearing: 24.240235 deg, lat: 36.779383 deg, lon: -121.859747 deg, deltaT: 0.503111 s, deltaX: -0.000158 m, approachRate: -0.000315 m/s, posRepo size: 4 2025-10-27T05:55:20.173Z,1761544520.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m. 2025-10-27T05:55:20.216Z,1761544520.216 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.229877 2025-10-27T05:55:20.469Z,1761544520.469 [DAT](INFO): DAT read: Rx Time:05:55:19.2122 2025-10-27T05:55:20.469Z,1761544520.469 [DAT](INFO): Rx dataTimestamp_ set to:1761544520.468709 2025-10-27T05:55:20.470Z,1761544520.470 [DAT](INFO): DAT read: Bearing 191.8, 35.3 (Local) 2025-10-27T05:55:20.471Z,1761544520.471 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 35.3 (Local) 2025-10-27T05:55:20.473Z,1761544520.473 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 2025-10-27T05:55:20.477Z,1761544520.477 [DAT](INFO): DAT read: 05:55:19.2122 LVL= 24304, 21665, 32754, 32755, AGC= 53, IDX= 503,-0.01,-0.340, 0.307,-1.461, 0.040, PHS=-0.278, 0.313,-1.545, RAW= 11.9, 18.0, CAL= 11.4, 22.0, ROT= 138.6, -22.0 2025-10-27T05:55:20.479Z,1761544520.479 [DAT](INFO): got valid direction response: 05:55:19.2122 LVL= 24304, 21665, 32754, 32755, AGC= 53, IDX= 503,-0.01,-0.340, 0.307,-1.461, 0.040, PHS=-0.278, 0.313,-1.545, RAW= 11.9, 18.0, CAL= 11.4, 22.0, ROT= 138.6, -22.0 2025-10-27T05:55:20.479Z,1761544520.479 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:55:20.480Z,1761544520.480 [DAT](INFO): direction in FSK: [-0.695491,0.613158,0.374607] 2025-10-27T05:55:20.480Z,1761544520.480 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:20.484Z,1761544520.484 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.497688 2025-10-27T05:55:20.522Z,1761544520.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402502,0.913659,0.056737],[-0.915142,-0.403131,-0.000400],[0.022507,-0.052083,0.998389]] 2025-10-27T05:55:20.726Z,1761544520.726 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.735966 2025-10-27T05:55:20.737Z,1761544520.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503477 s, deltaX: 0.300000 m, approachRate: 0.595857 m/s, rangeRepo size: 4 2025-10-27T05:55:20.744Z,1761544520.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.499269 m, bearing: 24.311050 deg, lat: 36.779383 deg, lon: -121.859747 deg, deltaT: 0.503477 s, deltaX: 0.298063 m, approachRate: 0.592010 m/s, posRepo size: 4 2025-10-27T05:55:20.744Z,1761544520.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T05:55:20.973Z,1761544520.973 [DAT](INFO): DAT read: Rx Time:05:55:19.7122 2025-10-27T05:55:20.973Z,1761544520.973 [DAT](INFO): Rx dataTimestamp_ set to:1761544520.972832 2025-10-27T05:55:20.974Z,1761544520.974 [DAT](INFO): DAT read: Bearing 192.6, 35.8 (Local) 2025-10-27T05:55:20.980Z,1761544520.980 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 35.8 (Local) 2025-10-27T05:55:20.982Z,1761544520.982 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-27T05:55:21.005Z,1761544521.005 [DAT](INFO): DAT read: 05:55:19.7122 LVL= 23664, 20241, 32754, 32755, AGC= 53, IDX= 503,-0.18, 3.027,-2.620, 1.888,-2.896, PHS=-0.258, 0.321,-1.543, RAW= 12.3, 17.6, CAL= 11.8, 21.5, ROT= 138.2, -21.5 2025-10-27T05:55:21.007Z,1761544521.007 [DAT](INFO): got valid direction response: 05:55:19.7122 LVL= 23664, 20241, 32754, 32755, AGC= 53, IDX= 503,-0.18, 3.027,-2.620, 1.888,-2.896, PHS=-0.258, 0.321,-1.543, RAW= 12.3, 17.6, CAL= 11.8, 21.5, ROT= 138.2, -21.5 2025-10-27T05:55:21.007Z,1761544521.007 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:55:21.008Z,1761544521.008 [DAT](INFO): direction in FSK: [-0.693604,0.620154,0.366501] 2025-10-27T05:55:21.008Z,1761544521.008 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:21.025Z,1761544521.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396681,0.916234,0.056202],[-0.917705,-0.397262,-0.000906],[0.021497,-0.051936,0.998419]] 2025-10-27T05:55:21.028Z,1761544521.028 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.042133 2025-10-27T05:55:21.141Z,1761544521.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:21.148Z,1761544521.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.499266 m, bearing: 24.285804 deg, lat: 36.779383 deg, lon: -121.859745 deg, deltaT: 0.504123 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 2025-10-27T05:55:21.148Z,1761544521.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T05:55:21.224Z,1761544521.224 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.237827 2025-10-27T05:55:21.406Z,1761544521.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390873,0.918751,0.055812],[-0.920210,-0.391422,-0.001171],[0.020770,-0.051817,0.998441]] 2025-10-27T05:55:21.443Z,1761544521.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T05:55:21.477Z,1761544521.477 [DAT](INFO): DAT read: Rx Time:05:55:20.2124 2025-10-27T05:55:21.477Z,1761544521.477 [DAT](INFO): Rx dataTimestamp_ set to:1761544521.476823 2025-10-27T05:55:21.478Z,1761544521.478 [DAT](INFO): DAT read: Bearing 193.3, 36.8 (Local) 2025-10-27T05:55:21.479Z,1761544521.479 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 36.8 (Local) 2025-10-27T05:55:21.481Z,1761544521.481 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 2025-10-27T05:55:21.486Z,1761544521.486 [DAT](INFO): DAT read: 05:55:20.2124 LVL= 25040, 19425, 32754, 32755, AGC= 53, IDX= 504, 0.50,-1.085,-0.471,-2.265,-0.756, PHS=-0.227, 0.330,-1.553, RAW= 13.3, 17.0, CAL= 12.7, 20.8, ROT= 137.3, -20.8 2025-10-27T05:55:21.487Z,1761544521.487 [DAT](INFO): got valid direction response: 05:55:20.2124 LVL= 25040, 19425, 32754, 32755, AGC= 53, IDX= 504, 0.50,-1.085,-0.471,-2.265,-0.756, PHS=-0.227, 0.330,-1.553, RAW= 13.3, 17.0, CAL= 12.7, 20.8, ROT= 137.3, -20.8 2025-10-27T05:55:21.487Z,1761544521.487 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:55:21.488Z,1761544521.488 [DAT](INFO): direction in FSK: [-0.687017,0.633961,0.355107] 2025-10-27T05:55:21.488Z,1761544521.488 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:21.496Z,1761544521.496 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.510052 2025-10-27T05:55:21.730Z,1761544521.730 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.743034 2025-10-27T05:55:21.797Z,1761544521.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385439,0.921061,0.055536],[-0.922510,-0.385971,-0.001228],[0.020304,-0.051706,0.998456]] 2025-10-27T05:55:21.931Z,1761544521.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503991 s, deltaX: 0.299999 m, approachRate: 0.595247 m/s, rangeRepo size: 4 2025-10-27T05:55:21.933Z,1761544521.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.797328 m, bearing: 24.109960 deg, lat: 36.779383 deg, lon: -121.859743 deg, deltaT: 0.503991 s, deltaX: 0.298062 m, approachRate: 0.591404 m/s, posRepo size: 4 2025-10-27T05:55:21.934Z,1761544521.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T05:55:21.981Z,1761544521.981 [DAT](INFO): DAT read: Rx Time:05:55:20.7123 2025-10-27T05:55:21.982Z,1761544521.982 [DAT](INFO): Rx dataTimestamp_ set to:1761544521.981676 2025-10-27T05:55:21.984Z,1761544521.984 [DAT](INFO): DAT read: Bearing 193.9, 37.3 (Local) 2025-10-27T05:55:21.984Z,1761544521.984 [DAT](INFO): Local bearing/azimuth received: Bearing 193.9, 37.3 (Local) 2025-10-27T05:55:21.988Z,1761544521.988 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-27T05:55:21.995Z,1761544521.995 [DAT](INFO): DAT read: 05:55:20.7123 LVL= 22352, 15745, 29778, 32755, AGC= 51, IDX= 504, 0.16,-2.720,-2.118, 2.373,-2.404, PHS=-0.214, 0.331,-1.551, RAW= 13.7, 16.8, CAL= 13.0, 20.6, ROT= 137.0, -20.6 2025-10-27T05:55:21.996Z,1761544521.996 [DAT](INFO): got valid direction response: 05:55:20.7123 LVL= 22352, 15745, 29778, 32755, AGC= 51, IDX= 504, 0.16,-2.720,-2.118, 2.373,-2.404, PHS=-0.214, 0.331,-1.551, RAW= 13.7, 16.8, CAL= 13.0, 20.6, ROT= 137.0, -20.6 2025-10-27T05:55:21.997Z,1761544521.997 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:55:21.998Z,1761544521.998 [DAT](INFO): direction in FSK: [-0.684591,0.638391,0.351842] 2025-10-27T05:55:21.998Z,1761544521.998 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:22.009Z,1761544522.009 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.023193 2025-10-27T05:55:22.191Z,1761544522.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380400,0.923163,0.055374],[-0.924607,-0.380920,-0.001246],[0.019943,-0.051673,0.998465]] 2025-10-27T05:55:22.221Z,1761544522.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504853 s, deltaX: -0.099999 m, approachRate: -0.198076 m/s, rangeRepo size: 4 2025-10-27T05:55:22.223Z,1761544522.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.697865 m, bearing: 24.129276 deg, lat: 36.779383 deg, lon: -121.859743 deg, deltaT: 0.504853 s, deltaX: -0.099463 m, approachRate: -0.197013 m/s, posRepo size: 4 2025-10-27T05:55:22.224Z,1761544522.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T05:55:22.232Z,1761544522.232 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.245708 2025-10-27T05:55:22.484Z,1761544522.484 [DAT](INFO): DAT read: Rx Time:05:55:21.2124 2025-10-27T05:55:22.485Z,1761544522.485 [DAT](INFO): Rx dataTimestamp_ set to:1761544522.484682 2025-10-27T05:55:22.486Z,1761544522.486 [DAT](INFO): DAT read: Bearing 194.0, 36.9 (Local) 2025-10-27T05:55:22.487Z,1761544522.487 [DAT](INFO): Local bearing/azimuth received: Bearing 194.0, 36.9 (Local) 2025-10-27T05:55:22.489Z,1761544522.489 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 2025-10-27T05:55:22.494Z,1761544522.494 [DAT](INFO): DAT read: 05:55:21.2124 LVL= 22720, 17489, 32658, 32755, AGC= 51, IDX= 505,-0.10, 1.671, 2.283, 0.490, 2.002, PHS=-0.229, 0.326,-1.556, RAW= 13.3, 17.1, CAL= 12.7, 20.9, ROT= 137.3, -20.9 2025-10-27T05:55:22.495Z,1761544522.495 [DAT](INFO): got valid direction response: 05:55:21.2124 LVL= 22720, 17489, 32658, 32755, AGC= 51, IDX= 505,-0.10, 1.671, 2.283, 0.490, 2.002, PHS=-0.229, 0.326,-1.556, RAW= 13.3, 17.1, CAL= 12.7, 20.9, ROT= 137.3, -20.9 2025-10-27T05:55:22.496Z,1761544522.496 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:55:22.497Z,1761544522.497 [DAT](INFO): direction in FSK: [-0.686560,0.633540,0.356738] 2025-10-27T05:55:22.497Z,1761544522.497 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:22.500Z,1761544522.500 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.514198 2025-10-27T05:55:22.739Z,1761544522.739 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.751923 2025-10-27T05:55:22.760Z,1761544522.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503006 s, deltaX: 0.099999 m, approachRate: 0.198804 m/s, rangeRepo size: 4 2025-10-27T05:55:22.762Z,1761544522.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.797219 m, bearing: 24.415916 deg, lat: 36.779383 deg, lon: -121.859742 deg, deltaT: 0.503006 s, deltaX: 0.099354 m, approachRate: 0.197520 m/s, posRepo size: 4 2025-10-27T05:55:22.768Z,1761544522.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T05:55:22.989Z,1761544522.989 [DAT](INFO): DAT read: Rx Time:05:55:21.7123 2025-10-27T05:55:22.989Z,1761544522.989 [DAT](INFO): Rx dataTimestamp_ set to:1761544522.988766 2025-10-27T05:55:22.990Z,1761544522.990 [DAT](INFO): DAT read: Bearing 193.9, 37.8 (Local) 2025-10-27T05:55:22.992Z,1761544522.992 [DAT](INFO): Local bearing/azimuth received: Bearing 193.9, 37.8 (Local) 2025-10-27T05:55:22.994Z,1761544522.994 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-27T05:55:22.998Z,1761544522.998 [DAT](INFO): DAT read: 05:55:21.7123 LVL= 23312, 19937, 32754, 32755, AGC= 51, IDX= 504, 0.43, 2.599,-3.106, 1.384, 2.912, PHS=-0.210, 0.311,-1.571, RAW= 14.4, 17.2, CAL= 13.7, 20.9, ROT= 136.3, -20.9 2025-10-27T05:55:23.008Z,1761544523.008 [DAT](INFO): got valid direction response: 05:55:21.7123 LVL= 23312, 19937, 32754, 32755, AGC= 51, IDX= 504, 0.43, 2.599,-3.106, 1.384, 2.912, PHS=-0.210, 0.311,-1.571, RAW= 14.4, 17.2, CAL= 13.7, 20.9, ROT= 136.3, -20.9 2025-10-27T05:55:23.008Z,1761544523.008 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:55:23.009Z,1761544523.009 [DAT](INFO): direction in FSK: [-0.675399,0.645425,0.356738] 2025-10-27T05:55:23.009Z,1761544523.009 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:23.022Z,1761544523.022 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.035870 2025-10-27T05:55:23.083Z,1761544523.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370929,0.926982,0.055830],[-0.928456,-0.371440,-0.001304],[0.019529,-0.052319,0.998439]] 2025-10-27T05:55:23.215Z,1761544523.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504084 s, deltaX: -0.099999 m, approachRate: -0.198379 m/s, rangeRepo size: 4 2025-10-27T05:55:23.217Z,1761544523.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.697856 m, bearing: 24.004888 deg, lat: 36.779382 deg, lon: -121.859742 deg, deltaT: 0.504084 s, deltaX: -0.099363 m, approachRate: -0.197117 m/s, posRepo size: 4 2025-10-27T05:55:23.217Z,1761544523.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T05:55:23.240Z,1761544523.240 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.253769 2025-10-27T05:55:23.466Z,1761544523.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366825,0.928620,0.055727],[-0.930084,-0.367345,-0.000966],[0.019574,-0.052185,0.998446]] 2025-10-27T05:55:23.493Z,1761544523.493 [DAT](INFO): DAT read: Rx Time:05:55:22.2125 2025-10-27T05:55:23.493Z,1761544523.493 [DAT](INFO): Rx dataTimestamp_ set to:1761544523.492764 2025-10-27T05:55:23.494Z,1761544523.494 [DAT](INFO): DAT read: Bearing 194.6, 39.0 (Local) 2025-10-27T05:55:23.495Z,1761544523.495 [DAT](INFO): Local bearing/azimuth received: Bearing 194.6, 39.0 (Local) 2025-10-27T05:55:23.497Z,1761544523.497 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.1 2025-10-27T05:55:23.510Z,1761544523.510 [DAT](INFO): DAT read: 05:55:22.2125 LVL= 22832, 16785, 31826, 32755, AGC= 51, IDX= 506, 0.07, 3.123,-2.622, 1.872,-2.888, PHS=-0.170, 0.311,-1.567, RAW= 15.7, 16.6, CAL= 14.9, 20.2, ROT= 135.1, -20.2 2025-10-27T05:55:23.511Z,1761544523.511 [DAT](INFO): got valid direction response: 05:55:22.2125 LVL= 22832, 16785, 31826, 32755, AGC= 51, IDX= 506, 0.07, 3.123,-2.622, 1.872,-2.888, PHS=-0.170, 0.311,-1.567, RAW= 15.7, 16.6, CAL= 14.9, 20.2, ROT= 135.1, -20.2 2025-10-27T05:55:23.511Z,1761544523.511 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:55:23.512Z,1761544523.512 [DAT](INFO): direction in FSK: [-0.664772,0.662455,0.345298] 2025-10-27T05:55:23.512Z,1761544523.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:23.556Z,1761544523.556 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:55:23.556Z,1761544523.556 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:55:23.556Z,1761544523.556 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:23.602Z,1761544523.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503998 s, deltaX: 0.300000 m, approachRate: 0.595241 m/s, rangeRepo size: 4 2025-10-27T05:55:23.608Z,1761544523.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.995916 m, bearing: 23.099911 deg, lat: 36.779383 deg, lon: -121.859742 deg, deltaT: 0.503998 s, deltaX: 0.298060 m, approachRate: 0.591392 m/s, posRepo size: 4 2025-10-27T05:55:23.608Z,1761544523.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T05:55:23.746Z,1761544523.746 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:23.902Z,1761544523.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363373,0.929995,0.055404],[-0.931431,-0.363917,-0.000283],[0.019899,-0.051708,0.998464]] 2025-10-27T05:55:23.963Z,1761544523.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T05:55:23.997Z,1761544523.997 [DAT](INFO): DAT read: Rx Time:05:55:22.7125 2025-10-27T05:55:23.997Z,1761544523.997 [DAT](INFO): Rx dataTimestamp_ set to:1761544523.996792 2025-10-27T05:55:23.998Z,1761544523.998 [DAT](INFO): DAT read: Bearing 194.6, 39.0 (Local) 2025-10-27T05:55:23.999Z,1761544523.999 [DAT](INFO): Local bearing/azimuth received: Bearing 194.6, 39.0 (Local) 2025-10-27T05:55:24.001Z,1761544524.001 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.1 2025-10-27T05:55:24.006Z,1761544524.006 [DAT](INFO): DAT read: 05:55:22.7125 LVL= 23648, 17585, 32754, 32755, AGC= 50, IDX= 506,-0.22, 0.927, 1.463,-0.321, 1.204, PHS=-0.176, 0.303,-1.569, RAW= 15.7, 16.8, CAL= 14.9, 20.5, ROT= 135.1, -20.5 2025-10-27T05:55:24.012Z,1761544524.012 [DAT](INFO): got valid direction response: 05:55:22.7125 LVL= 23648, 17585, 32754, 32755, AGC= 50, IDX= 506,-0.22, 0.927, 1.463,-0.321, 1.204, PHS=-0.176, 0.303,-1.569, RAW= 15.7, 16.8, CAL= 14.9, 20.5, ROT= 135.1, -20.5 2025-10-27T05:55:24.012Z,1761544524.012 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:24.013Z,1761544524.013 [DAT](INFO): direction in FSK: [-0.663482,0.661170,0.350207] 2025-10-27T05:55:24.014Z,1761544524.014 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:24.018Z,1761544524.018 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:24.018Z,1761544524.018 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:24.248Z,1761544524.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:24.285Z,1761544524.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360001,0.931310,0.055328],[-0.932729,-0.360578,0.000487],[0.020404,-0.051431,0.998468]] 2025-10-27T05:55:24.328Z,1761544524.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:24.330Z,1761544524.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.996016 m, bearing: 23.532895 deg, lat: 36.779382 deg, lon: -121.859742 deg, deltaT: 0.504028 s, deltaX: 0.000099 m, approachRate: 0.000197 m/s, posRepo size: 4 2025-10-27T05:55:24.331Z,1761544524.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T05:55:24.501Z,1761544524.501 [DAT](INFO): DAT read: Rx Time:05:55:23.2125 2025-10-27T05:55:24.501Z,1761544524.501 [DAT](INFO): Rx dataTimestamp_ set to:1761544524.500853 2025-10-27T05:55:24.502Z,1761544524.502 [DAT](INFO): DAT read: Bearing 195.1, 40.1 (Local) 2025-10-27T05:55:24.503Z,1761544524.503 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 40.1 (Local) 2025-10-27T05:55:24.505Z,1761544524.505 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 2025-10-27T05:55:24.510Z,1761544524.510 [DAT](INFO): DAT read: 05:55:23.2125 LVL= 23984, 18001, 32754, 32755, AGC= 50, IDX= 507, 0.34,-2.241,-1.745, 2.763,-1.999, PHS=-0.140, 0.298,-1.566, RAW= 17.0, 16.4, CAL= 16.0, 19.9, ROT= 134.0, -19.9 2025-10-27T05:55:24.511Z,1761544524.511 [DAT](INFO): got valid direction response: 05:55:23.2125 LVL= 23984, 18001, 32754, 32755, AGC= 50, IDX= 507, 0.34,-2.241,-1.745, 2.763,-1.999, PHS=-0.140, 0.298,-1.566, RAW= 17.0, 16.4, CAL= 16.0, 19.9, ROT= 134.0, -19.9 2025-10-27T05:55:24.511Z,1761544524.511 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:24.512Z,1761544524.512 [DAT](INFO): direction in FSK: [-0.653179,0.676387,0.340380] 2025-10-27T05:55:24.512Z,1761544524.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:24.520Z,1761544524.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:24.520Z,1761544524.520 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:24.678Z,1761544524.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357029,0.932453,0.055331],[-0.933858,-0.357643,0.001282],[0.020984,-0.051214,0.998467]] 2025-10-27T05:55:24.754Z,1761544524.754 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:24.792Z,1761544524.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504061 s, deltaX: 0.100000 m, approachRate: 0.198389 m/s, rangeRepo size: 4 2025-10-27T05:55:24.795Z,1761544524.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.095371 m, bearing: 22.658613 deg, lat: 36.779382 deg, lon: -121.859743 deg, deltaT: 0.504061 s, deltaX: 0.099356 m, approachRate: 0.197110 m/s, posRepo size: 4 2025-10-27T05:55:24.800Z,1761544524.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m. 2025-10-27T05:55:25.005Z,1761544525.005 [DAT](INFO): DAT read: Rx Time:05:55:23.7125 2025-10-27T05:55:25.005Z,1761544525.005 [DAT](INFO): Rx dataTimestamp_ set to:1761544525.004721 2025-10-27T05:55:25.006Z,1761544525.006 [DAT](INFO): DAT read: Bearing 195.1, 40.3 (Local) 2025-10-27T05:55:25.007Z,1761544525.007 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 40.3 (Local) 2025-10-27T05:55:25.018Z,1761544525.018 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 2025-10-27T05:55:25.041Z,1761544525.041 [DAT](INFO): DAT read: 05:55:23.7125 LVL= 21712, 17313, 30754, 32755, AGC= 50, IDX= 507, 0.07, 2.390, 2.874, 1.098, 2.630, PHS=-0.137, 0.290,-1.576, RAW= 17.4, 16.6, CAL= 16.3, 20.0, ROT= 133.7, -20.0 2025-10-27T05:55:25.042Z,1761544525.042 [DAT](INFO): got valid direction response: 05:55:23.7125 LVL= 21712, 17313, 30754, 32755, AGC= 50, IDX= 507, 0.07, 2.390, 2.874, 1.098, 2.630, PHS=-0.137, 0.290,-1.576, RAW= 17.4, 16.6, CAL= 16.3, 20.0, ROT= 133.7, -20.0 2025-10-27T05:55:25.042Z,1761544525.042 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:25.063Z,1761544525.063 [DAT](INFO): direction in FSK: [-0.649217,0.679367,0.342020] 2025-10-27T05:55:25.064Z,1761544525.064 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:25.087Z,1761544525.087 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:25.088Z,1761544525.088 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:25.102Z,1761544525.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354629,0.933350,0.055637],[-0.934752,-0.355294,0.002227],[0.021846,-0.051217,0.998449]] 2025-10-27T05:55:25.184Z,1761544525.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503868 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:25.186Z,1761544525.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.095255 m, bearing: 22.519317 deg, lat: 36.779383 deg, lon: -121.859743 deg, deltaT: 0.503868 s, deltaX: -0.000116 m, approachRate: -0.000231 m/s, posRepo size: 4 2025-10-27T05:55:25.186Z,1761544525.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m. 2025-10-27T05:55:25.257Z,1761544525.257 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:25.486Z,1761544525.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352366,0.934162,0.056384],[-0.935584,-0.353090,0.003106],[0.022810,-0.051658,0.998404]] 2025-10-27T05:55:25.509Z,1761544525.509 [DAT](INFO): DAT read: Rx Time:05:55:24.2127 2025-10-27T05:55:25.509Z,1761544525.509 [DAT](INFO): Rx dataTimestamp_ set to:1761544525.508848 2025-10-27T05:55:25.510Z,1761544525.510 [DAT](INFO): DAT read: Bearing 194.9, 40.0 (Local) 2025-10-27T05:55:25.511Z,1761544525.511 [DAT](INFO): Local bearing/azimuth received: Bearing 194.9, 40.0 (Local) 2025-10-27T05:55:25.513Z,1761544525.513 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 2025-10-27T05:55:25.518Z,1761544525.518 [DAT](INFO): DAT read: 05:55:24.2127 LVL= 21552, 17857, 31666, 32755, AGC= 49, IDX= 509,-0.13, 2.663,-3.135, 1.384, 2.914, PHS=-0.149, 0.280,-1.574, RAW= 17.2, 16.9, CAL= 16.2, 20.4, ROT= 133.8, -20.4 2025-10-27T05:55:25.519Z,1761544525.519 [DAT](INFO): got valid direction response: 05:55:24.2127 LVL= 21552, 17857, 31666, 32755, AGC= 49, IDX= 509,-0.13, 2.663,-3.135, 1.384, 2.914, PHS=-0.149, 0.280,-1.574, RAW= 17.2, 16.9, CAL= 16.2, 20.4, ROT= 133.8, -20.4 2025-10-27T05:55:25.520Z,1761544525.520 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:25.521Z,1761544525.521 [DAT](INFO): direction in FSK: [-0.648733,0.676493,0.348572] 2025-10-27T05:55:25.521Z,1761544525.521 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:25.537Z,1761544525.537 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:25.537Z,1761544525.537 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:25.541Z,1761544525.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504127 s, deltaX: 0.299999 m, approachRate: 0.595087 m/s, rangeRepo size: 4 2025-10-27T05:55:25.568Z,1761544525.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.393314 m, bearing: 22.753690 deg, lat: 36.779384 deg, lon: -121.859744 deg, deltaT: 0.504127 s, deltaX: 0.298059 m, approachRate: 0.591239 m/s, posRepo size: 4 2025-10-27T05:55:25.569Z,1761544525.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T05:55:25.762Z,1761544525.762 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:25.909Z,1761544525.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350155,0.934938,0.057290],[-0.936391,-0.350937,0.003879],[0.023732,-0.052287,0.998350]] 2025-10-27T05:55:25.962Z,1761544525.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T05:55:26.013Z,1761544526.013 [DAT](INFO): DAT read: Rx Time:05:55:24.7127 2025-10-27T05:55:26.014Z,1761544526.014 [DAT](INFO): Rx dataTimestamp_ set to:1761544526.013492 2025-10-27T05:55:26.021Z,1761544526.021 [DAT](INFO): DAT read: Bearing 194.8, 40.2 (Local) 2025-10-27T05:55:26.022Z,1761544526.022 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 40.2 (Local) 2025-10-27T05:55:26.026Z,1761544526.026 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 2025-10-27T05:55:26.032Z,1761544526.032 [DAT](INFO): DAT read: 05:55:24.7127 LVL= 21568, 18657, 30130, 32755, AGC= 49, IDX= 509,-0.40, 1.602, 2.077, 0.311, 1.851, PHS=-0.146, 0.271,-1.583, RAW= 17.6, 17.0, CAL= 16.5, 20.6, ROT= 133.5, -20.6 2025-10-27T05:55:26.033Z,1761544526.033 [DAT](INFO): got valid direction response: 05:55:24.7127 LVL= 21568, 18657, 30130, 32755, AGC= 49, IDX= 509,-0.40, 1.602, 2.077, 0.311, 1.851, PHS=-0.146, 0.271,-1.583, RAW= 17.6, 17.0, CAL= 16.5, 20.6, ROT= 133.5, -20.6 2025-10-27T05:55:26.034Z,1761544526.034 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:26.039Z,1761544526.039 [DAT](INFO): direction in FSK: [-0.644341,0.678994,0.351842] 2025-10-27T05:55:26.040Z,1761544526.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:26.045Z,1761544526.045 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:26.046Z,1761544526.046 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:26.265Z,1761544526.265 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:26.301Z,1761544526.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348514,0.935512,0.057929],[-0.936975,-0.349362,0.004891],[0.024814,-0.052573,0.998309]] 2025-10-27T05:55:26.342Z,1761544526.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504644 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:26.352Z,1761544526.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.393417 m, bearing: 22.703467 deg, lat: 36.779383 deg, lon: -121.859745 deg, deltaT: 0.504644 s, deltaX: 0.000103 m, approachRate: 0.000204 m/s, posRepo size: 4 2025-10-27T05:55:26.354Z,1761544526.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T05:55:26.516Z,1761544526.516 [DAT](INFO): DAT read: Rx Time:05:55:25.2127 2025-10-27T05:55:26.517Z,1761544526.517 [DAT](INFO): Rx dataTimestamp_ set to:1761544526.516669 2025-10-27T05:55:26.518Z,1761544526.518 [DAT](INFO): DAT read: Bearing 195.1, 40.9 (Local) 2025-10-27T05:55:26.519Z,1761544526.519 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 40.9 (Local) 2025-10-27T05:55:26.521Z,1761544526.521 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 2025-10-27T05:55:26.525Z,1761544526.525 [DAT](INFO): DAT read: 05:55:25.2127 LVL= 21664, 18577, 31986, 32755, AGC= 48, IDX= 509, 0.29,-2.761,-2.314, 2.204,-2.538, PHS=-0.122, 0.268,-1.586, RAW= 18.5, 16.7, CAL= 17.3, 20.2, ROT= 132.7, -20.2 2025-10-27T05:55:26.526Z,1761544526.526 [DAT](INFO): got valid direction response: 05:55:25.2127 LVL= 21664, 18577, 31986, 32755, AGC= 48, IDX= 509, 0.29,-2.761,-2.314, 2.204,-2.538, PHS=-0.122, 0.268,-1.586, RAW= 18.5, 16.7, CAL= 17.3, 20.2, ROT= 132.7, -20.2 2025-10-27T05:55:26.527Z,1761544526.527 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:26.528Z,1761544526.528 [DAT](INFO): direction in FSK: [-0.636448,0.689712,0.345298] 2025-10-27T05:55:26.528Z,1761544526.528 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:26.553Z,1761544526.553 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:26.553Z,1761544526.553 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:26.700Z,1761544526.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346732,0.936139,0.058480],[-0.937606,-0.347649,0.005976],[0.025925,-0.052759,0.998271]] 2025-10-27T05:55:26.741Z,1761544526.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503177 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:26.744Z,1761544526.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.393417 m, bearing: 22.046631 deg, lat: 36.779384 deg, lon: -121.859746 deg, deltaT: 0.503177 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:26.744Z,1761544526.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T05:55:26.772Z,1761544526.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:27.023Z,1761544527.023 [DAT](INFO): DAT read: Rx Time:05:55:25.7127 2025-10-27T05:55:27.024Z,1761544527.024 [DAT](INFO): Rx dataTimestamp_ set to:1761544527.023624 2025-10-27T05:55:27.025Z,1761544527.025 [DAT](INFO): DAT read: Bearing 195.1, 41.1 (Local) 2025-10-27T05:55:27.025Z,1761544527.025 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 41.1 (Local) 2025-10-27T05:55:27.028Z,1761544527.028 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 2025-10-27T05:55:27.034Z,1761544527.034 [DAT](INFO): DAT read: 05:55:25.7127 LVL= 18544, 16417, 27682, 30355, AGC= 48, IDX= 509, 0.12, 2.566, 3.003, 1.238, 2.786, PHS=-0.117, 0.263,-1.592, RAW= 18.8, 16.8, CAL= 17.6, 20.2, ROT= 132.4, -20.2 2025-10-27T05:55:27.036Z,1761544527.036 [DAT](INFO): got valid direction response: 05:55:25.7127 LVL= 18544, 16417, 27682, 30355, AGC= 48, IDX= 509, 0.12, 2.566, 3.003, 1.238, 2.786, PHS=-0.117, 0.263,-1.592, RAW= 18.8, 16.8, CAL= 17.6, 20.2, ROT= 132.4, -20.2 2025-10-27T05:55:27.036Z,1761544527.036 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:27.038Z,1761544527.038 [DAT](INFO): direction in FSK: [-0.632828,0.693035,0.345298] 2025-10-27T05:55:27.038Z,1761544527.038 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:27.054Z,1761544527.054 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:27.055Z,1761544527.055 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:27.110Z,1761544527.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345355,0.936642,0.058584],[-0.938082,-0.346337,0.007217],[0.027050,-0.052464,0.998256]] 2025-10-27T05:55:27.205Z,1761544527.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.506955 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:27.207Z,1761544527.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.393366 m, bearing: 21.854294 deg, lat: 36.779383 deg, lon: -121.859746 deg, deltaT: 0.506955 s, deltaX: -0.000051 m, approachRate: -0.000102 m/s, posRepo size: 4 2025-10-27T05:55:27.211Z,1761544527.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T05:55:27.272Z,1761544527.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:27.506Z,1761544527.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343789,0.937194,0.058962],[-0.938624,-0.344840,0.008362],[0.028170,-0.052468,0.998225]] 2025-10-27T05:55:27.525Z,1761544527.525 [DAT](INFO): DAT read: Rx Time:05:55:26.2129 2025-10-27T05:55:27.525Z,1761544527.525 [DAT](INFO): Rx dataTimestamp_ set to:1761544527.524794 2025-10-27T05:55:27.526Z,1761544527.526 [DAT](INFO): DAT read: Bearing 195.0, 40.5 (Local) 2025-10-27T05:55:27.527Z,1761544527.527 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 40.5 (Local) 2025-10-27T05:55:27.529Z,1761544527.529 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2 2025-10-27T05:55:27.542Z,1761544527.542 [DAT](INFO): DAT read: 05:55:26.2129 LVL= 20464, 17649, 28706, 32755, AGC= 48, IDX= 511,-0.02, 2.507, 2.958, 1.198, 2.744, PHS=-0.135, 0.259,-1.591, RAW= 18.3, 17.1, CAL= 17.1, 20.6, ROT= 132.9, -20.6 2025-10-27T05:55:27.543Z,1761544527.543 [DAT](INFO): got valid direction response: 05:55:26.2129 LVL= 20464, 17649, 28706, 32755, AGC= 48, IDX= 511,-0.02, 2.507, 2.958, 1.198, 2.744, PHS=-0.135, 0.259,-1.591, RAW= 18.3, 17.1, CAL= 17.1, 20.6, ROT= 132.9, -20.6 2025-10-27T05:55:27.543Z,1761544527.543 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:27.544Z,1761544527.544 [DAT](INFO): direction in FSK: [-0.637195,0.685704,0.351842] 2025-10-27T05:55:27.544Z,1761544527.544 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:27.553Z,1761544527.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.501170 s, deltaX: 0.299999 m, approachRate: 0.598598 m/s, rangeRepo size: 4 2025-10-27T05:55:27.554Z,1761544527.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T05:55:27.572Z,1761544527.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:27.572Z,1761544527.572 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:27.781Z,1761544527.781 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:27.914Z,1761544527.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342352,0.937689,0.059451],[-0.939117,-0.343469,0.009388],[0.029222,-0.052617,0.998187]] 2025-10-27T05:55:27.963Z,1761544527.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T05:55:28.029Z,1761544528.029 [DAT](INFO): DAT read: Rx Time:05:55:26.7129 2025-10-27T05:55:28.029Z,1761544528.029 [DAT](INFO): Rx dataTimestamp_ set to:1761544528.029072 2025-10-27T05:55:28.032Z,1761544528.032 [DAT](INFO): DAT read: Bearing 195.1, 40.6 (Local) 2025-10-27T05:55:28.033Z,1761544528.033 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 40.6 (Local) 2025-10-27T05:55:28.036Z,1761544528.036 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2 2025-10-27T05:55:28.052Z,1761544528.052 [DAT](INFO): DAT read: 05:55:26.7129 LVL= 18352, 16673, 28706, 31395, AGC= 48, IDX= 511,-0.15, 0.912, 1.358,-0.406, 1.148, PHS=-0.133, 0.255,-1.598, RAW= 18.5, 17.1, CAL= 17.3, 20.7, ROT= 132.7, -20.7 2025-10-27T05:55:28.053Z,1761544528.053 [DAT](INFO): got valid direction response: 05:55:26.7129 LVL= 18352, 16673, 28706, 31395, AGC= 48, IDX= 511,-0.15, 0.912, 1.358,-0.406, 1.148, PHS=-0.133, 0.255,-1.598, RAW= 18.5, 17.1, CAL= 17.3, 20.7, ROT= 132.7, -20.7 2025-10-27T05:55:28.054Z,1761544528.054 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:28.059Z,1761544528.059 [DAT](INFO): direction in FSK: [-0.634380,0.687471,0.353475] 2025-10-27T05:55:28.060Z,1761544528.060 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:28.071Z,1761544528.071 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:28.072Z,1761544528.072 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T05:55:28.281Z,1761544528.281 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:55:28.316Z,1761544528.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340884,0.938192,0.059951],[-0.939619,-0.342064,0.010362],[0.030229,-0.052799,0.998148]] 2025-10-27T05:55:28.379Z,1761544528.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504278 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:28.381Z,1761544528.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.691313 m, bearing: 22.448361 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 1.005448 s, deltaX: 0.297947 m, approachRate: 0.296333 m/s, posRepo size: 4 2025-10-27T05:55:28.381Z,1761544528.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m. 2025-10-27T05:55:28.532Z,1761544528.532 [DAT](INFO): DAT read: user:598> 2025-10-27T05:55:28.533Z,1761544528.533 [DAT](INFO): DAT read: user:598> 2025-10-27T05:55:28.534Z,1761544528.534 [DAT](INFO): DAT read: Tx time:05:55:27.6210 2025-10-27T05:55:28.534Z,1761544528.534 [DAT](INFO): Ping request sent. 2025-10-27T05:55:28.534Z,1761544528.534 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:55:28.534Z,1761544528.534 [DAT](INFO): publishing transmit ping time 2025-10-27T05:55:28.535Z,1761544528.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000863 2025-10-27T05:55:28.725Z,1761544528.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339280,0.938748,0.060349],[-0.940172,-0.340516,0.011220],[0.031082,-0.052932,0.998114]] 2025-10-27T05:55:28.748Z,1761544528.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m. 2025-10-27T05:55:28.787Z,1761544528.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252152 2025-10-27T05:55:29.036Z,1761544529.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501637 2025-10-27T05:55:29.121Z,1761544529.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337405,0.939399,0.060718],[-0.940818,-0.338696,0.012088],[0.031921,-0.053046,0.998082]] 2025-10-27T05:55:29.166Z,1761544529.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m. 2025-10-27T05:55:29.289Z,1761544529.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754637 2025-10-27T05:55:29.526Z,1761544529.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335048,0.940212,0.061199],[-0.941639,-0.336384,0.012716],[0.032542,-0.053367,0.998045]] 2025-10-27T05:55:29.540Z,1761544529.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005761 2025-10-27T05:55:29.546Z,1761544529.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m. 2025-10-27T05:55:29.795Z,1761544529.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259953 2025-10-27T05:55:29.983Z,1761544529.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m. 2025-10-27T05:55:30.044Z,1761544530.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509987 2025-10-27T05:55:30.296Z,1761544530.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761796 2025-10-27T05:55:30.346Z,1761544530.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329478,0.942182,0.061134],[-0.943569,-0.330876,0.014062],[0.033477,-0.053051,0.998030]] 2025-10-27T05:55:30.367Z,1761544530.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m. 2025-10-27T05:55:30.548Z,1761544530.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013747 2025-10-27T05:55:30.771Z,1761544530.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326569,0.943187,0.061245],[-0.944565,-0.327998,0.014663],[0.033918,-0.053061,0.998015]] 2025-10-27T05:55:30.801Z,1761544530.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266589 2025-10-27T05:55:30.816Z,1761544530.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m. 2025-10-27T05:55:31.052Z,1761544531.052 [DAT](INFO): DAT read: Rx Time:05:55:29.7741 2025-10-27T05:55:31.053Z,1761544531.053 [DAT](INFO): Rx dataTimestamp_ set to:1761544531.052669 2025-10-27T05:55:31.054Z,1761544531.054 [DAT](INFO): DAT read: Bearing 195.8, 40.2 (Local) 2025-10-27T05:55:31.055Z,1761544531.055 [DAT](INFO): Local bearing/azimuth received: Bearing 195.8, 40.2 (Local) 2025-10-27T05:55:31.061Z,1761544531.061 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2 2025-10-27T05:55:31.065Z,1761544531.065 [DAT](INFO): DAT read: 05:55:29.7741 LVL= 21648, 17841, 29010, 32755, AGC= 53, IDX= 337,-0.45,-2.170,-1.725, 2.795,-1.933, PHS=-0.135, 0.253,-1.599, RAW= 18.5, 17.2, CAL= 17.3, 20.7, ROT= 132.7, -20.7 2025-10-27T05:55:31.067Z,1761544531.067 [DAT](INFO): got valid direction response: 05:55:29.7741 LVL= 21648, 17841, 29010, 32755, AGC= 53, IDX= 337,-0.45,-2.170,-1.725, 2.795,-1.933, PHS=-0.135, 0.253,-1.599, RAW= 18.5, 17.2, CAL= 17.3, 20.7, ROT= 132.7, -20.7 2025-10-27T05:55:31.067Z,1761544531.067 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:55:31.068Z,1761544531.068 [DAT](INFO): direction in FSK: [-0.634380,0.687471,0.353475] 2025-10-27T05:55:31.068Z,1761544531.068 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:31.072Z,1761544531.072 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.537879 2025-10-27T05:55:31.166Z,1761544531.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323246,0.944303,0.061673],[-0.945701,-0.324697,0.014881],[0.034077,-0.053515,0.997985]] 2025-10-27T05:55:31.215Z,1761544531.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 3.023597 s, deltaX: 1.200001 m, approachRate: 0.396879 m/s, rangeRepo size: 4 2025-10-27T05:55:31.217Z,1761544531.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.883289 m, bearing: 23.558308 deg, lat: 36.779384 deg, lon: -121.859748 deg, deltaT: 3.023597 s, deltaX: 1.191977 m, approachRate: 0.394225 m/s, posRepo size: 4 2025-10-27T05:55:31.218Z,1761544531.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m. 2025-10-27T05:55:31.305Z,1761544531.305 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770152 2025-10-27T05:55:31.556Z,1761544531.556 [DAT](INFO): DAT read: Rx Time:05:55:30.2741 2025-10-27T05:55:31.557Z,1761544531.557 [DAT](INFO): Rx dataTimestamp_ set to:1761544531.556681 2025-10-27T05:55:31.558Z,1761544531.558 [DAT](INFO): DAT read: Bearing 203.1, 42.2 (Local) 2025-10-27T05:55:31.559Z,1761544531.559 [DAT](INFO): Local bearing/azimuth received: Bearing 203.1, 42.2 (Local) 2025-10-27T05:55:31.561Z,1761544531.561 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2 2025-10-27T05:55:31.565Z,1761544531.565 [DAT](INFO): DAT read: 05:55:30.2741 LVL= 18848, 16881, 28322, 32755, AGC= 52, IDX= 513, 0.08,-1.565,-1.086,-2.937,-1.445, PHS=-0.019, 0.404,-1.536, RAW= 18.0, 13.0, CAL= 17.3, 15.0, ROT= 132.7, -15.0 2025-10-27T05:55:31.566Z,1761544531.566 [DAT](INFO): got valid direction response: 05:55:30.2741 LVL= 18848, 16881, 28322, 32755, AGC= 52, IDX= 513, 0.08,-1.565,-1.086,-2.937,-1.445, PHS=-0.019, 0.404,-1.536, RAW= 18.0, 13.0, CAL= 17.3, 15.0, ROT= 132.7, -15.0 2025-10-27T05:55:31.567Z,1761544531.567 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:55:31.568Z,1761544531.568 [DAT](INFO): direction in FSK: [-0.655052,0.709873,0.258819] 2025-10-27T05:55:31.569Z,1761544531.569 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:31.572Z,1761544531.572 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037947 2025-10-27T05:55:31.636Z,1761544531.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319673,0.945490,0.062113],[-0.946908,-0.321149,0.015161],[0.034282,-0.053969,0.997954]] 2025-10-27T05:55:31.701Z,1761544531.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:31.708Z,1761544531.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.883289 m, bearing: 23.840120 deg, lat: 36.779384 deg, lon: -121.859747 deg, deltaT: 0.504012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:31.709Z,1761544531.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m. 2025-10-27T05:55:31.809Z,1761544531.809 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275010 2025-10-27T05:55:31.993Z,1761544531.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315753,0.946788,0.062397],[-0.948220,-0.317243,0.015357],[0.034335,-0.054317,0.997933]] 2025-10-27T05:55:32.030Z,1761544532.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m. 2025-10-27T05:55:32.061Z,1761544532.061 [DAT](INFO): DAT read: Rx Time:05:55:30.7741 2025-10-27T05:55:32.061Z,1761544532.061 [DAT](INFO): Rx dataTimestamp_ set to:1761544532.060701 2025-10-27T05:55:32.062Z,1761544532.062 [DAT](INFO): DAT read: Bearing 206.4, 32.3 (Local) 2025-10-27T05:55:32.063Z,1761544532.063 [DAT](INFO): Local bearing/azimuth received: Bearing 206.4, 32.3 (Local) 2025-10-27T05:55:32.065Z,1761544532.065 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.2 2025-10-27T05:55:32.074Z,1761544532.074 [DAT](INFO): DAT read: 05:55:30.7741 LVL= 19072, 17601, 28850, 32755, AGC= 51, IDX= 513,-0.19, 2.963,-2.330, 1.697,-2.934, PHS=-0.284, 0.649,-1.696, RAW= 6.7, 13.0, CAL= 6.8, 15.5, ROT= 143.2, -15.5 2025-10-27T05:55:32.076Z,1761544532.076 [DAT](INFO): got valid direction response: 05:55:30.7741 LVL= 19072, 17601, 28850, 32755, AGC= 51, IDX= 513,-0.19, 2.963,-2.330, 1.697,-2.934, PHS=-0.284, 0.649,-1.696, RAW= 6.7, 13.0, CAL= 6.8, 15.5, ROT= 143.2, -15.5 2025-10-27T05:55:32.076Z,1761544532.076 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T05:55:32.077Z,1761544532.077 [DAT](INFO): direction in FSK: [-0.771609,0.577237,0.267238] 2025-10-27T05:55:32.077Z,1761544532.077 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:32.081Z,1761544532.081 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.546588 2025-10-27T05:55:32.312Z,1761544532.312 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777777 2025-10-27T05:55:32.395Z,1761544532.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311662,0.948132,0.062554],[-0.949576,-0.313157,0.015453],[0.034241,-0.054583,0.997922]] 2025-10-27T05:55:32.493Z,1761544532.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504020 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:32.500Z,1761544532.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.883467 m, bearing: 34.652142 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.504020 s, deltaX: 0.000177 m, approachRate: 0.000352 m/s, posRepo size: 4 2025-10-27T05:55:32.500Z,1761544532.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.88 m. 2025-10-27T05:55:32.566Z,1761544532.566 [DAT](INFO): DAT read: Rx Time:05:55:31.2742 2025-10-27T05:55:32.566Z,1761544532.566 [DAT](INFO): Rx dataTimestamp_ set to:1761544532.565869 2025-10-27T05:55:32.568Z,1761544532.568 [DAT](INFO): DAT read: Bearing 196.4, 40.3 (Local) 2025-10-27T05:55:32.569Z,1761544532.569 [DAT](INFO): Local bearing/azimuth received: Bearing 196.4, 40.3 (Local) 2025-10-27T05:55:32.572Z,1761544532.572 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 2025-10-27T05:55:32.578Z,1761544532.578 [DAT](INFO): DAT read: 05:55:31.2742 LVL= 11760, 10129, 15570, 17139, AGC= 54, IDX= 2, 0.35, 1.426, 1.860, 0.108, 1.659, PHS=-0.131, 0.246,-1.595, RAW= 18.8, 17.3, CAL= 17.6, 20.8, ROT= 132.4, -20.8 2025-10-27T05:55:32.580Z,1761544532.580 [DAT](INFO): got valid direction response: 05:55:31.2742 LVL= 11760, 10129, 15570, 17139, AGC= 54, IDX= 2, 0.35, 1.426, 1.860, 0.108, 1.659, PHS=-0.131, 0.246,-1.595, RAW= 18.8, 17.3, CAL= 17.6, 20.8, ROT= 132.4, -20.8 2025-10-27T05:55:32.581Z,1761544532.581 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T05:55:32.582Z,1761544532.582 [DAT](INFO): direction in FSK: [-0.630355,0.690327,0.355107] 2025-10-27T05:55:32.583Z,1761544532.583 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:32.593Z,1761544532.593 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.058719 2025-10-27T05:55:32.798Z,1761544532.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307469,0.949516,0.062314],[-0.950943,-0.308965,0.015760],[0.034217,-0.054411,0.997932]] 2025-10-27T05:55:32.816Z,1761544532.816 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281622 2025-10-27T05:55:32.895Z,1761544532.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.505168 s, deltaX: 0.200001 m, approachRate: 0.395909 m/s, rangeRepo size: 4 2025-10-27T05:55:32.912Z,1761544532.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.082172 m, bearing: 24.206006 deg, lat: 36.779387 deg, lon: -121.859738 deg, deltaT: 0.505168 s, deltaX: 0.198706 m, approachRate: 0.393346 m/s, posRepo size: 4 2025-10-27T05:55:32.914Z,1761544532.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m. 2025-10-27T05:55:33.069Z,1761544533.069 [DAT](INFO): DAT read: Rx Time:05:55:31.7742 2025-10-27T05:55:33.069Z,1761544533.069 [DAT](INFO): Rx dataTimestamp_ set to:1761544533.068847 2025-10-27T05:55:33.070Z,1761544533.070 [DAT](INFO): DAT read: Bearing 196.1, 40.3 (Local) 2025-10-27T05:55:33.071Z,1761544533.071 [DAT](INFO): Local bearing/azimuth received: Bearing 196.1, 40.3 (Local) 2025-10-27T05:55:33.073Z,1761544533.073 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 2025-10-27T05:55:33.078Z,1761544533.078 [DAT](INFO): DAT read: 05:55:31.7742 LVL= 18160, 16881, 28610, 32755, AGC= 50, IDX= 498, 0.04,-0.571,-0.147,-1.885,-0.335, PHS=-0.133, 0.233,-1.594, RAW= 19.1, 17.5, CAL= 17.8, 21.1, ROT= 132.2, -21.1 2025-10-27T05:55:33.079Z,1761544533.079 [DAT](INFO): got valid direction response: 05:55:31.7742 LVL= 18160, 16881, 28610, 32755, AGC= 50, IDX= 498, 0.04,-0.571,-0.147,-1.885,-0.335, PHS=-0.133, 0.233,-1.594, RAW= 19.1, 17.5, CAL= 17.8, 21.1, ROT= 132.2, -21.1 2025-10-27T05:55:33.079Z,1761544533.079 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T05:55:33.080Z,1761544533.080 [DAT](INFO): direction in FSK: [-0.626684,0.691136,0.359997] 2025-10-27T05:55:33.080Z,1761544533.080 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:33.089Z,1761544533.089 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.555018 2025-10-27T05:55:33.320Z,1761544533.320 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785567 2025-10-27T05:55:33.354Z,1761544533.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.502978 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:33.360Z,1761544533.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.082762 m, bearing: 24.006644 deg, lat: 36.779387 deg, lon: -121.859738 deg, deltaT: 0.502978 s, deltaX: 0.000589 m, approachRate: 0.001172 m/s, posRepo size: 4 2025-10-27T05:55:33.361Z,1761544533.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m. 2025-10-27T05:55:33.573Z,1761544533.573 [DAT](INFO): DAT read: Rx Time:05:55:32.2743 2025-10-27T05:55:33.573Z,1761544533.573 [DAT](INFO): Rx dataTimestamp_ set to:1761544533.572720 2025-10-27T05:55:33.574Z,1761544533.574 [DAT](INFO): DAT read: Bearing 195.5, 40.5 (Local) 2025-10-27T05:55:33.575Z,1761544533.575 [DAT](INFO): Local bearing/azimuth received: Bearing 195.5, 40.5 (Local) 2025-10-27T05:55:33.577Z,1761544533.577 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1 2025-10-27T05:55:33.586Z,1761544533.586 [DAT](INFO): DAT read: 05:55:32.2743 LVL= 18000, 16113, 26034, 31475, AGC= 52, IDX= 499,-0.25,-2.646,-2.240, 2.306,-2.404, PHS=-0.140, 0.209,-1.617, RAW= 19.6, 18.1, CAL= 18.3, 21.7, ROT= 131.7, -21.7 2025-10-27T05:55:33.588Z,1761544533.588 [DAT](INFO): got valid direction response: 05:55:32.2743 LVL= 18000, 16113, 26034, 31475, AGC= 52, IDX= 499,-0.25,-2.646,-2.240, 2.306,-2.404, PHS=-0.140, 0.209,-1.617, RAW= 19.6, 18.1, CAL= 18.3, 21.7, ROT= 131.7, -21.7 2025-10-27T05:55:33.588Z,1761544533.588 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T05:55:33.589Z,1761544533.589 [DAT](INFO): direction in FSK: [-0.618087,0.693726,0.369747] 2025-10-27T05:55:33.589Z,1761544533.589 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:33.593Z,1761544533.593 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.058793 2025-10-27T05:55:33.694Z,1761544533.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293908,0.953886,0.060996],[-0.955249,-0.295361,0.016156],[0.033427,-0.053518,0.998007]] 2025-10-27T05:55:33.776Z,1761544533.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503873 s, deltaX: 0.099998 m, approachRate: 0.198460 m/s, rangeRepo size: 4 2025-10-27T05:55:33.783Z,1761544533.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.182116 m, bearing: 24.328053 deg, lat: 36.779386 deg, lon: -121.859738 deg, deltaT: 0.503873 s, deltaX: 0.099354 m, approachRate: 0.197180 m/s, posRepo size: 4 2025-10-27T05:55:33.784Z,1761544533.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m. 2025-10-27T05:55:33.824Z,1761544533.824 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289888 2025-10-27T05:55:34.078Z,1761544534.078 [DAT](INFO): DAT read: Rx Time:05:55:32.7742 2025-10-27T05:55:34.078Z,1761544534.078 [DAT](INFO): Rx dataTimestamp_ set to:1761544534.077734 2025-10-27T05:55:34.079Z,1761544534.079 [DAT](INFO): DAT read: Bearing 195.9, 41.0 (Local) 2025-10-27T05:55:34.080Z,1761544534.080 [DAT](INFO): Local bearing/azimuth received: Bearing 195.9, 41.0 (Local) 2025-10-27T05:55:34.082Z,1761544534.082 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 2025-10-27T05:55:34.087Z,1761544534.087 [DAT](INFO): DAT read: 05:55:32.7742 LVL= 19312, 15937, 26642, 31907, AGC= 52, IDX= 498, 0.22,-2.908,-2.517, 2.024,-2.681, PHS=-0.125, 0.208,-1.622, RAW= 20.2, 17.9, CAL= 18.7, 21.4, ROT= 131.3, -21.4 2025-10-27T05:55:34.108Z,1761544534.108 [DAT](INFO): got valid direction response: 05:55:32.7742 LVL= 19312, 15937, 26642, 31907, AGC= 52, IDX= 498, 0.22,-2.908,-2.517, 2.024,-2.681, PHS=-0.125, 0.208,-1.622, RAW= 20.2, 17.9, CAL= 18.7, 21.4, ROT= 131.3, -21.4 2025-10-27T05:55:34.108Z,1761544534.108 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T05:55:34.109Z,1761544534.109 [DAT](INFO): direction in FSK: [-0.614498,0.699469,0.364877] 2025-10-27T05:55:34.110Z,1761544534.110 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:34.113Z,1761544534.113 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.579081 2025-10-27T05:55:34.220Z,1761544534.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.505014 s, deltaX: -0.099998 m, approachRate: -0.198011 m/s, rangeRepo size: 4 2025-10-27T05:55:34.222Z,1761544534.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.082684 m, bearing: 23.940402 deg, lat: 36.779386 deg, lon: -121.859738 deg, deltaT: 0.505014 s, deltaX: -0.099432 m, approachRate: -0.196890 m/s, posRepo size: 4 2025-10-27T05:55:34.227Z,1761544534.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m. 2025-10-27T05:55:34.329Z,1761544534.329 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794241 2025-10-27T05:55:34.483Z,1761544534.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286742,0.956057,0.061108],[-0.957431,-0.288199,0.016350],[0.033243,-0.053818,0.997997]] 2025-10-27T05:55:34.507Z,1761544534.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m. 2025-10-27T05:55:34.581Z,1761544534.581 [DAT](INFO): DAT read: Rx Time:05:55:33.2744 2025-10-27T05:55:34.581Z,1761544534.581 [DAT](INFO): Rx dataTimestamp_ set to:1761544534.580803 2025-10-27T05:55:34.585Z,1761544534.585 [DAT](INFO): DAT read: Bearing 195.2, 40.4 (Local) 2025-10-27T05:55:34.585Z,1761544534.585 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 40.4 (Local) 2025-10-27T05:55:34.588Z,1761544534.588 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1 2025-10-27T05:55:34.594Z,1761544534.594 [DAT](INFO): DAT read: 05:55:33.2744 LVL= 18016, 14513, 23378, 28131, AGC= 51, IDX= 500,-0.15, 2.250, 2.646, 0.917, 2.502, PHS=-0.151, 0.189,-1.629, RAW= 19.9, 18.6, CAL= 18.5, 22.2, ROT= 131.5, -22.2 2025-10-27T05:55:34.596Z,1761544534.596 [DAT](INFO): got valid direction response: 05:55:33.2744 LVL= 18016, 14513, 23378, 28131, AGC= 51, IDX= 500,-0.15, 2.250, 2.646, 0.917, 2.502, PHS=-0.151, 0.189,-1.629, RAW= 19.9, 18.6, CAL= 18.5, 22.2, ROT= 131.5, -22.2 2025-10-27T05:55:34.596Z,1761544534.596 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T05:55:34.597Z,1761544534.597 [DAT](INFO): direction in FSK: [-0.613500,0.693436,0.377841] 2025-10-27T05:55:34.597Z,1761544534.597 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:34.601Z,1761544534.601 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.067026 2025-10-27T05:55:34.832Z,1761544534.832 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297671 2025-10-27T05:55:34.951Z,1761544534.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284049,0.956854,0.061216],[-0.958229,-0.285519,0.016595],[0.033358,-0.053945,0.997987]] 2025-10-27T05:55:35.068Z,1761544535.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503069 s, deltaX: 0.299999 m, approachRate: 0.596338 m/s, rangeRepo size: 4 2025-10-27T05:55:35.070Z,1761544535.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.380749 m, bearing: 24.709911 deg, lat: 36.779386 deg, lon: -121.859738 deg, deltaT: 0.503069 s, deltaX: 0.298065 m, approachRate: 0.592494 m/s, posRepo size: 4 2025-10-27T05:55:35.071Z,1761544535.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T05:55:35.084Z,1761544535.084 [DAT](INFO): DAT read: Rx Time:05:55:33.7743 2025-10-27T05:55:35.085Z,1761544535.085 [DAT](INFO): Rx dataTimestamp_ set to:1761544535.084619 2025-10-27T05:55:35.086Z,1761544535.086 [DAT](INFO): DAT read: Bearing 195.8, 40.8 (Local) 2025-10-27T05:55:35.086Z,1761544535.086 [DAT](INFO): Local bearing/azimuth received: Bearing 195.8, 40.8 (Local) 2025-10-27T05:55:35.089Z,1761544535.089 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1 2025-10-27T05:55:35.097Z,1761544535.097 [DAT](INFO): DAT read: 05:55:33.7743 LVL= 18352, 14609, 24226, 28483, AGC= 51, IDX= 499, 0.24, 2.751, 3.136, 1.410, 2.986, PHS=-0.134, 0.195,-1.621, RAW= 20.2, 18.2, CAL= 18.8, 21.8, ROT= 131.2, -21.8 2025-10-27T05:55:35.098Z,1761544535.098 [DAT](INFO): got valid direction response: 05:55:33.7743 LVL= 18352, 14609, 24226, 28483, AGC= 51, IDX= 499, 0.24, 2.751, 3.136, 1.410, 2.986, PHS=-0.134, 0.195,-1.621, RAW= 20.2, 18.2, CAL= 18.8, 21.8, ROT= 131.2, -21.8 2025-10-27T05:55:35.099Z,1761544535.099 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T05:55:35.100Z,1761544535.100 [DAT](INFO): direction in FSK: [-0.611584,0.698607,0.371368] 2025-10-27T05:55:35.100Z,1761544535.100 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:35.104Z,1761544535.104 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.570025 2025-10-27T05:55:35.333Z,1761544535.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281639,0.957561,0.061286],[-0.958939,-0.283118,0.016772],[0.033411,-0.054046,0.997979]] 2025-10-27T05:55:35.336Z,1761544535.336 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801806 2025-10-27T05:55:35.436Z,1761544535.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503816 s, deltaX: -0.200001 m, approachRate: -0.396972 m/s, rangeRepo size: 4 2025-10-27T05:55:35.453Z,1761544535.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.181759 m, bearing: 24.564796 deg, lat: 36.779385 deg, lon: -121.859737 deg, deltaT: 0.503816 s, deltaX: -0.198990 m, approachRate: -0.394965 m/s, posRepo size: 4 2025-10-27T05:55:35.459Z,1761544535.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m. 2025-10-27T05:55:35.589Z,1761544535.589 [DAT](INFO): DAT read: Rx Time:05:55:34.2744 2025-10-27T05:55:35.589Z,1761544535.589 [DAT](INFO): Rx dataTimestamp_ set to:1761544535.588760 2025-10-27T05:55:35.590Z,1761544535.590 [DAT](INFO): DAT read: Bearing 195.0, 40.2 (Local) 2025-10-27T05:55:35.591Z,1761544535.591 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 40.2 (Local) 2025-10-27T05:55:35.593Z,1761544535.593 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1 2025-10-27T05:55:35.613Z,1761544535.613 [DAT](INFO): DAT read: 05:55:34.2744 LVL= 18672, 14881, 25378, 29875, AGC= 51, IDX= 501,-0.15, 1.716, 2.108, 0.396, 1.979, PHS=-0.161, 0.174,-1.627, RAW= 19.9, 19.0, CAL= 18.5, 22.7, ROT= 131.5, -22.7 2025-10-27T05:55:35.614Z,1761544535.614 [DAT](INFO): got valid direction response: 05:55:34.2744 LVL= 18672, 14881, 25378, 29875, AGC= 51, IDX= 501,-0.15, 1.716, 2.108, 0.396, 1.979, PHS=-0.161, 0.174,-1.627, RAW= 19.9, 19.0, CAL= 18.5, 22.7, ROT= 131.5, -22.7 2025-10-27T05:55:35.614Z,1761544535.614 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T05:55:35.615Z,1761544535.615 [DAT](INFO): direction in FSK: [-0.611292,0.690940,0.385906] 2025-10-27T05:55:35.615Z,1761544535.615 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:35.632Z,1761544535.632 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.098159 2025-10-27T05:55:35.733Z,1761544535.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280006,0.958030,0.061450],[-0.959402,-0.281514,0.017264],[0.033839,-0.054121,0.997961]] 2025-10-27T05:55:35.824Z,1761544535.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504141 s, deltaX: 0.200001 m, approachRate: 0.396716 m/s, rangeRepo size: 4 2025-10-27T05:55:35.826Z,1761544535.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.380468 m, bearing: 24.949768 deg, lat: 36.779385 deg, lon: -121.859736 deg, deltaT: 0.504141 s, deltaX: 0.198709 m, approachRate: 0.394155 m/s, posRepo size: 4 2025-10-27T05:55:35.826Z,1761544535.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T05:55:35.840Z,1761544535.840 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305843 2025-10-27T05:55:36.093Z,1761544536.093 [DAT](INFO): DAT read: Rx Time:05:55:34.7743 2025-10-27T05:55:36.093Z,1761544536.093 [DAT](INFO): Rx dataTimestamp_ set to:1761544536.092730 2025-10-27T05:55:36.094Z,1761544536.094 [DAT](INFO): DAT read: Bearing 195.8, 40.8 (Local) 2025-10-27T05:55:36.095Z,1761544536.095 [DAT](INFO): Local bearing/azimuth received: Bearing 195.8, 40.8 (Local) 2025-10-27T05:55:36.101Z,1761544536.101 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1 2025-10-27T05:55:36.105Z,1761544536.105 [DAT](INFO): DAT read: 05:55:34.7743 LVL= 18384, 15633, 25698, 31635, AGC= 50, IDX= 500, 0.29, 2.110, 2.487, 0.777, 2.349, PHS=-0.137, 0.183,-1.616, RAW= 20.4, 18.5, CAL= 19.0, 22.1, ROT= 131.0, -22.1 2025-10-27T05:55:36.106Z,1761544536.106 [DAT](INFO): got valid direction response: 05:55:34.7743 LVL= 18384, 15633, 25698, 31635, AGC= 50, IDX= 500, 0.29, 2.110, 2.487, 0.777, 2.349, PHS=-0.137, 0.183,-1.616, RAW= 20.4, 18.5, CAL= 19.0, 22.1, ROT= 131.0, -22.1 2025-10-27T05:55:36.107Z,1761544536.107 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T05:55:36.108Z,1761544536.108 [DAT](INFO): direction in FSK: [-0.607857,0.699260,0.376224] 2025-10-27T05:55:36.108Z,1761544536.108 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:36.112Z,1761544536.112 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.577711 2025-10-27T05:55:36.150Z,1761544536.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278511,0.958460,0.061528],[-0.959824,-0.280045,0.017714],[0.034208,-0.054123,0.997948]] 2025-10-27T05:55:36.344Z,1761544536.344 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809920 2025-10-27T05:55:36.360Z,1761544536.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503970 s, deltaX: -0.200001 m, approachRate: -0.396851 m/s, rangeRepo size: 4 2025-10-27T05:55:36.362Z,1761544536.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.182098 m, bearing: 24.562717 deg, lat: 36.779383 deg, lon: -121.859736 deg, deltaT: 0.503970 s, deltaX: -0.198370 m, approachRate: -0.393615 m/s, posRepo size: 4 2025-10-27T05:55:36.363Z,1761544536.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m. 2025-10-27T05:55:36.576Z,1761544536.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277066,0.958867,0.061709],[-0.960221,-0.278638,0.018340],[0.034781,-0.054173,0.997926]] 2025-10-27T05:55:36.597Z,1761544536.597 [DAT](INFO): DAT read: Rx Time:05:55:35.2745 2025-10-27T05:55:36.597Z,1761544536.597 [DAT](INFO): Rx dataTimestamp_ set to:1761544536.596733 2025-10-27T05:55:36.598Z,1761544536.598 [DAT](INFO): DAT read: Bearing 195.0, 40.8 (Local) 2025-10-27T05:55:36.599Z,1761544536.599 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 40.8 (Local) 2025-10-27T05:55:36.601Z,1761544536.601 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-27T05:55:36.605Z,1761544536.605 [DAT](INFO): DAT read: 05:55:35.2745 LVL= 16464, 16705, 26098, 30163, AGC= 49, IDX= 502,-0.07, 1.809, 2.171, 0.476, 2.057, PHS=-0.146, 0.159,-1.625, RAW= 20.8, 19.0, CAL= 19.3, 22.7, ROT= 130.7, -22.7 2025-10-27T05:55:36.606Z,1761544536.606 [DAT](INFO): got valid direction response: 05:55:35.2745 LVL= 16464, 16705, 26098, 30163, AGC= 49, IDX= 502,-0.07, 1.809, 2.171, 0.476, 2.057, PHS=-0.146, 0.159,-1.625, RAW= 20.8, 19.0, CAL= 19.3, 22.7, ROT= 130.7, -22.7 2025-10-27T05:55:36.607Z,1761544536.607 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T05:55:36.608Z,1761544536.608 [DAT](INFO): direction in FSK: [-0.601586,0.699408,0.385906] 2025-10-27T05:55:36.608Z,1761544536.608 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:36.612Z,1761544536.612 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.077650 2025-10-27T05:55:36.644Z,1761544536.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504003 s, deltaX: 0.300001 m, approachRate: 0.595237 m/s, rangeRepo size: 4 2025-10-27T05:55:36.646Z,1761544536.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.480165 m, bearing: 24.357202 deg, lat: 36.779383 deg, lon: -121.859736 deg, deltaT: 0.504003 s, deltaX: 0.298067 m, approachRate: 0.591399 m/s, posRepo size: 4 2025-10-27T05:55:36.651Z,1761544536.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m. 2025-10-27T05:55:36.852Z,1761544536.852 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.318070 2025-10-27T05:55:36.981Z,1761544536.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275662,0.959259,0.061911],[-0.960606,-0.277269,0.018898],[0.035294,-0.054263,0.997903]] 2025-10-27T05:55:37.037Z,1761544537.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m. 2025-10-27T05:55:37.105Z,1761544537.105 [DAT](INFO): DAT read: Rx Time:05:55:35.7745 2025-10-27T05:55:37.106Z,1761544537.106 [DAT](INFO): Rx dataTimestamp_ set to:1761544537.105815 2025-10-27T05:55:37.108Z,1761544537.108 [DAT](INFO): DAT read: Bearing 195.3, 41.5 (Local) 2025-10-27T05:55:37.108Z,1761544537.108 [DAT](INFO): Local bearing/azimuth received: Bearing 195.3, 41.5 (Local) 2025-10-27T05:55:37.111Z,1761544537.111 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-27T05:55:37.118Z,1761544537.118 [DAT](INFO): DAT read: 05:55:35.7745 LVL= 15728, 15473, 24114, 28259, AGC= 49, IDX= 501, 0.50, 1.725, 2.064, 0.373, 1.951, PHS=-0.124, 0.158,-1.622, RAW= 21.5, 18.7, CAL= 19.9, 22.3, ROT= 130.1, -22.3 2025-10-27T05:55:37.122Z,1761544537.122 [DAT](INFO): got valid direction response: 05:55:35.7745 LVL= 15728, 15473, 24114, 28259, AGC= 49, IDX= 501, 0.50, 1.725, 2.064, 0.373, 1.951, PHS=-0.124, 0.158,-1.622, RAW= 21.5, 18.7, CAL= 19.9, 22.3, ROT= 130.1, -22.3 2025-10-27T05:55:37.123Z,1761544537.123 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T05:55:37.124Z,1761544537.124 [DAT](INFO): direction in FSK: [-0.595950,0.707713,0.379456] 2025-10-27T05:55:37.124Z,1761544537.124 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:37.136Z,1761544537.136 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.601854 2025-10-27T05:55:37.356Z,1761544537.356 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821728 2025-10-27T05:55:37.382Z,1761544537.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274567,0.959580,0.061807],[-0.960898,-0.276208,0.019619],[0.035898,-0.054004,0.997895]] 2025-10-27T05:55:37.493Z,1761544537.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.509082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:37.499Z,1761544537.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.480526 m, bearing: 23.942786 deg, lat: 36.779383 deg, lon: -121.859736 deg, deltaT: 0.509082 s, deltaX: 0.000360 m, approachRate: 0.000708 m/s, posRepo size: 4 2025-10-27T05:55:37.499Z,1761544537.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m. 2025-10-27T05:55:37.609Z,1761544537.609 [DAT](INFO): DAT read: Rx Time:05:55:36.2745 2025-10-27T05:55:37.609Z,1761544537.609 [DAT](INFO): Rx dataTimestamp_ set to:1761544537.609165 2025-10-27T05:55:37.611Z,1761544537.611 [DAT](INFO): DAT read: Bearing 195.1, 41.7 (Local) 2025-10-27T05:55:37.611Z,1761544537.611 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 41.7 (Local) 2025-10-27T05:55:37.613Z,1761544537.613 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-27T05:55:37.618Z,1761544537.618 [DAT](INFO): DAT read: 05:55:36.2745 LVL= 15904, 14289, 22562, 25011, AGC= 49, IDX= 502, 0.08, 1.440, 1.763, 0.075, 1.661, PHS=-0.119, 0.147,-1.629, RAW= 22.0, 18.8, CAL= 20.4, 22.4, ROT= 129.6, -22.4 2025-10-27T05:55:37.619Z,1761544537.619 [DAT](INFO): got valid direction response: 05:55:36.2745 LVL= 15904, 14289, 22562, 25011, AGC= 49, IDX= 502, 0.08, 1.440, 1.763, 0.075, 1.661, PHS=-0.119, 0.147,-1.629, RAW= 22.0, 18.8, CAL= 20.4, 22.4, ROT= 129.6, -22.4 2025-10-27T05:55:37.620Z,1761544537.620 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T05:55:37.621Z,1761544537.621 [DAT](INFO): direction in FSK: [-0.589328,0.712375,0.381070] 2025-10-27T05:55:37.621Z,1761544537.621 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:37.625Z,1761544537.625 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.090592 2025-10-27T05:55:37.825Z,1761544537.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503350 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:37.828Z,1761544537.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.480526 m, bearing: 23.453940 deg, lat: 36.779383 deg, lon: -121.859736 deg, deltaT: 0.503350 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:37.828Z,1761544537.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m. 2025-10-27T05:55:37.863Z,1761544537.863 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.328449 2025-10-27T05:55:38.112Z,1761544538.112 [DAT](INFO): DAT read: Rx Time:05:55:36.7745 2025-10-27T05:55:38.113Z,1761544538.113 [DAT](INFO): Rx dataTimestamp_ set to:1761544538.112676 2025-10-27T05:55:38.114Z,1761544538.114 [DAT](INFO): DAT read: Bearing 194.5, 41.6 (Local) 2025-10-27T05:55:38.115Z,1761544538.115 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 41.6 (Local) 2025-10-27T05:55:38.117Z,1761544538.117 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-27T05:55:38.122Z,1761544538.122 [DAT](INFO): DAT read: 05:55:36.7745 LVL= 16368, 15793, 25250, 29267, AGC= 48, IDX= 502,-0.19,-1.667,-1.355,-3.006,-1.438, PHS=-0.127, 0.127,-1.613, RAW= 22.2, 19.3, CAL= 20.6, 23.0, ROT= 129.4, -23.0 2025-10-27T05:55:38.123Z,1761544538.123 [DAT](INFO): got valid direction response: 05:55:36.7745 LVL= 16368, 15793, 25250, 29267, AGC= 48, IDX= 502,-0.19,-1.667,-1.355,-3.006,-1.438, PHS=-0.127, 0.127,-1.613, RAW= 22.2, 19.3, CAL= 20.6, 23.0, ROT= 129.4, -23.0 2025-10-27T05:55:38.123Z,1761544538.123 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T05:55:38.124Z,1761544538.124 [DAT](INFO): direction in FSK: [-0.584272,0.711305,0.390731] 2025-10-27T05:55:38.125Z,1761544538.125 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:38.128Z,1761544538.128 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.594154 2025-10-27T05:55:38.210Z,1761544538.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272731,0.960095,0.061935],[-0.961366,-0.274458,0.021170],[0.037323,-0.053769,0.997856]] 2025-10-27T05:55:38.332Z,1761544538.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503511 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:38.334Z,1761544538.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.480640 m, bearing: 23.388485 deg, lat: 36.779383 deg, lon: -121.859738 deg, deltaT: 0.503511 s, deltaX: 0.000114 m, approachRate: 0.000227 m/s, posRepo size: 4 2025-10-27T05:55:38.334Z,1761544538.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.48 m. 2025-10-27T05:55:38.364Z,1761544538.364 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.829960 2025-10-27T05:55:38.617Z,1761544538.617 [DAT](INFO): DAT read: Rx Time:05:55:37.2746 2025-10-27T05:55:38.617Z,1761544538.617 [DAT](INFO): Rx dataTimestamp_ set to:1761544538.616816 2025-10-27T05:55:38.618Z,1761544538.618 [DAT](INFO): DAT read: Bearing 195.3, 42.5 (Local) 2025-10-27T05:55:38.619Z,1761544538.619 [DAT](INFO): Local bearing/azimuth received: Bearing 195.3, 42.5 (Local) 2025-10-27T05:55:38.621Z,1761544538.621 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 2025-10-27T05:55:38.625Z,1761544538.625 [DAT](INFO): DAT read: 05:55:37.2746 LVL= 17008, 16161, 25922, 29139, AGC= 48, IDX= 503, 0.43, 1.508, 1.800, 0.135, 1.704, PHS=-0.095, 0.141,-1.614, RAW= 22.9, 18.6, CAL= 21.2, 22.1, ROT= 128.8, -22.1 2025-10-27T05:55:38.627Z,1761544538.627 [DAT](INFO): got valid direction response: 05:55:37.2746 LVL= 17008, 16161, 25922, 29139, AGC= 48, IDX= 503, 0.43, 1.508, 1.800, 0.135, 1.704, PHS=-0.095, 0.141,-1.614, RAW= 22.9, 18.6, CAL= 21.2, 22.1, ROT= 128.8, -22.1 2025-10-27T05:55:38.627Z,1761544538.627 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T05:55:38.628Z,1761544538.628 [DAT](INFO): direction in FSK: [-0.580566,0.722079,0.376224] 2025-10-27T05:55:38.628Z,1761544538.628 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:38.632Z,1761544538.632 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.097834 2025-10-27T05:55:38.682Z,1761544538.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504140 s, deltaX: 0.199999 m, approachRate: 0.396713 m/s, rangeRepo size: 4 2025-10-27T05:55:38.688Z,1761544538.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.679356 m, bearing: 22.808087 deg, lat: 36.779383 deg, lon: -121.859739 deg, deltaT: 0.504140 s, deltaX: 0.198715 m, approachRate: 0.394167 m/s, posRepo size: 4 2025-10-27T05:55:38.688Z,1761544538.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T05:55:38.868Z,1761544538.868 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333838 2025-10-27T05:55:39.009Z,1761544539.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271714,0.960348,0.062476],[-0.961590,-0.273546,0.022755],[0.038943,-0.053894,0.997787]] 2025-10-27T05:55:39.105Z,1761544539.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T05:55:39.121Z,1761544539.121 [DAT](INFO): DAT read: Rx Time:05:55:37.7746 2025-10-27T05:55:39.121Z,1761544539.121 [DAT](INFO): Rx dataTimestamp_ set to:1761544539.120877 2025-10-27T05:55:39.122Z,1761544539.122 [DAT](INFO): DAT read: Bearing 195.2, 42.4 (Local) 2025-10-27T05:55:39.123Z,1761544539.123 [DAT](INFO): Local bearing/azimuth received: Bearing 195.2, 42.4 (Local) 2025-10-27T05:55:39.125Z,1761544539.125 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-27T05:55:39.130Z,1761544539.130 [DAT](INFO): DAT read: 05:55:37.7746 LVL= 16000, 14161, 22754, 26403, AGC= 48, IDX= 503, 0.13,-0.079, 0.210,-1.447, 0.120, PHS=-0.097, 0.135,-1.611, RAW= 23.0, 18.7, CAL= 21.2, 22.2, ROT= 128.8, -22.2 2025-10-27T05:55:39.131Z,1761544539.131 [DAT](INFO): got valid direction response: 05:55:37.7746 LVL= 16000, 14161, 22754, 26403, AGC= 48, IDX= 503, 0.13,-0.079, 0.210,-1.447, 0.120, PHS=-0.097, 0.135,-1.611, RAW= 23.0, 18.7, CAL= 21.2, 22.2, ROT= 128.8, -22.2 2025-10-27T05:55:39.131Z,1761544539.131 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T05:55:39.132Z,1761544539.132 [DAT](INFO): direction in FSK: [-0.580154,0.721566,0.377841] 2025-10-27T05:55:39.132Z,1761544539.132 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:39.140Z,1761544539.140 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.606036 2025-10-27T05:55:39.372Z,1761544539.372 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.837633 2025-10-27T05:55:39.512Z,1761544539.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:39.514Z,1761544539.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.679279 m, bearing: 22.889532 deg, lat: 36.779383 deg, lon: -121.859740 deg, deltaT: 0.504061 s, deltaX: -0.000076 m, approachRate: -0.000151 m/s, posRepo size: 4 2025-10-27T05:55:39.519Z,1761544539.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T05:55:39.625Z,1761544539.625 [DAT](INFO): DAT read: Rx Time:05:55:38.2748 2025-10-27T05:55:39.625Z,1761544539.625 [DAT](INFO): Rx dataTimestamp_ set to:1761544539.625065 2025-10-27T05:55:39.627Z,1761544539.627 [DAT](INFO): DAT read: Bearing 195.1, 42.1 (Local) 2025-10-27T05:55:39.627Z,1761544539.627 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 42.1 (Local) 2025-10-27T05:55:39.629Z,1761544539.629 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2 2025-10-27T05:55:39.634Z,1761544539.634 [DAT](INFO): DAT read: 05:55:38.2748 LVL= 18672, 13809, 24210, 29875, AGC= 48, IDX= 505,-0.06, 0.324, 0.620,-1.030, 0.532, PHS=-0.106, 0.133,-1.606, RAW= 22.7, 18.9, CAL= 21.0, 22.4, ROT= 129.0, -22.4 2025-10-27T05:55:39.645Z,1761544539.645 [DAT](INFO): got valid direction response: 05:55:38.2748 LVL= 18672, 13809, 24210, 29875, AGC= 48, IDX= 505,-0.06, 0.324, 0.620,-1.030, 0.532, PHS=-0.106, 0.133,-1.606, RAW= 22.7, 18.9, CAL= 21.0, 22.4, ROT= 129.0, -22.4 2025-10-27T05:55:39.646Z,1761544539.646 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T05:55:39.647Z,1761544539.647 [DAT](INFO): direction in FSK: [-0.581836,0.718507,0.381070] 2025-10-27T05:55:39.647Z,1761544539.647 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:39.650Z,1761544539.650 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.116228 2025-10-27T05:55:39.807Z,1761544539.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270232,0.960741,0.062864],[-0.961959,-0.272142,0.023963],[0.040130,-0.053996,0.997734]] 2025-10-27T05:55:39.839Z,1761544539.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504188 s, deltaX: 0.100000 m, approachRate: 0.198339 m/s, rangeRepo size: 4 2025-10-27T05:55:39.841Z,1761544539.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.778639 m, bearing: 23.187682 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.504188 s, deltaX: 0.099360 m, approachRate: 0.197068 m/s, posRepo size: 4 2025-10-27T05:55:39.842Z,1761544539.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m. 2025-10-27T05:55:39.877Z,1761544539.877 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.342878 2025-10-27T05:55:40.129Z,1761544540.129 [DAT](INFO): DAT read: Rx Time:05:55:38.7748 2025-10-27T05:55:40.129Z,1761544540.129 [DAT](INFO): Rx dataTimestamp_ set to:1761544540.128705 2025-10-27T05:55:40.130Z,1761544540.130 [DAT](INFO): DAT read: Bearing 195.0, 41.9 (Local) 2025-10-27T05:55:40.131Z,1761544540.131 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 41.9 (Local) 2025-10-27T05:55:40.133Z,1761544540.133 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2 2025-10-27T05:55:40.137Z,1761544540.137 [DAT](INFO): DAT read: 05:55:38.7748 LVL= 18704, 13617, 24562, 29571, AGC= 49, IDX= 505,-0.29,-1.416,-1.115,-2.758,-1.199, PHS=-0.114, 0.130,-1.603, RAW= 22.5, 19.1, CAL= 20.8, 22.7, ROT= 129.2, -22.7 2025-10-27T05:55:40.139Z,1761544540.139 [DAT](INFO): got valid direction response: 05:55:38.7748 LVL= 18704, 13617, 24562, 29571, AGC= 49, IDX= 505,-0.29,-1.416,-1.115,-2.758,-1.199, PHS=-0.114, 0.130,-1.603, RAW= 22.5, 19.1, CAL= 20.8, 22.7, ROT= 129.2, -22.7 2025-10-27T05:55:40.139Z,1761544540.139 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T05:55:40.140Z,1761544540.140 [DAT](INFO): direction in FSK: [-0.583071,0.714916,0.385906] 2025-10-27T05:55:40.140Z,1761544540.140 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:40.144Z,1761544540.144 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.609793 2025-10-27T05:55:40.231Z,1761544540.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269569,0.960926,0.062875],[-0.962122,-0.271511,0.024559],[0.040670,-0.053873,0.997719]] 2025-10-27T05:55:40.338Z,1761544540.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503640 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:40.345Z,1761544540.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.778652 m, bearing: 23.430824 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.503640 s, deltaX: 0.000013 m, approachRate: 0.000027 m/s, posRepo size: 4 2025-10-27T05:55:40.345Z,1761544540.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m. 2025-10-27T05:55:40.381Z,1761544540.381 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.846642 2025-10-27T05:55:40.617Z,1761544540.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268800,0.961147,0.062792],[-0.962319,-0.270765,0.025063],[0.041091,-0.053689,0.997712]] 2025-10-27T05:55:40.633Z,1761544540.633 [DAT](INFO): DAT read: Rx Time:05:55:39.2749 2025-10-27T05:55:40.633Z,1761544540.633 [DAT](INFO): Rx dataTimestamp_ set to:1761544540.632845 2025-10-27T05:55:40.634Z,1761544540.634 [DAT](INFO): DAT read: Bearing 195.9, 42.5 (Local) 2025-10-27T05:55:40.635Z,1761544540.635 [DAT](INFO): Local bearing/azimuth received: Bearing 195.9, 42.5 (Local) 2025-10-27T05:55:40.637Z,1761544540.637 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.2 2025-10-27T05:55:40.642Z,1761544540.642 [DAT](INFO): DAT read: 05:55:39.2749 LVL= 18864, 13985, 25010, 30179, AGC= 48, IDX= 506, 0.36, 1.990, 2.284, 0.622, 2.182, PHS=-0.090, 0.147,-1.604, RAW= 22.8, 18.4, CAL= 21.1, 21.9, ROT= 128.9, -21.9 2025-10-27T05:55:40.643Z,1761544540.643 [DAT](INFO): got valid direction response: 05:55:39.2749 LVL= 18864, 13985, 25010, 30179, AGC= 48, IDX= 506, 0.36, 1.990, 2.284, 0.622, 2.182, PHS=-0.090, 0.147,-1.604, RAW= 22.8, 18.4, CAL= 21.1, 21.9, ROT= 128.9, -21.9 2025-10-27T05:55:40.643Z,1761544540.643 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T05:55:40.644Z,1761544540.644 [DAT](INFO): direction in FSK: [-0.582647,0.722082,0.372988] 2025-10-27T05:55:40.644Z,1761544540.644 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:40.652Z,1761544540.652 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.117935 2025-10-27T05:55:40.661Z,1761544540.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504140 s, deltaX: 0.200001 m, approachRate: 0.396717 m/s, rangeRepo size: 4 2025-10-27T05:55:40.680Z,1761544540.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.977369 m, bearing: 23.194570 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.504140 s, deltaX: 0.198717 m, approachRate: 0.394170 m/s, posRepo size: 4 2025-10-27T05:55:40.680Z,1761544540.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m. 2025-10-27T05:55:40.884Z,1761544540.884 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.349763 2025-10-27T05:55:41.094Z,1761544541.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m. 2025-10-27T05:55:41.137Z,1761544541.137 [DAT](INFO): DAT read: Rx Time:05:55:39.7749 2025-10-27T05:55:41.137Z,1761544541.137 [DAT](INFO): Rx dataTimestamp_ set to:1761544541.136818 2025-10-27T05:55:41.138Z,1761544541.138 [DAT](INFO): DAT read: Bearing 195.5, 42.4 (Local) 2025-10-27T05:55:41.139Z,1761544541.139 [DAT](INFO): Local bearing/azimuth received: Bearing 195.5, 42.4 (Local) 2025-10-27T05:55:41.141Z,1761544541.141 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.2 2025-10-27T05:55:41.146Z,1761544541.146 [DAT](INFO): DAT read: 05:55:39.7749 LVL= 15920, 15169, 24354, 28147, AGC= 48, IDX= 506, 0.11, 0.739, 1.030,-0.639, 0.938, PHS=-0.097, 0.137,-1.621, RAW= 23.0, 18.7, CAL= 21.2, 22.2, ROT= 128.8, -22.2 2025-10-27T05:55:41.148Z,1761544541.148 [DAT](INFO): got valid direction response: 05:55:39.7749 LVL= 15920, 15169, 24354, 28147, AGC= 48, IDX= 506, 0.11, 0.739, 1.030,-0.639, 0.938, PHS=-0.097, 0.137,-1.621, RAW= 23.0, 18.7, CAL= 21.2, 22.2, ROT= 128.8, -22.2 2025-10-27T05:55:41.148Z,1761544541.148 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T05:55:41.149Z,1761544541.149 [DAT](INFO): direction in FSK: [-0.580154,0.721566,0.377841] 2025-10-27T05:55:41.149Z,1761544541.149 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:41.153Z,1761544541.153 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.618865 2025-10-27T05:55:41.388Z,1761544541.388 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.853722 2025-10-27T05:55:41.479Z,1761544541.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266369,0.961827,0.062736],[-0.962984,-0.268351,0.025472],[0.041335,-0.053629,0.997705]] 2025-10-27T05:55:41.502Z,1761544541.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:41.505Z,1761544541.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.976892 m, bearing: 23.245415 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.503973 s, deltaX: -0.000477 m, approachRate: -0.000946 m/s, posRepo size: 4 2025-10-27T05:55:41.505Z,1761544541.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m. 2025-10-27T05:55:41.640Z,1761544541.640 [DAT](INFO): DAT read: Rx Time:05:55:40.2750 2025-10-27T05:55:41.641Z,1761544541.641 [DAT](INFO): Rx dataTimestamp_ set to:1761544541.640673 2025-10-27T05:55:41.642Z,1761544541.642 [DAT](INFO): DAT read: Bearing 195.5, 41.8 (Local) 2025-10-27T05:55:41.643Z,1761544541.643 [DAT](INFO): Local bearing/azimuth received: Bearing 195.5, 41.8 (Local) 2025-10-27T05:55:41.645Z,1761544541.645 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.2 2025-10-27T05:55:41.649Z,1761544541.649 [DAT](INFO): DAT read: 05:55:40.2750 LVL= 18240, 14001, 24050, 30195, AGC= 48, IDX= 507,-0.07,-0.856,-0.545,-2.194,-0.639, PHS=-0.115, 0.139,-1.599, RAW= 22.2, 18.9, CAL= 20.6, 22.5, ROT= 129.4, -22.5 2025-10-27T05:55:41.650Z,1761544541.650 [DAT](INFO): got valid direction response: 05:55:40.2750 LVL= 18240, 14001, 24050, 30195, AGC= 48, IDX= 507,-0.07,-0.856,-0.545,-2.194,-0.639, PHS=-0.115, 0.139,-1.599, RAW= 22.2, 18.9, CAL= 20.6, 22.5, ROT= 129.4, -22.5 2025-10-27T05:55:41.651Z,1761544541.651 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T05:55:41.652Z,1761544541.652 [DAT](INFO): direction in FSK: [-0.586414,0.713913,0.382683] 2025-10-27T05:55:41.652Z,1761544541.652 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:41.656Z,1761544541.656 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.121887 2025-10-27T05:55:41.826Z,1761544541.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264306,0.962383,0.062944],[-0.963564,-0.266282,0.025251],[0.041062,-0.053977,0.997698]] 2025-10-27T05:55:41.880Z,1761544541.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503855 s, deltaX: 0.100000 m, approachRate: 0.198471 m/s, rangeRepo size: 4 2025-10-27T05:55:41.882Z,1761544541.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.076250 m, bearing: 23.943648 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.503855 s, deltaX: 0.099358 m, approachRate: 0.197195 m/s, posRepo size: 4 2025-10-27T05:55:41.882Z,1761544541.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m. 2025-10-27T05:55:41.892Z,1761544541.892 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.358054 2025-10-27T05:55:42.145Z,1761544542.145 [DAT](INFO): DAT read: Rx Time:05:55:40.7750 2025-10-27T05:55:42.145Z,1761544542.145 [DAT](INFO): Rx dataTimestamp_ set to:1761544542.144724 2025-10-27T05:55:42.146Z,1761544542.146 [DAT](INFO): DAT read: Bearing 195.1, 41.7 (Local) 2025-10-27T05:55:42.147Z,1761544542.147 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 41.7 (Local) 2025-10-27T05:55:42.149Z,1761544542.149 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed -0.2 2025-10-27T05:55:42.153Z,1761544542.153 [DAT](INFO): DAT read: 05:55:40.7750 LVL= 16368, 14785, 22418, 26771, AGC= 48, IDX= 507,-0.30,-3.094,-2.786, 1.851,-2.868, PHS=-0.124, 0.128,-1.607, RAW= 22.3, 19.2, CAL= 20.6, 22.9, ROT= 129.4, -22.9 2025-10-27T05:55:42.154Z,1761544542.154 [DAT](INFO): got valid direction response: 05:55:40.7750 LVL= 16368, 14785, 22418, 26771, AGC= 48, IDX= 507,-0.30,-3.094,-2.786, 1.851,-2.868, PHS=-0.124, 0.128,-1.607, RAW= 22.3, 19.2, CAL= 20.6, 22.9, ROT= 129.4, -22.9 2025-10-27T05:55:42.155Z,1761544542.155 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T05:55:42.156Z,1761544542.156 [DAT](INFO): direction in FSK: [-0.584704,0.711831,0.389124] 2025-10-27T05:55:42.156Z,1761544542.156 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:42.160Z,1761544542.160 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.625727 2025-10-27T05:55:42.230Z,1761544542.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262249,0.962954,0.062806],[-0.964143,-0.264204,0.025010],[0.040677,-0.053995,0.997712]] 2025-10-27T05:55:42.334Z,1761544542.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:42.344Z,1761544542.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.076052 m, bearing: 24.058884 deg, lat: 36.779383 deg, lon: -121.859741 deg, deltaT: 0.504051 s, deltaX: -0.000198 m, approachRate: -0.000394 m/s, posRepo size: 4 2025-10-27T05:55:42.345Z,1761544542.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m. 2025-10-27T05:55:42.397Z,1761544542.397 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.862513 2025-10-27T05:55:42.637Z,1761544542.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259878,0.963634,0.062229],[-0.964813,-0.261784,0.024586],[0.039982,-0.053650,0.997759]] 2025-10-27T05:55:42.649Z,1761544542.649 [DAT](INFO): DAT read: Rx Time:05:55:41.2750 2025-10-27T05:55:42.649Z,1761544542.649 [DAT](INFO): Rx dataTimestamp_ set to:1761544542.648816 2025-10-27T05:55:42.650Z,1761544542.650 [DAT](INFO): DAT read: Bearing 196.3, 42.3 (Local) 2025-10-27T05:55:42.651Z,1761544542.651 [DAT](INFO): Local bearing/azimuth received: Bearing 196.3, 42.3 (Local) 2025-10-27T05:55:42.653Z,1761544542.653 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 2025-10-27T05:55:42.658Z,1761544542.658 [DAT](INFO): DAT read: 05:55:41.2750 LVL= 18864, 14305, 26482, 31283, AGC= 50, IDX= 508, 0.29, 0.432, 0.738,-0.934, 0.631, PHS=-0.097, 0.152,-1.609, RAW= 22.5, 18.4, CAL= 20.8, 21.9, ROT= 129.2, -21.9 2025-10-27T05:55:42.659Z,1761544542.659 [DAT](INFO): got valid direction response: 05:55:41.2750 LVL= 18864, 14305, 26482, 31283, AGC= 50, IDX= 508, 0.29, 0.432, 0.738,-0.934, 0.631, PHS=-0.097, 0.152,-1.609, RAW= 22.5, 18.4, CAL= 20.8, 21.9, ROT= 129.2, -21.9 2025-10-27T05:55:42.659Z,1761544542.659 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T05:55:42.660Z,1761544542.660 [DAT](INFO): direction in FSK: [-0.586420,0.719022,0.372988] 2025-10-27T05:55:42.660Z,1761544542.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:42.674Z,1761544542.674 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.140086 2025-10-27T05:55:42.718Z,1761544542.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504092 s, deltaX: 0.199999 m, approachRate: 0.396751 m/s, rangeRepo size: 4 2025-10-27T05:55:42.730Z,1761544542.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.274759 m, bearing: 24.003004 deg, lat: 36.779384 deg, lon: -121.859739 deg, deltaT: 0.504092 s, deltaX: 0.198708 m, approachRate: 0.394189 m/s, posRepo size: 4 2025-10-27T05:55:42.736Z,1761544542.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.27 m. 2025-10-27T05:55:42.900Z,1761544542.900 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.365934 2025-10-27T05:55:43.090Z,1761544543.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257112,0.964406,0.061763],[-0.965590,-0.258962,0.023957],[0.039099,-0.053478,0.997803]] 2025-10-27T05:55:43.111Z,1761544543.111 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309440165,35.0, +100,1491.3, 0 2025-10-27T05:55:43.152Z,1761544543.152 [DAT](INFO): DAT read: Rx Time:05:55:41.7750 2025-10-27T05:55:43.153Z,1761544543.153 [DAT](INFO): Rx dataTimestamp_ set to:1761544543.152638 2025-10-27T05:55:43.154Z,1761544543.154 [DAT](INFO): DAT read: Bearing 195.3, 42.2 (Local) 2025-10-27T05:55:43.155Z,1761544543.155 [DAT](INFO): Local bearing/azimuth received: Bearing 195.3, 42.2 (Local) 2025-10-27T05:55:43.157Z,1761544543.157 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 2025-10-27T05:55:43.161Z,1761544543.161 [DAT](INFO): DAT read: 05:55:41.7750 LVL= 16496, 14385, 21874, 25395, AGC= 51, IDX= 508,-0.05,-1.362,-1.068,-2.732,-1.147, PHS=-0.113, 0.124,-1.628, RAW= 22.8, 19.1, CAL= 21.1, 22.7, ROT= 128.9, -22.7 2025-10-27T05:55:43.162Z,1761544543.162 [DAT](INFO): got valid direction response: 05:55:41.7750 LVL= 16496, 14385, 21874, 25395, AGC= 51, IDX= 508,-0.05,-1.362,-1.068,-2.732,-1.147, PHS=-0.113, 0.124,-1.628, RAW= 22.8, 19.1, CAL= 21.1, 22.7, ROT= 128.9, -22.7 2025-10-27T05:55:43.163Z,1761544543.163 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T05:55:43.164Z,1761544543.164 [DAT](INFO): direction in FSK: [-0.579320,0.717959,0.385906] 2025-10-27T05:55:43.164Z,1761544543.164 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:43.168Z,1761544543.168 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.633539 2025-10-27T05:55:43.192Z,1761544543.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503822 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:43.194Z,1761544543.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.274534 m, bearing: 23.861699 deg, lat: 36.779383 deg, lon: -121.859739 deg, deltaT: 0.503822 s, deltaX: -0.000225 m, approachRate: -0.000447 m/s, posRepo size: 4 2025-10-27T05:55:43.194Z,1761544543.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.27 m. 2025-10-27T05:55:43.407Z,1761544543.407 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.872135 2025-10-27T05:55:43.492Z,1761544543.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254059,0.965258,0.061075],[-0.966440,-0.255841,0.023240],[0.038058,-0.053121,0.997863]] 2025-10-27T05:55:43.510Z,1761544543.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.27 m. 2025-10-27T05:55:43.657Z,1761544543.657 [DAT](INFO): DAT read: Rx Time:05:55:42.2752 2025-10-27T05:55:43.657Z,1761544543.657 [DAT](INFO): Rx dataTimestamp_ set to:1761544543.656725 2025-10-27T05:55:43.658Z,1761544543.658 [DAT](INFO): DAT read: Bearing 195.9, 42.2 (Local) 2025-10-27T05:55:43.659Z,1761544543.659 [DAT](INFO): Local bearing/azimuth received: Bearing 195.9, 42.2 (Local) 2025-10-27T05:55:43.661Z,1761544543.661 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 2025-10-27T05:55:43.665Z,1761544543.665 [DAT](INFO): DAT read: 05:55:42.2752 LVL= 17264, 14369, 28098, 31123, AGC= 50, IDX= 510,-0.43, 0.699, 0.999,-0.652, 0.909, PHS=-0.108, 0.134,-1.605, RAW= 22.6, 18.9, CAL= 20.9, 22.5, ROT= 129.1, -22.5 2025-10-27T05:55:43.666Z,1761544543.666 [DAT](INFO): got valid direction response: 05:55:42.2752 LVL= 17264, 14369, 28098, 31123, AGC= 50, IDX= 510,-0.43, 0.699, 0.999,-0.652, 0.909, PHS=-0.108, 0.134,-1.605, RAW= 22.6, 18.9, CAL= 20.9, 22.5, ROT= 129.1, -22.5 2025-10-27T05:55:43.667Z,1761544543.667 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T05:55:43.668Z,1761544543.668 [DAT](INFO): direction in FSK: [-0.582668,0.716973,0.382683] 2025-10-27T05:55:43.668Z,1761544543.668 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:43.672Z,1761544543.672 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.137683 2025-10-27T05:55:43.886Z,1761544543.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251010,0.966095,0.060449],[-0.967273,-0.252729,0.022584],[0.037096,-0.052801,0.997916]] 2025-10-27T05:55:43.911Z,1761544543.911 [DAT](INFO): DAT read: Rx Time:05:55:42.7751 2025-10-27T05:55:43.912Z,1761544543.912 [DAT](INFO): Rx dataTimestamp_ set to:1761544543.911393 2025-10-27T05:55:43.914Z,1761544543.914 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.379477 2025-10-27T05:55:44.022Z,1761544544.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504087 s, deltaX: 0.300001 m, approachRate: 0.595138 m/s, rangeRepo size: 4 2025-10-27T05:55:44.038Z,1761544544.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.572596 m, bearing: 24.399881 deg, lat: 36.779383 deg, lon: -121.859739 deg, deltaT: 0.504087 s, deltaX: 0.298061 m, approachRate: 0.591290 m/s, posRepo size: 4 2025-10-27T05:55:44.046Z,1761544544.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.57 m. 2025-10-27T05:55:44.161Z,1761544544.161 [DAT](INFO): DAT read: Bearing 196.2, 43.3 (Local) 2025-10-27T05:55:44.161Z,1761544544.161 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 43.3 (Local) 2025-10-27T05:55:44.164Z,1761544544.164 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 2025-10-27T05:55:44.169Z,1761544544.169 [DAT](INFO): DAT read: 05:55:42.7751 LVL= 16432, 14225, 24898, 28211, AGC= 50, IDX= 509, 0.14, 1.736, 2.003, 0.356, 1.914, PHS=-0.076, 0.134,-1.603, RAW= 23.6, 18.4, CAL= 21.8, 21.8, ROT= 128.2, -21.8 2025-10-27T05:55:44.170Z,1761544544.170 [DAT](INFO): got valid direction response: 05:55:42.7751 LVL= 16432, 14225, 24898, 28211, AGC= 50, IDX= 509, 0.14, 1.736, 2.003, 0.356, 1.914, PHS=-0.076, 0.134,-1.603, RAW= 23.6, 18.4, CAL= 21.8, 21.8, ROT= 128.2, -21.8 2025-10-27T05:55:44.170Z,1761544544.170 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T05:55:44.172Z,1761544544.172 [DAT](INFO): direction in FSK: [-0.574183,0.729657,0.371368] 2025-10-27T05:55:44.172Z,1761544544.172 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:44.176Z,1761544544.176 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.641320 2025-10-27T05:55:44.322Z,1761544544.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247325,0.967065,0.060127],[-0.968268,-0.248976,0.021615],[0.035873,-0.052873,0.997957]] 2025-10-27T05:55:44.380Z,1761544544.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.502937 s, deltaX: -0.200001 m, approachRate: -0.397666 m/s, rangeRepo size: 4 2025-10-27T05:55:44.382Z,1761544544.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.374342 m, bearing: 23.724057 deg, lat: 36.779383 deg, lon: -121.859738 deg, deltaT: 0.502937 s, deltaX: -0.198254 m, approachRate: -0.394192 m/s, posRepo size: 4 2025-10-27T05:55:44.382Z,1761544544.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.37 m. 2025-10-27T05:55:44.416Z,1761544544.416 [DAT](INFO): DAT read: Rx Time:05:55:43.2753 2025-10-27T05:55:44.418Z,1761544544.418 [DAT](INFO): Rx dataTimestamp_ set to:1761544544.416907 2025-10-27T05:55:44.421Z,1761544544.421 [DAT](INFO): DAT read: Bearing 195.9, 43.5 (Local) 2025-10-27T05:55:44.422Z,1761544544.422 [DAT](INFO): Local bearing/azimuth received: Bearing 195.9, 43.5 (Local) 2025-10-27T05:55:44.438Z,1761544544.438 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.903375 2025-10-27T05:55:44.665Z,1761544544.665 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 2025-10-27T05:55:44.670Z,1761544544.670 [DAT](INFO): DAT read: 05:55:43.2753 LVL= 17488, 13041, 28066, 31395, AGC= 49, IDX= 511,-0.08, 1.344, 1.596,-0.032, 1.521, PHS=-0.075, 0.120,-1.597, RAW= 24.1, 18.6, CAL= 22.2, 22.1, ROT= 127.8, -22.1 2025-10-27T05:55:44.671Z,1761544544.671 [DAT](INFO): got valid direction response: 05:55:43.2753 LVL= 17488, 13041, 28066, 31395, AGC= 49, IDX= 511,-0.08, 1.344, 1.596,-0.032, 1.521, PHS=-0.075, 0.120,-1.597, RAW= 24.1, 18.6, CAL= 22.2, 22.1, ROT= 127.8, -22.1 2025-10-27T05:55:44.672Z,1761544544.672 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T05:55:44.673Z,1761544544.673 [DAT](INFO): direction in FSK: [-0.567876,0.732101,0.376224] 2025-10-27T05:55:44.673Z,1761544544.673 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:44.676Z,1761544544.676 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.142239 2025-10-27T05:55:44.720Z,1761544544.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243594,0.968014,0.060092],[-0.969255,-0.245189,0.020671],[0.034743,-0.053209,0.997979]] 2025-10-27T05:55:44.810Z,1761544544.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503661 s, deltaX: 0.299999 m, approachRate: 0.595637 m/s, rangeRepo size: 4 2025-10-27T05:55:44.821Z,1761544544.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.672407 m, bearing: 23.531416 deg, lat: 36.779384 deg, lon: -121.859738 deg, deltaT: 0.503661 s, deltaX: 0.298065 m, approachRate: 0.591797 m/s, posRepo size: 4 2025-10-27T05:55:44.821Z,1761544544.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m. 2025-10-27T05:55:44.920Z,1761544544.920 [DAT](INFO): DAT read: Rx Time:05:55:43.7753 2025-10-27T05:55:44.922Z,1761544544.922 [DAT](INFO): Rx dataTimestamp_ set to:1761544544.920579 2025-10-27T05:55:44.924Z,1761544544.924 [DAT](INFO): DAT read: Bearing 195.8, 45.0 (Local) 2025-10-27T05:55:44.925Z,1761544544.925 [DAT](INFO): Local bearing/azimuth received: Bearing 195.8, 45.0 (Local) 2025-10-27T05:55:44.939Z,1761544544.939 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.392517 2025-10-27T05:55:45.119Z,1761544545.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239515,0.969032,0.060085],[-0.970316,-0.241047,0.019595],[0.033471,-0.053608,0.998001]] 2025-10-27T05:55:45.170Z,1761544545.170 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 2025-10-27T05:55:45.174Z,1761544545.174 [DAT](INFO): DAT read: 05:55:43.7753 LVL= 17568, 13473, 27762, 30899, AGC= 50, IDX= 511,-0.46, 0.369, 0.568,-1.056, 0.507, PHS=-0.036, 0.106,-1.607, RAW= 25.7, 18.3, CAL= 23.6, 21.5, ROT= 126.4, -21.5 2025-10-27T05:55:45.176Z,1761544545.176 [DAT](INFO): got valid direction response: 05:55:43.7753 LVL= 17568, 13473, 27762, 30899, AGC= 50, IDX= 511,-0.46, 0.369, 0.568,-1.056, 0.507, PHS=-0.036, 0.106,-1.607, RAW= 25.7, 18.3, CAL= 23.6, 21.5, ROT= 126.4, -21.5 2025-10-27T05:55:45.176Z,1761544545.176 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T05:55:45.177Z,1761544545.177 [DAT](INFO): direction in FSK: [-0.552127,0.748887,0.366501] 2025-10-27T05:55:45.177Z,1761544545.177 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:45.181Z,1761544545.181 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.646708 2025-10-27T05:55:45.243Z,1761544545.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504116 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:45.255Z,1761544545.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.672655 m, bearing: 22.383801 deg, lat: 36.779384 deg, lon: -121.859738 deg, deltaT: 0.504116 s, deltaX: 0.000248 m, approachRate: 0.000492 m/s, posRepo size: 4 2025-10-27T05:55:45.256Z,1761544545.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m. 2025-10-27T05:55:45.423Z,1761544545.423 [DAT](INFO): DAT read: Rx Time:05:55:44.2753 2025-10-27T05:55:45.425Z,1761544545.425 [DAT](INFO): Rx dataTimestamp_ set to:1761544545.423642 2025-10-27T05:55:45.427Z,1761544545.427 [DAT](INFO): DAT read: Bearing 195.9, 46.3 (Local) 2025-10-27T05:55:45.428Z,1761544545.428 [DAT](INFO): Local bearing/azimuth received: Bearing 195.9, 46.3 (Local) 2025-10-27T05:55:45.447Z,1761544545.447 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 2025-10-27T05:55:45.449Z,1761544545.449 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T05:55:45.456Z,1761544545.456 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.920441 2025-10-27T05:55:45.585Z,1761544545.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.256203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:45.585Z,1761544545.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m. 2025-10-27T05:55:45.676Z,1761544545.676 [DAT](INFO): DAT read: 05:55:44.2753 LVL= 18240, 14209, 25778, 29731, AGC= 50, IDX= 511, 0.14, 0.503, 0.655,-0.958, 0.605, PHS= 0.000, 0.096,-1.607, RAW= 27.1, 17.9, CAL= 24.9, 21.0, ROT= 125.1, -21.0 2025-10-27T05:55:45.678Z,1761544545.678 [DAT](INFO): got valid direction response: 05:55:44.2753 LVL= 18240, 14209, 25778, 29731, AGC= 50, IDX= 511, 0.14, 0.503, 0.655,-0.958, 0.605, PHS= 0.000, 0.096,-1.607, RAW= 27.1, 17.9, CAL= 24.9, 21.0, ROT= 125.1, -21.0 2025-10-27T05:55:45.678Z,1761544545.678 [DAT](INFO): #Rx 31: Read direction message, but no range. 2025-10-27T05:55:45.680Z,1761544545.680 [DAT](INFO): direction in FSK: [-0.536814,0.763809,0.358368] 2025-10-27T05:55:45.695Z,1761544545.695 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.160282 2025-10-27T05:55:45.926Z,1761544545.926 [DAT](INFO): DAT read: Rx Time:05:55:44.7753 2025-10-27T05:55:45.928Z,1761544545.928 [DAT](INFO): Rx dataTimestamp_ set to:1761544545.927117 2025-10-27T05:55:45.930Z,1761544545.930 [DAT](INFO): DAT read: Bearing 194.5, 47.4 (Local) 2025-10-27T05:55:45.931Z,1761544545.931 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 47.4 (Local) 2025-10-27T05:55:45.933Z,1761544545.933 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.398531 2025-10-27T05:55:45.986Z,1761544545.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231407,0.971051,0.059248],[-0.972355,-0.232815,0.017975],[0.031248,-0.053451,0.998081]] 2025-10-27T05:55:46.046Z,1761544546.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m. 2025-10-27T05:55:46.179Z,1761544546.179 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 2025-10-27T05:55:46.185Z,1761544546.185 [DAT](INFO): DAT read: 05:55:44.7753 LVL= 15536, 13857, 22642, 28051, AGC= 51, IDX= 511,-0.23,-2.580,-2.489, 2.216,-2.498, PHS= 0.020, 0.054,-1.614, RAW= 29.0, 18.3, CAL= 26.5, 21.3, ROT= 123.5, -21.3 2025-10-27T05:55:46.187Z,1761544546.187 [DAT](INFO): got valid direction response: 05:55:44.7753 LVL= 15536, 13857, 22642, 28051, AGC= 51, IDX= 511,-0.23,-2.580,-2.489, 2.216,-2.498, PHS= 0.020, 0.054,-1.614, RAW= 29.0, 18.3, CAL= 26.5, 21.3, ROT= 123.5, -21.3 2025-10-27T05:55:46.187Z,1761544546.187 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T05:55:46.188Z,1761544546.188 [DAT](INFO): direction in FSK: [-0.514235,0.776924,0.363251] 2025-10-27T05:55:46.188Z,1761544546.188 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:46.192Z,1761544546.192 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.657850 2025-10-27T05:55:46.326Z,1761544546.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227667,0.971982,0.058461],[-0.973270,-0.229011,0.017320],[0.030223,-0.052955,0.998139]] 2025-10-27T05:55:46.402Z,1761544546.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.751932 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:46.417Z,1761544546.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.672279 m, bearing: 20.207060 deg, lat: 36.779384 deg, lon: -121.859738 deg, deltaT: 1.008135 s, deltaX: -0.000376 m, approachRate: -0.000373 m/s, posRepo size: 4 2025-10-27T05:55:46.423Z,1761544546.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m. 2025-10-27T05:55:46.432Z,1761544546.432 [DAT](INFO): DAT read: Rx Time:05:55:45.2754 2025-10-27T05:55:46.433Z,1761544546.433 [DAT](INFO): Rx dataTimestamp_ set to:1761544546.432334 2025-10-27T05:55:46.437Z,1761544546.437 [DAT](INFO): DAT read: Bearing 185.1, 44.2 (Local) 2025-10-27T05:55:46.437Z,1761544546.437 [DAT](INFO): Local bearing/azimuth received: Bearing 185.1, 44.2 (Local) 2025-10-27T05:55:46.454Z,1761544546.454 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.1 2025-10-27T05:55:46.480Z,1761544546.480 [DAT](INFO): DAT read: 05:55:45.2754 LVL= 17248, 12433, 25458, 29555, AGC= 49, IDX= 512, 0.16,-1.216,-1.165,-2.827,-0.949, PHS=-0.165,-0.171,-1.922, RAW= 30.2, 24.5, CAL= 27.7, 28.7, ROT= 122.3, -28.7 2025-10-27T05:55:46.481Z,1761544546.481 [DAT](INFO): got valid direction response: 05:55:45.2754 LVL= 17248, 12433, 25458, 29555, AGC= 49, IDX= 512, 0.16,-1.216,-1.165,-2.827,-0.949, PHS=-0.165,-0.171,-1.922, RAW= 30.2, 24.5, CAL= 27.7, 28.7, ROT= 122.3, -28.7 2025-10-27T05:55:46.481Z,1761544546.481 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T05:55:46.482Z,1761544546.482 [DAT](INFO): direction in FSK: [-0.468705,0.741418,0.480224] 2025-10-27T05:55:46.495Z,1761544546.495 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:46.499Z,1761544546.499 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.964369 2025-10-27T05:55:46.680Z,1761544546.680 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.145742 2025-10-27T05:55:46.740Z,1761544546.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224064,0.972863,0.057728],[-0.974132,-0.225353,0.016807],[0.029360,-0.052469,0.998191]] 2025-10-27T05:55:46.779Z,1761544546.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.256760 s, deltaX: 0.200001 m, approachRate: 0.778940 m/s, rangeRepo size: 4 2025-10-27T05:55:46.781Z,1761544546.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.870989 m, bearing: 19.209718 deg, lat: 36.779384 deg, lon: -121.859741 deg, deltaT: 0.256760 s, deltaX: 0.198709 m, approachRate: 0.773911 m/s, posRepo size: 4 2025-10-27T05:55:46.782Z,1761544546.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.87 m. 2025-10-27T05:55:46.935Z,1761544546.935 [DAT](INFO): DAT read: Rx Time:05:55:45.7754 2025-10-27T05:55:46.937Z,1761544546.937 [DAT](INFO): Rx dataTimestamp_ set to:1761544546.935952 2025-10-27T05:55:46.940Z,1761544546.940 [DAT](INFO): DAT read: Bearing 180.0, 45.4 (Local) 2025-10-27T05:55:46.941Z,1761544546.941 [DAT](INFO): Local bearing/azimuth received: Bearing 180.0, 45.4 (Local) 2025-10-27T05:55:46.959Z,1761544546.959 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.1 2025-10-27T05:55:46.962Z,1761544546.962 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T05:55:46.970Z,1761544546.970 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.435143 2025-10-27T05:55:47.188Z,1761544547.188 [DAT](INFO): DAT read: 05:55:45.7754 LVL= 15792, 13057, 23330, 28019, AGC= 49, IDX= 512,-0.31, 1.981, 1.893, 0.410, 2.227, PHS=-0.144,-0.289,-1.861, RAW= 34.4, 26.2, CAL= 31.6, 30.8, ROT= 118.4, -30.8 2025-10-27T05:55:47.189Z,1761544547.189 [DAT](INFO): got valid direction response: 05:55:45.7754 LVL= 15792, 13057, 23330, 28019, AGC= 49, IDX= 512,-0.31, 1.981, 1.893, 0.410, 2.227, PHS=-0.144,-0.289,-1.861, RAW= 34.4, 26.2, CAL= 31.6, 30.8, ROT= 118.4, -30.8 2025-10-27T05:55:47.189Z,1761544547.189 [DAT](INFO): #Rx 35: Read direction message, but no range. 2025-10-27T05:55:47.190Z,1761544547.190 [DAT](INFO): direction in FSK: [-0.408542,0.755583,0.512043] 2025-10-27T05:55:47.202Z,1761544547.202 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.667532 2025-10-27T05:55:47.229Z,1761544547.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503618 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:47.237Z,1761544547.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.870966 m, bearing: 15.429626 deg, lat: 36.779384 deg, lon: -121.859747 deg, deltaT: 0.503618 s, deltaX: -0.000023 m, approachRate: -0.000045 m/s, posRepo size: 4 2025-10-27T05:55:47.238Z,1761544547.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.87 m. 2025-10-27T05:55:47.439Z,1761544547.439 [DAT](INFO): DAT read: Rx Time:05:55:46.2755 2025-10-27T05:55:47.441Z,1761544547.441 [DAT](INFO): Rx dataTimestamp_ set to:1761544547.440230 2025-10-27T05:55:47.444Z,1761544547.444 [DAT](INFO): DAT read: Bearing 179.0, 49.2 (Local) 2025-10-27T05:55:47.445Z,1761544547.445 [DAT](INFO): Local bearing/azimuth received: Bearing 179.0, 49.2 (Local) 2025-10-27T05:55:47.466Z,1761544547.466 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 2025-10-27T05:55:47.466Z,1761544547.466 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-27T05:55:47.472Z,1761544547.472 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.936079 2025-10-27T05:55:47.554Z,1761544547.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218255,0.974177,0.057833],[-0.975480,-0.219501,0.016068],[0.028347,-0.052908,0.998197]] 2025-10-27T05:55:47.598Z,1761544547.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:55:47.605Z,1761544547.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504278 s, deltaX: 0.100000 m, approachRate: 0.198304 m/s, rangeRepo size: 4 2025-10-27T05:55:47.606Z,1761544547.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.87 m. 2025-10-27T05:55:47.696Z,1761544547.696 [DAT](INFO): DAT read: 05:55:46.2755 LVL= 16160, 13233, 25154, 28771, AGC= 51, IDX= 513, 0.06,-0.966,-1.208,-2.700,-0.844, PHS=-0.020,-0.320,-1.901, RAW= 38.5, 24.3, CAL= 35.3, 28.7, ROT= 114.7, -28.7 2025-10-27T05:55:47.697Z,1761544547.697 [DAT](INFO): got valid direction response: 05:55:46.2755 LVL= 16160, 13233, 25154, 28771, AGC= 51, IDX= 513, 0.06,-0.966,-1.208,-2.700,-0.844, PHS=-0.020,-0.320,-1.901, RAW= 38.5, 24.3, CAL= 35.3, 28.7, ROT= 114.7, -28.7 2025-10-27T05:55:47.698Z,1761544547.698 [DAT](INFO): #Rx 37: Read direction message, but no range. 2025-10-27T05:55:47.699Z,1761544547.699 [DAT](INFO): direction in FSK: [-0.366530,0.796894,0.480224] 2025-10-27T05:55:47.706Z,1761544547.706 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.171141 2025-10-27T05:55:47.945Z,1761544547.945 [DAT](INFO): DAT read: Rx Time:05:55:46.7755 2025-10-27T05:55:47.946Z,1761544547.946 [DAT](INFO): Rx dataTimestamp_ set to:1761544547.945172 2025-10-27T05:55:47.968Z,1761544547.968 [DAT](INFO): DAT read: Bearing 181.2, 47.9 (Local) 2025-10-27T05:55:47.968Z,1761544547.968 [DAT](INFO): Local bearing/azimuth received: Bearing 181.2, 47.9 (Local) 2025-10-27T05:55:47.970Z,1761544547.970 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 2025-10-27T05:55:48.001Z,1761544548.001 [DAT](INFO): DAT read: 05:55:46.7755 LVL= 16096, 12497, 26386, 28979, AGC= 50, IDX= 513,-0.44, 2.848, 2.683, 1.118, 3.008, PHS=-0.058,-0.280,-1.934, RAW= 36.2, 24.3, CAL= 33.2, 28.6, ROT= 116.8, -28.6 2025-10-27T05:55:48.018Z,1761544548.018 [DAT](INFO): got valid direction response: 05:55:46.7755 LVL= 16096, 12497, 26386, 28979, AGC= 50, IDX= 513,-0.44, 2.848, 2.683, 1.118, 3.008, PHS=-0.058,-0.280,-1.934, RAW= 36.2, 24.3, CAL= 33.2, 28.6, ROT= 116.8, -28.6 2025-10-27T05:55:48.018Z,1761544548.018 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T05:55:48.028Z,1761544548.028 [DAT](INFO): direction in FSK: [-0.395863,0.783675,0.478692] 2025-10-27T05:55:48.028Z,1761544548.028 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:48.033Z,1761544548.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216072,0.974638,0.058249],[-0.975966,-0.217328,0.016089],[0.028340,-0.053373,0.998172]] 2025-10-27T05:55:48.058Z,1761544548.058 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.523209 2025-10-27T05:55:48.117Z,1761544548.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:55:48.164Z,1761544548.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504942 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:48.166Z,1761544548.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.970322 m, bearing: 14.308334 deg, lat: 36.779384 deg, lon: -121.859753 deg, deltaT: 1.009220 s, deltaX: 0.099356 m, approachRate: 0.098448 m/s, posRepo size: 4 2025-10-27T05:55:48.167Z,1761544548.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m. 2025-10-27T05:55:48.192Z,1761544548.192 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.657755 2025-10-27T05:55:48.418Z,1761544548.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214287,0.975035,0.058211],[-0.976365,-0.215535,0.016004],[0.028152,-0.053406,0.998176]] 2025-10-27T05:55:48.448Z,1761544548.448 [DAT](INFO): DAT read: Rx Time:05:55:47.2756 2025-10-27T05:55:48.449Z,1761544548.449 [DAT](INFO): Rx dataTimestamp_ set to:1761544548.448412 2025-10-27T05:55:48.468Z,1761544548.468 [DAT](INFO): DAT read: Bearing 194.8, 50.3 (Local) 2025-10-27T05:55:48.469Z,1761544548.469 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 50.3 (Local) 2025-10-27T05:55:48.471Z,1761544548.471 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-27T05:55:48.495Z,1761544548.495 [DAT](INFO): DAT read: 05:55:47.2756 LVL= 12512, 12593, 19906, 19027, AGC= 54, IDX= 2, 0.03,-0.370,-0.384,-1.902,-0.361, PHS= 0.094, 0.022,-1.584, RAW= 32.2, 17.5, CAL= 29.2, 20.2, ROT= 120.8, -20.2 2025-10-27T05:55:48.497Z,1761544548.497 [DAT](INFO): got valid direction response: 05:55:47.2756 LVL= 12512, 12593, 19906, 19027, AGC= 54, IDX= 2, 0.03,-0.370,-0.384,-1.902,-0.361, PHS= 0.094, 0.022,-1.584, RAW= 32.2, 17.5, CAL= 29.2, 20.2, ROT= 120.8, -20.2 2025-10-27T05:55:48.497Z,1761544548.497 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T05:55:48.498Z,1761544548.498 [DAT](INFO): direction in FSK: [-0.480549,0.806128,0.345298] 2025-10-27T05:55:48.498Z,1761544548.498 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:48.510Z,1761544548.510 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.975842 2025-10-27T05:55:48.576Z,1761544548.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503240 s, deltaX: 0.199999 m, approachRate: 0.397422 m/s, rangeRepo size: 4 2025-10-27T05:55:48.578Z,1761544548.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.169157 m, bearing: 18.318171 deg, lat: 36.779384 deg, lon: -121.859753 deg, deltaT: 0.503240 s, deltaX: 0.198835 m, approachRate: 0.395110 m/s, posRepo size: 4 2025-10-27T05:55:48.579Z,1761544548.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m. 2025-10-27T05:55:48.696Z,1761544548.696 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.161875 2025-10-27T05:55:48.816Z,1761544548.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213231,0.975269,0.058171],[-0.976591,-0.214490,0.016255],[0.028331,-0.053343,0.998174]] 2025-10-27T05:55:48.851Z,1761544548.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m. 2025-10-27T05:55:48.951Z,1761544548.951 [DAT](INFO): DAT read: Rx Time:05:55:47.7756 2025-10-27T05:55:48.953Z,1761544548.953 [DAT](INFO): Rx dataTimestamp_ set to:1761544548.951855 2025-10-27T05:55:48.956Z,1761544548.956 [DAT](INFO): DAT read: Bearing 194.6, 50.4 (Local) 2025-10-27T05:55:48.957Z,1761544548.957 [DAT](INFO): Local bearing/azimuth received: Bearing 194.6, 50.4 (Local) 2025-10-27T05:55:48.966Z,1761544548.966 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-27T05:55:48.967Z,1761544548.967 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T05:55:48.968Z,1761544548.968 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.433577 2025-10-27T05:55:49.121Z,1761544549.121 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:55:49.208Z,1761544549.208 [DAT](INFO): DAT read: 05:55:47.7756 LVL= 16416, 13761, 23122, 28147, AGC= 50, IDX= 497, 0.50,-1.025,-1.048,-2.554,-1.017, PHS= 0.094, 0.014,-1.581, RAW= 32.4, 17.6, CAL= 29.5, 20.4, ROT= 120.5, -20.4 2025-10-27T05:55:49.209Z,1761544549.209 [DAT](INFO): got valid direction response: 05:55:47.7756 LVL= 16416, 13761, 23122, 28147, AGC= 50, IDX= 497, 0.50,-1.025,-1.048,-2.554,-1.017, PHS= 0.094, 0.014,-1.581, RAW= 32.4, 17.6, CAL= 29.5, 20.4, ROT= 120.5, -20.4 2025-10-27T05:55:49.209Z,1761544549.209 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T05:55:49.210Z,1761544549.210 [DAT](INFO): direction in FSK: [-0.475707,0.807589,0.348572] 2025-10-27T05:55:49.214Z,1761544549.214 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.679337 2025-10-27T05:55:49.256Z,1761544549.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212796,0.975358,0.058261],[-0.976672,-0.214082,0.016735],[0.028795,-0.053341,0.998161]] 2025-10-27T05:55:49.402Z,1761544549.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503443 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:49.411Z,1761544549.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.168671 m, bearing: 18.121153 deg, lat: 36.779384 deg, lon: -121.859753 deg, deltaT: 0.503443 s, deltaX: -0.000486 m, approachRate: -0.000966 m/s, posRepo size: 4 2025-10-27T05:55:49.413Z,1761544549.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m. 2025-10-27T05:55:49.456Z,1761544549.456 [DAT](INFO): DAT read: Rx Time:05:55:48.2756 2025-10-27T05:55:49.458Z,1761544549.458 [DAT](INFO): Rx dataTimestamp_ set to:1761544549.456728 2025-10-27T05:55:49.462Z,1761544549.462 [DAT](INFO): DAT read: Bearing 193.5, 50.6 (Local) 2025-10-27T05:55:49.468Z,1761544549.468 [DAT](INFO): Local bearing/azimuth received: Bearing 193.5, 50.6 (Local) 2025-10-27T05:55:49.470Z,1761544549.470 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-27T05:55:49.480Z,1761544549.480 [DAT](INFO): DAT read: 05:55:48.2756 LVL= 16464, 13169, 23186, 27875, AGC= 49, IDX= 498, 0.02,-1.573,-1.615,-3.103,-1.562, PHS= 0.090,-0.008,-1.585, RAW= 33.0, 18.1, CAL= 30.0, 20.8, ROT= 120.0, -20.8 2025-10-27T05:55:49.481Z,1761544549.481 [DAT](INFO): got valid direction response: 05:55:48.2756 LVL= 16464, 13169, 23186, 27875, AGC= 49, IDX= 498, 0.02,-1.573,-1.615,-3.103,-1.562, PHS= 0.090,-0.008,-1.585, RAW= 33.0, 18.1, CAL= 30.0, 20.8, ROT= 120.0, -20.8 2025-10-27T05:55:49.481Z,1761544549.481 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T05:55:49.482Z,1761544549.482 [DAT](INFO): direction in FSK: [-0.467413,0.809583,0.355107] 2025-10-27T05:55:49.482Z,1761544549.482 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:49.494Z,1761544549.494 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.959736 2025-10-27T05:55:49.705Z,1761544549.705 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.170218 2025-10-27T05:55:49.736Z,1761544549.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213509,0.975177,0.058688],[-0.976474,-0.214879,0.018042],[0.030205,-0.053455,0.998113]] 2025-10-27T05:55:49.868Z,1761544549.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504873 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:49.870Z,1761544549.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.168671 m, bearing: 17.608772 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.504873 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:49.871Z,1761544549.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m. 2025-10-27T05:55:49.960Z,1761544549.960 [DAT](INFO): DAT read: Rx Time:05:55:48.7756 2025-10-27T05:55:49.961Z,1761544549.961 [DAT](INFO): Rx dataTimestamp_ set to:1761544549.960488 2025-10-27T05:55:49.966Z,1761544549.966 [DAT](INFO): DAT read: Bearing 192.9, 50.5 (Local) 2025-10-27T05:55:49.966Z,1761544549.966 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 50.5 (Local) 2025-10-27T05:55:49.971Z,1761544549.971 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-27T05:55:49.988Z,1761544549.988 [DAT](INFO): DAT read: 05:55:48.7756 LVL= 16608, 13633, 23858, 28371, AGC= 49, IDX= 498,-0.40, 2.654, 2.604, 1.126, 2.670, PHS= 0.086,-0.021,-1.589, RAW= 33.3, 18.4, CAL= 30.2, 21.2, ROT= 119.8, -21.2 2025-10-27T05:55:49.989Z,1761544549.989 [DAT](INFO): got valid direction response: 05:55:48.7756 LVL= 16608, 13633, 23858, 28371, AGC= 49, IDX= 498,-0.40, 2.654, 2.604, 1.126, 2.670, PHS= 0.086,-0.021,-1.589, RAW= 33.3, 18.4, CAL= 30.2, 21.2, ROT= 119.8, -21.2 2025-10-27T05:55:49.990Z,1761544549.990 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T05:55:49.991Z,1761544549.991 [DAT](INFO): direction in FSK: [-0.463341,0.809038,0.361625] 2025-10-27T05:55:49.999Z,1761544549.999 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:50.009Z,1761544550.009 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.474504 2025-10-27T05:55:50.188Z,1761544550.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214317,0.974991,0.058824],[-0.976274,-0.215728,0.018718],[0.030940,-0.053417,0.998093]] 2025-10-27T05:55:50.208Z,1761544550.208 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.673830 2025-10-27T05:55:50.325Z,1761544550.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503760 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:50.327Z,1761544550.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.169012 m, bearing: 17.377164 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.503760 s, deltaX: 0.000341 m, approachRate: 0.000678 m/s, posRepo size: 4 2025-10-27T05:55:50.331Z,1761544550.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m. 2025-10-27T05:55:50.465Z,1761544550.465 [DAT](INFO): DAT read: Rx Time:05:55:49.2758 2025-10-27T05:55:50.465Z,1761544550.465 [DAT](INFO): Rx dataTimestamp_ set to:1761544550.465046 2025-10-27T05:55:50.467Z,1761544550.467 [DAT](INFO): DAT read: Bearing 194.3, 50.4 (Local) 2025-10-27T05:55:50.467Z,1761544550.467 [DAT](INFO): Local bearing/azimuth received: Bearing 194.3, 50.4 (Local) 2025-10-27T05:55:50.469Z,1761544550.469 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 2025-10-27T05:55:50.470Z,1761544550.470 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-27T05:55:50.471Z,1761544550.471 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.936373 2025-10-27T05:55:50.585Z,1761544550.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216104,0.974595,0.058850],[-0.975845,-0.217571,0.019706],[0.032009,-0.053170,0.998072]] 2025-10-27T05:55:50.654Z,1761544550.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504558 s, deltaX: 0.300001 m, approachRate: 0.594582 m/s, rangeRepo size: 4 2025-10-27T05:55:50.654Z,1761544550.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m. 2025-10-27T05:55:50.718Z,1761544550.718 [DAT](INFO): DAT read: 05:55:49.2758 LVL= 16272, 13793, 25458, 29235, AGC= 50, IDX= 500, 0.13,-0.360,-0.384,-1.881,-0.349, PHS= 0.091, 0.010,-1.576, RAW= 32.5, 17.8, CAL= 29.5, 20.5, ROT= 120.5, -20.5 2025-10-27T05:55:50.721Z,1761544550.721 [DAT](INFO): got valid direction response: 05:55:49.2758 LVL= 16272, 13793, 25458, 29235, AGC= 50, IDX= 500, 0.13,-0.360,-0.384,-1.881,-0.349, PHS= 0.091, 0.010,-1.576, RAW= 32.5, 17.8, CAL= 29.5, 20.5, ROT= 120.5, -20.5 2025-10-27T05:55:50.722Z,1761544550.722 [DAT](INFO): #Rx 45: Read direction message, but no range. 2025-10-27T05:55:50.724Z,1761544550.724 [DAT](INFO): direction in FSK: [-0.475397,0.807064,0.350207] 2025-10-27T05:55:50.751Z,1761544550.751 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.217104 2025-10-27T05:55:50.966Z,1761544550.966 [DAT](INFO): DAT read: Rx Time:05:55:49.7758 2025-10-27T05:55:50.966Z,1761544550.966 [DAT](INFO): Rx dataTimestamp_ set to:1761544550.966134 2025-10-27T05:55:50.972Z,1761544550.972 [DAT](INFO): DAT read: Bearing 192.9, 50.5 (Local) 2025-10-27T05:55:50.972Z,1761544550.972 [DAT](INFO): Local bearing/azimuth received: Bearing 192.9, 50.5 (Local) 2025-10-27T05:55:50.974Z,1761544550.974 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 2025-10-27T05:55:50.979Z,1761544550.979 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-27T05:55:50.980Z,1761544550.980 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.445389 2025-10-27T05:55:50.992Z,1761544550.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217494,0.974273,0.059061],[-0.975507,-0.219011,0.020493],[0.032901,-0.053157,0.998044]] 2025-10-27T05:55:51.069Z,1761544551.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.501088 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:51.075Z,1761544551.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.467077 m, bearing: 17.907345 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 1.005646 s, deltaX: 0.298065 m, approachRate: 0.296392 m/s, posRepo size: 4 2025-10-27T05:55:51.076Z,1761544551.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m. 2025-10-27T05:55:51.224Z,1761544551.224 [DAT](INFO): DAT read: 05:55:49.7758 LVL= 16512, 13345, 23650, 28035, AGC= 49, IDX= 500,-0.19,-2.427,-2.472, 2.329,-2.411, PHS= 0.086,-0.017,-1.587, RAW= 33.1, 18.3, CAL= 30.1, 21.1, ROT= 119.9, -21.1 2025-10-27T05:55:51.226Z,1761544551.226 [DAT](INFO): got valid direction response: 05:55:49.7758 LVL= 16512, 13345, 23650, 28035, AGC= 49, IDX= 500,-0.19,-2.427,-2.472, 2.329,-2.411, PHS= 0.086,-0.017,-1.587, RAW= 33.1, 18.3, CAL= 30.1, 21.1, ROT= 119.9, -21.1 2025-10-27T05:55:51.226Z,1761544551.226 [DAT](INFO): #Rx 47: Read direction message, but no range. 2025-10-27T05:55:51.228Z,1761544551.228 [DAT](INFO): direction in FSK: [-0.465066,0.808774,0.359997] 2025-10-27T05:55:51.234Z,1761544551.234 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.699297 2025-10-27T05:55:51.386Z,1761544551.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218956,0.973925,0.059399],[-0.975148,-0.220530,0.021302],[0.033846,-0.053258,0.998007]] 2025-10-27T05:55:51.469Z,1761544551.469 [DAT](INFO): DAT read: Rx Time:05:55:50.2758 2025-10-27T05:55:51.469Z,1761544551.469 [DAT](INFO): Rx dataTimestamp_ set to:1761544551.468800 2025-10-27T05:55:51.470Z,1761544551.470 [DAT](INFO): DAT read: Bearing 194.4, 50.3 (Local) 2025-10-27T05:55:51.471Z,1761544551.471 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 50.3 (Local) 2025-10-27T05:55:51.473Z,1761544551.473 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 2025-10-27T05:55:51.478Z,1761544551.478 [DAT](INFO): DAT read: 05:55:50.2758 LVL= 15984, 14881, 25970, 28627, AGC= 50, IDX= 500, 0.35,-0.700,-0.720,-2.235,-0.691, PHS= 0.093, 0.016,-1.588, RAW= 32.3, 17.6, CAL= 29.4, 20.4, ROT= 120.6, -20.4 2025-10-27T05:55:51.482Z,1761544551.482 [DAT](INFO): got valid direction response: 05:55:50.2758 LVL= 15984, 14881, 25970, 28627, AGC= 50, IDX= 500, 0.35,-0.700,-0.720,-2.235,-0.691, PHS= 0.093, 0.016,-1.588, RAW= 32.3, 17.6, CAL= 29.4, 20.4, ROT= 120.6, -20.4 2025-10-27T05:55:51.483Z,1761544551.483 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T05:55:51.484Z,1761544551.484 [DAT](INFO): direction in FSK: [-0.477115,0.806758,0.348572] 2025-10-27T05:55:51.484Z,1761544551.484 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:51.496Z,1761544551.496 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.961893 2025-10-27T05:55:51.530Z,1761544551.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.502666 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:51.540Z,1761544551.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.466969 m, bearing: 17.931782 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.502666 s, deltaX: -0.000109 m, approachRate: -0.000216 m/s, posRepo size: 4 2025-10-27T05:55:51.541Z,1761544551.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m. 2025-10-27T05:55:51.723Z,1761544551.723 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.187918 2025-10-27T05:55:51.790Z,1761544551.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220395,0.973582,0.059698],[-0.974792,-0.222022,0.022061],[0.034733,-0.053331,0.997973]] 2025-10-27T05:55:51.825Z,1761544551.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m. 2025-10-27T05:55:51.973Z,1761544551.973 [DAT](INFO): DAT read: Rx Time:05:55:50.7758 2025-10-27T05:55:51.973Z,1761544551.973 [DAT](INFO): Rx dataTimestamp_ set to:1761544551.972747 2025-10-27T05:55:51.974Z,1761544551.974 [DAT](INFO): DAT read: Bearing 194.6, 50.3 (Local) 2025-10-27T05:55:51.975Z,1761544551.975 [DAT](INFO): Local bearing/azimuth received: Bearing 194.6, 50.3 (Local) 2025-10-27T05:55:51.977Z,1761544551.977 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 2025-10-27T05:55:51.982Z,1761544551.982 [DAT](INFO): DAT read: 05:55:50.7758 LVL= 17136, 13217, 25266, 29731, AGC= 49, IDX= 500, 0.05,-1.962,-1.979, 2.790,-1.953, PHS= 0.093, 0.019,-1.584, RAW= 32.2, 17.6, CAL= 29.3, 20.3, ROT= 120.7, -20.3 2025-10-27T05:55:51.986Z,1761544551.986 [DAT](INFO): got valid direction response: 05:55:50.7758 LVL= 17136, 13217, 25266, 29731, AGC= 49, IDX= 500, 0.05,-1.962,-1.979, 2.790,-1.953, PHS= 0.093, 0.019,-1.584, RAW= 32.2, 17.6, CAL= 29.3, 20.3, ROT= 120.7, -20.3 2025-10-27T05:55:51.986Z,1761544551.986 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T05:55:51.987Z,1761544551.987 [DAT](INFO): direction in FSK: [-0.478833,0.806446,0.346936] 2025-10-27T05:55:51.987Z,1761544551.987 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:51.991Z,1761544551.991 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.456537 2025-10-27T05:55:52.193Z,1761544552.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221395,0.973340,0.059944],[-0.974542,-0.223061,0.022615],[0.035383,-0.053411,0.997945]] 2025-10-27T05:55:52.224Z,1761544552.224 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.689924 2025-10-27T05:55:52.269Z,1761544552.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.503947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:52.271Z,1761544552.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.467300 m, bearing: 17.906418 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.503947 s, deltaX: 0.000332 m, approachRate: 0.000659 m/s, posRepo size: 4 2025-10-27T05:55:52.272Z,1761544552.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m. 2025-10-27T05:55:52.477Z,1761544552.477 [DAT](INFO): DAT read: Rx Time:05:55:51.2760 2025-10-27T05:55:52.477Z,1761544552.477 [DAT](INFO): Rx dataTimestamp_ set to:1761544552.476740 2025-10-27T05:55:52.478Z,1761544552.478 [DAT](INFO): DAT read: Bearing 193.4, 50.2 (Local) 2025-10-27T05:55:52.479Z,1761544552.479 [DAT](INFO): Local bearing/azimuth received: Bearing 193.4, 50.2 (Local) 2025-10-27T05:55:52.481Z,1761544552.481 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.2 2025-10-27T05:55:52.504Z,1761544552.504 [DAT](INFO): DAT read: 05:55:51.2760 LVL= 15392, 14641, 23618, 27363, AGC= 50, IDX= 502,-0.18,-2.755,-2.785, 1.990,-2.737, PHS= 0.084,-0.002,-1.600, RAW= 32.6, 18.1, CAL= 29.6, 20.9, ROT= 120.4, -20.9 2025-10-27T05:55:52.505Z,1761544552.505 [DAT](INFO): got valid direction response: 05:55:51.2760 LVL= 15392, 14641, 23618, 27363, AGC= 50, IDX= 502,-0.18,-2.755,-2.785, 1.990,-2.737, PHS= 0.084,-0.002,-1.600, RAW= 32.6, 18.1, CAL= 29.6, 20.9, ROT= 120.4, -20.9 2025-10-27T05:55:52.505Z,1761544552.505 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T05:55:52.506Z,1761544552.506 [DAT](INFO): direction in FSK: [-0.472739,0.805764,0.356738] 2025-10-27T05:55:52.506Z,1761544552.506 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:52.510Z,1761544552.510 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.975885 2025-10-27T05:55:52.598Z,1761544552.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222058,0.973173,0.060202],[-0.974377,-0.223751,0.022930],[0.035785,-0.053568,0.997923]] 2025-10-27T05:55:52.645Z,1761544552.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503993 s, deltaX: 0.299999 m, approachRate: 0.595245 m/s, rangeRepo size: 4 2025-10-27T05:55:52.651Z,1761544552.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.765368 m, bearing: 17.580329 deg, lat: 36.779391 deg, lon: -121.859756 deg, deltaT: 0.503993 s, deltaX: 0.298067 m, approachRate: 0.591411 m/s, posRepo size: 4 2025-10-27T05:55:52.652Z,1761544552.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m. 2025-10-27T05:55:52.730Z,1761544552.730 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.195555 2025-10-27T05:55:52.981Z,1761544552.981 [DAT](INFO): DAT read: Rx Time:05:55:51.7760 2025-10-27T05:55:52.981Z,1761544552.981 [DAT](INFO): Rx dataTimestamp_ set to:1761544552.980703 2025-10-27T05:55:52.982Z,1761544552.982 [DAT](INFO): DAT read: Bearing 194.4, 50.0 (Local) 2025-10-27T05:55:52.983Z,1761544552.983 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 50.0 (Local) 2025-10-27T05:55:52.985Z,1761544552.985 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.1 2025-10-27T05:55:53.008Z,1761544553.008 [DAT](INFO): DAT read: 05:55:51.7760 LVL= 15632, 12833, 24162, 27811, AGC= 49, IDX= 502,-0.43, 2.106, 2.097, 0.580, 2.123, PHS= 0.085, 0.019,-1.587, RAW= 32.0, 17.7, CAL= 29.1, 20.5, ROT= 120.9, -20.5 2025-10-27T05:55:53.047Z,1761544553.047 [DAT](INFO): got valid direction response: 05:55:51.7760 LVL= 15632, 12833, 24162, 27811, AGC= 49, IDX= 502,-0.43, 2.106, 2.097, 0.580, 2.123, PHS= 0.085, 0.019,-1.587, RAW= 32.0, 17.7, CAL= 29.1, 20.5, ROT= 120.9, -20.5 2025-10-27T05:55:53.048Z,1761544553.048 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T05:55:53.049Z,1761544553.049 [DAT](INFO): direction in FSK: [-0.481020,0.803726,0.350207] 2025-10-27T05:55:53.049Z,1761544553.049 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:53.061Z,1761544553.061 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.527237 2025-10-27T05:55:53.074Z,1761544553.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222579,0.973038,0.060468],[-0.974243,-0.224299,0.023247],[0.036183,-0.053736,0.997899]] 2025-10-27T05:55:53.221Z,1761544553.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503963 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:53.229Z,1761544553.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.765368 m, bearing: 18.041180 deg, lat: 36.779391 deg, lon: -121.859756 deg, deltaT: 0.503963 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:53.230Z,1761544553.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m. 2025-10-27T05:55:53.233Z,1761544553.233 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.698410 2025-10-27T05:55:53.485Z,1761544553.485 [DAT](INFO): DAT read: Rx Time:05:55:52.2761 2025-10-27T05:55:53.485Z,1761544553.485 [DAT](INFO): Rx dataTimestamp_ set to:1761544553.484789 2025-10-27T05:55:53.486Z,1761544553.486 [DAT](INFO): DAT read: Bearing 195.5, 50.0 (Local) 2025-10-27T05:55:53.487Z,1761544553.487 [DAT](INFO): Local bearing/azimuth received: Bearing 195.5, 50.0 (Local) 2025-10-27T05:55:53.489Z,1761544553.489 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.2 2025-10-27T05:55:53.494Z,1761544553.494 [DAT](INFO): DAT read: 05:55:52.2761 LVL= 16016, 14401, 23634, 28259, AGC= 51, IDX= 503, 0.25,-1.265,-1.259,-2.805,-1.257, PHS= 0.094, 0.043,-1.592, RAW= 31.5, 17.2, CAL= 28.7, 19.9, ROT= 121.3, -19.9 2025-10-27T05:55:53.498Z,1761544553.498 [DAT](INFO): got valid direction response: 05:55:52.2761 LVL= 16016, 14401, 23634, 28259, AGC= 51, IDX= 503, 0.25,-1.265,-1.259,-2.805,-1.257, PHS= 0.094, 0.043,-1.592, RAW= 31.5, 17.2, CAL= 28.7, 19.9, ROT= 121.3, -19.9 2025-10-27T05:55:53.499Z,1761544553.499 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T05:55:53.500Z,1761544553.500 [DAT](INFO): direction in FSK: [-0.488498,0.803437,0.340380] 2025-10-27T05:55:53.500Z,1761544553.500 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:53.508Z,1761544553.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222548,0.973040,0.060541],[-0.974248,-0.224273,0.023283],[0.036233,-0.053800,0.997894]] 2025-10-27T05:55:53.516Z,1761544553.516 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.981564 2025-10-27T05:55:53.657Z,1761544553.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504086 s, deltaX: 0.100000 m, approachRate: 0.198380 m/s, rangeRepo size: 4 2025-10-27T05:55:53.664Z,1761544553.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.865110 m, bearing: 18.432393 deg, lat: 36.779392 deg, lon: -121.859756 deg, deltaT: 0.504086 s, deltaX: 0.099743 m, approachRate: 0.197869 m/s, posRepo size: 4 2025-10-27T05:55:53.664Z,1761544553.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m. 2025-10-27T05:55:53.737Z,1761544553.737 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.202435 2025-10-27T05:55:53.919Z,1761544553.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222138,0.973132,0.060576],[-0.974348,-0.223854,0.023119],[0.036058,-0.053886,0.997896]] 2025-10-27T05:55:53.989Z,1761544553.989 [DAT](INFO): DAT read: Rx Time:05:55:52.7761 2025-10-27T05:55:53.990Z,1761544553.990 [DAT](INFO): Rx dataTimestamp_ set to:1761544553.989314 2025-10-27T05:55:53.991Z,1761544553.991 [DAT](INFO): DAT read: Bearing 194.7, 49.8 (Local) 2025-10-27T05:55:53.991Z,1761544553.991 [DAT](INFO): Local bearing/azimuth received: Bearing 194.7, 49.8 (Local) 2025-10-27T05:55:53.993Z,1761544553.993 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.1 2025-10-27T05:55:53.998Z,1761544553.998 [DAT](INFO): DAT read: 05:55:52.7761 LVL= 17200, 15265, 24658, 29459, AGC= 52, IDX= 503,-0.01, 2.663, 2.665, 1.120, 2.684, PHS= 0.081, 0.027,-1.607, RAW= 31.6, 17.7, CAL= 28.8, 20.5, ROT= 121.2, -20.5 2025-10-27T05:55:54.001Z,1761544554.001 [DAT](INFO): got valid direction response: 05:55:52.7761 LVL= 17200, 15265, 24658, 29459, AGC= 52, IDX= 503,-0.01, 2.663, 2.665, 1.120, 2.684, PHS= 0.081, 0.027,-1.607, RAW= 31.6, 17.7, CAL= 28.8, 20.5, ROT= 121.2, -20.5 2025-10-27T05:55:54.001Z,1761544554.001 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T05:55:54.002Z,1761544554.002 [DAT](INFO): direction in FSK: [-0.485221,0.801196,0.350207] 2025-10-27T05:55:54.003Z,1761544554.003 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:54.016Z,1761544554.016 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.482239 2025-10-27T05:55:54.061Z,1761544554.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504525 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:54.071Z,1761544554.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.865110 m, bearing: 18.357186 deg, lat: 36.779392 deg, lon: -121.859756 deg, deltaT: 0.504525 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:54.072Z,1761544554.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m. 2025-10-27T05:55:54.241Z,1761544554.241 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.706724 2025-10-27T05:55:54.324Z,1761544554.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221351,0.973324,0.060362],[-0.974544,-0.223040,0.022758],[0.035615,-0.053788,0.997917]] 2025-10-27T05:55:54.385Z,1761544554.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m. 2025-10-27T05:55:54.496Z,1761544554.496 [DAT](INFO): DAT read: Rx Time:05:55:53.2763 2025-10-27T05:55:54.497Z,1761544554.497 [DAT](INFO): Rx dataTimestamp_ set to:1761544554.496634 2025-10-27T05:55:54.499Z,1761544554.499 [DAT](INFO): DAT read: Bearing 194.9, 49.6 (Local) 2025-10-27T05:55:54.499Z,1761544554.499 [DAT](INFO): Local bearing/azimuth received: Bearing 194.9, 49.6 (Local) 2025-10-27T05:55:54.502Z,1761544554.502 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 2025-10-27T05:55:54.512Z,1761544554.512 [DAT](INFO): DAT read: 05:55:53.2763 LVL= 16576, 13169, 25522, 29267, AGC= 52, IDX= 505,-0.47,-1.020,-1.004,-2.549,-0.993, PHS= 0.076, 0.034,-1.599, RAW= 31.2, 17.7, CAL= 28.4, 20.5, ROT= 121.6, -20.5 2025-10-27T05:55:54.513Z,1761544554.513 [DAT](INFO): got valid direction response: 05:55:53.2763 LVL= 16576, 13169, 25522, 29267, AGC= 52, IDX= 505,-0.47,-1.020,-1.004,-2.549,-0.993, PHS= 0.076, 0.034,-1.599, RAW= 31.2, 17.7, CAL= 28.4, 20.5, ROT= 121.6, -20.5 2025-10-27T05:55:54.513Z,1761544554.513 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T05:55:54.514Z,1761544554.514 [DAT](INFO): direction in FSK: [-0.490803,0.797789,0.350207] 2025-10-27T05:55:54.514Z,1761544554.514 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:54.559Z,1761544554.559 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.992569 2025-10-27T05:55:54.736Z,1761544554.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220329,0.973567,0.060188],[-0.974794,-0.221988,0.022334],[0.035105,-0.053750,0.997937]] 2025-10-27T05:55:54.744Z,1761544554.744 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.209997 2025-10-27T05:55:54.765Z,1761544554.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.507320 s, deltaX: 0.299999 m, approachRate: 0.591341 m/s, rangeRepo size: 4 2025-10-27T05:55:54.767Z,1761544554.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.162994 m, bearing: 18.842749 deg, lat: 36.779392 deg, lon: -121.859755 deg, deltaT: 0.507320 s, deltaX: 0.297884 m, approachRate: 0.587172 m/s, posRepo size: 4 2025-10-27T05:55:54.767Z,1761544554.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m. 2025-10-27T05:55:54.997Z,1761544554.997 [DAT](INFO): DAT read: Rx Time:05:55:53.7762 2025-10-27T05:55:54.997Z,1761544554.997 [DAT](INFO): Rx dataTimestamp_ set to:1761544554.996772 2025-10-27T05:55:54.998Z,1761544554.998 [DAT](INFO): DAT read: Bearing 195.9, 49.5 (Local) 2025-10-27T05:55:54.999Z,1761544554.999 [DAT](INFO): Local bearing/azimuth received: Bearing 195.9, 49.5 (Local) 2025-10-27T05:55:55.001Z,1761544555.001 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.1 2025-10-27T05:55:55.013Z,1761544555.013 [DAT](INFO): DAT read: 05:55:53.7762 LVL= 14768, 12881, 27762, 28067, AGC= 51, IDX= 504, 0.08,-0.221,-0.188,-1.741,-0.198, PHS= 0.079, 0.054,-1.588, RAW= 30.7, 17.3, CAL= 28.0, 20.0, ROT= 122.0, -20.0 2025-10-27T05:55:55.014Z,1761544555.014 [DAT](INFO): got valid direction response: 05:55:53.7762 LVL= 14768, 12881, 27762, 28067, AGC= 51, IDX= 504, 0.08,-0.221,-0.188,-1.741,-0.198, PHS= 0.079, 0.054,-1.588, RAW= 30.7, 17.3, CAL= 28.0, 20.0, ROT= 122.0, -20.0 2025-10-27T05:55:55.014Z,1761544555.014 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T05:55:55.040Z,1761544555.040 [DAT](INFO): direction in FSK: [-0.497961,0.796904,0.342020] 2025-10-27T05:55:55.040Z,1761544555.040 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:55.052Z,1761544555.052 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.517376 2025-10-27T05:55:55.122Z,1761544555.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218632,0.973944,0.060274],[-0.975200,-0.220257,0.021702],[0.034413,-0.054034,0.997946]] 2025-10-27T05:55:55.154Z,1761544555.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.500138 s, deltaX: -0.099998 m, approachRate: -0.199942 m/s, rangeRepo size: 4 2025-10-27T05:55:55.201Z,1761544555.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.063639 m, bearing: 19.320597 deg, lat: 36.779392 deg, lon: -121.859754 deg, deltaT: 0.500138 s, deltaX: -0.099356 m, approachRate: -0.198657 m/s, posRepo size: 4 2025-10-27T05:55:55.202Z,1761544555.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.06 m. 2025-10-27T05:55:55.248Z,1761544555.248 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.713757 2025-10-27T05:55:55.501Z,1761544555.501 [DAT](INFO): DAT read: Rx Time:05:55:54.2763 2025-10-27T05:55:55.501Z,1761544555.501 [DAT](INFO): Rx dataTimestamp_ set to:1761544555.500714 2025-10-27T05:55:55.502Z,1761544555.502 [DAT](INFO): DAT read: Bearing 195.1, 49.4 (Local) 2025-10-27T05:55:55.503Z,1761544555.503 [DAT](INFO): Local bearing/azimuth received: Bearing 195.1, 49.4 (Local) 2025-10-27T05:55:55.505Z,1761544555.505 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.2 2025-10-27T05:55:55.509Z,1761544555.509 [DAT](INFO): DAT read: 05:55:54.2763 LVL= 15344, 11937, 26898, 28963, AGC= 51, IDX= 505,-0.14,-1.789,-1.764, 2.996,-1.755, PHS= 0.068, 0.036,-1.577, RAW= 31.0, 17.7, CAL= 28.2, 20.6, ROT= 121.8, -20.6 2025-10-27T05:55:55.510Z,1761544555.510 [DAT](INFO): got valid direction response: 05:55:54.2763 LVL= 15344, 11937, 26898, 28963, AGC= 51, IDX= 505,-0.14,-1.789,-1.764, 2.996,-1.755, PHS= 0.068, 0.036,-1.577, RAW= 31.0, 17.7, CAL= 28.2, 20.6, ROT= 121.8, -20.6 2025-10-27T05:55:55.520Z,1761544555.520 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T05:55:55.521Z,1761544555.521 [DAT](INFO): direction in FSK: [-0.493262,0.795550,0.351842] 2025-10-27T05:55:55.521Z,1761544555.521 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:55.533Z,1761544555.533 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.998343 2025-10-27T05:55:55.535Z,1761544555.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216730,0.974383,0.060056],[-0.975654,-0.218307,0.021001],[0.033574,-0.054042,0.997974]] 2025-10-27T05:55:55.629Z,1761544555.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503942 s, deltaX: 0.099998 m, approachRate: 0.198433 m/s, rangeRepo size: 4 2025-10-27T05:55:55.635Z,1761544555.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.163504 m, bearing: 19.224812 deg, lat: 36.779391 deg, lon: -121.859752 deg, deltaT: 0.503942 s, deltaX: 0.099865 m, approachRate: 0.198168 m/s, posRepo size: 4 2025-10-27T05:55:55.636Z,1761544555.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m. 2025-10-27T05:55:55.753Z,1761544555.753 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.218410 2025-10-27T05:55:56.004Z,1761544556.004 [DAT](INFO): DAT read: Rx Time:05:55:54.7763 2025-10-27T05:55:56.005Z,1761544556.005 [DAT](INFO): Rx dataTimestamp_ set to:1761544556.004564 2025-10-27T05:55:56.006Z,1761544556.006 [DAT](INFO): DAT read: Bearing 196.2, 49.7 (Local) 2025-10-27T05:55:56.006Z,1761544556.006 [DAT](INFO): Local bearing/azimuth received: Bearing 196.2, 49.7 (Local) 2025-10-27T05:55:56.009Z,1761544556.009 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.1 2025-10-27T05:55:56.013Z,1761544556.013 [DAT](INFO): DAT read: 05:55:54.7763 LVL= 15328, 12529, 26610, 28403, AGC= 51, IDX= 504, 0.47,-1.745,-1.717, 3.024,-1.727, PHS= 0.084, 0.054,-1.577, RAW= 30.9, 17.2, CAL= 28.1, 19.9, ROT= 121.9, -19.9 2025-10-27T05:55:56.014Z,1761544556.014 [DAT](INFO): got valid direction response: 05:55:54.7763 LVL= 15328, 12529, 26610, 28403, AGC= 51, IDX= 504, 0.47,-1.745,-1.717, 3.024,-1.727, PHS= 0.084, 0.054,-1.577, RAW= 30.9, 17.2, CAL= 28.1, 19.9, ROT= 121.9, -19.9 2025-10-27T05:55:56.015Z,1761544556.015 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T05:55:56.018Z,1761544556.018 [DAT](INFO): direction in FSK: [-0.496884,0.798278,0.340380] 2025-10-27T05:55:56.019Z,1761544556.019 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:56.022Z,1761544556.022 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.487995 2025-10-27T05:55:56.041Z,1761544556.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503850 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:56.041Z,1761544556.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m. 2025-10-27T05:55:56.256Z,1761544556.256 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.722219 2025-10-27T05:55:56.334Z,1761544556.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212129,0.975435,0.059403],[-0.976731,-0.213590,0.019365],[0.031577,-0.053913,0.998046]] 2025-10-27T05:55:56.395Z,1761544556.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m. 2025-10-27T05:55:56.509Z,1761544556.509 [DAT](INFO): DAT read: Rx Time:05:55:55.2764 2025-10-27T05:55:56.509Z,1761544556.509 [DAT](INFO): Rx dataTimestamp_ set to:1761544556.508835 2025-10-27T05:55:56.510Z,1761544556.510 [DAT](INFO): DAT read: Bearing 195.8, 49.9 (Local) 2025-10-27T05:55:56.511Z,1761544556.511 [DAT](INFO): Local bearing/azimuth received: Bearing 195.8, 49.9 (Local) 2025-10-27T05:55:56.514Z,1761544556.514 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.1 2025-10-27T05:55:56.525Z,1761544556.525 [DAT](INFO): DAT read: 05:55:55.2764 LVL= 14944, 12177, 26226, 27235, AGC= 51, IDX= 506, 0.09,-0.316,-0.300,-1.829,-0.298, PHS= 0.085, 0.043,-1.575, RAW= 31.3, 17.3, CAL= 28.4, 20.1, ROT= 121.6, -20.1 2025-10-27T05:55:56.526Z,1761544556.526 [DAT](INFO): got valid direction response: 05:55:55.2764 LVL= 14944, 12177, 26226, 27235, AGC= 51, IDX= 506, 0.09,-0.316,-0.300,-1.829,-0.298, PHS= 0.085, 0.043,-1.575, RAW= 31.3, 17.3, CAL= 28.4, 20.1, ROT= 121.6, -20.1 2025-10-27T05:55:56.527Z,1761544556.527 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T05:55:56.528Z,1761544556.528 [DAT](INFO): direction in FSK: [-0.492072,0.799852,0.343660] 2025-10-27T05:55:56.529Z,1761544556.529 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:56.537Z,1761544556.537 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.002262 2025-10-27T05:55:56.745Z,1761544556.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209782,0.975966,0.059013],[-0.977269,-0.211187,0.018605],[0.030620,-0.053768,0.998084]] 2025-10-27T05:55:56.760Z,1761544556.760 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.225559 2025-10-27T05:55:56.828Z,1761544556.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504271 s, deltaX: 0.200001 m, approachRate: 0.396614 m/s, rangeRepo size: 4 2025-10-27T05:55:56.830Z,1761544556.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.362129 m, bearing: 19.398060 deg, lat: 36.779391 deg, lon: -121.859750 deg, deltaT: 1.008121 s, deltaX: 0.198626 m, approachRate: 0.197026 m/s, posRepo size: 4 2025-10-27T05:55:56.830Z,1761544556.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.36 m. 2025-10-27T05:55:57.012Z,1761544557.012 [DAT](INFO): DAT read: Rx Time:05:55:55.7764 2025-10-27T05:55:57.013Z,1761544557.013 [DAT](INFO): Rx dataTimestamp_ set to:1761544557.012684 2025-10-27T05:55:57.014Z,1761544557.014 [DAT](INFO): DAT read: Bearing 194.5, 50.2 (Local) 2025-10-27T05:55:57.015Z,1761544557.015 [DAT](INFO): Local bearing/azimuth received: Bearing 194.5, 50.2 (Local) 2025-10-27T05:55:57.017Z,1761544557.017 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.1 2025-10-27T05:55:57.022Z,1761544557.022 [DAT](INFO): DAT read: 05:55:55.7764 LVL= 14960, 12113, 26386, 27923, AGC= 52, IDX= 506,-0.37,-1.929,-1.941, 2.840,-1.906, PHS= 0.080, 0.011,-1.581, RAW= 32.1, 17.9, CAL= 29.2, 20.7, ROT= 120.8, -20.7 2025-10-27T05:55:57.026Z,1761544557.026 [DAT](INFO): got valid direction response: 05:55:55.7764 LVL= 14960, 12113, 26386, 27923, AGC= 52, IDX= 506,-0.37,-1.929,-1.941, 2.840,-1.906, PHS= 0.080, 0.011,-1.581, RAW= 32.1, 17.9, CAL= 29.2, 20.7, ROT= 120.8, -20.7 2025-10-27T05:55:57.026Z,1761544557.026 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T05:55:57.028Z,1761544557.028 [DAT](INFO): direction in FSK: [-0.478988,0.803509,0.353475] 2025-10-27T05:55:57.028Z,1761544557.028 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:57.032Z,1761544557.032 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.497452 2025-10-27T05:55:57.232Z,1761544557.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503849 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:57.267Z,1761544557.267 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.731714 2025-10-27T05:55:57.271Z,1761544557.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.362427 m, bearing: 18.613502 deg, lat: 36.779391 deg, lon: -121.859749 deg, deltaT: 0.503849 s, deltaX: 0.000298 m, approachRate: 0.000591 m/s, posRepo size: 4 2025-10-27T05:55:57.272Z,1761544557.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.36 m. 2025-10-27T05:55:57.516Z,1761544557.516 [DAT](INFO): DAT read: Rx Time:05:55:56.2764 2025-10-27T05:55:57.517Z,1761544557.517 [DAT](INFO): Rx dataTimestamp_ set to:1761544557.516669 2025-10-27T05:55:57.518Z,1761544557.518 [DAT](INFO): DAT read: Bearing 195.9, 50.3 (Local) 2025-10-27T05:55:57.519Z,1761544557.519 [DAT](INFO): Local bearing/azimuth received: Bearing 195.9, 50.3 (Local) 2025-10-27T05:55:57.521Z,1761544557.521 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.1 2025-10-27T05:55:57.525Z,1761544557.525 [DAT](INFO): DAT read: 05:55:56.2764 LVL= 16096, 12481, 26258, 28339, AGC= 51, IDX= 507, 0.11, 0.385, 0.387,-1.135, 0.394, PHS= 0.092, 0.037,-1.574, RAW= 31.7, 17.3, CAL= 28.8, 20.0, ROT= 121.2, -20.0 2025-10-27T05:55:57.526Z,1761544557.526 [DAT](INFO): got valid direction response: 05:55:56.2764 LVL= 16096, 12481, 26258, 28339, AGC= 51, IDX= 507, 0.11, 0.385, 0.387,-1.135, 0.394, PHS= 0.092, 0.037,-1.574, RAW= 31.7, 17.3, CAL= 28.8, 20.0, ROT= 121.2, -20.0 2025-10-27T05:55:57.537Z,1761544557.537 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T05:55:57.538Z,1761544557.537 [DAT](INFO): direction in FSK: [-0.486786,0.803779,0.342020] 2025-10-27T05:55:57.538Z,1761544557.538 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:57.558Z,1761544557.558 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.023376 2025-10-27T05:55:57.581Z,1761544557.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204034,0.977228,0.058265],[-0.978556,-0.205306,0.016685],[0.028267,-0.053612,0.998162]] 2025-10-27T05:55:57.688Z,1761544557.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503985 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:57.690Z,1761544557.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.362427 m, bearing: 19.311473 deg, lat: 36.779391 deg, lon: -121.859747 deg, deltaT: 0.503985 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:57.690Z,1761544557.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.36 m. 2025-10-27T05:55:57.768Z,1761544557.768 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.233644 2025-10-27T05:55:57.983Z,1761544557.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201667,0.977750,0.057755],[-0.979070,-0.202889,0.016071],[0.027432,-0.053305,0.998201]] 2025-10-27T05:55:58.021Z,1761544558.021 [DAT](INFO): DAT read: Rx Time:05:55:56.7764 2025-10-27T05:55:58.021Z,1761544558.021 [DAT](INFO): Rx dataTimestamp_ set to:1761544558.020859 2025-10-27T05:55:58.022Z,1761544558.022 [DAT](INFO): DAT read: Bearing 193.1, 50.6 (Local) 2025-10-27T05:55:58.023Z,1761544558.023 [DAT](INFO): Local bearing/azimuth received: Bearing 193.1, 50.6 (Local) 2025-10-27T05:55:58.025Z,1761544558.025 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.0 2025-10-27T05:55:58.040Z,1761544558.040 [DAT](INFO): DAT read: 05:55:56.7764 LVL= 15120, 15249, 26818, 27923, AGC= 52, IDX= 507,-0.30, 2.210, 2.162, 0.676, 2.229, PHS= 0.082,-0.023,-1.597, RAW= 33.2, 18.5, CAL= 30.2, 21.3, ROT= 119.8, -21.3 2025-10-27T05:55:58.042Z,1761544558.042 [DAT](INFO): got valid direction response: 05:55:56.7764 LVL= 15120, 15249, 26818, 27923, AGC= 52, IDX= 507,-0.30, 2.210, 2.162, 0.676, 2.229, PHS= 0.082,-0.023,-1.597, RAW= 33.2, 18.5, CAL= 30.2, 21.3, ROT= 119.8, -21.3 2025-10-27T05:55:58.042Z,1761544558.042 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T05:55:58.053Z,1761544558.053 [DAT](INFO): direction in FSK: [-0.463026,0.808489,0.363251] 2025-10-27T05:55:58.054Z,1761544558.054 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:58.061Z,1761544558.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504190 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:58.062Z,1761544558.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.36 m. 2025-10-27T05:55:58.064Z,1761544558.064 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.529842 2025-10-27T05:55:58.272Z,1761544558.272 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.737820 2025-10-27T05:55:58.379Z,1761544558.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199166,0.978282,0.057414],[-0.979604,-0.200341,0.015442],[0.026609,-0.053167,0.998231]] 2025-10-27T05:55:58.512Z,1761544558.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.36 m. 2025-10-27T05:55:58.525Z,1761544558.525 [DAT](INFO): DAT read: Rx Time:05:55:57.2765 2025-10-27T05:55:58.525Z,1761544558.525 [DAT](INFO): Rx dataTimestamp_ set to:1761544558.524806 2025-10-27T05:55:58.526Z,1761544558.526 [DAT](INFO): DAT read: Bearing 193.3, 51.0 (Local) 2025-10-27T05:55:58.527Z,1761544558.527 [DAT](INFO): Local bearing/azimuth received: Bearing 193.3, 51.0 (Local) 2025-10-27T05:55:58.529Z,1761544558.529 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.0 2025-10-27T05:55:58.534Z,1761544558.534 [DAT](INFO): DAT read: 05:55:57.2765 LVL= 16080, 14321, 23394, 28403, AGC= 51, IDX= 508, 0.07,-2.185,-2.242, 2.569,-2.174, PHS= 0.092,-0.023,-1.584, RAW= 33.5, 18.3, CAL= 30.4, 21.1, ROT= 119.6, -21.1 2025-10-27T05:55:58.539Z,1761544558.539 [DAT](INFO): got valid direction response: 05:55:57.2765 LVL= 16080, 14321, 23394, 28403, AGC= 51, IDX= 508, 0.07,-2.185,-2.242, 2.569,-2.174, PHS= 0.092,-0.023,-1.584, RAW= 33.5, 18.3, CAL= 30.4, 21.1, ROT= 119.6, -21.1 2025-10-27T05:55:58.539Z,1761544558.539 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T05:55:58.540Z,1761544558.540 [DAT](INFO): direction in FSK: [-0.460825,0.811198,0.359997] 2025-10-27T05:55:58.540Z,1761544558.540 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:58.553Z,1761544558.553 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.018396 2025-10-27T05:55:58.776Z,1761544558.776 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.241768 2025-10-27T05:55:58.784Z,1761544558.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197048,0.978727,0.057153],[-0.980048,-0.198192,0.015045],[0.026053,-0.053048,0.998252]] 2025-10-27T05:55:58.808Z,1761544558.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503947 s, deltaX: 0.100000 m, approachRate: 0.198434 m/s, rangeRepo size: 4 2025-10-27T05:55:58.810Z,1761544558.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.462000 m, bearing: 18.121089 deg, lat: 36.779390 deg, lon: -121.859749 deg, deltaT: 1.008137 s, deltaX: 0.099573 m, approachRate: 0.098769 m/s, posRepo size: 4 2025-10-27T05:55:58.810Z,1761544558.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.46 m. 2025-10-27T05:55:59.028Z,1761544559.028 [DAT](INFO): DAT read: Rx Time:05:55:57.7765 2025-10-27T05:55:59.029Z,1761544559.029 [DAT](INFO): Rx dataTimestamp_ set to:1761544559.028639 2025-10-27T05:55:59.030Z,1761544559.030 [DAT](INFO): DAT read: Bearing 192.7, 51.2 (Local) 2025-10-27T05:55:59.031Z,1761544559.031 [DAT](INFO): Local bearing/azimuth received: Bearing 192.7, 51.2 (Local) 2025-10-27T05:55:59.033Z,1761544559.033 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.1 2025-10-27T05:55:59.049Z,1761544559.049 [DAT](INFO): DAT read: 05:55:57.7765 LVL= 16528, 13969, 23538, 28755, AGC= 49, IDX= 508,-0.45, 1.913, 1.843, 0.396, 1.923, PHS= 0.092,-0.035,-1.571, RAW= 33.9, 18.5, CAL= 30.8, 21.3, ROT= 119.2, -21.3 2025-10-27T05:55:59.050Z,1761544559.050 [DAT](INFO): got valid direction response: 05:55:57.7765 LVL= 16528, 13969, 23538, 28755, AGC= 49, IDX= 508,-0.45, 1.913, 1.843, 0.396, 1.923, PHS= 0.092,-0.035,-1.571, RAW= 33.9, 18.5, CAL= 30.8, 21.3, ROT= 119.2, -21.3 2025-10-27T05:55:59.050Z,1761544559.050 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T05:55:59.051Z,1761544559.051 [DAT](INFO): direction in FSK: [-0.454535,0.813294,0.363251] 2025-10-27T05:55:59.052Z,1761544559.052 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:59.061Z,1761544559.061 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.526737 2025-10-27T05:55:59.192Z,1761544559.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194917,0.979170,0.056870],[-0.980489,-0.196028,0.014603],[0.025447,-0.052914,0.998275]] 2025-10-27T05:55:59.282Z,1761544559.282 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.747168 2025-10-27T05:55:59.329Z,1761544559.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503833 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:59.340Z,1761544559.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.461929 m, bearing: 17.844935 deg, lat: 36.779389 deg, lon: -121.859749 deg, deltaT: 0.503833 s, deltaX: -0.000071 m, approachRate: -0.000140 m/s, posRepo size: 4 2025-10-27T05:55:59.340Z,1761544559.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.46 m. 2025-10-27T05:55:59.533Z,1761544559.533 [DAT](INFO): DAT read: Rx Time:05:55:58.2765 2025-10-27T05:55:59.534Z,1761544559.534 [DAT](INFO): Rx dataTimestamp_ set to:1761544559.533580 2025-10-27T05:55:59.536Z,1761544559.536 [DAT](INFO): DAT read: Bearing 192.0, 51.2 (Local) 2025-10-27T05:55:59.536Z,1761544559.536 [DAT](INFO): Local bearing/azimuth received: Bearing 192.0, 51.2 (Local) 2025-10-27T05:55:59.539Z,1761544559.539 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.0 2025-10-27T05:55:59.548Z,1761544559.548 [DAT](INFO): DAT read: 05:55:58.2765 LVL= 15824, 13121, 22946, 28099, AGC= 50, IDX= 508,-0.01, 1.874, 1.790, 0.346, 1.886, PHS= 0.090,-0.051,-1.584, RAW= 34.4, 18.8, CAL= 31.2, 21.7, ROT= 118.8, -21.7 2025-10-27T05:55:59.549Z,1761544559.549 [DAT](INFO): got valid direction response: 05:55:58.2765 LVL= 15824, 13121, 22946, 28099, AGC= 50, IDX= 508,-0.01, 1.874, 1.790, 0.346, 1.886, PHS= 0.090,-0.051,-1.584, RAW= 34.4, 18.8, CAL= 31.2, 21.7, ROT= 118.8, -21.7 2025-10-27T05:55:59.549Z,1761544559.549 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T05:55:59.550Z,1761544559.550 [DAT](INFO): direction in FSK: [-0.447613,0.814205,0.369747] 2025-10-27T05:55:59.551Z,1761544559.551 [DAT](INFO): publishing direction and range info 2025-10-27T05:55:59.554Z,1761544559.554 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.020046 2025-10-27T05:55:59.695Z,1761544559.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193532,0.979449,0.056796],[-0.980768,-0.194637,0.014551],[0.025307,-0.052888,0.998280]] 2025-10-27T05:55:59.784Z,1761544559.784 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.249977 2025-10-27T05:55:59.785Z,1761544559.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:55:59.791Z,1761544559.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.461929 m, bearing: 17.530731 deg, lat: 36.779389 deg, lon: -121.859749 deg, deltaT: 0.504941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:55:59.792Z,1761544559.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.46 m. 2025-10-27T05:56:00.036Z,1761544560.036 [DAT](INFO): DAT read: Rx Time:05:55:58.7765 2025-10-27T05:56:00.037Z,1761544560.037 [DAT](INFO): Rx dataTimestamp_ set to:1761544560.036683 2025-10-27T05:56:00.038Z,1761544560.038 [DAT](INFO): DAT read: Bearing 192.4, 51.4 (Local) 2025-10-27T05:56:00.039Z,1761544560.039 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 51.4 (Local) 2025-10-27T05:56:00.041Z,1761544560.041 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.1 2025-10-27T05:56:00.045Z,1761544560.045 [DAT](INFO): DAT read: 05:55:58.7765 LVL= 14944, 13265, 22866, 27315, AGC= 50, IDX= 507, 0.42, 1.691, 1.604, 0.156, 1.693, PHS= 0.100,-0.044,-1.581, RAW= 34.4, 18.5, CAL= 31.3, 21.4, ROT= 118.7, -21.4 2025-10-27T05:56:00.046Z,1761544560.046 [DAT](INFO): got valid direction response: 05:55:58.7765 LVL= 14944, 13265, 22866, 27315, AGC= 50, IDX= 507, 0.42, 1.691, 1.604, 0.156, 1.693, PHS= 0.100,-0.044,-1.581, RAW= 34.4, 18.5, CAL= 31.3, 21.4, ROT= 118.7, -21.4 2025-10-27T05:56:00.050Z,1761544560.050 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T05:56:00.051Z,1761544560.051 [DAT](INFO): direction in FSK: [-0.447115,0.816672,0.364877] 2025-10-27T05:56:00.051Z,1761544560.051 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:00.100Z,1761544560.100 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.520533 2025-10-27T05:56:00.126Z,1761544560.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192419,0.979675,0.056666],[-0.980975,-0.193547,0.015092],[0.025753,-0.052684,0.998279]] 2025-10-27T05:56:00.188Z,1761544560.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:00.190Z,1761544560.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.461929 m, bearing: 17.508245 deg, lat: 36.779389 deg, lon: -121.859749 deg, deltaT: 0.503103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:00.190Z,1761544560.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.46 m. 2025-10-27T05:56:00.292Z,1761544560.292 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.757328 2025-10-27T05:56:00.514Z,1761544560.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192471,0.979664,0.056687],[-0.980951,-0.193626,0.015588],[0.026248,-0.052607,0.998270]] 2025-10-27T05:56:00.541Z,1761544560.541 [DAT](INFO): DAT read: Rx Time:05:55:59.2766 2025-10-27T05:56:00.541Z,1761544560.541 [DAT](INFO): Rx dataTimestamp_ set to:1761544560.540754 2025-10-27T05:56:00.542Z,1761544560.542 [DAT](INFO): DAT read: Bearing 191.5, 51.7 (Local) 2025-10-27T05:56:00.543Z,1761544560.543 [DAT](INFO): Local bearing/azimuth received: Bearing 191.5, 51.7 (Local) 2025-10-27T05:56:00.545Z,1761544560.545 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 2025-10-27T05:56:00.549Z,1761544560.549 [DAT](INFO): DAT read: 05:55:59.2766 LVL= 14896, 13009, 23858, 27971, AGC= 49, IDX= 509,-0.02, 1.437, 1.330,-0.088, 1.437, PHS= 0.102,-0.062,-1.569, RAW= 35.1, 18.7, CAL= 31.9, 21.7, ROT= 118.1, -21.7 2025-10-27T05:56:00.551Z,1761544560.551 [DAT](INFO): got valid direction response: 05:55:59.2766 LVL= 14896, 13009, 23858, 27971, AGC= 49, IDX= 509,-0.02, 1.437, 1.330,-0.088, 1.437, PHS= 0.102,-0.062,-1.569, RAW= 35.1, 18.7, CAL= 31.9, 21.7, ROT= 118.1, -21.7 2025-10-27T05:56:00.563Z,1761544560.563 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T05:56:00.564Z,1761544560.564 [DAT](INFO): direction in FSK: [-0.437632,0.819613,0.369747] 2025-10-27T05:56:00.564Z,1761544560.564 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:00.568Z,1761544560.568 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.033833 2025-10-27T05:56:00.626Z,1761544560.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504071 s, deltaX: 0.199999 m, approachRate: 0.396767 m/s, rangeRepo size: 4 2025-10-27T05:56:00.632Z,1761544560.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.660734 m, bearing: 16.925890 deg, lat: 36.779389 deg, lon: -121.859750 deg, deltaT: 0.504071 s, deltaX: 0.198805 m, approachRate: 0.394399 m/s, posRepo size: 4 2025-10-27T05:56:00.633Z,1761544560.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m. 2025-10-27T05:56:00.792Z,1761544560.792 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.257820 2025-10-27T05:56:00.962Z,1761544560.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192975,0.979548,0.056983],[-0.980832,-0.194175,0.016266],[0.026998,-0.052752,0.998243]] 2025-10-27T05:56:00.985Z,1761544560.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m. 2025-10-27T05:56:01.049Z,1761544561.049 [DAT](INFO): DAT read: Rx Time:05:55:59.7766 2025-10-27T05:56:01.050Z,1761544561.050 [DAT](INFO): Rx dataTimestamp_ set to:1761544561.049375 2025-10-27T05:56:01.054Z,1761544561.054 [DAT](INFO): DAT read: Bearing 193.2, 51.9 (Local) 2025-10-27T05:56:01.054Z,1761544561.054 [DAT](INFO): Local bearing/azimuth received: Bearing 193.2, 51.9 (Local) 2025-10-27T05:56:01.074Z,1761544561.074 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.1 2025-10-27T05:56:01.108Z,1761544561.108 [DAT](INFO): DAT read: 05:55:59.7766 LVL= 15712, 11569, 24194, 27939, AGC= 48, IDX= 508, 0.45, 1.036, 0.946,-0.484, 1.021, PHS= 0.118,-0.030,-1.549, RAW= 34.6, 17.9, CAL= 31.4, 20.7, ROT= 118.6, -20.7 2025-10-27T05:56:01.109Z,1761544561.109 [DAT](INFO): got valid direction response: 05:55:59.7766 LVL= 15712, 11569, 24194, 27939, AGC= 48, IDX= 508, 0.45, 1.036, 0.946,-0.484, 1.021, PHS= 0.118,-0.030,-1.549, RAW= 34.6, 17.9, CAL= 31.4, 20.7, ROT= 118.6, -20.7 2025-10-27T05:56:01.110Z,1761544561.110 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T05:56:01.115Z,1761544561.115 [DAT](INFO): direction in FSK: [-0.447789,0.821304,0.353475] 2025-10-27T05:56:01.116Z,1761544561.116 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:01.126Z,1761544561.126 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.591316 2025-10-27T05:56:01.301Z,1761544561.301 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.764572 2025-10-27T05:56:01.342Z,1761544561.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193817,0.979363,0.057297],[-0.980640,-0.195070,0.017097],[0.027921,-0.052874,0.998211]] 2025-10-27T05:56:01.392Z,1761544561.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.508621 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:01.394Z,1761544561.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.661041 m, bearing: 17.362062 deg, lat: 36.779389 deg, lon: -121.859750 deg, deltaT: 0.508621 s, deltaX: 0.000307 m, approachRate: 0.000604 m/s, posRepo size: 4 2025-10-27T05:56:01.395Z,1761544561.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m. 2025-10-27T05:56:01.549Z,1761544561.549 [DAT](INFO): DAT read: Rx Time:05:56:00.2767 2025-10-27T05:56:01.549Z,1761544561.549 [DAT](INFO): Rx dataTimestamp_ set to:1761544561.548783 2025-10-27T05:56:01.550Z,1761544561.550 [DAT](INFO): DAT read: Bearing 191.0, 51.9 (Local) 2025-10-27T05:56:01.551Z,1761544561.551 [DAT](INFO): Local bearing/azimuth received: Bearing 191.0, 51.9 (Local) 2025-10-27T05:56:01.553Z,1761544561.553 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.1 2025-10-27T05:56:01.558Z,1761544561.558 [DAT](INFO): DAT read: 05:56:00.2767 LVL= 14752, 12449, 22658, 27587, AGC= 49, IDX= 510, 0.00, 1.894, 1.771, 0.357, 1.887, PHS= 0.109,-0.072,-1.574, RAW= 35.6, 18.8, CAL= 32.3, 21.7, ROT= 117.7, -21.7 2025-10-27T05:56:01.562Z,1761544561.562 [DAT](INFO): got valid direction response: 05:56:00.2767 LVL= 14752, 12449, 22658, 27587, AGC= 49, IDX= 510, 0.00, 1.894, 1.771, 0.357, 1.887, PHS= 0.109,-0.072,-1.574, RAW= 35.6, 18.8, CAL= 32.3, 21.7, ROT= 117.7, -21.7 2025-10-27T05:56:01.563Z,1761544561.563 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T05:56:01.564Z,1761544561.564 [DAT](INFO): direction in FSK: [-0.431900,0.822648,0.369747] 2025-10-27T05:56:01.564Z,1761544561.564 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:01.572Z,1761544561.572 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.037743 2025-10-27T05:56:01.732Z,1761544561.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195312,0.979059,0.057417],[-0.980311,-0.196626,0.018138],[0.029048,-0.052744,0.998186]] 2025-10-27T05:56:01.774Z,1761544561.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.499408 s, deltaX: 0.100000 m, approachRate: 0.200238 m/s, rangeRepo size: 4 2025-10-27T05:56:01.777Z,1761544561.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.760405 m, bearing: 16.413020 deg, lat: 36.779389 deg, lon: -121.859751 deg, deltaT: 0.499408 s, deltaX: 0.099363 m, approachRate: 0.198962 m/s, posRepo size: 4 2025-10-27T05:56:01.777Z,1761544561.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m. 2025-10-27T05:56:01.800Z,1761544561.800 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.265682 2025-10-27T05:56:02.052Z,1761544562.052 [DAT](INFO): DAT read: Rx Time:05:56:00.7767 2025-10-27T05:56:02.053Z,1761544562.053 [DAT](INFO): Rx dataTimestamp_ set to:1761544562.052632 2025-10-27T05:56:02.054Z,1761544562.054 [DAT](INFO): DAT read: Bearing 190.2, 52.0 (Local) 2025-10-27T05:56:02.054Z,1761544562.054 [DAT](INFO): Local bearing/azimuth received: Bearing 190.2, 52.0 (Local) 2025-10-27T05:56:02.057Z,1761544562.057 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed -0.1 2025-10-27T05:56:02.061Z,1761544562.061 [DAT](INFO): DAT read: 05:56:00.7767 LVL= 14096, 12385, 22386, 26355, AGC= 49, IDX= 510,-0.42,-0.036,-0.170,-1.566,-0.040, PHS= 0.107,-0.085,-1.570, RAW= 36.0, 19.0, CAL= 32.7, 22.0, ROT= 117.3, -22.0 2025-10-27T05:56:02.062Z,1761544562.062 [DAT](INFO): got valid direction response: 05:56:00.7767 LVL= 14096, 12385, 22386, 26355, AGC= 49, IDX= 510,-0.42,-0.036,-0.170,-1.566,-0.040, PHS= 0.107,-0.085,-1.570, RAW= 36.0, 19.0, CAL= 32.7, 22.0, ROT= 117.3, -22.0 2025-10-27T05:56:02.063Z,1761544562.063 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T05:56:02.067Z,1761544562.067 [DAT](INFO): direction in FSK: [-0.425252,0.823912,0.374607] 2025-10-27T05:56:02.067Z,1761544562.067 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:02.071Z,1761544562.071 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.536289 2025-10-27T05:56:02.165Z,1761544562.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196996,0.978716,0.057513],[-0.979939,-0.198370,0.019192],[0.030192,-0.052578,0.998160]] 2025-10-27T05:56:02.236Z,1761544562.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.503849 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:02.238Z,1761544562.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.760483 m, bearing: 15.944713 deg, lat: 36.779389 deg, lon: -121.859752 deg, deltaT: 0.503849 s, deltaX: 0.000078 m, approachRate: 0.000155 m/s, posRepo size: 4 2025-10-27T05:56:02.243Z,1761544562.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m. 2025-10-27T05:56:02.307Z,1761544562.307 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.771984 2025-10-27T05:56:02.554Z,1761544562.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198982,0.978294,0.057846],[-0.979496,-0.200431,0.020368],[0.031520,-0.052607,0.998118]] 2025-10-27T05:56:02.557Z,1761544562.557 [DAT](INFO): DAT read: Rx Time:05:56:01.2768 2025-10-27T05:56:02.557Z,1761544562.557 [DAT](INFO): Rx dataTimestamp_ set to:1761544562.556816 2025-10-27T05:56:02.558Z,1761544562.558 [DAT](INFO): DAT read: Bearing 191.5, 52.0 (Local) 2025-10-27T05:56:02.559Z,1761544562.559 [DAT](INFO): Local bearing/azimuth received: Bearing 191.5, 52.0 (Local) 2025-10-27T05:56:02.561Z,1761544562.561 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 2025-10-27T05:56:02.566Z,1761544562.566 [DAT](INFO): DAT read: 05:56:01.2768 LVL= 14144, 12113, 22050, 26419, AGC= 49, IDX= 511, 0.11, 2.639, 2.519, 1.095, 2.626, PHS= 0.115,-0.062,-1.575, RAW= 35.5, 18.5, CAL= 32.2, 21.4, ROT= 117.8, -21.4 2025-10-27T05:56:02.573Z,1761544562.573 [DAT](INFO): got valid direction response: 05:56:01.2768 LVL= 14144, 12113, 22050, 26419, AGC= 49, IDX= 511, 0.11, 2.639, 2.519, 1.095, 2.626, PHS= 0.115,-0.062,-1.575, RAW= 35.5, 18.5, CAL= 32.2, 21.4, ROT= 117.8, -21.4 2025-10-27T05:56:02.573Z,1761544562.573 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T05:56:02.574Z,1761544562.574 [DAT](INFO): direction in FSK: [-0.434232,0.823594,0.364877] 2025-10-27T05:56:02.574Z,1761544562.574 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:02.578Z,1761544562.578 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.043720 2025-10-27T05:56:02.729Z,1761544562.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504184 s, deltaX: 0.200001 m, approachRate: 0.396682 m/s, rangeRepo size: 4 2025-10-27T05:56:02.736Z,1761544562.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.959209 m, bearing: 16.336955 deg, lat: 36.779390 deg, lon: -121.859754 deg, deltaT: 0.504184 s, deltaX: 0.198727 m, approachRate: 0.394155 m/s, posRepo size: 4 2025-10-27T05:56:02.737Z,1761544562.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m. 2025-10-27T05:56:02.808Z,1761544562.808 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.273857 2025-10-27T05:56:02.982Z,1761544562.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.201102,0.977826,0.058430],[-0.979017,-0.202635,0.021551],[0.032913,-0.052870,0.998059]] 2025-10-27T05:56:03.002Z,1761544563.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m. 2025-10-27T05:56:03.063Z,1761544563.063 [DAT](INFO): DAT read: Rx Time:05:56:01.7768 2025-10-27T05:56:03.064Z,1761544563.064 [DAT](INFO): Rx dataTimestamp_ set to:1761544563.063531 2025-10-27T05:56:03.065Z,1761544563.065 [DAT](INFO): DAT read: Bearing 191.8, 51.7 (Local) 2025-10-27T05:56:03.065Z,1761544563.065 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 51.7 (Local) 2025-10-27T05:56:03.068Z,1761544563.068 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 2025-10-27T05:56:03.077Z,1761544563.077 [DAT](INFO): DAT read: 05:56:01.7768 LVL= 15952, 11761, 24466, 28147, AGC= 48, IDX= 511,-0.22,-0.552,-0.657,-2.058,-0.559, PHS= 0.108,-0.054,-1.544, RAW= 35.1, 18.5, CAL= 31.9, 21.3, ROT= 118.1, -21.3 2025-10-27T05:56:03.078Z,1761544563.078 [DAT](INFO): got valid direction response: 05:56:01.7768 LVL= 15952, 11761, 24466, 28147, AGC= 48, IDX= 511,-0.22,-0.552,-0.657,-2.058,-0.559, PHS= 0.108,-0.054,-1.544, RAW= 35.1, 18.5, CAL= 31.9, 21.3, ROT= 118.1, -21.3 2025-10-27T05:56:03.088Z,1761544563.088 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T05:56:03.090Z,1761544563.090 [DAT](INFO): direction in FSK: [-0.438838,0.821870,0.363251] 2025-10-27T05:56:03.090Z,1761544563.090 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:03.115Z,1761544563.115 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.581047 2025-10-27T05:56:03.315Z,1761544563.315 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.780045 2025-10-27T05:56:03.382Z,1761544563.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203556,0.977284,0.059003],[-0.978460,-0.205176,0.022782],[0.034371,-0.053094,0.997998]] 2025-10-27T05:56:03.528Z,1761544563.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.506715 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:03.530Z,1761544563.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.959253 m, bearing: 16.402244 deg, lat: 36.779390 deg, lon: -121.859755 deg, deltaT: 0.506715 s, deltaX: 0.000044 m, approachRate: 0.000087 m/s, posRepo size: 4 2025-10-27T05:56:03.530Z,1761544563.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m. 2025-10-27T05:56:03.565Z,1761544563.565 [DAT](INFO): DAT read: Rx Time:05:56:02.2768 2025-10-27T05:56:03.566Z,1761544563.566 [DAT](INFO): Rx dataTimestamp_ set to:1761544563.565430 2025-10-27T05:56:03.568Z,1761544563.568 [DAT](INFO): DAT read: Bearing 191.7, 51.5 (Local) 2025-10-27T05:56:03.568Z,1761544563.568 [DAT](INFO): Local bearing/azimuth received: Bearing 191.7, 51.5 (Local) 2025-10-27T05:56:03.571Z,1761544563.571 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 2025-10-27T05:56:03.582Z,1761544563.582 [DAT](INFO): DAT read: 05:56:02.2768 LVL= 14304, 12257, 22674, 26179, AGC= 49, IDX= 511, 0.19, 1.455, 1.353,-0.082, 1.452, PHS= 0.106,-0.054,-1.577, RAW= 34.9, 18.5, CAL= 31.7, 21.4, ROT= 118.3, -21.4 2025-10-27T05:56:03.584Z,1761544563.584 [DAT](INFO): got valid direction response: 05:56:02.2768 LVL= 14304, 12257, 22674, 26179, AGC= 49, IDX= 511, 0.19, 1.455, 1.353,-0.082, 1.452, PHS= 0.106,-0.054,-1.577, RAW= 34.9, 18.5, CAL= 31.7, 21.4, ROT= 118.3, -21.4 2025-10-27T05:56:03.584Z,1761544563.584 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T05:56:03.586Z,1761544563.586 [DAT](INFO): direction in FSK: [-0.441403,0.819774,0.364877] 2025-10-27T05:56:03.586Z,1761544563.586 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:03.595Z,1761544563.595 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.056400 2025-10-27T05:56:03.786Z,1761544563.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206063,0.976732,0.059428],[-0.977886,-0.207763,0.023936],[0.035726,-0.053181,0.997946]] 2025-10-27T05:56:03.816Z,1761544563.816 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.281769 2025-10-27T05:56:03.984Z,1761544563.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.501899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:03.986Z,1761544563.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.959253 m, bearing: 16.471913 deg, lat: 36.779390 deg, lon: -121.859756 deg, deltaT: 0.501899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:03.986Z,1761544563.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m. 2025-10-27T05:56:04.070Z,1761544564.070 [DAT](INFO): DAT read: Rx Time:05:56:02.7768 2025-10-27T05:56:04.070Z,1761544564.070 [DAT](INFO): Rx dataTimestamp_ set to:1761544564.069746 2025-10-27T05:56:04.071Z,1761544564.071 [DAT](INFO): DAT read: Bearing 191.8, 51.1 (Local) 2025-10-27T05:56:04.072Z,1761544564.072 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 51.1 (Local) 2025-10-27T05:56:04.074Z,1761544564.074 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.1 2025-10-27T05:56:04.079Z,1761544564.079 [DAT](INFO): DAT read: 05:56:02.7768 LVL= 15344, 13041, 23970, 26915, AGC= 48, IDX= 511,-0.18,-1.203,-1.288,-2.705,-1.194, PHS= 0.093,-0.049,-1.555, RAW= 34.4, 18.7, CAL= 31.3, 21.6, ROT= 118.7, -21.6 2025-10-27T05:56:04.084Z,1761544564.084 [DAT](INFO): got valid direction response: 05:56:02.7768 LVL= 15344, 13041, 23970, 26915, AGC= 48, IDX= 511,-0.18,-1.203,-1.288,-2.705,-1.194, PHS= 0.093,-0.049,-1.555, RAW= 34.4, 18.7, CAL= 31.3, 21.6, ROT= 118.7, -21.6 2025-10-27T05:56:04.084Z,1761544564.084 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T05:56:04.085Z,1761544564.085 [DAT](INFO): direction in FSK: [-0.446501,0.815550,0.368125] 2025-10-27T05:56:04.086Z,1761544564.086 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:04.089Z,1761544564.089 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.555084 2025-10-27T05:56:04.257Z,1761544564.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208550,0.976184,0.059764],[-0.977309,-0.210326,0.025087],[0.037059,-0.053176,0.997897]] 2025-10-27T05:56:04.323Z,1761544564.323 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.787956 2025-10-27T05:56:04.372Z,1761544564.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504316 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:04.374Z,1761544564.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.959238 m, bearing: 16.739581 deg, lat: 36.779390 deg, lon: -121.859756 deg, deltaT: 0.504316 s, deltaX: -0.000015 m, approachRate: -0.000030 m/s, posRepo size: 4 2025-10-27T05:56:04.374Z,1761544564.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m. 2025-10-27T05:56:04.572Z,1761544564.572 [DAT](INFO): DAT read: Rx Time:05:56:03.2769 2025-10-27T05:56:04.573Z,1761544564.573 [DAT](INFO): Rx dataTimestamp_ set to:1761544564.572676 2025-10-27T05:56:04.574Z,1761544564.574 [DAT](INFO): DAT read: Bearing 181.4, 53.9 (Local) 2025-10-27T05:56:04.575Z,1761544564.575 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, 53.9 (Local) 2025-10-27T05:56:04.577Z,1761544564.577 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.1 2025-10-27T05:56:04.581Z,1761544564.581 [DAT](INFO): DAT read: 05:56:03.2769 LVL= 16080, 13393, 24898, 27971, AGC= 49, IDX= 512, 0.19, 0.997, 0.605,-0.912, 0.936, PHS= 0.163,-0.286,-1.892, RAW= 42.0, 20.8, CAL= 38.2, 24.4, ROT= 111.8, -24.4 2025-10-27T05:56:04.583Z,1761544564.583 [DAT](INFO): got valid direction response: 05:56:03.2769 LVL= 16080, 13393, 24898, 27971, AGC= 49, IDX= 512, 0.19, 0.997, 0.605,-0.912, 0.936, PHS= 0.163,-0.286,-1.892, RAW= 42.0, 20.8, CAL= 38.2, 24.4, ROT= 111.8, -24.4 2025-10-27T05:56:04.589Z,1761544564.589 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T05:56:04.593Z,1761544564.593 [DAT](INFO): direction in FSK: [-0.338199,0.845557,0.413104] 2025-10-27T05:56:04.594Z,1761544564.594 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:04.633Z,1761544564.633 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.098297 2025-10-27T05:56:04.678Z,1761544564.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211120,0.975631,0.059776],[-0.976712,-0.212957,0.026154],[0.038247,-0.052863,0.997869]] 2025-10-27T05:56:04.775Z,1761544564.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.502930 s, deltaX: 0.100000 m, approachRate: 0.198836 m/s, rangeRepo size: 4 2025-10-27T05:56:04.777Z,1761544564.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.058601 m, bearing: 9.918816 deg, lat: 36.779391 deg, lon: -121.859756 deg, deltaT: 0.502930 s, deltaX: 0.099363 m, approachRate: 0.197569 m/s, posRepo size: 4 2025-10-27T05:56:04.777Z,1761544564.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m. 2025-10-27T05:56:04.825Z,1761544564.825 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.290340 2025-10-27T05:56:05.054Z,1761544565.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213365,0.975126,0.060047],[-0.976180,-0.215263,0.027082],[0.039334,-0.052839,0.997828]] 2025-10-27T05:56:05.073Z,1761544565.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m. 2025-10-27T05:56:05.077Z,1761544565.077 [DAT](INFO): DAT read: Rx Time:05:56:03.7769 2025-10-27T05:56:05.077Z,1761544565.077 [DAT](INFO): Rx dataTimestamp_ set to:1761544565.076825 2025-10-27T05:56:05.078Z,1761544565.078 [DAT](INFO): DAT read: Bearing 191.9, 54.2 (Local) 2025-10-27T05:56:05.079Z,1761544565.079 [DAT](INFO): Local bearing/azimuth received: Bearing 191.9, 54.2 (Local) 2025-10-27T05:56:05.081Z,1761544565.081 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.1 2025-10-27T05:56:05.086Z,1761544565.086 [DAT](INFO): DAT read: 05:56:03.7769 LVL= 14976, 13249, 21954, 27091, AGC= 48, IDX= 512,-0.21,-1.376,-1.588, 3.122,-1.485, PHS= 0.211,-0.058,-1.720, RAW= 37.4, 17.0, CAL= 33.9, 19.5, ROT= 116.1, -19.5 2025-10-27T05:56:05.090Z,1761544565.090 [DAT](INFO): got valid direction response: 05:56:03.7769 LVL= 14976, 13249, 21954, 27091, AGC= 48, IDX= 512,-0.21,-1.376,-1.588, 3.122,-1.485, PHS= 0.211,-0.058,-1.720, RAW= 37.4, 17.0, CAL= 33.9, 19.5, ROT= 116.1, -19.5 2025-10-27T05:56:05.090Z,1761544565.090 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T05:56:05.091Z,1761544565.091 [DAT](INFO): direction in FSK: [-0.414705,0.846518,0.333807] 2025-10-27T05:56:05.091Z,1761544565.091 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:05.104Z,1761544565.104 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.560577 2025-10-27T05:56:05.331Z,1761544565.331 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.796173 2025-10-27T05:56:05.476Z,1761544565.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214994,0.974745,0.060416],[-0.975791,-0.216942,0.027701],[0.040108,-0.052998,0.997789]] 2025-10-27T05:56:05.550Z,1761544565.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504149 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:05.552Z,1761544565.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.058611 m, bearing: 13.842780 deg, lat: 36.779391 deg, lon: -121.859756 deg, deltaT: 0.504149 s, deltaX: 0.000010 m, approachRate: 0.000019 m/s, posRepo size: 4 2025-10-27T05:56:05.553Z,1761544565.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m. 2025-10-27T05:56:05.580Z,1761544565.580 [DAT](INFO): DAT read: Rx Time:05:56:04.2770 2025-10-27T05:56:05.581Z,1761544565.581 [DAT](INFO): Rx dataTimestamp_ set to:1761544565.580679 2025-10-27T05:56:05.583Z,1761544565.583 [DAT](INFO): DAT read: Bearing 181.3, 52.3 (Local) 2025-10-27T05:56:05.583Z,1761544565.583 [DAT](INFO): Local bearing/azimuth received: Bearing 181.3, 52.3 (Local) 2025-10-27T05:56:05.586Z,1761544565.586 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.1 2025-10-27T05:56:05.598Z,1761544565.598 [DAT](INFO): DAT read: 05:56:04.2770 LVL= 15728, 13233, 24770, 28291, AGC= 49, IDX= 513, 0.24, 1.880, 1.541, 0.000, 1.875, PHS= 0.107,-0.290,-1.919, RAW= 40.6, 21.8, CAL= 37.0, 25.5, ROT= 113.0, -25.5 2025-10-27T05:56:05.600Z,1761544565.600 [DAT](INFO): got valid direction response: 05:56:04.2770 LVL= 15728, 13233, 24770, 28291, AGC= 49, IDX= 513, 0.24, 1.880, 1.541, 0.000, 1.875, PHS= 0.107,-0.290,-1.919, RAW= 40.6, 21.8, CAL= 37.0, 25.5, ROT= 113.0, -25.5 2025-10-27T05:56:05.601Z,1761544565.601 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T05:56:05.602Z,1761544565.602 [DAT](INFO): direction in FSK: [-0.352668,0.830834,0.430511] 2025-10-27T05:56:05.602Z,1761544565.602 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:05.608Z,1761544565.608 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.073620 2025-10-27T05:56:05.832Z,1761544565.832 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.297714 2025-10-27T05:56:05.862Z,1761544565.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216610,0.974357,0.060898],[-0.975404,-0.218609,0.028249],[0.040838,-0.053282,0.997744]] 2025-10-27T05:56:05.924Z,1761544565.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503854 s, deltaX: 0.199999 m, approachRate: 0.396938 m/s, rangeRepo size: 4 2025-10-27T05:56:05.931Z,1761544565.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.257336 m, bearing: 10.832006 deg, lat: 36.779390 deg, lon: -121.859768 deg, deltaT: 0.503854 s, deltaX: 0.198725 m, approachRate: 0.394409 m/s, posRepo size: 4 2025-10-27T05:56:05.933Z,1761544565.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m. 2025-10-27T05:56:06.085Z,1761544566.085 [DAT](INFO): DAT read: Rx Time:05:56:04.7770 2025-10-27T05:56:06.085Z,1761544566.085 [DAT](INFO): Rx dataTimestamp_ set to:1761544566.085054 2025-10-27T05:56:06.087Z,1761544566.087 [DAT](INFO): DAT read: Bearing 185.3, 55.2 (Local) 2025-10-27T05:56:06.087Z,1761544566.087 [DAT](INFO): Local bearing/azimuth received: Bearing 185.3, 55.2 (Local) 2025-10-27T05:56:06.089Z,1761544566.089 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.1 2025-10-27T05:56:06.094Z,1761544566.094 [DAT](INFO): DAT read: 05:56:04.7770 LVL= 15696, 15025, 25746, 28323, AGC= 50, IDX= 513,-0.06,-1.928,-2.297, 2.441,-2.051, PHS= 0.225,-0.201,-1.836, RAW= 41.3, 18.8, CAL= 37.4, 21.8, ROT= 112.6, -21.8 2025-10-27T05:56:06.098Z,1761544566.098 [DAT](INFO): got valid direction response: 05:56:04.7770 LVL= 15696, 15025, 25746, 28323, AGC= 50, IDX= 513,-0.06,-1.928,-2.297, 2.441,-2.051, PHS= 0.225,-0.201,-1.836, RAW= 41.3, 18.8, CAL= 37.4, 21.8, ROT= 112.6, -21.8 2025-10-27T05:56:06.098Z,1761544566.098 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T05:56:06.099Z,1761544566.099 [DAT](INFO): direction in FSK: [-0.356813,0.857188,0.371368] 2025-10-27T05:56:06.100Z,1761544566.100 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:06.129Z,1761544566.129 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.594727 2025-10-27T05:56:06.267Z,1761544566.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217855,0.974058,0.061236],[-0.975107,-0.219887,0.028579],[0.041303,-0.053485,0.997714]] 2025-10-27T05:56:06.292Z,1761544566.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504375 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:06.294Z,1761544566.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.257408 m, bearing: 10.303811 deg, lat: 36.779392 deg, lon: -121.859782 deg, deltaT: 0.504375 s, deltaX: 0.000072 m, approachRate: 0.000144 m/s, posRepo size: 4 2025-10-27T05:56:06.294Z,1761544566.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m. 2025-10-27T05:56:06.339Z,1761544566.339 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.803825 2025-10-27T05:56:06.588Z,1761544566.588 [DAT](INFO): DAT read: Rx Time:05:56:05.2772 2025-10-27T05:56:06.589Z,1761544566.589 [DAT](INFO): Rx dataTimestamp_ set to:1761544566.588675 2025-10-27T05:56:06.590Z,1761544566.590 [DAT](INFO): DAT read: Bearing 194.4, 50.0 (Local) 2025-10-27T05:56:06.591Z,1761544566.591 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 50.0 (Local) 2025-10-27T05:56:06.593Z,1761544566.593 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.1 2025-10-27T05:56:06.597Z,1761544566.597 [DAT](INFO): DAT read: 05:56:05.2772 LVL= 10848, 11425, 18066, 17267, AGC= 53, IDX= 3,-0.38, 0.816, 0.797,-0.712, 0.832, PHS= 0.086, 0.009,-1.588, RAW= 32.3, 17.9, CAL= 29.4, 20.7, ROT= 120.6, -20.7 2025-10-27T05:56:06.598Z,1761544566.598 [DAT](INFO): got valid direction response: 05:56:05.2772 LVL= 10848, 11425, 18066, 17267, AGC= 53, IDX= 3,-0.38, 0.816, 0.797,-0.712, 0.832, PHS= 0.086, 0.009,-1.588, RAW= 32.3, 17.9, CAL= 29.4, 20.7, ROT= 120.6, -20.7 2025-10-27T05:56:06.616Z,1761544566.616 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T05:56:06.621Z,1761544566.621 [DAT](INFO): direction in FSK: [-0.476180,0.805176,0.353475] 2025-10-27T05:56:06.622Z,1761544566.622 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:06.653Z,1761544566.653 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.118553 2025-10-27T05:56:06.688Z,1761544566.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218775,0.973838,0.061462],[-0.974893,-0.220821,0.028673],[0.041495,-0.053646,0.997698]] 2025-10-27T05:56:06.840Z,1761544566.840 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.305828 2025-10-27T05:56:06.841Z,1761544566.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503621 s, deltaX: 0.300001 m, approachRate: 0.595688 m/s, rangeRepo size: 4 2025-10-27T05:56:06.848Z,1761544566.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.555498 m, bearing: 18.050009 deg, lat: 36.779392 deg, lon: -121.859782 deg, deltaT: 0.503621 s, deltaX: 0.298090 m, approachRate: 0.591893 m/s, posRepo size: 4 2025-10-27T05:56:06.848Z,1761544566.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m. 2025-10-27T05:56:07.093Z,1761544567.093 [DAT](INFO): DAT read: Rx Time:05:56:05.7771 2025-10-27T05:56:07.093Z,1761544567.093 [DAT](INFO): Rx dataTimestamp_ set to:1761544567.092847 2025-10-27T05:56:07.094Z,1761544567.094 [DAT](INFO): DAT read: Bearing 195.0, 50.2 (Local) 2025-10-27T05:56:07.095Z,1761544567.095 [DAT](INFO): Local bearing/azimuth received: Bearing 195.0, 50.2 (Local) 2025-10-27T05:56:07.097Z,1761544567.097 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.1 2025-10-27T05:56:07.102Z,1761544567.102 [DAT](INFO): DAT read: 05:56:05.7771 LVL= 15312, 13361, 22994, 27395, AGC= 51, IDX= 498, 0.25, 0.581, 0.564,-0.969, 0.588, PHS= 0.095, 0.021,-1.601, RAW= 32.2, 17.6, CAL= 29.3, 20.3, ROT= 120.7, -20.3 2025-10-27T05:56:07.106Z,1761544567.106 [DAT](INFO): got valid direction response: 05:56:05.7771 LVL= 15312, 13361, 22994, 27395, AGC= 51, IDX= 498, 0.25, 0.581, 0.564,-0.969, 0.588, PHS= 0.095, 0.021,-1.601, RAW= 32.2, 17.6, CAL= 29.3, 20.3, ROT= 120.7, -20.3 2025-10-27T05:56:07.106Z,1761544567.106 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T05:56:07.107Z,1761544567.107 [DAT](INFO): direction in FSK: [-0.478833,0.806446,0.346936] 2025-10-27T05:56:07.108Z,1761544567.108 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:07.112Z,1761544567.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219827,0.973606,0.061381],[-0.974652,-0.221874,0.028721],[0.041582,-0.053511,0.997701]] 2025-10-27T05:56:07.119Z,1761544567.119 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.585087 2025-10-27T05:56:07.169Z,1761544567.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504172 s, deltaX: -0.200001 m, approachRate: -0.396692 m/s, rangeRepo size: 4 2025-10-27T05:56:07.171Z,1761544567.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.356771 m, bearing: 18.085003 deg, lat: 36.779391 deg, lon: -121.859768 deg, deltaT: 0.504172 s, deltaX: -0.198727 m, approachRate: -0.394164 m/s, posRepo size: 4 2025-10-27T05:56:07.174Z,1761544567.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m. 2025-10-27T05:56:07.344Z,1761544567.344 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.809807 2025-10-27T05:56:07.511Z,1761544567.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220438,0.973471,0.061328],[-0.974521,-0.222474,0.028545],[0.041432,-0.053473,0.997709]] 2025-10-27T05:56:07.577Z,1761544567.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m. 2025-10-27T05:56:07.597Z,1761544567.597 [DAT](INFO): DAT read: Rx Time:05:56:06.2772 2025-10-27T05:56:07.597Z,1761544567.597 [DAT](INFO): Rx dataTimestamp_ set to:1761544567.596791 2025-10-27T05:56:07.598Z,1761544567.598 [DAT](INFO): DAT read: Bearing 195.5, 49.9 (Local) 2025-10-27T05:56:07.599Z,1761544567.599 [DAT](INFO): Local bearing/azimuth received: Bearing 195.5, 49.9 (Local) 2025-10-27T05:56:07.601Z,1761544567.601 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.2 2025-10-27T05:56:07.606Z,1761544567.606 [DAT](INFO): DAT read: 05:56:06.2772 LVL= 16368, 14913, 26354, 29811, AGC= 52, IDX= 499, 0.02,-0.929,-0.930,-2.461,-0.917, PHS= 0.089, 0.031,-1.589, RAW= 31.7, 17.5, CAL= 28.9, 20.2, ROT= 121.1, -20.2 2025-10-27T05:56:07.607Z,1761544567.607 [DAT](INFO): got valid direction response: 05:56:06.2772 LVL= 16368, 14913, 26354, 29811, AGC= 52, IDX= 499, 0.02,-0.929,-0.930,-2.461,-0.917, PHS= 0.089, 0.031,-1.589, RAW= 31.7, 17.5, CAL= 28.9, 20.2, ROT= 121.1, -20.2 2025-10-27T05:56:07.612Z,1761544567.612 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T05:56:07.613Z,1761544567.613 [DAT](INFO): direction in FSK: [-0.484763,0.803601,0.345298] 2025-10-27T05:56:07.613Z,1761544567.613 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:07.617Z,1761544567.617 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.082573 2025-10-27T05:56:07.848Z,1761544567.848 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.313683 2025-10-27T05:56:07.894Z,1761544567.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220567,0.973449,0.061206],[-0.974506,-0.222580,0.028205],[0.041079,-0.053424,0.997727]] 2025-10-27T05:56:07.978Z,1761544567.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503944 s, deltaX: 0.200001 m, approachRate: 0.396871 m/s, rangeRepo size: 4 2025-10-27T05:56:07.989Z,1761544567.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.555635 m, bearing: 18.425729 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.503944 s, deltaX: 0.198864 m, approachRate: 0.394615 m/s, posRepo size: 4 2025-10-27T05:56:07.990Z,1761544567.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m. 2025-10-27T05:56:08.101Z,1761544568.101 [DAT](INFO): DAT read: Rx Time:05:56:06.7772 2025-10-27T05:56:08.102Z,1761544568.102 [DAT](INFO): Rx dataTimestamp_ set to:1761544568.101649 2025-10-27T05:56:08.106Z,1761544568.106 [DAT](INFO): DAT read: Bearing 193.8, 49.9 (Local) 2025-10-27T05:56:08.109Z,1761544568.109 [DAT](INFO): Local bearing/azimuth received: Bearing 193.8, 49.9 (Local) 2025-10-27T05:56:08.115Z,1761544568.115 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.2 2025-10-27T05:56:08.125Z,1761544568.125 [DAT](INFO): DAT read: 05:56:06.7772 LVL= 15536, 16577, 24050, 27939, AGC= 53, IDX= 499,-0.24, 3.052, 3.029, 1.505, 3.075, PHS= 0.079,-0.001,-1.614, RAW= 32.4, 18.2, CAL= 29.5, 21.0, ROT= 120.5, -21.0 2025-10-27T05:56:08.126Z,1761544568.126 [DAT](INFO): got valid direction response: 05:56:06.7772 LVL= 15536, 16577, 24050, 27939, AGC= 53, IDX= 499,-0.24, 3.052, 3.029, 1.505, 3.075, PHS= 0.079,-0.001,-1.614, RAW= 32.4, 18.2, CAL= 29.5, 21.0, ROT= 120.5, -21.0 2025-10-27T05:56:08.131Z,1761544568.131 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T05:56:08.132Z,1761544568.132 [DAT](INFO): direction in FSK: [-0.473828,0.804400,0.358368] 2025-10-27T05:56:08.132Z,1761544568.132 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:08.142Z,1761544568.142 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.607666 2025-10-27T05:56:08.298Z,1761544568.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220234,0.973527,0.061165],[-0.974606,-0.222215,0.027635],[0.040495,-0.053526,0.997745]] 2025-10-27T05:56:08.348Z,1761544568.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:08.355Z,1761544568.355 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.819954 2025-10-27T05:56:08.361Z,1761544568.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.555727 m, bearing: 17.855957 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.504858 s, deltaX: 0.000092 m, approachRate: 0.000181 m/s, posRepo size: 4 2025-10-27T05:56:08.368Z,1761544568.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m. 2025-10-27T05:56:08.605Z,1761544568.605 [DAT](INFO): DAT read: Rx Time:05:56:07.2773 2025-10-27T05:56:08.605Z,1761544568.605 [DAT](INFO): Rx dataTimestamp_ set to:1761544568.604810 2025-10-27T05:56:08.606Z,1761544568.606 [DAT](INFO): DAT read: Bearing 195.3, 50.0 (Local) 2025-10-27T05:56:08.607Z,1761544568.607 [DAT](INFO): Local bearing/azimuth received: Bearing 195.3, 50.0 (Local) 2025-10-27T05:56:08.609Z,1761544568.609 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2 2025-10-27T05:56:08.614Z,1761544568.614 [DAT](INFO): DAT read: 05:56:07.2773 LVL= 16352, 16081, 26530, 28883, AGC= 53, IDX= 500, 0.38,-0.031,-0.033,-1.578,-0.018, PHS= 0.089, 0.030,-1.605, RAW= 31.8, 17.5, CAL= 28.9, 20.3, ROT= 121.1, -20.3 2025-10-27T05:56:08.619Z,1761544568.619 [DAT](INFO): got valid direction response: 05:56:07.2773 LVL= 16352, 16081, 26530, 28883, AGC= 53, IDX= 500, 0.38,-0.031,-0.033,-1.578,-0.018, PHS= 0.089, 0.030,-1.605, RAW= 31.8, 17.5, CAL= 28.9, 20.3, ROT= 121.1, -20.3 2025-10-27T05:56:08.620Z,1761544568.620 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T05:56:08.621Z,1761544568.621 [DAT](INFO): direction in FSK: [-0.484451,0.803084,0.346936] 2025-10-27T05:56:08.621Z,1761544568.621 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:08.629Z,1761544568.629 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.094440 2025-10-27T05:56:08.731Z,1761544568.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219566,0.973695,0.060902],[-0.974793,-0.221492,0.026837],[0.039620,-0.053474,0.997783]] 2025-10-27T05:56:08.829Z,1761544568.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503161 s, deltaX: 0.099998 m, approachRate: 0.198741 m/s, rangeRepo size: 4 2025-10-27T05:56:08.836Z,1761544568.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.655090 m, bearing: 18.464474 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.503161 s, deltaX: 0.099363 m, approachRate: 0.197478 m/s, posRepo size: 4 2025-10-27T05:56:08.836Z,1761544568.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m. 2025-10-27T05:56:08.856Z,1761544568.856 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.321762 2025-10-27T05:56:09.105Z,1761544569.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218727,0.973897,0.060681],[-0.975020,-0.220596,0.025953],[0.038661,-0.053489,0.997820]] 2025-10-27T05:56:09.109Z,1761544569.109 [DAT](INFO): DAT read: Rx Time:05:56:07.7773 2025-10-27T05:56:09.109Z,1761544569.109 [DAT](INFO): Rx dataTimestamp_ set to:1761544569.108860 2025-10-27T05:56:09.110Z,1761544569.110 [DAT](INFO): DAT read: Bearing 195.3, 50.0 (Local) 2025-10-27T05:56:09.111Z,1761544569.111 [DAT](INFO): Local bearing/azimuth received: Bearing 195.3, 50.0 (Local) 2025-10-27T05:56:09.113Z,1761544569.113 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2 2025-10-27T05:56:09.118Z,1761544569.118 [DAT](INFO): DAT read: 05:56:07.7773 LVL= 16208, 13521, 23538, 29011, AGC= 52, IDX= 500, 0.13,-0.929,-0.930,-2.469,-0.913, PHS= 0.087, 0.028,-1.600, RAW= 31.7, 17.6, CAL= 28.9, 20.3, ROT= 121.1, -20.3 2025-10-27T05:56:09.122Z,1761544569.122 [DAT](INFO): got valid direction response: 05:56:07.7773 LVL= 16208, 13521, 23538, 29011, AGC= 52, IDX= 500, 0.13,-0.929,-0.930,-2.469,-0.913, PHS= 0.087, 0.028,-1.600, RAW= 31.7, 17.6, CAL= 28.9, 20.3, ROT= 121.1, -20.3 2025-10-27T05:56:09.122Z,1761544569.122 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T05:56:09.123Z,1761544569.123 [DAT](INFO): direction in FSK: [-0.484451,0.803084,0.346936] 2025-10-27T05:56:09.123Z,1761544569.123 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:09.147Z,1761544569.147 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.612926 2025-10-27T05:56:09.223Z,1761544569.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:09.225Z,1761544569.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.655090 m, bearing: 18.500187 deg, lat: 36.779389 deg, lon: -121.859749 deg, deltaT: 0.504050 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:09.226Z,1761544569.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m. 2025-10-27T05:56:09.360Z,1761544569.360 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.825932 2025-10-27T05:56:09.510Z,1761544569.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217924,0.974089,0.060498],[-0.975235,-0.219741,0.025132],[0.037775,-0.053523,0.997852]] 2025-10-27T05:56:09.557Z,1761544569.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m. 2025-10-27T05:56:09.613Z,1761544569.613 [DAT](INFO): DAT read: Rx Time:05:56:08.2775 2025-10-27T05:56:09.614Z,1761544569.614 [DAT](INFO): Rx dataTimestamp_ set to:1761544569.613852 2025-10-27T05:56:09.616Z,1761544569.616 [DAT](INFO): DAT read: Bearing 194.4, 50.0 (Local) 2025-10-27T05:56:09.616Z,1761544569.616 [DAT](INFO): Local bearing/azimuth received: Bearing 194.4, 50.0 (Local) 2025-10-27T05:56:09.618Z,1761544569.618 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.2 2025-10-27T05:56:09.632Z,1761544569.632 [DAT](INFO): DAT read: 05:56:08.2775 LVL= 15664, 13745, 23458, 28787, AGC= 52, IDX= 502,-0.04,-1.195,-1.206,-2.728,-1.173, PHS= 0.081, 0.012,-1.598, RAW= 32.1, 17.9, CAL= 29.2, 20.7, ROT= 120.8, -20.7 2025-10-27T05:56:09.634Z,1761544569.634 [DAT](INFO): got valid direction response: 05:56:08.2775 LVL= 15664, 13745, 23458, 28787, AGC= 52, IDX= 502,-0.04,-1.195,-1.206,-2.728,-1.173, PHS= 0.081, 0.012,-1.598, RAW= 32.1, 17.9, CAL= 29.2, 20.7, ROT= 120.8, -20.7 2025-10-27T05:56:09.634Z,1761544569.634 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T05:56:09.640Z,1761544569.640 [DAT](INFO): direction in FSK: [-0.478988,0.803509,0.353475] 2025-10-27T05:56:09.640Z,1761544569.640 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:09.649Z,1761544569.649 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.114975 2025-10-27T05:56:09.864Z,1761544569.864 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.329647 2025-10-27T05:56:09.951Z,1761544569.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217249,0.974259,0.060184],[-0.975420,-0.219009,0.024297],[0.036853,-0.053426,0.997891]] 2025-10-27T05:56:09.996Z,1761544569.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504992 s, deltaX: 0.300001 m, approachRate: 0.594071 m/s, rangeRepo size: 4 2025-10-27T05:56:09.998Z,1761544569.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.953234 m, bearing: 18.270572 deg, lat: 36.779389 deg, lon: -121.859747 deg, deltaT: 0.504992 s, deltaX: 0.298143 m, approachRate: 0.590392 m/s, posRepo size: 4 2025-10-27T05:56:09.999Z,1761544569.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.95 m. 2025-10-27T05:56:10.117Z,1761544570.117 [DAT](INFO): DAT read: Rx Time:05:56:08.7775 2025-10-27T05:56:10.117Z,1761544570.117 [DAT](INFO): Rx dataTimestamp_ set to:1761544570.116807 2025-10-27T05:56:10.118Z,1761544570.118 [DAT](INFO): DAT read: Bearing 194.0, 50.1 (Local) 2025-10-27T05:56:10.119Z,1761544570.119 [DAT](INFO): Local bearing/azimuth received: Bearing 194.0, 50.1 (Local) 2025-10-27T05:56:10.121Z,1761544570.121 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-27T05:56:10.126Z,1761544570.126 [DAT](INFO): DAT read: 05:56:08.7775 LVL= 16480, 14033, 23650, 29379, AGC= 52, IDX= 502,-0.33,-2.458,-2.479, 2.289,-2.439, PHS= 0.083, 0.005,-1.599, RAW= 32.3, 18.0, CAL= 29.4, 20.8, ROT= 120.6, -20.8 2025-10-27T05:56:10.130Z,1761544570.130 [DAT](INFO): got valid direction response: 05:56:08.7775 LVL= 16480, 14033, 23650, 29379, AGC= 52, IDX= 502,-0.33,-2.458,-2.479, 2.289,-2.439, PHS= 0.083, 0.005,-1.599, RAW= 32.3, 18.0, CAL= 29.4, 20.8, ROT= 120.6, -20.8 2025-10-27T05:56:10.130Z,1761544570.130 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T05:56:10.131Z,1761544570.131 [DAT](INFO): direction in FSK: [-0.475865,0.804644,0.355107] 2025-10-27T05:56:10.132Z,1761544570.132 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:10.136Z,1761544570.136 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.601410 2025-10-27T05:56:10.319Z,1761544570.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216380,0.974469,0.059920],[-0.975649,-0.218083,0.023438],[0.035907,-0.053389,0.997928]] 2025-10-27T05:56:10.345Z,1761544570.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.502955 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:10.347Z,1761544570.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.953281 m, bearing: 18.112971 deg, lat: 36.779389 deg, lon: -121.859747 deg, deltaT: 0.502955 s, deltaX: 0.000048 m, approachRate: 0.000095 m/s, posRepo size: 4 2025-10-27T05:56:10.348Z,1761544570.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.95 m. 2025-10-27T05:56:10.370Z,1761544570.370 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.835602 2025-10-27T05:56:10.621Z,1761544570.621 [DAT](INFO): DAT read: Rx Time:05:56:09.2775 2025-10-27T05:56:10.621Z,1761544570.621 [DAT](INFO): Rx dataTimestamp_ set to:1761544570.620700 2025-10-27T05:56:10.622Z,1761544570.622 [DAT](INFO): DAT read: Bearing 194.8, 50.3 (Local) 2025-10-27T05:56:10.623Z,1761544570.623 [DAT](INFO): Local bearing/azimuth received: Bearing 194.8, 50.3 (Local) 2025-10-27T05:56:10.625Z,1761544570.625 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-27T05:56:10.629Z,1761544570.629 [DAT](INFO): DAT read: 05:56:09.2775 LVL= 16048, 15953, 25842, 28275, AGC= 52, IDX= 502, 0.17,-0.643,-0.656,-2.181,-0.633, PHS= 0.092, 0.022,-1.592, RAW= 32.1, 17.6, CAL= 29.2, 20.3, ROT= 120.8, -20.3 2025-10-27T05:56:10.630Z,1761544570.630 [DAT](INFO): got valid direction response: 05:56:09.2775 LVL= 16048, 15953, 25842, 28275, AGC= 52, IDX= 502, 0.17,-0.643,-0.656,-2.181,-0.633, PHS= 0.092, 0.022,-1.592, RAW= 32.1, 17.6, CAL= 29.2, 20.3, ROT= 120.8, -20.3 2025-10-27T05:56:10.635Z,1761544570.635 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T05:56:10.636Z,1761544570.636 [DAT](INFO): direction in FSK: [-0.480239,0.805609,0.346936] 2025-10-27T05:56:10.636Z,1761544570.636 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:10.640Z,1761544570.640 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.105408 2025-10-27T05:56:10.827Z,1761544570.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:10.829Z,1761544570.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.953281 m, bearing: 18.306701 deg, lat: 36.779389 deg, lon: -121.859746 deg, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:10.830Z,1761544570.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.95 m. 2025-10-27T05:56:10.872Z,1761544570.872 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.337982 2025-10-27T05:56:11.125Z,1761544571.125 [DAT](INFO): DAT read: Rx Time:05:56:09.7775 2025-10-27T05:56:11.125Z,1761544571.125 [DAT](INFO): Rx dataTimestamp_ set to:1761544571.124751 2025-10-27T05:56:11.126Z,1761544571.126 [DAT](INFO): DAT read: Bearing 193.0, 50.5 (Local) 2025-10-27T05:56:11.127Z,1761544571.127 [DAT](INFO): Local bearing/azimuth received: Bearing 193.0, 50.5 (Local) 2025-10-27T05:56:11.129Z,1761544571.129 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-27T05:56:11.142Z,1761544571.142 [DAT](INFO): DAT read: 05:56:09.7775 LVL= 15776, 13553, 22626, 26387, AGC= 51, IDX= 502,-0.21, 2.825, 2.783, 1.289, 2.843, PHS= 0.084,-0.016,-1.598, RAW= 33.0, 18.3, CAL= 30.0, 21.1, ROT= 120.0, -21.1 2025-10-27T05:56:11.143Z,1761544571.143 [DAT](INFO): got valid direction response: 05:56:09.7775 LVL= 15776, 13553, 22626, 26387, AGC= 51, IDX= 502,-0.21, 2.825, 2.783, 1.289, 2.843, PHS= 0.084,-0.016,-1.598, RAW= 33.0, 18.3, CAL= 30.0, 21.1, ROT= 120.0, -21.1 2025-10-27T05:56:11.144Z,1761544571.144 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T05:56:11.145Z,1761544571.145 [DAT](INFO): direction in FSK: [-0.466477,0.807961,0.359997] 2025-10-27T05:56:11.145Z,1761544571.145 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:11.169Z,1761544571.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214068,0.975022,0.059224],[-0.976239,-0.215635,0.021412],[0.033648,-0.053233,0.998015]] 2025-10-27T05:56:11.177Z,1761544571.177 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.642448 2025-10-27T05:56:11.260Z,1761544571.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:11.262Z,1761544571.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.953297 m, bearing: 17.630789 deg, lat: 36.779389 deg, lon: -121.859746 deg, deltaT: 0.504051 s, deltaX: 0.000015 m, approachRate: 0.000030 m/s, posRepo size: 4 2025-10-27T05:56:11.267Z,1761544571.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.95 m. 2025-10-27T05:56:11.376Z,1761544571.376 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.841873 2025-10-27T05:56:11.629Z,1761544571.629 [DAT](INFO): DAT read: Rx Time:05:56:10.2776 2025-10-27T05:56:11.629Z,1761544571.629 [DAT](INFO): Rx dataTimestamp_ set to:1761544571.629182 2025-10-27T05:56:11.631Z,1761544571.631 [DAT](INFO): DAT read: Bearing 194.1, 50.6 (Local) 2025-10-27T05:56:11.632Z,1761544571.632 [DAT](INFO): Local bearing/azimuth received: Bearing 194.1, 50.6 (Local) 2025-10-27T05:56:11.635Z,1761544571.635 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:56:11.649Z,1761544571.649 [DAT](INFO): DAT read: 05:56:10.2776 LVL= 16240, 14657, 23634, 27891, AGC= 52, IDX= 503, 0.16,-0.474,-0.502,-2.008,-0.465, PHS= 0.093, 0.008,-1.587, RAW= 32.6, 17.8, CAL= 29.6, 20.5, ROT= 120.4, -20.5 2025-10-27T05:56:11.650Z,1761544571.650 [DAT](INFO): got valid direction response: 05:56:10.2776 LVL= 16240, 14657, 23634, 27891, AGC= 52, IDX= 503, 0.16,-0.474,-0.502,-2.008,-0.465, PHS= 0.093, 0.008,-1.587, RAW= 32.6, 17.8, CAL= 29.6, 20.5, ROT= 120.4, -20.5 2025-10-27T05:56:11.650Z,1761544571.650 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T05:56:11.652Z,1761544571.652 [DAT](INFO): direction in FSK: [-0.473988,0.807893,0.350207] 2025-10-27T05:56:11.652Z,1761544571.652 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:11.669Z,1761544571.669 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.135014 2025-10-27T05:56:11.692Z,1761544571.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212800,0.975320,0.058879],[-0.976557,-0.214297,0.020320],[0.032436,-0.053175,0.998058]] 2025-10-27T05:56:11.850Z,1761544571.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504431 s, deltaX: 0.199999 m, approachRate: 0.396484 m/s, rangeRepo size: 4 2025-10-27T05:56:11.869Z,1761544571.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.152025 m, bearing: 18.077967 deg, lat: 36.779389 deg, lon: -121.859746 deg, deltaT: 0.504431 s, deltaX: 0.198729 m, approachRate: 0.393966 m/s, posRepo size: 4 2025-10-27T05:56:11.869Z,1761544571.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m. 2025-10-27T05:56:11.880Z,1761544571.880 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.345623 2025-10-27T05:56:12.133Z,1761544572.133 [DAT](INFO): DAT read: Rx Time:05:56:10.7776 2025-10-27T05:56:12.133Z,1761544572.133 [DAT](INFO): Rx dataTimestamp_ set to:1761544572.132771 2025-10-27T05:56:12.134Z,1761544572.134 [DAT](INFO): DAT read: Bearing 192.6, 50.8 (Local) 2025-10-27T05:56:12.135Z,1761544572.135 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 50.8 (Local) 2025-10-27T05:56:12.137Z,1761544572.137 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-27T05:56:12.142Z,1761544572.142 [DAT](INFO): DAT read: 05:56:10.7776 LVL= 15824, 15665, 25794, 28643, AGC= 51, IDX= 503,-0.28, 2.599, 2.548, 1.078, 2.615, PHS= 0.086,-0.023,-1.582, RAW= 33.3, 18.4, CAL= 30.3, 21.2, ROT= 119.7, -21.2 2025-10-27T05:56:12.143Z,1761544572.143 [DAT](INFO): got valid direction response: 05:56:10.7776 LVL= 15824, 15665, 25794, 28643, AGC= 51, IDX= 503,-0.28, 2.599, 2.548, 1.078, 2.615, PHS= 0.086,-0.023,-1.582, RAW= 33.3, 18.4, CAL= 30.3, 21.2, ROT= 119.7, -21.2 2025-10-27T05:56:12.146Z,1761544572.146 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T05:56:12.153Z,1761544572.153 [DAT](INFO): direction in FSK: [-0.461928,0.809846,0.361625] 2025-10-27T05:56:12.153Z,1761544572.153 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:12.156Z,1761544572.156 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.622246 2025-10-27T05:56:12.214Z,1761544572.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211184,0.975723,0.058026],[-0.976968,-0.212565,0.018696],[0.030576,-0.052741,0.998140]] 2025-10-27T05:56:12.308Z,1761544572.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503589 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:12.310Z,1761544572.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.152105 m, bearing: 17.464794 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.503589 s, deltaX: 0.000080 m, approachRate: 0.000159 m/s, posRepo size: 4 2025-10-27T05:56:12.310Z,1761544572.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m. 2025-10-27T05:56:12.384Z,1761544572.384 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.850109 2025-10-27T05:56:12.574Z,1761544572.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210334,0.975908,0.057988],[-0.977175,-0.211675,0.017981],[0.029823,-0.052882,0.998155]] 2025-10-27T05:56:12.636Z,1761544572.636 [DAT](INFO): DAT read: Rx Time:05:56:11.2777 2025-10-27T05:56:12.637Z,1761544572.637 [DAT](INFO): Rx dataTimestamp_ set to:1761544572.636527 2025-10-27T05:56:12.638Z,1761544572.638 [DAT](INFO): DAT read: Bearing 192.8, 50.9 (Local) 2025-10-27T05:56:12.638Z,1761544572.638 [DAT](INFO): Local bearing/azimuth received: Bearing 192.8, 50.9 (Local) 2025-10-27T05:56:12.641Z,1761544572.641 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-27T05:56:12.645Z,1761544572.645 [DAT](INFO): DAT read: 05:56:11.2777 LVL= 15568, 13937, 22834, 27491, AGC= 51, IDX= 504, 0.06,-0.465,-0.522,-2.001,-0.457, PHS= 0.094,-0.020,-1.588, RAW= 33.5, 18.2, CAL= 30.4, 21.0, ROT= 119.6, -21.0 2025-10-27T05:56:12.646Z,1761544572.646 [DAT](INFO): got valid direction response: 05:56:11.2777 LVL= 15568, 13937, 22834, 27491, AGC= 51, IDX= 504, 0.06,-0.465,-0.522,-2.001,-0.457, PHS= 0.094,-0.020,-1.588, RAW= 33.5, 18.2, CAL= 30.4, 21.0, ROT= 119.6, -21.0 2025-10-27T05:56:12.646Z,1761544572.646 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T05:56:12.650Z,1761544572.650 [DAT](INFO): direction in FSK: [-0.461134,0.811743,0.358368] 2025-10-27T05:56:12.650Z,1761544572.650 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:12.665Z,1761544572.665 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.130981 2025-10-27T05:56:12.777Z,1761544572.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503756 s, deltaX: 0.100000 m, approachRate: 0.198510 m/s, rangeRepo size: 4 2025-10-27T05:56:12.784Z,1761544572.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.251471 m, bearing: 17.403578 deg, lat: 36.779389 deg, lon: -121.859744 deg, deltaT: 0.503756 s, deltaX: 0.099365 m, approachRate: 0.197249 m/s, posRepo size: 4 2025-10-27T05:56:12.784Z,1761544572.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m. 2025-10-27T05:56:12.888Z,1761544572.888 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.353859 2025-10-27T05:56:13.140Z,1761544573.140 [DAT](INFO): DAT read: Rx Time:05:56:11.7777 2025-10-27T05:56:13.141Z,1761544573.141 [DAT](INFO): Rx dataTimestamp_ set to:1761544573.140677 2025-10-27T05:56:13.142Z,1761544573.142 [DAT](INFO): DAT read: Bearing 191.8, 51.1 (Local) 2025-10-27T05:56:13.143Z,1761544573.143 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 51.1 (Local) 2025-10-27T05:56:13.145Z,1761544573.145 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.1 2025-10-27T05:56:13.149Z,1761544573.149 [DAT](INFO): DAT read: 05:56:11.7777 LVL= 16080, 13937, 24482, 28739, AGC= 51, IDX= 504,-0.46,-2.914,-2.989, 1.838,-2.903, PHS= 0.091,-0.041,-1.586, RAW= 34.1, 18.6, CAL= 30.9, 21.5, ROT= 119.1, -21.5 2025-10-27T05:56:13.150Z,1761544573.150 [DAT](INFO): got valid direction response: 05:56:11.7777 LVL= 16080, 13937, 24482, 28739, AGC= 51, IDX= 504,-0.46,-2.914,-2.989, 1.838,-2.903, PHS= 0.091,-0.041,-1.586, RAW= 34.1, 18.6, CAL= 30.9, 21.5, ROT= 119.1, -21.5 2025-10-27T05:56:13.154Z,1761544573.154 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T05:56:13.155Z,1761544573.155 [DAT](INFO): direction in FSK: [-0.452495,0.812973,0.366501] 2025-10-27T05:56:13.155Z,1761544573.155 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:13.159Z,1761544573.159 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.624348 2025-10-27T05:56:13.250Z,1761544573.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209641,0.976059,0.057956],[-0.977346,-0.210942,0.017269],[0.029081,-0.053023,0.998170]] 2025-10-27T05:56:13.302Z,1761544573.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.504150 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:13.315Z,1761544573.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.251474 m, bearing: 16.941607 deg, lat: 36.779388 deg, lon: -121.859745 deg, deltaT: 0.504150 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 2025-10-27T05:56:13.316Z,1761544573.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.25 m. 2025-10-27T05:56:13.393Z,1761544573.393 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.858883 2025-10-27T05:56:13.645Z,1761544573.645 [DAT](INFO): DAT read: Rx Time:05:56:12.2778 2025-10-27T05:56:13.645Z,1761544573.645 [DAT](INFO): Rx dataTimestamp_ set to:1761544573.644752 2025-10-27T05:56:13.646Z,1761544573.646 [DAT](INFO): DAT read: Bearing 191.8, 51.3 (Local) 2025-10-27T05:56:13.647Z,1761544573.647 [DAT](INFO): Local bearing/azimuth received: Bearing 191.8, 51.3 (Local) 2025-10-27T05:56:13.649Z,1761544573.649 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:56:13.654Z,1761544573.654 [DAT](INFO): DAT read: 05:56:12.2778 LVL= 16112, 14497, 24130, 28659, AGC= 50, IDX= 505, 0.02,-1.434,-1.513,-2.959,-1.430, PHS= 0.097,-0.039,-1.573, RAW= 34.2, 18.4, CAL= 31.1, 21.3, ROT= 118.9, -21.3 2025-10-27T05:56:13.658Z,1761544573.658 [DAT](INFO): got valid direction response: 05:56:12.2778 LVL= 16112, 14497, 24130, 28659, AGC= 50, IDX= 505, 0.02,-1.434,-1.513,-2.959,-1.430, PHS= 0.097,-0.039,-1.573, RAW= 34.2, 18.4, CAL= 31.1, 21.3, ROT= 118.9, -21.3 2025-10-27T05:56:13.659Z,1761544573.659 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T05:56:13.660Z,1761544573.660 [DAT](INFO): direction in FSK: [-0.450270,0.815663,0.363251] 2025-10-27T05:56:13.660Z,1761544573.660 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:13.668Z,1761544573.668 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.133732 2025-10-27T05:56:13.789Z,1761544573.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504075 s, deltaX: 0.200001 m, approachRate: 0.396768 m/s, rangeRepo size: 4 2025-10-27T05:56:13.795Z,1761544573.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.450205 m, bearing: 16.745945 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.504075 s, deltaX: 0.198730 m, approachRate: 0.394248 m/s, posRepo size: 4 2025-10-27T05:56:13.796Z,1761544573.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m. 2025-10-27T05:56:13.896Z,1761544573.896 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.361973 2025-10-27T05:56:14.034Z,1761544574.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208954,0.976240,0.057399],[-0.977530,-0.210178,0.016120],[0.027801,-0.052741,0.998221]] 2025-10-27T05:56:14.053Z,1761544574.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m. 2025-10-27T05:56:14.149Z,1761544574.149 [DAT](INFO): DAT read: Rx Time:05:56:12.7778 2025-10-27T05:56:14.149Z,1761544574.149 [DAT](INFO): Rx dataTimestamp_ set to:1761544574.148795 2025-10-27T05:56:14.150Z,1761544574.150 [DAT](INFO): DAT read: Bearing 192.2, 51.5 (Local) 2025-10-27T05:56:14.151Z,1761544574.151 [DAT](INFO): Local bearing/azimuth received: Bearing 192.2, 51.5 (Local) 2025-10-27T05:56:14.153Z,1761544574.153 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:56:14.158Z,1761544574.158 [DAT](INFO): DAT read: 05:56:12.7778 LVL= 16240, 12225, 24354, 28531, AGC= 50, IDX= 504, 0.49,-2.179,-2.256, 2.584,-2.180, PHS= 0.103,-0.031,-1.563, RAW= 34.2, 18.2, CAL= 31.0, 21.0, ROT= 119.0, -21.0 2025-10-27T05:56:14.162Z,1761544574.162 [DAT](INFO): got valid direction response: 05:56:12.7778 LVL= 16240, 12225, 24354, 28531, AGC= 50, IDX= 504, 0.49,-2.179,-2.256, 2.584,-2.180, PHS= 0.103,-0.031,-1.563, RAW= 34.2, 18.2, CAL= 31.0, 21.0, ROT= 119.0, -21.0 2025-10-27T05:56:14.162Z,1761544574.162 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T05:56:14.163Z,1761544574.163 [DAT](INFO): direction in FSK: [-0.452609,0.816528,0.358368] 2025-10-27T05:56:14.164Z,1761544574.164 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:14.169Z,1761544574.169 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.635197 2025-10-27T05:56:14.400Z,1761544574.400 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.865772 2025-10-27T05:56:14.515Z,1761544574.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209062,0.976230,0.057172],[-0.977520,-0.210258,0.015708],[0.027356,-0.052603,0.998241]] 2025-10-27T05:56:14.582Z,1761544574.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:14.593Z,1761544574.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.450209 m, bearing: 16.855433 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.504043 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 2025-10-27T05:56:14.593Z,1761544574.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m. 2025-10-27T05:56:14.653Z,1761544574.653 [DAT](INFO): DAT read: Rx Time:05:56:13.2778 2025-10-27T05:56:14.653Z,1761544574.653 [DAT](INFO): Rx dataTimestamp_ set to:1761544574.652797 2025-10-27T05:56:14.654Z,1761544574.654 [DAT](INFO): DAT read: Bearing 190.9, 51.7 (Local) 2025-10-27T05:56:14.655Z,1761544574.655 [DAT](INFO): Local bearing/azimuth received: Bearing 190.9, 51.7 (Local) 2025-10-27T05:56:14.657Z,1761544574.657 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:56:14.662Z,1761544574.662 [DAT](INFO): DAT read: 05:56:13.2778 LVL= 15120, 12897, 23026, 27635, AGC= 50, IDX= 505, 0.01,-2.845,-2.945, 1.911,-2.846, PHS= 0.103,-0.054,-1.570, RAW= 34.9, 18.6, CAL= 31.7, 21.5, ROT= 118.3, -21.5 2025-10-27T05:56:14.667Z,1761544574.667 [DAT](INFO): got valid direction response: 05:56:13.2778 LVL= 15120, 12897, 23026, 27635, AGC= 50, IDX= 505, 0.01,-2.845,-2.945, 1.911,-2.846, PHS= 0.103,-0.054,-1.570, RAW= 34.9, 18.6, CAL= 31.7, 21.5, ROT= 118.3, -21.5 2025-10-27T05:56:14.667Z,1761544574.667 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T05:56:14.668Z,1761544574.668 [DAT](INFO): direction in FSK: [-0.441100,0.819212,0.366501] 2025-10-27T05:56:14.669Z,1761544574.669 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:14.691Z,1761544574.691 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.152576 2025-10-27T05:56:14.892Z,1761544574.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209274,0.976194,0.057010],[-0.977486,-0.210444,0.015289],[0.026922,-0.052527,0.998257]] 2025-10-27T05:56:14.904Z,1761544574.904 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.369568 2025-10-27T05:56:14.986Z,1761544574.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:14.993Z,1761544574.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.450209 m, bearing: 16.150702 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.504002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:14.993Z,1761544574.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m. 2025-10-27T05:56:15.157Z,1761544575.157 [DAT](INFO): DAT read: Rx Time:05:56:13.7778 2025-10-27T05:56:15.157Z,1761544575.157 [DAT](INFO): Rx dataTimestamp_ set to:1761544575.156898 2025-10-27T05:56:15.158Z,1761544575.158 [DAT](INFO): DAT read: Bearing 190.4, 51.9 (Local) 2025-10-27T05:56:15.159Z,1761544575.159 [DAT](INFO): Local bearing/azimuth received: Bearing 190.4, 51.9 (Local) 2025-10-27T05:56:15.161Z,1761544575.161 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-27T05:56:15.166Z,1761544575.166 [DAT](INFO): DAT read: 05:56:13.7778 LVL= 14944, 11889, 23778, 26915, AGC= 50, IDX= 505,-0.42, 1.260, 1.151,-0.264, 1.256, PHS= 0.106,-0.060,-1.564, RAW= 35.2, 18.6, CAL= 31.9, 21.5, ROT= 118.1, -21.5 2025-10-27T05:56:15.169Z,1761544575.169 [DAT](INFO): got valid direction response: 05:56:13.7778 LVL= 14944, 11889, 23778, 26915, AGC= 50, IDX= 505,-0.42, 1.260, 1.151,-0.264, 1.256, PHS= 0.106,-0.060,-1.564, RAW= 35.2, 18.6, CAL= 31.9, 21.5, ROT= 118.1, -21.5 2025-10-27T05:56:15.170Z,1761544575.170 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T05:56:15.196Z,1761544575.196 [DAT](INFO): direction in FSK: [-0.438238,0.820746,0.366501] 2025-10-27T05:56:15.196Z,1761544575.196 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:15.202Z,1761544575.202 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.667866 2025-10-27T05:56:15.294Z,1761544575.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209724,0.976105,0.056875],[-0.977400,-0.210872,0.014924],[0.026561,-0.052460,0.998270]] 2025-10-27T05:56:15.352Z,1761544575.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:15.354Z,1761544575.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.450190 m, bearing: 15.923345 deg, lat: 36.779388 deg, lon: -121.859745 deg, deltaT: 0.504101 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 2025-10-27T05:56:15.354Z,1761544575.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m. 2025-10-27T05:56:15.409Z,1761544575.409 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.874287 2025-10-27T05:56:15.660Z,1761544575.660 [DAT](INFO): DAT read: Rx Time:05:56:14.2779 2025-10-27T05:56:15.661Z,1761544575.661 [DAT](INFO): Rx dataTimestamp_ set to:1761544575.660680 2025-10-27T05:56:15.662Z,1761544575.662 [DAT](INFO): DAT read: Bearing 190.1, 52.0 (Local) 2025-10-27T05:56:15.663Z,1761544575.663 [DAT](INFO): Local bearing/azimuth received: Bearing 190.1, 52.0 (Local) 2025-10-27T05:56:15.665Z,1761544575.665 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 2025-10-27T05:56:15.669Z,1761544575.669 [DAT](INFO): DAT read: 05:56:14.2779 LVL= 15136, 13777, 24210, 28211, AGC= 51, IDX= 506, 0.08,-2.453,-2.572, 2.289,-2.461, PHS= 0.110,-0.066,-1.577, RAW= 35.4, 18.6, CAL= 32.2, 21.6, ROT= 117.8, -21.6 2025-10-27T05:56:15.670Z,1761544575.670 [DAT](INFO): got valid direction response: 05:56:14.2779 LVL= 15136, 13777, 24210, 28211, AGC= 51, IDX= 506, 0.08,-2.453,-2.572, 2.289,-2.461, PHS= 0.110,-0.066,-1.577, RAW= 35.4, 18.6, CAL= 32.2, 21.6, ROT= 117.8, -21.6 2025-10-27T05:56:15.676Z,1761544575.676 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T05:56:15.678Z,1761544575.678 [DAT](INFO): direction in FSK: [-0.433635,0.822463,0.368125] 2025-10-27T05:56:15.678Z,1761544575.678 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:15.698Z,1761544575.698 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.163601 2025-10-27T05:56:15.745Z,1761544575.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211654,0.975682,0.056992],[-0.976995,-0.212777,0.014352],[0.026129,-0.052643,0.998272]] 2025-10-27T05:56:15.851Z,1761544575.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503782 s, deltaX: 0.100000 m, approachRate: 0.198499 m/s, rangeRepo size: 4 2025-10-27T05:56:15.853Z,1761544575.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.549555 m, bearing: 15.507450 deg, lat: 36.779389 deg, lon: -121.859747 deg, deltaT: 0.503782 s, deltaX: 0.099365 m, approachRate: 0.197239 m/s, posRepo size: 4 2025-10-27T05:56:15.854Z,1761544575.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m. 2025-10-27T05:56:15.917Z,1761544575.917 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.380482 2025-10-27T05:56:16.140Z,1761544576.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m. 2025-10-27T05:56:16.164Z,1761544576.164 [DAT](INFO): DAT read: Rx Time:05:56:14.7779 2025-10-27T05:56:16.165Z,1761544576.165 [DAT](INFO): Rx dataTimestamp_ set to:1761544576.164687 2025-10-27T05:56:16.166Z,1761544576.166 [DAT](INFO): DAT read: Bearing 189.0, 52.1 (Local) 2025-10-27T05:56:16.167Z,1761544576.167 [DAT](INFO): Local bearing/azimuth received: Bearing 189.0, 52.1 (Local) 2025-10-27T05:56:16.169Z,1761544576.169 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 2025-10-27T05:56:16.182Z,1761544576.182 [DAT](INFO): DAT read: 05:56:14.7779 LVL= 13936, 13025, 22898, 26355, AGC= 51, IDX= 506,-0.26, 1.415, 1.280,-0.125, 1.411, PHS= 0.107,-0.085,-1.579, RAW= 36.0, 19.0, CAL= 32.7, 22.0, ROT= 117.3, -22.0 2025-10-27T05:56:16.184Z,1761544576.184 [DAT](INFO): got valid direction response: 05:56:14.7779 LVL= 13936, 13025, 22898, 26355, AGC= 51, IDX= 506,-0.26, 1.415, 1.280,-0.125, 1.411, PHS= 0.107,-0.085,-1.579, RAW= 36.0, 19.0, CAL= 32.7, 22.0, ROT= 117.3, -22.0 2025-10-27T05:56:16.185Z,1761544576.185 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T05:56:16.186Z,1761544576.186 [DAT](INFO): direction in FSK: [-0.425252,0.823912,0.374607] 2025-10-27T05:56:16.187Z,1761544576.187 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:16.194Z,1761544576.194 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.659431 2025-10-27T05:56:16.419Z,1761544576.419 [DAT](INFO): DAT read: Rx Time:05:56:15.2780 2025-10-27T05:56:16.420Z,1761544576.420 [DAT](INFO): Rx dataTimestamp_ set to:1761544576.419393 2025-10-27T05:56:16.422Z,1761544576.422 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.887386 2025-10-27T05:56:16.543Z,1761544576.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214954,0.974966,0.056892],[-0.976278,-0.216065,0.014074],[0.026014,-0.052517,0.998281]] 2025-10-27T05:56:16.586Z,1761544576.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:16.588Z,1761544576.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.549517 m, bearing: 14.823303 deg, lat: 36.779388 deg, lon: -121.859748 deg, deltaT: 0.504007 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 2025-10-27T05:56:16.588Z,1761544576.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m. 2025-10-27T05:56:16.670Z,1761544576.670 [DAT](INFO): DAT read: Bearing 190.0, 52.2 (Local) 2025-10-27T05:56:16.670Z,1761544576.670 [DAT](INFO): Local bearing/azimuth received: Bearing 190.0, 52.2 (Local) 2025-10-27T05:56:16.673Z,1761544576.673 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 2025-10-27T05:56:16.685Z,1761544576.685 [DAT](INFO): DAT read: 05:56:15.2780 LVL= 13648, 12049, 21858, 25235, AGC= 50, IDX= 507, 0.27,-2.549,-2.673, 2.197,-2.564, PHS= 0.118,-0.063,-1.566, RAW= 35.6, 18.5, CAL= 32.3, 21.3, ROT= 117.7, -21.3 2025-10-27T05:56:16.696Z,1761544576.696 [DAT](INFO): got valid direction response: 05:56:15.2780 LVL= 13648, 12049, 21858, 25235, AGC= 50, IDX= 507, 0.27,-2.549,-2.673, 2.197,-2.564, PHS= 0.118,-0.063,-1.566, RAW= 35.6, 18.5, CAL= 32.3, 21.3, ROT= 117.7, -21.3 2025-10-27T05:56:16.696Z,1761544576.696 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T05:56:16.698Z,1761544576.698 [DAT](INFO): direction in FSK: [-0.433089,0.824914,0.363251] 2025-10-27T05:56:16.721Z,1761544576.721 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:16.726Z,1761544576.726 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.191772 2025-10-27T05:56:16.923Z,1761544576.923 [DAT](INFO): DAT read: Rx Time:05:56:15.7780 2025-10-27T05:56:16.924Z,1761544576.924 [DAT](INFO): Rx dataTimestamp_ set to:1761544576.923324 2025-10-27T05:56:16.926Z,1761544576.926 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.391457 2025-10-27T05:56:17.050Z,1761544577.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503436 s, deltaX: 0.199999 m, approachRate: 0.397268 m/s, rangeRepo size: 4 2025-10-27T05:56:17.053Z,1761544577.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.748245 m, bearing: 15.215770 deg, lat: 36.779388 deg, lon: -121.859749 deg, deltaT: 0.503436 s, deltaX: 0.198729 m, approachRate: 0.394744 m/s, posRepo size: 4 2025-10-27T05:56:17.054Z,1761544577.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m. 2025-10-27T05:56:17.174Z,1761544577.174 [DAT](INFO): DAT read: Bearing 189.7, 52.2 (Local) 2025-10-27T05:56:17.174Z,1761544577.174 [DAT](INFO): Local bearing/azimuth received: Bearing 189.7, 52.2 (Local) 2025-10-27T05:56:17.179Z,1761544577.179 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1 2025-10-27T05:56:17.188Z,1761544577.188 [DAT](INFO): DAT read: 05:56:15.7780 LVL= 14384, 12945, 22098, 26995, AGC= 49, IDX= 507,-0.02, 1.185, 1.063,-0.341, 1.174, PHS= 0.113,-0.065,-1.559, RAW= 35.6, 18.6, CAL= 32.3, 21.5, ROT= 117.7, -21.5 2025-10-27T05:56:17.189Z,1761544577.189 [DAT](INFO): got valid direction response: 05:56:15.7780 LVL= 14384, 12945, 22098, 26995, AGC= 49, IDX= 507,-0.02, 1.185, 1.063,-0.341, 1.174, PHS= 0.113,-0.065,-1.559, RAW= 35.6, 18.6, CAL= 32.3, 21.5, ROT= 117.7, -21.5 2025-10-27T05:56:17.190Z,1761544577.190 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T05:56:17.192Z,1761544577.192 [DAT](INFO): direction in FSK: [-0.432497,0.823786,0.366501] 2025-10-27T05:56:17.192Z,1761544577.192 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:17.200Z,1761544577.200 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.665802 2025-10-27T05:56:17.321Z,1761544577.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217192,0.974471,0.056868],[-0.975780,-0.218302,0.014035],[0.026091,-0.052442,0.998283]] 2025-10-27T05:56:17.381Z,1761544577.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:17.388Z,1761544577.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.748178 m, bearing: 15.086151 deg, lat: 36.779389 deg, lon: -121.859751 deg, deltaT: 0.503225 s, deltaX: -0.000067 m, approachRate: -0.000133 m/s, posRepo size: 4 2025-10-27T05:56:17.388Z,1761544577.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m. 2025-10-27T05:56:17.427Z,1761544577.427 [DAT](INFO): DAT read: Rx Time:05:56:16.2782 2025-10-27T05:56:17.428Z,1761544577.428 [DAT](INFO): Rx dataTimestamp_ set to:1761544577.427594 2025-10-27T05:56:17.431Z,1761544577.431 [DAT](INFO): DAT read: Bearing 189.9, 52.0 (Local) 2025-10-27T05:56:17.432Z,1761544577.432 [DAT](INFO): Local bearing/azimuth received: Bearing 189.9, 52.0 (Local) 2025-10-27T05:56:17.434Z,1761544577.434 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.899559 2025-10-27T05:56:17.680Z,1761544577.680 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 2025-10-27T05:56:17.688Z,1761544577.688 [DAT](INFO): DAT read: 05:56:16.2782 LVL= 15264, 12193, 23234, 26483, AGC= 49, IDX= 509,-0.47, 2.906, 2.798, 1.385, 2.899, PHS= 0.109,-0.056,-1.558, RAW= 35.2, 18.5, CAL= 31.9, 21.4, ROT= 118.1, -21.4 2025-10-27T05:56:17.689Z,1761544577.689 [DAT](INFO): got valid direction response: 05:56:16.2782 LVL= 15264, 12193, 23234, 26483, AGC= 49, IDX= 509,-0.47, 2.906, 2.798, 1.385, 2.899, PHS= 0.109,-0.056,-1.558, RAW= 35.2, 18.5, CAL= 31.9, 21.4, ROT= 118.1, -21.4 2025-10-27T05:56:17.690Z,1761544577.690 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T05:56:17.696Z,1761544577.696 [DAT](INFO): direction in FSK: [-0.438538,0.821309,0.364877] 2025-10-27T05:56:17.697Z,1761544577.697 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:17.720Z,1761544577.720 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.185497 2025-10-27T05:56:17.744Z,1761544577.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222513,0.973280,0.056695],[-0.974578,-0.223617,0.013859],[0.026167,-0.052170,0.998295]] 2025-10-27T05:56:17.847Z,1761544577.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504729 s, deltaX: 0.300001 m, approachRate: 0.594381 m/s, rangeRepo size: 4 2025-10-27T05:56:17.853Z,1761544577.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.046274 m, bearing: 15.169352 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.504729 s, deltaX: 0.298096 m, approachRate: 0.590605 m/s, posRepo size: 4 2025-10-27T05:56:17.853Z,1761544577.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m. 2025-10-27T05:56:17.932Z,1761544577.932 [DAT](INFO): DAT read: Rx Time:05:56:16.7781 2025-10-27T05:56:17.933Z,1761544577.933 [DAT](INFO): Rx dataTimestamp_ set to:1761544577.932310 2025-10-27T05:56:17.936Z,1761544577.936 [DAT](INFO): DAT read: Bearing 190.7, 51.7 (Local) 2025-10-27T05:56:17.937Z,1761544577.937 [DAT](INFO): Local bearing/azimuth received: Bearing 190.7, 51.7 (Local) 2025-10-27T05:56:17.941Z,1761544577.941 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.1 2025-10-27T05:56:17.943Z,1761544577.943 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T05:56:17.946Z,1761544577.946 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.411617 2025-10-27T05:56:18.127Z,1761544578.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225408,0.972603,0.056873],[-0.973910,-0.226517,0.013783],[0.026288,-0.052282,0.998286]] 2025-10-27T05:56:18.187Z,1761544578.187 [DAT](INFO): DAT read: 05:56:16.7781 LVL= 16432, 12273, 25586, 28275, AGC= 49, IDX= 508, 0.04,-2.802,-2.888, 1.958,-2.806, PHS= 0.107,-0.036,-1.563, RAW= 34.4, 18.2, CAL= 31.2, 21.0, ROT= 118.8, -21.0 2025-10-27T05:56:18.189Z,1761544578.189 [DAT](INFO): got valid direction response: 05:56:16.7781 LVL= 16432, 12273, 25586, 28275, AGC= 49, IDX= 508, 0.04,-2.802,-2.888, 1.958,-2.806, PHS= 0.107,-0.036,-1.563, RAW= 34.4, 18.2, CAL= 31.2, 21.0, ROT= 118.8, -21.0 2025-10-27T05:56:18.190Z,1761544578.190 [DAT](INFO): #Rx 102: Read direction message, but no range. 2025-10-27T05:56:18.191Z,1761544578.191 [DAT](INFO): direction in FSK: [-0.449756,0.818103,0.358368] 2025-10-27T05:56:18.201Z,1761544578.201 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.666306 2025-10-27T05:56:18.299Z,1761544578.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.256233 s, deltaX: -0.200001 m, approachRate: -0.780543 m/s, rangeRepo size: 4 2025-10-27T05:56:18.301Z,1761544578.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.847540 m, bearing: 15.686329 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.256233 s, deltaX: -0.198734 m, approachRate: -0.775600 m/s, posRepo size: 4 2025-10-27T05:56:18.301Z,1761544578.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m. 2025-10-27T05:56:18.434Z,1761544578.434 [DAT](INFO): DAT read: Rx Time:05:56:17.2782 2025-10-27T05:56:18.436Z,1761544578.436 [DAT](INFO): Rx dataTimestamp_ set to:1761544578.435054 2025-10-27T05:56:18.438Z,1761544578.438 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.903118 2025-10-27T05:56:18.564Z,1761544578.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227992,0.971981,0.057207],[-0.973308,-0.229101,0.013555],[0.026281,-0.052590,0.998270]] 2025-10-27T05:56:18.630Z,1761544578.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m. 2025-10-27T05:56:18.686Z,1761544578.686 [DAT](INFO): DAT read: Bearing 190.9, 51.5 (Local) 2025-10-27T05:56:18.686Z,1761544578.686 [DAT](INFO): Local bearing/azimuth received: Bearing 190.9, 51.5 (Local) 2025-10-27T05:56:18.690Z,1761544578.690 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 2025-10-27T05:56:18.701Z,1761544578.701 [DAT](INFO): DAT read: 05:56:17.2782 LVL= 15936, 12961, 25538, 28835, AGC= 49, IDX= 508, 0.49,-1.617,-1.689,-3.141,-1.617, PHS= 0.102,-0.028,-1.568, RAW= 34.0, 18.2, CAL= 30.9, 21.0, ROT= 119.1, -21.0 2025-10-27T05:56:18.707Z,1761544578.707 [DAT](INFO): got valid direction response: 05:56:17.2782 LVL= 15936, 12961, 25538, 28835, AGC= 49, IDX= 508, 0.49,-1.617,-1.689,-3.141,-1.617, PHS= 0.102,-0.028,-1.568, RAW= 34.0, 18.2, CAL= 30.9, 21.0, ROT= 119.1, -21.0 2025-10-27T05:56:18.708Z,1761544578.708 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T05:56:18.709Z,1761544578.709 [DAT](INFO): direction in FSK: [-0.454033,0.815737,0.358368] 2025-10-27T05:56:18.709Z,1761544578.709 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:18.736Z,1761544578.736 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.201385 2025-10-27T05:56:18.939Z,1761544578.939 [DAT](INFO): DAT read: Rx Time:05:56:17.7781 2025-10-27T05:56:18.941Z,1761544578.941 [DAT](INFO): Rx dataTimestamp_ set to:1761544578.940017 2025-10-27T05:56:18.944Z,1761544578.944 [DAT](INFO): DAT read: Bearing 189.9, 51.2 (Local) 2025-10-27T05:56:18.945Z,1761544578.945 [DAT](INFO): Local bearing/azimuth received: Bearing 189.9, 51.2 (Local) 2025-10-27T05:56:18.952Z,1761544578.952 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.0 2025-10-27T05:56:18.955Z,1761544578.955 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-27T05:56:18.984Z,1761544578.984 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.450069 2025-10-27T05:56:19.001Z,1761544579.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230906,0.971294,0.057192],[-0.972622,-0.232009,0.013357],[0.026243,-0.052542,0.998274]] 2025-10-27T05:56:19.064Z,1761544579.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 1.007707 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:19.066Z,1761544579.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.847540 m, bearing: 15.653139 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 1.007707 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:19.071Z,1761544579.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m. 2025-10-27T05:56:19.195Z,1761544579.195 [DAT](INFO): DAT read: 05:56:17.7781 LVL= 15584, 13521, 25378, 28003, AGC= 49, IDX= 508,-0.05, 2.755, 2.682, 1.235, 2.770, PHS= 0.087,-0.042,-1.579, RAW= 34.0, 18.7, CAL= 30.9, 21.6, ROT= 119.1, -21.6 2025-10-27T05:56:19.197Z,1761544579.197 [DAT](INFO): got valid direction response: 05:56:17.7781 LVL= 15584, 13521, 25378, 28003, AGC= 49, IDX= 508,-0.05, 2.755, 2.682, 1.235, 2.770, PHS= 0.087,-0.042,-1.579, RAW= 34.0, 18.7, CAL= 30.9, 21.6, ROT= 119.1, -21.6 2025-10-27T05:56:19.198Z,1761544579.198 [DAT](INFO): #Rx 105: Read direction message, but no range. 2025-10-27T05:56:19.202Z,1761544579.202 [DAT](INFO): direction in FSK: [-0.452183,0.812413,0.368125] 2025-10-27T05:56:19.206Z,1761544579.206 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.671291 2025-10-27T05:56:19.239Z,1761544579.239 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:56:19.334Z,1761544579.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233665,0.970632,0.057223],[-0.971971,-0.234747,0.012892],[0.025947,-0.052606,0.998278]] 2025-10-27T05:56:19.365Z,1761544579.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.85 m. 2025-10-27T05:56:19.445Z,1761544579.445 [DAT](INFO): DAT read: Rx Time:05:56:18.2782 2025-10-27T05:56:19.447Z,1761544579.447 [DAT](INFO): Rx dataTimestamp_ set to:1761544579.445569 2025-10-27T05:56:19.450Z,1761544579.450 [DAT](INFO): DAT read: Bearing 191.0, 51.1 (Local) 2025-10-27T05:56:19.451Z,1761544579.451 [DAT](INFO): Local bearing/azimuth received: Bearing 191.0, 51.1 (Local) 2025-10-27T05:56:19.457Z,1761544579.457 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1 2025-10-27T05:56:19.460Z,1761544579.460 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-27T05:56:19.503Z,1761544579.503 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.928192 2025-10-27T05:56:19.699Z,1761544579.699 [DAT](INFO): DAT read: 05:56:18.2782 LVL= 15696, 13489, 24114, 28147, AGC= 49, IDX= 509, 0.28,-0.169,-0.222,-1.705,-0.161, PHS= 0.094,-0.016,-1.588, RAW= 33.3, 18.1, CAL= 30.3, 20.9, ROT= 119.7, -20.9 2025-10-27T05:56:19.701Z,1761544579.701 [DAT](INFO): got valid direction response: 05:56:18.2782 LVL= 15696, 13489, 24114, 28147, AGC= 49, IDX= 509, 0.28,-0.169,-0.222,-1.705,-0.161, PHS= 0.094,-0.016,-1.588, RAW= 33.3, 18.1, CAL= 30.3, 20.9, ROT= 119.7, -20.9 2025-10-27T05:56:19.701Z,1761544579.701 [DAT](INFO): #Rx 107: Read direction message, but no range. 2025-10-27T05:56:19.708Z,1761544579.708 [DAT](INFO): direction in FSK: [-0.462860,0.811479,0.356738] 2025-10-27T05:56:19.713Z,1761544579.713 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.179035 2025-10-27T05:56:19.770Z,1761544579.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236635,0.969917,0.057145],[-0.971262,-0.237692,0.012387],[0.025597,-0.052572,0.998289]] 2025-10-27T05:56:19.833Z,1761544579.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.505552 s, deltaX: 0.200001 m, approachRate: 0.395609 m/s, rangeRepo size: 4 2025-10-27T05:56:19.848Z,1761544579.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.046289 m, bearing: 15.893345 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.505552 s, deltaX: 0.198750 m, approachRate: 0.393134 m/s, posRepo size: 4 2025-10-27T05:56:19.848Z,1761544579.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m. 2025-10-27T05:56:19.948Z,1761544579.948 [DAT](INFO): DAT read: Rx Time:05:56:18.7782 2025-10-27T05:56:19.949Z,1761544579.949 [DAT](INFO): Rx dataTimestamp_ set to:1761544579.948472 2025-10-27T05:56:19.954Z,1761544579.954 [DAT](INFO): DAT read: Bearing 190.5, 50.9 (Local) 2025-10-27T05:56:19.955Z,1761544579.955 [DAT](INFO): Local bearing/azimuth received: Bearing 190.5, 50.9 (Local) 2025-10-27T05:56:19.969Z,1761544579.969 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.0 2025-10-27T05:56:19.975Z,1761544579.975 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-27T05:56:19.976Z,1761544579.976 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.441910 2025-10-27T05:56:20.141Z,1761544580.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239203,0.969290,0.057093],[-0.970648,-0.240224,0.011635],[0.024993,-0.052634,0.998301]] 2025-10-27T05:56:20.169Z,1761544580.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502903 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:20.170Z,1761544580.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m. 2025-10-27T05:56:20.202Z,1761544580.202 [DAT](INFO): DAT read: 05:56:18.7782 LVL= 14736, 15105, 26450, 26995, AGC= 50, IDX= 509,-0.19,-2.896,-2.941, 1.854,-2.876, PHS= 0.083,-0.020,-1.597, RAW= 33.1, 18.4, CAL= 30.1, 21.2, ROT= 119.9, -21.2 2025-10-27T05:56:20.210Z,1761544580.210 [DAT](INFO): got valid direction response: 05:56:18.7782 LVL= 14736, 15105, 26450, 26995, AGC= 50, IDX= 509,-0.19,-2.896,-2.941, 1.854,-2.876, PHS= 0.083,-0.020,-1.597, RAW= 33.1, 18.4, CAL= 30.1, 21.2, ROT= 119.9, -21.2 2025-10-27T05:56:20.210Z,1761544580.210 [DAT](INFO): #Rx 109: Read direction message, but no range. 2025-10-27T05:56:20.211Z,1761544580.211 [DAT](INFO): direction in FSK: [-0.464752,0.808229,0.361625] 2025-10-27T05:56:20.230Z,1761544580.230 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.680443 2025-10-27T05:56:20.243Z,1761544580.243 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:56:20.452Z,1761544580.452 [DAT](INFO): DAT read: Rx Time:05:56:19.2783 2025-10-27T05:56:20.453Z,1761544580.453 [DAT](INFO): Rx dataTimestamp_ set to:1761544580.452326 2025-10-27T05:56:20.457Z,1761544580.457 [DAT](INFO): DAT read: Bearing 192.4, 50.8 (Local) 2025-10-27T05:56:20.458Z,1761544580.458 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 50.8 (Local) 2025-10-27T05:56:20.463Z,1761544580.463 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 2025-10-27T05:56:20.465Z,1761544580.465 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-27T05:56:20.469Z,1761544580.469 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.934074 2025-10-27T05:56:20.590Z,1761544580.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241758,0.968659,0.057037],[-0.970032,-0.242737,0.010798],[0.024304,-0.052718,0.998314]] 2025-10-27T05:56:20.660Z,1761544580.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503854 s, deltaX: 0.099998 m, approachRate: 0.198467 m/s, rangeRepo size: 4 2025-10-27T05:56:20.662Z,1761544580.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.145704 m, bearing: 15.763715 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 1.006757 s, deltaX: 0.099415 m, approachRate: 0.098748 m/s, posRepo size: 4 2025-10-27T05:56:20.662Z,1761544580.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m. 2025-10-27T05:56:20.706Z,1761544580.706 [DAT](INFO): DAT read: 05:56:19.2783 LVL= 15200, 13793, 26258, 28243, AGC= 49, IDX= 510, 0.14,-0.373,-0.387,-1.907,-0.364, PHS= 0.093, 0.022,-1.586, RAW= 32.1, 17.5, CAL= 29.2, 20.3, ROT= 120.8, -20.3 2025-10-27T05:56:20.708Z,1761544580.708 [DAT](INFO): got valid direction response: 05:56:19.2783 LVL= 15200, 13793, 26258, 28243, AGC= 49, IDX= 510, 0.14,-0.373,-0.387,-1.907,-0.364, PHS= 0.093, 0.022,-1.586, RAW= 32.1, 17.5, CAL= 29.2, 20.3, ROT= 120.8, -20.3 2025-10-27T05:56:20.708Z,1761544580.708 [DAT](INFO): #Rx 111: Read direction message, but no range. 2025-10-27T05:56:20.709Z,1761544580.709 [DAT](INFO): direction in FSK: [-0.480239,0.805609,0.346936] 2025-10-27T05:56:20.720Z,1761544580.720 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.185856 2025-10-27T05:56:20.958Z,1761544580.958 [DAT](INFO): DAT read: Rx Time:05:56:19.7783 2025-10-27T05:56:20.960Z,1761544580.960 [DAT](INFO): Rx dataTimestamp_ set to:1761544580.958913 2025-10-27T05:56:20.971Z,1761544580.971 [DAT](INFO): DAT read: Bearing 191.2, 50.7 (Local) 2025-10-27T05:56:20.971Z,1761544580.971 [DAT](INFO): Local bearing/azimuth received: Bearing 191.2, 50.7 (Local) 2025-10-27T05:56:20.973Z,1761544580.973 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.1 2025-10-27T05:56:20.978Z,1761544580.978 [DAT](INFO): DAT read: 05:56:19.7783 LVL= 15456, 13505, 25442, 28403, AGC= 49, IDX= 510,-0.25, 2.337, 2.315, 0.805, 2.356, PHS= 0.083, 0.004,-1.595, RAW= 32.4, 18.0, CAL= 29.5, 20.8, ROT= 120.5, -20.8 2025-10-27T05:56:20.991Z,1761544580.991 [DAT](INFO): got valid direction response: 05:56:19.7783 LVL= 15456, 13505, 25442, 28403, AGC= 49, IDX= 510,-0.25, 2.337, 2.315, 0.805, 2.356, PHS= 0.083, 0.004,-1.595, RAW= 32.4, 18.0, CAL= 29.5, 20.8, ROT= 120.5, -20.8 2025-10-27T05:56:20.992Z,1761544580.992 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T05:56:20.993Z,1761544580.993 [DAT](INFO): direction in FSK: [-0.474460,0.805473,0.355107] 2025-10-27T05:56:20.993Z,1761544580.993 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:21.005Z,1761544581.005 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.470734 2025-10-27T05:56:21.020Z,1761544581.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244146,0.968076,0.056758],[-0.969457,-0.245067,0.009772],[0.023370,-0.052639,0.998340]] 2025-10-27T05:56:21.074Z,1761544581.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.506587 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:21.082Z,1761544581.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.145704 m, bearing: 16.199582 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.506587 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:21.082Z,1761544581.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m. 2025-10-27T05:56:21.204Z,1761544581.204 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.669823 2025-10-27T05:56:21.365Z,1761544581.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245940,0.967626,0.056694],[-0.969031,-0.246794,0.008477],[0.022195,-0.052853,0.998356]] 2025-10-27T05:56:21.393Z,1761544581.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.15 m. 2025-10-27T05:56:21.460Z,1761544581.460 [DAT](INFO): DAT read: Rx Time:05:56:20.2784 2025-10-27T05:56:21.462Z,1761544581.462 [DAT](INFO): Rx dataTimestamp_ set to:1761544581.460641 2025-10-27T05:56:21.474Z,1761544581.474 [DAT](INFO): DAT read: Bearing 192.4, 50.7 (Local) 2025-10-27T05:56:21.474Z,1761544581.474 [DAT](INFO): Local bearing/azimuth received: Bearing 192.4, 50.7 (Local) 2025-10-27T05:56:21.477Z,1761544581.477 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T05:56:21.482Z,1761544581.482 [DAT](INFO): DAT read: 05:56:20.2784 LVL= 15664, 12785, 24610, 28275, AGC= 49, IDX= 511, 0.20,-1.136,-1.139,-2.675,-1.126, PHS= 0.092, 0.033,-1.593, RAW= 31.8, 17.4, CAL= 28.9, 20.1, ROT= 121.1, -20.1 2025-10-27T05:56:21.488Z,1761544581.488 [DAT](INFO): got valid direction response: 05:56:20.2784 LVL= 15664, 12785, 24610, 28275, AGC= 49, IDX= 511, 0.20,-1.136,-1.139,-2.675,-1.126, PHS= 0.092, 0.033,-1.593, RAW= 31.8, 17.4, CAL= 28.9, 20.1, ROT= 121.1, -20.1 2025-10-27T05:56:21.489Z,1761544581.489 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T05:56:21.490Z,1761544581.490 [DAT](INFO): direction in FSK: [-0.485073,0.804116,0.343660] 2025-10-27T05:56:21.490Z,1761544581.490 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:21.498Z,1761544581.498 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.964092 2025-10-27T05:56:21.708Z,1761544581.708 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.174004 2025-10-27T05:56:21.769Z,1761544581.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247402,0.967255,0.056654],[-0.968688,-0.248182,0.007071],[0.020900,-0.053131,0.998369]] 2025-10-27T05:56:21.823Z,1761544581.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.501728 s, deltaX: 0.200001 m, approachRate: 0.398624 m/s, rangeRepo size: 4 2025-10-27T05:56:21.825Z,1761544581.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.344440 m, bearing: 16.559800 deg, lat: 36.779390 deg, lon: -121.859751 deg, deltaT: 0.501728 s, deltaX: 0.198736 m, approachRate: 0.396103 m/s, posRepo size: 4 2025-10-27T05:56:21.825Z,1761544581.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m. 2025-10-27T05:56:21.964Z,1761544581.964 [DAT](INFO): DAT read: Rx Time:05:56:20.7784 2025-10-27T05:56:21.966Z,1761544581.966 [DAT](INFO): Rx dataTimestamp_ set to:1761544581.964540 2025-10-27T05:56:21.969Z,1761544581.969 [DAT](INFO): DAT read: Bearing 191.7, 50.6 (Local) 2025-10-27T05:56:21.969Z,1761544581.969 [DAT](INFO): Local bearing/azimuth received: Bearing 191.7, 50.6 (Local) 2025-10-27T05:56:21.972Z,1761544581.972 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.1 2025-10-27T05:56:21.982Z,1761544581.982 [DAT](INFO): DAT read: 05:56:20.7784 LVL= 15088, 12513, 23618, 27091, AGC= 49, IDX= 511,-0.02, 1.405, 1.404,-0.133, 1.426, PHS= 0.082, 0.023,-1.603, RAW= 31.8, 17.7, CAL= 28.9, 20.5, ROT= 121.1, -20.5 2025-10-27T05:56:21.987Z,1761544581.987 [DAT](INFO): got valid direction response: 05:56:20.7784 LVL= 15088, 12513, 23618, 27091, AGC= 49, IDX= 511,-0.02, 1.405, 1.404,-0.133, 1.426, PHS= 0.082, 0.023,-1.603, RAW= 31.8, 17.7, CAL= 28.9, 20.5, ROT= 121.1, -20.5 2025-10-27T05:56:21.988Z,1761544581.988 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T05:56:21.989Z,1761544581.989 [DAT](INFO): direction in FSK: [-0.483822,0.802042,0.350207] 2025-10-27T05:56:21.989Z,1761544581.989 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:22.001Z,1761544582.001 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.466621 2025-10-27T05:56:22.182Z,1761544582.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248476,0.966998,0.056344],[-0.968442,-0.249175,0.005635],[0.019488,-0.053165,0.998396]] 2025-10-27T05:56:22.212Z,1761544582.212 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.677841 2025-10-27T05:56:22.221Z,1761544582.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.503899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:22.227Z,1761544582.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.344440 m, bearing: 16.470556 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.503899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:22.228Z,1761544582.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.34 m. 2025-10-27T05:56:22.467Z,1761544582.467 [DAT](INFO): DAT read: Rx Time:05:56:21.2785 2025-10-27T05:56:22.468Z,1761544582.468 [DAT](INFO): Rx dataTimestamp_ set to:1761544582.467567 2025-10-27T05:56:22.469Z,1761544582.469 [DAT](INFO): DAT read: Bearing 182.8, 54.5 (Local) 2025-10-27T05:56:22.469Z,1761544582.469 [DAT](INFO): Local bearing/azimuth received: Bearing 182.8, 54.5 (Local) 2025-10-27T05:56:22.472Z,1761544582.472 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.1 2025-10-27T05:56:22.476Z,1761544582.476 [DAT](INFO): DAT read: 05:56:21.2785 LVL= 15776, 12257, 23938, 27603, AGC= 50, IDX= 512,-0.20,-1.942,-2.243, 2.428,-2.021, PHS= 0.182,-0.177,-1.878, RAW= 39.4, 19.2, CAL= 35.7, 22.3, ROT= 114.3, -22.3 2025-10-27T05:56:22.477Z,1761544582.477 [DAT](INFO): got valid direction response: 05:56:21.2785 LVL= 15776, 12257, 23938, 27603, AGC= 50, IDX= 512,-0.20,-1.942,-2.243, 2.428,-2.021, PHS= 0.182,-0.177,-1.878, RAW= 39.4, 19.2, CAL= 35.7, 22.3, ROT= 114.3, -22.3 2025-10-27T05:56:22.478Z,1761544582.478 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T05:56:22.482Z,1761544582.482 [DAT](INFO): direction in FSK: [-0.380737,0.843239,0.379456] 2025-10-27T05:56:22.483Z,1761544582.483 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:22.497Z,1761544582.497 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.962482 2025-10-27T05:56:22.632Z,1761544582.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248922,0.966908,0.055920],[-0.968357,-0.249535,0.004157],[0.017973,-0.053116,0.998427]] 2025-10-27T05:56:22.716Z,1761544582.716 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.182205 2025-10-27T05:56:22.725Z,1761544582.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503027 s, deltaX: 0.100000 m, approachRate: 0.198797 m/s, rangeRepo size: 4 2025-10-27T05:56:22.740Z,1761544582.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.443827 m, bearing: 9.739095 deg, lat: 36.779390 deg, lon: -121.859750 deg, deltaT: 0.503027 s, deltaX: 0.099386 m, approachRate: 0.197576 m/s, posRepo size: 4 2025-10-27T05:56:22.740Z,1761544582.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.44 m. 2025-10-27T05:56:22.969Z,1761544582.969 [DAT](INFO): DAT read: Rx Time:05:56:21.7785 2025-10-27T05:56:22.970Z,1761544582.970 [DAT](INFO): Rx dataTimestamp_ set to:1761544582.969514 2025-10-27T05:56:22.971Z,1761544582.971 [DAT](INFO): DAT read: Bearing 192.2, 50.7 (Local) 2025-10-27T05:56:22.972Z,1761544582.972 [DAT](INFO): Local bearing/azimuth received: Bearing 192.2, 50.7 (Local) 2025-10-27T05:56:22.974Z,1761544582.974 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.2 2025-10-27T05:56:22.978Z,1761544582.978 [DAT](INFO): DAT read: 05:56:21.7785 LVL= 15040, 14641, 22258, 26451, AGC= 53, IDX= 511, 0.41, 0.483, 0.492,-1.074, 0.498, PHS= 0.087, 0.039,-1.616, RAW= 31.4, 17.4, CAL= 28.6, 20.2, ROT= 121.4, -20.2 2025-10-27T05:56:22.984Z,1761544582.984 [DAT](INFO): got valid direction response: 05:56:21.7785 LVL= 15040, 14641, 22258, 26451, AGC= 53, IDX= 511, 0.41, 0.483, 0.492,-1.074, 0.498, PHS= 0.087, 0.039,-1.616, RAW= 31.4, 17.4, CAL= 28.6, 20.2, ROT= 121.4, -20.2 2025-10-27T05:56:22.984Z,1761544582.984 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T05:56:22.985Z,1761544582.985 [DAT](INFO): direction in FSK: [-0.488964,0.801051,0.345298] 2025-10-27T05:56:22.985Z,1761544582.985 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:22.989Z,1761544582.989 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.454853 2025-10-27T05:56:23.132Z,1761544583.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.501947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:23.134Z,1761544583.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.443827 m, bearing: 16.720284 deg, lat: 36.779390 deg, lon: -121.859748 deg, deltaT: 0.501947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:23.135Z,1761544583.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.44 m. 2025-10-27T05:56:23.225Z,1761544583.225 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.690506 2025-10-27T05:56:23.433Z,1761544583.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247962,0.967216,0.054846],[-0.968661,-0.248386,0.000953],[0.014545,-0.052891,0.998494]] 2025-10-27T05:56:23.476Z,1761544583.476 [DAT](INFO): DAT read: Rx Time:05:56:22.2786 2025-10-27T05:56:23.477Z,1761544583.477 [DAT](INFO): Rx dataTimestamp_ set to:1761544583.476603 2025-10-27T05:56:23.478Z,1761544583.478 [DAT](INFO): DAT read: Bearing 163.7, 46.7 (Local) 2025-10-27T05:56:23.478Z,1761544583.478 [DAT](INFO): Local bearing/azimuth received: Bearing 163.7, 46.7 (Local) 2025-10-27T05:56:23.481Z,1761544583.481 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.2 2025-10-27T05:56:23.485Z,1761544583.485 [DAT](INFO): DAT read: 05:56:22.2786 LVL= 16336, 12993, 25154, 28467, AGC= 51, IDX= 513, 0.14,-0.369,-0.758,-1.984,-0.143, PHS=-0.123,-0.570,-1.885, RAW= 44.1, 29.9, CAL= 41.0, 35.7, ROT= 109.0, -35.7 2025-10-27T05:56:23.486Z,1761544583.486 [DAT](INFO): got valid direction response: 05:56:22.2786 LVL= 16336, 12993, 25154, 28467, AGC= 51, IDX= 513, 0.14,-0.369,-0.758,-1.984,-0.143, PHS=-0.123,-0.570,-1.885, RAW= 44.1, 29.9, CAL= 41.0, 35.7, ROT= 109.0, -35.7 2025-10-27T05:56:23.487Z,1761544583.487 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T05:56:23.488Z,1761544583.488 [DAT](INFO): direction in FSK: [-0.264388,0.767840,0.583541] 2025-10-27T05:56:23.488Z,1761544583.488 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:23.492Z,1761544583.492 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.957340 2025-10-27T05:56:23.540Z,1761544583.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.507089 s, deltaX: 0.199999 m, approachRate: 0.394406 m/s, rangeRepo size: 4 2025-10-27T05:56:23.542Z,1761544583.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.642563 m, bearing: 4.487152 deg, lat: 36.779390 deg, lon: -121.859748 deg, deltaT: 0.507089 s, deltaX: 0.198736 m, approachRate: 0.391916 m/s, posRepo size: 4 2025-10-27T05:56:23.542Z,1761544583.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.64 m. 2025-10-27T05:56:23.729Z,1761544583.729 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.194958 2025-10-27T05:56:23.813Z,1761544583.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246924,0.967506,0.054404],[-0.968949,-0.247260,-0.000583],[0.012888,-0.052859,0.998519]] 2025-10-27T05:56:23.868Z,1761544583.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.64 m. 2025-10-27T05:56:23.981Z,1761544583.981 [DAT](INFO): DAT read: Rx Time:05:56:22.7786 2025-10-27T05:56:23.981Z,1761544583.981 [DAT](INFO): Rx dataTimestamp_ set to:1761544583.980726 2025-10-27T05:56:23.982Z,1761544583.982 [DAT](INFO): DAT read: Bearing 191.2, 55.7 (Local) 2025-10-27T05:56:23.983Z,1761544583.983 [DAT](INFO): Local bearing/azimuth received: Bearing 191.2, 55.7 (Local) 2025-10-27T05:56:23.985Z,1761544583.985 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.1 2025-10-27T05:56:23.990Z,1761544583.990 [DAT](INFO): DAT read: 05:56:22.7786 LVL= 15344, 12529, 27090, 28851, AGC= 52, IDX= 513,-0.04,-2.797,-2.968, 1.709,-2.931, PHS= 0.236, 0.008,-1.687, RAW= 36.2, 15.7, CAL= 33.2, 17.8, ROT= 116.8, -17.8 2025-10-27T05:56:23.991Z,1761544583.991 [DAT](INFO): got valid direction response: 05:56:22.7786 LVL= 15344, 12529, 27090, 28851, AGC= 52, IDX= 513,-0.04,-2.797,-2.968, 1.709,-2.931, PHS= 0.236, 0.008,-1.687, RAW= 36.2, 15.7, CAL= 33.2, 17.8, ROT= 116.8, -17.8 2025-10-27T05:56:23.991Z,1761544583.991 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T05:56:23.992Z,1761544583.992 [DAT](INFO): direction in FSK: [-0.429294,0.849857,0.305695] 2025-10-27T05:56:23.992Z,1761544583.992 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:23.996Z,1761544583.996 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.462147 2025-10-27T05:56:24.217Z,1761544584.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245457,0.967896,0.054116],[-0.969343,-0.245701,-0.002210],[0.011157,-0.053000,0.998532]] 2025-10-27T05:56:24.232Z,1761544584.232 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.697628 2025-10-27T05:56:24.260Z,1761544584.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:24.262Z,1761544584.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.642563 m, bearing: 12.341382 deg, lat: 36.779390 deg, lon: -121.859762 deg, deltaT: 0.504123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:24.263Z,1761544584.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.64 m. 2025-10-27T05:56:24.485Z,1761544584.485 [DAT](INFO): DAT read: Rx Time:05:56:23.2788 2025-10-27T05:56:24.486Z,1761544584.486 [DAT](INFO): Rx dataTimestamp_ set to:1761544584.485267 2025-10-27T05:56:24.488Z,1761544584.488 [DAT](INFO): DAT read: Bearing 191.5, 50.5 (Local) 2025-10-27T05:56:24.488Z,1761544584.488 [DAT](INFO): Local bearing/azimuth received: Bearing 191.5, 50.5 (Local) 2025-10-27T05:56:24.491Z,1761544584.491 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:56:24.496Z,1761544584.496 [DAT](INFO): DAT read: 05:56:23.2788 LVL= 9872, 10833, 15090, 14803, AGC= 53, IDX= 3,-0.34,-0.089,-0.072,-1.596,-0.058, PHS= 0.071, 0.031,-1.582, RAW= 31.2, 17.8, CAL= 28.4, 20.6, ROT= 121.6, -20.6 2025-10-27T05:56:24.497Z,1761544584.497 [DAT](INFO): got valid direction response: 05:56:23.2788 LVL= 9872, 10833, 15090, 14803, AGC= 53, IDX= 3,-0.34,-0.089,-0.072,-1.596,-0.058, PHS= 0.071, 0.031,-1.582, RAW= 31.2, 17.8, CAL= 28.4, 20.6, ROT= 121.6, -20.6 2025-10-27T05:56:24.497Z,1761544584.497 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T05:56:24.498Z,1761544584.498 [DAT](INFO): direction in FSK: [-0.490482,0.797267,0.351842] 2025-10-27T05:56:24.502Z,1761544584.502 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:24.518Z,1761544584.518 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.983852 2025-10-27T05:56:24.665Z,1761544584.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243942,0.968289,0.053932],[-0.969743,-0.244100,-0.003729],[0.009554,-0.053210,0.998538]] 2025-10-27T05:56:24.737Z,1761544584.737 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.202385 2025-10-27T05:56:24.740Z,1761544584.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504541 s, deltaX: 0.100000 m, approachRate: 0.198201 m/s, rangeRepo size: 4 2025-10-27T05:56:24.742Z,1761544584.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.741943 m, bearing: 17.075625 deg, lat: 36.779389 deg, lon: -121.859762 deg, deltaT: 0.504541 s, deltaX: 0.099380 m, approachRate: 0.196972 m/s, posRepo size: 4 2025-10-27T05:56:24.775Z,1761544584.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:56:24.992Z,1761544584.992 [DAT](INFO): DAT read: Rx Time:05:56:23.7787 2025-10-27T05:56:24.993Z,1761544584.993 [DAT](INFO): Rx dataTimestamp_ set to:1761544584.992421 2025-10-27T05:56:24.994Z,1761544584.994 [DAT](INFO): DAT read: Bearing 191.7, 51.1 (Local) 2025-10-27T05:56:24.994Z,1761544584.994 [DAT](INFO): Local bearing/azimuth received: Bearing 191.7, 51.1 (Local) 2025-10-27T05:56:24.996Z,1761544584.996 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:56:25.002Z,1761544585.002 [DAT](INFO): DAT read: 05:56:23.7787 LVL= 15328, 12113, 22946, 27795, AGC= 51, IDX= 498, 0.14, 0.597, 0.595,-0.950, 0.607, PHS= 0.091, 0.033,-1.602, RAW= 31.7, 17.4, CAL= 28.9, 20.1, ROT= 121.1, -20.1 2025-10-27T05:56:25.004Z,1761544585.004 [DAT](INFO): got valid direction response: 05:56:23.7787 LVL= 15328, 12113, 22946, 27795, AGC= 51, IDX= 498, 0.14, 0.597, 0.595,-0.950, 0.607, PHS= 0.091, 0.033,-1.602, RAW= 31.7, 17.4, CAL= 28.9, 20.1, ROT= 121.1, -20.1 2025-10-27T05:56:25.004Z,1761544585.004 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T05:56:25.006Z,1761544585.006 [DAT](INFO): direction in FSK: [-0.485073,0.804116,0.343660] 2025-10-27T05:56:25.006Z,1761544585.006 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:25.030Z,1761544585.030 [DAT](INFO): ****** received valid address query ****** 2025-10-27T05:56:25.030Z,1761544585.030 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T05:56:25.030Z,1761544585.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:25.073Z,1761544585.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242806,0.968604,0.053410],[-0.970042,-0.242885,-0.005092],[0.008040,-0.053046,0.998560]] 2025-10-27T05:56:25.125Z,1761544585.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.507154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:25.127Z,1761544585.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.741943 m, bearing: 16.640787 deg, lat: 36.779389 deg, lon: -121.859745 deg, deltaT: 0.507154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:25.131Z,1761544585.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:56:25.240Z,1761544585.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:25.474Z,1761544585.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241785,0.968891,0.052824],[-0.970307,-0.241797,-0.006272],[0.006696,-0.052772,0.998584]] 2025-10-27T05:56:25.493Z,1761544585.493 [DAT](INFO): DAT read: Rx Time:05:56:24.2788 2025-10-27T05:56:25.493Z,1761544585.493 [DAT](INFO): Rx dataTimestamp_ set to:1761544585.492769 2025-10-27T05:56:25.494Z,1761544585.494 [DAT](INFO): DAT read: Bearing 190.4, 51.3 (Local) 2025-10-27T05:56:25.495Z,1761544585.495 [DAT](INFO): Local bearing/azimuth received: Bearing 190.4, 51.3 (Local) 2025-10-27T05:56:25.505Z,1761544585.505 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:56:25.510Z,1761544585.510 [DAT](INFO): DAT read: 05:56:24.2788 LVL= 15952, 13457, 23794, 28259, AGC= 51, IDX= 500,-0.24, 0.506, 0.484,-1.034, 0.523, PHS= 0.085, 0.006,-1.601, RAW= 32.4, 18.0, CAL= 29.4, 20.8, ROT= 120.6, -20.8 2025-10-27T05:56:25.519Z,1761544585.519 [DAT](INFO): got valid direction response: 05:56:24.2788 LVL= 15952, 13457, 23794, 28259, AGC= 51, IDX= 500,-0.24, 0.506, 0.484,-1.034, 0.523, PHS= 0.085, 0.006,-1.601, RAW= 32.4, 18.0, CAL= 29.4, 20.8, ROT= 120.6, -20.8 2025-10-27T05:56:25.519Z,1761544585.519 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:25.520Z,1761544585.520 [DAT](INFO): direction in FSK: [-0.475865,0.804644,0.355107] 2025-10-27T05:56:25.520Z,1761544585.520 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:25.545Z,1761544585.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.500348 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:25.555Z,1761544585.555 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:25.555Z,1761544585.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:25.558Z,1761544585.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.741993 m, bearing: 16.175269 deg, lat: 36.779388 deg, lon: -121.859743 deg, deltaT: 0.500348 s, deltaX: 0.000050 m, approachRate: 0.000099 m/s, posRepo size: 4 2025-10-27T05:56:25.558Z,1761544585.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:56:25.746Z,1761544585.746 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:25.993Z,1761544585.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241388,0.969026,0.052150],[-0.970412,-0.241349,-0.007126],[0.005681,-0.052327,0.998614]] 2025-10-27T05:56:25.997Z,1761544585.997 [DAT](INFO): DAT read: Rx Time:05:56:24.7787 2025-10-27T05:56:25.997Z,1761544585.997 [DAT](INFO): Rx dataTimestamp_ set to:1761544585.996800 2025-10-27T05:56:25.998Z,1761544585.998 [DAT](INFO): DAT read: Bearing 191.1, 51.5 (Local) 2025-10-27T05:56:25.999Z,1761544585.999 [DAT](INFO): Local bearing/azimuth received: Bearing 191.1, 51.5 (Local) 2025-10-27T05:56:26.001Z,1761544586.001 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:56:26.010Z,1761544586.010 [DAT](INFO): DAT read: 05:56:24.7787 LVL= 16272, 13457, 24258, 28627, AGC= 51, IDX= 499, 0.19, 1.329, 1.309,-0.218, 1.334, PHS= 0.097, 0.020,-1.596, RAW= 32.3, 17.5, CAL= 29.4, 20.2, ROT= 120.6, -20.2 2025-10-27T05:56:26.011Z,1761544586.011 [DAT](INFO): got valid direction response: 05:56:24.7787 LVL= 16272, 13457, 24258, 28627, AGC= 51, IDX= 499, 0.19, 1.329, 1.309,-0.218, 1.334, PHS= 0.097, 0.020,-1.596, RAW= 32.3, 17.5, CAL= 29.4, 20.2, ROT= 120.6, -20.2 2025-10-27T05:56:26.011Z,1761544586.011 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:26.012Z,1761544586.012 [DAT](INFO): direction in FSK: [-0.477732,0.807800,0.345298] 2025-10-27T05:56:26.012Z,1761544586.012 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:26.028Z,1761544586.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:26.028Z,1761544586.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:26.130Z,1761544586.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:26.136Z,1761544586.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.741993 m, bearing: 16.201180 deg, lat: 36.779388 deg, lon: -121.859742 deg, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:26.137Z,1761544586.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:56:26.248Z,1761544586.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:26.426Z,1761544586.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241048,0.969141,0.051595],[-0.970501,-0.240972,-0.007794],[0.004879,-0.051952,0.998638]] 2025-10-27T05:56:26.490Z,1761544586.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:56:26.501Z,1761544586.501 [DAT](INFO): DAT read: Rx Time:05:56:25.2788 2025-10-27T05:56:26.501Z,1761544586.501 [DAT](INFO): Rx dataTimestamp_ set to:1761544586.500808 2025-10-27T05:56:26.502Z,1761544586.502 [DAT](INFO): DAT read: Bearing 189.8, 51.6 (Local) 2025-10-27T05:56:26.503Z,1761544586.503 [DAT](INFO): Local bearing/azimuth received: Bearing 189.8, 51.6 (Local) 2025-10-27T05:56:26.505Z,1761544586.505 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:56:26.510Z,1761544586.510 [DAT](INFO): DAT read: 05:56:25.2788 LVL= 16048, 13985, 24322, 28243, AGC= 51, IDX= 500,-0.17,-0.388,-0.425,-1.920,-0.375, PHS= 0.089,-0.005,-1.589, RAW= 32.9, 18.0, CAL= 29.9, 20.8, ROT= 120.1, -20.8 2025-10-27T05:56:26.511Z,1761544586.511 [DAT](INFO): got valid direction response: 05:56:25.2788 LVL= 16048, 13985, 24322, 28243, AGC= 51, IDX= 500,-0.17,-0.388,-0.425,-1.920,-0.375, PHS= 0.089,-0.005,-1.589, RAW= 32.9, 18.0, CAL= 29.9, 20.8, ROT= 120.1, -20.8 2025-10-27T05:56:26.511Z,1761544586.511 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:26.512Z,1761544586.512 [DAT](INFO): direction in FSK: [-0.468825,0.808766,0.355107] 2025-10-27T05:56:26.512Z,1761544586.512 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:26.535Z,1761544586.535 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:26.535Z,1761544586.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:26.752Z,1761544586.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:26.814Z,1761544586.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240736,0.969228,0.051421],[-0.970581,-0.240629,-0.008344],[0.004286,-0.051917,0.998642]] 2025-10-27T05:56:26.900Z,1761544586.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:26.902Z,1761544586.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.741987 m, bearing: 15.715202 deg, lat: 36.779388 deg, lon: -121.859742 deg, deltaT: 0.504008 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-27T05:56:26.902Z,1761544586.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:56:27.006Z,1761544587.006 [DAT](INFO): DAT read: Rx Time:05:56:25.7787 2025-10-27T05:56:27.006Z,1761544587.006 [DAT](INFO): Rx dataTimestamp_ set to:1761544587.005737 2025-10-27T05:56:27.008Z,1761544587.008 [DAT](INFO): DAT read: Bearing 190.1, 51.8 (Local) 2025-10-27T05:56:27.009Z,1761544587.009 [DAT](INFO): Local bearing/azimuth received: Bearing 190.1, 51.8 (Local) 2025-10-27T05:56:27.013Z,1761544587.013 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:56:27.044Z,1761544587.044 [DAT](INFO): DAT read: 05:56:25.7787 LVL= 15568, 14513, 23762, 27715, AGC= 52, IDX= 499, 0.25, 0.128, 0.088,-1.419, 0.131, PHS= 0.099, 0.003,-1.594, RAW= 32.9, 17.8, CAL= 29.9, 20.5, ROT= 120.1, -20.5 2025-10-27T05:56:27.045Z,1761544587.045 [DAT](INFO): got valid direction response: 05:56:25.7787 LVL= 15568, 14513, 23762, 27715, AGC= 52, IDX= 499, 0.25, 0.128, 0.088,-1.419, 0.131, PHS= 0.099, 0.003,-1.594, RAW= 32.9, 17.8, CAL= 29.9, 20.5, ROT= 120.1, -20.5 2025-10-27T05:56:27.045Z,1761544587.045 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:27.046Z,1761544587.046 [DAT](INFO): direction in FSK: [-0.469751,0.810363,0.350207] 2025-10-27T05:56:27.047Z,1761544587.047 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:27.056Z,1761544587.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:27.057Z,1761544587.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:27.218Z,1761544587.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241051,0.969154,0.051324],[-0.970504,-0.240930,-0.008610],[0.004022,-0.051886,0.998645]] 2025-10-27T05:56:27.248Z,1761544587.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504929 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:27.250Z,1761544587.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.741987 m, bearing: 15.700088 deg, lat: 36.779387 deg, lon: -121.859743 deg, deltaT: 0.504929 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:27.251Z,1761544587.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:56:27.256Z,1761544587.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:27.509Z,1761544587.509 [DAT](INFO): DAT read: Rx Time:05:56:26.2789 2025-10-27T05:56:27.509Z,1761544587.509 [DAT](INFO): Rx dataTimestamp_ set to:1761544587.508751 2025-10-27T05:56:27.510Z,1761544587.510 [DAT](INFO): DAT read: Bearing 189.1, 51.6 (Local) 2025-10-27T05:56:27.511Z,1761544587.511 [DAT](INFO): Local bearing/azimuth received: Bearing 189.1, 51.6 (Local) 2025-10-27T05:56:27.513Z,1761544587.513 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 2025-10-27T05:56:27.518Z,1761544587.518 [DAT](INFO): DAT read: 05:56:26.2789 LVL= 16192, 13873, 24626, 28019, AGC= 52, IDX= 501,-0.14,-0.118,-0.161,-1.645,-0.103, PHS= 0.087,-0.013,-1.586, RAW= 33.1, 18.2, CAL= 30.0, 21.0, ROT= 120.0, -21.0 2025-10-27T05:56:27.519Z,1761544587.519 [DAT](INFO): got valid direction response: 05:56:26.2789 LVL= 16192, 13873, 24626, 28019, AGC= 52, IDX= 501,-0.14,-0.118,-0.161,-1.645,-0.103, PHS= 0.087,-0.013,-1.586, RAW= 33.1, 18.2, CAL= 30.0, 21.0, ROT= 120.0, -21.0 2025-10-27T05:56:27.520Z,1761544587.520 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:27.521Z,1761544587.521 [DAT](INFO): direction in FSK: [-0.466790,0.808504,0.358368] 2025-10-27T05:56:27.521Z,1761544587.521 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:27.524Z,1761544587.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:27.525Z,1761544587.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:27.629Z,1761544587.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241595,0.969011,0.051464],[-0.970369,-0.241469,-0.008759],[0.003939,-0.052055,0.998636]] 2025-10-27T05:56:27.730Z,1761544587.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503014 s, deltaX: 0.200001 m, approachRate: 0.397605 m/s, rangeRepo size: 4 2025-10-27T05:56:27.737Z,1761544587.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.940708 m, bearing: 15.554189 deg, lat: 36.779387 deg, lon: -121.859743 deg, deltaT: 0.503014 s, deltaX: 0.198721 m, approachRate: 0.395060 m/s, posRepo size: 4 2025-10-27T05:56:27.738Z,1761544587.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m. 2025-10-27T05:56:27.760Z,1761544587.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:28.012Z,1761544588.012 [DAT](INFO): DAT read: Rx Time:05:56:26.7788 2025-10-27T05:56:28.013Z,1761544588.013 [DAT](INFO): Rx dataTimestamp_ set to:1761544588.012623 2025-10-27T05:56:28.014Z,1761544588.014 [DAT](INFO): DAT read: Bearing 190.0, 51.7 (Local) 2025-10-27T05:56:28.014Z,1761544588.014 [DAT](INFO): Local bearing/azimuth received: Bearing 190.0, 51.7 (Local) 2025-10-27T05:56:28.017Z,1761544588.017 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.1 2025-10-27T05:56:28.021Z,1761544588.021 [DAT](INFO): DAT read: 05:56:26.7788 LVL= 15792, 13361, 24146, 27491, AGC= 51, IDX= 500, 0.24, 0.598, 0.561,-0.945, 0.599, PHS= 0.100, 0.006,-1.588, RAW= 32.8, 17.7, CAL= 29.8, 20.4, ROT= 120.2, -20.4 2025-10-27T05:56:28.022Z,1761544588.022 [DAT](INFO): got valid direction response: 05:56:26.7788 LVL= 15792, 13361, 24146, 27491, AGC= 51, IDX= 500, 0.24, 0.598, 0.561,-0.945, 0.599, PHS= 0.100, 0.006,-1.588, RAW= 32.8, 17.7, CAL= 29.8, 20.4, ROT= 120.2, -20.4 2025-10-27T05:56:28.023Z,1761544588.023 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:28.030Z,1761544588.030 [DAT](INFO): direction in FSK: [-0.471471,0.810069,0.348572] 2025-10-27T05:56:28.032Z,1761544588.032 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:28.064Z,1761544588.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:28.064Z,1761544588.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:28.098Z,1761544588.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242940,0.968668,0.051590],[-0.970032,-0.242826,-0.008559],[0.004237,-0.052124,0.998632]] 2025-10-27T05:56:28.218Z,1761544588.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503872 s, deltaX: -0.200001 m, approachRate: -0.396928 m/s, rangeRepo size: 4 2025-10-27T05:56:28.220Z,1761544588.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.741978 m, bearing: 15.690524 deg, lat: 36.779386 deg, lon: -121.859743 deg, deltaT: 0.503872 s, deltaX: -0.198730 m, approachRate: -0.394407 m/s, posRepo size: 4 2025-10-27T05:56:28.221Z,1761544588.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T05:56:28.264Z,1761544588.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:28.495Z,1761544588.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244558,0.968262,0.051566],[-0.969623,-0.244465,-0.008200],[0.004667,-0.052005,0.998636]] 2025-10-27T05:56:28.517Z,1761544588.517 [DAT](INFO): DAT read: Rx Time:05:56:27.2790 2025-10-27T05:56:28.517Z,1761544588.517 [DAT](INFO): Rx dataTimestamp_ set to:1761544588.516800 2025-10-27T05:56:28.518Z,1761544588.518 [DAT](INFO): DAT read: Bearing 188.3, 51.7 (Local) 2025-10-27T05:56:28.519Z,1761544588.519 [DAT](INFO): Local bearing/azimuth received: Bearing 188.3, 51.7 (Local) 2025-10-27T05:56:28.521Z,1761544588.521 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.1 2025-10-27T05:56:28.530Z,1761544588.530 [DAT](INFO): DAT read: 05:56:27.2790 LVL= 15984, 12865, 24514, 28579, AGC= 51, IDX= 502,-0.15,-0.566,-0.623,-2.092,-0.554, PHS= 0.089,-0.025,-1.582, RAW= 33.5, 18.3, CAL= 30.4, 21.2, ROT= 119.6, -21.2 2025-10-27T05:56:28.536Z,1761544588.536 [DAT](INFO): got valid direction response: 05:56:27.2790 LVL= 15984, 12865, 24514, 28579, AGC= 51, IDX= 502,-0.15,-0.566,-0.623,-2.092,-0.554, PHS= 0.089,-0.025,-1.582, RAW= 33.5, 18.3, CAL= 30.4, 21.2, ROT= 119.6, -21.2 2025-10-27T05:56:28.536Z,1761544588.536 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:28.537Z,1761544588.537 [DAT](INFO): direction in FSK: [-0.460514,0.810651,0.361625] 2025-10-27T05:56:28.537Z,1761544588.537 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:28.541Z,1761544588.541 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:28.541Z,1761544588.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:28.554Z,1761544588.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504177 s, deltaX: 0.300001 m, approachRate: 0.595031 m/s, rangeRepo size: 4 2025-10-27T05:56:28.572Z,1761544588.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.040064 m, bearing: 14.993611 deg, lat: 36.779386 deg, lon: -121.859743 deg, deltaT: 0.504177 s, deltaX: 0.298086 m, approachRate: 0.591233 m/s, posRepo size: 4 2025-10-27T05:56:28.573Z,1761544588.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m. 2025-10-27T05:56:28.768Z,1761544588.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:28.897Z,1761544588.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246717,0.967721,0.051442],[-0.969074,-0.246650,-0.007745],[0.005193,-0.051762,0.998646]] 2025-10-27T05:56:28.989Z,1761544588.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m. 2025-10-27T05:56:29.021Z,1761544589.021 [DAT](INFO): DAT read: Rx Time:05:56:27.7789 2025-10-27T05:56:29.022Z,1761544589.022 [DAT](INFO): Rx dataTimestamp_ set to:1761544589.021663 2025-10-27T05:56:29.024Z,1761544589.024 [DAT](INFO): DAT read: Bearing 189.1, 51.7 (Local) 2025-10-27T05:56:29.024Z,1761544589.024 [DAT](INFO): Local bearing/azimuth received: Bearing 189.1, 51.7 (Local) 2025-10-27T05:56:29.028Z,1761544589.028 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.1 2025-10-27T05:56:29.034Z,1761544589.034 [DAT](INFO): DAT read: 05:56:27.7789 LVL= 17024, 15057, 26610, 30627, AGC= 52, IDX= 501, 0.28,-0.157,-0.202,-1.691,-0.150, PHS= 0.095,-0.007,-1.585, RAW= 33.1, 18.0, CAL= 30.1, 20.7, ROT= 119.9, -20.7 2025-10-27T05:56:29.035Z,1761544589.035 [DAT](INFO): got valid direction response: 05:56:27.7789 LVL= 17024, 15057, 26610, 30627, AGC= 52, IDX= 501, 0.28,-0.157,-0.202,-1.691,-0.150, PHS= 0.095,-0.007,-1.585, RAW= 33.1, 18.0, CAL= 30.1, 20.7, ROT= 119.9, -20.7 2025-10-27T05:56:29.036Z,1761544589.036 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:29.037Z,1761544589.037 [DAT](INFO): direction in FSK: [-0.466307,0.810933,0.353475] 2025-10-27T05:56:29.038Z,1761544589.038 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:29.043Z,1761544589.043 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:29.063Z,1761544589.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:29.272Z,1761544589.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:29.321Z,1761544589.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249269,0.967068,0.051416],[-0.968416,-0.249237,-0.007125],[0.005924,-0.051569,0.998652]] 2025-10-27T05:56:29.372Z,1761544589.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504863 s, deltaX: -0.100000 m, approachRate: -0.198074 m/s, rangeRepo size: 4 2025-10-27T05:56:29.374Z,1761544589.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.940657 m, bearing: 15.046399 deg, lat: 36.779386 deg, lon: -121.859743 deg, deltaT: 0.504863 s, deltaX: -0.099407 m, approachRate: -0.196899 m/s, posRepo size: 4 2025-10-27T05:56:29.375Z,1761544589.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m. 2025-10-27T05:56:29.524Z,1761544589.524 [DAT](INFO): DAT read: Rx Time:05:56:28.2791 2025-10-27T05:56:29.525Z,1761544589.525 [DAT](INFO): Rx dataTimestamp_ set to:1761544589.524663 2025-10-27T05:56:29.526Z,1761544589.526 [DAT](INFO): DAT read: Bearing 188.2, 51.7 (Local) 2025-10-27T05:56:29.527Z,1761544589.527 [DAT](INFO): Local bearing/azimuth received: Bearing 188.2, 51.7 (Local) 2025-10-27T05:56:29.529Z,1761544589.529 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.1 2025-10-27T05:56:29.533Z,1761544589.533 [DAT](INFO): DAT read: 05:56:28.2791 LVL= 16112, 15649, 26258, 28755, AGC= 51, IDX= 503,-0.06,-1.136,-1.191,-2.649,-1.124, PHS= 0.090,-0.022,-1.570, RAW= 33.5, 18.3, CAL= 30.4, 21.1, ROT= 119.6, -21.1 2025-10-27T05:56:29.534Z,1761544589.534 [DAT](INFO): got valid direction response: 05:56:28.2791 LVL= 16112, 15649, 26258, 28755, AGC= 51, IDX= 503,-0.06,-1.136,-1.191,-2.649,-1.124, PHS= 0.090,-0.022,-1.570, RAW= 33.5, 18.3, CAL= 30.4, 21.1, ROT= 119.6, -21.1 2025-10-27T05:56:29.535Z,1761544589.535 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:29.536Z,1761544589.536 [DAT](INFO): direction in FSK: [-0.460825,0.811198,0.359997] 2025-10-27T05:56:29.536Z,1761544589.536 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:29.540Z,1761544589.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:29.540Z,1761544589.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:29.776Z,1761544589.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:29.808Z,1761544589.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503000 s, deltaX: 0.299999 m, approachRate: 0.596420 m/s, rangeRepo size: 4 2025-10-27T05:56:29.810Z,1761544589.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.238750 m, bearing: 14.742459 deg, lat: 36.779387 deg, lon: -121.859744 deg, deltaT: 0.503000 s, deltaX: 0.298094 m, approachRate: 0.592632 m/s, posRepo size: 4 2025-10-27T05:56:29.811Z,1761544589.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:30.029Z,1761544590.029 [DAT](INFO): DAT read: Rx Time:05:56:28.7791 2025-10-27T05:56:30.030Z,1761544590.030 [DAT](INFO): Rx dataTimestamp_ set to:1761544590.029407 2025-10-27T05:56:30.032Z,1761544590.032 [DAT](INFO): DAT read: Bearing 188.5, 51.7 (Local) 2025-10-27T05:56:30.032Z,1761544590.032 [DAT](INFO): Local bearing/azimuth received: Bearing 188.5, 51.7 (Local) 2025-10-27T05:56:30.035Z,1761544590.035 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.1 2025-10-27T05:56:30.046Z,1761544590.046 [DAT](INFO): DAT read: 05:56:28.7791 LVL= 15840, 15889, 25410, 28339, AGC= 52, IDX= 503,-0.48,-2.086,-2.136, 2.671,-2.078, PHS= 0.094,-0.013,-1.578, RAW= 33.3, 18.1, CAL= 30.2, 20.8, ROT= 119.8, -20.8 2025-10-27T05:56:30.047Z,1761544590.047 [DAT](INFO): got valid direction response: 05:56:28.7791 LVL= 15840, 15889, 25410, 28339, AGC= 52, IDX= 503,-0.48,-2.086,-2.136, 2.671,-2.078, PHS= 0.094,-0.013,-1.578, RAW= 33.3, 18.1, CAL= 30.2, 20.8, ROT= 119.8, -20.8 2025-10-27T05:56:30.048Z,1761544590.048 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:30.049Z,1761544590.049 [DAT](INFO): direction in FSK: [-0.464584,0.811209,0.355107] 2025-10-27T05:56:30.049Z,1761544590.049 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:30.053Z,1761544590.053 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:30.053Z,1761544590.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:30.244Z,1761544590.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504744 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:30.246Z,1761544590.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.238750 m, bearing: 14.945825 deg, lat: 36.779387 deg, lon: -121.859745 deg, deltaT: 0.504744 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T05:56:30.246Z,1761544590.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:30.280Z,1761544590.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:30.533Z,1761544590.533 [DAT](INFO): DAT read: Rx Time:05:56:29.2791 2025-10-27T05:56:30.533Z,1761544590.533 [DAT](INFO): Rx dataTimestamp_ set to:1761544590.532743 2025-10-27T05:56:30.534Z,1761544590.534 [DAT](INFO): DAT read: Bearing 188.9, 51.6 (Local) 2025-10-27T05:56:30.535Z,1761544590.535 [DAT](INFO): Local bearing/azimuth received: Bearing 188.9, 51.6 (Local) 2025-10-27T05:56:30.537Z,1761544590.537 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.1 2025-10-27T05:56:30.542Z,1761544590.542 [DAT](INFO): DAT read: 05:56:29.2791 LVL= 15696, 13393, 24386, 27443, AGC= 51, IDX= 503, 0.09,-0.796,-0.837,-2.329,-0.792, PHS= 0.098,-0.000,-1.581, RAW= 33.0, 17.8, CAL= 30.0, 20.5, ROT= 120.0, -20.5 2025-10-27T05:56:30.543Z,1761544590.543 [DAT](INFO): got valid direction response: 05:56:29.2791 LVL= 15696, 13393, 24386, 27443, AGC= 51, IDX= 503, 0.09,-0.796,-0.837,-2.329,-0.792, PHS= 0.098,-0.000,-1.581, RAW= 33.0, 17.8, CAL= 30.0, 20.5, ROT= 120.0, -20.5 2025-10-27T05:56:30.543Z,1761544590.543 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:30.544Z,1761544590.544 [DAT](INFO): direction in FSK: [-0.468336,0.811182,0.350207] 2025-10-27T05:56:30.545Z,1761544590.545 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:30.548Z,1761544590.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:30.548Z,1761544590.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:30.642Z,1761544590.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261519,0.963748,0.052901],[-0.965152,-0.261649,-0.004574],[0.009433,-0.052254,0.998589]] 2025-10-27T05:56:30.766Z,1761544590.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503336 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T05:56:30.772Z,1761544590.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.238731 m, bearing: 14.472172 deg, lat: 36.779387 deg, lon: -121.859745 deg, deltaT: 0.503336 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 2025-10-27T05:56:30.773Z,1761544590.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:30.784Z,1761544590.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:31.022Z,1761544591.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264875,0.962815,0.053181],[-0.964228,-0.265042,-0.004013],[0.010231,-0.052342,0.998577]] 2025-10-27T05:56:31.036Z,1761544591.036 [DAT](INFO): DAT read: user:599> 2025-10-27T05:56:31.036Z,1761544591.036 [DAT](INFO): DAT read: 0 2025-10-27T05:56:31.037Z,1761544591.037 [DAT](INFO): unknown deviceResponse_: 0 2025-10-27T05:56:31.037Z,1761544591.037 [DAT](INFO): DAT read: Ok 2025-10-27T05:56:31.037Z,1761544591.037 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T05:56:31.038Z,1761544591.038 [DAT](INFO): DAT read: user:600> 2025-10-27T05:56:31.038Z,1761544591.038 [DAT](INFO): DAT read: Tx time:05:56:30.1708 2025-10-27T05:56:31.039Z,1761544591.039 [DAT](INFO): Ping request sent. 2025-10-27T05:56:31.039Z,1761544591.039 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:56:31.039Z,1761544591.039 [DAT](INFO): publishing transmit ping time 2025-10-27T05:56:31.040Z,1761544591.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000799 2025-10-27T05:56:31.139Z,1761544591.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:31.288Z,1761544591.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248809 2025-10-27T05:56:31.425Z,1761544591.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268185,0.961895,0.053234],[-0.963306,-0.268380,-0.003589],[0.010834,-0.052243,0.998576]] 2025-10-27T05:56:31.523Z,1761544591.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:31.542Z,1761544591.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503020 2025-10-27T05:56:31.792Z,1761544591.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752776 2025-10-27T05:56:31.918Z,1761544591.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:32.044Z,1761544592.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004848 2025-10-27T05:56:32.233Z,1761544592.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274499,0.960103,0.053413],[-0.961516,-0.274734,-0.003034],[0.011761,-0.052191,0.998568]] 2025-10-27T05:56:32.271Z,1761544592.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:32.296Z,1761544592.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256833 2025-10-27T05:56:32.548Z,1761544592.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508801 2025-10-27T05:56:32.637Z,1761544592.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277181,0.959325,0.053545],[-0.960743,-0.277422,-0.003025],[0.011953,-0.052281,0.998561]] 2025-10-27T05:56:32.689Z,1761544592.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:32.801Z,1761544592.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761427 2025-10-27T05:56:33.052Z,1761544593.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012815 2025-10-27T05:56:33.067Z,1761544593.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279431,0.958661,0.053730],[-0.960091,-0.279668,-0.003206],[0.011953,-0.052481,0.998550]] 2025-10-27T05:56:33.119Z,1761544593.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:33.304Z,1761544593.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264786 2025-10-27T05:56:33.479Z,1761544593.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:33.556Z,1761544593.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516901 2025-10-27T05:56:33.808Z,1761544593.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768880 2025-10-27T05:56:33.853Z,1761544593.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282727,0.957693,0.053760],[-0.959134,-0.282923,-0.004083],[0.011299,-0.052717,0.998546]] 2025-10-27T05:56:33.906Z,1761544593.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:34.060Z,1761544594.060 [DAT](INFO): DAT read: Rx Time:05:56:32.6096 2025-10-27T05:56:34.060Z,1761544594.060 [DAT](INFO): Rx dataTimestamp_ set to:1761544594.060087 2025-10-27T05:56:34.061Z,1761544594.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021813 2025-10-27T05:56:34.254Z,1761544594.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284171,0.957276,0.053568],[-0.958713,-0.284338,-0.004634],[0.010795,-0.052674,0.998553]] 2025-10-27T05:56:34.272Z,1761544594.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T05:56:34.312Z,1761544594.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272873 2025-10-27T05:56:34.569Z,1761544594.569 [DAT](INFO): DAT read: 05:56:32.6096 LVL= 12720, 11745, 19186, 18547, AGC= 54, IDX= 16, 0.28, 0.337, 0.377,-1.204, 0.352, PHS= 0.087, 0.070,-1.600, RAW= 30.5, 16.9, CAL= 27.9, 19.6, ROT= 122.1, -19.6 2025-10-27T05:56:34.571Z,1761544594.571 [DAT](INFO): got valid direction response: 05:56:32.6096 LVL= 12720, 11745, 19186, 18547, AGC= 54, IDX= 16, 0.28, 0.337, 0.377,-1.204, 0.352, PHS= 0.087, 0.070,-1.600, RAW= 30.5, 16.9, CAL= 27.9, 19.6, ROT= 122.1, -19.6 2025-10-27T05:56:34.572Z,1761544594.572 [DAT](INFO): DAT read: Bearing 190.5, 50.5 (Local) 2025-10-27T05:56:34.572Z,1761544594.572 [DAT](INFO): Local bearing/azimuth received: Bearing 190.5, 50.5 (Local) 2025-10-27T05:56:34.574Z,1761544594.574 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (Round-trip 34.7 ms) speed -0.1 m/s 2025-10-27T05:56:34.574Z,1761544594.574 [DAT](INFO): DAT read: user:601> 2025-10-27T05:56:34.575Z,1761544594.575 [DAT](INFO): DAT read: Tx time:05:56:33.7208 2025-10-27T05:56:34.575Z,1761544594.575 [DAT](INFO): Ping request sent. 2025-10-27T05:56:34.575Z,1761544594.575 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:56:34.576Z,1761544594.576 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:34.577Z,1761544594.577 [DAT](INFO): direction in FSK: [-0.500608,0.798038,0.335452] 2025-10-27T05:56:34.577Z,1761544594.577 [DAT](INFO): publishing transmit ping time 2025-10-27T05:56:34.577Z,1761544594.577 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:34.581Z,1761544594.581 [DAT](INFO): publishing transmit ping time 2025-10-27T05:56:34.581Z,1761544594.581 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:34.683Z,1761544594.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285373,0.956933,0.053308],[-0.958363,-0.285502,-0.005332],[0.010117,-0.052610,0.998564]] 2025-10-27T05:56:34.782Z,1761544594.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 4.030589 s, deltaX: 0.600000 m, approachRate: 0.148862 m/s, rangeRepo size: 4 2025-10-27T05:56:34.805Z,1761544594.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.834999 m, bearing: 15.140952 deg, lat: 36.779388 deg, lon: -121.859745 deg, deltaT: 4.030589 s, deltaX: 0.596268 m, approachRate: 0.147936 m/s, posRepo size: 4 2025-10-27T05:56:34.816Z,1761544594.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:35.061Z,1761544595.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286284,0.956679,0.052977],[-0.958100,-0.286367,-0.006185],[0.009254,-0.052527,0.998577]] 2025-10-27T05:56:35.107Z,1761544595.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:35.466Z,1761544595.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287272,0.956411,0.052461],[-0.957813,-0.287306,-0.007047],[0.008332,-0.052272,0.998598]] 2025-10-27T05:56:35.499Z,1761544595.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:35.870Z,1761544595.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287747,0.956291,0.052058],[-0.957679,-0.287722,-0.008138],[0.007196,-0.052197,0.998611]] 2025-10-27T05:56:35.930Z,1761544595.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:36.274Z,1761544596.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288243,0.956168,0.051567],[-0.957538,-0.288161,-0.009162],[0.006100,-0.052018,0.998627]] 2025-10-27T05:56:36.293Z,1761544596.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:36.686Z,1761544596.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288390,0.956133,0.051399],[-0.957500,-0.288247,-0.010333],[0.004936,-0.052195,0.998625]] 2025-10-27T05:56:36.708Z,1761544596.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:37.081Z,1761544597.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288625,0.956084,0.050986],[-0.957435,-0.288422,-0.011462],[0.003747,-0.052124,0.998634]] 2025-10-27T05:56:37.126Z,1761544597.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:37.485Z,1761544597.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288850,0.956026,0.050795],[-0.957370,-0.288592,-0.012520],[0.002690,-0.052246,0.998631]] 2025-10-27T05:56:37.504Z,1761544597.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:37.589Z,1761544597.589 [DAT](INFO): DAT read: Rx Time:05:56:36.1604 2025-10-27T05:56:37.590Z,1761544597.590 [DAT](INFO): Rx dataTimestamp_ set to:1761544597.589620 2025-10-27T05:56:37.953Z,1761544597.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.83 m. 2025-10-27T05:56:38.097Z,1761544598.097 [DAT](INFO): DAT read: 05:56:36.1604 LVL= 17648, 13409, 29234, 31571, AGC= 53, IDX= 440,-0.15, 2.912, 3.003, 1.430, 2.983, PHS= 0.031, 0.065,-1.598, RAW= 29.0, 17.9, CAL= 26.5, 20.9, ROT= 123.5, -20.9 2025-10-27T05:56:38.098Z,1761544598.098 [DAT](INFO): got valid direction response: 05:56:36.1604 LVL= 17648, 13409, 29234, 31571, AGC= 53, IDX= 440,-0.15, 2.912, 3.003, 1.430, 2.983, PHS= 0.031, 0.065,-1.598, RAW= 29.0, 17.9, CAL= 26.5, 20.9, ROT= 123.5, -20.9 2025-10-27T05:56:38.100Z,1761544598.100 [DAT](INFO): DAT read: Bearing 189.0, 49.1 (Local) 2025-10-27T05:56:38.100Z,1761544598.100 [DAT](INFO): Local bearing/azimuth received: Bearing 189.0, 49.1 (Local) 2025-10-27T05:56:38.101Z,1761544598.101 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (Round-trip 35.5 ms) speed -0.1 m/s 2025-10-27T05:56:38.102Z,1761544598.102 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T05:56:38.103Z,1761544598.103 [DAT](INFO): direction in FSK: [-0.515622,0.779020,0.356738] 2025-10-27T05:56:38.103Z,1761544598.103 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:38.336Z,1761544598.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 3.528116 s, deltaX: 0.600000 m, approachRate: 0.170063 m/s, rangeRepo size: 4 2025-10-27T05:56:38.338Z,1761544598.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.431337 m, bearing: 16.167995 deg, lat: 36.779388 deg, lon: -121.859745 deg, deltaT: 3.528116 s, deltaX: 0.596338 m, approachRate: 0.169025 m/s, posRepo size: 4 2025-10-27T05:56:38.338Z,1761544598.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:38.700Z,1761544598.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290418,0.955599,0.049872],[-0.956900,-0.290015,-0.015307],[-0.000164,-0.052168,0.998638]] 2025-10-27T05:56:38.727Z,1761544598.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:39.106Z,1761544599.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291291,0.955343,0.049688],[-0.956634,-0.290850,-0.016049],[-0.000880,-0.052209,0.998636]] 2025-10-27T05:56:39.150Z,1761544599.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:39.506Z,1761544599.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292443,0.955007,0.049377],[-0.956282,-0.291973,-0.016632],[-0.001467,-0.052082,0.998642]] 2025-10-27T05:56:39.537Z,1761544599.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:39.912Z,1761544599.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293540,0.954675,0.049289],[-0.955945,-0.293045,-0.017139],[-0.001918,-0.052148,0.998637]] 2025-10-27T05:56:39.977Z,1761544599.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:40.314Z,1761544600.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294786,0.954303,0.049052],[-0.955560,-0.294269,-0.017621],[-0.002381,-0.052067,0.998641]] 2025-10-27T05:56:40.333Z,1761544600.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:40.728Z,1761544600.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.295978,0.953937,0.048999],[-0.955191,-0.295439,-0.018059],[-0.002751,-0.052149,0.998636]] 2025-10-27T05:56:40.750Z,1761544600.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:41.123Z,1761544601.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297891,0.953353,0.048772],[-0.954596,-0.297351,-0.018140],[-0.002792,-0.051962,0.998645]] 2025-10-27T05:56:41.181Z,1761544601.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:41.580Z,1761544601.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299622,0.952816,0.048673],[-0.954054,-0.299080,-0.018245],[-0.002827,-0.051904,0.998648]] 2025-10-27T05:56:41.616Z,1761544601.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:41.982Z,1761544601.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301350,0.952269,0.048712],[-0.953510,-0.300804,-0.018340],[-0.002812,-0.051975,0.998644]] 2025-10-27T05:56:42.038Z,1761544602.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:42.397Z,1761544602.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.302986,0.951737,0.048953],[-0.952991,-0.302437,-0.018446],[-0.002750,-0.052240,0.998631]] 2025-10-27T05:56:42.420Z,1761544602.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:42.790Z,1761544602.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304756,0.951179,0.048817],[-0.952426,-0.304202,-0.018584],[-0.002827,-0.052158,0.998635]] 2025-10-27T05:56:42.821Z,1761544602.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:43.195Z,1761544603.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306736,0.950541,0.048822],[-0.951791,-0.306190,-0.018487],[-0.002624,-0.052139,0.998636]] 2025-10-27T05:56:43.286Z,1761544603.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:43.597Z,1761544603.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308517,0.949973,0.048668],[-0.951215,-0.307973,-0.018499],[-0.002586,-0.052001,0.998644]] 2025-10-27T05:56:43.668Z,1761544603.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:44.001Z,1761544604.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310054,0.949487,0.048385],[-0.950715,-0.309503,-0.018675],[-0.002756,-0.051790,0.998654]] 2025-10-27T05:56:44.067Z,1761544604.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:44.466Z,1761544604.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:44.811Z,1761544604.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312535,0.948683,0.048187],[-0.949901,-0.311955,-0.019322],[-0.003298,-0.051811,0.998651]] 2025-10-27T05:56:44.905Z,1761544604.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:45.214Z,1761544605.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313631,0.948315,0.048314],[-0.949538,-0.313030,-0.019728],[-0.003584,-0.052063,0.998637]] 2025-10-27T05:56:45.293Z,1761544605.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:45.618Z,1761544605.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314692,0.947971,0.048163],[-0.949185,-0.314070,-0.020185],[-0.004008,-0.052068,0.998635]] 2025-10-27T05:56:45.756Z,1761544605.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:46.021Z,1761544606.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315737,0.947634,0.047952],[-0.948836,-0.315093,-0.020641],[-0.004450,-0.052016,0.998636]] 2025-10-27T05:56:46.085Z,1761544606.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:46.393Z,1761544606.393 [CTD_Seabird](ERROR): Failed to parse device response: ,10.3139,3.71783,2659.86 2025-10-27T05:56:46.434Z,1761544606.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316682,0.947332,0.047701],[-0.948519,-0.316015,-0.021120],[-0.004934,-0.051934,0.998638]] 2025-10-27T05:56:46.456Z,1761544606.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:46.829Z,1761544606.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317556,0.947049,0.047503],[-0.948224,-0.316866,-0.021618],[-0.005421,-0.051908,0.998637]] 2025-10-27T05:56:46.855Z,1761544606.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:47.234Z,1761544607.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318514,0.946743,0.047190],[-0.947900,-0.317801,-0.022120],[-0.005945,-0.051777,0.998641]] 2025-10-27T05:56:47.277Z,1761544607.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:47.649Z,1761544607.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319493,0.946425,0.046952],[-0.947567,-0.318756,-0.022626],[-0.006447,-0.051719,0.998641]] 2025-10-27T05:56:47.688Z,1761544607.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:56:47.690Z,1761544607.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:47.925Z,1761544607.925 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:56:47.925Z,1761544607.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:56:48.082Z,1761544608.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320526,0.946079,0.046886],[-0.947215,-0.319765,-0.023132],[-0.006892,-0.051826,0.998632]] 2025-10-27T05:56:48.151Z,1761544608.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:48.176Z,1761544608.176 [DAT](INFO): DAT read: user:602> 2025-10-27T05:56:48.177Z,1761544608.177 [DAT](INFO): DAT read: Tx time:05:56:47.2208 2025-10-27T05:56:48.177Z,1761544608.177 [DAT](INFO): Ping request sent. 2025-10-27T05:56:48.177Z,1761544608.177 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:56:48.177Z,1761544608.177 [DAT](INFO): publishing transmit ping time 2025-10-27T05:56:48.178Z,1761544608.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T05:56:48.428Z,1761544608.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250690 2025-10-27T05:56:48.482Z,1761544608.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321680,0.945697,0.046673],[-0.946820,-0.320898,-0.023597],[-0.007339,-0.051782,0.998631]] 2025-10-27T05:56:48.509Z,1761544608.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:48.680Z,1761544608.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502671 2025-10-27T05:56:48.886Z,1761544608.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322792,0.945323,0.046585],[-0.946438,-0.321986,-0.024084],[-0.007767,-0.051864,0.998624]] 2025-10-27T05:56:48.905Z,1761544608.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:48.932Z,1761544608.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754779 2025-10-27T05:56:49.184Z,1761544609.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006684 2025-10-27T05:56:49.289Z,1761544609.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323997,0.944920,0.046392],[-0.946023,-0.323170,-0.024535],[-0.008191,-0.051837,0.998622]] 2025-10-27T05:56:49.336Z,1761544609.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:49.436Z,1761544609.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258732 2025-10-27T05:56:49.688Z,1761544609.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853 2025-10-27T05:56:49.695Z,1761544609.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325327,0.944477,0.046106],[-0.945563,-0.324484,-0.024935],[-0.008590,-0.051708,0.998625]] 2025-10-27T05:56:49.740Z,1761544609.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:49.940Z,1761544609.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762695 2025-10-27T05:56:50.098Z,1761544610.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326726,0.944009,0.045795],[-0.945076,-0.325868,-0.025310],[-0.008970,-0.051549,0.998630]] 2025-10-27T05:56:50.168Z,1761544610.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:50.192Z,1761544610.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840 2025-10-27T05:56:50.384Z,1761544610.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:56:50.444Z,1761544610.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266774 2025-10-27T05:56:50.501Z,1761544610.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328023,0.943568,0.045615],[-0.944623,-0.327147,-0.025721],[-0.009347,-0.051526,0.998628]] 2025-10-27T05:56:50.535Z,1761544610.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:50.696Z,1761544610.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518776 2025-10-27T05:56:50.905Z,1761544610.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329247,0.943145,0.045540],[-0.944194,-0.328352,-0.026125],[-0.009687,-0.051601,0.998621]] 2025-10-27T05:56:50.940Z,1761544610.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:50.951Z,1761544610.951 [DAT](INFO): DAT read: Rx Time:05:56:49.6625 2025-10-27T05:56:50.952Z,1761544610.952 [DAT](INFO): Rx dataTimestamp_ set to:1761544610.951356 2025-10-27T05:56:50.952Z,1761544610.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775037 2025-10-27T05:56:51.200Z,1761544611.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022865 2025-10-27T05:56:51.309Z,1761544611.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330477,0.942712,0.045588],[-0.943761,-0.329560,-0.026552],[-0.010007,-0.051799,0.998607]] 2025-10-27T05:56:51.360Z,1761544611.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T05:56:51.387Z,1761544611.387 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:56:51.453Z,1761544611.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275617 2025-10-27T05:56:51.712Z,1761544611.712 [DAT](INFO): DAT read: 05:56:49.6625 LVL= 19440, 14401, 28898, 31379, AGC= 54, IDX= 445, 0.22, 1.321, 1.468,-0.142, 1.414, PHS= 0.009, 0.099,-1.600, RAW= 27.3, 17.7, CAL= 25.0, 20.7, ROT= 125.0, -20.7 2025-10-27T05:56:51.714Z,1761544611.714 [DAT](INFO): got valid direction response: 05:56:49.6625 LVL= 19440, 14401, 28898, 31379, AGC= 54, IDX= 445, 0.22, 1.321, 1.468,-0.142, 1.414, PHS= 0.009, 0.099,-1.600, RAW= 27.3, 17.7, CAL= 25.0, 20.7, ROT= 125.0, -20.7 2025-10-27T05:56:51.715Z,1761544611.715 [DAT](INFO): DAT read: Bearing 186.9, 48.7 (Local) 2025-10-27T05:56:51.716Z,1761544611.716 [DAT](INFO): Local bearing/azimuth received: Bearing 186.9, 48.7 (Local) 2025-10-27T05:56:51.717Z,1761544611.717 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (Round-trip 37.5 ms) speed -0.1 m/s 2025-10-27T05:56:51.718Z,1761544611.718 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:56:51.720Z,1761544611.720 [DAT](INFO): direction in FSK: [-0.536549,0.766271,0.353475] 2025-10-27T05:56:51.721Z,1761544611.721 [DAT](INFO): publishing direction and range info 2025-10-27T05:56:51.742Z,1761544611.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331871,0.942229,0.045457],[-0.943268,-0.330939,-0.026914],[-0.010316,-0.051810,0.998604]] 2025-10-27T05:56:51.836Z,1761544611.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 13.612622 s, deltaX: 1.500000 m, approachRate: 0.110192 m/s, rangeRepo size: 4 2025-10-27T05:56:51.838Z,1761544611.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.921820 m, bearing: 14.855720 deg, lat: 36.779387 deg, lon: -121.859744 deg, deltaT: 13.612622 s, deltaX: 1.490482 m, approachRate: 0.109493 m/s, posRepo size: 4 2025-10-27T05:56:51.838Z,1761544611.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:52.122Z,1761544612.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333180,0.941768,0.045423],[-0.942804,-0.332232,-0.027256],[-0.010577,-0.051906,0.998596]] 2025-10-27T05:56:52.180Z,1761544612.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:52.526Z,1761544612.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334386,0.941354,0.045145],[-0.942372,-0.333423,-0.027627],[-0.010955,-0.051781,0.998598]] 2025-10-27T05:56:52.544Z,1761544612.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:52.927Z,1761544612.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335602,0.940933,0.044896],[-0.941937,-0.334627,-0.027923],[-0.011250,-0.051660,0.998601]] 2025-10-27T05:56:52.957Z,1761544612.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:53.330Z,1761544613.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336758,0.940531,0.044675],[-0.941521,-0.335774,-0.028172],[-0.011496,-0.051550,0.998604]] 2025-10-27T05:56:53.378Z,1761544613.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:53.740Z,1761544613.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337846,0.940147,0.044548],[-0.941128,-0.336851,-0.028430],[-0.011722,-0.051531,0.998603]] 2025-10-27T05:56:53.784Z,1761544613.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:54.148Z,1761544614.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338795,0.939807,0.044500],[-0.940784,-0.337786,-0.028757],[-0.011995,-0.051607,0.998595]] 2025-10-27T05:56:54.201Z,1761544614.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:54.542Z,1761544614.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339735,0.939469,0.044477],[-0.940442,-0.338711,-0.029052],[-0.012228,-0.051698,0.998588]] 2025-10-27T05:56:54.580Z,1761544614.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:54.946Z,1761544614.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340473,0.939196,0.044596],[-0.940172,-0.339434,-0.029338],[-0.012417,-0.051917,0.998574]] 2025-10-27T05:56:54.983Z,1761544614.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:55.355Z,1761544615.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341566,0.938812,0.044328],[-0.939774,-0.340524,-0.029479],[-0.012581,-0.051727,0.998582]] 2025-10-27T05:56:55.413Z,1761544615.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:55.761Z,1761544615.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343390,0.938162,0.044001],[-0.939103,-0.342332,-0.029906],[-0.012994,-0.051591,0.998584]] 2025-10-27T05:56:55.781Z,1761544615.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:56.162Z,1761544616.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344285,0.937837,0.043927],[-0.938773,-0.343219,-0.030098],[-0.013151,-0.051599,0.998581]] 2025-10-27T05:56:56.291Z,1761544616.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:56.566Z,1761544616.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345168,0.937507,0.044035],[-0.938448,-0.344093,-0.030270],[-0.013227,-0.051773,0.998571]] 2025-10-27T05:56:56.624Z,1761544616.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:56.973Z,1761544616.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346017,0.937199,0.043936],[-0.938132,-0.344931,-0.030504],[-0.013434,-0.051772,0.998569]] 2025-10-27T05:56:57.010Z,1761544617.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:57.372Z,1761544617.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346604,0.936986,0.043845],[-0.937912,-0.345507,-0.030762],[-0.013675,-0.051785,0.998565]] 2025-10-27T05:56:57.432Z,1761544617.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:57.774Z,1761544617.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347126,0.936793,0.043831],[-0.937716,-0.346018,-0.030990],[-0.013865,-0.051859,0.998558]] 2025-10-27T05:56:57.850Z,1761544617.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:58.272Z,1761544618.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.347818,0.936552,0.043508],[-0.937457,-0.346711,-0.031078],[-0.014021,-0.051596,0.998570]] 2025-10-27T05:56:58.330Z,1761544618.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:58.674Z,1761544618.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348205,0.936420,0.043259],[-0.937310,-0.347091,-0.031273],[-0.014270,-0.051437,0.998574]] 2025-10-27T05:56:58.728Z,1761544618.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:59.080Z,1761544619.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348284,0.936388,0.043309],[-0.937278,-0.347158,-0.031494],[-0.014456,-0.051562,0.998565]] 2025-10-27T05:56:59.179Z,1761544619.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:59.491Z,1761544619.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348541,0.936287,0.043419],[-0.937182,-0.347410,-0.031575],[-0.014479,-0.051697,0.998558]] 2025-10-27T05:56:59.529Z,1761544619.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:56:59.886Z,1761544619.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348653,0.936244,0.043463],[-0.937139,-0.347517,-0.031651],[-0.014529,-0.051766,0.998554]] 2025-10-27T05:56:59.915Z,1761544619.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:00.289Z,1761544620.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348768,0.936208,0.043314],[-0.937095,-0.347632,-0.031698],[-0.014619,-0.051645,0.998558]] 2025-10-27T05:57:00.338Z,1761544620.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:00.694Z,1761544620.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348903,0.936165,0.043153],[-0.937045,-0.347771,-0.031662],[-0.014633,-0.051484,0.998567]] 2025-10-27T05:57:00.722Z,1761544620.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:01.112Z,1761544621.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348919,0.936167,0.042975],[-0.937038,-0.347791,-0.031635],[-0.014669,-0.051307,0.998575]] 2025-10-27T05:57:01.200Z,1761544621.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:01.501Z,1761544621.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348972,0.936160,0.042697],[-0.937017,-0.347849,-0.031629],[-0.014758,-0.051045,0.998587]] 2025-10-27T05:57:01.550Z,1761544621.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:01.906Z,1761544621.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348993,0.936151,0.042716],[-0.937008,-0.347867,-0.031679],[-0.014797,-0.051081,0.998585]] 2025-10-27T05:57:01.944Z,1761544621.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:02.310Z,1761544622.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349161,0.936086,0.042770],[-0.936947,-0.348036,-0.031636],[-0.014729,-0.051119,0.998584]] 2025-10-27T05:57:02.365Z,1761544622.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:02.726Z,1761544622.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349605,0.935919,0.042805],[-0.936784,-0.348487,-0.031503],[-0.014567,-0.051113,0.998587]] 2025-10-27T05:57:02.748Z,1761544622.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:03.133Z,1761544623.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350124,0.935720,0.042899],[-0.936592,-0.349011,-0.031406],[-0.014415,-0.051175,0.998586]] 2025-10-27T05:57:03.156Z,1761544623.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:03.522Z,1761544623.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351098,0.935358,0.042854],[-0.936232,-0.349999,-0.031155],[-0.014143,-0.051060,0.998595]] 2025-10-27T05:57:03.569Z,1761544623.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:03.926Z,1761544623.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352143,0.934967,0.042810],[-0.935843,-0.351057,-0.030931],[-0.013891,-0.050956,0.998604]] 2025-10-27T05:57:03.947Z,1761544623.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:04.331Z,1761544624.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353290,0.934530,0.042899],[-0.935414,-0.352210,-0.030818],[-0.013691,-0.051016,0.998604]] 2025-10-27T05:57:04.370Z,1761544624.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:04.744Z,1761544624.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354557,0.934051,0.042877],[-0.934936,-0.353484,-0.030712],[-0.013530,-0.050977,0.998608]] 2025-10-27T05:57:04.764Z,1761544624.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:05.180Z,1761544625.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:05.542Z,1761544625.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357890,0.932770,0.043060],[-0.933672,-0.356830,-0.030463],[-0.013050,-0.051106,0.998608]] 2025-10-27T05:57:05.656Z,1761544625.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:05.947Z,1761544625.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359408,0.932188,0.043028],[-0.933089,-0.358345,-0.030564],[-0.013072,-0.051134,0.998606]] 2025-10-27T05:57:05.988Z,1761544625.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:06.350Z,1761544626.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360932,0.931601,0.042975],[-0.932500,-0.359863,-0.030711],[-0.013145,-0.051159,0.998604]] 2025-10-27T05:57:06.399Z,1761544626.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:06.754Z,1761544626.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362298,0.931073,0.042920],[-0.931967,-0.361219,-0.030962],[-0.013325,-0.051217,0.998599]] 2025-10-27T05:57:06.787Z,1761544626.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:07.160Z,1761544627.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363427,0.930640,0.042769],[-0.931522,-0.362330,-0.031363],[-0.013691,-0.051239,0.998593]] 2025-10-27T05:57:07.186Z,1761544627.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:07.564Z,1761544627.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364637,0.930177,0.042551],[-0.931044,-0.363524,-0.031752],[-0.014066,-0.051194,0.998590]] 2025-10-27T05:57:07.647Z,1761544627.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:07.965Z,1761544627.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365513,0.929839,0.042432],[-0.930692,-0.364373,-0.032324],[-0.014595,-0.051306,0.998576]] 2025-10-27T05:57:07.994Z,1761544627.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:08.370Z,1761544628.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366203,0.929575,0.042261],[-0.930411,-0.365034,-0.032967],[-0.015219,-0.051393,0.998563]] 2025-10-27T05:57:08.424Z,1761544628.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:08.774Z,1761544628.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366559,0.929441,0.042106],[-0.930258,-0.365353,-0.033735],[-0.015971,-0.051535,0.998543]] 2025-10-27T05:57:08.804Z,1761544628.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:09.200Z,1761544629.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366687,0.929403,0.041848],[-0.930192,-0.365441,-0.034594],[-0.016859,-0.051612,0.998525]] 2025-10-27T05:57:09.382Z,1761544629.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:09.641Z,1761544629.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366582,0.929457,0.041564],[-0.930216,-0.365296,-0.035450],[-0.017766,-0.051659,0.998507]] 2025-10-27T05:57:09.683Z,1761544629.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:10.042Z,1761544630.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366230,0.929618,0.041055],[-0.930334,-0.364906,-0.036368],[-0.018827,-0.051514,0.998495]] 2025-10-27T05:57:10.094Z,1761544630.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:10.446Z,1761544630.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365434,0.929947,0.040699],[-0.930625,-0.364069,-0.037296],[-0.019866,-0.051504,0.998475]] 2025-10-27T05:57:10.513Z,1761544630.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:10.856Z,1761544630.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364803,0.930218,0.040154],[-0.930851,-0.363407,-0.038099],[-0.020848,-0.051277,0.998467]] 2025-10-27T05:57:10.934Z,1761544630.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:11.254Z,1761544631.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363788,0.930632,0.039772],[-0.931225,-0.362355,-0.038974],[-0.021859,-0.051215,0.998448]] 2025-10-27T05:57:11.344Z,1761544631.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:11.732Z,1761544631.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362897,0.930989,0.039560],[-0.931554,-0.361432,-0.039661],[-0.022626,-0.051245,0.998430]] 2025-10-27T05:57:11.808Z,1761544631.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:12.128Z,1761544632.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361750,0.931444,0.039359],[-0.931981,-0.360253,-0.040360],[-0.023414,-0.051282,0.998410]] 2025-10-27T05:57:12.181Z,1761544632.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:12.533Z,1761544632.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360740,0.931846,0.039119],[-0.932356,-0.359220,-0.040917],[-0.024077,-0.051233,0.998396]] 2025-10-27T05:57:12.601Z,1761544632.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:12.935Z,1761544632.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359505,0.932332,0.038909],[-0.932814,-0.357958,-0.041527],[-0.024789,-0.051223,0.998380]] 2025-10-27T05:57:12.954Z,1761544632.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:13.421Z,1761544633.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:13.787Z,1761544633.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:14.148Z,1761544634.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357487,0.933127,0.038439],[-0.933572,-0.355931,-0.041908],[-0.025424,-0.050867,0.998382]] 2025-10-27T05:57:14.175Z,1761544634.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:14.551Z,1761544634.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357109,0.933268,0.038522],[-0.933721,-0.355560,-0.041729],[-0.025248,-0.050870,0.998386]] 2025-10-27T05:57:14.629Z,1761544634.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:14.955Z,1761544634.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357336,0.933180,0.038549],[-0.933646,-0.355808,-0.041297],[-0.024822,-0.050748,0.998403]] 2025-10-27T05:57:14.979Z,1761544634.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:15.407Z,1761544635.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357995,0.932924,0.038637],[-0.933419,-0.356514,-0.040339],[-0.023859,-0.050505,0.998439]] 2025-10-27T05:57:15.452Z,1761544635.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:15.798Z,1761544635.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:16.166Z,1761544636.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358777,0.932611,0.038925],[-0.933138,-0.357325,-0.039641],[-0.023061,-0.050545,0.998456]] 2025-10-27T05:57:16.193Z,1761544636.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:16.584Z,1761544636.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361099,0.931687,0.039595],[-0.932285,-0.359711,-0.038123],[-0.021276,-0.050679,0.998488]] 2025-10-27T05:57:16.641Z,1761544636.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:16.979Z,1761544636.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362501,0.931122,0.040064],[-0.931762,-0.361143,-0.037363],[-0.020321,-0.050875,0.998498]] 2025-10-27T05:57:17.013Z,1761544637.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:17.402Z,1761544637.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364314,0.930403,0.040330],[-0.931076,-0.362996,-0.036481],[-0.019303,-0.050841,0.998520]] 2025-10-27T05:57:17.479Z,1761544637.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:17.790Z,1761544637.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366006,0.929721,0.040734],[-0.930431,-0.364720,-0.035734],[-0.018366,-0.050979,0.998531]] 2025-10-27T05:57:17.809Z,1761544637.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:18.200Z,1761544638.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367904,0.928956,0.041076],[-0.929701,-0.366652,-0.034971],[-0.017426,-0.051055,0.998544]] 2025-10-27T05:57:18.235Z,1761544638.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:18.601Z,1761544638.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369877,0.928162,0.041301],[-0.928933,-0.368659,-0.034272],[-0.016584,-0.051042,0.998559]] 2025-10-27T05:57:18.645Z,1761544638.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:18.994Z,1761544638.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371779,0.927389,0.041594],[-0.928187,-0.370591,-0.033627],[-0.015771,-0.051109,0.998569]] 2025-10-27T05:57:19.013Z,1761544639.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:19.416Z,1761544639.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373406,0.926726,0.041799],[-0.927543,-0.372236,-0.033230],[-0.015236,-0.051178,0.998573]] 2025-10-27T05:57:19.486Z,1761544639.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:19.802Z,1761544639.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374719,0.926184,0.042066],[-0.927020,-0.373560,-0.032964],[-0.014816,-0.051348,0.998571]] 2025-10-27T05:57:19.848Z,1761544639.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:20.208Z,1761544640.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375886,0.925704,0.042217],[-0.926552,-0.374735,-0.032790],[-0.014534,-0.051441,0.998570]] 2025-10-27T05:57:20.228Z,1761544640.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:20.613Z,1761544640.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376838,0.925314,0.042270],[-0.926168,-0.375692,-0.032687],[-0.014365,-0.051467,0.998571]] 2025-10-27T05:57:20.666Z,1761544640.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:21.014Z,1761544641.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377524,0.925039,0.042160],[-0.925888,-0.376381,-0.032688],[-0.014369,-0.051376,0.998576]] 2025-10-27T05:57:21.038Z,1761544641.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:21.422Z,1761544641.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377632,0.925003,0.042000],[-0.925840,-0.376479,-0.032915],[-0.014634,-0.051315,0.998575]] 2025-10-27T05:57:21.505Z,1761544641.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:21.524Z,1761544641.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:57:21.822Z,1761544641.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377357,0.925123,0.041820],[-0.925946,-0.376189,-0.033254],[-0.015032,-0.051272,0.998572]] 2025-10-27T05:57:21.873Z,1761544641.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:22.230Z,1761544642.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376835,0.925340,0.041719],[-0.926152,-0.375650,-0.033614],[-0.015433,-0.051305,0.998564]] 2025-10-27T05:57:22.248Z,1761544642.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:22.527Z,1761544642.527 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:57:22.629Z,1761544642.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375907,0.925728,0.041487],[-0.926518,-0.374694,-0.034194],[-0.016110,-0.051292,0.998554]] 2025-10-27T05:57:22.768Z,1761544642.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:23.035Z,1761544643.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374975,0.926120,0.041177],[-0.926884,-0.373742,-0.034692],[-0.016740,-0.051175,0.998549]] 2025-10-27T05:57:23.134Z,1761544643.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:23.438Z,1761544643.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373637,0.926677,0.040811],[-0.927410,-0.372380,-0.035268],[-0.017485,-0.051026,0.998544]] 2025-10-27T05:57:23.538Z,1761544643.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:23.842Z,1761544643.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372209,0.927261,0.040583],[-0.927971,-0.370925,-0.035850],[-0.018189,-0.051004,0.998533]] 2025-10-27T05:57:23.942Z,1761544643.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:24.296Z,1761544644.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:24.649Z,1761544644.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369188,0.928487,0.040151],[-0.929149,-0.367853,-0.036974],[-0.019560,-0.050957,0.998509]] 2025-10-27T05:57:24.719Z,1761544644.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:25.054Z,1761544645.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367794,0.929051,0.039896],[-0.929689,-0.366439,-0.037429],[-0.020154,-0.050857,0.998502]] 2025-10-27T05:57:25.113Z,1761544645.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:25.481Z,1761544645.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366405,0.929603,0.039812],[-0.930227,-0.365031,-0.037823],[-0.020628,-0.050893,0.998491]] 2025-10-27T05:57:25.562Z,1761544645.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:25.874Z,1761544645.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365521,0.929955,0.039729],[-0.930569,-0.364139,-0.038002],[-0.020873,-0.050861,0.998488]] 2025-10-27T05:57:25.918Z,1761544645.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:26.278Z,1761544646.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364364,0.930408,0.039754],[-0.931016,-0.362967,-0.038270],[-0.021178,-0.050956,0.998476]] 2025-10-27T05:57:26.314Z,1761544646.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:26.682Z,1761544646.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363605,0.930706,0.039719],[-0.931310,-0.362205,-0.038330],[-0.021288,-0.050928,0.998475]] 2025-10-27T05:57:26.760Z,1761544646.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:27.093Z,1761544647.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363150,0.930893,0.039504],[-0.931486,-0.361756,-0.038302],[-0.021364,-0.050707,0.998485]] 2025-10-27T05:57:27.123Z,1761544647.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:27.489Z,1761544647.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362910,0.931000,0.039186],[-0.931579,-0.361527,-0.038203],[-0.021400,-0.050369,0.998501]] 2025-10-27T05:57:27.514Z,1761544647.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:27.896Z,1761544647.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362628,0.931114,0.039074],[-0.931687,-0.361249,-0.038188],[-0.021441,-0.050253,0.998506]] 2025-10-27T05:57:27.933Z,1761544647.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:28.331Z,1761544648.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:28.703Z,1761544648.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363083,0.930930,0.039243],[-0.931517,-0.361711,-0.037979],[-0.021161,-0.050345,0.998508]] 2025-10-27T05:57:28.740Z,1761544648.740 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0 +0.00, 20.00,591.75 2025-10-27T05:57:28.755Z,1761544648.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:29.106Z,1761544649.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363541,0.930744,0.039419],[-0.931340,-0.362166,-0.037957],[-0.021052,-0.050511,0.998502]] 2025-10-27T05:57:29.125Z,1761544649.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:29.512Z,1761544649.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364411,0.930396,0.039593],[-0.931007,-0.363044,-0.037757],[-0.020755,-0.050621,0.998502]] 2025-10-27T05:57:29.531Z,1761544649.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:29.913Z,1761544649.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365200,0.930088,0.039571],[-0.930699,-0.363835,-0.037719],[-0.020685,-0.050603,0.998505]] 2025-10-27T05:57:29.966Z,1761544649.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:30.318Z,1761544650.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366251,0.929678,0.039479],[-0.930288,-0.364894,-0.037629],[-0.020577,-0.050509,0.998512]] 2025-10-27T05:57:30.360Z,1761544650.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:30.728Z,1761544650.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367472,0.929197,0.039453],[-0.929810,-0.366122,-0.037517],[-0.020416,-0.050470,0.998517]] 2025-10-27T05:57:30.784Z,1761544650.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:31.127Z,1761544651.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368974,0.928603,0.039418],[-0.929221,-0.367635,-0.037327],[-0.020170,-0.050400,0.998525]] 2025-10-27T05:57:31.146Z,1761544651.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:31.530Z,1761544651.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370036,0.928179,0.039463],[-0.928796,-0.368688,-0.037497],[-0.020255,-0.050528,0.998517]] 2025-10-27T05:57:31.580Z,1761544651.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:31.934Z,1761544651.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371115,0.927746,0.039521],[-0.928363,-0.369755,-0.037731],[-0.020392,-0.050693,0.998506]] 2025-10-27T05:57:31.984Z,1761544651.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:32.344Z,1761544652.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372299,0.927267,0.039621],[-0.927886,-0.370924,-0.037981],[-0.020522,-0.050904,0.998493]] 2025-10-27T05:57:32.363Z,1761544652.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:32.748Z,1761544652.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373565,0.926763,0.039488],[-0.927371,-0.372179,-0.038283],[-0.020782,-0.050921,0.998486]] 2025-10-27T05:57:32.785Z,1761544652.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:33.146Z,1761544653.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374560,0.926368,0.039330],[-0.926961,-0.373157,-0.038688],[-0.021163,-0.050948,0.998477]] 2025-10-27T05:57:33.175Z,1761544653.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:33.557Z,1761544653.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375283,0.926095,0.038868],[-0.926653,-0.373862,-0.039266],[-0.021833,-0.050753,0.998473]] 2025-10-27T05:57:33.607Z,1761544653.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:33.956Z,1761544653.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375940,0.925836,0.038679],[-0.926373,-0.374493,-0.039855],[-0.022414,-0.050814,0.998457]] 2025-10-27T05:57:33.998Z,1761544653.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:34.358Z,1761544654.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376375,0.925675,0.038315],[-0.926177,-0.374901,-0.040564],[-0.023185,-0.050754,0.998442]] 2025-10-27T05:57:34.394Z,1761544654.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:34.762Z,1761544654.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376476,0.925643,0.038089],[-0.926112,-0.374960,-0.041479],[-0.024113,-0.050890,0.998413]] 2025-10-27T05:57:34.807Z,1761544654.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:35.166Z,1761544655.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376328,0.925720,0.037689],[-0.926145,-0.374772,-0.042446],[-0.025168,-0.050879,0.998388]] 2025-10-27T05:57:35.186Z,1761544655.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:35.581Z,1761544655.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375853,0.925925,0.037372],[-0.926305,-0.374250,-0.043542],[-0.026330,-0.050984,0.998352]] 2025-10-27T05:57:35.749Z,1761544655.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:35.976Z,1761544655.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375338,0.926149,0.037017],[-0.926483,-0.373694,-0.044529],[-0.027407,-0.051009,0.998322]] 2025-10-27T05:57:36.027Z,1761544656.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:36.378Z,1761544656.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374601,0.926467,0.036513],[-0.926746,-0.372920,-0.045514],[-0.028551,-0.050888,0.998296]] 2025-10-27T05:57:36.422Z,1761544656.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:36.783Z,1761544656.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373627,0.926879,0.036024],[-0.927103,-0.371909,-0.046518],[-0.029718,-0.050779,0.998268]] 2025-10-27T05:57:36.904Z,1761544656.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:37.186Z,1761544657.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372443,0.927380,0.035381],[-0.927540,-0.370697,-0.047463],[-0.030901,-0.050494,0.998246]] 2025-10-27T05:57:37.233Z,1761544657.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:37.591Z,1761544657.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371392,0.927819,0.034918],[-0.927929,-0.369619,-0.048273],[-0.031882,-0.050330,0.998224]] 2025-10-27T05:57:37.638Z,1761544657.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:37.995Z,1761544657.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369974,0.928395,0.034669],[-0.928461,-0.368165,-0.049151],[-0.032868,-0.050373,0.998190]] 2025-10-27T05:57:38.110Z,1761544658.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:38.398Z,1761544658.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368318,0.929059,0.034517],[-0.929086,-0.366473,-0.049972],[-0.033777,-0.050475,0.998154]] 2025-10-27T05:57:38.427Z,1761544658.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:38.802Z,1761544658.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366795,0.929665,0.034415],[-0.929660,-0.364917,-0.050664],[-0.034542,-0.050578,0.998123]] 2025-10-27T05:57:38.850Z,1761544658.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:39.206Z,1761544659.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365360,0.930237,0.034230],[-0.930202,-0.363463,-0.051164],[-0.035153,-0.050535,0.998103]] 2025-10-27T05:57:39.225Z,1761544659.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:39.620Z,1761544659.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364157,0.930715,0.034058],[-0.930660,-0.362254,-0.051426],[-0.035526,-0.050423,0.998096]] 2025-10-27T05:57:39.639Z,1761544659.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:40.014Z,1761544660.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362963,0.931183,0.033985],[-0.931118,-0.361057,-0.051543],[-0.035725,-0.050352,0.998092]] 2025-10-27T05:57:40.097Z,1761544660.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:40.417Z,1761544660.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361815,0.931632,0.033948],[-0.931562,-0.359910,-0.051542],[-0.035800,-0.050273,0.998094]] 2025-10-27T05:57:40.437Z,1761544660.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:40.821Z,1761544660.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361082,0.931911,0.034084],[-0.931856,-0.359185,-0.051291],[-0.035556,-0.050282,0.998102]] 2025-10-27T05:57:40.878Z,1761544660.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:41.228Z,1761544661.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360631,0.932072,0.034468],[-0.932052,-0.358744,-0.050803],[-0.034987,-0.050447,0.998114]] 2025-10-27T05:57:41.246Z,1761544661.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:41.631Z,1761544661.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360374,0.932157,0.034852],[-0.932175,-0.358501,-0.050271],[-0.034366,-0.050604,0.998127]] 2025-10-27T05:57:41.662Z,1761544661.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:42.036Z,1761544662.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360572,0.932072,0.035059],[-0.932127,-0.358732,-0.049498],[-0.033559,-0.050527,0.998159]] 2025-10-27T05:57:42.092Z,1761544662.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:42.445Z,1761544662.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360936,0.931921,0.035333],[-0.932020,-0.359132,-0.048611],[-0.032613,-0.050477,0.998193]] 2025-10-27T05:57:42.464Z,1761544662.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:42.842Z,1761544662.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361523,0.931683,0.035600],[-0.931827,-0.359757,-0.047673],[-0.031608,-0.050408,0.998228]] 2025-10-27T05:57:42.892Z,1761544662.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:43.245Z,1761544663.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362454,0.931306,0.035997],[-0.931507,-0.360734,-0.046538],[-0.030356,-0.050399,0.998268]] 2025-10-27T05:57:43.265Z,1761544663.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:43.656Z,1761544663.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363474,0.930893,0.036406],[-0.931149,-0.361796,-0.045446],[-0.029134,-0.050418,0.998303]] 2025-10-27T05:57:43.675Z,1761544663.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:44.066Z,1761544664.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364812,0.930354,0.036779],[-0.930665,-0.363183,-0.044281],[-0.027839,-0.050383,0.998342]] 2025-10-27T05:57:44.120Z,1761544664.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:44.461Z,1761544664.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366210,0.929787,0.037227],[-0.930151,-0.364623,-0.043229],[-0.026620,-0.050457,0.998371]] 2025-10-27T05:57:44.490Z,1761544664.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:44.870Z,1761544664.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367617,0.929207,0.037849],[-0.929633,-0.366067,-0.042166],[-0.025325,-0.050686,0.998393]] 2025-10-27T05:57:44.919Z,1761544664.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:45.270Z,1761544665.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368953,0.928658,0.038317],[-0.929132,-0.367439,-0.041247],[-0.024225,-0.050819,0.998414]] 2025-10-27T05:57:45.295Z,1761544665.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:45.677Z,1761544665.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370446,0.928055,0.038513],[-0.928563,-0.368974,-0.040355],[-0.023241,-0.050712,0.998443]] 2025-10-27T05:57:45.710Z,1761544665.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:46.079Z,1761544666.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371819,0.927502,0.038600],[-0.928035,-0.370387,-0.039554],[-0.022390,-0.050530,0.998471]] 2025-10-27T05:57:46.121Z,1761544666.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:46.482Z,1761544666.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373215,0.926933,0.038816],[-0.927495,-0.371817,-0.038784],[-0.021517,-0.050476,0.998493]] 2025-10-27T05:57:46.518Z,1761544666.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:46.897Z,1761544666.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373910,0.926636,0.039204],[-0.927227,-0.372524,-0.038408],[-0.020986,-0.050712,0.998493]] 2025-10-27T05:57:46.952Z,1761544666.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:47.290Z,1761544667.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374381,0.926432,0.039537],[-0.927046,-0.373001,-0.038162],[-0.020608,-0.050940,0.998489]] 2025-10-27T05:57:47.309Z,1761544667.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:47.696Z,1761544667.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374656,0.926313,0.039702],[-0.926939,-0.373278,-0.038057],[-0.020433,-0.051060,0.998487]] 2025-10-27T05:57:47.725Z,1761544667.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:57:47.729Z,1761544667.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:47.916Z,1761544667.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:57:47.916Z,1761544667.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:57:48.125Z,1761544668.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374560,0.926348,0.039800],[-0.926975,-0.373173,-0.038197],[-0.020532,-0.051200,0.998477]] 2025-10-27T05:57:48.168Z,1761544668.168 [DAT](INFO): DAT read: user:603> 2025-10-27T05:57:48.168Z,1761544668.168 [DAT](INFO): DAT read: Tx time:05:57:47.2206 2025-10-27T05:57:48.169Z,1761544668.169 [DAT](INFO): Ping request sent. 2025-10-27T05:57:48.169Z,1761544668.169 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:57:48.169Z,1761544668.169 [DAT](INFO): publishing transmit ping time 2025-10-27T05:57:48.170Z,1761544668.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-27T05:57:48.178Z,1761544668.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:48.420Z,1761544668.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250988 2025-10-27T05:57:48.502Z,1761544668.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374400,0.926415,0.039746],[-0.927036,-0.373006,-0.038345],[-0.020698,-0.051203,0.998474]] 2025-10-27T05:57:48.607Z,1761544668.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:48.674Z,1761544668.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504976 2025-10-27T05:57:48.924Z,1761544668.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755064 2025-10-27T05:57:48.926Z,1761544668.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373863,0.926636,0.039643],[-0.927246,-0.372458,-0.038607],[-0.021009,-0.051193,0.998468]] 2025-10-27T05:57:49.018Z,1761544669.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:49.176Z,1761544669.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006936 2025-10-27T05:57:49.309Z,1761544669.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373422,0.926832,0.039220],[-0.927415,-0.372014,-0.038810],[-0.021380,-0.050866,0.998477]] 2025-10-27T05:57:49.356Z,1761544669.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:49.428Z,1761544669.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259129 2025-10-27T05:57:49.680Z,1761544669.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511127 2025-10-27T05:57:49.731Z,1761544669.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372318,0.927287,0.038953],[-0.927845,-0.370892,-0.039283],[-0.021980,-0.050768,0.998469]] 2025-10-27T05:57:49.825Z,1761544669.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:49.932Z,1761544669.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763072 2025-10-27T05:57:50.120Z,1761544670.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370959,0.927843,0.038691],[-0.928373,-0.369510,-0.039818],[-0.022648,-0.050690,0.998458]] 2025-10-27T05:57:50.179Z,1761544670.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:50.184Z,1761544670.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015154 2025-10-27T05:57:50.436Z,1761544670.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266991 2025-10-27T05:57:50.527Z,1761544670.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369446,0.928451,0.038590],[-0.928959,-0.367968,-0.040424],[-0.023332,-0.050783,0.998437]] 2025-10-27T05:57:50.564Z,1761544670.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:50.692Z,1761544670.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522983 2025-10-27T05:57:50.943Z,1761544670.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773323 2025-10-27T05:57:50.962Z,1761544670.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367808,0.929114,0.038266],[-0.929587,-0.366302,-0.041120],[-0.024188,-0.050696,0.998421]] 2025-10-27T05:57:51.066Z,1761544671.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:51.192Z,1761544671.192 [DAT](INFO): DAT read: Rx Time:05:57:49.6713 2025-10-27T05:57:51.192Z,1761544671.192 [DAT](INFO): Rx dataTimestamp_ set to:1761544671.192116 2025-10-27T05:57:51.193Z,1761544671.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024054 2025-10-27T05:57:51.332Z,1761544671.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366179,0.929766,0.038052],[-0.930209,-0.364643,-0.041788],[-0.024978,-0.050698,0.998402]] 2025-10-27T05:57:51.356Z,1761544671.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T05:57:51.444Z,1761544671.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275042 2025-10-27T05:57:51.702Z,1761544671.702 [DAT](INFO): DAT read: 05:57:49.6713 LVL= 11104, 10977, 15026, 16019, AGC= 54, IDX= 10, 0.24, 0.055,-0.135,-1.512,-0.003, PHS= 0.160,-0.086,-1.553, RAW= 37.6, 18.1, CAL= 34.1, 20.9, ROT= 115.9, -20.9 2025-10-27T05:57:51.704Z,1761544671.704 [DAT](INFO): got valid direction response: 05:57:49.6713 LVL= 11104, 10977, 15026, 16019, AGC= 54, IDX= 10, 0.24, 0.055,-0.135,-1.512,-0.003, PHS= 0.160,-0.086,-1.553, RAW= 37.6, 18.1, CAL= 34.1, 20.9, ROT= 115.9, -20.9 2025-10-27T05:57:51.705Z,1761544671.705 [DAT](INFO): DAT read: Bearing 170.6, 56.2 (Local) 2025-10-27T05:57:51.706Z,1761544671.706 [DAT](INFO): Local bearing/azimuth received: Bearing 170.6, 56.2 (Local) 2025-10-27T05:57:51.708Z,1761544671.708 [DAT](INFO): DAT read: Range 11 to 50 : 34.9 m (Round-trip 46.6 ms) speed -0.2 m/s 2025-10-27T05:57:51.709Z,1761544671.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:57:51.710Z,1761544671.710 [DAT](INFO): direction in FSK: [-0.408062,0.840371,0.356738] 2025-10-27T05:57:51.710Z,1761544671.710 [DAT](INFO): publishing direction and range info 2025-10-27T05:57:51.765Z,1761544671.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364679,0.930366,0.037783],[-0.930779,-0.363121,-0.042343],[-0.025675,-0.050610,0.998388]] 2025-10-27T05:57:51.832Z,1761544671.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.900002 m, deltaT: 59.991307 s, deltaX: 6.800001 m, approachRate: 0.113350 m/s, rangeRepo size: 4 2025-10-27T05:57:51.834Z,1761544671.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.678471 m, bearing: 3.609266 deg, lat: 36.779388 deg, lon: -121.859742 deg, deltaT: 59.991307 s, deltaX: 6.756651 m, approachRate: 0.112627 m/s, posRepo size: 4 2025-10-27T05:57:51.839Z,1761544671.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:52.138Z,1761544672.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363205,0.930948,0.037663],[-0.931339,-0.361625,-0.042834],[-0.026256,-0.050635,0.998372]] 2025-10-27T05:57:52.182Z,1761544672.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:52.551Z,1761544672.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361787,0.931510,0.037411],[-0.931873,-0.360189,-0.043310],[-0.026868,-0.050532,0.998361]] 2025-10-27T05:57:52.571Z,1761544672.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:52.664Z,1761544672.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:57:53.029Z,1761544673.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360289,0.932093,0.037343],[-0.932438,-0.358668,-0.043777],[-0.027410,-0.050592,0.998343]] 2025-10-27T05:57:53.087Z,1761544673.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:53.364Z,1761544673.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359304,0.932479,0.037203],[-0.932807,-0.357672,-0.044066],[-0.027785,-0.050536,0.998336]] 2025-10-27T05:57:53.398Z,1761544673.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:53.667Z,1761544673.667 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:57:53.765Z,1761544673.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358475,0.932803,0.037078],[-0.933117,-0.356836,-0.044288],[-0.028082,-0.050475,0.998330]] 2025-10-27T05:57:53.786Z,1761544673.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:54.170Z,1761544674.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357819,0.933052,0.037148],[-0.933365,-0.356171,-0.044414],[-0.028210,-0.050565,0.998322]] 2025-10-27T05:57:54.228Z,1761544674.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:54.574Z,1761544674.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357608,0.933133,0.037132],[-0.933449,-0.355965,-0.044299],[-0.028119,-0.050503,0.998328]] 2025-10-27T05:57:54.599Z,1761544674.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:55.040Z,1761544675.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358156,0.932914,0.037358],[-0.933255,-0.356532,-0.043813],[-0.027555,-0.050556,0.998341]] 2025-10-27T05:57:55.084Z,1761544675.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:55.428Z,1761544675.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:55.787Z,1761544675.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358546,0.932760,0.037461],[-0.933114,-0.356934,-0.043544],[-0.027245,-0.050568,0.998349]] 2025-10-27T05:57:55.806Z,1761544675.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:56.189Z,1761544676.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359250,0.932486,0.037536],[-0.932855,-0.357653,-0.043183],[-0.026843,-0.050529,0.998362]] 2025-10-27T05:57:56.245Z,1761544676.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:56.594Z,1761544676.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360203,0.932114,0.037638],[-0.932502,-0.358627,-0.042739],[-0.026340,-0.050493,0.998377]] 2025-10-27T05:57:56.635Z,1761544676.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:57.107Z,1761544677.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:57.440Z,1761544677.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:57.805Z,1761544677.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363621,0.930765,0.038163],[-0.931217,-0.362097,-0.041482],[-0.024792,-0.050621,0.998410]] 2025-10-27T05:57:57.835Z,1761544677.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:58.210Z,1761544678.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364658,0.930357,0.038220],[-0.930820,-0.363148,-0.041201],[-0.024453,-0.050600,0.998420]] 2025-10-27T05:57:58.259Z,1761544678.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:58.626Z,1761544678.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366802,0.929511,0.038274],[-0.929991,-0.365312,-0.040789],[-0.023932,-0.050556,0.998434]] 2025-10-27T05:57:58.645Z,1761544678.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:59.116Z,1761544679.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:59.427Z,1761544679.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368363,0.928887,0.038430],[-0.929374,-0.366863,-0.040922],[-0.023913,-0.050790,0.998423]] 2025-10-27T05:57:59.455Z,1761544679.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:57:59.831Z,1761544679.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369036,0.928616,0.038526],[-0.929107,-0.367530,-0.041004],[-0.023918,-0.050927,0.998416]] 2025-10-27T05:57:59.850Z,1761544679.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:00.232Z,1761544680.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369536,0.928429,0.038254],[-0.928901,-0.368024,-0.041243],[-0.024213,-0.050775,0.998416]] 2025-10-27T05:58:00.286Z,1761544680.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:00.636Z,1761544680.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369824,0.928318,0.038143],[-0.928777,-0.368298,-0.041592],[-0.024562,-0.050808,0.998406]] 2025-10-27T05:58:00.655Z,1761544680.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:01.082Z,1761544681.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369791,0.928342,0.037879],[-0.928775,-0.368246,-0.042098],[-0.025132,-0.050748,0.998395]] 2025-10-27T05:58:01.140Z,1761544681.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:01.441Z,1761544681.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369967,0.928280,0.037683],[-0.928696,-0.368411,-0.042399],[-0.025476,-0.050682,0.998390]] 2025-10-27T05:58:01.546Z,1761544681.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:01.848Z,1761544681.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369834,0.928344,0.037424],[-0.928732,-0.368260,-0.042907],[-0.026051,-0.050626,0.998378]] 2025-10-27T05:58:01.874Z,1761544681.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:02.250Z,1761544682.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369340,0.928548,0.037228],[-0.928909,-0.367737,-0.043553],[-0.026751,-0.050668,0.998357]] 2025-10-27T05:58:02.306Z,1761544682.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:02.653Z,1761544682.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368783,0.928784,0.036870],[-0.929107,-0.367156,-0.044225],[-0.027538,-0.050565,0.998341]] 2025-10-27T05:58:02.761Z,1761544682.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:03.198Z,1761544683.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:03.462Z,1761544683.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367138,0.929438,0.036811],[-0.929720,-0.365449,-0.045472],[-0.028811,-0.050918,0.998287]] 2025-10-27T05:58:03.505Z,1761544683.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:03.865Z,1761544683.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366477,0.929711,0.036499],[-0.929964,-0.364775,-0.045903],[-0.029363,-0.050765,0.998279]] 2025-10-27T05:58:03.909Z,1761544683.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:04.270Z,1761544684.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365650,0.930052,0.036100],[-0.930269,-0.363935,-0.046371],[-0.029990,-0.050539,0.998272]] 2025-10-27T05:58:04.339Z,1761544684.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:04.675Z,1761544684.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364946,0.930338,0.035851],[-0.930533,-0.363225,-0.046648],[-0.030377,-0.050384,0.998268]] 2025-10-27T05:58:04.694Z,1761544684.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:05.086Z,1761544685.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364375,0.930573,0.035559],[-0.930747,-0.362654,-0.046830],[-0.030683,-0.050160,0.998270]] 2025-10-27T05:58:05.174Z,1761544685.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:05.486Z,1761544685.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363571,0.930882,0.035690],[-0.931055,-0.361835,-0.047039],[-0.030874,-0.050332,0.998255]] 2025-10-27T05:58:05.544Z,1761544685.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:05.890Z,1761544685.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363067,0.931075,0.035790],[-0.931249,-0.361324,-0.047111],[-0.030932,-0.050434,0.998248]] 2025-10-27T05:58:05.909Z,1761544685.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:06.294Z,1761544686.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362568,0.931262,0.035977],[-0.931443,-0.360816,-0.047175],[-0.030951,-0.050614,0.998239]] 2025-10-27T05:58:06.341Z,1761544686.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:06.698Z,1761544686.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362164,0.931418,0.036019],[-0.931599,-0.360410,-0.047196],[-0.030978,-0.050648,0.998236]] 2025-10-27T05:58:06.757Z,1761544686.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:07.114Z,1761544687.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361982,0.931486,0.036090],[-0.931677,-0.360236,-0.046990],[-0.030769,-0.050634,0.998243]] 2025-10-27T05:58:07.195Z,1761544687.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:07.518Z,1761544687.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361932,0.931510,0.035986],[-0.931704,-0.360203,-0.046694],[-0.030534,-0.050428,0.998261]] 2025-10-27T05:58:07.578Z,1761544687.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:07.910Z,1761544687.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362117,0.931441,0.035910],[-0.931646,-0.360415,-0.046224],[-0.030112,-0.050194,0.998285]] 2025-10-27T05:58:07.940Z,1761544687.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:08.314Z,1761544688.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362239,0.931391,0.035974],[-0.931614,-0.360560,-0.045740],[-0.029631,-0.050082,0.998305]] 2025-10-27T05:58:08.328Z,1761544688.328 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309462678,35.0, +100,1491.3, 0 2025-10-27T05:58:08.359Z,1761544688.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:08.726Z,1761544688.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362586,0.931249,0.036154],[-0.931500,-0.360931,-0.045136],[-0.028984,-0.050043,0.998326]] 2025-10-27T05:58:08.749Z,1761544688.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:09.132Z,1761544689.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362769,0.931166,0.036454],[-0.931447,-0.361133,-0.044607],[-0.028372,-0.050137,0.998339]] 2025-10-27T05:58:09.218Z,1761544689.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:09.529Z,1761544689.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362995,0.931065,0.036780],[-0.931376,-0.361372,-0.044154],[-0.027819,-0.050284,0.998347]] 2025-10-27T05:58:09.574Z,1761544689.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:09.930Z,1761544689.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363222,0.930973,0.036853],[-0.931300,-0.361618,-0.043731],[-0.027386,-0.050205,0.998363]] 2025-10-27T05:58:09.949Z,1761544689.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:10.336Z,1761544690.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363799,0.930739,0.037089],[-0.931094,-0.362220,-0.043132],[-0.026710,-0.050225,0.998381]] 2025-10-27T05:58:10.374Z,1761544690.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:10.742Z,1761544690.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364170,0.930591,0.037164],[-0.930963,-0.362613,-0.042654],[-0.026217,-0.050132,0.998398]] 2025-10-27T05:58:10.771Z,1761544690.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:11.145Z,1761544691.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364621,0.930403,0.037427],[-0.930806,-0.363088,-0.042034],[-0.025519,-0.050164,0.998415]] 2025-10-27T05:58:11.217Z,1761544691.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:11.601Z,1761544691.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:11.951Z,1761544691.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365222,0.930140,0.038106],[-0.930598,-0.363712,-0.041237],[-0.024497,-0.050522,0.998422]] 2025-10-27T05:58:11.970Z,1761544691.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:12.353Z,1761544692.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365629,0.929975,0.038223],[-0.930449,-0.364136,-0.040857],[-0.024077,-0.050503,0.998434]] 2025-10-27T05:58:12.402Z,1761544692.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:12.758Z,1761544692.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366055,0.929798,0.038456],[-0.930294,-0.364576,-0.040473],[-0.023611,-0.050591,0.998440]] 2025-10-27T05:58:12.797Z,1761544692.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:13.166Z,1761544693.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366588,0.929588,0.038469],[-0.930094,-0.365131,-0.040050],[-0.023184,-0.050462,0.998457]] 2025-10-27T05:58:13.185Z,1761544693.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:13.568Z,1761544693.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367060,0.929407,0.038332],[-0.929916,-0.365624,-0.039687],[-0.022870,-0.050212,0.998477]] 2025-10-27T05:58:13.605Z,1761544693.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:13.970Z,1761544693.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367407,0.929269,0.038354],[-0.929787,-0.365987,-0.039374],[-0.022552,-0.050127,0.998488]] 2025-10-27T05:58:14.013Z,1761544694.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:14.373Z,1761544694.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367380,0.929278,0.038393],[-0.929800,-0.365963,-0.039286],[-0.022458,-0.050131,0.998490]] 2025-10-27T05:58:14.474Z,1761544694.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:14.778Z,1761544694.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367360,0.929283,0.038472],[-0.929809,-0.365944,-0.039238],[-0.022385,-0.050186,0.998489]] 2025-10-27T05:58:14.808Z,1761544694.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:15.194Z,1761544695.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367336,0.929289,0.038557],[-0.929820,-0.365919,-0.039216],[-0.022334,-0.050257,0.998487]] 2025-10-27T05:58:15.274Z,1761544695.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:15.585Z,1761544695.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367042,0.929399,0.038699],[-0.929934,-0.365614,-0.039365],[-0.022437,-0.050436,0.998475]] 2025-10-27T05:58:15.692Z,1761544695.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:16.001Z,1761544696.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366917,0.929446,0.038744],[-0.929982,-0.365485,-0.039420],[-0.022479,-0.050495,0.998471]] 2025-10-27T05:58:16.045Z,1761544696.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:16.395Z,1761544696.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366509,0.929608,0.038722],[-0.930138,-0.365069,-0.039584],[-0.022662,-0.050525,0.998466]] 2025-10-27T05:58:16.458Z,1761544696.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:16.812Z,1761544696.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366055,0.929801,0.038397],[-0.930309,-0.364612,-0.039797],[-0.023003,-0.050289,0.998470]] 2025-10-27T05:58:16.867Z,1761544696.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:17.205Z,1761544697.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365789,0.929914,0.038194],[-0.930410,-0.364347,-0.039858],[-0.023149,-0.050116,0.998475]] 2025-10-27T05:58:17.238Z,1761544697.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:17.606Z,1761544697.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365281,0.930120,0.038023],[-0.930604,-0.363836,-0.040000],[-0.023370,-0.049996,0.998476]] 2025-10-27T05:58:17.662Z,1761544697.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:18.014Z,1761544698.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364634,0.930384,0.037779],[-0.930849,-0.363183,-0.040222],[-0.023701,-0.049832,0.998476]] 2025-10-27T05:58:18.033Z,1761544698.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:18.415Z,1761544698.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363758,0.930728,0.037759],[-0.931185,-0.362295,-0.040447],[-0.023965,-0.049873,0.998468]] 2025-10-27T05:58:18.458Z,1761544698.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:18.818Z,1761544698.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362867,0.931072,0.037835],[-0.931525,-0.361389,-0.040717],[-0.024237,-0.050019,0.998454]] 2025-10-27T05:58:18.853Z,1761544698.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:19.269Z,1761544699.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:19.627Z,1761544699.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361386,0.931643,0.037960],[-0.932093,-0.359889,-0.041032],[-0.024566,-0.050211,0.998436]] 2025-10-27T05:58:19.664Z,1761544699.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:20.030Z,1761544700.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360704,0.931909,0.037919],[-0.932354,-0.359205,-0.041082],[-0.024664,-0.050173,0.998436]] 2025-10-27T05:58:20.056Z,1761544700.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:20.433Z,1761544700.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360054,0.932162,0.037897],[-0.932604,-0.358553,-0.041108],[-0.024731,-0.050144,0.998436]] 2025-10-27T05:58:20.490Z,1761544700.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:20.837Z,1761544700.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359466,0.932390,0.037847],[-0.932829,-0.357968,-0.041090],[-0.024764,-0.050076,0.998438]] 2025-10-27T05:58:20.856Z,1761544700.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:21.250Z,1761544701.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359084,0.932537,0.037855],[-0.932977,-0.357587,-0.041048],[-0.024742,-0.050058,0.998440]] 2025-10-27T05:58:21.268Z,1761544701.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:21.647Z,1761544701.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358708,0.932673,0.038060],[-0.933125,-0.357210,-0.040974],[-0.024620,-0.050213,0.998435]] 2025-10-27T05:58:21.684Z,1761544701.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:22.049Z,1761544702.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358805,0.932621,0.038424],[-0.933098,-0.357311,-0.040716],[-0.024244,-0.050462,0.998432]] 2025-10-27T05:58:22.079Z,1761544702.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:22.454Z,1761544702.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358986,0.932544,0.038602],[-0.933035,-0.357498,-0.040516],[-0.023983,-0.050562,0.998433]] 2025-10-27T05:58:22.513Z,1761544702.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:22.858Z,1761544702.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.359448,0.932365,0.038628],[-0.932864,-0.357972,-0.040271],[-0.023720,-0.050510,0.998442]] 2025-10-27T05:58:22.877Z,1761544702.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:23.269Z,1761544703.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360036,0.932132,0.038775],[-0.932645,-0.358570,-0.040002],[-0.023384,-0.050565,0.998447]] 2025-10-27T05:58:23.288Z,1761544703.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:23.666Z,1761544703.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.360613,0.931903,0.038936],[-0.932429,-0.359152,-0.039826],[-0.023130,-0.050666,0.998448]] 2025-10-27T05:58:23.716Z,1761544703.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:23.788Z,1761544703.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:58:24.070Z,1761544704.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361237,0.931649,0.039204],[-0.932194,-0.359780,-0.039661],[-0.022845,-0.050873,0.998444]] 2025-10-27T05:58:24.108Z,1761544704.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:24.483Z,1761544704.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361971,0.931356,0.039408],[-0.931916,-0.360517,-0.039514],[-0.022595,-0.051028,0.998442]] 2025-10-27T05:58:24.533Z,1761544704.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:24.791Z,1761544704.791 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:58:24.884Z,1761544704.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362770,0.931037,0.039599],[-0.931612,-0.361321,-0.039325],[-0.022305,-0.051156,0.998442]] 2025-10-27T05:58:24.902Z,1761544704.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:25.282Z,1761544705.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363505,0.930753,0.039537],[-0.931327,-0.362062,-0.039249],[-0.022216,-0.051089,0.998447]] 2025-10-27T05:58:25.321Z,1761544705.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:25.686Z,1761544705.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.364217,0.930477,0.039470],[-0.931051,-0.362779,-0.039196],[-0.022152,-0.051025,0.998452]] 2025-10-27T05:58:25.745Z,1761544705.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:26.091Z,1761544706.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365001,0.930175,0.039359],[-0.930745,-0.363569,-0.039119],[-0.022078,-0.050912,0.998459]] 2025-10-27T05:58:26.109Z,1761544706.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:26.500Z,1761544706.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365581,0.929955,0.039162],[-0.930514,-0.364148,-0.039237],[-0.022228,-0.050786,0.998462]] 2025-10-27T05:58:26.543Z,1761544706.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:26.898Z,1761544706.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366032,0.929782,0.039064],[-0.930331,-0.364589,-0.039484],[-0.022469,-0.050795,0.998456]] 2025-10-27T05:58:26.933Z,1761544706.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:27.302Z,1761544707.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366274,0.929688,0.039026],[-0.930228,-0.364815,-0.039815],[-0.022778,-0.050886,0.998445]] 2025-10-27T05:58:27.390Z,1761544707.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:27.709Z,1761544707.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366296,0.929684,0.038926],[-0.930207,-0.364814,-0.040308],[-0.023273,-0.050974,0.998429]] 2025-10-27T05:58:27.801Z,1761544707.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:28.111Z,1761544708.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366455,0.929628,0.038751],[-0.930134,-0.364957,-0.040711],[-0.023703,-0.050962,0.998419]] 2025-10-27T05:58:28.180Z,1761544708.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:28.514Z,1761544708.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366421,0.929648,0.038600],[-0.930135,-0.364904,-0.041164],[-0.024183,-0.050987,0.998407]] 2025-10-27T05:58:28.616Z,1761544708.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:28.918Z,1761544708.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366385,0.929673,0.038339],[-0.930136,-0.364852,-0.041606],[-0.024692,-0.050904,0.998398]] 2025-10-27T05:58:28.961Z,1761544708.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:29.329Z,1761544709.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366315,0.929714,0.038028],[-0.930150,-0.364768,-0.042008],[-0.025184,-0.050760,0.998393]] 2025-10-27T05:58:29.378Z,1761544709.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:29.736Z,1761544709.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366184,0.929777,0.037740],[-0.930188,-0.364624,-0.042417],[-0.025677,-0.050637,0.998387]] 2025-10-27T05:58:29.803Z,1761544709.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:30.130Z,1761544710.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366069,0.929824,0.037700],[-0.930225,-0.364495,-0.042720],[-0.025981,-0.050707,0.998376]] 2025-10-27T05:58:30.161Z,1761544710.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:30.534Z,1761544710.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365756,0.929951,0.037593],[-0.930334,-0.364161,-0.043188],[-0.026472,-0.050770,0.998359]] 2025-10-27T05:58:30.579Z,1761544710.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:30.938Z,1761544710.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365821,0.929937,0.037311],[-0.930299,-0.364220,-0.043454],[-0.026820,-0.050607,0.998358]] 2025-10-27T05:58:30.990Z,1761544710.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:31.349Z,1761544711.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365776,0.929964,0.037068],[-0.930306,-0.364168,-0.043722],[-0.027161,-0.050477,0.998356]] 2025-10-27T05:58:31.368Z,1761544711.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:31.798Z,1761544711.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:32.150Z,1761544712.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365954,0.929902,0.036882],[-0.930225,-0.364332,-0.044095],[-0.027566,-0.050445,0.998346]] 2025-10-27T05:58:32.168Z,1761544712.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:32.561Z,1761544712.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366196,0.929803,0.036972],[-0.930126,-0.364564,-0.044247],[-0.027662,-0.050592,0.998336]] 2025-10-27T05:58:32.614Z,1761544712.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:32.969Z,1761544712.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366715,0.929592,0.037128],[-0.929925,-0.365079,-0.044235],[-0.027566,-0.050748,0.998331]] 2025-10-27T05:58:32.998Z,1761544712.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:33.362Z,1761544713.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.367422,0.929308,0.037258],[-0.929650,-0.365786,-0.044174],[-0.027422,-0.050867,0.998329]] 2025-10-27T05:58:33.401Z,1761544713.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:33.819Z,1761544713.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:34.169Z,1761544714.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369314,0.928559,0.037219],[-0.928916,-0.367705,-0.043682],[-0.026876,-0.050706,0.998352]] 2025-10-27T05:58:34.195Z,1761544714.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:34.589Z,1761544714.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370261,0.928185,0.037131],[-0.928546,-0.368668,-0.043429],[-0.026621,-0.050558,0.998366]] 2025-10-27T05:58:34.625Z,1761544714.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:34.984Z,1761544714.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371433,0.927714,0.037205],[-0.928089,-0.369855,-0.043104],[-0.026228,-0.050539,0.998378]] 2025-10-27T05:58:35.003Z,1761544715.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:35.390Z,1761544715.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372676,0.927219,0.037112],[-0.927599,-0.371115,-0.042834],[-0.025944,-0.050388,0.998393]] 2025-10-27T05:58:35.409Z,1761544715.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:35.838Z,1761544715.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:36.190Z,1761544716.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375407,0.926101,0.037506],[-0.926523,-0.373873,-0.042117],[-0.024982,-0.050562,0.998408]] 2025-10-27T05:58:36.209Z,1761544716.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:36.613Z,1761544716.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376797,0.925530,0.037662],[-0.925970,-0.375274,-0.041830],[-0.024581,-0.050635,0.998415]] 2025-10-27T05:58:36.662Z,1761544716.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:37.000Z,1761544717.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378179,0.924962,0.037766],[-0.925416,-0.376669,-0.041538],[-0.024196,-0.050658,0.998423]] 2025-10-27T05:58:37.019Z,1761544717.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:37.402Z,1761544717.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379607,0.924370,0.037918],[-0.924841,-0.378107,-0.041276],[-0.023818,-0.050737,0.998428]] 2025-10-27T05:58:37.437Z,1761544717.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:37.806Z,1761544717.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381065,0.923772,0.037882],[-0.924250,-0.379583,-0.040960],[-0.023459,-0.050621,0.998442]] 2025-10-27T05:58:37.866Z,1761544717.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:38.213Z,1761544718.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382416,0.923213,0.037900],[-0.923701,-0.380947,-0.040695],[-0.023132,-0.050571,0.998453]] 2025-10-27T05:58:38.231Z,1761544718.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:38.642Z,1761544718.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383622,0.922709,0.037974],[-0.923206,-0.382161,-0.040538],[-0.022893,-0.050610,0.998456]] 2025-10-27T05:58:38.690Z,1761544718.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:39.018Z,1761544719.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384694,0.922258,0.038083],[-0.922765,-0.383236,-0.040435],[-0.022697,-0.050696,0.998456]] 2025-10-27T05:58:39.048Z,1761544719.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:39.422Z,1761544719.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385844,0.921775,0.038165],[-0.922289,-0.384387,-0.040379],[-0.022550,-0.050779,0.998455]] 2025-10-27T05:58:39.462Z,1761544719.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:39.894Z,1761544719.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:40.273Z,1761544720.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388779,0.920538,0.038228],[-0.921059,-0.387322,-0.040390],[-0.022374,-0.050913,0.998452]] 2025-10-27T05:58:40.354Z,1761544720.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:40.678Z,1761544720.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389791,0.920118,0.038020],[-0.920630,-0.388338,-0.040419],[-0.022426,-0.050757,0.998459]] 2025-10-27T05:58:40.762Z,1761544720.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:41.077Z,1761544721.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390692,0.919743,0.037861],[-0.920247,-0.389239,-0.040488],[-0.022502,-0.050660,0.998462]] 2025-10-27T05:58:41.136Z,1761544721.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:41.493Z,1761544721.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391191,0.919533,0.037789],[-0.920030,-0.389730,-0.040677],[-0.022677,-0.050679,0.998458]] 2025-10-27T05:58:41.549Z,1761544721.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:41.932Z,1761544721.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391823,0.919268,0.037695],[-0.919757,-0.390357,-0.040853],[-0.022840,-0.050677,0.998454]] 2025-10-27T05:58:41.988Z,1761544721.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:42.327Z,1761544722.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392516,0.918985,0.037387],[-0.919455,-0.391046,-0.041061],[-0.023114,-0.050492,0.998457]] 2025-10-27T05:58:42.346Z,1761544722.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:42.737Z,1761544722.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392879,0.918829,0.037425],[-0.919294,-0.391393,-0.041363],[-0.023357,-0.050655,0.998443]] 2025-10-27T05:58:42.774Z,1761544722.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:43.163Z,1761544723.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393591,0.918534,0.037161],[-0.918982,-0.392100,-0.041575],[-0.023617,-0.050514,0.998444]] 2025-10-27T05:58:43.181Z,1761544723.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:43.537Z,1761544723.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394021,0.918353,0.037083],[-0.918789,-0.392514,-0.041938],[-0.023959,-0.050596,0.998432]] 2025-10-27T05:58:43.556Z,1761544723.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:43.970Z,1761544723.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394712,0.918058,0.037039],[-0.918488,-0.393195,-0.042164],[-0.024146,-0.050663,0.998424]] 2025-10-27T05:58:44.013Z,1761544724.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:44.405Z,1761544724.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395562,0.917704,0.036746],[-0.918117,-0.394047,-0.042283],[-0.024324,-0.050462,0.998430]] 2025-10-27T05:58:44.436Z,1761544724.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:44.839Z,1761544724.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396011,0.917517,0.036587],[-0.917914,-0.394483,-0.042620],[-0.024671,-0.050462,0.998421]] 2025-10-27T05:58:44.886Z,1761544724.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:45.244Z,1761544725.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396373,0.917355,0.036734],[-0.917754,-0.394828,-0.042892],[-0.024844,-0.050714,0.998404]] 2025-10-27T05:58:45.263Z,1761544725.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:45.650Z,1761544725.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396776,0.917176,0.036832],[-0.917576,-0.395218,-0.043095],[-0.024969,-0.050895,0.998392]] 2025-10-27T05:58:45.669Z,1761544725.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:46.049Z,1761544726.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397132,0.917019,0.036899],[-0.917420,-0.395568,-0.043197],[-0.025016,-0.051007,0.998385]] 2025-10-27T05:58:46.098Z,1761544726.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:46.508Z,1761544726.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:46.922Z,1761544726.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397786,0.916734,0.036952],[-0.917138,-0.396220,-0.043206],[-0.024967,-0.051077,0.998383]] 2025-10-27T05:58:46.990Z,1761544726.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:47.315Z,1761544727.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398156,0.916575,0.036920],[-0.916983,-0.396601,-0.043001],[-0.024771,-0.050976,0.998393]] 2025-10-27T05:58:47.343Z,1761544727.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:47.753Z,1761544727.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398346,0.916492,0.036917],[-0.916907,-0.396804,-0.042757],[-0.024537,-0.050882,0.998403]] 2025-10-27T05:58:47.815Z,1761544727.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:58:47.817Z,1761544727.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:47.929Z,1761544727.929 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:58:47.929Z,1761544727.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:58:48.122Z,1761544728.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398807,0.916296,0.036800],[-0.916719,-0.397294,-0.042246],[-0.024090,-0.050584,0.998429]] 2025-10-27T05:58:48.180Z,1761544728.180 [DAT](INFO): DAT read: user:604> 2025-10-27T05:58:48.181Z,1761544728.181 [DAT](INFO): DAT read: Tx time:05:58:47.2205 2025-10-27T05:58:48.181Z,1761544728.181 [DAT](INFO): Ping request sent. 2025-10-27T05:58:48.181Z,1761544728.181 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:58:48.181Z,1761544728.181 [DAT](INFO): publishing transmit ping time 2025-10-27T05:58:48.182Z,1761544728.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-27T05:58:48.278Z,1761544728.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:48.433Z,1761544728.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251671 2025-10-27T05:58:48.526Z,1761544728.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398840,0.916269,0.037118],[-0.916718,-0.397342,-0.041806],[-0.023557,-0.050700,0.998436]] 2025-10-27T05:58:48.552Z,1761544728.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:48.684Z,1761544728.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502778 2025-10-27T05:58:48.937Z,1761544728.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755445 2025-10-27T05:58:48.964Z,1761544728.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398824,0.916262,0.037471],[-0.916741,-0.397345,-0.041262],[-0.022918,-0.050808,0.998445]] 2025-10-27T05:58:49.031Z,1761544729.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:49.188Z,1761544729.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006762 2025-10-27T05:58:49.334Z,1761544729.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398918,0.916207,0.037798],[-0.916718,-0.397465,-0.040621],[-0.022194,-0.050855,0.998459]] 2025-10-27T05:58:49.354Z,1761544729.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:49.442Z,1761544729.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259923 2025-10-27T05:58:49.692Z,1761544729.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510764 2025-10-27T05:58:49.754Z,1761544729.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399082,0.916108,0.038452],[-0.916671,-0.397658,-0.039777],[-0.021150,-0.051122,0.998468]] 2025-10-27T05:58:49.840Z,1761544729.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:49.945Z,1761544729.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763501 2025-10-27T05:58:50.144Z,1761544730.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399298,0.915997,0.038865],[-0.916602,-0.397916,-0.038787],[-0.020064,-0.051112,0.998491]] 2025-10-27T05:58:50.181Z,1761544730.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:50.196Z,1761544730.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014861 2025-10-27T05:58:50.449Z,1761544730.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267139 2025-10-27T05:58:50.546Z,1761544730.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399543,0.915871,0.039310],[-0.916520,-0.398207,-0.037713],[-0.018886,-0.051096,0.998515]] 2025-10-27T05:58:50.581Z,1761544730.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:50.700Z,1761544730.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519058 2025-10-27T05:58:50.952Z,1761544730.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770851 2025-10-27T05:58:50.958Z,1761544730.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399639,0.915808,0.039798],[-0.916501,-0.398349,-0.036648],[-0.017709,-0.051121,0.998535]] 2025-10-27T05:58:51.037Z,1761544731.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:51.204Z,1761544731.204 [DAT](INFO): DAT read: Rx Time:05:58:49.6816 2025-10-27T05:58:51.204Z,1761544731.204 [DAT](INFO): Rx dataTimestamp_ set to:1761544731.204183 2025-10-27T05:58:51.205Z,1761544731.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023900 2025-10-27T05:58:51.392Z,1761544731.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.68 m. 2025-10-27T05:58:51.456Z,1761544731.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275322 2025-10-27T05:58:51.716Z,1761544731.716 [DAT](INFO): DAT read: 05:58:49.6816 LVL= 13232, 14641, 17522, 19699, AGC= 56, IDX= 20,-0.28, 2.159, 1.488, 0.402, 1.846, PHS= 0.415,-0.313,-1.488, RAW= 52.3, 16.4, CAL= 47.6, 20.0, ROT= 102.4, -20.0 2025-10-27T05:58:51.718Z,1761544731.718 [DAT](INFO): got valid direction response: 05:58:49.6816 LVL= 13232, 14641, 17522, 19699, AGC= 56, IDX= 20,-0.28, 2.159, 1.488, 0.402, 1.846, PHS= 0.415,-0.313,-1.488, RAW= 52.3, 16.4, CAL= 47.6, 20.0, ROT= 102.4, -20.0 2025-10-27T05:58:51.720Z,1761544731.720 [DAT](INFO): DAT read: Bearing 149.9, 64.1 (Local) 2025-10-27T05:58:51.720Z,1761544731.720 [DAT](INFO): Local bearing/azimuth received: Bearing 149.9, 64.1 (Local) 2025-10-27T05:58:51.722Z,1761544731.722 [DAT](INFO): DAT read: Range 11 to 50 : 42.7 m (Round-trip 57.0 ms) speed -0.1 m/s 2025-10-27T05:58:51.723Z,1761544731.723 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:58:51.725Z,1761544731.725 [DAT](INFO): direction in FSK: [-0.201785,0.917772,0.342020] 2025-10-27T05:58:51.725Z,1761544731.725 [DAT](INFO): publishing direction and range info 2025-10-27T05:58:51.880Z,1761544731.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400873,0.915181,0.041761],[-0.916038,-0.399755,-0.032726],[-0.013256,-0.051374,0.998592]] 2025-10-27T05:58:51.984Z,1761544731.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.700001 m, deltaT: 60.012224 s, deltaX: 7.799999 m, approachRate: 0.129974 m/s, rangeRepo size: 4 2025-10-27T05:58:51.986Z,1761544731.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.425491 m, bearing: 348.324466 deg, lat: 36.779387 deg, lon: -121.859742 deg, deltaT: 60.012224 s, deltaX: 7.747021 m, approachRate: 0.129091 m/s, posRepo size: 4 2025-10-27T05:58:51.986Z,1761544731.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:52.360Z,1761544732.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401391,0.914923,0.042453],[-0.915832,-0.400334,-0.031365],[-0.011701,-0.051470,0.998606]] 2025-10-27T05:58:52.379Z,1761544732.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:52.764Z,1761544732.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402001,0.914622,0.043145],[-0.915583,-0.401006,-0.030047],[-0.010180,-0.051582,0.998617]] 2025-10-27T05:58:52.806Z,1761544732.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:53.183Z,1761544733.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402857,0.914225,0.043563],[-0.915221,-0.401930,-0.028673],[-0.008704,-0.051421,0.998639]] 2025-10-27T05:58:53.294Z,1761544733.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:53.570Z,1761544733.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403675,0.913848,0.043906],[-0.914873,-0.402812,-0.027375],[-0.007331,-0.051219,0.998661]] 2025-10-27T05:58:53.612Z,1761544733.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:53.976Z,1761544733.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404430,0.913496,0.044280],[-0.914549,-0.403628,-0.026147],[-0.006012,-0.051071,0.998677]] 2025-10-27T05:58:54.050Z,1761544734.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:54.379Z,1761544734.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405143,0.913155,0.044790],[-0.914241,-0.404394,-0.025091],[-0.004799,-0.051115,0.998681]] 2025-10-27T05:58:54.422Z,1761544734.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:54.782Z,1761544734.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405736,0.912865,0.045332],[-0.913982,-0.405025,-0.024304],[-0.003826,-0.051294,0.998676]] 2025-10-27T05:58:54.819Z,1761544734.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:54.916Z,1761544734.916 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:58:55.186Z,1761544735.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406146,0.912667,0.045646],[-0.913803,-0.405464,-0.023738],[-0.003157,-0.051353,0.998676]] 2025-10-27T05:58:55.238Z,1761544735.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:55.590Z,1761544735.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406548,0.912476,0.045895],[-0.913626,-0.405891,-0.023248],[-0.002585,-0.051382,0.998676]] 2025-10-27T05:58:55.609Z,1761544735.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:55.920Z,1761544735.920 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:58:55.000Z,1761544736.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406555,0.912460,0.046151],[-0.913623,-0.405910,-0.023016],[-0.002268,-0.051522,0.998669]] 2025-10-27T05:58:56.057Z,1761544736.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:56.398Z,1761544736.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406514,0.912476,0.046204],[-0.913642,-0.405874,-0.022901],[-0.002143,-0.051523,0.998670]] 2025-10-27T05:58:56.438Z,1761544736.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:56.896Z,1761544736.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:57.218Z,1761544737.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405603,0.912894,0.045937],[-0.914045,-0.404945,-0.023253],[-0.002626,-0.051420,0.998674]] 2025-10-27T05:58:57.265Z,1761544737.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:57.621Z,1761544737.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404959,0.913192,0.045702],[-0.914330,-0.404280,-0.023636],[-0.003108,-0.051359,0.998675]] 2025-10-27T05:58:57.640Z,1761544737.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:58.027Z,1761544738.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403909,0.913662,0.045611],[-0.914791,-0.403197,-0.024268],[-0.003782,-0.051527,0.998664]] 2025-10-27T05:58:58.067Z,1761544738.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:58.457Z,1761544738.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402862,0.914136,0.045355],[-0.915249,-0.402114,-0.024960],[-0.004579,-0.051567,0.998659]] 2025-10-27T05:58:58.476Z,1761544738.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:58.865Z,1761544738.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401713,0.914660,0.044991],[-0.915749,-0.400926,-0.025735],[-0.005500,-0.051538,0.998656]] 2025-10-27T05:58:58.947Z,1761544738.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:59.323Z,1761544739.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400233,0.915331,0.044531],[-0.916389,-0.399396,-0.026717],[-0.006670,-0.051501,0.998651]] 2025-10-27T05:58:59.371Z,1761544739.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:58:59.751Z,1761544739.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398923,0.915925,0.044062],[-0.916952,-0.398045,-0.027551],[-0.007696,-0.051393,0.998649]] 2025-10-27T05:58:59.772Z,1761544739.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:00.148Z,1761544740.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397457,0.916585,0.043578],[-0.917578,-0.396532,-0.028507],[-0.008849,-0.051317,0.998643]] 2025-10-27T05:59:00.193Z,1761544740.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:00.549Z,1761544740.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396203,0.917154,0.043040],[-0.918110,-0.395239,-0.029346],[-0.009904,-0.051143,0.998642]] 2025-10-27T05:59:00.572Z,1761544740.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:00.978Z,1761544740.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394869,0.917741,0.042788],[-0.918673,-0.393863,-0.030186],[-0.010850,-0.051228,0.998628]] 2025-10-27T05:59:01.026Z,1761544741.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:01.357Z,1761544741.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393692,0.918256,0.042571],[-0.919168,-0.392648,-0.030957],[-0.011711,-0.051317,0.998614]] 2025-10-27T05:59:01.383Z,1761544741.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:01.765Z,1761544741.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392628,0.918717,0.042444],[-0.919612,-0.391546,-0.031704],[-0.012508,-0.051480,0.998596]] 2025-10-27T05:59:01.803Z,1761544741.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:02.172Z,1761544742.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391670,0.919137,0.042206],[-0.920010,-0.390556,-0.032358],[-0.013258,-0.051503,0.998585]] 2025-10-27T05:59:02.233Z,1761544742.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:02.628Z,1761544742.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391056,0.919407,0.042026],[-0.920265,-0.389923,-0.032763],[-0.013735,-0.051487,0.998579]] 2025-10-27T05:59:02.646Z,1761544742.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:03.022Z,1761544743.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390515,0.919642,0.041906],[-0.920488,-0.389365,-0.033109],[-0.014132,-0.051504,0.998573]] 2025-10-27T05:59:03.085Z,1761544743.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:03.433Z,1761544743.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390424,0.919689,0.041723],[-0.920525,-0.389274,-0.033168],[-0.014263,-0.051356,0.998578]] 2025-10-27T05:59:03.452Z,1761544743.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:03.852Z,1761544743.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390412,0.919687,0.041880],[-0.920532,-0.389262,-0.033112],[-0.014150,-0.051480,0.998574]] 2025-10-27T05:59:03.887Z,1761544743.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:04.286Z,1761544744.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390927,0.919453,0.042209],[-0.920322,-0.389797,-0.032653],[-0.013570,-0.051611,0.998575]] 2025-10-27T05:59:04.330Z,1761544744.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:04.733Z,1761544744.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391461,0.919213,0.042487],[-0.920102,-0.390350,-0.032226],[-0.013038,-0.051708,0.998577]] 2025-10-27T05:59:04.753Z,1761544744.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:05.160Z,1761544745.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392139,0.918909,0.042810],[-0.919823,-0.391053,-0.031675],[-0.012365,-0.051799,0.998581]] 2025-10-27T05:59:05.208Z,1761544745.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:05.562Z,1761544745.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393255,0.918421,0.043045],[-0.919358,-0.392209,-0.030859],[-0.011459,-0.051709,0.998596]] 2025-10-27T05:59:05.586Z,1761544745.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:05.967Z,1761544745.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394311,0.917956,0.043313],[-0.918917,-0.393308,-0.030015],[-0.010518,-0.051636,0.998611]] 2025-10-27T05:59:06.069Z,1761544746.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:06.078Z,1761544746.078 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T05:49:05.0Z 2025-10-27T05:59:06.078Z,1761544746.078 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T05:59:06.078Z,1761544746.078 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:59:06.078Z,1761544746.078 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T05:59:06.078Z,1761544746.078 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:59:06.078Z,1761544746.078 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T05:59:06.447Z,1761544746.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395354,0.917491,0.043641],[-0.918479,-0.394393,-0.029158],[-0.009540,-0.051611,0.998622]] 2025-10-27T05:59:06.498Z,1761544746.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:06.502Z,1761544746.502 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T05:59:06.502Z,1761544746.502 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T05:59:06.502Z,1761544746.502 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T05:59:06.502Z,1761544746.502 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T05:59:06.503Z,1761544746.503 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T05:59:07.167Z,1761544747.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397924,0.916343,0.044406],[-0.917390,-0.397067,-0.027082],[-0.007184,-0.051514,0.998646]] 2025-10-27T05:59:07.226Z,1761544747.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:07.582Z,1761544747.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399010,0.915851,0.044811],[-0.916926,-0.398202,-0.026096],[-0.006056,-0.051501,0.998655]] 2025-10-27T05:59:07.604Z,1761544747.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:08.063Z,1761544748.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:08.385Z,1761544748.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400978,0.914934,0.045961],[-0.916081,-0.400272,-0.024061],[-0.003617,-0.051752,0.998653]] 2025-10-27T05:59:08.446Z,1761544748.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:08.844Z,1761544748.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401672,0.914604,0.046479],[-0.915780,-0.401012,-0.023154],[-0.002538,-0.051865,0.998651]] 2025-10-27T05:59:08.875Z,1761544748.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:09.263Z,1761544749.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402320,0.914294,0.046966],[-0.915498,-0.401710,-0.022189],[-0.001420,-0.051925,0.998650]] 2025-10-27T05:59:09.308Z,1761544749.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:09.666Z,1761544749.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402547,0.914165,0.047517],[-0.915399,-0.401981,-0.021328],[-0.000396,-0.052082,0.998643]] 2025-10-27T05:59:09.684Z,1761544749.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:10.117Z,1761544750.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402762,0.914045,0.047995],[-0.915304,-0.402245,-0.020411],[0.000649,-0.052150,0.998639]] 2025-10-27T05:59:10.157Z,1761544750.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:10.473Z,1761544750.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402430,0.914170,0.048402],[-0.915450,-0.401950,-0.019687],[0.001458,-0.052232,0.998634]] 2025-10-27T05:59:10.498Z,1761544750.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:10.878Z,1761544750.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402127,0.914281,0.048829],[-0.915581,-0.401693,-0.018834],[0.002395,-0.052281,0.998630]] 2025-10-27T05:59:10.924Z,1761544750.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:11.281Z,1761544751.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401257,0.914629,0.049457],[-0.915959,-0.400863,-0.018076],[0.003293,-0.052554,0.998613]] 2025-10-27T05:59:11.338Z,1761544751.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:11.741Z,1761544751.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400270,0.915042,0.049814],[-0.916388,-0.399919,-0.017272],[0.004117,-0.052563,0.998609]] 2025-10-27T05:59:11.805Z,1761544751.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:12.118Z,1761544752.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399117,0.915522,0.050259],[-0.916886,-0.398811,-0.016406],[0.005024,-0.052630,0.998601]] 2025-10-27T05:59:12.177Z,1761544752.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:12.493Z,1761544752.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397659,0.916119,0.050929],[-0.917514,-0.397400,-0.015542],[0.006001,-0.052908,0.998581]] 2025-10-27T05:59:12.544Z,1761544752.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:12.950Z,1761544752.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:13.304Z,1761544753.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394783,0.917315,0.051760],[-0.918739,-0.394637,-0.013463],[0.008077,-0.052869,0.998569]] 2025-10-27T05:59:13.342Z,1761544753.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:13.709Z,1761544753.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393041,0.918035,0.052244],[-0.919475,-0.392956,-0.012321],[0.009219,-0.052880,0.998558]] 2025-10-27T05:59:13.745Z,1761544753.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:14.122Z,1761544754.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391432,0.918695,0.052728],[-0.920147,-0.391420,-0.010979],[0.010553,-0.052815,0.998549]] 2025-10-27T05:59:14.199Z,1761544754.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:14.514Z,1761544754.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390040,0.919259,0.053209],[-0.920718,-0.390113,-0.009434],[0.012085,-0.052670,0.998539]] 2025-10-27T05:59:14.570Z,1761544754.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:14.921Z,1761544754.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388201,0.920008,0.053723],[-0.921477,-0.388349,-0.008070],[0.013439,-0.052637,0.998523]] 2025-10-27T05:59:14.946Z,1761544754.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:15.347Z,1761544755.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386668,0.920617,0.054335],[-0.922096,-0.386906,-0.006489],[0.015049,-0.052611,0.998502]] 2025-10-27T05:59:15.413Z,1761544755.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:15.742Z,1761544755.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385177,0.921206,0.054935],[-0.922692,-0.385506,-0.004889],[0.016674,-0.052571,0.998478]] 2025-10-27T05:59:15.760Z,1761544755.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:16.160Z,1761544756.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383808,0.921734,0.055659],[-0.923229,-0.384237,-0.003203],[0.018434,-0.052615,0.998445]] 2025-10-27T05:59:16.225Z,1761544756.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:16.546Z,1761544756.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382580,0.922206,0.056282],[-0.923702,-0.383108,-0.001517],[0.020163,-0.052568,0.998414]] 2025-10-27T05:59:16.588Z,1761544756.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:16.950Z,1761544756.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381444,0.922631,0.057035],[-0.924130,-0.382077,0.000199],[0.021976,-0.052631,0.998372]] 2025-10-27T05:59:16.990Z,1761544756.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:17.353Z,1761544757.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380530,0.922971,0.057628],[-0.924464,-0.381264,0.001898],[0.023724,-0.052553,0.998336]] 2025-10-27T05:59:17.419Z,1761544757.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:17.763Z,1761544757.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379888,0.923197,0.058248],[-0.924680,-0.380727,0.003619],[0.025518,-0.052486,0.998296]] 2025-10-27T05:59:17.782Z,1761544757.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:18.248Z,1761544758.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379354,0.923375,0.058903],[-0.924850,-0.380295,0.005246],[0.027244,-0.052486,0.998250]] 2025-10-27T05:59:18.257Z,1761544758.257 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309473683,35.0, +10.4, 0.0,10 0.00, 86.40, 80.13, 78.77 2025-10-27T05:59:18.286Z,1761544758.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:18.570Z,1761544758.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379087,0.923440,0.059594],[-0.924907,-0.380132,0.006850],[0.028979,-0.052522,0.998199]] 2025-10-27T05:59:18.604Z,1761544758.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:18.974Z,1761544758.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378674,0.923569,0.060225],[-0.925029,-0.379808,0.008220],[0.030466,-0.052597,0.998151]] 2025-10-27T05:59:18.992Z,1761544758.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:19.386Z,1761544759.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378399,0.923650,0.060701],[-0.925098,-0.379612,0.009440],[0.031762,-0.052582,0.998111]] 2025-10-27T05:59:19.444Z,1761544759.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:19.784Z,1761544759.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378084,0.923747,0.061184],[-0.925187,-0.379367,0.010482],[0.032894,-0.052644,0.998071]] 2025-10-27T05:59:19.802Z,1761544759.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:20.191Z,1761544760.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377820,0.923832,0.061533],[-0.925262,-0.379160,0.011337],[0.033804,-0.052651,0.998041]] 2025-10-27T05:59:20.282Z,1761544760.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:20.590Z,1761544760.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377206,0.924070,0.061733],[-0.925496,-0.378575,0.011781],[0.034257,-0.052690,0.998023]] 2025-10-27T05:59:20.646Z,1761544760.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:20.995Z,1761544760.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376767,0.924243,0.061820],[-0.925662,-0.378156,0.012125],[0.034584,-0.052656,0.998014]] 2025-10-27T05:59:21.014Z,1761544761.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:21.406Z,1761544761.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375843,0.924618,0.061835],[-0.926042,-0.377228,0.012040],[0.034458,-0.052736,0.998014]] 2025-10-27T05:59:21.442Z,1761544761.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:21.802Z,1761544761.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374875,0.925008,0.061876],[-0.926443,-0.376249,0.011843],[0.034235,-0.052885,0.998014]] 2025-10-27T05:59:21.833Z,1761544761.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:22.206Z,1761544762.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373736,0.925487,0.061603],[-0.926927,-0.375071,0.011312],[0.033574,-0.052874,0.998037]] 2025-10-27T05:59:22.259Z,1761544762.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:22.610Z,1761544762.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372946,0.925838,0.061111],[-0.927269,-0.374238,0.010844],[0.032910,-0.052622,0.998072]] 2025-10-27T05:59:22.667Z,1761544762.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:23.016Z,1761544763.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.371618,0.926406,0.060595],[-0.927839,-0.372848,0.010009],[0.031865,-0.052503,0.998112]] 2025-10-27T05:59:23.041Z,1761544763.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:23.418Z,1761544763.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370171,0.927024,0.060010],[-0.928461,-0.371323,0.008931],[0.030563,-0.052411,0.998158]] 2025-10-27T05:59:23.466Z,1761544763.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:23.821Z,1761544763.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368181,0.927846,0.059541],[-0.929300,-0.369247,0.007621],[0.029056,-0.052525,0.998197]] 2025-10-27T05:59:23.841Z,1761544763.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:24.227Z,1761544764.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366410,0.928590,0.058861],[-0.930049,-0.367383,0.006276],[0.027452,-0.052444,0.998246]] 2025-10-27T05:59:24.250Z,1761544764.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:24.708Z,1761544764.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:25.033Z,1761544765.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362496,0.930208,0.057529],[-0.931679,-0.363268,0.003210],[0.023884,-0.052435,0.998339]] 2025-10-27T05:59:25.073Z,1761544765.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:25.495Z,1761544765.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:25.841Z,1761544765.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358520,0.931841,0.056008],[-0.933307,-0.359080,-0.000063],[0.020053,-0.052295,0.998430]] 2025-10-27T05:59:25.906Z,1761544765.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:26.043Z,1761544766.043 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:59:26.249Z,1761544766.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356380,0.932709,0.055202],[-0.934166,-0.356833,-0.001741],[0.018074,-0.052189,0.998474]] 2025-10-27T05:59:26.271Z,1761544766.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:26.650Z,1761544766.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354185,0.933588,0.054467],[-0.935037,-0.354532,-0.003480],[0.016062,-0.052162,0.998510]] 2025-10-27T05:59:26.698Z,1761544766.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:27.047Z,1761544767.047 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:59:27.055Z,1761544767.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352190,0.934383,0.053756],[-0.935820,-0.352442,-0.005033],[0.014243,-0.052079,0.998541]] 2025-10-27T05:59:27.086Z,1761544767.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:27.458Z,1761544767.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350219,0.935166,0.053025],[-0.936586,-0.350375,-0.006626],[0.012383,-0.051983,0.998571]] 2025-10-27T05:59:27.511Z,1761544767.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:27.870Z,1761544767.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348301,0.935911,0.052504],[-0.937322,-0.348371,-0.008125],[0.010687,-0.052043,0.998588]] 2025-10-27T05:59:27.901Z,1761544767.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:28.267Z,1761544768.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346582,0.936585,0.051859],[-0.937976,-0.346568,-0.009538],[0.009040,-0.051949,0.998609]] 2025-10-27T05:59:28.330Z,1761544768.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:28.670Z,1761544768.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344769,0.937277,0.051443],[-0.938658,-0.344677,-0.010916],[0.007500,-0.052050,0.998616]] 2025-10-27T05:59:28.734Z,1761544768.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:29.074Z,1761544769.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343292,0.937846,0.050951],[-0.939209,-0.343131,-0.012144],[0.006094,-0.052022,0.998627]] 2025-10-27T05:59:29.096Z,1761544769.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:29.546Z,1761544769.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:29.889Z,1761544769.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340166,0.939035,0.050003],[-0.940359,-0.339876,-0.014437],[0.003438,-0.051932,0.998645]] 2025-10-27T05:59:29.919Z,1761544769.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:30.285Z,1761544770.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338828,0.939541,0.049578],[-0.940845,-0.338489,-0.015350],[0.002360,-0.051847,0.998652]] 2025-10-27T05:59:30.329Z,1761544770.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:30.690Z,1761544770.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337330,0.940091,0.049361],[-0.941385,-0.336947,-0.016149],[0.001450,-0.051916,0.998650]] 2025-10-27T05:59:30.759Z,1761544770.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:31.106Z,1761544771.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336041,0.940564,0.049144],[-0.941847,-0.335616,-0.016897],[0.000601,-0.051964,0.998649]] 2025-10-27T05:59:31.126Z,1761544771.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:31.498Z,1761544771.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334858,0.940998,0.048910],[-0.942269,-0.334405,-0.017401],[-0.000019,-0.051913,0.998652]] 2025-10-27T05:59:31.549Z,1761544771.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:31.906Z,1761544771.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333562,0.941461,0.048865],[-0.942728,-0.333084,-0.017850],[-0.000529,-0.052020,0.998646]] 2025-10-27T05:59:31.941Z,1761544771.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:32.311Z,1761544772.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330594,0.942512,0.048764],[-0.943772,-0.330080,-0.018477],[-0.001319,-0.052131,0.998639]] 2025-10-27T05:59:32.333Z,1761544772.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:32.721Z,1761544772.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329422,0.942929,0.048648],[-0.944182,-0.328906,-0.018482],[-0.001427,-0.052021,0.998645]] 2025-10-27T05:59:32.782Z,1761544772.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:33.119Z,1761544773.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328182,0.943369,0.048488],[-0.944614,-0.327671,-0.018362],[-0.001435,-0.051828,0.998655]] 2025-10-27T05:59:33.148Z,1761544773.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:33.522Z,1761544773.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326770,0.943853,0.048612],[-0.945103,-0.326267,-0.018161],[-0.001281,-0.051878,0.998653]] 2025-10-27T05:59:33.567Z,1761544773.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:33.923Z,1761544773.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325436,0.944310,0.048674],[-0.945563,-0.324955,-0.017725],[-0.000921,-0.051793,0.998657]] 2025-10-27T05:59:33.943Z,1761544773.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:34.327Z,1761544774.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324158,0.944730,0.049052],[-0.946003,-0.323705,-0.017143],[-0.000317,-0.051960,0.998649]] 2025-10-27T05:59:34.356Z,1761544774.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:34.736Z,1761544774.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323003,0.945115,0.049261],[-0.946398,-0.322587,-0.016409],[0.000383,-0.051920,0.998651]] 2025-10-27T05:59:34.780Z,1761544774.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:35.134Z,1761544775.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321733,0.945538,0.049446],[-0.946830,-0.321354,-0.015646],[0.001095,-0.051851,0.998654]] 2025-10-27T05:59:35.152Z,1761544775.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:35.539Z,1761544775.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320642,0.945889,0.049830],[-0.947198,-0.320314,-0.014653],[0.002101,-0.051897,0.998650]] 2025-10-27T05:59:35.577Z,1761544775.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:35.941Z,1761544775.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319701,0.946181,0.050321],[-0.947513,-0.319433,-0.013497],[0.003303,-0.051995,0.998642]] 2025-10-27T05:59:35.970Z,1761544775.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:36.354Z,1761544776.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318992,0.946400,0.050709],[-0.947746,-0.318791,-0.012205],[0.004615,-0.051953,0.998639]] 2025-10-27T05:59:36.395Z,1761544776.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:36.780Z,1761544776.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318282,0.946622,0.051025],[-0.947978,-0.318149,-0.010921],[0.005895,-0.051847,0.998638]] 2025-10-27T05:59:36.885Z,1761544776.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:37.154Z,1761544777.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317752,0.946773,0.051517],[-0.948145,-0.317695,-0.009506],[0.007367,-0.051866,0.998627]] 2025-10-27T05:59:37.192Z,1761544777.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:37.558Z,1761544777.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317252,0.946911,0.052057],[-0.948300,-0.317274,-0.008066],[0.008878,-0.051925,0.998612]] 2025-10-27T05:59:37.606Z,1761544777.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:37.961Z,1761544777.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316819,0.947028,0.052570],[-0.948429,-0.316920,-0.006609],[0.010402,-0.051953,0.998595]] 2025-10-27T05:59:37.980Z,1761544777.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:38.376Z,1761544778.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316444,0.947130,0.052990],[-0.948537,-0.316624,-0.005190],[0.011862,-0.051905,0.998582]] 2025-10-27T05:59:38.398Z,1761544778.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:38.823Z,1761544778.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:39.174Z,1761544779.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314943,0.947572,0.054021],[-0.949001,-0.315261,-0.002763],[0.014413,-0.052136,0.998536]] 2025-10-27T05:59:39.196Z,1761544779.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:39.580Z,1761544779.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314011,0.947857,0.054441],[-0.949292,-0.314391,-0.001659],[0.015543,-0.052201,0.998516]] 2025-10-27T05:59:39.617Z,1761544779.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:39.982Z,1761544779.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312787,0.948237,0.054879],[-0.949679,-0.313223,-0.000694],[0.016531,-0.052335,0.998493]] 2025-10-27T05:59:40.013Z,1761544780.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:40.386Z,1761544780.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311601,0.948610,0.055172],[-0.950052,-0.312090,0.000261],[0.017466,-0.052335,0.998477]] 2025-10-27T05:59:40.425Z,1761544780.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:40.789Z,1761544780.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309849,0.949172,0.055383],[-0.950615,-0.310372,0.000894],[0.018038,-0.052371,0.998465]] 2025-10-27T05:59:40.853Z,1761544780.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:41.195Z,1761544781.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308082,0.949740,0.055492],[-0.951180,-0.308633,0.001437],[0.018492,-0.052340,0.998458]] 2025-10-27T05:59:41.214Z,1761544781.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:41.597Z,1761544781.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306038,0.950401,0.055495],[-0.951836,-0.306602,0.001740],[0.018669,-0.052290,0.998457]] 2025-10-27T05:59:41.642Z,1761544781.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:42.001Z,1761544782.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304015,0.951060,0.055308],[-0.952482,-0.304587,0.002020],[0.018767,-0.052066,0.998467]] 2025-10-27T05:59:42.028Z,1761544782.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:42.406Z,1761544782.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301655,0.951821,0.055148],[-0.953233,-0.302227,0.002154],[0.018717,-0.051919,0.998476]] 2025-10-27T05:59:42.429Z,1761544782.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:42.810Z,1761544782.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299053,0.952647,0.055049],[-0.954056,-0.299620,0.002155],[0.018547,-0.051875,0.998481]] 2025-10-27T05:59:42.888Z,1761544782.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:43.218Z,1761544783.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.296028,0.953605,0.054821],[-0.955007,-0.296576,0.001970],[0.018137,-0.051771,0.998494]] 2025-10-27T05:59:43.250Z,1761544783.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:43.618Z,1761544783.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293013,0.954537,0.054800],[-0.955941,-0.293553,0.001904],[0.017904,-0.051828,0.998496]] 2025-10-27T05:59:43.672Z,1761544783.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:44.022Z,1761544784.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.289766,0.955531,0.054742],[-0.956938,-0.290288,0.001661],[0.017478,-0.051903,0.998499]] 2025-10-27T05:59:44.043Z,1761544784.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:44.427Z,1761544784.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286835,0.956421,0.054630],[-0.957825,-0.287347,0.001590],[0.017218,-0.051870,0.998505]] 2025-10-27T05:59:44.449Z,1761544784.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:44.833Z,1761544784.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283905,0.957304,0.054471],[-0.958704,-0.284404,0.001472],[0.016901,-0.051803,0.998514]] 2025-10-27T05:59:44.888Z,1761544784.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:45.270Z,1761544785.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:45.640Z,1761544785.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279175,0.958713,0.054143],[-0.960096,-0.279665,0.001545],[0.016623,-0.051551,0.998532]] 2025-10-27T05:59:45.697Z,1761544785.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:46.043Z,1761544786.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277635,0.959159,0.054152],[-0.960539,-0.278139,0.001851],[0.016837,-0.051501,0.998531]] 2025-10-27T05:59:46.064Z,1761544786.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:46.445Z,1761544786.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276168,0.959583,0.054140],[-0.960960,-0.276680,0.002046],[0.016943,-0.051461,0.998531]] 2025-10-27T05:59:46.491Z,1761544786.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:46.858Z,1761544786.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275134,0.959872,0.054280],[-0.961253,-0.275659,0.002302],[0.017173,-0.051544,0.998523]] 2025-10-27T05:59:46.902Z,1761544786.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:47.254Z,1761544787.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274607,0.960017,0.054399],[-0.961398,-0.275149,0.002588],[0.017452,-0.051588,0.998516]] 2025-10-27T05:59:47.273Z,1761544787.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:47.668Z,1761544787.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274540,0.960026,0.054569],[-0.961411,-0.275102,0.002927],[0.017822,-0.051660,0.998506]] 2025-10-27T05:59:47.709Z,1761544787.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:48.061Z,1761544788.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275039,0.959874,0.054721],[-0.961259,-0.275625,0.003316],[0.018265,-0.051689,0.998496]] 2025-10-27T05:59:48.093Z,1761544788.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T05:59:48.095Z,1761544788.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:48.096Z,1761544788.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 42.70 m and bearing: 350.562569 deg. Not drifting fast enough. 2025-10-27T05:59:48.180Z,1761544788.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T05:59:48.181Z,1761544788.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T05:59:48.432Z,1761544788.432 [DAT](INFO): DAT read: user:605> 2025-10-27T05:59:48.433Z,1761544788.433 [DAT](INFO): DAT read: Tx time:05:59:47.4703 2025-10-27T05:59:48.433Z,1761544788.433 [DAT](INFO): Ping request sent. 2025-10-27T05:59:48.433Z,1761544788.433 [DAT](INFO): transmitted an acoustic signal 2025-10-27T05:59:48.433Z,1761544788.433 [DAT](INFO): publishing transmit ping time 2025-10-27T05:59:48.434Z,1761544788.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-27T05:59:48.474Z,1761544788.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275890,0.959621,0.054874],[-0.961007,-0.276499,0.003671],[0.018696,-0.051722,0.998487]] 2025-10-27T05:59:48.509Z,1761544788.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:48.515Z,1761544788.515 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T05:59:48.516Z,1761544788.516 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T05:59:48.516Z,1761544788.516 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T05:59:48.516Z,1761544788.516 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T05:59:48.686Z,1761544788.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252538 2025-10-27T05:59:48.870Z,1761544788.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276962,0.959298,0.055123],[-0.960691,-0.277591,0.003950],[0.019091,-0.051862,0.998472]] 2025-10-27T05:59:48.923Z,1761544788.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:48.936Z,1761544788.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503219 2025-10-27T05:59:49.188Z,1761544789.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754884 2025-10-27T05:59:49.275Z,1761544789.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278344,0.958898,0.055136],[-0.960285,-0.278989,0.004213],[0.019422,-0.051773,0.998470]] 2025-10-27T05:59:49.294Z,1761544789.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:49.441Z,1761544789.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007469 2025-10-27T05:59:49.692Z,1761544789.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258932 2025-10-27T05:59:49.696Z,1761544789.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279617,0.958520,0.055261],[-0.959911,-0.280270,0.004295],[0.019605,-0.051844,0.998463]] 2025-10-27T05:59:49.775Z,1761544789.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:49.944Z,1761544789.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867 2025-10-27T05:59:50.082Z,1761544790.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280989,0.958119,0.055263],[-0.959512,-0.281638,0.004182],[0.019571,-0.051850,0.998463]] 2025-10-27T05:59:50.100Z,1761544790.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:50.197Z,1761544790.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763267 2025-10-27T05:59:50.448Z,1761544790.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014838 2025-10-27T05:59:50.539Z,1761544790.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:50.704Z,1761544790.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270842 2025-10-27T05:59:50.906Z,1761544790.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282771,0.957594,0.055259],[-0.958998,-0.283392,0.003580],[0.019088,-0.051981,0.998466]] 2025-10-27T05:59:50.952Z,1761544790.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518737 2025-10-27T05:59:50.969Z,1761544790.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:51.204Z,1761544791.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770849 2025-10-27T05:59:51.309Z,1761544791.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283136,0.957483,0.055324],[-0.958900,-0.283730,0.003015],[0.018584,-0.052197,0.998464]] 2025-10-27T05:59:51.350Z,1761544791.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:51.457Z,1761544791.457 [DAT](INFO): DAT read: Rx Time:05:59:49.9410 2025-10-27T05:59:51.458Z,1761544791.458 [DAT](INFO): Rx dataTimestamp_ set to:1761544791.456911 2025-10-27T05:59:51.458Z,1761544791.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025021 2025-10-27T05:59:51.712Z,1761544791.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277522 2025-10-27T05:59:51.745Z,1761544791.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283569,0.957365,0.055153],[-0.958784,-0.284128,0.002402],[0.017970,-0.052198,0.998475]] 2025-10-27T05:59:51.861Z,1761544791.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.43 m. 2025-10-27T05:59:51.967Z,1761544791.967 [DAT](INFO): DAT read: 05:59:49.9410 LVL= 13984, 19649, 30882, 29267, AGC= 59, IDX= 6,-0.20, 2.525, 1.548, 0.462, 1.767, PHS= 0.860,-0.175,-1.349, RAW= 57.9, 7.0, CAL= 56.4, 7.2, ROT= 93.6, -7.2 2025-10-27T05:59:51.969Z,1761544791.969 [DAT](INFO): got valid direction response: 05:59:49.9410 LVL= 13984, 19649, 30882, 29267, AGC= 59, IDX= 6,-0.20, 2.525, 1.548, 0.462, 1.767, PHS= 0.860,-0.175,-1.349, RAW= 57.9, 7.0, CAL= 56.4, 7.2, ROT= 93.6, -7.2 2025-10-27T05:59:51.970Z,1761544791.970 [DAT](INFO): DAT read: Bearing 156.6, 78.8 (Local) 2025-10-27T05:59:51.971Z,1761544791.971 [DAT](INFO): Local bearing/azimuth received: Bearing 156.6, 78.8 (Local) 2025-10-27T05:59:51.973Z,1761544791.973 [DAT](INFO): DAT read: Range 11 to 50 : 49.9 m (Round-trip 66.6 ms) speed -0.1 m/s 2025-10-27T05:59:51.973Z,1761544791.973 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T05:59:51.974Z,1761544791.974 [DAT](INFO): direction in FSK: [-0.062295,0.990157,0.125333] 2025-10-27T05:59:51.975Z,1761544791.975 [DAT](INFO): publishing direction and range info 2025-10-27T05:59:52.117Z,1761544792.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283410,0.957422,0.054976],[-0.958847,-0.283921,0.001559],[0.017101,-0.052272,0.998486]] 2025-10-27T05:59:52.149Z,1761544792.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.900002 m, deltaT: 60.251759 s, deltaX: 7.200001 m, approachRate: 0.119499 m/s, rangeRepo size: 4 2025-10-27T05:59:52.176Z,1761544792.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.580250 m, bearing: 347.186409 deg, lat: 36.779387 deg, lon: -121.859742 deg, deltaT: 60.251759 s, deltaX: 7.154758 m, approachRate: 0.118748 m/s, posRepo size: 4 2025-10-27T05:59:52.176Z,1761544792.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:52.521Z,1761544792.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283204,0.957510,0.054497],[-0.958924,-0.283663,0.000722],[0.016150,-0.052054,0.998514]] 2025-10-27T05:59:52.561Z,1761544792.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:52.926Z,1761544792.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282539,0.957737,0.053967],[-0.959139,-0.282936,-0.000300],[0.014982,-0.051847,0.998543]] 2025-10-27T05:59:52.970Z,1761544792.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:53.377Z,1761544793.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:53.755Z,1761544793.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278507,0.957956,0.068949],[-0.960373,-0.278579,-0.008770],[0.010807,-0.068659,0.997582]] 2025-10-27T05:59:53.804Z,1761544793.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:54.137Z,1761544794.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275698,0.957538,0.084325],[-0.961205,-0.275421,-0.015140],[0.008728,-0.085228,0.996323]] 2025-10-27T05:59:54.163Z,1761544794.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:54.582Z,1761544794.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:54.945Z,1761544794.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272113,0.957875,0.091812],[-0.962244,-0.271496,-0.019387],[0.006357,-0.093621,0.995588]] 2025-10-27T05:59:55.002Z,1761544795.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:55.387Z,1761544795.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:55.782Z,1761544795.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272995,0.958954,0.076684],[-0.961997,-0.272613,-0.015605],[0.005940,-0.078030,0.996933]] 2025-10-27T05:59:55.853Z,1761544795.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:56.158Z,1761544796.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274705,0.958481,0.076494],[-0.961509,-0.274343,-0.015408],[0.006218,-0.077782,0.996951]] 2025-10-27T05:59:56.205Z,1761544796.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:56.569Z,1761544796.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277133,0.957268,0.082675],[-0.960808,-0.276696,-0.016925],[0.006674,-0.084126,0.996433]] 2025-10-27T05:59:56.588Z,1761544796.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:56.971Z,1761544796.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280107,0.955601,0.091472],[-0.959940,-0.279561,-0.018994],[0.007422,-0.093128,0.995627]] 2025-10-27T05:59:57.033Z,1761544797.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:57.167Z,1761544797.167 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T05:59:57.373Z,1761544797.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284070,0.953742,0.098394],[-0.958767,-0.283456,-0.020454],[0.008383,-0.100147,0.994937]] 2025-10-27T05:59:57.404Z,1761544797.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:57.812Z,1761544797.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.288624,0.951987,0.102061],[-0.957396,-0.288017,-0.020958],[0.009443,-0.103762,0.994557]] 2025-10-27T05:59:57.872Z,1761544797.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:58.171Z,1761544798.171 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T05:59:58.181Z,1761544798.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294019,0.950090,0.104314],[-0.955740,-0.293461,-0.021009],[0.010652,-0.105874,0.994322]] 2025-10-27T05:59:58.246Z,1761544798.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:58.590Z,1761544798.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.299673,0.947924,0.107872],[-0.953970,-0.299115,-0.021693],[0.011703,-0.109407,0.993928]] 2025-10-27T05:59:58.609Z,1761544798.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:59.042Z,1761544799.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305613,0.945419,0.113068],[-0.952068,-0.305033,-0.022815],[0.012920,-0.114621,0.993325]] 2025-10-27T05:59:59.094Z,1761544799.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T05:59:59.546Z,1761544799.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316903,0.940043,0.126063],[-0.948338,-0.316165,-0.026355],[0.015082,-0.127902,0.991672]] 2025-10-27T05:59:59.584Z,1761544799.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:00.019Z,1761544800.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322748,0.937416,0.130713],[-0.946342,-0.322010,-0.027326],[0.016475,-0.132519,0.991044]] 2025-10-27T06:00:00.069Z,1761544800.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:00.469Z,1761544800.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:00.867Z,1761544800.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333970,0.932649,0.136492],[-0.942380,-0.333391,-0.027765],[0.019610,-0.137900,0.990252]] 2025-10-27T06:00:00.910Z,1761544800.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:01.230Z,1761544801.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339687,0.930333,0.138178],[-0.940288,-0.339305,-0.027044],[0.021724,-0.139113,0.990038]] 2025-10-27T06:00:01.264Z,1761544801.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:01.673Z,1761544801.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:02.038Z,1761544802.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351826,0.925741,0.138641],[-0.935713,-0.351876,-0.024978],[0.025662,-0.138516,0.990028]] 2025-10-27T06:00:02.100Z,1761544802.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:02.442Z,1761544802.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358970,0.923112,0.137858],[-0.932941,-0.359244,-0.023758],[0.027593,-0.137142,0.990167]] 2025-10-27T06:00:02.466Z,1761544802.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:02.888Z,1761544802.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366413,0.920352,0.136724],[-0.929996,-0.366858,-0.022857],[0.029122,-0.135528,0.990345]] 2025-10-27T06:00:02.936Z,1761544802.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:03.255Z,1761544803.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375226,0.917128,0.134469],[-0.926447,-0.375759,-0.022376],[0.030006,-0.132974,0.990665]] 2025-10-27T06:00:03.274Z,1761544803.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:03.662Z,1761544803.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384652,0.913041,0.135644],[-0.922569,-0.385076,-0.024166],[0.030168,-0.134437,0.990463]] 2025-10-27T06:00:03.681Z,1761544803.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:04.058Z,1761544804.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395106,0.907703,0.141306],[-0.918151,-0.395196,-0.028632],[0.029854,-0.141052,0.989552]] 2025-10-27T06:00:04.106Z,1761544804.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:04.498Z,1761544804.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:04.890Z,1761544804.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417706,0.893874,0.162824],[-0.908134,-0.416372,-0.043906],[0.028549,-0.166206,0.985678]] 2025-10-27T06:00:04.966Z,1761544804.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:05.276Z,1761544805.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.430460,0.885564,0.174588],[-0.902164,-0.428198,-0.052403],[0.028352,-0.180064,0.983246]] 2025-10-27T06:00:05.298Z,1761544805.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:05.673Z,1761544805.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444326,0.877118,0.182315],[-0.895410,-0.441289,-0.059192],[0.028535,-0.189548,0.981457]] 2025-10-27T06:00:05.700Z,1761544805.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:06.079Z,1761544806.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459096,0.868274,0.187965],[-0.887918,-0.455336,-0.065349],[0.028846,-0.196899,0.979999]] 2025-10-27T06:00:06.127Z,1761544806.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:06.481Z,1761544806.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474466,0.858575,0.194246],[-0.879798,-0.469773,-0.072584],[0.028933,-0.205336,0.978264]] 2025-10-27T06:00:06.500Z,1761544806.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:06.902Z,1761544806.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490330,0.848103,0.200741],[-0.871042,-0.484636,-0.080086],[0.029365,-0.214122,0.976365]] 2025-10-27T06:00:06.974Z,1761544806.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:07.289Z,1761544807.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506684,0.837157,0.206010],[-0.861608,-0.500040,-0.087135],[0.030068,-0.221649,0.974663]] 2025-10-27T06:00:07.370Z,1761544807.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:07.693Z,1761544807.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523410,0.825970,0.209320],[-0.851517,-0.515971,-0.093235],[0.030993,-0.227039,0.973392]] 2025-10-27T06:00:07.743Z,1761544807.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:08.098Z,1761544808.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540284,0.814464,0.211520],[-0.840867,-0.532167,-0.098697],[0.032179,-0.231185,0.972378]] 2025-10-27T06:00:08.161Z,1761544808.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:08.504Z,1761544808.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556940,0.802754,0.213082],[-0.829864,-0.548297,-0.103420],[0.033812,-0.234428,0.971545]] 2025-10-27T06:00:08.523Z,1761544808.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:08.911Z,1761544808.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573752,0.791156,0.211850],[-0.818250,-0.564983,-0.106122],[0.035733,-0.234234,0.971523]] 2025-10-27T06:00:08.987Z,1761544808.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:09.320Z,1761544809.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590956,0.779329,0.208367],[-0.805794,-0.582518,-0.106620],[0.038286,-0.230909,0.972222]] 2025-10-27T06:00:09.366Z,1761544809.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:09.723Z,1761544809.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607565,0.767852,0.203143],[-0.793236,-0.599638,-0.105881],[0.040511,-0.225471,0.973407]] 2025-10-27T06:00:09.747Z,1761544809.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:10.118Z,1761544810.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624036,0.755476,0.199584],[-0.780229,-0.616387,-0.106350],[0.042676,-0.222088,0.974092]] 2025-10-27T06:00:10.156Z,1761544810.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:10.521Z,1761544810.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640381,0.742299,0.197243],[-0.766759,-0.632786,-0.107996],[0.044647,-0.220396,0.974388]] 2025-10-27T06:00:10.556Z,1761544810.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:10.926Z,1761544810.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655826,0.729261,0.195117],[-0.753498,-0.648170,-0.110077],[0.046194,-0.219211,0.974583]] 2025-10-27T06:00:10.953Z,1761544810.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:11.334Z,1761544811.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671289,0.715406,0.193818],[-0.739653,-0.663446,-0.112930],[0.047797,-0.219166,0.974516]] 2025-10-27T06:00:11.373Z,1761544811.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:11.755Z,1761544811.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686420,0.701332,0.192252],[-0.725548,-0.678328,-0.115978],[0.049071,-0.219097,0.974468]] 2025-10-27T06:00:11.774Z,1761544811.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:12.154Z,1761544812.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700995,0.686155,0.194416],[-0.711406,-0.691925,-0.123052],[0.050089,-0.224567,0.973171]] 2025-10-27T06:00:12.200Z,1761544812.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:12.558Z,1761544812.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.715023,0.670955,0.196371],[-0.697233,-0.704922,-0.130193],[0.051072,-0.230007,0.971848]] 2025-10-27T06:00:12.577Z,1761544812.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:12.967Z,1761544812.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728322,0.656313,0.196976],[-0.683283,-0.717278,-0.136518],[0.051688,-0.234020,0.970857]] 2025-10-27T06:00:13.033Z,1761544813.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:13.366Z,1761544813.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741736,0.641905,0.194383],[-0.668625,-0.730448,-0.139236],[0.052611,-0.233246,0.970994]] 2025-10-27T06:00:13.414Z,1761544813.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:13.769Z,1761544813.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754978,0.627309,0.191028],[-0.653601,-0.743431,-0.141830],[0.053045,-0.231935,0.971284]] 2025-10-27T06:00:13.825Z,1761544813.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:14.173Z,1761544814.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767260,0.613263,0.187672],[-0.639100,-0.755530,-0.143963],[0.053505,-0.230398,0.971624]] 2025-10-27T06:00:14.239Z,1761544814.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:14.708Z,1761544814.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779648,0.598169,0.185317],[-0.623874,-0.767519,-0.147292],[0.054128,-0.230451,0.971577]] 2025-10-27T06:00:14.761Z,1761544814.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:15.220Z,1761544815.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802353,0.568059,0.183137],[-0.594283,-0.788791,-0.156960],[0.055295,-0.234772,0.970476]] 2025-10-27T06:00:15.302Z,1761544815.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:15.742Z,1761544815.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814255,0.551314,0.181774],[-0.577791,-0.799947,-0.161995],[0.056100,-0.236933,0.969905]] 2025-10-27T06:00:15.762Z,1761544815.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:16.129Z,1761544816.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825625,0.534980,0.179275],[-0.561379,-0.810740,-0.165995],[0.056542,-0.237691,0.969694]] 2025-10-27T06:00:16.174Z,1761544816.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:16.534Z,1761544816.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837277,0.517932,0.175254],[-0.543800,-0.822197,-0.168146],[0.057005,-0.236088,0.970058]] 2025-10-27T06:00:16.569Z,1761544816.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:16.938Z,1761544816.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848316,0.500593,0.172527],[-0.526331,-0.832771,-0.171659],[0.057745,-0.236428,0.969932]] 2025-10-27T06:00:16.957Z,1761544816.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:17.346Z,1761544817.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859401,0.482573,0.168978],[-0.507966,-0.843513,-0.174519],[0.058317,-0.235817,0.970046]] 2025-10-27T06:00:17.399Z,1761544817.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:17.756Z,1761544817.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870119,0.464400,0.165004],[-0.489321,-0.853994,-0.176803],[0.058805,-0.234579,0.970317]] 2025-10-27T06:00:17.778Z,1761544817.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:18.150Z,1761544818.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880667,0.445374,0.161454],[-0.469979,-0.864213,-0.179596],[0.059544,-0.234045,0.970401]] 2025-10-27T06:00:18.195Z,1761544818.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:18.554Z,1761544818.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891008,0.425546,0.158164],[-0.449990,-0.873965,-0.183562],[0.060116,-0.234727,0.970201]] 2025-10-27T06:00:18.573Z,1761544818.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:18.958Z,1761544818.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901020,0.405567,0.153878],[-0.429592,-0.883455,-0.186970],[0.060116,-0.234569,0.970239]] 2025-10-27T06:00:18.982Z,1761544818.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:19.363Z,1761544819.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910580,0.385133,0.150055],[-0.408919,-0.892307,-0.191244],[0.060241,-0.235503,0.970005]] 2025-10-27T06:00:19.401Z,1761544819.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:19.766Z,1761544819.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920123,0.363536,0.145656],[-0.386971,-0.901157,-0.195372],[0.060234,-0.236131,0.969853]] 2025-10-27T06:00:19.827Z,1761544819.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:20.169Z,1761544820.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929137,0.341567,0.141550],[-0.364860,-0.908999,-0.201489],[0.059847,-0.238857,0.969209]] 2025-10-27T06:00:20.216Z,1761544820.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:20.574Z,1761544820.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937460,0.320237,0.136444],[-0.343060,-0.916386,-0.206270],[0.058980,-0.240178,0.968935]] 2025-10-27T06:00:20.592Z,1761544820.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:20.979Z,1761544820.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945446,0.298587,0.130298],[-0.320578,-0.923877,-0.208999],[0.057975,-0.239368,0.969196]] 2025-10-27T06:00:20.998Z,1761544820.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:21.382Z,1761544821.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952948,0.276359,0.124563],[-0.297697,-0.930672,-0.212666],[0.057155,-0.239741,0.969153]] 2025-10-27T06:00:21.429Z,1761544821.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:21.798Z,1761544821.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959843,0.254038,0.119020],[-0.274864,-0.936493,-0.217788],[0.056135,-0.241756,0.968712]] 2025-10-27T06:00:21.826Z,1761544821.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:22.189Z,1761544822.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966059,0.232140,0.113318],[-0.252436,-0.941470,-0.223404],[0.054824,-0.244427,0.968117]] 2025-10-27T06:00:22.254Z,1761544822.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:22.595Z,1761544822.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971639,0.210497,0.107748],[-0.230278,-0.945858,-0.228744],[0.053764,-0.247069,0.967505]] 2025-10-27T06:00:22.614Z,1761544822.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:23.031Z,1761544823.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:23.402Z,1761544823.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981360,0.167415,0.094370],[-0.185219,-0.954894,-0.232102],[0.051256,-0.245254,0.968103]] 2025-10-27T06:00:23.452Z,1761544823.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:23.814Z,1761544823.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985425,0.145764,0.087693],[-0.162505,-0.959058,-0.231948],[0.050293,-0.242818,0.968767]] 2025-10-27T06:00:23.833Z,1761544823.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:24.211Z,1761544824.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988998,0.123681,0.081149],[-0.139467,-0.962466,-0.232827],[0.049307,-0.241583,0.969127]] 2025-10-27T06:00:24.249Z,1761544824.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:24.614Z,1761544824.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992030,0.101319,0.074913],[-0.116300,-0.965041,-0.234886],[0.048496,-0.241726,0.969132]] 2025-10-27T06:00:24.644Z,1761544824.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:25.029Z,1761544825.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994434,0.079830,0.068767],[-0.094057,-0.966726,-0.237896],[0.047488,-0.243040,0.968853]] 2025-10-27T06:00:25.087Z,1761544825.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:25.421Z,1761544825.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996338,0.058546,0.062311],[-0.071800,-0.968612,-0.237984],[0.046422,-0.241586,0.969268]] 2025-10-27T06:00:25.480Z,1761544825.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:25.831Z,1761544825.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997809,0.035737,0.055681],[-0.047966,-0.970387,-0.236746],[0.045571,-0.238898,0.969975]] 2025-10-27T06:00:25.850Z,1761544825.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:26.238Z,1761544826.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998689,0.013398,0.049402],[-0.024874,-0.970549,-0.239618],[0.044737,-0.240532,0.969610]] 2025-10-27T06:00:26.320Z,1761544826.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:26.634Z,1761544826.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999051,-0.008376,0.042741],[-0.002269,-0.969993,-0.243122],[0.043494,-0.242988,0.969054]] 2025-10-27T06:00:26.670Z,1761544826.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:27.037Z,1761544827.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998891,-0.029720,0.036510],[0.019946,-0.969668,-0.243610],[0.042643,-0.242612,0.969186]] 2025-10-27T06:00:27.056Z,1761544827.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:27.510Z,1761544827.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:27.846Z,1761544827.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997104,-0.072062,0.024297],[0.064122,-0.968447,-0.240829],[0.040885,-0.238574,0.970263]] 2025-10-27T06:00:27.871Z,1761544827.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:28.291Z,1761544828.291 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:00:28.294Z,1761544828.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995603,-0.091915,0.018040],[0.084918,-0.966974,-0.240313],[0.039533,-0.237725,0.970528]] 2025-10-27T06:00:28.311Z,1761544828.311 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, + 0 20.00,771.38 2025-10-27T06:00:28.368Z,1761544828.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:28.654Z,1761544828.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993744,-0.111019,0.012167],[0.104812,-0.964676,-0.241691],[0.038570,-0.238904,0.970277]] 2025-10-27T06:00:28.680Z,1761544828.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:29.059Z,1761544829.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991659,-0.128743,0.006192],[0.123306,-0.961575,-0.245294],[0.037534,-0.242484,0.969429]] 2025-10-27T06:00:29.084Z,1761544829.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:29.296Z,1761544829.296 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:00:29.462Z,1761544829.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989528,-0.144342,0.000449],[0.139749,-0.958808,-0.247299],[0.036126,-0.244647,0.968939]] 2025-10-27T06:00:29.508Z,1761544829.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:29.866Z,1761544829.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987241,-0.159160,-0.004760],[0.155417,-0.956656,-0.246284],[0.034645,-0.243882,0.969186]] 2025-10-27T06:00:29.901Z,1761544829.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:30.294Z,1761544830.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985120,-0.171625,-0.009185],[0.168623,-0.954786,-0.244845],[0.033252,-0.242750,0.969519]] 2025-10-27T06:00:30.345Z,1761544830.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:30.674Z,1761544830.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983197,-0.182074,-0.013126],[0.179764,-0.953192,-0.243127],[0.031755,-0.241401,0.969906]] 2025-10-27T06:00:30.692Z,1761544830.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:31.074Z,1761544831.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981510,-0.190701,-0.016488],[0.189022,-0.952080,-0.240447],[0.030156,-0.239118,0.970522]] 2025-10-27T06:00:31.104Z,1761544831.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:31.478Z,1761544831.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980073,-0.197702,-0.019240],[0.196568,-0.951367,-0.237195],[0.028590,-0.236250,0.971272]] 2025-10-27T06:00:31.523Z,1761544831.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:31.885Z,1761544831.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978982,-0.202888,-0.020755],[0.202120,-0.951583,-0.231599],[0.027238,-0.230926,0.972590]] 2025-10-27T06:00:31.903Z,1761544831.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:32.322Z,1761544832.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978177,-0.206629,-0.021759],[0.206213,-0.952697,-0.223258],[0.025402,-0.222873,0.974516]] 2025-10-27T06:00:32.379Z,1761544832.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:32.717Z,1761544832.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977657,-0.209044,-0.022079],[0.208860,-0.954156,-0.214393],[0.023751,-0.214214,0.976498]] 2025-10-27T06:00:32.742Z,1761544832.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:33.109Z,1761544833.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977366,-0.210351,-0.022559],[0.210432,-0.955642,-0.206076],[0.021790,-0.206158,0.978276]] 2025-10-27T06:00:33.135Z,1761544833.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:33.513Z,1761544833.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977252,-0.210819,-0.023114],[0.211194,-0.957391,-0.196977],[0.019397,-0.197378,0.980136]] 2025-10-27T06:00:33.560Z,1761544833.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:33.918Z,1761544833.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977305,-0.210465,-0.024083],[0.211170,-0.958879,-0.189627],[0.016818,-0.190409,0.981561]] 2025-10-27T06:00:33.936Z,1761544833.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:34.359Z,1761544834.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977405,-0.209861,-0.025248],[0.210910,-0.960365,-0.182253],[0.014000,-0.183460,0.982928]] 2025-10-27T06:00:34.417Z,1761544834.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:34.737Z,1761544834.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977548,-0.209046,-0.026459],[0.210410,-0.961669,-0.175841],[0.011314,-0.177461,0.984063]] 2025-10-27T06:00:34.771Z,1761544834.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:35.129Z,1761544835.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977648,-0.208380,-0.027970],[0.210077,-0.962778,-0.170078],[0.008512,-0.172152,0.985034]] 2025-10-27T06:00:35.148Z,1761544835.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:35.536Z,1761544835.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977692,-0.207813,-0.030541],[0.209983,-0.963464,-0.166266],[0.005127,-0.168970,0.985608]] 2025-10-27T06:00:35.578Z,1761544835.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:35.976Z,1761544835.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:36.451Z,1761544836.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:36.809Z,1761544836.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:37.150Z,1761544837.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978210,-0.203667,-0.040300],[0.207492,-0.965729,-0.155931],[-0.007161,-0.160895,0.986946]] 2025-10-27T06:00:37.192Z,1761544837.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:37.554Z,1761544837.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978386,-0.202429,-0.042221],[0.206555,-0.966335,-0.153403],[-0.009746,-0.158808,0.987261]] 2025-10-27T06:00:37.604Z,1761544837.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:37.958Z,1761544837.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978540,-0.201344,-0.043827],[0.205700,-0.967038,-0.150085],[-0.012163,-0.155879,0.987701]] 2025-10-27T06:00:38.008Z,1761544838.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:38.485Z,1761544838.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:38.811Z,1761544838.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:39.210Z,1761544839.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:39.639Z,1761544839.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:39.982Z,1761544839.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979510,-0.194644,-0.051718],[0.200127,-0.969491,-0.141553],[-0.022587,-0.149002,0.988579]] 2025-10-27T06:00:40.007Z,1761544840.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:40.449Z,1761544840.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979498,-0.194270,-0.053316],[0.199987,-0.969569,-0.141214],[-0.024260,-0.148981,0.988542]] 2025-10-27T06:00:40.493Z,1761544840.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:40.788Z,1761544840.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979663,-0.193046,-0.054711],[0.198993,-0.969726,-0.141540],[-0.025731,-0.149549,0.988419]] 2025-10-27T06:00:40.808Z,1761544840.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:41.191Z,1761544841.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979705,-0.192478,-0.055954],[0.198583,-0.969991,-0.140295],[-0.027271,-0.148559,0.988527]] 2025-10-27T06:00:41.209Z,1761544841.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:41.680Z,1761544841.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979896,-0.191036,-0.057529],[0.197425,-0.970050,-0.141513],[-0.028772,-0.150026,0.988263]] 2025-10-27T06:00:41.768Z,1761544841.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:42.192Z,1761544842.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980005,-0.190048,-0.058925],[0.196660,-0.970191,-0.141614],[-0.030255,-0.150371,0.988167]] 2025-10-27T06:00:42.211Z,1761544842.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:42.628Z,1761544842.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980176,-0.189069,-0.059226],[0.195752,-0.970300,-0.142127],[-0.030595,-0.150903,0.988075]] 2025-10-27T06:00:42.672Z,1761544842.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:43.030Z,1761544843.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980250,-0.188393,-0.060148],[0.195255,-0.970247,-0.143163],[-0.031388,-0.152079,0.987870]] 2025-10-27T06:00:43.048Z,1761544843.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:43.494Z,1761544843.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980401,-0.187287,-0.061140],[0.194387,-0.970078,-0.145472],[-0.032066,-0.154506,0.987471]] 2025-10-27T06:00:43.557Z,1761544843.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:43.838Z,1761544843.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980573,-0.186207,-0.061667],[0.193433,-0.970119,-0.146468],[-0.032551,-0.155551,0.987291]] 2025-10-27T06:00:43.868Z,1761544843.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:44.253Z,1761544844.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980673,-0.185501,-0.062208],[0.192848,-0.970107,-0.147317],[-0.033021,-0.156466,0.987131]] 2025-10-27T06:00:44.284Z,1761544844.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:44.647Z,1761544844.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980820,-0.184606,-0.062558],[0.192042,-0.970155,-0.148050],[-0.033360,-0.157224,0.986999]] 2025-10-27T06:00:44.706Z,1761544844.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:45.057Z,1761544845.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980880,-0.184281,-0.062565],[0.191709,-0.970277,-0.147686],[-0.033489,-0.156856,0.987054]] 2025-10-27T06:00:45.083Z,1761544845.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:45.514Z,1761544845.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981004,-0.183584,-0.062671],[0.191053,-0.970330,-0.148182],[-0.033608,-0.157341,0.986972]] 2025-10-27T06:00:45.565Z,1761544845.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:45.879Z,1761544845.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981010,-0.183673,-0.062318],[0.191058,-0.970453,-0.147368],[-0.033409,-0.156476,0.987117]] 2025-10-27T06:00:45.908Z,1761544845.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:46.316Z,1761544846.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:46.686Z,1761544846.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981057,-0.183644,-0.061664],[0.190866,-0.970766,-0.145543],[-0.033133,-0.154556,0.987428]] 2025-10-27T06:00:46.773Z,1761544846.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:47.092Z,1761544847.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981098,-0.183418,-0.061683],[0.190659,-0.970747,-0.145942],[-0.033111,-0.154944,0.987368]] 2025-10-27T06:00:47.111Z,1761544847.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:47.526Z,1761544847.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981029,-0.183641,-0.062110],[0.190949,-0.970674,-0.146052],[-0.033467,-0.155142,0.987325]] 2025-10-27T06:00:47.616Z,1761544847.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:47.927Z,1761544847.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981080,-0.183237,-0.062497],[0.190632,-0.970637,-0.146710],[-0.033779,-0.155849,0.987203]] 2025-10-27T06:00:47.946Z,1761544847.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:48.326Z,1761544848.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981151,-0.182711,-0.062930],[0.190215,-0.970560,-0.147753],[-0.034081,-0.156938,0.987020]] 2025-10-27T06:00:48.352Z,1761544848.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:00:48.354Z,1761544848.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:48.421Z,1761544848.421 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:00:48.421Z,1761544848.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:00:48.672Z,1761544848.672 [DAT](INFO): DAT read: user:606> 2025-10-27T06:00:48.673Z,1761544848.673 [DAT](INFO): DAT read: Tx time:06:00:47.7201 2025-10-27T06:00:48.673Z,1761544848.673 [DAT](INFO): Ping request sent. 2025-10-27T06:00:48.673Z,1761544848.673 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:00:48.673Z,1761544848.673 [DAT](INFO): publishing transmit ping time 2025-10-27T06:00:48.674Z,1761544848.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T06:00:48.765Z,1761544848.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981243,-0.181828,-0.064037],[0.189633,-0.970171,-0.151025],[-0.034666,-0.160335,0.986454]] 2025-10-27T06:00:48.824Z,1761544848.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:48.924Z,1761544848.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251300 2025-10-27T06:00:49.136Z,1761544849.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981297,-0.181399,-0.064425],[0.189273,-0.970231,-0.151090],[-0.035099,-0.160458,0.986418]] 2025-10-27T06:00:49.155Z,1761544849.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:49.177Z,1761544849.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503077 2025-10-27T06:00:49.428Z,1761544849.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754853 2025-10-27T06:00:49.593Z,1761544849.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981444,-0.180416,-0.064944],[0.188381,-0.970419,-0.150995],[-0.035781,-0.160427,0.986399]] 2025-10-27T06:00:49.630Z,1761544849.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:49.681Z,1761544849.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007521 2025-10-27T06:00:49.932Z,1761544849.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259008 2025-10-27T06:00:49.986Z,1761544849.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:50.184Z,1761544850.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511443 2025-10-27T06:00:50.393Z,1761544850.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:50.436Z,1761544850.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763161 2025-10-27T06:00:50.688Z,1761544850.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014984 2025-10-27T06:00:50.764Z,1761544850.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981836,-0.178177,-0.065193],[0.186189,-0.970916,-0.150519],[-0.036478,-0.159924,0.986455]] 2025-10-27T06:00:50.812Z,1761544850.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:50.940Z,1761544850.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266889 2025-10-27T06:00:51.154Z,1761544851.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982016,-0.177239,-0.065051],[0.185164,-0.971422,-0.148502],[-0.036872,-0.157876,0.986770]] 2025-10-27T06:00:51.180Z,1761544851.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:51.192Z,1761544851.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519250 2025-10-27T06:00:51.444Z,1761544851.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771028 2025-10-27T06:00:51.596Z,1761544851.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982567,-0.174144,-0.065091],[0.182107,-0.972008,-0.148452],[-0.037417,-0.157717,0.986775]] 2025-10-27T06:00:51.653Z,1761544851.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:51.697Z,1761544851.697 [DAT](INFO): DAT read: Rx Time:06:00:50.2324 2025-10-27T06:00:51.697Z,1761544851.697 [DAT](INFO): Rx dataTimestamp_ set to:1761544851.697208 2025-10-27T06:00:51.699Z,1761544851.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025415 2025-10-27T06:00:51.948Z,1761544851.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274859 2025-10-27T06:00:52.014Z,1761544852.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.58 m. 2025-10-27T06:00:52.208Z,1761544852.208 [DAT](INFO): DAT read: 06:00:50.2324 LVL= 32752, 29441, 32754, 32755, AGC= 75, IDX= 336, 0.12, 1.753,-2.685, 2.128, 2.434, PHS=-0.580, 1.208,-0.350, RAW= 323.2, -3.3, CAL= 322.3, -6.5, ROT= 187.7, 6.5 2025-10-27T06:00:52.209Z,1761544852.209 [DAT](INFO): got valid direction response: 06:00:50.2324 LVL= 32752, 29441, 32754, 32755, AGC= 75, IDX= 336, 0.12, 1.753,-2.685, 2.128, 2.434, PHS=-0.580, 1.208,-0.350, RAW= 323.2, -3.3, CAL= 322.3, -6.5, ROT= 187.7, 6.5 2025-10-27T06:00:52.210Z,1761544852.210 [DAT](INFO): DAT read: Bearing 146.6, -4.2 (Local) 2025-10-27T06:00:52.210Z,1761544852.210 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, -4.2 (Local) 2025-10-27T06:00:52.212Z,1761544852.212 [DAT](INFO): DAT read: Range 11 to 50 : 81.1 m (Round-trip 108.2 ms) speed -0.6 m/s 2025-10-27T06:00:52.213Z,1761544852.213 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:00:52.216Z,1761544852.216 [DAT](INFO): direction in FSK: [-0.984613,-0.133125,-0.113203] 2025-10-27T06:00:52.217Z,1761544852.217 [DAT](INFO): publishing direction and range info 2025-10-27T06:00:52.409Z,1761544852.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.099998 m, deltaT: 60.242299 s, deltaX: 31.199997 m, approachRate: 0.517908 m/s, rangeRepo size: 4 2025-10-27T06:00:52.411Z,1761544852.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.581528 m, bearing: 358.100348 deg, lat: 36.779388 deg, lon: -121.859742 deg, deltaT: 60.242299 s, deltaX: 31.001278 m, approachRate: 0.514610 m/s, posRepo size: 4 2025-10-27T06:00:52.411Z,1761544852.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:52.770Z,1761544852.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983041,-0.171150,-0.065869],[0.179315,-0.972345,-0.149639],[-0.038437,-0.158913,0.986544]] 2025-10-27T06:00:52.829Z,1761544852.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:53.175Z,1761544853.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983254,-0.169824,-0.066112],[0.178059,-0.972508,-0.150078],[-0.038808,-0.159336,0.986461]] 2025-10-27T06:00:53.200Z,1761544853.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:53.602Z,1761544853.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983615,-0.167464,-0.066767],[0.175878,-0.972715,-0.151300],[-0.039608,-0.160563,0.986230]] 2025-10-27T06:00:53.663Z,1761544853.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:54.039Z,1761544854.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:54.464Z,1761544854.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983582,-0.167136,-0.068060],[0.175741,-0.972823,-0.150769],[-0.041011,-0.160255,0.986223]] 2025-10-27T06:00:54.500Z,1761544854.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:54.866Z,1761544854.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983444,-0.167370,-0.069461],[0.176299,-0.972350,-0.153148],[-0.041908,-0.162859,0.985759]] 2025-10-27T06:00:54.911Z,1761544854.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:55.313Z,1761544855.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983260,-0.168040,-0.070441],[0.177193,-0.971923,-0.154817],[-0.042447,-0.164707,0.985429]] 2025-10-27T06:00:55.332Z,1761544855.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:55.732Z,1761544855.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983158,-0.168305,-0.071226],[0.177655,-0.971583,-0.156417],[-0.042876,-0.166436,0.985120]] 2025-10-27T06:00:55.795Z,1761544855.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:56.118Z,1761544856.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982990,-0.169043,-0.071804],[0.178482,-0.971428,-0.156434],[-0.043309,-0.166589,0.985075]] 2025-10-27T06:00:56.153Z,1761544856.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:56.521Z,1761544856.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982851,-0.169571,-0.072461],[0.179197,-0.970988,-0.158335],[-0.043510,-0.168605,0.984723]] 2025-10-27T06:00:56.540Z,1761544856.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:56.926Z,1761544856.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982580,-0.171047,-0.072663],[0.180631,-0.970941,-0.156993],[-0.043698,-0.167383,0.984923]] 2025-10-27T06:00:56.983Z,1761544856.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:57.331Z,1761544857.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982253,-0.172814,-0.072901],[0.182359,-0.970828,-0.155686],[-0.043869,-0.166217,0.985113]] 2025-10-27T06:00:57.349Z,1761544857.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:57.747Z,1761544857.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982000,-0.174171,-0.073072],[0.183721,-0.970599,-0.155510],[-0.043838,-0.166136,0.985128]] 2025-10-27T06:00:57.785Z,1761544857.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:58.138Z,1761544858.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981785,-0.175432,-0.072951],[0.184985,-0.970220,-0.156378],[-0.043345,-0.167024,0.985000]] 2025-10-27T06:00:58.157Z,1761544858.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:58.542Z,1761544858.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981616,-0.176296,-0.073147],[0.185905,-0.969920,-0.157142],[-0.043243,-0.167851,0.984863]] 2025-10-27T06:00:58.560Z,1761544858.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:58.947Z,1761544858.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981458,-0.177038,-0.073471],[0.186701,-0.969739,-0.157317],[-0.043397,-0.168117,0.984811]] 2025-10-27T06:00:58.984Z,1761544858.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:59.350Z,1761544859.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981437,-0.177553,-0.072499],[0.187015,-0.969795,-0.156601],[-0.042504,-0.167252,0.984998]] 2025-10-27T06:00:59.378Z,1761544859.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:00:59.420Z,1761544859.420 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:00:59.808Z,1761544859.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:00.171Z,1761544860.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981339,-0.178698,-0.071006],[0.187851,-0.969807,-0.155521],[-0.041071,-0.165957,0.985277]] 2025-10-27T06:01:00.190Z,1761544860.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:00.423Z,1761544860.423 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:01:00.576Z,1761544860.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981382,-0.178912,-0.069855],[0.187808,-0.970063,-0.153969],[-0.040216,-0.164222,0.985603]] 2025-10-27T06:01:00.599Z,1761544860.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:01.044Z,1761544861.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981525,-0.178842,-0.067994],[0.187398,-0.970285,-0.153065],[-0.038599,-0.162979,0.985874]] 2025-10-27T06:01:01.081Z,1761544861.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:01.536Z,1761544861.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981686,-0.178711,-0.065996],[0.186944,-0.970361,-0.153140],[-0.036672,-0.162673,0.985998]] 2025-10-27T06:01:01.575Z,1761544861.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:02.001Z,1761544862.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:02.343Z,1761544862.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982289,-0.177133,-0.061093],[0.184583,-0.970836,-0.152995],[-0.032211,-0.161562,0.986337]] 2025-10-27T06:01:02.382Z,1761544862.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:02.794Z,1761544862.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982625,-0.176337,-0.057905],[0.183234,-0.971340,-0.151404],[-0.029547,-0.159383,0.986775]] 2025-10-27T06:01:02.839Z,1761544862.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:03.149Z,1761544863.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982979,-0.175365,-0.054769],[0.181763,-0.971678,-0.151011],[-0.026736,-0.158395,0.987014]] 2025-10-27T06:01:03.188Z,1761544863.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:03.555Z,1761544863.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983288,-0.174534,-0.051798],[0.180486,-0.971819,-0.151634],[-0.023873,-0.158448,0.987079]] 2025-10-27T06:01:03.573Z,1761544863.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:03.959Z,1761544863.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983619,-0.173473,-0.048998],[0.179045,-0.971712,-0.154010],[-0.020895,-0.160260,0.986854]] 2025-10-27T06:01:04.029Z,1761544864.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:04.361Z,1761544864.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983933,-0.172497,-0.046051],[0.177627,-0.971818,-0.154980],[-0.018019,-0.160670,0.986844]] 2025-10-27T06:01:04.390Z,1761544864.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:04.803Z,1761544864.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984408,-0.171174,-0.040503],[0.175451,-0.971967,-0.156519],[-0.012575,-0.161185,0.986844]] 2025-10-27T06:01:04.861Z,1761544864.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:05.234Z,1761544865.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:05.577Z,1761544865.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984538,-0.171023,-0.037900],[0.174893,-0.971889,-0.157622],[-0.009877,-0.161813,0.986772]] 2025-10-27T06:01:05.611Z,1761544865.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:05.978Z,1761544865.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984609,-0.171133,-0.035493],[0.174620,-0.971766,-0.158678],[-0.007336,-0.162433,0.986692]] 2025-10-27T06:01:06.077Z,1761544866.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:06.382Z,1761544866.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984505,-0.172145,-0.033401],[0.175286,-0.971441,-0.159929],[-0.004916,-0.163305,0.986563]] 2025-10-27T06:01:06.422Z,1761544866.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:06.838Z,1761544866.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984167,-0.174665,-0.030138],[0.177243,-0.970838,-0.161426],[-0.001064,-0.164212,0.986425]] 2025-10-27T06:01:06.877Z,1761544866.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:07.262Z,1761544867.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:07.591Z,1761544867.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983943,-0.176146,-0.028801],[0.178482,-0.970218,-0.163773],[0.000905,-0.166284,0.986077]] 2025-10-27T06:01:07.655Z,1761544867.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:07.996Z,1761544867.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983650,-0.178011,-0.027299],[0.180067,-0.969619,-0.165576],[0.003005,-0.167784,0.985819]] 2025-10-27T06:01:08.069Z,1761544868.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:08.407Z,1761544868.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982873,-0.182595,-0.024909],[0.184159,-0.968157,-0.169579],[0.006849,-0.171262,0.985202]] 2025-10-27T06:01:08.498Z,1761544868.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:08.862Z,1761544868.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982451,-0.185008,-0.023711],[0.186322,-0.967563,-0.170607],[0.008622,-0.172031,0.985054]] 2025-10-27T06:01:08.912Z,1761544868.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:09.238Z,1761544869.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982111,-0.186975,-0.022337],[0.188017,-0.967136,-0.171164],[0.010400,-0.172302,0.984989]] 2025-10-27T06:01:09.276Z,1761544869.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:09.634Z,1761544869.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981887,-0.188275,-0.021248],[0.189089,-0.966626,-0.172856],[0.012006,-0.173743,0.984718]] 2025-10-27T06:01:09.673Z,1761544869.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:10.037Z,1761544870.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981768,-0.189109,-0.019230],[0.189563,-0.966568,-0.172662],[0.014064,-0.173159,0.984793]] 2025-10-27T06:01:10.085Z,1761544870.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:10.442Z,1761544870.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981630,-0.190017,-0.017198],[0.190129,-0.966714,-0.171215],[0.015908,-0.171340,0.985084]] 2025-10-27T06:01:10.465Z,1761544870.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:10.888Z,1761544870.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981623,-0.190228,-0.015131],[0.189993,-0.966834,-0.170689],[0.017841,-0.170427,0.985209]] 2025-10-27T06:01:10.930Z,1761544870.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:11.250Z,1761544871.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981749,-0.189758,-0.012652],[0.189132,-0.967204,-0.169547],[0.019936,-0.168845,0.985441]] 2025-10-27T06:01:11.278Z,1761544871.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:11.653Z,1761544871.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981857,-0.189388,-0.009459],[0.188299,-0.967897,-0.166487],[0.022375,-0.165247,0.985998]] 2025-10-27T06:01:11.711Z,1761544871.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:12.109Z,1761544872.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982063,-0.188453,-0.006196],[0.186862,-0.968327,-0.165608],[0.025210,-0.163795,0.986172]] 2025-10-27T06:01:12.166Z,1761544872.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:12.521Z,1761544872.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982362,-0.186970,-0.002575],[0.184877,-0.969120,-0.163176],[0.028014,-0.160774,0.986594]] 2025-10-27T06:01:12.540Z,1761544872.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:12.959Z,1761544872.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982678,-0.185316,0.001277],[0.182685,-0.969840,-0.161358],[0.031141,-0.158329,0.986895]] 2025-10-27T06:01:13.006Z,1761544873.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:13.363Z,1761544873.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982964,-0.183734,0.004871],[0.180612,-0.970496,-0.159741],[0.034077,-0.156140,0.987147]] 2025-10-27T06:01:13.382Z,1761544873.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:13.765Z,1761544873.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983205,-0.182346,0.007582],[0.178825,-0.970854,-0.159578],[0.036459,-0.155542,0.987156]] 2025-10-27T06:01:13.798Z,1761544873.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:14.170Z,1761544874.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983485,-0.180702,0.010221],[0.176795,-0.971238,-0.159501],[0.038749,-0.155060,0.987145]] 2025-10-27T06:01:14.234Z,1761544874.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:14.574Z,1761544874.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983645,-0.179694,0.012312],[0.175452,-0.971391,-0.160052],[0.040720,-0.155275,0.987032]] 2025-10-27T06:01:14.618Z,1761544874.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:14.976Z,1761544874.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983806,-0.178735,0.013415],[0.174307,-0.971492,-0.160688],[0.041753,-0.155748,0.986914]] 2025-10-27T06:01:15.044Z,1761544875.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:15.378Z,1761544875.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983952,-0.177859,0.014343],[0.173256,-0.971524,-0.161625],[0.042681,-0.156546,0.986748]] 2025-10-27T06:01:15.410Z,1761544875.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:15.782Z,1761544875.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983952,-0.177811,0.014916],[0.173033,-0.971233,-0.163602],[0.043577,-0.158395,0.986414]] 2025-10-27T06:01:15.828Z,1761544875.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:16.196Z,1761544876.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983951,-0.177816,0.014893],[0.172931,-0.970828,-0.166097],[0.043993,-0.160856,0.985997]] 2025-10-27T06:01:16.254Z,1761544876.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:16.592Z,1761544876.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983918,-0.177990,0.014977],[0.173021,-0.970553,-0.167605],[0.044368,-0.162318,0.985741]] 2025-10-27T06:01:16.611Z,1761544876.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:16.994Z,1761544876.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983825,-0.178588,0.013960],[0.173645,-0.969926,-0.170561],[0.044000,-0.165378,0.985248]] 2025-10-27T06:01:17.041Z,1761544877.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:17.399Z,1761544877.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983632,-0.179711,0.013094],[0.174818,-0.969407,-0.172304],[0.043659,-0.167195,0.984957]] 2025-10-27T06:01:17.436Z,1761544877.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:17.802Z,1761544877.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983413,-0.180964,0.012313],[0.176186,-0.969169,-0.172249],[0.043105,-0.167223,0.984976]] 2025-10-27T06:01:17.827Z,1761544877.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:18.288Z,1761544878.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983140,-0.182541,0.010667],[0.177991,-0.968733,-0.172845],[0.041885,-0.168032,0.984891]] 2025-10-27T06:01:18.331Z,1761544878.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:18.657Z,1761544878.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982981,-0.183502,0.008656],[0.179237,-0.968330,-0.173814],[0.040277,-0.169304,0.984740]] 2025-10-27T06:01:18.709Z,1761544878.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:19.127Z,1761544879.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:19.466Z,1761544879.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982406,-0.186701,0.004667],[0.183045,-0.967523,-0.174340],[0.037065,-0.170418,0.984675]] 2025-10-27T06:01:19.495Z,1761544879.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:19.869Z,1761544879.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982174,-0.187956,0.002648],[0.184628,-0.967237,-0.174255],[0.035313,-0.170660,0.984697]] 2025-10-27T06:01:19.900Z,1761544879.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:20.329Z,1761544880.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:20.689Z,1761544880.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981957,-0.189100,-0.000961],[0.186405,-0.967086,-0.173201],[0.031823,-0.170255,0.984886]] 2025-10-27T06:01:20.740Z,1761544880.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:21.085Z,1761544881.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981963,-0.189057,-0.002285],[0.186599,-0.967105,-0.172885],[0.030475,-0.170193,0.984939]] 2025-10-27T06:01:21.121Z,1761544881.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:21.486Z,1761544881.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981942,-0.189153,-0.003247],[0.186899,-0.967300,-0.171462],[0.029292,-0.168973,0.985185]] 2025-10-27T06:01:21.518Z,1761544881.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:21.890Z,1761544881.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982060,-0.188530,-0.003853],[0.186433,-0.967666,-0.169901],[0.028303,-0.167571,0.985454]] 2025-10-27T06:01:21.909Z,1761544881.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:22.352Z,1761544882.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:22.716Z,1761544882.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982383,-0.186824,-0.004485],[0.184943,-0.968486,-0.166824],[0.026823,-0.164715,0.985977]] 2025-10-27T06:01:22.741Z,1761544882.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:23.105Z,1761544883.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982626,-0.185557,-0.003766],[0.183629,-0.969071,-0.164866],[0.026942,-0.162693,0.986309]] 2025-10-27T06:01:23.150Z,1761544883.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:23.510Z,1761544883.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982786,-0.184725,-0.002763],[0.182722,-0.969704,-0.162134],[0.027271,-0.159848,0.986765]] 2025-10-27T06:01:23.545Z,1761544883.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:23.914Z,1761544883.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982964,-0.183790,-0.001853],[0.181699,-0.970160,-0.160545],[0.027709,-0.158146,0.987027]] 2025-10-27T06:01:23.939Z,1761544883.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:24.321Z,1761544884.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983188,-0.182597,-0.000670],[0.180378,-0.970656,-0.159029],[0.028387,-0.156476,0.987274]] 2025-10-27T06:01:24.382Z,1761544884.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:24.734Z,1761544884.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983210,-0.182477,0.000261],[0.180143,-0.970856,-0.158075],[0.029098,-0.155374,0.987427]] 2025-10-27T06:01:24.753Z,1761544884.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:25.126Z,1761544885.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983292,-0.182034,0.000708],[0.179677,-0.971167,-0.156687],[0.029211,-0.153942,0.987648]] 2025-10-27T06:01:25.181Z,1761544885.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:25.531Z,1761544885.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983201,-0.182525,0.000864],[0.180148,-0.971139,-0.156319],[0.029371,-0.153538,0.987706]] 2025-10-27T06:01:25.549Z,1761544885.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:25.935Z,1761544885.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983379,-0.181565,0.000627],[0.179203,-0.971133,-0.157436],[0.029194,-0.154707,0.987529]] 2025-10-27T06:01:25.954Z,1761544885.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:26.338Z,1761544886.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983807,-0.179230,-0.000019],[0.176983,-0.971457,-0.157948],[0.028291,-0.155393,0.987448]] 2025-10-27T06:01:26.385Z,1761544886.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:26.746Z,1761544886.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984320,-0.176385,-0.001435],[0.174408,-0.972003,-0.157454],[0.026377,-0.155236,0.987525]] 2025-10-27T06:01:26.775Z,1761544886.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:27.146Z,1761544887.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984967,-0.172716,-0.002996],[0.171089,-0.973004,-0.154893],[0.023838,-0.153077,0.987927]] 2025-10-27T06:01:27.205Z,1761544887.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:27.553Z,1761544887.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985426,-0.170043,-0.004491],[0.168733,-0.973809,-0.152397],[0.021541,-0.150934,0.988309]] 2025-10-27T06:01:27.576Z,1761544887.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:27.955Z,1761544887.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985767,-0.168030,-0.005442],[0.166913,-0.974318,-0.151144],[0.020094,-0.149901,0.988497]] 2025-10-27T06:01:27.974Z,1761544887.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:28.358Z,1761544888.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985978,-0.166774,-0.005770],[0.165749,-0.974743,-0.149679],[0.019339,-0.148537,0.988718]] 2025-10-27T06:01:28.406Z,1761544888.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:28.762Z,1761544888.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986003,-0.166629,-0.005812],[0.165619,-0.974816,-0.149343],[0.019219,-0.148215,0.988768]] 2025-10-27T06:01:28.860Z,1761544888.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:29.183Z,1761544889.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985851,-0.167511,-0.006133],[0.166586,-0.975032,-0.146839],[0.018617,-0.145783,0.989141]] 2025-10-27T06:01:29.274Z,1761544889.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:29.591Z,1761544889.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985622,-0.168827,-0.006914],[0.167985,-0.974661,-0.147708],[0.018199,-0.146746,0.989007]] 2025-10-27T06:01:29.646Z,1761544889.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:30.001Z,1761544890.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985448,-0.169776,-0.008309],[0.169010,-0.973440,-0.154433],[0.018131,-0.153590,0.987968]] 2025-10-27T06:01:30.057Z,1761544890.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:30.398Z,1761544890.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985211,-0.171054,-0.010021],[0.170347,-0.971466,-0.165031],[0.018494,-0.164297,0.986238]] 2025-10-27T06:01:30.446Z,1761544890.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:30.544Z,1761544890.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:01:30.801Z,1761544890.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985093,-0.171611,-0.011921],[0.171020,-0.969508,-0.175520],[0.018564,-0.174942,0.984404]] 2025-10-27T06:01:30.842Z,1761544890.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:31.205Z,1761544891.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985046,-0.171753,-0.013598],[0.171331,-0.968184,-0.182387],[0.018161,-0.181990,0.983133]] 2025-10-27T06:01:31.262Z,1761544891.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:31.548Z,1761544891.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:01:31.615Z,1761544891.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985115,-0.171228,-0.015116],[0.171015,-0.967402,-0.186779],[0.017359,-0.186584,0.982286]] 2025-10-27T06:01:31.639Z,1761544891.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:32.014Z,1761544892.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985159,-0.170900,-0.015956],[0.170822,-0.967122,-0.188399],[0.016766,-0.188329,0.981963]] 2025-10-27T06:01:32.045Z,1761544892.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:32.418Z,1761544892.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985317,-0.169989,-0.015972],[0.169931,-0.967279,-0.188401],[0.016576,-0.188348,0.981962]] 2025-10-27T06:01:32.468Z,1761544892.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:32.828Z,1761544892.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985450,-0.169250,-0.015599],[0.169224,-0.968432,-0.183037],[0.015873,-0.183014,0.982982]] 2025-10-27T06:01:32.846Z,1761544892.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:33.235Z,1761544893.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985382,-0.169672,-0.015279],[0.169647,-0.969116,-0.178983],[0.015561,-0.178959,0.983733]] 2025-10-27T06:01:33.309Z,1761544893.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:33.635Z,1761544893.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985382,-0.169648,-0.015558],[0.169683,-0.969225,-0.178354],[0.015178,-0.178386,0.983843]] 2025-10-27T06:01:33.684Z,1761544893.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:34.038Z,1761544894.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985521,-0.168801,-0.015968],[0.168881,-0.968863,-0.181060],[0.015093,-0.181135,0.983342]] 2025-10-27T06:01:34.074Z,1761544894.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:34.445Z,1761544894.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985663,-0.167991,-0.015719],[0.168035,-0.968951,-0.181378],[0.015239,-0.181419,0.983288]] 2025-10-27T06:01:34.488Z,1761544894.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:34.845Z,1761544894.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985771,-0.167374,-0.015514],[0.167386,-0.968991,-0.181767],[0.015390,-0.181777,0.983219]] 2025-10-27T06:01:34.868Z,1761544894.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:35.254Z,1761544895.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985777,-0.167323,-0.015690],[0.167361,-0.968926,-0.182135],[0.015273,-0.182170,0.983148]] 2025-10-27T06:01:35.296Z,1761544895.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:35.655Z,1761544895.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985749,-0.167461,-0.016011],[0.167571,-0.969072,-0.181159],[0.014821,-0.181260,0.983323]] 2025-10-27T06:01:35.701Z,1761544895.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:36.055Z,1761544896.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985636,-0.168143,-0.015785],[0.168267,-0.969778,-0.176680],[0.014400,-0.176798,0.984142]] 2025-10-27T06:01:36.074Z,1761544896.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:36.457Z,1761544896.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985303,-0.170122,-0.015380],[0.170249,-0.970719,-0.169467],[0.013901,-0.169595,0.985416]] 2025-10-27T06:01:36.500Z,1761544896.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:36.861Z,1761544896.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984924,-0.172313,-0.015234],[0.172468,-0.971356,-0.163468],[0.013370,-0.163631,0.986431]] 2025-10-27T06:01:36.894Z,1761544896.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:37.283Z,1761544897.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984374,-0.175354,-0.016074],[0.175631,-0.971139,-0.161379],[0.012689,-0.161680,0.986762]] 2025-10-27T06:01:37.330Z,1761544897.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:37.681Z,1761544897.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983883,-0.177904,-0.017996],[0.178412,-0.969971,-0.165302],[0.011953,-0.165848,0.986079]] 2025-10-27T06:01:37.701Z,1761544897.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:38.073Z,1761544898.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983473,-0.179897,-0.020461],[0.180729,-0.968594,-0.170771],[0.010903,-0.171646,0.985098]] 2025-10-27T06:01:38.100Z,1761544898.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:38.478Z,1761544898.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983125,-0.181492,-0.022930],[0.182678,-0.967371,-0.175564],[0.009682,-0.176790,0.984201]] 2025-10-27T06:01:38.526Z,1761544898.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:38.882Z,1761544898.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982781,-0.183110,-0.024721],[0.184581,-0.966858,-0.176395],[0.008398,-0.177921,0.984009]] 2025-10-27T06:01:38.900Z,1761544898.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:39.311Z,1761544899.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982490,-0.184492,-0.025991],[0.186167,-0.966585,-0.176223],[0.007389,-0.177976,0.984007]] 2025-10-27T06:01:39.356Z,1761544899.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:39.690Z,1761544899.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982160,-0.186065,-0.027222],[0.187938,-0.966356,-0.175602],[0.006367,-0.177585,0.984085]] 2025-10-27T06:01:39.728Z,1761544899.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:40.094Z,1761544900.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981961,-0.186897,-0.028681],[0.189031,-0.966698,-0.172515],[0.004516,-0.174824,0.984589]] 2025-10-27T06:01:40.113Z,1761544900.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:40.502Z,1761544900.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981970,-0.186708,-0.029586],[0.189013,-0.967196,-0.169725],[0.003073,-0.172257,0.985047]] 2025-10-27T06:01:40.558Z,1761544900.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:40.905Z,1761544900.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982006,-0.186490,-0.029774],[0.188840,-0.967889,-0.165924],[0.002125,-0.168561,0.985689]] 2025-10-27T06:01:40.924Z,1761544900.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:41.338Z,1761544901.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982232,-0.185308,-0.029688],[0.187665,-0.968576,-0.163222],[0.001492,-0.165893,0.986143]] 2025-10-27T06:01:41.393Z,1761544901.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:41.715Z,1761544901.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982429,-0.184334,-0.029225],[0.186633,-0.969273,-0.160241],[0.001211,-0.162880,0.986645]] 2025-10-27T06:01:41.753Z,1761544901.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:42.115Z,1761544902.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982729,-0.182771,-0.028943],[0.185045,-0.969643,-0.159844],[0.001150,-0.162439,0.986718]] 2025-10-27T06:01:42.133Z,1761544902.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:42.523Z,1761544902.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983054,-0.181080,-0.028538],[0.183311,-0.970022,-0.159542],[0.001207,-0.162070,0.986779]] 2025-10-27T06:01:42.562Z,1761544902.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:42.922Z,1761544902.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983285,-0.179942,-0.027794],[0.182070,-0.970545,-0.157775],[0.001415,-0.160198,0.987084]] 2025-10-27T06:01:42.947Z,1761544902.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:43.366Z,1761544903.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983629,-0.178188,-0.026907],[0.180198,-0.971051,-0.156808],[0.001814,-0.159089,0.987262]] 2025-10-27T06:01:43.477Z,1761544903.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:43.771Z,1761544903.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983965,-0.176486,-0.025804],[0.178346,-0.971551,-0.155826],[0.002432,-0.157929,0.987447]] 2025-10-27T06:01:43.797Z,1761544903.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:44.219Z,1761544904.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:44.573Z,1761544904.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984469,-0.173865,-0.024327],[0.175521,-0.971906,-0.156813],[0.003620,-0.158647,0.987329]] 2025-10-27T06:01:44.660Z,1761544904.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:44.978Z,1761544904.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984628,-0.173002,-0.024057],[0.174625,-0.971976,-0.157380],[0.003844,-0.159162,0.987245]] 2025-10-27T06:01:45.001Z,1761544905.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:45.405Z,1761544905.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984817,-0.172030,-0.023255],[0.173535,-0.972075,-0.157972],[0.004570,-0.159609,0.987170]] 2025-10-27T06:01:45.461Z,1761544905.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:45.785Z,1761544905.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985026,-0.170945,-0.022388],[0.172319,-0.972116,-0.159052],[0.005425,-0.160528,0.987016]] 2025-10-27T06:01:45.823Z,1761544905.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:46.190Z,1761544906.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985136,-0.170440,-0.021398],[0.171659,-0.972147,-0.159571],[0.006395,-0.160872,0.986955]] 2025-10-27T06:01:46.208Z,1761544906.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:46.594Z,1761544906.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985190,-0.170227,-0.020579],[0.171297,-0.971764,-0.162272],[0.007625,-0.163394,0.986531]] 2025-10-27T06:01:46.664Z,1761544906.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:47.002Z,1761544907.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985239,-0.170018,-0.019944],[0.170982,-0.971719,-0.162874],[0.008311,-0.163880,0.986445]] 2025-10-27T06:01:47.034Z,1761544907.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:47.431Z,1761544907.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985205,-0.170281,-0.019401],[0.171147,-0.971594,-0.163443],[0.008982,-0.164345,0.986362]] 2025-10-27T06:01:47.469Z,1761544907.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:47.805Z,1761544907.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985178,-0.170492,-0.018863],[0.171255,-0.971370,-0.164660],[0.009750,-0.165449,0.986170]] 2025-10-27T06:01:47.824Z,1761544907.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:48.211Z,1761544908.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985086,-0.171045,-0.018673],[0.171752,-0.970993,-0.166357],[0.010324,-0.167083,0.985889]] 2025-10-27T06:01:48.230Z,1761544908.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:48.614Z,1761544908.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984998,-0.171584,-0.018364],[0.172224,-0.970799,-0.166998],[0.010826,-0.167655,0.985786]] 2025-10-27T06:01:48.690Z,1761544908.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:01:48.696Z,1761544908.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:48.916Z,1761544908.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:01:48.916Z,1761544908.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:01:49.068Z,1761544909.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:49.168Z,1761544909.168 [DAT](INFO): DAT read: user:607> 2025-10-27T06:01:49.169Z,1761544909.169 [DAT](INFO): DAT read: Tx time:06:01:48.2200 2025-10-27T06:01:49.169Z,1761544909.169 [DAT](INFO): Ping request sent. 2025-10-27T06:01:49.169Z,1761544909.169 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:01:49.169Z,1761544909.169 [DAT](INFO): publishing transmit ping time 2025-10-27T06:01:49.170Z,1761544909.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-27T06:01:49.423Z,1761544909.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253025 2025-10-27T06:01:49.458Z,1761544909.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984666,-0.173504,-0.018146],[0.174070,-0.970329,-0.167815],[0.011509,-0.168400,0.985651]] 2025-10-27T06:01:49.507Z,1761544909.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:49.672Z,1761544909.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502729 2025-10-27T06:01:49.826Z,1761544909.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984551,-0.174158,-0.018102],[0.174703,-0.970153,-0.168176],[0.011728,-0.168740,0.985591]] 2025-10-27T06:01:49.850Z,1761544909.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:49.925Z,1761544909.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755697 2025-10-27T06:01:50.176Z,1761544910.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006809 2025-10-27T06:01:50.264Z,1761544910.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:50.431Z,1761544910.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261155 2025-10-27T06:01:50.646Z,1761544910.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984241,-0.175917,-0.017955],[0.176406,-0.969755,-0.168690],[0.012263,-0.169199,0.985506]] 2025-10-27T06:01:50.680Z,1761544910.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860 2025-10-27T06:01:50.707Z,1761544910.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:50.932Z,1761544910.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860 2025-10-27T06:01:51.043Z,1761544911.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984120,-0.176590,-0.018009],[0.177073,-0.969574,-0.169033],[0.012388,-0.169537,0.985446]] 2025-10-27T06:01:51.061Z,1761544911.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:51.184Z,1761544911.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014789 2025-10-27T06:01:51.438Z,1761544911.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268792 2025-10-27T06:01:51.490Z,1761544911.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984056,-0.177013,-0.017303],[0.177397,-0.969862,-0.167028],[0.012785,-0.167434,0.985800]] 2025-10-27T06:01:51.535Z,1761544911.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:51.688Z,1761544911.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518910 2025-10-27T06:01:51.846Z,1761544911.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984010,-0.177292,-0.017105],[0.177637,-0.969810,-0.167072],[0.013032,-0.167438,0.985796]] 2025-10-27T06:01:51.865Z,1761544911.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:51.941Z,1761544911.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771300 2025-10-27T06:01:52.192Z,1761544912.192 [DAT](INFO): DAT read: Rx Time:06:01:50.8698 2025-10-27T06:01:52.193Z,1761544912.193 [DAT](INFO): Rx dataTimestamp_ set to:1761544912.192212 2025-10-27T06:01:52.193Z,1761544912.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023987 2025-10-27T06:01:52.261Z,1761544912.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983883,-0.178037,-0.016645],[0.178314,-0.969926,-0.165673],[0.013352,-0.165971,0.986040]] 2025-10-27T06:01:52.280Z,1761544912.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:52.444Z,1761544912.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275156 2025-10-27T06:01:52.659Z,1761544912.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983851,-0.178231,-0.016458],[0.178471,-0.969860,-0.165892],[0.013605,-0.166150,0.986007]] 2025-10-27T06:01:52.699Z,1761544912.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529459 2025-10-27T06:01:52.761Z,1761544912.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.58 m. 2025-10-27T06:01:52.953Z,1761544912.953 [DAT](INFO): DAT read: 06:01:50.8698 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 303, 0.10, 2.188,-3.119, 2.218, 1.583, PHS= 0.707, 1.626, 0.590, RAW= 335.9, -46.4, CAL= 335.9, -49.0, ROT= 174.1, 49.0 2025-10-27T06:01:52.954Z,1761544912.954 [DAT](INFO): got valid direction response: 06:01:50.8698 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 303, 0.10, 2.188,-3.119, 2.218, 1.583, PHS= 0.707, 1.626, 0.590, RAW= 335.9, -46.4, CAL= 335.9, -49.0, ROT= 174.1, 49.0 2025-10-27T06:01:52.955Z,1761544912.955 [DAT](INFO): DAT read: Bearing 189.7, 10.7 (Local) 2025-10-27T06:01:52.956Z,1761544912.956 [DAT](INFO): Local bearing/azimuth received: Bearing 189.7, 10.7 (Local) 2025-10-27T06:01:52.957Z,1761544912.957 [DAT](INFO): DAT read: Range 11 to 50 : 184.2 m (Round-trip 245.7 ms) speed -0.6 m/s 2025-10-27T06:01:52.957Z,1761544912.957 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:01:52.958Z,1761544912.958 [DAT](INFO): direction in FSK: [-0.652584,0.067438,-0.754710] 2025-10-27T06:01:52.959Z,1761544912.959 [DAT](INFO): publishing direction and range info 2025-10-27T06:01:53.100Z,1761544913.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983892,-0.178045,-0.016015],[0.178213,-0.969884,-0.166028],[0.014028,-0.166207,0.985991]] 2025-10-27T06:01:53.149Z,1761544913.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 184.199997 m, deltaT: 60.745616 s, deltaX: 103.099998 m, approachRate: 1.697242 m/s, rangeRepo size: 4 2025-10-27T06:01:53.156Z,1761544913.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 183.032639 m, bearing: 354.980323 deg, lat: 36.779388 deg, lon: -121.859742 deg, deltaT: 60.745616 s, deltaX: 102.451111 m, approachRate: 1.686560 m/s, posRepo size: 4 2025-10-27T06:01:53.156Z,1761544913.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m. 2025-10-27T06:01:53.156Z,1761544913.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 184.20 m. Resuming terminal guidance. 2025-10-27T06:01:53.157Z,1761544913.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T06:01:53.522Z,1761544913.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983945,-0.177763,-0.015879],[0.177908,-0.969888,-0.166333],[0.014167,-0.166487,0.985942]] 2025-10-27T06:01:53.584Z,1761544913.584 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T06:01:53.584Z,1761544913.584 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:01:53.584Z,1761544913.584 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T06:01:53.586Z,1761544913.586 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 184.199997 m (mode 1.000000 count ). 2025-10-27T06:01:53.586Z,1761544913.586 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T06:01:53.586Z,1761544913.586 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T06:01:53.934Z,1761544913.934 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T06:01:53.934Z,1761544913.934 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T06:01:53.934Z,1761544913.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:01:53.956Z,1761544913.956 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:01:53.956Z,1761544913.956 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:01:53.956Z,1761544913.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:01:54.208Z,1761544914.208 [DAT](INFO): DAT read: user:608> 2025-10-27T06:01:54.209Z,1761544914.209 [DAT](INFO): DAT read: Tx time:06:01:53.2700 2025-10-27T06:01:54.209Z,1761544914.209 [DAT](INFO): Ping request sent. 2025-10-27T06:01:54.209Z,1761544914.209 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:01:54.210Z,1761544914.210 [DAT](INFO): publishing transmit ping time 2025-10-27T06:01:54.210Z,1761544914.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-27T06:01:54.306Z,1761544914.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983978,-0.177600,-0.015658],[0.177707,-0.969888,-0.166546],[0.014392,-0.166661,0.985909]] 2025-10-27T06:01:54.329Z,1761544914.329 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T06:01:54.329Z,1761544914.329 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T06:01:54.461Z,1761544914.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251317 2025-10-27T06:01:54.713Z,1761544914.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503033 2025-10-27T06:01:54.726Z,1761544914.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983955,-0.177729,-0.015652],[0.177833,-0.969864,-0.166553],[0.014421,-0.166664,0.985908]] 2025-10-27T06:01:54.774Z,1761544914.774 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T06:01:54.774Z,1761544914.774 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:01:54.774Z,1761544914.774 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T06:01:54.774Z,1761544914.774 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:01:54.964Z,1761544914.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754417 2025-10-27T06:01:55.118Z,1761544915.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983718,-0.179011,-0.015920],[0.179124,-0.969429,-0.167697],[0.014587,-0.167818,0.985710]] 2025-10-27T06:01:55.216Z,1761544915.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006436 2025-10-27T06:01:55.468Z,1761544915.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258453 2025-10-27T06:01:55.550Z,1761544915.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983016,-0.182745,-0.016835],[0.182902,-0.968071,-0.171421],[0.015029,-0.171589,0.985054]] 2025-10-27T06:01:55.721Z,1761544915.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975 2025-10-27T06:01:55.922Z,1761544915.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981854,-0.188706,-0.018798],[0.188982,-0.965385,-0.179769],[0.015776,-0.180059,0.983529]] 2025-10-27T06:01:55.940Z,1761544915.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:01:55.972Z,1761544915.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762439 2025-10-27T06:01:56.224Z,1761544916.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014664 2025-10-27T06:01:56.327Z,1761544916.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980407,-0.195780,-0.021735],[0.196256,-0.961360,-0.193058],[0.016902,-0.193541,0.980947]] 2025-10-27T06:01:56.476Z,1761544916.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266408 2025-10-27T06:01:56.729Z,1761544916.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519129 2025-10-27T06:01:56.746Z,1761544916.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978514,-0.204552,-0.025862],[0.205392,-0.956108,-0.208976],[0.018020,-0.209798,0.977579]] 2025-10-27T06:01:56.980Z,1761544916.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770353 2025-10-27T06:01:57.144Z,1761544917.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975957,-0.215848,-0.030281],[0.217081,-0.950106,-0.223996],[0.019579,-0.225184,0.974120]] 2025-10-27T06:01:57.232Z,1761544917.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022449 2025-10-27T06:01:57.484Z,1761544917.484 [DAT](INFO): DAT read: Rx Time:06:01:55.9240 2025-10-27T06:01:57.484Z,1761544917.484 [DAT](INFO): Rx dataTimestamp_ set to:1761544917.484101 2025-10-27T06:01:57.485Z,1761544917.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275433 2025-10-27T06:01:57.602Z,1761544917.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972339,-0.230780,-0.036020],[0.232563,-0.942221,-0.241109],[0.021705,-0.242817,0.969829]] 2025-10-27T06:01:57.737Z,1761544917.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527194 2025-10-27T06:01:57.993Z,1761544917.993 [DAT](INFO): DAT read: 06:01:55.9240 LVL= 32752, 31089, 32754, 32755, AGC= 72, IDX= 117,-0.48, 2.842,-1.644, 3.107,-2.818, PHS=-0.521, 1.219,-0.402, RAW= 326.5, -3.5, CAL= 325.6, -6.6, ROT= 184.4, 6.6 2025-10-27T06:01:57.994Z,1761544917.994 [DAT](INFO): got valid direction response: 06:01:55.9240 LVL= 32752, 31089, 32754, 32755, AGC= 72, IDX= 117,-0.48, 2.842,-1.644, 3.107,-2.818, PHS=-0.521, 1.219,-0.402, RAW= 326.5, -3.5, CAL= 325.6, -6.6, ROT= 184.4, 6.6 2025-10-27T06:01:57.995Z,1761544917.995 [DAT](INFO): DAT read: Bearing 146.8, -3.8 (Local) 2025-10-27T06:01:57.996Z,1761544917.996 [DAT](INFO): Local bearing/azimuth received: Bearing 146.8, -3.8 (Local) 2025-10-27T06:01:57.997Z,1761544917.997 [DAT](INFO): DAT read: Range 11 to 50 : 187.4 m (Round-trip 249.9 ms) speed -0.6 m/s 2025-10-27T06:01:57.998Z,1761544917.998 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:01:57.999Z,1761544917.999 [DAT](INFO): direction in FSK: [-0.990445,-0.076211,-0.114937] 2025-10-27T06:01:58.004Z,1761544918.004 [DAT](INFO): publishing direction and range info 2025-10-27T06:01:58.012Z,1761544918.012 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:01:58.012Z,1761544918.012 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:01:58.012Z,1761544918.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:01:58.032Z,1761544918.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.967672,-0.248484,-0.043201],[0.251010,-0.932138,-0.260985],[0.024581,-0.263391,0.964376]] 2025-10-27T06:01:58.211Z,1761544918.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.399994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T06:01:58.213Z,1761544918.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.214630 m, bearing: 351.456284 deg, lat: 36.779404 deg, lon: -121.859778 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T06:01:58.214Z,1761544918.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:01:58.217Z,1761544918.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 133.909302 m, bearing: 348.644792 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 350.562569 deg, new cmd heading: 348.644792 deg. 2025-10-27T06:01:58.217Z,1761544918.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085000 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:01:58.240Z,1761544918.240 [DAT](INFO): DAT read: user:609> 2025-10-27T06:01:58.241Z,1761544918.241 [DAT](INFO): DAT read: Tx time:06:01:57.3200 2025-10-27T06:01:58.241Z,1761544918.241 [DAT](INFO): Ping request sent. 2025-10-27T06:01:58.241Z,1761544918.241 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:01:58.241Z,1761544918.241 [DAT](INFO): publishing transmit ping time 2025-10-27T06:01:58.242Z,1761544918.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-27T06:01:58.492Z,1761544918.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250639 2025-10-27T06:01:58.663Z,1761544918.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956177,-0.287067,-0.057605],[0.291122,-0.911186,-0.291528],[0.031200,-0.295522,0.954826]] 2025-10-27T06:01:58.744Z,1761544918.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796 2025-10-27T06:01:58.759Z,1761544918.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:01:58.761Z,1761544918.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:01:58.768Z,1761544918.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 134.327011 m, bearing: 348.608050 deg, approach rate: 0.758088 m/s, LOS rate: -0.066474 deg/s, cmd heading: 348.644793 deg, new cmd heading: 348.608050 deg. 2025-10-27T06:01:58.769Z,1761544918.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.084358 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:01:58.997Z,1761544918.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755516 2025-10-27T06:01:59.157Z,1761544919.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949261,-0.307799,-0.064528],[0.312582,-0.900864,-0.301226],[0.034586,-0.306112,0.951367]] 2025-10-27T06:01:59.204Z,1761544919.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:01:59.207Z,1761544919.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 134.678680 m, bearing: 348.573916 deg, approach rate: 0.793546 m/s, LOS rate: -0.076822 deg/s, cmd heading: 348.608047 deg, new cmd heading: 348.573916 deg. 2025-10-27T06:01:59.208Z,1761544919.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083763 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:01:59.251Z,1761544919.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009259 2025-10-27T06:01:59.500Z,1761544919.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258670 2025-10-27T06:01:59.622Z,1761544919.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941623,-0.328946,-0.071703],[0.334523,-0.890135,-0.309441],[0.037964,-0.315363,0.948211]] 2025-10-27T06:01:59.687Z,1761544919.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:01:59.690Z,1761544919.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 135.047867 m, bearing: 348.535500 deg, approach rate: 0.764695 m/s, LOS rate: -0.079354 deg/s, cmd heading: 348.573923 deg, new cmd heading: 348.535500 deg. 2025-10-27T06:01:59.690Z,1761544919.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083092 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:01:59.753Z,1761544919.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511221 2025-10-27T06:02:00.004Z,1761544920.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675 2025-10-27T06:02:00.018Z,1761544920.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933298,-0.350474,-0.078251],[0.356732,-0.879849,-0.314019],[0.041206,-0.320988,0.946186]] 2025-10-27T06:02:00.037Z,1761544920.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:00.040Z,1761544920.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 135.314117 m, bearing: 348.505137 deg, approach rate: 0.760262 m/s, LOS rate: -0.086528 deg/s, cmd heading: 348.535510 deg, new cmd heading: 348.505137 deg. 2025-10-27T06:02:00.041Z,1761544920.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082562 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:00.260Z,1761544920.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018276 2025-10-27T06:02:00.420Z,1761544920.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924664,-0.371520,-0.083481],[0.378184,-0.870434,-0.315152],[0.044421,-0.322981,0.945362]] 2025-10-27T06:02:00.440Z,1761544920.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:00.442Z,1761544920.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 135.617355 m, bearing: 348.467532 deg, approach rate: 0.753248 m/s, LOS rate: -0.093204 deg/s, cmd heading: 348.505129 deg, new cmd heading: 348.467532 deg. 2025-10-27T06:02:00.443Z,1761544920.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081906 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:00.508Z,1761544920.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266703 2025-10-27T06:02:00.760Z,1761544920.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518688 2025-10-27T06:02:00.822Z,1761544920.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915560,-0.392534,-0.087562],[0.399358,-0.861574,-0.313374],[0.047568,-0.321881,0.945584]] 2025-10-27T06:02:00.869Z,1761544920.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:00.871Z,1761544920.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:00.874Z,1761544920.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 135.953857 m, bearing: 348.426735 deg, approach rate: 0.780018 m/s, LOS rate: -0.094332 deg/s, cmd heading: 348.467536 deg, new cmd heading: 348.426735 deg. 2025-10-27T06:02:00.875Z,1761544920.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081194 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:01.012Z,1761544921.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770697 2025-10-27T06:02:01.226Z,1761544921.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906160,-0.413160,-0.090405],[0.419897,-0.853277,-0.309202],[0.050609,-0.318147,0.946690]] 2025-10-27T06:02:01.252Z,1761544921.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:01.255Z,1761544921.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 136.242889 m, bearing: 348.388820 deg, approach rate: 0.758019 m/s, LOS rate: -0.099226 deg/s, cmd heading: 348.426746 deg, new cmd heading: 348.388820 deg. 2025-10-27T06:02:01.256Z,1761544921.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.080532 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:01.264Z,1761544921.264 [DAT](INFO): DAT read: Rx Time:06:01:59.9424 2025-10-27T06:02:01.265Z,1761544921.265 [DAT](INFO): Rx dataTimestamp_ set to:1761544921.264241 2025-10-27T06:02:01.265Z,1761544921.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023855 2025-10-27T06:02:01.516Z,1761544921.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274678 2025-10-27T06:02:01.671Z,1761544921.671 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:02:01.696Z,1761544921.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886437,-0.453919,-0.090482],[0.459402,-0.839044,-0.291472],[0.056386,-0.299939,0.952290]] 2025-10-27T06:02:01.771Z,1761544921.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528762 2025-10-27T06:02:01.773Z,1761544921.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:01.782Z,1761544921.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 136.643250 m, bearing: 348.326545 deg, approach rate: 0.778325 m/s, LOS rate: -0.120713 deg/s, cmd heading: 348.388825 deg, new cmd heading: 348.326545 deg. 2025-10-27T06:02:01.821Z,1761544921.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079445 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:02.025Z,1761544922.025 [DAT](INFO): DAT read: 06:01:59.9424 LVL= 32752, 26609, 32754, 32755, AGC= 69, IDX= 105,-0.45,-1.151, 1.091,-0.280,-0.162, PHS=-0.887, 1.298,-0.162, RAW= 311.0, -2.6, CAL= 309.7, -6.0, ROT= 200.3, 6.0 2025-10-27T06:02:02.026Z,1761544922.026 [DAT](INFO): got valid direction response: 06:01:59.9424 LVL= 32752, 26609, 32754, 32755, AGC= 69, IDX= 105,-0.45,-1.151, 1.091,-0.280,-0.162, PHS=-0.887, 1.298,-0.162, RAW= 311.0, -2.6, CAL= 309.7, -6.0, ROT= 200.3, 6.0 2025-10-27T06:02:02.027Z,1761544922.027 [DAT](INFO): DAT read: Bearing 139.3, -20.2 (Local) 2025-10-27T06:02:02.028Z,1761544922.028 [DAT](INFO): Local bearing/azimuth received: Bearing 139.3, -20.2 (Local) 2025-10-27T06:02:02.029Z,1761544922.029 [DAT](INFO): DAT read: Range 11 to 50 : 163.7 m (Round-trip 218.3 ms) speed -1.1 m/s 2025-10-27T06:02:02.030Z,1761544922.030 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:02.031Z,1761544922.031 [DAT](INFO): direction in FSK: [-0.932751,-0.345035,-0.104528] 2025-10-27T06:02:02.031Z,1761544922.031 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:02.034Z,1761544922.034 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:02.034Z,1761544922.034 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:02.035Z,1761544922.035 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:02.161Z,1761544922.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875620,-0.474731,-0.088992],[0.479435,-0.831935,-0.279331],[0.058571,-0.287253,0.956062]] 2025-10-27T06:02:02.216Z,1761544922.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 163.699997 m, deltaT: 4.032053 s, deltaX: -23.699997 m, approachRate: -5.877898 m/s, rangeRepo size: 1 2025-10-27T06:02:02.217Z,1761544922.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:02.224Z,1761544922.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 136.968262 m, bearing: 348.272549 deg, approach rate: 0.724253 m/s, LOS rate: -0.120036 deg/s, cmd heading: 348.326534 deg, new cmd heading: 348.272549 deg. 2025-10-27T06:02:02.225Z,1761544922.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.078503 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:02.272Z,1761544922.272 [DAT](INFO): DAT read: user:610> 2025-10-27T06:02:02.273Z,1761544922.273 [DAT](INFO): DAT read: Tx time:06:02:01.3200 2025-10-27T06:02:02.273Z,1761544922.273 [DAT](INFO): Ping request sent. 2025-10-27T06:02:02.273Z,1761544922.273 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:02.273Z,1761544922.273 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:02.274Z,1761544922.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767 2025-10-27T06:02:02.524Z,1761544922.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250680 2025-10-27T06:02:02.669Z,1761544922.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864687,-0.494491,-0.088294],[0.498701,-0.824065,-0.268728],[0.060123,-0.276398,0.959161]] 2025-10-27T06:02:02.675Z,1761544922.675 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:02:02.730Z,1761544922.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:02.738Z,1761544922.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 137.364120 m, bearing: 348.202456 deg, approach rate: 0.769800 m/s, LOS rate: -0.135914 deg/s, cmd heading: 348.272548 deg, new cmd heading: 348.202456 deg. 2025-10-27T06:02:02.738Z,1761544922.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077279 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:02.776Z,1761544922.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855 2025-10-27T06:02:03.028Z,1761544923.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754720 2025-10-27T06:02:03.059Z,1761544923.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853036,-0.514339,-0.088231],[0.518278,-0.815245,-0.258386],[0.060968,-0.266141,0.962004]] 2025-10-27T06:02:03.100Z,1761544923.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:03.105Z,1761544923.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:03.111Z,1761544923.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 137.660934 m, bearing: 348.146702 deg, approach rate: 0.791812 m/s, LOS rate: -0.148413 deg/s, cmd heading: 348.202443 deg, new cmd heading: 348.146702 deg. 2025-10-27T06:02:03.112Z,1761544923.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076306 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:03.280Z,1761544923.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006640 2025-10-27T06:02:03.461Z,1761544923.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841038,-0.533255,-0.091070],[0.537493,-0.804626,-0.252346],[0.061287,-0.261182,0.963342]] 2025-10-27T06:02:03.479Z,1761544923.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:03.482Z,1761544923.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 137.943542 m, bearing: 348.090566 deg, approach rate: 0.754209 m/s, LOS rate: -0.149507 deg/s, cmd heading: 348.146708 deg, new cmd heading: 348.090566 deg. 2025-10-27T06:02:03.483Z,1761544923.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075326 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:03.533Z,1761544923.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259087 2025-10-27T06:02:03.784Z,1761544923.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510600 2025-10-27T06:02:03.862Z,1761544923.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828524,-0.551568,-0.096548],[0.556643,-0.792568,-0.248967],[0.060802,-0.260018,0.963688]] 2025-10-27T06:02:03.917Z,1761544923.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:03.928Z,1761544923.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 138.256378 m, bearing: 348.029094 deg, approach rate: 0.718177 m/s, LOS rate: -0.140801 deg/s, cmd heading: 348.090564 deg, new cmd heading: 348.029094 deg. 2025-10-27T06:02:03.928Z,1761544923.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074254 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:04.036Z,1761544924.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762743 2025-10-27T06:02:04.265Z,1761544924.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815628,-0.569371,-0.102805],[0.575417,-0.779717,-0.246853],[0.060392,-0.260496,0.963584]] 2025-10-27T06:02:04.288Z,1761544924.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766 2025-10-27T06:02:04.300Z,1761544924.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:04.303Z,1761544924.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 138.551636 m, bearing: 347.967922 deg, approach rate: 0.766694 m/s, LOS rate: -0.158508 deg/s, cmd heading: 348.029093 deg, new cmd heading: 347.967922 deg. 2025-10-27T06:02:04.304Z,1761544924.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073186 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:04.545Z,1761544924.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270533 2025-10-27T06:02:04.736Z,1761544924.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802142,-0.586745,-0.110897],[0.594161,-0.765760,-0.246138],[0.059500,-0.263329,0.962870]] 2025-10-27T06:02:04.792Z,1761544924.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518807 2025-10-27T06:02:04.795Z,1761544924.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:04.798Z,1761544924.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 138.919739 m, bearing: 347.890162 deg, approach rate: 0.744051 m/s, LOS rate: -0.156760 deg/s, cmd heading: 347.967921 deg, new cmd heading: 347.890162 deg. 2025-10-27T06:02:04.798Z,1761544924.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071829 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:05.049Z,1761544925.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775925 2025-10-27T06:02:05.074Z,1761544925.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788392,-0.603796,-0.117763],[0.612396,-0.752149,-0.243400],[0.058388,-0.264013,0.962750]] 2025-10-27T06:02:05.115Z,1761544925.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:05.123Z,1761544925.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:05.132Z,1761544925.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 139.140106 m, bearing: 347.841187 deg, approach rate: 0.680827 m/s, LOS rate: -0.151069 deg/s, cmd heading: 347.890167 deg, new cmd heading: 347.841187 deg. 2025-10-27T06:02:05.133Z,1761544925.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.070974 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:05.300Z,1761544925.300 [DAT](INFO): DAT read: Rx Time:06:02:03.9113 2025-10-27T06:02:05.301Z,1761544925.301 [DAT](INFO): Rx dataTimestamp_ set to:1761544925.300419 2025-10-27T06:02:05.301Z,1761544925.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028004 2025-10-27T06:02:05.477Z,1761544925.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774279,-0.620131,-0.126215],[0.630276,-0.737695,-0.241988],[0.056956,-0.266917,0.962035]] 2025-10-27T06:02:05.496Z,1761544925.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:05.498Z,1761544925.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 139.434189 m, bearing: 347.772533 deg, approach rate: 0.779037 m/s, LOS rate: -0.181483 deg/s, cmd heading: 347.841180 deg, new cmd heading: 347.772533 deg. 2025-10-27T06:02:05.499Z,1761544925.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069776 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:05.552Z,1761544925.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278874 2025-10-27T06:02:05.809Z,1761544925.809 [DAT](INFO): DAT read: 06:02:03.9113 LVL= 32752, 29409, 32754, 30931, AGC= 69, IDX= 105, 0.42, 0.182, 2.352, 1.282, 1.320, PHS=-1.036, 1.077,-0.082, RAW= 303.2, 0.5, CAL= 301.5, -3.4, ROT= 208.5, 3.4 2025-10-27T06:02:05.810Z,1761544925.810 [DAT](INFO): got valid direction response: 06:02:03.9113 LVL= 32752, 29409, 32754, 30931, AGC= 69, IDX= 105, 0.42, 0.182, 2.352, 1.282, 1.320, PHS=-1.036, 1.077,-0.082, RAW= 303.2, 0.5, CAL= 301.5, -3.4, ROT= 208.5, 3.4 2025-10-27T06:02:05.811Z,1761544925.811 [DAT](INFO): DAT read: Bearing 125.8, -29.6 (Local) 2025-10-27T06:02:05.812Z,1761544925.812 [DAT](INFO): Local bearing/azimuth received: Bearing 125.8, -29.6 (Local) 2025-10-27T06:02:05.813Z,1761544925.813 [DAT](INFO): DAT read: Range 11 to 50 : 140.4 m (Round-trip 187.2 ms) speed -0.2 m/s 2025-10-27T06:02:05.814Z,1761544925.814 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:05.815Z,1761544925.815 [DAT](INFO): direction in FSK: [-0.877270,-0.476319,-0.059306] 2025-10-27T06:02:05.815Z,1761544925.815 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:05.818Z,1761544925.818 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:05.818Z,1761544925.818 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:05.819Z,1761544925.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:05.992Z,1761544925.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 140.399994 m, deltaT: 7.816059 s, deltaX: -47.000000 m, approachRate: -6.013261 m/s, rangeRepo size: 1 2025-10-27T06:02:05.992Z,1761544925.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:05.999Z,1761544925.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 139.782593 m, bearing: 347.700351 deg, approach rate: 0.710047 m/s, LOS rate: -0.146741 deg/s, cmd heading: 347.772523 deg, new cmd heading: 347.700351 deg. 2025-10-27T06:02:05.000Z,1761544926.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068516 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:06.057Z,1761544926.057 [DAT](INFO): DAT read: user:611> 2025-10-27T06:02:06.059Z,1761544926.059 [DAT](INFO): DAT read: Tx time:06:02:05.1200 2025-10-27T06:02:06.059Z,1761544926.059 [DAT](INFO): Ping request sent. 2025-10-27T06:02:06.059Z,1761544926.059 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:06.060Z,1761544926.060 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:06.061Z,1761544926.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001117 2025-10-27T06:02:06.308Z,1761544926.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248898 2025-10-27T06:02:06.312Z,1761544926.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744577,-0.652899,-0.139024],[0.665349,-0.709018,-0.233674],[0.053995,-0.266488,0.962325]] 2025-10-27T06:02:06.330Z,1761544926.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:06.333Z,1761544926.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 140.041382 m, bearing: 347.640739 deg, approach rate: 0.753224 m/s, LOS rate: -0.173185 deg/s, cmd heading: 347.700342 deg, new cmd heading: 347.640739 deg. 2025-10-27T06:02:06.334Z,1761544926.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067475 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:06.560Z,1761544926.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500765 2025-10-27T06:02:06.741Z,1761544926.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728770,-0.669561,-0.143466],[0.682735,-0.694395,-0.227349],[0.052602,-0.263634,0.963188]] 2025-10-27T06:02:06.781Z,1761544926.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:06.784Z,1761544926.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 140.339325 m, bearing: 347.569496 deg, approach rate: 0.661345 m/s, LOS rate: -0.157801 deg/s, cmd heading: 347.640728 deg, new cmd heading: 347.569496 deg. 2025-10-27T06:02:06.784Z,1761544926.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066232 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:06.812Z,1761544926.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752882 2025-10-27T06:02:07.064Z,1761544927.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005229 2025-10-27T06:02:07.129Z,1761544927.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713097,-0.685577,-0.146550],[0.699178,-0.680136,-0.220375],[0.051410,-0.259613,0.964343]] 2025-10-27T06:02:07.154Z,1761544927.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:07.160Z,1761544927.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:07.163Z,1761544927.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 140.583893 m, bearing: 347.508205 deg, approach rate: 0.644772 m/s, LOS rate: -0.161306 deg/s, cmd heading: 347.569503 deg, new cmd heading: 347.508205 deg. 2025-10-27T06:02:07.164Z,1761544927.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065162 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:07.316Z,1761544927.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256772 2025-10-27T06:02:07.523Z,1761544927.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696256,-0.702110,-0.149225],[0.716049,-0.664903,-0.212553],[0.050015,-0.254843,0.965688]] 2025-10-27T06:02:07.542Z,1761544927.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:07.545Z,1761544927.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 140.832642 m, bearing: 347.442761 deg, approach rate: 0.650720 m/s, LOS rate: -0.170895 deg/s, cmd heading: 347.508195 deg, new cmd heading: 347.442761 deg. 2025-10-27T06:02:07.546Z,1761544927.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064020 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:07.568Z,1761544927.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508842 2025-10-27T06:02:07.820Z,1761544927.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760820 2025-10-27T06:02:07.925Z,1761544927.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678516,-0.718768,-0.151620],[0.732965,-0.648736,-0.204706],[0.048775,-0.250028,0.967009]] 2025-10-27T06:02:07.986Z,1761544927.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:07.989Z,1761544927.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 141.093613 m, bearing: 347.371974 deg, approach rate: 0.592635 m/s, LOS rate: -0.160452 deg/s, cmd heading: 347.442762 deg, new cmd heading: 347.371974 deg. 2025-10-27T06:02:07.989Z,1761544927.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062785 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:08.072Z,1761544928.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012848 2025-10-27T06:02:08.324Z,1761544928.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264883 2025-10-27T06:02:08.344Z,1761544928.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659640,-0.735111,-0.156482],[0.750115,-0.630925,-0.198144],[0.046930,-0.248084,0.967601]] 2025-10-27T06:02:08.362Z,1761544928.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:08.365Z,1761544928.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 141.337158 m, bearing: 347.302513 deg, approach rate: 0.642165 m/s, LOS rate: -0.182836 deg/s, cmd heading: 347.371974 deg, new cmd heading: 347.302513 deg. 2025-10-27T06:02:08.365Z,1761544928.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061573 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:08.576Z,1761544928.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516795 2025-10-27T06:02:08.769Z,1761544928.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640201,-0.750949,-0.161923],[0.766873,-0.612311,-0.192307],[0.045265,-0.247289,0.967884]] 2025-10-27T06:02:08.823Z,1761544928.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:08.825Z,1761544928.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 141.584610 m, bearing: 347.231000 deg, approach rate: 0.556296 m/s, LOS rate: -0.160486 deg/s, cmd heading: 347.302524 deg, new cmd heading: 347.231000 deg. 2025-10-27T06:02:08.826Z,1761544928.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060324 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:08.828Z,1761544928.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768873 2025-10-27T06:02:09.080Z,1761544929.080 [DAT](INFO): DAT read: Rx Time:06:02:07.7146 2025-10-27T06:02:09.080Z,1761544929.080 [DAT](INFO): Rx dataTimestamp_ set to:1761544929.080165 2025-10-27T06:02:09.081Z,1761544929.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021879 2025-10-27T06:02:09.149Z,1761544929.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620214,-0.766461,-0.166951],[0.783223,-0.593255,-0.186035],[0.043545,-0.246141,0.968255]] 2025-10-27T06:02:09.196Z,1761544929.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:09.198Z,1761544929.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.21 m. 2025-10-27T06:02:09.206Z,1761544929.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 186.214630 m, nav range: 141.791718 m, bearing: 347.168078 deg, approach rate: 0.529050 m/s, LOS rate: -0.160499 deg/s, cmd heading: 347.230999 deg, new cmd heading: 347.168078 deg. 2025-10-27T06:02:09.206Z,1761544929.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059226 target range: 186.214630 and range: 187.40 m. 2025-10-27T06:02:09.332Z,1761544929.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272816 2025-10-27T06:02:09.596Z,1761544929.596 [DAT](INFO): DAT read: 06:02:07.7146 LVL= 31728, 23329, 28290, 32755, AGC= 65, IDX= 459,-0.35,-1.609, 0.474,-0.419,-0.324, PHS=-1.183, 0.843,-0.138, RAW= 299.0, 5.5, CAL= 296.7, 3.0, ROT= 213.3, -3.0 2025-10-27T06:02:09.598Z,1761544929.598 [DAT](INFO): got valid direction response: 06:02:07.7146 LVL= 31728, 23329, 28290, 32755, AGC= 65, IDX= 459,-0.35,-1.609, 0.474,-0.419,-0.324, PHS=-1.183, 0.843,-0.138, RAW= 299.0, 5.5, CAL= 296.7, 3.0, ROT= 213.3, -3.0 2025-10-27T06:02:09.607Z,1761544929.607 [DAT](INFO): DAT read: Bearing 107.2, -35.4 (Local) 2025-10-27T06:02:09.608Z,1761544929.608 [DAT](INFO): Local bearing/azimuth received: Bearing 107.2, -35.4 (Local) 2025-10-27T06:02:09.610Z,1761544929.610 [DAT](INFO): DAT read: Range 11 to 50 : 142.8 m (Round-trip 190.5 ms) speed -0.5 m/s 2025-10-27T06:02:09.622Z,1761544929.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599428,-0.781611,-0.172543],[0.799336,-0.573276,-0.180047],[0.041812,-0.245845,0.968407]] 2025-10-27T06:02:09.657Z,1761544929.657 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:09.673Z,1761544929.673 [DAT](INFO): direction in FSK: [-0.834662,-0.548270,0.052336] 2025-10-27T06:02:09.674Z,1761544929.674 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:09.763Z,1761544929.763 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:09.763Z,1761544929.763 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:09.763Z,1761544929.763 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:09.790Z,1761544929.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.800003 m, deltaT: 11.597365 s, deltaX: -44.599991 m, approachRate: -3.845700 m/s, rangeRepo size: 2 2025-10-27T06:02:09.796Z,1761544929.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 141.889328 m, bearing: 338.502160 deg, lat: 36.779408 deg, lon: -121.859737 deg, deltaT: 11.597365 s, deltaX: -44.325302 m, approachRate: -3.822015 m/s, posRepo size: 2 2025-10-27T06:02:09.797Z,1761544929.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:09.804Z,1761544929.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 141.738953 m, bearing: 348.558556 deg, approach rate: 0.000000 m/s, LOS rate: -0.160499 deg/s, cmd heading: 347.168079 deg, new cmd heading: 346.883482 deg. 2025-10-27T06:02:09.805Z,1761544929.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054259 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:09.836Z,1761544929.836 [DAT](INFO): DAT read: user:612> 2025-10-27T06:02:09.837Z,1761544929.837 [DAT](INFO): DAT read: Tx time:06:02:09.0700 2025-10-27T06:02:09.837Z,1761544929.837 [DAT](INFO): Ping request sent. 2025-10-27T06:02:09.837Z,1761544929.837 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:09.837Z,1761544929.837 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:09.838Z,1761544929.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T06:02:10.090Z,1761544930.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252484 2025-10-27T06:02:10.141Z,1761544930.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556357,-0.809152,-0.189049],[0.830105,-0.531001,-0.170187],[0.037322,-0.251615,0.967107]] 2025-10-27T06:02:10.192Z,1761544930.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:10.195Z,1761544930.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 141.972946 m, bearing: 348.471094 deg, approach rate: 0.580710 m/s, LOS rate: -0.216700 deg/s, cmd heading: 346.883479 deg, new cmd heading: 346.621526 deg. 2025-10-27T06:02:10.196Z,1761544930.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049687 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:10.340Z,1761544930.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502739 2025-10-27T06:02:10.541Z,1761544930.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534345,-0.822449,-0.195073],[0.844558,-0.510036,-0.163050],[0.034606,-0.251875,0.967141]] 2025-10-27T06:02:10.573Z,1761544930.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:10.575Z,1761544930.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 142.159317 m, bearing: 348.397975 deg, approach rate: 0.490072 m/s, LOS rate: -0.192018 deg/s, cmd heading: 346.621527 deg, new cmd heading: 346.402459 deg. 2025-10-27T06:02:10.576Z,1761544930.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045864 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:10.594Z,1761544930.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756238 2025-10-27T06:02:10.844Z,1761544930.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006945 2025-10-27T06:02:10.946Z,1761544930.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511776,-0.835299,-0.200901],[0.858551,-0.488755,-0.154950],[0.031238,-0.251784,0.967279]] 2025-10-27T06:02:10.998Z,1761544930.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:11.001Z,1761544931.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 142.358704 m, bearing: 348.314918 deg, approach rate: 0.468769 m/s, LOS rate: -0.194997 deg/s, cmd heading: 346.402469 deg, new cmd heading: 346.153651 deg. 2025-10-27T06:02:11.002Z,1761544931.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041521 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:11.097Z,1761544931.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259515 2025-10-27T06:02:11.348Z,1761544931.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511175 2025-10-27T06:02:11.355Z,1761544931.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489170,-0.847991,-0.204020],[0.871741,-0.467866,-0.145493],[0.027923,-0.249024,0.968095]] 2025-10-27T06:02:11.372Z,1761544931.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:11.374Z,1761544931.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:11.377Z,1761544931.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 142.530487 m, bearing: 348.239813 deg, approach rate: 0.456650 m/s, LOS rate: -0.199410 deg/s, cmd heading: 346.153659 deg, new cmd heading: 345.928617 deg. 2025-10-27T06:02:11.378Z,1761544931.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037593 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:11.601Z,1761544931.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764219 2025-10-27T06:02:11.798Z,1761544931.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466733,-0.859029,-0.210307],[0.884055,-0.446540,-0.138018],[0.024651,-0.250341,0.967844]] 2025-10-27T06:02:11.852Z,1761544931.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871 2025-10-27T06:02:11.854Z,1761544931.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:11.861Z,1761544931.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 142.745605 m, bearing: 348.138404 deg, approach rate: 0.448498 m/s, LOS rate: -0.211109 deg/s, cmd heading: 345.928618 deg, new cmd heading: 345.624851 deg. 2025-10-27T06:02:11.862Z,1761544931.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032291 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:12.105Z,1761544932.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267820 2025-10-27T06:02:12.175Z,1761544932.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444010,-0.869346,-0.217009],[0.895760,-0.424813,-0.130948],[0.021650,-0.252531,0.967347]] 2025-10-27T06:02:12.193Z,1761544932.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:12.201Z,1761544932.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 142.907028 m, bearing: 348.058626 deg, approach rate: 0.475258 m/s, LOS rate: -0.234613 deg/s, cmd heading: 345.624839 deg, new cmd heading: 345.385779 deg. 2025-10-27T06:02:12.201Z,1761544932.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.028119 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:12.356Z,1761544932.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518864 2025-10-27T06:02:12.574Z,1761544932.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421662,-0.878209,-0.225721],[0.906553,-0.403070,-0.125283],[0.019044,-0.257455,0.966103]] 2025-10-27T06:02:12.609Z,1761544932.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771799 2025-10-27T06:02:12.682Z,1761544932.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:12.685Z,1761544932.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 143.121567 m, bearing: 347.947619 deg, approach rate: 0.439264 m/s, LOS rate: -0.226945 deg/s, cmd heading: 345.385782 deg, new cmd heading: 345.053262 deg. 2025-10-27T06:02:12.686Z,1761544932.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022316 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:12.864Z,1761544932.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026527 2025-10-27T06:02:13.055Z,1761544933.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399451,-0.887073,-0.231388],[0.916599,-0.381804,-0.118628],[0.016886,-0.259476,0.965602]] 2025-10-27T06:02:13.112Z,1761544933.112 [DAT](INFO): DAT read: Rx Time:06:02:11.6671 2025-10-27T06:02:13.114Z,1761544933.114 [DAT](INFO): Rx dataTimestamp_ set to:1761544933.113008 2025-10-27T06:02:13.115Z,1761544933.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277723 2025-10-27T06:02:13.149Z,1761544933.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:13.153Z,1761544933.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 143.338364 m, bearing: 347.829038 deg, approach rate: 0.463848 m/s, LOS rate: -0.253325 deg/s, cmd heading: 345.053261 deg, new cmd heading: 344.698062 deg. 2025-10-27T06:02:13.154Z,1761544933.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016116 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:13.364Z,1761544933.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527179 2025-10-27T06:02:13.458Z,1761544933.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377550,-0.896666,-0.231186],[0.925861,-0.361397,-0.110330],[0.015379,-0.255701,0.966634]] 2025-10-27T06:02:13.488Z,1761544933.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:13.493Z,1761544933.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.89 m. 2025-10-27T06:02:13.536Z,1761544933.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.889328 m, nav range: 143.497543 m, bearing: 347.737934 deg, approach rate: 0.463827 m/s, LOS rate: -0.265169 deg/s, cmd heading: 344.698064 deg, new cmd heading: 344.425058 deg. 2025-10-27T06:02:13.548Z,1761544933.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011351 target range: 141.889328 and range: 142.80 m. 2025-10-27T06:02:13.621Z,1761544933.621 [DAT](INFO): DAT read: 06:02:11.6671 LVL= 27888, 24273, 27314, 32371, AGC= 63, IDX= 453,-0.14,-2.093,-0.266,-0.671,-0.813, PHS=-1.178, 0.592, 0.098, RAW= 285.7, 6.2, CAL= 283.8, 2.8, ROT= 226.2, -2.8 2025-10-27T06:02:13.624Z,1761544933.624 [DAT](INFO): got valid direction response: 06:02:11.6671 LVL= 27888, 24273, 27314, 32371, AGC= 63, IDX= 453,-0.14,-2.093,-0.266,-0.671,-0.813, PHS=-1.178, 0.592, 0.098, RAW= 285.7, 6.2, CAL= 283.8, 2.8, ROT= 226.2, -2.8 2025-10-27T06:02:13.625Z,1761544933.625 [DAT](INFO): DAT read: Bearing 99.4, -46.3 (Local) 2025-10-27T06:02:13.626Z,1761544933.626 [DAT](INFO): Local bearing/azimuth received: Bearing 99.4, -46.3 (Local) 2025-10-27T06:02:13.628Z,1761544933.628 [DAT](INFO): DAT read: Range 11 to 50 : 144.7 m (Round-trip 193.0 ms) speed -0.8 m/s 2025-10-27T06:02:13.629Z,1761544933.629 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:13.630Z,1761544933.630 [DAT](INFO): direction in FSK: [-0.691317,-0.720898,0.048850] 2025-10-27T06:02:13.631Z,1761544933.631 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:13.638Z,1761544933.638 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:13.639Z,1761544933.639 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:13.671Z,1761544933.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:13.868Z,1761544933.868 [DAT](INFO): DAT read: user:613> 2025-10-27T06:02:13.869Z,1761544933.869 [DAT](INFO): DAT read: Tx time:06:02:12.9700 2025-10-27T06:02:13.869Z,1761544933.869 [DAT](INFO): Ping request sent. 2025-10-27T06:02:13.869Z,1761544933.869 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:13.869Z,1761544933.869 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:13.870Z,1761544933.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-27T06:02:14.115Z,1761544934.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332351,-0.914319,-0.231437],[0.943071,-0.318878,-0.094516],[0.012617,-0.249674,0.968248]] 2025-10-27T06:02:14.120Z,1761544934.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728 2025-10-27T06:02:14.194Z,1761544934.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.699997 m, deltaT: 4.030859 s, deltaX: 1.899994 m, approachRate: 0.471362 m/s, rangeRepo size: 3 2025-10-27T06:02:14.197Z,1761544934.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 143.777725 m, bearing: 334.070053 deg, lat: 36.779408 deg, lon: -121.859790 deg, deltaT: 4.030859 s, deltaX: 1.888397 m, approachRate: 0.468485 m/s, posRepo size: 3 2025-10-27T06:02:14.198Z,1761544934.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:14.201Z,1761544934.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 144.918839 m, bearing: 345.695248 deg, approach rate: 0.000000 m/s, LOS rate: -0.265169 deg/s, cmd heading: 344.425048 deg, new cmd heading: 343.867116 deg. 2025-10-27T06:02:14.201Z,1761544934.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001613 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:14.372Z,1761544934.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502867 2025-10-27T06:02:14.542Z,1761544934.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309505,-0.922116,-0.232182],[0.950827,-0.297126,-0.087435],[0.011638,-0.247827,0.968735]] 2025-10-27T06:02:14.561Z,1761544934.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:14.564Z,1761544934.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 145.088852 m, bearing: 345.591902 deg, approach rate: 0.462648 m/s, LOS rate: -0.280899 deg/s, cmd heading: 343.867103 deg, new cmd heading: 343.557433 deg. 2025-10-27T06:02:14.565Z,1761544934.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996208 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:14.624Z,1761544934.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754913 2025-10-27T06:02:14.877Z,1761544934.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007358 2025-10-27T06:02:14.976Z,1761544934.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286231,-0.928816,-0.235314],[0.958105,-0.274808,-0.080718],[0.010306,-0.248560,0.968562]] 2025-10-27T06:02:15.033Z,1761544935.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:15.039Z,1761544935.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 145.302185 m, bearing: 345.456829 deg, approach rate: 0.452650 m/s, LOS rate: -0.286178 deg/s, cmd heading: 343.557422 deg, new cmd heading: 343.152804 deg. 2025-10-27T06:02:15.045Z,1761544935.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989146 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:15.128Z,1761544935.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990 2025-10-27T06:02:15.380Z,1761544935.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 2025-10-27T06:02:15.380Z,1761544935.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263107,-0.933801,-0.242468],[0.964726,-0.252333,-0.075050],[0.008899,-0.253661,0.967252]] 2025-10-27T06:02:15.412Z,1761544935.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:15.414Z,1761544935.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 145.478470 m, bearing: 345.339752 deg, approach rate: 0.465085 m/s, LOS rate: -0.308504 deg/s, cmd heading: 343.152802 deg, new cmd heading: 342.802002 deg. 2025-10-27T06:02:15.420Z,1761544935.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983024 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:15.636Z,1761544935.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766282 2025-10-27T06:02:15.818Z,1761544935.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239915,-0.938460,-0.248463],[0.970764,-0.229925,-0.068929],[0.007559,-0.257736,0.966186]] 2025-10-27T06:02:15.878Z,1761544935.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:15.880Z,1761544935.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:15.884Z,1761544935.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014852 2025-10-27T06:02:15.885Z,1761544935.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 145.693115 m, bearing: 345.198905 deg, approach rate: 0.457831 m/s, LOS rate: -0.299980 deg/s, cmd heading: 342.802003 deg, new cmd heading: 342.380092 deg. 2025-10-27T06:02:15.886Z,1761544935.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975660 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:16.137Z,1761544936.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267167 2025-10-27T06:02:16.228Z,1761544936.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216373,-0.942919,-0.253155],[0.976294,-0.207455,-0.061746],[0.005703,-0.260513,0.965453]] 2025-10-27T06:02:16.250Z,1761544936.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:16.253Z,1761544936.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 145.852982 m, bearing: 345.088690 deg, approach rate: 0.431932 m/s, LOS rate: -0.297454 deg/s, cmd heading: 342.380089 deg, new cmd heading: 342.049812 deg. 2025-10-27T06:02:16.254Z,1761544936.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969895 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:16.388Z,1761544936.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518760 2025-10-27T06:02:16.627Z,1761544936.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192994,-0.947355,-0.255482],[0.981193,-0.185329,-0.053983],[0.003793,-0.261096,0.965305]] 2025-10-27T06:02:16.640Z,1761544936.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770824 2025-10-27T06:02:16.648Z,1761544936.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:16.651Z,1761544936.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 146.016571 m, bearing: 344.970075 deg, approach rate: 0.411436 m/s, LOS rate: -0.297989 deg/s, cmd heading: 342.049808 deg, new cmd heading: 341.694366 deg. 2025-10-27T06:02:16.652Z,1761544936.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963692 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:16.892Z,1761544936.892 [DAT](INFO): DAT read: Rx Time:06:02:15.5702 2025-10-27T06:02:16.893Z,1761544936.893 [DAT](INFO): Rx dataTimestamp_ set to:1761544936.892490 2025-10-27T06:02:16.893Z,1761544936.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024156 2025-10-27T06:02:17.064Z,1761544937.064 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -98. +337.54, +14.80, 7.61, 0.00 2025-10-27T06:02:17.112Z,1761544937.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:17.119Z,1761544937.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 146.196777 m, bearing: 344.840235 deg, approach rate: 0.388389 m/s, LOS rate: -0.279491 deg/s, cmd heading: 341.694365 deg, new cmd heading: 341.305333 deg. 2025-10-27T06:02:17.120Z,1761544937.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956902 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:17.152Z,1761544937.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282722 2025-10-27T06:02:17.407Z,1761544937.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537447 2025-10-27T06:02:17.469Z,1761544937.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145765,-0.957281,-0.249731],[0.989319,-0.141099,-0.036585],[-0.000214,-0.252397,0.967624]] 2025-10-27T06:02:17.487Z,1761544937.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.78 m. 2025-10-27T06:02:17.490Z,1761544937.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.777725 m, nav range: 146.351608 m, bearing: 344.715643 deg, approach rate: 0.412813 m/s, LOS rate: -0.331838 deg/s, cmd heading: 341.305345 deg, new cmd heading: 340.931970 deg. 2025-10-27T06:02:17.491Z,1761544937.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950386 target range: 143.777725 and range: 144.70 m. 2025-10-27T06:02:17.661Z,1761544937.661 [DAT](INFO): DAT read: 06:02:15.5702 LVL= 30160, 24049, 28610, 31907, AGC= 62, IDX= 452,-0.18, 1.749,-3.087,-2.586, 2.862, PHS=-1.011, 0.379, 0.792, RAW= 257.4, -2.0, CAL= 254.4, -6.0, ROT= 255.6, 6.0 2025-10-27T06:02:17.668Z,1761544937.668 [DAT](INFO): got valid direction response: 06:02:15.5702 LVL= 30160, 24049, 28610, 31907, AGC= 62, IDX= 452,-0.18, 1.749,-3.087,-2.586, 2.862, PHS=-1.011, 0.379, 0.792, RAW= 257.4, -2.0, CAL= 254.4, -6.0, ROT= 255.6, 6.0 2025-10-27T06:02:17.669Z,1761544937.669 [DAT](INFO): DAT read: Bearing 127.5, -64.1 (Local) 2025-10-27T06:02:17.669Z,1761544937.669 [DAT](INFO): Local bearing/azimuth received: Bearing 127.5, -64.1 (Local) 2025-10-27T06:02:17.670Z,1761544937.670 [DAT](INFO): DAT read: Range 11 to 50 : 147.0 m (Round-trip 196.0 ms) speed -0.6 m/s 2025-10-27T06:02:17.671Z,1761544937.671 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:17.672Z,1761544937.672 [DAT](INFO): direction in FSK: [-0.247328,-0.963277,-0.104528] 2025-10-27T06:02:17.673Z,1761544937.673 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:17.696Z,1761544937.696 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:17.696Z,1761544937.696 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:17.697Z,1761544937.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:17.882Z,1761544937.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.121827,-0.961556,-0.246106],[0.992547,-0.118729,-0.027444],[-0.002831,-0.247616,0.968854]] 2025-10-27T06:02:17.908Z,1761544937.908 [DAT](INFO): DAT read: user:614> 2025-10-27T06:02:17.909Z,1761544937.909 [DAT](INFO): DAT read: Tx time:06:02:17.0200 2025-10-27T06:02:17.909Z,1761544937.909 [DAT](INFO): Ping request sent. 2025-10-27T06:02:17.909Z,1761544937.909 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:17.909Z,1761544937.909 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:17.910Z,1761544937.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-27T06:02:17.967Z,1761544937.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.000000 m, deltaT: 4.039877 s, deltaX: 2.300003 m, approachRate: 0.569325 m/s, rangeRepo size: 4 2025-10-27T06:02:17.969Z,1761544937.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.063477 m, bearing: 352.560176 deg, lat: 36.779408 deg, lon: -121.859737 deg, deltaT: 4.039877 s, deltaX: 2.285751 m, approachRate: 0.565797 m/s, posRepo size: 4 2025-10-27T06:02:17.970Z,1761544937.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:17.977Z,1761544937.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 145.308609 m, bearing: 346.414577 deg, approach rate: 0.000000 m/s, LOS rate: -0.331838 deg/s, cmd heading: 340.931980 deg, new cmd heading: 340.459143 deg. 2025-10-27T06:02:17.978Z,1761544937.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942133 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:18.160Z,1761544938.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251001 2025-10-27T06:02:18.274Z,1761544938.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.097657,-0.964272,-0.246258],[0.995205,-0.095990,-0.018798],[-0.005512,-0.246913,0.969022]] 2025-10-27T06:02:18.291Z,1761544938.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:18.293Z,1761544938.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:18.296Z,1761544938.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 145.418793 m, bearing: 346.316545 deg, approach rate: 0.332494 m/s, LOS rate: -0.295602 deg/s, cmd heading: 340.459139 deg, new cmd heading: 340.165267 deg. 2025-10-27T06:02:18.297Z,1761544938.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937004 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:18.413Z,1761544938.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503733 2025-10-27T06:02:18.664Z,1761544938.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754852 2025-10-27T06:02:18.679Z,1761544938.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.073831,-0.966332,-0.246478],[0.997236,-0.073595,-0.010183],[-0.008299,-0.246549,0.969095]] 2025-10-27T06:02:18.721Z,1761544938.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:18.729Z,1761544938.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 145.536545 m, bearing: 346.205299 deg, approach rate: 0.275840 m/s, LOS rate: -0.260387 deg/s, cmd heading: 340.165277 deg, new cmd heading: 339.831815 deg. 2025-10-27T06:02:18.730Z,1761544938.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931184 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:18.916Z,1761544938.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954 2025-10-27T06:02:19.149Z,1761544939.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:19.152Z,1761544939.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 145.656754 m, bearing: 346.097514 deg, approach rate: 0.280162 m/s, LOS rate: -0.251001 deg/s, cmd heading: 339.831827 deg, new cmd heading: 339.508742 deg. 2025-10-27T06:02:19.153Z,1761544939.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925545 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:19.168Z,1761544939.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258846 2025-10-27T06:02:19.420Z,1761544939.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511256 2025-10-27T06:02:19.495Z,1761544939.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022666,-0.968617,-0.247524],[0.999643,-0.025463,0.008106],[-0.014154,-0.247251,0.968848]] 2025-10-27T06:02:19.520Z,1761544939.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:19.523Z,1761544939.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 145.743988 m, bearing: 346.007482 deg, approach rate: 0.235178 m/s, LOS rate: -0.242575 deg/s, cmd heading: 339.508732 deg, new cmd heading: 339.238799 deg. 2025-10-27T06:02:19.524Z,1761544939.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920834 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:19.672Z,1761544939.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762877 2025-10-27T06:02:19.914Z,1761544939.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004132,-0.969211,-0.246198],[0.999842,-0.000253,0.017774],[-0.017289,-0.246232,0.969057]] 2025-10-27T06:02:19.924Z,1761544939.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015046 2025-10-27T06:02:19.982Z,1761544939.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:19.989Z,1761544939.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 145.828796 m, bearing: 345.906171 deg, approach rate: 0.183821 m/s, LOS rate: -0.219461 deg/s, cmd heading: 339.238803 deg, new cmd heading: 338.935051 deg. 2025-10-27T06:02:19.990Z,1761544939.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915533 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:20.176Z,1761544940.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266904 2025-10-27T06:02:20.344Z,1761544940.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031637,-0.969103,-0.244619],[0.999280,0.025543,0.028044],[-0.020930,-0.245330,0.969214]] 2025-10-27T06:02:20.381Z,1761544940.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:20.387Z,1761544940.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:20.390Z,1761544940.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 145.896973 m, bearing: 345.817138 deg, approach rate: 0.169852 m/s, LOS rate: -0.221709 deg/s, cmd heading: 338.935051 deg, new cmd heading: 338.668080 deg. 2025-10-27T06:02:20.403Z,1761544940.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910873 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:20.428Z,1761544940.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519431 2025-10-27T06:02:20.680Z,1761544940.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771026 2025-10-27T06:02:20.794Z,1761544940.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:20.797Z,1761544940.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 145.972137 m, bearing: 345.719594 deg, approach rate: 0.183007 m/s, LOS rate: -0.237373 deg/s, cmd heading: 338.668072 deg, new cmd heading: 338.375593 deg. 2025-10-27T06:02:20.798Z,1761544940.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905768 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:20.936Z,1761544940.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026417 2025-10-27T06:02:21.184Z,1761544941.184 [DAT](INFO): DAT read: Rx Time:06:02:19.6220 2025-10-27T06:02:21.184Z,1761544941.184 [DAT](INFO): Rx dataTimestamp_ set to:1761544941.184115 2025-10-27T06:02:21.185Z,1761544941.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275982 2025-10-27T06:02:21.211Z,1761544941.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:21.214Z,1761544941.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 146.033035 m, bearing: 345.633766 deg, approach rate: 0.146046 m/s, LOS rate: -0.205749 deg/s, cmd heading: 338.375604 deg, new cmd heading: 338.118227 deg. 2025-10-27T06:02:21.215Z,1761544941.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901276 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:21.437Z,1761544941.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527934 2025-10-27T06:02:21.557Z,1761544941.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113882,-0.965549,-0.233977],[0.992995,0.103157,0.057619],[-0.031498,-0.238900,0.970533]] 2025-10-27T06:02:21.591Z,1761544941.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.06 m. 2025-10-27T06:02:21.598Z,1761544941.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.063477 m, nav range: 146.070786 m, bearing: 345.557204 deg, approach rate: 0.099429 m/s, LOS rate: -0.201599 deg/s, cmd heading: 338.118215 deg, new cmd heading: 337.888592 deg. 2025-10-27T06:02:21.615Z,1761544941.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897268 target range: 146.063477 and range: 147.00 m. 2025-10-27T06:02:21.696Z,1761544941.696 [DAT](INFO): DAT read: 06:02:19.6220 LVL= 29472, 25473, 22514, 26771, AGC= 63, IDX= 440,-0.10,-1.433,-0.234, 0.783,-0.455, PHS=-0.876, 0.266, 1.194, RAW= 243.4, -6.6, CAL= 241.4, -10.4, ROT= 268.6, 10.4 2025-10-27T06:02:21.698Z,1761544941.698 [DAT](INFO): got valid direction response: 06:02:19.6220 LVL= 29472, 25473, 22514, 26771, AGC= 63, IDX= 440,-0.10,-1.433,-0.234, 0.783,-0.455, PHS=-0.876, 0.266, 1.194, RAW= 243.4, -6.6, CAL= 241.4, -10.4, ROT= 268.6, 10.4 2025-10-27T06:02:21.701Z,1761544941.701 [DAT](INFO): DAT read: Bearing 140.4, -64.5 (Local) 2025-10-27T06:02:21.701Z,1761544941.701 [DAT](INFO): Local bearing/azimuth received: Bearing 140.4, -64.5 (Local) 2025-10-27T06:02:21.703Z,1761544941.703 [DAT](INFO): DAT read: Range 11 to 50 : 148.5 m (Round-trip 198.0 ms) speed -0.1 m/s 2025-10-27T06:02:21.704Z,1761544941.704 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:21.706Z,1761544941.706 [DAT](INFO): direction in FSK: [-0.024031,-0.983278,-0.180519] 2025-10-27T06:02:21.706Z,1761544941.706 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:21.717Z,1761544941.717 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:21.718Z,1761544941.718 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:21.718Z,1761544941.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:21.940Z,1761544941.940 [DAT](INFO): DAT read: user:615> 2025-10-27T06:02:21.941Z,1761544941.941 [DAT](INFO): DAT read: Tx time:06:02:21.0199 2025-10-27T06:02:21.941Z,1761544941.941 [DAT](INFO): Ping request sent. 2025-10-27T06:02:21.941Z,1761544941.941 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:21.941Z,1761544941.941 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:21.942Z,1761544941.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-27T06:02:21.958Z,1761544941.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141413,-0.962551,-0.231294],[0.989321,0.129082,0.067685],[-0.035295,-0.238396,0.970527]] 2025-10-27T06:02:22.044Z,1761544942.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 148.500000 m, deltaT: 4.032419 s, deltaX: 1.500000 m, approachRate: 0.371985 m/s, rangeRepo size: 4 2025-10-27T06:02:22.046Z,1761544942.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.554230 m, bearing: 350.606705 deg, lat: 36.779408 deg, lon: -121.859737 deg, deltaT: 4.032419 s, deltaX: 1.490753 m, approachRate: 0.369692 m/s, posRepo size: 4 2025-10-27T06:02:22.051Z,1761544942.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:22.054Z,1761544942.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.109222 m, bearing: 345.464251 deg, approach rate: 0.000000 m/s, LOS rate: -0.201599 deg/s, cmd heading: 337.888584 deg, new cmd heading: 337.614509 deg. 2025-10-27T06:02:22.059Z,1761544942.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892485 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:22.193Z,1761544942.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251527 2025-10-27T06:02:22.401Z,1761544942.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168749,-0.958911,-0.228064],[0.984895,0.154930,0.077326],[-0.038815,-0.237667,0.970571]] 2025-10-27T06:02:22.426Z,1761544942.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:22.428Z,1761544942.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:22.431Z,1761544942.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.138931 m, bearing: 345.378228 deg, approach rate: 0.077224 m/s, LOS rate: -0.223559 deg/s, cmd heading: 337.614502 deg, new cmd heading: 337.356488 deg. 2025-10-27T06:02:22.432Z,1761544942.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887981 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:22.444Z,1761544942.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502929 2025-10-27T06:02:22.696Z,1761544942.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754932 2025-10-27T06:02:22.818Z,1761544942.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194952,-0.955119,-0.223027],[0.979914,0.179938,0.085971],[-0.041982,-0.235308,0.971014]] 2025-10-27T06:02:22.848Z,1761544942.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:22.860Z,1761544942.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.163879 m, bearing: 345.289347 deg, approach rate: 0.059397 m/s, LOS rate: -0.211575 deg/s, cmd heading: 337.356485 deg, new cmd heading: 337.089889 deg. 2025-10-27T06:02:22.861Z,1761544942.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883328 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:22.951Z,1761544942.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009688 2025-10-27T06:02:23.201Z,1761544943.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260000 2025-10-27T06:02:23.300Z,1761544943.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245730,-0.944323,-0.218791],[0.968156,0.227951,0.103502],[-0.047866,-0.237258,0.970267]] 2025-10-27T06:02:23.385Z,1761544943.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:23.396Z,1761544943.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.193634 m, bearing: 345.172147 deg, approach rate: 0.055410 m/s, LOS rate: -0.218211 deg/s, cmd heading: 337.089889 deg, new cmd heading: 336.738364 deg. 2025-10-27T06:02:23.397Z,1761544943.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877193 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:23.452Z,1761544943.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511132 2025-10-27T06:02:23.704Z,1761544943.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763404 2025-10-27T06:02:23.845Z,1761544943.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270424,-0.938002,-0.216849],[0.961422,0.251326,0.111816],[-0.050384,-0.238721,0.969780]] 2025-10-27T06:02:23.864Z,1761544943.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:23.867Z,1761544943.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.213821 m, bearing: 345.067549 deg, approach rate: 0.042170 m/s, LOS rate: -0.218469 deg/s, cmd heading: 336.738353 deg, new cmd heading: 336.424606 deg. 2025-10-27T06:02:23.868Z,1761544943.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871717 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:23.960Z,1761544943.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018370 2025-10-27T06:02:24.208Z,1761544944.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266815 2025-10-27T06:02:24.327Z,1761544944.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294438,-0.931068,-0.215451],[0.954231,0.274056,0.119736],[-0.052437,-0.240845,0.969146]] 2025-10-27T06:02:24.388Z,1761544944.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:24.396Z,1761544944.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.242859 m, bearing: 344.936383 deg, approach rate: 0.055390 m/s, LOS rate: -0.250155 deg/s, cmd heading: 336.424601 deg, new cmd heading: 336.031187 deg. 2025-10-27T06:02:24.397Z,1761544944.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864851 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:24.461Z,1761544944.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520253 2025-10-27T06:02:24.713Z,1761544944.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771532 2025-10-27T06:02:24.742Z,1761544944.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317801,-0.923500,-0.214828],[0.946620,0.296137,0.127332],[-0.053972,-0.243827,0.968316]] 2025-10-27T06:02:24.759Z,1761544944.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:24.761Z,1761544944.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:24.765Z,1761544944.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.258652 m, bearing: 344.839548 deg, approach rate: 0.042376 m/s, LOS rate: -0.259801 deg/s, cmd heading: 336.031182 deg, new cmd heading: 335.740712 deg. 2025-10-27T06:02:24.766Z,1761544944.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859781 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:24.968Z,1761544944.968 [DAT](INFO): DAT read: Rx Time:06:02:23.6225 2025-10-27T06:02:24.969Z,1761544944.969 [DAT](INFO): Rx dataTimestamp_ set to:1761544944.968252 2025-10-27T06:02:24.971Z,1761544944.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029600 2025-10-27T06:02:25.133Z,1761544945.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339522,-0.916258,-0.212595],[0.939004,0.317022,0.133299],[-0.054739,-0.244886,0.968006]] 2025-10-27T06:02:25.195Z,1761544945.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:25.198Z,1761544945.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.282028 m, bearing: 344.725663 deg, approach rate: 0.054371 m/s, LOS rate: -0.264842 deg/s, cmd heading: 335.740708 deg, new cmd heading: 335.399112 deg. 2025-10-27T06:02:25.203Z,1761544945.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853819 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:25.216Z,1761544945.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275022 2025-10-27T06:02:25.471Z,1761544945.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529438 2025-10-27T06:02:25.538Z,1761544945.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360564,-0.908278,-0.212190],[0.931094,0.337007,0.139604],[-0.055290,-0.247905,0.967205]] 2025-10-27T06:02:25.600Z,1761544945.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.55 m. 2025-10-27T06:02:25.602Z,1761544945.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.554230 m, nav range: 146.299362 m, bearing: 344.611751 deg, approach rate: 0.042407 m/s, LOS rate: -0.278645 deg/s, cmd heading: 335.399117 deg, new cmd heading: 335.057427 deg. 2025-10-27T06:02:25.604Z,1761544945.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847855 target range: 147.554230 and range: 148.50 m. 2025-10-27T06:02:25.728Z,1761544945.728 [DAT](INFO): DAT read: 06:02:23.6225 LVL= 30432, 26609, 19154, 29603, AGC= 61, IDX= 429, 0.44,-0.254, 0.720, 1.751, 0.731, PHS=-0.883, 0.033, 0.976, RAW= 239.5, -1.6, CAL= 236.0, -2.2, ROT= 274.0, 2.2 2025-10-27T06:02:25.730Z,1761544945.730 [DAT](INFO): got valid direction response: 06:02:23.6225 LVL= 30432, 26609, 19154, 29603, AGC= 61, IDX= 429, 0.44,-0.254, 0.720, 1.751, 0.731, PHS=-0.883, 0.033, 0.976, RAW= 239.5, -1.6, CAL= 236.0, -2.2, ROT= 274.0, 2.2 2025-10-27T06:02:25.731Z,1761544945.731 [DAT](INFO): DAT read: Bearing 138.1, -72.8 (Local) 2025-10-27T06:02:25.732Z,1761544945.732 [DAT](INFO): Local bearing/azimuth received: Bearing 138.1, -72.8 (Local) 2025-10-27T06:02:25.734Z,1761544945.734 [DAT](INFO): DAT read: Range 11 to 50 : 148.8 m (Round-trip 198.5 ms) speed 0.0 m/s 2025-10-27T06:02:25.735Z,1761544945.735 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:25.737Z,1761544945.737 [DAT](INFO): direction in FSK: [0.069705,-0.996829,-0.038388] 2025-10-27T06:02:25.737Z,1761544945.737 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:25.740Z,1761544945.740 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:25.741Z,1761544945.741 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:25.741Z,1761544945.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:25.974Z,1761544945.974 [DAT](INFO): DAT read: user:616> 2025-10-27T06:02:25.977Z,1761544945.977 [DAT](INFO): DAT read: Tx time:06:02:25.0199 2025-10-27T06:02:25.978Z,1761544945.978 [DAT](INFO): Ping request sent. 2025-10-27T06:02:25.978Z,1761544945.978 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:25.980Z,1761544945.980 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:25.982Z,1761544945.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003879 2025-10-27T06:02:26.021Z,1761544946.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380812,-0.900591,-0.209568],[0.922971,0.356565,0.144865],[-0.055739,-0.248591,0.967003]] 2025-10-27T06:02:26.112Z,1761544946.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 148.800003 m, deltaT: 4.032070 s, deltaX: 0.300003 m, approachRate: 0.074404 m/s, rangeRepo size: 4 2025-10-27T06:02:26.114Z,1761544946.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.855865 m, bearing: 342.349277 deg, lat: 36.779379 deg, lon: -121.859789 deg, deltaT: 4.032070 s, deltaX: 0.301636 m, approachRate: 0.074809 m/s, posRepo size: 4 2025-10-27T06:02:26.119Z,1761544946.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:26.122Z,1761544946.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.659714 m, bearing: 342.349559 deg, approach rate: 0.000000 m/s, LOS rate: -0.278645 deg/s, cmd heading: 335.057416 deg, new cmd heading: 334.646583 deg. 2025-10-27T06:02:26.122Z,1761544946.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840685 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:26.224Z,1761544946.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246204 2025-10-27T06:02:26.444Z,1761544946.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400584,-0.892664,-0.206599],[0.914559,0.375809,0.149498],[-0.055810,-0.248834,0.966937]] 2025-10-27T06:02:26.463Z,1761544946.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:26.466Z,1761544946.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.697357 m, bearing: 342.229956 deg, approach rate: 0.101247 m/s, LOS rate: -0.321605 deg/s, cmd heading: 334.646594 deg, new cmd heading: 334.287883 deg. 2025-10-27T06:02:26.467Z,1761544946.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834424 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:26.477Z,1761544946.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499122 2025-10-27T06:02:26.732Z,1761544946.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753631 2025-10-27T06:02:26.844Z,1761544946.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419757,-0.884476,-0.203730],[0.905929,0.394514,0.153790],[-0.055649,-0.249119,0.966873]] 2025-10-27T06:02:26.861Z,1761544946.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:26.880Z,1761544946.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:26.882Z,1761544946.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.729904 m, bearing: 342.107711 deg, approach rate: 0.078114 m/s, LOS rate: -0.293327 deg/s, cmd heading: 334.287872 deg, new cmd heading: 333.921225 deg. 2025-10-27T06:02:26.887Z,1761544946.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828025 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:26.984Z,1761544946.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004720 2025-10-27T06:02:27.232Z,1761544947.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253919 2025-10-27T06:02:27.254Z,1761544947.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438188,-0.875951,-0.201745],[0.897193,0.412447,0.157903],[-0.055106,-0.250195,0.966626]] 2025-10-27T06:02:27.367Z,1761544947.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:27.385Z,1761544947.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.770325 m, bearing: 341.951759 deg, approach rate: 0.083023 m/s, LOS rate: -0.320233 deg/s, cmd heading: 333.921228 deg, new cmd heading: 333.453513 deg. 2025-10-27T06:02:27.386Z,1761544947.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819862 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:27.484Z,1761544947.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506024 2025-10-27T06:02:27.680Z,1761544947.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456348,-0.867556,-0.197722],[0.888146,0.430562,0.160663],[-0.054253,-0.248924,0.967002]] 2025-10-27T06:02:27.737Z,1761544947.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758619 2025-10-27T06:02:27.764Z,1761544947.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:27.771Z,1761544947.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.795853 m, bearing: 341.832426 deg, approach rate: 0.064212 m/s, LOS rate: -0.300110 deg/s, cmd heading: 333.453524 deg, new cmd heading: 333.095594 deg. 2025-10-27T06:02:27.772Z,1761544947.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813615 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:27.992Z,1761544947.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012890 2025-10-27T06:02:28.090Z,1761544948.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492445,-0.849858,-0.187724],[0.868771,0.467025,0.164692],[-0.052293,-0.244191,0.968316]] 2025-10-27T06:02:28.151Z,1761544948.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:28.153Z,1761544948.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.814087 m, bearing: 341.705229 deg, approach rate: 0.047174 m/s, LOS rate: -0.329032 deg/s, cmd heading: 333.095594 deg, new cmd heading: 332.714057 deg. 2025-10-27T06:02:28.154Z,1761544948.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806956 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:28.241Z,1761544948.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263310 2025-10-27T06:02:28.492Z,1761544948.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514076 2025-10-27T06:02:28.499Z,1761544948.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:28.501Z,1761544948.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.830505 m, bearing: 341.594860 deg, approach rate: 0.047182 m/s, LOS rate: -0.317134 deg/s, cmd heading: 332.714060 deg, new cmd heading: 332.382992 deg. 2025-10-27T06:02:28.502Z,1761544948.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801178 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:28.744Z,1761544948.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765986 2025-10-27T06:02:28.865Z,1761544948.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510116,-0.840308,-0.183478],[0.858589,0.484832,0.166622],[-0.051058,-0.242529,0.968800]] 2025-10-27T06:02:28.907Z,1761544948.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:28.909Z,1761544948.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:28.912Z,1761544948.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.844009 m, bearing: 341.463536 deg, approach rate: 0.032867 m/s, LOS rate: -0.319594 deg/s, cmd heading: 332.382987 deg, new cmd heading: 331.989059 deg. 2025-10-27T06:02:28.913Z,1761544948.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794302 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:28.000Z,1761544949.000 [DAT](INFO): DAT read: Rx Time:06:02:27.6235 2025-10-27T06:02:29.002Z,1761544949.002 [DAT](INFO): Rx dataTimestamp_ set to:1761544949.000742 2025-10-27T06:02:29.008Z,1761544949.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029363 2025-10-27T06:02:29.248Z,1761544949.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269963 2025-10-27T06:02:29.273Z,1761544949.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527799,-0.829749,-0.181508],[0.847911,0.502205,0.169815],[-0.049749,-0.243531,0.968616]] 2025-10-27T06:02:29.326Z,1761544949.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.86 m. 2025-10-27T06:02:29.329Z,1761544949.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.855865 m, nav range: 144.846558 m, bearing: 341.338429 deg, approach rate: 0.006115 m/s, LOS rate: -0.300199 deg/s, cmd heading: 331.989049 deg, new cmd heading: 331.613742 deg. 2025-10-27T06:02:29.330Z,1761544949.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787752 target range: 147.855865 and range: 148.80 m. 2025-10-27T06:02:29.508Z,1761544949.509 [DAT](INFO): DAT read: 06:02:27.6235 LVL= 28720, 29281, 19650, 26899, AGC= 62, IDX= 455,-0.11,-3.089,-2.470,-0.993,-2.231, PHS=-0.756,-0.194, 1.194, RAW= 226.3, -2.8, CAL= 223.9, -4.1, ROT= 286.1, 4.1 2025-10-27T06:02:29.510Z,1761544949.510 [DAT](INFO): got valid direction response: 06:02:27.6235 LVL= 28720, 29281, 19650, 26899, AGC= 62, IDX= 455,-0.11,-3.089,-2.470,-0.993,-2.231, PHS=-0.756,-0.194, 1.194, RAW= 226.3, -2.8, CAL= 223.9, -4.1, ROT= 286.1, 4.1 2025-10-27T06:02:29.511Z,1761544949.511 [DAT](INFO): DAT read: Bearing 154.6, -66.4 (Local) 2025-10-27T06:02:29.524Z,1761544949.524 [DAT](INFO): Local bearing/azimuth received: Bearing 154.6, -66.4 (Local) 2025-10-27T06:02:29.526Z,1761544949.526 [DAT](INFO): DAT read: Range 11 to 50 : 149.6 m (Round-trip 199.5 ms) speed 0.0 m/s 2025-10-27T06:02:29.528Z,1761544949.528 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:29.529Z,1761544949.529 [DAT](INFO): direction in FSK: [0.276605,-0.958320,-0.071497] 2025-10-27T06:02:29.529Z,1761544949.529 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:29.574Z,1761544949.574 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:29.575Z,1761544949.575 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:29.591Z,1761544949.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:29.752Z,1761544949.752 [DAT](INFO): DAT read: user:617> 2025-10-27T06:02:29.753Z,1761544949.753 [DAT](INFO): DAT read: Tx time:06:02:28.8699 2025-10-27T06:02:29.753Z,1761544949.753 [DAT](INFO): Ping request sent. 2025-10-27T06:02:29.753Z,1761544949.753 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:29.753Z,1761544949.753 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:29.754Z,1761544949.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T06:02:29.764Z,1761544949.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564089,-0.807218,-0.173786],[0.824347,0.538437,0.174750],[-0.047488,-0.241835,0.969155]] 2025-10-27T06:02:29.826Z,1761544949.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 149.600006 m, deltaT: 3.782147 s, deltaX: 0.800003 m, approachRate: 0.211521 m/s, rangeRepo size: 4 2025-10-27T06:02:29.829Z,1761544949.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 148.670502 m, bearing: 342.309342 deg, lat: 36.779406 deg, lon: -121.859767 deg, deltaT: 3.782147 s, deltaX: 0.814636 m, approachRate: 0.215390 m/s, posRepo size: 4 2025-10-27T06:02:29.829Z,1761544949.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:29.837Z,1761544949.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 147.003464 m, bearing: 342.309630 deg, approach rate: 0.000000 m/s, LOS rate: -0.300199 deg/s, cmd heading: 331.613744 deg, new cmd heading: 331.164316 deg. 2025-10-27T06:02:29.838Z,1761544949.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779908 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:30.007Z,1761544950.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253216 2025-10-27T06:02:30.256Z,1761544950.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502810 2025-10-27T06:02:30.342Z,1761544950.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:30.345Z,1761544950.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 146.989120 m, bearing: 342.158966 deg, approach rate: -0.027733 m/s, LOS rate: -0.291334 deg/s, cmd heading: 331.164317 deg, new cmd heading: 330.712294 deg. 2025-10-27T06:02:30.346Z,1761544950.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772018 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:30.508Z,1761544950.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754924 2025-10-27T06:02:30.761Z,1761544950.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007747 2025-10-27T06:02:30.812Z,1761544950.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601042,-0.782340,-0.163378],[0.797884,0.575561,0.179194],[-0.046157,-0.238060,0.970153]] 2025-10-27T06:02:30.857Z,1761544950.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:30.860Z,1761544950.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 146.962173 m, bearing: 342.026953 deg, approach rate: -0.052589 m/s, LOS rate: -0.257680 deg/s, cmd heading: 330.712295 deg, new cmd heading: 330.316189 deg. 2025-10-27T06:02:30.861Z,1761544950.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765105 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:31.012Z,1761544951.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258870 2025-10-27T06:02:31.216Z,1761544951.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619960,-0.768480,-0.158392],[0.783277,0.594282,0.182500],[-0.046118,-0.237208,0.970364]] 2025-10-27T06:02:31.264Z,1761544951.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510804 2025-10-27T06:02:31.271Z,1761544951.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:31.273Z,1761544951.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:31.300Z,1761544951.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 146.924713 m, bearing: 341.926212 deg, approach rate: -0.089540 m/s, LOS rate: -0.240859 deg/s, cmd heading: 330.316199 deg, new cmd heading: 330.013903 deg. 2025-10-27T06:02:31.301Z,1761544951.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759829 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:31.516Z,1761544951.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762830 2025-10-27T06:02:31.660Z,1761544951.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638973,-0.754199,-0.151318],[0.767835,0.613514,0.184472],[-0.046293,-0.234060,0.971119]] 2025-10-27T06:02:31.710Z,1761544951.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:31.714Z,1761544951.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 146.880432 m, bearing: 341.823199 deg, approach rate: -0.101412 m/s, LOS rate: -0.235990 deg/s, cmd heading: 330.013895 deg, new cmd heading: 329.704767 deg. 2025-10-27T06:02:31.716Z,1761544951.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754434 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:31.768Z,1761544951.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014997 2025-10-27T06:02:32.023Z,1761544952.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268919 2025-10-27T06:02:32.177Z,1761544952.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:32.180Z,1761544952.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 146.820404 m, bearing: 341.718977 deg, approach rate: -0.128535 m/s, LOS rate: -0.223256 deg/s, cmd heading: 329.704761 deg, new cmd heading: 329.391969 deg. 2025-10-27T06:02:32.181Z,1761544952.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748974 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:32.273Z,1761544952.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519404 2025-10-27T06:02:32.517Z,1761544952.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695731,-0.705431,-0.135371],[0.716607,0.668711,0.198240],[-0.049320,-0.234930,0.970760]] 2025-10-27T06:02:32.524Z,1761544952.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770961 2025-10-27T06:02:32.547Z,1761544952.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:32.552Z,1761544952.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 146.756485 m, bearing: 341.637195 deg, approach rate: -0.172507 m/s, LOS rate: -0.220813 deg/s, cmd heading: 329.391965 deg, new cmd heading: 329.146513 deg. 2025-10-27T06:02:32.554Z,1761544952.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744690 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:32.776Z,1761544952.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022942 2025-10-27T06:02:32.812Z,1761544952.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:02:32.945Z,1761544952.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713992,-0.688087,-0.129430],[0.698308,0.686421,0.202958],[-0.050809,-0.235293,0.970596]] 2025-10-27T06:02:32.984Z,1761544952.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:32.986Z,1761544952.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 146.680298 m, bearing: 341.547560 deg, approach rate: -0.174558 m/s, LOS rate: -0.205477 deg/s, cmd heading: 329.146516 deg, new cmd heading: 328.877472 deg. 2025-10-27T06:02:32.996Z,1761544952.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739995 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:33.028Z,1761544953.028 [DAT](INFO): DAT read: Rx Time:06:02:31.4737 2025-10-27T06:02:33.029Z,1761544953.029 [DAT](INFO): Rx dataTimestamp_ set to:1761544953.028351 2025-10-27T06:02:33.029Z,1761544953.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276126 2025-10-27T06:02:33.283Z,1761544953.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530123 2025-10-27T06:02:33.389Z,1761544953.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732057,-0.670016,-0.123167],[0.679234,0.703997,0.207433],[-0.052275,-0.235512,0.970465]] 2025-10-27T06:02:33.448Z,1761544953.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:33.450Z,1761544953.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.67 m. 2025-10-27T06:02:33.457Z,1761544953.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.670502 m, nav range: 146.584137 m, bearing: 341.453661 deg, approach rate: -0.206392 m/s, LOS rate: -0.201668 deg/s, cmd heading: 328.877461 deg, new cmd heading: 328.595583 deg. 2025-10-27T06:02:33.458Z,1761544953.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735075 target range: 148.670502 and range: 149.60 m. 2025-10-27T06:02:33.538Z,1761544953.538 [DAT](INFO): DAT read: 06:02:31.4737 LVL= 28128, 28065, 20594, 26867, AGC= 63, IDX= 441, 0.04,-1.210,-1.025, 0.841,-0.609, PHS=-0.500,-0.371, 1.406, RAW= 213.5, -5.9, CAL= 212.4, -8.7, ROT= 297.6, 8.7 2025-10-27T06:02:33.540Z,1761544953.540 [DAT](INFO): got valid direction response: 06:02:31.4737 LVL= 28128, 28065, 20594, 26867, AGC= 63, IDX= 441, 0.04,-1.210,-1.025, 0.841,-0.609, PHS=-0.500,-0.371, 1.406, RAW= 213.5, -5.9, CAL= 212.4, -8.7, ROT= 297.6, 8.7 2025-10-27T06:02:33.541Z,1761544953.541 [DAT](INFO): DAT read: Bearing 154.3, -56.0 (Local) 2025-10-27T06:02:33.541Z,1761544953.541 [DAT](INFO): Local bearing/azimuth received: Bearing 154.3, -56.0 (Local) 2025-10-27T06:02:33.542Z,1761544953.542 [DAT](INFO): DAT read: Range 11 to 50 : 149.7 m (Round-trip 199.7 ms) speed 0.0 m/s 2025-10-27T06:02:33.543Z,1761544953.543 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:33.544Z,1761544953.544 [DAT](INFO): direction in FSK: [0.457965,-0.876007,-0.151261] 2025-10-27T06:02:33.544Z,1761544953.544 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:33.558Z,1761544953.558 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:33.559Z,1761544953.559 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:33.564Z,1761544953.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:33.784Z,1761544953.784 [DAT](INFO): DAT read: user:618> 2025-10-27T06:02:33.785Z,1761544953.785 [DAT](INFO): DAT read: Tx time:06:02:32.8699 2025-10-27T06:02:33.785Z,1761544953.785 [DAT](INFO): Ping request sent. 2025-10-27T06:02:33.785Z,1761544953.785 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:33.785Z,1761544953.785 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:33.786Z,1761544953.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-27T06:02:33.794Z,1761544953.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749011,-0.652056,-0.117502],[0.660364,0.720273,0.212430],[-0.053882,-0.236706,0.970086]] 2025-10-27T06:02:33.815Z,1761544953.815 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:02:33.869Z,1761544953.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 149.699997 m, deltaT: 4.030016 s, deltaX: 0.099991 m, approachRate: 0.024812 m/s, rangeRepo size: 4 2025-10-27T06:02:33.876Z,1761544953.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 148.762817 m, bearing: 338.844142 deg, lat: 36.779406 deg, lon: -121.859767 deg, deltaT: 4.030016 s, deltaX: 0.092316 m, approachRate: 0.022907 m/s, posRepo size: 4 2025-10-27T06:02:33.876Z,1761544953.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:33.883Z,1761544953.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 146.489822 m, bearing: 341.367544 deg, approach rate: 0.000000 m/s, LOS rate: -0.201668 deg/s, cmd heading: 328.595593 deg, new cmd heading: 328.342198 deg. 2025-10-27T06:02:33.884Z,1761544953.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730652 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:34.037Z,1761544954.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251641 2025-10-27T06:02:34.194Z,1761544954.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765629,-0.633816,-0.109949],[0.640907,0.736903,0.214970],[-0.055230,-0.235054,0.970412]] 2025-10-27T06:02:34.240Z,1761544954.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:34.243Z,1761544954.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 146.396515 m, bearing: 341.296146 deg, approach rate: -0.251089 m/s, LOS rate: -0.192251 deg/s, cmd heading: 328.342192 deg, new cmd heading: 328.127865 deg. 2025-10-27T06:02:34.244Z,1761544954.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726912 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:34.289Z,1761544954.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503607 2025-10-27T06:02:34.540Z,1761544954.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754771 2025-10-27T06:02:34.599Z,1761544954.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781728,-0.615141,-0.102484],[0.621037,0.752964,0.217619],[-0.056700,-0.233765,0.970638]] 2025-10-27T06:02:34.617Z,1761544954.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:34.620Z,1761544954.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 146.301422 m, bearing: 341.227506 deg, approach rate: -0.252108 m/s, LOS rate: -0.182097 deg/s, cmd heading: 328.127861 deg, new cmd heading: 327.921807 deg. 2025-10-27T06:02:34.621Z,1761544954.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723315 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:34.792Z,1761544954.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006787 2025-10-27T06:02:35.001Z,1761544955.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797183,-0.595994,-0.096387],[0.600945,0.767982,0.221515],[-0.057998,-0.234512,0.970382]] 2025-10-27T06:02:35.038Z,1761544955.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:35.041Z,1761544955.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 146.193680 m, bearing: 341.153985 deg, approach rate: -0.255928 m/s, LOS rate: -0.174769 deg/s, cmd heading: 327.921808 deg, new cmd heading: 327.701083 deg. 2025-10-27T06:02:35.042Z,1761544955.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719463 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:35.044Z,1761544955.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258980 2025-10-27T06:02:35.296Z,1761544955.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510741 2025-10-27T06:02:35.406Z,1761544955.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812715,-0.575621,-0.090301],[0.579633,0.782943,0.225888],[-0.059326,-0.235924,0.969959]] 2025-10-27T06:02:35.469Z,1761544955.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:35.475Z,1761544955.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:35.478Z,1761544955.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 146.070770 m, bearing: 341.073380 deg, approach rate: -0.284259 m/s, LOS rate: -0.186575 deg/s, cmd heading: 327.701084 deg, new cmd heading: 327.459068 deg. 2025-10-27T06:02:35.479Z,1761544955.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715239 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:35.550Z,1761544955.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764511 2025-10-27T06:02:35.800Z,1761544955.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014939 2025-10-27T06:02:35.819Z,1761544955.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827185,-0.555817,-0.082659],[0.558642,0.797512,0.227800],[-0.060694,-0.234609,0.970193]] 2025-10-27T06:02:35.842Z,1761544955.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:35.845Z,1761544955.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 145.959961 m, bearing: 341.004489 deg, approach rate: -0.298259 m/s, LOS rate: -0.185569 deg/s, cmd heading: 327.459076 deg, new cmd heading: 327.252249 deg. 2025-10-27T06:02:35.846Z,1761544955.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711629 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:36.054Z,1761544956.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268115 2025-10-27T06:02:36.213Z,1761544956.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840786,-0.535859,-0.077039],[0.537863,0.810675,0.231320],[-0.061501,-0.235927,0.969823]] 2025-10-27T06:02:36.257Z,1761544956.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:36.260Z,1761544956.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 145.837555 m, bearing: 340.925533 deg, approach rate: -0.295456 m/s, LOS rate: -0.190741 deg/s, cmd heading: 327.252258 deg, new cmd heading: 327.015191 deg. 2025-10-27T06:02:36.261Z,1761544956.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707492 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:36.304Z,1761544956.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518885 2025-10-27T06:02:36.557Z,1761544956.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771624 2025-10-27T06:02:36.801Z,1761544956.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853592,-0.516098,-0.070879],[0.517184,0.823238,0.234094],[-0.062465,-0.236478,0.969627]] 2025-10-27T06:02:36.808Z,1761544956.808 [DAT](INFO): DAT read: Rx Time:06:02:35.4725 2025-10-27T06:02:36.809Z,1761544956.809 [DAT](INFO): Rx dataTimestamp_ set to:1761544956.808245 2025-10-27T06:02:36.809Z,1761544956.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023985 2025-10-27T06:02:36.850Z,1761544956.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:36.853Z,1761544956.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 145.658600 m, bearing: 340.815683 deg, approach rate: -0.301600 m/s, LOS rate: -0.185362 deg/s, cmd heading: 327.015196 deg, new cmd heading: 326.685245 deg. 2025-10-27T06:02:36.854Z,1761544956.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701733 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:37.062Z,1761544957.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276211 2025-10-27T06:02:37.315Z,1761544957.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529008 2025-10-27T06:02:37.364Z,1761544957.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877366,-0.476318,-0.057883],[0.475573,0.847228,0.236715],[-0.063711,-0.235213,0.969853]] 2025-10-27T06:02:37.421Z,1761544957.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.76 m. 2025-10-27T06:02:37.435Z,1761544957.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.762817 m, nav range: 145.493011 m, bearing: 340.712851 deg, approach rate: -0.289837 m/s, LOS rate: -0.180196 deg/s, cmd heading: 326.685243 deg, new cmd heading: 326.376399 deg. 2025-10-27T06:02:37.436Z,1761544957.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696343 target range: 148.762817 and range: 149.70 m. 2025-10-27T06:02:37.574Z,1761544957.574 [DAT](INFO): DAT read: 06:02:35.4725 LVL= 28192, 26993, 20466, 26787, AGC= 60, IDX= 429,-0.08, 2.836, 2.238,-1.880,-2.922, PHS=-0.423,-1.078, 0.997, RAW= 192.0, 5.5, CAL= 192.2, 4.3, ROT= 317.8, -4.3 2025-10-27T06:02:37.576Z,1761544957.576 [DAT](INFO): got valid direction response: 06:02:35.4725 LVL= 28192, 26993, 20466, 26787, AGC= 60, IDX= 429,-0.08, 2.836, 2.238,-1.880,-2.922, PHS=-0.423,-1.078, 0.997, RAW= 192.0, 5.5, CAL= 192.2, 4.3, ROT= 317.8, -4.3 2025-10-27T06:02:37.577Z,1761544957.577 [DAT](INFO): DAT read: Bearing 174.4, -45.1 (Local) 2025-10-27T06:02:37.577Z,1761544957.577 [DAT](INFO): Local bearing/azimuth received: Bearing 174.4, -45.1 (Local) 2025-10-27T06:02:37.578Z,1761544957.578 [DAT](INFO): DAT read: Range 11 to 50 : 148.8 m (Round-trip 198.5 ms) speed 0.2 m/s 2025-10-27T06:02:37.579Z,1761544957.579 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:37.580Z,1761544957.580 [DAT](INFO): direction in FSK: [0.738719,-0.669830,0.074979] 2025-10-27T06:02:37.580Z,1761544957.580 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:37.584Z,1761544957.584 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:37.584Z,1761544957.584 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:37.584Z,1761544957.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:37.816Z,1761544957.816 [DAT](INFO): DAT read: user:619> 2025-10-27T06:02:37.817Z,1761544957.817 [DAT](INFO): DAT read: Tx time:06:02:36.8699 2025-10-27T06:02:37.817Z,1761544957.817 [DAT](INFO): Ping request sent. 2025-10-27T06:02:37.817Z,1761544957.817 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:37.817Z,1761544957.817 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:37.818Z,1761544957.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T06:02:37.917Z,1761544957.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888307,-0.456346,-0.051559],[0.454698,0.858174,0.238300],[-0.064501,-0.235127,0.969822]] 2025-10-27T06:02:37.952Z,1761544957.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 148.800003 m, deltaT: 4.032504 s, deltaX: -0.899994 m, approachRate: -0.223185 m/s, rangeRepo size: 4 2025-10-27T06:02:37.954Z,1761544957.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.873016 m, bearing: 347.006039 deg, lat: 36.779406 deg, lon: -121.859767 deg, deltaT: 4.032504 s, deltaX: -0.889801 m, approachRate: -0.220657 m/s, posRepo size: 4 2025-10-27T06:02:37.955Z,1761544957.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:37.958Z,1761544957.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 145.324448 m, bearing: 340.612946 deg, approach rate: 0.000000 m/s, LOS rate: -0.180196 deg/s, cmd heading: 326.376409 deg, new cmd heading: 326.089648 deg. 2025-10-27T06:02:37.959Z,1761544957.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691338 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:38.070Z,1761544958.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253016 2025-10-27T06:02:38.290Z,1761544958.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898668,-0.436144,-0.046636],[0.433835,0.868124,0.241139],[-0.064686,-0.236936,0.969369]] 2025-10-27T06:02:38.320Z,1761544958.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502971 2025-10-27T06:02:38.358Z,1761544958.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:38.377Z,1761544958.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:38.384Z,1761544958.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 145.205551 m, bearing: 340.537618 deg, approach rate: -0.279927 m/s, LOS rate: -0.177497 deg/s, cmd heading: 326.089651 deg, new cmd heading: 325.863481 deg. 2025-10-27T06:02:38.385Z,1761544958.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687391 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:38.573Z,1761544958.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756080 2025-10-27T06:02:38.706Z,1761544958.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908502,-0.415810,-0.041543],[0.412817,0.877622,0.243641],[-0.064849,-0.238498,0.968975]] 2025-10-27T06:02:38.750Z,1761544958.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:38.756Z,1761544958.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 145.080597 m, bearing: 340.462145 deg, approach rate: -0.334948 m/s, LOS rate: -0.202483 deg/s, cmd heading: 325.863490 deg, new cmd heading: 325.636878 deg. 2025-10-27T06:02:38.757Z,1761544958.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683436 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:38.825Z,1761544958.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007645 2025-10-27T06:02:39.076Z,1761544959.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259072 2025-10-27T06:02:39.105Z,1761544959.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917494,-0.396163,-0.035501],[0.392437,0.887085,0.243048],[-0.064794,-0.236927,0.969364]] 2025-10-27T06:02:39.204Z,1761544959.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:39.206Z,1761544959.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 144.944427 m, bearing: 340.383448 deg, approach rate: -0.303794 m/s, LOS rate: -0.175739 deg/s, cmd heading: 325.636891 deg, new cmd heading: 325.400578 deg. 2025-10-27T06:02:39.212Z,1761544959.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679311 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:39.329Z,1761544959.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511177 2025-10-27T06:02:39.532Z,1761544959.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925970,-0.376347,-0.030713],[0.372013,0.895314,0.244987],[-0.064703,-0.238276,0.969040]] 2025-10-27T06:02:39.580Z,1761544959.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763125 2025-10-27T06:02:39.611Z,1761544959.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:39.614Z,1761544959.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 144.806885 m, bearing: 340.295817 deg, approach rate: -0.333149 m/s, LOS rate: -0.212455 deg/s, cmd heading: 325.400567 deg, new cmd heading: 325.137428 deg. 2025-10-27T06:02:39.614Z,1761544959.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674719 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:39.832Z,1761544959.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862 2025-10-27T06:02:39.935Z,1761544959.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933859,-0.356739,-0.025371],[0.351760,0.903378,0.245301],[-0.064589,-0.238001,0.969115]] 2025-10-27T06:02:39.959Z,1761544959.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:39.961Z,1761544959.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 144.692581 m, bearing: 340.226137 deg, approach rate: -0.328433 m/s, LOS rate: -0.200375 deg/s, cmd heading: 325.137440 deg, new cmd heading: 324.928234 deg. 2025-10-27T06:02:39.962Z,1761544959.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671068 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:40.087Z,1761544960.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269106 2025-10-27T06:02:40.336Z,1761544960.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518821 2025-10-27T06:02:40.340Z,1761544960.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941401,-0.336672,-0.020380],[0.331023,0.910633,0.247331],[-0.064711,-0.239584,0.968717]] 2025-10-27T06:02:40.396Z,1761544960.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:40.398Z,1761544960.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:40.405Z,1761544960.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 144.568008 m, bearing: 340.142745 deg, approach rate: -0.283674 m/s, LOS rate: -0.190060 deg/s, cmd heading: 324.928245 deg, new cmd heading: 324.677858 deg. 2025-10-27T06:02:40.406Z,1761544960.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666698 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:40.588Z,1761544960.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770993 2025-10-27T06:02:40.745Z,1761544960.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948485,-0.316432,-0.015717],[0.310194,0.917405,0.249295],[-0.064466,-0.241328,0.968300]] 2025-10-27T06:02:40.775Z,1761544960.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:40.778Z,1761544960.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 144.450165 m, bearing: 340.067445 deg, approach rate: -0.312742 m/s, LOS rate: -0.200000 deg/s, cmd heading: 324.677851 deg, new cmd heading: 324.451767 deg. 2025-10-27T06:02:40.779Z,1761544960.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662752 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:40.841Z,1761544960.841 [DAT](INFO): DAT read: Rx Time:06:02:39.4711 2025-10-27T06:02:40.842Z,1761544960.842 [DAT](INFO): Rx dataTimestamp_ set to:1761544960.841486 2025-10-27T06:02:40.842Z,1761544960.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025309 2025-10-27T06:02:41.092Z,1761544961.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274944 2025-10-27T06:02:41.146Z,1761544961.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955123,-0.295991,-0.011338],[0.289222,0.923648,0.251445],[-0.063954,-0.243440,0.967805]] 2025-10-27T06:02:41.200Z,1761544961.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.87 m. 2025-10-27T06:02:41.217Z,1761544961.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.873016 m, nav range: 144.322540 m, bearing: 339.989539 deg, approach rate: -0.319595 m/s, LOS rate: -0.195264 deg/s, cmd heading: 324.451771 deg, new cmd heading: 324.217847 deg. 2025-10-27T06:02:41.225Z,1761544961.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658669 target range: 147.873016 and range: 148.80 m. 2025-10-27T06:02:41.351Z,1761544961.351 [DAT](INFO): DAT read: 06:02:39.4711 LVL= 32752, 32753, 23314, 32755, AGC= 61, IDX= 431, 0.18,-2.399, 2.853,-1.165,-2.168, PHS=-0.129,-1.217, 0.959, RAW= 180.0, 4.1, CAL= 179.7, 2.1, ROT= 330.3, -2.1 2025-10-27T06:02:41.353Z,1761544961.353 [DAT](INFO): got valid direction response: 06:02:39.4711 LVL= 32752, 32753, 23314, 32755, AGC= 61, IDX= 431, 0.18,-2.399, 2.853,-1.165,-2.168, PHS=-0.129,-1.217, 0.959, RAW= 180.0, 4.1, CAL= 179.7, 2.1, ROT= 330.3, -2.1 2025-10-27T06:02:41.353Z,1761544961.353 [DAT](INFO): DAT read: Bearing 162.0, -32.9 (Local) 2025-10-27T06:02:41.354Z,1761544961.354 [DAT](INFO): Local bearing/azimuth received: Bearing 162.0, -32.9 (Local) 2025-10-27T06:02:41.356Z,1761544961.356 [DAT](INFO): DAT read: Range 11 to 50 : 147.8 m (Round-trip 197.1 ms) speed 0.1 m/s 2025-10-27T06:02:41.357Z,1761544961.357 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:41.358Z,1761544961.358 [DAT](INFO): direction in FSK: [0.868048,-0.495126,0.036644] 2025-10-27T06:02:41.358Z,1761544961.358 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:41.361Z,1761544961.361 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:41.361Z,1761544961.361 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:41.362Z,1761544961.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:41.561Z,1761544961.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961424,-0.274992,-0.006550],[0.267624,0.929630,0.253309],[-0.063569,-0.245291,0.967363]] 2025-10-27T06:02:41.596Z,1761544961.596 [DAT](INFO): DAT read: user:620> 2025-10-27T06:02:41.597Z,1761544961.597 [DAT](INFO): DAT read: Tx time:06:02:40.6699 2025-10-27T06:02:41.597Z,1761544961.597 [DAT](INFO): Ping request sent. 2025-10-27T06:02:41.597Z,1761544961.597 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:41.597Z,1761544961.597 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:41.598Z,1761544961.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-27T06:02:41.618Z,1761544961.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.800003 m, deltaT: 3.780639 s, deltaX: -1.000000 m, approachRate: -0.264506 m/s, rangeRepo size: 4 2025-10-27T06:02:41.621Z,1761544961.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.892303 m, bearing: 347.300880 deg, lat: 36.779406 deg, lon: -121.859767 deg, deltaT: 3.780639 s, deltaX: -0.980713 m, approachRate: -0.259404 m/s, posRepo size: 4 2025-10-27T06:02:41.621Z,1761544961.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:41.624Z,1761544961.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 144.181671 m, bearing: 339.903573 deg, approach rate: 0.000000 m/s, LOS rate: -0.195264 deg/s, cmd heading: 324.217851 deg, new cmd heading: 323.957866 deg. 2025-10-27T06:02:41.625Z,1761544961.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654131 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:41.848Z,1761544961.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250861 2025-10-27T06:02:41.951Z,1761544961.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967307,-0.253603,-0.001426],[0.245652,0.935552,0.253767],[-0.063022,-0.245821,0.967264]] 2025-10-27T06:02:42.076Z,1761544962.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:42.081Z,1761544962.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 144.037445 m, bearing: 339.819476 deg, approach rate: -0.314598 m/s, LOS rate: -0.183625 deg/s, cmd heading: 323.957867 deg, new cmd heading: 323.705323 deg. 2025-10-27T06:02:42.082Z,1761544962.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649724 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:42.100Z,1761544962.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502857 2025-10-27T06:02:42.352Z,1761544962.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754843 2025-10-27T06:02:42.415Z,1761544962.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972780,-0.231709,0.003077],[0.223275,0.940762,0.255177],[-0.062021,-0.247544,0.966889]] 2025-10-27T06:02:42.482Z,1761544962.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:42.495Z,1761544962.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:42.498Z,1761544962.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 143.899734 m, bearing: 339.740364 deg, approach rate: -0.332605 m/s, LOS rate: -0.191256 deg/s, cmd heading: 323.705314 deg, new cmd heading: 323.467754 deg. 2025-10-27T06:02:42.503Z,1761544962.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645577 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:42.605Z,1761544962.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007473 2025-10-27T06:02:42.821Z,1761544962.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977676,-0.209940,0.008608],[0.200925,0.946108,0.253985],[-0.061466,-0.246585,0.967170]] 2025-10-27T06:02:42.856Z,1761544962.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881 2025-10-27T06:02:42.886Z,1761544962.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:42.898Z,1761544962.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 143.772369 m, bearing: 339.670388 deg, approach rate: -0.321765 m/s, LOS rate: -0.176940 deg/s, cmd heading: 323.467760 deg, new cmd heading: 323.257645 deg. 2025-10-27T06:02:42.898Z,1761544962.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641910 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:43.108Z,1761544963.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-27T06:02:43.270Z,1761544963.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982157,-0.187571,0.013620],[0.178115,0.950999,0.252737],[-0.060359,-0.245802,0.967439]] 2025-10-27T06:02:43.361Z,1761544963.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763800 2025-10-27T06:02:43.367Z,1761544963.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:43.370Z,1761544963.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 143.601242 m, bearing: 339.585541 deg, approach rate: -0.355868 m/s, LOS rate: -0.176653 deg/s, cmd heading: 323.257636 deg, new cmd heading: 323.002795 deg. 2025-10-27T06:02:43.371Z,1761544963.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637462 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:43.613Z,1761544963.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015895 2025-10-27T06:02:43.713Z,1761544963.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989555,-0.142194,0.023707],[0.131691,0.958572,0.252583],[-0.058640,-0.246823,0.967285]] 2025-10-27T06:02:43.740Z,1761544963.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:43.743Z,1761544963.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 143.453476 m, bearing: 339.518755 deg, approach rate: -0.396076 m/s, LOS rate: -0.179199 deg/s, cmd heading: 323.002788 deg, new cmd heading: 322.802225 deg. 2025-10-27T06:02:43.744Z,1761544963.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633962 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:43.864Z,1761544963.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266803 2025-10-27T06:02:44.107Z,1761544964.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992447,-0.119300,0.028583],[0.108284,0.961404,0.252936],[-0.057655,-0.247930,0.967061]] 2025-10-27T06:02:44.116Z,1761544964.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519044 2025-10-27T06:02:44.128Z,1761544964.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:44.131Z,1761544964.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 143.303040 m, bearing: 339.453745 deg, approach rate: -0.387354 m/s, LOS rate: -0.167568 deg/s, cmd heading: 322.802226 deg, new cmd heading: 322.606992 deg. 2025-10-27T06:02:44.132Z,1761544964.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630554 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:44.368Z,1761544964.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770747 2025-10-27T06:02:44.509Z,1761544964.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994774,-0.096529,0.033280],[0.084940,0.963224,0.254920],[-0.056663,-0.250761,0.966389]] 2025-10-27T06:02:44.586Z,1761544964.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:44.592Z,1761544964.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:44.594Z,1761544964.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 143.128098 m, bearing: 339.387160 deg, approach rate: -0.377506 m/s, LOS rate: -0.143861 deg/s, cmd heading: 322.606992 deg, new cmd heading: 322.406991 deg. 2025-10-27T06:02:44.600Z,1761544964.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627064 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:44.620Z,1761544964.620 [DAT](INFO): DAT read: Rx Time:06:02:43.2698 2025-10-27T06:02:44.621Z,1761544964.621 [DAT](INFO): Rx dataTimestamp_ set to:1761544964.620226 2025-10-27T06:02:44.621Z,1761544964.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023972 2025-10-27T06:02:44.873Z,1761544964.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275443 2025-10-27T06:02:44.915Z,1761544964.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996571,-0.073155,0.038671],[0.060950,0.965045,0.254899],[-0.055967,-0.251668,0.966194]] 2025-10-27T06:02:44.954Z,1761544964.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.89 m. 2025-10-27T06:02:44.960Z,1761544964.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.892303 m, nav range: 142.979385 m, bearing: 339.333085 deg, approach rate: -0.410973 m/s, LOS rate: -0.149594 deg/s, cmd heading: 322.407004 deg, new cmd heading: 322.244611 deg. 2025-10-27T06:02:44.961Z,1761544964.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624229 target range: 146.892303 and range: 147.80 m. 2025-10-27T06:02:45.127Z,1761544965.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529733 2025-10-27T06:02:45.317Z,1761544965.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997812,-0.049634,0.043671],[0.036914,0.966289,0.254800],[-0.054845,-0.252631,0.966007]] 2025-10-27T06:02:45.381Z,1761544965.381 [DAT](INFO): DAT read: 06:02:43.2698 LVL= 32752, 32753, 30562, 32755, AGC= 68, IDX= 434,-0.36, 1.812, 0.577, 2.741, 1.918, PHS=-0.004,-1.296, 0.779, RAW= 171.9, 5.8, CAL= 171.4, 4.9, ROT= 338.6, -4.9 2025-10-27T06:02:45.382Z,1761544965.382 [DAT](INFO): got valid direction response: 06:02:43.2698 LVL= 32752, 32753, 30562, 32755, AGC= 68, IDX= 434,-0.36, 1.812, 0.577, 2.741, 1.918, PHS=-0.004,-1.296, 0.779, RAW= 171.9, 5.8, CAL= 171.4, 4.9, ROT= 338.6, -4.9 2025-10-27T06:02:45.383Z,1761544965.383 [DAT](INFO): DAT read: Bearing 152.8, -25.1 (Local) 2025-10-27T06:02:45.384Z,1761544965.384 [DAT](INFO): Local bearing/azimuth received: Bearing 152.8, -25.1 (Local) 2025-10-27T06:02:45.385Z,1761544965.385 [DAT](INFO): DAT read: Range 11 to 50 : 146.8 m (Round-trip 195.8 ms) speed 0.4 m/s 2025-10-27T06:02:45.385Z,1761544965.385 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:45.386Z,1761544965.386 [DAT](INFO): direction in FSK: [0.927653,-0.363543,0.085417] 2025-10-27T06:02:45.387Z,1761544965.387 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:45.390Z,1761544965.390 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:45.390Z,1761544965.390 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:45.391Z,1761544965.391 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:45.402Z,1761544965.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.800003 m, deltaT: 4.030159 s, deltaX: -1.000000 m, approachRate: -0.248129 m/s, rangeRepo size: 4 2025-10-27T06:02:45.442Z,1761544965.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.891403 m, bearing: 342.689078 deg, lat: 36.779447 deg, lon: -121.859683 deg, deltaT: 4.030159 s, deltaX: -1.000900 m, approachRate: -0.248353 m/s, posRepo size: 4 2025-10-27T06:02:45.443Z,1761544965.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:45.445Z,1761544965.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 144.714233 m, bearing: 342.681876 deg, approach rate: 0.000000 m/s, LOS rate: -0.149594 deg/s, cmd heading: 322.244609 deg, new cmd heading: 322.043839 deg. 2025-10-27T06:02:45.446Z,1761544965.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620725 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:45.628Z,1761544965.628 [DAT](INFO): DAT read: user:621> 2025-10-27T06:02:45.629Z,1761544965.629 [DAT](INFO): DAT read: Tx time:06:02:44.6699 2025-10-27T06:02:45.629Z,1761544965.629 [DAT](INFO): Ping request sent. 2025-10-27T06:02:45.629Z,1761544965.629 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:45.629Z,1761544965.629 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:45.630Z,1761544965.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-27T06:02:45.771Z,1761544965.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998459,-0.026210,0.048917],[0.013026,0.967507,0.252507],[-0.053946,-0.251481,0.966358]] 2025-10-27T06:02:45.804Z,1761544965.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:45.808Z,1761544965.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 144.522003 m, bearing: 342.632971 deg, approach rate: -0.476601 m/s, LOS rate: -0.121413 deg/s, cmd heading: 322.043829 deg, new cmd heading: 321.896918 deg. 2025-10-27T06:02:45.809Z,1761544965.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618161 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:45.880Z,1761544965.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250790 2025-10-27T06:02:46.132Z,1761544966.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502780 2025-10-27T06:02:46.175Z,1761544966.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998529,-0.003083,0.054127],[-0.010634,0.967850,0.251304],[-0.053162,-0.251510,0.966394]] 2025-10-27T06:02:46.194Z,1761544966.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:46.197Z,1761544966.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 144.341156 m, bearing: 342.589190 deg, approach rate: -0.464658 m/s, LOS rate: -0.112629 deg/s, cmd heading: 321.896925 deg, new cmd heading: 321.765419 deg. 2025-10-27T06:02:46.198Z,1761544966.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615866 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:46.384Z,1761544966.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754832 2025-10-27T06:02:46.629Z,1761544966.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:46.631Z,1761544966.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:46.634Z,1761544966.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 144.145401 m, bearing: 342.549415 deg, approach rate: -0.447294 m/s, LOS rate: -0.091008 deg/s, cmd heading: 321.765431 deg, new cmd heading: 321.645944 deg. 2025-10-27T06:02:46.660Z,1761544966.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.030810 2025-10-27T06:02:46.676Z,1761544966.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613781 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:46.916Z,1761544966.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.286788 2025-10-27T06:02:46.982Z,1761544966.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996885,0.044367,0.065199],[-0.058970,0.968301,0.242726],[-0.052364,-0.245815,0.967901]] 2025-10-27T06:02:47.016Z,1761544967.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:47.018Z,1761544967.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 143.970657 m, bearing: 342.517887 deg, approach rate: -0.454602 m/s, LOS rate: -0.082122 deg/s, cmd heading: 321.645957 deg, new cmd heading: 321.551257 deg. 2025-10-27T06:02:47.020Z,1761544967.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612128 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:47.164Z,1761544967.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.534957 2025-10-27T06:02:47.416Z,1761544967.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.786835 2025-10-27T06:02:47.484Z,1761544967.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:47.486Z,1761544967.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 143.766159 m, bearing: 342.487913 deg, approach rate: -0.436913 m/s, LOS rate: -0.064131 deg/s, cmd heading: 321.551263 deg, new cmd heading: 321.461214 deg. 2025-10-27T06:02:47.499Z,1761544967.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610557 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:47.668Z,1761544967.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.038746 2025-10-27T06:02:47.840Z,1761544967.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992856,0.092276,0.075638],[-0.107572,0.966537,0.232882],[-0.051617,-0.239355,0.969559]] 2025-10-27T06:02:47.858Z,1761544967.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:47.873Z,1761544967.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 143.565979 m, bearing: 342.462784 deg, approach rate: -0.534452 m/s, LOS rate: -0.067185 deg/s, cmd heading: 321.461214 deg, new cmd heading: 321.385722 deg. 2025-10-27T06:02:47.874Z,1761544967.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609239 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:47.920Z,1761544967.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.291001 2025-10-27T06:02:48.172Z,1761544968.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.543237 2025-10-27T06:02:48.238Z,1761544968.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989895,0.116340,0.081068],[-0.132124,0.964311,0.229451],[-0.051481,-0.237843,0.969938]] 2025-10-27T06:02:48.334Z,1761544968.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:48.337Z,1761544968.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 143.349045 m, bearing: 342.437795 deg, approach rate: -0.455900 m/s, LOS rate: -0.052596 deg/s, cmd heading: 321.385727 deg, new cmd heading: 321.310646 deg. 2025-10-27T06:02:48.338Z,1761544968.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607929 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:48.425Z,1761544968.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.795827 2025-10-27T06:02:48.666Z,1761544968.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986303,0.140241,0.086829],[-0.156800,0.960547,0.229700],[-0.051190,-0.240169,0.969380]] 2025-10-27T06:02:48.676Z,1761544968.676 [DAT](INFO): DAT read: Rx Time:06:02:47.3012 2025-10-27T06:02:48.677Z,1761544968.677 [DAT](INFO): Rx dataTimestamp_ set to:1761544968.676363 2025-10-27T06:02:48.677Z,1761544968.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.048110 2025-10-27T06:02:48.751Z,1761544968.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:48.753Z,1761544968.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:48.756Z,1761544968.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 143.127777 m, bearing: 342.417151 deg, approach rate: -0.527735 m/s, LOS rate: -0.049312 deg/s, cmd heading: 321.310649 deg, new cmd heading: 321.248623 deg. 2025-10-27T06:02:48.757Z,1761544968.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606846 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:48.928Z,1761544968.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.298766 2025-10-27T06:02:49.086Z,1761544969.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981991,0.164437,0.093027],[-0.182021,0.955369,0.232676],[-0.050615,-0.245418,0.968095]] 2025-10-27T06:02:49.112Z,1761544969.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:49.132Z,1761544969.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 142.949570 m, bearing: 342.402424 deg, approach rate: -0.496500 m/s, LOS rate: -0.041081 deg/s, cmd heading: 321.248631 deg, new cmd heading: 321.204396 deg. 2025-10-27T06:02:49.141Z,1761544969.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606074 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:49.187Z,1761544969.187 [DAT](INFO): DAT read: 06:02:47.3012 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 260,-0.22,-0.912,-2.360,-0.401,-0.934, PHS= 0.123,-1.381, 0.489, RAW= 160.6, 9.0, CAL= 160.4, 9.5, ROT= 349.6, -9.5 2025-10-27T06:02:49.188Z,1761544969.188 [DAT](INFO): got valid direction response: 06:02:47.3012 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 260,-0.22,-0.912,-2.360,-0.401,-0.934, PHS= 0.123,-1.381, 0.489, RAW= 160.6, 9.0, CAL= 160.4, 9.5, ROT= 349.6, -9.5 2025-10-27T06:02:49.189Z,1761544969.189 [DAT](INFO): DAT read: Bearing 146.6, -15.4 (Local) 2025-10-27T06:02:49.189Z,1761544969.189 [DAT](INFO): Local bearing/azimuth received: Bearing 146.6, -15.4 (Local) 2025-10-27T06:02:49.191Z,1761544969.191 [DAT](INFO): DAT read: Range 11 to 50 : 170.4 m (Round-trip 227.2 ms) speed 0.1 m/s 2025-10-27T06:02:49.191Z,1761544969.191 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:02:49.192Z,1761544969.192 [DAT](INFO): direction in FSK: [0.970082,-0.178043,0.165048] 2025-10-27T06:02:49.193Z,1761544969.193 [DAT](INFO): publishing direction and range info 2025-10-27T06:02:49.196Z,1761544969.196 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:49.196Z,1761544969.196 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:49.197Z,1761544969.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:49.432Z,1761544969.432 [DAT](INFO): DAT read: user:622> 2025-10-27T06:02:49.433Z,1761544969.433 [DAT](INFO): DAT read: Tx time:06:02:48.5199 2025-10-27T06:02:49.433Z,1761544969.433 [DAT](INFO): Ping request sent. 2025-10-27T06:02:49.433Z,1761544969.433 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:02:49.433Z,1761544969.433 [DAT](INFO): publishing transmit ping time 2025-10-27T06:02:49.434Z,1761544969.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T06:02:49.508Z,1761544969.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977079,0.188384,0.099133],[-0.206869,0.950108,0.233451],[-0.050209,-0.248607,0.967302]] 2025-10-27T06:02:49.585Z,1761544969.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 170.399994 m, deltaT: 3.805904 s, deltaX: 23.599991 m, approachRate: 6.200890 m/s, rangeRepo size: 4 2025-10-27T06:02:49.586Z,1761544969.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:49.589Z,1761544969.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 142.724472 m, bearing: 342.386136 deg, approach rate: -0.476492 m/s, LOS rate: -0.034534 deg/s, cmd heading: 321.204399 deg, new cmd heading: 321.155456 deg. 2025-10-27T06:02:49.590Z,1761544969.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605220 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:49.685Z,1761544969.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251538 2025-10-27T06:02:49.902Z,1761544969.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971465,0.212600,0.105153],[-0.231910,0.944384,0.233145],[-0.049738,-0.250878,0.966740]] 2025-10-27T06:02:49.936Z,1761544969.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502820 2025-10-27T06:02:49.941Z,1761544969.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:49.947Z,1761544969.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 142.560760 m, bearing: 342.376003 deg, approach rate: -0.460033 m/s, LOS rate: -0.028508 deg/s, cmd heading: 321.155467 deg, new cmd heading: 321.125032 deg. 2025-10-27T06:02:49.948Z,1761544969.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604689 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:50.189Z,1761544970.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755852 2025-10-27T06:02:50.349Z,1761544970.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965258,0.236509,0.111086],[-0.256533,0.938571,0.230814],[-0.049672,-0.251293,0.966636]] 2025-10-27T06:02:50.398Z,1761544970.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:50.401Z,1761544970.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 142.333832 m, bearing: 342.363599 deg, approach rate: -0.496322 m/s, LOS rate: -0.027171 deg/s, cmd heading: 321.125032 deg, new cmd heading: 321.087763 deg. 2025-10-27T06:02:50.402Z,1761544970.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604039 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:50.440Z,1761544970.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006975 2025-10-27T06:02:50.692Z,1761544970.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258701 2025-10-27T06:02:50.730Z,1761544970.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958687,0.259769,0.115925],[-0.280184,0.932710,0.227043],[-0.049145,-0.250144,0.966961]] 2025-10-27T06:02:50.762Z,1761544970.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:50.768Z,1761544970.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:50.770Z,1761544970.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 142.164688 m, bearing: 342.356026 deg, approach rate: -0.457086 m/s, LOS rate: -0.020490 deg/s, cmd heading: 321.087767 deg, new cmd heading: 321.065020 deg. 2025-10-27T06:02:50.780Z,1761544970.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603642 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:50.944Z,1761544970.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510748 2025-10-27T06:02:51.118Z,1761544971.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951593,0.282472,0.121159],[-0.303426,0.926214,0.223741],[-0.049019,-0.249673,0.967089]] 2025-10-27T06:02:51.150Z,1761544971.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:51.153Z,1761544971.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 141.973709 m, bearing: 342.349346 deg, approach rate: -0.499439 m/s, LOS rate: -0.017492 deg/s, cmd heading: 321.065008 deg, new cmd heading: 321.044942 deg. 2025-10-27T06:02:51.154Z,1761544971.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603292 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:51.197Z,1761544971.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763524 2025-10-27T06:02:51.448Z,1761544971.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014696 2025-10-27T06:02:51.528Z,1761544971.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944170,0.304571,0.125618],[-0.325804,0.919802,0.218667],[-0.048944,-0.247385,0.967680]] 2025-10-27T06:02:51.586Z,1761544971.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:51.589Z,1761544971.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 141.778549 m, bearing: 342.339357 deg, approach rate: -0.447556 m/s, LOS rate: -0.022938 deg/s, cmd heading: 321.044955 deg, new cmd heading: 321.014948 deg. 2025-10-27T06:02:51.590Z,1761544971.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602768 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:51.702Z,1761544971.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268452 2025-10-27T06:02:51.926Z,1761544971.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935979,0.326783,0.130983],[-0.348626,0.912129,0.215591],[-0.049022,-0.247453,0.967659]] 2025-10-27T06:02:51.952Z,1761544971.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518781 2025-10-27T06:02:51.957Z,1761544971.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:51.960Z,1761544971.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 141.612793 m, bearing: 342.332502 deg, approach rate: -0.447472 m/s, LOS rate: -0.018530 deg/s, cmd heading: 321.014957 deg, new cmd heading: 320.994365 deg. 2025-10-27T06:02:51.960Z,1761544971.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602408 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:52.205Z,1761544972.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771560 2025-10-27T06:02:52.369Z,1761544972.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926955,0.349495,0.136410],[-0.371995,0.903422,0.213188],[-0.048728,-0.248360,0.967441]] 2025-10-27T06:02:52.422Z,1761544972.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:52.426Z,1761544972.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 141.395187 m, bearing: 342.325706 deg, approach rate: -0.467224 m/s, LOS rate: -0.014612 deg/s, cmd heading: 320.994357 deg, new cmd heading: 320.973940 deg. 2025-10-27T06:02:52.426Z,1761544972.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602052 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:52.456Z,1761544972.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022901 2025-10-27T06:02:52.716Z,1761544972.716 [DAT](INFO): DAT read: 06:02:51.1498 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.44, 1.841, 0.125, 2.047, 1.772, PHS= 0.172,-1.601, 0.231, RAW= 151.6, 13.2, CAL= 151.8, 14.7, ROT= 358.2, -14.7 2025-10-27T06:02:52.717Z,1761544972.717 [DAT](INFO): got valid direction response: 06:02:51.1498 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 421,-0.44, 1.841, 0.125, 2.047, 1.772, PHS= 0.172,-1.601, 0.231, RAW= 151.6, 13.2, CAL= 151.8, 14.7, ROT= 358.2, -14.7 2025-10-27T06:02:52.718Z,1761544972.718 [DAT](INFO): DAT read: Rx Time:06:02:51.1498 2025-10-27T06:02:52.719Z,1761544972.719 [DAT](INFO): Rx dataTimestamp_ set to:1761544972.718818 2025-10-27T06:02:52.720Z,1761544972.720 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-27T06:02:52.721Z,1761544972.721 [DAT](INFO): Received low SNR in chirp 2025-10-27T06:02:52.735Z,1761544972.735 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:02:52.737Z,1761544972.737 [DAT](INFO): direction in FSK: [0.966790,-0.030382,0.253758] 2025-10-27T06:02:52.767Z,1761544972.767 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:52.767Z,1761544972.767 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:52.767Z,1761544972.767 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:52.843Z,1761544972.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917797,0.371010,0.141423],[-0.394031,0.894928,0.209387],[-0.048878,-0.247900,0.967552]] 2025-10-27T06:02:52.872Z,1761544972.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:52.874Z,1761544972.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:52.877Z,1761544972.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 141.184830 m, bearing: 342.321163 deg, approach rate: -0.466004 m/s, LOS rate: -0.010080 deg/s, cmd heading: 320.973948 deg, new cmd heading: 320.960298 deg. 2025-10-27T06:02:52.878Z,1761544972.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601814 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:52.960Z,1761544972.960 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:52.960Z,1761544972.960 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:52.960Z,1761544972.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:53.212Z,1761544973.212 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:53.212Z,1761544973.212 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:53.212Z,1761544973.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:53.257Z,1761544973.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908149,0.392295,0.146184],[-0.415738,0.886164,0.204634],[-0.049266,-0.246612,0.967861]] 2025-10-27T06:02:53.277Z,1761544973.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:53.280Z,1761544973.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 140.996719 m, bearing: 342.318903 deg, approach rate: -0.466674 m/s, LOS rate: -0.005616 deg/s, cmd heading: 320.960288 deg, new cmd heading: 320.953497 deg. 2025-10-27T06:02:53.281Z,1761544973.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601695 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:53.464Z,1761544973.464 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:53.464Z,1761544973.464 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:53.464Z,1761544973.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:53.650Z,1761544973.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897584,0.414024,0.151418],[-0.438077,0.876110,0.201295],[-0.049318,-0.247012,0.967757]] 2025-10-27T06:02:53.677Z,1761544973.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:53.696Z,1761544973.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 140.809540 m, bearing: 342.318534 deg, approach rate: -0.467790 m/s, LOS rate: -0.000922 deg/s, cmd heading: 320.953485 deg, new cmd heading: 320.952379 deg. 2025-10-27T06:02:53.698Z,1761544973.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601676 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:53.716Z,1761544973.716 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:53.717Z,1761544973.717 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:53.717Z,1761544973.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:53.968Z,1761544973.968 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:53.968Z,1761544973.968 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:53.968Z,1761544973.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:54.059Z,1761544974.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886614,0.435387,0.156054],[-0.459857,0.865921,0.196755],[-0.049466,-0.246208,0.967954]] 2025-10-27T06:02:54.081Z,1761544974.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:54.084Z,1761544974.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 140.620758 m, bearing: 342.320035 deg, approach rate: -0.466883 m/s, LOS rate: 0.003718 deg/s, cmd heading: 320.952392 deg, new cmd heading: 320.956902 deg. 2025-10-27T06:02:54.085Z,1761544974.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601755 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:54.220Z,1761544974.220 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:54.220Z,1761544974.220 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:54.220Z,1761544974.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:54.458Z,1761544974.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875022,0.456037,0.162377],[-0.481487,0.854595,0.194516],[-0.050060,-0.248389,0.967366]] 2025-10-27T06:02:54.472Z,1761544974.472 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:54.472Z,1761544974.472 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:54.472Z,1761544974.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:54.551Z,1761544974.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:54.554Z,1761544974.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 140.432587 m, bearing: 342.321755 deg, approach rate: -0.404170 m/s, LOS rate: 0.003698 deg/s, cmd heading: 320.956900 deg, new cmd heading: 320.962065 deg. 2025-10-27T06:02:54.559Z,1761544974.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.601845 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:54.724Z,1761544974.724 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:54.724Z,1761544974.724 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:54.725Z,1761544974.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:54.889Z,1761544974.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862640,0.477504,0.166861],[-0.503285,0.843251,0.188763],[-0.050570,-0.246813,0.967743]] 2025-10-27T06:02:54.911Z,1761544974.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:54.913Z,1761544974.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:54.916Z,1761544974.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 140.265564 m, bearing: 342.324987 deg, approach rate: -0.456271 m/s, LOS rate: 0.008841 deg/s, cmd heading: 320.962064 deg, new cmd heading: 320.971773 deg. 2025-10-27T06:02:54.917Z,1761544974.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602014 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:54.976Z,1761544974.976 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:54.976Z,1761544974.976 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:54.976Z,1761544974.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:55.228Z,1761544975.228 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:55.228Z,1761544975.228 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:55.228Z,1761544975.228 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:55.290Z,1761544975.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850154,0.498134,0.170589],[-0.524046,0.831959,0.182262],[-0.051132,-0.244347,0.968339]] 2025-10-27T06:02:55.331Z,1761544975.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:55.334Z,1761544975.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 140.094696 m, bearing: 342.329984 deg, approach rate: -0.408817 m/s, LOS rate: 0.011970 deg/s, cmd heading: 320.971763 deg, new cmd heading: 320.986772 deg. 2025-10-27T06:02:55.335Z,1761544975.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602276 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:55.480Z,1761544975.480 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:55.480Z,1761544975.480 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:55.481Z,1761544975.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:55.694Z,1761544975.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837140,0.517450,0.177320],[-0.544491,0.819259,0.179843],[-0.052211,-0.247103,0.967582]] 2025-10-27T06:02:55.732Z,1761544975.732 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:55.732Z,1761544975.732 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:55.733Z,1761544975.733 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:55.757Z,1761544975.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:55.760Z,1761544975.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 139.905945 m, bearing: 342.338245 deg, approach rate: -0.442739 m/s, LOS rate: 0.019402 deg/s, cmd heading: 320.986762 deg, new cmd heading: 321.011576 deg. 2025-10-27T06:02:55.761Z,1761544975.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602709 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:55.984Z,1761544975.984 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:55.984Z,1761544975.984 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:55.984Z,1761544975.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:56.098Z,1761544976.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823930,0.536310,0.183059],[-0.564148,0.806829,0.175397],[-0.053630,-0.247787,0.967329]] 2025-10-27T06:02:56.141Z,1761544976.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:56.148Z,1761544976.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 139.751755 m, bearing: 342.346532 deg, approach rate: -0.401755 m/s, LOS rate: 0.021618 deg/s, cmd heading: 321.011569 deg, new cmd heading: 321.036459 deg. 2025-10-27T06:02:56.149Z,1761544976.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603143 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:56.237Z,1761544976.237 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:56.237Z,1761544976.237 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:56.237Z,1761544976.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:56.488Z,1761544976.488 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:56.488Z,1761544976.488 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:56.488Z,1761544976.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:56.530Z,1761544976.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797662,0.571234,0.193460],[-0.600428,0.782346,0.165594],[-0.056760,-0.248246,0.967033]] 2025-10-27T06:02:56.647Z,1761544976.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:56.650Z,1761544976.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 139.537811 m, bearing: 342.364124 deg, approach rate: -0.423125 m/s, LOS rate: 0.034845 deg/s, cmd heading: 321.036458 deg, new cmd heading: 321.089314 deg. 2025-10-27T06:02:56.650Z,1761544976.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604066 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:56.740Z,1761544976.740 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:56.740Z,1761544976.740 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:56.740Z,1761544976.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:56.939Z,1761544976.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:56.941Z,1761544976.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:56.944Z,1761544976.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 139.418045 m, bearing: 342.373996 deg, approach rate: -0.406555 m/s, LOS rate: 0.033539 deg/s, cmd heading: 321.089324 deg, new cmd heading: 321.118965 deg. 2025-10-27T06:02:56.945Z,1761544976.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.604583 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:56.992Z,1761544976.992 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:56.992Z,1761544976.992 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:56.993Z,1761544976.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:57.244Z,1761544977.244 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:57.244Z,1761544977.244 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:57.244Z,1761544977.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:57.312Z,1761544977.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773561,0.601474,0.199582],[-0.630786,0.761074,0.151245],[-0.060927,-0.242890,0.968139]] 2025-10-27T06:02:57.353Z,1761544977.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:57.356Z,1761544977.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 139.251816 m, bearing: 342.390468 deg, approach rate: -0.403708 m/s, LOS rate: 0.040053 deg/s, cmd heading: 321.118967 deg, new cmd heading: 321.168443 deg. 2025-10-27T06:02:57.357Z,1761544977.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605447 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:57.496Z,1761544977.496 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:57.496Z,1761544977.496 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:57.496Z,1761544977.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:57.722Z,1761544977.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763067,0.614716,0.199632],[-0.643218,0.752495,0.141500],[-0.063240,-0.236381,0.969600]] 2025-10-27T06:02:57.748Z,1761544977.748 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:57.748Z,1761544977.748 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:57.748Z,1761544977.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:57.801Z,1761544977.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:57.816Z,1761544977.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 139.070053 m, bearing: 342.412476 deg, approach rate: -0.406112 m/s, LOS rate: 0.049237 deg/s, cmd heading: 321.168445 deg, new cmd heading: 321.234555 deg. 2025-10-27T06:02:57.817Z,1761544977.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606601 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:57.000Z,1761544978.000 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:58.000Z,1761544978.000 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:58.000Z,1761544978.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:58.119Z,1761544978.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753921,0.625876,0.199705],[-0.653710,0.744907,0.133330],[-0.065313,-0.231069,0.970743]] 2025-10-27T06:02:58.152Z,1761544978.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:58.155Z,1761544978.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 138.927765 m, bearing: 342.430610 deg, approach rate: -0.404508 m/s, LOS rate: 0.051606 deg/s, cmd heading: 321.234561 deg, new cmd heading: 321.289019 deg. 2025-10-27T06:02:58.156Z,1761544978.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607551 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:58.253Z,1761544978.253 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:58.253Z,1761544978.253 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:58.253Z,1761544978.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:58.507Z,1761544978.507 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:58.507Z,1761544978.507 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:58.508Z,1761544978.508 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:58.536Z,1761544978.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745149,0.635721,0.201522],[-0.663485,0.737212,0.127698],[-0.067383,-0.228861,0.971124]] 2025-10-27T06:02:58.593Z,1761544978.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:58.612Z,1761544978.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 138.751236 m, bearing: 342.456892 deg, approach rate: -0.400451 m/s, LOS rate: 0.059695 deg/s, cmd heading: 321.289011 deg, new cmd heading: 321.367957 deg. 2025-10-27T06:02:58.613Z,1761544978.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608929 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:58.756Z,1761544978.756 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:58.756Z,1761544978.756 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:58.756Z,1761544978.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:58.927Z,1761544978.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738528,0.643359,0.201656],[-0.670614,0.731854,0.121106],[-0.069668,-0.224674,0.971940]] 2025-10-27T06:02:58.961Z,1761544978.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:02:58.963Z,1761544978.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:58.966Z,1761544978.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 138.603760 m, bearing: 342.479560 deg, approach rate: -0.398661 m/s, LOS rate: 0.061341 deg/s, cmd heading: 321.367968 deg, new cmd heading: 321.436044 deg. 2025-10-27T06:02:58.967Z,1761544978.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610117 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:59.009Z,1761544979.009 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:59.009Z,1761544979.009 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:59.010Z,1761544979.010 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:59.260Z,1761544979.260 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:02:59.260Z,1761544979.260 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:02:59.260Z,1761544979.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:02:59.367Z,1761544979.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:59.370Z,1761544979.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 138.442505 m, bearing: 342.504407 deg, approach rate: -0.399288 m/s, LOS rate: 0.061597 deg/s, cmd heading: 321.436052 deg, new cmd heading: 321.510681 deg. 2025-10-27T06:02:59.371Z,1761544979.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611420 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:02:59.518Z,1761544979.518 [DAT](INFO): Reached modem response timeout 2025-10-27T06:02:59.518Z,1761544979.518 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:02:59.518Z,1761544979.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:02:59.768Z,1761544979.768 [DAT](INFO): DAT read: 2025-10-27T06:02:59.768Z,1761544979.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:02:59.793Z,1761544979.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:02:59.796Z,1761544979.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 138.268738 m, bearing: 342.531486 deg, approach rate: -0.408152 m/s, LOS rate: 0.063684 deg/s, cmd heading: 321.510692 deg, new cmd heading: 321.592030 deg. 2025-10-27T06:02:59.797Z,1761544979.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612840 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:00.021Z,1761544980.021 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:00.147Z,1761544980.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730110,0.656612,0.189210],[-0.679071,0.728055,0.093797],[-0.076168,-0.196969,0.977446]] 2025-10-27T06:03:00.166Z,1761544980.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:00.169Z,1761544980.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 138.116852 m, bearing: 342.556028 deg, approach rate: -0.406621 m/s, LOS rate: 0.065775 deg/s, cmd heading: 321.592026 deg, new cmd heading: 321.665733 deg. 2025-10-27T06:03:00.170Z,1761544980.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614126 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:00.272Z,1761544980.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:00.524Z,1761544980.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:00.546Z,1761544980.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730494,0.658191,0.182107],[-0.678401,0.730008,0.082829],[-0.078423,-0.184048,0.979784]] 2025-10-27T06:03:00.593Z,1761544980.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:00.596Z,1761544980.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 137.936539 m, bearing: 342.584711 deg, approach rate: -0.422424 m/s, LOS rate: 0.067285 deg/s, cmd heading: 321.665737 deg, new cmd heading: 321.751900 deg. 2025-10-27T06:03:00.597Z,1761544980.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615630 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:00.776Z,1761544980.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:00.949Z,1761544980.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732005,0.658624,0.174308],[-0.676511,0.732949,0.071548],[-0.080636,-0.170295,0.982088]] 2025-10-27T06:03:00.966Z,1761544980.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:00.968Z,1761544980.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:00.971Z,1761544980.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 137.777969 m, bearing: 342.609806 deg, approach rate: -0.422410 m/s, LOS rate: 0.066925 deg/s, cmd heading: 321.751907 deg, new cmd heading: 321.827276 deg. 2025-10-27T06:03:00.972Z,1761544980.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616946 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:01.029Z,1761544981.029 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:01.280Z,1761544981.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:01.387Z,1761544981.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:01.390Z,1761544981.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 137.600800 m, bearing: 342.637913 deg, approach rate: -0.423377 m/s, LOS rate: 0.067254 deg/s, cmd heading: 321.827285 deg, new cmd heading: 321.911716 deg. 2025-10-27T06:03:01.426Z,1761544981.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618419 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:01.534Z,1761544981.534 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:01.753Z,1761544981.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738927,0.655399,0.156330],[-0.668384,0.742321,0.047149],[-0.085146,-0.139328,0.986579]] 2025-10-27T06:03:01.784Z,1761544981.784 [DAT](INFO): DAT read: Response Not Received 2025-10-27T06:03:01.784Z,1761544981.784 [DAT](INFO): response not received 2025-10-27T06:03:01.785Z,1761544981.785 [DAT](INFO): DAT read: user:624>Tx time:06:03:00.9699 2025-10-27T06:03:01.786Z,1761544981.786 [DAT](ERROR): No response from remote modem. 2025-10-27T06:03:01.786Z,1761544981.786 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:01.786Z,1761544981.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:01.802Z,1761544981.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:01.805Z,1761544981.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 137.423019 m, bearing: 342.664863 deg, approach rate: -0.427930 m/s, LOS rate: 0.064954 deg/s, cmd heading: 321.911706 deg, new cmd heading: 321.992660 deg. 2025-10-27T06:03:01.806Z,1761544981.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619832 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:02.039Z,1761544982.039 [DAT](INFO): DAT read: 2025-10-27T06:03:02.039Z,1761544982.039 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:02.162Z,1761544982.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743293,0.652165,0.148986],[-0.663211,0.747541,0.036517],[-0.087558,-0.125952,0.988165]] 2025-10-27T06:03:02.181Z,1761544982.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:02.184Z,1761544982.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 137.260574 m, bearing: 342.689027 deg, approach rate: -0.428873 m/s, LOS rate: 0.063870 deg/s, cmd heading: 321.992657 deg, new cmd heading: 322.065234 deg. 2025-10-27T06:03:02.185Z,1761544982.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621099 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:02.288Z,1761544982.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:02.540Z,1761544982.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:02.558Z,1761544982.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747494,0.648455,0.144083],[-0.658179,0.752311,0.028771],[-0.089739,-0.116339,0.989147]] 2025-10-27T06:03:02.605Z,1761544982.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:02.608Z,1761544982.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 137.078568 m, bearing: 342.715184 deg, approach rate: -0.429504 m/s, LOS rate: 0.061809 deg/s, cmd heading: 322.065221 deg, new cmd heading: 322.143798 deg. 2025-10-27T06:03:02.609Z,1761544982.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622470 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:02.795Z,1761544982.795 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:03.033Z,1761544983.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:03.042Z,1761544983.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:03.044Z,1761544983.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:03.047Z,1761544983.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 136.905960 m, bearing: 342.740057 deg, approach rate: -0.394607 m/s, LOS rate: 0.056934 deg/s, cmd heading: 322.143796 deg, new cmd heading: 322.218508 deg. 2025-10-27T06:03:03.048Z,1761544983.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623774 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:03.296Z,1761544983.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:03.393Z,1761544983.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755467,0.639990,0.140292],[-0.648407,0.761033,0.019937],[-0.094008,-0.106028,0.989909]] 2025-10-27T06:03:03.412Z,1761544983.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:03.414Z,1761544983.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 136.731979 m, bearing: 342.764163 deg, approach rate: -0.471228 m/s, LOS rate: 0.065375 deg/s, cmd heading: 322.218518 deg, new cmd heading: 322.290929 deg. 2025-10-27T06:03:03.415Z,1761544983.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625038 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:03.550Z,1761544983.550 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:03.770Z,1761544983.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759032,0.635430,0.141771],[-0.643940,0.764826,0.019590],[-0.095983,-0.106161,0.989706]] 2025-10-27T06:03:03.800Z,1761544983.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:03.832Z,1761544983.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:03.839Z,1761544983.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 136.557312 m, bearing: 342.788460 deg, approach rate: -0.415411 m/s, LOS rate: 0.057859 deg/s, cmd heading: 322.290918 deg, new cmd heading: 322.363902 deg. 2025-10-27T06:03:03.840Z,1761544983.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626311 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:03.939Z,1761544983.939 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:03:04.052Z,1761544984.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:04.302Z,1761544984.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762005,0.631298,0.144259],[-0.640128,0.767997,0.020421],[-0.097899,-0.107905,0.989329]] 2025-10-27T06:03:04.304Z,1761544984.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:04.321Z,1761544984.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:04.324Z,1761544984.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 136.329361 m, bearing: 342.819749 deg, approach rate: -0.465778 m/s, LOS rate: 0.064040 deg/s, cmd heading: 322.363892 deg, new cmd heading: 322.457915 deg. 2025-10-27T06:03:04.325Z,1761544984.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627952 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:04.559Z,1761544984.559 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:04.762Z,1761544984.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:04.765Z,1761544984.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 136.129364 m, bearing: 342.846884 deg, approach rate: -0.453760 m/s, LOS rate: 0.061656 deg/s, cmd heading: 322.457903 deg, new cmd heading: 322.539429 deg. 2025-10-27T06:03:04.766Z,1761544984.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629375 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:04.808Z,1761544984.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:04.944Z,1761544984.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:03:05.063Z,1761544985.063 [DAT](INFO): DAT read: Rx Time:06:03:03.6270 2025-10-27T06:03:05.063Z,1761544985.063 [DAT](INFO): Rx dataTimestamp_ set to:1761544985.063171 2025-10-27T06:03:05.064Z,1761544985.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:05.168Z,1761544985.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766621,0.624275,0.150246],[-0.634084,0.772891,0.023999],[-0.101142,-0.113666,0.988357]] 2025-10-27T06:03:05.185Z,1761544985.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:05.187Z,1761544985.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.89 m. 2025-10-27T06:03:05.190Z,1761544985.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.891403 m, nav range: 135.936325 m, bearing: 342.872476 deg, approach rate: -0.454464 m/s, LOS rate: 0.060336 deg/s, cmd heading: 322.539428 deg, new cmd heading: 322.616313 deg. 2025-10-27T06:03:05.190Z,1761544985.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630717 target range: 145.891403 and range: 146.80 m. 2025-10-27T06:03:05.314Z,1761544985.314 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:05.596Z,1761544985.596 [DAT](INFO): DAT read: 06:03:03.6270 LVL= 31792, 32753, 32754, 31635, AGC= 71, IDX= 203, 0.01, 1.553, 0.235, 1.191, 0.439, PHS= 1.216,-0.159, 0.708, RAW= 128.6, -27.4, CAL= 128.7, -28.3, ROT= 21.3, 28.3 2025-10-27T06:03:05.597Z,1761544985.597 [DAT](INFO): got valid direction response: 06:03:03.6270 LVL= 31792, 32753, 32754, 31635, AGC= 71, IDX= 203, 0.01, 1.553, 0.235, 1.191, 0.439, PHS= 1.216,-0.159, 0.708, RAW= 128.6, -27.4, CAL= 128.7, -28.3, ROT= 21.3, 28.3 2025-10-27T06:03:05.598Z,1761544985.598 [DAT](INFO): DAT read: Bearing 79.8, 16.4 (Local) 2025-10-27T06:03:05.598Z,1761544985.598 [DAT](INFO): Local bearing/azimuth received: Bearing 79.8, 16.4 (Local) 2025-10-27T06:03:05.604Z,1761544985.604 [DAT](INFO): DAT read: Range 11 to 50 : 189.7 m (Round-trip 253.0 ms) speed 0.9 m/s 2025-10-27T06:03:05.605Z,1761544985.605 [DAT](INFO): DAT read: user:625>Tx time:06:03:04.7199 2025-10-27T06:03:05.606Z,1761544985.606 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:05.606Z,1761544985.606 [DAT](INFO): direction in FSK: [0.820333,0.319834,-0.474088] 2025-10-27T06:03:05.610Z,1761544985.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768371,0.621338,0.153443],[-0.631758,0.774712,0.026499],[-0.102409,-0.117300,0.987802]] 2025-10-27T06:03:05.611Z,1761544985.611 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:05.614Z,1761544985.614 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:05.615Z,1761544985.615 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:05.747Z,1761544985.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 189.699997 m, deltaT: 20.189488 s, deltaX: 42.899994 m, approachRate: 2.124868 m/s, rangeRepo size: 4 2025-10-27T06:03:05.749Z,1761544985.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 188.534866 m, bearing: 339.482302 deg, lat: 36.779470 deg, lon: -121.859683 deg, deltaT: 20.189488 s, deltaX: 42.643463 m, approachRate: 2.112162 m/s, posRepo size: 4 2025-10-27T06:03:05.750Z,1761544985.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:05.761Z,1761544985.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 138.159637 m, bearing: 343.221713 deg, approach rate: 0.000000 m/s, LOS rate: 0.060336 deg/s, cmd heading: 322.616308 deg, new cmd heading: 322.716850 deg. 2025-10-27T06:03:05.762Z,1761544985.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632472 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:05.816Z,1761544985.816 [DAT](INFO): DAT read: 2025-10-27T06:03:05.817Z,1761544985.817 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:06.036Z,1761544986.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769809,0.618558,0.157419],[-0.629811,0.776167,0.030043],[-0.103600,-0.122272,0.987075]] 2025-10-27T06:03:06.054Z,1761544986.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:06.058Z,1761544986.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 137.992386 m, bearing: 343.246849 deg, approach rate: -0.537192 m/s, LOS rate: 0.080832 deg/s, cmd heading: 322.716849 deg, new cmd heading: 322.792348 deg. 2025-10-27T06:03:06.060Z,1761544986.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633789 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:06.068Z,1761544986.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:06.320Z,1761544986.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:06.427Z,1761544986.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770554,0.616848,0.160451],[-0.628808,0.776850,0.033229],[-0.104149,-0.126498,0.986484]] 2025-10-27T06:03:06.472Z,1761544986.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:06.474Z,1761544986.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 137.807236 m, bearing: 343.274643 deg, approach rate: -0.442834 m/s, LOS rate: 0.066568 deg/s, cmd heading: 322.792336 deg, new cmd heading: 322.875833 deg. 2025-10-27T06:03:06.476Z,1761544986.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635246 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:06.576Z,1761544986.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:06.824Z,1761544986.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:06.892Z,1761544986.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:06.894Z,1761544986.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 137.596344 m, bearing: 343.309285 deg, approach rate: -0.502310 m/s, LOS rate: 0.082637 deg/s, cmd heading: 322.875828 deg, new cmd heading: 322.979912 deg. 2025-10-27T06:03:06.896Z,1761544986.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637063 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:07.076Z,1761544987.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:07.234Z,1761544987.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772008,0.613593,0.165854],[-0.626742,0.778304,0.037907],[-0.105826,-0.133212,0.985421]] 2025-10-27T06:03:07.261Z,1761544987.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:07.264Z,1761544987.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:07.266Z,1761544987.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 137.418320 m, bearing: 343.338402 deg, approach rate: -0.478577 m/s, LOS rate: 0.078376 deg/s, cmd heading: 322.979920 deg, new cmd heading: 323.067384 deg. 2025-10-27T06:03:07.269Z,1761544987.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638589 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:07.328Z,1761544987.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:07.583Z,1761544987.583 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:07.693Z,1761544987.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772783,0.612497,0.166294],[-0.625640,0.779216,0.037383],[-0.106682,-0.132929,0.985367]] 2025-10-27T06:03:07.778Z,1761544987.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:07.785Z,1761544987.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 137.173309 m, bearing: 343.381848 deg, approach rate: -0.476747 m/s, LOS rate: 0.084690 deg/s, cmd heading: 323.067374 deg, new cmd heading: 323.197945 deg. 2025-10-27T06:03:07.785Z,1761544987.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640868 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:07.832Z,1761544987.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:08.084Z,1761544988.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:08.247Z,1761544988.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773960,0.610478,0.168231],[-0.623925,0.780565,0.037894],[-0.108182,-0.134292,0.985019]] 2025-10-27T06:03:08.266Z,1761544988.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:08.269Z,1761544988.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 136.932892 m, bearing: 343.424397 deg, approach rate: -0.492213 m/s, LOS rate: 0.087265 deg/s, cmd heading: 323.197940 deg, new cmd heading: 323.325811 deg. 2025-10-27T06:03:08.270Z,1761544988.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643100 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:08.336Z,1761544988.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:08.591Z,1761544988.591 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:08.689Z,1761544988.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774852,0.609527,0.167575],[-0.622775,0.781527,0.036972],[-0.108429,-0.133010,0.985166]] 2025-10-27T06:03:08.754Z,1761544988.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:08.757Z,1761544988.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 136.694611 m, bearing: 343.468585 deg, approach rate: -0.488391 m/s, LOS rate: 0.090727 deg/s, cmd heading: 323.325801 deg, new cmd heading: 323.458595 deg. 2025-10-27T06:03:08.758Z,1761544988.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.645418 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:08.841Z,1761544988.841 [DAT](INFO): DAT read: Rx Time:06:03:07.3753 2025-10-27T06:03:08.842Z,1761544988.842 [DAT](INFO): Rx dataTimestamp_ set to:1761544988.841493 2025-10-27T06:03:08.842Z,1761544988.842 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:09.085Z,1761544989.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775673,0.608457,0.167667],[-0.621742,0.782334,0.037285],[-0.108485,-0.133166,0.985138]] 2025-10-27T06:03:09.092Z,1761544989.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:09.114Z,1761544989.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:09.117Z,1761544989.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 136.518219 m, bearing: 343.501285 deg, approach rate: -0.489332 m/s, LOS rate: 0.090831 deg/s, cmd heading: 323.458607 deg, new cmd heading: 323.556834 deg. 2025-10-27T06:03:09.118Z,1761544989.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647132 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:09.350Z,1761544989.350 [DAT](INFO): DAT read: 06:03:07.3753 LVL= 24960, 32753, 31218, 32755, AGC= 69, IDX= 61,-0.24, 0.867,-1.084, 0.316, 0.365, PHS= 0.604,-1.404,-0.093, RAW= 130.0, 10.1, CAL= 129.8, 11.4, ROT= 20.2, -11.4 2025-10-27T06:03:09.351Z,1761544989.351 [DAT](INFO): got valid direction response: 06:03:07.3753 LVL= 24960, 32753, 31218, 32755, AGC= 69, IDX= 61,-0.24, 0.867,-1.084, 0.316, 0.365, PHS= 0.604,-1.404,-0.093, RAW= 130.0, 10.1, CAL= 129.8, 11.4, ROT= 20.2, -11.4 2025-10-27T06:03:09.352Z,1761544989.352 [DAT](INFO): DAT read: $Error in header 2025-10-27T06:03:09.352Z,1761544989.352 [DAT](INFO): Received a bad header 2025-10-27T06:03:09.363Z,1761544989.363 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:03:09.365Z,1761544989.365 [DAT](INFO): direction in FSK: [0.919978,0.338486,0.197657] 2025-10-27T06:03:09.370Z,1761544989.370 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:09.493Z,1761544989.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776746,0.606992,0.168010],[-0.620415,0.783341,0.038229],[-0.108404,-0.133930,0.985044]] 2025-10-27T06:03:09.524Z,1761544989.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:09.526Z,1761544989.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:09.545Z,1761544989.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 136.319519 m, bearing: 343.538062 deg, approach rate: -0.482907 m/s, LOS rate: 0.089511 deg/s, cmd heading: 323.556825 deg, new cmd heading: 323.667317 deg. 2025-10-27T06:03:09.555Z,1761544989.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649060 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:09.598Z,1761544989.598 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:09.848Z,1761544989.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:09.933Z,1761544989.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777709,0.605964,0.167264],[-0.619309,0.784201,0.038531],[-0.107820,-0.133554,0.985159]] 2025-10-27T06:03:09.972Z,1761544989.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:09.974Z,1761544989.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 136.098679 m, bearing: 343.576886 deg, approach rate: -0.495556 m/s, LOS rate: 0.087261 deg/s, cmd heading: 323.667311 deg, new cmd heading: 323.783971 deg. 2025-10-27T06:03:09.996Z,1761544989.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651096 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:10.100Z,1761544990.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:10.334Z,1761544990.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779356,0.604125,0.166246],[-0.617334,0.785749,0.038687],[-0.107256,-0.132780,0.985325]] 2025-10-27T06:03:10.352Z,1761544990.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:10.364Z,1761544990.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:10.367Z,1761544990.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 135.905472 m, bearing: 343.610719 deg, approach rate: -0.492242 m/s, LOS rate: 0.086321 deg/s, cmd heading: 323.783970 deg, new cmd heading: 323.885614 deg. 2025-10-27T06:03:10.368Z,1761544990.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652870 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:10.606Z,1761544990.606 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:10.742Z,1761544990.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780605,0.602618,0.165850],[-0.615860,0.786859,0.039601],[-0.106636,-0.133054,0.985355]] 2025-10-27T06:03:10.848Z,1761544990.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:10.850Z,1761544990.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 135.677155 m, bearing: 343.649426 deg, approach rate: -0.471969 m/s, LOS rate: 0.080147 deg/s, cmd heading: 323.885603 deg, new cmd heading: 324.001918 deg. 2025-10-27T06:03:10.852Z,1761544990.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.654900 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:10.856Z,1761544990.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:11.108Z,1761544991.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:11.141Z,1761544991.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782219,0.600641,0.165418],[-0.613869,0.788386,0.040155],[-0.106294,-0.132955,0.985406]] 2025-10-27T06:03:11.191Z,1761544991.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:11.194Z,1761544991.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 135.526215 m, bearing: 343.674900 deg, approach rate: -0.444743 m/s, LOS rate: 0.075144 deg/s, cmd heading: 324.001908 deg, new cmd heading: 324.078417 deg. 2025-10-27T06:03:11.208Z,1761544991.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656235 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:11.360Z,1761544991.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:11.546Z,1761544991.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783945,0.598547,0.164837],[-0.611762,0.789983,0.040927],[-0.105722,-0.132926,0.985471]] 2025-10-27T06:03:11.598Z,1761544991.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:11.606Z,1761544991.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:11.612Z,1761544991.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:11.614Z,1761544991.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 135.329620 m, bearing: 343.707910 deg, approach rate: -0.468964 m/s, LOS rate: 0.078858 deg/s, cmd heading: 324.078406 deg, new cmd heading: 324.177580 deg. 2025-10-27T06:03:11.622Z,1761544991.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.657966 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:11.864Z,1761544991.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:12.124Z,1761544992.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:12.142Z,1761544992.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:12.152Z,1761544992.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 135.091476 m, bearing: 343.744273 deg, approach rate: -0.444922 m/s, LOS rate: 0.068057 deg/s, cmd heading: 324.177580 deg, new cmd heading: 324.286863 deg. 2025-10-27T06:03:12.153Z,1761544992.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659873 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:12.379Z,1761544992.379 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:12.499Z,1761544992.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787637,0.593521,0.165410],[-0.607125,0.793377,0.044185],[-0.105007,-0.135226,0.985235]] 2025-10-27T06:03:12.552Z,1761544992.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:12.554Z,1761544992.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 134.901062 m, bearing: 343.772890 deg, approach rate: -0.464540 m/s, LOS rate: 0.069913 deg/s, cmd heading: 324.286863 deg, new cmd heading: 324.372835 deg. 2025-10-27T06:03:12.555Z,1761544992.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661374 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:12.630Z,1761544992.630 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:12.880Z,1761544992.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:13.080Z,1761544993.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790839,0.589151,0.165755],[-0.603104,0.796258,0.047311],[-0.104110,-0.137383,0.985031]] 2025-10-27T06:03:13.132Z,1761544993.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:13.180Z,1761544993.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:13.183Z,1761544993.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 134.607559 m, bearing: 343.810412 deg, approach rate: -0.466806 m/s, LOS rate: 0.059807 deg/s, cmd heading: 324.372842 deg, new cmd heading: 324.485652 deg. 2025-10-27T06:03:13.184Z,1761544993.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663343 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:13.385Z,1761544993.385 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:13.615Z,1761544993.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792448,0.587023,0.165619],[-0.601071,0.797721,0.048527],[-0.103631,-0.138004,0.984995]] 2025-10-27T06:03:13.636Z,1761544993.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:13.682Z,1761544993.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:13.705Z,1761544993.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:13.726Z,1761544993.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 134.393356 m, bearing: 343.837642 deg, approach rate: -0.413223 m/s, LOS rate: 0.052614 deg/s, cmd heading: 324.485649 deg, new cmd heading: 324.567470 deg. 2025-10-27T06:03:13.742Z,1761544993.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664771 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:13.888Z,1761544993.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:14.144Z,1761544994.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:14.172Z,1761544994.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795478,0.583778,0.162534],[-0.597442,0.800402,0.049191],[-0.101376,-0.136235,0.985476]] 2025-10-27T06:03:14.209Z,1761544994.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:14.232Z,1761544994.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 134.132172 m, bearing: 343.868859 deg, approach rate: -0.512278 m/s, LOS rate: 0.061345 deg/s, cmd heading: 324.567475 deg, new cmd heading: 324.661306 deg. 2025-10-27T06:03:14.232Z,1761544994.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666409 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:14.396Z,1761544994.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:14.589Z,1761544994.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796835,0.582074,0.162001],[-0.595859,0.801455,0.051208],[-0.100030,-0.137334,0.985461]] 2025-10-27T06:03:14.623Z,1761544994.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:14.626Z,1761544994.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 133.938492 m, bearing: 343.891901 deg, approach rate: -0.467516 m/s, LOS rate: 0.055701 deg/s, cmd heading: 324.661294 deg, new cmd heading: 324.730520 deg. 2025-10-27T06:03:14.627Z,1761544994.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.667617 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:14.650Z,1761544994.650 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:14.900Z,1761544994.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:15.017Z,1761544995.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798218,0.580700,0.160110],[-0.594283,0.802580,0.051897],[-0.098364,-0.136575,0.985734]] 2025-10-27T06:03:15.065Z,1761544995.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:15.068Z,1761544995.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 133.727219 m, bearing: 343.916817 deg, approach rate: -0.477364 m/s, LOS rate: 0.056387 deg/s, cmd heading: 324.730525 deg, new cmd heading: 324.805393 deg. 2025-10-27T06:03:15.069Z,1761544995.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668923 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:15.152Z,1761544995.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:15.404Z,1761544995.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:15.409Z,1761544995.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799592,0.579295,0.158334],[-0.592740,0.803643,0.053078],[-0.096496,-0.136291,0.985958]] 2025-10-27T06:03:15.428Z,1761544995.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:15.431Z,1761544995.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 133.553482 m, bearing: 343.937204 deg, approach rate: -0.478988 m/s, LOS rate: 0.056280 deg/s, cmd heading: 324.805384 deg, new cmd heading: 324.866625 deg. 2025-10-27T06:03:15.432Z,1761544995.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669992 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:15.656Z,1761544995.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:15.809Z,1761544995.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800993,0.577782,0.156776],[-0.591165,0.804690,0.054755],[-0.094519,-0.136539,0.986115]] 2025-10-27T06:03:15.852Z,1761544995.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:15.854Z,1761544995.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:15.857Z,1761544995.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 133.344559 m, bearing: 343.960328 deg, approach rate: -0.490676 m/s, LOS rate: 0.054395 deg/s, cmd heading: 324.866637 deg, new cmd heading: 324.936119 deg. 2025-10-27T06:03:15.858Z,1761544995.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671205 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:15.909Z,1761544995.909 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:16.160Z,1761544996.160 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:16.213Z,1761544996.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802017,0.576699,0.155521],[-0.590118,0.805301,0.057022],[-0.092356,-0.137509,0.986185]] 2025-10-27T06:03:16.248Z,1761544996.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:16.250Z,1761544996.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 133.152679 m, bearing: 343.981507 deg, approach rate: -0.487347 m/s, LOS rate: 0.053867 deg/s, cmd heading: 324.936114 deg, new cmd heading: 324.999740 deg. 2025-10-27T06:03:16.251Z,1761544996.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672316 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:16.412Z,1761544996.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:16.618Z,1761544996.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802985,0.575774,0.153946],[-0.589162,0.805849,0.059124],[-0.090015,-0.138174,0.986309]] 2025-10-27T06:03:16.636Z,1761544996.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:16.639Z,1761544996.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 132.959824 m, bearing: 344.002739 deg, approach rate: -0.496627 m/s, LOS rate: 0.054756 deg/s, cmd heading: 324.999744 deg, new cmd heading: 325.063534 deg. 2025-10-27T06:03:16.640Z,1761544996.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673429 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:16.666Z,1761544996.666 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:16.916Z,1761544996.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:17.034Z,1761544997.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803558,0.575343,0.152562],[-0.588763,0.805951,0.061661],[-0.087481,-0.139371,0.986369]] 2025-10-27T06:03:17.071Z,1761544997.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:17.074Z,1761544997.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 132.740875 m, bearing: 344.026951 deg, approach rate: -0.503334 m/s, LOS rate: 0.055752 deg/s, cmd heading: 325.063538 deg, new cmd heading: 325.136293 deg. 2025-10-27T06:03:17.075Z,1761544997.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674699 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:17.169Z,1761544997.169 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:17.420Z,1761544997.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:17.479Z,1761544997.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:17.486Z,1761544997.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 132.542923 m, bearing: 344.048912 deg, approach rate: -0.505143 m/s, LOS rate: 0.056123 deg/s, cmd heading: 325.136293 deg, new cmd heading: 325.202273 deg. 2025-10-27T06:03:17.488Z,1761544997.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675850 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:17.672Z,1761544997.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:17.836Z,1761544997.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805595,0.573637,0.148180],[-0.586761,0.807108,0.065489],[-0.082030,-0.139704,0.986790]] 2025-10-27T06:03:17.871Z,1761544997.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:17.873Z,1761544997.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:17.876Z,1761544997.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 132.337204 m, bearing: 344.072312 deg, approach rate: -0.501025 m/s, LOS rate: 0.057080 deg/s, cmd heading: 325.202273 deg, new cmd heading: 325.272583 deg. 2025-10-27T06:03:17.877Z,1761544997.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677078 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:17.926Z,1761544997.926 [DAT](INFO): DAT read: Response Not Received 2025-10-27T06:03:17.926Z,1761544997.926 [DAT](INFO): response not received 2025-10-27T06:03:17.926Z,1761544997.926 [DAT](ERROR): No response from remote modem. 2025-10-27T06:03:17.926Z,1761544997.926 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:17.927Z,1761544997.927 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:18.176Z,1761544998.176 [DAT](INFO): DAT read: Tx time:06:03:17.1699 2025-10-27T06:03:18.176Z,1761544998.176 [DAT](INFO): Ping request sent. 2025-10-27T06:03:18.176Z,1761544998.176 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:03:18.177Z,1761544998.177 [DAT](INFO): DAT read: 2025-10-27T06:03:18.177Z,1761544998.177 [DAT](INFO): publishing transmit ping time 2025-10-27T06:03:18.178Z,1761544998.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001120 2025-10-27T06:03:18.238Z,1761544998.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806576,0.572537,0.147093],[-0.585776,0.807545,0.068824],[-0.079380,-0.141676,0.986725]] 2025-10-27T06:03:18.266Z,1761544998.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:18.269Z,1761544998.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 132.141571 m, bearing: 344.094510 deg, approach rate: -0.497830 m/s, LOS rate: 0.056572 deg/s, cmd heading: 325.272596 deg, new cmd heading: 325.339290 deg. 2025-10-27T06:03:18.270Z,1761544998.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678242 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:18.428Z,1761544998.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251451 2025-10-27T06:03:18.642Z,1761544998.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807734,0.571523,0.144662],[-0.584542,0.808298,0.070461],[-0.076660,-0.141475,0.986969]] 2025-10-27T06:03:18.660Z,1761544998.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:18.663Z,1761544998.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 131.941818 m, bearing: 344.117094 deg, approach rate: -0.506831 m/s, LOS rate: 0.057387 deg/s, cmd heading: 325.339286 deg, new cmd heading: 325.407138 deg. 2025-10-27T06:03:18.664Z,1761544998.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679426 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:18.680Z,1761544998.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503600 2025-10-27T06:03:18.932Z,1761544998.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755634 2025-10-27T06:03:19.067Z,1761544999.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809016,0.570285,0.142364],[-0.583097,0.809198,0.072080],[-0.074095,-0.141326,0.987186]] 2025-10-27T06:03:19.120Z,1761544999.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:19.123Z,1761544999.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 131.714722 m, bearing: 344.142990 deg, approach rate: -0.494253 m/s, LOS rate: 0.056458 deg/s, cmd heading: 325.407151 deg, new cmd heading: 325.484974 deg. 2025-10-27T06:03:19.128Z,1761544999.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680784 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:19.185Z,1761544999.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008488 2025-10-27T06:03:19.436Z,1761544999.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259450 2025-10-27T06:03:19.462Z,1761544999.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810210,0.569114,0.140245],[-0.581743,0.810027,0.073704],[-0.071656,-0.141303,0.987370]] 2025-10-27T06:03:19.490Z,1761544999.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:19.509Z,1761544999.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 131.521255 m, bearing: 344.164964 deg, approach rate: -0.523034 m/s, LOS rate: 0.059495 deg/s, cmd heading: 325.484960 deg, new cmd heading: 325.550981 deg. 2025-10-27T06:03:19.510Z,1761544999.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681937 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:19.689Z,1761544999.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512162 2025-10-27T06:03:19.940Z,1761544999.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763476 2025-10-27T06:03:20.056Z,1761545000.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:20.058Z,1761545000.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:20.065Z,1761545000.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 131.232712 m, bearing: 344.203186 deg, approach rate: -0.507607 m/s, LOS rate: 0.067388 deg/s, cmd heading: 325.550995 deg, new cmd heading: 325.665912 deg. 2025-10-27T06:03:20.066Z,1761545000.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683942 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:20.192Z,1761545000.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015406 2025-10-27T06:03:20.444Z,1761545000.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267547 2025-10-27T06:03:20.518Z,1761545000.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812420,0.567165,0.135273],[-0.579444,0.811180,0.078943],[-0.064957,-0.142518,0.987658]] 2025-10-27T06:03:20.553Z,1761545000.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:20.556Z,1761545000.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 130.968979 m, bearing: 344.237879 deg, approach rate: -0.532728 m/s, LOS rate: 0.070219 deg/s, cmd heading: 325.665906 deg, new cmd heading: 325.770194 deg. 2025-10-27T06:03:20.557Z,1761545000.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.685762 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:20.696Z,1761545000.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519990 2025-10-27T06:03:20.917Z,1761545000.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813494,0.566244,0.132647],[-0.578348,0.811646,0.082118],[-0.061163,-0.143519,0.987756]] 2025-10-27T06:03:20.948Z,1761545000.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771578 2025-10-27T06:03:20.986Z,1761545000.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:20.992Z,1761545000.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 130.745270 m, bearing: 344.274758 deg, approach rate: -0.517906 m/s, LOS rate: 0.085525 deg/s, cmd heading: 325.770189 deg, new cmd heading: 325.881016 deg. 2025-10-27T06:03:20.994Z,1761545000.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687696 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:21.200Z,1761545001.200 [DAT](INFO): DAT read: Rx Time:06:03:19.8176 2025-10-27T06:03:21.200Z,1761545001.200 [DAT](INFO): Rx dataTimestamp_ set to:1761545001.200110 2025-10-27T06:03:21.201Z,1761545001.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024519 2025-10-27T06:03:21.346Z,1761545001.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815079,0.565099,0.127707],[-0.576886,0.811957,0.089045],[-0.053374,-0.146251,0.987807]] 2025-10-27T06:03:21.365Z,1761545001.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:21.368Z,1761545001.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 130.539871 m, bearing: 344.308522 deg, approach rate: -0.540507 m/s, LOS rate: 0.088990 deg/s, cmd heading: 325.881002 deg, new cmd heading: 325.982454 deg. 2025-10-27T06:03:21.369Z,1761545001.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689467 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:21.453Z,1761545001.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277001 2025-10-27T06:03:21.716Z,1761545001.716 [DAT](INFO): DAT read: 06:03:19.8176 LVL= 24752, 32753, 32754, 32755, AGC= 67, IDX= 9, 0.06, 1.228,-0.713, 0.715, 0.816, PHS= 0.514,-1.484,-0.146, RAW= 131.1, 12.6, CAL= 130.5, 13.8, ROT= 19.5, -13.8 2025-10-27T06:03:21.717Z,1761545001.717 [DAT](INFO): got valid direction response: 06:03:19.8176 LVL= 24752, 32753, 32754, 32755, AGC= 67, IDX= 9, 0.06, 1.228,-0.713, 0.715, 0.816, PHS= 0.514,-1.484,-0.146, RAW= 131.1, 12.6, CAL= 130.5, 13.8, ROT= 19.5, -13.8 2025-10-27T06:03:21.718Z,1761545001.718 [DAT](INFO): DAT read: $Error in header 2025-10-27T06:03:21.719Z,1761545001.719 [DAT](INFO): Received a bad header 2025-10-27T06:03:21.739Z,1761545001.739 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:03:21.740Z,1761545001.740 [DAT](INFO): direction in FSK: [0.915431,0.324171,0.238533] 2025-10-27T06:03:21.743Z,1761545001.743 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:21.743Z,1761545001.743 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:21.743Z,1761545001.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:21.747Z,1761545001.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815585,0.565199,0.123980],[-0.576561,0.811920,0.091447],[-0.048976,-0.146065,0.988062]] 2025-10-27T06:03:21.849Z,1761545001.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:21.856Z,1761545001.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 130.325317 m, bearing: 344.343853 deg, approach rate: -0.443365 m/s, LOS rate: 0.073128 deg/s, cmd heading: 325.982444 deg, new cmd heading: 326.088609 deg. 2025-10-27T06:03:21.857Z,1761545001.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691320 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:21.957Z,1761545001.957 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:21.957Z,1761545001.957 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:21.957Z,1761545001.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:22.177Z,1761545002.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815985,0.565230,0.121175],[-0.576351,0.811646,0.095133],[-0.044579,-0.147467,0.988062]] 2025-10-27T06:03:22.208Z,1761545002.208 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:22.208Z,1761545002.208 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:22.208Z,1761545002.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:22.249Z,1761545002.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:22.253Z,1761545002.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:22.256Z,1761545002.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 130.079865 m, bearing: 344.385927 deg, approach rate: -0.608094 m/s, LOS rate: 0.104433 deg/s, cmd heading: 326.088613 deg, new cmd heading: 326.215074 deg. 2025-10-27T06:03:22.257Z,1761545002.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.693527 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:22.460Z,1761545002.460 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:22.460Z,1761545002.460 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:22.460Z,1761545002.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:22.578Z,1761545002.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816525,0.565088,0.118160],[-0.575917,0.811521,0.098764],[-0.040079,-0.148694,0.988071]] 2025-10-27T06:03:22.614Z,1761545002.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:22.617Z,1761545002.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 129.894730 m, bearing: 344.417711 deg, approach rate: -0.512951 m/s, LOS rate: 0.088190 deg/s, cmd heading: 326.215080 deg, new cmd heading: 326.310569 deg. 2025-10-27T06:03:22.618Z,1761545002.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.695194 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:22.712Z,1761545002.712 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:22.712Z,1761545002.712 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:22.713Z,1761545002.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:22.964Z,1761545002.964 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:22.964Z,1761545002.964 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:22.964Z,1761545002.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:22.996Z,1761545002.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816960,0.565100,0.115058],[-0.575578,0.811393,0.101738],[-0.035865,-0.149341,0.988135]] 2025-10-27T06:03:23.084Z,1761545003.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:23.094Z,1761545003.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 129.637909 m, bearing: 344.466576 deg, approach rate: -0.546138 m/s, LOS rate: 0.104118 deg/s, cmd heading: 326.310566 deg, new cmd heading: 326.457450 deg. 2025-10-27T06:03:23.095Z,1761545003.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.697757 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:23.216Z,1761545003.216 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:23.216Z,1761545003.216 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:23.216Z,1761545003.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:23.422Z,1761545003.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817415,0.565010,0.112229],[-0.575171,0.811282,0.104882],[-0.031790,-0.150283,0.988132]] 2025-10-27T06:03:23.457Z,1761545003.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:23.460Z,1761545003.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 129.433243 m, bearing: 344.505604 deg, approach rate: -0.549169 m/s, LOS rate: 0.104889 deg/s, cmd heading: 326.457443 deg, new cmd heading: 326.574713 deg. 2025-10-27T06:03:23.461Z,1761545003.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699804 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:23.469Z,1761545003.469 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:23.470Z,1761545003.470 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:23.470Z,1761545003.470 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:23.720Z,1761545003.720 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:23.720Z,1761545003.720 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:23.721Z,1761545003.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:23.873Z,1761545003.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817645,0.565226,0.109434],[-0.575059,0.810938,0.108109],[-0.027639,-0.151326,0.988097]] 2025-10-27T06:03:23.910Z,1761545003.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:23.913Z,1761545003.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 129.192810 m, bearing: 344.552372 deg, approach rate: -0.530561 m/s, LOS rate: 0.103395 deg/s, cmd heading: 326.574703 deg, new cmd heading: 326.715269 deg. 2025-10-27T06:03:23.914Z,1761545003.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702257 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:23.973Z,1761545003.973 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:23.973Z,1761545003.973 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:23.974Z,1761545003.974 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:24.222Z,1761545004.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818166,0.565192,0.105654],[-0.574500,0.811085,0.109959],[-0.023546,-0.150663,0.988305]] 2025-10-27T06:03:24.224Z,1761545004.224 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:24.224Z,1761545004.224 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:24.224Z,1761545004.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:24.260Z,1761545004.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:24.262Z,1761545004.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:24.265Z,1761545004.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 129.006500 m, bearing: 344.588673 deg, approach rate: -0.529119 m/s, LOS rate: 0.103242 deg/s, cmd heading: 326.715269 deg, new cmd heading: 326.824328 deg. 2025-10-27T06:03:24.266Z,1761545004.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704161 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:24.477Z,1761545004.477 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:24.477Z,1761545004.477 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:24.477Z,1761545004.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:24.625Z,1761545004.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818536,0.565462,0.101244],[-0.574130,0.811195,0.111075],[-0.019320,-0.149047,0.988641]] 2025-10-27T06:03:24.657Z,1761545004.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:24.684Z,1761545004.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 128.799301 m, bearing: 344.629125 deg, approach rate: -0.524122 m/s, LOS rate: 0.102492 deg/s, cmd heading: 326.824333 deg, new cmd heading: 326.945886 deg. 2025-10-27T06:03:24.685Z,1761545004.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706282 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:24.728Z,1761545004.728 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:24.729Z,1761545004.729 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:24.729Z,1761545004.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:24.980Z,1761545004.980 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:24.981Z,1761545004.981 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:24.981Z,1761545004.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:25.038Z,1761545005.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819287,0.565157,0.096775],[-0.573179,0.811748,0.111945],[-0.015291,-0.147185,0.988991]] 2025-10-27T06:03:25.206Z,1761545005.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:25.209Z,1761545005.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 128.514297 m, bearing: 344.681594 deg, approach rate: -0.519094 m/s, LOS rate: 0.095776 deg/s, cmd heading: 326.945883 deg, new cmd heading: 327.103637 deg. 2025-10-27T06:03:25.210Z,1761545005.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709035 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:25.232Z,1761545005.232 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:25.232Z,1761545005.232 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:25.232Z,1761545005.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:25.485Z,1761545005.485 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:25.486Z,1761545005.486 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:25.486Z,1761545005.486 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:25.526Z,1761545005.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820291,0.564522,0.091858],[-0.571833,0.812680,0.112066],[-0.011388,-0.144454,0.989446]] 2025-10-27T06:03:25.572Z,1761545005.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:25.579Z,1761545005.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 128.321945 m, bearing: 344.716993 deg, approach rate: -0.525471 m/s, LOS rate: 0.096849 deg/s, cmd heading: 327.103633 deg, new cmd heading: 327.209990 deg. 2025-10-27T06:03:25.580Z,1761545005.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710892 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:25.736Z,1761545005.736 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:25.737Z,1761545005.737 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:25.737Z,1761545005.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:25.932Z,1761545005.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820890,0.564229,0.088231],[-0.571038,0.812966,0.114023],[-0.007393,-0.143983,0.989552]] 2025-10-27T06:03:25.989Z,1761545005.989 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:25.989Z,1761545005.989 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:25.989Z,1761545005.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:26.010Z,1761545006.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:26.013Z,1761545006.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 128.086319 m, bearing: 344.751871 deg, approach rate: -0.538189 m/s, LOS rate: 0.079810 deg/s, cmd heading: 327.209993 deg, new cmd heading: 327.314818 deg. 2025-10-27T06:03:26.014Z,1761545006.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712721 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:26.240Z,1761545006.240 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:26.240Z,1761545006.240 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:26.241Z,1761545006.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:26.343Z,1761545006.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821876,0.563327,0.084753],[-0.569656,0.813642,0.116097],[-0.003558,-0.143698,0.989615]] 2025-10-27T06:03:26.394Z,1761545006.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:26.396Z,1761545006.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:26.399Z,1761545006.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 127.887848 m, bearing: 344.781188 deg, approach rate: -0.513793 m/s, LOS rate: 0.076013 deg/s, cmd heading: 327.314823 deg, new cmd heading: 327.402910 deg. 2025-10-27T06:03:26.400Z,1761545006.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714259 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:26.493Z,1761545006.493 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:26.493Z,1761545006.493 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:26.494Z,1761545006.494 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:26.744Z,1761545006.744 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:26.745Z,1761545006.745 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:26.745Z,1761545006.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:26.887Z,1761545006.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822929,0.562392,0.080647],[-0.568145,0.814555,0.117095],[0.000162,-0.142180,0.989841]] 2025-10-27T06:03:26.941Z,1761545006.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:26.944Z,1761545006.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 127.614731 m, bearing: 344.812663 deg, approach rate: -0.501436 m/s, LOS rate: 0.057911 deg/s, cmd heading: 327.402905 deg, new cmd heading: 327.497532 deg. 2025-10-27T06:03:26.945Z,1761545006.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715910 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:26.996Z,1761545006.996 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:26.996Z,1761545006.996 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:26.996Z,1761545006.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:27.248Z,1761545007.248 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:27.248Z,1761545007.248 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:27.248Z,1761545007.248 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:27.409Z,1761545007.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825933,0.558942,0.073609],[-0.563729,0.817280,0.119425],[0.006592,-0.140133,0.990111]] 2025-10-27T06:03:27.428Z,1761545007.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:27.432Z,1761545007.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 127.365623 m, bearing: 344.840862 deg, approach rate: -0.511673 m/s, LOS rate: 0.058035 deg/s, cmd heading: 327.497544 deg, new cmd heading: 327.582307 deg. 2025-10-27T06:03:27.433Z,1761545007.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717390 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:27.500Z,1761545007.500 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:27.500Z,1761545007.500 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:27.500Z,1761545007.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:27.752Z,1761545007.752 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:27.752Z,1761545007.752 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:27.752Z,1761545007.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:27.854Z,1761545007.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:27.860Z,1761545007.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 127.151772 m, bearing: 344.865162 deg, approach rate: -0.502522 m/s, LOS rate: 0.057198 deg/s, cmd heading: 327.582320 deg, new cmd heading: 327.655343 deg. 2025-10-27T06:03:27.863Z,1761545007.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718665 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:28.004Z,1761545008.004 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:03:28.004Z,1761545008.004 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:03:28.004Z,1761545008.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:03:28.227Z,1761545008.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828788,0.555395,0.068171],[-0.559424,0.819694,0.123068],[0.012472,-0.140134,0.990054]] 2025-10-27T06:03:28.256Z,1761545008.256 [DAT](INFO): Reached modem response timeout 2025-10-27T06:03:28.256Z,1761545008.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:28.256Z,1761545008.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:28.285Z,1761545008.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:28.292Z,1761545008.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 126.946205 m, bearing: 344.879709 deg, approach rate: -0.476828 m/s, LOS rate: 0.033798 deg/s, cmd heading: 327.655349 deg, new cmd heading: 327.699061 deg. 2025-10-27T06:03:28.293Z,1761545008.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719428 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:28.508Z,1761545008.508 [DAT](INFO): DAT read: 2025-10-27T06:03:28.508Z,1761545008.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:28.629Z,1761545008.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830471,0.553170,0.065737],[-0.556855,0.821141,0.125059],[0.015200,-0.140464,0.989969]] 2025-10-27T06:03:28.648Z,1761545008.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:28.650Z,1761545008.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:28.653Z,1761545008.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 126.769829 m, bearing: 344.891977 deg, approach rate: -0.482673 m/s, LOS rate: 0.033618 deg/s, cmd heading: 327.699062 deg, new cmd heading: 327.735916 deg. 2025-10-27T06:03:28.654Z,1761545008.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720071 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:28.760Z,1761545008.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:29.012Z,1761545009.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:29.038Z,1761545009.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832081,0.551002,0.063543],[-0.554371,0.822528,0.126968],[0.017694,-0.140874,0.989869]] 2025-10-27T06:03:29.162Z,1761545009.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:29.181Z,1761545009.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 126.563782 m, bearing: 344.901395 deg, approach rate: -0.402172 m/s, LOS rate: 0.018412 deg/s, cmd heading: 327.735918 deg, new cmd heading: 327.764217 deg. 2025-10-27T06:03:29.182Z,1761545009.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720565 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:29.264Z,1761545009.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:29.516Z,1761545009.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:29.518Z,1761545009.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833997,0.548360,0.061246],[-0.551411,0.824305,0.128322],[0.019881,-0.140792,0.989839]] 2025-10-27T06:03:29.536Z,1761545009.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:29.539Z,1761545009.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 126.345947 m, bearing: 344.911034 deg, approach rate: -0.582545 m/s, LOS rate: 0.025822 deg/s, cmd heading: 327.764222 deg, new cmd heading: 327.793189 deg. 2025-10-27T06:03:29.540Z,1761545009.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721070 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:29.768Z,1761545009.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:29.969Z,1761545009.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835709,0.545877,0.060075],[-0.548743,0.825715,0.130676],[0.021728,-0.142173,0.989603]] 2025-10-27T06:03:30.020Z,1761545010.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:30.025Z,1761545010.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:30.044Z,1761545010.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 126.117531 m, bearing: 344.919413 deg, approach rate: -0.467780 m/s, LOS rate: 0.017191 deg/s, cmd heading: 327.793182 deg, new cmd heading: 327.818365 deg. 2025-10-27T06:03:30.045Z,1761545010.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721510 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:30.272Z,1761545010.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:30.348Z,1761545010.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837210,0.543751,0.058428],[-0.546376,0.827057,0.132098],[0.023505,-0.142518,0.989513]] 2025-10-27T06:03:30.370Z,1761545010.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:30.389Z,1761545010.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 125.954590 m, bearing: 344.925203 deg, approach rate: -0.471496 m/s, LOS rate: 0.016777 deg/s, cmd heading: 327.818372 deg, new cmd heading: 327.835765 deg. 2025-10-27T06:03:30.390Z,1761545010.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721814 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:30.524Z,1761545010.524 [DAT](INFO): DAT read: Response Not Received 2025-10-27T06:03:30.524Z,1761545010.524 [DAT](INFO): response not received 2025-10-27T06:03:30.525Z,1761545010.525 [DAT](INFO): DAT read: user:628>Tx time:06:03:29.6198 2025-10-27T06:03:30.525Z,1761545010.525 [DAT](ERROR): No response from remote modem. 2025-10-27T06:03:30.526Z,1761545010.526 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:30.526Z,1761545010.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:30.776Z,1761545010.776 [DAT](INFO): DAT read: 2025-10-27T06:03:30.776Z,1761545010.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:30.861Z,1761545010.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838246,0.542282,0.057209],[-0.544698,0.827817,0.134250],[0.025442,-0.143696,0.989295]] 2025-10-27T06:03:30.964Z,1761545010.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:30.973Z,1761545010.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:30.988Z,1761545010.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 125.697311 m, bearing: 344.934156 deg, approach rate: -0.427172 m/s, LOS rate: 0.014895 deg/s, cmd heading: 327.835775 deg, new cmd heading: 327.862688 deg. 2025-10-27T06:03:30.989Z,1761545010.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722283 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:31.028Z,1761545011.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:31.280Z,1761545011.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:31.448Z,1761545011.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839939,0.539883,0.055030],[-0.541899,0.828966,0.138426],[0.029116,-0.146090,0.988843]] 2025-10-27T06:03:31.532Z,1761545011.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:31.538Z,1761545011.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:31.541Z,1761545011.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 125.411888 m, bearing: 344.949867 deg, approach rate: -0.505019 m/s, LOS rate: 0.027863 deg/s, cmd heading: 327.862686 deg, new cmd heading: 327.909927 deg. 2025-10-27T06:03:31.542Z,1761545011.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723108 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:31.784Z,1761545011.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:32.036Z,1761545012.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:32.054Z,1761545012.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:32.057Z,1761545012.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 125.137009 m, bearing: 344.975720 deg, approach rate: -0.532109 m/s, LOS rate: 0.050155 deg/s, cmd heading: 327.909923 deg, new cmd heading: 327.987651 deg. 2025-10-27T06:03:32.058Z,1761545012.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724464 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:32.288Z,1761545012.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:32.374Z,1761545012.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840515,0.538941,0.055466],[-0.540884,0.828794,0.143337],[0.031280,-0.150477,0.988119]] 2025-10-27T06:03:32.400Z,1761545012.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:32.402Z,1761545012.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 124.962257 m, bearing: 344.992154 deg, approach rate: -0.505773 m/s, LOS rate: 0.047633 deg/s, cmd heading: 327.987651 deg, new cmd heading: 328.037025 deg. 2025-10-27T06:03:32.420Z,1761545012.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.725326 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:32.541Z,1761545012.541 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:32.775Z,1761545012.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840603,0.538815,0.055369],[-0.540726,0.828797,0.143911],[0.031651,-0.150911,0.988040]] 2025-10-27T06:03:32.792Z,1761545012.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:32.794Z,1761545012.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:32.798Z,1761545012.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 124.763023 m, bearing: 345.010936 deg, approach rate: -0.505025 m/s, LOS rate: 0.047683 deg/s, cmd heading: 328.037020 deg, new cmd heading: 328.093453 deg. 2025-10-27T06:03:32.799Z,1761545012.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726311 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:33.044Z,1761545013.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:33.178Z,1761545013.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840191,0.539459,0.055353],[-0.541302,0.828116,0.145658],[0.032738,-0.152343,0.987785]] 2025-10-27T06:03:33.269Z,1761545013.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:33.275Z,1761545013.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:33.278Z,1761545013.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 124.523392 m, bearing: 345.043218 deg, approach rate: -0.502991 m/s, LOS rate: 0.067892 deg/s, cmd heading: 328.093464 deg, new cmd heading: 328.190498 deg. 2025-10-27T06:03:33.278Z,1761545013.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728005 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:33.296Z,1761545013.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:33.553Z,1761545013.553 [DAT](INFO): DAT read: Rx Time:06:03:32.1887 2025-10-27T06:03:33.554Z,1761545013.554 [DAT](INFO): Rx dataTimestamp_ set to:1761545013.553432 2025-10-27T06:03:33.554Z,1761545013.554 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:33.593Z,1761545013.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839586,0.540437,0.054987],[-0.542168,0.827327,0.146916],[0.033907,-0.153161,0.987619]] 2025-10-27T06:03:33.638Z,1761545013.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.53 m. 2025-10-27T06:03:33.645Z,1761545013.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.534866 m, nav range: 124.320854 m, bearing: 345.070719 deg, approach rate: -0.551728 m/s, LOS rate: 0.075035 deg/s, cmd heading: 328.190508 deg, new cmd heading: 328.273143 deg. 2025-10-27T06:03:33.646Z,1761545013.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729447 target range: 188.534866 and range: 189.70 m. 2025-10-27T06:03:33.804Z,1761545013.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:34.073Z,1761545014.073 [DAT](INFO): DAT read: 06:03:32.1887 LVL= 27168, 32753, 32754, 32755, AGC= 68, IDX= 148,-0.08, 2.627, 0.760, 2.178, 2.262, PHS= 0.467,-1.458,-0.128, RAW= 132.4, 13.0, CAL= 131.7, 14.2, ROT= 18.3, -14.2 2025-10-27T06:03:34.074Z,1761545014.074 [DAT](INFO): got valid direction response: 06:03:32.1887 LVL= 27168, 32753, 32754, 32755, AGC= 68, IDX= 148,-0.08, 2.627, 0.760, 2.178, 2.262, PHS= 0.467,-1.458,-0.128, RAW= 132.4, 13.0, CAL= 131.7, 14.2, ROT= 18.3, -14.2 2025-10-27T06:03:34.076Z,1761545014.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838971,0.541418,0.054720],[-0.543042,0.826493,0.148373],[0.035106,-0.154196,0.987416]] 2025-10-27T06:03:34.111Z,1761545014.111 [DAT](INFO): DAT read: Bearing 138.3, 17.1 (Local) 2025-10-27T06:03:34.111Z,1761545014.111 [DAT](INFO): Local bearing/azimuth received: Bearing 138.3, 17.1 (Local) 2025-10-27T06:03:34.113Z,1761545014.113 [DAT](INFO): DAT read: Range 11 to 50 : 123.6 m (Round-trip 164.8 ms) speed 0.5 m/s 2025-10-27T06:03:34.114Z,1761545014.114 [DAT](INFO): DAT read: user:629>Tx time:06:03:33.2698 2025-10-27T06:03:34.115Z,1761545014.115 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:34.124Z,1761545014.124 [DAT](INFO): direction in FSK: [0.920416,0.304399,0.245307] 2025-10-27T06:03:34.124Z,1761545014.124 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:34.135Z,1761545014.135 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:34.136Z,1761545014.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:34.238Z,1761545014.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.599998 m, deltaT: 28.492061 s, deltaX: -66.099998 m, approachRate: -2.319944 m/s, rangeRepo size: 4 2025-10-27T06:03:34.244Z,1761545014.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.841331 m, bearing: 347.434571 deg, lat: 36.779470 deg, lon: -121.859683 deg, deltaT: 28.492061 s, deltaX: -65.693535 m, approachRate: -2.305679 m/s, posRepo size: 4 2025-10-27T06:03:34.245Z,1761545014.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:34.250Z,1761545014.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 124.000603 m, bearing: 345.125609 deg, approach rate: 0.000000 m/s, LOS rate: 0.075035 deg/s, cmd heading: 328.273153 deg, new cmd heading: 328.407996 deg. 2025-10-27T06:03:34.259Z,1761545014.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731801 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:34.308Z,1761545014.308 [DAT](INFO): DAT read: 2025-10-27T06:03:34.309Z,1761545014.309 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:34.560Z,1761545014.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:34.571Z,1761545014.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837858,0.543344,0.052650],[-0.544594,0.825333,0.149140],[0.037581,-0.153631,0.987413]] 2025-10-27T06:03:34.590Z,1761545014.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:34.593Z,1761545014.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 123.800919 m, bearing: 345.160187 deg, approach rate: -0.565846 m/s, LOS rate: 0.098142 deg/s, cmd heading: 328.408008 deg, new cmd heading: 328.511910 deg. 2025-10-27T06:03:34.594Z,1761545014.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733614 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:34.812Z,1761545014.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:35.014Z,1761545015.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837390,0.544201,0.051219],[-0.545225,0.824942,0.148996],[0.038832,-0.152694,0.987510]] 2025-10-27T06:03:35.064Z,1761545015.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:35.065Z,1761545015.065 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:03:35.070Z,1761545015.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:35.077Z,1761545015.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 123.546654 m, bearing: 345.211965 deg, approach rate: -0.529067 m/s, LOS rate: 0.107959 deg/s, cmd heading: 328.511909 deg, new cmd heading: 328.667561 deg. 2025-10-27T06:03:35.078Z,1761545015.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736331 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:35.316Z,1761545015.316 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:35.383Z,1761545015.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837000,0.544943,0.049680],[-0.545727,0.824629,0.148893],[0.040170,-0.151735,0.987605]] 2025-10-27T06:03:35.405Z,1761545015.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:35.407Z,1761545015.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:35.410Z,1761545015.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 123.350418 m, bearing: 345.252156 deg, approach rate: -0.583401 m/s, LOS rate: 0.119678 deg/s, cmd heading: 328.667555 deg, new cmd heading: 328.788322 deg. 2025-10-27T06:03:35.410Z,1761545015.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738439 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:35.572Z,1761545015.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:35.787Z,1761545015.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836672,0.545634,0.047581],[-0.546152,0.824610,0.147431],[0.041207,-0.149338,0.987927]] 2025-10-27T06:03:35.806Z,1761545015.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:35.809Z,1761545015.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 123.129662 m, bearing: 345.297604 deg, approach rate: -0.552882 m/s, LOS rate: 0.114028 deg/s, cmd heading: 328.788313 deg, new cmd heading: 328.924901 deg. 2025-10-27T06:03:35.810Z,1761545015.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740822 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:35.820Z,1761545015.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:36.068Z,1761545016.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:03:36.073Z,1761545016.073 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:36.190Z,1761545016.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836452,0.546121,0.045839],[-0.546419,0.824623,0.146367],[0.042134,-0.147476,0.988168]] 2025-10-27T06:03:36.248Z,1761545016.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:36.250Z,1761545016.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 122.890518 m, bearing: 345.348589 deg, approach rate: -0.541590 m/s, LOS rate: 0.115689 deg/s, cmd heading: 328.924890 deg, new cmd heading: 329.078140 deg. 2025-10-27T06:03:36.251Z,1761545016.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743497 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:36.327Z,1761545016.327 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:36.580Z,1761545016.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:36.600Z,1761545016.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836382,0.546337,0.044512],[-0.546462,0.824694,0.145806],[0.042950,-0.146273,0.988311]] 2025-10-27T06:03:36.623Z,1761545016.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:36.626Z,1761545016.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 122.687050 m, bearing: 345.392155 deg, approach rate: -0.542069 m/s, LOS rate: 0.116260 deg/s, cmd heading: 329.078132 deg, new cmd heading: 329.209048 deg. 2025-10-27T06:03:36.627Z,1761545016.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745782 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:36.832Z,1761545016.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:37.084Z,1761545017.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:37.136Z,1761545017.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:37.144Z,1761545017.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 122.417336 m, bearing: 345.448140 deg, approach rate: -0.543630 m/s, LOS rate: 0.113090 deg/s, cmd heading: 329.209053 deg, new cmd heading: 329.377376 deg. 2025-10-27T06:03:37.145Z,1761545017.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748720 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:37.336Z,1761545017.336 [DAT](INFO): DAT read: Rx Time:06:03:35.8359 2025-10-27T06:03:37.336Z,1761545017.336 [DAT](INFO): Rx dataTimestamp_ set to:1761545017.336187 2025-10-27T06:03:37.337Z,1761545017.337 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:37.588Z,1761545017.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:37.614Z,1761545017.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836389,0.546531,0.041930],[-0.546353,0.825055,0.144164],[0.044196,-0.143485,0.988665]] 2025-10-27T06:03:37.631Z,1761545017.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:37.633Z,1761545017.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.84 m. 2025-10-27T06:03:37.636Z,1761545017.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.841331 m, nav range: 122.138321 m, bearing: 345.506346 deg, approach rate: -0.542974 m/s, LOS rate: 0.113531 deg/s, cmd heading: 329.377376 deg, new cmd heading: 329.552394 deg. 2025-10-27T06:03:37.637Z,1761545017.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751774 target range: 122.841331 and range: 123.60 m. 2025-10-27T06:03:37.848Z,1761545017.848 [DAT](INFO): DAT read: 06:03:35.8359 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 408,-0.24,-0.115,-1.900,-0.558,-0.452, PHS= 0.439,-1.403,-0.150, RAW= 131.7, 13.6, CAL= 130.9, 14.7, ROT= 19.1, -14.7 2025-10-27T06:03:37.850Z,1761545017.850 [DAT](INFO): got valid direction response: 06:03:35.8359 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 408,-0.24,-0.115,-1.900,-0.558,-0.452, PHS= 0.439,-1.403,-0.150, RAW= 131.7, 13.6, CAL= 130.9, 14.7, ROT= 19.1, -14.7 2025-10-27T06:03:37.850Z,1761545017.850 [DAT](INFO): DAT read: Bearing 139.1, 18.2 (Local) 2025-10-27T06:03:37.851Z,1761545017.851 [DAT](INFO): Local bearing/azimuth received: Bearing 139.1, 18.2 (Local) 2025-10-27T06:03:37.852Z,1761545017.852 [DAT](INFO): DAT read: Range 11 to 50 : 121.5 m (Round-trip 162.0 ms) speed 0.5 m/s 2025-10-27T06:03:37.853Z,1761545017.853 [DAT](INFO): DAT read: user:630>Tx time:06:03:36.9198 2025-10-27T06:03:37.854Z,1761545017.854 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:37.855Z,1761545017.855 [DAT](INFO): direction in FSK: [0.914019,0.316507,0.253758] 2025-10-27T06:03:37.855Z,1761545017.855 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:37.859Z,1761545017.859 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:37.859Z,1761545017.859 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:38.082Z,1761545018.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837057,0.545659,0.039903],[-0.545284,0.826069,0.142394],[0.044736,-0.140950,0.989005]] 2025-10-27T06:03:38.092Z,1761545018.092 [DAT](INFO): DAT read: 2025-10-27T06:03:38.092Z,1761545018.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:38.158Z,1761545018.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 3.782749 s, deltaX: -2.099998 m, approachRate: -0.555151 m/s, rangeRepo size: 4 2025-10-27T06:03:38.165Z,1761545018.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.754158 m, bearing: 348.039118 deg, lat: 36.779448 deg, lon: -121.859683 deg, deltaT: 3.782749 s, deltaX: -2.087173 m, approachRate: -0.551761 m/s, posRepo size: 4 2025-10-27T06:03:38.166Z,1761545018.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m. 2025-10-27T06:03:38.172Z,1761545018.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.754158 m, nav range: 119.440788 m, bearing: 345.255719 deg, approach rate: 0.000000 m/s, LOS rate: 0.113531 deg/s, cmd heading: 329.552393 deg, new cmd heading: 329.731077 deg. 2025-10-27T06:03:38.173Z,1761545018.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754893 target range: 120.754158 and range: 121.50 m. 2025-10-27T06:03:38.344Z,1761545018.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:38.514Z,1761545018.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837727,0.544779,0.037790],[-0.544172,0.826995,0.141264],[0.045706,-0.138905,0.989250]] 2025-10-27T06:03:38.534Z,1761545018.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m. 2025-10-27T06:03:38.536Z,1761545018.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.754158 m, nav range: 119.228409 m, bearing: 345.294826 deg, approach rate: -0.564765 m/s, LOS rate: 0.104180 deg/s, cmd heading: 329.731070 deg, new cmd heading: 329.848601 deg. 2025-10-27T06:03:38.537Z,1761545018.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756944 target range: 120.754158 and range: 121.50 m. 2025-10-27T06:03:38.597Z,1761545018.597 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:38.848Z,1761545018.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:38.914Z,1761545018.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838716,0.543430,0.035203],[-0.542567,0.828347,0.139505],[0.046651,-0.136106,0.989595]] 2025-10-27T06:03:38.970Z,1761545018.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m. 2025-10-27T06:03:38.978Z,1761545018.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.754158 m, nav range: 119.010994 m, bearing: 345.334809 deg, approach rate: -0.498557 m/s, LOS rate: 0.091851 deg/s, cmd heading: 329.848604 deg, new cmd heading: 329.968770 deg. 2025-10-27T06:03:38.979Z,1761545018.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759041 target range: 120.754158 and range: 121.50 m. 2025-10-27T06:03:39.100Z,1761545019.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:39.352Z,1761545019.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:39.365Z,1761545019.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841980,0.538649,0.030441],[-0.537336,0.832193,0.136840],[0.048376,-0.131573,0.990125]] 2025-10-27T06:03:39.497Z,1761545019.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m. 2025-10-27T06:03:39.500Z,1761545019.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.754158 m, nav range: 118.710754 m, bearing: 345.376635 deg, approach rate: -0.568869 m/s, LOS rate: 0.079449 deg/s, cmd heading: 329.968761 deg, new cmd heading: 330.094557 deg. 2025-10-27T06:03:39.501Z,1761545019.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761237 target range: 120.754158 and range: 121.50 m. 2025-10-27T06:03:39.605Z,1761545019.605 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:39.835Z,1761545019.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843866,0.535801,0.028419],[-0.534294,0.834274,0.136073],[0.049199,-0.130011,0.990291]] 2025-10-27T06:03:39.856Z,1761545019.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:39.861Z,1761545019.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:39.863Z,1761545019.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m. 2025-10-27T06:03:39.866Z,1761545019.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.754158 m, nav range: 118.515137 m, bearing: 345.403642 deg, approach rate: -0.534969 m/s, LOS rate: 0.073979 deg/s, cmd heading: 330.094546 deg, new cmd heading: 330.175700 deg. 2025-10-27T06:03:39.867Z,1761545019.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762653 target range: 120.754158 and range: 121.50 m. 2025-10-27T06:03:40.108Z,1761545020.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:40.299Z,1761545020.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m. 2025-10-27T06:03:40.301Z,1761545020.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.754158 m, nav range: 118.283348 m, bearing: 345.425207 deg, approach rate: -0.532366 m/s, LOS rate: 0.049628 deg/s, cmd heading: 330.175688 deg, new cmd heading: 330.240512 deg. 2025-10-27T06:03:40.302Z,1761545020.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763784 target range: 120.754158 and range: 121.50 m. 2025-10-27T06:03:40.361Z,1761545020.361 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:40.612Z,1761545020.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:40.643Z,1761545020.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848262,0.528987,0.024986],[-0.527164,0.838960,0.135070],[0.050488,-0.127747,0.990521]] 2025-10-27T06:03:40.680Z,1761545020.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m. 2025-10-27T06:03:40.682Z,1761545020.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.754158 m, nav range: 118.080719 m, bearing: 345.443276 deg, approach rate: -0.531475 m/s, LOS rate: 0.047474 deg/s, cmd heading: 330.240521 deg, new cmd heading: 330.294820 deg. 2025-10-27T06:03:40.700Z,1761545020.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764732 target range: 120.754158 and range: 121.50 m. 2025-10-27T06:03:40.866Z,1761545020.866 [DAT](INFO): DAT read: Rx Time:06:03:39.4832 2025-10-27T06:03:40.867Z,1761545020.867 [DAT](INFO): Rx dataTimestamp_ set to:1761545020.866278 2025-10-27T06:03:40.867Z,1761545020.867 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:41.116Z,1761545021.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:41.172Z,1761545021.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850732,0.525067,0.023675],[-0.523124,0.841497,0.134994],[0.050959,-0.127229,0.990564]] 2025-10-27T06:03:41.226Z,1761545021.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.75 m. 2025-10-27T06:03:41.248Z,1761545021.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.754158 m, nav range: 117.794624 m, bearing: 345.455545 deg, approach rate: -0.524178 m/s, LOS rate: 0.022534 deg/s, cmd heading: 330.294807 deg, new cmd heading: 330.331704 deg. 2025-10-27T06:03:41.249Z,1761545021.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765376 target range: 120.754158 and range: 121.50 m. 2025-10-27T06:03:41.374Z,1761545021.374 [DAT](INFO): DAT read: 06:03:39.4832 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 411,-0.23,-2.109, 2.343,-2.510,-2.406, PHS= 0.399,-1.489,-0.148, RAW= 133.6, 14.6, CAL= 132.7, 15.7, ROT= 17.3, -15.7 2025-10-27T06:03:41.375Z,1761545021.375 [DAT](INFO): got valid direction response: 06:03:39.4832 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 411,-0.23,-2.109, 2.343,-2.510,-2.406, PHS= 0.399,-1.489,-0.148, RAW= 133.6, 14.6, CAL= 132.7, 15.7, ROT= 17.3, -15.7 2025-10-27T06:03:41.376Z,1761545021.376 [DAT](INFO): DAT read: Bearing 140.7, 17.0 (Local) 2025-10-27T06:03:41.376Z,1761545021.376 [DAT](INFO): Local bearing/azimuth received: Bearing 140.7, 17.0 (Local) 2025-10-27T06:03:41.378Z,1761545021.378 [DAT](INFO): DAT read: Range 11 to 50 : 119.4 m (Round-trip 159.2 ms) speed 0.8 m/s 2025-10-27T06:03:41.379Z,1761545021.379 [DAT](INFO): DAT read: user:631>Tx time:06:03:40.5698 2025-10-27T06:03:41.379Z,1761545021.379 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:41.380Z,1761545021.380 [DAT](INFO): direction in FSK: [0.919140,0.286280,0.270600] 2025-10-27T06:03:41.381Z,1761545021.381 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:41.384Z,1761545021.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:41.385Z,1761545021.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:41.620Z,1761545021.620 [DAT](INFO): DAT read: 2025-10-27T06:03:41.621Z,1761545021.621 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:41.770Z,1761545021.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.400002 m, deltaT: 3.527787 s, deltaX: -2.099998 m, approachRate: -0.595274 m/s, rangeRepo size: 4 2025-10-27T06:03:41.789Z,1761545021.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.667526 m, bearing: 347.774086 deg, lat: 36.779442 deg, lon: -121.859623 deg, deltaT: 3.527787 s, deltaX: -2.086632 m, approachRate: -0.591485 m/s, posRepo size: 4 2025-10-27T06:03:41.789Z,1761545021.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.67 m. 2025-10-27T06:03:41.796Z,1761545021.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.667526 m, nav range: 115.712074 m, bearing: 347.960673 deg, approach rate: 0.000000 m/s, LOS rate: 0.022534 deg/s, cmd heading: 330.331690 deg, new cmd heading: 330.368468 deg. 2025-10-27T06:03:41.797Z,1761545021.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766017 target range: 118.667526 and range: 119.40 m. 2025-10-27T06:03:41.872Z,1761545021.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:42.127Z,1761545022.127 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:42.249Z,1761545022.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857728,0.513552,0.023816],[-0.511552,0.847946,0.138929],[0.051152,-0.131346,0.990016]] 2025-10-27T06:03:42.296Z,1761545022.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:42.298Z,1761545022.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.67 m. 2025-10-27T06:03:42.301Z,1761545022.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.667526 m, nav range: 115.455170 m, bearing: 347.967591 deg, approach rate: -0.486334 m/s, LOS rate: 0.013126 deg/s, cmd heading: 330.368464 deg, new cmd heading: 330.389265 deg. 2025-10-27T06:03:42.302Z,1761545022.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766380 target range: 118.667526 and range: 119.40 m. 2025-10-27T06:03:42.377Z,1761545022.377 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:42.628Z,1761545022.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:42.655Z,1761545022.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859887,0.509915,0.024115],[-0.507923,0.849891,0.140357],[0.051075,-0.132940,0.989807]] 2025-10-27T06:03:42.675Z,1761545022.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.67 m. 2025-10-27T06:03:42.678Z,1761545022.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.667526 m, nav range: 115.272881 m, bearing: 347.972146 deg, approach rate: -0.483149 m/s, LOS rate: 0.012091 deg/s, cmd heading: 330.389255 deg, new cmd heading: 330.402940 deg. 2025-10-27T06:03:42.679Z,1761545022.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766619 target range: 118.667526 and range: 119.40 m. 2025-10-27T06:03:42.880Z,1761545022.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:43.057Z,1761545023.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862139,0.506079,0.024504],[-0.504111,0.851922,0.141774],[0.050874,-0.134581,0.989596]] 2025-10-27T06:03:43.134Z,1761545023.134 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:43.141Z,1761545023.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.67 m. 2025-10-27T06:03:43.148Z,1761545023.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.667526 m, nav range: 115.068016 m, bearing: 347.976841 deg, approach rate: -0.439363 m/s, LOS rate: 0.010087 deg/s, cmd heading: 330.402943 deg, new cmd heading: 330.417053 deg. 2025-10-27T06:03:43.149Z,1761545023.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766865 target range: 118.667526 and range: 119.40 m. 2025-10-27T06:03:43.384Z,1761545023.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:43.485Z,1761545023.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863945,0.502955,0.025216],[-0.501020,0.853415,0.143739],[0.050775,-0.136816,0.989294]] 2025-10-27T06:03:43.535Z,1761545023.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.67 m. 2025-10-27T06:03:43.538Z,1761545023.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.667526 m, nav range: 114.855019 m, bearing: 347.981455 deg, approach rate: -0.541313 m/s, LOS rate: 0.011748 deg/s, cmd heading: 330.417040 deg, new cmd heading: 330.430908 deg. 2025-10-27T06:03:43.539Z,1761545023.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767107 target range: 118.667526 and range: 119.40 m. 2025-10-27T06:03:43.636Z,1761545023.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:43.888Z,1761545023.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:43.889Z,1761545023.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865247,0.500661,0.026208],[-0.498773,0.854338,0.146053],[0.050732,-0.139444,0.988930]] 2025-10-27T06:03:43.907Z,1761545023.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.67 m. 2025-10-27T06:03:43.910Z,1761545023.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.667526 m, nav range: 114.672821 m, bearing: 347.985202 deg, approach rate: -0.489555 m/s, LOS rate: 0.010084 deg/s, cmd heading: 330.430919 deg, new cmd heading: 330.442177 deg. 2025-10-27T06:03:43.911Z,1761545023.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767304 target range: 118.667526 and range: 119.40 m. 2025-10-27T06:03:44.141Z,1761545024.141 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:44.292Z,1761545024.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866560,0.498330,0.027215],[-0.496484,0.855234,0.148586],[0.050770,-0.142271,0.988525]] 2025-10-27T06:03:44.346Z,1761545024.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:44.349Z,1761545024.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.67 m. 2025-10-27T06:03:44.356Z,1761545024.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.667526 m, nav range: 114.464157 m, bearing: 347.994422 deg, approach rate: -0.472514 m/s, LOS rate: 0.020916 deg/s, cmd heading: 330.442175 deg, new cmd heading: 330.469885 deg. 2025-10-27T06:03:44.357Z,1761545024.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767787 target range: 118.667526 and range: 119.40 m. 2025-10-27T06:03:44.392Z,1761545024.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:44.644Z,1761545024.644 [DAT](INFO): DAT read: Rx Time:06:03:43.1307 2025-10-27T06:03:44.644Z,1761545024.644 [DAT](INFO): Rx dataTimestamp_ set to:1761545024.644119 2025-10-27T06:03:44.645Z,1761545024.645 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:44.699Z,1761545024.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867423,0.496790,0.027865],[-0.494949,0.855759,0.150669],[0.051005,-0.144486,0.988191]] 2025-10-27T06:03:44.738Z,1761545024.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.67 m. 2025-10-27T06:03:44.741Z,1761545024.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.667526 m, nav range: 114.262550 m, bearing: 348.003209 deg, approach rate: -0.517245 m/s, LOS rate: 0.022585 deg/s, cmd heading: 330.469878 deg, new cmd heading: 330.496288 deg. 2025-10-27T06:03:44.742Z,1761545024.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768249 target range: 118.667526 and range: 119.40 m. 2025-10-27T06:03:44.896Z,1761545024.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:45.121Z,1761545025.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868005,0.495727,0.028651],[-0.493908,0.855991,0.152754],[0.051199,-0.146742,0.987849]] 2025-10-27T06:03:45.168Z,1761545025.168 [DAT](INFO): DAT read: 06:03:43.1307 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.30, 1.396,-0.443, 1.054, 1.072, PHS= 0.426,-1.470,-0.062, RAW= 135.7, 12.9, CAL= 135.0, 14.0, ROT= 15.0, -14.0 2025-10-27T06:03:45.169Z,1761545025.169 [DAT](INFO): got valid direction response: 06:03:43.1307 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.30, 1.396,-0.443, 1.054, 1.072, PHS= 0.426,-1.470,-0.062, RAW= 135.7, 12.9, CAL= 135.0, 14.0, ROT= 15.0, -14.0 2025-10-27T06:03:45.170Z,1761545025.170 [DAT](INFO): DAT read: Bearing 140.3, 15.2 (Local) 2025-10-27T06:03:45.170Z,1761545025.170 [DAT](INFO): Local bearing/azimuth received: Bearing 140.3, 15.2 (Local) 2025-10-27T06:03:45.172Z,1761545025.172 [DAT](INFO): DAT read: Range 11 to 50 : 117.6 m (Round-trip 156.8 ms) speed 0.4 m/s 2025-10-27T06:03:45.173Z,1761545025.173 [DAT](INFO): DAT read: user:632>Tx time:06:03:44.2198 2025-10-27T06:03:45.173Z,1761545025.173 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:45.174Z,1761545025.174 [DAT](INFO): direction in FSK: [0.937234,0.251131,0.241922] 2025-10-27T06:03:45.175Z,1761545025.175 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:45.190Z,1761545025.190 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:45.190Z,1761545025.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:45.220Z,1761545025.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.599998 m, deltaT: 3.789607 s, deltaX: -1.800003 m, approachRate: -0.474984 m/s, rangeRepo size: 4 2025-10-27T06:03:45.222Z,1761545025.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.873131 m, bearing: 347.413510 deg, lat: 36.779438 deg, lon: -121.859623 deg, deltaT: 3.789607 s, deltaX: -1.794395 m, approachRate: -0.473504 m/s, posRepo size: 4 2025-10-27T06:03:45.235Z,1761545025.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:45.238Z,1761545025.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 113.590858 m, bearing: 347.964897 deg, approach rate: 0.000000 m/s, LOS rate: 0.022585 deg/s, cmd heading: 330.496298 deg, new cmd heading: 330.528899 deg. 2025-10-27T06:03:45.263Z,1761545025.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768817 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:45.408Z,1761545025.408 [DAT](INFO): DAT read: 2025-10-27T06:03:45.408Z,1761545025.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:45.583Z,1761545025.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868166,0.495394,0.029547],[-0.493565,0.855683,0.155566],[0.051783,-0.149640,0.987384]] 2025-10-27T06:03:45.629Z,1761545025.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:45.632Z,1761545025.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 113.375641 m, bearing: 347.982436 deg, approach rate: -0.525266 m/s, LOS rate: 0.042888 deg/s, cmd heading: 330.528891 deg, new cmd heading: 330.581609 deg. 2025-10-27T06:03:45.633Z,1761545025.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769738 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:45.660Z,1761545025.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:45.912Z,1761545025.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:45.988Z,1761545025.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868201,0.495339,0.029415],[-0.493436,0.855565,0.156615],[0.052411,-0.150488,0.987222]] 2025-10-27T06:03:46.006Z,1761545026.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:46.009Z,1761545026.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 113.192001 m, bearing: 347.997452 deg, approach rate: -0.486945 m/s, LOS rate: 0.039883 deg/s, cmd heading: 330.581620 deg, new cmd heading: 330.626742 deg. 2025-10-27T06:03:46.010Z,1761545026.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770525 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:46.166Z,1761545026.166 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:46.416Z,1761545026.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:46.496Z,1761545026.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:46.498Z,1761545026.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:46.505Z,1761545026.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 112.949432 m, bearing: 348.027782 deg, approach rate: -0.493572 m/s, LOS rate: 0.061846 deg/s, cmd heading: 330.626754 deg, new cmd heading: 330.717938 deg. 2025-10-27T06:03:46.506Z,1761545026.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772117 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:46.668Z,1761545026.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:46.845Z,1761545026.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:46.847Z,1761545026.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 112.764160 m, bearing: 348.051039 deg, approach rate: -0.534445 m/s, LOS rate: 0.067200 deg/s, cmd heading: 330.717951 deg, new cmd heading: 330.787838 deg. 2025-10-27T06:03:46.848Z,1761545026.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773337 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:46.922Z,1761545026.922 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:47.178Z,1761545027.178 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:47.224Z,1761545027.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867167,0.496865,0.033871],[-0.495222,0.853105,0.164218],[0.052698,-0.159178,0.985842]] 2025-10-27T06:03:47.266Z,1761545027.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:47.297Z,1761545027.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 112.541687 m, bearing: 348.087114 deg, approach rate: -0.528137 m/s, LOS rate: 0.085809 deg/s, cmd heading: 330.787837 deg, new cmd heading: 330.896276 deg. 2025-10-27T06:03:47.298Z,1761545027.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775229 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:47.429Z,1761545027.429 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:47.626Z,1761545027.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866575,0.497841,0.034677],[-0.496216,0.852183,0.165995],[0.053089,-0.161055,0.985517]] 2025-10-27T06:03:47.645Z,1761545027.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:47.648Z,1761545027.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 112.341606 m, bearing: 348.119827 deg, approach rate: -0.527968 m/s, LOS rate: 0.086476 deg/s, cmd heading: 330.896273 deg, new cmd heading: 330.994587 deg. 2025-10-27T06:03:47.649Z,1761545027.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776945 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:47.680Z,1761545027.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:47.933Z,1761545027.933 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:48.030Z,1761545028.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865977,0.498802,0.035778],[-0.497238,0.851222,0.167856],[0.053272,-0.163150,0.985162]] 2025-10-27T06:03:48.064Z,1761545028.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:48.067Z,1761545028.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 112.120071 m, bearing: 348.156351 deg, approach rate: -0.527866 m/s, LOS rate: 0.087200 deg/s, cmd heading: 330.994574 deg, new cmd heading: 331.104361 deg. 2025-10-27T06:03:48.068Z,1761545028.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778861 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:48.188Z,1761545028.188 [DAT](INFO): DAT read: Rx Time:06:03:46.7784 2025-10-27T06:03:48.189Z,1761545028.189 [DAT](INFO): Rx dataTimestamp_ set to:1761545028.188249 2025-10-27T06:03:48.191Z,1761545028.191 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:48.436Z,1761545028.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:48.457Z,1761545028.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865141,0.500205,0.036416],[-0.498687,0.850250,0.168481],[0.053312,-0.163920,0.985032]] 2025-10-27T06:03:48.510Z,1761545028.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:48.512Z,1761545028.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.87 m. 2025-10-27T06:03:48.514Z,1761545028.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.873131 m, nav range: 111.862946 m, bearing: 348.204984 deg, approach rate: -0.574727 m/s, LOS rate: 0.108954 deg/s, cmd heading: 331.104348 deg, new cmd heading: 331.250582 deg. 2025-10-27T06:03:48.516Z,1761545028.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781413 target range: 116.873131 and range: 117.60 m. 2025-10-27T06:03:48.700Z,1761545028.700 [DAT](INFO): DAT read: 06:03:46.7784 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.44, 1.877,-0.013, 1.537, 1.530, PHS= 0.449,-1.499,-0.037, RAW= 136.1, 12.4, CAL= 135.5, 13.4, ROT= 14.5, -13.4 2025-10-27T06:03:48.701Z,1761545028.701 [DAT](INFO): got valid direction response: 06:03:46.7784 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.44, 1.877,-0.013, 1.537, 1.530, PHS= 0.449,-1.499,-0.037, RAW= 136.1, 12.4, CAL= 135.5, 13.4, ROT= 14.5, -13.4 2025-10-27T06:03:48.703Z,1761545028.703 [DAT](INFO): DAT read: Bearing 139.6, 14.8 (Local) 2025-10-27T06:03:48.703Z,1761545028.703 [DAT](INFO): Local bearing/azimuth received: Bearing 139.6, 14.8 (Local) 2025-10-27T06:03:48.706Z,1761545028.706 [DAT](INFO): DAT read: Range 11 to 50 : 115.8 m (Round-trip 154.4 ms) speed 0.5 m/s 2025-10-27T06:03:48.707Z,1761545028.707 [DAT](INFO): DAT read: user:633>Tx time:06:03:47.8698 2025-10-27T06:03:48.708Z,1761545028.708 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:48.709Z,1761545028.709 [DAT](INFO): direction in FSK: [0.941791,0.243564,0.231748] 2025-10-27T06:03:48.710Z,1761545028.710 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:48.743Z,1761545028.743 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:48.743Z,1761545028.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:48.837Z,1761545028.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864571,0.501184,0.036490],[-0.499679,0.849731,0.168162],[0.053273,-0.163621,0.985084]] 2025-10-27T06:03:48.892Z,1761545028.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.535770 s, deltaX: -1.799995 m, approachRate: -0.509082 m/s, rangeRepo size: 4 2025-10-27T06:03:48.894Z,1761545028.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.081635 m, bearing: 346.624018 deg, lat: 36.779433 deg, lon: -121.859623 deg, deltaT: 3.535770 s, deltaX: -1.791496 m, approachRate: -0.506678 m/s, posRepo size: 4 2025-10-27T06:03:48.899Z,1761545028.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:48.902Z,1761545028.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 111.080605 m, bearing: 348.181638 deg, approach rate: 0.000000 m/s, LOS rate: 0.108954 deg/s, cmd heading: 331.250569 deg, new cmd heading: 331.373245 deg. 2025-10-27T06:03:48.902Z,1761545028.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783554 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:48.944Z,1761545028.944 [DAT](INFO): DAT read: 2025-10-27T06:03:48.945Z,1761545028.945 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:49.198Z,1761545029.198 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:49.268Z,1761545029.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863866,0.502389,0.036608],[-0.500859,0.848952,0.168587],[0.053618,-0.163972,0.985007]] 2025-10-27T06:03:49.330Z,1761545029.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:49.344Z,1761545029.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 110.824883 m, bearing: 348.232947 deg, approach rate: -0.577084 m/s, LOS rate: 0.116056 deg/s, cmd heading: 331.373239 deg, new cmd heading: 331.527522 deg. 2025-10-27T06:03:49.345Z,1761545029.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786247 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:49.448Z,1761545029.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:49.671Z,1761545029.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863165,0.503638,0.035993],[-0.502028,0.848412,0.167823],[0.053986,-0.162928,0.985160]] 2025-10-27T06:03:49.690Z,1761545029.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:49.695Z,1761545029.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 110.619629 m, bearing: 348.274485 deg, approach rate: -0.570477 m/s, LOS rate: 0.115664 deg/s, cmd heading: 331.527520 deg, new cmd heading: 331.652365 deg. 2025-10-27T06:03:49.696Z,1761545029.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788426 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:49.701Z,1761545029.701 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:49.953Z,1761545029.953 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:50.074Z,1761545030.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862769,0.504395,0.034870],[-0.502658,0.848281,0.166596],[0.054450,-0.161262,0.985409]] 2025-10-27T06:03:50.092Z,1761545030.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:50.097Z,1761545030.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 110.394737 m, bearing: 348.320296 deg, approach rate: -0.559300 m/s, LOS rate: 0.114163 deg/s, cmd heading: 331.652375 deg, new cmd heading: 331.790088 deg. 2025-10-27T06:03:50.098Z,1761545030.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790830 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:50.206Z,1761545030.206 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:50.456Z,1761545030.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:50.477Z,1761545030.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862631,0.504688,0.034033],[-0.502851,0.848304,0.165894],[0.054854,-0.160219,0.985556]] 2025-10-27T06:03:50.526Z,1761545030.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:50.529Z,1761545030.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:50.532Z,1761545030.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 110.152084 m, bearing: 348.368431 deg, approach rate: -0.556084 m/s, LOS rate: 0.110553 deg/s, cmd heading: 331.790099 deg, new cmd heading: 331.934822 deg. 2025-10-27T06:03:50.533Z,1761545030.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793355 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:50.709Z,1761545030.709 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:50.882Z,1761545030.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862664,0.504691,0.033126],[-0.502784,0.848604,0.164560],[0.054941,-0.158615,0.985811]] 2025-10-27T06:03:50.917Z,1761545030.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:50.920Z,1761545030.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 109.943863 m, bearing: 348.409919 deg, approach rate: -0.536476 m/s, LOS rate: 0.107095 deg/s, cmd heading: 331.934817 deg, new cmd heading: 332.059517 deg. 2025-10-27T06:03:50.921Z,1761545030.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795532 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:50.960Z,1761545030.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:51.217Z,1761545031.217 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:51.286Z,1761545031.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862996,0.504222,0.031599],[-0.502221,0.849414,0.162079],[0.054883,-0.155743,0.986272]] 2025-10-27T06:03:51.340Z,1761545031.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:51.343Z,1761545031.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 109.696198 m, bearing: 348.448777 deg, approach rate: -0.584634 m/s, LOS rate: 0.091933 deg/s, cmd heading: 332.059509 deg, new cmd heading: 332.176345 deg. 2025-10-27T06:03:51.344Z,1761545031.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797571 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:51.468Z,1761545031.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:51.720Z,1761545031.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:51.741Z,1761545031.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863411,0.503605,0.030054],[-0.501518,0.850313,0.159521],[0.054780,-0.152804,0.986737]] 2025-10-27T06:03:51.765Z,1761545031.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:51.769Z,1761545031.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 109.459770 m, bearing: 348.485946 deg, approach rate: -0.556974 m/s, LOS rate: 0.087753 deg/s, cmd heading: 332.176333 deg, new cmd heading: 332.288082 deg. 2025-10-27T06:03:51.769Z,1761545031.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799521 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:51.972Z,1761545031.972 [DAT](INFO): DAT read: Rx Time:06:03:50.4254 2025-10-27T06:03:51.972Z,1761545031.972 [DAT](INFO): Rx dataTimestamp_ set to:1761545031.972142 2025-10-27T06:03:51.973Z,1761545031.973 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:52.096Z,1761545032.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864298,0.502195,0.028082],[-0.500001,0.851773,0.156463],[0.054656,-0.149272,0.987284]] 2025-10-27T06:03:52.117Z,1761545032.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-27T06:03:52.128Z,1761545032.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.081635 m, nav range: 109.259674 m, bearing: 348.517349 deg, approach rate: -0.571715 m/s, LOS rate: 0.089888 deg/s, cmd heading: 332.288075 deg, new cmd heading: 332.382455 deg. 2025-10-27T06:03:52.129Z,1761545032.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801168 target range: 115.081635 and range: 115.80 m. 2025-10-27T06:03:52.226Z,1761545032.226 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:52.481Z,1761545032.481 [DAT](INFO): DAT read: 06:03:50.4254 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 412,-0.01,-2.193, 2.268,-2.500,-2.477, PHS= 0.386,-1.493,-0.067, RAW= 136.6, 13.7, CAL= 135.9, 14.8, ROT= 14.1, -14.8 2025-10-27T06:03:52.483Z,1761545032.483 [DAT](INFO): got valid direction response: 06:03:50.4254 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 412,-0.01,-2.193, 2.268,-2.500,-2.477, PHS= 0.386,-1.493,-0.067, RAW= 136.6, 13.7, CAL= 135.9, 14.8, ROT= 14.1, -14.8 2025-10-27T06:03:52.488Z,1761545032.488 [DAT](INFO): DAT read: Bearing 142.1, 14.1 (Local) 2025-10-27T06:03:52.488Z,1761545032.488 [DAT](INFO): Local bearing/azimuth received: Bearing 142.1, 14.1 (Local) 2025-10-27T06:03:52.489Z,1761545032.489 [DAT](INFO): DAT read: Range 11 to 50 : 113.6 m (Round-trip 151.5 ms) speed 0.4 m/s 2025-10-27T06:03:52.491Z,1761545032.490 [DAT](INFO): DAT read: user:634>Tx time:06:03:51.5198 2025-10-27T06:03:52.491Z,1761545032.491 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:52.492Z,1761545032.492 [DAT](INFO): direction in FSK: [0.937695,0.235533,0.255446] 2025-10-27T06:03:52.493Z,1761545032.493 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:52.497Z,1761545032.497 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:52.498Z,1761545032.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:52.510Z,1761545032.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865423,0.500368,0.025962],[-0.498069,0.853496,0.153206],[0.054501,-0.145519,0.987853]] 2025-10-27T06:03:52.643Z,1761545032.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.599998 m, deltaT: 3.782520 s, deltaX: -2.200005 m, approachRate: -0.581624 m/s, rangeRepo size: 4 2025-10-27T06:03:52.645Z,1761545032.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 112.892319 m, bearing: 346.374849 deg, lat: 36.779432 deg, lon: -121.859634 deg, deltaT: 3.782520 s, deltaX: -2.189316 m, approachRate: -0.578798 m/s, posRepo size: 4 2025-10-27T06:03:52.646Z,1761545032.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:52.653Z,1761545032.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 109.117264 m, bearing: 348.045668 deg, approach rate: 0.000000 m/s, LOS rate: 0.089888 deg/s, cmd heading: 332.382468 deg, new cmd heading: 332.523650 deg. 2025-10-27T06:03:52.654Z,1761545032.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803633 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:52.728Z,1761545032.728 [DAT](INFO): DAT read: 2025-10-27T06:03:52.729Z,1761545032.729 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:52.911Z,1761545032.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866625,0.498375,0.024128],[-0.495979,0.855163,0.150669],[0.054456,-0.142540,0.988290]] 2025-10-27T06:03:52.943Z,1761545032.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:52.947Z,1761545032.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:52.972Z,1761545032.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 108.942520 m, bearing: 348.067296 deg, approach rate: -0.566709 m/s, LOS rate: 0.070252 deg/s, cmd heading: 332.523662 deg, new cmd heading: 332.588648 deg. 2025-10-27T06:03:52.973Z,1761545032.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804767 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:52.980Z,1761545032.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:53.234Z,1761545033.234 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:53.310Z,1761545033.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867882,0.496295,0.021748],[-0.493779,0.857031,0.147244],[0.054438,-0.138529,0.988861]] 2025-10-27T06:03:53.370Z,1761545033.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:53.373Z,1761545033.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 108.717796 m, bearing: 348.088484 deg, approach rate: -0.530489 m/s, LOS rate: 0.050120 deg/s, cmd heading: 332.588658 deg, new cmd heading: 332.652352 deg. 2025-10-27T06:03:53.374Z,1761545033.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805879 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:53.484Z,1761545033.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:53.721Z,1761545033.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869312,0.493850,0.020217],[-0.491288,0.858874,0.144817],[0.054154,-0.135824,0.989252]] 2025-10-27T06:03:53.736Z,1761545033.736 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:53.819Z,1761545033.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:53.822Z,1761545033.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 108.483528 m, bearing: 348.110299 deg, approach rate: -0.522082 m/s, LOS rate: 0.048723 deg/s, cmd heading: 332.652342 deg, new cmd heading: 332.717932 deg. 2025-10-27T06:03:53.823Z,1761545033.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807024 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:53.988Z,1761545033.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:54.127Z,1761545034.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870907,0.491089,0.018791],[-0.488471,0.860795,0.142924],[0.054014,-0.133652,0.989555]] 2025-10-27T06:03:54.177Z,1761545034.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:54.184Z,1761545034.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 108.305046 m, bearing: 348.126670 deg, approach rate: -0.498290 m/s, LOS rate: 0.045778 deg/s, cmd heading: 332.717940 deg, new cmd heading: 332.767131 deg. 2025-10-27T06:03:54.185Z,1761545034.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807882 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:54.241Z,1761545034.241 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:54.492Z,1761545034.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:54.530Z,1761545034.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872525,0.488245,0.017803],[-0.485586,0.862599,0.141875],[0.053913,-0.132434,0.989724]] 2025-10-27T06:03:54.638Z,1761545034.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:54.640Z,1761545034.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 108.065308 m, bearing: 348.143304 deg, approach rate: -0.520803 m/s, LOS rate: 0.036216 deg/s, cmd heading: 332.767144 deg, new cmd heading: 332.817158 deg. 2025-10-27T06:03:54.641Z,1761545034.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808755 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:54.744Z,1761545034.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:54.980Z,1761545034.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875393,0.483122,0.016725],[-0.480431,0.865640,0.140901],[0.053595,-0.131379,0.989882]] 2025-10-27T06:03:54.996Z,1761545034.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:55.029Z,1761545035.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:55.032Z,1761545035.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:55.034Z,1761545035.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 107.872375 m, bearing: 348.156127 deg, approach rate: -0.489533 m/s, LOS rate: 0.032595 deg/s, cmd heading: 332.817169 deg, new cmd heading: 332.855707 deg. 2025-10-27T06:03:55.035Z,1761545035.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809428 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:55.250Z,1761545035.250 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:55.410Z,1761545035.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:55.413Z,1761545035.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 107.693604 m, bearing: 348.165982 deg, approach rate: -0.472895 m/s, LOS rate: 0.026113 deg/s, cmd heading: 332.855718 deg, new cmd heading: 332.885333 deg. 2025-10-27T06:03:55.414Z,1761545035.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809945 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:55.500Z,1761545035.500 [DAT](INFO): DAT read: Rx Time:06:03:54.0727 2025-10-27T06:03:55.501Z,1761545035.501 [DAT](INFO): Rx dataTimestamp_ set to:1761545035.500427 2025-10-27T06:03:55.501Z,1761545035.501 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:55.749Z,1761545035.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876755,0.480656,0.016477],[-0.477957,0.867000,0.140952],[0.053464,-0.131455,0.989879]] 2025-10-27T06:03:55.752Z,1761545035.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:55.841Z,1761545035.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.89 m. 2025-10-27T06:03:55.844Z,1761545035.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 112.892319 m, nav range: 107.496155 m, bearing: 348.176606 deg, approach rate: -0.457460 m/s, LOS rate: 0.024658 deg/s, cmd heading: 332.885334 deg, new cmd heading: 332.917262 deg. 2025-10-27T06:03:55.845Z,1761545035.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810503 target range: 112.892319 and range: 113.60 m. 2025-10-27T06:03:56.009Z,1761545036.009 [DAT](INFO): DAT read: 06:03:54.0727 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.09,-0.774,-2.604,-1.045,-1.056, PHS= 0.384,-1.503,-0.033, RAW= 137.9, 13.3, CAL= 137.1, 14.4, ROT= 12.9, -14.4 2025-10-27T06:03:56.011Z,1761545036.011 [DAT](INFO): got valid direction response: 06:03:54.0727 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.09,-0.774,-2.604,-1.045,-1.056, PHS= 0.384,-1.503,-0.033, RAW= 137.9, 13.3, CAL= 137.1, 14.4, ROT= 12.9, -14.4 2025-10-27T06:03:56.012Z,1761545036.012 [DAT](INFO): DAT read: Bearing 142.7, 13.3 (Local) 2025-10-27T06:03:56.012Z,1761545036.012 [DAT](INFO): Local bearing/azimuth received: Bearing 142.7, 13.3 (Local) 2025-10-27T06:03:56.013Z,1761545036.013 [DAT](INFO): DAT read: Range 11 to 50 : 111.6 m (Round-trip 148.8 ms) speed 0.4 m/s 2025-10-27T06:03:56.014Z,1761545036.014 [DAT](INFO): DAT read: user:635>Tx time:06:03:55.1698 2025-10-27T06:03:56.015Z,1761545036.015 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:56.016Z,1761545036.016 [DAT](INFO): direction in FSK: [0.944137,0.216236,0.248690] 2025-10-27T06:03:56.016Z,1761545036.016 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:56.025Z,1761545036.025 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:56.025Z,1761545036.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:56.169Z,1761545036.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877991,0.478389,0.016614],[-0.475706,0.868153,0.141471],[0.053255,-0.132113,0.989803]] 2025-10-27T06:03:56.234Z,1761545036.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.599998 m, deltaT: 3.528009 s, deltaX: -2.000000 m, approachRate: -0.566892 m/s, rangeRepo size: 4 2025-10-27T06:03:56.244Z,1761545036.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.902550 m, bearing: 346.419966 deg, lat: 36.779426 deg, lon: -121.859658 deg, deltaT: 3.528009 s, deltaX: -1.989769 m, approachRate: -0.563992 m/s, posRepo size: 4 2025-10-27T06:03:56.245Z,1761545036.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:56.256Z,1761545036.256 [DAT](INFO): DAT read: 2025-10-27T06:03:56.256Z,1761545036.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:56.258Z,1761545036.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 107.133369 m, bearing: 346.997828 deg, approach rate: 0.000000 m/s, LOS rate: 0.024658 deg/s, cmd heading: 332.917272 deg, new cmd heading: 332.945790 deg. 2025-10-27T06:03:56.268Z,1761545036.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811000 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:56.508Z,1761545036.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:56.637Z,1761545036.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879798,0.475000,0.018195],[-0.472380,0.869391,0.144970],[0.053042,-0.136139,0.989269]] 2025-10-27T06:03:56.705Z,1761545036.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:56.709Z,1761545036.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 106.888550 m, bearing: 347.009413 deg, approach rate: -0.512203 m/s, LOS rate: 0.024294 deg/s, cmd heading: 332.945795 deg, new cmd heading: 332.980630 deg. 2025-10-27T06:03:56.711Z,1761545036.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811608 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:56.760Z,1761545036.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:57.012Z,1761545037.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:57.037Z,1761545037.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880141,0.474338,0.018849],[-0.471730,0.869476,0.146568],[0.053134,-0.137892,0.989021]] 2025-10-27T06:03:57.081Z,1761545037.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:57.083Z,1761545037.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:57.086Z,1761545037.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 106.697601 m, bearing: 347.018423 deg, approach rate: -0.505299 m/s, LOS rate: 0.023884 deg/s, cmd heading: 332.980629 deg, new cmd heading: 333.007706 deg. 2025-10-27T06:03:57.087Z,1761545037.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812081 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:57.265Z,1761545037.265 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:57.448Z,1761545037.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880348,0.473930,0.019419],[-0.471334,0.869465,0.147898],[0.053210,-0.139354,0.988812]] 2025-10-27T06:03:57.501Z,1761545037.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:57.504Z,1761545037.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 106.490410 m, bearing: 347.032929 deg, approach rate: -0.495652 m/s, LOS rate: 0.034769 deg/s, cmd heading: 333.007703 deg, new cmd heading: 333.051306 deg. 2025-10-27T06:03:57.505Z,1761545037.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812842 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:57.516Z,1761545037.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:57.768Z,1761545037.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:57.847Z,1761545037.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880546,0.473542,0.019946],[-0.470946,0.869428,0.149350],[0.053382,-0.140903,0.988583]] 2025-10-27T06:03:57.866Z,1761545037.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:57.869Z,1761545037.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 106.309563 m, bearing: 347.045603 deg, approach rate: -0.495388 m/s, LOS rate: 0.034778 deg/s, cmd heading: 333.051307 deg, new cmd heading: 333.089395 deg. 2025-10-27T06:03:57.870Z,1761545037.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813507 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:58.020Z,1761545038.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:58.252Z,1761545038.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880674,0.473281,0.020459],[-0.470668,0.869280,0.151077],[0.053718,-0.142679,0.988310]] 2025-10-27T06:03:58.272Z,1761545038.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:58.277Z,1761545038.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:58.285Z,1761545038.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 106.106270 m, bearing: 347.059881 deg, approach rate: -0.493767 m/s, LOS rate: 0.034744 deg/s, cmd heading: 333.089393 deg, new cmd heading: 333.132307 deg. 2025-10-27T06:03:58.286Z,1761545038.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814256 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:58.524Z,1761545038.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:58.745Z,1761545038.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:58.747Z,1761545038.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 105.862061 m, bearing: 347.084295 deg, approach rate: -0.522862 m/s, LOS rate: 0.052392 deg/s, cmd heading: 333.132313 deg, new cmd heading: 333.205725 deg. 2025-10-27T06:03:58.748Z,1761545038.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815537 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:58.776Z,1761545038.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:59.028Z,1761545039.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:59.078Z,1761545039.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880563,0.473459,0.021128],[-0.470747,0.868622,0.154571],[0.054831,-0.146056,0.987756]] 2025-10-27T06:03:59.114Z,1761545039.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:03:59.117Z,1761545039.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:59.119Z,1761545039.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 105.667976 m, bearing: 347.103816 deg, approach rate: -0.521716 m/s, LOS rate: 0.052571 deg/s, cmd heading: 333.205724 deg, new cmd heading: 333.264396 deg. 2025-10-27T06:03:59.120Z,1761545039.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816561 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:59.280Z,1761545039.280 [DAT](INFO): DAT read: Rx Time:06:03:57.7203 2025-10-27T06:03:59.280Z,1761545039.280 [DAT](INFO): Rx dataTimestamp_ set to:1761545039.280132 2025-10-27T06:03:59.281Z,1761545039.281 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:59.532Z,1761545039.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:59.545Z,1761545039.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.90 m. 2025-10-27T06:03:59.557Z,1761545039.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.902550 m, nav range: 105.442123 m, bearing: 347.130416 deg, approach rate: -0.529668 m/s, LOS rate: 0.062515 deg/s, cmd heading: 333.264409 deg, new cmd heading: 333.344379 deg. 2025-10-27T06:03:59.561Z,1761545039.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817957 target range: 110.902550 and range: 111.60 m. 2025-10-27T06:03:59.790Z,1761545039.790 [DAT](INFO): DAT read: 06:03:57.7203 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 424,-0.50,-2.295, 2.119,-2.534,-2.620, PHS= 0.427,-1.499, 0.042, RAW= 139.1, 11.7, CAL= 138.5, 12.7, ROT= 11.5, -12.7 2025-10-27T06:03:59.791Z,1761545039.791 [DAT](INFO): got valid direction response: 06:03:57.7203 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 424,-0.50,-2.295, 2.119,-2.534,-2.620, PHS= 0.427,-1.499, 0.042, RAW= 139.1, 11.7, CAL= 138.5, 12.7, ROT= 11.5, -12.7 2025-10-27T06:03:59.792Z,1761545039.792 [DAT](INFO): DAT read: Bearing 141.0, 12.2 (Local) 2025-10-27T06:03:59.792Z,1761545039.792 [DAT](INFO): Local bearing/azimuth received: Bearing 141.0, 12.2 (Local) 2025-10-27T06:03:59.793Z,1761545039.793 [DAT](INFO): DAT read: Range 11 to 50 : 109.7 m (Round-trip 146.3 ms) speed 0.3 m/s 2025-10-27T06:03:59.794Z,1761545039.794 [DAT](INFO): DAT read: user:636>Tx time:06:03:58.8198 2025-10-27T06:03:59.806Z,1761545039.806 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:03:59.807Z,1761545039.807 [DAT](INFO): direction in FSK: [0.955950,0.194490,0.219846] 2025-10-27T06:03:59.807Z,1761545039.807 [DAT](INFO): publishing direction and range info 2025-10-27T06:03:59.810Z,1761545039.810 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:03:59.811Z,1761545039.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:03:59.898Z,1761545039.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880151,0.474168,0.022321],[-0.471403,0.867557,0.158505],[0.055793,-0.150031,0.987106]] 2025-10-27T06:03:59.966Z,1761545039.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.699997 m, deltaT: 3.780020 s, deltaX: -1.900002 m, approachRate: -0.502643 m/s, rangeRepo size: 4 2025-10-27T06:03:59.972Z,1761545039.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.009018 m, bearing: 345.251679 deg, lat: 36.779424 deg, lon: -121.859668 deg, deltaT: 3.780020 s, deltaX: -1.893532 m, approachRate: -0.500932 m/s, posRepo size: 4 2025-10-27T06:03:59.973Z,1761545039.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:03:59.980Z,1761545039.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 105.145386 m, bearing: 346.654497 deg, approach rate: 0.000000 m/s, LOS rate: 0.062515 deg/s, cmd heading: 333.344377 deg, new cmd heading: 333.423576 deg. 2025-10-27T06:03:59.981Z,1761545039.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819339 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:00.036Z,1761545040.036 [DAT](INFO): DAT read: 2025-10-27T06:04:00.037Z,1761545040.037 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:00.288Z,1761545040.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:00.296Z,1761545040.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879753,0.474890,0.022698],[-0.472067,0.866860,0.160333],[0.056465,-0.151768,0.986802]] 2025-10-27T06:04:00.314Z,1761545040.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:04:00.317Z,1761545040.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 104.949547 m, bearing: 346.676995 deg, approach rate: -0.561143 m/s, LOS rate: 0.064586 deg/s, cmd heading: 333.423580 deg, new cmd heading: 333.491202 deg. 2025-10-27T06:04:00.318Z,1761545040.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820519 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:00.540Z,1761545040.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:00.694Z,1761545040.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879483,0.475422,0.021973],[-0.472500,0.866683,0.160012],[0.057029,-0.151110,0.986871]] 2025-10-27T06:04:00.757Z,1761545040.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:04:00.760Z,1761545040.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 104.714699 m, bearing: 346.707971 deg, approach rate: -0.530720 m/s, LOS rate: 0.070158 deg/s, cmd heading: 333.491199 deg, new cmd heading: 333.584335 deg. 2025-10-27T06:04:00.761Z,1761545040.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822145 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:00.792Z,1761545040.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:01.044Z,1761545041.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:01.106Z,1761545041.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879444,0.475540,0.020968],[-0.472526,0.866860,0.158974],[0.057422,-0.149717,0.987060]] 2025-10-27T06:04:01.129Z,1761545041.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:01.132Z,1761545041.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:04:01.134Z,1761545041.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 104.515427 m, bearing: 346.734370 deg, approach rate: -0.531513 m/s, LOS rate: 0.070546 deg/s, cmd heading: 333.584335 deg, new cmd heading: 333.663682 deg. 2025-10-27T06:04:01.136Z,1761545041.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823530 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:01.296Z,1761545041.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:01.503Z,1761545041.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879488,0.475499,0.020048],[-0.472375,0.867028,0.158505],[0.057986,-0.148873,0.987155]] 2025-10-27T06:04:01.540Z,1761545041.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:04:01.542Z,1761545041.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 104.289688 m, bearing: 346.763939 deg, approach rate: -0.553437 m/s, LOS rate: 0.072652 deg/s, cmd heading: 333.663675 deg, new cmd heading: 333.752575 deg. 2025-10-27T06:04:01.548Z,1761545041.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:01.559Z,1761545041.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825081 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:01.800Z,1761545041.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:01.912Z,1761545041.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879694,0.475137,0.019598],[-0.471923,0.867187,0.158983],[0.058544,-0.149105,0.987087]] 2025-10-27T06:04:01.960Z,1761545041.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:04:01.963Z,1761545041.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 104.068558 m, bearing: 346.792969 deg, approach rate: -0.526074 m/s, LOS rate: 0.069209 deg/s, cmd heading: 333.752577 deg, new cmd heading: 333.839851 deg. 2025-10-27T06:04:01.964Z,1761545041.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826604 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:02.052Z,1761545042.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:02.304Z,1761545042.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:02.375Z,1761545042.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:04:02.400Z,1761545042.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 103.840881 m, bearing: 346.822992 deg, approach rate: -0.555676 m/s, LOS rate: 0.073435 deg/s, cmd heading: 333.839839 deg, new cmd heading: 333.930104 deg. 2025-10-27T06:04:02.409Z,1761545042.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828180 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:02.556Z,1761545042.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:02.753Z,1761545042.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880205,0.474270,0.017532],[-0.470822,0.867965,0.157999],[0.059717,-0.147326,0.987284]] 2025-10-27T06:04:02.790Z,1761545042.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:04:02.808Z,1761545042.808 [DAT](INFO): DAT read: Rx Time:06:04:01.3676 2025-10-27T06:04:02.808Z,1761545042.808 [DAT](INFO): Rx dataTimestamp_ set to:1761545042.808174 2025-10-27T06:04:02.809Z,1761545042.809 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:02.816Z,1761545042.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 103.607399 m, bearing: 346.851280 deg, approach rate: -0.555185 m/s, LOS rate: 0.067417 deg/s, cmd heading: 333.930107 deg, new cmd heading: 334.015164 deg. 2025-10-27T06:04:02.817Z,1761545042.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829664 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:03.060Z,1761545043.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:03.186Z,1761545043.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:03.188Z,1761545043.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m. 2025-10-27T06:04:03.200Z,1761545043.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.009018 m, nav range: 103.396080 m, bearing: 346.876997 deg, approach rate: -0.531369 m/s, LOS rate: 0.064798 deg/s, cmd heading: 334.015156 deg, new cmd heading: 334.092464 deg. 2025-10-27T06:04:03.204Z,1761545043.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831014 target range: 109.009018 and range: 109.70 m. 2025-10-27T06:04:03.318Z,1761545043.318 [DAT](INFO): DAT read: 06:04:01.3676 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.43, 1.148,-0.688, 0.904, 0.810, PHS= 0.439,-1.453, 0.050, RAW= 138.8, 11.1, CAL= 138.2, 12.1, ROT= 11.8, -12.1 2025-10-27T06:04:03.320Z,1761545043.320 [DAT](INFO): got valid direction response: 06:04:01.3676 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.43, 1.148,-0.688, 0.904, 0.810, PHS= 0.439,-1.453, 0.050, RAW= 138.8, 11.1, CAL= 138.2, 12.1, ROT= 11.8, -12.1 2025-10-27T06:04:03.321Z,1761545043.321 [DAT](INFO): DAT read: Bearing 141.7, 12.5 (Local) 2025-10-27T06:04:03.321Z,1761545043.321 [DAT](INFO): Local bearing/azimuth received: Bearing 141.7, 12.5 (Local) 2025-10-27T06:04:03.322Z,1761545043.322 [DAT](INFO): DAT read: Range 11 to 50 : 107.7 m (Round-trip 143.7 ms) speed 0.4 m/s 2025-10-27T06:04:03.324Z,1761545043.324 [DAT](INFO): DAT read: user:637>Tx time:06:04:02.4698 2025-10-27T06:04:03.324Z,1761545043.324 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:03.325Z,1761545043.325 [DAT](INFO): direction in FSK: [0.957120,0.199953,0.209619] 2025-10-27T06:04:03.325Z,1761545043.325 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:03.329Z,1761545043.329 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:03.329Z,1761545043.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:03.558Z,1761545043.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881651,0.471632,0.015981],[-0.468100,0.869754,0.156236],[0.059786,-0.145226,0.987590]] 2025-10-27T06:04:03.564Z,1761545043.564 [DAT](INFO): DAT read: 2025-10-27T06:04:03.564Z,1761545043.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:03.597Z,1761545043.597 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, 5.74+ 9.00, 0.00 2025-10-27T06:04:03.641Z,1761545043.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.699997 m, deltaT: 3.528559 s, deltaX: -2.000000 m, approachRate: -0.566804 m/s, rangeRepo size: 4 2025-10-27T06:04:03.650Z,1761545043.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.020561 m, bearing: 345.620980 deg, lat: 36.779424 deg, lon: -121.859669 deg, deltaT: 3.528559 s, deltaX: -1.988457 m, approachRate: -0.563532 m/s, posRepo size: 4 2025-10-27T06:04:03.650Z,1761545043.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:03.657Z,1761545043.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 103.189476 m, bearing: 346.848419 deg, approach rate: 0.000000 m/s, LOS rate: 0.064798 deg/s, cmd heading: 334.092474 deg, new cmd heading: 334.180504 deg. 2025-10-27T06:04:03.658Z,1761545043.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832550 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:03.816Z,1761545043.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:03.961Z,1761545043.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882584,0.469917,0.014977],[-0.466360,0.870976,0.154622],[0.059614,-0.143452,0.987860]] 2025-10-27T06:04:03.981Z,1761545043.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:03.984Z,1761545043.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 102.997894 m, bearing: 346.871256 deg, approach rate: -0.562822 m/s, LOS rate: 0.067213 deg/s, cmd heading: 334.180502 deg, new cmd heading: 334.249138 deg. 2025-10-27T06:04:03.985Z,1761545043.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833748 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:04.068Z,1761545044.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:04.320Z,1761545044.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:04.362Z,1761545044.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883553,0.468109,0.014433],[-0.464538,0.872066,0.153963],[0.059485,-0.142739,0.987971]] 2025-10-27T06:04:04.389Z,1761545044.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:04.393Z,1761545044.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 102.784729 m, bearing: 346.896510 deg, approach rate: -0.522712 m/s, LOS rate: 0.062056 deg/s, cmd heading: 334.249131 deg, new cmd heading: 334.325052 deg. 2025-10-27T06:04:04.394Z,1761545044.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835073 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:04.572Z,1761545044.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:04.766Z,1761545044.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884685,0.465991,0.013613],[-0.462426,0.873466,0.152380],[0.059117,-0.141103,0.988228]] 2025-10-27T06:04:04.811Z,1761545044.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:04.814Z,1761545044.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 102.557144 m, bearing: 346.918828 deg, approach rate: -0.539315 m/s, LOS rate: 0.053004 deg/s, cmd heading: 334.325056 deg, new cmd heading: 334.392157 deg. 2025-10-27T06:04:04.815Z,1761545044.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836244 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:04.824Z,1761545044.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:05.076Z,1761545045.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:05.210Z,1761545045.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:05.212Z,1761545045.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:05.214Z,1761545045.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 102.344543 m, bearing: 346.939767 deg, approach rate: -0.530314 m/s, LOS rate: 0.052339 deg/s, cmd heading: 334.392155 deg, new cmd heading: 334.455102 deg. 2025-10-27T06:04:05.260Z,1761545045.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837343 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:05.329Z,1761545045.329 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:05.573Z,1761545045.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887287,0.461075,0.011455],[-0.457498,0.876713,0.148562],[0.058455,-0.137057,0.988837]] 2025-10-27T06:04:05.580Z,1761545045.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:05.621Z,1761545045.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:05.624Z,1761545045.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 102.137589 m, bearing: 346.956824 deg, approach rate: -0.505566 m/s, LOS rate: 0.041754 deg/s, cmd heading: 334.455103 deg, new cmd heading: 334.506379 deg. 2025-10-27T06:04:05.625Z,1761545045.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838238 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:05.832Z,1761545045.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:05.978Z,1761545045.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888614,0.458546,0.010073],[-0.454907,0.878334,0.146936],[0.058530,-0.135151,0.989095]] 2025-10-27T06:04:05.997Z,1761545045.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:05.000Z,1761545046.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 101.947945 m, bearing: 346.972196 deg, approach rate: -0.505026 m/s, LOS rate: 0.041010 deg/s, cmd heading: 334.506384 deg, new cmd heading: 334.552583 deg. 2025-10-27T06:04:06.000Z,1761545046.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839044 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:06.084Z,1761545046.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:06.187Z,1761545046.187 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:04:06.336Z,1761545046.336 [DAT](INFO): DAT read: Rx Time:06:04:05.0150 2025-10-27T06:04:06.337Z,1761545046.337 [DAT](INFO): Rx dataTimestamp_ set to:1761545046.336384 2025-10-27T06:04:06.337Z,1761545046.337 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:06.394Z,1761545046.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890019,0.455823,0.009600],[-0.452168,0.879792,0.146663],[0.058406,-0.134873,0.989140]] 2025-10-27T06:04:06.466Z,1761545046.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:06.495Z,1761545046.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 101.730972 m, bearing: 346.989467 deg, approach rate: -0.463776 m/s, LOS rate: 0.036996 deg/s, cmd heading: 334.552583 deg, new cmd heading: 334.604507 deg. 2025-10-27T06:04:06.496Z,1761545046.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839951 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:06.588Z,1761545046.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:06.786Z,1761545046.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891433,0.453064,0.008926],[-0.449418,0.881393,0.145496],[0.058052,-0.133712,0.989318]] 2025-10-27T06:04:06.842Z,1761545046.842 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:06.867Z,1761545046.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m. 2025-10-27T06:04:06.886Z,1761545046.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.020561 m, nav range: 101.517937 m, bearing: 347.003016 deg, approach rate: -0.537193 m/s, LOS rate: 0.034237 deg/s, cmd heading: 334.604520 deg, new cmd heading: 334.645252 deg. 2025-10-27T06:04:06.900Z,1761545046.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840662 target range: 107.020561 and range: 107.70 m. 2025-10-27T06:04:07.098Z,1761545047.098 [DAT](INFO): DAT read: 06:04:05.0150 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.13, 2.502, 0.736, 2.310, 2.216, PHS= 0.388,-1.435, 0.050, RAW= 140.0, 11.9, CAL= 139.3, 12.8, ROT= 10.7, -12.8 2025-10-27T06:04:07.100Z,1761545047.100 [DAT](INFO): got valid direction response: 06:04:05.0150 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.13, 2.502, 0.736, 2.310, 2.216, PHS= 0.388,-1.435, 0.050, RAW= 140.0, 11.9, CAL= 139.3, 12.8, ROT= 10.7, -12.8 2025-10-27T06:04:07.101Z,1761545047.101 [DAT](INFO): DAT read: Bearing 143.3, 11.4 (Local) 2025-10-27T06:04:07.101Z,1761545047.101 [DAT](INFO): Local bearing/azimuth received: Bearing 143.3, 11.4 (Local) 2025-10-27T06:04:07.103Z,1761545047.103 [DAT](INFO): DAT read: Range 11 to 50 : 105.8 m (Round-trip 141.1 ms) speed 0.5 m/s 2025-10-27T06:04:07.104Z,1761545047.104 [DAT](INFO): DAT read: Tx time:06:04:06.0729 2025-10-27T06:04:07.104Z,1761545047.104 [DAT](INFO): Ping request sent. 2025-10-27T06:04:07.104Z,1761545047.104 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:07.104Z,1761545047.104 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:07.105Z,1761545047.105 [DAT](INFO): direction in FSK: [0.958194,0.181053,0.221548] 2025-10-27T06:04:07.106Z,1761545047.106 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:07.106Z,1761545047.106 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:07.116Z,1761545047.116 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:07.116Z,1761545047.116 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:07.191Z,1761545047.191 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:04:07.198Z,1761545047.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892727,0.450521,0.008334],[-0.446832,0.882726,0.145380],[0.058140,-0.133508,0.989341]] 2025-10-27T06:04:07.255Z,1761545047.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.800003 m, deltaT: 3.779498 s, deltaX: -1.899994 m, approachRate: -0.502711 m/s, rangeRepo size: 4 2025-10-27T06:04:07.257Z,1761545047.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.129242 m, bearing: 345.882339 deg, lat: 36.779424 deg, lon: -121.859692 deg, deltaT: 3.779498 s, deltaX: -1.891319 m, approachRate: -0.500415 m/s, posRepo size: 4 2025-10-27T06:04:07.258Z,1761545047.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m. 2025-10-27T06:04:07.265Z,1761545047.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.129242 m, nav range: 101.771210 m, bearing: 345.882501 deg, approach rate: 0.000000 m/s, LOS rate: 0.034237 deg/s, cmd heading: 334.645255 deg, new cmd heading: 334.685225 deg. 2025-10-27T06:04:07.266Z,1761545047.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841359 target range: 105.129242 and range: 105.80 m. 2025-10-27T06:04:07.594Z,1761545047.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893818,0.448356,0.008135],[-0.444628,0.883737,0.145992],[0.058267,-0.134107,0.989252]] 2025-10-27T06:04:07.644Z,1761545047.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:07.646Z,1761545047.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m. 2025-10-27T06:04:07.652Z,1761545047.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.129242 m, nav range: 101.562355 m, bearing: 345.892211 deg, approach rate: -0.528119 m/s, LOS rate: 0.024604 deg/s, cmd heading: 334.685225 deg, new cmd heading: 334.714416 deg. 2025-10-27T06:04:07.653Z,1761545047.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841868 target range: 105.129242 and range: 105.80 m. 2025-10-27T06:04:07.848Z,1761545047.848 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:07.848Z,1761545047.848 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:07.849Z,1761545047.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:07.998Z,1761545047.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894292,0.447405,0.008424],[-0.443653,0.884019,0.147252],[0.058434,-0.135423,0.989063]] 2025-10-27T06:04:08.084Z,1761545048.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m. 2025-10-27T06:04:08.087Z,1761545048.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.129242 m, nav range: 101.339638 m, bearing: 345.902480 deg, approach rate: -0.507728 m/s, LOS rate: 0.023463 deg/s, cmd heading: 334.714404 deg, new cmd heading: 334.745280 deg. 2025-10-27T06:04:08.088Z,1761545048.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842407 target range: 105.129242 and range: 105.80 m. 2025-10-27T06:04:08.100Z,1761545048.100 [DAT](INFO): DAT read: user:638> 2025-10-27T06:04:08.101Z,1761545048.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996674 2025-10-27T06:04:08.352Z,1761545048.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248315 2025-10-27T06:04:08.420Z,1761545048.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894853,0.446275,0.008771],[-0.442503,0.884368,0.148610],[0.058564,-0.136866,0.988857]] 2025-10-27T06:04:08.534Z,1761545048.534 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,002712,35.0, +10.3, 01, 0 2025-10-27T06:04:08.576Z,1761545048.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m. 2025-10-27T06:04:08.583Z,1761545048.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.129242 m, nav range: 101.099274 m, bearing: 345.913447 deg, approach rate: -0.488847 m/s, LOS rate: 0.022358 deg/s, cmd heading: 334.745276 deg, new cmd heading: 334.778256 deg. 2025-10-27T06:04:08.584Z,1761545048.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842983 target range: 105.129242 and range: 105.80 m. 2025-10-27T06:04:08.604Z,1761545048.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500011 2025-10-27T06:04:08.856Z,1761545048.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752021 2025-10-27T06:04:08.907Z,1761545048.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895470,0.445037,0.008651],[-0.441201,0.884842,0.149657],[0.058948,-0.137830,0.988700]] 2025-10-27T06:04:08.960Z,1761545048.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m. 2025-10-27T06:04:08.962Z,1761545048.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.129242 m, nav range: 100.895523 m, bearing: 345.922622 deg, approach rate: -0.530999 m/s, LOS rate: 0.023959 deg/s, cmd heading: 334.778252 deg, new cmd heading: 334.805833 deg. 2025-10-27T06:04:08.964Z,1761545048.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843464 target range: 105.129242 and range: 105.80 m. 2025-10-27T06:04:09.108Z,1761545049.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003850 2025-10-27T06:04:09.294Z,1761545049.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896060,0.443841,0.008985],[-0.439974,0.885193,0.151182],[0.059147,-0.139421,0.988465]] 2025-10-27T06:04:09.360Z,1761545049.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255984 2025-10-27T06:04:09.430Z,1761545049.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m. 2025-10-27T06:04:09.437Z,1761545049.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.129242 m, nav range: 100.669327 m, bearing: 345.932685 deg, approach rate: -0.480744 m/s, LOS rate: 0.021434 deg/s, cmd heading: 334.805846 deg, new cmd heading: 334.836101 deg. 2025-10-27T06:04:09.438Z,1761545049.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843992 target range: 105.129242 and range: 105.80 m. 2025-10-27T06:04:09.612Z,1761545049.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507977 2025-10-27T06:04:09.812Z,1761545049.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896817,0.442303,0.009379],[-0.438280,0.885372,0.155004],[0.060255,-0.143121,0.987869]] 2025-10-27T06:04:09.854Z,1761545049.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:09.864Z,1761545049.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759805 2025-10-27T06:04:09.873Z,1761545049.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m. 2025-10-27T06:04:09.880Z,1761545049.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.129242 m, nav range: 100.436127 m, bearing: 345.950402 deg, approach rate: -0.527241 m/s, LOS rate: 0.040150 deg/s, cmd heading: 334.836090 deg, new cmd heading: 334.889366 deg. 2025-10-27T06:04:09.880Z,1761545049.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844922 target range: 105.129242 and range: 105.80 m. 2025-10-27T06:04:10.116Z,1761545050.116 [DAT](INFO): DAT read: Rx Time:06:04:08.6156 2025-10-27T06:04:10.117Z,1761545050.117 [DAT](INFO): Rx dataTimestamp_ set to:1761545050.116832 2025-10-27T06:04:10.118Z,1761545050.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013689 2025-10-27T06:04:10.212Z,1761545050.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896994,0.441935,0.009730],[-0.437827,0.885193,0.157292],[0.060900,-0.145350,0.987504]] 2025-10-27T06:04:10.256Z,1761545050.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m. 2025-10-27T06:04:10.258Z,1761545050.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.129242 m, nav range: 100.229309 m, bearing: 345.966138 deg, approach rate: -0.539884 m/s, LOS rate: 0.041163 deg/s, cmd heading: 334.889366 deg, new cmd heading: 334.936672 deg. 2025-10-27T06:04:10.259Z,1761545050.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845748 target range: 105.129242 and range: 105.80 m. 2025-10-27T06:04:10.368Z,1761545050.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264068 2025-10-27T06:04:10.615Z,1761545050.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897234,0.441450,0.009613],[-0.437235,0.885206,0.158859],[0.061618,-0.146737,0.987255]] 2025-10-27T06:04:10.626Z,1761545050.626 [DAT](INFO): DAT read: 06:04:08.6156 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 167, 0.18, 0.303,-1.453, 0.147, 0.075, PHS= 0.330,-1.483, 0.028, RAW= 141.0, 13.3, CAL= 140.3, 14.3, ROT= 9.7, -14.3 2025-10-27T06:04:10.628Z,1761545050.628 [DAT](INFO): got valid direction response: 06:04:08.6156 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 167, 0.18, 0.303,-1.453, 0.147, 0.075, PHS= 0.330,-1.483, 0.028, RAW= 141.0, 13.3, CAL= 140.3, 14.3, ROT= 9.7, -14.3 2025-10-27T06:04:10.628Z,1761545050.628 [DAT](INFO): DAT read: Bearing 145.5, 10.4 (Local) 2025-10-27T06:04:10.629Z,1761545050.629 [DAT](INFO): Local bearing/azimuth received: Bearing 145.5, 10.4 (Local) 2025-10-27T06:04:10.630Z,1761545050.630 [DAT](INFO): DAT read: Range 11 to 50 : 103.8 m (Round-trip 138.5 ms) speed 0.4 m/s 2025-10-27T06:04:10.631Z,1761545050.631 [DAT](INFO): DAT read: user:639>Tx time:06:04:09.7198 2025-10-27T06:04:10.632Z,1761545050.632 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:10.633Z,1761545050.633 [DAT](INFO): direction in FSK: [0.955162,0.163269,0.246999] 2025-10-27T06:04:10.633Z,1761545050.633 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:10.645Z,1761545050.645 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:10.645Z,1761545050.645 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:10.646Z,1761545050.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:10.780Z,1761545050.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.800003 m, deltaT: 3.527979 s, deltaX: -2.000000 m, approachRate: -0.566897 m/s, rangeRepo size: 4 2025-10-27T06:04:10.782Z,1761545050.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.141098 m, bearing: 345.905771 deg, lat: 36.779424 deg, lon: -121.859692 deg, deltaT: 3.527979 s, deltaX: -1.988144 m, approachRate: -0.563536 m/s, posRepo size: 4 2025-10-27T06:04:10.787Z,1761545050.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:10.790Z,1761545050.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 99.965118 m, bearing: 345.990212 deg, approach rate: 0.000000 m/s, LOS rate: 0.041163 deg/s, cmd heading: 334.936686 deg, new cmd heading: 335.001408 deg. 2025-10-27T06:04:10.795Z,1761545050.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846878 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:10.873Z,1761545050.873 [DAT](INFO): DAT read: 2025-10-27T06:04:10.874Z,1761545050.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770207 2025-10-27T06:04:11.099Z,1761545051.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897244,0.441428,0.009696],[-0.437098,0.884910,0.160870],[0.062433,-0.148578,0.986928]] 2025-10-27T06:04:11.124Z,1761545051.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020070 2025-10-27T06:04:11.128Z,1761545051.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:11.131Z,1761545051.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 99.776718 m, bearing: 346.007450 deg, approach rate: -0.540771 m/s, LOS rate: 0.049573 deg/s, cmd heading: 335.001408 deg, new cmd heading: 335.053221 deg. 2025-10-27T06:04:11.132Z,1761545051.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847782 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:11.381Z,1761545051.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276727 2025-10-27T06:04:11.556Z,1761545051.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897135,0.441639,0.010231],[-0.437238,0.884414,0.163203],[0.063028,-0.150888,0.986539]] 2025-10-27T06:04:11.608Z,1761545051.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:11.611Z,1761545051.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 99.513191 m, bearing: 346.036067 deg, approach rate: -0.549013 m/s, LOS rate: 0.059777 deg/s, cmd heading: 335.053209 deg, new cmd heading: 335.139288 deg. 2025-10-27T06:04:11.612Z,1761545051.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849284 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:11.630Z,1761545051.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526195 2025-10-27T06:04:11.880Z,1761545051.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775921 2025-10-27T06:04:11.942Z,1761545051.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897007,0.441899,0.010159],[-0.437443,0.884195,0.163839],[0.063418,-0.151409,0.986435]] 2025-10-27T06:04:11.980Z,1761545051.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:11.982Z,1761545051.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:11.989Z,1761545051.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 99.313484 m, bearing: 346.057888 deg, approach rate: -0.534159 m/s, LOS rate: 0.058481 deg/s, cmd heading: 335.139296 deg, new cmd heading: 335.204889 deg. 2025-10-27T06:04:11.990Z,1761545051.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850429 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:12.132Z,1761545052.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027906 2025-10-27T06:04:12.307Z,1761545052.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896917,0.442092,0.009722],[-0.437561,0.884119,0.163935],[0.063879,-0.151290,0.986423]] 2025-10-27T06:04:12.326Z,1761545052.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:12.329Z,1761545052.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 99.121498 m, bearing: 346.078966 deg, approach rate: -0.557806 m/s, LOS rate: 0.061359 deg/s, cmd heading: 335.204893 deg, new cmd heading: 335.268249 deg. 2025-10-27T06:04:12.330Z,1761545052.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851535 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:12.384Z,1761545052.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280148 2025-10-27T06:04:12.639Z,1761545052.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534519 2025-10-27T06:04:12.783Z,1761545052.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:12.786Z,1761545052.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 98.878067 m, bearing: 346.108486 deg, approach rate: -0.532834 m/s, LOS rate: 0.064774 deg/s, cmd heading: 335.268250 deg, new cmd heading: 335.357028 deg. 2025-10-27T06:04:12.787Z,1761545052.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853084 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:12.890Z,1761545052.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785262 2025-10-27T06:04:13.113Z,1761545053.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896794,0.442345,0.009505],[-0.437694,0.883813,0.165222],[0.064685,-0.152331,0.986211]] 2025-10-27T06:04:13.140Z,1761545053.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035888 2025-10-27T06:04:13.164Z,1761545053.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:13.171Z,1761545053.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 98.692451 m, bearing: 346.131114 deg, approach rate: -0.486634 m/s, LOS rate: 0.059437 deg/s, cmd heading: 335.357015 deg, new cmd heading: 335.425027 deg. 2025-10-27T06:04:13.172Z,1761545053.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854271 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:13.394Z,1761545053.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289728 2025-10-27T06:04:13.561Z,1761545053.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896807,0.442336,0.008770],[-0.437663,0.884085,0.163843],[0.064720,-0.150774,0.986447]] 2025-10-27T06:04:13.644Z,1761545053.644 [DAT](INFO): DAT read: Rx Time:06:04:12.2598 2025-10-27T06:04:13.644Z,1761545053.644 [DAT](INFO): Rx dataTimestamp_ set to:1761545053.644101 2025-10-27T06:04:13.645Z,1761545053.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540969 2025-10-27T06:04:13.680Z,1761545053.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:13.687Z,1761545053.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 98.417152 m, bearing: 346.160076 deg, approach rate: -0.533987 m/s, LOS rate: 0.056333 deg/s, cmd heading: 335.425017 deg, new cmd heading: 335.512145 deg. 2025-10-27T06:04:13.688Z,1761545053.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855792 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:13.897Z,1761545053.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793084 2025-10-27T06:04:14.033Z,1761545054.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:14.036Z,1761545054.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.14 m. 2025-10-27T06:04:14.038Z,1761545054.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.141098 m, nav range: 98.212303 m, bearing: 346.181732 deg, approach rate: -0.576238 m/s, LOS rate: 0.061046 deg/s, cmd heading: 335.512143 deg, new cmd heading: 335.577247 deg. 2025-10-27T06:04:14.039Z,1761545054.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856928 target range: 103.141098 and range: 103.80 m. 2025-10-27T06:04:14.154Z,1761545054.154 [DAT](INFO): DAT read: 06:04:12.2598 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.42, 1.427,-0.376, 1.269, 1.148, PHS= 0.381,-1.479, 0.077, RAW= 141.3, 11.8, CAL= 140.7, 12.8, ROT= 9.3, -12.8 2025-10-27T06:04:14.155Z,1761545054.155 [DAT](INFO): got valid direction response: 06:04:12.2598 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412, 0.42, 1.427,-0.376, 1.269, 1.148, PHS= 0.381,-1.479, 0.077, RAW= 141.3, 11.8, CAL= 140.7, 12.8, ROT= 9.3, -12.8 2025-10-27T06:04:14.156Z,1761545054.156 [DAT](INFO): DAT read: Bearing 145.3, 10.6 (Local) 2025-10-27T06:04:14.156Z,1761545054.156 [DAT](INFO): Local bearing/azimuth received: Bearing 145.3, 10.6 (Local) 2025-10-27T06:04:14.158Z,1761545054.158 [DAT](INFO): DAT read: Range 11 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.4 m/s 2025-10-27T06:04:14.159Z,1761545054.159 [DAT](INFO): DAT read: Tx time:06:04:13.3198 2025-10-27T06:04:14.159Z,1761545054.159 [DAT](INFO): Ping request sent. 2025-10-27T06:04:14.159Z,1761545054.159 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:14.159Z,1761545054.159 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:14.160Z,1761545054.160 [DAT](INFO): direction in FSK: [0.962332,0.157588,0.221548] 2025-10-27T06:04:14.161Z,1761545054.161 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:14.161Z,1761545054.161 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:14.164Z,1761545054.164 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:14.164Z,1761545054.164 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:14.392Z,1761545054.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897217,0.441535,0.007025],[-0.436825,0.885092,0.160613],[0.064698,-0.147173,0.986992]] 2025-10-27T06:04:14.438Z,1761545054.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 3.528172 s, deltaX: -1.900002 m, approachRate: -0.538523 m/s, rangeRepo size: 4 2025-10-27T06:04:14.440Z,1761545054.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.251503 m, bearing: 345.292478 deg, lat: 36.779424 deg, lon: -121.859695 deg, deltaT: 3.528172 s, deltaX: -1.889595 m, approachRate: -0.535573 m/s, posRepo size: 4 2025-10-27T06:04:14.441Z,1761545054.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:14.443Z,1761545054.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 98.064438 m, bearing: 346.039492 deg, approach rate: 0.000000 m/s, LOS rate: 0.061046 deg/s, cmd heading: 335.577248 deg, new cmd heading: 335.650782 deg. 2025-10-27T06:04:14.444Z,1761545054.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858212 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:14.857Z,1761545054.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:14.859Z,1761545054.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 97.848412 m, bearing: 346.060766 deg, approach rate: -0.515031 m/s, LOS rate: 0.050833 deg/s, cmd heading: 335.650795 deg, new cmd heading: 335.714760 deg. 2025-10-27T06:04:14.860Z,1761545054.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859328 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:15.193Z,1761545055.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898163,0.439636,0.004806],[-0.434931,0.886846,0.156014],[0.064327,-0.142217,0.987743]] 2025-10-27T06:04:15.237Z,1761545055.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:15.247Z,1761545055.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 97.644119 m, bearing: 346.080717 deg, approach rate: -0.537165 m/s, LOS rate: 0.052568 deg/s, cmd heading: 335.714753 deg, new cmd heading: 335.774731 deg. 2025-10-27T06:04:15.248Z,1761545055.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860374 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:15.618Z,1761545055.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898902,0.438129,0.004282],[-0.433432,0.887749,0.155046],[0.064128,-0.141227,0.987898]] 2025-10-27T06:04:15.662Z,1761545055.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:15.665Z,1761545055.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 97.427780 m, bearing: 346.094985 deg, approach rate: -0.508313 m/s, LOS rate: 0.033597 deg/s, cmd heading: 335.774722 deg, new cmd heading: 335.817620 deg. 2025-10-27T06:04:15.666Z,1761545055.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861123 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:15.998Z,1761545055.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899718,0.436448,0.004440],[-0.431772,0.888496,0.155395],[0.063877,-0.141728,0.987843]] 2025-10-27T06:04:16.016Z,1761545056.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:16.039Z,1761545056.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 97.250450 m, bearing: 346.106532 deg, approach rate: -0.501451 m/s, LOS rate: 0.032713 deg/s, cmd heading: 335.817616 deg, new cmd heading: 335.852321 deg. 2025-10-27T06:04:16.040Z,1761545056.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861729 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:16.419Z,1761545056.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900735,0.434357,0.003090],[-0.429694,0.889978,0.152648],[0.063554,-0.138824,0.988276]] 2025-10-27T06:04:16.436Z,1761545056.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:16.438Z,1761545056.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:16.441Z,1761545056.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 97.039795 m, bearing: 346.120007 deg, approach rate: -0.499218 m/s, LOS rate: 0.032004 deg/s, cmd heading: 335.852313 deg, new cmd heading: 335.892828 deg. 2025-10-27T06:04:16.442Z,1761545056.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862436 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:16.668Z,1761545056.668 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:16.668Z,1761545056.668 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:16.668Z,1761545056.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:16.806Z,1761545056.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901611,0.432540,0.002627],[-0.427917,0.891055,0.151354],[0.063126,-0.137587,0.988476]] 2025-10-27T06:04:16.863Z,1761545056.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:16.869Z,1761545056.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 96.836807 m, bearing: 346.127482 deg, approach rate: -0.478183 m/s, LOS rate: 0.017645 deg/s, cmd heading: 335.892830 deg, new cmd heading: 335.915301 deg. 2025-10-27T06:04:16.870Z,1761545056.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862828 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:16.923Z,1761545056.923 [DAT](INFO): DAT read: user:640> 2025-10-27T06:04:16.923Z,1761545056.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764340 2025-10-27T06:04:17.172Z,1761545057.172 [DAT](INFO): DAT read: Rx Time:06:04:15.8574 2025-10-27T06:04:17.173Z,1761545057.173 [DAT](INFO): Rx dataTimestamp_ set to:1761545057.172236 2025-10-27T06:04:17.173Z,1761545057.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013962 2025-10-27T06:04:17.226Z,1761545057.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902615,0.430439,0.002928],[-0.425877,0.892019,0.151432],[0.062570,-0.137932,0.988463]] 2025-10-27T06:04:17.246Z,1761545057.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:17.260Z,1761545057.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 96.634697 m, bearing: 346.134682 deg, approach rate: -0.527644 m/s, LOS rate: 0.018837 deg/s, cmd heading: 335.915288 deg, new cmd heading: 335.936934 deg. 2025-10-27T06:04:17.261Z,1761545057.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863205 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:17.424Z,1761545057.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264726 2025-10-27T06:04:17.689Z,1761545057.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519388 2025-10-27T06:04:17.773Z,1761545057.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.25 m. 2025-10-27T06:04:17.776Z,1761545057.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.251503 m, nav range: 96.366043 m, bearing: 346.140233 deg, approach rate: -0.509207 m/s, LOS rate: 0.010550 deg/s, cmd heading: 335.936926 deg, new cmd heading: 335.953624 deg. 2025-10-27T06:04:17.777Z,1761545057.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863497 target range: 101.251503 and range: 101.90 m. 2025-10-27T06:04:17.934Z,1761545057.934 [DAT](INFO): DAT read: 06:04:15.8574 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 163,-0.07, 1.052,-0.812, 0.926, 0.759, PHS= 0.395,-1.526, 0.123, RAW= 142.5, 11.2, CAL= 142.0, 12.2, ROT= 8.0, -12.2 2025-10-27T06:04:17.935Z,1761545057.935 [DAT](INFO): got valid direction response: 06:04:15.8574 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 163,-0.07, 1.052,-0.812, 0.926, 0.759, PHS= 0.395,-1.526, 0.123, RAW= 142.5, 11.2, CAL= 142.0, 12.2, ROT= 8.0, -12.2 2025-10-27T06:04:17.936Z,1761545057.936 [DAT](INFO): DAT read: Bearing 145.7, 9.6 (Local) 2025-10-27T06:04:17.937Z,1761545057.937 [DAT](INFO): Local bearing/azimuth received: Bearing 145.7, 9.6 (Local) 2025-10-27T06:04:17.938Z,1761545057.938 [DAT](INFO): DAT read: Range 11 to 50 : 100.0 m (Round-trip 133.4 ms) speed 0.4 m/s 2025-10-27T06:04:17.939Z,1761545057.939 [DAT](INFO): DAT read: Tx time:06:04:16.9213 2025-10-27T06:04:17.940Z,1761545057.940 [DAT](INFO): Ping request sent. 2025-10-27T06:04:17.940Z,1761545057.940 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:17.940Z,1761545057.940 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:17.941Z,1761545057.941 [DAT](INFO): direction in FSK: [0.967904,0.136030,0.211325] 2025-10-27T06:04:17.941Z,1761545057.941 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:17.941Z,1761545057.941 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:17.969Z,1761545057.969 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:17.969Z,1761545057.969 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:18.111Z,1761545058.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904538,0.426384,0.002751],[-0.421879,0.894006,0.150903],[0.061883,-0.137658,0.988545]] 2025-10-27T06:04:18.134Z,1761545058.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.000000 m, deltaT: 3.779845 s, deltaX: -1.900002 m, approachRate: -0.502667 m/s, rangeRepo size: 4 2025-10-27T06:04:18.137Z,1761545058.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.363251 m, bearing: 344.739996 deg, lat: 36.779419 deg, lon: -121.859695 deg, deltaT: 3.779845 s, deltaX: -1.888252 m, approachRate: -0.499558 m/s, posRepo size: 4 2025-10-27T06:04:18.137Z,1761545058.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:18.140Z,1761545058.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 95.657761 m, bearing: 346.065701 deg, approach rate: 0.000000 m/s, LOS rate: 0.010550 deg/s, cmd heading: 335.953619 deg, new cmd heading: 335.965033 deg. 2025-10-27T06:04:18.141Z,1761545058.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863696 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:18.510Z,1761545058.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905427,0.424491,0.003160],[-0.420018,0.894757,0.151643],[0.061544,-0.138628,0.988430]] 2025-10-27T06:04:18.527Z,1761545058.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:18.529Z,1761545058.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:18.532Z,1761545058.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 95.454788 m, bearing: 346.068998 deg, approach rate: -0.513768 m/s, LOS rate: 0.008365 deg/s, cmd heading: 335.965039 deg, new cmd heading: 335.974952 deg. 2025-10-27T06:04:18.533Z,1761545058.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863869 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:18.684Z,1761545058.684 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:18.684Z,1761545058.684 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:18.684Z,1761545058.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:18.920Z,1761545058.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906220,0.422794,0.003159],[-0.418337,0.895533,0.151707],[0.061312,-0.138801,0.988420]] 2025-10-27T06:04:18.936Z,1761545058.936 [DAT](INFO): DAT read: user:641> 2025-10-27T06:04:18.937Z,1761545058.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996784 2025-10-27T06:04:18.959Z,1761545058.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:18.988Z,1761545058.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 95.235649 m, bearing: 346.072596 deg, approach rate: -0.509990 m/s, LOS rate: 0.008393 deg/s, cmd heading: 335.974956 deg, new cmd heading: 335.985775 deg. 2025-10-27T06:04:18.989Z,1761545058.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864058 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:19.191Z,1761545059.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251265 2025-10-27T06:04:19.318Z,1761545059.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906992,0.421136,0.003269],[-0.416680,0.896215,0.152238],[0.061183,-0.139441,0.988338]] 2025-10-27T06:04:19.421Z,1761545059.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:19.424Z,1761545059.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 95.004448 m, bearing: 346.076161 deg, approach rate: -0.499561 m/s, LOS rate: 0.007720 deg/s, cmd heading: 335.985775 deg, new cmd heading: 335.996495 deg. 2025-10-27T06:04:19.425Z,1761545059.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864245 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:19.440Z,1761545059.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500329 2025-10-27T06:04:19.692Z,1761545059.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752051 2025-10-27T06:04:19.766Z,1761545059.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907651,0.419708,0.003838],[-0.415251,0.896605,0.153837],[0.061125,-0.141224,0.988089]] 2025-10-27T06:04:19.814Z,1761545059.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:19.817Z,1761545059.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 94.791786 m, bearing: 346.083150 deg, approach rate: -0.541292 m/s, LOS rate: 0.017830 deg/s, cmd heading: 335.996485 deg, new cmd heading: 336.017500 deg. 2025-10-27T06:04:19.818Z,1761545059.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864612 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:19.944Z,1761545059.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004101 2025-10-27T06:04:20.150Z,1761545060.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907882,0.419199,0.004693],[-0.414736,0.896471,0.155991],[0.061184,-0.143568,0.987747]] 2025-10-27T06:04:20.192Z,1761545060.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:20.194Z,1761545060.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 94.599808 m, bearing: 346.089439 deg, approach rate: -0.508688 m/s, LOS rate: 0.016698 deg/s, cmd heading: 336.017495 deg, new cmd heading: 336.036400 deg. 2025-10-27T06:04:20.196Z,1761545060.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256430 2025-10-27T06:04:20.200Z,1761545060.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864942 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:20.448Z,1761545060.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508092 2025-10-27T06:04:20.554Z,1761545060.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908202,0.418503,0.004984],[-0.414012,0.896582,0.157271],[0.061350,-0.144898,0.987543]] 2025-10-27T06:04:20.571Z,1761545060.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:20.573Z,1761545060.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:20.592Z,1761545060.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 94.389412 m, bearing: 346.096271 deg, approach rate: -0.551650 m/s, LOS rate: 0.017953 deg/s, cmd heading: 336.036401 deg, new cmd heading: 336.056942 deg. 2025-10-27T06:04:20.593Z,1761545060.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865300 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:20.704Z,1761545060.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763587 2025-10-27T06:04:20.952Z,1761545060.952 [DAT](INFO): DAT read: Rx Time:06:04:19.4564 2025-10-27T06:04:20.953Z,1761545060.953 [DAT](INFO): Rx dataTimestamp_ set to:1761545060.952296 2025-10-27T06:04:20.953Z,1761545060.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013341 2025-10-27T06:04:20.961Z,1761545060.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908206,0.418487,0.005592],[-0.413988,0.896321,0.158818],[0.061452,-0.146555,0.987292]] 2025-10-27T06:04:21.019Z,1761545061.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:21.021Z,1761545061.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 94.138420 m, bearing: 346.111638 deg, approach rate: -0.563437 m/s, LOS rate: 0.034587 deg/s, cmd heading: 336.056946 deg, new cmd heading: 336.103168 deg. 2025-10-27T06:04:21.022Z,1761545061.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866107 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:21.204Z,1761545061.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264181 2025-10-27T06:04:21.363Z,1761545061.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907794,0.419359,0.007013],[-0.414902,0.895448,0.161338],[0.061379,-0.149371,0.986874]] 2025-10-27T06:04:21.406Z,1761545061.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m. 2025-10-27T06:04:21.425Z,1761545061.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.363251 m, nav range: 93.924171 m, bearing: 346.124974 deg, approach rate: -0.552605 m/s, LOS rate: 0.034477 deg/s, cmd heading: 336.103173 deg, new cmd heading: 336.143273 deg. 2025-10-27T06:04:21.426Z,1761545061.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866807 target range: 99.363251 and range: 100.00 m. 2025-10-27T06:04:21.462Z,1761545061.462 [DAT](INFO): DAT read: 06:04:19.4564 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 153,-0.09,-1.497, 3.014,-1.589,-1.710, PHS= 0.315,-1.515, 0.077, RAW= 143.1, 13.0, CAL= 142.6, 14.1, ROT= 7.4, -14.1 2025-10-27T06:04:21.463Z,1761545061.463 [DAT](INFO): got valid direction response: 06:04:19.4564 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 153,-0.09,-1.497, 3.014,-1.589,-1.710, PHS= 0.315,-1.515, 0.077, RAW= 143.1, 13.0, CAL= 142.6, 14.1, ROT= 7.4, -14.1 2025-10-27T06:04:21.464Z,1761545061.464 [DAT](INFO): DAT read: Bearing 148.0, 8.6 (Local) 2025-10-27T06:04:21.464Z,1761545061.464 [DAT](INFO): Local bearing/azimuth received: Bearing 148.0, 8.6 (Local) 2025-10-27T06:04:21.466Z,1761545061.466 [DAT](INFO): DAT read: Range 11 to 50 : 98.1 m (Round-trip 130.9 ms) speed 0.4 m/s 2025-10-27T06:04:21.467Z,1761545061.467 [DAT](INFO): DAT read: Tx time:06:04:20.5198 2025-10-27T06:04:21.467Z,1761545061.467 [DAT](INFO): Ping request sent. 2025-10-27T06:04:21.467Z,1761545061.467 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:21.468Z,1761545061.468 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:21.468Z,1761545061.468 [DAT](INFO): direction in FSK: [0.961794,0.124915,0.243615] 2025-10-27T06:04:21.469Z,1761545061.469 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:21.469Z,1761545061.469 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:21.476Z,1761545061.476 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:21.477Z,1761545061.477 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:21.807Z,1761545061.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907412,0.420173,0.007632],[-0.415617,0.894591,0.164222],[0.062174,-0.152189,0.986394]] 2025-10-27T06:04:21.855Z,1761545061.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 98.099998 m, deltaT: 3.528145 s, deltaX: -1.900002 m, approachRate: -0.538527 m/s, rangeRepo size: 4 2025-10-27T06:04:21.858Z,1761545061.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.475204 m, bearing: 345.024750 deg, lat: 36.779418 deg, lon: -121.859709 deg, deltaT: 3.528145 s, deltaX: -1.888046 m, approachRate: -0.535138 m/s, posRepo size: 4 2025-10-27T06:04:21.858Z,1761545061.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.48 m. 2025-10-27T06:04:21.861Z,1761545061.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.475204 m, nav range: 93.922546 m, bearing: 345.445590 deg, approach rate: 0.000000 m/s, LOS rate: 0.034477 deg/s, cmd heading: 336.143279 deg, new cmd heading: 336.189655 deg. 2025-10-27T06:04:21.862Z,1761545061.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867616 target range: 97.475204 and range: 98.10 m. 2025-10-27T06:04:22.197Z,1761545062.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906968,0.421122,0.008018],[-0.416509,0.893875,0.165853],[0.062677,-0.153762,0.986118]] 2025-10-27T06:04:22.286Z,1761545062.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.48 m. 2025-10-27T06:04:22.305Z,1761545062.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.475204 m, nav range: 93.668671 m, bearing: 345.466289 deg, approach rate: -0.589088 m/s, LOS rate: 0.048161 deg/s, cmd heading: 336.189643 deg, new cmd heading: 336.251909 deg. 2025-10-27T06:04:22.306Z,1761545062.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868703 target range: 97.475204 and range: 98.10 m. 2025-10-27T06:04:22.616Z,1761545062.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906582,0.421943,0.008548],[-0.417319,0.893262,0.167119],[0.062879,-0.155074,0.985900]] 2025-10-27T06:04:22.641Z,1761545062.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:22.643Z,1761545062.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.48 m. 2025-10-27T06:04:22.646Z,1761545062.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.475204 m, nav range: 93.460190 m, bearing: 345.483496 deg, approach rate: -0.582987 m/s, LOS rate: 0.048224 deg/s, cmd heading: 336.251907 deg, new cmd heading: 336.303642 deg. 2025-10-27T06:04:22.647Z,1761545062.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869606 target range: 97.475204 and range: 98.10 m. 2025-10-27T06:04:22.718Z,1761545062.718 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:22.722Z,1761545062.722 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:22.723Z,1761545062.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:22.968Z,1761545062.968 [DAT](INFO): DAT read: user:642> 2025-10-27T06:04:22.969Z,1761545062.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501269 2025-10-27T06:04:23.022Z,1761545063.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906151,0.422861,0.008824],[-0.418207,0.892670,0.168056],[0.063188,-0.155974,0.985738]] 2025-10-27T06:04:23.140Z,1761545063.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.48 m. 2025-10-27T06:04:23.142Z,1761545063.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.475204 m, nav range: 93.164001 m, bearing: 345.511029 deg, approach rate: -0.596352 m/s, LOS rate: 0.055612 deg/s, cmd heading: 336.303652 deg, new cmd heading: 336.386515 deg. 2025-10-27T06:04:23.144Z,1761545063.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871052 target range: 97.475204 and range: 98.10 m. 2025-10-27T06:04:23.220Z,1761545063.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752961 2025-10-27T06:04:23.427Z,1761545063.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905692,0.423843,0.008920],[-0.419169,0.892160,0.168370],[0.063405,-0.156230,0.985684]] 2025-10-27T06:04:23.472Z,1761545063.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004609 2025-10-27T06:04:23.506Z,1761545063.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.48 m. 2025-10-27T06:04:23.513Z,1761545063.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.475204 m, nav range: 92.947090 m, bearing: 345.531452 deg, approach rate: -0.591665 m/s, LOS rate: 0.055837 deg/s, cmd heading: 336.386516 deg, new cmd heading: 336.447928 deg. 2025-10-27T06:04:23.514Z,1761545063.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872124 target range: 97.475204 and range: 98.10 m. 2025-10-27T06:04:23.728Z,1761545063.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259903 2025-10-27T06:04:23.833Z,1761545063.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905396,0.424490,0.008112],[-0.419762,0.892119,0.167104],[0.063698,-0.154701,0.985906]] 2025-10-27T06:04:23.913Z,1761545063.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.48 m. 2025-10-27T06:04:23.938Z,1761545063.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.475204 m, nav range: 92.701714 m, bearing: 345.558792 deg, approach rate: -0.603939 m/s, LOS rate: 0.067468 deg/s, cmd heading: 336.447933 deg, new cmd heading: 336.530168 deg. 2025-10-27T06:04:23.939Z,1761545063.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873559 target range: 97.475204 and range: 98.10 m. 2025-10-27T06:04:23.977Z,1761545063.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509300 2025-10-27T06:04:24.228Z,1761545064.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760650 2025-10-27T06:04:24.241Z,1761545064.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905164,0.424980,0.008349],[-0.420247,0.891790,0.167638],[0.063798,-0.155248,0.985813]] 2025-10-27T06:04:24.300Z,1761545064.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.48 m. 2025-10-27T06:04:24.303Z,1761545064.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.475204 m, nav range: 92.481773 m, bearing: 345.583498 deg, approach rate: -0.567330 m/s, LOS rate: 0.063880 deg/s, cmd heading: 336.530169 deg, new cmd heading: 336.604463 deg. 2025-10-27T06:04:24.304Z,1761545064.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874856 target range: 97.475204 and range: 98.10 m. 2025-10-27T06:04:24.480Z,1761545064.480 [DAT](INFO): DAT read: Rx Time:06:04:23.0521 2025-10-27T06:04:24.481Z,1761545064.481 [DAT](INFO): Rx dataTimestamp_ set to:1761545064.480394 2025-10-27T06:04:24.481Z,1761545064.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013964 2025-10-27T06:04:24.638Z,1761545064.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905227,0.424867,0.007193],[-0.420068,0.892193,0.165936],[0.064083,-0.153232,0.986110]] 2025-10-27T06:04:24.661Z,1761545064.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:24.664Z,1761545064.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.48 m. 2025-10-27T06:04:24.666Z,1761545064.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.475204 m, nav range: 92.252968 m, bearing: 345.609299 deg, approach rate: -0.629820 m/s, LOS rate: 0.071197 deg/s, cmd heading: 336.604454 deg, new cmd heading: 336.682049 deg. 2025-10-27T06:04:24.667Z,1761545064.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876210 target range: 97.475204 and range: 98.10 m. 2025-10-27T06:04:24.737Z,1761545064.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268545 2025-10-27T06:04:24.994Z,1761545064.994 [DAT](INFO): DAT read: 06:04:23.0521 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 157,-0.39,-0.908,-2.720,-1.020,-1.158, PHS= 0.353,-1.517, 0.095, RAW= 142.7, 12.2, CAL= 142.2, 13.2, ROT= 7.8, -13.2 2025-10-27T06:04:24.995Z,1761545064.995 [DAT](INFO): got valid direction response: 06:04:23.0521 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 157,-0.39,-0.908,-2.720,-1.020,-1.158, PHS= 0.353,-1.517, 0.095, RAW= 142.7, 12.2, CAL= 142.2, 13.2, ROT= 7.8, -13.2 2025-10-27T06:04:24.996Z,1761545064.996 [DAT](INFO): DAT read: Bearing 147.4, 8.9 (Local) 2025-10-27T06:04:24.997Z,1761545064.997 [DAT](INFO): Local bearing/azimuth received: Bearing 147.4, 8.9 (Local) 2025-10-27T06:04:24.998Z,1761545064.998 [DAT](INFO): DAT read: Range 11 to 50 : 96.1 m (Round-trip 128.2 ms) speed 0.5 m/s 2025-10-27T06:04:24.999Z,1761545064.999 [DAT](INFO): DAT read: user:643>Tx time:06:04:24.1198 2025-10-27T06:04:24.000Z,1761545065.000 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:25.001Z,1761545065.001 [DAT](INFO): direction in FSK: [0.964571,0.132130,0.228351] 2025-10-27T06:04:25.001Z,1761545065.001 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:25.004Z,1761545065.004 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:25.005Z,1761545065.005 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:25.005Z,1761545065.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:25.054Z,1761545065.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905602,0.424081,0.006288],[-0.419257,0.892865,0.164360],[0.064088,-0.151481,0.986380]] 2025-10-27T06:04:25.164Z,1761545065.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.099998 m, deltaT: 3.527753 s, deltaX: -2.000000 m, approachRate: -0.566933 m/s, rangeRepo size: 4 2025-10-27T06:04:25.166Z,1761545065.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.488434 m, bearing: 345.032142 deg, lat: 36.779417 deg, lon: -121.859715 deg, deltaT: 3.527753 s, deltaX: -1.986771 m, approachRate: -0.563183 m/s, posRepo size: 4 2025-10-27T06:04:25.171Z,1761545065.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:25.177Z,1761545065.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 91.920517 m, bearing: 345.267658 deg, approach rate: 0.000000 m/s, LOS rate: 0.071197 deg/s, cmd heading: 336.682045 deg, new cmd heading: 336.787874 deg. 2025-10-27T06:04:25.178Z,1761545065.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878057 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:25.237Z,1761545065.237 [DAT](INFO): DAT read: 2025-10-27T06:04:25.238Z,1761545065.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770345 2025-10-27T06:04:25.488Z,1761545065.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020575 2025-10-27T06:04:25.493Z,1761545065.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905903,0.423450,0.005494],[-0.418610,0.893436,0.162905],[0.064073,-0.149876,0.986626]] 2025-10-27T06:04:25.512Z,1761545065.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:25.514Z,1761545065.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 91.703606 m, bearing: 345.292419 deg, approach rate: -0.614936 m/s, LOS rate: 0.070361 deg/s, cmd heading: 336.787885 deg, new cmd heading: 336.862342 deg. 2025-10-27T06:04:25.516Z,1761545065.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879357 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:25.744Z,1761545065.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276730 2025-10-27T06:04:25.901Z,1761545065.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906146,0.422942,0.004394],[-0.418076,0.894051,0.160891],[0.064119,-0.147628,0.986962]] 2025-10-27T06:04:25.944Z,1761545065.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:25.947Z,1761545065.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 91.457771 m, bearing: 345.317205 deg, approach rate: -0.568969 m/s, LOS rate: 0.057519 deg/s, cmd heading: 336.862334 deg, new cmd heading: 336.936892 deg. 2025-10-27T06:04:25.948Z,1761545065.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880658 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:25.992Z,1761545065.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524806 2025-10-27T06:04:26.245Z,1761545066.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777263 2025-10-27T06:04:26.306Z,1761545066.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906634,0.421909,0.002840],[-0.417047,0.895126,0.157549],[0.063929,-0.144024,0.987507]] 2025-10-27T06:04:26.324Z,1761545066.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:26.327Z,1761545066.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 91.240425 m, bearing: 345.339079 deg, approach rate: -0.571430 m/s, LOS rate: 0.057647 deg/s, cmd heading: 336.936893 deg, new cmd heading: 337.002671 deg. 2025-10-27T06:04:26.328Z,1761545066.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881806 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:26.496Z,1761545066.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028531 2025-10-27T06:04:26.738Z,1761545066.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907256,0.420574,0.001797],[-0.415720,0.896120,0.155388],[0.063742,-0.141723,0.987852]] 2025-10-27T06:04:26.750Z,1761545066.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282699 2025-10-27T06:04:26.831Z,1761545066.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:26.833Z,1761545066.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:26.836Z,1761545066.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 90.959267 m, bearing: 345.364837 deg, approach rate: -0.552580 m/s, LOS rate: 0.050781 deg/s, cmd heading: 337.002681 deg, new cmd heading: 337.080194 deg. 2025-10-27T06:04:26.837Z,1761545066.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883159 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:26.000Z,1761545067.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532706 2025-10-27T06:04:27.185Z,1761545067.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907919,0.419146,0.000716],[-0.414298,0.897156,0.153195],[0.063569,-0.139385,0.988196]] 2025-10-27T06:04:27.204Z,1761545067.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:27.206Z,1761545067.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 90.754379 m, bearing: 345.383503 deg, approach rate: -0.554084 m/s, LOS rate: 0.050594 deg/s, cmd heading: 337.080190 deg, new cmd heading: 337.136316 deg. 2025-10-27T06:04:27.208Z,1761545067.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884139 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:27.253Z,1761545067.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785222 2025-10-27T06:04:27.504Z,1761545067.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036665 2025-10-27T06:04:27.586Z,1761545067.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908667,0.417521,0.000140],[-0.412706,0.898139,0.151725],[0.063223,-0.137925,0.988423]] 2025-10-27T06:04:27.621Z,1761545067.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:27.624Z,1761545067.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 90.532318 m, bearing: 345.403578 deg, approach rate: -0.531296 m/s, LOS rate: 0.048148 deg/s, cmd heading: 337.136307 deg, new cmd heading: 337.196679 deg. 2025-10-27T06:04:27.625Z,1761545067.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885192 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:27.759Z,1761545067.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291040 2025-10-27T06:04:27.992Z,1761545067.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908880,0.417058,0.000814],[-0.412281,0.898173,0.152676],[0.062944,-0.139100,0.988276]] 2025-10-27T06:04:28.008Z,1761545068.008 [DAT](INFO): DAT read: Rx Time:06:04:26.6494 2025-10-27T06:04:28.008Z,1761545068.008 [DAT](INFO): Rx dataTimestamp_ set to:1761545068.008151 2025-10-27T06:04:28.009Z,1761545068.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541709 2025-10-27T06:04:28.059Z,1761545068.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:28.062Z,1761545068.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 90.315437 m, bearing: 345.418221 deg, approach rate: -0.528783 m/s, LOS rate: 0.035786 deg/s, cmd heading: 337.196686 deg, new cmd heading: 337.240719 deg. 2025-10-27T06:04:28.067Z,1761545068.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885961 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:28.260Z,1761545068.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792635 2025-10-27T06:04:28.400Z,1761545068.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909149,0.416470,0.000782],[-0.411718,0.898488,0.152339],[0.062742,-0.138820,0.988328]] 2025-10-27T06:04:28.467Z,1761545068.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.49 m. 2025-10-27T06:04:28.500Z,1761545068.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.488434 m, nav range: 90.109375 m, bearing: 345.432116 deg, approach rate: -0.481531 m/s, LOS rate: 0.032546 deg/s, cmd heading: 337.240727 deg, new cmd heading: 337.282509 deg. 2025-10-27T06:04:28.529Z,1761545068.529 [DAT](INFO): DAT read: 06:04:26.6494 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.19,-1.953, 2.529,-2.037,-2.204, PHS= 0.353,-1.505, 0.123, RAW= 143.5, 11.7, CAL= 143.0, 12.7, ROT= 7.0, -12.7 2025-10-27T06:04:28.532Z,1761545068.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886690 target range: 95.488434 and range: 96.10 m. 2025-10-27T06:04:28.548Z,1761545068.548 [DAT](INFO): got valid direction response: 06:04:26.6494 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.19,-1.953, 2.529,-2.037,-2.204, PHS= 0.353,-1.505, 0.123, RAW= 143.5, 11.7, CAL= 143.0, 12.7, ROT= 7.0, -12.7 2025-10-27T06:04:28.549Z,1761545068.549 [DAT](INFO): DAT read: Bearing 147.5, 8.2 (Local) 2025-10-27T06:04:28.549Z,1761545068.549 [DAT](INFO): Local bearing/azimuth received: Bearing 147.5, 8.2 (Local) 2025-10-27T06:04:28.550Z,1761545068.550 [DAT](INFO): DAT read: Range 11 to 50 : 94.0 m (Round-trip 125.4 ms) speed 0.9 m/s 2025-10-27T06:04:28.560Z,1761545068.560 [DAT](INFO): DAT read: user:644>Tx time:06:04:27.7198 2025-10-27T06:04:28.560Z,1761545068.560 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:28.561Z,1761545068.561 [DAT](INFO): direction in FSK: [0.968263,0.118888,0.219846] 2025-10-27T06:04:28.562Z,1761545068.562 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:28.573Z,1761545068.573 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:28.573Z,1761545068.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:28.574Z,1761545068.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:28.766Z,1761545068.766 [DAT](INFO): DAT read: 2025-10-27T06:04:28.768Z,1761545068.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.300637 2025-10-27T06:04:28.869Z,1761545068.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909483,0.415741,0.001126],[-0.411025,0.898752,0.152654],[0.062452,-0.139299,0.988279]] 2025-10-27T06:04:28.932Z,1761545068.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.000000 m, deltaT: 3.529681 s, deltaX: -2.099998 m, approachRate: -0.594954 m/s, rangeRepo size: 4 2025-10-27T06:04:28.934Z,1761545068.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.402870 m, bearing: 344.524256 deg, lat: 36.779417 deg, lon: -121.859719 deg, deltaT: 3.529681 s, deltaX: -2.085564 m, approachRate: -0.590865 m/s, posRepo size: 4 2025-10-27T06:04:28.934Z,1761545068.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:28.957Z,1761545068.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 89.959106 m, bearing: 345.201391 deg, approach rate: 0.000000 m/s, LOS rate: 0.032546 deg/s, cmd heading: 337.282500 deg, new cmd heading: 337.328566 deg. 2025-10-27T06:04:28.958Z,1761545068.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887494 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:29.017Z,1761545069.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549563 2025-10-27T06:04:29.268Z,1761545069.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800689 2025-10-27T06:04:29.341Z,1761545069.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:29.343Z,1761545069.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:29.346Z,1761545069.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 89.747589 m, bearing: 345.209530 deg, approach rate: -0.513258 m/s, LOS rate: 0.019796 deg/s, cmd heading: 337.328563 deg, new cmd heading: 337.353037 deg. 2025-10-27T06:04:29.347Z,1761545069.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887921 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:29.520Z,1761545069.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052598 2025-10-27T06:04:29.704Z,1761545069.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910664,0.413145,0.001611],[-0.408488,0.899800,0.153293],[0.061883,-0.140256,0.988180]] 2025-10-27T06:04:29.734Z,1761545069.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:29.738Z,1761545069.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 89.550568 m, bearing: 345.216793 deg, approach rate: -0.503635 m/s, LOS rate: 0.018609 deg/s, cmd heading: 337.353043 deg, new cmd heading: 337.374882 deg. 2025-10-27T06:04:29.760Z,1761545069.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888302 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:29.775Z,1761545069.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307086 2025-10-27T06:04:30.024Z,1761545070.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557127 2025-10-27T06:04:30.177Z,1761545070.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:30.180Z,1761545070.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 89.323975 m, bearing: 345.219126 deg, approach rate: -0.511863 m/s, LOS rate: 0.005283 deg/s, cmd heading: 337.374872 deg, new cmd heading: 337.381888 deg. 2025-10-27T06:04:30.181Z,1761545070.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888425 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:30.276Z,1761545070.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808697 2025-10-27T06:04:30.528Z,1761545070.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060684 2025-10-27T06:04:30.567Z,1761545070.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:30.570Z,1761545070.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 89.126122 m, bearing: 345.221173 deg, approach rate: -0.506735 m/s, LOS rate: 0.005253 deg/s, cmd heading: 337.381893 deg, new cmd heading: 337.388047 deg. 2025-10-27T06:04:30.571Z,1761545070.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888532 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:30.780Z,1761545070.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312889 2025-10-27T06:04:30.985Z,1761545070.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:30.988Z,1761545070.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 88.909386 m, bearing: 345.223046 deg, approach rate: -0.518780 m/s, LOS rate: 0.004493 deg/s, cmd heading: 337.388040 deg, new cmd heading: 337.393672 deg. 2025-10-27T06:04:30.989Z,1761545070.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888630 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:31.032Z,1761545071.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564862 2025-10-27T06:04:31.284Z,1761545071.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816640 2025-10-27T06:04:31.334Z,1761545071.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913639,0.406527,0.000081],[-0.401959,0.903341,0.149678],[0.060775,-0.136784,0.988735]] 2025-10-27T06:04:31.389Z,1761545071.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:31.397Z,1761545071.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:31.412Z,1761545071.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 88.700890 m, bearing: 345.223861 deg, approach rate: -0.509864 m/s, LOS rate: 0.001998 deg/s, cmd heading: 337.393668 deg, new cmd heading: 337.396120 deg. 2025-10-27T06:04:31.413Z,1761545071.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888673 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:31.536Z,1761545071.536 [DAT](INFO): Reached modem response timeout 2025-10-27T06:04:31.538Z,1761545071.538 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:31.538Z,1761545071.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:31.748Z,1761545071.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914234,0.405187,0.000411],[-0.400667,0.903885,0.149858],[0.060349,-0.137170,0.988707]] 2025-10-27T06:04:31.766Z,1761545071.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:31.769Z,1761545071.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 88.504166 m, bearing: 345.224455 deg, approach rate: -0.528318 m/s, LOS rate: 0.001599 deg/s, cmd heading: 337.396127 deg, new cmd heading: 337.397914 deg. 2025-10-27T06:04:31.791Z,1761545071.791 [DAT](INFO): DAT read: Rx Time:06:04:0.26 2025-10-27T06:04:31.793Z,1761545071.793 [DAT](INFO): Rx dataTimestamp_ set to:1761545071.791806 2025-10-27T06:04:31.798Z,1761545071.798 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:31.809Z,1761545071.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888704 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:32.040Z,1761545072.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:04:32.217Z,1761545072.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.40 m. 2025-10-27T06:04:32.220Z,1761545072.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.402870 m, nav range: 88.272301 m, bearing: 345.221422 deg, approach rate: -0.513967 m/s, LOS rate: -0.006742 deg/s, cmd heading: 337.397903 deg, new cmd heading: 337.388779 deg. 2025-10-27T06:04:32.221Z,1761545072.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888545 target range: 93.402870 and range: 94.00 m. 2025-10-27T06:04:32.298Z,1761545072.298 [DAT](INFO): DAT read: 06:04:30.2467 LVL= 29840, 32753, 32754, 32755, AGC= 70, IDX= 422,-0.02, 2.859, 0.999, 2.788, 2.548, PHS= 0.414,-1.503, 0.197, RAW= 144.1, 9.8, CAL= 143.6, 10.7, ROT= 6.4, -10.7 2025-10-27T06:04:32.301Z,1761545072.301 [DAT](INFO): got valid direction response: 06:04:30.2467 LVL= 29840, 32753, 32754, 32755, AGC= 70, IDX= 422,-0.02, 2.859, 0.999, 2.788, 2.548, PHS= 0.414,-1.503, 0.197, RAW= 144.1, 9.8, CAL= 143.6, 10.7, ROT= 6.4, -10.7 2025-10-27T06:04:32.303Z,1761545072.303 [DAT](INFO): DAT read: Bearing 146.1, 8.0 (Local) 2025-10-27T06:04:32.303Z,1761545072.303 [DAT](INFO): Local bearing/azimuth received: Bearing 146.1, 8.0 (Local) 2025-10-27T06:04:32.305Z,1761545072.305 [DAT](INFO): DAT read: Range 11 to 50 : 92.1 m (Round-trip 122.8 ms) speed 0.4 m/s 2025-10-27T06:04:32.306Z,1761545072.306 [DAT](INFO): DAT read: user:645> 2025-10-27T06:04:32.308Z,1761545072.308 [DAT](INFO): DAT read: Tx time:06:04:31.3198 2025-10-27T06:04:32.309Z,1761545072.309 [DAT](INFO): Ping request sent. 2025-10-27T06:04:32.309Z,1761545072.309 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:32.309Z,1761545072.309 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:32.310Z,1761545072.310 [DAT](INFO): direction in FSK: [0.976489,0.109531,0.185667] 2025-10-27T06:04:32.310Z,1761545072.310 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:32.310Z,1761545072.310 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:32.314Z,1761545072.314 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:32.314Z,1761545072.314 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:32.552Z,1761545072.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915351,0.402647,0.002814],[-0.398384,0.904600,0.151618],[0.058503,-0.139905,0.988435]] 2025-10-27T06:04:32.581Z,1761545072.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.778548 s, deltaX: -1.900002 m, approachRate: -0.502839 m/s, rangeRepo size: 4 2025-10-27T06:04:32.583Z,1761545072.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.511330 m, bearing: 344.413340 deg, lat: 36.779417 deg, lon: -121.859721 deg, deltaT: 3.778548 s, deltaX: -1.891541 m, approachRate: -0.500600 m/s, posRepo size: 4 2025-10-27T06:04:32.584Z,1761545072.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:32.586Z,1761545072.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 88.125046 m, bearing: 345.126567 deg, approach rate: 0.000000 m/s, LOS rate: -0.006742 deg/s, cmd heading: 337.388778 deg, new cmd heading: 337.381442 deg. 2025-10-27T06:04:32.603Z,1761545072.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888417 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:32.954Z,1761545072.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915618,0.402034,0.003481],[-0.397825,0.904714,0.152409],[0.058124,-0.140933,0.988311]] 2025-10-27T06:04:33.004Z,1761545073.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:33.006Z,1761545073.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 87.898323 m, bearing: 345.125776 deg, approach rate: -0.535429 m/s, LOS rate: -0.001872 deg/s, cmd heading: 337.381429 deg, new cmd heading: 337.379051 deg. 2025-10-27T06:04:33.007Z,1761545073.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888375 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:33.373Z,1761545073.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915835,0.401518,0.005390],[-0.397475,0.904543,0.154320],[0.057087,-0.143474,0.988006]] 2025-10-27T06:04:33.403Z,1761545073.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:33.405Z,1761545073.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:33.429Z,1761545073.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 87.683266 m, bearing: 345.124988 deg, approach rate: -0.535469 m/s, LOS rate: -0.001969 deg/s, cmd heading: 337.379052 deg, new cmd heading: 337.376680 deg. 2025-10-27T06:04:33.430Z,1761545073.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888334 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:33.552Z,1761545073.552 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:33.552Z,1761545073.552 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:33.552Z,1761545073.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:33.763Z,1761545073.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916040,0.401013,0.007690],[-0.397122,0.904128,0.157630],[0.056259,-0.147449,0.987468]] 2025-10-27T06:04:33.800Z,1761545073.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:33.806Z,1761545073.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496959 2025-10-27T06:04:33.809Z,1761545073.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 87.477890 m, bearing: 345.124210 deg, approach rate: -0.543736 m/s, LOS rate: -0.002063 deg/s, cmd heading: 337.376675 deg, new cmd heading: 337.374337 deg. 2025-10-27T06:04:33.810Z,1761545073.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888293 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:34.056Z,1761545074.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747145 2025-10-27T06:04:34.167Z,1761545074.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916215,0.400595,0.008558],[-0.396779,0.904098,0.158660],[0.055821,-0.148762,0.987296]] 2025-10-27T06:04:34.209Z,1761545074.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:34.228Z,1761545074.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 87.247841 m, bearing: 345.130159 deg, approach rate: -0.539540 m/s, LOS rate: 0.013989 deg/s, cmd heading: 337.374325 deg, new cmd heading: 337.392220 deg. 2025-10-27T06:04:34.229Z,1761545074.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888605 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:34.309Z,1761545074.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000570 2025-10-27T06:04:34.560Z,1761545074.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251281 2025-10-27T06:04:34.568Z,1761545074.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916453,0.400044,0.008873],[-0.396266,0.904273,0.158947],[0.055562,-0.149184,0.987247]] 2025-10-27T06:04:34.591Z,1761545074.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:34.594Z,1761545074.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 87.042030 m, bearing: 345.135434 deg, approach rate: -0.539066 m/s, LOS rate: 0.013850 deg/s, cmd heading: 337.392220 deg, new cmd heading: 337.408084 deg. 2025-10-27T06:04:34.612Z,1761545074.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888882 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:34.812Z,1761545074.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503662 2025-10-27T06:04:34.970Z,1761545074.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916601,0.399708,0.008726],[-0.395926,0.904462,0.158716],[0.055547,-0.148934,0.987286]] 2025-10-27T06:04:35.026Z,1761545075.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:35.029Z,1761545075.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 86.802040 m, bearing: 345.149359 deg, approach rate: -0.552136 m/s, LOS rate: 0.032124 deg/s, cmd heading: 337.408094 deg, new cmd heading: 337.449983 deg. 2025-10-27T06:04:35.030Z,1761545075.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889613 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:35.065Z,1761545075.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755862 2025-10-27T06:04:35.316Z,1761545075.316 [DAT](INFO): DAT read: Rx Time:06:04:33.8443 2025-10-27T06:04:35.316Z,1761545075.316 [DAT](INFO): Rx dataTimestamp_ set to:1761545075.316159 2025-10-27T06:04:35.317Z,1761545075.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008243 2025-10-27T06:04:35.388Z,1761545075.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916782,0.399304,0.008178],[-0.395474,0.904749,0.158206],[0.055773,-0.148275,0.987372]] 2025-10-27T06:04:35.412Z,1761545075.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:35.414Z,1761545075.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:35.417Z,1761545075.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 86.587601 m, bearing: 345.161793 deg, approach rate: -0.552084 m/s, LOS rate: 0.032090 deg/s, cmd heading: 337.449977 deg, new cmd heading: 337.487370 deg. 2025-10-27T06:04:35.418Z,1761545075.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890266 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:35.568Z,1761545075.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259140 2025-10-27T06:04:35.778Z,1761545075.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916914,0.398992,0.008612],[-0.395187,0.904738,0.158988],[0.055644,-0.149182,0.987243]] 2025-10-27T06:04:35.809Z,1761545075.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-27T06:04:35.812Z,1761545075.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.511330 m, nav range: 86.371719 m, bearing: 345.174333 deg, approach rate: -0.546679 m/s, LOS rate: 0.031834 deg/s, cmd heading: 337.487379 deg, new cmd heading: 337.525093 deg. 2025-10-27T06:04:35.813Z,1761545075.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890924 target range: 91.511330 and range: 92.10 m. 2025-10-27T06:04:35.826Z,1761545075.826 [DAT](INFO): DAT read: 06:04:33.8443 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.04,-1.106,-2.834,-1.152,-1.294, PHS= 0.291,-1.495, 0.098, RAW= 144.4, 13.0, CAL= 143.9, 14.1, ROT= 6.1, -14.1 2025-10-27T06:04:35.827Z,1761545075.827 [DAT](INFO): got valid direction response: 06:04:33.8443 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.04,-1.106,-2.834,-1.152,-1.294, PHS= 0.291,-1.495, 0.098, RAW= 144.4, 13.0, CAL= 143.9, 14.1, ROT= 6.1, -14.1 2025-10-27T06:04:35.828Z,1761545075.828 [DAT](INFO): DAT read: Bearing 149.6, 6.8 (Local) 2025-10-27T06:04:35.828Z,1761545075.828 [DAT](INFO): Local bearing/azimuth received: Bearing 149.6, 6.8 (Local) 2025-10-27T06:04:35.832Z,1761545075.832 [DAT](INFO): DAT read: Range 11 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.6 m/s 2025-10-27T06:04:35.835Z,1761545075.835 [DAT](INFO): DAT read: user:646> 2025-10-27T06:04:35.854Z,1761545075.854 [DAT](INFO): DAT read: Tx time:06:04:34.9198 2025-10-27T06:04:35.864Z,1761545075.864 [DAT](INFO): Ping request sent. 2025-10-27T06:04:35.865Z,1761545075.865 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:35.866Z,1761545075.866 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:35.878Z,1761545075.878 [DAT](INFO): direction in FSK: [0.964381,0.103063,0.243615] 2025-10-27T06:04:35.900Z,1761545075.900 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:35.900Z,1761545075.900 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:35.934Z,1761545075.934 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:35.934Z,1761545075.934 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:36.206Z,1761545076.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916880,0.399060,0.009093],[-0.395261,0.904502,0.160139],[0.055681,-0.150422,0.987053]] 2025-10-27T06:04:36.308Z,1761545076.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 3.527959 s, deltaX: -1.799995 m, approachRate: -0.510209 m/s, rangeRepo size: 4 2025-10-27T06:04:36.310Z,1761545076.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.718765 m, bearing: 344.976399 deg, lat: 36.779417 deg, lon: -121.859725 deg, deltaT: 3.527959 s, deltaX: -1.792564 m, approachRate: -0.508102 m/s, posRepo size: 4 2025-10-27T06:04:36.311Z,1761545076.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m. 2025-10-27T06:04:36.314Z,1761545076.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.718765 m, nav range: 86.165070 m, bearing: 344.976544 deg, approach rate: 0.000000 m/s, LOS rate: 0.031834 deg/s, cmd heading: 337.525081 deg, new cmd heading: 337.572675 deg. 2025-10-27T06:04:36.314Z,1761545076.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891755 target range: 89.718765 and range: 90.30 m. 2025-10-27T06:04:36.636Z,1761545076.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916718,0.399423,0.009507],[-0.395616,0.904142,0.161294],[0.055829,-0.151622,0.986861]] 2025-10-27T06:04:36.750Z,1761545076.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m. 2025-10-27T06:04:36.753Z,1761545076.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.718765 m, nav range: 85.914864 m, bearing: 344.998491 deg, approach rate: -0.564766 m/s, LOS rate: 0.049683 deg/s, cmd heading: 337.572674 deg, new cmd heading: 337.638707 deg. 2025-10-27T06:04:36.754Z,1761545076.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892907 target range: 89.718765 and range: 90.30 m. 2025-10-27T06:04:37.047Z,1761545077.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916492,0.399943,0.009412],[-0.396145,0.904005,0.160758],[0.055786,-0.151062,0.986949]] 2025-10-27T06:04:37.124Z,1761545077.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m. 2025-10-27T06:04:37.126Z,1761545077.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.718765 m, nav range: 85.715363 m, bearing: 345.020766 deg, approach rate: -0.534636 m/s, LOS rate: 0.059834 deg/s, cmd heading: 337.638708 deg, new cmd heading: 337.705690 deg. 2025-10-27T06:04:37.131Z,1761545077.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894076 target range: 89.718765 and range: 90.30 m. 2025-10-27T06:04:37.322Z,1761545077.322 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:04:37.459Z,1761545077.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916172,0.400670,0.009627],[-0.396870,0.903609,0.161202],[0.055889,-0.151510,0.986875]] 2025-10-27T06:04:37.505Z,1761545077.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:37.508Z,1761545077.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m. 2025-10-27T06:04:37.510Z,1761545077.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.718765 m, nav range: 85.486809 m, bearing: 345.046540 deg, approach rate: -0.594868 m/s, LOS rate: 0.067263 deg/s, cmd heading: 337.705699 deg, new cmd heading: 337.783228 deg. 2025-10-27T06:04:37.512Z,1761545077.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895430 target range: 89.718765 and range: 90.30 m. 2025-10-27T06:04:37.588Z,1761545077.588 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:37.588Z,1761545077.588 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:37.588Z,1761545077.588 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:37.840Z,1761545077.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975874 2025-10-27T06:04:37.885Z,1761545077.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915607,0.401960,0.009569],[-0.398202,0.903239,0.159981],[0.055663,-0.150290,0.987074]] 2025-10-27T06:04:37.983Z,1761545077.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m. 2025-10-27T06:04:37.986Z,1761545077.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.718765 m, nav range: 85.211151 m, bearing: 345.083676 deg, approach rate: -0.580084 m/s, LOS rate: 0.078400 deg/s, cmd heading: 337.783235 deg, new cmd heading: 337.895002 deg. 2025-10-27T06:04:37.987Z,1761545077.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897380 target range: 89.718765 and range: 90.30 m. 2025-10-27T06:04:38.092Z,1761545078.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228113 2025-10-27T06:04:38.271Z,1761545078.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915018,0.403301,0.009467],[-0.399542,0.902747,0.159416],[0.055747,-0.149651,0.987166]] 2025-10-27T06:04:38.305Z,1761545078.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m. 2025-10-27T06:04:38.308Z,1761545078.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.718765 m, nav range: 85.032990 m, bearing: 345.107992 deg, approach rate: -0.553151 m/s, LOS rate: 0.075655 deg/s, cmd heading: 337.895004 deg, new cmd heading: 337.968106 deg. 2025-10-27T06:04:38.309Z,1761545078.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898656 target range: 89.718765 and range: 90.30 m. 2025-10-27T06:04:38.325Z,1761545078.325 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:04:38.346Z,1761545078.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481347 2025-10-27T06:04:38.596Z,1761545078.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731961 2025-10-27T06:04:38.673Z,1761545078.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914463,0.404554,0.009633],[-0.400860,0.902342,0.158398],[0.055388,-0.148711,0.987328]] 2025-10-27T06:04:38.696Z,1761545078.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m. 2025-10-27T06:04:38.699Z,1761545078.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.718765 m, nav range: 84.797424 m, bearing: 345.140541 deg, approach rate: -0.602278 m/s, LOS rate: 0.083451 deg/s, cmd heading: 337.968115 deg, new cmd heading: 338.066034 deg. 2025-10-27T06:04:38.701Z,1761545078.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900365 target range: 89.718765 and range: 90.30 m. 2025-10-27T06:04:38.850Z,1761545078.850 [DAT](INFO): DAT read: Rx Time:06:04:37.4416 2025-10-27T06:04:38.850Z,1761545078.850 [DAT](INFO): Rx dataTimestamp_ set to:1761545078.849703 2025-10-27T06:04:38.851Z,1761545078.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986985 2025-10-27T06:04:39.077Z,1761545079.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914053,0.405472,0.009959],[-0.401779,0.901820,0.159043],[0.055507,-0.149375,0.987221]] 2025-10-27T06:04:39.100Z,1761545079.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236102 2025-10-27T06:04:39.133Z,1761545079.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m. 2025-10-27T06:04:39.140Z,1761545079.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.718765 m, nav range: 84.548309 m, bearing: 345.174770 deg, approach rate: -0.570377 m/s, LOS rate: 0.078601 deg/s, cmd heading: 338.066032 deg, new cmd heading: 338.169020 deg. 2025-10-27T06:04:39.141Z,1761545079.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902163 target range: 89.718765 and range: 90.30 m. 2025-10-27T06:04:39.362Z,1761545079.362 [DAT](INFO): DAT read: 06:04:37.4416 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.02,-0.692,-2.473,-0.754,-0.926, PHS= 0.336,-1.502, 0.128, RAW= 144.1, 11.9, CAL= 143.6, 12.9, ROT= 6.4, -12.9 2025-10-27T06:04:39.364Z,1761545079.364 [DAT](INFO): got valid direction response: 06:04:37.4416 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.02,-0.692,-2.473,-0.754,-0.926, PHS= 0.336,-1.502, 0.128, RAW= 144.1, 11.9, CAL= 143.6, 12.9, ROT= 6.4, -12.9 2025-10-27T06:04:39.366Z,1761545079.366 [DAT](INFO): DAT read: Bearing 148.8, 7.1 (Local) 2025-10-27T06:04:39.366Z,1761545079.366 [DAT](INFO): Local bearing/azimuth received: Bearing 148.8, 7.1 (Local) 2025-10-27T06:04:39.369Z,1761545079.369 [DAT](INFO): DAT read: Range 11 to 50 : 88.2 m (Round-trip 117.6 ms) speed 0.6 m/s 2025-10-27T06:04:39.370Z,1761545079.370 [DAT](INFO): DAT read: user:647> 2025-10-27T06:04:39.385Z,1761545079.385 [DAT](INFO): DAT read: Tx time:06:04:38.5198 2025-10-27T06:04:39.385Z,1761545079.385 [DAT](INFO): Ping request sent. 2025-10-27T06:04:39.385Z,1761545079.385 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:39.385Z,1761545079.385 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:39.386Z,1761545079.386 [DAT](INFO): direction in FSK: [0.968686,0.108656,0.223250] 2025-10-27T06:04:39.387Z,1761545079.387 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:39.387Z,1761545079.387 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:39.390Z,1761545079.390 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:39.390Z,1761545079.390 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:39.482Z,1761545079.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913818,0.405996,0.010241],[-0.402292,0.901448,0.159851],[0.055667,-0.150195,0.987088]] 2025-10-27T06:04:39.532Z,1761545079.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.199997 m, deltaT: 3.532611 s, deltaX: -2.100006 m, approachRate: -0.594463 m/s, rangeRepo size: 4 2025-10-27T06:04:39.534Z,1761545079.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.633369 m, bearing: 344.631200 deg, lat: 36.779417 deg, lon: -121.859732 deg, deltaT: 3.532611 s, deltaX: -2.085396 m, approachRate: -0.590327 m/s, posRepo size: 4 2025-10-27T06:04:39.539Z,1761545079.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:39.542Z,1761545079.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 84.496796 m, bearing: 344.820584 deg, approach rate: 0.000000 m/s, LOS rate: 0.078601 deg/s, cmd heading: 338.169032 deg, new cmd heading: 338.263032 deg. 2025-10-27T06:04:39.543Z,1761545079.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903804 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:39.988Z,1761545079.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:39.990Z,1761545079.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:39.997Z,1761545079.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 84.225410 m, bearing: 344.857047 deg, approach rate: -0.591873 m/s, LOS rate: 0.079778 deg/s, cmd heading: 338.263042 deg, new cmd heading: 338.372781 deg. 2025-10-27T06:04:39.998Z,1761545079.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905719 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:40.108Z,1761545080.108 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:40.108Z,1761545080.108 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:40.109Z,1761545080.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:40.337Z,1761545080.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914485,0.404540,0.008055],[-0.400654,0.902561,0.157674],[0.056515,-0.147418,0.987458]] 2025-10-27T06:04:40.361Z,1761545080.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976322 2025-10-27T06:04:40.412Z,1761545080.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:40.414Z,1761545080.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 83.978516 m, bearing: 344.885585 deg, approach rate: -0.585760 m/s, LOS rate: 0.067907 deg/s, cmd heading: 338.372790 deg, new cmd heading: 338.458657 deg. 2025-10-27T06:04:40.418Z,1761545080.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907218 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:40.612Z,1761545080.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227116 2025-10-27T06:04:40.739Z,1761545080.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915195,0.402987,0.004501],[-0.398916,0.904247,0.152328],[0.057317,-0.141205,0.988320]] 2025-10-27T06:04:40.774Z,1761545080.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:40.777Z,1761545080.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 83.779526 m, bearing: 344.908478 deg, approach rate: -0.549594 m/s, LOS rate: 0.063379 deg/s, cmd heading: 338.458659 deg, new cmd heading: 338.527501 deg. 2025-10-27T06:04:40.778Z,1761545080.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908420 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:40.865Z,1761545080.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479809 2025-10-27T06:04:41.116Z,1761545081.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730756 2025-10-27T06:04:41.139Z,1761545081.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916327,0.400431,-0.000104],[-0.396147,0.906562,0.145647],[0.058416,-0.133419,0.989337]] 2025-10-27T06:04:41.193Z,1761545081.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:41.200Z,1761545081.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 83.538986 m, bearing: 344.923348 deg, approach rate: -0.574031 m/s, LOS rate: 0.035587 deg/s, cmd heading: 338.527507 deg, new cmd heading: 338.572244 deg. 2025-10-27T06:04:41.201Z,1761545081.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909200 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:41.369Z,1761545081.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983907 2025-10-27T06:04:41.541Z,1761545081.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917517,0.397670,-0.004664],[-0.393226,0.908893,0.138873],[0.059465,-0.125585,0.990299]] 2025-10-27T06:04:41.575Z,1761545081.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:41.578Z,1761545081.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 83.309433 m, bearing: 344.937136 deg, approach rate: -0.600334 m/s, LOS rate: 0.036160 deg/s, cmd heading: 338.572231 deg, new cmd heading: 338.613712 deg. 2025-10-27T06:04:41.579Z,1761545081.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909924 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:41.620Z,1761545081.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234961 2025-10-27T06:04:41.872Z,1761545081.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486843 2025-10-27T06:04:42.005Z,1761545082.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918784,0.394690,-0.007481],[-0.390082,0.910638,0.136287],[0.060603,-0.122300,0.990641]] 2025-10-27T06:04:42.040Z,1761545082.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:42.042Z,1761545082.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:42.045Z,1761545082.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 83.060333 m, bearing: 344.940609 deg, approach rate: -0.533698 m/s, LOS rate: 0.007464 deg/s, cmd heading: 338.613704 deg, new cmd heading: 338.624155 deg. 2025-10-27T06:04:42.046Z,1761545082.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910107 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:42.125Z,1761545082.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739539 2025-10-27T06:04:42.365Z,1761545082.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920246,0.391247,-0.008598],[-0.386506,0.912100,0.136697],[0.061324,-0.122472,0.990576]] 2025-10-27T06:04:42.376Z,1761545082.376 [DAT](INFO): DAT read: Rx Time:06:04:41.0383 2025-10-27T06:04:42.377Z,1761545082.377 [DAT](INFO): Rx dataTimestamp_ set to:1761545082.376236 2025-10-27T06:04:42.377Z,1761545082.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991953 2025-10-27T06:04:42.420Z,1761545082.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:42.424Z,1761545082.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 82.875206 m, bearing: 344.942708 deg, approach rate: -0.489558 m/s, LOS rate: 0.005561 deg/s, cmd heading: 338.624168 deg, new cmd heading: 338.630477 deg. 2025-10-27T06:04:42.425Z,1761545082.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910217 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:42.628Z,1761545082.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242870 2025-10-27T06:04:42.756Z,1761545082.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921590,0.388078,-0.008171],[-0.383197,0.912953,0.140275],[0.061897,-0.126145,0.990079]] 2025-10-27T06:04:42.775Z,1761545082.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.63 m. 2025-10-27T06:04:42.778Z,1761545082.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.633369 m, nav range: 82.668236 m, bearing: 344.944546 deg, approach rate: -0.582767 m/s, LOS rate: 0.005189 deg/s, cmd heading: 338.630479 deg, new cmd heading: 338.636007 deg. 2025-10-27T06:04:42.779Z,1761545082.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910313 target range: 87.633369 and range: 88.20 m. 2025-10-27T06:04:42.884Z,1761545082.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498059 2025-10-27T06:04:43.137Z,1761545083.137 [DAT](INFO): DAT read: 06:04:41.0383 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.26, 1.290,-0.461, 1.265, 1.068, PHS= 0.324,-1.485, 0.153, RAW= 145.1, 11.7, CAL= 144.7, 12.7, ROT= 5.3, -12.7 2025-10-27T06:04:43.139Z,1761545083.139 [DAT](INFO): got valid direction response: 06:04:41.0383 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.26, 1.290,-0.461, 1.265, 1.068, PHS= 0.324,-1.485, 0.153, RAW= 145.1, 11.7, CAL= 144.7, 12.7, ROT= 5.3, -12.7 2025-10-27T06:04:43.140Z,1761545083.140 [DAT](INFO): DAT read: Bearing 150.2, 6.6 (Local) 2025-10-27T06:04:43.140Z,1761545083.140 [DAT](INFO): Local bearing/azimuth received: Bearing 150.2, 6.6 (Local) 2025-10-27T06:04:43.142Z,1761545083.142 [DAT](INFO): DAT read: Range 11 to 50 : 85.8 m (Round-trip 114.5 ms) speed 0.6 m/s 2025-10-27T06:04:43.142Z,1761545083.142 [DAT](INFO): DAT read: user:648> 2025-10-27T06:04:43.155Z,1761545083.155 [DAT](INFO): DAT read: Tx time:06:04:42.1197 2025-10-27T06:04:43.155Z,1761545083.155 [DAT](INFO): Ping request sent. 2025-10-27T06:04:43.156Z,1761545083.156 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:43.156Z,1761545083.156 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:43.157Z,1761545083.157 [DAT](INFO): direction in FSK: [0.971364,0.090111,0.219846] 2025-10-27T06:04:43.157Z,1761545083.157 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:43.157Z,1761545083.157 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:43.177Z,1761545083.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922810,0.385182,-0.007564],[-0.380236,0.913770,0.142983],[0.061987,-0.129070,0.989696]] 2025-10-27T06:04:43.185Z,1761545083.185 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:43.185Z,1761545083.185 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:43.300Z,1761545083.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 3.779228 s, deltaX: -2.399994 m, approachRate: -0.635049 m/s, rangeRepo size: 4 2025-10-27T06:04:43.302Z,1761545083.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.252396 m, bearing: 344.624898 deg, lat: 36.779417 deg, lon: -121.859735 deg, deltaT: 3.779228 s, deltaX: -2.380974 m, approachRate: -0.630016 m/s, posRepo size: 4 2025-10-27T06:04:43.303Z,1761545083.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.25 m. 2025-10-27T06:04:43.310Z,1761545083.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.252396 m, nav range: 82.479187 m, bearing: 344.715252 deg, approach rate: 0.000000 m/s, LOS rate: 0.005189 deg/s, cmd heading: 338.635998 deg, new cmd heading: 338.643903 deg. 2025-10-27T06:04:43.310Z,1761545083.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910451 target range: 85.252396 and range: 85.80 m. 2025-10-27T06:04:43.632Z,1761545083.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923962,0.382415,-0.007266],[-0.377425,0.914657,0.144750],[0.062000,-0.131002,0.989442]] 2025-10-27T06:04:43.652Z,1761545083.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.25 m. 2025-10-27T06:04:43.654Z,1761545083.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.252396 m, nav range: 82.278305 m, bearing: 344.702097 deg, approach rate: -0.544794 m/s, LOS rate: -0.035765 deg/s, cmd heading: 338.643894 deg, new cmd heading: 338.604331 deg. 2025-10-27T06:04:43.656Z,1761545083.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909760 target range: 85.252396 and range: 85.80 m. 2025-10-27T06:04:44.044Z,1761545084.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925213,0.379385,-0.006911],[-0.374377,0.915664,0.146292],[0.061829,-0.132764,0.989217]] 2025-10-27T06:04:44.085Z,1761545084.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:44.088Z,1761545084.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.25 m. 2025-10-27T06:04:44.090Z,1761545084.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.252396 m, nav range: 82.062775 m, bearing: 344.678207 deg, approach rate: -0.494270 m/s, LOS rate: -0.054931 deg/s, cmd heading: 338.604333 deg, new cmd heading: 338.532474 deg. 2025-10-27T06:04:44.092Z,1761545084.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908506 target range: 85.252396 and range: 85.80 m. 2025-10-27T06:04:44.140Z,1761545084.140 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:44.140Z,1761545084.140 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:44.140Z,1761545084.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:44.392Z,1761545084.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236760 2025-10-27T06:04:44.601Z,1761545084.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.25 m. 2025-10-27T06:04:44.604Z,1761545084.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.252396 m, nav range: 81.815186 m, bearing: 344.650606 deg, approach rate: -0.482552 m/s, LOS rate: -0.053956 deg/s, cmd heading: 338.532480 deg, new cmd heading: 338.449427 deg. 2025-10-27T06:04:44.608Z,1761545084.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907057 target range: 85.252396 and range: 85.80 m. 2025-10-27T06:04:44.645Z,1761545084.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489037 2025-10-27T06:04:44.896Z,1761545084.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740308 2025-10-27T06:04:44.964Z,1761545084.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927877,0.372850,-0.005274],[-0.367874,0.917622,0.150458],[0.060938,-0.137666,0.988602]] 2025-10-27T06:04:44.992Z,1761545084.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.25 m. 2025-10-27T06:04:44.994Z,1761545084.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.252396 m, nav range: 81.617302 m, bearing: 344.627456 deg, approach rate: -0.506209 m/s, LOS rate: -0.059364 deg/s, cmd heading: 338.449424 deg, new cmd heading: 338.379806 deg. 2025-10-27T06:04:44.997Z,1761545084.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905842 target range: 85.252396 and range: 85.80 m. 2025-10-27T06:04:45.148Z,1761545085.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992355 2025-10-27T06:04:45.400Z,1761545085.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244369 2025-10-27T06:04:45.492Z,1761545085.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929436,0.368977,-0.002265],[-0.364241,0.918451,0.154195],[0.058975,-0.142489,0.988038]] 2025-10-27T06:04:45.545Z,1761545085.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.25 m. 2025-10-27T06:04:45.548Z,1761545085.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.252396 m, nav range: 81.347839 m, bearing: 344.596892 deg, approach rate: -0.487373 m/s, LOS rate: -0.055465 deg/s, cmd heading: 338.379811 deg, new cmd heading: 338.287814 deg. 2025-10-27T06:04:45.549Z,1761545085.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904236 target range: 85.252396 and range: 85.80 m. 2025-10-27T06:04:45.653Z,1761545085.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497312 2025-10-27T06:04:45.880Z,1761545085.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929968,0.367641,-0.000705],[-0.363104,0.918789,0.154860],[0.057581,-0.143759,0.987936]] 2025-10-27T06:04:45.899Z,1761545085.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.25 m. 2025-10-27T06:04:45.901Z,1761545085.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.252396 m, nav range: 81.163612 m, bearing: 344.575723 deg, approach rate: -0.520448 m/s, LOS rate: -0.059939 deg/s, cmd heading: 338.287822 deg, new cmd heading: 338.224171 deg. 2025-10-27T06:04:45.902Z,1761545085.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903125 target range: 85.252396 and range: 85.80 m. 2025-10-27T06:04:45.904Z,1761545085.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748472 2025-10-27T06:04:46.156Z,1761545086.156 [DAT](INFO): DAT read: Rx Time:06:04:44.6359 2025-10-27T06:04:46.156Z,1761545086.156 [DAT](INFO): Rx dataTimestamp_ set to:1761545086.156093 2025-10-27T06:04:46.157Z,1761545086.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001332 2025-10-27T06:04:46.284Z,1761545086.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930400,0.366544,0.001113],[-0.362271,0.919082,0.155072],[0.055818,-0.144682,0.987903]] 2025-10-27T06:04:46.319Z,1761545086.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:46.321Z,1761545086.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.25 m. 2025-10-27T06:04:46.324Z,1761545086.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.252396 m, nav range: 80.953171 m, bearing: 344.558676 deg, approach rate: -0.497950 m/s, LOS rate: -0.040441 deg/s, cmd heading: 338.224165 deg, new cmd heading: 338.172892 deg. 2025-10-27T06:04:46.325Z,1761545086.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902230 target range: 85.252396 and range: 85.80 m. 2025-10-27T06:04:46.409Z,1761545086.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253475 2025-10-27T06:04:46.668Z,1761545086.668 [DAT](INFO): DAT read: 06:04:44.6359 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424, 0.17, 0.676,-1.099, 0.688, 0.437, PHS= 0.341,-1.491, 0.207, RAW= 146.3, 10.7, CAL= 145.9, 11.7, ROT= 4.1, -11.7 2025-10-27T06:04:46.669Z,1761545086.669 [DAT](INFO): got valid direction response: 06:04:44.6359 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 424, 0.17, 0.676,-1.099, 0.688, 0.437, PHS= 0.341,-1.491, 0.207, RAW= 146.3, 10.7, CAL= 145.9, 11.7, ROT= 4.1, -11.7 2025-10-27T06:04:46.670Z,1761545086.670 [DAT](INFO): DAT read: Bearing 150.2, 5.3 (Local) 2025-10-27T06:04:46.670Z,1761545086.670 [DAT](INFO): Local bearing/azimuth received: Bearing 150.2, 5.3 (Local) 2025-10-27T06:04:46.680Z,1761545086.680 [DAT](INFO): DAT read: Range 11 to 50 : 84.0 m (Round-trip 112.1 ms) speed 0.4 m/s 2025-10-27T06:04:46.681Z,1761545086.681 [DAT](INFO): DAT read: user:649> 2025-10-27T06:04:46.681Z,1761545086.681 [DAT](INFO): DAT read: Tx time:06:04:45.7197 2025-10-27T06:04:46.682Z,1761545086.682 [DAT](INFO): Ping request sent. 2025-10-27T06:04:46.682Z,1761545086.682 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:46.682Z,1761545086.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:46.695Z,1761545086.695 [DAT](INFO): direction in FSK: [0.976717,0.070012,0.202787] 2025-10-27T06:04:46.696Z,1761545086.696 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:46.696Z,1761545086.696 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:46.708Z,1761545086.708 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:46.708Z,1761545086.708 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:46.725Z,1761545086.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930514,0.366242,0.003078],[-0.362206,0.918948,0.156017],[0.054311,-0.146291,0.987750]] 2025-10-27T06:04:46.798Z,1761545086.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.528062 s, deltaX: -1.800003 m, approachRate: -0.510196 m/s, rangeRepo size: 4 2025-10-27T06:04:46.808Z,1761545086.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.460358 m, bearing: 344.587262 deg, lat: 36.779417 deg, lon: -121.859735 deg, deltaT: 3.528062 s, deltaX: -1.792038 m, approachRate: -0.507938 m/s, posRepo size: 4 2025-10-27T06:04:46.809Z,1761545086.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:46.816Z,1761545086.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 80.827248 m, bearing: 344.560266 deg, approach rate: 0.000000 m/s, LOS rate: -0.040441 deg/s, cmd heading: 338.172884 deg, new cmd heading: 338.115142 deg. 2025-10-27T06:04:46.817Z,1761545086.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901223 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:47.190Z,1761545087.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:47.193Z,1761545087.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 80.615532 m, bearing: 344.557021 deg, approach rate: -0.539528 m/s, LOS rate: -0.008292 deg/s, cmd heading: 338.115155 deg, new cmd heading: 338.105393 deg. 2025-10-27T06:04:47.193Z,1761545087.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901052 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:47.534Z,1761545087.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930007,0.367434,0.008896],[-0.364018,0.917480,0.160378],[0.050766,-0.152391,0.987016]] 2025-10-27T06:04:47.571Z,1761545087.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:47.574Z,1761545087.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 80.424286 m, bearing: 344.554406 deg, approach rate: -0.501847 m/s, LOS rate: -0.006878 deg/s, cmd heading: 338.105402 deg, new cmd heading: 338.097538 deg. 2025-10-27T06:04:47.574Z,1761545087.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900915 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:47.938Z,1761545087.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929370,0.368946,0.012259],[-0.365872,0.916196,0.163468],[0.049079,-0.156407,0.986472]] 2025-10-27T06:04:47.957Z,1761545087.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:47.960Z,1761545087.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 80.218140 m, bearing: 344.551916 deg, approach rate: -0.533219 m/s, LOS rate: -0.006456 deg/s, cmd heading: 338.097533 deg, new cmd heading: 338.090045 deg. 2025-10-27T06:04:47.961Z,1761545087.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900784 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:48.356Z,1761545088.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928598,0.370788,0.014918],[-0.368029,0.915048,0.165048],[0.047547,-0.158753,0.986173]] 2025-10-27T06:04:48.417Z,1761545088.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:48.419Z,1761545088.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:48.422Z,1761545088.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 79.979004 m, bearing: 344.567742 deg, approach rate: -0.517377 m/s, LOS rate: 0.034342 deg/s, cmd heading: 338.090047 deg, new cmd heading: 338.137667 deg. 2025-10-27T06:04:48.424Z,1761545088.424 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:48.424Z,1761545088.424 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:48.424Z,1761545088.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:48.427Z,1761545088.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901616 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:48.676Z,1761545088.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994088 2025-10-27T06:04:48.749Z,1761545088.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927701,0.372897,0.017860],[-0.370460,0.913611,0.167554],[0.046163,-0.162056,0.985701]] 2025-10-27T06:04:48.767Z,1761545088.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:48.770Z,1761545088.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 79.776451 m, bearing: 344.581627 deg, approach rate: -0.582544 m/s, LOS rate: 0.040036 deg/s, cmd heading: 338.137667 deg, new cmd heading: 338.179430 deg. 2025-10-27T06:04:48.771Z,1761545088.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902345 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:48.928Z,1761545088.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246518 2025-10-27T06:04:49.151Z,1761545089.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926586,0.375536,0.020283],[-0.373376,0.912117,0.169211],[0.045044,-0.164362,0.985371]] 2025-10-27T06:04:49.180Z,1761545089.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498232 2025-10-27T06:04:49.190Z,1761545089.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:49.209Z,1761545089.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 79.518112 m, bearing: 344.616089 deg, approach rate: -0.611032 m/s, LOS rate: 0.081773 deg/s, cmd heading: 338.179441 deg, new cmd heading: 338.283160 deg. 2025-10-27T06:04:49.210Z,1761545089.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904155 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:49.432Z,1761545089.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750166 2025-10-27T06:04:49.557Z,1761545089.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925354,0.378418,0.022793],[-0.376581,0.910609,0.170227],[0.043662,-0.166104,0.985141]] 2025-10-27T06:04:49.635Z,1761545089.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:49.638Z,1761545089.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 79.246605 m, bearing: 344.653258 deg, approach rate: -0.610170 m/s, LOS rate: 0.083819 deg/s, cmd heading: 338.283150 deg, new cmd heading: 338.395041 deg. 2025-10-27T06:04:49.639Z,1761545089.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906107 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:49.684Z,1761545089.684 [DAT](INFO): DAT read: Rx Time:06:04:48.2336 2025-10-27T06:04:49.685Z,1761545089.685 [DAT](INFO): Rx dataTimestamp_ set to:1761545089.684325 2025-10-27T06:04:49.685Z,1761545089.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003438 2025-10-27T06:04:49.936Z,1761545089.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254125 2025-10-27T06:04:49.958Z,1761545089.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923911,0.381755,0.025534],[-0.380233,0.908704,0.172279],[0.042565,-0.168879,0.984717]] 2025-10-27T06:04:50.021Z,1761545090.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.46 m. 2025-10-27T06:04:50.028Z,1761545090.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.460358 m, nav range: 79.015053 m, bearing: 344.685859 deg, approach rate: -0.599786 m/s, LOS rate: 0.084692 deg/s, cmd heading: 338.395029 deg, new cmd heading: 338.493117 deg. 2025-10-27T06:04:50.029Z,1761545090.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907819 target range: 83.460358 and range: 84.00 m. 2025-10-27T06:04:50.194Z,1761545090.194 [DAT](INFO): DAT read: 06:04:48.2336 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.29, 0.492,-1.283, 0.483, 0.323, PHS= 0.271,-1.561, 0.116, RAW= 145.6, 13.3, CAL= 145.3, 14.5, ROT= 4.7, -14.5 2025-10-27T06:04:50.195Z,1761545090.195 [DAT](INFO): got valid direction response: 06:04:48.2336 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.29, 0.492,-1.283, 0.483, 0.323, PHS= 0.271,-1.561, 0.116, RAW= 145.6, 13.3, CAL= 145.3, 14.5, ROT= 4.7, -14.5 2025-10-27T06:04:50.196Z,1761545090.196 [DAT](INFO): DAT read: Bearing 152.8, 4.4 (Local) 2025-10-27T06:04:50.197Z,1761545090.197 [DAT](INFO): Local bearing/azimuth received: Bearing 152.8, 4.4 (Local) 2025-10-27T06:04:50.198Z,1761545090.198 [DAT](INFO): DAT read: Range 11 to 50 : 82.3 m (Round-trip 109.8 ms) speed 0.6 m/s 2025-10-27T06:04:50.207Z,1761545090.207 [DAT](INFO): DAT read: user:650> 2025-10-27T06:04:50.208Z,1761545090.208 [DAT](INFO): DAT read: Tx time:06:04:49.3197 2025-10-27T06:04:50.208Z,1761545090.208 [DAT](INFO): Ping request sent. 2025-10-27T06:04:50.209Z,1761545090.209 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:50.209Z,1761545090.209 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:50.212Z,1761545090.212 [DAT](INFO): direction in FSK: [0.964892,0.079329,0.250380] 2025-10-27T06:04:50.213Z,1761545090.213 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:50.214Z,1761545090.214 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:50.259Z,1761545090.259 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:50.259Z,1761545090.259 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:50.440Z,1761545090.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922479,0.385063,0.027550],[-0.383803,0.907093,0.172853],[0.041569,-0.170027,0.984562]] 2025-10-27T06:04:50.533Z,1761545090.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.300003 m, deltaT: 3.528324 s, deltaX: -1.699997 m, approachRate: -0.481814 m/s, rangeRepo size: 4 2025-10-27T06:04:50.539Z,1761545090.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.771172 m, bearing: 344.622687 deg, lat: 36.779417 deg, lon: -121.859735 deg, deltaT: 3.528324 s, deltaX: -1.689186 m, approachRate: -0.478750 m/s, posRepo size: 4 2025-10-27T06:04:50.540Z,1761545090.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.77 m. 2025-10-27T06:04:50.542Z,1761545090.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.771172 m, nav range: 78.624573 m, bearing: 344.721860 deg, approach rate: 0.000000 m/s, LOS rate: 0.084692 deg/s, cmd heading: 338.493110 deg, new cmd heading: 338.623026 deg. 2025-10-27T06:04:50.544Z,1761545090.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910087 target range: 81.771172 and range: 82.30 m. 2025-10-27T06:04:50.855Z,1761545090.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921107,0.388259,0.028574],[-0.387171,0.905898,0.171602],[0.040740,-0.169127,0.984752]] 2025-10-27T06:04:50.959Z,1761545090.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:50.961Z,1761545090.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.77 m. 2025-10-27T06:04:50.964Z,1761545090.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.771172 m, nav range: 78.352333 m, bearing: 344.768079 deg, approach rate: -0.634827 m/s, LOS rate: 0.108150 deg/s, cmd heading: 338.623021 deg, new cmd heading: 338.762158 deg. 2025-10-27T06:04:50.965Z,1761545090.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912515 target range: 81.771172 and range: 82.30 m. 2025-10-27T06:04:51.196Z,1761545091.196 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:51.196Z,1761545091.196 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:51.196Z,1761545091.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:51.327Z,1761545091.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.77 m. 2025-10-27T06:04:51.336Z,1761545091.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.771172 m, nav range: 78.124771 m, bearing: 344.807554 deg, approach rate: -0.651048 m/s, LOS rate: 0.113266 deg/s, cmd heading: 338.762165 deg, new cmd heading: 338.880935 deg. 2025-10-27T06:04:51.338Z,1761545091.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914588 target range: 81.771172 and range: 82.30 m. 2025-10-27T06:04:51.449Z,1761545091.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239745 2025-10-27T06:04:51.661Z,1761545091.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919173,0.392724,0.029805],[-0.391871,0.904341,0.169125],[0.039466,-0.167135,0.985144]] 2025-10-27T06:04:51.701Z,1761545091.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492278 2025-10-27T06:04:51.726Z,1761545091.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.77 m. 2025-10-27T06:04:51.730Z,1761545091.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.771172 m, nav range: 77.867661 m, bearing: 344.853477 deg, approach rate: -0.619447 m/s, LOS rate: 0.111005 deg/s, cmd heading: 338.880929 deg, new cmd heading: 339.019151 deg. 2025-10-27T06:04:51.732Z,1761545091.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917000 target range: 81.771172 and range: 82.30 m. 2025-10-27T06:04:51.952Z,1761545091.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743320 2025-10-27T06:04:52.080Z,1761545092.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918563,0.394208,0.029016],[-0.393296,0.904162,0.166762],[0.039504,-0.164593,0.985570]] 2025-10-27T06:04:52.176Z,1761545092.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.77 m. 2025-10-27T06:04:52.178Z,1761545092.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.771172 m, nav range: 77.588295 m, bearing: 344.904096 deg, approach rate: -0.620881 m/s, LOS rate: 0.112905 deg/s, cmd heading: 339.019144 deg, new cmd heading: 339.171549 deg. 2025-10-27T06:04:52.184Z,1761545092.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919660 target range: 81.771172 and range: 82.30 m. 2025-10-27T06:04:52.204Z,1761545092.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995526 2025-10-27T06:04:52.456Z,1761545092.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247299 2025-10-27T06:04:52.478Z,1761545092.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918350,0.394855,0.026892],[-0.393778,0.904808,0.162057],[0.039657,-0.159415,0.986415]] 2025-10-27T06:04:52.533Z,1761545092.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.77 m. 2025-10-27T06:04:52.536Z,1761545092.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.771172 m, nav range: 77.364540 m, bearing: 344.939741 deg, approach rate: -0.626208 m/s, LOS rate: 0.100045 deg/s, cmd heading: 339.171539 deg, new cmd heading: 339.278783 deg. 2025-10-27T06:04:52.537Z,1761545092.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921532 target range: 81.771172 and range: 82.30 m. 2025-10-27T06:04:52.709Z,1761545092.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500075 2025-10-27T06:04:52.882Z,1761545092.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918764,0.394072,0.024089],[-0.392798,0.906236,0.156355],[0.039785,-0.153116,0.987407]] 2025-10-27T06:04:52.917Z,1761545092.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.77 m. 2025-10-27T06:04:52.924Z,1761545092.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.771172 m, nav range: 77.138374 m, bearing: 344.975858 deg, approach rate: -0.589217 m/s, LOS rate: 0.094369 deg/s, cmd heading: 339.278773 deg, new cmd heading: 339.387441 deg. 2025-10-27T06:04:52.925Z,1761545092.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923428 target range: 81.771172 and range: 82.30 m. 2025-10-27T06:04:52.960Z,1761545092.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751433 2025-10-27T06:04:53.212Z,1761545093.212 [DAT](INFO): DAT read: Rx Time:06:04:51.8304 2025-10-27T06:04:53.212Z,1761545093.212 [DAT](INFO): Rx dataTimestamp_ set to:1761545093.212131 2025-10-27T06:04:53.213Z,1761545093.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004375 2025-10-27T06:04:53.286Z,1761545093.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919390,0.392781,0.021084],[-0.391341,0.907982,0.149739],[0.039671,-0.145919,0.988501]] 2025-10-27T06:04:53.349Z,1761545093.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:53.356Z,1761545093.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.77 m. 2025-10-27T06:04:53.358Z,1761545093.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.771172 m, nav range: 76.895149 m, bearing: 345.000274 deg, approach rate: -0.554046 m/s, LOS rate: 0.055793 deg/s, cmd heading: 339.387428 deg, new cmd heading: 339.460908 deg. 2025-10-27T06:04:53.364Z,1761545093.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924711 target range: 81.771172 and range: 82.30 m. 2025-10-27T06:04:53.465Z,1761545093.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256629 2025-10-27T06:04:53.725Z,1761545093.725 [DAT](INFO): DAT read: 06:04:51.8304 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.39, 2.040, 0.260, 2.025, 1.856, PHS= 0.286,-1.550, 0.125, RAW= 145.5, 12.9, CAL= 145.1, 14.1, ROT= 4.9, -14.1 2025-10-27T06:04:53.726Z,1761545093.726 [DAT](INFO): got valid direction response: 06:04:51.8304 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.39, 2.040, 0.260, 2.025, 1.856, PHS= 0.286,-1.550, 0.125, RAW= 145.5, 12.9, CAL= 145.1, 14.1, ROT= 4.9, -14.1 2025-10-27T06:04:53.728Z,1761545093.728 [DAT](INFO): DAT read: Bearing 153.1, 4.4 (Local) 2025-10-27T06:04:53.728Z,1761545093.728 [DAT](INFO): Local bearing/azimuth received: Bearing 153.1, 4.4 (Local) 2025-10-27T06:04:53.730Z,1761545093.730 [DAT](INFO): DAT read: Range 11 to 50 : 79.9 m (Round-trip 106.6 ms) speed 0.7 m/s 2025-10-27T06:04:53.736Z,1761545093.736 [DAT](INFO): DAT read: user:651> 2025-10-27T06:04:53.737Z,1761545093.737 [DAT](INFO): DAT read: Tx time:06:04:52.9197 2025-10-27T06:04:53.737Z,1761545093.737 [DAT](INFO): Ping request sent. 2025-10-27T06:04:53.737Z,1761545093.737 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:53.738Z,1761545093.738 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:53.738Z,1761545093.738 [DAT](INFO): direction in FSK: [0.966327,0.082843,0.243615] 2025-10-27T06:04:53.743Z,1761545093.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920299,0.390747,0.019129],[-0.389234,0.909631,0.145147],[0.039316,-0.141024,0.989225]] 2025-10-27T06:04:53.743Z,1761545093.743 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:53.755Z,1761545093.755 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:53.758Z,1761545093.758 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:53.759Z,1761545093.759 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:53.849Z,1761545093.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.900002 m, deltaT: 3.528093 s, deltaX: -2.400002 m, approachRate: -0.680255 m/s, rangeRepo size: 4 2025-10-27T06:04:53.851Z,1761545093.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.392151 m, bearing: 344.012189 deg, lat: 36.779417 deg, lon: -121.859736 deg, deltaT: 3.528093 s, deltaX: -2.379021 m, approachRate: -0.674308 m/s, posRepo size: 4 2025-10-27T06:04:53.852Z,1761545093.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:53.863Z,1761545093.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 76.632668 m, bearing: 344.994923 deg, approach rate: 0.000000 m/s, LOS rate: 0.055793 deg/s, cmd heading: 339.460921 deg, new cmd heading: 339.540889 deg. 2025-10-27T06:04:53.864Z,1761545093.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926106 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:54.187Z,1761545094.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921562,0.387823,0.017784],[-0.386308,0.911485,0.141287],[0.038585,-0.137075,0.989809]] 2025-10-27T06:04:54.231Z,1761545094.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:54.234Z,1761545094.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 76.398735 m, bearing: 344.999372 deg, approach rate: -0.589022 m/s, LOS rate: 0.011237 deg/s, cmd heading: 339.540889 deg, new cmd heading: 339.554277 deg. 2025-10-27T06:04:54.235Z,1761545094.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926340 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:54.549Z,1761545094.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922895,0.384701,0.016417],[-0.383196,0.913435,0.137103],[0.037747,-0.132823,0.990421]] 2025-10-27T06:04:54.580Z,1761545094.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:54.582Z,1761545094.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 76.215736 m, bearing: 345.002421 deg, approach rate: -0.524604 m/s, LOS rate: 0.008761 deg/s, cmd heading: 339.554276 deg, new cmd heading: 339.563445 deg. 2025-10-27T06:04:54.587Z,1761545094.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926500 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:54.997Z,1761545094.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:54.000Z,1761545095.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 75.990143 m, bearing: 345.006200 deg, approach rate: -0.540836 m/s, LOS rate: 0.009087 deg/s, cmd heading: 339.563456 deg, new cmd heading: 339.574826 deg. 2025-10-27T06:04:55.001Z,1761545095.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926699 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:55.359Z,1761545095.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926522,0.375835,0.017488],[-0.374699,0.917524,0.133230],[0.034027,-0.129993,0.990931]] 2025-10-27T06:04:55.396Z,1761545095.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:55.398Z,1761545095.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:55.401Z,1761545095.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 75.786850 m, bearing: 344.987275 deg, approach rate: -0.506595 m/s, LOS rate: -0.047288 deg/s, cmd heading: 339.574821 deg, new cmd heading: 339.517892 deg. 2025-10-27T06:04:55.402Z,1761545095.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925705 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:55.480Z,1761545095.480 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:55.481Z,1761545095.481 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:55.481Z,1761545095.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:55.733Z,1761545095.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995330 2025-10-27T06:04:55.761Z,1761545095.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928374,0.371184,0.018557],[-0.370298,0.919597,0.131230],[0.031645,-0.128702,0.991178]] 2025-10-27T06:04:55.790Z,1761545095.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:55.793Z,1761545095.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 75.592262 m, bearing: 344.968348 deg, approach rate: -0.496142 m/s, LOS rate: -0.048381 deg/s, cmd heading: 339.517885 deg, new cmd heading: 339.460959 deg. 2025-10-27T06:04:55.794Z,1761545095.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924711 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:55.984Z,1761545095.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246662 2025-10-27T06:04:56.205Z,1761545096.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930388,0.366028,0.020034],[-0.365419,0.921726,0.129962],[0.029104,-0.128236,0.991316]] 2025-10-27T06:04:56.236Z,1761545096.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498695 2025-10-27T06:04:56.268Z,1761545096.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:56.271Z,1761545096.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 75.352959 m, bearing: 344.933331 deg, approach rate: -0.500592 m/s, LOS rate: -0.073485 deg/s, cmd heading: 339.460948 deg, new cmd heading: 339.355562 deg. 2025-10-27T06:04:56.272Z,1761545096.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922872 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:56.489Z,1761545096.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751207 2025-10-27T06:04:56.578Z,1761545096.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932432,0.360704,0.021507],[-0.360364,0.923873,0.128828],[0.026600,-0.127874,0.991434]] 2025-10-27T06:04:56.599Z,1761545096.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:56.602Z,1761545096.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 75.187881 m, bearing: 344.908324 deg, approach rate: -0.499512 m/s, LOS rate: -0.075836 deg/s, cmd heading: 339.355572 deg, new cmd heading: 339.280386 deg. 2025-10-27T06:04:56.602Z,1761545096.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921560 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:56.740Z,1761545096.740 [DAT](INFO): DAT read: Rx Time:06:04:55.4277 2025-10-27T06:04:56.740Z,1761545096.740 [DAT](INFO): Rx dataTimestamp_ set to:1761545096.740215 2025-10-27T06:04:56.741Z,1761545096.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003786 2025-10-27T06:04:56.974Z,1761545096.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934417,0.355411,0.023425],[-0.355358,0.925770,0.129117],[0.024204,-0.128973,0.991353]] 2025-10-27T06:04:56.992Z,1761545096.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254731 2025-10-27T06:04:57.002Z,1761545097.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:57.006Z,1761545097.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 74.986427 m, bearing: 344.876796 deg, approach rate: -0.499391 m/s, LOS rate: -0.078366 deg/s, cmd heading: 339.280385 deg, new cmd heading: 339.185547 deg. 2025-10-27T06:04:57.007Z,1761545097.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919905 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:57.257Z,1761545097.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518645 2025-10-27T06:04:57.377Z,1761545097.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936194,0.350600,0.024893],[-0.350784,0.927520,0.129067],[0.022162,-0.129564,0.991323]] 2025-10-27T06:04:57.429Z,1761545097.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:57.431Z,1761545097.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.39 m. 2025-10-27T06:04:57.434Z,1761545097.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.392151 m, nav range: 74.783089 m, bearing: 344.836998 deg, approach rate: -0.474436 m/s, LOS rate: -0.093110 deg/s, cmd heading: 339.185555 deg, new cmd heading: 339.065837 deg. 2025-10-27T06:04:57.434Z,1761545097.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917815 target range: 79.392151 and range: 79.90 m. 2025-10-27T06:04:57.515Z,1761545097.515 [DAT](INFO): DAT read: 06:04:55.4277 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420, 0.25,-1.205,-2.968,-1.139,-1.366, PHS= 0.263,-1.558, 0.182, RAW= 147.8, 12.5, CAL= 147.6, 13.7, ROT= 2.4, -13.7 2025-10-27T06:04:57.516Z,1761545097.516 [DAT](INFO): got valid direction response: 06:04:55.4277 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420, 0.25,-1.205,-2.968,-1.139,-1.366, PHS= 0.263,-1.558, 0.182, RAW= 147.8, 12.5, CAL= 147.6, 13.7, ROT= 2.4, -13.7 2025-10-27T06:04:57.517Z,1761545097.517 [DAT](INFO): DAT read: Bearing 154.3, 1.9 (Local) 2025-10-27T06:04:57.518Z,1761545097.518 [DAT](INFO): Local bearing/azimuth received: Bearing 154.3, 1.9 (Local) 2025-10-27T06:04:57.528Z,1761545097.528 [DAT](INFO): DAT read: Range 11 to 50 : 77.9 m (Round-trip 103.9 ms) speed 0.3 m/s 2025-10-27T06:04:57.529Z,1761545097.529 [DAT](INFO): DAT read: user:652> 2025-10-27T06:04:57.529Z,1761545097.529 [DAT](INFO): DAT read: Tx time:06:04:56.5197 2025-10-27T06:04:57.530Z,1761545097.530 [DAT](INFO): Ping request sent. 2025-10-27T06:04:57.530Z,1761545097.530 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:04:57.530Z,1761545097.530 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:04:57.548Z,1761545097.548 [DAT](INFO): direction in FSK: [0.970697,0.040684,0.236838] 2025-10-27T06:04:57.549Z,1761545097.549 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:57.549Z,1761545097.549 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:57.566Z,1761545097.566 [DAT](INFO): publishing transmit ping time 2025-10-27T06:04:57.567Z,1761545097.567 [DAT](INFO): publishing direction and range info 2025-10-27T06:04:57.782Z,1761545097.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937593,0.346783,0.025698],[-0.347113,0.928942,0.128762],[0.020781,-0.129647,0.991342]] 2025-10-27T06:04:57.865Z,1761545097.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.900002 m, deltaT: 3.792546 s, deltaX: -2.000000 m, approachRate: -0.527350 m/s, rangeRepo size: 4 2025-10-27T06:04:57.872Z,1761545097.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.404381 m, bearing: 343.892552 deg, lat: 36.779417 deg, lon: -121.859737 deg, deltaT: 3.792546 s, deltaX: -1.987770 m, approachRate: -0.524126 m/s, posRepo size: 4 2025-10-27T06:04:57.872Z,1761545097.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-10-27T06:04:57.879Z,1761545097.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.404381 m, nav range: 74.610634 m, bearing: 344.726478 deg, approach rate: 0.000000 m/s, LOS rate: -0.093110 deg/s, cmd heading: 339.065835 deg, new cmd heading: 338.944647 deg. 2025-10-27T06:04:57.884Z,1761545097.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915700 target range: 77.404381 and range: 77.90 m. 2025-10-27T06:04:58.236Z,1761545098.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939727,0.340766,0.028150],[-0.341419,0.930665,0.131512],[0.018617,-0.133196,0.990915]] 2025-10-27T06:04:58.284Z,1761545098.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-10-27T06:04:58.287Z,1761545098.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.404381 m, nav range: 74.389557 m, bearing: 344.693529 deg, approach rate: -0.526579 m/s, LOS rate: -0.078714 deg/s, cmd heading: 338.944641 deg, new cmd heading: 338.845499 deg. 2025-10-27T06:04:58.288Z,1761545098.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913970 target range: 77.404381 and range: 77.90 m. 2025-10-27T06:04:58.628Z,1761545098.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-10-27T06:04:58.630Z,1761545098.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.404381 m, nav range: 74.222527 m, bearing: 344.668502 deg, approach rate: -0.486609 m/s, LOS rate: -0.073075 deg/s, cmd heading: 338.845493 deg, new cmd heading: 338.770244 deg. 2025-10-27T06:04:58.632Z,1761545098.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912656 target range: 77.404381 and range: 77.90 m. 2025-10-27T06:04:58.994Z,1761545098.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939994,0.339880,0.029871],[-0.340695,0.930315,0.135797],[0.018365,-0.137825,0.990286]] 2025-10-27T06:04:59.036Z,1761545099.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-10-27T06:04:59.038Z,1761545099.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.404381 m, nav range: 74.030113 m, bearing: 344.639489 deg, approach rate: -0.471349 m/s, LOS rate: -0.071257 deg/s, cmd heading: 338.770252 deg, new cmd heading: 338.682987 deg. 2025-10-27T06:04:59.040Z,1761545099.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911133 target range: 77.404381 and range: 77.90 m. 2025-10-27T06:04:59.456Z,1761545099.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:04:59.458Z,1761545099.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-10-27T06:04:59.461Z,1761545099.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.404381 m, nav range: 73.796478 m, bearing: 344.628170 deg, approach rate: -0.553072 m/s, LOS rate: -0.026881 deg/s, cmd heading: 338.682990 deg, new cmd heading: 338.648924 deg. 2025-10-27T06:04:59.462Z,1761545099.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910539 target range: 77.404381 and range: 77.90 m. 2025-10-27T06:04:59.525Z,1761545099.525 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:04:59.525Z,1761545099.525 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:04:59.525Z,1761545099.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:04:59.776Z,1761545099.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246081 2025-10-27T06:04:59.809Z,1761545099.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939606,0.340637,0.033283],[-0.341756,0.928507,0.145180],[0.018551,-0.147786,0.988845]] 2025-10-27T06:04:59.845Z,1761545099.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-10-27T06:04:59.864Z,1761545099.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.404381 m, nav range: 73.595123 m, bearing: 344.618694 deg, approach rate: -0.520524 m/s, LOS rate: -0.024564 deg/s, cmd heading: 338.648921 deg, new cmd heading: 338.620415 deg. 2025-10-27T06:04:59.865Z,1761545099.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910041 target range: 77.404381 and range: 77.90 m. 2025-10-27T06:05:00.028Z,1761545100.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498106 2025-10-27T06:05:00.217Z,1761545100.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938916,0.342385,0.034771],[-0.343620,0.927098,0.149714],[0.019024,-0.152517,0.988118]] 2025-10-27T06:05:00.280Z,1761545100.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750245 2025-10-27T06:05:00.290Z,1761545100.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-10-27T06:05:00.292Z,1761545100.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.404381 m, nav range: 73.359703 m, bearing: 344.608005 deg, approach rate: -0.529737 m/s, LOS rate: -0.024128 deg/s, cmd heading: 338.620425 deg, new cmd heading: 338.588257 deg. 2025-10-27T06:05:00.293Z,1761545100.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909480 target range: 77.404381 and range: 77.90 m. 2025-10-27T06:05:00.532Z,1761545100.532 [DAT](INFO): DAT read: Rx Time:06:04:59.0255 2025-10-27T06:05:00.532Z,1761545100.532 [DAT](INFO): Rx dataTimestamp_ set to:1761545100.532049 2025-10-27T06:05:00.533Z,1761545100.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003101 2025-10-27T06:05:00.672Z,1761545100.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.40 m. 2025-10-27T06:05:00.675Z,1761545100.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.404381 m, nav range: 73.146866 m, bearing: 344.617268 deg, approach rate: -0.556247 m/s, LOS rate: 0.024277 deg/s, cmd heading: 338.588269 deg, new cmd heading: 338.616136 deg. 2025-10-27T06:05:00.676Z,1761545100.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909966 target range: 77.404381 and range: 77.90 m. 2025-10-27T06:05:00.784Z,1761545100.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254267 2025-10-27T06:05:01.013Z,1761545101.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936463,0.348601,0.038908],[-0.350151,0.922491,0.162494],[0.020753,-0.165793,0.985942]] 2025-10-27T06:05:01.041Z,1761545101.041 [DAT](INFO): DAT read: 06:04:59.0255 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414,-0.19,-2.346, 2.264,-2.264,-2.460, PHS= 0.216,-1.515, 0.152, RAW= 148.1, 13.4, CAL= 148.0, 14.8, ROT= 2.0, -14.8 2025-10-27T06:05:01.043Z,1761545101.043 [DAT](INFO): got valid direction response: 06:04:59.0255 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414,-0.19,-2.346, 2.264,-2.264,-2.460, PHS= 0.216,-1.515, 0.152, RAW= 148.1, 13.4, CAL= 148.0, 14.8, ROT= 2.0, -14.8 2025-10-27T06:05:01.044Z,1761545101.044 [DAT](INFO): DAT read: Bearing 155.1, 0.7 (Local) 2025-10-27T06:05:01.044Z,1761545101.044 [DAT](INFO): Local bearing/azimuth received: Bearing 155.1, 0.7 (Local) 2025-10-27T06:05:01.045Z,1761545101.045 [DAT](INFO): DAT read: Range 11 to 50 : 76.2 m (Round-trip 101.7 ms) speed 0.4 m/s 2025-10-27T06:05:01.046Z,1761545101.046 [DAT](INFO): DAT read: user:653> 2025-10-27T06:05:01.047Z,1761545101.047 [DAT](INFO): DAT read: Tx time:06:05:00.1197 2025-10-27T06:05:01.047Z,1761545101.047 [DAT](INFO): Ping request sent. 2025-10-27T06:05:01.047Z,1761545101.047 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:01.048Z,1761545101.048 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:01.049Z,1761545101.049 [DAT](INFO): direction in FSK: [0.966234,0.033742,0.255446] 2025-10-27T06:05:01.049Z,1761545101.049 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:01.049Z,1761545101.049 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:01.057Z,1761545101.057 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:01.057Z,1761545101.057 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:01.132Z,1761545101.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.199997 m, deltaT: 3.526963 s, deltaX: -1.700005 m, approachRate: -0.482002 m/s, rangeRepo size: 4 2025-10-27T06:05:01.134Z,1761545101.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.716423 m, bearing: 343.999361 deg, lat: 36.779417 deg, lon: -121.859746 deg, deltaT: 3.526963 s, deltaX: -1.687958 m, approachRate: -0.478587 m/s, posRepo size: 4 2025-10-27T06:05:01.134Z,1761545101.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:01.141Z,1761545101.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 73.127869 m, bearing: 344.032258 deg, approach rate: 0.000000 m/s, LOS rate: 0.024277 deg/s, cmd heading: 338.616136 deg, new cmd heading: 338.648905 deg. 2025-10-27T06:05:01.142Z,1761545101.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910538 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:01.509Z,1761545101.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:01.527Z,1761545101.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:01.530Z,1761545101.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 72.881897 m, bearing: 344.058194 deg, approach rate: -0.632567 m/s, LOS rate: 0.066924 deg/s, cmd heading: 338.648893 deg, new cmd heading: 338.726962 deg. 2025-10-27T06:05:01.540Z,1761545101.540 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:01.540Z,1761545101.540 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:01.540Z,1761545101.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:01.545Z,1761545101.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911901 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:01.792Z,1761545101.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744569 2025-10-27T06:05:01.862Z,1761545101.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931980,0.360029,0.042332],[-0.361716,0.915858,0.174255],[0.023967,-0.177714,0.983790]] 2025-10-27T06:05:01.881Z,1761545101.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:01.884Z,1761545101.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 72.666084 m, bearing: 344.083279 deg, approach rate: -0.583359 m/s, LOS rate: 0.068011 deg/s, cmd heading: 338.726949 deg, new cmd heading: 338.802430 deg. 2025-10-27T06:05:01.885Z,1761545101.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913218 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:02.044Z,1761545102.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996435 2025-10-27T06:05:02.299Z,1761545102.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251180 2025-10-27T06:05:02.308Z,1761545102.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930429,0.363915,0.043218],[-0.365644,0.913923,0.176206],[0.024626,-0.179750,0.983404]] 2025-10-27T06:05:02.368Z,1761545102.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:02.370Z,1761545102.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 72.362175 m, bearing: 344.129029 deg, approach rate: -0.624322 m/s, LOS rate: 0.094379 deg/s, cmd heading: 338.802436 deg, new cmd heading: 338.940262 deg. 2025-10-27T06:05:02.372Z,1761545102.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915624 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:02.548Z,1761545102.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500565 2025-10-27T06:05:02.670Z,1761545102.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929039,0.367336,0.044160],[-0.369164,0.912431,0.176603],[0.024579,-0.180374,0.983291]] 2025-10-27T06:05:02.690Z,1761545102.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:02.693Z,1761545102.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 72.160789 m, bearing: 344.160188 deg, approach rate: -0.625118 m/s, LOS rate: 0.096988 deg/s, cmd heading: 338.940269 deg, new cmd heading: 339.034005 deg. 2025-10-27T06:05:02.694Z,1761545102.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917260 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:02.801Z,1761545102.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753157 2025-10-27T06:05:03.052Z,1761545103.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004406 2025-10-27T06:05:03.074Z,1761545103.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927794,0.370392,0.044805],[-0.372303,0.911325,0.175721],[0.024254,-0.179714,0.983420]] 2025-10-27T06:05:03.153Z,1761545103.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:03.172Z,1761545103.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 71.872467 m, bearing: 344.205916 deg, approach rate: -0.622891 m/s, LOS rate: 0.099187 deg/s, cmd heading: 339.034007 deg, new cmd heading: 339.171741 deg. 2025-10-27T06:05:03.173Z,1761545103.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919663 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:03.308Z,1761545103.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259698 2025-10-27T06:05:03.504Z,1761545103.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926673,0.373243,0.044354],[-0.375118,0.910904,0.171873],[0.023748,-0.175908,0.984120]] 2025-10-27T06:05:03.556Z,1761545103.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508492 2025-10-27T06:05:03.591Z,1761545103.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:03.593Z,1761545103.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:03.600Z,1761545103.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 71.612907 m, bearing: 344.251088 deg, approach rate: -0.588926 m/s, LOS rate: 0.102866 deg/s, cmd heading: 339.171731 deg, new cmd heading: 339.307739 deg. 2025-10-27T06:05:03.601Z,1761545103.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922037 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:03.811Z,1761545103.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763818 2025-10-27T06:05:03.882Z,1761545103.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925951,0.375122,0.043566],[-0.376940,0.911022,0.167200],[0.023031,-0.171241,0.984960]] 2025-10-27T06:05:03.916Z,1761545103.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:03.918Z,1761545103.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 71.405861 m, bearing: 344.287750 deg, approach rate: -0.642620 m/s, LOS rate: 0.114118 deg/s, cmd heading: 339.307733 deg, new cmd heading: 339.418037 deg. 2025-10-27T06:05:03.919Z,1761545103.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923962 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:04.060Z,1761545104.060 [DAT](INFO): DAT read: Rx Time:06:05:02.6228 2025-10-27T06:05:04.060Z,1761545104.060 [DAT](INFO): Rx dataTimestamp_ set to:1761545104.060190 2025-10-27T06:05:04.061Z,1761545104.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013582 2025-10-27T06:05:04.315Z,1761545104.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267260 2025-10-27T06:05:04.338Z,1761545104.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925396,0.376573,0.042832],[-0.378337,0.911174,0.163165],[0.022416,-0.167197,0.985669]] 2025-10-27T06:05:04.394Z,1761545104.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.72 m. 2025-10-27T06:05:04.397Z,1761545104.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.716423 m, nav range: 71.122780 m, bearing: 344.336081 deg, approach rate: -0.591262 m/s, LOS rate: 0.101349 deg/s, cmd heading: 339.418027 deg, new cmd heading: 339.563597 deg. 2025-10-27T06:05:04.398Z,1761545104.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926503 target range: 75.716423 and range: 76.20 m. 2025-10-27T06:05:04.569Z,1761545104.569 [DAT](INFO): DAT read: 06:05:02.6228 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 418,-0.17, 0.459,-1.290, 0.496, 0.335, PHS= 0.226,-1.580, 0.117, RAW= 146.9, 14.0, CAL= 146.8, 15.4, ROT= 3.2, -15.4 2025-10-27T06:05:04.571Z,1761545104.571 [DAT](INFO): got valid direction response: 06:05:02.6228 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 418,-0.17, 0.459,-1.290, 0.496, 0.335, PHS= 0.226,-1.580, 0.117, RAW= 146.9, 14.0, CAL= 146.8, 15.4, ROT= 3.2, -15.4 2025-10-27T06:05:04.572Z,1761545104.572 [DAT](INFO): DAT read: Bearing 154.9, 1.4 (Local) 2025-10-27T06:05:04.572Z,1761545104.572 [DAT](INFO): Local bearing/azimuth received: Bearing 154.9, 1.4 (Local) 2025-10-27T06:05:04.573Z,1761545104.573 [DAT](INFO): DAT read: Range 11 to 50 : 74.2 m (Round-trip 99.0 ms) speed 0.5 m/s 2025-10-27T06:05:04.574Z,1761545104.574 [DAT](INFO): DAT read: user:654> 2025-10-27T06:05:04.575Z,1761545104.575 [DAT](INFO): DAT read: Tx time:06:05:03.7197 2025-10-27T06:05:04.575Z,1761545104.575 [DAT](INFO): Ping request sent. 2025-10-27T06:05:04.575Z,1761545104.575 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:04.576Z,1761545104.576 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:04.577Z,1761545104.577 [DAT](INFO): direction in FSK: [0.962592,0.053817,0.265556] 2025-10-27T06:05:04.577Z,1761545104.577 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:04.577Z,1761545104.577 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:04.580Z,1761545104.580 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:04.581Z,1761545104.581 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:04.813Z,1761545104.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.199997 m, deltaT: 3.528020 s, deltaX: -2.000000 m, approachRate: -0.566890 m/s, rangeRepo size: 4 2025-10-27T06:05:04.821Z,1761545104.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.726303 m, bearing: 343.580817 deg, lat: 36.779415 deg, lon: -121.859749 deg, deltaT: 3.528020 s, deltaX: -1.990120 m, approachRate: -0.564090 m/s, posRepo size: 4 2025-10-27T06:05:04.822Z,1761545104.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:04.835Z,1761545104.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 70.839905 m, bearing: 344.073746 deg, approach rate: 0.000000 m/s, LOS rate: 0.101349 deg/s, cmd heading: 339.563592 deg, new cmd heading: 339.688666 deg. 2025-10-27T06:05:04.836Z,1761545104.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928686 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:05.133Z,1761545105.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925421,0.376617,0.041908],[-0.378412,0.912621,0.154682],[0.020009,-0.159004,0.987075]] 2025-10-27T06:05:05.229Z,1761545105.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:05.232Z,1761545105.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 70.575287 m, bearing: 344.118561 deg, approach rate: -0.624830 m/s, LOS rate: 0.106216 deg/s, cmd heading: 339.688667 deg, new cmd heading: 339.823615 deg. 2025-10-27T06:05:05.233Z,1761545105.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931041 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:05.592Z,1761545105.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926002,0.375257,0.041260],[-0.377067,0.914011,0.149683],[0.018458,-0.154164,0.987873]] 2025-10-27T06:05:05.658Z,1761545105.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:05.664Z,1761545105.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:05.671Z,1761545105.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 70.333923 m, bearing: 344.140053 deg, approach rate: -0.554838 m/s, LOS rate: 0.049574 deg/s, cmd heading: 339.823604 deg, new cmd heading: 339.888300 deg. 2025-10-27T06:05:05.672Z,1761545105.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932170 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:05.826Z,1761545105.826 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:05.826Z,1761545105.826 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:05.828Z,1761545105.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:06.038Z,1761545106.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:06.041Z,1761545106.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 70.117569 m, bearing: 344.159443 deg, approach rate: -0.579135 m/s, LOS rate: 0.052064 deg/s, cmd heading: 339.888299 deg, new cmd heading: 339.946650 deg. 2025-10-27T06:05:06.042Z,1761545106.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933188 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:06.077Z,1761545106.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500790 2025-10-27T06:05:06.331Z,1761545106.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754998 2025-10-27T06:05:06.392Z,1761545106.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927881,0.371026,0.037108],[-0.372525,0.918082,0.135462],[0.016191,-0.139516,0.990088]] 2025-10-27T06:05:06.444Z,1761545106.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:06.446Z,1761545106.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 69.897743 m, bearing: 344.164111 deg, approach rate: -0.543077 m/s, LOS rate: 0.011568 deg/s, cmd heading: 339.946657 deg, new cmd heading: 339.960704 deg. 2025-10-27T06:05:06.463Z,1761545106.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933434 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:06.580Z,1761545106.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004500 2025-10-27T06:05:06.802Z,1761545106.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929119,0.368062,0.035621],[-0.369482,0.920173,0.129480],[0.014879,-0.133463,0.990942]] 2025-10-27T06:05:06.832Z,1761545106.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256668 2025-10-27T06:05:06.834Z,1761545106.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:06.853Z,1761545106.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 69.688133 m, bearing: 344.168046 deg, approach rate: -0.535937 m/s, LOS rate: 0.010093 deg/s, cmd heading: 339.960699 deg, new cmd heading: 339.972542 deg. 2025-10-27T06:05:06.854Z,1761545106.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933640 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:07.085Z,1761545107.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509701 2025-10-27T06:05:07.198Z,1761545107.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930534,0.364544,0.034849],[-0.365963,0.922234,0.124723],[0.013328,-0.128812,0.991579]] 2025-10-27T06:05:07.217Z,1761545107.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:07.220Z,1761545107.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 69.477295 m, bearing: 344.171389 deg, approach rate: -0.549939 m/s, LOS rate: 0.008745 deg/s, cmd heading: 339.972529 deg, new cmd heading: 339.982587 deg. 2025-10-27T06:05:07.221Z,1761545107.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933815 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:07.340Z,1761545107.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763374 2025-10-27T06:05:07.588Z,1761545107.588 [DAT](INFO): DAT read: Rx Time:06:05:06.2199 2025-10-27T06:05:07.588Z,1761545107.588 [DAT](INFO): Rx dataTimestamp_ set to:1761545107.588080 2025-10-27T06:05:07.589Z,1761545107.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013521 2025-10-27T06:05:07.621Z,1761545107.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931590,0.361800,0.035236],[-0.363307,0.923419,0.123713],[0.012222,-0.128051,0.991692]] 2025-10-27T06:05:07.677Z,1761545107.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:07.681Z,1761545107.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:07.684Z,1761545107.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 69.228912 m, bearing: 344.152348 deg, approach rate: -0.535200 m/s, LOS rate: -0.041176 deg/s, cmd heading: 339.982583 deg, new cmd heading: 339.925255 deg. 2025-10-27T06:05:07.685Z,1761545107.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932815 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:07.840Z,1761545107.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264677 2025-10-27T06:05:08.006Z,1761545108.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932269,0.359981,0.035885],[-0.361584,0.924075,0.123865],[0.011429,-0.128451,0.991650]] 2025-10-27T06:05:08.025Z,1761545108.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.73 m. 2025-10-27T06:05:08.028Z,1761545108.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.726303 m, nav range: 69.043076 m, bearing: 344.137725 deg, approach rate: -0.541098 m/s, LOS rate: -0.042693 deg/s, cmd heading: 339.925264 deg, new cmd heading: 339.881277 deg. 2025-10-27T06:05:08.028Z,1761545108.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932047 target range: 73.726303 and range: 74.20 m. 2025-10-27T06:05:08.106Z,1761545108.106 [DAT](INFO): DAT read: 06:05:06.2199 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404,-0.22, 2.091, 0.370, 2.149, 1.996, PHS= 0.196,-1.581, 0.109, RAW= 147.5, 14.6, CAL= 147.4, 16.1, ROT= 2.6, -16.1 2025-10-27T06:05:08.112Z,1761545108.112 [DAT](INFO): got valid direction response: 06:05:06.2199 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404,-0.22, 2.091, 0.370, 2.149, 1.996, PHS= 0.196,-1.581, 0.109, RAW= 147.5, 14.6, CAL= 147.4, 16.1, ROT= 2.6, -16.1 2025-10-27T06:05:08.113Z,1761545108.113 [DAT](INFO): DAT read: Bearing 156.8, 0.9 (Local) 2025-10-27T06:05:08.113Z,1761545108.113 [DAT](INFO): Local bearing/azimuth received: Bearing 156.8, 0.9 (Local) 2025-10-27T06:05:08.114Z,1761545108.114 [DAT](INFO): DAT read: Range 11 to 50 : 72.0 m (Round-trip 96.0 ms) speed 0.4 m/s 2025-10-27T06:05:08.116Z,1761545108.116 [DAT](INFO): DAT read: user:655> 2025-10-27T06:05:08.117Z,1761545108.117 [DAT](INFO): DAT read: Tx time:06:05:07.3197 2025-10-27T06:05:08.117Z,1761545108.117 [DAT](INFO): Ping request sent. 2025-10-27T06:05:08.117Z,1761545108.117 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:08.118Z,1761545108.118 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:08.119Z,1761545108.119 [DAT](INFO): direction in FSK: [0.959790,0.043584,0.277315] 2025-10-27T06:05:08.119Z,1761545108.119 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:08.119Z,1761545108.119 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:08.122Z,1761545108.122 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:08.122Z,1761545108.122 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:08.414Z,1761545108.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932918,0.358160,0.037230],[-0.359942,0.924573,0.124928],[0.010322,-0.129949,0.991467]] 2025-10-27T06:05:08.451Z,1761545108.451 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:05:08.545Z,1761545108.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.000000 m, deltaT: 3.533962 s, deltaX: -2.199997 m, approachRate: -0.622530 m/s, rangeRepo size: 4 2025-10-27T06:05:08.551Z,1761545108.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.541161 m, bearing: 343.636462 deg, lat: 36.779414 deg, lon: -121.859749 deg, deltaT: 3.533962 s, deltaX: -2.185143 m, approachRate: -0.618327 m/s, posRepo size: 4 2025-10-27T06:05:08.552Z,1761545108.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:08.555Z,1761545108.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 68.678467 m, bearing: 344.076927 deg, approach rate: 0.000000 m/s, LOS rate: -0.042693 deg/s, cmd heading: 339.881278 deg, new cmd heading: 339.814716 deg. 2025-10-27T06:05:08.560Z,1761545108.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930886 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:08.879Z,1761545108.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933541,0.356326,0.039157],[-0.358340,0.924660,0.128823],[0.009696,-0.134293,0.990894]] 2025-10-27T06:05:08.930Z,1761545108.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:08.940Z,1761545108.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 68.490387 m, bearing: 344.053977 deg, approach rate: -0.488412 m/s, LOS rate: -0.059760 deg/s, cmd heading: 339.814725 deg, new cmd heading: 339.745687 deg. 2025-10-27T06:05:08.941Z,1761545108.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929681 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:09.292Z,1761545109.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934139,0.354564,0.040844],[-0.356795,0.924815,0.131965],[0.009017,-0.137847,0.990413]] 2025-10-27T06:05:09.350Z,1761545109.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:09.352Z,1761545109.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 68.274689 m, bearing: 344.027215 deg, approach rate: -0.513463 m/s, LOS rate: -0.063908 deg/s, cmd heading: 339.745685 deg, new cmd heading: 339.665144 deg. 2025-10-27T06:05:09.353Z,1761545109.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928275 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:09.455Z,1761545109.455 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:05:09.748Z,1761545109.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934467,0.353530,0.042273],[-0.355948,0.924766,0.134568],[0.008481,-0.140797,0.990002]] 2025-10-27T06:05:09.804Z,1761545109.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:09.808Z,1761545109.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:09.813Z,1761545109.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 68.020859 m, bearing: 343.992345 deg, approach rate: -0.554885 m/s, LOS rate: -0.076511 deg/s, cmd heading: 339.665144 deg, new cmd heading: 339.560144 deg. 2025-10-27T06:05:09.816Z,1761545109.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926443 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:09.860Z,1761545109.860 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:09.860Z,1761545109.860 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:09.860Z,1761545109.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:10.112Z,1761545110.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994496 2025-10-27T06:05:10.148Z,1761545110.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935140,0.351673,0.042888],[-0.354192,0.925363,0.135096],[0.007822,-0.141525,0.989904]] 2025-10-27T06:05:10.202Z,1761545110.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:10.205Z,1761545110.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 67.811226 m, bearing: 343.963015 deg, approach rate: -0.535108 m/s, LOS rate: -0.075100 deg/s, cmd heading: 339.560150 deg, new cmd heading: 339.471886 deg. 2025-10-27T06:05:10.206Z,1761545110.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924902 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:10.372Z,1761545110.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253348 2025-10-27T06:05:10.554Z,1761545110.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935571,0.350420,0.043733],[-0.353059,0.925541,0.136833],[0.007473,-0.143457,0.989628]] 2025-10-27T06:05:10.620Z,1761545110.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502622 2025-10-27T06:05:10.621Z,1761545110.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:10.623Z,1761545110.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 67.600471 m, bearing: 343.933073 deg, approach rate: -0.501692 m/s, LOS rate: -0.071498 deg/s, cmd heading: 339.471876 deg, new cmd heading: 339.381771 deg. 2025-10-27T06:05:10.624Z,1761545110.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923329 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:10.872Z,1761545110.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754862 2025-10-27T06:05:10.957Z,1761545110.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935798,0.349663,0.044910],[-0.352453,0.925194,0.140688],[0.007643,-0.147484,0.989035]] 2025-10-27T06:05:10.976Z,1761545110.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:10.979Z,1761545110.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 67.425140 m, bearing: 343.907964 deg, approach rate: -0.492611 m/s, LOS rate: -0.070729 deg/s, cmd heading: 339.381773 deg, new cmd heading: 339.306250 deg. 2025-10-27T06:05:10.980Z,1761545110.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922011 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:11.124Z,1761545111.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006414 2025-10-27T06:05:11.358Z,1761545111.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936088,0.348689,0.046416],[-0.351680,0.924775,0.145304],[0.007742,-0.152341,0.988298]] 2025-10-27T06:05:11.376Z,1761545111.376 [DAT](INFO): DAT read: Rx Time:06:05:09.8173 2025-10-27T06:05:11.377Z,1761545111.377 [DAT](INFO): Rx dataTimestamp_ set to:1761545111.376245 2025-10-27T06:05:11.377Z,1761545111.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259693 2025-10-27T06:05:11.436Z,1761545111.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:11.453Z,1761545111.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 67.227119 m, bearing: 343.879365 deg, approach rate: -0.435357 m/s, LOS rate: -0.063062 deg/s, cmd heading: 339.306258 deg, new cmd heading: 339.220208 deg. 2025-10-27T06:05:11.454Z,1761545111.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920509 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:11.628Z,1761545111.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510545 2025-10-27T06:05:11.840Z,1761545111.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:11.842Z,1761545111.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.54 m. 2025-10-27T06:05:11.844Z,1761545111.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.541161 m, nav range: 66.987595 m, bearing: 343.855283 deg, approach rate: -0.581511 m/s, LOS rate: -0.058673 deg/s, cmd heading: 339.220198 deg, new cmd heading: 339.147695 deg. 2025-10-27T06:05:11.845Z,1761545111.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919244 target range: 71.541161 and range: 72.00 m. 2025-10-27T06:05:11.888Z,1761545111.888 [DAT](INFO): DAT read: 06:05:09.8173 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410,-0.18,-0.147,-1.875,-0.035,-0.235, PHS= 0.190,-1.594, 0.156, RAW= 149.0, 14.0, CAL= 149.1, 15.5, ROT= 0.9, -15.5 2025-10-27T06:05:11.890Z,1761545111.890 [DAT](INFO): got valid direction response: 06:05:09.8173 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410,-0.18,-0.147,-1.875,-0.035,-0.235, PHS= 0.190,-1.594, 0.156, RAW= 149.0, 14.0, CAL= 149.1, 15.5, ROT= 0.9, -15.5 2025-10-27T06:05:11.892Z,1761545111.892 [DAT](INFO): DAT read: Bearing 156.2, -1.2 (Local) 2025-10-27T06:05:11.893Z,1761545111.893 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -1.2 (Local) 2025-10-27T06:05:11.895Z,1761545111.895 [DAT](INFO): DAT read: Range 11 to 50 : 70.1 m (Round-trip 93.5 ms) speed 0.4 m/s 2025-10-27T06:05:11.896Z,1761545111.896 [DAT](INFO): DAT read: user:656> 2025-10-27T06:05:11.897Z,1761545111.897 [DAT](INFO): DAT read: Tx time:06:05:10.9197 2025-10-27T06:05:11.898Z,1761545111.898 [DAT](INFO): Ping request sent. 2025-10-27T06:05:11.898Z,1761545111.898 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:11.898Z,1761545111.898 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:11.900Z,1761545111.900 [DAT](INFO): direction in FSK: [0.963512,0.015136,0.267238] 2025-10-27T06:05:11.900Z,1761545111.900 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:11.901Z,1761545111.901 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:11.905Z,1761545111.905 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:11.905Z,1761545111.905 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:12.166Z,1761545112.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936826,0.346555,0.047498],[-0.349704,0.924813,0.149762],[0.007974,-0.156912,0.987580]] 2025-10-27T06:05:12.217Z,1761545112.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.099998 m, deltaT: 3.782132 s, deltaX: -1.900002 m, approachRate: -0.502363 m/s, rangeRepo size: 4 2025-10-27T06:05:12.219Z,1761545112.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.655327 m, bearing: 342.916187 deg, lat: 36.779414 deg, lon: -121.859755 deg, deltaT: 3.782132 s, deltaX: -1.885834 m, approachRate: -0.498617 m/s, posRepo size: 4 2025-10-27T06:05:12.220Z,1761545112.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.66 m. 2025-10-27T06:05:12.222Z,1761545112.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.655327 m, nav range: 66.940002 m, bearing: 343.414624 deg, approach rate: 0.000000 m/s, LOS rate: -0.058673 deg/s, cmd heading: 339.147688 deg, new cmd heading: 339.081712 deg. 2025-10-27T06:05:12.239Z,1761545112.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918092 target range: 69.655327 and range: 70.10 m. 2025-10-27T06:05:12.622Z,1761545112.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936906,0.346432,0.046822],[-0.349466,0.924710,0.150946],[0.008996,-0.157785,0.987432]] 2025-10-27T06:05:12.691Z,1761545112.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.66 m. 2025-10-27T06:05:12.694Z,1761545112.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.655327 m, nav range: 66.676414 m, bearing: 343.401688 deg, approach rate: -0.574572 m/s, LOS rate: -0.028309 deg/s, cmd heading: 339.081709 deg, new cmd heading: 339.042748 deg. 2025-10-27T06:05:12.699Z,1761545112.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917412 target range: 69.655327 and range: 70.10 m. 2025-10-27T06:05:13.025Z,1761545113.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937033,0.346254,0.045586],[-0.349085,0.924682,0.151997],[0.010477,-0.158340,0.987329]] 2025-10-27T06:05:13.065Z,1761545113.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.66 m. 2025-10-27T06:05:13.068Z,1761545113.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.655327 m, nav range: 66.466850 m, bearing: 343.391268 deg, approach rate: -0.538055 m/s, LOS rate: -0.026837 deg/s, cmd heading: 339.042749 deg, new cmd heading: 339.011391 deg. 2025-10-27T06:05:13.068Z,1761545113.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916865 target range: 69.655327 and range: 70.10 m. 2025-10-27T06:05:13.557Z,1761545113.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.66 m. 2025-10-27T06:05:13.560Z,1761545113.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.655327 m, nav range: 66.185799 m, bearing: 343.392235 deg, approach rate: -0.570292 m/s, LOS rate: 0.001970 deg/s, cmd heading: 339.011385 deg, new cmd heading: 339.014298 deg. 2025-10-27T06:05:13.561Z,1761545113.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916916 target range: 69.655327 and range: 70.10 m. 2025-10-27T06:05:14.016Z,1761545114.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936751,0.347521,0.041538],[-0.349759,0.925146,0.147556],[0.012850,-0.152752,0.988181]] 2025-10-27T06:05:14.033Z,1761545114.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:14.035Z,1761545114.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.66 m. 2025-10-27T06:05:14.038Z,1761545114.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.655327 m, nav range: 65.921837 m, bearing: 343.393250 deg, approach rate: -0.552971 m/s, LOS rate: 0.002135 deg/s, cmd heading: 339.014308 deg, new cmd heading: 339.017365 deg. 2025-10-27T06:05:14.039Z,1761545114.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916969 target range: 69.655327 and range: 70.10 m. 2025-10-27T06:05:14.148Z,1761545114.148 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:14.149Z,1761545114.149 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:14.149Z,1761545114.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:14.410Z,1761545114.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504796 2025-10-27T06:05:14.458Z,1761545114.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936247,0.348559,0.044136],[-0.351125,0.923838,0.152427],[0.012355,-0.158207,0.987329]] 2025-10-27T06:05:14.521Z,1761545114.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.66 m. 2025-10-27T06:05:14.524Z,1761545114.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.655327 m, nav range: 65.645439 m, bearing: 343.411004 deg, approach rate: -0.568303 m/s, LOS rate: 0.036659 deg/s, cmd heading: 339.017368 deg, new cmd heading: 339.070857 deg. 2025-10-27T06:05:14.525Z,1761545114.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917903 target range: 69.655327 and range: 70.10 m. 2025-10-27T06:05:14.652Z,1761545114.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754162 2025-10-27T06:05:14.882Z,1761545114.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.66 m. 2025-10-27T06:05:14.885Z,1761545114.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.655327 m, nav range: 65.448280 m, bearing: 343.423760 deg, approach rate: -0.546635 m/s, LOS rate: 0.035474 deg/s, cmd heading: 339.070862 deg, new cmd heading: 339.109246 deg. 2025-10-27T06:05:14.886Z,1761545114.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918573 target range: 69.655327 and range: 70.10 m. 2025-10-27T06:05:14.905Z,1761545114.905 [DAT](INFO): DAT read: Rx Time:06:05:13.4148 2025-10-27T06:05:14.905Z,1761545114.905 [DAT](INFO): Rx dataTimestamp_ set to:1761545114.904801 2025-10-27T06:05:14.906Z,1761545114.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007860 2025-10-27T06:05:15.156Z,1761545115.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258063 2025-10-27T06:05:15.286Z,1761545115.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934573,0.352124,0.050817],[-0.355643,0.920811,0.160081],[0.009575,-0.167680,0.985795]] 2025-10-27T06:05:15.319Z,1761545115.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.66 m. 2025-10-27T06:05:15.322Z,1761545115.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.655327 m, nav range: 65.192871 m, bearing: 343.441526 deg, approach rate: -0.584029 m/s, LOS rate: 0.040783 deg/s, cmd heading: 339.109248 deg, new cmd heading: 339.162754 deg. 2025-10-27T06:05:15.323Z,1761545115.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919507 target range: 69.655327 and range: 70.10 m. 2025-10-27T06:05:15.414Z,1761545115.414 [DAT](INFO): DAT read: 06:05:13.4148 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 416, 0.25,-0.905,-2.612,-0.808,-1.001, PHS= 0.199,-1.566, 0.150, RAW= 148.6, 13.9, CAL= 148.6, 15.4, ROT= 1.4, -15.4 2025-10-27T06:05:15.419Z,1761545115.419 [DAT](INFO): got valid direction response: 06:05:13.4148 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 416, 0.25,-0.905,-2.612,-0.808,-1.001, PHS= 0.199,-1.566, 0.150, RAW= 148.6, 13.9, CAL= 148.6, 15.4, ROT= 1.4, -15.4 2025-10-27T06:05:15.421Z,1761545115.421 [DAT](INFO): DAT read: Bearing 155.5, -0.5 (Local) 2025-10-27T06:05:15.421Z,1761545115.421 [DAT](INFO): Local bearing/azimuth received: Bearing 155.5, -0.5 (Local) 2025-10-27T06:05:15.423Z,1761545115.423 [DAT](INFO): DAT read: Range 11 to 50 : 68.2 m (Round-trip 91.0 ms) speed 0.4 m/s 2025-10-27T06:05:15.439Z,1761545115.439 [DAT](INFO): DAT read: user:657> 2025-10-27T06:05:15.441Z,1761545115.441 [DAT](INFO): DAT read: Tx time:06:05:14.5197 2025-10-27T06:05:15.441Z,1761545115.441 [DAT](INFO): Ping request sent. 2025-10-27T06:05:15.441Z,1761545115.441 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:15.441Z,1761545115.441 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:15.442Z,1761545115.442 [DAT](INFO): direction in FSK: [0.963808,0.023555,0.265556] 2025-10-27T06:05:15.442Z,1761545115.442 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:15.456Z,1761545115.456 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:15.496Z,1761545115.496 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:15.497Z,1761545115.497 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:15.638Z,1761545115.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933599,0.354451,0.052515],[-0.358247,0.920371,0.156767],[0.007233,-0.165171,0.986238]] 2025-10-27T06:05:15.743Z,1761545115.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.199997 m, deltaT: 3.528121 s, deltaX: -1.900002 m, approachRate: -0.538531 m/s, rangeRepo size: 4 2025-10-27T06:05:15.745Z,1761545115.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.767464 m, bearing: 342.996829 deg, lat: 36.779414 deg, lon: -121.859756 deg, deltaT: 3.528121 s, deltaX: -1.887863 m, approachRate: -0.535090 m/s, posRepo size: 4 2025-10-27T06:05:15.746Z,1761545115.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m. 2025-10-27T06:05:15.749Z,1761545115.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.767464 m, nav range: 64.990982 m, bearing: 343.391956 deg, approach rate: 0.000000 m/s, LOS rate: 0.040783 deg/s, cmd heading: 339.162742 deg, new cmd heading: 339.214034 deg. 2025-10-27T06:05:15.750Z,1761545115.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920402 target range: 67.767464 and range: 68.20 m. 2025-10-27T06:05:16.043Z,1761545116.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932651,0.356667,0.054324],[-0.360758,0.920267,0.151535],[0.004055,-0.160927,0.986958]] 2025-10-27T06:05:16.060Z,1761545116.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:16.062Z,1761545116.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m. 2025-10-27T06:05:16.065Z,1761545116.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.767464 m, nav range: 64.781181 m, bearing: 343.412496 deg, approach rate: -0.647519 m/s, LOS rate: 0.063599 deg/s, cmd heading: 339.214023 deg, new cmd heading: 339.275843 deg. 2025-10-27T06:05:16.066Z,1761545116.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921481 target range: 67.767464 and range: 68.20 m. 2025-10-27T06:05:16.164Z,1761545116.164 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:16.164Z,1761545116.164 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:16.164Z,1761545116.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:16.416Z,1761545116.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974874 2025-10-27T06:05:16.458Z,1761545116.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931649,0.358749,0.057698],[-0.363358,0.919421,0.150452],[0.000926,-0.161133,0.986932]] 2025-10-27T06:05:16.605Z,1761545116.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m. 2025-10-27T06:05:16.608Z,1761545116.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.767464 m, nav range: 64.457115 m, bearing: 343.458720 deg, approach rate: -0.597084 m/s, LOS rate: 0.085595 deg/s, cmd heading: 339.275850 deg, new cmd heading: 339.415219 deg. 2025-10-27T06:05:16.609Z,1761545116.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923913 target range: 67.767464 and range: 68.20 m. 2025-10-27T06:05:16.669Z,1761545116.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227642 2025-10-27T06:05:16.920Z,1761545116.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478912 2025-10-27T06:05:16.923Z,1761545116.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930640,0.360676,0.061818],[-0.365929,0.918252,0.151357],[-0.002173,-0.163480,0.986544]] 2025-10-27T06:05:16.949Z,1761545116.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m. 2025-10-27T06:05:16.951Z,1761545116.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.767464 m, nav range: 64.247475 m, bearing: 343.489389 deg, approach rate: -0.610455 m/s, LOS rate: 0.089599 deg/s, cmd heading: 339.415213 deg, new cmd heading: 339.507523 deg. 2025-10-27T06:05:16.952Z,1761545116.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925524 target range: 67.767464 and range: 68.20 m. 2025-10-27T06:05:17.172Z,1761545117.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730930 2025-10-27T06:05:17.324Z,1761545117.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929789,0.362321,0.064926],[-0.368054,0.917636,0.149935],[-0.005254,-0.163304,0.986562]] 2025-10-27T06:05:17.363Z,1761545117.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m. 2025-10-27T06:05:17.366Z,1761545117.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.767464 m, nav range: 63.998199 m, bearing: 343.526647 deg, approach rate: -0.601643 m/s, LOS rate: 0.090275 deg/s, cmd heading: 339.507530 deg, new cmd heading: 339.619739 deg. 2025-10-27T06:05:17.367Z,1761545117.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927483 target range: 67.767464 and range: 68.20 m. 2025-10-27T06:05:17.424Z,1761545117.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983065 2025-10-27T06:05:17.676Z,1761545117.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235082 2025-10-27T06:05:17.746Z,1761545117.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929131,0.363577,0.067281],[-0.369670,0.917195,0.148649],[-0.007664,-0.162986,0.986599]] 2025-10-27T06:05:17.830Z,1761545117.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m. 2025-10-27T06:05:17.833Z,1761545117.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.767464 m, nav range: 63.712437 m, bearing: 343.565255 deg, approach rate: -0.612171 m/s, LOS rate: 0.083078 deg/s, cmd heading: 339.619736 deg, new cmd heading: 339.736080 deg. 2025-10-27T06:05:17.833Z,1761545117.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929513 target range: 67.767464 and range: 68.20 m. 2025-10-27T06:05:17.929Z,1761545117.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487486 2025-10-27T06:05:18.131Z,1761545118.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928795,0.364270,0.068170],[-0.370474,0.917324,0.145829],[-0.009412,-0.160701,0.986958]] 2025-10-27T06:05:18.148Z,1761545118.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:18.150Z,1761545118.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m. 2025-10-27T06:05:18.153Z,1761545118.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.767464 m, nav range: 63.516422 m, bearing: 343.592113 deg, approach rate: -0.611458 m/s, LOS rate: 0.084040 deg/s, cmd heading: 339.736068 deg, new cmd heading: 339.816890 deg. 2025-10-27T06:05:18.154Z,1761545118.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930923 target range: 67.767464 and range: 68.20 m. 2025-10-27T06:05:18.180Z,1761545118.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739232 2025-10-27T06:05:18.432Z,1761545118.432 [DAT](INFO): DAT read: Rx Time:06:05:17.0121 2025-10-27T06:05:18.433Z,1761545118.433 [DAT](INFO): Rx dataTimestamp_ set to:1761545118.432232 2025-10-27T06:05:18.433Z,1761545118.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992120 2025-10-27T06:05:18.561Z,1761545118.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928734,0.364512,0.067710],[-0.370591,0.918035,0.140978],[-0.010772,-0.156024,0.987695]] 2025-10-27T06:05:18.571Z,1761545118.571 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.20, 74.69, 77.41 2025-10-27T06:05:18.599Z,1761545118.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.77 m. 2025-10-27T06:05:18.602Z,1761545118.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.767464 m, nav range: 63.248688 m, bearing: 343.629143 deg, approach rate: -0.612697 m/s, LOS rate: 0.085101 deg/s, cmd heading: 339.816883 deg, new cmd heading: 339.928444 deg. 2025-10-27T06:05:18.611Z,1761545118.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932870 target range: 67.767464 and range: 68.20 m. 2025-10-27T06:05:18.684Z,1761545118.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243074 2025-10-27T06:05:18.942Z,1761545118.942 [DAT](INFO): DAT read: 06:05:17.0121 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.05, 2.422, 0.666, 2.506, 2.314, PHS= 0.210,-1.603, 0.148, RAW= 148.3, 13.9, CAL= 148.2, 15.3, ROT= 1.8, -15.3 2025-10-27T06:05:18.943Z,1761545118.943 [DAT](INFO): got valid direction response: 06:05:17.0121 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.05, 2.422, 0.666, 2.506, 2.314, PHS= 0.210,-1.603, 0.148, RAW= 148.3, 13.9, CAL= 148.2, 15.3, ROT= 1.8, -15.3 2025-10-27T06:05:18.944Z,1761545118.944 [DAT](INFO): DAT read: Bearing 155.5, -1.5 (Local) 2025-10-27T06:05:18.944Z,1761545118.944 [DAT](INFO): Local bearing/azimuth received: Bearing 155.5, -1.5 (Local) 2025-10-27T06:05:18.946Z,1761545118.946 [DAT](INFO): DAT read: Range 11 to 50 : 66.1 m (Round-trip 88.2 ms) speed 0.5 m/s 2025-10-27T06:05:18.947Z,1761545118.947 [DAT](INFO): DAT read: user:658> 2025-10-27T06:05:18.947Z,1761545118.947 [DAT](INFO): DAT read: Tx time:06:05:18.1197 2025-10-27T06:05:18.948Z,1761545118.948 [DAT](INFO): Ping request sent. 2025-10-27T06:05:18.948Z,1761545118.948 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:18.948Z,1761545118.948 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:18.949Z,1761545118.949 [DAT](INFO): direction in FSK: [0.964081,0.030297,0.263873] 2025-10-27T06:05:18.949Z,1761545118.949 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:18.950Z,1761545118.950 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:18.993Z,1761545118.993 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:18.993Z,1761545118.993 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:19.016Z,1761545119.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929196,0.363563,0.066451],[-0.369406,0.919230,0.136221],[-0.011559,-0.151124,0.988447]] 2025-10-27T06:05:19.095Z,1761545119.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.099998 m, deltaT: 3.528149 s, deltaX: -2.099998 m, approachRate: -0.595213 m/s, rangeRepo size: 4 2025-10-27T06:05:19.101Z,1761545119.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.678726 m, bearing: 342.449912 deg, lat: 36.779414 deg, lon: -121.859762 deg, deltaT: 3.528149 s, deltaX: -2.088737 m, approachRate: -0.592021 m/s, posRepo size: 4 2025-10-27T06:05:19.102Z,1761545119.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:19.113Z,1761545119.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 63.102623 m, bearing: 343.220923 deg, approach rate: 0.000000 m/s, LOS rate: 0.085101 deg/s, cmd heading: 339.928434 deg, new cmd heading: 340.057797 deg. 2025-10-27T06:05:19.114Z,1761545119.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935128 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:19.429Z,1761545119.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929976,0.362012,0.063975],[-0.367432,0.920896,0.130173],[-0.011790,-0.144564,0.989425]] 2025-10-27T06:05:19.630Z,1761545119.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:19.637Z,1761545119.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 62.778152 m, bearing: 343.236559 deg, approach rate: -0.605130 m/s, LOS rate: 0.029310 deg/s, cmd heading: 340.057797 deg, new cmd heading: 340.104945 deg. 2025-10-27T06:05:19.638Z,1761545119.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935951 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:19.979Z,1761545119.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931760,0.357991,0.060544],[-0.362846,0.924054,0.120280],[-0.012887,-0.134040,0.990892]] 2025-10-27T06:05:20.006Z,1761545120.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:20.008Z,1761545120.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 62.539043 m, bearing: 343.247137 deg, approach rate: -0.636660 m/s, LOS rate: 0.028273 deg/s, cmd heading: 340.104953 deg, new cmd heading: 340.136809 deg. 2025-10-27T06:05:20.009Z,1761545120.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936507 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:20.378Z,1761545120.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932852,0.355295,0.059604],[-0.359988,0.925725,0.115939],[-0.013984,-0.129610,0.991466]] 2025-10-27T06:05:20.414Z,1761545120.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:20.432Z,1761545120.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:20.443Z,1761545120.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 62.292984 m, bearing: 343.257428 deg, approach rate: -0.576983 m/s, LOS rate: 0.024226 deg/s, cmd heading: 340.136809 deg, new cmd heading: 340.167804 deg. 2025-10-27T06:05:20.444Z,1761545120.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937048 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:20.448Z,1761545120.448 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:20.448Z,1761545120.448 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:20.448Z,1761545120.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:20.701Z,1761545120.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753176 2025-10-27T06:05:20.801Z,1761545120.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933815,0.352653,0.060210],[-0.357432,0.926819,0.115100],[-0.015213,-0.129003,0.991527]] 2025-10-27T06:05:20.861Z,1761545120.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:20.865Z,1761545120.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 62.028004 m, bearing: 343.251248 deg, approach rate: -0.617217 m/s, LOS rate: -0.014455 deg/s, cmd heading: 340.167791 deg, new cmd heading: 340.149173 deg. 2025-10-27T06:05:20.866Z,1761545120.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936723 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:20.952Z,1761545120.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004126 2025-10-27T06:05:21.186Z,1761545121.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934402,0.350914,0.061257],[-0.355830,0.927525,0.114384],[-0.016679,-0.128677,0.991546]] 2025-10-27T06:05:21.204Z,1761545121.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255945 2025-10-27T06:05:21.222Z,1761545121.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:21.224Z,1761545121.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 61.813862 m, bearing: 343.245876 deg, approach rate: -0.594696 m/s, LOS rate: -0.014970 deg/s, cmd heading: 340.149185 deg, new cmd heading: 340.133014 deg. 2025-10-27T06:05:21.225Z,1761545121.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936441 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:21.456Z,1761545121.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508048 2025-10-27T06:05:21.610Z,1761545121.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935211,0.348552,0.062377],[-0.353606,0.928532,0.113096],[-0.018500,-0.127826,0.991624]] 2025-10-27T06:05:21.658Z,1761545121.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:21.661Z,1761545121.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 61.576466 m, bearing: 343.214653 deg, approach rate: -0.544130 m/s, LOS rate: -0.071842 deg/s, cmd heading: 340.133011 deg, new cmd heading: 340.038981 deg. 2025-10-27T06:05:21.662Z,1761545121.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934800 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:21.710Z,1761545121.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762022 2025-10-27T06:05:21.960Z,1761545121.960 [DAT](INFO): DAT read: Rx Time:06:05:20.6090 2025-10-27T06:05:21.960Z,1761545121.960 [DAT](INFO): Rx dataTimestamp_ set to:1761545121.960068 2025-10-27T06:05:21.961Z,1761545121.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013024 2025-10-27T06:05:21.994Z,1761545121.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935886,0.346320,0.064658],[-0.351715,0.929058,0.114665],[-0.020361,-0.130055,0.991298]] 2025-10-27T06:05:22.013Z,1761545122.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:22.028Z,1761545122.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 61.383472 m, bearing: 343.188727 deg, approach rate: -0.542889 m/s, LOS rate: -0.073158 deg/s, cmd heading: 340.038973 deg, new cmd heading: 339.960952 deg. 2025-10-27T06:05:22.029Z,1761545122.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933438 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:22.212Z,1761545122.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264065 2025-10-27T06:05:22.400Z,1761545122.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936638,0.343895,0.066680],[-0.349587,0.929775,0.115356],[-0.022327,-0.131357,0.991084]] 2025-10-27T06:05:22.417Z,1761545122.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:22.419Z,1761545122.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.68 m. 2025-10-27T06:05:22.422Z,1761545122.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.678726 m, nav range: 61.162590 m, bearing: 343.158378 deg, approach rate: -0.544432 m/s, LOS rate: -0.075076 deg/s, cmd heading: 339.960945 deg, new cmd heading: 339.869568 deg. 2025-10-27T06:05:22.424Z,1761545122.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931843 target range: 65.678726 and range: 66.10 m. 2025-10-27T06:05:22.467Z,1761545122.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518648 2025-10-27T06:05:22.724Z,1761545122.724 [DAT](INFO): DAT read: 06:05:20.6090 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.33,-1.874, 2.708,-1.734,-1.926, PHS= 0.154,-1.605, 0.148, RAW= 149.8, 14.7, CAL= 150.0, 16.4, ROT= 360.0, -16.4 2025-10-27T06:05:22.726Z,1761545122.726 [DAT](INFO): got valid direction response: 06:05:20.6090 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.33,-1.874, 2.708,-1.734,-1.926, PHS= 0.154,-1.605, 0.148, RAW= 149.8, 14.7, CAL= 150.0, 16.4, ROT= 360.0, -16.4 2025-10-27T06:05:22.727Z,1761545122.727 [DAT](INFO): DAT read: Bearing 157.3, -3.5 (Local) 2025-10-27T06:05:22.728Z,1761545122.728 [DAT](INFO): Local bearing/azimuth received: Bearing 157.3, -3.5 (Local) 2025-10-27T06:05:22.730Z,1761545122.730 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m (Round-trip 85.2 ms) speed 0.4 m/s 2025-10-27T06:05:22.731Z,1761545122.731 [DAT](INFO): DAT read: user:659> 2025-10-27T06:05:22.732Z,1761545122.732 [DAT](INFO): DAT read: Tx time:06:05:21.7197 2025-10-27T06:05:22.733Z,1761545122.733 [DAT](INFO): Ping request sent. 2025-10-27T06:05:22.733Z,1761545122.733 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:22.733Z,1761545122.733 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:22.736Z,1761545122.736 [DAT](INFO): direction in FSK: [0.959314,0.000000,0.282341] 2025-10-27T06:05:22.737Z,1761545122.737 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:22.737Z,1761545122.737 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:22.740Z,1761545122.740 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:22.740Z,1761545122.740 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:22.821Z,1761545122.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937512,0.341009,0.069163],[-0.347082,0.930552,0.116650],[-0.024581,-0.133366,0.990762]] 2025-10-27T06:05:22.936Z,1761545122.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.780073 s, deltaX: -2.199997 m, approachRate: -0.581999 m/s, rangeRepo size: 4 2025-10-27T06:05:22.938Z,1761545122.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.494240 m, bearing: 341.917796 deg, lat: 36.779415 deg, lon: -121.859762 deg, deltaT: 3.780073 s, deltaX: -2.184486 m, approachRate: -0.577895 m/s, posRepo size: 4 2025-10-27T06:05:22.940Z,1761545122.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:22.942Z,1761545122.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 60.973866 m, bearing: 343.113023 deg, approach rate: 0.000000 m/s, LOS rate: -0.075076 deg/s, cmd heading: 339.869557 deg, new cmd heading: 339.753185 deg. 2025-10-27T06:05:22.951Z,1761545122.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929812 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:23.264Z,1761545123.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938304,0.338242,0.071957],[-0.344778,0.931098,0.119100],[-0.026715,-0.136561,0.990271]] 2025-10-27T06:05:23.302Z,1761545123.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:23.305Z,1761545123.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 60.768166 m, bearing: 343.073884 deg, approach rate: -0.562178 m/s, LOS rate: -0.107329 deg/s, cmd heading: 339.753198 deg, new cmd heading: 339.635384 deg. 2025-10-27T06:05:23.305Z,1761545123.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927756 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:23.662Z,1761545123.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939107,0.335449,0.074510],[-0.342413,0.931722,0.121027],[-0.028825,-0.139171,0.989849]] 2025-10-27T06:05:23.732Z,1761545123.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:23.740Z,1761545123.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 60.562931 m, bearing: 343.023490 deg, approach rate: -0.476983 m/s, LOS rate: -0.117518 deg/s, cmd heading: 339.635391 deg, new cmd heading: 339.483696 deg. 2025-10-27T06:05:23.741Z,1761545123.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925108 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:24.063Z,1761545124.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939767,0.332908,0.077524],[-0.340362,0.932280,0.122509],[-0.031489,-0.141516,0.989435]] 2025-10-27T06:05:24.093Z,1761545124.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:24.096Z,1761545124.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 60.377197 m, bearing: 342.977186 deg, approach rate: -0.514820 m/s, LOS rate: -0.128739 deg/s, cmd heading: 339.483706 deg, new cmd heading: 339.344370 deg. 2025-10-27T06:05:24.097Z,1761545124.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922677 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:24.465Z,1761545124.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940284,0.330805,0.080212],[-0.338639,0.932977,0.121970],[-0.034488,-0.141850,0.989287]] 2025-10-27T06:05:24.487Z,1761545124.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:24.489Z,1761545124.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:24.492Z,1761545124.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 60.183128 m, bearing: 342.928119 deg, approach rate: -0.489551 m/s, LOS rate: -0.124175 deg/s, cmd heading: 339.344370 deg, new cmd heading: 339.196694 deg. 2025-10-27T06:05:24.493Z,1761545124.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920099 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:24.732Z,1761545124.732 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:24.733Z,1761545124.733 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:24.733Z,1761545124.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:24.872Z,1761545124.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940596,0.329180,0.083184],[-0.337455,0.933390,0.122091],[-0.037453,-0.142909,0.989027]] 2025-10-27T06:05:24.908Z,1761545124.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:24.911Z,1761545124.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 59.977383 m, bearing: 342.876041 deg, approach rate: -0.490836 m/s, LOS rate: -0.124666 deg/s, cmd heading: 339.196702 deg, new cmd heading: 339.039932 deg. 2025-10-27T06:05:24.912Z,1761545124.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917363 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:24.985Z,1761545124.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251998 2025-10-27T06:05:25.236Z,1761545125.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503139 2025-10-27T06:05:25.288Z,1761545125.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940760,0.328102,0.085555],[-0.336728,0.933648,0.122130],[-0.039807,-0.143703,0.988820]] 2025-10-27T06:05:25.325Z,1761545125.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:25.332Z,1761545125.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 59.779766 m, bearing: 342.825516 deg, approach rate: -0.473638 m/s, LOS rate: -0.121497 deg/s, cmd heading: 339.039935 deg, new cmd heading: 338.887859 deg. 2025-10-27T06:05:25.333Z,1761545125.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914709 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:25.488Z,1761545125.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755041 2025-10-27T06:05:25.681Z,1761545125.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940623,0.327871,0.087916],[-0.336909,0.933372,0.123730],[-0.041491,-0.146003,0.988414]] 2025-10-27T06:05:25.737Z,1761545125.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:25.740Z,1761545125.740 [DAT](INFO): DAT read: Rx Time:06:05:24.2065 2025-10-27T06:05:25.741Z,1761545125.741 [DAT](INFO): Rx dataTimestamp_ set to:1761545125.740315 2025-10-27T06:05:25.741Z,1761545125.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008320 2025-10-27T06:05:25.743Z,1761545125.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 59.578598 m, bearing: 342.781461 deg, approach rate: -0.488642 m/s, LOS rate: -0.107372 deg/s, cmd heading: 338.887868 deg, new cmd heading: 338.755257 deg. 2025-10-27T06:05:25.744Z,1761545125.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912395 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:25.992Z,1761545125.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259122 2025-10-27T06:05:26.098Z,1761545126.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940495,0.327509,0.090589],[-0.337012,0.933123,0.125315],[-0.043489,-0.148387,0.987973]] 2025-10-27T06:05:26.117Z,1761545126.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.49 m. 2025-10-27T06:05:26.120Z,1761545126.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.494240 m, nav range: 59.395477 m, bearing: 342.741140 deg, approach rate: -0.482401 m/s, LOS rate: -0.106546 deg/s, cmd heading: 338.755253 deg, new cmd heading: 338.633918 deg. 2025-10-27T06:05:26.121Z,1761545126.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910277 target range: 63.494240 and range: 63.90 m. 2025-10-27T06:05:26.254Z,1761545126.254 [DAT](INFO): DAT read: 06:05:24.2065 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 411,-0.04,-1.807, 2.754,-1.630,-1.867, PHS= 0.162,-1.617, 0.193, RAW= 150.8, 14.0, CAL= 151.0, 15.6, ROT= 359.0, -15.6 2025-10-27T06:05:26.256Z,1761545126.256 [DAT](INFO): got valid direction response: 06:05:24.2065 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 411,-0.04,-1.807, 2.754,-1.630,-1.867, PHS= 0.162,-1.617, 0.193, RAW= 150.8, 14.0, CAL= 151.0, 15.6, ROT= 359.0, -15.6 2025-10-27T06:05:26.257Z,1761545126.257 [DAT](INFO): DAT read: Bearing 156.3, -5.6 (Local) 2025-10-27T06:05:26.258Z,1761545126.258 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, -5.6 (Local) 2025-10-27T06:05:26.259Z,1761545126.259 [DAT](INFO): DAT read: Range 11 to 50 : 62.0 m (Round-trip 82.7 ms) speed 0.4 m/s 2025-10-27T06:05:26.260Z,1761545126.260 [DAT](INFO): DAT read: user:660> 2025-10-27T06:05:26.260Z,1761545126.260 [DAT](INFO): DAT read: Tx time:06:05:25.3197 2025-10-27T06:05:26.261Z,1761545126.261 [DAT](INFO): Ping request sent. 2025-10-27T06:05:26.261Z,1761545126.261 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:26.261Z,1761545126.261 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:26.264Z,1761545126.264 [DAT](INFO): direction in FSK: [0.963016,-0.016810,0.268920] 2025-10-27T06:05:26.264Z,1761545126.264 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:26.265Z,1761545126.265 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:26.282Z,1761545126.282 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:26.282Z,1761545126.282 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:26.482Z,1761545126.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939945,0.328329,0.093292],[-0.338345,0.932302,0.127811],[-0.045012,-0.151701,0.987401]] 2025-10-27T06:05:26.514Z,1761545126.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.000000 m, deltaT: 3.527706 s, deltaX: -1.900002 m, approachRate: -0.538594 m/s, rangeRepo size: 4 2025-10-27T06:05:26.533Z,1761545126.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.605949 m, bearing: 341.627428 deg, lat: 36.779416 deg, lon: -121.859773 deg, deltaT: 3.527706 s, deltaX: -1.888290 m, approachRate: -0.535274 m/s, posRepo size: 4 2025-10-27T06:05:26.533Z,1761545126.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m. 2025-10-27T06:05:26.540Z,1761545126.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.605949 m, nav range: 59.635914 m, bearing: 341.853406 deg, approach rate: 0.000000 m/s, LOS rate: -0.106546 deg/s, cmd heading: 338.633922 deg, new cmd heading: 338.507085 deg. 2025-10-27T06:05:26.541Z,1761545126.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908063 target range: 61.605949 and range: 62.00 m. 2025-10-27T06:05:26.887Z,1761545126.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939455,0.329130,0.095383],[-0.339529,0.931668,0.129288],[-0.046313,-0.153846,0.987009]] 2025-10-27T06:05:26.923Z,1761545126.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:26.925Z,1761545126.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m. 2025-10-27T06:05:26.944Z,1761545126.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.605949 m, nav range: 59.432014 m, bearing: 341.816411 deg, approach rate: -0.495834 m/s, LOS rate: -0.090271 deg/s, cmd heading: 338.507099 deg, new cmd heading: 338.395734 deg. 2025-10-27T06:05:26.945Z,1761545126.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906120 target range: 61.605949 and range: 62.00 m. 2025-10-27T06:05:27.001Z,1761545127.001 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:27.001Z,1761545127.001 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:27.001Z,1761545127.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:27.252Z,1761545127.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990991 2025-10-27T06:05:27.307Z,1761545127.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938839,0.330128,0.097960],[-0.341087,0.930610,0.132757],[-0.047335,-0.158050,0.986296]] 2025-10-27T06:05:27.326Z,1761545127.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m. 2025-10-27T06:05:27.329Z,1761545127.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.605949 m, nav range: 59.234615 m, bearing: 341.780738 deg, approach rate: -0.491522 m/s, LOS rate: -0.089123 deg/s, cmd heading: 338.395739 deg, new cmd heading: 338.288362 deg. 2025-10-27T06:05:27.330Z,1761545127.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904246 target range: 61.605949 and range: 62.00 m. 2025-10-27T06:05:27.504Z,1761545127.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243040 2025-10-27T06:05:27.714Z,1761545127.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938022,0.331717,0.100390],[-0.343270,0.929157,0.137238],[-0.047754,-0.163193,0.985438]] 2025-10-27T06:05:27.756Z,1761545127.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495078 2025-10-27T06:05:27.797Z,1761545127.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m. 2025-10-27T06:05:27.812Z,1761545127.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.605949 m, nav range: 59.002502 m, bearing: 341.758878 deg, approach rate: -0.493283 m/s, LOS rate: -0.046637 deg/s, cmd heading: 338.288369 deg, new cmd heading: 338.222533 deg. 2025-10-27T06:05:27.813Z,1761545127.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903097 target range: 61.605949 and range: 62.00 m. 2025-10-27T06:05:28.009Z,1761545128.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748022 2025-10-27T06:05:28.263Z,1761545128.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001550 2025-10-27T06:05:28.277Z,1761545128.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936003,0.336171,0.104343],[-0.348668,0.926131,0.143915],[-0.048256,-0.171086,0.984074]] 2025-10-27T06:05:28.325Z,1761545128.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m. 2025-10-27T06:05:28.332Z,1761545128.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.605949 m, nav range: 58.721970 m, bearing: 341.733972 deg, approach rate: -0.530975 m/s, LOS rate: -0.047367 deg/s, cmd heading: 338.222526 deg, new cmd heading: 338.147448 deg. 2025-10-27T06:05:28.333Z,1761545128.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901786 target range: 61.605949 and range: 62.00 m. 2025-10-27T06:05:28.515Z,1761545128.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253645 2025-10-27T06:05:28.766Z,1761545128.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504688 2025-10-27T06:05:28.875Z,1761545128.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m. 2025-10-27T06:05:28.878Z,1761545128.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.605949 m, nav range: 58.425747 m, bearing: 341.728427 deg, approach rate: -0.542772 m/s, LOS rate: -0.010212 deg/s, cmd heading: 338.147448 deg, new cmd heading: 338.130729 deg. 2025-10-27T06:05:28.883Z,1761545128.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901495 target range: 61.605949 and range: 62.00 m. 2025-10-27T06:05:29.016Z,1761545129.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755083 2025-10-27T06:05:29.272Z,1761545129.272 [DAT](INFO): DAT read: Rx Time:06:05:27.8042 2025-10-27T06:05:29.273Z,1761545129.273 [DAT](INFO): Rx dataTimestamp_ set to:1761545129.272306 2025-10-27T06:05:29.274Z,1761545129.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012568 2025-10-27T06:05:29.330Z,1761545129.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933603,0.341675,0.107903],[-0.355035,0.922743,0.149984],[-0.048321,-0.178335,0.982783]] 2025-10-27T06:05:29.363Z,1761545129.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:29.365Z,1761545129.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.61 m. 2025-10-27T06:05:29.372Z,1761545129.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.605949 m, nav range: 58.160187 m, bearing: 341.725271 deg, approach rate: -0.537450 m/s, LOS rate: -0.006416 deg/s, cmd heading: 338.130728 deg, new cmd heading: 338.121217 deg. 2025-10-27T06:05:29.373Z,1761545129.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901329 target range: 61.605949 and range: 62.00 m. 2025-10-27T06:05:29.520Z,1761545129.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259141 2025-10-27T06:05:29.744Z,1761545129.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932401,0.344540,0.109185],[-0.358205,0.921159,0.152168],[-0.048149,-0.180992,0.982305]] 2025-10-27T06:05:29.790Z,1761545129.790 [DAT](INFO): DAT read: 06:05:27.8042 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421,-0.30, 2.873, 1.107, 3.051, 2.799, PHS= 0.176,-1.648, 0.207, RAW= 150.9, 13.7, CAL= 151.0, 15.2, ROT= 359.0, -15.2 2025-10-27T06:05:29.792Z,1761545129.792 [DAT](INFO): got valid direction response: 06:05:27.8042 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421,-0.30, 2.873, 1.107, 3.051, 2.799, PHS= 0.176,-1.648, 0.207, RAW= 150.9, 13.7, CAL= 151.0, 15.2, ROT= 359.0, -15.2 2025-10-27T06:05:29.793Z,1761545129.793 [DAT](INFO): DAT read: Bearing 155.1, -6.5 (Local) 2025-10-27T06:05:29.793Z,1761545129.793 [DAT](INFO): Local bearing/azimuth received: Bearing 155.1, -6.5 (Local) 2025-10-27T06:05:29.794Z,1761545129.794 [DAT](INFO): DAT read: Range 11 to 50 : 60.3 m (Round-trip 80.4 ms) speed 0.4 m/s 2025-10-27T06:05:29.803Z,1761545129.803 [DAT](INFO): DAT read: user:661> 2025-10-27T06:05:29.804Z,1761545129.804 [DAT](INFO): DAT read: Tx time:06:05:28.9197 2025-10-27T06:05:29.804Z,1761545129.804 [DAT](INFO): Ping request sent. 2025-10-27T06:05:29.804Z,1761545129.804 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:29.805Z,1761545129.805 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:29.806Z,1761545129.806 [DAT](INFO): direction in FSK: [0.964870,-0.016842,0.262189] 2025-10-27T06:05:29.806Z,1761545129.806 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:29.806Z,1761545129.806 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:29.813Z,1761545129.813 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:29.814Z,1761545129.814 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:29.993Z,1761545129.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.299999 m, deltaT: 3.528889 s, deltaX: -1.700001 m, approachRate: -0.481738 m/s, rangeRepo size: 4 2025-10-27T06:05:29.999Z,1761545129.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.917168 m, bearing: 340.799967 deg, lat: 36.779417 deg, lon: -121.859777 deg, deltaT: 3.528889 s, deltaX: -1.688782 m, approachRate: -0.478559 m/s, posRepo size: 4 2025-10-27T06:05:29.000Z,1761545130.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:30.002Z,1761545130.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 57.987789 m, bearing: 341.445585 deg, approach rate: 0.000000 m/s, LOS rate: -0.006416 deg/s, cmd heading: 338.121220 deg, new cmd heading: 338.109155 deg. 2025-10-27T06:05:30.007Z,1761545130.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901118 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:30.329Z,1761545130.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929973,0.350534,0.110795],[-0.364565,0.918164,0.155137],[-0.047347,-0.184665,0.981660]] 2025-10-27T06:05:30.372Z,1761545130.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:30.379Z,1761545130.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 57.766827 m, bearing: 341.457920 deg, approach rate: -0.580997 m/s, LOS rate: 0.032558 deg/s, cmd heading: 338.109144 deg, new cmd heading: 338.146291 deg. 2025-10-27T06:05:30.380Z,1761545130.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901766 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:30.742Z,1761545130.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928626,0.353993,0.111097],[-0.368043,0.916751,0.155280],[-0.046880,-0.185085,0.981604]] 2025-10-27T06:05:30.816Z,1761545130.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:30.819Z,1761545130.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 57.498192 m, bearing: 341.482035 deg, approach rate: -0.605425 m/s, LOS rate: 0.054601 deg/s, cmd heading: 338.146301 deg, new cmd heading: 338.218982 deg. 2025-10-27T06:05:30.820Z,1761545130.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903035 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:31.132Z,1761545131.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927233,0.357662,0.110977],[-0.371631,0.915346,0.155022],[-0.046137,-0.184984,0.981658]] 2025-10-27T06:05:31.184Z,1761545131.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:31.187Z,1761545131.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 57.290604 m, bearing: 341.501631 deg, approach rate: -0.564065 m/s, LOS rate: 0.053442 deg/s, cmd heading: 338.218974 deg, new cmd heading: 338.277978 deg. 2025-10-27T06:05:31.188Z,1761545131.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904065 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:31.540Z,1761545131.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925997,0.360931,0.110717],[-0.374772,0.914200,0.154223],[-0.045553,-0.184304,0.981813]] 2025-10-27T06:05:31.558Z,1761545131.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:31.560Z,1761545131.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:31.563Z,1761545131.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 57.063511 m, bearing: 341.524011 deg, approach rate: -0.603335 m/s, LOS rate: 0.059695 deg/s, cmd heading: 338.277987 deg, new cmd heading: 338.345393 deg. 2025-10-27T06:05:31.564Z,1761545131.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905241 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:31.788Z,1761545131.788 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:31.788Z,1761545131.788 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:31.788Z,1761545131.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:31.940Z,1761545131.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924859,0.363933,0.110400],[-0.377628,0.913203,0.153155],[-0.045080,-0.183337,0.982016]] 2025-10-27T06:05:31.998Z,1761545131.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:32.005Z,1761545132.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 56.809734 m, bearing: 341.551946 deg, approach rate: -0.580254 m/s, LOS rate: 0.064158 deg/s, cmd heading: 338.345387 deg, new cmd heading: 338.429566 deg. 2025-10-27T06:05:32.006Z,1761545132.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906710 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:32.040Z,1761545132.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235698 2025-10-27T06:05:32.293Z,1761545132.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488422 2025-10-27T06:05:32.352Z,1761545132.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924007,0.366447,0.109213],[-0.379747,0.912863,0.149915],[-0.044760,-0.179995,0.982648]] 2025-10-27T06:05:32.395Z,1761545132.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:32.398Z,1761545132.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 56.570732 m, bearing: 341.579059 deg, approach rate: -0.607724 m/s, LOS rate: 0.069233 deg/s, cmd heading: 338.429562 deg, new cmd heading: 338.511244 deg. 2025-10-27T06:05:32.399Z,1761545132.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908136 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:32.544Z,1761545132.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740063 2025-10-27T06:05:32.777Z,1761545132.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923252,0.368756,0.107818],[-0.381655,0.912508,0.147203],[-0.044103,-0.177055,0.983212]] 2025-10-27T06:05:32.796Z,1761545132.796 [DAT](INFO): DAT read: Rx Time:06:05:31.4014 2025-10-27T06:05:32.797Z,1761545132.797 [DAT](INFO): Rx dataTimestamp_ set to:1761545132.796226 2025-10-27T06:05:32.797Z,1761545132.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992639 2025-10-27T06:05:32.827Z,1761545132.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:32.830Z,1761545132.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 56.299374 m, bearing: 341.606221 deg, approach rate: -0.622983 m/s, LOS rate: 0.062659 deg/s, cmd heading: 338.511251 deg, new cmd heading: 338.593130 deg. 2025-10-27T06:05:32.831Z,1761545132.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909565 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:33.051Z,1761545133.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246525 2025-10-27T06:05:33.171Z,1761545133.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922799,0.370390,0.106077],[-0.382780,0.912696,0.143059],[-0.043828,-0.172619,0.984013]] 2025-10-27T06:05:33.211Z,1761545133.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.92 m. 2025-10-27T06:05:33.219Z,1761545133.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.917168 m, nav range: 56.079987 m, bearing: 341.628684 deg, approach rate: -0.595913 m/s, LOS rate: 0.061256 deg/s, cmd heading: 338.593132 deg, new cmd heading: 338.660786 deg. 2025-10-27T06:05:33.222Z,1761545133.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910746 target range: 59.917168 and range: 60.30 m. 2025-10-27T06:05:33.306Z,1761545133.306 [DAT](INFO): DAT read: 06:05:31.4014 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.12, 2.319, 0.517, 2.436, 2.218, PHS= 0.202,-1.656, 0.174, RAW= 149.2, 13.8, CAL= 149.3, 15.3, ROT= 0.7, -15.3 2025-10-27T06:05:33.307Z,1761545133.307 [DAT](INFO): got valid direction response: 06:05:31.4014 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.12, 2.319, 0.517, 2.436, 2.218, PHS= 0.202,-1.656, 0.174, RAW= 149.2, 13.8, CAL= 149.3, 15.3, ROT= 0.7, -15.3 2025-10-27T06:05:33.308Z,1761545133.308 [DAT](INFO): DAT read: Bearing 153.8, -4.8 (Local) 2025-10-27T06:05:33.309Z,1761545133.309 [DAT](INFO): Local bearing/azimuth received: Bearing 153.8, -4.8 (Local) 2025-10-27T06:05:33.310Z,1761545133.310 [DAT](INFO): DAT read: Range 11 to 50 : 58.2 m (Round-trip 77.7 ms) speed 0.5 m/s 2025-10-27T06:05:33.311Z,1761545133.311 [DAT](INFO): DAT read: user:662> 2025-10-27T06:05:33.312Z,1761545133.312 [DAT](INFO): DAT read: Tx time:06:05:32.5196 2025-10-27T06:05:33.312Z,1761545133.312 [DAT](INFO): Ping request sent. 2025-10-27T06:05:33.312Z,1761545133.312 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:33.312Z,1761545133.312 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:33.313Z,1761545133.313 [DAT](INFO): direction in FSK: [0.964485,0.011784,0.263873] 2025-10-27T06:05:33.313Z,1761545133.313 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:33.314Z,1761545133.314 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:33.317Z,1761545133.317 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:33.317Z,1761545133.317 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:33.790Z,1761545133.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922638,0.371180,0.104714],[-0.383165,0.913098,0.139419],[-0.043865,-0.168756,0.984681]] 2025-10-27T06:05:33.918Z,1761545133.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.200001 m, deltaT: 3.527227 s, deltaX: -2.099998 m, approachRate: -0.595368 m/s, rangeRepo size: 4 2025-10-27T06:05:33.920Z,1761545133.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.829758 m, bearing: 340.745873 deg, lat: 36.779419 deg, lon: -121.859777 deg, deltaT: 3.527227 s, deltaX: -2.087410 m, approachRate: -0.591799 m/s, posRepo size: 4 2025-10-27T06:05:33.921Z,1761545133.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.83 m. 2025-10-27T06:05:33.921Z,1761545133.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-10-27T06:05:33.924Z,1761545133.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.829758 m, nav range: 55.871967 m, bearing: 341.697425 deg, approach rate: 0.000000 m/s, LOS rate: 0.061256 deg/s, cmd heading: 338.660778 deg, new cmd heading: 338.793541 deg. 2025-10-27T06:05:33.925Z,1761545133.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913063 target range: 57.829758 and range: 58.20 m. 2025-10-27T06:05:34.124Z,1761545134.124 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T06:05:34.465Z,1761545134.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922552,0.372089,0.102215],[-0.383333,0.914085,0.132305],[-0.044204,-0.161240,0.985925]] 2025-10-27T06:05:34.489Z,1761545134.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:34.492Z,1761545134.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.83 m. 2025-10-27T06:05:34.492Z,1761545134.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-10-27T06:05:34.495Z,1761545134.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.829758 m, nav range: 55.535450 m, bearing: 341.716452 deg, approach rate: -0.586014 m/s, LOS rate: 0.033334 deg/s, cmd heading: 338.793529 deg, new cmd heading: 338.850955 deg. 2025-10-27T06:05:34.496Z,1761545134.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914065 target range: 57.829758 and range: 58.20 m. 2025-10-27T06:05:34.560Z,1761545134.560 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:34.560Z,1761545134.560 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:34.560Z,1761545134.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:34.813Z,1761545134.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500949 2025-10-27T06:05:34.908Z,1761545134.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923423,0.370555,0.099900],[-0.381250,0.915567,0.128005],[-0.044033,-0.156290,0.986729]] 2025-10-27T06:05:34.971Z,1761545134.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.83 m. 2025-10-27T06:05:34.972Z,1761545134.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-10-27T06:05:34.974Z,1761545134.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.829758 m, nav range: 55.260509 m, bearing: 341.706088 deg, approach rate: -0.573532 m/s, LOS rate: -0.021726 deg/s, cmd heading: 338.850958 deg, new cmd heading: 338.819713 deg. 2025-10-27T06:05:34.976Z,1761545134.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913519 target range: 57.829758 and range: 58.20 m. 2025-10-27T06:05:35.064Z,1761545135.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752096 2025-10-27T06:05:35.306Z,1761545135.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924577,0.368196,0.097922],[-0.378414,0.917331,0.123722],[-0.044273,-0.151446,0.987474]] 2025-10-27T06:05:35.316Z,1761545135.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003877 2025-10-27T06:05:35.352Z,1761545135.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.83 m. 2025-10-27T06:05:35.352Z,1761545135.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-10-27T06:05:35.355Z,1761545135.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.829758 m, nav range: 55.042801 m, bearing: 341.697132 deg, approach rate: -0.572975 m/s, LOS rate: -0.023665 deg/s, cmd heading: 338.819703 deg, new cmd heading: 338.792727 deg. 2025-10-27T06:05:35.356Z,1761545135.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913049 target range: 57.829758 and range: 58.20 m. 2025-10-27T06:05:35.568Z,1761545135.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256142 2025-10-27T06:05:35.726Z,1761545135.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925514,0.366331,0.096047],[-0.376160,0.918618,0.121017],[-0.043899,-0.148132,0.987993]] 2025-10-27T06:05:35.795Z,1761545135.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.83 m. 2025-10-27T06:05:35.797Z,1761545135.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-10-27T06:05:35.813Z,1761545135.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.829758 m, nav range: 54.814098 m, bearing: 341.687076 deg, approach rate: -0.521662 m/s, LOS rate: -0.023034 deg/s, cmd heading: 338.792737 deg, new cmd heading: 338.762442 deg. 2025-10-27T06:05:35.814Z,1761545135.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912520 target range: 57.829758 and range: 58.20 m. 2025-10-27T06:05:35.820Z,1761545135.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507977 2025-10-27T06:05:36.075Z,1761545136.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762884 2025-10-27T06:05:36.111Z,1761545136.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926636,0.364021,0.093993],[-0.373437,0.920103,0.118133],[-0.043481,-0.144567,0.988539]] 2025-10-27T06:05:36.160Z,1761545136.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.83 m. 2025-10-27T06:05:36.160Z,1761545136.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-10-27T06:05:36.163Z,1761545136.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.829758 m, nav range: 54.596050 m, bearing: 341.658180 deg, approach rate: -0.588675 m/s, LOS rate: -0.078321 deg/s, cmd heading: 338.762438 deg, new cmd heading: 338.675406 deg. 2025-10-27T06:05:36.164Z,1761545136.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911001 target range: 57.829758 and range: 58.20 m. 2025-10-27T06:05:36.324Z,1761545136.324 [DAT](INFO): DAT read: Rx Time:06:05:34.9985 2025-10-27T06:05:36.324Z,1761545136.324 [DAT](INFO): Rx dataTimestamp_ set to:1761545136.324109 2025-10-27T06:05:36.325Z,1761545136.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012900 2025-10-27T06:05:36.515Z,1761545136.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927798,0.361448,0.092451],[-0.370565,0.921540,0.115959],[-0.043284,-0.141846,0.988942]] 2025-10-27T06:05:36.538Z,1761545136.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:36.540Z,1761545136.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.83 m. 2025-10-27T06:05:36.541Z,1761545136.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-10-27T06:05:36.544Z,1761545136.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.829758 m, nav range: 54.393280 m, bearing: 341.630435 deg, approach rate: -0.532971 m/s, LOS rate: -0.073198 deg/s, cmd heading: 338.675394 deg, new cmd heading: 338.591849 deg. 2025-10-27T06:05:36.545Z,1761545136.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909543 target range: 57.829758 and range: 58.20 m. 2025-10-27T06:05:36.577Z,1761545136.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264568 2025-10-27T06:05:36.831Z,1761545136.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518404 2025-10-27T06:05:36.918Z,1761545136.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928983,0.358698,0.091250],[-0.367575,0.922988,0.113937],[-0.043354,-0.139386,0.989289]] 2025-10-27T06:05:36.970Z,1761545136.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.83 m. 2025-10-27T06:05:36.970Z,1761545136.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m. 2025-10-27T06:05:36.982Z,1761545136.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.829758 m, nav range: 54.173527 m, bearing: 341.578624 deg, approach rate: -0.511401 m/s, LOS rate: -0.121061 deg/s, cmd heading: 338.591848 deg, new cmd heading: 338.435785 deg. 2025-10-27T06:05:36.982Z,1761545136.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906819 target range: 57.829758 and range: 58.20 m. 2025-10-27T06:05:37.086Z,1761545137.086 [DAT](INFO): DAT read: 06:05:34.9985 LVL= 30960, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.02,-1.385, 3.112,-1.336,-1.540, PHS= 0.257,-1.586, 0.160, RAW= 147.3, 13.0, CAL= 147.1, 14.2, ROT= 2.9, -14.2 2025-10-27T06:05:37.090Z,1761545137.090 [DAT](INFO): got valid direction response: 06:05:34.9985 LVL= 30960, 32753, 32754, 32755, AGC= 65, IDX= 410,-0.02,-1.385, 3.112,-1.336,-1.540, PHS= 0.257,-1.586, 0.160, RAW= 147.3, 13.0, CAL= 147.1, 14.2, ROT= 2.9, -14.2 2025-10-27T06:05:37.093Z,1761545137.093 [DAT](INFO): DAT read: Bearing 154.1, -2.1 (Local) 2025-10-27T06:05:37.093Z,1761545137.093 [DAT](INFO): Local bearing/azimuth received: Bearing 154.1, -2.1 (Local) 2025-10-27T06:05:37.094Z,1761545137.094 [DAT](INFO): DAT read: Range 11 to 50 : 56.1 m (Round-trip 74.8 ms) speed 0.4 m/s 2025-10-27T06:05:37.095Z,1761545137.095 [DAT](INFO): DAT read: user:663> 2025-10-27T06:05:37.096Z,1761545137.096 [DAT](INFO): DAT read: Tx time:06:05:36.1196 2025-10-27T06:05:37.096Z,1761545137.096 [DAT](INFO): Ping request sent. 2025-10-27T06:05:37.096Z,1761545137.096 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:37.097Z,1761545137.097 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:37.098Z,1761545137.098 [DAT](INFO): direction in FSK: [0.968204,0.049047,0.245307] 2025-10-27T06:05:37.098Z,1761545137.098 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:37.098Z,1761545137.098 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:37.102Z,1761545137.102 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:37.102Z,1761545137.102 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:37.322Z,1761545137.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930104,0.356072,0.090102],[-0.364734,0.924316,0.112290],[-0.043299,-0.137305,0.989582]] 2025-10-27T06:05:37.350Z,1761545137.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 3.779876 s, deltaX: -2.100002 m, approachRate: -0.555574 m/s, rangeRepo size: 4 2025-10-27T06:05:37.352Z,1761545137.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.743328 m, bearing: 343.399954 deg, lat: 36.779420 deg, lon: -121.859777 deg, deltaT: 3.779876 s, deltaX: -2.086430 m, approachRate: -0.551984 m/s, posRepo size: 4 2025-10-27T06:05:37.353Z,1761545137.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:37.353Z,1761545137.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:05:37.356Z,1761545137.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 54.061619 m, bearing: 341.560658 deg, approach rate: 0.000000 m/s, LOS rate: -0.121061 deg/s, cmd heading: 338.435791 deg, new cmd heading: 338.298024 deg. 2025-10-27T06:05:37.357Z,1761545137.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904414 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:37.736Z,1761545137.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930896,0.354075,0.089793],[-0.362705,0.925117,0.112262],[-0.043320,-0.137073,0.989613]] 2025-10-27T06:05:37.849Z,1761545137.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:37.850Z,1761545137.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:05:37.853Z,1761545137.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 53.826450 m, bearing: 341.503141 deg, approach rate: -0.470056 m/s, LOS rate: -0.115467 deg/s, cmd heading: 338.298013 deg, new cmd heading: 338.124710 deg. 2025-10-27T06:05:37.854Z,1761545137.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901390 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:38.161Z,1761545138.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931846,0.351660,0.089435],[-0.360306,0.925917,0.113389],[-0.042935,-0.137885,0.989517]] 2025-10-27T06:05:38.214Z,1761545138.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:38.214Z,1761545138.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:05:38.221Z,1761545138.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 53.642765 m, bearing: 341.446706 deg, approach rate: -0.504466 m/s, LOS rate: -0.155522 deg/s, cmd heading: 338.124717 deg, new cmd heading: 337.954832 deg. 2025-10-27T06:05:38.222Z,1761545138.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898425 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:38.561Z,1761545138.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932421,0.350138,0.089418],[-0.358866,0.926259,0.115148],[-0.042506,-0.139455,0.989316]] 2025-10-27T06:05:38.593Z,1761545138.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:38.595Z,1761545138.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:38.596Z,1761545138.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:05:38.598Z,1761545138.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 53.457401 m, bearing: 341.389028 deg, approach rate: -0.486251 m/s, LOS rate: -0.151829 deg/s, cmd heading: 337.954837 deg, new cmd heading: 337.781202 deg. 2025-10-27T06:05:38.600Z,1761545138.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895394 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:38.844Z,1761545138.844 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:38.844Z,1761545138.844 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:38.844Z,1761545138.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:38.966Z,1761545138.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933069,0.348438,0.089291],[-0.357250,0.926622,0.117237],[-0.041889,-0.141290,0.989082]] 2025-10-27T06:05:39.018Z,1761545139.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:39.019Z,1761545139.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:05:39.022Z,1761545139.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 53.253513 m, bearing: 341.329481 deg, approach rate: -0.481688 m/s, LOS rate: -0.141218 deg/s, cmd heading: 337.781213 deg, new cmd heading: 337.601891 deg. 2025-10-27T06:05:39.023Z,1761545139.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892264 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:39.097Z,1761545139.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000507 2025-10-27T06:05:39.348Z,1761545139.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251423 2025-10-27T06:05:39.370Z,1761545139.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933784,0.346615,0.088915],[-0.355414,0.927243,0.117900],[-0.041580,-0.141695,0.989037]] 2025-10-27T06:05:39.402Z,1761545139.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:39.406Z,1761545139.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:05:39.409Z,1761545139.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 53.069359 m, bearing: 341.274879 deg, approach rate: -0.479247 m/s, LOS rate: -0.142592 deg/s, cmd heading: 337.601880 deg, new cmd heading: 337.437504 deg. 2025-10-27T06:05:39.410Z,1761545139.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889395 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:39.597Z,1761545139.597 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:05:39.604Z,1761545139.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507145 2025-10-27T06:05:39.779Z,1761545139.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934179,0.345413,0.089438],[-0.354502,0.926949,0.122856],[-0.040468,-0.146476,0.988386]] 2025-10-27T06:05:39.802Z,1761545139.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:39.802Z,1761545139.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:05:39.825Z,1761545139.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 52.879501 m, bearing: 341.218042 deg, approach rate: -0.475069 m/s, LOS rate: -0.142730 deg/s, cmd heading: 337.437491 deg, new cmd heading: 337.266369 deg. 2025-10-27T06:05:39.833Z,1761545139.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886409 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:39.855Z,1761545139.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758256 2025-10-27T06:05:40.104Z,1761545140.104 [DAT](INFO): DAT read: Rx Time:06:05:38.5960 2025-10-27T06:05:40.105Z,1761545140.105 [DAT](INFO): Rx dataTimestamp_ set to:1761545140.104338 2025-10-27T06:05:40.105Z,1761545140.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008713 2025-10-27T06:05:40.177Z,1761545140.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933872,0.345929,0.090646],[-0.355391,0.925952,0.127712],[-0.039755,-0.151481,0.987660]] 2025-10-27T06:05:40.226Z,1761545140.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:40.227Z,1761545140.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:05:40.227Z,1761545140.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.10 m. 2025-10-27T06:05:40.227Z,1761545140.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T06:05:40.230Z,1761545140.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 52.683887 m, bearing: 341.169464 deg, approach rate: -0.461156 m/s, LOS rate: -0.114947 deg/s, cmd heading: 337.266381 deg, new cmd heading: 337.120106 deg. 2025-10-27T06:05:40.231Z,1761545140.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883856 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:40.356Z,1761545140.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260013 2025-10-27T06:05:40.582Z,1761545140.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933219,0.347490,0.091390],[-0.357208,0.924709,0.131593],[-0.038782,-0.155450,0.987082]] 2025-10-27T06:05:40.599Z,1761545140.599 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:05:40.600Z,1761545140.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:40.602Z,1761545140.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.74 m. 2025-10-27T06:05:40.605Z,1761545140.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.743328 m, nav range: 52.512386 m, bearing: 341.127023 deg, approach rate: -0.456211 m/s, LOS rate: -0.113267 deg/s, cmd heading: 337.120106 deg, new cmd heading: 336.992366 deg. 2025-10-27T06:05:40.606Z,1761545140.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881626 target range: 55.743328 and range: 56.10 m. 2025-10-27T06:05:40.614Z,1761545140.614 [DAT](INFO): DAT read: 06:05:38.5960 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.15, 1.116,-0.623, 1.205, 0.992, PHS= 0.226,-1.570, 0.170, RAW= 148.4, 13.2, CAL= 148.3, 14.6, ROT= 1.7, -14.6 2025-10-27T06:05:40.623Z,1761545140.623 [DAT](INFO): got valid direction response: 06:05:38.5960 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 417, 0.15, 1.116,-0.623, 1.205, 0.992, PHS= 0.226,-1.570, 0.170, RAW= 148.4, 13.2, CAL= 148.3, 14.6, ROT= 1.7, -14.6 2025-10-27T06:05:40.624Z,1761545140.624 [DAT](INFO): DAT read: Bearing 154.5, -2.8 (Local) 2025-10-27T06:05:40.625Z,1761545140.625 [DAT](INFO): Local bearing/azimuth received: Bearing 154.5, -2.8 (Local) 2025-10-27T06:05:40.626Z,1761545140.626 [DAT](INFO): DAT read: Range 11 to 50 : 54.2 m (Round-trip 72.3 ms) speed 0.4 m/s 2025-10-27T06:05:40.627Z,1761545140.627 [DAT](INFO): DAT read: user:664> 2025-10-27T06:05:40.628Z,1761545140.628 [DAT](INFO): DAT read: Tx time:06:05:39.7196 2025-10-27T06:05:40.628Z,1761545140.628 [DAT](INFO): Ping request sent. 2025-10-27T06:05:40.628Z,1761545140.628 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:40.628Z,1761545140.628 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:40.629Z,1761545140.629 [DAT](INFO): direction in FSK: [0.967283,0.028708,0.252069] 2025-10-27T06:05:40.629Z,1761545140.629 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:40.630Z,1761545140.630 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:40.645Z,1761545140.645 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:40.645Z,1761545140.645 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:40.986Z,1761545140.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932702,0.348698,0.092066],[-0.358633,0.923707,0.134711],[-0.038069,-0.158664,0.986598]] 2025-10-27T06:05:41.037Z,1761545141.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 3.528034 s, deltaX: -1.899998 m, approachRate: -0.538543 m/s, rangeRepo size: 4 2025-10-27T06:05:41.039Z,1761545141.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.855160 m, bearing: 342.975202 deg, lat: 36.779421 deg, lon: -121.859777 deg, deltaT: 3.528034 s, deltaX: -1.888168 m, approachRate: -0.535190 m/s, posRepo size: 4 2025-10-27T06:05:41.040Z,1761545141.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m. 2025-10-27T06:05:41.043Z,1761545141.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.855160 m, nav range: 52.471043 m, bearing: 341.185208 deg, approach rate: 0.000000 m/s, LOS rate: -0.113267 deg/s, cmd heading: 336.992354 deg, new cmd heading: 336.844748 deg. 2025-10-27T06:05:41.044Z,1761545141.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879050 target range: 53.855160 and range: 54.20 m. 2025-10-27T06:05:41.393Z,1761545141.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932054,0.350145,0.093132],[-0.360401,0.922383,0.138998],[-0.037234,-0.163118,0.985904]] 2025-10-27T06:05:41.413Z,1761545141.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m. 2025-10-27T06:05:41.416Z,1761545141.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.855160 m, nav range: 52.289497 m, bearing: 341.158634 deg, approach rate: -0.482417 m/s, LOS rate: -0.070858 deg/s, cmd heading: 336.844740 deg, new cmd heading: 336.764743 deg. 2025-10-27T06:05:41.417Z,1761545141.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877654 target range: 53.855160 and range: 54.20 m. 2025-10-27T06:05:41.793Z,1761545141.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931729,0.350909,0.093506],[-0.361321,0.921607,0.141731],[-0.036441,-0.165840,0.985479]] 2025-10-27T06:05:41.839Z,1761545141.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m. 2025-10-27T06:05:41.850Z,1761545141.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.855160 m, nav range: 52.087677 m, bearing: 341.129144 deg, approach rate: -0.475635 m/s, LOS rate: -0.069769 deg/s, cmd heading: 336.764745 deg, new cmd heading: 336.675932 deg. 2025-10-27T06:05:41.854Z,1761545141.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876103 target range: 53.855160 and range: 54.20 m. 2025-10-27T06:05:42.203Z,1761545142.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931327,0.351966,0.093539],[-0.362459,0.920787,0.144136],[-0.035399,-0.168142,0.985127]] 2025-10-27T06:05:42.284Z,1761545142.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m. 2025-10-27T06:05:42.286Z,1761545142.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.855160 m, nav range: 51.872410 m, bearing: 341.114128 deg, approach rate: -0.482062 m/s, LOS rate: -0.033767 deg/s, cmd heading: 336.675925 deg, new cmd heading: 336.630688 deg. 2025-10-27T06:05:42.292Z,1761545142.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875314 target range: 53.855160 and range: 54.20 m. 2025-10-27T06:05:42.651Z,1761545142.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:42.653Z,1761545142.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m. 2025-10-27T06:05:42.672Z,1761545142.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.855160 m, nav range: 51.681129 m, bearing: 341.100679 deg, approach rate: -0.517683 m/s, LOS rate: -0.036532 deg/s, cmd heading: 336.630682 deg, new cmd heading: 336.590187 deg. 2025-10-27T06:05:42.673Z,1761545142.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874607 target range: 53.855160 and range: 54.20 m. 2025-10-27T06:05:42.882Z,1761545142.882 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:42.883Z,1761545142.883 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:42.884Z,1761545142.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:43.014Z,1761545143.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930602,0.353891,0.093489],[-0.364498,0.919325,0.148269],[-0.033475,-0.172056,0.984518]] 2025-10-27T06:05:43.061Z,1761545143.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m. 2025-10-27T06:05:43.069Z,1761545143.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.855160 m, nav range: 51.469067 m, bearing: 341.105764 deg, approach rate: -0.520581 m/s, LOS rate: 0.012535 deg/s, cmd heading: 336.590192 deg, new cmd heading: 336.605511 deg. 2025-10-27T06:05:43.069Z,1761545143.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874875 target range: 53.855160 and range: 54.20 m. 2025-10-27T06:05:43.133Z,1761545143.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504503 2025-10-27T06:05:43.384Z,1761545143.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756311 2025-10-27T06:05:43.417Z,1761545143.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930215,0.355010,0.093103],[-0.365563,0.918772,0.149068],[-0.032620,-0.172700,0.984434]] 2025-10-27T06:05:43.534Z,1761545143.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m. 2025-10-27T06:05:43.537Z,1761545143.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.855160 m, nav range: 51.221653 m, bearing: 341.112068 deg, approach rate: -0.522416 m/s, LOS rate: 0.013375 deg/s, cmd heading: 336.605519 deg, new cmd heading: 336.624523 deg. 2025-10-27T06:05:43.538Z,1761545143.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875206 target range: 53.855160 and range: 54.20 m. 2025-10-27T06:05:43.637Z,1761545143.637 [DAT](INFO): DAT read: Rx Time:06:05:42.1939 2025-10-27T06:05:43.638Z,1761545143.638 [DAT](INFO): Rx dataTimestamp_ set to:1761545143.637081 2025-10-27T06:05:43.639Z,1761545143.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010165 2025-10-27T06:05:43.890Z,1761545143.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261589 2025-10-27T06:05:43.945Z,1761545143.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929699,0.356577,0.092267],[-0.367008,0.917981,0.150386],[-0.031075,-0.173677,0.984312]] 2025-10-27T06:05:44.076Z,1761545144.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.86 m. 2025-10-27T06:05:44.083Z,1761545144.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.855160 m, nav range: 50.962185 m, bearing: 341.125118 deg, approach rate: -0.478498 m/s, LOS rate: 0.024188 deg/s, cmd heading: 336.624535 deg, new cmd heading: 336.663882 deg. 2025-10-27T06:05:44.084Z,1761545144.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875893 target range: 53.855160 and range: 54.20 m. 2025-10-27T06:05:44.146Z,1761545144.146 [DAT](INFO): DAT read: 06:05:42.1939 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 427, 0.29, 1.011,-0.763, 1.153, 0.831, PHS= 0.282,-1.549, 0.278, RAW= 149.9, 10.8, CAL= 149.7, 11.9, ROT= 0.3, -11.9 2025-10-27T06:05:44.147Z,1761545144.147 [DAT](INFO): got valid direction response: 06:05:42.1939 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 427, 0.29, 1.011,-0.763, 1.153, 0.831, PHS= 0.282,-1.549, 0.278, RAW= 149.9, 10.8, CAL= 149.7, 11.9, ROT= 0.3, -11.9 2025-10-27T06:05:44.148Z,1761545144.148 [DAT](INFO): DAT read: Bearing 151.8, -3.4 (Local) 2025-10-27T06:05:44.148Z,1761545144.148 [DAT](INFO): Local bearing/azimuth received: Bearing 151.8, -3.4 (Local) 2025-10-27T06:05:44.150Z,1761545144.150 [DAT](INFO): DAT read: Range 11 to 50 : 52.6 m (Round-trip 70.2 ms) speed 0.4 m/s 2025-10-27T06:05:44.150Z,1761545144.150 [DAT](INFO): DAT read: user:665> 2025-10-27T06:05:44.151Z,1761545144.151 [DAT](INFO): DAT read: Tx time:06:05:43.3196 2025-10-27T06:05:44.152Z,1761545144.152 [DAT](INFO): Ping request sent. 2025-10-27T06:05:44.152Z,1761545144.152 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:44.152Z,1761545144.152 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:44.153Z,1761545144.153 [DAT](INFO): direction in FSK: [0.978496,0.005123,0.206204] 2025-10-27T06:05:44.153Z,1761545144.153 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:44.153Z,1761545144.153 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:44.168Z,1761545144.168 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:44.168Z,1761545144.168 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:44.489Z,1761545144.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.599998 m, deltaT: 3.532000 s, deltaX: -1.600002 m, approachRate: -0.453002 m/s, rangeRepo size: 4 2025-10-27T06:05:44.492Z,1761545144.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.265385 m, bearing: 340.835873 deg, lat: 36.779427 deg, lon: -121.859783 deg, deltaT: 3.532000 s, deltaX: -1.589775 m, approachRate: -0.450106 m/s, posRepo size: 4 2025-10-27T06:05:44.492Z,1761545144.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.27 m. 2025-10-27T06:05:44.495Z,1761545144.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.265385 m, nav range: 51.489437 m, bearing: 340.835981 deg, approach rate: 0.000000 m/s, LOS rate: 0.024188 deg/s, cmd heading: 336.663876 deg, new cmd heading: 336.693806 deg. 2025-10-27T06:05:44.496Z,1761545144.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876415 target range: 52.265385 and range: 52.60 m. 2025-10-27T06:05:44.840Z,1761545144.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929201,0.358259,0.090757],[-0.368381,0.917566,0.149557],[-0.029695,-0.172401,0.984579]] 2025-10-27T06:05:44.942Z,1761545144.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:44.944Z,1761545144.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.27 m. 2025-10-27T06:05:44.951Z,1761545144.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.265385 m, nav range: 51.248146 m, bearing: 340.847145 deg, approach rate: -0.530048 m/s, LOS rate: 0.024638 deg/s, cmd heading: 336.693793 deg, new cmd heading: 336.727441 deg. 2025-10-27T06:05:44.952Z,1761545144.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877003 target range: 52.265385 and range: 52.60 m. 2025-10-27T06:05:45.148Z,1761545145.148 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:45.148Z,1761545145.148 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:45.149Z,1761545145.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:45.304Z,1761545145.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.27 m. 2025-10-27T06:05:45.307Z,1761545145.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.265385 m, nav range: 51.043736 m, bearing: 340.857156 deg, approach rate: -0.567883 m/s, LOS rate: 0.027923 deg/s, cmd heading: 336.727452 deg, new cmd heading: 336.757604 deg. 2025-10-27T06:05:45.308Z,1761545145.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877529 target range: 52.265385 and range: 52.60 m. 2025-10-27T06:05:45.400Z,1761545145.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248342 2025-10-27T06:05:45.647Z,1761545145.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928909,0.359515,0.088753],[-0.369215,0.917575,0.147434],[-0.028433,-0.169722,0.985082]] 2025-10-27T06:05:45.652Z,1761545145.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500295 2025-10-27T06:05:45.668Z,1761545145.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.27 m. 2025-10-27T06:05:45.671Z,1761545145.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.265385 m, nav range: 50.842834 m, bearing: 340.867285 deg, approach rate: -0.552316 m/s, LOS rate: 0.027957 deg/s, cmd heading: 336.757614 deg, new cmd heading: 336.788121 deg. 2025-10-27T06:05:45.673Z,1761545145.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878062 target range: 52.265385 and range: 52.60 m. 2025-10-27T06:05:45.907Z,1761545145.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754519 2025-10-27T06:05:46.049Z,1761545146.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928936,0.359717,0.087641],[-0.369174,0.917881,0.145621],[-0.028062,-0.167627,0.985451]] 2025-10-27T06:05:46.098Z,1761545146.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.27 m. 2025-10-27T06:05:46.101Z,1761545146.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.265385 m, nav range: 50.600105 m, bearing: 340.872800 deg, approach rate: -0.563729 m/s, LOS rate: 0.012870 deg/s, cmd heading: 336.788131 deg, new cmd heading: 336.804755 deg. 2025-10-27T06:05:46.102Z,1761545146.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878352 target range: 52.265385 and range: 52.60 m. 2025-10-27T06:05:46.157Z,1761545146.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005698 2025-10-27T06:05:46.408Z,1761545146.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256243 2025-10-27T06:05:46.459Z,1761545146.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928849,0.360026,0.087301],[-0.369449,0.917622,0.146550],[-0.027348,-0.168376,0.985343]] 2025-10-27T06:05:46.482Z,1761545146.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.27 m. 2025-10-27T06:05:46.485Z,1761545146.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.265385 m, nav range: 50.384762 m, bearing: 340.877804 deg, approach rate: -0.561017 m/s, LOS rate: 0.013094 deg/s, cmd heading: 336.804742 deg, new cmd heading: 336.819821 deg. 2025-10-27T06:05:46.486Z,1761545146.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878615 target range: 52.265385 and range: 52.60 m. 2025-10-27T06:05:46.660Z,1761545146.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508161 2025-10-27T06:05:46.857Z,1761545146.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928867,0.360112,0.086749],[-0.369426,0.917716,0.146019],[-0.027028,-0.167679,0.985471]] 2025-10-27T06:05:46.915Z,1761545146.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762421 2025-10-27T06:05:46.943Z,1761545146.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.27 m. 2025-10-27T06:05:46.962Z,1761545146.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.265385 m, nav range: 50.158051 m, bearing: 340.883116 deg, approach rate: -0.498017 m/s, LOS rate: 0.011720 deg/s, cmd heading: 336.819823 deg, new cmd heading: 336.835828 deg. 2025-10-27T06:05:46.967Z,1761545146.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878894 target range: 52.265385 and range: 52.60 m. 2025-10-27T06:05:47.164Z,1761545147.164 [DAT](INFO): DAT read: Rx Time:06:05:45.7915 2025-10-27T06:05:47.164Z,1761545147.164 [DAT](INFO): Rx dataTimestamp_ set to:1761545147.164110 2025-10-27T06:05:47.165Z,1761545147.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013259 2025-10-27T06:05:47.283Z,1761545147.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928976,0.360007,0.086011],[-0.369205,0.917765,0.146270],[-0.026279,-0.167637,0.985498]] 2025-10-27T06:05:47.333Z,1761545147.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:47.336Z,1761545147.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.27 m. 2025-10-27T06:05:47.338Z,1761545147.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.265385 m, nav range: 49.909187 m, bearing: 340.880275 deg, approach rate: -0.625204 m/s, LOS rate: -0.007172 deg/s, cmd heading: 336.835833 deg, new cmd heading: 336.827268 deg. 2025-10-27T06:05:47.339Z,1761545147.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878745 target range: 52.265385 and range: 52.60 m. 2025-10-27T06:05:47.416Z,1761545147.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264560 2025-10-27T06:05:47.682Z,1761545147.682 [DAT](INFO): DAT read: 06:05:45.7915 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.35,-2.008, 2.622,-1.864,-2.028, PHS= 0.122,-1.588, 0.119, RAW= 149.9, 15.6, CAL= 150.2, 17.4, ROT= 359.8, -17.4 2025-10-27T06:05:47.719Z,1761545147.719 [DAT](INFO): got valid direction response: 06:05:45.7915 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.35,-2.008, 2.622,-1.864,-2.028, PHS= 0.122,-1.588, 0.119, RAW= 149.9, 15.6, CAL= 150.2, 17.4, ROT= 359.8, -17.4 2025-10-27T06:05:47.721Z,1761545147.721 [DAT](INFO): DAT read: Bearing 157.3, -4.6 (Local) 2025-10-27T06:05:47.721Z,1761545147.721 [DAT](INFO): Local bearing/azimuth received: Bearing 157.3, -4.6 (Local) 2025-10-27T06:05:47.742Z,1761545147.742 [DAT](INFO): DAT read: Range 11 to 50 : 50.7 m (Round-trip 67.7 ms) speed 0.5 m/s 2025-10-27T06:05:47.742Z,1761545147.742 [DAT](INFO): DAT read: user:666> 2025-10-27T06:05:47.756Z,1761545147.756 [DAT](INFO): DAT read: Tx time:06:05:46.9196 2025-10-27T06:05:47.756Z,1761545147.756 [DAT](INFO): Ping request sent. 2025-10-27T06:05:47.756Z,1761545147.756 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:47.757Z,1761545147.757 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:47.767Z,1761545147.767 [DAT](INFO): direction in FSK: [0.954235,-0.003331,0.299041] 2025-10-27T06:05:47.767Z,1761545147.767 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:47.768Z,1761545147.768 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:47.784Z,1761545147.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929047,0.360011,0.085228],[-0.369065,0.917897,0.145795],[-0.025743,-0.166905,0.985637]] 2025-10-27T06:05:47.787Z,1761545147.787 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:47.787Z,1761545147.787 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:47.856Z,1761545147.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 3.530857 s, deltaX: -1.899998 m, approachRate: -0.538112 m/s, rangeRepo size: 4 2025-10-27T06:05:47.858Z,1761545147.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.377716 m, bearing: 341.111774 deg, lat: 36.779427 deg, lon: -121.859776 deg, deltaT: 3.530857 s, deltaX: -1.887669 m, approachRate: -0.534621 m/s, posRepo size: 4 2025-10-27T06:05:47.870Z,1761545147.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:47.881Z,1761545147.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 49.457962 m, bearing: 341.492629 deg, approach rate: 0.000000 m/s, LOS rate: -0.007172 deg/s, cmd heading: 336.827282 deg, new cmd heading: 336.816085 deg. 2025-10-27T06:05:47.882Z,1761545147.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878550 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:48.219Z,1761545148.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929461,0.359124,0.084446],[-0.368039,0.918429,0.145036],[-0.025472,-0.165885,0.985816]] 2025-10-27T06:05:48.346Z,1761545148.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:48.349Z,1761545148.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 49.172100 m, bearing: 341.476752 deg, approach rate: -0.583040 m/s, LOS rate: -0.032571 deg/s, cmd heading: 336.816080 deg, new cmd heading: 336.768172 deg. 2025-10-27T06:05:48.350Z,1761545148.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877713 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:48.620Z,1761545148.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929923,0.358207,0.083246],[-0.366904,0.919067,0.143867],[-0.024974,-0.164329,0.986089]] 2025-10-27T06:05:48.646Z,1761545148.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:48.649Z,1761545148.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 49.007797 m, bearing: 341.467306 deg, approach rate: -0.547463 m/s, LOS rate: -0.031580 deg/s, cmd heading: 336.768160 deg, new cmd heading: 336.739727 deg. 2025-10-27T06:05:48.650Z,1761545148.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877217 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:49.022Z,1761545149.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930316,0.357347,0.082554],[-0.365926,0.919544,0.143305],[-0.024702,-0.163528,0.986229]] 2025-10-27T06:05:49.090Z,1761545149.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:49.109Z,1761545149.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 48.779083 m, bearing: 341.443010 deg, approach rate: -0.515442 m/s, LOS rate: -0.055011 deg/s, cmd heading: 336.739719 deg, new cmd heading: 336.666489 deg. 2025-10-27T06:05:49.110Z,1761545149.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875939 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:49.427Z,1761545149.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930735,0.356333,0.082217],[-0.364872,0.919944,0.143426],[-0.024528,-0.163490,0.986240]] 2025-10-27T06:05:49.461Z,1761545149.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:49.487Z,1761545149.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:49.494Z,1761545149.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 48.586697 m, bearing: 341.422135 deg, approach rate: -0.485169 m/s, LOS rate: -0.052851 deg/s, cmd heading: 336.666499 deg, new cmd heading: 336.603627 deg. 2025-10-27T06:05:49.494Z,1761545149.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874842 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:49.684Z,1761545149.684 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:49.684Z,1761545149.684 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:49.684Z,1761545149.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:49.832Z,1761545149.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931143,0.355343,0.081881],[-0.363844,0.920316,0.143652],[-0.024311,-0.163553,0.986235]] 2025-10-27T06:05:49.850Z,1761545149.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:49.853Z,1761545149.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 48.387146 m, bearing: 341.400044 deg, approach rate: -0.548597 m/s, LOS rate: -0.060982 deg/s, cmd heading: 336.603634 deg, new cmd heading: 336.537088 deg. 2025-10-27T06:05:49.854Z,1761545149.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873680 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:49.937Z,1761545149.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180476 2025-10-27T06:05:50.188Z,1761545150.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.431646 2025-10-27T06:05:50.246Z,1761545150.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931573,0.354286,0.081570],[-0.362756,0.920694,0.143985],[-0.024090,-0.163723,0.986212]] 2025-10-27T06:05:50.301Z,1761545150.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:50.304Z,1761545150.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 48.157837 m, bearing: 341.372085 deg, approach rate: -0.508506 m/s, LOS rate: -0.062296 deg/s, cmd heading: 336.537081 deg, new cmd heading: 336.452804 deg. 2025-10-27T06:05:50.305Z,1761545150.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872209 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:50.440Z,1761545150.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683610 2025-10-27T06:05:50.638Z,1761545150.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932054,0.353033,0.081506],[-0.361519,0.921103,0.144479],[-0.024069,-0.164128,0.986145]] 2025-10-27T06:05:50.678Z,1761545150.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:50.684Z,1761545150.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 47.968788 m, bearing: 341.348532 deg, approach rate: -0.502140 m/s, LOS rate: -0.062807 deg/s, cmd heading: 336.452796 deg, new cmd heading: 336.381858 deg. 2025-10-27T06:05:50.685Z,1761545150.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870971 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:50.692Z,1761545150.692 [DAT](INFO): DAT read: Rx Time:06:05:49.3887 2025-10-27T06:05:50.693Z,1761545150.693 [DAT](INFO): Rx dataTimestamp_ set to:1761545150.692242 2025-10-27T06:05:50.693Z,1761545150.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936804 2025-10-27T06:05:50.945Z,1761545150.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188745 2025-10-27T06:05:51.047Z,1761545151.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932510,0.351839,0.081458],[-0.360338,0.921520,0.144767],[-0.024130,-0.164348,0.986107]] 2025-10-27T06:05:51.089Z,1761545151.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.38 m. 2025-10-27T06:05:51.092Z,1761545151.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.377716 m, nav range: 47.772072 m, bearing: 341.317905 deg, approach rate: -0.477921 m/s, LOS rate: -0.074715 deg/s, cmd heading: 336.381872 deg, new cmd heading: 336.289612 deg. 2025-10-27T06:05:51.093Z,1761545151.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869361 target range: 50.377716 and range: 50.70 m. 2025-10-27T06:05:51.197Z,1761545151.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.440355 2025-10-27T06:05:51.444Z,1761545151.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933055,0.350435,0.081269],[-0.358924,0.922041,0.144961],[-0.024134,-0.164426,0.986094]] 2025-10-27T06:05:51.453Z,1761545151.453 [DAT](INFO): DAT read: 06:05:49.3887 LVL= 32720, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.35, 2.479, 0.742, 2.673, 2.403, PHS= 0.177,-1.616, 0.226, RAW= 151.3, 13.3, CAL= 151.4, 14.8, ROT= 358.6, -14.8 2025-10-27T06:05:51.454Z,1761545151.454 [DAT](INFO): got valid direction response: 06:05:49.3887 LVL= 32720, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.35, 2.479, 0.742, 2.673, 2.403, PHS= 0.177,-1.616, 0.226, RAW= 151.3, 13.3, CAL= 151.4, 14.8, ROT= 358.6, -14.8 2025-10-27T06:05:51.455Z,1761545151.455 [DAT](INFO): DAT read: Bearing 155.5, -5.2 (Local) 2025-10-27T06:05:51.456Z,1761545151.456 [DAT](INFO): Local bearing/azimuth received: Bearing 155.5, -5.2 (Local) 2025-10-27T06:05:51.457Z,1761545151.457 [DAT](INFO): DAT read: Range 11 to 50 : 48.7 m (Round-trip 65.0 ms) speed 0.4 m/s 2025-10-27T06:05:51.458Z,1761545151.458 [DAT](INFO): DAT read: user:667> 2025-10-27T06:05:51.459Z,1761545151.459 [DAT](INFO): DAT read: Tx time:06:05:50.5196 2025-10-27T06:05:51.459Z,1761545151.459 [DAT](INFO): Ping request sent. 2025-10-27T06:05:51.459Z,1761545151.459 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:51.459Z,1761545151.459 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:51.460Z,1761545151.460 [DAT](INFO): direction in FSK: [0.966535,-0.023621,0.255446] 2025-10-27T06:05:51.461Z,1761545151.461 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:51.461Z,1761545151.461 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:51.464Z,1761545151.464 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:51.464Z,1761545151.464 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:51.535Z,1761545151.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.700001 m, deltaT: 3.776880 s, deltaX: -2.000000 m, approachRate: -0.529538 m/s, rangeRepo size: 4 2025-10-27T06:05:51.537Z,1761545151.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.390423 m, bearing: 340.061942 deg, lat: 36.779427 deg, lon: -121.859776 deg, deltaT: 3.776880 s, deltaX: -1.987293 m, approachRate: -0.526173 m/s, posRepo size: 4 2025-10-27T06:05:51.538Z,1761545151.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:51.545Z,1761545151.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 47.582920 m, bearing: 341.287864 deg, approach rate: 0.000000 m/s, LOS rate: -0.074715 deg/s, cmd heading: 336.289609 deg, new cmd heading: 336.192569 deg. 2025-10-27T06:05:51.546Z,1761545151.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867667 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:51.867Z,1761545151.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933461,0.349213,0.081860],[-0.357837,0.922319,0.145875],[-0.024559,-0.165461,0.985910]] 2025-10-27T06:05:51.910Z,1761545151.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:51.916Z,1761545151.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:51.924Z,1761545151.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 47.387615 m, bearing: 341.256320 deg, approach rate: -0.495488 m/s, LOS rate: -0.080357 deg/s, cmd heading: 336.192566 deg, new cmd heading: 336.097544 deg. 2025-10-27T06:05:51.925Z,1761545151.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866009 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:51.952Z,1761545151.952 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:51.952Z,1761545151.952 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:51.952Z,1761545151.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:52.208Z,1761545152.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748527 2025-10-27T06:05:52.276Z,1761545152.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933692,0.348666,0.081553],[-0.357258,0.922469,0.146350],[-0.024203,-0.165781,0.985866]] 2025-10-27T06:05:52.329Z,1761545152.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:52.336Z,1761545152.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 47.191483 m, bearing: 341.225389 deg, approach rate: -0.475096 m/s, LOS rate: -0.075236 deg/s, cmd heading: 336.097544 deg, new cmd heading: 336.004367 deg. 2025-10-27T06:05:52.337Z,1761545152.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864382 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:52.456Z,1761545152.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997218 2025-10-27T06:05:52.709Z,1761545152.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249466 2025-10-27T06:05:52.734Z,1761545152.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:52.750Z,1761545152.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 47.005966 m, bearing: 341.195893 deg, approach rate: -0.458906 m/s, LOS rate: -0.073251 deg/s, cmd heading: 336.004353 deg, new cmd heading: 335.915516 deg. 2025-10-27T06:05:52.756Z,1761545152.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862832 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:52.960Z,1761545152.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500612 2025-10-27T06:05:53.081Z,1761545153.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933377,0.348960,0.083870],[-0.358067,0.921318,0.151531],[-0.024393,-0.171467,0.984888]] 2025-10-27T06:05:53.117Z,1761545153.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:53.120Z,1761545153.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 46.809822 m, bearing: 341.177312 deg, approach rate: -0.511343 m/s, LOS rate: -0.048643 deg/s, cmd heading: 335.915506 deg, new cmd heading: 335.859530 deg. 2025-10-27T06:05:53.121Z,1761545153.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861855 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:53.213Z,1761545153.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754147 2025-10-27T06:05:53.464Z,1761545153.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004775 2025-10-27T06:05:53.486Z,1761545153.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932932,0.349822,0.085217],[-0.359207,0.920500,0.153785],[-0.024645,-0.174081,0.984423]] 2025-10-27T06:05:53.559Z,1761545153.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:53.562Z,1761545153.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 46.624626 m, bearing: 341.159930 deg, approach rate: -0.418952 m/s, LOS rate: -0.039478 deg/s, cmd heading: 335.859526 deg, new cmd heading: 335.807173 deg. 2025-10-27T06:05:53.563Z,1761545153.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860941 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:53.718Z,1761545153.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258790 2025-10-27T06:05:53.882Z,1761545153.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932548,0.350448,0.086838],[-0.360171,0.919719,0.156184],[-0.025132,-0.176926,0.983903]] 2025-10-27T06:05:53.911Z,1761545153.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:53.913Z,1761545153.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:53.916Z,1761545153.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 46.435753 m, bearing: 341.142332 deg, approach rate: -0.533476 m/s, LOS rate: -0.049908 deg/s, cmd heading: 335.807179 deg, new cmd heading: 335.754171 deg. 2025-10-27T06:05:53.917Z,1761545153.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860016 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:53.970Z,1761545153.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510360 2025-10-27T06:05:54.222Z,1761545154.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762096 2025-10-27T06:05:54.292Z,1761545154.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931628,0.352471,0.088505],[-0.362534,0.918319,0.158932],[-0.025256,-0.180152,0.983315]] 2025-10-27T06:05:54.329Z,1761545154.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:54.348Z,1761545154.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 46.238464 m, bearing: 341.137890 deg, approach rate: -0.474562 m/s, LOS rate: -0.010730 deg/s, cmd heading: 335.754177 deg, new cmd heading: 335.740795 deg. 2025-10-27T06:05:54.349Z,1761545154.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859782 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:54.473Z,1761545154.473 [DAT](INFO): DAT read: Rx Time:06:05:52.9865 2025-10-27T06:05:54.474Z,1761545154.474 [DAT](INFO): Rx dataTimestamp_ set to:1761545154.473102 2025-10-27T06:05:54.475Z,1761545154.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014974 2025-10-27T06:05:54.692Z,1761545154.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930769,0.354475,0.089534],[-0.364732,0.917205,0.160328],[-0.025289,-0.181884,0.982995]] 2025-10-27T06:05:54.725Z,1761545154.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265400 2025-10-27T06:05:54.763Z,1761545154.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.39 m. 2025-10-27T06:05:54.766Z,1761545154.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.390423 m, nav range: 46.056641 m, bearing: 341.134311 deg, approach rate: -0.435205 m/s, LOS rate: -0.008602 deg/s, cmd heading: 335.740790 deg, new cmd heading: 335.730009 deg. 2025-10-27T06:05:54.771Z,1761545154.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859594 target range: 48.390423 and range: 48.70 m. 2025-10-27T06:05:54.982Z,1761545154.982 [DAT](INFO): DAT read: 06:05:52.9865 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.22, 2.232, 0.492, 2.455, 2.155, PHS= 0.179,-1.618, 0.256, RAW= 152.1, 12.8, CAL= 152.2, 14.3, ROT= 357.8, -14.3 2025-10-27T06:05:54.984Z,1761545154.984 [DAT](INFO): got valid direction response: 06:05:52.9865 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.22, 2.232, 0.492, 2.455, 2.155, PHS= 0.179,-1.618, 0.256, RAW= 152.1, 12.8, CAL= 152.2, 14.3, ROT= 357.8, -14.3 2025-10-27T06:05:54.985Z,1761545154.985 [DAT](INFO): DAT read: Bearing 154.2, -5.8 (Local) 2025-10-27T06:05:54.985Z,1761545154.985 [DAT](INFO): Local bearing/azimuth received: Bearing 154.2, -5.8 (Local) 2025-10-27T06:05:54.987Z,1761545154.987 [DAT](INFO): DAT read: Range 11 to 50 : 47.0 m (Round-trip 62.7 ms) speed 0.4 m/s 2025-10-27T06:05:54.988Z,1761545154.988 [DAT](INFO): DAT read: user:668> 2025-10-27T06:05:54.988Z,1761545154.988 [DAT](INFO): DAT read: Tx time:06:05:54.0696 2025-10-27T06:05:54.989Z,1761545154.989 [DAT](INFO): Ping request sent. 2025-10-27T06:05:54.989Z,1761545154.989 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:54.989Z,1761545154.989 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:54.990Z,1761545154.990 [DAT](INFO): direction in FSK: [0.968301,-0.037199,0.246999] 2025-10-27T06:05:54.990Z,1761545154.990 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:54.990Z,1761545154.990 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:55.001Z,1761545155.001 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:55.002Z,1761545155.002 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:55.319Z,1761545155.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 3.528917 s, deltaX: -1.700001 m, approachRate: -0.481734 m/s, rangeRepo size: 4 2025-10-27T06:05:55.321Z,1761545155.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.701485 m, bearing: 339.093452 deg, lat: 36.779420 deg, lon: -121.859783 deg, deltaT: 3.528917 s, deltaX: -1.688938 m, approachRate: -0.478600 m/s, posRepo size: 4 2025-10-27T06:05:55.321Z,1761545155.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m. 2025-10-27T06:05:55.324Z,1761545155.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.701485 m, nav range: 45.195148 m, bearing: 340.140854 deg, approach rate: 0.000000 m/s, LOS rate: -0.008602 deg/s, cmd heading: 335.729998 deg, new cmd heading: 335.715257 deg. 2025-10-27T06:05:55.325Z,1761545155.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859336 target range: 46.701485 and range: 47.00 m. 2025-10-27T06:05:55.760Z,1761545155.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928991,0.358602,0.091539],[-0.369239,0.914905,0.163130],[-0.025251,-0.185346,0.982349]] 2025-10-27T06:05:55.783Z,1761545155.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m. 2025-10-27T06:05:55.786Z,1761545155.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.701485 m, nav range: 44.966843 m, bearing: 340.143638 deg, approach rate: -0.490738 m/s, LOS rate: 0.006013 deg/s, cmd heading: 335.715245 deg, new cmd heading: 335.723638 deg. 2025-10-27T06:05:55.787Z,1761545155.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859483 target range: 46.701485 and range: 47.00 m. 2025-10-27T06:05:56.150Z,1761545156.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928146,0.360633,0.092136],[-0.371381,0.913820,0.164344],[-0.024928,-0.186753,0.982091]] 2025-10-27T06:05:56.198Z,1761545156.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:56.200Z,1761545156.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m. 2025-10-27T06:05:56.203Z,1761545156.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.701485 m, nav range: 44.755173 m, bearing: 340.148841 deg, approach rate: -0.507793 m/s, LOS rate: 0.012542 deg/s, cmd heading: 335.723633 deg, new cmd heading: 335.739317 deg. 2025-10-27T06:05:56.204Z,1761545156.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859756 target range: 46.701485 and range: 47.00 m. 2025-10-27T06:05:56.237Z,1761545156.237 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:05:56.237Z,1761545156.237 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:05:56.237Z,1761545156.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:05:56.488Z,1761545156.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499087 2025-10-27T06:05:56.562Z,1761545156.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927311,0.362752,0.092219],[-0.373502,0.912816,0.165115],[-0.024283,-0.187557,0.981954]] 2025-10-27T06:05:56.581Z,1761545156.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m. 2025-10-27T06:05:56.587Z,1761545156.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.701485 m, nav range: 44.562737 m, bearing: 340.154181 deg, approach rate: -0.504869 m/s, LOS rate: 0.014070 deg/s, cmd heading: 335.739315 deg, new cmd heading: 335.755403 deg. 2025-10-27T06:05:56.605Z,1761545156.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860037 target range: 46.701485 and range: 47.00 m. 2025-10-27T06:05:56.741Z,1761545156.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751789 2025-10-27T06:05:56.958Z,1761545156.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926520,0.364933,0.091569],[-0.375531,0.911945,0.165328],[-0.023172,-0.187566,0.981979]] 2025-10-27T06:05:56.992Z,1761545156.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003213 2025-10-27T06:05:57.065Z,1761545157.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m. 2025-10-27T06:05:57.095Z,1761545157.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.701485 m, nav range: 44.328888 m, bearing: 340.161391 deg, approach rate: -0.485187 m/s, LOS rate: 0.015039 deg/s, cmd heading: 335.755407 deg, new cmd heading: 335.777151 deg. 2025-10-27T06:05:57.098Z,1761545157.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860417 target range: 46.701485 and range: 47.00 m. 2025-10-27T06:05:57.244Z,1761545157.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255245 2025-10-27T06:05:57.419Z,1761545157.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925683,0.367417,0.090093],[-0.377678,0.911230,0.164376],[-0.021701,-0.186186,0.982275]] 2025-10-27T06:05:57.490Z,1761545157.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m. 2025-10-27T06:05:57.496Z,1761545157.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507183 2025-10-27T06:05:57.505Z,1761545157.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.701485 m, nav range: 44.099518 m, bearing: 340.171769 deg, approach rate: -0.537940 m/s, LOS rate: 0.024466 deg/s, cmd heading: 335.777154 deg, new cmd heading: 335.808450 deg. 2025-10-27T06:05:57.506Z,1761545157.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860963 target range: 46.701485 and range: 47.00 m. 2025-10-27T06:05:57.748Z,1761545157.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759111 2025-10-27T06:05:57.869Z,1761545157.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m. 2025-10-27T06:05:57.872Z,1761545157.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.701485 m, nav range: 43.903461 m, bearing: 340.180726 deg, approach rate: -0.517048 m/s, LOS rate: 0.023727 deg/s, cmd heading: 335.808464 deg, new cmd heading: 335.835454 deg. 2025-10-27T06:05:57.873Z,1761545157.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861434 target range: 46.701485 and range: 47.00 m. 2025-10-27T06:05:58.002Z,1761545158.002 [DAT](INFO): DAT read: Rx Time:06:05:56.5342 2025-10-27T06:05:58.003Z,1761545158.003 [DAT](INFO): Rx dataTimestamp_ set to:1761545158.002804 2025-10-27T06:05:58.004Z,1761545158.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015206 2025-10-27T06:05:58.237Z,1761545158.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924162,0.371750,0.087904],[-0.381561,0.909365,0.165730],[-0.018326,-0.186702,0.982246]] 2025-10-27T06:05:58.252Z,1761545158.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263318 2025-10-27T06:05:58.304Z,1761545158.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:05:58.306Z,1761545158.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.70 m. 2025-10-27T06:05:58.309Z,1761545158.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.701485 m, nav range: 43.673122 m, bearing: 340.183313 deg, approach rate: -0.526448 m/s, LOS rate: 0.005945 deg/s, cmd heading: 335.835456 deg, new cmd heading: 335.843259 deg. 2025-10-27T06:05:58.310Z,1761545158.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861571 target range: 46.701485 and range: 47.00 m. 2025-10-27T06:05:58.510Z,1761545158.510 [DAT](INFO): DAT read: 06:05:56.5342 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 424, 0.17, 2.571, 0.814, 2.740, 2.502, PHS= 0.171,-1.643, 0.194, RAW= 150.6, 13.9, CAL= 150.8, 15.5, ROT= 359.2, -15.5 2025-10-27T06:05:58.511Z,1761545158.511 [DAT](INFO): got valid direction response: 06:05:56.5342 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 424, 0.17, 2.571, 0.814, 2.740, 2.502, PHS= 0.171,-1.643, 0.194, RAW= 150.6, 13.9, CAL= 150.8, 15.5, ROT= 359.2, -15.5 2025-10-27T06:05:58.518Z,1761545158.518 [DAT](INFO): DAT read: Bearing 154.9, -4.7 (Local) 2025-10-27T06:05:58.521Z,1761545158.521 [DAT](INFO): Local bearing/azimuth received: Bearing 154.9, -4.7 (Local) 2025-10-27T06:05:58.540Z,1761545158.540 [DAT](INFO): DAT read: Range 11 to 50 : 45.3 m (Round-trip 60.5 ms) speed 0.6 m/s 2025-10-27T06:05:58.541Z,1761545158.541 [DAT](INFO): DAT read: user:669> 2025-10-27T06:05:58.542Z,1761545158.542 [DAT](INFO): DAT read: Tx time:06:05:57.6196 2025-10-27T06:05:58.542Z,1761545158.542 [DAT](INFO): Ping request sent. 2025-10-27T06:05:58.542Z,1761545158.542 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:05:58.543Z,1761545158.543 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:05:58.563Z,1761545158.563 [DAT](INFO): direction in FSK: [0.963537,-0.013454,0.267238] 2025-10-27T06:05:58.564Z,1761545158.564 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:58.564Z,1761545158.564 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:58.582Z,1761545158.582 [DAT](INFO): publishing transmit ping time 2025-10-27T06:05:58.582Z,1761545158.582 [DAT](INFO): publishing direction and range info 2025-10-27T06:05:58.674Z,1761545158.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923727,0.373211,0.086267],[-0.382686,0.908971,0.165297],[-0.016723,-0.185703,0.982464]] 2025-10-27T06:05:58.749Z,1761545158.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.527306 s, deltaX: -1.700001 m, approachRate: -0.481954 m/s, rangeRepo size: 4 2025-10-27T06:05:58.756Z,1761545158.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.012489 m, bearing: 339.651170 deg, lat: 36.779420 deg, lon: -121.859785 deg, deltaT: 3.527306 s, deltaX: -1.688995 m, approachRate: -0.478834 m/s, posRepo size: 4 2025-10-27T06:05:58.757Z,1761545158.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m. 2025-10-27T06:05:58.764Z,1761545158.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.012489 m, nav range: 43.524784 m, bearing: 339.903657 deg, approach rate: 0.000000 m/s, LOS rate: 0.005945 deg/s, cmd heading: 335.843270 deg, new cmd heading: 335.851149 deg. 2025-10-27T06:05:58.765Z,1761545158.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861708 target range: 45.012489 and range: 45.30 m. 2025-10-27T06:05:59.150Z,1761545159.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922678,0.376251,0.084267],[-0.385321,0.907672,0.166311],[-0.013912,-0.185921,0.982466]] 2025-10-27T06:05:59.187Z,1761545159.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m. 2025-10-27T06:05:59.190Z,1761545159.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.012489 m, nav range: 43.269951 m, bearing: 339.887156 deg, approach rate: -0.580999 m/s, LOS rate: -0.037843 deg/s, cmd heading: 335.851139 deg, new cmd heading: 335.801343 deg. 2025-10-27T06:05:59.191Z,1761545159.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860839 target range: 45.012489 and range: 45.30 m. 2025-10-27T06:05:59.584Z,1761545159.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m. 2025-10-27T06:05:59.586Z,1761545159.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.012489 m, nav range: 43.073132 m, bearing: 339.874278 deg, approach rate: -0.522892 m/s, LOS rate: -0.034371 deg/s, cmd heading: 335.801333 deg, new cmd heading: 335.762521 deg. 2025-10-27T06:05:59.588Z,1761545159.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860161 target range: 45.012489 and range: 45.30 m. 2025-10-27T06:05:59.935Z,1761545159.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922259,0.377798,0.081894],[-0.386403,0.907192,0.166421],[-0.011420,-0.185128,0.982648]] 2025-10-27T06:05:59.954Z,1761545159.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m. 2025-10-27T06:05:59.957Z,1761545159.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.012489 m, nav range: 42.868782 m, bearing: 339.861101 deg, approach rate: -0.522576 m/s, LOS rate: -0.033856 deg/s, cmd heading: 335.762510 deg, new cmd heading: 335.722792 deg. 2025-10-27T06:05:59.958Z,1761545159.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859468 target range: 45.012489 and range: 45.30 m. 2025-10-27T06:06:00.392Z,1761545160.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:00.394Z,1761545160.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m. 2025-10-27T06:06:00.397Z,1761545160.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.012489 m, nav range: 42.642345 m, bearing: 339.825983 deg, approach rate: -0.515072 m/s, LOS rate: -0.080308 deg/s, cmd heading: 335.722786 deg, new cmd heading: 335.616871 deg. 2025-10-27T06:06:00.398Z,1761545160.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857619 target range: 45.012489 and range: 45.30 m. 2025-10-27T06:06:00.520Z,1761545160.520 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:06:00.520Z,1761545160.520 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:06:00.520Z,1761545160.520 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:06:00.749Z,1761545160.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922581,0.377599,0.079139],[-0.385700,0.907463,0.166574],[-0.008918,-0.184202,0.982848]] 2025-10-27T06:06:00.767Z,1761545160.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m. 2025-10-27T06:06:00.770Z,1761545160.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.012489 m, nav range: 42.449234 m, bearing: 339.795529 deg, approach rate: -0.517362 m/s, LOS rate: -0.081960 deg/s, cmd heading: 335.616863 deg, new cmd heading: 335.525086 deg. 2025-10-27T06:06:00.772Z,1761545160.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229781 2025-10-27T06:06:00.773Z,1761545160.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856018 target range: 45.012489 and range: 45.30 m. 2025-10-27T06:06:01.024Z,1761545161.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481588 2025-10-27T06:06:01.178Z,1761545161.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923055,0.376808,0.077359],[-0.384590,0.908032,0.166039],[-0.007679,-0.183014,0.983080]] 2025-10-27T06:06:01.248Z,1761545161.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m. 2025-10-27T06:06:01.255Z,1761545161.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.012489 m, nav range: 42.220909 m, bearing: 339.744508 deg, approach rate: -0.474753 m/s, LOS rate: -0.106661 deg/s, cmd heading: 335.525093 deg, new cmd heading: 335.371203 deg. 2025-10-27T06:06:01.256Z,1761545161.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853332 target range: 45.012489 and range: 45.30 m. 2025-10-27T06:06:01.276Z,1761545161.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733714 2025-10-27T06:06:01.528Z,1761545161.528 [DAT](INFO): DAT read: Rx Time:06:06:00.0817 2025-10-27T06:06:01.528Z,1761545161.528 [DAT](INFO): Rx dataTimestamp_ set to:1761545161.528190 2025-10-27T06:06:01.529Z,1761545161.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986708 2025-10-27T06:06:01.551Z,1761545161.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923460,0.376174,0.075595],[-0.383642,0.908499,0.165673],[-0.006356,-0.181994,0.983279]] 2025-10-27T06:06:01.570Z,1761545161.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m. 2025-10-27T06:06:01.573Z,1761545161.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.012489 m, nav range: 42.056221 m, bearing: 339.707116 deg, approach rate: -0.511559 m/s, LOS rate: -0.116603 deg/s, cmd heading: 335.371195 deg, new cmd heading: 335.258579 deg. 2025-10-27T06:06:01.574Z,1761545161.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851366 target range: 45.012489 and range: 45.30 m. 2025-10-27T06:06:01.780Z,1761545161.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237519 2025-10-27T06:06:01.971Z,1761545161.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924021,0.375141,0.073846],[-0.382305,0.909188,0.164986],[-0.005247,-0.180682,0.983527]] 2025-10-27T06:06:02.037Z,1761545162.037 [DAT](INFO): DAT read: 06:06:00.0817 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.43, 0.471,-1.282, 0.594, 0.262, PHS= 0.311,-1.499, 0.289, RAW= 149.4, 10.0, CAL= 149.1, 10.9, ROT= 0.9, -10.9 2025-10-27T06:06:02.039Z,1761545162.039 [DAT](INFO): got valid direction response: 06:06:00.0817 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.43, 0.471,-1.282, 0.594, 0.262, PHS= 0.311,-1.499, 0.289, RAW= 149.4, 10.0, CAL= 149.1, 10.9, ROT= 0.9, -10.9 2025-10-27T06:06:02.040Z,1761545162.040 [DAT](INFO): DAT read: Bearing 150.7, -1.5 (Local) 2025-10-27T06:06:02.040Z,1761545162.040 [DAT](INFO): Local bearing/azimuth received: Bearing 150.7, -1.5 (Local) 2025-10-27T06:06:02.042Z,1761545162.042 [DAT](INFO): DAT read: Range 11 to 50 : 43.5 m (Round-trip 58.0 ms) speed 0.4 m/s 2025-10-27T06:06:02.042Z,1761545162.042 [DAT](INFO): DAT read: user:670> 2025-10-27T06:06:02.043Z,1761545162.043 [DAT](INFO): DAT read: Tx time:06:06:01.1696 2025-10-27T06:06:02.043Z,1761545162.043 [DAT](INFO): Ping request sent. 2025-10-27T06:06:02.044Z,1761545162.044 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:06:02.044Z,1761545162.044 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:06:02.045Z,1761545162.045 [DAT](INFO): direction in FSK: [0.981838,0.015424,0.189095] 2025-10-27T06:06:02.045Z,1761545162.045 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:02.045Z,1761545162.045 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:02.079Z,1761545162.079 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:02.079Z,1761545162.079 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:02.237Z,1761545162.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.500000 m, deltaT: 3.527924 s, deltaX: -1.799999 m, approachRate: -0.510215 m/s, rangeRepo size: 4 2025-10-27T06:06:02.259Z,1761545162.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.224270 m, bearing: 340.397061 deg, lat: 36.779420 deg, lon: -121.859785 deg, deltaT: 3.527924 s, deltaX: -1.788219 m, approachRate: -0.506876 m/s, posRepo size: 4 2025-10-27T06:06:02.260Z,1761545162.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:02.263Z,1761545162.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 41.761433 m, bearing: 339.638823 deg, approach rate: 0.000000 m/s, LOS rate: -0.116603 deg/s, cmd heading: 335.258579 deg, new cmd heading: 335.025440 deg. 2025-10-27T06:06:02.276Z,1761545162.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847297 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:02.587Z,1761545162.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924518,0.374237,0.072203],[-0.381120,0.909609,0.165407],[-0.003776,-0.180440,0.983579]] 2025-10-27T06:06:02.691Z,1761545162.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:02.693Z,1761545162.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:02.696Z,1761545162.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 41.517235 m, bearing: 339.572869 deg, approach rate: -0.534234 m/s, LOS rate: -0.145138 deg/s, cmd heading: 335.025451 deg, new cmd heading: 334.826424 deg. 2025-10-27T06:06:02.697Z,1761545162.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843823 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:02.790Z,1761545162.790 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:06:02.790Z,1761545162.790 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:06:02.791Z,1761545162.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:06:03.032Z,1761545163.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:03.035Z,1761545163.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 41.353313 m, bearing: 339.528151 deg, approach rate: -0.483775 m/s, LOS rate: -0.132498 deg/s, cmd heading: 334.826419 deg, new cmd heading: 334.691733 deg. 2025-10-27T06:06:03.036Z,1761545163.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841473 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:03.040Z,1761545163.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996520 2025-10-27T06:06:03.292Z,1761545163.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248380 2025-10-27T06:06:03.394Z,1761545163.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925024,0.373554,0.069193],[-0.379907,0.909885,0.166672],[-0.000696,-0.180463,0.983582]] 2025-10-27T06:06:03.460Z,1761545163.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:03.463Z,1761545163.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 41.153885 m, bearing: 339.483910 deg, approach rate: -0.466438 m/s, LOS rate: -0.103975 deg/s, cmd heading: 334.691728 deg, new cmd heading: 334.558362 deg. 2025-10-27T06:06:03.464Z,1761545163.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839145 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:03.544Z,1761545163.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500444 2025-10-27T06:06:03.796Z,1761545163.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752380 2025-10-27T06:06:03.833Z,1761545163.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925046,0.373683,0.068195],[-0.379853,0.909442,0.169198],[0.001207,-0.182421,0.983220]] 2025-10-27T06:06:03.888Z,1761545163.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:03.895Z,1761545163.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 40.957142 m, bearing: 339.439870 deg, approach rate: -0.459019 m/s, LOS rate: -0.103244 deg/s, cmd heading: 334.558375 deg, new cmd heading: 334.425619 deg. 2025-10-27T06:06:03.896Z,1761545163.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836828 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:04.049Z,1761545164.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005150 2025-10-27T06:06:04.245Z,1761545164.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925035,0.373906,0.067112],[-0.379871,0.909155,0.170690],[0.002807,-0.183389,0.983037]] 2025-10-27T06:06:04.298Z,1761545164.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:04.300Z,1761545164.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256739 2025-10-27T06:06:04.303Z,1761545164.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 40.754745 m, bearing: 339.414352 deg, approach rate: -0.494203 m/s, LOS rate: -0.062618 deg/s, cmd heading: 334.425623 deg, new cmd heading: 334.348690 deg. 2025-10-27T06:06:04.304Z,1761545164.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835485 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:04.553Z,1761545164.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508718 2025-10-27T06:06:04.649Z,1761545164.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925036,0.374056,0.066261],[-0.379858,0.908929,0.171917],[0.004080,-0.184200,0.982880]] 2025-10-27T06:06:04.670Z,1761545164.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:04.673Z,1761545164.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 40.577904 m, bearing: 339.391861 deg, approach rate: -0.475377 m/s, LOS rate: -0.060721 deg/s, cmd heading: 334.348688 deg, new cmd heading: 334.280923 deg. 2025-10-27T06:06:04.674Z,1761545164.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834303 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:04.804Z,1761545164.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760370 2025-10-27T06:06:05.056Z,1761545165.056 [DAT](INFO): DAT read: Rx Time:06:06:03.6294 2025-10-27T06:06:05.057Z,1761545165.057 [DAT](INFO): Rx dataTimestamp_ set to:1761545165.056354 2025-10-27T06:06:05.057Z,1761545165.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013632 2025-10-27T06:06:05.106Z,1761545165.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:05.108Z,1761545165.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:05.111Z,1761545165.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 40.367947 m, bearing: 339.364902 deg, approach rate: -0.479019 m/s, LOS rate: -0.061827 deg/s, cmd heading: 334.280933 deg, new cmd heading: 334.199636 deg. 2025-10-27T06:06:05.112Z,1761545165.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832884 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:05.308Z,1761545165.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264377 2025-10-27T06:06:05.468Z,1761545165.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924352,0.376113,0.064134],[-0.381446,0.907206,0.177415],[0.008546,-0.188458,0.982044]] 2025-10-27T06:06:05.557Z,1761545165.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.22 m. 2025-10-27T06:06:05.570Z,1761545165.570 [DAT](INFO): DAT read: 06:06:03.6294 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 423,-0.12,-0.891,-2.596,-0.742,-0.962, PHS= 0.173,-1.589, 0.176, RAW= 150.1, 14.0, CAL= 150.2, 15.5, ROT= 359.8, -15.5 2025-10-27T06:06:05.572Z,1761545165.572 [DAT](INFO): got valid direction response: 06:06:03.6294 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 423,-0.12,-0.891,-2.596,-0.742,-0.962, PHS= 0.173,-1.589, 0.176, RAW= 150.1, 14.0, CAL= 150.2, 15.5, ROT= 359.8, -15.5 2025-10-27T06:06:05.573Z,1761545165.573 [DAT](INFO): DAT read: Bearing 155.2, -2.8 (Local) 2025-10-27T06:06:05.573Z,1761545165.573 [DAT](INFO): Local bearing/azimuth received: Bearing 155.2, -2.8 (Local) 2025-10-27T06:06:05.574Z,1761545165.574 [DAT](INFO): DAT read: Range 11 to 50 : 41.7 m (Round-trip 55.7 ms) speed 0.4 m/s 2025-10-27T06:06:05.583Z,1761545165.583 [DAT](INFO): DAT read: user:671> 2025-10-27T06:06:05.584Z,1761545165.584 [DAT](INFO): DAT read: Tx time:06:06:04.7196 2025-10-27T06:06:05.584Z,1761545165.584 [DAT](INFO): Ping request sent. 2025-10-27T06:06:05.584Z,1761545165.584 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:06:05.585Z,1761545165.585 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:06:05.586Z,1761545165.586 [DAT](INFO): direction in FSK: [0.963625,-0.003364,0.267238] 2025-10-27T06:06:05.586Z,1761545165.586 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:05.586Z,1761545165.586 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:05.588Z,1761545165.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.224270 m, nav range: 40.145409 m, bearing: 339.357943 deg, approach rate: -0.496280 m/s, LOS rate: -0.015605 deg/s, cmd heading: 334.199626 deg, new cmd heading: 334.178633 deg. 2025-10-27T06:06:05.589Z,1761545165.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832518 target range: 43.224270 and range: 43.50 m. 2025-10-27T06:06:05.594Z,1761545165.594 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:05.594Z,1761545165.594 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:05.980Z,1761545165.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.700001 m, deltaT: 3.528085 s, deltaX: -1.799999 m, approachRate: -0.510192 m/s, rangeRepo size: 4 2025-10-27T06:06:06.029Z,1761545166.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.436142 m, bearing: 340.378490 deg, lat: 36.779420 deg, lon: -121.859785 deg, deltaT: 3.528085 s, deltaX: -1.788128 m, approachRate: -0.506827 m/s, posRepo size: 4 2025-10-27T06:06:06.031Z,1761545166.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.44 m. 2025-10-27T06:06:06.033Z,1761545166.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.436142 m, nav range: 39.960571 m, bearing: 339.360451 deg, approach rate: 0.000000 m/s, LOS rate: -0.015605 deg/s, cmd heading: 334.178644 deg, new cmd heading: 334.158963 deg. 2025-10-27T06:06:06.034Z,1761545166.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832174 target range: 41.436142 and range: 41.70 m. 2025-10-27T06:06:06.360Z,1761545166.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922186,0.381815,0.061561],[-0.386468,0.903743,0.184097],[0.014655,-0.193563,0.980978]] 2025-10-27T06:06:06.407Z,1761545166.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.44 m. 2025-10-27T06:06:06.410Z,1761545166.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.436142 m, nav range: 39.733025 m, bearing: 339.381603 deg, approach rate: -0.529926 m/s, LOS rate: 0.049542 deg/s, cmd heading: 334.158973 deg, new cmd heading: 334.222792 deg. 2025-10-27T06:06:06.410Z,1761545166.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833288 target range: 41.436142 and range: 41.70 m. 2025-10-27T06:06:06.792Z,1761545166.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921304,0.384043,0.060915],[-0.388495,0.902470,0.186065],[0.016483,-0.195088,0.980647]] 2025-10-27T06:06:06.831Z,1761545166.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.44 m. 2025-10-27T06:06:06.834Z,1761545166.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.436142 m, nav range: 39.514896 m, bearing: 339.402825 deg, approach rate: -0.514125 m/s, LOS rate: 0.050298 deg/s, cmd heading: 334.222794 deg, new cmd heading: 334.286813 deg. 2025-10-27T06:06:06.835Z,1761545166.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834405 target range: 41.436142 and range: 41.70 m. 2025-10-27T06:06:07.166Z,1761545167.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920293,0.386739,0.059112],[-0.390787,0.901502,0.185958],[0.018628,-0.194236,0.980778]] 2025-10-27T06:06:07.249Z,1761545167.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:07.264Z,1761545167.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.44 m. 2025-10-27T06:06:07.266Z,1761545167.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.436142 m, nav range: 39.322163 m, bearing: 339.422473 deg, approach rate: -0.445091 m/s, LOS rate: 0.045595 deg/s, cmd heading: 334.286807 deg, new cmd heading: 334.346038 deg. 2025-10-27T06:06:07.272Z,1761545167.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835439 target range: 41.436142 and range: 41.70 m. 2025-10-27T06:06:07.326Z,1761545167.326 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:06:07.326Z,1761545167.326 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:06:07.327Z,1761545167.327 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:06:07.576Z,1761545167.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991881 2025-10-27T06:06:07.613Z,1761545167.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919287,0.389276,0.058102],[-0.393030,0.900065,0.188177],[0.020957,-0.195824,0.980415]] 2025-10-27T06:06:07.680Z,1761545167.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.44 m. 2025-10-27T06:06:07.683Z,1761545167.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.436142 m, nav range: 39.068157 m, bearing: 339.459117 deg, approach rate: -0.609778 m/s, LOS rate: 0.088542 deg/s, cmd heading: 334.346038 deg, new cmd heading: 334.456685 deg. 2025-10-27T06:06:07.684Z,1761545167.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837370 target range: 41.436142 and range: 41.70 m. 2025-10-27T06:06:07.828Z,1761545167.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243532 2025-10-27T06:06:08.081Z,1761545168.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496009 2025-10-27T06:06:08.132Z,1761545168.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918039,0.392409,0.056745],[-0.395820,0.898730,0.188708],[0.023052,-0.195702,0.980392]] 2025-10-27T06:06:08.162Z,1761545168.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.44 m. 2025-10-27T06:06:08.181Z,1761545168.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.436142 m, nav range: 38.810093 m, bearing: 339.498018 deg, approach rate: -0.535961 m/s, LOS rate: 0.081329 deg/s, cmd heading: 334.456687 deg, new cmd heading: 334.574167 deg. 2025-10-27T06:06:08.182Z,1761545168.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839421 target range: 41.436142 and range: 41.70 m. 2025-10-27T06:06:08.333Z,1761545168.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748216 2025-10-27T06:06:08.584Z,1761545168.584 [DAT](INFO): DAT read: Rx Time:06:06:07.1772 2025-10-27T06:06:08.584Z,1761545168.584 [DAT](INFO): Rx dataTimestamp_ set to:1761545168.584064 2025-10-27T06:06:08.585Z,1761545168.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000466 2025-10-27T06:06:08.654Z,1761545168.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.44 m. 2025-10-27T06:06:08.669Z,1761545168.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.436142 m, nav range: 38.537846 m, bearing: 339.544797 deg, approach rate: -0.553515 m/s, LOS rate: 0.095779 deg/s, cmd heading: 334.574166 deg, new cmd heading: 334.715494 deg. 2025-10-27T06:06:08.670Z,1761545168.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841887 target range: 41.436142 and range: 41.70 m. 2025-10-27T06:06:08.836Z,1761545168.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251527 2025-10-27T06:06:09.098Z,1761545169.098 [DAT](INFO): DAT read: 06:06:07.1772 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416,-0.38,-2.004, 2.598,-1.883,-2.087, PHS= 0.185,-1.553, 0.159, RAW= 149.3, 13.9, CAL= 149.3, 15.4, ROT= 0.7, -15.4 2025-10-27T06:06:09.099Z,1761545169.099 [DAT](INFO): got valid direction response: 06:06:07.1772 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 416,-0.38,-2.004, 2.598,-1.883,-2.087, PHS= 0.185,-1.553, 0.159, RAW= 149.3, 13.9, CAL= 149.3, 15.4, ROT= 0.7, -15.4 2025-10-27T06:06:09.100Z,1761545169.100 [DAT](INFO): DAT read: Bearing 155.1, -1.0 (Local) 2025-10-27T06:06:09.100Z,1761545169.100 [DAT](INFO): Local bearing/azimuth received: Bearing 155.1, -1.0 (Local) 2025-10-27T06:06:09.101Z,1761545169.101 [DAT](INFO): DAT read: Range 11 to 50 : 40.1 m (Round-trip 53.5 ms) speed 0.5 m/s 2025-10-27T06:06:09.102Z,1761545169.102 [DAT](INFO): DAT read: user:672> 2025-10-27T06:06:09.113Z,1761545169.113 [DAT](INFO): DAT read: Tx time:06:06:08.2696 2025-10-27T06:06:09.114Z,1761545169.114 [DAT](INFO): Ping request sent. 2025-10-27T06:06:09.114Z,1761545169.114 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:06:09.114Z,1761545169.114 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:06:09.115Z,1761545169.115 [DAT](INFO): direction in FSK: [0.964023,0.011778,0.265556] 2025-10-27T06:06:09.115Z,1761545169.115 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:09.116Z,1761545169.116 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:09.124Z,1761545169.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915865,0.398026,0.052593],[-0.400538,0.896831,0.187788],[0.027577,-0.193054,0.980801]] 2025-10-27T06:06:09.119Z,1761545169.119 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:09.135Z,1761545169.135 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:09.250Z,1761545169.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.099998 m, deltaT: 3.530478 s, deltaX: -1.600002 m, approachRate: -0.453197 m/s, rangeRepo size: 4 2025-10-27T06:06:09.283Z,1761545169.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.845993 m, bearing: 340.137514 deg, lat: 36.779421 deg, lon: -121.859782 deg, deltaT: 3.530478 s, deltaX: -1.590149 m, approachRate: -0.450406 m/s, posRepo size: 4 2025-10-27T06:06:09.286Z,1761545169.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m. 2025-10-27T06:06:09.297Z,1761545169.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.845993 m, nav range: 38.228035 m, bearing: 340.005990 deg, approach rate: 0.000000 m/s, LOS rate: 0.095779 deg/s, cmd heading: 334.715497 deg, new cmd heading: 334.880010 deg. 2025-10-27T06:06:09.298Z,1761545169.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844759 target range: 39.845993 and range: 40.10 m. 2025-10-27T06:06:09.551Z,1761545169.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913739,0.403303,0.049273],[-0.404976,0.894247,0.190570],[0.032795,-0.194086,0.980436]] 2025-10-27T06:06:09.587Z,1761545169.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:09.589Z,1761545169.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m. 2025-10-27T06:06:09.600Z,1761545169.600 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:06:09.600Z,1761545169.600 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:06:09.600Z,1761545169.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:06:09.616Z,1761545169.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.845993 m, nav range: 38.005268 m, bearing: 340.038887 deg, approach rate: -0.613943 m/s, LOS rate: 0.091196 deg/s, cmd heading: 334.880022 deg, new cmd heading: 334.979292 deg. 2025-10-27T06:06:09.617Z,1761545169.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846491 target range: 39.845993 and range: 40.10 m. 2025-10-27T06:06:09.852Z,1761545169.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738242 2025-10-27T06:06:09.950Z,1761545169.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912914,0.405568,0.045862],[-0.406545,0.893598,0.190272],[0.036186,-0.192347,0.980660]] 2025-10-27T06:06:09.993Z,1761545169.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m. 2025-10-27T06:06:09.996Z,1761545169.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.845993 m, nav range: 37.794605 m, bearing: 340.070952 deg, approach rate: -0.521936 m/s, LOS rate: 0.079885 deg/s, cmd heading: 334.979279 deg, new cmd heading: 335.076008 deg. 2025-10-27T06:06:09.997Z,1761545169.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848180 target range: 39.845993 and range: 40.10 m. 2025-10-27T06:06:10.104Z,1761545170.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990180 2025-10-27T06:06:10.356Z,1761545170.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242214 2025-10-27T06:06:10.462Z,1761545170.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m. 2025-10-27T06:06:10.465Z,1761545170.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.845993 m, nav range: 37.534042 m, bearing: 340.085597 deg, approach rate: -0.555543 m/s, LOS rate: 0.031441 deg/s, cmd heading: 335.076021 deg, new cmd heading: 335.120261 deg. 2025-10-27T06:06:10.465Z,1761545170.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848952 target range: 39.845993 and range: 40.10 m. 2025-10-27T06:06:10.609Z,1761545170.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494938 2025-10-27T06:06:10.720Z,1761545170.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:06:10.757Z,1761545170.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911979,0.408434,0.038415],[-0.407977,0.893157,0.189274],[0.042995,-0.188287,0.981173]] 2025-10-27T06:06:10.805Z,1761545170.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m. 2025-10-27T06:06:10.812Z,1761545170.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.845993 m, nav range: 37.362450 m, bearing: 340.095825 deg, approach rate: -0.499150 m/s, LOS rate: 0.029890 deg/s, cmd heading: 335.120254 deg, new cmd heading: 335.151080 deg. 2025-10-27T06:06:10.819Z,1761545170.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849490 target range: 39.845993 and range: 40.10 m. 2025-10-27T06:06:10.860Z,1761545170.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746363 2025-10-27T06:06:11.112Z,1761545171.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998174 2025-10-27T06:06:11.162Z,1761545171.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912124,0.408496,0.034084],[-0.407305,0.893807,0.187646],[0.046188,-0.185039,0.981645]] 2025-10-27T06:06:11.236Z,1761545171.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m. 2025-10-27T06:06:11.245Z,1761545171.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.845993 m, nav range: 37.124195 m, bearing: 340.109969 deg, approach rate: -0.552992 m/s, LOS rate: 0.033039 deg/s, cmd heading: 335.151071 deg, new cmd heading: 335.193776 deg. 2025-10-27T06:06:11.246Z,1761545171.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850235 target range: 39.845993 and range: 40.10 m. 2025-10-27T06:06:11.364Z,1761545171.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250361 2025-10-27T06:06:11.616Z,1761545171.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502215 2025-10-27T06:06:11.724Z,1761545171.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:06:11.798Z,1761545171.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:11.800Z,1761545171.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m. 2025-10-27T06:06:11.803Z,1761545171.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.845993 m, nav range: 36.833664 m, bearing: 340.090118 deg, approach rate: -0.515648 m/s, LOS rate: -0.035510 deg/s, cmd heading: 335.193774 deg, new cmd heading: 335.133752 deg. 2025-10-27T06:06:11.804Z,1761545171.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849187 target range: 39.845993 and range: 40.10 m. 2025-10-27T06:06:11.869Z,1761545171.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754790 2025-10-27T06:06:12.120Z,1761545172.120 [DAT](INFO): DAT read: Rx Time:06:06:10.7244 2025-10-27T06:06:12.121Z,1761545172.121 [DAT](INFO): Rx dataTimestamp_ set to:1761545172.120248 2025-10-27T06:06:12.121Z,1761545172.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007401 2025-10-27T06:06:12.134Z,1761545172.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912840,0.407433,0.026855],[-0.404978,0.895021,0.186895],[0.052111,-0.181481,0.982013]] 2025-10-27T06:06:12.153Z,1761545172.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.85 m. 2025-10-27T06:06:12.180Z,1761545172.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.845993 m, nav range: 36.653545 m, bearing: 340.076972 deg, approach rate: -0.509842 m/s, LOS rate: -0.037394 deg/s, cmd heading: 335.133750 deg, new cmd heading: 335.094118 deg. 2025-10-27T06:06:12.181Z,1761545172.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848495 target range: 39.845993 and range: 40.10 m. 2025-10-27T06:06:12.372Z,1761545172.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258308 2025-10-27T06:06:12.533Z,1761545172.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913623,0.405881,0.023522],[-0.402852,0.895971,0.186937],[0.054799,-0.180266,0.982090]] 2025-10-27T06:06:12.630Z,1761545172.630 [DAT](INFO): DAT read: 06:06:10.7244 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 420,-0.21, 2.386, 0.638, 2.490, 2.256, PHS= 0.232,-1.573, 0.190, RAW= 148.8, 12.8, CAL= 148.8, 14.2, ROT= 1.2, -14.2 2025-10-27T06:06:12.631Z,1761545172.631 [DAT](INFO): got valid direction response: 06:06:10.7244 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 420,-0.21, 2.386, 0.638, 2.490, 2.256, PHS= 0.232,-1.573, 0.190, RAW= 148.8, 12.8, CAL= 148.8, 14.2, ROT= 1.2, -14.2 2025-10-27T06:06:12.632Z,1761545172.632 [DAT](INFO): DAT read: Bearing 154.2, 1.2 (Local) 2025-10-27T06:06:12.632Z,1761545172.632 [DAT](INFO): Local bearing/azimuth received: Bearing 154.2, 1.2 (Local) 2025-10-27T06:06:12.634Z,1761545172.634 [DAT](INFO): DAT read: Range 11 to 50 : 38.0 m (Round-trip 50.7 ms) speed 0.4 m/s 2025-10-27T06:06:12.634Z,1761545172.634 [DAT](INFO): DAT read: user:673> 2025-10-27T06:06:12.635Z,1761545172.635 [DAT](INFO): DAT read: Tx time:06:06:11.8195 2025-10-27T06:06:12.635Z,1761545172.635 [DAT](INFO): Ping request sent. 2025-10-27T06:06:12.636Z,1761545172.636 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:06:12.636Z,1761545172.636 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:06:12.637Z,1761545172.637 [DAT](INFO): direction in FSK: [0.969233,0.020303,0.245307] 2025-10-27T06:06:12.637Z,1761545172.637 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:12.637Z,1761545172.637 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:12.645Z,1761545172.645 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:12.645Z,1761545172.645 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:12.669Z,1761545172.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 3.533519 s, deltaX: -2.099998 m, approachRate: -0.594308 m/s, rangeRepo size: 4 2025-10-27T06:06:12.671Z,1761545172.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.759563 m, bearing: 340.055727 deg, lat: 36.779421 deg, lon: -121.859781 deg, deltaT: 3.533519 s, deltaX: -2.086430 m, approachRate: -0.590468 m/s, posRepo size: 4 2025-10-27T06:06:12.678Z,1761545172.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m. 2025-10-27T06:06:12.712Z,1761545172.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.759563 m, nav range: 36.406578 m, bearing: 340.154793 deg, approach rate: 0.000000 m/s, LOS rate: -0.037394 deg/s, cmd heading: 335.094108 deg, new cmd heading: 335.036339 deg. 2025-10-27T06:06:12.713Z,1761545172.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847487 target range: 37.759563 and range: 38.00 m. 2025-10-27T06:06:13.055Z,1761545173.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914568,0.403973,0.019289],[-0.400317,0.897441,0.185328],[0.057557,-0.177217,0.982487]] 2025-10-27T06:06:13.072Z,1761545173.072 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T06:06:13.073Z,1761545173.073 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:06:13.073Z,1761545173.073 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T06:06:13.074Z,1761545173.074 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.000000 m (mode 2.000000 count ). 2025-10-27T06:06:13.074Z,1761545173.074 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T06:06:13.074Z,1761545173.074 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T06:06:13.097Z,1761545173.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m. 2025-10-27T06:06:13.104Z,1761545173.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.759563 m, nav range: 36.204521 m, bearing: 340.097359 deg, approach rate: -0.470507 m/s, LOS rate: -0.134485 deg/s, cmd heading: 335.036352 deg, new cmd heading: 334.863091 deg. 2025-10-27T06:06:13.105Z,1761545173.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844463 target range: 37.759563 and range: 38.00 m. 2025-10-27T06:06:13.458Z,1761545173.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915381,0.402274,0.015923],[-0.398034,0.898383,0.185682],[0.060390,-0.176307,0.982481]] 2025-10-27T06:06:13.505Z,1761545173.505 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T06:06:13.505Z,1761545173.505 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T06:06:13.508Z,1761545173.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m. 2025-10-27T06:06:13.510Z,1761545173.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.759563 m, nav range: 36.013973 m, bearing: 340.012585 deg, approach rate: -0.464580 m/s, LOS rate: -0.207784 deg/s, cmd heading: 334.863083 deg, new cmd heading: 334.607417 deg. 2025-10-27T06:06:13.512Z,1761545173.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840001 target range: 37.759563 and range: 38.00 m. 2025-10-27T06:06:13.834Z,1761545173.834 [CTD_Seabird](ERROR): Failed to parse device response: 6.71824,2626.51 2025-10-27T06:06:13.957Z,1761545173.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917512,0.397573,0.010341],[-0.392354,0.900604,0.187006],[0.065035,-0.175638,0.982304]] 2025-10-27T06:06:13.974Z,1761545173.974 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T06:06:13.974Z,1761545173.974 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T06:06:13.974Z,1761545173.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:13.976Z,1761545173.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m. 2025-10-27T06:06:13.979Z,1761545173.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.759563 m, nav range: 35.808620 m, bearing: 339.918006 deg, approach rate: -0.437984 m/s, LOS rate: -0.202878 deg/s, cmd heading: 334.607416 deg, new cmd heading: 334.322055 deg. 2025-10-27T06:06:13.980Z,1761545173.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835021 target range: 37.759563 and range: 38.00 m. 2025-10-27T06:06:14.136Z,1761545174.136 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:06:14.136Z,1761545174.136 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:06:14.136Z,1761545174.136 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:06:14.388Z,1761545174.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752429 2025-10-27T06:06:14.390Z,1761545174.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918364,0.395661,0.007814],[-0.389993,0.901502,0.187614],[0.067187,-0.175345,0.982212]] 2025-10-27T06:06:14.426Z,1761545174.426 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T06:06:14.427Z,1761545174.427 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:06:14.427Z,1761545174.427 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T06:06:14.427Z,1761545174.427 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:06:14.429Z,1761545174.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m. 2025-10-27T06:06:14.433Z,1761545174.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.759563 m, nav range: 35.615963 m, bearing: 339.810911 deg, approach rate: -0.425518 m/s, LOS rate: -0.237818 deg/s, cmd heading: 334.322050 deg, new cmd heading: 333.999030 deg. 2025-10-27T06:06:14.434Z,1761545174.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829383 target range: 37.759563 and range: 38.00 m. 2025-10-27T06:06:14.641Z,1761545174.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005429 2025-10-27T06:06:14.892Z,1761545174.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310 2025-10-27T06:06:14.926Z,1761545174.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m. 2025-10-27T06:06:14.929Z,1761545174.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.759563 m, nav range: 35.404541 m, bearing: 339.691961 deg, approach rate: -0.425345 m/s, LOS rate: -0.240735 deg/s, cmd heading: 333.999037 deg, new cmd heading: 333.640062 deg. 2025-10-27T06:06:14.930Z,1761545174.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823118 target range: 37.759563 and range: 38.00 m. 2025-10-27T06:06:15.144Z,1761545175.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508316 2025-10-27T06:06:15.290Z,1761545175.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919658,0.392706,0.003489],[-0.386333,0.903066,0.187667],[0.070547,-0.173937,0.982227]] 2025-10-27T06:06:15.313Z,1761545175.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m. 2025-10-27T06:06:15.323Z,1761545175.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.759563 m, nav range: 35.240627 m, bearing: 339.597503 deg, approach rate: -0.423548 m/s, LOS rate: -0.245212 deg/s, cmd heading: 333.640070 deg, new cmd heading: 333.355379 deg. 2025-10-27T06:06:15.326Z,1761545175.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818149 target range: 37.759563 and range: 38.00 m. 2025-10-27T06:06:15.396Z,1761545175.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760465 2025-10-27T06:06:15.649Z,1761545175.649 [DAT](INFO): DAT read: Rx Time:06:06:14.2720 2025-10-27T06:06:15.649Z,1761545175.649 [DAT](INFO): Rx dataTimestamp_ set to:1761545175.648886 2025-10-27T06:06:15.650Z,1761545175.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014490 2025-10-27T06:06:15.744Z,1761545175.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920054,0.391785,0.002286],[-0.384998,0.903003,0.190690],[0.072645,-0.176325,0.981648]] 2025-10-27T06:06:15.821Z,1761545175.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.76 m. 2025-10-27T06:06:15.823Z,1761545175.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.759563 m, nav range: 35.026794 m, bearing: 339.479661 deg, approach rate: -0.421604 m/s, LOS rate: -0.233762 deg/s, cmd heading: 333.355387 deg, new cmd heading: 332.999708 deg. 2025-10-27T06:06:15.824Z,1761545175.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811941 target range: 37.759563 and range: 38.00 m. 2025-10-27T06:06:15.900Z,1761545175.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264470 2025-10-27T06:06:16.137Z,1761545176.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920134,0.391601,0.001125],[-0.384411,0.902683,0.193369],[0.074708,-0.178358,0.981126]] 2025-10-27T06:06:16.162Z,1761545176.162 [DAT](INFO): DAT read: 06:06:14.2720 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.12,-1.089,-2.797,-0.939,-1.267, PHS= 0.280,-1.485, 0.284, RAW= 150.1, 10.5, CAL= 149.8, 11.4, ROT= 0.2, -11.4 2025-10-27T06:06:16.182Z,1761545176.182 [DAT](INFO): got valid direction response: 06:06:14.2720 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.12,-1.089,-2.797,-0.939,-1.267, PHS= 0.280,-1.485, 0.284, RAW= 150.1, 10.5, CAL= 149.8, 11.4, ROT= 0.2, -11.4 2025-10-27T06:06:16.184Z,1761545176.184 [DAT](INFO): DAT read: Bearing 151.4, 2.4 (Local) 2025-10-27T06:06:16.185Z,1761545176.185 [DAT](INFO): Local bearing/azimuth received: Bearing 151.4, 2.4 (Local) 2025-10-27T06:06:16.192Z,1761545176.192 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m (Round-trip 48.4 ms) speed 0.3 m/s 2025-10-27T06:06:16.194Z,1761545176.194 [DAT](INFO): DAT read: user:674> 2025-10-27T06:06:16.195Z,1761545176.195 [DAT](INFO): DAT read: Tx time:06:06:15.3695 2025-10-27T06:06:16.200Z,1761545176.200 [DAT](INFO): Ping request sent. 2025-10-27T06:06:16.200Z,1761545176.200 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:06:16.201Z,1761545176.201 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:06:16.202Z,1761545176.202 [DAT](INFO): direction in FSK: [0.980265,0.003422,0.197657] 2025-10-27T06:06:16.202Z,1761545176.202 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:16.206Z,1761545176.206 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:16.214Z,1761545176.214 [DAT](INFO): publishing transmit ping time 2025-10-27T06:06:16.251Z,1761545176.251 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:16.254Z,1761545176.254 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.054691 2025-10-27T06:06:16.306Z,1761545176.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 3.529534 s, deltaX: -1.700001 m, approachRate: -0.481650 m/s, rangeRepo size: 4 2025-10-27T06:06:16.316Z,1761545176.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.070473 m, bearing: 339.628303 deg, lat: 36.779421 deg, lon: -121.859780 deg, deltaT: 3.529534 s, deltaX: -1.689091 m, approachRate: -0.478559 m/s, posRepo size: 4 2025-10-27T06:06:16.317Z,1761545176.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m. 2025-10-27T06:06:16.324Z,1761545176.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.070473 m, nav range: 34.793522 m, bearing: 339.486347 deg, approach rate: 0.000000 m/s, LOS rate: -0.233762 deg/s, cmd heading: 332.999698 deg, new cmd heading: 332.665201 deg. 2025-10-27T06:06:16.325Z,1761545176.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806103 target range: 36.070473 and range: 36.30 m. 2025-10-27T06:06:16.409Z,1761545176.409 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.206321 2025-10-27T06:06:16.657Z,1761545176.657 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.456735 2025-10-27T06:06:16.732Z,1761545176.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919433,0.393245,0.000722],[-0.385268,0.900410,0.202065],[0.078811,-0.186064,0.979372]] 2025-10-27T06:06:16.827Z,1761545176.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:16.829Z,1761545176.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m. 2025-10-27T06:06:16.832Z,1761545176.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.070473 m, nav range: 34.548668 m, bearing: 339.386702 deg, approach rate: -0.460242 m/s, LOS rate: -0.188627 deg/s, cmd heading: 332.665210 deg, new cmd heading: 332.364158 deg. 2025-10-27T06:06:16.833Z,1761545176.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800849 target range: 36.070473 and range: 36.30 m. 2025-10-27T06:06:16.909Z,1761545176.909 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.709126 2025-10-27T06:06:17.106Z,1761545177.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918582,0.395231,0.000633],[-0.386864,0.898806,0.206117],[0.080895,-0.189580,0.978527]] 2025-10-27T06:06:17.149Z,1761545177.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m. 2025-10-27T06:06:17.152Z,1761545177.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.070473 m, nav range: 34.400681 m, bearing: 339.326421 deg, approach rate: -0.462539 m/s, LOS rate: -0.189219 deg/s, cmd heading: 332.364163 deg, new cmd heading: 332.182544 deg. 2025-10-27T06:06:17.153Z,1761545177.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797679 target range: 36.070473 and range: 36.30 m. 2025-10-27T06:06:17.160Z,1761545177.160 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.960226 2025-10-27T06:06:17.413Z,1761545177.413 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.213639 2025-10-27T06:06:17.510Z,1761545177.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917381,0.398009,0.000636],[-0.389212,0.896767,0.210529],[0.083222,-0.193383,0.977587]] 2025-10-27T06:06:17.554Z,1761545177.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m. 2025-10-27T06:06:17.557Z,1761545177.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.070473 m, nav range: 34.203484 m, bearing: 339.286302 deg, approach rate: -0.487442 m/s, LOS rate: -0.099741 deg/s, cmd heading: 332.182535 deg, new cmd heading: 332.061483 deg. 2025-10-27T06:06:17.558Z,1761545177.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795566 target range: 36.070473 and range: 36.30 m. 2025-10-27T06:06:17.665Z,1761545177.665 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.464936 2025-10-27T06:06:17.916Z,1761545177.916 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.716198 2025-10-27T06:06:17.926Z,1761545177.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915862,0.401493,0.000889],[-0.392283,0.894378,0.214948],[0.085505,-0.197211,0.976625]] 2025-10-27T06:06:17.946Z,1761545177.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m. 2025-10-27T06:06:17.961Z,1761545177.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.070473 m, nav range: 34.011742 m, bearing: 339.248173 deg, approach rate: -0.489502 m/s, LOS rate: -0.097887 deg/s, cmd heading: 332.061476 deg, new cmd heading: 331.946447 deg. 2025-10-27T06:06:17.962Z,1761545177.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793559 target range: 36.070473 and range: 36.30 m. 2025-10-27T06:06:18.168Z,1761545178.168 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.968557 2025-10-27T06:06:18.318Z,1761545178.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914080,0.405531,0.001077],[-0.395901,0.891792,0.219021],[0.087860,-0.200629,0.975720]] 2025-10-27T06:06:18.362Z,1761545178.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m. 2025-10-27T06:06:18.366Z,1761545178.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.070473 m, nav range: 33.817188 m, bearing: 339.210581 deg, approach rate: -0.468960 m/s, LOS rate: -0.091135 deg/s, cmd heading: 331.946456 deg, new cmd heading: 331.833031 deg. 2025-10-27T06:06:18.376Z,1761545178.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791579 target range: 36.070473 and range: 36.30 m. 2025-10-27T06:06:18.423Z,1761545178.423 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.222742 2025-10-27T06:06:18.672Z,1761545178.672 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.472373 2025-10-27T06:06:18.758Z,1761545178.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911947,0.410307,0.001152],[-0.400224,0.888909,0.222848],[0.090412,-0.203686,0.974853]] 2025-10-27T06:06:18.808Z,1761545178.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.07 m. 2025-10-27T06:06:18.811Z,1761545178.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.070473 m, nav range: 33.582355 m, bearing: 339.203387 deg, approach rate: -0.524391 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.833020 deg, new cmd heading: 331.811286 deg. 2025-10-27T06:06:18.812Z,1761545178.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791199 target range: 36.070473 and range: 36.30 m. 2025-10-27T06:06:18.925Z,1761545178.925 [DAT](INFO): DAT read: Rx Time:06:06:17.5451 2025-10-27T06:06:18.926Z,1761545178.926 [DAT](INFO): Rx dataTimestamp_ set to:1761545178.925610 2025-10-27T06:06:18.928Z,1761545178.928 [DAT](INFO): DAT read: Bearing 150.0, 3.6 (Local) 2025-10-27T06:06:18.928Z,1761545178.928 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, 3.6 (Local) 2025-10-27T06:06:18.931Z,1761545178.931 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 2025-10-27T06:06:18.936Z,1761545178.936 [DAT](INFO): DAT read: 06:06:17.5451 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.35, 1.955, 0.233, 2.094, 1.760, PHS= 0.297,-1.482, 0.290, RAW= 149.8, 10.1, CAL= 149.5, 11.0, ROT= 0.5, -11.0 2025-10-27T06:06:18.937Z,1761545178.937 [DAT](INFO): got valid direction response: 06:06:17.5451 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.35, 1.955, 0.233, 2.094, 1.760, PHS= 0.297,-1.482, 0.290, RAW= 149.8, 10.1, CAL= 149.5, 11.0, ROT= 0.5, -11.0 2025-10-27T06:06:18.938Z,1761545178.938 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:06:18.939Z,1761545178.939 [DAT](INFO): direction in FSK: [0.981590,0.008566,0.190809] 2025-10-27T06:06:18.939Z,1761545178.939 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:18.943Z,1761545178.943 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.742790 2025-10-27T06:06:19.179Z,1761545179.179 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.978471 2025-10-27T06:06:19.199Z,1761545179.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 2.772611 s, deltaX: -1.500000 m, approachRate: -0.541006 m/s, rangeRepo size: 4 2025-10-27T06:06:19.255Z,1761545179.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.579884 m, bearing: 339.129701 deg, lat: 36.779420 deg, lon: -121.859780 deg, deltaT: 2.772611 s, deltaX: -1.490589 m, approachRate: -0.537612 m/s, posRepo size: 4 2025-10-27T06:06:19.256Z,1761545179.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.58 m. 2025-10-27T06:06:19.258Z,1761545179.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.579884 m, nav range: 33.325027 m, bearing: 339.147360 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.811273 deg, new cmd heading: 331.792529 deg. 2025-10-27T06:06:19.276Z,1761545179.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790872 target range: 34.579884 and range: 34.80 m. 2025-10-27T06:06:19.432Z,1761545179.432 [DAT](INFO): DAT read: Rx Time:06:06:18.0449 2025-10-27T06:06:19.434Z,1761545179.434 [DAT](INFO): Rx dataTimestamp_ set to:1761545179.432803 2025-10-27T06:06:19.438Z,1761545179.438 [DAT](INFO): DAT read: Bearing 150.9, 3.7 (Local) 2025-10-27T06:06:19.440Z,1761545179.440 [DAT](INFO): Local bearing/azimuth received: Bearing 150.9, 3.7 (Local) 2025-10-27T06:06:19.444Z,1761545179.444 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.4 2025-10-27T06:06:19.461Z,1761545179.461 [DAT](INFO): DAT read: 06:06:18.0449 LVL= 31920, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.10,-0.573,-2.255,-0.446,-0.740, PHS= 0.268,-1.470, 0.250, RAW= 149.5, 11.0, CAL= 149.3, 12.1, ROT= 0.7, -12.1 2025-10-27T06:06:19.462Z,1761545179.462 [DAT](INFO): got valid direction response: 06:06:18.0449 LVL= 31920, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.10,-0.573,-2.255,-0.446,-0.740, PHS= 0.268,-1.470, 0.250, RAW= 149.5, 11.0, CAL= 149.3, 12.1, ROT= 0.7, -12.1 2025-10-27T06:06:19.462Z,1761545179.462 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T06:06:19.472Z,1761545179.472 [DAT](INFO): direction in FSK: [0.977710,0.011946,0.209619] 2025-10-27T06:06:19.473Z,1761545179.473 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:19.492Z,1761545179.492 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.292355 2025-10-27T06:06:19.580Z,1761545179.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907131,0.420847,0.001022],[-0.409929,0.883042,0.228463],[0.095245,-0.207665,0.973552]] 2025-10-27T06:06:19.656Z,1761545179.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.507193 s, deltaX: -0.299999 m, approachRate: -0.591489 m/s, rangeRepo size: 4 2025-10-27T06:06:19.658Z,1761545179.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.281784 m, bearing: 339.006294 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.507193 s, deltaX: -0.298100 m, approachRate: -0.587744 m/s, posRepo size: 4 2025-10-27T06:06:19.659Z,1761545179.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.28 m. 2025-10-27T06:06:19.662Z,1761545179.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.281784 m, nav range: 32.996559 m, bearing: 339.164480 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.792531 deg, new cmd heading: 331.770144 deg. 2025-10-27T06:06:19.663Z,1761545179.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790482 target range: 34.281784 and range: 34.50 m. 2025-10-27T06:06:19.685Z,1761545179.685 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.482272 2025-10-27T06:06:19.933Z,1761545179.933 [DAT](INFO): DAT read: Rx Time:06:06:18.5446 2025-10-27T06:06:19.933Z,1761545179.933 [DAT](INFO): Rx dataTimestamp_ set to:1761545179.932755 2025-10-27T06:06:19.934Z,1761545179.934 [DAT](INFO): DAT read: Bearing 150.1, 4.5 (Local) 2025-10-27T06:06:19.935Z,1761545179.935 [DAT](INFO): Local bearing/azimuth received: Bearing 150.1, 4.5 (Local) 2025-10-27T06:06:19.937Z,1761545179.937 [DAT](INFO): DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 2025-10-27T06:06:19.941Z,1761545179.941 [DAT](INFO): DAT read: 06:06:18.5446 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499, 0.19, 0.287,-1.427, 0.401, 0.091, PHS= 0.298,-1.474, 0.265, RAW= 149.1, 10.4, CAL= 148.8, 11.4, ROT= 1.2, -11.4 2025-10-27T06:06:19.942Z,1761545179.942 [DAT](INFO): got valid direction response: 06:06:18.5446 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 499, 0.19, 0.287,-1.427, 0.401, 0.091, PHS= 0.298,-1.474, 0.265, RAW= 149.1, 10.4, CAL= 148.8, 11.4, ROT= 1.2, -11.4 2025-10-27T06:06:19.944Z,1761545179.944 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T06:06:19.948Z,1761545179.948 [DAT](INFO): direction in FSK: [0.980056,0.020529,0.197657] 2025-10-27T06:06:19.949Z,1761545179.949 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:19.997Z,1761545179.997 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.797328 2025-10-27T06:06:20.017Z,1761545180.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904457,0.426563,0.000875],[-0.415275,0.880050,0.230344],[0.097487,-0.208699,0.973109]] 2025-10-27T06:06:20.131Z,1761545180.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.499952 s, deltaX: -0.400002 m, approachRate: -0.800080 m/s, rangeRepo size: 4 2025-10-27T06:06:20.133Z,1761545180.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.884247 m, bearing: 339.016457 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.499952 s, deltaX: -0.397537 m, approachRate: -0.795151 m/s, posRepo size: 4 2025-10-27T06:06:20.134Z,1761545180.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.88 m. 2025-10-27T06:06:20.145Z,1761545180.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.884247 m, nav range: 32.756371 m, bearing: 339.210355 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.770155 deg, new cmd heading: 331.747718 deg. 2025-10-27T06:06:20.145Z,1761545180.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790090 target range: 33.884247 and range: 34.10 m. 2025-10-27T06:06:20.188Z,1761545180.188 [DAT](INFO): DAT read: Rx Time:06:06:19.0446 2025-10-27T06:06:20.190Z,1761545180.190 [DAT](INFO): Rx dataTimestamp_ set to:1761545180.188634 2025-10-27T06:06:20.192Z,1761545180.192 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.992033 2025-10-27T06:06:20.414Z,1761545180.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901905,0.431934,0.000045],[-0.420249,0.877484,0.231110],[0.099785,-0.208458,0.972928]] 2025-10-27T06:06:20.441Z,1761545180.441 [DAT](INFO): DAT read: Bearing 150.6, 5.4 (Local) 2025-10-27T06:06:20.443Z,1761545180.443 [DAT](INFO): Local bearing/azimuth received: Bearing 150.6, 5.4 (Local) 2025-10-27T06:06:20.449Z,1761545180.449 [DAT](INFO): DAT read: Range 11 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 2025-10-27T06:06:20.477Z,1761545180.477 [DAT](INFO): DAT read: 06:06:19.0446 LVL= 30064, 32753, 32754, 32755, AGC= 62, IDX= 499,-0.46, 0.904,-0.781, 0.985, 0.715, PHS= 0.291,-1.450, 0.226, RAW= 148.1, 10.9, CAL= 147.8, 11.9, ROT= 2.2, -11.9 2025-10-27T06:06:20.478Z,1761545180.478 [DAT](INFO): got valid direction response: 06:06:19.0446 LVL= 30064, 32753, 32754, 32755, AGC= 62, IDX= 499,-0.46, 0.904,-0.781, 0.985, 0.715, PHS= 0.291,-1.450, 0.226, RAW= 148.1, 10.9, CAL= 147.8, 11.9, ROT= 2.2, -11.9 2025-10-27T06:06:20.478Z,1761545180.478 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T06:06:20.487Z,1761545180.487 [DAT](INFO): direction in FSK: [0.977788,0.037563,0.206204] 2025-10-27T06:06:20.488Z,1761545180.488 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:20.503Z,1761545180.503 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.303491 2025-10-27T06:06:20.527Z,1761545180.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.504381 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:20.529Z,1761545180.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.884247 m, bearing: 339.807889 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.504381 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:20.530Z,1761545180.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.88 m. 2025-10-27T06:06:20.537Z,1761545180.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.884247 m, nav range: 32.527149 m, bearing: 339.270469 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.747725 deg, new cmd heading: 331.728111 deg. 2025-10-27T06:06:20.538Z,1761545180.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789748 target range: 33.884247 and range: 34.10 m. 2025-10-27T06:06:20.692Z,1761545180.692 [DAT](INFO): DAT read: Rx Time:06:06:19.5443 2025-10-27T06:06:20.694Z,1761545180.694 [DAT](INFO): Rx dataTimestamp_ set to:1761545180.693097 2025-10-27T06:06:20.697Z,1761545180.697 [DAT](INFO): DAT read: Bearing 148.9, 6.0 (Local) 2025-10-27T06:06:20.699Z,1761545180.699 [DAT](INFO): Local bearing/azimuth received: Bearing 148.9, 6.0 (Local) 2025-10-27T06:06:20.701Z,1761545180.701 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.500858 2025-10-27T06:06:20.883Z,1761545180.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899168,0.437604,0.000171],[-0.425536,0.874281,0.233562],[0.102058,-0.210084,0.972342]] 2025-10-27T06:06:20.941Z,1761545180.941 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (trip time 22.4 ms) speed 0.5 2025-10-27T06:06:20.946Z,1761545180.946 [DAT](INFO): DAT read: 06:06:19.5443 LVL= 31856, 32753, 32754, 32755, AGC= 63, IDX= 496,-0.21,-0.503,-2.226,-0.426,-0.741, PHS= 0.340,-1.440, 0.271, RAW= 148.0, 9.5, CAL= 147.7, 10.4, ROT= 2.3, -10.4 2025-10-27T06:06:20.947Z,1761545180.947 [DAT](INFO): got valid direction response: 06:06:19.5443 LVL= 31856, 32753, 32754, 32755, AGC= 63, IDX= 496,-0.21,-0.503,-2.226,-0.426,-0.741, PHS= 0.340,-1.440, 0.271, RAW= 148.0, 9.5, CAL= 147.7, 10.4, ROT= 2.3, -10.4 2025-10-27T06:06:20.948Z,1761545180.948 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T06:06:20.949Z,1761545180.949 [DAT](INFO): direction in FSK: [0.982779,0.039472,0.180519] 2025-10-27T06:06:20.949Z,1761545180.949 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:20.952Z,1761545180.952 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.752666 2025-10-27T06:06:21.080Z,1761545181.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.502203 s, deltaX: -0.500000 m, approachRate: -0.995613 m/s, rangeRepo size: 4 2025-10-27T06:06:21.082Z,1761545181.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.387451 m, bearing: 339.239881 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.502203 s, deltaX: -0.496796 m, approachRate: -0.989233 m/s, posRepo size: 4 2025-10-27T06:06:21.082Z,1761545181.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.39 m. 2025-10-27T06:06:21.090Z,1761545181.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.387451 m, nav range: 32.152954 m, bearing: 339.322220 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.728109 deg, new cmd heading: 331.701291 deg. 2025-10-27T06:06:21.095Z,1761545181.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789279 target range: 33.387451 and range: 33.60 m. 2025-10-27T06:06:21.198Z,1761545181.198 [DAT](INFO): DAT read: Rx Time:06:06:20.0442 2025-10-27T06:06:21.200Z,1761545181.200 [DAT](INFO): Rx dataTimestamp_ set to:1761545181.199034 2025-10-27T06:06:21.203Z,1761545181.203 [DAT](INFO): DAT read: Bearing 149.6, 6.6 (Local) 2025-10-27T06:06:21.205Z,1761545181.205 [DAT](INFO): Local bearing/azimuth received: Bearing 149.6, 6.6 (Local) 2025-10-27T06:06:21.210Z,1761545181.210 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.5 2025-10-27T06:06:21.213Z,1761545181.213 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-10-27T06:06:21.221Z,1761545181.221 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.020114 2025-10-27T06:06:21.458Z,1761545181.458 [DAT](INFO): DAT read: 06:06:20.0442 LVL= 32624, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.08, 0.774,-0.959, 0.826, 0.544, PHS= 0.332,-1.458, 0.238, RAW= 147.3, 10.2, CAL= 147.0, 11.1, ROT= 3.0, -11.1 2025-10-27T06:06:21.492Z,1761545181.492 [DAT](INFO): got valid direction response: 06:06:20.0442 LVL= 32624, 32753, 32754, 32755, AGC= 61, IDX= 511,-0.08, 0.774,-0.959, 0.826, 0.544, PHS= 0.332,-1.458, 0.238, RAW= 147.3, 10.2, CAL= 147.0, 11.1, ROT= 3.0, -11.1 2025-10-27T06:06:21.492Z,1761545181.492 [DAT](INFO): #Rx 8: Read direction message, but no range. 2025-10-27T06:06:21.493Z,1761545181.493 [DAT](INFO): direction in FSK: [0.979948,0.051357,0.192522] 2025-10-27T06:06:21.508Z,1761545181.508 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.308079 2025-10-27T06:06:21.536Z,1761545181.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893728,0.448608,-0.001244],[-0.435816,0.868894,0.234710],[0.106374,-0.209224,0.972065]] 2025-10-27T06:06:21.628Z,1761545181.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.259695 s, deltaX: -0.099998 m, approachRate: -0.385061 m/s, rangeRepo size: 4 2025-10-27T06:06:21.630Z,1761545181.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.288086 m, bearing: 339.427798 deg, lat: 36.779419 deg, lon: -121.859780 deg, deltaT: 0.259695 s, deltaX: -0.099365 m, approachRate: -0.382623 m/s, posRepo size: 4 2025-10-27T06:06:21.635Z,1761545181.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m. 2025-10-27T06:06:21.638Z,1761545181.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.288086 m, nav range: 31.844688 m, bearing: 339.400519 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.701280 deg, new cmd heading: 331.674450 deg. 2025-10-27T06:06:21.663Z,1761545181.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788811 target range: 33.288086 and range: 33.50 m. 2025-10-27T06:06:21.700Z,1761545181.700 [DAT](INFO): DAT read: Rx Time:06:06:20.5439 2025-10-27T06:06:21.702Z,1761545181.702 [DAT](INFO): Rx dataTimestamp_ set to:1761545181.701217 2025-10-27T06:06:21.708Z,1761545181.708 [DAT](INFO): DAT read: Bearing 148.5, 7.4 (Local) 2025-10-27T06:06:21.709Z,1761545181.709 [DAT](INFO): Local bearing/azimuth received: Bearing 148.5, 7.4 (Local) 2025-10-27T06:06:21.733Z,1761545181.733 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.5 2025-10-27T06:06:21.750Z,1761545181.750 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-27T06:06:21.751Z,1761545181.751 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.550804 2025-10-27T06:06:21.959Z,1761545181.959 [DAT](INFO): DAT read: 06:06:20.5439 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 508,-0.03,-0.458,-2.216,-0.420,-0.727, PHS= 0.370,-1.444, 0.263, RAW= 147.0, 9.2, CAL= 146.6, 10.0, ROT= 3.4, -10.0 2025-10-27T06:06:21.961Z,1761545181.961 [DAT](INFO): got valid direction response: 06:06:20.5439 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 508,-0.03,-0.458,-2.216,-0.420,-0.727, PHS= 0.370,-1.444, 0.263, RAW= 147.0, 9.2, CAL= 146.6, 10.0, ROT= 3.4, -10.0 2025-10-27T06:06:21.961Z,1761545181.961 [DAT](INFO): #Rx 10: Read direction message, but no range. 2025-10-27T06:06:21.962Z,1761545181.962 [DAT](INFO): direction in FSK: [0.983074,0.058405,0.173648] 2025-10-27T06:06:21.974Z,1761545181.974 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.774636 2025-10-27T06:06:22.040Z,1761545182.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891073,0.453856,-0.001882],[-0.440768,0.866351,0.234861],[0.108223,-0.208449,0.972027]] 2025-10-27T06:06:22.103Z,1761545182.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.502183 s, deltaX: -0.500000 m, approachRate: -0.995653 m/s, rangeRepo size: 4 2025-10-27T06:06:22.105Z,1761545182.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.791306 m, bearing: 339.243175 deg, lat: 36.779419 deg, lon: -121.859781 deg, deltaT: 0.502183 s, deltaX: -0.496780 m, approachRate: -0.989242 m/s, posRepo size: 4 2025-10-27T06:06:22.106Z,1761545182.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.79 m. 2025-10-27T06:06:22.117Z,1761545182.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.791306 m, nav range: 31.593565 m, bearing: 339.451316 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.674451 deg, new cmd heading: 331.651615 deg. 2025-10-27T06:06:22.118Z,1761545182.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788413 target range: 32.791306 and range: 33.00 m. 2025-10-27T06:06:22.209Z,1761545182.209 [DAT](INFO): DAT read: Rx Time:06:06:21.0438 2025-10-27T06:06:22.211Z,1761545182.211 [DAT](INFO): Rx dataTimestamp_ set to:1761545182.209769 2025-10-27T06:06:22.215Z,1761545182.215 [DAT](INFO): DAT read: Bearing 148.9, 8.2 (Local) 2025-10-27T06:06:22.216Z,1761545182.216 [DAT](INFO): Local bearing/azimuth received: Bearing 148.9, 8.2 (Local) 2025-10-27T06:06:22.225Z,1761545182.225 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.5 2025-10-27T06:06:22.228Z,1761545182.228 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-27T06:06:22.230Z,1761545182.230 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.030047 2025-10-27T06:06:22.486Z,1761545182.486 [DAT](INFO): DAT read: 06:06:21.0438 LVL= 31632, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.02, 0.712,-1.056, 0.724, 0.443, PHS= 0.372,-1.454, 0.237, RAW= 146.2, 9.6, CAL= 145.8, 10.5, ROT= 4.2, -10.5 2025-10-27T06:06:22.490Z,1761545182.490 [DAT](INFO): got valid direction response: 06:06:21.0438 LVL= 31632, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.02, 0.712,-1.056, 0.724, 0.443, PHS= 0.372,-1.454, 0.237, RAW= 146.2, 9.6, CAL= 145.8, 10.5, ROT= 4.2, -10.5 2025-10-27T06:06:22.508Z,1761545182.508 [DAT](INFO): #Rx 12: Read direction message, but no range. 2025-10-27T06:06:22.509Z,1761545182.509 [DAT](INFO): direction in FSK: [0.980614,0.072012,0.182236] 2025-10-27T06:06:22.516Z,1761545182.516 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.316404 2025-10-27T06:06:22.592Z,1761545182.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.508552 s, deltaX: -0.099998 m, approachRate: -0.196634 m/s, rangeRepo size: 4 2025-10-27T06:06:22.594Z,1761545182.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.691940 m, bearing: 340.154894 deg, lat: 36.779420 deg, lon: -121.859781 deg, deltaT: 0.508552 s, deltaX: -0.099365 m, approachRate: -0.195389 m/s, posRepo size: 4 2025-10-27T06:06:22.599Z,1761545182.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.69 m. 2025-10-27T06:06:22.602Z,1761545182.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.691940 m, nav range: 31.375380 m, bearing: 339.562111 deg, approach rate: 0.000000 m/s, LOS rate: -0.016178 deg/s, cmd heading: 331.651610 deg, new cmd heading: 331.627649 deg. 2025-10-27T06:06:22.607Z,1761545182.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787994 target range: 32.691940 and range: 32.90 m. 2025-10-27T06:06:22.712Z,1761545182.712 [DAT](INFO): DAT read: Rx Time:06:06:21.5435 2025-10-27T06:06:22.714Z,1761545182.714 [DAT](INFO): Rx dataTimestamp_ set to:1761545182.712791 2025-10-27T06:06:22.718Z,1761545182.718 [DAT](INFO): DAT read: Bearing 150.5, 8.7 (Local) 2025-10-27T06:06:22.719Z,1761545182.719 [DAT](INFO): Local bearing/azimuth received: Bearing 150.5, 8.7 (Local) 2025-10-27T06:06:22.729Z,1761545182.729 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.5 2025-10-27T06:06:22.744Z,1761545182.744 [DAT](INFO): DAT read: 06:06:21.5435 LVL= 31648, 32753, 32754, GC= 59, IDX= 504,-0.01,-0.596,-2.343,-0.609,-0.831, PHS= 0.336,-1.467, 0.178, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0 2025-10-27T06:06:22.745Z,1761545182.745 [DAT](INFO): unknown deviceResponse_: 06:06:21.5435 LVL= 31648, 32753, 32754, GC= 59, IDX= 504,-0.01,-0.596,-2.343,-0.609,-0.831, PHS= 0.336,-1.467, 0.178, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0 2025-10-27T06:06:22.745Z,1761545182.745 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-27T06:06:22.752Z,1761545182.752 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.546776 2025-10-27T06:06:22.906Z,1761545182.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886526,0.462659,-0.004228],[-0.448973,0.862437,0.233723],[0.111780,-0.205303,0.972294]] 2025-10-27T06:06:22.923Z,1761545182.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:22.926Z,1761545182.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503022 s, deltaX: -0.500000 m, approachRate: -0.993992 m/s, rangeRepo size: 4 2025-10-27T06:06:22.927Z,1761545182.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.69 m. 2025-10-27T06:06:22.929Z,1761545182.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.691940 m, nav range: 31.182302 m, bearing: 339.618591 deg, approach rate: -0.578957 m/s, LOS rate: 0.170410 deg/s, cmd heading: 331.627650 deg, new cmd heading: 331.798141 deg. 2025-10-27T06:06:22.930Z,1761545182.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790970 target range: 32.691940 and range: 32.40 m. 2025-10-27T06:06:22.960Z,1761545182.960 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.760345 2025-10-27T06:06:23.215Z,1761545183.215 [DAT](INFO): DAT read: Rx Time:06:06:22.0433 2025-10-27T06:06:23.217Z,1761545183.217 [DAT](INFO): Rx dataTimestamp_ set to:1761545183.216283 2025-10-27T06:06:23.221Z,1761545183.221 [DAT](INFO): DAT read: Bearing 148.8, 9.8 (Local) 2025-10-27T06:06:23.222Z,1761545183.222 [DAT](INFO): Local bearing/azimuth received: Bearing 148.8, 9.8 (Local) 2025-10-27T06:06:23.227Z,1761545183.227 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.5 2025-10-27T06:06:23.230Z,1761545183.230 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-27T06:06:23.231Z,1761545183.231 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.031513 2025-10-27T06:06:23.338Z,1761545183.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884620,0.466276,-0.005907],[-0.452305,0.861057,0.232381],[0.113440,-0.202897,0.972607]] 2025-10-27T06:06:23.357Z,1761545183.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503492 s, deltaX: -0.300003 m, approachRate: -0.595845 m/s, rangeRepo size: 4 2025-10-27T06:06:23.358Z,1761545183.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.69 m. 2025-10-27T06:06:23.361Z,1761545183.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.691940 m, nav range: 30.944208 m, bearing: 339.691033 deg, approach rate: -0.551768 m/s, LOS rate: 0.169170 deg/s, cmd heading: 331.798132 deg, new cmd heading: 332.017127 deg. 2025-10-27T06:06:23.362Z,1761545183.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794792 target range: 32.691940 and range: 32.10 m. 2025-10-27T06:06:23.481Z,1761545183.481 [DAT](INFO): DAT read: 06:06:22.0433 LVL= 31216, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.04,-0.110,-1.883,-0.143,-0.405, PHS= 0.397,-1.433, 0.218, RAW= 144.9, 9.4, CAL= 144.5, 10.2, ROT= 5.5, -10.2 2025-10-27T06:06:23.496Z,1761545183.496 [DAT](INFO): got valid direction response: 06:06:22.0433 LVL= 31216, 32753, 32754, 32755, AGC= 59, IDX= 502, 0.04,-0.110,-1.883,-0.143,-0.405, PHS= 0.397,-1.433, 0.218, RAW= 144.9, 9.4, CAL= 144.5, 10.2, ROT= 5.5, -10.2 2025-10-27T06:06:23.497Z,1761545183.497 [DAT](INFO): #Rx 15: Read direction message, but no range. 2025-10-27T06:06:23.506Z,1761545183.506 [DAT](INFO): direction in FSK: [0.979665,0.094331,0.177085] 2025-10-27T06:06:23.536Z,1761545183.536 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.336014 2025-10-27T06:06:23.720Z,1761545183.720 [DAT](INFO): DAT read: Rx Time:06:06:22.5430 2025-10-27T06:06:23.722Z,1761545183.722 [DAT](INFO): Rx dataTimestamp_ set to:1761545183.721130 2025-10-27T06:06:23.736Z,1761545183.736 [DAT](INFO): DAT read: Bearing 149.1, 10.3 (Local) 2025-10-27T06:06:23.737Z,1761545183.737 [DAT](INFO): Local bearing/azimuth received: Bearing 149.1, 10.3 (Local) 2025-10-27T06:06:23.738Z,1761545183.738 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 2025-10-27T06:06:23.743Z,1761545183.743 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T06:06:23.744Z,1761545183.744 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=7.544139 2025-10-27T06:06:23.766Z,1761545183.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882863,0.469568,-0.007648],[-0.455317,0.859833,0.231025],[0.115058,-0.200481,0.972918]] 2025-10-27T06:06:23.872Z,1761545183.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504847 s, deltaX: -0.399998 m, approachRate: -0.792315 m/s, rangeRepo size: 4 2025-10-27T06:06:23.874Z,1761545183.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.499516 m, bearing: 340.357018 deg, lat: 36.779419 deg, lon: -121.859781 deg, deltaT: 1.511361 s, deltaX: -1.192425 m, approachRate: -0.788974 m/s, posRepo size: 4 2025-10-27T06:06:23.875Z,1761545183.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m. 2025-10-27T06:06:23.882Z,1761545183.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.499516 m, nav range: 30.643103 m, bearing: 339.697336 deg, approach rate: 0.000000 m/s, LOS rate: 0.169170 deg/s, cmd heading: 332.017135 deg, new cmd heading: 332.274041 deg. 2025-10-27T06:06:23.882Z,1761545183.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799276 target range: 31.499516 and range: 31.70 m. 2025-10-27T06:06:23.972Z,1761545183.972 [DAT](INFO): DAT read: 06:06:22.5430 LVL= 30944, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.14,-1.413, 3.103,-1.463,-1.705, PHS= 0.394,-1.430, 0.199, RAW= 144.4, 9.7, CAL= 144.0, 10.6, ROT= 6.0, -10.6 2025-10-27T06:06:23.973Z,1761545183.973 [DAT](INFO): got valid direction response: 06:06:22.5430 LVL= 30944, 32753, 32754, 32755, AGC= 59, IDX= 499, 0.14,-1.413, 3.103,-1.463,-1.705, PHS= 0.394,-1.430, 0.199, RAW= 144.4, 9.7, CAL= 144.0, 10.6, ROT= 6.0, -10.6 2025-10-27T06:06:23.973Z,1761545183.973 [DAT](INFO): #Rx 17: Read direction message, but no range. 2025-10-27T06:06:23.974Z,1761545183.974 [DAT](INFO): direction in FSK: [0.977551,0.102745,0.183951] 2025-10-27T06:06:23.978Z,1761545183.978 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=7.778414 2025-10-27T06:06:24.226Z,1761545184.226 [DAT](INFO): DAT read: Rx Time:06:06:23.0429 2025-10-27T06:06:24.228Z,1761545184.228 [DAT](INFO): Rx dataTimestamp_ set to:1761545184.227256 2025-10-27T06:06:24.231Z,1761545184.231 [DAT](INFO): DAT read: Bearing 148.6, 11.0 (Local) 2025-10-27T06:06:24.232Z,1761545184.232 [DAT](INFO): Local bearing/azimuth received: Bearing 148.6, 11.0 (Local) 2025-10-27T06:06:24.234Z,1761545184.234 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 2025-10-27T06:06:24.234Z,1761545184.234 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-27T06:06:24.238Z,1761545184.238 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=8.037513 2025-10-27T06:06:24.364Z,1761545184.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880886,0.473194,-0.011302],[-0.458760,0.859407,0.225743],[0.116533,-0.193669,0.974121]] 2025-10-27T06:06:24.396Z,1761545184.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.506126 s, deltaX: -0.200001 m, approachRate: -0.395160 m/s, rangeRepo size: 4 2025-10-27T06:06:24.398Z,1761545184.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.300879 m, bearing: 340.656083 deg, lat: 36.779419 deg, lon: -121.859778 deg, deltaT: 0.506126 s, deltaX: -0.198637 m, approachRate: -0.392466 m/s, posRepo size: 4 2025-10-27T06:06:24.399Z,1761545184.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.30 m. 2025-10-27T06:06:24.402Z,1761545184.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.300879 m, nav range: 30.279081 m, bearing: 340.218770 deg, approach rate: 0.000000 m/s, LOS rate: 0.169170 deg/s, cmd heading: 332.274032 deg, new cmd heading: 332.544445 deg. 2025-10-27T06:06:24.403Z,1761545184.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803996 target range: 31.300879 and range: 31.50 m. 2025-10-27T06:06:24.494Z,1761545184.494 [DAT](INFO): DAT read: 06:06:23.0429 LVL= 31648, 32753, 32370, 32755, AGC= 62, IDX= 498, 0.36, 0.240,-1.530, 0.175,-0.074, PHS= 0.416,-1.412, 0.205, RAW= 143.9, 9.2, CAL= 143.5, 10.0, ROT= 6.5, -10.0 2025-10-27T06:06:24.501Z,1761545184.501 [DAT](INFO): got valid direction response: 06:06:23.0429 LVL= 31648, 32753, 32370, 32755, AGC= 62, IDX= 498, 0.36, 0.240,-1.530, 0.175,-0.074, PHS= 0.416,-1.412, 0.205, RAW= 143.9, 9.2, CAL= 143.5, 10.0, ROT= 6.5, -10.0 2025-10-27T06:06:24.504Z,1761545184.504 [DAT](INFO): #Rx 19: Read direction message, but no range. 2025-10-27T06:06:24.507Z,1761545184.507 [DAT](INFO): direction in FSK: [0.978477,0.111483,0.173648] 2025-10-27T06:06:24.540Z,1761545184.540 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=8.340404 2025-10-27T06:06:24.728Z,1761545184.728 [DAT](INFO): DAT read: Rx Time:06:06:23.5427 2025-10-27T06:06:24.730Z,1761545184.730 [DAT](INFO): Rx dataTimestamp_ set to:1761545184.728815 2025-10-27T06:06:24.732Z,1761545184.732 [DAT](INFO): DAT read: Bearing 149.3, 11.1 (Local) 2025-10-27T06:06:24.732Z,1761545184.732 [DAT](INFO): Local bearing/azimuth received: Bearing 149.3, 11.1 (Local) 2025-10-27T06:06:24.735Z,1761545184.735 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-27T06:06:24.736Z,1761545184.736 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-27T06:06:24.737Z,1761545184.737 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=8.537509 2025-10-27T06:06:24.866Z,1761545184.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.501559 s, deltaX: -0.299999 m, approachRate: -0.598134 m/s, rangeRepo size: 4 2025-10-27T06:06:24.888Z,1761545184.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.002777 m, bearing: 341.022300 deg, lat: 36.779419 deg, lon: -121.859776 deg, deltaT: 0.501559 s, deltaX: -0.298101 m, approachRate: -0.594350 m/s, posRepo size: 4 2025-10-27T06:06:24.889Z,1761545184.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m. 2025-10-27T06:06:24.896Z,1761545184.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.002777 m, nav range: 29.999058 m, bearing: 340.509244 deg, approach rate: 0.000000 m/s, LOS rate: 0.169170 deg/s, cmd heading: 332.544453 deg, new cmd heading: 332.782760 deg. 2025-10-27T06:06:24.897Z,1761545184.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808155 target range: 31.002777 and range: 31.20 m. 2025-10-27T06:06:24.982Z,1761545184.982 [DAT](INFO): DAT read: 06:06:23.5427 LVL= 29776, 31841, 31314, 32755, AGC= 62, IDX= 496,-0.08, 2.271, 0.496, 2.199, 1.973, PHS= 0.400,-1.432, 0.182, RAW= 143.8, 9.8, CAL= 143.3, 10.7, ROT= 6.7, -10.7 2025-10-27T06:06:24.984Z,1761545184.984 [DAT](INFO): got valid direction response: 06:06:23.5427 LVL= 29776, 31841, 31314, 32755, AGC= 62, IDX= 496,-0.08, 2.271, 0.496, 2.199, 1.973, PHS= 0.400,-1.432, 0.182, RAW= 143.8, 9.8, CAL= 143.3, 10.7, ROT= 6.7, -10.7 2025-10-27T06:06:24.985Z,1761545184.985 [DAT](INFO): #Rx 21: Read direction message, but no range. 2025-10-27T06:06:24.986Z,1761545184.986 [DAT](INFO): direction in FSK: [0.975902,0.114642,0.185667] 2025-10-27T06:06:24.989Z,1761545184.989 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=8.789630 2025-10-27T06:06:25.231Z,1761545185.231 [DAT](INFO): DAT read: Rx Time:06:06:24.0426 2025-10-27T06:06:25.232Z,1761545185.232 [DAT](INFO): Rx dataTimestamp_ set to:1761545185.231432 2025-10-27T06:06:25.233Z,1761545185.233 [DAT](INFO): DAT read: Bearing 149.4, 11.2 (Local) 2025-10-27T06:06:25.233Z,1761545185.233 [DAT](INFO): Local bearing/azimuth received: Bearing 149.4, 11.2 (Local) 2025-10-27T06:06:25.235Z,1761545185.235 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-27T06:06:25.236Z,1761545185.236 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-27T06:06:25.237Z,1761545185.237 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=9.036766 2025-10-27T06:06:25.285Z,1761545185.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880532,0.473827,-0.012281],[-0.459727,0.860063,0.221229],[0.115387,-0.189154,0.975145]] 2025-10-27T06:06:25.347Z,1761545185.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502617 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:25.349Z,1761545185.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.002634 m, bearing: 341.271917 deg, lat: 36.779419 deg, lon: -121.859774 deg, deltaT: 0.502617 s, deltaX: -0.000143 m, approachRate: -0.000285 m/s, posRepo size: 4 2025-10-27T06:06:25.350Z,1761545185.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m. 2025-10-27T06:06:25.353Z,1761545185.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.002634 m, nav range: 29.750704 m, bearing: 340.729032 deg, approach rate: 0.000000 m/s, LOS rate: 0.169170 deg/s, cmd heading: 332.782772 deg, new cmd heading: 333.026809 deg. 2025-10-27T06:06:25.354Z,1761545185.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812414 target range: 31.002634 and range: 31.20 m. 2025-10-27T06:06:25.500Z,1761545185.500 [DAT](INFO): DAT read: 06:06:24.0426 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.46,-2.975, 1.532,-3.053, 3.007, PHS= 0.403,-1.430, 0.179, RAW= 143.6, 9.8, CAL= 143.1, 10.7, ROT= 6.9, -10.7 2025-10-27T06:06:25.513Z,1761545185.513 [DAT](INFO): got valid direction response: 06:06:24.0426 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.46,-2.975, 1.532,-3.053, 3.007, PHS= 0.403,-1.430, 0.179, RAW= 143.6, 9.8, CAL= 143.1, 10.7, ROT= 6.9, -10.7 2025-10-27T06:06:25.514Z,1761545185.514 [DAT](INFO): #Rx 23: Read direction message, but no range. 2025-10-27T06:06:25.522Z,1761545185.522 [DAT](INFO): direction in FSK: [0.975496,0.118048,0.185667] 2025-10-27T06:06:25.538Z,1761545185.538 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=9.338117 2025-10-27T06:06:25.691Z,1761545185.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:25.716Z,1761545185.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m. 2025-10-27T06:06:25.734Z,1761545185.734 [DAT](INFO): DAT read: Rx Time:06:06:24.5424 2025-10-27T06:06:25.734Z,1761545185.734 [DAT](INFO): Rx dataTimestamp_ set to:1761545185.733817 2025-10-27T06:06:25.737Z,1761545185.737 [DAT](INFO): DAT read: Bearing 149.9, 11.1 (Local) 2025-10-27T06:06:25.738Z,1761545185.738 [DAT](INFO): Local bearing/azimuth received: Bearing 149.9, 11.1 (Local) 2025-10-27T06:06:25.740Z,1761545185.740 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 2025-10-27T06:06:25.745Z,1761545185.745 [DAT](INFO): DAT read: 06:06:24.5424 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.17, 1.396,-0.377, 1.318, 1.112, PHS= 0.386,-1.444, 0.162, RAW= 143.6, 10.4, CAL= 143.1, 11.3, ROT= 6.9, -11.3 2025-10-27T06:06:25.746Z,1761545185.746 [DAT](INFO): got valid direction response: 06:06:24.5424 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.17, 1.396,-0.377, 1.318, 1.112, PHS= 0.386,-1.444, 0.162, RAW= 143.6, 10.4, CAL= 143.1, 11.3, ROT= 6.9, -11.3 2025-10-27T06:06:25.746Z,1761545185.746 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T06:06:25.748Z,1761545185.748 [DAT](INFO): direction in FSK: [0.973512,0.117808,0.195946] 2025-10-27T06:06:25.748Z,1761545185.748 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:25.752Z,1761545185.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.002634 m, nav range: 29.601299 m, bearing: 340.699094 deg, approach rate: -0.424920 m/s, LOS rate: -0.085577 deg/s, cmd heading: 333.026801 deg, new cmd heading: 332.936532 deg. 2025-10-27T06:06:25.753Z,1761545185.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810839 target range: 31.002634 and range: 31.20 m. 2025-10-27T06:06:25.756Z,1761545185.756 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.556163 2025-10-27T06:06:25.984Z,1761545185.984 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=9.784219 2025-10-27T06:06:26.022Z,1761545186.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881760,0.471498,-0.013737],[-0.458053,0.862844,0.213745],[0.112633,-0.182179,0.976793]] 2025-10-27T06:06:26.063Z,1761545186.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.502385 s, deltaX: -0.300001 m, approachRate: -0.597154 m/s, rangeRepo size: 4 2025-10-27T06:06:26.065Z,1761545186.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.704338 m, bearing: 341.642318 deg, lat: 36.779419 deg, lon: -121.859773 deg, deltaT: 0.502385 s, deltaX: -0.298296 m, approachRate: -0.593760 m/s, posRepo size: 4 2025-10-27T06:06:26.066Z,1761545186.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m. 2025-10-27T06:06:26.069Z,1761545186.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.704338 m, nav range: 29.374403 m, bearing: 340.967680 deg, approach rate: 0.000000 m/s, LOS rate: -0.085577 deg/s, cmd heading: 332.936533 deg, new cmd heading: 332.843031 deg. 2025-10-27T06:06:26.069Z,1761545186.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809207 target range: 30.704338 and range: 30.90 m. 2025-10-27T06:06:26.238Z,1761545186.238 [DAT](INFO): DAT read: Rx Time:06:06:25.0424 2025-10-27T06:06:26.238Z,1761545186.238 [DAT](INFO): Rx dataTimestamp_ set to:1761545186.237779 2025-10-27T06:06:26.244Z,1761545186.244 [DAT](INFO): DAT read: Bearing 150.0, 10.9 (Local) 2025-10-27T06:06:26.245Z,1761545186.245 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, 10.9 (Local) 2025-10-27T06:06:26.247Z,1761545186.247 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 2025-10-27T06:06:26.252Z,1761545186.252 [DAT](INFO): DAT read: 06:06:25.0424 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.05, 0.575,-1.213, 0.501, 0.289, PHS= 0.388,-1.457, 0.167, RAW= 143.7, 10.4, CAL= 143.3, 11.3, ROT= 6.7, -11.3 2025-10-27T06:06:26.253Z,1761545186.253 [DAT](INFO): got valid direction response: 06:06:25.0424 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.05, 0.575,-1.213, 0.501, 0.289, PHS= 0.388,-1.457, 0.167, RAW= 143.7, 10.4, CAL= 143.3, 11.3, ROT= 6.7, -11.3 2025-10-27T06:06:26.253Z,1761545186.253 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T06:06:26.254Z,1761545186.254 [DAT](INFO): direction in FSK: [0.973918,0.114409,0.195946] 2025-10-27T06:06:26.259Z,1761545186.259 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:26.277Z,1761545186.277 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.077175 2025-10-27T06:06:26.459Z,1761545186.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883103,0.468955,-0.014517],[-0.455969,0.865117,0.208962],[0.110553,-0.177915,0.977816]] 2025-10-27T06:06:26.488Z,1761545186.488 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=10.288056 2025-10-27T06:06:26.561Z,1761545186.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.503962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:26.572Z,1761545186.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.704338 m, bearing: 341.535149 deg, lat: 36.779421 deg, lon: -121.859772 deg, deltaT: 0.503962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:26.573Z,1761545186.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m. 2025-10-27T06:06:26.580Z,1761545186.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.704338 m, nav range: 29.325150 m, bearing: 341.175685 deg, approach rate: 0.000000 m/s, LOS rate: -0.085577 deg/s, cmd heading: 332.843041 deg, new cmd heading: 332.719102 deg. 2025-10-27T06:06:26.581Z,1761545186.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807044 target range: 30.704338 and range: 30.90 m. 2025-10-27T06:06:26.741Z,1761545186.741 [DAT](INFO): DAT read: Rx Time:06:06:25.5421 2025-10-27T06:06:26.741Z,1761545186.741 [DAT](INFO): Rx dataTimestamp_ set to:1761545186.740927 2025-10-27T06:06:26.742Z,1761545186.742 [DAT](INFO): DAT read: Bearing 150.0, 10.8 (Local) 2025-10-27T06:06:26.743Z,1761545186.743 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, 10.8 (Local) 2025-10-27T06:06:26.745Z,1761545186.745 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-27T06:06:26.750Z,1761545186.750 [DAT](INFO): DAT read: 06:06:25.5421 LVL= 32752, 32753, 32754, 32755, AGC== 507,-0.46, 0.811,-0.955, 0.743, 0.531, PHS= 0.382,-1.441, 0.168, RAW= 143.8, 10.3, CAL= 143.4, 11.3, ROT= 6.6, -11.3 2025-10-27T06:06:26.750Z,1761545186.750 [DAT](INFO): unknown deviceResponse_: 06:06:25.5421 LVL= 32752, 32753, 32754, 32755, AGC== 507,-0.46, 0.811,-0.955, 0.743, 0.531, PHS= 0.382,-1.441, 0.168, RAW= 143.8, 10.3, CAL= 143.4, 11.3, ROT= 6.6, -11.3 2025-10-27T06:06:26.751Z,1761545186.751 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-27T06:06:26.752Z,1761545186.752 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.552029 2025-10-27T06:06:26.984Z,1761545186.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.503148 s, deltaX: -0.400000 m, approachRate: -0.794994 m/s, rangeRepo size: 4 2025-10-27T06:06:26.985Z,1761545186.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.70 m. 2025-10-27T06:06:26.988Z,1761545186.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.704338 m, nav range: 29.115559 m, bearing: 341.089452 deg, approach rate: -0.478141 m/s, LOS rate: -0.198140 deg/s, cmd heading: 332.719114 deg, new cmd heading: 332.458555 deg. 2025-10-27T06:06:26.989Z,1761545186.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802496 target range: 30.704338 and range: 30.50 m. 2025-10-27T06:06:26.992Z,1761545186.992 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=10.792249 2025-10-27T06:06:27.245Z,1761545187.245 [DAT](INFO): DAT read: Rx Time:06:06:26.0420 2025-10-27T06:06:27.245Z,1761545187.245 [DAT](INFO): Rx dataTimestamp_ set to:1761545187.245046 2025-10-27T06:06:27.247Z,1761545187.247 [DAT](INFO): DAT read: Bearing 149.8, 10.1 (Local) 2025-10-27T06:06:27.247Z,1761545187.247 [DAT](INFO): Local bearing/azimuth received: Bearing 149.8, 10.1 (Local) 2025-10-27T06:06:27.249Z,1761545187.249 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4 2025-10-27T06:06:27.254Z,1761545187.254 [DAT](INFO): DAT read: 06:06:26.0420 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505, 0.13, 2.263, 0.481, 2.213, 1.984, PHS= 0.381,-1.457, 0.186, RAW= 144.4, 10.2, CAL= 144.0, 11.1, ROT= 6.0, -11.1 2025-10-27T06:06:27.255Z,1761545187.255 [DAT](INFO): got valid direction response: 06:06:26.0420 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505, 0.13, 2.263, 0.481, 2.213, 1.984, PHS= 0.381,-1.457, 0.186, RAW= 144.4, 10.2, CAL= 144.0, 11.1, ROT= 6.0, -11.1 2025-10-27T06:06:27.256Z,1761545187.256 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T06:06:27.257Z,1761545187.257 [DAT](INFO): direction in FSK: [0.975917,0.102573,0.192522] 2025-10-27T06:06:27.257Z,1761545187.257 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:27.261Z,1761545187.261 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.060800 2025-10-27T06:06:27.424Z,1761545187.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886025,0.463377,-0.015558],[-0.451406,0.869821,0.199110],[0.105795,-0.169393,0.979854]] 2025-10-27T06:06:27.466Z,1761545187.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504119 s, deltaX: -0.200001 m, approachRate: -0.396733 m/s, rangeRepo size: 4 2025-10-27T06:06:27.472Z,1761545187.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.108013 m, bearing: 341.004983 deg, lat: 36.779421 deg, lon: -121.859772 deg, deltaT: 1.007267 s, deltaX: -0.596325 m, approachRate: -0.592023 m/s, posRepo size: 4 2025-10-27T06:06:27.473Z,1761545187.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.11 m. 2025-10-27T06:06:27.482Z,1761545187.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.108013 m, nav range: 28.948162 m, bearing: 341.023321 deg, approach rate: 0.000000 m/s, LOS rate: -0.198140 deg/s, cmd heading: 332.458556 deg, new cmd heading: 332.172017 deg. 2025-10-27T06:06:27.488Z,1761545187.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797495 target range: 30.108013 and range: 30.30 m. 2025-10-27T06:06:27.500Z,1761545187.500 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=11.299385 2025-10-27T06:06:27.750Z,1761545187.750 [DAT](INFO): DAT read: Rx Time:06:06:26.5418 2025-10-27T06:06:27.750Z,1761545187.750 [DAT](INFO): Rx dataTimestamp_ set to:1761545187.749812 2025-10-27T06:06:27.756Z,1761545187.756 [DAT](INFO): DAT read: Bearing 150.3, 9.8 (Local) 2025-10-27T06:06:27.757Z,1761545187.757 [DAT](INFO): Local bearing/azimuth received: Bearing 150.3, 9.8 (Local) 2025-10-27T06:06:27.760Z,1761545187.760 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T06:06:27.776Z,1761545187.776 [DAT](INFO): DAT read: 06:06:26.5418 LVL= 29776, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.07,-0.100,-1.864,-0.142,-0.361, PHS= 0.363,-1.458, 0.175, RAW= 144.6, 10.6, CAL= 144.2, 11.6, ROT= 5.8, -11.6 2025-10-27T06:06:27.777Z,1761545187.777 [DAT](INFO): got valid direction response: 06:06:26.5418 LVL= 29776, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.07,-0.100,-1.864,-0.142,-0.361, PHS= 0.363,-1.458, 0.175, RAW= 144.6, 10.6, CAL= 144.2, 11.6, ROT= 5.8, -11.6 2025-10-27T06:06:27.777Z,1761545187.777 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T06:06:27.778Z,1761545187.778 [DAT](INFO): direction in FSK: [0.974561,0.098992,0.201078] 2025-10-27T06:06:27.778Z,1761545187.778 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:27.786Z,1761545187.786 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.586284 2025-10-27T06:06:27.852Z,1761545187.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887658,0.460272,-0.014584],[-0.448934,0.871977,0.195229],[0.102575,-0.166750,0.980649]] 2025-10-27T06:06:27.970Z,1761545187.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.504766 s, deltaX: -0.299999 m, approachRate: -0.594333 m/s, rangeRepo size: 4 2025-10-27T06:06:27.976Z,1761545187.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.809893 m, bearing: 341.034479 deg, lat: 36.779421 deg, lon: -121.859771 deg, deltaT: 0.504766 s, deltaX: -0.298120 m, approachRate: -0.590611 m/s, posRepo size: 4 2025-10-27T06:06:27.977Z,1761545187.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m. 2025-10-27T06:06:27.984Z,1761545187.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.809893 m, nav range: 28.704657 m, bearing: 341.098173 deg, approach rate: 0.000000 m/s, LOS rate: -0.198140 deg/s, cmd heading: 332.172016 deg, new cmd heading: 331.872607 deg. 2025-10-27T06:06:27.984Z,1761545187.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792270 target range: 29.809893 and range: 30.00 m. 2025-10-27T06:06:28.000Z,1761545188.000 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=11.800237 2025-10-27T06:06:28.246Z,1761545188.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889254,0.457213,-0.013522],[-0.446563,0.874181,0.190758],[0.099038,-0.163594,0.981544]] 2025-10-27T06:06:28.253Z,1761545188.253 [DAT](INFO): DAT read: Rx Time:06:06:27.0418 2025-10-27T06:06:28.253Z,1761545188.253 [DAT](INFO): Rx dataTimestamp_ set to:1761545188.252861 2025-10-27T06:06:28.254Z,1761545188.254 [DAT](INFO): DAT read: Bearing 151.0, 9.1 (Local) 2025-10-27T06:06:28.255Z,1761545188.255 [DAT](INFO): Local bearing/azimuth received: Bearing 151.0, 9.1 (Local) 2025-10-27T06:06:28.257Z,1761545188.257 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T06:06:28.262Z,1761545188.262 [DAT](INFO): DAT read: 06:06:27.0418 LVL= 31472, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.36, 0.824,-0.938, 0.794, 0.585, PHS= 0.341,-1.478, 0.165, RAW= 145.0, 11.2, CAL= 144.6, 12.2, ROT= 5.4, -12.2 2025-10-27T06:06:28.263Z,1761545188.263 [DAT](INFO): got valid direction response: 06:06:27.0418 LVL= 31472, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.36, 0.824,-0.938, 0.794, 0.585, PHS= 0.341,-1.478, 0.165, RAW= 145.0, 11.2, CAL= 144.6, 12.2, ROT= 5.4, -12.2 2025-10-27T06:06:28.263Z,1761545188.263 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T06:06:28.264Z,1761545188.264 [DAT](INFO): direction in FSK: [0.973078,0.091983,0.211325] 2025-10-27T06:06:28.265Z,1761545188.265 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:28.269Z,1761545188.269 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.069128 2025-10-27T06:06:28.326Z,1761545188.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503049 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:28.337Z,1761545188.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.809893 m, bearing: 340.865870 deg, lat: 36.779421 deg, lon: -121.859771 deg, deltaT: 0.503049 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:28.337Z,1761545188.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m. 2025-10-27T06:06:28.344Z,1761545188.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.809893 m, nav range: 28.566355 m, bearing: 341.025541 deg, approach rate: 0.000000 m/s, LOS rate: -0.198140 deg/s, cmd heading: 331.872608 deg, new cmd heading: 331.662170 deg. 2025-10-27T06:06:28.345Z,1761545188.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788597 target range: 29.809893 and range: 30.00 m. 2025-10-27T06:06:28.504Z,1761545188.504 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=12.304423 2025-10-27T06:06:28.682Z,1761545188.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890786,0.454288,-0.011043],[-0.444301,0.875790,0.188648],[0.095372,-0.163139,0.981983]] 2025-10-27T06:06:28.757Z,1761545188.757 [DAT](INFO): DAT read: Rx Time:06:06:27.5416 2025-10-27T06:06:28.757Z,1761545188.757 [DAT](INFO): Rx dataTimestamp_ set to:1761545188.756812 2025-10-27T06:06:28.758Z,1761545188.758 [DAT](INFO): DAT read: Bearing 150.0, 8.6 (Local) 2025-10-27T06:06:28.760Z,1761545188.760 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, 8.6 (Local) 2025-10-27T06:06:28.762Z,1761545188.762 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.3 2025-10-27T06:06:28.766Z,1761545188.766 [DAT](INFO): DAT read: 06:06:27.5416 LVL= 30528, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.28, 1.693,-0.078, 1.682, 1.431, PHS= 0.365,-1.464, 0.207, RAW= 145.5, 10.2, CAL= 145.1, 11.1, ROT= 4.9, -11.1 2025-10-27T06:06:28.776Z,1761545188.776 [DAT](INFO): got valid direction response: 06:06:27.5416 LVL= 30528, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.28, 1.693,-0.078, 1.682, 1.431, PHS= 0.365,-1.464, 0.207, RAW= 145.5, 10.2, CAL= 145.1, 11.1, ROT= 4.9, -11.1 2025-10-27T06:06:28.776Z,1761545188.776 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T06:06:28.777Z,1761545188.777 [DAT](INFO): direction in FSK: [0.977706,0.083819,0.192522] 2025-10-27T06:06:28.777Z,1761545188.777 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:28.783Z,1761545188.783 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.582710 2025-10-27T06:06:28.835Z,1761545188.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.503951 s, deltaX: -0.400000 m, approachRate: -0.793727 m/s, rangeRepo size: 4 2025-10-27T06:06:28.837Z,1761545188.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.412428 m, bearing: 340.302274 deg, lat: 36.779420 deg, lon: -121.859771 deg, deltaT: 0.503951 s, deltaX: -0.397465 m, approachRate: -0.788697 m/s, posRepo size: 4 2025-10-27T06:06:28.838Z,1761545188.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.41 m. 2025-10-27T06:06:28.845Z,1761545188.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.412428 m, nav range: 28.330236 m, bearing: 340.767883 deg, approach rate: 0.000000 m/s, LOS rate: -0.198140 deg/s, cmd heading: 331.662156 deg, new cmd heading: 331.360490 deg. 2025-10-27T06:06:28.846Z,1761545188.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783331 target range: 29.412428 and range: 29.60 m. 2025-10-27T06:06:29.010Z,1761545189.010 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=12.808741 2025-10-27T06:06:29.066Z,1761545189.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892217,0.451520,-0.008849],[-0.442232,0.877499,0.185546],[0.091543,-0.161634,0.982596]] 2025-10-27T06:06:29.233Z,1761545189.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:29.239Z,1761545189.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.41 m. 2025-10-27T06:06:29.242Z,1761545189.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.412428 m, nav range: 28.141851 m, bearing: 340.677429 deg, approach rate: -0.465559 m/s, LOS rate: -0.225038 deg/s, cmd heading: 331.360480 deg, new cmd heading: 331.087302 deg. 2025-10-27T06:06:29.247Z,1761545189.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778563 target range: 29.412428 and range: 29.60 m. 2025-10-27T06:06:29.261Z,1761545189.261 [DAT](INFO): DAT read: Rx Time:06:06:28.0416 2025-10-27T06:06:29.261Z,1761545189.261 [DAT](INFO): Rx dataTimestamp_ set to:1761545189.260763 2025-10-27T06:06:29.262Z,1761545189.262 [DAT](INFO): DAT read: Bearing 149.6, 8.3 (Local) 2025-10-27T06:06:29.263Z,1761545189.263 [DAT](INFO): Local bearing/azimuth received: Bearing 149.6, 8.3 (Local) 2025-10-27T06:06:29.265Z,1761545189.265 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.3 2025-10-27T06:06:29.270Z,1761545189.270 [DAT](INFO): DAT read: 06:06:28.0416 LVL= 29904, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.05, 2.937, 1.190, 2.931, 2.671, PHS= 0.367,-1.436, 0.216, RAW= 145.7, 9.9, CAL= 145.3, 10.8, ROT= 4.7, -10.8 2025-10-27T06:06:29.271Z,1761545189.271 [DAT](INFO): got valid direction response: 06:06:28.0416 LVL= 29904, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.05, 2.937, 1.190, 2.931, 2.671, PHS= 0.367,-1.436, 0.216, RAW= 145.7, 9.9, CAL= 145.3, 10.8, ROT= 4.7, -10.8 2025-10-27T06:06:29.271Z,1761545189.271 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T06:06:29.272Z,1761545189.272 [DAT](INFO): direction in FSK: [0.978984,0.080487,0.187381] 2025-10-27T06:06:29.272Z,1761545189.272 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:29.284Z,1761545189.284 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.084522 2025-10-27T06:06:29.517Z,1761545189.517 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=13.316920 2025-10-27T06:06:29.607Z,1761545189.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893692,0.448674,-0.002484],[-0.440572,0.878575,0.184396],[0.084916,-0.163699,0.982849]] 2025-10-27T06:06:29.717Z,1761545189.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.503951 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:29.736Z,1761545189.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.412449 m, bearing: 340.298907 deg, lat: 36.779420 deg, lon: -121.859772 deg, deltaT: 0.503951 s, deltaX: 0.000021 m, approachRate: 0.000042 m/s, posRepo size: 4 2025-10-27T06:06:29.737Z,1761545189.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.41 m. 2025-10-27T06:06:29.744Z,1761545189.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.412449 m, nav range: 27.951422 m, bearing: 340.531461 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 331.087300 deg, new cmd heading: 330.767156 deg. 2025-10-27T06:06:29.745Z,1761545189.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772976 target range: 29.412449 and range: 29.60 m. 2025-10-27T06:06:29.765Z,1761545189.765 [DAT](INFO): DAT read: Rx Time:06:06:28.5414 2025-10-27T06:06:29.765Z,1761545189.765 [DAT](INFO): Rx dataTimestamp_ set to:1761545189.764853 2025-10-27T06:06:29.766Z,1761545189.766 [DAT](INFO): DAT read: Bearing 149.9, 7.5 (Local) 2025-10-27T06:06:29.767Z,1761545189.767 [DAT](INFO): Local bearing/azimuth received: Bearing 149.9, 7.5 (Local) 2025-10-27T06:06:29.769Z,1761545189.769 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.3 2025-10-27T06:06:29.774Z,1761545189.774 [DAT](INFO): DAT read: 06:06:28.5414 LVL= 28816, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.12,-0.179,-1.935,-0.167,-0.426, PHS= 0.349,-1.463, 0.215, RAW= 146.2, 10.3, CAL= 145.8, 11.2, ROT= 4.2, -11.2 2025-10-27T06:06:29.775Z,1761545189.775 [DAT](INFO): got valid direction response: 06:06:28.5414 LVL= 28816, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.12,-0.179,-1.935,-0.167,-0.426, PHS= 0.349,-1.463, 0.215, RAW= 146.2, 10.3, CAL= 145.8, 11.2, ROT= 4.2, -11.2 2025-10-27T06:06:29.775Z,1761545189.775 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T06:06:29.776Z,1761545189.776 [DAT](INFO): direction in FSK: [0.978321,0.071843,0.194234] 2025-10-27T06:06:29.776Z,1761545189.776 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:29.781Z,1761545189.781 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.581045 2025-10-27T06:06:30.016Z,1761545190.016 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=13.816198 2025-10-27T06:06:30.073Z,1761545190.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.504090 s, deltaX: -0.300001 m, approachRate: -0.595134 m/s, rangeRepo size: 4 2025-10-27T06:06:30.079Z,1761545190.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.114372 m, bearing: 339.871546 deg, lat: 36.779420 deg, lon: -121.859774 deg, deltaT: 0.504090 s, deltaX: -0.298077 m, approachRate: -0.591316 m/s, posRepo size: 4 2025-10-27T06:06:30.080Z,1761545190.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.11 m. 2025-10-27T06:06:30.087Z,1761545190.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.114372 m, nav range: 27.830862 m, bearing: 340.128579 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 330.767156 deg, new cmd heading: 330.521969 deg. 2025-10-27T06:06:30.088Z,1761545190.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768697 target range: 29.114372 and range: 29.30 m. 2025-10-27T06:06:30.269Z,1761545190.269 [DAT](INFO): DAT read: Rx Time:06:06:29.0414 2025-10-27T06:06:30.269Z,1761545190.269 [DAT](INFO): Rx dataTimestamp_ set to:1761545190.268738 2025-10-27T06:06:30.270Z,1761545190.270 [DAT](INFO): DAT read: Bearing 149.9, 6.9 (Local) 2025-10-27T06:06:30.271Z,1761545190.271 [DAT](INFO): Local bearing/azimuth received: Bearing 149.9, 6.9 (Local) 2025-10-27T06:06:30.273Z,1761545190.273 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 2025-10-27T06:06:30.277Z,1761545190.277 [DAT](INFO): DAT read: 06:06:29.0414 LVL= 30512, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.36, 1.101,-0.666, 1.123, 0.859, PHS= 0.344,-1.480, 0.220, RAW= 146.5, 10.4, CAL= 146.2, 11.4, ROT= 3.8, -11.4 2025-10-27T06:06:30.279Z,1761545190.279 [DAT](INFO): got valid direction response: 06:06:29.0414 LVL= 30512, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.36, 1.101,-0.666, 1.123, 0.859, PHS= 0.344,-1.480, 0.220, RAW= 146.5, 10.4, CAL= 146.2, 11.4, ROT= 3.8, -11.4 2025-10-27T06:06:30.280Z,1761545190.280 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T06:06:30.285Z,1761545190.285 [DAT](INFO): direction in FSK: [0.978116,0.064966,0.197657] 2025-10-27T06:06:30.286Z,1761545190.286 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:30.291Z,1761545190.291 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.091451 2025-10-27T06:06:30.406Z,1761545190.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893412,0.449205,0.005469],[-0.442268,0.877348,0.186170],[0.078830,-0.168745,0.982502]] 2025-10-27T06:06:30.472Z,1761545190.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.503885 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:30.474Z,1761545190.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.114372 m, bearing: 339.458015 deg, lat: 36.779422 deg, lon: -121.859775 deg, deltaT: 0.503885 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:30.475Z,1761545190.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.11 m. 2025-10-27T06:06:30.478Z,1761545190.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.114372 m, nav range: 27.882248 m, bearing: 340.023958 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 330.521979 deg, new cmd heading: 330.255605 deg. 2025-10-27T06:06:30.487Z,1761545190.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764048 target range: 29.114372 and range: 29.30 m. 2025-10-27T06:06:30.520Z,1761545190.520 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=14.320278 2025-10-27T06:06:30.772Z,1761545190.772 [DAT](INFO): DAT read: Rx Time:06:06:29.5411 2025-10-27T06:06:30.773Z,1761545190.773 [DAT](INFO): Rx dataTimestamp_ set to:1761545190.772615 2025-10-27T06:06:30.774Z,1761545190.774 [DAT](INFO): DAT read: Bearing 150.8, 6.4 (Local) 2025-10-27T06:06:30.774Z,1761545190.774 [DAT](INFO): Local bearing/azimuth received: Bearing 150.8, 6.4 (Local) 2025-10-27T06:06:30.777Z,1761545190.777 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.3 2025-10-27T06:06:30.781Z,1761545190.781 [DAT](INFO): DAT read: 06:06:29.5411 LVL= 32320, 32753, 32754, 32755, AGC= 61, IDX= 495, 0.34, 1.362,-0.392, 1.382, 1.148, PHS= 0.316,-1.495, 0.191, RAW= 146.5, 11.3, CAL= 146.1, 12.3, ROT= 3.9, -12.3 2025-10-27T06:06:30.782Z,1761545190.782 [DAT](INFO): got valid direction response: 06:06:29.5411 LVL= 32320, 32753, 32754, 32755, AGC= 61, IDX= 495, 0.34, 1.362,-0.392, 1.382, 1.148, PHS= 0.316,-1.495, 0.191, RAW= 146.5, 11.3, CAL= 146.1, 12.3, ROT= 3.9, -12.3 2025-10-27T06:06:30.783Z,1761545190.783 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T06:06:30.784Z,1761545190.784 [DAT](INFO): direction in FSK: [0.974783,0.066454,0.213030] 2025-10-27T06:06:30.784Z,1761545190.784 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:30.822Z,1761545190.822 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.591035 2025-10-27T06:06:30.830Z,1761545190.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892896,0.450138,0.010640],[-0.443831,0.875913,0.189183],[0.075839,-0.173643,0.981884]] 2025-10-27T06:06:30.933Z,1761545190.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.503877 s, deltaX: -0.500000 m, approachRate: -0.992306 m/s, rangeRepo size: 4 2025-10-27T06:06:30.960Z,1761545190.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.617538 m, bearing: 339.685362 deg, lat: 36.779422 deg, lon: -121.859776 deg, deltaT: 0.503877 s, deltaX: -0.496834 m, approachRate: -0.986022 m/s, posRepo size: 4 2025-10-27T06:06:30.960Z,1761545190.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m. 2025-10-27T06:06:30.971Z,1761545190.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.617538 m, nav range: 27.696211 m, bearing: 339.803371 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 330.255602 deg, new cmd heading: 329.945507 deg. 2025-10-27T06:06:30.972Z,1761545190.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758636 target range: 28.617538 and range: 28.80 m. 2025-10-27T06:06:31.024Z,1761545191.024 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=14.824201 2025-10-27T06:06:31.277Z,1761545191.277 [DAT](INFO): DAT read: Rx Time:06:06:30.0411 2025-10-27T06:06:31.277Z,1761545191.277 [DAT](INFO): Rx dataTimestamp_ set to:1761545191.276818 2025-10-27T06:06:31.278Z,1761545191.278 [DAT](INFO): DAT read: Bearing 149.7, 6.6 (Local) 2025-10-27T06:06:31.279Z,1761545191.279 [DAT](INFO): Local bearing/azimuth received: Bearing 149.7, 6.6 (Local) 2025-10-27T06:06:31.281Z,1761545191.281 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 2025-10-27T06:06:31.286Z,1761545191.286 [DAT](INFO): DAT read: 06:06:30.0411 LVL= 29632, 32753, 32754, 32755, AGC= 60, IDX= 511, 0.06, 3.009, 1.268, 3.024, 2.766, PHS= 0.345,-1.453, 0.214, RAW= 146.2, 10.3, CAL= 145.9, 11.3, ROT= 4.1, -11.3 2025-10-27T06:06:31.287Z,1761545191.287 [DAT](INFO): got valid direction response: 06:06:30.0411 LVL= 29632, 32753, 32754, 32755, AGC= 60, IDX= 511, 0.06, 3.009, 1.268, 3.024, 2.766, PHS= 0.345,-1.453, 0.214, RAW= 146.2, 10.3, CAL= 145.9, 11.3, ROT= 4.1, -11.3 2025-10-27T06:06:31.287Z,1761545191.287 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T06:06:31.288Z,1761545191.288 [DAT](INFO): direction in FSK: [0.978105,0.070111,0.195946] 2025-10-27T06:06:31.288Z,1761545191.288 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:31.308Z,1761545191.308 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.108346 2025-10-27T06:06:31.340Z,1761545191.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891670,0.452430,0.015237],[-0.446732,0.874001,0.191187],[0.073181,-0.177283,0.981435]] 2025-10-27T06:06:31.401Z,1761545191.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.504203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:31.407Z,1761545191.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.617538 m, bearing: 339.546996 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.504203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:31.408Z,1761545191.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m. 2025-10-27T06:06:31.415Z,1761545191.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.617538 m, nav range: 27.576603 m, bearing: 339.865287 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 329.945511 deg, new cmd heading: 329.625463 deg. 2025-10-27T06:06:31.416Z,1761545191.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753050 target range: 28.617538 and range: 28.80 m. 2025-10-27T06:06:31.529Z,1761545191.529 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=15.329071 2025-10-27T06:06:31.753Z,1761545191.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890182,0.455185,0.019561],[-0.450021,0.871758,0.193698],[0.071116,-0.181229,0.980866]] 2025-10-27T06:06:31.781Z,1761545191.781 [DAT](INFO): DAT read: Rx Time:06:06:30.5409 2025-10-27T06:06:31.781Z,1761545191.781 [DAT](INFO): Rx dataTimestamp_ set to:1761545191.780782 2025-10-27T06:06:31.782Z,1761545191.782 [DAT](INFO): DAT read: Bearing 150.0, 6.4 (Local) 2025-10-27T06:06:31.783Z,1761545191.783 [DAT](INFO): Local bearing/azimuth received: Bearing 150.0, 6.4 (Local) 2025-10-27T06:06:31.785Z,1761545191.785 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T06:06:31.790Z,1761545191.790 [DAT](INFO): DAT read: 06:06:30.5409 LVL= 30528, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.20, 0.253,-1.478, 0.265, 0.023, PHS= 0.332,-1.456, 0.198, RAW= 146.1, 10.7, CAL= 145.8, 11.7, ROT= 4.2, -11.7 2025-10-27T06:06:31.791Z,1761545191.791 [DAT](INFO): got valid direction response: 06:06:30.5409 LVL= 30528, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.20, 0.253,-1.478, 0.265, 0.023, PHS= 0.332,-1.456, 0.198, RAW= 146.1, 10.7, CAL= 145.8, 11.7, ROT= 4.2, -11.7 2025-10-27T06:06:31.791Z,1761545191.791 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T06:06:31.792Z,1761545191.792 [DAT](INFO): direction in FSK: [0.976593,0.071717,0.202787] 2025-10-27T06:06:31.792Z,1761545191.792 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:31.796Z,1761545191.796 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.596273 2025-10-27T06:06:31.869Z,1761545191.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503964 s, deltaX: -0.299999 m, approachRate: -0.595279 m/s, rangeRepo size: 4 2025-10-27T06:06:31.879Z,1761545191.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.319439 m, bearing: 339.557467 deg, lat: 36.779423 deg, lon: -121.859778 deg, deltaT: 0.503964 s, deltaX: -0.298100 m, approachRate: -0.591510 m/s, posRepo size: 4 2025-10-27T06:06:31.880Z,1761545191.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.32 m. 2025-10-27T06:06:31.896Z,1761545191.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.319439 m, nav range: 27.380520 m, bearing: 339.557527 deg, approach rate: 0.000000 m/s, LOS rate: -0.225038 deg/s, cmd heading: 329.625476 deg, new cmd heading: 329.309513 deg. 2025-10-27T06:06:31.897Z,1761545191.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747535 target range: 28.319439 and range: 28.50 m. 2025-10-27T06:06:32.032Z,1761545192.032 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=15.832375 2025-10-27T06:06:32.148Z,1761545192.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888442,0.458361,0.024026],[-0.453753,0.869216,0.196398],[0.069137,-0.185390,0.980230]] 2025-10-27T06:06:32.237Z,1761545192.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:32.239Z,1761545192.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.32 m. 2025-10-27T06:06:32.249Z,1761545192.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.319439 m, nav range: 27.193497 m, bearing: 339.592712 deg, approach rate: -0.505292 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.309511 deg, new cmd heading: 329.415791 deg. 2025-10-27T06:06:32.250Z,1761545192.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749390 target range: 28.319439 and range: 28.50 m. 2025-10-27T06:06:32.285Z,1761545192.285 [DAT](INFO): DAT read: Rx Time:06:06:31.0408 2025-10-27T06:06:32.285Z,1761545192.285 [DAT](INFO): Rx dataTimestamp_ set to:1761545192.284835 2025-10-27T06:06:32.286Z,1761545192.286 [DAT](INFO): DAT read: Bearing 149.4, 6.5 (Local) 2025-10-27T06:06:32.287Z,1761545192.287 [DAT](INFO): Local bearing/azimuth received: Bearing 149.4, 6.5 (Local) 2025-10-27T06:06:32.289Z,1761545192.289 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4 2025-10-27T06:06:32.295Z,1761545192.295 [DAT](INFO): DAT read: 06:06:31.0408 LVL= 29280, 32753, 32434, 32755, AGC= 61, IDX= 508, 0.23,-2.242, 2.272,-2.239,-2.495, PHS= 0.355,-1.472, 0.212, RAW= 146.0, 10.3, CAL= 145.6, 11.2, ROT= 4.4, -11.2 2025-10-27T06:06:32.296Z,1761545192.296 [DAT](INFO): got valid direction response: 06:06:31.0408 LVL= 29280, 32753, 32434, 32755, AGC= 61, IDX= 508, 0.23,-2.242, 2.272,-2.239,-2.495, PHS= 0.355,-1.472, 0.212, RAW= 146.0, 10.3, CAL= 145.6, 11.2, ROT= 4.4, -11.2 2025-10-27T06:06:32.297Z,1761545192.297 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T06:06:32.298Z,1761545192.298 [DAT](INFO): direction in FSK: [0.978064,0.075258,0.194234] 2025-10-27T06:06:32.299Z,1761545192.299 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:32.322Z,1761545192.322 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.122335 2025-10-27T06:06:32.536Z,1761545192.536 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=16.336077 2025-10-27T06:06:32.552Z,1761545192.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886398,0.462086,0.027852],[-0.458004,0.866638,0.197918],[0.067317,-0.188190,0.979823]] 2025-10-27T06:06:32.660Z,1761545192.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.504053 s, deltaX: -0.100000 m, approachRate: -0.198393 m/s, rangeRepo size: 4 2025-10-27T06:06:32.670Z,1761545192.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.220089 m, bearing: 339.216377 deg, lat: 36.779423 deg, lon: -121.859778 deg, deltaT: 0.504053 s, deltaX: -0.099350 m, approachRate: -0.197102 m/s, posRepo size: 4 2025-10-27T06:06:32.670Z,1761545192.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.22 m. 2025-10-27T06:06:32.694Z,1761545192.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.220089 m, nav range: 27.038910 m, bearing: 339.616063 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.415789 deg, new cmd heading: 329.535034 deg. 2025-10-27T06:06:32.702Z,1761545192.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751472 target range: 28.220089 and range: 28.40 m. 2025-10-27T06:06:32.790Z,1761545192.790 [DAT](INFO): DAT read: Rx Time:06:06:31.5406 2025-10-27T06:06:32.790Z,1761545192.790 [DAT](INFO): Rx dataTimestamp_ set to:1761545192.789856 2025-10-27T06:06:32.792Z,1761545192.792 [DAT](INFO): DAT read: Bearing 149.6, 6.5 (Local) 2025-10-27T06:06:32.793Z,1761545192.793 [DAT](INFO): Local bearing/azimuth received: Bearing 149.6, 6.5 (Local) 2025-10-27T06:06:32.796Z,1761545192.796 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 2025-10-27T06:06:32.802Z,1761545192.802 [DAT](INFO): DAT read: 06:06:31.5406 LVL= 29136, 31329, 31538, 32755, AGC= 62, IDX= 506,-0.18, 1.090,-0.679, 1.084, 0.843, PHS= 0.349,-1.477, 0.197, RAW= 145.7, 10.6, CAL= 145.3, 11.6, ROT= 4.7, -11.6 2025-10-27T06:06:32.808Z,1761545192.808 [DAT](INFO): got valid direction response: 06:06:31.5406 LVL= 29136, 31329, 31538, 32755, AGC= 62, IDX= 506,-0.18, 1.090,-0.679, 1.084, 0.843, PHS= 0.349,-1.477, 0.197, RAW= 145.7, 10.6, CAL= 145.3, 11.6, ROT= 4.7, -11.6 2025-10-27T06:06:32.808Z,1761545192.808 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T06:06:32.809Z,1761545192.809 [DAT](INFO): direction in FSK: [0.976281,0.080265,0.201078] 2025-10-27T06:06:32.810Z,1761545192.810 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:32.830Z,1761545192.830 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.629990 2025-10-27T06:06:32.954Z,1761545192.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884215,0.466023,0.031395],[-0.462451,0.864036,0.198950],[0.065588,-0.190433,0.979507]] 2025-10-27T06:06:33.040Z,1761545193.040 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=16.840212 2025-10-27T06:06:33.048Z,1761545193.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.505021 s, deltaX: -0.299999 m, approachRate: -0.594033 m/s, rangeRepo size: 4 2025-10-27T06:06:33.050Z,1761545193.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.921972 m, bearing: 339.332381 deg, lat: 36.779424 deg, lon: -121.859778 deg, deltaT: 0.505021 s, deltaX: -0.298117 m, approachRate: -0.590306 m/s, posRepo size: 4 2025-10-27T06:06:33.055Z,1761545193.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T06:06:33.058Z,1761545193.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.921972 m, nav range: 26.876377 m, bearing: 339.754481 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.535044 deg, new cmd heading: 329.646826 deg. 2025-10-27T06:06:33.058Z,1761545193.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753422 target range: 27.921972 and range: 28.10 m. 2025-10-27T06:06:33.293Z,1761545193.293 [DAT](INFO): DAT read: Rx Time:06:06:32.0404 2025-10-27T06:06:33.293Z,1761545193.293 [DAT](INFO): Rx dataTimestamp_ set to:1761545193.292890 2025-10-27T06:06:33.294Z,1761545193.294 [DAT](INFO): DAT read: Bearing 149.7, 6.8 (Local) 2025-10-27T06:06:33.295Z,1761545193.295 [DAT](INFO): Local bearing/azimuth received: Bearing 149.7, 6.8 (Local) 2025-10-27T06:06:33.297Z,1761545193.297 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.4 2025-10-27T06:06:33.302Z,1761545193.302 [DAT](INFO): DAT read: 06:06:32.0404 LVL= 30848, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.13,-3.081, 1.431,-3.105, 2.952, PHS= 0.352,-1.476, 0.182, RAW= 145.2, 10.8, CAL= 144.8, 11.8, ROT= 5.2, -11.8 2025-10-27T06:06:33.303Z,1761545193.303 [DAT](INFO): got valid direction response: 06:06:32.0404 LVL= 30848, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.13,-3.081, 1.431,-3.105, 2.952, PHS= 0.352,-1.476, 0.182, RAW= 145.2, 10.8, CAL= 144.8, 11.8, ROT= 5.2, -11.8 2025-10-27T06:06:33.303Z,1761545193.303 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T06:06:33.304Z,1761545193.304 [DAT](INFO): direction in FSK: [0.974839,0.088717,0.204496] 2025-10-27T06:06:33.304Z,1761545193.304 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:33.308Z,1761545193.308 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.108253 2025-10-27T06:06:33.444Z,1761545193.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881743,0.470462,0.034570],[-0.467361,0.861274,0.199453],[0.064061,-0.192023,0.979297]] 2025-10-27T06:06:33.485Z,1761545193.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.503034 s, deltaX: -0.300001 m, approachRate: -0.596383 m/s, rangeRepo size: 4 2025-10-27T06:06:33.491Z,1761545193.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.623871 m, bearing: 339.567518 deg, lat: 36.779425 deg, lon: -121.859780 deg, deltaT: 0.503034 s, deltaX: -0.298101 m, approachRate: -0.592607 m/s, posRepo size: 4 2025-10-27T06:06:33.492Z,1761545193.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.62 m. 2025-10-27T06:06:33.494Z,1761545193.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.623871 m, nav range: 26.777250 m, bearing: 339.567579 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.646813 deg, new cmd heading: 329.773434 deg. 2025-10-27T06:06:33.500Z,1761545193.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755632 target range: 27.623871 and range: 27.80 m. 2025-10-27T06:06:33.544Z,1761545193.544 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=17.344267 2025-10-27T06:06:33.796Z,1761545193.796 [DAT](INFO): DAT read: Rx Time:06:06:32.5401 2025-10-27T06:06:33.797Z,1761545193.797 [DAT](INFO): Rx dataTimestamp_ set to:1761545193.796690 2025-10-27T06:06:33.798Z,1761545193.798 [DAT](INFO): DAT read: Bearing 152.1, 6.2 (Local) 2025-10-27T06:06:33.799Z,1761545193.799 [DAT](INFO): Local bearing/azimuth received: Bearing 152.1, 6.2 (Local) 2025-10-27T06:06:33.801Z,1761545193.801 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 2025-10-27T06:06:33.805Z,1761545193.805 [DAT](INFO): DAT read: 06:06:32.5401 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501, 0.36,-2.892, 1.605,-2.925,-3.076, PHS= 0.286,-1.557, 0.107, RAW= 144.9, 13.2, CAL= 144.6, 14.4, ROT= 5.4, -14.4 2025-10-27T06:06:33.806Z,1761545193.806 [DAT](INFO): got valid direction response: 06:06:32.5401 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501, 0.36,-2.892, 1.605,-2.925,-3.076, PHS= 0.286,-1.557, 0.107, RAW= 144.9, 13.2, CAL= 144.6, 14.4, ROT= 5.4, -14.4 2025-10-27T06:06:33.807Z,1761545193.807 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T06:06:33.808Z,1761545193.808 [DAT](INFO): direction in FSK: [0.964285,0.091152,0.248690] 2025-10-27T06:06:33.808Z,1761545193.808 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:33.812Z,1761545193.812 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.612171 2025-10-27T06:06:33.850Z,1761545193.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879254,0.474876,0.037493],[-0.472231,0.858606,0.199485],[0.062539,-0.193103,0.979183]] 2025-10-27T06:06:33.894Z,1761545193.894 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050309545225,0.3, 0.0,1491.1, 0 2025-10-27T06:06:33.943Z,1761545193.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.503800 s, deltaX: -0.500000 m, approachRate: -0.992457 m/s, rangeRepo size: 4 2025-10-27T06:06:33.954Z,1761545193.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.127028 m, bearing: 340.014019 deg, lat: 36.779425 deg, lon: -121.859780 deg, deltaT: 0.503800 s, deltaX: -0.496843 m, approachRate: -0.986192 m/s, posRepo size: 4 2025-10-27T06:06:33.955Z,1761545193.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m. 2025-10-27T06:06:33.958Z,1761545193.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.127028 m, nav range: 26.544571 m, bearing: 339.673195 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.773445 deg, new cmd heading: 329.904903 deg. 2025-10-27T06:06:33.959Z,1761545193.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757927 target range: 27.127028 and range: 27.30 m. 2025-10-27T06:06:34.050Z,1761545194.050 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=17.850224 2025-10-27T06:06:34.282Z,1761545194.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876639,0.479430,0.040626],[-0.477275,0.855786,0.199597],[0.060926,-0.194365,0.979035]] 2025-10-27T06:06:34.305Z,1761545194.305 [DAT](INFO): DAT read: Rx Time:06:06:33.0401 2025-10-27T06:06:34.305Z,1761545194.305 [DAT](INFO): Rx dataTimestamp_ set to:1761545194.304728 2025-10-27T06:06:34.306Z,1761545194.306 [DAT](INFO): DAT read: Bearing 152.6, 6.7 (Local) 2025-10-27T06:06:34.307Z,1761545194.307 [DAT](INFO): Local bearing/azimuth received: Bearing 152.6, 6.7 (Local) 2025-10-27T06:06:34.309Z,1761545194.309 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.5 2025-10-27T06:06:34.318Z,1761545194.318 [DAT](INFO): DAT read: 06:06:33.0401 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33, 2.612, 0.825, 2.550, 2.432, PHS= 0.283,-1.562, 0.075, RAW= 144.1, 13.7, CAL= 143.7, 14.9, ROT= 6.3, -14.9 2025-10-27T06:06:34.359Z,1761545194.359 [DAT](INFO): got valid direction response: 06:06:33.0401 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33, 2.612, 0.825, 2.550, 2.432, PHS= 0.283,-1.562, 0.075, RAW= 144.1, 13.7, CAL= 143.7, 14.9, ROT= 6.3, -14.9 2025-10-27T06:06:34.360Z,1761545194.360 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T06:06:34.361Z,1761545194.361 [DAT](INFO): direction in FSK: [0.960540,0.106045,0.257133] 2025-10-27T06:06:34.361Z,1761545194.361 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:34.377Z,1761545194.377 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.177053 2025-10-27T06:06:34.481Z,1761545194.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.508038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:34.487Z,1761545194.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.127028 m, bearing: 340.698619 deg, lat: 36.779425 deg, lon: -121.859780 deg, deltaT: 0.508038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:34.488Z,1761545194.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m. 2025-10-27T06:06:34.490Z,1761545194.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.127028 m, nav range: 26.275700 m, bearing: 339.801122 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 329.904912 deg, new cmd heading: 330.059446 deg. 2025-10-27T06:06:34.496Z,1761545194.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760624 target range: 27.127028 and range: 27.30 m. 2025-10-27T06:06:34.557Z,1761545194.557 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=18.357025 2025-10-27T06:06:34.784Z,1761545194.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871516,0.488276,0.045239],[-0.486902,0.850719,0.198000],[0.058193,-0.194587,0.979157]] 2025-10-27T06:06:34.809Z,1761545194.809 [DAT](INFO): DAT read: Rx Time:06:06:33.5398 2025-10-27T06:06:34.809Z,1761545194.809 [DAT](INFO): Rx dataTimestamp_ set to:1761545194.808796 2025-10-27T06:06:34.810Z,1761545194.810 [DAT](INFO): DAT read: Bearing 154.1, 6.3 (Local) 2025-10-27T06:06:34.811Z,1761545194.811 [DAT](INFO): Local bearing/azimuth received: Bearing 154.1, 6.3 (Local) 2025-10-27T06:06:34.813Z,1761545194.813 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.5 2025-10-27T06:06:34.817Z,1761545194.817 [DAT](INFO): DAT read: 06:06:33.5398 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.19, 1.345,-0.443, 1.279, 1.212, PHS= 0.235,-1.610, 0.023, RAW= 144.0, 15.3, CAL= 143.5, 16.6, ROT= 6.5, -16.6 2025-10-27T06:06:34.819Z,1761545194.819 [DAT](INFO): got valid direction response: 06:06:33.5398 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.19, 1.345,-0.443, 1.279, 1.212, PHS= 0.235,-1.610, 0.023, RAW= 144.0, 15.3, CAL= 143.5, 16.6, ROT= 6.5, -16.6 2025-10-27T06:06:34.823Z,1761545194.823 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T06:06:34.824Z,1761545194.824 [DAT](INFO): direction in FSK: [0.952162,0.108485,0.285688] 2025-10-27T06:06:34.825Z,1761545194.825 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:34.828Z,1761545194.828 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.628389 2025-10-27T06:06:34.949Z,1761545194.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504068 s, deltaX: -0.400000 m, approachRate: -0.793543 m/s, rangeRepo size: 4 2025-10-27T06:06:34.955Z,1761545194.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.729561 m, bearing: 340.638685 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.504068 s, deltaX: -0.397467 m, approachRate: -0.788518 m/s, posRepo size: 4 2025-10-27T06:06:34.956Z,1761545194.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.73 m. 2025-10-27T06:06:34.959Z,1761545194.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.729561 m, nav range: 25.782072 m, bearing: 340.540476 deg, approach rate: 0.000000 m/s, LOS rate: 0.095714 deg/s, cmd heading: 330.059439 deg, new cmd heading: 330.193853 deg. 2025-10-27T06:06:34.968Z,1761545194.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762970 target range: 26.729561 and range: 26.90 m. 2025-10-27T06:06:35.060Z,1761545195.060 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=18.860409 2025-10-27T06:06:35.246Z,1761545195.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869376,0.491933,0.046775],[-0.490886,0.848886,0.196018],[0.056721,-0.193375,0.979484]] 2025-10-27T06:06:35.286Z,1761545195.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:35.289Z,1761545195.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.73 m. 2025-10-27T06:06:35.292Z,1761545195.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.729561 m, nav range: 25.567661 m, bearing: 340.693206 deg, approach rate: -0.629761 m/s, LOS rate: 0.452356 deg/s, cmd heading: 330.193857 deg, new cmd heading: 330.655879 deg. 2025-10-27T06:06:35.293Z,1761545195.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771034 target range: 26.729561 and range: 26.90 m. 2025-10-27T06:06:35.313Z,1761545195.313 [DAT](INFO): DAT read: Rx Time:06:06:34.0397 2025-10-27T06:06:35.313Z,1761545195.313 [DAT](INFO): Rx dataTimestamp_ set to:1761545195.312895 2025-10-27T06:06:35.314Z,1761545195.314 [DAT](INFO): DAT read: Bearing 153.9, 7.0 (Local) 2025-10-27T06:06:35.315Z,1761545195.315 [DAT](INFO): Local bearing/azimuth received: Bearing 153.9, 7.0 (Local) 2025-10-27T06:06:35.317Z,1761545195.317 [DAT](INFO): DAT read: Range 11 to 50 : 26.7 m (trip time 17.8 ms) speed 0.5 2025-10-27T06:06:35.322Z,1761545195.322 [DAT](INFO): DAT read: 06:06:34.0397 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.12, 1.816, 0.019, 1.721, 1.667, PHS= 0.251,-1.604, 0.010, RAW= 143.1, 15.2, CAL= 142.6, 16.5, ROT= 7.4, -16.5 2025-10-27T06:06:35.324Z,1761545195.324 [DAT](INFO): got valid direction response: 06:06:34.0397 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497,-0.12, 1.816, 0.019, 1.721, 1.667, PHS= 0.251,-1.604, 0.010, RAW= 143.1, 15.2, CAL= 142.6, 16.5, ROT= 7.4, -16.5 2025-10-27T06:06:35.324Z,1761545195.324 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T06:06:35.325Z,1761545195.325 [DAT](INFO): direction in FSK: [0.950834,0.123492,0.284015] 2025-10-27T06:06:35.326Z,1761545195.326 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:35.332Z,1761545195.332 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.131653 2025-10-27T06:06:35.564Z,1761545195.564 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=19.364140 2025-10-27T06:06:35.692Z,1761545195.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867679,0.494803,0.047991],[-0.494068,0.847626,0.193461],[0.055047,-0.191573,0.979934]] 2025-10-27T06:06:35.777Z,1761545195.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504099 s, deltaX: -0.199999 m, approachRate: -0.396745 m/s, rangeRepo size: 4 2025-10-27T06:06:35.778Z,1761545195.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.530828 m, bearing: 340.980294 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.504099 s, deltaX: -0.198732 m, approachRate: -0.394233 m/s, posRepo size: 4 2025-10-27T06:06:35.807Z,1761545195.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.53 m. 2025-10-27T06:06:35.810Z,1761545195.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.530828 m, nav range: 25.249647 m, bearing: 340.980346 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 330.655878 deg, new cmd heading: 331.316944 deg. 2025-10-27T06:06:35.817Z,1761545195.817 [DAT](INFO): DAT read: Rx Time:06:06:34.5394 2025-10-27T06:06:35.817Z,1761545195.817 [DAT](INFO): Rx dataTimestamp_ set to:1761545195.816870 2025-10-27T06:06:35.818Z,1761545195.818 [DAT](INFO): DAT read: Bearing 151.7, 7.9 (Local) 2025-10-27T06:06:35.819Z,1761545195.819 [DAT](INFO): Local bearing/azimuth received: Bearing 151.7, 7.9 (Local) 2025-10-27T06:06:35.821Z,1761545195.821 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.5 2025-10-27T06:06:35.827Z,1761545195.827 [DAT](INFO): DAT read: 06:06:34.5394 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510,-0.06, 0.553,-1.240, 0.444, 0.337, PHS= 0.318,-1.532, 0.063, RAW= 142.7, 13.2, CAL= 142.1, 14.3, ROT= 7.9, -14.3 2025-10-27T06:06:35.828Z,1761545195.828 [DAT](INFO): got valid direction response: 06:06:34.5394 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 510,-0.06, 0.553,-1.240, 0.444, 0.337, PHS= 0.318,-1.532, 0.063, RAW= 142.7, 13.2, CAL= 142.1, 14.3, ROT= 7.9, -14.3 2025-10-27T06:06:35.828Z,1761545195.828 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T06:06:35.829Z,1761545195.829 [DAT](INFO): direction in FSK: [0.959819,0.133186,0.246999] 2025-10-27T06:06:35.830Z,1761545195.830 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:35.831Z,1761545195.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782571 target range: 26.530828 and range: 26.70 m. 2025-10-27T06:06:35.834Z,1761545195.834 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.634296 2025-10-27T06:06:36.069Z,1761545196.069 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=19.868570 2025-10-27T06:06:36.160Z,1761545196.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866235,0.497197,0.049321],[-0.496818,0.846670,0.190581],[0.052998,-0.189591,0.980432]] 2025-10-27T06:06:36.272Z,1761545196.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503975 s, deltaX: -0.400002 m, approachRate: -0.793693 m/s, rangeRepo size: 4 2025-10-27T06:06:36.274Z,1761545196.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.133419 m, bearing: 340.789814 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.503975 s, deltaX: -0.397409 m, approachRate: -0.788550 m/s, posRepo size: 4 2025-10-27T06:06:36.274Z,1761545196.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.13 m. 2025-10-27T06:06:36.285Z,1761545196.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.133419 m, nav range: 25.003445 m, bearing: 341.146860 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 331.316931 deg, new cmd heading: 331.983379 deg. 2025-10-27T06:06:36.286Z,1761545196.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794203 target range: 26.133419 and range: 26.30 m. 2025-10-27T06:06:36.320Z,1761545196.320 [DAT](INFO): DAT read: Rx Time:06:06:35.0393 2025-10-27T06:06:36.321Z,1761545196.321 [DAT](INFO): Rx dataTimestamp_ set to:1761545196.320687 2025-10-27T06:06:36.322Z,1761545196.322 [DAT](INFO): DAT read: Bearing 152.9, 7.7 (Local) 2025-10-27T06:06:36.323Z,1761545196.323 [DAT](INFO): Local bearing/azimuth received: Bearing 152.9, 7.7 (Local) 2025-10-27T06:06:36.325Z,1761545196.325 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 2025-10-27T06:06:36.329Z,1761545196.329 [DAT](INFO): DAT read: 06:06:35.0393 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.05, 3.099, 1.278, 2.978, 2.914, PHS= 0.288,-1.591, 0.021, RAW= 142.5, 14.4, CAL= 141.8, 15.6, ROT= 8.2, -15.6 2025-10-27T06:06:36.330Z,1761545196.330 [DAT](INFO): got valid direction response: 06:06:35.0393 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.05, 3.099, 1.278, 2.978, 2.914, PHS= 0.288,-1.591, 0.021, RAW= 142.5, 14.4, CAL= 141.8, 15.6, ROT= 8.2, -15.6 2025-10-27T06:06:36.331Z,1761545196.331 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T06:06:36.332Z,1761545196.332 [DAT](INFO): direction in FSK: [0.953315,0.137375,0.268920] 2025-10-27T06:06:36.332Z,1761545196.332 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:36.336Z,1761545196.336 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.136103 2025-10-27T06:06:36.554Z,1761545196.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865213,0.498862,0.050434],[-0.498804,0.846128,0.187784],[0.051004,-0.187630,0.980915]] 2025-10-27T06:06:36.572Z,1761545196.572 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=20.372307 2025-10-27T06:06:36.610Z,1761545196.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503817 s, deltaX: -0.199999 m, approachRate: -0.396967 m/s, rangeRepo size: 4 2025-10-27T06:06:36.616Z,1761545196.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.934689 m, bearing: 341.197547 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.503817 s, deltaX: -0.198730 m, approachRate: -0.394450 m/s, posRepo size: 4 2025-10-27T06:06:36.617Z,1761545196.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m. 2025-10-27T06:06:36.624Z,1761545196.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.934689 m, nav range: 24.834873 m, bearing: 341.276276 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 331.983366 deg, new cmd heading: 332.447707 deg. 2025-10-27T06:06:36.625Z,1761545196.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802307 target range: 25.934689 and range: 26.10 m. 2025-10-27T06:06:36.825Z,1761545196.825 [DAT](INFO): DAT read: Rx Time:06:06:35.5390 2025-10-27T06:06:36.825Z,1761545196.825 [DAT](INFO): Rx dataTimestamp_ set to:1761545196.824886 2025-10-27T06:06:36.826Z,1761545196.826 [DAT](INFO): DAT read: Bearing 151.9, 8.2 (Local) 2025-10-27T06:06:36.828Z,1761545196.828 [DAT](INFO): Local bearing/azimuth received: Bearing 151.9, 8.2 (Local) 2025-10-27T06:06:36.830Z,1761545196.830 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 2025-10-27T06:06:36.835Z,1761545196.835 [DAT](INFO): DAT read: 06:06:35.5390 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.23, 2.025, 0.211, 1.894, 1.806, PHS= 0.320,-1.551, 0.044, RAW= 142.1, 13.5, CAL= 141.5, 14.6, ROT= 8.5, -14.6 2025-10-27T06:06:36.836Z,1761545196.836 [DAT](INFO): got valid direction response: 06:06:35.5390 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.23, 2.025, 0.211, 1.894, 1.806, PHS= 0.320,-1.551, 0.044, RAW= 142.1, 13.5, CAL= 141.5, 14.6, ROT= 8.5, -14.6 2025-10-27T06:06:36.837Z,1761545196.837 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T06:06:36.838Z,1761545196.838 [DAT](INFO): direction in FSK: [0.957080,0.143037,0.252069] 2025-10-27T06:06:36.838Z,1761545196.838 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:36.842Z,1761545196.842 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.641811 2025-10-27T06:06:37.067Z,1761545197.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504199 s, deltaX: -0.400000 m, approachRate: -0.793337 m/s, rangeRepo size: 4 2025-10-27T06:06:37.069Z,1761545197.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.537264 m, bearing: 341.283702 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.504199 s, deltaX: -0.397425 m, approachRate: -0.788230 m/s, posRepo size: 4 2025-10-27T06:06:37.070Z,1761545197.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m. 2025-10-27T06:06:37.074Z,1761545197.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.537264 m, nav range: 24.603642 m, bearing: 341.314234 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 332.447710 deg, new cmd heading: 333.067828 deg. 2025-10-27T06:06:37.076Z,1761545197.076 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=20.876293 2025-10-27T06:06:37.075Z,1761545197.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813130 target range: 25.537264 and range: 25.70 m. 2025-10-27T06:06:37.329Z,1761545197.329 [DAT](INFO): DAT read: Rx Time:06:06:36.0388 2025-10-27T06:06:37.329Z,1761545197.329 [DAT](INFO): Rx dataTimestamp_ set to:1761545197.328704 2025-10-27T06:06:37.330Z,1761545197.330 [DAT](INFO): DAT read: Bearing 152.6, 8.3 (Local) 2025-10-27T06:06:37.331Z,1761545197.331 [DAT](INFO): Local bearing/azimuth received: Bearing 152.6, 8.3 (Local) 2025-10-27T06:06:37.333Z,1761545197.333 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 2025-10-27T06:06:37.337Z,1761545197.337 [DAT](INFO): DAT read: 06:06:36.0388 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.38, 0.264,-1.544, 0.124, 0.062, PHS= 0.304,-1.561, 0.018, RAW= 141.8, 14.1, CAL= 141.1, 15.2, ROT= 8.9, -15.2 2025-10-27T06:06:37.338Z,1761545197.338 [DAT](INFO): got valid direction response: 06:06:36.0388 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.38, 0.264,-1.544, 0.124, 0.062, PHS= 0.304,-1.561, 0.018, RAW= 141.8, 14.1, CAL= 141.1, 15.2, ROT= 8.9, -15.2 2025-10-27T06:06:37.339Z,1761545197.339 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T06:06:37.340Z,1761545197.340 [DAT](INFO): direction in FSK: [0.953398,0.149298,0.262189] 2025-10-27T06:06:37.340Z,1761545197.340 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:37.344Z,1761545197.344 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.144144 2025-10-27T06:06:37.399Z,1761545197.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864823,0.499567,0.050130],[-0.499951,0.847683,0.177432],[0.046145,-0.178510,0.982855]] 2025-10-27T06:06:37.474Z,1761545197.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503818 s, deltaX: -0.300001 m, approachRate: -0.595455 m/s, rangeRepo size: 4 2025-10-27T06:06:37.481Z,1761545197.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.239162 m, bearing: 341.593810 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.503818 s, deltaX: -0.298101 m, approachRate: -0.591685 m/s, posRepo size: 4 2025-10-27T06:06:37.481Z,1761545197.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.24 m. 2025-10-27T06:06:37.496Z,1761545197.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.239162 m, nav range: 24.411379 m, bearing: 341.417868 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 333.067836 deg, new cmd heading: 333.620474 deg. 2025-10-27T06:06:37.497Z,1761545197.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822776 target range: 25.239162 and range: 25.40 m. 2025-10-27T06:06:37.582Z,1761545197.582 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.381748 2025-10-27T06:06:37.832Z,1761545197.832 [DAT](INFO): DAT read: Rx Time:06:06:36.5386 2025-10-27T06:06:37.833Z,1761545197.833 [DAT](INFO): Rx dataTimestamp_ set to:1761545197.832612 2025-10-27T06:06:37.834Z,1761545197.834 [DAT](INFO): DAT read: Bearing 150.5, 8.6 (Local) 2025-10-27T06:06:37.834Z,1761545197.834 [DAT](INFO): Local bearing/azimuth received: Bearing 150.5, 8.6 (Local) 2025-10-27T06:06:37.837Z,1761545197.837 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 2025-10-27T06:06:37.841Z,1761545197.841 [DAT](INFO): DAT read: 06:06:36.5386 LVL= 30864, 32337, 31314, 32755, AGC= 62, IDX= 502,-0.03,-0.626,-2.446,-0.764,-0.890, PHS= 0.367,-1.510, 0.082, RAW= 141.9, 12.1, CAL= 141.3, 13.1, ROT= 8.7, -13.1 2025-10-27T06:06:37.842Z,1761545197.842 [DAT](INFO): got valid direction response: 06:06:36.5386 LVL= 30864, 32337, 31314, 32755, AGC= 62, IDX= 502,-0.03,-0.626,-2.446,-0.764,-0.890, PHS= 0.367,-1.510, 0.082, RAW= 141.9, 12.1, CAL= 141.3, 13.1, ROT= 8.7, -13.1 2025-10-27T06:06:37.843Z,1761545197.843 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T06:06:37.843Z,1761545197.843 [DAT](INFO): direction in FSK: [0.962769,0.147324,0.226651] 2025-10-27T06:06:37.844Z,1761545197.844 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:37.847Z,1761545197.847 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.647606 2025-10-27T06:06:37.849Z,1761545197.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865904,0.497843,0.048603],[-0.498312,0.850083,0.170420],[0.043526,-0.171786,0.984172]] 2025-10-27T06:06:37.955Z,1761545197.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503908 s, deltaX: -0.299999 m, approachRate: -0.595345 m/s, rangeRepo size: 4 2025-10-27T06:06:37.957Z,1761545197.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.941113 m, bearing: 341.011479 deg, lat: 36.779423 deg, lon: -121.859776 deg, deltaT: 0.503908 s, deltaX: -0.298050 m, approachRate: -0.591477 m/s, posRepo size: 4 2025-10-27T06:06:37.958Z,1761545197.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m. 2025-10-27T06:06:37.965Z,1761545197.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.941113 m, nav range: 24.180042 m, bearing: 341.454732 deg, approach rate: 0.000000 m/s, LOS rate: 0.452356 deg/s, cmd heading: 333.620481 deg, new cmd heading: 334.267907 deg. 2025-10-27T06:06:37.966Z,1761545197.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834075 target range: 24.941113 and range: 25.10 m. 2025-10-27T06:06:38.085Z,1761545198.085 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=21.884628 2025-10-27T06:06:38.242Z,1761545198.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867323,0.495496,0.047278],[-0.496081,0.852751,0.163460],[0.040678,-0.165226,0.985416]] 2025-10-27T06:06:38.274Z,1761545198.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:38.280Z,1761545198.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.94 m. 2025-10-27T06:06:38.282Z,1761545198.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.941113 m, nav range: 24.008690 m, bearing: 341.506653 deg, approach rate: -0.520372 m/s, LOS rate: 0.158802 deg/s, cmd heading: 334.267901 deg, new cmd heading: 334.424775 deg. 2025-10-27T06:06:38.285Z,1761545198.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836813 target range: 24.941113 and range: 25.10 m. 2025-10-27T06:06:38.337Z,1761545198.337 [DAT](INFO): DAT read: Rx Time:06:06:37.0384 2025-10-27T06:06:38.337Z,1761545198.337 [DAT](INFO): Rx dataTimestamp_ set to:1761545198.336829 2025-10-27T06:06:38.338Z,1761545198.338 [DAT](INFO): DAT read: Bearing 153.4, 7.9 (Local) 2025-10-27T06:06:38.339Z,1761545198.339 [DAT](INFO): Local bearing/azimuth received: Bearing 153.4, 7.9 (Local) 2025-10-27T06:06:38.341Z,1761545198.341 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-27T06:06:38.346Z,1761545198.346 [DAT](INFO): DAT read: 06:06:37.0384 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.49, 1.202,-0.625, 1.065, 1.018, PHS= 0.286,-1.598, 0.003, RAW= 142.0, 14.7, CAL= 141.3, 15.9, ROT= 8.7, -15.9 2025-10-27T06:06:38.347Z,1761545198.347 [DAT](INFO): got valid direction response: 06:06:37.0384 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501, 0.49, 1.202,-0.625, 1.065, 1.018, PHS= 0.286,-1.598, 0.003, RAW= 142.0, 14.7, CAL= 141.3, 15.9, ROT= 8.7, -15.9 2025-10-27T06:06:38.347Z,1761545198.347 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T06:06:38.348Z,1761545198.348 [DAT](INFO): direction in FSK: [0.950675,0.145474,0.273959] 2025-10-27T06:06:38.348Z,1761545198.348 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:38.352Z,1761545198.352 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.152414 2025-10-27T06:06:38.589Z,1761545198.589 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.388866 2025-10-27T06:06:38.634Z,1761545198.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869576,0.491783,0.044573],[-0.492351,0.856580,0.154474],[0.037787,-0.156272,0.986991]] 2025-10-27T06:06:38.755Z,1761545198.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504217 s, deltaX: -0.200001 m, approachRate: -0.396656 m/s, rangeRepo size: 4 2025-10-27T06:06:38.757Z,1761545198.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.742378 m, bearing: 341.697846 deg, lat: 36.779422 deg, lon: -121.859776 deg, deltaT: 0.504217 s, deltaX: -0.198734 m, approachRate: -0.394144 m/s, posRepo size: 4 2025-10-27T06:06:38.758Z,1761545198.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T06:06:38.761Z,1761545198.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.742378 m, nav range: 23.748821 m, bearing: 341.575521 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 334.424776 deg, new cmd heading: 334.650909 deg. 2025-10-27T06:06:38.762Z,1761545198.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840760 target range: 24.742378 and range: 24.90 m. 2025-10-27T06:06:38.841Z,1761545198.841 [DAT](INFO): DAT read: Rx Time:06:06:37.5382 2025-10-27T06:06:38.841Z,1761545198.841 [DAT](INFO): Rx dataTimestamp_ set to:1761545198.840875 2025-10-27T06:06:38.842Z,1761545198.842 [DAT](INFO): DAT read: Bearing 152.6, 7.8 (Local) 2025-10-27T06:06:38.843Z,1761545198.843 [DAT](INFO): Local bearing/azimuth received: Bearing 152.6, 7.8 (Local) 2025-10-27T06:06:38.845Z,1761545198.845 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 2025-10-27T06:06:38.855Z,1761545198.855 [DAT](INFO): DAT read: 06:06:37.5382 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.18,-1.250,-3.046,-1.375,-1.454, PHS= 0.306,-1.547, 0.034, RAW= 142.2, 13.8, CAL= 141.6, 15.0, ROT= 8.4, -15.0 2025-10-27T06:06:38.856Z,1761545198.856 [DAT](INFO): got valid direction response: 06:06:37.5382 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.18,-1.250,-3.046,-1.375,-1.454, PHS= 0.306,-1.547, 0.034, RAW= 142.2, 13.8, CAL= 141.6, 15.0, ROT= 8.4, -15.0 2025-10-27T06:06:38.857Z,1761545198.857 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T06:06:38.858Z,1761545198.858 [DAT](INFO): direction in FSK: [0.955564,0.141105,0.258819] 2025-10-27T06:06:38.858Z,1761545198.858 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:38.873Z,1761545198.873 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.673449 2025-10-27T06:06:39.093Z,1761545199.093 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=22.892714 2025-10-27T06:06:39.153Z,1761545199.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504046 s, deltaX: -0.299999 m, approachRate: -0.595182 m/s, rangeRepo size: 4 2025-10-27T06:06:39.161Z,1761545199.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.444323 m, bearing: 341.245082 deg, lat: 36.779422 deg, lon: -121.859776 deg, deltaT: 0.504046 s, deltaX: -0.298056 m, approachRate: -0.591326 m/s, posRepo size: 4 2025-10-27T06:06:39.162Z,1761545199.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.44 m. 2025-10-27T06:06:39.193Z,1761545199.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.444323 m, nav range: 23.585442 m, bearing: 341.542560 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 334.650910 deg, new cmd heading: 334.837908 deg. 2025-10-27T06:06:39.201Z,1761545199.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844024 target range: 24.444323 and range: 24.60 m. 2025-10-27T06:06:39.345Z,1761545199.345 [DAT](INFO): DAT read: Rx Time:06:06:38.0382 2025-10-27T06:06:39.345Z,1761545199.345 [DAT](INFO): Rx dataTimestamp_ set to:1761545199.344851 2025-10-27T06:06:39.346Z,1761545199.346 [DAT](INFO): DAT read: Bearing 152.4, 7.5 (Local) 2025-10-27T06:06:39.347Z,1761545199.347 [DAT](INFO): Local bearing/azimuth received: Bearing 152.4, 7.5 (Local) 2025-10-27T06:06:39.349Z,1761545199.349 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 2025-10-27T06:06:39.354Z,1761545199.354 [DAT](INFO): DAT read: 06:06:38.0382 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499,-0.00,-2.386, 2.094,-2.499,-2.599, PHS= 0.315,-1.545, 0.055, RAW= 142.6, 13.4, CAL= 142.0, 14.5, ROT= 8.0, -14.5 2025-10-27T06:06:39.355Z,1761545199.355 [DAT](INFO): got valid direction response: 06:06:38.0382 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499,-0.00,-2.386, 2.094,-2.499,-2.599, PHS= 0.315,-1.545, 0.055, RAW= 142.6, 13.4, CAL= 142.0, 14.5, ROT= 8.0, -14.5 2025-10-27T06:06:39.355Z,1761545199.355 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T06:06:39.356Z,1761545199.356 [DAT](INFO): direction in FSK: [0.958726,0.134740,0.250380] 2025-10-27T06:06:39.357Z,1761545199.357 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:39.360Z,1761545199.360 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.160580 2025-10-27T06:06:39.548Z,1761545199.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879829,0.474000,0.034984],[-0.474450,0.871521,0.123890],[0.028235,-0.125600,0.991679]] 2025-10-27T06:06:39.572Z,1761545199.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:39.574Z,1761545199.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.444323 m, bearing: 341.506601 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.503976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:39.575Z,1761545199.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.44 m. 2025-10-27T06:06:39.578Z,1761545199.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.444323 m, nav range: 23.417036 m, bearing: 341.345498 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 334.837921 deg, new cmd heading: 335.040192 deg. 2025-10-27T06:06:39.579Z,1761545199.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847555 target range: 24.444323 and range: 24.60 m. 2025-10-27T06:06:39.596Z,1761545199.596 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=23.396278 2025-10-27T06:06:39.849Z,1761545199.849 [DAT](INFO): DAT read: Rx Time:06:06:38.5379 2025-10-27T06:06:39.849Z,1761545199.849 [DAT](INFO): Rx dataTimestamp_ set to:1761545199.848704 2025-10-27T06:06:39.850Z,1761545199.850 [DAT](INFO): DAT read: Bearing 153.2, 7.0 (Local) 2025-10-27T06:06:39.851Z,1761545199.851 [DAT](INFO): Local bearing/azimuth received: Bearing 153.2, 7.0 (Local) 2025-10-27T06:06:39.853Z,1761545199.853 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 2025-10-27T06:06:39.858Z,1761545199.858 [DAT](INFO): DAT read: 06:06:38.5379 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.24, 1.582,-0.224, 1.480, 1.386, PHS= 0.298,-1.565, 0.050, RAW= 143.0, 13.8, CAL= 142.4, 15.0, ROT= 7.6, -15.0 2025-10-27T06:06:39.859Z,1761545199.859 [DAT](INFO): got valid direction response: 06:06:38.5379 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.24, 1.582,-0.224, 1.480, 1.386, PHS= 0.298,-1.565, 0.050, RAW= 143.0, 13.8, CAL= 142.4, 15.0, ROT= 7.6, -15.0 2025-10-27T06:06:39.860Z,1761545199.860 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T06:06:39.861Z,1761545199.861 [DAT](INFO): direction in FSK: [0.957441,0.127750,0.258819] 2025-10-27T06:06:39.861Z,1761545199.861 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:39.864Z,1761545199.864 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.664700 2025-10-27T06:06:39.953Z,1761545199.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883544,0.467224,0.032441],[-0.467659,0.876366,0.115228],[0.025407,-0.116981,0.992809]] 2025-10-27T06:06:40.056Z,1761545200.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503853 s, deltaX: -0.400000 m, approachRate: -0.793882 m/s, rangeRepo size: 4 2025-10-27T06:06:40.058Z,1761545200.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.046883 m, bearing: 341.491625 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.503853 s, deltaX: -0.397440 m, approachRate: -0.788801 m/s, posRepo size: 4 2025-10-27T06:06:40.059Z,1761545200.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m. 2025-10-27T06:06:40.065Z,1761545200.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.046883 m, nav range: 23.208763 m, bearing: 341.282499 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 335.040204 deg, new cmd heading: 335.270536 deg. 2025-10-27T06:06:40.066Z,1761545200.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851575 target range: 24.046883 and range: 24.20 m. 2025-10-27T06:06:40.101Z,1761545200.101 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=23.901455 2025-10-27T06:06:40.353Z,1761545200.353 [DAT](INFO): DAT read: Rx Time:06:06:39.0379 2025-10-27T06:06:40.353Z,1761545200.353 [DAT](INFO): Rx dataTimestamp_ set to:1761545200.352747 2025-10-27T06:06:40.354Z,1761545200.354 [DAT](INFO): DAT read: Bearing 149.1, 7.7 (Local) 2025-10-27T06:06:40.355Z,1761545200.355 [DAT](INFO): Local bearing/azimuth received: Bearing 149.1, 7.7 (Local) 2025-10-27T06:06:40.357Z,1761545200.357 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 2025-10-27T06:06:40.361Z,1761545200.361 [DAT](INFO): DAT read: 06:06:39.0379 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512, 0.34,-0.739,-2.972,-0.904,-1.161, PHS= 0.523,-1.766, 0.212, RAW= 142.8, 9.6, CAL= 142.3, 10.5, ROT= 7.7, -10.5 2025-10-27T06:06:40.363Z,1761545200.363 [DAT](INFO): got valid direction response: 06:06:39.0379 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512, 0.34,-0.739,-2.972,-0.904,-1.161, PHS= 0.523,-1.766, 0.212, RAW= 142.8, 9.6, CAL= 142.3, 10.5, ROT= 7.7, -10.5 2025-10-27T06:06:40.363Z,1761545200.363 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T06:06:40.364Z,1761545200.364 [DAT](INFO): direction in FSK: [0.974389,0.131743,0.182236] 2025-10-27T06:06:40.364Z,1761545200.364 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:40.411Z,1761545200.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887352,0.460073,0.030645],[-0.460538,0.881064,0.107845],[0.022616,-0.109810,0.993695]] 2025-10-27T06:06:40.416Z,1761545200.416 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.215994 2025-10-27T06:06:40.493Z,1761545200.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:40.499Z,1761545200.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.046883 m, bearing: 341.413269 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.504043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:40.500Z,1761545200.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m. 2025-10-27T06:06:40.503Z,1761545200.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.046883 m, nav range: 23.019062 m, bearing: 341.219988 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 335.270545 deg, new cmd heading: 335.478925 deg. 2025-10-27T06:06:40.504Z,1761545200.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855212 target range: 24.046883 and range: 24.20 m. 2025-10-27T06:06:40.605Z,1761545200.605 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.405130 2025-10-27T06:06:40.857Z,1761545200.857 [DAT](INFO): DAT read: Rx Time:06:06:39.5377 2025-10-27T06:06:40.857Z,1761545200.857 [DAT](INFO): Rx dataTimestamp_ set to:1761545200.856800 2025-10-27T06:06:40.858Z,1761545200.858 [DAT](INFO): DAT read: Bearing 153.8, 5.2 (Local) 2025-10-27T06:06:40.860Z,1761545200.860 [DAT](INFO): Local bearing/azimuth received: Bearing 153.8, 5.2 (Local) 2025-10-27T06:06:40.862Z,1761545200.862 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 2025-10-27T06:06:40.866Z,1761545200.866 [DAT](INFO): DAT read: 06:06:39.5377 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.01,-2.740, 1.772,-2.782,-2.908, PHS= 0.270,-1.559, 0.082, RAW= 144.6, 13.8, CAL= 144.2, 15.0, ROT= 5.8, -15.0 2025-10-27T06:06:40.868Z,1761545200.868 [DAT](INFO): got valid direction response: 06:06:39.5377 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510,-0.01,-2.740, 1.772,-2.782,-2.908, PHS= 0.270,-1.559, 0.082, RAW= 144.6, 13.8, CAL= 144.2, 15.0, ROT= 5.8, -15.0 2025-10-27T06:06:40.868Z,1761545200.868 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T06:06:40.869Z,1761545200.869 [DAT](INFO): direction in FSK: [0.960981,0.097613,0.258819] 2025-10-27T06:06:40.869Z,1761545200.869 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:40.873Z,1761545200.873 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.673216 2025-10-27T06:06:40.885Z,1761545200.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504053 s, deltaX: -0.300001 m, approachRate: -0.595178 m/s, rangeRepo size: 4 2025-10-27T06:06:40.887Z,1761545200.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.748779 m, bearing: 340.052958 deg, lat: 36.779422 deg, lon: -121.859777 deg, deltaT: 0.504053 s, deltaX: -0.298103 m, approachRate: -0.591413 m/s, posRepo size: 4 2025-10-27T06:06:40.888Z,1761545200.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m. 2025-10-27T06:06:40.911Z,1761545200.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.748779 m, nav range: 22.859543 m, bearing: 341.082629 deg, approach rate: 0.000000 m/s, LOS rate: 0.158802 deg/s, cmd heading: 335.478921 deg, new cmd heading: 335.665733 deg. 2025-10-27T06:06:40.912Z,1761545200.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858472 target range: 23.748779 and range: 23.90 m. 2025-10-27T06:06:41.113Z,1761545201.113 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=24.912937 2025-10-27T06:06:41.242Z,1761545201.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895014,0.444944,0.031212],[-0.445699,0.889419,0.101427],[0.017368,-0.104690,0.994353]] 2025-10-27T06:06:41.266Z,1761545201.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:41.269Z,1761545201.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.75 m. 2025-10-27T06:06:41.272Z,1761545201.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.748779 m, nav range: 22.685621 m, bearing: 340.992113 deg, approach rate: -0.452527 m/s, LOS rate: -0.237319 deg/s, cmd heading: 335.665740 deg, new cmd heading: 335.392112 deg. 2025-10-27T06:06:41.273Z,1761545201.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853697 target range: 23.748779 and range: 23.90 m. 2025-10-27T06:06:41.365Z,1761545201.365 [DAT](INFO): DAT read: Rx Time:06:06:40.0375 2025-10-27T06:06:41.366Z,1761545201.366 [DAT](INFO): Rx dataTimestamp_ set to:1761545201.365345 2025-10-27T06:06:41.368Z,1761545201.368 [DAT](INFO): DAT read: Bearing 153.7, 3.9 (Local) 2025-10-27T06:06:41.368Z,1761545201.368 [DAT](INFO): Local bearing/azimuth received: Bearing 153.7, 3.9 (Local) 2025-10-27T06:06:41.370Z,1761545201.370 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 2025-10-27T06:06:41.375Z,1761545201.375 [DAT](INFO): DAT read: 06:06:40.0375 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.47,-2.035, 2.480,-2.040,-2.199, PHS= 0.266,-1.560, 0.115, RAW= 145.7, 13.4, CAL= 145.4, 14.6, ROT= 4.6, -14.6 2025-10-27T06:06:41.376Z,1761545201.376 [DAT](INFO): got valid direction response: 06:06:40.0375 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.47,-2.035, 2.480,-2.040,-2.199, PHS= 0.266,-1.560, 0.115, RAW= 145.7, 13.4, CAL= 145.4, 14.6, ROT= 4.6, -14.6 2025-10-27T06:06:41.377Z,1761545201.377 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T06:06:41.378Z,1761545201.378 [DAT](INFO): direction in FSK: [0.964592,0.077609,0.252069] 2025-10-27T06:06:41.378Z,1761545201.378 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:41.382Z,1761545201.382 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.181984 2025-10-27T06:06:41.616Z,1761545201.616 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=25.416142 2025-10-27T06:06:41.655Z,1761545201.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898499,0.437788,0.032272],[-0.438720,0.893037,0.100050],[0.014981,-0.104053,0.994459]] 2025-10-27T06:06:41.782Z,1761545201.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.508545 s, deltaX: -0.299999 m, approachRate: -0.589917 m/s, rangeRepo size: 4 2025-10-27T06:06:41.788Z,1761545201.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.450680 m, bearing: 340.117896 deg, lat: 36.779423 deg, lon: -121.859778 deg, deltaT: 0.508545 s, deltaX: -0.298100 m, approachRate: -0.586181 m/s, posRepo size: 4 2025-10-27T06:06:41.789Z,1761545201.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.45 m. 2025-10-27T06:06:41.800Z,1761545201.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.450680 m, nav range: 22.578779 m, bearing: 340.715456 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 335.392123 deg, new cmd heading: 335.027421 deg. 2025-10-27T06:06:41.801Z,1761545201.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847332 target range: 23.450680 and range: 23.60 m. 2025-10-27T06:06:41.864Z,1761545201.864 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:06:41.870Z,1761545201.870 [DAT](INFO): DAT read: Rx Time:06:06:40.5374 2025-10-27T06:06:41.870Z,1761545201.870 [DAT](INFO): Rx dataTimestamp_ set to:1761545201.869969 2025-10-27T06:06:41.872Z,1761545201.872 [DAT](INFO): DAT read: 156.9, 2.0 (Local) 2025-10-27T06:06:41.873Z,1761545201.873 [DAT](INFO): Local bearing/azimuth received: 156.9, 2.0 (Local) 2025-10-27T06:06:41.875Z,1761545201.875 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 2025-10-27T06:06:41.880Z,1761545201.880 [DAT](INFO): DAT read: 06:06:40.5374 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.01,-1.565, 2.953,-1.526,-1.631, PHS= 0.168,-1.654, 0.061, RAW= 147.0, 15.9, CAL= 147.0, 17.5, ROT= 3.0, -17.5 2025-10-27T06:06:41.881Z,1761545201.881 [DAT](INFO): got valid direction response: 06:06:40.5374 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.01,-1.565, 2.953,-1.526,-1.631, PHS= 0.168,-1.654, 0.061, RAW= 147.0, 15.9, CAL= 147.0, 17.5, ROT= 3.0, -17.5 2025-10-27T06:06:41.882Z,1761545201.882 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T06:06:41.883Z,1761545201.883 [DAT](INFO): direction in FSK: [0.952410,0.049914,0.300706] 2025-10-27T06:06:41.883Z,1761545201.883 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:41.894Z,1761545201.894 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.686897 2025-10-27T06:06:42.120Z,1761545202.120 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=25.920160 2025-10-27T06:06:42.257Z,1761545202.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504624 s, deltaX: -0.300001 m, approachRate: -0.594504 m/s, rangeRepo size: 4 2025-10-27T06:06:42.259Z,1761545202.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.152601 m, bearing: 338.854917 deg, lat: 36.779422 deg, lon: -121.859781 deg, deltaT: 0.504624 s, deltaX: -0.298079 m, approachRate: -0.590694 m/s, posRepo size: 4 2025-10-27T06:06:42.260Z,1761545202.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m. 2025-10-27T06:06:42.262Z,1761545202.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.152601 m, nav range: 22.367779 m, bearing: 339.943323 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 335.027418 deg, new cmd heading: 334.689348 deg. 2025-10-27T06:06:42.264Z,1761545202.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841431 target range: 23.152601 and range: 23.30 m. 2025-10-27T06:06:42.374Z,1761545202.374 [DAT](INFO): DAT read: Rx Time:06:06:41.0374 2025-10-27T06:06:42.374Z,1761545202.374 [DAT](INFO): Rx dataTimestamp_ set to:1761545202.373772 2025-10-27T06:06:42.376Z,1761545202.376 [DAT](INFO): DAT read: Bearing 152.9, 1.7 (Local) 2025-10-27T06:06:42.376Z,1761545202.376 [DAT](INFO): Local bearing/azimuth received: Bearing 152.9, 1.7 (Local) 2025-10-27T06:06:42.378Z,1761545202.378 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 2025-10-27T06:06:42.384Z,1761545202.384 [DAT](INFO): DAT read: 06:06:41.0374 LVL= 31296, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.34,-1.817, 2.715,-1.747,-1.988, PHS= 0.274,-1.534, 0.197, RAW= 147.9, 12.0, CAL= 147.6, 13.2, ROT= 2.4, -13.2 2025-10-27T06:06:42.385Z,1761545202.385 [DAT](INFO): got valid direction response: 06:06:41.0374 LVL= 31296, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.34,-1.817, 2.715,-1.747,-1.988, PHS= 0.274,-1.534, 0.197, RAW= 147.9, 12.0, CAL= 147.6, 13.2, ROT= 2.4, -13.2 2025-10-27T06:06:42.385Z,1761545202.385 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T06:06:42.386Z,1761545202.386 [DAT](INFO): direction in FSK: [0.972725,0.040769,0.228351] 2025-10-27T06:06:42.386Z,1761545202.386 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:42.395Z,1761545202.395 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.195656 2025-10-27T06:06:42.580Z,1761545202.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904974,0.424057,0.034594],[-0.425319,0.899525,0.099791],[0.011199,-0.105022,0.994407]] 2025-10-27T06:06:42.624Z,1761545202.624 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.424282 2025-10-27T06:06:42.641Z,1761545202.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:42.649Z,1761545202.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.152601 m, bearing: 338.632690 deg, lat: 36.779423 deg, lon: -121.859782 deg, deltaT: 0.503803 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:42.650Z,1761545202.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m. 2025-10-27T06:06:42.673Z,1761545202.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.152601 m, nav range: 22.282145 m, bearing: 339.780466 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 334.689351 deg, new cmd heading: 334.420463 deg. 2025-10-27T06:06:42.681Z,1761545202.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836738 target range: 23.152601 and range: 23.30 m. 2025-10-27T06:06:42.868Z,1761545202.868 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:06:42.877Z,1761545202.877 [DAT](INFO): DAT read: Rx Time:06:06:41.5371 2025-10-27T06:06:42.877Z,1761545202.877 [DAT](INFO): Rx dataTimestamp_ set to:1761545202.876971 2025-10-27T06:06:42.879Z,1761545202.879 [DAT](INFO): DAT read: Bearing 154.2, -0.1 (Local) 2025-10-27T06:06:42.879Z,1761545202.879 [DAT](INFO): Local bearing/azimuth received: Bearing 154.2, -0.1 (Local) 2025-10-27T06:06:42.881Z,1761545202.881 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 2025-10-27T06:06:42.886Z,1761545202.886 [DAT](INFO): DAT read: 06:06:41.5371 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.10,-0.976,-2.710,-0.856,-1.097, PHS= 0.224,-1.567, 0.197, RAW= 149.3, 12.8, CAL= 149.2, 14.2, ROT= 0.8, -14.2 2025-10-27T06:06:42.887Z,1761545202.887 [DAT](INFO): got valid direction response: 06:06:41.5371 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.10,-0.976,-2.710,-0.856,-1.097, PHS= 0.224,-1.567, 0.197, RAW= 149.3, 12.8, CAL= 149.2, 14.2, ROT= 0.8, -14.2 2025-10-27T06:06:42.887Z,1761545202.887 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T06:06:42.888Z,1761545202.888 [DAT](INFO): direction in FSK: [0.969351,0.013536,0.245307] 2025-10-27T06:06:42.889Z,1761545202.889 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:42.893Z,1761545202.893 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.692724 2025-10-27T06:06:43.101Z,1761545203.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503199 s, deltaX: -0.500000 m, approachRate: -0.993643 m/s, rangeRepo size: 4 2025-10-27T06:06:43.103Z,1761545203.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.655779 m, bearing: 337.151352 deg, lat: 36.779421 deg, lon: -121.859784 deg, deltaT: 0.503199 s, deltaX: -0.496822 m, approachRate: -0.987328 m/s, posRepo size: 4 2025-10-27T06:06:43.108Z,1761545203.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m. 2025-10-27T06:06:43.110Z,1761545203.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.655779 m, nav range: 21.977028 m, bearing: 338.975360 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 334.420460 deg, new cmd heading: 334.088447 deg. 2025-10-27T06:06:43.115Z,1761545203.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830944 target range: 22.655779 and range: 22.80 m. 2025-10-27T06:06:43.128Z,1761545203.128 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=26.928293 2025-10-27T06:06:43.381Z,1761545203.381 [DAT](INFO): DAT read: Rx Time:06:06:42.0371 2025-10-27T06:06:43.381Z,1761545203.381 [DAT](INFO): Rx dataTimestamp_ set to:1761545203.380699 2025-10-27T06:06:43.382Z,1761545203.382 [DAT](INFO): DAT read: Bearing 156.7, -1.7 (Local) 2025-10-27T06:06:43.383Z,1761545203.383 [DAT](INFO): Local bearing/azimuth received: Bearing 156.7, -1.7 (Local) 2025-10-27T06:06:43.385Z,1761545203.385 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 2025-10-27T06:06:43.389Z,1761545203.389 [DAT](INFO): DAT read: 06:06:42.0371 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503,-0.30,-0.974,-2.697,-0.819,-1.018, PHS= 0.146,-1.634, 0.155, RAW= 150.3, 14.8, CAL= 150.5, 16.5, ROT= 359.5, -16.5 2025-10-27T06:06:43.390Z,1761545203.390 [DAT](INFO): got valid direction response: 06:06:42.0371 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503,-0.30,-0.974,-2.697,-0.819,-1.018, PHS= 0.146,-1.634, 0.155, RAW= 150.3, 14.8, CAL= 150.5, 16.5, ROT= 359.5, -16.5 2025-10-27T06:06:43.391Z,1761545203.391 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T06:06:43.392Z,1761545203.392 [DAT](INFO): direction in FSK: [0.958783,-0.008367,0.284015] 2025-10-27T06:06:43.393Z,1761545203.393 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:43.396Z,1761545203.396 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.196518 2025-10-27T06:06:43.479Z,1761545203.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909746,0.413421,0.038012],[-0.415073,0.903798,0.104233],[0.008737,-0.110603,0.993826]] 2025-10-27T06:06:43.616Z,1761545203.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503728 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:43.618Z,1761545203.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.655779 m, bearing: 336.858791 deg, lat: 36.779418 deg, lon: -121.859787 deg, deltaT: 0.503728 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:43.624Z,1761545203.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.66 m. 2025-10-27T06:06:43.633Z,1761545203.633 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.433308 2025-10-27T06:06:43.644Z,1761545203.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.655779 m, nav range: 21.583273 m, bearing: 337.875458 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 334.088458 deg, new cmd heading: 333.721416 deg. 2025-10-27T06:06:43.645Z,1761545203.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824537 target range: 22.655779 and range: 22.80 m. 2025-10-27T06:06:43.877Z,1761545203.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911406,0.409553,0.040060],[-0.411435,0.905084,0.107447],[0.007747,-0.114411,0.993403]] 2025-10-27T06:06:43.885Z,1761545203.885 [DAT](INFO): DAT read: Rx Time:06:06:42.5368 2025-10-27T06:06:43.885Z,1761545203.885 [DAT](INFO): Rx dataTimestamp_ set to:1761545203.884751 2025-10-27T06:06:43.886Z,1761545203.886 [DAT](INFO): DAT read: Bearing 153.2, -1.7 (Local) 2025-10-27T06:06:43.887Z,1761545203.887 [DAT](INFO): Local bearing/azimuth received: Bearing 153.2, -1.7 (Local) 2025-10-27T06:06:43.889Z,1761545203.889 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T06:06:43.893Z,1761545203.893 [DAT](INFO): DAT read: 06:06:42.5368 LVL= 31792, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.21,-0.402,-2.124,-0.223,-0.538, PHS= 0.238,-1.542, 0.270, RAW= 150.9, 11.5, CAL= 150.8, 12.7, ROT= 359.2, -12.7 2025-10-27T06:06:43.895Z,1761545203.895 [DAT](INFO): got valid direction response: 06:06:42.5368 LVL= 31792, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.21,-0.402,-2.124,-0.223,-0.538, PHS= 0.238,-1.542, 0.270, RAW= 150.9, 11.5, CAL= 150.8, 12.7, ROT= 359.2, -12.7 2025-10-27T06:06:43.895Z,1761545203.895 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T06:06:43.896Z,1761545203.896 [DAT](INFO): direction in FSK: [0.975439,-0.013621,0.219846] 2025-10-27T06:06:43.896Z,1761545203.896 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:43.901Z,1761545203.901 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.701336 2025-10-27T06:06:44.024Z,1761545204.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504052 s, deltaX: -0.400000 m, approachRate: -0.793568 m/s, rangeRepo size: 4 2025-10-27T06:06:44.026Z,1761545204.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.258289 m, bearing: 336.388072 deg, lat: 36.779418 deg, lon: -121.859791 deg, deltaT: 0.504052 s, deltaX: -0.397490 m, approachRate: -0.788588 m/s, posRepo size: 4 2025-10-27T06:06:44.031Z,1761545204.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m. 2025-10-27T06:06:44.034Z,1761545204.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.258289 m, nav range: 21.500607 m, bearing: 336.954221 deg, approach rate: 0.000000 m/s, LOS rate: -0.237319 deg/s, cmd heading: 333.721404 deg, new cmd heading: 333.430758 deg. 2025-10-27T06:06:44.039Z,1761545204.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819465 target range: 22.258289 and range: 22.40 m. 2025-10-27T06:06:44.139Z,1761545204.139 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=27.938875 2025-10-27T06:06:44.344Z,1761545204.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914064,0.403150,0.044238],[-0.405538,0.907178,0.112101],[0.005062,-0.120407,0.992712]] 2025-10-27T06:06:44.361Z,1761545204.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:44.363Z,1761545204.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m. 2025-10-27T06:06:44.366Z,1761545204.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.258289 m, nav range: 21.327047 m, bearing: 336.891897 deg, approach rate: -0.511737 m/s, LOS rate: -0.185258 deg/s, cmd heading: 333.430765 deg, new cmd heading: 333.242271 deg. 2025-10-27T06:06:44.367Z,1761545204.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816175 target range: 22.258289 and range: 22.40 m. 2025-10-27T06:06:44.388Z,1761545204.388 [DAT](INFO): DAT read: Rx Time:06:06:43.0368 2025-10-27T06:06:44.389Z,1761545204.389 [DAT](INFO): Rx dataTimestamp_ set to:1761545204.388657 2025-10-27T06:06:44.390Z,1761545204.390 [DAT](INFO): DAT read: Bearing 153.0, -2.6 (Local) 2025-10-27T06:06:44.391Z,1761545204.391 [DAT](INFO): Local bearing/azimuth received: Bearing 153.0, -2.6 (Local) 2025-10-27T06:06:44.393Z,1761545204.393 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T06:06:44.407Z,1761545204.407 [DAT](INFO): DAT read: 06:06:43.0368 LVL= 30880, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.08,-0.894,-2.600,-0.686,-1.023, PHS= 0.232,-1.531, 0.293, RAW= 151.7, 11.2, CAL= 151.6, 12.3, ROT= 358.4, -12.3 2025-10-27T06:06:44.409Z,1761545204.409 [DAT](INFO): got valid direction response: 06:06:43.0368 LVL= 30880, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.08,-0.894,-2.600,-0.686,-1.023, PHS= 0.232,-1.531, 0.293, RAW= 151.7, 11.2, CAL= 151.6, 12.3, ROT= 358.4, -12.3 2025-10-27T06:06:44.410Z,1761545204.410 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T06:06:44.416Z,1761545204.416 [DAT](INFO): direction in FSK: [0.976665,-0.027281,0.213030] 2025-10-27T06:06:44.416Z,1761545204.416 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:44.429Z,1761545204.429 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.229187 2025-10-27T06:06:44.641Z,1761545204.641 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.440495 2025-10-27T06:06:44.745Z,1761545204.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914796,0.401212,0.046656],[-0.403895,0.907485,0.115498],[0.004000,-0.124501,0.992211]] 2025-10-27T06:06:44.836Z,1761545204.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503906 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:44.838Z,1761545204.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.258289 m, bearing: 336.145826 deg, lat: 36.779419 deg, lon: -121.859792 deg, deltaT: 0.503906 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:44.844Z,1761545204.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.26 m. 2025-10-27T06:06:44.846Z,1761545204.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.258289 m, nav range: 21.222799 m, bearing: 336.800362 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 333.242279 deg, new cmd heading: 332.979608 deg. 2025-10-27T06:06:44.852Z,1761545204.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811591 target range: 22.258289 and range: 22.40 m. 2025-10-27T06:06:44.895Z,1761545204.895 [DAT](INFO): DAT read: Rx Time:06:06:43.5365 2025-10-27T06:06:44.896Z,1761545204.896 [DAT](INFO): Rx dataTimestamp_ set to:1761545204.895499 2025-10-27T06:06:44.897Z,1761545204.897 [DAT](INFO): DAT read: Bearing 153.5, -3.3 (Local) 2025-10-27T06:06:44.897Z,1761545204.897 [DAT](INFO): Local bearing/azimuth received: Bearing 153.5, -3.3 (Local) 2025-10-27T06:06:44.900Z,1761545204.900 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T06:06:44.904Z,1761545204.904 [DAT](INFO): DAT read: 06:06:43.5365 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.49,-0.863,-2.567,-0.638,-0.976, PHS= 0.215,-1.546, 0.294, RAW= 152.2, 11.5, CAL= 152.1, 12.7, ROT= 357.9, -12.7 2025-10-27T06:06:44.906Z,1761545204.906 [DAT](INFO): got valid direction response: 06:06:43.5365 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.49,-0.863,-2.567,-0.638,-0.976, PHS= 0.215,-1.546, 0.294, RAW= 152.2, 11.5, CAL= 152.1, 12.7, ROT= 357.9, -12.7 2025-10-27T06:06:44.906Z,1761545204.906 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T06:06:44.912Z,1761545204.912 [DAT](INFO): direction in FSK: [0.974879,-0.035747,0.219846] 2025-10-27T06:06:44.913Z,1761545204.913 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:44.923Z,1761545204.923 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.722692 2025-10-27T06:06:45.145Z,1761545205.145 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=28.945608 2025-10-27T06:06:45.252Z,1761545205.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914887,0.400694,0.049255],[-0.403696,0.906983,0.120052],[0.003431,-0.129718,0.991545]] 2025-10-27T06:06:45.312Z,1761545205.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.506842 s, deltaX: -0.500000 m, approachRate: -0.986501 m/s, rangeRepo size: 4 2025-10-27T06:06:45.314Z,1761545205.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.761438 m, bearing: 335.783004 deg, lat: 36.779419 deg, lon: -121.859794 deg, deltaT: 0.506842 s, deltaX: -0.496851 m, approachRate: -0.980288 m/s, posRepo size: 4 2025-10-27T06:06:45.315Z,1761545205.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m. 2025-10-27T06:06:45.318Z,1761545205.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.761438 m, nav range: 21.042059 m, bearing: 336.196386 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 332.979618 deg, new cmd heading: 332.715354 deg. 2025-10-27T06:06:45.319Z,1761545205.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806978 target range: 21.761438 and range: 21.90 m. 2025-10-27T06:06:45.397Z,1761545205.397 [DAT](INFO): DAT read: Rx Time:06:06:44.0364 2025-10-27T06:06:45.398Z,1761545205.398 [DAT](INFO): Rx dataTimestamp_ set to:1761545205.396952 2025-10-27T06:06:45.400Z,1761545205.400 [DAT](INFO): DAT read: Bearing 148.7, -4.6 (Local) 2025-10-27T06:06:45.400Z,1761545205.400 [DAT](INFO): Local bearing/azimuth received: Bearing 148.7, -4.6 (Local) 2025-10-27T06:06:45.404Z,1761545205.404 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4 2025-10-27T06:06:45.410Z,1761545205.410 [DAT](INFO): DAT read: 06:06:44.0364 LVL= 28544, 32753, 32754, 32755, AGC= 63, IDX= 512,-0.01, 0.011,-2.022, 0.350,-0.241, PHS= 0.354,-1.736, 0.547, RAW= 154.4, 7.7, CAL= 153.9, 8.0, ROT= 356.1, -8.0 2025-10-27T06:06:45.421Z,1761545205.421 [DAT](INFO): got valid direction response: 06:06:44.0364 LVL= 28544, 32753, 32754, 32755, AGC= 63, IDX= 512,-0.01, 0.011,-2.022, 0.350,-0.241, PHS= 0.354,-1.736, 0.547, RAW= 154.4, 7.7, CAL= 153.9, 8.0, ROT= 356.1, -8.0 2025-10-27T06:06:45.422Z,1761545205.422 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T06:06:45.434Z,1761545205.434 [DAT](INFO): direction in FSK: [0.987975,-0.067353,0.139173] 2025-10-27T06:06:45.435Z,1761545205.435 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:45.453Z,1761545205.453 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.252510 2025-10-27T06:06:45.590Z,1761545205.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914412,0.401418,0.052107],[-0.404774,0.905805,0.125200],[0.003059,-0.135576,0.990762]] 2025-10-27T06:06:45.649Z,1761545205.649 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=29.449158 2025-10-27T06:06:45.664Z,1761545205.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.501453 s, deltaX: -0.100000 m, approachRate: -0.199421 m/s, rangeRepo size: 4 2025-10-27T06:06:45.672Z,1761545205.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.662071 m, bearing: 333.348097 deg, lat: 36.779419 deg, lon: -121.859796 deg, deltaT: 0.501453 s, deltaX: -0.099367 m, approachRate: -0.198158 m/s, posRepo size: 4 2025-10-27T06:06:45.674Z,1761545205.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m. 2025-10-27T06:06:45.704Z,1761545205.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.662071 m, nav range: 20.999699 m, bearing: 335.713831 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 332.715344 deg, new cmd heading: 332.521951 deg. 2025-10-27T06:06:45.713Z,1761545205.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803603 target range: 21.662071 and range: 21.80 m. 2025-10-27T06:06:45.901Z,1761545205.901 [DAT](INFO): DAT read: Rx Time:06:06:44.5361 2025-10-27T06:06:45.901Z,1761545205.901 [DAT](INFO): Rx dataTimestamp_ set to:1761545205.900716 2025-10-27T06:06:45.902Z,1761545205.902 [DAT](INFO): DAT read: Bearing 153.2, -4.2 (Local) 2025-10-27T06:06:45.903Z,1761545205.903 [DAT](INFO): Local bearing/azimuth received: Bearing 153.2, -4.2 (Local) 2025-10-27T06:06:45.905Z,1761545205.905 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 2025-10-27T06:06:45.909Z,1761545205.909 [DAT](INFO): DAT read: 06:06:44.5361 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.32,-2.856, 1.738,-2.605,-2.964, PHS= 0.210,-1.536, 0.315, RAW= 152.9, 11.2, CAL= 152.8, 12.4, ROT= 357.2, -12.4 2025-10-27T06:06:45.911Z,1761545205.911 [DAT](INFO): got valid direction response: 06:06:44.5361 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.32,-2.856, 1.738,-2.605,-2.964, PHS= 0.210,-1.536, 0.315, RAW= 152.9, 11.2, CAL= 152.8, 12.4, ROT= 357.2, -12.4 2025-10-27T06:06:45.911Z,1761545205.911 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T06:06:45.912Z,1761545205.912 [DAT](INFO): direction in FSK: [0.975506,-0.047710,0.214735] 2025-10-27T06:06:45.912Z,1761545205.912 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:45.916Z,1761545205.916 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.716303 2025-10-27T06:06:46.064Z,1761545206.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913603,0.402860,0.055078],[-0.406598,0.904209,0.130708],[0.002855,-0.141810,0.989890]] 2025-10-27T06:06:46.153Z,1761545206.153 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=29.953300 2025-10-27T06:06:46.177Z,1761545206.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503764 s, deltaX: -0.500000 m, approachRate: -0.992528 m/s, rangeRepo size: 4 2025-10-27T06:06:46.193Z,1761545206.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.165216 m, bearing: 335.022739 deg, lat: 36.779419 deg, lon: -121.859796 deg, deltaT: 0.503764 s, deltaX: -0.496855 m, approachRate: -0.986285 m/s, posRepo size: 4 2025-10-27T06:06:46.200Z,1761545206.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.17 m. 2025-10-27T06:06:46.224Z,1761545206.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.165216 m, nav range: 20.738209 m, bearing: 335.709459 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 332.521940 deg, new cmd heading: 332.238615 deg. 2025-10-27T06:06:46.231Z,1761545206.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798658 target range: 21.165216 and range: 21.30 m. 2025-10-27T06:06:46.405Z,1761545206.405 [DAT](INFO): DAT read: Rx Time:06:06:45.0361 2025-10-27T06:06:46.405Z,1761545206.405 [DAT](INFO): Rx dataTimestamp_ set to:1761545206.404747 2025-10-27T06:06:46.406Z,1761545206.406 [DAT](INFO): DAT read: Bearing 154.2, -4.7 (Local) 2025-10-27T06:06:46.407Z,1761545206.407 [DAT](INFO): Local bearing/azimuth received: Bearing 154.2, -4.7 (Local) 2025-10-27T06:06:46.409Z,1761545206.409 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 2025-10-27T06:06:46.413Z,1761545206.413 [DAT](INFO): DAT read: 06:06:45.0361 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.10, 0.481,-1.197, 0.731, 0.405, PHS= 0.178,-1.557, 0.282, RAW= 152.9, 12.2, CAL= 152.9, 13.6, ROT= 357.1, -13.6 2025-10-27T06:06:46.414Z,1761545206.414 [DAT](INFO): got valid direction response: 06:06:45.0361 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.10, 0.481,-1.197, 0.731, 0.405, PHS= 0.178,-1.557, 0.282, RAW= 152.9, 12.2, CAL= 152.9, 13.6, ROT= 357.1, -13.6 2025-10-27T06:06:46.415Z,1761545206.415 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T06:06:46.416Z,1761545206.416 [DAT](INFO): direction in FSK: [0.970716,-0.049174,0.235142] 2025-10-27T06:06:46.416Z,1761545206.416 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:46.420Z,1761545206.420 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.219933 2025-10-27T06:06:46.657Z,1761545206.657 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=30.457069 2025-10-27T06:06:46.806Z,1761545206.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:46.837Z,1761545206.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.165216 m, bearing: 335.103092 deg, lat: 36.779420 deg, lon: -121.859799 deg, deltaT: 0.504031 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:46.844Z,1761545206.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.17 m. 2025-10-27T06:06:46.862Z,1761545206.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.165216 m, nav range: 20.501726 m, bearing: 335.294607 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 332.238624 deg, new cmd heading: 331.886455 deg. 2025-10-27T06:06:46.867Z,1761545206.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792511 target range: 21.165216 and range: 21.30 m. 2025-10-27T06:06:46.909Z,1761545206.909 [DAT](INFO): DAT read: Rx Time:06:06:45.5359 2025-10-27T06:06:46.909Z,1761545206.909 [DAT](INFO): Rx dataTimestamp_ set to:1761545206.908877 2025-10-27T06:06:46.910Z,1761545206.910 [DAT](INFO): DAT read: Bearing 152.3, -4.5 (Local) 2025-10-27T06:06:46.911Z,1761545206.911 [DAT](INFO): Local bearing/azimuth received: Bearing 152.3, -4.5 (Local) 2025-10-27T06:06:46.913Z,1761545206.913 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-27T06:06:46.920Z,1761545206.920 [DAT](INFO): DAT read: 06:06:45.5359 LVL= 30752, 32401, 32754, 32755, AGC= 62, IDX= 507,-0.26,-2.469, 2.124,-2.212,-2.589, PHS= 0.221,-1.525, 0.332, RAW= 153.0, 10.8, CAL= 152.9, 11.8, ROT= 357.1, -11.8 2025-10-27T06:06:46.922Z,1761545206.922 [DAT](INFO): got valid direction response: 06:06:45.5359 LVL= 30752, 32401, 32754, 32755, AGC= 62, IDX= 507,-0.26,-2.469, 2.124,-2.212,-2.589, PHS= 0.221,-1.525, 0.332, RAW= 153.0, 10.8, CAL= 152.9, 11.8, ROT= 357.1, -11.8 2025-10-27T06:06:46.922Z,1761545206.922 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T06:06:46.932Z,1761545206.932 [DAT](INFO): direction in FSK: [0.977614,-0.049524,0.204496] 2025-10-27T06:06:46.932Z,1761545206.932 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:46.944Z,1761545206.944 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.744495 2025-10-27T06:06:47.160Z,1761545207.160 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=30.960304 2025-10-27T06:06:47.392Z,1761545207.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504130 s, deltaX: -0.299999 m, approachRate: -0.595083 m/s, rangeRepo size: 4 2025-10-27T06:06:47.394Z,1761545207.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.867134 m, bearing: 334.834508 deg, lat: 36.779420 deg, lon: -121.859799 deg, deltaT: 0.504130 s, deltaX: -0.298082 m, approachRate: -0.591281 m/s, posRepo size: 4 2025-10-27T06:06:47.399Z,1761545207.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m. 2025-10-27T06:06:47.402Z,1761545207.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.867134 m, nav range: 20.231783 m, bearing: 335.144368 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 331.886460 deg, new cmd heading: 331.561840 deg. 2025-10-27T06:06:47.403Z,1761545207.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786846 target range: 20.867134 and range: 21.00 m. 2025-10-27T06:06:47.413Z,1761545207.413 [DAT](INFO): DAT read: Rx Time:06:06:46.0358 2025-10-27T06:06:47.413Z,1761545207.413 [DAT](INFO): Rx dataTimestamp_ set to:1761545207.412818 2025-10-27T06:06:47.414Z,1761545207.414 [DAT](INFO): DAT read: Bearing 154.4, -5.4 (Local) 2025-10-27T06:06:47.415Z,1761545207.415 [DAT](INFO): Local bearing/azimuth received: Bearing 154.4, -5.4 (Local) 2025-10-27T06:06:47.417Z,1761545207.417 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 2025-10-27T06:06:47.422Z,1761545207.422 [DAT](INFO): DAT read: 06:06:46.0358 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.16, 0.104,-1.584, 0.368, 0.047, PHS= 0.159,-1.586, 0.277, RAW= 153.2, 12.7, CAL= 153.4, 14.1, ROT= 356.6, -14.1 2025-10-27T06:06:47.423Z,1761545207.423 [DAT](INFO): got valid direction response: 06:06:46.0358 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.16, 0.104,-1.584, 0.368, 0.047, PHS= 0.159,-1.586, 0.277, RAW= 153.2, 12.7, CAL= 153.4, 14.1, ROT= 356.6, -14.1 2025-10-27T06:06:47.423Z,1761545207.423 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T06:06:47.424Z,1761545207.424 [DAT](INFO): direction in FSK: [0.968165,-0.057520,0.243615] 2025-10-27T06:06:47.424Z,1761545207.424 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:47.432Z,1761545207.432 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.232405 2025-10-27T06:06:47.664Z,1761545207.664 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=31.464161 2025-10-27T06:06:47.871Z,1761545207.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907140,0.414600,0.072140],[-0.420817,0.892381,0.163002],[0.003204,-0.178224,0.983985]] 2025-10-27T06:06:47.916Z,1761545207.916 [DAT](INFO): DAT read: Rx Time:06:06:46.5356 2025-10-27T06:06:47.917Z,1761545207.917 [DAT](INFO): Rx dataTimestamp_ set to:1761545207.916616 2025-10-27T06:06:47.918Z,1761545207.918 [DAT](INFO): DAT read: Bearing 157.0, -6.9 (Local) 2025-10-27T06:06:47.918Z,1761545207.918 [DAT](INFO): Local bearing/azimuth received: Bearing 157.0, -6.9 (Local) 2025-10-27T06:06:47.921Z,1761545207.921 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 2025-10-27T06:06:47.930Z,1761545207.930 [DAT](INFO): DAT read: 06:06:46.5356 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.34,-2.422, 2.166,-2.136,-2.392, PHS= 0.072,-1.680, 0.212, RAW= 153.8, 15.1, CAL= 154.3, 17.2, ROT= 355.7, -17.2 2025-10-27T06:06:47.939Z,1761545207.939 [DAT](INFO): got valid direction response: 06:06:46.5356 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504,-0.34,-2.422, 2.166,-2.136,-2.392, PHS= 0.072,-1.680, 0.212, RAW= 153.8, 15.1, CAL= 154.3, 17.2, ROT= 355.7, -17.2 2025-10-27T06:06:47.940Z,1761545207.940 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T06:06:47.941Z,1761545207.941 [DAT](INFO): direction in FSK: [0.952589,-0.071625,0.295708] 2025-10-27T06:06:47.941Z,1761545207.941 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:47.945Z,1761545207.945 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.744896 2025-10-27T06:06:48.119Z,1761545208.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 1.007739 s, deltaX: -0.400000 m, approachRate: -0.396928 m/s, rangeRepo size: 4 2025-10-27T06:06:48.121Z,1761545208.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.469719 m, bearing: 334.043517 deg, lat: 36.779419 deg, lon: -121.859801 deg, deltaT: 1.007739 s, deltaX: -0.397415 m, approachRate: -0.394363 m/s, posRepo size: 4 2025-10-27T06:06:48.122Z,1761545208.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.47 m. 2025-10-27T06:06:48.137Z,1761545208.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.469719 m, nav range: 19.894976 m, bearing: 334.745523 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 331.561834 deg, new cmd heading: 331.157226 deg. 2025-10-27T06:06:48.138Z,1761545208.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779784 target range: 20.469719 and range: 20.60 m. 2025-10-27T06:06:48.172Z,1761545208.172 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=31.971601 2025-10-27T06:06:48.420Z,1761545208.420 [DAT](INFO): DAT read: Rx Time:06:06:47.0355 2025-10-27T06:06:48.421Z,1761545208.421 [DAT](INFO): Rx dataTimestamp_ set to:1761545208.420628 2025-10-27T06:06:48.422Z,1761545208.422 [DAT](INFO): DAT read: Bearing 155.5, -5.7 (Local) 2025-10-27T06:06:48.422Z,1761545208.422 [DAT](INFO): Local bearing/azimuth received: Bearing 155.5, -5.7 (Local) 2025-10-27T06:06:48.425Z,1761545208.425 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-27T06:06:48.429Z,1761545208.429 [DAT](INFO): DAT read: 06:06:47.0355 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.02,-0.362,-2.036,-0.111,-0.381, PHS= 0.121,-1.610, 0.226, RAW= 152.9, 14.0, CAL= 153.2, 15.8, ROT= 356.8, -15.8 2025-10-27T06:06:48.430Z,1761545208.430 [DAT](INFO): got valid direction response: 06:06:47.0355 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.02,-0.362,-2.036,-0.111,-0.381, PHS= 0.121,-1.610, 0.226, RAW= 152.9, 14.0, CAL= 153.2, 15.8, ROT= 356.8, -15.8 2025-10-27T06:06:48.431Z,1761545208.431 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T06:06:48.432Z,1761545208.432 [DAT](INFO): direction in FSK: [0.960718,-0.053713,0.272280] 2025-10-27T06:06:48.432Z,1761545208.432 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:48.440Z,1761545208.440 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.240551 2025-10-27T06:06:48.548Z,1761545208.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903464,0.421458,0.078276],[-0.428641,0.886300,0.175327],[0.004517,-0.191954,0.981394]] 2025-10-27T06:06:48.638Z,1761545208.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504012 s, deltaX: -0.200001 m, approachRate: -0.396817 m/s, rangeRepo size: 4 2025-10-27T06:06:48.646Z,1761545208.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.270985 m, bearing: 334.591610 deg, lat: 36.779418 deg, lon: -121.859801 deg, deltaT: 0.504012 s, deltaX: -0.198734 m, approachRate: -0.394305 m/s, posRepo size: 4 2025-10-27T06:06:48.652Z,1761545208.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m. 2025-10-27T06:06:48.660Z,1761545208.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.270985 m, nav range: 19.449728 m, bearing: 334.592565 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 331.157214 deg, new cmd heading: 330.867151 deg. 2025-10-27T06:06:48.661Z,1761545208.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774721 target range: 20.270985 and range: 20.40 m. 2025-10-27T06:06:48.675Z,1761545208.675 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=32.474754 2025-10-27T06:06:48.926Z,1761545208.926 [DAT](INFO): DAT read: Rx Time:06:06:47.5352 2025-10-27T06:06:48.926Z,1761545208.926 [DAT](INFO): Rx dataTimestamp_ set to:1761545208.925760 2025-10-27T06:06:48.928Z,1761545208.928 [DAT](INFO): DAT read: Bearing 155.4, -4.4 (Local) 2025-10-27T06:06:48.929Z,1761545208.929 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, -4.4 (Local) 2025-10-27T06:06:48.934Z,1761545208.934 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 2025-10-27T06:06:48.946Z,1761545208.946 [DAT](INFO): DAT read: 06:06:47.5352 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.27,-0.415,-2.115,-0.215,-0.459, PHS= 0.146,-1.611, 0.200, RAW= 151.5, 14.1, CAL= 151.7, 15.7, ROT= 358.3, -15.7 2025-10-27T06:06:48.956Z,1761545208.956 [DAT](INFO): got valid direction response: 06:06:47.5352 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.27,-0.415,-2.115,-0.215,-0.459, PHS= 0.146,-1.611, 0.200, RAW= 151.5, 14.1, CAL= 151.7, 15.7, ROT= 358.3, -15.7 2025-10-27T06:06:48.957Z,1761545208.957 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T06:06:48.958Z,1761545208.958 [DAT](INFO): direction in FSK: [0.962268,-0.028560,0.270600] 2025-10-27T06:06:48.958Z,1761545208.958 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:48.998Z,1761545208.998 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.797916 2025-10-27T06:06:49.064Z,1761545209.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901653,0.424756,0.081269],[-0.432431,0.883308,0.181029],[0.005108,-0.198369,0.980114]] 2025-10-27T06:06:49.179Z,1761545209.179 [DAT](INFO): DAT read: Rx Time:06:06:48.0351 2025-10-27T06:06:49.181Z,1761545209.181 [DAT](INFO): Rx dataTimestamp_ set to:1761545209.179862 2025-10-27T06:06:49.183Z,1761545209.183 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=32.982716 2025-10-27T06:06:49.240Z,1761545209.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.505132 s, deltaX: -0.400000 m, approachRate: -0.791871 m/s, rangeRepo size: 4 2025-10-27T06:06:49.242Z,1761545209.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.873552 m, bearing: 335.909056 deg, lat: 36.779419 deg, lon: -121.859801 deg, deltaT: 0.505132 s, deltaX: -0.397432 m, approachRate: -0.786789 m/s, posRepo size: 4 2025-10-27T06:06:49.251Z,1761545209.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.87 m. 2025-10-27T06:06:49.254Z,1761545209.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.873552 m, nav range: 19.273670 m, bearing: 334.796854 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 330.867150 deg, new cmd heading: 330.534438 deg. 2025-10-27T06:06:49.259Z,1761545209.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768914 target range: 19.873552 and range: 20.00 m. 2025-10-27T06:06:49.429Z,1761545209.429 [DAT](INFO): DAT read: Bearing 155.6, -4.3 (Local) 2025-10-27T06:06:49.429Z,1761545209.429 [DAT](INFO): Local bearing/azimuth received: Bearing 155.6, -4.3 (Local) 2025-10-27T06:06:49.432Z,1761545209.432 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 2025-10-27T06:06:49.436Z,1761545209.436 [DAT](INFO): DAT read: 06:06:48.0351 LVL= 32720, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.22,-2.974, 1.559,-2.782,-3.017, PHS= 0.144,-1.662, 0.191, RAW= 151.3, 14.4, CAL= 151.5, 16.1, ROT= 358.5, -16.1 2025-10-27T06:06:49.437Z,1761545209.437 [DAT](INFO): got valid direction response: 06:06:48.0351 LVL= 32720, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.22,-2.974, 1.559,-2.782,-3.017, PHS= 0.144,-1.662, 0.191, RAW= 151.3, 14.4, CAL= 151.5, 16.1, ROT= 358.5, -16.1 2025-10-27T06:06:49.438Z,1761545209.438 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T06:06:49.440Z,1761545209.440 [DAT](INFO): direction in FSK: [0.960450,-0.025150,0.277315] 2025-10-27T06:06:49.440Z,1761545209.440 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:49.444Z,1761545209.444 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.243771 2025-10-27T06:06:49.598Z,1761545209.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898246,0.431150,0.085224],[-0.439447,0.878304,0.188333],[0.006347,-0.206621,0.978401]] 2025-10-27T06:06:49.683Z,1761545209.683 [DAT](INFO): DAT read: Rx Time:06:06:48.5348 2025-10-27T06:06:49.685Z,1761545209.685 [DAT](INFO): Rx dataTimestamp_ set to:1761545209.684107 2025-10-27T06:06:49.689Z,1761545209.689 [DAT](INFO): DAT read: Bearing 154.2, -2.9 (Local) 2025-10-27T06:06:49.690Z,1761545209.690 [DAT](INFO): Local bearing/azimuth received: Bearing 154.2, -2.9 (Local) 2025-10-27T06:06:49.692Z,1761545209.692 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=33.491619 2025-10-27T06:06:49.730Z,1761545209.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.501779 s, deltaX: -0.200001 m, approachRate: -0.398583 m/s, rangeRepo size: 4 2025-10-27T06:06:49.737Z,1761545209.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.674816 m, bearing: 335.883968 deg, lat: 36.779419 deg, lon: -121.859801 deg, deltaT: 0.501779 s, deltaX: -0.198736 m, approachRate: -0.396063 m/s, posRepo size: 4 2025-10-27T06:06:49.738Z,1761545209.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m. 2025-10-27T06:06:49.749Z,1761545209.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.674816 m, nav range: 19.017847 m, bearing: 334.847550 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 330.534437 deg, new cmd heading: 330.259938 deg. 2025-10-27T06:06:49.750Z,1761545209.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764123 target range: 19.674816 and range: 19.80 m. 2025-10-27T06:06:49.934Z,1761545209.934 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 2025-10-27T06:06:49.939Z,1761545209.939 [DAT](INFO): DAT read: 06:06:48.5348 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.03,-2.585, 1.977,-2.432,-2.677, PHS= 0.194,-1.584, 0.201, RAW= 150.2, 13.3, CAL= 150.2, 14.7, ROT= 359.8, -14.7 2025-10-27T06:06:49.940Z,1761545209.940 [DAT](INFO): got valid direction response: 06:06:48.5348 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.03,-2.585, 1.977,-2.432,-2.677, PHS= 0.194,-1.584, 0.201, RAW= 150.2, 13.3, CAL= 150.2, 14.7, ROT= 359.8, -14.7 2025-10-27T06:06:49.941Z,1761545209.941 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T06:06:49.942Z,1761545209.942 [DAT](INFO): direction in FSK: [0.967262,-0.003376,0.253758] 2025-10-27T06:06:49.942Z,1761545209.942 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:49.946Z,1761545209.946 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=33.745808 2025-10-27T06:06:50.085Z,1761545210.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896517,0.434419,0.086813],[-0.442952,0.875874,0.191413],[0.007116,-0.210059,0.977663]] 2025-10-27T06:06:50.188Z,1761545210.188 [DAT](INFO): DAT read: Rx Time:06:06:49.0347 2025-10-27T06:06:50.190Z,1761545210.190 [DAT](INFO): Rx dataTimestamp_ set to:1761545210.188662 2025-10-27T06:06:50.193Z,1761545210.193 [DAT](INFO): DAT read: Bearing 156.5, -3.9 (Local) 2025-10-27T06:06:50.195Z,1761545210.195 [DAT](INFO): Local bearing/azimuth received: Bearing 156.5, -3.9 (Local) 2025-10-27T06:06:50.207Z,1761545210.207 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4 2025-10-27T06:06:50.210Z,1761545210.210 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-27T06:06:50.222Z,1761545210.222 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=34.021519 2025-10-27T06:06:50.238Z,1761545210.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.761123 s, deltaX: -0.599998 m, approachRate: -0.788307 m/s, rangeRepo size: 4 2025-10-27T06:06:50.245Z,1761545210.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.078625 m, bearing: 336.671798 deg, lat: 36.779418 deg, lon: -121.859797 deg, deltaT: 0.761123 s, deltaX: -0.596191 m, approachRate: -0.783305 m/s, posRepo size: 4 2025-10-27T06:06:50.245Z,1761545210.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m. 2025-10-27T06:06:50.252Z,1761545210.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.078625 m, nav range: 18.559593 m, bearing: 335.860976 deg, approach rate: 0.000000 m/s, LOS rate: -0.185258 deg/s, cmd heading: 330.259946 deg, new cmd heading: 329.977164 deg. 2025-10-27T06:06:50.253Z,1761545210.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759188 target range: 19.078625 and range: 19.20 m. 2025-10-27T06:06:50.440Z,1761545210.440 [DAT](INFO): DAT read: 06:06:49.0347 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.28,-0.404,-2.148,-0.244,-0.425, PHS= 0.123,-1.678, 0.137, RAW= 150.4, 15.5, CAL= 150.7, 17.3, ROT= 359.3, -17.3 2025-10-27T06:06:50.441Z,1761545210.441 [DAT](INFO): got valid direction response: 06:06:49.0347 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.28,-0.404,-2.148,-0.244,-0.425, PHS= 0.123,-1.678, 0.137, RAW= 150.4, 15.5, CAL= 150.7, 17.3, ROT= 359.3, -17.3 2025-10-27T06:06:50.441Z,1761545210.441 [DAT](INFO): #Rx 74: Read direction message, but no range. 2025-10-27T06:06:50.442Z,1761545210.442 [DAT](INFO): direction in FSK: [0.954690,-0.011664,0.297375] 2025-10-27T06:06:50.446Z,1761545210.446 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=34.246132 2025-10-27T06:06:50.579Z,1761545210.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894994,0.437275,0.088189],[-0.446009,0.873689,0.194276],[0.007902,-0.213209,0.976975]] 2025-10-27T06:06:50.610Z,1761545210.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m. 2025-10-27T06:06:50.613Z,1761545210.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.078625 m, nav range: 18.337740 m, bearing: 335.905068 deg, approach rate: -0.596285 m/s, LOS rate: 0.119943 deg/s, cmd heading: 329.977176 deg, new cmd heading: 330.111053 deg. 2025-10-27T06:06:50.614Z,1761545210.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761525 target range: 19.078625 and range: 19.20 m. 2025-10-27T06:06:50.693Z,1761545210.693 [DAT](INFO): DAT read: Rx Time:06:06:49.5345 2025-10-27T06:06:50.695Z,1761545210.695 [DAT](INFO): Rx dataTimestamp_ set to:1761545210.693475 2025-10-27T06:06:50.698Z,1761545210.698 [DAT](INFO): DAT read: Bearing 153.7, -1.6 (Local) 2025-10-27T06:06:50.700Z,1761545210.700 [DAT](INFO): Local bearing/azimuth received: Bearing 153.7, -1.6 (Local) 2025-10-27T06:06:50.704Z,1761545210.704 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4 2025-10-27T06:06:50.707Z,1761545210.707 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-27T06:06:50.711Z,1761545210.711 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=34.509968 2025-10-27T06:06:50.944Z,1761545210.944 [DAT](INFO): DAT read: 06:06:49.5345 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.26,-2.961, 1.577,-2.850,-3.083, PHS= 0.224,-1.579, 0.189, RAW= 149.0, 13.0, CAL= 149.0, 14.4, ROT= 1.0, -14.4 2025-10-27T06:06:50.945Z,1761545210.945 [DAT](INFO): got valid direction response: 06:06:49.5345 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 509,-0.26,-2.961, 1.577,-2.850,-3.083, PHS= 0.224,-1.579, 0.189, RAW= 149.0, 13.0, CAL= 149.0, 14.4, ROT= 1.0, -14.4 2025-10-27T06:06:50.945Z,1761545210.945 [DAT](INFO): #Rx 76: Read direction message, but no range. 2025-10-27T06:06:50.946Z,1761545210.946 [DAT](INFO): direction in FSK: [0.968436,0.016904,0.248690] 2025-10-27T06:06:50.949Z,1761545210.949 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=34.749645 2025-10-27T06:06:51.006Z,1761545211.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893594,0.439953,0.089054],[-0.448801,0.872066,0.195138],[0.008191,-0.214341,0.976724]] 2025-10-27T06:06:51.076Z,1761545211.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504813 s, deltaX: -0.300001 m, approachRate: -0.594282 m/s, rangeRepo size: 4 2025-10-27T06:06:51.078Z,1761545211.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.780548 m, bearing: 337.464213 deg, lat: 36.779419 deg, lon: -121.859794 deg, deltaT: 0.504813 s, deltaX: -0.298077 m, approachRate: -0.590469 m/s, posRepo size: 4 2025-10-27T06:06:51.078Z,1761545211.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m. 2025-10-27T06:06:51.081Z,1761545211.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.780548 m, nav range: 18.045542 m, bearing: 336.764664 deg, approach rate: 0.000000 m/s, LOS rate: 0.119943 deg/s, cmd heading: 330.111048 deg, new cmd heading: 330.278379 deg. 2025-10-27T06:06:51.082Z,1761545211.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764445 target range: 18.780548 and range: 18.90 m. 2025-10-27T06:06:51.197Z,1761545211.197 [DAT](INFO): DAT read: Rx Time:06:06:50.0344 2025-10-27T06:06:51.200Z,1761545211.200 [DAT](INFO): Rx dataTimestamp_ set to:1761545211.198025 2025-10-27T06:06:51.203Z,1761545211.203 [DAT](INFO): DAT read: Bearing 155.9, -1.8 (Local) 2025-10-27T06:06:51.204Z,1761545211.204 [DAT](INFO): Local bearing/azimuth received: Bearing 155.9, -1.8 (Local) 2025-10-27T06:06:51.213Z,1761545211.213 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-27T06:06:51.250Z,1761545211.250 [DAT](INFO): DAT read: 06:06:50.0344 LVL= 31168, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.10,-0.576,-2.352,-0.483,-0.642, PHS= 0.168,-1.665, 0.114, RAW= 148.5, 15.1, CAL= 148.6, 16.8, ROT= 1.4, -16.8 2025-10-27T06:06:51.251Z,1761545211.251 [DAT](INFO): got valid direction response: 06:06:50.0344 LVL= 31168, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.10,-0.576,-2.352,-0.483,-0.642, PHS= 0.168,-1.665, 0.114, RAW= 148.5, 15.1, CAL= 148.6, 16.8, ROT= 1.4, -16.8 2025-10-27T06:06:51.252Z,1761545211.252 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T06:06:51.253Z,1761545211.253 [DAT](INFO): direction in FSK: [0.957034,0.023389,0.289032] 2025-10-27T06:06:51.253Z,1761545211.253 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:51.261Z,1761545211.261 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=35.060986 2025-10-27T06:06:51.444Z,1761545211.444 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=35.244301 2025-10-27T06:06:51.461Z,1761545211.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504550 s, deltaX: -0.100000 m, approachRate: -0.198197 m/s, rangeRepo size: 4 2025-10-27T06:06:51.467Z,1761545211.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.681179 m, bearing: 338.407947 deg, lat: 36.779419 deg, lon: -121.859794 deg, deltaT: 0.504550 s, deltaX: -0.099369 m, approachRate: -0.196946 m/s, posRepo size: 4 2025-10-27T06:06:51.468Z,1761545211.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T06:06:51.470Z,1761545211.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.681179 m, nav range: 17.870510 m, bearing: 336.845470 deg, approach rate: 0.000000 m/s, LOS rate: 0.119943 deg/s, cmd heading: 330.278387 deg, new cmd heading: 330.416984 deg. 2025-10-27T06:06:51.475Z,1761545211.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766864 target range: 18.681179 and range: 18.80 m. 2025-10-27T06:06:51.702Z,1761545211.702 [DAT](INFO): DAT read: Rx Time:06:06:50.5342 2025-10-27T06:06:51.704Z,1761545211.704 [DAT](INFO): Rx dataTimestamp_ set to:1761545211.703430 2025-10-27T06:06:51.708Z,1761545211.708 [DAT](INFO): DAT read: Bearing 157.9, -2.6 (Local) 2025-10-27T06:06:51.710Z,1761545211.710 [DAT](INFO): Local bearing/azimuth received: Bearing 157.9, -2.6 (Local) 2025-10-27T06:06:51.728Z,1761545211.728 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 2025-10-27T06:06:51.729Z,1761545211.729 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-27T06:06:51.739Z,1761545211.739 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=35.530785 2025-10-27T06:06:51.811Z,1761545211.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891265,0.444509,0.089771],[-0.453391,0.869452,0.196187],[0.009155,-0.215556,0.976449]] 2025-10-27T06:06:51.847Z,1761545211.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:06:51.850Z,1761545211.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.505405 s, deltaX: -0.199999 m, approachRate: -0.395720 m/s, rangeRepo size: 4 2025-10-27T06:06:51.851Z,1761545211.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T06:06:51.888Z,1761545211.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.681179 m, nav range: 17.680914 m, bearing: 336.872214 deg, approach rate: -0.487048 m/s, LOS rate: 0.069438 deg/s, cmd heading: 330.416985 deg, new cmd heading: 330.498077 deg. 2025-10-27T06:06:51.896Z,1761545211.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768280 target range: 18.681179 and range: 18.60 m. 2025-10-27T06:06:51.952Z,1761545211.952 [DAT](INFO): DAT read: 06:06:50.5342 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.31, 1.911, 0.166, 2.009, 1.914, PHS= 0.099,-1.703, 0.051, RAW= 148.7, 17.2, CAL= 149.0, 19.1, ROT= 1.0, -19.1 2025-10-27T06:06:51.953Z,1761545211.953 [DAT](INFO): got valid direction response: 06:06:50.5342 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.31, 1.911, 0.166, 2.009, 1.914, PHS= 0.099,-1.703, 0.051, RAW= 148.7, 17.2, CAL= 149.0, 19.1, ROT= 1.0, -19.1 2025-10-27T06:06:51.953Z,1761545211.953 [DAT](INFO): #Rx 79: Read direction message, but no range. 2025-10-27T06:06:51.954Z,1761545211.954 [DAT](INFO): direction in FSK: [0.944805,0.016492,0.327218] 2025-10-27T06:06:51.958Z,1761545211.958 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=35.757862 2025-10-27T06:06:52.204Z,1761545212.204 [DAT](INFO): DAT read: Rx Time:06:06:51.0341 2025-10-27T06:06:52.206Z,1761545212.206 [DAT](INFO): Rx dataTimestamp_ set to:1761545212.205010 2025-10-27T06:06:52.210Z,1761545212.210 [DAT](INFO): DAT read: Bearing 157.4, -2.2 (Local) 2025-10-27T06:06:52.212Z,1761545212.212 [DAT](INFO): Local bearing/azimuth received: Bearing 157.4, -2.2 (Local) 2025-10-27T06:06:52.229Z,1761545212.229 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.4 2025-10-27T06:06:52.230Z,1761545212.230 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-27T06:06:52.232Z,1761545212.232 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=36.031769 2025-10-27T06:06:52.310Z,1761545212.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890051,0.446890,0.089993],[-0.455760,0.868193,0.196272],[0.009581,-0.215707,0.976411]] 2025-10-27T06:06:52.368Z,1761545212.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.501580 s, deltaX: -0.100000 m, approachRate: -0.199371 m/s, rangeRepo size: 4 2025-10-27T06:06:52.370Z,1761545212.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.383087 m, bearing: 338.144240 deg, lat: 36.779420 deg, lon: -121.859792 deg, deltaT: 1.006985 s, deltaX: -0.298092 m, approachRate: -0.296024 m/s, posRepo size: 4 2025-10-27T06:06:52.371Z,1761545212.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:06:52.374Z,1761545212.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.383087 m, nav range: 17.477013 m, bearing: 337.405550 deg, approach rate: 0.000000 m/s, LOS rate: 0.069438 deg/s, cmd heading: 330.498073 deg, new cmd heading: 330.605990 deg. 2025-10-27T06:06:52.375Z,1761545212.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770163 target range: 18.383087 and range: 18.50 m. 2025-10-27T06:06:52.458Z,1761545212.458 [DAT](INFO): DAT read: 06:06:51.0341 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.12,-1.314,-3.065,-1.224,-1.324, PHS= 0.112,-1.697, 0.056, RAW= 148.4, 16.9, CAL= 148.7, 18.8, ROT= 1.3, -18.8 2025-10-27T06:06:52.461Z,1761545212.461 [DAT](INFO): got valid direction response: 06:06:51.0341 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.12,-1.314,-3.065,-1.224,-1.324, PHS= 0.112,-1.697, 0.056, RAW= 148.4, 16.9, CAL= 148.7, 18.8, ROT= 1.3, -18.8 2025-10-27T06:06:52.461Z,1761545212.461 [DAT](INFO): #Rx 81: Read direction message, but no range. 2025-10-27T06:06:52.462Z,1761545212.462 [DAT](INFO): direction in FSK: [0.946406,0.021477,0.322266] 2025-10-27T06:06:52.465Z,1761545212.465 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=36.265633 2025-10-27T06:06:52.707Z,1761545212.707 [DAT](INFO): DAT read: Rx Time:06:06:51.5339 2025-10-27T06:06:52.709Z,1761545212.709 [DAT](INFO): Rx dataTimestamp_ set to:1761545212.707915 2025-10-27T06:06:52.712Z,1761545212.712 [DAT](INFO): DAT read: Bearing 158.0, -1.8 (Local) 2025-10-27T06:06:52.713Z,1761545212.713 [DAT](INFO): Local bearing/azimuth received: Bearing 158.0, -1.8 (Local) 2025-10-27T06:06:52.718Z,1761545212.718 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 2025-10-27T06:06:52.720Z,1761545212.720 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-27T06:06:52.723Z,1761545212.723 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.522434 2025-10-27T06:06:52.781Z,1761545212.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887562,0.451771,0.090204],[-0.460578,0.865892,0.195188],[0.010074,-0.214788,0.976609]] 2025-10-27T06:06:52.843Z,1761545212.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.502905 s, deltaX: -0.299999 m, approachRate: -0.596533 m/s, rangeRepo size: 4 2025-10-27T06:06:52.845Z,1761545212.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.084984 m, bearing: 338.036438 deg, lat: 36.779420 deg, lon: -121.859790 deg, deltaT: 0.502905 s, deltaX: -0.298103 m, approachRate: -0.592763 m/s, posRepo size: 4 2025-10-27T06:06:52.846Z,1761545212.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.08 m. 2025-10-27T06:06:52.852Z,1761545212.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.084984 m, nav range: 17.170258 m, bearing: 338.082333 deg, approach rate: 0.000000 m/s, LOS rate: 0.069438 deg/s, cmd heading: 330.605990 deg, new cmd heading: 330.704017 deg. 2025-10-27T06:06:52.853Z,1761545212.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771874 target range: 18.084984 and range: 18.20 m. 2025-10-27T06:06:52.960Z,1761545212.960 [DAT](INFO): DAT read: 06:06:51.5339 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.24, 1.051,-0.708, 1.123, 1.053, PHS= 0.100,-1.717, 0.026, RAW= 147.9, 17.5, CAL= 148.1, 19.4, ROT= 1.9, -19.4 2025-10-27T06:06:52.961Z,1761545212.961 [DAT](INFO): got valid direction response: 06:06:51.5339 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.24, 1.051,-0.708, 1.123, 1.053, PHS= 0.100,-1.717, 0.026, RAW= 147.9, 17.5, CAL= 148.1, 19.4, ROT= 1.9, -19.4 2025-10-27T06:06:52.961Z,1761545212.961 [DAT](INFO): #Rx 83: Read direction message, but no range. 2025-10-27T06:06:52.962Z,1761545212.962 [DAT](INFO): direction in FSK: [0.942704,0.031273,0.332161] 2025-10-27T06:06:52.966Z,1761545212.966 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.766178 2025-10-27T06:06:53.212Z,1761545213.212 [DAT](INFO): DAT read: Rx Time:06:06:52.0337 2025-10-27T06:06:53.214Z,1761545213.214 [DAT](INFO): Rx dataTimestamp_ set to:1761545213.212737 2025-10-27T06:06:53.218Z,1761545213.218 [DAT](INFO): DAT read: Bearing 156.5, -1.3 (Local) 2025-10-27T06:06:53.219Z,1761545213.219 [DAT](INFO): Local bearing/azimuth received: Bearing 156.5, -1.3 (Local) 2025-10-27T06:06:53.228Z,1761545213.228 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 2025-10-27T06:06:53.237Z,1761545213.237 [DAT](INFO): DAT read: 06:06:52.0337 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.20, 2.504, 0.719, 2.571, 2.462, PHS= 0.144,-1.698, 0.065, RAW= 147.8, 16.3, CAL= 147.9, 18.0, ROT= 2.1, -18.0 2025-10-27T06:06:53.238Z,1761545213.238 [DAT](INFO): got valid direction response: 06:06:52.0337 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.20, 2.504, 0.719, 2.571, 2.462, PHS= 0.144,-1.698, 0.065, RAW= 147.8, 16.3, CAL= 147.9, 18.0, ROT= 2.1, -18.0 2025-10-27T06:06:53.238Z,1761545213.238 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T06:06:53.255Z,1761545213.255 [DAT](INFO): direction in FSK: [0.950418,0.034850,0.309017] 2025-10-27T06:06:53.256Z,1761545213.256 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:53.272Z,1761545213.272 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.071743 2025-10-27T06:06:53.273Z,1761545213.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886445,0.453948,0.090257],[-0.462720,0.864883,0.194596],[0.010274,-0.214262,0.976722]] 2025-10-27T06:06:53.388Z,1761545213.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504822 s, deltaX: -0.300001 m, approachRate: -0.594271 m/s, rangeRepo size: 4 2025-10-27T06:06:53.390Z,1761545213.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.786892 m, bearing: 338.476677 deg, lat: 36.779421 deg, lon: -121.859790 deg, deltaT: 0.504822 s, deltaX: -0.298092 m, approachRate: -0.590489 m/s, posRepo size: 4 2025-10-27T06:06:53.390Z,1761545213.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m. 2025-10-27T06:06:53.397Z,1761545213.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.786892 m, nav range: 16.971977 m, bearing: 338.241724 deg, approach rate: 0.000000 m/s, LOS rate: 0.069438 deg/s, cmd heading: 330.704017 deg, new cmd heading: 330.817505 deg. 2025-10-27T06:06:53.398Z,1761545213.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773855 target range: 17.786892 and range: 17.90 m. 2025-10-27T06:06:53.461Z,1761545213.461 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.260998 2025-10-27T06:06:53.638Z,1761545213.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885279,0.456134,0.090679],[-0.464945,0.863733,0.194400],[0.010350,-0.214259,0.976722]] 2025-10-27T06:06:53.717Z,1761545213.717 [DAT](INFO): DAT read: Rx Time:06:06:52.5335 2025-10-27T06:06:53.719Z,1761545213.719 [DAT](INFO): Rx dataTimestamp_ set to:1761545213.717422 2025-10-27T06:06:53.723Z,1761545213.723 [DAT](INFO): DAT read: Bearing 157.5, -1.4 (Local) 2025-10-27T06:06:53.725Z,1761545213.725 [DAT](INFO): Local bearing/azimuth received: Bearing 157.5, -1.4 (Local) 2025-10-27T06:06:53.733Z,1761545213.733 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 2025-10-27T06:06:53.741Z,1761545213.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.79 m. 2025-10-27T06:06:53.746Z,1761545213.746 [DAT](INFO): DAT read: 06:06:52.5335 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.22,-0.081,-1.851,-0.021,-0.091, PHS= 0.112,-1.715, 0.025, RAW= 147.6, 17.4, CAL= 147.7, 19.2, ROT= 2.3, -19.2 2025-10-27T06:06:53.752Z,1761545213.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.786892 m, nav range: 16.816734 m, bearing: 338.230898 deg, approach rate: -0.433583 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.817508 deg, new cmd heading: 330.784728 deg. 2025-10-27T06:06:53.753Z,1761545213.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773283 target range: 17.786892 and range: 17.90 m. 2025-10-27T06:06:53.756Z,1761545213.756 [DAT](INFO): got valid direction response: 06:06:52.5335 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.22,-0.081,-1.851,-0.021,-0.091, PHS= 0.112,-1.715, 0.025, RAW= 147.6, 17.4, CAL= 147.7, 19.2, ROT= 2.3, -19.2 2025-10-27T06:06:53.756Z,1761545213.756 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T06:06:53.757Z,1761545213.757 [DAT](INFO): direction in FSK: [0.943616,0.037900,0.328867] 2025-10-27T06:06:53.758Z,1761545213.758 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:53.773Z,1761545213.773 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.573593 2025-10-27T06:06:53.964Z,1761545213.964 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.764462 2025-10-27T06:06:54.125Z,1761545214.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504685 s, deltaX: -0.299999 m, approachRate: -0.594429 m/s, rangeRepo size: 4 2025-10-27T06:06:54.156Z,1761545214.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.488781 m, bearing: 338.812719 deg, lat: 36.779421 deg, lon: -121.859789 deg, deltaT: 0.504685 s, deltaX: -0.298111 m, approachRate: -0.590687 m/s, posRepo size: 4 2025-10-27T06:06:54.157Z,1761545214.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m. 2025-10-27T06:06:54.164Z,1761545214.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.488781 m, nav range: 16.593578 m, bearing: 338.397819 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.784723 deg, new cmd heading: 330.749653 deg. 2025-10-27T06:06:54.165Z,1761545214.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772670 target range: 17.488781 and range: 17.60 m. 2025-10-27T06:06:54.220Z,1761545214.220 [DAT](INFO): DAT read: Rx Time:06:06:53.0334 2025-10-27T06:06:54.222Z,1761545214.222 [DAT](INFO): Rx dataTimestamp_ set to:1761545214.221126 2025-10-27T06:06:54.227Z,1761545214.227 [DAT](INFO): DAT read: Bearing 158.0, -1.4 (Local) 2025-10-27T06:06:54.228Z,1761545214.228 [DAT](INFO): Local bearing/azimuth received: Bearing 158.0, -1.4 (Local) 2025-10-27T06:06:54.230Z,1761545214.230 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.4 2025-10-27T06:06:54.230Z,1761545214.230 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-27T06:06:54.236Z,1761545214.236 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.035793 2025-10-27T06:06:54.474Z,1761545214.474 [DAT](INFO): DAT read: 06:06:53.0334 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.12,-2.419, 2.115,-2.363,-2.413, PHS= 0.096,-1.710, 0.006, RAW= 147.5, 17.9, CAL= 147.6, 19.8, ROT= 2.4, -19.8 2025-10-27T06:06:54.475Z,1761545214.475 [DAT](INFO): got valid direction response: 06:06:53.0334 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.12,-2.419, 2.115,-2.363,-2.413, PHS= 0.096,-1.710, 0.006, RAW= 147.5, 17.9, CAL= 147.6, 19.8, ROT= 2.4, -19.8 2025-10-27T06:06:54.476Z,1761545214.476 [DAT](INFO): #Rx 87: Read direction message, but no range. 2025-10-27T06:06:54.477Z,1761545214.477 [DAT](INFO): direction in FSK: [0.940055,0.039400,0.338738] 2025-10-27T06:06:54.480Z,1761545214.480 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.280441 2025-10-27T06:06:54.559Z,1761545214.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883874,0.458887,0.090495],[-0.467618,0.862818,0.192039],[0.010044,-0.212056,0.977206]] 2025-10-27T06:06:54.602Z,1761545214.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503704 s, deltaX: -0.200001 m, approachRate: -0.397060 m/s, rangeRepo size: 4 2025-10-27T06:06:54.609Z,1761545214.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.290045 m, bearing: 338.836443 deg, lat: 36.779421 deg, lon: -121.859789 deg, deltaT: 0.503704 s, deltaX: -0.198736 m, approachRate: -0.394550 m/s, posRepo size: 4 2025-10-27T06:06:54.609Z,1761545214.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m. 2025-10-27T06:06:54.618Z,1761545214.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.290045 m, nav range: 16.361151 m, bearing: 338.367079 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.749643 deg, new cmd heading: 330.705905 deg. 2025-10-27T06:06:54.624Z,1761545214.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771907 target range: 17.290045 and range: 17.40 m. 2025-10-27T06:06:54.723Z,1761545214.723 [DAT](INFO): DAT read: Rx Time:06:06:53.5333 2025-10-27T06:06:54.723Z,1761545214.723 [DAT](INFO): Rx dataTimestamp_ set to:1761545214.723036 2025-10-27T06:06:54.725Z,1761545214.725 [DAT](INFO): DAT read: Bearing 156.8, -0.9 (Local) 2025-10-27T06:06:54.726Z,1761545214.726 [DAT](INFO): Local bearing/azimuth received: Bearing 156.8, -0.9 (Local) 2025-10-27T06:06:54.729Z,1761545214.729 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-27T06:06:54.749Z,1761545214.749 [DAT](INFO): DAT read: 06:06:53.5333 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.22,-0.175,-1.952,-0.125,-0.205, PHS= 0.132,-1.702, 0.036, RAW= 147.4, 16.9, CAL= 147.4, 18.6, ROT= 2.6, -18.6 2025-10-27T06:06:54.756Z,1761545214.756 [DAT](INFO): got valid direction response: 06:06:53.5333 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496,-0.22,-0.175,-1.952,-0.125,-0.205, PHS= 0.132,-1.702, 0.036, RAW= 147.4, 16.9, CAL= 147.4, 18.6, ROT= 2.6, -18.6 2025-10-27T06:06:54.756Z,1761545214.756 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T06:06:54.758Z,1761545214.758 [DAT](INFO): direction in FSK: [0.946793,0.042994,0.318959] 2025-10-27T06:06:54.758Z,1761545214.758 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:54.781Z,1761545214.781 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=38.580872 2025-10-27T06:06:54.976Z,1761545214.976 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=38.775265 2025-10-27T06:06:55.028Z,1761545215.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883478,0.459704,0.090212],[-0.468372,0.862772,0.190401],[0.009695,-0.210468,0.977553]] 2025-10-27T06:06:55.110Z,1761545215.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.501910 s, deltaX: -0.299999 m, approachRate: -0.597715 m/s, rangeRepo size: 4 2025-10-27T06:06:55.127Z,1761545215.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.992001 m, bearing: 338.667612 deg, lat: 36.779421 deg, lon: -121.859788 deg, deltaT: 0.501910 s, deltaX: -0.298044 m, approachRate: -0.593820 m/s, posRepo size: 4 2025-10-27T06:06:55.129Z,1761545215.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.99 m. 2025-10-27T06:06:55.143Z,1761545215.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.992001 m, nav range: 16.109764 m, bearing: 338.619834 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.705902 deg, new cmd heading: 330.659407 deg. 2025-10-27T06:06:55.148Z,1761545215.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771095 target range: 16.992001 and range: 17.10 m. 2025-10-27T06:06:55.225Z,1761545215.225 [DAT](INFO): DAT read: Rx Time:06:06:54.0332 2025-10-27T06:06:55.225Z,1761545215.225 [DAT](INFO): Rx dataTimestamp_ set to:1761545215.224832 2025-10-27T06:06:55.226Z,1761545215.226 [DAT](INFO): DAT read: Bearing 157.7, -1.5 (Local) 2025-10-27T06:06:55.227Z,1761545215.227 [DAT](INFO): Local bearing/azimuth received: Bearing 157.7, -1.5 (Local) 2025-10-27T06:06:55.229Z,1761545215.229 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 2025-10-27T06:06:55.234Z,1761545215.234 [DAT](INFO): DAT read: 06:06:54.0332 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511, 0.09,-2.606, 1.915,-2.547,-2.601, PHS= 0.097,-1.722, 0.011, RAW= 147.6, 17.8, CAL= 147.7, 19.7, ROT= 2.3, -19.7 2025-10-27T06:06:55.235Z,1761545215.235 [DAT](INFO): got valid direction response: 06:06:54.0332 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511, 0.09,-2.606, 1.915,-2.547,-2.601, PHS= 0.097,-1.722, 0.011, RAW= 147.6, 17.8, CAL= 147.7, 19.7, ROT= 2.3, -19.7 2025-10-27T06:06:55.235Z,1761545215.235 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T06:06:55.236Z,1761545215.236 [DAT](INFO): direction in FSK: [0.940712,0.037783,0.337095] 2025-10-27T06:06:55.237Z,1761545215.237 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:55.240Z,1761545215.240 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.040535 2025-10-27T06:06:55.477Z,1761545215.477 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.276653 2025-10-27T06:06:55.526Z,1761545215.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883243,0.460280,0.089584],[-0.468825,0.863038,0.188064],[0.009248,-0.208105,0.978063]] 2025-10-27T06:06:55.634Z,1761545215.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.501796 s, deltaX: -0.100000 m, approachRate: -0.199285 m/s, rangeRepo size: 4 2025-10-27T06:06:55.638Z,1761545215.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.892632 m, bearing: 338.557093 deg, lat: 36.779421 deg, lon: -121.859788 deg, deltaT: 0.501796 s, deltaX: -0.099369 m, approachRate: -0.198027 m/s, posRepo size: 4 2025-10-27T06:06:55.659Z,1761545215.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m. 2025-10-27T06:06:55.678Z,1761545215.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.892632 m, nav range: 15.877067 m, bearing: 338.565336 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.659402 deg, new cmd heading: 330.611585 deg. 2025-10-27T06:06:55.695Z,1761545215.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770261 target range: 16.892632 and range: 17.00 m. 2025-10-27T06:06:55.730Z,1761545215.730 [DAT](INFO): DAT read: Rx Time:06:06:54.5329 2025-10-27T06:06:55.730Z,1761545215.730 [DAT](INFO): Rx dataTimestamp_ set to:1761545215.730003 2025-10-27T06:06:55.732Z,1761545215.732 [DAT](INFO): DAT read: Bearing 157.5, -1.8 (Local) 2025-10-27T06:06:55.733Z,1761545215.733 [DAT](INFO): Local bearing/azimuth received: Bearing 157.5, -1.8 (Local) 2025-10-27T06:06:55.736Z,1761545215.736 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-27T06:06:55.741Z,1761545215.741 [DAT](INFO): DAT read: 06:06:54.5329 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.36, 0.921,-0.838, 0.990, 0.928, PHS= 0.095,-1.720, 0.018, RAW= 147.8, 17.7, CAL= 148.0, 19.6, ROT= 2.0, -19.6 2025-10-27T06:06:55.742Z,1761545215.742 [DAT](INFO): got valid direction response: 06:06:54.5329 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.36, 0.921,-0.838, 0.990, 0.928, PHS= 0.095,-1.720, 0.018, RAW= 147.8, 17.7, CAL= 148.0, 19.6, ROT= 2.0, -19.6 2025-10-27T06:06:55.742Z,1761545215.742 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T06:06:55.763Z,1761545215.763 [DAT](INFO): direction in FSK: [0.941484,0.032877,0.335452] 2025-10-27T06:06:55.764Z,1761545215.764 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:55.780Z,1761545215.780 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=39.579777 2025-10-27T06:06:55.982Z,1761545215.982 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=39.782082 2025-10-27T06:06:56.206Z,1761545216.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.505171 s, deltaX: -0.500000 m, approachRate: -0.989764 m/s, rangeRepo size: 4 2025-10-27T06:06:56.222Z,1761545216.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.396017 m, bearing: 338.241769 deg, lat: 36.779421 deg, lon: -121.859788 deg, deltaT: 0.505171 s, deltaX: -0.496614 m, approachRate: -0.983062 m/s, posRepo size: 4 2025-10-27T06:06:56.222Z,1761545216.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:06:56.229Z,1761545216.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.396017 m, nav range: 15.647210 m, bearing: 338.498142 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.611591 deg, new cmd heading: 330.559824 deg. 2025-10-27T06:06:56.230Z,1761545216.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769357 target range: 16.396017 and range: 16.50 m. 2025-10-27T06:06:56.233Z,1761545216.233 [DAT](INFO): DAT read: Rx Time:06:06:55.0329 2025-10-27T06:06:56.233Z,1761545216.233 [DAT](INFO): Rx dataTimestamp_ set to:1761545216.232861 2025-10-27T06:06:56.234Z,1761545216.234 [DAT](INFO): DAT read: Bearing 159.1, -2.5 (Local) 2025-10-27T06:06:56.235Z,1761545216.235 [DAT](INFO): Local bearing/azimuth received: Bearing 159.1, -2.5 (Local) 2025-10-27T06:06:56.237Z,1761545216.237 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-27T06:06:56.242Z,1761545216.242 [DAT](INFO): DAT read: 06:06:55.0329 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.01,-2.107, 2.468,-2.041,-2.070, PHS= 0.065,-1.700,-0.015, RAW= 147.7, 18.7, CAL= 148.4, 21.5, ROT= 1.6, -21.5 2025-10-27T06:06:56.243Z,1761545216.243 [DAT](INFO): got valid direction response: 06:06:55.0329 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 508, 0.01,-2.107, 2.468,-2.041,-2.070, PHS= 0.065,-1.700,-0.015, RAW= 147.7, 18.7, CAL= 148.4, 21.5, ROT= 1.6, -21.5 2025-10-27T06:06:56.243Z,1761545216.243 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T06:06:56.244Z,1761545216.244 [DAT](INFO): direction in FSK: [0.930055,0.025979,0.366501] 2025-10-27T06:06:56.244Z,1761545216.244 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:56.248Z,1761545216.248 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.048622 2025-10-27T06:06:56.484Z,1761545216.484 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.284470 2025-10-27T06:06:56.565Z,1761545216.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882394,0.461898,0.089613],[-0.470444,0.862922,0.184522],[0.007901,-0.204979,0.978734]] 2025-10-27T06:06:56.627Z,1761545216.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.502858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:56.631Z,1761545216.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.396017 m, bearing: 338.125216 deg, lat: 36.779421 deg, lon: -121.859788 deg, deltaT: 0.502858 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:56.632Z,1761545216.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:06:56.652Z,1761545216.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.396017 m, nav range: 15.422407 m, bearing: 338.404466 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.559818 deg, new cmd heading: 330.520623 deg. 2025-10-27T06:06:56.653Z,1761545216.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768673 target range: 16.396017 and range: 16.50 m. 2025-10-27T06:06:56.739Z,1761545216.739 [DAT](INFO): DAT read: Rx Time:06:06:55.5326 2025-10-27T06:06:56.740Z,1761545216.740 [DAT](INFO): Rx dataTimestamp_ set to:1761545216.739602 2025-10-27T06:06:56.741Z,1761545216.741 [DAT](INFO): DAT read: Bearing 156.5, -1.5 (Local) 2025-10-27T06:06:56.741Z,1761545216.741 [DAT](INFO): Local bearing/azimuth received: Bearing 156.5, -1.5 (Local) 2025-10-27T06:06:56.744Z,1761545216.744 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4 2025-10-27T06:06:56.748Z,1761545216.748 [DAT](INFO): DAT read: 06:06:55.5326 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.33, 1.005,-0.772, 1.069, 0.986, PHS= 0.121,-1.713, 0.039, RAW= 147.7, 17.0, CAL= 147.9, 18.8, ROT= 2.1, -18.8 2025-10-27T06:06:56.749Z,1761545216.749 [DAT](INFO): got valid direction response: 06:06:55.5326 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506,-0.33, 1.005,-0.772, 1.069, 0.986, PHS= 0.121,-1.713, 0.039, RAW= 147.7, 17.0, CAL= 147.9, 18.8, ROT= 2.1, -18.8 2025-10-27T06:06:56.750Z,1761545216.750 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T06:06:56.751Z,1761545216.751 [DAT](INFO): direction in FSK: [0.946013,0.034689,0.322266] 2025-10-27T06:06:56.751Z,1761545216.751 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:56.755Z,1761545216.755 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.555046 2025-10-27T06:06:56.993Z,1761545216.993 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.792759 2025-10-27T06:06:57.059Z,1761545217.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882491,0.461798,0.089173],[-0.470263,0.863192,0.183716],[0.007866,-0.204062,0.978926]] 2025-10-27T06:06:57.149Z,1761545217.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.506741 s, deltaX: -0.400000 m, approachRate: -0.789357 m/s, rangeRepo size: 4 2025-10-27T06:06:57.169Z,1761545217.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.998870 m, bearing: 337.980753 deg, lat: 36.779420 deg, lon: -121.859788 deg, deltaT: 0.506741 s, deltaX: -0.397147 m, approachRate: -0.783728 m/s, posRepo size: 4 2025-10-27T06:06:57.177Z,1761545217.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T06:06:57.201Z,1761545217.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.998870 m, nav range: 15.155774 m, bearing: 338.207809 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.520613 deg, new cmd heading: 330.472718 deg. 2025-10-27T06:06:57.209Z,1761545217.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767837 target range: 15.998870 and range: 16.10 m. 2025-10-27T06:06:57.241Z,1761545217.241 [DAT](INFO): DAT read: Rx Time:06:06:56.0325 2025-10-27T06:06:57.241Z,1761545217.241 [DAT](INFO): Rx dataTimestamp_ set to:1761545217.240778 2025-10-27T06:06:57.242Z,1761545217.242 [DAT](INFO): DAT read: Bearing 156.8, -2.2 (Local) 2025-10-27T06:06:57.243Z,1761545217.243 [DAT](INFO): Local bearing/azimuth received: Bearing 156.8, -2.2 (Local) 2025-10-27T06:06:57.245Z,1761545217.245 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-27T06:06:57.250Z,1761545217.250 [DAT](INFO): DAT read: 06:06:56.0325 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.06,-2.932, 1.590,-2.848,-2.929, PHS= 0.099,-1.719, 0.037, RAW= 148.3, 17.4, CAL= 148.5, 19.3, ROT= 1.5, -19.3 2025-10-27T06:06:57.251Z,1761545217.251 [DAT](INFO): got valid direction response: 06:06:56.0325 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.06,-2.932, 1.590,-2.848,-2.929, PHS= 0.099,-1.719, 0.037, RAW= 148.3, 17.4, CAL= 148.5, 19.3, ROT= 1.5, -19.3 2025-10-27T06:06:57.251Z,1761545217.251 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T06:06:57.252Z,1761545217.252 [DAT](INFO): direction in FSK: [0.943478,0.024706,0.330514] 2025-10-27T06:06:57.252Z,1761545217.252 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:57.264Z,1761545217.264 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.064354 2025-10-27T06:06:57.496Z,1761545217.496 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.296089 2025-10-27T06:06:57.557Z,1761545217.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882834,0.461435,0.087642],[-0.469621,0.864158,0.180797],[0.007690,-0.200772,0.979608]] 2025-10-27T06:06:57.600Z,1761545217.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.501176 s, deltaX: -0.200001 m, approachRate: -0.399063 m/s, rangeRepo size: 4 2025-10-27T06:06:57.602Z,1761545217.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.800125 m, bearing: 337.486656 deg, lat: 36.779419 deg, lon: -121.859788 deg, deltaT: 0.501176 s, deltaX: -0.198745 m, approachRate: -0.396557 m/s, posRepo size: 4 2025-10-27T06:06:57.607Z,1761545217.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:06:57.625Z,1761545217.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.800125 m, nav range: 14.879817 m, bearing: 338.020029 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.472720 deg, new cmd heading: 330.431408 deg. 2025-10-27T06:06:57.628Z,1761545217.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767116 target range: 15.800125 and range: 15.90 m. 2025-10-27T06:06:57.746Z,1761545217.746 [DAT](INFO): DAT read: Rx Time:06:06:56.5322 2025-10-27T06:06:57.747Z,1761545217.747 [DAT](INFO): Rx dataTimestamp_ set to:1761545217.746293 2025-10-27T06:06:57.749Z,1761545217.749 [DAT](INFO): DAT read: Bearing 156.2, -1.5 (Local) 2025-10-27T06:06:57.749Z,1761545217.749 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -1.5 (Local) 2025-10-27T06:06:57.752Z,1761545217.752 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 2025-10-27T06:06:57.758Z,1761545217.758 [DAT](INFO): DAT read: 06:06:56.5322 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.30,-0.281,-2.053,-0.213,-0.302, PHS= 0.123,-1.706, 0.046, RAW= 147.8, 16.9, CAL= 148.0, 18.7, ROT= 2.0, -18.7 2025-10-27T06:06:57.761Z,1761545217.761 [DAT](INFO): got valid direction response: 06:06:56.5322 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.30,-0.281,-2.053,-0.213,-0.302, PHS= 0.123,-1.706, 0.046, RAW= 147.8, 16.9, CAL= 148.0, 18.7, ROT= 2.0, -18.7 2025-10-27T06:06:57.762Z,1761545217.762 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T06:06:57.764Z,1761545217.764 [DAT](INFO): direction in FSK: [0.946633,0.033057,0.320613] 2025-10-27T06:06:57.764Z,1761545217.764 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:57.773Z,1761545217.773 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.573101 2025-10-27T06:06:57.998Z,1761545217.998 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.798016 2025-10-27T06:06:58.042Z,1761545218.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882858,0.461371,0.087743],[-0.469581,0.864242,0.180495],[0.007444,-0.200554,0.979654]] 2025-10-27T06:06:58.101Z,1761545218.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505515 s, deltaX: -0.400000 m, approachRate: -0.791272 m/s, rangeRepo size: 4 2025-10-27T06:06:58.120Z,1761545218.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.403031 m, bearing: 337.838090 deg, lat: 36.779419 deg, lon: -121.859788 deg, deltaT: 0.505515 s, deltaX: -0.397094 m, approachRate: -0.785523 m/s, posRepo size: 4 2025-10-27T06:06:58.122Z,1761545218.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m. 2025-10-27T06:06:58.136Z,1761545218.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.403031 m, nav range: 14.634415 m, bearing: 337.858867 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.431411 deg, new cmd heading: 330.385551 deg. 2025-10-27T06:06:58.137Z,1761545218.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766315 target range: 15.403031 and range: 15.50 m. 2025-10-27T06:06:58.250Z,1761545218.250 [DAT](INFO): DAT read: Rx Time:06:06:57.0322 2025-10-27T06:06:58.250Z,1761545218.250 [DAT](INFO): Rx dataTimestamp_ set to:1761545218.250064 2025-10-27T06:06:58.252Z,1761545218.252 [DAT](INFO): DAT read: Bearing 155.4, -1.7 (Local) 2025-10-27T06:06:58.253Z,1761545218.253 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, -1.7 (Local) 2025-10-27T06:06:58.256Z,1761545218.256 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 2025-10-27T06:06:58.262Z,1761545218.262 [DAT](INFO): DAT read: 06:06:57.0322 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501, 0.16, 3.035, 1.244, 3.119, 3.000, PHS= 0.137,-1.711, 0.075, RAW= 148.3, 16.2, CAL= 148.5, 18.0, ROT= 1.5, -18.0 2025-10-27T06:06:58.263Z,1761545218.263 [DAT](INFO): got valid direction response: 06:06:57.0322 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 501, 0.16, 3.035, 1.244, 3.119, 3.000, PHS= 0.137,-1.711, 0.075, RAW= 148.3, 16.2, CAL= 148.5, 18.0, ROT= 1.5, -18.0 2025-10-27T06:06:58.264Z,1761545218.264 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T06:06:58.265Z,1761545218.265 [DAT](INFO): direction in FSK: [0.950731,0.024896,0.309017] 2025-10-27T06:06:58.265Z,1761545218.265 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:58.278Z,1761545218.278 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.077793 2025-10-27T06:06:58.500Z,1761545218.500 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.300270 2025-10-27T06:06:58.506Z,1761545218.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882520,0.462007,0.087799],[-0.470214,0.863891,0.180530],[0.007557,-0.200605,0.979643]] 2025-10-27T06:06:58.530Z,1761545218.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503771 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:06:58.532Z,1761545218.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.403031 m, bearing: 337.154858 deg, lat: 36.779419 deg, lon: -121.859789 deg, deltaT: 0.503771 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:06:58.533Z,1761545218.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m. 2025-10-27T06:06:58.536Z,1761545218.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.403031 m, nav range: 14.463755 m, bearing: 337.795337 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.385539 deg, new cmd heading: 330.346288 deg. 2025-10-27T06:06:58.537Z,1761545218.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765630 target range: 15.403031 and range: 15.50 m. 2025-10-27T06:06:58.753Z,1761545218.753 [DAT](INFO): DAT read: Rx Time:06:06:57.5320 2025-10-27T06:06:58.753Z,1761545218.753 [DAT](INFO): Rx dataTimestamp_ set to:1761545218.752852 2025-10-27T06:06:58.754Z,1761545218.754 [DAT](INFO): DAT read: Bearing 155.8, -1.8 (Local) 2025-10-27T06:06:58.755Z,1761545218.755 [DAT](INFO): Local bearing/azimuth received: Bearing 155.8, -1.8 (Local) 2025-10-27T06:06:58.757Z,1761545218.757 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.4 2025-10-27T06:06:58.763Z,1761545218.763 [DAT](INFO): DAT read: 06:06:57.5320 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.16,-0.048,-1.826, 0.037,-0.069, PHS= 0.123,-1.712, 0.062, RAW= 148.3, 16.7, CAL= 148.5, 18.5, ROT= 1.5, -18.5 2025-10-27T06:06:58.765Z,1761545218.765 [DAT](INFO): got valid direction response: 06:06:57.5320 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.16,-0.048,-1.826, 0.037,-0.069, PHS= 0.123,-1.712, 0.062, RAW= 148.3, 16.7, CAL= 148.5, 18.5, ROT= 1.5, -18.5 2025-10-27T06:06:58.766Z,1761545218.766 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T06:06:58.766Z,1761545218.766 [DAT](INFO): direction in FSK: [0.947999,0.024824,0.317305] 2025-10-27T06:06:58.776Z,1761545218.776 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:58.782Z,1761545218.782 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.582386 2025-10-27T06:06:58.898Z,1761545218.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882218,0.462488,0.088298],[-0.470782,0.863495,0.180945],[0.007440,-0.201202,0.979522]] 2025-10-27T06:06:58.948Z,1761545218.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.502788 s, deltaX: -0.300000 m, approachRate: -0.596673 m/s, rangeRepo size: 4 2025-10-27T06:06:58.950Z,1761545218.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.104908 m, bearing: 337.239940 deg, lat: 36.779419 deg, lon: -121.859790 deg, deltaT: 0.502788 s, deltaX: -0.298123 m, approachRate: -0.592941 m/s, posRepo size: 4 2025-10-27T06:06:58.950Z,1761545218.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.10 m. 2025-10-27T06:06:58.957Z,1761545218.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.104908 m, nav range: 14.321318 m, bearing: 337.482308 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.346279 deg, new cmd heading: 330.308433 deg. 2025-10-27T06:06:58.964Z,1761545218.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764970 target range: 15.104908 and range: 15.20 m. 2025-10-27T06:06:59.023Z,1761545219.023 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.806808 2025-10-27T06:06:59.258Z,1761545219.258 [DAT](INFO): DAT read: Rx Time:06:06:58.0319 2025-10-27T06:06:59.259Z,1761545219.259 [DAT](INFO): Rx dataTimestamp_ set to:1761545219.258193 2025-10-27T06:06:59.261Z,1761545219.261 [DAT](INFO): DAT read: Bearing 155.0, -1.8 (Local) 2025-10-27T06:06:59.261Z,1761545219.261 [DAT](INFO): Local bearing/azimuth received: Bearing 155.0, -1.8 (Local) 2025-10-27T06:06:59.269Z,1761545219.269 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T06:06:59.278Z,1761545219.278 [DAT](INFO): DAT read: 06:06:58.0319 LVL= 32576, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.33, 3.069, 1.272,-3.123, 3.028, PHS= 0.143,-1.711, 0.088, RAW= 148.5, 16.0, CAL= 148.7, 17.7, ROT= 1.3, -17.7 2025-10-27T06:06:59.308Z,1761545219.308 [DAT](INFO): got valid direction response: 06:06:58.0319 LVL= 32576, 32753, 32754, 32755, AGC= 60, IDX= 498, 0.33, 3.069, 1.272,-3.123, 3.028, PHS= 0.143,-1.711, 0.088, RAW= 148.5, 16.0, CAL= 148.7, 17.7, ROT= 1.3, -17.7 2025-10-27T06:06:59.308Z,1761545219.308 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T06:06:59.309Z,1761545219.309 [DAT](INFO): direction in FSK: [0.952416,0.021613,0.304033] 2025-10-27T06:06:59.309Z,1761545219.309 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:59.324Z,1761545219.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881894,0.463065,0.088512],[-0.471388,0.863107,0.181218],[0.007521,-0.201539,0.979452]] 2025-10-27T06:06:59.333Z,1761545219.333 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.133369 2025-10-27T06:06:59.441Z,1761545219.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.505341 s, deltaX: -0.200000 m, approachRate: -0.395772 m/s, rangeRepo size: 4 2025-10-27T06:06:59.448Z,1761545219.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.906898 m, bearing: 336.833738 deg, lat: 36.779419 deg, lon: -121.859790 deg, deltaT: 0.505341 s, deltaX: -0.198009 m, approachRate: -0.391833 m/s, posRepo size: 4 2025-10-27T06:06:59.449Z,1761545219.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:06:59.456Z,1761545219.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.906898 m, nav range: 14.118226 m, bearing: 337.262129 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.308440 deg, new cmd heading: 330.262848 deg. 2025-10-27T06:06:59.456Z,1761545219.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764174 target range: 14.906898 and range: 15.00 m. 2025-10-27T06:06:59.509Z,1761545219.509 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.308861 2025-10-27T06:06:59.760Z,1761545219.760 [DAT](INFO): DAT read: Rx Time:06:06:58.5317 2025-10-27T06:06:59.761Z,1761545219.761 [DAT](INFO): Rx dataTimestamp_ set to:1761545219.760574 2025-10-27T06:06:59.762Z,1761545219.762 [DAT](INFO): DAT read: Bearing 154.2, -1.6 (Local) 2025-10-27T06:06:59.762Z,1761545219.762 [DAT](INFO): Local bearing/azimuth received: Bearing 154.2, -1.6 (Local) 2025-10-27T06:06:59.765Z,1761545219.765 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 2025-10-27T06:06:59.769Z,1761545219.769 [DAT](INFO): DAT read: 06:06:58.5317 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.02, 1.259,-0.543, 1.352, 1.197, PHS= 0.164,-1.696, 0.111, RAW= 148.6, 15.3, CAL= 148.7, 17.0, ROT= 1.3, -17.0 2025-10-27T06:06:59.770Z,1761545219.770 [DAT](INFO): got valid direction response: 06:06:58.5317 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.02, 1.259,-0.543, 1.352, 1.197, PHS= 0.164,-1.696, 0.111, RAW= 148.6, 15.3, CAL= 148.7, 17.0, ROT= 1.3, -17.0 2025-10-27T06:06:59.770Z,1761545219.770 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T06:06:59.772Z,1761545219.772 [DAT](INFO): direction in FSK: [0.956059,0.021696,0.292372] 2025-10-27T06:06:59.772Z,1761545219.772 [DAT](INFO): publishing direction and range info 2025-10-27T06:06:59.775Z,1761545219.775 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.575638 2025-10-27T06:06:59.836Z,1761545219.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881347,0.464159,0.088230],[-0.472400,0.862503,0.181457],[0.008126,-0.201606,0.979433]] 2025-10-27T06:06:59.885Z,1761545219.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.502381 s, deltaX: -0.300000 m, approachRate: -0.597157 m/s, rangeRepo size: 4 2025-10-27T06:06:59.891Z,1761545219.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.608760 m, bearing: 336.615291 deg, lat: 36.779419 deg, lon: -121.859791 deg, deltaT: 0.502381 s, deltaX: -0.298139 m, approachRate: -0.593451 m/s, posRepo size: 4 2025-10-27T06:06:59.892Z,1761545219.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T06:06:59.894Z,1761545219.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.608760 m, nav range: 13.942315 m, bearing: 336.996966 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.262842 deg, new cmd heading: 330.222264 deg. 2025-10-27T06:06:59.900Z,1761545219.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763466 target range: 14.608760 and range: 14.70 m. 2025-10-27T06:07:00.016Z,1761545220.016 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.815826 2025-10-27T06:07:00.227Z,1761545220.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880684,0.465481,0.087883],[-0.473623,0.861813,0.181545],[0.008767,-0.201507,0.979448]] 2025-10-27T06:07:00.264Z,1761545220.264 [DAT](INFO): DAT read: Rx Time:06:06:59.0315 2025-10-27T06:07:00.265Z,1761545220.265 [DAT](INFO): Rx dataTimestamp_ set to:1761545220.264678 2025-10-27T06:07:00.266Z,1761545220.266 [DAT](INFO): DAT read: Bearing 156.4, -3.0 (Local) 2025-10-27T06:07:00.267Z,1761545220.267 [DAT](INFO): Local bearing/azimuth received: Bearing 156.4, -3.0 (Local) 2025-10-27T06:07:00.269Z,1761545220.269 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 2025-10-27T06:07:00.273Z,1761545220.273 [DAT](INFO): DAT read: 06:06:59.0315 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.36, 0.645,-1.101, 0.762, 0.665, PHS= 0.081,-1.722, 0.053, RAW= 149.2, 17.4, CAL= 149.6, 19.5, ROT= 0.4, -19.5 2025-10-27T06:07:00.274Z,1761545220.274 [DAT](INFO): got valid direction response: 06:06:59.0315 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.36, 0.645,-1.101, 0.762, 0.665, PHS= 0.081,-1.722, 0.053, RAW= 149.2, 17.4, CAL= 149.6, 19.5, ROT= 0.4, -19.5 2025-10-27T06:07:00.275Z,1761545220.275 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T06:07:00.276Z,1761545220.276 [DAT](INFO): direction in FSK: [0.942619,0.006581,0.333807] 2025-10-27T06:07:00.276Z,1761545220.276 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:00.281Z,1761545220.281 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.081039 2025-10-27T06:07:00.300Z,1761545220.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504104 s, deltaX: -0.300000 m, approachRate: -0.595116 m/s, rangeRepo size: 4 2025-10-27T06:07:00.302Z,1761545220.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.310850 m, bearing: 336.214204 deg, lat: 36.779419 deg, lon: -121.859792 deg, deltaT: 0.504104 s, deltaX: -0.297910 m, approachRate: -0.590969 m/s, posRepo size: 4 2025-10-27T06:07:00.302Z,1761545220.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:07:00.318Z,1761545220.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.310850 m, nav range: 13.759994 m, bearing: 336.812469 deg, approach rate: 0.000000 m/s, LOS rate: -0.030517 deg/s, cmd heading: 330.222270 deg, new cmd heading: 330.184310 deg. 2025-10-27T06:07:00.319Z,1761545220.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762804 target range: 14.310850 and range: 14.40 m. 2025-10-27T06:07:00.516Z,1761545220.516 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.316292 2025-10-27T06:07:00.594Z,1761545220.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880263,0.466462,0.086893],[-0.474393,0.861578,0.180652],[0.009402,-0.200242,0.979701]] 2025-10-27T06:07:00.637Z,1761545220.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:00.643Z,1761545220.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:07:00.646Z,1761545220.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.310850 m, nav range: 13.604904 m, bearing: 336.847313 deg, approach rate: -0.455846 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.184322 deg, new cmd heading: 330.290044 deg. 2025-10-27T06:07:00.651Z,1761545220.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764649 target range: 14.310850 and range: 14.40 m. 2025-10-27T06:07:00.770Z,1761545220.770 [DAT](INFO): DAT read: Rx Time:06:06:59.5313 2025-10-27T06:07:00.771Z,1761545220.771 [DAT](INFO): Rx dataTimestamp_ set to:1761545220.769916 2025-10-27T06:07:00.773Z,1761545220.773 [DAT](INFO): DAT read: Bearing 156.2, -2.9 (Local) 2025-10-27T06:07:00.773Z,1761545220.773 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -2.9 (Local) 2025-10-27T06:07:00.776Z,1761545220.776 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 2025-10-27T06:07:00.781Z,1761545220.781 [DAT](INFO): DAT read: 06:06:59.5313 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.16, 1.555,-0.199, 1.674, 1.571, PHS= 0.085,-1.725, 0.059, RAW= 149.3, 17.3, CAL= 149.7, 19.3, ROT= 0.3, -19.3 2025-10-27T06:07:00.782Z,1761545220.782 [DAT](INFO): got valid direction response: 06:06:59.5313 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.16, 1.555,-0.199, 1.674, 1.571, PHS= 0.085,-1.725, 0.059, RAW= 149.3, 17.3, CAL= 149.7, 19.3, ROT= 0.3, -19.3 2025-10-27T06:07:00.786Z,1761545220.786 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T06:07:00.789Z,1761545220.789 [DAT](INFO): direction in FSK: [0.943788,0.004942,0.330514] 2025-10-27T06:07:00.789Z,1761545220.789 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:00.799Z,1761545220.799 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.598446 2025-10-27T06:07:01.002Z,1761545221.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879800,0.467403,0.086530],[-0.475239,0.861071,0.180845],[0.010019,-0.200230,0.979698]] 2025-10-27T06:07:01.035Z,1761545221.035 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.834667 2025-10-27T06:07:01.130Z,1761545221.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.505238 s, deltaX: -0.299999 m, approachRate: -0.593778 m/s, rangeRepo size: 4 2025-10-27T06:07:01.144Z,1761545221.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.012939 m, bearing: 335.942108 deg, lat: 36.779419 deg, lon: -121.859792 deg, deltaT: 0.505238 s, deltaX: -0.297911 m, approachRate: -0.589644 m/s, posRepo size: 4 2025-10-27T06:07:01.144Z,1761545221.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:07:01.151Z,1761545221.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.012939 m, nav range: 13.380955 m, bearing: 336.812477 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.290053 deg, new cmd heading: 330.442308 deg. 2025-10-27T06:07:01.152Z,1761545221.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767306 target range: 14.012939 and range: 14.10 m. 2025-10-27T06:07:01.286Z,1761545221.286 [DAT](INFO): DAT read: Rx Time:06:07:00.0313 2025-10-27T06:07:01.286Z,1761545221.286 [DAT](INFO): Rx dataTimestamp_ set to:1761545221.286072 2025-10-27T06:07:01.288Z,1761545221.288 [DAT](INFO): DAT read: Bearing 156.3, -2.7 (Local) 2025-10-27T06:07:01.288Z,1761545221.288 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, -2.7 (Local) 2025-10-27T06:07:01.290Z,1761545221.290 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4 2025-10-27T06:07:01.297Z,1761545221.297 [DAT](INFO): DAT read: 06:07:00.0313 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.11, 0.267,-1.478, 0.378, 0.284, PHS= 0.085,-1.717, 0.051, RAW= 149.0, 17.4, CAL= 149.4, 19.4, ROT= 0.6, -19.4 2025-10-27T06:07:01.298Z,1761545221.298 [DAT](INFO): got valid direction response: 06:07:00.0313 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.11, 0.267,-1.478, 0.378, 0.284, PHS= 0.085,-1.717, 0.051, RAW= 149.0, 17.4, CAL= 149.4, 19.4, ROT= 0.6, -19.4 2025-10-27T06:07:01.299Z,1761545221.299 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T06:07:01.300Z,1761545221.300 [DAT](INFO): direction in FSK: [0.943171,0.009877,0.332161] 2025-10-27T06:07:01.301Z,1761545221.301 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:01.314Z,1761545221.314 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.114220 2025-10-27T06:07:01.507Z,1761545221.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879104,0.468783,0.086126],[-0.476506,0.860287,0.181240],[0.010869,-0.200368,0.979660]] 2025-10-27T06:07:01.536Z,1761545221.536 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.336208 2025-10-27T06:07:01.660Z,1761545221.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.516156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:01.687Z,1761545221.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.012939 m, bearing: 336.179333 deg, lat: 36.779419 deg, lon: -121.859792 deg, deltaT: 0.516156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:01.690Z,1761545221.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:07:01.715Z,1761545221.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.012939 m, nav range: 13.134715 m, bearing: 336.848566 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.442312 deg, new cmd heading: 330.607243 deg. 2025-10-27T06:07:01.722Z,1761545221.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770185 target range: 14.012939 and range: 14.10 m. 2025-10-27T06:07:01.789Z,1761545221.789 [DAT](INFO): DAT read: Rx Time:06:07:00.5310 2025-10-27T06:07:01.789Z,1761545221.789 [DAT](INFO): Rx dataTimestamp_ set to:1761545221.788796 2025-10-27T06:07:01.791Z,1761545221.791 [DAT](INFO): DAT read: Bearing 154.4, -2.2 (Local) 2025-10-27T06:07:01.792Z,1761545221.792 [DAT](INFO): Local bearing/azimuth received: Bearing 154.4, -2.2 (Local) 2025-10-27T06:07:01.795Z,1761545221.795 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-27T06:07:01.801Z,1761545221.801 [DAT](INFO): DAT read: 06:07:00.5310 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.43, 0.489,-1.293, 0.604, 0.449, PHS= 0.142,-1.697, 0.111, RAW= 149.2, 15.6, CAL= 149.4, 17.4, ROT= 0.6, -17.4 2025-10-27T06:07:01.805Z,1761545221.805 [DAT](INFO): got valid direction response: 06:07:00.5310 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.43, 0.489,-1.293, 0.604, 0.449, PHS= 0.142,-1.697, 0.111, RAW= 149.2, 15.6, CAL= 149.4, 17.4, ROT= 0.6, -17.4 2025-10-27T06:07:01.805Z,1761545221.805 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T06:07:01.816Z,1761545221.816 [DAT](INFO): direction in FSK: [0.954188,0.009993,0.299041] 2025-10-27T06:07:01.816Z,1761545221.816 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:01.825Z,1761545221.825 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.625011 2025-10-27T06:07:02.043Z,1761545222.043 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.841885 2025-10-27T06:07:02.132Z,1761545222.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877734,0.471657,0.084390],[-0.478970,0.858897,0.181339],[0.013048,-0.199587,0.979793]] 2025-10-27T06:07:02.248Z,1761545222.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.502724 s, deltaX: -0.400001 m, approachRate: -0.795666 m/s, rangeRepo size: 4 2025-10-27T06:07:02.250Z,1761545222.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.615124 m, bearing: 335.560900 deg, lat: 36.779419 deg, lon: -121.859794 deg, deltaT: 0.502724 s, deltaX: -0.397816 m, approachRate: -0.791320 m/s, posRepo size: 4 2025-10-27T06:07:02.251Z,1761545222.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-27T06:07:02.262Z,1761545222.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.615124 m, nav range: 12.843869 m, bearing: 336.616575 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.607247 deg, new cmd heading: 330.789729 deg. 2025-10-27T06:07:02.267Z,1761545222.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773370 target range: 13.615124 and range: 13.70 m. 2025-10-27T06:07:02.294Z,1761545222.294 [DAT](INFO): DAT read: Rx Time:06:07:01.0310 2025-10-27T06:07:02.295Z,1761545222.295 [DAT](INFO): Rx dataTimestamp_ set to:1761545222.294757 2025-10-27T06:07:02.296Z,1761545222.296 [DAT](INFO): DAT read: Bearing 156.2, -2.4 (Local) 2025-10-27T06:07:02.297Z,1761545222.297 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -2.4 (Local) 2025-10-27T06:07:02.299Z,1761545222.299 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-27T06:07:02.303Z,1761545222.303 [DAT](INFO): DAT read: 06:07:01.0310 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.08, 1.018,-0.745, 1.129, 1.031, PHS= 0.090,-1.731, 0.054, RAW= 149.0, 17.3, CAL= 149.4, 19.3, ROT= 0.6, -19.3 2025-10-27T06:07:02.305Z,1761545222.305 [DAT](INFO): got valid direction response: 06:07:01.0310 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.08, 1.018,-0.745, 1.129, 1.031, PHS= 0.090,-1.731, 0.054, RAW= 149.0, 17.3, CAL= 149.4, 19.3, ROT= 0.6, -19.3 2025-10-27T06:07:02.306Z,1761545222.306 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T06:07:02.316Z,1761545222.316 [DAT](INFO): direction in FSK: [0.943749,0.009883,0.330514] 2025-10-27T06:07:02.316Z,1761545222.316 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:02.362Z,1761545222.362 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.161751 2025-10-27T06:07:02.544Z,1761545222.544 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.344151 2025-10-27T06:07:02.572Z,1761545222.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877598,0.472134,0.083136],[-0.479201,0.858979,0.180336],[0.013731,-0.198101,0.980085]] 2025-10-27T06:07:02.658Z,1761545222.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.505961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:02.660Z,1761545222.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.615124 m, bearing: 335.939529 deg, lat: 36.779420 deg, lon: -121.859794 deg, deltaT: 0.505961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:02.661Z,1761545222.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-27T06:07:02.686Z,1761545222.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.615124 m, nav range: 12.670966 m, bearing: 336.455092 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.789722 deg, new cmd heading: 330.917142 deg. 2025-10-27T06:07:02.694Z,1761545222.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775594 target range: 13.615124 and range: 13.70 m. 2025-10-27T06:07:02.798Z,1761545222.798 [DAT](INFO): DAT read: Rx Time:06:07:01.5307 2025-10-27T06:07:02.798Z,1761545222.798 [DAT](INFO): Rx dataTimestamp_ set to:1761545222.797806 2025-10-27T06:07:02.800Z,1761545222.800 [DAT](INFO): DAT read: Bearing 156.1, -2.2 (Local) 2025-10-27T06:07:02.801Z,1761545222.801 [DAT](INFO): Local bearing/azimuth received: Bearing 156.1, -2.2 (Local) 2025-10-27T06:07:02.805Z,1761545222.805 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-27T06:07:02.809Z,1761545222.809 [DAT](INFO): DAT read: 06:07:01.5307 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.26, 1.383,-0.387, 1.491, 1.389, PHS= 0.096,-1.731, 0.058, RAW= 148.9, 17.1, CAL= 149.3, 19.1, ROT= 0.7, -19.1 2025-10-27T06:07:02.810Z,1761545222.810 [DAT](INFO): got valid direction response: 06:07:01.5307 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.26, 1.383,-0.387, 1.491, 1.389, PHS= 0.096,-1.731, 0.058, RAW= 148.9, 17.1, CAL= 149.3, 19.1, ROT= 0.7, -19.1 2025-10-27T06:07:02.822Z,1761545222.822 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T06:07:02.840Z,1761545222.840 [DAT](INFO): direction in FSK: [0.944878,0.011544,0.327218] 2025-10-27T06:07:02.840Z,1761545222.840 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:02.848Z,1761545222.848 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.647945 2025-10-27T06:07:03.051Z,1761545223.051 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.850407 2025-10-27T06:07:03.115Z,1761545223.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877521,0.472575,0.081423],[-0.479317,0.859223,0.178858],[0.014563,-0.195979,0.980500]] 2025-10-27T06:07:03.254Z,1761545223.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503049 s, deltaX: -0.500000 m, approachRate: -0.993939 m/s, rangeRepo size: 4 2025-10-27T06:07:03.257Z,1761545223.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.117660 m, bearing: 335.944563 deg, lat: 36.779420 deg, lon: -121.859796 deg, deltaT: 0.503049 s, deltaX: -0.497464 m, approachRate: -0.988898 m/s, posRepo size: 4 2025-10-27T06:07:03.257Z,1761545223.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-27T06:07:03.260Z,1761545223.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.117660 m, nav range: 12.407606 m, bearing: 336.017828 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 330.917146 deg, new cmd heading: 331.102564 deg. 2025-10-27T06:07:03.261Z,1761545223.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778830 target range: 13.117660 and range: 13.20 m. 2025-10-27T06:07:03.302Z,1761545223.302 [DAT](INFO): DAT read: Rx Time:06:07:02.0307 2025-10-27T06:07:03.302Z,1761545223.302 [DAT](INFO): Rx dataTimestamp_ set to:1761545223.301939 2025-10-27T06:07:03.305Z,1761545223.305 [DAT](INFO): DAT read: Bearing 155.1, -1.1 (Local) 2025-10-27T06:07:03.305Z,1761545223.305 [DAT](INFO): Local bearing/azimuth received: Bearing 155.1, -1.1 (Local) 2025-10-27T06:07:03.308Z,1761545223.308 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-27T06:07:03.315Z,1761545223.315 [DAT](INFO): DAT read: 06:07:02.0307 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502,-0.19, 0.612,-1.180, 0.696, 0.570, PHS= 0.144,-1.704, 0.082, RAW= 148.3, 16.0, CAL= 148.4, 17.8, ROT= 1.6, -17.8 2025-10-27T06:07:03.317Z,1761545223.317 [DAT](INFO): got valid direction response: 06:07:02.0307 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502,-0.19, 0.612,-1.180, 0.696, 0.570, PHS= 0.144,-1.704, 0.082, RAW= 148.3, 16.0, CAL= 148.4, 17.8, ROT= 1.6, -17.8 2025-10-27T06:07:03.317Z,1761545223.317 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T06:07:03.319Z,1761545223.319 [DAT](INFO): direction in FSK: [0.951758,0.026585,0.305695] 2025-10-27T06:07:03.319Z,1761545223.319 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:03.323Z,1761545223.323 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.123474 2025-10-27T06:07:03.552Z,1761545223.552 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.352211 2025-10-27T06:07:03.568Z,1761545223.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877414,0.473229,0.078727],[-0.479462,0.859516,0.177055],[0.016121,-0.193097,0.981047]] 2025-10-27T06:07:03.639Z,1761545223.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:03.641Z,1761545223.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.117660 m, bearing: 336.482513 deg, lat: 36.779420 deg, lon: -121.859796 deg, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:03.642Z,1761545223.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-27T06:07:03.649Z,1761545223.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.117660 m, nav range: 12.242193 m, bearing: 336.019479 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.102572 deg, new cmd heading: 331.220810 deg. 2025-10-27T06:07:03.650Z,1761545223.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780894 target range: 13.117660 and range: 13.20 m. 2025-10-27T06:07:03.805Z,1761545223.805 [DAT](INFO): DAT read: Rx Time:06:07:02.5304 2025-10-27T06:07:03.806Z,1761545223.806 [DAT](INFO): Rx dataTimestamp_ set to:1761545223.804877 2025-10-27T06:07:03.808Z,1761545223.808 [DAT](INFO): DAT read: Bearing 155.4, -1.3 (Local) 2025-10-27T06:07:03.808Z,1761545223.808 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, -1.3 (Local) 2025-10-27T06:07:03.812Z,1761545223.812 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 2025-10-27T06:07:03.818Z,1761545223.818 [DAT](INFO): DAT read: 06:07:02.5304 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.02, 1.122,-0.672, 1.210, 1.089, PHS= 0.135,-1.716, 0.077, RAW= 148.4, 16.3, CAL= 148.6, 18.1, ROT= 1.4, -18.1 2025-10-27T06:07:03.828Z,1761545223.828 [DAT](INFO): got valid direction response: 06:07:02.5304 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.02, 1.122,-0.672, 1.210, 1.089, PHS= 0.135,-1.716, 0.077, RAW= 148.4, 16.3, CAL= 148.6, 18.1, ROT= 1.4, -18.1 2025-10-27T06:07:03.828Z,1761545223.828 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T06:07:03.829Z,1761545223.829 [DAT](INFO): direction in FSK: [0.950232,0.023223,0.310676] 2025-10-27T06:07:03.829Z,1761545223.829 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:03.837Z,1761545223.837 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.637566 2025-10-27T06:07:04.041Z,1761545224.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877579,0.473272,0.076605],[-0.479131,0.860107,0.175067],[0.016966,-0.190340,0.981572]] 2025-10-27T06:07:04.058Z,1761545224.058 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.858253 2025-10-27T06:07:04.157Z,1761545224.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.502938 s, deltaX: -0.400000 m, approachRate: -0.795326 m/s, rangeRepo size: 4 2025-10-27T06:07:04.165Z,1761545224.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.719556 m, bearing: 336.322566 deg, lat: 36.779420 deg, lon: -121.859796 deg, deltaT: 0.502938 s, deltaX: -0.398104 m, approachRate: -0.791556 m/s, posRepo size: 4 2025-10-27T06:07:04.172Z,1761545224.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-27T06:07:04.196Z,1761545224.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.719556 m, nav range: 12.030111 m, bearing: 336.318740 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.220817 deg, new cmd heading: 331.383088 deg. 2025-10-27T06:07:04.204Z,1761545224.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783726 target range: 12.719556 and range: 12.80 m. 2025-10-27T06:07:04.309Z,1761545224.309 [DAT](INFO): DAT read: Rx Time:06:07:03.0303 2025-10-27T06:07:04.309Z,1761545224.309 [DAT](INFO): Rx dataTimestamp_ set to:1761545224.308792 2025-10-27T06:07:04.310Z,1761545224.310 [DAT](INFO): DAT read: Bearing 155.7, -0.9 (Local) 2025-10-27T06:07:04.311Z,1761545224.311 [DAT](INFO): Local bearing/azimuth received: Bearing 155.7, -0.9 (Local) 2025-10-27T06:07:04.313Z,1761545224.313 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.5 2025-10-27T06:07:04.320Z,1761545224.320 [DAT](INFO): DAT read: 06:07:03.0303 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.21,-2.782, 1.705,-2.704,-2.817, PHS= 0.136,-1.716, 0.069, RAW= 148.2, 16.4, CAL= 148.3, 18.1, ROT= 1.7, -18.1 2025-10-27T06:07:04.322Z,1761545224.322 [DAT](INFO): got valid direction response: 06:07:03.0303 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.21,-2.782, 1.705,-2.704,-2.817, PHS= 0.136,-1.716, 0.069, RAW= 148.2, 16.4, CAL= 148.3, 18.1, ROT= 1.7, -18.1 2025-10-27T06:07:04.322Z,1761545224.322 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T06:07:04.325Z,1761545224.325 [DAT](INFO): direction in FSK: [0.950097,0.028198,0.310676] 2025-10-27T06:07:04.326Z,1761545224.326 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:04.334Z,1761545224.334 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.134251 2025-10-27T06:07:04.531Z,1761545224.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878089,0.472695,0.074288],[-0.478176,0.861172,0.172426],[0.017530,-0.186928,0.982217]] 2025-10-27T06:07:04.560Z,1761545224.560 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.360199 2025-10-27T06:07:04.620Z,1761545224.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503915 s, deltaX: -0.200000 m, approachRate: -0.396892 m/s, rangeRepo size: 4 2025-10-27T06:07:04.630Z,1761545224.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.520813 m, bearing: 336.617483 deg, lat: 36.779421 deg, lon: -121.859796 deg, deltaT: 0.503915 s, deltaX: -0.198743 m, approachRate: -0.394398 m/s, posRepo size: 4 2025-10-27T06:07:04.630Z,1761545224.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T06:07:04.637Z,1761545224.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.520813 m, nav range: 11.817354 m, bearing: 336.478377 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.383075 deg, new cmd heading: 331.525101 deg. 2025-10-27T06:07:04.638Z,1761545224.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786204 target range: 12.520813 and range: 12.60 m. 2025-10-27T06:07:04.814Z,1761545224.814 [DAT](INFO): DAT read: Rx Time:06:07:03.5300 2025-10-27T06:07:04.814Z,1761545224.814 [DAT](INFO): Rx dataTimestamp_ set to:1761545224.813962 2025-10-27T06:07:04.816Z,1761545224.816 [DAT](INFO): DAT read: Bearing 155.9, 0.0 (Local) 2025-10-27T06:07:04.816Z,1761545224.816 [DAT](INFO): Local bearing/azimuth received: Bearing 155.9, 0.0 (Local) 2025-10-27T06:07:04.818Z,1761545224.818 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 2025-10-27T06:07:04.824Z,1761545224.824 [DAT](INFO): DAT read: 06:07:03.5300 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.37,-0.328,-2.136,-0.278,-0.379, PHS= 0.152,-1.713, 0.057, RAW= 147.4, 16.3, CAL= 147.4, 18.0, ROT= 2.6, -18.0 2025-10-27T06:07:04.826Z,1761545224.826 [DAT](INFO): got valid direction response: 06:07:03.5300 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.37,-0.328,-2.136,-0.278,-0.379, PHS= 0.152,-1.713, 0.057, RAW= 147.4, 16.3, CAL= 147.4, 18.0, ROT= 2.6, -18.0 2025-10-27T06:07:04.827Z,1761545224.827 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T06:07:04.828Z,1761545224.828 [DAT](INFO): direction in FSK: [0.950077,0.043143,0.309017] 2025-10-27T06:07:04.829Z,1761545224.829 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:04.838Z,1761545224.838 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.637951 2025-10-27T06:07:05.034Z,1761545225.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878712,0.471742,0.072974],[-0.477015,0.862017,0.171418],[0.017961,-0.185437,0.982492]] 2025-10-27T06:07:05.067Z,1761545225.067 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.866642 2025-10-27T06:07:05.111Z,1761545225.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.505170 s, deltaX: -0.300000 m, approachRate: -0.593860 m/s, rangeRepo size: 4 2025-10-27T06:07:05.132Z,1761545225.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.222452 m, bearing: 337.529796 deg, lat: 36.779421 deg, lon: -121.859796 deg, deltaT: 0.505170 s, deltaX: -0.298361 m, approachRate: -0.590615 m/s, posRepo size: 4 2025-10-27T06:07:05.132Z,1761545225.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m. 2025-10-27T06:07:05.148Z,1761545225.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.222452 m, nav range: 11.628453 m, bearing: 336.719916 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.525088 deg, new cmd heading: 331.675842 deg. 2025-10-27T06:07:05.149Z,1761545225.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788836 target range: 12.222452 and range: 12.30 m. 2025-10-27T06:07:05.317Z,1761545225.317 [DAT](INFO): DAT read: Rx Time:06:07:04.0299 2025-10-27T06:07:05.317Z,1761545225.317 [DAT](INFO): Rx dataTimestamp_ set to:1761545225.316891 2025-10-27T06:07:05.318Z,1761545225.318 [DAT](INFO): DAT read: Bearing 156.9, -1.1 (Local) 2025-10-27T06:07:05.319Z,1761545225.319 [DAT](INFO): Local bearing/azimuth received: Bearing 156.9, -1.1 (Local) 2025-10-27T06:07:05.321Z,1761545225.321 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 2025-10-27T06:07:05.326Z,1761545225.326 [DAT](INFO): DAT read: 06:07:04.0299 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.10,-0.351,-2.133,-0.270,-0.358, PHS= 0.110,-1.730, 0.045, RAW= 148.2, 17.1, CAL= 148.4, 19.0, ROT= 1.6, -19.0 2025-10-27T06:07:05.327Z,1761545225.327 [DAT](INFO): got valid direction response: 06:07:04.0299 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.10,-0.351,-2.133,-0.270,-0.358, PHS= 0.110,-1.730, 0.045, RAW= 148.2, 17.1, CAL= 148.4, 19.0, ROT= 1.6, -19.0 2025-10-27T06:07:05.327Z,1761545225.327 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T06:07:05.328Z,1761545225.328 [DAT](INFO): direction in FSK: [0.945150,0.026400,0.325568] 2025-10-27T06:07:05.328Z,1761545225.328 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:05.332Z,1761545225.332 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.132523 2025-10-27T06:07:05.569Z,1761545225.569 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.368637 2025-10-27T06:07:05.645Z,1761545225.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880621,0.468705,0.069447],[-0.473479,0.864908,0.166587],[0.018015,-0.179581,0.983578]] 2025-10-27T06:07:05.779Z,1761545225.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.502929 s, deltaX: -0.100000 m, approachRate: -0.198836 m/s, rangeRepo size: 4 2025-10-27T06:07:05.781Z,1761545225.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.123082 m, bearing: 336.871867 deg, lat: 36.779422 deg, lon: -121.859796 deg, deltaT: 0.502929 s, deltaX: -0.099370 m, approachRate: -0.197583 m/s, posRepo size: 4 2025-10-27T06:07:05.782Z,1761545225.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m. 2025-10-27T06:07:05.785Z,1761545225.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.123082 m, nav range: 11.316133 m, bearing: 336.840091 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.675844 deg, new cmd heading: 331.887082 deg. 2025-10-27T06:07:05.786Z,1761545225.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792522 target range: 12.123082 and range: 12.20 m. 2025-10-27T06:07:05.822Z,1761545225.822 [DAT](INFO): DAT read: Rx Time:06:07:04.5296 2025-10-27T06:07:05.822Z,1761545225.822 [DAT](INFO): Rx dataTimestamp_ set to:1761545225.822161 2025-10-27T06:07:05.824Z,1761545225.824 [DAT](INFO): DAT read: Bearing 156.2, -0.9 (Local) 2025-10-27T06:07:05.824Z,1761545225.824 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -0.9 (Local) 2025-10-27T06:07:05.826Z,1761545225.826 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 2025-10-27T06:07:05.831Z,1761545225.831 [DAT](INFO): DAT read: 06:07:04.5296 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.13,-0.997,-2.797,-0.913,-1.035, PHS= 0.140,-1.717, 0.078, RAW= 148.3, 16.2, CAL= 148.5, 17.9, ROT= 1.5, -17.9 2025-10-27T06:07:05.832Z,1761545225.832 [DAT](INFO): got valid direction response: 06:07:04.5296 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.13,-0.997,-2.797,-0.913,-1.035, PHS= 0.140,-1.717, 0.078, RAW= 148.3, 16.2, CAL= 148.5, 17.9, ROT= 1.5, -17.9 2025-10-27T06:07:05.833Z,1761545225.833 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T06:07:05.834Z,1761545225.834 [DAT](INFO): direction in FSK: [0.951268,0.024910,0.307357] 2025-10-27T06:07:05.834Z,1761545225.834 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:05.838Z,1761545225.838 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.637810 2025-10-27T06:07:06.076Z,1761545226.076 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.875744 2025-10-27T06:07:06.237Z,1761545226.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881829,0.466603,0.068258],[-0.471238,0.866505,0.164635],[0.017673,-0.177346,0.983990]] 2025-10-27T06:07:06.289Z,1761545226.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.505270 s, deltaX: -0.500000 m, approachRate: -0.989570 m/s, rangeRepo size: 4 2025-10-27T06:07:06.291Z,1761545226.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.626178 m, bearing: 336.656884 deg, lat: 36.779422 deg, lon: -121.859796 deg, deltaT: 0.505270 s, deltaX: -0.496904 m, approachRate: -0.983443 m/s, posRepo size: 4 2025-10-27T06:07:06.292Z,1761545226.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-27T06:07:06.311Z,1761545226.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.626178 m, nav range: 11.032773 m, bearing: 336.683289 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 331.887088 deg, new cmd heading: 332.045581 deg. 2025-10-27T06:07:06.312Z,1761545226.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795289 target range: 11.626178 and range: 11.70 m. 2025-10-27T06:07:06.325Z,1761545226.325 [DAT](INFO): DAT read: Rx Time:06:07:05.0295 2025-10-27T06:07:06.325Z,1761545226.325 [DAT](INFO): Rx dataTimestamp_ set to:1761545226.324815 2025-10-27T06:07:06.326Z,1761545226.326 [DAT](INFO): DAT read: Bearing 156.2, -1.2 (Local) 2025-10-27T06:07:06.327Z,1761545226.327 [DAT](INFO): Local bearing/azimuth received: Bearing 156.2, -1.2 (Local) 2025-10-27T06:07:06.329Z,1761545226.329 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 2025-10-27T06:07:06.333Z,1761545226.333 [DAT](INFO): DAT read: 06:07:05.0295 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 506, 0.46,-0.367,-2.165,-0.269,-0.403, PHS= 0.139,-1.717, 0.090, RAW= 148.7, 16.0, CAL= 148.9, 17.8, ROT= 1.1, -17.8 2025-10-27T06:07:06.335Z,1761545226.335 [DAT](INFO): got valid direction response: 06:07:05.0295 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 506, 0.46,-0.367,-2.165,-0.269,-0.403, PHS= 0.139,-1.717, 0.090, RAW= 148.7, 16.0, CAL= 148.9, 17.8, ROT= 1.1, -17.8 2025-10-27T06:07:06.335Z,1761545226.335 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T06:07:06.336Z,1761545226.336 [DAT](INFO): direction in FSK: [0.951954,0.018278,0.305695] 2025-10-27T06:07:06.336Z,1761545226.336 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:06.356Z,1761545226.356 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.156128 2025-10-27T06:07:06.576Z,1761545226.576 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.376141 2025-10-27T06:07:06.759Z,1761545226.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884384,0.462074,0.065968],[-0.466486,0.870154,0.158817],[0.015983,-0.171229,0.985102]] 2025-10-27T06:07:06.803Z,1761545226.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.502654 s, deltaX: -0.099999 m, approachRate: -0.198943 m/s, rangeRepo size: 4 2025-10-27T06:07:06.805Z,1761545226.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.526810 m, bearing: 336.438497 deg, lat: 36.779422 deg, lon: -121.859796 deg, deltaT: 0.502654 s, deltaX: -0.099368 m, approachRate: -0.197687 m/s, posRepo size: 4 2025-10-27T06:07:06.806Z,1761545226.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-27T06:07:06.809Z,1761545226.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.526810 m, nav range: 10.807446 m, bearing: 336.652290 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.045576 deg, new cmd heading: 332.205166 deg. 2025-10-27T06:07:06.810Z,1761545226.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798074 target range: 11.526810 and range: 11.60 m. 2025-10-27T06:07:06.829Z,1761545226.829 [DAT](INFO): DAT read: Rx Time:06:07:05.5293 2025-10-27T06:07:06.829Z,1761545226.829 [DAT](INFO): Rx dataTimestamp_ set to:1761545226.828803 2025-10-27T06:07:06.830Z,1761545226.830 [DAT](INFO): DAT read: Bearing 156.3, -1.2 (Local) 2025-10-27T06:07:06.831Z,1761545226.831 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, -1.2 (Local) 2025-10-27T06:07:06.833Z,1761545226.833 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4 2025-10-27T06:07:06.837Z,1761545226.837 [DAT](INFO): DAT read: 06:07:05.5293 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.09, 2.775, 0.972, 2.873, 2.736, PHS= 0.141,-1.719, 0.093, RAW= 148.7, 16.0, CAL= 148.9, 17.7, ROT= 1.1, -17.7 2025-10-27T06:07:06.839Z,1761545226.839 [DAT](INFO): got valid direction response: 06:07:05.5293 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.09, 2.775, 0.972, 2.873, 2.736, PHS= 0.141,-1.719, 0.093, RAW= 148.7, 16.0, CAL= 148.9, 17.7, ROT= 1.1, -17.7 2025-10-27T06:07:06.839Z,1761545226.839 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T06:07:06.840Z,1761545226.840 [DAT](INFO): direction in FSK: [0.952486,0.018289,0.304033] 2025-10-27T06:07:06.840Z,1761545226.840 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:06.851Z,1761545226.851 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.650970 2025-10-27T06:07:07.084Z,1761545227.084 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.884190 2025-10-27T06:07:07.237Z,1761545227.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885814,0.459346,0.065841],[-0.463799,0.871825,0.157519],[0.014954,-0.170070,0.985319]] 2025-10-27T06:07:07.279Z,1761545227.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503988 s, deltaX: -0.300000 m, approachRate: -0.595253 m/s, rangeRepo size: 4 2025-10-27T06:07:07.281Z,1761545227.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.228702 m, bearing: 336.571445 deg, lat: 36.779423 deg, lon: -121.859797 deg, deltaT: 0.503988 s, deltaX: -0.298108 m, approachRate: -0.591498 m/s, posRepo size: 4 2025-10-27T06:07:07.282Z,1761545227.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m. 2025-10-27T06:07:07.285Z,1761545227.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.228702 m, nav range: 10.671055 m, bearing: 336.595105 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.205156 deg, new cmd heading: 332.353123 deg. 2025-10-27T06:07:07.286Z,1761545227.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800656 target range: 11.228702 and range: 11.30 m. 2025-10-27T06:07:07.336Z,1761545227.336 [DAT](INFO): DAT read: Rx Time:06:07:06.0292 2025-10-27T06:07:07.336Z,1761545227.336 [DAT](INFO): Rx dataTimestamp_ set to:1761545227.335838 2025-10-27T06:07:07.337Z,1761545227.337 [DAT](INFO): DAT read: Bearing 156.9, -1.8 (Local) 2025-10-27T06:07:07.338Z,1761545227.338 [DAT](INFO): Local bearing/azimuth received: Bearing 156.9, -1.8 (Local) 2025-10-27T06:07:07.340Z,1761545227.340 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 2025-10-27T06:07:07.345Z,1761545227.345 [DAT](INFO): DAT read: 06:07:06.0292 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.24,-0.578,-2.371,-0.461,-0.593, PHS= 0.117,-1.732, 0.088, RAW= 149.2, 16.4, CAL= 149.5, 18.3, ROT= 0.5, -18.3 2025-10-27T06:07:07.346Z,1761545227.346 [DAT](INFO): got valid direction response: 06:07:06.0292 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.24,-0.578,-2.371,-0.461,-0.593, PHS= 0.117,-1.732, 0.088, RAW= 149.2, 16.4, CAL= 149.5, 18.3, ROT= 0.5, -18.3 2025-10-27T06:07:07.351Z,1761545227.351 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T06:07:07.353Z,1761545227.353 [DAT](INFO): direction in FSK: [0.949389,0.008285,0.313992] 2025-10-27T06:07:07.353Z,1761545227.353 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:07.387Z,1761545227.387 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.163017 2025-10-27T06:07:07.584Z,1761545227.584 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.384167 2025-10-27T06:07:07.626Z,1761545227.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887120,0.456778,0.066126],[-0.461334,0.873300,0.156583],[0.013776,-0.169414,0.985449]] 2025-10-27T06:07:07.678Z,1761545227.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.507035 s, deltaX: -0.200000 m, approachRate: -0.394450 m/s, rangeRepo size: 4 2025-10-27T06:07:07.705Z,1761545227.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.029964 m, bearing: 336.239129 deg, lat: 36.779423 deg, lon: -121.859797 deg, deltaT: 0.507035 s, deltaX: -0.198737 m, approachRate: -0.391959 m/s, posRepo size: 4 2025-10-27T06:07:07.712Z,1761545227.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:07:07.730Z,1761545227.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.029964 m, nav range: 10.491142 m, bearing: 336.443258 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.353125 deg, new cmd heading: 332.476018 deg. 2025-10-27T06:07:07.736Z,1761545227.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802801 target range: 11.029964 and range: 11.10 m. 2025-10-27T06:07:07.837Z,1761545227.837 [DAT](INFO): DAT read: Rx Time:06:07:06.5291 2025-10-27T06:07:07.838Z,1761545227.838 [DAT](INFO): Rx dataTimestamp_ set to:1761545227.837396 2025-10-27T06:07:07.839Z,1761545227.839 [DAT](INFO): DAT read: Bearing 156.1, -2.0 (Local) 2025-10-27T06:07:07.839Z,1761545227.839 [DAT](INFO): Local bearing/azimuth received: Bearing 156.1, -2.0 (Local) 2025-10-27T06:07:07.841Z,1761545227.841 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.4 2025-10-27T06:07:07.847Z,1761545227.847 [DAT](INFO): DAT read: 06:07:06.5291 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.13, 2.157, 0.346, 2.285, 2.120, PHS= 0.139,-1.729, 0.121, RAW= 149.5, 15.6, CAL= 149.8, 17.4, ROT= 0.2, -17.4 2025-10-27T06:07:07.848Z,1761545227.848 [DAT](INFO): got valid direction response: 06:07:06.5291 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501,-0.13, 2.157, 0.346, 2.285, 2.120, PHS= 0.139,-1.729, 0.121, RAW= 149.5, 15.6, CAL= 149.8, 17.4, ROT= 0.2, -17.4 2025-10-27T06:07:07.848Z,1761545227.848 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T06:07:07.849Z,1761545227.849 [DAT](INFO): direction in FSK: [0.954235,0.003331,0.299041] 2025-10-27T06:07:07.849Z,1761545227.849 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:07.862Z,1761545227.862 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.662361 2025-10-27T06:07:08.088Z,1761545228.088 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.888050 2025-10-27T06:07:08.172Z,1761545228.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.501558 s, deltaX: -0.300000 m, approachRate: -0.598137 m/s, rangeRepo size: 4 2025-10-27T06:07:08.196Z,1761545228.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.731868 m, bearing: 335.773914 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.501558 s, deltaX: -0.298097 m, approachRate: -0.594341 m/s, posRepo size: 4 2025-10-27T06:07:08.204Z,1761545228.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m. 2025-10-27T06:07:08.231Z,1761545228.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.731868 m, nav range: 10.249736 m, bearing: 336.091105 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.476014 deg, new cmd heading: 332.626765 deg. 2025-10-27T06:07:08.232Z,1761545228.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805432 target range: 10.731868 and range: 10.80 m. 2025-10-27T06:07:08.341Z,1761545228.341 [DAT](INFO): DAT read: Rx Time:06:07:07.0289 2025-10-27T06:07:08.341Z,1761545228.341 [DAT](INFO): Rx dataTimestamp_ set to:1761545228.340849 2025-10-27T06:07:08.342Z,1761545228.342 [DAT](INFO): DAT read: Bearing 155.2, -2.0 (Local) 2025-10-27T06:07:08.343Z,1761545228.343 [DAT](INFO): Local bearing/azimuth received: Bearing 155.2, -2.0 (Local) 2025-10-27T06:07:08.350Z,1761545228.350 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 2025-10-27T06:07:08.354Z,1761545228.354 [DAT](INFO): DAT read: 06:07:07.0289 LVL= 32576, 32753, 32754, 32755, AGC= 56, IDX= 499, 0.28,-2.511, 1.953,-2.374,-2.573, PHS= 0.164,-1.712, 0.155, RAW= 149.7, 14.7, CAL= 149.9, 16.4, ROT= 0.1, -16.4 2025-10-27T06:07:08.356Z,1761545228.356 [DAT](INFO): got valid direction response: 06:07:07.0289 LVL= 32576, 32753, 32754, 32755, AGC= 56, IDX= 499, 0.28,-2.511, 1.953,-2.374,-2.573, PHS= 0.164,-1.712, 0.155, RAW= 149.7, 14.7, CAL= 149.9, 16.4, ROT= 0.1, -16.4 2025-10-27T06:07:08.357Z,1761545228.357 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T06:07:08.358Z,1761545228.358 [DAT](INFO): direction in FSK: [0.959313,0.001674,0.282341] 2025-10-27T06:07:08.358Z,1761545228.358 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:08.362Z,1761545228.362 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.161968 2025-10-27T06:07:08.541Z,1761545228.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889957,0.450965,0.067880],[-0.455911,0.876184,0.156355],[0.011036,-0.170096,0.985366]] 2025-10-27T06:07:08.593Z,1761545228.593 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.393211 2025-10-27T06:07:08.646Z,1761545228.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503453 s, deltaX: -0.300000 m, approachRate: -0.595885 m/s, rangeRepo size: 4 2025-10-27T06:07:08.652Z,1761545228.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.433761 m, bearing: 335.848717 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.503453 s, deltaX: -0.298107 m, approachRate: -0.592125 m/s, posRepo size: 4 2025-10-27T06:07:08.653Z,1761545228.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m. 2025-10-27T06:07:08.676Z,1761545228.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.433761 m, nav range: 10.015718 m, bearing: 335.845935 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.626770 deg, new cmd heading: 332.777921 deg. 2025-10-27T06:07:08.685Z,1761545228.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808070 target range: 10.433761 and range: 10.50 m. 2025-10-27T06:07:08.845Z,1761545228.845 [DAT](INFO): DAT read: Rx Time:06:07:07.5287 2025-10-27T06:07:08.845Z,1761545228.845 [DAT](INFO): Rx dataTimestamp_ set to:1761545228.845026 2025-10-27T06:07:08.847Z,1761545228.847 [DAT](INFO): DAT read: Bearing 155.0, -1.8 (Local) 2025-10-27T06:07:08.847Z,1761545228.847 [DAT](INFO): Local bearing/azimuth received: Bearing 155.0, -1.8 (Local) 2025-10-27T06:07:08.849Z,1761545228.849 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 2025-10-27T06:07:08.854Z,1761545228.854 [DAT](INFO): DAT read: 06:07:07.5287 LVL= 29360, 32753, 32754, 32755, AGC= 55, IDX= 497,-0.09, 1.179,-0.639, 1.310, 1.106, PHS= 0.175,-1.701, 0.160, RAW= 149.6, 14.5, CAL= 149.7, 16.1, ROT= 0.3, -16.1 2025-10-27T06:07:08.855Z,1761545228.855 [DAT](INFO): got valid direction response: 06:07:07.5287 LVL= 29360, 32753, 32754, 32755, AGC= 55, IDX= 497,-0.09, 1.179,-0.639, 1.310, 1.106, PHS= 0.175,-1.701, 0.160, RAW= 149.6, 14.5, CAL= 149.7, 16.1, ROT= 0.3, -16.1 2025-10-27T06:07:08.856Z,1761545228.856 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T06:07:08.856Z,1761545228.856 [DAT](INFO): direction in FSK: [0.960766,0.005031,0.277315] 2025-10-27T06:07:08.857Z,1761545228.857 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:08.861Z,1761545228.861 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.660744 2025-10-27T06:07:09.015Z,1761545229.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891233,0.448372,0.068310],[-0.453439,0.877591,0.155651],[0.009841,-0.169696,0.985447]] 2025-10-27T06:07:09.098Z,1761545229.098 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.897614 2025-10-27T06:07:09.219Z,1761545229.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504177 s, deltaX: -0.300000 m, approachRate: -0.595030 m/s, rangeRepo size: 4 2025-10-27T06:07:09.221Z,1761545229.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.135682 m, bearing: 336.142027 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.504177 s, deltaX: -0.298079 m, approachRate: -0.591218 m/s, posRepo size: 4 2025-10-27T06:07:09.222Z,1761545229.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-27T06:07:09.229Z,1761545229.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.135682 m, nav range: 9.765219 m, bearing: 335.609752 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.777909 deg, new cmd heading: 332.951223 deg. 2025-10-27T06:07:09.230Z,1761545229.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811095 target range: 10.135682 and range: 10.20 m. 2025-10-27T06:07:09.349Z,1761545229.349 [DAT](INFO): DAT read: Rx Time:06:07:08.0286 2025-10-27T06:07:09.349Z,1761545229.349 [DAT](INFO): Rx dataTimestamp_ set to:1761545229.348769 2025-10-27T06:07:09.350Z,1761545229.350 [DAT](INFO): DAT read: Bearing 155.4, -3.5 (Local) 2025-10-27T06:07:09.351Z,1761545229.351 [DAT](INFO): Local bearing/azimuth received: Bearing 155.4, -3.5 (Local) 2025-10-27T06:07:09.353Z,1761545229.353 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 2025-10-27T06:07:09.357Z,1761545229.357 [DAT](INFO): DAT read: 06:07:08.0286 LVL= 24464, 32753, 31602, 32755, AGC= 54, IDX= 512, 0.44,-2.249, 1.969,-2.057,-2.300, PHS= 0.153,-1.970, 0.199, RAW= 151.1, 14.9, CAL= 151.4, 16.7, ROT= 358.6, -16.7 2025-10-27T06:07:09.359Z,1761545229.359 [DAT](INFO): got valid direction response: 06:07:08.0286 LVL= 24464, 32753, 31602, 32755, AGC= 54, IDX= 512, 0.44,-2.249, 1.969,-2.057,-2.300, PHS= 0.153,-1.970, 0.199, RAW= 151.1, 14.9, CAL= 151.4, 16.7, ROT= 358.6, -16.7 2025-10-27T06:07:09.359Z,1761545229.359 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T06:07:09.360Z,1761545229.360 [DAT](INFO): direction in FSK: [0.957537,-0.023401,0.287361] 2025-10-27T06:07:09.360Z,1761545229.360 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:09.364Z,1761545229.364 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.164291 2025-10-27T06:07:09.527Z,1761545229.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892334,0.445974,0.069627],[-0.451289,0.878456,0.157010],[0.008858,-0.171528,0.985140]] 2025-10-27T06:07:09.601Z,1761545229.601 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.401394 2025-10-27T06:07:09.642Z,1761545229.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503743 s, deltaX: -0.099999 m, approachRate: -0.198513 m/s, rangeRepo size: 4 2025-10-27T06:07:09.653Z,1761545229.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.036313 m, bearing: 334.746233 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.503743 s, deltaX: -0.099369 m, approachRate: -0.197261 m/s, posRepo size: 4 2025-10-27T06:07:09.654Z,1761545229.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m. 2025-10-27T06:07:09.682Z,1761545229.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.036313 m, nav range: 9.534565 m, bearing: 335.242269 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 332.951231 deg, new cmd heading: 333.087613 deg. 2025-10-27T06:07:09.690Z,1761545229.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813476 target range: 10.036313 and range: 10.10 m. 2025-10-27T06:07:09.853Z,1761545229.853 [DAT](INFO): DAT read: Rx Time:06:07:08.5284 2025-10-27T06:07:09.853Z,1761545229.853 [DAT](INFO): Rx dataTimestamp_ set to:1761545229.853207 2025-10-27T06:07:09.855Z,1761545229.855 [DAT](INFO): DAT read: Bearing 153.5, -2.7 (Local) 2025-10-27T06:07:09.855Z,1761545229.855 [DAT](INFO): Local bearing/azimuth received: Bearing 153.5, -2.7 (Local) 2025-10-27T06:07:09.857Z,1761545229.857 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 2025-10-27T06:07:09.862Z,1761545229.862 [DAT](INFO): DAT read: 06:07:08.5284 LVL= 26272, 32753, 32434, 32755, AGC= 55, IDX= 510, 0.01, 2.804, 1.010, 2.979, 2.709, PHS= 0.197,-1.655, 0.225, RAW= 150.8, 13.1, CAL= 150.8, 14.6, ROT= 359.2, -14.6 2025-10-27T06:07:09.863Z,1761545229.863 [DAT](INFO): got valid direction response: 06:07:08.5284 LVL= 26272, 32753, 32434, 32755, AGC= 55, IDX= 510, 0.01, 2.804, 1.010, 2.979, 2.709, PHS= 0.197,-1.655, 0.225, RAW= 150.8, 13.1, CAL= 150.8, 14.6, ROT= 359.2, -14.6 2025-10-27T06:07:09.864Z,1761545229.864 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T06:07:09.865Z,1761545229.865 [DAT](INFO): direction in FSK: [0.967615,-0.013511,0.252069] 2025-10-27T06:07:09.865Z,1761545229.865 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:09.869Z,1761545229.869 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.669075 2025-10-27T06:07:10.040Z,1761545230.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894748,0.440765,0.071785],[-0.446533,0.880903,0.156905],[0.005923,-0.172444,0.985001]] 2025-10-27T06:07:10.105Z,1761545230.105 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.904709 2025-10-27T06:07:10.168Z,1761545230.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504438 s, deltaX: -0.300000 m, approachRate: -0.594722 m/s, rangeRepo size: 4 2025-10-27T06:07:10.195Z,1761545230.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.738199 m, bearing: 335.266120 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.504438 s, deltaX: -0.298114 m, approachRate: -0.590982 m/s, posRepo size: 4 2025-10-27T06:07:10.198Z,1761545230.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m. 2025-10-27T06:07:10.202Z,1761545230.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m. 2025-10-27T06:07:10.203Z,1761545230.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T06:07:10.221Z,1761545230.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 9.312848 m, bearing: 334.982574 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.087617 deg, new cmd heading: 333.240677 deg. 2025-10-27T06:07:10.222Z,1761545230.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816147 target range: 9.738199 and range: 9.80 m. 2025-10-27T06:07:10.357Z,1761545230.357 [DAT](INFO): DAT read: Rx Time:06:07:09.0283 2025-10-27T06:07:10.357Z,1761545230.357 [DAT](INFO): Rx dataTimestamp_ set to:1761545230.356797 2025-10-27T06:07:10.358Z,1761545230.358 [DAT](INFO): DAT read: Bearing 152.8, -3.2 (Local) 2025-10-27T06:07:10.359Z,1761545230.359 [DAT](INFO): Local bearing/azimuth received: Bearing 152.8, -3.2 (Local) 2025-10-27T06:07:10.361Z,1761545230.361 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 2025-10-27T06:07:10.365Z,1761545230.365 [DAT](INFO): DAT read: 06:07:09.0283 LVL= 25952, 32753, 31394, 32755, AGC= 55, IDX= 510,-0.35,-3.078, 1.434,-2.880, 3.102, PHS= 0.205,-1.623, 0.257, RAW= 151.4, 12.5, CAL= 151.4, 13.8, ROT= 358.6, -13.8 2025-10-27T06:07:10.367Z,1761545230.367 [DAT](INFO): got valid direction response: 06:07:09.0283 LVL= 25952, 32753, 31394, 32755, AGC= 55, IDX= 510,-0.35,-3.078, 1.434,-2.880, 3.102, PHS= 0.205,-1.623, 0.257, RAW= 151.4, 12.5, CAL= 151.4, 13.8, ROT= 358.6, -13.8 2025-10-27T06:07:10.367Z,1761545230.367 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T06:07:10.368Z,1761545230.368 [DAT](INFO): direction in FSK: [0.970844,-0.023727,0.238533] 2025-10-27T06:07:10.368Z,1761545230.368 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:10.372Z,1761545230.372 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.172272 2025-10-27T06:07:10.519Z,1761545230.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895747,0.438549,0.072879],[-0.444537,0.881798,0.157538],[0.004824,-0.173512,0.984820]] 2025-10-27T06:07:10.583Z,1761545230.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503590 s, deltaX: -0.200000 m, approachRate: -0.397148 m/s, rangeRepo size: 4 2025-10-27T06:07:10.585Z,1761545230.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.539460 m, bearing: 334.670665 deg, lat: 36.779422 deg, lon: -121.859797 deg, deltaT: 0.503590 s, deltaX: -0.198739 m, approachRate: -0.394645 m/s, posRepo size: 4 2025-10-27T06:07:10.586Z,1761545230.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.74 m. 2025-10-27T06:07:10.593Z,1761545230.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 9.098558 m, bearing: 334.718423 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.240668 deg, new cmd heading: 333.379818 deg. 2025-10-27T06:07:10.610Z,1761545230.610 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.409824 2025-10-27T06:07:10.616Z,1761545230.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818575 target range: 9.738199 and range: 9.60 m. 2025-10-27T06:07:10.861Z,1761545230.861 [DAT](INFO): DAT read: Rx Time:06:07:09.5281 2025-10-27T06:07:10.861Z,1761545230.861 [DAT](INFO): Rx dataTimestamp_ set to:1761545230.860756 2025-10-27T06:07:10.862Z,1761545230.862 [DAT](INFO): DAT read: Bearing 149.2, -3.8 (Local) 2025-10-27T06:07:10.863Z,1761545230.863 [DAT](INFO): Local bearing/azimuth received: Bearing 149.2, -3.8 (Local) 2025-10-27T06:07:10.865Z,1761545230.865 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 2025-10-27T06:07:10.869Z,1761545230.869 [DAT](INFO): DAT read: 06:07:09.5281 LVL= 24640, 32753, 24226, 32755, AGC= 53, IDX= 507, 0.19,-2.253, 2.280,-2.003,-2.424, PHS= 0.273,-1.534, 0.378, RAW= 152.8, 9.5, CAL= 152.5, 10.3, ROT= 357.5, -10.3 2025-10-27T06:07:10.870Z,1761545230.870 [DAT](INFO): got valid direction response: 06:07:09.5281 LVL= 24640, 32753, 24226, 32755, AGC= 53, IDX= 507, 0.19,-2.253, 2.280,-2.003,-2.424, PHS= 0.273,-1.534, 0.378, RAW= 152.8, 9.5, CAL= 152.5, 10.3, ROT= 357.5, -10.3 2025-10-27T06:07:10.871Z,1761545230.871 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T06:07:10.872Z,1761545230.872 [DAT](INFO): direction in FSK: [0.982949,-0.042917,0.178802] 2025-10-27T06:07:10.873Z,1761545230.873 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:10.876Z,1761545230.876 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:07:10.876Z,1761545230.876 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:07:10.876Z,1761545230.876 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:10.952Z,1761545230.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896614,0.436630,0.073735],[-0.442796,0.882627,0.157801],[0.003820,-0.174136,0.984714]] 2025-10-27T06:07:10.989Z,1761545230.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503959 s, deltaX: -0.300000 m, approachRate: -0.595287 m/s, rangeRepo size: 4 2025-10-27T06:07:11.007Z,1761545231.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.241352 m, bearing: 333.068498 deg, lat: 36.779422 deg, lon: -121.859798 deg, deltaT: 1.007549 s, deltaX: -0.496847 m, approachRate: -0.493125 m/s, posRepo size: 4 2025-10-27T06:07:11.008Z,1761545231.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.74 m. 2025-10-27T06:07:11.012Z,1761545231.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 8.924417 m, bearing: 334.492012 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.379812 deg, new cmd heading: 333.506042 deg. 2025-10-27T06:07:11.013Z,1761545231.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820778 target range: 9.738199 and range: 9.30 m. 2025-10-27T06:07:11.113Z,1761545231.113 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:11.344Z,1761545231.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897375,0.434981,0.074222],[-0.441257,0.883357,0.158026],[0.003173,-0.174560,0.984641]] 2025-10-27T06:07:11.365Z,1761545231.365 [DAT](INFO): DAT read: Rx Time:06:07:10.0281 2025-10-27T06:07:11.365Z,1761545231.365 [DAT](INFO): Rx dataTimestamp_ set to:1761545231.364789 2025-10-27T06:07:11.366Z,1761545231.366 [DAT](INFO): DAT read: Bearing 149.6, -5.0 (Local) 2025-10-27T06:07:11.367Z,1761545231.367 [DAT](INFO): Local bearing/azimuth received: Bearing 149.6, -5.0 (Local) 2025-10-27T06:07:11.369Z,1761545231.369 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 2025-10-27T06:07:11.373Z,1761545231.373 [DAT](INFO): DAT read: 06:07:10.0281 LVL= 21488, 32753, 26226, 32755, AGC= 54, IDX= 507,-0.13,-2.676, 1.876,-2.389,-2.814, PHS= 0.240,-1.548, 0.382, RAW= 153.8, 10.0, CAL= 153.6, 10.8, ROT= 356.4, -10.8 2025-10-27T06:07:11.375Z,1761545231.375 [DAT](INFO): got valid direction response: 06:07:10.0281 LVL= 21488, 32753, 26226, 32755, AGC= 54, IDX= 507,-0.13,-2.676, 1.876,-2.389,-2.814, PHS= 0.240,-1.548, 0.382, RAW= 153.8, 10.0, CAL= 153.6, 10.8, ROT= 356.4, -10.8 2025-10-27T06:07:11.376Z,1761545231.376 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:11.377Z,1761545231.377 [DAT](INFO): direction in FSK: [0.980349,-0.061679,0.187381] 2025-10-27T06:07:11.377Z,1761545231.377 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:11.381Z,1761545231.381 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:11.381Z,1761545231.381 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:11.471Z,1761545231.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504033 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:11.489Z,1761545231.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.241365 m, bearing: 332.177436 deg, lat: 36.779423 deg, lon: -121.859798 deg, deltaT: 1.511582 s, deltaX: -0.496834 m, approachRate: -0.328685 m/s, posRepo size: 4 2025-10-27T06:07:11.490Z,1761545231.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.74 m. 2025-10-27T06:07:11.497Z,1761545231.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 8.698395 m, bearing: 334.311781 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.506034 deg, new cmd heading: 333.655654 deg. 2025-10-27T06:07:11.498Z,1761545231.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823390 target range: 9.738199 and range: 9.30 m. 2025-10-27T06:07:11.617Z,1761545231.617 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:11.783Z,1761545231.783 [GFScanner](IMPORTANT): Beginning ground fault scan 2025-10-27T06:07:11.800Z,1761545231.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897956,0.433656,0.074949],[-0.440078,0.883877,0.158407],[0.002448,-0.175226,0.984525]] 2025-10-27T06:07:11.817Z,1761545231.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:11.820Z,1761545231.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:11.822Z,1761545231.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 8.520288 m, bearing: 334.161434 deg, approach rate: -0.509310 m/s, LOS rate: -0.438916 deg/s, cmd heading: 333.655643 deg, new cmd heading: 333.195185 deg. 2025-10-27T06:07:11.824Z,1761545231.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815353 target range: 9.738199 and range: 9.30 m. 2025-10-27T06:07:11.869Z,1761545231.869 [DAT](INFO): DAT read: Rx Time:06:07:10.5278 2025-10-27T06:07:11.869Z,1761545231.869 [DAT](INFO): Rx dataTimestamp_ set to:1761545231.868975 2025-10-27T06:07:11.871Z,1761545231.871 [DAT](INFO): DAT read: Bearing 149.0, -6.2 (Local) 2025-10-27T06:07:11.871Z,1761545231.871 [DAT](INFO): Local bearing/azimuth received: Bearing 149.0, -6.2 (Local) 2025-10-27T06:07:11.873Z,1761545231.873 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-27T06:07:11.879Z,1761545231.879 [DAT](INFO): DAT read: 06:07:10.5278 LVL= 23376, 32753, 26290, 32755, AGC= 54, IDX= 504, 0.34,-2.220, 2.346,-1.882,-2.347, PHS= 0.229,-1.545, 0.421, RAW= 155.1, 9.6, CAL= 154.8, 10.3, ROT= 355.2, -10.3 2025-10-27T06:07:11.880Z,1761545231.880 [DAT](INFO): got valid direction response: 06:07:10.5278 LVL= 23376, 32753, 26290, 32755, AGC= 54, IDX= 504, 0.34,-2.220, 2.346,-1.882,-2.347, PHS= 0.229,-1.545, 0.421, RAW= 155.1, 9.6, CAL= 154.8, 10.3, ROT= 355.2, -10.3 2025-10-27T06:07:11.881Z,1761545231.881 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:11.882Z,1761545231.882 [DAT](INFO): direction in FSK: [0.980434,-0.082329,0.178802] 2025-10-27T06:07:11.891Z,1761545231.891 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:11.901Z,1761545231.901 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:11.902Z,1761545231.902 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:12.066Z,1761545232.066 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-27T06:07:12.068Z,1761545232.068 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-27T06:07:12.120Z,1761545232.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:12.236Z,1761545232.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898444,0.432574,0.075350],[-0.439085,0.884477,0.157812],[0.001620,-0.174870,0.984590]] 2025-10-27T06:07:12.284Z,1761545232.284 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:12.294Z,1761545232.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504186 s, deltaX: -0.400001 m, approachRate: -0.793359 m/s, rangeRepo size: 4 2025-10-27T06:07:12.300Z,1761545232.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.900000 m, bearing: 331.046132 deg, lat: 36.779423 deg, lon: -121.859800 deg, deltaT: 2.015768 s, deltaX: -0.838200 m, approachRate: -0.415821 m/s, posRepo size: 4 2025-10-27T06:07:12.301Z,1761545232.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.90 m. 9.74 m. 2025-10-27T06:07:12.308Z,1761545232.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 8.294197 m, bearing: 334.031719 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.195179 deg, new cmd heading: 333.342394 deg. 2025-10-27T06:07:12.309Z,1761545232.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817922 target range: 9.738199 and range: 8.90 m. 2025-10-27T06:07:12.374Z,1761545232.374 [DAT](INFO): DAT read: Rx Time:06:07:11.0277 2025-10-27T06:07:12.374Z,1761545232.374 [DAT](INFO): Rx dataTimestamp_ set to:1761545232.373791 2025-10-27T06:07:12.376Z,1761545232.376 [DAT](INFO): DAT read: Bearing 148.9, -7.2 (Local) 2025-10-27T06:07:12.377Z,1761545232.377 [DAT](INFO): Local bearing/azimuth received: Bearing 148.9, -7.2 (Local) 2025-10-27T06:07:12.379Z,1761545232.379 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 2025-10-27T06:07:12.384Z,1761545232.384 [DAT](INFO): DAT read: 06:07:11.0277 LVL= 22368, 32753, 26098, 32755, AGC= 54, IDX= 503,-0.03, 2.723, 1.024, 3.097, 2.616, PHS= 0.208,-1.547, 0.437, RAW= 156.0, 9.6, CAL= 155.8, 10.4, ROT= 354.2, -10.4 2025-10-27T06:07:12.385Z,1761545232.385 [DAT](INFO): got valid direction response: 06:07:11.0277 LVL= 22368, 32753, 26098, 32755, AGC= 54, IDX= 503,-0.03, 2.723, 1.024, 3.097, 2.616, PHS= 0.208,-1.547, 0.437, RAW= 156.0, 9.6, CAL= 155.8, 10.4, ROT= 354.2, -10.4 2025-10-27T06:07:12.385Z,1761545232.385 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:12.386Z,1761545232.386 [DAT](INFO): direction in FSK: [0.978536,-0.099396,0.180519] 2025-10-27T06:07:12.387Z,1761545232.387 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:12.390Z,1761545232.390 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:12.392Z,1761545232.392 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:12.624Z,1761545232.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:12.625Z,1761545232.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898778,0.431670,0.076537],[-0.438402,0.884669,0.158633],[0.000767,-0.176130,0.984367]] 2025-10-27T06:07:12.651Z,1761545232.651 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:12.666Z,1761545232.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504816 s, deltaX: -0.200000 m, approachRate: -0.396184 m/s, rangeRepo size: 4 2025-10-27T06:07:12.675Z,1761545232.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.700000 m, bearing: 330.136031 deg, lat: 36.779423 deg, lon: -121.859802 deg, deltaT: 2.520584 s, deltaX: -1.038199 m, approachRate: -0.411888 m/s, posRepo size: 4 2025-10-27T06:07:12.704Z,1761545232.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.70 m. 9.74 m. 2025-10-27T06:07:12.720Z,1761545232.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 8.105264 m, bearing: 333.916849 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.342383 deg, new cmd heading: 333.456580 deg. 2025-10-27T06:07:12.722Z,1761545232.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819915 target range: 9.738199 and range: 8.70 m. 2025-10-27T06:07:12.877Z,1761545232.877 [DAT](INFO): DAT read: Rx Time:06:07:11.5274 2025-10-27T06:07:12.877Z,1761545232.877 [DAT](INFO): Rx dataTimestamp_ set to:1761545232.876899 2025-10-27T06:07:12.878Z,1761545232.878 [DAT](INFO): DAT read: Bearing 150.5, -8.9 (Local) 2025-10-27T06:07:12.879Z,1761545232.879 [DAT](INFO): Local bearing/azimuth received: Bearing 150.5, -8.9 (Local) 2025-10-27T06:07:12.881Z,1761545232.881 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 2025-10-27T06:07:12.886Z,1761545232.886 [DAT](INFO): DAT read: 06:07:11.5274 LVL= 26304, 32753, 29026, 32755, AGC= 55, IDX= 500, 0.46, 2.758, 1.070,-3.107, 2.713, PHS= 0.147,-1.598, 0.419, RAW= 157.1, 10.9, CAL= 157.2, 12.0, ROT= 352.8, -12.0 2025-10-27T06:07:12.887Z,1761545232.887 [DAT](INFO): got valid direction response: 06:07:11.5274 LVL= 26304, 32753, 29026, 32755, AGC= 55, IDX= 500, 0.46, 2.758, 1.070,-3.107, 2.713, PHS= 0.147,-1.598, 0.419, RAW= 157.1, 10.9, CAL= 157.2, 12.0, ROT= 352.8, -12.0 2025-10-27T06:07:12.887Z,1761545232.887 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:12.888Z,1761545232.888 [DAT](INFO): direction in FSK: [0.970435,-0.122595,0.207912] 2025-10-27T06:07:12.889Z,1761545232.889 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:12.892Z,1761545232.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:12.893Z,1761545232.893 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:12.988Z,1761545232.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:07:13.068Z,1761545233.068 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-27T06:07:13.070Z,1761545233.070 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-27T06:07:13.128Z,1761545233.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:13.131Z,1761545233.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899066,0.430969,0.077109],[-0.437813,0.884962,0.158624],[0.000123,-0.176373,0.984323]] 2025-10-27T06:07:13.155Z,1761545233.155 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:13.221Z,1761545233.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503108 s, deltaX: -0.400000 m, approachRate: -0.795057 m/s, rangeRepo size: 4 2025-10-27T06:07:13.244Z,1761545233.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.300000 m, bearing: 329.088115 deg, lat: 36.779423 deg, lon: -121.859804 deg, deltaT: 3.023692 s, deltaX: -1.438199 m, approachRate: -0.475643 m/s, posRepo size: 4 2025-10-27T06:07:13.252Z,1761545233.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.30 m. 9.74 m. 2025-10-27T06:07:13.254Z,1761545233.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 7.857424 m, bearing: 333.756586 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.456584 deg, new cmd heading: 333.627737 deg. 2025-10-27T06:07:13.259Z,1761545233.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822903 target range: 9.738199 and range: 8.30 m. 2025-10-27T06:07:13.381Z,1761545233.381 [DAT](INFO): DAT read: Rx Time:06:07:12.0274 2025-10-27T06:07:13.381Z,1761545233.381 [DAT](INFO): Rx dataTimestamp_ set to:1761545233.380856 2025-10-27T06:07:13.382Z,1761545233.382 [DAT](INFO): DAT read: Bearing 148.5, -9.3 (Local) 2025-10-27T06:07:13.383Z,1761545233.383 [DAT](INFO): Local bearing/azimuth received: Bearing 148.5, -9.3 (Local) 2025-10-27T06:07:13.385Z,1761545233.385 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 2025-10-27T06:07:13.390Z,1761545233.390 [DAT](INFO): DAT read: 06:07:12.0274 LVL= 25200, 32753, 25554, 32755, AGC= 54, IDX= 500, 0.03,-2.692, 1.924,-2.241,-2.767, PHS= 0.177,-1.547, 0.482, RAW= 158.0, 9.4, CAL= 157.8, 10.0, ROT= 352.2, -10.0 2025-10-27T06:07:13.391Z,1761545233.391 [DAT](INFO): got valid direction response: 06:07:12.0274 LVL= 25200, 32753, 25554, 32755, AGC= 54, IDX= 500, 0.03,-2.692, 1.924,-2.241,-2.767, PHS= 0.177,-1.547, 0.482, RAW= 158.0, 9.4, CAL= 157.8, 10.0, ROT= 352.2, -10.0 2025-10-27T06:07:13.392Z,1761545233.392 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:13.393Z,1761545233.393 [DAT](INFO): direction in FSK: [0.975696,-0.133653,0.173648] 2025-10-27T06:07:13.393Z,1761545233.393 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:13.397Z,1761545233.397 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:13.397Z,1761545233.397 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:13.632Z,1761545233.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:13.652Z,1761545233.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899152,0.430656,0.077856],[-0.437637,0.885134,0.158152],[-0.000804,-0.176275,0.984341]] 2025-10-27T06:07:13.758Z,1761545233.758 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:13.765Z,1761545233.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:13.768Z,1761545233.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.300000 m, bearing: 328.140629 deg, lat: 36.779423 deg, lon: -121.859804 deg, deltaT: 3.527649 s, deltaX: -1.438199 m, approachRate: -0.407693 m/s, posRepo size: 4 2025-10-27T06:07:13.769Z,1761545233.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.30 m. 9.74 m. 2025-10-27T06:07:13.771Z,1761545233.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 7.540466 m, bearing: 333.686943 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.627748 deg, new cmd heading: 333.799432 deg. 2025-10-27T06:07:13.772Z,1761545233.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825899 target range: 9.738199 and range: 8.30 m. 2025-10-27T06:07:13.885Z,1761545233.885 [DAT](INFO): DAT read: Rx Time:06:07:12.5271 2025-10-27T06:07:13.885Z,1761545233.885 [DAT](INFO): Rx dataTimestamp_ set to:1761545233.884816 2025-10-27T06:07:13.887Z,1761545233.887 [DAT](INFO): DAT read: Bearing 150.4, -10.7 (Local) 2025-10-27T06:07:13.888Z,1761545233.888 [DAT](INFO): Local bearing/azimuth received: Bearing 150.4, -10.7 (Local) 2025-10-27T06:07:13.890Z,1761545233.890 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-27T06:07:13.897Z,1761545233.897 [DAT](INFO): DAT read: 06:07:12.5271 LVL= 26864, 32753, 27922, 32755, AGC= 55, IDX= 498,-0.47, 1.756, 0.101, 2.242, 1.746, PHS= 0.112,-1.601, 0.452, RAW= 158.9, 10.9, CAL= 159.0, 12.0, ROT= 351.0, -12.0 2025-10-27T06:07:13.898Z,1761545233.898 [DAT](INFO): got valid direction response: 06:07:12.5271 LVL= 26864, 32753, 27922, 32755, AGC= 55, IDX= 498,-0.47, 1.756, 0.101, 2.242, 1.746, PHS= 0.112,-1.601, 0.452, RAW= 158.9, 10.9, CAL= 159.0, 12.0, ROT= 351.0, -12.0 2025-10-27T06:07:13.899Z,1761545233.899 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:13.900Z,1761545233.900 [DAT](INFO): direction in FSK: [0.966105,-0.153016,0.207912] 2025-10-27T06:07:13.901Z,1761545233.901 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:13.904Z,1761545233.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:13.905Z,1761545233.905 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:13.991Z,1761545233.991 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:07:14.073Z,1761545234.073 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-27T06:07:14.074Z,1761545234.074 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-27T06:07:14.136Z,1761545234.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:14.257Z,1761545234.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899259,0.430454,0.077735],[-0.437416,0.885371,0.157434],[-0.001056,-0.175577,0.984465]] 2025-10-27T06:07:14.343Z,1761545234.343 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:14.361Z,1761545234.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503960 s, deltaX: -0.500000 m, approachRate: -0.992142 m/s, rangeRepo size: 4 2025-10-27T06:07:14.368Z,1761545234.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.800000 m, bearing: 327.324928 deg, lat: 36.779423 deg, lon: -121.859804 deg, deltaT: 4.031609 s, deltaX: -1.938199 m, approachRate: -0.480751 m/s, posRepo size: 4 2025-10-27T06:07:14.369Z,1761545234.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.80 m. 9.74 m. 2025-10-27T06:07:14.375Z,1761545234.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 7.242966 m, bearing: 333.647463 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.799432 deg, new cmd heading: 333.984801 deg. 2025-10-27T06:07:14.376Z,1761545234.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829134 target range: 9.738199 and range: 7.80 m. 2025-10-27T06:07:14.388Z,1761545234.388 [DAT](INFO): DAT read: Rx Time:06:07:13.0271 2025-10-27T06:07:14.389Z,1761545234.389 [DAT](INFO): Rx dataTimestamp_ set to:1761545234.388445 2025-10-27T06:07:14.390Z,1761545234.390 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-27T06:07:14.391Z,1761545234.391 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T06:07:14.392Z,1761545234.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:14.392Z,1761545234.392 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:14.640Z,1761545234.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:14.747Z,1761545234.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898893,0.431203,0.077818],[-0.438167,0.885051,0.157143],[-0.001112,-0.175352,0.984505]] 2025-10-27T06:07:14.769Z,1761545234.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:14.771Z,1761545234.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503629 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:14.772Z,1761545234.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:14.775Z,1761545234.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 7.010026 m, bearing: 333.615800 deg, approach rate: -0.568283 m/s, LOS rate: -0.079812 deg/s, cmd heading: 333.984803 deg, new cmd heading: 333.886658 deg. 2025-10-27T06:07:14.776Z,1761545234.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827422 target range: 9.738199 and range: 7.80 m. 2025-10-27T06:07:14.893Z,1761545234.893 [DAT](INFO): DAT read: Rx Time:06:07:13.5268 2025-10-27T06:07:14.893Z,1761545234.893 [DAT](INFO): Rx dataTimestamp_ set to:1761545234.892833 2025-10-27T06:07:14.894Z,1761545234.894 [DAT](INFO): DAT read: Bearing 149.2, -12.0 (Local) 2025-10-27T06:07:14.895Z,1761545234.895 [DAT](INFO): Local bearing/azimuth received: Bearing 149.2, -12.0 (Local) 2025-10-27T06:07:14.897Z,1761545234.897 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T06:07:14.902Z,1761545234.902 [DAT](INFO): DAT read: 06:07:13.5268 LVL= 27632, 31985, 27826, 32755, AGC= 55, IDX= 510, 0.33,-2.689, 1.968,-2.142,-2.696, PHS= 0.108,-1.574, 0.509, RAW= 160.5, 10.0, CAL= 160.4, 10.8, ROT= 349.6, -10.8 2025-10-27T06:07:14.903Z,1761545234.903 [DAT](INFO): got valid direction response: 06:07:13.5268 LVL= 27632, 31985, 27826, 32755, AGC= 55, IDX= 510, 0.33,-2.689, 1.968,-2.142,-2.696, PHS= 0.108,-1.574, 0.509, RAW= 160.5, 10.0, CAL= 160.4, 10.8, ROT= 349.6, -10.8 2025-10-27T06:07:14.903Z,1761545234.903 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:14.904Z,1761545234.904 [DAT](INFO): direction in FSK: [0.966150,-0.177322,0.187381] 2025-10-27T06:07:14.904Z,1761545234.904 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:14.919Z,1761545234.919 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:14.920Z,1761545234.920 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:15.076Z,1761545235.076 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-27T06:07:15.078Z,1761545235.078 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-27T06:07:15.144Z,1761545235.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:15.261Z,1761545235.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898879,0.431209,0.077943],[-0.438193,0.885273,0.155819],[-0.001810,-0.174217,0.984706]] 2025-10-27T06:07:15.373Z,1761545235.373 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:15.379Z,1761545235.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504388 s, deltaX: -0.400000 m, approachRate: -0.793040 m/s, rangeRepo size: 4 2025-10-27T06:07:15.381Z,1761545235.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.400000 m, bearing: 325.655494 deg, lat: 36.779422 deg, lon: -121.859807 deg, deltaT: 5.039626 s, deltaX: -2.338199 m, approachRate: -0.463963 m/s, posRepo size: 4 2025-10-27T06:07:15.382Z,1761545235.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.40 m. 9.74 m. 2025-10-27T06:07:15.385Z,1761545235.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 6.683990 m, bearing: 333.610893 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 333.886667 deg, new cmd heading: 334.075564 deg. 2025-10-27T06:07:15.386Z,1761545235.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830719 target range: 9.738199 and range: 7.40 m. 2025-10-27T06:07:15.397Z,1761545235.397 [DAT](INFO): DAT read: Rx Time:06:07:14.0268 2025-10-27T06:07:15.397Z,1761545235.397 [DAT](INFO): Rx dataTimestamp_ set to:1761545235.396707 2025-10-27T06:07:15.398Z,1761545235.398 [DAT](INFO): DAT read: Bearing 147.3, -12.2 (Local) 2025-10-27T06:07:15.399Z,1761545235.399 [DAT](INFO): Local bearing/azimuth received: Bearing 147.3, -12.2 (Local) 2025-10-27T06:07:15.401Z,1761545235.401 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T06:07:15.405Z,1761545235.405 [DAT](INFO): DAT read: 06:07:14.0268 LVL= 26720, 32753, 25650, 32755, AGC= 54, IDX= 510,-0.16, 2.989, 1.377,-2.719, 2.949, PHS= 0.141,-1.527, 0.571, RAW= 161.2, 8.5, CAL= 160.9, 8.9, ROT= 349.1, -8.9 2025-10-27T06:07:15.406Z,1761545235.406 [DAT](INFO): got valid direction response: 06:07:14.0268 LVL= 26720, 32753, 25650, 32755, AGC= 54, IDX= 510,-0.16, 2.989, 1.377,-2.719, 2.949, PHS= 0.141,-1.527, 0.571, RAW= 161.2, 8.5, CAL= 160.9, 8.9, ROT= 349.1, -8.9 2025-10-27T06:07:15.407Z,1761545235.407 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:15.408Z,1761545235.408 [DAT](INFO): direction in FSK: [0.970136,-0.186819,0.154710] 2025-10-27T06:07:15.408Z,1761545235.408 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:15.412Z,1761545235.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:15.412Z,1761545235.412 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:15.648Z,1761545235.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:15.809Z,1761545235.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898863,0.431299,0.077632],[-0.438225,0.885536,0.154226],[-0.002229,-0.172648,0.984981]] 2025-10-27T06:07:15.840Z,1761545235.840 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:15.846Z,1761545235.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:15.868Z,1761545235.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.400000 m, bearing: 324.803006 deg, lat: 36.779422 deg, lon: -121.859808 deg, deltaT: 5.543500 s, deltaX: -2.338199 m, approachRate: -0.421791 m/s, posRepo size: 4 2025-10-27T06:07:15.869Z,1761545235.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.40 m. 9.74 m. 2025-10-27T06:07:15.876Z,1761545235.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 6.431836 m, bearing: 333.606848 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.075563 deg, new cmd heading: 334.220658 deg. 2025-10-27T06:07:15.877Z,1761545235.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833251 target range: 9.738199 and range: 7.40 m. 2025-10-27T06:07:15.901Z,1761545235.901 [DAT](INFO): DAT read: Rx Time:06:07:14.5265 2025-10-27T06:07:15.901Z,1761545235.901 [DAT](INFO): Rx dataTimestamp_ set to:1761545235.900835 2025-10-27T06:07:15.902Z,1761545235.902 [DAT](INFO): DAT read: Bearing 152.1, -14.1 (Local) 2025-10-27T06:07:15.903Z,1761545235.903 [DAT](INFO): Local bearing/azimuth received: Bearing 152.1, -14.1 (Local) 2025-10-27T06:07:15.905Z,1761545235.905 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 2025-10-27T06:07:15.909Z,1761545235.909 [DAT](INFO): DAT read: 06:07:14.5265 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.10,-2.406, 2.274,-1.802,-2.317, PHS= 0.013,-1.647, 0.471, RAW= 161.9, 12.0, CAL= 162.1, 13.6, ROT= 347.9, -13.6 2025-10-27T06:07:15.911Z,1761545235.911 [DAT](INFO): got valid direction response: 06:07:14.5265 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507, 0.10,-2.406, 2.274,-1.802,-2.317, PHS= 0.013,-1.647, 0.471, RAW= 161.9, 12.0, CAL= 162.1, 13.6, ROT= 347.9, -13.6 2025-10-27T06:07:15.911Z,1761545235.911 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:15.912Z,1761545235.912 [DAT](INFO): direction in FSK: [0.950367,-0.203741,0.235142] 2025-10-27T06:07:15.912Z,1761545235.912 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:15.916Z,1761545235.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:15.916Z,1761545235.916 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:16.082Z,1761545236.082 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-27T06:07:16.087Z,1761545236.087 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-27T06:07:16.152Z,1761545236.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:16.309Z,1761545236.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898890,0.431127,0.078268],[-0.438165,0.885569,0.154207],[-0.002829,-0.172909,0.984934]] 2025-10-27T06:07:16.377Z,1761545236.377 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:16.384Z,1761545236.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504128 s, deltaX: -0.500000 m, approachRate: -0.991812 m/s, rangeRepo size: 4 2025-10-27T06:07:16.386Z,1761545236.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 324.463185 deg, lat: 36.779422 deg, lon: -121.859809 deg, deltaT: 6.047628 s, deltaX: -2.838199 m, approachRate: -0.469308 m/s, posRepo size: 4 2025-10-27T06:07:16.387Z,1761545236.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.90 m. 9.74 m. 2025-10-27T06:07:16.389Z,1761545236.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 6.150063 m, bearing: 333.494370 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.220663 deg, new cmd heading: 334.387675 deg. 2025-10-27T06:07:16.390Z,1761545236.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836166 target range: 9.738199 and range: 6.90 m. 2025-10-27T06:07:16.405Z,1761545236.405 [DAT](INFO): DAT read: Rx Time:06:07:15.0264 2025-10-27T06:07:16.405Z,1761545236.405 [DAT](INFO): Rx dataTimestamp_ set to:1761545236.404709 2025-10-27T06:07:16.406Z,1761545236.406 [DAT](INFO): DAT read: Bearing 149.2, -14.3 (Local) 2025-10-27T06:07:16.407Z,1761545236.407 [DAT](INFO): Local bearing/azimuth received: Bearing 149.2, -14.3 (Local) 2025-10-27T06:07:16.409Z,1761545236.409 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 2025-10-27T06:07:16.413Z,1761545236.413 [DAT](INFO): DAT read: 06:07:15.0264 LVL= 32240, 32625, 32322, 32755, AGC= 55, IDX= 506,-0.42, 1.445,-0.149, 2.082, 1.483, PHS= 0.063,-1.587, 0.555, RAW= 162.7, 10.0, CAL= 162.6, 10.9, ROT= 347.4, -10.9 2025-10-27T06:07:16.414Z,1761545236.414 [DAT](INFO): got valid direction response: 06:07:15.0264 LVL= 32240, 32625, 32322, 32755, AGC= 55, IDX= 506,-0.42, 1.445,-0.149, 2.082, 1.483, PHS= 0.063,-1.587, 0.555, RAW= 162.7, 10.0, CAL= 162.6, 10.9, ROT= 347.4, -10.9 2025-10-27T06:07:16.415Z,1761545236.415 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:16.416Z,1761545236.416 [DAT](INFO): direction in FSK: [0.958310,-0.214208,0.189095] 2025-10-27T06:07:16.416Z,1761545236.416 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:16.420Z,1761545236.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:16.420Z,1761545236.420 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:16.660Z,1761545236.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:16.805Z,1761545236.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899358,0.430061,0.078754],[-0.437193,0.886325,0.152613],[-0.004169,-0.171685,0.985143]] 2025-10-27T06:07:16.851Z,1761545236.851 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:16.857Z,1761545236.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503874 s, deltaX: -0.100000 m, approachRate: -0.198462 m/s, rangeRepo size: 4 2025-10-27T06:07:16.860Z,1761545236.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.800000 m, bearing: 323.529883 deg, lat: 36.779422 deg, lon: -121.859809 deg, deltaT: 6.551502 s, deltaX: -2.938199 m, approachRate: -0.448477 m/s, posRepo size: 4 2025-10-27T06:07:16.861Z,1761545236.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.80 m. 9.74 m. 2025-10-27T06:07:16.863Z,1761545236.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 5.900901 m, bearing: 333.383352 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.387675 deg, new cmd heading: 334.534967 deg. 2025-10-27T06:07:16.864Z,1761545236.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838737 target range: 9.738199 and range: 6.80 m. 2025-10-27T06:07:16.909Z,1761545236.909 [DAT](INFO): DAT read: Rx Time:06:07:15.5261 2025-10-27T06:07:16.909Z,1761545236.909 [DAT](INFO): Rx dataTimestamp_ set to:1761545236.908738 2025-10-27T06:07:16.910Z,1761545236.910 [DAT](INFO): DAT read: Bearing 151.6, -16.0 (Local) 2025-10-27T06:07:16.911Z,1761545236.911 [DAT](INFO): Local bearing/azimuth received: Bearing 151.6, -16.0 (Local) 2025-10-27T06:07:16.913Z,1761545236.913 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 2025-10-27T06:07:16.920Z,1761545236.920 [DAT](INFO): DAT read: 06:07:15.5261 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 503,-0.11, 0.600,-0.950, 1.278, 0.717, PHS=-0.015,-1.622, 0.516, RAW= 163.8, 11.6, CAL= 164.0, 13.2, ROT= 346.0, -13.2 2025-10-27T06:07:16.921Z,1761545236.921 [DAT](INFO): got valid direction response: 06:07:15.5261 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 503,-0.11, 0.600,-0.950, 1.278, 0.717, PHS=-0.015,-1.622, 0.516, RAW= 163.8, 11.6, CAL= 164.0, 13.2, ROT= 346.0, -13.2 2025-10-27T06:07:16.922Z,1761545236.922 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:16.928Z,1761545236.928 [DAT](INFO): direction in FSK: [0.944659,-0.235530,0.228351] 2025-10-27T06:07:16.929Z,1761545236.929 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:16.963Z,1761545236.963 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:16.964Z,1761545236.964 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:17.088Z,1761545237.088 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid. 2025-10-27T06:07:17.090Z,1761545237.090 [CTD_Seabird](INFO): some bad data, not updating bins 2025-10-27T06:07:17.162Z,1761545237.162 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:17.207Z,1761545237.207 [GFScanner](IMPORTANT): No ground fault detected mA: CHAN A0 (Batt): -0.002663 CHAN A1 (24V): -0.000661 CHAN A2 (12V): -0.000675 CHAN A3 (5V): -0.000387 CHAN B0 (3.3V): 0.000531 CHAN B1 (3.15aV): 0.000253 CHAN B2 (3.15bV): 0.000607 CHAN B3 (GND): 0.000116 OPEN: 0.005701 Full Scale: +/- 1 mA 2025-10-27T06:07:17.289Z,1761545237.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899761,0.429143,0.079158],[-0.436356,0.886785,0.152336],[-0.004823,-0.171607,0.985154]] 2025-10-27T06:07:17.366Z,1761545237.366 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:17.372Z,1761545237.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504029 s, deltaX: -0.500000 m, approachRate: -0.992006 m/s, rangeRepo size: 4 2025-10-27T06:07:17.374Z,1761545237.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.300000 m, bearing: 322.604960 deg, lat: 36.779422 deg, lon: -121.859810 deg, deltaT: 7.055531 s, deltaX: -3.438199 m, approachRate: -0.487305 m/s, posRepo size: 4 2025-10-27T06:07:17.388Z,1761545237.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.30 m. 9.74 m. 2025-10-27T06:07:17.390Z,1761545237.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 5.647128 m, bearing: 333.143064 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.534961 deg, new cmd heading: 334.694942 deg. 2025-10-27T06:07:17.395Z,1761545237.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841529 target range: 9.738199 and range: 6.30 m. 2025-10-27T06:07:17.413Z,1761545237.413 [DAT](INFO): DAT read: Rx Time:06:07:16.0260 2025-10-27T06:07:17.413Z,1761545237.413 [DAT](INFO): Rx dataTimestamp_ set to:1761545237.412734 2025-10-27T06:07:17.414Z,1761545237.414 [DAT](INFO): DAT read: Bearing 149.5, -15.9 (Local) 2025-10-27T06:07:17.415Z,1761545237.415 [DAT](INFO): Local bearing/azimuth received: Bearing 149.5, -15.9 (Local) 2025-10-27T06:07:17.417Z,1761545237.417 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T06:07:17.421Z,1761545237.421 [DAT](INFO): DAT read: 06:07:16.0260 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.17,-2.715, 2.031,-2.025,-2.640, PHS= 0.027,-1.567, 0.571, RAW= 164.2, 10.1, CAL= 164.1, 11.1, ROT= 345.9, -11.1 2025-10-27T06:07:17.422Z,1761545237.422 [DAT](INFO): got valid direction response: 06:07:16.0260 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502, 0.17,-2.715, 2.031,-2.025,-2.640, PHS= 0.027,-1.567, 0.571, RAW= 164.2, 10.1, CAL= 164.1, 11.1, ROT= 345.9, -11.1 2025-10-27T06:07:17.423Z,1761545237.423 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:17.424Z,1761545237.424 [DAT](INFO): direction in FSK: [0.951728,-0.239058,0.192522] 2025-10-27T06:07:17.424Z,1761545237.424 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:17.428Z,1761545237.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:17.429Z,1761545237.429 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:17.668Z,1761545237.668 [DAT](INFO): DAT read: Rx Time:06:07:16.5258 2025-10-27T06:07:17.670Z,1761545237.670 [DAT](INFO): Rx dataTimestamp_ set to:1761545237.669157 2025-10-27T06:07:17.672Z,1761545237.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:17.758Z,1761545237.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900190,0.428141,0.079708],[-0.435464,0.887192,0.152519],[-0.005417,-0.172006,0.985081]] 2025-10-27T06:07:17.797Z,1761545237.797 [lineCaptureHoming:TrackAC.](ERROR): Sound speed data not available but sound speed correction was requested. Falling back to assumed sound speed of 1500.000000 m/s. 2025-10-27T06:07:17.811Z,1761545237.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503996 s, deltaX: -0.100000 m, approachRate: -0.198415 m/s, rangeRepo size: 4 2025-10-27T06:07:17.813Z,1761545237.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.200000 m, bearing: 322.195086 deg, lat: 36.779421 deg, lon: -121.859811 deg, deltaT: 7.559527 s, deltaX: -3.538199 m, approachRate: -0.468045 m/s, posRepo size: 4 2025-10-27T06:07:17.814Z,1761545237.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.20 m. 9.74 m. 2025-10-27T06:07:17.817Z,1761545237.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 5.436777 m, bearing: 332.924588 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.694951 deg, new cmd heading: 334.829951 deg. 2025-10-27T06:07:17.818Z,1761545237.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843885 target range: 9.738199 and range: 6.20 m. 2025-10-27T06:07:17.917Z,1761545237.917 [DAT](INFO): DAT read: Bearing 150.2, -18.2 (Local) 2025-10-27T06:07:17.917Z,1761545237.917 [DAT](INFO): Local bearing/azimuth received: Bearing 150.2, -18.2 (Local) 2025-10-27T06:07:17.919Z,1761545237.919 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 2025-10-27T06:07:17.929Z,1761545237.929 [DAT](INFO): DAT read: 06:07:16.5258 LVL= 32608, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.36, 0.336,-1.134, 1.103, 0.475, PHS=-0.037,-1.564, 0.585, RAW= 166.3, 10.6, CAL= 166.4, 11.9, ROT= 343.6, -11.9 2025-10-27T06:07:17.930Z,1761545237.930 [DAT](INFO): got valid direction response: 06:07:16.5258 LVL= 32608, 32753, 32754, 32755, AGC= 55, IDX= 500,-0.36, 0.336,-1.134, 1.103, 0.475, PHS=-0.037,-1.564, 0.585, RAW= 166.3, 10.6, CAL= 166.4, 11.9, ROT= 343.6, -11.9 2025-10-27T06:07:17.930Z,1761545237.930 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:17.940Z,1761545237.940 [DAT](INFO): direction in FSK: [0.938697,-0.276273,0.206204] 2025-10-27T06:07:17.941Z,1761545237.941 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:17.961Z,1761545237.961 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:17.962Z,1761545237.962 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:18.162Z,1761545238.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900857,0.426740,0.079687],[-0.434073,0.888038,0.151554],[-0.006091,-0.171119,0.985232]] 2025-10-27T06:07:18.171Z,1761545238.171 [DAT](INFO): DAT read: Rx Time:06:07:17.0257 2025-10-27T06:07:18.173Z,1761545238.173 [DAT](INFO): Rx dataTimestamp_ set to:1761545238.171869 2025-10-27T06:07:18.174Z,1761545238.174 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:18.301Z,1761545238.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.502718 s, deltaX: -0.200000 m, approachRate: -0.397837 m/s, rangeRepo size: 4 2025-10-27T06:07:18.315Z,1761545238.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.962169 m, bearing: 320.130218 deg, lat: 36.779421 deg, lon: -121.859811 deg, deltaT: 8.062245 s, deltaX: -3.776030 m, approachRate: -0.468360 m/s, posRepo size: 4 2025-10-27T06:07:18.316Z,1761545238.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.96 m. 9.74 m. 2025-10-27T06:07:18.327Z,1761545238.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 5.220220 m, bearing: 332.677464 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.829943 deg, new cmd heading: 334.982453 deg. 2025-10-27T06:07:18.328Z,1761545238.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846547 target range: 9.738199 and range: 6.00 m. 2025-10-27T06:07:18.421Z,1761545238.421 [DAT](INFO): DAT read: Bearing 155.7, -20.0 (Local) 2025-10-27T06:07:18.422Z,1761545238.422 [DAT](INFO): Local bearing/azimuth received: Bearing 155.7, -20.0 (Local) 2025-10-27T06:07:18.425Z,1761545238.425 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-27T06:07:18.432Z,1761545238.432 [DAT](INFO): DAT read: 06:07:17.0257 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499,-0.02, 2.733, 1.313,-2.767, 3.003, PHS=-0.168,-1.645, 0.469, RAW= 167.1, 14.2, CAL= 167.6, 17.2, ROT= 342.4, -17.2 2025-10-27T06:07:18.433Z,1761545238.433 [DAT](INFO): got valid direction response: 06:07:17.0257 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 499,-0.02, 2.733, 1.313,-2.767, 3.003, PHS=-0.168,-1.645, 0.469, RAW= 167.1, 14.2, CAL= 167.6, 17.2, ROT= 342.4, -17.2 2025-10-27T06:07:18.434Z,1761545238.434 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:18.435Z,1761545238.435 [DAT](INFO): direction in FSK: [0.910562,-0.288847,0.295708] 2025-10-27T06:07:18.435Z,1761545238.435 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:18.438Z,1761545238.438 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:18.439Z,1761545238.439 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:07:18.672Z,1761545238.672 [DAT](INFO): DAT read: user:675> 2025-10-27T06:07:18.672Z,1761545238.672 [DAT](INFO): DAT read: 50 2025-10-27T06:07:18.673Z,1761545238.673 [DAT](INFO): unknown deviceResponse_: 50 2025-10-27T06:07:18.673Z,1761545238.673 [DAT](INFO): DAT read: Ok 2025-10-27T06:07:18.673Z,1761545238.673 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T06:07:18.674Z,1761545238.674 [DAT](INFO): DAT read: user:676> 2025-10-27T06:07:18.674Z,1761545238.674 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:07:18.810Z,1761545238.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504132 s, deltaX: -0.100000 m, approachRate: -0.198361 m/s, rangeRepo size: 4 2025-10-27T06:07:18.817Z,1761545238.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.862800 m, bearing: 319.892974 deg, lat: 36.779420 deg, lon: -121.859811 deg, deltaT: 8.566377 s, deltaX: -3.875400 m, approachRate: -0.452397 m/s, posRepo size: 4 2025-10-27T06:07:18.820Z,1761545238.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.86 m. 9.74 m. 2025-10-27T06:07:18.822Z,1761545238.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 4.965823 m, bearing: 332.121586 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 334.982448 deg, new cmd heading: 335.141810 deg. 2025-10-27T06:07:18.823Z,1761545238.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849328 target range: 9.738199 and range: 5.90 m. 2025-10-27T06:07:18.925Z,1761545238.925 [DAT](INFO): DAT read: Tx time:06:07:17.9693 2025-10-27T06:07:18.925Z,1761545238.925 [DAT](INFO): Ping request sent. 2025-10-27T06:07:18.925Z,1761545238.925 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:07:18.925Z,1761545238.925 [DAT](INFO): publishing transmit ping time 2025-10-27T06:07:18.926Z,1761545238.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000781 2025-10-27T06:07:19.122Z,1761545239.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902205,0.423518,0.081595],[-0.431232,0.889273,0.152422],[-0.008007,-0.172703,0.984941]] 2025-10-27T06:07:19.149Z,1761545239.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:19.152Z,1761545239.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:19.160Z,1761545239.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 4.785498 m, bearing: 331.684000 deg, approach rate: -0.527448 m/s, LOS rate: -1.328146 deg/s, cmd heading: 335.141810 deg, new cmd heading: 333.779854 deg. 2025-10-27T06:07:19.161Z,1761545239.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825557 target range: 9.738199 and range: 5.90 m. 2025-10-27T06:07:19.179Z,1761545239.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253448 2025-10-27T06:07:19.428Z,1761545239.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502597 2025-10-27T06:07:19.526Z,1761545239.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903055,0.421541,0.082435],[-0.429426,0.890204,0.152084],[-0.009275,-0.172740,0.984924]] 2025-10-27T06:07:19.595Z,1761545239.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:19.605Z,1761545239.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 4.587957 m, bearing: 331.056694 deg, approach rate: -0.463683 m/s, LOS rate: -1.535830 deg/s, cmd heading: 333.779843 deg, new cmd heading: 331.817704 deg. 2025-10-27T06:07:19.606Z,1761545239.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791311 target range: 9.738199 and range: 5.90 m. 2025-10-27T06:07:19.681Z,1761545239.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755446 2025-10-27T06:07:19.930Z,1761545239.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903846,0.419648,0.083413],[-0.427724,0.891109,0.151581],[-0.010719,-0.172684,0.984919]] 2025-10-27T06:07:19.932Z,1761545239.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006634 2025-10-27T06:07:19.973Z,1761545239.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:19.980Z,1761545239.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 4.412653 m, bearing: 330.446605 deg, approach rate: -0.444190 m/s, LOS rate: -1.607248 deg/s, cmd heading: 331.817693 deg, new cmd heading: 329.915447 deg. 2025-10-27T06:07:19.980Z,1761545239.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758111 target range: 9.738199 and range: 5.90 m. 2025-10-27T06:07:20.184Z,1761545240.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258576 2025-10-27T06:07:20.354Z,1761545240.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904760,0.417412,0.084712],[-0.425747,0.892000,0.151905],[-0.012156,-0.173504,0.984758]] 2025-10-27T06:07:20.410Z,1761545240.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:20.413Z,1761545240.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 4.213727 m, bearing: 329.486261 deg, approach rate: -0.455242 m/s, LOS rate: -2.301383 deg/s, cmd heading: 329.915458 deg, new cmd heading: 326.901342 deg. 2025-10-27T06:07:20.413Z,1761545240.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705505 target range: 9.738199 and range: 5.90 m. 2025-10-27T06:07:20.445Z,1761545240.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519612 2025-10-27T06:07:20.696Z,1761545240.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770564 2025-10-27T06:07:20.742Z,1761545240.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905986,0.414470,0.086046],[-0.423090,0.893127,0.152706],[-0.013558,-0.174755,0.984519]] 2025-10-27T06:07:20.784Z,1761545240.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:20.787Z,1761545240.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 4.052638 m, bearing: 328.626967 deg, approach rate: -0.430157 m/s, LOS rate: -2.385696 deg/s, cmd heading: 326.901350 deg, new cmd heading: 324.223052 deg. 2025-10-27T06:07:20.788Z,1761545240.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658760 target range: 9.738199 and range: 5.90 m. 2025-10-27T06:07:20.948Z,1761545240.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022607 2025-10-27T06:07:21.146Z,1761545241.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906728,0.412300,0.088622],[-0.421436,0.893553,0.154775],[-0.015375,-0.177687,0.983967]] 2025-10-27T06:07:21.168Z,1761545241.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:21.170Z,1761545241.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:21.173Z,1761545241.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 3.889422 m, bearing: 327.673183 deg, approach rate: -0.422953 m/s, LOS rate: -2.575203 deg/s, cmd heading: 324.223042 deg, new cmd heading: 321.244439 deg. 2025-10-27T06:07:21.174Z,1761545241.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606773 target range: 9.738199 and range: 5.90 m. 2025-10-27T06:07:21.200Z,1761545241.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274796 2025-10-27T06:07:21.452Z,1761545241.452 [DAT](INFO): DAT read: Rx Time:06:07:20.1045 2025-10-27T06:07:21.453Z,1761545241.453 [DAT](INFO): Rx dataTimestamp_ set to:1761545241.452669 2025-10-27T06:07:21.454Z,1761545241.454 [DAT](INFO): DAT read: Bearing 152.7, -26.3 (Local) 2025-10-27T06:07:21.455Z,1761545241.455 [DAT](INFO): Local bearing/azimuth received: Bearing 152.7, -26.3 (Local) 2025-10-27T06:07:21.457Z,1761545241.457 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 2025-10-27T06:07:21.461Z,1761545241.461 [DAT](INFO): DAT read: 06:07:20.1045 LVL= 32752, 32753, 27010, 32755, AGC= 50, IDX= 505, 0.08,-2.544, 2.421,-1.466,-2.181, PHS=-0.261,-1.637, 0.671, RAW= 173.7, 12.2, CAL= 173.7, 14.7, ROT= 336.3, -14.7 2025-10-27T06:07:21.462Z,1761545241.462 [DAT](INFO): got valid direction response: 06:07:20.1045 LVL= 32752, 32753, 27010, 32755, AGC= 50, IDX= 505, 0.08,-2.544, 2.421,-1.466,-2.181, PHS=-0.261,-1.637, 0.671, RAW= 173.7, 12.2, CAL= 173.7, 14.7, ROT= 336.3, -14.7 2025-10-27T06:07:21.463Z,1761545241.463 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:07:21.464Z,1761545241.464 [DAT](INFO): direction in FSK: [0.885691,-0.388791,0.253758] 2025-10-27T06:07:21.464Z,1761545241.464 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:21.472Z,1761545241.472 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.546644 2025-10-27T06:07:21.564Z,1761545241.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906906,0.411410,0.090901],[-0.421001,0.893416,0.156736],[-0.016730,-0.180414,0.983449]] 2025-10-27T06:07:21.677Z,1761545241.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 3.033085 s, deltaX: -1.200000 m, approachRate: -0.395637 m/s, rangeRepo size: 4 2025-10-27T06:07:21.691Z,1761545241.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.670495 m, bearing: 314.400046 deg, lat: 36.779420 deg, lon: -121.859811 deg, deltaT: 11.599462 s, deltaX: -5.067705 m, approachRate: -0.436891 m/s, posRepo size: 4 2025-10-27T06:07:21.692Z,1761545241.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.67 m. 9.74 m. 2025-10-27T06:07:21.695Z,1761545241.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 3.680485 m, bearing: 326.424943 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 321.244451 deg, new cmd heading: 321.401869 deg. 2025-10-27T06:07:21.709Z,1761545241.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609521 target range: 9.738199 and range: 4.70 m. 2025-10-27T06:07:21.713Z,1761545241.713 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.787120 2025-10-27T06:07:21.958Z,1761545241.958 [DAT](INFO): DAT read: Rx Time:06:07:20.6043 2025-10-27T06:07:21.960Z,1761545241.960 [DAT](INFO): Rx dataTimestamp_ set to:1761545241.958991 2025-10-27T06:07:21.963Z,1761545241.963 [DAT](INFO): DAT read: Bearing 149.4, -27.9 (Local) 2025-10-27T06:07:21.963Z,1761545241.963 [DAT](INFO): Local bearing/azimuth received: Bearing 149.4, -27.9 (Local) 2025-10-27T06:07:21.965Z,1761545241.965 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.3 2025-10-27T06:07:21.999Z,1761545241.999 [DAT](INFO): DAT read: 06:07:20.6043 LVL= 32752, 29665, 23090, 32755, AGC= 49, IDX= 503,-0.03, 1.454, 0.137, 2.652, 1.814, PHS=-0.257,-1.632, 0.794, RAW= 175.6, 10.4, CAL= 175.5, 12.0, ROT= 334.5, -12.0 2025-10-27T06:07:22.000Z,1761545242.000 [DAT](INFO): got valid direction response: 06:07:20.6043 LVL= 32752, 29665, 23090, 32755, AGC= 49, IDX= 503,-0.03, 1.454, 0.137, 2.652, 1.814, PHS=-0.257,-1.632, 0.794, RAW= 175.6, 10.4, CAL= 175.5, 12.0, ROT= 334.5, -12.0 2025-10-27T06:07:22.000Z,1761545242.000 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:07:22.001Z,1761545242.001 [DAT](INFO): direction in FSK: [0.882862,-0.421104,0.207912] 2025-10-27T06:07:22.002Z,1761545242.002 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:22.030Z,1761545242.030 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.104231 2025-10-27T06:07:22.038Z,1761545242.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905825,0.412586,0.096194],[-0.423263,0.891080,0.163784],[-0.018141,-0.189075,0.981795]] 2025-10-27T06:07:22.126Z,1761545242.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.506322 s, deltaX: -0.300000 m, approachRate: -0.592508 m/s, rangeRepo size: 4 2025-10-27T06:07:22.132Z,1761545242.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.372598 m, bearing: 312.101973 deg, lat: 36.779421 deg, lon: -121.859811 deg, deltaT: 12.105784 s, deltaX: -5.365601 m, approachRate: -0.443226 m/s, posRepo size: 4 2025-10-27T06:07:22.133Z,1761545242.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.74 m. 2025-10-27T06:07:22.140Z,1761545242.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 3.485965 m, bearing: 325.128365 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 321.401873 deg, new cmd heading: 321.541430 deg. 2025-10-27T06:07:22.141Z,1761545242.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611957 target range: 9.738199 and range: 4.40 m. 2025-10-27T06:07:22.209Z,1761545242.209 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.283509 2025-10-27T06:07:22.460Z,1761545242.460 [DAT](INFO): DAT read: Rx Time:06:07:21.1043 2025-10-27T06:07:22.461Z,1761545242.461 [DAT](INFO): Rx dataTimestamp_ set to:1761545242.460687 2025-10-27T06:07:22.462Z,1761545242.462 [DAT](INFO): DAT read: Bearing 148.8, -29.5 (Local) 2025-10-27T06:07:22.463Z,1761545242.463 [DAT](INFO): Local bearing/azimuth received: Bearing 148.8, -29.5 (Local) 2025-10-27T06:07:22.465Z,1761545242.465 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.3 2025-10-27T06:07:22.473Z,1761545242.473 [DAT](INFO): DAT read: 06:07:21.1043 LVL= 32752, 28513, 22754, 32755, AGC= 49, IDX= 503,-0.20, 3.096, 1.791,-1.893,-2.782, PHS=-0.304,-1.665, 0.844, RAW= 177.2, 10.4, CAL= 177.1, 12.0, ROT= 332.9, -12.0 2025-10-27T06:07:22.474Z,1761545242.474 [DAT](INFO): got valid direction response: 06:07:21.1043 LVL= 32752, 28513, 22754, 32755, AGC= 49, IDX= 503,-0.20, 3.096, 1.791,-1.893,-2.782, PHS=-0.304,-1.665, 0.844, RAW= 177.2, 10.4, CAL= 177.1, 12.0, ROT= 332.9, -12.0 2025-10-27T06:07:22.474Z,1761545242.474 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T06:07:22.499Z,1761545242.499 [DAT](INFO): direction in FSK: [0.870760,-0.445590,0.207912] 2025-10-27T06:07:22.500Z,1761545242.500 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:22.515Z,1761545242.515 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.589858 2025-10-27T06:07:22.663Z,1761545242.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.501696 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:22.669Z,1761545242.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.372598 m, bearing: 310.504380 deg, lat: 36.779422 deg, lon: -121.859811 deg, deltaT: 12.607480 s, deltaX: -5.365601 m, approachRate: -0.425589 m/s, posRepo size: 4 2025-10-27T06:07:22.670Z,1761545242.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.74 m. 2025-10-27T06:07:22.677Z,1761545242.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 3.253585 m, bearing: 323.448870 deg, approach rate: 0.000000 m/s, LOS rate: 0.103581 deg/s, cmd heading: 321.541428 deg, new cmd heading: 321.708179 deg. 2025-10-27T06:07:22.677Z,1761545242.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614867 target range: 9.738199 and range: 4.40 m. 2025-10-27T06:07:22.713Z,1761545242.713 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.787397 2025-10-27T06:07:22.923Z,1761545242.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901882,0.418927,0.105400],[-0.431625,0.883830,0.180400],[-0.017581,-0.208193,0.977930]] 2025-10-27T06:07:22.964Z,1761545242.964 [DAT](INFO): DAT read: Rx Time:06:07:21.6041 2025-10-27T06:07:22.965Z,1761545242.965 [DAT](INFO): Rx dataTimestamp_ set to:1761545242.964362 2025-10-27T06:07:22.966Z,1761545242.966 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.3 2025-10-27T06:07:22.966Z,1761545242.966 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T06:07:22.968Z,1761545242.968 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.042863 2025-10-27T06:07:22.979Z,1761545242.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503675 s, deltaX: -0.300000 m, approachRate: -0.595623 m/s, rangeRepo size: 4 2025-10-27T06:07:22.980Z,1761545242.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:22.983Z,1761545242.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 3.112364 m, bearing: 322.327925 deg, approach rate: -0.446261 m/s, LOS rate: -3.702695 deg/s, cmd heading: 321.708166 deg, new cmd heading: 318.197369 deg. 2025-10-27T06:07:22.984Z,1761545242.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553592 target range: 9.738199 and range: 4.10 m. 2025-10-27T06:07:23.217Z,1761545243.217 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.291232 2025-10-27T06:07:23.330Z,1761545243.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898077,0.425471,0.111504],[-0.439535,0.877561,0.191559],[-0.016349,-0.221045,0.975127]] 2025-10-27T06:07:23.411Z,1761545243.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:23.413Z,1761545243.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:23.416Z,1761545243.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 2.928631 m, bearing: 320.734134 deg, approach rate: -0.422671 m/s, LOS rate: -3.895987 deg/s, cmd heading: 318.197367 deg, new cmd heading: 313.129935 deg. 2025-10-27T06:07:23.417Z,1761545243.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465148 target range: 9.738199 and range: 4.10 m. 2025-10-27T06:07:23.469Z,1761545243.469 [DAT](INFO): DAT read: Rx Time:06:07:22.1038 2025-10-27T06:07:23.470Z,1761545243.470 [DAT](INFO): Rx dataTimestamp_ set to:1761545243.469227 2025-10-27T06:07:23.471Z,1761545243.471 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3 2025-10-27T06:07:23.472Z,1761545243.472 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-27T06:07:23.474Z,1761545243.474 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.548306 2025-10-27T06:07:23.720Z,1761545243.720 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.795152 2025-10-27T06:07:23.757Z,1761545243.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893424,0.433229,0.118772],[-0.448971,0.869875,0.204311],[-0.014803,-0.235861,0.971674]] 2025-10-27T06:07:23.834Z,1761545243.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504865 s, deltaX: -0.600000 m, approachRate: -1.188436 m/s, rangeRepo size: 4 2025-10-27T06:07:23.835Z,1761545243.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:23.841Z,1761545243.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 2.745567 m, bearing: 319.218276 deg, approach rate: -0.435974 m/s, LOS rate: -3.850336 deg/s, cmd heading: 313.129941 deg, new cmd heading: 308.291255 deg. 2025-10-27T06:07:23.842Z,1761545243.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380697 target range: 9.738199 and range: 3.50 m. 2025-10-27T06:07:23.972Z,1761545243.972 [DAT](INFO): DAT read: Rx Time:06:07:22.6036 2025-10-27T06:07:23.973Z,1761545243.973 [DAT](INFO): Rx dataTimestamp_ set to:1761545243.972344 2025-10-27T06:07:23.974Z,1761545243.974 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3 2025-10-27T06:07:23.974Z,1761545243.974 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-27T06:07:23.975Z,1761545243.975 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.050094 2025-10-27T06:07:24.141Z,1761545244.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888201,0.442266,0.124497],[-0.459272,0.862268,0.213455],[-0.012946,-0.246769,0.968988]] 2025-10-27T06:07:24.161Z,1761545244.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503117 s, deltaX: -0.300000 m, approachRate: -0.596283 m/s, rangeRepo size: 4 2025-10-27T06:07:24.162Z,1761545244.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:24.164Z,1761545244.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 2.598118 m, bearing: 317.876453 deg, approach rate: -0.450923 m/s, LOS rate: -4.335997 deg/s, cmd heading: 308.291243 deg, new cmd heading: 304.045497 deg. 2025-10-27T06:07:24.165Z,1761545244.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306595 target range: 9.738199 and range: 3.20 m. 2025-10-27T06:07:24.225Z,1761545244.225 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.299441 2025-10-27T06:07:24.476Z,1761545244.476 [DAT](INFO): DAT read: Rx Time:06:07:23.1036 2025-10-27T06:07:24.477Z,1761545244.477 [DAT](INFO): Rx dataTimestamp_ set to:1761545244.476218 2025-10-27T06:07:24.478Z,1761545244.478 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3 2025-10-27T06:07:24.478Z,1761545244.478 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-10-27T06:07:24.479Z,1761545244.479 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.553964 2025-10-27T06:07:24.602Z,1761545244.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:24.619Z,1761545244.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:24.622Z,1761545244.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 2.395218 m, bearing: 316.149862 deg, approach rate: -0.459644 m/s, LOS rate: -4.242059 deg/s, cmd heading: 304.045488 deg, new cmd heading: 298.445683 deg. 2025-10-27T06:07:24.635Z,1761545244.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208860 target range: 9.738199 and range: 3.20 m. 2025-10-27T06:07:24.729Z,1761545244.729 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.803810 2025-10-27T06:07:24.977Z,1761545244.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:07:24.980Z,1761545244.980 [DAT](INFO): DAT read: Rx Time:06:07:23.6034 2025-10-27T06:07:24.981Z,1761545244.981 [DAT](INFO): Rx dataTimestamp_ set to:1761545244.980448 2025-10-27T06:07:24.982Z,1761545244.982 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 2025-10-27T06:07:24.983Z,1761545244.983 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-27T06:07:24.984Z,1761545244.984 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.058212 2025-10-27T06:07:24.000Z,1761545245.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.738199 m, nav range: 2.221163 m, bearing: 314.396827 deg, approach rate: -0.464079 m/s, LOS rate: -5.039570 deg/s, cmd heading: 298.445690 deg, new cmd heading: 292.793761 deg. 2025-10-27T06:07:25.001Z,1761545245.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110215 target range: 9.738199 and range: 3.20 m. 2025-10-27T06:07:25.232Z,1761545245.232 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.306550 2025-10-27T06:07:25.346Z,1761545245.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868365,0.476799,0.136401],[-0.495907,0.837237,0.230457],[-0.004318,-0.267763,0.963475]] 2025-10-27T06:07:25.435Z,1761545245.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:25.438Z,1761545245.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504230 s, deltaX: -0.300000 m, approachRate: -0.594966 m/s, rangeRepo size: 4 2025-10-27T06:07:25.439Z,1761545245.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-27T06:07:25.443Z,1761545245.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T06:07:25.485Z,1761545245.485 [DAT](INFO): DAT read: Rx Time:06:07:24.1035 2025-10-27T06:07:25.485Z,1761545245.485 [DAT](INFO): Rx dataTimestamp_ set to:1761545245.484833 2025-10-27T06:07:25.486Z,1761545245.486 [DAT](INFO): DAT read: Bearing 178.5, -33.7 (Local) 2025-10-27T06:07:25.487Z,1761545245.487 [DAT](INFO): Local bearing/azimuth received: Bearing 178.5, -33.7 (Local) 2025-10-27T06:07:25.489Z,1761545245.489 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.2 2025-10-27T06:07:25.493Z,1761545245.493 [DAT](INFO): DAT read: 06:07:24.1035 LVL= 32752, 27969, 22562, 32755, AGC= 43, IDX= 512,-0.05,-2.689, 2.820,-1.596,-1.677, PHS=-0.910,-1.741, 0.037, RAW= 182.2, 31.0, CAL= 181.5, 43.3, ROT= 328.5, -43.3 2025-10-27T06:07:25.495Z,1761545245.495 [DAT](INFO): got valid direction response: 06:07:24.1035 LVL= 32752, 27969, 22562, 32755, AGC= 43, IDX= 512,-0.05,-2.689, 2.820,-1.596,-1.677, PHS=-0.910,-1.741, 0.037, RAW= 182.2, 31.0, CAL= 181.5, 43.3, ROT= 328.5, -43.3 2025-10-27T06:07:25.495Z,1761545245.495 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T06:07:25.496Z,1761545245.496 [DAT](INFO): direction in FSK: [0.620528,-0.380260,0.685818] 2025-10-27T06:07:25.496Z,1761545245.496 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:25.512Z,1761545245.512 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.586663 2025-10-27T06:07:25.739Z,1761545245.739 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.813425 2025-10-27T06:07:25.876Z,1761545245.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504385 s, deltaX: 0.100000 m, approachRate: 0.198261 m/s, rangeRepo size: 4 2025-10-27T06:07:25.878Z,1761545245.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.981577 m, bearing: 313.943023 deg, lat: 36.779422 deg, lon: -121.859810 deg, deltaT: 15.631626 s, deltaX: -6.756622 m, approachRate: -0.432241 m/s, posRepo size: 4 2025-10-27T06:07:25.989Z,1761545245.989 [DAT](INFO): DAT read: Rx Time:06:07:24.6033 2025-10-27T06:07:25.989Z,1761545245.989 [DAT](INFO): Rx dataTimestamp_ set to:1761545245.988827 2025-10-27T06:07:25.990Z,1761545245.990 [DAT](INFO): DAT read: Bearing 170.3, -49.9 (Local) 2025-10-27T06:07:25.991Z,1761545245.991 [DAT](INFO): Local bearing/azimuth received: Bearing 170.3, -49.9 (Local) 2025-10-27T06:07:25.993Z,1761545245.993 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.2 2025-10-27T06:07:25.998Z,1761545245.998 [DAT](INFO): DAT read: 06:07:24.6033 LVL= 32752, 28993, 22002, 32755, AGC= 43, IDX= 510, 0.12, 2.743, 2.550,-1.873,-2.323, PHS=-1.116,-1.366, 0.406, RAW= 202.5, 23.8, CAL= 200.1, 34.6, ROT= 309.9, -34.6 2025-10-27T06:07:25.999Z,1761545245.999 [DAT](INFO): got valid direction response: 06:07:24.6033 LVL= 32752, 28993, 22002, 32755, AGC= 43, IDX= 510, 0.12, 2.743, 2.550,-1.873,-2.323, PHS=-1.116,-1.366, 0.406, RAW= 202.5, 23.8, CAL= 200.1, 34.6, ROT= 309.9, -34.6 2025-10-27T06:07:25.999Z,1761545245.999 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T06:07:26.000Z,1761545246.000 [DAT](INFO): direction in FSK: [0.528001,-0.631482,0.567844] 2025-10-27T06:07:26.000Z,1761545246.000 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:26.005Z,1761545246.005 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.080051 2025-10-27T06:07:26.214Z,1761545246.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850620,0.505749,0.143751],[-0.525774,0.816691,0.237860],[0.002898,-0.277909,0.960603]] 2025-10-27T06:07:26.243Z,1761545246.243 [DAT](INFO): DAT read: Rx Time:06:07:25.1033 2025-10-27T06:07:26.245Z,1761545246.245 [DAT](INFO): Rx dataTimestamp_ set to:1761545246.244043 2025-10-27T06:07:26.248Z,1761545246.248 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.321421 2025-10-27T06:07:26.314Z,1761545246.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503994 s, deltaX: -0.300000 m, approachRate: -0.595245 m/s, rangeRepo size: 4 2025-10-27T06:07:26.337Z,1761545246.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.683431 m, bearing: 287.802991 deg, lat: 36.779422 deg, lon: -121.859810 deg, deltaT: 0.503994 s, deltaX: -0.298146 m, approachRate: -0.591566 m/s, posRepo size: 4 2025-10-27T06:07:26.494Z,1761545246.494 [DAT](INFO): DAT read: Bearing 174.4, -50.1 (Local) 2025-10-27T06:07:26.494Z,1761545246.494 [DAT](INFO): Local bearing/azimuth received: Bearing 174.4, -50.1 (Local) 2025-10-27T06:07:26.497Z,1761545246.497 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.2 2025-10-27T06:07:26.503Z,1761545246.503 [DAT](INFO): DAT read: 06:07:25.1033 LVL= 32752, 32753, 19682, 32755, AGC= 43, IDX= 510,-0.01,-0.007,-0.122, 1.736, 1.341, PHS=-1.246,-1.418, 0.351, RAW= 205.0, 25.8, CAL= 201.8, 38.1, ROT= 308.2, -38.1 2025-10-27T06:07:26.505Z,1761545246.505 [DAT](INFO): got valid direction response: 06:07:25.1033 LVL= 32752, 32753, 19682, 32755, AGC= 43, IDX= 510,-0.01,-0.007,-0.122, 1.736, 1.341, PHS=-1.246,-1.418, 0.351, RAW= 205.0, 25.8, CAL= 201.8, 38.1, ROT= 308.2, -38.1 2025-10-27T06:07:26.505Z,1761545246.505 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T06:07:26.506Z,1761545246.506 [DAT](INFO): direction in FSK: [0.486647,-0.618418,0.617036] 2025-10-27T06:07:26.506Z,1761545246.506 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:26.510Z,1761545246.510 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.585116 2025-10-27T06:07:26.707Z,1761545246.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840984,0.520465,0.147860],[-0.541021,0.805626,0.241377],[0.006508,-0.282990,0.959101]] 2025-10-27T06:07:26.747Z,1761545246.747 [DAT](INFO): DAT read: Rx Time:06:07:25.6030 2025-10-27T06:07:26.749Z,1761545246.749 [DAT](INFO): Rx dataTimestamp_ set to:1761545246.747865 2025-10-27T06:07:26.764Z,1761545246.764 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.825193 2025-10-27T06:07:26.852Z,1761545246.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:26.854Z,1761545246.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.683431 m, bearing: 286.257542 deg, lat: 36.779422 deg, lon: -121.859803 deg, deltaT: 0.503063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:26.997Z,1761545246.997 [DAT](INFO): DAT read: Bearing 161.9, -52.2 (Local) 2025-10-27T06:07:26.997Z,1761545246.997 [DAT](INFO): Local bearing/azimuth received: Bearing 161.9, -52.2 (Local) 2025-10-27T06:07:26.999Z,1761545246.999 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2 2025-10-27T06:07:27.004Z,1761545247.004 [DAT](INFO): DAT read: 06:07:25.6030 LVL= 32752, 32753, 21970, 32755, AGC= 40, IDX= 508, 0.06, 1.017, 0.825, 2.900, 2.321, PHS=-1.202,-1.451, 0.536, RAW= 203.4, 21.8, CAL= 201.8, 31.0, ROT= 308.2, -31.0 2025-10-27T06:07:27.005Z,1761545247.005 [DAT](INFO): got valid direction response: 06:07:25.6030 LVL= 32752, 32753, 21970, 32755, AGC= 40, IDX= 508, 0.06, 1.017, 0.825, 2.900, 2.321, PHS=-1.202,-1.451, 0.536, RAW= 203.4, 21.8, CAL= 201.8, 31.0, ROT= 308.2, -31.0 2025-10-27T06:07:27.005Z,1761545247.005 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T06:07:27.006Z,1761545247.006 [DAT](INFO): direction in FSK: [0.530080,-0.673611,0.515038] 2025-10-27T06:07:27.006Z,1761545247.006 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:27.010Z,1761545247.010 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.084593 2025-10-27T06:07:27.185Z,1761545247.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820923,0.550142,0.153065],[-0.570886,0.784480,0.242240],[0.013190,-0.286243,0.958066]] 2025-10-27T06:07:27.229Z,1761545247.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503425 s, deltaX: -0.400000 m, approachRate: -0.794557 m/s, rangeRepo size: 4 2025-10-27T06:07:27.231Z,1761545247.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.285870 m, bearing: 281.477565 deg, lat: 36.779420 deg, lon: -121.859803 deg, deltaT: 0.503425 s, deltaX: -0.397561 m, approachRate: -0.789713 m/s, posRepo size: 4 2025-10-27T06:07:27.251Z,1761545247.251 [DAT](INFO): DAT read: Rx Time:06:07:26.1030 2025-10-27T06:07:27.253Z,1761545247.253 [DAT](INFO): Rx dataTimestamp_ set to:1761545247.252117 2025-10-27T06:07:27.259Z,1761545247.259 [DAT](INFO): DAT read: Bearing 150.3, -53.2 (Local) 2025-10-27T06:07:27.260Z,1761545247.260 [DAT](INFO): Local bearing/azimuth received: Bearing 150.3, -53.2 (Local) 2025-10-27T06:07:27.262Z,1761545247.262 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.336533 2025-10-27T06:07:27.503Z,1761545247.503 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2 2025-10-27T06:07:27.507Z,1761545247.507 [DAT](INFO): DAT read: 06:07:26.1030 LVL= 29488, 26401, 19234, 32755, AGC= 41, IDX= 507, 0.22, 1.520, 1.256,-2.750, 2.774, PHS=-1.152,-1.473, 0.715, RAW= 202.2, 18.3, CAL= 202.0, 24.8, ROT= 308.0, -24.8 2025-10-27T06:07:27.508Z,1761545247.508 [DAT](INFO): got valid direction response: 06:07:26.1030 LVL= 29488, 26401, 19234, 32755, AGC= 41, IDX= 507, 0.22, 1.520, 1.256,-2.750, 2.774, PHS=-1.152,-1.473, 0.715, RAW= 202.2, 18.3, CAL= 202.0, 24.8, ROT= 308.0, -24.8 2025-10-27T06:07:27.509Z,1761545247.509 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T06:07:27.510Z,1761545247.510 [DAT](INFO): direction in FSK: [0.558884,-0.715338,0.419452] 2025-10-27T06:07:27.510Z,1761545247.510 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:27.514Z,1761545247.514 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.588389 2025-10-27T06:07:27.624Z,1761545247.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810672,0.564775,0.154405],[-0.585276,0.774367,0.240433],[0.016224,-0.285282,0.958306]] 2025-10-27T06:07:27.708Z,1761545247.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504462 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:27.711Z,1761545247.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.285870 m, bearing: 278.301089 deg, lat: 36.779420 deg, lon: -121.859803 deg, deltaT: 0.504462 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:27.752Z,1761545247.752 [DAT](INFO): DAT read: Rx Time:06:07:26.6028 2025-10-27T06:07:27.753Z,1761545247.753 [DAT](INFO): Rx dataTimestamp_ set to:1761545247.752448 2025-10-27T06:07:27.754Z,1761545247.754 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 2025-10-27T06:07:27.755Z,1761545247.755 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-27T06:07:27.756Z,1761545247.756 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.830223 2025-10-27T06:07:28.005Z,1761545248.005 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.079233 2025-10-27T06:07:28.043Z,1761545248.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800247,0.579157,0.155508],[-0.599365,0.764195,0.238259],[0.019151,-0.283871,0.958671]] 2025-10-27T06:07:28.089Z,1761545248.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:28.093Z,1761545248.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.252671 s, deltaX: -0.300000 m, approachRate: -1.187315 m/s, rangeRepo size: 4 2025-10-27T06:07:28.256Z,1761545248.256 [DAT](INFO): DAT read: Rx Time:06:07:27.1029 2025-10-27T06:07:28.257Z,1761545248.257 [DAT](INFO): Rx dataTimestamp_ set to:1761545248.256296 2025-10-27T06:07:28.258Z,1761545248.258 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.1 2025-10-27T06:07:28.258Z,1761545248.258 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-10-27T06:07:28.259Z,1761545248.259 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.334047 2025-10-27T06:07:28.482Z,1761545248.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789509,0.593392,0.156722],[-0.613346,0.753703,0.236092],[0.021973,-0.282521,0.959009]] 2025-10-27T06:07:28.508Z,1761545248.508 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.582643 2025-10-27T06:07:28.600Z,1761545248.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503848 s, deltaX: 0.100000 m, approachRate: 0.198472 m/s, rangeRepo size: 4 2025-10-27T06:07:28.760Z,1761545248.760 [DAT](INFO): DAT read: Rx Time:06:07:27.6028 2025-10-27T06:07:28.761Z,1761545248.761 [DAT](INFO): Rx dataTimestamp_ set to:1761545248.760291 2025-10-27T06:07:28.762Z,1761545248.762 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:07:28.762Z,1761545248.762 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T06:07:28.766Z,1761545248.766 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.839375 2025-10-27T06:07:28.931Z,1761545248.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778321,0.607765,0.157601],[-0.627396,0.743119,0.232699],[0.024310,-0.279992,0.959694]] 2025-10-27T06:07:28.982Z,1761545248.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503995 s, deltaX: -0.100000 m, approachRate: -0.198414 m/s, rangeRepo size: 4 2025-10-27T06:07:29.012Z,1761545249.012 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.086782 2025-10-27T06:07:29.267Z,1761545249.267 [DAT](INFO): DAT read: Rx Time:06:07:28.1029 2025-10-27T06:07:29.269Z,1761545249.269 [DAT](INFO): Rx dataTimestamp_ set to:1761545249.267985 2025-10-27T06:07:29.272Z,1761545249.272 [DAT](INFO): DAT read: Bearing 194.2, -62.1 (Local) 2025-10-27T06:07:29.273Z,1761545249.273 [DAT](INFO): Local bearing/azimuth received: Bearing 194.2, -62.1 (Local) 2025-10-27T06:07:29.275Z,1761545249.275 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.349372 2025-10-27T06:07:29.346Z,1761545249.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767154,0.622175,0.156118],[-0.640918,0.733421,0.226534],[0.026444,-0.273845,0.961410]] 2025-10-27T06:07:29.517Z,1761545249.517 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:07:29.522Z,1761545249.522 [DAT](INFO): DAT read: 06:07:28.1029 LVL= 28960, 15313, 25474, 28339, AGC= 35, IDX= 506,-0.14,-1.835,-1.236, 0.256, 0.055, PHS=-1.788,-1.246, 0.157, RAW= 225.7, 30.3, CAL= 227.7, 41.5, ROT= 282.3, -41.5 2025-10-27T06:07:29.523Z,1761545249.523 [DAT](INFO): got valid direction response: 06:07:28.1029 LVL= 28960, 15313, 25474, 28339, AGC= 35, IDX= 506,-0.14,-1.835,-1.236, 0.256, 0.055, PHS=-1.788,-1.246, 0.157, RAW= 225.7, 30.3, CAL= 227.7, 41.5, ROT= 282.3, -41.5 2025-10-27T06:07:29.524Z,1761545249.524 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T06:07:29.525Z,1761545249.525 [DAT](INFO): direction in FSK: [0.159550,-0.731764,0.662620] 2025-10-27T06:07:29.525Z,1761545249.525 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:29.562Z,1761545249.562 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.636139 2025-10-27T06:07:29.772Z,1761545249.772 [DAT](INFO): DAT read: Rx Time:06:07:28.6028 2025-10-27T06:07:29.774Z,1761545249.774 [DAT](INFO): Rx dataTimestamp_ set to:1761545249.772546 2025-10-27T06:07:29.778Z,1761545249.778 [DAT](INFO): DAT read: Bearing 209.5, -61.7 (Local) 2025-10-27T06:07:29.779Z,1761545249.779 [DAT](INFO): Local bearing/azimuth received: Bearing 209.5, -61.7 (Local) 2025-10-27T06:07:29.786Z,1761545249.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755597,0.636312,0.155502],[-0.654424,0.723038,0.221237],[0.028342,-0.268930,0.962743]] 2025-10-27T06:07:29.789Z,1761545249.789 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:07:29.795Z,1761545249.795 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-27T06:07:29.796Z,1761545249.796 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.870704 2025-10-27T06:07:29.915Z,1761545249.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 1.012255 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:29.921Z,1761545249.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.987584 m, bearing: 243.568795 deg, lat: 36.779420 deg, lon: -121.859804 deg, deltaT: 2.272769 s, deltaX: -0.298286 m, approachRate: -0.131243 m/s, posRepo size: 4 2025-10-27T06:07:30.025Z,1761545250.025 [DAT](INFO): DAT read: 06:07:28.6028 LVL= 25712, 18257, 21426, 30579, AGC= 36, IDX= 505,-0.29, 3.131,-2.304,-1.083,-1.072, PHS=-1.978,-1.187,-0.055, RAW= 234.2, 34.2, CAL= 237.7, 43.9, ROT= 272.3, -43.9 2025-10-27T06:07:30.027Z,1761545250.027 [DAT](INFO): got valid direction response: 06:07:28.6028 LVL= 25712, 18257, 21426, 30579, AGC= 36, IDX= 505,-0.29, 3.131,-2.304,-1.083,-1.072, PHS=-1.978,-1.187,-0.055, RAW= 234.2, 34.2, CAL= 237.7, 43.9, ROT= 272.3, -43.9 2025-10-27T06:07:30.028Z,1761545250.028 [DAT](INFO): #Rx 19: Read direction message, but no range. 2025-10-27T06:07:30.029Z,1761545250.029 [DAT](INFO): direction in FSK: [0.028917,-0.719971,0.693402] 2025-10-27T06:07:30.034Z,1761545250.034 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.108821 2025-10-27T06:07:30.184Z,1761545250.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743462,0.650858,0.153778],[-0.668103,0.712487,0.214476],[0.030029,-0.262195,0.964548]] 2025-10-27T06:07:30.213Z,1761545250.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:30.276Z,1761545250.276 [DAT](INFO): DAT read: Rx Time:06:07:29.1028 2025-10-27T06:07:30.277Z,1761545250.277 [DAT](INFO): Rx dataTimestamp_ set to:1761545250.276394 2025-10-27T06:07:30.282Z,1761545250.282 [DAT](INFO): DAT read: Bearing 215.9, -60.3 (Local) 2025-10-27T06:07:30.283Z,1761545250.283 [DAT](INFO): Local bearing/azimuth received: Bearing 215.9, -60.3 (Local) 2025-10-27T06:07:30.289Z,1761545250.289 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.1 2025-10-27T06:07:30.291Z,1761545250.291 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-27T06:07:30.296Z,1761545250.296 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.368870 2025-10-27T06:07:30.528Z,1761545250.528 [DAT](INFO): DAT read: 06:07:29.1028 LVL= 32752, 25233, 23458, 32755, AGC= 38, IDX= 506,-0.02, 3.027,-2.251,-1.171,-1.045, PHS=-2.109,-1.161,-0.170, RAW= 239.3, 35.9, CAL= 242.9, 45.0, ROT= 267.1, -45.0 2025-10-27T06:07:30.529Z,1761545250.529 [DAT](INFO): got valid direction response: 06:07:29.1028 LVL= 32752, 25233, 23458, 32755, AGC= 38, IDX= 506,-0.02, 3.027,-2.251,-1.171,-1.045, PHS=-2.109,-1.161,-0.170, RAW= 239.3, 35.9, CAL= 242.9, 45.0, ROT= 267.1, -45.0 2025-10-27T06:07:30.529Z,1761545250.529 [DAT](INFO): #Rx 21: Read direction message, but no range. 2025-10-27T06:07:30.530Z,1761545250.530 [DAT](INFO): direction in FSK: [-0.035774,-0.706201,0.707107] 2025-10-27T06:07:30.534Z,1761545250.534 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.608254 2025-10-27T06:07:30.616Z,1761545250.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731473,0.664704,0.152041],[-0.681149,0.702050,0.207754],[0.031354,-0.255529,0.966293]] 2025-10-27T06:07:30.685Z,1761545250.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503848 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:30.691Z,1761545250.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.987538 m, bearing: 219.903224 deg, lat: 36.779421 deg, lon: -121.859806 deg, deltaT: 0.503848 s, deltaX: -0.000046 m, approachRate: -0.000092 m/s, posRepo size: 4 2025-10-27T06:07:30.780Z,1761545250.780 [DAT](INFO): DAT read: Rx Time:06:07:29.6028 2025-10-27T06:07:30.782Z,1761545250.782 [DAT](INFO): Rx dataTimestamp_ set to:1761545250.780987 2025-10-27T06:07:30.787Z,1761545250.787 [DAT](INFO): DAT read: Bearing 223.5, -62.4 (Local) 2025-10-27T06:07:30.788Z,1761545250.788 [DAT](INFO): Local bearing/azimuth received: Bearing 223.5, -62.4 (Local) 2025-10-27T06:07:30.804Z,1761545250.804 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.1 2025-10-27T06:07:30.825Z,1761545250.825 [DAT](INFO): DAT read: 06:07:29.6028 LVL= 32752, 32753, 30450, 32755, AGC= 43, IDX= 505, 0.20,-1.967,-0.816, 0.097, 0.146, PHS=-2.011,-0.917,-0.092, RAW= 244.6, 32.6, CAL= 248.2, 41.8, ROT= 261.8, -41.8 2025-10-27T06:07:30.827Z,1761545250.827 [DAT](INFO): got valid direction response: 06:07:29.6028 LVL= 32752, 32753, 30450, 32755, AGC= 43, IDX= 505, 0.20,-1.967,-0.816, 0.097, 0.146, PHS=-2.011,-0.917,-0.092, RAW= 244.6, 32.6, CAL= 248.2, 41.8, ROT= 261.8, -41.8 2025-10-27T06:07:30.835Z,1761545250.835 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T06:07:30.836Z,1761545250.836 [DAT](INFO): direction in FSK: [-0.106327,-0.737854,0.666532] 2025-10-27T06:07:30.837Z,1761545250.837 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:30.844Z,1761545250.844 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.919133 2025-10-27T06:07:30.990Z,1761545250.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719298,0.677820,0.152221],[-0.693952,0.690878,0.202777],[0.032280,-0.251491,0.967321]] 2025-10-27T06:07:31.028Z,1761545251.028 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.102740 2025-10-27T06:07:31.048Z,1761545251.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:31.050Z,1761545251.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.987538 m, bearing: 212.338358 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.504593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:31.052Z,1761545251.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m. 2025-10-27T06:07:31.285Z,1761545251.285 [DAT](INFO): DAT read: Rx Time:06:07:30.1029 2025-10-27T06:07:31.286Z,1761545251.286 [DAT](INFO): Rx dataTimestamp_ set to:1761545251.285379 2025-10-27T06:07:31.291Z,1761545251.291 [DAT](INFO): DAT read: Bearing 236.5, -66.7 (Local) 2025-10-27T06:07:31.292Z,1761545251.292 [DAT](INFO): Local bearing/azimuth received: Bearing 236.5, -66.7 (Local) 2025-10-27T06:07:31.321Z,1761545251.321 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.2 2025-10-27T06:07:31.342Z,1761545251.342 [DAT](INFO): DAT read: 06:07:30.1029 LVL= 32752, 32753, 23794, 32755, AGC= 41, IDX= 506,-0.02, 2.452,-2.378,-1.565,-1.646, PHS=-2.083,-0.687, 0.037, RAW= 250.4, 27.4, CAL= 253.5, 35.4, ROT= 256.5, -35.4 2025-10-27T06:07:31.347Z,1761545251.347 [DAT](INFO): got valid direction response: 06:07:30.1029 LVL= 32752, 32753, 23794, 32755, AGC= 41, IDX= 506,-0.02, 2.452,-2.378,-1.565,-1.646, PHS=-2.083,-0.687, 0.037, RAW= 250.4, 27.4, CAL= 253.5, 35.4, ROT= 256.5, -35.4 2025-10-27T06:07:31.348Z,1761545251.348 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T06:07:31.349Z,1761545251.349 [DAT](INFO): direction in FSK: [-0.190288,-0.792606,0.579281] 2025-10-27T06:07:31.349Z,1761545251.349 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:31.381Z,1761545251.381 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.455792 2025-10-27T06:07:31.431Z,1761545251.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706548,0.690314,0.155742],[-0.706896,0.678225,0.200769],[0.032966,-0.251946,0.967180]] 2025-10-27T06:07:31.532Z,1761545251.532 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.606701 2025-10-27T06:07:31.540Z,1761545251.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504392 s, deltaX: 0.100000 m, approachRate: 0.198258 m/s, rangeRepo size: 4 2025-10-27T06:07:31.542Z,1761545251.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.086896 m, bearing: 205.868051 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.504392 s, deltaX: 0.099359 m, approachRate: 0.196987 m/s, posRepo size: 4 2025-10-27T06:07:31.788Z,1761545251.788 [DAT](INFO): DAT read: Rx Time:06:07:30.6028 2025-10-27T06:07:31.790Z,1761545251.790 [DAT](INFO): Rx dataTimestamp_ set to:1761545251.789206 2025-10-27T06:07:31.794Z,1761545251.794 [DAT](INFO): DAT read: Bearing 254.0, -58.1 (Local) 2025-10-27T06:07:31.795Z,1761545251.795 [DAT](INFO): Local bearing/azimuth received: Bearing 254.0, -58.1 (Local) 2025-10-27T06:07:31.797Z,1761545251.797 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.3 2025-10-27T06:07:31.798Z,1761545251.798 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T06:07:31.802Z,1761545251.802 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.875331 2025-10-27T06:07:31.895Z,1761545251.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693550,0.702920,0.157772],[-0.719630,0.665802,0.197080],[0.033487,-0.250223,0.967609]] 2025-10-27T06:07:31.940Z,1761545251.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503827 s, deltaX: -0.100000 m, approachRate: -0.198481 m/s, rangeRepo size: 4 2025-10-27T06:07:31.941Z,1761545251.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.00 m. 2025-10-27T06:07:32.040Z,1761545252.040 [DAT](INFO): DAT read: 06:07:30.6028 LVL= 32752, 32753, 28594, 32755, AGC= 43, IDX= 505, 0.46,-0.420, 1.550, 1.785, 1.968, PHS=-2.286,-0.373,-0.226, RAW= 266.3, 27.1, CAL= 268.5, 35.7, ROT= 241.5, -35.7 2025-10-27T06:07:32.041Z,1761545252.041 [DAT](INFO): got valid direction response: 06:07:30.6028 LVL= 32752, 32753, 28594, 32755, AGC= 43, IDX= 505, 0.46,-0.420, 1.550, 1.785, 1.968, PHS=-2.286,-0.373,-0.226, RAW= 266.3, 27.1, CAL= 268.5, 35.7, ROT= 241.5, -35.7 2025-10-27T06:07:32.041Z,1761545252.041 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-27T06:07:32.042Z,1761545252.042 [DAT](INFO): direction in FSK: [-0.387493,-0.713673,0.583541] 2025-10-27T06:07:32.046Z,1761545252.046 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.120204 2025-10-27T06:07:32.288Z,1761545252.288 [DAT](INFO): DAT read: Rx Time:06:07:31.1030 2025-10-27T06:07:32.289Z,1761545252.289 [DAT](INFO): Rx dataTimestamp_ set to:1761545252.288341 2025-10-27T06:07:32.290Z,1761545252.290 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.2 2025-10-27T06:07:32.290Z,1761545252.290 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-27T06:07:32.291Z,1761545252.291 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.366154 2025-10-27T06:07:32.303Z,1761545252.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680606,0.714638,0.161453],[-0.731878,0.653066,0.194573],[0.033610,-0.250592,0.967509]] 2025-10-27T06:07:32.382Z,1761545252.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.499135 s, deltaX: 0.300000 m, approachRate: 0.601040 m/s, rangeRepo size: 4 2025-10-27T06:07:32.389Z,1761545252.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.285670 m, bearing: 185.792684 deg, lat: 36.779420 deg, lon: -121.859807 deg, deltaT: 1.002962 s, deltaX: 0.198773 m, approachRate: 0.198186 m/s, posRepo size: 4 2025-10-27T06:07:32.389Z,1761545252.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m. 2025-10-27T06:07:32.540Z,1761545252.540 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.614719 2025-10-27T06:07:32.796Z,1761545252.796 [DAT](INFO): DAT read: Rx Time:06:07:31.6030 2025-10-27T06:07:32.796Z,1761545252.796 [DAT](INFO): Rx dataTimestamp_ set to:1761545252.796187 2025-10-27T06:07:32.798Z,1761545252.798 [DAT](INFO): DAT read: Bearing 277.0, -45.3 (Local) 2025-10-27T06:07:32.798Z,1761545252.798 [DAT](INFO): Local bearing/azimuth received: Bearing 277.0, -45.3 (Local) 2025-10-27T06:07:32.800Z,1761545252.800 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.3 2025-10-27T06:07:32.801Z,1761545252.801 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-27T06:07:32.802Z,1761545252.802 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.876532 2025-10-27T06:07:32.937Z,1761545252.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:32.940Z,1761545252.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.507846 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:32.941Z,1761545252.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m. 2025-10-27T06:07:33.049Z,1761545253.049 [DAT](INFO): DAT read: 06:07:31.6030 LVL= 32752, 28401, 27842, 32755, AGC= 41, IDX= 508,-0.15, 0.902,-2.931, 2.631, 2.970, PHS=-1.966, 0.427,-0.383, RAW= 289.4, 17.9, CAL= 288.4, 24.9, ROT= 221.6, -24.9 2025-10-27T06:07:33.053Z,1761545253.053 [DAT](INFO): got valid direction response: 06:07:31.6030 LVL= 32752, 28401, 27842, 32755, AGC= 41, IDX= 508,-0.15, 0.902,-2.931, 2.631, 2.970, PHS=-1.966, 0.427,-0.383, RAW= 289.4, 17.9, CAL= 288.4, 24.9, ROT= 221.6, -24.9 2025-10-27T06:07:33.054Z,1761545253.054 [DAT](INFO): #Rx 28: Read direction message, but no range. 2025-10-27T06:07:33.057Z,1761545253.057 [DAT](INFO): direction in FSK: [-0.678286,-0.602210,0.421036] 2025-10-27T06:07:33.078Z,1761545253.078 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.151992 2025-10-27T06:07:33.297Z,1761545253.297 [DAT](INFO): DAT read: Rx Time:06:07:32.1033 2025-10-27T06:07:33.298Z,1761545253.298 [DAT](INFO): Rx dataTimestamp_ set to:1761545253.297581 2025-10-27T06:07:33.299Z,1761545253.299 [DAT](INFO): DAT read: Bearing 276.1, -47.9 (Local) 2025-10-27T06:07:33.300Z,1761545253.300 [DAT](INFO): Local bearing/azimuth received: Bearing 276.1, -47.9 (Local) 2025-10-27T06:07:33.302Z,1761545253.302 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 2025-10-27T06:07:33.302Z,1761545253.302 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T06:07:33.303Z,1761545253.303 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.378117 2025-10-27T06:07:33.355Z,1761545253.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638664,0.749260,0.175264],[-0.768727,0.611151,0.188557],[0.034166,-0.255154,0.966297]] 2025-10-27T06:07:33.411Z,1761545253.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501394 s, deltaX: 0.400000 m, approachRate: 0.797776 m/s, rangeRepo size: 4 2025-10-27T06:07:33.413Z,1761545253.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.683187 m, bearing: 163.978874 deg, lat: 36.779419 deg, lon: -121.859807 deg, deltaT: 1.009240 s, deltaX: 0.397517 m, approachRate: 0.393878 m/s, posRepo size: 4 2025-10-27T06:07:33.559Z,1761545253.559 [DAT](INFO): DAT read: 06:07:32.1033 LVL= 32752, 18321, 21426, 30899, AGC= 42, IDX= 510, 0.12, 0.524, 2.781, 2.223, 2.450, PHS=-1.824, 0.375,-0.272, RAW= 286.6, 17.3, CAL= 285.6, 24.4, ROT= 224.4, -24.4 2025-10-27T06:07:33.561Z,1761545253.561 [DAT](INFO): got valid direction response: 06:07:32.1033 LVL= 32752, 18321, 21426, 30899, AGC= 42, IDX= 510, 0.12, 0.524, 2.781, 2.223, 2.450, PHS=-1.824, 0.375,-0.272, RAW= 286.6, 17.3, CAL= 285.6, 24.4, ROT= 224.4, -24.4 2025-10-27T06:07:33.562Z,1761545253.562 [DAT](INFO): #Rx 30: Read direction message, but no range. 2025-10-27T06:07:33.564Z,1761545253.564 [DAT](INFO): direction in FSK: [-0.650659,-0.637172,0.413104] 2025-10-27T06:07:33.576Z,1761545253.576 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.649342 2025-10-27T06:07:33.801Z,1761545253.801 [DAT](INFO): DAT read: Rx Time:06:07:32.6033 2025-10-27T06:07:33.801Z,1761545253.801 [DAT](INFO): Rx dataTimestamp_ set to:1761545253.800752 2025-10-27T06:07:33.802Z,1761545253.802 [DAT](INFO): DAT read: Bearing 274.0, -48.2 (Local) 2025-10-27T06:07:33.803Z,1761545253.803 [DAT](INFO): Local bearing/azimuth received: Bearing 274.0, -48.2 (Local) 2025-10-27T06:07:33.805Z,1761545253.805 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 2025-10-27T06:07:33.814Z,1761545253.814 [DAT](INFO): DAT read: 06:07:32.6033 LVL= 30384, 16177, 12786, 24563, AGC= 39, IDX= 510, 0.33,-2.376,-0.291,-0.784,-0.573, PHS=-1.701, 0.327,-0.255, RAW= 286.2, 17.7, CAL= 285.3, 24.8, ROT= 224.7, -24.8 2025-10-27T06:07:33.867Z,1761545253.867 [DAT](INFO): got valid direction response: 06:07:32.6033 LVL= 30384, 16177, 12786, 24563, AGC= 39, IDX= 510, 0.33,-2.376,-0.291,-0.784,-0.573, PHS=-1.701, 0.327,-0.255, RAW= 286.2, 17.7, CAL= 285.3, 24.8, ROT= 224.7, -24.8 2025-10-27T06:07:33.868Z,1761545253.868 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T06:07:33.869Z,1761545253.869 [DAT](INFO): direction in FSK: [-0.645248,-0.638526,0.419452] 2025-10-27T06:07:33.869Z,1761545253.869 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:33.875Z,1761545253.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624009,0.760599,0.179169],[-0.780680,0.596856,0.185206],[0.033929,-0.255443,0.966228]] 2025-10-27T06:07:33.877Z,1761545253.877 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.951464 2025-10-27T06:07:33.967Z,1761545253.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:33.980Z,1761545253.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.683187 m, bearing: 166.161482 deg, lat: 36.779419 deg, lon: -121.859807 deg, deltaT: 0.503171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:34.054Z,1761545254.054 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.127969 2025-10-27T06:07:34.247Z,1761545254.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609717,0.771447,0.181977],[-0.791911,0.583191,0.181014],[0.033515,-0.254477,0.966498]] 2025-10-27T06:07:34.305Z,1761545254.305 [DAT](INFO): DAT read: Rx Time:06:07:33.1035 2025-10-27T06:07:34.305Z,1761545254.305 [DAT](INFO): Rx dataTimestamp_ set to:1761545254.304773 2025-10-27T06:07:34.306Z,1761545254.306 [DAT](INFO): DAT read: Bearing 267.1, -56.5 (Local) 2025-10-27T06:07:34.307Z,1761545254.307 [DAT](INFO): Local bearing/azimuth received: Bearing 267.1, -56.5 (Local) 2025-10-27T06:07:34.309Z,1761545254.309 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.3 2025-10-27T06:07:34.314Z,1761545254.314 [DAT](INFO): DAT read: 06:07:33.1035 LVL= 30384, 20113, 15666, 28819, AGC= 42, IDX= 512, 0.43,-3.036,-1.267,-1.342,-1.304, PHS=-1.629, 0.082,-0.082, RAW= 275.0, 19.4, CAL= 275.5, 26.7, ROT= 234.5, -26.7 2025-10-27T06:07:34.315Z,1761545254.315 [DAT](INFO): got valid direction response: 06:07:33.1035 LVL= 30384, 20113, 15666, 28819, AGC= 42, IDX= 512, 0.43,-3.036,-1.267,-1.342,-1.304, PHS=-1.629, 0.082,-0.082, RAW= 275.0, 19.4, CAL= 275.5, 26.7, ROT= 234.5, -26.7 2025-10-27T06:07:34.315Z,1761545254.315 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T06:07:34.316Z,1761545254.316 [DAT](INFO): direction in FSK: [-0.518783,-0.727308,0.449319] 2025-10-27T06:07:34.316Z,1761545254.316 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:34.324Z,1761545254.324 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.398793 2025-10-27T06:07:34.352Z,1761545254.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504021 s, deltaX: 0.300000 m, approachRate: 0.595213 m/s, rangeRepo size: 4 2025-10-27T06:07:34.354Z,1761545254.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.981371 m, bearing: 175.114676 deg, lat: 36.779417 deg, lon: -121.859808 deg, deltaT: 0.504021 s, deltaX: 0.298184 m, approachRate: 0.591611 m/s, posRepo size: 4 2025-10-27T06:07:34.557Z,1761545254.557 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.631627 2025-10-27T06:07:34.809Z,1761545254.809 [DAT](INFO): DAT read: Rx Time:06:07:33.6036 2025-10-27T06:07:34.809Z,1761545254.809 [DAT](INFO): Rx dataTimestamp_ set to:1761545254.809124 2025-10-27T06:07:34.812Z,1761545254.812 [DAT](INFO): DAT read: Bearing 267.4, -54.8 (Local) 2025-10-27T06:07:34.812Z,1761545254.812 [DAT](INFO): Local bearing/azimuth received: Bearing 267.4, -54.8 (Local) 2025-10-27T06:07:34.816Z,1761545254.816 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 2025-10-27T06:07:34.822Z,1761545254.822 [DAT](INFO): DAT read: 06:07:33.6036 LVL= 28576, 17617, 14130, 26275, AGC= 41, IDX= 513,-0.34,-0.525, 1.748, 1.528, 1.613, PHS=-2.036, 0.180,-0.129, RAW= 277.4, 18.6, CAL= 277.5, 26.0, ROT= 232.5, -26.0 2025-10-27T06:07:34.852Z,1761545254.852 [DAT](INFO): got valid direction response: 06:07:33.6036 LVL= 28576, 17617, 14130, 26275, AGC= 41, IDX= 513,-0.34,-0.525, 1.748, 1.528, 1.613, PHS=-2.036, 0.180,-0.129, RAW= 277.4, 18.6, CAL= 277.5, 26.0, ROT= 232.5, -26.0 2025-10-27T06:07:34.852Z,1761545254.852 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T06:07:34.853Z,1761545254.853 [DAT](INFO): direction in FSK: [-0.547151,-0.713061,0.438371] 2025-10-27T06:07:34.853Z,1761545254.853 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:34.869Z,1761545254.869 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.943279 2025-10-27T06:07:35.060Z,1761545255.060 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.134743 2025-10-27T06:07:35.093Z,1761545255.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504351 s, deltaX: 0.200000 m, approachRate: 0.396549 m/s, rangeRepo size: 4 2025-10-27T06:07:35.111Z,1761545255.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.180129 m, bearing: 173.134421 deg, lat: 36.779416 deg, lon: -121.859808 deg, deltaT: 0.504351 s, deltaX: 0.198758 m, approachRate: 0.394087 m/s, posRepo size: 4 2025-10-27T06:07:35.313Z,1761545255.313 [DAT](INFO): DAT read: Rx Time:06:07:34.1038 2025-10-27T06:07:35.313Z,1761545255.313 [DAT](INFO): Rx dataTimestamp_ set to:1761545255.312743 2025-10-27T06:07:35.314Z,1761545255.314 [DAT](INFO): DAT read: Bearing 270.8, -45.3 (Local) 2025-10-27T06:07:35.325Z,1761545255.325 [DAT](INFO): Local bearing/azimuth received: Bearing 270.8, -45.3 (Local) 2025-10-27T06:07:35.335Z,1761545255.335 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3 2025-10-27T06:07:35.356Z,1761545255.356 [DAT](INFO): DAT read: 06:07:34.1038 LVL= 22688, 12353, 9250, 17907, AGC= 43, IDX= 3,-0.26,-1.822, 0.251,-0.352,-0.100, PHS=-1.621, 0.396,-0.296, RAW= 289.7, 16.9, CAL= 288.3, 23.9, ROT= 221.7, -23.9 2025-10-27T06:07:35.357Z,1761545255.357 [DAT](INFO): got valid direction response: 06:07:34.1038 LVL= 22688, 12353, 9250, 17907, AGC= 43, IDX= 3,-0.26,-1.822, 0.251,-0.352,-0.100, PHS=-1.621, 0.396,-0.296, RAW= 289.7, 16.9, CAL= 288.3, 23.9, ROT= 221.7, -23.9 2025-10-27T06:07:35.358Z,1761545255.358 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T06:07:35.359Z,1761545255.359 [DAT](INFO): direction in FSK: [-0.682617,-0.608189,0.405142] 2025-10-27T06:07:35.359Z,1761545255.359 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:35.379Z,1761545255.379 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.437452 2025-10-27T06:07:35.449Z,1761545255.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564784,0.804114,0.185528],[-0.824674,0.541634,0.162927],[0.030524,-0.245018,0.969038]] 2025-10-27T06:07:35.498Z,1761545255.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503619 s, deltaX: 0.300000 m, approachRate: 0.595688 m/s, rangeRepo size: 4 2025-10-27T06:07:35.505Z,1761545255.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.478327 m, bearing: 159.459852 deg, lat: 36.779416 deg, lon: -121.859805 deg, deltaT: 0.503619 s, deltaX: 0.298197 m, approachRate: 0.592109 m/s, posRepo size: 4 2025-10-27T06:07:35.568Z,1761545255.568 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.642153 2025-10-27T06:07:35.816Z,1761545255.816 [DAT](INFO): DAT read: Rx Time:06:07:34.6038 2025-10-27T06:07:35.817Z,1761545255.817 [DAT](INFO): Rx dataTimestamp_ set to:1761545255.816533 2025-10-27T06:07:35.818Z,1761545255.818 [DAT](INFO): DAT read: Bearing 271.4, -41.4 (Local) 2025-10-27T06:07:35.818Z,1761545255.818 [DAT](INFO): Local bearing/azimuth received: Bearing 271.4, -41.4 (Local) 2025-10-27T06:07:35.821Z,1761545255.821 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3 2025-10-27T06:07:35.825Z,1761545255.825 [DAT](INFO): DAT read: 06:07:34.6038 LVL= 28912, 15137, 13650, 24819, AGC= 42, IDX= 499,-0.17,-2.749,-0.681,-1.433,-1.121, PHS=-1.526, 0.485,-0.356, RAW= 294.6, 15.8, CAL= 292.6, 22.6, ROT= 217.4, -22.6 2025-10-27T06:07:35.826Z,1761545255.826 [DAT](INFO): got valid direction response: 06:07:34.6038 LVL= 28912, 15137, 13650, 24819, AGC= 42, IDX= 499,-0.17,-2.749,-0.681,-1.433,-1.121, PHS=-1.526, 0.485,-0.356, RAW= 294.6, 15.8, CAL= 292.6, 22.6, ROT= 217.4, -22.6 2025-10-27T06:07:35.827Z,1761545255.827 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T06:07:35.828Z,1761545255.828 [DAT](INFO): direction in FSK: [-0.733412,-0.560735,0.384295] 2025-10-27T06:07:35.828Z,1761545255.828 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:35.832Z,1761545255.832 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.906235 2025-10-27T06:07:36.037Z,1761545256.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503790 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:36.039Z,1761545256.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.478327 m, bearing: 155.382875 deg, lat: 36.779416 deg, lon: -121.859805 deg, deltaT: 0.503790 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:36.069Z,1761545256.069 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.143366 2025-10-27T06:07:36.305Z,1761545256.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532819,0.823943,0.192929],[-0.845766,0.510960,0.153619],[0.027994,-0.245024,0.969113]] 2025-10-27T06:07:36.321Z,1761545256.321 [DAT](INFO): DAT read: Rx Time:06:07:35.1040 2025-10-27T06:07:36.321Z,1761545256.321 [DAT](INFO): Rx dataTimestamp_ set to:1761545256.320814 2025-10-27T06:07:36.322Z,1761545256.322 [DAT](INFO): DAT read: Bearing 271.4, -38.4 (Local) 2025-10-27T06:07:36.323Z,1761545256.323 [DAT](INFO): Local bearing/azimuth received: Bearing 271.4, -38.4 (Local) 2025-10-27T06:07:36.325Z,1761545256.325 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.3 2025-10-27T06:07:36.330Z,1761545256.330 [DAT](INFO): DAT read: 06:07:35.1040 LVL= 30176, 17137, 14370, 29283, AGC= 40, IDX= 501,-0.09,-0.475, 1.582, 0.731, 1.080, PHS=-1.453, 0.546,-0.393, RAW= 298.0, 14.9, CAL= 295.7, 21.4, ROT= 214.3, -21.4 2025-10-27T06:07:36.331Z,1761545256.331 [DAT](INFO): got valid direction response: 06:07:35.1040 LVL= 30176, 17137, 14370, 29283, AGC= 40, IDX= 501,-0.09,-0.475, 1.582, 0.731, 1.080, PHS=-1.453, 0.546,-0.393, RAW= 298.0, 14.9, CAL= 295.7, 21.4, ROT= 214.3, -21.4 2025-10-27T06:07:36.331Z,1761545256.331 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T06:07:36.332Z,1761545256.332 [DAT](INFO): direction in FSK: [-0.769144,-0.524674,0.364877] 2025-10-27T06:07:36.332Z,1761545256.332 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:36.340Z,1761545256.340 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.414778 2025-10-27T06:07:36.382Z,1761545256.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504281 s, deltaX: 0.300000 m, approachRate: 0.594906 m/s, rangeRepo size: 4 2025-10-27T06:07:36.393Z,1761545256.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.776560 m, bearing: 150.395410 deg, lat: 36.779416 deg, lon: -121.859804 deg, deltaT: 0.504281 s, deltaX: 0.298234 m, approachRate: 0.591403 m/s, posRepo size: 4 2025-10-27T06:07:36.576Z,1761545256.576 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.650131 2025-10-27T06:07:36.683Z,1761545256.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516441,0.833359,0.196981],[-0.855903,0.495143,0.149210],[0.026811,-0.245655,0.968987]] 2025-10-27T06:07:36.809Z,1761545256.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:36.825Z,1761545256.825 [DAT](INFO): DAT read: Rx Time:06:07:35.6040 2025-10-27T06:07:36.825Z,1761545256.825 [DAT](INFO): Rx dataTimestamp_ set to:1761545256.824809 2025-10-27T06:07:36.826Z,1761545256.826 [DAT](INFO): DAT read: Bearing 271.3, -35.3 (Local) 2025-10-27T06:07:36.827Z,1761545256.827 [DAT](INFO): Local bearing/azimuth received: Bearing 271.3, -35.3 (Local) 2025-10-27T06:07:36.829Z,1761545256.829 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.3 2025-10-27T06:07:36.834Z,1761545256.834 [DAT](INFO): DAT read: 06:07:35.6040 LVL= 27456, 15329, 15826, 28643, AGC= 42, IDX= 501, 0.02,-0.451, 1.628, 0.659, 1.056, PHS=-1.405, 0.617,-0.441, RAW= 301.5, 13.9, CAL= 299.0, 20.3, ROT= 211.0, -20.3 2025-10-27T06:07:36.835Z,1761545256.835 [DAT](INFO): got valid direction response: 06:07:35.6040 LVL= 27456, 15329, 15826, 28643, AGC= 42, IDX= 501, 0.02,-0.451, 1.628, 0.659, 1.056, PHS=-1.405, 0.617,-0.441, RAW= 301.5, 13.9, CAL= 299.0, 20.3, ROT= 211.0, -20.3 2025-10-27T06:07:36.835Z,1761545256.835 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T06:07:36.836Z,1761545256.836 [DAT](INFO): direction in FSK: [-0.803928,-0.483048,0.346936] 2025-10-27T06:07:36.836Z,1761545256.836 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:36.848Z,1761545256.848 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.923042 2025-10-27T06:07:37.077Z,1761545257.077 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.151711 2025-10-27T06:07:37.096Z,1761545257.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500312,0.842294,0.200571],[-0.865473,0.479704,0.144361],[0.025379,-0.245814,0.968985]] 2025-10-27T06:07:37.149Z,1761545257.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503995 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:37.151Z,1761545257.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.776560 m, bearing: 145.190755 deg, lat: 36.779416 deg, lon: -121.859804 deg, deltaT: 0.503995 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:37.329Z,1761545257.329 [DAT](INFO): DAT read: Rx Time:06:07:36.1041 2025-10-27T06:07:37.329Z,1761545257.329 [DAT](INFO): Rx dataTimestamp_ set to:1761545257.328702 2025-10-27T06:07:37.330Z,1761545257.330 [DAT](INFO): DAT read: Bearing 273.1, -33.7 (Local) 2025-10-27T06:07:37.331Z,1761545257.331 [DAT](INFO): Local bearing/azimuth received: Bearing 273.1, -33.7 (Local) 2025-10-27T06:07:37.333Z,1761545257.333 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 2025-10-27T06:07:37.351Z,1761545257.351 [DAT](INFO): DAT read: 06:07:36.1041 LVL= 27888, 15857, 15714, 28147, AGC= 42, IDX= 503, 0.23, 0.882, 3.015, 1.979, 2.370, PHS=-1.385, 0.691,-0.435, RAW= 302.8, 12.5, CAL= 300.3, 17.5, ROT= 209.7, -17.5 2025-10-27T06:07:37.352Z,1761545257.352 [DAT](INFO): got valid direction response: 06:07:36.1041 LVL= 27888, 15857, 15714, 28147, AGC= 42, IDX= 503, 0.23, 0.882, 3.015, 1.979, 2.370, PHS=-1.385, 0.691,-0.435, RAW= 302.8, 12.5, CAL= 300.3, 17.5, ROT= 209.7, -17.5 2025-10-27T06:07:37.352Z,1761545257.352 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T06:07:37.353Z,1761545257.353 [DAT](INFO): direction in FSK: [-0.828429,-0.472527,0.300706] 2025-10-27T06:07:37.353Z,1761545257.353 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:37.397Z,1761545257.397 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.472019 2025-10-27T06:07:37.498Z,1761545257.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484248,0.851423,0.201452],[-0.874601,0.464738,0.138174],[0.024022,-0.243100,0.969704]] 2025-10-27T06:07:37.536Z,1761545257.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503893 s, deltaX: 0.300000 m, approachRate: 0.595364 m/s, rangeRepo size: 4 2025-10-27T06:07:37.538Z,1761545257.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.074765 m, bearing: 143.661338 deg, lat: 36.779416 deg, lon: -121.859801 deg, deltaT: 0.503893 s, deltaX: 0.298205 m, approachRate: 0.591802 m/s, posRepo size: 4 2025-10-27T06:07:37.584Z,1761545257.584 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.657515 2025-10-27T06:07:37.833Z,1761545257.833 [DAT](INFO): DAT read: Rx Time:06:07:36.6042 2025-10-27T06:07:37.833Z,1761545257.833 [DAT](INFO): Rx dataTimestamp_ set to:1761545257.832733 2025-10-27T06:07:37.834Z,1761545257.834 [DAT](INFO): DAT read: Bearing 273.5, -32.8 (Local) 2025-10-27T06:07:37.835Z,1761545257.835 [DAT](INFO): Local bearing/azimuth received: Bearing 273.5, -32.8 (Local) 2025-10-27T06:07:37.837Z,1761545257.837 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4 2025-10-27T06:07:37.841Z,1761545257.841 [DAT](INFO): DAT read: 06:07:36.6042 LVL= 27808, 15521, 15794, 28307, AGC= 42, IDX= 504,-0.48,-1.800, 0.361,-0.709,-0.325, PHS=-1.373, 0.731,-0.428, RAW= 303.4, 11.7, CAL= 300.9, 15.8, ROT= 209.1, -15.8 2025-10-27T06:07:37.842Z,1761545257.842 [DAT](INFO): got valid direction response: 06:07:36.6042 LVL= 27808, 15521, 15794, 28307, AGC= 42, IDX= 504,-0.48,-1.800, 0.361,-0.709,-0.325, PHS=-1.373, 0.731,-0.428, RAW= 303.4, 11.7, CAL= 300.9, 15.8, ROT= 209.1, -15.8 2025-10-27T06:07:37.843Z,1761545257.843 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T06:07:37.844Z,1761545257.844 [DAT](INFO): direction in FSK: [-0.840759,-0.467961,0.272280] 2025-10-27T06:07:37.844Z,1761545257.844 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:37.848Z,1761545257.848 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.922642 2025-10-27T06:07:38.014Z,1761545258.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504031 s, deltaX: 0.100000 m, approachRate: 0.198400 m/s, rangeRepo size: 4 2025-10-27T06:07:38.021Z,1761545258.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.174149 m, bearing: 143.501495 deg, lat: 36.779416 deg, lon: -121.859801 deg, deltaT: 0.504031 s, deltaX: 0.099384 m, approachRate: 0.197179 m/s, posRepo size: 4 2025-10-27T06:07:38.085Z,1761545258.085 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.159706 2025-10-27T06:07:38.337Z,1761545258.337 [DAT](INFO): DAT read: Rx Time:06:07:37.1043 2025-10-27T06:07:38.337Z,1761545258.337 [DAT](INFO): Rx dataTimestamp_ set to:1761545258.336786 2025-10-27T06:07:38.338Z,1761545258.338 [DAT](INFO): DAT read: Bearing 276.3, -32.8 (Local) 2025-10-27T06:07:38.339Z,1761545258.339 [DAT](INFO): Local bearing/azimuth received: Bearing 276.3, -32.8 (Local) 2025-10-27T06:07:38.341Z,1761545258.341 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 2025-10-27T06:07:38.346Z,1761545258.346 [DAT](INFO): DAT read: 06:07:37.1043 LVL= 30528, 18113, 16338, 31043, AGC= 44, IDX= 505,-0.19,-1.671, 0.545,-0.536,-0.209, PHS=-1.359, 0.799,-0.371, RAW= 302.8, 10.0, CAL= 300.3, 12.5, ROT= 209.7, -12.5 2025-10-27T06:07:38.347Z,1761545258.347 [DAT](INFO): got valid direction response: 06:07:37.1043 LVL= 30528, 18113, 16338, 31043, AGC= 44, IDX= 505,-0.19,-1.671, 0.545,-0.536,-0.209, PHS=-1.359, 0.799,-0.371, RAW= 302.8, 10.0, CAL= 300.3, 12.5, ROT= 209.7, -12.5 2025-10-27T06:07:38.348Z,1761545258.348 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T06:07:38.349Z,1761545258.349 [DAT](INFO): direction in FSK: [-0.848041,-0.483714,0.216440] 2025-10-27T06:07:38.349Z,1761545258.349 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:38.353Z,1761545258.353 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.427891 2025-10-27T06:07:38.366Z,1761545258.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453048,0.868136,0.202700],[-0.891247,0.435798,0.125534],[0.020644,-0.237529,0.971161]] 2025-10-27T06:07:38.450Z,1761545258.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504053 s, deltaX: 0.200000 m, approachRate: 0.396784 m/s, rangeRepo size: 4 2025-10-27T06:07:38.464Z,1761545258.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.372929 m, bearing: 143.034331 deg, lat: 36.779416 deg, lon: -121.859800 deg, deltaT: 0.504053 s, deltaX: 0.198780 m, approachRate: 0.394362 m/s, posRepo size: 4 2025-10-27T06:07:38.592Z,1761545258.592 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.666224 2025-10-27T06:07:38.799Z,1761545258.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422442,0.882393,0.207187],[-0.906208,0.406596,0.116043],[0.018154,-0.236776,0.971395]] 2025-10-27T06:07:38.841Z,1761545258.841 [DAT](INFO): DAT read: Rx Time:06:07:37.6043 2025-10-27T06:07:38.841Z,1761545258.841 [DAT](INFO): Rx dataTimestamp_ set to:1761545258.840760 2025-10-27T06:07:38.842Z,1761545258.842 [DAT](INFO): DAT read: Bearing 280.1, -34.4 (Local) 2025-10-27T06:07:38.843Z,1761545258.843 [DAT](INFO): Local bearing/azimuth received: Bearing 280.1, -34.4 (Local) 2025-10-27T06:07:38.845Z,1761545258.845 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 2025-10-27T06:07:38.849Z,1761545258.849 [DAT](INFO): DAT read: 06:07:37.6043 LVL= 28656, 18241, 16098, 29923, AGC= 44, IDX= 505, 0.02,-1.506, 0.752,-0.268,-0.051, PHS=-1.353, 0.848,-0.261, RAW= 300.2, 8.1, CAL= 297.8, 8.6, ROT= 212.2, -8.6 2025-10-27T06:07:38.851Z,1761545258.851 [DAT](INFO): got valid direction response: 06:07:37.6043 LVL= 28656, 18241, 16098, 29923, AGC= 44, IDX= 505, 0.02,-1.506, 0.752,-0.268,-0.051, PHS=-1.353, 0.848,-0.261, RAW= 300.2, 8.1, CAL= 297.8, 8.6, ROT= 212.2, -8.6 2025-10-27T06:07:38.851Z,1761545258.851 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T06:07:38.852Z,1761545258.852 [DAT](INFO): direction in FSK: [-0.836679,-0.526885,0.149535] 2025-10-27T06:07:38.852Z,1761545258.852 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:38.863Z,1761545258.863 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.937309 2025-10-27T06:07:38.896Z,1761545258.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:38.898Z,1761545258.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.372929 m, bearing: 144.514874 deg, lat: 36.779416 deg, lon: -121.859800 deg, deltaT: 0.503974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:39.092Z,1761545259.092 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.166590 2025-10-27T06:07:39.207Z,1761545259.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408457,0.888126,0.210702],[-0.912626,0.393160,0.111973],[0.016606,-0.238028,0.971116]] 2025-10-27T06:07:39.232Z,1761545259.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:39.345Z,1761545259.345 [DAT](INFO): DAT read: Rx Time:06:07:38.1046 2025-10-27T06:07:39.346Z,1761545259.346 [DAT](INFO): Rx dataTimestamp_ set to:1761545259.345755 2025-10-27T06:07:39.348Z,1761545259.348 [DAT](INFO): DAT read: Bearing 285.8, -36.4 (Local) 2025-10-27T06:07:39.348Z,1761545259.348 [DAT](INFO): Local bearing/azimuth received: Bearing 285.8, -36.4 (Local) 2025-10-27T06:07:39.355Z,1761545259.355 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 2025-10-27T06:07:39.361Z,1761545259.361 [DAT](INFO): DAT read: 06:07:38.1046 LVL= 29552, 18161, 16290, 28275, AGC= 45, IDX= 507, 0.28, 0.691, 3.009, 2.080, 2.155, PHS=-1.361, 0.899,-0.119, RAW= 296.7, 6.0, CAL= 294.4, 3.7, ROT= 215.6, -3.7 2025-10-27T06:07:39.362Z,1761545259.362 [DAT](INFO): got valid direction response: 06:07:38.1046 LVL= 29552, 18161, 16290, 28275, AGC= 45, IDX= 507, 0.28, 0.691, 3.009, 2.080, 2.155, PHS=-1.361, 0.899,-0.119, RAW= 296.7, 6.0, CAL= 294.4, 3.7, ROT= 215.6, -3.7 2025-10-27T06:07:39.362Z,1761545259.362 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T06:07:39.381Z,1761545259.381 [DAT](INFO): direction in FSK: [-0.811406,-0.580910,0.064532] 2025-10-27T06:07:39.381Z,1761545259.381 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:39.385Z,1761545259.385 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.459965 2025-10-27T06:07:39.598Z,1761545259.598 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.672184 2025-10-27T06:07:39.649Z,1761545259.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395329,0.893082,0.214753],[-0.918417,0.380501,0.108301],[0.015008,-0.240047,0.970645]] 2025-10-27T06:07:39.706Z,1761545259.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504995 s, deltaX: 0.400000 m, approachRate: 0.792087 m/s, rangeRepo size: 4 2025-10-27T06:07:39.709Z,1761545259.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.770452 m, bearing: 147.247846 deg, lat: 36.779415 deg, lon: -121.859800 deg, deltaT: 0.504995 s, deltaX: 0.397523 m, approachRate: 0.787182 m/s, posRepo size: 4 2025-10-27T06:07:39.849Z,1761545259.849 [DAT](INFO): DAT read: Rx Time:06:07:38.6046 2025-10-27T06:07:39.850Z,1761545259.850 [DAT](INFO): Rx dataTimestamp_ set to:1761545259.849250 2025-10-27T06:07:39.851Z,1761545259.851 [DAT](INFO): DAT read: Bearing 284.3, -36.3 (Local) 2025-10-27T06:07:39.851Z,1761545259.851 [DAT](INFO): Local bearing/azimuth received: Bearing 284.3, -36.3 (Local) 2025-10-27T06:07:39.853Z,1761545259.853 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 2025-10-27T06:07:39.858Z,1761545259.858 [DAT](INFO): DAT read: 06:07:38.6046 LVL= 30432, 19505, 19954, 32755, AGC= 46, IDX= 508,-0.13,-2.950,-0.616,-1.556,-1.471, PHS=-1.377, 0.900,-0.129, RAW= 296.8, 6.2, CAL= 294.5, 4.2, ROT= 215.5, -4.2 2025-10-27T06:07:39.859Z,1761545259.859 [DAT](INFO): got valid direction response: 06:07:38.6046 LVL= 30432, 19505, 19954, 32755, AGC= 46, IDX= 508,-0.13,-2.950,-0.616,-1.556,-1.471, PHS=-1.377, 0.900,-0.129, RAW= 296.8, 6.2, CAL= 294.5, 4.2, ROT= 215.5, -4.2 2025-10-27T06:07:39.860Z,1761545259.860 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T06:07:39.861Z,1761545259.861 [DAT](INFO): direction in FSK: [-0.811929,-0.579143,0.073238] 2025-10-27T06:07:39.861Z,1761545259.861 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:39.865Z,1761545259.865 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.939478 2025-10-27T06:07:40.018Z,1761545260.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384025,0.897566,0.216564],[-0.923229,0.369931,0.103922],[0.013163,-0.239847,0.970721]] 2025-10-27T06:07:40.065Z,1761545260.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503495 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:40.072Z,1761545260.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.770452 m, bearing: 146.352519 deg, lat: 36.779414 deg, lon: -121.859803 deg, deltaT: 0.503495 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:40.100Z,1761545260.100 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.174759 2025-10-27T06:07:40.353Z,1761545260.353 [DAT](INFO): DAT read: Rx Time:06:07:39.1048 2025-10-27T06:07:40.353Z,1761545260.353 [DAT](INFO): Rx dataTimestamp_ set to:1761545260.352697 2025-10-27T06:07:40.354Z,1761545260.354 [DAT](INFO): DAT read: Bearing 279.0, -32.0 (Local) 2025-10-27T06:07:40.355Z,1761545260.355 [DAT](INFO): Local bearing/azimuth received: Bearing 279.0, -32.0 (Local) 2025-10-27T06:07:40.357Z,1761545260.357 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.4 2025-10-27T06:07:40.361Z,1761545260.361 [DAT](INFO): DAT read: 06:07:39.1048 LVL= 29376, 17057, 20066, 32755, AGC= 45, IDX= 510, 0.29,-0.709, 1.571, 0.488, 0.715, PHS=-1.322, 0.901,-0.271, RAW= 301.8, 7.2, CAL= 299.4, 6.9, ROT= 210.6, -6.9 2025-10-27T06:07:40.362Z,1761545260.362 [DAT](INFO): got valid direction response: 06:07:39.1048 LVL= 29376, 17057, 20066, 32755, AGC= 45, IDX= 510, 0.29,-0.709, 1.571, 0.488, 0.715, PHS=-1.322, 0.901,-0.271, RAW= 301.8, 7.2, CAL= 299.4, 6.9, ROT= 210.6, -6.9 2025-10-27T06:07:40.363Z,1761545260.363 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T06:07:40.364Z,1761545260.364 [DAT](INFO): direction in FSK: [-0.854508,-0.505355,0.120137] 2025-10-27T06:07:40.364Z,1761545260.364 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:40.394Z,1761545260.394 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.468149 2025-10-27T06:07:40.422Z,1761545260.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374411,0.901611,0.216596],[-0.927195,0.361189,0.099261],[0.011262,-0.237991,0.971202]] 2025-10-27T06:07:40.479Z,1761545260.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503447 s, deltaX: 0.300000 m, approachRate: 0.595891 m/s, rangeRepo size: 4 2025-10-27T06:07:40.481Z,1761545260.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.068592 m, bearing: 140.326988 deg, lat: 36.779413 deg, lon: -121.859804 deg, deltaT: 0.503447 s, deltaX: 0.298140 m, approachRate: 0.592197 m/s, posRepo size: 4 2025-10-27T06:07:40.607Z,1761545260.607 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.680901 2025-10-27T06:07:40.825Z,1761545260.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366765,0.905321,0.214191],[-0.930267,0.354601,0.094132],[0.009267,-0.233779,0.972246]] 2025-10-27T06:07:40.857Z,1761545260.857 [DAT](INFO): DAT read: Rx Time:06:07:39.6049 2025-10-27T06:07:40.857Z,1761545260.857 [DAT](INFO): Rx dataTimestamp_ set to:1761545260.856795 2025-10-27T06:07:40.858Z,1761545260.858 [DAT](INFO): DAT read: Bearing 276.8, -27.7 (Local) 2025-10-27T06:07:40.859Z,1761545260.859 [DAT](INFO): Local bearing/azimuth received: Bearing 276.8, -27.7 (Local) 2025-10-27T06:07:40.861Z,1761545260.861 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 2025-10-27T06:07:40.865Z,1761545260.865 [DAT](INFO): DAT read: 06:07:39.6049 LVL= 31936, 16641, 21362, 32755, AGC= 44, IDX= 511,-0.03, 2.082,-2.011, 3.098,-2.872, PHS=-1.227, 0.906,-0.357, RAW= 306.1, 7.4, CAL= 303.8, 7.3, ROT= 206.2, -7.3 2025-10-27T06:07:40.867Z,1761545260.867 [DAT](INFO): got valid direction response: 06:07:39.6049 LVL= 31936, 16641, 21362, 32755, AGC= 44, IDX= 511,-0.03, 2.082,-2.011, 3.098,-2.872, PHS=-1.227, 0.906,-0.357, RAW= 306.1, 7.4, CAL= 303.8, 7.3, ROT= 206.2, -7.3 2025-10-27T06:07:40.867Z,1761545260.867 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T06:07:40.868Z,1761545260.868 [DAT](INFO): direction in FSK: [-0.889986,-0.437927,0.127065] 2025-10-27T06:07:40.868Z,1761545260.868 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:40.873Z,1761545260.873 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.947302 2025-10-27T06:07:40.945Z,1761545260.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504098 s, deltaX: 0.200000 m, approachRate: 0.396749 m/s, rangeRepo size: 4 2025-10-27T06:07:40.951Z,1761545260.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.267360 m, bearing: 135.459429 deg, lat: 36.779413 deg, lon: -121.859804 deg, deltaT: 0.504098 s, deltaX: 0.198769 m, approachRate: 0.394305 m/s, posRepo size: 4 2025-10-27T06:07:41.108Z,1761545261.108 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.182766 2025-10-27T06:07:41.307Z,1761545261.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361500,0.908733,0.208622],[-0.932347,0.350673,0.088079],[0.006882,-0.226348,0.974022]] 2025-10-27T06:07:41.325Z,1761545261.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:07:41.361Z,1761545261.361 [DAT](INFO): DAT read: Rx Time:06:07:40.1052 2025-10-27T06:07:41.362Z,1761545261.362 [DAT](INFO): Rx dataTimestamp_ set to:1761545261.361217 2025-10-27T06:07:41.364Z,1761545261.364 [DAT](INFO): DAT read: Bearing 275.7, -24.9 (Local) 2025-10-27T06:07:41.364Z,1761545261.364 [DAT](INFO): Local bearing/azimuth received: Bearing 275.7, -24.9 (Local) 2025-10-27T06:07:41.367Z,1761545261.367 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.4 2025-10-27T06:07:41.373Z,1761545261.373 [DAT](INFO): DAT read: 06:07:40.1052 LVL= 16160, 8801, 9906, 17779, AGC= 47, IDX= 2,-0.45,-2.622,-0.477,-1.703,-1.348, PHS=-1.172, 0.915,-0.400, RAW= 308.5, 7.2, CAL= 306.3, 7.1, ROT= 203.7, -7.1 2025-10-27T06:07:41.375Z,1761545261.375 [DAT](INFO): got valid direction response: 06:07:40.1052 LVL= 16160, 8801, 9906, 17779, AGC= 47, IDX= 2,-0.45,-2.622,-0.477,-1.703,-1.348, PHS=-1.172, 0.915,-0.400, RAW= 308.5, 7.2, CAL= 306.3, 7.1, ROT= 203.7, -7.1 2025-10-27T06:07:41.376Z,1761545261.376 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T06:07:41.377Z,1761545261.377 [DAT](INFO): direction in FSK: [-0.908641,-0.398866,0.123601] 2025-10-27T06:07:41.377Z,1761545261.377 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:41.383Z,1761545261.383 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.457378 2025-10-27T06:07:41.615Z,1761545261.615 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.688782 2025-10-27T06:07:41.762Z,1761545261.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357692,0.911698,0.202147],[-0.933829,0.348160,0.082150],[0.004517,-0.218155,0.975904]] 2025-10-27T06:07:41.865Z,1761545261.865 [DAT](INFO): DAT read: Rx Time:06:07:40.6052 2025-10-27T06:07:41.865Z,1761545261.865 [DAT](INFO): Rx dataTimestamp_ set to:1761545261.864728 2025-10-27T06:07:41.866Z,1761545261.866 [DAT](INFO): DAT read: Bearing 278.4, -27.5 (Local) 2025-10-27T06:07:41.867Z,1761545261.867 [DAT](INFO): Local bearing/azimuth received: Bearing 278.4, -27.5 (Local) 2025-10-27T06:07:41.869Z,1761545261.869 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.4 2025-10-27T06:07:41.881Z,1761545261.881 [DAT](INFO): DAT read: 06:07:40.6052 LVL= 32752, 16065, 20898, 32755, AGC= 47, IDX= 498, 0.18,-2.800,-0.615,-1.764,-1.505, PHS=-1.194, 0.934,-0.303, RAW= 305.4, 6.1, CAL= 303.0, 4.9, ROT= 207.0, -4.9 2025-10-27T06:07:41.883Z,1761545261.883 [DAT](INFO): got valid direction response: 06:07:40.6052 LVL= 32752, 16065, 20898, 32755, AGC= 47, IDX= 498, 0.18,-2.800,-0.615,-1.764,-1.505, PHS=-1.194, 0.934,-0.303, RAW= 305.4, 6.1, CAL= 303.0, 4.9, ROT= 207.0, -4.9 2025-10-27T06:07:41.883Z,1761545261.883 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T06:07:41.884Z,1761545261.884 [DAT](INFO): direction in FSK: [-0.887750,-0.452331,0.085417] 2025-10-27T06:07:41.884Z,1761545261.884 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:41.912Z,1761545261.912 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.986830 2025-10-27T06:07:41.953Z,1761545261.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 1.007933 s, deltaX: 0.400000 m, approachRate: 0.396851 m/s, rangeRepo size: 4 2025-10-27T06:07:41.955Z,1761545261.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.664809 m, bearing: 136.405108 deg, lat: 36.779412 deg, lon: -121.859805 deg, deltaT: 1.007933 s, deltaX: 0.397449 m, approachRate: 0.394320 m/s, posRepo size: 4 2025-10-27T06:07:42.116Z,1761545262.116 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.190870 2025-10-27T06:07:42.310Z,1761545262.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356866,0.913460,0.195543],[-0.934154,0.348610,0.076333],[0.001559,-0.209909,0.977720]] 2025-10-27T06:07:42.369Z,1761545262.369 [DAT](INFO): DAT read: Rx Time:06:07:41.1055 2025-10-27T06:07:42.369Z,1761545262.369 [DAT](INFO): Rx dataTimestamp_ set to:1761545262.368822 2025-10-27T06:07:42.370Z,1761545262.370 [DAT](INFO): DAT read: Bearing 283.4, -30.6 (Local) 2025-10-27T06:07:42.371Z,1761545262.371 [DAT](INFO): Local bearing/azimuth received: Bearing 283.4, -30.6 (Local) 2025-10-27T06:07:42.373Z,1761545262.373 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-27T06:07:42.382Z,1761545262.382 [DAT](INFO): DAT read: 06:07:41.1055 LVL= 32752, 19825, 22882, 32755, AGC= 50, IDX= 501, 0.06,-3.034,-0.774,-1.820,-1.702, PHS=-1.229, 0.973,-0.162, RAW= 301.0, 4.4, CAL= 298.7, 1.1, ROT= 211.3, -1.1 2025-10-27T06:07:42.388Z,1761545262.388 [DAT](INFO): got valid direction response: 06:07:41.1055 LVL= 32752, 19825, 22882, 32755, AGC= 50, IDX= 501, 0.06,-3.034,-0.774,-1.820,-1.702, PHS=-1.229, 0.973,-0.162, RAW= 301.0, 4.4, CAL= 298.7, 1.1, ROT= 211.3, -1.1 2025-10-27T06:07:42.388Z,1761545262.388 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T06:07:42.389Z,1761545262.389 [DAT](INFO): direction in FSK: [-0.854301,-0.519423,0.019197] 2025-10-27T06:07:42.389Z,1761545262.389 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:42.401Z,1761545262.401 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.475689 2025-10-27T06:07:42.623Z,1761545262.623 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.696747 2025-10-27T06:07:42.686Z,1761545262.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357515,0.914695,0.188456],[-0.933907,0.350409,0.070939],[-0.001149,-0.201362,0.979516]] 2025-10-27T06:07:42.827Z,1761545262.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504094 s, deltaX: 0.500000 m, approachRate: 0.991879 m/s, rangeRepo size: 4 2025-10-27T06:07:42.829Z,1761545262.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.161624 m, bearing: 141.536266 deg, lat: 36.779412 deg, lon: -121.859805 deg, deltaT: 0.504094 s, deltaX: 0.496815 m, approachRate: 0.985561 m/s, posRepo size: 4 2025-10-27T06:07:42.830Z,1761545262.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 6.20 m. Rolling out. 2025-10-27T06:07:42.830Z,1761545262.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T06:07:42.873Z,1761545262.873 [DAT](INFO): DAT read: Rx Time:06:07:41.6056 2025-10-27T06:07:42.873Z,1761545262.873 [DAT](INFO): Rx dataTimestamp_ set to:1761545262.873043 2025-10-27T06:07:42.875Z,1761545262.875 [DAT](INFO): DAT read: Bearing 282.4, -25.2 (Local) 2025-10-27T06:07:42.875Z,1761545262.875 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, -25.2 (Local) 2025-10-27T06:07:42.877Z,1761545262.877 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.5 2025-10-27T06:07:42.882Z,1761545262.882 [DAT](INFO): DAT read: 06:07:41.6056 LVL= 32752, 17761, 25058, 32755, AGC= 50, IDX= 502,-0.05, 0.132, 2.348, 1.150, 1.361, PHS=-1.127, 1.033,-0.254, RAW= 306.3, 3.7, CAL= 303.9, 0.5, ROT= 206.1, -0.5 2025-10-27T06:07:42.883Z,1761545262.883 [DAT](INFO): got valid direction response: 06:07:41.6056 LVL= 32752, 17761, 25058, 32755, AGC= 50, IDX= 502,-0.05, 0.132, 2.348, 1.150, 1.361, PHS=-1.127, 1.033,-0.254, RAW= 306.3, 3.7, CAL= 303.9, 0.5, ROT= 206.1, -0.5 2025-10-27T06:07:42.883Z,1761545262.883 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T06:07:42.884Z,1761545262.884 [DAT](INFO): direction in FSK: [-0.897993,-0.439922,0.008727] 2025-10-27T06:07:42.884Z,1761545262.884 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:42.888Z,1761545262.888 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.962732 2025-10-27T06:07:42.890Z,1761545262.890 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T06:07:43.129Z,1761545263.129 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.203327 2025-10-27T06:07:43.222Z,1761545263.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362026,0.915095,0.177589],[-0.932142,0.356806,0.061650],[-0.006949,-0.187857,0.982172]] 2025-10-27T06:07:43.313Z,1761545263.313 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T06:07:43.313Z,1761545263.313 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T06:07:43.313Z,1761545263.313 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T06:07:43.315Z,1761545263.315 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 6.200000 m (mode 5.000000 count ). 2025-10-27T06:07:43.315Z,1761545263.315 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T06:07:43.319Z,1761545263.319 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T06:07:43.320Z,1761545263.320 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T06:07:43.320Z,1761545263.320 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T06:07:43.320Z,1761545263.320 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T06:07:43.321Z,1761545263.321 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 6.200000 m (mode 5.000000 count ). 2025-10-27T06:07:43.321Z,1761545263.321 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T06:07:43.321Z,1761545263.321 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T06:07:43.361Z,1761545263.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504221 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:43.377Z,1761545263.377 [DAT](INFO): DAT read: Rx Time:06:07:42.1058 2025-10-27T06:07:43.377Z,1761545263.377 [DAT](INFO): Rx dataTimestamp_ set to:1761545263.376820 2025-10-27T06:07:43.378Z,1761545263.378 [DAT](INFO): DAT read: Bearing 276.9, -21.8 (Local) 2025-10-27T06:07:43.379Z,1761545263.379 [DAT](INFO): Local bearing/azimuth received: Bearing 276.9, -21.8 (Local) 2025-10-27T06:07:43.381Z,1761545263.381 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.5 2025-10-27T06:07:43.386Z,1761545263.386 [DAT](INFO): DAT read: 06:07:42.1058 LVL= 32752, 21233, 30578, 32755, AGC= 53, IDX= 504,-0.14, 0.009, 2.158, 0.870, 1.224, PHS=-1.113, 0.979,-0.398, RAW= 310.4, 5.8, CAL= 308.1, 4.7, ROT= 201.9, -4.7 2025-10-27T06:07:43.387Z,1761545263.387 [DAT](INFO): got valid direction response: 06:07:42.1058 LVL= 32752, 21233, 30578, 32755, AGC= 53, IDX= 504,-0.14, 0.009, 2.158, 0.870, 1.224, PHS=-1.113, 0.979,-0.398, RAW= 310.4, 5.8, CAL= 308.1, 4.7, ROT= 201.9, -4.7 2025-10-27T06:07:43.388Z,1761545263.388 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T06:07:43.389Z,1761545263.389 [DAT](INFO): direction in FSK: [-0.924716,-0.371733,0.081939] 2025-10-27T06:07:43.389Z,1761545263.389 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:43.392Z,1761545263.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.161559 m, bearing: 136.852126 deg, lat: 36.779412 deg, lon: -121.859805 deg, deltaT: 0.504221 s, deltaX: -0.000065 m, approachRate: -0.000130 m/s, posRepo size: 4 2025-10-27T06:07:43.393Z,1761545263.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.16 m. 2025-10-27T06:07:43.394Z,1761545263.394 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T06:07:43.397Z,1761545263.397 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.471527 2025-10-27T06:07:43.399Z,1761545263.399 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T06:07:43.399Z,1761545263.399 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T06:07:43.399Z,1761545263.399 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T06:07:43.630Z,1761545263.630 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.704714 2025-10-27T06:07:43.805Z,1761545263.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365577,0.914834,0.171559],[-0.930728,0.361269,0.056837],[-0.009983,-0.180453,0.983533]] 2025-10-27T06:07:43.819Z,1761545263.819 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503095.0, 0.0,1491.1, 0 2025-10-27T06:07:43.832Z,1761545263.832 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T06:07:43.832Z,1761545263.832 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T06:07:43.832Z,1761545263.832 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T06:07:43.832Z,1761545263.832 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T06:07:43.840Z,1761545263.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503777 s, deltaX: 0.300000 m, approachRate: 0.595502 m/s, rangeRepo size: 4 2025-10-27T06:07:43.842Z,1761545263.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.459699 m, bearing: 132.252566 deg, lat: 36.779412 deg, lon: -121.859806 deg, deltaT: 0.503777 s, deltaX: 0.298140 m, approachRate: 0.591810 m/s, posRepo size: 4 2025-10-27T06:07:43.842Z,1761545263.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m. 2025-10-27T06:07:43.882Z,1761545263.882 [DAT](INFO): DAT read: Rx Time:06:07:42.6058 2025-10-27T06:07:43.882Z,1761545263.882 [DAT](INFO): Rx dataTimestamp_ set to:1761545263.881772 2025-10-27T06:07:43.884Z,1761545263.884 [DAT](INFO): DAT read: Bearing 280.2, -22.9 (Local) 2025-10-27T06:07:43.885Z,1761545263.885 [DAT](INFO): Local bearing/azimuth received: Bearing 280.2, -22.9 (Local) 2025-10-27T06:07:43.888Z,1761545263.888 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed -0.5 2025-10-27T06:07:43.894Z,1761545263.894 [DAT](INFO): DAT read: 06:07:42.6058 LVL= 32752, 28049, 31106, 32755, AGC= 55, IDX= 505,-0.26,-1.155, 0.992,-0.239, 0.031, PHS=-1.084, 1.006,-0.314, RAW= 308.6, 4.3, CAL= 306.3, 1.9, ROT= 203.7, -1.9 2025-10-27T06:07:43.897Z,1761545263.897 [DAT](INFO): got valid direction response: 06:07:42.6058 LVL= 32752, 28049, 31106, 32755, AGC= 55, IDX= 505,-0.26,-1.155, 0.992,-0.239, 0.031, PHS=-1.084, 1.006,-0.314, RAW= 308.6, 4.3, CAL= 306.3, 1.9, ROT= 203.7, -1.9 2025-10-27T06:07:43.898Z,1761545263.898 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T06:07:43.904Z,1761545263.904 [DAT](INFO): direction in FSK: [-0.915159,-0.401727,0.033155] 2025-10-27T06:07:43.904Z,1761545263.904 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:43.913Z,1761545263.913 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.987597 2025-10-27T06:07:44.112Z,1761545264.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:07:44.135Z,1761545264.135 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.209642 2025-10-27T06:07:44.187Z,1761545264.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367093,0.915542,0.164393],[-0.930110,0.363518,0.052441],[-0.011748,-0.172155,0.985000]] 2025-10-27T06:07:44.212Z,1761545264.212 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T06:07:44.212Z,1761545264.212 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T06:07:44.213Z,1761545264.213 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T06:07:44.213Z,1761545264.213 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T06:07:44.221Z,1761545264.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:44.223Z,1761545264.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.459628 m, bearing: 134.649080 deg, lat: 36.779410 deg, lon: -121.859809 deg, deltaT: 0.504952 s, deltaX: -0.000071 m, approachRate: -0.000141 m/s, posRepo size: 4 2025-10-27T06:07:44.224Z,1761545264.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.46 m. 2025-10-27T06:07:44.386Z,1761545264.386 [DAT](INFO): DAT read: Rx Time:06:07:43.1061 2025-10-27T06:07:44.386Z,1761545264.386 [DAT](INFO): Rx dataTimestamp_ set to:1761545264.385944 2025-10-27T06:07:44.388Z,1761545264.388 [DAT](INFO): DAT read: Bearing 284.8, -25.3 (Local) 2025-10-27T06:07:44.388Z,1761545264.388 [DAT](INFO): Local bearing/azimuth received: Bearing 284.8, -25.3 (Local) 2025-10-27T06:07:44.393Z,1761545264.393 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4 2025-10-27T06:07:44.403Z,1761545264.403 [DAT](INFO): DAT read: 06:07:43.1061 LVL= 28752, 18673, 22770, 32755, AGC= 53, IDX= 507, 0.46, 2.024,-2.067, 3.075,-3.089, PHS=-1.068, 1.067,-0.163, RAW= 305.0, 1.8, CAL= 303.0, -1.9, ROT= 207.0, 1.9 2025-10-27T06:07:44.408Z,1761545264.408 [DAT](INFO): got valid direction response: 06:07:43.1061 LVL= 28752, 18673, 22770, 32755, AGC= 53, IDX= 507, 0.46, 2.024,-2.067, 3.075,-3.089, PHS=-1.068, 1.067,-0.163, RAW= 305.0, 1.8, CAL= 303.0, -1.9, ROT= 207.0, 1.9 2025-10-27T06:07:44.408Z,1761545264.408 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T06:07:44.409Z,1761545264.409 [DAT](INFO): direction in FSK: [-0.890517,-0.453741,-0.033155] 2025-10-27T06:07:44.410Z,1761545264.410 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:44.441Z,1761545264.441 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.515596 2025-10-27T06:07:44.604Z,1761545264.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369092,0.916796,0.152498],[-0.929291,0.366474,0.045984],[-0.013729,-0.158687,0.987233]] 2025-10-27T06:07:44.624Z,1761545264.624 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T06:07:44.624Z,1761545264.624 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T06:07:44.624Z,1761545264.624 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T06:07:44.624Z,1761545264.624 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T06:07:44.625Z,1761545264.625 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T06:07:44.625Z,1761545264.625 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T06:07:44.625Z,1761545264.625 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T06:07:44.625Z,1761545264.625 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T06:07:44.638Z,1761545264.638 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.712769 2025-10-27T06:07:44.661Z,1761545264.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504172 s, deltaX: 0.400000 m, approachRate: 0.793380 m/s, rangeRepo size: 4 2025-10-27T06:07:44.678Z,1761545264.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.857143 m, bearing: 138.653028 deg, lat: 36.779409 deg, lon: -121.859810 deg, deltaT: 0.504172 s, deltaX: 0.397516 m, approachRate: 0.788453 m/s, posRepo size: 4 2025-10-27T06:07:44.685Z,1761545264.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-27T06:07:44.889Z,1761545264.889 [DAT](INFO): DAT read: Rx Time:06:07:43.6062 2025-10-27T06:07:44.889Z,1761545264.889 [DAT](INFO): Rx dataTimestamp_ set to:1761545264.888741 2025-10-27T06:07:44.890Z,1761545264.890 [DAT](INFO): DAT read: Bearing 284.7, -23.6 (Local) 2025-10-27T06:07:44.891Z,1761545264.891 [DAT](INFO): Local bearing/azimuth received: Bearing 284.7, -23.6 (Local) 2025-10-27T06:07:44.893Z,1761545264.893 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-27T06:07:44.897Z,1761545264.897 [DAT](INFO): DAT read: 06:07:43.6062 LVL= 29152, 20433, 27442, 32755, AGC= 55, IDX= 508, 0.16, 2.055,-2.035, 3.057,-3.088, PHS=-1.037, 1.098,-0.182, RAW= 306.6, 1.3, CAL= 304.6, -2.2, ROT= 205.4, 2.2 2025-10-27T06:07:44.899Z,1761545264.899 [DAT](INFO): got valid direction response: 06:07:43.6062 LVL= 29152, 20433, 27442, 32755, AGC= 55, IDX= 508, 0.16, 2.055,-2.035, 3.057,-3.088, PHS=-1.037, 1.098,-0.182, RAW= 306.6, 1.3, CAL= 304.6, -2.2, ROT= 205.4, 2.2 2025-10-27T06:07:44.899Z,1761545264.899 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T06:07:44.900Z,1761545264.900 [DAT](INFO): direction in FSK: [-0.902670,-0.428619,-0.038388] 2025-10-27T06:07:44.900Z,1761545264.900 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:44.904Z,1761545264.904 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.978802 2025-10-27T06:07:45.006Z,1761545265.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371719,0.917274,0.142947],[-0.928199,0.369962,0.039680],[-0.016488,-0.147433,0.988935]] 2025-10-27T06:07:45.115Z,1761545265.115 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:07:45.117Z,1761545265.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502797 s, deltaX: 0.200000 m, approachRate: 0.397774 m/s, rangeRepo size: 4 2025-10-27T06:07:45.123Z,1761545265.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.055901 m, bearing: 137.288531 deg, lat: 36.779409 deg, lon: -121.859810 deg, deltaT: 0.502797 s, deltaX: 0.198758 m, approachRate: 0.395304 m/s, posRepo size: 4 2025-10-27T06:07:45.123Z,1761545265.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m. 2025-10-27T06:07:45.140Z,1761545265.140 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.214762 2025-10-27T06:07:45.393Z,1761545265.393 [DAT](INFO): DAT read: Rx Time:06:07:44.1064 2025-10-27T06:07:45.394Z,1761545265.394 [DAT](INFO): Rx dataTimestamp_ set to:1761545265.393221 2025-10-27T06:07:45.395Z,1761545265.395 [DAT](INFO): DAT read: Bearing 283.3, -19.9 (Local) 2025-10-27T06:07:45.395Z,1761545265.395 [DAT](INFO): Local bearing/azimuth received: Bearing 283.3, -19.9 (Local) 2025-10-27T06:07:45.397Z,1761545265.397 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 2025-10-27T06:07:45.402Z,1761545265.402 [DAT](INFO): DAT read: 06:07:44.1064 LVL= 26720, 20465, 24962, 32755, AGC= 55, IDX= 511,-0.10, 1.715,-2.431, 2.570, 2.793, PHS=-0.976, 1.104,-0.267, RAW= 310.4, 1.5, CAL= 308.3, -1.7, ROT= 201.7, 1.7 2025-10-27T06:07:45.403Z,1761545265.403 [DAT](INFO): got valid direction response: 06:07:44.1064 LVL= 26720, 20465, 24962, 32755, AGC= 55, IDX= 511,-0.10, 1.715,-2.431, 2.570, 2.793, PHS=-0.976, 1.104,-0.267, RAW= 310.4, 1.5, CAL= 308.3, -1.7, ROT= 201.7, 1.7 2025-10-27T06:07:45.403Z,1761545265.403 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T06:07:45.404Z,1761545265.404 [DAT](INFO): direction in FSK: [-0.928724,-0.369584,-0.029666] 2025-10-27T06:07:45.405Z,1761545265.405 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:45.409Z,1761545265.409 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.483299 2025-10-27T06:07:45.512Z,1761545265.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375430,0.917319,0.132583],[-0.926643,0.374513,0.032741],[-0.019620,-0.135150,0.990631]] 2025-10-27T06:07:45.572Z,1761545265.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504480 s, deltaX: 0.300000 m, approachRate: 0.594672 m/s, rangeRepo size: 4 2025-10-27T06:07:45.574Z,1761545265.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.354061 m, bearing: 133.800597 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.504480 s, deltaX: 0.298160 m, approachRate: 0.591024 m/s, posRepo size: 4 2025-10-27T06:07:45.574Z,1761545265.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m. 2025-10-27T06:07:45.644Z,1761545265.644 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.718742 2025-10-27T06:07:45.896Z,1761545265.896 [DAT](INFO): DAT read: Rx Time:06:07:44.6064 2025-10-27T06:07:45.897Z,1761545265.897 [DAT](INFO): Rx dataTimestamp_ set to:1761545265.896631 2025-10-27T06:07:45.898Z,1761545265.898 [DAT](INFO): DAT read: Bearing 282.0, -17.7 (Local) 2025-10-27T06:07:45.899Z,1761545265.899 [DAT](INFO): Local bearing/azimuth received: Bearing 282.0, -17.7 (Local) 2025-10-27T06:07:45.901Z,1761545265.901 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 2025-10-27T06:07:45.905Z,1761545265.905 [DAT](INFO): DAT read: 06:07:44.6064 LVL= 26576, 20641, 24210, 32755, AGC= 56, IDX= 511, 0.19,-2.035, 0.089,-1.261,-0.969, PHS=-0.964, 1.103,-0.336, RAW= 312.8, 2.2, CAL= 310.5, -0.8, ROT= 199.5, 0.8 2025-10-27T06:07:45.906Z,1761545265.906 [DAT](INFO): got valid direction response: 06:07:44.6064 LVL= 26576, 20641, 24210, 32755, AGC= 56, IDX= 511, 0.19,-2.035, 0.089,-1.261,-0.969, PHS=-0.964, 1.103,-0.336, RAW= 312.8, 2.2, CAL= 310.5, -0.8, ROT= 199.5, 0.8 2025-10-27T06:07:45.911Z,1761545265.911 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T06:07:45.912Z,1761545265.912 [DAT](INFO): direction in FSK: [-0.942550,-0.333774,-0.013962] 2025-10-27T06:07:45.912Z,1761545265.912 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:45.916Z,1761545265.916 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.990355 2025-10-27T06:07:45.988Z,1761545265.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378636,0.917174,0.124201],[-0.925282,0.378305,0.027165],[-0.022071,-0.125206,0.991885]] 2025-10-27T06:07:46.101Z,1761545266.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503410 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:46.108Z,1761545266.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.354061 m, bearing: 131.723608 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.503410 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:46.108Z,1761545266.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m. 2025-10-27T06:07:46.148Z,1761545266.148 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.222813 2025-10-27T06:07:46.370Z,1761545266.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381600,0.916613,0.119176],[-0.924014,0.381644,0.023358],[-0.024073,-0.119034,0.992598]] 2025-10-27T06:07:46.400Z,1761545266.400 [DAT](INFO): DAT read: Rx Time:06:07:45.1065 2025-10-27T06:07:46.401Z,1761545266.401 [DAT](INFO): Rx dataTimestamp_ set to:1761545266.400599 2025-10-27T06:07:46.402Z,1761545266.402 [DAT](INFO): DAT read: Bearing 243.7, -30.9 (Local) 2025-10-27T06:07:46.402Z,1761545266.402 [DAT](INFO): Local bearing/azimuth received: Bearing 243.7, -30.9 (Local) 2025-10-27T06:07:46.405Z,1761545266.405 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 2025-10-27T06:07:46.409Z,1761545266.409 [DAT](INFO): DAT read: 06:07:45.1065 LVL= 28912, 21297, 25490, 32755, AGC= 57, IDX= 513,-0.42, 0.111, 2.093, 1.383, 2.045, PHS=-1.832, 0.093,-0.706, RAW= 294.4, 27.3, CAL= 295.7, 33.6, ROT= 214.3, -33.6 2025-10-27T06:07:46.410Z,1761545266.410 [DAT](INFO): got valid direction response: 06:07:45.1065 LVL= 28912, 21297, 25490, 32755, AGC= 57, IDX= 513,-0.42, 0.111, 2.093, 1.383, 2.045, PHS=-1.832, 0.093,-0.706, RAW= 294.4, 27.3, CAL= 295.7, 33.6, ROT= 214.3, -33.6 2025-10-27T06:07:46.411Z,1761545266.411 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T06:07:46.412Z,1761545266.412 [DAT](INFO): direction in FSK: [-0.688075,-0.469373,0.553392] 2025-10-27T06:07:46.412Z,1761545266.412 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:46.416Z,1761545266.416 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.490198 2025-10-27T06:07:46.432Z,1761545266.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503968 s, deltaX: 0.100000 m, approachRate: 0.198425 m/s, rangeRepo size: 4 2025-10-27T06:07:46.434Z,1761545266.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.453551 m, bearing: 143.162577 deg, lat: 36.779406 deg, lon: -121.859812 deg, deltaT: 0.503968 s, deltaX: 0.099490 m, approachRate: 0.197414 m/s, posRepo size: 4 2025-10-27T06:07:46.434Z,1761545266.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m. 2025-10-27T06:07:46.654Z,1761545266.654 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.728422 2025-10-27T06:07:46.774Z,1761545266.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383931,0.916495,0.112405],[-0.923004,0.384318,0.019071],[-0.025721,-0.111072,0.993479]] 2025-10-27T06:07:46.833Z,1761545266.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m. 2025-10-27T06:07:46.905Z,1761545266.905 [DAT](INFO): DAT read: Rx Time:06:07:45.6066 2025-10-27T06:07:46.905Z,1761545266.905 [DAT](INFO): Rx dataTimestamp_ set to:1761545266.905024 2025-10-27T06:07:46.907Z,1761545266.907 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 2025-10-27T06:07:46.908Z,1761545266.908 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-27T06:07:46.909Z,1761545266.909 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.984013 2025-10-27T06:07:47.156Z,1761545267.156 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.230570 2025-10-27T06:07:47.178Z,1761545267.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386257,0.916180,0.106867],[-0.922002,0.386859,0.015886],[-0.026788,-0.104668,0.994146]] 2025-10-27T06:07:47.228Z,1761545267.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504425 s, deltaX: 0.200000 m, approachRate: 0.396491 m/s, rangeRepo size: 4 2025-10-27T06:07:47.228Z,1761545267.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.45 m. 2025-10-27T06:07:47.409Z,1761545267.409 [DAT](INFO): DAT read: Rx Time:06:07:46.1068 2025-10-27T06:07:47.409Z,1761545267.409 [DAT](INFO): Rx dataTimestamp_ set to:1761545267.408724 2025-10-27T06:07:47.410Z,1761545267.410 [DAT](INFO): DAT read: Bearing 282.9, -17.4 (Local) 2025-10-27T06:07:47.411Z,1761545267.411 [DAT](INFO): Local bearing/azimuth received: Bearing 282.9, -17.4 (Local) 2025-10-27T06:07:47.413Z,1761545267.413 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 2025-10-27T06:07:47.417Z,1761545267.417 [DAT](INFO): DAT read: 06:07:46.1068 LVL= 29648, 22769, 24786, 32755, AGC= 63, IDX= 3, 0.00,-0.810, 1.377,-0.012, 0.265, PHS=-0.973, 1.157,-0.321, RAW= 312.6, 1.5, CAL= 310.5, -1.6, ROT= 199.5, 1.6 2025-10-27T06:07:47.419Z,1761545267.419 [DAT](INFO): got valid direction response: 06:07:46.1068 LVL= 29648, 22769, 24786, 32755, AGC= 63, IDX= 3, 0.00,-0.810, 1.377,-0.012, 0.265, PHS=-0.973, 1.157,-0.321, RAW= 312.6, 1.5, CAL= 310.5, -1.6, ROT= 199.5, 1.6 2025-10-27T06:07:47.427Z,1761545267.427 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T06:07:47.428Z,1761545267.428 [DAT](INFO): direction in FSK: [-0.942274,-0.333677,-0.027922] 2025-10-27T06:07:47.429Z,1761545267.429 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:47.432Z,1761545267.432 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.506948 2025-10-27T06:07:47.590Z,1761545267.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388865,0.915730,0.101102],[-0.920887,0.389611,0.013074],[-0.027418,-0.098188,0.994790]] 2025-10-27T06:07:47.613Z,1761545267.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503700 s, deltaX: 0.300000 m, approachRate: 0.595593 m/s, rangeRepo size: 4 2025-10-27T06:07:47.615Z,1761545267.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.950564 m, bearing: 132.463393 deg, lat: 36.779406 deg, lon: -121.859812 deg, deltaT: 1.008125 s, deltaX: 0.497013 m, approachRate: 0.493007 m/s, posRepo size: 4 2025-10-27T06:07:47.616Z,1761545267.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-27T06:07:47.661Z,1761545267.661 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.735428 2025-10-27T06:07:47.912Z,1761545267.912 [DAT](INFO): DAT read: Rx Time:06:07:46.6068 2025-10-27T06:07:47.913Z,1761545267.913 [DAT](INFO): Rx dataTimestamp_ set to:1761545267.912685 2025-10-27T06:07:47.914Z,1761545267.914 [DAT](INFO): DAT read: Bearing 282.2, -18.4 (Local) 2025-10-27T06:07:47.915Z,1761545267.915 [DAT](INFO): Local bearing/azimuth received: Bearing 282.2, -18.4 (Local) 2025-10-27T06:07:47.917Z,1761545267.917 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.3 2025-10-27T06:07:47.921Z,1761545267.921 [DAT](INFO): DAT read: 06:07:46.6068 LVL= 32752, 27761, 29042, 32755, AGC= 62, IDX= 499, 0.18,-0.725, 1.417, 0.086, 0.363, PHS=-0.986, 1.099,-0.321, RAW= 311.8, 2.3, CAL= 309.5, -0.8, ROT= 200.5, 0.8 2025-10-27T06:07:47.922Z,1761545267.922 [DAT](INFO): got valid direction response: 06:07:46.6068 LVL= 32752, 27761, 29042, 32755, AGC= 62, IDX= 499, 0.18,-0.725, 1.417, 0.086, 0.363, PHS=-0.986, 1.099,-0.321, RAW= 311.8, 2.3, CAL= 309.5, -0.8, ROT= 200.5, 0.8 2025-10-27T06:07:47.923Z,1761545267.923 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T06:07:47.924Z,1761545267.924 [DAT](INFO): direction in FSK: [-0.936581,-0.350173,-0.013962] 2025-10-27T06:07:47.924Z,1761545267.924 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:47.928Z,1761545267.928 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.002598 2025-10-27T06:07:47.990Z,1761545267.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388748,0.915863,0.100348],[-0.920946,0.389471,0.013089],[-0.027095,-0.097503,0.994866]] 2025-10-27T06:07:48.113Z,1761545268.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:48.115Z,1761545268.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.950564 m, bearing: 133.386893 deg, lat: 36.779406 deg, lon: -121.859812 deg, deltaT: 0.503961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:48.120Z,1761545268.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-27T06:07:48.165Z,1761545268.165 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.239336 2025-10-27T06:07:48.395Z,1761545268.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388481,0.916019,0.099956],[-0.921072,0.389163,0.013388],[-0.026635,-0.097267,0.994902]] 2025-10-27T06:07:48.417Z,1761545268.417 [DAT](INFO): DAT read: Rx Time:06:07:47.1070 2025-10-27T06:07:48.417Z,1761545268.417 [DAT](INFO): Rx dataTimestamp_ set to:1761545268.416833 2025-10-27T06:07:48.418Z,1761545268.418 [DAT](INFO): DAT read: Bearing 283.3, -18.8 (Local) 2025-10-27T06:07:48.419Z,1761545268.419 [DAT](INFO): Local bearing/azimuth received: Bearing 283.3, -18.8 (Local) 2025-10-27T06:07:48.421Z,1761545268.421 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.4 2025-10-27T06:07:48.426Z,1761545268.426 [DAT](INFO): DAT read: 06:07:47.1070 LVL= 25696, 27377, 23714, 32755, AGC= 59, IDX= 501, 0.49,-0.513, 1.643, 0.326, 0.561, PHS=-0.972, 1.127,-0.279, RAW= 311.1, 1.4, CAL= 309.0, -1.8, ROT= 201.0, 1.8 2025-10-27T06:07:48.427Z,1761545268.427 [DAT](INFO): got valid direction response: 06:07:47.1070 LVL= 25696, 27377, 23714, 32755, AGC= 59, IDX= 501, 0.49,-0.513, 1.643, 0.326, 0.561, PHS=-0.972, 1.127,-0.279, RAW= 311.1, 1.4, CAL= 309.0, -1.8, ROT= 201.0, 1.8 2025-10-27T06:07:48.427Z,1761545268.427 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T06:07:48.428Z,1761545268.428 [DAT](INFO): direction in FSK: [-0.933120,-0.358191,-0.031411] 2025-10-27T06:07:48.428Z,1761545268.428 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:48.440Z,1761545268.440 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.514837 2025-10-27T06:07:48.448Z,1761545268.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504148 s, deltaX: 0.300000 m, approachRate: 0.595064 m/s, rangeRepo size: 4 2025-10-27T06:07:48.450Z,1761545268.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.248745 m, bearing: 133.949950 deg, lat: 36.779405 deg, lon: -121.859815 deg, deltaT: 0.504148 s, deltaX: 0.298181 m, approachRate: 0.591455 m/s, posRepo size: 4 2025-10-27T06:07:48.450Z,1761545268.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m. 2025-10-27T06:07:48.668Z,1761545268.668 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.742731 2025-10-27T06:07:48.815Z,1761545268.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386826,0.916877,0.098499],[-0.921792,0.387448,0.013508],[-0.025779,-0.096021,0.995045]] 2025-10-27T06:07:48.881Z,1761545268.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m. 2025-10-27T06:07:48.922Z,1761545268.922 [DAT](INFO): DAT read: Rx Time:06:07:47.6071 2025-10-27T06:07:48.922Z,1761545268.922 [DAT](INFO): Rx dataTimestamp_ set to:1761545268.922028 2025-10-27T06:07:48.924Z,1761545268.924 [DAT](INFO): DAT read: Bearing 284.4, -17.8 (Local) 2025-10-27T06:07:48.924Z,1761545268.924 [DAT](INFO): Local bearing/azimuth received: Bearing 284.4, -17.8 (Local) 2025-10-27T06:07:48.926Z,1761545268.926 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-27T06:07:48.932Z,1761545268.932 [DAT](INFO): DAT read: 06:07:47.6071 LVL= 30864, 17393, 26738, 32755, AGC= 63, IDX= 502,-0.16, 2.197,-1.924, 3.011,-3.050, PHS=-0.934, 1.171,-0.266, RAW= 311.9, 0.3, CAL= 310.0, -2.9, ROT= 200.0, 2.9 2025-10-27T06:07:48.934Z,1761545268.934 [DAT](INFO): got valid direction response: 06:07:47.6071 LVL= 30864, 17393, 26738, 32755, AGC= 63, IDX= 502,-0.16, 2.197,-1.924, 3.011,-3.050, PHS=-0.934, 1.171,-0.266, RAW= 311.9, 0.3, CAL= 310.0, -2.9, ROT= 200.0, 2.9 2025-10-27T06:07:48.934Z,1761545268.934 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T06:07:48.936Z,1761545268.936 [DAT](INFO): direction in FSK: [-0.938489,-0.341582,-0.050593] 2025-10-27T06:07:48.936Z,1761545268.936 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:48.946Z,1761545268.946 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.020304 2025-10-27T06:07:49.172Z,1761545269.172 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.246603 2025-10-27T06:07:49.202Z,1761545269.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385752,0.917337,0.098431],[-0.922258,0.386324,0.013949],[-0.025231,-0.096160,0.995046]] 2025-10-27T06:07:49.329Z,1761545269.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.505195 s, deltaX: 0.099999 m, approachRate: 0.197942 m/s, rangeRepo size: 4 2025-10-27T06:07:49.351Z,1761545269.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.348070 m, bearing: 132.871996 deg, lat: 36.779405 deg, lon: -121.859815 deg, deltaT: 0.505195 s, deltaX: 0.099325 m, approachRate: 0.196608 m/s, posRepo size: 4 2025-10-27T06:07:49.352Z,1761545269.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m. 2025-10-27T06:07:49.426Z,1761545269.426 [DAT](INFO): DAT read: Rx Time:06:07:48.1073 2025-10-27T06:07:49.426Z,1761545269.426 [DAT](INFO): Rx dataTimestamp_ set to:1761545269.425702 2025-10-27T06:07:49.428Z,1761545269.428 [DAT](INFO): DAT read: Bearing 284.1, -17.7 (Local) 2025-10-27T06:07:49.428Z,1761545269.428 [DAT](INFO): Local bearing/azimuth received: Bearing 284.1, -17.7 (Local) 2025-10-27T06:07:49.431Z,1761545269.431 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.3 2025-10-27T06:07:49.436Z,1761545269.436 [DAT](INFO): DAT read: 06:07:48.1073 LVL= 28128, 20721, 26690, 32051, AGC= 63, IDX= 504, 0.05,-1.753, 0.403,-0.948,-0.718, PHS=-0.933, 1.166,-0.274, RAW= 312.1, 0.4, CAL= 310.2, -2.7, ROT= 199.8, 2.7 2025-10-27T06:07:49.437Z,1761545269.437 [DAT](INFO): got valid direction response: 06:07:48.1073 LVL= 28128, 20721, 26690, 32051, AGC= 63, IDX= 504, 0.05,-1.753, 0.403,-0.948,-0.718, PHS=-0.933, 1.166,-0.274, RAW= 312.1, 0.4, CAL= 310.2, -2.7, ROT= 199.8, 2.7 2025-10-27T06:07:49.437Z,1761545269.437 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T06:07:49.438Z,1761545269.438 [DAT](INFO): direction in FSK: [-0.939836,-0.338362,-0.047106] 2025-10-27T06:07:49.438Z,1761545269.438 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:49.442Z,1761545269.442 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.517036 2025-10-27T06:07:49.644Z,1761545269.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503674 s, deltaX: 0.300000 m, approachRate: 0.595624 m/s, rangeRepo size: 4 2025-10-27T06:07:49.646Z,1761545269.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.646216 m, bearing: 132.656530 deg, lat: 36.779404 deg, lon: -121.859815 deg, deltaT: 0.503674 s, deltaX: 0.298146 m, approachRate: 0.591943 m/s, posRepo size: 4 2025-10-27T06:07:49.647Z,1761545269.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m. 2025-10-27T06:07:49.676Z,1761545269.676 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.750504 2025-10-27T06:07:49.929Z,1761545269.929 [DAT](INFO): DAT read: Rx Time:06:07:48.6073 2025-10-27T06:07:49.929Z,1761545269.929 [DAT](INFO): Rx dataTimestamp_ set to:1761545269.928709 2025-10-27T06:07:49.930Z,1761545269.930 [DAT](INFO): DAT read: Bearing 284.0, -17.1 (Local) 2025-10-27T06:07:49.931Z,1761545269.931 [DAT](INFO): Local bearing/azimuth received: Bearing 284.0, -17.1 (Local) 2025-10-27T06:07:49.933Z,1761545269.933 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.2 2025-10-27T06:07:49.937Z,1761545269.937 [DAT](INFO): DAT read: 06:07:48.6073 LVL= 32752, 20401, 28082, 32755, AGC= 63, IDX= 504, 0.33, 2.395,-1.765,-3.113,-2.876, PHS=-0.911, 1.156,-0.282, RAW= 312.7, 0.4, CAL= 310.8, -2.7, ROT= 199.2, 2.7 2025-10-27T06:07:49.938Z,1761545269.938 [DAT](INFO): got valid direction response: 06:07:48.6073 LVL= 32752, 20401, 28082, 32755, AGC= 63, IDX= 504, 0.33, 2.395,-1.765,-3.113,-2.876, PHS=-0.911, 1.156,-0.282, RAW= 312.7, 0.4, CAL= 310.8, -2.7, ROT= 199.2, 2.7 2025-10-27T06:07:49.939Z,1761545269.939 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T06:07:49.940Z,1761545269.940 [DAT](INFO): direction in FSK: [-0.943328,-0.328501,-0.047106] 2025-10-27T06:07:49.940Z,1761545269.940 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:49.944Z,1761545269.944 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.018560 2025-10-27T06:07:50.006Z,1761545270.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383759,0.918269,0.097528],[-0.923127,0.384207,0.014895],[-0.023793,-0.095747,0.995121]] 2025-10-27T06:07:50.118Z,1761545270.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:50.124Z,1761545270.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.646216 m, bearing: 131.933993 deg, lat: 36.779403 deg, lon: -121.859815 deg, deltaT: 0.503007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:50.125Z,1761545270.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m. 2025-10-27T06:07:50.181Z,1761545270.181 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.255459 2025-10-27T06:07:50.410Z,1761545270.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382993,0.918635,0.097092],[-0.923460,0.383390,0.015282],[-0.023186,-0.095513,0.995158]] 2025-10-27T06:07:50.433Z,1761545270.433 [DAT](INFO): DAT read: Rx Time:06:07:49.1074 2025-10-27T06:07:50.433Z,1761545270.433 [DAT](INFO): Rx dataTimestamp_ set to:1761545270.432826 2025-10-27T06:07:50.434Z,1761545270.434 [DAT](INFO): DAT read: Bearing 284.0, -16.5 (Local) 2025-10-27T06:07:50.435Z,1761545270.435 [DAT](INFO): Local bearing/azimuth received: Bearing 284.0, -16.5 (Local) 2025-10-27T06:07:50.437Z,1761545270.437 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.2 2025-10-27T06:07:50.441Z,1761545270.441 [DAT](INFO): DAT read: 06:07:49.1074 LVL= 31136, 22385, 30066, 32755, AGC= 62, IDX= 506,-0.35, 0.731, 2.845, 1.483, 1.730, PHS=-0.897, 1.159,-0.291, RAW= 313.3, 0.3, CAL= 311.4, -2.8, ROT= 198.6, 2.8 2025-10-27T06:07:50.442Z,1761545270.442 [DAT](INFO): got valid direction response: 06:07:49.1074 LVL= 31136, 22385, 30066, 32755, AGC= 62, IDX= 506,-0.35, 0.731, 2.845, 1.483, 1.730, PHS=-0.897, 1.159,-0.291, RAW= 313.3, 0.3, CAL= 311.4, -2.8, ROT= 198.6, 2.8 2025-10-27T06:07:50.443Z,1761545270.443 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T06:07:50.444Z,1761545270.444 [DAT](INFO): direction in FSK: [-0.946637,-0.318579,-0.048850] 2025-10-27T06:07:50.444Z,1761545270.444 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:50.448Z,1761545270.448 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.522434 2025-10-27T06:07:50.505Z,1761545270.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504117 s, deltaX: 0.200000 m, approachRate: 0.396733 m/s, rangeRepo size: 4 2025-10-27T06:07:50.511Z,1761545270.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.844891 m, bearing: 131.296827 deg, lat: 36.779403 deg, lon: -121.859815 deg, deltaT: 0.504117 s, deltaX: 0.198674 m, approachRate: 0.394103 m/s, posRepo size: 4 2025-10-27T06:07:50.512Z,1761545270.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m. 2025-10-27T06:07:50.686Z,1761545270.686 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.760408 2025-10-27T06:07:50.936Z,1761545270.936 [DAT](INFO): DAT read: Rx Time:06:07:49.6075 2025-10-27T06:07:50.937Z,1761545270.937 [DAT](INFO): Rx dataTimestamp_ set to:1761545270.936539 2025-10-27T06:07:50.938Z,1761545270.938 [DAT](INFO): DAT read: Bearing 284.1, -16.9 (Local) 2025-10-27T06:07:50.938Z,1761545270.938 [DAT](INFO): Local bearing/azimuth received: Bearing 284.1, -16.9 (Local) 2025-10-27T06:07:50.941Z,1761545270.941 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 2025-10-27T06:07:50.945Z,1761545270.945 [DAT](INFO): DAT read: 06:07:49.6075 LVL= 29856, 22385, 28530, 32755, AGC= 64, IDX= 506,-0.17,-0.369, 1.764, 0.401, 0.637, PHS=-0.904, 1.172,-0.281, RAW= 313.0, 0.1, CAL= 311.1, -3.0, ROT= 198.9, 3.0 2025-10-27T06:07:50.946Z,1761545270.946 [DAT](INFO): got valid direction response: 06:07:49.6075 LVL= 29856, 22385, 28530, 32755, AGC= 64, IDX= 506,-0.17,-0.369, 1.764, 0.401, 0.637, PHS=-0.904, 1.172,-0.281, RAW= 313.0, 0.1, CAL= 311.1, -3.0, ROT= 198.9, 3.0 2025-10-27T06:07:50.946Z,1761545270.946 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T06:07:50.948Z,1761545270.948 [DAT](INFO): direction in FSK: [-0.944789,-0.323473,-0.052336] 2025-10-27T06:07:50.948Z,1761545270.948 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:50.951Z,1761545270.951 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.026085 2025-10-27T06:07:51.074Z,1761545271.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503713 s, deltaX: 0.100000 m, approachRate: 0.198527 m/s, rangeRepo size: 4 2025-10-27T06:07:51.080Z,1761545271.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.944272 m, bearing: 131.612004 deg, lat: 36.779403 deg, lon: -121.859816 deg, deltaT: 0.503713 s, deltaX: 0.099381 m, approachRate: 0.197298 m/s, posRepo size: 4 2025-10-27T06:07:51.081Z,1761545271.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.94 m. 2025-10-27T06:07:51.191Z,1761545271.191 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.265793 2025-10-27T06:07:51.323Z,1761545271.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381833,0.919203,0.096280],[-0.923963,0.382156,0.015793],[-0.022277,-0.094989,0.995229]] 2025-10-27T06:07:51.354Z,1761545271.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.94 m. 2025-10-27T06:07:51.441Z,1761545271.441 [DAT](INFO): DAT read: Rx Time:06:07:50.1077 2025-10-27T06:07:51.441Z,1761545271.441 [DAT](INFO): Rx dataTimestamp_ set to:1761545271.440755 2025-10-27T06:07:51.442Z,1761545271.442 [DAT](INFO): DAT read: Bearing 283.8, -17.0 (Local) 2025-10-27T06:07:51.443Z,1761545271.443 [DAT](INFO): Local bearing/azimuth received: Bearing 283.8, -17.0 (Local) 2025-10-27T06:07:51.445Z,1761545271.445 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-27T06:07:51.450Z,1761545271.450 [DAT](INFO): DAT read: 06:07:50.1077 LVL= 29264, 20081, 27266, 31795, AGC= 63, IDX= 508,-0.03, 1.407,-2.753, 2.174, 2.415, PHS=-0.907, 1.160,-0.285, RAW= 313.0, 0.3, CAL= 311.0, -2.8, ROT= 199.0, 2.8 2025-10-27T06:07:51.472Z,1761545271.472 [DAT](INFO): got valid direction response: 06:07:50.1077 LVL= 29264, 20081, 27266, 31795, AGC= 63, IDX= 508,-0.03, 1.407,-2.753, 2.174, 2.415, PHS=-0.907, 1.160,-0.285, RAW= 313.0, 0.3, CAL= 311.0, -2.8, ROT= 199.0, 2.8 2025-10-27T06:07:51.472Z,1761545271.472 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T06:07:51.474Z,1761545271.474 [DAT](INFO): direction in FSK: [-0.944390,-0.325180,-0.048850] 2025-10-27T06:07:51.474Z,1761545271.474 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:51.486Z,1761545271.486 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.561138 2025-10-27T06:07:51.692Z,1761545271.692 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.766457 2025-10-27T06:07:51.759Z,1761545271.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381359,0.919410,0.096183],[-0.924165,0.381657,0.016008],[-0.021990,-0.094994,0.995235]] 2025-10-27T06:07:51.841Z,1761545271.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504216 s, deltaX: 0.300000 m, approachRate: 0.594983 m/s, rangeRepo size: 4 2025-10-27T06:07:51.843Z,1761545271.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.242280 m, bearing: 131.592361 deg, lat: 36.779402 deg, lon: -121.859816 deg, deltaT: 0.504216 s, deltaX: 0.298008 m, approachRate: 0.591032 m/s, posRepo size: 4 2025-10-27T06:07:51.844Z,1761545271.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m. 2025-10-27T06:07:51.945Z,1761545271.945 [DAT](INFO): DAT read: Rx Time:06:07:50.6077 2025-10-27T06:07:51.945Z,1761545271.945 [DAT](INFO): Rx dataTimestamp_ set to:1761545271.945078 2025-10-27T06:07:51.947Z,1761545271.947 [DAT](INFO): DAT read: Bearing 283.9, -16.9 (Local) 2025-10-27T06:07:51.947Z,1761545271.947 [DAT](INFO): Local bearing/azimuth received: Bearing 283.9, -16.9 (Local) 2025-10-27T06:07:51.949Z,1761545271.949 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.3 2025-10-27T06:07:51.954Z,1761545271.954 [DAT](INFO): DAT read: 06:07:50.6077 LVL= 30560, 18209, 27250, 32755, AGC= 63, IDX= 508, 0.09, 1.251,-2.914, 2.016, 2.253, PHS=-0.900, 1.161,-0.281, RAW= 313.0, 0.2, CAL= 311.1, -2.9, ROT= 198.9, 2.9 2025-10-27T06:07:51.956Z,1761545271.956 [DAT](INFO): got valid direction response: 06:07:50.6077 LVL= 30560, 18209, 27250, 32755, AGC= 63, IDX= 508, 0.09, 1.251,-2.914, 2.016, 2.253, PHS=-0.900, 1.161,-0.281, RAW= 313.0, 0.2, CAL= 311.1, -2.9, ROT= 198.9, 2.9 2025-10-27T06:07:51.956Z,1761545271.956 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T06:07:51.957Z,1761545271.957 [DAT](INFO): direction in FSK: [-0.944874,-0.323503,-0.050593] 2025-10-27T06:07:51.957Z,1761545271.957 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:51.961Z,1761545271.961 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.035564 2025-10-27T06:07:52.126Z,1761545272.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381027,0.919558,0.096085],[-0.924308,0.381305,0.016174],[-0.021765,-0.094975,0.995242]] 2025-10-27T06:07:52.178Z,1761545272.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504323 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:52.180Z,1761545272.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.242280 m, bearing: 131.480326 deg, lat: 36.779402 deg, lon: -121.859817 deg, deltaT: 0.504323 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:52.181Z,1761545272.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m. 2025-10-27T06:07:52.196Z,1761545272.196 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.270542 2025-10-27T06:07:52.448Z,1761545272.448 [DAT](INFO): DAT read: Rx Time:06:07:51.1079 2025-10-27T06:07:52.449Z,1761545272.449 [DAT](INFO): Rx dataTimestamp_ set to:1761545272.448669 2025-10-27T06:07:52.450Z,1761545272.450 [DAT](INFO): DAT read: Bearing 283.4, -17.3 (Local) 2025-10-27T06:07:52.451Z,1761545272.451 [DAT](INFO): Local bearing/azimuth received: Bearing 283.4, -17.3 (Local) 2025-10-27T06:07:52.453Z,1761545272.453 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.1 2025-10-27T06:07:52.457Z,1761545272.457 [DAT](INFO): DAT read: 06:07:51.1079 LVL= 31392, 21617, 29298, 32755, AGC= 64, IDX= 510, 0.12,-2.438,-0.323,-1.669,-1.425, PHS=-0.912, 1.146,-0.289, RAW= 312.8, 0.6, CAL= 310.9, -2.5, ROT= 199.1, 2.5 2025-10-27T06:07:52.458Z,1761545272.458 [DAT](INFO): got valid direction response: 06:07:51.1079 LVL= 31392, 21617, 29298, 32755, AGC= 64, IDX= 510, 0.12,-2.438,-0.323,-1.669,-1.425, PHS=-0.912, 1.146,-0.289, RAW= 312.8, 0.6, CAL= 310.9, -2.5, ROT= 199.1, 2.5 2025-10-27T06:07:52.463Z,1761545272.463 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T06:07:52.466Z,1761545272.466 [DAT](INFO): direction in FSK: [-0.944050,-0.326906,-0.043619] 2025-10-27T06:07:52.466Z,1761545272.466 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:52.477Z,1761545272.477 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.551613 2025-10-27T06:07:52.569Z,1761545272.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380199,0.920085,0.094299],[-0.924659,0.380469,0.015800],[-0.021341,-0.093201,0.995419]] 2025-10-27T06:07:52.613Z,1761545272.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503591 s, deltaX: 0.300000 m, approachRate: 0.595722 m/s, rangeRepo size: 4 2025-10-27T06:07:52.615Z,1761545272.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.540654 m, bearing: 131.593288 deg, lat: 36.779401 deg, lon: -121.859817 deg, deltaT: 0.503591 s, deltaX: 0.298374 m, approachRate: 0.592493 m/s, posRepo size: 4 2025-10-27T06:07:52.621Z,1761545272.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-27T06:07:52.701Z,1761545272.701 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.775551 2025-10-27T06:07:52.952Z,1761545272.952 [DAT](INFO): DAT read: Rx Time:06:07:51.6079 2025-10-27T06:07:52.953Z,1761545272.953 [DAT](INFO): Rx dataTimestamp_ set to:1761545272.952570 2025-10-27T06:07:52.954Z,1761545272.954 [DAT](INFO): DAT read: Bearing 283.4, -17.2 (Local) 2025-10-27T06:07:52.954Z,1761545272.954 [DAT](INFO): Local bearing/azimuth received: Bearing 283.4, -17.2 (Local) 2025-10-27T06:07:52.957Z,1761545272.957 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.3 2025-10-27T06:07:52.961Z,1761545272.961 [DAT](INFO): DAT read: 06:07:51.6079 LVL= 31776, 22305, 30050, 32755, AGC= 65, IDX= 510, 0.21, 2.422,-1.763,-3.101,-2.857, PHS=-0.901, 1.140,-0.287, RAW= 312.9, 0.5, CAL= 311.0, -2.6, ROT= 199.0, 2.6 2025-10-27T06:07:52.962Z,1761545272.962 [DAT](INFO): got valid direction response: 06:07:51.6079 LVL= 31776, 22305, 30050, 32755, AGC= 65, IDX= 510, 0.21, 2.422,-1.763,-3.101,-2.857, PHS=-0.901, 1.140,-0.287, RAW= 312.9, 0.5, CAL= 311.0, -2.6, ROT= 199.0, 2.6 2025-10-27T06:07:52.963Z,1761545272.963 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T06:07:52.964Z,1761545272.964 [DAT](INFO): direction in FSK: [-0.944545,-0.325233,-0.045363] 2025-10-27T06:07:52.964Z,1761545272.964 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:52.968Z,1761545272.968 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.042221 2025-10-27T06:07:53.090Z,1761545273.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503901 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:53.100Z,1761545273.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.540654 m, bearing: 131.501834 deg, lat: 36.779401 deg, lon: -121.859817 deg, deltaT: 0.503901 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:53.101Z,1761545273.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-27T06:07:53.204Z,1761545273.204 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.278751 2025-10-27T06:07:53.336Z,1761545273.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379657,0.920380,0.093602],[-0.924892,0.379894,0.015970],[-0.020861,-0.092635,0.995482]] 2025-10-27T06:07:53.354Z,1761545273.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-27T06:07:53.457Z,1761545273.457 [DAT](INFO): DAT read: Rx Time:06:07:52.1081 2025-10-27T06:07:53.457Z,1761545273.457 [DAT](INFO): Rx dataTimestamp_ set to:1761545273.456825 2025-10-27T06:07:53.459Z,1761545273.459 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.3 2025-10-27T06:07:53.460Z,1761545273.460 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-27T06:07:53.462Z,1761545273.462 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.535881 2025-10-27T06:07:53.709Z,1761545273.709 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.783310 2025-10-27T06:07:53.760Z,1761545273.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379075,0.920648,0.093318],[-0.925141,0.379273,0.016298],[-0.020388,-0.092511,0.995503]] 2025-10-27T06:07:53.803Z,1761545273.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504255 s, deltaX: 0.299999 m, approachRate: 0.594936 m/s, rangeRepo size: 4 2025-10-27T06:07:53.805Z,1761545273.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-27T06:07:53.960Z,1761545273.960 [DAT](INFO): DAT read: Rx Time:06:07:52.6081 2025-10-27T06:07:53.961Z,1761545273.961 [DAT](INFO): Rx dataTimestamp_ set to:1761545273.960239 2025-10-27T06:07:53.962Z,1761545273.962 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.2 2025-10-27T06:07:53.962Z,1761545273.962 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-27T06:07:53.963Z,1761545273.963 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.038071 2025-10-27T06:07:54.198Z,1761545274.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503414 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:54.198Z,1761545274.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-27T06:07:54.212Z,1761545274.212 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.286674 2025-10-27T06:07:54.465Z,1761545274.465 [DAT](INFO): DAT read: Rx Time:06:07:53.1082 2025-10-27T06:07:54.465Z,1761545274.465 [DAT](INFO): Rx dataTimestamp_ set to:1761545274.464700 2025-10-27T06:07:54.466Z,1761545274.466 [DAT](INFO): DAT read: Bearing 284.6, -17.0 (Local) 2025-10-27T06:07:54.467Z,1761545274.467 [DAT](INFO): Local bearing/azimuth received: Bearing 284.6, -17.0 (Local) 2025-10-27T06:07:54.469Z,1761545274.469 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.3 2025-10-27T06:07:54.473Z,1761545274.473 [DAT](INFO): DAT read: 06:07:53.1082 LVL= 32752, 21985, 32754, 32755, AGC= 64, IDX= 513, 0.17, 1.293,-2.786, 2.083, 2.298, PHS=-0.904, 1.244,-0.259, RAW= 313.0, -0.9, CAL= 311.3, -4.1, ROT= 198.7, 4.1 2025-10-27T06:07:54.474Z,1761545274.474 [DAT](INFO): got valid direction response: 06:07:53.1082 LVL= 32752, 21985, 32754, 32755, AGC= 64, IDX= 513, 0.17, 1.293,-2.786, 2.083, 2.298, PHS=-0.904, 1.244,-0.259, RAW= 313.0, -0.9, CAL= 311.3, -4.1, ROT= 198.7, 4.1 2025-10-27T06:07:54.475Z,1761545274.475 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T06:07:54.476Z,1761545274.476 [DAT](INFO): direction in FSK: [-0.944786,-0.319792,-0.071497] 2025-10-27T06:07:54.476Z,1761545274.476 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:54.480Z,1761545274.480 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.554577 2025-10-27T06:07:54.570Z,1761545274.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377045,0.921728,0.090854],[-0.926011,0.377108,0.017133],[-0.018470,-0.090592,0.995717]] 2025-10-27T06:07:54.648Z,1761545274.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504461 s, deltaX: 0.200001 m, approachRate: 0.396464 m/s, rangeRepo size: 4 2025-10-27T06:07:54.650Z,1761545274.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.038011 m, bearing: 131.123659 deg, lat: 36.779399 deg, lon: -121.859818 deg, deltaT: 1.512130 s, deltaX: 0.497356 m, approachRate: 0.328911 m/s, posRepo size: 4 2025-10-27T06:07:54.650Z,1761545274.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m. 2025-10-27T06:07:54.717Z,1761545274.717 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.791645 2025-10-27T06:07:54.950Z,1761545274.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376111,0.922374,0.088131],[-0.926412,0.376120,0.017135],[-0.017342,-0.088090,0.995962]] 2025-10-27T06:07:54.968Z,1761545274.968 [DAT](INFO): DAT read: Rx Time:06:07:53.6082 2025-10-27T06:07:54.969Z,1761545274.969 [DAT](INFO): Rx dataTimestamp_ set to:1761545274.968271 2025-10-27T06:07:54.970Z,1761545274.970 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.1 2025-10-27T06:07:54.970Z,1761545274.970 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-27T06:07:54.971Z,1761545274.971 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.046051 2025-10-27T06:07:55.105Z,1761545275.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:55.106Z,1761545275.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m. 2025-10-27T06:07:55.221Z,1761545275.221 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.295906 2025-10-27T06:07:55.372Z,1761545275.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374878,0.923097,0.085781],[-0.926935,0.374817,0.017432],[-0.016061,-0.086048,0.996162]] 2025-10-27T06:07:55.398Z,1761545275.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m. 2025-10-27T06:07:55.473Z,1761545275.473 [DAT](INFO): DAT read: Rx Time:06:07:54.1083 2025-10-27T06:07:55.473Z,1761545275.473 [DAT](INFO): Rx dataTimestamp_ set to:1761545275.472789 2025-10-27T06:07:55.474Z,1761545275.474 [DAT](INFO): DAT read: Bearing 281.4, -15.5 (Local) 2025-10-27T06:07:55.475Z,1761545275.475 [DAT](INFO): Local bearing/azimuth received: Bearing 281.4, -15.5 (Local) 2025-10-27T06:07:55.477Z,1761545275.477 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 2025-10-27T06:07:55.484Z,1761545275.484 [DAT](INFO): DAT read: 06:07:54.1083 LVL= 21568, 16993, 20050, 27827, AGC= 67, IDX= 3, 0.07, 3.068,-1.234,-2.570,-2.261, PHS=-0.852, 1.071,-0.354, RAW= 315.5, 1.6, CAL= 313.5, -1.4, ROT= 196.5, 1.4 2025-10-27T06:07:55.485Z,1761545275.485 [DAT](INFO): got valid direction response: 06:07:54.1083 LVL= 21568, 16993, 20050, 27827, AGC= 67, IDX= 3, 0.07, 3.068,-1.234,-2.570,-2.261, PHS=-0.852, 1.071,-0.354, RAW= 315.5, 1.6, CAL= 313.5, -1.4, ROT= 196.5, 1.4 2025-10-27T06:07:55.486Z,1761545275.486 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T06:07:55.488Z,1761545275.488 [DAT](INFO): direction in FSK: [-0.958534,-0.283930,-0.024432] 2025-10-27T06:07:55.488Z,1761545275.488 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:55.492Z,1761545275.492 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.566986 2025-10-27T06:07:55.724Z,1761545275.724 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.799065 2025-10-27T06:07:55.809Z,1761545275.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373479,0.923723,0.085145],[-0.927518,0.373335,0.018211],[-0.014966,-0.085775,0.996202]] 2025-10-27T06:07:55.900Z,1761545275.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504518 s, deltaX: 0.299999 m, approachRate: 0.594625 m/s, rangeRepo size: 4 2025-10-27T06:07:55.902Z,1761545275.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.336237 m, bearing: 128.492302 deg, lat: 36.779399 deg, lon: -121.859818 deg, deltaT: 1.008089 s, deltaX: 0.298226 m, approachRate: 0.295833 m/s, posRepo size: 4 2025-10-27T06:07:55.902Z,1761545275.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-27T06:07:55.978Z,1761545275.978 [DAT](INFO): DAT read: Rx Time:06:07:54.6083 2025-10-27T06:07:55.979Z,1761545275.979 [DAT](INFO): Rx dataTimestamp_ set to:1761545275.978736 2025-10-27T06:07:55.980Z,1761545275.980 [DAT](INFO): DAT read: Bearing 281.6, -14.4 (Local) 2025-10-27T06:07:55.981Z,1761545275.981 [DAT](INFO): Local bearing/azimuth received: Bearing 281.6, -14.4 (Local) 2025-10-27T06:07:55.983Z,1761545275.983 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 2025-10-27T06:07:55.989Z,1761545275.989 [DAT](INFO): DAT read: 06:07:54.6083 LVL= 32752, 22385, 32754, 32755, AGC= 63, IDX= 499, 0.03, 1.818,-2.492, 2.428, 2.747, PHS=-0.827, 1.090,-0.363, RAW= 316.6, 1.2, CAL= 314.7, -1.9, ROT= 195.3, 1.9 2025-10-27T06:07:55.996Z,1761545275.996 [DAT](INFO): got valid direction response: 06:07:54.6083 LVL= 32752, 22385, 32754, 32755, AGC= 63, IDX= 499, 0.03, 1.818,-2.492, 2.428, 2.747, PHS=-0.827, 1.090,-0.363, RAW= 316.6, 1.2, CAL= 314.7, -1.9, ROT= 195.3, 1.9 2025-10-27T06:07:55.996Z,1761545275.996 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T06:07:55.997Z,1761545275.997 [DAT](INFO): direction in FSK: [-0.964027,-0.263728,-0.033155] 2025-10-27T06:07:55.998Z,1761545275.998 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:56.001Z,1761545276.001 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.076027 2025-10-27T06:07:56.228Z,1761545276.228 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.302689 2025-10-27T06:07:56.284Z,1761545276.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.505947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:56.303Z,1761545276.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.336237 m, bearing: 127.335643 deg, lat: 36.779399 deg, lon: -121.859817 deg, deltaT: 0.505947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:56.304Z,1761545276.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-27T06:07:56.482Z,1761545276.482 [DAT](INFO): DAT read: Rx Time:06:07:55.1085 2025-10-27T06:07:56.482Z,1761545276.482 [DAT](INFO): Rx dataTimestamp_ set to:1761545276.481755 2025-10-27T06:07:56.483Z,1761545276.483 [DAT](INFO): DAT read: Bearing 281.2, -13.8 (Local) 2025-10-27T06:07:56.484Z,1761545276.484 [DAT](INFO): Local bearing/azimuth received: Bearing 281.2, -13.8 (Local) 2025-10-27T06:07:56.486Z,1761545276.486 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 2025-10-27T06:07:56.490Z,1761545276.490 [DAT](INFO): DAT read: 06:07:55.1085 LVL= 32752, 23473, 32754, 32755, AGC= 65, IDX= 501,-0.03, 2.276,-2.051, 2.859,-3.085, PHS=-0.820, 1.079,-0.383, RAW= 317.3, 1.5, CAL= 315.4, -1.6, ROT= 194.6, 1.6 2025-10-27T06:07:56.492Z,1761545276.492 [DAT](INFO): got valid direction response: 06:07:55.1085 LVL= 32752, 23473, 32754, 32755, AGC= 65, IDX= 501,-0.03, 2.276,-2.051, 2.859,-3.085, PHS=-0.820, 1.079,-0.383, RAW= 317.3, 1.5, CAL= 315.4, -1.6, ROT= 194.6, 1.6 2025-10-27T06:07:56.492Z,1761545276.492 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T06:07:56.493Z,1761545276.493 [DAT](INFO): direction in FSK: [-0.967332,-0.251971,-0.027922] 2025-10-27T06:07:56.493Z,1761545276.493 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:56.501Z,1761545276.501 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.575680 2025-10-27T06:07:56.650Z,1761545276.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503019 s, deltaX: 0.300000 m, approachRate: 0.596399 m/s, rangeRepo size: 4 2025-10-27T06:07:56.656Z,1761545276.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.634415 m, bearing: 126.614454 deg, lat: 36.779399 deg, lon: -121.859816 deg, deltaT: 0.503019 s, deltaX: 0.298178 m, approachRate: 0.592776 m/s, posRepo size: 4 2025-10-27T06:07:56.657Z,1761545276.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m. 2025-10-27T06:07:56.733Z,1761545276.733 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.807297 2025-10-27T06:07:56.984Z,1761545276.984 [DAT](INFO): DAT read: Rx Time:06:07:55.6085 2025-10-27T06:07:56.985Z,1761545276.985 [DAT](INFO): Rx dataTimestamp_ set to:1761545276.984651 2025-10-27T06:07:56.986Z,1761545276.986 [DAT](INFO): DAT read: Bearing 281.7, -11.9 (Local) 2025-10-27T06:07:56.987Z,1761545276.987 [DAT](INFO): Local bearing/azimuth received: Bearing 281.7, -11.9 (Local) 2025-10-27T06:07:56.989Z,1761545276.989 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 2025-10-27T06:07:56.993Z,1761545276.993 [DAT](INFO): DAT read: 06:07:55.6085 LVL= 32752, 23217, 32754, 32755, AGC= 64, IDX= 501,-0.03, 0.609, 2.544, 1.134, 1.484, PHS=-0.772, 1.106,-0.393, RAW= 319.0, 0.7, CAL= 317.3, -2.3, ROT= 192.7, 2.3 2025-10-27T06:07:56.994Z,1761545276.994 [DAT](INFO): got valid direction response: 06:07:55.6085 LVL= 32752, 23217, 32754, 32755, AGC= 64, IDX= 501,-0.03, 0.609, 2.544, 1.134, 1.484, PHS=-0.772, 1.106,-0.393, RAW= 319.0, 0.7, CAL= 317.3, -2.3, ROT= 192.7, 2.3 2025-10-27T06:07:56.995Z,1761545276.995 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T06:07:56.996Z,1761545276.996 [DAT](INFO): direction in FSK: [-0.974749,-0.219669,-0.040132] 2025-10-27T06:07:56.996Z,1761545276.996 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:56.000Z,1761545277.000 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.074406 2025-10-27T06:07:57.173Z,1761545277.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.502896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:57.180Z,1761545277.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.634415 m, bearing: 124.777458 deg, lat: 36.779399 deg, lon: -121.859816 deg, deltaT: 0.502896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:57.180Z,1761545277.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m. 2025-10-27T06:07:57.237Z,1761545277.237 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.311352 2025-10-27T06:07:57.432Z,1761545277.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366362,0.927225,0.077663],[-0.930439,0.365777,0.022142],[-0.007877,-0.080373,0.996734]] 2025-10-27T06:07:57.450Z,1761545277.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m. 2025-10-27T06:07:57.488Z,1761545277.489 [DAT](INFO): DAT read: Rx Time:06:07:56.1087 2025-10-27T06:07:57.489Z,1761545277.489 [DAT](INFO): Rx dataTimestamp_ set to:1761545277.488693 2025-10-27T06:07:57.490Z,1761545277.490 [DAT](INFO): DAT read: Bearing 281.2, -10.6 (Local) 2025-10-27T06:07:57.491Z,1761545277.491 [DAT](INFO): Local bearing/azimuth received: Bearing 281.2, -10.6 (Local) 2025-10-27T06:07:57.493Z,1761545277.493 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.2 2025-10-27T06:07:57.497Z,1761545277.497 [DAT](INFO): DAT read: 06:07:56.1087 LVL= 32752, 22833, 32754, 32755, AGC= 64, IDX= 503,-0.02, 1.744,-2.632, 2.217, 2.600, PHS=-0.754, 1.097,-0.426, RAW= 320.5, 1.0, CAL= 318.8, -2.0, ROT= 191.2, 2.0 2025-10-27T06:07:57.499Z,1761545277.499 [DAT](INFO): got valid direction response: 06:07:56.1087 LVL= 32752, 22833, 32754, 32755, AGC= 64, IDX= 503,-0.02, 1.744,-2.632, 2.217, 2.600, PHS=-0.754, 1.097,-0.426, RAW= 320.5, 1.0, CAL= 318.8, -2.0, ROT= 191.2, 2.0 2025-10-27T06:07:57.499Z,1761545277.499 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T06:07:57.500Z,1761545277.500 [DAT](INFO): direction in FSK: [-0.980358,-0.194116,-0.034899] 2025-10-27T06:07:57.500Z,1761545277.500 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:57.504Z,1761545277.504 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.578827 2025-10-27T06:07:57.741Z,1761545277.741 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.814651 2025-10-27T06:07:57.839Z,1761545277.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364253,0.928136,0.076699],[-0.931281,0.363534,0.023634],[-0.005947,-0.080038,0.996774]] 2025-10-27T06:07:57.842Z,1761545277.842 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T06:07:57.842Z,1761545277.842 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T06:07:57.844Z,1761545277.844 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-27T06:07:57.846Z,1761545277.846 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T06:07:57.849Z,1761545277.849 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T06:07:57.852Z,1761545277.852 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T06:07:57.855Z,1761545277.855 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-27T06:07:57.857Z,1761545277.857 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T06:07:57.860Z,1761545277.860 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-27T06:07:57.862Z,1761545277.862 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-27T06:07:57.865Z,1761545277.865 [BPC1](INFO): Calculating totals. Valid battery stick count: 30. Valid reserve battery stick count: 1. 2025-10-27T06:07:57.922Z,1761545277.922 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 32, 33, 34, 37, 39, 44, 47, 54, 58, 62. 2025-10-27T06:07:57.998Z,1761545277.998 [DAT](INFO): DAT read: Rx Time:06:07:56.6087 2025-10-27T06:07:57.998Z,1761545277.998 [DAT](INFO): Rx dataTimestamp_ set to:1761545277.997744 2025-10-27T06:07:57.000Z,1761545278.000 [DAT](INFO): DAT read: Bearing 280.8, -9.7 (Local) 2025-10-27T06:07:57.000Z,1761545278.000 [DAT](INFO): Local bearing/azimuth received: Bearing 280.8, -9.7 (Local) 2025-10-27T06:07:58.002Z,1761545278.002 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.3 2025-10-27T06:07:58.006Z,1761545278.006 [DAT](INFO): DAT read: 06:07:56.6087 LVL= 32752, 23329, 32754, 32755, AGC= 65, IDX= 503,-0.00, 0.847, 2.735, 1.285, 1.692, PHS=-0.743, 1.088,-0.450, RAW= 321.5, 1.2, CAL= 319.8, -1.7, ROT= 190.2, 1.7 2025-10-27T06:07:58.021Z,1761545278.021 [DAT](INFO): got valid direction response: 06:07:56.6087 LVL= 32752, 23329, 32754, 32755, AGC= 65, IDX= 503,-0.00, 0.847, 2.735, 1.285, 1.692, PHS=-0.743, 1.088,-0.450, RAW= 321.5, 1.2, CAL= 319.8, -1.7, ROT= 190.2, 1.7 2025-10-27T06:07:58.021Z,1761545278.021 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T06:07:58.035Z,1761545278.035 [DAT](INFO): direction in FSK: [-0.983762,-0.177007,-0.029666] 2025-10-27T06:07:58.037Z,1761545278.037 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:58.049Z,1761545278.049 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.124123 2025-10-27T06:07:58.071Z,1761545278.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 1.013093 s, deltaX: 0.300000 m, approachRate: 0.296123 m/s, rangeRepo size: 4 2025-10-27T06:07:58.073Z,1761545278.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.932581 m, bearing: 121.663133 deg, lat: 36.779400 deg, lon: -121.859814 deg, deltaT: 1.013093 s, deltaX: 0.298166 m, approachRate: 0.294313 m/s, posRepo size: 4 2025-10-27T06:07:58.074Z,1761545278.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m. 2025-10-27T06:07:58.248Z,1761545278.248 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.321812 2025-10-27T06:07:58.338Z,1761545278.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362177,0.929047,0.075500],[-0.932101,0.361324,0.025144],[-0.003920,-0.079480,0.996829]] 2025-10-27T06:07:58.399Z,1761545278.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m. 2025-10-27T06:07:58.497Z,1761545278.497 [DAT](INFO): DAT read: Rx Time:06:07:57.1088 2025-10-27T06:07:58.498Z,1761545278.498 [DAT](INFO): Rx dataTimestamp_ set to:1761545278.497579 2025-10-27T06:07:58.500Z,1761545278.500 [DAT](INFO): DAT read: Bearing 281.5, -8.0 (Local) 2025-10-27T06:07:58.500Z,1761545278.500 [DAT](INFO): Local bearing/azimuth received: Bearing 281.5, -8.0 (Local) 2025-10-27T06:07:58.502Z,1761545278.502 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 2025-10-27T06:07:58.507Z,1761545278.507 [DAT](INFO): DAT read: 06:07:57.1088 LVL= 32752, 20593, 32754, 32755, AGC= 64, IDX= 504, 0.05, 1.402,-3.006, 1.789, 2.200, PHS=-0.696, 1.122,-0.455, RAW= 323.0, 0.3, CAL= 321.5, -2.7, ROT= 188.5, 2.7 2025-10-27T06:07:58.509Z,1761545278.509 [DAT](INFO): got valid direction response: 06:07:57.1088 LVL= 32752, 20593, 32754, 32755, AGC= 64, IDX= 504, 0.05, 1.402,-3.006, 1.789, 2.200, PHS=-0.696, 1.122,-0.455, RAW= 323.0, 0.3, CAL= 321.5, -2.7, ROT= 188.5, 2.7 2025-10-27T06:07:58.510Z,1761545278.510 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T06:07:58.512Z,1761545278.512 [DAT](INFO): direction in FSK: [-0.987918,-0.147645,-0.047106] 2025-10-27T06:07:58.513Z,1761545278.513 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:58.520Z,1761545278.520 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.593494 2025-10-27T06:07:58.725Z,1761545278.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360314,0.929904,0.073848],[-0.932829,0.359342,0.026508],[-0.001886,-0.078438,0.996917]] 2025-10-27T06:07:58.750Z,1761545278.750 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.824478 2025-10-27T06:07:58.820Z,1761545278.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.499835 s, deltaX: 0.100000 m, approachRate: 0.200067 m/s, rangeRepo size: 4 2025-10-27T06:07:58.822Z,1761545278.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.031976 m, bearing: 119.802670 deg, lat: 36.779402 deg, lon: -121.859814 deg, deltaT: 0.499835 s, deltaX: 0.099395 m, approachRate: 0.198855 m/s, posRepo size: 4 2025-10-27T06:07:58.827Z,1761545278.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:07:59.001Z,1761545279.001 [DAT](INFO): DAT read: Rx Time:06:07:57.6088 2025-10-27T06:07:59.001Z,1761545279.001 [DAT](INFO): Rx dataTimestamp_ set to:1761545279.000748 2025-10-27T06:07:59.002Z,1761545279.002 [DAT](INFO): DAT read: Bearing 281.3, -7.1 (Local) 2025-10-27T06:07:59.003Z,1761545279.003 [DAT](INFO): Local bearing/azimuth received: Bearing 281.3, -7.1 (Local) 2025-10-27T06:07:59.005Z,1761545279.005 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 2025-10-27T06:07:59.012Z,1761545279.012 [DAT](INFO): DAT read: 06:07:57.6088 LVL= 32752, 20017, 32754, 32755, AGC= 64, IDX= 504, 0.10, 0.311, 2.174, 0.666, 1.098, PHS=-0.685, 1.121,-0.475, RAW= 323.9, 0.5, CAL= 322.5, -2.5, ROT= 187.5, 2.5 2025-10-27T06:07:59.014Z,1761545279.014 [DAT](INFO): got valid direction response: 06:07:57.6088 LVL= 32752, 20017, 32754, 32755, AGC= 64, IDX= 504, 0.10, 0.311, 2.174, 0.666, 1.098, PHS=-0.685, 1.121,-0.475, RAW= 323.9, 0.5, CAL= 322.5, -2.5, ROT= 187.5, 2.5 2025-10-27T06:07:59.016Z,1761545279.016 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T06:07:59.017Z,1761545279.017 [DAT](INFO): direction in FSK: [-0.990501,-0.130402,-0.043619] 2025-10-27T06:07:59.017Z,1761545279.017 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:59.024Z,1761545279.024 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.098873 2025-10-27T06:07:59.122Z,1761545279.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358839,0.930635,0.071788],[-0.933399,0.357776,0.027601],[0.000003,-0.076911,0.997038]] 2025-10-27T06:07:59.213Z,1761545279.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503169 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:07:59.215Z,1761545279.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.031976 m, bearing: 118.697649 deg, lat: 36.779405 deg, lon: -121.859810 deg, deltaT: 0.503169 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:07:59.219Z,1761545279.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:07:59.255Z,1761545279.255 [DAT](INFO): DAT read: Rx Time:06:07:58.1090 2025-10-27T06:07:59.256Z,1761545279.256 [DAT](INFO): Rx dataTimestamp_ set to:1761545279.255280 2025-10-27T06:07:59.258Z,1761545279.258 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.332218 2025-10-27T06:07:59.505Z,1761545279.505 [DAT](INFO): DAT read: Bearing 280.8, -6.0 (Local) 2025-10-27T06:07:59.505Z,1761545279.505 [DAT](INFO): Local bearing/azimuth received: Bearing 280.8, -6.0 (Local) 2025-10-27T06:07:59.509Z,1761545279.509 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-27T06:07:59.526Z,1761545279.526 [DAT](INFO): DAT read: 06:07:58.1090 LVL= 32752, 21921, 32754, 32755, AGC= 64, IDX= 506, 0.18, 1.780,-2.643, 2.095, 2.562, PHS=-0.680, 1.124,-0.510, RAW= 325.1, 0.8, CAL= 323.7, -2.2, ROT= 186.3, 2.2 2025-10-27T06:07:59.528Z,1761545279.528 [DAT](INFO): got valid direction response: 06:07:58.1090 LVL= 32752, 21921, 32754, 32755, AGC= 64, IDX= 506, 0.18, 1.780,-2.643, 2.095, 2.562, PHS=-0.680, 1.124,-0.510, RAW= 325.1, 0.8, CAL= 323.7, -2.2, ROT= 186.3, 2.2 2025-10-27T06:07:59.528Z,1761545279.528 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T06:07:59.530Z,1761545279.530 [DAT](INFO): direction in FSK: [-0.993228,-0.109654,-0.038388] 2025-10-27T06:07:59.530Z,1761545279.530 [DAT](INFO): publishing direction and range info 2025-10-27T06:07:59.552Z,1761545279.552 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.626606 2025-10-27T06:07:59.575Z,1761545279.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357799,0.931228,0.069244],[-0.933797,0.356678,0.028343],[0.001696,-0.074801,0.997197]] 2025-10-27T06:07:59.626Z,1761545279.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.502622 s, deltaX: 0.299999 m, approachRate: 0.596869 m/s, rangeRepo size: 4 2025-10-27T06:07:59.629Z,1761545279.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.330172 m, bearing: 117.411544 deg, lat: 36.779408 deg, lon: -121.859810 deg, deltaT: 0.502622 s, deltaX: 0.298196 m, approachRate: 0.593280 m/s, posRepo size: 4 2025-10-27T06:07:59.629Z,1761545279.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T06:07:59.759Z,1761545279.759 [DAT](INFO): DAT read: Rx Time:06:07:58.6090 2025-10-27T06:07:59.761Z,1761545279.761 [DAT](INFO): Rx dataTimestamp_ set to:1761545279.759832 2025-10-27T06:07:59.763Z,1761545279.763 [DAT](INFO): DAT read: Bearing 280.7, -5.3 (Local) 2025-10-27T06:07:59.764Z,1761545279.764 [DAT](INFO): Local bearing/azimuth received: Bearing 280.7, -5.3 (Local) 2025-10-27T06:07:59.766Z,1761545279.766 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.840515 2025-10-27T06:07:59.959Z,1761545279.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356524,0.931837,0.067602],[-0.934280,0.355333,0.029307],[0.003288,-0.073607,0.997282]] 2025-10-27T06:08:00.012Z,1761545280.012 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.3 2025-10-27T06:08:00.020Z,1761545280.020 [DAT](INFO): DAT read: 06:07:58.6090 LVL= 32752, 22001, 32754, 32755, AGC= 65, IDX= 506, 0.24, 0.928, 2.760, 1.215, 1.691, PHS=-0.661, 1.113,-0.520, RAW= 325.9, 0.8, CAL= 324.6, -2.1, ROT= 185.4, 2.1 2025-10-27T06:08:00.022Z,1761545280.022 [DAT](INFO): got valid direction response: 06:07:58.6090 LVL= 32752, 22001, 32754, 32755, AGC= 65, IDX= 506, 0.24, 0.928, 2.760, 1.215, 1.691, PHS=-0.661, 1.113,-0.520, RAW= 325.9, 0.8, CAL= 324.6, -2.1, ROT= 185.4, 2.1 2025-10-27T06:08:00.022Z,1761545280.022 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T06:08:00.024Z,1761545280.024 [DAT](INFO): direction in FSK: [-0.994893,-0.094045,-0.036644] 2025-10-27T06:08:00.024Z,1761545280.024 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:00.030Z,1761545280.030 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.104469 2025-10-27T06:08:00.050Z,1761545280.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504467 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:00.056Z,1761545280.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.330172 m, bearing: 116.426916 deg, lat: 36.779409 deg, lon: -121.859810 deg, deltaT: 0.504467 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:00.056Z,1761545280.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T06:08:00.280Z,1761545280.280 [DAT](INFO): DAT read: Rx Time:06:07:59.1092 2025-10-27T06:08:00.281Z,1761545280.281 [DAT](INFO): Rx dataTimestamp_ set to:1761545280.280462 2025-10-27T06:08:00.285Z,1761545280.285 [DAT](INFO): DAT read: Bearing 276.7, -5.2 (Local) 2025-10-27T06:08:00.286Z,1761545280.286 [DAT](INFO): Local bearing/azimuth received: Bearing 276.7, -5.2 (Local) 2025-10-27T06:08:00.307Z,1761545280.307 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.3 2025-10-27T06:08:00.320Z,1761545280.320 [DAT](INFO): DAT read: 06:07:59.1092 LVL= 32752, 23377, 32754, 32755, AGC= 66, IDX= 508, 0.30, 2.431,-2.061, 2.698,-3.020, PHS=-0.730, 1.004,-0.609, RAW= 326.4, 4.0, CAL= 325.0, 1.9, ROT= 185.0, -1.9 2025-10-27T06:08:00.321Z,1761545280.321 [DAT](INFO): got valid direction response: 06:07:59.1092 LVL= 32752, 23377, 32754, 32755, AGC= 66, IDX= 508, 0.30, 2.431,-2.061, 2.698,-3.020, PHS=-0.730, 1.004,-0.609, RAW= 326.4, 4.0, CAL= 325.0, 1.9, ROT= 185.0, -1.9 2025-10-27T06:08:00.322Z,1761545280.322 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T06:08:00.322Z,1761545280.322 [DAT](INFO): direction in FSK: [-0.995647,-0.087108,0.033155] 2025-10-27T06:08:00.331Z,1761545280.331 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:00.343Z,1761545280.343 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.417961 2025-10-27T06:08:00.365Z,1761545280.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355668,0.932302,0.065676],[-0.934601,0.354440,0.029881],[0.004580,-0.072008,0.997393]] 2025-10-27T06:08:00.454Z,1761545280.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.272625 s, deltaX: 0.300000 m, approachRate: 1.100413 m/s, rangeRepo size: 4 2025-10-27T06:08:00.460Z,1761545280.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.628376 m, bearing: 115.684474 deg, lat: 36.779410 deg, lon: -121.859808 deg, deltaT: 0.272625 s, deltaX: 0.298204 m, approachRate: 1.093826 m/s, posRepo size: 4 2025-10-27T06:08:00.460Z,1761545280.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-27T06:08:00.514Z,1761545280.514 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.588371 2025-10-27T06:08:00.767Z,1761545280.767 [DAT](INFO): DAT read: Rx Time:06:07:59.6093 2025-10-27T06:08:00.769Z,1761545280.769 [DAT](INFO): Rx dataTimestamp_ set to:1761545280.768140 2025-10-27T06:08:00.772Z,1761545280.772 [DAT](INFO): DAT read: Bearing 281.3, -2.4 (Local) 2025-10-27T06:08:00.773Z,1761545280.773 [DAT](INFO): Local bearing/azimuth received: Bearing 281.3, -2.4 (Local) 2025-10-27T06:08:00.777Z,1761545280.777 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.2 2025-10-27T06:08:00.784Z,1761545280.784 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T06:08:00.792Z,1761545280.792 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.861374 2025-10-27T06:08:00.819Z,1761545280.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355079,0.932667,0.063653],[-0.934819,0.353835,0.030236],[0.005677,-0.070240,0.997514]] 2025-10-27T06:08:00.856Z,1761545280.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.487678 s, deltaX: 0.200000 m, approachRate: 0.410106 m/s, rangeRepo size: 4 2025-10-27T06:08:00.857Z,1761545280.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-27T06:08:01.023Z,1761545281.023 [DAT](INFO): DAT read: 06:07:59.6093 LVL= 32240, 18321, 32754, 32755, AGC= 63, IDX= 509,-0.39,-2.159,-0.351,-1.965,-1.456, PHS=-0.601, 1.150,-0.553, RAW= 328.6, 0.1, CAL= 327.5, -2.9, ROT= 182.5, 2.9 2025-10-27T06:08:01.025Z,1761545281.025 [DAT](INFO): got valid direction response: 06:07:59.6093 LVL= 32240, 18321, 32754, 32755, AGC= 63, IDX= 509,-0.39,-2.159,-0.351,-1.965,-1.456, PHS=-0.601, 1.150,-0.553, RAW= 328.6, 0.1, CAL= 327.5, -2.9, ROT= 182.5, 2.9 2025-10-27T06:08:01.025Z,1761545281.025 [DAT](INFO): #Rx 86: Read direction message, but no range. 2025-10-27T06:08:01.027Z,1761545281.027 [DAT](INFO): direction in FSK: [-0.997769,-0.043564,-0.050593] 2025-10-27T06:08:01.041Z,1761545281.041 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.115299 2025-10-27T06:08:01.171Z,1761545281.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354827,0.932857,0.062260],[-0.934909,0.353561,0.030660],[0.006589,-0.069086,0.997589]] 2025-10-27T06:08:01.222Z,1761545281.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-27T06:08:01.273Z,1761545281.273 [DAT](INFO): DAT read: Rx Time:06:08:00.1094 2025-10-27T06:08:01.274Z,1761545281.274 [DAT](INFO): Rx dataTimestamp_ set to:1761545281.273253 2025-10-27T06:08:01.277Z,1761545281.277 [DAT](INFO): DAT read: Bearing 279.2, -2.2 (Local) 2025-10-27T06:08:01.279Z,1761545281.279 [DAT](INFO): Local bearing/azimuth received: Bearing 279.2, -2.2 (Local) 2025-10-27T06:08:01.285Z,1761545281.285 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 2025-10-27T06:08:01.287Z,1761545281.287 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-27T06:08:01.290Z,1761545281.290 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.364033 2025-10-27T06:08:01.526Z,1761545281.526 [DAT](INFO): DAT read: 06:08:00.1094 LVL= 32752, 24657, 32754, 32755, AGC= 66, IDX= 510, 0.25, 3.004,-1.499,-3.104,-2.536, PHS=-0.641, 1.082,-0.612, RAW= 329.1, 2.0, CAL= 327.9, -0.8, ROT= 182.1, 0.8 2025-10-27T06:08:01.529Z,1761545281.529 [DAT](INFO): got valid direction response: 06:08:00.1094 LVL= 32752, 24657, 32754, 32755, AGC= 66, IDX= 510, 0.25, 3.004,-1.499,-3.104,-2.536, PHS=-0.641, 1.082,-0.612, RAW= 329.1, 2.0, CAL= 327.9, -0.8, ROT= 182.1, 0.8 2025-10-27T06:08:01.529Z,1761545281.529 [DAT](INFO): #Rx 88: Read direction message, but no range. 2025-10-27T06:08:01.531Z,1761545281.531 [DAT](INFO): direction in FSK: [-0.999231,-0.036640,-0.013962] 2025-10-27T06:08:01.548Z,1761545281.548 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.622765 2025-10-27T06:08:01.620Z,1761545281.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355053,0.932882,0.060566],[-0.934813,0.353743,0.031479],[0.007941,-0.067794,0.997668]] 2025-10-27T06:08:01.684Z,1761545281.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.505113 s, deltaX: 0.100000 m, approachRate: 0.197976 m/s, rangeRepo size: 4 2025-10-27T06:08:01.686Z,1761545281.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.926643 m, bearing: 112.946990 deg, lat: 36.779412 deg, lon: -121.859807 deg, deltaT: 0.992791 s, deltaX: 0.298267 m, approachRate: 0.300433 m/s, posRepo size: 4 2025-10-27T06:08:01.686Z,1761545281.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-27T06:08:01.776Z,1761545281.776 [DAT](INFO): DAT read: Rx Time:06:08:00.6094 2025-10-27T06:08:01.777Z,1761545281.777 [DAT](INFO): Rx dataTimestamp_ set to:1761545281.776144 2025-10-27T06:08:01.780Z,1761545281.780 [DAT](INFO): DAT read: Bearing 280.3, -1.1 (Local) 2025-10-27T06:08:01.781Z,1761545281.781 [DAT](INFO): Local bearing/azimuth received: Bearing 280.3, -1.1 (Local) 2025-10-27T06:08:01.786Z,1761545281.786 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 2025-10-27T06:08:01.788Z,1761545281.788 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-27T06:08:01.793Z,1761545281.793 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.865353 2025-10-27T06:08:02.031Z,1761545282.031 [DAT](INFO): DAT read: 06:08:00.6094 LVL= 32752, 21345, 32754, 32755, AGC= 66, IDX= 510, 0.09, 2.788,-1.720, 2.931,-2.793, PHS=-0.600, 1.118,-0.603, RAW= 330.1, 1.0, CAL= 329.0, -1.9, ROT= 181.0, 1.9 2025-10-27T06:08:02.033Z,1761545282.033 [DAT](INFO): got valid direction response: 06:08:00.6094 LVL= 32752, 21345, 32754, 32755, AGC= 66, IDX= 510, 0.09, 2.788,-1.720, 2.931,-2.793, PHS=-0.600, 1.118,-0.603, RAW= 330.1, 1.0, CAL= 329.0, -1.9, ROT= 181.0, 1.9 2025-10-27T06:08:02.034Z,1761545282.034 [DAT](INFO): #Rx 90: Read direction message, but no range. 2025-10-27T06:08:02.036Z,1761545282.036 [DAT](INFO): direction in FSK: [-0.999298,-0.017443,-0.033155] 2025-10-27T06:08:02.043Z,1761545282.043 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.113518 2025-10-27T06:08:02.106Z,1761545282.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.502891 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:02.112Z,1761545282.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.926643 m, bearing: 111.924206 deg, lat: 36.779412 deg, lon: -121.859805 deg, deltaT: 0.502891 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:02.113Z,1761545282.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-27T06:08:02.280Z,1761545282.280 [DAT](INFO): DAT read: Rx Time:06:08:01.1095 2025-10-27T06:08:02.281Z,1761545282.281 [DAT](INFO): Rx dataTimestamp_ set to:1761545282.280184 2025-10-27T06:08:02.284Z,1761545282.284 [DAT](INFO): DAT read: Bearing 278.8, -1.2 (Local) 2025-10-27T06:08:02.285Z,1761545282.285 [DAT](INFO): Local bearing/azimuth received: Bearing 278.8, -1.2 (Local) 2025-10-27T06:08:02.289Z,1761545282.289 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0 2025-10-27T06:08:02.304Z,1761545282.304 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-27T06:08:02.305Z,1761545282.305 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.379368 2025-10-27T06:08:02.391Z,1761545282.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355571,0.932719,0.060041],[-0.934612,0.354247,0.031772],[0.008365,-0.067412,0.997690]] 2025-10-27T06:08:02.435Z,1761545282.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504040 s, deltaX: 0.200000 m, approachRate: 0.396794 m/s, rangeRepo size: 4 2025-10-27T06:08:02.435Z,1761545282.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-27T06:08:02.539Z,1761545282.539 [DAT](INFO): DAT read: 06:08:01.1095 LVL= 32752, 23841, 32754, 32755, AGC= 68, IDX= 511,-0.12, 2.265,-2.241, 2.400, 3.006, PHS=-0.640, 1.081,-0.650, RAW= 330.3, 2.4, CAL= 329.1, -0.4, ROT= 180.9, 0.4 2025-10-27T06:08:02.541Z,1761545282.541 [DAT](INFO): got valid direction response: 06:08:01.1095 LVL= 32752, 23841, 32754, 32755, AGC= 68, IDX= 511,-0.12, 2.265,-2.241, 2.400, 3.006, PHS=-0.640, 1.081,-0.650, RAW= 330.3, 2.4, CAL= 329.1, -0.4, ROT= 180.9, 0.4 2025-10-27T06:08:02.541Z,1761545282.541 [DAT](INFO): #Rx 92: Read direction message, but no range. 2025-10-27T06:08:02.543Z,1761545282.543 [DAT](INFO): direction in FSK: [-0.999852,-0.015707,-0.006981] 2025-10-27T06:08:02.547Z,1761545282.547 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.621468 2025-10-27T06:08:02.783Z,1761545282.783 [DAT](INFO): DAT read: Rx Time:06:08:01.6095 2025-10-27T06:08:02.785Z,1761545282.785 [DAT](INFO): Rx dataTimestamp_ set to:1761545282.784079 2025-10-27T06:08:02.788Z,1761545282.788 [DAT](INFO): DAT read: Bearing 281.9, -0.2 (Local) 2025-10-27T06:08:02.789Z,1761545282.789 [DAT](INFO): Local bearing/azimuth received: Bearing 281.9, -0.2 (Local) 2025-10-27T06:08:02.804Z,1761545282.804 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.1 2025-10-27T06:08:02.809Z,1761545282.809 [DAT](INFO): DAT read: 06:08:01.6095 LVL= 30800, 17217, 32754, 32755, AGC= 66, IDX= 511,-0.31, 0.641, 2.428, 0.754, 1.293, PHS=-0.550, 1.180,-0.583, RAW= 330.9, -0.5, CAL= 330.0, -3.4, ROT= 180.0, 3.4 2025-10-27T06:08:02.810Z,1761545282.810 [DAT](INFO): got valid direction response: 06:08:01.6095 LVL= 30800, 17217, 32754, 32755, AGC= 66, IDX= 511,-0.31, 0.641, 2.428, 0.754, 1.293, PHS=-0.550, 1.180,-0.583, RAW= 330.9, -0.5, CAL= 330.0, -3.4, ROT= 180.0, 3.4 2025-10-27T06:08:02.810Z,1761545282.810 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T06:08:02.835Z,1761545282.835 [DAT](INFO): direction in FSK: [-0.998240,-0.000000,-0.059306] 2025-10-27T06:08:02.836Z,1761545282.836 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:02.867Z,1761545282.867 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.942097 2025-10-27T06:08:02.872Z,1761545282.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357350,0.932094,0.059179],[-0.933927,0.356002,0.032294],[0.009033,-0.066809,0.997725]] 2025-10-27T06:08:02.989Z,1761545282.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503895 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:02.996Z,1761545282.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.125546 m, bearing: 111.165996 deg, lat: 36.779416 deg, lon: -121.859802 deg, deltaT: 1.007935 s, deltaX: 0.198902 m, approachRate: 0.197336 m/s, posRepo size: 4 2025-10-27T06:08:02.996Z,1761545282.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-27T06:08:03.033Z,1761545283.033 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.107670 2025-10-27T06:08:03.288Z,1761545283.288 [DAT](INFO): DAT read: Rx Time:06:08:02.1096 2025-10-27T06:08:03.290Z,1761545283.290 [DAT](INFO): Rx dataTimestamp_ set to:1761545283.289141 2025-10-27T06:08:03.311Z,1761545283.311 [DAT](INFO): DAT read: Bearing 289.4, 5.9 (Local) 2025-10-27T06:08:03.311Z,1761545283.311 [DAT](INFO): Local bearing/azimuth received: Bearing 289.4, 5.9 (Local) 2025-10-27T06:08:03.313Z,1761545283.313 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.1 2025-10-27T06:08:03.331Z,1761545283.331 [DAT](INFO): DAT read: 06:08:02.1096 LVL= 32752, 20849, 32754, 32755, AGC= 68, IDX= 512, 0.32, 1.631,-2.567, 1.507, 2.024, PHS=-0.291, 1.737,-0.561, RAW= 336.2, -8.2, CAL= 335.8, -11.3, ROT= 174.2, 11.3 2025-10-27T06:08:03.333Z,1761545283.333 [DAT](INFO): got valid direction response: 06:08:02.1096 LVL= 32752, 20849, 32754, 32755, AGC= 68, IDX= 512, 0.32, 1.631,-2.567, 1.507, 2.024, PHS=-0.291, 1.737,-0.561, RAW= 336.2, -8.2, CAL= 335.8, -11.3, ROT= 174.2, 11.3 2025-10-27T06:08:03.333Z,1761545283.333 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T06:08:03.334Z,1761545283.334 [DAT](INFO): direction in FSK: [-0.975595,0.099097,-0.195946] 2025-10-27T06:08:03.334Z,1761545283.334 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:03.338Z,1761545283.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358304,0.931677,0.059960],[-0.933552,0.356863,0.033605],[0.009912,-0.068017,0.997635]] 2025-10-27T06:08:03.350Z,1761545283.350 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.424622 2025-10-27T06:08:03.457Z,1761545283.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.505062 s, deltaX: 0.100000 m, approachRate: 0.197996 m/s, rangeRepo size: 4 2025-10-27T06:08:03.459Z,1761545283.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.225135 m, bearing: 105.975823 deg, lat: 36.779417 deg, lon: -121.859802 deg, deltaT: 0.505062 s, deltaX: 0.099589 m, approachRate: 0.197182 m/s, posRepo size: 4 2025-10-27T06:08:03.463Z,1761545283.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T06:08:03.536Z,1761545283.536 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.610676 2025-10-27T06:08:03.701Z,1761545283.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359669,0.931161,0.059814],[-0.933023,0.358197,0.034113],[0.010339,-0.068078,0.997626]] 2025-10-27T06:08:03.751Z,1761545283.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T06:08:03.792Z,1761545283.792 [DAT](INFO): DAT read: Rx Time:06:08:02.6096 2025-10-27T06:08:03.794Z,1761545283.794 [DAT](INFO): Rx dataTimestamp_ set to:1761545283.792609 2025-10-27T06:08:03.797Z,1761545283.797 [DAT](INFO): DAT read: Bearing 299.7, 17.1 (Local) 2025-10-27T06:08:03.799Z,1761545283.799 [DAT](INFO): Local bearing/azimuth received: Bearing 299.7, 17.1 (Local) 2025-10-27T06:08:03.807Z,1761545283.807 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.1 2025-10-27T06:08:03.820Z,1761545283.820 [DAT](INFO): DAT read: 06:08:02.6096 LVL= 32752, 18417, 32754, 32755, AGC= 65, IDX= 512, 0.15,-0.977, 0.573,-1.498,-1.206, PHS= 0.330, 1.824,-0.336, RAW= 347.5, -18.5, CAL= 347.3, -21.5, ROT= 162.7, 21.5 2025-10-27T06:08:03.821Z,1761545283.821 [DAT](INFO): got valid direction response: 06:08:02.6096 LVL= 32752, 18417, 32754, 32755, AGC= 65, IDX= 512, 0.15,-0.977, 0.573,-1.498,-1.206, PHS= 0.330, 1.824,-0.336, RAW= 347.5, -18.5, CAL= 347.3, -21.5, ROT= 162.7, 21.5 2025-10-27T06:08:03.822Z,1761545283.822 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T06:08:03.832Z,1761545283.832 [DAT](INFO): direction in FSK: [-0.888326,0.276683,-0.366501] 2025-10-27T06:08:03.832Z,1761545283.832 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:03.840Z,1761545283.840 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.914967 2025-10-27T06:08:04.040Z,1761545284.040 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.114590 2025-10-27T06:08:04.179Z,1761545284.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:04.181Z,1761545284.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.225135 m, bearing: 95.229687 deg, lat: 36.779418 deg, lon: -121.859802 deg, deltaT: 0.503468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:04.182Z,1761545284.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-27T06:08:04.297Z,1761545284.297 [DAT](INFO): DAT read: Rx Time:06:08:03.1098 2025-10-27T06:08:04.298Z,1761545284.298 [DAT](INFO): Rx dataTimestamp_ set to:1761545284.297300 2025-10-27T06:08:04.303Z,1761545284.303 [DAT](INFO): DAT read: Bearing 281.9, 0.2 (Local) 2025-10-27T06:08:04.308Z,1761545284.308 [DAT](INFO): Local bearing/azimuth received: Bearing 281.9, 0.2 (Local) 2025-10-27T06:08:04.310Z,1761545284.310 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-27T06:08:04.314Z,1761545284.314 [DAT](INFO): DAT read: 06:08:03.1098 LVL= 14000, 17057, 12482, 17075, AGC= 66, IDX= 2,-0.04,-0.647, 1.159,-0.565, 0.002, PHS=-0.547, 1.202,-0.611, RAW= 331.8, -0.5, CAL= 330.9, -3.4, ROT= 179.1, 3.4 2025-10-27T06:08:04.316Z,1761545284.316 [DAT](INFO): got valid direction response: 06:08:03.1098 LVL= 14000, 17057, 12482, 17075, AGC= 66, IDX= 2,-0.04,-0.647, 1.159,-0.565, 0.002, PHS=-0.547, 1.202,-0.611, RAW= 331.8, -0.5, CAL= 330.9, -3.4, ROT= 179.1, 3.4 2025-10-27T06:08:04.316Z,1761545284.316 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T06:08:04.317Z,1761545284.317 [DAT](INFO): direction in FSK: [-0.998117,0.015680,-0.059306] 2025-10-27T06:08:04.318Z,1761545284.318 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:04.321Z,1761545284.321 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.396015 2025-10-27T06:08:04.514Z,1761545284.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362408,0.930081,0.060088],[-0.931949,0.360832,0.035663],[0.011488,-0.068924,0.997556]] 2025-10-27T06:08:04.544Z,1761545284.544 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.618732 2025-10-27T06:08:04.568Z,1761545284.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504691 s, deltaX: 0.200000 m, approachRate: 0.396282 m/s, rangeRepo size: 4 2025-10-27T06:08:04.570Z,1761545284.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.423923 m, bearing: 110.585877 deg, lat: 36.779418 deg, lon: -121.859801 deg, deltaT: 0.504691 s, deltaX: 0.198789 m, approachRate: 0.393882 m/s, posRepo size: 4 2025-10-27T06:08:04.575Z,1761545284.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:08:04.802Z,1761545284.802 [DAT](INFO): DAT read: Rx Time:06:08:03.6097 2025-10-27T06:08:04.804Z,1761545284.804 [DAT](INFO): Rx dataTimestamp_ set to:1761545284.802582 2025-10-27T06:08:04.805Z,1761545284.805 [DAT](INFO): DAT read: Bearing 281.6, -0.2 (Local) 2025-10-27T06:08:04.805Z,1761545284.805 [DAT](INFO): Local bearing/azimuth received: Bearing 281.6, -0.2 (Local) 2025-10-27T06:08:04.807Z,1761545284.807 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-27T06:08:04.816Z,1761545284.816 [DAT](INFO): DAT read: 06:08:03.6097 LVL= 31680, 19441, 32754, 32755, AGC= 64, IDX= 497, 0.34, 0.607, 2.401, 0.697, 1.266, PHS=-0.557, 1.180,-0.613, RAW= 331.6, -0.1, CAL= 330.7, -3.0, ROT= 179.3, 3.0 2025-10-27T06:08:04.817Z,1761545284.817 [DAT](INFO): got valid direction response: 06:08:03.6097 LVL= 31680, 19441, 32754, 32755, AGC= 64, IDX= 497, 0.34, 0.607, 2.401, 0.697, 1.266, PHS=-0.557, 1.180,-0.613, RAW= 331.6, -0.1, CAL= 330.7, -3.0, ROT= 179.3, 3.0 2025-10-27T06:08:04.818Z,1761545284.818 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T06:08:04.819Z,1761545284.819 [DAT](INFO): direction in FSK: [-0.998555,0.012200,-0.052336] 2025-10-27T06:08:04.819Z,1761545284.819 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:04.823Z,1761545284.823 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.897465 2025-10-27T06:08:04.910Z,1761545284.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363492,0.929689,0.059597],[-0.931516,0.361868,0.036471],[0.012340,-0.068772,0.997556]] 2025-10-27T06:08:05.026Z,1761545285.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505282 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:05.033Z,1761545285.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.423923 m, bearing: 110.824317 deg, lat: 36.779418 deg, lon: -121.859800 deg, deltaT: 0.505282 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:05.033Z,1761545285.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:08:05.048Z,1761545285.048 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.122765 2025-10-27T06:08:05.303Z,1761545285.303 [DAT](INFO): DAT read: Rx Time:06:08:04.1098 2025-10-27T06:08:05.304Z,1761545285.304 [DAT](INFO): Rx dataTimestamp_ set to:1761545285.303576 2025-10-27T06:08:05.305Z,1761545285.305 [DAT](INFO): DAT read: Bearing 281.9, -0.0 (Local) 2025-10-27T06:08:05.305Z,1761545285.305 [DAT](INFO): Local bearing/azimuth received: Bearing 281.9, -0.0 (Local) 2025-10-27T06:08:05.311Z,1761545285.311 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-27T06:08:05.312Z,1761545285.312 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-27T06:08:05.313Z,1761545285.313 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.387463 2025-10-27T06:08:05.328Z,1761545285.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364234,0.929443,0.058904],[-0.931212,0.362562,0.037324],[0.013334,-0.068447,0.997566]] 2025-10-27T06:08:05.420Z,1761545285.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.500994 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:05.421Z,1761545285.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:08:05.556Z,1761545285.556 [DAT](INFO): DAT read: 06:08:04.1098 LVL= 18160, 14833, 17122, 22243, AGC= 67, IDX= 2,-0.14,-0.261, 1.547,-0.179, 0.393, PHS=-0.552, 1.199,-0.615, RAW= 331.8, -0.4, CAL= 330.9, -3.2, ROT= 179.1, 3.2 2025-10-27T06:08:05.557Z,1761545285.557 [DAT](INFO): got valid direction response: 06:08:04.1098 LVL= 18160, 14833, 17122, 22243, AGC= 67, IDX= 2,-0.14,-0.261, 1.547,-0.179, 0.393, PHS=-0.552, 1.199,-0.615, RAW= 331.8, -0.4, CAL= 330.9, -3.2, ROT= 179.1, 3.2 2025-10-27T06:08:05.557Z,1761545285.557 [DAT](INFO): #Rx 99: Read direction message, but no range. 2025-10-27T06:08:05.558Z,1761545285.558 [DAT](INFO): direction in FSK: [-0.998318,0.015683,-0.055822] 2025-10-27T06:08:05.562Z,1761545285.562 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.636204 2025-10-27T06:08:05.736Z,1761545285.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364788,0.929264,0.058298],[-0.930979,0.363059,0.038292],[0.014418,-0.068242,0.997565]] 2025-10-27T06:08:05.805Z,1761545285.805 [DAT](INFO): DAT read: Rx Time:06:08:04.6097 2025-10-27T06:08:05.805Z,1761545285.805 [DAT](INFO): Rx dataTimestamp_ set to:1761545285.805186 2025-10-27T06:08:05.807Z,1761545285.807 [DAT](INFO): DAT read: Bearing 281.8, 0.4 (Local) 2025-10-27T06:08:05.807Z,1761545285.807 [DAT](INFO): Local bearing/azimuth received: Bearing 281.8, 0.4 (Local) 2025-10-27T06:08:05.809Z,1761545285.809 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-27T06:08:05.810Z,1761545285.810 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-27T06:08:05.811Z,1761545285.811 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.885426 2025-10-27T06:08:05.834Z,1761545285.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.501610 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:05.840Z,1761545285.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.423905 m, bearing: 110.716961 deg, lat: 36.779418 deg, lon: -121.859800 deg, deltaT: 1.002604 s, deltaX: -0.000018 m, approachRate: -0.000018 m/s, posRepo size: 4 2025-10-27T06:08:05.841Z,1761545285.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:08:06.062Z,1761545286.062 [DAT](INFO): DAT read: 06:08:04.6097 LVL= 32752, 22417, 32754, 32755, AGC= 64, IDX= 497, 0.18, 0.836, 2.622, 0.903, 1.480, PHS=-0.541, 1.187,-0.621, RAW= 332.2, -0.3, CAL= 331.4, -3.2, ROT= 178.6, 3.2 2025-10-27T06:08:06.070Z,1761545286.070 [DAT](INFO): got valid direction response: 06:08:04.6097 LVL= 32752, 22417, 32754, 32755, AGC= 64, IDX= 497, 0.18, 0.836, 2.622, 0.903, 1.480, PHS=-0.541, 1.187,-0.621, RAW= 332.2, -0.3, CAL= 331.4, -3.2, ROT= 178.6, 3.2 2025-10-27T06:08:06.070Z,1761545286.070 [DAT](INFO): #Rx 101: Read direction message, but no range. 2025-10-27T06:08:06.072Z,1761545286.072 [DAT](INFO): direction in FSK: [-0.998143,0.024394,-0.055822] 2025-10-27T06:08:06.075Z,1761545286.075 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.149689 2025-10-27T06:08:06.199Z,1761545286.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:08:06.310Z,1761545286.310 [DAT](INFO): DAT read: Rx Time:06:08:05.1099 2025-10-27T06:08:06.317Z,1761545286.317 [DAT](INFO): Rx dataTimestamp_ set to:1761545286.310109 2025-10-27T06:08:06.318Z,1761545286.318 [DAT](INFO): DAT read: Bearing 282.2, 0.6 (Local) 2025-10-27T06:08:06.318Z,1761545286.318 [DAT](INFO): Local bearing/azimuth received: Bearing 282.2, 0.6 (Local) 2025-10-27T06:08:06.320Z,1761545286.320 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.0 2025-10-27T06:08:06.325Z,1761545286.325 [DAT](INFO): DAT read: 06:08:05.1099 LVL= 22240, 20913, 21650, 25987, AGC= 67, IDX= 3,-0.26,-0.002, 1.794, 0.056, 0.631, PHS=-0.530, 1.208,-0.619, RAW= 332.5, -0.7, CAL= 331.6, -3.6, ROT= 178.4, 3.6 2025-10-27T06:08:06.326Z,1761545286.326 [DAT](INFO): got valid direction response: 06:08:05.1099 LVL= 22240, 20913, 21650, 25987, AGC= 67, IDX= 3,-0.26,-0.002, 1.794, 0.056, 0.631, PHS=-0.530, 1.208,-0.619, RAW= 332.5, -0.7, CAL= 331.6, -3.6, ROT= 178.4, 3.6 2025-10-27T06:08:06.327Z,1761545286.327 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T06:08:06.328Z,1761545286.328 [DAT](INFO): direction in FSK: [-0.997638,0.027867,-0.062791] 2025-10-27T06:08:06.328Z,1761545286.328 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:06.332Z,1761545286.332 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.406792 2025-10-27T06:08:06.540Z,1761545286.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365392,0.929042,0.058051],[-0.930706,0.363511,0.040579],[0.016597,-0.068856,0.997488]] 2025-10-27T06:08:06.560Z,1761545286.560 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.634747 2025-10-27T06:08:06.595Z,1761545286.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504923 s, deltaX: 0.100000 m, approachRate: 0.198051 m/s, rangeRepo size: 4 2025-10-27T06:08:06.597Z,1761545286.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.523278 m, bearing: 110.085153 deg, lat: 36.779418 deg, lon: -121.859801 deg, deltaT: 0.504923 s, deltaX: 0.099373 m, approachRate: 0.196808 m/s, posRepo size: 4 2025-10-27T06:08:06.598Z,1761545286.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T06:08:06.812Z,1761545286.812 [DAT](INFO): DAT read: Rx Time:06:08:05.6098 2025-10-27T06:08:06.813Z,1761545286.813 [DAT](INFO): Rx dataTimestamp_ set to:1761545286.812681 2025-10-27T06:08:06.814Z,1761545286.814 [DAT](INFO): DAT read: Bearing 282.2, 1.0 (Local) 2025-10-27T06:08:06.815Z,1761545286.815 [DAT](INFO): Local bearing/azimuth received: Bearing 282.2, 1.0 (Local) 2025-10-27T06:08:06.817Z,1761545286.817 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0 2025-10-27T06:08:06.821Z,1761545286.821 [DAT](INFO): DAT read: 06:08:05.6098 LVL= 31088, 17313, 32754, 32755, AGC= 64, IDX= 498, 0.12, 0.397, 2.175, 0.436, 1.019, PHS=-0.520, 1.201,-0.627, RAW= 333.0, -0.6, CAL= 332.2, -3.5, ROT= 177.8, 3.5 2025-10-27T06:08:06.822Z,1761545286.822 [DAT](INFO): got valid direction response: 06:08:05.6098 LVL= 31088, 17313, 32754, 32755, AGC= 64, IDX= 498, 0.12, 0.397, 2.175, 0.436, 1.019, PHS=-0.520, 1.201,-0.627, RAW= 333.0, -0.6, CAL= 332.2, -3.5, ROT= 177.8, 3.5 2025-10-27T06:08:06.823Z,1761545286.823 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T06:08:06.824Z,1761545286.824 [DAT](INFO): direction in FSK: [-0.997399,0.038316,-0.061049] 2025-10-27T06:08:06.824Z,1761545286.824 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:06.828Z,1761545286.828 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=47.902504 2025-10-27T06:08:06.942Z,1761545286.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365279,0.928953,0.060141],[-0.930730,0.363221,0.042579],[0.017710,-0.071528,0.997281]] 2025-10-27T06:08:07.047Z,1761545287.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502572 s, deltaX: -0.100000 m, approachRate: -0.198977 m/s, rangeRepo size: 4 2025-10-27T06:08:07.049Z,1761545287.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.423887 m, bearing: 109.481983 deg, lat: 36.779418 deg, lon: -121.859801 deg, deltaT: 0.502572 s, deltaX: -0.099391 m, approachRate: -0.197765 m/s, posRepo size: 4 2025-10-27T06:08:07.050Z,1761545287.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:08:07.064Z,1761545287.064 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.138725 2025-10-27T06:08:07.316Z,1761545287.316 [DAT](INFO): DAT read: Rx Time:06:08:06.1100 2025-10-27T06:08:07.317Z,1761545287.317 [DAT](INFO): Rx dataTimestamp_ set to:1761545287.316677 2025-10-27T06:08:07.318Z,1761545287.318 [DAT](INFO): DAT read: Bearing 282.7, 1.3 (Local) 2025-10-27T06:08:07.319Z,1761545287.319 [DAT](INFO): Local bearing/azimuth received: Bearing 282.7, 1.3 (Local) 2025-10-27T06:08:07.321Z,1761545287.321 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.0 2025-10-27T06:08:07.325Z,1761545287.325 [DAT](INFO): DAT read: 06:08:06.1100 LVL= 30288, 17377, 32754, 32755, AGC= 64, IDX= 500,-0.30,-0.656, 1.124,-0.626,-0.050, PHS=-0.504, 1.220,-0.620, RAW= 333.2, -1.1, CAL= 332.5, -4.0, ROT= 177.5, 4.0 2025-10-27T06:08:07.326Z,1761545287.326 [DAT](INFO): got valid direction response: 06:08:06.1100 LVL= 30288, 17377, 32754, 32755, AGC= 64, IDX= 500,-0.30,-0.656, 1.124,-0.626,-0.050, PHS=-0.504, 1.220,-0.620, RAW= 333.2, -1.1, CAL= 332.5, -4.0, ROT= 177.5, 4.0 2025-10-27T06:08:07.327Z,1761545287.327 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T06:08:07.328Z,1761545287.328 [DAT](INFO): direction in FSK: [-0.996615,0.043513,-0.069756] 2025-10-27T06:08:07.328Z,1761545287.328 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:07.336Z,1761545287.336 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.410297 2025-10-27T06:08:07.386Z,1761545287.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364391,0.929309,0.060030],[-0.931045,0.362214,0.044233],[0.019362,-0.072008,0.997216]] 2025-10-27T06:08:07.474Z,1761545287.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503996 s, deltaX: 0.300000 m, approachRate: 0.595243 m/s, rangeRepo size: 4 2025-10-27T06:08:07.480Z,1761545287.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.722014 m, bearing: 109.165587 deg, lat: 36.779418 deg, lon: -121.859801 deg, deltaT: 0.503996 s, deltaX: 0.298127 m, approachRate: 0.591527 m/s, posRepo size: 4 2025-10-27T06:08:07.481Z,1761545287.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-27T06:08:07.569Z,1761545287.569 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.643467 2025-10-27T06:08:07.776Z,1761545287.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363826,0.929636,0.058368],[-0.931239,0.361636,0.044872],[0.020607,-0.070681,0.997286]] 2025-10-27T06:08:07.821Z,1761545287.821 [DAT](INFO): DAT read: Rx Time:06:08:06.6099 2025-10-27T06:08:07.821Z,1761545287.821 [DAT](INFO): Rx dataTimestamp_ set to:1761545287.820778 2025-10-27T06:08:07.822Z,1761545287.822 [DAT](INFO): DAT read: Bearing 282.5, 2.1 (Local) 2025-10-27T06:08:07.823Z,1761545287.823 [DAT](INFO): Local bearing/azimuth received: Bearing 282.5, 2.1 (Local) 2025-10-27T06:08:07.825Z,1761545287.825 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.1 2025-10-27T06:08:07.830Z,1761545287.830 [DAT](INFO): DAT read: 06:08:06.6099 LVL= 31504, 17505, 32754, 32755, AGC= 63, IDX= 499, 0.13,-0.385, 1.388,-0.387, 0.216, PHS=-0.499, 1.217,-0.647, RAW= 334.1, -0.8, CAL= 333.3, -3.7, ROT= 176.7, 3.7 2025-10-27T06:08:07.832Z,1761545287.832 [DAT](INFO): got valid direction response: 06:08:06.6099 LVL= 31504, 17505, 32754, 32755, AGC= 63, IDX= 499, 0.13,-0.385, 1.388,-0.387, 0.216, PHS=-0.499, 1.217,-0.647, RAW= 334.1, -0.8, CAL= 333.3, -3.7, ROT= 176.7, 3.7 2025-10-27T06:08:07.832Z,1761545287.832 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T06:08:07.833Z,1761545287.833 [DAT](INFO): direction in FSK: [-0.996261,0.057444,-0.064532] 2025-10-27T06:08:07.833Z,1761545287.833 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:07.849Z,1761545287.849 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=48.923679 2025-10-27T06:08:07.883Z,1761545287.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504101 s, deltaX: -0.200000 m, approachRate: -0.396746 m/s, rangeRepo size: 4 2025-10-27T06:08:07.885Z,1761545287.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.523233 m, bearing: 108.305014 deg, lat: 36.779419 deg, lon: -121.859801 deg, deltaT: 0.504101 s, deltaX: -0.198781 m, approachRate: -0.394328 m/s, posRepo size: 4 2025-10-27T06:08:07.886Z,1761545287.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T06:08:08.072Z,1761545288.072 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.146797 2025-10-27T06:08:08.221Z,1761545288.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T06:08:08.325Z,1761545288.325 [DAT](INFO): DAT read: Rx Time:06:08:07.1101 2025-10-27T06:08:08.325Z,1761545288.325 [DAT](INFO): Rx dataTimestamp_ set to:1761545288.324745 2025-10-27T06:08:08.326Z,1761545288.326 [DAT](INFO): DAT read: Bearing 282.7, 2.6 (Local) 2025-10-27T06:08:08.327Z,1761545288.327 [DAT](INFO): Local bearing/azimuth received: Bearing 282.7, 2.6 (Local) 2025-10-27T06:08:08.329Z,1761545288.329 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.2 2025-10-27T06:08:08.334Z,1761545288.334 [DAT](INFO): DAT read: 06:08:07.1101 LVL= 32112, 18753, 32754, 32755, AGC= 63, IDX= 501,-0.20,-0.735, 1.045,-0.758,-0.142, PHS=-0.491, 1.232,-0.660, RAW= 334.6, -0.9, CAL= 333.9, -3.8, ROT= 176.1, 3.8 2025-10-27T06:08:08.335Z,1761545288.335 [DAT](INFO): got valid direction response: 06:08:07.1101 LVL= 32112, 18753, 32754, 32755, AGC= 63, IDX= 501,-0.20,-0.735, 1.045,-0.758,-0.142, PHS=-0.491, 1.232,-0.660, RAW= 334.6, -0.9, CAL= 333.9, -3.8, ROT= 176.1, 3.8 2025-10-27T06:08:08.335Z,1761545288.335 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T06:08:08.336Z,1761545288.336 [DAT](INFO): direction in FSK: [-0.995491,0.067866,-0.066274] 2025-10-27T06:08:08.336Z,1761545288.336 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:08.353Z,1761545288.353 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.427383 2025-10-27T06:08:08.557Z,1761545288.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361927,0.930556,0.055449],[-0.931909,0.359669,0.046732],[0.023544,-0.068587,0.997367]] 2025-10-27T06:08:08.576Z,1761545288.576 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.650738 2025-10-27T06:08:08.602Z,1761545288.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503967 s, deltaX: 0.299999 m, approachRate: 0.595276 m/s, rangeRepo size: 4 2025-10-27T06:08:08.605Z,1761545288.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.821479 m, bearing: 107.587439 deg, lat: 36.779419 deg, lon: -121.859802 deg, deltaT: 0.503967 s, deltaX: 0.298245 m, approachRate: 0.591796 m/s, posRepo size: 4 2025-10-27T06:08:08.605Z,1761545288.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:08:08.829Z,1761545288.829 [DAT](INFO): DAT read: Rx Time:06:08:07.6101 2025-10-27T06:08:08.829Z,1761545288.829 [DAT](INFO): Rx dataTimestamp_ set to:1761545288.828800 2025-10-27T06:08:08.830Z,1761545288.830 [DAT](INFO): DAT read: Bearing 282.4, 3.5 (Local) 2025-10-27T06:08:08.831Z,1761545288.831 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 3.5 (Local) 2025-10-27T06:08:08.833Z,1761545288.833 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.0 2025-10-27T06:08:08.837Z,1761545288.837 [DAT](INFO): DAT read: 06:08:07.6101 LVL= 32128, 18161, 32754, 32755, AGC= 63, IDX= 500, 0.32,-0.675, 1.069,-0.728,-0.097, PHS=-0.476, 1.211,-0.675, RAW= 335.5, -0.7, CAL= 334.8, -3.6, ROT= 175.2, 3.6 2025-10-27T06:08:08.839Z,1761545288.839 [DAT](INFO): got valid direction response: 06:08:07.6101 LVL= 32128, 18161, 32754, 32755, AGC= 63, IDX= 500, 0.32,-0.675, 1.069,-0.728,-0.097, PHS=-0.476, 1.211,-0.675, RAW= 335.5, -0.7, CAL= 334.8, -3.6, ROT= 175.2, 3.6 2025-10-27T06:08:08.839Z,1761545288.839 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T06:08:08.840Z,1761545288.840 [DAT](INFO): direction in FSK: [-0.994526,0.083513,-0.062791] 2025-10-27T06:08:08.840Z,1761545288.840 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:08.848Z,1761545288.848 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=49.923122 2025-10-27T06:08:08.963Z,1761545288.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360559,0.931117,0.054937],[-0.932396,0.358211,0.048196],[0.025197,-0.068600,0.997326]] 2025-10-27T06:08:09.037Z,1761545289.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504055 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:09.054Z,1761545289.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.821479 m, bearing: 106.590122 deg, lat: 36.779421 deg, lon: -121.859802 deg, deltaT: 0.504055 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:09.060Z,1761545289.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:08:09.080Z,1761545289.080 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.154598 2025-10-27T06:08:09.335Z,1761545289.335 [DAT](INFO): DAT read: Rx Time:06:08:08.1101 2025-10-27T06:08:09.335Z,1761545289.335 [DAT](INFO): Rx dataTimestamp_ set to:1761545289.335043 2025-10-27T06:08:09.337Z,1761545289.337 [DAT](INFO): DAT read: Bearing 282.4, 4.7 (Local) 2025-10-27T06:08:09.337Z,1761545289.337 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 4.7 (Local) 2025-10-27T06:08:09.339Z,1761545289.339 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.2 2025-10-27T06:08:09.344Z,1761545289.344 [DAT](INFO): DAT read: 06:08:08.1101 LVL= 30704, 18145, 32754, 32755, AGC= 63, IDX= 501, 0.05,-0.895, 0.838,-0.995,-0.336, PHS=-0.458, 1.219,-0.704, RAW= 336.8, -0.6, CAL= 336.1, -3.5, ROT= 173.9, 3.5 2025-10-27T06:08:09.345Z,1761545289.345 [DAT](INFO): got valid direction response: 06:08:08.1101 LVL= 30704, 18145, 32754, 32755, AGC= 63, IDX= 501, 0.05,-0.895, 0.838,-0.995,-0.336, PHS=-0.458, 1.219,-0.704, RAW= 336.8, -0.6, CAL= 336.1, -3.5, ROT= 173.9, 3.5 2025-10-27T06:08:09.345Z,1761545289.345 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T06:08:09.346Z,1761545289.346 [DAT](INFO): direction in FSK: [-0.992483,0.106066,-0.061049] 2025-10-27T06:08:09.346Z,1761545289.346 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:09.366Z,1761545289.366 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.440861 2025-10-27T06:08:09.370Z,1761545289.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359787,0.931392,0.055334],[-0.932664,0.357339,0.049468],[0.026301,-0.069406,0.997242]] 2025-10-27T06:08:09.469Z,1761545289.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.506243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:09.476Z,1761545289.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.821485 m, bearing: 105.238855 deg, lat: 36.779421 deg, lon: -121.859802 deg, deltaT: 0.506243 s, deltaX: 0.000006 m, approachRate: 0.000011 m/s, posRepo size: 4 2025-10-27T06:08:09.476Z,1761545289.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:08:09.590Z,1761545289.590 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.664612 2025-10-27T06:08:09.801Z,1761545289.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358890,0.931748,0.055168],[-0.932976,0.356368,0.050577],[0.027465,-0.069622,0.997195]] 2025-10-27T06:08:09.827Z,1761545289.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:08:09.846Z,1761545289.846 [DAT](INFO): DAT read: Rx Time:06:08:08.6101 2025-10-27T06:08:09.847Z,1761545289.847 [DAT](INFO): Rx dataTimestamp_ set to:1761545289.846511 2025-10-27T06:08:09.848Z,1761545289.848 [DAT](INFO): DAT read: Bearing 282.9, 5.6 (Local) 2025-10-27T06:08:09.848Z,1761545289.848 [DAT](INFO): Local bearing/azimuth received: Bearing 282.9, 5.6 (Local) 2025-10-27T06:08:09.851Z,1761545289.851 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.1 2025-10-27T06:08:09.876Z,1761545289.876 [DAT](INFO): DAT read: 06:08:08.6101 LVL= 32752, 19297, 32754, 32755, AGC= 63, IDX= 501,-0.13, 2.692,-1.859, 2.560,-3.054, PHS=-0.435, 1.240,-0.713, RAW= 337.6, -1.0, CAL= 337.0, -3.9, ROT= 173.0, 3.9 2025-10-27T06:08:09.877Z,1761545289.877 [DAT](INFO): got valid direction response: 06:08:08.6101 LVL= 32752, 19297, 32754, 32755, AGC= 63, IDX= 501,-0.13, 2.692,-1.859, 2.560,-3.054, PHS=-0.435, 1.240,-0.713, RAW= 337.6, -1.0, CAL= 337.0, -3.9, ROT= 173.0, 3.9 2025-10-27T06:08:09.878Z,1761545289.878 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T06:08:09.881Z,1761545289.881 [DAT](INFO): direction in FSK: [-0.990248,0.121587,-0.068015] 2025-10-27T06:08:09.881Z,1761545289.881 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:09.886Z,1761545289.886 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=50.960632 2025-10-27T06:08:10.096Z,1761545290.096 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.170586 2025-10-27T06:08:10.177Z,1761545290.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358547,0.931996,0.053172],[-0.933084,0.356079,0.050612],[0.028236,-0.067761,0.997302]] 2025-10-27T06:08:10.267Z,1761545290.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.511468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:10.285Z,1761545290.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.821485 m, bearing: 104.281562 deg, lat: 36.779423 deg, lon: -121.859802 deg, deltaT: 0.511468 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:10.286Z,1761545290.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:08:10.349Z,1761545290.349 [DAT](INFO): DAT read: Rx Time:06:08:09.1103 2025-10-27T06:08:10.349Z,1761545290.349 [DAT](INFO): Rx dataTimestamp_ set to:1761545290.348857 2025-10-27T06:08:10.350Z,1761545290.350 [DAT](INFO): DAT read: Bearing 282.9, 6.6 (Local) 2025-10-27T06:08:10.355Z,1761545290.355 [DAT](INFO): Local bearing/azimuth received: Bearing 282.9, 6.6 (Local) 2025-10-27T06:08:10.357Z,1761545290.357 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.1 2025-10-27T06:08:10.362Z,1761545290.362 [DAT](INFO): DAT read: 06:08:09.1103 LVL= 30176, 19265, 32754, 32755, AGC= 64, IDX= 503,-0.30, 3.109,-1.459, 2.943,-2.653, PHS=-0.419, 1.239,-0.731, RAW= 338.5, -1.0, CAL= 337.9, -3.9, ROT= 172.1, 3.9 2025-10-27T06:08:10.363Z,1761545290.363 [DAT](INFO): got valid direction response: 06:08:09.1103 LVL= 30176, 19265, 32754, 32755, AGC= 64, IDX= 503,-0.30, 3.109,-1.459, 2.943,-2.653, PHS=-0.419, 1.239,-0.731, RAW= 338.5, -1.0, CAL= 337.9, -3.9, ROT= 172.1, 3.9 2025-10-27T06:08:10.363Z,1761545290.363 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T06:08:10.364Z,1761545290.364 [DAT](INFO): direction in FSK: [-0.988216,0.137126,-0.068015] 2025-10-27T06:08:10.364Z,1761545290.364 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:10.411Z,1761545290.411 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.485760 2025-10-27T06:08:10.600Z,1761545290.600 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.674683 2025-10-27T06:08:10.601Z,1761545290.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358264,0.932267,0.050244],[-0.933171,0.355905,0.050228],[0.028944,-0.064881,0.997473]] 2025-10-27T06:08:10.624Z,1761545290.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.502346 s, deltaX: 0.300000 m, approachRate: 0.597198 m/s, rangeRepo size: 4 2025-10-27T06:08:10.626Z,1761545290.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.119740 m, bearing: 103.350436 deg, lat: 36.779425 deg, lon: -121.859802 deg, deltaT: 0.502346 s, deltaX: 0.298256 m, approachRate: 0.593726 m/s, posRepo size: 4 2025-10-27T06:08:10.626Z,1761545290.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-27T06:08:10.853Z,1761545290.853 [DAT](INFO): DAT read: Rx Time:06:08:09.6103 2025-10-27T06:08:10.853Z,1761545290.853 [DAT](INFO): Rx dataTimestamp_ set to:1761545290.852720 2025-10-27T06:08:10.854Z,1761545290.854 [DAT](INFO): DAT read: Bearing 283.0, 8.1 (Local) 2025-10-27T06:08:10.855Z,1761545290.855 [DAT](INFO): Local bearing/azimuth received: Bearing 283.0, 8.1 (Local) 2025-10-27T06:08:10.857Z,1761545290.857 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.5 2025-10-27T06:08:10.861Z,1761545290.861 [DAT](INFO): DAT read: 06:08:09.6103 LVL= 30704, 18577, 32754, 32755, AGC= 65, IDX= 502, 0.46,-2.352,-0.654,-2.574,-1.860, PHS=-0.390, 1.250,-0.758, RAW= 339.9, -1.1, CAL= 339.4, -4.0, ROT= 170.6, 4.0 2025-10-27T06:08:10.862Z,1761545290.862 [DAT](INFO): got valid direction response: 06:08:09.6103 LVL= 30704, 18577, 32754, 32755, AGC= 65, IDX= 502, 0.46,-2.352,-0.654,-2.574,-1.860, PHS=-0.390, 1.250,-0.758, RAW= 339.9, -1.1, CAL= 339.4, -4.0, ROT= 170.6, 4.0 2025-10-27T06:08:10.863Z,1761545290.863 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T06:08:10.864Z,1761545290.864 [DAT](INFO): direction in FSK: [-0.984169,0.162928,-0.069756] 2025-10-27T06:08:10.864Z,1761545290.864 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:10.868Z,1761545290.868 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=51.942600 2025-10-27T06:08:11.010Z,1761545291.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358390,0.932326,0.048225],[-0.933110,0.356110,0.049907],[0.029356,-0.062885,0.997589]] 2025-10-27T06:08:11.104Z,1761545291.104 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.178715 2025-10-27T06:08:11.106Z,1761545291.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503863 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:11.112Z,1761545291.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.119740 m, bearing: 101.852684 deg, lat: 36.779427 deg, lon: -121.859802 deg, deltaT: 0.503863 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:11.112Z,1761545291.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-27T06:08:11.357Z,1761545291.357 [DAT](INFO): DAT read: Rx Time:06:08:10.1105 2025-10-27T06:08:11.357Z,1761545291.357 [DAT](INFO): Rx dataTimestamp_ set to:1761545291.356716 2025-10-27T06:08:11.358Z,1761545291.358 [DAT](INFO): DAT read: Bearing 282.4, 9.8 (Local) 2025-10-27T06:08:11.359Z,1761545291.359 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 9.8 (Local) 2025-10-27T06:08:11.361Z,1761545291.361 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3 2025-10-27T06:08:11.365Z,1761545291.365 [DAT](INFO): DAT read: 06:08:10.1105 LVL= 30176, 18977, 32754, 32755, AGC= 67, IDX= 504, 0.28, 0.130, 1.787,-0.155, 0.608, PHS=-0.376, 1.224,-0.807, RAW= 341.6, -0.5, CAL= 341.2, -3.4, ROT= 168.8, 3.4 2025-10-27T06:08:11.366Z,1761545291.366 [DAT](INFO): got valid direction response: 06:08:10.1105 LVL= 30176, 18977, 32754, 32755, AGC= 67, IDX= 504, 0.28, 0.130, 1.787,-0.155, 0.608, PHS=-0.376, 1.224,-0.807, RAW= 341.6, -0.5, CAL= 341.2, -3.4, ROT= 168.8, 3.4 2025-10-27T06:08:11.367Z,1761545291.367 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T06:08:11.368Z,1761545291.368 [DAT](INFO): direction in FSK: [-0.979228,0.193893,-0.059306] 2025-10-27T06:08:11.368Z,1761545291.368 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:11.372Z,1761545291.372 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.446487 2025-10-27T06:08:11.422Z,1761545291.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358886,0.932171,0.047517],[-0.932913,0.356628,0.049887],[0.029558,-0.062233,0.997624]] 2025-10-27T06:08:11.533Z,1761545291.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503996 s, deltaX: 0.300000 m, approachRate: 0.595243 m/s, rangeRepo size: 4 2025-10-27T06:08:11.540Z,1761545291.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.417914 m, bearing: 100.042886 deg, lat: 36.779428 deg, lon: -121.859802 deg, deltaT: 0.503996 s, deltaX: 0.298174 m, approachRate: 0.591620 m/s, posRepo size: 4 2025-10-27T06:08:11.540Z,1761545291.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-27T06:08:11.611Z,1761545291.611 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.685883 2025-10-27T06:08:11.819Z,1761545291.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359846,0.931832,0.046894],[-0.932548,0.357628,0.049572],[0.029422,-0.061570,0.997669]] 2025-10-27T06:08:11.838Z,1761545291.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-27T06:08:11.861Z,1761545291.861 [DAT](INFO): DAT read: Rx Time:06:08:10.6105 2025-10-27T06:08:11.861Z,1761545291.861 [DAT](INFO): Rx dataTimestamp_ set to:1761545291.860824 2025-10-27T06:08:11.862Z,1761545291.862 [DAT](INFO): DAT read: Bearing 282.3, 10.9 (Local) 2025-10-27T06:08:11.863Z,1761545291.863 [DAT](INFO): Local bearing/azimuth received: Bearing 282.3, 10.9 (Local) 2025-10-27T06:08:11.865Z,1761545291.865 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 2025-10-27T06:08:11.870Z,1761545291.870 [DAT](INFO): DAT read: 06:08:10.6105 LVL= 30704, 20449, 32754, 32755, AGC= 66, IDX= 504, 0.25,-0.653, 0.980,-0.980,-0.193, PHS=-0.358, 1.217,-0.832, RAW= 342.8, -0.3, CAL= 342.3, -3.2, ROT= 167.7, 3.2 2025-10-27T06:08:11.871Z,1761545291.871 [DAT](INFO): got valid direction response: 06:08:10.6105 LVL= 30704, 20449, 32754, 32755, AGC= 66, IDX= 504, 0.25,-0.653, 0.980,-0.980,-0.193, PHS=-0.358, 1.217,-0.832, RAW= 342.8, -0.3, CAL= 342.3, -3.2, ROT= 167.7, 3.2 2025-10-27T06:08:11.871Z,1761545291.871 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T06:08:11.872Z,1761545291.872 [DAT](INFO): direction in FSK: [-0.975522,0.212698,-0.055822] 2025-10-27T06:08:11.872Z,1761545291.872 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:11.880Z,1761545291.880 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.954777 2025-10-27T06:08:12.115Z,1761545292.115 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.188618 2025-10-27T06:08:12.328Z,1761545292.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:12.330Z,1761545292.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.417914 m, bearing: 98.986445 deg, lat: 36.779431 deg, lon: -121.859801 deg, deltaT: 0.504108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:12.330Z,1761545292.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-27T06:08:12.365Z,1761545292.365 [DAT](INFO): DAT read: Rx Time:06:08:11.1107 2025-10-27T06:08:12.365Z,1761545292.365 [DAT](INFO): Rx dataTimestamp_ set to:1761545292.364846 2025-10-27T06:08:12.366Z,1761545292.366 [DAT](INFO): DAT read: Bearing 282.6, 11.8 (Local) 2025-10-27T06:08:12.367Z,1761545292.367 [DAT](INFO): Local bearing/azimuth received: Bearing 282.6, 11.8 (Local) 2025-10-27T06:08:12.369Z,1761545292.369 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3 2025-10-27T06:08:12.374Z,1761545292.374 [DAT](INFO): DAT read: 06:08:11.1107 LVL= 27472, 17953, 32754, 32755, AGC= 67, IDX= 506, 0.26,-0.347, 1.272,-0.706, 0.094, PHS=-0.339, 1.223,-0.845, RAW= 343.6, -0.4, CAL= 343.1, -3.4, ROT= 166.9, 3.4 2025-10-27T06:08:12.379Z,1761545292.379 [DAT](INFO): got valid direction response: 06:08:11.1107 LVL= 27472, 17953, 32754, 32755, AGC= 67, IDX= 506, 0.26,-0.347, 1.272,-0.706, 0.094, PHS=-0.339, 1.223,-0.845, RAW= 343.6, -0.4, CAL= 343.1, -3.4, ROT= 166.9, 3.4 2025-10-27T06:08:12.379Z,1761545292.379 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T06:08:12.380Z,1761545292.380 [DAT](INFO): direction in FSK: [-0.972262,0.226253,-0.059306] 2025-10-27T06:08:12.381Z,1761545292.381 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:12.384Z,1761545292.384 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.458923 2025-10-27T06:08:12.610Z,1761545292.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363205,0.930530,0.046865],[-0.931277,0.361045,0.048688],[0.028385,-0.061328,0.997714]] 2025-10-27T06:08:12.616Z,1761545292.616 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.690746 2025-10-27T06:08:12.654Z,1761545292.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504022 s, deltaX: 0.300000 m, approachRate: 0.595213 m/s, rangeRepo size: 4 2025-10-27T06:08:12.660Z,1761545292.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.716055 m, bearing: 98.401966 deg, lat: 36.779434 deg, lon: -121.859800 deg, deltaT: 0.504022 s, deltaX: 0.298141 m, approachRate: 0.591523 m/s, posRepo size: 4 2025-10-27T06:08:12.660Z,1761545292.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-27T06:08:12.871Z,1761545292.871 [DAT](INFO): DAT read: Rx Time:06:08:11.6107 2025-10-27T06:08:12.872Z,1761545292.872 [DAT](INFO): Rx dataTimestamp_ set to:1761545292.871681 2025-10-27T06:08:12.873Z,1761545292.873 [DAT](INFO): DAT read: Bearing 282.6, 12.6 (Local) 2025-10-27T06:08:12.874Z,1761545292.874 [DAT](INFO): Local bearing/azimuth received: Bearing 282.6, 12.6 (Local) 2025-10-27T06:08:12.876Z,1761545292.876 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.2 2025-10-27T06:08:12.881Z,1761545292.881 [DAT](INFO): DAT read: 06:08:11.6107 LVL= 27728, 16193, 32754, 32755, AGC= 66, IDX= 506, 0.28,-2.052,-0.480,-2.432,-1.632, PHS=-0.319, 1.197,-0.844, RAW= 344.4, -0.4, CAL= 343.9, -3.3, ROT= 166.1, 3.3 2025-10-27T06:08:12.883Z,1761545292.883 [DAT](INFO): got valid direction response: 06:08:11.6107 LVL= 27728, 16193, 32754, 32755, AGC= 66, IDX= 506, 0.28,-2.052,-0.480,-2.432,-1.632, PHS=-0.319, 1.197,-0.844, RAW= 344.4, -0.4, CAL= 343.9, -3.3, ROT= 166.1, 3.3 2025-10-27T06:08:12.884Z,1761545292.884 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T06:08:12.885Z,1761545292.885 [DAT](INFO): direction in FSK: [-0.969107,0.239830,-0.057564] 2025-10-27T06:08:12.886Z,1761545292.886 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:12.889Z,1761545292.889 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.963989 2025-10-27T06:08:13.024Z,1761545293.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365525,0.929618,0.046927],[-0.930394,0.363408,0.047977],[0.027547,-0.061197,0.997745]] 2025-10-27T06:08:13.052Z,1761545293.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.506835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:13.057Z,1761545293.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.716055 m, bearing: 97.737979 deg, lat: 36.779436 deg, lon: -121.859799 deg, deltaT: 0.506835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:13.059Z,1761545293.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-27T06:08:13.121Z,1761545293.121 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.195908 2025-10-27T06:08:13.373Z,1761545293.373 [DAT](INFO): DAT read: Rx Time:06:08:12.1108 2025-10-27T06:08:13.373Z,1761545293.373 [DAT](INFO): Rx dataTimestamp_ set to:1761545293.372706 2025-10-27T06:08:13.374Z,1761545293.374 [DAT](INFO): DAT read: Bearing 282.4, 13.9 (Local) 2025-10-27T06:08:13.375Z,1761545293.375 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 13.9 (Local) 2025-10-27T06:08:13.377Z,1761545293.377 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.2 2025-10-27T06:08:13.385Z,1761545293.385 [DAT](INFO): DAT read: 06:08:12.1108 LVL= 28336, 16609, 32562, 32755, AGC= 65, IDX= 507, 0.15,-1.920,-0.385,-2.345,-1.518, PHS=-0.300, 1.178,-0.871, RAW= 345.7, -0.1, CAL= 345.2, -3.0, ROT= 164.8, 3.0 2025-10-27T06:08:13.386Z,1761545293.386 [DAT](INFO): got valid direction response: 06:08:12.1108 LVL= 28336, 16609, 32562, 32755, AGC= 65, IDX= 507, 0.15,-1.920,-0.385,-2.345,-1.518, PHS=-0.300, 1.178,-0.871, RAW= 345.7, -0.1, CAL= 345.2, -3.0, ROT= 164.8, 3.0 2025-10-27T06:08:13.387Z,1761545293.387 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T06:08:13.388Z,1761545293.388 [DAT](INFO): direction in FSK: [-0.963694,0.261830,-0.052336] 2025-10-27T06:08:13.388Z,1761545293.388 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:13.420Z,1761545293.420 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.494415 2025-10-27T06:08:13.428Z,1761545293.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368059,0.928673,0.045815],[-0.929422,0.366053,0.046689],[0.026588,-0.059766,0.997858]] 2025-10-27T06:08:13.547Z,1761545293.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.501025 s, deltaX: 0.200000 m, approachRate: 0.399181 m/s, rangeRepo size: 4 2025-10-27T06:08:13.549Z,1761545293.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.914873 m, bearing: 96.571405 deg, lat: 36.779437 deg, lon: -121.859797 deg, deltaT: 0.501025 s, deltaX: 0.198818 m, approachRate: 0.396823 m/s, posRepo size: 4 2025-10-27T06:08:13.550Z,1761545293.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T06:08:13.624Z,1761545293.624 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.698826 2025-10-27T06:08:13.821Z,1761545293.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370702,0.927667,0.044887],[-0.928398,0.368792,0.045498],[0.025653,-0.058539,0.997955]] 2025-10-27T06:08:13.840Z,1761545293.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T06:08:13.877Z,1761545293.877 [DAT](INFO): DAT read: Rx Time:06:08:12.6108 2025-10-27T06:08:13.877Z,1761545293.877 [DAT](INFO): Rx dataTimestamp_ set to:1761545293.876832 2025-10-27T06:08:13.878Z,1761545293.878 [DAT](INFO): DAT read: Bearing 282.8, 13.2 (Local) 2025-10-27T06:08:13.879Z,1761545293.879 [DAT](INFO): Local bearing/azimuth received: Bearing 282.8, 13.2 (Local) 2025-10-27T06:08:13.881Z,1761545293.881 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.2 2025-10-27T06:08:13.886Z,1761545293.886 [DAT](INFO): DAT read: 06:08:12.6108 LVL= 27104, 16561, 32754, 32755, AGC= 65, IDX= 507,-0.03, 2.470,-2.243, 2.066, 2.884, PHS=-0.312, 1.201,-0.862, RAW= 344.9, -0.3, CAL= 344.5, -3.2, ROT= 165.5, 3.2 2025-10-27T06:08:13.888Z,1761545293.888 [DAT](INFO): got valid direction response: 06:08:12.6108 LVL= 27104, 16561, 32754, 32755, AGC= 65, IDX= 507,-0.03, 2.470,-2.243, 2.066, 2.884, PHS=-0.312, 1.201,-0.862, RAW= 344.9, -0.3, CAL= 344.5, -3.2, ROT= 165.5, 3.2 2025-10-27T06:08:13.889Z,1761545293.889 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T06:08:13.890Z,1761545293.890 [DAT](INFO): direction in FSK: [-0.966638,0.249990,-0.055822] 2025-10-27T06:08:13.890Z,1761545293.890 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:13.896Z,1761545293.896 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.970600 2025-10-27T06:08:14.131Z,1761545294.131 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.204552 2025-10-27T06:08:14.226Z,1761545294.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373307,0.926615,0.045008],[-0.927375,0.371433,0.044877],[0.024866,-0.058493,0.997978]] 2025-10-27T06:08:14.340Z,1761545294.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:14.342Z,1761545294.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.914873 m, bearing: 97.603185 deg, lat: 36.779437 deg, lon: -121.859797 deg, deltaT: 0.504126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:14.342Z,1761545294.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T06:08:14.381Z,1761545294.381 [DAT](INFO): DAT read: Rx Time:06:08:13.1110 2025-10-27T06:08:14.381Z,1761545294.381 [DAT](INFO): Rx dataTimestamp_ set to:1761545294.380795 2025-10-27T06:08:14.382Z,1761545294.382 [DAT](INFO): DAT read: Bearing 282.8, 11.5 (Local) 2025-10-27T06:08:14.387Z,1761545294.387 [DAT](INFO): Local bearing/azimuth received: Bearing 282.8, 11.5 (Local) 2025-10-27T06:08:14.389Z,1761545294.389 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.1 2025-10-27T06:08:14.395Z,1761545294.395 [DAT](INFO): DAT read: 06:08:13.1110 LVL= 26496, 19121, 31570, 32755, AGC= 65, IDX= 509,-0.20, 2.576,-2.093, 2.229, 3.029, PHS=-0.351, 1.207,-0.843, RAW= 343.3, -0.1, CAL= 342.8, -3.1, ROT= 167.2, 3.1 2025-10-27T06:08:14.396Z,1761545294.396 [DAT](INFO): got valid direction response: 06:08:13.1110 LVL= 26496, 19121, 31570, 32755, AGC= 65, IDX= 509,-0.20, 2.576,-2.093, 2.229, 3.029, PHS=-0.351, 1.207,-0.843, RAW= 343.3, -0.1, CAL= 342.8, -3.1, ROT= 167.2, 3.1 2025-10-27T06:08:14.396Z,1761545294.396 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T06:08:14.397Z,1761545294.397 [DAT](INFO): direction in FSK: [-0.973722,0.221224,-0.054079] 2025-10-27T06:08:14.398Z,1761545294.398 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:14.401Z,1761545294.401 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.476002 2025-10-27T06:08:14.632Z,1761545294.632 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.706684 2025-10-27T06:08:14.641Z,1761545294.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376007,0.925480,0.045884],[-0.926307,0.374139,0.044448],[0.023969,-0.059215,0.997957]] 2025-10-27T06:08:14.688Z,1761545294.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503963 s, deltaX: 0.300000 m, approachRate: 0.595282 m/s, rangeRepo size: 4 2025-10-27T06:08:14.690Z,1761545294.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.213079 m, bearing: 99.470660 deg, lat: 36.779437 deg, lon: -121.859796 deg, deltaT: 0.503963 s, deltaX: 0.298206 m, approachRate: 0.591723 m/s, posRepo size: 4 2025-10-27T06:08:14.690Z,1761545294.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:08:14.885Z,1761545294.885 [DAT](INFO): DAT read: Rx Time:06:08:13.6109 2025-10-27T06:08:14.885Z,1761545294.885 [DAT](INFO): Rx dataTimestamp_ set to:1761545294.884712 2025-10-27T06:08:14.886Z,1761545294.886 [DAT](INFO): DAT read: Bearing 282.1, 12.5 (Local) 2025-10-27T06:08:14.887Z,1761545294.887 [DAT](INFO): Local bearing/azimuth received: Bearing 282.1, 12.5 (Local) 2025-10-27T06:08:14.889Z,1761545294.889 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.1 2025-10-27T06:08:14.893Z,1761545294.893 [DAT](INFO): DAT read: 06:08:13.6109 LVL= 25584, 18001, 32754, 32755, AGC= 65, IDX= 508, 0.04,-1.016, 0.560,-1.393,-0.564, PHS=-0.350, 1.168,-0.873, RAW= 344.3, 0.6, CAL= 343.8, -2.3, ROT= 166.2, 2.3 2025-10-27T06:08:14.894Z,1761545294.894 [DAT](INFO): got valid direction response: 06:08:13.6109 LVL= 25584, 18001, 32754, 32755, AGC= 65, IDX= 508, 0.04,-1.016, 0.560,-1.393,-0.564, PHS=-0.350, 1.168,-0.873, RAW= 344.3, 0.6, CAL= 343.8, -2.3, ROT= 166.2, 2.3 2025-10-27T06:08:14.898Z,1761545294.898 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T06:08:14.899Z,1761545294.899 [DAT](INFO): direction in FSK: [-0.970352,0.238341,-0.040132] 2025-10-27T06:08:14.899Z,1761545294.899 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:14.903Z,1761545294.903 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.977253 2025-10-27T06:08:15.041Z,1761545295.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378655,0.924342,0.047039],[-0.925250,0.376779,0.044166],[0.023101,-0.060246,0.997916]] 2025-10-27T06:08:15.093Z,1761545295.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503917 s, deltaX: -0.200000 m, approachRate: -0.396890 m/s, rangeRepo size: 4 2025-10-27T06:08:15.101Z,1761545295.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.014296 m, bearing: 98.594981 deg, lat: 36.779437 deg, lon: -121.859796 deg, deltaT: 0.503917 s, deltaX: -0.198784 m, approachRate: -0.394477 m/s, posRepo size: 4 2025-10-27T06:08:15.102Z,1761545295.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:08:15.139Z,1761545295.139 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.212601 2025-10-27T06:08:15.277Z,1761545295.277 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:08:15.388Z,1761545295.388 [DAT](INFO): DAT read: Rx Time:06:08:14.1110 2025-10-27T06:08:15.389Z,1761545295.389 [DAT](INFO): Rx dataTimestamp_ set to:1761545295.388639 2025-10-27T06:08:15.390Z,1761545295.390 [DAT](INFO): DAT read: Bearing 281.7, 13.2 (Local) 2025-10-27T06:08:15.391Z,1761545295.391 [DAT](INFO): Local bearing/azimuth received: Bearing 281.7, 13.2 (Local) 2025-10-27T06:08:15.393Z,1761545295.393 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 2025-10-27T06:08:15.398Z,1761545295.398 [DAT](INFO): DAT read: 06:08:14.1110 LVL= 28464, 19681, 32754, 32755, AGC= 67, IDX= 509, 0.27, 2.181,-2.564, 1.783, 2.628, PHS=-0.345, 1.136,-0.889, RAW= 345.1, 1.1, CAL= 344.6, -1.8, ROT= 165.4, 1.8 2025-10-27T06:08:15.399Z,1761545295.399 [DAT](INFO): got valid direction response: 06:08:14.1110 LVL= 28464, 19681, 32754, 32755, AGC= 67, IDX= 509, 0.27, 2.181,-2.564, 1.783, 2.628, PHS=-0.345, 1.136,-0.889, RAW= 345.1, 1.1, CAL= 344.6, -1.8, ROT= 165.4, 1.8 2025-10-27T06:08:15.399Z,1761545295.399 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T06:08:15.400Z,1761545295.400 [DAT](INFO): direction in FSK: [-0.967232,0.251945,-0.031411] 2025-10-27T06:08:15.401Z,1761545295.401 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:15.408Z,1761545295.408 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:08:15.408Z,1761545295.408 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:08:15.409Z,1761545295.409 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:15.460Z,1761545295.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381303,0.923173,0.048584],[-0.924186,0.379412,0.043891],[0.022086,-0.061636,0.997854]] 2025-10-27T06:08:15.591Z,1761545295.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503927 s, deltaX: 0.200000 m, approachRate: 0.396883 m/s, rangeRepo size: 4 2025-10-27T06:08:15.593Z,1761545295.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.213036 m, bearing: 97.936027 deg, lat: 36.779436 deg, lon: -121.859795 deg, deltaT: 0.503927 s, deltaX: 0.198740 m, approachRate: 0.394383 m/s, posRepo size: 4 2025-10-27T06:08:15.593Z,1761545295.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:08:15.640Z,1761545295.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:15.850Z,1761545295.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383380,0.922240,0.049935],[-0.923337,0.381447,0.044128],[0.021649,-0.063025,0.997777]] 2025-10-27T06:08:15.868Z,1761545295.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:08:15.893Z,1761545295.893 [DAT](INFO): DAT read: Rx Time:06:08:14.6110 2025-10-27T06:08:15.893Z,1761545295.893 [DAT](INFO): Rx dataTimestamp_ set to:1761545295.892807 2025-10-27T06:08:15.894Z,1761545295.894 [DAT](INFO): DAT read: Bearing 282.2, 12.2 (Local) 2025-10-27T06:08:15.895Z,1761545295.895 [DAT](INFO): Local bearing/azimuth received: Bearing 282.2, 12.2 (Local) 2025-10-27T06:08:15.897Z,1761545295.897 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.1 2025-10-27T06:08:15.904Z,1761545295.904 [DAT](INFO): DAT read: 06:08:14.6110 LVL= 24976, 17441, 30002, 32755, AGC= 66, IDX= 509,-0.24,-1.089, 0.490,-1.453,-0.630, PHS=-0.358, 1.164,-0.868, RAW= 344.0, 0.7, CAL= 343.5, -2.3, ROT= 166.5, 2.3 2025-10-27T06:08:15.905Z,1761545295.905 [DAT](INFO): got valid direction response: 06:08:14.6110 LVL= 24976, 17441, 30002, 32755, AGC= 66, IDX= 509,-0.24,-1.089, 0.490,-1.453,-0.630, PHS=-0.358, 1.164,-0.868, RAW= 344.0, 0.7, CAL= 343.5, -2.3, ROT= 166.5, 2.3 2025-10-27T06:08:15.906Z,1761545295.906 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:15.907Z,1761545295.907 [DAT](INFO): direction in FSK: [-0.971587,0.233257,-0.040132] 2025-10-27T06:08:15.908Z,1761545295.908 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:15.922Z,1761545295.922 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:15.922Z,1761545295.922 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:16.146Z,1761545296.146 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:16.281Z,1761545296.281 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:08:16.295Z,1761545296.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385179,0.921471,0.050279],[-0.922593,0.383237,0.044172],[0.021435,-0.063402,0.997758]] 2025-10-27T06:08:16.350Z,1761545296.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504168 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:16.352Z,1761545296.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.213036 m, bearing: 99.309992 deg, lat: 36.779435 deg, lon: -121.859795 deg, deltaT: 0.504168 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:16.353Z,1761545296.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:08:16.398Z,1761545296.398 [DAT](INFO): DAT read: Rx Time:06:08:15.1111 2025-10-27T06:08:16.398Z,1761545296.398 [DAT](INFO): Rx dataTimestamp_ set to:1761545296.398005 2025-10-27T06:08:16.400Z,1761545296.400 [DAT](INFO): DAT read: Bearing 281.6, 11.4 (Local) 2025-10-27T06:08:16.401Z,1761545296.401 [DAT](INFO): Local bearing/azimuth received: Bearing 281.6, 11.4 (Local) 2025-10-27T06:08:16.404Z,1761545296.404 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 2025-10-27T06:08:16.430Z,1761545296.430 [DAT](INFO): DAT read: 06:08:15.1111 LVL= 26928, 17841, 29842, 31875, AGC= 65, IDX= 510, 0.11, 1.033, 2.627, 0.694, 1.529, PHS=-0.394, 1.143,-0.879, RAW= 343.3, 1.4, CAL= 342.8, -1.5, ROT= 167.2, 1.5 2025-10-27T06:08:16.440Z,1761545296.440 [DAT](INFO): got valid direction response: 06:08:15.1111 LVL= 26928, 17841, 29842, 31875, AGC= 65, IDX= 510, 0.11, 1.033, 2.627, 0.694, 1.529, PHS=-0.394, 1.143,-0.879, RAW= 343.3, 1.4, CAL= 342.8, -1.5, ROT= 167.2, 1.5 2025-10-27T06:08:16.440Z,1761545296.440 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:16.441Z,1761545296.441 [DAT](INFO): direction in FSK: [-0.974815,0.221473,-0.026177] 2025-10-27T06:08:16.441Z,1761545296.441 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:16.449Z,1761545296.449 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:16.450Z,1761545296.450 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:16.648Z,1761545296.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:16.659Z,1761545296.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386503,0.920939,0.049860],[-0.922036,0.384568,0.044253],[0.021579,-0.063077,0.997775]] 2025-10-27T06:08:16.705Z,1761545296.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.505198 s, deltaX: 0.099999 m, approachRate: 0.197941 m/s, rangeRepo size: 4 2025-10-27T06:08:16.714Z,1761545296.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312390 m, bearing: 100.045950 deg, lat: 36.779433 deg, lon: -121.859795 deg, deltaT: 0.505198 s, deltaX: 0.099355 m, approachRate: 0.196665 m/s, posRepo size: 4 2025-10-27T06:08:16.714Z,1761545296.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:16.901Z,1761545296.901 [DAT](INFO): DAT read: Rx Time:06:08:15.6111 2025-10-27T06:08:16.901Z,1761545296.901 [DAT](INFO): Rx dataTimestamp_ set to:1761545296.900771 2025-10-27T06:08:16.902Z,1761545296.902 [DAT](INFO): DAT read: Bearing 282.4, 9.8 (Local) 2025-10-27T06:08:16.903Z,1761545296.903 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 9.8 (Local) 2025-10-27T06:08:16.905Z,1761545296.905 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 2025-10-27T06:08:16.910Z,1761545296.910 [DAT](INFO): DAT read: 06:08:15.6111 LVL= 25760, 17761, 31474, 32755, AGC= 64, IDX= 510,-0.41, 3.079,-1.552, 2.794,-2.688, PHS=-0.414, 1.182,-0.845, RAW= 341.6, 0.8, CAL= 341.2, -2.1, ROT= 168.8, 2.1 2025-10-27T06:08:16.911Z,1761545296.911 [DAT](INFO): got valid direction response: 06:08:15.6111 LVL= 25760, 17761, 31474, 32755, AGC= 64, IDX= 510,-0.41, 3.079,-1.552, 2.794,-2.688, PHS=-0.414, 1.182,-0.845, RAW= 341.6, 0.8, CAL= 341.2, -2.1, ROT= 168.8, 2.1 2025-10-27T06:08:16.911Z,1761545296.911 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:16.912Z,1761545296.912 [DAT](INFO): direction in FSK: [-0.980296,0.194104,-0.036644] 2025-10-27T06:08:16.912Z,1761545296.912 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:16.936Z,1761545296.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:16.936Z,1761545296.936 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:17.063Z,1761545297.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387662,0.920489,0.049181],[-0.921543,0.385738,0.044311],[0.021816,-0.062500,0.997806]] 2025-10-27T06:08:17.092Z,1761545297.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:17.094Z,1761545297.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312390 m, bearing: 101.750824 deg, lat: 36.779432 deg, lon: -121.859795 deg, deltaT: 0.502766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:17.094Z,1761545297.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:17.154Z,1761545297.154 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:17.405Z,1761545297.405 [DAT](INFO): DAT read: Rx Time:06:08:16.1111 2025-10-27T06:08:17.405Z,1761545297.405 [DAT](INFO): Rx dataTimestamp_ set to:1761545297.405208 2025-10-27T06:08:17.408Z,1761545297.408 [DAT](INFO): DAT read: Bearing 282.4, 10.1 (Local) 2025-10-27T06:08:17.408Z,1761545297.408 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 10.1 (Local) 2025-10-27T06:08:17.410Z,1761545297.410 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.1 2025-10-27T06:08:17.414Z,1761545297.414 [DAT](INFO): DAT read: 06:08:16.1111 LVL= 27472, 18785, 29394, 32755, AGC= 65, IDX= 510,-0.24,-2.880,-1.254, 3.110,-2.371, PHS=-0.407, 1.162,-0.847, RAW= 342.0, 1.0, CAL= 341.5, -1.9, ROT= 168.5, 1.9 2025-10-27T06:08:17.416Z,1761545297.416 [DAT](INFO): got valid direction response: 06:08:16.1111 LVL= 27472, 18785, 29394, 32755, AGC= 65, IDX= 510,-0.24,-2.880,-1.254, 3.110,-2.371, PHS=-0.407, 1.162,-0.847, RAW= 342.0, 1.0, CAL= 341.5, -1.9, ROT= 168.5, 1.9 2025-10-27T06:08:17.416Z,1761545297.416 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:17.417Z,1761545297.417 [DAT](INFO): direction in FSK: [-0.979386,0.199258,-0.033155] 2025-10-27T06:08:17.417Z,1761545297.417 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:17.421Z,1761545297.421 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:17.421Z,1761545297.421 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:17.475Z,1761545297.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388807,0.920058,0.048192],[-0.921056,0.386915,0.044188],[0.022010,-0.061568,0.997860]] 2025-10-27T06:08:17.592Z,1761545297.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504437 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:17.594Z,1761545297.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312412 m, bearing: 101.508190 deg, lat: 36.779430 deg, lon: -121.859795 deg, deltaT: 0.504437 s, deltaX: 0.000022 m, approachRate: 0.000043 m/s, posRepo size: 4 2025-10-27T06:08:17.594Z,1761545297.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:17.656Z,1761545297.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:17.870Z,1761545297.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389466,0.919828,0.047252],[-0.920767,0.387587,0.044313],[0.022446,-0.060766,0.997900]] 2025-10-27T06:08:17.902Z,1761545297.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:17.909Z,1761545297.909 [DAT](INFO): DAT read: Rx Time:06:08:16.6110 2025-10-27T06:08:17.909Z,1761545297.909 [DAT](INFO): Rx dataTimestamp_ set to:1761545297.908841 2025-10-27T06:08:17.910Z,1761545297.910 [DAT](INFO): DAT read: Bearing 281.9, 10.8 (Local) 2025-10-27T06:08:17.911Z,1761545297.911 [DAT](INFO): Local bearing/azimuth received: Bearing 281.9, 10.8 (Local) 2025-10-27T06:08:17.913Z,1761545297.913 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 2025-10-27T06:08:17.918Z,1761545297.918 [DAT](INFO): DAT read: 06:08:16.6110 LVL= 26144, 18689, 29490, 32755, AGC= 64, IDX= 509,-0.13,-2.517,-0.918,-2.834,-2.008, PHS=-0.408, 1.135,-0.871, RAW= 342.7, 1.6, CAL= 342.3, -1.3, ROT= 167.7, 1.3 2025-10-27T06:08:17.919Z,1761545297.919 [DAT](INFO): got valid direction response: 06:08:16.6110 LVL= 26144, 18689, 29490, 32755, AGC= 64, IDX= 509,-0.13,-2.517,-0.918,-2.834,-2.008, PHS=-0.408, 1.135,-0.871, RAW= 342.7, 1.6, CAL= 342.3, -1.3, ROT= 167.7, 1.3 2025-10-27T06:08:17.919Z,1761545297.919 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:17.920Z,1761545297.920 [DAT](INFO): direction in FSK: [-0.976794,0.212976,-0.022687] 2025-10-27T06:08:17.920Z,1761545297.920 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:17.929Z,1761545297.929 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:17.929Z,1761545297.929 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:18.162Z,1761545298.162 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:18.306Z,1761545298.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389993,0.919653,0.046291],[-0.920531,0.388124,0.044531],[0.022987,-0.059979,0.997935]] 2025-10-27T06:08:18.353Z,1761545298.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503633 s, deltaX: -0.099999 m, approachRate: -0.198556 m/s, rangeRepo size: 4 2025-10-27T06:08:18.355Z,1761545298.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.213021 m, bearing: 100.745217 deg, lat: 36.779428 deg, lon: -121.859796 deg, deltaT: 0.503633 s, deltaX: -0.099391 m, approachRate: -0.197348 m/s, posRepo size: 4 2025-10-27T06:08:18.356Z,1761545298.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:08:18.417Z,1761545298.417 [DAT](INFO): DAT read: Rx Time:06:08:17.1111 2025-10-27T06:08:18.418Z,1761545298.418 [DAT](INFO): Rx dataTimestamp_ set to:1761545298.417886 2025-10-27T06:08:18.420Z,1761545298.420 [DAT](INFO): DAT read: Bearing 281.7, 10.8 (Local) 2025-10-27T06:08:18.421Z,1761545298.421 [DAT](INFO): Local bearing/azimuth received: Bearing 281.7, 10.8 (Local) 2025-10-27T06:08:18.424Z,1761545298.424 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 2025-10-27T06:08:18.439Z,1761545298.439 [DAT](INFO): DAT read: 06:08:17.1111 LVL= 24128, 16881, 29458, 32691, AGC= 63, IDX= 510, 0.06,-0.351, 1.246,-0.672, 0.167, PHS=-0.416, 1.125,-0.882, RAW= 342.8, 1.9, CAL= 342.3, -1.0, ROT= 167.7, 1.0 2025-10-27T06:08:18.442Z,1761545298.442 [DAT](INFO): got valid direction response: 06:08:17.1111 LVL= 24128, 16881, 29458, 32691, AGC= 63, IDX= 510, 0.06,-0.351, 1.246,-0.672, 0.167, PHS=-0.416, 1.125,-0.882, RAW= 342.8, 1.9, CAL= 342.3, -1.0, ROT= 167.7, 1.0 2025-10-27T06:08:18.443Z,1761545298.443 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:18.444Z,1761545298.444 [DAT](INFO): direction in FSK: [-0.976897,0.212998,-0.017452] 2025-10-27T06:08:18.445Z,1761545298.445 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:18.453Z,1761545298.453 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:18.453Z,1761545298.453 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:18.665Z,1761545298.665 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:18.695Z,1761545298.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390246,0.919576,0.045691],[-0.920409,0.388366,0.044934],[0.023575,-0.059590,0.997945]] 2025-10-27T06:08:18.767Z,1761545298.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.509045 s, deltaX: 0.099999 m, approachRate: 0.196445 m/s, rangeRepo size: 4 2025-10-27T06:08:18.782Z,1761545298.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312413 m, bearing: 100.744082 deg, lat: 36.779428 deg, lon: -121.859796 deg, deltaT: 0.509045 s, deltaX: 0.099392 m, approachRate: 0.195252 m/s, posRepo size: 4 2025-10-27T06:08:18.789Z,1761545298.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:18.917Z,1761545298.917 [DAT](INFO): DAT read: Rx Time:06:08:17.6110 2025-10-27T06:08:18.917Z,1761545298.917 [DAT](INFO): Rx dataTimestamp_ set to:1761545298.916765 2025-10-27T06:08:18.918Z,1761545298.918 [DAT](INFO): DAT read: Bearing 281.7, 11.1 (Local) 2025-10-27T06:08:18.919Z,1761545298.919 [DAT](INFO): Local bearing/azimuth received: Bearing 281.7, 11.1 (Local) 2025-10-27T06:08:18.921Z,1761545298.921 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.1 2025-10-27T06:08:18.925Z,1761545298.925 [DAT](INFO): DAT read: 06:08:17.6110 LVL= 26560, 17713, 30578, 32755, AGC= 64, IDX= 509, 0.28,-1.608,-0.022,-1.935,-1.094, PHS=-0.412, 1.117,-0.885, RAW= 343.1, 2.0, CAL= 342.6, -0.9, ROT= 167.4, 0.9 2025-10-27T06:08:18.927Z,1761545298.927 [DAT](INFO): got valid direction response: 06:08:17.6110 LVL= 26560, 17713, 30578, 32755, AGC= 64, IDX= 509, 0.28,-1.608,-0.022,-1.935,-1.094, PHS=-0.412, 1.117,-0.885, RAW= 343.1, 2.0, CAL= 342.6, -0.9, ROT= 167.4, 0.9 2025-10-27T06:08:18.927Z,1761545298.927 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:18.928Z,1761545298.928 [DAT](INFO): direction in FSK: [-0.975796,0.218116,-0.015707] 2025-10-27T06:08:18.928Z,1761545298.928 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:18.932Z,1761545298.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:18.933Z,1761545298.933 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:19.137Z,1761545299.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.498879 s, deltaX: -0.099999 m, approachRate: -0.200448 m/s, rangeRepo size: 4 2025-10-27T06:08:19.139Z,1761545299.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.213022 m, bearing: 100.438815 deg, lat: 36.779428 deg, lon: -121.859797 deg, deltaT: 0.498879 s, deltaX: -0.099391 m, approachRate: -0.199229 m/s, posRepo size: 4 2025-10-27T06:08:19.140Z,1761545299.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:08:19.170Z,1761545299.170 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:19.421Z,1761545299.421 [DAT](INFO): DAT read: Rx Time:06:08:18.1111 2025-10-27T06:08:19.421Z,1761545299.421 [DAT](INFO): Rx dataTimestamp_ set to:1761545299.420767 2025-10-27T06:08:19.422Z,1761545299.422 [DAT](INFO): DAT read: Bearing 282.1, 10.2 (Local) 2025-10-27T06:08:19.423Z,1761545299.423 [DAT](INFO): Local bearing/azimuth received: Bearing 282.1, 10.2 (Local) 2025-10-27T06:08:19.425Z,1761545299.425 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.2 2025-10-27T06:08:19.429Z,1761545299.429 [DAT](INFO): DAT read: 06:08:18.1111 LVL= 23936, 18081, 29170, 32275, AGC= 63, IDX= 511,-0.30,-2.972,-1.359, 3.016,-2.446, PHS=-0.424, 1.132,-0.866, RAW= 342.1, 1.8, CAL= 341.7, -1.1, ROT= 168.3, 1.1 2025-10-27T06:08:19.431Z,1761545299.431 [DAT](INFO): got valid direction response: 06:08:18.1111 LVL= 23936, 18081, 29170, 32275, AGC= 63, IDX= 511,-0.30,-2.972,-1.359, 3.016,-2.446, PHS=-0.424, 1.132,-0.866, RAW= 342.1, 1.8, CAL= 341.7, -1.1, ROT= 168.3, 1.1 2025-10-27T06:08:19.431Z,1761545299.431 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:19.432Z,1761545299.432 [DAT](INFO): direction in FSK: [-0.979042,0.202750,-0.019197] 2025-10-27T06:08:19.432Z,1761545299.432 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:19.440Z,1761545299.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:19.440Z,1761545299.440 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:19.519Z,1761545299.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390441,0.919505,0.045466],[-0.920292,0.388487,0.046265],[0.024878,-0.059905,0.997894]] 2025-10-27T06:08:19.625Z,1761545299.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504002 s, deltaX: 0.099999 m, approachRate: 0.198411 m/s, rangeRepo size: 4 2025-10-27T06:08:19.631Z,1761545299.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312401 m, bearing: 101.361984 deg, lat: 36.779428 deg, lon: -121.859798 deg, deltaT: 0.504002 s, deltaX: 0.099379 m, approachRate: 0.197179 m/s, posRepo size: 4 2025-10-27T06:08:19.632Z,1761545299.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:19.672Z,1761545299.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:19.892Z,1761545299.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390332,0.919549,0.045510],[-0.920316,0.388325,0.047133],[0.025668,-0.060281,0.997851]] 2025-10-27T06:08:19.911Z,1761545299.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:19.925Z,1761545299.925 [DAT](INFO): DAT read: Rx Time:06:08:18.6111 2025-10-27T06:08:19.925Z,1761545299.925 [DAT](INFO): Rx dataTimestamp_ set to:1761545299.924775 2025-10-27T06:08:19.926Z,1761545299.926 [DAT](INFO): DAT read: Bearing 282.1, 10.1 (Local) 2025-10-27T06:08:19.927Z,1761545299.927 [DAT](INFO): Local bearing/azimuth received: Bearing 282.1, 10.1 (Local) 2025-10-27T06:08:19.929Z,1761545299.929 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 2025-10-27T06:08:19.933Z,1761545299.933 [DAT](INFO): DAT read: 06:08:18.6111 LVL= 25072, 18065, 29074, 31859, AGC= 63, IDX= 510,-0.03, 2.764,-1.896, 2.470,-2.985, PHS=-0.433, 1.134,-0.873, RAW= 342.0, 1.9, CAL= 341.6, -1.0, ROT= 168.4, 1.0 2025-10-27T06:08:19.935Z,1761545299.935 [DAT](INFO): got valid direction response: 06:08:18.6111 LVL= 25072, 18065, 29074, 31859, AGC= 63, IDX= 510,-0.03, 2.764,-1.896, 2.470,-2.985, PHS=-0.433, 1.134,-0.873, RAW= 342.0, 1.9, CAL= 341.6, -1.0, ROT= 168.4, 1.0 2025-10-27T06:08:19.936Z,1761545299.936 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:19.937Z,1761545299.937 [DAT](INFO): direction in FSK: [-0.979426,0.201047,-0.017452] 2025-10-27T06:08:19.937Z,1761545299.937 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:19.946Z,1761545299.946 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:19.946Z,1761545299.946 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:20.178Z,1761545300.178 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:20.310Z,1761545300.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390313,0.919561,0.045431],[-0.920303,0.388260,0.047921],[0.026427,-0.060515,0.997817]] 2025-10-27T06:08:20.372Z,1761545300.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:20.374Z,1761545300.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312401 m, bearing: 101.449602 deg, lat: 36.779428 deg, lon: -121.859799 deg, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:20.374Z,1761545300.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:20.430Z,1761545300.430 [DAT](INFO): DAT read: Rx Time:06:08:19.1112 2025-10-27T06:08:20.431Z,1761545300.431 [DAT](INFO): Rx dataTimestamp_ set to:1761545300.430219 2025-10-27T06:08:20.432Z,1761545300.432 [DAT](INFO): DAT read: Bearing 281.9, 9.8 (Local) 2025-10-27T06:08:20.433Z,1761545300.433 [DAT](INFO): Local bearing/azimuth received: Bearing 281.9, 9.8 (Local) 2025-10-27T06:08:20.436Z,1761545300.436 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.2 2025-10-27T06:08:20.449Z,1761545300.449 [DAT](INFO): DAT read: 06:08:19.1112 LVL= 24240, 17985, 29554, 30963, AGC= 63, IDX= 511, 0.25,-1.324, 0.311,-1.611,-0.775, PHS=-0.447, 1.131,-0.880, RAW= 341.8, 2.2, CAL= 341.3, -0.7, ROT= 168.7, 0.7 2025-10-27T06:08:20.450Z,1761545300.450 [DAT](INFO): got valid direction response: 06:08:19.1112 LVL= 24240, 17985, 29554, 30963, AGC= 63, IDX= 511, 0.25,-1.324, 0.311,-1.611,-0.775, PHS=-0.447, 1.131,-0.880, RAW= 341.8, 2.2, CAL= 341.3, -0.7, ROT= 168.7, 0.7 2025-10-27T06:08:20.450Z,1761545300.450 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:20.474Z,1761545300.474 [DAT](INFO): direction in FSK: [-0.980541,0.195931,-0.012217] 2025-10-27T06:08:20.475Z,1761545300.475 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:20.490Z,1761545300.490 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:20.496Z,1761545300.496 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:20.680Z,1761545300.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:20.698Z,1761545300.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390489,0.919493,0.045298],[-0.920210,0.388401,0.048572],[0.027067,-0.060651,0.997792]] 2025-10-27T06:08:20.801Z,1761545300.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.505444 s, deltaX: 0.200001 m, approachRate: 0.395693 m/s, rangeRepo size: 4 2025-10-27T06:08:20.807Z,1761545300.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.511165 m, bearing: 101.744475 deg, lat: 36.779427 deg, lon: -121.859799 deg, deltaT: 0.505444 s, deltaX: 0.198764 m, approachRate: 0.393246 m/s, posRepo size: 4 2025-10-27T06:08:20.808Z,1761545300.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:08:20.933Z,1761545300.933 [DAT](INFO): DAT read: Rx Time:06:08:19.6111 2025-10-27T06:08:20.933Z,1761545300.933 [DAT](INFO): Rx dataTimestamp_ set to:1761545300.932721 2025-10-27T06:08:20.934Z,1761545300.934 [DAT](INFO): DAT read: Bearing 282.1, 9.6 (Local) 2025-10-27T06:08:20.935Z,1761545300.935 [DAT](INFO): Local bearing/azimuth received: Bearing 282.1, 9.6 (Local) 2025-10-27T06:08:20.937Z,1761545300.937 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 2025-10-27T06:08:20.941Z,1761545300.941 [DAT](INFO): DAT read: 06:08:19.6111 LVL= 25408, 16609, 31218, 32339, AGC= 64, IDX= 511,-0.24, 1.878,-2.762, 1.598, 2.428, PHS=-0.448, 1.138,-0.875, RAW= 341.6, 2.0, CAL= 341.1, -0.8, ROT= 168.9, 0.8 2025-10-27T06:08:20.943Z,1761545300.943 [DAT](INFO): got valid direction response: 06:08:19.6111 LVL= 25408, 16609, 31218, 32339, AGC= 64, IDX= 511,-0.24, 1.878,-2.762, 1.598, 2.428, PHS=-0.448, 1.138,-0.875, RAW= 341.6, 2.0, CAL= 341.1, -0.8, ROT= 168.9, 0.8 2025-10-27T06:08:20.944Z,1761545300.944 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:20.945Z,1761545300.945 [DAT](INFO): direction in FSK: [-0.981197,0.192503,-0.013962] 2025-10-27T06:08:20.945Z,1761545300.945 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:20.949Z,1761545300.949 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:20.950Z,1761545300.950 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:08:21.102Z,1761545301.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390870,0.919342,0.045073],[-0.920032,0.388757,0.049082],[0.027601,-0.060653,0.997777]] 2025-10-27T06:08:21.152Z,1761545301.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502502 s, deltaX: -0.200001 m, approachRate: -0.398010 m/s, rangeRepo size: 4 2025-10-27T06:08:21.154Z,1761545301.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312381 m, bearing: 101.973617 deg, lat: 36.779426 deg, lon: -121.859799 deg, deltaT: 0.502502 s, deltaX: -0.198784 m, approachRate: -0.395588 m/s, posRepo size: 4 2025-10-27T06:08:21.155Z,1761545301.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:21.186Z,1761545301.186 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:08:21.436Z,1761545301.436 [DAT](INFO): DAT read: user:677> 2025-10-27T06:08:21.436Z,1761545301.436 [DAT](INFO): DAT read: 0 2025-10-27T06:08:21.437Z,1761545301.437 [DAT](INFO): unknown deviceResponse_: 0 2025-10-27T06:08:21.437Z,1761545301.437 [DAT](INFO): DAT read: Ok 2025-10-27T06:08:21.437Z,1761545301.437 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T06:08:21.438Z,1761545301.438 [DAT](INFO): DAT read: user:678> 2025-10-27T06:08:21.438Z,1761545301.438 [DAT](INFO): DAT read: Tx time:06:08:20.5708 2025-10-27T06:08:21.439Z,1761545301.439 [DAT](INFO): Ping request sent. 2025-10-27T06:08:21.439Z,1761545301.439 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:08:21.439Z,1761545301.439 [DAT](INFO): publishing transmit ping time 2025-10-27T06:08:21.440Z,1761545301.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000879 2025-10-27T06:08:21.553Z,1761545301.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391706,0.919000,0.044777],[-0.919667,0.389586,0.049357],[0.027915,-0.060513,0.997777]] 2025-10-27T06:08:21.630Z,1761545301.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:21.689Z,1761545301.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250286 2025-10-27T06:08:21.940Z,1761545301.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501217 2025-10-27T06:08:21.944Z,1761545301.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:22.194Z,1761545302.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895 2025-10-27T06:08:22.314Z,1761545302.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393215,0.918383,0.044205],[-0.919004,0.391080,0.049889],[0.028529,-0.060241,0.997776]] 2025-10-27T06:08:22.362Z,1761545302.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:22.444Z,1761545302.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005191 2025-10-27T06:08:22.696Z,1761545302.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257077 2025-10-27T06:08:22.725Z,1761545302.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394423,0.917881,0.043873],[-0.918484,0.392297,0.049909],[0.028600,-0.059982,0.997790]] 2025-10-27T06:08:22.764Z,1761545302.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:22.951Z,1761545302.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512310 2025-10-27T06:08:23.123Z,1761545303.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395902,0.917260,0.043544],[-0.917852,0.393797,0.049723],[0.028462,-0.059652,0.997813]] 2025-10-27T06:08:23.142Z,1761545303.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:23.201Z,1761545303.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762040 2025-10-27T06:08:23.452Z,1761545303.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013064 2025-10-27T06:08:23.525Z,1761545303.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397557,0.916554,0.043319],[-0.917144,0.395476,0.049441],[0.028184,-0.059385,0.997837]] 2025-10-27T06:08:23.572Z,1761545303.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:23.705Z,1761545303.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265925 2025-10-27T06:08:23.930Z,1761545303.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399424,0.915745,0.043250],[-0.916345,0.397367,0.049101],[0.027778,-0.059244,0.997857]] 2025-10-27T06:08:23.957Z,1761545303.957 [DAT](INFO): DAT read: Rx Time:06:08:22.7191 2025-10-27T06:08:23.957Z,1761545303.957 [DAT](INFO): Rx dataTimestamp_ set to:1761545303.956829 2025-10-27T06:08:23.958Z,1761545303.958 [DAT](INFO): DAT read: Bearing 281.8, 9.4 (Local) 2025-10-27T06:08:23.959Z,1761545303.959 [DAT](INFO): Local bearing/azimuth received: Bearing 281.8, 9.4 (Local) 2025-10-27T06:08:23.961Z,1761545303.961 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 2025-10-27T06:08:23.966Z,1761545303.966 [DAT](INFO): DAT read: 06:08:22.7191 LVL= 20784, 16081, 20818, 27379, AGC= 65, IDX= 33, 0.16, 1.495,-3.123, 1.214, 2.084, PHS=-0.487, 1.121,-0.913, RAW= 341.5, 3.0, CAL= 341.0, 0.3, ROT= 169.0, -0.3 2025-10-27T06:08:23.967Z,1761545303.967 [DAT](INFO): got valid direction response: 06:08:22.7191 LVL= 20784, 16081, 20818, 27379, AGC= 65, IDX= 33, 0.16, 1.495,-3.123, 1.214, 2.084, PHS=-0.487, 1.121,-0.913, RAW= 341.5, 3.0, CAL= 341.0, 0.3, ROT= 169.0, -0.3 2025-10-27T06:08:23.968Z,1761545303.968 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:08:23.970Z,1761545303.970 [DAT](INFO): direction in FSK: [-0.981614,0.190806,0.005236] 2025-10-27T06:08:23.970Z,1761545303.970 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:23.986Z,1761545303.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 3.024108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:23.992Z,1761545303.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:23.994Z,1761545303.994 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.555107 2025-10-27T06:08:24.208Z,1761545304.208 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769202 2025-10-27T06:08:24.333Z,1761545304.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401239,0.914957,0.043139],[-0.915564,0.399208,0.048736],[0.027370,-0.059051,0.997880]] 2025-10-27T06:08:24.461Z,1761545304.461 [DAT](INFO): DAT read: Rx Time:06:08:23.2191 2025-10-27T06:08:24.461Z,1761545304.461 [DAT](INFO): Rx dataTimestamp_ set to:1761545304.460777 2025-10-27T06:08:24.462Z,1761545304.462 [DAT](INFO): DAT read: Bearing 282.8, 9.5 (Local) 2025-10-27T06:08:24.463Z,1761545304.463 [DAT](INFO): Local bearing/azimuth received: Bearing 282.8, 9.5 (Local) 2025-10-27T06:08:24.465Z,1761545304.465 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 2025-10-27T06:08:24.473Z,1761545304.473 [DAT](INFO): DAT read: 06:08:23.2191 LVL= 26944, 18977, 30530, 32755, AGC= 61, IDX= 498,-0.18,-0.233, 1.449,-0.516, 0.339, PHS=-0.469, 1.156,-0.898, RAW= 341.4, 2.3, CAL= 340.9, -0.6, ROT= 169.1, 0.6 2025-10-27T06:08:24.481Z,1761545304.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:24.483Z,1761545304.483 [DAT](INFO): got valid direction response: 06:08:23.2191 LVL= 26944, 18977, 30530, 32755, AGC= 61, IDX= 498,-0.18,-0.233, 1.449,-0.516, 0.339, PHS=-0.469, 1.156,-0.898, RAW= 341.4, 2.3, CAL= 340.9, -0.6, ROT= 169.1, 0.6 2025-10-27T06:08:24.484Z,1761545304.484 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:08:24.486Z,1761545304.486 [DAT](INFO): direction in FSK: [-0.981905,0.189085,-0.010472] 2025-10-27T06:08:24.486Z,1761545304.486 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:24.501Z,1761545304.501 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.061952 2025-10-27T06:08:24.713Z,1761545304.713 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273880 2025-10-27T06:08:24.749Z,1761545304.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403090,0.914147,0.043064],[-0.914766,0.401088,0.048289],[0.026871,-0.058858,0.997905]] 2025-10-27T06:08:24.776Z,1761545304.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503948 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:24.778Z,1761545304.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312025 m, bearing: 102.923688 deg, lat: 36.779425 deg, lon: -121.859802 deg, deltaT: 3.528056 s, deltaX: -0.000356 m, approachRate: -0.000101 m/s, posRepo size: 4 2025-10-27T06:08:24.779Z,1761545304.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:24.965Z,1761545304.965 [DAT](INFO): DAT read: Rx Time:06:08:23.7191 2025-10-27T06:08:24.966Z,1761545304.966 [DAT](INFO): Rx dataTimestamp_ set to:1761545304.965513 2025-10-27T06:08:24.969Z,1761545304.969 [DAT](INFO): DAT read: Bearing 282.0, 9.8 (Local) 2025-10-27T06:08:24.969Z,1761545304.969 [DAT](INFO): Local bearing/azimuth received: Bearing 282.0, 9.8 (Local) 2025-10-27T06:08:24.974Z,1761545304.974 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.2 2025-10-27T06:08:24.988Z,1761545304.988 [DAT](INFO): DAT read: 06:08:23.7191 LVL= 25840, 15089, 28706, 32755, AGC= 61, IDX= 497, 0.23, 1.454, 3.113, 1.161, 2.037, PHS=-0.481, 1.121,-0.920, RAW= 341.8, 3.0, CAL= 341.3, 0.3, ROT= 168.7, -0.3 2025-10-27T06:08:24.990Z,1761545304.990 [DAT](INFO): got valid direction response: 06:08:23.7191 LVL= 25840, 15089, 28706, 32755, AGC= 61, IDX= 497, 0.23, 1.454, 3.113, 1.161, 2.037, PHS=-0.481, 1.121,-0.920, RAW= 341.8, 3.0, CAL= 341.3, 0.3, ROT= 168.7, -0.3 2025-10-27T06:08:24.990Z,1761545304.990 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T06:08:24.994Z,1761545304.994 [DAT](INFO): direction in FSK: [-0.980601,0.195943,0.005236] 2025-10-27T06:08:24.994Z,1761545304.994 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:25.006Z,1761545305.006 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.567051 2025-10-27T06:08:25.142Z,1761545305.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405058,0.913279,0.042999],[-0.913913,0.403091,0.047748],[0.026275,-0.058638,0.997933]] 2025-10-27T06:08:25.193Z,1761545305.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504736 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:25.195Z,1761545305.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.312025 m, bearing: 102.599581 deg, lat: 36.779422 deg, lon: -121.859806 deg, deltaT: 0.504736 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:25.196Z,1761545305.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:25.216Z,1761545305.216 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777245 2025-10-27T06:08:25.471Z,1761545305.471 [DAT](INFO): DAT read: Rx Time:06:08:24.2191 2025-10-27T06:08:25.472Z,1761545305.472 [DAT](INFO): Rx dataTimestamp_ set to:1761545305.471049 2025-10-27T06:08:25.474Z,1761545305.474 [DAT](INFO): DAT read: Bearing 283.0, 9.8 (Local) 2025-10-27T06:08:25.474Z,1761545305.474 [DAT](INFO): Local bearing/azimuth received: Bearing 283.0, 9.8 (Local) 2025-10-27T06:08:25.478Z,1761545305.478 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.2 2025-10-27T06:08:25.485Z,1761545305.485 [DAT](INFO): DAT read: 06:08:24.2191 LVL= 25456, 17857, 30514, 31683, AGC= 63, IDX= 498,-0.13,-0.280, 1.403,-0.574, 0.287, PHS=-0.466, 1.161,-0.905, RAW= 341.6, 2.3, CAL= 341.1, -0.6, ROT= 168.9, 0.6 2025-10-27T06:08:25.487Z,1761545305.487 [DAT](INFO): got valid direction response: 06:08:24.2191 LVL= 25456, 17857, 30514, 31683, AGC= 63, IDX= 498,-0.13,-0.280, 1.403,-0.574, 0.287, PHS=-0.466, 1.161,-0.905, RAW= 341.6, 2.3, CAL= 341.1, -0.6, ROT= 168.9, 0.6 2025-10-27T06:08:25.488Z,1761545305.488 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T06:08:25.489Z,1761545305.489 [DAT](INFO): direction in FSK: [-0.981239,0.192512,-0.010472] 2025-10-27T06:08:25.490Z,1761545305.490 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:25.496Z,1761545305.496 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.057460 2025-10-27T06:08:25.564Z,1761545305.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406766,0.912513,0.043134],[-0.913169,0.404821,0.047344],[0.025740,-0.058646,0.997947]] 2025-10-27T06:08:25.650Z,1761545305.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.505536 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:25.656Z,1761545305.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.311995 m, bearing: 102.953787 deg, lat: 36.779422 deg, lon: -121.859807 deg, deltaT: 0.505536 s, deltaX: -0.000031 m, approachRate: -0.000060 m/s, posRepo size: 4 2025-10-27T06:08:25.657Z,1761545305.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:25.721Z,1761545305.721 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282185 2025-10-27T06:08:25.950Z,1761545305.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408338,0.911786,0.043670],[-0.912481,0.406391,0.047153],[0.025247,-0.059102,0.997933]] 2025-10-27T06:08:25.974Z,1761545305.974 [DAT](INFO): DAT read: Rx Time:06:08:24.7191 2025-10-27T06:08:25.975Z,1761545305.975 [DAT](INFO): Rx dataTimestamp_ set to:1761545305.973956 2025-10-27T06:08:25.977Z,1761545305.977 [DAT](INFO): DAT read: Bearing 282.8, 9.9 (Local) 2025-10-27T06:08:25.977Z,1761545305.977 [DAT](INFO): Local bearing/azimuth received: Bearing 282.8, 9.9 (Local) 2025-10-27T06:08:25.981Z,1761545305.981 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 2025-10-27T06:08:25.993Z,1761545305.993 [DAT](INFO): DAT read: 06:08:24.7191 LVL= 28000, 16929, 29426, 32755, AGC= 62, IDX= 497, 0.31,-0.349, 1.329,-0.646, 0.225, PHS=-0.472, 1.149,-0.915, RAW= 341.8, 2.6, CAL= 341.3, -0.3, ROT= 168.7, 0.3 2025-10-27T06:08:26.015Z,1761545306.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:26.021Z,1761545306.021 [DAT](INFO): got valid direction response: 06:08:24.7191 LVL= 28000, 16929, 29426, 32755, AGC= 62, IDX= 497, 0.31,-0.349, 1.329,-0.646, 0.225, PHS=-0.472, 1.149,-0.915, RAW= 341.8, 2.6, CAL= 341.3, -0.3, ROT= 168.7, 0.3 2025-10-27T06:08:26.022Z,1761545306.022 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T06:08:26.040Z,1761545306.040 [DAT](INFO): direction in FSK: [-0.980601,0.195943,-0.005236] 2025-10-27T06:08:26.040Z,1761545306.040 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:26.064Z,1761545306.064 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.625126 2025-10-27T06:08:26.224Z,1761545306.224 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785199 2025-10-27T06:08:26.380Z,1761545306.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409930,0.911039,0.044343],[-0.911782,0.407978,0.046975],[0.024705,-0.059687,0.997911]] 2025-10-27T06:08:26.451Z,1761545306.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.502907 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:26.453Z,1761545306.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.311995 m, bearing: 102.937469 deg, lat: 36.779422 deg, lon: -121.859807 deg, deltaT: 0.502907 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:26.454Z,1761545306.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:08:26.477Z,1761545306.477 [DAT](INFO): DAT read: Rx Time:06:08:25.2192 2025-10-27T06:08:26.478Z,1761545306.478 [DAT](INFO): Rx dataTimestamp_ set to:1761545306.477616 2025-10-27T06:08:26.480Z,1761545306.480 [DAT](INFO): DAT read: Bearing 283.6, 9.7 (Local) 2025-10-27T06:08:26.481Z,1761545306.481 [DAT](INFO): Local bearing/azimuth received: Bearing 283.6, 9.7 (Local) 2025-10-27T06:08:26.484Z,1761545306.484 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 2025-10-27T06:08:26.491Z,1761545306.491 [DAT](INFO): DAT read: 06:08:25.2192 LVL= 29040, 19425, 31058, 32755, AGC= 62, IDX= 499,-0.16,-1.614, 0.081,-1.905,-1.051, PHS=-0.461, 1.178,-0.898, RAW= 341.5, 1.9, CAL= 341.0, -0.9, ROT= 169.0, 0.9 2025-10-27T06:08:26.493Z,1761545306.493 [DAT](INFO): got valid direction response: 06:08:25.2192 LVL= 29040, 19425, 31058, 32755, AGC= 62, IDX= 499,-0.16,-1.614, 0.081,-1.905,-1.051, PHS=-0.461, 1.178,-0.898, RAW= 341.5, 1.9, CAL= 341.0, -0.9, ROT= 169.0, 0.9 2025-10-27T06:08:26.493Z,1761545306.493 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T06:08:26.495Z,1761545306.495 [DAT](INFO): direction in FSK: [-0.981506,0.190785,-0.015707] 2025-10-27T06:08:26.496Z,1761545306.496 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:26.508Z,1761545306.508 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.069108 2025-10-27T06:08:26.729Z,1761545306.729 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289769 2025-10-27T06:08:26.765Z,1761545306.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411180,0.910439,0.045076],[-0.911228,0.409207,0.047052],[0.024393,-0.060421,0.997875]] 2025-10-27T06:08:26.792Z,1761545306.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503660 s, deltaX: 0.200001 m, approachRate: 0.397095 m/s, rangeRepo size: 4 2025-10-27T06:08:26.794Z,1761545306.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.510756 m, bearing: 103.349344 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.503660 s, deltaX: 0.198761 m, approachRate: 0.394633 m/s, posRepo size: 4 2025-10-27T06:08:26.794Z,1761545306.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:08:26.982Z,1761545306.982 [DAT](INFO): DAT read: Rx Time:06:08:25.7192 2025-10-27T06:08:26.982Z,1761545306.982 [DAT](INFO): Rx dataTimestamp_ set to:1761545306.981749 2025-10-27T06:08:26.984Z,1761545306.984 [DAT](INFO): DAT read: Bearing 283.5, 10.4 (Local) 2025-10-27T06:08:26.985Z,1761545306.985 [DAT](INFO): Local bearing/azimuth received: Bearing 283.5, 10.4 (Local) 2025-10-27T06:08:26.988Z,1761545306.988 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 2025-10-27T06:08:26.996Z,1761545306.996 [DAT](INFO): DAT read: 06:08:25.7192 LVL= 28912, 22465, 32498, 32755, AGC= 61, IDX= 498, 0.12,-0.869, 0.811,-1.184,-0.316, PHS=-0.452, 1.171,-0.913, RAW= 342.2, 2.1, CAL= 341.7, -0.8, ROT= 168.3, 0.8 2025-10-27T06:08:26.997Z,1761545306.997 [DAT](INFO): got valid direction response: 06:08:25.7192 LVL= 28912, 22465, 32498, 32755, AGC= 61, IDX= 498, 0.12,-0.869, 0.811,-1.184,-0.316, PHS=-0.452, 1.171,-0.913, RAW= 342.2, 2.1, CAL= 341.7, -0.8, ROT= 168.3, 0.8 2025-10-27T06:08:26.998Z,1761545306.998 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T06:08:26.999Z,1761545306.999 [DAT](INFO): direction in FSK: [-0.979127,0.202768,-0.013962] 2025-10-27T06:08:26.999Z,1761545306.999 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:27.002Z,1761545307.002 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.563640 2025-10-27T06:08:27.161Z,1761545307.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412186,0.909943,0.045899],[-0.910780,0.410184,0.047214],[0.024135,-0.061265,0.997830]] 2025-10-27T06:08:27.208Z,1761545307.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:27.210Z,1761545307.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.510756 m, bearing: 102.708542 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.504133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:27.211Z,1761545307.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:08:27.240Z,1761545307.240 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.801209 2025-10-27T06:08:27.493Z,1761545307.493 [DAT](INFO): DAT read: Rx Time:06:08:26.2193 2025-10-27T06:08:27.494Z,1761545307.494 [DAT](INFO): Rx dataTimestamp_ set to:1761545307.493791 2025-10-27T06:08:27.496Z,1761545307.496 [DAT](INFO): DAT read: Bearing 283.7, 10.8 (Local) 2025-10-27T06:08:27.496Z,1761545307.496 [DAT](INFO): Local bearing/azimuth received: Bearing 283.7, 10.8 (Local) 2025-10-27T06:08:27.498Z,1761545307.498 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-27T06:08:27.507Z,1761545307.507 [DAT](INFO): DAT read: 06:08:26.2193 LVL= 26464, 18225, 30194, 32755, AGC= 61, IDX= 499, 0.38, 0.397, 2.076, 0.064, 0.943, PHS=-0.444, 1.178,-0.923, RAW= 342.5, 2.0, CAL= 342.1, -0.9, ROT= 167.9, 0.9 2025-10-27T06:08:27.508Z,1761545307.508 [DAT](INFO): got valid direction response: 06:08:26.2193 LVL= 26464, 18225, 30194, 32755, AGC= 61, IDX= 499, 0.38, 0.397, 2.076, 0.064, 0.943, PHS=-0.444, 1.178,-0.923, RAW= 342.5, 2.0, CAL= 342.1, -0.9, ROT= 167.9, 0.9 2025-10-27T06:08:27.508Z,1761545307.508 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T06:08:27.509Z,1761545307.509 [DAT](INFO): direction in FSK: [-0.977663,0.209593,-0.015707] 2025-10-27T06:08:27.509Z,1761545307.509 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:27.541Z,1761545307.541 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.102471 2025-10-27T06:08:27.566Z,1761545307.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413395,0.909369,0.046395],[-0.910240,0.411382,0.047208],[0.023843,-0.061746,0.997807]] 2025-10-27T06:08:27.655Z,1761545307.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.512042 s, deltaX: 0.099999 m, approachRate: 0.195295 m/s, rangeRepo size: 4 2025-10-27T06:08:27.657Z,1761545307.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.610119 m, bearing: 102.390973 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.512042 s, deltaX: 0.099363 m, approachRate: 0.194053 m/s, posRepo size: 4 2025-10-27T06:08:27.657Z,1761545307.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T06:08:27.744Z,1761545307.744 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.305372 2025-10-27T06:08:27.980Z,1761545307.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414408,0.908936,0.045846],[-0.909782,0.412428,0.046905],[0.023725,-0.061147,0.997847]] 2025-10-27T06:08:27.997Z,1761545307.997 [DAT](INFO): DAT read: Rx Time:06:08:26.7192 2025-10-27T06:08:27.997Z,1761545307.997 [DAT](INFO): Rx dataTimestamp_ set to:1761545307.996706 2025-10-27T06:08:27.998Z,1761545307.998 [DAT](INFO): DAT read: Bearing 283.9, 11.1 (Local) 2025-10-27T06:08:27.999Z,1761545307.999 [DAT](INFO): Local bearing/azimuth received: Bearing 283.9, 11.1 (Local) 2025-10-27T06:08:28.001Z,1761545308.001 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 2025-10-27T06:08:28.005Z,1761545308.005 [DAT](INFO): DAT read: 06:08:26.7192 LVL= 28608, 19953, 32754, 32755, AGC= 62, IDX= 499,-0.28,-1.708,-0.039,-2.049,-1.169, PHS=-0.437, 1.175,-0.923, RAW= 342.8, 2.0, CAL= 342.3, -0.9, ROT= 167.7, 0.9 2025-10-27T06:08:28.006Z,1761545308.006 [DAT](INFO): got valid direction response: 06:08:26.7192 LVL= 28608, 19953, 32754, 32755, AGC= 62, IDX= 499,-0.28,-1.708,-0.039,-2.049,-1.169, PHS=-0.437, 1.175,-0.923, RAW= 342.8, 2.0, CAL= 342.3, -0.9, ROT= 167.7, 0.9 2025-10-27T06:08:28.007Z,1761545308.007 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T06:08:28.008Z,1761545308.008 [DAT](INFO): direction in FSK: [-0.976925,0.213004,-0.015707] 2025-10-27T06:08:28.008Z,1761545308.008 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:28.011Z,1761545308.011 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.572725 2025-10-27T06:08:28.068Z,1761545308.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.502915 s, deltaX: -0.099999 m, approachRate: -0.198840 m/s, rangeRepo size: 4 2025-10-27T06:08:28.070Z,1761545308.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.510731 m, bearing: 102.253887 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.502915 s, deltaX: -0.099388 m, approachRate: -0.197624 m/s, posRepo size: 4 2025-10-27T06:08:28.070Z,1761545308.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:08:28.248Z,1761545308.248 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.809449 2025-10-27T06:08:28.410Z,1761545308.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415377,0.908513,0.045449],[-0.909341,0.413416,0.046758],[0.023691,-0.060751,0.997872]] 2025-10-27T06:08:28.469Z,1761545308.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:08:28.501Z,1761545308.501 [DAT](INFO): DAT read: Rx Time:06:08:27.2193 2025-10-27T06:08:28.501Z,1761545308.501 [DAT](INFO): Rx dataTimestamp_ set to:1761545308.500820 2025-10-27T06:08:28.502Z,1761545308.502 [DAT](INFO): DAT read: Bearing 283.7, 12.0 (Local) 2025-10-27T06:08:28.503Z,1761545308.503 [DAT](INFO): Local bearing/azimuth received: Bearing 283.7, 12.0 (Local) 2025-10-27T06:08:28.505Z,1761545308.505 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-27T06:08:28.513Z,1761545308.513 [DAT](INFO): DAT read: 06:08:27.2193 LVL= 27824, 21313, 31634, 32755, AGC= 62, IDX= 500,-0.08, 0.296, 1.945,-0.078, 0.828, PHS=-0.430, 1.162,-0.950, RAW= 343.7, 2.3, CAL= 343.2, -0.6, ROT= 166.8, 0.6 2025-10-27T06:08:28.514Z,1761545308.514 [DAT](INFO): got valid direction response: 06:08:27.2193 LVL= 27824, 21313, 31634, 32755, AGC= 62, IDX= 500,-0.08, 0.296, 1.945,-0.078, 0.828, PHS=-0.430, 1.162,-0.950, RAW= 343.7, 2.3, CAL= 343.2, -0.6, ROT= 166.8, 0.6 2025-10-27T06:08:28.515Z,1761545308.515 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T06:08:28.528Z,1761545308.528 [DAT](INFO): direction in FSK: [-0.973526,0.228338,-0.010472] 2025-10-27T06:08:28.528Z,1761545308.528 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:28.537Z,1761545308.537 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.097801 2025-10-27T06:08:28.752Z,1761545308.752 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.313142 2025-10-27T06:08:28.778Z,1761545308.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416032,0.908240,0.044919],[-0.909038,0.414088,0.046707],[0.023821,-0.060265,0.997898]] 2025-10-27T06:08:28.830Z,1761545308.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504114 s, deltaX: 0.099999 m, approachRate: 0.198367 m/s, rangeRepo size: 4 2025-10-27T06:08:28.837Z,1761545308.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.610132 m, bearing: 101.439042 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.504114 s, deltaX: 0.099401 m, approachRate: 0.197181 m/s, posRepo size: 4 2025-10-27T06:08:28.837Z,1761545308.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T06:08:29.005Z,1761545309.005 [DAT](INFO): DAT read: Rx Time:06:08:27.7192 2025-10-27T06:08:29.005Z,1761545309.005 [DAT](INFO): Rx dataTimestamp_ set to:1761545309.004787 2025-10-27T06:08:29.006Z,1761545309.006 [DAT](INFO): DAT read: Bearing 283.7, 13.0 (Local) 2025-10-27T06:08:29.007Z,1761545309.007 [DAT](INFO): Local bearing/azimuth received: Bearing 283.7, 13.0 (Local) 2025-10-27T06:08:29.009Z,1761545309.009 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 2025-10-27T06:08:29.014Z,1761545309.014 [DAT](INFO): DAT read: 06:08:27.7192 LVL= 28432, 19873, 32754, 32755, AGC= 61, IDX= 499, 0.09, 0.572, 2.194, 0.162, 1.086, PHS=-0.412, 1.154,-0.967, RAW= 344.6, 2.4, CAL= 344.1, -0.5, ROT= 165.9, 0.5 2025-10-27T06:08:29.015Z,1761545309.015 [DAT](INFO): got valid direction response: 06:08:27.7192 LVL= 28432, 19873, 32754, 32755, AGC= 61, IDX= 499, 0.09, 0.572, 2.194, 0.162, 1.086, PHS=-0.412, 1.154,-0.967, RAW= 344.6, 2.4, CAL= 344.1, -0.5, ROT= 165.9, 0.5 2025-10-27T06:08:29.015Z,1761545309.015 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T06:08:29.016Z,1761545309.016 [DAT](INFO): direction in FSK: [-0.969835,0.243606,-0.008727] 2025-10-27T06:08:29.016Z,1761545309.016 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:29.024Z,1761545309.024 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.585481 2025-10-27T06:08:29.182Z,1761545309.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416959,0.907838,0.044450],[-0.908614,0.415038,0.046511],[0.023776,-0.059781,0.997928]] 2025-10-27T06:08:29.221Z,1761545309.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503967 s, deltaX: -0.099999 m, approachRate: -0.198425 m/s, rangeRepo size: 4 2025-10-27T06:08:29.228Z,1761545309.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.510744 m, bearing: 100.591860 deg, lat: 36.779421 deg, lon: -121.859807 deg, deltaT: 0.503967 s, deltaX: -0.099388 m, approachRate: -0.197212 m/s, posRepo size: 4 2025-10-27T06:08:29.229Z,1761545309.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:08:29.256Z,1761545309.256 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.817296 2025-10-27T06:08:29.508Z,1761545309.508 [DAT](INFO): DAT read: Rx Time:06:08:28.2193 2025-10-27T06:08:29.509Z,1761545309.509 [DAT](INFO): Rx dataTimestamp_ set to:1761545309.508661 2025-10-27T06:08:29.510Z,1761545309.510 [DAT](INFO): DAT read: Bearing 283.7, 13.6 (Local) 2025-10-27T06:08:29.511Z,1761545309.511 [DAT](INFO): Local bearing/azimuth received: Bearing 283.7, 13.6 (Local) 2025-10-27T06:08:29.517Z,1761545309.517 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-27T06:08:29.521Z,1761545309.521 [DAT](INFO): DAT read: 06:08:28.2193 LVL= 26464, 17521, 29746, 32499, AGC= 60, IDX= 499, 0.35, 0.769, 2.380, 0.335, 1.276, PHS=-0.405, 1.149,-0.985, RAW= 345.2, 2.6, CAL= 344.8, -0.4, ROT= 165.2, 0.4 2025-10-27T06:08:29.522Z,1761545309.522 [DAT](INFO): got valid direction response: 06:08:28.2193 LVL= 26464, 17521, 29746, 32499, AGC= 60, IDX= 499, 0.35, 0.769, 2.380, 0.335, 1.276, PHS=-0.405, 1.149,-0.985, RAW= 345.2, 2.6, CAL= 344.8, -0.4, ROT= 165.2, 0.4 2025-10-27T06:08:29.523Z,1761545309.523 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T06:08:29.524Z,1761545309.524 [DAT](INFO): direction in FSK: [-0.966800,0.255440,-0.006981] 2025-10-27T06:08:29.524Z,1761545309.524 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:29.557Z,1761545309.557 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.118135 2025-10-27T06:08:29.586Z,1761545309.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417812,0.907459,0.044182],[-0.908225,0.415908,0.046348],[0.023683,-0.059492,0.997948]] 2025-10-27T06:08:29.688Z,1761545309.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503874 s, deltaX: 0.099999 m, approachRate: 0.198461 m/s, rangeRepo size: 4 2025-10-27T06:08:29.690Z,1761545309.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.610142 m, bearing: 99.940386 deg, lat: 36.779423 deg, lon: -121.859807 deg, deltaT: 0.503874 s, deltaX: 0.099398 m, approachRate: 0.197267 m/s, posRepo size: 4 2025-10-27T06:08:29.690Z,1761545309.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T06:08:29.761Z,1761545309.761 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.321854 2025-10-27T06:08:29.996Z,1761545309.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418546,0.907130,0.043995],[-0.907886,0.416647,0.046344],[0.023710,-0.059340,0.997956]] 2025-10-27T06:08:30.013Z,1761545310.013 [DAT](INFO): DAT read: Rx Time:06:08:28.7192 2025-10-27T06:08:30.013Z,1761545310.013 [DAT](INFO): Rx dataTimestamp_ set to:1761545310.012766 2025-10-27T06:08:30.014Z,1761545310.014 [DAT](INFO): DAT read: Bearing 284.5, 13.6 (Local) 2025-10-27T06:08:30.015Z,1761545310.015 [DAT](INFO): Local bearing/azimuth received: Bearing 284.5, 13.6 (Local) 2025-10-27T06:08:30.017Z,1761545310.017 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 2025-10-27T06:08:30.021Z,1761545310.021 [DAT](INFO): DAT read: 06:08:28.7192 LVL= 25792, 22129, 32706, 32755, AGC= 60, IDX= 499,-0.22,-2.777,-1.165, 3.076,-2.288, PHS=-0.386, 1.168,-0.962, RAW= 345.2, 1.9, CAL= 344.7, -1.0, ROT= 165.3, 1.0 2025-10-27T06:08:30.025Z,1761545310.025 [DAT](INFO): got valid direction response: 06:08:28.7192 LVL= 25792, 22129, 32706, 32755, AGC= 60, IDX= 499,-0.22,-2.777,-1.165, 3.076,-2.288, PHS=-0.386, 1.168,-0.962, RAW= 345.2, 1.9, CAL= 344.7, -1.0, ROT= 165.3, 1.0 2025-10-27T06:08:30.027Z,1761545310.027 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T06:08:30.029Z,1761545310.029 [DAT](INFO): direction in FSK: [-0.967120,0.253719,-0.017452] 2025-10-27T06:08:30.029Z,1761545310.029 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:30.037Z,1761545310.037 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.598517 2025-10-27T06:08:30.078Z,1761545310.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504105 s, deltaX: -0.099999 m, approachRate: -0.198370 m/s, rangeRepo size: 4 2025-10-27T06:08:30.088Z,1761545310.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.510754 m, bearing: 100.117386 deg, lat: 36.779424 deg, lon: -121.859807 deg, deltaT: 0.504105 s, deltaX: -0.099388 m, approachRate: -0.197158 m/s, posRepo size: 4 2025-10-27T06:08:30.089Z,1761545310.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:08:30.264Z,1761545310.264 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.825252 2025-10-27T06:08:30.418Z,1761545310.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419492,0.906716,0.043493],[-0.907450,0.417618,0.046148],[0.023680,-0.058827,0.997987]] 2025-10-27T06:08:30.473Z,1761545310.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:08:30.517Z,1761545310.517 [DAT](INFO): DAT read: Rx Time:06:08:29.2193 2025-10-27T06:08:30.517Z,1761545310.517 [DAT](INFO): Rx dataTimestamp_ set to:1761545310.516749 2025-10-27T06:08:30.518Z,1761545310.518 [DAT](INFO): DAT read: Bearing 284.4, 14.4 (Local) 2025-10-27T06:08:30.519Z,1761545310.519 [DAT](INFO): Local bearing/azimuth received: Bearing 284.4, 14.4 (Local) 2025-10-27T06:08:30.521Z,1761545310.521 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.1 2025-10-27T06:08:30.525Z,1761545310.525 [DAT](INFO): DAT read: 06:08:29.2193 LVL= 28912, 21713, 32498, 32755, AGC= 60, IDX= 500, 0.04,-0.264, 1.334,-0.726, 0.217, PHS=-0.379, 1.162,-0.986, RAW= 345.9, 2.1, CAL= 345.5, -0.8, ROT= 164.5, 0.8 2025-10-27T06:08:30.526Z,1761545310.526 [DAT](INFO): got valid direction response: 06:08:29.2193 LVL= 28912, 21713, 32498, 32755, AGC= 60, IDX= 500, 0.04,-0.264, 1.334,-0.726, 0.217, PHS=-0.379, 1.162,-0.986, RAW= 345.9, 2.1, CAL= 345.5, -0.8, ROT= 164.5, 0.8 2025-10-27T06:08:30.527Z,1761545310.527 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T06:08:30.528Z,1761545310.528 [DAT](INFO): direction in FSK: [-0.963537,0.267212,-0.013962] 2025-10-27T06:08:30.528Z,1761545310.528 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:30.532Z,1761545310.532 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.093141 2025-10-27T06:08:30.768Z,1761545310.768 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.329211 2025-10-27T06:08:30.798Z,1761545310.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420342,0.906350,0.042929],[-0.907057,0.418494,0.045949],[0.023680,-0.058253,0.998021]] 2025-10-27T06:08:30.889Z,1761545310.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503983 s, deltaX: 0.099999 m, approachRate: 0.198418 m/s, rangeRepo size: 4 2025-10-27T06:08:30.906Z,1761545310.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.610101 m, bearing: 99.418856 deg, lat: 36.779425 deg, lon: -121.859808 deg, deltaT: 0.503983 s, deltaX: 0.099347 m, approachRate: 0.197124 m/s, posRepo size: 4 2025-10-27T06:08:30.911Z,1761545310.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T06:08:31.021Z,1761545311.021 [DAT](INFO): DAT read: Rx Time:06:08:29.7193 2025-10-27T06:08:31.022Z,1761545311.022 [DAT](INFO): Rx dataTimestamp_ set to:1761545311.021279 2025-10-27T06:08:31.024Z,1761545311.024 [DAT](INFO): DAT read: Bearing 284.5, 15.0 (Local) 2025-10-27T06:08:31.024Z,1761545311.024 [DAT](INFO): Local bearing/azimuth received: Bearing 284.5, 15.0 (Local) 2025-10-27T06:08:31.027Z,1761545311.027 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-27T06:08:31.032Z,1761545311.032 [DAT](INFO): DAT read: 06:08:29.7193 LVL= 27120, 22241, 32754, 32755, AGC= 61, IDX= 499, 0.32,-1.228, 0.354,-1.708,-0.756, PHS=-0.370, 1.155,-0.995, RAW= 346.4, 2.2, CAL= 346.0, -0.7, ROT= 164.0, 0.7 2025-10-27T06:08:31.033Z,1761545311.033 [DAT](INFO): got valid direction response: 06:08:29.7193 LVL= 27120, 22241, 32754, 32755, AGC= 61, IDX= 499, 0.32,-1.228, 0.354,-1.708,-0.756, PHS=-0.370, 1.155,-0.995, RAW= 346.4, 2.2, CAL= 346.0, -0.7, ROT= 164.0, 0.7 2025-10-27T06:08:31.034Z,1761545311.034 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T06:08:31.034Z,1761545311.034 [DAT](INFO): direction in FSK: [-0.961190,0.275617,-0.012217] 2025-10-27T06:08:31.035Z,1761545311.035 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:31.038Z,1761545311.038 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.599629 2025-10-27T06:08:31.216Z,1761545311.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421515,0.905829,0.042421],[-0.906517,0.419700,0.045590],[0.023492,-0.057672,0.998059]] 2025-10-27T06:08:31.244Z,1761545311.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504530 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:31.246Z,1761545311.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.610101 m, bearing: 98.987167 deg, lat: 36.779426 deg, lon: -121.859808 deg, deltaT: 0.504530 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:31.246Z,1761545311.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T06:08:31.272Z,1761545311.272 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.833070 2025-10-27T06:08:31.525Z,1761545311.525 [DAT](INFO): DAT read: Rx Time:06:08:30.2194 2025-10-27T06:08:31.525Z,1761545311.525 [DAT](INFO): Rx dataTimestamp_ set to:1761545311.524713 2025-10-27T06:08:31.526Z,1761545311.526 [DAT](INFO): DAT read: Bearing 285.2, 14.9 (Local) 2025-10-27T06:08:31.527Z,1761545311.527 [DAT](INFO): Local bearing/azimuth received: Bearing 285.2, 14.9 (Local) 2025-10-27T06:08:31.529Z,1761545311.529 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 2025-10-27T06:08:31.533Z,1761545311.533 [DAT](INFO): DAT read: 06:08:30.2194 LVL= 27600, 18497, 31202, 32755, AGC= 59, IDX= 501,-0.24,-1.874,-0.276,-2.355,-1.415, PHS=-0.358, 1.184,-0.984, RAW= 346.3, 1.7, CAL= 345.9, -1.3, ROT= 164.1, 1.3 2025-10-27T06:08:31.534Z,1761545311.534 [DAT](INFO): got valid direction response: 06:08:30.2194 LVL= 27600, 18497, 31202, 32755, AGC= 59, IDX= 501,-0.24,-1.874,-0.276,-2.355,-1.415, PHS=-0.358, 1.184,-0.984, RAW= 346.3, 1.7, CAL= 345.9, -1.3, ROT= 164.1, 1.3 2025-10-27T06:08:31.540Z,1761545311.540 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T06:08:31.541Z,1761545311.541 [DAT](INFO): direction in FSK: [-0.961494,0.273889,-0.022687] 2025-10-27T06:08:31.541Z,1761545311.541 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:31.545Z,1761545311.545 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.105936 2025-10-27T06:08:31.636Z,1761545311.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423994,0.904714,0.041500],[-0.905368,0.422236,0.045001],[0.023190,-0.056653,0.998125]] 2025-10-27T06:08:31.757Z,1761545311.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503434 s, deltaX: 0.200000 m, approachRate: 0.397271 m/s, rangeRepo size: 4 2025-10-27T06:08:31.768Z,1761545311.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.808904 m, bearing: 99.271513 deg, lat: 36.779426 deg, lon: -121.859808 deg, deltaT: 0.503434 s, deltaX: 0.198803 m, approachRate: 0.394894 m/s, posRepo size: 4 2025-10-27T06:08:31.768Z,1761545311.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:31.776Z,1761545311.776 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.337155 2025-10-27T06:08:32.031Z,1761545312.031 [DAT](INFO): DAT read: Rx Time:06:08:30.7194 2025-10-27T06:08:32.032Z,1761545312.032 [DAT](INFO): Rx dataTimestamp_ set to:1761545312.031250 2025-10-27T06:08:32.033Z,1761545312.033 [DAT](INFO): DAT read: Bearing 284.7, 15.8 (Local) 2025-10-27T06:08:32.033Z,1761545312.033 [DAT](INFO): Local bearing/azimuth received: Bearing 284.7, 15.8 (Local) 2025-10-27T06:08:32.035Z,1761545312.035 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.1 2025-10-27T06:08:32.040Z,1761545312.040 [DAT](INFO): DAT read: 06:08:30.7194 LVL= 28256, 22193, 32754, 32755, AGC= 60, IDX= 500, 0.04,-1.409, 0.154,-1.921,-0.955, PHS=-0.353, 1.153,-1.011, RAW= 347.2, 2.2, CAL= 346.8, -0.8, ROT= 163.2, 0.8 2025-10-27T06:08:32.041Z,1761545312.041 [DAT](INFO): got valid direction response: 06:08:30.7194 LVL= 28256, 22193, 32754, 32755, AGC= 60, IDX= 500, 0.04,-1.409, 0.154,-1.921,-0.955, PHS=-0.353, 1.153,-1.011, RAW= 347.2, 2.2, CAL= 346.8, -0.8, ROT= 163.2, 0.8 2025-10-27T06:08:32.041Z,1761545312.041 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T06:08:32.042Z,1761545312.042 [DAT](INFO): direction in FSK: [-0.957226,0.289004,-0.013962] 2025-10-27T06:08:32.043Z,1761545312.043 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:32.047Z,1761545312.047 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.607757 2025-10-27T06:08:32.154Z,1761545312.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425651,0.903966,0.040829],[-0.904600,0.423947,0.044356],[0.022787,-0.055814,0.998181]] 2025-10-27T06:08:32.198Z,1761545312.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.506537 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:32.200Z,1761545312.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.808904 m, bearing: 98.450965 deg, lat: 36.779426 deg, lon: -121.859808 deg, deltaT: 0.506537 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:32.201Z,1761545312.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:32.281Z,1761545312.281 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.842309 2025-10-27T06:08:32.515Z,1761545312.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427309,0.903210,0.040231],[-0.903828,0.425653,0.043752],[0.022393,-0.055057,0.998232]] 2025-10-27T06:08:32.533Z,1761545312.533 [DAT](INFO): DAT read: Rx Time:06:08:31.2194 2025-10-27T06:08:32.533Z,1761545312.533 [DAT](INFO): Rx dataTimestamp_ set to:1761545312.532728 2025-10-27T06:08:32.534Z,1761545312.534 [DAT](INFO): DAT read: Bearing 284.8, 16.4 (Local) 2025-10-27T06:08:32.535Z,1761545312.535 [DAT](INFO): Local bearing/azimuth received: Bearing 284.8, 16.4 (Local) 2025-10-27T06:08:32.537Z,1761545312.537 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.1 2025-10-27T06:08:32.545Z,1761545312.545 [DAT](INFO): DAT read: 06:08:31.2194 LVL= 28400, 21825, 32754, 32755, AGC= 60, IDX= 500, 0.33,-1.155, 0.397,-1.689,-0.712, PHS=-0.341, 1.154,-1.021, RAW= 347.8, 2.2, CAL= 347.3, -0.8, ROT= 162.7, 0.8 2025-10-27T06:08:32.546Z,1761545312.546 [DAT](INFO): got valid direction response: 06:08:31.2194 LVL= 28400, 21825, 32754, 32755, AGC= 60, IDX= 500, 0.33,-1.155, 0.397,-1.689,-0.712, PHS=-0.341, 1.154,-1.021, RAW= 347.8, 2.2, CAL= 347.3, -0.8, ROT= 162.7, 0.8 2025-10-27T06:08:32.547Z,1761545312.547 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T06:08:32.548Z,1761545312.548 [DAT](INFO): direction in FSK: [-0.954668,0.297346,-0.013962] 2025-10-27T06:08:32.548Z,1761545312.548 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:32.556Z,1761545312.556 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.117246 2025-10-27T06:08:32.664Z,1761545312.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.501478 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:32.666Z,1761545312.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.808907 m, bearing: 98.054858 deg, lat: 36.779427 deg, lon: -121.859806 deg, deltaT: 0.501478 s, deltaX: 0.000003 m, approachRate: 0.000006 m/s, posRepo size: 4 2025-10-27T06:08:32.671Z,1761545312.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:32.784Z,1761545312.784 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.345325 2025-10-27T06:08:32.932Z,1761545312.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429052,0.902408,0.039679],[-0.903014,0.427445,0.043096],[0.021929,-0.054321,0.998283]] 2025-10-27T06:08:32.976Z,1761545312.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:33.037Z,1761545313.037 [DAT](INFO): DAT read: Rx Time:06:08:31.7193 2025-10-27T06:08:33.038Z,1761545313.038 [DAT](INFO): Rx dataTimestamp_ set to:1761545313.037892 2025-10-27T06:08:33.040Z,1761545313.040 [DAT](INFO): DAT read: Bearing 285.2, 16.5 (Local) 2025-10-27T06:08:33.040Z,1761545313.040 [DAT](INFO): Local bearing/azimuth received: Bearing 285.2, 16.5 (Local) 2025-10-27T06:08:33.043Z,1761545313.043 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-27T06:08:33.056Z,1761545313.056 [DAT](INFO): DAT read: 06:08:31.7193 LVL= 26352, 21793, 32754, 32755, AGC= 60, IDX= 500,-0.26, 2.730,-1.994, 2.190,-3.115, PHS=-0.336, 1.166,-1.022, RAW= 347.8, 2.0, CAL= 347.4, -1.0, ROT= 162.6, 1.0 2025-10-27T06:08:33.058Z,1761545313.058 [DAT](INFO): got valid direction response: 06:08:31.7193 LVL= 26352, 21793, 32754, 32755, AGC= 60, IDX= 500,-0.26, 2.730,-1.994, 2.190,-3.115, PHS=-0.336, 1.166,-1.022, RAW= 347.8, 2.0, CAL= 347.4, -1.0, ROT= 162.6, 1.0 2025-10-27T06:08:33.058Z,1761545313.058 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T06:08:33.079Z,1761545313.079 [DAT](INFO): direction in FSK: [-0.954095,0.298995,-0.017452] 2025-10-27T06:08:33.079Z,1761545313.079 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:33.092Z,1761545313.092 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.653005 2025-10-27T06:08:33.288Z,1761545313.288 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.849139 2025-10-27T06:08:33.327Z,1761545313.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430451,0.901717,0.040228],[-0.902352,0.428824,0.043256],[0.021754,-0.054919,0.998254]] 2025-10-27T06:08:33.432Z,1761545313.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.505164 s, deltaX: -0.200000 m, approachRate: -0.395911 m/s, rangeRepo size: 4 2025-10-27T06:08:33.434Z,1761545313.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.610129 m, bearing: 98.163373 deg, lat: 36.779428 deg, lon: -121.859806 deg, deltaT: 0.505164 s, deltaX: -0.198777 m, approachRate: -0.393490 m/s, posRepo size: 4 2025-10-27T06:08:33.434Z,1761545313.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-27T06:08:33.541Z,1761545313.541 [DAT](INFO): DAT read: Rx Time:06:08:32.2195 2025-10-27T06:08:33.541Z,1761545313.541 [DAT](INFO): Rx dataTimestamp_ set to:1761545313.540931 2025-10-27T06:08:33.542Z,1761545313.542 [DAT](INFO): DAT read: Bearing 285.3, 17.0 (Local) 2025-10-27T06:08:33.549Z,1761545313.549 [DAT](INFO): Local bearing/azimuth received: Bearing 285.3, 17.0 (Local) 2025-10-27T06:08:33.552Z,1761545313.552 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-27T06:08:33.558Z,1761545313.558 [DAT](INFO): DAT read: 06:08:32.2195 LVL= 27728, 21489, 32754, 32755, AGC= 60, IDX= 501, 0.01,-1.562,-0.021,-2.120,-1.139, PHS=-0.321, 1.162,-1.025, RAW= 348.4, 1.9, CAL= 347.9, -1.1, ROT= 162.1, 1.1 2025-10-27T06:08:33.559Z,1761545313.559 [DAT](INFO): got valid direction response: 06:08:32.2195 LVL= 27728, 21489, 32754, 32755, AGC= 60, IDX= 501, 0.01,-1.562,-0.021,-2.120,-1.139, PHS=-0.321, 1.162,-1.025, RAW= 348.4, 1.9, CAL= 347.9, -1.1, ROT= 162.1, 1.1 2025-10-27T06:08:33.559Z,1761545313.559 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T06:08:33.560Z,1761545313.560 [DAT](INFO): direction in FSK: [-0.951419,0.307300,-0.019197] 2025-10-27T06:08:33.560Z,1761545313.560 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:33.569Z,1761545313.569 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.129988 2025-10-27T06:08:33.792Z,1761545313.792 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.353353 2025-10-27T06:08:33.797Z,1761545313.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503039 s, deltaX: 0.300000 m, approachRate: 0.596376 m/s, rangeRepo size: 4 2025-10-27T06:08:33.815Z,1761545313.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.908272 m, bearing: 97.667797 deg, lat: 36.779428 deg, lon: -121.859806 deg, deltaT: 0.503039 s, deltaX: 0.298142 m, approachRate: 0.592683 m/s, posRepo size: 4 2025-10-27T06:08:33.816Z,1761545313.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:34.045Z,1761545314.045 [DAT](INFO): DAT read: Rx Time:06:08:32.7194 2025-10-27T06:08:34.046Z,1761545314.046 [DAT](INFO): Rx dataTimestamp_ set to:1761545314.045487 2025-10-27T06:08:34.047Z,1761545314.047 [DAT](INFO): DAT read: Bearing 285.5, 17.4 (Local) 2025-10-27T06:08:34.047Z,1761545314.047 [DAT](INFO): Local bearing/azimuth received: Bearing 285.5, 17.4 (Local) 2025-10-27T06:08:34.049Z,1761545314.049 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 2025-10-27T06:08:34.054Z,1761545314.054 [DAT](INFO): DAT read: 06:08:32.7194 LVL= 26192, 20465, 32754, 32755, AGC= 61, IDX= 500, 0.29,-2.137,-0.608,-2.704,-1.724, PHS=-0.310, 1.161,-1.024, RAW= 348.7, 1.8, CAL= 348.2, -1.2, ROT= 161.8, 1.2 2025-10-27T06:08:34.062Z,1761545314.062 [DAT](INFO): got valid direction response: 06:08:32.7194 LVL= 26192, 20465, 32754, 32755, AGC= 61, IDX= 500, 0.29,-2.137,-0.608,-2.704,-1.724, PHS=-0.310, 1.161,-1.024, RAW= 348.7, 1.8, CAL= 348.2, -1.2, ROT= 161.8, 1.2 2025-10-27T06:08:34.062Z,1761545314.062 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T06:08:34.063Z,1761545314.063 [DAT](INFO): direction in FSK: [-0.949764,0.312266,-0.020942] 2025-10-27T06:08:34.063Z,1761545314.063 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:34.079Z,1761545314.079 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.640487 2025-10-27T06:08:34.142Z,1761545314.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434033,0.899910,0.042166],[-0.900658,0.432364,0.043324],[0.020757,-0.056781,0.998171]] 2025-10-27T06:08:34.185Z,1761545314.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504556 s, deltaX: -0.100000 m, approachRate: -0.198195 m/s, rangeRepo size: 4 2025-10-27T06:08:34.191Z,1761545314.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.808883 m, bearing: 97.604020 deg, lat: 36.779429 deg, lon: -121.859806 deg, deltaT: 0.504556 s, deltaX: -0.099389 m, approachRate: -0.196983 m/s, posRepo size: 4 2025-10-27T06:08:34.192Z,1761545314.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:34.297Z,1761545314.297 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.857840 2025-10-27T06:08:34.549Z,1761545314.549 [DAT](INFO): DAT read: Rx Time:06:08:33.2195 2025-10-27T06:08:34.549Z,1761545314.549 [DAT](INFO): Rx dataTimestamp_ set to:1761545314.548700 2025-10-27T06:08:34.550Z,1761545314.550 [DAT](INFO): DAT read: Bearing 285.9, 17.2 (Local) 2025-10-27T06:08:34.551Z,1761545314.551 [DAT](INFO): Local bearing/azimuth received: Bearing 285.9, 17.2 (Local) 2025-10-27T06:08:34.553Z,1761545314.553 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.1 2025-10-27T06:08:34.557Z,1761545314.557 [DAT](INFO): DAT read: 06:08:33.2195 LVL= 25040, 20545, 32754, 32755, AGC= 62, IDX= 502,-0.33,-2.841,-1.304, 2.880,-2.433, PHS=-0.307, 1.174,-1.015, RAW= 348.5, 1.5, CAL= 348.0, -1.5, ROT= 162.0, 1.5 2025-10-27T06:08:34.558Z,1761545314.558 [DAT](INFO): got valid direction response: 06:08:33.2195 LVL= 25040, 20545, 32754, 32755, AGC= 62, IDX= 502,-0.33,-2.841,-1.304, 2.880,-2.433, PHS=-0.307, 1.174,-1.015, RAW= 348.5, 1.5, CAL= 348.0, -1.5, ROT= 162.0, 1.5 2025-10-27T06:08:34.559Z,1761545314.559 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T06:08:34.560Z,1761545314.560 [DAT](INFO): direction in FSK: [-0.950731,0.308911,-0.026177] 2025-10-27T06:08:34.560Z,1761545314.560 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:34.564Z,1761545314.564 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.124955 2025-10-27T06:08:34.693Z,1761545314.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503213 s, deltaX: 0.100000 m, approachRate: 0.198724 m/s, rangeRepo size: 4 2025-10-27T06:08:34.699Z,1761545314.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.908278 m, bearing: 97.818407 deg, lat: 36.779429 deg, lon: -121.859806 deg, deltaT: 0.503213 s, deltaX: 0.099395 m, approachRate: 0.197520 m/s, posRepo size: 4 2025-10-27T06:08:34.700Z,1761545314.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:34.801Z,1761545314.801 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.361934 2025-10-27T06:08:34.942Z,1761545314.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437831,0.898074,0.042037],[-0.898846,0.436235,0.042133],[0.019501,-0.056232,0.998227]] 2025-10-27T06:08:34.988Z,1761545314.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:35.053Z,1761545315.053 [DAT](INFO): DAT read: Rx Time:06:08:33.7194 2025-10-27T06:08:35.054Z,1761545315.054 [DAT](INFO): Rx dataTimestamp_ set to:1761545315.053373 2025-10-27T06:08:35.056Z,1761545315.056 [DAT](INFO): DAT read: Bearing 285.3, 17.0 (Local) 2025-10-27T06:08:35.056Z,1761545315.056 [DAT](INFO): Local bearing/azimuth received: Bearing 285.3, 17.0 (Local) 2025-10-27T06:08:35.059Z,1761545315.059 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 2025-10-27T06:08:35.065Z,1761545315.065 [DAT](INFO): DAT read: 06:08:33.7194 LVL= 25024, 24673, 32754, 32755, AGC= 63, IDX= 501,-0.13, 2.608,-2.142, 2.052, 3.036, PHS=-0.326, 1.150,-1.028, RAW= 348.4, 2.2, CAL= 347.9, -0.8, ROT= 162.1, 0.8 2025-10-27T06:08:35.066Z,1761545315.066 [DAT](INFO): got valid direction response: 06:08:33.7194 LVL= 25024, 24673, 32754, 32755, AGC= 63, IDX= 501,-0.13, 2.608,-2.142, 2.052, 3.036, PHS=-0.326, 1.150,-1.028, RAW= 348.4, 2.2, CAL= 347.9, -0.8, ROT= 162.1, 0.8 2025-10-27T06:08:35.066Z,1761545315.066 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T06:08:35.067Z,1761545315.067 [DAT](INFO): direction in FSK: [-0.951502,0.307327,-0.013962] 2025-10-27T06:08:35.067Z,1761545315.067 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:35.074Z,1761545315.074 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.635068 2025-10-27T06:08:35.304Z,1761545315.304 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.865193 2025-10-27T06:08:35.374Z,1761545315.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439450,0.897296,0.041766],[-0.898064,0.437886,0.041684],[0.019114,-0.055826,0.998258]] 2025-10-27T06:08:35.492Z,1761545315.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504673 s, deltaX: -0.100000 m, approachRate: -0.198149 m/s, rangeRepo size: 4 2025-10-27T06:08:35.494Z,1761545315.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.808888 m, bearing: 98.229106 deg, lat: 36.779428 deg, lon: -121.859806 deg, deltaT: 0.504673 s, deltaX: -0.099389 m, approachRate: -0.196938 m/s, posRepo size: 4 2025-10-27T06:08:35.494Z,1761545315.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:35.558Z,1761545315.558 [DAT](INFO): DAT read: Rx Time:06:08:34.2196 2025-10-27T06:08:35.559Z,1761545315.559 [DAT](INFO): Rx dataTimestamp_ set to:1761545315.558298 2025-10-27T06:08:35.561Z,1761545315.561 [DAT](INFO): DAT read: Bearing 285.4, 17.3 (Local) 2025-10-27T06:08:35.561Z,1761545315.561 [DAT](INFO): Local bearing/azimuth received: Bearing 285.4, 17.3 (Local) 2025-10-27T06:08:35.564Z,1761545315.564 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 2025-10-27T06:08:35.574Z,1761545315.574 [DAT](INFO): DAT read: 06:08:34.2196 LVL= 25360, 26241, 32754, 32755, AGC= 63, IDX= 502, 0.01,-1.940,-0.416,-2.508,-1.521, PHS=-0.317, 1.150,-1.032, RAW= 348.7, 2.1, CAL= 348.3, -0.9, ROT= 161.7, 0.9 2025-10-27T06:08:35.576Z,1761545315.576 [DAT](INFO): got valid direction response: 06:08:34.2196 LVL= 25360, 26241, 32754, 32755, AGC= 63, IDX= 502, 0.01,-1.940,-0.416,-2.508,-1.521, PHS=-0.317, 1.150,-1.032, RAW= 348.7, 2.1, CAL= 348.3, -0.9, ROT= 161.7, 0.9 2025-10-27T06:08:35.576Z,1761545315.576 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T06:08:35.577Z,1761545315.577 [DAT](INFO): direction in FSK: [-0.949308,0.313954,-0.015707] 2025-10-27T06:08:35.577Z,1761545315.577 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:35.590Z,1761545315.590 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.151301 2025-10-27T06:08:35.755Z,1761545315.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440864,0.896602,0.041755],[-0.897378,0.439320,0.041348],[0.018729,-0.055699,0.998272]] 2025-10-27T06:08:35.808Z,1761545315.808 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.369167 2025-10-27T06:08:35.827Z,1761545315.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504925 s, deltaX: 0.300000 m, approachRate: 0.594148 m/s, rangeRepo size: 4 2025-10-27T06:08:35.829Z,1761545315.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.107086 m, bearing: 97.923996 deg, lat: 36.779428 deg, lon: -121.859805 deg, deltaT: 0.504925 s, deltaX: 0.298198 m, approachRate: 0.590578 m/s, posRepo size: 4 2025-10-27T06:08:35.830Z,1761545315.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T06:08:36.061Z,1761545316.061 [DAT](INFO): DAT read: Rx Time:06:08:34.7195 2025-10-27T06:08:36.061Z,1761545316.061 [DAT](INFO): Rx dataTimestamp_ set to:1761545316.060718 2025-10-27T06:08:36.062Z,1761545316.062 [DAT](INFO): DAT read: Bearing 285.8, 17.7 (Local) 2025-10-27T06:08:36.063Z,1761545316.063 [DAT](INFO): Local bearing/azimuth received: Bearing 285.8, 17.7 (Local) 2025-10-27T06:08:36.065Z,1761545316.065 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-27T06:08:36.069Z,1761545316.069 [DAT](INFO): DAT read: 06:08:34.7195 LVL= 27248, 23441, 32754, 32755, AGC= 61, IDX= 501, 0.12,-2.203,-0.694,-2.783,-1.801, PHS=-0.300, 1.152,-1.026, RAW= 349.1, 1.8, CAL= 348.7, -1.2, ROT= 161.3, 1.2 2025-10-27T06:08:36.070Z,1761545316.070 [DAT](INFO): got valid direction response: 06:08:34.7195 LVL= 27248, 23441, 32754, 32755, AGC= 61, IDX= 501, 0.12,-2.203,-0.694,-2.783,-1.801, PHS=-0.300, 1.152,-1.026, RAW= 349.1, 1.8, CAL= 348.7, -1.2, ROT= 161.3, 1.2 2025-10-27T06:08:36.075Z,1761545316.075 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T06:08:36.076Z,1761545316.076 [DAT](INFO): direction in FSK: [-0.947003,0.320543,-0.020942] 2025-10-27T06:08:36.076Z,1761545316.076 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:36.080Z,1761545316.080 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.641225 2025-10-27T06:08:36.154Z,1761545316.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441919,0.896076,0.041895],[-0.896863,0.440377,0.041290],[0.018549,-0.055821,0.998269]] 2025-10-27T06:08:36.213Z,1761545316.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.502420 s, deltaX: -0.200000 m, approachRate: -0.398073 m/s, rangeRepo size: 4 2025-10-27T06:08:36.216Z,1761545316.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.908309 m, bearing: 97.605721 deg, lat: 36.779428 deg, lon: -121.859805 deg, deltaT: 0.502420 s, deltaX: -0.198777 m, approachRate: -0.395640 m/s, posRepo size: 4 2025-10-27T06:08:36.217Z,1761545316.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:36.312Z,1761545316.312 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.873610 2025-10-27T06:08:36.558Z,1761545316.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442847,0.895603,0.042205],[-0.896408,0.441295,0.041375],[0.018431,-0.056155,0.998252]] 2025-10-27T06:08:36.565Z,1761545316.565 [DAT](INFO): DAT read: Rx Time:06:08:35.2195 2025-10-27T06:08:36.565Z,1761545316.565 [DAT](INFO): Rx dataTimestamp_ set to:1761545316.564816 2025-10-27T06:08:36.566Z,1761545316.566 [DAT](INFO): DAT read: Bearing 285.1, 17.6 (Local) 2025-10-27T06:08:36.567Z,1761545316.567 [DAT](INFO): Local bearing/azimuth received: Bearing 285.1, 17.6 (Local) 2025-10-27T06:08:36.569Z,1761545316.569 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-27T06:08:36.578Z,1761545316.578 [DAT](INFO): DAT read: 06:08:35.2195 LVL= 26672, 25073, 32754, 32755, AGC= 63, IDX= 501, 0.15,-1.724,-0.223,-2.301,-1.304, PHS=-0.318, 1.126,-1.041, RAW= 349.1, 2.5, CAL= 348.7, -0.5, ROT= 161.3, 0.5 2025-10-27T06:08:36.580Z,1761545316.580 [DAT](INFO): got valid direction response: 06:08:35.2195 LVL= 26672, 25073, 32754, 32755, AGC= 63, IDX= 501, 0.15,-1.724,-0.223,-2.301,-1.304, PHS=-0.318, 1.126,-1.041, RAW= 349.1, 2.5, CAL= 348.7, -0.5, ROT= 161.3, 0.5 2025-10-27T06:08:36.580Z,1761545316.580 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T06:08:36.581Z,1761545316.581 [DAT](INFO): direction in FSK: [-0.947174,0.320601,-0.008727] 2025-10-27T06:08:36.581Z,1761545316.581 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:36.601Z,1761545316.601 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.162384 2025-10-27T06:08:36.724Z,1761545316.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:36.727Z,1761545316.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.908335 m, bearing: 97.632564 deg, lat: 36.779428 deg, lon: -121.859804 deg, deltaT: 0.504098 s, deltaX: 0.000026 m, approachRate: 0.000051 m/s, posRepo size: 4 2025-10-27T06:08:36.732Z,1761545316.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:36.816Z,1761545316.816 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.377358 2025-10-27T06:08:36.976Z,1761545316.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443469,0.895278,0.042571],[-0.896099,0.441894,0.041682],[0.018505,-0.056632,0.998224]] 2025-10-27T06:08:36.995Z,1761545316.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:37.069Z,1761545317.069 [DAT](INFO): DAT read: Rx Time:06:08:35.7194 2025-10-27T06:08:37.070Z,1761545317.070 [DAT](INFO): Rx dataTimestamp_ set to:1761545317.069518 2025-10-27T06:08:37.072Z,1761545317.072 [DAT](INFO): DAT read: Bearing 285.3, 17.9 (Local) 2025-10-27T06:08:37.072Z,1761545317.072 [DAT](INFO): Local bearing/azimuth received: Bearing 285.3, 17.9 (Local) 2025-10-27T06:08:37.075Z,1761545317.075 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 2025-10-27T06:08:37.081Z,1761545317.081 [DAT](INFO): DAT read: 06:08:35.7194 LVL= 26608, 24161, 32754, 32755, AGC= 63, IDX= 500, 0.21,-2.501,-1.000,-3.092,-2.089, PHS=-0.310, 1.135,-1.047, RAW= 349.4, 2.3, CAL= 348.9, -0.7, ROT= 161.1, 0.7 2025-10-27T06:08:37.082Z,1761545317.082 [DAT](INFO): got valid direction response: 06:08:35.7194 LVL= 26608, 24161, 32754, 32755, AGC= 63, IDX= 500, 0.21,-2.501,-1.000,-3.092,-2.089, PHS=-0.310, 1.135,-1.047, RAW= 349.4, 2.3, CAL= 348.9, -0.7, ROT= 161.1, 0.7 2025-10-27T06:08:37.082Z,1761545317.082 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T06:08:37.088Z,1761545317.088 [DAT](INFO): direction in FSK: [-0.946015,0.323893,-0.012217] 2025-10-27T06:08:37.089Z,1761545317.089 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:37.094Z,1761545317.094 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.655565 2025-10-27T06:08:37.320Z,1761545317.320 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.881095 2025-10-27T06:08:37.433Z,1761545317.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443721,0.895143,0.042787],[-0.895967,0.442116,0.042142],[0.018806,-0.057035,0.998195]] 2025-10-27T06:08:37.511Z,1761545317.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504702 s, deltaX: -0.100000 m, approachRate: -0.198137 m/s, rangeRepo size: 4 2025-10-27T06:08:37.513Z,1761545317.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.808946 m, bearing: 97.499205 deg, lat: 36.779428 deg, lon: -121.859804 deg, deltaT: 0.504702 s, deltaX: -0.099389 m, approachRate: -0.196926 m/s, posRepo size: 4 2025-10-27T06:08:37.514Z,1761545317.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:37.574Z,1761545317.574 [DAT](INFO): DAT read: Rx Time:06:08:36.2195 2025-10-27T06:08:37.574Z,1761545317.574 [DAT](INFO): Rx dataTimestamp_ set to:1761545317.574030 2025-10-27T06:08:37.580Z,1761545317.580 [DAT](INFO): DAT read: Bearing 285.0, 18.1 (Local) 2025-10-27T06:08:37.580Z,1761545317.580 [DAT](INFO): Local bearing/azimuth received: Bearing 285.0, 18.1 (Local) 2025-10-27T06:08:37.582Z,1761545317.582 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-27T06:08:37.587Z,1761545317.587 [DAT](INFO): DAT read: 06:08:36.2195 LVL= 25936, 27121, 32754, 32755, AGC= 61, IDX= 501, 0.25,-0.321, 1.171,-0.921, 0.096, PHS=-0.315, 1.120,-1.061, RAW= 349.7, 2.7, CAL= 349.2, -0.3, ROT= 160.8, 0.3 2025-10-27T06:08:37.588Z,1761545317.588 [DAT](INFO): got valid direction response: 06:08:36.2195 LVL= 25936, 27121, 32754, 32755, AGC= 61, IDX= 501, 0.25,-0.321, 1.171,-0.921, 0.096, PHS=-0.315, 1.120,-1.061, RAW= 349.7, 2.7, CAL= 349.2, -0.3, ROT= 160.8, 0.3 2025-10-27T06:08:37.588Z,1761545317.588 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T06:08:37.589Z,1761545317.589 [DAT](INFO): direction in FSK: [-0.944363,0.328862,-0.005236] 2025-10-27T06:08:37.590Z,1761545317.590 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:37.617Z,1761545317.617 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.178514 2025-10-27T06:08:37.771Z,1761545317.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443872,0.895076,0.042615],[-0.895885,0.442249,0.042508],[0.019201,-0.057046,0.998187]] 2025-10-27T06:08:37.812Z,1761545317.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504512 s, deltaX: 0.100000 m, approachRate: 0.198212 m/s, rangeRepo size: 4 2025-10-27T06:08:37.814Z,1761545317.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.908325 m, bearing: 97.189638 deg, lat: 36.779428 deg, lon: -121.859804 deg, deltaT: 0.504512 s, deltaX: 0.099380 m, approachRate: 0.196982 m/s, posRepo size: 4 2025-10-27T06:08:37.814Z,1761545317.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:37.824Z,1761545317.824 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.385271 2025-10-27T06:08:38.076Z,1761545318.076 [DAT](INFO): DAT read: Rx Time:06:08:36.7194 2025-10-27T06:08:38.077Z,1761545318.077 [DAT](INFO): Rx dataTimestamp_ set to:1761545318.076663 2025-10-27T06:08:38.078Z,1761545318.078 [DAT](INFO): DAT read: Bearing 285.5, 18.2 (Local) 2025-10-27T06:08:38.079Z,1761545318.079 [DAT](INFO): Local bearing/azimuth received: Bearing 285.5, 18.2 (Local) 2025-10-27T06:08:38.081Z,1761545318.081 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 2025-10-27T06:08:38.085Z,1761545318.085 [DAT](INFO): DAT read: 06:08:36.7194 LVL= 26352, 22513, 32754, 32755, AGC= 61, IDX= 500, 0.40,-2.408,-0.914,-3.014,-2.008, PHS=-0.298, 1.139,-1.049, RAW= 349.8, 2.2, CAL= 349.3, -0.8, ROT= 160.7, 0.8 2025-10-27T06:08:38.086Z,1761545318.086 [DAT](INFO): got valid direction response: 06:08:36.7194 LVL= 26352, 22513, 32754, 32755, AGC= 61, IDX= 500, 0.40,-2.408,-0.914,-3.014,-2.008, PHS=-0.298, 1.139,-1.049, RAW= 349.8, 2.2, CAL= 349.3, -0.8, ROT= 160.7, 0.8 2025-10-27T06:08:38.087Z,1761545318.087 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T06:08:38.088Z,1761545318.088 [DAT](INFO): direction in FSK: [-0.943709,0.330482,-0.013962] 2025-10-27T06:08:38.088Z,1761545318.088 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:38.092Z,1761545318.092 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.653074 2025-10-27T06:08:38.174Z,1761545318.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443794,0.895139,0.042107],[-0.895913,0.442167,0.042751],[0.019650,-0.056697,0.998198]] 2025-10-27T06:08:38.222Z,1761545318.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.502633 s, deltaX: -0.100000 m, approachRate: -0.198953 m/s, rangeRepo size: 4 2025-10-27T06:08:38.232Z,1761545318.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.808936 m, bearing: 97.107746 deg, lat: 36.779428 deg, lon: -121.859804 deg, deltaT: 0.502633 s, deltaX: -0.099389 m, approachRate: -0.197737 m/s, posRepo size: 4 2025-10-27T06:08:38.233Z,1761545318.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:38.329Z,1761545318.329 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.889956 2025-10-27T06:08:38.580Z,1761545318.580 [DAT](INFO): DAT read: Rx Time:06:08:37.2195 2025-10-27T06:08:38.581Z,1761545318.581 [DAT](INFO): Rx dataTimestamp_ set to:1761545318.580660 2025-10-27T06:08:38.582Z,1761545318.582 [DAT](INFO): DAT read: Bearing 285.5, 17.5 (Local) 2025-10-27T06:08:38.583Z,1761545318.583 [DAT](INFO): Local bearing/azimuth received: Bearing 285.5, 17.5 (Local) 2025-10-27T06:08:38.585Z,1761545318.585 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-27T06:08:38.589Z,1761545318.589 [DAT](INFO): DAT read: 06:08:37.2195 LVL= 25296, 22993, 32754, 32755, AGC= 61, IDX= 502,-0.37, 3.065,-1.707, 2.482,-2.802, PHS=-0.314, 1.140,-1.043, RAW= 349.1, 2.3, CAL= 348.7, -0.7, ROT= 161.3, 0.7 2025-10-27T06:08:38.590Z,1761545318.590 [DAT](INFO): got valid direction response: 06:08:37.2195 LVL= 25296, 22993, 32754, 32755, AGC= 61, IDX= 502,-0.37, 3.065,-1.707, 2.482,-2.802, PHS=-0.314, 1.140,-1.043, RAW= 349.1, 2.3, CAL= 348.7, -0.7, ROT= 161.3, 0.7 2025-10-27T06:08:38.591Z,1761545318.591 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T06:08:38.592Z,1761545318.592 [DAT](INFO): direction in FSK: [-0.947140,0.320589,-0.012217] 2025-10-27T06:08:38.592Z,1761545318.592 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:38.596Z,1761545318.596 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.157118 2025-10-27T06:08:38.785Z,1761545318.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503997 s, deltaX: 0.100000 m, approachRate: 0.198415 m/s, rangeRepo size: 4 2025-10-27T06:08:38.791Z,1761545318.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.908317 m, bearing: 97.703050 deg, lat: 36.779428 deg, lon: -121.859805 deg, deltaT: 0.503997 s, deltaX: 0.099380 m, approachRate: 0.197185 m/s, posRepo size: 4 2025-10-27T06:08:38.792Z,1761545318.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:38.837Z,1761545318.837 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.398436 2025-10-27T06:08:39.033Z,1761545319.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442751,0.895670,0.041787],[-0.896397,0.441053,0.044091],[0.021061,-0.056980,0.998153]] 2025-10-27T06:08:39.060Z,1761545319.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:39.089Z,1761545319.089 [DAT](INFO): DAT read: Rx Time:06:08:37.7194 2025-10-27T06:08:39.089Z,1761545319.089 [DAT](INFO): Rx dataTimestamp_ set to:1761545319.088810 2025-10-27T06:08:39.091Z,1761545319.091 [DAT](INFO): DAT read: Bearing 285.2, 17.4 (Local) 2025-10-27T06:08:39.092Z,1761545319.092 [DAT](INFO): Local bearing/azimuth received: Bearing 285.2, 17.4 (Local) 2025-10-27T06:08:39.094Z,1761545319.094 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 2025-10-27T06:08:39.101Z,1761545319.101 [DAT](INFO): DAT read: 06:08:37.7194 LVL= 28496, 29073, 32754, 32755, AGC= 60, IDX= 501,-0.21, 2.202,-2.569, 1.624, 2.630, PHS=-0.326, 1.130,-1.049, RAW= 349.0, 2.6, CAL= 348.6, -0.4, ROT= 161.4, 0.4 2025-10-27T06:08:39.103Z,1761545319.103 [DAT](INFO): got valid direction response: 06:08:37.7194 LVL= 28496, 29073, 32754, 32755, AGC= 60, IDX= 501,-0.21, 2.202,-2.569, 1.624, 2.630, PHS=-0.326, 1.130,-1.049, RAW= 349.0, 2.6, CAL= 348.6, -0.4, ROT= 161.4, 0.4 2025-10-27T06:08:39.107Z,1761545319.107 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T06:08:39.109Z,1761545319.109 [DAT](INFO): direction in FSK: [-0.947745,0.318952,-0.006981] 2025-10-27T06:08:39.109Z,1761545319.109 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:39.123Z,1761545319.123 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.684452 2025-10-27T06:08:39.340Z,1761545319.340 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.901091 2025-10-27T06:08:39.537Z,1761545319.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.508150 s, deltaX: -0.100000 m, approachRate: -0.196793 m/s, rangeRepo size: 4 2025-10-27T06:08:39.539Z,1761545319.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.808928 m, bearing: 97.722082 deg, lat: 36.779428 deg, lon: -121.859805 deg, deltaT: 0.508150 s, deltaX: -0.099389 m, approachRate: -0.195590 m/s, posRepo size: 4 2025-10-27T06:08:39.540Z,1761545319.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-27T06:08:39.593Z,1761545319.593 [DAT](INFO): DAT read: Rx Time:06:08:38.2197 2025-10-27T06:08:39.594Z,1761545319.594 [DAT](INFO): Rx dataTimestamp_ set to:1761545319.593312 2025-10-27T06:08:39.596Z,1761545319.596 [DAT](INFO): DAT read: Bearing 285.8, 17.6 (Local) 2025-10-27T06:08:39.596Z,1761545319.596 [DAT](INFO): Local bearing/azimuth received: Bearing 285.8, 17.6 (Local) 2025-10-27T06:08:39.604Z,1761545319.604 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:39.611Z,1761545319.611 [DAT](INFO): DAT read: 06:08:38.2197 LVL= 26080, 21809, 32754, 32755, AGC= 60, IDX= 503,-0.01,-1.701,-0.184,-2.290,-1.293, PHS=-0.306, 1.154,-1.040, RAW= 349.2, 2.0, CAL= 348.8, -1.0, ROT= 161.2, 1.0 2025-10-27T06:08:39.613Z,1761545319.613 [DAT](INFO): got valid direction response: 06:08:38.2197 LVL= 26080, 21809, 32754, 32755, AGC= 60, IDX= 503,-0.01,-1.701,-0.184,-2.290,-1.293, PHS=-0.306, 1.154,-1.040, RAW= 349.2, 2.0, CAL= 348.8, -1.0, ROT= 161.2, 1.0 2025-10-27T06:08:39.613Z,1761545319.613 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T06:08:39.614Z,1761545319.614 [DAT](INFO): direction in FSK: [-0.946505,0.322217,-0.017452] 2025-10-27T06:08:39.636Z,1761545319.636 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:39.645Z,1761545319.645 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.206253 2025-10-27T06:08:39.838Z,1761545319.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440875,0.896594,0.041819],[-0.897278,0.439069,0.045938],[0.022827,-0.057776,0.998069]] 2025-10-27T06:08:39.844Z,1761545319.844 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.405077 2025-10-27T06:08:39.979Z,1761545319.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504502 s, deltaX: 0.400001 m, approachRate: 0.792862 m/s, rangeRepo size: 4 2025-10-27T06:08:39.981Z,1761545319.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206498 m, bearing: 97.431348 deg, lat: 36.779427 deg, lon: -121.859805 deg, deltaT: 0.504502 s, deltaX: 0.397571 m, approachRate: 0.788046 m/s, posRepo size: 4 2025-10-27T06:08:39.982Z,1761545319.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:40.096Z,1761545320.096 [DAT](INFO): DAT read: Rx Time:06:08:38.7196 2025-10-27T06:08:40.097Z,1761545320.097 [DAT](INFO): Rx dataTimestamp_ set to:1761545320.096682 2025-10-27T06:08:40.098Z,1761545320.098 [DAT](INFO): DAT read: Bearing 284.8, 17.2 (Local) 2025-10-27T06:08:40.099Z,1761545320.099 [DAT](INFO): Local bearing/azimuth received: Bearing 284.8, 17.2 (Local) 2025-10-27T06:08:40.101Z,1761545320.101 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 2025-10-27T06:08:40.105Z,1761545320.105 [DAT](INFO): DAT read: 06:08:38.7196 LVL= 28144, 31905, 32754, 32755, AGC= 61, IDX= 502, 0.15,-1.847,-0.350,-2.412,-1.408, PHS=-0.337, 1.103,-1.048, RAW= 348.9, 3.0, CAL= 348.5, -0.0, ROT= 161.5, 0.0 2025-10-27T06:08:40.106Z,1761545320.106 [DAT](INFO): got valid direction response: 06:08:38.7196 LVL= 28144, 31905, 32754, 32755, AGC= 61, IDX= 502, 0.15,-1.847,-0.350,-2.412,-1.408, PHS=-0.337, 1.103,-1.048, RAW= 348.9, 3.0, CAL= 348.5, -0.0, ROT= 161.5, 0.0 2025-10-27T06:08:40.107Z,1761545320.107 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T06:08:40.108Z,1761545320.108 [DAT](INFO): direction in FSK: [-0.948324,0.317305,-0.000000] 2025-10-27T06:08:40.108Z,1761545320.108 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:40.112Z,1761545320.112 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.673079 2025-10-27T06:08:40.242Z,1761545320.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439877,0.897101,0.041458],[-0.897743,0.438031,0.046746],[0.023776,-0.057782,0.998046]] 2025-10-27T06:08:40.288Z,1761545320.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503370 s, deltaX: -0.100000 m, approachRate: -0.198662 m/s, rangeRepo size: 4 2025-10-27T06:08:40.290Z,1761545320.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.107109 m, bearing: 97.619975 deg, lat: 36.779426 deg, lon: -121.859805 deg, deltaT: 0.503370 s, deltaX: -0.099389 m, approachRate: -0.197447 m/s, posRepo size: 4 2025-10-27T06:08:40.296Z,1761545320.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T06:08:40.349Z,1761545320.349 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.909765 2025-10-27T06:08:40.600Z,1761545320.600 [DAT](INFO): DAT read: Rx Time:06:08:39.2196 2025-10-27T06:08:40.601Z,1761545320.601 [DAT](INFO): Rx dataTimestamp_ set to:1761545320.600668 2025-10-27T06:08:40.602Z,1761545320.602 [DAT](INFO): DAT read: Bearing 285.2, 16.9 (Local) 2025-10-27T06:08:40.603Z,1761545320.603 [DAT](INFO): Local bearing/azimuth received: Bearing 285.2, 16.9 (Local) 2025-10-27T06:08:40.609Z,1761545320.609 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 2025-10-27T06:08:40.613Z,1761545320.613 [DAT](INFO): DAT read: 06:08:39.2196 LVL= 25360, 27025, 32754, 32755, AGC= 61, IDX= 502, 0.47,-2.340,-0.830,-2.899,-1.903, PHS=-0.335, 1.118,-1.040, RAW= 348.7, 2.7, CAL= 348.2, -0.3, ROT= 161.8, 0.3 2025-10-27T06:08:40.614Z,1761545320.614 [DAT](INFO): got valid direction response: 06:08:39.2196 LVL= 25360, 27025, 32754, 32755, AGC= 61, IDX= 502, 0.47,-2.340,-0.830,-2.899,-1.903, PHS=-0.335, 1.118,-1.040, RAW= 348.7, 2.7, CAL= 348.2, -0.3, ROT= 161.8, 0.3 2025-10-27T06:08:40.618Z,1761545320.618 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T06:08:40.619Z,1761545320.619 [DAT](INFO): direction in FSK: [-0.949959,0.312330,-0.005236] 2025-10-27T06:08:40.626Z,1761545320.626 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:40.630Z,1761545320.630 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.190912 2025-10-27T06:08:40.645Z,1761545320.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438862,0.897638,0.040574],[-0.898212,0.437000,0.047399],[0.024816,-0.057246,0.998052]] 2025-10-27T06:08:40.807Z,1761545320.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503986 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:40.809Z,1761545320.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.107122 m, bearing: 97.868659 deg, lat: 36.779426 deg, lon: -121.859805 deg, deltaT: 0.503986 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 2025-10-27T06:08:40.809Z,1761545320.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T06:08:40.855Z,1761545320.855 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.416061 2025-10-27T06:08:41.065Z,1761545321.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437762,0.898205,0.039910],[-0.898722,0.435879,0.048051],[0.025764,-0.056903,0.998047]] 2025-10-27T06:08:41.090Z,1761545321.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T06:08:41.105Z,1761545321.105 [DAT](INFO): DAT read: Rx Time:06:08:39.7195 2025-10-27T06:08:41.105Z,1761545321.105 [DAT](INFO): Rx dataTimestamp_ set to:1761545321.104739 2025-10-27T06:08:41.106Z,1761545321.106 [DAT](INFO): DAT read: Bearing 283.2, 15.0 (Local) 2025-10-27T06:08:41.107Z,1761545321.107 [DAT](INFO): Local bearing/azimuth received: Bearing 283.2, 15.0 (Local) 2025-10-27T06:08:41.109Z,1761545321.109 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-27T06:08:41.114Z,1761545321.114 [DAT](INFO): DAT read: 06:08:39.7195 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.21, 2.132,-2.628, 1.656, 2.641, PHS=-0.407, 1.059,-1.030, RAW= 346.9, 4.1, CAL= 346.5, 1.8, ROT= 163.5, -1.8 2025-10-27T06:08:41.115Z,1761545321.115 [DAT](INFO): got valid direction response: 06:08:39.7195 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.21, 2.132,-2.628, 1.656, 2.641, PHS=-0.407, 1.059,-1.030, RAW= 346.9, 4.1, CAL= 346.5, 1.8, ROT= 163.5, -1.8 2025-10-27T06:08:41.115Z,1761545321.115 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T06:08:41.116Z,1761545321.116 [DAT](INFO): direction in FSK: [-0.958347,0.283875,0.031411] 2025-10-27T06:08:41.117Z,1761545321.117 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:41.125Z,1761545321.125 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.686256 2025-10-27T06:08:41.358Z,1761545321.358 [DAT](INFO): DAT read: Rx Time:06:08:40.2197 2025-10-27T06:08:41.360Z,1761545321.360 [DAT](INFO): Rx dataTimestamp_ set to:1761545321.359252 2025-10-27T06:08:41.362Z,1761545321.362 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.922804 2025-10-27T06:08:41.478Z,1761545321.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436578,0.898801,0.039440],[-0.899269,0.434663,0.048826],[0.026742,-0.056783,0.998028]] 2025-10-27T06:08:41.569Z,1761545321.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504071 s, deltaX: -0.200000 m, approachRate: -0.396769 m/s, rangeRepo size: 4 2025-10-27T06:08:41.571Z,1761545321.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.908344 m, bearing: 99.323914 deg, lat: 36.779426 deg, lon: -121.859805 deg, deltaT: 0.504071 s, deltaX: -0.198778 m, approachRate: -0.394346 m/s, posRepo size: 4 2025-10-27T06:08:41.572Z,1761545321.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-27T06:08:41.610Z,1761545321.610 [DAT](INFO): DAT read: Bearing 285.7, 16.5 (Local) 2025-10-27T06:08:41.610Z,1761545321.610 [DAT](INFO): Local bearing/azimuth received: Bearing 285.7, 16.5 (Local) 2025-10-27T06:08:41.613Z,1761545321.613 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:41.619Z,1761545321.619 [DAT](INFO): DAT read: 06:08:40.2197 LVL= 26192, 24817, 32754, 32755, AGC= 63, IDX= 503, 0.16,-2.305,-0.776,-2.856,-1.870, PHS=-0.334, 1.139,-1.031, RAW= 348.3, 2.4, CAL= 347.9, -0.6, ROT= 162.1, 0.6 2025-10-27T06:08:41.621Z,1761545321.621 [DAT](INFO): got valid direction response: 06:08:40.2197 LVL= 26192, 24817, 32754, 32755, AGC= 63, IDX= 503, 0.16,-2.305,-0.776,-2.856,-1.870, PHS=-0.334, 1.139,-1.031, RAW= 348.3, 2.4, CAL= 347.9, -0.6, ROT= 162.1, 0.6 2025-10-27T06:08:41.621Z,1761545321.621 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T06:08:41.629Z,1761545321.629 [DAT](INFO): direction in FSK: [-0.951542,0.307340,-0.010472] 2025-10-27T06:08:41.630Z,1761545321.630 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:41.642Z,1761545321.642 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.203556 2025-10-27T06:08:41.862Z,1761545321.862 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.423138 2025-10-27T06:08:41.922Z,1761545321.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435379,0.899387,0.039336],[-0.899820,0.433411,0.049788],[0.027730,-0.057072,0.997985]] 2025-10-27T06:08:41.993Z,1761545321.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503044 s, deltaX: 0.300000 m, approachRate: 0.596370 m/s, rangeRepo size: 4 2025-10-27T06:08:41.995Z,1761545321.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206511 m, bearing: 97.959958 deg, lat: 36.779425 deg, lon: -121.859805 deg, deltaT: 0.503044 s, deltaX: 0.298167 m, approachRate: 0.592726 m/s, posRepo size: 4 2025-10-27T06:08:41.995Z,1761545321.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:42.113Z,1761545322.113 [DAT](INFO): DAT read: Rx Time:06:08:40.7196 2025-10-27T06:08:42.114Z,1761545322.114 [DAT](INFO): Rx dataTimestamp_ set to:1761545322.113775 2025-10-27T06:08:42.116Z,1761545322.116 [DAT](INFO): DAT read: Bearing 283.1, 14.7 (Local) 2025-10-27T06:08:42.116Z,1761545322.116 [DAT](INFO): Local bearing/azimuth received: Bearing 283.1, 14.7 (Local) 2025-10-27T06:08:42.119Z,1761545322.119 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.1 2025-10-27T06:08:42.124Z,1761545322.124 [DAT](INFO): DAT read: 06:08:40.7196 LVL= 30624, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.45, 2.750,-1.999, 2.280,-3.015, PHS=-0.416, 1.061,-1.032, RAW= 346.6, 4.2, CAL= 346.3, 1.9, ROT= 163.7, -1.9 2025-10-27T06:08:42.125Z,1761545322.125 [DAT](INFO): got valid direction response: 06:08:40.7196 LVL= 30624, 32753, 32754, 32755, AGC= 65, IDX= 503,-0.45, 2.750,-1.999, 2.280,-3.015, PHS=-0.416, 1.061,-1.032, RAW= 346.6, 4.2, CAL= 346.3, 1.9, ROT= 163.7, -1.9 2025-10-27T06:08:42.126Z,1761545322.126 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T06:08:42.127Z,1761545322.127 [DAT](INFO): direction in FSK: [-0.959278,0.280513,0.033155] 2025-10-27T06:08:42.127Z,1761545322.127 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:42.133Z,1761545322.133 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.693792 2025-10-27T06:08:42.312Z,1761545322.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.505992 s, deltaX: -0.100000 m, approachRate: -0.197632 m/s, rangeRepo size: 4 2025-10-27T06:08:42.314Z,1761545322.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.107122 m, bearing: 99.442818 deg, lat: 36.779424 deg, lon: -121.859806 deg, deltaT: 0.505992 s, deltaX: -0.099389 m, approachRate: -0.196424 m/s, posRepo size: 4 2025-10-27T06:08:42.315Z,1761545322.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T06:08:42.368Z,1761545322.368 [DAT](INFO): DAT read: Rx Time:06:08:41.2198 2025-10-27T06:08:42.369Z,1761545322.369 [DAT](INFO): Rx dataTimestamp_ set to:1761545322.368445 2025-10-27T06:08:42.373Z,1761545322.373 [DAT](INFO): DAT read: Bearing 284.1, 15.2 (Local) 2025-10-27T06:08:42.374Z,1761545322.374 [DAT](INFO): Local bearing/azimuth received: Bearing 284.1, 15.2 (Local) 2025-10-27T06:08:42.378Z,1761545322.378 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.939079 2025-10-27T06:08:42.617Z,1761545322.617 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 2025-10-27T06:08:42.622Z,1761545322.622 [DAT](INFO): DAT read: 06:08:41.2198 LVL= 25840, 29681, 32754, 32755, AGC= 65, IDX= 504, 0.04,-1.913,-0.376,-2.409,-1.421, PHS=-0.390, 1.089,-1.033, RAW= 347.2, 3.6, CAL= 346.7, 1.0, ROT= 163.3, -1.0 2025-10-27T06:08:42.623Z,1761545322.623 [DAT](INFO): got valid direction response: 06:08:41.2198 LVL= 25840, 29681, 32754, 32755, AGC= 65, IDX= 504, 0.04,-1.913,-0.376,-2.409,-1.421, PHS=-0.390, 1.089,-1.033, RAW= 347.2, 3.6, CAL= 346.7, 1.0, ROT= 163.3, -1.0 2025-10-27T06:08:42.624Z,1761545322.624 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T06:08:42.625Z,1761545322.625 [DAT](INFO): direction in FSK: [-0.957677,0.287317,0.017452] 2025-10-27T06:08:42.625Z,1761545322.625 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:42.633Z,1761545322.633 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.193991 2025-10-27T06:08:42.774Z,1761545322.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.501586 s, deltaX: 0.300000 m, approachRate: 0.598103 m/s, rangeRepo size: 4 2025-10-27T06:08:42.781Z,1761545322.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405231 m, bearing: 99.085509 deg, lat: 36.779422 deg, lon: -121.859806 deg, deltaT: 0.501586 s, deltaX: 0.298109 m, approachRate: 0.594333 m/s, posRepo size: 4 2025-10-27T06:08:42.781Z,1761545322.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:42.872Z,1761545322.872 [DAT](INFO): DAT read: Rx Time:06:08:41.7197 2025-10-27T06:08:42.873Z,1761545322.873 [DAT](INFO): Rx dataTimestamp_ set to:1761545322.872301 2025-10-27T06:08:42.877Z,1761545322.877 [DAT](INFO): DAT read: Bearing 282.5, 12.9 (Local) 2025-10-27T06:08:42.878Z,1761545322.878 [DAT](INFO): Local bearing/azimuth received: Bearing 282.5, 12.9 (Local) 2025-10-27T06:08:42.884Z,1761545322.884 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:42.886Z,1761545322.886 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-27T06:08:42.898Z,1761545322.898 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.458866 2025-10-27T06:08:43.110Z,1761545323.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:08:43.123Z,1761545323.123 [DAT](INFO): DAT read: 06:08:41.7197 LVL= 32752, 28961, 32754, 32755, AGC= 67, IDX= 504,-0.41, 1.882,-2.823, 1.477, 2.449, PHS=-0.465, 1.056,-1.017, RAW= 344.9, 4.6, CAL= 344.5, 2.7, ROT= 165.5, -2.7 2025-10-27T06:08:43.125Z,1761545323.125 [DAT](INFO): got valid direction response: 06:08:41.7197 LVL= 32752, 28961, 32754, 32755, AGC= 67, IDX= 504,-0.41, 1.882,-2.823, 1.477, 2.449, PHS=-0.465, 1.056,-1.017, RAW= 344.9, 4.6, CAL= 344.5, 2.7, ROT= 165.5, -2.7 2025-10-27T06:08:43.125Z,1761545323.125 [DAT](INFO): #Rx 40: Read direction message, but no range. 2025-10-27T06:08:43.126Z,1761545323.126 [DAT](INFO): direction in FSK: [-0.967073,0.250102,0.047106] 2025-10-27T06:08:43.130Z,1761545323.130 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.691139 2025-10-27T06:08:43.137Z,1761545323.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.256940 s, deltaX: -0.200000 m, approachRate: -0.778391 m/s, rangeRepo size: 4 2025-10-27T06:08:43.137Z,1761545323.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:43.375Z,1761545323.375 [DAT](INFO): DAT read: Rx Time:06:08:42.2199 2025-10-27T06:08:43.377Z,1761545323.377 [DAT](INFO): Rx dataTimestamp_ set to:1761545323.376182 2025-10-27T06:08:43.381Z,1761545323.381 [DAT](INFO): DAT read: Bearing 285.1, 14.4 (Local) 2025-10-27T06:08:43.382Z,1761545323.382 [DAT](INFO): Local bearing/azimuth received: Bearing 285.1, 14.4 (Local) 2025-10-27T06:08:43.385Z,1761545323.385 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.945566 2025-10-27T06:08:43.482Z,1761545323.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432232,0.900938,0.038553],[-0.901243,0.430137,0.052367],[0.030596,-0.057381,0.997883]] 2025-10-27T06:08:43.541Z,1761545323.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:43.627Z,1761545323.627 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-27T06:08:43.642Z,1761545323.642 [DAT](INFO): DAT read: 06:08:42.2199 LVL= 23488, 23889, 32754, 32755, AGC= 64, IDX= 505, 0.13,-2.937,-1.359, 2.873,-2.439, PHS=-0.396, 1.126,-1.014, RAW= 346.3, 3.0, CAL= 345.8, 0.1, ROT= 164.2, -0.1 2025-10-27T06:08:43.645Z,1761545323.645 [DAT](INFO): got valid direction response: 06:08:42.2199 LVL= 23488, 23889, 32754, 32755, AGC= 64, IDX= 505, 0.13,-2.937,-1.359, 2.873,-2.439, PHS=-0.396, 1.126,-1.014, RAW= 346.3, 3.0, CAL= 345.8, 0.1, ROT= 164.2, -0.1 2025-10-27T06:08:43.645Z,1761545323.645 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-27T06:08:43.648Z,1761545323.648 [DAT](INFO): direction in FSK: [-0.962217,0.272280,0.001745] 2025-10-27T06:08:43.648Z,1761545323.648 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:43.652Z,1761545323.652 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.213486 2025-10-27T06:08:43.880Z,1761545323.880 [DAT](INFO): DAT read: Rx Time:06:08:42.7198 2025-10-27T06:08:43.881Z,1761545323.881 [DAT](INFO): Rx dataTimestamp_ set to:1761545323.880081 2025-10-27T06:08:43.884Z,1761545323.884 [DAT](INFO): DAT read: Bearing 284.1, 12.6 (Local) 2025-10-27T06:08:43.885Z,1761545323.885 [DAT](INFO): Local bearing/azimuth received: Bearing 284.1, 12.6 (Local) 2025-10-27T06:08:43.889Z,1761545323.889 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 2025-10-27T06:08:43.900Z,1761545323.900 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T06:08:43.903Z,1761545323.903 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.463284 2025-10-27T06:08:43.921Z,1761545323.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431761,0.901182,0.038124],[-0.901453,0.429662,0.052663],[0.031078,-0.057105,0.997884]] 2025-10-27T06:08:44.064Z,1761545324.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 1.007780 s, deltaX: 0.200000 m, approachRate: 0.198456 m/s, rangeRepo size: 4 2025-10-27T06:08:44.066Z,1761545324.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405210 m, bearing: 99.797688 deg, lat: 36.779421 deg, lon: -121.859806 deg, deltaT: 1.264720 s, deltaX: -0.000021 m, approachRate: -0.000017 m/s, posRepo size: 4 2025-10-27T06:08:44.071Z,1761545324.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:44.133Z,1761545324.133 [DAT](INFO): DAT read: 06:08:42.7198 LVL= 30192, 23377, 32754, 32755, AGC= 65, IDX= 505,-0.24, 0.273, 1.890,-0.134, 0.826, PHS=-0.452, 1.108,-1.004, RAW= 344.6, 3.7, CAL= 344.2, 1.2, ROT= 165.8, -1.2 2025-10-27T06:08:44.135Z,1761545324.135 [DAT](INFO): got valid direction response: 06:08:42.7198 LVL= 30192, 23377, 32754, 32755, AGC= 65, IDX= 505,-0.24, 0.273, 1.890,-0.134, 0.826, PHS=-0.452, 1.108,-1.004, RAW= 344.6, 3.7, CAL= 344.2, 1.2, ROT= 165.8, -1.2 2025-10-27T06:08:44.136Z,1761545324.136 [DAT](INFO): #Rx 43: Read direction message, but no range. 2025-10-27T06:08:44.137Z,1761545324.137 [DAT](INFO): direction in FSK: [-0.969233,0.245254,0.020942] 2025-10-27T06:08:44.142Z,1761545324.142 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.703075 2025-10-27T06:08:44.311Z,1761545324.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431653,0.901244,0.037885],[-0.901495,0.429551,0.052846],[0.031354,-0.056964,0.997884]] 2025-10-27T06:08:44.337Z,1761545324.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:44.383Z,1761545324.383 [DAT](INFO): DAT read: Rx Time:06:08:43.2199 2025-10-27T06:08:44.385Z,1761545324.385 [DAT](INFO): Rx dataTimestamp_ set to:1761545324.383880 2025-10-27T06:08:44.388Z,1761545324.388 [DAT](INFO): DAT read: Bearing 285.0, 14.3 (Local) 2025-10-27T06:08:44.389Z,1761545324.389 [DAT](INFO): Local bearing/azimuth received: Bearing 285.0, 14.3 (Local) 2025-10-27T06:08:44.411Z,1761545324.411 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.951662 2025-10-27T06:08:44.633Z,1761545324.633 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-27T06:08:44.642Z,1761545324.642 [DAT](INFO): DAT read: 06:08:43.2199 LVL= 21552, 19825, 32754, 32755, AGC= 62, IDX= 505, 0.23, 1.735,-2.953, 1.257, 2.242, PHS=-0.405, 1.134,-1.028, RAW= 346.3, 3.1, CAL= 345.8, 0.3, ROT= 164.2, -0.3 2025-10-27T06:08:44.643Z,1761545324.643 [DAT](INFO): got valid direction response: 06:08:43.2199 LVL= 21552, 19825, 32754, 32755, AGC= 62, IDX= 505, 0.23, 1.735,-2.953, 1.257, 2.242, PHS=-0.405, 1.134,-1.028, RAW= 346.3, 3.1, CAL= 345.8, 0.3, ROT= 164.2, -0.3 2025-10-27T06:08:44.644Z,1761545324.644 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T06:08:44.645Z,1761545324.645 [DAT](INFO): direction in FSK: [-0.962205,0.272276,0.005236] 2025-10-27T06:08:44.645Z,1761545324.645 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:44.649Z,1761545324.649 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.210085 2025-10-27T06:08:44.853Z,1761545324.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.751260 s, deltaX: 0.100000 m, approachRate: 0.133110 m/s, rangeRepo size: 4 2025-10-27T06:08:44.877Z,1761545324.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504670 m, bearing: 99.781499 deg, lat: 36.779421 deg, lon: -121.859806 deg, deltaT: 0.751260 s, deltaX: 0.099460 m, approachRate: 0.132390 m/s, posRepo size: 4 2025-10-27T06:08:44.887Z,1761545324.887 [DAT](INFO): DAT read: Rx Time:06:08:43.7198 2025-10-27T06:08:44.889Z,1761545324.889 [DAT](INFO): Rx dataTimestamp_ set to:1761545324.887960 2025-10-27T06:08:44.892Z,1761545324.892 [DAT](INFO): DAT read: Bearing 284.5, 12.9 (Local) 2025-10-27T06:08:44.893Z,1761545324.893 [DAT](INFO): Local bearing/azimuth received: Bearing 284.5, 12.9 (Local) 2025-10-27T06:08:44.901Z,1761545324.901 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:44.908Z,1761545324.908 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T06:08:44.912Z,1761545324.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:08:44.923Z,1761545324.923 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.471519 2025-10-27T06:08:45.140Z,1761545325.140 [DAT](INFO): DAT read: 06:08:43.7198 LVL= 27840, 24913, 32754, 32755, AGC= 64, IDX= 505,-0.24,-1.391, 0.242,-1.817,-0.844, PHS=-0.445, 1.132,-1.017, RAW= 344.9, 3.5, CAL= 344.4, 0.8, ROT= 165.6, -0.8 2025-10-27T06:08:45.141Z,1761545325.141 [DAT](INFO): got valid direction response: 06:08:43.7198 LVL= 27840, 24913, 32754, 32755, AGC= 64, IDX= 505,-0.24,-1.391, 0.242,-1.817,-0.844, PHS=-0.445, 1.132,-1.017, RAW= 344.9, 3.5, CAL= 344.4, 0.8, ROT= 165.6, -0.8 2025-10-27T06:08:45.141Z,1761545325.141 [DAT](INFO): #Rx 46: Read direction message, but no range. 2025-10-27T06:08:45.142Z,1761545325.142 [DAT](INFO): direction in FSK: [-0.968489,0.248665,0.013962] 2025-10-27T06:08:45.150Z,1761545325.150 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.711491 2025-10-27T06:08:45.204Z,1761545325.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431724,0.901201,0.038106],[-0.901459,0.429606,0.053014],[0.031406,-0.057238,0.997866]] 2025-10-27T06:08:45.253Z,1761545325.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.256619 s, deltaX: -0.100000 m, approachRate: -0.389684 m/s, rangeRepo size: 4 2025-10-27T06:08:45.260Z,1761545325.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405281 m, bearing: 101.161862 deg, lat: 36.779419 deg, lon: -121.859806 deg, deltaT: 0.256619 s, deltaX: -0.099389 m, approachRate: -0.387302 m/s, posRepo size: 4 2025-10-27T06:08:45.260Z,1761545325.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:45.394Z,1761545325.394 [DAT](INFO): DAT read: Rx Time:06:08:44.2200 2025-10-27T06:08:45.397Z,1761545325.397 [DAT](INFO): Rx dataTimestamp_ set to:1761545325.396516 2025-10-27T06:08:45.401Z,1761545325.401 [DAT](INFO): DAT read: Bearing 284.7, 13.8 (Local) 2025-10-27T06:08:45.403Z,1761545325.403 [DAT](INFO): Local bearing/azimuth received: Bearing 284.7, 13.8 (Local) 2025-10-27T06:08:45.408Z,1761545325.408 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:08:45.410Z,1761545325.410 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-27T06:08:45.413Z,1761545325.413 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.973787 2025-10-27T06:08:45.624Z,1761545325.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431942,0.901083,0.038419],[-0.901360,0.429815,0.053003],[0.031247,-0.057523,0.997855]] 2025-10-27T06:08:45.651Z,1761545325.651 [DAT](INFO): DAT read: 06:08:44.2200 LVL= 21440, 22257, 32754, 32755, AGC= 62, IDX= 506, 0.04, 1.958,-2.727, 1.504, 2.479, PHS=-0.419, 1.122,-1.019, RAW= 345.8, 3.3, CAL= 345.3, 0.6, ROT= 164.7, -0.6 2025-10-27T06:08:45.652Z,1761545325.652 [DAT](INFO): got valid direction response: 06:08:44.2200 LVL= 21440, 22257, 32754, 32755, AGC= 62, IDX= 506, 0.04, 1.958,-2.727, 1.504, 2.479, PHS=-0.419, 1.122,-1.019, RAW= 345.8, 3.3, CAL= 345.3, 0.6, ROT= 164.7, -0.6 2025-10-27T06:08:45.652Z,1761545325.652 [DAT](INFO): #Rx 48: Read direction message, but no range. 2025-10-27T06:08:45.653Z,1761545325.653 [DAT](INFO): direction in FSK: [-0.964505,0.263859,0.010472] 2025-10-27T06:08:45.665Z,1761545325.665 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.225859 2025-10-27T06:08:45.754Z,1761545325.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.508556 s, deltaX: 0.300000 m, approachRate: 0.589906 m/s, rangeRepo size: 4 2025-10-27T06:08:45.760Z,1761545325.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703499 m, bearing: 100.285769 deg, lat: 36.779418 deg, lon: -121.859805 deg, deltaT: 0.508556 s, deltaX: 0.298218 m, approachRate: 0.586401 m/s, posRepo size: 4 2025-10-27T06:08:45.761Z,1761545325.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:08:45.896Z,1761545325.896 [DAT](INFO): DAT read: Rx Time:06:08:44.7199 2025-10-27T06:08:45.898Z,1761545325.898 [DAT](INFO): Rx dataTimestamp_ set to:1761545325.896945 2025-10-27T06:08:45.902Z,1761545325.902 [DAT](INFO): DAT read: Bearing 283.5, 11.9 (Local) 2025-10-27T06:08:45.904Z,1761545325.904 [DAT](INFO): Local bearing/azimuth received: Bearing 283.5, 11.9 (Local) 2025-10-27T06:08:45.909Z,1761545325.909 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:08:45.923Z,1761545325.923 [DAT](INFO): DAT read: 06:08:44.7199 LVL= 28864, 27473, 32754, 32755, AGC= 65, IDX= 505, 0.31, 0.956, 2.563, 0.584, 1.528, PHS=-0.471, 1.079,-0.988, RAW= 343.9, 4.1, CAL= 343.5, 1.9, ROT= 166.5, -1.9 2025-10-27T06:08:45.924Z,1761545325.924 [DAT](INFO): got valid direction response: 06:08:44.7199 LVL= 28864, 27473, 32754, 32755, AGC= 65, IDX= 505, 0.31, 0.956, 2.563, 0.584, 1.528, PHS=-0.471, 1.079,-0.988, RAW= 343.9, 4.1, CAL= 343.5, 1.9, ROT= 166.5, -1.9 2025-10-27T06:08:45.925Z,1761545325.925 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T06:08:45.926Z,1761545325.926 [DAT](INFO): direction in FSK: [-0.971835,0.233317,0.033155] 2025-10-27T06:08:45.926Z,1761545325.926 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:45.930Z,1761545325.930 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.491468 2025-10-27T06:08:46.048Z,1761545326.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432616,0.900749,0.038658],[-0.901051,0.430498,0.052716],[0.030842,-0.057638,0.997861]] 2025-10-27T06:08:46.108Z,1761545326.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.500429 s, deltaX: -0.200000 m, approachRate: -0.399657 m/s, rangeRepo size: 4 2025-10-27T06:08:46.110Z,1761545326.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504721 m, bearing: 102.063812 deg, lat: 36.779416 deg, lon: -121.859806 deg, deltaT: 0.500429 s, deltaX: -0.198778 m, approachRate: -0.397215 m/s, posRepo size: 4 2025-10-27T06:08:46.115Z,1761545326.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:08:46.144Z,1761545326.144 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.705238 2025-10-27T06:08:46.400Z,1761545326.400 [DAT](INFO): DAT read: Rx Time:06:08:45.2199 2025-10-27T06:08:46.402Z,1761545326.402 [DAT](INFO): Rx dataTimestamp_ set to:1761545326.400785 2025-10-27T06:08:46.406Z,1761545326.406 [DAT](INFO): DAT read: Bearing 285.1, 12.2 (Local) 2025-10-27T06:08:46.406Z,1761545326.406 [DAT](INFO): Local bearing/azimuth received: Bearing 285.1, 12.2 (Local) 2025-10-27T06:08:46.432Z,1761545326.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:08:46.437Z,1761545326.437 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:08:46.488Z,1761545326.488 [DAT](INFO): DAT read: 06:08:45.2199 LVL= 21232, 22881, 32754, 32755, AGC= 62, IDX= 507,-0.26,-0.159, 1.491,-0.559, 0.391, PHS=-0.448, 1.145,-0.995, RAW= 344.2, 3.1, CAL= 343.8, 0.3, ROT= 166.2, -0.3 2025-10-27T06:08:46.489Z,1761545326.489 [DAT](INFO): got valid direction response: 06:08:45.2199 LVL= 21232, 22881, 32754, 32755, AGC= 62, IDX= 507,-0.26,-0.159, 1.491,-0.559, 0.391, PHS=-0.448, 1.145,-0.995, RAW= 344.2, 3.1, CAL= 343.8, 0.3, ROT= 166.2, -0.3 2025-10-27T06:08:46.489Z,1761545326.489 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T06:08:46.490Z,1761545326.490 [DAT](INFO): direction in FSK: [-0.971121,0.238530,0.005236] 2025-10-27T06:08:46.490Z,1761545326.490 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:46.510Z,1761545326.510 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.071344 2025-10-27T06:08:46.522Z,1761545326.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433630,0.900223,0.039550],[-0.900592,0.431512,0.052257],[0.029976,-0.058279,0.997850]] 2025-10-27T06:08:46.641Z,1761545326.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503840 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:46.648Z,1761545326.648 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.209339 2025-10-27T06:08:46.649Z,1761545326.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504721 m, bearing: 101.906583 deg, lat: 36.779415 deg, lon: -121.859806 deg, deltaT: 0.503840 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:46.650Z,1761545326.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:08:46.903Z,1761545326.903 [DAT](INFO): DAT read: Rx Time:06:08:45.7198 2025-10-27T06:08:46.905Z,1761545326.905 [DAT](INFO): Rx dataTimestamp_ set to:1761545326.903846 2025-10-27T06:08:46.908Z,1761545326.908 [DAT](INFO): DAT read: Bearing 284.8, 11.7 (Local) 2025-10-27T06:08:46.909Z,1761545326.909 [DAT](INFO): Local bearing/azimuth received: Bearing 284.8, 11.7 (Local) 2025-10-27T06:08:46.913Z,1761545326.913 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:46.913Z,1761545326.913 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-27T06:08:46.914Z,1761545326.914 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.475555 2025-10-27T06:08:46.977Z,1761545326.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434366,0.899860,0.039721],[-0.900258,0.432275,0.051714],[0.029365,-0.058222,0.997872]] 2025-10-27T06:08:47.067Z,1761545327.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503061 s, deltaX: -0.100000 m, approachRate: -0.198784 m/s, rangeRepo size: 4 2025-10-27T06:08:47.068Z,1761545327.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:08:47.156Z,1761545327.156 [DAT](INFO): DAT read: 06:08:45.7198 LVL= 20864, 20961, 32754, 32755, AGC= 61, IDX= 506,-0.16,-1.072, 0.588,-1.449,-0.504, PHS=-0.465, 1.138,-0.989, RAW= 343.7, 3.3, CAL= 343.2, 0.7, ROT= 166.8, -0.7 2025-10-27T06:08:47.157Z,1761545327.157 [DAT](INFO): got valid direction response: 06:08:45.7198 LVL= 20864, 20961, 32754, 32755, AGC= 61, IDX= 506,-0.16,-1.072, 0.588,-1.449,-0.504, PHS=-0.465, 1.138,-0.989, RAW= 343.7, 3.3, CAL= 343.2, 0.7, ROT= 166.8, -0.7 2025-10-27T06:08:47.157Z,1761545327.157 [DAT](INFO): #Rx 52: Read direction message, but no range. 2025-10-27T06:08:47.163Z,1761545327.163 [DAT](INFO): direction in FSK: [-0.973506,0.228334,0.012217] 2025-10-27T06:08:47.169Z,1761545327.169 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.729761 2025-10-27T06:08:47.334Z,1761545327.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435339,0.899379,0.039970],[-0.899813,0.433280,0.051037],[0.028583,-0.058184,0.997897]] 2025-10-27T06:08:47.408Z,1761545327.408 [DAT](INFO): DAT read: Rx Time:06:08:46.2199 2025-10-27T06:08:47.410Z,1761545327.410 [DAT](INFO): Rx dataTimestamp_ set to:1761545327.408755 2025-10-27T06:08:47.413Z,1761545327.413 [DAT](INFO): DAT read: Bearing 284.6, 11.7 (Local) 2025-10-27T06:08:47.413Z,1761545327.413 [DAT](INFO): Local bearing/azimuth received: Bearing 284.6, 11.7 (Local) 2025-10-27T06:08:47.415Z,1761545327.415 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:08:47.416Z,1761545327.416 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-27T06:08:47.419Z,1761545327.419 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.979990 2025-10-27T06:08:47.429Z,1761545327.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504909 s, deltaX: 0.100000 m, approachRate: 0.198056 m/s, rangeRepo size: 4 2025-10-27T06:08:47.436Z,1761545327.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:08:47.444Z,1761545327.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504703 m, bearing: 102.594480 deg, lat: 36.779412 deg, lon: -121.859806 deg, deltaT: 1.007970 s, deltaX: -0.000018 m, approachRate: -0.000018 m/s, posRepo size: 4 2025-10-27T06:08:47.445Z,1761545327.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:08:47.664Z,1761545327.664 [DAT](INFO): DAT read: 06:08:46.2199 LVL= 19744, 22161, 32754, 32755, AGC= 61, IDX= 507,-0.07, 0.660, 2.316, 0.282, 1.229, PHS=-0.467, 1.132,-0.991, RAW= 343.7, 3.4, CAL= 343.3, 0.8, ROT= 166.7, -0.8 2025-10-27T06:08:47.665Z,1761545327.665 [DAT](INFO): got valid direction response: 06:08:46.2199 LVL= 19744, 22161, 32754, 32755, AGC= 61, IDX= 507,-0.07, 0.660, 2.316, 0.282, 1.229, PHS=-0.467, 1.132,-0.991, RAW= 343.7, 3.4, CAL= 343.3, 0.8, ROT= 166.7, -0.8 2025-10-27T06:08:47.666Z,1761545327.666 [DAT](INFO): #Rx 54: Read direction message, but no range. 2025-10-27T06:08:47.667Z,1761545327.667 [DAT](INFO): direction in FSK: [-0.973084,0.230027,0.013962] 2025-10-27T06:08:47.673Z,1761545327.673 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.233921 2025-10-27T06:08:47.759Z,1761545327.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436299,0.898924,0.039727],[-0.899369,0.434296,0.050225],[0.027895,-0.057643,0.997947]] 2025-10-27T06:08:47.844Z,1761545327.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:08:47.914Z,1761545327.914 [DAT](INFO): DAT read: Rx Time:06:08:46.7198 2025-10-27T06:08:47.914Z,1761545327.914 [DAT](INFO): Rx dataTimestamp_ set to:1761545327.913937 2025-10-27T06:08:47.916Z,1761545327.916 [DAT](INFO): DAT read: Bearing 285.0, 11.3 (Local) 2025-10-27T06:08:47.916Z,1761545327.916 [DAT](INFO): Local bearing/azimuth received: Bearing 285.0, 11.3 (Local) 2025-10-27T06:08:47.918Z,1761545327.918 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:47.919Z,1761545327.919 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-27T06:08:47.920Z,1761545327.920 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.481718 2025-10-27T06:08:48.142Z,1761545328.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437278,0.898448,0.039743],[-0.898917,0.435319,0.049447],[0.027125,-0.057348,0.997986]] 2025-10-27T06:08:48.168Z,1761545328.168 [DAT](INFO): DAT read: 06:08:46.7198 LVL= 20304, 22881, 32754, 32755, AGC= 62, IDX= 506,-0.06,-0.694, 0.982,-1.059,-0.120, PHS=-0.472, 1.146,-0.984, RAW= 343.3, 3.3, CAL= 342.8, 0.6, ROT= 167.2, -0.6 2025-10-27T06:08:48.169Z,1761545328.169 [DAT](INFO): got valid direction response: 06:08:46.7198 LVL= 20304, 22881, 32754, 32755, AGC= 62, IDX= 506,-0.06,-0.694, 0.982,-1.059,-0.120, PHS=-0.472, 1.146,-0.984, RAW= 343.3, 3.3, CAL= 342.8, 0.6, ROT= 167.2, -0.6 2025-10-27T06:08:48.169Z,1761545328.169 [DAT](INFO): #Rx 56: Read direction message, but no range. 2025-10-27T06:08:48.170Z,1761545328.170 [DAT](INFO): direction in FSK: [-0.975096,0.221536,0.010472] 2025-10-27T06:08:48.174Z,1761545328.174 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.735022 2025-10-27T06:08:48.186Z,1761545328.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505182 s, deltaX: -0.100000 m, approachRate: -0.197949 m/s, rangeRepo size: 4 2025-10-27T06:08:48.188Z,1761545328.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405582 m, bearing: 103.122044 deg, lat: 36.779410 deg, lon: -121.859806 deg, deltaT: 0.505182 s, deltaX: -0.099120 m, approachRate: -0.196207 m/s, posRepo size: 4 2025-10-27T06:08:48.189Z,1761545328.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:48.417Z,1761545328.417 [DAT](INFO): DAT read: Rx Time:06:08:47.2198 2025-10-27T06:08:48.417Z,1761545328.417 [DAT](INFO): Rx dataTimestamp_ set to:1761545328.416737 2025-10-27T06:08:48.418Z,1761545328.418 [DAT](INFO): DAT read: Bearing 284.1, 11.0 (Local) 2025-10-27T06:08:48.419Z,1761545328.419 [DAT](INFO): Local bearing/azimuth received: Bearing 284.1, 11.0 (Local) 2025-10-27T06:08:48.421Z,1761545328.421 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:48.425Z,1761545328.425 [DAT](INFO): DAT read: 06:08:47.2198 LVL= 20832, 18849, 32754, 32755, AGC= 61, IDX= 506,-0.17, 0.672, 2.350, 0.315, 1.267, PHS=-0.493, 1.128,-0.996, RAW= 343.1, 3.8, CAL= 342.7, 1.4, ROT= 167.3, -1.4 2025-10-27T06:08:48.426Z,1761545328.426 [DAT](INFO): got valid direction response: 06:08:47.2198 LVL= 20832, 18849, 32754, 32755, AGC= 61, IDX= 506,-0.17, 0.672, 2.350, 0.315, 1.267, PHS=-0.493, 1.128,-0.996, RAW= 343.1, 3.8, CAL= 342.7, 1.4, ROT= 167.3, -1.4 2025-10-27T06:08:48.427Z,1761545328.427 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T06:08:48.429Z,1761545328.429 [DAT](INFO): direction in FSK: [-0.975243,0.219780,0.024432] 2025-10-27T06:08:48.430Z,1761545328.430 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:48.490Z,1761545328.490 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.051546 2025-10-27T06:08:48.545Z,1761545328.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438131,0.898017,0.040086],[-0.898525,0.436200,0.048802],[0.026340,-0.057400,0.998004]] 2025-10-27T06:08:48.644Z,1761545328.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:48.660Z,1761545328.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405582 m, bearing: 103.235857 deg, lat: 36.779409 deg, lon: -121.859806 deg, deltaT: 0.502800 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:48.660Z,1761545328.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:48.668Z,1761545328.668 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.229277 2025-10-27T06:08:48.921Z,1761545328.921 [DAT](INFO): DAT read: Rx Time:06:08:47.7197 2025-10-27T06:08:48.922Z,1761545328.922 [DAT](INFO): Rx dataTimestamp_ set to:1761545328.921560 2025-10-27T06:08:48.923Z,1761545328.923 [DAT](INFO): DAT read: Bearing 283.5, 10.6 (Local) 2025-10-27T06:08:48.924Z,1761545328.924 [DAT](INFO): Local bearing/azimuth received: Bearing 283.5, 10.6 (Local) 2025-10-27T06:08:48.926Z,1761545328.926 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:48.934Z,1761545328.934 [DAT](INFO): DAT read: 06:08:47.7197 LVL= 23920, 20881, 32754, 32755, AGC= 61, IDX= 505,-0.17,-0.787, 0.901,-1.128,-0.173, PHS=-0.513, 1.119,-0.999, RAW= 342.7, 4.1, CAL= 342.3, 2.0, ROT= 167.7, -2.0 2025-10-27T06:08:48.960Z,1761545328.960 [DAT](INFO): got valid direction response: 06:08:47.7197 LVL= 23920, 20881, 32754, 32755, AGC= 61, IDX= 505,-0.17,-0.787, 0.901,-1.128,-0.173, PHS=-0.513, 1.119,-0.999, RAW= 342.7, 4.1, CAL= 342.3, 2.0, ROT= 167.7, -2.0 2025-10-27T06:08:48.960Z,1761545328.960 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T06:08:48.961Z,1761545328.961 [DAT](INFO): direction in FSK: [-0.976450,0.212901,0.034899] 2025-10-27T06:08:48.962Z,1761545328.962 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:48.981Z,1761545328.981 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.542679 2025-10-27T06:08:49.005Z,1761545329.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438830,0.897657,0.040496],[-0.898204,0.436920,0.048271],[0.025637,-0.057556,0.998013]] 2025-10-27T06:08:49.100Z,1761545329.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504823 s, deltaX: -0.200000 m, approachRate: -0.396178 m/s, rangeRepo size: 4 2025-10-27T06:08:49.102Z,1761545329.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206964 m, bearing: 103.648911 deg, lat: 36.779408 deg, lon: -121.859807 deg, deltaT: 0.504823 s, deltaX: -0.198619 m, approachRate: -0.393443 m/s, posRepo size: 4 2025-10-27T06:08:49.102Z,1761545329.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:49.173Z,1761545329.173 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.733768 2025-10-27T06:08:49.413Z,1761545329.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439244,0.897436,0.040904],[-0.898019,0.437349,0.047824],[0.025030,-0.057739,0.998018]] 2025-10-27T06:08:49.425Z,1761545329.425 [DAT](INFO): DAT read: Rx Time:06:08:48.2198 2025-10-27T06:08:49.426Z,1761545329.426 [DAT](INFO): Rx dataTimestamp_ set to:1761545329.425226 2025-10-27T06:08:49.428Z,1761545329.428 [DAT](INFO): DAT read: Bearing 283.9, 10.7 (Local) 2025-10-27T06:08:49.429Z,1761545329.429 [DAT](INFO): Local bearing/azimuth received: Bearing 283.9, 10.7 (Local) 2025-10-27T06:08:49.433Z,1761545329.433 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:49.460Z,1761545329.460 [DAT](INFO): DAT read: 06:08:48.2198 LVL= 19872, 20113, 32754, 32755, AGC= 59, IDX= 506,-0.18, 0.026, 1.718,-0.318, 0.634, PHS=-0.506, 1.130,-0.996, RAW= 342.7, 3.9, CAL= 342.3, 1.6, ROT= 167.7, -1.6 2025-10-27T06:08:49.461Z,1761545329.461 [DAT](INFO): got valid direction response: 06:08:48.2198 LVL= 19872, 20113, 32754, 32755, AGC= 59, IDX= 506,-0.18, 0.026, 1.718,-0.318, 0.634, PHS=-0.506, 1.130,-0.996, RAW= 342.7, 3.9, CAL= 342.3, 1.6, ROT= 167.7, -1.6 2025-10-27T06:08:49.462Z,1761545329.462 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T06:08:49.475Z,1761545329.475 [DAT](INFO): direction in FSK: [-0.976665,0.212947,0.027922] 2025-10-27T06:08:49.475Z,1761545329.475 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:49.481Z,1761545329.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503666 s, deltaX: 0.200000 m, approachRate: 0.397088 m/s, rangeRepo size: 4 2025-10-27T06:08:49.481Z,1761545329.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:49.492Z,1761545329.492 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.039980 2025-10-27T06:08:49.676Z,1761545329.676 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.237421 2025-10-27T06:08:49.777Z,1761545329.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439671,0.897216,0.041147],[-0.897825,0.437797,0.047374],[0.024491,-0.057772,0.998029]] 2025-10-27T06:08:49.832Z,1761545329.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:49.931Z,1761545329.931 [DAT](INFO): DAT read: Rx Time:06:08:48.7197 2025-10-27T06:08:49.932Z,1761545329.932 [DAT](INFO): Rx dataTimestamp_ set to:1761545329.931406 2025-10-27T06:08:49.934Z,1761545329.934 [DAT](INFO): DAT read: Bearing 284.0, 10.7 (Local) 2025-10-27T06:08:49.935Z,1761545329.935 [DAT](INFO): Local bearing/azimuth received: Bearing 284.0, 10.7 (Local) 2025-10-27T06:08:49.939Z,1761545329.939 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:49.954Z,1761545329.954 [DAT](INFO): DAT read: 06:08:48.7197 LVL= 19824, 20081, 32754, 32755, AGC= 59, IDX= 505,-0.23,-1.029, 0.655,-1.372,-0.426, PHS=-0.501, 1.126,-0.989, RAW= 342.7, 3.8, CAL= 342.3, 1.5, ROT= 167.7, -1.5 2025-10-27T06:08:49.967Z,1761545329.967 [DAT](INFO): got valid direction response: 06:08:48.7197 LVL= 19824, 20081, 32754, 32755, AGC= 59, IDX= 505,-0.23,-1.029, 0.655,-1.372,-0.426, PHS=-0.501, 1.126,-0.989, RAW= 342.7, 3.8, CAL= 342.3, 1.5, ROT= 167.7, -1.5 2025-10-27T06:08:49.968Z,1761545329.968 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T06:08:49.969Z,1761545329.969 [DAT](INFO): direction in FSK: [-0.976711,0.212957,0.026177] 2025-10-27T06:08:49.969Z,1761545329.969 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:49.973Z,1761545329.973 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.534050 2025-10-27T06:08:50.180Z,1761545330.180 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.741039 2025-10-27T06:08:50.183Z,1761545330.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439713,0.897187,0.041335],[-0.897814,0.437853,0.047056],[0.024119,-0.057802,0.998037]] 2025-10-27T06:08:50.206Z,1761545330.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.506180 s, deltaX: -0.200000 m, approachRate: -0.395116 m/s, rangeRepo size: 4 2025-10-27T06:08:50.224Z,1761545330.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206939 m, bearing: 103.729561 deg, lat: 36.779406 deg, lon: -121.859807 deg, deltaT: 1.009846 s, deltaX: -0.000025 m, approachRate: -0.000025 m/s, posRepo size: 4 2025-10-27T06:08:50.225Z,1761545330.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:50.436Z,1761545330.436 [DAT](INFO): DAT read: Rx Time:06:08:49.2198 2025-10-27T06:08:50.437Z,1761545330.437 [DAT](INFO): Rx dataTimestamp_ set to:1761545330.436341 2025-10-27T06:08:50.438Z,1761545330.438 [DAT](INFO): DAT read: Bearing 283.9, 10.8 (Local) 2025-10-27T06:08:50.440Z,1761545330.440 [DAT](INFO): Local bearing/azimuth received: Bearing 283.9, 10.8 (Local) 2025-10-27T06:08:50.460Z,1761545330.460 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:50.465Z,1761545330.465 [DAT](INFO): DAT read: 06:08:49.2198 LVL= 21488, 21169, 32754, 32755, AGC= 60, IDX= 506,-0.28, 0.280, 1.962,-0.065, 0.884, PHS=-0.502, 1.123,-0.993, RAW= 342.8, 3.9, CAL= 342.4, 1.6, ROT= 167.6, -1.6 2025-10-27T06:08:50.466Z,1761545330.466 [DAT](INFO): got valid direction response: 06:08:49.2198 LVL= 21488, 21169, 32754, 32755, AGC= 60, IDX= 506,-0.28, 0.280, 1.962,-0.065, 0.884, PHS=-0.502, 1.123,-0.993, RAW= 342.8, 3.9, CAL= 342.4, 1.6, ROT= 167.6, -1.6 2025-10-27T06:08:50.466Z,1761545330.466 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T06:08:50.467Z,1761545330.467 [DAT](INFO): direction in FSK: [-0.976291,0.214652,0.027922] 2025-10-27T06:08:50.468Z,1761545330.468 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:50.471Z,1761545330.471 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.032642 2025-10-27T06:08:50.585Z,1761545330.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439564,0.897248,0.041580],[-0.897894,0.437708,0.046891],[0.023873,-0.057946,0.998034]] 2025-10-27T06:08:50.670Z,1761545330.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504935 s, deltaX: 0.200000 m, approachRate: 0.396090 m/s, rangeRepo size: 4 2025-10-27T06:08:50.677Z,1761545330.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405723 m, bearing: 103.614820 deg, lat: 36.779405 deg, lon: -121.859807 deg, deltaT: 0.504935 s, deltaX: 0.198784 m, approachRate: 0.393682 m/s, posRepo size: 4 2025-10-27T06:08:50.678Z,1761545330.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:50.687Z,1761545330.687 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.247572 2025-10-27T06:08:50.938Z,1761545330.938 [DAT](INFO): DAT read: Rx Time:06:08:49.7197 2025-10-27T06:08:50.939Z,1761545330.939 [DAT](INFO): Rx dataTimestamp_ set to:1761545330.938534 2025-10-27T06:08:50.941Z,1761545330.941 [DAT](INFO): DAT read: Bearing 284.0, 10.7 (Local) 2025-10-27T06:08:50.942Z,1761545330.942 [DAT](INFO): Local bearing/azimuth received: Bearing 284.0, 10.7 (Local) 2025-10-27T06:08:50.945Z,1761545330.945 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:50.953Z,1761545330.953 [DAT](INFO): DAT read: 06:08:49.7197 LVL= 21824, 19953, 32754, 32755, AGC= 60, IDX= 505,-0.28,-1.121, 0.558,-1.462,-0.521, PHS=-0.498, 1.124,-0.985, RAW= 342.7, 3.8, CAL= 342.3, 1.4, ROT= 167.7, -1.4 2025-10-27T06:08:50.982Z,1761545330.982 [DAT](INFO): got valid direction response: 06:08:49.7197 LVL= 21824, 19953, 32754, 32755, AGC= 60, IDX= 505,-0.28,-1.121, 0.558,-1.462,-0.521, PHS=-0.498, 1.124,-0.985, RAW= 342.7, 3.8, CAL= 342.3, 1.4, ROT= 167.7, -1.4 2025-10-27T06:08:50.982Z,1761545330.982 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T06:08:50.000Z,1761545331.000 [DAT](INFO): direction in FSK: [-0.976754,0.212967,0.024432] 2025-10-27T06:08:51.000Z,1761545331.000 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:51.013Z,1761545331.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438940,0.897544,0.041788],[-0.898197,0.437069,0.047039],[0.023955,-0.058182,0.998019]] 2025-10-27T06:08:51.027Z,1761545331.027 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.575972 2025-10-27T06:08:51.127Z,1761545331.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.502193 s, deltaX: -0.200000 m, approachRate: -0.398253 m/s, rangeRepo size: 4 2025-10-27T06:08:51.129Z,1761545331.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206897 m, bearing: 103.684986 deg, lat: 36.779405 deg, lon: -121.859809 deg, deltaT: 0.502193 s, deltaX: -0.198826 m, approachRate: -0.395915 m/s, posRepo size: 4 2025-10-27T06:08:51.130Z,1761545331.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:51.189Z,1761545331.189 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.750259 2025-10-27T06:08:51.421Z,1761545331.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438291,0.897855,0.041925],[-0.898510,0.436408,0.047197],[0.024080,-0.058356,0.998005]] 2025-10-27T06:08:51.446Z,1761545331.446 [DAT](INFO): DAT read: Rx Time:06:08:50.2198 2025-10-27T06:08:51.447Z,1761545331.447 [DAT](INFO): Rx dataTimestamp_ set to:1761545331.445961 2025-10-27T06:08:51.449Z,1761545331.449 [DAT](INFO): DAT read: Bearing 283.7, 10.6 (Local) 2025-10-27T06:08:51.449Z,1761545331.449 [DAT](INFO): Local bearing/azimuth received: Bearing 283.7, 10.6 (Local) 2025-10-27T06:08:51.454Z,1761545331.454 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:51.471Z,1761545331.471 [DAT](INFO): DAT read: 06:08:50.2198 LVL= 22816, 19633, 32754, 32755, AGC= 60, IDX= 506,-0.28, 0.166, 1.856,-0.175, 0.777, PHS=-0.509, 1.125,-0.996, RAW= 342.7, 4.0, CAL= 342.2, 1.7, ROT= 167.8, -1.7 2025-10-27T06:08:51.473Z,1761545331.473 [DAT](INFO): got valid direction response: 06:08:50.2198 LVL= 22816, 19633, 32754, 32755, AGC= 60, IDX= 506,-0.28, 0.166, 1.856,-0.175, 0.777, PHS=-0.509, 1.125,-0.996, RAW= 342.7, 4.0, CAL= 342.2, 1.7, ROT= 167.8, -1.7 2025-10-27T06:08:51.473Z,1761545331.473 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T06:08:51.474Z,1761545331.474 [DAT](INFO): direction in FSK: [-0.976986,0.211232,0.029666] 2025-10-27T06:08:51.474Z,1761545331.474 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:51.494Z,1761545331.494 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.055204 2025-10-27T06:08:51.516Z,1761545331.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.507427 s, deltaX: 0.200000 m, approachRate: 0.394145 m/s, rangeRepo size: 4 2025-10-27T06:08:51.518Z,1761545331.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405680 m, bearing: 103.727823 deg, lat: 36.779405 deg, lon: -121.859807 deg, deltaT: 0.507427 s, deltaX: 0.198783 m, approachRate: 0.391747 m/s, posRepo size: 4 2025-10-27T06:08:51.519Z,1761545331.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:51.696Z,1761545331.696 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.257282 2025-10-27T06:08:51.798Z,1761545331.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437440,0.898276,0.041786],[-0.898918,0.435549,0.047363],[0.024345,-0.058281,0.998003]] 2025-10-27T06:08:51.842Z,1761545331.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:51.950Z,1761545331.950 [DAT](INFO): DAT read: Rx Time:06:08:50.7197 2025-10-27T06:08:51.952Z,1761545331.952 [DAT](INFO): Rx dataTimestamp_ set to:1761545331.950305 2025-10-27T06:08:51.954Z,1761545331.954 [DAT](INFO): DAT read: Bearing 284.0, 10.5 (Local) 2025-10-27T06:08:51.955Z,1761545331.955 [DAT](INFO): Local bearing/azimuth received: Bearing 284.0, 10.5 (Local) 2025-10-27T06:08:51.957Z,1761545331.957 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:51.961Z,1761545331.961 [DAT](INFO): DAT read: 06:08:50.7197 LVL= 22464, 21089, 32754, 32755, AGC= 60, IDX= 505,-0.23,-1.384, 0.307,-1.717,-0.776, PHS=-0.507, 1.128,-0.985, RAW= 342.5, 3.8, CAL= 342.0, 1.5, ROT= 168.0, -1.5 2025-10-27T06:08:51.963Z,1761545331.963 [DAT](INFO): got valid direction response: 06:08:50.7197 LVL= 22464, 21089, 32754, 32755, AGC= 60, IDX= 505,-0.23,-1.384, 0.307,-1.717,-0.776, PHS=-0.507, 1.128,-0.985, RAW= 342.5, 3.8, CAL= 342.0, 1.5, ROT= 168.0, -1.5 2025-10-27T06:08:51.963Z,1761545331.963 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T06:08:51.964Z,1761545331.964 [DAT](INFO): direction in FSK: [-0.977812,0.207840,0.026177] 2025-10-27T06:08:51.964Z,1761545331.964 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:51.977Z,1761545331.977 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.537827 2025-10-27T06:08:52.200Z,1761545332.200 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.761015 2025-10-27T06:08:52.204Z,1761545332.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436117,0.898945,0.041219],[-0.899544,0.434223,0.047651],[0.024937,-0.057860,0.998013]] 2025-10-27T06:08:52.252Z,1761545332.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504344 s, deltaX: -0.200000 m, approachRate: -0.396554 m/s, rangeRepo size: 4 2025-10-27T06:08:52.254Z,1761545332.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206995 m, bearing: 103.800234 deg, lat: 36.779405 deg, lon: -121.859809 deg, deltaT: 0.504344 s, deltaX: -0.198685 m, approachRate: -0.393947 m/s, posRepo size: 4 2025-10-27T06:08:52.259Z,1761545332.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:52.454Z,1761545332.454 [DAT](INFO): DAT read: Rx Time:06:08:51.2197 2025-10-27T06:08:52.456Z,1761545332.456 [DAT](INFO): Rx dataTimestamp_ set to:1761545332.454527 2025-10-27T06:08:52.458Z,1761545332.458 [DAT](INFO): DAT read: Bearing 283.7, 10.4 (Local) 2025-10-27T06:08:52.458Z,1761545332.458 [DAT](INFO): Local bearing/azimuth received: Bearing 283.7, 10.4 (Local) 2025-10-27T06:08:52.460Z,1761545332.460 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:52.465Z,1761545332.465 [DAT](INFO): DAT read: 06:08:51.2197 LVL= 23744, 21889, 32754, 32755, AGC= 60, IDX= 505,-0.17,-1.437, 0.256,-1.763,-0.820, PHS=-0.515, 1.121,-0.987, RAW= 342.3, 4.0, CAL= 341.9, 1.8, ROT= 168.1, -1.8 2025-10-27T06:08:52.466Z,1761545332.466 [DAT](INFO): got valid direction response: 06:08:51.2197 LVL= 23744, 21889, 32754, 32755, AGC= 60, IDX= 505,-0.17,-1.437, 0.256,-1.763,-0.820, PHS=-0.515, 1.121,-0.987, RAW= 342.3, 4.0, CAL= 341.9, 1.8, ROT= 168.1, -1.8 2025-10-27T06:08:52.466Z,1761545332.466 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T06:08:52.484Z,1761545332.484 [DAT](INFO): direction in FSK: [-0.978026,0.206102,0.031411] 2025-10-27T06:08:52.484Z,1761545332.484 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:52.488Z,1761545332.488 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.048969 2025-10-27T06:08:52.605Z,1761545332.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434594,0.899712,0.040581],[-0.900262,0.432694,0.047998],[0.025625,-0.057393,0.998023]] 2025-10-27T06:08:52.649Z,1761545332.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504222 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:52.658Z,1761545332.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206995 m, bearing: 103.788610 deg, lat: 36.779404 deg, lon: -121.859809 deg, deltaT: 0.504222 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:52.664Z,1761545332.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:52.707Z,1761545332.707 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.267612 2025-10-27T06:08:52.956Z,1761545332.956 [DAT](INFO): DAT read: Rx Time:06:08:51.7196 2025-10-27T06:08:52.957Z,1761545332.957 [DAT](INFO): Rx dataTimestamp_ set to:1761545332.956653 2025-10-27T06:08:52.958Z,1761545332.958 [DAT](INFO): DAT read: Bearing 283.5, 10.3 (Local) 2025-10-27T06:08:52.959Z,1761545332.959 [DAT](INFO): Local bearing/azimuth received: Bearing 283.5, 10.3 (Local) 2025-10-27T06:08:52.961Z,1761545332.961 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 2025-10-27T06:08:52.965Z,1761545332.965 [DAT](INFO): DAT read: 06:08:51.7196 LVL= 22592, 21809, 32754, 32755, AGC= 59, IDX= 504,-0.08,-2.236,-0.555,-2.558,-1.618, PHS=-0.516, 1.108,-0.984, RAW= 342.3, 4.2, CAL= 341.9, 2.0, ROT= 168.1, -2.0 2025-10-27T06:08:52.966Z,1761545332.966 [DAT](INFO): got valid direction response: 06:08:51.7196 LVL= 22592, 21809, 32754, 32755, AGC= 59, IDX= 504,-0.08,-2.236,-0.555,-2.558,-1.618, PHS=-0.516, 1.108,-0.984, RAW= 342.3, 4.2, CAL= 341.9, 2.0, ROT= 168.1, -2.0 2025-10-27T06:08:52.967Z,1761545332.967 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T06:08:52.968Z,1761545332.968 [DAT](INFO): direction in FSK: [-0.977913,0.206078,0.034899] 2025-10-27T06:08:52.968Z,1761545332.968 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:52.972Z,1761545332.972 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.533194 2025-10-27T06:08:53.025Z,1761545333.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432977,0.900502,0.040344],[-0.901022,0.431054,0.048492],[0.026277,-0.057347,0.998008]] 2025-10-27T06:08:53.125Z,1761545333.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.502126 s, deltaX: -0.100000 m, approachRate: -0.199154 m/s, rangeRepo size: 4 2025-10-27T06:08:53.131Z,1761545333.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.107638 m, bearing: 103.676080 deg, lat: 36.779404 deg, lon: -121.859809 deg, deltaT: 0.502126 s, deltaX: -0.099357 m, approachRate: -0.197872 m/s, posRepo size: 4 2025-10-27T06:08:53.132Z,1761545333.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T06:08:53.208Z,1761545333.208 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.769293 2025-10-27T06:08:53.432Z,1761545333.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431025,0.901444,0.040197],[-0.901932,0.429062,0.049245],[0.027144,-0.057481,0.997978]] 2025-10-27T06:08:53.461Z,1761545333.461 [DAT](INFO): DAT read: Rx Time:06:08:52.2197 2025-10-27T06:08:53.461Z,1761545333.461 [DAT](INFO): Rx dataTimestamp_ set to:1761545333.461002 2025-10-27T06:08:53.463Z,1761545333.463 [DAT](INFO): DAT read: Bearing 283.5, 10.9 (Local) 2025-10-27T06:08:53.463Z,1761545333.463 [DAT](INFO): Local bearing/azimuth received: Bearing 283.5, 10.9 (Local) 2025-10-27T06:08:53.465Z,1761545333.465 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:53.478Z,1761545333.478 [DAT](INFO): DAT read: 06:08:52.2197 LVL= 21200, 21041, 32754, 32755, AGC= 59, IDX= 505, 0.05,-0.180, 1.496,-0.525, 0.428, PHS=-0.506, 1.113,-0.997, RAW= 342.9, 4.1, CAL= 342.5, 1.9, ROT= 167.5, -1.9 2025-10-27T06:08:53.479Z,1761545333.479 [DAT](INFO): got valid direction response: 06:08:52.2197 LVL= 21200, 21041, 32754, 32755, AGC= 59, IDX= 505, 0.05,-0.180, 1.496,-0.525, 0.428, PHS=-0.506, 1.113,-0.997, RAW= 342.9, 4.1, CAL= 342.5, 1.9, ROT= 167.5, -1.9 2025-10-27T06:08:53.479Z,1761545333.479 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T06:08:53.480Z,1761545333.480 [DAT](INFO): direction in FSK: [-0.975759,0.216321,0.033155] 2025-10-27T06:08:53.481Z,1761545333.481 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:53.485Z,1761545333.485 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.046211 2025-10-27T06:08:53.491Z,1761545333.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-27T06:08:53.715Z,1761545333.715 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.275444 2025-10-27T06:08:53.817Z,1761545333.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428965,0.902410,0.040566],[-0.902887,0.426933,0.050235],[0.028014,-0.058175,0.997913]] 2025-10-27T06:08:53.936Z,1761545333.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504349 s, deltaX: 0.100000 m, approachRate: 0.198276 m/s, rangeRepo size: 4 2025-10-27T06:08:53.944Z,1761545333.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206850 m, bearing: 102.827505 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.504349 s, deltaX: 0.099212 m, approachRate: 0.196712 m/s, posRepo size: 4 2025-10-27T06:08:53.945Z,1761545333.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:53.965Z,1761545333.965 [DAT](INFO): DAT read: Rx Time:06:08:52.7197 2025-10-27T06:08:53.965Z,1761545333.965 [DAT](INFO): Rx dataTimestamp_ set to:1761545333.964815 2025-10-27T06:08:53.966Z,1761545333.966 [DAT](INFO): DAT read: Bearing 283.3, 10.9 (Local) 2025-10-27T06:08:53.967Z,1761545333.967 [DAT](INFO): Local bearing/azimuth received: Bearing 283.3, 10.9 (Local) 2025-10-27T06:08:53.970Z,1761545333.970 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:53.974Z,1761545333.974 [DAT](INFO): DAT read: 06:08:52.7197 LVL= 19728, 21233, 32754, 32755, AGC= 59, IDX= 504, 0.23,-1.097, 0.568,-1.443,-0.490, PHS=-0.505, 1.103,-0.997, RAW= 342.9, 4.2, CAL= 342.5, 2.1, ROT= 167.5, -2.1 2025-10-27T06:08:53.976Z,1761545333.976 [DAT](INFO): got valid direction response: 06:08:52.7197 LVL= 19728, 21233, 32754, 32755, AGC= 59, IDX= 504, 0.23,-1.097, 0.568,-1.443,-0.490, PHS=-0.505, 1.103,-0.997, RAW= 342.9, 4.2, CAL= 342.5, 2.1, ROT= 167.5, -2.1 2025-10-27T06:08:53.976Z,1761545333.976 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T06:08:53.977Z,1761545333.977 [DAT](INFO): direction in FSK: [-0.975640,0.216294,0.036644] 2025-10-27T06:08:53.977Z,1761545333.977 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:53.981Z,1761545333.981 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.542118 2025-10-27T06:08:54.216Z,1761545334.216 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.777298 2025-10-27T06:08:54.228Z,1761545334.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426869,0.903383,0.041009],[-0.903851,0.424760,0.051310],[0.028934,-0.058969,0.997840]] 2025-10-27T06:08:54.258Z,1761545334.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503813 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:54.260Z,1761545334.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206850 m, bearing: 102.683954 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.503813 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:54.261Z,1761545334.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:54.468Z,1761545334.468 [DAT](INFO): DAT read: Rx Time:06:08:53.2198 2025-10-27T06:08:54.469Z,1761545334.469 [DAT](INFO): Rx dataTimestamp_ set to:1761545334.468650 2025-10-27T06:08:54.470Z,1761545334.470 [DAT](INFO): DAT read: Bearing 283.6, 10.1 (Local) 2025-10-27T06:08:54.471Z,1761545334.471 [DAT](INFO): Local bearing/azimuth received: Bearing 283.6, 10.1 (Local) 2025-10-27T06:08:54.474Z,1761545334.474 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:54.479Z,1761545334.479 [DAT](INFO): DAT read: 06:08:53.2198 LVL= 22608, 19281, 32754, 32755, AGC= 60, IDX= 506,-0.41,-1.846,-0.153,-2.164,-1.225, PHS=-0.518, 1.118,-0.983, RAW= 342.2, 4.1, CAL= 341.7, 1.9, ROT= 168.3, -1.9 2025-10-27T06:08:54.480Z,1761545334.480 [DAT](INFO): got valid direction response: 06:08:53.2198 LVL= 22608, 19281, 32754, 32755, AGC= 60, IDX= 506,-0.41,-1.846,-0.153,-2.164,-1.225, PHS=-0.518, 1.118,-0.983, RAW= 342.2, 4.1, CAL= 341.7, 1.9, ROT= 168.3, -1.9 2025-10-27T06:08:54.481Z,1761545334.481 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T06:08:54.482Z,1761545334.482 [DAT](INFO): direction in FSK: [-0.978684,0.202676,0.033155] 2025-10-27T06:08:54.482Z,1761545334.482 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:54.486Z,1761545334.486 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.046986 2025-10-27T06:08:54.626Z,1761545334.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424916,0.904290,0.041295],[-0.904745,0.422747,0.052174],[0.029723,-0.059531,0.997784]] 2025-10-27T06:08:54.670Z,1761545334.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503835 s, deltaX: 0.200000 m, approachRate: 0.396955 m/s, rangeRepo size: 4 2025-10-27T06:08:54.674Z,1761545334.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405633 m, bearing: 103.368883 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.503835 s, deltaX: 0.198783 m, approachRate: 0.394540 m/s, posRepo size: 4 2025-10-27T06:08:54.674Z,1761545334.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:54.723Z,1761545334.723 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.283646 2025-10-27T06:08:54.973Z,1761545334.973 [DAT](INFO): DAT read: Rx Time:06:08:53.7197 2025-10-27T06:08:54.973Z,1761545334.973 [DAT](INFO): Rx dataTimestamp_ set to:1761545334.972732 2025-10-27T06:08:54.974Z,1761545334.974 [DAT](INFO): DAT read: Bearing 283.3, 10.0 (Local) 2025-10-27T06:08:54.975Z,1761545334.975 [DAT](INFO): Local bearing/azimuth received: Bearing 283.3, 10.0 (Local) 2025-10-27T06:08:54.977Z,1761545334.977 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:54.981Z,1761545334.981 [DAT](INFO): DAT read: 06:08:53.7197 LVL= 20848, 21025, 32754, 32755, AGC= 59, IDX= 505,-0.04, 2.838,-1.756, 2.525,-2.819, PHS=-0.524, 1.108,-0.983, RAW= 342.0, 4.2, CAL= 341.7, 2.1, ROT= 168.3, -2.1 2025-10-27T06:08:54.982Z,1761545334.982 [DAT](INFO): got valid direction response: 06:08:53.7197 LVL= 20848, 21025, 32754, 32755, AGC= 59, IDX= 505,-0.04, 2.838,-1.756, 2.525,-2.819, PHS=-0.524, 1.108,-0.983, RAW= 342.0, 4.2, CAL= 341.7, 2.1, ROT= 168.3, -2.1 2025-10-27T06:08:54.988Z,1761545334.988 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T06:08:54.989Z,1761545334.989 [DAT](INFO): direction in FSK: [-0.978565,0.202651,0.036644] 2025-10-27T06:08:54.989Z,1761545334.989 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:54.993Z,1761545334.993 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.553944 2025-10-27T06:08:55.042Z,1761545335.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423086,0.905147,0.041325],[-0.905576,0.420870,0.052916],[0.030505,-0.059811,0.997743]] 2025-10-27T06:08:55.121Z,1761545335.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504082 s, deltaX: -0.200000 m, approachRate: -0.396760 m/s, rangeRepo size: 4 2025-10-27T06:08:55.122Z,1761545335.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206666 m, bearing: 103.242736 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.504082 s, deltaX: -0.198967 m, approachRate: -0.394712 m/s, posRepo size: 4 2025-10-27T06:08:55.127Z,1761545335.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:55.225Z,1761545335.225 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.785992 2025-10-27T06:08:55.448Z,1761545335.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421424,0.905928,0.041192],[-0.906327,0.419178,0.053497],[0.031198,-0.059878,0.997718]] 2025-10-27T06:08:55.466Z,1761545335.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:55.477Z,1761545335.477 [DAT](INFO): DAT read: Rx Time:06:08:54.2198 2025-10-27T06:08:55.477Z,1761545335.477 [DAT](INFO): Rx dataTimestamp_ set to:1761545335.476784 2025-10-27T06:08:55.478Z,1761545335.478 [DAT](INFO): DAT read: Bearing 283.3, 10.9 (Local) 2025-10-27T06:08:55.503Z,1761545335.503 [DAT](INFO): Local bearing/azimuth received: Bearing 283.3, 10.9 (Local) 2025-10-27T06:08:55.505Z,1761545335.505 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:55.516Z,1761545335.516 [DAT](INFO): DAT read: 06:08:54.2198 LVL= 21632, 20161, 32754, 32755, AGC= 60, IDX= 505, 0.27,-1.737,-0.069,-2.078,-1.128, PHS=-0.507, 1.105,-0.994, RAW= 342.8, 4.2, CAL= 342.4, 2.1, ROT= 167.6, -2.1 2025-10-27T06:08:55.517Z,1761545335.517 [DAT](INFO): got valid direction response: 06:08:54.2198 LVL= 21632, 20161, 32754, 32755, AGC= 60, IDX= 505, 0.27,-1.737,-0.069,-2.078,-1.128, PHS=-0.507, 1.105,-0.994, RAW= 342.8, 4.2, CAL= 342.4, 2.1, ROT= 167.6, -2.1 2025-10-27T06:08:55.517Z,1761545335.517 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T06:08:55.518Z,1761545335.518 [DAT](INFO): direction in FSK: [-0.976016,0.214591,0.036644] 2025-10-27T06:08:55.518Z,1761545335.518 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:55.555Z,1761545335.555 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.112068 2025-10-27T06:08:55.731Z,1761545335.731 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.291443 2025-10-27T06:08:55.749Z,1761545335.749 [CTD_Seabird](ERROR): Failed to parse device response: 65.38,10.72651,2609.83 2025-10-27T06:08:55.950Z,1761545335.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504052 s, deltaX: 0.200000 m, approachRate: 0.396784 m/s, rangeRepo size: 4 2025-10-27T06:08:55.965Z,1761545335.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405446 m, bearing: 102.439494 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.504052 s, deltaX: 0.198780 m, approachRate: 0.394364 m/s, posRepo size: 4 2025-10-27T06:08:55.965Z,1761545335.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:55.981Z,1761545335.981 [DAT](INFO): DAT read: Rx Time:06:08:54.7197 2025-10-27T06:08:55.981Z,1761545335.981 [DAT](INFO): Rx dataTimestamp_ set to:1761545335.980842 2025-10-27T06:08:55.982Z,1761545335.982 [DAT](INFO): DAT read: Bearing 283.0, 10.0 (Local) 2025-10-27T06:08:55.983Z,1761545335.983 [DAT](INFO): Local bearing/azimuth received: Bearing 283.0, 10.0 (Local) 2025-10-27T06:08:55.985Z,1761545335.985 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-27T06:08:55.990Z,1761545335.990 [DAT](INFO): DAT read: 06:08:54.7197 LVL= 22384, 18865, 32546, 32755, AGC= 60, IDX= 505,-0.18, 1.529,-3.060, 1.218, 2.163, PHS=-0.531, 1.105,-0.989, RAW= 342.0, 4.4, CAL= 341.6, 2.4, ROT= 168.4, -2.4 2025-10-27T06:08:55.991Z,1761545335.991 [DAT](INFO): got valid direction response: 06:08:54.7197 LVL= 22384, 18865, 32546, 32755, AGC= 60, IDX= 505,-0.18, 1.529,-3.060, 1.218, 2.163, PHS=-0.531, 1.105,-0.989, RAW= 342.0, 4.4, CAL= 341.6, 2.4, ROT= 168.4, -2.4 2025-10-27T06:08:55.991Z,1761545335.991 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T06:08:55.992Z,1761545335.992 [DAT](INFO): direction in FSK: [-0.978716,0.200902,0.041876] 2025-10-27T06:08:55.993Z,1761545335.993 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:55.996Z,1761545335.996 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.557495 2025-10-27T06:08:56.232Z,1761545336.232 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.793346 2025-10-27T06:08:56.250Z,1761545336.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419141,0.906999,0.040907],[-0.907358,0.416869,0.054051],[0.031971,-0.059772,0.997700]] 2025-10-27T06:08:56.273Z,1761545336.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504058 s, deltaX: -0.200000 m, approachRate: -0.396779 m/s, rangeRepo size: 4 2025-10-27T06:08:56.276Z,1761545336.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206666 m, bearing: 103.078740 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.504058 s, deltaX: -0.198780 m, approachRate: -0.394359 m/s, posRepo size: 4 2025-10-27T06:08:56.277Z,1761545336.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-27T06:08:56.485Z,1761545336.485 [DAT](INFO): DAT read: Rx Time:06:08:55.2199 2025-10-27T06:08:56.485Z,1761545336.485 [DAT](INFO): Rx dataTimestamp_ set to:1761545336.484849 2025-10-27T06:08:56.486Z,1761545336.486 [DAT](INFO): DAT read: Bearing 282.9, 10.6 (Local) 2025-10-27T06:08:56.487Z,1761545336.487 [DAT](INFO): Local bearing/azimuth received: Bearing 282.9, 10.6 (Local) 2025-10-27T06:08:56.489Z,1761545336.489 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-27T06:08:56.494Z,1761545336.494 [DAT](INFO): DAT read: 06:08:55.2199 LVL= 22256, 22049, 32754, 32755, AGC= 61, IDX= 506, 0.21,-1.528, 0.146,-1.857,-0.905, PHS=-0.521, 1.097,-0.996, RAW= 342.5, 4.5, CAL= 342.1, 2.5, ROT= 167.9, -2.5 2025-10-27T06:08:56.496Z,1761545336.496 [DAT](INFO): got valid direction response: 06:08:55.2199 LVL= 22256, 22049, 32754, 32755, AGC= 61, IDX= 506, 0.21,-1.528, 0.146,-1.857,-0.905, PHS=-0.521, 1.097,-0.996, RAW= 342.5, 4.5, CAL= 342.1, 2.5, ROT= 167.9, -2.5 2025-10-27T06:08:56.496Z,1761545336.496 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T06:08:56.497Z,1761545336.497 [DAT](INFO): direction in FSK: [-0.976853,0.209419,0.043619] 2025-10-27T06:08:56.497Z,1761545336.497 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:56.501Z,1761545336.501 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.061966 2025-10-27T06:08:56.646Z,1761545336.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418266,0.907389,0.041231],[-0.907756,0.415966,0.054327],[0.032145,-0.060151,0.997672]] 2025-10-27T06:08:56.740Z,1761545336.740 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.300774 2025-10-27T06:08:56.787Z,1761545336.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504007 s, deltaX: 0.300000 m, approachRate: 0.595230 m/s, rangeRepo size: 4 2025-10-27T06:08:56.789Z,1761545336.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504836 m, bearing: 102.518858 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.504007 s, deltaX: 0.298170 m, approachRate: 0.591599 m/s, posRepo size: 4 2025-10-27T06:08:56.790Z,1761545336.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:08:56.992Z,1761545336.992 [DAT](INFO): DAT read: Rx Time:06:08:55.7198 2025-10-27T06:08:56.992Z,1761545336.992 [DAT](INFO): Rx dataTimestamp_ set to:1761545336.992021 2025-10-27T06:08:56.994Z,1761545336.994 [DAT](INFO): DAT read: Bearing 282.9, 10.1 (Local) 2025-10-27T06:08:56.994Z,1761545336.994 [DAT](INFO): Local bearing/azimuth received: Bearing 282.9, 10.1 (Local) 2025-10-27T06:08:56.996Z,1761545336.996 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:08:57.002Z,1761545337.002 [DAT](INFO): DAT read: 06:08:55.7198 LVL= 21392, 18673, 32754, 32755, AGC= 61, IDX= 506,-0.16, 1.711,-2.881, 1.402, 2.347, PHS=-0.534, 1.100,-0.989, RAW= 342.0, 4.5, CAL= 341.6, 2.5, ROT= 168.4, -2.5 2025-10-27T06:08:57.004Z,1761545337.004 [DAT](INFO): got valid direction response: 06:08:55.7198 LVL= 21392, 18673, 32754, 32755, AGC= 61, IDX= 506,-0.16, 1.711,-2.881, 1.402, 2.347, PHS=-0.534, 1.100,-0.989, RAW= 342.0, 4.5, CAL= 341.6, 2.5, ROT= 168.4, -2.5 2025-10-27T06:08:57.004Z,1761545337.004 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T06:08:57.005Z,1761545337.005 [DAT](INFO): direction in FSK: [-0.978643,0.200887,0.043619] 2025-10-27T06:08:57.006Z,1761545337.006 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:57.010Z,1761545337.010 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.570763 2025-10-27T06:08:57.159Z,1761545337.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.507172 s, deltaX: -0.100000 m, approachRate: -0.197173 m/s, rangeRepo size: 4 2025-10-27T06:08:57.165Z,1761545337.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405518 m, bearing: 103.017696 deg, lat: 36.779404 deg, lon: -121.859812 deg, deltaT: 0.507172 s, deltaX: -0.099319 m, approachRate: -0.195828 m/s, posRepo size: 4 2025-10-27T06:08:57.165Z,1761545337.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:57.241Z,1761545337.241 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.802086 2025-10-27T06:08:57.458Z,1761545337.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418609,0.907224,0.041370],[-0.907622,0.416346,0.053645],[0.031443,-0.060005,0.997703]] 2025-10-27T06:08:57.476Z,1761545337.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:08:57.495Z,1761545337.495 [DAT](INFO): DAT read: Rx Time:06:08:56.2200 2025-10-27T06:08:57.496Z,1761545337.496 [DAT](INFO): Rx dataTimestamp_ set to:1761545337.495380 2025-10-27T06:08:57.497Z,1761545337.497 [DAT](INFO): DAT read: Bearing 282.7, 11.1 (Local) 2025-10-27T06:08:57.497Z,1761545337.497 [DAT](INFO): Local bearing/azimuth received: Bearing 282.7, 11.1 (Local) 2025-10-27T06:08:57.500Z,1761545337.500 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-27T06:08:57.522Z,1761545337.522 [DAT](INFO): DAT read: 06:08:56.2200 LVL= 21168, 24913, 32754, 32755, AGC= 60, IDX= 507, 0.28,-1.585, 0.069,-1.927,-0.970, PHS=-0.513, 1.084,-1.002, RAW= 342.9, 4.6, CAL= 342.6, 2.7, ROT= 167.4, -2.7 2025-10-27T06:08:57.524Z,1761545337.524 [DAT](INFO): got valid direction response: 06:08:56.2200 LVL= 21168, 24913, 32754, 32755, AGC= 60, IDX= 507, 0.28,-1.585, 0.069,-1.927,-0.970, PHS=-0.513, 1.084,-1.002, RAW= 342.9, 4.6, CAL= 342.6, 2.7, ROT= 167.4, -2.7 2025-10-27T06:08:57.524Z,1761545337.524 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T06:08:57.525Z,1761545337.525 [DAT](INFO): direction in FSK: [-0.974833,0.217901,0.047106] 2025-10-27T06:08:57.526Z,1761545337.526 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:57.555Z,1761545337.555 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.107876 2025-10-27T06:08:57.755Z,1761545337.755 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.315617 2025-10-27T06:08:57.884Z,1761545337.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419191,0.906961,0.041237],[-0.907376,0.416978,0.052895],[0.030778,-0.059591,0.997748]] 2025-10-27T06:08:57.961Z,1761545337.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503359 s, deltaX: 0.300000 m, approachRate: 0.595996 m/s, rangeRepo size: 4 2025-10-27T06:08:57.963Z,1761545337.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703864 m, bearing: 102.067998 deg, lat: 36.779405 deg, lon: -121.859810 deg, deltaT: 0.503359 s, deltaX: 0.298347 m, approachRate: 0.592711 m/s, posRepo size: 4 2025-10-27T06:08:57.964Z,1761545337.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:08:58.005Z,1761545338.005 [DAT](INFO): DAT read: Rx Time:06:08:56.7199 2025-10-27T06:08:58.005Z,1761545338.005 [DAT](INFO): Rx dataTimestamp_ set to:1761545338.004797 2025-10-27T06:08:58.006Z,1761545338.006 [DAT](INFO): DAT read: Bearing 282.7, 10.4 (Local) 2025-10-27T06:08:58.007Z,1761545338.007 [DAT](INFO): Local bearing/azimuth received: Bearing 282.7, 10.4 (Local) 2025-10-27T06:08:58.009Z,1761545338.009 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.1 2025-10-27T06:08:58.016Z,1761545338.016 [DAT](INFO): DAT read: 06:08:56.7199 LVL= 21344, 21313, 32754, 32755, AGC= 59, IDX= 507,-0.10, 1.205, 2.887, 0.885, 1.839, PHS=-0.532, 1.093,-0.999, RAW= 342.3, 4.7, CAL= 341.9, 2.8, ROT= 168.1, -2.8 2025-10-27T06:08:58.017Z,1761545338.017 [DAT](INFO): got valid direction response: 06:08:56.7199 LVL= 21344, 21313, 32754, 32755, AGC= 59, IDX= 507,-0.10, 1.205, 2.887, 0.885, 1.839, PHS=-0.532, 1.093,-0.999, RAW= 342.3, 4.7, CAL= 341.9, 2.8, ROT= 168.1, -2.8 2025-10-27T06:08:58.017Z,1761545338.017 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T06:08:58.024Z,1761545338.024 [DAT](INFO): direction in FSK: [-0.977341,0.205958,0.048850] 2025-10-27T06:08:58.024Z,1761545338.024 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:58.043Z,1761545338.043 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.592010 2025-10-27T06:08:58.256Z,1761545338.256 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.817226 2025-10-27T06:08:58.272Z,1761545338.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420407,0.906412,0.040928],[-0.906845,0.418269,0.051801],[0.029834,-0.058892,0.997818]] 2025-10-27T06:08:58.300Z,1761545338.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.509417 s, deltaX: -0.200000 m, approachRate: -0.392605 m/s, rangeRepo size: 4 2025-10-27T06:08:58.302Z,1761545338.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.505081 m, bearing: 102.838581 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.509417 s, deltaX: -0.198783 m, approachRate: -0.390216 m/s, posRepo size: 4 2025-10-27T06:08:58.303Z,1761545338.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T06:08:58.509Z,1761545338.509 [DAT](INFO): DAT read: Rx Time:06:08:57.2201 2025-10-27T06:08:58.509Z,1761545338.509 [DAT](INFO): Rx dataTimestamp_ set to:1761545338.508715 2025-10-27T06:08:58.510Z,1761545338.510 [DAT](INFO): DAT read: Bearing 282.4, 10.9 (Local) 2025-10-27T06:08:58.511Z,1761545338.511 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 10.9 (Local) 2025-10-27T06:08:58.513Z,1761545338.513 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:08:58.517Z,1761545338.517 [DAT](INFO): DAT read: 06:08:57.2201 LVL= 20176, 21233, 32754, 32755, AGC= 58, IDX= 508, 0.19,-2.233,-0.580,-2.569,-1.610, PHS=-0.521, 1.075,-1.003, RAW= 342.8, 4.8, CAL= 342.5, 3.0, ROT= 167.5, -3.0 2025-10-27T06:08:58.518Z,1761545338.518 [DAT](INFO): got valid direction response: 06:08:57.2201 LVL= 20176, 21233, 32754, 32755, AGC= 58, IDX= 508, 0.19,-2.233,-0.580,-2.569,-1.610, PHS=-0.521, 1.075,-1.003, RAW= 342.8, 4.8, CAL= 342.5, 3.0, ROT= 167.5, -3.0 2025-10-27T06:08:58.519Z,1761545338.519 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T06:08:58.520Z,1761545338.520 [DAT](INFO): direction in FSK: [-0.974958,0.216143,0.052336] 2025-10-27T06:08:58.520Z,1761545338.520 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:58.533Z,1761545338.533 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.094131 2025-10-27T06:08:58.665Z,1761545338.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421573,0.905869,0.040949],[-0.906335,0.419493,0.050813],[0.028852,-0.058535,0.997868]] 2025-10-27T06:08:58.763Z,1761545338.763 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.323277 2025-10-27T06:08:58.814Z,1761545338.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503918 s, deltaX: 0.299999 m, approachRate: 0.595333 m/s, rangeRepo size: 4 2025-10-27T06:08:58.824Z,1761545338.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.803262 m, bearing: 102.303476 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.503918 s, deltaX: 0.298181 m, approachRate: 0.591724 m/s, posRepo size: 4 2025-10-27T06:08:58.825Z,1761545338.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:08:59.013Z,1761545339.013 [DAT](INFO): DAT read: Rx Time:06:08:57.7200 2025-10-27T06:08:59.013Z,1761545339.013 [DAT](INFO): Rx dataTimestamp_ set to:1761545339.012739 2025-10-27T06:08:59.014Z,1761545339.014 [DAT](INFO): DAT read: Bearing 282.6, 10.4 (Local) 2025-10-27T06:08:59.015Z,1761545339.015 [DAT](INFO): Local bearing/azimuth received: Bearing 282.6, 10.4 (Local) 2025-10-27T06:08:59.017Z,1761545339.017 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-27T06:08:59.022Z,1761545339.022 [DAT](INFO): DAT read: 06:08:57.7200 LVL= 20448, 17505, 32754, 32755, AGC= 58, IDX= 508,-0.45, 2.396,-2.212, 2.078, 3.030, PHS=-0.532, 1.086,-0.996, RAW= 342.3, 4.7, CAL= 341.9, 2.9, ROT= 168.1, -2.9 2025-10-27T06:08:59.023Z,1761545339.023 [DAT](INFO): got valid direction response: 06:08:57.7200 LVL= 20448, 17505, 32754, 32755, AGC= 58, IDX= 508,-0.45, 2.396,-2.212, 2.078, 3.030, PHS=-0.532, 1.086,-0.996, RAW= 342.3, 4.7, CAL= 341.9, 2.9, ROT= 168.1, -2.9 2025-10-27T06:08:59.023Z,1761545339.023 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T06:08:59.024Z,1761545339.024 [DAT](INFO): direction in FSK: [-0.977256,0.205940,0.050593] 2025-10-27T06:08:59.024Z,1761545339.024 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:59.032Z,1761545339.032 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.593422 2025-10-27T06:08:59.137Z,1761545339.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423198,0.905110,0.040990],[-0.905615,0.421187,0.049620],[0.027647,-0.058120,0.997927]] 2025-10-27T06:08:59.219Z,1761545339.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504024 s, deltaX: -0.099999 m, approachRate: -0.198402 m/s, rangeRepo size: 4 2025-10-27T06:08:59.221Z,1761545339.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703871 m, bearing: 103.009664 deg, lat: 36.779404 deg, lon: -121.859808 deg, deltaT: 0.504024 s, deltaX: -0.099391 m, approachRate: -0.197195 m/s, posRepo size: 4 2025-10-27T06:08:59.222Z,1761545339.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:08:59.264Z,1761545339.264 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.825703 2025-10-27T06:08:59.516Z,1761545339.516 [DAT](INFO): DAT read: Rx Time:06:08:58.2200 2025-10-27T06:08:59.517Z,1761545339.517 [DAT](INFO): Rx dataTimestamp_ set to:1761545339.516675 2025-10-27T06:08:59.518Z,1761545339.518 [DAT](INFO): DAT read: Bearing 282.8, 10.1 (Local) 2025-10-27T06:08:59.519Z,1761545339.519 [DAT](INFO): Local bearing/azimuth received: Bearing 282.8, 10.1 (Local) 2025-10-27T06:08:59.521Z,1761545339.521 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:08:59.525Z,1761545339.525 [DAT](INFO): DAT read: 06:08:58.2200 LVL= 21840, 21601, 32754, 32755, AGC= 59, IDX= 508,-0.16, 1.716,-2.880, 1.407, 2.356, PHS=-0.538, 1.092,-0.993, RAW= 342.0, 4.7, CAL= 341.6, 2.8, ROT= 168.4, -2.8 2025-10-27T06:08:59.527Z,1761545339.527 [DAT](INFO): got valid direction response: 06:08:58.2200 LVL= 21840, 21601, 32754, 32755, AGC= 59, IDX= 508,-0.16, 1.716,-2.880, 1.407, 2.356, PHS=-0.538, 1.092,-0.993, RAW= 342.0, 4.7, CAL= 341.6, 2.8, ROT= 168.4, -2.8 2025-10-27T06:08:59.528Z,1761545339.528 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T06:08:59.528Z,1761545339.528 [DAT](INFO): direction in FSK: [-0.978406,0.200838,0.048850] 2025-10-27T06:08:59.529Z,1761545339.529 [DAT](INFO): publishing direction and range info 2025-10-27T06:08:59.533Z,1761545339.533 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.093769 2025-10-27T06:08:59.565Z,1761545339.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425131,0.904197,0.041123],[-0.904749,0.423191,0.048354],[0.026319,-0.057763,0.997983]] 2025-10-27T06:08:59.617Z,1761545339.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:08:59.623Z,1761545339.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703871 m, bearing: 103.436048 deg, lat: 36.779403 deg, lon: -121.859808 deg, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:08:59.624Z,1761545339.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:08:59.770Z,1761545339.770 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.330776 2025-10-27T06:08:59.990Z,1761545339.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:00.021Z,1761545340.021 [DAT](INFO): DAT read: Rx Time:06:08:58.7199 2025-10-27T06:09:00.021Z,1761545340.021 [DAT](INFO): Rx dataTimestamp_ set to:1761545340.020785 2025-10-27T06:09:00.022Z,1761545340.022 [DAT](INFO): DAT read: Bearing 282.4, 10.8 (Local) 2025-10-27T06:09:00.023Z,1761545340.023 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 10.8 (Local) 2025-10-27T06:09:00.025Z,1761545340.025 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:00.029Z,1761545340.029 [DAT](INFO): DAT read: 06:08:58.7199 LVL= 20016, 23281, 32754, 32755, AGC= 57, IDX= 507, 0.00, 0.971, 2.631, 0.642, 1.601, PHS=-0.528, 1.075,-1.003, RAW= 342.6, 4.9, CAL= 342.3, 3.2, ROT= 167.7, -3.2 2025-10-27T06:09:00.031Z,1761545340.031 [DAT](INFO): got valid direction response: 06:08:58.7199 LVL= 20016, 23281, 32754, 32755, AGC= 57, IDX= 507, 0.00, 0.971, 2.631, 0.642, 1.601, PHS=-0.528, 1.075,-1.003, RAW= 342.6, 4.9, CAL= 342.3, 3.2, ROT= 167.7, -3.2 2025-10-27T06:09:00.031Z,1761545340.031 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T06:09:00.032Z,1761545340.032 [DAT](INFO): direction in FSK: [-0.975522,0.212698,0.055822] 2025-10-27T06:09:00.032Z,1761545340.032 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:00.044Z,1761545340.044 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.605267 2025-10-27T06:09:00.272Z,1761545340.272 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.833237 2025-10-27T06:09:00.338Z,1761545340.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428956,0.902346,0.042057],[-0.903016,0.427127,0.046090],[0.023626,-0.057749,0.998052]] 2025-10-27T06:09:00.435Z,1761545340.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504110 s, deltaX: -0.200000 m, approachRate: -0.396738 m/s, rangeRepo size: 4 2025-10-27T06:09:00.443Z,1761545340.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.505170 m, bearing: 102.957468 deg, lat: 36.779402 deg, lon: -121.859808 deg, deltaT: 0.504110 s, deltaX: -0.198701 m, approachRate: -0.394162 m/s, posRepo size: 4 2025-10-27T06:09:00.444Z,1761545340.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T06:09:00.525Z,1761545340.525 [DAT](INFO): DAT read: Rx Time:06:08:59.2200 2025-10-27T06:09:00.525Z,1761545340.525 [DAT](INFO): Rx dataTimestamp_ set to:1761545340.524891 2025-10-27T06:09:00.526Z,1761545340.526 [DAT](INFO): DAT read: Bearing 282.5, 11.1 (Local) 2025-10-27T06:09:00.527Z,1761545340.527 [DAT](INFO): Local bearing/azimuth received: Bearing 282.5, 11.1 (Local) 2025-10-27T06:09:00.529Z,1761545340.529 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:00.538Z,1761545340.538 [DAT](INFO): DAT read: 06:08:59.2200 LVL= 20592, 20689, 32754, 32755, AGC= 57, IDX= 508, 0.03, 2.872,-1.767, 2.532,-2.794, PHS=-0.515, 1.072,-1.001, RAW= 343.0, 4.8, CAL= 342.6, 3.0, ROT= 167.4, -3.0 2025-10-27T06:09:00.552Z,1761545340.552 [DAT](INFO): got valid direction response: 06:08:59.2200 LVL= 20592, 20689, 32754, 32755, AGC= 57, IDX= 508, 0.03, 2.872,-1.767, 2.532,-2.794, PHS=-0.515, 1.072,-1.001, RAW= 343.0, 4.8, CAL= 342.6, 3.0, ROT= 167.4, -3.0 2025-10-27T06:09:00.553Z,1761545340.553 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T06:09:00.554Z,1761545340.554 [DAT](INFO): direction in FSK: [-0.974579,0.217844,0.052336] 2025-10-27T06:09:00.575Z,1761545340.575 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:00.578Z,1761545340.578 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.139671 2025-10-27T06:09:00.749Z,1761545340.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430736,0.901474,0.042566],[-0.902201,0.428956,0.045055],[0.022357,-0.057810,0.998077]] 2025-10-27T06:09:00.779Z,1761545340.779 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.339485 2025-10-27T06:09:00.898Z,1761545340.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504106 s, deltaX: 0.200000 m, approachRate: 0.396742 m/s, rangeRepo size: 4 2025-10-27T06:09:00.913Z,1761545340.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703919 m, bearing: 102.780286 deg, lat: 36.779402 deg, lon: -121.859808 deg, deltaT: 0.504106 s, deltaX: 0.198750 m, approachRate: 0.394261 m/s, posRepo size: 4 2025-10-27T06:09:00.914Z,1761545340.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:01.030Z,1761545341.030 [DAT](INFO): DAT read: Rx Time:06:08:59.7199 2025-10-27T06:09:01.030Z,1761545341.030 [DAT](INFO): Rx dataTimestamp_ set to:1761545341.029842 2025-10-27T06:09:01.032Z,1761545341.032 [DAT](INFO): DAT read: Bearing 282.5, 10.8 (Local) 2025-10-27T06:09:01.032Z,1761545341.032 [DAT](INFO): Local bearing/azimuth received: Bearing 282.5, 10.8 (Local) 2025-10-27T06:09:01.034Z,1761545341.034 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:01.039Z,1761545341.039 [DAT](INFO): DAT read: 06:08:59.7199 LVL= 19936, 19905, 32754, 32755, AGC= 58, IDX= 507,-0.06, 1.758,-2.865, 1.427, 2.386, PHS=-0.526, 1.077,-1.003, RAW= 342.6, 4.8, CAL= 342.3, 3.1, ROT= 167.7, -3.1 2025-10-27T06:09:01.040Z,1761545341.040 [DAT](INFO): got valid direction response: 06:08:59.7199 LVL= 19936, 19905, 32754, 32755, AGC= 58, IDX= 507,-0.06, 1.758,-2.865, 1.427, 2.386, PHS=-0.526, 1.077,-1.003, RAW= 342.6, 4.8, CAL= 342.3, 3.1, ROT= 167.7, -3.1 2025-10-27T06:09:01.040Z,1761545341.040 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T06:09:01.041Z,1761545341.041 [DAT](INFO): direction in FSK: [-0.975616,0.212719,0.054079] 2025-10-27T06:09:01.042Z,1761545341.042 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:01.074Z,1761545341.074 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.634995 2025-10-27T06:09:01.222Z,1761545341.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432531,0.900597,0.042908],[-0.901371,0.430806,0.044008],[0.021149,-0.057711,0.998109]] 2025-10-27T06:09:01.280Z,1761545341.280 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.841209 2025-10-27T06:09:01.284Z,1761545341.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504951 s, deltaX: -0.200000 m, approachRate: -0.396078 m/s, rangeRepo size: 4 2025-10-27T06:09:01.286Z,1761545341.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.505136 m, bearing: 103.187633 deg, lat: 36.779401 deg, lon: -121.859808 deg, deltaT: 0.504951 s, deltaX: -0.198784 m, approachRate: -0.393670 m/s, posRepo size: 4 2025-10-27T06:09:01.286Z,1761545341.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T06:09:01.533Z,1761545341.533 [DAT](INFO): DAT read: Rx Time:06:09:00.2200 2025-10-27T06:09:01.533Z,1761545341.533 [DAT](INFO): Rx dataTimestamp_ set to:1761545341.532921 2025-10-27T06:09:01.535Z,1761545341.535 [DAT](INFO): DAT read: Bearing 282.1, 11.2 (Local) 2025-10-27T06:09:01.535Z,1761545341.535 [DAT](INFO): Local bearing/azimuth received: Bearing 282.1, 11.2 (Local) 2025-10-27T06:09:01.538Z,1761545341.538 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:01.543Z,1761545341.543 [DAT](INFO): DAT read: 06:09:00.2200 LVL= 22256, 22257, 32754, 32755, AGC= 57, IDX= 508,-0.11,-3.103,-1.465, 2.839,-2.480, PHS=-0.521, 1.060,-1.009, RAW= 343.0, 5.1, CAL= 342.7, 3.4, ROT= 167.3, -3.4 2025-10-27T06:09:01.545Z,1761545341.545 [DAT](INFO): got valid direction response: 06:09:00.2200 LVL= 22256, 22257, 32754, 32755, AGC= 57, IDX= 508,-0.11,-3.103,-1.465, 2.839,-2.480, PHS=-0.521, 1.060,-1.009, RAW= 343.0, 5.1, CAL= 342.7, 3.4, ROT= 167.3, -3.4 2025-10-27T06:09:01.545Z,1761545341.545 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T06:09:01.546Z,1761545341.546 [DAT](INFO): direction in FSK: [-0.973817,0.219459,0.059306] 2025-10-27T06:09:01.546Z,1761545341.546 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:01.550Z,1761545341.550 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.111111 2025-10-27T06:09:01.618Z,1761545341.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434148,0.899787,0.043573],[-0.900620,0.432460,0.043152],[0.019984,-0.057977,0.998118]] 2025-10-27T06:09:01.685Z,1761545341.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503079 s, deltaX: 0.200000 m, approachRate: 0.397552 m/s, rangeRepo size: 4 2025-10-27T06:09:01.691Z,1761545341.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703919 m, bearing: 102.874201 deg, lat: 36.779401 deg, lon: -121.859808 deg, deltaT: 0.503079 s, deltaX: 0.198784 m, approachRate: 0.395135 m/s, posRepo size: 4 2025-10-27T06:09:01.691Z,1761545341.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:01.787Z,1761545341.787 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.347534 2025-10-27T06:09:02.017Z,1761545342.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435741,0.899003,0.043848],[-0.899873,0.434103,0.042229],[0.018929,-0.057858,0.998145]] 2025-10-27T06:09:02.037Z,1761545342.037 [DAT](INFO): DAT read: Rx Time:06:09:00.7199 2025-10-27T06:09:02.037Z,1761545342.037 [DAT](INFO): Rx dataTimestamp_ set to:1761545342.036751 2025-10-27T06:09:02.038Z,1761545342.038 [DAT](INFO): DAT read: Bearing 282.4, 11.7 (Local) 2025-10-27T06:09:02.039Z,1761545342.039 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 11.7 (Local) 2025-10-27T06:09:02.041Z,1761545342.041 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:02.046Z,1761545342.046 [DAT](INFO): DAT read: 06:09:00.7199 LVL= 22048, 20177, 32754, 32755, AGC= 58, IDX= 507,-0.18, 1.838,-2.814, 1.475, 2.446, PHS=-0.506, 1.069,-1.015, RAW= 343.6, 4.9, CAL= 343.2, 3.1, ROT= 166.8, -3.1 2025-10-27T06:09:02.051Z,1761545342.051 [DAT](INFO): got valid direction response: 06:09:00.7199 LVL= 22048, 20177, 32754, 32755, AGC= 58, IDX= 507,-0.18, 1.838,-2.814, 1.475, 2.446, PHS=-0.506, 1.069,-1.015, RAW= 343.6, 4.9, CAL= 343.2, 3.1, ROT= 166.8, -3.1 2025-10-27T06:09:02.051Z,1761545342.051 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T06:09:02.052Z,1761545342.052 [DAT](INFO): direction in FSK: [-0.972154,0.228017,0.054079] 2025-10-27T06:09:02.053Z,1761545342.053 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:02.061Z,1761545342.061 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.622540 2025-10-27T06:09:02.130Z,1761545342.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503830 s, deltaX: -0.200000 m, approachRate: -0.396959 m/s, rangeRepo size: 4 2025-10-27T06:09:02.141Z,1761545342.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.505195 m, bearing: 102.491973 deg, lat: 36.779401 deg, lon: -121.859808 deg, deltaT: 0.503830 s, deltaX: -0.198725 m, approachRate: -0.394428 m/s, posRepo size: 4 2025-10-27T06:09:02.142Z,1761545342.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T06:09:02.289Z,1761545342.289 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.850361 2025-10-27T06:09:02.449Z,1761545342.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436854,0.898451,0.044092],[-0.899349,0.435249,0.041588],[0.018174,-0.057822,0.998161]] 2025-10-27T06:09:02.489Z,1761545342.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T06:09:02.541Z,1761545342.541 [DAT](INFO): DAT read: Rx Time:06:09:01.2200 2025-10-27T06:09:02.542Z,1761545342.542 [DAT](INFO): Rx dataTimestamp_ set to:1761545342.541572 2025-10-27T06:09:02.544Z,1761545342.544 [DAT](INFO): DAT read: Bearing 282.6, 12.3 (Local) 2025-10-27T06:09:02.544Z,1761545342.544 [DAT](INFO): Local bearing/azimuth received: Bearing 282.6, 12.3 (Local) 2025-10-27T06:09:02.547Z,1761545342.547 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:02.553Z,1761545342.553 [DAT](INFO): DAT read: 06:09:01.2200 LVL= 21984, 20849, 32754, 32755, AGC= 58, IDX= 508,-0.33,-2.558,-0.949,-2.940,-1.967, PHS=-0.490, 1.063,-1.017, RAW= 344.1, 4.8, CAL= 343.8, 2.9, ROT= 166.2, -2.9 2025-10-27T06:09:02.555Z,1761545342.555 [DAT](INFO): got valid direction response: 06:09:01.2200 LVL= 21984, 20849, 32754, 32755, AGC= 58, IDX= 508,-0.33,-2.558,-0.949,-2.940,-1.967, PHS=-0.490, 1.063,-1.017, RAW= 344.1, 4.8, CAL= 343.8, 2.9, ROT= 166.2, -2.9 2025-10-27T06:09:02.556Z,1761545342.556 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T06:09:02.557Z,1761545342.557 [DAT](INFO): direction in FSK: [-0.969891,0.238228,0.050593] 2025-10-27T06:09:02.557Z,1761545342.557 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:02.562Z,1761545342.562 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.122990 2025-10-27T06:09:02.793Z,1761545342.793 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.354301 2025-10-27T06:09:03.033Z,1761545343.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504821 s, deltaX: 0.200000 m, approachRate: 0.396180 m/s, rangeRepo size: 4 2025-10-27T06:09:03.040Z,1761545343.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703979 m, bearing: 101.974199 deg, lat: 36.779401 deg, lon: -121.859807 deg, deltaT: 0.504821 s, deltaX: 0.198784 m, approachRate: 0.393771 m/s, posRepo size: 4 2025-10-27T06:09:03.040Z,1761545343.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:03.045Z,1761545343.045 [DAT](INFO): DAT read: Rx Time:06:09:01.7199 2025-10-27T06:09:03.045Z,1761545343.045 [DAT](INFO): Rx dataTimestamp_ set to:1761545343.044754 2025-10-27T06:09:03.046Z,1761545343.046 [DAT](INFO): DAT read: Bearing 282.4, 13.2 (Local) 2025-10-27T06:09:03.047Z,1761545343.047 [DAT](INFO): Local bearing/azimuth received: Bearing 282.4, 13.2 (Local) 2025-10-27T06:09:03.049Z,1761545343.049 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:03.053Z,1761545343.053 [DAT](INFO): DAT read: 06:09:01.7199 LVL= 22240, 22081, 32754, 32755, AGC= 59, IDX= 506, 0.42,-1.728,-0.144,-2.142,-1.153, PHS=-0.473, 1.054,-1.033, RAW= 345.0, 4.9, CAL= 344.7, 3.1, ROT= 165.3, -3.1 2025-10-27T06:09:03.054Z,1761545343.054 [DAT](INFO): got valid direction response: 06:09:01.7199 LVL= 22240, 22081, 32754, 32755, AGC= 59, IDX= 506, 0.42,-1.728,-0.144,-2.142,-1.153, PHS=-0.473, 1.054,-1.033, RAW= 345.0, 4.9, CAL= 344.7, 3.1, ROT= 165.3, -3.1 2025-10-27T06:09:03.055Z,1761545343.055 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T06:09:03.056Z,1761545343.056 [DAT](INFO): direction in FSK: [-0.965852,0.253387,0.054079] 2025-10-27T06:09:03.056Z,1761545343.056 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:03.060Z,1761545343.060 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.621147 2025-10-27T06:09:03.296Z,1761545343.296 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.857227 2025-10-27T06:09:03.344Z,1761545343.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437711,0.897987,0.045036],[-0.898949,0.436117,0.041141],[0.017303,-0.058494,0.998138]] 2025-10-27T06:09:03.469Z,1761545343.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503182 s, deltaX: -0.200000 m, approachRate: -0.397470 m/s, rangeRepo size: 4 2025-10-27T06:09:03.480Z,1761545343.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.505195 m, bearing: 101.118553 deg, lat: 36.779401 deg, lon: -121.859807 deg, deltaT: 0.503182 s, deltaX: -0.198784 m, approachRate: -0.395054 m/s, posRepo size: 4 2025-10-27T06:09:03.480Z,1761545343.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T06:09:03.549Z,1761545343.549 [DAT](INFO): DAT read: Rx Time:06:09:02.2199 2025-10-27T06:09:03.550Z,1761545343.550 [DAT](INFO): Rx dataTimestamp_ set to:1761545343.549603 2025-10-27T06:09:03.552Z,1761545343.552 [DAT](INFO): DAT read: Bearing 282.5, 13.6 (Local) 2025-10-27T06:09:03.552Z,1761545343.552 [DAT](INFO): Local bearing/azimuth received: Bearing 282.5, 13.6 (Local) 2025-10-27T06:09:03.556Z,1761545343.556 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:03.562Z,1761545343.562 [DAT](INFO): DAT read: 06:09:02.2199 LVL= 22064, 21121, 32754, 32755, AGC= 59, IDX= 506, 0.28,-1.586,-0.014,-2.014,-1.020, PHS=-0.464, 1.052,-1.038, RAW= 345.4, 4.9, CAL= 345.1, 3.0, ROT= 164.9, -3.0 2025-10-27T06:09:03.575Z,1761545343.575 [DAT](INFO): got valid direction response: 06:09:02.2199 LVL= 22064, 21121, 32754, 32755, AGC= 59, IDX= 506, 0.28,-1.586,-0.014,-2.014,-1.020, PHS=-0.464, 1.052,-1.038, RAW= 345.4, 4.9, CAL= 345.1, 3.0, ROT= 164.9, -3.0 2025-10-27T06:09:03.576Z,1761545343.576 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T06:09:03.577Z,1761545343.577 [DAT](INFO): direction in FSK: [-0.964149,0.260147,0.052336] 2025-10-27T06:09:03.577Z,1761545343.577 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:03.600Z,1761545343.600 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.160950 2025-10-27T06:09:03.800Z,1761545343.800 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.361317 2025-10-27T06:09:03.845Z,1761545343.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437246,0.898211,0.045092],[-0.899171,0.435636,0.041388],[0.017531,-0.058642,0.998125]] 2025-10-27T06:09:04.033Z,1761545344.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504849 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:04.043Z,1761545344.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.505195 m, bearing: 100.694998 deg, lat: 36.779401 deg, lon: -121.859807 deg, deltaT: 0.504849 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:09:04.043Z,1761545344.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T06:09:04.053Z,1761545344.053 [DAT](INFO): DAT read: Rx Time:06:09:02.7198 2025-10-27T06:09:04.053Z,1761545344.053 [DAT](INFO): Rx dataTimestamp_ set to:1761545344.052797 2025-10-27T06:09:04.054Z,1761545344.054 [DAT](INFO): DAT read: Bearing 282.9, 14.0 (Local) 2025-10-27T06:09:04.055Z,1761545344.055 [DAT](INFO): Local bearing/azimuth received: Bearing 282.9, 14.0 (Local) 2025-10-27T06:09:04.061Z,1761545344.061 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:09:04.066Z,1761545344.066 [DAT](INFO): DAT read: 06:09:02.7198 LVL= 22000, 19697, 32754, 32755, AGC= 59, IDX= 505, 0.23,-2.926,-1.358, 2.912,-2.374, PHS=-0.450, 1.061,-1.042, RAW= 345.8, 4.6, CAL= 345.5, 2.7, ROT= 164.5, -2.7 2025-10-27T06:09:04.067Z,1761545344.067 [DAT](INFO): got valid direction response: 06:09:02.7198 LVL= 22000, 19697, 32754, 32755, AGC= 59, IDX= 505, 0.23,-2.926,-1.358, 2.912,-2.374, PHS=-0.450, 1.061,-1.042, RAW= 345.8, 4.6, CAL= 345.5, 2.7, ROT= 164.5, -2.7 2025-10-27T06:09:04.068Z,1761545344.068 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T06:09:04.069Z,1761545344.069 [DAT](INFO): direction in FSK: [-0.962561,0.266942,0.047106] 2025-10-27T06:09:04.069Z,1761545344.069 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:04.081Z,1761545344.081 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.641872 2025-10-27T06:09:04.305Z,1761545344.305 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.866070 2025-10-27T06:09:04.358Z,1761545344.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436536,0.898565,0.044923],[-0.899506,0.434903,0.041801],[0.018024,-0.058656,0.998116]] 2025-10-27T06:09:04.491Z,1761545344.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503194 s, deltaX: -0.100000 m, approachRate: -0.198731 m/s, rangeRepo size: 4 2025-10-27T06:09:04.493Z,1761545344.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405802 m, bearing: 100.266612 deg, lat: 36.779404 deg, lon: -121.859807 deg, deltaT: 0.503194 s, deltaX: -0.099393 m, approachRate: -0.197524 m/s, posRepo size: 4 2025-10-27T06:09:04.494Z,1761545344.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:09:04.558Z,1761545344.558 [DAT](INFO): DAT read: Rx Time:06:09:03.2199 2025-10-27T06:09:04.558Z,1761545344.558 [DAT](INFO): Rx dataTimestamp_ set to:1761545344.557801 2025-10-27T06:09:04.560Z,1761545344.560 [DAT](INFO): DAT read: Bearing 282.7, 14.3 (Local) 2025-10-27T06:09:04.561Z,1761545344.561 [DAT](INFO): Local bearing/azimuth received: Bearing 282.7, 14.3 (Local) 2025-10-27T06:09:04.564Z,1761545344.564 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:04.569Z,1761545344.569 [DAT](INFO): DAT read: 06:09:03.2199 LVL= 21792, 21745, 32754, 32755, AGC= 58, IDX= 506, 0.20,-2.189,-0.637,-2.644,-1.642, PHS=-0.445, 1.051,-1.046, RAW= 346.2, 4.8, CAL= 345.8, 2.8, ROT= 164.2, -2.8 2025-10-27T06:09:04.570Z,1761545344.570 [DAT](INFO): got valid direction response: 06:09:03.2199 LVL= 21792, 21745, 32754, 32755, AGC= 58, IDX= 506, 0.20,-2.189,-0.637,-2.644,-1.642, PHS=-0.445, 1.051,-1.046, RAW= 346.2, 4.8, CAL= 345.8, 2.8, ROT= 164.2, -2.8 2025-10-27T06:09:04.570Z,1761545344.570 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T06:09:04.572Z,1761545344.572 [DAT](INFO): direction in FSK: [-0.961069,0.271955,0.048850] 2025-10-27T06:09:04.572Z,1761545344.572 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:04.576Z,1761545344.576 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.136932 2025-10-27T06:09:04.765Z,1761545344.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435712,0.898997,0.044266],[-0.899893,0.434072,0.042122],[0.018653,-0.058188,0.998131]] 2025-10-27T06:09:04.808Z,1761545344.808 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.369335 2025-10-27T06:09:04.816Z,1761545344.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.505004 s, deltaX: 0.100000 m, approachRate: 0.198019 m/s, rangeRepo size: 4 2025-10-27T06:09:04.824Z,1761545344.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.505195 m, bearing: 99.911049 deg, lat: 36.779404 deg, lon: -121.859807 deg, deltaT: 0.505004 s, deltaX: 0.099393 m, approachRate: 0.196816 m/s, posRepo size: 4 2025-10-27T06:09:04.824Z,1761545344.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-27T06:09:05.061Z,1761545345.061 [DAT](INFO): DAT read: Rx Time:06:09:03.7198 2025-10-27T06:09:05.062Z,1761545345.062 [DAT](INFO): Rx dataTimestamp_ set to:1761545345.061229 2025-10-27T06:09:05.064Z,1761545345.064 [DAT](INFO): DAT read: Bearing 282.8, 14.9 (Local) 2025-10-27T06:09:05.064Z,1761545345.064 [DAT](INFO): Local bearing/azimuth received: Bearing 282.8, 14.9 (Local) 2025-10-27T06:09:05.067Z,1761545345.067 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:09:05.073Z,1761545345.073 [DAT](INFO): DAT read: 06:09:03.7198 LVL= 20656, 18833, 32754, 32755, AGC= 58, IDX= 505, 0.21, 2.768,-1.974, 2.292,-2.980, PHS=-0.433, 1.052,-1.054, RAW= 346.7, 4.7, CAL= 346.4, 2.7, ROT= 163.6, -2.7 2025-10-27T06:09:05.074Z,1761545345.074 [DAT](INFO): got valid direction response: 06:09:03.7198 LVL= 20656, 18833, 32754, 32755, AGC= 58, IDX= 505, 0.21, 2.768,-1.974, 2.292,-2.980, PHS=-0.433, 1.052,-1.054, RAW= 346.7, 4.7, CAL= 346.4, 2.7, ROT= 163.6, -2.7 2025-10-27T06:09:05.075Z,1761545345.075 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T06:09:05.076Z,1761545345.076 [DAT](INFO): direction in FSK: [-0.958249,0.282028,0.047106] 2025-10-27T06:09:05.077Z,1761545345.077 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:05.082Z,1761545345.082 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.643414 2025-10-27T06:09:05.312Z,1761545345.312 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.873024 2025-10-27T06:09:05.351Z,1761545345.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503428 s, deltaX: -0.100000 m, approachRate: -0.198639 m/s, rangeRepo size: 4 2025-10-27T06:09:05.367Z,1761545345.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405802 m, bearing: 99.317537 deg, lat: 36.779405 deg, lon: -121.859807 deg, deltaT: 0.503428 s, deltaX: -0.099393 m, approachRate: -0.197432 m/s, posRepo size: 4 2025-10-27T06:09:05.369Z,1761545345.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:09:05.566Z,1761545345.566 [DAT](INFO): DAT read: Rx Time:06:09:04.2199 2025-10-27T06:09:05.566Z,1761545345.566 [DAT](INFO): Rx dataTimestamp_ set to:1761545345.565738 2025-10-27T06:09:05.567Z,1761545345.567 [DAT](INFO): DAT read: Bearing 282.2, 15.2 (Local) 2025-10-27T06:09:05.568Z,1761545345.568 [DAT](INFO): Local bearing/azimuth received: Bearing 282.2, 15.2 (Local) 2025-10-27T06:09:05.570Z,1761545345.570 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:05.575Z,1761545345.575 [DAT](INFO): DAT read: 06:09:04.2199 LVL= 22624, 21921, 32754, 32755, AGC= 57, IDX= 506, 0.26,-2.577,-1.052,-3.056,-2.037, PHS=-0.437, 1.030,-1.063, RAW= 346.9, 5.1, CAL= 346.6, 3.4, ROT= 163.4, -3.4 2025-10-27T06:09:05.577Z,1761545345.577 [DAT](INFO): got valid direction response: 06:09:04.2199 LVL= 22624, 21921, 32754, 32755, AGC= 57, IDX= 506, 0.26,-2.577,-1.052,-3.056,-2.037, PHS=-0.437, 1.030,-1.063, RAW= 346.9, 5.1, CAL= 346.6, 3.4, ROT= 163.4, -3.4 2025-10-27T06:09:05.577Z,1761545345.577 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T06:09:05.579Z,1761545345.579 [DAT](INFO): direction in FSK: [-0.956636,0.285186,0.059306] 2025-10-27T06:09:05.580Z,1761545345.580 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:05.594Z,1761545345.594 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.154945 2025-10-27T06:09:05.730Z,1761545345.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432346,0.900726,0.042072],[-0.901458,0.430658,0.043668],[0.021214,-0.056806,0.998160]] 2025-10-27T06:09:05.779Z,1761545345.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504509 s, deltaX: 0.100000 m, approachRate: 0.198213 m/s, rangeRepo size: 4 2025-10-27T06:09:05.781Z,1761545345.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504716 m, bearing: 98.874382 deg, lat: 36.779406 deg, lon: -121.859807 deg, deltaT: 0.504509 s, deltaX: 0.098914 m, approachRate: 0.196060 m/s, posRepo size: 4 2025-10-27T06:09:05.782Z,1761545345.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:05.816Z,1761545345.816 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.377293 2025-10-27T06:09:06.069Z,1761545346.069 [DAT](INFO): DAT read: Rx Time:06:09:04.7198 2025-10-27T06:09:06.069Z,1761545346.069 [DAT](INFO): Rx dataTimestamp_ set to:1761545346.068723 2025-10-27T06:09:06.070Z,1761545346.070 [DAT](INFO): DAT read: Bearing 282.2, 15.5 (Local) 2025-10-27T06:09:06.071Z,1761545346.071 [DAT](INFO): Local bearing/azimuth received: Bearing 282.2, 15.5 (Local) 2025-10-27T06:09:06.073Z,1761545346.073 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-27T06:09:06.077Z,1761545346.077 [DAT](INFO): DAT read: 06:09:04.7198 LVL= 21968, 20961, 32754, 32755, AGC= 57, IDX= 505, 0.38, 2.252,-2.517, 1.760, 2.785, PHS=-0.431, 1.026,-1.069, RAW= 347.3, 5.1, CAL= 347.0, 3.4, ROT= 163.0, -3.4 2025-10-27T06:09:06.078Z,1761545346.078 [DAT](INFO): got valid direction response: 06:09:04.7198 LVL= 21968, 20961, 32754, 32755, AGC= 57, IDX= 505, 0.38, 2.252,-2.517, 1.760, 2.785, PHS=-0.431, 1.026,-1.069, RAW= 347.3, 5.1, CAL= 347.0, 3.4, ROT= 163.0, -3.4 2025-10-27T06:09:06.079Z,1761545346.079 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T06:09:06.080Z,1761545346.080 [DAT](INFO): direction in FSK: [-0.954622,0.291857,0.059306] 2025-10-27T06:09:06.080Z,1761545346.080 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:06.084Z,1761545346.084 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.645264 2025-10-27T06:09:06.130Z,1761545346.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431232,0.901272,0.041809],[-0.901969,0.429502,0.044489],[0.022139,-0.056896,0.998135]] 2025-10-27T06:09:06.230Z,1761545346.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502985 s, deltaX: -0.100000 m, approachRate: -0.198814 m/s, rangeRepo size: 4 2025-10-27T06:09:06.236Z,1761545346.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405326 m, bearing: 98.405313 deg, lat: 36.779407 deg, lon: -121.859808 deg, deltaT: 0.502985 s, deltaX: -0.099390 m, approachRate: -0.197600 m/s, posRepo size: 4 2025-10-27T06:09:06.237Z,1761545346.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:09:06.322Z,1761545346.322 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.883320 2025-10-27T06:09:06.531Z,1761545346.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430138,0.901796,0.041780],[-0.902468,0.428354,0.045429],[0.023071,-0.057246,0.998093]] 2025-10-27T06:09:06.551Z,1761545346.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:09:06.555Z,1761545346.555 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T05:59:06.5Z 2025-10-27T06:09:06.555Z,1761545346.555 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T06:09:06.556Z,1761545346.556 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:09:06.556Z,1761545346.556 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T06:09:06.556Z,1761545346.556 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:09:06.556Z,1761545346.556 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T06:09:06.576Z,1761545346.576 [DAT](INFO): DAT read: Rx Time:06:09:05.2199 2025-10-27T06:09:06.577Z,1761545346.577 [DAT](INFO): Rx dataTimestamp_ set to:1761545346.576622 2025-10-27T06:09:06.578Z,1761545346.578 [DAT](INFO): DAT read: Bearing 282.8, 15.6 (Local) 2025-10-27T06:09:06.578Z,1761545346.578 [DAT](INFO): Local bearing/azimuth received: Bearing 282.8, 15.6 (Local) 2025-10-27T06:09:06.581Z,1761545346.581 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:06.587Z,1761545346.587 [DAT](INFO): DAT read: 06:09:05.2199 LVL= 19920, 20417, 32754, 32755, AGC= 58, IDX= 507,-0.35, 1.840,-2.924, 1.340, 2.362, PHS=-0.420, 1.043,-1.066, RAW= 347.4, 4.8, CAL= 347.1, 2.8, ROT= 162.9, -2.8 2025-10-27T06:09:06.588Z,1761545346.588 [DAT](INFO): got valid direction response: 06:09:05.2199 LVL= 19920, 20417, 32754, 32755, AGC= 58, IDX= 507,-0.35, 1.840,-2.924, 1.340, 2.362, PHS=-0.420, 1.043,-1.066, RAW= 347.4, 4.8, CAL= 347.1, 2.8, ROT= 162.9, -2.8 2025-10-27T06:09:06.589Z,1761545346.589 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T06:09:06.590Z,1761545346.590 [DAT](INFO): direction in FSK: [-0.954652,0.293689,0.048850] 2025-10-27T06:09:06.591Z,1761545346.591 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:06.596Z,1761545346.596 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.157539 2025-10-27T06:09:06.828Z,1761545346.828 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.389297 2025-10-27T06:09:06.940Z,1761545346.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429324,0.902185,0.041748],[-0.902835,0.427495,0.046216],[0.023848,-0.057534,0.998059]] 2025-10-27T06:09:07.031Z,1761545347.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.507899 s, deltaX: 0.100000 m, approachRate: 0.196890 m/s, rangeRepo size: 4 2025-10-27T06:09:07.033Z,1761545347.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504689 m, bearing: 98.213347 deg, lat: 36.779408 deg, lon: -121.859808 deg, deltaT: 0.507899 s, deltaX: 0.099363 m, approachRate: 0.195636 m/s, posRepo size: 4 2025-10-27T06:09:07.034Z,1761545347.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:07.041Z,1761545347.041 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T06:09:07.042Z,1761545347.042 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T06:09:07.042Z,1761545347.042 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T06:09:07.042Z,1761545347.042 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:09:07.042Z,1761545347.042 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T06:09:07.082Z,1761545347.082 [DAT](INFO): DAT read: Rx Time:06:09:05.7198 2025-10-27T06:09:07.082Z,1761545347.082 [DAT](INFO): Rx dataTimestamp_ set to:1761545347.081786 2025-10-27T06:09:07.084Z,1761545347.084 [DAT](INFO): DAT read: Bearing 282.6, 16.0 (Local) 2025-10-27T06:09:07.085Z,1761545347.085 [DAT](INFO): Local bearing/azimuth received: Bearing 282.6, 16.0 (Local) 2025-10-27T06:09:07.088Z,1761545347.088 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 2025-10-27T06:09:07.094Z,1761545347.094 [DAT](INFO): DAT read: 06:09:05.7198 LVL= 21056, 20657, 32754, 32755, AGC= 59, IDX= 506,-0.11, 0.826, 2.334, 0.317, 1.347, PHS=-0.418, 1.032,-1.074, RAW= 347.7, 5.0, CAL= 347.4, 3.2, ROT= 162.6, -3.2 2025-10-27T06:09:07.101Z,1761545347.101 [DAT](INFO): got valid direction response: 06:09:05.7198 LVL= 21056, 20657, 32754, 32755, AGC= 59, IDX= 506,-0.11, 0.826, 2.334, 0.317, 1.347, PHS=-0.418, 1.032,-1.074, RAW= 347.7, 5.0, CAL= 347.4, 3.2, ROT= 162.6, -3.2 2025-10-27T06:09:07.101Z,1761545347.101 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T06:09:07.123Z,1761545347.123 [DAT](INFO): direction in FSK: [-0.952752,0.298574,0.055822] 2025-10-27T06:09:07.124Z,1761545347.124 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:07.136Z,1761545347.136 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.697231 2025-10-27T06:09:07.332Z,1761545347.332 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.893246 2025-10-27T06:09:07.584Z,1761545347.584 [DAT](INFO): DAT read: Rx Time:06:09:06.2199 2025-10-27T06:09:07.585Z,1761545347.585 [DAT](INFO): Rx dataTimestamp_ set to:1761545347.584645 2025-10-27T06:09:07.586Z,1761545347.586 [DAT](INFO): DAT read: Bearing 281.7, 17.3 (Local) 2025-10-27T06:09:07.587Z,1761545347.587 [DAT](INFO): Local bearing/azimuth received: Bearing 281.7, 17.3 (Local) 2025-10-27T06:09:07.589Z,1761545347.589 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-27T06:09:07.593Z,1761545347.593 [DAT](INFO): DAT read: 06:09:06.2199 LVL= 22224, 21553, 32754, 32755, AGC= 58, IDX= 506, 0.13, 2.691,-2.131, 2.139,-3.087, PHS=-0.403, 1.001,-1.101, RAW= 349.0, 5.5, CAL= 348.8, 3.9, ROT= 161.2, -3.9 2025-10-27T06:09:07.594Z,1761545347.594 [DAT](INFO): got valid direction response: 06:09:06.2199 LVL= 22224, 21553, 32754, 32755, AGC= 58, IDX= 506, 0.13, 2.691,-2.131, 2.139,-3.087, PHS=-0.403, 1.001,-1.101, RAW= 349.0, 5.5, CAL= 348.8, 3.9, ROT= 161.2, -3.9 2025-10-27T06:09:07.595Z,1761545347.595 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T06:09:07.596Z,1761545347.596 [DAT](INFO): direction in FSK: [-0.944457,0.321520,0.068015] 2025-10-27T06:09:07.596Z,1761545347.596 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:07.600Z,1761545347.600 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.160934 2025-10-27T06:09:07.708Z,1761545347.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 1.008023 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:07.713Z,1761545347.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504685 m, bearing: 96.465743 deg, lat: 36.779409 deg, lon: -121.859808 deg, deltaT: 1.008023 s, deltaX: -0.000004 m, approachRate: -0.000004 m/s, posRepo size: 4 2025-10-27T06:09:07.714Z,1761545347.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:07.837Z,1761545347.837 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.397858 2025-10-27T06:09:07.990Z,1761545347.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428981,0.902344,0.041836],[-0.902975,0.427093,0.047199],[0.024721,-0.058025,0.998009]] 2025-10-27T06:09:08.027Z,1761545348.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:08.089Z,1761545348.089 [DAT](INFO): DAT read: Rx Time:06:09:06.7198 2025-10-27T06:09:08.089Z,1761545348.089 [DAT](INFO): Rx dataTimestamp_ set to:1761545348.088737 2025-10-27T06:09:08.091Z,1761545348.091 [DAT](INFO): DAT read: Bearing 281.7, 17.0 (Local) 2025-10-27T06:09:08.092Z,1761545348.092 [DAT](INFO): Local bearing/azimuth received: Bearing 281.7, 17.0 (Local) 2025-10-27T06:09:08.094Z,1761545348.094 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 2025-10-27T06:09:08.101Z,1761545348.101 [DAT](INFO): DAT read: 06:09:06.7198 LVL= 22448, 21825, 32754, 32755, AGC= 59, IDX= 506,-0.35, 0.074, 1.539,-0.462, 0.587, PHS=-0.411, 0.998,-1.093, RAW= 348.7, 5.5, CAL= 348.4, 4.0, ROT= 161.6, -4.0 2025-10-27T06:09:08.102Z,1761545348.102 [DAT](INFO): got valid direction response: 06:09:06.7198 LVL= 22448, 21825, 32754, 32755, AGC= 59, IDX= 506,-0.35, 0.074, 1.539,-0.462, 0.587, PHS=-0.411, 0.998,-1.093, RAW= 348.7, 5.5, CAL= 348.4, 4.0, ROT= 161.6, -4.0 2025-10-27T06:09:08.104Z,1761545348.104 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T06:09:08.105Z,1761545348.105 [DAT](INFO): direction in FSK: [-0.946565,0.314880,0.069756] 2025-10-27T06:09:08.106Z,1761545348.106 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:08.127Z,1761545348.127 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.679871 2025-10-27T06:09:08.340Z,1761545348.340 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.901150 2025-10-27T06:09:08.420Z,1761545348.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429361,0.902169,0.041712],[-0.902790,0.427467,0.047350],[0.024887,-0.057987,0.998007]] 2025-10-27T06:09:08.447Z,1761545348.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504092 s, deltaX: -0.100000 m, approachRate: -0.198377 m/s, rangeRepo size: 4 2025-10-27T06:09:08.449Z,1761545348.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.405296 m, bearing: 96.862064 deg, lat: 36.779409 deg, lon: -121.859809 deg, deltaT: 0.504092 s, deltaX: -0.099389 m, approachRate: -0.197165 m/s, posRepo size: 4 2025-10-27T06:09:08.449Z,1761545348.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-27T06:09:08.593Z,1761545348.593 [DAT](INFO): DAT read: Rx Time:06:09:07.2199 2025-10-27T06:09:08.593Z,1761545348.593 [DAT](INFO): Rx dataTimestamp_ set to:1761545348.592798 2025-10-27T06:09:08.594Z,1761545348.594 [DAT](INFO): DAT read: Bearing 280.7, 18.1 (Local) 2025-10-27T06:09:08.595Z,1761545348.595 [DAT](INFO): Local bearing/azimuth received: Bearing 280.7, 18.1 (Local) 2025-10-27T06:09:08.597Z,1761545348.597 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:08.602Z,1761545348.602 [DAT](INFO): DAT read: 06:09:07.2199 LVL= 23584, 21825, 32754, 32755, AGC= 59, IDX= 507, 0.06,-3.098,-1.682, 2.618,-2.597, PHS=-0.399, 0.960,-1.112, RAW= 349.8, 6.1, CAL= 349.6, 4.9, ROT= 160.4, -4.9 2025-10-27T06:09:08.603Z,1761545348.603 [DAT](INFO): got valid direction response: 06:09:07.2199 LVL= 23584, 21825, 32754, 32755, AGC= 59, IDX= 507, 0.06,-3.098,-1.682, 2.618,-2.597, PHS=-0.399, 0.960,-1.112, RAW= 349.8, 6.1, CAL= 349.6, 4.9, ROT= 160.4, -4.9 2025-10-27T06:09:08.603Z,1761545348.603 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T06:09:08.604Z,1761545348.604 [DAT](INFO): direction in FSK: [-0.938615,0.334226,0.085417] 2025-10-27T06:09:08.604Z,1761545348.604 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:08.608Z,1761545348.608 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.169682 2025-10-27T06:09:08.794Z,1761545348.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430152,0.901800,0.041537],[-0.902417,0.428272,0.047191],[0.024768,-0.057783,0.998022]] 2025-10-27T06:09:08.825Z,1761545348.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504061 s, deltaX: 0.100000 m, approachRate: 0.198389 m/s, rangeRepo size: 4 2025-10-27T06:09:08.827Z,1761545348.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504643 m, bearing: 95.674933 deg, lat: 36.779412 deg, lon: -121.859809 deg, deltaT: 0.504061 s, deltaX: 0.099347 m, approachRate: 0.197093 m/s, posRepo size: 4 2025-10-27T06:09:08.828Z,1761545348.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:08.844Z,1761545348.844 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.405174 2025-10-27T06:09:09.096Z,1761545349.096 [DAT](INFO): DAT read: Rx Time:06:09:07.7199 2025-10-27T06:09:09.097Z,1761545349.097 [DAT](INFO): Rx dataTimestamp_ set to:1761545349.096647 2025-10-27T06:09:09.098Z,1761545349.098 [DAT](INFO): DAT read: Bearing 281.4, 18.2 (Local) 2025-10-27T06:09:09.099Z,1761545349.099 [DAT](INFO): Local bearing/azimuth received: Bearing 281.4, 18.2 (Local) 2025-10-27T06:09:09.101Z,1761545349.101 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-27T06:09:09.105Z,1761545349.105 [DAT](INFO): DAT read: 06:09:07.7199 LVL= 23088, 22369, 32754, 32755, AGC= 59, IDX= 507,-0.32, 0.127, 1.559,-0.452, 0.621, PHS=-0.392, 0.983,-1.117, RAW= 349.9, 5.8, CAL= 349.7, 4.3, ROT= 160.3, -4.3 2025-10-27T06:09:09.106Z,1761545349.106 [DAT](INFO): got valid direction response: 06:09:07.7199 LVL= 23088, 22369, 32754, 32755, AGC= 59, IDX= 507,-0.32, 0.127, 1.559,-0.452, 0.621, PHS=-0.392, 0.983,-1.117, RAW= 349.9, 5.8, CAL= 349.7, 4.3, ROT= 160.3, -4.3 2025-10-27T06:09:09.107Z,1761545349.107 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T06:09:09.108Z,1761545349.108 [DAT](INFO): direction in FSK: [-0.938820,0.336146,0.074979] 2025-10-27T06:09:09.108Z,1761545349.108 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:09.112Z,1761545349.112 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.672951 2025-10-27T06:09:09.198Z,1761545349.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431698,0.901064,0.041478],[-0.901694,0.429853,0.046630],[0.024188,-0.057530,0.998051]] 2025-10-27T06:09:09.297Z,1761545349.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503849 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:09.303Z,1761545349.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504643 m, bearing: 95.701232 deg, lat: 36.779413 deg, lon: -121.859809 deg, deltaT: 0.503849 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:09:09.304Z,1761545349.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:09.353Z,1761545349.353 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.913631 2025-10-27T06:09:09.601Z,1761545349.601 [DAT](INFO): DAT read: Rx Time:06:09:08.2201 2025-10-27T06:09:09.601Z,1761545349.601 [DAT](INFO): Rx dataTimestamp_ set to:1761545349.600759 2025-10-27T06:09:09.602Z,1761545349.602 [DAT](INFO): DAT read: Bearing 280.7, 18.8 (Local) 2025-10-27T06:09:09.603Z,1761545349.603 [DAT](INFO): Local bearing/azimuth received: Bearing 280.7, 18.8 (Local) 2025-10-27T06:09:09.605Z,1761545349.605 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 2025-10-27T06:09:09.610Z,1761545349.610 [DAT](INFO): DAT read: 06:09:08.2201 LVL= 22320, 21713, 32754, 32755, AGC= 58, IDX= 508, 0.13, 2.436,-2.444, 1.843, 2.927, PHS=-0.389, 0.957,-1.128, RAW= 350.5, 6.2, CAL= 350.3, 5.0, ROT= 159.7, -5.0 2025-10-27T06:09:09.611Z,1761545349.611 [DAT](INFO): got valid direction response: 06:09:08.2201 LVL= 22320, 21713, 32754, 32755, AGC= 58, IDX= 508, 0.13, 2.436,-2.444, 1.843, 2.927, PHS=-0.389, 0.957,-1.128, RAW= 350.5, 6.2, CAL= 350.3, 5.0, ROT= 159.7, -5.0 2025-10-27T06:09:09.611Z,1761545349.611 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T06:09:09.612Z,1761545349.612 [DAT](INFO): direction in FSK: [-0.934320,0.345615,0.087156] 2025-10-27T06:09:09.612Z,1761545349.612 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:09.616Z,1761545349.616 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.177395 2025-10-27T06:09:09.620Z,1761545349.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433259,0.900306,0.041654],[-0.900962,0.431440,0.046122],[0.023553,-0.057511,0.998067]] 2025-10-27T06:09:09.725Z,1761545349.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504112 s, deltaX: 0.299999 m, approachRate: 0.595104 m/s, rangeRepo size: 4 2025-10-27T06:09:09.733Z,1761545349.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802780 m, bearing: 95.169582 deg, lat: 36.779414 deg, lon: -121.859809 deg, deltaT: 0.504112 s, deltaX: 0.298137 m, approachRate: 0.591410 m/s, posRepo size: 4 2025-10-27T06:09:09.733Z,1761545349.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:09.855Z,1761545349.855 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.415840 2025-10-27T06:09:10.105Z,1761545350.105 [DAT](INFO): DAT read: Rx Time:06:09:08.7200 2025-10-27T06:09:10.105Z,1761545350.105 [DAT](INFO): Rx dataTimestamp_ set to:1761545350.104826 2025-10-27T06:09:10.106Z,1761545350.106 [DAT](INFO): DAT read: Bearing 280.8, 18.4 (Local) 2025-10-27T06:09:10.107Z,1761545350.107 [DAT](INFO): Local bearing/azimuth received: Bearing 280.8, 18.4 (Local) 2025-10-27T06:09:10.109Z,1761545350.109 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:10.114Z,1761545350.114 [DAT](INFO): DAT read: 06:09:08.7200 LVL= 21904, 23329, 32754, 32755, AGC= 58, IDX= 508,-0.21,-0.520, 0.894,-1.099,-0.020, PHS=-0.397, 0.959,-1.123, RAW= 350.1, 6.2, CAL= 349.9, 5.0, ROT= 160.1, -5.0 2025-10-27T06:09:10.115Z,1761545350.115 [DAT](INFO): got valid direction response: 06:09:08.7200 LVL= 21904, 23329, 32754, 32755, AGC= 58, IDX= 508,-0.21,-0.520, 0.894,-1.099,-0.020, PHS=-0.397, 0.959,-1.123, RAW= 350.1, 6.2, CAL= 349.9, 5.0, ROT= 160.1, -5.0 2025-10-27T06:09:10.115Z,1761545350.115 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T06:09:10.116Z,1761545350.116 [DAT](INFO): direction in FSK: [-0.936710,0.339084,0.087156] 2025-10-27T06:09:10.116Z,1761545350.116 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:10.128Z,1761545350.128 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.689304 2025-10-27T06:09:10.152Z,1761545350.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437562,0.898185,0.042455],[-0.898931,0.435820,0.044547],[0.021509,-0.057656,0.998105]] 2025-10-27T06:09:10.317Z,1761545350.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504067 s, deltaX: -0.099999 m, approachRate: -0.198385 m/s, rangeRepo size: 4 2025-10-27T06:09:10.323Z,1761545350.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703392 m, bearing: 95.838355 deg, lat: 36.779414 deg, lon: -121.859809 deg, deltaT: 0.504067 s, deltaX: -0.099388 m, approachRate: -0.197172 m/s, posRepo size: 4 2025-10-27T06:09:10.323Z,1761545350.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:10.361Z,1761545350.361 [DAT](INFO): DAT read: Rx Time:06:09:09.2202 2025-10-27T06:09:10.362Z,1761545350.362 [DAT](INFO): Rx dataTimestamp_ set to:1761545350.361217 2025-10-27T06:09:10.364Z,1761545350.364 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.924686 2025-10-27T06:09:10.583Z,1761545350.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439946,0.897001,0.042851],[-0.897793,0.438250,0.043634],[0.020360,-0.057668,0.998128]] 2025-10-27T06:09:10.601Z,1761545350.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:10.609Z,1761545350.609 [DAT](INFO): DAT read: Bearing 280.1, 19.1 (Local) 2025-10-27T06:09:10.609Z,1761545350.609 [DAT](INFO): Local bearing/azimuth received: Bearing 280.1, 19.1 (Local) 2025-10-27T06:09:10.612Z,1761545350.612 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-27T06:09:10.617Z,1761545350.617 [DAT](INFO): DAT read: 06:09:09.2202 LVL= 20784, 20465, 32754, 32755, AGC= 57, IDX= 509, 0.27, 1.236, 2.630, 0.631, 1.733, PHS=-0.395, 0.941,-1.146, RAW= 350.8, 6.6, CAL= 350.7, 5.7, ROT= 159.3, -5.7 2025-10-27T06:09:10.618Z,1761545350.618 [DAT](INFO): got valid direction response: 06:09:09.2202 LVL= 20784, 20465, 32754, 32755, AGC= 57, IDX= 509, 0.27, 1.236, 2.630, 0.631, 1.733, PHS=-0.395, 0.941,-1.146, RAW= 350.8, 6.6, CAL= 350.7, 5.7, ROT= 159.3, -5.7 2025-10-27T06:09:10.618Z,1761545350.618 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T06:09:10.619Z,1761545350.619 [DAT](INFO): direction in FSK: [-0.930819,0.351727,0.099320] 2025-10-27T06:09:10.620Z,1761545350.620 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:10.623Z,1761545350.623 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.184540 2025-10-27T06:09:10.864Z,1761545350.864 [DAT](INFO): DAT read: Rx Time:06:09:09.7201 2025-10-27T06:09:10.866Z,1761545350.866 [DAT](INFO): Rx dataTimestamp_ set to:1761545350.865031 2025-10-27T06:09:10.870Z,1761545350.870 [DAT](INFO): DAT read: Bearing 279.7, 18.9 (Local) 2025-10-27T06:09:10.871Z,1761545350.871 [DAT](INFO): Local bearing/azimuth received: Bearing 279.7, 18.9 (Local) 2025-10-27T06:09:10.873Z,1761545350.873 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.433449 2025-10-27T06:09:11.006Z,1761545351.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442482,0.895748,0.042957],[-0.896572,0.440848,0.042557],[0.019183,-0.057345,0.998170]] 2025-10-27T06:09:11.055Z,1761545351.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.502652 s, deltaX: 0.300000 m, approachRate: 0.596835 m/s, rangeRepo size: 4 2025-10-27T06:09:11.057Z,1761545351.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.001513 m, bearing: 95.320003 deg, lat: 36.779414 deg, lon: -121.859807 deg, deltaT: 0.502652 s, deltaX: 0.298120 m, approachRate: 0.593095 m/s, posRepo size: 4 2025-10-27T06:09:11.057Z,1761545351.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T06:09:11.114Z,1761545351.114 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:09:11.121Z,1761545351.121 [DAT](INFO): DAT read: 06:09:09.7201 LVL= 22704, 20961, 32754, 32755, AGC= 56, IDX= 509,-0.27,-0.941, 0.447,-1.532,-0.433, PHS=-0.406, 0.925,-1.143, RAW= 350.6, 6.9, CAL= 350.5, 6.2, ROT= 159.5, -6.2 2025-10-27T06:09:11.122Z,1761545351.122 [DAT](INFO): got valid direction response: 06:09:09.7201 LVL= 22704, 20961, 32754, 32755, AGC= 56, IDX= 509,-0.27,-0.941, 0.447,-1.532,-0.433, PHS=-0.406, 0.925,-1.143, RAW= 350.6, 6.9, CAL= 350.5, 6.2, ROT= 159.5, -6.2 2025-10-27T06:09:11.123Z,1761545351.123 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T06:09:11.125Z,1761545351.125 [DAT](INFO): direction in FSK: [-0.931194,0.348159,0.107999] 2025-10-27T06:09:11.125Z,1761545351.125 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:11.130Z,1761545351.130 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.691624 2025-10-27T06:09:11.367Z,1761545351.367 [DAT](INFO): DAT read: Rx Time:06:09:10.2201 2025-10-27T06:09:11.368Z,1761545351.368 [DAT](INFO): Rx dataTimestamp_ set to:1761545351.367370 2025-10-27T06:09:11.370Z,1761545351.370 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.930912 2025-10-27T06:09:11.440Z,1761545351.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445117,0.894442,0.042954],[-0.895293,0.443556,0.041328],[0.017913,-0.056852,0.998222]] 2025-10-27T06:09:11.464Z,1761545351.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504002 s, deltaX: -0.200001 m, approachRate: -0.396825 m/s, rangeRepo size: 4 2025-10-27T06:09:11.466Z,1761545351.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802735 m, bearing: 95.664006 deg, lat: 36.779414 deg, lon: -121.859806 deg, deltaT: 0.504002 s, deltaX: -0.198777 m, approachRate: -0.394398 m/s, posRepo size: 4 2025-10-27T06:09:11.467Z,1761545351.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:11.617Z,1761545351.617 [DAT](INFO): DAT read: Bearing 279.2, 18.7 (Local) 2025-10-27T06:09:11.617Z,1761545351.617 [DAT](INFO): Local bearing/azimuth received: Bearing 279.2, 18.7 (Local) 2025-10-27T06:09:11.619Z,1761545351.619 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:09:11.624Z,1761545351.624 [DAT](INFO): DAT read: 06:09:10.2201 LVL= 25024, 22833, 32754, 32755, AGC= 56, IDX= 509,-0.01,-0.002, 1.382,-0.583, 0.518, PHS=-0.418, 0.908,-1.145, RAW= 350.4, 7.3, CAL= 350.4, 6.8, ROT= 159.6, -6.8 2025-10-27T06:09:11.625Z,1761545351.625 [DAT](INFO): got valid direction response: 06:09:10.2201 LVL= 25024, 22833, 32754, 32755, AGC= 56, IDX= 509,-0.01,-0.002, 1.382,-0.583, 0.518, PHS=-0.418, 0.908,-1.145, RAW= 350.4, 7.3, CAL= 350.4, 6.8, ROT= 159.6, -6.8 2025-10-27T06:09:11.625Z,1761545351.625 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T06:09:11.626Z,1761545351.626 [DAT](INFO): direction in FSK: [-0.930689,0.346120,0.118404] 2025-10-27T06:09:11.626Z,1761545351.626 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:11.630Z,1761545351.630 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.191364 2025-10-27T06:09:11.790Z,1761545351.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447755,0.893125,0.042936],[-0.894001,0.446268,0.040076],[0.016632,-0.056329,0.998274]] 2025-10-27T06:09:11.828Z,1761545351.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503892 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:11.830Z,1761545351.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802671 m, bearing: 95.904200 deg, lat: 36.779413 deg, lon: -121.859806 deg, deltaT: 0.503892 s, deltaX: -0.000064 m, approachRate: -0.000127 m/s, posRepo size: 4 2025-10-27T06:09:11.830Z,1761545351.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:11.872Z,1761545351.872 [DAT](INFO): DAT read: Rx Time:06:09:10.7201 2025-10-27T06:09:11.874Z,1761545351.874 [DAT](INFO): Rx dataTimestamp_ set to:1761545351.873108 2025-10-27T06:09:11.886Z,1761545351.886 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.446938 2025-10-27T06:09:12.121Z,1761545352.121 [DAT](INFO): DAT read: Bearing 278.7, 18.3 (Local) 2025-10-27T06:09:12.121Z,1761545352.121 [DAT](INFO): Local bearing/azimuth received: Bearing 278.7, 18.3 (Local) 2025-10-27T06:09:12.123Z,1761545352.123 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:09:12.128Z,1761545352.128 [DAT](INFO): DAT read: 06:09:10.7201 LVL= 23872, 23857, 32754, 32755, AGC= 56, IDX= 508, 0.19,-0.866, 0.514,-1.426,-0.331, PHS=-0.433, 0.890,-1.140, RAW= 350.1, 7.7, CAL= 350.0, 7.4, ROT= 160.0, -7.4 2025-10-27T06:09:12.129Z,1761545352.129 [DAT](INFO): got valid direction response: 06:09:10.7201 LVL= 23872, 23857, 32754, 32755, AGC= 56, IDX= 508, 0.19,-0.866, 0.514,-1.426,-0.331, PHS=-0.433, 0.890,-1.140, RAW= 350.1, 7.7, CAL= 350.0, 7.4, ROT= 160.0, -7.4 2025-10-27T06:09:12.129Z,1761545352.129 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T06:09:12.130Z,1761545352.130 [DAT](INFO): direction in FSK: [-0.931866,0.339172,0.128796] 2025-10-27T06:09:12.131Z,1761545352.131 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:12.134Z,1761545352.134 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.695568 2025-10-27T06:09:12.198Z,1761545352.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450196,0.891877,0.043351],[-0.892797,0.448763,0.039046],[0.015369,-0.056282,0.998297]] 2025-10-27T06:09:12.309Z,1761545352.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503985 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:12.316Z,1761545352.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802671 m, bearing: 96.427598 deg, lat: 36.779412 deg, lon: -121.859806 deg, deltaT: 0.503985 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:09:12.316Z,1761545352.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:12.378Z,1761545352.378 [DAT](INFO): DAT read: Rx Time:06:09:11.2202 2025-10-27T06:09:12.381Z,1761545352.381 [DAT](INFO): Rx dataTimestamp_ set to:1761545352.378052 2025-10-27T06:09:12.385Z,1761545352.385 [DAT](INFO): DAT read: Bearing 278.1, 18.6 (Local) 2025-10-27T06:09:12.386Z,1761545352.386 [DAT](INFO): Local bearing/azimuth received: Bearing 278.1, 18.6 (Local) 2025-10-27T06:09:12.421Z,1761545352.421 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-27T06:09:12.434Z,1761545352.434 [DAT](INFO): DAT read: 06:09:11.2202 LVL= 23904, 22289, 32754, 32755, AGC= 56, IDX= 509, 0.28, 0.876, 2.248, 0.303, 1.416, PHS=-0.438, 0.877,-1.158, RAW= 350.4, 8.1, CAL= 350.4, 8.0, ROT= 159.6, -8.0 2025-10-27T06:09:12.440Z,1761545352.440 [DAT](INFO): got valid direction response: 06:09:11.2202 LVL= 23904, 22289, 32754, 32755, AGC= 56, IDX= 509, 0.28, 0.876, 2.248, 0.303, 1.416, PHS=-0.438, 0.877,-1.158, RAW= 350.4, 8.1, CAL= 350.4, 8.0, ROT= 159.6, -8.0 2025-10-27T06:09:12.441Z,1761545352.441 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T06:09:12.442Z,1761545352.442 [DAT](INFO): direction in FSK: [-0.928160,0.345180,0.139173] 2025-10-27T06:09:12.443Z,1761545352.443 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:12.459Z,1761545352.459 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.015995 2025-10-27T06:09:12.628Z,1761545352.628 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.189228 2025-10-27T06:09:12.650Z,1761545352.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.258695 s, deltaX: 0.200001 m, approachRate: 0.773114 m/s, rangeRepo size: 4 2025-10-27T06:09:12.653Z,1761545352.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.001574 m, bearing: 96.000867 deg, lat: 36.779412 deg, lon: -121.859806 deg, deltaT: 0.258695 s, deltaX: 0.198902 m, approachRate: 0.768867 m/s, posRepo size: 4 2025-10-27T06:09:12.653Z,1761545352.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T06:09:12.884Z,1761545352.884 [DAT](INFO): DAT read: Rx Time:06:09:11.7200 2025-10-27T06:09:12.885Z,1761545352.885 [DAT](INFO): Rx dataTimestamp_ set to:1761545352.884209 2025-10-27T06:09:12.889Z,1761545352.889 [DAT](INFO): DAT read: Bearing 277.5, 18.5 (Local) 2025-10-27T06:09:12.890Z,1761545352.890 [DAT](INFO): Local bearing/azimuth received: Bearing 277.5, 18.5 (Local) 2025-10-27T06:09:12.907Z,1761545352.907 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:12.910Z,1761545352.910 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-27T06:09:12.920Z,1761545352.920 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.480980 2025-10-27T06:09:13.098Z,1761545353.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.506157 s, deltaX: -0.300000 m, approachRate: -0.592702 m/s, rangeRepo size: 4 2025-10-27T06:09:13.098Z,1761545353.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T06:09:13.138Z,1761545353.138 [DAT](INFO): DAT read: 06:09:11.7200 LVL= 22880, 22849, 32754, 32755, AGC= 55, IDX= 508, 0.22, 0.836, 2.201, 0.272, 1.389, PHS=-0.450, 0.857,-1.160, RAW= 350.3, 8.5, CAL= 350.3, 8.7, ROT= 159.7, -8.7 2025-10-27T06:09:13.140Z,1761545353.140 [DAT](INFO): got valid direction response: 06:09:11.7200 LVL= 22880, 22849, 32754, 32755, AGC= 55, IDX= 508, 0.22, 0.836, 2.201, 0.272, 1.389, PHS=-0.450, 0.857,-1.160, RAW= 350.3, 8.5, CAL= 350.3, 8.7, ROT= 159.7, -8.7 2025-10-27T06:09:13.141Z,1761545353.141 [DAT](INFO): #Rx 107: Read direction message, but no range. 2025-10-27T06:09:13.142Z,1761545353.142 [DAT](INFO): direction in FSK: [-0.927097,0.342944,0.151261] 2025-10-27T06:09:13.167Z,1761545353.167 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.708061 2025-10-27T06:09:13.388Z,1761545353.388 [DAT](INFO): DAT read: Rx Time:06:09:12.2201 2025-10-27T06:09:13.390Z,1761545353.390 [DAT](INFO): Rx dataTimestamp_ set to:1761545353.388669 2025-10-27T06:09:13.398Z,1761545353.398 [DAT](INFO): DAT read: Bearing 276.7, 18.7 (Local) 2025-10-27T06:09:13.420Z,1761545353.420 [DAT](INFO): Local bearing/azimuth received: Bearing 276.7, 18.7 (Local) 2025-10-27T06:09:13.422Z,1761545353.422 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:09:13.443Z,1761545353.443 [DAT](INFO): DAT read: 06:09:12.2201 LVL= 24432, 23201, 32754, 32755, AGC= 55, IDX= 509, 0.13, 2.522,-2.404, 1.951, 3.083, PHS=-0.459, 0.841,-1.176, RAW= 350.5, 9.0, CAL= 350.6, 9.5, ROT= 159.4, -9.5 2025-10-27T06:09:13.444Z,1761545353.444 [DAT](INFO): got valid direction response: 06:09:12.2201 LVL= 24432, 23201, 32754, 32755, AGC= 55, IDX= 509, 0.13, 2.522,-2.404, 1.951, 3.083, PHS=-0.459, 0.841,-1.176, RAW= 350.5, 9.0, CAL= 350.6, 9.5, ROT= 159.4, -9.5 2025-10-27T06:09:13.445Z,1761545353.445 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T06:09:13.446Z,1761545353.446 [DAT](INFO): direction in FSK: [-0.923222,0.347017,0.165048] 2025-10-27T06:09:13.446Z,1761545353.446 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:13.473Z,1761545353.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456118,0.888757,0.045461],[-0.889836,0.454780,0.036981],[0.012192,-0.057321,0.998281]] 2025-10-27T06:09:13.477Z,1761545353.477 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.038506 2025-10-27T06:09:13.539Z,1761545353.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504460 s, deltaX: 0.099999 m, approachRate: 0.198231 m/s, rangeRepo size: 4 2025-10-27T06:09:13.553Z,1761545353.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802874 m, bearing: 96.092475 deg, lat: 36.779410 deg, lon: -121.859806 deg, deltaT: 1.010617 s, deltaX: -0.198700 m, approachRate: -0.196613 m/s, posRepo size: 4 2025-10-27T06:09:13.553Z,1761545353.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:13.639Z,1761545353.639 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.199821 2025-10-27T06:09:13.810Z,1761545353.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457537,0.888016,0.045697],[-0.889117,0.456233,0.036358],[0.011438,-0.057265,0.998293]] 2025-10-27T06:09:13.868Z,1761545353.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:13.920Z,1761545353.920 [DAT](INFO): DAT read: Rx Time:06:09:12.7200 2025-10-27T06:09:13.920Z,1761545353.920 [DAT](INFO): Rx dataTimestamp_ set to:1761545353.919852 2025-10-27T06:09:13.921Z,1761545353.921 [DAT](INFO): DAT read: Bearing 276.2, 18.5 (Local) 2025-10-27T06:09:13.922Z,1761545353.922 [DAT](INFO): Local bearing/azimuth received: Bearing 276.2, 18.5 (Local) 2025-10-27T06:09:13.924Z,1761545353.924 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:13.929Z,1761545353.929 [DAT](INFO): DAT read: 06:09:12.7200 LVL= 24816, 23025, 32754, 32755, AGC= 55, IDX= 508, 0.09, 1.401, 2.764, 0.836, 1.978, PHS=-0.474, 0.832,-1.186, RAW= 350.3, 9.4, CAL= 350.5, 10.1, ROT= 159.5, -10.1 2025-10-27T06:09:13.930Z,1761545353.930 [DAT](INFO): got valid direction response: 06:09:12.7200 LVL= 24816, 23025, 32754, 32755, AGC= 55, IDX= 508, 0.09, 1.401, 2.764, 0.836, 1.978, PHS=-0.474, 0.832,-1.186, RAW= 350.3, 9.4, CAL= 350.5, 10.1, ROT= 159.5, -10.1 2025-10-27T06:09:13.930Z,1761545353.930 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T06:09:13.932Z,1761545353.932 [DAT](INFO): direction in FSK: [-0.922157,0.344780,0.175367] 2025-10-27T06:09:13.932Z,1761545353.932 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:13.936Z,1761545353.936 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.497231 2025-10-27T06:09:14.144Z,1761545354.144 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.705288 2025-10-27T06:09:14.234Z,1761545354.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458977,0.887280,0.045557],[-0.888384,0.457721,0.035584],[0.010720,-0.056805,0.998328]] 2025-10-27T06:09:14.292Z,1761545354.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.531183 s, deltaX: -0.099999 m, approachRate: -0.188258 m/s, rangeRepo size: 4 2025-10-27T06:09:14.294Z,1761545354.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703485 m, bearing: 96.345328 deg, lat: 36.779410 deg, lon: -121.859806 deg, deltaT: 0.531183 s, deltaX: -0.099389 m, approachRate: -0.187109 m/s, posRepo size: 4 2025-10-27T06:09:14.315Z,1761545354.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:14.403Z,1761545354.403 [DAT](INFO): DAT read: Rx Time:06:09:13.2201 2025-10-27T06:09:14.405Z,1761545354.405 [DAT](INFO): Rx dataTimestamp_ set to:1761545354.403990 2025-10-27T06:09:14.410Z,1761545354.410 [DAT](INFO): DAT read: Bearing 276.6, 18.3 (Local) 2025-10-27T06:09:14.411Z,1761545354.411 [DAT](INFO): Local bearing/azimuth received: Bearing 276.6, 18.3 (Local) 2025-10-27T06:09:14.414Z,1761545354.414 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:09:14.416Z,1761545354.416 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-27T06:09:14.418Z,1761545354.418 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.979233 2025-10-27T06:09:14.633Z,1761545354.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459987,0.886788,0.044930],[-0.887865,0.458777,0.034913],[0.010348,-0.055951,0.998380]] 2025-10-27T06:09:14.652Z,1761545354.652 [DAT](INFO): DAT read: 06:09:13.2201 LVL= 22448, 22257, 32754, 32755, AGC= 55, IDX= 509, 0.02, 2.180,-2.738, 1.630, 2.757, PHS=-0.476, 0.833,-1.171, RAW= 350.0, 9.3, CAL= 350.1, 9.9, ROT= 159.9, -9.9 2025-10-27T06:09:14.653Z,1761545354.653 [DAT](INFO): got valid direction response: 06:09:13.2201 LVL= 22448, 22257, 32754, 32755, AGC= 55, IDX= 509, 0.02, 2.180,-2.738, 1.630, 2.757, PHS=-0.476, 0.833,-1.171, RAW= 350.0, 9.3, CAL= 350.1, 9.9, ROT= 159.9, -9.9 2025-10-27T06:09:14.653Z,1761545354.653 [DAT](INFO): #Rx 111: Read direction message, but no range. 2025-10-27T06:09:14.654Z,1761545354.654 [DAT](INFO): direction in FSK: [-0.925110,0.338543,0.171929] 2025-10-27T06:09:14.658Z,1761545354.658 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.219093 2025-10-27T06:09:14.705Z,1761545354.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.484138 s, deltaX: 0.099999 m, approachRate: 0.206551 m/s, rangeRepo size: 4 2025-10-27T06:09:14.713Z,1761545354.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802842 m, bearing: 96.824146 deg, lat: 36.779410 deg, lon: -121.859806 deg, deltaT: 0.484138 s, deltaX: 0.099358 m, approachRate: 0.205226 m/s, posRepo size: 4 2025-10-27T06:09:14.714Z,1761545354.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:14.904Z,1761545354.904 [DAT](INFO): DAT read: Rx Time:06:09:13.7200 2025-10-27T06:09:14.906Z,1761545354.906 [DAT](INFO): Rx dataTimestamp_ set to:1761545354.904972 2025-10-27T06:09:14.910Z,1761545354.910 [DAT](INFO): DAT read: Bearing 276.6, 17.9 (Local) 2025-10-27T06:09:14.911Z,1761545354.911 [DAT](INFO): Local bearing/azimuth received: Bearing 276.6, 17.9 (Local) 2025-10-27T06:09:14.915Z,1761545354.915 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:14.921Z,1761545354.921 [DAT](INFO): DAT read: 06:09:13.7200 LVL= 21888, 20945, 32754, 32755, AGC= 58, IDX= 508,-0.15, 1.105, 2.489, 0.562, 1.695, PHS=-0.488, 0.839,-1.177, RAW= 349.6, 9.3, CAL= 349.7, 10.0, ROT= 160.3, -10.0 2025-10-27T06:09:14.922Z,1761545354.922 [DAT](INFO): got valid direction response: 06:09:13.7200 LVL= 21888, 20945, 32754, 32755, AGC= 58, IDX= 508,-0.15, 1.105, 2.489, 0.562, 1.695, PHS=-0.488, 0.839,-1.177, RAW= 349.6, 9.3, CAL= 349.7, 10.0, ROT= 160.3, -10.0 2025-10-27T06:09:14.922Z,1761545354.922 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T06:09:14.927Z,1761545354.927 [DAT](INFO): direction in FSK: [-0.927168,0.331974,0.173648] 2025-10-27T06:09:14.928Z,1761545354.928 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:14.935Z,1761545354.935 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.495800 2025-10-27T06:09:15.066Z,1761545355.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460669,0.886457,0.044466],[-0.887514,0.459490,0.034452],[0.010108,-0.055335,0.998417]] 2025-10-27T06:09:15.152Z,1761545355.152 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.713249 2025-10-27T06:09:15.167Z,1761545355.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.500982 s, deltaX: -0.099999 m, approachRate: -0.199607 m/s, rangeRepo size: 4 2025-10-27T06:09:15.169Z,1761545355.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703454 m, bearing: 97.265282 deg, lat: 36.779409 deg, lon: -121.859806 deg, deltaT: 0.500982 s, deltaX: -0.099388 m, approachRate: -0.198387 m/s, posRepo size: 4 2025-10-27T06:09:15.170Z,1761545355.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:15.409Z,1761545355.409 [DAT](INFO): DAT read: Rx Time:06:09:14.2200 2025-10-27T06:09:15.410Z,1761545355.410 [DAT](INFO): Rx dataTimestamp_ set to:1761545355.409519 2025-10-27T06:09:15.412Z,1761545355.412 [DAT](INFO): DAT read: Bearing 275.5, 17.2 (Local) 2025-10-27T06:09:15.413Z,1761545355.413 [DAT](INFO): Local bearing/azimuth received: Bearing 275.5, 17.2 (Local) 2025-10-27T06:09:15.416Z,1761545355.416 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:15.417Z,1761545355.417 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-27T06:09:15.418Z,1761545355.418 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.979240 2025-10-27T06:09:15.480Z,1761545355.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461277,0.886153,0.044237],[-0.887202,0.460121,0.034094],[0.009858,-0.054973,0.998439]] 2025-10-27T06:09:15.536Z,1761545355.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504547 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:15.537Z,1761545355.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:15.660Z,1761545355.660 [DAT](INFO): DAT read: 06:09:14.2200 LVL= 32528, 31729, 32754, 32755, AGC= 54, IDX= 508,-0.30, 1.437, 2.795, 0.940, 2.047, PHS=-0.508, 0.794,-1.151, RAW= 348.9, 10.1, CAL= 349.1, 11.2, ROT= 160.9, -11.2 2025-10-27T06:09:15.661Z,1761545355.661 [DAT](INFO): got valid direction response: 06:09:14.2200 LVL= 32528, 31729, 32754, 32755, AGC= 54, IDX= 508,-0.30, 1.437, 2.795, 0.940, 2.047, PHS=-0.508, 0.794,-1.151, RAW= 348.9, 10.1, CAL= 349.1, 11.2, ROT= 160.9, -11.2 2025-10-27T06:09:15.661Z,1761545355.661 [DAT](INFO): #Rx 114: Read direction message, but no range. 2025-10-27T06:09:15.662Z,1761545355.662 [DAT](INFO): direction in FSK: [-0.926952,0.320986,0.194234] 2025-10-27T06:09:15.665Z,1761545355.665 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.226681 2025-10-27T06:09:15.912Z,1761545355.912 [DAT](INFO): DAT read: Rx Time:06:09:14.7199 2025-10-27T06:09:15.913Z,1761545355.913 [DAT](INFO): Rx dataTimestamp_ set to:1761545355.912007 2025-10-27T06:09:15.914Z,1761545355.914 [DAT](INFO): DAT read: Bearing 274.0, 16.9 (Local) 2025-10-27T06:09:15.931Z,1761545355.931 [DAT](INFO): Local bearing/azimuth received: Bearing 274.0, 16.9 (Local) 2025-10-27T06:09:15.933Z,1761545355.933 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:15.934Z,1761545355.934 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-27T06:09:15.934Z,1761545355.934 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.495644 2025-10-27T06:09:16.058Z,1761545356.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461429,0.886064,0.044425],[-0.887122,0.460267,0.034182],[0.009840,-0.055183,0.998428]] 2025-10-27T06:09:16.125Z,1761545356.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.502488 s, deltaX: -0.200000 m, approachRate: -0.398019 m/s, rangeRepo size: 4 2025-10-27T06:09:16.127Z,1761545356.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504553 m, bearing: 97.851184 deg, lat: 36.779407 deg, lon: -121.859807 deg, deltaT: 1.007035 s, deltaX: -0.198901 m, approachRate: -0.197512 m/s, posRepo size: 4 2025-10-27T06:09:16.128Z,1761545356.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:16.164Z,1761545356.164 [DAT](INFO): DAT read: 06:09:14.7199 LVL= 25712, 25569, 32754, 32755, AGC= 59, IDX= 507,-0.43, 0.927, 2.301, 0.435, 1.574, PHS=-0.545, 0.772,-1.183, RAW= 348.6, 11.1, CAL= 348.9, 12.8, ROT= 161.1, -12.8 2025-10-27T06:09:16.165Z,1761545356.165 [DAT](INFO): got valid direction response: 06:09:14.7199 LVL= 25712, 25569, 32754, 32755, AGC= 59, IDX= 507,-0.43, 0.927, 2.301, 0.435, 1.574, PHS=-0.545, 0.772,-1.183, RAW= 348.6, 11.1, CAL= 348.9, 12.8, ROT= 161.1, -12.8 2025-10-27T06:09:16.165Z,1761545356.165 [DAT](INFO): #Rx 116: Read direction message, but no range. 2025-10-27T06:09:16.166Z,1761545356.166 [DAT](INFO): direction in FSK: [-0.922575,0.315868,0.221548] 2025-10-27T06:09:16.170Z,1761545356.170 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.730984 2025-10-27T06:09:16.413Z,1761545356.413 [DAT](INFO): DAT read: Rx Time:06:09:15.2200 2025-10-27T06:09:16.414Z,1761545356.414 [DAT](INFO): Rx dataTimestamp_ set to:1761545356.413711 2025-10-27T06:09:16.416Z,1761545356.416 [DAT](INFO): DAT read: Bearing 274.7, 17.2 (Local) 2025-10-27T06:09:16.417Z,1761545356.417 [DAT](INFO): Local bearing/azimuth received: Bearing 274.7, 17.2 (Local) 2025-10-27T06:09:16.419Z,1761545356.419 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:16.431Z,1761545356.431 [DAT](INFO): DAT read: 06:09:15.2200 LVL= 31904, 30609, 32754, 32755, AGC= 56, IDX= 508,-0.40, 1.919,-3.007, 1.422, 2.544, PHS=-0.523, 0.777,-1.166, RAW= 349.0, 10.7, CAL= 349.2, 12.1, ROT= 160.8, -12.1 2025-10-27T06:09:16.433Z,1761545356.433 [DAT](INFO): got valid direction response: 06:09:15.2200 LVL= 31904, 30609, 32754, 32755, AGC= 56, IDX= 508,-0.40, 1.919,-3.007, 1.422, 2.544, PHS=-0.523, 0.777,-1.166, RAW= 349.0, 10.7, CAL= 349.2, 12.1, ROT= 160.8, -12.1 2025-10-27T06:09:16.433Z,1761545356.433 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T06:09:16.434Z,1761545356.434 [DAT](INFO): direction in FSK: [-0.923395,0.321560,0.209619] 2025-10-27T06:09:16.434Z,1761545356.434 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:16.461Z,1761545356.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461339,0.886102,0.044592],[-0.887168,0.460164,0.034384],[0.009948,-0.055424,0.998413]] 2025-10-27T06:09:16.473Z,1761545356.473 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.033257 2025-10-27T06:09:16.538Z,1761545356.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.501704 s, deltaX: 0.200000 m, approachRate: 0.398641 m/s, rangeRepo size: 4 2025-10-27T06:09:16.544Z,1761545356.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703198 m, bearing: 97.698488 deg, lat: 36.779406 deg, lon: -121.859808 deg, deltaT: 0.501704 s, deltaX: 0.198646 m, approachRate: 0.395942 m/s, posRepo size: 4 2025-10-27T06:09:16.544Z,1761545356.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:16.664Z,1761545356.664 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.225403 2025-10-27T06:09:16.805Z,1761545356.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461358,0.886089,0.044661],[-0.887156,0.460172,0.034574],[0.010084,-0.055573,0.998404]] 2025-10-27T06:09:16.822Z,1761545356.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:16.918Z,1761545356.918 [DAT](INFO): DAT read: Rx Time:06:09:15.7199 2025-10-27T06:09:16.918Z,1761545356.918 [DAT](INFO): Rx dataTimestamp_ set to:1761545356.918183 2025-10-27T06:09:16.921Z,1761545356.921 [DAT](INFO): DAT read: Bearing 273.2, 16.8 (Local) 2025-10-27T06:09:16.921Z,1761545356.921 [DAT](INFO): Local bearing/azimuth received: Bearing 273.2, 16.8 (Local) 2025-10-27T06:09:16.924Z,1761545356.924 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:16.928Z,1761545356.928 [DAT](INFO): DAT read: 06:09:15.7199 LVL= 25552, 25745, 32754, 32755, AGC= 58, IDX= 507,-0.36, 0.432, 1.798,-0.054, 1.093, PHS=-0.559, 0.750,-1.191, RAW= 348.6, 11.6, CAL= 348.9, 13.7, ROT= 161.1, -13.7 2025-10-27T06:09:16.929Z,1761545356.929 [DAT](INFO): got valid direction response: 06:09:15.7199 LVL= 25552, 25745, 32754, 32755, AGC= 58, IDX= 507,-0.36, 0.432, 1.798,-0.054, 1.093, PHS=-0.559, 0.750,-1.191, RAW= 348.6, 11.6, CAL= 348.9, 13.7, ROT= 161.1, -13.7 2025-10-27T06:09:16.930Z,1761545356.930 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T06:09:16.931Z,1761545356.931 [DAT](INFO): direction in FSK: [-0.919168,0.314702,0.236838] 2025-10-27T06:09:16.931Z,1761545356.931 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:16.935Z,1761545356.935 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.495995 2025-10-27T06:09:17.168Z,1761545357.168 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.729084 2025-10-27T06:09:17.209Z,1761545357.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461468,0.886039,0.044520],[-0.887098,0.460277,0.034673],[0.010230,-0.055494,0.998407]] 2025-10-27T06:09:17.266Z,1761545357.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504472 s, deltaX: -0.200000 m, approachRate: -0.396454 m/s, rangeRepo size: 4 2025-10-27T06:09:17.270Z,1761545357.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504424 m, bearing: 97.923248 deg, lat: 36.779404 deg, lon: -121.859810 deg, deltaT: 0.504472 s, deltaX: -0.198774 m, approachRate: -0.394025 m/s, posRepo size: 4 2025-10-27T06:09:17.287Z,1761545357.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:17.420Z,1761545357.420 [DAT](INFO): DAT read: Rx Time:06:09:16.2200 2025-10-27T06:09:17.421Z,1761545357.421 [DAT](INFO): Rx dataTimestamp_ set to:1761545357.420669 2025-10-27T06:09:17.422Z,1761545357.422 [DAT](INFO): DAT read: Bearing 272.8, 16.5 (Local) 2025-10-27T06:09:17.423Z,1761545357.423 [DAT](INFO): Local bearing/azimuth received: Bearing 272.8, 16.5 (Local) 2025-10-27T06:09:17.425Z,1761545357.425 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:17.429Z,1761545357.429 [DAT](INFO): DAT read: 06:09:16.2200 LVL= 23120, 28417, 32754, 32755, AGC= 58, IDX= 508,-0.24, 1.168, 2.537, 0.694, 1.841, PHS=-0.571, 0.741,-1.191, RAW= 348.3, 11.9, CAL= 348.6, 14.1, ROT= 161.4, -14.1 2025-10-27T06:09:17.430Z,1761545357.430 [DAT](INFO): got valid direction response: 06:09:16.2200 LVL= 23120, 28417, 32754, 32755, AGC= 58, IDX= 508,-0.24, 1.168, 2.537, 0.694, 1.841, PHS=-0.571, 0.741,-1.191, RAW= 348.3, 11.9, CAL= 348.6, 14.1, ROT= 161.4, -14.1 2025-10-27T06:09:17.431Z,1761545357.431 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T06:09:17.432Z,1761545357.432 [DAT](INFO): direction in FSK: [-0.919214,0.309350,0.243615] 2025-10-27T06:09:17.432Z,1761545357.432 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:17.436Z,1761545357.436 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.996830 2025-10-27T06:09:17.583Z,1761545357.583 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:09:17.610Z,1761545357.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461666,0.885958,0.044065],[-0.886993,0.460484,0.034606],[0.010368,-0.055062,0.998429]] 2025-10-27T06:09:17.652Z,1761545357.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.502486 s, deltaX: 0.200000 m, approachRate: 0.398021 m/s, rangeRepo size: 4 2025-10-27T06:09:17.654Z,1761545357.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703130 m, bearing: 98.219169 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.502486 s, deltaX: 0.198706 m, approachRate: 0.395445 m/s, posRepo size: 4 2025-10-27T06:09:17.655Z,1761545357.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:17.675Z,1761545357.675 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.235840 2025-10-27T06:09:17.925Z,1761545357.925 [DAT](INFO): DAT read: Rx Time:06:09:16.7199 2025-10-27T06:09:17.925Z,1761545357.925 [DAT](INFO): Rx dataTimestamp_ set to:1761545357.924709 2025-10-27T06:09:17.926Z,1761545357.926 [DAT](INFO): DAT read: Bearing 273.8, 17.0 (Local) 2025-10-27T06:09:17.927Z,1761545357.927 [DAT](INFO): Local bearing/azimuth received: Bearing 273.8, 17.0 (Local) 2025-10-27T06:09:17.929Z,1761545357.929 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:17.933Z,1761545357.933 [DAT](INFO): DAT read: 06:09:16.7199 LVL= 23664, 23969, 32754, 32755, AGC= 59, IDX= 507,-0.06,-0.423, 0.953,-0.916, 0.233, PHS=-0.553, 0.766,-1.193, RAW= 348.7, 11.3, CAL= 348.9, 13.2, ROT= 161.1, -13.2 2025-10-27T06:09:17.935Z,1761545357.935 [DAT](INFO): got valid direction response: 06:09:16.7199 LVL= 23664, 23969, 32754, 32755, AGC= 59, IDX= 507,-0.06,-0.423, 0.953,-0.916, 0.233, PHS=-0.553, 0.766,-1.193, RAW= 348.7, 11.3, CAL= 348.9, 13.2, ROT= 161.1, -13.2 2025-10-27T06:09:17.938Z,1761545357.938 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T06:09:17.939Z,1761545357.939 [DAT](INFO): direction in FSK: [-0.921089,0.315359,0.228351] 2025-10-27T06:09:17.940Z,1761545357.940 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:17.943Z,1761545357.943 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:09:17.943Z,1761545357.943 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:09:17.943Z,1761545357.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:18.054Z,1761545358.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461984,0.885827,0.043370],[-0.886826,0.460820,0.034406],[0.010492,-0.054356,0.998466]] 2025-10-27T06:09:18.160Z,1761545358.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504040 s, deltaX: -0.200000 m, approachRate: -0.396794 m/s, rangeRepo size: 4 2025-10-27T06:09:18.162Z,1761545358.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504356 m, bearing: 97.996681 deg, lat: 36.779403 deg, lon: -121.859812 deg, deltaT: 0.504040 s, deltaX: -0.198773 m, approachRate: -0.394360 m/s, posRepo size: 4 2025-10-27T06:09:18.162Z,1761545358.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:18.176Z,1761545358.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:18.429Z,1761545358.429 [DAT](INFO): DAT read: Rx Time:06:09:17.2200 2025-10-27T06:09:18.429Z,1761545358.429 [DAT](INFO): Rx dataTimestamp_ set to:1761545358.428831 2025-10-27T06:09:18.430Z,1761545358.430 [DAT](INFO): DAT read: Bearing 274.6, 18.0 (Local) 2025-10-27T06:09:18.431Z,1761545358.431 [DAT](INFO): Local bearing/azimuth received: Bearing 274.6, 18.0 (Local) 2025-10-27T06:09:18.433Z,1761545358.433 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:18.438Z,1761545358.438 [DAT](INFO): DAT read: 06:09:17.2200 LVL= 21568, 21969, 32754, 32755, AGC= 58, IDX= 508, 0.14, 1.760, 3.116, 1.233, 2.383, PHS=-0.521, 0.778,-1.193, RAW= 349.6, 10.8, CAL= 349.8, 12.3, ROT= 160.2, -12.3 2025-10-27T06:09:18.440Z,1761545358.440 [DAT](INFO): got valid direction response: 06:09:17.2200 LVL= 21568, 21969, 32754, 32755, AGC= 58, IDX= 508, 0.14, 1.760, 3.116, 1.233, 2.383, PHS=-0.521, 0.778,-1.193, RAW= 349.6, 10.8, CAL= 349.8, 12.3, ROT= 160.2, -12.3 2025-10-27T06:09:18.440Z,1761545358.440 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:18.441Z,1761545358.441 [DAT](INFO): direction in FSK: [-0.919283,0.330962,0.213030] 2025-10-27T06:09:18.441Z,1761545358.441 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:18.445Z,1761545358.445 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:18.445Z,1761545358.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:18.447Z,1761545358.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462250,0.885707,0.042993],[-0.886686,0.461094,0.034354],[0.010604,-0.054001,0.998485]] 2025-10-27T06:09:18.502Z,1761545358.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504122 s, deltaX: 0.200000 m, approachRate: 0.396729 m/s, rangeRepo size: 4 2025-10-27T06:09:18.512Z,1761545358.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703130 m, bearing: 97.169269 deg, lat: 36.779403 deg, lon: -121.859812 deg, deltaT: 0.504122 s, deltaX: 0.198773 m, approachRate: 0.394296 m/s, posRepo size: 4 2025-10-27T06:09:18.513Z,1761545358.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:18.588Z,1761545358.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:09:18.680Z,1761545358.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:18.821Z,1761545358.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462389,0.885636,0.042956],[-0.886611,0.461220,0.034599],[0.010830,-0.054083,0.998478]] 2025-10-27T06:09:18.854Z,1761545358.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:18.933Z,1761545358.933 [DAT](INFO): DAT read: Rx Time:06:09:17.7199 2025-10-27T06:09:18.933Z,1761545358.933 [DAT](INFO): Rx dataTimestamp_ set to:1761545358.932789 2025-10-27T06:09:18.934Z,1761545358.934 [DAT](INFO): DAT read: Bearing 274.4, 18.0 (Local) 2025-10-27T06:09:18.935Z,1761545358.935 [DAT](INFO): Local bearing/azimuth received: Bearing 274.4, 18.0 (Local) 2025-10-27T06:09:18.937Z,1761545358.937 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-27T06:09:18.943Z,1761545358.943 [DAT](INFO): DAT read: 06:09:17.7199 LVL= 22192, 21681, 32754, 32755, AGC= 58, IDX= 507, 0.40, 0.857, 2.210, 0.329, 1.482, PHS=-0.523, 0.773,-1.197, RAW= 349.7, 10.9, CAL= 349.9, 12.5, ROT= 160.1, -12.5 2025-10-27T06:09:18.945Z,1761545358.945 [DAT](INFO): got valid direction response: 06:09:17.7199 LVL= 22192, 21681, 32754, 32755, AGC= 58, IDX= 507, 0.40, 0.857, 2.210, 0.329, 1.482, PHS=-0.523, 0.773,-1.197, RAW= 349.7, 10.9, CAL= 349.9, 12.5, ROT= 160.1, -12.5 2025-10-27T06:09:18.945Z,1761545358.945 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:18.955Z,1761545358.955 [DAT](INFO): direction in FSK: [-0.918000,0.332311,0.216440] 2025-10-27T06:09:18.955Z,1761545358.955 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:18.965Z,1761545358.965 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:18.965Z,1761545358.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:19.184Z,1761545359.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:19.232Z,1761545359.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462616,0.885495,0.043419],[-0.886492,0.461423,0.034941],[0.010906,-0.054655,0.998446]] 2025-10-27T06:09:19.298Z,1761545359.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503958 s, deltaX: -0.200000 m, approachRate: -0.396858 m/s, rangeRepo size: 4 2025-10-27T06:09:19.304Z,1761545359.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504269 m, bearing: 97.077935 deg, lat: 36.779403 deg, lon: -121.859813 deg, deltaT: 0.503958 s, deltaX: -0.198861 m, approachRate: -0.394599 m/s, posRepo size: 4 2025-10-27T06:09:19.305Z,1761545359.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:19.437Z,1761545359.437 [DAT](INFO): DAT read: Rx Time:06:09:18.2200 2025-10-27T06:09:19.438Z,1761545359.438 [DAT](INFO): Rx dataTimestamp_ set to:1761545359.437318 2025-10-27T06:09:19.439Z,1761545359.439 [DAT](INFO): DAT read: Bearing 275.6, 18.3 (Local) 2025-10-27T06:09:19.439Z,1761545359.439 [DAT](INFO): Local bearing/azimuth received: Bearing 275.6, 18.3 (Local) 2025-10-27T06:09:19.441Z,1761545359.441 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:19.446Z,1761545359.446 [DAT](INFO): DAT read: 06:09:18.2200 LVL= 19424, 19729, 32754, 32755, AGC= 57, IDX= 508,-0.16,-1.303, 0.055,-1.844,-0.699, PHS=-0.502, 0.799,-1.189, RAW= 349.9, 10.2, CAL= 350.1, 11.4, ROT= 159.9, -11.4 2025-10-27T06:09:19.448Z,1761545359.448 [DAT](INFO): got valid direction response: 06:09:18.2200 LVL= 19424, 19729, 32754, 32755, AGC= 57, IDX= 508,-0.16,-1.303, 0.055,-1.844,-0.699, PHS=-0.502, 0.799,-1.189, RAW= 349.9, 10.2, CAL= 350.1, 11.4, ROT= 159.9, -11.4 2025-10-27T06:09:19.448Z,1761545359.448 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:19.449Z,1761545359.449 [DAT](INFO): direction in FSK: [-0.920567,0.336880,0.197657] 2025-10-27T06:09:19.449Z,1761545359.449 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:19.461Z,1761545359.461 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:19.461Z,1761545359.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:19.629Z,1761545359.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463213,0.885155,0.043976],[-0.886182,0.462006,0.035103],[0.010754,-0.055230,0.998416]] 2025-10-27T06:09:19.662Z,1761545359.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504529 s, deltaX: 0.200000 m, approachRate: 0.396409 m/s, rangeRepo size: 4 2025-10-27T06:09:19.665Z,1761545359.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703041 m, bearing: 96.965782 deg, lat: 36.779404 deg, lon: -121.859812 deg, deltaT: 0.504529 s, deltaX: 0.198772 m, approachRate: 0.393976 m/s, posRepo size: 4 2025-10-27T06:09:19.665Z,1761545359.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:19.689Z,1761545359.689 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:19.941Z,1761545359.941 [DAT](INFO): DAT read: Rx Time:06:09:18.7199 2025-10-27T06:09:19.941Z,1761545359.941 [DAT](INFO): Rx dataTimestamp_ set to:1761545359.940717 2025-10-27T06:09:19.942Z,1761545359.942 [DAT](INFO): DAT read: Bearing 273.4, 18.2 (Local) 2025-10-27T06:09:19.943Z,1761545359.943 [DAT](INFO): Local bearing/azimuth received: Bearing 273.4, 18.2 (Local) 2025-10-27T06:09:19.945Z,1761545359.945 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-27T06:09:19.949Z,1761545359.949 [DAT](INFO): DAT read: 06:09:18.7199 LVL= 23344, 24673, 32754, 32755, AGC= 57, IDX= 507, 0.09,-0.708, 0.616,-1.235,-0.078, PHS=-0.528, 0.739,-1.200, RAW= 350.0, 11.6, CAL= 350.3, 13.6, ROT= 159.7, -13.6 2025-10-27T06:09:19.951Z,1761545359.951 [DAT](INFO): got valid direction response: 06:09:18.7199 LVL= 23344, 24673, 32754, 32755, AGC= 57, IDX= 507, 0.09,-0.708, 0.616,-1.235,-0.078, PHS=-0.528, 0.739,-1.200, RAW= 350.0, 11.6, CAL= 350.3, 13.6, ROT= 159.7, -13.6 2025-10-27T06:09:19.951Z,1761545359.951 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:19.952Z,1761545359.952 [DAT](INFO): direction in FSK: [-0.911591,0.337208,0.235142] 2025-10-27T06:09:19.952Z,1761545359.952 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:19.957Z,1761545359.957 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:19.958Z,1761545359.958 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:20.042Z,1761545360.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463986,0.884733,0.044316],[-0.885780,0.462779,0.035050],[0.010501,-0.055517,0.998402]] 2025-10-27T06:09:20.132Z,1761545360.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503399 s, deltaX: -0.200000 m, approachRate: -0.397299 m/s, rangeRepo size: 4 2025-10-27T06:09:20.134Z,1761545360.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.504269 m, bearing: 96.702885 deg, lat: 36.779404 deg, lon: -121.859813 deg, deltaT: 0.503399 s, deltaX: -0.198772 m, approachRate: -0.394861 m/s, posRepo size: 4 2025-10-27T06:09:20.134Z,1761545360.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:09:20.192Z,1761545360.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:20.438Z,1761545360.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464756,0.884328,0.044342],[-0.885379,0.463556,0.034931],[0.010336,-0.055494,0.998405]] 2025-10-27T06:09:20.445Z,1761545360.445 [DAT](INFO): DAT read: Rx Time:06:09:19.2201 2025-10-27T06:09:20.445Z,1761545360.445 [DAT](INFO): Rx dataTimestamp_ set to:1761545360.444795 2025-10-27T06:09:20.446Z,1761545360.446 [DAT](INFO): DAT read: Bearing 273.3, 18.2 (Local) 2025-10-27T06:09:20.447Z,1761545360.447 [DAT](INFO): Local bearing/azimuth received: Bearing 273.3, 18.2 (Local) 2025-10-27T06:09:20.449Z,1761545360.449 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:09:20.453Z,1761545360.453 [DAT](INFO): DAT read: 06:09:19.2201 LVL= 23856, 26049, 32754, 32755, AGC= 57, IDX= 509,-0.46,-0.964, 0.361,-1.490,-0.331, PHS=-0.531, 0.737,-1.203, RAW= 349.9, 11.7, CAL= 350.2, 13.7, ROT= 159.8, -13.7 2025-10-27T06:09:20.455Z,1761545360.455 [DAT](INFO): got valid direction response: 06:09:19.2201 LVL= 23856, 26049, 32754, 32755, AGC= 57, IDX= 509,-0.46,-0.964, 0.361,-1.490,-0.331, PHS=-0.531, 0.737,-1.203, RAW= 349.9, 11.7, CAL= 350.2, 13.7, ROT= 159.8, -13.7 2025-10-27T06:09:20.455Z,1761545360.455 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:20.456Z,1761545360.456 [DAT](INFO): direction in FSK: [-0.911792,0.335474,0.236838] 2025-10-27T06:09:20.456Z,1761545360.456 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:20.464Z,1761545360.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:20.464Z,1761545360.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:20.584Z,1761545360.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504078 s, deltaX: 0.299999 m, approachRate: 0.595144 m/s, rangeRepo size: 4 2025-10-27T06:09:20.586Z,1761545360.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802550 m, bearing: 96.846373 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.504078 s, deltaX: 0.298282 m, approachRate: 0.591737 m/s, posRepo size: 4 2025-10-27T06:09:20.590Z,1761545360.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:20.697Z,1761545360.697 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:20.845Z,1761545360.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465696,0.883844,0.044127],[-0.884887,0.464516,0.034629],[0.010109,-0.055174,0.998426]] 2025-10-27T06:09:20.918Z,1761545360.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:20.950Z,1761545360.950 [DAT](INFO): DAT read: Rx Time:06:09:19.7200 2025-10-27T06:09:20.950Z,1761545360.950 [DAT](INFO): Rx dataTimestamp_ set to:1761545360.949958 2025-10-27T06:09:20.952Z,1761545360.952 [DAT](INFO): DAT read: Bearing 274.6, 19.2 (Local) 2025-10-27T06:09:20.953Z,1761545360.953 [DAT](INFO): Local bearing/azimuth received: Bearing 274.6, 19.2 (Local) 2025-10-27T06:09:20.955Z,1761545360.955 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:20.960Z,1761545360.960 [DAT](INFO): DAT read: 06:09:19.7200 LVL= 21232, 22321, 32754, 32755, AGC= 57, IDX= 508,-0.00,-2.821,-1.506, 2.899,-2.224, PHS=-0.495, 0.764,-1.204, RAW= 350.8, 10.8, CAL= 351.1, 12.4, ROT= 158.9, -12.4 2025-10-27T06:09:20.962Z,1761545360.962 [DAT](INFO): got valid direction response: 06:09:19.7200 LVL= 21232, 22321, 32754, 32755, AGC= 57, IDX= 508,-0.00,-2.821,-1.506, 2.899,-2.224, PHS=-0.495, 0.764,-1.204, RAW= 350.8, 10.8, CAL= 351.1, 12.4, ROT= 158.9, -12.4 2025-10-27T06:09:20.962Z,1761545360.962 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:20.964Z,1761545360.964 [DAT](INFO): direction in FSK: [-0.911190,0.351599,0.214735] 2025-10-27T06:09:20.964Z,1761545360.964 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:20.974Z,1761545360.974 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:20.974Z,1761545360.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:21.200Z,1761545361.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:21.246Z,1761545361.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466773,0.883283,0.043977],[-0.884323,0.465619,0.034216],[0.009746,-0.054861,0.998446]] 2025-10-27T06:09:21.326Z,1761545361.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.505163 s, deltaX: -0.099999 m, approachRate: -0.197955 m/s, rangeRepo size: 4 2025-10-27T06:09:21.328Z,1761545361.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703163 m, bearing: 96.153307 deg, lat: 36.779404 deg, lon: -121.859811 deg, deltaT: 0.505163 s, deltaX: -0.099387 m, approachRate: -0.196743 m/s, posRepo size: 4 2025-10-27T06:09:21.329Z,1761545361.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:21.453Z,1761545361.453 [DAT](INFO): DAT read: Rx Time:06:09:20.2202 2025-10-27T06:09:21.453Z,1761545361.453 [DAT](INFO): Rx dataTimestamp_ set to:1761545361.452990 2025-10-27T06:09:21.455Z,1761545361.455 [DAT](INFO): DAT read: Bearing 275.3, 20.1 (Local) 2025-10-27T06:09:21.455Z,1761545361.455 [DAT](INFO): Local bearing/azimuth received: Bearing 275.3, 20.1 (Local) 2025-10-27T06:09:21.457Z,1761545361.457 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-27T06:09:21.462Z,1761545361.462 [DAT](INFO): DAT read: 06:09:20.2202 LVL= 25392, 19697, 32754, 32755, AGC= 55, IDX= 509, 0.40,-1.692,-0.386,-2.291,-1.121, PHS=-0.469, 0.779,-1.215, RAW= 351.7, 10.4, CAL= 351.9, 11.7, ROT= 158.1, -11.7 2025-10-27T06:09:21.463Z,1761545361.463 [DAT](INFO): got valid direction response: 06:09:20.2202 LVL= 25392, 19697, 32754, 32755, AGC= 55, IDX= 509, 0.40,-1.692,-0.386,-2.291,-1.121, PHS=-0.469, 0.779,-1.215, RAW= 351.7, 10.4, CAL= 351.9, 11.7, ROT= 158.1, -11.7 2025-10-27T06:09:21.463Z,1761545361.463 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:21.464Z,1761545361.464 [DAT](INFO): direction in FSK: [-0.908558,0.365238,0.202787] 2025-10-27T06:09:21.465Z,1761545361.465 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:21.468Z,1761545361.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:21.468Z,1761545361.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:21.651Z,1761545361.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467999,0.882627,0.044116],[-0.883680,0.466864,0.033890],[0.009316,-0.054845,0.998451]] 2025-10-27T06:09:21.686Z,1761545361.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503032 s, deltaX: 0.300000 m, approachRate: 0.596384 m/s, rangeRepo size: 4 2025-10-27T06:09:21.688Z,1761545361.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.001455 m, bearing: 95.471097 deg, lat: 36.779405 deg, lon: -121.859811 deg, deltaT: 0.503032 s, deltaX: 0.298292 m, approachRate: 0.592988 m/s, posRepo size: 4 2025-10-27T06:09:21.689Z,1761545361.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T06:09:21.704Z,1761545361.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:21.956Z,1761545361.956 [DAT](INFO): DAT read: Rx Time:06:09:20.7201 2025-10-27T06:09:21.957Z,1761545361.957 [DAT](INFO): Rx dataTimestamp_ set to:1761545361.956665 2025-10-27T06:09:21.958Z,1761545361.958 [DAT](INFO): DAT read: Bearing 274.0, 19.7 (Local) 2025-10-27T06:09:21.959Z,1761545361.959 [DAT](INFO): Local bearing/azimuth received: Bearing 274.0, 19.7 (Local) 2025-10-27T06:09:21.961Z,1761545361.961 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:09:21.965Z,1761545361.965 [DAT](INFO): DAT read: 06:09:20.7201 LVL= 22160, 21873, 32754, 32755, AGC= 55, IDX= 509,-0.20, 2.075,-2.909, 1.490, 2.670, PHS=-0.493, 0.749,-1.223, RAW= 351.5, 11.2, CAL= 351.8, 12.9, ROT= 158.2, -12.9 2025-10-27T06:09:21.966Z,1761545361.966 [DAT](INFO): got valid direction response: 06:09:20.7201 LVL= 22160, 21873, 32754, 32755, AGC= 55, IDX= 509,-0.20, 2.075,-2.909, 1.490, 2.670, PHS=-0.493, 0.749,-1.223, RAW= 351.5, 11.2, CAL= 351.8, 12.9, ROT= 158.2, -12.9 2025-10-27T06:09:21.967Z,1761545361.967 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:21.968Z,1761545361.968 [DAT](INFO): direction in FSK: [-0.905052,0.361995,0.223250] 2025-10-27T06:09:21.968Z,1761545361.968 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:21.972Z,1761545361.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:21.972Z,1761545361.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:22.054Z,1761545362.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469173,0.881980,0.044578],[-0.883061,0.468042,0.033760],[0.008911,-0.055204,0.998435]] 2025-10-27T06:09:22.154Z,1761545362.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503675 s, deltaX: -0.200001 m, approachRate: -0.397083 m/s, rangeRepo size: 4 2025-10-27T06:09:22.161Z,1761545362.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802679 m, bearing: 95.581736 deg, lat: 36.779405 deg, lon: -121.859811 deg, deltaT: 0.503675 s, deltaX: -0.198776 m, approachRate: -0.394652 m/s, posRepo size: 4 2025-10-27T06:09:22.162Z,1761545362.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:22.208Z,1761545362.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:22.461Z,1761545362.461 [DAT](INFO): DAT read: Rx Time:06:09:21.2201 2025-10-27T06:09:22.461Z,1761545362.461 [DAT](INFO): Rx dataTimestamp_ set to:1761545362.460777 2025-10-27T06:09:22.462Z,1761545362.462 [DAT](INFO): DAT read: Bearing 273.5, 20.1 (Local) 2025-10-27T06:09:22.463Z,1761545362.463 [DAT](INFO): Local bearing/azimuth received: Bearing 273.5, 20.1 (Local) 2025-10-27T06:09:22.465Z,1761545362.465 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-27T06:09:22.470Z,1761545362.470 [DAT](INFO): DAT read: 06:09:21.2201 LVL= 21200, 22385, 32754, 32755, AGC= 55, IDX= 509,-0.03, 2.839,-2.164, 2.247,-2.852, PHS=-0.490, 0.733,-1.228, RAW= 351.9, 11.5, CAL= 352.2, 13.4, ROT= 157.8, -13.4 2025-10-27T06:09:22.471Z,1761545362.471 [DAT](INFO): got valid direction response: 06:09:21.2201 LVL= 21200, 22385, 32754, 32755, AGC= 55, IDX= 509,-0.03, 2.839,-2.164, 2.247,-2.852, PHS=-0.490, 0.733,-1.228, RAW= 351.9, 11.5, CAL= 352.2, 13.4, ROT= 157.8, -13.4 2025-10-27T06:09:22.471Z,1761545362.471 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:22.472Z,1761545362.472 [DAT](INFO): direction in FSK: [-0.900665,0.367554,0.231748] 2025-10-27T06:09:22.472Z,1761545362.472 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:22.479Z,1761545362.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470159,0.881437,0.044942],[-0.882539,0.469028,0.033721],[0.008644,-0.055517,0.998420]] 2025-10-27T06:09:22.481Z,1761545362.481 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:22.482Z,1761545362.482 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:22.577Z,1761545362.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504112 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:22.583Z,1761545362.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802597 m, bearing: 95.218960 deg, lat: 36.779405 deg, lon: -121.859810 deg, deltaT: 0.504112 s, deltaX: -0.000082 m, approachRate: -0.000163 m/s, posRepo size: 4 2025-10-27T06:09:22.584Z,1761545362.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:22.713Z,1761545362.713 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:22.900Z,1761545362.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472216,0.880289,0.045855],[-0.881446,0.471081,0.033710],[0.008073,-0.056337,0.998379]] 2025-10-27T06:09:22.926Z,1761545362.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:22.965Z,1761545362.965 [DAT](INFO): DAT read: Rx Time:06:09:21.7200 2025-10-27T06:09:22.965Z,1761545362.965 [DAT](INFO): Rx dataTimestamp_ set to:1761545362.964866 2025-10-27T06:09:22.966Z,1761545362.966 [DAT](INFO): DAT read: Bearing 273.0, 20.6 (Local) 2025-10-27T06:09:22.967Z,1761545362.967 [DAT](INFO): Local bearing/azimuth received: Bearing 273.0, 20.6 (Local) 2025-10-27T06:09:22.969Z,1761545362.969 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:22.974Z,1761545362.974 [DAT](INFO): DAT read: 06:09:21.7200 LVL= 23136, 24561, 32754, 32755, AGC= 54, IDX= 508, 0.11,-2.989,-1.734, 2.692,-2.404, PHS=-0.483, 0.715,-1.232, RAW= 352.4, 11.7, CAL= 352.7, 13.8, ROT= 157.3, -13.8 2025-10-27T06:09:22.975Z,1761545362.975 [DAT](INFO): got valid direction response: 06:09:21.7200 LVL= 23136, 24561, 32754, 32755, AGC= 54, IDX= 508, 0.11,-2.989,-1.734, 2.692,-2.404, PHS=-0.483, 0.715,-1.232, RAW= 352.4, 11.7, CAL= 352.7, 13.8, ROT= 157.3, -13.8 2025-10-27T06:09:22.975Z,1761545362.975 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:22.976Z,1761545362.976 [DAT](INFO): direction in FSK: [-0.895908,0.374766,0.238533] 2025-10-27T06:09:22.976Z,1761545362.976 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:22.985Z,1761545362.985 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:22.986Z,1761545362.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:23.216Z,1761545363.216 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:23.328Z,1761545363.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504089 s, deltaX: -0.099999 m, approachRate: -0.198377 m/s, rangeRepo size: 4 2025-10-27T06:09:23.330Z,1761545363.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703210 m, bearing: 94.823886 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.504089 s, deltaX: -0.099387 m, approachRate: -0.197162 m/s, posRepo size: 4 2025-10-27T06:09:23.331Z,1761545363.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:23.469Z,1761545363.469 [DAT](INFO): DAT read: Rx Time:06:09:22.2200 2025-10-27T06:09:23.469Z,1761545363.469 [DAT](INFO): Rx dataTimestamp_ set to:1761545363.468903 2025-10-27T06:09:23.470Z,1761545363.470 [DAT](INFO): DAT read: Bearing 273.8, 21.5 (Local) 2025-10-27T06:09:23.471Z,1761545363.471 [DAT](INFO): Local bearing/azimuth received: Bearing 273.8, 21.5 (Local) 2025-10-27T06:09:23.473Z,1761545363.473 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-27T06:09:23.478Z,1761545363.478 [DAT](INFO): DAT read: 06:09:22.2200 LVL= 23120, 21969, 32754, 32755, AGC= 55, IDX= 509, 0.24,-1.493,-0.249,-2.133,-0.934, PHS=-0.458, 0.730,-1.243, RAW= 353.3, 11.3, CAL= 353.6, 13.0, ROT= 156.4, -13.0 2025-10-27T06:09:23.479Z,1761545363.479 [DAT](INFO): got valid direction response: 06:09:22.2200 LVL= 23120, 21969, 32754, 32755, AGC= 55, IDX= 509, 0.24,-1.493,-0.249,-2.133,-0.934, PHS=-0.458, 0.730,-1.243, RAW= 353.3, 11.3, CAL= 353.6, 13.0, ROT= 156.4, -13.0 2025-10-27T06:09:23.479Z,1761545363.479 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:23.480Z,1761545363.480 [DAT](INFO): direction in FSK: [-0.892876,0.390088,0.224951] 2025-10-27T06:09:23.481Z,1761545363.481 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:23.484Z,1761545363.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:23.485Z,1761545363.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:23.670Z,1761545363.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473092,0.879818,0.045880],[-0.880977,0.471961,0.033646],[0.007949,-0.056336,0.998380]] 2025-10-27T06:09:23.702Z,1761545363.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504037 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:23.706Z,1761545363.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703207 m, bearing: 94.027835 deg, lat: 36.779406 deg, lon: -121.859810 deg, deltaT: 0.504037 s, deltaX: -0.000003 m, approachRate: -0.000006 m/s, posRepo size: 4 2025-10-27T06:09:23.706Z,1761545363.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:23.721Z,1761545363.721 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:23.972Z,1761545363.972 [DAT](INFO): DAT read: user:679> 2025-10-27T06:09:23.973Z,1761545363.973 [DAT](INFO): DAT read: user:679> 2025-10-27T06:09:23.974Z,1761545363.974 [DAT](INFO): DAT read: Tx time:06:09:23.1189 2025-10-27T06:09:23.975Z,1761545363.975 [DAT](INFO): Ping request sent. 2025-10-27T06:09:23.975Z,1761545363.975 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:09:23.975Z,1761545363.975 [DAT](INFO): publishing transmit ping time 2025-10-27T06:09:23.976Z,1761545363.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000910 2025-10-27T06:09:24.124Z,1761545364.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:24.224Z,1761545364.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249566 2025-10-27T06:09:24.480Z,1761545364.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504817 2025-10-27T06:09:24.485Z,1761545364.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475701,0.878471,0.044685],[-0.879573,0.474618,0.033015],[0.007794,-0.055009,0.998455]] 2025-10-27T06:09:24.534Z,1761545364.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:24.729Z,1761545364.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754016 2025-10-27T06:09:24.897Z,1761545364.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476408,0.878103,0.044395],[-0.879190,0.475333,0.032916],[0.007801,-0.054713,0.998472]] 2025-10-27T06:09:24.918Z,1761545364.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:24.981Z,1761545364.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005580 2025-10-27T06:09:25.232Z,1761545365.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257215 2025-10-27T06:09:25.296Z,1761545365.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476821,0.877889,0.044181],[-0.878963,0.475739,0.033108],[0.008047,-0.054620,0.998475]] 2025-10-27T06:09:25.332Z,1761545365.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:25.484Z,1761545365.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509233 2025-10-27T06:09:25.695Z,1761545365.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477063,0.877750,0.044347],[-0.878830,0.475957,0.033513],[0.008308,-0.054961,0.998454]] 2025-10-27T06:09:25.737Z,1761545365.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761993 2025-10-27T06:09:25.742Z,1761545365.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:25.988Z,1761545365.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013224 2025-10-27T06:09:26.115Z,1761545366.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477342,0.877594,0.044429],[-0.878676,0.476213,0.033921],[0.008611,-0.055231,0.998437]] 2025-10-27T06:09:26.203Z,1761545366.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:26.241Z,1761545366.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265848 2025-10-27T06:09:26.492Z,1761545366.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517138 2025-10-27T06:09:26.518Z,1761545366.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477527,0.877493,0.044426],[-0.878571,0.476374,0.034357],[0.008985,-0.055438,0.998422]] 2025-10-27T06:09:26.578Z,1761545366.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:26.744Z,1761545366.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769185 2025-10-27T06:09:26.924Z,1761545366.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477642,0.877435,0.044349],[-0.878505,0.476467,0.034772],[0.009379,-0.055570,0.998411]] 2025-10-27T06:09:26.941Z,1761545366.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:26.997Z,1761545366.997 [DAT](INFO): DAT read: Rx Time:06:09:25.5444 2025-10-27T06:09:26.997Z,1761545366.997 [DAT](INFO): Rx dataTimestamp_ set to:1761545366.996964 2025-10-27T06:09:26.998Z,1761545366.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023411 2025-10-27T06:09:27.248Z,1761545367.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273451 2025-10-27T06:09:27.326Z,1761545367.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477846,0.877349,0.043845],[-0.878388,0.476661,0.035053],[0.009855,-0.055263,0.998423]] 2025-10-27T06:09:27.433Z,1761545367.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-27T06:09:27.509Z,1761545367.509 [DAT](INFO): DAT read: 06:09:25.5444 LVL= 28768, 28001, 32754, 32755, AGC= 60, IDX= 486, 0.46,-0.912, 0.230,-1.614,-0.351, PHS=-0.459, 0.626,-1.307, RAW= 355.9, 13.5, CAL= 356.4, 16.5, ROT= 153.6, -16.5 2025-10-27T06:09:27.511Z,1761545367.511 [DAT](INFO): got valid direction response: 06:09:25.5444 LVL= 28768, 28001, 32754, 32755, AGC= 60, IDX= 486, 0.46,-0.912, 0.230,-1.614,-0.351, PHS=-0.459, 0.626,-1.307, RAW= 355.9, 13.5, CAL= 356.4, 16.5, ROT= 153.6, -16.5 2025-10-27T06:09:27.512Z,1761545367.512 [DAT](INFO): DAT read: Bearing 269.5, 23.4 (Local) 2025-10-27T06:09:27.512Z,1761545367.512 [DAT](INFO): Local bearing/azimuth received: Bearing 269.5, 23.4 (Local) 2025-10-27T06:09:27.514Z,1761545367.514 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (Round-trip 21.3 ms) speed 0.0 m/s 2025-10-27T06:09:27.515Z,1761545367.515 [DAT](INFO): DAT read: user:680> 2025-10-27T06:09:27.515Z,1761545367.515 [DAT](INFO): DAT read: Tx time:06:09:26.6689 2025-10-27T06:09:27.516Z,1761545367.516 [DAT](INFO): Ping request sent. 2025-10-27T06:09:27.516Z,1761545367.516 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:09:27.516Z,1761545367.516 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:27.517Z,1761545367.517 [DAT](INFO): direction in FSK: [-0.858826,0.426325,0.284015] 2025-10-27T06:09:27.517Z,1761545367.517 [DAT](INFO): publishing transmit ping time 2025-10-27T06:09:27.518Z,1761545367.518 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:27.521Z,1761545367.521 [DAT](INFO): publishing transmit ping time 2025-10-27T06:09:27.521Z,1761545367.521 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:27.785Z,1761545367.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 4.031335 s, deltaX: 0.099999 m, approachRate: 0.024806 m/s, rangeRepo size: 4 2025-10-27T06:09:27.787Z,1761545367.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802488 m, bearing: 91.414918 deg, lat: 36.779406 deg, lon: -121.859811 deg, deltaT: 4.031335 s, deltaX: 0.099281 m, approachRate: 0.024627 m/s, posRepo size: 4 2025-10-27T06:09:27.787Z,1761545367.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:28.136Z,1761545368.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478209,0.877179,0.043285],[-0.878183,0.477003,0.035536],[0.010525,-0.055006,0.998431]] 2025-10-27T06:09:28.159Z,1761545368.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:28.591Z,1761545368.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:28.942Z,1761545368.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478110,0.877244,0.043059],[-0.878227,0.476864,0.036319],[0.011328,-0.055180,0.998412]] 2025-10-27T06:09:28.976Z,1761545368.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:29.346Z,1761545369.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478435,0.877063,0.043142],[-0.878048,0.477174,0.036565],[0.011484,-0.055374,0.998400]] 2025-10-27T06:09:29.412Z,1761545369.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:29.752Z,1761545369.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478551,0.876990,0.043321],[-0.877982,0.477269,0.036900],[0.011686,-0.055694,0.998380]] 2025-10-27T06:09:29.770Z,1761545369.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:30.153Z,1761545370.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478877,0.876820,0.043173],[-0.877802,0.477590,0.037039],[0.011857,-0.055635,0.998381]] 2025-10-27T06:09:30.183Z,1761545370.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:30.528Z,1761545370.528 [DAT](INFO): DAT read: Rx Time:06:09:29.0943 2025-10-27T06:09:30.528Z,1761545370.528 [DAT](INFO): Rx dataTimestamp_ set to:1761545370.528127 2025-10-27T06:09:30.558Z,1761545370.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479301,0.876591,0.043114],[-0.877569,0.478011,0.037111],[0.011922,-0.055623,0.998381]] 2025-10-27T06:09:30.618Z,1761545370.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:30.977Z,1761545370.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479621,0.876409,0.043252],[-0.877394,0.478319,0.037300],[0.012002,-0.055839,0.998368]] 2025-10-27T06:09:31.013Z,1761545371.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:31.038Z,1761545371.038 [DAT](INFO): DAT read: 06:09:29.0943 LVL= 25072, 28081, 32754, 32755, AGC= 59, IDX= 438,-0.34, 0.881, 1.983, 0.139, 1.405, PHS=-0.422, 0.622,-1.311, RAW= 357.3, 13.2, CAL= 357.7, 16.0, ROT= 152.3, -16.0 2025-10-27T06:09:31.040Z,1761545371.040 [DAT](INFO): got valid direction response: 06:09:29.0943 LVL= 25072, 28081, 32754, 32755, AGC= 59, IDX= 438,-0.34, 0.881, 1.983, 0.139, 1.405, PHS=-0.422, 0.622,-1.311, RAW= 357.3, 13.2, CAL= 357.7, 16.0, ROT= 152.3, -16.0 2025-10-27T06:09:31.041Z,1761545371.041 [DAT](INFO): DAT read: Bearing 269.7, 24.8 (Local) 2025-10-27T06:09:31.041Z,1761545371.041 [DAT](INFO): Local bearing/azimuth received: Bearing 269.7, 24.8 (Local) 2025-10-27T06:09:31.042Z,1761545371.042 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (Round-trip 21.2 ms) speed 0.1 m/s 2025-10-27T06:09:31.056Z,1761545371.056 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:09:31.057Z,1761545371.057 [DAT](INFO): direction in FSK: [-0.851095,0.446835,0.275637] 2025-10-27T06:09:31.057Z,1761545371.057 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:31.375Z,1761545371.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480135,0.876119,0.043423],[-0.877113,0.478828,0.037359],[0.011939,-0.056024,0.998358]] 2025-10-27T06:09:31.451Z,1761545371.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 3.532092 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:09:31.453Z,1761545371.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.802496 m, bearing: 90.306395 deg, lat: 36.779408 deg, lon: -121.859811 deg, deltaT: 3.532092 s, deltaX: 0.000008 m, approachRate: 0.000002 m/s, posRepo size: 4 2025-10-27T06:09:31.454Z,1761545371.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:31.770Z,1761545371.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480950,0.875663,0.043602],[-0.876669,0.479645,0.037297],[0.011746,-0.056162,0.998353]] 2025-10-27T06:09:31.789Z,1761545371.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:32.175Z,1761545372.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481744,0.875219,0.043745],[-0.876236,0.480445,0.037184],[0.011527,-0.056244,0.998351]] 2025-10-27T06:09:32.193Z,1761545372.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:32.582Z,1761545372.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482661,0.874715,0.043729],[-0.875735,0.481380,0.036887],[0.011215,-0.056099,0.998362]] 2025-10-27T06:09:32.637Z,1761545372.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:32.983Z,1761545372.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483702,0.874153,0.043461],[-0.875165,0.482450,0.036449],[0.010894,-0.055666,0.998390]] 2025-10-27T06:09:33.007Z,1761545373.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:33.403Z,1761545373.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484606,0.873665,0.043200],[-0.874668,0.483382,0.036015],[0.010583,-0.055239,0.998417]] 2025-10-27T06:09:33.464Z,1761545373.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:33.809Z,1761545373.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485724,0.873038,0.043323],[-0.874055,0.484527,0.035512],[0.010013,-0.055116,0.998430]] 2025-10-27T06:09:33.831Z,1761545373.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:34.210Z,1761545374.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486542,0.872576,0.043463],[-0.873604,0.485360,0.035233],[0.009648,-0.055112,0.998434]] 2025-10-27T06:09:34.236Z,1761545374.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:34.614Z,1761545374.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487593,0.871977,0.043697],[-0.873023,0.486432,0.034843],[0.009127,-0.055137,0.998437]] 2025-10-27T06:09:34.661Z,1761545374.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:35.018Z,1761545375.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488581,0.871406,0.044047],[-0.872477,0.487439,0.034459],[0.008558,-0.055266,0.998435]] 2025-10-27T06:09:35.036Z,1761545375.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:35.424Z,1761545375.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489492,0.870891,0.044117],[-0.871970,0.488374,0.034047],[0.008106,-0.055134,0.998446]] 2025-10-27T06:09:35.460Z,1761545375.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:35.826Z,1761545375.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490031,0.870578,0.044315],[-0.871670,0.488924,0.033823],[0.007779,-0.055202,0.998445]] 2025-10-27T06:09:35.861Z,1761545375.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:36.230Z,1761545376.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490667,0.870211,0.044489],[-0.871316,0.489579,0.033488],[0.007360,-0.055196,0.998448]] 2025-10-27T06:09:36.263Z,1761545376.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:36.634Z,1761545376.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491233,0.869885,0.044607],[-0.871000,0.490166,0.033102],[0.006930,-0.055114,0.998456]] 2025-10-27T06:09:36.692Z,1761545376.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:37.038Z,1761545377.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491799,0.869565,0.044621],[-0.870684,0.490752,0.032746],[0.006577,-0.054955,0.998467]] 2025-10-27T06:09:37.061Z,1761545377.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:37.441Z,1761545377.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492038,0.869424,0.044719],[-0.870551,0.491004,0.032512],[0.006310,-0.054927,0.998470]] 2025-10-27T06:09:37.492Z,1761545377.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:37.848Z,1761545377.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491897,0.869508,0.044647],[-0.870631,0.490866,0.032439],[0.006290,-0.054828,0.998476]] 2025-10-27T06:09:37.895Z,1761545377.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:38.261Z,1761545378.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491717,0.869609,0.044666],[-0.870732,0.490687,0.032421],[0.006276,-0.054834,0.998476]] 2025-10-27T06:09:38.279Z,1761545378.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:38.662Z,1761545378.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491477,0.869743,0.044691],[-0.870868,0.490447,0.032412],[0.006271,-0.054850,0.998475]] 2025-10-27T06:09:38.709Z,1761545378.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:39.066Z,1761545379.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491236,0.869873,0.044817],[-0.871004,0.490208,0.032360],[0.006180,-0.054933,0.998471]] 2025-10-27T06:09:39.104Z,1761545379.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:39.470Z,1761545379.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490852,0.870087,0.044860],[-0.871221,0.489824,0.032360],[0.006182,-0.054967,0.998469]] 2025-10-27T06:09:39.530Z,1761545379.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:39.885Z,1761545379.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490359,0.870362,0.044924],[-0.871498,0.489323,0.032471],[0.006279,-0.055074,0.998463]] 2025-10-27T06:09:39.906Z,1761545379.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:40.278Z,1761545380.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489629,0.870768,0.045026],[-0.871907,0.488577,0.032724],[0.006496,-0.055281,0.998450]] 2025-10-27T06:09:40.303Z,1761545380.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:40.746Z,1761545380.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:41.085Z,1761545381.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488302,0.871503,0.045202],[-0.872648,0.487226,0.033120],[0.006840,-0.055618,0.998429]] 2025-10-27T06:09:41.103Z,1761545381.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:41.491Z,1761545381.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487618,0.871883,0.045270],[-0.873028,0.486523,0.033432],[0.007124,-0.055825,0.998415]] 2025-10-27T06:09:41.533Z,1761545381.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:41.899Z,1761545381.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487199,0.872118,0.045254],[-0.873261,0.486097,0.033545],[0.007257,-0.055861,0.998412]] 2025-10-27T06:09:41.935Z,1761545381.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:42.298Z,1761545382.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486649,0.872422,0.045313],[-0.873567,0.485537,0.033695],[0.007395,-0.055982,0.998404]] 2025-10-27T06:09:42.332Z,1761545382.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:42.703Z,1761545382.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486453,0.872541,0.045120],[-0.873675,0.485345,0.033643],[0.007456,-0.055786,0.998415]] 2025-10-27T06:09:42.758Z,1761545382.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:43.132Z,1761545383.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486357,0.872594,0.045128],[-0.873729,0.485254,0.033557],[0.007383,-0.055750,0.998417]] 2025-10-27T06:09:43.149Z,1761545383.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:09:43.168Z,1761545383.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:43.393Z,1761545383.393 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:09:43.394Z,1761545383.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:09:43.533Z,1761545383.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486155,0.872706,0.045128],[-0.873841,0.485055,0.033507],[0.007352,-0.055725,0.998419]] 2025-10-27T06:09:43.594Z,1761545383.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:43.644Z,1761545383.644 [DAT](INFO): DAT read: user:681> 2025-10-27T06:09:43.645Z,1761545383.645 [DAT](INFO): DAT read: Tx time:06:09:42.6689 2025-10-27T06:09:43.646Z,1761545383.646 [DAT](INFO): Ping request sent. 2025-10-27T06:09:43.646Z,1761545383.646 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:09:43.646Z,1761545383.646 [DAT](INFO): publishing transmit ping time 2025-10-27T06:09:43.647Z,1761545383.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001046 2025-10-27T06:09:43.896Z,1761545383.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250351 2025-10-27T06:09:43.938Z,1761545383.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486183,0.872692,0.045110],[-0.873827,0.485090,0.033382],[0.007250,-0.055648,0.998424]] 2025-10-27T06:09:43.978Z,1761545383.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:44.148Z,1761545384.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502376 2025-10-27T06:09:44.346Z,1761545384.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486327,0.872603,0.045273],[-0.873749,0.485241,0.033229],[0.007028,-0.055717,0.998422]] 2025-10-27T06:09:44.397Z,1761545384.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:44.400Z,1761545384.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754417 2025-10-27T06:09:44.652Z,1761545384.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006363 2025-10-27T06:09:44.749Z,1761545384.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486677,0.872395,0.045534],[-0.873557,0.485604,0.032972],[0.006653,-0.055823,0.998419]] 2025-10-27T06:09:44.785Z,1761545384.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:44.904Z,1761545384.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258345 2025-10-27T06:09:45.150Z,1761545385.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487346,0.872013,0.045687],[-0.873188,0.486303,0.032429],[0.006061,-0.055698,0.998429]] 2025-10-27T06:09:45.156Z,1761545385.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510502 2025-10-27T06:09:45.185Z,1761545385.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:45.408Z,1761545385.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762567 2025-10-27T06:09:45.553Z,1761545385.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488026,0.871635,0.045637],[-0.872812,0.487022,0.031763],[0.005460,-0.055333,0.998453]] 2025-10-27T06:09:45.609Z,1761545385.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:45.660Z,1761545385.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014489 2025-10-27T06:09:45.912Z,1761545385.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266298 2025-10-27T06:09:45.966Z,1761545385.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489067,0.871043,0.045789],[-0.872234,0.488111,0.030909],[0.004573,-0.055056,0.998473]] 2025-10-27T06:09:45.995Z,1761545385.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:46.164Z,1761545386.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518325 2025-10-27T06:09:46.372Z,1761545386.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490111,0.870430,0.046285],[-0.871653,0.489197,0.030123],[0.003577,-0.055108,0.998474]] 2025-10-27T06:09:46.395Z,1761545386.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:46.435Z,1761545386.435 [DAT](INFO): DAT read: Rx Time:06:09:45.0945 2025-10-27T06:09:46.437Z,1761545386.437 [DAT](INFO): Rx dataTimestamp_ set to:1761545386.435897 2025-10-27T06:09:46.439Z,1761545386.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.792486 2025-10-27T06:09:46.684Z,1761545386.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038294 2025-10-27T06:09:46.766Z,1761545386.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491185,0.869789,0.046959],[-0.871052,0.490314,0.029339],[0.002494,-0.055315,0.998466]] 2025-10-27T06:09:46.810Z,1761545386.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:46.938Z,1761545386.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292233 2025-10-27T06:09:47.170Z,1761545387.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492549,0.868967,0.047880],[-0.870284,0.491730,0.028415],[0.001147,-0.055665,0.998449]] 2025-10-27T06:09:47.193Z,1761545387.193 [DAT](INFO): DAT read: 06:09:45.0945 LVL= 27120, 22513, 32754, 32755, AGC= 55, IDX= 440,-0.13, 1.332, 2.361, 0.532, 1.936, PHS=-0.501, 0.470,-1.447, RAW= 359.6, 17.5, CAL= 359.9, 21.8, ROT= 150.1, -21.8 2025-10-27T06:09:47.194Z,1761545387.194 [DAT](INFO): got valid direction response: 06:09:45.0945 LVL= 27120, 22513, 32754, 32755, AGC= 55, IDX= 440,-0.13, 1.332, 2.361, 0.532, 1.936, PHS=-0.501, 0.470,-1.447, RAW= 359.6, 17.5, CAL= 359.9, 21.8, ROT= 150.1, -21.8 2025-10-27T06:09:47.196Z,1761545387.196 [DAT](INFO): DAT read: Bearing 263.8, 25.8 (Local) 2025-10-27T06:09:47.196Z,1761545387.196 [DAT](INFO): Local bearing/azimuth received: Bearing 263.8, 25.8 (Local) 2025-10-27T06:09:47.197Z,1761545387.197 [DAT](INFO): DAT read: Range 11 to 50 : 16.0 m (Round-trip 21.4 ms) speed 0.0 m/s 2025-10-27T06:09:47.198Z,1761545387.198 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:09:47.208Z,1761545387.208 [DAT](INFO): direction in FSK: [-0.804901,0.462839,0.371368] 2025-10-27T06:09:47.208Z,1761545387.208 [DAT](INFO): publishing direction and range info 2025-10-27T06:09:47.217Z,1761545387.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.000000 m, deltaT: 16.155157 s, deltaX: 0.100000 m, approachRate: 0.006190 m/s, rangeRepo size: 4 2025-10-27T06:09:47.218Z,1761545387.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:47.574Z,1761545387.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494141,0.868032,0.048421],[-0.869381,0.493393,0.027194],[-0.000285,-0.055534,0.998457]] 2025-10-27T06:09:47.626Z,1761545387.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:47.983Z,1761545387.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495487,0.867233,0.048982],[-0.868614,0.494806,0.026025],[-0.001667,-0.055441,0.998461]] 2025-10-27T06:09:48.014Z,1761545388.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:48.382Z,1761545388.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496870,0.866420,0.049358],[-0.867819,0.496263,0.024751],[-0.003050,-0.055132,0.998474]] 2025-10-27T06:09:48.400Z,1761545388.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:48.708Z,1761545388.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:09:48.865Z,1761545388.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:49.190Z,1761545389.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499629,0.864775,0.050343],[-0.866219,0.499169,0.022228],[-0.005907,-0.054714,0.998485]] 2025-10-27T06:09:49.216Z,1761545389.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:49.594Z,1761545389.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500491,0.864223,0.051254],[-0.865712,0.500089,0.021310],[-0.007215,-0.055036,0.998458]] 2025-10-27T06:09:49.637Z,1761545389.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:49.712Z,1761545389.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:09:49.998Z,1761545389.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501258,0.863730,0.052066],[-0.865257,0.500910,0.020473],[-0.008397,-0.055313,0.998434]] 2025-10-27T06:09:50.017Z,1761545390.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:50.404Z,1761545390.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501909,0.863308,0.052791],[-0.864869,0.501612,0.019686],[-0.009485,-0.055538,0.998411]] 2025-10-27T06:09:50.422Z,1761545390.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:50.880Z,1761545390.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:51.210Z,1761545391.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502380,0.862993,0.053458],[-0.864575,0.502176,0.018174],[-0.011162,-0.055349,0.998405]] 2025-10-27T06:09:51.245Z,1761545391.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:51.614Z,1761545391.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501825,0.863316,0.053454],[-0.864892,0.501647,0.017666],[-0.011564,-0.055097,0.998414]] 2025-10-27T06:09:51.670Z,1761545391.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:52.026Z,1761545392.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501202,0.863680,0.053417],[-0.865249,0.501044,0.017291],[-0.011831,-0.054885,0.998423]] 2025-10-27T06:09:52.044Z,1761545392.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:52.425Z,1761545392.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500092,0.864319,0.053486],[-0.865893,0.499929,0.017335],[-0.011757,-0.054983,0.998418]] 2025-10-27T06:09:52.444Z,1761545392.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:52.832Z,1761545392.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498949,0.864977,0.053517],[-0.866553,0.498782,0.017395],[-0.011647,-0.055054,0.998415]] 2025-10-27T06:09:52.885Z,1761545392.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:53.267Z,1761545393.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:53.634Z,1761545393.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495538,0.866944,0.053386],[-0.868520,0.495324,0.018108],[-0.010745,-0.055340,0.998410]] 2025-10-27T06:09:53.716Z,1761545393.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:54.044Z,1761545394.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493708,0.867985,0.053428],[-0.869568,0.493462,0.018636],[-0.010189,-0.055660,0.998398]] 2025-10-27T06:09:54.062Z,1761545394.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:54.441Z,1761545394.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491803,0.869079,0.053204],[-0.870654,0.491523,0.019142],[-0.009515,-0.055736,0.998400]] 2025-10-27T06:09:54.466Z,1761545394.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:54.854Z,1761545394.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489874,0.870195,0.052768],[-0.871750,0.489558,0.019635],[-0.008747,-0.055619,0.998414]] 2025-10-27T06:09:54.899Z,1761545394.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:55.250Z,1761545395.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487994,0.871270,0.052448],[-0.872810,0.487642,0.020169],[-0.008003,-0.055620,0.998420]] 2025-10-27T06:09:55.269Z,1761545395.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:55.662Z,1761545395.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486514,0.872124,0.052000],[-0.873641,0.486139,0.020488],[-0.007411,-0.055397,0.998437]] 2025-10-27T06:09:55.725Z,1761545395.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:56.058Z,1761545396.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485106,0.872940,0.051449],[-0.874429,0.484706,0.020818],[-0.006764,-0.055087,0.998459]] 2025-10-27T06:09:56.090Z,1761545396.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:56.461Z,1761545396.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483802,0.873685,0.051082],[-0.875155,0.483381,0.021120],[-0.006240,-0.054922,0.998471]] 2025-10-27T06:09:56.484Z,1761545396.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:56.878Z,1761545396.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482596,0.874367,0.050827],[-0.875824,0.482155,0.021421],[-0.005777,-0.054854,0.998478]] 2025-10-27T06:09:56.934Z,1761545396.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:57.286Z,1761545397.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481992,0.874709,0.050670],[-0.876158,0.481542,0.021546],[-0.005553,-0.054780,0.998483]] 2025-10-27T06:09:57.320Z,1761545397.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:57.695Z,1761545397.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481480,0.874983,0.050821],[-0.876440,0.481021,0.021698],[-0.005461,-0.054989,0.998472]] 2025-10-27T06:09:57.770Z,1761545397.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:58.097Z,1761545398.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481484,0.874978,0.050861],[-0.876437,0.481034,0.021558],[-0.005604,-0.054956,0.998473]] 2025-10-27T06:09:58.137Z,1761545398.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:58.502Z,1761545398.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481698,0.874867,0.050747],[-0.876318,0.481263,0.021259],[-0.005824,-0.054711,0.998485]] 2025-10-27T06:09:58.529Z,1761545398.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:58.907Z,1761545398.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482090,0.874650,0.050766],[-0.876100,0.481679,0.020846],[-0.006220,-0.054526,0.998493]] 2025-10-27T06:09:58.949Z,1761545398.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:59.315Z,1761545399.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482834,0.874229,0.050941],[-0.875685,0.482457,0.020278],[-0.006849,-0.054399,0.998496]] 2025-10-27T06:09:59.353Z,1761545399.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:09:59.738Z,1761545399.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484662,0.873193,0.051355],[-0.874664,0.484353,0.019130],[-0.008170,-0.054190,0.998497]] 2025-10-27T06:09:59.781Z,1761545399.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:00.130Z,1761545400.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485617,0.872632,0.051858],[-0.874126,0.485344,0.018594],[-0.008944,-0.054360,0.998481]] 2025-10-27T06:10:00.149Z,1761545400.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:00.528Z,1761545400.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486639,0.872022,0.052538],[-0.873548,0.486404,0.018033],[-0.009830,-0.054670,0.998456]] 2025-10-27T06:10:00.546Z,1761545400.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:00.930Z,1761545400.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487721,0.871372,0.053287],[-0.872934,0.487525,0.017492],[-0.010737,-0.055047,0.998426]] 2025-10-27T06:10:00.974Z,1761545400.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:01.340Z,1761545401.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488751,0.870773,0.053627],[-0.872347,0.488595,0.016879],[-0.011504,-0.055031,0.998418]] 2025-10-27T06:10:01.375Z,1761545401.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:01.755Z,1761545401.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489786,0.870178,0.053853],[-0.871756,0.489674,0.016160],[-0.012308,-0.054862,0.998418]] 2025-10-27T06:10:01.823Z,1761545401.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:02.138Z,1761545402.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490402,0.869811,0.054181],[-0.871401,0.490319,0.015725],[-0.012888,-0.054925,0.998407]] 2025-10-27T06:10:02.165Z,1761545402.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:02.542Z,1761545402.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490971,0.869476,0.054402],[-0.871072,0.490918,0.015256],[-0.013442,-0.054879,0.998403]] 2025-10-27T06:10:02.578Z,1761545402.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:02.946Z,1761545402.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491453,0.869190,0.054619],[-0.870792,0.491427,0.014831],[-0.013950,-0.054851,0.998397]] 2025-10-27T06:10:03.001Z,1761545403.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:03.354Z,1761545403.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491548,0.869113,0.054978],[-0.870733,0.491537,0.014657],[-0.014285,-0.055075,0.998380]] 2025-10-27T06:10:03.372Z,1761545403.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:03.800Z,1761545403.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491107,0.869358,0.055045],[-0.870983,0.491093,0.014705],[-0.014248,-0.055166,0.998376]] 2025-10-27T06:10:03.857Z,1761545403.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:04.157Z,1761545404.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490593,0.869657,0.054915],[-0.871275,0.490572,0.014783],[-0.014084,-0.055099,0.998382]] 2025-10-27T06:10:04.175Z,1761545404.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:04.564Z,1761545404.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489775,0.870130,0.054714],[-0.871740,0.489739,0.014991],[-0.013751,-0.055038,0.998390]] 2025-10-27T06:10:04.584Z,1761545404.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:04.966Z,1761545404.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488905,0.870639,0.054405],[-0.872234,0.488853,0.015160],[-0.013397,-0.054865,0.998404]] 2025-10-27T06:10:05.070Z,1761545405.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:05.369Z,1761545405.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487523,0.871437,0.054020],[-0.873018,0.487438,0.015638],[-0.012704,-0.054785,0.998417]] 2025-10-27T06:10:05.404Z,1761545405.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:05.814Z,1761545405.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486036,0.872292,0.053623],[-0.873857,0.485914,0.016170],[-0.011951,-0.054718,0.998430]] 2025-10-27T06:10:05.876Z,1761545405.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:06.179Z,1761545406.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484276,0.873281,0.053447],[-0.874845,0.484110,0.016875],[-0.011137,-0.054930,0.998428]] 2025-10-27T06:10:06.197Z,1761545406.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:06.582Z,1761545406.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482434,0.874318,0.053152],[-0.875872,0.482222,0.017581],[-0.010259,-0.055036,0.998432]] 2025-10-27T06:10:06.611Z,1761545406.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:06.989Z,1761545406.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480284,0.875530,0.052667],[-0.877066,0.480015,0.018482],[-0.009099,-0.055069,0.998441]] 2025-10-27T06:10:07.025Z,1761545407.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:07.424Z,1761545407.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:07.834Z,1761545407.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476528,0.877628,0.051871],[-0.879131,0.476161,0.020005],[-0.007142,-0.055134,0.998453]] 2025-10-27T06:10:07.891Z,1761545407.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:08.198Z,1761545408.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474364,0.878828,0.051383],[-0.880308,0.473942,0.020894],[-0.005991,-0.055144,0.998460]] 2025-10-27T06:10:08.216Z,1761545408.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:08.603Z,1761545408.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472428,0.879895,0.050955],[-0.881355,0.471957,0.021661],[-0.004989,-0.055142,0.998466]] 2025-10-27T06:10:08.622Z,1761545408.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:09.032Z,1761545409.032 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.99, 84.87, 86.23, 89.29 2025-10-27T06:10:09.047Z,1761545409.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:09.457Z,1761545409.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:09.861Z,1761545409.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468642,0.881972,0.049997],[-0.883382,0.468097,0.022827],[-0.003271,-0.054864,0.998488]] 2025-10-27T06:10:09.899Z,1761545409.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:10.218Z,1761545410.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467282,0.882696,0.049951],[-0.884104,0.466710,0.023275],[-0.002768,-0.055038,0.998480]] 2025-10-27T06:10:10.242Z,1761545410.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:10.622Z,1761545410.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466687,0.883019,0.049804],[-0.884418,0.466115,0.023260],[-0.002676,-0.054903,0.998488]] 2025-10-27T06:10:10.661Z,1761545410.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:11.026Z,1761545411.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466502,0.883109,0.049940],[-0.884516,0.465939,0.023092],[-0.002876,-0.054945,0.998485]] 2025-10-27T06:10:11.073Z,1761545411.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:11.429Z,1761545411.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466273,0.883220,0.050125],[-0.884636,0.465715,0.022990],[-0.003039,-0.055062,0.998478]] 2025-10-27T06:10:11.472Z,1761545411.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:11.869Z,1761545411.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466409,0.883142,0.050220],[-0.884562,0.465873,0.022628],[-0.003412,-0.054977,0.998482]] 2025-10-27T06:10:11.964Z,1761545411.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:12.238Z,1761545412.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466732,0.882959,0.050444],[-0.884390,0.466224,0.022115],[-0.003992,-0.054934,0.998482]] 2025-10-27T06:10:12.264Z,1761545412.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:12.642Z,1761545412.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467358,0.882600,0.050922],[-0.884055,0.466891,0.021453],[-0.004841,-0.055044,0.998472]] 2025-10-27T06:10:12.685Z,1761545412.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:13.045Z,1761545413.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468175,0.882139,0.051409],[-0.883617,0.467753,0.020697],[-0.005789,-0.055116,0.998463]] 2025-10-27T06:10:13.101Z,1761545413.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:13.451Z,1761545413.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469068,0.881631,0.051976],[-0.883136,0.468693,0.019938],[-0.006783,-0.055254,0.998449]] 2025-10-27T06:10:13.470Z,1761545413.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:13.932Z,1761545413.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:14.258Z,1761545414.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470585,0.880754,0.053114],[-0.882310,0.470311,0.018340],[-0.008827,-0.055494,0.998420]] 2025-10-27T06:10:14.325Z,1761545414.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:14.662Z,1761545414.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471563,0.880208,0.053495],[-0.881776,0.471349,0.017355],[-0.009939,-0.055355,0.998417]] 2025-10-27T06:10:14.684Z,1761545414.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:15.066Z,1761545415.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472430,0.879734,0.053647],[-0.881301,0.472270,0.016421],[-0.010890,-0.055037,0.998425]] 2025-10-27T06:10:15.114Z,1761545415.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:15.517Z,1761545415.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:15.880Z,1761545415.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473659,0.879041,0.054170],[-0.880618,0.473595,0.014837],[-0.012612,-0.054731,0.998422]] 2025-10-27T06:10:15.955Z,1761545415.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:16.277Z,1761545416.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474144,0.878764,0.054418],[-0.880345,0.474125,0.014088],[-0.013421,-0.054586,0.998419]] 2025-10-27T06:10:16.352Z,1761545416.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:16.887Z,1761545416.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474449,0.878583,0.054682],[-0.880171,0.474462,0.013567],[-0.014025,-0.054566,0.998412]] 2025-10-27T06:10:16.981Z,1761545416.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:17.209Z,1761545417.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474548,0.878498,0.055191],[-0.880109,0.474586,0.013251],[-0.014551,-0.054863,0.998388]] 2025-10-27T06:10:17.243Z,1761545417.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:17.606Z,1761545417.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474472,0.878526,0.055389],[-0.880144,0.474530,0.012941],[-0.014915,-0.054890,0.998381]] 2025-10-27T06:10:17.624Z,1761545417.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:18.011Z,1761545418.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474186,0.878669,0.055576],[-0.880295,0.474253,0.012813],[-0.015099,-0.054999,0.998372]] 2025-10-27T06:10:18.048Z,1761545418.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:18.447Z,1761545418.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:18.825Z,1761545418.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473196,0.879216,0.055358],[-0.880831,0.473258,0.012817],[-0.014930,-0.054826,0.998384]] 2025-10-27T06:10:18.850Z,1761545418.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:19.223Z,1761545419.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472537,0.879578,0.055232],[-0.881188,0.472587,0.012977],[-0.014688,-0.054802,0.998389]] 2025-10-27T06:10:19.314Z,1761545419.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:19.626Z,1761545419.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471649,0.880064,0.055081],[-0.881671,0.471676,0.013330],[-0.014249,-0.054850,0.998393]] 2025-10-27T06:10:19.664Z,1761545419.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:19.831Z,1761545419.831 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:10:20.030Z,1761545420.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470967,0.880453,0.054701],[-0.882043,0.470973,0.013589],[-0.013798,-0.054649,0.998410]] 2025-10-27T06:10:20.098Z,1761545420.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:20.434Z,1761545420.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470194,0.880884,0.054410],[-0.882463,0.470174,0.013963],[-0.013282,-0.054580,0.998421]] 2025-10-27T06:10:20.474Z,1761545420.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:20.835Z,1761545420.835 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:10:20.839Z,1761545420.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469212,0.881423,0.054162],[-0.882995,0.469159,0.014469],[-0.012658,-0.054613,0.998427]] 2025-10-27T06:10:20.877Z,1761545420.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:21.243Z,1761545421.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468323,0.881908,0.053952],[-0.883475,0.468239,0.014974],[-0.012057,-0.054678,0.998431]] 2025-10-27T06:10:21.326Z,1761545421.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:21.646Z,1761545421.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467047,0.882599,0.053717],[-0.884161,0.466918,0.015704],[-0.011222,-0.054829,0.998433]] 2025-10-27T06:10:21.684Z,1761545421.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:22.053Z,1761545422.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466143,0.883095,0.053425],[-0.884647,0.465978,0.016283],[-0.010515,-0.054853,0.998439]] 2025-10-27T06:10:22.122Z,1761545422.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:22.454Z,1761545422.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465115,0.883659,0.053053],[-0.885196,0.464912,0.016867],[-0.009761,-0.054808,0.998449]] 2025-10-27T06:10:22.497Z,1761545422.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:22.904Z,1761545422.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:23.262Z,1761545423.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463789,0.884396,0.052380],[-0.885905,0.463525,0.017821],[-0.008519,-0.054669,0.998468]] 2025-10-27T06:10:23.354Z,1761545423.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:23.666Z,1761545423.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463172,0.884742,0.051998],[-0.886233,0.462879,0.018265],[-0.007909,-0.054542,0.998480]] 2025-10-27T06:10:23.702Z,1761545423.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:24.079Z,1761545424.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462841,0.884915,0.051986],[-0.886409,0.462525,0.018682],[-0.007513,-0.054728,0.998473]] 2025-10-27T06:10:24.152Z,1761545424.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:24.474Z,1761545424.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462907,0.884893,0.051789],[-0.886377,0.462582,0.018806],[-0.007315,-0.054610,0.998481]] 2025-10-27T06:10:24.521Z,1761545424.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:24.878Z,1761545424.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463123,0.884782,0.051752],[-0.886265,0.462792,0.018925],[-0.007206,-0.054630,0.998481]] 2025-10-27T06:10:24.920Z,1761545424.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:25.293Z,1761545425.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463318,0.884679,0.051759],[-0.886164,0.462979,0.019093],[-0.007072,-0.054713,0.998477]] 2025-10-27T06:10:25.371Z,1761545425.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:25.687Z,1761545425.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463962,0.884338,0.051829],[-0.885826,0.463625,0.019078],[-0.007158,-0.054763,0.998474]] 2025-10-27T06:10:25.709Z,1761545425.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:26.107Z,1761545426.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464692,0.883946,0.051970],[-0.885442,0.464359,0.019044],[-0.007298,-0.054866,0.998467]] 2025-10-27T06:10:26.165Z,1761545426.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:26.494Z,1761545426.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465762,0.883378,0.052046],[-0.884877,0.465447,0.018773],[-0.007641,-0.054798,0.998468]] 2025-10-27T06:10:26.529Z,1761545426.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:26.897Z,1761545426.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466860,0.882788,0.052219],[-0.884295,0.466560,0.018540],[-0.007997,-0.054833,0.998464]] 2025-10-27T06:10:26.923Z,1761545426.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:27.309Z,1761545427.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468233,0.882051,0.052388],[-0.883564,0.467960,0.018114],[-0.008538,-0.054769,0.998462]] 2025-10-27T06:10:27.377Z,1761545427.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:27.709Z,1761545427.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469389,0.881435,0.052406],[-0.882946,0.469139,0.017746],[-0.008944,-0.054601,0.998468]] 2025-10-27T06:10:27.747Z,1761545427.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:28.134Z,1761545428.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470701,0.880723,0.052604],[-0.882243,0.470473,0.017409],[-0.009416,-0.054604,0.998464]] 2025-10-27T06:10:28.176Z,1761545428.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:28.513Z,1761545428.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472007,0.880006,0.052900],[-0.881540,0.471798,0.017151],[-0.009865,-0.054729,0.998453]] 2025-10-27T06:10:28.531Z,1761545428.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:28.920Z,1761545428.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473144,0.879379,0.053171],[-0.880925,0.472955,0.016878],[-0.010305,-0.054825,0.998443]] 2025-10-27T06:10:28.943Z,1761545428.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:29.324Z,1761545429.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474274,0.878756,0.053405],[-0.880312,0.474104,0.016619],[-0.010716,-0.054895,0.998435]] 2025-10-27T06:10:29.377Z,1761545429.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:29.732Z,1761545429.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475414,0.878127,0.053616],[-0.879692,0.475264,0.016323],[-0.011148,-0.054926,0.998428]] 2025-10-27T06:10:29.765Z,1761545429.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:30.166Z,1761545430.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477078,0.877233,0.053466],[-0.878787,0.476946,0.016026],[-0.011442,-0.054631,0.998441]] 2025-10-27T06:10:30.202Z,1761545430.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:30.568Z,1761545430.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:30.972Z,1761545430.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:31.351Z,1761545431.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479472,0.875908,0.053773],[-0.877480,0.479344,0.016098],[-0.011676,-0.054903,0.998423]] 2025-10-27T06:10:31.399Z,1761545431.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:31.752Z,1761545431.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479705,0.875785,0.053703],[-0.877356,0.479560,0.016390],[-0.011399,-0.054979,0.998422]] 2025-10-27T06:10:31.803Z,1761545431.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:32.185Z,1761545432.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480235,0.875498,0.053647],[-0.877067,0.480083,0.016520],[-0.011291,-0.054985,0.998423]] 2025-10-27T06:10:32.229Z,1761545432.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:32.561Z,1761545432.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480226,0.875525,0.053277],[-0.877079,0.480049,0.016904],[-0.010776,-0.054846,0.998437]] 2025-10-27T06:10:32.581Z,1761545432.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:32.960Z,1761545432.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480245,0.875533,0.052971],[-0.877074,0.480046,0.017265],[-0.010312,-0.054751,0.998447]] 2025-10-27T06:10:32.987Z,1761545432.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:33.365Z,1761545433.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480742,0.875280,0.052645],[-0.876805,0.480530,0.017439],[-0.010033,-0.054543,0.998461]] 2025-10-27T06:10:33.413Z,1761545433.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:33.774Z,1761545433.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480781,0.875279,0.052305],[-0.876790,0.480541,0.017892],[-0.009474,-0.054463,0.998471]] 2025-10-27T06:10:33.836Z,1761545433.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:34.212Z,1761545434.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481105,0.875111,0.052145],[-0.876615,0.480847,0.018222],[-0.009128,-0.054478,0.998473]] 2025-10-27T06:10:34.232Z,1761545434.232 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-3 -52, +0,A 2025-10-27T06:10:34.247Z,1761545434.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:34.574Z,1761545434.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481511,0.874889,0.052115],[-0.876395,0.481237,0.018510],[-0.008885,-0.054586,0.998470]] 2025-10-27T06:10:34.600Z,1761545434.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:34.978Z,1761545434.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481942,0.874667,0.051855],[-0.876161,0.481651,0.018795],[-0.008536,-0.054491,0.998478]] 2025-10-27T06:10:35.014Z,1761545435.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:35.384Z,1761545435.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482205,0.874534,0.051666],[-0.876021,0.481889,0.019220],[-0.008089,-0.054529,0.998479]] 2025-10-27T06:10:35.443Z,1761545435.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:35.846Z,1761545435.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:36.216Z,1761545436.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483917,0.873601,0.051434],[-0.875079,0.483588,0.019484],[-0.007852,-0.054437,0.998486]] 2025-10-27T06:10:36.290Z,1761545436.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:36.594Z,1761545436.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484857,0.873084,0.051352],[-0.874558,0.484526,0.019549],[-0.007813,-0.054389,0.998489]] 2025-10-27T06:10:36.645Z,1761545436.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:36.000Z,1761545437.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485971,0.872469,0.051281],[-0.873939,0.485642,0.019542],[-0.007854,-0.054314,0.998493]] 2025-10-27T06:10:37.017Z,1761545437.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:37.410Z,1761545437.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487213,0.871778,0.051256],[-0.873247,0.486890,0.019453],[-0.007997,-0.054237,0.998496]] 2025-10-27T06:10:37.469Z,1761545437.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:37.805Z,1761545437.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488522,0.871040,0.051344],[-0.872514,0.488204,0.019422],[-0.008149,-0.054287,0.998492]] 2025-10-27T06:10:37.830Z,1761545437.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:38.220Z,1761545438.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490184,0.870090,0.051603],[-0.871577,0.489881,0.019223],[-0.008554,-0.054398,0.998483]] 2025-10-27T06:10:38.293Z,1761545438.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:38.614Z,1761545438.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491782,0.869175,0.051812],[-0.870672,0.491497,0.018994],[-0.008956,-0.054452,0.998476]] 2025-10-27T06:10:38.666Z,1761545438.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:39.019Z,1761545439.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493617,0.868133,0.051843],[-0.869628,0.493356,0.018609],[-0.009422,-0.054270,0.998482]] 2025-10-27T06:10:39.037Z,1761545439.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:39.428Z,1761545439.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495241,0.867195,0.052052],[-0.868700,0.494998,0.018360],[-0.009844,-0.054310,0.998476]] 2025-10-27T06:10:39.469Z,1761545439.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:39.864Z,1761545439.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:40.234Z,1761545440.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498587,0.865254,0.052404],[-0.866773,0.498385,0.017776],[-0.010736,-0.054285,0.998468]] 2025-10-27T06:10:40.317Z,1761545440.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:40.633Z,1761545440.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500150,0.864338,0.052637],[-0.865867,0.499964,0.017580],[-0.011122,-0.054369,0.998459]] 2025-10-27T06:10:40.692Z,1761545440.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:41.040Z,1761545441.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501659,0.863449,0.052871],[-0.864989,0.501491,0.017354],[-0.011530,-0.054438,0.998451]] 2025-10-27T06:10:41.060Z,1761545441.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:41.441Z,1761545441.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503364,0.862443,0.053070],[-0.863991,0.503220,0.017022],[-0.012025,-0.054420,0.998446]] 2025-10-27T06:10:41.490Z,1761545441.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:41.845Z,1761545441.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504747,0.861632,0.053107],[-0.863180,0.504614,0.016868],[-0.012265,-0.054355,0.998446]] 2025-10-27T06:10:41.893Z,1761545441.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:42.258Z,1761545442.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506215,0.860764,0.053210],[-0.862315,0.506098,0.016648],[-0.012600,-0.054311,0.998445]] 2025-10-27T06:10:42.343Z,1761545442.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:42.656Z,1761545442.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507672,0.859913,0.053081],[-0.861454,0.507572,0.016363],[-0.012872,-0.054033,0.998456]] 2025-10-27T06:10:42.693Z,1761545442.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:43.057Z,1761545443.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508804,0.859236,0.053217],[-0.860784,0.508706,0.016377],[-0.013000,-0.054141,0.998449]] 2025-10-27T06:10:43.090Z,1761545443.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:43.462Z,1761545443.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510051,0.858495,0.053248],[-0.860043,0.509962,0.016267],[-0.013190,-0.054092,0.998449]] 2025-10-27T06:10:43.517Z,1761545443.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:10:43.519Z,1761545443.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:43.664Z,1761545443.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:10:43.664Z,1761545443.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:10:43.874Z,1761545443.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511077,0.857883,0.053265],[-0.859433,0.510989,0.016276],[-0.013255,-0.054096,0.998448]] 2025-10-27T06:10:43.892Z,1761545443.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:43.916Z,1761545443.916 [DAT](INFO): DAT read: user:682> 2025-10-27T06:10:43.917Z,1761545443.917 [DAT](INFO): DAT read: Tx time:06:10:42.9688 2025-10-27T06:10:43.917Z,1761545443.917 [DAT](INFO): Ping request sent. 2025-10-27T06:10:43.917Z,1761545443.917 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:10:43.917Z,1761545443.917 [DAT](INFO): publishing transmit ping time 2025-10-27T06:10:43.918Z,1761545443.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767 2025-10-27T06:10:44.168Z,1761545444.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804 2025-10-27T06:10:44.279Z,1761545444.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512059,0.857291,0.053370],[-0.858848,0.511969,0.016381],[-0.013281,-0.054225,0.998440]] 2025-10-27T06:10:44.301Z,1761545444.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:44.421Z,1761545444.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503348 2025-10-27T06:10:44.672Z,1761545444.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754725 2025-10-27T06:10:44.676Z,1761545444.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512943,0.856759,0.053416],[-0.858320,0.512848,0.016515],[-0.013245,-0.054319,0.998436]] 2025-10-27T06:10:44.753Z,1761545444.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:44.924Z,1761545444.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006776 2025-10-27T06:10:45.078Z,1761545445.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513782,0.856277,0.053084],[-0.857823,0.513675,0.016679],[-0.012986,-0.054106,0.998451]] 2025-10-27T06:10:45.096Z,1761545445.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:45.176Z,1761545445.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258795 2025-10-27T06:10:45.428Z,1761545445.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510742 2025-10-27T06:10:45.487Z,1761545445.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514740,0.855712,0.052912],[-0.857250,0.514628,0.016780],[-0.012871,-0.053996,0.998458]] 2025-10-27T06:10:45.543Z,1761545445.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:45.680Z,1761545445.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762787 2025-10-27T06:10:45.892Z,1761545445.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515680,0.855161,0.052668],[-0.856687,0.515560,0.016886],[-0.012713,-0.053828,0.998469]] 2025-10-27T06:10:45.910Z,1761545445.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:45.945Z,1761545445.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027616 2025-10-27T06:10:46.196Z,1761545446.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278761 2025-10-27T06:10:46.290Z,1761545446.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516602,0.854603,0.052677],[-0.856132,0.516475,0.017060],[-0.012627,-0.053912,0.998466]] 2025-10-27T06:10:46.315Z,1761545446.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:46.448Z,1761545446.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530710 2025-10-27T06:10:46.697Z,1761545446.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517116,0.854297,0.052610],[-0.855828,0.516964,0.017528],[-0.012224,-0.054089,0.998461]] 2025-10-27T06:10:46.700Z,1761545446.700 [DAT](INFO): DAT read: Rx Time:06:10:45.3939 2025-10-27T06:10:46.701Z,1761545446.701 [DAT](INFO): Rx dataTimestamp_ set to:1761545446.700609 2025-10-27T06:10:46.702Z,1761545446.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784602 2025-10-27T06:10:46.785Z,1761545446.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:46.952Z,1761545446.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034674 2025-10-27T06:10:47.098Z,1761545447.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517961,0.853795,0.052445],[-0.855320,0.517795,0.017768],[-0.011986,-0.054060,0.998466]] 2025-10-27T06:10:47.116Z,1761545447.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:10:47.205Z,1761545447.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287754 2025-10-27T06:10:47.461Z,1761545447.461 [DAT](INFO): DAT read: 06:10:45.3939 LVL= 15488, 13857, 25714, 28963, AGC= 49, IDX= 435,-0.12, 0.865, 1.291,-0.427, 1.154, PHS=-0.188, 0.182,-1.626, RAW= 18.8, 19.2, CAL= 17.5, 23.1, ROT= 132.5, -23.1 2025-10-27T06:10:47.462Z,1761545447.462 [DAT](INFO): got valid direction response: 06:10:45.3939 LVL= 15488, 13857, 25714, 28963, AGC= 49, IDX= 435,-0.12, 0.865, 1.291,-0.427, 1.154, PHS=-0.188, 0.182,-1.626, RAW= 18.8, 19.2, CAL= 17.5, 23.1, ROT= 132.5, -23.1 2025-10-27T06:10:47.463Z,1761545447.463 [DAT](INFO): DAT read: Bearing 257.0, 41.5 (Local) 2025-10-27T06:10:47.464Z,1761545447.464 [DAT](INFO): Local bearing/azimuth received: Bearing 257.0, 41.5 (Local) 2025-10-27T06:10:47.465Z,1761545447.465 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (Round-trip 20.9 ms) speed 0.0 m/s 2025-10-27T06:10:47.466Z,1761545447.466 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:10:47.467Z,1761545447.467 [DAT](INFO): direction in FSK: [-0.621422,0.678164,0.392337] 2025-10-27T06:10:47.470Z,1761545447.470 [DAT](INFO): publishing direction and range info 2025-10-27T06:10:47.528Z,1761545447.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518753,0.853327,0.052233],[-0.854844,0.518574,0.017979],[-0.011745,-0.053977,0.998473]] 2025-10-27T06:10:47.633Z,1761545447.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 60.267831 s, deltaX: -0.400000 m, approachRate: -0.006637 m/s, rangeRepo size: 4 2025-10-27T06:10:47.637Z,1761545447.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.503342 m, bearing: 72.721419 deg, lat: 36.779408 deg, lon: -121.859811 deg, deltaT: 76.422988 s, deltaX: -0.299154 m, approachRate: -0.003914 m/s, posRepo size: 4 2025-10-27T06:10:47.637Z,1761545447.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:47.908Z,1761545447.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519442,0.852904,0.052298],[-0.854427,0.519250,0.018261],[-0.011581,-0.054170,0.998465]] 2025-10-27T06:10:47.926Z,1761545447.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:48.312Z,1761545448.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520203,0.852448,0.052164],[-0.853966,0.520001,0.018443],[-0.011404,-0.054140,0.998468]] 2025-10-27T06:10:48.330Z,1761545448.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:48.725Z,1761545448.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521066,0.851933,0.051964],[-0.853443,0.520853,0.018630],[-0.011194,-0.054056,0.998475]] 2025-10-27T06:10:48.822Z,1761545448.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:49.117Z,1761545449.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521953,0.851396,0.051858],[-0.852902,0.521733,0.018766],[-0.011079,-0.054024,0.998478]] 2025-10-27T06:10:49.151Z,1761545449.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:49.522Z,1761545449.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522927,0.850801,0.051817],[-0.852306,0.522703,0.018871],[-0.011029,-0.054032,0.998478]] 2025-10-27T06:10:49.578Z,1761545449.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:49.931Z,1761545449.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523773,0.850285,0.051748],[-0.851788,0.523543,0.018975],[-0.010958,-0.054017,0.998480]] 2025-10-27T06:10:49.949Z,1761545449.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:50.329Z,1761545450.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525005,0.849526,0.051734],[-0.851028,0.524778,0.018970],[-0.011033,-0.053987,0.998481]] 2025-10-27T06:10:50.353Z,1761545450.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:50.746Z,1761545450.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526675,0.848492,0.051711],[-0.849991,0.526467,0.018682],[-0.011373,-0.053794,0.998487]] 2025-10-27T06:10:50.798Z,1761545450.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:50.961Z,1761545450.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:10:51.138Z,1761545451.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528100,0.847596,0.051873],[-0.849102,0.527902,0.018568],[-0.011646,-0.053851,0.998481]] 2025-10-27T06:10:51.157Z,1761545451.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:51.547Z,1761545451.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529532,0.846695,0.051996],[-0.848206,0.529345,0.018434],[-0.011916,-0.053865,0.998477]] 2025-10-27T06:10:51.584Z,1761545451.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:51.945Z,1761545451.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531093,0.845705,0.052179],[-0.847225,0.530921,0.018267],[-0.012255,-0.053909,0.998471]] 2025-10-27T06:10:51.963Z,1761545451.963 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:10:51.982Z,1761545451.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:52.350Z,1761545452.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532739,0.844661,0.052315],[-0.846186,0.532583,0.018040],[-0.012625,-0.053878,0.998468]] 2025-10-27T06:10:52.368Z,1761545452.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:52.764Z,1761545452.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534545,0.843507,0.052508],[-0.845039,0.534411,0.017734],[-0.013102,-0.053851,0.998463]] 2025-10-27T06:10:52.800Z,1761545452.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:53.157Z,1761545453.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536197,0.842444,0.052739],[-0.843985,0.536081,0.017522],[-0.013511,-0.053906,0.998455]] 2025-10-27T06:10:53.187Z,1761545453.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:53.561Z,1761545453.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538063,0.841241,0.052931],[-0.842788,0.537971,0.017183],[-0.014021,-0.053855,0.998450]] 2025-10-27T06:10:53.609Z,1761545453.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:53.972Z,1761545453.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539941,0.840009,0.053373],[-0.841577,0.539872,0.016932],[-0.014592,-0.054060,0.998431]] 2025-10-27T06:10:53.996Z,1761545453.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:54.373Z,1761545454.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541546,0.838954,0.053702],[-0.840538,0.541490,0.016853],[-0.014940,-0.054265,0.998415]] 2025-10-27T06:10:54.392Z,1761545454.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:54.775Z,1761545454.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543312,0.837805,0.053802],[-0.839391,0.543276,0.016571],[-0.015346,-0.054164,0.998414]] 2025-10-27T06:10:54.819Z,1761545454.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:55.178Z,1761545455.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544785,0.836836,0.053989],[-0.838430,0.544759,0.016489],[-0.015612,-0.054249,0.998405]] 2025-10-27T06:10:55.196Z,1761545455.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:55.588Z,1761545455.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546212,0.835907,0.053957],[-0.837499,0.546193,0.016406],[-0.015757,-0.054150,0.998408]] 2025-10-27T06:10:55.646Z,1761545455.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:55.988Z,1761545455.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547380,0.835137,0.054052],[-0.836735,0.547361,0.016469],[-0.015832,-0.054242,0.998402]] 2025-10-27T06:10:56.008Z,1761545456.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:56.390Z,1761545456.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548214,0.834594,0.053986],[-0.836191,0.548186,0.016665],[-0.015686,-0.054279,0.998403]] 2025-10-27T06:10:56.419Z,1761545456.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:56.795Z,1761545456.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548863,0.834169,0.053957],[-0.835770,0.548818,0.016975],[-0.015452,-0.054413,0.998399]] 2025-10-27T06:10:56.839Z,1761545456.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:57.198Z,1761545457.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549231,0.833932,0.053872],[-0.835534,0.549163,0.017387],[-0.015085,-0.054561,0.998397]] 2025-10-27T06:10:57.216Z,1761545457.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:57.609Z,1761545457.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549657,0.833666,0.053647],[-0.835262,0.549565,0.017779],[-0.014661,-0.054581,0.998402]] 2025-10-27T06:10:57.646Z,1761545457.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:58.006Z,1761545458.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549921,0.833520,0.053209],[-0.835097,0.549803,0.018156],[-0.014121,-0.054419,0.998418]] 2025-10-27T06:10:58.033Z,1761545458.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:58.410Z,1761545458.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550004,0.833491,0.052808],[-0.835053,0.549855,0.018607],[-0.013528,-0.054332,0.998431]] 2025-10-27T06:10:58.445Z,1761545458.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:58.834Z,1761545458.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549999,0.833522,0.052373],[-0.835066,0.549817,0.019110],[-0.012866,-0.054245,0.998445]] 2025-10-27T06:10:58.880Z,1761545458.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:59.224Z,1761545459.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549742,0.833709,0.052096],[-0.835246,0.549523,0.019713],[-0.012193,-0.054350,0.998448]] 2025-10-27T06:10:59.253Z,1761545459.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:10:59.622Z,1761545459.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549734,0.833733,0.051787],[-0.835259,0.549485,0.020219],[-0.011599,-0.054371,0.998453]] 2025-10-27T06:10:59.668Z,1761545459.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:00.026Z,1761545460.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549769,0.833739,0.051314],[-0.835245,0.549490,0.020678],[-0.010956,-0.054228,0.998468]] 2025-10-27T06:11:00.057Z,1761545460.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:00.430Z,1761545460.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549812,0.833732,0.050964],[-0.835224,0.549502,0.021165],[-0.010359,-0.054203,0.998476]] 2025-10-27T06:11:00.448Z,1761545460.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:00.835Z,1761545460.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550019,0.833621,0.050553],[-0.835094,0.549685,0.021539],[-0.009833,-0.054063,0.998489]] 2025-10-27T06:11:00.871Z,1761545460.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:01.249Z,1761545461.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550600,0.833254,0.050279],[-0.834715,0.550253,0.021746],[-0.009547,-0.053942,0.998498]] 2025-10-27T06:11:01.266Z,1761545461.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:01.642Z,1761545461.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551310,0.832797,0.050067],[-0.834247,0.550960,0.021791],[-0.009438,-0.053782,0.998508]] 2025-10-27T06:11:01.686Z,1761545461.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:02.046Z,1761545462.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551959,0.832379,0.049868],[-0.833821,0.551597,0.021992],[-0.009202,-0.053720,0.998514]] 2025-10-27T06:11:02.064Z,1761545462.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:02.451Z,1761545462.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552758,0.831846,0.049907],[-0.833292,0.552387,0.022190],[-0.009109,-0.053853,0.998507]] 2025-10-27T06:11:02.469Z,1761545462.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:02.854Z,1761545462.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553676,0.831233,0.049954],[-0.832683,0.553300,0.022325],[-0.009083,-0.053957,0.998502]] 2025-10-27T06:11:02.898Z,1761545462.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:03.289Z,1761545463.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555079,0.830293,0.050009],[-0.831746,0.554712,0.022217],[-0.009294,-0.053927,0.998502]] 2025-10-27T06:11:03.307Z,1761545463.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:03.692Z,1761545463.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556541,0.829309,0.050086],[-0.830765,0.556184,0.022088],[-0.009539,-0.053903,0.998501]] 2025-10-27T06:11:03.766Z,1761545463.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:04.095Z,1761545464.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558175,0.828198,0.050286],[-0.829663,0.557839,0.021795],[-0.010001,-0.053886,0.998497]] 2025-10-27T06:11:04.124Z,1761545464.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:04.498Z,1761545464.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559723,0.827137,0.050548],[-0.828614,0.559406,0.021553],[-0.010450,-0.053949,0.998489]] 2025-10-27T06:11:04.528Z,1761545464.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:04.902Z,1761545464.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561205,0.826123,0.050695],[-0.827606,0.560906,0.021281],[-0.010854,-0.053898,0.998487]] 2025-10-27T06:11:04.956Z,1761545464.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:05.307Z,1761545465.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562736,0.825061,0.051014],[-0.826558,0.562461,0.020956],[-0.011404,-0.053959,0.998478]] 2025-10-27T06:11:05.325Z,1761545465.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:05.722Z,1761545465.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564347,0.823937,0.051384],[-0.825449,0.564103,0.020530],[-0.012071,-0.054001,0.998468]] 2025-10-27T06:11:05.781Z,1761545465.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:06.152Z,1761545466.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565856,0.822887,0.051614],[-0.824407,0.565640,0.020116],[-0.012642,-0.053934,0.998464]] 2025-10-27T06:11:06.170Z,1761545466.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:06.571Z,1761545466.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567415,0.821788,0.052000],[-0.823325,0.567228,0.019716],[-0.013293,-0.054001,0.998452]] 2025-10-27T06:11:06.594Z,1761545466.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:06.986Z,1761545466.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569799,0.820103,0.052532],[-0.821661,0.569655,0.019158],[-0.014214,-0.054079,0.998435]] 2025-10-27T06:11:07.084Z,1761545467.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:07.391Z,1761545467.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570837,0.819373,0.052666],[-0.820935,0.570708,0.018937],[-0.014541,-0.054046,0.998433]] 2025-10-27T06:11:07.409Z,1761545467.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:07.791Z,1761545467.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572064,0.818503,0.052867],[-0.820072,0.571958,0.018616],[-0.015000,-0.054005,0.998428]] 2025-10-27T06:11:07.837Z,1761545467.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:08.194Z,1761545468.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572973,0.817860,0.052976],[-0.819433,0.572875,0.018525],[-0.015198,-0.054024,0.998424]] 2025-10-27T06:11:08.245Z,1761545468.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:08.597Z,1761545468.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573827,0.817257,0.053055],[-0.818834,0.573732,0.018514],[-0.015308,-0.054067,0.998420]] 2025-10-27T06:11:08.614Z,1761545468.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:08.998Z,1761545468.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574546,0.816755,0.053001],[-0.818331,0.574446,0.018615],[-0.015242,-0.054068,0.998421]] 2025-10-27T06:11:09.048Z,1761545469.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:09.402Z,1761545469.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575171,0.816324,0.052846],[-0.817894,0.575063,0.018753],[-0.015082,-0.054009,0.998427]] 2025-10-27T06:11:09.461Z,1761545469.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:09.806Z,1761545469.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575623,0.816016,0.052695],[-0.817583,0.575493,0.019139],[-0.014708,-0.054099,0.998427]] 2025-10-27T06:11:09.858Z,1761545469.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:10.232Z,1761545470.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575857,0.815861,0.052538],[-0.817428,0.575692,0.019741],[-0.014140,-0.054314,0.998424]] 2025-10-27T06:11:10.251Z,1761545470.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:10.614Z,1761545470.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576034,0.815753,0.052265],[-0.817315,0.575830,0.020403],[-0.013452,-0.054470,0.998425]] 2025-10-27T06:11:10.639Z,1761545470.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:11.017Z,1761545471.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576319,0.815581,0.051809],[-0.817125,0.576079,0.020960],[-0.012752,-0.054414,0.998437]] 2025-10-27T06:11:11.062Z,1761545471.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:11.423Z,1761545471.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576410,0.815557,0.051168],[-0.817076,0.576120,0.021747],[-0.011743,-0.054344,0.998453]] 2025-10-27T06:11:11.442Z,1761545471.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:11.827Z,1761545471.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576790,0.815326,0.050558],[-0.816819,0.576460,0.022357],[-0.010917,-0.054192,0.998471]] 2025-10-27T06:11:11.864Z,1761545471.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:12.258Z,1761545472.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576621,0.815493,0.049790],[-0.816954,0.576232,0.023291],[-0.009697,-0.054106,0.998488]] 2025-10-27T06:11:12.277Z,1761545472.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:12.662Z,1761545472.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576374,0.815709,0.049105],[-0.817142,0.575923,0.024322],[-0.008441,-0.054144,0.998497]] 2025-10-27T06:11:12.681Z,1761545472.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:13.068Z,1761545473.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576182,0.815884,0.048442],[-0.817290,0.575666,0.025422],[-0.007145,-0.054239,0.998502]] 2025-10-27T06:11:13.106Z,1761545473.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:13.469Z,1761545473.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576094,0.815996,0.047612],[-0.817363,0.575512,0.026516],[-0.005765,-0.054192,0.998514]] 2025-10-27T06:11:13.498Z,1761545473.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:13.873Z,1761545473.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576002,0.816104,0.046868],[-0.817436,0.575355,0.027644],[-0.004406,-0.054235,0.998518]] 2025-10-27T06:11:13.924Z,1761545473.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:14.281Z,1761545474.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575476,0.816523,0.046007],[-0.817814,0.574755,0.028945],[-0.002808,-0.054283,0.998522]] 2025-10-27T06:11:14.299Z,1761545474.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:14.683Z,1761545474.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575153,0.816793,0.045250],[-0.818045,0.574368,0.030081],[-0.001420,-0.054318,0.998523]] 2025-10-27T06:11:14.722Z,1761545474.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:15.087Z,1761545475.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574908,0.817010,0.044446],[-0.818218,0.574063,0.031163],[-0.000054,-0.054282,0.998526]] 2025-10-27T06:11:15.134Z,1761545475.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:15.490Z,1761545475.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574760,0.817159,0.043609],[-0.818321,0.573862,0.032126],[0.001227,-0.054151,0.998532]] 2025-10-27T06:11:15.526Z,1761545475.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:15.893Z,1761545475.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574461,0.817395,0.043124],[-0.818528,0.573504,0.033248],[0.002445,-0.054398,0.998516]] 2025-10-27T06:11:15.950Z,1761545475.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:16.299Z,1761545476.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574562,0.817360,0.042447],[-0.818454,0.573561,0.034081],[0.003511,-0.054322,0.998517]] 2025-10-27T06:11:16.324Z,1761545476.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:16.747Z,1761545476.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574824,0.817202,0.041935],[-0.818266,0.573786,0.034800],[0.004377,-0.054318,0.998514]] 2025-10-27T06:11:16.766Z,1761545476.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:17.106Z,1761545477.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575016,0.817086,0.041573],[-0.818126,0.573939,0.035556],[0.005192,-0.054457,0.998503]] 2025-10-27T06:11:17.163Z,1761545477.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:17.510Z,1761545477.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575485,0.816777,0.041138],[-0.817792,0.574381,0.036099],[0.005856,-0.054416,0.998501]] 2025-10-27T06:11:17.529Z,1761545477.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:17.912Z,1761545477.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576107,0.816352,0.040859],[-0.817350,0.574987,0.036458],[0.006269,-0.054400,0.998500]] 2025-10-27T06:11:17.988Z,1761545477.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:18.314Z,1761545478.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576936,0.815779,0.040617],[-0.816763,0.575807,0.036655],[0.006515,-0.054322,0.998502]] 2025-10-27T06:11:18.344Z,1761545478.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:18.729Z,1761545478.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577895,0.815108,0.040458],[-0.816085,0.576765,0.036721],[0.006597,-0.054239,0.998506]] 2025-10-27T06:11:18.773Z,1761545478.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:19.122Z,1761545479.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579048,0.814292,0.040397],[-0.815268,0.577923,0.036649],[0.006497,-0.054156,0.998511]] 2025-10-27T06:11:19.138Z,1761545479.138 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA, 80.47, 82.51, 2025-10-27T06:11:19.154Z,1761545479.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:19.525Z,1761545479.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580480,0.813271,0.040406],[-0.814251,0.579371,0.036406],[0.006198,-0.054034,0.998520]] 2025-10-27T06:11:19.560Z,1761545479.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:19.930Z,1761545479.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581793,0.812321,0.040636],[-0.813316,0.580694,0.036215],[0.005821,-0.054120,0.998517]] 2025-10-27T06:11:19.991Z,1761545479.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:20.367Z,1761545480.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:20.742Z,1761545480.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584691,0.810193,0.041521],[-0.811244,0.583627,0.035536],[0.004558,-0.054462,0.998505]] 2025-10-27T06:11:20.790Z,1761545480.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:21.142Z,1761545481.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586277,0.809024,0.041945],[-0.810102,0.585243,0.034997],[0.003765,-0.054498,0.998507]] 2025-10-27T06:11:21.241Z,1761545481.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:21.547Z,1761545481.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587745,0.807937,0.042346],[-0.809041,0.586743,0.034434],[0.002974,-0.054498,0.998509]] 2025-10-27T06:11:21.565Z,1761545481.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:21.953Z,1761545481.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589290,0.806799,0.042583],[-0.807919,0.588330,0.033692],[0.002130,-0.054258,0.998525]] 2025-10-27T06:11:21.989Z,1761545481.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:22.105Z,1761545482.105 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:11:22.354Z,1761545482.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590690,0.805753,0.042986],[-0.806898,0.589770,0.032960],[0.001206,-0.054155,0.998532]] 2025-10-27T06:11:22.385Z,1761545482.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:22.757Z,1761545482.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592050,0.804730,0.043419],[-0.805901,0.591170,0.032271],[0.000302,-0.054097,0.998536]] 2025-10-27T06:11:22.798Z,1761545482.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:23.107Z,1761545483.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:11:23.228Z,1761545483.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593369,0.803731,0.043933],[-0.804930,0.592529,0.031577],[-0.000652,-0.054100,0.998535]] 2025-10-27T06:11:23.282Z,1761545483.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:23.654Z,1761545483.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594654,0.802755,0.044400],[-0.803980,0.593858,0.030816],[-0.001630,-0.054022,0.998538]] 2025-10-27T06:11:23.697Z,1761545483.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:24.108Z,1761545484.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595566,0.802044,0.045007],[-0.803302,0.594802,0.030274],[-0.002489,-0.054184,0.998528]] 2025-10-27T06:11:24.169Z,1761545484.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:24.511Z,1761545484.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596392,0.801403,0.045503],[-0.802686,0.595661,0.029696],[-0.003306,-0.054235,0.998523]] 2025-10-27T06:11:24.530Z,1761545484.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:24.950Z,1761545484.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596868,0.801030,0.045820],[-0.802330,0.596164,0.029240],[-0.003894,-0.054215,0.998522]] 2025-10-27T06:11:24.992Z,1761545484.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:25.371Z,1761545485.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597200,0.800754,0.046304],[-0.802079,0.596517,0.028909],[-0.004473,-0.054404,0.998509]] 2025-10-27T06:11:25.423Z,1761545485.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:25.773Z,1761545485.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597365,0.800611,0.046658],[-0.801954,0.596700,0.028615],[-0.004932,-0.054511,0.998501]] 2025-10-27T06:11:25.801Z,1761545485.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:26.187Z,1761545486.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597297,0.800653,0.046808],[-0.802003,0.596644,0.028417],[-0.005176,-0.054514,0.998500]] 2025-10-27T06:11:26.246Z,1761545486.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:26.582Z,1761545486.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597223,0.800696,0.047013],[-0.802057,0.596581,0.028221],[-0.005450,-0.054561,0.998496]] 2025-10-27T06:11:26.611Z,1761545486.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:27.008Z,1761545487.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596266,0.801408,0.047025],[-0.802769,0.595620,0.028255],[-0.005365,-0.054598,0.998494]] 2025-10-27T06:11:27.065Z,1761545487.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:27.428Z,1761545487.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:27.797Z,1761545487.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595576,0.801925,0.046970],[-0.803282,0.594922,0.028365],[-0.005197,-0.054624,0.998493]] 2025-10-27T06:11:27.822Z,1761545487.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:28.210Z,1761545488.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593462,0.803518,0.046485],[-0.804851,0.592763,0.029104],[-0.004169,-0.054685,0.998495]] 2025-10-27T06:11:28.262Z,1761545488.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:28.606Z,1761545488.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592598,0.804171,0.046225],[-0.805490,0.591879,0.029414],[-0.003706,-0.054665,0.998498]] 2025-10-27T06:11:28.630Z,1761545488.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:29.034Z,1761545489.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591541,0.804967,0.045906],[-0.806269,0.590793,0.029895],[-0.003056,-0.054696,0.998498]] 2025-10-27T06:11:29.092Z,1761545489.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:29.414Z,1761545489.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590714,0.805597,0.045510],[-0.806877,0.589941,0.030304],[-0.002435,-0.054622,0.998504]] 2025-10-27T06:11:29.432Z,1761545489.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:29.830Z,1761545489.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589820,0.806280,0.044992],[-0.807533,0.589018,0.030797],[-0.001670,-0.054497,0.998513]] 2025-10-27T06:11:29.848Z,1761545489.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:30.228Z,1761545490.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589399,0.806613,0.044541],[-0.807841,0.588578,0.031111],[-0.001121,-0.054319,0.998523]] 2025-10-27T06:11:30.264Z,1761545490.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:30.657Z,1761545490.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588911,0.806992,0.044147],[-0.808198,0.588064,0.031564],[-0.000489,-0.054268,0.998526]] 2025-10-27T06:11:30.685Z,1761545490.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:31.092Z,1761545491.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588497,0.807315,0.043738],[-0.808499,0.587625,0.032040],[0.000165,-0.054218,0.998529]] 2025-10-27T06:11:31.140Z,1761545491.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:31.515Z,1761545491.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588410,0.807397,0.043393],[-0.808562,0.587517,0.032409],[0.000673,-0.054156,0.998532]] 2025-10-27T06:11:31.553Z,1761545491.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:31.917Z,1761545491.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588524,0.807334,0.043030],[-0.808479,0.587614,0.032744],[0.001150,-0.054059,0.998537]] 2025-10-27T06:11:31.935Z,1761545491.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:32.322Z,1761545492.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588915,0.807070,0.042627],[-0.808193,0.587992,0.032995],[0.001565,-0.053882,0.998546]] 2025-10-27T06:11:32.384Z,1761545492.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:32.763Z,1761545492.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589614,0.806576,0.042309],[-0.807683,0.588686,0.033121],[0.001807,-0.053701,0.998555]] 2025-10-27T06:11:32.800Z,1761545492.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:33.171Z,1761545493.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590454,0.805970,0.042157],[-0.807069,0.589519,0.033273],[0.001964,-0.053670,0.998557]] 2025-10-27T06:11:33.225Z,1761545493.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:33.570Z,1761545493.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591301,0.805342,0.042286],[-0.806449,0.590351,0.033559],[0.002063,-0.053945,0.998542]] 2025-10-27T06:11:33.589Z,1761545493.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:33.975Z,1761545493.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592504,0.804449,0.042442],[-0.805565,0.591548,0.033702],[0.002005,-0.054158,0.998530]] 2025-10-27T06:11:33.000Z,1761545494.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:34.378Z,1761545494.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593614,0.803626,0.042514],[-0.804747,0.592652,0.033833],[0.001993,-0.054297,0.998523]] 2025-10-27T06:11:34.428Z,1761545494.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:34.791Z,1761545494.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595039,0.802583,0.042312],[-0.803695,0.594080,0.033825],[0.002011,-0.054133,0.998532]] 2025-10-27T06:11:34.818Z,1761545494.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:35.199Z,1761545495.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596300,0.801646,0.042318],[-0.802759,0.595334,0.033980],[0.002046,-0.054233,0.998526]] 2025-10-27T06:11:35.256Z,1761545495.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:35.599Z,1761545495.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597535,0.800732,0.042193],[-0.801840,0.596563,0.034133],[0.002160,-0.054227,0.998526]] 2025-10-27T06:11:35.617Z,1761545495.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:36.002Z,1761545496.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598658,0.799901,0.042033],[-0.801002,0.597675,0.034374],[0.002374,-0.054247,0.998525]] 2025-10-27T06:11:36.043Z,1761545496.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:36.406Z,1761545496.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599719,0.799108,0.041986],[-0.800206,0.598723,0.034653],[0.002553,-0.054380,0.998517]] 2025-10-27T06:11:36.458Z,1761545496.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:36.810Z,1761545496.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600812,0.798295,0.041840],[-0.799386,0.599801,0.034942],[0.002798,-0.054439,0.998513]] 2025-10-27T06:11:36.828Z,1761545496.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:37.215Z,1761545497.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601651,0.797672,0.041662],[-0.798753,0.600620,0.035348],[0.003173,-0.054545,0.998506]] 2025-10-27T06:11:37.252Z,1761545497.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:37.618Z,1761545497.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602409,0.797113,0.041403],[-0.798179,0.601358,0.035754],[0.003602,-0.054586,0.998503]] 2025-10-27T06:11:37.648Z,1761545497.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:38.021Z,1761545498.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603187,0.796547,0.040970],[-0.797589,0.602119,0.036104],[0.004090,-0.054455,0.998508]] 2025-10-27T06:11:38.039Z,1761545498.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:38.434Z,1761545498.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603795,0.796108,0.040539],[-0.797126,0.602704,0.036589],[0.004696,-0.054407,0.998508]] 2025-10-27T06:11:38.470Z,1761545498.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:38.857Z,1761545498.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604087,0.795909,0.040098],[-0.796900,0.602966,0.037176],[0.005411,-0.054412,0.998504]] 2025-10-27T06:11:38.875Z,1761545498.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:39.233Z,1761545499.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604177,0.795861,0.039698],[-0.796826,0.603019,0.037901],[0.006226,-0.054532,0.998493]] 2025-10-27T06:11:39.285Z,1761545499.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:39.638Z,1761545499.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604130,0.795926,0.039097],[-0.796853,0.602935,0.038664],[0.007201,-0.054512,0.998487]] 2025-10-27T06:11:39.668Z,1761545499.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:40.043Z,1761545500.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603868,0.796147,0.038647],[-0.797042,0.602627,0.039555],[0.008202,-0.054690,0.998470]] 2025-10-27T06:11:40.061Z,1761545500.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:40.453Z,1761545500.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603384,0.796540,0.038097],[-0.797397,0.602099,0.040439],[0.009273,-0.054779,0.998455]] 2025-10-27T06:11:40.489Z,1761545500.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:40.850Z,1761545500.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602935,0.796923,0.037191],[-0.797721,0.601613,0.041265],[0.010511,-0.054548,0.998456]] 2025-10-27T06:11:40.881Z,1761545500.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:41.254Z,1761545501.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602605,0.797206,0.036470],[-0.797955,0.601247,0.042071],[0.011611,-0.054454,0.998449]] 2025-10-27T06:11:41.305Z,1761545501.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:41.708Z,1761545501.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602025,0.797675,0.035789],[-0.798374,0.600624,0.043001],[0.012805,-0.054460,0.998434]] 2025-10-27T06:11:41.781Z,1761545501.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:42.065Z,1761545502.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601579,0.798044,0.035043],[-0.798691,0.600141,0.043859],[0.013970,-0.054373,0.998423]] 2025-10-27T06:11:42.084Z,1761545502.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:42.466Z,1761545502.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601062,0.798456,0.034530],[-0.799061,0.599581,0.044780],[0.015052,-0.054507,0.998400]] 2025-10-27T06:11:42.515Z,1761545502.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:42.870Z,1761545502.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600425,0.798958,0.033997],[-0.799518,0.598900,0.045717],[0.016165,-0.054631,0.998376]] 2025-10-27T06:11:42.887Z,1761545502.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:43.274Z,1761545503.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600177,0.799169,0.033429],[-0.799683,0.598616,0.046534],[0.017177,-0.054661,0.998357]] 2025-10-27T06:11:43.326Z,1761545503.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:43.685Z,1761545503.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599925,0.799381,0.032859],[-0.799851,0.598336,0.047246],[0.018107,-0.054626,0.998343]] 2025-10-27T06:11:43.704Z,1761545503.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:11:43.706Z,1761545503.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:43.944Z,1761545503.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:11:43.944Z,1761545503.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:11:44.087Z,1761545504.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600082,0.799281,0.032423],[-0.799719,0.598475,0.047729],[0.018744,-0.054570,0.998334]] 2025-10-27T06:11:44.118Z,1761545504.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:44.198Z,1761545504.198 [DAT](INFO): DAT read: user:683> 2025-10-27T06:11:44.201Z,1761545504.201 [DAT](INFO): DAT read: Tx time:06:11:43.2686 2025-10-27T06:11:44.202Z,1761545504.202 [DAT](INFO): Ping request sent. 2025-10-27T06:11:44.203Z,1761545504.203 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:11:44.204Z,1761545504.204 [DAT](INFO): publishing transmit ping time 2025-10-27T06:11:44.206Z,1761545504.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003260 2025-10-27T06:11:44.448Z,1761545504.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245864 2025-10-27T06:11:44.558Z,1761545504.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:44.701Z,1761545504.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498332 2025-10-27T06:11:44.894Z,1761545504.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600355,0.799123,0.031258],[-0.799483,0.598728,0.048508],[0.020049,-0.054112,0.998334]] 2025-10-27T06:11:44.923Z,1761545504.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:44.952Z,1761545504.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749926 2025-10-27T06:11:45.207Z,1761545505.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003844 2025-10-27T06:11:45.298Z,1761545505.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600784,0.798806,0.031105],[-0.799153,0.599144,0.048806],[0.020350,-0.054179,0.998324]] 2025-10-27T06:11:45.348Z,1761545505.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:45.456Z,1761545505.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253725 2025-10-27T06:11:45.703Z,1761545505.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601450,0.798307,0.031047],[-0.798649,0.599807,0.048899],[0.020414,-0.054206,0.998321]] 2025-10-27T06:11:45.709Z,1761545505.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506476 2025-10-27T06:11:45.733Z,1761545505.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:45.960Z,1761545505.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757646 2025-10-27T06:11:46.111Z,1761545506.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602049,0.797859,0.030949],[-0.798196,0.600401,0.049007],[0.020519,-0.054208,0.998319]] 2025-10-27T06:11:46.130Z,1761545506.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:46.216Z,1761545506.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013051 2025-10-27T06:11:46.464Z,1761545506.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261691 2025-10-27T06:11:46.564Z,1761545506.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:46.717Z,1761545506.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514349 2025-10-27T06:11:46.914Z,1761545506.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603616,0.796657,0.031378],[-0.797025,0.601973,0.048790],[0.019980,-0.054460,0.998316]] 2025-10-27T06:11:46.932Z,1761545506.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:46.969Z,1761545506.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766476 2025-10-27T06:11:47.221Z,1761545507.221 [DAT](INFO): DAT read: Rx Time:06:11:45.6949 2025-10-27T06:11:47.222Z,1761545507.222 [DAT](INFO): Rx dataTimestamp_ set to:1761545507.221518 2025-10-27T06:11:47.222Z,1761545507.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020181 2025-10-27T06:11:47.318Z,1761545507.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604630,0.795878,0.031629],[-0.796268,0.602999,0.048480],[0.019512,-0.054498,0.998323]] 2025-10-27T06:11:47.364Z,1761545507.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:11:47.472Z,1761545507.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270202 2025-10-27T06:11:47.732Z,1761545507.732 [DAT](INFO): DAT read: 06:11:45.6949 LVL= 14000, 17649, 23026, 22259, AGC= 48, IDX= 447,-0.34,-0.909,-2.289,-3.094,-1.801, PHS= 0.995,-0.442,-1.336, RAW= 67.7, 7.7, CAL= 66.4, 8.5, ROT= 83.6, -8.5 2025-10-27T06:11:47.734Z,1761545507.734 [DAT](INFO): got valid direction response: 06:11:45.6949 LVL= 14000, 17649, 23026, 22259, AGC= 48, IDX= 447,-0.34,-0.909,-2.289,-3.094,-1.801, PHS= 0.995,-0.442,-1.336, RAW= 67.7, 7.7, CAL= 66.4, 8.5, ROT= 83.6, -8.5 2025-10-27T06:11:47.735Z,1761545507.735 [DAT](INFO): DAT read: Bearing 184.5, 76.8 (Local) 2025-10-27T06:11:47.735Z,1761545507.735 [DAT](INFO): Local bearing/azimuth received: Bearing 184.5, 76.8 (Local) 2025-10-27T06:11:47.737Z,1761545507.737 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (Round-trip 22.1 ms) speed 0.0 m/s 2025-10-27T06:11:47.738Z,1761545507.738 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:11:47.740Z,1761545507.740 [DAT](INFO): direction in FSK: [0.110245,0.982852,0.147809] 2025-10-27T06:11:47.740Z,1761545507.740 [DAT](INFO): publishing direction and range info 2025-10-27T06:11:47.967Z,1761545507.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 60.268676 s, deltaX: 0.900000 m, approachRate: 0.014933 m/s, rangeRepo size: 4 2025-10-27T06:11:47.969Z,1761545507.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.396484 m, bearing: 30.958942 deg, lat: 36.779411 deg, lon: -121.859811 deg, deltaT: 60.268676 s, deltaX: 0.893143 m, approachRate: 0.014819 m/s, posRepo size: 4 2025-10-27T06:11:47.970Z,1761545507.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:48.252Z,1761545508.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608220,0.793095,0.032698],[-0.793582,0.606667,0.046718],[0.017215,-0.054364,0.998373]] 2025-10-27T06:11:48.334Z,1761545508.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:48.638Z,1761545508.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609402,0.792165,0.033219],[-0.792694,0.607877,0.046055],[0.016290,-0.054399,0.998386]] 2025-10-27T06:11:48.669Z,1761545508.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:49.035Z,1761545509.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610581,0.791229,0.033878],[-0.791807,0.609084,0.045371],[0.015264,-0.054528,0.998396]] 2025-10-27T06:11:49.066Z,1761545509.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:49.438Z,1761545509.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611405,0.790563,0.034552],[-0.791187,0.609929,0.044823],[0.014361,-0.054742,0.998397]] 2025-10-27T06:11:49.509Z,1761545509.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:49.842Z,1761545509.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612389,0.789779,0.035061],[-0.790443,0.610947,0.044091],[0.013401,-0.054715,0.998412]] 2025-10-27T06:11:49.859Z,1761545509.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:50.253Z,1761545510.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613385,0.788983,0.035555],[-0.789687,0.611983,0.043258],[0.012371,-0.054611,0.998431]] 2025-10-27T06:11:50.333Z,1761545510.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:50.666Z,1761545510.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614019,0.788465,0.036095],[-0.789208,0.612649,0.042564],[0.011447,-0.054621,0.998442]] 2025-10-27T06:11:50.746Z,1761545510.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:51.054Z,1761545511.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614486,0.788081,0.036541],[-0.788857,0.613151,0.041838],[0.010567,-0.054534,0.998456]] 2025-10-27T06:11:51.071Z,1761545511.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:51.460Z,1761545511.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614925,0.787720,0.036940],[-0.788526,0.613627,0.041096],[0.009704,-0.054399,0.998472]] 2025-10-27T06:11:51.497Z,1761545511.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:51.862Z,1761545511.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615288,0.787417,0.037341],[-0.788251,0.614020,0.040490],[0.008955,-0.054347,0.998482]] 2025-10-27T06:11:51.892Z,1761545511.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:52.267Z,1761545512.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615651,0.787112,0.037811],[-0.787977,0.614409,0.039932],[0.008200,-0.054378,0.998487]] 2025-10-27T06:11:52.349Z,1761545512.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:52.672Z,1761545512.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615737,0.787022,0.038278],[-0.787916,0.614514,0.039517],[0.007579,-0.054492,0.998485]] 2025-10-27T06:11:52.734Z,1761545512.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:53.081Z,1761545513.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616024,0.786782,0.038588],[-0.787697,0.614832,0.038917],[0.006894,-0.054370,0.998497]] 2025-10-27T06:11:53.099Z,1761545513.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:53.247Z,1761545513.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:11:53.554Z,1761545513.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:53.882Z,1761545513.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615532,0.787150,0.038925],[-0.788087,0.614366,0.038396],[0.006309,-0.054310,0.998504]] 2025-10-27T06:11:53.900Z,1761545513.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:54.251Z,1761545514.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:11:54.392Z,1761545514.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:54.691Z,1761545514.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614943,0.787592,0.039287],[-0.788549,0.613785,0.038188],[0.005963,-0.054463,0.998498]] 2025-10-27T06:11:54.766Z,1761545514.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:55.094Z,1761545515.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614588,0.787867,0.039336],[-0.788826,0.613429,0.038200],[0.005966,-0.054506,0.998496]] 2025-10-27T06:11:55.121Z,1761545515.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:55.559Z,1761545515.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:55.902Z,1761545515.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614260,0.788115,0.039500],[-0.789082,0.613105,0.038094],[0.005805,-0.054568,0.998493]] 2025-10-27T06:11:55.920Z,1761545515.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:56.308Z,1761545516.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614065,0.788267,0.039487],[-0.789234,0.612908,0.038124],[0.005850,-0.054575,0.998492]] 2025-10-27T06:11:56.327Z,1761545516.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:56.714Z,1761545516.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614114,0.788240,0.039272],[-0.789195,0.612962,0.038066],[0.005933,-0.054370,0.998503]] 2025-10-27T06:11:56.767Z,1761545516.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:57.114Z,1761545517.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614500,0.787941,0.039228],[-0.788895,0.613353,0.037977],[0.005863,-0.054284,0.998508]] 2025-10-27T06:11:57.153Z,1761545517.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:57.591Z,1761545517.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:57.922Z,1761545517.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615073,0.787503,0.039029],[-0.788447,0.613927,0.038005],[0.005968,-0.054149,0.998515]] 2025-10-27T06:11:57.947Z,1761545517.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:58.327Z,1761545518.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615373,0.787266,0.039089],[-0.788213,0.614217,0.038191],[0.006057,-0.054312,0.998506]] 2025-10-27T06:11:58.361Z,1761545518.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:58.737Z,1761545518.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615701,0.787003,0.039210],[-0.787956,0.614535,0.038379],[0.006108,-0.054526,0.998494]] 2025-10-27T06:11:58.789Z,1761545518.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:59.148Z,1761545519.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616411,0.786453,0.039101],[-0.787400,0.615242,0.038444],[0.006178,-0.054485,0.998495]] 2025-10-27T06:11:59.172Z,1761545519.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:59.538Z,1761545519.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617073,0.785942,0.038931],[-0.786880,0.615901,0.038546],[0.006317,-0.054420,0.998498]] 2025-10-27T06:11:59.587Z,1761545519.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:11:59.941Z,1761545519.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617725,0.785434,0.038838],[-0.786367,0.616544,0.038726],[0.006471,-0.054463,0.998495]] 2025-10-27T06:11:59.976Z,1761545519.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:00.348Z,1761545520.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618619,0.784743,0.038581],[-0.785663,0.617437,0.038786],[0.006616,-0.054305,0.998502]] 2025-10-27T06:12:00.366Z,1761545520.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:00.754Z,1761545520.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619433,0.784114,0.038302],[-0.785020,0.618249,0.038891],[0.006814,-0.054158,0.998509]] 2025-10-27T06:12:00.791Z,1761545520.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:01.157Z,1761545521.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620263,0.783467,0.038120],[-0.784362,0.619070,0.039097],[0.007032,-0.054151,0.998508]] 2025-10-27T06:12:01.209Z,1761545521.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:01.558Z,1761545521.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620812,0.783036,0.038033],[-0.783925,0.619599,0.039480],[0.007349,-0.054325,0.998496]] 2025-10-27T06:12:01.621Z,1761545521.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:01.962Z,1761545521.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621337,0.782628,0.037860],[-0.783505,0.620100,0.039943],[0.007783,-0.054482,0.998484]] 2025-10-27T06:12:01.980Z,1761545521.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:02.393Z,1761545522.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:02.769Z,1761545522.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621946,0.782168,0.037363],[-0.783010,0.620658,0.040981],[0.008865,-0.054744,0.998461]] 2025-10-27T06:12:02.815Z,1761545522.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:03.174Z,1761545523.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622345,0.781870,0.036950],[-0.782686,0.621037,0.041423],[0.009440,-0.054699,0.998458]] 2025-10-27T06:12:03.195Z,1761545523.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:03.579Z,1761545523.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622503,0.781767,0.036468],[-0.782552,0.621174,0.041902],[0.010104,-0.054622,0.998456]] 2025-10-27T06:12:03.668Z,1761545523.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:03.982Z,1761545523.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622411,0.781859,0.036073],[-0.782615,0.621046,0.042614],[0.010916,-0.054755,0.998440]] 2025-10-27T06:12:04.006Z,1761545524.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:04.385Z,1761545524.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622491,0.781816,0.035612],[-0.782541,0.621102,0.043153],[0.011619,-0.054730,0.998434]] 2025-10-27T06:12:04.405Z,1761545524.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:04.791Z,1761545524.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622232,0.782041,0.035207],[-0.782734,0.620809,0.043851],[0.012437,-0.054843,0.998417]] 2025-10-27T06:12:04.828Z,1761545524.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:05.207Z,1761545525.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621922,0.782300,0.034914],[-0.782967,0.620461,0.044611],[0.013237,-0.055081,0.998394]] 2025-10-27T06:12:05.226Z,1761545525.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:05.598Z,1761545525.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621665,0.782534,0.034240],[-0.783154,0.620177,0.045277],[0.014196,-0.054962,0.998388]] 2025-10-27T06:12:05.661Z,1761545525.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:06.001Z,1761545526.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621380,0.782777,0.033868],[-0.783367,0.619863,0.045881],[0.014921,-0.055041,0.998373]] 2025-10-27T06:12:06.020Z,1761545526.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:06.409Z,1761545526.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621162,0.782969,0.033427],[-0.783527,0.619627,0.046343],[0.015573,-0.054977,0.998366]] 2025-10-27T06:12:06.431Z,1761545526.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:06.810Z,1761545526.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620895,0.783199,0.032982],[-0.783725,0.619340,0.046838],[0.016256,-0.054930,0.998358]] 2025-10-27T06:12:06.854Z,1761545526.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:07.218Z,1761545527.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620698,0.783372,0.032593],[-0.783869,0.619126,0.047253],[0.016837,-0.054879,0.998351]] 2025-10-27T06:12:07.249Z,1761545527.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:07.630Z,1761545527.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620755,0.783340,0.032284],[-0.783815,0.619172,0.047537],[0.017248,-0.054814,0.998348]] 2025-10-27T06:12:07.681Z,1761545527.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:08.056Z,1761545528.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:08.425Z,1761545528.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621012,0.783148,0.031999],[-0.783600,0.619411,0.047968],[0.017745,-0.054863,0.998336]] 2025-10-27T06:12:08.452Z,1761545528.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:08.830Z,1761545528.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621495,0.782770,0.031881],[-0.783217,0.619899,0.047915],[0.017743,-0.054749,0.998343]] 2025-10-27T06:12:08.897Z,1761545528.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:09.237Z,1761545529.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622314,0.782122,0.031784],[-0.782570,0.620732,0.047703],[0.017580,-0.054559,0.998356]] 2025-10-27T06:12:09.255Z,1761545529.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:09.645Z,1761545529.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623171,0.781436,0.031856],[-0.781893,0.621597,0.047544],[0.017351,-0.054536,0.998361]] 2025-10-27T06:12:09.710Z,1761545529.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:10.041Z,1761545530.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624308,0.780524,0.031961],[-0.780993,0.622747,0.047280],[0.017000,-0.054478,0.998370]] 2025-10-27T06:12:10.067Z,1761545530.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:10.446Z,1761545530.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625483,0.779570,0.032262],[-0.780062,0.623932,0.047030],[0.016534,-0.054583,0.998372]] 2025-10-27T06:12:10.479Z,1761545530.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:10.850Z,1761545530.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626592,0.778667,0.032553],[-0.779181,0.625049,0.046797],[0.016092,-0.054688,0.998374]] 2025-10-27T06:12:10.907Z,1761545530.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:11.254Z,1761545531.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627790,0.777690,0.032831],[-0.778227,0.626261,0.046479],[0.015586,-0.054729,0.998380]] 2025-10-27T06:12:11.284Z,1761545531.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:11.668Z,1761545531.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628768,0.776887,0.033122],[-0.777446,0.627251,0.046198],[0.015115,-0.054798,0.998383]] 2025-10-27T06:12:11.740Z,1761545531.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:12.112Z,1761545532.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:12.467Z,1761545532.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630604,0.775380,0.033537],[-0.775974,0.629117,0.045557],[0.014225,-0.054752,0.998399]] 2025-10-27T06:12:12.485Z,1761545532.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:12.871Z,1761545532.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631138,0.774934,0.033805],[-0.775546,0.629657,0.045390],[0.013889,-0.054865,0.998397]] 2025-10-27T06:12:12.913Z,1761545532.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:13.273Z,1761545533.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631379,0.774730,0.033956],[-0.775352,0.629898,0.045366],[0.013757,-0.054971,0.998393]] 2025-10-27T06:12:13.308Z,1761545533.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:13.696Z,1761545533.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631345,0.774753,0.034082],[-0.775381,0.629861,0.045372],[0.013685,-0.055072,0.998389]] 2025-10-27T06:12:13.782Z,1761545533.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:14.082Z,1761545534.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630977,0.775054,0.034044],[-0.775679,0.629489,0.045461],[0.013804,-0.055093,0.998386]] 2025-10-27T06:12:14.108Z,1761545534.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:14.487Z,1761545534.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630373,0.775544,0.034082],[-0.776167,0.628871,0.045682],[0.013995,-0.055250,0.998375]] 2025-10-27T06:12:14.506Z,1761545534.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:14.890Z,1761545534.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629670,0.776117,0.034021],[-0.776733,0.628164,0.045779],[0.014159,-0.055251,0.998372]] 2025-10-27T06:12:14.935Z,1761545534.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:15.294Z,1761545535.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628892,0.776752,0.033926],[-0.777360,0.627380,0.045880],[0.014353,-0.055226,0.998371]] 2025-10-27T06:12:15.312Z,1761545535.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:15.734Z,1761545535.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627911,0.777554,0.033729],[-0.778148,0.626394,0.046014],[0.014651,-0.055139,0.998371]] 2025-10-27T06:12:15.788Z,1761545535.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:16.118Z,1761545536.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626687,0.778549,0.033535],[-0.779125,0.625157,0.046289],[0.015074,-0.055137,0.998365]] 2025-10-27T06:12:16.138Z,1761545536.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:16.506Z,1761545536.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625655,0.779389,0.033311],[-0.779948,0.624118,0.046464],[0.015423,-0.055051,0.998364]] 2025-10-27T06:12:16.524Z,1761545536.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:16.909Z,1761545536.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624696,0.780163,0.033168],[-0.780711,0.623154,0.046587],[0.015677,-0.054997,0.998363]] 2025-10-27T06:12:16.962Z,1761545536.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:17.316Z,1761545537.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623921,0.780780,0.033254],[-0.781329,0.622370,0.046698],[0.015765,-0.055118,0.998355]] 2025-10-27T06:12:17.335Z,1761545537.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:17.757Z,1761545537.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623417,0.781183,0.033229],[-0.781730,0.621868,0.046667],[0.015791,-0.055069,0.998358]] 2025-10-27T06:12:17.816Z,1761545537.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:18.128Z,1761545538.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623152,0.781390,0.033334],[-0.781945,0.621612,0.046478],[0.015597,-0.055028,0.998363]] 2025-10-27T06:12:18.160Z,1761545538.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:18.527Z,1761545538.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623192,0.781358,0.033349],[-0.781918,0.621667,0.046187],[0.015357,-0.054860,0.998376]] 2025-10-27T06:12:18.546Z,1761545538.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:18.930Z,1761545538.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623505,0.781102,0.033495],[-0.781676,0.621999,0.045824],[0.014960,-0.054754,0.998388]] 2025-10-27T06:12:18.975Z,1761545538.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:19.372Z,1761545539.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:19.787Z,1761545539.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625281,0.779660,0.033970],[-0.780281,0.623834,0.044640],[0.013612,-0.054418,0.998425]] 2025-10-27T06:12:19.876Z,1761545539.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:20.145Z,1761545540.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626473,0.778682,0.034421],[-0.779338,0.625056,0.044011],[0.012755,-0.054397,0.998438]] 2025-10-27T06:12:20.163Z,1761545540.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:20.546Z,1761545540.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627955,0.777460,0.035057],[-0.778162,0.626571,0.043275],[0.011679,-0.054455,0.998448]] 2025-10-27T06:12:20.578Z,1761545540.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:21.006Z,1761545541.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:21.354Z,1761545541.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630952,0.774977,0.036183],[-0.775760,0.629631,0.041956],[0.009733,-0.054542,0.998464]] 2025-10-27T06:12:21.373Z,1761545541.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:21.815Z,1761545541.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632639,0.773574,0.036755],[-0.774398,0.631353,0.041247],[0.008702,-0.054558,0.998473]] 2025-10-27T06:12:21.880Z,1761545541.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:22.196Z,1761545542.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:22.566Z,1761545542.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635236,0.771395,0.037743],[-0.772286,0.634004,0.040166],[0.007055,-0.054663,0.998480]] 2025-10-27T06:12:22.606Z,1761545542.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:22.969Z,1761545542.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636336,0.770465,0.038220],[-0.771386,0.635122,0.039798],[0.006388,-0.054807,0.998477]] 2025-10-27T06:12:23.028Z,1761545543.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:23.374Z,1761545543.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636882,0.770004,0.038402],[-0.770937,0.635677,0.039623],[0.006098,-0.054841,0.998476]] 2025-10-27T06:12:23.402Z,1761545543.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:23.813Z,1761545543.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637373,0.769594,0.038467],[-0.770533,0.636183,0.039367],[0.005824,-0.054731,0.998484]] 2025-10-27T06:12:23.907Z,1761545543.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:24.182Z,1761545544.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637380,0.769584,0.038554],[-0.770527,0.636186,0.039430],[0.005817,-0.054839,0.998478]] 2025-10-27T06:12:24.233Z,1761545544.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:24.371Z,1761545544.371 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:12:24.596Z,1761545544.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637042,0.769874,0.038371],[-0.770805,0.635839,0.039600],[0.006089,-0.054803,0.998479]] 2025-10-27T06:12:24.620Z,1761545544.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:24.991Z,1761545544.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636229,0.770560,0.038085],[-0.771472,0.635006,0.039985],[0.006626,-0.054821,0.998474]] 2025-10-27T06:12:25.034Z,1761545545.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:25.375Z,1761545545.375 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:12:25.394Z,1761545545.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635286,0.771352,0.037785],[-0.772243,0.634038,0.040442],[0.007238,-0.054871,0.998467]] 2025-10-27T06:12:25.433Z,1761545545.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:25.809Z,1761545545.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633994,0.772435,0.037368],[-0.773296,0.632713,0.041077],[0.008086,-0.054940,0.998457]] 2025-10-27T06:12:25.892Z,1761545545.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:26.269Z,1761545546.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:26.613Z,1761545546.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631340,0.774666,0.036079],[-0.775441,0.630001,0.042301],[0.010039,-0.054683,0.998453]] 2025-10-27T06:12:26.631Z,1761545546.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:27.010Z,1761545547.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629748,0.775985,0.035559],[-0.776720,0.628367,0.043145],[0.011136,-0.054790,0.998436]] 2025-10-27T06:12:27.063Z,1761545547.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:27.415Z,1761545547.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628170,0.777292,0.034942],[-0.777980,0.626752,0.043914],[0.012234,-0.054770,0.998424]] 2025-10-27T06:12:27.433Z,1761545547.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:27.824Z,1761545547.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626727,0.778480,0.034370],[-0.779126,0.625275,0.044659],[0.013276,-0.054768,0.998411]] 2025-10-27T06:12:27.916Z,1761545547.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:28.281Z,1761545548.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:28.626Z,1761545548.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624503,0.780317,0.033187],[-0.780877,0.623004,0.045801],[0.015064,-0.054518,0.998399]] 2025-10-27T06:12:28.644Z,1761545548.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:29.129Z,1761545549.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:29.434Z,1761545549.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623074,0.781491,0.032423],[-0.781992,0.621534,0.046742],[0.016376,-0.054478,0.998381]] 2025-10-27T06:12:29.469Z,1761545549.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:29.839Z,1761545549.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622745,0.781773,0.031937],[-0.782241,0.621194,0.047097],[0.016980,-0.054312,0.998380]] 2025-10-27T06:12:29.930Z,1761545549.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:30.242Z,1761545550.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623028,0.781561,0.031615],[-0.782009,0.621475,0.047229],[0.017265,-0.054148,0.998384]] 2025-10-27T06:12:30.312Z,1761545550.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:30.648Z,1761545550.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623367,0.781291,0.031603],[-0.781735,0.621801,0.047473],[0.017439,-0.054299,0.998372]] 2025-10-27T06:12:30.672Z,1761545550.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:31.050Z,1761545551.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624114,0.780700,0.031448],[-0.781138,0.622554,0.047433],[0.017453,-0.054169,0.998379]] 2025-10-27T06:12:31.129Z,1761545551.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:31.454Z,1761545551.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625037,0.779961,0.031464],[-0.780404,0.623481,0.047339],[0.017305,-0.054143,0.998383]] 2025-10-27T06:12:31.497Z,1761545551.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:31.966Z,1761545551.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:32.266Z,1761545552.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628977,0.776770,0.031881],[-0.777257,0.627465,0.046456],[0.016081,-0.054000,0.998411]] 2025-10-27T06:12:32.314Z,1761545552.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:32.670Z,1761545552.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630626,0.775426,0.032028],[-0.775932,0.629139,0.045967],[0.015494,-0.053839,0.998429]] 2025-10-27T06:12:32.689Z,1761545552.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:33.085Z,1761545553.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632067,0.774231,0.032521],[-0.774773,0.630595,0.045583],[0.014784,-0.054008,0.998431]] 2025-10-27T06:12:33.134Z,1761545553.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:33.479Z,1761545553.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633181,0.773297,0.033066],[-0.773873,0.631713,0.045376],[0.014201,-0.054320,0.998423]] 2025-10-27T06:12:33.497Z,1761545553.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:33.918Z,1761545553.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634313,0.772355,0.033377],[-0.772955,0.632860,0.045043],[0.013666,-0.054370,0.998427]] 2025-10-27T06:12:34.019Z,1761545554.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:34.282Z,1761545554.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635404,0.771449,0.033596],[-0.772066,0.633961,0.044808],[0.013269,-0.054410,0.998430]] 2025-10-27T06:12:34.354Z,1761545554.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:34.687Z,1761545554.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636312,0.770686,0.033907],[-0.771325,0.634877,0.044601],[0.012847,-0.054533,0.998429]] 2025-10-27T06:12:34.708Z,1761545554.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:35.170Z,1761545555.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:35.494Z,1761545555.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637297,0.769868,0.034005],[-0.770516,0.635874,0.044373],[0.012538,-0.054480,0.998436]] 2025-10-27T06:12:35.525Z,1761545555.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:35.902Z,1761545555.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637319,0.769845,0.034090],[-0.770498,0.635892,0.044441],[0.012536,-0.054589,0.998430]] 2025-10-27T06:12:35.920Z,1761545555.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:36.303Z,1761545556.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637064,0.770065,0.033907],[-0.770705,0.635631,0.044562],[0.012763,-0.054521,0.998431]] 2025-10-27T06:12:36.344Z,1761545556.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:36.718Z,1761545556.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636409,0.770608,0.033879],[-0.771241,0.634959,0.044875],[0.013070,-0.054688,0.998418]] 2025-10-27T06:12:36.879Z,1761545556.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:37.112Z,1761545557.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635467,0.771393,0.033663],[-0.772009,0.634001,0.045220],[0.013540,-0.054724,0.998410]] 2025-10-27T06:12:37.158Z,1761545557.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:37.514Z,1761545557.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634419,0.772267,0.033414],[-0.772861,0.632935,0.045590],[0.014059,-0.054748,0.998401]] 2025-10-27T06:12:37.545Z,1761545557.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:37.921Z,1761545557.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633160,0.773314,0.033074],[-0.773881,0.631657,0.046012],[0.014690,-0.054729,0.998393]] 2025-10-27T06:12:37.940Z,1761545557.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:38.324Z,1761545558.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631629,0.774578,0.032762],[-0.775117,0.630098,0.046581],[0.015437,-0.054817,0.998377]] 2025-10-27T06:12:38.377Z,1761545558.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:38.732Z,1761545558.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630092,0.775852,0.032212],[-0.776351,0.628546,0.047000],[0.016218,-0.054622,0.998375]] 2025-10-27T06:12:38.769Z,1761545558.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:39.130Z,1761545559.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628550,0.777118,0.031829],[-0.777584,0.626981,0.047513],[0.016967,-0.054614,0.998363]] 2025-10-27T06:12:39.188Z,1761545559.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:39.598Z,1761545559.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627322,0.778129,0.031359],[-0.778562,0.625745,0.047799],[0.017571,-0.054400,0.998365]] 2025-10-27T06:12:39.618Z,1761545559.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:39.993Z,1761545559.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626095,0.779130,0.031021],[-0.779537,0.624507,0.048103],[0.018106,-0.054299,0.998361]] 2025-10-27T06:12:40.082Z,1761545560.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:40.398Z,1761545560.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624901,0.780100,0.030709],[-0.780484,0.623307,0.048299],[0.018537,-0.054150,0.998361]] 2025-10-27T06:12:40.451Z,1761545560.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:40.802Z,1761545560.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624142,0.780714,0.030533],[-0.781088,0.622554,0.048259],[0.018667,-0.053970,0.998368]] 2025-10-27T06:12:40.820Z,1761545560.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:41.270Z,1761545561.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:41.610Z,1761545561.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623503,0.781209,0.030929],[-0.781613,0.621936,0.047719],[0.018043,-0.053927,0.998382]] 2025-10-27T06:12:41.637Z,1761545561.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:42.014Z,1761545562.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623660,0.781070,0.031285],[-0.781501,0.622111,0.047257],[0.017449,-0.053922,0.998393]] 2025-10-27T06:12:42.037Z,1761545562.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:42.418Z,1761545562.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624113,0.780686,0.031809],[-0.781158,0.622590,0.046625],[0.016595,-0.053946,0.998406]] 2025-10-27T06:12:42.489Z,1761545562.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:42.822Z,1761545562.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625036,0.779915,0.032602],[-0.780445,0.623548,0.045758],[0.015359,-0.054044,0.998420]] 2025-10-27T06:12:42.882Z,1761545562.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:42.892Z,1761545562.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 16.50 m and bearing: 14.001502 deg. Not drifting fast enough. 2025-10-27T06:12:43.298Z,1761545563.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:43.300Z,1761545563.300 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T06:12:43.300Z,1761545563.300 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T06:12:43.300Z,1761545563.300 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T06:12:43.300Z,1761545563.300 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T06:12:43.630Z,1761545563.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628159,0.777334,0.034171],[-0.777991,0.626795,0.043108],[0.012091,-0.053663,0.998486]] 2025-10-27T06:12:43.661Z,1761545563.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:44.034Z,1761545564.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629751,0.776005,0.035076],[-0.776729,0.628454,0.041690],[0.010308,-0.053499,0.998515]] 2025-10-27T06:12:44.140Z,1761545564.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:12:44.142Z,1761545564.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:44.216Z,1761545564.216 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:12:44.216Z,1761545564.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:12:44.470Z,1761545564.470 [DAT](INFO): DAT read: user:684> 2025-10-27T06:12:44.471Z,1761545564.471 [DAT](INFO): DAT read: Tx time:06:12:43.5185 2025-10-27T06:12:44.472Z,1761545564.472 [DAT](INFO): Ping request sent. 2025-10-27T06:12:44.472Z,1761545564.472 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:12:44.472Z,1761545564.472 [DAT](INFO): publishing transmit ping time 2025-10-27T06:12:44.472Z,1761545564.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T06:12:44.579Z,1761545564.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631333,0.774668,0.036162],[-0.775466,0.630104,0.040270],[0.008410,-0.053466,0.998534]] 2025-10-27T06:12:44.640Z,1761545564.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:44.725Z,1761545564.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253021 2025-10-27T06:12:44.941Z,1761545564.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632876,0.773349,0.037397],[-0.774226,0.631718,0.038806],[0.006386,-0.053513,0.998547]] 2025-10-27T06:12:44.960Z,1761545564.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:44.979Z,1761545564.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507493 2025-10-27T06:12:45.233Z,1761545565.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760831 2025-10-27T06:12:45.402Z,1761545565.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634510,0.771943,0.038753],[-0.772903,0.633425,0.037336],[0.004274,-0.053642,0.998551]] 2025-10-27T06:12:45.439Z,1761545565.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:45.484Z,1761545565.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012342 2025-10-27T06:12:45.737Z,1761545565.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264632 2025-10-27T06:12:45.831Z,1761545565.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636074,0.770579,0.040211],[-0.771625,0.635066,0.035868],[0.002103,-0.053843,0.998547]] 2025-10-27T06:12:45.850Z,1761545565.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:45.989Z,1761545565.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516958 2025-10-27T06:12:46.235Z,1761545566.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637514,0.769312,0.041653],[-0.770439,0.636583,0.034436],[-0.000023,-0.054044,0.998539]] 2025-10-27T06:12:46.240Z,1761545566.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768271 2025-10-27T06:12:46.298Z,1761545566.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:46.493Z,1761545566.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021551 2025-10-27T06:12:46.638Z,1761545566.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638993,0.768017,0.042863],[-0.769210,0.638150,0.032882],[-0.002099,-0.053982,0.998540]] 2025-10-27T06:12:46.665Z,1761545566.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:46.744Z,1761545566.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272250 2025-10-27T06:12:46.996Z,1761545566.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524286 2025-10-27T06:12:47.045Z,1761545567.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640070,0.767050,0.044090],[-0.768306,0.639307,0.031496],[-0.004028,-0.054034,0.998531]] 2025-10-27T06:12:47.096Z,1761545567.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:47.248Z,1761545567.248 [DAT](INFO): DAT read: Rx Time:06:12:45.9488 2025-10-27T06:12:47.249Z,1761545567.249 [DAT](INFO): Rx dataTimestamp_ set to:1761545567.248897 2025-10-27T06:12:47.250Z,1761545567.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778358 2025-10-27T06:12:47.446Z,1761545567.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641011,0.766210,0.045017],[-0.767510,0.640327,0.030146],[-0.005728,-0.053875,0.998531]] 2025-10-27T06:12:47.500Z,1761545567.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028257 2025-10-27T06:12:47.510Z,1761545567.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:47.753Z,1761545567.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280645 2025-10-27T06:12:47.853Z,1761545567.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641749,0.765440,0.047531],[-0.766877,0.641098,0.029881],[-0.007600,-0.055626,0.998423]] 2025-10-27T06:12:47.872Z,1761545567.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m. 2025-10-27T06:12:48.009Z,1761545568.009 [DAT](INFO): DAT read: 06:12:45.9488 LVL= 17568, 25057, 26018, 31987, AGC= 51, IDX= 489,-0.41,-1.279,-3.132,-2.880,-1.856, PHS= 0.679,-1.231,-1.068, RAW= 94.4, 17.3, CAL= 94.8, 21.4, ROT= 55.2, -21.4 2025-10-27T06:12:48.010Z,1761545568.010 [DAT](INFO): got valid direction response: 06:12:45.9488 LVL= 17568, 25057, 26018, 31987, AGC= 51, IDX= 489,-0.41,-1.279,-3.132,-2.880,-1.856, PHS= 0.679,-1.231,-1.068, RAW= 94.4, 17.3, CAL= 94.8, 21.4, ROT= 55.2, -21.4 2025-10-27T06:12:48.011Z,1761545568.011 [DAT](INFO): DAT read: Bearing 158.5, 47.6 (Local) 2025-10-27T06:12:48.012Z,1761545568.012 [DAT](INFO): Local bearing/azimuth received: Bearing 158.5, 47.6 (Local) 2025-10-27T06:12:48.013Z,1761545568.013 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (Round-trip 26.1 ms) speed 0.0 m/s 2025-10-27T06:12:48.013Z,1761545568.013 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:12:48.014Z,1761545568.014 [DAT](INFO): direction in FSK: [0.531366,0.764536,0.364877] 2025-10-27T06:12:48.015Z,1761545568.015 [DAT](INFO): publishing direction and range info 2025-10-27T06:12:48.254Z,1761545568.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643264,0.763505,0.057191],[-0.765579,0.642389,0.035006],[-0.010012,-0.066302,0.997749]] 2025-10-27T06:12:48.315Z,1761545568.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 60.279336 s, deltaX: 3.000000 m, approachRate: 0.049768 m/s, rangeRepo size: 4 2025-10-27T06:12:48.317Z,1761545568.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.380520 m, bearing: 5.857969 deg, lat: 36.779411 deg, lon: -121.859812 deg, deltaT: 60.279336 s, deltaX: 2.984035 m, approachRate: 0.049503 m/s, posRepo size: 4 2025-10-27T06:12:48.317Z,1761545568.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:48.823Z,1761545568.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:49.207Z,1761545569.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643143,0.760954,0.085530],[-0.765627,0.640991,0.054281],[-0.013519,-0.100394,0.994856]] 2025-10-27T06:12:49.259Z,1761545569.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:49.651Z,1761545569.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:50.031Z,1761545570.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640181,0.764779,0.072674],[-0.768130,0.638709,0.045023],[-0.011985,-0.084646,0.996339]] 2025-10-27T06:12:50.064Z,1761545570.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:50.422Z,1761545570.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637897,0.767046,0.068755],[-0.770052,0.636490,0.043582],[-0.010332,-0.080746,0.996681]] 2025-10-27T06:12:50.576Z,1761545570.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:50.874Z,1761545570.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:51.284Z,1761545571.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631506,0.771791,0.074430],[-0.775348,0.629317,0.052871],[-0.006034,-0.091098,0.995824]] 2025-10-27T06:12:51.320Z,1761545571.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:51.775Z,1761545571.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627545,0.774601,0.078620],[-0.778572,0.624798,0.058763],[-0.003604,-0.098088,0.995171]] 2025-10-27T06:12:51.811Z,1761545571.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:52.389Z,1761545572.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618785,0.781543,0.079350],[-0.785557,0.615295,0.065675],[0.002504,-0.102973,0.994681]] 2025-10-27T06:12:52.451Z,1761545572.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:52.789Z,1761545572.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614477,0.784957,0.079122],[-0.788915,0.610648,0.068717],[0.005624,-0.104646,0.994494]] 2025-10-27T06:12:52.808Z,1761545572.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:53.202Z,1761545573.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609752,0.788487,0.080560],[-0.792542,0.605412,0.073164],[0.008917,-0.108459,0.994061]] 2025-10-27T06:12:53.278Z,1761545573.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:53.597Z,1761545573.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604844,0.792001,0.083059],[-0.796250,0.599871,0.078362],[0.012238,-0.113533,0.993459]] 2025-10-27T06:12:53.649Z,1761545573.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:53.999Z,1761545573.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599819,0.795512,0.085891],[-0.799985,0.594160,0.083649],[0.015511,-0.118886,0.992787]] 2025-10-27T06:12:54.017Z,1761545574.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:54.416Z,1761545574.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594588,0.799203,0.087980],[-0.803809,0.588286,0.088378],[0.018874,-0.123267,0.992194]] 2025-10-27T06:12:54.451Z,1761545574.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:54.806Z,1761545574.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588907,0.803161,0.090118],[-0.807894,0.581942,0.093003],[0.022253,-0.127576,0.991579]] 2025-10-27T06:12:54.840Z,1761545574.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:55.214Z,1761545575.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582899,0.807198,0.093062],[-0.812143,0.575177,0.097951],[0.025539,-0.132675,0.990830]] 2025-10-27T06:12:55.294Z,1761545575.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:55.503Z,1761545575.503 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:12:55.614Z,1761545575.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576493,0.811446,0.095969],[-0.816594,0.568006,0.102686],[0.028813,-0.137565,0.990074]] 2025-10-27T06:12:55.650Z,1761545575.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:56.014Z,1761545576.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569535,0.815985,0.098987],[-0.821340,0.560256,0.107301],[0.032098,-0.142414,0.989287]] 2025-10-27T06:12:56.052Z,1761545576.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:56.471Z,1761545576.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:56.507Z,1761545576.507 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:12:56.822Z,1761545576.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555514,0.824793,0.105453],[-0.830650,0.544703,0.115411],[0.037750,-0.151707,0.987704]] 2025-10-27T06:12:56.840Z,1761545576.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:57.227Z,1761545577.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547859,0.829409,0.109234],[-0.835603,0.536262,0.119125],[0.040225,-0.156540,0.986852]] 2025-10-27T06:12:57.250Z,1761545577.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:57.630Z,1761545577.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539661,0.834315,0.112624],[-0.840814,0.527394,0.122015],[0.042402,-0.160542,0.986118]] 2025-10-27T06:12:57.672Z,1761545577.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:58.082Z,1761545578.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:58.533Z,1761545578.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522228,0.844015,0.122133],[-0.851578,0.508418,0.127775],[0.045749,-0.170733,0.984255]] 2025-10-27T06:12:58.599Z,1761545578.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:59.059Z,1761545579.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512906,0.848944,0.127367],[-0.857159,0.498352,0.130087],[0.046963,-0.175897,0.983288]] 2025-10-27T06:12:59.077Z,1761545579.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:59.529Z,1761545579.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492636,0.859586,0.135724],[-0.868857,0.477064,0.132275],[0.048952,-0.183088,0.981877]] 2025-10-27T06:12:59.582Z,1761545579.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:12:59.923Z,1761545579.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481768,0.864913,0.140803],[-0.874887,0.465624,0.133292],[0.049725,-0.187402,0.981024]] 2025-10-27T06:12:59.942Z,1761545579.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:00.369Z,1761545580.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470376,0.870246,0.146352],[-0.881017,0.453602,0.134365],[0.050545,-0.192141,0.980065]] 2025-10-27T06:13:00.424Z,1761545580.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:00.737Z,1761545580.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458164,0.875863,0.151492],[-0.887378,0.440841,0.134982],[0.051441,-0.196275,0.979199]] 2025-10-27T06:13:00.755Z,1761545580.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:01.141Z,1761545581.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445396,0.881520,0.156671],[-0.893789,0.427493,0.135610],[0.052567,-0.200431,0.978297]] 2025-10-27T06:13:01.159Z,1761545581.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:01.550Z,1761545581.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432292,0.886948,0.162626],[-0.900140,0.413734,0.136284],[0.053593,-0.205300,0.977231]] 2025-10-27T06:13:01.588Z,1761545581.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:01.941Z,1761545581.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418536,0.892365,0.168853],[-0.906544,0.399265,0.136988],[0.054826,-0.210407,0.976075]] 2025-10-27T06:13:01.959Z,1761545581.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:02.361Z,1761545582.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404029,0.898011,0.174173],[-0.913005,0.384141,0.137324],[0.056412,-0.214504,0.975093]] 2025-10-27T06:13:02.429Z,1761545582.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:02.753Z,1761545582.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389101,0.903818,0.178084],[-0.919367,0.368829,0.136855],[0.058009,-0.216975,0.974452]] 2025-10-27T06:13:02.790Z,1761545582.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:03.153Z,1761545583.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373507,0.909438,0.182797],[-0.925701,0.352729,0.136600],[0.059751,-0.220237,0.973615]] 2025-10-27T06:13:03.183Z,1761545583.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:03.559Z,1761545583.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357257,0.914795,0.188461],[-0.931962,0.335801,0.136688],[0.061756,-0.224471,0.972522]] 2025-10-27T06:13:03.603Z,1761545583.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:03.962Z,1761545583.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340661,0.919832,0.194574],[-0.938022,0.318487,0.136676],[0.063749,-0.229075,0.971319]] 2025-10-27T06:13:03.980Z,1761545583.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:04.376Z,1761545584.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323509,0.924733,0.200524],[-0.943939,0.300674,0.136288],[0.065738,-0.233373,0.970163]] 2025-10-27T06:13:04.456Z,1761545584.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:04.770Z,1761545584.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306297,0.929561,0.205178],[-0.949536,0.283048,0.135152],[0.067557,-0.236221,0.969348]] 2025-10-27T06:13:04.815Z,1761545584.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:05.173Z,1761545585.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288620,0.934099,0.210137],[-0.954917,0.264905,0.134012],[0.069514,-0.239342,0.968444]] 2025-10-27T06:13:05.217Z,1761545585.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:05.578Z,1761545585.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271045,0.938398,0.214344],[-0.959910,0.246975,0.132577],[0.071473,-0.241685,0.967719]] 2025-10-27T06:13:05.614Z,1761545585.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:05.983Z,1761545585.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252918,0.943154,0.215624],[-0.964674,0.228854,0.130501],[0.073736,-0.241013,0.967717]] 2025-10-27T06:13:06.001Z,1761545586.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:06.389Z,1761545586.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234818,0.947686,0.216221],[-0.969062,0.210838,0.128319],[0.076019,-0.239664,0.967875]] 2025-10-27T06:13:06.478Z,1761545586.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:06.789Z,1761545586.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217862,0.951082,0.219044],[-0.972831,0.193604,0.126957],[0.078338,-0.240751,0.967420]] 2025-10-27T06:13:06.836Z,1761545586.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:07.196Z,1761545587.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200647,0.953795,0.223643],[-0.976325,0.175851,0.125961],[0.080813,-0.243621,0.966498]] 2025-10-27T06:13:07.214Z,1761545587.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:07.600Z,1761545587.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184060,0.956326,0.227072],[-0.979400,0.158921,0.124577],[0.083050,-0.245324,0.965877]] 2025-10-27T06:13:07.636Z,1761545587.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:08.001Z,1761545588.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.167466,0.958426,0.231031],[-0.982160,0.141857,0.123446],[0.085541,-0.247582,0.965083]] 2025-10-27T06:13:08.046Z,1761545588.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:08.406Z,1761545588.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150861,0.959741,0.236936],[-0.984621,0.124520,0.122541],[0.088105,-0.251779,0.963766]] 2025-10-27T06:13:08.490Z,1761545588.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:08.823Z,1761545588.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134779,0.960948,0.241690],[-0.986723,0.107852,0.121433],[0.090624,-0.254847,0.962725]] 2025-10-27T06:13:08.868Z,1761545588.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:09.226Z,1761545589.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118505,0.962636,0.243494],[-0.988558,0.091330,0.120050],[0.093326,-0.254934,0.962444]] 2025-10-27T06:13:09.243Z,1761545589.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:09.721Z,1761545589.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:10.041Z,1761545590.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086475,0.966017,0.243583],[-0.991417,0.059380,0.116473],[0.098051,-0.251564,0.962861]] 2025-10-27T06:13:10.068Z,1761545590.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:10.437Z,1761545590.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069939,0.967606,0.242586],[-0.992493,0.043037,0.114478],[0.100329,-0.248771,0.963352]] 2025-10-27T06:13:10.512Z,1761545590.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:10.964Z,1761545590.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052620,0.968190,0.244620],[-0.993322,0.025561,0.112505],[0.102674,-0.248907,0.963070]] 2025-10-27T06:13:11.024Z,1761545591.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:11.387Z,1761545591.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035015,0.967855,0.249059],[-0.993901,0.007649,0.110006],[0.104565,-0.251392,0.962221]] 2025-10-27T06:13:11.406Z,1761545591.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:11.846Z,1761545591.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016964,0.966999,0.254214],[-0.994231,-0.010617,0.106733],[0.105910,-0.254558,0.961240]] 2025-10-27T06:13:11.882Z,1761545591.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:12.246Z,1761545592.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001201,0.965662,0.259798],[-0.994327,-0.028785,0.102400],[0.106362,-0.258202,0.960218]] 2025-10-27T06:13:12.282Z,1761545592.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:12.650Z,1761545592.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019712,0.964129,0.264702],[-0.994124,-0.047086,0.097473],[0.106441,-0.261225,0.959391]] 2025-10-27T06:13:12.707Z,1761545592.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:13.056Z,1761545593.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038300,0.962369,0.269033],[-0.993635,-0.065220,0.091845],[0.105935,-0.263803,0.958742]] 2025-10-27T06:13:13.075Z,1761545593.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:13.460Z,1761545593.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.057035,0.960249,0.273257],[-0.992798,-0.083433,0.085971],[0.105352,-0.266386,0.958092]] 2025-10-27T06:13:13.488Z,1761545593.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:13.950Z,1761545593.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:14.272Z,1761545594.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.094719,0.956184,0.277022],[-0.990031,-0.119617,0.074368],[0.104246,-0.267216,0.957981]] 2025-10-27T06:13:14.291Z,1761545594.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:14.669Z,1761545594.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113245,0.953708,0.278597],[-0.988162,-0.137319,0.068403],[0.103493,-0.267553,0.957969]] 2025-10-27T06:13:14.758Z,1761545594.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:15.076Z,1761545595.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.132171,0.950915,0.279807],[-0.985883,-0.155385,0.062373],[0.102789,-0.267613,0.958028]] 2025-10-27T06:13:15.094Z,1761545595.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:15.481Z,1761545595.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151001,0.947906,0.280487],[-0.983275,-0.173253,0.056161],[0.101830,-0.267316,0.958213]] 2025-10-27T06:13:15.598Z,1761545595.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:15.895Z,1761545595.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170242,0.944188,0.282003],[-0.980215,-0.191589,0.049724],[0.100978,-0.267959,0.958124]] 2025-10-27T06:13:15.946Z,1761545595.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:16.336Z,1761545596.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:16.711Z,1761545596.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228122,0.931142,0.284491],[-0.968661,-0.246544,0.030208],[0.098268,-0.268684,0.958203]] 2025-10-27T06:13:16.781Z,1761545596.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:17.111Z,1761545597.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247742,0.926017,0.284808],[-0.963914,-0.265161,0.023670],[0.097439,-0.268667,0.958292]] 2025-10-27T06:13:17.139Z,1761545597.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:17.525Z,1761545597.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267475,0.920502,0.284838],[-0.958708,-0.283876,0.017126],[0.096623,-0.268496,0.958423]] 2025-10-27T06:13:17.625Z,1761545597.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:17.918Z,1761545597.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286960,0.915074,0.283361],[-0.953170,-0.302244,0.010781],[0.095509,-0.266997,0.958953]] 2025-10-27T06:13:17.962Z,1761545597.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:18.321Z,1761545598.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306477,0.909214,0.281784],[-0.947179,-0.320673,0.004516],[0.094466,-0.265516,0.959467]] 2025-10-27T06:13:18.340Z,1761545598.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:18.730Z,1761545598.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326032,0.902708,0.280751],[-0.940729,-0.339154,-0.001959],[0.093449,-0.264749,0.959779]] 2025-10-27T06:13:18.795Z,1761545598.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:19.126Z,1761545599.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345671,0.895744,0.279561],[-0.933796,-0.357706,-0.008487],[0.092399,-0.263987,0.960090]] 2025-10-27T06:13:19.158Z,1761545599.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:19.535Z,1761545599.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365261,0.888416,0.278032],[-0.926419,-0.376195,-0.014990],[0.091277,-0.263049,0.960455]] 2025-10-27T06:13:19.561Z,1761545599.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:19.934Z,1761545599.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385365,0.880635,0.275635],[-0.918324,-0.395270,-0.021047],[0.090416,-0.261233,0.961032]] 2025-10-27T06:13:19.995Z,1761545599.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:20.341Z,1761545600.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405589,0.871831,0.274606],[-0.909660,-0.414421,-0.027834],[0.089536,-0.261087,0.961154]] 2025-10-27T06:13:20.358Z,1761545600.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:20.746Z,1761545600.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.424926,0.862750,0.274044],[-0.900877,-0.432686,-0.034690],[0.088646,-0.261621,0.961091]] 2025-10-27T06:13:20.793Z,1761545600.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:21.146Z,1761545601.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443967,0.853086,0.274111],[-0.891721,-0.450654,-0.041764],[0.087901,-0.262972,0.960791]] 2025-10-27T06:13:21.180Z,1761545601.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:21.551Z,1761545601.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463184,0.842585,0.274794],[-0.881964,-0.468720,-0.049401],[0.087177,-0.265240,0.960233]] 2025-10-27T06:13:21.569Z,1761545601.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:21.954Z,1761545601.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482286,0.832066,0.273982],[-0.871695,-0.486850,-0.055898],[0.086877,-0.265787,0.960109]] 2025-10-27T06:13:22.033Z,1761545602.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:22.388Z,1761545602.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:22.884Z,1761545602.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:23.236Z,1761545603.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536856,0.799748,0.268679],[-0.839394,-0.538359,-0.074747],[0.084867,-0.265656,0.960325]] 2025-10-27T06:13:23.254Z,1761545603.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:23.774Z,1761545603.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:24.109Z,1761545604.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571468,0.776952,0.264141],[-0.816532,-0.570462,-0.088591],[0.081851,-0.266307,0.960407]] 2025-10-27T06:13:24.127Z,1761545604.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:24.530Z,1761545604.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587501,0.766486,0.259503],[-0.805292,-0.585344,-0.094224],[0.079677,-0.264333,0.961135]] 2025-10-27T06:13:24.548Z,1761545604.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:24.914Z,1761545604.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603503,0.754959,0.256555],[-0.793547,-0.600110,-0.100756],[0.077895,-0.264395,0.961264]] 2025-10-27T06:13:24.957Z,1761545604.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:25.334Z,1761545605.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618817,0.744164,0.251568],[-0.781861,-0.614422,-0.105730],[0.075888,-0.262118,0.962047]] 2025-10-27T06:13:25.374Z,1761545605.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:25.760Z,1761545605.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633648,0.733489,0.245935],[-0.770109,-0.628307,-0.110278],[0.073635,-0.259274,0.962993]] 2025-10-27T06:13:25.802Z,1761545605.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:26.127Z,1761545606.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648484,0.722940,0.238383],[-0.757894,-0.642448,-0.113393],[0.071172,-0.254202,0.964529]] 2025-10-27T06:13:26.159Z,1761545606.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:26.535Z,1761545606.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662839,0.711619,0.232901],[-0.745614,-0.655804,-0.118241],[0.068595,-0.252029,0.965286]] 2025-10-27T06:13:26.553Z,1761545606.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:26.628Z,1761545606.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:13:27.011Z,1761545607.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:27.350Z,1761545607.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692145,0.687382,0.220095],[-0.718897,-0.683692,-0.125507],[0.064206,-0.245095,0.967371]] 2025-10-27T06:13:27.375Z,1761545607.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:27.631Z,1761545607.631 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:13:27.774Z,1761545607.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706777,0.674036,0.214807],[-0.704715,-0.697425,-0.130287],[0.061994,-0.243461,0.967927]] 2025-10-27T06:13:27.830Z,1761545607.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:28.146Z,1761545608.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721061,0.659764,0.211619],[-0.690277,-0.710442,-0.137074],[0.059907,-0.244915,0.967692]] 2025-10-27T06:13:28.165Z,1761545608.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:28.551Z,1761545608.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735851,0.644439,0.207899],[-0.674671,-0.723969,-0.143834],[0.057820,-0.246104,0.967517]] 2025-10-27T06:13:28.569Z,1761545608.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:28.966Z,1761545608.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750330,0.628286,0.205577],[-0.658676,-0.736955,-0.151799],[0.056127,-0.249308,0.966796]] 2025-10-27T06:13:29.026Z,1761545609.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:29.370Z,1761545609.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764909,0.611557,0.202269],[-0.641835,-0.750154,-0.159114],[0.054426,-0.251531,0.966318]] 2025-10-27T06:13:29.410Z,1761545609.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:29.800Z,1761545609.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779015,0.594836,0.198257],[-0.624796,-0.762967,-0.165868],[0.052600,-0.253083,0.966013]] 2025-10-27T06:13:29.856Z,1761545609.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:30.166Z,1761545610.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793129,0.577409,0.193764],[-0.606910,-0.775943,-0.171967],[0.051054,-0.253989,0.965859]] 2025-10-27T06:13:30.184Z,1761545610.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:30.575Z,1761545610.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807434,0.559264,0.187813],[-0.587856,-0.789545,-0.176192],[0.049749,-0.252671,0.966273]] 2025-10-27T06:13:30.593Z,1761545610.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:30.990Z,1761545610.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821392,0.540624,0.181772],[-0.568296,-0.802853,-0.180186],[0.048523,-0.251304,0.966691]] 2025-10-27T06:13:31.052Z,1761545611.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:31.382Z,1761545611.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834665,0.522297,0.174757],[-0.548750,-0.815717,-0.182973],[0.046986,-0.248619,0.967461]] 2025-10-27T06:13:31.415Z,1761545611.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:31.830Z,1761545611.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848086,0.502719,0.167401],[-0.527878,-0.828928,-0.184996],[0.045762,-0.245260,0.968377]] 2025-10-27T06:13:31.891Z,1761545611.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:32.219Z,1761545612.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860929,0.482655,0.160766],[-0.506793,-0.841222,-0.188433],[0.044292,-0.243702,0.968838]] 2025-10-27T06:13:32.237Z,1761545612.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:32.623Z,1761545612.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873078,0.462458,0.154488],[-0.485706,-0.852661,-0.192504],[0.042701,-0.243107,0.969059]] 2025-10-27T06:13:32.642Z,1761545612.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:33.029Z,1761545613.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884680,0.441972,0.148328],[-0.464387,-0.863468,-0.196893],[0.041056,-0.243069,0.969140]] 2025-10-27T06:13:33.065Z,1761545613.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:33.430Z,1761545613.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895581,0.421430,0.142587],[-0.443168,-0.873282,-0.202437],[0.039206,-0.244489,0.968859]] 2025-10-27T06:13:33.460Z,1761545613.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:33.863Z,1761545613.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905872,0.401022,0.136298],[-0.421910,-0.882671,-0.207087],[0.037259,-0.245100,0.968782]] 2025-10-27T06:13:33.953Z,1761545613.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:34.238Z,1761545614.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915365,0.380821,0.130700],[-0.401057,-0.891049,-0.212567],[0.035510,-0.246994,0.968366]] 2025-10-27T06:13:34.256Z,1761545614.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:34.643Z,1761545614.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924114,0.361123,0.124917],[-0.380624,-0.898804,-0.217433],[0.033756,-0.248480,0.968049]] 2025-10-27T06:13:34.663Z,1761545614.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:35.046Z,1761545615.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932270,0.341953,0.118068],[-0.360356,-0.906548,-0.219805],[0.031872,-0.247464,0.968373]] 2025-10-27T06:13:35.088Z,1761545615.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:35.450Z,1761545615.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939740,0.322941,0.112236],[-0.340588,-0.912892,-0.225007],[0.029796,-0.249675,0.967871]] 2025-10-27T06:13:35.497Z,1761545615.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:35.890Z,1761545615.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946347,0.305265,0.106026],[-0.321949,-0.918933,-0.227840],[0.027879,-0.249750,0.967909]] 2025-10-27T06:13:35.938Z,1761545615.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:36.260Z,1761545616.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952234,0.288429,0.100295],[-0.304277,-0.923947,-0.231813],[0.025805,-0.251258,0.967576]] 2025-10-27T06:13:36.277Z,1761545616.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:36.662Z,1761545616.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957794,0.271751,0.093718],[-0.286493,-0.929108,-0.233838],[0.023529,-0.250818,0.967748]] 2025-10-27T06:13:36.748Z,1761545616.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:37.066Z,1761545617.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962168,0.257949,0.087719],[-0.271653,-0.932954,-0.236225],[0.020903,-0.251117,0.967731]] 2025-10-27T06:13:37.117Z,1761545617.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:37.481Z,1761545617.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966050,0.245273,0.081172],[-0.257721,-0.936895,-0.236238],[0.018107,-0.249137,0.968299]] 2025-10-27T06:13:37.525Z,1761545617.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:37.916Z,1761545617.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969267,0.234184,0.075365],[-0.245506,-0.940416,-0.235257],[0.015781,-0.246529,0.969007]] 2025-10-27T06:13:38.005Z,1761545618.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:38.315Z,1761545618.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971895,0.224764,0.070006],[-0.235043,-0.943146,-0.235012],[0.013203,-0.244862,0.969468]] 2025-10-27T06:13:38.338Z,1761545618.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:38.732Z,1761545618.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975957,0.209757,0.059239],[-0.217825,-0.948255,-0.231008],[0.007718,-0.238358,0.971147]] 2025-10-27T06:13:38.753Z,1761545618.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:39.154Z,1761545619.154 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -179, +695, 2025-10-27T06:13:39.170Z,1761545619.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:39.620Z,1761545619.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978601,0.199785,0.049255],[-0.205747,-0.953374,-0.220786],[0.002849,-0.226195,0.974078]] 2025-10-27T06:13:39.638Z,1761545619.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:40.024Z,1761545620.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979523,0.196351,0.044519],[-0.201333,-0.955929,-0.213695],[0.000598,-0.218282,0.975885]] 2025-10-27T06:13:40.082Z,1761545620.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:40.555Z,1761545620.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980307,0.193327,0.040292],[-0.197475,-0.958051,-0.207705],[-0.001553,-0.211572,0.977361]] 2025-10-27T06:13:40.573Z,1761545620.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:40.999Z,1761545620.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980908,0.191130,0.035887],[-0.194429,-0.960055,-0.201228],[-0.004007,-0.204363,0.978887]] 2025-10-27T06:13:41.046Z,1761545621.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:41.362Z,1761545621.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981406,0.189369,0.031340],[-0.191829,-0.961964,-0.194490],[-0.006682,-0.196886,0.980404]] 2025-10-27T06:13:41.380Z,1761545621.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:41.766Z,1761545621.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981777,0.188116,0.026967],[-0.189804,-0.963588,-0.188341],[-0.009445,-0.190028,0.981733]] 2025-10-27T06:13:41.785Z,1761545621.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:42.171Z,1761545622.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981962,0.187708,0.022739],[-0.188674,-0.964855,-0.182911],[-0.012394,-0.183902,0.982866]] 2025-10-27T06:13:42.208Z,1761545622.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:42.605Z,1761545622.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982122,0.187355,0.018310],[-0.187620,-0.966262,-0.176455],[-0.015368,-0.176735,0.984138]] 2025-10-27T06:13:42.623Z,1761545622.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:43.024Z,1761545623.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982264,0.186976,0.014076],[-0.186597,-0.967369,-0.171404],[-0.018432,-0.170991,0.985100]] 2025-10-27T06:13:43.090Z,1761545623.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:43.567Z,1761545623.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982315,0.187162,0.005308],[-0.185581,-0.969475,-0.160246],[-0.024846,-0.158397,0.987063]] 2025-10-27T06:13:43.607Z,1761545623.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:44.075Z,1761545624.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:44.435Z,1761545624.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982109,0.188295,-0.002636],[-0.185748,-0.970937,-0.150930],[-0.030979,-0.147740,0.988541]] 2025-10-27T06:13:44.461Z,1761545624.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:13:44.464Z,1761545624.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:44.494Z,1761545624.494 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:13:44.494Z,1761545624.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:13:44.752Z,1761545624.752 [DAT](INFO): DAT read: user:685> 2025-10-27T06:13:44.753Z,1761545624.753 [DAT](INFO): DAT read: Tx time:06:13:43.7684 2025-10-27T06:13:44.753Z,1761545624.753 [DAT](INFO): Ping request sent. 2025-10-27T06:13:44.753Z,1761545624.753 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:13:44.754Z,1761545624.754 [DAT](INFO): publishing transmit ping time 2025-10-27T06:13:44.754Z,1761545624.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001104 2025-10-27T06:13:44.838Z,1761545624.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981886,0.189378,-0.006013],[-0.186447,-0.971367,-0.147252],[-0.033727,-0.143464,0.989081]] 2025-10-27T06:13:44.863Z,1761545624.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:45.007Z,1761545625.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253240 2025-10-27T06:13:45.241Z,1761545625.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981635,0.190553,-0.009078],[-0.187321,-0.971808,-0.143176],[-0.036105,-0.138846,0.989656]] 2025-10-27T06:13:45.256Z,1761545625.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502767 2025-10-27T06:13:45.295Z,1761545625.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:45.513Z,1761545625.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759557 2025-10-27T06:13:45.648Z,1761545625.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981332,0.191982,-0.011428],[-0.188460,-0.971774,-0.141911],[-0.038349,-0.137108,0.989813]] 2025-10-27T06:13:45.667Z,1761545625.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:45.760Z,1761545625.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006602 2025-10-27T06:13:46.015Z,1761545626.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261074 2025-10-27T06:13:46.119Z,1761545626.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980997,0.193542,-0.013663],[-0.189782,-0.971813,-0.139866],[-0.040348,-0.134615,0.990076]] 2025-10-27T06:13:46.172Z,1761545626.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:46.265Z,1761545626.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511269 2025-10-27T06:13:46.519Z,1761545626.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765702 2025-10-27T06:13:46.530Z,1761545626.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980528,0.195817,-0.014879],[-0.191889,-0.971457,-0.139466],[-0.041764,-0.133895,0.990115]] 2025-10-27T06:13:46.548Z,1761545626.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:46.774Z,1761545626.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020996 2025-10-27T06:13:46.968Z,1761545626.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980213,0.197338,-0.015484],[-0.193320,-0.971190,-0.139343],[-0.042536,-0.133592,0.990123]] 2025-10-27T06:13:47.027Z,1761545627.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273131 2025-10-27T06:13:47.060Z,1761545627.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:47.276Z,1761545627.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522596 2025-10-27T06:13:47.371Z,1761545627.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979903,0.198878,-0.015416],[-0.194821,-0.970776,-0.140140],[-0.042837,-0.134320,0.990012]] 2025-10-27T06:13:47.422Z,1761545627.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:47.528Z,1761545627.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774639 2025-10-27T06:13:47.774Z,1761545627.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979418,0.201270,-0.015189],[-0.197163,-0.970109,-0.141477],[-0.043210,-0.135571,0.989825]] 2025-10-27T06:13:47.780Z,1761545627.780 [DAT](INFO): DAT read: Rx Time:06:13:46.2281 2025-10-27T06:13:47.781Z,1761545627.781 [DAT](INFO): Rx dataTimestamp_ set to:1761545627.780263 2025-10-27T06:13:47.781Z,1761545627.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027852 2025-10-27T06:13:47.796Z,1761545627.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:48.035Z,1761545628.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280750 2025-10-27T06:13:48.178Z,1761545628.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978883,0.203923,-0.014287],[-0.199849,-0.969341,-0.142960],[-0.043002,-0.137086,0.989625]] 2025-10-27T06:13:48.232Z,1761545628.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-27T06:13:48.292Z,1761545628.292 [DAT](INFO): DAT read: 06:13:46.2281 LVL= 32368, 19729, 27762, 32755, AGC= 67, IDX= 229,-0.42, 0.438, 2.571, 1.308, 1.387, PHS=-0.847, 1.229,-0.123, RAW= 309.9, -2.9, CAL= 308.7, -6.3, ROT= 201.3, 6.3 2025-10-27T06:13:48.293Z,1761545628.293 [DAT](INFO): got valid direction response: 06:13:46.2281 LVL= 32368, 19729, 27762, 32755, AGC= 67, IDX= 229,-0.42, 0.438, 2.571, 1.308, 1.387, PHS=-0.847, 1.229,-0.123, RAW= 309.9, -2.9, CAL= 308.7, -6.3, ROT= 201.3, 6.3 2025-10-27T06:13:48.294Z,1761545628.294 [DAT](INFO): DAT read: Bearing 192.1, -17.7 (Local) 2025-10-27T06:13:48.294Z,1761545628.294 [DAT](INFO): Local bearing/azimuth received: Bearing 192.1, -17.7 (Local) 2025-10-27T06:13:48.296Z,1761545628.296 [DAT](INFO): DAT read: Range 11 to 50 : 41.6 m (Round-trip 55.5 ms) speed -0.7 m/s 2025-10-27T06:13:48.296Z,1761545628.296 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:13:48.297Z,1761545628.297 [DAT](INFO): direction in FSK: [-0.926065,-0.361058,-0.109734] 2025-10-27T06:13:48.298Z,1761545628.298 [DAT](INFO): publishing direction and range info 2025-10-27T06:13:48.583Z,1761545628.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978218,0.207150,-0.013337],[-0.203102,-0.968415,-0.144643],[-0.042878,-0.138784,0.989394]] 2025-10-27T06:13:48.607Z,1761545628.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.599998 m, deltaT: 60.280558 s, deltaX: 22.099998 m, approachRate: 0.366619 m/s, rangeRepo size: 4 2025-10-27T06:13:48.609Z,1761545628.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.337620 m, bearing: 33.621853 deg, lat: 36.779403 deg, lon: -121.859812 deg, deltaT: 60.280558 s, deltaX: 21.957100 m, approachRate: 0.364248 m/s, posRepo size: 4 2025-10-27T06:13:48.610Z,1761545628.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:48.986Z,1761545628.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977640,0.209932,-0.012165],[-0.205958,-0.967597,-0.146074],[-0.042436,-0.140303,0.989199]] 2025-10-27T06:13:49.025Z,1761545629.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:49.390Z,1761545629.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977044,0.212764,-0.010799],[-0.208925,-0.966864,-0.146708],[-0.041656,-0.141084,0.989121]] 2025-10-27T06:13:49.441Z,1761545629.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:49.794Z,1761545629.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976424,0.215651,-0.009570],[-0.211913,-0.966055,-0.147751],[-0.041108,-0.142240,0.988978]] 2025-10-27T06:13:49.814Z,1761545629.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:50.199Z,1761545630.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975983,0.217698,-0.008033],[-0.214076,-0.965271,-0.149747],[-0.040354,-0.144431,0.988692]] 2025-10-27T06:13:50.236Z,1761545630.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:50.637Z,1761545630.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:51.005Z,1761545631.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974966,0.222289,-0.005306],[-0.218926,-0.963842,-0.151918],[-0.038884,-0.146953,0.988379]] 2025-10-27T06:13:51.040Z,1761545631.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:51.410Z,1761545631.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974616,0.223841,-0.004339],[-0.220556,-0.963282,-0.153112],[-0.038453,-0.148268,0.988199]] 2025-10-27T06:13:51.480Z,1761545631.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:51.818Z,1761545631.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974316,0.225159,-0.003470],[-0.221951,-0.962807,-0.154082],[-0.038034,-0.149354,0.988052]] 2025-10-27T06:13:51.837Z,1761545631.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:52.218Z,1761545632.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974198,0.225680,-0.002642],[-0.222528,-0.962412,-0.155708],[-0.037683,-0.151102,0.987800]] 2025-10-27T06:13:52.267Z,1761545632.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:52.622Z,1761545632.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974139,0.225940,-0.001961],[-0.222863,-0.962231,-0.156342],[-0.037211,-0.151862,0.987701]] 2025-10-27T06:13:52.640Z,1761545632.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:53.052Z,1761545633.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974153,0.225887,-0.001362],[-0.222870,-0.962091,-0.157196],[-0.036818,-0.152829,0.987567]] 2025-10-27T06:13:53.093Z,1761545633.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:53.435Z,1761545633.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974364,0.224974,-0.001048],[-0.221999,-0.962216,-0.157659],[-0.036477,-0.153384,0.987493]] 2025-10-27T06:13:53.500Z,1761545633.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:53.835Z,1761545633.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974666,0.223665,-0.000076],[-0.220757,-0.962046,-0.160420],[-0.035953,-0.156339,0.987049]] 2025-10-27T06:13:53.863Z,1761545633.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:54.360Z,1761545634.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:54.776Z,1761545634.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975797,0.218678,0.000919],[-0.215896,-0.962696,-0.163109],[-0.034783,-0.159360,0.986608]] 2025-10-27T06:13:54.808Z,1761545634.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:55.269Z,1761545635.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:55.631Z,1761545635.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:55.987Z,1761545635.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977189,0.212326,0.004287],[-0.210178,-0.964015,-0.162792],[-0.030432,-0.159980,0.986651]] 2025-10-27T06:13:56.007Z,1761545636.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:56.389Z,1761545636.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977591,0.210423,0.006174],[-0.208627,-0.964497,-0.161926],[-0.028118,-0.159586,0.986784]] 2025-10-27T06:13:56.460Z,1761545636.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:56.794Z,1761545636.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977982,0.208540,0.007957],[-0.207121,-0.965248,-0.159366],[-0.025553,-0.157505,0.987188]] 2025-10-27T06:13:56.840Z,1761545636.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:57.234Z,1761545637.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978148,0.207641,0.010542],[-0.206628,-0.965252,-0.159977],[-0.023042,-0.158660,0.987064]] 2025-10-27T06:13:57.270Z,1761545637.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:57.628Z,1761545637.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978339,0.206616,0.012767],[-0.205991,-0.965563,-0.158922],[-0.020509,-0.158109,0.987209]] 2025-10-27T06:13:57.683Z,1761545637.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:57.751Z,1761545637.751 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:13:58.023Z,1761545638.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978411,0.206090,0.015454],[-0.205911,-0.965705,-0.158160],[-0.017672,-0.157927,0.987293]] 2025-10-27T06:13:58.042Z,1761545638.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:58.451Z,1761545638.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978425,0.205778,0.018441],[-0.206073,-0.965638,-0.158357],[-0.014779,-0.158741,0.987210]] 2025-10-27T06:13:58.505Z,1761545638.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:58.755Z,1761545638.755 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:13:58.842Z,1761545638.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978301,0.206079,0.021422],[-0.206847,-0.965497,-0.158211],[-0.011921,-0.159209,0.987173]] 2025-10-27T06:13:58.872Z,1761545638.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:59.268Z,1761545639.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978123,0.206654,0.023851],[-0.207820,-0.965625,-0.156138],[-0.009236,-0.157679,0.987447]] 2025-10-27T06:13:59.337Z,1761545639.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:13:59.645Z,1761545639.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977972,0.207049,0.026487],[-0.208630,-0.965514,-0.155745],[-0.006673,-0.157840,0.987442]] 2025-10-27T06:13:59.690Z,1761545639.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:00.051Z,1761545640.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977743,0.207788,0.029025],[-0.209764,-0.965412,-0.154851],[-0.004155,-0.157493,0.987511]] 2025-10-27T06:14:00.070Z,1761545640.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:00.462Z,1761545640.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977538,0.208490,0.030836],[-0.210749,-0.965686,-0.151771],[-0.001864,-0.154861,0.987935]] 2025-10-27T06:14:00.504Z,1761545640.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:00.851Z,1761545640.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977414,0.208797,0.032635],[-0.211332,-0.965967,-0.149152],[0.000382,-0.152680,0.988276]] 2025-10-27T06:14:00.870Z,1761545640.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:01.290Z,1761545641.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977324,0.208900,0.034613],[-0.211733,-0.966083,-0.147824],[0.002558,-0.151801,0.988408]] 2025-10-27T06:14:01.326Z,1761545641.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:01.667Z,1761545641.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977212,0.209090,0.036575],[-0.212213,-0.966138,-0.146772],[0.004648,-0.151189,0.988494]] 2025-10-27T06:14:01.712Z,1761545641.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:02.066Z,1761545642.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977184,0.208884,0.038453],[-0.212297,-0.966053,-0.147212],[0.006397,-0.152017,0.988357]] 2025-10-27T06:14:02.092Z,1761545642.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:02.468Z,1761545642.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977106,0.208990,0.039837],[-0.212618,-0.965879,-0.147892],[0.007569,-0.152976,0.988201]] 2025-10-27T06:14:02.513Z,1761545642.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:02.872Z,1761545642.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977005,0.209166,0.041369],[-0.213027,-0.965792,-0.147866],[0.009026,-0.153279,0.988142]] 2025-10-27T06:14:02.890Z,1761545642.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:03.311Z,1761545643.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977055,0.208667,0.042689],[-0.212722,-0.966055,-0.146585],[0.010652,-0.152302,0.988277]] 2025-10-27T06:14:03.354Z,1761545643.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:03.680Z,1761545643.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977091,0.208165,0.044280],[-0.212447,-0.966371,-0.144891],[0.012630,-0.150978,0.988456]] 2025-10-27T06:14:03.738Z,1761545643.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:04.084Z,1761545644.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977168,0.207518,0.045605],[-0.211992,-0.966639,-0.143767],[0.014250,-0.150152,0.988560]] 2025-10-27T06:14:04.103Z,1761545644.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:04.489Z,1761545644.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977222,0.207015,0.046716],[-0.211656,-0.966764,-0.143417],[0.015474,-0.150038,0.988559]] 2025-10-27T06:14:04.541Z,1761545644.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:04.894Z,1761545644.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977315,0.206252,0.048117],[-0.211097,-0.967009,-0.142590],[0.017121,-0.149513,0.988612]] 2025-10-27T06:14:04.914Z,1761545644.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:05.338Z,1761545645.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977291,0.205999,0.049662],[-0.211080,-0.966996,-0.142701],[0.018627,-0.149943,0.988519]] 2025-10-27T06:14:05.384Z,1761545645.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:05.700Z,1761545645.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977367,0.205275,0.051136],[-0.210575,-0.967183,-0.142179],[0.020272,-0.149729,0.988519]] 2025-10-27T06:14:05.749Z,1761545645.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:06.104Z,1761545646.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977459,0.204468,0.052590],[-0.209980,-0.967408,-0.141528],[0.021938,-0.149381,0.988536]] 2025-10-27T06:14:06.122Z,1761545646.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:06.509Z,1761545646.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977440,0.204110,0.054307],[-0.209880,-0.967445,-0.141423],[0.023673,-0.149631,0.988459]] 2025-10-27T06:14:06.546Z,1761545646.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:06.924Z,1761545646.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977323,0.204188,0.056107],[-0.210234,-0.967332,-0.141667],[0.025347,-0.150250,0.988323]] 2025-10-27T06:14:06.952Z,1761545646.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:07.361Z,1761545647.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977340,0.203742,0.057411],[-0.209968,-0.967499,-0.140922],[0.026834,-0.149783,0.988355]] 2025-10-27T06:14:07.416Z,1761545647.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:07.762Z,1761545647.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977213,0.203916,0.058926],[-0.210377,-0.967368,-0.141209],[0.028208,-0.150388,0.988225]] 2025-10-27T06:14:07.781Z,1761545647.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:08.225Z,1761545648.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977053,0.204327,0.060151],[-0.210972,-0.967222,-0.141322],[0.029304,-0.150769,0.988135]] 2025-10-27T06:14:08.245Z,1761545648.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:08.668Z,1761545648.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:09.066Z,1761545649.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976860,0.204612,0.062271],[-0.211557,-0.967176,-0.140764],[0.031425,-0.150681,0.988083]] 2025-10-27T06:14:09.085Z,1761545649.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:09.466Z,1761545649.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976688,0.205074,0.063443],[-0.212209,-0.966952,-0.141321],[0.032365,-0.151490,0.987929]] 2025-10-27T06:14:09.510Z,1761545649.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:09.870Z,1761545649.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976478,0.205693,0.064666],[-0.213041,-0.966626,-0.142297],[0.033238,-0.152726,0.987709]] 2025-10-27T06:14:09.901Z,1761545649.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:10.320Z,1761545650.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:10.681Z,1761545650.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976164,0.206558,0.066619],[-0.214222,-0.966256,-0.143034],[0.034826,-0.153896,0.987473]] 2025-10-27T06:14:10.757Z,1761545650.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:11.081Z,1761545651.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975997,0.207092,0.067403],[-0.214867,-0.966138,-0.142861],[0.035535,-0.153914,0.987445]] 2025-10-27T06:14:11.107Z,1761545651.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:11.486Z,1761545651.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975879,0.207302,0.068449],[-0.215236,-0.966056,-0.142865],[0.036509,-0.154151,0.987373]] 2025-10-27T06:14:11.531Z,1761545651.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:11.890Z,1761545651.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975607,0.208307,0.069270],[-0.216337,-0.965894,-0.142292],[0.037267,-0.153807,0.987398]] 2025-10-27T06:14:11.947Z,1761545651.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:12.294Z,1761545652.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975475,0.208785,0.069700],[-0.216758,-0.966244,-0.139242],[0.038276,-0.150935,0.987802]] 2025-10-27T06:14:12.313Z,1761545652.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:12.698Z,1761545652.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975358,0.209070,0.070473],[-0.217129,-0.966266,-0.138508],[0.039138,-0.150396,0.987851]] 2025-10-27T06:14:12.786Z,1761545652.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:13.102Z,1761545653.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975245,0.209321,0.071290],[-0.217452,-0.966365,-0.137307],[0.040151,-0.149410,0.987960]] 2025-10-27T06:14:13.120Z,1761545653.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:13.508Z,1761545653.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975129,0.209574,0.072122],[-0.217796,-0.966395,-0.136550],[0.041081,-0.148862,0.988004]] 2025-10-27T06:14:13.549Z,1761545653.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:13.928Z,1761545653.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974988,0.209902,0.073072],[-0.218251,-0.966333,-0.136260],[0.042011,-0.148800,0.987975]] 2025-10-27T06:14:13.946Z,1761545653.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:14.365Z,1761545654.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:14.733Z,1761545654.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974892,0.209837,0.074526],[-0.218377,-0.966391,-0.135649],[0.043557,-0.148518,0.987950]] 2025-10-27T06:14:14.799Z,1761545654.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:15.122Z,1761545655.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975025,0.209113,0.074822],[-0.217650,-0.966722,-0.134449],[0.044218,-0.147376,0.988092]] 2025-10-27T06:14:15.152Z,1761545655.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:15.583Z,1761545655.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975314,0.207327,0.076017],[-0.216035,-0.967147,-0.134001],[0.045737,-0.147115,0.988061]] 2025-10-27T06:14:15.628Z,1761545655.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:16.062Z,1761545656.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975370,0.206650,0.077126],[-0.215720,-0.966641,-0.138093],[0.046016,-0.151329,0.987412]] 2025-10-27T06:14:16.086Z,1761545656.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:16.506Z,1761545656.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975571,0.205571,0.077471],[-0.214791,-0.966578,-0.139969],[0.046109,-0.153190,0.987121]] 2025-10-27T06:14:16.563Z,1761545656.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:16.922Z,1761545656.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975724,0.204758,0.077698],[-0.214147,-0.966327,-0.142664],[0.045870,-0.155840,0.986717]] 2025-10-27T06:14:16.941Z,1761545656.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:17.309Z,1761545657.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976022,0.203450,0.077390],[-0.212871,-0.966388,-0.144153],[0.045461,-0.157171,0.986525]] 2025-10-27T06:14:17.343Z,1761545657.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:17.721Z,1761545657.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976240,0.202680,0.076662],[-0.212016,-0.966504,-0.144635],[0.044779,-0.157452,0.986511]] 2025-10-27T06:14:17.777Z,1761545657.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:18.118Z,1761545658.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976506,0.201972,0.075125],[-0.210941,-0.967180,-0.141659],[0.044048,-0.154178,0.987061]] 2025-10-27T06:14:18.137Z,1761545658.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:18.530Z,1761545658.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976749,0.201341,0.073638],[-0.210016,-0.967618,-0.140030],[0.043059,-0.152240,0.987405]] 2025-10-27T06:14:18.567Z,1761545658.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:18.930Z,1761545658.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976991,0.200573,0.072516],[-0.209096,-0.967774,-0.140326],[0.042034,-0.152260,0.987446]] 2025-10-27T06:14:18.961Z,1761545658.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:19.329Z,1761545659.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977138,0.200223,0.071498],[-0.208607,-0.967836,-0.140629],[0.041041,-0.152329,0.987477]] 2025-10-27T06:14:19.372Z,1761545659.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:19.740Z,1761545659.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977234,0.199947,0.070961],[-0.208347,-0.967549,-0.142970],[0.040072,-0.154500,0.987180]] 2025-10-27T06:14:19.824Z,1761545659.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:20.141Z,1761545660.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977196,0.200229,0.070682],[-0.208706,-0.967010,-0.146058],[0.039105,-0.157479,0.986748]] 2025-10-27T06:14:20.163Z,1761545660.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:20.557Z,1761545660.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.977137,0.200885,0.069632],[-0.209189,-0.966910,-0.146028],[0.037993,-0.157255,0.986827]] 2025-10-27T06:14:20.595Z,1761545660.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:20.945Z,1761545660.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976989,0.202014,0.068438],[-0.210072,-0.966904,-0.144800],[0.036922,-0.155845,0.987091]] 2025-10-27T06:14:20.983Z,1761545660.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:21.350Z,1761545661.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976820,0.203206,0.067300],[-0.211038,-0.966841,-0.143810],[0.035845,-0.154679,0.987314]] 2025-10-27T06:14:21.368Z,1761545661.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:21.835Z,1761545661.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:22.158Z,1761545662.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976285,0.206333,0.065523],[-0.213806,-0.966458,-0.142290],[0.033966,-0.152925,0.987654]] 2025-10-27T06:14:22.184Z,1761545662.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:22.611Z,1761545662.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975966,0.208202,0.064354],[-0.215459,-0.966166,-0.141773],[0.032659,-0.152231,0.987805]] 2025-10-27T06:14:22.658Z,1761545662.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:23.135Z,1761545663.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:23.502Z,1761545663.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975336,0.212251,0.060572],[-0.218872,-0.965507,-0.141039],[0.028547,-0.150818,0.988149]] 2025-10-27T06:14:23.536Z,1761545663.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:23.925Z,1761545663.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975141,0.213844,0.058059],[-0.220015,-0.965545,-0.138980],[0.026339,-0.148299,0.988592]] 2025-10-27T06:14:24.019Z,1761545664.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:24.394Z,1761545664.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:24.740Z,1761545664.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974662,0.217230,0.053348],[-0.222676,-0.964893,-0.139276],[0.021220,-0.147626,0.988815]] 2025-10-27T06:14:24.781Z,1761545664.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:25.177Z,1761545665.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:25.538Z,1761545665.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974287,0.220139,0.047992],[-0.224786,-0.964227,-0.140488],[0.015348,-0.147664,0.988919]] 2025-10-27T06:14:25.561Z,1761545665.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:25.941Z,1761545665.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974203,0.221051,0.045432],[-0.225326,-0.963938,-0.141607],[0.012491,-0.148191,0.988880]] 2025-10-27T06:14:26.022Z,1761545666.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:26.349Z,1761545666.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974120,0.221932,0.042842],[-0.225822,-0.963692,-0.142482],[0.009665,-0.148470,0.988870]] 2025-10-27T06:14:26.405Z,1761545666.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:26.866Z,1761545666.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973990,0.223460,0.037549],[-0.226559,-0.963232,-0.144411],[0.003898,-0.149162,0.988805]] 2025-10-27T06:14:26.932Z,1761545666.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:27.248Z,1761545667.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973947,0.224084,0.034847],[-0.226775,-0.963036,-0.145381],[0.000981,-0.149496,0.988762]] 2025-10-27T06:14:27.273Z,1761545667.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:27.674Z,1761545667.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973982,0.224329,0.032183],[-0.226618,-0.962892,-0.146574],[-0.001892,-0.150053,0.988676]] 2025-10-27T06:14:27.717Z,1761545667.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:28.052Z,1761545668.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974087,0.224182,0.029949],[-0.226129,-0.962700,-0.148574],[-0.004476,-0.151496,0.988448]] 2025-10-27T06:14:28.070Z,1761545668.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:28.455Z,1761545668.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974178,0.224085,0.027611],[-0.225670,-0.962567,-0.150130],[-0.007064,-0.152484,0.988281]] 2025-10-27T06:14:28.473Z,1761545668.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:28.862Z,1761545668.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974243,0.224084,0.025236],[-0.225290,-0.962389,-0.151831],[-0.009736,-0.153606,0.988084]] 2025-10-27T06:14:28.884Z,1761545668.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:14:28.937Z,1761545668.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:29.262Z,1761545669.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974301,0.224071,0.022998],[-0.224920,-0.962288,-0.153015],[-0.012156,-0.154256,0.987956]] 2025-10-27T06:14:29.280Z,1761545669.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:29.699Z,1761545669.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974398,0.223893,0.020516],[-0.224348,-0.962268,-0.153974],[-0.014732,-0.154635,0.987862]] 2025-10-27T06:14:29.754Z,1761545669.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:29.888Z,1761545669.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:14:30.074Z,1761545670.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974369,0.224179,0.018683],[-0.224310,-0.961920,-0.156187],[-0.017042,-0.156374,0.987551]] 2025-10-27T06:14:30.093Z,1761545670.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:30.474Z,1761545670.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974443,0.224002,0.016865],[-0.223832,-0.961867,-0.157199],[-0.018991,-0.156957,0.987423]] 2025-10-27T06:14:30.509Z,1761545670.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:30.896Z,1761545670.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974564,0.223606,0.014989],[-0.223148,-0.962036,-0.157137],[-0.020717,-0.156484,0.987463]] 2025-10-27T06:14:30.945Z,1761545670.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:31.284Z,1761545671.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974628,0.223429,0.013420],[-0.222693,-0.961887,-0.158689],[-0.022547,-0.157651,0.987237]] 2025-10-27T06:14:31.303Z,1761545671.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:31.729Z,1761545671.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974631,0.223518,0.011585],[-0.222484,-0.961880,-0.159020],[-0.024400,-0.157563,0.987207]] 2025-10-27T06:14:31.774Z,1761545671.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:32.089Z,1761545672.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974655,0.223514,0.009465],[-0.222171,-0.962099,-0.158129],[-0.026238,-0.156224,0.987373]] 2025-10-27T06:14:32.123Z,1761545672.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:32.494Z,1761545672.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974720,0.223296,0.007709],[-0.221640,-0.961983,-0.159578],[-0.028217,-0.157252,0.987155]] 2025-10-27T06:14:32.512Z,1761545672.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:32.911Z,1761545672.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974708,0.223407,0.005887],[-0.221432,-0.961858,-0.160614],[-0.030220,-0.157855,0.987000]] 2025-10-27T06:14:32.975Z,1761545672.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:33.339Z,1761545673.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:33.753Z,1761545673.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974774,0.223185,0.001722],[-0.220529,-0.961928,-0.161437],[-0.034374,-0.157745,0.986881]] 2025-10-27T06:14:33.801Z,1761545673.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:34.150Z,1761545674.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:34.514Z,1761545674.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974914,0.222575,-0.001507],[-0.219387,-0.962053,-0.162247],[-0.037562,-0.157846,0.986749]] 2025-10-27T06:14:34.533Z,1761545674.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:34.931Z,1761545674.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975081,0.221830,-0.002994],[-0.218396,-0.962184,-0.162803],[-0.038995,-0.158092,0.986654]] 2025-10-27T06:14:34.985Z,1761545674.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:35.322Z,1761545675.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975193,0.221315,-0.004190],[-0.217663,-0.962197,-0.163704],[-0.040262,-0.158731,0.986501]] 2025-10-27T06:14:35.356Z,1761545675.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:35.752Z,1761545675.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975245,0.221058,-0.005472],[-0.217137,-0.962038,-0.165330],[-0.041811,-0.160049,0.986223]] 2025-10-27T06:14:35.828Z,1761545675.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:36.164Z,1761545676.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:36.529Z,1761545676.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975173,0.221309,-0.007693],[-0.217011,-0.961995,-0.165747],[-0.044082,-0.159963,0.986138]] 2025-10-27T06:14:36.558Z,1761545676.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:36.992Z,1761545676.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:37.342Z,1761545677.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975004,0.221934,-0.010558],[-0.217209,-0.962091,-0.164928],[-0.046761,-0.158513,0.986249]] 2025-10-27T06:14:37.383Z,1761545677.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:37.758Z,1761545677.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974676,0.223304,-0.011917],[-0.218336,-0.961803,-0.165116],[-0.048333,-0.158332,0.986202]] 2025-10-27T06:14:37.830Z,1761545677.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:38.151Z,1761545678.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974536,0.223817,-0.013641],[-0.218621,-0.961911,-0.164109],[-0.049851,-0.156948,0.986348]] 2025-10-27T06:14:38.188Z,1761545678.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:38.553Z,1761545678.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974264,0.224934,-0.014628],[-0.219499,-0.961483,-0.165439],[-0.051277,-0.157971,0.986112]] 2025-10-27T06:14:38.586Z,1761545678.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:39.058Z,1761545679.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:39.376Z,1761545679.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973848,0.226563,-0.016993],[-0.220709,-0.961126,-0.165903],[-0.053920,-0.157814,0.985996]] 2025-10-27T06:14:39.399Z,1761545679.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:39.773Z,1761545679.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973640,0.227390,-0.017863],[-0.221350,-0.960865,-0.166560],[-0.055038,-0.158216,0.985869]] 2025-10-27T06:14:39.848Z,1761545679.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:40.170Z,1761545680.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973303,0.228759,-0.018738],[-0.222548,-0.960541,-0.166831],[-0.056163,-0.158207,0.985807]] 2025-10-27T06:14:40.221Z,1761545680.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:40.574Z,1761545680.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973166,0.229268,-0.019584],[-0.222889,-0.960380,-0.167307],[-0.057166,-0.158452,0.985710]] 2025-10-27T06:14:40.592Z,1761545680.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:40.986Z,1761545680.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972911,0.230299,-0.020153],[-0.223768,-0.960033,-0.168121],[-0.058066,-0.159057,0.985560]] 2025-10-27T06:14:41.046Z,1761545681.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:41.388Z,1761545681.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972765,0.230820,-0.021227],[-0.224152,-0.960061,-0.167445],[-0.059028,-0.158127,0.985653]] 2025-10-27T06:14:41.416Z,1761545681.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:41.785Z,1761545681.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972564,0.231581,-0.022133],[-0.224718,-0.959810,-0.168126],[-0.060178,-0.158540,0.985517]] 2025-10-27T06:14:41.864Z,1761545681.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:42.203Z,1761545682.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972363,0.232327,-0.023116],[-0.225279,-0.959623,-0.168445],[-0.061317,-0.158582,0.985440]] 2025-10-27T06:14:42.261Z,1761545682.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:42.607Z,1761545682.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972305,0.232463,-0.024165],[-0.225269,-0.959686,-0.168097],[-0.062267,-0.157998,0.985474]] 2025-10-27T06:14:42.671Z,1761545682.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:43.080Z,1761545683.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:43.448Z,1761545683.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:43.818Z,1761545683.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972673,0.230655,-0.026576],[-0.223085,-0.960147,-0.168378],[-0.064354,-0.157848,0.985364]] 2025-10-27T06:14:43.866Z,1761545683.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:44.274Z,1761545684.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:44.626Z,1761545684.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973066,0.228844,-0.027783],[-0.221159,-0.960734,-0.167569],[-0.065039,-0.156912,0.985469]] 2025-10-27T06:14:44.662Z,1761545684.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:14:44.664Z,1761545684.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:44.756Z,1761545684.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:14:44.756Z,1761545684.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:14:45.008Z,1761545685.008 [DAT](INFO): DAT read: user:686> 2025-10-27T06:14:45.009Z,1761545685.009 [DAT](INFO): DAT read: Tx time:06:14:44.0683 2025-10-27T06:14:45.009Z,1761545685.009 [DAT](INFO): Ping request sent. 2025-10-27T06:14:45.009Z,1761545685.009 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:14:45.009Z,1761545685.009 [DAT](INFO): publishing transmit ping time 2025-10-27T06:14:45.010Z,1761545685.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-27T06:14:45.125Z,1761545685.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:45.260Z,1761545685.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250917 2025-10-27T06:14:45.512Z,1761545685.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503045 2025-10-27T06:14:45.590Z,1761545685.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973319,0.227547,-0.029535],[-0.219512,-0.960877,-0.168907],[-0.066814,-0.157917,0.985189]] 2025-10-27T06:14:45.609Z,1761545685.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:45.764Z,1761545685.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755174 2025-10-27T06:14:45.982Z,1761545685.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973548,0.226394,-0.030820],[-0.218220,-0.961295,-0.168200],[-0.067706,-0.157026,0.985271]] 2025-10-27T06:14:46.016Z,1761545686.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007062 2025-10-27T06:14:46.033Z,1761545686.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:46.268Z,1761545686.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258910 2025-10-27T06:14:46.444Z,1761545686.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973690,0.225524,-0.032663],[-0.217073,-0.961559,-0.168175],[-0.069335,-0.156660,0.985216]] 2025-10-27T06:14:46.474Z,1761545686.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:46.521Z,1761545686.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511588 2025-10-27T06:14:46.772Z,1761545686.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763312 2025-10-27T06:14:46.954Z,1761545686.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:47.024Z,1761545687.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014834 2025-10-27T06:14:47.252Z,1761545687.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973854,0.224634,-0.033890],[-0.216057,-0.961923,-0.167401],[-0.070204,-0.155702,0.985306]] 2025-10-27T06:14:47.276Z,1761545687.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267305 2025-10-27T06:14:47.290Z,1761545687.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:47.528Z,1761545687.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518951 2025-10-27T06:14:47.655Z,1761545687.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973778,0.224932,-0.034093],[-0.216325,-0.961878,-0.167316],[-0.070428,-0.155553,0.985314]] 2025-10-27T06:14:47.685Z,1761545687.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:47.780Z,1761545687.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887 2025-10-27T06:14:48.032Z,1761545688.032 [DAT](INFO): DAT read: Rx Time:06:14:46.5877 2025-10-27T06:14:48.032Z,1761545688.032 [DAT](INFO): Rx dataTimestamp_ set to:1761545688.032143 2025-10-27T06:14:48.033Z,1761545688.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023969 2025-10-27T06:14:48.058Z,1761545688.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973732,0.225081,-0.034426],[-0.216468,-0.961959,-0.166664],[-0.070630,-0.154834,0.985413]] 2025-10-27T06:14:48.135Z,1761545688.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:48.284Z,1761545688.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274940 2025-10-27T06:14:48.480Z,1761545688.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973510,0.226030,-0.034469],[-0.217392,-0.961736,-0.166744],[-0.070840,-0.154834,0.985398]] 2025-10-27T06:14:48.498Z,1761545688.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.34 m. 2025-10-27T06:14:48.541Z,1761545688.541 [DAT](INFO): DAT read: 06:14:46.5877 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 9, 0.02, 2.612,-1.790, 2.830,-3.013, PHS=-0.557, 1.268,-0.485, RAW= 328.0, -2.6, CAL= 327.1, -5.6, ROT= 182.9, 5.6 2025-10-27T06:14:48.542Z,1761545688.542 [DAT](INFO): got valid direction response: 06:14:46.5877 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 9, 0.02, 2.612,-1.790, 2.830,-3.013, PHS=-0.557, 1.268,-0.485, RAW= 328.0, -2.6, CAL= 327.1, -5.6, ROT= 182.9, 5.6 2025-10-27T06:14:48.545Z,1761545688.545 [DAT](INFO): DAT read: Bearing 169.1, 2.1 (Local) 2025-10-27T06:14:48.546Z,1761545688.546 [DAT](INFO): Local bearing/azimuth received: Bearing 169.1, 2.1 (Local) 2025-10-27T06:14:48.547Z,1761545688.547 [DAT](INFO): DAT read: Range 11 to 50 : 86.4 m (Round-trip 115.3 ms) speed -0.9 m/s 2025-10-27T06:14:48.548Z,1761545688.548 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:14:48.549Z,1761545688.549 [DAT](INFO): direction in FSK: [-0.993953,-0.050351,-0.097583] 2025-10-27T06:14:48.549Z,1761545688.549 [DAT](INFO): publishing direction and range info 2025-10-27T06:14:48.879Z,1761545688.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973210,0.227398,-0.033949],[-0.218790,-0.961334,-0.167238],[-0.070666,-0.155330,0.985332]] 2025-10-27T06:14:48.970Z,1761545688.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.400002 m, deltaT: 60.251539 s, deltaX: 44.800003 m, approachRate: 0.743550 m/s, rangeRepo size: 4 2025-10-27T06:14:48.977Z,1761545688.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.843140 m, bearing: 16.393744 deg, lat: 36.779405 deg, lon: -121.859802 deg, deltaT: 60.251539 s, deltaX: 44.505520 m, approachRate: 0.738662 m/s, posRepo size: 4 2025-10-27T06:14:48.977Z,1761545688.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:49.308Z,1761545689.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972964,0.228517,-0.033470],[-0.219950,-0.961023,-0.167504],[-0.070443,-0.155613,0.985303]] 2025-10-27T06:14:49.376Z,1761545689.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:49.709Z,1761545689.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972680,0.229759,-0.033231],[-0.221230,-0.960768,-0.167278],[-0.070361,-0.155357,0.985349]] 2025-10-27T06:14:49.749Z,1761545689.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:50.177Z,1761545690.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:50.519Z,1761545690.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971911,0.233119,-0.032334],[-0.224786,-0.960182,-0.165895],[-0.069720,-0.153967,0.985613]] 2025-10-27T06:14:50.629Z,1761545690.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:51.009Z,1761545691.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:51.332Z,1761545691.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971256,0.235935,-0.031566],[-0.227679,-0.959480,-0.166013],[-0.069456,-0.154054,0.985618]] 2025-10-27T06:14:51.396Z,1761545691.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:51.742Z,1761545691.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970932,0.237332,-0.031070],[-0.229222,-0.959325,-0.164783],[-0.068914,-0.152871,0.985840]] 2025-10-27T06:14:51.761Z,1761545691.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:52.209Z,1761545692.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:52.577Z,1761545692.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:52.950Z,1761545692.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970204,0.240492,-0.029452],[-0.232643,-0.958628,-0.164040],[-0.067684,-0.152300,0.986014]] 2025-10-27T06:14:53.036Z,1761545693.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:53.364Z,1761545693.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969966,0.241576,-0.028405],[-0.233841,-0.958254,-0.164522],[-0.066964,-0.152938,0.985964]] 2025-10-27T06:14:53.418Z,1761545693.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:53.756Z,1761545693.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969898,0.241914,-0.027841],[-0.234261,-0.958151,-0.164523],[-0.066476,-0.153049,0.985980]] 2025-10-27T06:14:53.775Z,1761545693.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:54.185Z,1761545694.185 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503100312660.0,1491.1, 0 2025-10-27T06:14:54.212Z,1761545694.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:54.562Z,1761545694.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970259,0.240634,-0.026325],[-0.233114,-0.958127,-0.166286],[-0.065236,-0.155203,0.985726]] 2025-10-27T06:14:54.580Z,1761545694.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:54.973Z,1761545694.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970553,0.239555,-0.025309],[-0.232047,-0.957960,-0.168721],[-0.064663,-0.157880,0.985339]] 2025-10-27T06:14:55.050Z,1761545695.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:55.452Z,1761545695.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:55.778Z,1761545695.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970999,0.237859,-0.024173],[-0.230391,-0.957912,-0.171244],[-0.063888,-0.160708,0.984932]] 2025-10-27T06:14:55.812Z,1761545695.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:56.182Z,1761545696.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971360,0.236385,-0.024108],[-0.228940,-0.958242,-0.171343],[-0.063605,-0.160917,0.984916]] 2025-10-27T06:14:56.262Z,1761545696.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:56.586Z,1761545696.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971659,0.235161,-0.024030],[-0.227757,-0.958555,-0.171172],[-0.063287,-0.160848,0.984948]] 2025-10-27T06:14:56.606Z,1761545696.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:56.986Z,1761545696.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972121,0.233263,-0.023853],[-0.225850,-0.958831,-0.172146],[-0.063026,-0.161960,0.984783]] 2025-10-27T06:14:57.023Z,1761545697.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:57.389Z,1761545697.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972418,0.232020,-0.023868],[-0.224629,-0.959137,-0.172039],[-0.062809,-0.161933,0.984801]] 2025-10-27T06:14:57.436Z,1761545697.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:57.794Z,1761545697.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972768,0.230531,-0.024044],[-0.223134,-0.959495,-0.171992],[-0.062719,-0.161943,0.984805]] 2025-10-27T06:14:57.812Z,1761545697.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:58.205Z,1761545698.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972989,0.229631,-0.023697],[-0.222212,-0.959451,-0.173423],[-0.062559,-0.163473,0.984562]] 2025-10-27T06:14:58.267Z,1761545698.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:58.602Z,1761545698.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973308,0.228284,-0.023638],[-0.220896,-0.959762,-0.173382],[-0.062267,-0.163532,0.984571]] 2025-10-27T06:14:58.630Z,1761545698.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:59.030Z,1761545699.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973663,0.226742,-0.023834],[-0.219386,-0.960231,-0.172705],[-0.062046,-0.162927,0.984685]] 2025-10-27T06:14:59.091Z,1761545699.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:59.424Z,1761545699.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974035,0.225103,-0.024180],[-0.217765,-0.960747,-0.171881],[-0.061922,-0.162152,0.984821]] 2025-10-27T06:14:59.473Z,1761545699.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:14:59.835Z,1761545699.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974141,0.224644,-0.024167],[-0.217334,-0.960900,-0.171573],[-0.061765,-0.161884,0.984875]] 2025-10-27T06:14:59.881Z,1761545699.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:00.012Z,1761545700.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:15:00.238Z,1761545700.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974208,0.224308,-0.024597],[-0.217127,-0.961493,-0.168483],[-0.061442,-0.158797,0.985398]] 2025-10-27T06:15:00.298Z,1761545700.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:00.755Z,1761545700.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974068,0.224877,-0.024943],[-0.217742,-0.961658,-0.166739],[-0.061483,-0.156984,0.985685]] 2025-10-27T06:15:00.774Z,1761545700.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:01.015Z,1761545701.015 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:15:01.161Z,1761545701.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973947,0.225416,-0.024782],[-0.218356,-0.961676,-0.165834],[-0.061214,-0.156102,0.985842]] 2025-10-27T06:15:01.223Z,1761545701.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:01.592Z,1761545701.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973902,0.225651,-0.024434],[-0.218679,-0.961703,-0.165245],[-0.060786,-0.155589,0.985950]] 2025-10-27T06:15:01.616Z,1761545701.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:01.994Z,1761545701.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973664,0.226702,-0.024161],[-0.219877,-0.961757,-0.163332],[-0.060264,-0.153718,0.986275]] 2025-10-27T06:15:02.037Z,1761545702.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:02.398Z,1761545702.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973412,0.227857,-0.023472],[-0.221205,-0.961678,-0.161998],[-0.059485,-0.152499,0.986512]] 2025-10-27T06:15:02.457Z,1761545702.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:02.808Z,1761545702.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973133,0.229139,-0.022512],[-0.222628,-0.961380,-0.161821],[-0.058722,-0.152461,0.986563]] 2025-10-27T06:15:02.840Z,1761545702.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:03.288Z,1761545703.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:03.614Z,1761545703.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972552,0.231846,-0.019729],[-0.225751,-0.960721,-0.161406],[-0.056375,-0.152522,0.986691]] 2025-10-27T06:15:03.648Z,1761545703.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:04.075Z,1761545704.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:04.427Z,1761545704.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972120,0.233847,-0.017254],[-0.228065,-0.960048,-0.162157],[-0.054485,-0.153701,0.986614]] 2025-10-27T06:15:04.479Z,1761545704.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:04.843Z,1761545704.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971893,0.234874,-0.016086],[-0.229294,-0.959865,-0.161506],[-0.053374,-0.153278,0.986741]] 2025-10-27T06:15:04.861Z,1761545704.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:05.234Z,1761545705.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971731,0.235617,-0.014984],[-0.230203,-0.959667,-0.161386],[-0.052405,-0.153374,0.986778]] 2025-10-27T06:15:05.284Z,1761545705.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:05.634Z,1761545705.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971561,0.236383,-0.013850],[-0.231135,-0.959446,-0.161370],[-0.051433,-0.153580,0.986797]] 2025-10-27T06:15:05.660Z,1761545705.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:06.040Z,1761545706.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971489,0.236745,-0.012696],[-0.231661,-0.959290,-0.161544],[-0.050424,-0.153997,0.986784]] 2025-10-27T06:15:06.058Z,1761545706.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:06.443Z,1761545706.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971520,0.236665,-0.011784],[-0.231745,-0.959343,-0.161106],[-0.049433,-0.153787,0.986867]] 2025-10-27T06:15:06.488Z,1761545706.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:06.849Z,1761545706.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971604,0.236374,-0.010656],[-0.231628,-0.959363,-0.161154],[-0.048316,-0.154109,0.986872]] 2025-10-27T06:15:06.868Z,1761545706.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:07.256Z,1761545707.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971713,0.235992,-0.009081],[-0.231417,-0.959141,-0.162773],[-0.047123,-0.156067,0.986622]] 2025-10-27T06:15:07.272Z,1761545707.272 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 20.00,1650.29 2025-10-27T06:15:07.313Z,1761545707.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:07.657Z,1761545707.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971938,0.235102,-0.008026],[-0.230688,-0.959258,-0.163118],[-0.046048,-0.156689,0.986574]] 2025-10-27T06:15:07.680Z,1761545707.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:08.059Z,1761545708.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972232,0.233923,-0.006692],[-0.229655,-0.959209,-0.164854],[-0.044983,-0.158740,0.986295]] 2025-10-27T06:15:08.087Z,1761545708.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:08.463Z,1761545708.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972510,0.232792,-0.005637],[-0.228675,-0.959319,-0.165573],[-0.043952,-0.159732,0.986181]] 2025-10-27T06:15:08.508Z,1761545708.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:08.866Z,1761545708.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972734,0.231873,-0.004841],[-0.227897,-0.959507,-0.165557],[-0.043033,-0.159940,0.986188]] 2025-10-27T06:15:08.892Z,1761545708.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:09.355Z,1761545709.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:09.692Z,1761545709.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973150,0.230147,-0.003293],[-0.226443,-0.959859,-0.165512],[-0.041253,-0.160322,0.986202]] 2025-10-27T06:15:09.720Z,1761545709.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:10.094Z,1761545710.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973253,0.229725,-0.002166],[-0.226185,-0.959822,-0.166080],[-0.040232,-0.161148,0.986110]] 2025-10-27T06:15:10.124Z,1761545710.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:10.498Z,1761545710.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973485,0.228747,-0.001290],[-0.225355,-0.959984,-0.166272],[-0.039273,-0.161572,0.986079]] 2025-10-27T06:15:10.545Z,1761545710.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:10.936Z,1761545710.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:11.402Z,1761545711.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:11.752Z,1761545711.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974437,0.224659,0.000239],[-0.221603,-0.961004,-0.165420],[-0.036934,-0.161245,0.986223]] 2025-10-27T06:15:11.770Z,1761545711.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:12.155Z,1761545712.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974675,0.223626,0.000876],[-0.220711,-0.961325,-0.164747],[-0.036000,-0.160768,0.986335]] 2025-10-27T06:15:12.173Z,1761545712.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:12.555Z,1761545712.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975016,0.222130,0.001421],[-0.219338,-0.961709,-0.164340],[-0.035138,-0.160545,0.986403]] 2025-10-27T06:15:12.603Z,1761545712.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:12.958Z,1761545712.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975183,0.221393,0.002047],[-0.218745,-0.962009,-0.163368],[-0.034200,-0.159762,0.986563]] 2025-10-27T06:15:12.977Z,1761545712.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:13.379Z,1761545713.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975304,0.220845,0.002989],[-0.218351,-0.962075,-0.163505],[-0.033234,-0.160120,0.986538]] 2025-10-27T06:15:13.430Z,1761545713.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:13.841Z,1761545713.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975429,0.220274,0.004213],[-0.218023,-0.962359,-0.162269],[-0.031689,-0.159201,0.986738]] 2025-10-27T06:15:13.861Z,1761545713.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:14.280Z,1761545714.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:14.651Z,1761545714.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975484,0.219964,0.006874],[-0.218181,-0.962550,-0.160918],[-0.028779,-0.158473,0.986944]] 2025-10-27T06:15:14.695Z,1761545714.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:15.054Z,1761545715.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975434,0.220131,0.008472],[-0.218624,-0.962601,-0.160011],[-0.027068,-0.157932,0.987079]] 2025-10-27T06:15:15.084Z,1761545715.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:15.458Z,1761545715.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975431,0.220078,0.010000],[-0.218826,-0.962632,-0.159545],[-0.025486,-0.157813,0.987140]] 2025-10-27T06:15:15.515Z,1761545715.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:15.868Z,1761545715.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975319,0.220488,0.011725],[-0.219521,-0.962599,-0.158787],[-0.023724,-0.157442,0.987243]] 2025-10-27T06:15:15.885Z,1761545715.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:16.266Z,1761545716.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975079,0.221441,0.013596],[-0.220770,-0.962411,-0.158196],[-0.021946,-0.157255,0.987314]] 2025-10-27T06:15:16.293Z,1761545716.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:16.670Z,1761545716.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974832,0.222387,0.015703],[-0.222032,-0.962092,-0.158369],[-0.020111,-0.157870,0.987255]] 2025-10-27T06:15:16.733Z,1761545716.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:17.074Z,1761545717.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974401,0.224103,0.017911],[-0.224094,-0.961789,-0.157305],[-0.018025,-0.157292,0.987388]] 2025-10-27T06:15:17.093Z,1761545717.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:17.480Z,1761545717.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973938,0.225916,0.020162],[-0.226250,-0.961408,-0.156544],[-0.015982,-0.157026,0.987465]] 2025-10-27T06:15:17.516Z,1761545717.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:17.882Z,1761545717.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973614,0.227105,0.022348],[-0.227783,-0.961224,-0.155444],[-0.013821,-0.156433,0.987592]] 2025-10-27T06:15:17.913Z,1761545717.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:18.286Z,1761545718.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973255,0.228407,0.024584],[-0.229435,-0.961058,-0.154038],[-0.011556,-0.155559,0.987759]] 2025-10-27T06:15:18.329Z,1761545718.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:18.690Z,1761545718.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972996,0.229284,0.026591],[-0.230612,-0.960754,-0.154174],[-0.009802,-0.156143,0.987686]] 2025-10-27T06:15:18.747Z,1761545718.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:19.147Z,1761545719.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:19.501Z,1761545719.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972497,0.230829,0.031095],[-0.232847,-0.960316,-0.153543],[-0.005581,-0.156560,0.987653]] 2025-10-27T06:15:19.550Z,1761545719.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:19.905Z,1761545719.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972412,0.230934,0.032942],[-0.233243,-0.960321,-0.152908],[-0.003677,-0.156373,0.987691]] 2025-10-27T06:15:19.925Z,1761545719.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:20.320Z,1761545720.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972305,0.231090,0.034922],[-0.233708,-0.960297,-0.152352],[-0.001672,-0.156294,0.987709]] 2025-10-27T06:15:20.340Z,1761545720.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:20.725Z,1761545720.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972097,0.231642,0.036998],[-0.234578,-0.960104,-0.152229],[0.000259,-0.156660,0.987653]] 2025-10-27T06:15:20.782Z,1761545720.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:21.158Z,1761545721.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:21.526Z,1761545721.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971813,0.232109,0.041288],[-0.235714,-0.959828,-0.152214],[0.004299,-0.157656,0.987485]] 2025-10-27T06:15:21.582Z,1761545721.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:21.937Z,1761545721.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971732,0.232086,0.043266],[-0.236006,-0.959691,-0.152628],[0.006099,-0.158524,0.987336]] 2025-10-27T06:15:21.954Z,1761545721.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:22.335Z,1761545722.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971622,0.232179,0.045212],[-0.236416,-0.959402,-0.153802],[0.007667,-0.160126,0.987067]] 2025-10-27T06:15:22.362Z,1761545722.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:22.853Z,1761545722.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:23.351Z,1761545723.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971626,0.231044,0.050619],[-0.236162,-0.959499,-0.153590],[0.013083,-0.161186,0.986837]] 2025-10-27T06:15:23.417Z,1761545723.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:23.894Z,1761545723.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971663,0.230461,0.052522],[-0.235903,-0.959458,-0.154239],[0.014846,-0.162258,0.986637]] 2025-10-27T06:15:23.944Z,1761545723.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:24.343Z,1761545724.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:24.701Z,1761545724.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971709,0.229449,0.055991],[-0.235471,-0.959539,-0.154394],[0.018300,-0.163210,0.986422]] 2025-10-27T06:15:24.769Z,1761545724.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:25.103Z,1761545725.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971700,0.229038,0.057803],[-0.235369,-0.959506,-0.154754],[0.020018,-0.163979,0.986261]] 2025-10-27T06:15:25.137Z,1761545725.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:25.516Z,1761545725.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971687,0.228629,0.059611],[-0.235286,-0.959354,-0.155820],[0.021563,-0.165434,0.985985]] 2025-10-27T06:15:25.559Z,1761545725.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:25.914Z,1761545725.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971624,0.228388,0.061523],[-0.235392,-0.959149,-0.156921],[0.023171,-0.166950,0.985693]] 2025-10-27T06:15:25.932Z,1761545725.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:26.319Z,1761545726.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971540,0.228328,0.063064],[-0.235600,-0.959037,-0.157291],[0.024566,-0.167672,0.985537]] 2025-10-27T06:15:26.337Z,1761545726.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:26.725Z,1761545726.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971674,0.227463,0.064113],[-0.234903,-0.959327,-0.156563],[0.025893,-0.167188,0.985585]] 2025-10-27T06:15:26.771Z,1761545726.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:27.123Z,1761545727.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971707,0.226871,0.065688],[-0.234581,-0.959412,-0.156526],[0.027511,-0.167506,0.985487]] 2025-10-27T06:15:27.141Z,1761545727.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:27.544Z,1761545727.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971742,0.226286,0.067178],[-0.234248,-0.959523,-0.156341],[0.029081,-0.167659,0.985416]] 2025-10-27T06:15:27.587Z,1761545727.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:27.940Z,1761545727.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971721,0.226014,0.068384],[-0.234180,-0.959554,-0.156254],[0.030303,-0.167849,0.985347]] 2025-10-27T06:15:27.958Z,1761545727.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:28.334Z,1761545728.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971766,0.225556,0.069244],[-0.233840,-0.959806,-0.155217],[0.031451,-0.167026,0.985451]] 2025-10-27T06:15:28.362Z,1761545728.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:28.742Z,1761545728.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971788,0.225096,0.070427],[-0.233576,-0.959903,-0.155010],[0.032711,-0.167087,0.985399]] 2025-10-27T06:15:28.824Z,1761545728.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:29.145Z,1761545729.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971749,0.224892,0.071605],[-0.233568,-0.959928,-0.154867],[0.033908,-0.167216,0.985337]] 2025-10-27T06:15:29.163Z,1761545729.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:29.572Z,1761545729.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971739,0.224637,0.072540],[-0.233462,-0.959999,-0.154585],[0.034913,-0.167151,0.985313]] 2025-10-27T06:15:29.621Z,1761545729.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:29.953Z,1761545729.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971770,0.224215,0.073423],[-0.233182,-0.960118,-0.154269],[0.035905,-0.167035,0.985297]] 2025-10-27T06:15:29.982Z,1761545729.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:30.354Z,1761545730.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971830,0.223646,0.074351],[-0.232767,-0.960257,-0.154034],[0.036947,-0.167001,0.985264]] 2025-10-27T06:15:30.371Z,1761545730.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:30.758Z,1761545730.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971772,0.223694,0.074962],[-0.232889,-0.960342,-0.153314],[0.037694,-0.166444,0.985330]] 2025-10-27T06:15:30.821Z,1761545730.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:31.152Z,1761545731.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:15:31.171Z,1761545731.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971772,0.223427,0.075759],[-0.232753,-0.960401,-0.153151],[0.038541,-0.166461,0.985295]] 2025-10-27T06:15:31.189Z,1761545731.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:31.600Z,1761545731.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971760,0.223183,0.076633],[-0.232648,-0.960462,-0.152930],[0.039471,-0.166440,0.985261]] 2025-10-27T06:15:31.665Z,1761545731.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:31.974Z,1761545731.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971719,0.223070,0.077471],[-0.232667,-0.960495,-0.152695],[0.040348,-0.166402,0.985232]] 2025-10-27T06:15:32.012Z,1761545732.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:32.155Z,1761545732.155 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:15:32.378Z,1761545732.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971719,0.222775,0.078316],[-0.232503,-0.960587,-0.152364],[0.041286,-0.166263,0.985217]] 2025-10-27T06:15:32.397Z,1761545732.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:32.796Z,1761545732.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971678,0.222739,0.078932],[-0.232558,-0.960618,-0.152085],[0.041948,-0.166134,0.985211]] 2025-10-27T06:15:32.856Z,1761545732.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:33.187Z,1761545733.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971667,0.222588,0.079481],[-0.232485,-0.960690,-0.151741],[0.042581,-0.165920,0.985220]] 2025-10-27T06:15:33.213Z,1761545733.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:33.628Z,1761545733.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971679,0.222340,0.080027],[-0.232299,-0.960848,-0.151021],[0.043315,-0.165334,0.985286]] 2025-10-27T06:15:33.689Z,1761545733.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:34.007Z,1761545734.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971578,0.222661,0.080365],[-0.232637,-0.960894,-0.150207],[0.043777,-0.164633,0.985383]] 2025-10-27T06:15:34.053Z,1761545734.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:34.412Z,1761545734.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971482,0.222833,0.081043],[-0.232904,-0.960880,-0.149882],[0.044474,-0.164483,0.985377]] 2025-10-27T06:15:34.431Z,1761545734.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:34.816Z,1761545734.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971448,0.222790,0.081563],[-0.232926,-0.960950,-0.149399],[0.045093,-0.164132,0.985407]] 2025-10-27T06:15:34.858Z,1761545734.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:35.217Z,1761545735.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971406,0.222720,0.082253],[-0.232963,-0.960966,-0.149239],[0.045804,-0.164133,0.985374]] 2025-10-27T06:15:35.256Z,1761545735.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:35.662Z,1761545735.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971109,0.223430,0.083825],[-0.233983,-0.960529,-0.150453],[0.046901,-0.165720,0.985057]] 2025-10-27T06:15:35.715Z,1761545735.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:36.064Z,1761545736.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:36.430Z,1761545736.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971048,0.223468,0.084422],[-0.234123,-0.960483,-0.150525],[0.047448,-0.165933,0.984995]] 2025-10-27T06:15:36.461Z,1761545736.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:36.834Z,1761545736.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971165,0.222913,0.084553],[-0.233550,-0.960773,-0.149566],[0.047896,-0.165001,0.985130]] 2025-10-27T06:15:36.883Z,1761545736.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:37.244Z,1761545737.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971147,0.222607,0.085551],[-0.233415,-0.960797,-0.149620],[0.048891,-0.165272,0.985035]] 2025-10-27T06:15:37.295Z,1761545737.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:37.766Z,1761545737.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:38.132Z,1761545738.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:38.480Z,1761545738.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971201,0.221972,0.086591],[-0.232968,-0.960880,-0.149786],[0.049955,-0.165645,0.984919]] 2025-10-27T06:15:38.498Z,1761545738.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:38.882Z,1761545738.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971358,0.221226,0.086735],[-0.232258,-0.961038,-0.149877],[0.050199,-0.165729,0.984893]] 2025-10-27T06:15:38.926Z,1761545738.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:39.379Z,1761545739.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971455,0.220654,0.087102],[-0.231761,-0.961135,-0.150022],[0.050614,-0.165926,0.984838]] 2025-10-27T06:15:39.399Z,1761545739.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:39.792Z,1761545739.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971582,0.219972,0.087414],[-0.231118,-0.961351,-0.149629],[0.051121,-0.165580,0.984870]] 2025-10-27T06:15:39.829Z,1761545739.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:40.294Z,1761545740.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971764,0.219112,0.087552],[-0.230264,-0.961631,-0.149144],[0.051514,-0.165093,0.984932]] 2025-10-27T06:15:40.321Z,1761545740.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:40.744Z,1761545740.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971921,0.218509,0.087312],[-0.229614,-0.961829,-0.148868],[0.051450,-0.164736,0.984995]] 2025-10-27T06:15:40.805Z,1761545740.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:41.103Z,1761545741.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972064,0.217907,0.087230],[-0.229006,-0.961968,-0.148910],[0.051464,-0.164726,0.984996]] 2025-10-27T06:15:41.121Z,1761545741.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:41.504Z,1761545741.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972261,0.217024,0.087227],[-0.228111,-0.962244,-0.148499],[0.051706,-0.164277,0.985058]] 2025-10-27T06:15:41.522Z,1761545741.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:41.905Z,1761545741.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972490,0.216066,0.087056],[-0.227110,-0.962551,-0.148044],[0.051808,-0.163743,0.985142]] 2025-10-27T06:15:41.951Z,1761545741.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:42.310Z,1761545742.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972553,0.215815,0.086977],[-0.226856,-0.962588,-0.148189],[0.051742,-0.163852,0.985127]] 2025-10-27T06:15:42.344Z,1761545742.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:42.764Z,1761545742.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972572,0.215869,0.086623],[-0.226843,-0.962617,-0.148022],[0.051431,-0.163611,0.985183]] 2025-10-27T06:15:42.817Z,1761545742.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:43.119Z,1761545743.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972660,0.215458,0.086662],[-0.226443,-0.962711,-0.148025],[0.051537,-0.163602,0.985179]] 2025-10-27T06:15:43.142Z,1761545743.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:43.523Z,1761545743.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972778,0.215099,0.086234],[-0.225967,-0.962970,-0.147067],[0.051407,-0.162549,0.985360]] 2025-10-27T06:15:43.545Z,1761545743.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:43.925Z,1761545743.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972779,0.215189,0.085990],[-0.226017,-0.962957,-0.147074],[0.051156,-0.162505,0.985381]] 2025-10-27T06:15:43.970Z,1761545743.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:44.367Z,1761545744.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:44.759Z,1761545744.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972861,0.215170,0.085104],[-0.225792,-0.963192,-0.145873],[0.050584,-0.161130,0.985636]] 2025-10-27T06:15:44.828Z,1761545744.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:15:44.830Z,1761545744.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:45.020Z,1761545745.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:15:45.020Z,1761545745.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:15:45.139Z,1761545745.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972867,0.215310,0.084681],[-0.225864,-0.963169,-0.145916],[0.050145,-0.161083,0.985666]] 2025-10-27T06:15:45.196Z,1761545745.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:45.273Z,1761545745.273 [DAT](INFO): DAT read: user:687> 2025-10-27T06:15:45.274Z,1761545745.274 [DAT](INFO): DAT read: Tx time:06:15:44.3182 2025-10-27T06:15:45.275Z,1761545745.275 [DAT](INFO): Ping request sent. 2025-10-27T06:15:45.275Z,1761545745.275 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:15:45.275Z,1761545745.275 [DAT](INFO): publishing transmit ping time 2025-10-27T06:15:45.276Z,1761545745.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001116 2025-10-27T06:15:45.524Z,1761545745.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248735 2025-10-27T06:15:45.593Z,1761545745.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:45.783Z,1761545745.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506931 2025-10-27T06:15:45.947Z,1761545745.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972493,0.217050,0.084540],[-0.227597,-0.962662,-0.146566],[0.049571,-0.161776,0.985582]] 2025-10-27T06:15:46.028Z,1761545746.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752774 2025-10-27T06:15:46.061Z,1761545746.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:46.281Z,1761545746.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005411 2025-10-27T06:15:46.401Z,1761545746.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:46.532Z,1761545746.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256755 2025-10-27T06:15:46.787Z,1761545746.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511092 2025-10-27T06:15:46.790Z,1761545746.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972358,0.217899,0.083903],[-0.228319,-0.962538,-0.146258],[0.048890,-0.161371,0.985682]] 2025-10-27T06:15:46.878Z,1761545746.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:47.036Z,1761545747.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760748 2025-10-27T06:15:47.175Z,1761545747.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972221,0.218520,0.083878],[-0.228935,-0.962374,-0.146373],[0.048737,-0.161509,0.985667]] 2025-10-27T06:15:47.194Z,1761545747.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:47.288Z,1761545747.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013254 2025-10-27T06:15:47.544Z,1761545747.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268763 2025-10-27T06:15:47.594Z,1761545747.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972058,0.219437,0.083369],[-0.229754,-0.962197,-0.146255],[0.048124,-0.161323,0.985728]] 2025-10-27T06:15:47.613Z,1761545747.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:47.799Z,1761545747.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523308 2025-10-27T06:15:47.981Z,1761545747.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972030,0.219758,0.082846],[-0.229975,-0.962184,-0.145994],[0.047630,-0.160963,0.985811]] 2025-10-27T06:15:48.033Z,1761545748.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:48.051Z,1761545748.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776243 2025-10-27T06:15:48.300Z,1761545748.300 [DAT](INFO): DAT read: Rx Time:06:15:46.9728 2025-10-27T06:15:48.300Z,1761545748.300 [DAT](INFO): Rx dataTimestamp_ set to:1761545748.300191 2025-10-27T06:15:48.301Z,1761545748.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025890 2025-10-27T06:15:48.385Z,1761545748.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971922,0.220363,0.082508],[-0.230507,-0.962092,-0.145758],[0.047261,-0.160684,0.985874]] 2025-10-27T06:15:48.408Z,1761545748.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:48.552Z,1761545748.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276844 2025-10-27T06:15:48.809Z,1761545748.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532706 2025-10-27T06:15:48.903Z,1761545748.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.84 m. 2025-10-27T06:15:49.062Z,1761545749.062 [DAT](INFO): DAT read: 06:15:46.9728 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 273,-0.34, 1.270, 2.313, 1.291, 0.892, PHS= 0.480, 1.466, 0.355, RAW= 335.9, -37.7, CAL= 335.7, -40.4, ROT= 174.3, 40.4 2025-10-27T06:15:49.063Z,1761545749.063 [DAT](INFO): got valid direction response: 06:15:46.9728 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 273,-0.34, 1.270, 2.313, 1.291, 0.892, PHS= 0.480, 1.466, 0.355, RAW= 335.9, -37.7, CAL= 335.7, -40.4, ROT= 174.3, 40.4 2025-10-27T06:15:49.064Z,1761545749.064 [DAT](INFO): DAT read: Bearing 198.7, 8.0 (Local) 2025-10-27T06:15:49.064Z,1761545749.064 [DAT](INFO): Local bearing/azimuth received: Bearing 198.7, 8.0 (Local) 2025-10-27T06:15:49.066Z,1761545749.066 [DAT](INFO): DAT read: Range 11 to 50 : 187.8 m (Round-trip 250.4 ms) speed -0.4 m/s 2025-10-27T06:15:49.066Z,1761545749.066 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:15:49.068Z,1761545749.068 [DAT](INFO): direction in FSK: [-0.757773,0.075636,-0.648120] 2025-10-27T06:15:49.068Z,1761545749.068 [DAT](INFO): publishing direction and range info 2025-10-27T06:15:49.204Z,1761545749.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971784,0.221455,0.081202],[-0.231335,-0.962032,-0.144838],[0.046044,-0.159536,0.986118]] 2025-10-27T06:15:49.280Z,1761545749.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.800003 m, deltaT: 60.519997 s, deltaX: 101.400002 m, approachRate: 1.675479 m/s, rangeRepo size: 4 2025-10-27T06:15:49.282Z,1761545749.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.581024 m, bearing: 15.662293 deg, lat: 36.779416 deg, lon: -121.859764 deg, deltaT: 60.519997 s, deltaX: 100.737885 m, approachRate: 1.664539 m/s, posRepo size: 4 2025-10-27T06:15:49.282Z,1761545749.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.58 m. 2025-10-27T06:15:49.287Z,1761545749.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 187.80 m. Resuming terminal guidance. 2025-10-27T06:15:49.287Z,1761545749.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T06:15:49.617Z,1761545749.617 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T06:15:49.618Z,1761545749.618 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:15:49.618Z,1761545749.618 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T06:15:49.619Z,1761545749.619 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 187.800003 m (mode 1.000000 count ). 2025-10-27T06:15:49.619Z,1761545749.619 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T06:15:49.620Z,1761545749.620 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T06:15:49.997Z,1761545749.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971538,0.222755,0.080589],[-0.232465,-0.961950,-0.143566],[0.045542,-0.158214,0.986354]] 2025-10-27T06:15:50.040Z,1761545750.040 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T06:15:50.040Z,1761545750.040 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T06:15:50.041Z,1761545750.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:15:50.066Z,1761545750.066 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:15:50.066Z,1761545750.066 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:15:50.066Z,1761545750.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:15:50.316Z,1761545750.316 [DAT](INFO): DAT read: user:688> 2025-10-27T06:15:50.317Z,1761545750.317 [DAT](INFO): DAT read: Tx time:06:15:49.3682 2025-10-27T06:15:50.317Z,1761545750.317 [DAT](INFO): Ping request sent. 2025-10-27T06:15:50.317Z,1761545750.317 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:15:50.317Z,1761545750.317 [DAT](INFO): publishing transmit ping time 2025-10-27T06:15:50.318Z,1761545750.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-27T06:15:50.402Z,1761545750.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971521,0.222823,0.080600],[-0.232468,-0.962165,-0.142119],[0.045883,-0.156808,0.986563]] 2025-10-27T06:15:50.425Z,1761545750.425 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T06:15:50.426Z,1761545750.426 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T06:15:50.569Z,1761545750.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251512 2025-10-27T06:15:50.807Z,1761545750.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971562,0.222344,0.081430],[-0.232163,-0.962117,-0.142938],[0.046563,-0.157778,0.986376]] 2025-10-27T06:15:50.820Z,1761545750.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503286 2025-10-27T06:15:50.828Z,1761545750.828 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T06:15:50.828Z,1761545750.828 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:15:50.828Z,1761545750.828 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T06:15:50.828Z,1761545750.828 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:15:51.072Z,1761545751.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754965 2025-10-27T06:15:51.324Z,1761545751.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007169 2025-10-27T06:15:51.576Z,1761545751.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258931 2025-10-27T06:15:51.623Z,1761545751.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.972729,0.216208,0.083976],[-0.226713,-0.962744,-0.147396],[0.048979,-0.162415,0.985506]] 2025-10-27T06:15:51.828Z,1761545751.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510910 2025-10-27T06:15:52.080Z,1761545752.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763118 2025-10-27T06:15:52.100Z,1761545752.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:15:52.332Z,1761545752.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014831 2025-10-27T06:15:52.422Z,1761545752.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976018,0.199147,0.087914],[-0.211436,-0.963337,-0.165159],[0.051800,-0.179787,0.982341]] 2025-10-27T06:15:52.584Z,1761545752.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267169 2025-10-27T06:15:52.826Z,1761545752.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978119,0.187540,0.090063],[-0.201265,-0.962597,-0.181381],[0.052678,-0.195538,0.979280]] 2025-10-27T06:15:52.836Z,1761545752.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518979 2025-10-27T06:15:53.088Z,1761545753.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770845 2025-10-27T06:15:53.236Z,1761545753.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.980515,0.173560,0.092021],[-0.189059,-0.960957,-0.202034],[0.053363,-0.215495,0.975046]] 2025-10-27T06:15:53.342Z,1761545753.342 [DAT](INFO): DAT read: Rx Time:06:15:52.0254 2025-10-27T06:15:53.342Z,1761545753.342 [DAT](INFO): Rx dataTimestamp_ set to:1761545753.341759 2025-10-27T06:15:53.343Z,1761545753.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025609 2025-10-27T06:15:53.592Z,1761545753.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274904 2025-10-27T06:15:53.642Z,1761545753.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983127,0.156957,0.093951],[-0.174526,-0.958670,-0.224706],[0.054799,-0.237311,0.969887]] 2025-10-27T06:15:53.847Z,1761545753.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528929 2025-10-27T06:15:54.104Z,1761545754.104 [DAT](INFO): DAT read: 06:15:52.0254 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 475, 0.03, 0.104, 1.146, 0.058,-0.261, PHS= 0.467, 1.452, 0.275, RAW= 338.7, -35.3, CAL= 338.7, -37.9, ROT= 171.3, 37.9 2025-10-27T06:15:54.106Z,1761545754.106 [DAT](INFO): got valid direction response: 06:15:52.0254 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 475, 0.03, 0.104, 1.146, 0.058,-0.261, PHS= 0.467, 1.452, 0.275, RAW= 338.7, -35.3, CAL= 338.7, -37.9, ROT= 171.3, 37.9 2025-10-27T06:15:54.107Z,1761545754.107 [DAT](INFO): DAT read: Bearing 192.3, 12.3 (Local) 2025-10-27T06:15:54.108Z,1761545754.108 [DAT](INFO): Local bearing/azimuth received: Bearing 192.3, 12.3 (Local) 2025-10-27T06:15:54.109Z,1761545754.109 [DAT](INFO): DAT read: Range 11 to 50 : 189.8 m (Round-trip 253.1 ms) speed -1.2 m/s 2025-10-27T06:15:54.110Z,1761545754.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:15:54.112Z,1761545754.112 [DAT](INFO): direction in FSK: [-0.780005,0.119358,-0.614285] 2025-10-27T06:15:54.112Z,1761545754.112 [DAT](INFO): publishing direction and range info 2025-10-27T06:15:54.133Z,1761545754.133 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:15:54.133Z,1761545754.133 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:15:54.133Z,1761545754.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:15:54.213Z,1761545754.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988939,0.114396,0.094409],[-0.136090,-0.952952,-0.270853],[0.058983,-0.280705,0.957980]] 2025-10-27T06:15:54.306Z,1761545754.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 189.800003 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T06:15:54.317Z,1761545754.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 188.571381 m, bearing: 12.320326 deg, lat: 36.779416 deg, lon: -121.859763 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T06:15:54.317Z,1761545754.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:54.324Z,1761545754.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 137.095154 m, bearing: 10.869489 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 14.001502 deg, new cmd heading: 10.869489 deg. 2025-10-27T06:15:54.325Z,1761545754.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.189708 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:54.348Z,1761545754.348 [DAT](INFO): DAT read: user:689> 2025-10-27T06:15:54.349Z,1761545754.349 [DAT](INFO): DAT read: Tx time:06:15:53.4182 2025-10-27T06:15:54.349Z,1761545754.349 [DAT](INFO): Ping request sent. 2025-10-27T06:15:54.349Z,1761545754.349 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:15:54.349Z,1761545754.349 [DAT](INFO): publishing transmit ping time 2025-10-27T06:15:54.350Z,1761545754.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T06:15:54.600Z,1761545754.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250725 2025-10-27T06:15:54.771Z,1761545754.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991520,0.091433,0.092351],[-0.114480,-0.950852,-0.287704],[0.061507,-0.295837,0.953256]] 2025-10-27T06:15:54.788Z,1761545754.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:15:54.790Z,1761545754.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:54.813Z,1761545754.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 137.474182 m, bearing: 10.830354 deg, approach rate: 0.782043 m/s, LOS rate: -0.080525 deg/s, cmd heading: 10.869489 deg, new cmd heading: 10.830354 deg. 2025-10-27T06:15:54.814Z,1761545754.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.189025 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:54.858Z,1761545754.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508788 2025-10-27T06:15:55.108Z,1761545755.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758820 2025-10-27T06:15:55.174Z,1761545755.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993730,0.067447,0.089168],[-0.091448,-0.949175,-0.301171],[0.064323,-0.307437,0.949392]] 2025-10-27T06:15:55.263Z,1761545755.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:55.266Z,1761545755.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 137.804718 m, bearing: 10.792977 deg, approach rate: 0.701837 m/s, LOS rate: -0.079172 deg/s, cmd heading: 10.830353 deg, new cmd heading: 10.792977 deg. 2025-10-27T06:15:55.266Z,1761545755.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.188373 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:55.361Z,1761545755.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011366 2025-10-27T06:15:55.578Z,1761545755.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995350,0.043966,0.085702],[-0.068755,-0.947435,-0.312473],[0.067459,-0.316913,0.946053]] 2025-10-27T06:15:55.612Z,1761545755.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262889 2025-10-27T06:15:55.616Z,1761545755.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:55.618Z,1761545755.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 138.086777 m, bearing: 10.758503 deg, approach rate: 0.806470 m/s, LOS rate: -0.098370 deg/s, cmd heading: 10.792977 deg, new cmd heading: 10.758503 deg. 2025-10-27T06:15:55.620Z,1761545755.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187771 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:55.866Z,1761545755.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517172 2025-10-27T06:15:55.984Z,1761545755.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996464,0.020265,0.081535],[-0.045492,-0.946043,-0.320833],[0.070634,-0.323408,0.943620]] 2025-10-27T06:15:56.023Z,1761545756.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:56.045Z,1761545756.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 138.391693 m, bearing: 10.723627 deg, approach rate: 0.740336 m/s, LOS rate: -0.084492 deg/s, cmd heading: 10.758502 deg, new cmd heading: 10.723627 deg. 2025-10-27T06:15:56.046Z,1761545756.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187163 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:56.117Z,1761545756.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767213 2025-10-27T06:15:56.368Z,1761545756.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018677 2025-10-27T06:15:56.386Z,1761545756.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997057,-0.003621,0.076576],[-0.021537,-0.945424,-0.325129],[0.073574,-0.325822,0.942564]] 2025-10-27T06:15:56.405Z,1761545756.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:56.408Z,1761545756.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 138.676254 m, bearing: 10.688193 deg, approach rate: 0.744461 m/s, LOS rate: -0.092510 deg/s, cmd heading: 10.723627 deg, new cmd heading: 10.688193 deg. 2025-10-27T06:15:56.408Z,1761545756.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186544 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:56.621Z,1761545756.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271417 2025-10-27T06:15:56.790Z,1761545756.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997087,-0.026582,0.071491],[0.001749,-0.945025,-0.326994],[0.076253,-0.325916,0.942318]] 2025-10-27T06:15:56.818Z,1761545756.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:15:56.821Z,1761545756.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:56.825Z,1761545756.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 138.981201 m, bearing: 10.647162 deg, approach rate: 0.733132 m/s, LOS rate: -0.098427 deg/s, cmd heading: 10.688193 deg, new cmd heading: 10.647162 deg. 2025-10-27T06:15:56.826Z,1761545756.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.185828 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:56.872Z,1761545756.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522892 2025-10-27T06:15:57.124Z,1761545757.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774832 2025-10-27T06:15:57.204Z,1761545757.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996551,-0.049178,0.066847],[0.024811,-0.945217,-0.325500],[0.079192,-0.322718,0.943176]] 2025-10-27T06:15:57.288Z,1761545757.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:57.290Z,1761545757.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 139.324905 m, bearing: 10.597825 deg, approach rate: 0.736117 m/s, LOS rate: -0.105407 deg/s, cmd heading: 10.647163 deg, new cmd heading: 10.597825 deg. 2025-10-27T06:15:57.291Z,1761545757.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184967 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:57.376Z,1761545757.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026990 2025-10-27T06:15:57.608Z,1761545757.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995497,-0.071663,0.062049],[0.048419,-0.947158,-0.317092],[0.081494,-0.312660,0.946363]] 2025-10-27T06:15:57.626Z,1761545757.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.57 m. 2025-10-27T06:15:57.628Z,1761545757.628 [DAT](INFO): DAT read: Rx Time:06:15:56.0793 2025-10-27T06:15:57.629Z,1761545757.629 [DAT](INFO): Rx dataTimestamp_ set to:1761545757.628260 2025-10-27T06:15:57.629Z,1761545757.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279928 2025-10-27T06:15:57.634Z,1761545757.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 188.571381 m, nav range: 139.572693 m, bearing: 10.559559 deg, approach rate: 0.731688 m/s, LOS rate: -0.112794 deg/s, cmd heading: 10.597825 deg, new cmd heading: 10.559559 deg. 2025-10-27T06:15:57.634Z,1761545757.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184299 target range: 188.571381 and range: 189.80 m. 2025-10-27T06:15:57.880Z,1761545757.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530814 2025-10-27T06:15:58.104Z,1761545758.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991685,-0.116696,0.054255],[0.096293,-0.952548,-0.288756],[0.085377,-0.281130,0.955864]] 2025-10-27T06:15:58.137Z,1761545758.137 [DAT](INFO): DAT read: 06:15:56.0793 LVL= 32752, 29681, 32754, 32755, AGC= 67, IDX= 116,-0.05,-0.891, 1.205,-0.116, 0.022, PHS=-0.811, 1.228,-0.182, RAW= 312.5, -2.6, CAL= 311.2, -5.9, ROT= 198.8, 5.9 2025-10-27T06:15:58.138Z,1761545758.138 [DAT](INFO): got valid direction response: 06:15:56.0793 LVL= 32752, 29681, 32754, 32755, AGC= 67, IDX= 116,-0.05,-0.891, 1.205,-0.116, 0.022, PHS=-0.811, 1.228,-0.182, RAW= 312.5, -2.6, CAL= 311.2, -5.9, ROT= 198.8, 5.9 2025-10-27T06:15:58.140Z,1761545758.140 [DAT](INFO): DAT read: Bearing 155.3, -20.4 (Local) 2025-10-27T06:15:58.141Z,1761545758.141 [DAT](INFO): Local bearing/azimuth received: Bearing 155.3, -20.4 (Local) 2025-10-27T06:15:58.142Z,1761545758.142 [DAT](INFO): DAT read: Range 11 to 50 : 192.7 m (Round-trip 257.0 ms) speed -0.4 m/s 2025-10-27T06:15:58.142Z,1761545758.142 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:15:58.144Z,1761545758.144 [DAT](INFO): direction in FSK: [-0.941635,-0.320559,-0.102793] 2025-10-27T06:15:58.144Z,1761545758.144 [DAT](INFO): publishing direction and range info 2025-10-27T06:15:58.151Z,1761545758.151 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:15:58.152Z,1761545758.152 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:15:58.152Z,1761545758.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:15:58.211Z,1761545758.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 192.699997 m, deltaT: 4.035682 s, deltaX: 2.899994 m, approachRate: 0.718588 m/s, rangeRepo size: 2 2025-10-27T06:15:58.214Z,1761545758.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 191.452438 m, bearing: 14.200758 deg, lat: 36.779416 deg, lon: -121.859717 deg, deltaT: 4.035682 s, deltaX: 2.881058 m, approachRate: 0.713896 m/s, posRepo size: 2 2025-10-27T06:15:58.214Z,1761545758.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:15:58.241Z,1761545758.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 140.756638 m, bearing: 12.129202 deg, approach rate: 0.000000 m/s, LOS rate: -0.112794 deg/s, cmd heading: 10.559559 deg, new cmd heading: 10.363237 deg. 2025-10-27T06:15:58.260Z,1761545758.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180873 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:15:58.384Z,1761545758.384 [DAT](INFO): DAT read: user:690> 2025-10-27T06:15:58.385Z,1761545758.385 [DAT](INFO): DAT read: Tx time:06:15:57.4682 2025-10-27T06:15:58.385Z,1761545758.385 [DAT](INFO): Ping request sent. 2025-10-27T06:15:58.385Z,1761545758.385 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:15:58.385Z,1761545758.385 [DAT](INFO): publishing transmit ping time 2025-10-27T06:15:58.386Z,1761545758.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T06:15:58.640Z,1761545758.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254856 2025-10-27T06:15:58.713Z,1761545758.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988892,-0.139859,0.050320],[0.121002,-0.954111,-0.273917],[0.086320,-0.264785,0.960436]] 2025-10-27T06:15:58.770Z,1761545758.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:15:58.780Z,1761545758.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 141.165756 m, bearing: 12.046275 deg, approach rate: 0.726412 m/s, LOS rate: -0.146814 deg/s, cmd heading: 10.363237 deg, new cmd heading: 10.115180 deg. 2025-10-27T06:15:58.782Z,1761545758.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.176543 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:15:58.889Z,1761545758.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503187 2025-10-27T06:15:59.140Z,1761545759.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754748 2025-10-27T06:15:59.149Z,1761545759.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.985497,-0.163480,0.045490],[0.145762,-0.952796,-0.266333],[0.086883,-0.255840,0.962807]] 2025-10-27T06:15:59.200Z,1761545759.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:15:59.202Z,1761545759.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:15:59.204Z,1761545759.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 141.477753 m, bearing: 11.989340 deg, approach rate: 0.722321 m/s, LOS rate: -0.131522 deg/s, cmd heading: 10.115180 deg, new cmd heading: 9.944753 deg. 2025-10-27T06:15:59.205Z,1761545759.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173569 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:15:59.392Z,1761545759.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007214 2025-10-27T06:15:59.552Z,1761545759.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981484,-0.187404,0.039622],[0.170729,-0.949677,-0.262614],[0.086843,-0.250987,0.964087]] 2025-10-27T06:15:59.570Z,1761545759.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:15:59.573Z,1761545759.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 141.736969 m, bearing: 11.938985 deg, approach rate: 0.703190 m/s, LOS rate: -0.136353 deg/s, cmd heading: 9.944753 deg, new cmd heading: 9.793963 deg. 2025-10-27T06:15:59.574Z,1761545759.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170937 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:15:59.646Z,1761545759.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260970 2025-10-27T06:15:59.900Z,1761545759.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514662 2025-10-27T06:15:59.968Z,1761545759.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976812,-0.211607,0.032559],[0.195871,-0.944662,-0.263152],[0.086442,-0.250673,0.964205]] 2025-10-27T06:16:00.037Z,1761545760.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:00.044Z,1761545760.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 142.055069 m, bearing: 11.873369 deg, approach rate: 0.681617 m/s, LOS rate: -0.140284 deg/s, cmd heading: 9.793963 deg, new cmd heading: 9.597559 deg. 2025-10-27T06:16:00.045Z,1761545760.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167509 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:00.153Z,1761545760.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768187 2025-10-27T06:16:00.376Z,1761545760.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.971414,-0.236170,0.024065],[0.221385,-0.937835,-0.267308],[0.085699,-0.254339,0.963311]] 2025-10-27T06:16:00.404Z,1761545760.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018847 2025-10-27T06:16:00.435Z,1761545760.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:00.441Z,1761545760.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 142.316940 m, bearing: 11.818767 deg, approach rate: 0.658595 m/s, LOS rate: -0.137069 deg/s, cmd heading: 9.597559 deg, new cmd heading: 9.434055 deg. 2025-10-27T06:16:00.442Z,1761545760.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.164655 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:00.657Z,1761545760.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271159 2025-10-27T06:16:00.903Z,1761545760.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958927,-0.283610,0.004920],[0.270902,-0.920824,-0.280526],[0.084090,-0.267671,0.959834]] 2025-10-27T06:16:00.908Z,1761545760.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522793 2025-10-27T06:16:00.922Z,1761545760.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:00.925Z,1761545760.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 142.653076 m, bearing: 11.740119 deg, approach rate: 0.688985 m/s, LOS rate: -0.160828 deg/s, cmd heading: 9.434055 deg, new cmd heading: 9.198667 deg. 2025-10-27T06:16:00.926Z,1761545760.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160547 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:01.160Z,1761545761.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774680 2025-10-27T06:16:01.305Z,1761545761.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951637,-0.307197,-0.004083],[0.295844,-0.912723,-0.281802],[0.082842,-0.269381,0.959464]] 2025-10-27T06:16:01.360Z,1761545761.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:01.362Z,1761545761.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:01.369Z,1761545761.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 142.925323 m, bearing: 11.673838 deg, approach rate: 0.619497 m/s, LOS rate: -0.150534 deg/s, cmd heading: 9.198667 deg, new cmd heading: 9.000204 deg. 2025-10-27T06:16:01.370Z,1761545761.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157083 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:01.413Z,1761545761.413 [DAT](INFO): DAT read: Rx Time:06:16:00.0633 2025-10-27T06:16:01.414Z,1761545761.414 [DAT](INFO): Rx dataTimestamp_ set to:1761545761.413527 2025-10-27T06:16:01.415Z,1761545761.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029496 2025-10-27T06:16:01.665Z,1761545761.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279632 2025-10-27T06:16:01.822Z,1761545761.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943862,-0.330107,-0.012406],[0.320211,-0.905047,-0.279921],[0.081176,-0.268180,0.959943]] 2025-10-27T06:16:01.840Z,1761545761.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:01.843Z,1761545761.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 143.239273 m, bearing: 11.593299 deg, approach rate: 0.656303 m/s, LOS rate: -0.167997 deg/s, cmd heading: 9.000204 deg, new cmd heading: 8.759116 deg. 2025-10-27T06:16:01.844Z,1761545761.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152875 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:01.919Z,1761545761.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533437 2025-10-27T06:16:02.175Z,1761545762.175 [DAT](INFO): DAT read: 06:16:00.0633 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 256, 0.34,-0.771, 1.421, 0.294, 0.421, PHS=-1.090, 1.045,-0.171, RAW= 304.6, 2.4, CAL= 302.4, -1.3, ROT= 207.6, 1.3 2025-10-27T06:16:02.176Z,1761545762.176 [DAT](INFO): got valid direction response: 06:16:00.0633 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 256, 0.34,-0.771, 1.421, 0.294, 0.421, PHS=-1.090, 1.045,-0.171, RAW= 304.6, 2.4, CAL= 302.4, -1.3, ROT= 207.6, 1.3 2025-10-27T06:16:02.177Z,1761545762.177 [DAT](INFO): DAT read: Bearing 139.7, -30.6 (Local) 2025-10-27T06:16:02.177Z,1761545762.177 [DAT](INFO): Local bearing/azimuth received: Bearing 139.7, -30.6 (Local) 2025-10-27T06:16:02.179Z,1761545762.179 [DAT](INFO): DAT read: Range 11 to 50 : 143.2 m (Round-trip 191.0 ms) speed -0.9 m/s 2025-10-27T06:16:02.180Z,1761545762.180 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:02.181Z,1761545762.181 [DAT](INFO): direction in FSK: [-0.885975,-0.463177,-0.022687] 2025-10-27T06:16:02.181Z,1761545762.181 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:02.185Z,1761545762.185 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:02.185Z,1761545762.185 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:02.185Z,1761545762.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:02.276Z,1761545762.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:16:02.379Z,1761545762.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 143.199997 m, deltaT: 4.035809 s, deltaX: -49.500000 m, approachRate: -12.265199 m/s, rangeRepo size: 2 2025-10-27T06:16:02.380Z,1761545762.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:02.383Z,1761545762.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 143.557068 m, bearing: 11.510679 deg, approach rate: 0.594872 m/s, LOS rate: -0.154311 deg/s, cmd heading: 8.759117 deg, new cmd heading: 8.511808 deg. 2025-10-27T06:16:02.388Z,1761545762.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.148559 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:02.420Z,1761545762.420 [DAT](INFO): DAT read: user:691> 2025-10-27T06:16:02.421Z,1761545762.421 [DAT](INFO): DAT read: Tx time:06:16:01.4682 2025-10-27T06:16:02.421Z,1761545762.421 [DAT](INFO): Ping request sent. 2025-10-27T06:16:02.421Z,1761545762.421 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:02.421Z,1761545762.421 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:02.422Z,1761545762.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-27T06:16:02.672Z,1761545762.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251143 2025-10-27T06:16:02.757Z,1761545762.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926044,-0.376481,-0.026546],[0.369509,-0.890077,-0.266880],[0.076847,-0.256952,0.963364]] 2025-10-27T06:16:02.775Z,1761545762.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:02.778Z,1761545762.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 143.803085 m, bearing: 11.439315 deg, approach rate: 0.614755 m/s, LOS rate: -0.178021 deg/s, cmd heading: 8.511808 deg, new cmd heading: 8.298083 deg. 2025-10-27T06:16:02.778Z,1761545762.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144829 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:02.924Z,1761545762.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502616 2025-10-27T06:16:03.146Z,1761545763.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916477,-0.398547,-0.035079],[0.393194,-0.881011,-0.263093],[0.073950,-0.254912,0.964132]] 2025-10-27T06:16:03.176Z,1761545763.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754822 2025-10-27T06:16:03.218Z,1761545763.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:03.231Z,1761545763.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 144.038696 m, bearing: 11.365467 deg, approach rate: 0.532021 m/s, LOS rate: -0.166479 deg/s, cmd heading: 8.298083 deg, new cmd heading: 8.076904 deg. 2025-10-27T06:16:03.233Z,1761545763.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.140969 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:03.282Z,1761545763.282 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:16:03.428Z,1761545763.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006749 2025-10-27T06:16:03.547Z,1761545763.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906182,-0.420586,-0.044068],[0.416951,-0.871196,-0.259170],[0.070611,-0.253229,0.964826]] 2025-10-27T06:16:03.564Z,1761545763.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:03.566Z,1761545763.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:03.569Z,1761545763.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 144.255630 m, bearing: 11.294046 deg, approach rate: 0.621771 m/s, LOS rate: -0.204397 deg/s, cmd heading: 8.076904 deg, new cmd heading: 7.862964 deg. 2025-10-27T06:16:03.570Z,1761545763.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137235 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:03.680Z,1761545763.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258820 2025-10-27T06:16:03.932Z,1761545763.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510700 2025-10-27T06:16:03.950Z,1761545763.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895696,-0.441442,-0.053464],[0.439575,-0.860871,-0.256270],[0.067103,-0.253041,0.965126]] 2025-10-27T06:16:04.000Z,1761545764.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:04.007Z,1761545764.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 144.486084 m, bearing: 11.214571 deg, approach rate: 0.531078 m/s, LOS rate: -0.182857 deg/s, cmd heading: 7.862963 deg, new cmd heading: 7.624920 deg. 2025-10-27T06:16:04.008Z,1761545764.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133080 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:04.184Z,1761545764.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777 2025-10-27T06:16:04.408Z,1761545764.408 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for bottom velocity. Device response is::BS +42,A 2025-10-27T06:16:04.423Z,1761545764.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:04.426Z,1761545764.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 144.732346 m, bearing: 11.130023 deg, approach rate: 0.582574 m/s, LOS rate: -0.199673 deg/s, cmd heading: 7.624920 deg, new cmd heading: 7.371709 deg. 2025-10-27T06:16:04.428Z,1761545764.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128661 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:04.436Z,1761545764.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014772 2025-10-27T06:16:04.688Z,1761545764.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266740 2025-10-27T06:16:04.776Z,1761545764.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872792,-0.482788,-0.071761],[0.484418,-0.838804,-0.248490],[0.059774,-0.251643,0.965973]] 2025-10-27T06:16:04.794Z,1761545764.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:04.814Z,1761545764.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 144.930008 m, bearing: 11.055237 deg, approach rate: 0.532401 m/s, LOS rate: -0.201160 deg/s, cmd heading: 7.371709 deg, new cmd heading: 7.147658 deg. 2025-10-27T06:16:04.815Z,1761545764.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124750 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:04.940Z,1761545764.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518816 2025-10-27T06:16:05.180Z,1761545765.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860311,-0.503314,-0.080877],[0.506643,-0.826655,-0.244855],[0.056382,-0.251627,0.966181]] 2025-10-27T06:16:05.192Z,1761545765.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770767 2025-10-27T06:16:05.261Z,1761545765.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:05.276Z,1761545765.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 145.162247 m, bearing: 10.958192 deg, approach rate: 0.497863 m/s, LOS rate: -0.207707 deg/s, cmd heading: 7.147658 deg, new cmd heading: 6.856993 deg. 2025-10-27T06:16:05.277Z,1761545765.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119677 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:05.444Z,1761545765.444 [DAT](INFO): DAT read: Rx Time:06:16:04.0668 2025-10-27T06:16:05.444Z,1761545765.444 [DAT](INFO): Rx dataTimestamp_ set to:1761545765.444114 2025-10-27T06:16:05.445Z,1761545765.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023763 2025-10-27T06:16:05.582Z,1761545765.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847768,-0.522592,-0.090484],[0.527708,-0.814086,-0.242462],[0.053047,-0.253300,0.965932]] 2025-10-27T06:16:05.598Z,1761545765.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:05.601Z,1761545765.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:05.603Z,1761545765.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 145.359177 m, bearing: 10.872174 deg, approach rate: 0.579535 m/s, LOS rate: -0.252795 deg/s, cmd heading: 6.856993 deg, new cmd heading: 6.599290 deg. 2025-10-27T06:16:05.604Z,1761545765.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115179 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:05.696Z,1761545765.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274936 2025-10-27T06:16:05.957Z,1761545765.957 [DAT](INFO): DAT read: 06:16:04.0668 LVL= 32752, 29089, 32626, 32755, AGC= 63, IDX= 468, 0.17,-2.924,-0.883,-1.781,-1.664, PHS=-1.158, 0.826,-0.161, RAW= 299.8, 5.8, CAL= 297.5, 3.7, ROT= 212.5, -3.7 2025-10-27T06:16:05.958Z,1761545765.958 [DAT](INFO): got valid direction response: 06:16:04.0668 LVL= 32752, 29089, 32626, 32755, AGC= 63, IDX= 468, 0.17,-2.924,-0.883,-1.781,-1.664, PHS=-1.158, 0.826,-0.161, RAW= 299.8, 5.8, CAL= 297.5, 3.7, ROT= 212.5, -3.7 2025-10-27T06:16:05.960Z,1761545765.960 [DAT](INFO): DAT read: Bearing 120.7, -35.4 (Local) 2025-10-27T06:16:05.961Z,1761545765.961 [DAT](INFO): Local bearing/azimuth received: Bearing 120.7, -35.4 (Local) 2025-10-27T06:16:05.962Z,1761545765.962 [DAT](INFO): DAT read: Range 11 to 50 : 145.8 m (Round-trip 194.5 ms) speed -0.6 m/s 2025-10-27T06:16:05.964Z,1761545765.964 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:05.965Z,1761545765.965 [DAT](INFO): direction in FSK: [-0.841634,-0.536180,0.064532] 2025-10-27T06:16:05.965Z,1761545765.965 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:05.968Z,1761545765.968 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:05.968Z,1761545765.968 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:05.969Z,1761545765.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:05.992Z,1761545765.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834456,-0.541957,-0.099830],[0.548838,-0.801011,-0.239077],[0.049605,-0.254290,0.965855]] 2025-10-27T06:16:06.148Z,1761545766.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 145.800003 m, deltaT: 7.818006 s, deltaX: -46.899994 m, approachRate: -5.998971 m/s, rangeRepo size: 2 2025-10-27T06:16:06.149Z,1761545766.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:06.164Z,1761545766.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 145.619629 m, bearing: 10.753172 deg, approach rate: 0.480064 m/s, LOS rate: -0.218952 deg/s, cmd heading: 6.599290 deg, new cmd heading: 6.242927 deg. 2025-10-27T06:16:06.165Z,1761545766.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108960 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:06.200Z,1761545766.200 [DAT](INFO): DAT read: user:692> 2025-10-27T06:16:06.201Z,1761545766.201 [DAT](INFO): DAT read: Tx time:06:16:05.2682 2025-10-27T06:16:06.201Z,1761545766.201 [DAT](INFO): Ping request sent. 2025-10-27T06:16:06.201Z,1761545766.201 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:06.201Z,1761545766.201 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:06.202Z,1761545766.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T06:16:06.452Z,1761545766.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250780 2025-10-27T06:16:06.506Z,1761545766.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:06.509Z,1761545766.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 145.826355 m, bearing: 10.661574 deg, approach rate: 0.569548 m/s, LOS rate: -0.252002 deg/s, cmd heading: 6.242927 deg, new cmd heading: 5.968525 deg. 2025-10-27T06:16:06.510Z,1761545766.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104170 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:06.706Z,1761545766.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504399 2025-10-27T06:16:06.956Z,1761545766.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754898 2025-10-27T06:16:06.974Z,1761545766.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792391,-0.598118,-0.119882],[0.608760,-0.762748,-0.218237],[0.039091,-0.245908,0.968504]] 2025-10-27T06:16:06.992Z,1761545766.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:06.995Z,1761545766.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 146.058456 m, bearing: 10.542672 deg, approach rate: 0.477544 m/s, LOS rate: -0.244249 deg/s, cmd heading: 5.968525 deg, new cmd heading: 5.612391 deg. 2025-10-27T06:16:06.996Z,1761545766.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097955 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:07.210Z,1761545767.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008424 2025-10-27T06:16:07.424Z,1761545767.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:07.427Z,1761545767.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 146.267151 m, bearing: 10.437681 deg, approach rate: 0.483363 m/s, LOS rate: -0.242826 deg/s, cmd heading: 5.612392 deg, new cmd heading: 5.297871 deg. 2025-10-27T06:16:07.428Z,1761545767.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092465 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:07.462Z,1761545767.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260892 2025-10-27T06:16:07.713Z,1761545767.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511569 2025-10-27T06:16:07.785Z,1761545767.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762102,-0.633423,-0.134075],[0.646749,-0.735082,-0.203399],[0.030281,-0.241723,0.969873]] 2025-10-27T06:16:07.802Z,1761545767.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:07.804Z,1761545767.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:07.806Z,1761545767.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 146.440170 m, bearing: 10.341785 deg, approach rate: 0.455401 m/s, LOS rate: -0.252108 deg/s, cmd heading: 5.297871 deg, new cmd heading: 5.010524 deg. 2025-10-27T06:16:07.808Z,1761545767.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087450 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:07.964Z,1761545767.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762828 2025-10-27T06:16:08.182Z,1761545768.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746088,-0.650536,-0.141972],[0.665364,-0.720281,-0.196177],[0.025360,-0.240829,0.970236]] 2025-10-27T06:16:08.217Z,1761545768.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016080 2025-10-27T06:16:08.278Z,1761545768.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:08.284Z,1761545768.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 146.637680 m, bearing: 10.232276 deg, approach rate: 0.416954 m/s, LOS rate: -0.230867 deg/s, cmd heading: 5.010524 deg, new cmd heading: 4.682445 deg. 2025-10-27T06:16:08.285Z,1761545768.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081724 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:08.471Z,1761545768.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269949 2025-10-27T06:16:08.586Z,1761545768.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729679,-0.667158,-0.149896],[0.683482,-0.705024,-0.189194],[0.020542,-0.240502,0.970431]] 2025-10-27T06:16:08.604Z,1761545768.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:08.607Z,1761545768.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 146.788971 m, bearing: 10.144312 deg, approach rate: 0.462827 m/s, LOS rate: -0.268822 deg/s, cmd heading: 4.682445 deg, new cmd heading: 4.418826 deg. 2025-10-27T06:16:08.608Z,1761545768.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077123 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:08.722Z,1761545768.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520174 2025-10-27T06:16:08.972Z,1761545768.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770955 2025-10-27T06:16:08.996Z,1761545768.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712323,-0.684133,-0.156711],[0.701669,-0.689063,-0.181255],[0.016019,-0.239071,0.970870]] 2025-10-27T06:16:09.014Z,1761545769.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:09.017Z,1761545769.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 146.957855 m, bearing: 10.041069 deg, approach rate: 0.412358 m/s, LOS rate: -0.251794 deg/s, cmd heading: 4.418826 deg, new cmd heading: 4.109457 deg. 2025-10-27T06:16:09.018Z,1761545769.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071724 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:09.225Z,1761545769.225 [DAT](INFO): DAT read: Rx Time:06:16:07.8696 2025-10-27T06:16:09.226Z,1761545769.226 [DAT](INFO): Rx dataTimestamp_ set to:1761545769.225385 2025-10-27T06:16:09.228Z,1761545769.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025671 2025-10-27T06:16:09.394Z,1761545769.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694296,-0.700647,-0.164462],[0.719602,-0.672266,-0.173875],[0.011263,-0.239068,0.970938]] 2025-10-27T06:16:09.453Z,1761545769.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:09.456Z,1761545769.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 147.144409 m, bearing: 9.927697 deg, approach rate: 0.424722 m/s, LOS rate: -0.257783 deg/s, cmd heading: 4.109457 deg, new cmd heading: 3.769777 deg. 2025-10-27T06:16:09.457Z,1761545769.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065795 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:09.476Z,1761545769.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274950 2025-10-27T06:16:09.733Z,1761545769.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531534 2025-10-27T06:16:09.798Z,1761545769.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676135,-0.716288,-0.172549],[0.736748,-0.655191,-0.167113],[0.006648,-0.240116,0.970721]] 2025-10-27T06:16:09.820Z,1761545769.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:09.822Z,1761545769.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.45 m. 2025-10-27T06:16:09.825Z,1761545769.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 191.452438 m, nav range: 147.295166 m, bearing: 9.831355 deg, approach rate: 0.409141 m/s, LOS rate: -0.261198 deg/s, cmd heading: 3.769776 deg, new cmd heading: 3.481047 deg. 2025-10-27T06:16:09.826Z,1761545769.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060756 target range: 191.452438 and range: 192.70 m. 2025-10-27T06:16:09.985Z,1761545769.985 [DAT](INFO): DAT read: 06:16:07.8696 LVL= 31424, 23793, 26082, 31219, AGC= 64, IDX= 448, 0.20, 0.706, 2.555, 2.117, 2.004, PHS=-1.196, 0.596, 0.069, RAW= 286.6, 6.7, CAL= 284.7, 4.1, ROT= 225.3, -4.1 2025-10-27T06:16:09.986Z,1761545769.986 [DAT](INFO): got valid direction response: 06:16:07.8696 LVL= 31424, 23793, 26082, 31219, AGC= 64, IDX= 448, 0.20, 0.706, 2.555, 2.117, 2.004, PHS=-1.196, 0.596, 0.069, RAW= 286.6, 6.7, CAL= 284.7, 4.1, ROT= 225.3, -4.1 2025-10-27T06:16:09.987Z,1761545769.987 [DAT](INFO): DAT read: Bearing 109.6, -45.7 (Local) 2025-10-27T06:16:09.988Z,1761545769.988 [DAT](INFO): Local bearing/azimuth received: Bearing 109.6, -45.7 (Local) 2025-10-27T06:16:09.989Z,1761545769.989 [DAT](INFO): DAT read: Range 11 to 50 : 147.9 m (Round-trip 197.2 ms) speed -0.7 m/s 2025-10-27T06:16:09.989Z,1761545769.989 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:09.990Z,1761545769.990 [DAT](INFO): direction in FSK: [-0.701594,-0.708980,0.071497] 2025-10-27T06:16:09.991Z,1761545769.991 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:09.994Z,1761545769.994 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:09.994Z,1761545769.994 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:09.994Z,1761545769.994 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:10.207Z,1761545770.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657063,-0.731793,-0.180964],[0.753834,-0.637247,-0.160161],[0.001885,-0.241653,0.970361]] 2025-10-27T06:16:10.232Z,1761545770.232 [DAT](INFO): DAT read: user:693> 2025-10-27T06:16:10.233Z,1761545770.233 [DAT](INFO): DAT read: Tx time:06:16:09.2682 2025-10-27T06:16:10.233Z,1761545770.233 [DAT](INFO): Ping request sent. 2025-10-27T06:16:10.233Z,1761545770.233 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:10.233Z,1761545770.233 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:10.234Z,1761545770.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-27T06:16:10.327Z,1761545770.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.899994 m, deltaT: 11.847843 s, deltaX: -44.800003 m, approachRate: -3.781279 m/s, rangeRepo size: 3 2025-10-27T06:16:10.329Z,1761545770.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.936951 m, bearing: 354.767781 deg, lat: 36.779417 deg, lon: -121.859812 deg, deltaT: 11.847843 s, deltaX: -44.515488 m, approachRate: -3.757265 m/s, posRepo size: 3 2025-10-27T06:16:10.330Z,1761545770.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.94 m. 2025-10-27T06:16:10.337Z,1761545770.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.936951 m, nav range: 146.387436 m, bearing: 6.432689 deg, approach rate: 0.000000 m/s, LOS rate: -0.261198 deg/s, cmd heading: 3.481047 deg, new cmd heading: 3.088695 deg. 2025-10-27T06:16:10.338Z,1761545770.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053908 target range: 146.936951 and range: 147.90 m. 2025-10-27T06:16:10.484Z,1761545770.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250824 2025-10-27T06:16:10.660Z,1761545770.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638624,-0.745478,-0.190845],[0.769515,-0.619515,-0.155077],[-0.002625,-0.245894,0.969293]] 2025-10-27T06:16:10.678Z,1761545770.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.94 m. 2025-10-27T06:16:10.698Z,1761545770.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.936951 m, nav range: 146.538605 m, bearing: 6.338667 deg, approach rate: 0.425036 m/s, LOS rate: -0.264086 deg/s, cmd heading: 3.088695 deg, new cmd heading: 2.806923 deg. 2025-10-27T06:16:10.701Z,1761545770.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048990 target range: 146.936951 and range: 147.90 m. 2025-10-27T06:16:10.737Z,1761545770.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503312 2025-10-27T06:16:10.989Z,1761545770.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755153 2025-10-27T06:16:11.072Z,1761545771.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619919,-0.759230,-0.198169],[0.784634,-0.602094,-0.147762],[-0.007131,-0.247090,0.968966]] 2025-10-27T06:16:11.090Z,1761545771.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.94 m. 2025-10-27T06:16:11.093Z,1761545771.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.936951 m, nav range: 146.699829 m, bearing: 6.233351 deg, approach rate: 0.391550 m/s, LOS rate: -0.255489 deg/s, cmd heading: 2.806923 deg, new cmd heading: 2.491325 deg. 2025-10-27T06:16:11.094Z,1761545771.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043482 target range: 146.936951 and range: 147.90 m. 2025-10-27T06:16:11.241Z,1761545771.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007545 2025-10-27T06:16:11.473Z,1761545771.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600191,-0.773711,-0.202833],[0.799777,-0.584087,-0.138558],[-0.011268,-0.245383,0.969361]] 2025-10-27T06:16:11.492Z,1761545771.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258813 2025-10-27T06:16:11.530Z,1761545771.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.94 m. 2025-10-27T06:16:11.532Z,1761545771.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.936951 m, nav range: 146.863312 m, bearing: 6.127927 deg, approach rate: 0.371707 m/s, LOS rate: -0.239432 deg/s, cmd heading: 2.491326 deg, new cmd heading: 2.175410 deg. 2025-10-27T06:16:11.533Z,1761545771.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037968 target range: 146.936951 and range: 147.90 m. 2025-10-27T06:16:11.744Z,1761545771.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510831 2025-10-27T06:16:11.951Z,1761545771.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580420,-0.787814,-0.206063],[0.814178,-0.566108,-0.128979],[-0.015042,-0.242634,0.970001]] 2025-10-27T06:16:11.980Z,1761545771.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:11.982Z,1761545771.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.94 m. 2025-10-27T06:16:11.988Z,1761545771.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.936951 m, nav range: 147.020538 m, bearing: 6.021283 deg, approach rate: 0.347899 m/s, LOS rate: -0.235721 deg/s, cmd heading: 2.175410 deg, new cmd heading: 1.855824 deg. 2025-10-27T06:16:11.989Z,1761545771.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032390 target range: 146.936951 and range: 147.90 m. 2025-10-27T06:16:11.996Z,1761545771.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762973 2025-10-27T06:16:12.248Z,1761545772.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014993 2025-10-27T06:16:12.467Z,1761545772.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559908,-0.801752,-0.209038],[0.828347,-0.547303,-0.119584],[-0.018530,-0.240112,0.970568]] 2025-10-27T06:16:12.500Z,1761545772.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266897 2025-10-27T06:16:12.510Z,1761545772.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.94 m. 2025-10-27T06:16:12.513Z,1761545772.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.936951 m, nav range: 147.201416 m, bearing: 5.893605 deg, approach rate: 0.342289 m/s, LOS rate: -0.241318 deg/s, cmd heading: 1.855824 deg, new cmd heading: 1.473266 deg. 2025-10-27T06:16:12.514Z,1761545772.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025713 target range: 146.936951 and range: 147.90 m. 2025-10-27T06:16:12.753Z,1761545772.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519349 2025-10-27T06:16:12.964Z,1761545772.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517381,-0.827134,-0.219469],[0.855374,-0.507513,-0.103761],[-0.025560,-0.241412,0.970086]] 2025-10-27T06:16:12.982Z,1761545772.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.94 m. 2025-10-27T06:16:12.987Z,1761545772.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.936951 m, nav range: 147.345245 m, bearing: 5.779474 deg, approach rate: 0.304479 m/s, LOS rate: -0.241373 deg/s, cmd heading: 1.473266 deg, new cmd heading: 1.131211 deg. 2025-10-27T06:16:12.988Z,1761545772.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019743 target range: 146.936951 and range: 147.90 m. 2025-10-27T06:16:13.007Z,1761545773.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773616 2025-10-27T06:16:13.256Z,1761545773.256 [DAT](INFO): DAT read: Rx Time:06:16:11.8719 2025-10-27T06:16:13.256Z,1761545773.256 [DAT](INFO): Rx dataTimestamp_ set to:1761545773.256143 2025-10-27T06:16:13.257Z,1761545773.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023801 2025-10-27T06:16:13.362Z,1761545773.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496054,-0.838413,-0.225818],[0.867816,-0.487329,-0.096982],[-0.028737,-0.244077,0.969330]] 2025-10-27T06:16:13.416Z,1761545773.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.94 m. 2025-10-27T06:16:13.418Z,1761545773.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.936951 m, nav range: 147.475906 m, bearing: 5.679247 deg, approach rate: 0.301453 m/s, LOS rate: -0.231032 deg/s, cmd heading: 1.131211 deg, new cmd heading: 0.830800 deg. 2025-10-27T06:16:13.420Z,1761545773.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014500 target range: 146.936951 and range: 147.90 m. 2025-10-27T06:16:13.509Z,1761545773.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275372 2025-10-27T06:16:13.765Z,1761545773.765 [DAT](INFO): DAT read: 06:16:11.8719 LVL= 32176, 27825, 32178, 30515, AGC= 63, IDX= 456,-0.27,-1.865,-0.413, 0.083,-0.710, PHS=-1.054, 0.342, 0.748, RAW= 257.6, -0.4, CAL= 254.2, -4.1, ROT= 255.8, 4.1 2025-10-27T06:16:13.766Z,1761545773.766 [DAT](INFO): got valid direction response: 06:16:11.8719 LVL= 32176, 27825, 32178, 30515, AGC= 63, IDX= 456,-0.27,-1.865,-0.413, 0.083,-0.710, PHS=-1.054, 0.342, 0.748, RAW= 257.6, -0.4, CAL= 254.2, -4.1, ROT= 255.8, 4.1 2025-10-27T06:16:13.768Z,1761545773.768 [DAT](INFO): DAT read: Bearing 135.2, -66.1 (Local) 2025-10-27T06:16:13.768Z,1761545773.768 [DAT](INFO): Local bearing/azimuth received: Bearing 135.2, -66.1 (Local) 2025-10-27T06:16:13.769Z,1761545773.769 [DAT](INFO): DAT read: Range 11 to 50 : 149.7 m (Round-trip 199.6 ms) speed -0.4 m/s 2025-10-27T06:16:13.770Z,1761545773.770 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:13.771Z,1761545773.771 [DAT](INFO): direction in FSK: [-0.244679,-0.966964,-0.071497] 2025-10-27T06:16:13.771Z,1761545773.771 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:13.774Z,1761545773.774 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:13.775Z,1761545773.775 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:13.794Z,1761545773.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:13.807Z,1761545773.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474291,-0.849589,-0.230754],[0.879808,-0.466766,-0.089817],[-0.031400,-0.245619,0.968858]] 2025-10-27T06:16:13.856Z,1761545773.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 149.699997 m, deltaT: 3.780146 s, deltaX: 1.800003 m, approachRate: 0.476173 m/s, rangeRepo size: 4 2025-10-27T06:16:13.858Z,1761545773.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 148.721603 m, bearing: 14.260949 deg, lat: 36.779414 deg, lon: -121.859812 deg, deltaT: 3.780146 s, deltaX: 1.784653 m, approachRate: 0.472112 m/s, posRepo size: 4 2025-10-27T06:16:13.859Z,1761545773.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:13.872Z,1761545773.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 147.327194 m, bearing: 5.592235 deg, approach rate: 0.000000 m/s, LOS rate: -0.231032 deg/s, cmd heading: 0.830800 deg, new cmd heading: 0.529194 deg. 2025-10-27T06:16:13.873Z,1761545773.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009236 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:14.012Z,1761545774.012 [DAT](INFO): DAT read: user:694> 2025-10-27T06:16:14.013Z,1761545774.013 [DAT](INFO): DAT read: Tx time:06:16:13.1182 2025-10-27T06:16:14.013Z,1761545774.013 [DAT](INFO): Ping request sent. 2025-10-27T06:16:14.013Z,1761545774.013 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:14.013Z,1761545774.013 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:14.014Z,1761545774.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-27T06:16:14.264Z,1761545774.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250416 2025-10-27T06:16:14.273Z,1761545774.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:14.280Z,1761545774.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:14.282Z,1761545774.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 147.457031 m, bearing: 5.487783 deg, approach rate: 0.306071 m/s, LOS rate: -0.246012 deg/s, cmd heading: 0.529194 deg, new cmd heading: 0.216117 deg. 2025-10-27T06:16:14.287Z,1761545774.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003772 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:14.517Z,1761545774.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504065 2025-10-27T06:16:14.618Z,1761545774.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:14.638Z,1761545774.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 147.566360 m, bearing: 5.400259 deg, approach rate: 0.318961 m/s, LOS rate: -0.255157 deg/s, cmd heading: 0.216117 deg, new cmd heading: 359.953741 deg. 2025-10-27T06:16:14.640Z,1761545774.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282378 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:14.768Z,1761545774.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754553 2025-10-27T06:16:14.978Z,1761545774.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407783,-0.879216,-0.246357],[0.912261,-0.403723,-0.069188],[-0.038629,-0.252955,0.966707]] 2025-10-27T06:16:15.007Z,1761545775.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:15.010Z,1761545775.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 147.666077 m, bearing: 5.303040 deg, approach rate: 0.256587 m/s, LOS rate: -0.249992 deg/s, cmd heading: 359.953729 deg, new cmd heading: 359.662272 deg. 2025-10-27T06:16:15.011Z,1761545775.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277291 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:15.020Z,1761545775.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006640 2025-10-27T06:16:15.276Z,1761545775.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261260 2025-10-27T06:16:15.382Z,1761545775.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385240,-0.888983,-0.247587],[0.921909,-0.382643,-0.060561],[-0.040900,-0.251583,0.966971]] 2025-10-27T06:16:15.442Z,1761545775.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:15.445Z,1761545775.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 147.767258 m, bearing: 5.199049 deg, approach rate: 0.232159 m/s, LOS rate: -0.238444 deg/s, cmd heading: 359.662271 deg, new cmd heading: 359.350514 deg. 2025-10-27T06:16:15.446Z,1761545775.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271850 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:15.524Z,1761545775.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510741 2025-10-27T06:16:15.776Z,1761545775.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762610 2025-10-27T06:16:15.794Z,1761545775.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362471,-0.898128,-0.248960],[0.931004,-0.361243,-0.052296],[-0.042967,-0.250739,0.967101]] 2025-10-27T06:16:15.823Z,1761545775.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:15.825Z,1761545775.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 147.848190 m, bearing: 5.109811 deg, approach rate: 0.212935 m/s, LOS rate: -0.234656 deg/s, cmd heading: 359.350514 deg, new cmd heading: 359.082950 deg. 2025-10-27T06:16:15.826Z,1761545775.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267180 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:16.028Z,1761545776.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014480 2025-10-27T06:16:16.209Z,1761545776.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339575,-0.906826,-0.249709],[0.939524,-0.339595,-0.044393],[-0.044543,-0.249682,0.967303]] 2025-10-27T06:16:16.280Z,1761545776.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266713 2025-10-27T06:16:16.361Z,1761545776.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:16.367Z,1761545776.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:16.370Z,1761545776.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 147.957138 m, bearing: 4.981742 deg, approach rate: 0.201545 m/s, LOS rate: -0.236744 deg/s, cmd heading: 359.082961 deg, new cmd heading: 358.699042 deg. 2025-10-27T06:16:16.379Z,1761545776.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260479 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:16.533Z,1761545776.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519988 2025-10-27T06:16:16.784Z,1761545776.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770505 2025-10-27T06:16:16.813Z,1761545776.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:16.816Z,1761545776.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 148.057465 m, bearing: 4.864739 deg, approach rate: 0.223155 m/s, LOS rate: -0.260072 deg/s, cmd heading: 358.699050 deg, new cmd heading: 358.348283 deg. 2025-10-27T06:16:16.817Z,1761545776.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254357 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:17.039Z,1761545777.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025138 2025-10-27T06:16:17.102Z,1761545777.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.293054,-0.922954,-0.249551],[0.954970,-0.295227,-0.029561],[-0.046391,-0.246976,0.967911]] 2025-10-27T06:16:17.127Z,1761545777.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:17.130Z,1761545777.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 148.114075 m, bearing: 4.786604 deg, approach rate: 0.179850 m/s, LOS rate: -0.248140 deg/s, cmd heading: 358.348279 deg, new cmd heading: 358.113964 deg. 2025-10-27T06:16:17.131Z,1761545777.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.250268 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:17.288Z,1761545777.288 [DAT](INFO): DAT read: Rx Time:06:16:15.7237 2025-10-27T06:16:17.289Z,1761545777.289 [DAT](INFO): Rx dataTimestamp_ set to:1761545777.288343 2025-10-27T06:16:17.289Z,1761545777.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275839 2025-10-27T06:16:17.506Z,1761545777.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269218,-0.930352,-0.248932],[0.961926,-0.272402,-0.022247],[-0.047113,-0.245444,0.968265]] 2025-10-27T06:16:17.540Z,1761545777.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526687 2025-10-27T06:16:17.605Z,1761545777.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.72 m. 2025-10-27T06:16:17.612Z,1761545777.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.721603 m, nav range: 148.185104 m, bearing: 4.678556 deg, approach rate: 0.148784 m/s, LOS rate: -0.226218 deg/s, cmd heading: 358.113976 deg, new cmd heading: 357.789991 deg. 2025-10-27T06:16:17.613Z,1761545777.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244613 target range: 148.721603 and range: 149.70 m. 2025-10-27T06:16:17.797Z,1761545777.797 [DAT](INFO): DAT read: 06:16:15.7237 LVL= 32384, 32145, 27490, 28579, AGC= 64, IDX= 442,-0.11, 2.711,-2.359,-1.369,-2.673, PHS=-0.797, 0.359, 1.260, RAW= 244.1, -9.2, CAL= 242.9, -14.3, ROT= 267.1, 14.3 2025-10-27T06:16:17.798Z,1761545777.798 [DAT](INFO): got valid direction response: 06:16:15.7237 LVL= 32384, 32145, 27490, 28579, AGC= 64, IDX= 442,-0.11, 2.711,-2.359,-1.369,-2.673, PHS=-0.797, 0.359, 1.260, RAW= 244.1, -9.2, CAL= 242.9, -14.3, ROT= 267.1, 14.3 2025-10-27T06:16:17.799Z,1761545777.799 [DAT](INFO): DAT read: Bearing 153.0, -61.2 (Local) 2025-10-27T06:16:17.800Z,1761545777.800 [DAT](INFO): Local bearing/azimuth received: Bearing 153.0, -61.2 (Local) 2025-10-27T06:16:17.801Z,1761545777.801 [DAT](INFO): DAT read: Range 11 to 50 : 150.9 m (Round-trip 201.3 ms) speed -0.3 m/s 2025-10-27T06:16:17.802Z,1761545777.802 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:17.802Z,1761545777.802 [DAT](INFO): direction in FSK: [-0.049025,-0.967775,-0.246999] 2025-10-27T06:16:17.803Z,1761545777.803 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:17.806Z,1761545777.806 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:17.806Z,1761545777.806 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:17.806Z,1761545777.806 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:17.910Z,1761545777.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244948,-0.937070,-0.248797],[0.968356,-0.249114,-0.015111],[-0.047819,-0.244625,0.968438]] 2025-10-27T06:16:17.958Z,1761545777.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 150.899994 m, deltaT: 4.031844 s, deltaX: 1.199997 m, approachRate: 0.297630 m/s, rangeRepo size: 4 2025-10-27T06:16:17.964Z,1761545777.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 149.915192 m, bearing: 11.381719 deg, lat: 36.779407 deg, lon: -121.859812 deg, deltaT: 4.031844 s, deltaX: 1.193588 m, approachRate: 0.296040 m/s, posRepo size: 4 2025-10-27T06:16:17.965Z,1761545777.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:17.972Z,1761545777.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.442383 m, bearing: 4.602156 deg, approach rate: 0.000000 m/s, LOS rate: -0.226218 deg/s, cmd heading: 357.789979 deg, new cmd heading: 357.550876 deg. 2025-10-27T06:16:17.973Z,1761545777.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240440 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:18.045Z,1761545778.045 [DAT](INFO): DAT read: user:695> 2025-10-27T06:16:18.046Z,1761545778.046 [DAT](INFO): DAT read: Tx time:06:16:17.1182 2025-10-27T06:16:18.046Z,1761545778.046 [DAT](INFO): Ping request sent. 2025-10-27T06:16:18.047Z,1761545778.047 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:18.047Z,1761545778.047 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:18.048Z,1761545778.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001228 2025-10-27T06:16:18.296Z,1761545778.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249590 2025-10-27T06:16:18.326Z,1761545778.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220794,-0.942681,-0.250203],[0.974101,-0.225961,-0.008259],[-0.048751,-0.245546,0.968158]] 2025-10-27T06:16:18.389Z,1761545778.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:18.395Z,1761545778.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:18.398Z,1761545778.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.508698 m, bearing: 4.479573 deg, approach rate: 0.152830 m/s, LOS rate: -0.282380 deg/s, cmd heading: 357.550868 deg, new cmd heading: 357.183289 deg. 2025-10-27T06:16:18.403Z,1761545778.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234025 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:18.548Z,1761545778.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501368 2025-10-27T06:16:18.730Z,1761545778.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197716,-0.947122,-0.252721],[0.979003,-0.203838,-0.002002],[-0.049618,-0.247810,0.967537]] 2025-10-27T06:16:18.750Z,1761545778.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:18.753Z,1761545778.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.557785 m, bearing: 4.377942 deg, approach rate: 0.136591 m/s, LOS rate: -0.282706 deg/s, cmd heading: 357.183295 deg, new cmd heading: 356.878505 deg. 2025-10-27T06:16:18.754Z,1761545778.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228705 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:18.801Z,1761545778.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754714 2025-10-27T06:16:19.059Z,1761545779.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010557 2025-10-27T06:16:19.123Z,1761545779.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174523,-0.951750,-0.252414],[0.983342,-0.181692,0.005188],[-0.050799,-0.247303,0.967606]] 2025-10-27T06:16:19.148Z,1761545779.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:19.150Z,1761545779.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.604630 m, bearing: 4.267811 deg, approach rate: 0.117885 m/s, LOS rate: -0.277057 deg/s, cmd heading: 356.878504 deg, new cmd heading: 356.548221 deg. 2025-10-27T06:16:19.152Z,1761545779.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222940 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:19.306Z,1761545779.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259417 2025-10-27T06:16:19.556Z,1761545779.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509388 2025-10-27T06:16:19.581Z,1761545779.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:19.584Z,1761545779.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.665726 m, bearing: 4.145008 deg, approach rate: 0.140908 m/s, LOS rate: -0.283107 deg/s, cmd heading: 356.548224 deg, new cmd heading: 356.179972 deg. 2025-10-27T06:16:19.585Z,1761545779.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216513 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:19.809Z,1761545779.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762468 2025-10-27T06:16:19.932Z,1761545779.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.127292,-0.960529,-0.247348],[0.990394,-0.136664,0.021025],[-0.053998,-0.242296,0.968699]] 2025-10-27T06:16:19.950Z,1761545779.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:19.953Z,1761545779.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.705368 m, bearing: 4.039881 deg, approach rate: 0.107587 m/s, LOS rate: -0.285233 deg/s, cmd heading: 356.179967 deg, new cmd heading: 355.864673 deg. 2025-10-27T06:16:19.954Z,1761545779.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211010 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:20.060Z,1761545780.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013584 2025-10-27T06:16:20.324Z,1761545780.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277601 2025-10-27T06:16:20.336Z,1761545780.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.103494,-0.963945,-0.245153],[0.993093,-0.113843,0.028386],[-0.055272,-0.240522,0.969069]] 2025-10-27T06:16:20.411Z,1761545780.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:20.413Z,1761545780.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:20.420Z,1761545780.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.741501 m, bearing: 3.905820 deg, approach rate: 0.077957 m/s, LOS rate: -0.289166 deg/s, cmd heading: 355.864686 deg, new cmd heading: 355.462609 deg. 2025-10-27T06:16:20.421Z,1761545780.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203993 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:20.576Z,1761545780.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529426 2025-10-27T06:16:20.742Z,1761545780.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079891,-0.966726,-0.243020],[0.995227,-0.091066,0.035083],[-0.056047,-0.239057,0.969387]] 2025-10-27T06:16:20.766Z,1761545780.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:20.769Z,1761545780.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.763824 m, bearing: 3.801301 deg, approach rate: 0.063300 m/s, LOS rate: -0.296325 deg/s, cmd heading: 355.462606 deg, new cmd heading: 355.149100 deg. 2025-10-27T06:16:20.770Z,1761545780.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198521 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:20.829Z,1761545780.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782410 2025-10-27T06:16:21.080Z,1761545781.080 [DAT](INFO): DAT read: Rx Time:06:16:19.7249 2025-10-27T06:16:21.080Z,1761545781.080 [DAT](INFO): Rx dataTimestamp_ set to:1761545781.080160 2025-10-27T06:16:21.081Z,1761545781.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034432 2025-10-27T06:16:21.142Z,1761545781.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.055735,-0.968566,-0.242431],[0.996830,-0.067786,0.041649],[-0.056773,-0.239341,0.969274]] 2025-10-27T06:16:21.160Z,1761545781.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.92 m. 2025-10-27T06:16:21.162Z,1761545781.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.915192 m, nav range: 147.781769 m, bearing: 3.685956 deg, approach rate: 0.045586 m/s, LOS rate: -0.292990 deg/s, cmd heading: 355.149100 deg, new cmd heading: 354.803112 deg. 2025-10-27T06:16:21.171Z,1761545781.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192482 target range: 149.915192 and range: 150.90 m. 2025-10-27T06:16:21.337Z,1761545781.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289414 2025-10-27T06:16:21.558Z,1761545781.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031468,-0.969455,-0.243243],[0.997857,-0.044438,0.048019],[-0.057362,-0.241211,0.968776]] 2025-10-27T06:16:21.608Z,1761545781.608 [DAT](INFO): DAT read: 06:16:19.7249 LVL= 30400, 32689, 27538, 25203, AGC= 63, IDX= 438,-0.15,-2.307,-1.284,-0.285,-1.279, PHS=-0.926, 0.040, 0.950, RAW= 241.0, -0.8, CAL= 237.2, -1.1, ROT= 272.8, 1.1 2025-10-27T06:16:21.609Z,1761545781.609 [DAT](INFO): got valid direction response: 06:16:19.7249 LVL= 30400, 32689, 27538, 25203, AGC= 63, IDX= 438,-0.15,-2.307,-1.284,-0.285,-1.279, PHS=-0.926, 0.040, 0.950, RAW= 241.0, -0.8, CAL= 237.2, -1.1, ROT= 272.8, 1.1 2025-10-27T06:16:21.610Z,1761545781.610 [DAT](INFO): DAT read: Bearing 148.2, -75.0 (Local) 2025-10-27T06:16:21.610Z,1761545781.610 [DAT](INFO): Local bearing/azimuth received: Bearing 148.2, -75.0 (Local) 2025-10-27T06:16:21.611Z,1761545781.611 [DAT](INFO): DAT read: Range 11 to 50 : 151.8 m (Round-trip 202.5 ms) speed 0.0 m/s 2025-10-27T06:16:21.612Z,1761545781.612 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:21.613Z,1761545781.613 [DAT](INFO): direction in FSK: [0.048841,-0.998622,-0.019197] 2025-10-27T06:16:21.613Z,1761545781.613 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:21.629Z,1761545781.629 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:21.629Z,1761545781.629 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:21.629Z,1761545781.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:21.753Z,1761545781.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 151.800003 m, deltaT: 3.793866 s, deltaX: 0.900009 m, approachRate: 0.237227 m/s, rangeRepo size: 4 2025-10-27T06:16:21.771Z,1761545781.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 150.812668 m, bearing: 5.422273 deg, lat: 36.779398 deg, lon: -121.859757 deg, deltaT: 3.793866 s, deltaX: 0.897476 m, approachRate: 0.236560 m/s, posRepo size: 4 2025-10-27T06:16:21.772Z,1761545781.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:21.775Z,1761545781.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.135437 m, bearing: 5.422179 deg, approach rate: 0.000000 m/s, LOS rate: -0.292990 deg/s, cmd heading: 354.803110 deg, new cmd heading: 354.282079 deg. 2025-10-27T06:16:21.780Z,1761545781.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183389 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:21.837Z,1761545781.837 [DAT](INFO): DAT read: user:696> 2025-10-27T06:16:21.838Z,1761545781.838 [DAT](INFO): DAT read: Tx time:06:16:20.9182 2025-10-27T06:16:21.838Z,1761545781.838 [DAT](INFO): Ping request sent. 2025-10-27T06:16:21.838Z,1761545781.838 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:21.839Z,1761545781.839 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:21.840Z,1761545781.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001166 2025-10-27T06:16:22.017Z,1761545782.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007546,-0.969935,-0.243247],[0.998312,-0.021318,0.054035],[-0.057596,-0.242429,0.968458]] 2025-10-27T06:16:22.037Z,1761545782.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:22.039Z,1761545782.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.138062 m, bearing: 5.331694 deg, approach rate: 0.009235 m/s, LOS rate: -0.318392 deg/s, cmd heading: 354.282076 deg, new cmd heading: 354.010627 deg. 2025-10-27T06:16:22.040Z,1761545782.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178651 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:22.089Z,1761545782.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250420 2025-10-27T06:16:22.342Z,1761545782.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503636 2025-10-27T06:16:22.417Z,1761545782.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015464,-0.970077,-0.242306],[0.998232,0.001071,0.059419],[-0.057382,-0.242797,0.968379]] 2025-10-27T06:16:22.469Z,1761545782.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:22.484Z,1761545782.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:22.487Z,1761545782.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.137070 m, bearing: 5.201800 deg, approach rate: -0.002283 m/s, LOS rate: -0.298933 deg/s, cmd heading: 354.010617 deg, new cmd heading: 353.620940 deg. 2025-10-27T06:16:22.488Z,1761545782.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171850 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:22.592Z,1761545782.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753686 2025-10-27T06:16:22.822Z,1761545782.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038776,-0.969617,-0.241534],[0.997605,0.023709,0.064978],[-0.057277,-0.243475,0.968214]] 2025-10-27T06:16:22.840Z,1761545782.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:22.844Z,1761545782.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005859 2025-10-27T06:16:22.845Z,1761545782.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.129608 m, bearing: 5.082190 deg, approach rate: -0.020235 m/s, LOS rate: -0.324380 deg/s, cmd heading: 353.620941 deg, new cmd heading: 353.262099 deg. 2025-10-27T06:16:22.846Z,1761545782.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165587 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:23.097Z,1761545783.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258245 2025-10-27T06:16:23.223Z,1761545783.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062236,-0.968479,-0.241195],[0.996434,0.046499,0.070401],[-0.056966,-0.244716,0.967920]] 2025-10-27T06:16:23.242Z,1761545783.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:23.244Z,1761545783.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.114975 m, bearing: 4.957677 deg, approach rate: -0.036433 m/s, LOS rate: -0.310036 deg/s, cmd heading: 353.262110 deg, new cmd heading: 352.888539 deg. 2025-10-27T06:16:23.245Z,1761545783.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159067 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:23.351Z,1761545783.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512046 2025-10-27T06:16:23.600Z,1761545783.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761684 2025-10-27T06:16:23.626Z,1761545783.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085054,-0.967088,-0.239804],[0.994772,0.068769,0.075492],[-0.056516,-0.244971,0.967882]] 2025-10-27T06:16:23.674Z,1761545783.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:23.680Z,1761545783.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.096420 m, bearing: 4.824171 deg, approach rate: -0.042954 m/s, LOS rate: -0.309103 deg/s, cmd heading: 352.888526 deg, new cmd heading: 352.487964 deg. 2025-10-27T06:16:23.700Z,1761545783.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152076 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:23.852Z,1761545783.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013671 2025-10-27T06:16:24.030Z,1761545784.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108530,-0.964840,-0.239386],[0.992493,0.091508,0.081141],[-0.056383,-0.246395,0.967528]] 2025-10-27T06:16:24.048Z,1761545784.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:24.050Z,1761545784.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.073944 m, bearing: 4.708706 deg, approach rate: -0.060071 m/s, LOS rate: -0.308642 deg/s, cmd heading: 352.487977 deg, new cmd heading: 352.141534 deg. 2025-10-27T06:16:24.051Z,1761545784.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146029 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:24.104Z,1761545784.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265692 2025-10-27T06:16:24.361Z,1761545784.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522304 2025-10-27T06:16:24.504Z,1761545784.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:24.506Z,1761545784.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:24.509Z,1761545784.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.048859 m, bearing: 4.573104 deg, approach rate: -0.054675 m/s, LOS rate: -0.295600 deg/s, cmd heading: 352.141522 deg, new cmd heading: 351.734654 deg. 2025-10-27T06:16:24.510Z,1761545784.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138928 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:24.608Z,1761545784.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770200 2025-10-27T06:16:24.842Z,1761545784.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155395,-0.960289,-0.231728],[0.986259,0.137496,0.091591],[-0.056092,-0.242776,0.968459]] 2025-10-27T06:16:24.860Z,1761545784.860 [DAT](INFO): DAT read: Rx Time:06:16:23.5252 2025-10-27T06:16:24.861Z,1761545784.861 [DAT](INFO): Rx dataTimestamp_ set to:1761545784.860278 2025-10-27T06:16:24.861Z,1761545784.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022894 2025-10-27T06:16:24.872Z,1761545784.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:24.874Z,1761545784.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 147.016403 m, bearing: 4.465307 deg, approach rate: -0.088870 m/s, LOS rate: -0.295239 deg/s, cmd heading: 351.734661 deg, new cmd heading: 351.411201 deg. 2025-10-27T06:16:24.875Z,1761545784.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133283 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:25.112Z,1761545785.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273994 2025-10-27T06:16:25.243Z,1761545785.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179061,-0.956564,-0.230050],[0.982237,0.160477,0.097253],[-0.056111,-0.243378,0.968307]] 2025-10-27T06:16:25.262Z,1761545785.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.81 m. 2025-10-27T06:16:25.265Z,1761545785.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.812668 m, nav range: 146.975250 m, bearing: 4.350619 deg, approach rate: -0.105423 m/s, LOS rate: -0.293883 deg/s, cmd heading: 351.411211 deg, new cmd heading: 351.067055 deg. 2025-10-27T06:16:25.266Z,1761545785.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127276 target range: 150.812668 and range: 151.80 m. 2025-10-27T06:16:25.368Z,1761545785.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529033 2025-10-27T06:16:25.621Z,1761545785.621 [DAT](INFO): DAT read: 06:16:23.5252 LVL= 29216, 26337, 17986, 28403, AGC= 65, IDX= 442, 0.04,-2.820,-2.115,-0.739,-1.908, PHS=-0.810,-0.163, 1.125, RAW= 229.2, -1.8, CAL= 226.4, -2.4, ROT= 283.6, 2.4 2025-10-27T06:16:25.622Z,1761545785.622 [DAT](INFO): got valid direction response: 06:16:23.5252 LVL= 29216, 26337, 17986, 28403, AGC= 65, IDX= 442, 0.04,-2.820,-2.115,-0.739,-1.908, PHS=-0.810,-0.163, 1.125, RAW= 229.2, -1.8, CAL= 226.4, -2.4, ROT= 283.6, 2.4 2025-10-27T06:16:25.623Z,1761545785.623 [DAT](INFO): DAT read: Bearing 168.7, -70.8 (Local) 2025-10-27T06:16:25.624Z,1761545785.624 [DAT](INFO): Local bearing/azimuth received: Bearing 168.7, -70.8 (Local) 2025-10-27T06:16:25.625Z,1761545785.625 [DAT](INFO): DAT read: Range 11 to 50 : 152.1 m (Round-trip 202.9 ms) speed 0.0 m/s 2025-10-27T06:16:25.626Z,1761545785.626 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:25.627Z,1761545785.627 [DAT](INFO): direction in FSK: [0.234936,-0.971108,-0.041876] 2025-10-27T06:16:25.635Z,1761545785.635 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:25.638Z,1761545785.638 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:25.638Z,1761545785.638 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:25.639Z,1761545785.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:25.665Z,1761545785.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202519,-0.953108,-0.224881],[0.977671,0.183631,0.102174],[-0.056088,-0.240551,0.969015]] 2025-10-27T06:16:25.801Z,1761545785.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.100006 m, deltaT: 4.030163 s, deltaX: 0.300003 m, approachRate: 0.074439 m/s, rangeRepo size: 4 2025-10-27T06:16:25.808Z,1761545785.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.109573 m, bearing: 2.743599 deg, lat: 36.779398 deg, lon: -121.859757 deg, deltaT: 4.030163 s, deltaX: 0.296906 m, approachRate: 0.073671 m/s, posRepo size: 4 2025-10-27T06:16:25.808Z,1761545785.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:25.815Z,1761545785.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.922607 m, bearing: 4.206487 deg, approach rate: 0.000000 m/s, LOS rate: -0.293883 deg/s, cmd heading: 351.067051 deg, new cmd heading: 350.592160 deg. 2025-10-27T06:16:25.816Z,1761545785.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118988 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:25.869Z,1761545785.869 [DAT](INFO): DAT read: user:697> 2025-10-27T06:16:25.871Z,1761545785.871 [DAT](INFO): DAT read: Tx time:06:16:24.9682 2025-10-27T06:16:25.871Z,1761545785.871 [DAT](INFO): Ping request sent. 2025-10-27T06:16:25.871Z,1761545785.871 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:25.872Z,1761545785.872 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:25.873Z,1761545785.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001102 2025-10-27T06:16:26.120Z,1761545786.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248635 2025-10-27T06:16:26.121Z,1761545786.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249644,-0.943120,-0.219552],[0.966684,0.229484,0.113398],[-0.056564,-0.240547,0.968988]] 2025-10-27T06:16:26.139Z,1761545786.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:26.142Z,1761545786.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.875061 m, bearing: 4.108904 deg, approach rate: -0.140550 m/s, LOS rate: -0.288552 deg/s, cmd heading: 350.592162 deg, new cmd heading: 350.299323 deg. 2025-10-27T06:16:26.143Z,1761545786.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113876 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:26.375Z,1761545786.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502760 2025-10-27T06:16:26.518Z,1761545786.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272848,-0.936651,-0.219634],[0.960383,0.251717,0.119598],[-0.056736,-0.243565,0.968224]] 2025-10-27T06:16:26.569Z,1761545786.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:26.575Z,1761545786.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:26.578Z,1761545786.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.809494 m, bearing: 3.997713 deg, approach rate: -0.151722 m/s, LOS rate: -0.257412 deg/s, cmd heading: 350.299311 deg, new cmd heading: 349.965592 deg. 2025-10-27T06:16:26.583Z,1761545786.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.108052 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:26.624Z,1761545786.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752611 2025-10-27T06:16:26.876Z,1761545786.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004860 2025-10-27T06:16:26.925Z,1761545786.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295914,-0.930259,-0.216919],[0.953501,0.274068,0.125390],[-0.057194,-0.243937,0.968103]] 2025-10-27T06:16:26.967Z,1761545786.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:26.970Z,1761545786.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.742294 m, bearing: 3.894286 deg, approach rate: -0.171418 m/s, LOS rate: -0.263950 deg/s, cmd heading: 349.965588 deg, new cmd heading: 349.655168 deg. 2025-10-27T06:16:26.970Z,1761545786.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.102634 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:27.128Z,1761545787.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256496 2025-10-27T06:16:27.384Z,1761545787.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512374 2025-10-27T06:16:27.440Z,1761545787.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:27.448Z,1761545787.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.667786 m, bearing: 3.778619 deg, approach rate: -0.156173 m/s, LOS rate: -0.242566 deg/s, cmd heading: 349.655169 deg, new cmd heading: 349.307996 deg. 2025-10-27T06:16:27.449Z,1761545787.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096575 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:27.632Z,1761545787.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760509 2025-10-27T06:16:27.811Z,1761545787.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:27.814Z,1761545787.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.600021 m, bearing: 3.674235 deg, approach rate: -0.182714 m/s, LOS rate: -0.281583 deg/s, cmd heading: 349.308005 deg, new cmd heading: 348.994710 deg. 2025-10-27T06:16:27.815Z,1761545787.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091107 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:27.886Z,1761545787.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014627 2025-10-27T06:16:28.144Z,1761545788.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272512 2025-10-27T06:16:28.161Z,1761545788.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363515,-0.907934,-0.208594],[0.929706,0.339345,0.143147],[-0.059183,-0.245968,0.967470]] 2025-10-27T06:16:28.193Z,1761545788.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:28.198Z,1761545788.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.525436 m, bearing: 3.585869 deg, approach rate: -0.195534 m/s, LOS rate: -0.231778 deg/s, cmd heading: 348.994717 deg, new cmd heading: 348.729489 deg. 2025-10-27T06:16:28.200Z,1761545788.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086478 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:28.399Z,1761545788.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526587 2025-10-27T06:16:28.557Z,1761545788.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385736,-0.900504,-0.200748],[0.920630,0.361440,0.147655],[-0.060406,-0.241771,0.968451]] 2025-10-27T06:16:28.600Z,1761545788.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:28.602Z,1761545788.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:28.604Z,1761545788.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.434906 m, bearing: 3.492227 deg, approach rate: -0.221299 m/s, LOS rate: -0.229047 deg/s, cmd heading: 348.729488 deg, new cmd heading: 348.448390 deg. 2025-10-27T06:16:28.605Z,1761545788.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081572 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:28.649Z,1761545788.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776928 2025-10-27T06:16:28.900Z,1761545788.900 [DAT](INFO): DAT read: Rx Time:06:16:27.5750 2025-10-27T06:16:28.901Z,1761545788.901 [DAT](INFO): Rx dataTimestamp_ set to:1761545788.900385 2025-10-27T06:16:28.901Z,1761545788.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029775 2025-10-27T06:16:28.961Z,1761545788.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407465,-0.892631,-0.192827],[0.911132,0.383093,0.151918],[-0.061736,-0.237593,0.969401]] 2025-10-27T06:16:28.989Z,1761545788.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:28.992Z,1761545788.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.345673 m, bearing: 3.405559 deg, approach rate: -0.230503 m/s, LOS rate: -0.224013 deg/s, cmd heading: 348.448384 deg, new cmd heading: 348.188224 deg. 2025-10-27T06:16:28.993Z,1761545788.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077031 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:29.152Z,1761545789.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280993 2025-10-27T06:16:29.370Z,1761545789.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429028,-0.883900,-0.186159],[0.901111,0.404494,0.156153],[-0.062723,-0.234744,0.970031]] 2025-10-27T06:16:29.394Z,1761545789.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.11 m. 2025-10-27T06:16:29.408Z,1761545789.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536213 2025-10-27T06:16:29.432Z,1761545789.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.109573 m, nav range: 146.248611 m, bearing: 3.316903 deg, approach rate: -0.239682 m/s, LOS rate: -0.219073 deg/s, cmd heading: 348.188236 deg, new cmd heading: 347.922091 deg. 2025-10-27T06:16:29.460Z,1761545789.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.072386 target range: 151.109573 and range: 152.10 m. 2025-10-27T06:16:29.661Z,1761545789.661 [DAT](INFO): DAT read: 06:16:27.5750 LVL= 30448, 29937, 24338, 29587, AGC= 64, IDX= 440, 0.49,-0.844,-0.582, 1.228,-0.199, PHS=-0.543,-0.338, 1.382, RAW= 215.6, -5.5, CAL= 214.3, -8.2, ROT= 295.7, 8.2 2025-10-27T06:16:29.662Z,1761545789.662 [DAT](INFO): got valid direction response: 06:16:27.5750 LVL= 30448, 29937, 24338, 29587, AGC= 64, IDX= 440, 0.49,-0.844,-0.582, 1.228,-0.199, PHS=-0.543,-0.338, 1.382, RAW= 215.6, -5.5, CAL= 214.3, -8.2, ROT= 295.7, 8.2 2025-10-27T06:16:29.663Z,1761545789.663 [DAT](INFO): DAT read: Bearing 168.4, -58.8 (Local) 2025-10-27T06:16:29.664Z,1761545789.664 [DAT](INFO): Local bearing/azimuth received: Bearing 168.4, -58.8 (Local) 2025-10-27T06:16:29.666Z,1761545789.666 [DAT](INFO): DAT read: Range 11 to 50 : 152.0 m (Round-trip 202.7 ms) speed 0.1 m/s 2025-10-27T06:16:29.668Z,1761545789.668 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:29.670Z,1761545789.670 [DAT](INFO): direction in FSK: [0.429226,-0.891865,-0.142629] 2025-10-27T06:16:29.672Z,1761545789.672 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:29.678Z,1761545789.678 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:29.678Z,1761545789.678 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:29.680Z,1761545789.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:29.817Z,1761545789.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450664,-0.873985,-0.181804],[0.890401,0.425501,0.161664],[-0.063935,-0.234734,0.969955]] 2025-10-27T06:16:29.879Z,1761545789.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.000000 m, deltaT: 4.040019 s, deltaX: -0.100006 m, approachRate: -0.024754 m/s, rangeRepo size: 4 2025-10-27T06:16:29.881Z,1761545789.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.009842 m, bearing: 358.832037 deg, lat: 36.779407 deg, lon: -121.859757 deg, deltaT: 4.040019 s, deltaX: -0.099731 m, approachRate: -0.024686 m/s, posRepo size: 4 2025-10-27T06:16:29.882Z,1761545789.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:29.889Z,1761545789.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 147.192047 m, bearing: 3.199362 deg, approach rate: 0.000000 m/s, LOS rate: -0.219073 deg/s, cmd heading: 347.922105 deg, new cmd heading: 347.606178 deg. 2025-10-27T06:16:29.890Z,1761545789.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066872 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:29.908Z,1761545789.908 [DAT](INFO): DAT read: user:698> 2025-10-27T06:16:29.909Z,1761545789.909 [DAT](INFO): DAT read: Tx time:06:16:28.9682 2025-10-27T06:16:29.909Z,1761545789.909 [DAT](INFO): Ping request sent. 2025-10-27T06:16:29.909Z,1761545789.909 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:29.909Z,1761545789.909 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:29.910Z,1761545789.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T06:16:30.160Z,1761545790.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250589 2025-10-27T06:16:30.279Z,1761545790.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472615,-0.863247,-0.177312],[0.878854,0.446795,0.167303],[-0.065202,-0.234901,0.969830]] 2025-10-27T06:16:30.298Z,1761545790.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:30.320Z,1761545790.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 147.080750 m, bearing: 3.111015 deg, approach rate: -0.263065 m/s, LOS rate: -0.208975 deg/s, cmd heading: 347.606167 deg, new cmd heading: 347.340929 deg. 2025-10-27T06:16:30.321Z,1761545790.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062243 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:30.417Z,1761545790.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507641 2025-10-27T06:16:30.671Z,1761545790.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761549 2025-10-27T06:16:30.789Z,1761545790.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494951,-0.850878,-0.176152],[0.866381,0.467768,0.174862],[-0.066388,-0.239163,0.968707]] 2025-10-27T06:16:30.841Z,1761545790.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:30.847Z,1761545790.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:30.849Z,1761545790.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 146.939056 m, bearing: 3.007646 deg, approach rate: -0.259933 m/s, LOS rate: -0.189812 deg/s, cmd heading: 347.340937 deg, new cmd heading: 347.030533 deg. 2025-10-27T06:16:30.850Z,1761545790.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056826 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:30.921Z,1761545790.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011550 2025-10-27T06:16:31.172Z,1761545791.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263273 2025-10-27T06:16:31.210Z,1761545791.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517858,-0.837361,-0.175072],[0.852788,0.489130,0.183042],[-0.067640,-0.244089,0.967391]] 2025-10-27T06:16:31.246Z,1761545791.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:31.249Z,1761545791.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 146.825958 m, bearing: 2.929922 deg, approach rate: -0.280398 m/s, LOS rate: -0.192845 deg/s, cmd heading: 347.030546 deg, new cmd heading: 346.797197 deg. 2025-10-27T06:16:31.250Z,1761545791.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052753 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:31.425Z,1761545791.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515275 2025-10-27T06:16:31.609Z,1761545791.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540381,-0.823513,-0.172667],[0.838622,0.510400,0.190275],[-0.068565,-0.247623,0.966427]] 2025-10-27T06:16:31.670Z,1761545791.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:31.678Z,1761545791.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768174 2025-10-27T06:16:31.686Z,1761545791.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 146.713654 m, bearing: 2.852535 deg, approach rate: -0.265333 m/s, LOS rate: -0.182977 deg/s, cmd heading: 346.797200 deg, new cmd heading: 346.564860 deg. 2025-10-27T06:16:31.694Z,1761545791.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048698 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:31.929Z,1761545791.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019310 2025-10-27T06:16:32.089Z,1761545792.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561656,-0.809815,-0.169537],[0.824459,0.530627,0.196727],[-0.069352,-0.250269,0.965689]] 2025-10-27T06:16:32.111Z,1761545792.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:32.113Z,1761545792.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 146.583633 m, bearing: 2.767746 deg, approach rate: -0.294674 m/s, LOS rate: -0.192333 deg/s, cmd heading: 346.564864 deg, new cmd heading: 346.310274 deg. 2025-10-27T06:16:32.114Z,1761545792.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044254 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:32.182Z,1761545792.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272399 2025-10-27T06:16:32.435Z,1761545792.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524915 2025-10-27T06:16:32.517Z,1761545792.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603737,-0.781856,-0.155569],[0.794071,0.572590,0.203941],[-0.070375,-0.246660,0.966543]] 2025-10-27T06:16:32.559Z,1761545792.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:32.573Z,1761545792.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 146.443665 m, bearing: 2.681020 deg, approach rate: -0.312386 m/s, LOS rate: -0.193743 deg/s, cmd heading: 346.310262 deg, new cmd heading: 346.049836 deg. 2025-10-27T06:16:32.574Z,1761545792.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039709 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:32.685Z,1761545792.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775152 2025-10-27T06:16:32.902Z,1761545792.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623533,-0.767556,-0.148541],[0.778613,0.592551,0.206506],[-0.070487,-0.244419,0.967104]] 2025-10-27T06:16:32.918Z,1761545792.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:32.920Z,1761545792.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:32.923Z,1761545792.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 146.326523 m, bearing: 2.612038 deg, approach rate: -0.323799 m/s, LOS rate: -0.190830 deg/s, cmd heading: 346.049840 deg, new cmd heading: 345.842730 deg. 2025-10-27T06:16:32.924Z,1761545792.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036094 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:32.936Z,1761545792.936 [DAT](INFO): DAT read: Rx Time:06:16:31.5742 2025-10-27T06:16:32.937Z,1761545792.937 [DAT](INFO): Rx dataTimestamp_ set to:1761545792.936299 2025-10-27T06:16:32.937Z,1761545792.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027918 2025-10-27T06:16:33.189Z,1761545793.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279701 2025-10-27T06:16:33.300Z,1761545793.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642184,-0.753068,-0.143141],[0.763296,0.611020,0.209842],[-0.070563,-0.244016,0.967201]] 2025-10-27T06:16:33.318Z,1761545793.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m. 2025-10-27T06:16:33.321Z,1761545793.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.009842 m, nav range: 146.192978 m, bearing: 2.537107 deg, approach rate: -0.335539 m/s, LOS rate: -0.188440 deg/s, cmd heading: 345.842722 deg, new cmd heading: 345.617725 deg. 2025-10-27T06:16:33.322Z,1761545793.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032167 target range: 151.009842 and range: 152.00 m. 2025-10-27T06:16:33.413Z,1761545793.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:16:33.453Z,1761545793.453 [DAT](INFO): DAT read: 06:16:31.5742 LVL= 32752, 32753, 25778, 32755, AGC= 63, IDX= 431,-0.04,-3.018, 2.780,-1.393,-2.532, PHS=-0.384,-0.926, 1.095, RAW= 195.0, 2.4, CAL= 195.1, -0.3, ROT= 314.9, 0.3 2025-10-27T06:16:33.454Z,1761545793.454 [DAT](INFO): got valid direction response: 06:16:31.5742 LVL= 32752, 32753, 25778, 32755, AGC= 63, IDX= 431,-0.04,-3.018, 2.780,-1.393,-2.532, PHS=-0.384,-0.926, 1.095, RAW= 195.0, 2.4, CAL= 195.1, -0.3, ROT= 314.9, 0.3 2025-10-27T06:16:33.455Z,1761545793.455 [DAT](INFO): DAT read: Bearing 183.1, -47.2 (Local) 2025-10-27T06:16:33.456Z,1761545793.456 [DAT](INFO): Local bearing/azimuth received: Bearing 183.1, -47.2 (Local) 2025-10-27T06:16:33.457Z,1761545793.457 [DAT](INFO): DAT read: Range 11 to 50 : 151.3 m (Round-trip 201.8 ms) speed 0.2 m/s 2025-10-27T06:16:33.457Z,1761545793.457 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:33.461Z,1761545793.461 [DAT](INFO): direction in FSK: [0.705862,-0.708330,-0.005236] 2025-10-27T06:16:33.461Z,1761545793.461 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:33.520Z,1761545793.520 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:33.520Z,1761545793.520 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:33.521Z,1761545793.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:33.695Z,1761545793.695 [DAT](INFO): DAT read: user:699> 2025-10-27T06:16:33.696Z,1761545793.696 [DAT](INFO): DAT read: Tx time:06:16:32.8182 2025-10-27T06:16:33.696Z,1761545793.696 [DAT](INFO): Ping request sent. 2025-10-27T06:16:33.696Z,1761545793.696 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:33.696Z,1761545793.696 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:33.697Z,1761545793.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T06:16:33.727Z,1761545793.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660972,-0.737713,-0.137462],[0.747056,0.629581,0.213391],[-0.070878,-0.243737,0.967248]] 2025-10-27T06:16:33.834Z,1761545793.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 151.300003 m, deltaT: 3.788112 s, deltaX: -0.699997 m, approachRate: -0.184788 m/s, rangeRepo size: 4 2025-10-27T06:16:33.841Z,1761545793.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 150.317917 m, bearing: 4.635136 deg, lat: 36.779415 deg, lon: -121.859757 deg, deltaT: 3.788112 s, deltaX: -0.691925 m, approachRate: -0.182657 m/s, posRepo size: 4 2025-10-27T06:16:33.841Z,1761545793.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:33.848Z,1761545793.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 146.922546 m, bearing: 2.423144 deg, approach rate: 0.000000 m/s, LOS rate: -0.188440 deg/s, cmd heading: 345.617735 deg, new cmd heading: 345.326391 deg. 2025-10-27T06:16:33.849Z,1761545793.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027082 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:33.945Z,1761545793.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248318 2025-10-27T06:16:34.152Z,1761545794.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:34.155Z,1761545794.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 146.814377 m, bearing: 2.356863 deg, approach rate: -0.339611 m/s, LOS rate: -0.208252 deg/s, cmd heading: 345.326387 deg, new cmd heading: 345.127397 deg. 2025-10-27T06:16:34.156Z,1761545794.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023610 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:34.196Z,1761545794.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499839 2025-10-27T06:16:34.415Z,1761545794.415 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:16:34.452Z,1761545794.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755824 2025-10-27T06:16:34.540Z,1761545794.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695698,-0.706935,-0.127465],[0.714889,0.664012,0.219139],[-0.070279,-0.243578,0.967332]] 2025-10-27T06:16:34.583Z,1761545794.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:34.585Z,1761545794.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 146.660309 m, bearing: 2.261074 deg, approach rate: -0.357969 m/s, LOS rate: -0.222793 deg/s, cmd heading: 345.127410 deg, new cmd heading: 344.839745 deg. 2025-10-27T06:16:34.586Z,1761545794.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.018589 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:34.705Z,1761545794.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007972 2025-10-27T06:16:34.953Z,1761545794.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:34.956Z,1761545794.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259708 2025-10-27T06:16:34.957Z,1761545794.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:34.960Z,1761545794.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 146.527252 m, bearing: 2.177976 deg, approach rate: -0.355263 m/s, LOS rate: -0.222075 deg/s, cmd heading: 344.839749 deg, new cmd heading: 344.590229 deg. 2025-10-27T06:16:34.961Z,1761545794.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014234 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:35.209Z,1761545795.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512246 2025-10-27T06:16:35.325Z,1761545795.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727929,-0.675465,-0.117759],[0.682204,0.696299,0.223081],[-0.068688,-0.242723,0.967661]] 2025-10-27T06:16:35.353Z,1761545795.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:35.356Z,1761545795.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 146.375046 m, bearing: 2.091632 deg, approach rate: -0.384439 m/s, LOS rate: -0.218310 deg/s, cmd heading: 344.590229 deg, new cmd heading: 344.330932 deg. 2025-10-27T06:16:35.357Z,1761545795.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009708 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:35.460Z,1761545795.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763631 2025-10-27T06:16:35.712Z,1761545795.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016050 2025-10-27T06:16:35.794Z,1761545795.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:35.798Z,1761545795.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 146.212051 m, bearing: 1.989241 deg, approach rate: -0.369345 m/s, LOS rate: -0.232277 deg/s, cmd heading: 344.330928 deg, new cmd heading: 344.023414 deg. 2025-10-27T06:16:35.799Z,1761545795.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004341 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:35.964Z,1761545795.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267653 2025-10-27T06:16:36.145Z,1761545796.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757668,-0.643518,-0.108740],[0.649211,0.726093,0.226526],[-0.066819,-0.242227,0.967916]] 2025-10-27T06:16:36.173Z,1761545796.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:36.177Z,1761545796.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 146.065948 m, bearing: 1.905588 deg, approach rate: -0.386039 m/s, LOS rate: -0.221252 deg/s, cmd heading: 344.023405 deg, new cmd heading: 343.772197 deg. 2025-10-27T06:16:36.199Z,1761545796.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999957 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:36.216Z,1761545796.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519758 2025-10-27T06:16:36.468Z,1761545796.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771617 2025-10-27T06:16:36.576Z,1761545796.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771800,-0.627027,-0.105650],[0.632497,0.739964,0.228911],[-0.065356,-0.243497,0.967697]] 2025-10-27T06:16:36.633Z,1761545796.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:36.640Z,1761545796.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 145.888535 m, bearing: 1.802495 deg, approach rate: -0.385572 m/s, LOS rate: -0.224323 deg/s, cmd heading: 343.772191 deg, new cmd heading: 343.462539 deg. 2025-10-27T06:16:36.641Z,1761545796.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994552 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:36.721Z,1761545796.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024383 2025-10-27T06:16:36.972Z,1761545796.972 [DAT](INFO): DAT read: Rx Time:06:16:35.4227 2025-10-27T06:16:36.973Z,1761545796.973 [DAT](INFO): Rx dataTimestamp_ set to:1761545796.972249 2025-10-27T06:16:36.973Z,1761545796.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276787 2025-10-27T06:16:36.977Z,1761545796.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785362,-0.610549,-0.102161],[0.615722,0.753391,0.230841],[-0.063972,-0.244196,0.967613]] 2025-10-27T06:16:36.993Z,1761545796.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:36.999Z,1761545796.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:37.001Z,1761545797.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 145.732727 m, bearing: 1.715682 deg, approach rate: -0.426198 m/s, LOS rate: -0.237725 deg/s, cmd heading: 343.462537 deg, new cmd heading: 343.201820 deg. 2025-10-27T06:16:37.002Z,1761545797.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990002 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:37.224Z,1761545797.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527552 2025-10-27T06:16:37.409Z,1761545797.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.32 m. 2025-10-27T06:16:37.412Z,1761545797.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.317917 m, nav range: 145.564240 m, bearing: 1.621389 deg, approach rate: -0.410168 m/s, LOS rate: -0.229812 deg/s, cmd heading: 343.201815 deg, new cmd heading: 342.918614 deg. 2025-10-27T06:16:37.413Z,1761545797.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985059 target range: 150.317917 and range: 151.30 m. 2025-10-27T06:16:37.481Z,1761545797.481 [DAT](INFO): DAT read: 06:16:35.4227 LVL= 32752, 32753, 22514, 32755, AGC= 66, IDX= 432, 0.07,-1.142,-2.170, 0.126,-0.869, PHS=-0.171,-1.257, 0.951, RAW= 180.6, 5.0, CAL= 180.3, 3.5, ROT= 329.7, -3.5 2025-10-27T06:16:37.483Z,1761545797.483 [DAT](INFO): got valid direction response: 06:16:35.4227 LVL= 32752, 32753, 22514, 32755, AGC= 66, IDX= 432, 0.07,-1.142,-2.170, 0.126,-0.869, PHS=-0.171,-1.257, 0.951, RAW= 180.6, 5.0, CAL= 180.3, 3.5, ROT= 329.7, -3.5 2025-10-27T06:16:37.484Z,1761545797.484 [DAT](INFO): DAT read: Bearing 180.3, -34.1 (Local) 2025-10-27T06:16:37.484Z,1761545797.484 [DAT](INFO): Local bearing/azimuth received: Bearing 180.3, -34.1 (Local) 2025-10-27T06:16:37.485Z,1761545797.485 [DAT](INFO): DAT read: Range 11 to 50 : 150.2 m (Round-trip 200.3 ms) speed 0.1 m/s 2025-10-27T06:16:37.486Z,1761545797.486 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:37.487Z,1761545797.487 [DAT](INFO): direction in FSK: [0.861785,-0.503586,0.061049] 2025-10-27T06:16:37.488Z,1761545797.488 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:37.491Z,1761545797.491 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:37.491Z,1761545797.491 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:37.491Z,1761545797.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:37.729Z,1761545797.729 [DAT](INFO): DAT read: user:700> 2025-10-27T06:16:37.730Z,1761545797.730 [DAT](INFO): DAT read: Tx time:06:16:36.7682 2025-10-27T06:16:37.730Z,1761545797.730 [DAT](INFO): Ping request sent. 2025-10-27T06:16:37.730Z,1761545797.730 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:37.731Z,1761545797.731 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:37.732Z,1761545797.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001195 2025-10-27T06:16:37.778Z,1761545797.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811929,-0.576044,-0.094573],[0.580562,0.779894,0.233909],[-0.060985,-0.244823,0.967648]] 2025-10-27T06:16:37.840Z,1761545797.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 150.199997 m, deltaT: 4.032144 s, deltaX: -1.100006 m, approachRate: -0.272809 m/s, rangeRepo size: 4 2025-10-27T06:16:37.842Z,1761545797.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 149.225494 m, bearing: 7.059223 deg, lat: 36.779429 deg, lon: -121.859757 deg, deltaT: 4.032144 s, deltaX: -1.092422 m, approachRate: -0.270928 m/s, posRepo size: 4 2025-10-27T06:16:37.842Z,1761545797.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:37.845Z,1761545797.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 146.892410 m, bearing: 1.511133 deg, approach rate: 0.000000 m/s, LOS rate: -0.229812 deg/s, cmd heading: 342.918608 deg, new cmd heading: 342.622534 deg. 2025-10-27T06:16:37.846Z,1761545797.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979891 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:37.980Z,1761545797.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250116 2025-10-27T06:16:38.192Z,1761545798.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824798,-0.558257,-0.089759],[0.562289,0.793118,0.234083],[-0.059489,-0.243542,0.968064]] 2025-10-27T06:16:38.210Z,1761545798.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:38.213Z,1761545798.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 146.735870 m, bearing: 1.429432 deg, approach rate: -0.421383 m/s, LOS rate: -0.220164 deg/s, cmd heading: 342.622533 deg, new cmd heading: 342.377168 deg. 2025-10-27T06:16:38.214Z,1761545798.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975609 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:38.232Z,1761545798.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501953 2025-10-27T06:16:38.485Z,1761545798.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754613 2025-10-27T06:16:38.600Z,1761545798.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837311,-0.539847,-0.086462],[0.543585,0.805094,0.237358],[-0.058527,-0.245742,0.967567]] 2025-10-27T06:16:38.644Z,1761545798.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:38.647Z,1761545798.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 146.552933 m, bearing: 1.341225 deg, approach rate: -0.421660 m/s, LOS rate: -0.203565 deg/s, cmd heading: 342.377166 deg, new cmd heading: 342.112217 deg. 2025-10-27T06:16:38.648Z,1761545798.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970984 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:38.737Z,1761545798.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006685 2025-10-27T06:16:38.988Z,1761545798.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257819 2025-10-27T06:16:38.992Z,1761545798.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849246,-0.521555,-0.082234],[0.524853,0.816913,0.239129],[-0.057541,-0.246240,0.967499]] 2025-10-27T06:16:39.008Z,1761545799.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:39.010Z,1761545799.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:39.016Z,1761545799.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 146.394501 m, bearing: 1.267954 deg, approach rate: -0.432418 m/s, LOS rate: -0.200198 deg/s, cmd heading: 342.112209 deg, new cmd heading: 341.892161 deg. 2025-10-27T06:16:39.017Z,1761545799.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967144 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:39.240Z,1761545799.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510149 2025-10-27T06:16:39.399Z,1761545799.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860784,-0.502908,-0.078320],[0.505765,0.827931,0.242348],[-0.057035,-0.248221,0.967023]] 2025-10-27T06:16:39.429Z,1761545799.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:39.432Z,1761545799.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 146.208603 m, bearing: 1.185541 deg, approach rate: -0.444045 m/s, LOS rate: -0.197106 deg/s, cmd heading: 341.892168 deg, new cmd heading: 341.644616 deg. 2025-10-27T06:16:39.433Z,1761545799.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962823 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:39.493Z,1761545799.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762843 2025-10-27T06:16:39.744Z,1761545799.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013833 2025-10-27T06:16:39.798Z,1761545799.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871770,-0.484048,-0.075595],[0.486649,0.837799,0.247519],[-0.056478,-0.252568,0.965929]] 2025-10-27T06:16:39.854Z,1761545799.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:39.862Z,1761545799.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 146.036423 m, bearing: 1.118237 deg, approach rate: -0.405035 m/s, LOS rate: -0.158513 deg/s, cmd heading: 341.644614 deg, new cmd heading: 341.442464 deg. 2025-10-27T06:16:39.867Z,1761545799.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959295 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:39.996Z,1761545799.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265706 2025-10-27T06:16:40.202Z,1761545800.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882843,-0.464271,-0.071002],[0.466279,0.848266,0.251057],[-0.056330,-0.254750,0.965365]] 2025-10-27T06:16:40.236Z,1761545800.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:40.244Z,1761545800.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 145.868500 m, bearing: 1.055435 deg, approach rate: -0.439476 m/s, LOS rate: -0.164551 deg/s, cmd heading: 341.442468 deg, new cmd heading: 341.253845 deg. 2025-10-27T06:16:40.245Z,1761545800.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956003 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:40.248Z,1761545800.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517915 2025-10-27T06:16:40.502Z,1761545800.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771850 2025-10-27T06:16:40.629Z,1761545800.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893308,-0.444868,-0.063981],[0.445919,0.859475,0.249917],[-0.056190,-0.251784,0.966151]] 2025-10-27T06:16:40.704Z,1761545800.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:40.712Z,1761545800.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 145.662354 m, bearing: 0.991584 deg, approach rate: -0.445388 m/s, LOS rate: -0.138149 deg/s, cmd heading: 341.253846 deg, new cmd heading: 341.062021 deg. 2025-10-27T06:16:40.714Z,1761545800.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952655 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:40.752Z,1761545800.752 [DAT](INFO): DAT read: Rx Time:06:16:39.3708 2025-10-27T06:16:40.752Z,1761545800.752 [DAT](INFO): Rx dataTimestamp_ set to:1761545800.752203 2025-10-27T06:16:40.754Z,1761545800.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023443 2025-10-27T06:16:41.004Z,1761545801.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273741 2025-10-27T06:16:41.035Z,1761545801.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903281,-0.425385,-0.055952],[0.425323,0.870644,0.247140],[-0.056415,-0.247035,0.967363]] 2025-10-27T06:16:41.073Z,1761545801.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:41.075Z,1761545801.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.23 m. 2025-10-27T06:16:41.078Z,1761545801.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.225494 m, nav range: 145.490936 m, bearing: 0.940665 deg, approach rate: -0.456289 m/s, LOS rate: -0.135699 deg/s, cmd heading: 341.062026 deg, new cmd heading: 340.909090 deg. 2025-10-27T06:16:41.079Z,1761545801.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949986 target range: 149.225494 and range: 150.20 m. 2025-10-27T06:16:41.262Z,1761545801.262 [DAT](INFO): DAT read: 06:16:39.3708 LVL= 32752, 32753, 30642, 32755, AGC= 64, IDX= 429, 0.27, 0.329,-0.849, 1.318, 0.418, PHS= 0.013,-1.222, 0.856, RAW= 173.8, 3.9, CAL= 173.1, 2.0, ROT= 336.9, -2.0 2025-10-27T06:16:41.265Z,1761545801.265 [DAT](INFO): got valid direction response: 06:16:39.3708 LVL= 32752, 32753, 30642, 32755, AGC= 64, IDX= 429, 0.27, 0.329,-0.849, 1.318, 0.418, PHS= 0.013,-1.222, 0.856, RAW= 173.8, 3.9, CAL= 173.1, 2.0, ROT= 336.9, -2.0 2025-10-27T06:16:41.266Z,1761545801.266 [DAT](INFO): DAT read: Bearing 166.8, -26.5 (Local) 2025-10-27T06:16:41.266Z,1761545801.266 [DAT](INFO): Local bearing/azimuth received: Bearing 166.8, -26.5 (Local) 2025-10-27T06:16:41.268Z,1761545801.268 [DAT](INFO): DAT read: Range 11 to 50 : 148.8 m (Round-trip 198.5 ms) speed 0.8 m/s 2025-10-27T06:16:41.269Z,1761545801.269 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:41.270Z,1761545801.270 [DAT](INFO): direction in FSK: [0.919261,-0.392098,0.034899] 2025-10-27T06:16:41.270Z,1761545801.270 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:41.273Z,1761545801.273 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:41.273Z,1761545801.273 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:41.274Z,1761545801.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:41.434Z,1761545801.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912886,-0.405426,-0.047639],[0.404299,0.881822,0.242760],[-0.056412,-0.240873,0.968916]] 2025-10-27T06:16:41.461Z,1761545801.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 148.800003 m, deltaT: 3.780625 s, deltaX: -1.399994 m, approachRate: -0.370308 m/s, rangeRepo size: 4 2025-10-27T06:16:41.480Z,1761545801.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.833710 m, bearing: 1.975257 deg, lat: 36.779433 deg, lon: -121.859726 deg, deltaT: 3.780625 s, deltaX: -1.391785 m, approachRate: -0.368136 m/s, posRepo size: 4 2025-10-27T06:16:41.480Z,1761545801.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:41.487Z,1761545801.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 145.884048 m, bearing: 1.995778 deg, approach rate: 0.000000 m/s, LOS rate: -0.135699 deg/s, cmd heading: 340.909085 deg, new cmd heading: 340.752068 deg. 2025-10-27T06:16:41.488Z,1761545801.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947246 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:41.508Z,1761545801.508 [DAT](INFO): DAT read: user:701> 2025-10-27T06:16:41.509Z,1761545801.509 [DAT](INFO): DAT read: Tx time:06:16:40.5682 2025-10-27T06:16:41.509Z,1761545801.509 [DAT](INFO): Ping request sent. 2025-10-27T06:16:41.509Z,1761545801.509 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:41.509Z,1761545801.509 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:41.510Z,1761545801.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-27T06:16:41.761Z,1761545801.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251470 2025-10-27T06:16:41.841Z,1761545801.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922035,-0.385029,-0.040058],[0.382918,0.891981,0.240297],[-0.056791,-0.236901,0.969872]] 2025-10-27T06:16:41.878Z,1761545801.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:41.900Z,1761545801.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 145.695221 m, bearing: 1.958718 deg, approach rate: -0.452741 m/s, LOS rate: -0.088972 deg/s, cmd heading: 340.752072 deg, new cmd heading: 340.640749 deg. 2025-10-27T06:16:41.901Z,1761545801.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945302 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:42.013Z,1761545802.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503068 2025-10-27T06:16:42.242Z,1761545802.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931060,-0.363294,-0.033844],[0.360339,0.900971,0.241677],[-0.057308,-0.237211,0.969766]] 2025-10-27T06:16:42.264Z,1761545802.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754773 2025-10-27T06:16:42.280Z,1761545802.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:42.283Z,1761545802.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 145.521606 m, bearing: 1.926611 deg, approach rate: -0.431325 m/s, LOS rate: -0.079863 deg/s, cmd heading: 340.640740 deg, new cmd heading: 340.544303 deg. 2025-10-27T06:16:42.288Z,1761545802.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943619 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:42.517Z,1761545802.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007378 2025-10-27T06:16:42.669Z,1761545802.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939813,-0.340606,-0.027191],[0.336755,0.909826,0.242514],[-0.057863,-0.237074,0.969767]] 2025-10-27T06:16:42.736Z,1761545802.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:42.740Z,1761545802.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 145.298294 m, bearing: 1.897997 deg, approach rate: -0.489920 m/s, LOS rate: -0.062871 deg/s, cmd heading: 340.544298 deg, new cmd heading: 340.458325 deg. 2025-10-27T06:16:42.741Z,1761545802.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942119 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:42.768Z,1761545802.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258848 2025-10-27T06:16:43.020Z,1761545803.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510684 2025-10-27T06:16:43.050Z,1761545803.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947972,-0.317731,-0.019904],[0.312957,0.918615,0.241256],[-0.058370,-0.234933,0.970257]] 2025-10-27T06:16:43.080Z,1761545803.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:43.087Z,1761545803.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 145.137314 m, bearing: 1.879059 deg, approach rate: -0.467382 m/s, LOS rate: -0.055044 deg/s, cmd heading: 340.458320 deg, new cmd heading: 340.401444 deg. 2025-10-27T06:16:43.092Z,1761545803.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941126 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:43.272Z,1761545803.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762578 2025-10-27T06:16:43.452Z,1761545803.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955716,-0.293968,-0.013774],[0.288370,0.926121,0.243193],[-0.058734,-0.236396,0.969880]] 2025-10-27T06:16:43.469Z,1761545803.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:43.471Z,1761545803.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:43.474Z,1761545803.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 144.944092 m, bearing: 1.858411 deg, approach rate: -0.494895 m/s, LOS rate: -0.052956 deg/s, cmd heading: 340.401438 deg, new cmd heading: 340.339411 deg. 2025-10-27T06:16:43.475Z,1761545803.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940043 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:43.525Z,1761545803.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015635 2025-10-27T06:16:43.776Z,1761545803.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266739 2025-10-27T06:16:43.909Z,1761545803.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:43.912Z,1761545803.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 144.730942 m, bearing: 1.838258 deg, approach rate: -0.486129 m/s, LOS rate: -0.046032 deg/s, cmd heading: 340.339420 deg, new cmd heading: 340.278870 deg. 2025-10-27T06:16:43.913Z,1761545803.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938987 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:44.028Z,1761545804.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518936 2025-10-27T06:16:44.261Z,1761545804.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969454,-0.245265,-0.001998],[0.238025,0.938805,0.248977],[-0.059190,-0.241847,0.968507]] 2025-10-27T06:16:44.280Z,1761545804.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770815 2025-10-27T06:16:44.281Z,1761545804.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:44.284Z,1761545804.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 144.549500 m, bearing: 1.824991 deg, approach rate: -0.490639 m/s, LOS rate: -0.035920 deg/s, cmd heading: 340.278877 deg, new cmd heading: 340.239027 deg. 2025-10-27T06:16:44.285Z,1761545804.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938291 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:44.532Z,1761545804.532 [DAT](INFO): DAT read: Rx Time:06:16:43.1687 2025-10-27T06:16:44.533Z,1761545804.533 [DAT](INFO): Rx dataTimestamp_ set to:1761545804.532523 2025-10-27T06:16:44.533Z,1761545804.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024118 2025-10-27T06:16:44.686Z,1761545804.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975323,-0.220748,0.003992],[0.212682,0.944233,0.251376],[-0.059260,-0.244324,0.967881]] 2025-10-27T06:16:44.752Z,1761545804.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.83 m. 2025-10-27T06:16:44.754Z,1761545804.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.833710 m, nav range: 144.324905 m, bearing: 1.807705 deg, approach rate: -0.475208 m/s, LOS rate: -0.036632 deg/s, cmd heading: 340.239016 deg, new cmd heading: 340.187076 deg. 2025-10-27T06:16:44.760Z,1761545804.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937385 target range: 147.833710 and range: 148.80 m. 2025-10-27T06:16:44.787Z,1761545804.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277565 2025-10-27T06:16:45.068Z,1761545805.068 [DAT](INFO): DAT read: 06:16:43.1687 LVL= 29664, 30529, 23170, 32755, AGC= 68, IDX= 423,-0.08,-1.094,-2.493,-0.440,-1.130, PHS= 0.138,-1.317, 0.646, RAW= 164.4, 6.1, CAL= 163.7, 5.5, ROT= 346.3, -5.5 2025-10-27T06:16:45.069Z,1761545805.069 [DAT](INFO): got valid direction response: 06:16:43.1687 LVL= 29664, 30529, 23170, 32755, AGC= 68, IDX= 423,-0.08,-1.094,-2.493,-0.440,-1.130, PHS= 0.138,-1.317, 0.646, RAW= 164.4, 6.1, CAL= 163.7, 5.5, ROT= 346.3, -5.5 2025-10-27T06:16:45.070Z,1761545805.070 [DAT](INFO): DAT read: Bearing 160.6, -18.6 (Local) 2025-10-27T06:16:45.070Z,1761545805.070 [DAT](INFO): Local bearing/azimuth received: Bearing 160.6, -18.6 (Local) 2025-10-27T06:16:45.096Z,1761545805.096 [DAT](INFO): DAT read: Range 11 to 50 : 147.2 m (Round-trip 196.3 ms) speed 0.1 m/s 2025-10-27T06:16:45.097Z,1761545805.097 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:45.098Z,1761545805.098 [DAT](INFO): direction in FSK: [0.967076,-0.235748,0.095846] 2025-10-27T06:16:45.098Z,1761545805.098 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:45.109Z,1761545805.109 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:45.110Z,1761545805.110 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:45.110Z,1761545805.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:45.112Z,1761545805.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980285,-0.197367,0.009361],[0.188513,0.948399,0.254954],[-0.059198,-0.248162,0.966908]] 2025-10-27T06:16:45.178Z,1761545805.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.199997 m, deltaT: 3.780942 s, deltaX: -1.600006 m, approachRate: -0.423177 m/s, rangeRepo size: 4 2025-10-27T06:16:45.200Z,1761545805.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.243973 m, bearing: 359.030762 deg, lat: 36.779442 deg, lon: -121.859726 deg, deltaT: 3.780942 s, deltaX: -1.589737 m, approachRate: -0.420461 m/s, posRepo size: 4 2025-10-27T06:16:45.201Z,1761545805.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:45.207Z,1761545805.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 145.104782 m, bearing: 1.781869 deg, approach rate: 0.000000 m/s, LOS rate: -0.036632 deg/s, cmd heading: 340.187079 deg, new cmd heading: 340.140259 deg. 2025-10-27T06:16:45.208Z,1761545805.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936567 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:45.288Z,1761545805.288 [DAT](INFO): DAT read: user:702> 2025-10-27T06:16:45.289Z,1761545805.289 [DAT](INFO): DAT read: Tx time:06:16:44.4182 2025-10-27T06:16:45.289Z,1761545805.289 [DAT](INFO): Ping request sent. 2025-10-27T06:16:45.289Z,1761545805.289 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:45.289Z,1761545805.289 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:45.290Z,1761545805.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-27T06:16:45.524Z,1761545805.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984731,-0.173395,0.015460],[0.163751,0.952767,0.255774],[-0.059080,-0.249337,0.966613]] 2025-10-27T06:16:45.540Z,1761545805.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250905 2025-10-27T06:16:45.557Z,1761545805.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:45.559Z,1761545805.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:45.562Z,1761545805.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 144.894531 m, bearing: 1.769952 deg, approach rate: -0.551614 m/s, LOS rate: -0.031312 deg/s, cmd heading: 340.140251 deg, new cmd heading: 340.104447 deg. 2025-10-27T06:16:45.563Z,1761545805.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935942 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:45.792Z,1761545805.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503089 2025-10-27T06:16:45.975Z,1761545805.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:45.977Z,1761545805.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 144.682724 m, bearing: 1.749787 deg, approach rate: -0.509611 m/s, LOS rate: -0.048588 deg/s, cmd heading: 340.104434 deg, new cmd heading: 340.043851 deg. 2025-10-27T06:16:45.978Z,1761545805.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934885 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:46.045Z,1761545806.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755720 2025-10-27T06:16:46.296Z,1761545806.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006683 2025-10-27T06:16:46.336Z,1761545806.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991394,-0.127911,0.027863],[0.117016,0.961291,0.249454],[-0.058692,-0.244046,0.967986]] 2025-10-27T06:16:46.354Z,1761545806.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:46.357Z,1761545806.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 144.487579 m, bearing: 1.734983 deg, approach rate: -0.514212 m/s, LOS rate: -0.039064 deg/s, cmd heading: 340.043864 deg, new cmd heading: 339.999390 deg. 2025-10-27T06:16:46.358Z,1761545806.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934109 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:46.548Z,1761545806.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258696 2025-10-27T06:16:46.743Z,1761545806.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993843,-0.105491,0.033882],[0.094078,0.964977,0.244884],[-0.058529,-0.240189,0.968960]] 2025-10-27T06:16:46.780Z,1761545806.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:46.782Z,1761545806.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 144.276825 m, bearing: 1.710661 deg, approach rate: -0.494973 m/s, LOS rate: -0.057205 deg/s, cmd heading: 339.999386 deg, new cmd heading: 339.926313 deg. 2025-10-27T06:16:46.784Z,1761545806.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932833 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:46.800Z,1761545806.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510570 2025-10-27T06:16:47.052Z,1761545807.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763025 2025-10-27T06:16:47.143Z,1761545807.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995716,-0.083862,0.038949],[0.071877,0.966975,0.244525],[-0.058169,-0.240678,0.968860]] 2025-10-27T06:16:47.186Z,1761545807.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:47.193Z,1761545807.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 144.082779 m, bearing: 1.690060 deg, approach rate: -0.477394 m/s, LOS rate: -0.050751 deg/s, cmd heading: 339.926303 deg, new cmd heading: 339.864416 deg. 2025-10-27T06:16:47.194Z,1761545807.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931753 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:47.308Z,1761545807.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019123 2025-10-27T06:16:47.556Z,1761545807.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266675 2025-10-27T06:16:47.585Z,1761545807.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:47.588Z,1761545807.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:47.591Z,1761545807.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 143.876602 m, bearing: 1.668109 deg, approach rate: -0.514307 m/s, LOS rate: -0.054834 deg/s, cmd heading: 339.864421 deg, new cmd heading: 339.798475 deg. 2025-10-27T06:16:47.608Z,1761545807.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930602 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:47.808Z,1761545807.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518777 2025-10-27T06:16:48.012Z,1761545808.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:48.015Z,1761545808.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 143.666168 m, bearing: 1.638014 deg, approach rate: -0.495014 m/s, LOS rate: -0.070899 deg/s, cmd heading: 339.798469 deg, new cmd heading: 339.708050 deg. 2025-10-27T06:16:48.016Z,1761545808.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929024 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:48.061Z,1761545808.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771923 2025-10-27T06:16:48.312Z,1761545808.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022667 2025-10-27T06:16:48.352Z,1761545808.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998300,-0.019758,0.054839],[0.005360,0.967928,0.251170],[-0.058043,-0.250449,0.966388]] 2025-10-27T06:16:48.387Z,1761545808.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:48.389Z,1761545808.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 143.485840 m, bearing: 1.617530 deg, approach rate: -0.503209 m/s, LOS rate: -0.057232 deg/s, cmd heading: 339.708037 deg, new cmd heading: 339.646508 deg. 2025-10-27T06:16:48.390Z,1761545808.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927950 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:48.564Z,1761545808.564 [DAT](INFO): DAT read: Rx Time:06:16:47.0510 2025-10-27T06:16:48.564Z,1761545808.564 [DAT](INFO): Rx dataTimestamp_ set to:1761545808.564147 2025-10-27T06:16:48.565Z,1761545808.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275785 2025-10-27T06:16:48.753Z,1761545808.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998180,0.000991,0.060303],[-0.016242,0.967341,0.252957],[-0.058083,-0.253476,0.965596]] 2025-10-27T06:16:48.797Z,1761545808.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:48.799Z,1761545808.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 143.278183 m, bearing: 1.583780 deg, approach rate: -0.487461 m/s, LOS rate: -0.079341 deg/s, cmd heading: 339.646511 deg, new cmd heading: 339.545114 deg. 2025-10-27T06:16:48.800Z,1761545808.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926180 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:48.816Z,1761545808.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526623 2025-10-27T06:16:49.073Z,1761545809.073 [DAT](INFO): DAT read: 06:16:47.0510 LVL= 25040, 32753, 29378, 26147, AGC= 70, IDX= 258,-0.12,-1.591,-2.882,-1.650,-2.632, PHS= 1.142,-0.205, 0.937, RAW= 141.9, -27.8, CAL= 142.8, -29.0, ROT= 7.2, 29.0 2025-10-27T06:16:49.074Z,1761545809.074 [DAT](INFO): got valid direction response: 06:16:47.0510 LVL= 25040, 32753, 29378, 26147, AGC= 70, IDX= 258,-0.12,-1.591,-2.882,-1.650,-2.632, PHS= 1.142,-0.205, 0.937, RAW= 141.9, -27.8, CAL= 142.8, -29.0, ROT= 7.2, 29.0 2025-10-27T06:16:49.075Z,1761545809.075 [DAT](INFO): DAT read: Bearing 118.3, 9.2 (Local) 2025-10-27T06:16:49.076Z,1761545809.076 [DAT](INFO): Local bearing/azimuth received: Bearing 118.3, 9.2 (Local) 2025-10-27T06:16:49.077Z,1761545809.077 [DAT](INFO): DAT read: Range 11 to 50 : 171.5 m (Round-trip 228.7 ms) speed 0.4 m/s 2025-10-27T06:16:49.078Z,1761545809.078 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:49.080Z,1761545809.080 [DAT](INFO): direction in FSK: [0.867723,0.109619,-0.484810] 2025-10-27T06:16:49.081Z,1761545809.081 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:49.140Z,1761545809.140 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:49.140Z,1761545809.140 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:49.140Z,1761545809.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:49.182Z,1761545809.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997604,0.021785,0.065664],[-0.037805,0.966548,0.253684],[-0.057941,-0.255558,0.965056]] 2025-10-27T06:16:49.248Z,1761545809.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 171.500000 m, deltaT: 4.030169 s, deltaX: 24.300003 m, approachRate: 6.029525 m/s, rangeRepo size: 4 2025-10-27T06:16:49.249Z,1761545809.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:49.254Z,1761545809.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 143.062469 m, bearing: 1.550805 deg, approach rate: -0.478129 m/s, LOS rate: -0.073200 deg/s, cmd heading: 339.545123 deg, new cmd heading: 339.446048 deg. 2025-10-27T06:16:49.255Z,1761545809.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924451 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:49.321Z,1761545809.321 [DAT](INFO): DAT read: user:703> 2025-10-27T06:16:49.322Z,1761545809.322 [DAT](INFO): DAT read: Tx time:06:16:48.4182 2025-10-27T06:16:49.322Z,1761545809.322 [DAT](INFO): Ping request sent. 2025-10-27T06:16:49.322Z,1761545809.322 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:49.323Z,1761545809.323 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:49.324Z,1761545809.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001849 2025-10-27T06:16:49.572Z,1761545809.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249730 2025-10-27T06:16:49.577Z,1761545809.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996553,0.042726,0.071114],[-0.059506,0.965407,0.253868],[-0.057807,-0.257225,0.964621]] 2025-10-27T06:16:49.613Z,1761545809.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:49.620Z,1761545809.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:49.622Z,1761545809.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 142.884735 m, bearing: 1.525345 deg, approach rate: -0.477985 m/s, LOS rate: -0.068554 deg/s, cmd heading: 339.446058 deg, new cmd heading: 339.369585 deg. 2025-10-27T06:16:49.627Z,1761545809.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923117 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:49.824Z,1761545809.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501762 2025-10-27T06:16:49.978Z,1761545809.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995073,0.063602,0.076057],[-0.080763,0.964944,0.249720],[-0.057508,-0.254632,0.965327]] 2025-10-27T06:16:49.992Z,1761545809.992 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, 52.81 2025-10-27T06:16:50.036Z,1761545810.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:50.039Z,1761545810.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 142.668777 m, bearing: 1.496350 deg, approach rate: -0.518609 m/s, LOS rate: -0.069735 deg/s, cmd heading: 339.369588 deg, new cmd heading: 339.282471 deg. 2025-10-27T06:16:50.040Z,1761545810.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921596 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:50.076Z,1761545810.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754308 2025-10-27T06:16:50.328Z,1761545810.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005831 2025-10-27T06:16:50.386Z,1761545810.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993200,0.084035,0.080578],[-0.101410,0.964410,0.244189],[-0.057190,-0.250700,0.966374]] 2025-10-27T06:16:50.406Z,1761545810.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:50.409Z,1761545810.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 142.479294 m, bearing: 1.472522 deg, approach rate: -0.512345 m/s, LOS rate: -0.064515 deg/s, cmd heading: 339.282462 deg, new cmd heading: 339.210882 deg. 2025-10-27T06:16:50.410Z,1761545810.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920347 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:50.580Z,1761545810.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257799 2025-10-27T06:16:50.786Z,1761545810.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990844,0.104794,0.085120],[-0.122468,0.963020,0.239986],[-0.056824,-0.248213,0.967037]] 2025-10-27T06:16:50.830Z,1761545810.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:50.832Z,1761545810.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509931 2025-10-27T06:16:50.835Z,1761545810.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 142.289459 m, bearing: 1.447677 deg, approach rate: -0.447382 m/s, LOS rate: -0.058629 deg/s, cmd heading: 339.210881 deg, new cmd heading: 339.136249 deg. 2025-10-27T06:16:50.836Z,1761545810.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919044 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:51.084Z,1761545811.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761849 2025-10-27T06:16:51.192Z,1761545811.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987980,0.125884,0.089712],[-0.143926,0.960848,0.236763],[-0.056395,-0.246829,0.967417]] 2025-10-27T06:16:51.215Z,1761545811.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:51.218Z,1761545811.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 142.116135 m, bearing: 1.426574 deg, approach rate: -0.450443 m/s, LOS rate: -0.054911 deg/s, cmd heading: 339.136241 deg, new cmd heading: 339.072854 deg. 2025-10-27T06:16:51.219Z,1761545811.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917938 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:51.336Z,1761545811.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013900 2025-10-27T06:16:51.588Z,1761545811.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266167 2025-10-27T06:16:51.596Z,1761545811.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984532,0.147557,0.094465],[-0.166135,0.957477,0.235875],[-0.055643,-0.247920,0.967181]] 2025-10-27T06:16:51.636Z,1761545811.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:51.644Z,1761545811.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:51.653Z,1761545811.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 141.935455 m, bearing: 1.406331 deg, approach rate: -0.426548 m/s, LOS rate: -0.047852 deg/s, cmd heading: 339.072857 deg, new cmd heading: 339.012048 deg. 2025-10-27T06:16:51.660Z,1761545811.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916876 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:51.845Z,1761545811.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522741 2025-10-27T06:16:52.073Z,1761545812.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980632,0.168890,0.099184],[-0.187929,0.954003,0.233583],[-0.055172,-0.247699,0.967265]] 2025-10-27T06:16:52.096Z,1761545812.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773846 2025-10-27T06:16:52.149Z,1761545812.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:52.157Z,1761545812.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 141.707779 m, bearing: 1.392908 deg, approach rate: -0.447150 m/s, LOS rate: -0.026403 deg/s, cmd heading: 339.012041 deg, new cmd heading: 338.971710 deg. 2025-10-27T06:16:52.164Z,1761545812.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916173 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:52.348Z,1761545812.348 [DAT](INFO): DAT read: Rx Time:06:16:51.0488 2025-10-27T06:16:52.349Z,1761545812.349 [DAT](INFO): Rx dataTimestamp_ set to:1761545812.348253 2025-10-27T06:16:52.349Z,1761545812.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026983 2025-10-27T06:16:52.474Z,1761545812.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976054,0.190477,0.105054],[-0.210503,0.948820,0.235436],[-0.054832,-0.251912,0.966195]] 2025-10-27T06:16:52.516Z,1761545812.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:52.519Z,1761545812.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 141.528915 m, bearing: 1.384115 deg, approach rate: -0.485626 m/s, LOS rate: -0.023904 deg/s, cmd heading: 338.971715 deg, new cmd heading: 338.945302 deg. 2025-10-27T06:16:52.524Z,1761545812.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915711 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:52.601Z,1761545812.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278650 2025-10-27T06:16:52.852Z,1761545812.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529717 2025-10-27T06:16:52.931Z,1761545812.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965166,0.234600,0.115833],[-0.256055,0.937924,0.233955],[-0.053756,-0.255465,0.965323]] 2025-10-27T06:16:52.974Z,1761545812.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m. 2025-10-27T06:16:52.977Z,1761545812.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.243973 m, nav range: 141.322723 m, bearing: 1.388269 deg, approach rate: -0.450781 m/s, LOS rate: 0.009095 deg/s, cmd heading: 338.945296 deg, new cmd heading: 338.957777 deg. 2025-10-27T06:16:52.978Z,1761545812.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915929 target range: 146.243973 and range: 147.20 m. 2025-10-27T06:16:53.110Z,1761545813.110 [DAT](INFO): DAT read: 06:16:51.0488 LVL= 29168, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.06,-2.549, 1.876,-2.839,-2.867, PHS= 0.420,-1.496,-0.016, RAW= 137.5, 12.5, CAL= 136.8, 13.6, ROT= 13.2, -13.6 2025-10-27T06:16:53.111Z,1761545813.111 [DAT](INFO): got valid direction response: 06:16:51.0488 LVL= 29168, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.06,-2.549, 1.876,-2.839,-2.867, PHS= 0.420,-1.496,-0.016, RAW= 137.5, 12.5, CAL= 136.8, 13.6, ROT= 13.2, -13.6 2025-10-27T06:16:53.112Z,1761545813.112 [DAT](INFO): DAT read: Bearing 148.1, 5.4 (Local) 2025-10-27T06:16:53.112Z,1761545813.112 [DAT](INFO): Local bearing/azimuth received: Bearing 148.1, 5.4 (Local) 2025-10-27T06:16:53.114Z,1761545813.114 [DAT](INFO): DAT read: Range 11 to 50 : 169.8 m (Round-trip 226.4 ms) speed 0.5 m/s 2025-10-27T06:16:53.114Z,1761545813.114 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:53.152Z,1761545813.152 [DAT](INFO): direction in FSK: [0.946281,0.221948,0.235142] 2025-10-27T06:16:53.153Z,1761545813.153 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:53.176Z,1761545813.176 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:53.176Z,1761545813.176 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:53.176Z,1761545813.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:53.345Z,1761545813.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 169.800003 m, deltaT: 8.066195 s, deltaX: 22.600006 m, approachRate: 2.801817 m/s, rangeRepo size: 4 2025-10-27T06:16:53.352Z,1761545813.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 168.703247 m, bearing: 1.205208 deg, lat: 36.779447 deg, lon: -121.859726 deg, deltaT: 8.066195 s, deltaX: 22.459274 m, approachRate: 2.784370 m/s, posRepo size: 4 2025-10-27T06:16:53.352Z,1761545813.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:53.356Z,1761545813.356 [DAT](INFO): DAT read: user:704> 2025-10-27T06:16:53.357Z,1761545813.357 [DAT](INFO): DAT read: Tx time:06:16:52.4682 2025-10-27T06:16:53.357Z,1761545813.357 [DAT](INFO): Ping request sent. 2025-10-27T06:16:53.357Z,1761545813.357 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:53.357Z,1761545813.357 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:53.358Z,1761545813.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T06:16:53.359Z,1761545813.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 141.703766 m, bearing: 1.386116 deg, approach rate: 0.000000 m/s, LOS rate: 0.009095 deg/s, cmd heading: 338.957782 deg, new cmd heading: 338.967911 deg. 2025-10-27T06:16:53.360Z,1761545813.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916106 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:53.608Z,1761545813.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250738 2025-10-27T06:16:53.686Z,1761545813.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959271,0.255816,0.119825],[-0.277406,0.933171,0.228555],[-0.053349,-0.252487,0.966129]] 2025-10-27T06:16:53.704Z,1761545813.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:53.708Z,1761545813.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:53.733Z,1761545813.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 141.538696 m, bearing: 1.390885 deg, approach rate: -0.455815 m/s, LOS rate: 0.013184 deg/s, cmd heading: 338.967918 deg, new cmd heading: 338.982241 deg. 2025-10-27T06:16:53.734Z,1761545813.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916356 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:53.860Z,1761545813.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502935 2025-10-27T06:16:54.115Z,1761545814.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757990 2025-10-27T06:16:54.121Z,1761545814.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952916,0.276724,0.123993],[-0.298613,0.927469,0.225013],[-0.052733,-0.251445,0.966434]] 2025-10-27T06:16:54.208Z,1761545814.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:54.210Z,1761545814.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 141.317078 m, bearing: 1.413368 deg, approach rate: -0.442515 m/s, LOS rate: 0.044964 deg/s, cmd heading: 338.982234 deg, new cmd heading: 339.049790 deg. 2025-10-27T06:16:54.211Z,1761545814.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917535 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:54.364Z,1761545814.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006799 2025-10-27T06:16:54.494Z,1761545814.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946174,0.297079,0.128450],[-0.319381,0.921303,0.221802],[-0.052449,-0.250887,0.966594]] 2025-10-27T06:16:54.528Z,1761545814.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:54.530Z,1761545814.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 141.176987 m, bearing: 1.428942 deg, approach rate: -0.437939 m/s, LOS rate: 0.048734 deg/s, cmd heading: 339.049798 deg, new cmd heading: 339.096566 deg. 2025-10-27T06:16:54.531Z,1761545814.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918352 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:54.617Z,1761545814.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259449 2025-10-27T06:16:54.868Z,1761545814.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510794 2025-10-27T06:16:54.898Z,1761545814.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939525,0.316236,0.131484],[-0.338452,0.916040,0.215222],[-0.052384,-0.246707,0.967673]] 2025-10-27T06:16:54.947Z,1761545814.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:54.950Z,1761545814.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 140.992737 m, bearing: 1.458290 deg, approach rate: -0.439192 m/s, LOS rate: 0.070047 deg/s, cmd heading: 339.096571 deg, new cmd heading: 339.184730 deg. 2025-10-27T06:16:54.951Z,1761545814.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919890 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:55.120Z,1761545815.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762819 2025-10-27T06:16:55.305Z,1761545815.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933053,0.333750,0.134249],[-0.355851,0.911006,0.208418],[-0.052742,-0.242237,0.968782]] 2025-10-27T06:16:55.328Z,1761545815.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:55.331Z,1761545815.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 140.826401 m, bearing: 1.486298 deg, approach rate: -0.436351 m/s, LOS rate: 0.073560 deg/s, cmd heading: 339.184735 deg, new cmd heading: 339.268858 deg. 2025-10-27T06:16:55.332Z,1761545815.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921359 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:55.372Z,1761545815.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015030 2025-10-27T06:16:55.625Z,1761545815.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268000 2025-10-27T06:16:55.709Z,1761545815.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926661,0.350174,0.136668],[-0.372140,0.905901,0.202129],[-0.053027,-0.238164,0.969776]] 2025-10-27T06:16:55.748Z,1761545815.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:55.751Z,1761545815.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:55.761Z,1761545815.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 140.649506 m, bearing: 1.517635 deg, approach rate: -0.418971 m/s, LOS rate: 0.074315 deg/s, cmd heading: 339.268856 deg, new cmd heading: 339.362986 deg. 2025-10-27T06:16:55.762Z,1761545815.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923001 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:55.876Z,1761545815.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518986 2025-10-27T06:16:56.129Z,1761545816.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771914 2025-10-27T06:16:56.202Z,1761545816.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:56.209Z,1761545816.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 140.441391 m, bearing: 1.559225 deg, approach rate: -0.460737 m/s, LOS rate: 0.092211 deg/s, cmd heading: 339.362976 deg, new cmd heading: 339.487930 deg. 2025-10-27T06:16:56.210Z,1761545816.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925182 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:56.380Z,1761545816.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022769 2025-10-27T06:16:56.523Z,1761545816.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911168,0.386416,0.143020],[-0.408378,0.893073,0.188805],[-0.054771,-0.230439,0.971544]] 2025-10-27T06:16:56.541Z,1761545816.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:56.545Z,1761545816.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 140.280090 m, bearing: 1.594856 deg, approach rate: -0.475461 m/s, LOS rate: 0.105149 deg/s, cmd heading: 339.487941 deg, new cmd heading: 339.594957 deg. 2025-10-27T06:16:56.546Z,1761545816.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927050 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:56.634Z,1761545816.634 [DAT](INFO): DAT read: Rx Time:06:16:55.1283 2025-10-27T06:16:56.635Z,1761545816.635 [DAT](INFO): Rx dataTimestamp_ set to:1761545816.633921 2025-10-27T06:16:56.635Z,1761545816.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278241 2025-10-27T06:16:56.884Z,1761545816.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526769 2025-10-27T06:16:56.922Z,1761545816.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907505,0.394844,0.143296],[-0.416359,0.890664,0.182657],[-0.055507,-0.225425,0.972678]] 2025-10-27T06:16:57.017Z,1761545817.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:57.021Z,1761545817.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 140.065079 m, bearing: 1.641955 deg, approach rate: -0.452318 m/s, LOS rate: 0.099234 deg/s, cmd heading: 339.594956 deg, new cmd heading: 339.736471 deg. 2025-10-27T06:16:57.022Z,1761545817.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929520 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:57.146Z,1761545817.146 [DAT](INFO): DAT read: 06:16:55.1283 LVL= 20496, 25329, 22466, 24435, AGC= 70, IDX= 235,-0.21,-2.367, 2.670,-2.809, 2.624, PHS= 1.394, 0.091, 0.806, RAW= 123.2, -35.6, CAL= 124.8, -34.7, ROT= 25.2, 34.7 2025-10-27T06:16:57.151Z,1761545817.151 [DAT](INFO): got valid direction response: 06:16:55.1283 LVL= 20496, 25329, 22466, 24435, AGC= 70, IDX= 235,-0.21,-2.367, 2.670,-2.809, 2.624, PHS= 1.394, 0.091, 0.806, RAW= 123.2, -35.6, CAL= 124.8, -34.7, ROT= 25.2, 34.7 2025-10-27T06:16:57.152Z,1761545817.152 [DAT](INFO): DAT read: Bearing 89.2, 25.2 (Local) 2025-10-27T06:16:57.153Z,1761545817.153 [DAT](INFO): Local bearing/azimuth received: Bearing 89.2, 25.2 (Local) 2025-10-27T06:16:57.154Z,1761545817.154 [DAT](INFO): DAT read: Range 11 to 50 : 191.9 m (Round-trip 255.9 ms) speed 0.2 m/s 2025-10-27T06:16:57.155Z,1761545817.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:16:57.156Z,1761545817.156 [DAT](INFO): direction in FSK: [0.743898,0.350052,-0.569280] 2025-10-27T06:16:57.156Z,1761545817.156 [DAT](INFO): publishing direction and range info 2025-10-27T06:16:57.161Z,1761545817.161 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:16:57.161Z,1761545817.161 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:16:57.161Z,1761545817.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:16:57.339Z,1761545817.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905044,0.401271,0.140987],[-0.421558,0.890302,0.172192],[-0.056425,-0.215275,0.974922]] 2025-10-27T06:16:57.378Z,1761545817.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 191.899994 m, deltaT: 4.032876 s, deltaX: 22.099991 m, approachRate: 5.479958 m/s, rangeRepo size: 4 2025-10-27T06:16:57.383Z,1761545817.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:57.386Z,1761545817.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 139.911575 m, bearing: 1.676171 deg, approach rate: -0.425251 m/s, LOS rate: 0.094892 deg/s, cmd heading: 339.736478 deg, new cmd heading: 339.839238 deg. 2025-10-27T06:16:57.388Z,1761545817.388 [DAT](INFO): DAT read: user:705> 2025-10-27T06:16:57.389Z,1761545817.389 [DAT](INFO): DAT read: Tx time:06:16:56.4682 2025-10-27T06:16:57.389Z,1761545817.389 [DAT](INFO): Ping request sent. 2025-10-27T06:16:57.389Z,1761545817.389 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:16:57.389Z,1761545817.389 [DAT](INFO): publishing transmit ping time 2025-10-27T06:16:57.390Z,1761545817.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T06:16:57.391Z,1761545817.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931314 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:57.641Z,1761545817.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251410 2025-10-27T06:16:57.745Z,1761545817.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903628,0.405433,0.138132],[-0.424407,0.891019,0.161133],[-0.057749,-0.204229,0.977218]] 2025-10-27T06:16:57.769Z,1761545817.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:57.772Z,1761545817.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:57.774Z,1761545817.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 139.725677 m, bearing: 1.718071 deg, approach rate: -0.472731 m/s, LOS rate: 0.106692 deg/s, cmd heading: 339.839231 deg, new cmd heading: 339.965099 deg. 2025-10-27T06:16:57.775Z,1761545817.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933510 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:57.892Z,1761545817.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502955 2025-10-27T06:16:58.145Z,1761545818.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756290 2025-10-27T06:16:58.160Z,1761545818.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903079,0.407865,0.134516],[-0.425387,0.892589,0.149437],[-0.059118,-0.192175,0.979578]] 2025-10-27T06:16:58.200Z,1761545818.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:58.203Z,1761545818.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 139.533096 m, bearing: 1.756960 deg, approach rate: -0.448888 m/s, LOS rate: 0.090770 deg/s, cmd heading: 339.965098 deg, new cmd heading: 340.081924 deg. 2025-10-27T06:16:58.220Z,1761545818.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935549 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:58.396Z,1761545818.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006850 2025-10-27T06:16:58.549Z,1761545818.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903740,0.407856,0.130032],[-0.423720,0.895518,0.136048],[-0.060958,-0.178049,0.982132]] 2025-10-27T06:16:58.568Z,1761545818.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:58.571Z,1761545818.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 139.367920 m, bearing: 1.790285 deg, approach rate: -0.448866 m/s, LOS rate: 0.090670 deg/s, cmd heading: 340.081922 deg, new cmd heading: 340.182018 deg. 2025-10-27T06:16:58.572Z,1761545818.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937296 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:58.649Z,1761545818.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259676 2025-10-27T06:16:58.900Z,1761545818.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510743 2025-10-27T06:16:58.954Z,1761545818.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905227,0.405907,0.125715],[-0.420237,0.898998,0.123299],[-0.062970,-0.164444,0.984374]] 2025-10-27T06:16:59.001Z,1761545819.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:59.004Z,1761545819.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 139.161438 m, bearing: 1.823045 deg, approach rate: -0.477042 m/s, LOS rate: 0.075798 deg/s, cmd heading: 340.182025 deg, new cmd heading: 340.280450 deg. 2025-10-27T06:16:59.005Z,1761545819.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939014 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:59.152Z,1761545819.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762888 2025-10-27T06:16:59.358Z,1761545819.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907584,0.401955,0.121340],[-0.414784,0.903179,0.110554],[-0.065154,-0.150667,0.986435]] 2025-10-27T06:16:59.376Z,1761545819.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:59.379Z,1761545819.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 138.981522 m, bearing: 1.851190 deg, approach rate: -0.479405 m/s, LOS rate: 0.075093 deg/s, cmd heading: 340.280462 deg, new cmd heading: 340.365007 deg. 2025-10-27T06:16:59.380Z,1761545819.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940490 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:59.404Z,1761545819.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014881 2025-10-27T06:16:59.656Z,1761545819.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769 2025-10-27T06:16:59.763Z,1761545819.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910489,0.396672,0.116878],[-0.407947,0.907867,0.096733],[-0.067739,-0.135754,0.988424]] 2025-10-27T06:16:59.782Z,1761545819.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:16:59.785Z,1761545819.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:16:59.788Z,1761545819.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 138.785675 m, bearing: 1.881257 deg, approach rate: -0.479287 m/s, LOS rate: 0.073685 deg/s, cmd heading: 340.365019 deg, new cmd heading: 340.455347 deg. 2025-10-27T06:16:59.789Z,1761545819.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942067 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:16:59.911Z,1761545819.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521034 2025-10-27T06:17:00.160Z,1761545820.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770893 2025-10-27T06:17:00.167Z,1761545820.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913579,0.390545,0.113352],[-0.400580,0.912277,0.085359],[-0.070072,-0.123388,0.989881]] 2025-10-27T06:17:00.231Z,1761545820.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:17:00.234Z,1761545820.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 138.572754 m, bearing: 1.903466 deg, approach rate: -0.481521 m/s, LOS rate: 0.050302 deg/s, cmd heading: 340.455342 deg, new cmd heading: 340.522070 deg. 2025-10-27T06:17:00.235Z,1761545820.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943231 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:17:00.412Z,1761545820.412 [DAT](INFO): DAT read: Rx Time:06:16:59.0957 2025-10-27T06:17:00.412Z,1761545820.412 [DAT](INFO): Rx dataTimestamp_ set to:1761545820.412148 2025-10-27T06:17:00.413Z,1761545820.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023842 2025-10-27T06:17:00.608Z,1761545820.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:17:00.610Z,1761545820.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 138.386230 m, bearing: 1.922980 deg, approach rate: -0.489748 m/s, LOS rate: 0.051305 deg/s, cmd heading: 340.522059 deg, new cmd heading: 340.580679 deg. 2025-10-27T06:17:00.613Z,1761545820.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944254 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:17:00.664Z,1761545820.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275083 2025-10-27T06:17:00.921Z,1761545820.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530609 2025-10-27T06:17:00.990Z,1761545820.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919949,0.376044,0.110838],[-0.384696,0.920351,0.070444],[-0.075519,-0.107444,0.991339]] 2025-10-27T06:17:01.047Z,1761545821.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.70 m. 2025-10-27T06:17:01.050Z,1761545821.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 168.703247 m, nav range: 138.179489 m, bearing: 1.935542 deg, approach rate: -0.493298 m/s, LOS rate: 0.030019 deg/s, cmd heading: 340.580689 deg, new cmd heading: 340.618433 deg. 2025-10-27T06:17:01.051Z,1761545821.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944913 target range: 168.703247 and range: 169.80 m. 2025-10-27T06:17:01.173Z,1761545821.173 [DAT](INFO): DAT read: 06:16:59.0957 LVL= 20592, 22049, 21554, 16803, AGC= 70, IDX= 107, 0.42,-0.451,-1.727,-0.946,-1.652, PHS= 1.304,-0.030, 0.662, RAW= 121.3, -30.7, CAL= 121.9, -30.7, ROT= 28.1, 30.7 2025-10-27T06:17:01.174Z,1761545821.174 [DAT](INFO): got valid direction response: 06:16:59.0957 LVL= 20592, 22049, 21554, 16803, AGC= 70, IDX= 107, 0.42,-0.451,-1.727,-0.946,-1.652, PHS= 1.304,-0.030, 0.662, RAW= 121.3, -30.7, CAL= 121.9, -30.7, ROT= 28.1, 30.7 2025-10-27T06:17:01.175Z,1761545821.175 [DAT](INFO): DAT read: Bearing 91.2, 23.5 (Local) 2025-10-27T06:17:01.176Z,1761545821.176 [DAT](INFO): Local bearing/azimuth received: Bearing 91.2, 23.5 (Local) 2025-10-27T06:17:01.177Z,1761545821.177 [DAT](INFO): DAT read: Range 11 to 50 : 167.4 m (Round-trip 223.3 ms) speed -0.2 m/s 2025-10-27T06:17:01.178Z,1761545821.178 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:01.179Z,1761545821.179 [DAT](INFO): direction in FSK: [0.758499,0.405001,-0.510543] 2025-10-27T06:17:01.179Z,1761545821.179 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:01.183Z,1761545821.183 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:01.183Z,1761545821.183 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:01.183Z,1761545821.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:01.380Z,1761545821.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922947,0.368403,0.111569],[-0.376947,0.923727,0.068110],[-0.077968,-0.104918,0.991420]] 2025-10-27T06:17:01.404Z,1761545821.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 167.399994 m, deltaT: 8.063995 s, deltaX: -2.400009 m, approachRate: -0.297620 m/s, rangeRepo size: 4 2025-10-27T06:17:01.406Z,1761545821.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 166.317764 m, bearing: 3.857486 deg, lat: 36.779447 deg, lon: -121.859804 deg, deltaT: 8.063995 s, deltaX: -2.385483 m, approachRate: -0.295819 m/s, posRepo size: 4 2025-10-27T06:17:01.406Z,1761545821.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:01.409Z,1761545821.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 137.925995 m, bearing: 359.049229 deg, approach rate: 0.000000 m/s, LOS rate: 0.030019 deg/s, cmd heading: 340.618419 deg, new cmd heading: 340.652276 deg. 2025-10-27T06:17:01.410Z,1761545821.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945504 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:01.420Z,1761545821.420 [DAT](INFO): DAT read: user:706> 2025-10-27T06:17:01.421Z,1761545821.421 [DAT](INFO): DAT read: Tx time:06:17:00.4682 2025-10-27T06:17:01.421Z,1761545821.421 [DAT](INFO): Ping request sent. 2025-10-27T06:17:01.421Z,1761545821.421 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:17:01.421Z,1761545821.421 [DAT](INFO): publishing transmit ping time 2025-10-27T06:17:01.422Z,1761545821.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-27T06:17:01.673Z,1761545821.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252004 2025-10-27T06:17:01.781Z,1761545821.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925682,0.360927,0.113336],[-0.369677,0.926638,0.068422],[-0.080326,-0.105235,0.991198]] 2025-10-27T06:17:01.801Z,1761545821.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:01.804Z,1761545821.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:01.806Z,1761545821.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 137.725311 m, bearing: 359.055843 deg, approach rate: -0.500633 m/s, LOS rate: 0.016523 deg/s, cmd heading: 340.652270 deg, new cmd heading: 340.672139 deg. 2025-10-27T06:17:01.836Z,1761545821.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945850 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:01.928Z,1761545821.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505577 2025-10-27T06:17:02.177Z,1761545822.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755998 2025-10-27T06:17:02.235Z,1761545822.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928024,0.354291,0.115103],[-0.363290,0.929099,0.069246],[-0.082409,-0.106077,0.990937]] 2025-10-27T06:17:02.316Z,1761545822.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:02.318Z,1761545822.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 137.484634 m, bearing: 359.056527 deg, approach rate: -0.470210 m/s, LOS rate: 0.001339 deg/s, cmd heading: 340.672132 deg, new cmd heading: 340.674188 deg. 2025-10-27T06:17:02.327Z,1761545822.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945886 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:02.428Z,1761545822.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006848 2025-10-27T06:17:02.680Z,1761545822.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258723 2025-10-27T06:17:02.784Z,1761545822.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930140,0.347952,0.117340],[-0.357402,0.931187,0.071801],[-0.084282,-0.108722,0.990493]] 2025-10-27T06:17:02.817Z,1761545822.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:02.820Z,1761545822.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 137.245087 m, bearing: 359.056582 deg, approach rate: -0.477928 m/s, LOS rate: 0.000111 deg/s, cmd heading: 340.674181 deg, new cmd heading: 340.674348 deg. 2025-10-27T06:17:02.821Z,1761545822.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945889 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:02.936Z,1761545822.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513986 2025-10-27T06:17:03.184Z,1761545823.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762921 2025-10-27T06:17:03.260Z,1761545823.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:03.263Z,1761545823.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 137.027786 m, bearing: 359.058043 deg, approach rate: -0.490068 m/s, LOS rate: 0.003300 deg/s, cmd heading: 340.674345 deg, new cmd heading: 340.678735 deg. 2025-10-27T06:17:03.264Z,1761545823.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945966 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:03.436Z,1761545823.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014751 2025-10-27T06:17:03.590Z,1761545823.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933585,0.337075,0.121652],[-0.347578,0.934364,0.078444],[-0.087225,-0.115518,0.989468]] 2025-10-27T06:17:03.637Z,1761545823.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:03.645Z,1761545823.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 136.862961 m, bearing: 359.058449 deg, approach rate: -0.437748 m/s, LOS rate: 0.001080 deg/s, cmd heading: 340.678744 deg, new cmd heading: 340.679963 deg. 2025-10-27T06:17:03.646Z,1761545823.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945987 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:03.688Z,1761545823.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267008 2025-10-27T06:17:03.942Z,1761545823.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521006 2025-10-27T06:17:04.007Z,1761545824.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934952,0.332508,0.123706],[-0.343615,0.935477,0.082533],[-0.088281,-0.119672,0.988881]] 2025-10-27T06:17:04.056Z,1761545824.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:04.058Z,1761545824.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:04.061Z,1761545824.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 136.643997 m, bearing: 359.064617 deg, approach rate: -0.520291 m/s, LOS rate: 0.014679 deg/s, cmd heading: 340.679973 deg, new cmd heading: 340.698506 deg. 2025-10-27T06:17:04.061Z,1761545824.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946311 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:04.196Z,1761545824.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774708 2025-10-27T06:17:04.402Z,1761545824.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936008,0.328840,0.125508],[-0.340502,0.936278,0.086264],[-0.089143,-0.123480,0.988335]] 2025-10-27T06:17:04.435Z,1761545824.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:04.437Z,1761545824.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 136.461868 m, bearing: 359.069529 deg, approach rate: -0.483151 m/s, LOS rate: 0.013048 deg/s, cmd heading: 340.698496 deg, new cmd heading: 340.713252 deg. 2025-10-27T06:17:04.438Z,1761545824.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946568 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:04.444Z,1761545824.444 [DAT](INFO): DAT read: Rx Time:06:17:03.1261 2025-10-27T06:17:04.445Z,1761545824.445 [DAT](INFO): Rx dataTimestamp_ set to:1761545824.444274 2025-10-27T06:17:04.445Z,1761545824.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023991 2025-10-27T06:17:04.536Z,1761545824.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:17:04.696Z,1761545824.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275283 2025-10-27T06:17:04.806Z,1761545824.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936716,0.326107,0.127348],[-0.338375,0.936661,0.090378],[-0.089809,-0.127750,0.987732]] 2025-10-27T06:17:04.847Z,1761545824.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:04.850Z,1761545824.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 136.266541 m, bearing: 359.074652 deg, approach rate: -0.492691 m/s, LOS rate: 0.012941 deg/s, cmd heading: 340.713250 deg, new cmd heading: 340.728641 deg. 2025-10-27T06:17:04.860Z,1761545824.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946836 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:04.952Z,1761545824.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530590 2025-10-27T06:17:05.206Z,1761545825.206 [DAT](INFO): DAT read: 06:17:03.1261 LVL= 30928, 32753, 32754, 30339, AGC= 71, IDX= 226, 0.07, 2.830, 1.611, 2.342, 1.655, PHS= 1.278, 0.001, 0.643, RAW= 120.2, -31.6, CAL= 121.0, -31.4, ROT= 29.0, 31.4 2025-10-27T06:17:05.207Z,1761545825.207 [DAT](INFO): got valid direction response: 06:17:03.1261 LVL= 30928, 32753, 32754, 30339, AGC= 71, IDX= 226, 0.07, 2.830, 1.611, 2.342, 1.655, PHS= 1.278, 0.001, 0.643, RAW= 120.2, -31.6, CAL= 121.0, -31.4, ROT= 29.0, 31.4 2025-10-27T06:17:05.208Z,1761545825.208 [DAT](INFO): DAT read: Bearing 93.5, 24.1 (Local) 2025-10-27T06:17:05.208Z,1761545825.208 [DAT](INFO): Local bearing/azimuth received: Bearing 93.5, 24.1 (Local) 2025-10-27T06:17:05.209Z,1761545825.209 [DAT](INFO): DAT read: Range 11 to 50 : 190.3 m (Round-trip 253.8 ms) speed 0.4 m/s 2025-10-27T06:17:05.210Z,1761545825.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:05.211Z,1761545825.211 [DAT](INFO): direction in FSK: [0.746532,0.413810,-0.521010] 2025-10-27T06:17:05.211Z,1761545825.211 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:05.215Z,1761545825.215 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:05.215Z,1761545825.215 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:05.215Z,1761545825.215 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:05.364Z,1761545825.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 190.300003 m, deltaT: 4.032324 s, deltaX: 22.900009 m, approachRate: 5.679110 m/s, rangeRepo size: 4 2025-10-27T06:17:05.365Z,1761545825.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:05.371Z,1761545825.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 136.014145 m, bearing: 359.091472 deg, approach rate: -0.477925 m/s, LOS rate: 0.031908 deg/s, cmd heading: 340.728631 deg, new cmd heading: 340.779185 deg. 2025-10-27T06:17:05.372Z,1761545825.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947719 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:05.453Z,1761545825.453 [DAT](INFO): DAT read: user:707> 2025-10-27T06:17:05.454Z,1761545825.454 [DAT](INFO): DAT read: Tx time:06:17:04.5182 2025-10-27T06:17:05.454Z,1761545825.454 [DAT](INFO): Ping request sent. 2025-10-27T06:17:05.454Z,1761545825.454 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:17:05.455Z,1761545825.455 [DAT](INFO): publishing transmit ping time 2025-10-27T06:17:05.455Z,1761545825.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000859 2025-10-27T06:17:05.540Z,1761545825.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:17:05.658Z,1761545825.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937379,0.322920,0.130549],[-0.336214,0.936785,0.096928],[-0.090996,-0.134750,0.986692]] 2025-10-27T06:17:05.677Z,1761545825.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:05.680Z,1761545825.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 135.846313 m, bearing: 359.102561 deg, approach rate: -0.528520 m/s, LOS rate: 0.034965 deg/s, cmd heading: 340.779175 deg, new cmd heading: 340.812484 deg. 2025-10-27T06:17:05.680Z,1761545825.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948300 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:05.705Z,1761545825.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249841 2025-10-27T06:17:05.959Z,1761545825.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503461 2025-10-27T06:17:06.058Z,1761545826.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937086,0.323116,0.132158],[-0.337000,0.936082,0.100907],[-0.091107,-0.139096,0.986079]] 2025-10-27T06:17:06.110Z,1761545826.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:06.114Z,1761545826.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:06.122Z,1761545826.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 135.636612 m, bearing: 359.124524 deg, approach rate: -0.480538 m/s, LOS rate: 0.050406 deg/s, cmd heading: 340.812479 deg, new cmd heading: 340.878469 deg. 2025-10-27T06:17:06.126Z,1761545826.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949451 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:06.209Z,1761545826.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754369 2025-10-27T06:17:06.460Z,1761545826.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005269 2025-10-27T06:17:06.463Z,1761545826.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936716,0.323947,0.132745],[-0.338000,0.935620,0.101837],[-0.091209,-0.140260,0.985905]] 2025-10-27T06:17:06.492Z,1761545826.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:06.495Z,1761545826.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 135.448349 m, bearing: 359.144397 deg, approach rate: -0.496503 m/s, LOS rate: 0.052484 deg/s, cmd heading: 340.878458 deg, new cmd heading: 340.938160 deg. 2025-10-27T06:17:06.496Z,1761545826.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950493 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:06.712Z,1761545826.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257953 2025-10-27T06:17:06.866Z,1761545826.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936120,0.325435,0.133310],[-0.339688,0.934864,0.103153],[-0.091057,-0.141847,0.985692]] 2025-10-27T06:17:06.900Z,1761545826.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:06.902Z,1761545826.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 135.257523 m, bearing: 359.164759 deg, approach rate: -0.468433 m/s, LOS rate: 0.050055 deg/s, cmd heading: 340.938154 deg, new cmd heading: 340.999327 deg. 2025-10-27T06:17:06.903Z,1761545826.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951561 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:06.968Z,1761545826.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512953 2025-10-27T06:17:07.216Z,1761545827.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761372 2025-10-27T06:17:07.272Z,1761545827.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935604,0.326774,0.133656],[-0.341195,0.934171,0.104457],[-0.090724,-0.143333,0.985507]] 2025-10-27T06:17:07.335Z,1761545827.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:07.338Z,1761545827.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 135.041702 m, bearing: 359.194704 deg, approach rate: -0.500184 m/s, LOS rate: 0.069511 deg/s, cmd heading: 340.999325 deg, new cmd heading: 341.089304 deg. 2025-10-27T06:17:07.343Z,1761545827.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953131 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:07.468Z,1761545827.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013454 2025-10-27T06:17:07.674Z,1761545827.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935151,0.327959,0.133921],[-0.342570,0.933479,0.106127],[-0.090207,-0.145122,0.985293]] 2025-10-27T06:17:07.693Z,1761545827.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:07.696Z,1761545827.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 134.858673 m, bearing: 359.220303 deg, approach rate: -0.506124 m/s, LOS rate: 0.070884 deg/s, cmd heading: 341.089293 deg, new cmd heading: 341.166194 deg. 2025-10-27T06:17:07.697Z,1761545827.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954473 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:07.728Z,1761545827.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273555 2025-10-27T06:17:07.979Z,1761545827.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524139 2025-10-27T06:17:08.073Z,1761545828.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934622,0.329474,0.133898],[-0.344222,0.932691,0.107697],[-0.089402,-0.146746,0.985126]] 2025-10-27T06:17:08.140Z,1761545828.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:08.142Z,1761545828.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:08.161Z,1761545828.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 134.628647 m, bearing: 359.250751 deg, approach rate: -0.511851 m/s, LOS rate: 0.067869 deg/s, cmd heading: 341.166201 deg, new cmd heading: 341.257702 deg. 2025-10-27T06:17:08.162Z,1761545828.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956070 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:08.229Z,1761545828.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774388 2025-10-27T06:17:08.483Z,1761545828.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027566 2025-10-27T06:17:08.514Z,1761545828.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:08.517Z,1761545828.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 134.437836 m, bearing: 359.276090 deg, approach rate: -0.512633 m/s, LOS rate: 0.068171 deg/s, cmd heading: 341.257698 deg, new cmd heading: 341.333821 deg. 2025-10-27T06:17:08.518Z,1761545828.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957399 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:08.733Z,1761545828.733 [DAT](INFO): DAT read: Rx Time:06:17:07.1741 2025-10-27T06:17:08.733Z,1761545828.733 [DAT](INFO): Rx dataTimestamp_ set to:1761545828.732842 2025-10-27T06:17:08.734Z,1761545828.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279524 2025-10-27T06:17:08.882Z,1761545828.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933819,0.332033,0.133179],[-0.346951,0.931308,0.110860],[-0.087221,-0.149730,0.984872]] 2025-10-27T06:17:08.904Z,1761545828.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.32 m. 2025-10-27T06:17:08.906Z,1761545828.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 166.317764 m, nav range: 134.238373 m, bearing: 359.302924 deg, approach rate: -0.512497 m/s, LOS rate: 0.069051 deg/s, cmd heading: 341.333813 deg, new cmd heading: 341.414437 deg. 2025-10-27T06:17:08.907Z,1761545828.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958806 target range: 166.317764 and range: 167.40 m. 2025-10-27T06:17:08.989Z,1761545828.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534276 2025-10-27T06:17:09.241Z,1761545829.241 [DAT](INFO): DAT read: 06:17:07.1741 LVL= 25696, 32753, 31730, 32755, AGC= 67, IDX= 52, 0.39, 2.949, 1.022, 2.388, 2.470, PHS= 0.581,-1.403,-0.126, RAW= 129.4, 10.9, CAL= 129.2, 12.1, ROT= 20.8, -12.1 2025-10-27T06:17:09.242Z,1761545829.242 [DAT](INFO): got valid direction response: 06:17:07.1741 LVL= 25696, 32753, 31730, 32755, AGC= 67, IDX= 52, 0.39, 2.949, 1.022, 2.388, 2.470, PHS= 0.581,-1.403,-0.126, RAW= 129.4, 10.9, CAL= 129.2, 12.1, ROT= 20.8, -12.1 2025-10-27T06:17:09.243Z,1761545829.243 [DAT](INFO): DAT read: Bearing 142.1, 13.0 (Local) 2025-10-27T06:17:09.244Z,1761545829.244 [DAT](INFO): Local bearing/azimuth received: Bearing 142.1, 13.0 (Local) 2025-10-27T06:17:09.245Z,1761545829.245 [DAT](INFO): DAT read: Range 11 to 50 : 188.7 m (Round-trip 251.7 ms) speed 0.4 m/s 2025-10-27T06:17:09.246Z,1761545829.246 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:09.247Z,1761545829.247 [DAT](INFO): direction in FSK: [0.914057,0.347218,0.209619] 2025-10-27T06:17:09.248Z,1761545829.248 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:09.251Z,1761545829.251 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:09.251Z,1761545829.251 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:09.251Z,1761545829.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:09.311Z,1761545829.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933623,0.332987,0.132167],[-0.347863,0.930811,0.112169],[-0.085671,-0.150699,0.984860]] 2025-10-27T06:17:09.420Z,1761545829.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 188.699997 m, deltaT: 8.067960 s, deltaX: 21.300003 m, approachRate: 2.640073 m/s, rangeRepo size: 4 2025-10-27T06:17:09.422Z,1761545829.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 187.479401 m, bearing: 1.651677 deg, lat: 36.779529 deg, lon: -121.859725 deg, deltaT: 8.067960 s, deltaX: 21.161636 m, approachRate: 2.622923 m/s, posRepo size: 4 2025-10-27T06:17:09.427Z,1761545829.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:09.430Z,1761545829.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 143.262344 m, bearing: 2.207181 deg, approach rate: 0.000000 m/s, LOS rate: 0.069051 deg/s, cmd heading: 341.414437 deg, new cmd heading: 341.521367 deg. 2025-10-27T06:17:09.431Z,1761545829.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960672 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:09.488Z,1761545829.488 [DAT](INFO): DAT read: user:708> 2025-10-27T06:17:09.489Z,1761545829.489 [DAT](INFO): DAT read: Tx time:06:17:08.5682 2025-10-27T06:17:09.489Z,1761545829.489 [DAT](INFO): Ping request sent. 2025-10-27T06:17:09.489Z,1761545829.489 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:17:09.489Z,1761545829.489 [DAT](INFO): publishing transmit ping time 2025-10-27T06:17:09.490Z,1761545829.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-27T06:17:09.742Z,1761545829.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252246 2025-10-27T06:17:09.792Z,1761545829.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933930,0.332923,0.130139],[-0.347645,0.930673,0.113981],[-0.083170,-0.151693,0.984922]] 2025-10-27T06:17:09.826Z,1761545829.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:09.829Z,1761545829.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 143.041946 m, bearing: 2.238399 deg, approach rate: -0.542669 m/s, LOS rate: 0.076984 deg/s, cmd heading: 341.521370 deg, new cmd heading: 341.615168 deg. 2025-10-27T06:17:09.830Z,1761545829.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962309 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:09.993Z,1761545829.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503039 2025-10-27T06:17:10.244Z,1761545830.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754723 2025-10-27T06:17:10.278Z,1761545830.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934333,0.332578,0.128117],[-0.346959,0.930977,0.113588],[-0.081497,-0.150580,0.985233]] 2025-10-27T06:17:10.338Z,1761545830.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:10.344Z,1761545830.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:10.346Z,1761545830.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 142.785217 m, bearing: 2.270061 deg, approach rate: -0.495565 m/s, LOS rate: 0.061228 deg/s, cmd heading: 341.615163 deg, new cmd heading: 341.710320 deg. 2025-10-27T06:17:10.354Z,1761545830.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963970 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:10.496Z,1761545830.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006650 2025-10-27T06:17:10.749Z,1761545830.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259269 2025-10-27T06:17:10.840Z,1761545830.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935061,0.331361,0.125939],[-0.345378,0.931620,0.113127],[-0.079841,-0.149277,0.985567]] 2025-10-27T06:17:10.858Z,1761545830.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:10.861Z,1761545830.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 142.513351 m, bearing: 2.303516 deg, approach rate: -0.529105 m/s, LOS rate: 0.065234 deg/s, cmd heading: 341.710321 deg, new cmd heading: 341.810877 deg. 2025-10-27T06:17:10.861Z,1761545830.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965725 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:11.003Z,1761545831.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513424 2025-10-27T06:17:11.253Z,1761545831.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764107 2025-10-27T06:17:11.310Z,1761545831.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935771,0.330111,0.123935],[-0.343871,0.932116,0.113631],[-0.078011,-0.148950,0.985763]] 2025-10-27T06:17:11.357Z,1761545831.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:11.360Z,1761545831.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 142.267731 m, bearing: 2.327130 deg, approach rate: -0.492208 m/s, LOS rate: 0.047403 deg/s, cmd heading: 341.810888 deg, new cmd heading: 341.881853 deg. 2025-10-27T06:17:11.361Z,1761545831.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966964 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:11.504Z,1761545831.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014701 2025-10-27T06:17:11.742Z,1761545831.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937935,0.326089,0.118086],[-0.338928,0.934031,0.112761],[-0.073526,-0.145785,0.986580]] 2025-10-27T06:17:11.756Z,1761545831.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266796 2025-10-27T06:17:11.762Z,1761545831.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:11.785Z,1761545831.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 142.068359 m, bearing: 2.345907 deg, approach rate: -0.491478 m/s, LOS rate: 0.046352 deg/s, cmd heading: 341.881840 deg, new cmd heading: 341.938250 deg. 2025-10-27T06:17:11.786Z,1761545831.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967948 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:12.008Z,1761545832.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519057 2025-10-27T06:17:12.183Z,1761545832.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:12.186Z,1761545832.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 141.864090 m, bearing: 2.361585 deg, approach rate: -0.505150 m/s, LOS rate: 0.038826 deg/s, cmd heading: 341.938258 deg, new cmd heading: 341.985359 deg. 2025-10-27T06:17:12.187Z,1761545832.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968771 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:12.261Z,1761545832.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771972 2025-10-27T06:17:12.512Z,1761545832.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022698 2025-10-27T06:17:12.513Z,1761545832.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939104,0.323803,0.115048],[-0.336274,0.934876,0.113696],[-0.070741,-0.145460,0.986832]] 2025-10-27T06:17:12.556Z,1761545832.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:12.558Z,1761545832.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:12.561Z,1761545832.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 141.680084 m, bearing: 2.375526 deg, approach rate: -0.470033 m/s, LOS rate: 0.035658 deg/s, cmd heading: 341.985359 deg, new cmd heading: 342.027236 deg. 2025-10-27T06:17:12.562Z,1761545832.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969501 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:12.764Z,1761545832.764 [DAT](INFO): DAT read: Rx Time:06:17:11.2219 2025-10-27T06:17:12.765Z,1761545832.765 [DAT](INFO): Rx dataTimestamp_ set to:1761545832.764332 2025-10-27T06:17:12.765Z,1761545832.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275989 2025-10-27T06:17:12.916Z,1761545832.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940226,0.321657,0.111859],[-0.333703,0.935742,0.114141],[-0.067957,-0.144646,0.987147]] 2025-10-27T06:17:12.944Z,1761545832.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.48 m. 2025-10-27T06:17:12.947Z,1761545832.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 187.479401 m, nav range: 141.471359 m, bearing: 2.391142 deg, approach rate: -0.540834 m/s, LOS rate: 0.040524 deg/s, cmd heading: 342.027241 deg, new cmd heading: 342.074160 deg. 2025-10-27T06:17:12.948Z,1761545832.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970320 target range: 187.479401 and range: 188.70 m. 2025-10-27T06:17:13.019Z,1761545833.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529315 2025-10-27T06:17:13.273Z,1761545833.273 [DAT](INFO): DAT read: 06:17:11.2219 LVL= 20688, 26705, 27746, 32243, AGC= 68, IDX= 55, 0.23, 2.918, 0.921, 2.349, 2.427, PHS= 0.593,-1.461,-0.122, RAW= 129.9, 11.0, CAL= 129.7, 12.2, ROT= 20.3, -12.2 2025-10-27T06:17:13.274Z,1761545833.274 [DAT](INFO): got valid direction response: 06:17:11.2219 LVL= 20688, 26705, 27746, 32243, AGC= 68, IDX= 55, 0.23, 2.918, 0.921, 2.349, 2.427, PHS= 0.593,-1.461,-0.122, RAW= 129.9, 11.0, CAL= 129.7, 12.2, ROT= 20.3, -12.2 2025-10-27T06:17:13.275Z,1761545833.275 [DAT](INFO): DAT read: Bearing 144.2, 13.8 (Local) 2025-10-27T06:17:13.276Z,1761545833.276 [DAT](INFO): Local bearing/azimuth received: Bearing 144.2, 13.8 (Local) 2025-10-27T06:17:13.277Z,1761545833.277 [DAT](INFO): DAT read: Range 11 to 50 : 187.2 m (Round-trip 249.6 ms) speed 0.0 m/s 2025-10-27T06:17:13.278Z,1761545833.278 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:13.279Z,1761545833.279 [DAT](INFO): direction in FSK: [0.916708,0.339100,0.211325] 2025-10-27T06:17:13.279Z,1761545833.279 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:13.282Z,1761545833.282 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:13.282Z,1761545833.282 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:13.283Z,1761545833.283 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:13.319Z,1761545833.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941412,0.319092,0.109200],[-0.330905,0.936474,0.116270],[-0.065162,-0.145593,0.987196]] 2025-10-27T06:17:13.439Z,1761545833.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.199997 m, deltaT: 4.032008 s, deltaX: -1.500000 m, approachRate: -0.372023 m/s, rangeRepo size: 4 2025-10-27T06:17:13.441Z,1761545833.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 185.990524 m, bearing: 2.233927 deg, lat: 36.779529 deg, lon: -121.859710 deg, deltaT: 4.032008 s, deltaX: -1.488876 m, approachRate: -0.369264 m/s, posRepo size: 4 2025-10-27T06:17:13.442Z,1761545833.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:13.448Z,1761545833.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 141.286118 m, bearing: 2.926651 deg, approach rate: 0.000000 m/s, LOS rate: 0.040524 deg/s, cmd heading: 342.074151 deg, new cmd heading: 342.133730 deg. 2025-10-27T06:17:13.449Z,1761545833.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971360 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:13.520Z,1761545833.520 [DAT](INFO): DAT read: user:709> 2025-10-27T06:17:13.521Z,1761545833.521 [DAT](INFO): DAT read: Tx time:06:17:12.5682 2025-10-27T06:17:13.521Z,1761545833.521 [DAT](INFO): Ping request sent. 2025-10-27T06:17:13.521Z,1761545833.521 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:17:13.521Z,1761545833.521 [DAT](INFO): publishing transmit ping time 2025-10-27T06:17:13.522Z,1761545833.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T06:17:13.739Z,1761545833.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942391,0.317215,0.106176],[-0.328688,0.937073,0.117719],[-0.062153,-0.145836,0.987354]] 2025-10-27T06:17:13.758Z,1761545833.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:13.761Z,1761545833.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 141.110321 m, bearing: 2.939406 deg, approach rate: -0.543328 m/s, LOS rate: 0.039472 deg/s, cmd heading: 342.133738 deg, new cmd heading: 342.172052 deg. 2025-10-27T06:17:13.762Z,1761545833.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972029 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:13.772Z,1761545833.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250897 2025-10-27T06:17:14.024Z,1761545834.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502736 2025-10-27T06:17:14.166Z,1761545834.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944232,0.313881,0.099518],[-0.324589,0.938086,0.120983],[-0.055382,-0.146539,0.987653]] 2025-10-27T06:17:14.184Z,1761545834.184 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +105, +517, BE, +105, +517, -8,A 2025-10-27T06:17:14.200Z,1761545834.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:14.202Z,1761545834.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 140.881836 m, bearing: 2.955620 deg, approach rate: -0.517021 m/s, LOS rate: 0.036749 deg/s, cmd heading: 342.172041 deg, new cmd heading: 342.220763 deg. 2025-10-27T06:17:14.204Z,1761545834.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972879 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:14.277Z,1761545834.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755800 2025-10-27T06:17:14.528Z,1761545834.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006797 2025-10-27T06:17:14.574Z,1761545834.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:14.577Z,1761545834.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:14.579Z,1761545834.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 140.687363 m, bearing: 2.969462 deg, approach rate: -0.515981 m/s, LOS rate: 0.036776 deg/s, cmd heading: 342.220754 deg, new cmd heading: 342.262337 deg. 2025-10-27T06:17:14.580Z,1761545834.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.973605 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:14.781Z,1761545834.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259933 2025-10-27T06:17:14.940Z,1761545834.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945927,0.310779,0.092943],[-0.320685,0.939064,0.123771],[-0.048814,-0.146883,0.987949]] 2025-10-27T06:17:14.965Z,1761545834.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:14.968Z,1761545834.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 140.485504 m, bearing: 2.983524 deg, approach rate: -0.519740 m/s, LOS rate: 0.036259 deg/s, cmd heading: 342.262337 deg, new cmd heading: 342.304584 deg. 2025-10-27T06:17:14.969Z,1761545834.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974342 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:15.032Z,1761545835.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511046 2025-10-27T06:17:15.284Z,1761545835.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762772 2025-10-27T06:17:15.342Z,1761545835.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946509,0.309817,0.090191],[-0.319441,0.939158,0.126254],[-0.045588,-0.148311,0.987889]] 2025-10-27T06:17:15.389Z,1761545835.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:15.393Z,1761545835.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 140.261963 m, bearing: 3.003533 deg, approach rate: -0.527756 m/s, LOS rate: 0.047314 deg/s, cmd heading: 342.304574 deg, new cmd heading: 342.364696 deg. 2025-10-27T06:17:15.394Z,1761545835.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975391 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:15.536Z,1761545835.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014633 2025-10-27T06:17:15.750Z,1761545835.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947273,0.308241,0.087532],[-0.317591,0.939447,0.128743],[-0.042548,-0.149754,0.987807]] 2025-10-27T06:17:15.769Z,1761545835.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:15.772Z,1761545835.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 140.061188 m, bearing: 3.021398 deg, approach rate: -0.527401 m/s, LOS rate: 0.046995 deg/s, cmd heading: 342.364707 deg, new cmd heading: 342.418378 deg. 2025-10-27T06:17:15.773Z,1761545835.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976328 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:15.791Z,1761545835.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270116 2025-10-27T06:17:16.040Z,1761545836.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518724 2025-10-27T06:17:16.215Z,1761545836.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:16.217Z,1761545836.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 139.829468 m, bearing: 3.046544 deg, approach rate: -0.520306 m/s, LOS rate: 0.056557 deg/s, cmd heading: 342.418365 deg, new cmd heading: 342.493928 deg. 2025-10-27T06:17:16.218Z,1761545836.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977647 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:16.293Z,1761545836.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771510 2025-10-27T06:17:16.544Z,1761545836.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022818 2025-10-27T06:17:16.573Z,1761545836.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948018,0.307295,0.082657],[-0.316108,0.939271,0.133586],[-0.036587,-0.152771,0.987584]] 2025-10-27T06:17:16.624Z,1761545836.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:16.626Z,1761545836.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:16.633Z,1761545836.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 139.627945 m, bearing: 3.068352 deg, approach rate: -0.489572 m/s, LOS rate: 0.053057 deg/s, cmd heading: 342.493935 deg, new cmd heading: 342.559454 deg. 2025-10-27T06:17:16.634Z,1761545836.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978790 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:16.796Z,1761545836.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274707 2025-10-27T06:17:16.961Z,1761545836.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948338,0.307021,0.079952],[-0.315483,0.939231,0.135336],[-0.033543,-0.153568,0.987569]] 2025-10-27T06:17:16.980Z,1761545836.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:16.983Z,1761545836.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 139.432007 m, bearing: 3.089561 deg, approach rate: -0.553438 m/s, LOS rate: 0.059992 deg/s, cmd heading: 342.559450 deg, new cmd heading: 342.623168 deg. 2025-10-27T06:17:16.984Z,1761545836.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979902 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:17.048Z,1761545837.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526956 2025-10-27T06:17:17.300Z,1761545837.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778980 2025-10-27T06:17:17.361Z,1761545837.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948707,0.306614,0.077096],[-0.314676,0.939337,0.136473],[-0.030574,-0.153733,0.987639]] 2025-10-27T06:17:17.410Z,1761545837.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:17.413Z,1761545837.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 139.199844 m, bearing: 3.116453 deg, approach rate: -0.540584 m/s, LOS rate: 0.062721 deg/s, cmd heading: 342.623162 deg, new cmd heading: 342.703971 deg. 2025-10-27T06:17:17.413Z,1761545837.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981313 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:17.552Z,1761545837.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030785 2025-10-27T06:17:17.765Z,1761545837.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949113,0.306055,0.074265],[-0.313711,0.939536,0.137324],[-0.027746,-0.153634,0.987738]] 2025-10-27T06:17:17.784Z,1761545837.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:17.786Z,1761545837.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 138.998383 m, bearing: 3.139772 deg, approach rate: -0.539037 m/s, LOS rate: 0.062483 deg/s, cmd heading: 342.703977 deg, new cmd heading: 342.774035 deg. 2025-10-27T06:17:17.787Z,1761545837.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982535 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:17.804Z,1761545837.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282815 2025-10-27T06:17:18.056Z,1761545838.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534759 2025-10-27T06:17:18.192Z,1761545838.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949491,0.305687,0.070861],[-0.312822,0.939851,0.137191],[-0.024661,-0.152429,0.988007]] 2025-10-27T06:17:18.251Z,1761545838.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:18.254Z,1761545838.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 138.760574 m, bearing: 3.166399 deg, approach rate: -0.509001 m/s, LOS rate: 0.057089 deg/s, cmd heading: 342.774027 deg, new cmd heading: 342.854044 deg. 2025-10-27T06:17:18.254Z,1761545838.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983932 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:18.309Z,1761545838.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787645 2025-10-27T06:17:18.560Z,1761545838.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038581 2025-10-27T06:17:18.579Z,1761545838.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949847,0.305180,0.068238],[-0.311948,0.939962,0.138418],[-0.021898,-0.152763,0.988020]] 2025-10-27T06:17:18.627Z,1761545838.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:18.630Z,1761545838.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 138.558929 m, bearing: 3.188966 deg, approach rate: -0.541599 m/s, LOS rate: 0.060702 deg/s, cmd heading: 342.854050 deg, new cmd heading: 342.921850 deg. 2025-10-27T06:17:18.635Z,1761545838.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985116 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:18.812Z,1761545838.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290929 2025-10-27T06:17:18.981Z,1761545838.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950202,0.304755,0.065123],[-0.311037,0.940381,0.137619],[-0.019300,-0.151022,0.988342]] 2025-10-27T06:17:18.997Z,1761545838.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:18.000Z,1761545839.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:19.002Z,1761545839.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 138.349503 m, bearing: 3.212387 deg, approach rate: -0.556068 m/s, LOS rate: 0.062281 deg/s, cmd heading: 342.921860 deg, new cmd heading: 342.992228 deg. 2025-10-27T06:17:19.003Z,1761545839.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.986344 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:19.064Z,1761545839.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543109 2025-10-27T06:17:19.316Z,1761545839.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794694 2025-10-27T06:17:19.388Z,1761545839.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950747,0.303766,0.061701],[-0.309533,0.940966,0.137013],[-0.016439,-0.149363,0.988646]] 2025-10-27T06:17:19.397Z,1761545839.397 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050310053779,35.0, +10.2, 0.0,14 2025-10-27T06:17:19.412Z,1761545839.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:19.415Z,1761545839.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 138.128754 m, bearing: 3.236994 deg, approach rate: -0.534880 m/s, LOS rate: 0.059719 deg/s, cmd heading: 342.992238 deg, new cmd heading: 343.066177 deg. 2025-10-27T06:17:19.416Z,1761545839.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987634 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:19.568Z,1761545839.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046654 2025-10-27T06:17:19.786Z,1761545839.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951236,0.302797,0.058862],[-0.308153,0.941393,0.137189],[-0.013872,-0.148638,0.988794]] 2025-10-27T06:17:19.808Z,1761545839.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:19.811Z,1761545839.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 137.917236 m, bearing: 3.260511 deg, approach rate: -0.534333 m/s, LOS rate: 0.059499 deg/s, cmd heading: 343.066168 deg, new cmd heading: 343.136827 deg. 2025-10-27T06:17:19.812Z,1761545839.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988867 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:19.820Z,1761545839.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298912 2025-10-27T06:17:20.072Z,1761545840.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551125 2025-10-27T06:17:20.220Z,1761545840.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951786,0.301587,0.056112],[-0.306554,0.941844,0.137677],[-0.011327,-0.148240,0.988887]] 2025-10-27T06:17:20.277Z,1761545840.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:20.284Z,1761545840.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 137.688416 m, bearing: 3.280324 deg, approach rate: -0.487950 m/s, LOS rate: 0.042321 deg/s, cmd heading: 343.136819 deg, new cmd heading: 343.196358 deg. 2025-10-27T06:17:20.285Z,1761545840.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989906 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:20.324Z,1761545840.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803127 2025-10-27T06:17:20.577Z,1761545840.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055544 2025-10-27T06:17:20.633Z,1761545840.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952224,0.300591,0.053988],[-0.305267,0.942065,0.139018],[-0.009073,-0.148857,0.988817]] 2025-10-27T06:17:20.665Z,1761545840.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:20.668Z,1761545840.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 137.480270 m, bearing: 3.298284 deg, approach rate: -0.536675 m/s, LOS rate: 0.046378 deg/s, cmd heading: 343.196351 deg, new cmd heading: 343.250313 deg. 2025-10-27T06:17:20.669Z,1761545840.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990848 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:20.828Z,1761545840.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306699 2025-10-27T06:17:21.027Z,1761545841.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952665,0.299490,0.052296],[-0.303941,0.942180,0.141125],[-0.007007,-0.150340,0.988610]] 2025-10-27T06:17:21.044Z,1761545841.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:21.046Z,1761545841.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:21.049Z,1761545841.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 137.286346 m, bearing: 3.314950 deg, approach rate: -0.509040 m/s, LOS rate: 0.043808 deg/s, cmd heading: 343.250310 deg, new cmd heading: 343.300377 deg. 2025-10-27T06:17:21.050Z,1761545841.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991722 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:21.082Z,1761545841.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560458 2025-10-27T06:17:21.332Z,1761545841.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810807 2025-10-27T06:17:21.482Z,1761545841.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:21.485Z,1761545841.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 137.064056 m, bearing: 3.328134 deg, approach rate: -0.509807 m/s, LOS rate: 0.030286 deg/s, cmd heading: 343.300389 deg, new cmd heading: 343.340005 deg. 2025-10-27T06:17:21.486Z,1761545841.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992414 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:21.585Z,1761545841.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063996 2025-10-27T06:17:21.833Z,1761545841.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953728,0.296745,0.048437],[-0.300655,0.942922,0.143192],[-0.003181,-0.151129,0.988509]] 2025-10-27T06:17:21.836Z,1761545841.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315058 2025-10-27T06:17:21.854Z,1761545841.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:21.857Z,1761545841.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 136.874557 m, bearing: 3.339130 deg, approach rate: -0.509282 m/s, LOS rate: 0.029593 deg/s, cmd heading: 343.340004 deg, new cmd heading: 343.373038 deg. 2025-10-27T06:17:21.858Z,1761545841.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992990 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:22.089Z,1761545842.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567457 2025-10-27T06:17:22.254Z,1761545842.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954404,0.294889,0.046407],[-0.298515,0.943512,0.143780],[-0.001386,-0.151078,0.988521]] 2025-10-27T06:17:22.291Z,1761545842.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:22.294Z,1761545842.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 136.661316 m, bearing: 3.347414 deg, approach rate: -0.487578 m/s, LOS rate: 0.018971 deg/s, cmd heading: 343.373035 deg, new cmd heading: 343.397925 deg. 2025-10-27T06:17:22.295Z,1761545842.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993424 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:22.342Z,1761545842.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820643 2025-10-27T06:17:22.593Z,1761545842.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071237 2025-10-27T06:17:22.643Z,1761545842.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954922,0.293385,0.045263],[-0.296856,0.943861,0.144923],[-0.000204,-0.151827,0.988407]] 2025-10-27T06:17:22.667Z,1761545842.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:22.670Z,1761545842.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 136.477417 m, bearing: 3.354446 deg, approach rate: -0.489791 m/s, LOS rate: 0.018755 deg/s, cmd heading: 343.397924 deg, new cmd heading: 343.419049 deg. 2025-10-27T06:17:22.671Z,1761545842.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993793 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:22.844Z,1761545842.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322772 2025-10-27T06:17:23.046Z,1761545843.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955352,0.292143,0.044214],[-0.295468,0.944167,0.145762],[0.000838,-0.152318,0.988331]] 2025-10-27T06:17:23.062Z,1761545843.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:23.065Z,1761545843.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:23.067Z,1761545843.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 136.283310 m, bearing: 3.361771 deg, approach rate: -0.488138 m/s, LOS rate: 0.018447 deg/s, cmd heading: 343.419043 deg, new cmd heading: 343.441049 deg. 2025-10-27T06:17:23.068Z,1761545843.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994177 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:23.097Z,1761545843.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575705 2025-10-27T06:17:23.348Z,1761545843.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826992 2025-10-27T06:17:23.450Z,1761545843.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955839,0.290754,0.042823],[-0.293883,0.944604,0.146135],[0.002039,-0.152266,0.988337]] 2025-10-27T06:17:23.503Z,1761545843.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:23.506Z,1761545843.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 136.065842 m, bearing: 3.369783 deg, approach rate: -0.514965 m/s, LOS rate: 0.019002 deg/s, cmd heading: 343.441036 deg, new cmd heading: 343.465109 deg. 2025-10-27T06:17:23.507Z,1761545843.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994597 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:23.601Z,1761545843.601 [DAT](INFO): Reached modem response timeout 2025-10-27T06:17:23.601Z,1761545843.601 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:23.602Z,1761545843.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:23.852Z,1761545843.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:23.856Z,1761545843.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956470,0.288869,0.041480],[-0.291809,0.944886,0.148453],[0.003689,-0.154095,0.988049]] 2025-10-27T06:17:23.903Z,1761545843.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:23.906Z,1761545843.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 135.863815 m, bearing: 3.377074 deg, approach rate: -0.490281 m/s, LOS rate: 0.017720 deg/s, cmd heading: 343.465106 deg, new cmd heading: 343.487011 deg. 2025-10-27T06:17:23.907Z,1761545843.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994979 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:24.105Z,1761545844.105 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:24.342Z,1761545844.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:24.345Z,1761545844.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 135.625916 m, bearing: 3.384866 deg, approach rate: -0.537474 m/s, LOS rate: 0.017635 deg/s, cmd heading: 343.487017 deg, new cmd heading: 343.510434 deg. 2025-10-27T06:17:24.346Z,1761545844.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995388 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:24.356Z,1761545844.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:24.608Z,1761545844.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:24.662Z,1761545844.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957477,0.285897,0.038741],[-0.288436,0.945520,0.150989],[0.006537,-0.155743,0.987776]] 2025-10-27T06:17:24.680Z,1761545844.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:24.683Z,1761545844.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 135.451843 m, bearing: 3.390336 deg, approach rate: -0.513712 m/s, LOS rate: 0.016163 deg/s, cmd heading: 343.510431 deg, new cmd heading: 343.526861 deg. 2025-10-27T06:17:24.684Z,1761545844.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995675 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:24.860Z,1761545844.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:25.065Z,1761545845.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957759,0.285082,0.037749],[-0.287456,0.945391,0.153637],[0.008112,-0.157998,0.987406]] 2025-10-27T06:17:25.106Z,1761545845.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:25.109Z,1761545845.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:25.112Z,1761545845.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:25.113Z,1761545845.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 135.234039 m, bearing: 3.397122 deg, approach rate: -0.508656 m/s, LOS rate: 0.015873 deg/s, cmd heading: 343.526850 deg, new cmd heading: 343.547240 deg. 2025-10-27T06:17:25.114Z,1761545845.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996030 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:25.364Z,1761545845.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:25.525Z,1761545845.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:25.528Z,1761545845.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 135.015060 m, bearing: 3.410525 deg, approach rate: -0.525950 m/s, LOS rate: 0.032244 deg/s, cmd heading: 343.547232 deg, new cmd heading: 343.587506 deg. 2025-10-27T06:17:25.529Z,1761545845.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996733 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:25.616Z,1761545845.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:25.868Z,1761545845.868 [DAT](INFO): DAT read: Response Not Received 2025-10-27T06:17:25.868Z,1761545845.868 [DAT](INFO): response not received 2025-10-27T06:17:25.869Z,1761545845.869 [DAT](INFO): DAT read: user:710> 2025-10-27T06:17:25.870Z,1761545845.870 [DAT](INFO): DAT read: Tx time:06:17:25.0181 2025-10-27T06:17:25.870Z,1761545845.870 [DAT](INFO): Ping request sent. 2025-10-27T06:17:25.870Z,1761545845.870 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:17:25.870Z,1761545845.870 [DAT](INFO): publishing transmit ping time 2025-10-27T06:17:25.871Z,1761545845.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-27T06:17:25.916Z,1761545845.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958302,0.283571,0.035284],[-0.285530,0.945284,0.157829],[0.011402,-0.161323,0.986836]] 2025-10-27T06:17:25.956Z,1761545845.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:25.958Z,1761545845.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 134.797531 m, bearing: 3.423726 deg, approach rate: -0.505040 m/s, LOS rate: 0.030699 deg/s, cmd heading: 343.587503 deg, new cmd heading: 343.627170 deg. 2025-10-27T06:17:25.963Z,1761545845.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997426 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:26.120Z,1761545846.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249918 2025-10-27T06:17:26.308Z,1761545846.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958528,0.282983,0.033833],[-0.284699,0.945305,0.159202],[0.013069,-0.162232,0.986666]] 2025-10-27T06:17:26.363Z,1761545846.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:26.366Z,1761545846.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 134.581650 m, bearing: 3.443436 deg, approach rate: -0.551775 m/s, LOS rate: 0.050457 deg/s, cmd heading: 343.627172 deg, new cmd heading: 343.686396 deg. 2025-10-27T06:17:26.372Z,1761545846.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502032 2025-10-27T06:17:26.372Z,1761545846.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.998459 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:26.624Z,1761545846.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753936 2025-10-27T06:17:26.876Z,1761545846.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005850 2025-10-27T06:17:26.886Z,1761545846.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958616,0.282816,0.032722],[-0.284321,0.945037,0.161455],[0.014738,-0.164077,0.986337]] 2025-10-27T06:17:26.959Z,1761545846.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:26.962Z,1761545846.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 134.276215 m, bearing: 3.471401 deg, approach rate: -0.519406 m/s, LOS rate: 0.047664 deg/s, cmd heading: 343.686404 deg, new cmd heading: 343.770489 deg. 2025-10-27T06:17:26.971Z,1761545846.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999927 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:27.130Z,1761545847.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260111 2025-10-27T06:17:27.302Z,1761545847.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958532,0.283232,0.031560],[-0.284510,0.944658,0.163324],[0.016446,-0.165531,0.986067]] 2025-10-27T06:17:27.370Z,1761545847.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:27.372Z,1761545847.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:27.374Z,1761545847.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 134.022491 m, bearing: 3.501695 deg, approach rate: -0.580710 m/s, LOS rate: 0.069468 deg/s, cmd heading: 343.770497 deg, new cmd heading: 343.861552 deg. 2025-10-27T06:17:27.376Z,1761545847.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001516 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:27.385Z,1761545847.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514599 2025-10-27T06:17:27.637Z,1761545847.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766604 2025-10-27T06:17:27.690Z,1761545847.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958375,0.283902,0.030275],[-0.284952,0.944468,0.163651],[0.017867,-0.165467,0.986054]] 2025-10-27T06:17:27.714Z,1761545847.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:27.737Z,1761545847.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 133.834442 m, bearing: 3.524265 deg, approach rate: -0.550641 m/s, LOS rate: 0.066181 deg/s, cmd heading: 343.861557 deg, new cmd heading: 343.929361 deg. 2025-10-27T06:17:27.738Z,1761545847.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002700 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:27.888Z,1761545847.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017941 2025-10-27T06:17:28.136Z,1761545848.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:28.138Z,1761545848.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 133.598694 m, bearing: 3.552655 deg, approach rate: -0.558140 m/s, LOS rate: 0.067333 deg/s, cmd heading: 343.929367 deg, new cmd heading: 344.014688 deg. 2025-10-27T06:17:28.140Z,1761545848.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270121 2025-10-27T06:17:28.141Z,1761545848.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004189 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:28.394Z,1761545848.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523544 2025-10-27T06:17:28.491Z,1761545848.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958045,0.285255,0.027903],[-0.285833,0.943694,0.166557],[0.021180,-0.167545,0.985637]] 2025-10-27T06:17:28.553Z,1761545848.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:28.559Z,1761545848.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 133.379349 m, bearing: 3.586880 deg, approach rate: -0.526348 m/s, LOS rate: 0.082263 deg/s, cmd heading: 344.014690 deg, new cmd heading: 344.117534 deg. 2025-10-27T06:17:28.560Z,1761545848.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.005984 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:28.645Z,1761545848.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774482 2025-10-27T06:17:28.896Z,1761545848.896 [DAT](INFO): DAT read: Rx Time:06:17:27.5890 2025-10-27T06:17:28.897Z,1761545848.897 [DAT](INFO): Rx dataTimestamp_ set to:1761545848.896265 2025-10-27T06:17:28.897Z,1761545848.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027148 2025-10-27T06:17:28.918Z,1761545848.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957795,0.286226,0.026503],[-0.286560,0.943511,0.166342],[0.022606,-0.166917,0.985712]] 2025-10-27T06:17:28.941Z,1761545848.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:28.950Z,1761545848.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 133.150238 m, bearing: 3.622844 deg, approach rate: -0.589007 m/s, LOS rate: 0.092616 deg/s, cmd heading: 344.117525 deg, new cmd heading: 344.225602 deg. 2025-10-27T06:17:28.951Z,1761545848.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007870 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:29.148Z,1761545849.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278321 2025-10-27T06:17:29.336Z,1761545849.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957618,0.286967,0.024849],[-0.287024,0.943443,0.165932],[0.024173,-0.166031,0.985824]] 2025-10-27T06:17:29.385Z,1761545849.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:29.387Z,1761545849.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:29.390Z,1761545849.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 132.899597 m, bearing: 3.663004 deg, approach rate: -0.562538 m/s, LOS rate: 0.090306 deg/s, cmd heading: 344.225606 deg, new cmd heading: 344.346315 deg. 2025-10-27T06:17:29.391Z,1761545849.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009977 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:29.419Z,1761545849.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.548841 2025-10-27T06:17:29.678Z,1761545849.678 [DAT](INFO): DAT read: 06:17:27.5890 LVL= 27824, 32753, 32754, 32755, AGC= 67, IDX= 73,-0.15,-0.846,-2.662,-1.414,-1.236, PHS= 0.492,-1.381,-0.222, RAW= 127.8, 13.5, CAL= 127.5, 14.7, ROT= 22.5, -14.7 2025-10-27T06:17:29.681Z,1761545849.681 [DAT](INFO): got valid direction response: 06:17:27.5890 LVL= 27824, 32753, 32754, 32755, AGC= 67, IDX= 73,-0.15,-0.846,-2.662,-1.414,-1.236, PHS= 0.492,-1.381,-0.222, RAW= 127.8, 13.5, CAL= 127.5, 14.7, ROT= 22.5, -14.7 2025-10-27T06:17:29.682Z,1761545849.682 [DAT](INFO): DAT read: $Error in header 2025-10-27T06:17:29.682Z,1761545849.682 [DAT](INFO): Received a bad header 2025-10-27T06:17:29.696Z,1761545849.696 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:17:29.697Z,1761545849.697 [DAT](INFO): direction in FSK: [0.893639,0.370157,0.253758] 2025-10-27T06:17:29.703Z,1761545849.703 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:29.739Z,1761545849.739 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:29.739Z,1761545849.739 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:29.793Z,1761545849.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957237,0.288497,0.021600],[-0.288054,0.943503,0.163788],[0.026873,-0.163006,0.986259]] 2025-10-27T06:17:29.828Z,1761545849.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:29.830Z,1761545849.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 132.654388 m, bearing: 3.702586 deg, approach rate: -0.556091 m/s, LOS rate: 0.089932 deg/s, cmd heading: 344.346309 deg, new cmd heading: 344.465276 deg. 2025-10-27T06:17:29.836Z,1761545849.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012053 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:29.921Z,1761545849.921 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:29.921Z,1761545849.921 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:29.921Z,1761545849.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:30.167Z,1761545850.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957138,0.288924,0.020243],[-0.288270,0.943533,0.163239],[0.028064,-0.162077,0.986379]] 2025-10-27T06:17:30.172Z,1761545850.172 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:30.172Z,1761545850.172 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:30.172Z,1761545850.172 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:30.187Z,1761545850.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:30.190Z,1761545850.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 132.451309 m, bearing: 3.735511 deg, approach rate: -0.565950 m/s, LOS rate: 0.091896 deg/s, cmd heading: 344.465264 deg, new cmd heading: 344.564189 deg. 2025-10-27T06:17:30.190Z,1761545850.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.013780 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:30.424Z,1761545850.424 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:30.424Z,1761545850.424 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:30.424Z,1761545850.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:30.599Z,1761545850.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957093,0.289202,0.018309],[-0.288291,0.943872,0.161226],[0.029345,-0.159586,0.986748]] 2025-10-27T06:17:30.676Z,1761545850.676 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:30.676Z,1761545850.676 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:30.676Z,1761545850.676 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:30.680Z,1761545850.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:30.682Z,1761545850.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 132.186798 m, bearing: 3.775181 deg, approach rate: -0.536563 m/s, LOS rate: 0.080633 deg/s, cmd heading: 344.564192 deg, new cmd heading: 344.683442 deg. 2025-10-27T06:17:30.704Z,1761545850.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015861 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:30.929Z,1761545850.929 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:30.929Z,1761545850.929 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:30.929Z,1761545850.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:30.988Z,1761545850.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957182,0.288991,0.016952],[-0.287883,0.944082,0.160727],[0.030444,-0.158725,0.986853]] 2025-10-27T06:17:31.032Z,1761545851.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:31.035Z,1761545851.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 132.003235 m, bearing: 3.802777 deg, approach rate: -0.528602 m/s, LOS rate: 0.079575 deg/s, cmd heading: 344.683447 deg, new cmd heading: 344.766348 deg. 2025-10-27T06:17:31.040Z,1761545851.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017308 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:31.180Z,1761545851.180 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:31.180Z,1761545851.180 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:31.180Z,1761545851.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:31.392Z,1761545851.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957357,0.288510,0.015151],[-0.287189,0.944642,0.158661],[0.031463,-0.156246,0.987217]] 2025-10-27T06:17:31.432Z,1761545851.432 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:31.432Z,1761545851.432 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:31.432Z,1761545851.432 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:31.440Z,1761545851.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:31.442Z,1761545851.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:31.449Z,1761545851.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 131.784348 m, bearing: 3.829941 deg, approach rate: -0.527341 m/s, LOS rate: 0.065554 deg/s, cmd heading: 344.766339 deg, new cmd heading: 344.847969 deg. 2025-10-27T06:17:31.450Z,1761545851.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.018733 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:31.684Z,1761545851.684 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:31.684Z,1761545851.684 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:31.684Z,1761545851.684 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:31.794Z,1761545851.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957749,0.287287,0.013542],[-0.285782,0.945329,0.157102],[0.032332,-0.154335,0.987490]] 2025-10-27T06:17:31.822Z,1761545851.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:31.825Z,1761545851.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 131.586975 m, bearing: 3.854386 deg, approach rate: -0.519249 m/s, LOS rate: 0.064405 deg/s, cmd heading: 344.847973 deg, new cmd heading: 344.921416 deg. 2025-10-27T06:17:31.826Z,1761545851.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020014 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:31.936Z,1761545851.936 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:31.936Z,1761545851.936 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:31.936Z,1761545851.936 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:32.188Z,1761545852.188 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:32.188Z,1761545852.188 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:32.188Z,1761545852.188 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:32.224Z,1761545852.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958211,0.285818,0.011796],[-0.284113,0.946070,0.155667],[0.033332,-0.152514,0.987739]] 2025-10-27T06:17:32.255Z,1761545852.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:32.258Z,1761545852.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 131.364944 m, bearing: 3.881799 deg, approach rate: -0.513305 m/s, LOS rate: 0.063483 deg/s, cmd heading: 344.921411 deg, new cmd heading: 345.003790 deg. 2025-10-27T06:17:32.259Z,1761545852.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021452 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:32.440Z,1761545852.440 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:32.440Z,1761545852.440 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:32.440Z,1761545852.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:32.614Z,1761545852.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958890,0.283612,0.009746],[-0.281713,0.947205,0.153103],[0.034190,-0.149554,0.988162]] 2025-10-27T06:17:32.666Z,1761545852.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:32.669Z,1761545852.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 131.153961 m, bearing: 3.898379 deg, approach rate: -0.512454 m/s, LOS rate: 0.040335 deg/s, cmd heading: 345.003783 deg, new cmd heading: 345.053603 deg. 2025-10-27T06:17:32.670Z,1761545852.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022322 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:32.692Z,1761545852.692 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:32.692Z,1761545852.692 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:32.692Z,1761545852.692 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:32.944Z,1761545852.944 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:32.944Z,1761545852.944 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:32.944Z,1761545852.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:33.024Z,1761545853.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959708,0.280887,0.007900],[-0.278812,0.948366,0.151217],[0.034983,-0.147327,0.988469]] 2025-10-27T06:17:33.050Z,1761545853.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:33.063Z,1761545853.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 130.963287 m, bearing: 3.913151 deg, approach rate: -0.496822 m/s, LOS rate: 0.038545 deg/s, cmd heading: 345.053616 deg, new cmd heading: 345.097996 deg. 2025-10-27T06:17:33.065Z,1761545853.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023096 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:33.196Z,1761545853.196 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:33.196Z,1761545853.196 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:33.196Z,1761545853.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:33.422Z,1761545853.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960532,0.278093,0.006485],[-0.275855,0.949287,0.150860],[0.035797,-0.146694,0.988534]] 2025-10-27T06:17:33.448Z,1761545853.448 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:33.448Z,1761545853.448 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:33.448Z,1761545853.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:33.490Z,1761545853.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:33.496Z,1761545853.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:33.499Z,1761545853.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 130.744781 m, bearing: 3.921992 deg, approach rate: -0.490200 m/s, LOS rate: 0.019868 deg/s, cmd heading: 345.097985 deg, new cmd heading: 345.124553 deg. 2025-10-27T06:17:33.504Z,1761545853.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023560 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:33.701Z,1761545853.701 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:33.701Z,1761545853.701 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:33.701Z,1761545853.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:33.940Z,1761545853.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961119,0.276086,0.005240],[-0.273692,0.949921,0.150808],[0.036658,-0.146378,0.988549]] 2025-10-27T06:17:33.952Z,1761545853.952 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:33.952Z,1761545853.952 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:33.952Z,1761545853.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:33.992Z,1761545853.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:33.994Z,1761545853.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 130.499023 m, bearing: 3.931726 deg, approach rate: -0.495779 m/s, LOS rate: 0.019674 deg/s, cmd heading: 345.124541 deg, new cmd heading: 345.153799 deg. 2025-10-27T06:17:33.999Z,1761545853.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024070 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:34.205Z,1761545854.205 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:34.205Z,1761545854.205 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:34.206Z,1761545854.206 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:34.443Z,1761545854.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961694,0.274093,0.004178],[-0.271550,0.950466,0.151248],[0.037485,-0.146589,0.988487]] 2025-10-27T06:17:34.456Z,1761545854.456 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:34.456Z,1761545854.456 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:34.456Z,1761545854.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:34.516Z,1761545854.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:34.518Z,1761545854.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 130.248138 m, bearing: 3.934080 deg, approach rate: -0.478767 m/s, LOS rate: 0.004500 deg/s, cmd heading: 345.153802 deg, new cmd heading: 345.160877 deg. 2025-10-27T06:17:34.524Z,1761545854.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024194 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:34.709Z,1761545854.709 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:34.709Z,1761545854.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:34.709Z,1761545854.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:34.934Z,1761545854.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962318,0.271907,0.003202],[-0.269230,0.951059,0.151664],[0.038193,-0.146811,0.988427]] 2025-10-27T06:17:34.960Z,1761545854.960 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:34.960Z,1761545854.960 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:34.960Z,1761545854.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:34.978Z,1761545854.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:34.985Z,1761545854.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 130.036560 m, bearing: 3.935850 deg, approach rate: -0.457851 m/s, LOS rate: 0.003836 deg/s, cmd heading: 345.160878 deg, new cmd heading: 345.166195 deg. 2025-10-27T06:17:34.986Z,1761545854.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024287 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:35.212Z,1761545855.212 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:35.212Z,1761545855.212 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:35.212Z,1761545855.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:35.439Z,1761545855.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:35.441Z,1761545855.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 129.830551 m, bearing: 3.937578 deg, approach rate: -0.450469 m/s, LOS rate: 0.003786 deg/s, cmd heading: 345.166205 deg, new cmd heading: 345.171400 deg. 2025-10-27T06:17:35.442Z,1761545855.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024377 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:35.464Z,1761545855.464 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:35.464Z,1761545855.464 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:35.464Z,1761545855.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:35.659Z,1761545855.659 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:17:35.717Z,1761545855.717 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:17:35.717Z,1761545855.717 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:17:35.717Z,1761545855.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:17:35.764Z,1761545855.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963994,0.265917,0.001952],[-0.263007,0.952307,0.154719],[0.039283,-0.149661,0.987957]] 2025-10-27T06:17:35.823Z,1761545855.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:35.825Z,1761545855.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:35.828Z,1761545855.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 129.624939 m, bearing: 3.935082 deg, approach rate: -0.526865 m/s, LOS rate: -0.006406 deg/s, cmd heading: 345.171396 deg, new cmd heading: 345.163896 deg. 2025-10-27T06:17:35.829Z,1761545855.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024246 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:35.967Z,1761545855.967 [DAT](INFO): Reached modem response timeout 2025-10-27T06:17:35.968Z,1761545855.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:35.968Z,1761545855.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:36.177Z,1761545856.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:36.179Z,1761545856.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 129.438782 m, bearing: 3.932816 deg, approach rate: -0.530051 m/s, LOS rate: -0.006464 deg/s, cmd heading: 345.163883 deg, new cmd heading: 345.157073 deg. 2025-10-27T06:17:36.180Z,1761545856.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024127 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:36.220Z,1761545856.220 [DAT](INFO): DAT read: 2025-10-27T06:17:36.221Z,1761545856.221 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:36.472Z,1761545856.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:36.551Z,1761545856.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964440,0.264291,0.002242],[-0.261351,0.952381,0.157052],[0.039372,-0.152053,0.987588]] 2025-10-27T06:17:36.616Z,1761545856.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:36.619Z,1761545856.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 129.218079 m, bearing: 3.932285 deg, approach rate: -0.501879 m/s, LOS rate: -0.001208 deg/s, cmd heading: 345.157080 deg, new cmd heading: 345.155486 deg. 2025-10-27T06:17:36.620Z,1761545856.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024100 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:36.664Z,1761545856.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:17:36.724Z,1761545856.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:36.976Z,1761545856.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:37.009Z,1761545857.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965217,0.261443,0.001724],[-0.258366,0.952807,0.159392],[0.040029,-0.154293,0.987214]] 2025-10-27T06:17:37.044Z,1761545857.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:37.046Z,1761545857.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 129.003601 m, bearing: 3.931498 deg, approach rate: -0.502073 m/s, LOS rate: -0.001846 deg/s, cmd heading: 345.155495 deg, new cmd heading: 345.153130 deg. 2025-10-27T06:17:37.047Z,1761545857.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024058 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:37.228Z,1761545857.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:37.457Z,1761545857.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965442,0.260609,0.002219],[-0.257507,0.952572,0.162161],[0.040147,-0.157128,0.986762]] 2025-10-27T06:17:37.480Z,1761545857.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:37.502Z,1761545857.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:37.505Z,1761545857.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 128.763657 m, bearing: 3.937348 deg, approach rate: -0.522937 m/s, LOS rate: 0.012774 deg/s, cmd heading: 345.153119 deg, new cmd heading: 345.170702 deg. 2025-10-27T06:17:37.506Z,1761545857.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024365 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:37.733Z,1761545857.733 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:37.828Z,1761545857.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965687,0.259702,0.001751],[-0.256495,0.952660,0.163245],[0.040727,-0.158093,0.986584]] 2025-10-27T06:17:37.847Z,1761545857.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:37.849Z,1761545857.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:37.852Z,1761545857.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 128.580917 m, bearing: 3.941744 deg, approach rate: -0.527447 m/s, LOS rate: 0.012706 deg/s, cmd heading: 345.170713 deg, new cmd heading: 345.183920 deg. 2025-10-27T06:17:37.853Z,1761545857.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024596 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:37.984Z,1761545857.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:38.230Z,1761545858.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965924,0.258822,0.001696],[-0.255549,0.952629,0.164904],[0.041065,-0.159718,0.986308]] 2025-10-27T06:17:38.238Z,1761545858.238 [DAT](INFO): DAT read: Response Not Received 2025-10-27T06:17:38.239Z,1761545858.239 [DAT](INFO): response not received 2025-10-27T06:17:38.240Z,1761545858.240 [DAT](ERROR): No response from remote modem. 2025-10-27T06:17:38.241Z,1761545858.241 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:38.241Z,1761545858.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:38.295Z,1761545858.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:38.298Z,1761545858.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 128.351486 m, bearing: 3.947202 deg, approach rate: -0.519093 m/s, LOS rate: 0.012370 deg/s, cmd heading: 345.183909 deg, new cmd heading: 345.200311 deg. 2025-10-27T06:17:38.299Z,1761545858.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024882 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:38.488Z,1761545858.488 [DAT](INFO): DAT read: user:712>Tx time:06:17:37.4681 2025-10-27T06:17:38.489Z,1761545858.489 [DAT](INFO): DAT read: 2025-10-27T06:17:38.489Z,1761545858.489 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:38.634Z,1761545858.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965976,0.258623,0.001954],[-0.255304,0.952316,0.167079],[0.041350,-0.161893,0.985942]] 2025-10-27T06:17:38.694Z,1761545858.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:38.697Z,1761545858.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 128.139297 m, bearing: 3.956401 deg, approach rate: -0.526024 m/s, LOS rate: 0.022843 deg/s, cmd heading: 345.200301 deg, new cmd heading: 345.227944 deg. 2025-10-27T06:17:38.698Z,1761545858.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025364 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:38.740Z,1761545858.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:38.992Z,1761545858.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:39.038Z,1761545859.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965980,0.258607,0.002045],[-0.255231,0.952037,0.168766],[0.041697,-0.163546,0.985654]] 2025-10-27T06:17:39.099Z,1761545859.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:39.105Z,1761545859.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 127.934761 m, bearing: 3.965306 deg, approach rate: -0.505821 m/s, LOS rate: 0.022058 deg/s, cmd heading: 345.227950 deg, new cmd heading: 345.254709 deg. 2025-10-27T06:17:39.106Z,1761545859.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025831 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:39.244Z,1761545859.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:39.496Z,1761545859.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:39.497Z,1761545859.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965947,0.258729,0.002329],[-0.255323,0.951694,0.170552],[0.041911,-0.165338,0.985346]] 2025-10-27T06:17:39.544Z,1761545859.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:39.550Z,1761545859.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 127.701561 m, bearing: 3.983171 deg, approach rate: -0.523297 m/s, LOS rate: 0.040163 deg/s, cmd heading: 345.254697 deg, new cmd heading: 345.308391 deg. 2025-10-27T06:17:39.568Z,1761545859.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026768 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:39.748Z,1761545859.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:39.884Z,1761545859.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965866,0.259031,0.002331],[-0.255556,0.951360,0.172060],[0.042352,-0.166783,0.985084]] 2025-10-27T06:17:39.902Z,1761545859.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:39.904Z,1761545859.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:39.907Z,1761545859.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 127.517174 m, bearing: 3.997374 deg, approach rate: -0.512423 m/s, LOS rate: 0.039526 deg/s, cmd heading: 345.308382 deg, new cmd heading: 345.351051 deg. 2025-10-27T06:17:39.908Z,1761545859.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027513 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:39.000Z,1761545860.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:40.252Z,1761545860.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:40.286Z,1761545860.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965812,0.259234,0.002086],[-0.255689,0.951217,0.172656],[0.042774,-0.167287,0.984980]] 2025-10-27T06:17:40.304Z,1761545860.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:40.327Z,1761545860.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 127.310822 m, bearing: 4.013334 deg, approach rate: -0.515674 m/s, LOS rate: 0.039951 deg/s, cmd heading: 345.351057 deg, new cmd heading: 345.399017 deg. 2025-10-27T06:17:40.328Z,1761545860.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.028350 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:40.506Z,1761545860.506 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:40.698Z,1761545860.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965815,0.259222,0.002250],[-0.255679,0.951113,0.173243],[0.042769,-0.167896,0.984877]] 2025-10-27T06:17:40.756Z,1761545860.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:40.762Z,1761545860.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:40.765Z,1761545860.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 127.066696 m, bearing: 4.039448 deg, approach rate: -0.533637 m/s, LOS rate: 0.057192 deg/s, cmd heading: 345.399005 deg, new cmd heading: 345.477497 deg. 2025-10-27T06:17:40.765Z,1761545860.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029720 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:41.009Z,1761545861.009 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:41.107Z,1761545861.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965888,0.258956,0.001717],[-0.255385,0.951427,0.171945],[0.042892,-0.166518,0.985105]] 2025-10-27T06:17:41.141Z,1761545861.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:41.148Z,1761545861.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 126.867416 m, bearing: 4.060808 deg, approach rate: -0.525881 m/s, LOS rate: 0.056454 deg/s, cmd heading: 345.477498 deg, new cmd heading: 345.541677 deg. 2025-10-27T06:17:41.149Z,1761545861.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030840 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:41.260Z,1761545861.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:41.515Z,1761545861.515 [DAT](INFO): DAT read: Rx Time:06:17:40.0301 2025-10-27T06:17:41.516Z,1761545861.516 [DAT](INFO): Rx dataTimestamp_ set to:1761545861.515331 2025-10-27T06:17:41.516Z,1761545861.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:41.623Z,1761545861.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:41.626Z,1761545861.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 126.592384 m, bearing: 4.098138 deg, approach rate: -0.570446 m/s, LOS rate: 0.077595 deg/s, cmd heading: 345.541674 deg, new cmd heading: 345.653909 deg. 2025-10-27T06:17:41.627Z,1761545861.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032799 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:41.764Z,1761545861.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:41.943Z,1761545861.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965887,0.258963,0.001007],[-0.255301,0.951561,0.171326],[0.043409,-0.165738,0.985214]] 2025-10-27T06:17:41.976Z,1761545861.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:41.978Z,1761545861.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.99 m. 2025-10-27T06:17:41.989Z,1761545861.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.990524 m, nav range: 126.386734 m, bearing: 4.126156 deg, approach rate: -0.579093 m/s, LOS rate: 0.079023 deg/s, cmd heading: 345.653908 deg, new cmd heading: 345.738097 deg. 2025-10-27T06:17:41.990Z,1761545861.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034268 target range: 185.990524 and range: 187.20 m. 2025-10-27T06:17:42.022Z,1761545862.022 [DAT](INFO): DAT read: 06:17:40.0301 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 349, 0.19,-1.559, 2.860,-2.054,-1.981, PHS= 0.523,-1.398,-0.118, RAW= 130.9, 11.7, CAL= 130.4, 12.9, ROT= 19.6, -12.9 2025-10-27T06:17:42.023Z,1761545862.023 [DAT](INFO): got valid direction response: 06:17:40.0301 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 349, 0.19,-1.559, 2.860,-2.054,-1.981, PHS= 0.523,-1.398,-0.118, RAW= 130.9, 11.7, CAL= 130.4, 12.9, ROT= 19.6, -12.9 2025-10-27T06:17:42.024Z,1761545862.024 [DAT](INFO): DAT read: Bearing 153.9, 18.7 (Local) 2025-10-27T06:17:42.024Z,1761545862.024 [DAT](INFO): Local bearing/azimuth received: Bearing 153.9, 18.7 (Local) 2025-10-27T06:17:42.026Z,1761545862.026 [DAT](INFO): DAT read: Range 11 to 50 : 118.4 m (Round-trip 157.9 ms) speed 0.8 m/s 2025-10-27T06:17:42.030Z,1761545862.030 [DAT](INFO): DAT read: user:713>Tx time:06:17:41.1181 2025-10-27T06:17:42.031Z,1761545862.031 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:42.032Z,1761545862.032 [DAT](INFO): direction in FSK: [0.918281,0.326985,0.223250] 2025-10-27T06:17:42.032Z,1761545862.032 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:42.053Z,1761545862.053 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:42.054Z,1761545862.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:42.268Z,1761545862.268 [DAT](INFO): DAT read: 2025-10-27T06:17:42.269Z,1761545862.269 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:42.345Z,1761545862.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965745,0.259491,0.000788],[-0.255791,0.951455,0.171185],[0.043671,-0.165523,0.985239]] 2025-10-27T06:17:42.369Z,1761545862.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.400002 m, deltaT: 28.748132 s, deltaX: -68.799995 m, approachRate: -2.393199 m/s, rangeRepo size: 4 2025-10-27T06:17:42.370Z,1761545862.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.636589 m, bearing: 6.715983 deg, lat: 36.779529 deg, lon: -121.859679 deg, deltaT: 28.748132 s, deltaX: -68.353935 m, approachRate: -2.377683 m/s, posRepo size: 4 2025-10-27T06:17:42.371Z,1761545862.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.64 m. 2025-10-27T06:17:42.374Z,1761545862.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.636589 m, nav range: 126.389961 m, bearing: 5.435043 deg, approach rate: 0.000000 m/s, LOS rate: 0.079023 deg/s, cmd heading: 345.738111 deg, new cmd heading: 345.830549 deg. 2025-10-27T06:17:42.391Z,1761545862.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035882 target range: 117.636589 and range: 118.40 m. 2025-10-27T06:17:42.523Z,1761545862.523 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:42.751Z,1761545862.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965559,0.260184,0.000695],[-0.256465,0.951301,0.171032],[0.043838,-0.165320,0.985265]] 2025-10-27T06:17:42.772Z,1761545862.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:42.809Z,1761545862.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.64 m. 2025-10-27T06:17:42.816Z,1761545862.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.636589 m, nav range: 126.163338 m, bearing: 5.474934 deg, approach rate: -0.513955 m/s, LOS rate: 0.090631 deg/s, cmd heading: 345.830537 deg, new cmd heading: 345.950425 deg. 2025-10-27T06:17:42.817Z,1761545862.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037974 target range: 117.636589 and range: 118.40 m. 2025-10-27T06:17:43.024Z,1761545863.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:43.153Z,1761545863.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965484,0.260463,0.000353],[-0.256746,0.951479,0.169617],[0.043843,-0.163853,0.985510]] 2025-10-27T06:17:43.196Z,1761545863.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.64 m. 2025-10-27T06:17:43.199Z,1761545863.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.636589 m, nav range: 125.955345 m, bearing: 5.511713 deg, approach rate: -0.537049 m/s, LOS rate: 0.095122 deg/s, cmd heading: 345.950420 deg, new cmd heading: 346.060939 deg. 2025-10-27T06:17:43.200Z,1761545863.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039903 target range: 117.636589 and range: 118.40 m. 2025-10-27T06:17:43.276Z,1761545863.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:43.530Z,1761545863.530 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:43.577Z,1761545863.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965455,0.260570,0.000110],[-0.256885,0.951729,0.167993],[0.043669,-0.162218,0.985788]] 2025-10-27T06:17:43.624Z,1761545863.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.64 m. 2025-10-27T06:17:43.627Z,1761545863.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.636589 m, nav range: 125.719864 m, bearing: 5.554258 deg, approach rate: -0.549672 m/s, LOS rate: 0.099497 deg/s, cmd heading: 346.060933 deg, new cmd heading: 346.188807 deg. 2025-10-27T06:17:43.628Z,1761545863.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042134 target range: 117.636589 and range: 118.40 m. 2025-10-27T06:17:43.780Z,1761545863.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:43.962Z,1761545863.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965402,0.260766,-0.000592],[-0.257061,0.952061,0.165830],[0.043807,-0.159941,0.986154]] 2025-10-27T06:17:43.995Z,1761545863.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:43.997Z,1761545863.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.64 m. 2025-10-27T06:17:44.008Z,1761545864.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.636589 m, nav range: 125.531502 m, bearing: 5.588438 deg, approach rate: -0.505616 m/s, LOS rate: 0.091886 deg/s, cmd heading: 346.188794 deg, new cmd heading: 346.291488 deg. 2025-10-27T06:17:44.009Z,1761545864.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043927 target range: 117.636589 and range: 118.40 m. 2025-10-27T06:17:44.032Z,1761545864.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:44.284Z,1761545864.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:44.366Z,1761545864.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965254,0.261310,-0.001062],[-0.257567,0.952099,0.164822],[0.044081,-0.158821,0.986323]] 2025-10-27T06:17:44.392Z,1761545864.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.64 m. 2025-10-27T06:17:44.394Z,1761545864.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.636589 m, nav range: 125.314896 m, bearing: 5.627944 deg, approach rate: -0.549518 m/s, LOS rate: 0.100398 deg/s, cmd heading: 346.291493 deg, new cmd heading: 346.410215 deg. 2025-10-27T06:17:44.396Z,1761545864.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045999 target range: 117.636589 and range: 118.40 m. 2025-10-27T06:17:44.540Z,1761545864.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:44.788Z,1761545864.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:44.827Z,1761545864.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.64 m. 2025-10-27T06:17:44.830Z,1761545864.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.636589 m, nav range: 125.082947 m, bearing: 5.668919 deg, approach rate: -0.532424 m/s, LOS rate: 0.094230 deg/s, cmd heading: 346.410229 deg, new cmd heading: 346.533382 deg. 2025-10-27T06:17:44.831Z,1761545864.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048149 target range: 117.636589 and range: 118.40 m. 2025-10-27T06:17:45.041Z,1761545865.041 [DAT](INFO): DAT read: Rx Time:06:17:43.6776 2025-10-27T06:17:45.043Z,1761545865.043 [DAT](INFO): Rx dataTimestamp_ set to:1761545865.041965 2025-10-27T06:17:45.044Z,1761545865.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:45.174Z,1761545865.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964946,0.262434,-0.002632],[-0.258573,0.952372,0.161643],[0.044927,-0.155296,0.986846]] 2025-10-27T06:17:45.206Z,1761545865.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.64 m. 2025-10-27T06:17:45.209Z,1761545865.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.636589 m, nav range: 124.881470 m, bearing: 5.704766 deg, approach rate: -0.531208 m/s, LOS rate: 0.094665 deg/s, cmd heading: 346.533390 deg, new cmd heading: 346.641104 deg. 2025-10-27T06:17:45.210Z,1761545865.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050029 target range: 117.636589 and range: 118.40 m. 2025-10-27T06:17:45.292Z,1761545865.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:45.593Z,1761545865.593 [DAT](INFO): DAT read: 06:17:43.6776 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.23, 1.297,-0.603, 0.794, 0.914, PHS= 0.486,-1.471,-0.164, RAW= 131.0, 13.2, CAL= 130.3, 14.4, ROT= 19.7, -14.4 2025-10-27T06:17:45.594Z,1761545865.594 [DAT](INFO): got valid direction response: 06:17:43.6776 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 419, 0.23, 1.297,-0.603, 0.794, 0.914, PHS= 0.486,-1.471,-0.164, RAW= 131.0, 13.2, CAL= 130.3, 14.4, ROT= 19.7, -14.4 2025-10-27T06:17:45.596Z,1761545865.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964798,0.262971,-0.003220],[-0.259005,0.952229,0.161790],[0.045612,-0.155261,0.986820]] 2025-10-27T06:17:45.599Z,1761545865.599 [DAT](INFO): DAT read: Bearing 156.4, 18.9 (Local) 2025-10-27T06:17:45.600Z,1761545865.600 [DAT](INFO): Local bearing/azimuth received: Bearing 156.4, 18.9 (Local) 2025-10-27T06:17:45.601Z,1761545865.601 [DAT](INFO): DAT read: Range 11 to 50 : 116.4 m (Round-trip 155.3 ms) speed 0.7 m/s 2025-10-27T06:17:45.602Z,1761545865.602 [DAT](INFO): DAT read: user:714>Tx time:06:17:44.7681 2025-10-27T06:17:45.603Z,1761545865.603 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:45.628Z,1761545865.628 [DAT](INFO): direction in FSK: [0.911893,0.326505,0.248690] 2025-10-27T06:17:45.628Z,1761545865.628 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:45.640Z,1761545865.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:45.640Z,1761545865.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:45.734Z,1761545865.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.400002 m, deltaT: 3.530072 s, deltaX: -2.000000 m, approachRate: -0.566561 m/s, rangeRepo size: 4 2025-10-27T06:17:45.740Z,1761545865.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.649803 m, bearing: 6.794527 deg, lat: 36.779529 deg, lon: -121.859669 deg, deltaT: 3.530072 s, deltaX: -1.986786 m, approachRate: -0.562817 m/s, posRepo size: 4 2025-10-27T06:17:45.741Z,1761545865.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:45.748Z,1761545865.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 124.708008 m, bearing: 6.119743 deg, approach rate: 0.000000 m/s, LOS rate: 0.094665 deg/s, cmd heading: 346.641116 deg, new cmd heading: 346.790630 deg. 2025-10-27T06:17:45.749Z,1761545865.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052639 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:45.796Z,1761545865.796 [DAT](INFO): DAT read: 2025-10-27T06:17:45.796Z,1761545865.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:46.048Z,1761545866.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:46.074Z,1761545866.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964686,0.263375,-0.003803],[-0.259311,0.952135,0.161857],[0.046250,-0.155155,0.986807]] 2025-10-27T06:17:46.110Z,1761545866.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:46.117Z,1761545866.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:46.123Z,1761545866.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 124.499664 m, bearing: 6.152381 deg, approach rate: -0.542553 m/s, LOS rate: 0.085134 deg/s, cmd heading: 346.790643 deg, new cmd heading: 346.888718 deg. 2025-10-27T06:17:46.124Z,1761545866.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054350 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:46.300Z,1761545866.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:46.519Z,1761545866.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:46.522Z,1761545866.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 124.285858 m, bearing: 6.185993 deg, approach rate: -0.531708 m/s, LOS rate: 0.083734 deg/s, cmd heading: 346.888724 deg, new cmd heading: 346.989735 deg. 2025-10-27T06:17:46.525Z,1761545866.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056113 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:46.567Z,1761545866.567 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:46.804Z,1761545866.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:46.948Z,1761545866.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:46.951Z,1761545866.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 124.049370 m, bearing: 6.213774 deg, approach rate: -0.550604 m/s, LOS rate: 0.064805 deg/s, cmd heading: 346.989729 deg, new cmd heading: 347.073231 deg. 2025-10-27T06:17:46.952Z,1761545866.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057570 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:47.056Z,1761545867.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:47.289Z,1761545867.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965220,0.261389,-0.005007],[-0.257186,0.952792,0.161376],[0.046953,-0.154475,0.986880]] 2025-10-27T06:17:47.308Z,1761545867.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:47.309Z,1761545867.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:47.312Z,1761545867.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 123.857635 m, bearing: 6.236171 deg, approach rate: -0.531759 m/s, LOS rate: 0.062213 deg/s, cmd heading: 347.073221 deg, new cmd heading: 347.140517 deg. 2025-10-27T06:17:47.313Z,1761545867.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058745 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:47.567Z,1761545867.567 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:47.703Z,1761545867.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965741,0.259447,-0.005569],[-0.255269,0.953614,0.159554],[0.046707,-0.152666,0.987173]] 2025-10-27T06:17:47.778Z,1761545867.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:47.785Z,1761545867.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 123.616409 m, bearing: 6.252664 deg, approach rate: -0.513927 m/s, LOS rate: 0.035206 deg/s, cmd heading: 347.140512 deg, new cmd heading: 347.190088 deg. 2025-10-27T06:17:47.786Z,1761545867.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059610 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:47.816Z,1761545867.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:48.068Z,1761545868.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:48.107Z,1761545868.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966412,0.256919,-0.006432],[-0.252798,0.954822,0.156231],[0.046280,-0.149357,0.987700]] 2025-10-27T06:17:48.123Z,1761545868.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:48.125Z,1761545868.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:48.128Z,1761545868.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 123.429214 m, bearing: 6.265275 deg, approach rate: -0.539146 m/s, LOS rate: 0.036376 deg/s, cmd heading: 347.190100 deg, new cmd heading: 347.227989 deg. 2025-10-27T06:17:48.129Z,1761545868.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060272 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:48.320Z,1761545868.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:48.510Z,1761545868.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967229,0.253802,-0.007187],[-0.249752,0.956131,0.153094],[0.045727,-0.146282,0.988185]] 2025-10-27T06:17:48.544Z,1761545868.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:48.560Z,1761545868.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 123.217987 m, bearing: 6.279231 deg, approach rate: -0.504828 m/s, LOS rate: 0.033410 deg/s, cmd heading: 347.227993 deg, new cmd heading: 347.269931 deg. 2025-10-27T06:17:48.575Z,1761545868.575 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:48.567Z,1761545868.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061004 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:48.824Z,1761545868.824 [DAT](INFO): DAT read: Rx Time:06:17:47.3250 2025-10-27T06:17:48.824Z,1761545868.824 [DAT](INFO): Rx dataTimestamp_ set to:1761545868.824113 2025-10-27T06:17:48.825Z,1761545868.825 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:48.955Z,1761545868.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968196,0.250075,-0.007692],[-0.246133,0.957549,0.150061],[0.044892,-0.143395,0.988647]] 2025-10-27T06:17:49.013Z,1761545869.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.65 m. 2025-10-27T06:17:49.016Z,1761545869.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.649803 m, nav range: 122.958328 m, bearing: 6.288301 deg, approach rate: -0.552915 m/s, LOS rate: 0.019355 deg/s, cmd heading: 347.269931 deg, new cmd heading: 347.297200 deg. 2025-10-27T06:17:49.017Z,1761545869.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061480 target range: 115.649803 and range: 116.40 m. 2025-10-27T06:17:49.077Z,1761545869.077 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:49.334Z,1761545869.334 [DAT](INFO): DAT read: 06:17:47.3250 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 409,-0.01, 0.505,-1.282, 0.054, 0.158, PHS= 0.449,-1.395,-0.148, RAW= 131.5, 13.3, CAL= 130.8, 14.5, ROT= 19.2, -14.5 2025-10-27T06:17:49.335Z,1761545869.335 [DAT](INFO): got valid direction response: 06:17:47.3250 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 409,-0.01, 0.505,-1.282, 0.054, 0.158, PHS= 0.449,-1.395,-0.148, RAW= 131.5, 13.3, CAL= 130.8, 14.5, ROT= 19.2, -14.5 2025-10-27T06:17:49.336Z,1761545869.336 [DAT](INFO): DAT read: Bearing 157.3, 18.7 (Local) 2025-10-27T06:17:49.336Z,1761545869.336 [DAT](INFO): Local bearing/azimuth received: Bearing 157.3, 18.7 (Local) 2025-10-27T06:17:49.338Z,1761545869.338 [DAT](INFO): DAT read: Range 11 to 50 : 114.6 m (Round-trip 152.8 ms) speed 0.4 m/s 2025-10-27T06:17:49.339Z,1761545869.339 [DAT](INFO): DAT read: user:715>Tx time:06:17:48.4181 2025-10-27T06:17:49.339Z,1761545869.339 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:49.340Z,1761545869.340 [DAT](INFO): direction in FSK: [0.914296,0.318391,0.250380] 2025-10-27T06:17:49.340Z,1761545869.340 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:49.348Z,1761545869.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:49.348Z,1761545869.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:49.373Z,1761545869.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969055,0.246714,-0.008023],[-0.242827,0.958622,0.148590],[0.044350,-0.142044,0.988866]] 2025-10-27T06:17:49.443Z,1761545869.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.599998 m, deltaT: 3.781830 s, deltaX: -1.800003 m, approachRate: -0.475961 m/s, rangeRepo size: 4 2025-10-27T06:17:49.445Z,1761545869.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.861862 m, bearing: 7.130117 deg, lat: 36.779426 deg, lon: -121.859669 deg, deltaT: 3.781830 s, deltaX: -1.787941 m, approachRate: -0.472771 m/s, posRepo size: 4 2025-10-27T06:17:49.446Z,1761545869.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:49.453Z,1761545869.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 111.321663 m, bearing: 6.944416 deg, approach rate: 0.000000 m/s, LOS rate: 0.019355 deg/s, cmd heading: 347.297197 deg, new cmd heading: 347.321864 deg. 2025-10-27T06:17:49.454Z,1761545869.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061910 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:49.582Z,1761545869.582 [DAT](INFO): DAT read: 2025-10-27T06:17:49.584Z,1761545869.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:49.761Z,1761545869.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969921,0.243285,-0.008154],[-0.239478,0.959677,0.147207],[0.043639,-0.140826,0.989072]] 2025-10-27T06:17:49.810Z,1761545869.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:49.813Z,1761545869.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 111.122498 m, bearing: 6.947013 deg, approach rate: -0.535515 m/s, LOS rate: 0.006996 deg/s, cmd heading: 347.321868 deg, new cmd heading: 347.329673 deg. 2025-10-27T06:17:49.814Z,1761545869.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062047 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:49.833Z,1761545869.833 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:50.084Z,1761545870.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:50.173Z,1761545870.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971529,0.236759,-0.008715],[-0.232978,0.961402,0.146383],[0.043036,-0.140185,0.989190]] 2025-10-27T06:17:50.190Z,1761545870.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:50.192Z,1761545870.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:50.195Z,1761545870.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 110.928200 m, bearing: 6.948877 deg, approach rate: -0.508624 m/s, LOS rate: 0.004889 deg/s, cmd heading: 347.329681 deg, new cmd heading: 347.335285 deg. 2025-10-27T06:17:50.196Z,1761545870.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062144 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:50.336Z,1761545870.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:50.577Z,1761545870.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972244,0.233792,-0.009083],[-0.230014,0.962200,0.145823],[0.042832,-0.139686,0.989269]] 2025-10-27T06:17:50.588Z,1761545870.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:50.658Z,1761545870.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:50.672Z,1761545870.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 110.720245 m, bearing: 6.950548 deg, approach rate: -0.454007 m/s, LOS rate: 0.003654 deg/s, cmd heading: 347.335282 deg, new cmd heading: 347.340302 deg. 2025-10-27T06:17:50.673Z,1761545870.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062232 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:50.840Z,1761545870.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:51.068Z,1761545871.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:51.072Z,1761545871.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 110.469406 m, bearing: 6.953108 deg, approach rate: -0.600081 m/s, LOS rate: 0.006138 deg/s, cmd heading: 347.340309 deg, new cmd heading: 347.348006 deg. 2025-10-27T06:17:51.073Z,1761545871.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062366 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:51.092Z,1761545871.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:51.348Z,1761545871.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:51.399Z,1761545871.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973195,0.229828,-0.008464],[-0.226015,0.962560,0.149651],[0.042541,-0.143727,0.988703]] 2025-10-27T06:17:51.429Z,1761545871.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:51.432Z,1761545871.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 110.275688 m, bearing: 6.954721 deg, approach rate: -0.536584 m/s, LOS rate: 0.004476 deg/s, cmd heading: 347.348013 deg, new cmd heading: 347.352861 deg. 2025-10-27T06:17:51.433Z,1761545871.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062451 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:51.596Z,1761545871.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:51.802Z,1761545871.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973606,0.228079,-0.008440],[-0.224251,0.962836,0.150525],[0.042458,-0.144659,0.988570]] 2025-10-27T06:17:51.848Z,1761545871.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:51.863Z,1761545871.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:51.866Z,1761545871.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 110.058243 m, bearing: 6.961340 deg, approach rate: -0.506023 m/s, LOS rate: 0.015435 deg/s, cmd heading: 347.352849 deg, new cmd heading: 347.372747 deg. 2025-10-27T06:17:51.867Z,1761545871.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062798 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:52.100Z,1761545872.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:52.205Z,1761545872.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973793,0.227288,-0.008200],[-0.223424,0.962736,0.152382],[0.042529,-0.146556,0.988288]] 2025-10-27T06:17:52.234Z,1761545872.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:52.240Z,1761545872.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:52.242Z,1761545872.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 109.856979 m, bearing: 6.967425 deg, approach rate: -0.528187 m/s, LOS rate: 0.015997 deg/s, cmd heading: 347.372739 deg, new cmd heading: 347.391025 deg. 2025-10-27T06:17:52.248Z,1761545872.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063117 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:52.352Z,1761545872.352 [DAT](INFO): DAT read: Rx Time:06:17:50.9724 2025-10-27T06:17:52.353Z,1761545872.353 [DAT](INFO): Rx dataTimestamp_ set to:1761545872.352600 2025-10-27T06:17:52.353Z,1761545872.353 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:52.604Z,1761545872.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:52.618Z,1761545872.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973913,0.226786,-0.007818],[-0.222878,0.962467,0.154867],[0.042646,-0.149084,0.987904]] 2025-10-27T06:17:52.729Z,1761545872.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.86 m. 2025-10-27T06:17:52.738Z,1761545872.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.861862 m, nav range: 109.608879 m, bearing: 6.974922 deg, approach rate: -0.513398 m/s, LOS rate: 0.015549 deg/s, cmd heading: 347.391016 deg, new cmd heading: 347.413559 deg. 2025-10-27T06:17:52.738Z,1761545872.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063510 target range: 113.861862 and range: 114.60 m. 2025-10-27T06:17:52.862Z,1761545872.862 [DAT](INFO): DAT read: 06:17:50.9724 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 414, 0.21,-0.716,-2.537,-1.110,-1.002, PHS= 0.388,-1.490,-0.153, RAW= 133.8, 14.8, CAL= 132.8, 15.9, ROT= 17.2, -15.9 2025-10-27T06:17:52.864Z,1761545872.864 [DAT](INFO): got valid direction response: 06:17:50.9724 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 414, 0.21,-0.716,-2.537,-1.110,-1.002, PHS= 0.388,-1.490,-0.153, RAW= 133.8, 14.8, CAL= 132.8, 15.9, ROT= 17.2, -15.9 2025-10-27T06:17:52.865Z,1761545872.865 [DAT](INFO): DAT read: Bearing 159.3, 16.4 (Local) 2025-10-27T06:17:52.866Z,1761545872.866 [DAT](INFO): Local bearing/azimuth received: Bearing 159.3, 16.4 (Local) 2025-10-27T06:17:52.868Z,1761545872.868 [DAT](INFO): DAT read: Range 11 to 50 : 112.5 m (Round-trip 150.1 ms) speed 0.5 m/s 2025-10-27T06:17:52.869Z,1761545872.869 [DAT](INFO): DAT read: user:716>Tx time:06:17:52.0681 2025-10-27T06:17:52.870Z,1761545872.870 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:52.880Z,1761545872.880 [DAT](INFO): direction in FSK: [0.918731,0.284395,0.273959] 2025-10-27T06:17:52.880Z,1761545872.880 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:52.896Z,1761545872.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:52.896Z,1761545872.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:53.097Z,1761545873.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.528110 s, deltaX: -2.099998 m, approachRate: -0.595219 m/s, rangeRepo size: 4 2025-10-27T06:17:53.100Z,1761545873.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.775223 m, bearing: 6.637840 deg, lat: 36.779418 deg, lon: -121.859669 deg, deltaT: 3.528110 s, deltaX: -2.086639 m, approachRate: -0.591433 m/s, posRepo size: 4 2025-10-27T06:17:53.100Z,1761545873.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:53.103Z,1761545873.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 108.500565 m, bearing: 7.047022 deg, approach rate: 0.000000 m/s, LOS rate: 0.015549 deg/s, cmd heading: 347.413556 deg, new cmd heading: 347.430977 deg. 2025-10-27T06:17:53.104Z,1761545873.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063815 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:53.108Z,1761545873.108 [DAT](INFO): DAT read: 2025-10-27T06:17:53.108Z,1761545873.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:53.360Z,1761545873.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:53.430Z,1761545873.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973907,0.226839,-0.007020],[-0.222822,0.961618,0.160129],[0.043074,-0.154386,0.987071]] 2025-10-27T06:17:53.448Z,1761545873.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:53.450Z,1761545873.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 108.315903 m, bearing: 7.059583 deg, approach rate: -0.526213 m/s, LOS rate: 0.035856 deg/s, cmd heading: 347.430987 deg, new cmd heading: 347.468735 deg. 2025-10-27T06:17:53.451Z,1761545873.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064474 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:53.612Z,1761545873.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:53.836Z,1761545873.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973799,0.227298,-0.007114],[-0.223177,0.961217,0.162030],[0.043667,-0.156197,0.986760]] 2025-10-27T06:17:53.864Z,1761545873.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:53.874Z,1761545873.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:53.877Z,1761545873.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 108.090332 m, bearing: 7.083717 deg, approach rate: -0.529175 m/s, LOS rate: 0.056735 deg/s, cmd heading: 347.468744 deg, new cmd heading: 347.541297 deg. 2025-10-27T06:17:53.878Z,1761545873.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065740 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:54.116Z,1761545874.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:54.238Z,1761545874.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973697,0.227739,-0.006992],[-0.223516,0.960696,0.164630],[0.044210,-0.158736,0.986331]] 2025-10-27T06:17:54.261Z,1761545874.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:54.264Z,1761545874.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:54.266Z,1761545874.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 107.884232 m, bearing: 7.105918 deg, approach rate: -0.528568 m/s, LOS rate: 0.057046 deg/s, cmd heading: 347.541308 deg, new cmd heading: 347.608038 deg. 2025-10-27T06:17:54.283Z,1761545874.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066905 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:54.369Z,1761545874.369 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:54.620Z,1761545874.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:54.649Z,1761545874.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973562,0.228320,-0.006810],[-0.224016,0.960190,0.166891],[0.044643,-0.160953,0.985952]] 2025-10-27T06:17:54.745Z,1761545874.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:54.752Z,1761545874.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 107.645355 m, bearing: 7.131848 deg, approach rate: -0.496423 m/s, LOS rate: 0.054005 deg/s, cmd heading: 347.608025 deg, new cmd heading: 347.685986 deg. 2025-10-27T06:17:54.753Z,1761545874.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068265 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:54.872Z,1761545874.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:55.058Z,1761545875.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973429,0.228872,-0.007305],[-0.224475,0.960059,0.167027],[0.045241,-0.160949,0.985925]] 2025-10-27T06:17:55.114Z,1761545875.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:55.121Z,1761545875.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 107.445206 m, bearing: 7.161001 deg, approach rate: -0.541713 m/s, LOS rate: 0.079053 deg/s, cmd heading: 347.685999 deg, new cmd heading: 347.773622 deg. 2025-10-27T06:17:55.122Z,1761545875.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069795 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:55.124Z,1761545875.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:55.376Z,1761545875.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:55.450Z,1761545875.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973284,0.229474,-0.007682],[-0.224970,0.959800,0.167848],[0.045890,-0.161636,0.985783]] 2025-10-27T06:17:55.491Z,1761545875.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:55.498Z,1761545875.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 107.244560 m, bearing: 7.190403 deg, approach rate: -0.556403 m/s, LOS rate: 0.081685 deg/s, cmd heading: 347.773616 deg, new cmd heading: 347.861986 deg. 2025-10-27T06:17:55.499Z,1761545875.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071337 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:55.628Z,1761545875.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:55.854Z,1761545875.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973203,0.229802,-0.008148],[-0.225195,0.959665,0.168318],[0.046499,-0.161972,0.985699]] 2025-10-27T06:17:55.880Z,1761545875.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:55.901Z,1761545875.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:55.904Z,1761545875.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 107.009102 m, bearing: 7.230368 deg, approach rate: -0.552954 m/s, LOS rate: 0.094061 deg/s, cmd heading: 347.861999 deg, new cmd heading: 347.982157 deg. 2025-10-27T06:17:55.905Z,1761545875.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.073434 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:56.132Z,1761545876.132 [DAT](INFO): DAT read: Rx Time:06:17:54.6197 2025-10-27T06:17:56.132Z,1761545876.132 [DAT](INFO): Rx dataTimestamp_ set to:1761545876.132182 2025-10-27T06:17:56.133Z,1761545876.133 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:56.260Z,1761545876.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973096,0.230250,-0.008286],[-0.225552,0.959345,0.169656],[0.047012,-0.163223,0.985469]] 2025-10-27T06:17:56.277Z,1761545876.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:56.279Z,1761545876.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.78 m. 2025-10-27T06:17:56.282Z,1761545876.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.775223 m, nav range: 106.800201 m, bearing: 7.266029 deg, approach rate: -0.552753 m/s, LOS rate: 0.094544 deg/s, cmd heading: 347.982156 deg, new cmd heading: 348.089348 deg. 2025-10-27T06:17:56.282Z,1761545876.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.075305 target range: 111.775223 and range: 112.50 m. 2025-10-27T06:17:56.384Z,1761545876.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:56.642Z,1761545876.642 [DAT](INFO): DAT read: 06:17:54.6197 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.44, 0.921,-0.936, 0.527, 0.577, PHS= 0.446,-1.468,-0.094, RAW= 134.1, 13.0, CAL= 133.4, 14.1, ROT= 16.6, -14.1 2025-10-27T06:17:56.646Z,1761545876.646 [DAT](INFO): got valid direction response: 06:17:54.6197 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418, 0.44, 0.921,-0.936, 0.527, 0.577, PHS= 0.446,-1.468,-0.094, RAW= 134.1, 13.0, CAL= 133.4, 14.1, ROT= 16.6, -14.1 2025-10-27T06:17:56.651Z,1761545876.651 [DAT](INFO): DAT read: Bearing 157.9, 16.2 (Local) 2025-10-27T06:17:56.652Z,1761545876.652 [DAT](INFO): Local bearing/azimuth received: Bearing 157.9, 16.2 (Local) 2025-10-27T06:17:56.653Z,1761545876.653 [DAT](INFO): DAT read: Range 11 to 50 : 110.5 m (Round-trip 147.4 ms) speed 0.4 m/s 2025-10-27T06:17:56.654Z,1761545876.654 [DAT](INFO): DAT read: user:717>Tx time:06:17:55.7181 2025-10-27T06:17:56.655Z,1761545876.655 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:17:56.656Z,1761545876.656 [DAT](INFO): direction in FSK: [0.929450,0.277081,0.243615] 2025-10-27T06:17:56.656Z,1761545876.656 [DAT](INFO): publishing direction and range info 2025-10-27T06:17:56.660Z,1761545876.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:56.660Z,1761545876.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:17:56.679Z,1761545876.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973138,0.230051,-0.008876],[-0.225343,0.959701,0.167912],[0.047146,-0.161401,0.985762]] 2025-10-27T06:17:56.808Z,1761545876.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 110.500000 m, deltaT: 3.779915 s, deltaX: -2.000000 m, approachRate: -0.529112 m/s, rangeRepo size: 4 2025-10-27T06:17:56.810Z,1761545876.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.787529 m, bearing: 5.755787 deg, lat: 36.779418 deg, lon: -121.859669 deg, deltaT: 3.779915 s, deltaX: -1.987694 m, approachRate: -0.525857 m/s, posRepo size: 4 2025-10-27T06:17:56.815Z,1761545876.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:17:56.818Z,1761545876.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 106.523849 m, bearing: 7.313389 deg, approach rate: 0.000000 m/s, LOS rate: 0.094544 deg/s, cmd heading: 348.089335 deg, new cmd heading: 348.234529 deg. 2025-10-27T06:17:56.819Z,1761545876.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077839 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:17:56.888Z,1761545876.888 [DAT](INFO): DAT read: 2025-10-27T06:17:56.889Z,1761545876.889 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:57.131Z,1761545877.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973272,0.229445,-0.009829],[-0.224720,0.960307,0.165264],[0.047357,-0.158638,0.986200]] 2025-10-27T06:17:57.140Z,1761545877.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:57.201Z,1761545877.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:17:57.208Z,1761545877.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 106.306564 m, bearing: 7.352880 deg, approach rate: -0.529898 m/s, LOS rate: 0.096504 deg/s, cmd heading: 348.234517 deg, new cmd heading: 348.353232 deg. 2025-10-27T06:17:57.209Z,1761545877.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079911 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:17:57.392Z,1761545877.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:57.548Z,1761545877.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973464,0.228565,-0.011182],[-0.223772,0.961002,0.162483],[0.047884,-0.155669,0.986648]] 2025-10-27T06:17:57.567Z,1761545877.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:17:57.570Z,1761545877.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 106.110443 m, bearing: 7.388560 deg, approach rate: -0.535349 m/s, LOS rate: 0.097576 deg/s, cmd heading: 348.353226 deg, new cmd heading: 348.460465 deg. 2025-10-27T06:17:57.571Z,1761545877.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081782 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:17:57.647Z,1761545877.647 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:57.900Z,1761545877.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:57.938Z,1761545877.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973697,0.227534,-0.011957],[-0.222674,0.961395,0.161664],[0.048280,-0.154749,0.986773]] 2025-10-27T06:17:58.001Z,1761545878.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:17:58.012Z,1761545878.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 105.896515 m, bearing: 7.428001 deg, approach rate: -0.492924 m/s, LOS rate: 0.091060 deg/s, cmd heading: 348.460460 deg, new cmd heading: 348.579020 deg. 2025-10-27T06:17:58.013Z,1761545878.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.083852 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:17:58.153Z,1761545878.153 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:58.341Z,1761545878.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973829,0.226943,-0.012443],[-0.222016,0.961552,0.161637],[0.048647,-0.154645,0.986772]] 2025-10-27T06:17:58.366Z,1761545878.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:17:58.368Z,1761545878.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:17:58.371Z,1761545878.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 105.690147 m, bearing: 7.466123 deg, approach rate: -0.561770 m/s, LOS rate: 0.103977 deg/s, cmd heading: 348.579032 deg, new cmd heading: 348.693621 deg. 2025-10-27T06:17:58.372Z,1761545878.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085852 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:17:58.405Z,1761545878.405 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:58.656Z,1761545878.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:58.793Z,1761545878.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974159,0.225460,-0.013475],[-0.220528,0.962345,0.158933],[0.048801,-0.151854,0.987197]] 2025-10-27T06:17:58.829Z,1761545878.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:17:58.857Z,1761545878.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 105.440758 m, bearing: 7.509426 deg, approach rate: -0.541283 m/s, LOS rate: 0.094210 deg/s, cmd heading: 348.693615 deg, new cmd heading: 348.823833 deg. 2025-10-27T06:17:58.857Z,1761545878.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.088124 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:17:58.909Z,1761545878.909 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:59.161Z,1761545879.161 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:59.189Z,1761545879.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974494,0.223949,-0.014439],[-0.219000,0.963062,0.156688],[0.048996,-0.149530,0.987543]] 2025-10-27T06:17:59.247Z,1761545879.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:17:59.250Z,1761545879.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 105.214684 m, bearing: 7.548658 deg, approach rate: -0.541044 m/s, LOS rate: 0.094093 deg/s, cmd heading: 348.823826 deg, new cmd heading: 348.941776 deg. 2025-10-27T06:17:59.276Z,1761545879.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.090183 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:17:59.412Z,1761545879.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:59.596Z,1761545879.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974774,0.222667,-0.015310],[-0.217670,0.963580,0.155352],[0.049344,-0.148101,0.987741]] 2025-10-27T06:17:59.614Z,1761545879.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:17:59.617Z,1761545879.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 105.016312 m, bearing: 7.583067 deg, approach rate: -0.540899 m/s, LOS rate: 0.093998 deg/s, cmd heading: 348.941770 deg, new cmd heading: 349.045190 deg. 2025-10-27T06:17:59.617Z,1761545879.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091988 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:17:59.665Z,1761545879.665 [DAT](INFO): DAT read: Rx Time:06:17:58.2670 2025-10-27T06:17:59.666Z,1761545879.666 [DAT](INFO): Rx dataTimestamp_ set to:1761545879.665478 2025-10-27T06:17:59.666Z,1761545879.666 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:17:59.916Z,1761545879.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:00.063Z,1761545880.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m. 2025-10-27T06:18:00.066Z,1761545880.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.787529 m, nav range: 104.782341 m, bearing: 7.622666 deg, approach rate: -0.520656 m/s, LOS rate: 0.088317 deg/s, cmd heading: 349.045179 deg, new cmd heading: 349.164241 deg. 2025-10-27T06:18:00.067Z,1761545880.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094066 target range: 109.787529 and range: 110.50 m. 2025-10-27T06:18:00.187Z,1761545880.187 [DAT](INFO): DAT read: 06:17:58.2670 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408,-0.42,-1.535, 2.885,-1.928,-1.894, PHS= 0.461,-1.459,-0.078, RAW= 134.2, 12.5, CAL= 133.6, 13.6, ROT= 16.4, -13.6 2025-10-27T06:18:00.189Z,1761545880.189 [DAT](INFO): got valid direction response: 06:17:58.2670 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408,-0.42,-1.535, 2.885,-1.928,-1.894, PHS= 0.461,-1.459,-0.078, RAW= 134.2, 12.5, CAL= 133.6, 13.6, ROT= 16.4, -13.6 2025-10-27T06:18:00.190Z,1761545880.190 [DAT](INFO): DAT read: Bearing 158.2, 16.4 (Local) 2025-10-27T06:18:00.190Z,1761545880.190 [DAT](INFO): Local bearing/azimuth received: Bearing 158.2, 16.4 (Local) 2025-10-27T06:18:00.193Z,1761545880.193 [DAT](INFO): DAT read: Range 11 to 50 : 108.6 m (Round-trip 144.8 ms) speed 0.4 m/s 2025-10-27T06:18:00.194Z,1761545880.194 [DAT](INFO): DAT read: user:718>Tx time:06:17:59.3681 2025-10-27T06:18:00.194Z,1761545880.194 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:00.201Z,1761545880.201 [DAT](INFO): direction in FSK: [0.932416,0.274425,0.235142] 2025-10-27T06:18:00.201Z,1761545880.201 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:00.214Z,1761545880.214 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:00.214Z,1761545880.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:00.420Z,1761545880.420 [DAT](INFO): DAT read: 2025-10-27T06:18:00.420Z,1761545880.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:00.425Z,1761545880.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975372,0.219967,-0.016255],[-0.214954,0.964484,0.153510],[0.049445,-0.146235,0.988013]] 2025-10-27T06:18:00.466Z,1761545880.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.532506 s, deltaX: -1.900002 m, approachRate: -0.537862 m/s, rangeRepo size: 4 2025-10-27T06:18:00.473Z,1761545880.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.899612 m, bearing: 5.930694 deg, lat: 36.779418 deg, lon: -121.859679 deg, deltaT: 3.532506 s, deltaX: -1.887917 m, approachRate: -0.534441 m/s, posRepo size: 4 2025-10-27T06:18:00.473Z,1761545880.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:00.480Z,1761545880.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 104.473297 m, bearing: 7.187654 deg, approach rate: 0.000000 m/s, LOS rate: 0.088317 deg/s, cmd heading: 349.164243 deg, new cmd heading: 349.270928 deg. 2025-10-27T06:18:00.481Z,1761545880.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.095928 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:00.672Z,1761545880.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:00.835Z,1761545880.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975722,0.218388,-0.016511],[-0.213386,0.964929,0.152899],[0.049323,-0.145663,0.988104]] 2025-10-27T06:18:00.884Z,1761545880.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:00.886Z,1761545880.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:00.889Z,1761545880.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 104.237541 m, bearing: 7.220495 deg, approach rate: -0.561159 m/s, LOS rate: 0.078348 deg/s, cmd heading: 349.270930 deg, new cmd heading: 349.369677 deg. 2025-10-27T06:18:00.890Z,1761545880.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097651 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:00.924Z,1761545880.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:01.176Z,1761545881.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:01.238Z,1761545881.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976008,0.217083,-0.016849],[-0.212103,0.965397,0.151724],[0.049203,-0.144510,0.988279]] 2025-10-27T06:18:01.266Z,1761545881.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:01.269Z,1761545881.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 104.034050 m, bearing: 7.248806 deg, approach rate: -0.535181 m/s, LOS rate: 0.074602 deg/s, cmd heading: 349.369668 deg, new cmd heading: 349.454765 deg. 2025-10-27T06:18:01.270Z,1761545881.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.099136 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:01.428Z,1761545881.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:01.642Z,1761545881.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976287,0.215823,-0.016832],[-0.210860,0.965668,0.151733],[0.049002,-0.144586,0.988278]] 2025-10-27T06:18:01.660Z,1761545881.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:01.664Z,1761545881.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 103.823814 m, bearing: 7.278019 deg, approach rate: -0.533544 m/s, LOS rate: 0.074288 deg/s, cmd heading: 349.454772 deg, new cmd heading: 349.542588 deg. 2025-10-27T06:18:01.680Z,1761545881.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:01.681Z,1761545881.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100669 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:01.932Z,1761545881.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:02.103Z,1761545882.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:02.106Z,1761545882.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 103.593887 m, bearing: 7.303180 deg, approach rate: -0.519181 m/s, LOS rate: 0.056941 deg/s, cmd heading: 349.542581 deg, new cmd heading: 349.618233 deg. 2025-10-27T06:18:02.107Z,1761545882.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.101989 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:02.186Z,1761545882.186 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:02.436Z,1761545882.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:02.456Z,1761545882.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976971,0.212711,-0.016804],[-0.207826,0.966457,0.150897],[0.048337,-0.143930,0.988407]] 2025-10-27T06:18:02.474Z,1761545882.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:02.477Z,1761545882.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 103.401161 m, bearing: 7.324012 deg, approach rate: -0.518956 m/s, LOS rate: 0.056198 deg/s, cmd heading: 349.618232 deg, new cmd heading: 349.680843 deg. 2025-10-27T06:18:02.478Z,1761545882.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.103082 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:02.688Z,1761545882.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:02.858Z,1761545882.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977204,0.211622,-0.016962],[-0.206692,0.966590,0.151601],[0.048477,-0.144639,0.988296]] 2025-10-27T06:18:02.906Z,1761545882.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:02.909Z,1761545882.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:02.911Z,1761545882.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 103.173958 m, bearing: 7.342339 deg, approach rate: -0.523446 m/s, LOS rate: 0.042317 deg/s, cmd heading: 349.680851 deg, new cmd heading: 349.735955 deg. 2025-10-27T06:18:02.912Z,1761545882.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104044 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:02.940Z,1761545882.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:03.192Z,1761545883.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:03.258Z,1761545883.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977464,0.210418,-0.016959],[-0.205465,0.966736,0.152330],[0.048448,-0.145413,0.988184]] 2025-10-27T06:18:03.284Z,1761545883.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:03.287Z,1761545883.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 102.976883 m, bearing: 7.358164 deg, approach rate: -0.524170 m/s, LOS rate: 0.042171 deg/s, cmd heading: 349.735957 deg, new cmd heading: 349.783523 deg. 2025-10-27T06:18:03.288Z,1761545883.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104874 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:03.444Z,1761545883.444 [DAT](INFO): DAT read: Rx Time:06:18:01.9146 2025-10-27T06:18:03.444Z,1761545883.444 [DAT](INFO): Rx dataTimestamp_ set to:1761545883.444083 2025-10-27T06:18:03.445Z,1761545883.445 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:03.662Z,1761545883.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977814,0.208784,-0.016996],[-0.203839,0.967066,0.152425],[0.048260,-0.145579,0.988169]] 2025-10-27T06:18:03.680Z,1761545883.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.90 m. 2025-10-27T06:18:03.683Z,1761545883.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.899612 m, nav range: 102.769768 m, bearing: 7.374667 deg, approach rate: -0.523429 m/s, LOS rate: 0.041789 deg/s, cmd heading: 349.783522 deg, new cmd heading: 349.833129 deg. 2025-10-27T06:18:03.684Z,1761545883.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105740 target range: 107.899612 and range: 108.60 m. 2025-10-27T06:18:03.696Z,1761545883.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:03.954Z,1761545883.954 [DAT](INFO): DAT read: 06:18:01.9146 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 414, 0.35,-2.423, 1.976,-2.805,-2.830, PHS= 0.508,-1.433,-0.019, RAW= 134.8, 10.9, CAL= 134.3, 11.9, ROT= 15.7, -11.9 2025-10-27T06:18:03.955Z,1761545883.955 [DAT](INFO): got valid direction response: 06:18:01.9146 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 414, 0.35,-2.423, 1.976,-2.805,-2.830, PHS= 0.508,-1.433,-0.019, RAW= 134.8, 10.9, CAL= 134.3, 11.9, ROT= 15.7, -11.9 2025-10-27T06:18:03.957Z,1761545883.957 [DAT](INFO): DAT read: Bearing 157.5, 16.0 (Local) 2025-10-27T06:18:03.957Z,1761545883.957 [DAT](INFO): Local bearing/azimuth received: Bearing 157.5, 16.0 (Local) 2025-10-27T06:18:03.960Z,1761545883.960 [DAT](INFO): DAT read: Range 11 to 50 : 106.7 m (Round-trip 142.3 ms) speed 0.2 m/s 2025-10-27T06:18:03.962Z,1761545883.962 [DAT](INFO): DAT read: user:719>Tx time:06:18:03.0181 2025-10-27T06:18:03.962Z,1761545883.962 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:03.963Z,1761545883.963 [DAT](INFO): direction in FSK: [0.942003,0.264785,0.206204] 2025-10-27T06:18:03.963Z,1761545883.963 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:03.967Z,1761545883.967 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:03.967Z,1761545883.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:04.141Z,1761545884.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.699997 m, deltaT: 3.779480 s, deltaX: -1.900002 m, approachRate: -0.502715 m/s, rangeRepo size: 4 2025-10-27T06:18:04.143Z,1761545884.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.012566 m, bearing: 5.605017 deg, lat: 36.779421 deg, lon: -121.859702 deg, deltaT: 3.779480 s, deltaX: -1.887047 m, approachRate: -0.499287 m/s, posRepo size: 4 2025-10-27T06:18:04.152Z,1761545884.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:04.188Z,1761545884.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 102.688507 m, bearing: 6.250058 deg, approach rate: 0.000000 m/s, LOS rate: 0.041789 deg/s, cmd heading: 349.833137 deg, new cmd heading: 349.890791 deg. 2025-10-27T06:18:04.189Z,1761545884.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106746 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:04.200Z,1761545884.200 [DAT](INFO): DAT read: 2025-10-27T06:18:04.200Z,1761545884.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:04.452Z,1761545884.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:04.503Z,1761545884.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978571,0.205194,-0.017148],[-0.200199,0.967604,0.153830],[0.048158,-0.147101,0.987948]] 2025-10-27T06:18:04.556Z,1761545884.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:04.566Z,1761545884.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 102.475311 m, bearing: 6.260832 deg, approach rate: -0.512357 m/s, LOS rate: 0.025948 deg/s, cmd heading: 349.890784 deg, new cmd heading: 349.923175 deg. 2025-10-27T06:18:04.567Z,1761545884.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107312 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:04.704Z,1761545884.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:04.910Z,1761545884.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979085,0.202717,-0.017263],[-0.197733,0.968112,0.153819],[0.047895,-0.147188,0.987948]] 2025-10-27T06:18:04.944Z,1761545884.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:04.946Z,1761545884.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:04.950Z,1761545884.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 102.235878 m, bearing: 6.269510 deg, approach rate: -0.614039 m/s, LOS rate: 0.022306 deg/s, cmd heading: 349.923186 deg, new cmd heading: 349.949279 deg. 2025-10-27T06:18:04.950Z,1761545884.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107767 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:04.976Z,1761545884.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:05.228Z,1761545885.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:05.326Z,1761545885.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979652,0.199959,-0.017273],[-0.195028,0.968742,0.153309],[0.047389,-0.146821,0.988027]] 2025-10-27T06:18:05.344Z,1761545885.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:05.347Z,1761545885.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 102.006210 m, bearing: 6.277510 deg, approach rate: -0.577098 m/s, LOS rate: 0.020147 deg/s, cmd heading: 349.949277 deg, new cmd heading: 349.973331 deg. 2025-10-27T06:18:05.348Z,1761545885.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.108187 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:05.480Z,1761545885.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:05.733Z,1761545885.733 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:05.738Z,1761545885.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980207,0.197219,-0.017286],[-0.192376,0.969466,0.152076],[0.046750,-0.145741,0.988218]] 2025-10-27T06:18:05.823Z,1761545885.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:05.832Z,1761545885.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 101.746330 m, bearing: 6.286195 deg, approach rate: -0.544674 m/s, LOS rate: 0.018249 deg/s, cmd heading: 349.973320 deg, new cmd heading: 349.999442 deg. 2025-10-27T06:18:05.836Z,1761545885.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.108643 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:05.984Z,1761545885.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:06.193Z,1761545886.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981107,0.192699,-0.017204],[-0.187896,0.970270,0.152546],[0.046088,-0.146432,0.988147]] 2025-10-27T06:18:06.236Z,1761545886.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:06.259Z,1761545886.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:06.262Z,1761545886.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 101.490494 m, bearing: 6.294044 deg, approach rate: -0.590002 m/s, LOS rate: 0.018148 deg/s, cmd heading: 349.999438 deg, new cmd heading: 350.023046 deg. 2025-10-27T06:18:06.263Z,1761545886.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109055 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:06.488Z,1761545886.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:06.597Z,1761545886.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981503,0.190677,-0.017157],[-0.185876,0.970568,0.153127],[0.045850,-0.147105,0.988058]] 2025-10-27T06:18:06.615Z,1761545886.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:06.618Z,1761545886.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 101.281883 m, bearing: 6.300236 deg, approach rate: -0.579339 m/s, LOS rate: 0.017231 deg/s, cmd heading: 350.023043 deg, new cmd heading: 350.041657 deg. 2025-10-27T06:18:06.619Z,1761545886.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109379 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:06.740Z,1761545886.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:06.811Z,1761545886.811 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:18:06.992Z,1761545886.992 [DAT](INFO): DAT read: Rx Time:06:18:05.5617 2025-10-27T06:18:06.992Z,1761545886.992 [DAT](INFO): Rx dataTimestamp_ set to:1761545886.992203 2025-10-27T06:18:06.993Z,1761545886.993 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:07.079Z,1761545887.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:07.081Z,1761545887.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:07.084Z,1761545887.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 101.019257 m, bearing: 6.306659 deg, approach rate: -0.563514 m/s, LOS rate: 0.013817 deg/s, cmd heading: 350.041649 deg, new cmd heading: 350.060967 deg. 2025-10-27T06:18:07.085Z,1761545887.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109716 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:07.244Z,1761545887.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:07.443Z,1761545887.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982296,0.186536,-0.017294],[-0.181718,0.971209,0.154052],[0.045533,-0.148182,0.987911]] 2025-10-27T06:18:07.461Z,1761545887.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.01 m. 2025-10-27T06:18:07.465Z,1761545887.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.012566 m, nav range: 100.804245 m, bearing: 6.311435 deg, approach rate: -0.565487 m/s, LOS rate: 0.012588 deg/s, cmd heading: 350.060965 deg, new cmd heading: 350.075324 deg. 2025-10-27T06:18:07.466Z,1761545887.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109967 target range: 106.012566 and range: 106.70 m. 2025-10-27T06:18:07.508Z,1761545887.508 [DAT](INFO): DAT read: 06:18:05.5617 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417,-0.28,-1.832, 2.635,-2.149,-2.148, PHS= 0.418,-1.456,-0.045, RAW= 136.3, 12.8, CAL= 135.6, 13.8, ROT= 14.4, -13.8 2025-10-27T06:18:07.510Z,1761545887.510 [DAT](INFO): got valid direction response: 06:18:05.5617 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417,-0.28,-1.832, 2.635,-2.149,-2.148, PHS= 0.418,-1.456,-0.045, RAW= 136.3, 12.8, CAL= 135.6, 13.8, ROT= 14.4, -13.8 2025-10-27T06:18:07.512Z,1761545887.512 [DAT](INFO): DAT read: Bearing 160.7, 14.1 (Local) 2025-10-27T06:18:07.513Z,1761545887.513 [DAT](INFO): Local bearing/azimuth received: Bearing 160.7, 14.1 (Local) 2025-10-27T06:18:07.532Z,1761545887.532 [DAT](INFO): DAT read: Range 11 to 50 : 104.5 m (Round-trip 139.4 ms) speed 0.5 m/s 2025-10-27T06:18:07.548Z,1761545887.548 [DAT](INFO): DAT read: Tx time:06:18:06.6197 2025-10-27T06:18:07.549Z,1761545887.549 [DAT](INFO): Ping request sent. 2025-10-27T06:18:07.549Z,1761545887.549 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:07.549Z,1761545887.549 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:07.560Z,1761545887.560 [DAT](INFO): direction in FSK: [0.940624,0.241511,0.238533] 2025-10-27T06:18:07.560Z,1761545887.560 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:07.560Z,1761545887.560 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:07.576Z,1761545887.576 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:07.576Z,1761545887.576 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:07.802Z,1761545887.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982721,0.184284,-0.017291],[-0.179482,0.971591,0.154260],[0.045227,-0.148491,0.987879]] 2025-10-27T06:18:07.815Z,1761545887.815 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:18:07.869Z,1761545887.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.500000 m, deltaT: 3.548516 s, deltaX: -2.199997 m, approachRate: -0.619977 m/s, rangeRepo size: 4 2025-10-27T06:18:07.885Z,1761545887.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.827225 m, bearing: 6.071727 deg, lat: 36.779423 deg, lon: -121.859704 deg, deltaT: 3.548516 s, deltaX: -2.185341 m, approachRate: -0.615846 m/s, posRepo size: 4 2025-10-27T06:18:07.892Z,1761545887.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.83 m. 2025-10-27T06:18:07.908Z,1761545887.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.827225 m, nav range: 100.746780 m, bearing: 6.171369 deg, approach rate: 0.000000 m/s, LOS rate: 0.012588 deg/s, cmd heading: 350.075335 deg, new cmd heading: 350.090425 deg. 2025-10-27T06:18:07.909Z,1761545887.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110230 target range: 103.827225 and range: 104.50 m. 2025-10-27T06:18:08.221Z,1761545888.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983009,0.182721,-0.017490],[-0.177885,0.971806,0.154756],[0.045274,-0.149015,0.987798]] 2025-10-27T06:18:08.281Z,1761545888.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.83 m. 2025-10-27T06:18:08.288Z,1761545888.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.827225 m, nav range: 100.498619 m, bearing: 6.184572 deg, approach rate: -0.590177 m/s, LOS rate: 0.031477 deg/s, cmd heading: 350.090416 deg, new cmd heading: 350.130124 deg. 2025-10-27T06:18:08.289Z,1761545888.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110923 target range: 103.827225 and range: 104.50 m. 2025-10-27T06:18:08.668Z,1761545888.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.83 m. 2025-10-27T06:18:08.671Z,1761545888.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.827225 m, nav range: 100.273048 m, bearing: 6.196630 deg, approach rate: -0.583173 m/s, LOS rate: 0.031243 deg/s, cmd heading: 350.130113 deg, new cmd heading: 350.166368 deg. 2025-10-27T06:18:08.672Z,1761545888.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.111556 target range: 103.827225 and range: 104.50 m. 2025-10-27T06:18:09.035Z,1761545889.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983308,0.181108,-0.017474],[-0.176220,0.971853,0.156360],[0.045300,-0.150670,0.987546]] 2025-10-27T06:18:09.087Z,1761545889.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.83 m. 2025-10-27T06:18:09.090Z,1761545889.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.827225 m, nav range: 100.044823 m, bearing: 6.215843 deg, approach rate: -0.566802 m/s, LOS rate: 0.047824 deg/s, cmd heading: 350.166368 deg, new cmd heading: 350.224138 deg. 2025-10-27T06:18:09.090Z,1761545889.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112565 target range: 103.827225 and range: 104.50 m. 2025-10-27T06:18:09.427Z,1761545889.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983342,0.180927,-0.017413],[-0.175982,0.971655,0.157850],[0.045479,-0.152156,0.987310]] 2025-10-27T06:18:09.443Z,1761545889.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:09.445Z,1761545889.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.83 m. 2025-10-27T06:18:09.464Z,1761545889.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.827225 m, nav range: 99.837440 m, bearing: 6.233361 deg, approach rate: -0.553308 m/s, LOS rate: 0.046838 deg/s, cmd heading: 350.224152 deg, new cmd heading: 350.276816 deg. 2025-10-27T06:18:09.465Z,1761545889.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113484 target range: 103.827225 and range: 104.50 m. 2025-10-27T06:18:09.513Z,1761545889.513 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:09.513Z,1761545889.513 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:09.514Z,1761545889.514 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:09.764Z,1761545889.764 [DAT](INFO): DAT read: user:720> 2025-10-27T06:18:09.765Z,1761545889.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216684 2025-10-27T06:18:09.834Z,1761545889.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983281,0.181296,-0.017032],[-0.176306,0.971247,0.159987],[0.045547,-0.154309,0.986972]] 2025-10-27T06:18:09.897Z,1761545889.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.83 m. 2025-10-27T06:18:09.920Z,1761545889.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.827225 m, nav range: 99.603813 m, bearing: 6.253252 deg, approach rate: -0.525990 m/s, LOS rate: 0.044887 deg/s, cmd heading: 350.276826 deg, new cmd heading: 350.336637 deg. 2025-10-27T06:18:09.928Z,1761545889.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114528 target range: 103.827225 and range: 104.50 m. 2025-10-27T06:18:10.017Z,1761545890.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467785 2025-10-27T06:18:10.261Z,1761545890.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983253,0.181481,-0.016709],[-0.176458,0.970929,0.161738],[0.045576,-0.156081,0.986692]] 2025-10-27T06:18:10.268Z,1761545890.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719577 2025-10-27T06:18:10.335Z,1761545890.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.83 m. 2025-10-27T06:18:10.338Z,1761545890.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.827225 m, nav range: 99.342041 m, bearing: 6.283143 deg, approach rate: -0.588025 m/s, LOS rate: 0.067322 deg/s, cmd heading: 350.336631 deg, new cmd heading: 350.426540 deg. 2025-10-27T06:18:10.339Z,1761545890.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116097 target range: 103.827225 and range: 104.50 m. 2025-10-27T06:18:10.521Z,1761545890.521 [DAT](INFO): DAT read: Rx Time:06:18:09.1606 2025-10-27T06:18:10.522Z,1761545890.522 [DAT](INFO): Rx dataTimestamp_ set to:1761545890.521689 2025-10-27T06:18:10.523Z,1761545890.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973776 2025-10-27T06:18:10.714Z,1761545890.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.83 m. 2025-10-27T06:18:10.718Z,1761545890.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.827225 m, nav range: 99.133308 m, bearing: 6.307092 deg, approach rate: -0.550724 m/s, LOS rate: 0.063322 deg/s, cmd heading: 350.426544 deg, new cmd heading: 350.498544 deg. 2025-10-27T06:18:10.736Z,1761545890.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.117353 target range: 103.827225 and range: 104.50 m. 2025-10-27T06:18:10.772Z,1761545890.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223270 2025-10-27T06:18:11.042Z,1761545891.042 [DAT](INFO): DAT read: 06:18:09.1606 LVL= 32448, 32753, 32754, 32755, AGC= 71, IDX= 165, 0.19,-0.009,-1.859,-0.310,-0.345, PHS= 0.438,-1.470,-0.009, RAW= 137.1, 12.0, CAL= 136.4, 13.1, ROT= 13.6, -13.1 2025-10-27T06:18:11.043Z,1761545891.043 [DAT](INFO): got valid direction response: 06:18:09.1606 LVL= 32448, 32753, 32754, 32755, AGC= 71, IDX= 165, 0.19,-0.009,-1.859,-0.310,-0.345, PHS= 0.438,-1.470,-0.009, RAW= 137.1, 12.0, CAL= 136.4, 13.1, ROT= 13.6, -13.1 2025-10-27T06:18:11.044Z,1761545891.044 [DAT](INFO): DAT read: Bearing 161.2, 13.4 (Local) 2025-10-27T06:18:11.044Z,1761545891.044 [DAT](INFO): Local bearing/azimuth received: Bearing 161.2, 13.4 (Local) 2025-10-27T06:18:11.046Z,1761545891.046 [DAT](INFO): DAT read: Range 11 to 50 : 102.6 m (Round-trip 136.8 ms) speed 0.5 m/s 2025-10-27T06:18:11.047Z,1761545891.047 [DAT](INFO): DAT read: Tx time:06:18:10.2197 2025-10-27T06:18:11.047Z,1761545891.047 [DAT](INFO): Ping request sent. 2025-10-27T06:18:11.047Z,1761545891.047 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:11.048Z,1761545891.048 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:11.049Z,1761545891.049 [DAT](INFO): direction in FSK: [0.946667,0.229023,0.226651] 2025-10-27T06:18:11.049Z,1761545891.049 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:11.049Z,1761545891.049 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:11.053Z,1761545891.053 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:11.053Z,1761545891.053 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:11.094Z,1761545891.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983094,0.182371,-0.016350],[-0.177263,0.970312,0.164538],[0.045871,-0.158858,0.986235]] 2025-10-27T06:18:11.185Z,1761545891.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.599998 m, deltaT: 3.528921 s, deltaX: -1.900002 m, approachRate: -0.538409 m/s, rangeRepo size: 4 2025-10-27T06:18:11.187Z,1761545891.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.940498 m, bearing: 5.407961 deg, lat: 36.779423 deg, lon: -121.859706 deg, deltaT: 3.528921 s, deltaX: -1.886726 m, approachRate: -0.534647 m/s, posRepo size: 4 2025-10-27T06:18:11.192Z,1761545891.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:11.194Z,1761545891.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 98.869019 m, bearing: 6.238194 deg, approach rate: 0.000000 m/s, LOS rate: 0.063322 deg/s, cmd heading: 350.498534 deg, new cmd heading: 350.587847 deg. 2025-10-27T06:18:11.199Z,1761545891.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118912 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:11.481Z,1761545891.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982925,0.183273,-0.016390],[-0.178157,0.970183,0.164330],[0.046018,-0.158605,0.986269]] 2025-10-27T06:18:11.526Z,1761545891.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:11.528Z,1761545891.528 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:11.528Z,1761545891.528 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:11.528Z,1761545891.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:11.532Z,1761545891.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:11.534Z,1761545891.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 98.686966 m, bearing: 6.262023 deg, approach rate: -0.523364 m/s, LOS rate: 0.068629 deg/s, cmd heading: 350.587845 deg, new cmd heading: 350.659464 deg. 2025-10-27T06:18:11.536Z,1761545891.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.120162 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:11.780Z,1761545891.780 [DAT](INFO): DAT read: user:721> 2025-10-27T06:18:11.780Z,1761545891.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.732999 2025-10-27T06:18:11.891Z,1761545891.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982821,0.183842,-0.016288],[-0.178705,0.969976,0.164960],[0.046125,-0.159215,0.986166]] 2025-10-27T06:18:11.969Z,1761545891.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:11.976Z,1761545891.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 98.455986 m, bearing: 6.292467 deg, approach rate: -0.528507 m/s, LOS rate: 0.069823 deg/s, cmd heading: 350.659453 deg, new cmd heading: 350.751000 deg. 2025-10-27T06:18:11.977Z,1761545891.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121760 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:12.032Z,1761545892.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984776 2025-10-27T06:18:12.284Z,1761545892.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236531 2025-10-27T06:18:12.291Z,1761545892.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982753,0.184197,-0.016378],[-0.179062,0.969983,0.164530],[0.046192,-0.158760,0.986236]] 2025-10-27T06:18:12.354Z,1761545892.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:12.357Z,1761545892.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 98.228859 m, bearing: 6.325063 deg, approach rate: -0.589227 m/s, LOS rate: 0.084756 deg/s, cmd heading: 350.751005 deg, new cmd heading: 350.849017 deg. 2025-10-27T06:18:12.358Z,1761545892.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.123470 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:12.536Z,1761545892.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488560 2025-10-27T06:18:12.696Z,1761545892.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982651,0.184753,-0.016204],[-0.179636,0.969871,0.164562],[0.046119,-0.158797,0.986234]] 2025-10-27T06:18:12.724Z,1761545892.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:12.728Z,1761545892.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 98.035583 m, bearing: 6.352992 deg, approach rate: -0.524636 m/s, LOS rate: 0.075963 deg/s, cmd heading: 350.849005 deg, new cmd heading: 350.932959 deg. 2025-10-27T06:18:12.729Z,1761545892.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124936 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:12.788Z,1761545892.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740666 2025-10-27T06:18:13.040Z,1761545893.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993021 2025-10-27T06:18:13.151Z,1761545893.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:13.153Z,1761545893.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 97.811394 m, bearing: 6.380823 deg, approach rate: -0.523884 m/s, LOS rate: 0.065183 deg/s, cmd heading: 350.932961 deg, new cmd heading: 351.016645 deg. 2025-10-27T06:18:13.154Z,1761545893.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126396 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:13.293Z,1761545893.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245094 2025-10-27T06:18:13.526Z,1761545893.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982770,0.184046,-0.017032],[-0.178964,0.970555,0.161229],[0.046204,-0.155403,0.986770]] 2025-10-27T06:18:13.544Z,1761545893.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496613 2025-10-27T06:18:13.554Z,1761545893.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:13.556Z,1761545893.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:13.559Z,1761545893.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 97.601219 m, bearing: 6.406947 deg, approach rate: -0.518283 m/s, LOS rate: 0.064559 deg/s, cmd heading: 351.016645 deg, new cmd heading: 351.095184 deg. 2025-10-27T06:18:13.560Z,1761545893.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.127767 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:13.796Z,1761545893.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748554 2025-10-27T06:18:13.934Z,1761545893.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982909,0.183257,-0.017495],[-0.178223,0.971077,0.158890],[0.046106,-0.153056,0.987141]] 2025-10-27T06:18:14.020Z,1761545894.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:14.027Z,1761545894.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 97.374344 m, bearing: 6.435171 deg, approach rate: -0.489072 m/s, LOS rate: 0.060984 deg/s, cmd heading: 351.095192 deg, new cmd heading: 351.180062 deg. 2025-10-27T06:18:14.028Z,1761545894.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129248 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:14.048Z,1761545894.048 [DAT](INFO): DAT read: Rx Time:06:18:12.7579 2025-10-27T06:18:14.049Z,1761545894.049 [DAT](INFO): Rx dataTimestamp_ set to:1761545894.048228 2025-10-27T06:18:14.049Z,1761545894.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001645 2025-10-27T06:18:14.301Z,1761545894.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253167 2025-10-27T06:18:14.348Z,1761545894.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983082,0.182284,-0.017938],[-0.177268,0.971509,0.157307],[0.046101,-0.151466,0.987387]] 2025-10-27T06:18:14.392Z,1761545894.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:14.394Z,1761545894.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 97.160942 m, bearing: 6.456255 deg, approach rate: -0.575294 m/s, LOS rate: 0.056965 deg/s, cmd heading: 351.180050 deg, new cmd heading: 351.243442 deg. 2025-10-27T06:18:14.395Z,1761545894.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.130354 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:14.552Z,1761545894.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504382 2025-10-27T06:18:14.750Z,1761545894.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983295,0.181113,-0.018150],[-0.176096,0.971781,0.156949],[0.046063,-0.151131,0.987440]] 2025-10-27T06:18:14.769Z,1761545894.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.94 m. 2025-10-27T06:18:14.772Z,1761545894.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.940498 m, nav range: 96.958023 m, bearing: 6.476243 deg, approach rate: -0.536677 m/s, LOS rate: 0.052975 deg/s, cmd heading: 351.243434 deg, new cmd heading: 351.303524 deg. 2025-10-27T06:18:14.773Z,1761545894.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131403 target range: 101.940498 and range: 102.60 m. 2025-10-27T06:18:14.813Z,1761545894.813 [DAT](INFO): DAT read: 06:18:12.7579 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 155,-0.45, 1.325,-0.447, 1.047, 1.069, PHS= 0.358,-1.471,-0.066, RAW= 137.2, 14.1, CAL= 136.4, 15.2, ROT= 13.6, -15.2 2025-10-27T06:18:14.815Z,1761545894.815 [DAT](INFO): got valid direction response: 06:18:12.7579 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 155,-0.45, 1.325,-0.447, 1.047, 1.069, PHS= 0.358,-1.471,-0.066, RAW= 137.2, 14.1, CAL= 136.4, 15.2, ROT= 13.6, -15.2 2025-10-27T06:18:14.816Z,1761545894.816 [DAT](INFO): DAT read: Bearing 163.5, 13.2 (Local) 2025-10-27T06:18:14.816Z,1761545894.816 [DAT](INFO): Local bearing/azimuth received: Bearing 163.5, 13.2 (Local) 2025-10-27T06:18:14.818Z,1761545894.818 [DAT](INFO): DAT read: Range 11 to 50 : 100.5 m (Round-trip 134.1 ms) speed 0.4 m/s 2025-10-27T06:18:14.818Z,1761545894.818 [DAT](INFO): DAT read: Tx time:06:18:13.8211 2025-10-27T06:18:14.819Z,1761545894.819 [DAT](INFO): Ping request sent. 2025-10-27T06:18:14.819Z,1761545894.819 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:14.819Z,1761545894.819 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:14.820Z,1761545894.820 [DAT](INFO): direction in FSK: [0.937958,0.226916,0.262189] 2025-10-27T06:18:14.820Z,1761545894.820 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:14.821Z,1761545894.821 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:14.844Z,1761545894.844 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:14.844Z,1761545894.844 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:15.213Z,1761545895.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.500000 m, deltaT: 3.778876 s, deltaX: -2.099998 m, approachRate: -0.555720 m/s, rangeRepo size: 4 2025-10-27T06:18:15.215Z,1761545895.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.854111 m, bearing: 5.747851 deg, lat: 36.779423 deg, lon: -121.859713 deg, deltaT: 3.778876 s, deltaX: -2.086388 m, approachRate: -0.552119 m/s, posRepo size: 4 2025-10-27T06:18:15.216Z,1761545895.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.85 m. 2025-10-27T06:18:15.218Z,1761545895.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.854111 m, nav range: 96.652016 m, bearing: 6.109502 deg, approach rate: 0.000000 m/s, LOS rate: 0.052975 deg/s, cmd heading: 351.303513 deg, new cmd heading: 351.373942 deg. 2025-10-27T06:18:15.219Z,1761545895.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132632 target range: 99.854111 and range: 100.50 m. 2025-10-27T06:18:15.561Z,1761545895.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983842,0.178069,-0.018601],[-0.173143,0.972742,0.154255],[0.045562,-0.148542,0.987856]] 2025-10-27T06:18:15.581Z,1761545895.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:15.584Z,1761545895.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.85 m. 2025-10-27T06:18:15.586Z,1761545895.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.854111 m, nav range: 96.451256 m, bearing: 6.120017 deg, approach rate: -0.540830 m/s, LOS rate: 0.028386 deg/s, cmd heading: 351.373946 deg, new cmd heading: 351.405556 deg. 2025-10-27T06:18:15.587Z,1761545895.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133184 target range: 99.854111 and range: 100.50 m. 2025-10-27T06:18:15.813Z,1761545895.813 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:15.813Z,1761545895.813 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:15.813Z,1761545895.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:15.975Z,1761545895.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984175,0.176194,-0.018848],[-0.171291,0.973199,0.153436],[0.045378,-0.147780,0.987979]] 2025-10-27T06:18:16.046Z,1761545896.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.85 m. 2025-10-27T06:18:16.050Z,1761545896.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.854111 m, nav range: 96.207130 m, bearing: 6.132584 deg, approach rate: -0.527712 m/s, LOS rate: 0.027235 deg/s, cmd heading: 351.405556 deg, new cmd heading: 351.443353 deg. 2025-10-27T06:18:16.050Z,1761545896.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133843 target range: 99.854111 and range: 100.50 m. 2025-10-27T06:18:16.064Z,1761545896.064 [DAT](INFO): DAT read: user:722> 2025-10-27T06:18:16.065Z,1761545896.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245642 2025-10-27T06:18:16.316Z,1761545896.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497236 2025-10-27T06:18:16.369Z,1761545896.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984533,0.174193,-0.018775],[-0.169306,0.973487,0.153816],[0.045071,-0.148258,0.987921]] 2025-10-27T06:18:16.419Z,1761545896.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.85 m. 2025-10-27T06:18:16.422Z,1761545896.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.854111 m, nav range: 96.003151 m, bearing: 6.135614 deg, approach rate: -0.546932 m/s, LOS rate: 0.008140 deg/s, cmd heading: 351.443340 deg, new cmd heading: 351.452447 deg. 2025-10-27T06:18:16.424Z,1761545896.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134002 target range: 99.854111 and range: 100.50 m. 2025-10-27T06:18:16.568Z,1761545896.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749442 2025-10-27T06:18:16.770Z,1761545896.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984943,0.171831,-0.018986],[-0.166991,0.974069,0.152653],[0.044725,-0.147184,0.988097]] 2025-10-27T06:18:16.811Z,1761545896.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.85 m. 2025-10-27T06:18:16.814Z,1761545896.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.854111 m, nav range: 95.805939 m, bearing: 6.138269 deg, approach rate: -0.508128 m/s, LOS rate: 0.006856 deg/s, cmd heading: 351.452438 deg, new cmd heading: 351.460421 deg. 2025-10-27T06:18:16.815Z,1761545896.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134141 target range: 99.854111 and range: 100.50 m. 2025-10-27T06:18:16.820Z,1761545896.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001037 2025-10-27T06:18:17.072Z,1761545897.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253270 2025-10-27T06:18:17.174Z,1761545897.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985368,0.169353,-0.019204],[-0.164525,0.974544,0.152298],[0.044507,-0.146911,0.988148]] 2025-10-27T06:18:17.225Z,1761545897.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.85 m. 2025-10-27T06:18:17.228Z,1761545897.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.854111 m, nav range: 95.574280 m, bearing: 6.136857 deg, approach rate: -0.554188 m/s, LOS rate: -0.003387 deg/s, cmd heading: 351.460416 deg, new cmd heading: 351.456168 deg. 2025-10-27T06:18:17.229Z,1761545897.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134068 target range: 99.854111 and range: 100.50 m. 2025-10-27T06:18:17.324Z,1761545897.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505458 2025-10-27T06:18:17.576Z,1761545897.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756985 2025-10-27T06:18:17.582Z,1761545897.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985812,0.166742,-0.019287],[-0.161948,0.975037,0.151908],[0.044135,-0.146629,0.988206]] 2025-10-27T06:18:17.598Z,1761545897.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:17.600Z,1761545897.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.85 m. 2025-10-27T06:18:17.603Z,1761545897.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.854111 m, nav range: 95.376030 m, bearing: 6.135328 deg, approach rate: -0.528387 m/s, LOS rate: -0.004082 deg/s, cmd heading: 351.456181 deg, new cmd heading: 351.451586 deg. 2025-10-27T06:18:17.604Z,1761545897.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133987 target range: 99.854111 and range: 100.50 m. 2025-10-27T06:18:17.828Z,1761545897.828 [DAT](INFO): DAT read: Rx Time:06:18:16.3568 2025-10-27T06:18:17.828Z,1761545897.828 [DAT](INFO): Rx dataTimestamp_ set to:1761545897.828089 2025-10-27T06:18:17.829Z,1761545897.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009983 2025-10-27T06:18:18.008Z,1761545898.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986195,0.164401,-0.019807],[-0.159562,0.975450,0.151778],[0.044273,-0.146522,0.988216]] 2025-10-27T06:18:18.075Z,1761545898.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.85 m. 2025-10-27T06:18:18.078Z,1761545898.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.854111 m, nav range: 95.137733 m, bearing: 6.133134 deg, approach rate: -0.506169 m/s, LOS rate: -0.004672 deg/s, cmd heading: 351.451591 deg, new cmd heading: 351.444993 deg. 2025-10-27T06:18:18.080Z,1761545898.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261126 2025-10-27T06:18:18.083Z,1761545898.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133873 target range: 99.854111 and range: 100.50 m. 2025-10-27T06:18:18.349Z,1761545898.349 [DAT](INFO): DAT read: 06:18:16.3568 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 159, 0.30,-3.088, 1.360, 2.969, 2.945, PHS= 0.352,-1.539,-0.020, RAW= 139.3, 13.8, CAL= 138.6, 14.9, ROT= 11.4, -14.9 2025-10-27T06:18:18.350Z,1761545898.350 [DAT](INFO): got valid direction response: 06:18:16.3568 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 159, 0.30,-3.088, 1.360, 2.969, 2.945, PHS= 0.352,-1.539,-0.020, RAW= 139.3, 13.8, CAL= 138.6, 14.9, ROT= 11.4, -14.9 2025-10-27T06:18:18.351Z,1761545898.351 [DAT](INFO): DAT read: Bearing 163.4, 11.3 (Local) 2025-10-27T06:18:18.351Z,1761545898.351 [DAT](INFO): Local bearing/azimuth received: Bearing 163.4, 11.3 (Local) 2025-10-27T06:18:18.353Z,1761545898.353 [DAT](INFO): DAT read: Range 11 to 50 : 98.6 m (Round-trip 131.5 ms) speed 0.4 m/s 2025-10-27T06:18:18.353Z,1761545898.353 [DAT](INFO): DAT read: Tx time:06:18:17.4211 2025-10-27T06:18:18.354Z,1761545898.354 [DAT](INFO): Ping request sent. 2025-10-27T06:18:18.354Z,1761545898.354 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:18.354Z,1761545898.354 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:18.372Z,1761545898.372 [DAT](INFO): direction in FSK: [0.947311,0.191011,0.257133] 2025-10-27T06:18:18.372Z,1761545898.372 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:18.372Z,1761545898.372 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:18.384Z,1761545898.384 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:18.384Z,1761545898.384 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:18.447Z,1761545898.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986491,0.162596,-0.019931],[-0.157687,0.975507,0.153366],[0.044379,-0.148151,0.987969]] 2025-10-27T06:18:18.556Z,1761545898.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 98.599998 m, deltaT: 3.529962 s, deltaX: -1.900002 m, approachRate: -0.538250 m/s, rangeRepo size: 4 2025-10-27T06:18:18.558Z,1761545898.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.965256 m, bearing: 4.547484 deg, lat: 36.779423 deg, lon: -121.859721 deg, deltaT: 3.529962 s, deltaX: -1.888855 m, approachRate: -0.535092 m/s, posRepo size: 4 2025-10-27T06:18:18.559Z,1761545898.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:18.565Z,1761545898.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 94.809013 m, bearing: 5.736227 deg, approach rate: 0.000000 m/s, LOS rate: -0.004672 deg/s, cmd heading: 351.445007 deg, new cmd heading: 351.438280 deg. 2025-10-27T06:18:18.566Z,1761545898.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133755 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:18.886Z,1761545898.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986776,0.160841,-0.020067],[-0.155906,0.975704,0.153935],[0.044339,-0.148771,0.987877]] 2025-10-27T06:18:18.905Z,1761545898.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:18.908Z,1761545898.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 94.609581 m, bearing: 5.731026 deg, approach rate: -0.564058 m/s, LOS rate: -0.014742 deg/s, cmd heading: 351.438286 deg, new cmd heading: 351.422649 deg. 2025-10-27T06:18:18.909Z,1761545898.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133482 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:19.291Z,1761545899.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987015,0.159332,-0.020379],[-0.154352,0.975897,0.154271],[0.044468,-0.149122,0.987818]] 2025-10-27T06:18:19.328Z,1761545899.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:19.330Z,1761545899.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 94.376343 m, bearing: 5.729381 deg, approach rate: -0.551293 m/s, LOS rate: -0.003899 deg/s, cmd heading: 351.422658 deg, new cmd heading: 351.417710 deg. 2025-10-27T06:18:19.332Z,1761545899.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133396 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:19.697Z,1761545899.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987200,0.158193,-0.020271],[-0.153177,0.975850,0.155737],[0.044419,-0.150639,0.987590]] 2025-10-27T06:18:19.722Z,1761545899.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:19.726Z,1761545899.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:19.730Z,1761545899.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 94.160500 m, bearing: 5.727714 deg, approach rate: -0.542832 m/s, LOS rate: -0.004201 deg/s, cmd heading: 351.417713 deg, new cmd heading: 351.412703 deg. 2025-10-27T06:18:19.732Z,1761545899.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133309 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:19.844Z,1761545899.844 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:19.844Z,1761545899.844 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:19.844Z,1761545899.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:20.096Z,1761545900.096 [DAT](INFO): DAT read: user:723> 2025-10-27T06:18:20.097Z,1761545900.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742839 2025-10-27T06:18:20.103Z,1761545900.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987359,0.157203,-0.020254],[-0.152121,0.975733,0.157492],[0.044521,-0.152420,0.987313]] 2025-10-27T06:18:20.172Z,1761545900.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:20.182Z,1761545900.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 93.933350 m, bearing: 5.732451 deg, approach rate: -0.508140 m/s, LOS rate: 0.010621 deg/s, cmd heading: 351.412714 deg, new cmd heading: 351.426958 deg. 2025-10-27T06:18:20.184Z,1761545900.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133557 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:20.348Z,1761545900.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993983 2025-10-27T06:18:20.524Z,1761545900.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987415,0.156846,-0.020280],[-0.151699,0.975564,0.158942],[0.044714,-0.153865,0.987080]] 2025-10-27T06:18:20.542Z,1761545900.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:20.545Z,1761545900.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 93.715393 m, bearing: 5.736977 deg, approach rate: -0.589107 m/s, LOS rate: 0.012263 deg/s, cmd heading: 351.426948 deg, new cmd heading: 351.440559 deg. 2025-10-27T06:18:20.546Z,1761545900.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133795 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:20.601Z,1761545900.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246844 2025-10-27T06:18:20.852Z,1761545900.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497988 2025-10-27T06:18:20.922Z,1761545900.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987386,0.157088,-0.019821],[-0.151885,0.975083,0.161694],[0.044727,-0.156644,0.986642]] 2025-10-27T06:18:20.957Z,1761545900.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:20.960Z,1761545900.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 93.490761 m, bearing: 5.741723 deg, approach rate: -0.541743 m/s, LOS rate: 0.011473 deg/s, cmd heading: 351.440554 deg, new cmd heading: 351.454826 deg. 2025-10-27T06:18:20.961Z,1761545900.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134044 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:21.116Z,1761545901.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752801 2025-10-27T06:18:21.326Z,1761545901.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987367,0.157254,-0.019447],[-0.152021,0.974743,0.163603],[0.044683,-0.158580,0.986334]] 2025-10-27T06:18:21.356Z,1761545901.356 [DAT](INFO): DAT read: Rx Time:06:18:19.9541 2025-10-27T06:18:21.356Z,1761545901.356 [DAT](INFO): Rx dataTimestamp_ set to:1761545901.356112 2025-10-27T06:18:21.357Z,1761545901.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003054 2025-10-27T06:18:21.375Z,1761545901.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:21.378Z,1761545901.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 93.263405 m, bearing: 5.754156 deg, approach rate: -0.544007 m/s, LOS rate: 0.029821 deg/s, cmd heading: 351.454815 deg, new cmd heading: 351.492204 deg. 2025-10-27T06:18:21.379Z,1761545901.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134696 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:21.609Z,1761545901.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254611 2025-10-27T06:18:21.738Z,1761545901.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987347,0.157370,-0.019484],[-0.152072,0.974522,0.164864],[0.044932,-0.159815,0.986124]] 2025-10-27T06:18:21.770Z,1761545901.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:21.785Z,1761545901.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.97 m. 2025-10-27T06:18:21.833Z,1761545901.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.965256 m, nav range: 93.056396 m, bearing: 5.765545 deg, approach rate: -0.512773 m/s, LOS rate: 0.028274 deg/s, cmd heading: 351.492217 deg, new cmd heading: 351.526460 deg. 2025-10-27T06:18:21.840Z,1761545901.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135294 target range: 97.965256 and range: 98.60 m. 2025-10-27T06:18:21.870Z,1761545901.870 [DAT](INFO): DAT read: 06:18:19.9541 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 164, 0.28, 1.006,-0.859, 0.767, 0.677, PHS= 0.431,-1.491, 0.046, RAW= 139.1, 11.5, CAL= 138.5, 12.5, ROT= 11.5, -12.5 2025-10-27T06:18:21.871Z,1761545901.871 [DAT](INFO): got valid direction response: 06:18:19.9541 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 164, 0.28, 1.006,-0.859, 0.767, 0.677, PHS= 0.431,-1.491, 0.046, RAW= 139.1, 11.5, CAL= 138.5, 12.5, ROT= 11.5, -12.5 2025-10-27T06:18:21.872Z,1761545901.872 [DAT](INFO): DAT read: Bearing 161.8, 11.8 (Local) 2025-10-27T06:18:21.872Z,1761545901.872 [DAT](INFO): Local bearing/azimuth received: Bearing 161.8, 11.8 (Local) 2025-10-27T06:18:21.874Z,1761545901.874 [DAT](INFO): DAT read: Range 11 to 50 : 96.6 m (Round-trip 128.9 ms) speed 0.5 m/s 2025-10-27T06:18:21.875Z,1761545901.875 [DAT](INFO): DAT read: Tx time:06:18:21.0180 2025-10-27T06:18:21.875Z,1761545901.875 [DAT](INFO): Ping request sent. 2025-10-27T06:18:21.875Z,1761545901.875 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:21.876Z,1761545901.876 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:21.877Z,1761545901.877 [DAT](INFO): direction in FSK: [0.956697,0.194642,0.216440] 2025-10-27T06:18:21.877Z,1761545901.877 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:21.877Z,1761545901.877 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:21.880Z,1761545901.880 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:21.881Z,1761545901.881 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:22.178Z,1761545902.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987225,0.158156,-0.019313],[-0.152785,0.974075,0.166838],[0.045199,-0.161756,0.985795]] 2025-10-27T06:18:22.241Z,1761545902.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.599998 m, deltaT: 3.525778 s, deltaX: -2.000000 m, approachRate: -0.567251 m/s, rangeRepo size: 4 2025-10-27T06:18:22.243Z,1761545902.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 95.978333 m, bearing: 4.682419 deg, lat: 36.779423 deg, lon: -121.859722 deg, deltaT: 3.525778 s, deltaX: -1.986923 m, approachRate: -0.563542 m/s, posRepo size: 4 2025-10-27T06:18:22.247Z,1761545902.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:22.250Z,1761545902.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 92.785347 m, bearing: 5.731436 deg, approach rate: 0.000000 m/s, LOS rate: 0.028274 deg/s, cmd heading: 351.526450 deg, new cmd heading: 351.565570 deg. 2025-10-27T06:18:22.255Z,1761545902.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135977 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:22.584Z,1761545902.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987096,0.158948,-0.019446],[-0.153491,0.973764,0.168001],[0.045639,-0.162848,0.985595]] 2025-10-27T06:18:22.616Z,1761545902.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:22.619Z,1761545902.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 92.562729 m, bearing: 5.753479 deg, approach rate: -0.591238 m/s, LOS rate: 0.058684 deg/s, cmd heading: 351.565573 deg, new cmd heading: 351.631862 deg. 2025-10-27T06:18:22.620Z,1761545902.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137134 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:23.008Z,1761545903.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986909,0.160098,-0.019459],[-0.154606,0.973522,0.168383],[0.045902,-0.163170,0.985530]] 2025-10-27T06:18:23.025Z,1761545903.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:23.028Z,1761545903.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 92.331940 m, bearing: 5.776614 deg, approach rate: -0.564286 m/s, LOS rate: 0.056706 deg/s, cmd heading: 351.631853 deg, new cmd heading: 351.701431 deg. 2025-10-27T06:18:23.029Z,1761545903.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138348 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:23.455Z,1761545903.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:23.461Z,1761545903.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 92.097031 m, bearing: 5.800662 deg, approach rate: -0.547534 m/s, LOS rate: 0.056197 deg/s, cmd heading: 351.701439 deg, new cmd heading: 351.773770 deg. 2025-10-27T06:18:23.462Z,1761545903.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139610 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:23.795Z,1761545903.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986816,0.160621,-0.019899],[-0.155057,0.973474,0.168240],[0.046394,-0.162937,0.985545]] 2025-10-27T06:18:23.828Z,1761545903.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:23.830Z,1761545903.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:23.833Z,1761545903.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 91.876663 m, bearing: 5.823400 deg, approach rate: -0.586140 m/s, LOS rate: 0.060623 deg/s, cmd heading: 351.773758 deg, new cmd heading: 351.842134 deg. 2025-10-27T06:18:23.834Z,1761545903.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140804 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:23.877Z,1761545903.877 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:23.877Z,1761545903.877 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:23.877Z,1761545903.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:24.130Z,1761545904.130 [DAT](INFO): DAT read: user:724> 2025-10-27T06:18:24.133Z,1761545904.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256964 2025-10-27T06:18:24.219Z,1761545904.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986576,0.161970,-0.020821],[-0.156287,0.973452,0.167229],[0.047354,-0.161730,0.985698]] 2025-10-27T06:18:24.269Z,1761545904.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:24.272Z,1761545904.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 91.623764 m, bearing: 5.847555 deg, approach rate: -0.577052 m/s, LOS rate: 0.055268 deg/s, cmd heading: 351.842141 deg, new cmd heading: 351.914806 deg. 2025-10-27T06:18:24.273Z,1761545904.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142072 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:24.380Z,1761545904.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504592 2025-10-27T06:18:24.606Z,1761545904.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986561,0.162041,-0.020961],[-0.156314,0.973378,0.167634],[0.047566,-0.162105,0.985626]] 2025-10-27T06:18:24.625Z,1761545904.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:24.632Z,1761545904.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756682 2025-10-27T06:18:24.644Z,1761545904.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 91.420525 m, bearing: 5.867068 deg, approach rate: -0.570674 m/s, LOS rate: 0.054913 deg/s, cmd heading: 351.914815 deg, new cmd heading: 351.973485 deg. 2025-10-27T06:18:24.645Z,1761545904.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143096 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:24.884Z,1761545904.884 [DAT](INFO): DAT read: Rx Time:06:18:23.5484 2025-10-27T06:18:24.884Z,1761545904.884 [DAT](INFO): Rx dataTimestamp_ set to:1761545904.884183 2025-10-27T06:18:24.885Z,1761545904.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009720 2025-10-27T06:18:25.012Z,1761545905.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986544,0.162090,-0.021393],[-0.156360,0.973610,0.166238],[0.047774,-0.160656,0.985854]] 2025-10-27T06:18:25.046Z,1761545905.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:25.053Z,1761545905.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 91.188667 m, bearing: 5.889443 deg, approach rate: -0.550210 m/s, LOS rate: 0.053231 deg/s, cmd heading: 351.973472 deg, new cmd heading: 352.040766 deg. 2025-10-27T06:18:25.054Z,1761545905.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144270 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:25.139Z,1761545905.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262931 2025-10-27T06:18:25.393Z,1761545905.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515181 2025-10-27T06:18:25.450Z,1761545905.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986571,0.161824,-0.022140],[-0.156061,0.973948,0.164528],[0.048188,-0.158864,0.986124]] 2025-10-27T06:18:25.524Z,1761545905.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.98 m. 2025-10-27T06:18:25.527Z,1761545905.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 95.978333 m, nav range: 90.914589 m, bearing: 5.909264 deg, approach rate: -0.573689 m/s, LOS rate: 0.041614 deg/s, cmd heading: 352.040763 deg, new cmd heading: 352.100406 deg. 2025-10-27T06:18:25.534Z,1761545905.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145311 target range: 95.978333 and range: 96.60 m. 2025-10-27T06:18:25.645Z,1761545905.645 [DAT](INFO): DAT read: 06:18:23.5484 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.44, 2.393, 0.603, 2.183, 2.179, PHS= 0.317,-1.531,-0.040, RAW= 139.5, 14.6, CAL= 138.7, 15.7, ROT= 11.3, -15.7 2025-10-27T06:18:25.647Z,1761545905.647 [DAT](INFO): got valid direction response: 06:18:23.5484 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 409,-0.44, 2.393, 0.603, 2.183, 2.179, PHS= 0.317,-1.531,-0.040, RAW= 139.5, 14.6, CAL= 138.7, 15.7, ROT= 11.3, -15.7 2025-10-27T06:18:25.648Z,1761545905.648 [DAT](INFO): DAT read: Bearing 164.9, 11.0 (Local) 2025-10-27T06:18:25.648Z,1761545905.648 [DAT](INFO): Local bearing/azimuth received: Bearing 164.9, 11.0 (Local) 2025-10-27T06:18:25.649Z,1761545905.649 [DAT](INFO): DAT read: Range 11 to 50 : 94.6 m (Round-trip 126.2 ms) speed 0.5 m/s 2025-10-27T06:18:25.650Z,1761545905.650 [DAT](INFO): DAT read: user:725>Tx time:06:18:24.6180 2025-10-27T06:18:25.651Z,1761545905.651 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:25.652Z,1761545905.652 [DAT](INFO): direction in FSK: [0.944030,0.188636,0.270600] 2025-10-27T06:18:25.652Z,1761545905.652 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:25.656Z,1761545905.656 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:25.656Z,1761545905.656 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:25.656Z,1761545905.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:25.850Z,1761545905.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986739,0.160762,-0.022420],[-0.154982,0.974168,0.164250],[0.048246,-0.158597,0.986164]] 2025-10-27T06:18:25.890Z,1761545905.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.599998 m, deltaT: 3.779914 s, deltaX: -2.000000 m, approachRate: -0.529113 m/s, rangeRepo size: 4 2025-10-27T06:18:25.892Z,1761545905.892 [DAT](INFO): DAT read: 2025-10-27T06:18:25.892Z,1761545905.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017139 2025-10-27T06:18:25.908Z,1761545905.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.991142 m, bearing: 4.897812 deg, lat: 36.779421 deg, lon: -121.859740 deg, deltaT: 3.779914 s, deltaX: -1.987190 m, approachRate: -0.525724 m/s, posRepo size: 4 2025-10-27T06:18:25.908Z,1761545905.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:25.916Z,1761545905.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 90.302414 m, bearing: 4.910539 deg, approach rate: 0.000000 m/s, LOS rate: 0.041614 deg/s, cmd heading: 352.100404 deg, new cmd heading: 352.145963 deg. 2025-10-27T06:18:25.917Z,1761545905.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146107 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:26.147Z,1761545906.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270833 2025-10-27T06:18:26.259Z,1761545906.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986869,0.159879,-0.022966],[-0.154109,0.974597,0.162513],[0.048365,-0.156840,0.986439]] 2025-10-27T06:18:26.308Z,1761545906.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:26.310Z,1761545906.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:26.313Z,1761545906.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 90.057701 m, bearing: 4.916907 deg, approach rate: -0.581499 m/s, LOS rate: 0.015173 deg/s, cmd heading: 352.145975 deg, new cmd heading: 352.165132 deg. 2025-10-27T06:18:26.313Z,1761545906.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146441 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:26.397Z,1761545906.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521412 2025-10-27T06:18:26.648Z,1761545906.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772499 2025-10-27T06:18:26.673Z,1761545906.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987101,0.158309,-0.023852],[-0.152553,0.975288,0.159815],[0.048563,-0.154114,0.986859]] 2025-10-27T06:18:26.691Z,1761545906.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:26.694Z,1761545906.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 89.839600 m, bearing: 4.922379 deg, approach rate: -0.572021 m/s, LOS rate: 0.014387 deg/s, cmd heading: 352.165127 deg, new cmd heading: 352.181584 deg. 2025-10-27T06:18:26.695Z,1761545906.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146728 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:26.900Z,1761545906.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024555 2025-10-27T06:18:27.113Z,1761545907.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:27.116Z,1761545907.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 89.606064 m, bearing: 4.928268 deg, approach rate: -0.553792 m/s, LOS rate: 0.014001 deg/s, cmd heading: 352.181574 deg, new cmd heading: 352.199288 deg. 2025-10-27T06:18:27.117Z,1761545907.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147037 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:27.159Z,1761545907.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282779 2025-10-27T06:18:27.408Z,1761545907.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532629 2025-10-27T06:18:27.480Z,1761545907.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987574,0.155317,-0.023982],[-0.149624,0.975900,0.158846],[0.048076,-0.153284,0.987012]] 2025-10-27T06:18:27.544Z,1761545907.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:27.547Z,1761545907.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 89.362671 m, bearing: 4.925718 deg, approach rate: -0.564304 m/s, LOS rate: -0.005928 deg/s, cmd heading: 352.199278 deg, new cmd heading: 352.191608 deg. 2025-10-27T06:18:27.552Z,1761545907.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146903 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:27.664Z,1761545907.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788303 2025-10-27T06:18:27.878Z,1761545907.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987840,0.153560,-0.024338],[-0.147871,0.976295,0.158054],[0.048032,-0.152533,0.987130]] 2025-10-27T06:18:27.897Z,1761545907.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:27.900Z,1761545907.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 89.148941 m, bearing: 4.923218 deg, approach rate: -0.605858 m/s, LOS rate: -0.007105 deg/s, cmd heading: 352.191601 deg, new cmd heading: 352.184082 deg. 2025-10-27T06:18:27.901Z,1761545907.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146772 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:27.912Z,1761545907.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036718 2025-10-27T06:18:28.167Z,1761545908.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290689 2025-10-27T06:18:28.278Z,1761545908.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988070,0.151981,-0.024869],[-0.146269,0.976665,0.157260],[0.048190,-0.151746,0.987244]] 2025-10-27T06:18:28.314Z,1761545908.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:28.332Z,1761545908.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:28.339Z,1761545908.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 88.909241 m, bearing: 4.914632 deg, approach rate: -0.550504 m/s, LOS rate: -0.019772 deg/s, cmd heading: 352.184088 deg, new cmd heading: 352.158261 deg. 2025-10-27T06:18:28.340Z,1761545908.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146321 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:28.417Z,1761545908.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541833 2025-10-27T06:18:28.668Z,1761545908.668 [DAT](INFO): DAT read: Rx Time:06:18:27.1457 2025-10-27T06:18:28.668Z,1761545908.668 [DAT](INFO): Rx dataTimestamp_ set to:1761545908.668117 2025-10-27T06:18:28.669Z,1761545908.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793631 2025-10-27T06:18:28.684Z,1761545908.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988355,0.150095,-0.025004],[-0.144404,0.977007,0.156858],[0.047973,-0.151420,0.987305]] 2025-10-27T06:18:28.704Z,1761545908.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:28.721Z,1761545908.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 88.686897 m, bearing: 4.906350 deg, approach rate: -0.598391 m/s, LOS rate: -0.022345 deg/s, cmd heading: 352.158270 deg, new cmd heading: 352.133362 deg. 2025-10-27T06:18:28.722Z,1761545908.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145886 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:28.920Z,1761545908.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044501 2025-10-27T06:18:29.124Z,1761545909.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.99 m. 2025-10-27T06:18:29.126Z,1761545909.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.991142 m, nav range: 88.445793 m, bearing: 4.897322 deg, approach rate: -0.575213 m/s, LOS rate: -0.021597 deg/s, cmd heading: 352.133353 deg, new cmd heading: 352.106196 deg. 2025-10-27T06:18:29.127Z,1761545909.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145412 target range: 93.991142 and range: 94.60 m. 2025-10-27T06:18:29.214Z,1761545909.214 [DAT](INFO): DAT read: 06:18:27.1457 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 413, 0.16, 1.957, 0.118, 1.760, 1.673, PHS= 0.385,-1.510, 0.042, RAW= 140.2, 12.3, CAL= 139.6, 13.3, ROT= 10.4, -13.3 2025-10-27T06:18:29.247Z,1761545909.247 [DAT](INFO): got valid direction response: 06:18:27.1457 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 413, 0.16, 1.957, 0.118, 1.760, 1.673, PHS= 0.385,-1.510, 0.042, RAW= 140.2, 12.3, CAL= 139.6, 13.3, ROT= 10.4, -13.3 2025-10-27T06:18:29.248Z,1761545909.248 [DAT](INFO): DAT read: Bearing 163.4, 10.8 (Local) 2025-10-27T06:18:29.248Z,1761545909.248 [DAT](INFO): Local bearing/azimuth received: Bearing 163.4, 10.8 (Local) 2025-10-27T06:18:29.250Z,1761545909.250 [DAT](INFO): DAT read: Range 11 to 50 : 92.6 m (Round-trip 123.5 ms) speed 0.4 m/s 2025-10-27T06:18:29.255Z,1761545909.255 [DAT](INFO): DAT read: user:726>Tx time:06:18:28.2180 2025-10-27T06:18:29.256Z,1761545909.256 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:29.256Z,1761545909.256 [DAT](INFO): direction in FSK: [0.957191,0.175677,0.230050] 2025-10-27T06:18:29.257Z,1761545909.257 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:29.270Z,1761545909.270 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:29.270Z,1761545909.270 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:29.270Z,1761545909.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:29.424Z,1761545909.424 [DAT](INFO): DAT read: 2025-10-27T06:18:29.424Z,1761545909.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549129 2025-10-27T06:18:29.540Z,1761545909.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988734,0.147511,-0.025417],[-0.141718,0.977175,0.158259],[0.048182,-0.152874,0.987070]] 2025-10-27T06:18:29.568Z,1761545909.568 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -113.1+712.22, +17.39, 8.35, 0.00 2025-10-27T06:18:29.588Z,1761545909.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.599998 m, deltaT: 3.534041 s, deltaX: -2.000000 m, approachRate: -0.565924 m/s, rangeRepo size: 4 2025-10-27T06:18:29.590Z,1761545909.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.003868 m, bearing: 4.285528 deg, lat: 36.779421 deg, lon: -121.859741 deg, deltaT: 3.534041 s, deltaX: -1.987274 m, approachRate: -0.562323 m/s, posRepo size: 4 2025-10-27T06:18:29.592Z,1761545909.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-10-27T06:18:29.594Z,1761545909.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.003868 m, nav range: 88.179054 m, bearing: 4.866236 deg, approach rate: 0.000000 m/s, LOS rate: -0.021597 deg/s, cmd heading: 352.106196 deg, new cmd heading: 352.076092 deg. 2025-10-27T06:18:29.602Z,1761545909.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144887 target range: 92.003868 and range: 92.60 m. 2025-10-27T06:18:29.677Z,1761545909.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801250 2025-10-27T06:18:29.928Z,1761545909.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.052755 2025-10-27T06:18:30.034Z,1761545910.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-10-27T06:18:30.037Z,1761545910.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.003868 m, nav range: 87.936775 m, bearing: 4.856589 deg, approach rate: -0.542299 m/s, LOS rate: -0.021654 deg/s, cmd heading: 352.076089 deg, new cmd heading: 352.047067 deg. 2025-10-27T06:18:30.038Z,1761545910.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144381 target range: 92.003868 and range: 92.60 m. 2025-10-27T06:18:30.183Z,1761545910.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306912 2025-10-27T06:18:30.420Z,1761545910.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:30.422Z,1761545910.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-10-27T06:18:30.425Z,1761545910.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.003868 m, nav range: 87.706825 m, bearing: 4.848631 deg, approach rate: -0.592502 m/s, LOS rate: -0.020557 deg/s, cmd heading: 352.047074 deg, new cmd heading: 352.023140 deg. 2025-10-27T06:18:30.426Z,1761545910.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143963 target range: 92.003868 and range: 92.60 m. 2025-10-27T06:18:30.432Z,1761545910.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556666 2025-10-27T06:18:30.685Z,1761545910.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809220 2025-10-27T06:18:30.760Z,1761545910.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989103,0.144895,-0.026092],[-0.138943,0.977286,0.160019],[0.048685,-0.154650,0.986769]] 2025-10-27T06:18:30.778Z,1761545910.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-10-27T06:18:30.781Z,1761545910.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.003868 m, nav range: 87.498405 m, bearing: 4.841022 deg, approach rate: -0.585925 m/s, LOS rate: -0.021444 deg/s, cmd heading: 352.023141 deg, new cmd heading: 352.000258 deg. 2025-10-27T06:18:30.782Z,1761545910.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143563 target range: 92.003868 and range: 92.60 m. 2025-10-27T06:18:30.936Z,1761545910.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060560 2025-10-27T06:18:31.157Z,1761545911.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989192,0.144299,-0.026021],[-0.138313,0.977203,0.161068],[0.048670,-0.155728,0.986600]] 2025-10-27T06:18:31.188Z,1761545911.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312771 2025-10-27T06:18:31.194Z,1761545911.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-10-27T06:18:31.217Z,1761545911.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.003868 m, nav range: 87.272194 m, bearing: 4.832640 deg, approach rate: -0.543910 m/s, LOS rate: -0.020204 deg/s, cmd heading: 352.000247 deg, new cmd heading: 351.975038 deg. 2025-10-27T06:18:31.241Z,1761545911.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143123 target range: 92.003868 and range: 92.60 m. 2025-10-27T06:18:31.440Z,1761545911.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564497 2025-10-27T06:18:31.561Z,1761545911.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989182,0.144354,-0.026098],[-0.138307,0.977040,0.162062],[0.048893,-0.156699,0.986435]] 2025-10-27T06:18:31.605Z,1761545911.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-10-27T06:18:31.608Z,1761545911.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.003868 m, nav range: 87.039391 m, bearing: 4.826459 deg, approach rate: -0.566305 m/s, LOS rate: -0.015077 deg/s, cmd heading: 351.975030 deg, new cmd heading: 351.956435 deg. 2025-10-27T06:18:31.609Z,1761545911.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142798 target range: 92.003868 and range: 92.60 m. 2025-10-27T06:18:31.693Z,1761545911.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817501 2025-10-27T06:18:31.944Z,1761545911.944 [DAT](INFO): Reached modem response timeout 2025-10-27T06:18:31.944Z,1761545911.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:31.944Z,1761545911.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:31.996Z,1761545911.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989216,0.144108,-0.026161],[-0.137977,0.976832,0.163590],[0.049130,-0.158216,0.986181]] 2025-10-27T06:18:32.014Z,1761545912.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-10-27T06:18:32.017Z,1761545912.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.003868 m, nav range: 86.817444 m, bearing: 4.820506 deg, approach rate: -0.543192 m/s, LOS rate: -0.014607 deg/s, cmd heading: 351.956424 deg, new cmd heading: 351.938519 deg. 2025-10-27T06:18:32.018Z,1761545912.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142486 target range: 92.003868 and range: 92.60 m. 2025-10-27T06:18:32.196Z,1761545912.196 [DAT](INFO): DAT read: Rx Time:06:18:30.7428 2025-10-27T06:18:32.196Z,1761545912.196 [DAT](INFO): Rx dataTimestamp_ set to:1761545912.196143 2025-10-27T06:18:32.197Z,1761545912.197 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:32.369Z,1761545912.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989190,0.144302,-0.026062],[-0.138098,0.976523,0.165321],[0.049307,-0.159935,0.985895]] 2025-10-27T06:18:32.423Z,1761545912.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:32.425Z,1761545912.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.00 m. 2025-10-27T06:18:32.428Z,1761545912.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.003868 m, nav range: 86.586449 m, bearing: 4.823166 deg, approach rate: -0.562012 m/s, LOS rate: 0.006489 deg/s, cmd heading: 351.938529 deg, new cmd heading: 351.946531 deg. 2025-10-27T06:18:32.429Z,1761545912.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142626 target range: 92.003868 and range: 92.60 m. 2025-10-27T06:18:32.450Z,1761545912.450 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:18:32.709Z,1761545912.709 [DAT](INFO): DAT read: 06:18:30.7428 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 416, 0.37,-2.227, 2.208,-2.420,-2.528, PHS= 0.403,-1.503, 0.064, RAW= 140.4, 11.7, CAL= 139.8, 12.7, ROT= 10.2, -12.7 2025-10-27T06:18:32.710Z,1761545912.710 [DAT](INFO): got valid direction response: 06:18:30.7428 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 416, 0.37,-2.227, 2.208,-2.420,-2.528, PHS= 0.403,-1.503, 0.064, RAW= 140.4, 11.7, CAL= 139.8, 12.7, ROT= 10.2, -12.7 2025-10-27T06:18:32.712Z,1761545912.712 [DAT](INFO): DAT read: Bearing 162.8, 10.6 (Local) 2025-10-27T06:18:32.712Z,1761545912.712 [DAT](INFO): Local bearing/azimuth received: Bearing 162.8, 10.6 (Local) 2025-10-27T06:18:32.714Z,1761545912.714 [DAT](INFO): DAT read: Range 11 to 50 : 90.5 m (Round-trip 120.7 ms) speed 0.4 m/s 2025-10-27T06:18:32.724Z,1761545912.724 [DAT](INFO): DAT read: user:727> 2025-10-27T06:18:32.725Z,1761545912.725 [DAT](INFO): DAT read: Tx time:06:18:31.8180 2025-10-27T06:18:32.725Z,1761545912.725 [DAT](INFO): Ping request sent. 2025-10-27T06:18:32.725Z,1761545912.725 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:32.726Z,1761545912.726 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:32.727Z,1761545912.727 [DAT](INFO): direction in FSK: [0.960117,0.172752,0.219846] 2025-10-27T06:18:32.728Z,1761545912.728 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:32.728Z,1761545912.728 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:32.733Z,1761545912.733 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:32.733Z,1761545912.733 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:32.794Z,1761545912.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989173,0.144352,-0.026441],[-0.138039,0.976367,0.166293],[0.049821,-0.160842,0.985722]] 2025-10-27T06:18:32.850Z,1761545912.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.500000 m, deltaT: 3.526905 s, deltaX: -2.099998 m, approachRate: -0.595422 m/s, rangeRepo size: 4 2025-10-27T06:18:32.856Z,1761545912.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.916893 m, bearing: 4.291022 deg, lat: 36.779430 deg, lon: -121.859743 deg, deltaT: 3.526905 s, deltaX: -2.086975 m, approachRate: -0.591730 m/s, posRepo size: 4 2025-10-27T06:18:32.857Z,1761545912.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:32.864Z,1761545912.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 87.391403 m, bearing: 4.616665 deg, approach rate: 0.000000 m/s, LOS rate: 0.006489 deg/s, cmd heading: 351.946534 deg, new cmd heading: 351.954800 deg. 2025-10-27T06:18:32.865Z,1761545912.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142770 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:33.177Z,1761545913.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989111,0.144800,-0.026324],[-0.138393,0.975957,0.168393],[0.050075,-0.162916,0.985368]] 2025-10-27T06:18:33.207Z,1761545913.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:33.210Z,1761545913.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 87.181671 m, bearing: 4.618651 deg, approach rate: -0.586607 m/s, LOS rate: 0.005568 deg/s, cmd heading: 351.954812 deg, new cmd heading: 351.960784 deg. 2025-10-27T06:18:33.212Z,1761545913.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142875 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:33.581Z,1761545913.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989002,0.145533,-0.026386],[-0.139048,0.975669,0.169514],[0.050414,-0.163981,0.985175]] 2025-10-27T06:18:33.641Z,1761545913.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:33.644Z,1761545913.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 86.928261 m, bearing: 4.630490 deg, approach rate: -0.583286 m/s, LOS rate: 0.027329 deg/s, cmd heading: 351.960795 deg, new cmd heading: 351.996415 deg. 2025-10-27T06:18:33.645Z,1761545913.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143497 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:33.994Z,1761545913.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988939,0.145976,-0.026277],[-0.139470,0.975492,0.170186],[0.050476,-0.164639,0.985062]] 2025-10-27T06:18:34.015Z,1761545914.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:34.018Z,1761545914.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 86.711227 m, bearing: 4.640752 deg, approach rate: -0.581237 m/s, LOS rate: 0.027552 deg/s, cmd heading: 351.996422 deg, new cmd heading: 352.027285 deg. 2025-10-27T06:18:34.019Z,1761545914.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144035 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:34.389Z,1761545914.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988893,0.146314,-0.026130],[-0.139831,0.975454,0.170111],[0.050378,-0.164567,0.985079]] 2025-10-27T06:18:34.442Z,1761545914.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:34.448Z,1761545914.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:34.464Z,1761545914.464 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:34.465Z,1761545914.465 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:34.465Z,1761545914.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:34.471Z,1761545914.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 86.479332 m, bearing: 4.654307 deg, approach rate: -0.534845 m/s, LOS rate: 0.031347 deg/s, cmd heading: 352.027294 deg, new cmd heading: 352.068068 deg. 2025-10-27T06:18:34.473Z,1761545914.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144747 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:34.716Z,1761545914.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991440 2025-10-27T06:18:34.827Z,1761545914.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988831,0.146755,-0.025992],[-0.140326,0.975511,0.169374],[0.050212,-0.163835,0.985209]] 2025-10-27T06:18:34.846Z,1761545914.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:34.849Z,1761545914.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 86.244278 m, bearing: 4.668194 deg, approach rate: -0.591106 m/s, LOS rate: 0.035019 deg/s, cmd heading: 352.068057 deg, new cmd heading: 352.109833 deg. 2025-10-27T06:18:34.850Z,1761545914.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145476 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:34.969Z,1761545914.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244195 2025-10-27T06:18:35.220Z,1761545915.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494915 2025-10-27T06:18:35.231Z,1761545915.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988840,0.146692,-0.026035],[-0.140254,0.975510,0.169437],[0.050252,-0.163895,0.985197]] 2025-10-27T06:18:35.294Z,1761545915.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:35.316Z,1761545915.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 86.017197 m, bearing: 4.681673 deg, approach rate: -0.515539 m/s, LOS rate: 0.030681 deg/s, cmd heading: 352.109830 deg, new cmd heading: 352.150372 deg. 2025-10-27T06:18:35.324Z,1761545915.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146183 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:35.473Z,1761545915.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748130 2025-10-27T06:18:35.649Z,1761545915.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988784,0.147090,-0.025898],[-0.140648,0.975381,0.169856],[0.050245,-0.164308,0.985129]] 2025-10-27T06:18:35.689Z,1761545915.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:35.709Z,1761545915.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 85.767746 m, bearing: 4.699499 deg, approach rate: -0.619786 m/s, LOS rate: 0.044421 deg/s, cmd heading: 352.150374 deg, new cmd heading: 352.204010 deg. 2025-10-27T06:18:35.710Z,1761545915.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147120 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:35.725Z,1761545915.725 [DAT](INFO): DAT read: Rx Time:06:18:34.3402 2025-10-27T06:18:35.726Z,1761545915.726 [DAT](INFO): Rx dataTimestamp_ set to:1761545915.725056 2025-10-27T06:18:35.727Z,1761545915.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001177 2025-10-27T06:18:35.977Z,1761545915.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251546 2025-10-27T06:18:36.078Z,1761545916.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.92 m. 2025-10-27T06:18:36.081Z,1761545916.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.916893 m, nav range: 85.547890 m, bearing: 4.715297 deg, approach rate: -0.564577 m/s, LOS rate: 0.040672 deg/s, cmd heading: 352.204005 deg, new cmd heading: 352.251520 deg. 2025-10-27T06:18:36.082Z,1761545916.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147949 target range: 89.916893 and range: 90.50 m. 2025-10-27T06:18:36.234Z,1761545916.234 [DAT](INFO): DAT read: 06:18:34.3402 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.16,-0.991,-2.860,-1.181,-1.310, PHS= 0.421,-1.505, 0.085, RAW= 140.6, 11.2, CAL= 140.0, 12.2, ROT= 10.0, -12.2 2025-10-27T06:18:36.235Z,1761545916.235 [DAT](INFO): got valid direction response: 06:18:34.3402 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 421, 0.16,-0.991,-2.860,-1.181,-1.310, PHS= 0.421,-1.505, 0.085, RAW= 140.6, 11.2, CAL= 140.0, 12.2, ROT= 10.0, -12.2 2025-10-27T06:18:36.236Z,1761545916.236 [DAT](INFO): DAT read: Bearing 162.3, 10.5 (Local) 2025-10-27T06:18:36.236Z,1761545916.236 [DAT](INFO): Local bearing/azimuth received: Bearing 162.3, 10.5 (Local) 2025-10-27T06:18:36.238Z,1761545916.238 [DAT](INFO): DAT read: Range 11 to 50 : 88.5 m (Round-trip 118.0 ms) speed 0.4 m/s 2025-10-27T06:18:36.238Z,1761545916.238 [DAT](INFO): DAT read: user:728> 2025-10-27T06:18:36.239Z,1761545916.239 [DAT](INFO): DAT read: Tx time:06:18:35.4180 2025-10-27T06:18:36.240Z,1761545916.240 [DAT](INFO): Ping request sent. 2025-10-27T06:18:36.240Z,1761545916.240 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:36.240Z,1761545916.240 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:36.241Z,1761545916.241 [DAT](INFO): direction in FSK: [0.962567,0.169726,0.211325] 2025-10-27T06:18:36.241Z,1761545916.241 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:36.244Z,1761545916.244 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:36.250Z,1761545916.250 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:36.250Z,1761545916.250 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:36.446Z,1761545916.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988699,0.147662,-0.025905],[-0.141256,0.975447,0.168967],[0.050219,-0.163399,0.985281]] 2025-10-27T06:18:36.534Z,1761545916.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.500000 m, deltaT: 3.527200 s, deltaX: -2.000000 m, approachRate: -0.567022 m/s, rangeRepo size: 4 2025-10-27T06:18:36.536Z,1761545916.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.929382 m, bearing: 3.846142 deg, lat: 36.779430 deg, lon: -121.859749 deg, deltaT: 3.527200 s, deltaX: -1.987511 m, approachRate: -0.563481 m/s, posRepo size: 4 2025-10-27T06:18:36.537Z,1761545916.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:36.539Z,1761545916.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 85.262772 m, bearing: 4.398293 deg, approach rate: 0.000000 m/s, LOS rate: 0.040672 deg/s, cmd heading: 352.251516 deg, new cmd heading: 352.307003 deg. 2025-10-27T06:18:36.540Z,1761545916.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148917 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:36.852Z,1761545916.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988615,0.148281,-0.025575],[-0.141862,0.975161,0.170105],[0.050163,-0.164541,0.985094]] 2025-10-27T06:18:36.870Z,1761545916.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:36.872Z,1761545916.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:36.881Z,1761545916.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 85.071541 m, bearing: 4.410264 deg, approach rate: -0.563788 m/s, LOS rate: 0.035372 deg/s, cmd heading: 352.307004 deg, new cmd heading: 352.342997 deg. 2025-10-27T06:18:36.882Z,1761545916.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149545 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:36.985Z,1761545916.985 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:36.985Z,1761545916.985 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:36.985Z,1761545916.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:37.236Z,1761545917.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996039 2025-10-27T06:18:37.254Z,1761545917.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988581,0.148539,-0.025371],[-0.142141,0.975090,0.170282],[0.050033,-0.164731,0.985069]] 2025-10-27T06:18:37.276Z,1761545917.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:37.280Z,1761545917.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 84.846809 m, bearing: 4.424444 deg, approach rate: -0.558971 m/s, LOS rate: 0.035364 deg/s, cmd heading: 352.342985 deg, new cmd heading: 352.385639 deg. 2025-10-27T06:18:37.281Z,1761545917.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150290 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:37.488Z,1761545917.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247986 2025-10-27T06:18:37.657Z,1761545917.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988582,0.148536,-0.025348],[-0.142161,0.975151,0.169912],[0.049956,-0.164369,0.985133]] 2025-10-27T06:18:37.720Z,1761545917.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:37.724Z,1761545917.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 84.592201 m, bearing: 4.432803 deg, approach rate: -0.571488 m/s, LOS rate: 0.018819 deg/s, cmd heading: 352.385633 deg, new cmd heading: 352.410786 deg. 2025-10-27T06:18:37.726Z,1761545917.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150729 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:37.740Z,1761545917.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500238 2025-10-27T06:18:37.964Z,1761545917.964 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:18:37.992Z,1761545917.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752021 2025-10-27T06:18:38.070Z,1761545918.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988560,0.148682,-0.025342],[-0.142338,0.975234,0.169288],[0.049884,-0.163744,0.985241]] 2025-10-27T06:18:38.089Z,1761545918.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:38.092Z,1761545918.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 84.376808 m, bearing: 4.439937 deg, approach rate: -0.583020 m/s, LOS rate: 0.019360 deg/s, cmd heading: 352.410796 deg, new cmd heading: 352.432253 deg. 2025-10-27T06:18:38.093Z,1761545918.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151103 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:38.244Z,1761545918.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004100 2025-10-27T06:18:38.484Z,1761545918.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988564,0.148604,-0.025642],[-0.142210,0.975245,0.169333],[0.050171,-0.163750,0.985225]] 2025-10-27T06:18:38.496Z,1761545918.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256172 2025-10-27T06:18:38.552Z,1761545918.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:38.559Z,1761545918.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 84.120148 m, bearing: 4.446345 deg, approach rate: -0.554583 m/s, LOS rate: 0.013887 deg/s, cmd heading: 352.432242 deg, new cmd heading: 352.451523 deg. 2025-10-27T06:18:38.560Z,1761545918.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151440 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:38.748Z,1761545918.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508023 2025-10-27T06:18:38.931Z,1761545918.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:38.933Z,1761545918.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:38.940Z,1761545918.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 83.896202 m, bearing: 4.451968 deg, approach rate: -0.587989 m/s, LOS rate: 0.014802 deg/s, cmd heading: 352.451531 deg, new cmd heading: 352.468444 deg. 2025-10-27T06:18:38.941Z,1761545918.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151735 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:38.967Z,1761545918.967 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:18:38.000Z,1761545919.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760027 2025-10-27T06:18:39.252Z,1761545919.252 [DAT](INFO): DAT read: Rx Time:06:18:37.9375 2025-10-27T06:18:39.253Z,1761545919.253 [DAT](INFO): Rx dataTimestamp_ set to:1761545919.252805 2025-10-27T06:18:39.254Z,1761545919.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014082 2025-10-27T06:18:39.308Z,1761545919.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988665,0.147906,-0.025785],[-0.141504,0.975368,0.169215],[0.050178,-0.163649,0.985242]] 2025-10-27T06:18:39.418Z,1761545919.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:39.424Z,1761545919.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 83.618721 m, bearing: 4.458840 deg, approach rate: -0.572682 m/s, LOS rate: 0.014230 deg/s, cmd heading: 352.468442 deg, new cmd heading: 352.489127 deg. 2025-10-27T06:18:39.425Z,1761545919.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152096 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:39.505Z,1761545919.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264622 2025-10-27T06:18:39.756Z,1761545919.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516125 2025-10-27T06:18:39.785Z,1761545919.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988739,0.147397,-0.025885],[-0.141003,0.975505,0.168844],[0.050138,-0.163293,0.985303]] 2025-10-27T06:18:39.876Z,1761545919.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.93 m. 2025-10-27T06:18:39.879Z,1761545919.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.929382 m, nav range: 83.349098 m, bearing: 4.458955 deg, approach rate: -0.588197 m/s, LOS rate: 0.000253 deg/s, cmd heading: 352.489124 deg, new cmd heading: 352.489473 deg. 2025-10-27T06:18:39.880Z,1761545919.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152102 target range: 87.929382 and range: 88.50 m. 2025-10-27T06:18:40.014Z,1761545920.014 [DAT](INFO): DAT read: 06:18:37.9375 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 410,-0.04, 0.044,-1.747,-0.133,-0.143, PHS= 0.289,-1.560,-0.035, RAW= 140.6, 15.1, CAL= 139.7, 16.2, ROT= 10.3, -16.2 2025-10-27T06:18:40.015Z,1761545920.015 [DAT](INFO): got valid direction response: 06:18:37.9375 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 410,-0.04, 0.044,-1.747,-0.133,-0.143, PHS= 0.289,-1.560,-0.035, RAW= 140.6, 15.1, CAL= 139.7, 16.2, ROT= 10.3, -16.2 2025-10-27T06:18:40.016Z,1761545920.016 [DAT](INFO): DAT read: Bearing 167.1, 9.7 (Local) 2025-10-27T06:18:40.016Z,1761545920.016 [DAT](INFO): Local bearing/azimuth received: Bearing 167.1, 9.7 (Local) 2025-10-27T06:18:40.018Z,1761545920.018 [DAT](INFO): DAT read: Range 11 to 50 : 86.5 m (Round-trip 115.4 ms) speed 0.5 m/s 2025-10-27T06:18:40.018Z,1761545920.018 [DAT](INFO): DAT read: user:729> 2025-10-27T06:18:40.019Z,1761545920.019 [DAT](INFO): DAT read: Tx time:06:18:39.0180 2025-10-27T06:18:40.020Z,1761545920.020 [DAT](INFO): Ping request sent. 2025-10-27T06:18:40.020Z,1761545920.020 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:40.020Z,1761545920.020 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:40.021Z,1761545920.021 [DAT](INFO): direction in FSK: [0.944819,0.171703,0.278991] 2025-10-27T06:18:40.021Z,1761545920.021 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:40.022Z,1761545920.022 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:40.025Z,1761545920.025 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:40.025Z,1761545920.025 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:40.191Z,1761545920.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988893,0.146284,-0.026284],[-0.139959,0.976055,0.166519],[0.050013,-0.160991,0.985688]] 2025-10-27T06:18:40.256Z,1761545920.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.500000 m, deltaT: 3.779965 s, deltaX: -2.000000 m, approachRate: -0.529105 m/s, rangeRepo size: 4 2025-10-27T06:18:40.258Z,1761545920.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.942497 m, bearing: 4.911234 deg, lat: 36.779430 deg, lon: -121.859749 deg, deltaT: 3.779965 s, deltaX: -1.986885 m, approachRate: -0.525636 m/s, posRepo size: 4 2025-10-27T06:18:40.258Z,1761545920.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:40.265Z,1761545920.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 83.123383 m, bearing: 4.459287 deg, approach rate: 0.000000 m/s, LOS rate: 0.000253 deg/s, cmd heading: 352.489479 deg, new cmd heading: 352.489767 deg. 2025-10-27T06:18:40.266Z,1761545920.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152107 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:40.582Z,1761545920.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989002,0.145485,-0.026647],[-0.139152,0.976305,0.165729],[0.050127,-0.160198,0.985811]] 2025-10-27T06:18:40.633Z,1761545920.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:40.635Z,1761545920.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 82.890411 m, bearing: 4.458119 deg, approach rate: -0.616786 m/s, LOS rate: -0.003100 deg/s, cmd heading: 352.489780 deg, new cmd heading: 352.486267 deg. 2025-10-27T06:18:40.636Z,1761545920.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152046 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:40.988Z,1761545920.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989180,0.144251,-0.026721],[-0.137961,0.976605,0.164954],[0.049891,-0.159483,0.985939]] 2025-10-27T06:18:41.005Z,1761545921.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:41.007Z,1761545921.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:41.010Z,1761545921.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 82.670006 m, bearing: 4.456817 deg, approach rate: -0.588799 m/s, LOS rate: -0.003489 deg/s, cmd heading: 352.486256 deg, new cmd heading: 352.482337 deg. 2025-10-27T06:18:41.018Z,1761545921.018 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:41.018Z,1761545921.018 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:41.018Z,1761545921.018 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:41.031Z,1761545921.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151978 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:41.268Z,1761545921.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248100 2025-10-27T06:18:41.424Z,1761545921.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989447,0.142441,-0.026553],[-0.136154,0.976700,0.165889],[0.049564,-0.160523,0.985787]] 2025-10-27T06:18:41.500Z,1761545921.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:41.503Z,1761545921.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 82.405640 m, bearing: 4.449014 deg, approach rate: -0.535961 m/s, LOS rate: -0.015870 deg/s, cmd heading: 352.482349 deg, new cmd heading: 352.458864 deg. 2025-10-27T06:18:41.504Z,1761545921.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151567 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:41.522Z,1761545921.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502290 2025-10-27T06:18:41.772Z,1761545921.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752041 2025-10-27T06:18:41.839Z,1761545921.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:41.842Z,1761545921.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 82.207542 m, bearing: 4.443133 deg, approach rate: -0.583867 m/s, LOS rate: -0.017373 deg/s, cmd heading: 352.458853 deg, new cmd heading: 352.441169 deg. 2025-10-27T06:18:41.843Z,1761545921.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151259 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:42.024Z,1761545922.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004049 2025-10-27T06:18:42.202Z,1761545922.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989581,0.141556,-0.026294],[-0.135278,0.976671,0.166775],[0.049289,-0.161481,0.985644]] 2025-10-27T06:18:42.225Z,1761545922.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:42.250Z,1761545922.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 81.996284 m, bearing: 4.436710 deg, approach rate: -0.547573 m/s, LOS rate: -0.016691 deg/s, cmd heading: 352.441176 deg, new cmd heading: 352.421858 deg. 2025-10-27T06:18:42.251Z,1761545922.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150922 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:42.276Z,1761545922.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256125 2025-10-27T06:18:42.528Z,1761545922.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508055 2025-10-27T06:18:42.613Z,1761545922.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989747,0.140386,-0.026326],[-0.134183,0.977045,0.165463],[0.048950,-0.160234,0.985865]] 2025-10-27T06:18:42.668Z,1761545922.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:42.670Z,1761545922.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 81.745071 m, bearing: 4.434321 deg, approach rate: -0.568073 m/s, LOS rate: -0.005419 deg/s, cmd heading: 352.421860 deg, new cmd heading: 352.414671 deg. 2025-10-27T06:18:42.671Z,1761545922.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150796 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:42.780Z,1761545922.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760048 2025-10-27T06:18:43.011Z,1761545923.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989899,0.139360,-0.026038],[-0.133184,0.977069,0.166125],[0.048592,-0.160979,0.985761]] 2025-10-27T06:18:43.032Z,1761545923.032 [DAT](INFO): DAT read: Rx Time:06:18:41.5346 2025-10-27T06:18:43.033Z,1761545923.033 [DAT](INFO): Rx dataTimestamp_ set to:1761545923.032341 2025-10-27T06:18:43.033Z,1761545923.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013333 2025-10-27T06:18:43.059Z,1761545923.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:43.061Z,1761545923.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:43.096Z,1761545923.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 81.532539 m, bearing: 4.432147 deg, approach rate: -0.539479 m/s, LOS rate: -0.005534 deg/s, cmd heading: 352.414675 deg, new cmd heading: 352.408134 deg. 2025-10-27T06:18:43.097Z,1761545923.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150682 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:43.284Z,1761545923.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264014 2025-10-27T06:18:43.475Z,1761545923.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990155,0.137638,-0.025454],[-0.131585,0.977306,0.166004],[0.047725,-0.161020,0.985797]] 2025-10-27T06:18:43.519Z,1761545923.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.94 m. 2025-10-27T06:18:43.521Z,1761545923.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.942497 m, nav range: 81.264671 m, bearing: 4.434803 deg, approach rate: -0.586085 m/s, LOS rate: 0.005832 deg/s, cmd heading: 352.408145 deg, new cmd heading: 352.416141 deg. 2025-10-27T06:18:43.522Z,1761545923.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150822 target range: 85.942497 and range: 86.50 m. 2025-10-27T06:18:43.550Z,1761545923.550 [DAT](INFO): DAT read: 06:18:41.5346 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.02, 1.753,-0.112, 1.575, 1.483, PHS= 0.372,-1.550, 0.048, RAW= 140.9, 12.6, CAL= 140.3, 13.7, ROT= 9.7, -13.7 2025-10-27T06:18:43.551Z,1761545923.551 [DAT](INFO): got valid direction response: 06:18:41.5346 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 412, 0.02, 1.753,-0.112, 1.575, 1.483, PHS= 0.372,-1.550, 0.048, RAW= 140.9, 12.6, CAL= 140.3, 13.7, ROT= 9.7, -13.7 2025-10-27T06:18:43.552Z,1761545923.552 [DAT](INFO): DAT read: Bearing 164.3, 9.7 (Local) 2025-10-27T06:18:43.552Z,1761545923.552 [DAT](INFO): Local bearing/azimuth received: Bearing 164.3, 9.7 (Local) 2025-10-27T06:18:43.554Z,1761545923.554 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m (Round-trip 112.5 ms) speed 0.5 m/s 2025-10-27T06:18:43.554Z,1761545923.554 [DAT](INFO): DAT read: user:730> 2025-10-27T06:18:43.558Z,1761545923.558 [DAT](INFO): DAT read: Tx time:06:18:42.6180 2025-10-27T06:18:43.559Z,1761545923.559 [DAT](INFO): Ping request sent. 2025-10-27T06:18:43.559Z,1761545923.559 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:43.559Z,1761545923.559 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:43.560Z,1761545923.560 [DAT](INFO): direction in FSK: [0.957659,0.163696,0.236838] 2025-10-27T06:18:43.560Z,1761545923.560 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:43.561Z,1761545923.561 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:43.564Z,1761545923.564 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:43.564Z,1761545923.564 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:43.888Z,1761545923.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990174,0.137555,-0.025168],[-0.131537,0.977272,0.166242],[0.047463,-0.161298,0.985764]] 2025-10-27T06:18:43.914Z,1761545923.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 3.535934 s, deltaX: -2.199997 m, approachRate: -0.622183 m/s, rangeRepo size: 4 2025-10-27T06:18:43.916Z,1761545923.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.756790 m, bearing: 4.349371 deg, lat: 36.779430 deg, lon: -121.859750 deg, deltaT: 3.535934 s, deltaX: -2.185707 m, approachRate: -0.618141 m/s, posRepo size: 4 2025-10-27T06:18:43.917Z,1761545923.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.76 m. 2025-10-27T06:18:43.937Z,1761545923.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.756790 m, nav range: 81.045143 m, bearing: 4.374207 deg, approach rate: 0.000000 m/s, LOS rate: 0.005832 deg/s, cmd heading: 352.416150 deg, new cmd heading: 352.423058 deg. 2025-10-27T06:18:43.944Z,1761545923.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150943 target range: 83.756790 and range: 84.30 m. 2025-10-27T06:18:44.290Z,1761545924.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990147,0.137860,-0.024549],[-0.131875,0.977002,0.167558],[0.047084,-0.162670,0.985556]] 2025-10-27T06:18:44.328Z,1761545924.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.76 m. 2025-10-27T06:18:44.330Z,1761545924.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.756790 m, nav range: 80.816628 m, bearing: 4.376391 deg, approach rate: -0.551282 m/s, LOS rate: 0.005282 deg/s, cmd heading: 352.423063 deg, new cmd heading: 352.429631 deg. 2025-10-27T06:18:44.332Z,1761545924.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151057 target range: 83.756790 and range: 84.30 m. 2025-10-27T06:18:44.756Z,1761545924.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.76 m. 2025-10-27T06:18:44.759Z,1761545924.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.756790 m, nav range: 80.563889 m, bearing: 4.388444 deg, approach rate: -0.590419 m/s, LOS rate: 0.028246 deg/s, cmd heading: 352.429620 deg, new cmd heading: 352.465893 deg. 2025-10-27T06:18:44.760Z,1761545924.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151690 target range: 83.756790 and range: 84.30 m. 2025-10-27T06:18:45.098Z,1761545925.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989996,0.139112,-0.023571],[-0.133186,0.976515,0.169351],[0.046576,-0.164518,0.985274]] 2025-10-27T06:18:45.129Z,1761545925.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:45.131Z,1761545925.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.76 m. 2025-10-27T06:18:45.134Z,1761545925.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.756790 m, nav range: 80.351929 m, bearing: 4.398830 deg, approach rate: -0.564916 m/s, LOS rate: 0.027754 deg/s, cmd heading: 352.465902 deg, new cmd heading: 352.497142 deg. 2025-10-27T06:18:45.135Z,1761545925.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152236 target range: 83.756790 and range: 84.30 m. 2025-10-27T06:18:45.309Z,1761545925.309 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:45.309Z,1761545925.309 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:45.309Z,1761545925.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:45.558Z,1761545925.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.76 m. 2025-10-27T06:18:45.560Z,1761545925.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001353 2025-10-27T06:18:45.562Z,1761545925.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.756790 m, nav range: 80.106361 m, bearing: 4.417948 deg, approach rate: -0.575866 m/s, LOS rate: 0.044970 deg/s, cmd heading: 352.497129 deg, new cmd heading: 352.554659 deg. 2025-10-27T06:18:45.563Z,1761545925.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153240 target range: 83.756790 and range: 84.30 m. 2025-10-27T06:18:45.813Z,1761545925.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253700 2025-10-27T06:18:45.905Z,1761545925.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989804,0.140608,-0.022753],[-0.134806,0.976332,0.169123],[0.045994,-0.164331,0.985332]] 2025-10-27T06:18:45.977Z,1761545925.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.76 m. 2025-10-27T06:18:45.980Z,1761545925.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.756790 m, nav range: 79.874275 m, bearing: 4.436398 deg, approach rate: -0.567096 m/s, LOS rate: 0.045213 deg/s, cmd heading: 352.554667 deg, new cmd heading: 352.610178 deg. 2025-10-27T06:18:45.981Z,1761545925.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154209 target range: 83.756790 and range: 84.30 m. 2025-10-27T06:18:46.064Z,1761545926.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505425 2025-10-27T06:18:46.309Z,1761545926.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989710,0.141278,-0.022697],[-0.135484,0.976266,0.168962],[0.046029,-0.164149,0.985361]] 2025-10-27T06:18:46.316Z,1761545926.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757322 2025-10-27T06:18:46.329Z,1761545926.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.76 m. 2025-10-27T06:18:46.348Z,1761545926.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.756790 m, nav range: 79.662392 m, bearing: 4.453440 deg, approach rate: -0.584627 m/s, LOS rate: 0.047147 deg/s, cmd heading: 352.610182 deg, new cmd heading: 352.661444 deg. 2025-10-27T06:18:46.349Z,1761545926.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155103 target range: 83.756790 and range: 84.30 m. 2025-10-27T06:18:46.568Z,1761545926.568 [DAT](INFO): DAT read: Rx Time:06:18:45.1319 2025-10-27T06:18:46.568Z,1761545926.568 [DAT](INFO): Rx dataTimestamp_ set to:1761545926.568148 2025-10-27T06:18:46.569Z,1761545926.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010335 2025-10-27T06:18:46.750Z,1761545926.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989553,0.142407,-0.022457],[-0.136562,0.975838,0.170558],[0.046203,-0.165710,0.985092]] 2025-10-27T06:18:46.796Z,1761545926.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.76 m. 2025-10-27T06:18:46.798Z,1761545926.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.756790 m, nav range: 79.387207 m, bearing: 4.481502 deg, approach rate: -0.590188 m/s, LOS rate: 0.060394 deg/s, cmd heading: 352.661436 deg, new cmd heading: 352.745915 deg. 2025-10-27T06:18:46.799Z,1761545926.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156578 target range: 83.756790 and range: 84.30 m. 2025-10-27T06:18:46.820Z,1761545926.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261337 2025-10-27T06:18:47.077Z,1761545927.077 [DAT](INFO): DAT read: 06:18:45.1319 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416, 0.09, 3.105, 1.262, 2.944, 2.842, PHS= 0.366,-1.534, 0.059, RAW= 141.4, 12.5, CAL= 140.7, 13.5, ROT= 9.3, -13.5 2025-10-27T06:18:47.079Z,1761545927.079 [DAT](INFO): got valid direction response: 06:18:45.1319 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416, 0.09, 3.105, 1.262, 2.944, 2.842, PHS= 0.366,-1.534, 0.059, RAW= 141.4, 12.5, CAL= 140.7, 13.5, ROT= 9.3, -13.5 2025-10-27T06:18:47.080Z,1761545927.080 [DAT](INFO): DAT read: Bearing 164.5, 9.3 (Local) 2025-10-27T06:18:47.080Z,1761545927.080 [DAT](INFO): Local bearing/azimuth received: Bearing 164.5, 9.3 (Local) 2025-10-27T06:18:47.081Z,1761545927.081 [DAT](INFO): DAT read: Range 11 to 50 : 82.2 m (Round-trip 109.7 ms) speed 0.4 m/s 2025-10-27T06:18:47.082Z,1761545927.082 [DAT](INFO): DAT read: user:731> 2025-10-27T06:18:47.087Z,1761545927.087 [DAT](INFO): DAT read: Tx time:06:18:46.2180 2025-10-27T06:18:47.087Z,1761545927.087 [DAT](INFO): Ping request sent. 2025-10-27T06:18:47.087Z,1761545927.087 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:47.088Z,1761545927.088 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:47.088Z,1761545927.088 [DAT](INFO): direction in FSK: [0.959589,0.157139,0.233445] 2025-10-27T06:18:47.089Z,1761545927.089 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:47.089Z,1761545927.089 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:47.093Z,1761545927.093 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:47.093Z,1761545927.093 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:47.165Z,1761545927.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989368,0.143692,-0.022426],[-0.137776,0.975447,0.171818],[0.046564,-0.166901,0.984873]] 2025-10-27T06:18:47.218Z,1761545927.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 3.527912 s, deltaX: -2.100006 m, approachRate: -0.595255 m/s, rangeRepo size: 4 2025-10-27T06:18:47.224Z,1761545927.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.671722 m, bearing: 3.621301 deg, lat: 36.779430 deg, lon: -121.859750 deg, deltaT: 3.527912 s, deltaX: -2.085068 m, approachRate: -0.591020 m/s, posRepo size: 4 2025-10-27T06:18:47.225Z,1761545927.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:47.234Z,1761545927.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 79.146935 m, bearing: 4.480698 deg, approach rate: 0.000000 m/s, LOS rate: 0.060394 deg/s, cmd heading: 352.745912 deg, new cmd heading: 352.822281 deg. 2025-10-27T06:18:47.240Z,1761545927.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157910 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:47.608Z,1761545927.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:47.610Z,1761545927.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:47.612Z,1761545927.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 78.900696 m, bearing: 4.503057 deg, approach rate: -0.627179 m/s, LOS rate: 0.057126 deg/s, cmd heading: 352.822274 deg, new cmd heading: 352.889559 deg. 2025-10-27T06:18:47.613Z,1761545927.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159085 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:47.828Z,1761545927.828 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:47.828Z,1761545927.828 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:47.828Z,1761545927.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:47.969Z,1761545927.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989048,0.145825,-0.022774],[-0.139830,0.975191,0.171611],[0.047234,-0.166547,0.984902]] 2025-10-27T06:18:47.987Z,1761545927.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:47.990Z,1761545927.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 78.673187 m, bearing: 4.524188 deg, approach rate: -0.602745 m/s, LOS rate: 0.056147 deg/s, cmd heading: 352.889565 deg, new cmd heading: 352.953143 deg. 2025-10-27T06:18:47.991Z,1761545927.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160194 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:48.081Z,1761545928.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993724 2025-10-27T06:18:48.332Z,1761545928.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244721 2025-10-27T06:18:48.358Z,1761545928.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988950,0.146460,-0.022978],[-0.140418,0.975089,0.171709],[0.047554,-0.166585,0.984880]] 2025-10-27T06:18:48.396Z,1761545928.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:48.403Z,1761545928.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 78.431778 m, bearing: 4.546854 deg, approach rate: -0.589662 m/s, LOS rate: 0.055533 deg/s, cmd heading: 352.953140 deg, new cmd heading: 353.021347 deg. 2025-10-27T06:18:48.404Z,1761545928.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161385 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:48.588Z,1761545928.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500950 2025-10-27T06:18:48.783Z,1761545928.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988926,0.146547,-0.023430],[-0.140474,0.975245,0.170774],[0.047876,-0.165592,0.985032]] 2025-10-27T06:18:48.827Z,1761545928.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:48.830Z,1761545928.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 78.166595 m, bearing: 4.564163 deg, approach rate: -0.616251 m/s, LOS rate: 0.040360 deg/s, cmd heading: 353.021360 deg, new cmd heading: 353.073462 deg. 2025-10-27T06:18:48.830Z,1761545928.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162294 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:48.840Z,1761545928.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752778 2025-10-27T06:18:49.092Z,1761545929.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004738 2025-10-27T06:18:49.209Z,1761545929.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989008,0.145859,-0.024252],[-0.139785,0.975790,0.168206],[0.048199,-0.162967,0.985453]] 2025-10-27T06:18:49.238Z,1761545929.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:49.241Z,1761545929.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 77.917885 m, bearing: 4.580364 deg, approach rate: -0.604907 m/s, LOS rate: 0.039530 deg/s, cmd heading: 353.073461 deg, new cmd heading: 353.122219 deg. 2025-10-27T06:18:49.242Z,1761545929.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163146 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:49.344Z,1761545929.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256729 2025-10-27T06:18:49.591Z,1761545929.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989142,0.144786,-0.025211],[-0.138672,0.976304,0.166134],[0.048668,-0.160833,0.985781]] 2025-10-27T06:18:49.596Z,1761545929.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508760 2025-10-27T06:18:49.630Z,1761545929.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:49.633Z,1761545929.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:49.655Z,1761545929.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 77.676765 m, bearing: 4.591175 deg, approach rate: -0.610846 m/s, LOS rate: 0.027475 deg/s, cmd heading: 353.122228 deg, new cmd heading: 353.154763 deg. 2025-10-27T06:18:49.656Z,1761545929.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163713 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:49.849Z,1761545929.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761564 2025-10-27T06:18:50.050Z,1761545930.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989318,0.143474,-0.025774],[-0.137328,0.976635,0.165303],[0.048889,-0.159997,0.985906]] 2025-10-27T06:18:50.075Z,1761545930.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:50.078Z,1761545930.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 77.405800 m, bearing: 4.603128 deg, approach rate: -0.612428 m/s, LOS rate: 0.027110 deg/s, cmd heading: 353.154767 deg, new cmd heading: 353.190751 deg. 2025-10-27T06:18:50.079Z,1761545930.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164341 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:50.100Z,1761545930.100 [DAT](INFO): DAT read: Rx Time:06:18:48.7291 2025-10-27T06:18:50.100Z,1761545930.100 [DAT](INFO): Rx dataTimestamp_ set to:1761545930.100183 2025-10-27T06:18:50.101Z,1761545930.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013822 2025-10-27T06:18:50.352Z,1761545930.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264690 2025-10-27T06:18:50.462Z,1761545930.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989486,0.142249,-0.026112],[-0.136116,0.976978,0.164275],[0.048878,-0.158994,0.986069]] 2025-10-27T06:18:50.543Z,1761545930.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.67 m. 2025-10-27T06:18:50.545Z,1761545930.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.671722 m, nav range: 77.151527 m, bearing: 4.614183 deg, approach rate: -0.548470 m/s, LOS rate: 0.023925 deg/s, cmd heading: 353.190749 deg, new cmd heading: 353.224023 deg. 2025-10-27T06:18:50.546Z,1761545930.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164922 target range: 81.671722 and range: 82.20 m. 2025-10-27T06:18:50.628Z,1761545930.628 [DAT](INFO): DAT read: 06:18:48.7291 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420,-0.24, 0.732,-1.070, 0.569, 0.510, PHS= 0.324,-1.535, 0.015, RAW= 141.1, 13.8, CAL= 140.4, 14.8, ROT= 9.6, -14.8 2025-10-27T06:18:50.629Z,1761545930.629 [DAT](INFO): got valid direction response: 06:18:48.7291 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 420,-0.24, 0.732,-1.070, 0.569, 0.510, PHS= 0.324,-1.535, 0.015, RAW= 141.1, 13.8, CAL= 140.4, 14.8, ROT= 9.6, -14.8 2025-10-27T06:18:50.630Z,1761545930.630 [DAT](INFO): DAT read: Bearing 166.7, 9.5 (Local) 2025-10-27T06:18:50.630Z,1761545930.630 [DAT](INFO): Local bearing/azimuth received: Bearing 166.7, 9.5 (Local) 2025-10-27T06:18:50.640Z,1761545930.640 [DAT](INFO): DAT read: Range 11 to 50 : 80.2 m (Round-trip 107.0 ms) speed 0.6 m/s 2025-10-27T06:18:50.641Z,1761545930.641 [DAT](INFO): DAT read: user:732> 2025-10-27T06:18:50.642Z,1761545930.642 [DAT](INFO): DAT read: Tx time:06:18:49.8180 2025-10-27T06:18:50.642Z,1761545930.642 [DAT](INFO): Ping request sent. 2025-10-27T06:18:50.642Z,1761545930.642 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:18:50.642Z,1761545930.642 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:18:50.650Z,1761545930.650 [DAT](INFO): direction in FSK: [0.953284,0.161236,0.255446] 2025-10-27T06:18:50.650Z,1761545930.650 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:50.651Z,1761545930.651 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:50.693Z,1761545930.693 [DAT](INFO): publishing transmit ping time 2025-10-27T06:18:50.694Z,1761545930.694 [DAT](INFO): publishing direction and range info 2025-10-27T06:18:51.079Z,1761545931.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990036,0.138386,-0.026047],[-0.132488,0.978081,0.160641],[0.047706,-0.155589,0.986669]] 2025-10-27T06:18:51.141Z,1761545931.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 80.199997 m, deltaT: 3.533611 s, deltaX: -2.000000 m, approachRate: -0.565993 m/s, rangeRepo size: 4 2025-10-27T06:18:51.147Z,1761545931.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.684669 m, bearing: 4.317627 deg, lat: 36.779430 deg, lon: -121.859755 deg, deltaT: 3.533611 s, deltaX: -1.987053 m, approachRate: -0.562329 m/s, posRepo size: 4 2025-10-27T06:18:51.148Z,1761545931.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:51.150Z,1761545931.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 76.748390 m, bearing: 4.313204 deg, approach rate: 0.000000 m/s, LOS rate: 0.023925 deg/s, cmd heading: 353.224025 deg, new cmd heading: 353.267198 deg. 2025-10-27T06:18:51.156Z,1761545931.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165676 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:51.580Z,1761545931.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990385,0.135952,-0.025598],[-0.130316,0.978927,0.157227],[0.046433,-0.152379,0.987231]] 2025-10-27T06:18:51.629Z,1761545931.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:51.632Z,1761545931.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 76.444901 m, bearing: 4.292873 deg, approach rate: -0.620566 m/s, LOS rate: -0.041737 deg/s, cmd heading: 353.267192 deg, new cmd heading: 353.205957 deg. 2025-10-27T06:18:51.633Z,1761545931.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164607 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:51.977Z,1761545931.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990764,0.133354,-0.024550],[-0.127970,0.979458,0.155840],[0.044827,-0.151259,0.987477]] 2025-10-27T06:18:52.014Z,1761545932.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:52.017Z,1761545932.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:52.020Z,1761545932.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 76.222725 m, bearing: 4.277470 deg, approach rate: -0.573435 m/s, LOS rate: -0.039871 deg/s, cmd heading: 353.205966 deg, new cmd heading: 353.159622 deg. 2025-10-27T06:18:52.021Z,1761545932.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163798 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:52.116Z,1761545932.116 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:52.116Z,1761545932.116 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:52.116Z,1761545932.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:18:52.368Z,1761545932.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725841 2025-10-27T06:18:52.383Z,1761545932.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991081,0.131177,-0.023491],[-0.126001,0.979792,0.155340],[0.043393,-0.150995,0.987582]] 2025-10-27T06:18:52.402Z,1761545932.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:52.405Z,1761545932.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 75.984825 m, bearing: 4.260510 deg, approach rate: -0.617634 m/s, LOS rate: -0.044170 deg/s, cmd heading: 353.159630 deg, new cmd heading: 353.108590 deg. 2025-10-27T06:18:52.406Z,1761545932.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162908 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:52.625Z,1761545932.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982072 2025-10-27T06:18:52.786Z,1761545932.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991386,0.129105,-0.022060],[-0.124132,0.979889,0.156235],[0.041787,-0.152151,0.987473]] 2025-10-27T06:18:52.829Z,1761545932.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:52.832Z,1761545932.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 75.732529 m, bearing: 4.236077 deg, approach rate: -0.590727 m/s, LOS rate: -0.057396 deg/s, cmd heading: 353.108595 deg, new cmd heading: 353.035054 deg. 2025-10-27T06:18:52.833Z,1761545932.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161624 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:52.872Z,1761545932.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230268 2025-10-27T06:18:53.124Z,1761545933.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481916 2025-10-27T06:18:53.197Z,1761545933.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991678,0.127141,-0.020257],[-0.122369,0.979728,0.158615],[0.040013,-0.154816,0.987133]] 2025-10-27T06:18:53.216Z,1761545933.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:53.218Z,1761545933.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 75.504547 m, bearing: 4.213579 deg, approach rate: -0.590328 m/s, LOS rate: -0.058433 deg/s, cmd heading: 353.035048 deg, new cmd heading: 352.967349 deg. 2025-10-27T06:18:53.220Z,1761545933.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160442 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:53.376Z,1761545933.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733909 2025-10-27T06:18:53.606Z,1761545933.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991955,0.125031,-0.019803],[-0.120386,0.980102,0.157822],[0.039142,-0.154168,0.987269]] 2025-10-27T06:18:53.628Z,1761545933.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986057 2025-10-27T06:18:53.697Z,1761545933.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:53.710Z,1761545933.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 75.259575 m, bearing: 4.186424 deg, approach rate: -0.515117 m/s, LOS rate: -0.057286 deg/s, cmd heading: 352.967347 deg, new cmd heading: 352.885617 deg. 2025-10-27T06:18:53.716Z,1761545933.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159016 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:53.885Z,1761545933.885 [DAT](INFO): DAT read: 06:18:52.3262 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 406, 0.04, 2.993, 1.258, 2.892, 2.854, PHS= 0.241,-1.551,-0.006, RAW= 142.7, 15.5, CAL= 142.1, 16.7, ROT= 7.9, -16.7 2025-10-27T06:18:53.886Z,1761545933.886 [DAT](INFO): got valid direction response: 06:18:52.3262 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 406, 0.04, 2.993, 1.258, 2.892, 2.854, PHS= 0.241,-1.551,-0.006, RAW= 142.7, 15.5, CAL= 142.1, 16.7, ROT= 7.9, -16.7 2025-10-27T06:18:53.887Z,1761545933.887 [DAT](INFO): DAT read: Rx Time:06:18:52.3262 2025-10-27T06:18:53.888Z,1761545933.888 [DAT](INFO): Rx dataTimestamp_ set to:1761545933.887601 2025-10-27T06:18:53.889Z,1761545933.889 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-27T06:18:53.889Z,1761545933.889 [DAT](INFO): Received low SNR in chirp 2025-10-27T06:18:53.903Z,1761545933.903 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:18:53.904Z,1761545933.904 [DAT](INFO): direction in FSK: [0.948732,0.131647,0.287361] 2025-10-27T06:18:53.907Z,1761545933.907 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:53.907Z,1761545933.907 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:53.907Z,1761545933.907 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:54.002Z,1761545934.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992185,0.123363,-0.018704],[-0.118914,0.980309,0.157652],[0.037784,-0.154196,0.987318]] 2025-10-27T06:18:54.044Z,1761545934.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:54.046Z,1761545934.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:54.053Z,1761545934.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 75.041611 m, bearing: 4.161854 deg, approach rate: -0.613776 m/s, LOS rate: -0.069390 deg/s, cmd heading: 352.885630 deg, new cmd heading: 352.811705 deg. 2025-10-27T06:18:54.054Z,1761545934.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157726 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:54.132Z,1761545934.132 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:54.132Z,1761545934.132 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:54.132Z,1761545934.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:54.384Z,1761545934.384 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:54.384Z,1761545934.384 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:54.384Z,1761545934.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:54.403Z,1761545934.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992332,0.122424,-0.017000],[-0.118215,0.980236,0.158629],[0.036084,-0.155403,0.987192]] 2025-10-27T06:18:54.443Z,1761545934.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:54.454Z,1761545934.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 74.821472 m, bearing: 4.136783 deg, approach rate: -0.555889 m/s, LOS rate: -0.063494 deg/s, cmd heading: 352.811700 deg, new cmd heading: 352.736268 deg. 2025-10-27T06:18:54.455Z,1761545934.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156409 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:54.636Z,1761545934.636 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:54.636Z,1761545934.636 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:54.636Z,1761545934.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:54.805Z,1761545934.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992461,0.121648,-0.014934],[-0.117663,0.979796,0.161724],[0.034306,-0.158747,0.986723]] 2025-10-27T06:18:54.861Z,1761545934.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:54.864Z,1761545934.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 74.585678 m, bearing: 4.112588 deg, approach rate: -0.563015 m/s, LOS rate: -0.057955 deg/s, cmd heading: 352.736268 deg, new cmd heading: 352.663452 deg. 2025-10-27T06:18:54.865Z,1761545934.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155138 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:54.901Z,1761545934.901 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:54.901Z,1761545934.901 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:54.901Z,1761545934.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:55.152Z,1761545935.152 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:55.152Z,1761545935.152 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:55.152Z,1761545935.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:55.213Z,1761545935.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992574,0.120901,-0.013402],[-0.117090,0.979473,0.164083],[0.032965,-0.161296,0.986355]] 2025-10-27T06:18:55.265Z,1761545935.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:55.268Z,1761545935.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 74.348663 m, bearing: 4.088053 deg, approach rate: -0.586051 m/s, LOS rate: -0.060859 deg/s, cmd heading: 352.663458 deg, new cmd heading: 352.589619 deg. 2025-10-27T06:18:55.269Z,1761545935.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153850 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:55.404Z,1761545935.404 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:55.404Z,1761545935.404 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:55.404Z,1761545935.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:55.633Z,1761545935.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992635,0.120591,-0.011549],[-0.116977,0.978919,0.167435],[0.031497,-0.164851,0.985815]] 2025-10-27T06:18:55.656Z,1761545935.656 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:55.656Z,1761545935.656 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:55.656Z,1761545935.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:55.699Z,1761545935.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:55.706Z,1761545935.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 74.118294 m, bearing: 4.076804 deg, approach rate: -0.535971 m/s, LOS rate: -0.026253 deg/s, cmd heading: 352.589610 deg, new cmd heading: 352.555758 deg. 2025-10-27T06:18:55.708Z,1761545935.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153259 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:55.910Z,1761545935.910 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:55.911Z,1761545935.911 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:55.911Z,1761545935.911 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:56.018Z,1761545936.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992550,0.121440,-0.009789],[-0.117987,0.978135,0.171263],[0.030373,-0.168832,0.985177]] 2025-10-27T06:18:56.044Z,1761545936.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:56.046Z,1761545936.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 73.911331 m, bearing: 4.066871 deg, approach rate: -0.593438 m/s, LOS rate: -0.028561 deg/s, cmd heading: 352.555760 deg, new cmd heading: 352.525877 deg. 2025-10-27T06:18:56.076Z,1761545936.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152737 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:56.160Z,1761545936.160 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:56.161Z,1761545936.161 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:56.161Z,1761545936.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:56.412Z,1761545936.412 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:56.412Z,1761545936.412 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:56.412Z,1761545936.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:56.487Z,1761545936.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:56.489Z,1761545936.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:56.492Z,1761545936.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 73.660500 m, bearing: 4.054757 deg, approach rate: -0.562914 m/s, LOS rate: -0.027278 deg/s, cmd heading: 352.525871 deg, new cmd heading: 352.489406 deg. 2025-10-27T06:18:56.493Z,1761545936.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152101 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:56.665Z,1761545936.665 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:56.665Z,1761545936.665 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:56.665Z,1761545936.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:56.827Z,1761545936.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992540,0.121677,-0.007714],[-0.118518,0.977746,0.173107],[0.028605,-0.170901,0.984873]] 2025-10-27T06:18:56.863Z,1761545936.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:56.866Z,1761545936.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 73.445930 m, bearing: 4.058148 deg, approach rate: -0.573866 m/s, LOS rate: 0.009094 deg/s, cmd heading: 352.489397 deg, new cmd heading: 352.499599 deg. 2025-10-27T06:18:56.867Z,1761545936.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152278 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:56.917Z,1761545936.917 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:56.918Z,1761545936.918 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:56.918Z,1761545936.918 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:57.168Z,1761545937.168 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:57.168Z,1761545937.168 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:57.168Z,1761545937.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:57.263Z,1761545937.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:57.266Z,1761545937.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 73.216736 m, bearing: 4.061791 deg, approach rate: -0.573328 m/s, LOS rate: 0.009143 deg/s, cmd heading: 352.499588 deg, new cmd heading: 352.510553 deg. 2025-10-27T06:18:57.267Z,1761545937.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152470 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:57.421Z,1761545937.421 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:57.421Z,1761545937.421 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:57.422Z,1761545937.422 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:57.672Z,1761545937.672 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:57.672Z,1761545937.672 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:57.672Z,1761545937.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:57.754Z,1761545937.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:57.761Z,1761545937.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 72.949059 m, bearing: 4.083690 deg, approach rate: -0.545272 m/s, LOS rate: 0.044774 deg/s, cmd heading: 352.510544 deg, new cmd heading: 352.576482 deg. 2025-10-27T06:18:57.762Z,1761545937.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153621 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:57.925Z,1761545937.925 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:57.925Z,1761545937.925 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:57.925Z,1761545937.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:58.067Z,1761545938.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992049,0.125770,-0.004575],[-0.122972,0.976431,0.177372],[0.026775,-0.175399,0.984133]] 2025-10-27T06:18:58.101Z,1761545938.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:58.108Z,1761545938.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 72.761040 m, bearing: 4.099869 deg, approach rate: -0.541068 m/s, LOS rate: 0.046677 deg/s, cmd heading: 352.576496 deg, new cmd heading: 352.625156 deg. 2025-10-27T06:18:58.109Z,1761545938.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154470 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:58.177Z,1761545938.177 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:58.177Z,1761545938.177 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:58.177Z,1761545938.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:58.428Z,1761545938.428 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:58.428Z,1761545938.428 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:58.428Z,1761545938.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:58.470Z,1761545938.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991814,0.127637,-0.003709],[-0.124926,0.975935,0.178728],[0.026432,-0.176801,0.983892]] 2025-10-27T06:18:58.505Z,1761545938.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:18:58.508Z,1761545938.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:58.510Z,1761545938.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 72.527206 m, bearing: 4.120485 deg, approach rate: -0.575513 m/s, LOS rate: 0.050906 deg/s, cmd heading: 352.625154 deg, new cmd heading: 352.687204 deg. 2025-10-27T06:18:58.511Z,1761545938.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155553 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:58.680Z,1761545938.680 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:58.680Z,1761545938.680 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:58.680Z,1761545938.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:58.873Z,1761545938.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991488,0.130171,-0.002758],[-0.127542,0.975283,0.180433],[0.026177,-0.178545,0.983583]] 2025-10-27T06:18:58.940Z,1761545938.940 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:58.941Z,1761545938.941 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:58.941Z,1761545938.941 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:58.960Z,1761545938.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:58.962Z,1761545938.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 72.290512 m, bearing: 4.150649 deg, approach rate: -0.559556 m/s, LOS rate: 0.071541 deg/s, cmd heading: 352.687200 deg, new cmd heading: 352.777986 deg. 2025-10-27T06:18:58.976Z,1761545938.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157137 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:59.192Z,1761545939.192 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:59.193Z,1761545939.193 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:59.193Z,1761545939.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:59.287Z,1761545939.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991122,0.132943,-0.002038],[-0.130381,0.974796,0.181037],[0.026054,-0.179164,0.983474]] 2025-10-27T06:18:59.322Z,1761545939.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:59.329Z,1761545939.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 72.071533 m, bearing: 4.179247 deg, approach rate: -0.559060 m/s, LOS rate: 0.073233 deg/s, cmd heading: 352.777987 deg, new cmd heading: 352.864041 deg. 2025-10-27T06:18:59.330Z,1761545939.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158639 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:59.444Z,1761545939.444 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:59.444Z,1761545939.444 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:59.444Z,1761545939.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:59.696Z,1761545939.696 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:59.696Z,1761545939.696 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:59.696Z,1761545939.696 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:18:59.704Z,1761545939.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990923,0.134427,-0.001246],[-0.131964,0.974450,0.181748],[0.025646,-0.179934,0.983344]] 2025-10-27T06:18:59.808Z,1761545939.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:18:59.811Z,1761545939.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 71.792946 m, bearing: 4.220132 deg, approach rate: -0.573341 m/s, LOS rate: 0.084469 deg/s, cmd heading: 352.864047 deg, new cmd heading: 352.987178 deg. 2025-10-27T06:18:59.812Z,1761545939.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160789 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:18:59.948Z,1761545939.948 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:18:59.948Z,1761545939.948 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:18:59.948Z,1761545939.948 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:19:00.105Z,1761545940.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990738,0.135786,-0.000357],[-0.133479,0.974378,0.181026],[0.024929,-0.179301,0.983478]] 2025-10-27T06:19:00.125Z,1761545940.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:00.128Z,1761545940.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 71.602585 m, bearing: 4.248497 deg, approach rate: -0.601791 m/s, LOS rate: 0.089910 deg/s, cmd heading: 352.987182 deg, new cmd heading: 353.072503 deg. 2025-10-27T06:19:00.129Z,1761545940.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162278 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:00.205Z,1761545940.205 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:00.205Z,1761545940.205 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:00.205Z,1761545940.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:19:00.456Z,1761545940.456 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:00.456Z,1761545940.456 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:00.456Z,1761545940.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:19:00.515Z,1761545940.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990620,0.136645,0.000394],[-0.134444,0.974141,0.181589],[0.024429,-0.179938,0.983375]] 2025-10-27T06:19:00.533Z,1761545940.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:00.535Z,1761545940.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:00.537Z,1761545940.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 71.367844 m, bearing: 4.283876 deg, approach rate: -0.572425 m/s, LOS rate: 0.086556 deg/s, cmd heading: 353.072504 deg, new cmd heading: 353.178990 deg. 2025-10-27T06:19:00.538Z,1761545940.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164136 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:00.708Z,1761545940.708 [DAT](INFO): Reached modem response timeout 2025-10-27T06:19:00.708Z,1761545940.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:00.708Z,1761545940.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:00.917Z,1761545940.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990534,0.137266,0.001186],[-0.135234,0.974318,0.180044],[0.023558,-0.178500,0.983658]] 2025-10-27T06:19:00.960Z,1761545940.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:00.985Z,1761545940.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:00.988Z,1761545940.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 71.116982 m, bearing: 4.317424 deg, approach rate: -0.556850 m/s, LOS rate: 0.074732 deg/s, cmd heading: 353.179001 deg, new cmd heading: 353.280001 deg. 2025-10-27T06:19:00.989Z,1761545940.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165899 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:01.212Z,1761545941.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:01.314Z,1761545941.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990477,0.137662,0.002007],[-0.135830,0.974708,0.177467],[0.022474,-0.176050,0.984125]] 2025-10-27T06:19:01.352Z,1761545941.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:01.355Z,1761545941.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 70.910393 m, bearing: 4.345345 deg, approach rate: -0.562763 m/s, LOS rate: 0.076279 deg/s, cmd heading: 353.280005 deg, new cmd heading: 353.364011 deg. 2025-10-27T06:19:01.356Z,1761545941.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167366 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:01.464Z,1761545941.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:01.716Z,1761545941.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:01.737Z,1761545941.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990428,0.138012,0.002190],[-0.136293,0.975336,0.173618],[0.021825,-0.172255,0.984811]] 2025-10-27T06:19:01.786Z,1761545941.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:01.789Z,1761545941.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 70.660889 m, bearing: 4.369504 deg, approach rate: -0.574898 m/s, LOS rate: 0.055862 deg/s, cmd heading: 353.364017 deg, new cmd heading: 353.436749 deg. 2025-10-27T06:19:01.790Z,1761545941.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168635 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:01.968Z,1761545941.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:02.135Z,1761545942.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990466,0.137732,0.002721],[-0.136157,0.975755,0.171359],[0.020947,-0.170096,0.985205]] 2025-10-27T06:19:02.154Z,1761545942.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:02.157Z,1761545942.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 70.452980 m, bearing: 4.389745 deg, approach rate: -0.565422 m/s, LOS rate: 0.055210 deg/s, cmd heading: 353.436745 deg, new cmd heading: 353.497648 deg. 2025-10-27T06:19:02.158Z,1761545942.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169698 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:02.220Z,1761545942.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:02.472Z,1761545942.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:02.573Z,1761545942.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:02.575Z,1761545942.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:02.577Z,1761545942.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 70.219528 m, bearing: 4.412617 deg, approach rate: -0.555051 m/s, LOS rate: 0.054561 deg/s, cmd heading: 353.497643 deg, new cmd heading: 353.566487 deg. 2025-10-27T06:19:02.578Z,1761545942.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170899 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:02.725Z,1761545942.725 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:02.976Z,1761545942.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:19:03.015Z,1761545943.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:03.017Z,1761545943.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 69.969482 m, bearing: 4.430106 deg, approach rate: -0.568188 m/s, LOS rate: 0.039882 deg/s, cmd heading: 353.566491 deg, new cmd heading: 353.619144 deg. 2025-10-27T06:19:03.018Z,1761545943.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171818 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:03.229Z,1761545943.229 [DAT](INFO): DAT read: Response Not Received 2025-10-27T06:19:03.230Z,1761545943.230 [DAT](INFO): response not received 2025-10-27T06:19:03.230Z,1761545943.230 [DAT](INFO): DAT read: user:734> 2025-10-27T06:19:03.231Z,1761545943.231 [DAT](INFO): DAT read: Tx time:06:19:02.2680 2025-10-27T06:19:03.232Z,1761545943.232 [DAT](INFO): Ping request sent. 2025-10-27T06:19:03.232Z,1761545943.232 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:03.232Z,1761545943.232 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:03.232Z,1761545943.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-10-27T06:19:03.343Z,1761545943.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990727,0.135828,0.003206],[-0.134522,0.977348,0.163385],[0.019059,-0.162301,0.986557]] 2025-10-27T06:19:03.362Z,1761545943.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:03.365Z,1761545943.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 69.775513 m, bearing: 4.443477 deg, approach rate: -0.558754 m/s, LOS rate: 0.038625 deg/s, cmd heading: 353.619138 deg, new cmd heading: 353.659364 deg. 2025-10-27T06:19:03.366Z,1761545943.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172520 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:03.481Z,1761545943.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249167 2025-10-27T06:19:03.735Z,1761545943.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906 2025-10-27T06:19:03.758Z,1761545943.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990959,0.134118,0.003406],[-0.132921,0.978034,0.160563],[0.018203,-0.159565,0.987020]] 2025-10-27T06:19:03.812Z,1761545943.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:03.814Z,1761545943.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 69.534248 m, bearing: 4.443127 deg, approach rate: -0.536151 m/s, LOS rate: -0.000780 deg/s, cmd heading: 353.659354 deg, new cmd heading: 353.658301 deg. 2025-10-27T06:19:03.831Z,1761545943.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172502 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:03.984Z,1761545943.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752137 2025-10-27T06:19:04.171Z,1761545944.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991173,0.132529,0.003550],[-0.131415,0.978606,0.158306],[0.017506,-0.157375,0.987384]] 2025-10-27T06:19:04.190Z,1761545944.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:04.240Z,1761545944.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008354 2025-10-27T06:19:04.241Z,1761545944.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 69.331543 m, bearing: 4.442566 deg, approach rate: -0.536194 m/s, LOS rate: -0.001488 deg/s, cmd heading: 353.658289 deg, new cmd heading: 353.656602 deg. 2025-10-27T06:19:04.242Z,1761545944.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172472 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:04.489Z,1761545944.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257008 2025-10-27T06:19:04.576Z,1761545944.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991489,0.130129,0.003991],[-0.129157,0.979306,0.155818],[0.016368,-0.155007,0.987778]] 2025-10-27T06:19:04.593Z,1761545944.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:04.595Z,1761545944.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:04.598Z,1761545944.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 69.114548 m, bearing: 4.441541 deg, approach rate: -0.535854 m/s, LOS rate: -0.002541 deg/s, cmd heading: 353.656595 deg, new cmd heading: 353.653508 deg. 2025-10-27T06:19:04.599Z,1761545944.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172418 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:04.745Z,1761545944.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513679 2025-10-27T06:19:04.978Z,1761545944.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991845,0.127369,0.004461],[-0.126526,0.979880,0.154358],[0.015289,-0.153664,0.988005]] 2025-10-27T06:19:04.992Z,1761545944.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760318 2025-10-27T06:19:05.046Z,1761545945.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:05.049Z,1761545945.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 68.877403 m, bearing: 4.429135 deg, approach rate: -0.525664 m/s, LOS rate: -0.027594 deg/s, cmd heading: 353.653508 deg, new cmd heading: 353.616161 deg. 2025-10-27T06:19:05.050Z,1761545945.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171766 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:05.244Z,1761545945.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012264 2025-10-27T06:19:05.385Z,1761545945.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992211,0.124468,0.005046],[-0.123783,0.980588,0.152069],[0.013980,-0.151509,0.988357]] 2025-10-27T06:19:05.410Z,1761545945.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:05.416Z,1761545945.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 68.684418 m, bearing: 4.418508 deg, approach rate: -0.530273 m/s, LOS rate: -0.029281 deg/s, cmd heading: 353.616160 deg, new cmd heading: 353.584191 deg. 2025-10-27T06:19:05.417Z,1761545945.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171208 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:05.497Z,1761545945.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264803 2025-10-27T06:19:05.751Z,1761545945.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518338 2025-10-27T06:19:05.799Z,1761545945.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992556,0.121662,0.005513],[-0.121112,0.981282,0.149723],[0.012805,-0.149276,0.988713]] 2025-10-27T06:19:05.860Z,1761545945.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:05.862Z,1761545945.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 68.450661 m, bearing: 4.397590 deg, approach rate: -0.519773 m/s, LOS rate: -0.046672 deg/s, cmd heading: 353.584195 deg, new cmd heading: 353.521226 deg. 2025-10-27T06:19:05.867Z,1761545945.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170109 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:05.000Z,1761545946.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768137 2025-10-27T06:19:06.190Z,1761545946.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992808,0.119559,0.006161],[-0.119144,0.981716,0.148452],[0.011701,-0.148118,0.988900]] 2025-10-27T06:19:06.216Z,1761545946.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:06.219Z,1761545946.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 68.243950 m, bearing: 4.378606 deg, approach rate: -0.579686 m/s, LOS rate: -0.053397 deg/s, cmd heading: 353.521220 deg, new cmd heading: 353.464097 deg. 2025-10-27T06:19:06.220Z,1761545946.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169112 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:06.253Z,1761545946.253 [DAT](INFO): DAT read: Rx Time:06:19:04.7668 2025-10-27T06:19:06.253Z,1761545946.253 [DAT](INFO): Rx dataTimestamp_ set to:1761545946.252812 2025-10-27T06:19:06.254Z,1761545946.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022246 2025-10-27T06:19:06.504Z,1761545946.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272200 2025-10-27T06:19:06.611Z,1761545946.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993078,0.117276,0.006560],[-0.116961,0.982179,0.147124],[0.010811,-0.146873,0.989096]] 2025-10-27T06:19:06.669Z,1761545946.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:06.676Z,1761545946.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.68 m. 2025-10-27T06:19:06.678Z,1761545946.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.684669 m, nav range: 68.001709 m, bearing: 4.355735 deg, approach rate: -0.527230 m/s, LOS rate: -0.049957 deg/s, cmd heading: 353.464093 deg, new cmd heading: 353.395234 deg. 2025-10-27T06:19:06.687Z,1761545946.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167911 target range: 79.684669 and range: 80.20 m. 2025-10-27T06:19:06.776Z,1761545946.776 [DAT](INFO): DAT read: 06:19:04.7668 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 342,-0.15,-2.456, 2.054,-2.525,-2.601, PHS= 0.247,-1.583, 0.031, RAW= 143.8, 14.9, CAL= 143.3, 16.2, ROT= 6.7, -16.2 2025-10-27T06:19:06.777Z,1761545946.777 [DAT](INFO): got valid direction response: 06:19:04.7668 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 342,-0.15,-2.456, 2.054,-2.525,-2.601, PHS= 0.247,-1.583, 0.031, RAW= 143.8, 14.9, CAL= 143.3, 16.2, ROT= 6.7, -16.2 2025-10-27T06:19:06.778Z,1761545946.778 [DAT](INFO): DAT read: Bearing 168.8, 4.5 (Local) 2025-10-27T06:19:06.778Z,1761545946.778 [DAT](INFO): Local bearing/azimuth received: Bearing 168.8, 4.5 (Local) 2025-10-27T06:19:06.780Z,1761545946.780 [DAT](INFO): DAT read: Range 11 to 50 : 71.0 m (Round-trip 94.7 ms) speed 0.5 m/s 2025-10-27T06:19:06.780Z,1761545946.780 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:06.781Z,1761545946.781 [DAT](INFO): direction in FSK: [0.953735,0.112038,0.278991] 2025-10-27T06:19:06.782Z,1761545946.782 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:06.785Z,1761545946.785 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:06.785Z,1761545946.785 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:06.786Z,1761545946.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:07.008Z,1761545947.008 [DAT](INFO): DAT read: user:735> 2025-10-27T06:19:07.009Z,1761545947.009 [DAT](INFO): DAT read: Tx time:06:19:06.0680 2025-10-27T06:19:07.009Z,1761545947.009 [DAT](INFO): Ping request sent. 2025-10-27T06:19:07.009Z,1761545947.009 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:07.009Z,1761545947.009 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:07.010Z,1761545947.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T06:19:07.022Z,1761545947.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993212,0.116089,0.007232],[-0.115888,0.982337,0.146917],[0.009951,-0.146758,0.989122]] 2025-10-27T06:19:07.133Z,1761545947.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 16.151904 s, deltaX: -9.199997 m, approachRate: -0.569592 m/s, rangeRepo size: 4 2025-10-27T06:19:07.139Z,1761545947.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.548279 m, bearing: 2.411278 deg, lat: 36.779430 deg, lon: -121.859755 deg, deltaT: 16.151904 s, deltaX: -9.136391 m, approachRate: -0.565654 m/s, posRepo size: 4 2025-10-27T06:19:07.140Z,1761545947.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.55 m. 2025-10-27T06:19:07.142Z,1761545947.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.548279 m, nav range: 67.751465 m, bearing: 4.334251 deg, approach rate: 0.000000 m/s, LOS rate: -0.049957 deg/s, cmd heading: 353.395244 deg, new cmd heading: 353.326818 deg. 2025-10-27T06:19:07.144Z,1761545947.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166716 target range: 70.548279 and range: 71.00 m. 2025-10-27T06:19:07.182Z,1761545947.182 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T06:09:07.0Z 2025-10-27T06:19:07.182Z,1761545947.182 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T06:19:07.182Z,1761545947.182 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:19:07.182Z,1761545947.182 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T06:19:07.182Z,1761545947.182 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:19:07.182Z,1761545947.182 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T06:19:07.261Z,1761545947.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251730 2025-10-27T06:19:07.454Z,1761545947.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993504,0.113503,0.008149],[-0.113452,0.982417,0.148273],[0.008823,-0.148234,0.988913]] 2025-10-27T06:19:07.473Z,1761545947.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.55 m. 2025-10-27T06:19:07.476Z,1761545947.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.548279 m, nav range: 67.554451 m, bearing: 4.316828 deg, approach rate: -0.578422 m/s, LOS rate: -0.051302 deg/s, cmd heading: 353.326806 deg, new cmd heading: 353.274385 deg. 2025-10-27T06:19:07.477Z,1761545947.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165801 target range: 70.548279 and range: 71.00 m. 2025-10-27T06:19:07.481Z,1761545947.481 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T06:19:07.481Z,1761545947.481 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T06:19:07.481Z,1761545947.481 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T06:19:07.481Z,1761545947.481 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:19:07.481Z,1761545947.481 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T06:19:07.513Z,1761545947.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503523 2025-10-27T06:19:07.767Z,1761545947.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757154 2025-10-27T06:19:07.950Z,1761545947.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993567,0.112920,0.008599],[-0.112919,0.982047,0.151108],[0.008619,-0.151107,0.988480]] 2025-10-27T06:19:07.988Z,1761545947.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.55 m. 2025-10-27T06:19:07.990Z,1761545947.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.548279 m, nav range: 67.279243 m, bearing: 4.282523 deg, approach rate: -0.534319 m/s, LOS rate: -0.066876 deg/s, cmd heading: 353.274377 deg, new cmd heading: 353.171041 deg. 2025-10-27T06:19:08.016Z,1761545948.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006962 2025-10-27T06:19:08.034Z,1761545948.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163998 target range: 70.548279 and range: 71.00 m. 2025-10-27T06:19:08.269Z,1761545948.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259542 2025-10-27T06:19:08.350Z,1761545948.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993658,0.112085,0.009045],[-0.112129,0.981549,0.154880],[0.008482,-0.154912,0.987892]] 2025-10-27T06:19:08.381Z,1761545948.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.55 m. 2025-10-27T06:19:08.384Z,1761545948.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.548279 m, nav range: 67.069160 m, bearing: 4.256072 deg, approach rate: -0.534003 m/s, LOS rate: -0.067447 deg/s, cmd heading: 353.171050 deg, new cmd heading: 353.091447 deg. 2025-10-27T06:19:08.385Z,1761545948.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162608 target range: 70.548279 and range: 71.00 m. 2025-10-27T06:19:08.521Z,1761545948.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511800 2025-10-27T06:19:08.775Z,1761545948.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765654 2025-10-27T06:19:08.817Z,1761545948.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993734,0.111388,0.009274],[-0.111455,0.981226,0.157393],[0.008431,-0.157440,0.987493]] 2025-10-27T06:19:08.863Z,1761545948.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:08.865Z,1761545948.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.55 m. 2025-10-27T06:19:08.868Z,1761545948.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.548279 m, nav range: 66.810539 m, bearing: 4.238242 deg, approach rate: -0.534625 m/s, LOS rate: -0.037000 deg/s, cmd heading: 353.091438 deg, new cmd heading: 353.037742 deg. 2025-10-27T06:19:08.869Z,1761545948.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161671 target range: 70.548279 and range: 71.00 m. 2025-10-27T06:19:09.024Z,1761545949.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014808 2025-10-27T06:19:09.087Z,1761545949.087 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:19:09.281Z,1761545949.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271608 2025-10-27T06:19:09.314Z,1761545949.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993762,0.111103,0.009649],[-0.111219,0.980975,0.159116],[0.008213,-0.159197,0.987213]] 2025-10-27T06:19:09.341Z,1761545949.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.55 m. 2025-10-27T06:19:09.348Z,1761545949.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.548279 m, nav range: 66.559929 m, bearing: 4.220814 deg, approach rate: -0.526014 m/s, LOS rate: -0.036719 deg/s, cmd heading: 353.037752 deg, new cmd heading: 352.985270 deg. 2025-10-27T06:19:09.349Z,1761545949.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160755 target range: 70.548279 and range: 71.00 m. 2025-10-27T06:19:09.532Z,1761545949.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522947 2025-10-27T06:19:09.738Z,1761545949.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993756,0.111143,0.009760],[-0.111252,0.980505,0.161964],[0.008431,-0.162039,0.986748]] 2025-10-27T06:19:09.786Z,1761545949.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776891 2025-10-27T06:19:09.804Z,1761545949.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.55 m. 2025-10-27T06:19:09.822Z,1761545949.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.548279 m, nav range: 66.333717 m, bearing: 4.205027 deg, approach rate: -0.495412 m/s, LOS rate: -0.034692 deg/s, cmd heading: 352.985269 deg, new cmd heading: 352.937747 deg. 2025-10-27T06:19:09.830Z,1761545949.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159926 target range: 70.548279 and range: 71.00 m. 2025-10-27T06:19:10.037Z,1761545950.037 [DAT](INFO): DAT read: Rx Time:06:19:08.5640 2025-10-27T06:19:10.037Z,1761545950.037 [DAT](INFO): Rx dataTimestamp_ set to:1761545950.037118 2025-10-27T06:19:10.038Z,1761545950.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028954 2025-10-27T06:19:10.091Z,1761545950.091 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:19:10.258Z,1761545950.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993803,0.110621,0.010865],[-0.110897,0.980132,0.164445],[0.007542,-0.164631,0.986326]] 2025-10-27T06:19:10.288Z,1761545950.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279015 2025-10-27T06:19:10.321Z,1761545950.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.55 m. 2025-10-27T06:19:10.324Z,1761545950.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.548279 m, nav range: 66.008270 m, bearing: 4.204160 deg, approach rate: -0.621994 m/s, LOS rate: -0.001665 deg/s, cmd heading: 352.937758 deg, new cmd heading: 352.935145 deg. 2025-10-27T06:19:10.325Z,1761545950.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159880 target range: 70.548279 and range: 71.00 m. 2025-10-27T06:19:10.546Z,1761545950.546 [DAT](INFO): DAT read: 06:19:08.5640 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409,-0.20,-2.902, 1.566,-2.934,-3.077, PHS= 0.277,-1.595, 0.099, RAW= 145.1, 13.5, CAL= 144.7, 14.8, ROT= 5.3, -14.8 2025-10-27T06:19:10.547Z,1761545950.547 [DAT](INFO): got valid direction response: 06:19:08.5640 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 409,-0.20,-2.902, 1.566,-2.934,-3.077, PHS= 0.277,-1.595, 0.099, RAW= 145.1, 13.5, CAL= 144.7, 14.8, ROT= 5.3, -14.8 2025-10-27T06:19:10.548Z,1761545950.548 [DAT](INFO): DAT read: Bearing 166.8, 3.3 (Local) 2025-10-27T06:19:10.549Z,1761545950.549 [DAT](INFO): Local bearing/azimuth received: Bearing 166.8, 3.3 (Local) 2025-10-27T06:19:10.550Z,1761545950.550 [DAT](INFO): DAT read: Range 11 to 50 : 68.8 m (Round-trip 91.8 ms) speed 0.4 m/s 2025-10-27T06:19:10.550Z,1761545950.550 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:10.561Z,1761545950.561 [DAT](INFO): direction in FSK: [0.962690,0.089306,0.255446] 2025-10-27T06:19:10.561Z,1761545950.561 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:10.601Z,1761545950.601 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:10.601Z,1761545950.601 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:10.601Z,1761545950.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:10.662Z,1761545950.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993707,0.111337,0.012264],[-0.111816,0.979576,0.167119],[0.006593,-0.167439,0.985860]] 2025-10-27T06:19:10.733Z,1761545950.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.800003 m, deltaT: 3.782883 s, deltaX: -2.199997 m, approachRate: -0.581566 m/s, rangeRepo size: 4 2025-10-27T06:19:10.736Z,1761545950.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.360886 m, bearing: 1.330829 deg, lat: 36.779431 deg, lon: -121.859763 deg, deltaT: 3.782883 s, deltaX: -2.187393 m, approachRate: -0.578234 m/s, posRepo size: 4 2025-10-27T06:19:10.737Z,1761545950.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:10.767Z,1761545950.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 65.787025 m, bearing: 3.511888 deg, approach rate: 0.000000 m/s, LOS rate: -0.001665 deg/s, cmd heading: 352.935136 deg, new cmd heading: 352.933086 deg. 2025-10-27T06:19:10.770Z,1761545950.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159844 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:10.797Z,1761545950.797 [DAT](INFO): DAT read: user:736> 2025-10-27T06:19:10.800Z,1761545950.800 [DAT](INFO): DAT read: Tx time:06:19:09.9180 2025-10-27T06:19:10.802Z,1761545950.802 [DAT](INFO): Ping request sent. 2025-10-27T06:19:10.802Z,1761545950.802 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:10.803Z,1761545950.803 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:10.806Z,1761545950.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003371 2025-10-27T06:19:11.047Z,1761545951.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245475 2025-10-27T06:19:11.158Z,1761545951.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993530,0.112762,0.013558],[-0.113426,0.979060,0.169042],[0.005787,-0.169486,0.985516]] 2025-10-27T06:19:11.202Z,1761545951.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:11.204Z,1761545951.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:11.207Z,1761545951.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 65.507950 m, bearing: 3.522755 deg, approach rate: -0.590197 m/s, LOS rate: 0.023080 deg/s, cmd heading: 352.933086 deg, new cmd heading: 352.965827 deg. 2025-10-27T06:19:11.208Z,1761545951.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160416 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:11.297Z,1761545951.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495025 2025-10-27T06:19:11.548Z,1761545951.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746212 2025-10-27T06:19:11.563Z,1761545951.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993361,0.114077,0.014845],[-0.114935,0.978688,0.170177],[0.004885,-0.170754,0.985302]] 2025-10-27T06:19:11.582Z,1761545951.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:11.585Z,1761545951.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 65.297325 m, bearing: 3.531313 deg, approach rate: -0.557241 m/s, LOS rate: 0.022714 deg/s, cmd heading: 352.965817 deg, new cmd heading: 352.991573 deg. 2025-10-27T06:19:11.586Z,1761545951.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160865 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:11.802Z,1761545951.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000230 2025-10-27T06:19:12.008Z,1761545952.008 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +1, -16,A 2025-10-27T06:19:12.052Z,1761545952.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250125 2025-10-27T06:19:12.058Z,1761545952.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:12.061Z,1761545952.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 65.049606 m, bearing: 3.541449 deg, approach rate: -0.520578 m/s, LOS rate: 0.021382 deg/s, cmd heading: 352.991580 deg, new cmd heading: 353.022104 deg. 2025-10-27T06:19:12.062Z,1761545952.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161398 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:12.304Z,1761545952.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502310 2025-10-27T06:19:12.369Z,1761545952.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993067,0.116294,0.017123],[-0.117507,0.978286,0.170729],[0.003104,-0.171558,0.985169]] 2025-10-27T06:19:12.428Z,1761545952.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:12.436Z,1761545952.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 64.846268 m, bearing: 3.550300 deg, approach rate: -0.557297 m/s, LOS rate: 0.024333 deg/s, cmd heading: 353.022098 deg, new cmd heading: 353.048732 deg. 2025-10-27T06:19:12.437Z,1761545952.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161863 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:12.557Z,1761545952.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755287 2025-10-27T06:19:12.773Z,1761545952.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992923,0.117330,0.018344],[-0.118736,0.978040,0.171289],[0.002156,-0.172255,0.985050]] 2025-10-27T06:19:12.810Z,1761545952.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008092 2025-10-27T06:19:12.846Z,1761545952.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:12.869Z,1761545952.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 64.623032 m, bearing: 3.560333 deg, approach rate: -0.529715 m/s, LOS rate: 0.023891 deg/s, cmd heading: 353.048735 deg, new cmd heading: 353.078940 deg. 2025-10-27T06:19:12.870Z,1761545952.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162390 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:13.060Z,1761545953.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258496 2025-10-27T06:19:13.210Z,1761545953.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992753,0.118555,0.019666],[-0.120170,0.977861,0.171310],[0.001080,-0.172432,0.985021]] 2025-10-27T06:19:13.267Z,1761545953.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:13.285Z,1761545953.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:13.292Z,1761545953.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 64.361191 m, bearing: 3.592924 deg, approach rate: -0.594705 m/s, LOS rate: 0.074322 deg/s, cmd heading: 353.078952 deg, new cmd heading: 353.177121 deg. 2025-10-27T06:19:13.293Z,1761545953.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164104 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:13.312Z,1761545953.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510443 2025-10-27T06:19:13.564Z,1761545953.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762283 2025-10-27T06:19:13.614Z,1761545953.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992516,0.120229,0.021359],[-0.122111,0.977427,0.172412],[-0.000148,-0.173730,0.984793]] 2025-10-27T06:19:13.658Z,1761545953.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:13.672Z,1761545953.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 64.143700 m, bearing: 3.620590 deg, approach rate: -0.582871 m/s, LOS rate: 0.074395 deg/s, cmd heading: 353.177115 deg, new cmd heading: 353.260395 deg. 2025-10-27T06:19:13.673Z,1761545953.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165557 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:13.818Z,1761545953.818 [DAT](INFO): DAT read: Rx Time:06:19:12.4112 2025-10-27T06:19:13.818Z,1761545953.818 [DAT](INFO): Rx dataTimestamp_ set to:1761545953.817842 2025-10-27T06:19:13.819Z,1761545953.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017074 2025-10-27T06:19:14.072Z,1761545954.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270262 2025-10-27T06:19:14.102Z,1761545954.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.36 m. 2025-10-27T06:19:14.105Z,1761545954.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.360886 m, nav range: 63.873138 m, bearing: 3.657356 deg, approach rate: -0.608725 m/s, LOS rate: 0.083069 deg/s, cmd heading: 353.260389 deg, new cmd heading: 353.371155 deg. 2025-10-27T06:19:14.106Z,1761545954.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167490 target range: 68.360886 and range: 68.80 m. 2025-10-27T06:19:14.333Z,1761545954.333 [DAT](INFO): DAT read: 06:19:12.4112 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.35, 1.490,-0.323, 1.438, 1.342, PHS= 0.250,-1.620, 0.052, RAW= 144.5, 14.7, CAL= 144.1, 16.0, ROT= 5.9, -16.0 2025-10-27T06:19:14.334Z,1761545954.334 [DAT](INFO): got valid direction response: 06:19:12.4112 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 412, 0.35, 1.490,-0.323, 1.438, 1.342, PHS= 0.250,-1.620, 0.052, RAW= 144.5, 14.7, CAL= 144.1, 16.0, ROT= 5.9, -16.0 2025-10-27T06:19:14.336Z,1761545954.336 [DAT](INFO): DAT read: Bearing 167.6, 2.9 (Local) 2025-10-27T06:19:14.336Z,1761545954.336 [DAT](INFO): Local bearing/azimuth received: Bearing 167.6, 2.9 (Local) 2025-10-27T06:19:14.338Z,1761545954.338 [DAT](INFO): DAT read: Range 11 to 50 : 66.7 m (Round-trip 89.0 ms) speed 0.5 m/s 2025-10-27T06:19:14.343Z,1761545954.343 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:14.344Z,1761545954.344 [DAT](INFO): direction in FSK: [0.956170,0.098811,0.275637] 2025-10-27T06:19:14.345Z,1761545954.345 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:14.350Z,1761545954.350 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:14.350Z,1761545954.350 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:14.379Z,1761545954.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:14.437Z,1761545954.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992173,0.122362,0.024919],[-0.124818,0.977716,0.168793],[-0.003710,-0.170582,0.985336]] 2025-10-27T06:19:14.507Z,1761545954.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.699997 m, deltaT: 3.785088 s, deltaX: -2.100006 m, approachRate: -0.554810 m/s, rangeRepo size: 4 2025-10-27T06:19:14.509Z,1761545954.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.276619 m, bearing: 1.408194 deg, lat: 36.779433 deg, lon: -121.859780 deg, deltaT: 3.785088 s, deltaX: -2.084267 m, approachRate: -0.550652 m/s, posRepo size: 4 2025-10-27T06:19:14.510Z,1761545954.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:14.521Z,1761545954.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 63.850018 m, bearing: 2.357128 deg, approach rate: 0.000000 m/s, LOS rate: 0.083069 deg/s, cmd heading: 353.371148 deg, new cmd heading: 353.470797 deg. 2025-10-27T06:19:14.522Z,1761545954.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169229 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:14.577Z,1761545954.577 [DAT](INFO): DAT read: user:737> 2025-10-27T06:19:14.578Z,1761545954.578 [DAT](INFO): DAT read: Tx time:06:19:13.6680 2025-10-27T06:19:14.579Z,1761545954.579 [DAT](INFO): Ping request sent. 2025-10-27T06:19:14.579Z,1761545954.579 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:14.579Z,1761545954.579 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:14.580Z,1761545954.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001224 2025-10-27T06:19:14.830Z,1761545954.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250963 2025-10-27T06:19:14.858Z,1761545954.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991998,0.123420,0.026603],[-0.126137,0.977913,0.166657],[-0.005447,-0.168679,0.985656]] 2025-10-27T06:19:14.958Z,1761545954.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:14.961Z,1761545954.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 63.580902 m, bearing: 2.392201 deg, approach rate: -0.590228 m/s, LOS rate: 0.077246 deg/s, cmd heading: 353.470786 deg, new cmd heading: 353.576448 deg. 2025-10-27T06:19:14.962Z,1761545954.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171073 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:15.080Z,1761545955.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501156 2025-10-27T06:19:15.269Z,1761545955.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991793,0.124723,0.028114],[-0.127668,0.977945,0.165304],[-0.006876,-0.167536,0.985842]] 2025-10-27T06:19:15.290Z,1761545955.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:15.292Z,1761545955.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:15.295Z,1761545955.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 63.391098 m, bearing: 2.417389 deg, approach rate: -0.567944 m/s, LOS rate: 0.075597 deg/s, cmd heading: 353.576436 deg, new cmd heading: 353.652228 deg. 2025-10-27T06:19:15.296Z,1761545955.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172396 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:15.332Z,1761545955.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753419 2025-10-27T06:19:15.584Z,1761545955.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005237 2025-10-27T06:19:15.667Z,1761545955.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991655,0.125479,0.029586],[-0.128656,0.977884,0.164898],[-0.008240,-0.167328,0.985867]] 2025-10-27T06:19:15.691Z,1761545955.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:15.694Z,1761545955.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 63.165630 m, bearing: 2.447719 deg, approach rate: -0.566374 m/s, LOS rate: 0.076459 deg/s, cmd heading: 353.652223 deg, new cmd heading: 353.743536 deg. 2025-10-27T06:19:15.695Z,1761545955.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173989 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:15.836Z,1761545955.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257176 2025-10-27T06:19:16.069Z,1761545956.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991519,0.126225,0.030944],[-0.129602,0.978047,0.163177],[-0.009668,-0.165803,0.986112]] 2025-10-27T06:19:16.088Z,1761545956.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509344 2025-10-27T06:19:16.133Z,1761545956.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:16.136Z,1761545956.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 62.915882 m, bearing: 2.474176 deg, approach rate: -0.564292 m/s, LOS rate: 0.060017 deg/s, cmd heading: 353.743529 deg, new cmd heading: 353.823217 deg. 2025-10-27T06:19:16.137Z,1761545956.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175380 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:16.340Z,1761545956.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761257 2025-10-27T06:19:16.475Z,1761545956.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991483,0.126154,0.032358],[-0.129746,0.978331,0.161354],[-0.011302,-0.164178,0.986366]] 2025-10-27T06:19:16.497Z,1761545956.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:16.499Z,1761545956.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 62.713127 m, bearing: 2.495842 deg, approach rate: -0.557894 m/s, LOS rate: 0.059806 deg/s, cmd heading: 353.823224 deg, new cmd heading: 353.888430 deg. 2025-10-27T06:19:16.500Z,1761545956.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176518 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:16.592Z,1761545956.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013658 2025-10-27T06:19:16.847Z,1761545956.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267799 2025-10-27T06:19:16.933Z,1761545956.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991400,0.126429,0.033789],[-0.130242,0.978401,0.160524],[-0.012764,-0.163544,0.986453]] 2025-10-27T06:19:16.977Z,1761545956.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:16.980Z,1761545956.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 62.456028 m, bearing: 2.521569 deg, approach rate: -0.535608 m/s, LOS rate: 0.053819 deg/s, cmd heading: 353.888439 deg, new cmd heading: 353.965940 deg. 2025-10-27T06:19:16.981Z,1761545956.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177871 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:17.096Z,1761545957.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517696 2025-10-27T06:19:17.297Z,1761545957.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991407,0.126002,0.035157],[-0.130028,0.978628,0.159313],[-0.014332,-0.162516,0.986602]] 2025-10-27T06:19:17.315Z,1761545957.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:17.317Z,1761545957.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:17.320Z,1761545957.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 62.274292 m, bearing: 2.539850 deg, approach rate: -0.534059 m/s, LOS rate: 0.053876 deg/s, cmd heading: 353.965948 deg, new cmd heading: 354.020949 deg. 2025-10-27T06:19:17.321Z,1761545957.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178831 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:17.348Z,1761545957.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769317 2025-10-27T06:19:17.600Z,1761545957.600 [DAT](INFO): DAT read: Rx Time:06:19:16.1584 2025-10-27T06:19:17.600Z,1761545957.600 [DAT](INFO): Rx dataTimestamp_ set to:1761545957.600192 2025-10-27T06:19:17.601Z,1761545957.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022364 2025-10-27T06:19:17.698Z,1761545957.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991386,0.125809,0.036404],[-0.130011,0.978923,0.157502],[-0.015821,-0.160878,0.986847]] 2025-10-27T06:19:17.742Z,1761545957.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.28 m. 2025-10-27T06:19:17.745Z,1761545957.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.276619 m, nav range: 62.048943 m, bearing: 2.562666 deg, approach rate: -0.530189 m/s, LOS rate: 0.053876 deg/s, cmd heading: 354.020944 deg, new cmd heading: 354.089642 deg. 2025-10-27T06:19:17.746Z,1761545957.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180030 target range: 66.276619 and range: 66.70 m. 2025-10-27T06:19:17.854Z,1761545957.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275430 2025-10-27T06:19:18.102Z,1761545958.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991475,0.124791,0.037489],[-0.129135,0.979452,0.154911],[-0.017387,-0.158432,0.987217]] 2025-10-27T06:19:18.109Z,1761545958.109 [DAT](INFO): DAT read: 06:19:16.1584 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 416, 0.36, 0.741,-1.090, 0.674, 0.560, PHS= 0.283,-1.605, 0.070, RAW= 144.1, 13.9, CAL= 143.6, 15.1, ROT= 6.4, -15.1 2025-10-27T06:19:18.110Z,1761545958.110 [DAT](INFO): got valid direction response: 06:19:16.1584 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 416, 0.36, 0.741,-1.090, 0.674, 0.560, PHS= 0.283,-1.605, 0.070, RAW= 144.1, 13.9, CAL= 143.6, 15.1, ROT= 6.4, -15.1 2025-10-27T06:19:18.111Z,1761545958.111 [DAT](INFO): DAT read: Bearing 167.2, 2.8 (Local) 2025-10-27T06:19:18.112Z,1761545958.112 [DAT](INFO): Local bearing/azimuth received: Bearing 167.2, 2.8 (Local) 2025-10-27T06:19:18.113Z,1761545958.113 [DAT](INFO): DAT read: Range 11 to 50 : 64.7 m (Round-trip 86.3 ms) speed 0.4 m/s 2025-10-27T06:19:18.114Z,1761545958.114 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:18.114Z,1761545958.114 [DAT](INFO): direction in FSK: [0.959456,0.107620,0.260505] 2025-10-27T06:19:18.115Z,1761545958.115 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:18.118Z,1761545958.118 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:18.118Z,1761545958.118 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:18.118Z,1761545958.118 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:18.259Z,1761545958.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.699997 m, deltaT: 3.778552 s, deltaX: -2.000000 m, approachRate: -0.529303 m/s, rangeRepo size: 4 2025-10-27T06:19:18.261Z,1761545958.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.289139 m, bearing: 1.285345 deg, lat: 36.779436 deg, lon: -121.859791 deg, deltaT: 3.778552 s, deltaX: -1.987480 m, approachRate: -0.525990 m/s, posRepo size: 4 2025-10-27T06:19:18.262Z,1761545958.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:18.269Z,1761545958.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 62.075672 m, bearing: 1.619247 deg, approach rate: 0.000000 m/s, LOS rate: 0.053876 deg/s, cmd heading: 354.089629 deg, new cmd heading: 354.172472 deg. 2025-10-27T06:19:18.272Z,1761545958.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181476 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:18.356Z,1761545958.356 [DAT](INFO): DAT read: user:738> 2025-10-27T06:19:18.357Z,1761545958.357 [DAT](INFO): DAT read: Tx time:06:19:17.4180 2025-10-27T06:19:18.357Z,1761545958.357 [DAT](INFO): Ping request sent. 2025-10-27T06:19:18.357Z,1761545958.357 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:18.358Z,1761545958.358 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:18.358Z,1761545958.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-27T06:19:18.609Z,1761545958.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251103 2025-10-27T06:19:18.708Z,1761545958.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991644,0.122596,0.040153],[-0.127300,0.980361,0.150621],[-0.020899,-0.154474,0.987776]] 2025-10-27T06:19:18.747Z,1761545958.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:18.750Z,1761545958.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 61.796360 m, bearing: 1.626840 deg, approach rate: -0.567441 m/s, LOS rate: 0.015496 deg/s, cmd heading: 354.172465 deg, new cmd heading: 354.195348 deg. 2025-10-27T06:19:18.750Z,1761545958.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181875 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:18.860Z,1761545958.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502308 2025-10-27T06:19:19.112Z,1761545959.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754728 2025-10-27T06:19:19.179Z,1761545959.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991831,0.120848,0.040839],[-0.125604,0.981088,0.147278],[-0.022269,-0.151204,0.988252]] 2025-10-27T06:19:19.258Z,1761545959.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:19.261Z,1761545959.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 61.522160 m, bearing: 1.622747 deg, approach rate: -0.536191 m/s, LOS rate: -0.008039 deg/s, cmd heading: 354.195360 deg, new cmd heading: 354.183027 deg. 2025-10-27T06:19:19.262Z,1761545959.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181660 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:19.364Z,1761545959.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006432 2025-10-27T06:19:19.616Z,1761545959.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258378 2025-10-27T06:19:19.728Z,1761545959.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:19.731Z,1761545959.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:19.738Z,1761545959.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 61.271996 m, bearing: 1.618981 deg, approach rate: -0.529342 m/s, LOS rate: -0.008001 deg/s, cmd heading: 354.183038 deg, new cmd heading: 354.171694 deg. 2025-10-27T06:19:19.739Z,1761545959.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181462 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:19.872Z,1761545959.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514553 2025-10-27T06:19:20.085Z,1761545960.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992188,0.116992,0.043321],[-0.122113,0.981826,0.145280],[-0.025537,-0.149435,0.988442]] 2025-10-27T06:19:20.124Z,1761545960.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766568 2025-10-27T06:19:20.125Z,1761545960.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:20.147Z,1761545960.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 61.053810 m, bearing: 1.606363 deg, approach rate: -0.556323 m/s, LOS rate: -0.032289 deg/s, cmd heading: 354.171700 deg, new cmd heading: 354.133709 deg. 2025-10-27T06:19:20.148Z,1761545960.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180799 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:20.377Z,1761545960.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019693 2025-10-27T06:19:20.481Z,1761545960.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992334,0.115457,0.044070],[-0.120640,0.982371,0.142803],[-0.026806,-0.147025,0.988769]] 2025-10-27T06:19:20.511Z,1761545960.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:20.514Z,1761545960.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 60.840637 m, bearing: 1.593625 deg, approach rate: -0.549344 m/s, LOS rate: -0.032941 deg/s, cmd heading: 354.133697 deg, new cmd heading: 354.095349 deg. 2025-10-27T06:19:20.515Z,1761545960.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180130 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:20.628Z,1761545960.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270482 2025-10-27T06:19:20.882Z,1761545960.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523999 2025-10-27T06:19:20.900Z,1761545960.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992484,0.113848,0.044878],[-0.119111,0.982840,0.140845],[-0.028073,-0.145132,0.989014]] 2025-10-27T06:19:20.997Z,1761545960.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:21.004Z,1761545961.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 60.592625 m, bearing: 1.578308 deg, approach rate: -0.510293 m/s, LOS rate: -0.031644 deg/s, cmd heading: 354.095339 deg, new cmd heading: 354.049200 deg. 2025-10-27T06:19:21.005Z,1761545961.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179324 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:21.133Z,1761545961.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775075 2025-10-27T06:19:21.342Z,1761545961.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992679,0.111874,0.045525],[-0.117209,0.983266,0.139465],[-0.029160,-0.143780,0.989180]] 2025-10-27T06:19:21.390Z,1761545961.390 [DAT](INFO): DAT read: Rx Time:06:19:19.9057 2025-10-27T06:19:21.390Z,1761545961.390 [DAT](INFO): Rx dataTimestamp_ set to:1761545961.389756 2025-10-27T06:19:21.392Z,1761545961.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034850 2025-10-27T06:19:21.458Z,1761545961.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:21.465Z,1761545961.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 60.323784 m, bearing: 1.554737 deg, approach rate: -0.582678 m/s, LOS rate: -0.051315 deg/s, cmd heading: 354.049194 deg, new cmd heading: 353.978166 deg. 2025-10-27T06:19:21.466Z,1761545961.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178084 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:21.640Z,1761545961.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282365 2025-10-27T06:19:21.813Z,1761545961.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992887,0.109805,0.046021],[-0.115174,0.983772,0.137575],[-0.030168,-0.141897,0.989422]] 2025-10-27T06:19:21.862Z,1761545961.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:21.876Z,1761545961.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.29 m. 2025-10-27T06:19:21.901Z,1761545961.901 [DAT](INFO): DAT read: 06:19:19.9057 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 420, 0.22,-2.999, 1.447,-3.011,-3.122, PHS= 0.225,-1.670, 0.067, RAW= 145.7, 15.0, CAL= 145.4, 16.4, ROT= 4.6, -16.4 2025-10-27T06:19:21.903Z,1761545961.903 [DAT](INFO): got valid direction response: 06:19:19.9057 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 420, 0.22,-2.999, 1.447,-3.011,-3.122, PHS= 0.225,-1.670, 0.067, RAW= 145.7, 15.0, CAL= 145.4, 16.4, ROT= 4.6, -16.4 2025-10-27T06:19:21.905Z,1761545961.905 [DAT](INFO): DAT read: Bearing 168.4, 0.5 (Local) 2025-10-27T06:19:21.905Z,1761545961.905 [DAT](INFO): Local bearing/azimuth received: Bearing 168.4, 0.5 (Local) 2025-10-27T06:19:21.907Z,1761545961.907 [DAT](INFO): DAT read: Range 11 to 50 : 62.6 m (Round-trip 83.5 ms) speed 0.4 m/s 2025-10-27T06:19:21.907Z,1761545961.907 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:21.908Z,1761545961.908 [DAT](INFO): direction in FSK: [0.956224,0.076936,0.282341] 2025-10-27T06:19:21.908Z,1761545961.908 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:21.912Z,1761545961.912 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:21.912Z,1761545961.912 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:21.912Z,1761545961.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:21.920Z,1761545961.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.289139 m, nav range: 60.099880 m, bearing: 1.534482 deg, approach rate: -0.542684 m/s, LOS rate: -0.049275 deg/s, cmd heading: 353.978160 deg, new cmd heading: 353.917170 deg. 2025-10-27T06:19:21.921Z,1761545961.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177020 target range: 64.289139 and range: 64.70 m. 2025-10-27T06:19:22.144Z,1761545962.144 [DAT](INFO): DAT read: user:739> 2025-10-27T06:19:22.145Z,1761545962.145 [DAT](INFO): DAT read: Tx time:06:19:21.2196 2025-10-27T06:19:22.145Z,1761545962.145 [DAT](INFO): Ping request sent. 2025-10-27T06:19:22.145Z,1761545962.145 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:22.145Z,1761545962.145 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:22.146Z,1761545962.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T06:19:22.258Z,1761545962.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993053,0.108101,0.046485],[-0.113517,0.984117,0.136486],[-0.030992,-0.140815,0.989551]] 2025-10-27T06:19:22.304Z,1761545962.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.599998 m, deltaT: 3.788319 s, deltaX: -2.099998 m, approachRate: -0.554335 m/s, rangeRepo size: 4 2025-10-27T06:19:22.306Z,1761545962.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.201672 m, bearing: 0.336446 deg, lat: 36.779436 deg, lon: -121.859792 deg, deltaT: 3.788319 s, deltaX: -2.087467 m, approachRate: -0.551027 m/s, posRepo size: 4 2025-10-27T06:19:22.306Z,1761545962.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:22.325Z,1761545962.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 59.863750 m, bearing: 1.477962 deg, approach rate: 0.000000 m/s, LOS rate: -0.049275 deg/s, cmd heading: 353.917180 deg, new cmd heading: 353.853339 deg. 2025-10-27T06:19:22.326Z,1761545962.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175906 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:22.398Z,1761545962.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252128 2025-10-27T06:19:22.648Z,1761545962.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502773 2025-10-27T06:19:22.649Z,1761545962.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993184,0.106582,0.047186],[-0.112101,0.984317,0.136209],[-0.031928,-0.140570,0.989556]] 2025-10-27T06:19:22.689Z,1761545962.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:22.692Z,1761545962.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 59.648460 m, bearing: 1.452061 deg, approach rate: -0.557849 m/s, LOS rate: -0.067358 deg/s, cmd heading: 353.853332 deg, new cmd heading: 353.775346 deg. 2025-10-27T06:19:22.692Z,1761545962.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174545 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:22.901Z,1761545962.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755369 2025-10-27T06:19:23.050Z,1761545963.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993280,0.105412,0.047778],[-0.111033,0.984408,0.136429],[-0.032652,-0.140818,0.989497]] 2025-10-27T06:19:23.106Z,1761545963.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:23.109Z,1761545963.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 59.412830 m, bearing: 1.421996 deg, approach rate: -0.564520 m/s, LOS rate: -0.072315 deg/s, cmd heading: 353.775358 deg, new cmd heading: 353.684806 deg. 2025-10-27T06:19:23.110Z,1761545963.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172965 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:23.153Z,1761545963.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007231 2025-10-27T06:19:23.404Z,1761545963.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258791 2025-10-27T06:19:23.462Z,1761545963.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993372,0.104273,0.048375],[-0.110013,0.984420,0.137164],[-0.033319,-0.141577,0.989366]] 2025-10-27T06:19:23.481Z,1761545963.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:23.484Z,1761545963.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 59.201508 m, bearing: 1.394619 deg, approach rate: -0.563174 m/s, LOS rate: -0.073218 deg/s, cmd heading: 353.684817 deg, new cmd heading: 353.602395 deg. 2025-10-27T06:19:23.485Z,1761545963.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171526 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:23.656Z,1761545963.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510760 2025-10-27T06:19:23.865Z,1761545963.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993488,0.102858,0.049004],[-0.108796,0.984162,0.139957],[-0.033832,-0.144377,0.988944]] 2025-10-27T06:19:23.914Z,1761545963.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768576 2025-10-27T06:19:23.918Z,1761545963.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:23.924Z,1761545963.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:23.931Z,1761545963.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 58.958519 m, bearing: 1.362636 deg, approach rate: -0.548451 m/s, LOS rate: -0.072487 deg/s, cmd heading: 353.602390 deg, new cmd heading: 353.506046 deg. 2025-10-27T06:19:23.932Z,1761545963.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169845 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:24.168Z,1761545964.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022724 2025-10-27T06:19:24.273Z,1761545964.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993505,0.102618,0.049170],[-0.108595,0.984131,0.140331],[-0.033989,-0.144759,0.988883]] 2025-10-27T06:19:24.319Z,1761545964.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:24.321Z,1761545964.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 58.726357 m, bearing: 1.343266 deg, approach rate: -0.588910 m/s, LOS rate: -0.049329 deg/s, cmd heading: 353.506057 deg, new cmd heading: 353.447718 deg. 2025-10-27T06:19:24.322Z,1761545964.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168827 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:24.421Z,1761545964.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275442 2025-10-27T06:19:24.672Z,1761545964.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526760 2025-10-27T06:19:24.698Z,1761545964.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:24.702Z,1761545964.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 58.509743 m, bearing: 1.325054 deg, approach rate: -0.570969 m/s, LOS rate: -0.048182 deg/s, cmd heading: 353.447728 deg, new cmd heading: 353.392890 deg. 2025-10-27T06:19:24.703Z,1761545964.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167870 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:24.925Z,1761545964.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779793 2025-10-27T06:19:25.078Z,1761545965.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993469,0.102762,0.049594],[-0.109002,0.983229,0.146218],[-0.033736,-0.150669,0.988008]] 2025-10-27T06:19:25.126Z,1761545965.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:25.128Z,1761545965.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 58.261536 m, bearing: 1.308944 deg, approach rate: -0.580349 m/s, LOS rate: -0.037829 deg/s, cmd heading: 353.392895 deg, new cmd heading: 353.344358 deg. 2025-10-27T06:19:25.129Z,1761545965.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167022 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:25.177Z,1761545965.177 [DAT](INFO): DAT read: Rx Time:06:19:23.7042 2025-10-27T06:19:25.177Z,1761545965.177 [DAT](INFO): Rx dataTimestamp_ set to:1761545965.177169 2025-10-27T06:19:25.178Z,1761545965.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033136 2025-10-27T06:19:25.428Z,1761545965.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282720 2025-10-27T06:19:25.475Z,1761545965.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993405,0.103111,0.050150],[-0.109585,0.982494,0.150656],[-0.033738,-0.155158,0.987313]] 2025-10-27T06:19:25.503Z,1761545965.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.20 m. 2025-10-27T06:19:25.506Z,1761545965.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.201672 m, nav range: 58.042805 m, bearing: 1.294822 deg, approach rate: -0.579968 m/s, LOS rate: -0.037587 deg/s, cmd heading: 353.344346 deg, new cmd heading: 353.301819 deg. 2025-10-27T06:19:25.506Z,1761545965.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166280 target range: 62.201672 and range: 62.60 m. 2025-10-27T06:19:25.685Z,1761545965.685 [DAT](INFO): DAT read: 06:19:23.7042 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 406, 0.34, 2.695, 0.866, 2.704, 2.531, PHS= 0.266,-1.620, 0.129, RAW= 146.3, 13.4, CAL= 146.0, 14.7, ROT= 4.0, -14.7 2025-10-27T06:19:25.686Z,1761545965.686 [DAT](INFO): got valid direction response: 06:19:23.7042 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 406, 0.34, 2.695, 0.866, 2.704, 2.531, PHS= 0.266,-1.620, 0.129, RAW= 146.3, 13.4, CAL= 146.0, 14.7, ROT= 4.0, -14.7 2025-10-27T06:19:25.687Z,1761545965.687 [DAT](INFO): DAT read: Bearing 166.6, -0.1 (Local) 2025-10-27T06:19:25.688Z,1761545965.688 [DAT](INFO): Local bearing/azimuth received: Bearing 166.6, -0.1 (Local) 2025-10-27T06:19:25.689Z,1761545965.689 [DAT](INFO): DAT read: Range 11 to 50 : 60.4 m (Round-trip 80.6 ms) speed 0.4 m/s 2025-10-27T06:19:25.689Z,1761545965.689 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:25.690Z,1761545965.690 [DAT](INFO): direction in FSK: [0.964912,0.067473,0.253758] 2025-10-27T06:19:25.704Z,1761545965.704 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:25.730Z,1761545965.730 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:25.730Z,1761545965.730 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:25.736Z,1761545965.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:25.893Z,1761545965.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993291,0.103911,0.050740],[-0.110581,0.981867,0.153977],[-0.033820,-0.158555,0.986771]] 2025-10-27T06:19:25.923Z,1761545965.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 60.400002 m, deltaT: 3.787685 s, deltaX: -2.199997 m, approachRate: -0.580829 m/s, rangeRepo size: 4 2025-10-27T06:19:25.925Z,1761545965.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.017445 m, bearing: 359.919265 deg, lat: 36.779441 deg, lon: -121.859795 deg, deltaT: 3.787685 s, deltaX: -2.184227 m, approachRate: -0.576665 m/s, posRepo size: 4 2025-10-27T06:19:25.926Z,1761545965.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:25.928Z,1761545965.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 58.352505 m, bearing: 0.953238 deg, approach rate: 0.000000 m/s, LOS rate: -0.037587 deg/s, cmd heading: 353.301807 deg, new cmd heading: 353.254532 deg. 2025-10-27T06:19:25.929Z,1761545965.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165455 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:25.932Z,1761545965.932 [DAT](INFO): DAT read: user:740> 2025-10-27T06:19:25.933Z,1761545965.933 [DAT](INFO): DAT read: Tx time:06:19:25.0179 2025-10-27T06:19:25.933Z,1761545965.933 [DAT](INFO): Ping request sent. 2025-10-27T06:19:25.933Z,1761545965.933 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:25.933Z,1761545965.933 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:25.934Z,1761545965.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-27T06:19:26.184Z,1761545966.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728 2025-10-27T06:19:26.281Z,1761545966.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993149,0.105111,0.051064],[-0.111880,0.981437,0.155768],[-0.033743,-0.160413,0.986473]] 2025-10-27T06:19:26.335Z,1761545966.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:26.337Z,1761545966.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:26.340Z,1761545966.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 58.118912 m, bearing: 0.951564 deg, approach rate: -0.563012 m/s, LOS rate: -0.004051 deg/s, cmd heading: 353.254543 deg, new cmd heading: 353.249500 deg. 2025-10-27T06:19:26.341Z,1761545966.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165367 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:26.436Z,1761545966.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503282 2025-10-27T06:19:26.686Z,1761545966.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993109,0.105290,0.051470],[-0.112117,0.981438,0.155593],[-0.034132,-0.160291,0.986479]] 2025-10-27T06:19:26.688Z,1761545966.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754822 2025-10-27T06:19:26.737Z,1761545966.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:26.744Z,1761545966.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 57.895313 m, bearing: 0.949999 deg, approach rate: -0.559438 m/s, LOS rate: -0.003930 deg/s, cmd heading: 353.249488 deg, new cmd heading: 353.244775 deg. 2025-10-27T06:19:26.745Z,1761545966.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165285 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:26.940Z,1761545966.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006792 2025-10-27T06:19:27.192Z,1761545967.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258835 2025-10-27T06:19:27.194Z,1761545967.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:27.196Z,1761545967.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 57.614285 m, bearing: 0.948015 deg, approach rate: -0.615014 m/s, LOS rate: -0.004363 deg/s, cmd heading: 353.244789 deg, new cmd heading: 353.238808 deg. 2025-10-27T06:19:27.197Z,1761545967.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165180 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:27.448Z,1761545967.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514716 2025-10-27T06:19:27.558Z,1761545967.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992860,0.107087,0.052548],[-0.114144,0.980847,0.157831],[-0.034640,-0.162702,0.986067]] 2025-10-27T06:19:27.578Z,1761545967.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:27.580Z,1761545967.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 57.391743 m, bearing: 0.946915 deg, approach rate: -0.579519 m/s, LOS rate: -0.002875 deg/s, cmd heading: 353.238806 deg, new cmd heading: 353.235493 deg. 2025-10-27T06:19:27.581Z,1761545967.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165123 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:27.696Z,1761545967.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762802 2025-10-27T06:19:27.952Z,1761545967.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018600 2025-10-27T06:19:27.963Z,1761545967.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992660,0.108783,0.052841],[-0.115881,0.980584,0.158198],[-0.034606,-0.163160,0.985992]] 2025-10-27T06:19:28.002Z,1761545968.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:28.004Z,1761545968.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 57.146606 m, bearing: 0.946131 deg, approach rate: -0.578034 m/s, LOS rate: -0.001858 deg/s, cmd heading: 353.235500 deg, new cmd heading: 353.233136 deg. 2025-10-27T06:19:28.005Z,1761545968.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165081 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:28.205Z,1761545968.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271503 2025-10-27T06:19:28.456Z,1761545968.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522901 2025-10-27T06:19:28.464Z,1761545968.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992435,0.110775,0.052942],[-0.117811,0.980600,0.156668],[-0.034560,-0.161720,0.986231]] 2025-10-27T06:19:28.513Z,1761545968.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:28.519Z,1761545968.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:28.521Z,1761545968.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 56.855148 m, bearing: 0.945735 deg, approach rate: -0.568026 m/s, LOS rate: -0.000776 deg/s, cmd heading: 353.233123 deg, new cmd heading: 353.231929 deg. 2025-10-27T06:19:28.522Z,1761545968.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165060 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:28.708Z,1761545968.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775338 2025-10-27T06:19:28.897Z,1761545968.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992197,0.112719,0.053289],[-0.119800,0.980305,0.157006],[-0.034542,-0.162164,0.986159]] 2025-10-27T06:19:28.924Z,1761545968.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:28.927Z,1761545968.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 56.613483 m, bearing: 0.945900 deg, approach rate: -0.589848 m/s, LOS rate: 0.000405 deg/s, cmd heading: 353.231921 deg, new cmd heading: 353.232419 deg. 2025-10-27T06:19:28.928Z,1761545968.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165069 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:28.960Z,1761545968.960 [DAT](INFO): DAT read: Rx Time:06:19:27.4999 2025-10-27T06:19:28.960Z,1761545968.960 [DAT](INFO): Rx dataTimestamp_ set to:1761545968.960207 2025-10-27T06:19:28.961Z,1761545968.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027906 2025-10-27T06:19:29.212Z,1761545969.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278780 2025-10-27T06:19:29.396Z,1761545969.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991968,0.114650,0.053434],[-0.121731,0.980073,0.156969],[-0.034372,-0.162213,0.986157]] 2025-10-27T06:19:29.434Z,1761545969.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.02 m. 2025-10-27T06:19:29.457Z,1761545969.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.017445 m, nav range: 56.315697 m, bearing: 0.984210 deg, approach rate: -0.584049 m/s, LOS rate: 0.075535 deg/s, cmd heading: 353.232413 deg, new cmd heading: 353.347950 deg. 2025-10-27T06:19:29.458Z,1761545969.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167085 target range: 60.017445 and range: 60.40 m. 2025-10-27T06:19:29.470Z,1761545969.470 [DAT](INFO): DAT read: 06:19:27.4999 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.04,-2.166, 2.286,-2.164,-2.331, PHS= 0.267,-1.622, 0.123, RAW= 146.1, 13.5, CAL= 145.8, 14.7, ROT= 4.2, -14.7 2025-10-27T06:19:29.472Z,1761545969.472 [DAT](INFO): got valid direction response: 06:19:27.4999 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.04,-2.166, 2.286,-2.164,-2.331, PHS= 0.267,-1.622, 0.123, RAW= 146.1, 13.5, CAL= 145.8, 14.7, ROT= 4.2, -14.7 2025-10-27T06:19:29.473Z,1761545969.473 [DAT](INFO): DAT read: Bearing 165.8, -0.2 (Local) 2025-10-27T06:19:29.473Z,1761545969.473 [DAT](INFO): Local bearing/azimuth received: Bearing 165.8, -0.2 (Local) 2025-10-27T06:19:29.474Z,1761545969.474 [DAT](INFO): DAT read: Range 11 to 50 : 58.3 m (Round-trip 77.8 ms) speed 0.4 m/s 2025-10-27T06:19:29.475Z,1761545969.475 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:29.476Z,1761545969.476 [DAT](INFO): direction in FSK: [0.964670,0.070841,0.253758] 2025-10-27T06:19:29.476Z,1761545969.476 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:29.484Z,1761545969.484 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:29.484Z,1761545969.484 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:29.484Z,1761545969.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:29.717Z,1761545969.717 [DAT](INFO): DAT read: user:741> 2025-10-27T06:19:29.718Z,1761545969.718 [DAT](INFO): DAT read: Tx time:06:19:28.7679 2025-10-27T06:19:29.719Z,1761545969.719 [DAT](INFO): Ping request sent. 2025-10-27T06:19:29.719Z,1761545969.719 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:29.719Z,1761545969.719 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:29.720Z,1761545969.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001202 2025-10-27T06:19:29.814Z,1761545969.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991756,0.116598,0.053145],[-0.123598,0.979886,0.156677],[-0.033808,-0.161954,0.986219]] 2025-10-27T06:19:29.876Z,1761545969.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.299999 m, deltaT: 3.785077 s, deltaX: -2.100002 m, approachRate: -0.554811 m/s, rangeRepo size: 4 2025-10-27T06:19:29.882Z,1761545969.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.931446 m, bearing: 359.411081 deg, lat: 36.779442 deg, lon: -121.859805 deg, deltaT: 3.785077 s, deltaX: -2.085999 m, approachRate: -0.551111 m/s, posRepo size: 4 2025-10-27T06:19:29.882Z,1761545969.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:29.888Z,1761545969.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:29.896Z,1761545969.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 56.099152 m, bearing: 0.127262 deg, approach rate: 0.000000 m/s, LOS rate: 0.075535 deg/s, cmd heading: 353.347952 deg, new cmd heading: 353.445761 deg. 2025-10-27T06:19:29.897Z,1761545969.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168792 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:29.954Z,1761545969.954 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T06:19:29.968Z,1761545969.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249546 2025-10-27T06:19:30.220Z,1761545970.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501181 2025-10-27T06:19:30.293Z,1761545970.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991486,0.119134,0.052552],[-0.126015,0.979541,0.156909],[-0.032784,-0.162195,0.986214]] 2025-10-27T06:19:30.336Z,1761545970.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:30.337Z,1761545970.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:30.340Z,1761545970.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 55.803696 m, bearing: 0.158584 deg, approach rate: -0.628337 m/s, LOS rate: 0.066963 deg/s, cmd heading: 353.445760 deg, new cmd heading: 353.540223 deg. 2025-10-27T06:19:30.341Z,1761545970.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170441 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:30.472Z,1761545970.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753138 2025-10-27T06:19:30.690Z,1761545970.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991472,0.119465,0.052075],[-0.126273,0.979468,0.157157],[-0.032231,-0.162392,0.986200]] 2025-10-27T06:19:30.725Z,1761545970.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006052 2025-10-27T06:19:30.730Z,1761545970.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:30.733Z,1761545970.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:30.734Z,1761545970.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:30.738Z,1761545970.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 55.571613 m, bearing: 0.183484 deg, approach rate: -0.585344 m/s, LOS rate: 0.063065 deg/s, cmd heading: 353.540236 deg, new cmd heading: 353.615250 deg. 2025-10-27T06:19:30.739Z,1761545970.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171751 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:30.976Z,1761545970.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257052 2025-10-27T06:19:31.147Z,1761545971.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991545,0.119188,0.051309],[-0.125832,0.979736,0.155832],[-0.031696,-0.160971,0.986450]] 2025-10-27T06:19:31.204Z,1761545971.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:31.205Z,1761545971.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:31.217Z,1761545971.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 55.301659 m, bearing: 0.201913 deg, approach rate: -0.572258 m/s, LOS rate: 0.039257 deg/s, cmd heading: 353.615258 deg, new cmd heading: 353.670815 deg. 2025-10-27T06:19:31.218Z,1761545971.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172720 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:31.228Z,1761545971.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509331 2025-10-27T06:19:31.480Z,1761545971.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761236 2025-10-27T06:19:31.540Z,1761545971.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991658,0.118603,0.050476],[-0.125075,0.980061,0.154394],[-0.031158,-0.159419,0.986719]] 2025-10-27T06:19:31.559Z,1761545971.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:31.560Z,1761545971.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:31.562Z,1761545971.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 55.081486 m, bearing: 0.216906 deg, approach rate: -0.621362 m/s, LOS rate: 0.042480 deg/s, cmd heading: 353.670802 deg, new cmd heading: 353.715959 deg. 2025-10-27T06:19:31.563Z,1761545971.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173508 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:31.732Z,1761545971.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013617 2025-10-27T06:19:31.941Z,1761545971.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991809,0.117869,0.049213],[-0.124055,0.980663,0.151364],[-0.030421,-0.156230,0.987252]] 2025-10-27T06:19:31.977Z,1761545971.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:31.977Z,1761545971.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:31.984Z,1761545971.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265279 2025-10-27T06:19:31.986Z,1761545971.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 54.845146 m, bearing: 0.232886 deg, approach rate: -0.565289 m/s, LOS rate: 0.038387 deg/s, cmd heading: 353.715963 deg, new cmd heading: 353.764110 deg. 2025-10-27T06:19:31.991Z,1761545971.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174348 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:32.236Z,1761545972.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517163 2025-10-27T06:19:32.345Z,1761545972.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991889,0.117563,0.048333],[-0.123535,0.981130,0.148739],[-0.029935,-0.153503,0.987695]] 2025-10-27T06:19:32.411Z,1761545972.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:32.412Z,1761545972.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:32.414Z,1761545972.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 54.594303 m, bearing: 0.236748 deg, approach rate: -0.578041 m/s, LOS rate: 0.008940 deg/s, cmd heading: 353.764102 deg, new cmd heading: 353.775741 deg. 2025-10-27T06:19:32.415Z,1761545972.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174551 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:32.488Z,1761545972.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769291 2025-10-27T06:19:32.740Z,1761545972.740 [DAT](INFO): DAT read: Rx Time:06:19:31.2469 2025-10-27T06:19:32.741Z,1761545972.741 [DAT](INFO): Rx dataTimestamp_ set to:1761545972.740263 2025-10-27T06:19:32.741Z,1761545972.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022405 2025-10-27T06:19:32.753Z,1761545972.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992091,0.116132,0.047636],[-0.121982,0.981480,0.147706],[-0.029600,-0.152349,0.987883]] 2025-10-27T06:19:32.782Z,1761545972.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:32.789Z,1761545972.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:32.789Z,1761545972.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:32.796Z,1761545972.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 54.392857 m, bearing: 0.239546 deg, approach rate: -0.533139 m/s, LOS rate: 0.007434 deg/s, cmd heading: 353.775741 deg, new cmd heading: 353.784167 deg. 2025-10-27T06:19:32.797Z,1761545972.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174698 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:32.992Z,1761545972.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273237 2025-10-27T06:19:33.226Z,1761545973.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.93 m. 2025-10-27T06:19:33.227Z,1761545973.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m. 2025-10-27T06:19:33.230Z,1761545973.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.931446 m, nav range: 54.143929 m, bearing: 0.220049 deg, approach rate: -0.568746 m/s, LOS rate: -0.044751 deg/s, cmd heading: 353.784155 deg, new cmd heading: 353.725396 deg. 2025-10-27T06:19:33.231Z,1761545973.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173673 target range: 57.931446 and range: 58.30 m. 2025-10-27T06:19:33.249Z,1761545973.249 [DAT](INFO): DAT read: 06:19:31.2469 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411, 0.20, 0.830,-0.943, 0.774, 0.610, PHS= 0.323,-1.508, 0.120, RAW= 144.2, 12.2, CAL= 143.8, 13.3, ROT= 6.2, -13.3 2025-10-27T06:19:33.250Z,1761545973.250 [DAT](INFO): got valid direction response: 06:19:31.2469 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411, 0.20, 0.830,-0.943, 0.774, 0.610, PHS= 0.323,-1.508, 0.120, RAW= 144.2, 12.2, CAL= 143.8, 13.3, ROT= 6.2, -13.3 2025-10-27T06:19:33.251Z,1761545973.251 [DAT](INFO): DAT read: Bearing 164.5, 2.3 (Local) 2025-10-27T06:19:33.252Z,1761545973.252 [DAT](INFO): Local bearing/azimuth received: Bearing 164.5, 2.3 (Local) 2025-10-27T06:19:33.253Z,1761545973.253 [DAT](INFO): DAT read: Range 11 to 50 : 56.1 m (Round-trip 74.9 ms) speed 0.5 m/s 2025-10-27T06:19:33.254Z,1761545973.254 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:33.255Z,1761545973.255 [DAT](INFO): direction in FSK: [0.967487,0.105103,0.230050] 2025-10-27T06:19:33.256Z,1761545973.256 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:33.259Z,1761545973.259 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:33.259Z,1761545973.259 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:33.259Z,1761545973.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:33.496Z,1761545973.496 [DAT](INFO): DAT read: user:742> 2025-10-27T06:19:33.497Z,1761545973.497 [DAT](INFO): DAT read: Tx time:06:19:32.5679 2025-10-27T06:19:33.497Z,1761545973.497 [DAT](INFO): Ping request sent. 2025-10-27T06:19:33.497Z,1761545973.497 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:33.498Z,1761545973.498 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:33.498Z,1761545973.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T06:19:33.562Z,1761545973.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992616,0.112365,0.045702],[-0.117814,0.982737,0.142642],[-0.028885,-0.146973,0.988719]] 2025-10-27T06:19:33.585Z,1761545973.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.099998 m, deltaT: 3.778903 s, deltaX: -2.200001 m, approachRate: -0.582180 m/s, rangeRepo size: 4 2025-10-27T06:19:33.587Z,1761545973.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.745510 m, bearing: 1.289511 deg, lat: 36.779445 deg, lon: -121.859805 deg, deltaT: 3.778903 s, deltaX: -2.185936 m, approachRate: -0.578458 m/s, posRepo size: 4 2025-10-27T06:19:33.588Z,1761545973.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:33.588Z,1761545973.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:19:33.591Z,1761545973.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 54.291546 m, bearing: 0.202553 deg, approach rate: 0.000000 m/s, LOS rate: -0.044751 deg/s, cmd heading: 353.725388 deg, new cmd heading: 353.677301 deg. 2025-10-27T06:19:33.592Z,1761545973.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172833 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:33.748Z,1761545973.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250720 2025-10-27T06:19:33.961Z,1761545973.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992922,0.110039,0.044691],[-0.115320,0.983252,0.141126],[-0.028413,-0.145281,0.988982]] 2025-10-27T06:19:33.997Z,1761545973.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:33.998Z,1761545973.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:19:34.000Z,1761545974.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502661 2025-10-27T06:19:34.005Z,1761545974.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 54.072514 m, bearing: 0.183644 deg, approach rate: -0.530496 m/s, LOS rate: -0.045983 deg/s, cmd heading: 353.677304 deg, new cmd heading: 353.620348 deg. 2025-10-27T06:19:34.006Z,1761545974.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171839 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:34.252Z,1761545974.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754525 2025-10-27T06:19:34.379Z,1761545974.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993280,0.107067,0.043951],[-0.112274,0.983577,0.141321],[-0.028099,-0.145306,0.988988]] 2025-10-27T06:19:34.427Z,1761545974.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:34.428Z,1761545974.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:19:34.430Z,1761545974.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 53.842754 m, bearing: 0.143633 deg, approach rate: -0.534673 m/s, LOS rate: -0.093506 deg/s, cmd heading: 353.620340 deg, new cmd heading: 353.499796 deg. 2025-10-27T06:19:34.432Z,1761545974.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169735 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:34.504Z,1761545974.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761 2025-10-27T06:19:34.756Z,1761545974.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258477 2025-10-27T06:19:34.771Z,1761545974.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993548,0.104960,0.042963],[-0.110006,0.984029,0.139946],[-0.027588,-0.143769,0.989227]] 2025-10-27T06:19:34.789Z,1761545974.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:34.791Z,1761545974.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:34.807Z,1761545974.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:19:34.810Z,1761545974.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 53.656078 m, bearing: 0.110394 deg, approach rate: -0.513539 m/s, LOS rate: -0.091758 deg/s, cmd heading: 353.499801 deg, new cmd heading: 353.399736 deg. 2025-10-27T06:19:34.815Z,1761545974.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167989 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:35.009Z,1761545975.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511975 2025-10-27T06:19:35.204Z,1761545975.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993906,0.101969,0.041881],[-0.106835,0.984652,0.138011],[-0.027165,-0.141644,0.989545]] 2025-10-27T06:19:35.248Z,1761545975.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:35.248Z,1761545975.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:19:35.251Z,1761545975.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 53.419342 m, bearing: 0.054391 deg, approach rate: -0.517631 m/s, LOS rate: -0.122995 deg/s, cmd heading: 353.399725 deg, new cmd heading: 353.230971 deg. 2025-10-27T06:19:35.252Z,1761545975.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165043 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:35.260Z,1761545975.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762711 2025-10-27T06:19:35.513Z,1761545975.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015026 2025-10-27T06:19:35.578Z,1761545975.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994176,0.099624,0.041095],[-0.104421,0.984807,0.138749],[-0.026648,-0.142233,0.989475]] 2025-10-27T06:19:35.606Z,1761545975.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:35.606Z,1761545975.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:19:35.609Z,1761545975.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 53.234344 m, bearing: 0.009774 deg, approach rate: -0.517302 m/s, LOS rate: -0.125194 deg/s, cmd heading: 353.230965 deg, new cmd heading: 353.096649 deg. 2025-10-27T06:19:35.610Z,1761545975.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162699 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:35.764Z,1761545975.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266484 2025-10-27T06:19:35.981Z,1761545975.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994260,0.098899,0.040824],[-0.103720,0.984583,0.140847],[-0.026265,-0.144272,0.989189]] 2025-10-27T06:19:36.016Z,1761545976.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518517 2025-10-27T06:19:36.032Z,1761545976.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:36.033Z,1761545976.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m. 2025-10-27T06:19:36.033Z,1761545976.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.10 m. 2025-10-27T06:19:36.033Z,1761545976.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T06:19:36.040Z,1761545976.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 53.024479 m, bearing: 359.958638 deg, approach rate: -0.492157 m/s, LOS rate: -0.120394 deg/s, cmd heading: 353.096656 deg, new cmd heading: 352.942642 deg. 2025-10-27T06:19:36.041Z,1761545976.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160011 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:36.271Z,1761545976.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773979 2025-10-27T06:19:36.392Z,1761545976.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994297,0.098716,0.040357],[-0.103508,0.984404,0.142247],[-0.025685,-0.145613,0.989008]] 2025-10-27T06:19:36.430Z,1761545976.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:36.432Z,1761545976.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 52.810524 m, bearing: 359.901561 deg, approach rate: -0.538264 m/s, LOS rate: -0.144174 deg/s, cmd heading: 352.942649 deg, new cmd heading: 352.770726 deg. 2025-10-27T06:19:36.433Z,1761545976.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157011 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:36.521Z,1761545976.521 [DAT](INFO): DAT read: Rx Time:06:19:35.0442 2025-10-27T06:19:36.521Z,1761545976.521 [DAT](INFO): Rx dataTimestamp_ set to:1761545976.520836 2025-10-27T06:19:36.522Z,1761545976.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024319 2025-10-27T06:19:36.772Z,1761545976.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274586 2025-10-27T06:19:36.795Z,1761545976.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994336,0.098555,0.039792],[-0.103300,0.984230,0.143596],[-0.025013,-0.146893,0.988836]] 2025-10-27T06:19:36.817Z,1761545976.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:36.820Z,1761545976.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.75 m. 2025-10-27T06:19:36.822Z,1761545976.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.745510 m, nav range: 52.610916 m, bearing: 359.847859 deg, approach rate: -0.511711 m/s, LOS rate: -0.138193 deg/s, cmd heading: 352.770719 deg, new cmd heading: 352.609001 deg. 2025-10-27T06:19:36.823Z,1761545976.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154188 target range: 55.745510 and range: 56.10 m. 2025-10-27T06:19:37.029Z,1761545977.029 [DAT](INFO): DAT read: 06:19:35.0442 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.08,-2.492, 2.034,-2.502,-2.589, PHS= 0.199,-1.615, 0.043, RAW= 145.6, 15.6, CAL= 145.3, 17.0, ROT= 4.7, -17.0 2025-10-27T06:19:37.030Z,1761545977.030 [DAT](INFO): got valid direction response: 06:19:35.0442 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 415, 0.08,-2.492, 2.034,-2.502,-2.589, PHS= 0.199,-1.615, 0.043, RAW= 145.6, 15.6, CAL= 145.3, 17.0, ROT= 4.7, -17.0 2025-10-27T06:19:37.032Z,1761545977.032 [DAT](INFO): DAT read: Bearing 169.3, 0.6 (Local) 2025-10-27T06:19:37.033Z,1761545977.033 [DAT](INFO): Local bearing/azimuth received: Bearing 169.3, 0.6 (Local) 2025-10-27T06:19:37.035Z,1761545977.035 [DAT](INFO): DAT read: Range 11 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.4 m/s 2025-10-27T06:19:37.036Z,1761545977.036 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:37.037Z,1761545977.037 [DAT](INFO): direction in FSK: [0.953089,0.078358,0.292372] 2025-10-27T06:19:37.037Z,1761545977.037 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:37.042Z,1761545977.042 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:37.042Z,1761545977.042 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:37.042Z,1761545977.042 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:37.227Z,1761545977.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994471,0.097587,0.038771],[-0.102230,0.984112,0.145165],[-0.023989,-0.148326,0.988648]] 2025-10-27T06:19:37.270Z,1761545977.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.780030 s, deltaX: -2.099998 m, approachRate: -0.555551 m/s, rangeRepo size: 4 2025-10-27T06:19:37.276Z,1761545977.276 [DAT](INFO): DAT read: user:743> 2025-10-27T06:19:37.277Z,1761545977.277 [DAT](INFO): DAT read: Tx time:06:19:36.3179 2025-10-27T06:19:37.277Z,1761545977.277 [DAT](INFO): Ping request sent. 2025-10-27T06:19:37.277Z,1761545977.277 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:37.277Z,1761545977.277 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:37.278Z,1761545977.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T06:19:37.288Z,1761545977.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.659050 m, bearing: 1.310721 deg, lat: 36.779445 deg, lon: -121.859805 deg, deltaT: 3.780030 s, deltaX: -2.086460 m, approachRate: -0.551969 m/s, posRepo size: 4 2025-10-27T06:19:37.289Z,1761545977.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:37.296Z,1761545977.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 52.369102 m, bearing: 359.794824 deg, approach rate: 0.000000 m/s, LOS rate: -0.138193 deg/s, cmd heading: 352.609008 deg, new cmd heading: 352.422524 deg. 2025-10-27T06:19:37.297Z,1761545977.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150933 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:37.529Z,1761545977.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251482 2025-10-27T06:19:37.635Z,1761545977.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:37.638Z,1761545977.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 52.168560 m, bearing: 359.750459 deg, approach rate: -0.548636 m/s, LOS rate: -0.121838 deg/s, cmd heading: 352.422516 deg, new cmd heading: 352.288911 deg. 2025-10-27T06:19:37.679Z,1761545977.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148602 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:37.780Z,1761545977.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503276 2025-10-27T06:19:38.001Z,1761545978.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994653,0.096654,0.036382],[-0.101059,0.983495,0.150082],[-0.021276,-0.152956,0.988004]] 2025-10-27T06:19:38.030Z,1761545978.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:38.032Z,1761545978.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754857 2025-10-27T06:19:38.035Z,1761545978.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 51.954254 m, bearing: 359.702496 deg, approach rate: -0.541772 m/s, LOS rate: -0.121752 deg/s, cmd heading: 352.288918 deg, new cmd heading: 352.144435 deg. 2025-10-27T06:19:38.036Z,1761545978.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146080 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:38.284Z,1761545978.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006815 2025-10-27T06:19:38.407Z,1761545978.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994697,0.096549,0.035455],[-0.100849,0.983253,0.151800],[-0.020205,-0.154570,0.987775]] 2025-10-27T06:19:38.460Z,1761545978.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:38.467Z,1761545978.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 51.731281 m, bearing: 359.659155 deg, approach rate: -0.519094 m/s, LOS rate: -0.101334 deg/s, cmd heading: 352.144446 deg, new cmd heading: 352.013864 deg. 2025-10-27T06:19:38.468Z,1761545978.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143801 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:38.537Z,1761545978.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259430 2025-10-27T06:19:38.788Z,1761545978.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510754 2025-10-27T06:19:38.809Z,1761545978.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994696,0.096747,0.034929],[-0.100989,0.983045,0.153051],[-0.019529,-0.155767,0.987601]] 2025-10-27T06:19:38.840Z,1761545978.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:38.842Z,1761545978.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:38.855Z,1761545978.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 51.523540 m, bearing: 359.618496 deg, approach rate: -0.544273 m/s, LOS rate: -0.106955 deg/s, cmd heading: 352.013852 deg, new cmd heading: 351.891383 deg. 2025-10-27T06:19:38.857Z,1761545978.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141663 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:39.040Z,1761545979.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762693 2025-10-27T06:19:39.288Z,1761545979.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994658,0.097176,0.034815],[-0.101435,0.982678,0.155100],[-0.019140,-0.157803,0.987285]] 2025-10-27T06:19:39.292Z,1761545979.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014736 2025-10-27T06:19:39.369Z,1761545979.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:39.378Z,1761545979.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 51.245777 m, bearing: 359.572965 deg, approach rate: -0.527868 m/s, LOS rate: -0.086996 deg/s, cmd heading: 351.891373 deg, new cmd heading: 351.754041 deg. 2025-10-27T06:19:39.383Z,1761545979.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139266 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:39.544Z,1761545979.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266838 2025-10-27T06:19:39.697Z,1761545979.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994612,0.097718,0.034617],[-0.102032,0.981813,0.160104],[-0.018342,-0.162773,0.986493]] 2025-10-27T06:19:39.726Z,1761545979.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:39.730Z,1761545979.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 51.043865 m, bearing: 359.539790 deg, approach rate: -0.564978 m/s, LOS rate: -0.093196 deg/s, cmd heading: 351.754032 deg, new cmd heading: 351.654113 deg. 2025-10-27T06:19:39.748Z,1761545979.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137522 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:39.797Z,1761545979.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520158 2025-10-27T06:19:40.048Z,1761545980.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770723 2025-10-27T06:19:40.099Z,1761545980.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994473,0.099107,0.034668],[-0.103497,0.980888,0.164762],[-0.017676,-0.167440,0.985724]] 2025-10-27T06:19:40.143Z,1761545980.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:40.146Z,1761545980.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 50.827484 m, bearing: 359.504408 deg, approach rate: -0.518046 m/s, LOS rate: -0.085069 deg/s, cmd heading: 351.654120 deg, new cmd heading: 351.547523 deg. 2025-10-27T06:19:40.151Z,1761545980.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135662 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:40.225Z,1761545980.225 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:19:40.300Z,1761545980.300 [DAT](INFO): DAT read: Rx Time:06:19:38.7916 2025-10-27T06:19:40.300Z,1761545980.300 [DAT](INFO): Rx dataTimestamp_ set to:1761545980.300154 2025-10-27T06:19:40.301Z,1761545980.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023858 2025-10-27T06:19:40.552Z,1761545980.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274917 2025-10-27T06:19:40.562Z,1761545980.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.66 m. 2025-10-27T06:19:40.565Z,1761545980.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.659050 m, nav range: 50.588211 m, bearing: 359.472736 deg, approach rate: -0.571437 m/s, LOS rate: -0.075998 deg/s, cmd heading: 351.547514 deg, new cmd heading: 351.452048 deg. 2025-10-27T06:19:40.566Z,1761545980.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133996 target range: 53.659050 and range: 54.00 m. 2025-10-27T06:19:40.813Z,1761545980.813 [DAT](INFO): DAT read: 06:19:38.7916 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.17,-2.868, 1.688,-2.851,-2.924, PHS= 0.158,-1.627, 0.029, RAW= 146.3, 16.5, CAL= 146.2, 18.1, ROT= 3.8, -18.1 2025-10-27T06:19:40.816Z,1761545980.816 [DAT](INFO): got valid direction response: 06:19:38.7916 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.17,-2.868, 1.688,-2.851,-2.924, PHS= 0.158,-1.627, 0.029, RAW= 146.3, 16.5, CAL= 146.2, 18.1, ROT= 3.8, -18.1 2025-10-27T06:19:40.817Z,1761545980.817 [DAT](INFO): DAT read: Bearing 170.3, -0.4 (Local) 2025-10-27T06:19:40.818Z,1761545980.818 [DAT](INFO): Local bearing/azimuth received: Bearing 170.3, -0.4 (Local) 2025-10-27T06:19:40.819Z,1761545980.819 [DAT](INFO): DAT read: Range 11 to 50 : 52.1 m (Round-trip 69.5 ms) speed 0.4 m/s 2025-10-27T06:19:40.820Z,1761545980.820 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:40.821Z,1761545980.821 [DAT](INFO): direction in FSK: [0.948426,0.062994,0.310676] 2025-10-27T06:19:40.821Z,1761545980.821 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:40.825Z,1761545980.825 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:40.825Z,1761545980.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:40.825Z,1761545980.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:40.968Z,1761545980.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.099998 m, deltaT: 3.782005 s, deltaX: -1.900002 m, approachRate: -0.502379 m/s, rangeRepo size: 4 2025-10-27T06:19:40.970Z,1761545980.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.771095 m, bearing: 0.884213 deg, lat: 36.779445 deg, lon: -121.859793 deg, deltaT: 3.782005 s, deltaX: -1.887955 m, approachRate: -0.499194 m/s, posRepo size: 4 2025-10-27T06:19:40.979Z,1761545980.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:40.982Z,1761545980.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 50.373672 m, bearing: 0.628231 deg, approach rate: 0.000000 m/s, LOS rate: -0.075998 deg/s, cmd heading: 351.452056 deg, new cmd heading: 351.359475 deg. 2025-10-27T06:19:40.987Z,1761545980.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132380 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:41.056Z,1761545981.056 [DAT](INFO): DAT read: user:744> 2025-10-27T06:19:41.057Z,1761545981.057 [DAT](INFO): DAT read: Tx time:06:19:40.1179 2025-10-27T06:19:41.057Z,1761545981.057 [DAT](INFO): Ping request sent. 2025-10-27T06:19:41.057Z,1761545981.057 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:41.057Z,1761545981.057 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:41.058Z,1761545981.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-27T06:19:41.229Z,1761545981.229 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:19:41.308Z,1761545981.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804 2025-10-27T06:19:41.482Z,1761545981.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:41.485Z,1761545981.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:41.488Z,1761545981.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 50.088776 m, bearing: 0.604644 deg, approach rate: -0.551242 m/s, LOS rate: -0.045896 deg/s, cmd heading: 351.359466 deg, new cmd heading: 351.288304 deg. 2025-10-27T06:19:41.488Z,1761545981.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131137 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:41.561Z,1761545981.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503876 2025-10-27T06:19:41.812Z,1761545981.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754779 2025-10-27T06:19:41.821Z,1761545981.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994296,0.101123,0.033918],[-0.105495,0.979255,0.173003],[-0.015720,-0.175595,0.984337]] 2025-10-27T06:19:41.843Z,1761545981.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:41.851Z,1761545981.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 49.895836 m, bearing: 0.589086 deg, approach rate: -0.539245 m/s, LOS rate: -0.043652 deg/s, cmd heading: 351.288295 deg, new cmd heading: 351.241439 deg. 2025-10-27T06:19:41.852Z,1761545981.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.130320 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:42.065Z,1761545982.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007822 2025-10-27T06:19:42.316Z,1761545982.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258863 2025-10-27T06:19:42.418Z,1761545982.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:42.420Z,1761545982.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 49.599518 m, bearing: 0.577928 deg, approach rate: -0.515177 m/s, LOS rate: -0.019515 deg/s, cmd heading: 351.241440 deg, new cmd heading: 351.207766 deg. 2025-10-27T06:19:42.421Z,1761545982.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129732 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:42.568Z,1761545982.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511033 2025-10-27T06:19:42.703Z,1761545982.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994130,0.103464,0.031622],[-0.107430,0.978604,0.175479],[-0.012790,-0.177846,0.983975]] 2025-10-27T06:19:42.742Z,1761545982.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:42.746Z,1761545982.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 49.425179 m, bearing: 0.571723 deg, approach rate: -0.537273 m/s, LOS rate: -0.019190 deg/s, cmd heading: 351.207753 deg, new cmd heading: 351.189073 deg. 2025-10-27T06:19:42.747Z,1761545982.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129405 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:42.820Z,1761545982.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762905 2025-10-27T06:19:43.073Z,1761545983.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015521 2025-10-27T06:19:43.161Z,1761545983.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:43.164Z,1761545983.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 49.210220 m, bearing: 0.564012 deg, approach rate: -0.512859 m/s, LOS rate: -0.018478 deg/s, cmd heading: 351.189066 deg, new cmd heading: 351.165831 deg. 2025-10-27T06:19:43.165Z,1761545983.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129000 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:43.324Z,1761545983.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266868 2025-10-27T06:19:43.510Z,1761545983.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993974,0.105397,0.030134],[-0.109100,0.977892,0.178395],[-0.010666,-0.180607,0.983498]] 2025-10-27T06:19:43.554Z,1761545983.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:43.556Z,1761545983.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:43.562Z,1761545983.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 49.000149 m, bearing: 0.564314 deg, approach rate: -0.532247 m/s, LOS rate: 0.000768 deg/s, cmd heading: 351.165843 deg, new cmd heading: 351.166753 deg. 2025-10-27T06:19:43.564Z,1761545983.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129016 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:43.576Z,1761545983.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518890 2025-10-27T06:19:43.828Z,1761545983.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770701 2025-10-27T06:19:43.914Z,1761545983.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993841,0.106814,0.029495],[-0.110386,0.977618,0.179106],[-0.009704,-0.181259,0.983388]] 2025-10-27T06:19:43.940Z,1761545983.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:43.942Z,1761545983.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 48.799786 m, bearing: 0.564917 deg, approach rate: -0.522003 m/s, LOS rate: 0.001580 deg/s, cmd heading: 351.166745 deg, new cmd heading: 351.168564 deg. 2025-10-27T06:19:43.944Z,1761545983.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129048 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:44.080Z,1761545984.080 [DAT](INFO): DAT read: Rx Time:06:19:42.5890 2025-10-27T06:19:44.080Z,1761545984.080 [DAT](INFO): Rx dataTimestamp_ set to:1761545984.080134 2025-10-27T06:19:44.081Z,1761545984.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023804 2025-10-27T06:19:44.334Z,1761545984.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276901 2025-10-27T06:19:44.365Z,1761545984.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993768,0.107754,0.028542],[-0.111142,0.977444,0.179587],[-0.008547,-0.181640,0.983328]] 2025-10-27T06:19:44.471Z,1761545984.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.77 m. 2025-10-27T06:19:44.474Z,1761545984.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.771095 m, nav range: 48.538902 m, bearing: 0.582229 deg, approach rate: -0.494709 m/s, LOS rate: 0.033005 deg/s, cmd heading: 351.168575 deg, new cmd heading: 351.220790 deg. 2025-10-27T06:19:44.479Z,1761545984.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.129959 target range: 51.771095 and range: 52.10 m. 2025-10-27T06:19:44.593Z,1761545984.593 [DAT](INFO): DAT read: 06:19:42.5890 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.19,-0.807,-2.583,-0.760,-0.888, PHS= 0.183,-1.650, 0.084, RAW= 147.2, 15.3, CAL= 147.2, 16.9, ROT= 2.8, -16.9 2025-10-27T06:19:44.594Z,1761545984.594 [DAT](INFO): got valid direction response: 06:19:42.5890 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 410,-0.19,-0.807,-2.583,-0.760,-0.888, PHS= 0.183,-1.650, 0.084, RAW= 147.2, 15.3, CAL= 147.2, 16.9, ROT= 2.8, -16.9 2025-10-27T06:19:44.596Z,1761545984.596 [DAT](INFO): DAT read: Bearing 168.7, -0.9 (Local) 2025-10-27T06:19:44.597Z,1761545984.597 [DAT](INFO): Local bearing/azimuth received: Bearing 168.7, -0.9 (Local) 2025-10-27T06:19:44.598Z,1761545984.598 [DAT](INFO): DAT read: Range 11 to 50 : 50.1 m (Round-trip 66.9 ms) speed 0.4 m/s 2025-10-27T06:19:44.599Z,1761545984.599 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:44.600Z,1761545984.600 [DAT](INFO): direction in FSK: [0.955671,0.046740,0.290702] 2025-10-27T06:19:44.600Z,1761545984.600 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:44.616Z,1761545984.616 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:44.616Z,1761545984.616 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:44.616Z,1761545984.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:44.837Z,1761545984.837 [DAT](INFO): DAT read: user:745> 2025-10-27T06:19:44.839Z,1761545984.839 [DAT](INFO): DAT read: Tx time:06:19:43.9179 2025-10-27T06:19:44.840Z,1761545984.840 [DAT](INFO): Ping request sent. 2025-10-27T06:19:44.840Z,1761545984.840 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:44.840Z,1761545984.840 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:44.842Z,1761545984.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001693 2025-10-27T06:19:44.844Z,1761545984.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993624,0.109388,0.027316],[-0.112534,0.977093,0.180627],[-0.006931,-0.182549,0.983172]] 2025-10-27T06:19:44.910Z,1761545984.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 3.778999 s, deltaX: -2.000000 m, approachRate: -0.529241 m/s, rangeRepo size: 4 2025-10-27T06:19:44.928Z,1761545984.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.783897 m, bearing: 359.442466 deg, lat: 36.779441 deg, lon: -121.859793 deg, deltaT: 3.778999 s, deltaX: -1.987198 m, approachRate: -0.525853 m/s, posRepo size: 4 2025-10-27T06:19:44.929Z,1761545984.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:44.932Z,1761545984.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 47.926186 m, bearing: 0.603007 deg, approach rate: 0.000000 m/s, LOS rate: 0.033005 deg/s, cmd heading: 351.220785 deg, new cmd heading: 351.264578 deg. 2025-10-27T06:19:44.933Z,1761545984.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.130723 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:45.092Z,1761545985.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252342 2025-10-27T06:19:45.248Z,1761545985.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993521,0.110682,0.025802],[-0.113522,0.977241,0.179202],[-0.005380,-0.180970,0.983474]] 2025-10-27T06:19:45.272Z,1761545985.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:45.274Z,1761545985.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 47.718410 m, bearing: 0.617792 deg, approach rate: -0.574978 m/s, LOS rate: 0.041094 deg/s, cmd heading: 351.264581 deg, new cmd heading: 351.309130 deg. 2025-10-27T06:19:45.276Z,1761545985.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131501 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:45.346Z,1761545985.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505668 2025-10-27T06:19:45.597Z,1761545985.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757141 2025-10-27T06:19:45.652Z,1761545985.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993361,0.112426,0.024396],[-0.114984,0.977044,0.179341],[-0.003674,-0.180956,0.983484]] 2025-10-27T06:19:45.710Z,1761545985.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:45.718Z,1761545985.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:45.726Z,1761545985.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 47.488049 m, bearing: 0.646919 deg, approach rate: -0.515967 m/s, LOS rate: 0.065555 deg/s, cmd heading: 351.309141 deg, new cmd heading: 351.396945 deg. 2025-10-27T06:19:45.736Z,1761545985.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133034 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:45.849Z,1761545985.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009371 2025-10-27T06:19:46.061Z,1761545986.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993189,0.114181,0.023191],[-0.116493,0.976716,0.180154],[-0.002081,-0.181629,0.983365]] 2025-10-27T06:19:46.082Z,1761545986.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:46.085Z,1761545986.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 47.287621 m, bearing: 0.672869 deg, approach rate: -0.553780 m/s, LOS rate: 0.072005 deg/s, cmd heading: 351.396950 deg, new cmd heading: 351.475131 deg. 2025-10-27T06:19:46.086Z,1761545986.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134398 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:46.104Z,1761545986.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264079 2025-10-27T06:19:46.360Z,1761545986.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519930 2025-10-27T06:19:46.462Z,1761545986.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993029,0.115913,0.021386],[-0.117869,0.976794,0.178828],[-0.000161,-0.180102,0.983648]] 2025-10-27T06:19:46.515Z,1761545986.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:46.522Z,1761545986.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 47.067585 m, bearing: 0.698745 deg, approach rate: -0.505376 m/s, LOS rate: 0.059708 deg/s, cmd heading: 351.475142 deg, new cmd heading: 351.553130 deg. 2025-10-27T06:19:46.527Z,1761545986.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135760 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:46.608Z,1761545986.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768328 2025-10-27T06:19:46.861Z,1761545986.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021035 2025-10-27T06:19:46.873Z,1761545986.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992840,0.117756,0.020060],[-0.119444,0.976725,0.178164],[0.001387,-0.179284,0.983796]] 2025-10-27T06:19:46.906Z,1761545986.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:46.909Z,1761545986.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 46.861389 m, bearing: 0.723616 deg, approach rate: -0.526337 m/s, LOS rate: 0.063767 deg/s, cmd heading: 351.553142 deg, new cmd heading: 351.628086 deg. 2025-10-27T06:19:46.910Z,1761545986.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137068 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:47.112Z,1761545987.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272156 2025-10-27T06:19:47.270Z,1761545987.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992614,0.119898,0.018478],[-0.121268,0.976486,0.178240],[0.003327,-0.179164,0.983814]] 2025-10-27T06:19:47.329Z,1761545987.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:47.353Z,1761545987.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 46.648952 m, bearing: 0.749957 deg, approach rate: -0.509585 m/s, LOS rate: 0.063472 deg/s, cmd heading: 351.628083 deg, new cmd heading: 351.707464 deg. 2025-10-27T06:19:47.367Z,1761545987.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526760 2025-10-27T06:19:47.371Z,1761545987.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138453 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:47.616Z,1761545987.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776146 2025-10-27T06:19:47.674Z,1761545987.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992369,0.122077,0.017354],[-0.123208,0.976146,0.178773],[0.004884,-0.179546,0.983737]] 2025-10-27T06:19:47.737Z,1761545987.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:47.756Z,1761545987.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:47.758Z,1761545987.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 46.415997 m, bearing: 0.764853 deg, approach rate: -0.538633 m/s, LOS rate: 0.034616 deg/s, cmd heading: 351.707477 deg, new cmd heading: 351.752391 deg. 2025-10-27T06:19:47.764Z,1761545987.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139237 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:47.869Z,1761545987.869 [DAT](INFO): DAT read: Rx Time:06:19:46.3863 2025-10-27T06:19:47.870Z,1761545987.870 [DAT](INFO): Rx dataTimestamp_ set to:1761545987.869328 2025-10-27T06:19:47.870Z,1761545987.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030442 2025-10-27T06:19:48.077Z,1761545988.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992077,0.124553,0.016428],[-0.125469,0.975628,0.180024],[0.006395,-0.180658,0.983525]] 2025-10-27T06:19:48.113Z,1761545988.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.78 m. 2025-10-27T06:19:48.116Z,1761545988.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.783897 m, nav range: 46.215225 m, bearing: 0.778380 deg, approach rate: -0.562235 m/s, LOS rate: 0.038045 deg/s, cmd heading: 351.752393 deg, new cmd heading: 351.793149 deg. 2025-10-27T06:19:48.117Z,1761545988.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139949 target range: 49.783897 and range: 50.10 m. 2025-10-27T06:19:48.120Z,1761545988.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280346 2025-10-27T06:19:48.406Z,1761545988.406 [DAT](INFO): DAT read: 06:19:46.3863 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.19, 2.094, 0.318, 2.108, 2.017, PHS= 0.179,-1.654, 0.047, RAW= 146.3, 15.9, CAL= 146.1, 17.5, ROT= 3.9, -17.5 2025-10-27T06:19:48.409Z,1761545988.409 [DAT](INFO): got valid direction response: 06:19:46.3863 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 414, 0.19, 2.094, 0.318, 2.108, 2.017, PHS= 0.179,-1.654, 0.047, RAW= 146.3, 15.9, CAL= 146.1, 17.5, ROT= 3.9, -17.5 2025-10-27T06:19:48.410Z,1761545988.410 [DAT](INFO): DAT read: Bearing 169.8, 0.8 (Local) 2025-10-27T06:19:48.410Z,1761545988.410 [DAT](INFO): Local bearing/azimuth received: Bearing 169.8, 0.8 (Local) 2025-10-27T06:19:48.412Z,1761545988.412 [DAT](INFO): DAT read: Range 11 to 50 : 48.1 m (Round-trip 64.2 ms) speed 0.4 m/s 2025-10-27T06:19:48.413Z,1761545988.413 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:48.414Z,1761545988.414 [DAT](INFO): direction in FSK: [0.951508,0.064867,0.300706] 2025-10-27T06:19:48.414Z,1761545988.414 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:48.417Z,1761545988.417 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:48.417Z,1761545988.417 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:48.418Z,1761545988.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:48.564Z,1761545988.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.099998 m, deltaT: 3.788704 s, deltaX: -2.000000 m, approachRate: -0.527885 m/s, rangeRepo size: 4 2025-10-27T06:19:48.566Z,1761545988.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.796898 m, bearing: 359.882414 deg, lat: 36.779440 deg, lon: -121.859793 deg, deltaT: 3.788704 s, deltaX: -1.987000 m, approachRate: -0.524454 m/s, posRepo size: 4 2025-10-27T06:19:48.567Z,1761545988.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:48.570Z,1761545988.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 45.865486 m, bearing: 0.771791 deg, approach rate: 0.000000 m/s, LOS rate: 0.038045 deg/s, cmd heading: 351.793155 deg, new cmd heading: 351.844563 deg. 2025-10-27T06:19:48.571Z,1761545988.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140846 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:48.625Z,1761545988.625 [DAT](INFO): DAT read: user:746> 2025-10-27T06:19:48.626Z,1761545988.626 [DAT](INFO): DAT read: Tx time:06:19:47.7179 2025-10-27T06:19:48.627Z,1761545988.627 [DAT](INFO): Ping request sent. 2025-10-27T06:19:48.627Z,1761545988.627 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:48.627Z,1761545988.627 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:48.628Z,1761545988.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001199 2025-10-27T06:19:48.876Z,1761545988.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249294 2025-10-27T06:19:48.889Z,1761545988.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991667,0.127966,0.014872],[-0.128549,0.975315,0.179542],[0.008471,-0.179958,0.983638]] 2025-10-27T06:19:48.908Z,1761545988.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:48.911Z,1761545988.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 45.679379 m, bearing: 0.765831 deg, approach rate: -0.539447 m/s, LOS rate: -0.017347 deg/s, cmd heading: 351.844573 deg, new cmd heading: 351.826619 deg. 2025-10-27T06:19:48.912Z,1761545988.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140533 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:49.128Z,1761545989.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501567 2025-10-27T06:19:49.290Z,1761545989.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991653,0.128185,0.013914],[-0.128607,0.975604,0.177924],[0.009232,-0.178228,0.983946]] 2025-10-27T06:19:49.323Z,1761545989.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:49.330Z,1761545989.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 45.458965 m, bearing: 0.758719 deg, approach rate: -0.533347 m/s, LOS rate: -0.017293 deg/s, cmd heading: 351.826623 deg, new cmd heading: 351.805183 deg. 2025-10-27T06:19:49.333Z,1761545989.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140159 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:49.382Z,1761545989.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755351 2025-10-27T06:19:49.632Z,1761545989.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005243 2025-10-27T06:19:49.757Z,1761545989.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:49.759Z,1761545989.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:49.762Z,1761545989.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 45.233379 m, bearing: 0.720831 deg, approach rate: -0.515687 m/s, LOS rate: -0.087042 deg/s, cmd heading: 351.805176 deg, new cmd heading: 351.690947 deg. 2025-10-27T06:19:49.763Z,1761545989.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.138165 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:49.885Z,1761545989.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258215 2025-10-27T06:19:50.098Z,1761545990.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991949,0.126108,0.011539],[-0.126172,0.976437,0.175073],[0.010811,-0.175119,0.984488]] 2025-10-27T06:19:50.136Z,1761545990.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509157 2025-10-27T06:19:50.138Z,1761545990.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:50.145Z,1761545990.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 45.047394 m, bearing: 0.688694 deg, approach rate: -0.490602 m/s, LOS rate: -0.085123 deg/s, cmd heading: 351.690948 deg, new cmd heading: 351.594139 deg. 2025-10-27T06:19:50.146Z,1761545990.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136476 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:50.391Z,1761545990.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763455 2025-10-27T06:19:50.501Z,1761545990.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992157,0.124595,0.010062],[-0.124445,0.976960,0.173384],[0.011773,-0.173276,0.984803]] 2025-10-27T06:19:50.552Z,1761545990.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:50.555Z,1761545990.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 44.828423 m, bearing: 0.610637 deg, approach rate: -0.528988 m/s, LOS rate: -0.189490 deg/s, cmd heading: 351.594151 deg, new cmd heading: 351.358837 deg. 2025-10-27T06:19:50.556Z,1761545990.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.132369 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:50.642Z,1761545990.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014809 2025-10-27T06:19:50.892Z,1761545990.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265130 2025-10-27T06:19:50.913Z,1761545990.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992495,0.121978,0.008714],[-0.121650,0.977523,0.172193],[0.012486,-0.171961,0.985025]] 2025-10-27T06:19:50.932Z,1761545990.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:50.935Z,1761545990.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 44.636730 m, bearing: 0.540880 deg, approach rate: -0.504245 m/s, LOS rate: -0.184283 deg/s, cmd heading: 351.358837 deg, new cmd heading: 351.148668 deg. 2025-10-27T06:19:50.936Z,1761545990.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128700 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:51.144Z,1761545991.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517208 2025-10-27T06:19:51.309Z,1761545991.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992734,0.120091,0.007608],[-0.119622,0.978040,0.170669],[0.013055,-0.170339,0.985299]] 2025-10-27T06:19:51.363Z,1761545991.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:51.366Z,1761545991.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 44.435299 m, bearing: 0.466302 deg, approach rate: -0.466918 m/s, LOS rate: -0.173656 deg/s, cmd heading: 351.148659 deg, new cmd heading: 350.923911 deg. 2025-10-27T06:19:51.374Z,1761545991.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124778 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:51.400Z,1761545991.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772835 2025-10-27T06:19:51.650Z,1761545991.650 [DAT](INFO): DAT read: Rx Time:06:19:50.1836 2025-10-27T06:19:51.650Z,1761545991.650 [DAT](INFO): Rx dataTimestamp_ set to:1761545991.650161 2025-10-27T06:19:51.651Z,1761545991.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024730 2025-10-27T06:19:51.754Z,1761545991.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992972,0.118166,0.006574],[-0.117558,0.978394,0.170073],[0.013665,-0.169651,0.985410]] 2025-10-27T06:19:51.856Z,1761545991.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:51.859Z,1761545991.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.80 m. 2025-10-27T06:19:51.866Z,1761545991.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.796898 m, nav range: 44.184170 m, bearing: 0.352186 deg, approach rate: -0.507278 m/s, LOS rate: -0.231823 deg/s, cmd heading: 350.923918 deg, new cmd heading: 350.579629 deg. 2025-10-27T06:19:51.866Z,1761545991.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.118769 target range: 47.796898 and range: 48.10 m. 2025-10-27T06:19:51.900Z,1761545991.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273451 2025-10-27T06:19:52.145Z,1761545992.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993140,0.116788,0.005790],[-0.116066,0.978560,0.170143],[0.014205,-0.169648,0.985402]] 2025-10-27T06:19:52.157Z,1761545992.157 [DAT](INFO): DAT read: 06:19:50.1836 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.00,-0.112,-1.868,-0.091,-0.194, PHS= 0.184,-1.629, 0.059, RAW= 146.5, 15.6, CAL= 146.3, 17.1, ROT= 3.7, -17.1 2025-10-27T06:19:52.158Z,1761545992.158 [DAT](INFO): got valid direction response: 06:19:50.1836 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.00,-0.112,-1.868,-0.091,-0.194, PHS= 0.184,-1.629, 0.059, RAW= 146.5, 15.6, CAL= 146.3, 17.1, ROT= 3.7, -17.1 2025-10-27T06:19:52.159Z,1761545992.159 [DAT](INFO): DAT read: Bearing 169.1, 1.4 (Local) 2025-10-27T06:19:52.159Z,1761545992.159 [DAT](INFO): Local bearing/azimuth received: Bearing 169.1, 1.4 (Local) 2025-10-27T06:19:52.161Z,1761545992.161 [DAT](INFO): DAT read: Range 11 to 50 : 46.2 m (Round-trip 61.6 ms) speed 0.4 m/s 2025-10-27T06:19:52.161Z,1761545992.161 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:52.162Z,1761545992.162 [DAT](INFO): direction in FSK: [0.953801,0.061680,0.294040] 2025-10-27T06:19:52.163Z,1761545992.163 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:52.166Z,1761545992.166 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:52.166Z,1761545992.166 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:52.166Z,1761545992.166 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:52.231Z,1761545992.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 3.778173 s, deltaX: -1.899998 m, approachRate: -0.502888 m/s, rangeRepo size: 4 2025-10-27T06:19:52.240Z,1761545992.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.908821 m, bearing: 359.980990 deg, lat: 36.779439 deg, lon: -121.859796 deg, deltaT: 3.778173 s, deltaX: -1.888077 m, approachRate: -0.499733 m/s, posRepo size: 4 2025-10-27T06:19:52.240Z,1761545992.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:52.247Z,1761545992.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 43.896343 m, bearing: 359.980990 deg, approach rate: 0.000000 m/s, LOS rate: -0.231823 deg/s, cmd heading: 350.579622 deg, new cmd heading: 350.323746 deg. 2025-10-27T06:19:52.248Z,1761545992.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114303 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:52.407Z,1761545992.407 [DAT](INFO): DAT read: user:747> 2025-10-27T06:19:52.409Z,1761545992.409 [DAT](INFO): DAT read: Tx time:06:19:51.4679 2025-10-27T06:19:52.410Z,1761545992.410 [DAT](INFO): Ping request sent. 2025-10-27T06:19:52.411Z,1761545992.411 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:52.412Z,1761545992.412 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:52.414Z,1761545992.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003719 2025-10-27T06:19:52.575Z,1761545992.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993277,0.115671,0.004491],[-0.114735,0.978610,0.170760],[0.015357,-0.170127,0.985302]] 2025-10-27T06:19:52.635Z,1761545992.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:52.649Z,1761545992.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 43.686527 m, bearing: 359.874957 deg, approach rate: -0.514086 m/s, LOS rate: -0.261047 deg/s, cmd heading: 350.323736 deg, new cmd heading: 350.004113 deg. 2025-10-27T06:19:52.650Z,1761545992.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.108724 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:52.656Z,1761545992.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245938 2025-10-27T06:19:52.908Z,1761545992.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497755 2025-10-27T06:19:52.966Z,1761545992.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993346,0.115136,0.002625],[-0.113878,0.978580,0.171504],[0.017178,-0.170662,0.985180]] 2025-10-27T06:19:52.986Z,1761545992.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:52.989Z,1761545992.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 43.514675 m, bearing: 359.787121 deg, approach rate: -0.488873 m/s, LOS rate: -0.250857 deg/s, cmd heading: 350.004110 deg, new cmd heading: 349.739563 deg. 2025-10-27T06:19:52.990Z,1761545992.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104107 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:53.161Z,1761545993.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751272 2025-10-27T06:19:53.367Z,1761545993.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993420,0.114522,0.001143],[-0.113011,0.978592,0.172006],[0.018580,-0.171003,0.985095]] 2025-10-27T06:19:53.391Z,1761545993.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:53.415Z,1761545993.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004248 2025-10-27T06:19:53.429Z,1761545993.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 43.318581 m, bearing: 359.685765 deg, approach rate: -0.484851 m/s, LOS rate: -0.251741 deg/s, cmd heading: 349.739563 deg, new cmd heading: 349.434121 deg. 2025-10-27T06:19:53.437Z,1761545993.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.098776 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:53.664Z,1761545993.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253724 2025-10-27T06:19:53.769Z,1761545993.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993425,0.114483,0.000470],[-0.112767,0.977813,0.176536],[0.019751,-0.175429,0.984294]] 2025-10-27T06:19:53.817Z,1761545993.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:53.821Z,1761545993.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 43.110100 m, bearing: 359.597720 deg, approach rate: -0.489087 m/s, LOS rate: -0.207549 deg/s, cmd heading: 349.434117 deg, new cmd heading: 349.168706 deg. 2025-10-27T06:19:53.824Z,1761545993.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.094143 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:53.916Z,1761545993.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505920 2025-10-27T06:19:54.168Z,1761545994.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757892 2025-10-27T06:19:54.218Z,1761545994.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:54.221Z,1761545994.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:54.224Z,1761545994.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 42.914116 m, bearing: 359.514132 deg, approach rate: -0.485408 m/s, LOS rate: -0.207973 deg/s, cmd heading: 349.168696 deg, new cmd heading: 348.916790 deg. 2025-10-27T06:19:54.225Z,1761545994.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.089747 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:54.420Z,1761545994.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009815 2025-10-27T06:19:54.578Z,1761545994.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993392,0.114769,0.000792],[-0.112894,0.975873,0.186889],[0.020676,-0.185744,0.982381]] 2025-10-27T06:19:54.634Z,1761545994.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:54.641Z,1761545994.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 42.719109 m, bearing: 359.470398 deg, approach rate: -0.472121 m/s, LOS rate: -0.106366 deg/s, cmd heading: 348.916799 deg, new cmd heading: 348.784998 deg. 2025-10-27T06:19:54.641Z,1761545994.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087447 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:54.673Z,1761545994.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263307 2025-10-27T06:19:54.924Z,1761545994.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513799 2025-10-27T06:19:55.015Z,1761545995.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:55.018Z,1761545995.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 42.523815 m, bearing: 359.426193 deg, approach rate: -0.512093 m/s, LOS rate: -0.116446 deg/s, cmd heading: 348.785003 deg, new cmd heading: 348.651779 deg. 2025-10-27T06:19:55.019Z,1761545995.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085122 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:55.176Z,1761545995.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765743 2025-10-27T06:19:55.386Z,1761545995.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992958,0.118463,0.000526],[-0.116282,0.973812,0.195367],[0.022631,-0.194052,0.980730]] 2025-10-27T06:19:55.431Z,1761545995.431 [DAT](INFO): DAT read: Rx Time:06:19:53.9311 2025-10-27T06:19:55.433Z,1761545995.433 [DAT](INFO): Rx dataTimestamp_ set to:1761545995.431910 2025-10-27T06:19:55.434Z,1761545995.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023907 2025-10-27T06:19:55.445Z,1761545995.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:55.462Z,1761545995.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 42.328701 m, bearing: 359.382987 deg, approach rate: -0.454891 m/s, LOS rate: -0.101195 deg/s, cmd heading: 348.651787 deg, new cmd heading: 348.521572 deg. 2025-10-27T06:19:55.470Z,1761545995.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082849 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:55.680Z,1761545995.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269709 2025-10-27T06:19:55.904Z,1761545995.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.91 m. 2025-10-27T06:19:55.911Z,1761545995.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.908821 m, nav range: 42.087009 m, bearing: 359.380609 deg, approach rate: -0.525091 m/s, LOS rate: -0.005198 deg/s, cmd heading: 348.521577 deg, new cmd heading: 348.514400 deg. 2025-10-27T06:19:55.912Z,1761545995.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082724 target range: 45.908821 and range: 46.20 m. 2025-10-27T06:19:55.937Z,1761545995.937 [DAT](INFO): DAT read: 06:19:53.9311 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409, 0.06,-2.001, 2.541,-1.957,-2.155, PHS= 0.256,-1.542, 0.154, RAW= 147.1, 12.9, CAL= 146.9, 14.2, ROT= 3.1, -14.2 2025-10-27T06:19:55.938Z,1761545995.938 [DAT](INFO): got valid direction response: 06:19:53.9311 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409, 0.06,-2.001, 2.541,-1.957,-2.155, PHS= 0.256,-1.542, 0.154, RAW= 147.1, 12.9, CAL= 146.9, 14.2, ROT= 3.1, -14.2 2025-10-27T06:19:55.940Z,1761545995.940 [DAT](INFO): DAT read: Bearing 165.3, 1.7 (Local) 2025-10-27T06:19:55.940Z,1761545995.940 [DAT](INFO): Local bearing/azimuth received: Bearing 165.3, 1.7 (Local) 2025-10-27T06:19:55.941Z,1761545995.941 [DAT](INFO): DAT read: Range 11 to 50 : 44.2 m (Round-trip 59.0 ms) speed 0.4 m/s 2025-10-27T06:19:55.942Z,1761545995.942 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:55.943Z,1761545995.943 [DAT](INFO): direction in FSK: [0.968027,0.052426,0.245307] 2025-10-27T06:19:55.943Z,1761545995.943 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:55.947Z,1761545995.947 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:55.955Z,1761545995.955 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:55.955Z,1761545995.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:56.184Z,1761545996.184 [DAT](INFO): DAT read: user:748> 2025-10-27T06:19:56.185Z,1761545996.185 [DAT](INFO): DAT read: Tx time:06:19:55.2679 2025-10-27T06:19:56.185Z,1761545996.185 [DAT](INFO): Ping request sent. 2025-10-27T06:19:56.185Z,1761545996.185 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:56.185Z,1761545996.185 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:56.186Z,1761545996.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-27T06:19:56.256Z,1761545996.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992019,0.126085,0.000182],[-0.123621,0.972348,0.198135],[0.024805,-0.196576,0.980175]] 2025-10-27T06:19:56.325Z,1761545996.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.200001 m, deltaT: 3.780221 s, deltaX: -2.000000 m, approachRate: -0.529070 m/s, rangeRepo size: 4 2025-10-27T06:19:56.333Z,1761545996.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.921131 m, bearing: 358.809894 deg, lat: 36.779439 deg, lon: -121.859801 deg, deltaT: 3.780221 s, deltaX: -1.987690 m, approachRate: -0.525813 m/s, posRepo size: 4 2025-10-27T06:19:56.335Z,1761545996.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:56.349Z,1761545996.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 41.881100 m, bearing: 358.792908 deg, approach rate: 0.000000 m/s, LOS rate: -0.005198 deg/s, cmd heading: 348.514391 deg, new cmd heading: 348.507843 deg. 2025-10-27T06:19:56.350Z,1761545996.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082609 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:56.436Z,1761545996.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251115 2025-10-27T06:19:56.691Z,1761545996.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505719 2025-10-27T06:19:56.792Z,1761545996.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990414,0.138133,0.000113],[-0.135405,0.970690,0.198560],[0.027318,-0.196672,0.980089]] 2025-10-27T06:19:56.868Z,1761545996.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:56.870Z,1761545996.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:56.873Z,1761545996.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 41.602203 m, bearing: 358.852148 deg, approach rate: -0.511015 m/s, LOS rate: 0.109273 deg/s, cmd heading: 348.507834 deg, new cmd heading: 348.686748 deg. 2025-10-27T06:19:56.874Z,1761545996.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085732 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:56.941Z,1761545996.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755850 2025-10-27T06:19:57.192Z,1761545997.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844 2025-10-27T06:19:57.195Z,1761545997.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989484,0.144637,0.000793],[-0.141786,0.968866,0.202965],[0.028588,-0.200943,0.979186]] 2025-10-27T06:19:57.218Z,1761545997.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:57.221Z,1761545997.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 41.416328 m, bearing: 358.893827 deg, approach rate: -0.534225 m/s, LOS rate: 0.120327 deg/s, cmd heading: 348.686758 deg, new cmd heading: 348.812355 deg. 2025-10-27T06:19:57.222Z,1761545997.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.087924 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:57.446Z,1761545997.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261135 2025-10-27T06:19:57.606Z,1761545997.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988468,0.151425,0.000854],[-0.148318,0.967015,0.207085],[0.030532,-0.204824,0.978323]] 2025-10-27T06:19:57.649Z,1761545997.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:57.652Z,1761545997.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 41.187592 m, bearing: 358.973907 deg, approach rate: -0.530190 m/s, LOS rate: 0.186648 deg/s, cmd heading: 348.812351 deg, new cmd heading: 349.053923 deg. 2025-10-27T06:19:57.653Z,1761545997.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.092140 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:57.696Z,1761545997.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511030 2025-10-27T06:19:57.948Z,1761545997.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762922 2025-10-27T06:19:58.011Z,1761545998.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987377,0.158390,0.000093],[-0.154859,0.965245,0.210526],[0.033255,-0.207883,0.977588]] 2025-10-27T06:19:58.036Z,1761545998.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:58.038Z,1761545998.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 40.983032 m, bearing: 359.048303 deg, approach rate: -0.529318 m/s, LOS rate: 0.193469 deg/s, cmd heading: 349.053922 deg, new cmd heading: 349.278223 deg. 2025-10-27T06:19:58.040Z,1761545998.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096055 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:58.200Z,1761545998.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014875 2025-10-27T06:19:58.413Z,1761545998.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986298,0.164968,-0.001283],[-0.160929,0.963802,0.212574],[0.036304,-0.209455,0.977144]] 2025-10-27T06:19:58.439Z,1761545998.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:58.442Z,1761545998.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 40.770077 m, bearing: 359.128539 deg, approach rate: -0.528002 m/s, LOS rate: 0.199977 deg/s, cmd heading: 349.278225 deg, new cmd heading: 349.520190 deg. 2025-10-27T06:19:58.452Z,1761545998.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266817 2025-10-27T06:19:58.459Z,1761545998.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.100278 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:58.705Z,1761545998.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519416 2025-10-27T06:19:58.831Z,1761545998.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985288,0.170868,-0.003341],[-0.166218,0.962655,0.213698],[0.039730,-0.209999,0.976894]] 2025-10-27T06:19:58.872Z,1761545998.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:19:58.874Z,1761545998.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:58.893Z,1761545998.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 40.536793 m, bearing: 359.218738 deg, approach rate: -0.535794 m/s, LOS rate: 0.208355 deg/s, cmd heading: 349.520178 deg, new cmd heading: 349.792328 deg. 2025-10-27T06:19:58.894Z,1761545998.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.105028 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:58.957Z,1761545998.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771809 2025-10-27T06:19:59.208Z,1761545999.208 [DAT](INFO): DAT read: Rx Time:06:19:57.7285 2025-10-27T06:19:59.209Z,1761545999.209 [DAT](INFO): Rx dataTimestamp_ set to:1761545999.208323 2025-10-27T06:19:59.209Z,1761545999.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024176 2025-10-27T06:19:59.228Z,1761545999.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984324,0.176276,-0.005783],[-0.171002,0.961873,0.213447],[0.043188,-0.209112,0.976938]] 2025-10-27T06:19:59.293Z,1761545999.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:59.300Z,1761545999.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 40.317013 m, bearing: 359.306391 deg, approach rate: -0.525654 m/s, LOS rate: 0.210786 deg/s, cmd heading: 349.792320 deg, new cmd heading: 350.056711 deg. 2025-10-27T06:19:59.301Z,1761545999.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.109642 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:59.460Z,1761545999.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274928 2025-10-27T06:19:59.626Z,1761545999.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983308,0.181759,-0.008325],[-0.175855,0.961119,0.212896],[0.046697,-0.207879,0.977039]] 2025-10-27T06:19:59.680Z,1761545999.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.92 m. 2025-10-27T06:19:59.682Z,1761545999.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.921131 m, nav range: 40.120945 m, bearing: 359.366615 deg, approach rate: -0.506546 m/s, LOS rate: 0.156350 deg/s, cmd heading: 350.056703 deg, new cmd heading: 350.238257 deg. 2025-10-27T06:19:59.684Z,1761545999.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.112811 target range: 43.921131 and range: 44.20 m. 2025-10-27T06:19:59.720Z,1761545999.720 [DAT](INFO): DAT read: 06:19:57.7285 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.14, 2.913, 1.141, 2.860, 2.809, PHS= 0.206,-1.623, 0.008, RAW= 144.3, 16.0, CAL= 143.9, 17.4, ROT= 6.1, -17.4 2025-10-27T06:19:59.722Z,1761545999.722 [DAT](INFO): got valid direction response: 06:19:57.7285 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 415,-0.14, 2.913, 1.141, 2.860, 2.809, PHS= 0.206,-1.623, 0.008, RAW= 144.3, 16.0, CAL= 143.9, 17.4, ROT= 6.1, -17.4 2025-10-27T06:19:59.724Z,1761545999.724 [DAT](INFO): DAT read: Bearing 168.3, 4.5 (Local) 2025-10-27T06:19:59.725Z,1761545999.725 [DAT](INFO): Local bearing/azimuth received: Bearing 168.3, 4.5 (Local) 2025-10-27T06:19:59.727Z,1761545999.727 [DAT](INFO): DAT read: Range 11 to 50 : 42.3 m (Round-trip 56.5 ms) speed 0.5 m/s 2025-10-27T06:19:59.728Z,1761545999.728 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:19:59.729Z,1761545999.729 [DAT](INFO): direction in FSK: [0.948837,0.101401,0.299041] 2025-10-27T06:19:59.730Z,1761545999.730 [DAT](INFO): publishing direction and range info 2025-10-27T06:19:59.735Z,1761545999.735 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:19:59.735Z,1761545999.735 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:19:59.736Z,1761545999.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:19:59.964Z,1761545999.964 [DAT](INFO): DAT read: user:749> 2025-10-27T06:19:59.965Z,1761545999.965 [DAT](INFO): DAT read: Tx time:06:19:59.0178 2025-10-27T06:19:59.965Z,1761545999.965 [DAT](INFO): Ping request sent. 2025-10-27T06:19:59.965Z,1761545999.965 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:19:59.965Z,1761545999.965 [DAT](INFO): publishing transmit ping time 2025-10-27T06:19:59.966Z,1761545999.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T06:20:00.029Z,1761546000.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982623,0.185277,-0.011160],[-0.178824,0.961084,0.210571],[0.049740,-0.204916,0.977515]] 2025-10-27T06:20:00.086Z,1761546000.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.299999 m, deltaT: 3.780153 s, deltaX: -1.900002 m, approachRate: -0.502626 m/s, rangeRepo size: 4 2025-10-27T06:20:00.088Z,1761546000.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.033566 m, bearing: 359.440796 deg, lat: 36.779439 deg, lon: -121.859801 deg, deltaT: 3.780153 s, deltaX: -1.887566 m, approachRate: -0.499336 m/s, posRepo size: 4 2025-10-27T06:20:00.089Z,1761546000.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:00.092Z,1761546000.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 39.904659 m, bearing: 359.434846 deg, approach rate: 0.000000 m/s, LOS rate: 0.156350 deg/s, cmd heading: 350.238249 deg, new cmd heading: 350.428653 deg. 2025-10-27T06:20:00.093Z,1761546000.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116134 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:00.216Z,1761546000.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251006 2025-10-27T06:20:00.435Z,1761546000.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982123,0.187731,-0.013805],[-0.180784,0.961127,0.208693],[0.052446,-0.202466,0.977884]] 2025-10-27T06:20:00.454Z,1761546000.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:00.457Z,1761546000.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 39.712288 m, bearing: 359.496836 deg, approach rate: -0.522243 m/s, LOS rate: 0.169103 deg/s, cmd heading: 350.428647 deg, new cmd heading: 350.615517 deg. 2025-10-27T06:20:00.458Z,1761546000.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119395 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:00.468Z,1761546000.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502951 2025-10-27T06:20:00.721Z,1761546000.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755789 2025-10-27T06:20:00.846Z,1761546000.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981793,0.189181,-0.017118],[-0.181823,0.962029,0.203571],[0.054980,-0.196752,0.978911]] 2025-10-27T06:20:00.889Z,1761546000.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:00.892Z,1761546000.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:00.894Z,1761546000.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 39.491070 m, bearing: 359.527982 deg, approach rate: -0.505926 m/s, LOS rate: 0.071630 deg/s, cmd heading: 350.615521 deg, new cmd heading: 350.709483 deg. 2025-10-27T06:20:00.896Z,1761546000.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121035 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:00.973Z,1761546000.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007730 2025-10-27T06:20:01.224Z,1761546001.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258984 2025-10-27T06:20:01.242Z,1761546001.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981703,0.189336,-0.020263],[-0.181599,0.962931,0.199463],[0.057277,-0.192134,0.979696]] 2025-10-27T06:20:01.281Z,1761546001.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:01.288Z,1761546001.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 39.303642 m, bearing: 359.554669 deg, approach rate: -0.480861 m/s, LOS rate: 0.068795 deg/s, cmd heading: 350.709477 deg, new cmd heading: 350.789921 deg. 2025-10-27T06:20:01.289Z,1761546001.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122439 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:01.476Z,1761546001.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510942 2025-10-27T06:20:01.647Z,1761546001.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981800,0.188532,-0.022911],[-0.180490,0.963783,0.196330],[0.059096,-0.188622,0.980270]] 2025-10-27T06:20:01.685Z,1761546001.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:01.688Z,1761546001.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 39.089138 m, bearing: 359.538568 deg, approach rate: -0.530996 m/s, LOS rate: -0.040075 deg/s, cmd heading: 350.789910 deg, new cmd heading: 350.741343 deg. 2025-10-27T06:20:01.689Z,1761546001.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.121591 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:01.729Z,1761546001.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763344 2025-10-27T06:20:01.981Z,1761546001.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015476 2025-10-27T06:20:02.050Z,1761546002.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982095,0.186607,-0.025843],[-0.178232,0.964798,0.193385],[0.061020,-0.185316,0.980783]] 2025-10-27T06:20:02.079Z,1761546002.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:02.082Z,1761546002.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 38.889805 m, bearing: 359.522776 deg, approach rate: -0.505941 m/s, LOS rate: -0.040290 deg/s, cmd heading: 350.741333 deg, new cmd heading: 350.693712 deg. 2025-10-27T06:20:02.083Z,1761546002.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.120760 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:02.232Z,1761546002.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266921 2025-10-27T06:20:02.484Z,1761546002.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518901 2025-10-27T06:20:02.501Z,1761546002.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:02.504Z,1761546002.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 38.684757 m, bearing: 359.506360 deg, approach rate: -0.485192 m/s, LOS rate: -0.039049 deg/s, cmd heading: 350.693713 deg, new cmd heading: 350.644205 deg. 2025-10-27T06:20:02.505Z,1761546002.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119896 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:02.737Z,1761546002.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771759 2025-10-27T06:20:02.857Z,1761546002.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983112,0.180096,-0.032486],[-0.171187,0.967782,0.184642],[0.064693,-0.175963,0.982269]] 2025-10-27T06:20:02.909Z,1761546002.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:02.911Z,1761546002.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:02.914Z,1761546002.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 38.477947 m, bearing: 359.446703 deg, approach rate: -0.505148 m/s, LOS rate: -0.146499 deg/s, cmd heading: 350.644208 deg, new cmd heading: 350.464276 deg. 2025-10-27T06:20:02.915Z,1761546002.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.116755 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:02.988Z,1761546002.988 [DAT](INFO): DAT read: Rx Time:06:20:01.4758 2025-10-27T06:20:02.989Z,1761546002.989 [DAT](INFO): Rx dataTimestamp_ set to:1761546002.988437 2025-10-27T06:20:02.989Z,1761546002.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024257 2025-10-27T06:20:03.240Z,1761546003.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274937 2025-10-27T06:20:03.261Z,1761546003.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983745,0.175934,-0.035968],[-0.166707,0.969207,0.181236],[0.066746,-0.172294,0.982782]] 2025-10-27T06:20:03.322Z,1761546003.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.03 m. 2025-10-27T06:20:03.353Z,1761546003.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.033566 m, nav range: 38.288971 m, bearing: 359.390220 deg, approach rate: -0.461173 m/s, LOS rate: -0.138519 deg/s, cmd heading: 350.464274 deg, new cmd heading: 350.293990 deg. 2025-10-27T06:20:03.353Z,1761546003.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113783 target range: 42.033566 and range: 42.30 m. 2025-10-27T06:20:03.502Z,1761546003.502 [DAT](INFO): DAT read: 06:20:01.4758 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420, 0.07,-1.378, 3.120,-1.492,-1.602, PHS= 0.327,-1.516, 0.067, RAW= 142.5, 12.9, CAL= 142.0, 14.0, ROT= 8.0, -14.0 2025-10-27T06:20:03.504Z,1761546003.504 [DAT](INFO): got valid direction response: 06:20:01.4758 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420, 0.07,-1.378, 3.120,-1.492,-1.602, PHS= 0.327,-1.516, 0.067, RAW= 142.5, 12.9, CAL= 142.0, 14.0, ROT= 8.0, -14.0 2025-10-27T06:20:03.505Z,1761546003.505 [DAT](INFO): DAT read: Bearing 165.1, 9.0 (Local) 2025-10-27T06:20:03.505Z,1761546003.505 [DAT](INFO): Local bearing/azimuth received: Bearing 165.1, 9.0 (Local) 2025-10-27T06:20:03.506Z,1761546003.506 [DAT](INFO): DAT read: Range 11 to 50 : 40.4 m (Round-trip 53.9 ms) speed 0.4 m/s 2025-10-27T06:20:03.507Z,1761546003.507 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:20:03.508Z,1761546003.508 [DAT](INFO): direction in FSK: [0.960853,0.135039,0.241922] 2025-10-27T06:20:03.508Z,1761546003.508 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:03.512Z,1761546003.512 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:20:03.512Z,1761546003.512 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:20:03.512Z,1761546003.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:20:03.666Z,1761546003.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984359,0.171737,-0.039290],[-0.162194,0.970486,0.178465],[0.068780,-0.169301,0.983162]] 2025-10-27T06:20:03.744Z,1761546003.744 [DAT](INFO): DAT read: user:750> 2025-10-27T06:20:03.745Z,1761546003.745 [DAT](INFO): DAT read: Tx time:06:20:02.8178 2025-10-27T06:20:03.745Z,1761546003.745 [DAT](INFO): Ping request sent. 2025-10-27T06:20:03.745Z,1761546003.745 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:20:03.745Z,1761546003.745 [DAT](INFO): publishing transmit ping time 2025-10-27T06:20:03.746Z,1761546003.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-27T06:20:03.768Z,1761546003.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.400002 m, deltaT: 3.780998 s, deltaX: -1.899998 m, approachRate: -0.502512 m/s, rangeRepo size: 4 2025-10-27T06:20:03.770Z,1761546003.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.146393 m, bearing: 1.097623 deg, lat: 36.779439 deg, lon: -121.859801 deg, deltaT: 3.780998 s, deltaX: -1.887173 m, approachRate: -0.499120 m/s, posRepo size: 4 2025-10-27T06:20:03.771Z,1761546003.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m. 2025-10-27T06:20:03.774Z,1761546003.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.146393 m, nav range: 38.073589 m, bearing: 359.297731 deg, approach rate: 0.000000 m/s, LOS rate: -0.138519 deg/s, cmd heading: 350.293983 deg, new cmd heading: 350.110146 deg. 2025-10-27T06:20:03.788Z,1761546003.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.110575 target range: 40.146393 and range: 40.40 m. 2025-10-27T06:20:03.997Z,1761546003.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251596 2025-10-27T06:20:04.248Z,1761546004.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502865 2025-10-27T06:20:04.308Z,1761546004.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985617,0.162559,-0.046202],[-0.152401,0.973110,0.172714],[0.073036,-0.163189,0.983888]] 2025-10-27T06:20:04.350Z,1761546004.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m. 2025-10-27T06:20:04.353Z,1761546004.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.146393 m, nav range: 37.784912 m, bearing: 359.157245 deg, approach rate: -0.491653 m/s, LOS rate: -0.241092 deg/s, cmd heading: 350.110142 deg, new cmd heading: 349.685474 deg. 2025-10-27T06:20:04.354Z,1761546004.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.103163 target range: 40.146393 and range: 40.40 m. 2025-10-27T06:20:04.500Z,1761546004.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754801 2025-10-27T06:20:04.744Z,1761546004.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m. 2025-10-27T06:20:04.747Z,1761546004.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.146393 m, nav range: 37.604549 m, bearing: 359.059058 deg, approach rate: -0.457999 m/s, LOS rate: -0.250525 deg/s, cmd heading: 349.685468 deg, new cmd heading: 349.389495 deg. 2025-10-27T06:20:04.748Z,1761546004.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.097997 target range: 40.146393 and range: 40.40 m. 2025-10-27T06:20:04.752Z,1761546004.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006950 2025-10-27T06:20:05.004Z,1761546005.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258762 2025-10-27T06:20:05.198Z,1761546005.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986602,0.154970,-0.050996],[-0.144272,0.974693,0.170762],[0.076169,-0.161117,0.983992]] 2025-10-27T06:20:05.215Z,1761546005.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:05.217Z,1761546005.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m. 2025-10-27T06:20:05.220Z,1761546005.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.146393 m, nav range: 37.381248 m, bearing: 358.932838 deg, approach rate: -0.471986 m/s, LOS rate: -0.268382 deg/s, cmd heading: 349.389502 deg, new cmd heading: 349.008587 deg. 2025-10-27T06:20:05.221Z,1761546005.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091349 target range: 40.146393 and range: 40.40 m. 2025-10-27T06:20:05.256Z,1761546005.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510913 2025-10-27T06:20:05.508Z,1761546005.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762819 2025-10-27T06:20:05.639Z,1761546005.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987072,0.151277,-0.052953],[-0.140337,0.975332,0.170389],[0.077423,-0.160755,0.983953]] 2025-10-27T06:20:05.700Z,1761546005.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m. 2025-10-27T06:20:05.708Z,1761546005.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.146393 m, nav range: 37.165817 m, bearing: 358.816850 deg, approach rate: -0.446214 m/s, LOS rate: -0.241634 deg/s, cmd heading: 349.008596 deg, new cmd heading: 348.658620 deg. 2025-10-27T06:20:05.710Z,1761546005.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085241 target range: 40.146393 and range: 40.40 m. 2025-10-27T06:20:05.760Z,1761546005.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914 2025-10-27T06:20:06.012Z,1761546006.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266866 2025-10-27T06:20:06.089Z,1761546006.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m. 2025-10-27T06:20:06.092Z,1761546006.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.146393 m, nav range: 36.978176 m, bearing: 358.714656 deg, approach rate: -0.482072 m/s, LOS rate: -0.263879 deg/s, cmd heading: 348.658618 deg, new cmd heading: 348.350484 deg. 2025-10-27T06:20:06.093Z,1761546006.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079863 target range: 40.146393 and range: 40.40 m. 2025-10-27T06:20:06.264Z,1761546006.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518919 2025-10-27T06:20:06.450Z,1761546006.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987699,0.146252,-0.055328],[-0.134914,0.975936,0.171313],[0.079051,-0.161741,0.983662]] 2025-10-27T06:20:06.482Z,1761546006.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m. 2025-10-27T06:20:06.484Z,1761546006.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.146393 m, nav range: 36.793251 m, bearing: 358.611157 deg, approach rate: -0.471293 m/s, LOS rate: -0.265100 deg/s, cmd heading: 348.350494 deg, new cmd heading: 348.038439 deg. 2025-10-27T06:20:06.485Z,1761546006.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.074417 target range: 40.146393 and range: 40.40 m. 2025-10-27T06:20:06.517Z,1761546006.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771280 2025-10-27T06:20:06.768Z,1761546006.768 [DAT](INFO): DAT read: Rx Time:06:20:05.2734 2025-10-27T06:20:06.769Z,1761546006.769 [DAT](INFO): Rx dataTimestamp_ set to:1761546006.768404 2025-10-27T06:20:06.769Z,1761546006.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024134 2025-10-27T06:20:06.854Z,1761546006.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987878,0.144930,-0.055610],[-0.133243,0.975463,0.175265],[0.079646,-0.165731,0.982950]] 2025-10-27T06:20:06.910Z,1761546006.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m. 2025-10-27T06:20:06.913Z,1761546006.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.146393 m, nav range: 36.588127 m, bearing: 358.523442 deg, approach rate: -0.479190 m/s, LOS rate: -0.206060 deg/s, cmd heading: 348.038436 deg, new cmd heading: 347.773817 deg. 2025-10-27T06:20:06.913Z,1761546006.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069798 target range: 40.146393 and range: 40.40 m. 2025-10-27T06:20:07.020Z,1761546007.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274888 2025-10-27T06:20:07.266Z,1761546007.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987767,0.145728,-0.055498],[-0.133715,0.974651,0.179376],[0.080232,-0.169761,0.982214]] 2025-10-27T06:20:07.277Z,1761546007.277 [DAT](INFO): DAT read: 06:20:05.2734 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411, 0.12,-0.317,-2.040,-0.301,-0.528, PHS= 0.313,-1.467, 0.183, RAW= 146.2, 11.3, CAL= 145.9, 12.3, ROT= 4.1, -12.3 2025-10-27T06:20:07.278Z,1761546007.278 [DAT](INFO): got valid direction response: 06:20:05.2734 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 411, 0.12,-0.317,-2.040,-0.301,-0.528, PHS= 0.313,-1.467, 0.183, RAW= 146.2, 11.3, CAL= 145.9, 12.3, ROT= 4.1, -12.3 2025-10-27T06:20:07.279Z,1761546007.279 [DAT](INFO): DAT read: Bearing 163.7, 6.6 (Local) 2025-10-27T06:20:07.280Z,1761546007.280 [DAT](INFO): Local bearing/azimuth received: Bearing 163.7, 6.6 (Local) 2025-10-27T06:20:07.281Z,1761546007.281 [DAT](INFO): DAT read: Range 11 to 50 : 38.5 m (Round-trip 51.4 ms) speed 0.4 m/s 2025-10-27T06:20:07.282Z,1761546007.282 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:20:07.283Z,1761546007.283 [DAT](INFO): direction in FSK: [0.974545,0.069856,0.213030] 2025-10-27T06:20:07.283Z,1761546007.283 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:07.286Z,1761546007.286 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:20:07.286Z,1761546007.286 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:20:07.287Z,1761546007.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:20:07.345Z,1761546007.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.500000 m, deltaT: 3.778772 s, deltaX: -1.900002 m, approachRate: -0.502809 m/s, rangeRepo size: 4 2025-10-27T06:20:07.351Z,1761546007.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.257687 m, bearing: 358.568592 deg, lat: 36.779443 deg, lon: -121.859800 deg, deltaT: 3.778772 s, deltaX: -1.888706 m, approachRate: -0.499820 m/s, posRepo size: 4 2025-10-27T06:20:07.352Z,1761546007.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:07.355Z,1761546007.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 36.776363 m, bearing: 358.568598 deg, approach rate: 0.000000 m/s, LOS rate: -0.206060 deg/s, cmd heading: 347.773807 deg, new cmd heading: 347.505062 deg. 2025-10-27T06:20:07.364Z,1761546007.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.065107 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:07.524Z,1761546007.524 [DAT](INFO): DAT read: user:751> 2025-10-27T06:20:07.525Z,1761546007.525 [DAT](INFO): DAT read: Tx time:06:20:06.5678 2025-10-27T06:20:07.525Z,1761546007.525 [DAT](INFO): Ping request sent. 2025-10-27T06:20:07.525Z,1761546007.525 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:20:07.525Z,1761546007.525 [DAT](INFO): publishing transmit ping time 2025-10-27T06:20:07.526Z,1761546007.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T06:20:07.713Z,1761546007.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987590,0.146943,-0.055443],[-0.134488,0.973558,0.184655],[0.081111,-0.174907,0.981238]] 2025-10-27T06:20:07.776Z,1761546007.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250818 2025-10-27T06:20:07.777Z,1761546007.777 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T06:20:07.777Z,1761546007.777 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:20:07.777Z,1761546007.777 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T06:20:07.779Z,1761546007.779 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.500000 m (mode 2.000000 count ). 2025-10-27T06:20:07.779Z,1761546007.779 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T06:20:07.779Z,1761546007.779 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T06:20:07.780Z,1761546007.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:07.782Z,1761546007.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:07.785Z,1761546007.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 36.553497 m, bearing: 358.509268 deg, approach rate: -0.509636 m/s, LOS rate: -0.136499 deg/s, cmd heading: 347.505053 deg, new cmd heading: 347.325980 deg. 2025-10-27T06:20:07.785Z,1761546007.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061982 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:08.028Z,1761546008.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502633 2025-10-27T06:20:08.094Z,1761546008.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987285,0.148972,-0.055466],[-0.136085,0.972414,0.189450],[0.082159,-0.179493,0.980322]] 2025-10-27T06:20:08.111Z,1761546008.111 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T06:20:08.111Z,1761546008.111 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T06:20:08.114Z,1761546008.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:08.117Z,1761546008.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 36.394844 m, bearing: 358.467177 deg, approach rate: -0.477965 m/s, LOS rate: -0.127358 deg/s, cmd heading: 347.325993 deg, new cmd heading: 347.199170 deg. 2025-10-27T06:20:08.117Z,1761546008.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059769 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:08.280Z,1761546008.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754661 2025-10-27T06:20:08.499Z,1761546008.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986784,0.152416,-0.055007],[-0.139015,0.970721,0.195898],[0.083255,-0.185663,0.979080]] 2025-10-27T06:20:08.516Z,1761546008.516 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T06:20:08.517Z,1761546008.517 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T06:20:08.519Z,1761546008.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:08.522Z,1761546008.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 36.204182 m, bearing: 358.417312 deg, approach rate: -0.470696 m/s, LOS rate: -0.123753 deg/s, cmd heading: 347.199170 deg, new cmd heading: 347.048786 deg. 2025-10-27T06:20:08.523Z,1761546008.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057144 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:08.532Z,1761546008.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006932 2025-10-27T06:20:08.784Z,1761546008.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258618 2025-10-27T06:20:08.956Z,1761546008.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T06:20:08.956Z,1761546008.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:20:08.956Z,1761546008.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T06:20:08.956Z,1761546008.956 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:20:08.958Z,1761546008.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:08.961Z,1761546008.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 35.990715 m, bearing: 358.412268 deg, approach rate: -0.485582 m/s, LOS rate: -0.011542 deg/s, cmd heading: 347.048797 deg, new cmd heading: 347.033575 deg. 2025-10-27T06:20:08.962Z,1761546008.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056879 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:09.037Z,1761546009.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511391 2025-10-27T06:20:09.288Z,1761546009.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762761 2025-10-27T06:20:09.337Z,1761546009.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985291,0.161855,-0.054822],[-0.147344,0.967139,0.207202],[0.086557,-0.196076,0.976761]] 2025-10-27T06:20:09.365Z,1761546009.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:09.372Z,1761546009.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 35.794651 m, bearing: 358.410565 deg, approach rate: -0.481925 m/s, LOS rate: -0.004209 deg/s, cmd heading: 347.033579 deg, new cmd heading: 347.028441 deg. 2025-10-27T06:20:09.373Z,1761546009.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056789 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:09.540Z,1761546009.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014625 2025-10-27T06:20:09.721Z,1761546009.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984158,0.168560,-0.054964],[-0.153400,0.965001,0.212702],[0.088893,-0.200901,0.975570]] 2025-10-27T06:20:09.774Z,1761546009.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:09.792Z,1761546009.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266635 2025-10-27T06:20:09.802Z,1761546009.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 35.590107 m, bearing: 358.445880 deg, approach rate: -0.499949 m/s, LOS rate: 0.086813 deg/s, cmd heading: 347.028443 deg, new cmd heading: 347.134996 deg. 2025-10-27T06:20:09.808Z,1761546009.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058649 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:10.044Z,1761546010.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518664 2025-10-27T06:20:10.114Z,1761546010.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982845,0.175993,-0.055149],[-0.160154,0.962711,0.218033],[0.091465,-0.205461,0.974382]] 2025-10-27T06:20:10.131Z,1761546010.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:10.133Z,1761546010.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:10.136Z,1761546010.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 35.410164 m, bearing: 358.479392 deg, approach rate: -0.501648 m/s, LOS rate: 0.093901 deg/s, cmd heading: 347.134994 deg, new cmd heading: 347.236041 deg. 2025-10-27T06:20:10.137Z,1761546010.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.060412 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:10.297Z,1761546010.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771521 2025-10-27T06:20:10.517Z,1761546010.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981491,0.183245,-0.055646],[-0.166836,0.960818,0.221348],[0.094027,-0.207968,0.973606]] 2025-10-27T06:20:10.548Z,1761546010.548 [DAT](INFO): DAT read: Rx Time:06:20:09.0210 2025-10-27T06:20:10.549Z,1761546010.549 [DAT](INFO): Rx dataTimestamp_ set to:1761546010.548262 2025-10-27T06:20:10.549Z,1761546010.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023846 2025-10-27T06:20:10.549Z,1761546010.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:10.553Z,1761546010.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 35.204082 m, bearing: 358.520570 deg, approach rate: -0.498049 m/s, LOS rate: 0.100099 deg/s, cmd heading: 347.236053 deg, new cmd heading: 347.360309 deg. 2025-10-27T06:20:10.554Z,1761546010.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062581 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:10.801Z,1761546010.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276110 2025-10-27T06:20:10.921Z,1761546010.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980068,0.190649,-0.055856],[-0.173561,0.958494,0.226200],[0.096662,-0.211997,0.972478]] 2025-10-27T06:20:10.968Z,1761546010.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.26 m. 2025-10-27T06:20:10.971Z,1761546010.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.257687 m, nav range: 34.990585 m, bearing: 358.600992 deg, approach rate: -0.506543 m/s, LOS rate: 0.191974 deg/s, cmd heading: 347.360308 deg, new cmd heading: 347.603045 deg. 2025-10-27T06:20:10.972Z,1761546010.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.066818 target range: 38.257687 and range: 38.50 m. 2025-10-27T06:20:11.059Z,1761546011.059 [DAT](INFO): DAT read: 06:20:09.0210 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 419,-0.47, 0.353,-1.386, 0.329, 0.121, PHS= 0.335,-1.462, 0.164, RAW= 145.1, 11.2, CAL= 144.7, 12.2, ROT= 5.3, -12.2 2025-10-27T06:20:11.060Z,1761546011.060 [DAT](INFO): got valid direction response: 06:20:09.0210 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 419,-0.47, 0.353,-1.386, 0.329, 0.121, PHS= 0.335,-1.462, 0.164, RAW= 145.1, 11.2, CAL= 144.7, 12.2, ROT= 5.3, -12.2 2025-10-27T06:20:11.061Z,1761546011.061 [DAT](INFO): DAT read: Bearing 162.1, 8.0 (Local) 2025-10-27T06:20:11.061Z,1761546011.061 [DAT](INFO): Local bearing/azimuth received: Bearing 162.1, 8.0 (Local) 2025-10-27T06:20:11.063Z,1761546011.063 [DAT](INFO): DAT read: Range 11 to 50 : 36.8 m (Round-trip 49.1 ms) speed 0.4 m/s 2025-10-27T06:20:11.063Z,1761546011.063 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:20:11.064Z,1761546011.064 [DAT](INFO): direction in FSK: [0.973237,0.090284,0.211325] 2025-10-27T06:20:11.065Z,1761546011.065 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:11.078Z,1761546011.078 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:20:11.078Z,1761546011.078 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:20:11.078Z,1761546011.078 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:20:11.304Z,1761546011.304 [DAT](INFO): DAT read: user:752> 2025-10-27T06:20:11.306Z,1761546011.306 [DAT](INFO): DAT read: Tx time:06:20:10.3678 2025-10-27T06:20:11.306Z,1761546011.306 [DAT](INFO): Ping request sent. 2025-10-27T06:20:11.307Z,1761546011.307 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:20:11.307Z,1761546011.307 [DAT](INFO): publishing transmit ping time 2025-10-27T06:20:11.308Z,1761546011.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001738 2025-10-27T06:20:11.341Z,1761546011.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978555,0.198409,-0.055360],[-0.180551,0.955534,0.233143],[0.099156,-0.218148,0.970865]] 2025-10-27T06:20:11.347Z,1761546011.347 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:20:11.399Z,1761546011.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 3.780533 s, deltaX: -1.700001 m, approachRate: -0.449672 m/s, rangeRepo size: 4 2025-10-27T06:20:11.401Z,1761546011.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.566967 m, bearing: 357.599753 deg, lat: 36.779443 deg, lon: -121.859801 deg, deltaT: 3.780533 s, deltaX: -1.690720 m, approachRate: -0.447217 m/s, posRepo size: 4 2025-10-27T06:20:11.402Z,1761546011.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T06:20:11.409Z,1761546011.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.566967 m, nav range: 34.856808 m, bearing: 358.568940 deg, approach rate: 0.000000 m/s, LOS rate: 0.191974 deg/s, cmd heading: 347.603053 deg, new cmd heading: 347.848556 deg. 2025-10-27T06:20:11.410Z,1761546011.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071103 target range: 36.566967 and range: 36.80 m. 2025-10-27T06:20:11.560Z,1761546011.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253584 2025-10-27T06:20:11.751Z,1761546011.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977011,0.206032,-0.054778],[-0.187530,0.952778,0.238842],[0.101400,-0.223079,0.969512]] 2025-10-27T06:20:11.802Z,1761546011.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T06:20:11.809Z,1761546011.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502150 2025-10-27T06:20:11.824Z,1761546011.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.566967 m, nav range: 34.648628 m, bearing: 358.663891 deg, approach rate: -0.511945 m/s, LOS rate: 0.234901 deg/s, cmd heading: 347.848557 deg, new cmd heading: 348.135118 deg. 2025-10-27T06:20:11.825Z,1761546011.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.076104 target range: 36.566967 and range: 36.80 m. 2025-10-27T06:20:12.060Z,1761546012.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753530 2025-10-27T06:20:12.137Z,1761546012.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975528,0.212903,-0.054935],[-0.193970,0.950954,0.240960],[0.103542,-0.224408,0.968979]] 2025-10-27T06:20:12.155Z,1761546012.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:12.157Z,1761546012.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T06:20:12.160Z,1761546012.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.566967 m, nav range: 34.466354 m, bearing: 358.750168 deg, approach rate: -0.511706 m/s, LOS rate: 0.243491 deg/s, cmd heading: 348.135124 deg, new cmd heading: 348.395323 deg. 2025-10-27T06:20:12.161Z,1761546012.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.080646 target range: 36.566967 and range: 36.80 m. 2025-10-27T06:20:12.313Z,1761546012.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006896 2025-10-27T06:20:12.351Z,1761546012.351 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:20:12.538Z,1761546012.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974404,0.217556,-0.056615],[-0.198472,0.950816,0.237818],[0.105569,-0.220494,0.969658]] 2025-10-27T06:20:12.564Z,1761546012.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257615 2025-10-27T06:20:12.574Z,1761546012.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T06:20:12.577Z,1761546012.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.566967 m, nav range: 34.258030 m, bearing: 358.851781 deg, approach rate: -0.500127 m/s, LOS rate: 0.245427 deg/s, cmd heading: 348.395327 deg, new cmd heading: 348.702018 deg. 2025-10-27T06:20:12.578Z,1761546012.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085999 target range: 36.566967 and range: 36.80 m. 2025-10-27T06:20:12.821Z,1761546012.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513873 2025-10-27T06:20:12.943Z,1761546012.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973524,0.220911,-0.058727],[-0.201881,0.951440,0.232394],[0.107213,-0.214385,0.970847]] 2025-10-27T06:20:12.981Z,1761546012.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T06:20:13.004Z,1761546013.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.566967 m, nav range: 34.053612 m, bearing: 358.953602 deg, approach rate: -0.502698 m/s, LOS rate: 0.251897 deg/s, cmd heading: 348.702030 deg, new cmd heading: 349.009323 deg. 2025-10-27T06:20:13.005Z,1761546013.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091362 target range: 36.566967 and range: 36.80 m. 2025-10-27T06:20:13.069Z,1761546013.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762475 2025-10-27T06:20:13.321Z,1761546013.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014632 2025-10-27T06:20:13.354Z,1761546013.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972810,0.223455,-0.060905],[-0.204675,0.952506,0.225477],[0.108397,-0.206880,0.972343]] 2025-10-27T06:20:13.390Z,1761546013.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.57 m. 2025-10-27T06:20:13.397Z,1761546013.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.566967 m, nav range: 33.852161 m, bearing: 359.056463 deg, approach rate: -0.492256 m/s, LOS rate: 0.252843 deg/s, cmd heading: 349.009334 deg, new cmd heading: 349.319750 deg. 2025-10-27T06:20:13.398Z,1761546013.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096780 target range: 36.566967 and range: 36.80 m. 2025-10-27T06:20:13.572Z,1761546013.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265474 2025-10-27T06:20:13.774Z,1761546013.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972412,0.224560,-0.063156],[-0.206046,0.953772,0.218781],[0.109366,-0.199732,0.973728]] 2025-10-27T06:20:13.825Z,1761546013.825 [DAT](INFO): DAT read: Rx Time:06:20:12.5438 2025-10-27T06:20:13.825Z,1761546013.825 [DAT](INFO): Rx dataTimestamp_ set to:1761546013.824869 2025-10-27T06:20:13.826Z,1761546013.826 [DAT](INFO): DAT read: Bearing 159.7, 12.8 (Local) 2025-10-27T06:20:13.827Z,1761546013.827 [DAT](INFO): Local bearing/azimuth received: Bearing 159.7, 12.8 (Local) 2025-10-27T06:20:13.829Z,1761546013.829 [DAT](INFO): DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed 0.4 2025-10-27T06:20:13.834Z,1761546013.834 [DAT](INFO): DAT read: 06:20:12.5438 LVL= 29392, 32753, 32018, 32755, AGC= 64, IDX= 156, 0.05, 0.788,-1.019, 0.638, 0.452, PHS= 0.438,-1.426, 0.142, RAW= 141.5, 9.8, CAL= 141.0, 10.7, ROT= 9.0, -10.7 2025-10-27T06:20:13.835Z,1761546013.835 [DAT](INFO): got valid direction response: 06:20:12.5438 LVL= 29392, 32753, 32018, 32755, AGC= 64, IDX= 156, 0.05, 0.788,-1.019, 0.638, 0.452, PHS= 0.438,-1.426, 0.142, RAW= 141.5, 9.8, CAL= 141.0, 10.7, ROT= 9.0, -10.7 2025-10-27T06:20:13.835Z,1761546013.835 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:20:13.836Z,1761546013.836 [DAT](INFO): direction in FSK: [0.970515,0.153715,0.185667] 2025-10-27T06:20:13.837Z,1761546013.837 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:13.840Z,1761546013.840 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.533829 2025-10-27T06:20:13.906Z,1761546013.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 2.772949 s, deltaX: -1.700001 m, approachRate: -0.613066 m/s, rangeRepo size: 4 2025-10-27T06:20:13.913Z,1761546013.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.877422 m, bearing: 359.244726 deg, lat: 36.779443 deg, lon: -121.859800 deg, deltaT: 2.772949 s, deltaX: -1.689545 m, approachRate: -0.609295 m/s, posRepo size: 4 2025-10-27T06:20:13.914Z,1761546013.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m. 2025-10-27T06:20:13.916Z,1761546013.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.877422 m, nav range: 33.612640 m, bearing: 359.242472 deg, approach rate: 0.000000 m/s, LOS rate: 0.252843 deg/s, cmd heading: 349.319752 deg, new cmd heading: 349.705537 deg. 2025-10-27T06:20:13.917Z,1761546013.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.103513 target range: 34.877422 and range: 35.10 m. 2025-10-27T06:20:14.076Z,1761546014.076 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769645 2025-10-27T06:20:14.154Z,1761546014.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972266,0.224513,-0.065523],[-0.206366,0.955370,0.211378],[0.110056,-0.191993,0.975206]] 2025-10-27T06:20:14.232Z,1761546014.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:14.234Z,1761546014.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.88 m. 2025-10-27T06:20:14.241Z,1761546014.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.877422 m, nav range: 33.446678 m, bearing: 359.317137 deg, approach rate: -0.493763 m/s, LOS rate: 0.223242 deg/s, cmd heading: 349.705549 deg, new cmd heading: 349.930654 deg. 2025-10-27T06:20:14.242Z,1761546014.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107442 target range: 34.877422 and range: 35.10 m. 2025-10-27T06:20:14.329Z,1761546014.329 [DAT](INFO): DAT read: Rx Time:06:20:13.0436 2025-10-27T06:20:14.329Z,1761546014.329 [DAT](INFO): Rx dataTimestamp_ set to:1761546014.328766 2025-10-27T06:20:14.330Z,1761546014.330 [DAT](INFO): DAT read: Bearing 160.8, 12.6 (Local) 2025-10-27T06:20:14.331Z,1761546014.331 [DAT](INFO): Local bearing/azimuth received: Bearing 160.8, 12.6 (Local) 2025-10-27T06:20:14.333Z,1761546014.333 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 2025-10-27T06:20:14.337Z,1761546014.337 [DAT](INFO): DAT read: 06:20:13.0436 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.28, 0.999,-0.795, 0.854, 0.695, PHS= 0.406,-1.446, 0.115, RAW= 141.6, 10.7, CAL= 141.1, 11.7, ROT= 8.9, -11.7 2025-10-27T06:20:14.339Z,1761546014.339 [DAT](INFO): got valid direction response: 06:20:13.0436 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.28, 0.999,-0.795, 0.854, 0.695, PHS= 0.406,-1.446, 0.115, RAW= 141.6, 10.7, CAL= 141.1, 11.7, ROT= 8.9, -11.7 2025-10-27T06:20:14.339Z,1761546014.339 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:20:14.340Z,1761546014.340 [DAT](INFO): direction in FSK: [0.967433,0.151496,0.202787] 2025-10-27T06:20:14.340Z,1761546014.340 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:14.344Z,1761546014.344 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.037597 2025-10-27T06:20:14.580Z,1761546014.580 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273540 2025-10-27T06:20:14.833Z,1761546014.833 [DAT](INFO): DAT read: Rx Time:06:20:13.5434 2025-10-27T06:20:14.833Z,1761546014.833 [DAT](INFO): Rx dataTimestamp_ set to:1761546014.832704 2025-10-27T06:20:14.834Z,1761546014.834 [DAT](INFO): DAT read: Bearing 161.7, 12.9 (Local) 2025-10-27T06:20:14.835Z,1761546014.835 [DAT](INFO): Local bearing/azimuth received: Bearing 161.7, 12.9 (Local) 2025-10-27T06:20:14.837Z,1761546014.837 [DAT](INFO): DAT read: Range 11 to 50 : 34.5 m (trip time 23.0 ms) speed 0.4 2025-10-27T06:20:14.841Z,1761546014.841 [DAT](INFO): DAT read: 06:20:13.5434 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.29,-2.801, 1.702,-2.950,-3.087, PHS= 0.388,-1.449, 0.093, RAW= 141.4, 11.3, CAL= 140.9, 12.3, ROT= 9.1, -12.3 2025-10-27T06:20:14.842Z,1761546014.842 [DAT](INFO): got valid direction response: 06:20:13.5434 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.29,-2.801, 1.702,-2.950,-3.087, PHS= 0.388,-1.449, 0.093, RAW= 141.4, 11.3, CAL= 140.9, 12.3, ROT= 9.1, -12.3 2025-10-27T06:20:14.843Z,1761546014.843 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T06:20:14.844Z,1761546014.844 [DAT](INFO): direction in FSK: [0.964748,0.154528,0.213030] 2025-10-27T06:20:14.844Z,1761546014.844 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:14.852Z,1761546014.852 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.545426 2025-10-27T06:20:14.918Z,1761546014.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 1.007835 s, deltaX: -0.599998 m, approachRate: -0.595334 m/s, rangeRepo size: 4 2025-10-27T06:20:14.941Z,1761546014.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.281132 m, bearing: 359.615720 deg, lat: 36.779443 deg, lon: -121.859800 deg, deltaT: 1.007835 s, deltaX: -0.596291 m, approachRate: -0.591655 m/s, posRepo size: 4 2025-10-27T06:20:14.941Z,1761546014.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.28 m. 2025-10-27T06:20:14.949Z,1761546014.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.281132 m, nav range: 33.115452 m, bearing: 359.436867 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 349.930645 deg, new cmd heading: 350.388134 deg. 2025-10-27T06:20:14.950Z,1761546014.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.115427 target range: 34.281132 and range: 34.50 m. 2025-10-27T06:20:15.084Z,1761546015.084 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777828 2025-10-27T06:20:15.337Z,1761546015.337 [DAT](INFO): DAT read: Rx Time:06:20:14.0433 2025-10-27T06:20:15.337Z,1761546015.337 [DAT](INFO): Rx dataTimestamp_ set to:1761546015.336767 2025-10-27T06:20:15.338Z,1761546015.338 [DAT](INFO): DAT read: Bearing 162.7, 12.4 (Local) 2025-10-27T06:20:15.339Z,1761546015.339 [DAT](INFO): Local bearing/azimuth received: Bearing 162.7, 12.4 (Local) 2025-10-27T06:20:15.341Z,1761546015.341 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 2025-10-27T06:20:15.350Z,1761546015.350 [DAT](INFO): DAT read: 06:20:14.0433 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.04,-1.002,-2.757,-1.131,-1.256, PHS= 0.356,-1.455, 0.081, RAW= 141.9, 12.0, CAL= 141.3, 13.0, ROT= 8.7, -13.0 2025-10-27T06:20:15.364Z,1761546015.364 [DAT](INFO): got valid direction response: 06:20:14.0433 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.04,-1.002,-2.757,-1.131,-1.256, PHS= 0.356,-1.455, 0.081, RAW= 141.9, 12.0, CAL= 141.3, 13.0, ROT= 8.7, -13.0 2025-10-27T06:20:15.365Z,1761546015.365 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T06:20:15.366Z,1761546015.366 [DAT](INFO): direction in FSK: [0.963159,0.147384,0.224951] 2025-10-27T06:20:15.366Z,1761546015.366 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:15.398Z,1761546015.398 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.091397 2025-10-27T06:20:15.449Z,1761546015.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973065,0.218436,-0.073695],[-0.201432,0.961090,0.189026],[0.112118,-0.169090,0.979203]] 2025-10-27T06:20:15.510Z,1761546015.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.504063 s, deltaX: -0.099998 m, approachRate: -0.198385 m/s, rangeRepo size: 4 2025-10-27T06:20:15.516Z,1761546015.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.181931 m, bearing: 359.408309 deg, lat: 36.779443 deg, lon: -121.859800 deg, deltaT: 0.504063 s, deltaX: -0.099201 m, approachRate: -0.196803 m/s, posRepo size: 4 2025-10-27T06:20:15.517Z,1761546015.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.18 m. 2025-10-27T06:20:15.525Z,1761546015.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.181931 m, nav range: 32.745846 m, bearing: 359.466105 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 350.388131 deg, new cmd heading: 350.784588 deg. 2025-10-27T06:20:15.526Z,1761546015.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.122346 target range: 34.181931 and range: 34.40 m. 2025-10-27T06:20:15.588Z,1761546015.588 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281620 2025-10-27T06:20:15.840Z,1761546015.840 [DAT](INFO): DAT read: Rx Time:06:20:14.5430 2025-10-27T06:20:15.841Z,1761546015.841 [DAT](INFO): Rx dataTimestamp_ set to:1761546015.840678 2025-10-27T06:20:15.842Z,1761546015.842 [DAT](INFO): DAT read: Bearing 162.8, 12.3 (Local) 2025-10-27T06:20:15.843Z,1761546015.843 [DAT](INFO): Local bearing/azimuth received: Bearing 162.8, 12.3 (Local) 2025-10-27T06:20:15.845Z,1761546015.845 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 2025-10-27T06:20:15.856Z,1761546015.856 [DAT](INFO): DAT read: 06:20:14.5430 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.50,-3.044, 1.480, 3.116, 2.985, PHS= 0.356,-1.460, 0.087, RAW= 142.1, 12.0, CAL= 141.5, 13.0, ROT= 8.5, -13.0 2025-10-27T06:20:15.857Z,1761546015.857 [DAT](INFO): got valid direction response: 06:20:14.5430 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.50,-3.044, 1.480, 3.116, 2.985, PHS= 0.356,-1.460, 0.087, RAW= 142.1, 12.0, CAL= 141.5, 13.0, ROT= 8.5, -13.0 2025-10-27T06:20:15.857Z,1761546015.857 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T06:20:15.858Z,1761546015.858 [DAT](INFO): direction in FSK: [0.963667,0.144021,0.224951] 2025-10-27T06:20:15.859Z,1761546015.859 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:15.863Z,1761546015.863 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.556190 2025-10-27T06:20:15.986Z,1761546015.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974712,0.209427,-0.077949],[-0.193562,0.965568,0.173818],[0.111667,-0.154335,0.981688]] 2025-10-27T06:20:16.070Z,1761546016.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503911 s, deltaX: -0.500000 m, approachRate: -0.992239 m/s, rangeRepo size: 4 2025-10-27T06:20:16.076Z,1761546016.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.685101 m, bearing: 359.496431 deg, lat: 36.779441 deg, lon: -121.859800 deg, deltaT: 0.503911 s, deltaX: -0.496830 m, approachRate: -0.985948 m/s, posRepo size: 4 2025-10-27T06:20:16.076Z,1761546016.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m. 2025-10-27T06:20:16.092Z,1761546016.092 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785793 2025-10-27T06:20:16.100Z,1761546016.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.685101 m, nav range: 32.292095 m, bearing: 359.456128 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 350.784582 deg, new cmd heading: 351.159204 deg. 2025-10-27T06:20:16.101Z,1761546016.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128884 target range: 33.685101 and range: 33.90 m. 2025-10-27T06:20:16.345Z,1761546016.345 [DAT](INFO): DAT read: Rx Time:06:20:15.0430 2025-10-27T06:20:16.346Z,1761546016.346 [DAT](INFO): Rx dataTimestamp_ set to:1761546016.345453 2025-10-27T06:20:16.348Z,1761546016.348 [DAT](INFO): DAT read: Bearing 162.8, 12.4 (Local) 2025-10-27T06:20:16.348Z,1761546016.348 [DAT](INFO): Local bearing/azimuth received: Bearing 162.8, 12.4 (Local) 2025-10-27T06:20:16.350Z,1761546016.350 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 2025-10-27T06:20:16.355Z,1761546016.355 [DAT](INFO): DAT read: 06:20:15.0430 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.00, 2.985, 1.206, 2.861, 2.720, PHS= 0.367,-1.469, 0.097, RAW= 142.2, 11.7, CAL= 141.6, 12.7, ROT= 8.4, -12.7 2025-10-27T06:20:16.356Z,1761546016.356 [DAT](INFO): got valid direction response: 06:20:15.0430 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.00, 2.985, 1.206, 2.861, 2.720, PHS= 0.367,-1.469, 0.097, RAW= 142.2, 11.7, CAL= 141.6, 12.7, ROT= 8.4, -12.7 2025-10-27T06:20:16.356Z,1761546016.356 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T06:20:16.357Z,1761546016.357 [DAT](INFO): direction in FSK: [0.965069,0.142509,0.219846] 2025-10-27T06:20:16.357Z,1761546016.357 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:16.361Z,1761546016.361 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.054823 2025-10-27T06:20:16.443Z,1761546016.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975836,0.203654,-0.079181],[-0.188380,0.967727,0.167382],[0.110714,-0.148421,0.982707]] 2025-10-27T06:20:16.496Z,1761546016.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.504775 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:16.498Z,1761546016.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.685394 m, bearing: 359.573796 deg, lat: 36.779441 deg, lon: -121.859800 deg, deltaT: 0.504775 s, deltaX: 0.000294 m, approachRate: 0.000582 m/s, posRepo size: 4 2025-10-27T06:20:16.503Z,1761546016.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m. 2025-10-27T06:20:16.506Z,1761546016.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.685394 m, nav range: 32.083805 m, bearing: 359.492836 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 351.159204 deg, new cmd heading: 351.442026 deg. 2025-10-27T06:20:16.507Z,1761546016.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.133821 target range: 33.685394 and range: 33.90 m. 2025-10-27T06:20:16.597Z,1761546016.597 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290393 2025-10-27T06:20:16.842Z,1761546016.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977076,0.197164,-0.080299],[-0.182564,0.970030,0.160351],[0.109508,-0.142016,0.983788]] 2025-10-27T06:20:16.849Z,1761546016.849 [DAT](INFO): DAT read: Rx Time:06:20:15.5427 2025-10-27T06:20:16.849Z,1761546016.849 [DAT](INFO): Rx dataTimestamp_ set to:1761546016.848795 2025-10-27T06:20:16.850Z,1761546016.850 [DAT](INFO): DAT read: Bearing 162.7, 11.7 (Local) 2025-10-27T06:20:16.851Z,1761546016.851 [DAT](INFO): Local bearing/azimuth received: Bearing 162.7, 11.7 (Local) 2025-10-27T06:20:16.853Z,1761546016.853 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 2025-10-27T06:20:16.857Z,1761546016.857 [DAT](INFO): DAT read: 06:20:15.5427 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 497, 0.39, 3.044, 1.259, 2.943, 2.777, PHS= 0.369,-1.472, 0.123, RAW= 142.9, 11.3, CAL= 142.4, 12.3, ROT= 7.6, -12.3 2025-10-27T06:20:16.858Z,1761546016.858 [DAT](INFO): got valid direction response: 06:20:15.5427 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 497, 0.39, 3.044, 1.259, 2.943, 2.777, PHS= 0.369,-1.472, 0.123, RAW= 142.9, 11.3, CAL= 142.4, 12.3, ROT= 7.6, -12.3 2025-10-27T06:20:16.859Z,1761546016.859 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T06:20:16.860Z,1761546016.860 [DAT](INFO): direction in FSK: [0.968463,0.129221,0.213030] 2025-10-27T06:20:16.860Z,1761546016.860 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:16.874Z,1761546016.874 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.567603 2025-10-27T06:20:16.976Z,1761546016.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503342 s, deltaX: -0.400002 m, approachRate: -0.794691 m/s, rangeRepo size: 4 2025-10-27T06:20:16.978Z,1761546016.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.287922 m, bearing: 358.961838 deg, lat: 36.779441 deg, lon: -121.859800 deg, deltaT: 0.503342 s, deltaX: -0.397472 m, approachRate: -0.789667 m/s, posRepo size: 4 2025-10-27T06:20:16.978Z,1761546016.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m. 2025-10-27T06:20:16.986Z,1761546016.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.287922 m, nav range: 31.846119 m, bearing: 359.436479 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 351.442029 deg, new cmd heading: 351.762986 deg. 2025-10-27T06:20:16.991Z,1761546016.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139422 target range: 33.287922 and range: 33.50 m. 2025-10-27T06:20:17.100Z,1761546017.100 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793597 2025-10-27T06:20:17.323Z,1761546017.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978387,0.190316,-0.080859],[-0.176384,0.972199,0.154008],[0.107921,-0.136417,0.984756]] 2025-10-27T06:20:17.353Z,1761546017.353 [DAT](INFO): DAT read: Rx Time:06:20:16.0427 2025-10-27T06:20:17.353Z,1761546017.353 [DAT](INFO): Rx dataTimestamp_ set to:1761546017.352807 2025-10-27T06:20:17.354Z,1761546017.354 [DAT](INFO): DAT read: Bearing 165.8, 9.7 (Local) 2025-10-27T06:20:17.355Z,1761546017.355 [DAT](INFO): Local bearing/azimuth received: Bearing 165.8, 9.7 (Local) 2025-10-27T06:20:17.357Z,1761546017.357 [DAT](INFO): DAT read: Range 11 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 2025-10-27T06:20:17.362Z,1761546017.362 [DAT](INFO): DAT read: 06:20:16.0427 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 513,-0.12,-2.074, 2.460,-2.122,-2.233, PHS= 0.261,-1.545, 0.066, RAW= 144.4, 14.1, CAL= 143.9, 15.3, ROT= 6.1, -15.3 2025-10-27T06:20:17.363Z,1761546017.363 [DAT](INFO): got valid direction response: 06:20:16.0427 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 513,-0.12,-2.074, 2.460,-2.122,-2.233, PHS= 0.261,-1.545, 0.066, RAW= 144.4, 14.1, CAL= 143.9, 15.3, ROT= 6.1, -15.3 2025-10-27T06:20:17.363Z,1761546017.363 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T06:20:17.364Z,1761546017.364 [DAT](INFO): direction in FSK: [0.959096,0.102498,0.263873] 2025-10-27T06:20:17.365Z,1761546017.365 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:17.370Z,1761546017.370 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.063405 2025-10-27T06:20:17.388Z,1761546017.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.504012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:17.390Z,1761546017.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.287998 m, bearing: 358.233577 deg, lat: 36.779441 deg, lon: -121.859800 deg, deltaT: 0.504012 s, deltaX: 0.000076 m, approachRate: 0.000151 m/s, posRepo size: 4 2025-10-27T06:20:17.390Z,1761546017.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m. 2025-10-27T06:20:17.397Z,1761546017.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.287998 m, nav range: 31.588255 m, bearing: 359.285113 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 351.762993 deg, new cmd heading: 352.039095 deg. 2025-10-27T06:20:17.398Z,1761546017.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144241 target range: 33.287998 and range: 33.50 m. 2025-10-27T06:20:17.605Z,1761546017.605 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298971 2025-10-27T06:20:17.856Z,1761546017.856 [DAT](INFO): DAT read: Rx Time:06:20:16.5424 2025-10-27T06:20:17.857Z,1761546017.857 [DAT](INFO): Rx dataTimestamp_ set to:1761546017.856558 2025-10-27T06:20:17.858Z,1761546017.858 [DAT](INFO): DAT read: Bearing 163.4, 10.1 (Local) 2025-10-27T06:20:17.858Z,1761546017.858 [DAT](INFO): Local bearing/azimuth received: Bearing 163.4, 10.1 (Local) 2025-10-27T06:20:17.861Z,1761546017.861 [DAT](INFO): DAT read: Range 11 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 2025-10-27T06:20:17.865Z,1761546017.865 [DAT](INFO): DAT read: 06:20:16.5424 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.37,-2.065, 2.471,-2.111,-2.297, PHS= 0.334,-1.470, 0.142, RAW= 144.5, 11.6, CAL= 144.0, 12.6, ROT= 6.0, -12.6 2025-10-27T06:20:17.866Z,1761546017.866 [DAT](INFO): got valid direction response: 06:20:16.5424 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.37,-2.065, 2.471,-2.111,-2.297, PHS= 0.334,-1.470, 0.142, RAW= 144.5, 11.6, CAL= 144.0, 12.6, ROT= 6.0, -12.6 2025-10-27T06:20:17.866Z,1761546017.866 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T06:20:17.867Z,1761546017.867 [DAT](INFO): direction in FSK: [0.970571,0.102011,0.218143] 2025-10-27T06:20:17.868Z,1761546017.868 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:17.871Z,1761546017.871 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.564957 2025-10-27T06:20:17.882Z,1761546017.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979628,0.183708,-0.081125],[-0.170310,0.974040,0.149132],[0.106415,-0.132277,0.985484]] 2025-10-27T06:20:18.008Z,1761546018.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.503751 s, deltaX: -0.500000 m, approachRate: -0.992554 m/s, rangeRepo size: 4 2025-10-27T06:20:18.010Z,1761546018.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.791164 m, bearing: 357.990118 deg, lat: 36.779440 deg, lon: -121.859803 deg, deltaT: 0.503751 s, deltaX: -0.496834 m, approachRate: -0.986269 m/s, posRepo size: 4 2025-10-27T06:20:18.015Z,1761546018.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.79 m. 2025-10-27T06:20:18.018Z,1761546018.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.791164 m, nav range: 31.219324 m, bearing: 358.757177 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 352.039097 deg, new cmd heading: 352.457692 deg. 2025-10-27T06:20:18.024Z,1761546018.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151547 target range: 32.791164 and range: 33.00 m. 2025-10-27T06:20:18.108Z,1761546018.108 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801638 2025-10-27T06:20:18.360Z,1761546018.360 [DAT](INFO): DAT read: Rx Time:06:20:17.0423 2025-10-27T06:20:18.361Z,1761546018.361 [DAT](INFO): Rx dataTimestamp_ set to:1761546018.360689 2025-10-27T06:20:18.362Z,1761546018.362 [DAT](INFO): DAT read: Bearing 163.7, 9.4 (Local) 2025-10-27T06:20:18.363Z,1761546018.363 [DAT](INFO): Local bearing/azimuth received: Bearing 163.7, 9.4 (Local) 2025-10-27T06:20:18.365Z,1761546018.365 [DAT](INFO): DAT read: Range 11 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4 2025-10-27T06:20:18.369Z,1761546018.369 [DAT](INFO): DAT read: 06:20:17.0423 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.02, 1.924, 0.198, 1.902, 1.706, PHS= 0.321,-1.463, 0.152, RAW= 145.1, 11.6, CAL= 144.7, 12.7, ROT= 5.3, -12.7 2025-10-27T06:20:18.370Z,1761546018.370 [DAT](INFO): got valid direction response: 06:20:17.0423 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.02, 1.924, 0.198, 1.902, 1.706, PHS= 0.321,-1.463, 0.152, RAW= 145.1, 11.6, CAL= 144.7, 12.7, ROT= 5.3, -12.7 2025-10-27T06:20:18.371Z,1761546018.371 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T06:20:18.372Z,1761546018.372 [DAT](INFO): direction in FSK: [0.971364,0.090111,0.219846] 2025-10-27T06:20:18.372Z,1761546018.372 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:18.376Z,1761546018.376 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.069868 2025-10-27T06:20:18.497Z,1761546018.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982044,0.170703,-0.080312],[-0.158169,0.977052,0.142659],[0.102821,-0.127394,0.986508]] 2025-10-27T06:20:18.549Z,1761546018.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504131 s, deltaX: -0.099998 m, approachRate: -0.198358 m/s, rangeRepo size: 4 2025-10-27T06:20:18.555Z,1761546018.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.692467 m, bearing: 357.939800 deg, lat: 36.779441 deg, lon: -121.859807 deg, deltaT: 0.504131 s, deltaX: -0.098698 m, approachRate: -0.195778 m/s, posRepo size: 4 2025-10-27T06:20:18.556Z,1761546018.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.69 m. 2025-10-27T06:20:18.558Z,1761546018.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.692467 m, nav range: 31.042204 m, bearing: 357.955607 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 352.457705 deg, new cmd heading: 352.819736 deg. 2025-10-27T06:20:18.564Z,1761546018.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157866 target range: 32.692467 and range: 32.90 m. 2025-10-27T06:20:18.612Z,1761546018.612 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305607 2025-10-27T06:20:18.865Z,1761546018.865 [DAT](INFO): DAT read: Rx Time:06:20:17.5420 2025-10-27T06:20:18.865Z,1761546018.865 [DAT](INFO): Rx dataTimestamp_ set to:1761546018.864930 2025-10-27T06:20:18.867Z,1761546018.867 [DAT](INFO): DAT read: Bearing 164.0, 8.6 (Local) 2025-10-27T06:20:18.867Z,1761546018.867 [DAT](INFO): Local bearing/azimuth received: Bearing 164.0, 8.6 (Local) 2025-10-27T06:20:18.869Z,1761546018.869 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 2025-10-27T06:20:18.874Z,1761546018.874 [DAT](INFO): DAT read: 06:20:17.5420 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.28,-3.124, 1.449,-3.122, 2.956, PHS= 0.305,-1.462, 0.161, RAW= 145.8, 11.7, CAL= 145.4, 12.8, ROT= 4.6, -12.8 2025-10-27T06:20:18.875Z,1761546018.875 [DAT](INFO): got valid direction response: 06:20:17.5420 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 506, 0.28,-3.124, 1.449,-3.122, 2.956, PHS= 0.305,-1.462, 0.161, RAW= 145.8, 11.7, CAL= 145.4, 12.8, ROT= 4.6, -12.8 2025-10-27T06:20:18.875Z,1761546018.875 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T06:20:18.876Z,1761546018.876 [DAT](INFO): direction in FSK: [0.972008,0.078206,0.221548] 2025-10-27T06:20:18.876Z,1761546018.876 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:18.908Z,1761546018.908 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.601350 2025-10-27T06:20:19.019Z,1761546019.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983246,0.164285,-0.078980],[-0.152168,0.978307,0.140571],[0.100361,-0.126197,0.986915]] 2025-10-27T06:20:19.070Z,1761546019.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.504241 s, deltaX: -0.500000 m, approachRate: -0.991589 m/s, rangeRepo size: 4 2025-10-27T06:20:19.072Z,1761546019.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.195618 m, bearing: 357.576298 deg, lat: 36.779440 deg, lon: -121.859807 deg, deltaT: 0.504241 s, deltaX: -0.496849 m, approachRate: -0.985340 m/s, posRepo size: 4 2025-10-27T06:20:19.073Z,1761546019.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m. 2025-10-27T06:20:19.076Z,1761546019.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.195618 m, nav range: 30.730696 m, bearing: 357.767736 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 352.819733 deg, new cmd heading: 353.168807 deg. 2025-10-27T06:20:19.077Z,1761546019.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163959 target range: 32.195618 and range: 32.40 m. 2025-10-27T06:20:19.116Z,1761546019.116 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809673 2025-10-27T06:20:19.368Z,1761546019.368 [DAT](INFO): DAT read: Rx Time:06:20:18.0420 2025-10-27T06:20:19.369Z,1761546019.369 [DAT](INFO): Rx dataTimestamp_ set to:1761546019.368604 2025-10-27T06:20:19.370Z,1761546019.370 [DAT](INFO): DAT read: Bearing 164.8, 7.7 (Local) 2025-10-27T06:20:19.370Z,1761546019.370 [DAT](INFO): Local bearing/azimuth received: Bearing 164.8, 7.7 (Local) 2025-10-27T06:20:19.373Z,1761546019.373 [DAT](INFO): DAT read: Range 11 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 2025-10-27T06:20:19.378Z,1761546019.378 [DAT](INFO): DAT read: 06:20:18.0420 LVL= 31792, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.29,-2.496, 2.093,-2.474,-2.672, PHS= 0.278,-1.473, 0.155, RAW= 146.4, 12.2, CAL= 146.1, 13.4, ROT= 3.9, -13.4 2025-10-27T06:20:19.380Z,1761546019.380 [DAT](INFO): got valid direction response: 06:20:18.0420 LVL= 31792, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.29,-2.496, 2.093,-2.474,-2.672, PHS= 0.278,-1.473, 0.155, RAW= 146.4, 12.2, CAL= 146.1, 13.4, ROT= 3.9, -13.4 2025-10-27T06:20:19.380Z,1761546019.380 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T06:20:19.381Z,1761546019.381 [DAT](INFO): direction in FSK: [0.970523,0.066164,0.231748] 2025-10-27T06:20:19.381Z,1761546019.381 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:19.385Z,1761546019.385 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.078459 2025-10-27T06:20:19.414Z,1761546019.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984443,0.157973,-0.076919],[-0.146227,0.979321,0.139811],[0.097414,-0.126389,0.987186]] 2025-10-27T06:20:19.489Z,1761546019.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503674 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:19.495Z,1761546019.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.195839 m, bearing: 357.299336 deg, lat: 36.779440 deg, lon: -121.859807 deg, deltaT: 0.503674 s, deltaX: 0.000221 m, approachRate: 0.000439 m/s, posRepo size: 4 2025-10-27T06:20:19.496Z,1761546019.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m. 2025-10-27T06:20:19.508Z,1761546019.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.195839 m, nav range: 30.550964 m, bearing: 357.561738 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 353.168810 deg, new cmd heading: 353.449439 deg. 2025-10-27T06:20:19.515Z,1761546019.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168857 target range: 32.195839 and range: 32.40 m. 2025-10-27T06:20:19.621Z,1761546019.621 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314398 2025-10-27T06:20:19.873Z,1761546019.873 [DAT](INFO): DAT read: Rx Time:06:20:18.5417 2025-10-27T06:20:19.873Z,1761546019.873 [DAT](INFO): Rx dataTimestamp_ set to:1761546019.872830 2025-10-27T06:20:19.874Z,1761546019.874 [DAT](INFO): DAT read: Bearing 161.1, 7.3 (Local) 2025-10-27T06:20:19.875Z,1761546019.875 [DAT](INFO): Local bearing/azimuth received: Bearing 161.1, 7.3 (Local) 2025-10-27T06:20:19.877Z,1761546019.877 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 2025-10-27T06:20:19.881Z,1761546019.881 [DAT](INFO): DAT read: 06:20:18.5417 LVL= 30000, 31201, 32754, 32755, AGC= 62, IDX= 503, 0.09,-1.972, 2.589,-1.917,-2.239, PHS= 0.369,-1.410, 0.278, RAW= 147.4, 8.8, CAL= 147.0, 9.6, ROT= 3.0, -9.6 2025-10-27T06:20:19.883Z,1761546019.883 [DAT](INFO): got valid direction response: 06:20:18.5417 LVL= 30000, 31201, 32754, 32755, AGC= 62, IDX= 503, 0.09,-1.972, 2.589,-1.917,-2.239, PHS= 0.369,-1.410, 0.278, RAW= 147.4, 8.8, CAL= 147.0, 9.6, ROT= 3.0, -9.6 2025-10-27T06:20:19.883Z,1761546019.883 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T06:20:19.884Z,1761546019.884 [DAT](INFO): direction in FSK: [0.984645,0.051603,0.166769] 2025-10-27T06:20:19.884Z,1761546019.884 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:19.888Z,1761546019.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985537,0.152150,-0.074614],[-0.140695,0.980080,0.140174],[0.094455,-0.127648,0.987312]] 2025-10-27T06:20:19.892Z,1761546019.892 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.585769 2025-10-27T06:20:20.014Z,1761546020.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.504226 s, deltaX: -0.400002 m, approachRate: -0.793298 m/s, rangeRepo size: 4 2025-10-27T06:20:20.021Z,1761546020.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.798359 m, bearing: 356.174377 deg, lat: 36.779440 deg, lon: -121.859808 deg, deltaT: 0.504226 s, deltaX: -0.397480 m, approachRate: -0.788297 m/s, posRepo size: 4 2025-10-27T06:20:20.022Z,1761546020.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m. 2025-10-27T06:20:20.029Z,1761546020.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.798359 m, nav range: 30.309216 m, bearing: 357.318584 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 353.449449 deg, new cmd heading: 353.801063 deg. 2025-10-27T06:20:20.029Z,1761546020.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174994 target range: 31.798359 and range: 32.00 m. 2025-10-27T06:20:20.125Z,1761546020.125 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817903 2025-10-27T06:20:20.352Z,1761546020.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987460,0.141744,-0.069514],[-0.130838,0.981167,0.142103],[0.088347,-0.131226,0.987408]] 2025-10-27T06:20:20.377Z,1761546020.377 [DAT](INFO): DAT read: Rx Time:06:20:19.0417 2025-10-27T06:20:20.377Z,1761546020.377 [DAT](INFO): Rx dataTimestamp_ set to:1761546020.377058 2025-10-27T06:20:20.379Z,1761546020.379 [DAT](INFO): DAT read: Bearing 164.3, 5.9 (Local) 2025-10-27T06:20:20.379Z,1761546020.379 [DAT](INFO): Local bearing/azimuth received: Bearing 164.3, 5.9 (Local) 2025-10-27T06:20:20.381Z,1761546020.381 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 2025-10-27T06:20:20.386Z,1761546020.386 [DAT](INFO): DAT read: 06:20:19.0417 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.46, 0.235,-1.429, 0.311, 0.063, PHS= 0.274,-1.447, 0.204, RAW= 147.9, 11.5, CAL= 147.7, 12.6, ROT= 2.3, -12.6 2025-10-27T06:20:20.400Z,1761546020.400 [DAT](INFO): got valid direction response: 06:20:19.0417 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.46, 0.235,-1.429, 0.311, 0.063, PHS= 0.274,-1.447, 0.204, RAW= 147.9, 11.5, CAL= 147.7, 12.6, ROT= 2.3, -12.6 2025-10-27T06:20:20.400Z,1761546020.400 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T06:20:20.401Z,1761546020.401 [DAT](INFO): direction in FSK: [0.975131,0.039165,0.218143] 2025-10-27T06:20:20.401Z,1761546020.401 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:20.405Z,1761546020.405 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.098622 2025-10-27T06:20:20.421Z,1761546020.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.504228 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:20.428Z,1761546020.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.798479 m, bearing: 356.508891 deg, lat: 36.779441 deg, lon: -121.859809 deg, deltaT: 0.504228 s, deltaX: 0.000120 m, approachRate: 0.000238 m/s, posRepo size: 4 2025-10-27T06:20:20.429Z,1761546020.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m. 2025-10-27T06:20:20.433Z,1761546020.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.798479 m, nav range: 30.289436 m, bearing: 357.058977 deg, approach rate: 0.000000 m/s, LOS rate: 0.223242 deg/s, cmd heading: 353.801067 deg, new cmd heading: 354.073583 deg. 2025-10-27T06:20:20.434Z,1761546020.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179750 target range: 31.798479 and range: 32.00 m. 2025-10-27T06:20:20.628Z,1761546020.628 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321704 2025-10-27T06:20:20.753Z,1761546020.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988237,0.137247,-0.067461],[-0.126626,0.981694,0.142277],[0.085753,-0.132061,0.987525]] 2025-10-27T06:20:20.796Z,1761546020.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:20.800Z,1761546020.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m. 2025-10-27T06:20:20.826Z,1761546020.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.798479 m, nav range: 30.095085 m, bearing: 356.939295 deg, approach rate: -0.512573 m/s, LOS rate: -0.317681 deg/s, cmd heading: 354.073591 deg, new cmd heading: 353.712232 deg. 2025-10-27T06:20:20.842Z,1761546020.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173443 target range: 31.798479 and range: 32.00 m. 2025-10-27T06:20:20.885Z,1761546020.885 [DAT](INFO): DAT read: Rx Time:06:20:19.5415 2025-10-27T06:20:20.885Z,1761546020.885 [DAT](INFO): Rx dataTimestamp_ set to:1761546020.884800 2025-10-27T06:20:20.886Z,1761546020.886 [DAT](INFO): DAT read: Bearing 161.8, 5.2 (Local) 2025-10-27T06:20:20.887Z,1761546020.887 [DAT](INFO): Local bearing/azimuth received: Bearing 161.8, 5.2 (Local) 2025-10-27T06:20:20.889Z,1761546020.889 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 2025-10-27T06:20:20.894Z,1761546020.894 [DAT](INFO): DAT read: 06:20:19.5415 LVL= 31984, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.01,-1.984, 2.589,-1.873,-2.216, PHS= 0.335,-1.433, 0.299, RAW= 149.0, 9.2, CAL= 148.6, 10.0, ROT= 1.4, -10.0 2025-10-27T06:20:20.895Z,1761546020.895 [DAT](INFO): got valid direction response: 06:20:19.5415 LVL= 31984, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.01,-1.984, 2.589,-1.873,-2.216, PHS= 0.335,-1.433, 0.299, RAW= 149.0, 9.2, CAL= 148.6, 10.0, ROT= 1.4, -10.0 2025-10-27T06:20:20.899Z,1761546020.899 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T06:20:20.900Z,1761546020.900 [DAT](INFO): direction in FSK: [0.984514,0.024061,0.173648] 2025-10-27T06:20:20.900Z,1761546020.900 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:20.912Z,1761546020.912 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.605765 2025-10-27T06:20:21.132Z,1761546021.132 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825517 2025-10-27T06:20:21.240Z,1761546021.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988932,0.133283,-0.065190],[-0.122914,0.982033,0.143193],[0.083104,-0.133596,0.987545]] 2025-10-27T06:20:21.335Z,1761546021.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.507742 s, deltaX: -0.500000 m, approachRate: -0.984752 m/s, rangeRepo size: 4 2025-10-27T06:20:21.337Z,1761546021.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.301628 m, bearing: 355.704744 deg, lat: 36.779442 deg, lon: -121.859812 deg, deltaT: 0.507742 s, deltaX: -0.496851 m, approachRate: -0.978550 m/s, posRepo size: 4 2025-10-27T06:20:21.338Z,1761546021.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.30 m. 2025-10-27T06:20:21.345Z,1761546021.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.301628 m, nav range: 29.926809 m, bearing: 356.281734 deg, approach rate: 0.000000 m/s, LOS rate: -0.317681 deg/s, cmd heading: 353.712220 deg, new cmd heading: 353.221867 deg. 2025-10-27T06:20:21.346Z,1761546021.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164885 target range: 31.301628 and range: 31.50 m. 2025-10-27T06:20:21.385Z,1761546021.385 [DAT](INFO): DAT read: Rx Time:06:20:20.0414 2025-10-27T06:20:21.385Z,1761546021.385 [DAT](INFO): Rx dataTimestamp_ set to:1761546021.384972 2025-10-27T06:20:21.387Z,1761546021.387 [DAT](INFO): DAT read: Bearing 164.5, 3.8 (Local) 2025-10-27T06:20:21.388Z,1761546021.388 [DAT](INFO): Local bearing/azimuth received: Bearing 164.5, 3.8 (Local) 2025-10-27T06:20:21.390Z,1761546021.390 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4 2025-10-27T06:20:21.395Z,1761546021.395 [DAT](INFO): DAT read: 06:20:20.0414 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.35,-0.273,-1.953,-0.143,-0.425, PHS= 0.254,-1.483, 0.237, RAW= 149.5, 11.5, CAL= 149.4, 12.6, ROT= 0.6, -12.6 2025-10-27T06:20:21.396Z,1761546021.396 [DAT](INFO): got valid direction response: 06:20:20.0414 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 498, 0.35,-0.273,-1.953,-0.143,-0.425, PHS= 0.254,-1.483, 0.237, RAW= 149.5, 11.5, CAL= 149.4, 12.6, ROT= 0.6, -12.6 2025-10-27T06:20:21.397Z,1761546021.397 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T06:20:21.398Z,1761546021.398 [DAT](INFO): direction in FSK: [0.975863,0.010220,0.218143] 2025-10-27T06:20:21.398Z,1761546021.398 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:21.402Z,1761546021.402 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.095183 2025-10-27T06:20:21.610Z,1761546021.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989540,0.129760,-0.063040],[-0.119750,0.982504,0.142642],[0.080446,-0.133601,0.987765]] 2025-10-27T06:20:21.636Z,1761546021.636 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.329586 2025-10-27T06:20:21.649Z,1761546021.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.500172 s, deltaX: -0.100000 m, approachRate: -0.199932 m/s, rangeRepo size: 4 2025-10-27T06:20:21.656Z,1761546021.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.202171 m, bearing: 355.459278 deg, lat: 36.779442 deg, lon: -121.859815 deg, deltaT: 0.500172 s, deltaX: -0.099457 m, approachRate: -0.198845 m/s, posRepo size: 4 2025-10-27T06:20:21.657Z,1761546021.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m. 2025-10-27T06:20:21.664Z,1761546021.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.202171 m, nav range: 29.825651 m, bearing: 355.729290 deg, approach rate: 0.000000 m/s, LOS rate: -0.317681 deg/s, cmd heading: 353.221867 deg, new cmd heading: 352.902907 deg. 2025-10-27T06:20:21.665Z,1761546021.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159317 target range: 31.202171 and range: 31.40 m. 2025-10-27T06:20:21.889Z,1761546021.889 [DAT](INFO): DAT read: Rx Time:06:20:20.5411 2025-10-27T06:20:21.889Z,1761546021.889 [DAT](INFO): Rx dataTimestamp_ set to:1761546021.888814 2025-10-27T06:20:21.890Z,1761546021.890 [DAT](INFO): DAT read: Bearing 161.0, 3.7 (Local) 2025-10-27T06:20:21.891Z,1761546021.891 [DAT](INFO): Local bearing/azimuth received: Bearing 161.0, 3.7 (Local) 2025-10-27T06:20:21.893Z,1761546021.893 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 2025-10-27T06:20:21.898Z,1761546021.898 [DAT](INFO): DAT read: 06:20:20.5411 LVL= 31424, 32689, 32754, 32755, AGC= 62, IDX= 496,-0.01, 2.538, 0.825, 2.698, 2.299, PHS= 0.342,-1.429, 0.356, RAW= 150.4, 8.3, CAL= 149.9, 8.9, ROT= 0.1, -8.9 2025-10-27T06:20:21.899Z,1761546021.899 [DAT](INFO): got valid direction response: 06:20:20.5411 LVL= 31424, 32689, 32754, 32755, AGC= 62, IDX= 496,-0.01, 2.538, 0.825, 2.698, 2.299, PHS= 0.342,-1.429, 0.356, RAW= 150.4, 8.3, CAL= 149.9, 8.9, ROT= 0.1, -8.9 2025-10-27T06:20:21.899Z,1761546021.899 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T06:20:21.900Z,1761546021.900 [DAT](INFO): direction in FSK: [0.987958,0.001724,0.154710] 2025-10-27T06:20:21.900Z,1761546021.900 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:21.905Z,1761546021.905 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.598882 2025-10-27T06:20:22.019Z,1761546022.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990036,0.127021,-0.060786],[-0.117279,0.982699,0.143344],[0.077942,-0.134787,0.987804]] 2025-10-27T06:20:22.137Z,1761546022.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.503842 s, deltaX: -0.299999 m, approachRate: -0.595423 m/s, rangeRepo size: 4 2025-10-27T06:20:22.140Z,1761546022.140 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.833676 2025-10-27T06:20:22.143Z,1761546022.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.904060 m, bearing: 354.576289 deg, lat: 36.779444 deg, lon: -121.859816 deg, deltaT: 0.503842 s, deltaX: -0.298111 m, approachRate: -0.591675 m/s, posRepo size: 4 2025-10-27T06:20:22.144Z,1761546022.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m. 2025-10-27T06:20:22.151Z,1761546022.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.904060 m, nav range: 29.752998 m, bearing: 355.547388 deg, approach rate: 0.000000 m/s, LOS rate: -0.317681 deg/s, cmd heading: 352.902897 deg, new cmd heading: 352.438233 deg. 2025-10-27T06:20:22.152Z,1761546022.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151207 target range: 30.904060 and range: 31.10 m. 2025-10-27T06:20:22.393Z,1761546022.393 [DAT](INFO): DAT read: Rx Time:06:20:21.0410 2025-10-27T06:20:22.393Z,1761546022.393 [DAT](INFO): Rx dataTimestamp_ set to:1761546022.393135 2025-10-27T06:20:22.395Z,1761546022.395 [DAT](INFO): DAT read: Bearing 165.2, 1.5 (Local) 2025-10-27T06:20:22.395Z,1761546022.395 [DAT](INFO): Local bearing/azimuth received: Bearing 165.2, 1.5 (Local) 2025-10-27T06:20:22.397Z,1761546022.397 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 2025-10-27T06:20:22.402Z,1761546022.402 [DAT](INFO): DAT read: 06:20:21.0410 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511, 0.29, 0.174,-1.495, 0.367, 0.065, PHS= 0.212,-1.515, 0.258, RAW= 151.3, 11.9, CAL= 151.3, 13.2, ROT= 358.7, -13.2 2025-10-27T06:20:22.403Z,1761546022.403 [DAT](INFO): got valid direction response: 06:20:21.0410 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 511, 0.29, 0.174,-1.495, 0.367, 0.065, PHS= 0.212,-1.515, 0.258, RAW= 151.3, 11.9, CAL= 151.3, 13.2, ROT= 358.7, -13.2 2025-10-27T06:20:22.404Z,1761546022.404 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T06:20:22.405Z,1761546022.405 [DAT](INFO): direction in FSK: [0.973328,-0.022088,0.228351] 2025-10-27T06:20:22.405Z,1761546022.405 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:22.409Z,1761546022.409 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.102652 2025-10-27T06:20:22.437Z,1761546022.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990343,0.125518,-0.058878],[-0.115990,0.982745,0.144075],[0.075946,-0.135855,0.987814]] 2025-10-27T06:20:22.504Z,1761546022.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.504321 s, deltaX: -0.200001 m, approachRate: -0.396574 m/s, rangeRepo size: 4 2025-10-27T06:20:22.506Z,1761546022.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.705780 m, bearing: 353.874766 deg, lat: 36.779442 deg, lon: -121.859817 deg, deltaT: 0.504321 s, deltaX: -0.198280 m, approachRate: -0.393163 m/s, posRepo size: 4 2025-10-27T06:20:22.515Z,1761546022.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.71 m. 2025-10-27T06:20:22.518Z,1761546022.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.705780 m, nav range: 29.425089 m, bearing: 355.350440 deg, approach rate: 0.000000 m/s, LOS rate: -0.317681 deg/s, cmd heading: 352.438226 deg, new cmd heading: 352.088254 deg. 2025-10-27T06:20:22.523Z,1761546022.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145099 target range: 30.705780 and range: 30.90 m. 2025-10-27T06:20:22.644Z,1761546022.644 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.337628 2025-10-27T06:20:22.837Z,1761546022.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990597,0.124369,-0.057005],[-0.115078,0.982798,0.144446],[0.073989,-0.136528,0.987869]] 2025-10-27T06:20:22.901Z,1761546022.901 [DAT](INFO): DAT read: Rx Time:06:20:21.5408 2025-10-27T06:20:22.902Z,1761546022.902 [DAT](INFO): Rx dataTimestamp_ set to:1761546022.901305 2025-10-27T06:20:22.906Z,1761546022.906 [DAT](INFO): DAT read: Bearing 162.2, 2.0 (Local) 2025-10-27T06:20:22.907Z,1761546022.907 [DAT](INFO): Local bearing/azimuth received: Bearing 162.2, 2.0 (Local) 2025-10-27T06:20:22.914Z,1761546022.914 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 2025-10-27T06:20:22.927Z,1761546022.927 [DAT](INFO): DAT read: 06:20:21.5408 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.02, 2.378, 0.691, 2.573, 2.185, PHS= 0.295,-1.449, 0.344, RAW= 151.4, 9.2, CAL= 151.0, 9.9, ROT= 359.0, -9.9 2025-10-27T06:20:22.940Z,1761546022.940 [DAT](INFO): got valid direction response: 06:20:21.5408 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509,-0.02, 2.378, 0.691, 2.573, 2.185, PHS= 0.295,-1.449, 0.344, RAW= 151.4, 9.2, CAL= 151.0, 9.9, ROT= 359.0, -9.9 2025-10-27T06:20:22.940Z,1761546022.940 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T06:20:22.941Z,1761546022.941 [DAT](INFO): direction in FSK: [0.984959,-0.017193,0.171929] 2025-10-27T06:20:22.941Z,1761546022.941 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:22.961Z,1761546022.961 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.654821 2025-10-27T06:20:22.971Z,1761546022.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.508170 s, deltaX: -0.299999 m, approachRate: -0.590352 m/s, rangeRepo size: 4 2025-10-27T06:20:22.973Z,1761546022.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.407667 m, bearing: 353.758203 deg, lat: 36.779444 deg, lon: -121.859822 deg, deltaT: 0.508170 s, deltaX: -0.298113 m, approachRate: -0.586640 m/s, posRepo size: 4 2025-10-27T06:20:22.974Z,1761546022.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m. 2025-10-27T06:20:22.989Z,1761546022.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.407667 m, nav range: 29.445438 m, bearing: 354.414927 deg, approach rate: 0.000000 m/s, LOS rate: -0.317681 deg/s, cmd heading: 352.088247 deg, new cmd heading: 351.655075 deg. 2025-10-27T06:20:22.990Z,1761546022.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137539 target range: 30.407667 and range: 30.60 m. 2025-10-27T06:20:23.148Z,1761546023.148 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841644 2025-10-27T06:20:23.266Z,1761546023.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990775,0.123902,-0.054900],[-0.114755,0.982536,0.146474],[0.072089,-0.138823,0.987690]] 2025-10-27T06:20:23.349Z,1761546023.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:23.351Z,1761546023.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.41 m. 2025-10-27T06:20:23.354Z,1761546023.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.407667 m, nav range: 29.222414 m, bearing: 354.407150 deg, approach rate: -0.568017 m/s, LOS rate: -0.019960 deg/s, cmd heading: 351.655076 deg, new cmd heading: 351.631565 deg. 2025-10-27T06:20:23.355Z,1761546023.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137128 target range: 30.407667 and range: 30.60 m. 2025-10-27T06:20:23.402Z,1761546023.402 [DAT](INFO): DAT read: Rx Time:06:20:22.0407 2025-10-27T06:20:23.402Z,1761546023.402 [DAT](INFO): Rx dataTimestamp_ set to:1761546023.401886 2025-10-27T06:20:23.405Z,1761546023.405 [DAT](INFO): DAT read: Bearing 162.4, 0.9 (Local) 2025-10-27T06:20:23.405Z,1761546023.405 [DAT](INFO): Local bearing/azimuth received: Bearing 162.4, 0.9 (Local) 2025-10-27T06:20:23.408Z,1761546023.408 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-27T06:20:23.416Z,1761546023.416 [DAT](INFO): DAT read: 06:20:22.0407 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.50, 3.121, 1.429,-2.933, 2.947, PHS= 0.276,-1.473, 0.359, RAW= 152.3, 9.4, CAL= 152.0, 10.1, ROT= 358.0, -10.1 2025-10-27T06:20:23.418Z,1761546023.418 [DAT](INFO): got valid direction response: 06:20:22.0407 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.50, 3.121, 1.429,-2.933, 2.947, PHS= 0.276,-1.473, 0.359, RAW= 152.3, 9.4, CAL= 152.0, 10.1, ROT= 358.0, -10.1 2025-10-27T06:20:23.418Z,1761546023.418 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T06:20:23.420Z,1761546023.420 [DAT](INFO): direction in FSK: [0.983903,-0.034359,0.175367] 2025-10-27T06:20:23.421Z,1761546023.421 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:23.424Z,1761546023.424 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.117823 2025-10-27T06:20:23.629Z,1761546023.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990833,0.124501,-0.052442],[-0.115422,0.981881,0.150289],[0.070202,-0.142858,0.987250]] 2025-10-27T06:20:23.652Z,1761546023.652 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345671 2025-10-27T06:20:23.698Z,1761546023.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.500581 s, deltaX: -0.100000 m, approachRate: -0.199769 m/s, rangeRepo size: 4 2025-10-27T06:20:23.726Z,1761546023.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.308857 m, bearing: 352.829902 deg, lat: 36.779444 deg, lon: -121.859825 deg, deltaT: 0.500581 s, deltaX: -0.098810 m, approachRate: -0.197391 m/s, posRepo size: 4 2025-10-27T06:20:23.733Z,1761546023.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.31 m. 2025-10-27T06:20:23.741Z,1761546023.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.308857 m, nav range: 29.089289 m, bearing: 353.872410 deg, approach rate: 0.000000 m/s, LOS rate: -0.019960 deg/s, cmd heading: 351.631553 deg, new cmd heading: 351.611121 deg. 2025-10-27T06:20:23.744Z,1761546023.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136772 target range: 30.308857 and range: 30.50 m. 2025-10-27T06:20:23.908Z,1761546023.908 [DAT](INFO): DAT read: Rx Time:06:20:22.5405 2025-10-27T06:20:23.910Z,1761546023.910 [DAT](INFO): Rx dataTimestamp_ set to:1761546023.909166 2025-10-27T06:20:23.916Z,1761546023.916 [DAT](INFO): DAT read: Bearing 162.4, 1.1 (Local) 2025-10-27T06:20:23.917Z,1761546023.917 [DAT](INFO): Local bearing/azimuth received: Bearing 162.4, 1.1 (Local) 2025-10-27T06:20:23.928Z,1761546023.928 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 2025-10-27T06:20:23.937Z,1761546023.937 [DAT](INFO): DAT read: 06:20:22.5405 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.01, 2.871, 1.185, 3.085, 2.687, PHS= 0.286,-1.457, 0.354, RAW= 151.9, 9.2, CAL= 151.5, 10.0, ROT= 358.5, -10.0 2025-10-27T06:20:23.938Z,1761546023.938 [DAT](INFO): got valid direction response: 06:20:22.5405 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.01, 2.871, 1.185, 3.085, 2.687, PHS= 0.286,-1.457, 0.354, RAW= 151.9, 9.2, CAL= 151.5, 10.0, ROT= 358.5, -10.0 2025-10-27T06:20:23.943Z,1761546023.943 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T06:20:23.944Z,1761546023.944 [DAT](INFO): direction in FSK: [0.984470,-0.025779,0.173648] 2025-10-27T06:20:23.944Z,1761546023.944 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:23.952Z,1761546023.952 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.645490 2025-10-27T06:20:24.034Z,1761546024.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990801,0.125731,-0.050045],[-0.116705,0.981104,0.154323],[0.068502,-0.147063,0.986752]] 2025-10-27T06:20:24.132Z,1761546024.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.507280 s, deltaX: -0.299999 m, approachRate: -0.591388 m/s, rangeRepo size: 4 2025-10-27T06:20:24.134Z,1761546024.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.010736 m, bearing: 353.288046 deg, lat: 36.779446 deg, lon: -121.859826 deg, deltaT: 0.507280 s, deltaX: -0.298120 m, approachRate: -0.587684 m/s, posRepo size: 4 2025-10-27T06:20:24.134Z,1761546024.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.01 m. 2025-10-27T06:20:24.145Z,1761546024.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.010736 m, nav range: 29.070391 m, bearing: 353.802322 deg, approach rate: 0.000000 m/s, LOS rate: -0.019960 deg/s, cmd heading: 351.611117 deg, new cmd heading: 351.585092 deg. 2025-10-27T06:20:24.146Z,1761546024.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136317 target range: 30.010736 and range: 30.20 m. 2025-10-27T06:20:24.156Z,1761546024.156 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849580 2025-10-27T06:20:24.409Z,1761546024.409 [DAT](INFO): DAT read: Rx Time:06:20:23.0404 2025-10-27T06:20:24.409Z,1761546024.409 [DAT](INFO): Rx dataTimestamp_ set to:1761546024.408809 2025-10-27T06:20:24.410Z,1761546024.410 [DAT](INFO): DAT read: Bearing 163.3, 0.0 (Local) 2025-10-27T06:20:24.411Z,1761546024.411 [DAT](INFO): Local bearing/azimuth received: Bearing 163.3, 0.0 (Local) 2025-10-27T06:20:24.413Z,1761546024.413 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T06:20:24.418Z,1761546024.418 [DAT](INFO): DAT read: 06:20:23.0404 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.48,-2.692, 1.909,-2.452,-2.841, PHS= 0.251,-1.488, 0.345, RAW= 152.6, 10.0, CAL= 152.4, 10.9, ROT= 357.6, -10.9 2025-10-27T06:20:24.419Z,1761546024.419 [DAT](INFO): got valid direction response: 06:20:23.0404 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506,-0.48,-2.692, 1.909,-2.452,-2.841, PHS= 0.251,-1.488, 0.345, RAW= 152.6, 10.0, CAL= 152.4, 10.9, ROT= 357.6, -10.9 2025-10-27T06:20:24.420Z,1761546024.420 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T06:20:24.421Z,1761546024.421 [DAT](INFO): direction in FSK: [0.981097,-0.041120,0.189095] 2025-10-27T06:20:24.421Z,1761546024.421 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:24.437Z,1761546024.437 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.130106 2025-10-27T06:20:24.458Z,1761546024.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990771,0.126777,-0.047971],[-0.117823,0.980442,0.157645],[0.067018,-0.150538,0.986330]] 2025-10-27T06:20:24.573Z,1761546024.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.499643 s, deltaX: -0.200001 m, approachRate: -0.400287 m/s, rangeRepo size: 4 2025-10-27T06:20:24.583Z,1761546024.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.811724 m, bearing: 352.499406 deg, lat: 36.779445 deg, lon: -121.859829 deg, deltaT: 0.499643 s, deltaX: -0.199013 m, approachRate: -0.398310 m/s, posRepo size: 4 2025-10-27T06:20:24.584Z,1761546024.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.81 m. 2025-10-27T06:20:24.591Z,1761546024.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.811724 m, nav range: 28.750668 m, bearing: 353.267778 deg, approach rate: 0.000000 m/s, LOS rate: -0.019960 deg/s, cmd heading: 351.585080 deg, new cmd heading: 351.558387 deg. 2025-10-27T06:20:24.593Z,1761546024.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135851 target range: 29.811724 and range: 30.00 m. 2025-10-27T06:20:24.661Z,1761546024.661 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.354354 2025-10-27T06:20:24.917Z,1761546024.917 [DAT](INFO): DAT read: Rx Time:06:20:23.5402 2025-10-27T06:20:24.918Z,1761546024.918 [DAT](INFO): Rx dataTimestamp_ set to:1761546024.917054 2025-10-27T06:20:24.922Z,1761546024.922 [DAT](INFO): DAT read: Bearing 162.2, 0.7 (Local) 2025-10-27T06:20:24.925Z,1761546024.925 [DAT](INFO): Local bearing/azimuth received: Bearing 162.2, 0.7 (Local) 2025-10-27T06:20:24.951Z,1761546024.951 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4 2025-10-27T06:20:24.960Z,1761546024.960 [DAT](INFO): DAT read: 06:20:23.5402 LVL= 32384, 32609, 32754, 32755, AGC= 63, IDX= 503,-0.03, 3.116, 1.438,-2.948, 2.929, PHS= 0.289,-1.446, 0.363, RAW= 152.1, 9.0, CAL= 151.7, 9.7, ROT= 358.3, -9.7 2025-10-27T06:20:24.961Z,1761546024.961 [DAT](INFO): got valid direction response: 06:20:23.5402 LVL= 32384, 32609, 32754, 32755, AGC= 63, IDX= 503,-0.03, 3.116, 1.438,-2.948, 2.929, PHS= 0.289,-1.446, 0.363, RAW= 152.1, 9.0, CAL= 151.7, 9.7, ROT= 358.3, -9.7 2025-10-27T06:20:24.961Z,1761546024.961 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T06:20:24.962Z,1761546024.962 [DAT](INFO): direction in FSK: [0.985270,-0.029243,0.168489] 2025-10-27T06:20:24.962Z,1761546024.962 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:24.981Z,1761546024.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990654,0.128683,-0.045227],[-0.119808,0.979418,0.162437],[0.065199,-0.155501,0.985682]] 2025-10-27T06:20:24.991Z,1761546024.991 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.672230 2025-10-27T06:20:25.092Z,1761546025.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.508245 s, deltaX: -0.299999 m, approachRate: -0.590265 m/s, rangeRepo size: 4 2025-10-27T06:20:25.094Z,1761546025.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.513607 m, bearing: 352.949272 deg, lat: 36.779446 deg, lon: -121.859831 deg, deltaT: 0.508245 s, deltaX: -0.298117 m, approachRate: -0.586561 m/s, posRepo size: 4 2025-10-27T06:20:25.095Z,1761546025.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.51 m. 2025-10-27T06:20:25.101Z,1761546025.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.513607 m, nav range: 28.623035 m, bearing: 352.933194 deg, approach rate: 0.000000 m/s, LOS rate: -0.019960 deg/s, cmd heading: 351.558388 deg, new cmd heading: 351.527335 deg. 2025-10-27T06:20:25.102Z,1761546025.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.135309 target range: 29.513607 and range: 29.70 m. 2025-10-27T06:20:25.165Z,1761546025.165 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.858408 2025-10-27T06:20:25.417Z,1761546025.417 [DAT](INFO): DAT read: Rx Time:06:20:24.0401 2025-10-27T06:20:25.417Z,1761546025.417 [DAT](INFO): Rx dataTimestamp_ set to:1761546025.416722 2025-10-27T06:20:25.418Z,1761546025.418 [DAT](INFO): DAT read: Bearing 162.7, 0.6 (Local) 2025-10-27T06:20:25.419Z,1761546025.419 [DAT](INFO): Local bearing/azimuth received: Bearing 162.7, 0.6 (Local) 2025-10-27T06:20:25.421Z,1761546025.421 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 2025-10-27T06:20:25.427Z,1761546025.427 [DAT](INFO): DAT read: 06:20:24.0401 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502, 0.36,-0.155,-1.840, 0.055,-0.337, PHS= 0.284,-1.458, 0.348, RAW= 151.8, 9.3, CAL= 151.4, 10.1, ROT= 358.6, -10.1 2025-10-27T06:20:25.428Z,1761546025.428 [DAT](INFO): got valid direction response: 06:20:24.0401 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502, 0.36,-0.155,-1.840, 0.055,-0.337, PHS= 0.284,-1.458, 0.348, RAW= 151.8, 9.3, CAL= 151.4, 10.1, ROT= 358.6, -10.1 2025-10-27T06:20:25.428Z,1761546025.428 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T06:20:25.429Z,1761546025.429 [DAT](INFO): direction in FSK: [0.984209,-0.024053,0.175367] 2025-10-27T06:20:25.430Z,1761546025.430 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:25.433Z,1761546025.433 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.126892 2025-10-27T06:20:25.442Z,1761546025.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990527,0.130564,-0.042534],[-0.121885,0.978631,0.165605],[0.063247,-0.158851,0.985275]] 2025-10-27T06:20:25.487Z,1761546025.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.499668 s, deltaX: -0.100000 m, approachRate: -0.200134 m/s, rangeRepo size: 4 2025-10-27T06:20:25.489Z,1761546025.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.413488 m, bearing: 353.230833 deg, lat: 36.779446 deg, lon: -121.859831 deg, deltaT: 0.499668 s, deltaX: -0.100119 m, approachRate: -0.200370 m/s, posRepo size: 4 2025-10-27T06:20:25.490Z,1761546025.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.41 m. 2025-10-27T06:20:25.505Z,1761546025.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.413488 m, nav range: 28.432983 m, bearing: 352.959829 deg, approach rate: 0.000000 m/s, LOS rate: -0.019960 deg/s, cmd heading: 351.527324 deg, new cmd heading: 351.504131 deg. 2025-10-27T06:20:25.506Z,1761546025.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.134904 target range: 29.413488 and range: 29.60 m. 2025-10-27T06:20:25.668Z,1761546025.668 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361642 2025-10-27T06:20:25.814Z,1761546025.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990399,0.132316,-0.040034],[-0.123785,0.977763,0.169284],[0.061542,-0.162703,0.984754]] 2025-10-27T06:20:25.853Z,1761546025.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:25.865Z,1761546025.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.41 m. 2025-10-27T06:20:25.869Z,1761546025.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.413488 m, nav range: 28.235310 m, bearing: 352.983235 deg, approach rate: -0.512985 m/s, LOS rate: 0.061166 deg/s, cmd heading: 351.504129 deg, new cmd heading: 351.574838 deg. 2025-10-27T06:20:25.870Z,1761546025.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.136138 target range: 29.413488 and range: 29.60 m. 2025-10-27T06:20:25.924Z,1761546025.924 [DAT](INFO): DAT read: Rx Time:06:20:24.5399 2025-10-27T06:20:25.926Z,1761546025.926 [DAT](INFO): Rx dataTimestamp_ set to:1761546025.925065 2025-10-27T06:20:25.930Z,1761546025.930 [DAT](INFO): DAT read: Bearing 163.4, -0.1 (Local) 2025-10-27T06:20:25.932Z,1761546025.932 [DAT](INFO): Local bearing/azimuth received: Bearing 163.4, -0.1 (Local) 2025-10-27T06:20:25.942Z,1761546025.942 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 2025-10-27T06:20:25.975Z,1761546025.975 [DAT](INFO): DAT read: 06:20:24.5399 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.14,-2.789, 1.812,-2.568,-2.946, PHS= 0.258,-1.480, 0.334, RAW= 152.1, 10.0, CAL= 151.8, 10.9, ROT= 358.2, -10.9 2025-10-27T06:20:25.976Z,1761546025.976 [DAT](INFO): got valid direction response: 06:20:24.5399 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500,-0.14,-2.789, 1.812,-2.568,-2.946, PHS= 0.258,-1.480, 0.334, RAW= 152.1, 10.0, CAL= 151.8, 10.9, ROT= 358.2, -10.9 2025-10-27T06:20:25.977Z,1761546025.977 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T06:20:25.979Z,1761546025.979 [DAT](INFO): direction in FSK: [0.981474,-0.030844,0.189095] 2025-10-27T06:20:25.989Z,1761546025.989 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:26.007Z,1761546026.007 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.696352 2025-10-27T06:20:26.172Z,1761546026.172 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.865487 2025-10-27T06:20:26.359Z,1761546026.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.508343 s, deltaX: -0.300001 m, approachRate: -0.590155 m/s, rangeRepo size: 4 2025-10-27T06:20:26.361Z,1761546026.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.114649 m, bearing: 352.899118 deg, lat: 36.779447 deg, lon: -121.859831 deg, deltaT: 0.508343 s, deltaX: -0.298840 m, approachRate: -0.587870 m/s, posRepo size: 4 2025-10-27T06:20:26.362Z,1761546026.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.11 m. 2025-10-27T06:20:26.369Z,1761546026.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.114649 m, nav range: 28.033737 m, bearing: 353.020322 deg, approach rate: 0.000000 m/s, LOS rate: 0.061166 deg/s, cmd heading: 351.574835 deg, new cmd heading: 351.664091 deg. 2025-10-27T06:20:26.370Z,1761546026.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137696 target range: 29.114649 and range: 29.30 m. 2025-10-27T06:20:26.425Z,1761546026.425 [DAT](INFO): DAT read: Rx Time:06:20:25.0398 2025-10-27T06:20:26.425Z,1761546026.425 [DAT](INFO): Rx dataTimestamp_ set to:1761546026.424843 2025-10-27T06:20:26.426Z,1761546026.426 [DAT](INFO): DAT read: Bearing 161.7, 0.4 (Local) 2025-10-27T06:20:26.427Z,1761546026.427 [DAT](INFO): Local bearing/azimuth received: Bearing 161.7, 0.4 (Local) 2025-10-27T06:20:26.429Z,1761546026.429 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 2025-10-27T06:20:26.434Z,1761546026.434 [DAT](INFO): DAT read: 06:20:25.0398 LVL= 29424, 32753, 32754, 32755, AGC= 63, IDX= 499, 0.15, 0.014,-1.688, 0.228,-0.195, PHS= 0.311,-1.447, 0.380, RAW= 151.9, 8.5, CAL= 151.4, 9.1, ROT= 358.6, -9.1 2025-10-27T06:20:26.438Z,1761546026.438 [DAT](INFO): got valid direction response: 06:20:25.0398 LVL= 29424, 32753, 32754, 32755, AGC= 63, IDX= 499, 0.15, 0.014,-1.688, 0.228,-0.195, PHS= 0.311,-1.447, 0.380, RAW= 151.9, 8.5, CAL= 151.4, 9.1, ROT= 358.6, -9.1 2025-10-27T06:20:26.438Z,1761546026.438 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T06:20:26.439Z,1761546026.439 [DAT](INFO): direction in FSK: [0.987119,-0.024124,0.158158] 2025-10-27T06:20:26.440Z,1761546026.440 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:26.443Z,1761546026.443 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.137057 2025-10-27T06:20:26.680Z,1761546026.680 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.372127 2025-10-27T06:20:26.748Z,1761546026.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990307,0.134204,-0.035789],[-0.126178,0.976969,0.172078],[0.058058,-0.165895,0.984433]] 2025-10-27T06:20:26.821Z,1761546026.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.499778 s, deltaX: -0.199999 m, approachRate: -0.400175 m/s, rangeRepo size: 4 2025-10-27T06:20:26.827Z,1761546026.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.915916 m, bearing: 352.885237 deg, lat: 36.779448 deg, lon: -121.859832 deg, deltaT: 0.499778 s, deltaX: -0.198732 m, approachRate: -0.397641 m/s, posRepo size: 4 2025-10-27T06:20:26.828Z,1761546026.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.92 m. 2025-10-27T06:20:26.835Z,1761546026.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.915916 m, nav range: 27.902897 m, bearing: 352.911243 deg, approach rate: 0.000000 m/s, LOS rate: 0.061166 deg/s, cmd heading: 351.664092 deg, new cmd heading: 351.750386 deg. 2025-10-27T06:20:26.836Z,1761546026.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.139203 target range: 28.915916 and range: 29.10 m. 2025-10-27T06:20:26.933Z,1761546026.933 [DAT](INFO): DAT read: Rx Time:06:20:25.5396 2025-10-27T06:20:26.934Z,1761546026.934 [DAT](INFO): Rx dataTimestamp_ set to:1761546026.933600 2025-10-27T06:20:26.938Z,1761546026.938 [DAT](INFO): DAT read: Bearing 163.3, -0.2 (Local) 2025-10-27T06:20:26.940Z,1761546026.940 [DAT](INFO): Local bearing/azimuth received: Bearing 163.3, -0.2 (Local) 2025-10-27T06:20:26.947Z,1761546026.947 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 2025-10-27T06:20:26.985Z,1761546026.985 [DAT](INFO): DAT read: 06:20:25.5396 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 497,-0.41,-2.566, 2.036,-2.350,-2.729, PHS= 0.265,-1.473, 0.335, RAW= 152.0, 9.9, CAL= 151.7, 10.7, ROT= 358.3, -10.7 2025-10-27T06:20:26.986Z,1761546026.986 [DAT](INFO): got valid direction response: 06:20:25.5396 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 497,-0.41,-2.566, 2.036,-2.350,-2.729, PHS= 0.265,-1.473, 0.335, RAW= 152.0, 9.9, CAL= 151.7, 10.7, ROT= 358.3, -10.7 2025-10-27T06:20:26.986Z,1761546026.986 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T06:20:26.992Z,1761546026.992 [DAT](INFO): direction in FSK: [0.982180,-0.029151,0.185667] 2025-10-27T06:20:26.992Z,1761546026.992 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:27.008Z,1761546027.008 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.701938 2025-10-27T06:20:27.183Z,1761546027.183 [DAT](INFO): DAT read: Rx Time:06:20:26.0394 2025-10-27T06:20:27.185Z,1761546027.185 [DAT](INFO): Rx dataTimestamp_ set to:1761546027.183745 2025-10-27T06:20:27.187Z,1761546027.187 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.879979 2025-10-27T06:20:27.250Z,1761546027.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990349,0.134893,-0.031839],[-0.127452,0.976602,0.173218],[0.054460,-0.167488,0.984369]] 2025-10-27T06:20:27.339Z,1761546027.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.508757 s, deltaX: -0.300001 m, approachRate: -0.589675 m/s, rangeRepo size: 4 2025-10-27T06:20:27.341Z,1761546027.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.617813 m, bearing: 352.808690 deg, lat: 36.779448 deg, lon: -121.859832 deg, deltaT: 0.508757 s, deltaX: -0.298103 m, approachRate: -0.585944 m/s, posRepo size: 4 2025-10-27T06:20:27.342Z,1761546027.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m. 2025-10-27T06:20:27.349Z,1761546027.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.617813 m, nav range: 27.677006 m, bearing: 352.910775 deg, approach rate: 0.000000 m/s, LOS rate: 0.061166 deg/s, cmd heading: 351.750398 deg, new cmd heading: 351.844731 deg. 2025-10-27T06:20:27.350Z,1761546027.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140849 target range: 28.617813 and range: 28.80 m. 2025-10-27T06:20:27.433Z,1761546027.433 [DAT](INFO): DAT read: Bearing 162.2, -0.1 (Local) 2025-10-27T06:20:27.433Z,1761546027.433 [DAT](INFO): Local bearing/azimuth received: Bearing 162.2, -0.1 (Local) 2025-10-27T06:20:27.436Z,1761546027.436 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T06:20:27.443Z,1761546027.443 [DAT](INFO): DAT read: 06:20:26.0394 LVL= 30816, 32753, 32754, 32755, AGC= 63, IDX= 511,-0.01,-2.665, 1.912,-2.449,-2.860, PHS= 0.297,-1.466, 0.368, RAW= 151.9, 8.9, CAL= 151.5, 9.6, ROT= 358.5, -9.6 2025-10-27T06:20:27.445Z,1761546027.445 [DAT](INFO): got valid direction response: 06:20:26.0394 LVL= 30816, 32753, 32754, 32755, AGC= 63, IDX= 511,-0.01,-2.665, 1.912,-2.449,-2.860, PHS= 0.297,-1.466, 0.368, RAW= 151.9, 8.9, CAL= 151.5, 9.6, ROT= 358.5, -9.6 2025-10-27T06:20:27.445Z,1761546027.445 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T06:20:27.446Z,1761546027.446 [DAT](INFO): direction in FSK: [0.985658,-0.025811,0.166769] 2025-10-27T06:20:27.447Z,1761546027.447 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:27.486Z,1761546027.486 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.179590 2025-10-27T06:20:27.687Z,1761546027.687 [DAT](INFO): DAT read: Rx Time:06:20:26.5391 2025-10-27T06:20:27.689Z,1761546027.689 [DAT](INFO): Rx dataTimestamp_ set to:1761546027.688097 2025-10-27T06:20:27.693Z,1761546027.693 [DAT](INFO): DAT read: Bearing 163.2, -0.3 (Local) 2025-10-27T06:20:27.694Z,1761546027.694 [DAT](INFO): Local bearing/azimuth received: Bearing 163.2, -0.3 (Local) 2025-10-27T06:20:27.698Z,1761546027.698 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 2025-10-27T06:20:27.705Z,1761546027.705 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T06:20:27.717Z,1761546027.717 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.410067 2025-10-27T06:20:27.782Z,1761546027.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.754497 s, deltaX: -0.699999 m, approachRate: -0.927769 m/s, rangeRepo size: 4 2025-10-27T06:20:27.790Z,1761546027.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.921667 m, bearing: 352.815268 deg, lat: 36.779448 deg, lon: -121.859832 deg, deltaT: 0.754497 s, deltaX: -0.696146 m, approachRate: -0.922662 m/s, posRepo size: 4 2025-10-27T06:20:27.807Z,1761546027.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T06:20:27.810Z,1761546027.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.921667 m, nav range: 27.459484 m, bearing: 352.877254 deg, approach rate: 0.000000 m/s, LOS rate: 0.061166 deg/s, cmd heading: 351.844737 deg, new cmd heading: 351.926688 deg. 2025-10-27T06:20:27.816Z,1761546027.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142280 target range: 27.921667 and range: 28.10 m. 2025-10-27T06:20:27.950Z,1761546027.950 [DAT](INFO): DAT read: 06:20:26.5391 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508, 0.33, 2.940, 1.233,-3.133, 2.766, PHS= 0.276,-1.488, 0.341, RAW= 151.8, 9.7, CAL= 151.5, 10.6, ROT= 358.5, -10.6 2025-10-27T06:20:27.954Z,1761546027.954 [DAT](INFO): got valid direction response: 06:20:26.5391 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508, 0.33, 2.940, 1.233,-3.133, 2.766, PHS= 0.276,-1.488, 0.341, RAW= 151.8, 9.7, CAL= 151.5, 10.6, ROT= 358.5, -10.6 2025-10-27T06:20:27.955Z,1761546027.955 [DAT](INFO): #Rx 30: Read direction message, but no range. 2025-10-27T06:20:27.976Z,1761546027.976 [DAT](INFO): direction in FSK: [0.982599,-0.025730,0.183951] 2025-10-27T06:20:27.987Z,1761546027.987 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.680824 2025-10-27T06:20:28.192Z,1761546028.192 [DAT](INFO): DAT read: Rx Time:06:20:27.0391 2025-10-27T06:20:28.194Z,1761546028.194 [DAT](INFO): Rx dataTimestamp_ set to:1761546028.192541 2025-10-27T06:20:28.202Z,1761546028.202 [DAT](INFO): DAT read: Bearing 164.0, -0.6 (Local) 2025-10-27T06:20:28.203Z,1761546028.203 [DAT](INFO): Local bearing/azimuth received: Bearing 164.0, -0.6 (Local) 2025-10-27T06:20:28.218Z,1761546028.218 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 2025-10-27T06:20:28.220Z,1761546028.220 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-27T06:20:28.231Z,1761546028.231 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.924755 2025-10-27T06:20:28.345Z,1761546028.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.504444 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:28.351Z,1761546028.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.921667 m, bearing: 352.990596 deg, lat: 36.779448 deg, lon: -121.859832 deg, deltaT: 0.504444 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:20:28.352Z,1761546028.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.92 m. 2025-10-27T06:20:28.359Z,1761546028.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.921667 m, nav range: 27.182178 m, bearing: 352.817598 deg, approach rate: 0.000000 m/s, LOS rate: 0.061166 deg/s, cmd heading: 351.926699 deg, new cmd heading: 352.030076 deg. 2025-10-27T06:20:28.360Z,1761546028.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144084 target range: 27.921667 and range: 28.10 m. 2025-10-27T06:20:28.444Z,1761546028.444 [DAT](INFO): DAT read: 06:20:27.0391 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.14, 1.975, 0.288, 2.186, 1.825, PHS= 0.252,-1.492, 0.317, RAW= 151.8, 10.4, CAL= 151.6, 11.4, ROT= 358.4, -11.4 2025-10-27T06:20:28.445Z,1761546028.445 [DAT](INFO): got valid direction response: 06:20:27.0391 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.14, 1.975, 0.288, 2.186, 1.825, PHS= 0.252,-1.492, 0.317, RAW= 151.8, 10.4, CAL= 151.6, 11.4, ROT= 358.4, -11.4 2025-10-27T06:20:28.445Z,1761546028.445 [DAT](INFO): #Rx 32: Read direction message, but no range. 2025-10-27T06:20:28.446Z,1761546028.446 [DAT](INFO): direction in FSK: [0.979889,-0.027371,0.197657] 2025-10-27T06:20:28.458Z,1761546028.458 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.151733 2025-10-27T06:20:28.697Z,1761546028.697 [DAT](INFO): DAT read: Rx Time:06:20:27.5388 2025-10-27T06:20:28.698Z,1761546028.698 [DAT](INFO): Rx dataTimestamp_ set to:1761546028.697347 2025-10-27T06:20:28.703Z,1761546028.703 [DAT](INFO): DAT read: Bearing 165.6, -1.3 (Local) 2025-10-27T06:20:28.704Z,1761546028.704 [DAT](INFO): Local bearing/azimuth received: Bearing 165.6, -1.3 (Local) 2025-10-27T06:20:28.710Z,1761546028.710 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-27T06:20:28.712Z,1761546028.712 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-27T06:20:28.724Z,1761546028.724 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.417452 2025-10-27T06:20:28.737Z,1761546028.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991028,0.131118,-0.025902],[-0.124950,0.977724,0.168650],[0.047438,-0.163900,0.985336]] 2025-10-27T06:20:28.822Z,1761546028.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.504806 s, deltaX: -0.500000 m, approachRate: -0.990480 m/s, rangeRepo size: 4 2025-10-27T06:20:28.832Z,1761546028.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.424810 m, bearing: 353.135144 deg, lat: 36.779448 deg, lon: -121.859832 deg, deltaT: 0.504806 s, deltaX: -0.496857 m, approachRate: -0.984253 m/s, posRepo size: 4 2025-10-27T06:20:28.833Z,1761546028.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.42 m. 2025-10-27T06:20:28.840Z,1761546028.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.424810 m, nav range: 26.893860 m, bearing: 352.750182 deg, approach rate: 0.000000 m/s, LOS rate: 0.061166 deg/s, cmd heading: 352.030081 deg, new cmd heading: 352.117568 deg. 2025-10-27T06:20:28.841Z,1761546028.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145611 target range: 27.424810 and range: 27.60 m. 2025-10-27T06:20:28.971Z,1761546028.971 [DAT](INFO): DAT read: 06:20:27.5388 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.22, 1.870, 0.199, 2.084, 1.765, PHS= 0.207,-1.520, 0.275, RAW= 151.9, 11.8, CAL= 151.9, 13.0, ROT= 358.1, -13.0 2025-10-27T06:20:29.000Z,1761546029.000 [DAT](INFO): got valid direction response: 06:20:27.5388 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505, 0.22, 1.870, 0.199, 2.084, 1.765, PHS= 0.207,-1.520, 0.275, RAW= 151.9, 11.8, CAL= 151.9, 13.0, ROT= 358.1, -13.0 2025-10-27T06:20:29.002Z,1761546029.002 [DAT](INFO): #Rx 34: Read direction message, but no range. 2025-10-27T06:20:29.013Z,1761546029.013 [DAT](INFO): direction in FSK: [0.973834,-0.032305,0.224951] 2025-10-27T06:20:29.021Z,1761546029.021 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.714582 2025-10-27T06:20:29.151Z,1761546029.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991250,0.129712,-0.024443],[-0.123905,0.978236,0.166438],[0.045500,-0.161953,0.985749]] 2025-10-27T06:20:29.200Z,1761546029.200 [DAT](INFO): DAT read: Rx Time:06:20:28.0388 2025-10-27T06:20:29.201Z,1761546029.201 [DAT](INFO): Rx dataTimestamp_ set to:1761546029.200466 2025-10-27T06:20:29.206Z,1761546029.206 [DAT](INFO): DAT read: Bearing 165.6, -1.6 (Local) 2025-10-27T06:20:29.207Z,1761546029.207 [DAT](INFO): Local bearing/azimuth received: Bearing 165.6, -1.6 (Local) 2025-10-27T06:20:29.217Z,1761546029.217 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-27T06:20:29.223Z,1761546029.223 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-27T06:20:29.235Z,1761546029.235 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.919701 2025-10-27T06:20:29.306Z,1761546029.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.503119 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:29.324Z,1761546029.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.424810 m, bearing: 353.148379 deg, lat: 36.779446 deg, lon: -121.859831 deg, deltaT: 0.503119 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:20:29.325Z,1761546029.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.42 m. 2025-10-27T06:20:29.340Z,1761546029.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.424810 m, nav range: 26.480755 m, bearing: 352.796625 deg, approach rate: 0.000000 m/s, LOS rate: 0.061166 deg/s, cmd heading: 352.117562 deg, new cmd heading: 352.206386 deg. 2025-10-27T06:20:29.341Z,1761546029.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.147161 target range: 27.424810 and range: 27.60 m. 2025-10-27T06:20:29.452Z,1761546029.452 [DAT](INFO): DAT read: 06:20:28.0388 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.14, 0.209,-1.473, 0.431, 0.107, PHS= 0.205,-1.535, 0.280, RAW= 152.1, 11.8, CAL= 152.1, 13.0, ROT= 357.9, -13.0 2025-10-27T06:20:29.453Z,1761546029.453 [DAT](INFO): got valid direction response: 06:20:28.0388 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.14, 0.209,-1.473, 0.431, 0.107, PHS= 0.205,-1.535, 0.280, RAW= 152.1, 11.8, CAL= 152.1, 13.0, ROT= 357.9, -13.0 2025-10-27T06:20:29.453Z,1761546029.453 [DAT](INFO): #Rx 36: Read direction message, but no range. 2025-10-27T06:20:29.454Z,1761546029.454 [DAT](INFO): direction in FSK: [0.973716,-0.035705,0.224951] 2025-10-27T06:20:29.458Z,1761546029.458 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.151791 2025-10-27T06:20:29.639Z,1761546029.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991401,0.128840,-0.022912],[-0.123293,0.978316,0.166422],[0.043857,-0.162166,0.985788]] 2025-10-27T06:20:29.657Z,1761546029.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:29.659Z,1761546029.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.42 m. 2025-10-27T06:20:29.662Z,1761546029.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.424810 m, nav range: 26.284904 m, bearing: 352.710802 deg, approach rate: -0.553857 m/s, LOS rate: -0.244513 deg/s, cmd heading: 352.206382 deg, new cmd heading: 351.946995 deg. 2025-10-27T06:20:29.663Z,1761546029.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142634 target range: 27.424810 and range: 27.60 m. 2025-10-27T06:20:29.704Z,1761546029.704 [DAT](INFO): DAT read: Rx Time:06:20:28.5385 2025-10-27T06:20:29.706Z,1761546029.706 [DAT](INFO): Rx dataTimestamp_ set to:1761546029.705136 2025-10-27T06:20:29.711Z,1761546029.711 [DAT](INFO): DAT read: Bearing 166.4, -1.7 (Local) 2025-10-27T06:20:29.712Z,1761546029.712 [DAT](INFO): Local bearing/azimuth received: Bearing 166.4, -1.7 (Local) 2025-10-27T06:20:29.731Z,1761546029.731 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 2025-10-27T06:20:29.745Z,1761546029.745 [DAT](INFO): DAT read: 06:20:28.5385 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.21, 0.979,-0.714, 1.190, 0.891, PHS= 0.190,-1.559, 0.255, RAW= 151.8, 12.5, CAL= 151.8, 13.8, ROT= 358.2, -13.8 2025-10-27T06:20:29.746Z,1761546029.746 [DAT](INFO): got valid direction response: 06:20:28.5385 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502, 0.21, 0.979,-0.714, 1.190, 0.891, PHS= 0.190,-1.559, 0.255, RAW= 151.8, 12.5, CAL= 151.8, 13.8, ROT= 358.2, -13.8 2025-10-27T06:20:29.746Z,1761546029.746 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T06:20:29.756Z,1761546029.756 [DAT](INFO): direction in FSK: [0.970655,-0.030504,0.238533] 2025-10-27T06:20:29.756Z,1761546029.756 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:29.765Z,1761546029.765 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.458597 2025-10-27T06:20:29.959Z,1761546029.959 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.652037 2025-10-27T06:20:30.038Z,1761546030.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991558,0.127885,-0.021411],[-0.122650,0.978616,0.165130],[0.042071,-0.161110,0.986039]] 2025-10-27T06:20:30.092Z,1761546030.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.504670 s, deltaX: -0.400000 m, approachRate: -0.792596 m/s, rangeRepo size: 4 2025-10-27T06:20:30.094Z,1761546030.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.027308 m, bearing: 353.447708 deg, lat: 36.779445 deg, lon: -121.859830 deg, deltaT: 0.504670 s, deltaX: -0.397503 m, approachRate: -0.787649 m/s, posRepo size: 4 2025-10-27T06:20:30.094Z,1761546030.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.03 m. 2025-10-27T06:20:30.097Z,1761546030.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.027308 m, nav range: 25.998047 m, bearing: 352.875771 deg, approach rate: 0.000000 m/s, LOS rate: -0.244513 deg/s, cmd heading: 351.946998 deg, new cmd heading: 351.630209 deg. 2025-10-27T06:20:30.098Z,1761546030.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137105 target range: 27.027308 and range: 27.20 m. 2025-10-27T06:20:30.213Z,1761546030.213 [DAT](INFO): DAT read: Rx Time:06:20:29.0384 2025-10-27T06:20:30.214Z,1761546030.214 [DAT](INFO): Rx dataTimestamp_ set to:1761546030.213149 2025-10-27T06:20:30.221Z,1761546030.221 [DAT](INFO): DAT read: Bearing 165.3, -2.1 (Local) 2025-10-27T06:20:30.222Z,1761546030.222 [DAT](INFO): Local bearing/azimuth received: Bearing 165.3, -2.1 (Local) 2025-10-27T06:20:30.228Z,1761546030.228 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 2025-10-27T06:20:30.228Z,1761546030.228 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-27T06:20:30.229Z,1761546030.229 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.922905 2025-10-27T06:20:30.446Z,1761546030.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991793,0.126265,-0.020101],[-0.121323,0.979029,0.163654],[0.040344,-0.159872,0.986313]] 2025-10-27T06:20:30.464Z,1761546030.464 [DAT](INFO): DAT read: 06:20:29.0384 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501,-0.13,-0.906,-2.608,-0.672,-1.012, PHS= 0.208,-1.551, 0.296, RAW= 152.4, 11.6, CAL= 152.4, 12.8, ROT= 357.6, -12.8 2025-10-27T06:20:30.465Z,1761546030.465 [DAT](INFO): got valid direction response: 06:20:29.0384 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 501,-0.13,-0.906,-2.608,-0.672,-1.012, PHS= 0.208,-1.551, 0.296, RAW= 152.4, 11.6, CAL= 152.4, 12.8, ROT= 357.6, -12.8 2025-10-27T06:20:30.465Z,1761546030.465 [DAT](INFO): #Rx 39: Read direction message, but no range. 2025-10-27T06:20:30.466Z,1761546030.466 [DAT](INFO): direction in FSK: [0.974294,-0.040835,0.221548] 2025-10-27T06:20:30.470Z,1761546030.470 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.163164 2025-10-27T06:20:30.529Z,1761546030.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.508013 s, deltaX: -0.200001 m, approachRate: -0.393692 m/s, rangeRepo size: 4 2025-10-27T06:20:30.535Z,1761546030.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.828714 m, bearing: 352.737060 deg, lat: 36.779445 deg, lon: -121.859830 deg, deltaT: 0.508013 s, deltaX: -0.198593 m, approachRate: -0.390921 m/s, posRepo size: 4 2025-10-27T06:20:30.536Z,1761546030.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.83 m. 2025-10-27T06:20:30.543Z,1761546030.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.828714 m, nav range: 25.798119 m, bearing: 352.785441 deg, approach rate: 0.000000 m/s, LOS rate: -0.244513 deg/s, cmd heading: 351.630214 deg, new cmd heading: 351.309155 deg. 2025-10-27T06:20:30.544Z,1761546030.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131502 target range: 26.828714 and range: 27.00 m. 2025-10-27T06:20:30.717Z,1761546030.717 [DAT](INFO): DAT read: Rx Time:06:20:29.5381 2025-10-27T06:20:30.720Z,1761546030.720 [DAT](INFO): Rx dataTimestamp_ set to:1761546030.717956 2025-10-27T06:20:30.727Z,1761546030.727 [DAT](INFO): DAT read: Bearing 167.4, -2.4 (Local) 2025-10-27T06:20:30.729Z,1761546030.729 [DAT](INFO): Local bearing/azimuth received: Bearing 167.4, -2.4 (Local) 2025-10-27T06:20:30.738Z,1761546030.738 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 2025-10-27T06:20:30.775Z,1761546030.775 [DAT](INFO): DAT read: 06:20:29.5381 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498, 0.23, 0.351,-1.328, 0.568, 0.294, PHS= 0.158,-1.577, 0.230, RAW= 152.0, 13.3, CAL= 152.2, 14.9, ROT= 357.8, -14.9 2025-10-27T06:20:30.777Z,1761546030.777 [DAT](INFO): got valid direction response: 06:20:29.5381 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 498, 0.23, 0.351,-1.328, 0.568, 0.294, PHS= 0.158,-1.577, 0.230, RAW= 152.0, 13.3, CAL= 152.2, 14.9, ROT= 357.8, -14.9 2025-10-27T06:20:30.778Z,1761546030.778 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-27T06:20:30.789Z,1761546030.789 [DAT](INFO): direction in FSK: [0.965664,-0.037097,0.257133] 2025-10-27T06:20:30.789Z,1761546030.789 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:30.797Z,1761546030.797 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.488218 2025-10-27T06:20:30.901Z,1761546030.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504807 s, deltaX: -0.400000 m, approachRate: -0.792381 m/s, rangeRepo size: 4 2025-10-27T06:20:30.908Z,1761546030.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.431252 m, bearing: 353.297301 deg, lat: 36.779445 deg, lon: -121.859829 deg, deltaT: 0.504807 s, deltaX: -0.397463 m, approachRate: -0.787356 m/s, posRepo size: 4 2025-10-27T06:20:30.908Z,1761546030.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T06:20:30.915Z,1761546030.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.431252 m, nav range: 25.577887 m, bearing: 352.791608 deg, approach rate: 0.000000 m/s, LOS rate: -0.244513 deg/s, cmd heading: 351.309168 deg, new cmd heading: 351.036058 deg. 2025-10-27T06:20:30.916Z,1761546030.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.126735 target range: 26.431252 and range: 26.60 m. 2025-10-27T06:20:30.965Z,1761546030.965 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.658155 2025-10-27T06:20:31.221Z,1761546031.221 [DAT](INFO): DAT read: Rx Time:06:20:30.0381 2025-10-27T06:20:31.222Z,1761546031.222 [DAT](INFO): Rx dataTimestamp_ set to:1761546031.221308 2025-10-27T06:20:31.227Z,1761546031.227 [DAT](INFO): DAT read: Bearing 167.9, -3.5 (Local) 2025-10-27T06:20:31.228Z,1761546031.228 [DAT](INFO): Local bearing/azimuth received: Bearing 167.9, -3.5 (Local) 2025-10-27T06:20:31.229Z,1761546031.229 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 2025-10-27T06:20:31.230Z,1761546031.230 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-27T06:20:31.231Z,1761546031.231 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.924891 2025-10-27T06:20:31.262Z,1761546031.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991971,0.125153,-0.018156],[-0.120526,0.979079,0.163943],[0.038294,-0.160438,0.986303]] 2025-10-27T06:20:31.381Z,1761546031.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.503352 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:31.382Z,1761546031.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T06:20:31.385Z,1761546031.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.431252 m, nav range: 25.343048 m, bearing: 352.650240 deg, approach rate: -0.489442 m/s, LOS rate: -0.297365 deg/s, cmd heading: 351.036070 deg, new cmd heading: 350.608043 deg. 2025-10-27T06:20:31.386Z,1761546031.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119265 target range: 26.431252 and range: 26.60 m. 2025-10-27T06:20:31.473Z,1761546031.473 [DAT](INFO): DAT read: 06:20:30.0381 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.16,-0.564,-2.209,-0.317,-0.588, PHS= 0.127,-1.576, 0.228, RAW= 152.9, 13.8, CAL= 153.1, 15.5, ROT= 356.9, -15.5 2025-10-27T06:20:31.477Z,1761546031.477 [DAT](INFO): got valid direction response: 06:20:30.0381 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.16,-0.564,-2.209,-0.317,-0.588, PHS= 0.127,-1.576, 0.228, RAW= 152.9, 13.8, CAL= 153.1, 15.5, ROT= 356.9, -15.5 2025-10-27T06:20:31.477Z,1761546031.477 [DAT](INFO): #Rx 42: Read direction message, but no range. 2025-10-27T06:20:31.478Z,1761546031.478 [DAT](INFO): direction in FSK: [0.962220,-0.052112,0.267238] 2025-10-27T06:20:31.481Z,1761546031.481 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.174786 2025-10-27T06:20:31.654Z,1761546031.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992066,0.124411,-0.018055],[-0.119795,0.979102,0.164341],[0.038123,-0.160875,0.986238]] 2025-10-27T06:20:31.725Z,1761546031.725 [DAT](INFO): DAT read: Rx Time:06:20:30.5378 2025-10-27T06:20:31.728Z,1761546031.728 [DAT](INFO): Rx dataTimestamp_ set to:1761546031.726071 2025-10-27T06:20:31.729Z,1761546031.729 [DAT](INFO): DAT read: Bearing 165.3, -3.0 (Local) 2025-10-27T06:20:31.730Z,1761546031.730 [DAT](INFO): Local bearing/azimuth received: Bearing 165.3, -3.0 (Local) 2025-10-27T06:20:31.733Z,1761546031.733 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 2025-10-27T06:20:31.739Z,1761546031.739 [DAT](INFO): DAT read: 06:20:30.5378 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 495, 0.19,-0.292,-1.966,-0.039,-0.383, PHS= 0.193,-1.538, 0.300, RAW= 153.0, 11.7, CAL= 152.9, 12.9, ROT= 357.1, -12.9 2025-10-27T06:20:31.740Z,1761546031.740 [DAT](INFO): got valid direction response: 06:20:30.5378 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 495, 0.19,-0.292,-1.966,-0.039,-0.383, PHS= 0.193,-1.538, 0.300, RAW= 153.0, 11.7, CAL= 152.9, 12.9, ROT= 357.1, -12.9 2025-10-27T06:20:31.740Z,1761546031.740 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T06:20:31.741Z,1761546031.741 [DAT](INFO): direction in FSK: [0.973513,-0.049316,0.223250] 2025-10-27T06:20:31.742Z,1761546031.742 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:31.746Z,1761546031.746 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.439348 2025-10-27T06:20:31.770Z,1761546031.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.504763 s, deltaX: -0.500000 m, approachRate: -0.990564 m/s, rangeRepo size: 4 2025-10-27T06:20:31.784Z,1761546031.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.934586 m, bearing: 352.358139 deg, lat: 36.779445 deg, lon: -121.859829 deg, deltaT: 1.008115 s, deltaX: -0.496666 m, approachRate: -0.492668 m/s, posRepo size: 4 2025-10-27T06:20:31.785Z,1761546031.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m. 2025-10-27T06:20:31.817Z,1761546031.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.934586 m, nav range: 25.204285 m, bearing: 352.565189 deg, approach rate: 0.000000 m/s, LOS rate: -0.297365 deg/s, cmd heading: 350.608035 deg, new cmd heading: 350.261942 deg. 2025-10-27T06:20:31.818Z,1761546031.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.113224 target range: 25.934586 and range: 26.10 m. 2025-10-27T06:20:31.975Z,1761546031.975 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.668242 2025-10-27T06:20:32.071Z,1761546032.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992081,0.124481,-0.016746],[-0.119872,0.978180,0.169689],[0.037504,-0.166337,0.985355]] 2025-10-27T06:20:32.146Z,1761546032.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:32.148Z,1761546032.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m. 2025-10-27T06:20:32.151Z,1761546032.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.934586 m, nav range: 24.975357 m, bearing: 352.433191 deg, approach rate: -0.603540 m/s, LOS rate: -0.351185 deg/s, cmd heading: 350.261936 deg, new cmd heading: 349.862321 deg. 2025-10-27T06:20:32.152Z,1761546032.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.106249 target range: 25.934586 and range: 26.10 m. 2025-10-27T06:20:32.228Z,1761546032.228 [DAT](INFO): DAT read: Rx Time:06:20:31.0378 2025-10-27T06:20:32.228Z,1761546032.228 [DAT](INFO): Rx dataTimestamp_ set to:1761546032.227742 2025-10-27T06:20:32.229Z,1761546032.229 [DAT](INFO): DAT read: Bearing 166.2, -3.1 (Local) 2025-10-27T06:20:32.230Z,1761546032.230 [DAT](INFO): Local bearing/azimuth received: Bearing 166.2, -3.1 (Local) 2025-10-27T06:20:32.232Z,1761546032.232 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 2025-10-27T06:20:32.236Z,1761546032.236 [DAT](INFO): DAT read: 06:20:31.0378 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.43, 0.557,-1.092, 0.798, 0.488, PHS= 0.171,-1.535, 0.265, RAW= 152.7, 12.5, CAL= 152.8, 13.9, ROT= 357.2, -13.9 2025-10-27T06:20:32.237Z,1761546032.237 [DAT](INFO): got valid direction response: 06:20:31.0378 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.43, 0.557,-1.092, 0.798, 0.488, PHS= 0.171,-1.535, 0.265, RAW= 152.7, 12.5, CAL= 152.8, 13.9, ROT= 357.2, -13.9 2025-10-27T06:20:32.238Z,1761546032.238 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T06:20:32.239Z,1761546032.239 [DAT](INFO): direction in FSK: [0.969558,-0.047419,0.240228] 2025-10-27T06:20:32.239Z,1761546032.239 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:32.247Z,1761546032.247 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.940104 2025-10-27T06:20:32.476Z,1761546032.476 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.169725 2025-10-27T06:20:32.487Z,1761546032.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991976,0.125467,-0.015571],[-0.120850,0.977163,0.174781],[0.037145,-0.171496,0.984484]] 2025-10-27T06:20:32.572Z,1761546032.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.501671 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:32.574Z,1761546032.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.934214 m, bearing: 352.726351 deg, lat: 36.779445 deg, lon: -121.859827 deg, deltaT: 0.501671 s, deltaX: -0.000372 m, approachRate: -0.000741 m/s, posRepo size: 4 2025-10-27T06:20:32.591Z,1761546032.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m. 2025-10-27T06:20:32.594Z,1761546032.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.934214 m, nav range: 24.755264 m, bearing: 352.685994 deg, approach rate: 0.000000 m/s, LOS rate: -0.351185 deg/s, cmd heading: 349.862315 deg, new cmd heading: 349.415830 deg. 2025-10-27T06:20:32.600Z,1761546032.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.098457 target range: 25.934214 and range: 26.10 m. 2025-10-27T06:20:32.730Z,1761546032.730 [DAT](INFO): DAT read: Rx Time:06:20:31.5375 2025-10-27T06:20:32.731Z,1761546032.731 [DAT](INFO): Rx dataTimestamp_ set to:1761546032.730074 2025-10-27T06:20:32.732Z,1761546032.732 [DAT](INFO): DAT read: Bearing 163.9, -3.3 (Local) 2025-10-27T06:20:32.733Z,1761546032.733 [DAT](INFO): Local bearing/azimuth received: Bearing 163.9, -3.3 (Local) 2025-10-27T06:20:32.736Z,1761546032.736 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 2025-10-27T06:20:32.737Z,1761546032.737 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T06:20:32.738Z,1761546032.738 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.431416 2025-10-27T06:20:32.924Z,1761546032.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.502332 s, deltaX: -0.400000 m, approachRate: -0.796285 m/s, rangeRepo size: 4 2025-10-27T06:20:32.925Z,1761546032.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m. 2025-10-27T06:20:32.928Z,1761546032.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.934214 m, nav range: 24.588089 m, bearing: 352.589621 deg, approach rate: -0.476636 m/s, LOS rate: -0.276637 deg/s, cmd heading: 349.415840 deg, new cmd heading: 349.124759 deg. 2025-10-27T06:20:32.929Z,1761546032.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.093377 target range: 25.934214 and range: 25.70 m. 2025-10-27T06:20:32.988Z,1761546032.988 [DAT](INFO): DAT read: 06:20:31.5375 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.05,-0.303,-1.966,-0.036,-0.417, PHS= 0.216,-1.505, 0.337, RAW= 153.4, 10.7, CAL= 153.2, 11.7, ROT= 356.8, -11.7 2025-10-27T06:20:32.989Z,1761546032.989 [DAT](INFO): got valid direction response: 06:20:31.5375 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.05,-0.303,-1.966,-0.036,-0.417, PHS= 0.216,-1.505, 0.337, RAW= 153.4, 10.7, CAL= 153.2, 11.7, ROT= 356.8, -11.7 2025-10-27T06:20:32.990Z,1761546032.990 [DAT](INFO): #Rx 46: Read direction message, but no range. 2025-10-27T06:20:32.991Z,1761546032.991 [DAT](INFO): direction in FSK: [0.977696,-0.054662,0.202787] 2025-10-27T06:20:32.994Z,1761546032.994 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.687435 2025-10-27T06:20:33.233Z,1761546033.233 [DAT](INFO): DAT read: Rx Time:06:20:32.0375 2025-10-27T06:20:33.233Z,1761546033.233 [DAT](INFO): Rx dataTimestamp_ set to:1761546033.232766 2025-10-27T06:20:33.234Z,1761546033.234 [DAT](INFO): DAT read: Bearing 163.8, -3.2 (Local) 2025-10-27T06:20:33.235Z,1761546033.235 [DAT](INFO): Local bearing/azimuth received: Bearing 163.8, -3.2 (Local) 2025-10-27T06:20:33.237Z,1761546033.237 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.5 2025-10-27T06:20:33.242Z,1761546033.242 [DAT](INFO): DAT read: 06:20:32.0375 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.21,-3.066, 1.548,-2.804, 3.097, PHS= 0.222,-1.504, 0.338, RAW= 153.2, 10.6, CAL= 153.1, 11.6, ROT= 356.9, -11.6 2025-10-27T06:20:33.243Z,1761546033.243 [DAT](INFO): got valid direction response: 06:20:32.0375 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.21,-3.066, 1.548,-2.804, 3.097, PHS= 0.222,-1.504, 0.338, RAW= 153.2, 10.6, CAL= 153.1, 11.6, ROT= 356.9, -11.6 2025-10-27T06:20:33.244Z,1761546033.244 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T06:20:33.245Z,1761546033.245 [DAT](INFO): direction in FSK: [0.978142,-0.052974,0.201078] 2025-10-27T06:20:33.245Z,1761546033.245 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:33.249Z,1761546033.249 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=21.942162 2025-10-27T06:20:33.371Z,1761546033.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991922,0.126213,-0.012668],[-0.121891,0.976047,0.180210],[0.035109,-0.177211,0.983547]] 2025-10-27T06:20:33.484Z,1761546033.484 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.177563 2025-10-27T06:20:33.486Z,1761546033.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.502692 s, deltaX: -0.200001 m, approachRate: -0.397859 m/s, rangeRepo size: 4 2025-10-27T06:20:33.493Z,1761546033.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.337986 m, bearing: 352.021337 deg, lat: 36.779446 deg, lon: -121.859830 deg, deltaT: 1.005024 s, deltaX: -0.596228 m, approachRate: -0.593247 m/s, posRepo size: 4 2025-10-27T06:20:33.493Z,1761546033.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.34 m. 2025-10-27T06:20:33.500Z,1761546033.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.337986 m, nav range: 24.453869 m, bearing: 351.977306 deg, approach rate: 0.000000 m/s, LOS rate: -0.276637 deg/s, cmd heading: 349.124764 deg, new cmd heading: 348.657121 deg. 2025-10-27T06:20:33.501Z,1761546033.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.085215 target range: 25.337986 and range: 25.50 m. 2025-10-27T06:20:33.737Z,1761546033.737 [DAT](INFO): DAT read: Rx Time:06:20:32.5373 2025-10-27T06:20:33.738Z,1761546033.738 [DAT](INFO): Rx dataTimestamp_ set to:1761546033.737678 2025-10-27T06:20:33.740Z,1761546033.740 [DAT](INFO): DAT read: Bearing 163.3, -3.9 (Local) 2025-10-27T06:20:33.741Z,1761546033.741 [DAT](INFO): Local bearing/azimuth received: Bearing 163.3, -3.9 (Local) 2025-10-27T06:20:33.744Z,1761546033.744 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 2025-10-27T06:20:33.749Z,1761546033.749 [DAT](INFO): DAT read: 06:20:32.5373 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.29,-0.013,-1.681, 0.270,-0.131, PHS= 0.220,-1.504, 0.357, RAW= 153.8, 10.3, CAL= 153.6, 11.3, ROT= 356.4, -11.3 2025-10-27T06:20:33.751Z,1761546033.751 [DAT](INFO): got valid direction response: 06:20:32.5373 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.29,-0.013,-1.681, 0.270,-0.131, PHS= 0.220,-1.504, 0.357, RAW= 153.8, 10.3, CAL= 153.6, 11.3, ROT= 356.4, -11.3 2025-10-27T06:20:33.758Z,1761546033.758 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T06:20:33.764Z,1761546033.764 [DAT](INFO): direction in FSK: [0.978680,-0.061574,0.195946] 2025-10-27T06:20:33.764Z,1761546033.764 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:33.795Z,1761546033.795 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.489031 2025-10-27T06:20:33.822Z,1761546033.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991831,0.127118,-0.010626],[-0.123030,0.975282,0.183547],[0.033696,-0.180740,0.982954]] 2025-10-27T06:20:33.909Z,1761546033.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504912 s, deltaX: -0.299999 m, approachRate: -0.594161 m/s, rangeRepo size: 4 2025-10-27T06:20:33.919Z,1761546033.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.039892 m, bearing: 351.447218 deg, lat: 36.779446 deg, lon: -121.859830 deg, deltaT: 0.504912 s, deltaX: -0.298094 m, approachRate: -0.590388 m/s, posRepo size: 4 2025-10-27T06:20:33.920Z,1761546033.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.04 m. 2025-10-27T06:20:33.929Z,1761546033.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.039892 m, nav range: 24.291115 m, bearing: 351.878977 deg, approach rate: 0.000000 m/s, LOS rate: -0.276637 deg/s, cmd heading: 348.657115 deg, new cmd heading: 348.306580 deg. 2025-10-27T06:20:33.930Z,1761546033.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.079097 target range: 25.039892 and range: 25.20 m. 2025-10-27T06:20:33.989Z,1761546033.989 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.682299 2025-10-27T06:20:34.237Z,1761546034.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991482,0.129969,-0.008512],[-0.126131,0.974392,0.186146],[0.032487,-0.183487,0.982485]] 2025-10-27T06:20:34.241Z,1761546034.241 [DAT](INFO): DAT read: Rx Time:06:20:33.0371 2025-10-27T06:20:34.241Z,1761546034.241 [DAT](INFO): Rx dataTimestamp_ set to:1761546034.240784 2025-10-27T06:20:34.242Z,1761546034.242 [DAT](INFO): DAT read: Bearing 162.5, -3.5 (Local) 2025-10-27T06:20:34.243Z,1761546034.243 [DAT](INFO): Local bearing/azimuth received: Bearing 162.5, -3.5 (Local) 2025-10-27T06:20:34.245Z,1761546034.245 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-27T06:20:34.249Z,1761546034.249 [DAT](INFO): DAT read: 06:20:33.0371 LVL= 31600, 32753, 32754, 32755, AGC= 62, IDX= 503, 0.03, 1.511,-0.170, 1.783, 1.369, PHS= 0.244,-1.494, 0.370, RAW= 153.5, 9.8, CAL= 153.2, 10.6, ROT= 356.8, -10.6 2025-10-27T06:20:34.251Z,1761546034.251 [DAT](INFO): got valid direction response: 06:20:33.0371 LVL= 31600, 32753, 32754, 32755, AGC= 62, IDX= 503, 0.03, 1.511,-0.170, 1.783, 1.369, PHS= 0.244,-1.494, 0.370, RAW= 153.5, 9.8, CAL= 153.2, 10.6, ROT= 356.8, -10.6 2025-10-27T06:20:34.251Z,1761546034.251 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T06:20:34.252Z,1761546034.252 [DAT](INFO): direction in FSK: [0.981403,-0.054869,0.183951] 2025-10-27T06:20:34.252Z,1761546034.252 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:34.271Z,1761546034.271 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=22.964106 2025-10-27T06:20:34.423Z,1761546034.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503106 s, deltaX: -0.300001 m, approachRate: -0.596298 m/s, rangeRepo size: 4 2025-10-27T06:20:34.429Z,1761546034.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.741426 m, bearing: 351.564815 deg, lat: 36.779446 deg, lon: -121.859830 deg, deltaT: 0.503106 s, deltaX: -0.298466 m, approachRate: -0.593246 m/s, posRepo size: 4 2025-10-27T06:20:34.430Z,1761546034.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T06:20:34.440Z,1761546034.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.741426 m, nav range: 24.045685 m, bearing: 351.742352 deg, approach rate: 0.000000 m/s, LOS rate: -0.276637 deg/s, cmd heading: 348.306590 deg, new cmd heading: 347.880275 deg. 2025-10-27T06:20:34.441Z,1761546034.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071656 target range: 24.741426 and range: 24.90 m. 2025-10-27T06:20:34.492Z,1761546034.492 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.185555 2025-10-27T06:20:34.745Z,1761546034.745 [DAT](INFO): DAT read: Rx Time:06:20:33.5368 2025-10-27T06:20:34.745Z,1761546034.745 [DAT](INFO): Rx dataTimestamp_ set to:1761546034.744708 2025-10-27T06:20:34.746Z,1761546034.746 [DAT](INFO): DAT read: Bearing 162.7, -3.7 (Local) 2025-10-27T06:20:34.747Z,1761546034.747 [DAT](INFO): Local bearing/azimuth received: Bearing 162.7, -3.7 (Local) 2025-10-27T06:20:34.749Z,1761546034.749 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 2025-10-27T06:20:34.776Z,1761546034.776 [DAT](INFO): DAT read: 06:20:33.5368 LVL= 31792, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.39, 0.430,-1.226, 0.700, 0.301, PHS= 0.231,-1.482, 0.355, RAW= 153.5, 10.1, CAL= 153.3, 11.0, ROT= 356.7, -11.0 2025-10-27T06:20:34.777Z,1761546034.777 [DAT](INFO): got valid direction response: 06:20:33.5368 LVL= 31792, 32753, 32754, 32755, AGC= 62, IDX= 500, 0.39, 0.430,-1.226, 0.700, 0.301, PHS= 0.231,-1.482, 0.355, RAW= 153.5, 10.1, CAL= 153.3, 11.0, ROT= 356.7, -11.0 2025-10-27T06:20:34.778Z,1761546034.778 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T06:20:34.780Z,1761546034.780 [DAT](INFO): direction in FSK: [0.979999,-0.056506,0.190809] 2025-10-27T06:20:34.781Z,1761546034.781 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:34.789Z,1761546034.789 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.483040 2025-10-27T06:20:34.835Z,1761546034.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990664,0.136264,-0.004195],[-0.132925,0.972305,0.192234],[0.030274,-0.189882,0.981340]] 2025-10-27T06:20:34.900Z,1761546034.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503924 s, deltaX: -0.299999 m, approachRate: -0.595326 m/s, rangeRepo size: 4 2025-10-27T06:20:34.902Z,1761546034.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.443338 m, bearing: 351.226277 deg, lat: 36.779446 deg, lon: -121.859831 deg, deltaT: 0.503924 s, deltaX: -0.298088 m, approachRate: -0.591534 m/s, posRepo size: 4 2025-10-27T06:20:34.903Z,1761546034.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.44 m. 2025-10-27T06:20:34.906Z,1761546034.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.443338 m, nav range: 23.833941 m, bearing: 351.436880 deg, approach rate: 0.000000 m/s, LOS rate: -0.276637 deg/s, cmd heading: 347.880276 deg, new cmd heading: 347.484737 deg. 2025-10-27T06:20:34.907Z,1761546034.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.064753 target range: 24.443338 and range: 24.60 m. 2025-10-27T06:20:34.997Z,1761546034.997 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.690699 2025-10-27T06:20:35.229Z,1761546035.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990201,0.139641,-0.001668],[-0.136661,0.971393,0.194215],[0.028740,-0.192084,0.980958]] 2025-10-27T06:20:35.249Z,1761546035.249 [DAT](INFO): DAT read: Rx Time:06:20:34.0368 2025-10-27T06:20:35.249Z,1761546035.249 [DAT](INFO): Rx dataTimestamp_ set to:1761546035.248717 2025-10-27T06:20:35.250Z,1761546035.250 [DAT](INFO): DAT read: Bearing 162.4, -4.1 (Local) 2025-10-27T06:20:35.251Z,1761546035.251 [DAT](INFO): Local bearing/azimuth received: Bearing 162.4, -4.1 (Local) 2025-10-27T06:20:35.254Z,1761546035.254 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 2025-10-27T06:20:35.262Z,1761546035.262 [DAT](INFO): DAT read: 06:20:34.0368 LVL= 32080, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.14, 0.406,-1.267, 0.683, 0.277, PHS= 0.230,-1.500, 0.361, RAW= 153.6, 10.1, CAL= 153.4, 11.0, ROT= 356.6, -11.0 2025-10-27T06:20:35.269Z,1761546035.269 [DAT](INFO): got valid direction response: 06:20:34.0368 LVL= 32080, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.14, 0.406,-1.267, 0.683, 0.277, PHS= 0.230,-1.500, 0.361, RAW= 153.6, 10.1, CAL= 153.4, 11.0, ROT= 356.6, -11.0 2025-10-27T06:20:35.269Z,1761546035.269 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T06:20:35.275Z,1761546035.275 [DAT](INFO): direction in FSK: [0.979899,-0.058217,0.190809] 2025-10-27T06:20:35.276Z,1761546035.276 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:35.313Z,1761546035.313 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.006298 2025-10-27T06:20:35.377Z,1761546035.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504009 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:35.383Z,1761546035.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.442900 m, bearing: 350.938080 deg, lat: 36.779447 deg, lon: -121.859832 deg, deltaT: 0.504009 s, deltaX: -0.000439 m, approachRate: -0.000870 m/s, posRepo size: 4 2025-10-27T06:20:35.384Z,1761546035.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.44 m. 2025-10-27T06:20:35.391Z,1761546035.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.442900 m, nav range: 23.666304 m, bearing: 351.151100 deg, approach rate: 0.000000 m/s, LOS rate: -0.276637 deg/s, cmd heading: 347.484727 deg, new cmd heading: 347.088073 deg. 2025-10-27T06:20:35.392Z,1761546035.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.057830 target range: 24.442900 and range: 24.60 m. 2025-10-27T06:20:35.500Z,1761546035.500 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.194017 2025-10-27T06:20:35.728Z,1761546035.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989748,0.142823,0.000671],[-0.140198,0.970640,0.195452],[0.027264,-0.193543,0.980713]] 2025-10-27T06:20:35.755Z,1761546035.755 [DAT](INFO): DAT read: Rx Time:06:20:34.5365 2025-10-27T06:20:35.756Z,1761546035.756 [DAT](INFO): Rx dataTimestamp_ set to:1761546035.755467 2025-10-27T06:20:35.759Z,1761546035.759 [DAT](INFO): DAT read: Bearing 161.8, -3.9 (Local) 2025-10-27T06:20:35.760Z,1761546035.760 [DAT](INFO): Local bearing/azimuth received: Bearing 161.8, -3.9 (Local) 2025-10-27T06:20:35.763Z,1761546035.763 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 2025-10-27T06:20:35.780Z,1761546035.780 [DAT](INFO): DAT read: 06:20:34.5365 LVL= 31808, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.20, 0.460,-1.219, 0.732, 0.316, PHS= 0.246,-1.489, 0.372, RAW= 153.5, 9.7, CAL= 153.2, 10.5, ROT= 356.8, -10.5 2025-10-27T06:20:35.782Z,1761546035.782 [DAT](INFO): got valid direction response: 06:20:34.5365 LVL= 31808, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.20, 0.460,-1.219, 0.732, 0.316, PHS= 0.246,-1.489, 0.372, RAW= 153.5, 9.7, CAL= 153.2, 10.5, ROT= 356.8, -10.5 2025-10-27T06:20:35.782Z,1761546035.782 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T06:20:35.816Z,1761546035.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:35.818Z,1761546035.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.44 m. 2025-10-27T06:20:35.832Z,1761546035.832 [DAT](INFO): direction in FSK: [0.981722,-0.054887,0.182236] 2025-10-27T06:20:35.832Z,1761546035.832 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:35.837Z,1761546035.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.442900 m, nav range: 23.463793 m, bearing: 351.055169 deg, approach rate: -0.458690 m/s, LOS rate: -0.219160 deg/s, cmd heading: 347.088084 deg, new cmd heading: 346.797810 deg. 2025-10-27T06:20:35.838Z,1761546035.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052763 target range: 24.442900 and range: 24.60 m. 2025-10-27T06:20:35.844Z,1761546035.844 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.537382 2025-10-27T06:20:36.004Z,1761546036.004 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.697453 2025-10-27T06:20:36.165Z,1761546036.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989179,0.146670,0.003451],[-0.144431,0.969407,0.198467],[0.025764,-0.196818,0.980102]] 2025-10-27T06:20:36.241Z,1761546036.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.506750 s, deltaX: -0.400000 m, approachRate: -0.789343 m/s, rangeRepo size: 4 2025-10-27T06:20:36.244Z,1761546036.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.045454 m, bearing: 350.640800 deg, lat: 36.779447 deg, lon: -121.859832 deg, deltaT: 0.506750 s, deltaX: -0.397446 m, approachRate: -0.784303 m/s, posRepo size: 4 2025-10-27T06:20:36.244Z,1761546036.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m. 2025-10-27T06:20:36.247Z,1761546036.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.045454 m, nav range: 23.247156 m, bearing: 350.930498 deg, approach rate: 0.000000 m/s, LOS rate: -0.219160 deg/s, cmd heading: 346.797801 deg, new cmd heading: 346.519879 deg. 2025-10-27T06:20:36.248Z,1761546036.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047913 target range: 24.045454 and range: 24.20 m. 2025-10-27T06:20:36.258Z,1761546036.258 [DAT](INFO): DAT read: Rx Time:06:20:35.0365 2025-10-27T06:20:36.259Z,1761546036.259 [DAT](INFO): Rx dataTimestamp_ set to:1761546036.258436 2025-10-27T06:20:36.261Z,1761546036.261 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 2025-10-27T06:20:36.262Z,1761546036.262 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-27T06:20:36.267Z,1761546036.267 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=24.960955 2025-10-27T06:20:36.509Z,1761546036.509 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.202526 2025-10-27T06:20:36.580Z,1761546036.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988501,0.151073,0.006605],[-0.149262,0.967784,0.202767],[0.024240,-0.201421,0.979205]] 2025-10-27T06:20:36.615Z,1761546036.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.502969 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:36.616Z,1761546036.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m. 2025-10-27T06:20:36.623Z,1761546036.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.045454 m, nav range: 23.063280 m, bearing: 350.851738 deg, approach rate: -0.497168 m/s, LOS rate: -0.214650 deg/s, cmd heading: 346.519867 deg, new cmd heading: 346.281705 deg. 2025-10-27T06:20:36.624Z,1761546036.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043756 target range: 24.045454 and range: 24.20 m. 2025-10-27T06:20:36.762Z,1761546036.762 [DAT](INFO): DAT read: Rx Time:06:20:35.5362 2025-10-27T06:20:36.763Z,1761546036.763 [DAT](INFO): Rx dataTimestamp_ set to:1761546036.762226 2025-10-27T06:20:36.765Z,1761546036.765 [DAT](INFO): DAT read: Bearing 161.7, -4.1 (Local) 2025-10-27T06:20:36.766Z,1761546036.766 [DAT](INFO): Local bearing/azimuth received: Bearing 161.7, -4.1 (Local) 2025-10-27T06:20:36.770Z,1761546036.770 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 2025-10-27T06:20:36.778Z,1761546036.778 [DAT](INFO): DAT read: 06:20:35.5362 LVL= 31136, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.14, 0.259,-1.426, 0.518, 0.122, PHS= 0.239,-1.503, 0.353, RAW= 153.1, 10.1, CAL= 152.9, 11.0, ROT= 357.1, -11.0 2025-10-27T06:20:36.781Z,1761546036.781 [DAT](INFO): got valid direction response: 06:20:35.5362 LVL= 31136, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.14, 0.259,-1.426, 0.518, 0.122, PHS= 0.239,-1.503, 0.353, RAW= 153.1, 10.1, CAL= 152.9, 11.0, ROT= 357.1, -11.0 2025-10-27T06:20:36.781Z,1761546036.781 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T06:20:36.812Z,1761546036.812 [DAT](INFO): direction in FSK: [0.980370,-0.049664,0.190809] 2025-10-27T06:20:36.813Z,1761546036.813 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:36.833Z,1761546036.833 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.526979 2025-10-27T06:20:37.012Z,1761546037.012 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.705477 2025-10-27T06:20:37.028Z,1761546037.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987695,0.156136,0.008940],[-0.154634,0.966453,0.205076],[0.023380,-0.203935,0.978705]] 2025-10-27T06:20:37.132Z,1761546037.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503790 s, deltaX: -0.500000 m, approachRate: -0.992477 m/s, rangeRepo size: 4 2025-10-27T06:20:37.134Z,1761546037.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.548166 m, bearing: 350.532490 deg, lat: 36.779448 deg, lon: -121.859833 deg, deltaT: 1.006759 s, deltaX: -0.497288 m, approachRate: -0.493949 m/s, posRepo size: 4 2025-10-27T06:20:37.139Z,1761546037.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m. 2025-10-27T06:20:37.142Z,1761546037.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.548166 m, nav range: 22.970091 m, bearing: 350.565929 deg, approach rate: 0.000000 m/s, LOS rate: -0.214650 deg/s, cmd heading: 346.281712 deg, new cmd heading: 345.946076 deg. 2025-10-27T06:20:37.147Z,1761546037.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037898 target range: 23.548166 and range: 23.70 m. 2025-10-27T06:20:37.266Z,1761546037.266 [DAT](INFO): DAT read: Rx Time:06:20:36.0362 2025-10-27T06:20:37.267Z,1761546037.267 [DAT](INFO): Rx dataTimestamp_ set to:1761546037.266801 2025-10-27T06:20:37.270Z,1761546037.270 [DAT](INFO): DAT read: Bearing 163.1, -4.6 (Local) 2025-10-27T06:20:37.270Z,1761546037.270 [DAT](INFO): Local bearing/azimuth received: Bearing 163.1, -4.6 (Local) 2025-10-27T06:20:37.274Z,1761546037.274 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 2025-10-27T06:20:37.290Z,1761546037.290 [DAT](INFO): DAT read: 06:20:36.0362 LVL= 29808, 32753, 32722, 32755, AGC= 62, IDX= 510,-0.28, 0.173,-1.514, 0.430, 0.083, PHS= 0.193,-1.551, 0.304, RAW= 153.1, 11.7, CAL= 153.0, 12.9, ROT= 357.0, -12.9 2025-10-27T06:20:37.291Z,1761546037.291 [DAT](INFO): got valid direction response: 06:20:36.0362 LVL= 29808, 32753, 32722, 32755, AGC= 62, IDX= 510,-0.28, 0.173,-1.514, 0.430, 0.083, PHS= 0.193,-1.551, 0.304, RAW= 153.1, 11.7, CAL= 153.0, 12.9, ROT= 357.0, -12.9 2025-10-27T06:20:37.291Z,1761546037.291 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T06:20:37.292Z,1761546037.292 [DAT](INFO): direction in FSK: [0.973425,-0.051015,0.223250] 2025-10-27T06:20:37.293Z,1761546037.293 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:37.310Z,1761546037.310 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.003138 2025-10-27T06:20:37.498Z,1761546037.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986881,0.161076,0.010974],[-0.159840,0.965210,0.206930],[0.022739,-0.205969,0.978294]] 2025-10-27T06:20:37.516Z,1761546037.516 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.209454 2025-10-27T06:20:37.639Z,1761546037.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504575 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:37.641Z,1761546037.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.548109 m, bearing: 350.567570 deg, lat: 36.779448 deg, lon: -121.859833 deg, deltaT: 0.504575 s, deltaX: -0.000057 m, approachRate: -0.000113 m/s, posRepo size: 4 2025-10-27T06:20:37.642Z,1761546037.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m. 2025-10-27T06:20:37.657Z,1761546037.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.548109 m, nav range: 22.729334 m, bearing: 350.443270 deg, approach rate: 0.000000 m/s, LOS rate: -0.214650 deg/s, cmd heading: 345.946076 deg, new cmd heading: 345.637928 deg. 2025-10-27T06:20:37.658Z,1761546037.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032520 target range: 23.548109 and range: 23.70 m. 2025-10-27T06:20:37.770Z,1761546037.770 [DAT](INFO): DAT read: Rx Time:06:20:36.5359 2025-10-27T06:20:37.771Z,1761546037.771 [DAT](INFO): Rx dataTimestamp_ set to:1761546037.770524 2025-10-27T06:20:37.773Z,1761546037.773 [DAT](INFO): DAT read: Bearing 161.1, -3.6 (Local) 2025-10-27T06:20:37.774Z,1761546037.774 [DAT](INFO): Local bearing/azimuth received: Bearing 161.1, -3.6 (Local) 2025-10-27T06:20:37.778Z,1761546037.778 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 2025-10-27T06:20:37.786Z,1761546037.786 [DAT](INFO): DAT read: 06:20:36.5359 LVL= 29936, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.19, 0.259,-1.443, 0.499, 0.114, PHS= 0.248,-1.512, 0.342, RAW= 152.6, 10.2, CAL= 152.4, 11.1, ROT= 357.6, -11.1 2025-10-27T06:20:37.787Z,1761546037.787 [DAT](INFO): got valid direction response: 06:20:36.5359 LVL= 29936, 32753, 32754, 32755, AGC= 62, IDX= 507, 0.19, 0.259,-1.443, 0.499, 0.114, PHS= 0.248,-1.512, 0.342, RAW= 152.6, 10.2, CAL= 152.4, 11.1, ROT= 357.6, -11.1 2025-10-27T06:20:37.788Z,1761546037.788 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T06:20:37.789Z,1761546037.789 [DAT](INFO): direction in FSK: [0.980432,-0.041092,0.192522] 2025-10-27T06:20:37.790Z,1761546037.790 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:37.816Z,1761546037.816 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.509766 2025-10-27T06:20:38.020Z,1761546038.020 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.713629 2025-10-27T06:20:38.028Z,1761546038.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985335,0.170009,0.014532],[-0.169215,0.962675,0.211242],[0.021924,-0.210604,0.977326]] 2025-10-27T06:20:38.132Z,1761546038.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503723 s, deltaX: -0.400002 m, approachRate: -0.794090 m/s, rangeRepo size: 4 2025-10-27T06:20:38.134Z,1761546038.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.150671 m, bearing: 350.278106 deg, lat: 36.779449 deg, lon: -121.859833 deg, deltaT: 0.503723 s, deltaX: -0.397438 m, approachRate: -0.789001 m/s, posRepo size: 4 2025-10-27T06:20:38.140Z,1761546038.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m. 2025-10-27T06:20:38.143Z,1761546038.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.150671 m, nav range: 22.572586 m, bearing: 350.327735 deg, approach rate: 0.000000 m/s, LOS rate: -0.214650 deg/s, cmd heading: 345.637925 deg, new cmd heading: 345.302118 deg. 2025-10-27T06:20:38.148Z,1761546038.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026659 target range: 23.150671 and range: 23.30 m. 2025-10-27T06:20:38.274Z,1761546038.274 [DAT](INFO): DAT read: Rx Time:06:20:37.0358 2025-10-27T06:20:38.275Z,1761546038.275 [DAT](INFO): Rx dataTimestamp_ set to:1761546038.274752 2025-10-27T06:20:38.278Z,1761546038.278 [DAT](INFO): DAT read: Bearing 163.1, -4.2 (Local) 2025-10-27T06:20:38.278Z,1761546038.278 [DAT](INFO): Local bearing/azimuth received: Bearing 163.1, -4.2 (Local) 2025-10-27T06:20:38.282Z,1761546038.282 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 2025-10-27T06:20:38.289Z,1761546038.289 [DAT](INFO): DAT read: 06:20:37.0358 LVL= 29552, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.17,-1.138,-2.825,-0.909,-1.224, PHS= 0.188,-1.556, 0.271, RAW= 152.3, 12.2, CAL= 152.3, 13.6, ROT= 357.7, -13.6 2025-10-27T06:20:38.291Z,1761546038.291 [DAT](INFO): got valid direction response: 06:20:37.0358 LVL= 29552, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.17,-1.138,-2.825,-0.909,-1.224, PHS= 0.188,-1.556, 0.271, RAW= 152.3, 12.2, CAL= 152.3, 13.6, ROT= 357.7, -13.6 2025-10-27T06:20:38.291Z,1761546038.291 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T06:20:38.293Z,1761546038.293 [DAT](INFO): direction in FSK: [0.971178,-0.039006,0.235142] 2025-10-27T06:20:38.293Z,1761546038.293 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:38.309Z,1761546038.309 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.003025 2025-10-27T06:20:38.524Z,1761546038.524 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.217566 2025-10-27T06:20:38.628Z,1761546038.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504228 s, deltaX: -0.199999 m, approachRate: -0.396644 m/s, rangeRepo size: 4 2025-10-27T06:20:38.630Z,1761546038.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.952171 m, bearing: 350.931940 deg, lat: 36.779449 deg, lon: -121.859833 deg, deltaT: 0.504228 s, deltaX: -0.198500 m, approachRate: -0.393670 m/s, posRepo size: 4 2025-10-27T06:20:38.630Z,1761546038.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.95 m. 2025-10-27T06:20:38.633Z,1761546038.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.952171 m, nav range: 22.294979 m, bearing: 350.217312 deg, approach rate: 0.000000 m/s, LOS rate: -0.214650 deg/s, cmd heading: 345.302126 deg, new cmd heading: 344.983598 deg. 2025-10-27T06:20:38.634Z,1761546038.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021100 target range: 22.952171 and range: 23.10 m. 2025-10-27T06:20:38.778Z,1761546038.778 [DAT](INFO): DAT read: Rx Time:06:20:37.5355 2025-10-27T06:20:38.779Z,1761546038.779 [DAT](INFO): Rx dataTimestamp_ set to:1761546038.778719 2025-10-27T06:20:38.781Z,1761546038.781 [DAT](INFO): DAT read: Bearing 162.2, -3.9 (Local) 2025-10-27T06:20:38.781Z,1761546038.781 [DAT](INFO): Local bearing/azimuth received: Bearing 162.2, -3.9 (Local) 2025-10-27T06:20:38.783Z,1761546038.783 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4 2025-10-27T06:20:38.788Z,1761546038.788 [DAT](INFO): DAT read: 06:20:37.5355 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.36,-0.789,-2.484,-0.564,-0.892, PHS= 0.204,-1.548, 0.284, RAW= 152.2, 11.8, CAL= 152.2, 13.0, ROT= 357.8, -13.0 2025-10-27T06:20:38.789Z,1761546038.789 [DAT](INFO): got valid direction response: 06:20:37.5355 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.36,-0.789,-2.484,-0.564,-0.892, PHS= 0.204,-1.548, 0.284, RAW= 152.2, 11.8, CAL= 152.2, 13.0, ROT= 357.8, -13.0 2025-10-27T06:20:38.789Z,1761546038.789 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T06:20:38.790Z,1761546038.790 [DAT](INFO): direction in FSK: [0.973652,-0.037404,0.224951] 2025-10-27T06:20:38.791Z,1761546038.791 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:38.794Z,1761546038.794 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.487715 2025-10-27T06:20:38.930Z,1761546038.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983681,0.178941,0.018777],[-0.178737,0.959892,0.216011],[0.020629,-0.215842,0.976210]] 2025-10-27T06:20:39.004Z,1761546039.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503967 s, deltaX: -0.400000 m, approachRate: -0.793702 m/s, rangeRepo size: 4 2025-10-27T06:20:39.006Z,1761546039.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.554731 m, bearing: 350.413732 deg, lat: 36.779448 deg, lon: -121.859832 deg, deltaT: 0.503967 s, deltaX: -0.397440 m, approachRate: -0.788623 m/s, posRepo size: 4 2025-10-27T06:20:39.015Z,1761546039.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.55 m. 2025-10-27T06:20:39.018Z,1761546039.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.554731 m, nav range: 22.041416 m, bearing: 350.250997 deg, approach rate: 0.000000 m/s, LOS rate: -0.214650 deg/s, cmd heading: 344.983593 deg, new cmd heading: 344.740588 deg. 2025-10-27T06:20:39.028Z,1761546039.028 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.721483 2025-10-27T06:20:39.029Z,1761546039.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016858 target range: 22.554731 and range: 22.70 m. 2025-10-27T06:20:39.281Z,1761546039.281 [DAT](INFO): DAT read: Rx Time:06:20:38.0355 2025-10-27T06:20:39.281Z,1761546039.281 [DAT](INFO): Rx dataTimestamp_ set to:1761546039.280847 2025-10-27T06:20:39.282Z,1761546039.282 [DAT](INFO): DAT read: Bearing 162.1, -4.0 (Local) 2025-10-27T06:20:39.283Z,1761546039.283 [DAT](INFO): Local bearing/azimuth received: Bearing 162.1, -4.0 (Local) 2025-10-27T06:20:39.285Z,1761546039.285 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4 2025-10-27T06:20:39.290Z,1761546039.290 [DAT](INFO): DAT read: 06:20:38.0355 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.01,-0.869,-2.562,-0.650,-0.968, PHS= 0.200,-1.550, 0.274, RAW= 152.0, 12.0, CAL= 152.0, 13.3, ROT= 358.0, -13.3 2025-10-27T06:20:39.291Z,1761546039.291 [DAT](INFO): got valid direction response: 06:20:38.0355 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.01,-0.869,-2.562,-0.650,-0.968, PHS= 0.200,-1.550, 0.274, RAW= 152.0, 12.0, CAL= 152.0, 13.3, ROT= 358.0, -13.3 2025-10-27T06:20:39.291Z,1761546039.291 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T06:20:39.292Z,1761546039.292 [DAT](INFO): direction in FSK: [0.972586,-0.033964,0.230050] 2025-10-27T06:20:39.293Z,1761546039.293 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:39.296Z,1761546039.296 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.989916 2025-10-27T06:20:39.500Z,1761546039.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.502128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:39.502Z,1761546039.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.555309 m, bearing: 350.678641 deg, lat: 36.779449 deg, lon: -121.859831 deg, deltaT: 0.502128 s, deltaX: 0.000578 m, approachRate: 0.001151 m/s, posRepo size: 4 2025-10-27T06:20:39.503Z,1761546039.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m. 2025-10-27T06:20:39.517Z,1761546039.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.555309 m, nav range: 21.843742 m, bearing: 350.423431 deg, approach rate: 0.000000 m/s, LOS rate: -0.214650 deg/s, cmd heading: 344.740575 deg, new cmd heading: 344.421673 deg. 2025-10-27T06:20:39.518Z,1761546039.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.011292 target range: 22.555309 and range: 22.70 m. 2025-10-27T06:20:39.533Z,1761546039.533 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.226351 2025-10-27T06:20:39.784Z,1761546039.784 [DAT](INFO): DAT read: Rx Time:06:20:38.5352 2025-10-27T06:20:39.785Z,1761546039.785 [DAT](INFO): Rx dataTimestamp_ set to:1761546039.784551 2025-10-27T06:20:39.786Z,1761546039.786 [DAT](INFO): DAT read: Bearing 161.5, -3.3 (Local) 2025-10-27T06:20:39.786Z,1761546039.786 [DAT](INFO): Local bearing/azimuth received: Bearing 161.5, -3.3 (Local) 2025-10-27T06:20:39.789Z,1761546039.789 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 2025-10-27T06:20:39.793Z,1761546039.793 [DAT](INFO): DAT read: 06:20:38.5352 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.38,-2.717, 1.867,-2.519,-2.835, PHS= 0.220,-1.536, 0.272, RAW= 151.5, 11.7, CAL= 151.4, 12.9, ROT= 358.6, -12.9 2025-10-27T06:20:39.794Z,1761546039.794 [DAT](INFO): got valid direction response: 06:20:38.5352 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.38,-2.717, 1.867,-2.519,-2.835, PHS= 0.220,-1.536, 0.272, RAW= 151.5, 11.7, CAL= 151.4, 12.9, ROT= 358.6, -12.9 2025-10-27T06:20:39.794Z,1761546039.794 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T06:20:39.795Z,1761546039.795 [DAT](INFO): direction in FSK: [0.974470,-0.023815,0.223250] 2025-10-27T06:20:39.796Z,1761546039.796 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:39.799Z,1761546039.799 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.492918 2025-10-27T06:20:39.837Z,1761546039.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981715,0.188989,0.022784],[-0.189334,0.957023,0.219680],[0.019712,-0.219977,0.975306]] 2025-10-27T06:20:39.886Z,1761546039.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503704 s, deltaX: -0.500000 m, approachRate: -0.992646 m/s, rangeRepo size: 4 2025-10-27T06:20:39.901Z,1761546039.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.058496 m, bearing: 350.612868 deg, lat: 36.779448 deg, lon: -121.859830 deg, deltaT: 0.503704 s, deltaX: -0.496813 m, approachRate: -0.986319 m/s, posRepo size: 4 2025-10-27T06:20:39.901Z,1761546039.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m. 2025-10-27T06:20:39.908Z,1761546039.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.058496 m, nav range: 21.565989 m, bearing: 350.579827 deg, approach rate: 0.000000 m/s, LOS rate: -0.214650 deg/s, cmd heading: 344.421660 deg, new cmd heading: 344.172640 deg. 2025-10-27T06:20:39.909Z,1761546039.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006946 target range: 22.058496 and range: 22.20 m. 2025-10-27T06:20:40.036Z,1761546040.036 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.729641 2025-10-27T06:20:40.229Z,1761546040.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980783,0.193585,0.024278],[-0.194158,0.956237,0.218892],[0.019158,-0.219399,0.975447]] 2025-10-27T06:20:40.289Z,1761546040.289 [DAT](INFO): DAT read: Rx Time:06:20:39.0352 2025-10-27T06:20:40.289Z,1761546040.289 [DAT](INFO): Rx dataTimestamp_ set to:1761546040.288842 2025-10-27T06:20:40.290Z,1761546040.290 [DAT](INFO): DAT read: Bearing 162.9, -3.5 (Local) 2025-10-27T06:20:40.291Z,1761546040.291 [DAT](INFO): Local bearing/azimuth received: Bearing 162.9, -3.5 (Local) 2025-10-27T06:20:40.293Z,1761546040.293 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 2025-10-27T06:20:40.297Z,1761546040.297 [DAT](INFO): DAT read: 06:20:39.0352 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.04, 0.426,-1.288, 0.609, 0.347, PHS= 0.181,-1.591, 0.217, RAW= 151.0, 13.2, CAL= 151.1, 14.7, ROT= 358.9, -14.7 2025-10-27T06:20:40.299Z,1761546040.299 [DAT](INFO): got valid direction response: 06:20:39.0352 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.04, 0.426,-1.288, 0.609, 0.347, PHS= 0.181,-1.591, 0.217, RAW= 151.0, 13.2, CAL= 151.1, 14.7, ROT= 358.9, -14.7 2025-10-27T06:20:40.299Z,1761546040.299 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T06:20:40.300Z,1761546040.300 [DAT](INFO): direction in FSK: [0.967089,-0.018569,0.253758] 2025-10-27T06:20:40.300Z,1761546040.300 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:40.304Z,1761546040.304 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.997746 2025-10-27T06:20:40.333Z,1761546040.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504291 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:40.340Z,1761546040.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.058496 m, bearing: 351.038515 deg, lat: 36.779447 deg, lon: -121.859830 deg, deltaT: 0.504291 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:20:40.340Z,1761546040.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m. 2025-10-27T06:20:40.348Z,1761546040.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.058496 m, nav range: 21.265448 m, bearing: 350.588502 deg, approach rate: 0.000000 m/s, LOS rate: -0.214650 deg/s, cmd heading: 344.172631 deg, new cmd heading: 343.888472 deg. 2025-10-27T06:20:40.349Z,1761546040.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001986 target range: 22.058496 and range: 22.20 m. 2025-10-27T06:20:40.546Z,1761546040.546 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.239374 2025-10-27T06:20:40.651Z,1761546040.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979759,0.198473,0.026087],[-0.199325,0.955227,0.218658],[0.018478,-0.219432,0.975453]] 2025-10-27T06:20:40.705Z,1761546040.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:40.733Z,1761546040.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.06 m. 2025-10-27T06:20:40.740Z,1761546040.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.058496 m, nav range: 21.073118 m, bearing: 350.537894 deg, approach rate: -0.481160 m/s, LOS rate: -0.127763 deg/s, cmd heading: 343.888468 deg, new cmd heading: 343.735260 deg. 2025-10-27T06:20:40.741Z,1761546040.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999312 target range: 22.058496 and range: 22.20 m. 2025-10-27T06:20:40.801Z,1761546040.801 [DAT](INFO): DAT read: Rx Time:06:20:39.5350 2025-10-27T06:20:40.802Z,1761546040.802 [DAT](INFO): Rx dataTimestamp_ set to:1761546040.801331 2025-10-27T06:20:40.804Z,1761546040.804 [DAT](INFO): DAT read: Bearing 164.6, -3.9 (Local) 2025-10-27T06:20:40.805Z,1761546040.805 [DAT](INFO): Local bearing/azimuth received: Bearing 164.6, -3.9 (Local) 2025-10-27T06:20:40.808Z,1761546040.808 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T06:20:40.814Z,1761546040.814 [DAT](INFO): DAT read: 06:20:39.5350 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.40,-1.772, 2.797,-1.600,-1.801, PHS= 0.131,-1.640, 0.157, RAW= 150.7, 15.0, CAL= 151.0, 16.8, ROT= 359.0, -16.8 2025-10-27T06:20:40.816Z,1761546040.816 [DAT](INFO): got valid direction response: 06:20:39.5350 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498,-0.40,-1.772, 2.797,-1.600,-1.801, PHS= 0.131,-1.640, 0.157, RAW= 150.7, 15.0, CAL= 151.0, 16.8, ROT= 359.0, -16.8 2025-10-27T06:20:40.817Z,1761546040.817 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T06:20:40.818Z,1761546040.818 [DAT](INFO): direction in FSK: [0.957174,-0.016708,0.289032] 2025-10-27T06:20:40.819Z,1761546040.819 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:40.825Z,1761546040.825 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.518404 2025-10-27T06:20:41.052Z,1761546041.052 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.745455 2025-10-27T06:20:41.055Z,1761546041.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978706,0.203392,0.027671],[-0.204474,0.954212,0.218333],[0.018003,-0.219342,0.975482]] 2025-10-27T06:20:41.109Z,1761546041.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.512489 s, deltaX: -0.300001 m, approachRate: -0.585381 m/s, rangeRepo size: 4 2025-10-27T06:20:41.111Z,1761546041.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.760399 m, bearing: 351.032460 deg, lat: 36.779447 deg, lon: -121.859830 deg, deltaT: 0.512489 s, deltaX: -0.298098 m, approachRate: -0.581666 m/s, posRepo size: 4 2025-10-27T06:20:41.112Z,1761546041.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m. 2025-10-27T06:20:41.115Z,1761546041.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.760399 m, nav range: 20.793959 m, bearing: 350.451366 deg, approach rate: 0.000000 m/s, LOS rate: -0.127763 deg/s, cmd heading: 343.735253 deg, new cmd heading: 343.588924 deg. 2025-10-27T06:20:41.116Z,1761546041.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996758 target range: 21.760399 and range: 21.90 m. 2025-10-27T06:20:41.305Z,1761546041.305 [DAT](INFO): DAT read: Rx Time:06:20:40.0349 2025-10-27T06:20:41.305Z,1761546041.305 [DAT](INFO): Rx dataTimestamp_ set to:1761546041.304849 2025-10-27T06:20:41.306Z,1761546041.306 [DAT](INFO): DAT read: Bearing 161.2, -1.9 (Local) 2025-10-27T06:20:41.307Z,1761546041.307 [DAT](INFO): Local bearing/azimuth received: Bearing 161.2, -1.9 (Local) 2025-10-27T06:20:41.309Z,1761546041.309 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4 2025-10-27T06:20:41.314Z,1761546041.314 [DAT](INFO): DAT read: 06:20:40.0349 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497, 0.12, 0.446,-1.287, 0.581, 0.309, PHS= 0.239,-1.551, 0.228, RAW= 149.7, 12.1, CAL= 149.6, 13.4, ROT= 0.4, -13.4 2025-10-27T06:20:41.315Z,1761546041.315 [DAT](INFO): got valid direction response: 06:20:40.0349 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 497, 0.12, 0.446,-1.287, 0.581, 0.309, PHS= 0.239,-1.551, 0.228, RAW= 149.7, 12.1, CAL= 149.6, 13.4, ROT= 0.4, -13.4 2025-10-27T06:20:41.315Z,1761546041.315 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T06:20:41.316Z,1761546041.316 [DAT](INFO): direction in FSK: [0.972752,0.006791,0.231748] 2025-10-27T06:20:41.316Z,1761546041.316 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:41.324Z,1761546041.324 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.017843 2025-10-27T06:20:41.556Z,1761546041.556 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.249611 2025-10-27T06:20:41.585Z,1761546041.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503518 s, deltaX: -0.100000 m, approachRate: -0.198603 m/s, rangeRepo size: 4 2025-10-27T06:20:41.591Z,1761546041.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.661327 m, bearing: 351.594816 deg, lat: 36.779447 deg, lon: -121.859828 deg, deltaT: 0.503518 s, deltaX: -0.099072 m, approachRate: -0.196759 m/s, posRepo size: 4 2025-10-27T06:20:41.592Z,1761546041.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.66 m. 2025-10-27T06:20:41.594Z,1761546041.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.661327 m, nav range: 20.614813 m, bearing: 350.919344 deg, approach rate: 0.000000 m/s, LOS rate: -0.127763 deg/s, cmd heading: 343.588923 deg, new cmd heading: 343.406587 deg. 2025-10-27T06:20:41.600Z,1761546041.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993576 target range: 21.661327 and range: 21.80 m. 2025-10-27T06:20:41.809Z,1761546041.809 [DAT](INFO): DAT read: Rx Time:06:20:40.5347 2025-10-27T06:20:41.809Z,1761546041.809 [DAT](INFO): Rx dataTimestamp_ set to:1761546041.808750 2025-10-27T06:20:41.810Z,1761546041.810 [DAT](INFO): DAT read: Bearing 161.4, -1.7 (Local) 2025-10-27T06:20:41.811Z,1761546041.811 [DAT](INFO): Local bearing/azimuth received: Bearing 161.4, -1.7 (Local) 2025-10-27T06:20:41.813Z,1761546041.813 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 2025-10-27T06:20:41.825Z,1761546041.825 [DAT](INFO): DAT read: 06:20:40.5347 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.23, 2.909, 1.179, 3.030, 2.781, PHS= 0.230,-1.558, 0.204, RAW= 149.3, 12.6, CAL= 149.2, 13.9, ROT= 0.8, -13.9 2025-10-27T06:20:41.826Z,1761546041.826 [DAT](INFO): got valid direction response: 06:20:40.5347 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511,-0.23, 2.909, 1.179, 3.030, 2.781, PHS= 0.230,-1.558, 0.204, RAW= 149.3, 12.6, CAL= 149.2, 13.9, ROT= 0.8, -13.9 2025-10-27T06:20:41.826Z,1761546041.826 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T06:20:41.827Z,1761546041.827 [DAT](INFO): direction in FSK: [0.970622,0.013553,0.240228] 2025-10-27T06:20:41.828Z,1761546041.828 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:41.832Z,1761546041.832 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.525126 2025-10-27T06:20:41.956Z,1761546041.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975501,0.217489,0.033122],[-0.219432,0.951115,0.217324],[0.015763,-0.219268,0.975537]] 2025-10-27T06:20:42.016Z,1761546042.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503901 s, deltaX: -0.299999 m, approachRate: -0.595354 m/s, rangeRepo size: 4 2025-10-27T06:20:42.018Z,1761546042.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.363237 m, bearing: 351.222193 deg, lat: 36.779447 deg, lon: -121.859827 deg, deltaT: 0.503901 s, deltaX: -0.298090 m, approachRate: -0.591565 m/s, posRepo size: 4 2025-10-27T06:20:42.018Z,1761546042.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.36 m. 2025-10-27T06:20:42.025Z,1761546042.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.363237 m, nav range: 20.388266 m, bearing: 351.036140 deg, approach rate: 0.000000 m/s, LOS rate: -0.127763 deg/s, cmd heading: 343.406585 deg, new cmd heading: 343.243158 deg. 2025-10-27T06:20:42.026Z,1761546042.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990723 target range: 21.363237 and range: 21.50 m. 2025-10-27T06:20:42.060Z,1761546042.060 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.753616 2025-10-27T06:20:42.313Z,1761546042.313 [DAT](INFO): DAT read: Rx Time:06:20:41.0345 2025-10-27T06:20:42.313Z,1761546042.313 [DAT](INFO): Rx dataTimestamp_ set to:1761546042.312736 2025-10-27T06:20:42.314Z,1761546042.314 [DAT](INFO): DAT read: Bearing 164.0, -2.6 (Local) 2025-10-27T06:20:42.315Z,1761546042.315 [DAT](INFO): Local bearing/azimuth received: Bearing 164.0, -2.6 (Local) 2025-10-27T06:20:42.317Z,1761546042.317 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 2025-10-27T06:20:42.321Z,1761546042.321 [DAT](INFO): DAT read: 06:20:41.0345 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.09,-0.673,-2.410,-0.553,-0.720, PHS= 0.150,-1.644, 0.124, RAW= 149.3, 15.2, CAL= 149.5, 16.9, ROT= 0.5, -16.9 2025-10-27T06:20:42.323Z,1761546042.323 [DAT](INFO): got valid direction response: 06:20:41.0345 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.09,-0.673,-2.410,-0.553,-0.720, PHS= 0.150,-1.644, 0.124, RAW= 149.3, 15.2, CAL= 149.5, 16.9, ROT= 0.5, -16.9 2025-10-27T06:20:42.324Z,1761546042.324 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T06:20:42.325Z,1761546042.325 [DAT](INFO): direction in FSK: [0.956777,0.008350,0.290702] 2025-10-27T06:20:42.325Z,1761546042.325 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:42.329Z,1761546042.329 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.022087 2025-10-27T06:20:42.361Z,1761546042.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974417,0.222062,0.034649],[-0.224230,0.950078,0.216962],[0.015260,-0.219181,0.975565]] 2025-10-27T06:20:42.489Z,1761546042.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503986 s, deltaX: -0.299999 m, approachRate: -0.595253 m/s, rangeRepo size: 4 2025-10-27T06:20:42.490Z,1761546042.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.065123 m, bearing: 351.356494 deg, lat: 36.779447 deg, lon: -121.859827 deg, deltaT: 0.503986 s, deltaX: -0.298115 m, approachRate: -0.591514 m/s, posRepo size: 4 2025-10-27T06:20:42.495Z,1761546042.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m. 2025-10-27T06:20:42.498Z,1761546042.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.065123 m, nav range: 20.153288 m, bearing: 351.091122 deg, approach rate: 0.000000 m/s, LOS rate: -0.127763 deg/s, cmd heading: 343.243152 deg, new cmd heading: 343.060222 deg. 2025-10-27T06:20:42.503Z,1761546042.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987530 target range: 21.065123 and range: 21.20 m. 2025-10-27T06:20:42.519Z,1761546042.519 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:20:42.565Z,1761546042.565 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.258516 2025-10-27T06:20:42.769Z,1761546042.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973292,0.226748,0.035891],[-0.229093,0.949235,0.215567],[0.014811,-0.218032,0.975829]] 2025-10-27T06:20:42.788Z,1761546042.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:42.790Z,1761546042.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m. 2025-10-27T06:20:42.793Z,1761546042.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.065123 m, nav range: 19.993116 m, bearing: 351.098120 deg, approach rate: -0.530273 m/s, LOS rate: 0.023354 deg/s, cmd heading: 343.060212 deg, new cmd heading: 343.081374 deg. 2025-10-27T06:20:42.794Z,1761546042.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987900 target range: 21.065123 and range: 21.20 m. 2025-10-27T06:20:42.816Z,1761546042.816 [DAT](INFO): DAT read: Rx Time:06:20:41.5343 2025-10-27T06:20:42.817Z,1761546042.817 [DAT](INFO): Rx dataTimestamp_ set to:1761546042.816589 2025-10-27T06:20:42.818Z,1761546042.818 [DAT](INFO): DAT read: Bearing 161.0, -0.6 (Local) 2025-10-27T06:20:42.818Z,1761546042.818 [DAT](INFO): Local bearing/azimuth received: Bearing 161.0, -0.6 (Local) 2025-10-27T06:20:42.821Z,1761546042.821 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 2025-10-27T06:20:42.825Z,1761546042.825 [DAT](INFO): DAT read: 06:20:41.5343 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.24, 1.367,-0.392, 1.449, 1.218, PHS= 0.251,-1.565, 0.187, RAW= 148.2, 12.6, CAL= 148.1, 13.8, ROT= 1.9, -13.8 2025-10-27T06:20:42.826Z,1761546042.826 [DAT](INFO): got valid direction response: 06:20:41.5343 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.24, 1.367,-0.392, 1.449, 1.218, PHS= 0.251,-1.565, 0.187, RAW= 148.2, 12.6, CAL= 148.1, 13.8, ROT= 1.9, -13.8 2025-10-27T06:20:42.827Z,1761546042.827 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T06:20:42.828Z,1761546042.828 [DAT](INFO): direction in FSK: [0.970600,0.032198,0.238533] 2025-10-27T06:20:42.828Z,1761546042.828 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:42.831Z,1761546042.831 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.524971 2025-10-27T06:20:43.068Z,1761546043.068 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.761950 2025-10-27T06:20:43.202Z,1761546043.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972164,0.231274,0.037534],[-0.233868,0.948128,0.215312],[0.014209,-0.218096,0.975824]] 2025-10-27T06:20:43.291Z,1761546043.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503853 s, deltaX: -0.300001 m, approachRate: -0.595414 m/s, rangeRepo size: 4 2025-10-27T06:20:43.293Z,1761546043.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.767031 m, bearing: 351.404565 deg, lat: 36.779450 deg, lon: -121.859827 deg, deltaT: 0.503853 s, deltaX: -0.298092 m, approachRate: -0.591625 m/s, posRepo size: 4 2025-10-27T06:20:43.294Z,1761546043.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.77 m. 2025-10-27T06:20:43.297Z,1761546043.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.767031 m, nav range: 20.070585 m, bearing: 351.364943 deg, approach rate: 0.000000 m/s, LOS rate: 0.023354 deg/s, cmd heading: 343.081386 deg, new cmd heading: 343.116460 deg. 2025-10-27T06:20:43.298Z,1761546043.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988512 target range: 20.767031 and range: 20.90 m. 2025-10-27T06:20:43.320Z,1761546043.320 [DAT](INFO): DAT read: Rx Time:06:20:42.0342 2025-10-27T06:20:43.321Z,1761546043.321 [DAT](INFO): Rx dataTimestamp_ set to:1761546043.320621 2025-10-27T06:20:43.322Z,1761546043.322 [DAT](INFO): DAT read: Bearing 164.4, -2.2 (Local) 2025-10-27T06:20:43.322Z,1761546043.322 [DAT](INFO): Local bearing/azimuth received: Bearing 164.4, -2.2 (Local) 2025-10-27T06:20:43.325Z,1761546043.325 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4 2025-10-27T06:20:43.330Z,1761546043.330 [DAT](INFO): DAT read: 06:20:42.0342 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.06,-1.345,-3.094,-1.250,-1.379, PHS= 0.136,-1.670, 0.084, RAW= 148.6, 16.1, CAL= 148.7, 17.8, ROT= 1.3, -17.8 2025-10-27T06:20:43.331Z,1761546043.331 [DAT](INFO): got valid direction response: 06:20:42.0342 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506, 0.06,-1.345,-3.094,-1.250,-1.379, PHS= 0.136,-1.670, 0.084, RAW= 148.6, 16.1, CAL= 148.7, 17.8, ROT= 1.3, -17.8 2025-10-27T06:20:43.331Z,1761546043.331 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T06:20:43.332Z,1761546043.332 [DAT](INFO): direction in FSK: [0.951884,0.021601,0.305695] 2025-10-27T06:20:43.332Z,1761546043.332 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:43.336Z,1761546043.336 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.029484 2025-10-27T06:20:43.523Z,1761546043.523 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:20:43.567Z,1761546043.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970913,0.236221,0.039090],[-0.239046,0.947053,0.214355],[0.013615,-0.217464,0.975973]] 2025-10-27T06:20:43.572Z,1761546043.572 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.265537 2025-10-27T06:20:43.605Z,1761546043.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504032 s, deltaX: -0.199999 m, approachRate: -0.396798 m/s, rangeRepo size: 4 2025-10-27T06:20:43.611Z,1761546043.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.568060 m, bearing: 351.447081 deg, lat: 36.779450 deg, lon: -121.859826 deg, deltaT: 0.504032 s, deltaX: -0.198971 m, approachRate: -0.394758 m/s, posRepo size: 4 2025-10-27T06:20:43.612Z,1761546043.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m. 2025-10-27T06:20:43.614Z,1761546043.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.568060 m, nav range: 19.919470 m, bearing: 351.559186 deg, approach rate: 0.000000 m/s, LOS rate: 0.023354 deg/s, cmd heading: 343.116465 deg, new cmd heading: 343.138443 deg. 2025-10-27T06:20:43.620Z,1761546043.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988895 target range: 20.568060 and range: 20.70 m. 2025-10-27T06:20:43.825Z,1761546043.825 [DAT](INFO): DAT read: Rx Time:06:20:42.5340 2025-10-27T06:20:43.825Z,1761546043.825 [DAT](INFO): Rx dataTimestamp_ set to:1761546043.824693 2025-10-27T06:20:43.826Z,1761546043.826 [DAT](INFO): DAT read: Bearing 164.4, -1.4 (Local) 2025-10-27T06:20:43.827Z,1761546043.827 [DAT](INFO): Local bearing/azimuth received: Bearing 164.4, -1.4 (Local) 2025-10-27T06:20:43.829Z,1761546043.829 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-27T06:20:43.833Z,1761546043.833 [DAT](INFO): DAT read: 06:20:42.5340 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504,-0.45,-3.056, 1.472,-2.990,-3.098, PHS= 0.144,-1.668, 0.064, RAW= 147.8, 16.2, CAL= 147.8, 17.9, ROT= 2.2, -17.9 2025-10-27T06:20:43.834Z,1761546043.834 [DAT](INFO): got valid direction response: 06:20:42.5340 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504,-0.45,-3.056, 1.472,-2.990,-3.098, PHS= 0.144,-1.668, 0.064, RAW= 147.8, 16.2, CAL= 147.8, 17.9, ROT= 2.2, -17.9 2025-10-27T06:20:43.835Z,1761546043.835 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T06:20:43.836Z,1761546043.836 [DAT](INFO): direction in FSK: [0.950893,0.036530,0.307357] 2025-10-27T06:20:43.836Z,1761546043.836 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:43.861Z,1761546043.861 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.554516 2025-10-27T06:20:43.969Z,1761546043.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969572,0.241374,0.040838],[-0.244470,0.945964,0.213040],[0.012791,-0.216541,0.976190]] 2025-10-27T06:20:44.021Z,1761546044.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504072 s, deltaX: -0.300001 m, approachRate: -0.595155 m/s, rangeRepo size: 4 2025-10-27T06:20:44.027Z,1761546044.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.269972 m, bearing: 352.008706 deg, lat: 36.779447 deg, lon: -121.859826 deg, deltaT: 0.504072 s, deltaX: -0.298088 m, approachRate: -0.591360 m/s, posRepo size: 4 2025-10-27T06:20:44.028Z,1761546044.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m. 2025-10-27T06:20:44.039Z,1761546044.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.269972 m, nav range: 19.388996 m, bearing: 351.442506 deg, approach rate: 0.000000 m/s, LOS rate: 0.023354 deg/s, cmd heading: 343.138431 deg, new cmd heading: 343.167592 deg. 2025-10-27T06:20:44.040Z,1761546044.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989404 target range: 20.269972 and range: 20.40 m. 2025-10-27T06:20:44.079Z,1761546044.079 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.772221 2025-10-27T06:20:44.329Z,1761546044.329 [DAT](INFO): DAT read: Rx Time:06:20:43.0339 2025-10-27T06:20:44.329Z,1761546044.329 [DAT](INFO): Rx dataTimestamp_ set to:1761546044.329172 2025-10-27T06:20:44.332Z,1761546044.332 [DAT](INFO): DAT read: Bearing 162.7, 0.1 (Local) 2025-10-27T06:20:44.334Z,1761546044.334 [DAT](INFO): Local bearing/azimuth received: Bearing 162.7, 0.1 (Local) 2025-10-27T06:20:44.338Z,1761546044.338 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.4 2025-10-27T06:20:44.342Z,1761546044.342 [DAT](INFO): DAT read: 06:20:43.0339 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.01,-1.824, 2.699,-1.792,-1.925, PHS= 0.203,-1.614, 0.089, RAW= 146.8, 14.8, CAL= 146.6, 16.3, ROT= 3.4, -16.3 2025-10-27T06:20:44.348Z,1761546044.348 [DAT](INFO): got valid direction response: 06:20:43.0339 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.01,-1.824, 2.699,-1.792,-1.925, PHS= 0.203,-1.614, 0.089, RAW= 146.8, 14.8, CAL= 146.6, 16.3, ROT= 3.4, -16.3 2025-10-27T06:20:44.348Z,1761546044.348 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T06:20:44.349Z,1761546044.349 [DAT](INFO): direction in FSK: [0.958116,0.056923,0.280667] 2025-10-27T06:20:44.350Z,1761546044.350 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:44.373Z,1761546044.373 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.066662 2025-10-27T06:20:44.402Z,1761546044.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968291,0.246301,0.041824],[-0.249520,0.945160,0.210744],[0.012376,-0.214497,0.976646]] 2025-10-27T06:20:44.503Z,1761546044.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504479 s, deltaX: -0.100000 m, approachRate: -0.198225 m/s, rangeRepo size: 4 2025-10-27T06:20:44.509Z,1761546044.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.170383 m, bearing: 352.465175 deg, lat: 36.779447 deg, lon: -121.859826 deg, deltaT: 0.504479 s, deltaX: -0.099588 m, approachRate: -0.197408 m/s, posRepo size: 4 2025-10-27T06:20:44.510Z,1761546044.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m. 2025-10-27T06:20:44.516Z,1761546044.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.170383 m, nav range: 19.149740 m, bearing: 351.522957 deg, approach rate: 0.000000 m/s, LOS rate: 0.023354 deg/s, cmd heading: 343.167583 deg, new cmd heading: 343.201312 deg. 2025-10-27T06:20:44.517Z,1761546044.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989993 target range: 20.170383 and range: 20.30 m. 2025-10-27T06:20:44.581Z,1761546044.581 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.274540 2025-10-27T06:20:44.794Z,1761546044.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966926,0.251445,0.042768],[-0.254761,0.944070,0.209352],[0.012265,-0.213324,0.976905]] 2025-10-27T06:20:44.814Z,1761546044.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:44.816Z,1761546044.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.17 m. 2025-10-27T06:20:44.819Z,1761546044.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.170383 m, nav range: 18.989676 m, bearing: 351.556144 deg, approach rate: -0.509699 m/s, LOS rate: 0.106567 deg/s, cmd heading: 343.201324 deg, new cmd heading: 343.301722 deg. 2025-10-27T06:20:44.820Z,1761546044.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991745 target range: 20.170383 and range: 20.30 m. 2025-10-27T06:20:44.833Z,1761546044.833 [DAT](INFO): DAT read: Rx Time:06:20:43.5336 2025-10-27T06:20:44.833Z,1761546044.833 [DAT](INFO): Rx dataTimestamp_ set to:1761546044.832865 2025-10-27T06:20:44.834Z,1761546044.834 [DAT](INFO): DAT read: Bearing 161.9, 0.8 (Local) 2025-10-27T06:20:44.836Z,1761546044.836 [DAT](INFO): Local bearing/azimuth received: Bearing 161.9, 0.8 (Local) 2025-10-27T06:20:44.838Z,1761546044.838 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 2025-10-27T06:20:44.842Z,1761546044.842 [DAT](INFO): DAT read: 06:20:43.5336 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.49,-3.036, 1.479,-3.025, 3.119, PHS= 0.231,-1.594, 0.095, RAW= 146.2, 14.3, CAL= 146.0, 15.7, ROT= 4.0, -15.7 2025-10-27T06:20:44.843Z,1761546044.843 [DAT](INFO): got valid direction response: 06:20:43.5336 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500, 0.49,-3.036, 1.479,-3.025, 3.119, PHS= 0.231,-1.594, 0.095, RAW= 146.2, 14.3, CAL= 146.0, 15.7, ROT= 4.0, -15.7 2025-10-27T06:20:44.844Z,1761546044.844 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T06:20:44.845Z,1761546044.845 [DAT](INFO): direction in FSK: [0.960347,0.067154,0.270600] 2025-10-27T06:20:44.845Z,1761546044.845 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:44.849Z,1761546044.849 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.542183 2025-10-27T06:20:45.084Z,1761546045.084 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.777798 2025-10-27T06:20:45.245Z,1761546045.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965525,0.256514,0.044290],[-0.260026,0.942476,0.210062],[0.012142,-0.214336,0.976684]] 2025-10-27T06:20:45.323Z,1761546045.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503693 s, deltaX: -0.500000 m, approachRate: -0.992668 m/s, rangeRepo size: 4 2025-10-27T06:20:45.325Z,1761546045.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.673576 m, bearing: 352.284452 deg, lat: 36.779449 deg, lon: -121.859824 deg, deltaT: 0.503693 s, deltaX: -0.496807 m, approachRate: -0.986329 m/s, posRepo size: 4 2025-10-27T06:20:45.326Z,1761546045.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m. 2025-10-27T06:20:45.333Z,1761546045.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.673576 m, nav range: 18.989220 m, bearing: 352.272788 deg, approach rate: 0.000000 m/s, LOS rate: 0.106567 deg/s, cmd heading: 343.301727 deg, new cmd heading: 343.462386 deg. 2025-10-27T06:20:45.334Z,1761546045.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994549 target range: 19.673576 and range: 19.80 m. 2025-10-27T06:20:45.337Z,1761546045.337 [DAT](INFO): DAT read: Rx Time:06:20:44.0336 2025-10-27T06:20:45.337Z,1761546045.337 [DAT](INFO): Rx dataTimestamp_ set to:1761546045.336802 2025-10-27T06:20:45.338Z,1761546045.338 [DAT](INFO): DAT read: Bearing 161.5, 1.7 (Local) 2025-10-27T06:20:45.339Z,1761546045.339 [DAT](INFO): Local bearing/azimuth received: Bearing 161.5, 1.7 (Local) 2025-10-27T06:20:45.341Z,1761546045.341 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 2025-10-27T06:20:45.345Z,1761546045.345 [DAT](INFO): DAT read: 06:20:44.0336 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500,-0.06, 3.006, 1.231, 2.990, 2.861, PHS= 0.248,-1.585, 0.086, RAW= 145.4, 14.1, CAL= 145.1, 15.4, ROT= 4.9, -15.4 2025-10-27T06:20:45.347Z,1761546045.347 [DAT](INFO): got valid direction response: 06:20:44.0336 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500,-0.06, 3.006, 1.231, 2.990, 2.861, PHS= 0.248,-1.585, 0.086, RAW= 145.4, 14.1, CAL= 145.1, 15.4, ROT= 4.9, -15.4 2025-10-27T06:20:45.347Z,1761546045.347 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T06:20:45.348Z,1761546045.348 [DAT](INFO): direction in FSK: [0.960572,0.082350,0.265556] 2025-10-27T06:20:45.348Z,1761546045.348 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:45.356Z,1761546045.356 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.049576 2025-10-27T06:20:45.588Z,1761546045.588 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.281673 2025-10-27T06:20:45.608Z,1761546045.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963986,0.262029,0.045524],[-0.265668,0.940804,0.210495],[0.012326,-0.215009,0.976534]] 2025-10-27T06:20:45.666Z,1761546045.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503937 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:45.690Z,1761546045.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.673449 m, bearing: 352.765426 deg, lat: 36.779449 deg, lon: -121.859824 deg, deltaT: 0.503937 s, deltaX: -0.000128 m, approachRate: -0.000254 m/s, posRepo size: 4 2025-10-27T06:20:45.697Z,1761546045.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.67 m. 2025-10-27T06:20:45.722Z,1761546045.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.673449 m, nav range: 18.820965 m, bearing: 352.320828 deg, approach rate: 0.000000 m/s, LOS rate: 0.106567 deg/s, cmd heading: 343.462374 deg, new cmd heading: 343.571200 deg. 2025-10-27T06:20:45.728Z,1761546045.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996449 target range: 19.673449 and range: 19.80 m. 2025-10-27T06:20:45.842Z,1761546045.842 [DAT](INFO): DAT read: Rx Time:06:20:44.5333 2025-10-27T06:20:45.842Z,1761546045.842 [DAT](INFO): Rx dataTimestamp_ set to:1761546045.841833 2025-10-27T06:20:45.844Z,1761546045.844 [DAT](INFO): DAT read: Bearing 163.4, 1.2 (Local) 2025-10-27T06:20:45.845Z,1761546045.845 [DAT](INFO): Local bearing/azimuth received: Bearing 163.4, 1.2 (Local) 2025-10-27T06:20:45.848Z,1761546045.848 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 2025-10-27T06:20:45.852Z,1761546045.852 [DAT](INFO): DAT read: 06:20:44.5333 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 497, 0.27,-2.395, 2.089,-2.416,-2.482, PHS= 0.188,-1.667, 0.022, RAW= 145.4, 16.2, CAL= 145.1, 17.7, ROT= 4.9, -17.7 2025-10-27T06:20:45.854Z,1761546045.854 [DAT](INFO): got valid direction response: 06:20:44.5333 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 497, 0.27,-2.395, 2.089,-2.416,-2.482, PHS= 0.188,-1.667, 0.022, RAW= 145.4, 16.2, CAL= 145.1, 17.7, ROT= 4.9, -17.7 2025-10-27T06:20:45.854Z,1761546045.854 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T06:20:45.855Z,1761546045.855 [DAT](INFO): direction in FSK: [0.949180,0.081373,0.304033] 2025-10-27T06:20:45.855Z,1761546045.855 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:45.859Z,1761546045.859 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.552338 2025-10-27T06:20:46.066Z,1761546046.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962679,0.266742,0.045797],[-0.270347,0.939805,0.208996],[0.012707,-0.213577,0.976843]] 2025-10-27T06:20:46.092Z,1761546046.092 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.785618 2025-10-27T06:20:46.131Z,1761546046.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.505031 s, deltaX: -0.400000 m, approachRate: -0.792030 m/s, rangeRepo size: 4 2025-10-27T06:20:46.141Z,1761546046.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.276005 m, bearing: 352.998752 deg, lat: 36.779449 deg, lon: -121.859823 deg, deltaT: 0.505031 s, deltaX: -0.397444 m, approachRate: -0.786969 m/s, posRepo size: 4 2025-10-27T06:20:46.142Z,1761546046.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m. 2025-10-27T06:20:46.148Z,1761546046.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.276005 m, nav range: 18.584572 m, bearing: 352.639002 deg, approach rate: 0.000000 m/s, LOS rate: 0.106567 deg/s, cmd heading: 343.571192 deg, new cmd heading: 343.721797 deg. 2025-10-27T06:20:46.149Z,1761546046.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999077 target range: 19.276005 and range: 19.40 m. 2025-10-27T06:20:46.346Z,1761546046.346 [DAT](INFO): DAT read: Rx Time:06:20:45.0333 2025-10-27T06:20:46.346Z,1761546046.346 [DAT](INFO): Rx dataTimestamp_ set to:1761546046.345836 2025-10-27T06:20:46.348Z,1761546046.348 [DAT](INFO): DAT read: Bearing 157.7, 1.4 (Local) 2025-10-27T06:20:46.349Z,1761546046.349 [DAT](INFO): Local bearing/azimuth received: Bearing 157.7, 1.4 (Local) 2025-10-27T06:20:46.352Z,1761546046.352 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4 2025-10-27T06:20:46.357Z,1761546046.357 [DAT](INFO): DAT read: 06:20:45.0333 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512,-0.15, 2.596, 0.551, 2.601, 2.337, PHS= 0.361,-1.741, 0.220, RAW= 146.6, 11.4, CAL= 146.2, 12.5, ROT= 3.8, -12.5 2025-10-27T06:20:46.358Z,1761546046.358 [DAT](INFO): got valid direction response: 06:20:45.0333 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512,-0.15, 2.596, 0.551, 2.601, 2.337, PHS= 0.361,-1.741, 0.220, RAW= 146.6, 11.4, CAL= 146.2, 12.5, ROT= 3.8, -12.5 2025-10-27T06:20:46.358Z,1761546046.358 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T06:20:46.362Z,1761546046.362 [DAT](INFO): direction in FSK: [0.974150,0.064703,0.216440] 2025-10-27T06:20:46.363Z,1761546046.363 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:46.369Z,1761546046.369 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.062916 2025-10-27T06:20:46.556Z,1761546046.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504003 s, deltaX: -0.199999 m, approachRate: -0.396821 m/s, rangeRepo size: 4 2025-10-27T06:20:46.558Z,1761546046.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.077318 m, bearing: 350.740716 deg, lat: 36.779450 deg, lon: -121.859823 deg, deltaT: 0.504003 s, deltaX: -0.198687 m, approachRate: -0.394217 m/s, posRepo size: 4 2025-10-27T06:20:46.558Z,1761546046.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.08 m. 2025-10-27T06:20:46.565Z,1761546046.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.077318 m, nav range: 18.405386 m, bearing: 352.669140 deg, approach rate: 0.000000 m/s, LOS rate: 0.106567 deg/s, cmd heading: 343.721784 deg, new cmd heading: 343.857590 deg. 2025-10-27T06:20:46.566Z,1761546046.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001447 target range: 19.077318 and range: 19.20 m. 2025-10-27T06:20:46.596Z,1761546046.596 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.289482 2025-10-27T06:20:46.849Z,1761546046.849 [DAT](INFO): DAT read: Rx Time:06:20:45.5330 2025-10-27T06:20:46.849Z,1761546046.849 [DAT](INFO): Rx dataTimestamp_ set to:1761546046.849049 2025-10-27T06:20:46.851Z,1761546046.851 [DAT](INFO): DAT read: Bearing 163.1, 2.4 (Local) 2025-10-27T06:20:46.851Z,1761546046.851 [DAT](INFO): Local bearing/azimuth received: Bearing 163.1, 2.4 (Local) 2025-10-27T06:20:46.853Z,1761546046.853 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-27T06:20:46.858Z,1761546046.858 [DAT](INFO): DAT read: 06:20:45.5330 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.22, 2.394, 0.573, 2.337, 2.295, PHS= 0.202,-1.677,-0.001, RAW= 144.3, 16.3, CAL= 143.9, 17.7, ROT= 6.1, -17.7 2025-10-27T06:20:46.859Z,1761546046.859 [DAT](INFO): got valid direction response: 06:20:45.5330 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.22, 2.394, 0.573, 2.337, 2.295, PHS= 0.202,-1.677,-0.001, RAW= 144.3, 16.3, CAL= 143.9, 17.7, ROT= 6.1, -17.7 2025-10-27T06:20:46.859Z,1761546046.859 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T06:20:46.860Z,1761546046.860 [DAT](INFO): direction in FSK: [0.947267,0.101234,0.304033] 2025-10-27T06:20:46.860Z,1761546046.860 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:46.888Z,1761546046.888 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.581909 2025-10-27T06:20:46.901Z,1761546046.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960662,0.273858,0.046151],[-0.277443,0.938946,0.203483],[0.012393,-0.208283,0.977990]] 2025-10-27T06:20:46.962Z,1761546046.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503213 s, deltaX: -0.400002 m, approachRate: -0.794895 m/s, rangeRepo size: 4 2025-10-27T06:20:46.965Z,1761546046.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.679873 m, bearing: 353.651316 deg, lat: 36.779449 deg, lon: -121.859823 deg, deltaT: 0.503213 s, deltaX: -0.397446 m, approachRate: -0.789816 m/s, posRepo size: 4 2025-10-27T06:20:46.965Z,1761546046.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T06:20:46.981Z,1761546046.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.679873 m, nav range: 18.184645 m, bearing: 352.779054 deg, approach rate: 0.000000 m/s, LOS rate: 0.106567 deg/s, cmd heading: 343.857596 deg, new cmd heading: 343.987652 deg. 2025-10-27T06:20:46.982Z,1761546046.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003717 target range: 18.679873 and range: 18.80 m. 2025-10-27T06:20:47.100Z,1761546047.100 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.793728 2025-10-27T06:20:47.294Z,1761546047.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959799,0.276752,0.046837],[-0.280423,0.938214,0.202774],[0.012175,-0.207756,0.978105]] 2025-10-27T06:20:47.353Z,1761546047.353 [DAT](INFO): DAT read: Rx Time:06:20:46.0330 2025-10-27T06:20:47.353Z,1761546047.353 [DAT](INFO): Rx dataTimestamp_ set to:1761546047.352795 2025-10-27T06:20:47.354Z,1761546047.354 [DAT](INFO): DAT read: Bearing 163.5, 2.4 (Local) 2025-10-27T06:20:47.355Z,1761546047.355 [DAT](INFO): Local bearing/azimuth received: Bearing 163.5, 2.4 (Local) 2025-10-27T06:20:47.357Z,1761546047.357 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-27T06:20:47.361Z,1761546047.361 [DAT](INFO): DAT read: 06:20:46.0330 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.21, 1.832, 0.018, 1.771, 1.750, PHS= 0.183,-1.687,-0.023, RAW= 144.2, 16.9, CAL= 143.8, 18.4, ROT= 6.2, -18.4 2025-10-27T06:20:47.363Z,1761546047.363 [DAT](INFO): got valid direction response: 06:20:46.0330 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.21, 1.832, 0.018, 1.771, 1.750, PHS= 0.183,-1.687,-0.023, RAW= 144.2, 16.9, CAL= 143.8, 18.4, ROT= 6.2, -18.4 2025-10-27T06:20:47.363Z,1761546047.363 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T06:20:47.364Z,1761546047.364 [DAT](INFO): direction in FSK: [0.943326,0.102478,0.315649] 2025-10-27T06:20:47.364Z,1761546047.364 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:47.372Z,1761546047.372 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.065548 2025-10-27T06:20:47.393Z,1761546047.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503746 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:47.400Z,1761546047.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.679873 m, bearing: 353.720390 deg, lat: 36.779448 deg, lon: -121.859821 deg, deltaT: 0.503746 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:20:47.400Z,1761546047.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T06:20:47.424Z,1761546047.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.679873 m, nav range: 17.849459 m, bearing: 353.062326 deg, approach rate: 0.000000 m/s, LOS rate: 0.106567 deg/s, cmd heading: 343.987642 deg, new cmd heading: 344.125494 deg. 2025-10-27T06:20:47.425Z,1761546047.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006123 target range: 18.679873 and range: 18.80 m. 2025-10-27T06:20:47.604Z,1761546047.604 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.297653 2025-10-27T06:20:47.757Z,1761546047.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959134,0.278971,0.047308],[-0.282713,0.937929,0.200904],[0.011675,-0.206069,0.978468]] 2025-10-27T06:20:47.787Z,1761546047.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:47.789Z,1761546047.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T06:20:47.792Z,1761546047.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.679873 m, nav range: 17.642195 m, bearing: 353.075578 deg, approach rate: -0.522734 m/s, LOS rate: 0.033814 deg/s, cmd heading: 344.125503 deg, new cmd heading: 344.165724 deg. 2025-10-27T06:20:47.793Z,1761546047.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006825 target range: 18.679873 and range: 18.80 m. 2025-10-27T06:20:47.857Z,1761546047.857 [DAT](INFO): DAT read: Rx Time:06:20:46.5327 2025-10-27T06:20:47.857Z,1761546047.857 [DAT](INFO): Rx dataTimestamp_ set to:1761546047.856943 2025-10-27T06:20:47.859Z,1761546047.859 [DAT](INFO): DAT read: Bearing 160.6, 3.7 (Local) 2025-10-27T06:20:47.859Z,1761546047.859 [DAT](INFO): Local bearing/azimuth received: Bearing 160.6, 3.7 (Local) 2025-10-27T06:20:47.861Z,1761546047.861 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.4 2025-10-27T06:20:47.866Z,1761546047.866 [DAT](INFO): DAT read: 06:20:46.5327 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.25, 1.855, 0.038, 1.775, 1.679, PHS= 0.278,-1.596, 0.052, RAW= 143.7, 14.2, CAL= 143.2, 15.4, ROT= 6.8, -15.4 2025-10-27T06:20:47.867Z,1761546047.867 [DAT](INFO): got valid direction response: 06:20:46.5327 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 506, 0.25, 1.855, 0.038, 1.775, 1.679, PHS= 0.278,-1.596, 0.052, RAW= 143.7, 14.2, CAL= 143.2, 15.4, ROT= 6.8, -15.4 2025-10-27T06:20:47.867Z,1761546047.867 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T06:20:47.868Z,1761546047.868 [DAT](INFO): direction in FSK: [0.957313,0.114153,0.265556] 2025-10-27T06:20:47.869Z,1761546047.869 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:47.873Z,1761546047.873 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.566196 2025-10-27T06:20:47.911Z,1761546047.911 [DockingStepper](ERROR): getADC uart error serial timeout 2025-10-27T06:20:47.911Z,1761546047.911 [DockingStepper](FAULT): uart error - getPosition..serial timeout 2025-10-27T06:20:47.911Z,1761546047.911 [DockingStepper] Communications Fault, FailCount= 1 2025-10-27T06:20:47.911Z,1761546047.911 [DockingStepper](ERROR): Communications Fault 2025-10-27T06:20:48.019Z,1761546048.019 [CBIT](ERROR): Communications Fault in component: DockingStepper 2025-10-27T06:20:48.108Z,1761546048.108 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.801449 2025-10-27T06:20:48.146Z,1761546048.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958669,0.280550,0.047377],[-0.284304,0.938035,0.198144],[0.011148,-0.203424,0.979027]] 2025-10-27T06:20:48.301Z,1761546048.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504148 s, deltaX: -0.299999 m, approachRate: -0.595062 m/s, rangeRepo size: 4 2025-10-27T06:20:48.308Z,1761546048.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.381981 m, bearing: 353.334103 deg, lat: 36.779448 deg, lon: -121.859821 deg, deltaT: 0.504148 s, deltaX: -0.297892 m, approachRate: -0.590881 m/s, posRepo size: 4 2025-10-27T06:20:48.308Z,1761546048.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:20:48.320Z,1761546048.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.381981 m, nav range: 17.427895 m, bearing: 353.187140 deg, approach rate: 0.000000 m/s, LOS rate: 0.033814 deg/s, cmd heading: 344.165719 deg, new cmd heading: 344.217603 deg. 2025-10-27T06:20:48.321Z,1761546048.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007730 target range: 18.381981 and range: 18.50 m. 2025-10-27T06:20:48.361Z,1761546048.361 [DAT](INFO): DAT read: Rx Time:06:20:47.0327 2025-10-27T06:20:48.361Z,1761546048.361 [DAT](INFO): Rx dataTimestamp_ set to:1761546048.360849 2025-10-27T06:20:48.362Z,1761546048.362 [DAT](INFO): DAT read: Bearing 163.0, 2.7 (Local) 2025-10-27T06:20:48.363Z,1761546048.363 [DAT](INFO): Local bearing/azimuth received: Bearing 163.0, 2.7 (Local) 2025-10-27T06:20:48.365Z,1761546048.365 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.4 2025-10-27T06:20:48.370Z,1761546048.370 [DAT](INFO): DAT read: 06:20:47.0327 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.17, 0.927,-0.895, 0.860, 0.835, PHS= 0.194,-1.686,-0.019, RAW= 144.1, 16.7, CAL= 143.6, 18.1, ROT= 6.4, -18.1 2025-10-27T06:20:48.371Z,1761546048.371 [DAT](INFO): got valid direction response: 06:20:47.0327 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.17, 0.927,-0.895, 0.860, 0.835, PHS= 0.194,-1.686,-0.019, RAW= 144.1, 16.7, CAL= 143.6, 18.1, ROT= 6.4, -18.1 2025-10-27T06:20:48.371Z,1761546048.371 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T06:20:48.372Z,1761546048.372 [DAT](INFO): direction in FSK: [0.944592,0.105953,0.310676] 2025-10-27T06:20:48.372Z,1761546048.372 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:48.373Z,1761546048.373 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-27T06:20:48.373Z,1761546048.373 [DockingStepper](INFO): Powering down 2025-10-27T06:20:48.378Z,1761546048.378 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.071789 2025-10-27T06:20:48.612Z,1761546048.612 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.305656 2025-10-27T06:20:48.613Z,1761546048.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958480,0.281190,0.047416],[-0.284980,0.938632,0.194309],[0.010132,-0.199754,0.979794]] 2025-10-27T06:20:48.763Z,1761546048.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503906 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:48.765Z,1761546048.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.381929 m, bearing: 353.431880 deg, lat: 36.779451 deg, lon: -121.859821 deg, deltaT: 0.503906 s, deltaX: -0.000051 m, approachRate: -0.000102 m/s, posRepo size: 4 2025-10-27T06:20:48.766Z,1761546048.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:20:48.773Z,1761546048.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.381929 m, nav range: 17.502359 m, bearing: 353.404026 deg, approach rate: 0.000000 m/s, LOS rate: 0.033814 deg/s, cmd heading: 344.217601 deg, new cmd heading: 344.263971 deg. 2025-10-27T06:20:48.774Z,1761546048.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008540 target range: 18.381929 and range: 18.50 m. 2025-10-27T06:20:48.865Z,1761546048.865 [DAT](INFO): DAT read: Rx Time:06:20:47.5324 2025-10-27T06:20:48.865Z,1761546048.865 [DAT](INFO): Rx dataTimestamp_ set to:1761546048.864752 2025-10-27T06:20:48.866Z,1761546048.866 [DAT](INFO): DAT read: Bearing 162.5, 3.0 (Local) 2025-10-27T06:20:48.867Z,1761546048.867 [DAT](INFO): Local bearing/azimuth received: Bearing 162.5, 3.0 (Local) 2025-10-27T06:20:48.869Z,1761546048.869 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4 2025-10-27T06:20:48.873Z,1761546048.873 [DAT](INFO): DAT read: 06:20:47.5324 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.25, 1.272,-0.562, 1.197, 1.165, PHS= 0.209,-1.682,-0.012, RAW= 143.9, 16.3, CAL= 143.4, 17.7, ROT= 6.6, -17.7 2025-10-27T06:20:48.874Z,1761546048.874 [DAT](INFO): got valid direction response: 06:20:47.5324 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503, 0.25, 1.272,-0.562, 1.197, 1.165, PHS= 0.209,-1.682,-0.012, RAW= 143.9, 16.3, CAL= 143.4, 17.7, ROT= 6.6, -17.7 2025-10-27T06:20:48.875Z,1761546048.875 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T06:20:48.876Z,1761546048.876 [DAT](INFO): direction in FSK: [0.946348,0.109496,0.304033] 2025-10-27T06:20:48.876Z,1761546048.876 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:48.880Z,1761546048.880 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.573399 2025-10-27T06:20:49.014Z,1761546049.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958498,0.281126,0.047428],[-0.284952,0.939330,0.190949],[0.009130,-0.196539,0.980453]] 2025-10-27T06:20:49.071Z,1761546049.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503903 s, deltaX: -0.500000 m, approachRate: -0.992254 m/s, rangeRepo size: 4 2025-10-27T06:20:49.073Z,1761546049.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.885120 m, bearing: 353.484679 deg, lat: 36.779449 deg, lon: -121.859820 deg, deltaT: 0.503903 s, deltaX: -0.496809 m, approachRate: -0.985922 m/s, posRepo size: 4 2025-10-27T06:20:49.074Z,1761546049.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m. 2025-10-27T06:20:49.081Z,1761546049.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.885120 m, nav range: 17.142262 m, bearing: 353.484692 deg, approach rate: 0.000000 m/s, LOS rate: 0.033814 deg/s, cmd heading: 344.263965 deg, new cmd heading: 344.295233 deg. 2025-10-27T06:20:49.081Z,1761546049.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009085 target range: 17.885120 and range: 18.00 m. 2025-10-27T06:20:49.116Z,1761546049.116 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.809757 2025-10-27T06:20:49.369Z,1761546049.369 [DAT](INFO): DAT read: Rx Time:06:20:48.0324 2025-10-27T06:20:49.369Z,1761546049.369 [DAT](INFO): Rx dataTimestamp_ set to:1761546049.368887 2025-10-27T06:20:49.370Z,1761546049.370 [DAT](INFO): DAT read: Bearing 159.7, 3.7 (Local) 2025-10-27T06:20:49.371Z,1761546049.371 [DAT](INFO): Local bearing/azimuth received: Bearing 159.7, 3.7 (Local) 2025-10-27T06:20:49.373Z,1761546049.373 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4 2025-10-27T06:20:49.377Z,1761546049.378 [DAT](INFO): DAT read: 06:20:48.0324 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.10, 0.398,-1.423, 0.324, 0.208, PHS= 0.292,-1.586, 0.071, RAW= 143.8, 13.7, CAL= 143.4, 14.9, ROT= 6.6, -14.9 2025-10-27T06:20:49.379Z,1761546049.379 [DAT](INFO): got valid direction response: 06:20:48.0324 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503,-0.10, 0.398,-1.423, 0.324, 0.208, PHS= 0.292,-1.586, 0.071, RAW= 143.8, 13.7, CAL= 143.4, 14.9, ROT= 6.6, -14.9 2025-10-27T06:20:49.379Z,1761546049.379 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T06:20:49.380Z,1761546049.380 [DAT](INFO): direction in FSK: [0.959972,0.111073,0.257133] 2025-10-27T06:20:49.380Z,1761546049.380 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:49.384Z,1761546049.384 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.077595 2025-10-27T06:20:49.422Z,1761546049.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958725,0.280493,0.046580],[-0.284214,0.940621,0.185619],[0.008251,-0.191196,0.981517]] 2025-10-27T06:20:49.579Z,1761546049.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504135 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:49.581Z,1761546049.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.885000 m, bearing: 352.863471 deg, lat: 36.779452 deg, lon: -121.859821 deg, deltaT: 0.504135 s, deltaX: -0.000120 m, approachRate: -0.000238 m/s, posRepo size: 4 2025-10-27T06:20:49.582Z,1761546049.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m. 2025-10-27T06:20:49.589Z,1761546049.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.885000 m, nav range: 17.174042 m, bearing: 353.368545 deg, approach rate: 0.000000 m/s, LOS rate: 0.033814 deg/s, cmd heading: 344.295219 deg, new cmd heading: 344.346800 deg. 2025-10-27T06:20:49.590Z,1761546049.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009985 target range: 17.885000 and range: 18.00 m. 2025-10-27T06:20:49.620Z,1761546049.620 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.313564 2025-10-27T06:20:49.822Z,1761546049.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959226,0.278940,0.045583],[-0.282537,0.941974,0.181267],[0.007625,-0.186755,0.982377]] 2025-10-27T06:20:49.850Z,1761546049.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:49.853Z,1761546049.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m. 2025-10-27T06:20:49.855Z,1761546049.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.885000 m, nav range: 17.035929 m, bearing: 353.343556 deg, approach rate: -0.496949 m/s, LOS rate: -0.090643 deg/s, cmd heading: 344.346801 deg, new cmd heading: 344.271226 deg. 2025-10-27T06:20:49.856Z,1761546049.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008667 target range: 17.885000 and range: 18.00 m. 2025-10-27T06:20:49.873Z,1761546049.873 [DAT](INFO): DAT read: Rx Time:06:20:48.5321 2025-10-27T06:20:49.873Z,1761546049.873 [DAT](INFO): Rx dataTimestamp_ set to:1761546049.872845 2025-10-27T06:20:49.874Z,1761546049.874 [DAT](INFO): DAT read: Bearing 162.7, 2.6 (Local) 2025-10-27T06:20:49.875Z,1761546049.875 [DAT](INFO): Local bearing/azimuth received: Bearing 162.7, 2.6 (Local) 2025-10-27T06:20:49.877Z,1761546049.877 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 2025-10-27T06:20:49.886Z,1761546049.886 [DAT](INFO): DAT read: 06:20:48.5321 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.20, 1.930, 0.103, 1.871, 1.839, PHS= 0.194,-1.691,-0.012, RAW= 144.3, 16.6, CAL= 143.9, 18.0, ROT= 6.1, -18.0 2025-10-27T06:20:49.887Z,1761546049.887 [DAT](INFO): got valid direction response: 06:20:48.5321 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.20, 1.930, 0.103, 1.871, 1.839, PHS= 0.194,-1.691,-0.012, RAW= 144.3, 16.6, CAL= 143.9, 18.0, ROT= 6.1, -18.0 2025-10-27T06:20:49.887Z,1761546049.887 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T06:20:49.888Z,1761546049.888 [DAT](INFO): direction in FSK: [0.945672,0.101063,0.309017] 2025-10-27T06:20:49.889Z,1761546049.889 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:49.904Z,1761546049.904 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.597942 2025-10-27T06:20:50.124Z,1761546050.124 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.817570 2025-10-27T06:20:50.269Z,1761546050.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959778,0.277133,0.044988],[-0.280676,0.943147,0.178030],[0.006908,-0.183496,0.982996]] 2025-10-27T06:20:50.355Z,1761546050.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503958 s, deltaX: -0.400000 m, approachRate: -0.793716 m/s, rangeRepo size: 4 2025-10-27T06:20:50.357Z,1761546050.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.487556 m, bearing: 353.088814 deg, lat: 36.779452 deg, lon: -121.859821 deg, deltaT: 0.503958 s, deltaX: -0.397444 m, approachRate: -0.788645 m/s, posRepo size: 4 2025-10-27T06:20:50.358Z,1761546050.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m. 2025-10-27T06:20:50.361Z,1761546050.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.487556 m, nav range: 16.817846 m, bearing: 353.148987 deg, approach rate: 0.000000 m/s, LOS rate: -0.090643 deg/s, cmd heading: 344.271232 deg, new cmd heading: 344.134812 deg. 2025-10-27T06:20:50.362Z,1761546050.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006286 target range: 17.487556 and range: 17.60 m. 2025-10-27T06:20:50.377Z,1761546050.377 [DAT](INFO): DAT read: Rx Time:06:20:49.0319 2025-10-27T06:20:50.377Z,1761546050.377 [DAT](INFO): Rx dataTimestamp_ set to:1761546050.376768 2025-10-27T06:20:50.378Z,1761546050.378 [DAT](INFO): DAT read: Bearing 160.8, 3.3 (Local) 2025-10-27T06:20:50.379Z,1761546050.379 [DAT](INFO): Local bearing/azimuth received: Bearing 160.8, 3.3 (Local) 2025-10-27T06:20:50.381Z,1761546050.381 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 2025-10-27T06:20:50.386Z,1761546050.386 [DAT](INFO): DAT read: 06:20:49.0319 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.19,-0.475,-2.272,-0.540,-0.628, PHS= 0.255,-1.599, 0.044, RAW= 144.0, 14.6, CAL= 143.6, 15.9, ROT= 6.4, -15.9 2025-10-27T06:20:50.387Z,1761546050.387 [DAT](INFO): got valid direction response: 06:20:49.0319 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 499,-0.19,-0.475,-2.272,-0.540,-0.628, PHS= 0.255,-1.599, 0.044, RAW= 144.0, 14.6, CAL= 143.6, 15.9, ROT= 6.4, -15.9 2025-10-27T06:20:50.387Z,1761546050.387 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T06:20:50.388Z,1761546050.388 [DAT](INFO): direction in FSK: [0.955748,0.107204,0.273959] 2025-10-27T06:20:50.389Z,1761546050.389 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:50.393Z,1761546050.393 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.086601 2025-10-27T06:20:50.628Z,1761546050.628 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.321819 2025-10-27T06:20:50.780Z,1761546050.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960761,0.273873,0.043958],[-0.277319,0.945139,0.172647],[0.005737,-0.178063,0.984002]] 2025-10-27T06:20:50.821Z,1761546050.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503923 s, deltaX: -0.300001 m, approachRate: -0.595331 m/s, rangeRepo size: 4 2025-10-27T06:20:50.839Z,1761546050.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.189453 m, bearing: 353.082612 deg, lat: 36.779452 deg, lon: -121.859821 deg, deltaT: 0.503923 s, deltaX: -0.298103 m, approachRate: -0.591565 m/s, posRepo size: 4 2025-10-27T06:20:50.840Z,1761546050.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m. 2025-10-27T06:20:50.847Z,1761546050.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.189453 m, nav range: 16.605274 m, bearing: 353.077809 deg, approach rate: 0.000000 m/s, LOS rate: -0.090643 deg/s, cmd heading: 344.134819 deg, new cmd heading: 344.008013 deg. 2025-10-27T06:20:50.848Z,1761546050.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004073 target range: 17.189453 and range: 17.30 m. 2025-10-27T06:20:50.881Z,1761546050.881 [DAT](INFO): DAT read: Rx Time:06:20:49.5317 2025-10-27T06:20:50.881Z,1761546050.881 [DAT](INFO): Rx dataTimestamp_ set to:1761546050.881031 2025-10-27T06:20:50.883Z,1761546050.883 [DAT](INFO): DAT read: Bearing 163.3, 2.0 (Local) 2025-10-27T06:20:50.884Z,1761546050.884 [DAT](INFO): Local bearing/azimuth received: Bearing 163.3, 2.0 (Local) 2025-10-27T06:20:50.886Z,1761546050.886 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 2025-10-27T06:20:50.893Z,1761546050.893 [DAT](INFO): DAT read: 06:20:49.5317 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.10, 1.386,-0.437, 1.342, 1.314, PHS= 0.174,-1.706,-0.016, RAW= 144.7, 17.0, CAL= 144.4, 18.5, ROT= 5.6, -18.5 2025-10-27T06:20:50.896Z,1761546050.896 [DAT](INFO): got valid direction response: 06:20:49.5317 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.10, 1.386,-0.437, 1.342, 1.314, PHS= 0.174,-1.706,-0.016, RAW= 144.7, 17.0, CAL= 144.4, 18.5, ROT= 5.6, -18.5 2025-10-27T06:20:50.897Z,1761546050.897 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T06:20:50.898Z,1761546050.898 [DAT](INFO): direction in FSK: [0.943798,0.092540,0.317305] 2025-10-27T06:20:50.898Z,1761546050.898 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:50.902Z,1761546050.902 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.595280 2025-10-27T06:20:51.132Z,1761546051.132 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.825504 2025-10-27T06:20:51.224Z,1761546051.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961378,0.271896,0.042720],[-0.275184,0.946669,0.167605],[0.005130,-0.172887,0.984928]] 2025-10-27T06:20:51.356Z,1761546051.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504263 s, deltaX: -0.299999 m, approachRate: -0.594926 m/s, rangeRepo size: 4 2025-10-27T06:20:51.358Z,1761546051.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.891371 m, bearing: 352.834844 deg, lat: 36.779451 deg, lon: -121.859821 deg, deltaT: 0.504263 s, deltaX: -0.298082 m, approachRate: -0.591125 m/s, posRepo size: 4 2025-10-27T06:20:51.363Z,1761546051.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m. 2025-10-27T06:20:51.366Z,1761546051.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.891371 m, nav range: 16.289988 m, bearing: 352.958844 deg, approach rate: 0.000000 m/s, LOS rate: -0.090643 deg/s, cmd heading: 344.008024 deg, new cmd heading: 343.862487 deg. 2025-10-27T06:20:51.371Z,1761546051.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001533 target range: 16.891371 and range: 17.00 m. 2025-10-27T06:20:51.385Z,1761546051.385 [DAT](INFO): DAT read: Rx Time:06:20:50.0316 2025-10-27T06:20:51.385Z,1761546051.385 [DAT](INFO): Rx dataTimestamp_ set to:1761546051.384795 2025-10-27T06:20:51.386Z,1761546051.386 [DAT](INFO): DAT read: Bearing 150.8, 3.4 (Local) 2025-10-27T06:20:51.387Z,1761546051.387 [DAT](INFO): Local bearing/azimuth received: Bearing 150.8, 3.4 (Local) 2025-10-27T06:20:51.389Z,1761546051.389 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4 2025-10-27T06:20:51.394Z,1761546051.394 [DAT](INFO): DAT read: 06:20:50.0316 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512,-0.44, 1.972,-0.249, 1.951, 1.458, PHS= 0.616,-1.662, 0.449, RAW= 146.2, 5.5, CAL= 145.7, 5.9, ROT= 4.3, -5.9 2025-10-27T06:20:51.396Z,1761546051.396 [DAT](INFO): got valid direction response: 06:20:50.0316 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 512,-0.44, 1.972,-0.249, 1.951, 1.458, PHS= 0.616,-1.662, 0.449, RAW= 146.2, 5.5, CAL= 145.7, 5.9, ROT= 4.3, -5.9 2025-10-27T06:20:51.396Z,1761546051.396 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T06:20:51.397Z,1761546051.397 [DAT](INFO): direction in FSK: [0.991903,0.074582,0.102793] 2025-10-27T06:20:51.397Z,1761546051.397 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:51.401Z,1761546051.401 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.094402 2025-10-27T06:20:51.636Z,1761546051.636 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.329742 2025-10-27T06:20:51.790Z,1761546051.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962080,0.269384,0.042840],[-0.272738,0.947664,0.165972],[0.004113,-0.171362,0.985199]] 2025-10-27T06:20:51.858Z,1761546051.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503764 s, deltaX: -0.200001 m, approachRate: -0.397013 m/s, rangeRepo size: 4 2025-10-27T06:20:51.860Z,1761546051.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.692776 m, bearing: 349.421709 deg, lat: 36.779452 deg, lon: -121.859821 deg, deltaT: 0.503764 s, deltaX: -0.198595 m, approachRate: -0.394222 m/s, posRepo size: 4 2025-10-27T06:20:51.861Z,1761546051.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.69 m. 2025-10-27T06:20:51.864Z,1761546051.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.692776 m, nav range: 16.139420 m, bearing: 352.917458 deg, approach rate: 0.000000 m/s, LOS rate: -0.090643 deg/s, cmd heading: 343.862486 deg, new cmd heading: 343.726073 deg. 2025-10-27T06:20:51.865Z,1761546051.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999152 target range: 16.692776 and range: 16.80 m. 2025-10-27T06:20:51.888Z,1761546051.888 [DAT](INFO): DAT read: Rx Time:06:20:50.5314 2025-10-27T06:20:51.889Z,1761546051.889 [DAT](INFO): Rx dataTimestamp_ set to:1761546051.888557 2025-10-27T06:20:51.890Z,1761546051.890 [DAT](INFO): DAT read: Bearing 163.4, 1.6 (Local) 2025-10-27T06:20:51.890Z,1761546051.890 [DAT](INFO): Local bearing/azimuth received: Bearing 163.4, 1.6 (Local) 2025-10-27T06:20:51.893Z,1761546051.893 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-27T06:20:51.897Z,1761546051.897 [DAT](INFO): DAT read: 06:20:50.5314 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.01, 0.751,-1.067, 0.725, 0.686, PHS= 0.167,-1.708,-0.005, RAW= 145.3, 16.9, CAL= 145.0, 18.5, ROT= 5.0, -18.5 2025-10-27T06:20:51.898Z,1761546051.898 [DAT](INFO): got valid direction response: 06:20:50.5314 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509,-0.01, 0.751,-1.067, 0.725, 0.686, PHS= 0.167,-1.708,-0.005, RAW= 145.3, 16.9, CAL= 145.0, 18.5, ROT= 5.0, -18.5 2025-10-27T06:20:51.898Z,1761546051.898 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T06:20:51.900Z,1761546051.900 [DAT](INFO): direction in FSK: [0.944715,0.082652,0.317305] 2025-10-27T06:20:51.900Z,1761546051.900 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:51.904Z,1761546051.904 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.597511 2025-10-27T06:20:52.140Z,1761546052.140 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.833954 2025-10-27T06:20:52.229Z,1761546052.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962642,0.267287,0.043331],[-0.270764,0.948614,0.163762],[0.002667,-0.169377,0.985548]] 2025-10-27T06:20:52.361Z,1761546052.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503762 s, deltaX: -0.299999 m, approachRate: -0.595518 m/s, rangeRepo size: 4 2025-10-27T06:20:52.375Z,1761546052.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.394691 m, bearing: 352.441550 deg, lat: 36.779451 deg, lon: -121.859821 deg, deltaT: 0.503762 s, deltaX: -0.298084 m, approachRate: -0.591716 m/s, posRepo size: 4 2025-10-27T06:20:52.376Z,1761546052.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T06:20:52.393Z,1761546052.393 [DAT](INFO): DAT read: Rx Time:06:20:51.0313 2025-10-27T06:20:52.394Z,1761546052.394 [DAT](INFO): Rx dataTimestamp_ set to:1761546052.393262 2025-10-27T06:20:52.395Z,1761546052.395 [DAT](INFO): DAT read: Bearing 164.0, 0.7 (Local) 2025-10-27T06:20:52.395Z,1761546052.395 [DAT](INFO): Local bearing/azimuth received: Bearing 164.0, 0.7 (Local) 2025-10-27T06:20:52.397Z,1761546052.397 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 2025-10-27T06:20:52.402Z,1761546052.402 [DAT](INFO): DAT read: 06:20:51.0313 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.33,-2.847, 1.637,-2.845,-2.885, PHS= 0.140,-1.716,-0.004, RAW= 146.0, 17.3, CAL= 145.8, 19.0, ROT= 4.2, -19.0 2025-10-27T06:20:52.403Z,1761546052.403 [DAT](INFO): got valid direction response: 06:20:51.0313 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508, 0.33,-2.847, 1.637,-2.845,-2.885, PHS= 0.140,-1.716,-0.004, RAW= 146.0, 17.3, CAL= 145.8, 19.0, ROT= 4.2, -19.0 2025-10-27T06:20:52.404Z,1761546052.404 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T06:20:52.405Z,1761546052.405 [DAT](INFO): direction in FSK: [0.942979,0.069248,0.325568] 2025-10-27T06:20:52.405Z,1761546052.405 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:52.409Z,1761546052.409 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.102345 2025-10-27T06:20:52.411Z,1761546052.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.394691 m, nav range: 15.828807 m, bearing: 352.832111 deg, approach rate: 0.000000 m/s, LOS rate: -0.090643 deg/s, cmd heading: 343.726073 deg, new cmd heading: 343.589374 deg. 2025-10-27T06:20:52.412Z,1761546052.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996766 target range: 16.394691 and range: 16.50 m. 2025-10-27T06:20:52.626Z,1761546052.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963159,0.265392,0.043489],[-0.268928,0.949736,0.160245],[0.001224,-0.166037,0.986119]] 2025-10-27T06:20:52.644Z,1761546052.644 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.337673 2025-10-27T06:20:52.787Z,1761546052.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504705 s, deltaX: -0.100000 m, approachRate: -0.198136 m/s, rangeRepo size: 4 2025-10-27T06:20:52.789Z,1761546052.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.295420 m, bearing: 351.794741 deg, lat: 36.779449 deg, lon: -121.859822 deg, deltaT: 0.504705 s, deltaX: -0.099272 m, approachRate: -0.196693 m/s, posRepo size: 4 2025-10-27T06:20:52.790Z,1761546052.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m. 2025-10-27T06:20:52.796Z,1761546052.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.295420 m, nav range: 15.464945 m, bearing: 352.434968 deg, approach rate: 0.000000 m/s, LOS rate: -0.090643 deg/s, cmd heading: 343.589360 deg, new cmd heading: 343.474623 deg. 2025-10-27T06:20:52.797Z,1761546052.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994763 target range: 16.295420 and range: 16.40 m. 2025-10-27T06:20:52.897Z,1761546052.897 [DAT](INFO): DAT read: Rx Time:06:20:51.5311 2025-10-27T06:20:52.897Z,1761546052.897 [DAT](INFO): Rx dataTimestamp_ set to:1761546052.896857 2025-10-27T06:20:52.898Z,1761546052.898 [DAT](INFO): DAT read: Bearing 161.3, 1.7 (Local) 2025-10-27T06:20:52.899Z,1761546052.899 [DAT](INFO): Local bearing/azimuth received: Bearing 161.3, 1.7 (Local) 2025-10-27T06:20:52.901Z,1761546052.901 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4 2025-10-27T06:20:52.906Z,1761546052.906 [DAT](INFO): DAT read: 06:20:51.5311 LVL= 29648, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.03,-0.292,-2.131,-0.305,-0.425, PHS= 0.235,-1.661, 0.076, RAW= 145.7, 14.7, CAL= 145.4, 16.1, ROT= 4.6, -16.1 2025-10-27T06:20:52.907Z,1761546052.907 [DAT](INFO): got valid direction response: 06:20:51.5311 LVL= 29648, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.03,-0.292,-2.131,-0.305,-0.425, PHS= 0.235,-1.661, 0.076, RAW= 145.7, 14.7, CAL= 145.4, 16.1, ROT= 4.6, -16.1 2025-10-27T06:20:52.907Z,1761546052.907 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T06:20:52.908Z,1761546052.908 [DAT](INFO): direction in FSK: [0.957684,0.077053,0.277315] 2025-10-27T06:20:52.908Z,1761546052.908 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:52.912Z,1761546052.912 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.605621 2025-10-27T06:20:53.026Z,1761546053.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963707,0.263348,0.043774],[-0.266961,0.950883,0.156691],[-0.000360,-0.162691,0.986677]] 2025-10-27T06:20:53.064Z,1761546053.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503595 s, deltaX: -0.299999 m, approachRate: -0.595715 m/s, rangeRepo size: 4 2025-10-27T06:20:53.066Z,1761546053.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.997333 m, bearing: 351.725170 deg, lat: 36.779449 deg, lon: -121.859824 deg, deltaT: 0.503595 s, deltaX: -0.298087 m, approachRate: -0.591918 m/s, posRepo size: 4 2025-10-27T06:20:53.071Z,1761546053.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m. 2025-10-27T06:20:53.074Z,1761546053.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.997333 m, nav range: 15.332837 m, bearing: 351.769843 deg, approach rate: 0.000000 m/s, LOS rate: -0.090643 deg/s, cmd heading: 343.474613 deg, new cmd heading: 343.397996 deg. 2025-10-27T06:20:53.079Z,1761546053.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993426 target range: 15.997333 and range: 16.10 m. 2025-10-27T06:20:53.148Z,1761546053.148 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.841679 2025-10-27T06:20:53.401Z,1761546053.401 [DAT](INFO): DAT read: Rx Time:06:20:52.0310 2025-10-27T06:20:53.401Z,1761546053.401 [DAT](INFO): Rx dataTimestamp_ set to:1761546053.400758 2025-10-27T06:20:53.402Z,1761546053.402 [DAT](INFO): DAT read: Bearing 164.0, -0.4 (Local) 2025-10-27T06:20:53.403Z,1761546053.403 [DAT](INFO): Local bearing/azimuth received: Bearing 164.0, -0.4 (Local) 2025-10-27T06:20:53.405Z,1761546053.405 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-27T06:20:53.409Z,1761546053.409 [DAT](INFO): DAT read: 06:20:52.0310 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.30,-2.715, 1.780,-2.679,-2.740, PHS= 0.126,-1.718, 0.017, RAW= 147.0, 17.3, CAL= 147.0, 19.0, ROT= 3.0, -19.0 2025-10-27T06:20:53.410Z,1761546053.410 [DAT](INFO): got valid direction response: 06:20:52.0310 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505, 0.30,-2.715, 1.780,-2.679,-2.740, PHS= 0.126,-1.718, 0.017, RAW= 147.0, 17.3, CAL= 147.0, 19.0, ROT= 3.0, -19.0 2025-10-27T06:20:53.411Z,1761546053.411 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T06:20:53.412Z,1761546053.412 [DAT](INFO): direction in FSK: [0.944223,0.049485,0.325568] 2025-10-27T06:20:53.412Z,1761546053.412 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:53.428Z,1761546053.428 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.121593 2025-10-27T06:20:53.436Z,1761546053.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964223,0.261310,0.044618],[-0.265082,0.951855,0.153957],[-0.002239,-0.160277,0.987070]] 2025-10-27T06:20:53.563Z,1761546053.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503901 s, deltaX: -0.200001 m, approachRate: -0.396905 m/s, rangeRepo size: 4 2025-10-27T06:20:53.569Z,1761546053.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.798493 m, bearing: 350.730697 deg, lat: 36.779449 deg, lon: -121.859824 deg, deltaT: 0.503901 s, deltaX: -0.198839 m, approachRate: -0.394600 m/s, posRepo size: 4 2025-10-27T06:20:53.570Z,1761546053.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:20:53.577Z,1761546053.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.798493 m, nav range: 15.111478 m, bearing: 351.701674 deg, approach rate: 0.000000 m/s, LOS rate: -0.090643 deg/s, cmd heading: 343.398006 deg, new cmd heading: 343.262539 deg. 2025-10-27T06:20:53.578Z,1761546053.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991062 target range: 15.798493 and range: 15.90 m. 2025-10-27T06:20:53.652Z,1761546053.652 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.345680 2025-10-27T06:20:53.842Z,1761546053.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964467,0.260224,0.045673],[-0.264173,0.952408,0.152095],[-0.003920,-0.158756,0.987310]] 2025-10-27T06:20:53.860Z,1761546053.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:53.862Z,1761546053.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:20:53.865Z,1761546053.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.798493 m, nav range: 14.954124 m, bearing: 351.725892 deg, approach rate: -0.524847 m/s, LOS rate: 0.081630 deg/s, cmd heading: 343.262549 deg, new cmd heading: 343.335969 deg. 2025-10-27T06:20:53.866Z,1761546053.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992343 target range: 15.798493 and range: 15.90 m. 2025-10-27T06:20:53.905Z,1761546053.905 [DAT](INFO): DAT read: Rx Time:06:20:52.5308 2025-10-27T06:20:53.906Z,1761546053.906 [DAT](INFO): Rx dataTimestamp_ set to:1761546053.905252 2025-10-27T06:20:53.907Z,1761546053.907 [DAT](INFO): DAT read: Bearing 163.6, -0.1 (Local) 2025-10-27T06:20:53.907Z,1761546053.907 [DAT](INFO): Local bearing/azimuth received: Bearing 163.6, -0.1 (Local) 2025-10-27T06:20:53.909Z,1761546053.909 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 2025-10-27T06:20:53.914Z,1761546053.914 [DAT](INFO): DAT read: 06:20:52.5308 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.09, 0.250,-1.549, 0.278, 0.206, PHS= 0.146,-1.710, 0.028, RAW= 146.7, 16.8, CAL= 146.7, 18.5, ROT= 3.3, -18.5 2025-10-27T06:20:53.924Z,1761546053.924 [DAT](INFO): got valid direction response: 06:20:52.5308 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503,-0.09, 0.250,-1.549, 0.278, 0.206, PHS= 0.146,-1.710, 0.028, RAW= 146.7, 16.8, CAL= 146.7, 18.5, ROT= 3.3, -18.5 2025-10-27T06:20:53.925Z,1761546053.925 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T06:20:53.926Z,1761546053.926 [DAT](INFO): direction in FSK: [0.946751,0.054589,0.317305] 2025-10-27T06:20:53.928Z,1761546053.928 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:53.948Z,1761546053.948 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.641983 2025-10-27T06:20:54.156Z,1761546054.156 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.849468 2025-10-27T06:20:54.253Z,1761546054.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964595,0.259578,0.046650],[-0.263675,0.952968,0.149421],[-0.005669,-0.156431,0.987673]] 2025-10-27T06:20:54.294Z,1761546054.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.504494 s, deltaX: -0.299999 m, approachRate: -0.594654 m/s, rangeRepo size: 4 2025-10-27T06:20:54.308Z,1761546054.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.500409 m, bearing: 350.942437 deg, lat: 36.779449 deg, lon: -121.859824 deg, deltaT: 0.504494 s, deltaX: -0.298084 m, approachRate: -0.590858 m/s, posRepo size: 4 2025-10-27T06:20:54.310Z,1761546054.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.50 m. 2025-10-27T06:20:54.378Z,1761546054.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.500409 m, nav range: 14.757057 m, bearing: 351.755399 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 343.335960 deg, new cmd heading: 343.441610 deg. 2025-10-27T06:20:54.383Z,1761546054.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994187 target range: 15.500409 and range: 15.60 m. 2025-10-27T06:20:54.409Z,1761546054.409 [DAT](INFO): DAT read: Rx Time:06:20:53.0306 2025-10-27T06:20:54.409Z,1761546054.409 [DAT](INFO): Rx dataTimestamp_ set to:1761546054.408938 2025-10-27T06:20:54.410Z,1761546054.410 [DAT](INFO): DAT read: Bearing 162.9, -0.3 (Local) 2025-10-27T06:20:54.411Z,1761546054.411 [DAT](INFO): Local bearing/azimuth received: Bearing 162.9, -0.3 (Local) 2025-10-27T06:20:54.413Z,1761546054.413 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 2025-10-27T06:20:54.418Z,1761546054.418 [DAT](INFO): DAT read: 06:20:53.0306 LVL= 32496, 32753, 32754, 32755, AGC= 57, IDX= 501, 0.32, 1.799,-0.012, 1.835, 1.737, PHS= 0.164,-1.703, 0.054, RAW= 147.0, 16.1, CAL= 146.9, 17.8, ROT= 3.1, -17.8 2025-10-27T06:20:54.419Z,1761546054.419 [DAT](INFO): got valid direction response: 06:20:53.0306 LVL= 32496, 32753, 32754, 32755, AGC= 57, IDX= 501, 0.32, 1.799,-0.012, 1.835, 1.737, PHS= 0.164,-1.703, 0.054, RAW= 147.0, 16.1, CAL= 146.9, 17.8, ROT= 3.1, -17.8 2025-10-27T06:20:54.419Z,1761546054.419 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T06:20:54.420Z,1761546054.420 [DAT](INFO): direction in FSK: [0.950736,0.051490,0.305695] 2025-10-27T06:20:54.421Z,1761546054.421 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:54.425Z,1761546054.425 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.118111 2025-10-27T06:20:54.660Z,1761546054.660 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.353542 2025-10-27T06:20:54.735Z,1761546054.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964610,0.259247,0.048160],[-0.263584,0.953030,0.149188],[-0.007221,-0.156602,0.987635]] 2025-10-27T06:20:54.798Z,1761546054.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503686 s, deltaX: -0.300000 m, approachRate: -0.595610 m/s, rangeRepo size: 4 2025-10-27T06:20:54.805Z,1761546054.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.202223 m, bearing: 350.632403 deg, lat: 36.779449 deg, lon: -121.859827 deg, deltaT: 0.503686 s, deltaX: -0.298186 m, approachRate: -0.592008 m/s, posRepo size: 4 2025-10-27T06:20:54.805Z,1761546054.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.20 m. 2025-10-27T06:20:54.812Z,1761546054.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.202223 m, nav range: 14.547050 m, bearing: 350.968435 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 343.441610 deg, new cmd heading: 343.565206 deg. 2025-10-27T06:20:54.813Z,1761546054.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996344 target range: 15.202223 and range: 15.30 m. 2025-10-27T06:20:54.913Z,1761546054.913 [DAT](INFO): DAT read: Rx Time:06:20:53.5304 2025-10-27T06:20:54.913Z,1761546054.913 [DAT](INFO): Rx dataTimestamp_ set to:1761546054.912835 2025-10-27T06:20:54.914Z,1761546054.914 [DAT](INFO): DAT read: Bearing 160.6, -0.0 (Local) 2025-10-27T06:20:54.915Z,1761546054.915 [DAT](INFO): Local bearing/azimuth received: Bearing 160.6, -0.0 (Local) 2025-10-27T06:20:54.917Z,1761546054.917 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T06:20:54.922Z,1761546054.922 [DAT](INFO): DAT read: 06:20:53.5304 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.03,-1.243,-3.019,-1.200,-1.370, PHS= 0.229,-1.604, 0.125, RAW= 147.1, 13.9, CAL= 147.0, 15.3, ROT= 3.0, -15.3 2025-10-27T06:20:54.923Z,1761546054.923 [DAT](INFO): got valid direction response: 06:20:53.5304 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.03,-1.243,-3.019,-1.200,-1.370, PHS= 0.229,-1.604, 0.125, RAW= 147.1, 13.9, CAL= 147.0, 15.3, ROT= 3.0, -15.3 2025-10-27T06:20:54.923Z,1761546054.923 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T06:20:54.924Z,1761546054.924 [DAT](INFO): direction in FSK: [0.963236,0.050481,0.263873] 2025-10-27T06:20:54.924Z,1761546054.924 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:54.936Z,1761546054.936 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.629757 2025-10-27T06:20:55.075Z,1761546055.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964303,0.260056,0.049898],[-0.264657,0.952704,0.149368],[-0.008694,-0.157242,0.987522]] 2025-10-27T06:20:55.099Z,1761546055.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503897 s, deltaX: -0.300000 m, approachRate: -0.595360 m/s, rangeRepo size: 4 2025-10-27T06:20:55.101Z,1761546055.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.904140 m, bearing: 350.058101 deg, lat: 36.779449 deg, lon: -121.859827 deg, deltaT: 0.503897 s, deltaX: -0.298083 m, approachRate: -0.591556 m/s, posRepo size: 4 2025-10-27T06:20:55.102Z,1761546055.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m. 2025-10-27T06:20:55.106Z,1761546055.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.904140 m, nav range: 14.406127 m, bearing: 350.886530 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 343.565209 deg, new cmd heading: 343.638838 deg. 2025-10-27T06:20:55.107Z,1761546055.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997629 target range: 14.904140 and range: 15.00 m. 2025-10-27T06:20:55.167Z,1761546055.167 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.860157 2025-10-27T06:20:55.417Z,1761546055.417 [DAT](INFO): DAT read: Rx Time:06:20:54.0303 2025-10-27T06:20:55.417Z,1761546055.417 [DAT](INFO): Rx dataTimestamp_ set to:1761546055.416787 2025-10-27T06:20:55.418Z,1761546055.418 [DAT](INFO): DAT read: Bearing 163.9, -1.3 (Local) 2025-10-27T06:20:55.419Z,1761546055.419 [DAT](INFO): Local bearing/azimuth received: Bearing 163.9, -1.3 (Local) 2025-10-27T06:20:55.421Z,1761546055.421 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4 2025-10-27T06:20:55.426Z,1761546055.426 [DAT](INFO): DAT read: 06:20:54.0303 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.30, 3.120, 1.322,-3.110, 3.095, PHS= 0.127,-1.727, 0.035, RAW= 147.5, 17.0, CAL= 147.5, 18.8, ROT= 2.5, -18.8 2025-10-27T06:20:55.427Z,1761546055.427 [DAT](INFO): got valid direction response: 06:20:54.0303 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.30, 3.120, 1.322,-3.110, 3.095, PHS= 0.127,-1.727, 0.035, RAW= 147.5, 17.0, CAL= 147.5, 18.8, ROT= 2.5, -18.8 2025-10-27T06:20:55.428Z,1761546055.428 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T06:20:55.429Z,1761546055.429 [DAT](INFO): direction in FSK: [0.945748,0.041292,0.322266] 2025-10-27T06:20:55.429Z,1761546055.429 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:55.432Z,1761546055.432 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.126080 2025-10-27T06:20:55.473Z,1761546055.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963970,0.260855,0.052123],[-0.265811,0.952187,0.150613],[-0.010342,-0.159042,0.987218]] 2025-10-27T06:20:55.597Z,1761546055.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503952 s, deltaX: -0.100000 m, approachRate: -0.198432 m/s, rangeRepo size: 4 2025-10-27T06:20:55.599Z,1761546055.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.804728 m, bearing: 350.123052 deg, lat: 36.779449 deg, lon: -121.859828 deg, deltaT: 0.503952 s, deltaX: -0.099412 m, approachRate: -0.197265 m/s, posRepo size: 4 2025-10-27T06:20:55.604Z,1761546055.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.80 m. 2025-10-27T06:20:55.606Z,1761546055.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.804728 m, nav range: 14.179986 m, bearing: 350.805702 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 343.638838 deg, new cmd heading: 343.760672 deg. 2025-10-27T06:20:55.611Z,1761546055.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999755 target range: 14.804728 and range: 14.90 m. 2025-10-27T06:20:55.671Z,1761546055.671 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.364166 2025-10-27T06:20:55.922Z,1761546055.922 [DAT](INFO): DAT read: Rx Time:06:20:54.5301 2025-10-27T06:20:55.922Z,1761546055.922 [DAT](INFO): Rx dataTimestamp_ set to:1761546055.922027 2025-10-27T06:20:55.924Z,1761546055.924 [DAT](INFO): DAT read: Bearing 163.9, -0.6 (Local) 2025-10-27T06:20:55.925Z,1761546055.925 [DAT](INFO): Local bearing/azimuth received: Bearing 163.9, -0.6 (Local) 2025-10-27T06:20:55.927Z,1761546055.927 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.4 2025-10-27T06:20:55.932Z,1761546055.932 [DAT](INFO): DAT read: 06:20:54.5301 LVL= 32528, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.11, 0.194,-1.609, 0.221, 0.153, PHS= 0.143,-1.717, 0.024, RAW= 146.7, 16.9, CAL= 146.7, 18.6, ROT= 3.3, -18.6 2025-10-27T06:20:55.933Z,1761546055.933 [DAT](INFO): got valid direction response: 06:20:54.5301 LVL= 32528, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.11, 0.194,-1.609, 0.221, 0.153, PHS= 0.143,-1.717, 0.024, RAW= 146.7, 16.9, CAL= 146.7, 18.6, ROT= 3.3, -18.6 2025-10-27T06:20:55.933Z,1761546055.933 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T06:20:55.934Z,1761546055.934 [DAT](INFO): direction in FSK: [0.946197,0.054557,0.318959] 2025-10-27T06:20:55.935Z,1761546055.935 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:55.939Z,1761546055.939 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.632244 2025-10-27T06:20:56.019Z,1761546056.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963321,0.262087,0.057650],[-0.267944,0.951244,0.152778],[-0.014798,-0.162621,0.986578]] 2025-10-27T06:20:56.072Z,1761546056.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.505240 s, deltaX: -0.299999 m, approachRate: -0.593776 m/s, rangeRepo size: 4 2025-10-27T06:20:56.074Z,1761546056.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.506646 m, bearing: 350.801339 deg, lat: 36.779449 deg, lon: -121.859828 deg, deltaT: 0.505240 s, deltaX: -0.298081 m, approachRate: -0.589980 m/s, posRepo size: 4 2025-10-27T06:20:56.079Z,1761546056.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-27T06:20:56.082Z,1761546056.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.506646 m, nav range: 13.953047 m, bearing: 350.853057 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 343.760662 deg, new cmd heading: 343.877146 deg. 2025-10-27T06:20:56.087Z,1761546056.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001789 target range: 14.506646 and range: 14.60 m. 2025-10-27T06:20:56.176Z,1761546056.176 [DAT](INFO): DAT read: Rx Time:06:20:55.0300 2025-10-27T06:20:56.178Z,1761546056.178 [DAT](INFO): Rx dataTimestamp_ set to:1761546056.176806 2025-10-27T06:20:56.180Z,1761546056.180 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.873405 2025-10-27T06:20:56.426Z,1761546056.426 [DAT](INFO): DAT read: Bearing 163.5, -1.0 (Local) 2025-10-27T06:20:56.426Z,1761546056.426 [DAT](INFO): Local bearing/azimuth received: Bearing 163.5, -1.0 (Local) 2025-10-27T06:20:56.429Z,1761546056.429 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 2025-10-27T06:20:56.437Z,1761546056.437 [DAT](INFO): DAT read: 06:20:55.0300 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511, 0.27,-2.606, 1.867,-2.571,-2.654, PHS= 0.150,-1.717, 0.039, RAW= 147.0, 16.6, CAL= 146.9, 18.3, ROT= 3.1, -18.3 2025-10-27T06:20:56.438Z,1761546056.438 [DAT](INFO): got valid direction response: 06:20:55.0300 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511, 0.27,-2.606, 1.867,-2.571,-2.654, PHS= 0.150,-1.717, 0.039, RAW= 147.0, 16.6, CAL= 146.9, 18.3, ROT= 3.1, -18.3 2025-10-27T06:20:56.438Z,1761546056.438 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T06:20:56.439Z,1761546056.439 [DAT](INFO): direction in FSK: [0.948036,0.051344,0.313992] 2025-10-27T06:20:56.439Z,1761546056.439 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:56.452Z,1761546056.452 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.145889 2025-10-27T06:20:56.508Z,1761546056.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962747,0.263428,0.061021],[-0.269857,0.950355,0.154930],[-0.017179,-0.165625,0.986039]] 2025-10-27T06:20:56.596Z,1761546056.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.501803 s, deltaX: -0.200001 m, approachRate: -0.398564 m/s, rangeRepo size: 4 2025-10-27T06:20:56.598Z,1761546056.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.307837 m, bearing: 350.489019 deg, lat: 36.779449 deg, lon: -121.859830 deg, deltaT: 0.501803 s, deltaX: -0.198810 m, approachRate: -0.396191 m/s, posRepo size: 4 2025-10-27T06:20:56.603Z,1761546056.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:20:56.606Z,1761546056.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.307837 m, nav range: 13.712081 m, bearing: 350.567760 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 343.877157 deg, new cmd heading: 344.005481 deg. 2025-10-27T06:20:56.611Z,1761546056.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004028 target range: 14.307837 and range: 14.40 m. 2025-10-27T06:20:56.685Z,1761546056.685 [DAT](INFO): DAT read: Rx Time:06:20:55.5297 2025-10-27T06:20:56.686Z,1761546056.686 [DAT](INFO): Rx dataTimestamp_ set to:1761546056.685443 2025-10-27T06:20:56.690Z,1761546056.690 [DAT](INFO): DAT read: Bearing 160.2, 0.3 (Local) 2025-10-27T06:20:56.691Z,1761546056.691 [DAT](INFO): Local bearing/azimuth received: Bearing 160.2, 0.3 (Local) 2025-10-27T06:20:56.697Z,1761546056.697 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-27T06:20:56.700Z,1761546056.700 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-27T06:20:56.705Z,1761546056.705 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.395618 2025-10-27T06:20:56.938Z,1761546056.938 [DAT](INFO): DAT read: 06:20:55.5297 LVL= 27216, 32753, 31074, 32755, AGC= 58, IDX= 509,-0.09, 0.309,-1.544, 0.316, 0.147, PHS= 0.264,-1.646, 0.125, RAW= 146.3, 13.5, CAL= 146.0, 14.8, ROT= 4.0, -14.8 2025-10-27T06:20:56.940Z,1761546056.940 [DAT](INFO): got valid direction response: 06:20:55.5297 LVL= 27216, 32753, 31074, 32755, AGC= 58, IDX= 509,-0.09, 0.309,-1.544, 0.316, 0.147, PHS= 0.264,-1.646, 0.125, RAW= 146.3, 13.5, CAL= 146.0, 14.8, ROT= 4.0, -14.8 2025-10-27T06:20:56.940Z,1761546056.940 [DAT](INFO): #Rx 95: Read direction message, but no range. 2025-10-27T06:20:56.942Z,1761546056.942 [DAT](INFO): direction in FSK: [0.964468,0.067442,0.255446] 2025-10-27T06:20:56.977Z,1761546056.977 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.670288 2025-10-27T06:20:56.999Z,1761546056.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962149,0.264855,0.064202],[-0.271847,0.949350,0.157589],[-0.019212,-0.169077,0.985416]] 2025-10-27T06:20:57.057Z,1761546057.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.261613 s, deltaX: -0.400000 m, approachRate: -1.528975 m/s, rangeRepo size: 4 2025-10-27T06:20:57.063Z,1761546057.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.910397 m, bearing: 350.680512 deg, lat: 36.779449 deg, lon: -121.859830 deg, deltaT: 0.261613 s, deltaX: -0.397440 m, approachRate: -1.519190 m/s, posRepo size: 4 2025-10-27T06:20:57.064Z,1761546057.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T06:20:57.066Z,1761546057.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.910397 m, nav range: 13.483493 m, bearing: 350.747260 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 344.005483 deg, new cmd heading: 344.118232 deg. 2025-10-27T06:20:57.072Z,1761546057.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.005996 target range: 13.910397 and range: 14.00 m. 2025-10-27T06:20:57.188Z,1761546057.188 [DAT](INFO): DAT read: Rx Time:06:20:56.0296 2025-10-27T06:20:57.190Z,1761546057.190 [DAT](INFO): Rx dataTimestamp_ set to:1761546057.189203 2025-10-27T06:20:57.195Z,1761546057.195 [DAT](INFO): DAT read: Bearing 161.8, -0.4 (Local) 2025-10-27T06:20:57.196Z,1761546057.196 [DAT](INFO): Local bearing/azimuth received: Bearing 161.8, -0.4 (Local) 2025-10-27T06:20:57.202Z,1761546057.202 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 2025-10-27T06:20:57.204Z,1761546057.204 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T06:20:57.214Z,1761546057.214 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.906494 2025-10-27T06:20:57.425Z,1761546057.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961655,0.265948,0.067021],[-0.273451,0.948526,0.159757],[-0.021085,-0.171958,0.984879]] 2025-10-27T06:20:57.446Z,1761546057.446 [DAT](INFO): DAT read: 06:20:56.0296 LVL= 30144, 32753, 32754, 32755, AGC= 59, IDX= 507, 0.27, 1.999, 0.134, 2.008, 1.884, PHS= 0.217,-1.705, 0.080, RAW= 146.3, 15.0, CAL= 146.2, 16.5, ROT= 3.8, -16.5 2025-10-27T06:20:57.452Z,1761546057.452 [DAT](INFO): got valid direction response: 06:20:56.0296 LVL= 30144, 32753, 32754, 32755, AGC= 59, IDX= 507, 0.27, 1.999, 0.134, 2.008, 1.884, PHS= 0.217,-1.705, 0.080, RAW= 146.3, 15.0, CAL= 146.2, 16.5, ROT= 3.8, -16.5 2025-10-27T06:20:57.452Z,1761546057.452 [DAT](INFO): #Rx 97: Read direction message, but no range. 2025-10-27T06:20:57.453Z,1761546057.453 [DAT](INFO): direction in FSK: [0.956712,0.063545,0.284015] 2025-10-27T06:20:57.457Z,1761546057.457 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.150208 2025-10-27T06:20:57.489Z,1761546057.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503760 s, deltaX: -0.200000 m, approachRate: -0.397014 m/s, rangeRepo size: 4 2025-10-27T06:20:57.519Z,1761546057.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.711792 m, bearing: 350.733743 deg, lat: 36.779449 deg, lon: -121.859830 deg, deltaT: 0.503760 s, deltaX: -0.198605 m, approachRate: -0.394244 m/s, posRepo size: 4 2025-10-27T06:20:57.520Z,1761546057.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.71 m. 2025-10-27T06:20:57.527Z,1761546057.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.711792 m, nav range: 13.263309 m, bearing: 350.885678 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 344.118236 deg, new cmd heading: 344.224107 deg. 2025-10-27T06:20:57.528Z,1761546057.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007844 target range: 13.711792 and range: 13.80 m. 2025-10-27T06:20:57.692Z,1761546057.692 [DAT](INFO): DAT read: Rx Time:06:20:56.5293 2025-10-27T06:20:57.693Z,1761546057.693 [DAT](INFO): Rx dataTimestamp_ set to:1761546057.692318 2025-10-27T06:20:57.701Z,1761546057.701 [DAT](INFO): DAT read: Bearing 161.1, 0.4 (Local) 2025-10-27T06:20:57.702Z,1761546057.702 [DAT](INFO): Local bearing/azimuth received: Bearing 161.1, 0.4 (Local) 2025-10-27T06:20:57.722Z,1761546057.722 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 2025-10-27T06:20:57.746Z,1761546057.746 [DAT](INFO): DAT read: 06:20:56.5293 LVL= 26912, 32753, 32034, 32755, AGC= 58, IDX= 505,-0.16,-1.349, 3.061,-1.365,-1.501, PHS= 0.254,-1.676, 0.092, RAW= 145.7, 14.2, CAL= 145.4, 15.6, ROT= 4.6, -15.6 2025-10-27T06:20:57.752Z,1761546057.752 [DAT](INFO): got valid direction response: 06:20:56.5293 LVL= 26912, 32753, 32034, 32755, AGC= 58, IDX= 505,-0.16,-1.349, 3.061,-1.365,-1.501, PHS= 0.254,-1.676, 0.092, RAW= 145.7, 14.2, CAL= 145.4, 15.6, ROT= 4.6, -15.6 2025-10-27T06:20:57.752Z,1761546057.752 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T06:20:57.753Z,1761546057.753 [DAT](INFO): direction in FSK: [0.960060,0.077245,0.268920] 2025-10-27T06:20:57.754Z,1761546057.754 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:57.758Z,1761546057.758 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.451893 2025-10-27T06:20:57.794Z,1761546057.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961035,0.267722,0.068819],[-0.275469,0.948246,0.157945],[-0.022972,-0.170748,0.985047]] 2025-10-27T06:20:57.861Z,1761546057.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503115 s, deltaX: -0.400001 m, approachRate: -0.795048 m/s, rangeRepo size: 4 2025-10-27T06:20:57.866Z,1761546057.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.314348 m, bearing: 351.208991 deg, lat: 36.779449 deg, lon: -121.859830 deg, deltaT: 0.503115 s, deltaX: -0.397444 m, approachRate: -0.789966 m/s, posRepo size: 4 2025-10-27T06:20:57.867Z,1761546057.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m. 2025-10-27T06:20:57.877Z,1761546057.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.314348 m, nav range: 13.090608 m, bearing: 351.050655 deg, approach rate: 0.000000 m/s, LOS rate: 0.081630 deg/s, cmd heading: 344.224104 deg, new cmd heading: 344.315108 deg. 2025-10-27T06:20:57.878Z,1761546057.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009432 target range: 13.314348 and range: 13.40 m. 2025-10-27T06:20:57.941Z,1761546057.941 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.633953 2025-10-27T06:20:58.196Z,1761546058.196 [DAT](INFO): DAT read: Rx Time:06:20:57.0293 2025-10-27T06:20:58.197Z,1761546058.197 [DAT](INFO): Rx dataTimestamp_ set to:1761546058.196405 2025-10-27T06:20:58.205Z,1761546058.205 [DAT](INFO): DAT read: Bearing 161.8, 0.2 (Local) 2025-10-27T06:20:58.206Z,1761546058.206 [DAT](INFO): Local bearing/azimuth received: Bearing 161.8, 0.2 (Local) 2025-10-27T06:20:58.210Z,1761546058.210 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 2025-10-27T06:20:58.222Z,1761546058.222 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-27T06:20:58.225Z,1761546058.225 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.918713 2025-10-27T06:20:58.268Z,1761546058.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960557,0.269117,0.070044],[-0.276988,0.948259,0.155186],[-0.024657,-0.168466,0.985399]] 2025-10-27T06:20:58.306Z,1761546058.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:20:58.313Z,1761546058.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504087 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:20:58.314Z,1761546058.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m. 2025-10-27T06:20:58.321Z,1761546058.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.314348 m, nav range: 12.853243 m, bearing: 351.286704 deg, approach rate: -0.524801 m/s, LOS rate: 0.531530 deg/s, cmd heading: 344.315109 deg, new cmd heading: 345.036295 deg. 2025-10-27T06:20:58.322Z,1761546058.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022019 target range: 13.314348 and range: 13.40 m. 2025-10-27T06:20:58.448Z,1761546058.448 [DAT](INFO): DAT read: 06:20:57.0293 LVL= 30416, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.09, 2.283, 0.388, 2.263, 2.149, PHS= 0.235,-1.716, 0.070, RAW= 145.6, 14.9, CAL= 145.3, 16.3, ROT= 4.7, -16.3 2025-10-27T06:20:58.449Z,1761546058.449 [DAT](INFO): got valid direction response: 06:20:57.0293 LVL= 30416, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.09, 2.283, 0.388, 2.263, 2.149, PHS= 0.235,-1.716, 0.070, RAW= 145.6, 14.9, CAL= 145.3, 16.3, ROT= 4.7, -16.3 2025-10-27T06:20:58.449Z,1761546058.449 [DAT](INFO): #Rx 100: Read direction message, but no range. 2025-10-27T06:20:58.450Z,1761546058.450 [DAT](INFO): direction in FSK: [0.956578,0.078645,0.280667] 2025-10-27T06:20:58.458Z,1761546058.458 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.151581 2025-10-27T06:20:58.623Z,1761546058.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960301,0.269693,0.071326],[-0.277692,0.948543,0.152164],[-0.026618,-0.165930,0.985778]] 2025-10-27T06:20:58.700Z,1761546058.700 [DAT](INFO): DAT read: Rx Time:06:20:57.5291 2025-10-27T06:20:58.702Z,1761546058.702 [DAT](INFO): Rx dataTimestamp_ set to:1761546058.701008 2025-10-27T06:20:58.707Z,1761546058.707 [DAT](INFO): DAT read: Bearing 162.1, 0.4 (Local) 2025-10-27T06:20:58.708Z,1761546058.708 [DAT](INFO): Local bearing/azimuth received: Bearing 162.1, 0.4 (Local) 2025-10-27T06:20:58.727Z,1761546058.727 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-27T06:20:58.752Z,1761546058.752 [DAT](INFO): DAT read: 06:20:57.5291 LVL= 27936, 32753, 31858, 32755, AGC= 59, IDX= 502,-0.48,-0.090,-1.987,-0.123,-0.221, PHS= 0.233,-1.721, 0.055, RAW= 145.3, 15.1, CAL= 144.9, 16.5, ROT= 5.1, -16.5 2025-10-27T06:20:58.753Z,1761546058.753 [DAT](INFO): got valid direction response: 06:20:57.5291 LVL= 27936, 32753, 31858, 32755, AGC= 59, IDX= 502,-0.48,-0.090,-1.987,-0.123,-0.221, PHS= 0.233,-1.721, 0.055, RAW= 145.3, 15.1, CAL= 144.9, 16.5, ROT= 5.1, -16.5 2025-10-27T06:20:58.754Z,1761546058.754 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T06:20:58.755Z,1761546058.755 [DAT](INFO): direction in FSK: [0.955024,0.085234,0.284015] 2025-10-27T06:20:58.761Z,1761546058.761 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:58.763Z,1761546058.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m. 2025-10-27T06:20:58.766Z,1761546058.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.314348 m, nav range: 12.665182 m, bearing: 351.467969 deg, approach rate: -0.419210 m/s, LOS rate: 0.410060 deg/s, cmd heading: 345.036295 deg, new cmd heading: 345.588145 deg. 2025-10-27T06:20:58.770Z,1761546058.770 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.463448 2025-10-27T06:20:58.775Z,1761546058.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031651 target range: 13.314348 and range: 13.40 m. 2025-10-27T06:20:58.948Z,1761546058.948 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.641682 2025-10-27T06:20:59.025Z,1761546059.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960008,0.270429,0.072479],[-0.278509,0.948872,0.148573],[-0.028595,-0.162818,0.986242]] 2025-10-27T06:20:59.060Z,1761546059.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504603 s, deltaX: -0.500000 m, approachRate: -0.990878 m/s, rangeRepo size: 4 2025-10-27T06:20:59.062Z,1761546059.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.817483 m, bearing: 351.536925 deg, lat: 36.779449 deg, lon: -121.859830 deg, deltaT: 1.008690 s, deltaX: -0.496865 m, approachRate: -0.492585 m/s, posRepo size: 4 2025-10-27T06:20:59.062Z,1761546059.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:20:59.066Z,1761546059.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.817483 m, nav range: 12.493698 m, bearing: 351.582679 deg, approach rate: 0.000000 m/s, LOS rate: 0.410060 deg/s, cmd heading: 345.588147 deg, new cmd heading: 345.954543 deg. 2025-10-27T06:20:59.067Z,1761546059.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038046 target range: 12.817483 and range: 12.90 m. 2025-10-27T06:20:59.204Z,1761546059.204 [DAT](INFO): DAT read: Rx Time:06:20:58.0290 2025-10-27T06:20:59.206Z,1761546059.206 [DAT](INFO): Rx dataTimestamp_ set to:1761546059.204822 2025-10-27T06:20:59.210Z,1761546059.210 [DAT](INFO): DAT read: Bearing 159.5, 0.8 (Local) 2025-10-27T06:20:59.211Z,1761546059.211 [DAT](INFO): Local bearing/azimuth received: Bearing 159.5, 0.8 (Local) 2025-10-27T06:20:59.235Z,1761546059.235 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 2025-10-27T06:20:59.262Z,1761546059.262 [DAT](INFO): DAT read: 06:20:58.0290 LVL= 23904, 32753, 27122, 32755, AGC= 57, IDX= 501,-0.02, 0.533,-1.382, 0.502, 0.318, PHS= 0.317,-1.656, 0.139, RAW= 145.3, 12.6, CAL= 145.0, 13.8, ROT= 5.0, -13.8 2025-10-27T06:20:59.269Z,1761546059.269 [DAT](INFO): got valid direction response: 06:20:58.0290 LVL= 23904, 32753, 27122, 32755, AGC= 57, IDX= 501,-0.02, 0.533,-1.382, 0.502, 0.318, PHS= 0.317,-1.656, 0.139, RAW= 145.3, 12.6, CAL= 145.0, 13.8, ROT= 5.0, -13.8 2025-10-27T06:20:59.269Z,1761546059.269 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T06:20:59.271Z,1761546059.271 [DAT](INFO): direction in FSK: [0.967439,0.084640,0.238533] 2025-10-27T06:20:59.280Z,1761546059.280 [DAT](INFO): publishing direction and range info 2025-10-27T06:20:59.285Z,1761546059.285 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.978275 2025-10-27T06:20:59.454Z,1761546059.454 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.147350 2025-10-27T06:20:59.468Z,1761546059.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959867,0.270412,0.074389],[-0.278790,0.948862,0.148112],[-0.030534,-0.162907,0.986169]] 2025-10-27T06:20:59.561Z,1761546059.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503814 s, deltaX: -0.099999 m, approachRate: -0.198485 m/s, rangeRepo size: 4 2025-10-27T06:20:59.564Z,1761546059.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.718085 m, bearing: 350.967835 deg, lat: 36.779449 deg, lon: -121.859830 deg, deltaT: 0.503814 s, deltaX: -0.099398 m, approachRate: -0.197290 m/s, posRepo size: 4 2025-10-27T06:20:59.564Z,1761546059.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-27T06:20:59.592Z,1761546059.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.718085 m, nav range: 12.268564 m, bearing: 351.713899 deg, approach rate: 0.000000 m/s, LOS rate: 0.410060 deg/s, cmd heading: 345.954546 deg, new cmd heading: 346.571144 deg. 2025-10-27T06:20:59.593Z,1761546059.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048808 target range: 12.718085 and range: 12.80 m. 2025-10-27T06:20:59.710Z,1761546059.710 [DAT](INFO): DAT read: Rx Time:06:20:58.5288 2025-10-27T06:20:59.712Z,1761546059.712 [DAT](INFO): Rx dataTimestamp_ set to:1761546059.710317 2025-10-27T06:20:59.717Z,1761546059.717 [DAT](INFO): DAT read: Bearing 158.0, 1.0 (Local) 2025-10-27T06:20:59.718Z,1761546059.718 [DAT](INFO): Local bearing/azimuth received: Bearing 158.0, 1.0 (Local) 2025-10-27T06:20:59.725Z,1761546059.725 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T06:20:59.726Z,1761546059.726 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T06:20:59.745Z,1761546059.745 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.437859 2025-10-27T06:20:59.834Z,1761546059.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959905,0.269880,0.075804],[-0.278479,0.949033,0.147598],[-0.032106,-0.162790,0.986138]] 2025-10-27T06:20:59.862Z,1761546059.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505495 s, deltaX: -0.300000 m, approachRate: -0.593478 m/s, rangeRepo size: 4 2025-10-27T06:20:59.862Z,1761546059.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-27T06:20:59.865Z,1761546059.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.718085 m, nav range: 12.109528 m, bearing: 351.807872 deg, approach rate: -0.528663 m/s, LOS rate: 0.316485 deg/s, cmd heading: 346.571148 deg, new cmd heading: 346.856768 deg. 2025-10-27T06:20:59.866Z,1761546059.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053792 target range: 12.718085 and range: 12.50 m. 2025-10-27T06:20:59.960Z,1761546059.960 [DAT](INFO): DAT read: 06:20:58.5288 LVL= 22480, 32753, 26226, 32755, AGC= 55, IDX= 498, 0.36, 0.200,-1.739, 0.163,-0.071, PHS= 0.373,-1.624, 0.190, RAW= 145.3, 11.1, CAL= 144.9, 12.1, ROT= 5.1, -12.1 2025-10-27T06:20:59.961Z,1761546059.961 [DAT](INFO): got valid direction response: 06:20:58.5288 LVL= 22480, 32753, 26226, 32755, AGC= 55, IDX= 498, 0.36, 0.200,-1.739, 0.163,-0.071, PHS= 0.373,-1.624, 0.190, RAW= 145.3, 11.1, CAL= 144.9, 12.1, ROT= 5.1, -12.1 2025-10-27T06:20:59.961Z,1761546059.961 [DAT](INFO): #Rx 104: Read direction message, but no range. 2025-10-27T06:20:59.962Z,1761546059.962 [DAT](INFO): direction in FSK: [0.973912,0.086919,0.209619] 2025-10-27T06:20:59.966Z,1761546059.966 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.659595 2025-10-27T06:21:00.213Z,1761546060.213 [DAT](INFO): DAT read: Rx Time:06:20:59.0287 2025-10-27T06:21:00.215Z,1761546060.215 [DAT](INFO): Rx dataTimestamp_ set to:1761546060.213751 2025-10-27T06:21:00.218Z,1761546060.218 [DAT](INFO): DAT read: Bearing 159.7, 0.6 (Local) 2025-10-27T06:21:00.228Z,1761546060.228 [DAT](INFO): Local bearing/azimuth received: Bearing 159.7, 0.6 (Local) 2025-10-27T06:21:00.231Z,1761546060.231 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T06:21:00.261Z,1761546060.261 [DAT](INFO): DAT read: 06:20:59.0287 LVL= 24944, 32753, 27538, 32755, AGC= 56, IDX= 498,-0.09,-1.028,-2.976,-1.065,-1.251, PHS= 0.325,-1.680, 0.142, RAW= 145.3, 12.6, CAL= 144.9, 13.7, ROT= 5.1, -13.7 2025-10-27T06:21:00.262Z,1761546060.262 [DAT](INFO): got valid direction response: 06:20:59.0287 LVL= 24944, 32753, 27538, 32755, AGC= 56, IDX= 498,-0.09,-1.028,-2.976,-1.065,-1.251, PHS= 0.325,-1.680, 0.142, RAW= 145.3, 12.6, CAL= 144.9, 13.7, ROT= 5.1, -13.7 2025-10-27T06:21:00.267Z,1761546060.267 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T06:21:00.268Z,1761546060.268 [DAT](INFO): direction in FSK: [0.967703,0.086365,0.236838] 2025-10-27T06:21:00.268Z,1761546060.268 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:00.276Z,1761546060.276 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=48.969608 2025-10-27T06:21:00.326Z,1761546060.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503434 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:00.333Z,1761546060.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.420005 m, bearing: 351.063052 deg, lat: 36.779449 deg, lon: -121.859830 deg, deltaT: 1.008929 s, deltaX: -0.298080 m, approachRate: -0.295442 m/s, posRepo size: 4 2025-10-27T06:21:00.333Z,1761546060.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:21:00.344Z,1761546060.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.420005 m, nav range: 11.893126 m, bearing: 351.837348 deg, approach rate: 0.000000 m/s, LOS rate: 0.316485 deg/s, cmd heading: 346.856759 deg, new cmd heading: 347.297402 deg. 2025-10-27T06:21:00.345Z,1761546060.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.061483 target range: 12.420005 and range: 12.50 m. 2025-10-27T06:21:00.461Z,1761546060.461 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.154434 2025-10-27T06:21:00.641Z,1761546060.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960393,0.267511,0.077992],[-0.276423,0.949943,0.145594],[-0.035140,-0.161386,0.986265]] 2025-10-27T06:21:00.718Z,1761546060.718 [DAT](INFO): DAT read: Rx Time:06:20:59.5285 2025-10-27T06:21:00.719Z,1761546060.719 [DAT](INFO): Rx dataTimestamp_ set to:1761546060.718763 2025-10-27T06:21:00.721Z,1761546060.721 [DAT](INFO): DAT read: Bearing 159.1, 0.7 (Local) 2025-10-27T06:21:00.722Z,1761546060.722 [DAT](INFO): Local bearing/azimuth received: Bearing 159.1, 0.7 (Local) 2025-10-27T06:21:00.726Z,1761546060.726 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 2025-10-27T06:21:00.760Z,1761546060.760 [DAT](INFO): DAT read: 06:20:59.5285 LVL= 23776, 32753, 26914, 32755, AGC= 56, IDX= 511, 0.34,-1.194, 3.126,-1.236,-1.446, PHS= 0.354,-1.666, 0.166, RAW= 145.2, 11.8, CAL= 144.8, 12.9, ROT= 5.2, -12.9 2025-10-27T06:21:00.761Z,1761546060.761 [DAT](INFO): got valid direction response: 06:20:59.5285 LVL= 23776, 32753, 26914, 32755, AGC= 56, IDX= 511, 0.34,-1.194, 3.126,-1.236,-1.446, PHS= 0.354,-1.666, 0.166, RAW= 145.2, 11.8, CAL= 144.8, 12.9, ROT= 5.2, -12.9 2025-10-27T06:21:00.762Z,1761546060.762 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T06:21:00.763Z,1761546060.763 [DAT](INFO): direction in FSK: [0.970749,0.088345,0.223250] 2025-10-27T06:21:00.775Z,1761546060.775 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:00.785Z,1761546060.785 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.472221 2025-10-27T06:21:00.815Z,1761546060.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.505012 s, deltaX: -0.300000 m, approachRate: -0.594046 m/s, rangeRepo size: 4 2025-10-27T06:21:00.817Z,1761546060.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.121955 m, bearing: 351.129370 deg, lat: 36.779451 deg, lon: -121.859832 deg, deltaT: 0.505012 s, deltaX: -0.298050 m, approachRate: -0.590184 m/s, posRepo size: 4 2025-10-27T06:21:00.818Z,1761546060.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m. 2025-10-27T06:21:00.829Z,1761546060.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.121955 m, nav range: 11.869086 m, bearing: 351.162905 deg, approach rate: 0.000000 m/s, LOS rate: 0.316485 deg/s, cmd heading: 347.297388 deg, new cmd heading: 347.758182 deg. 2025-10-27T06:21:00.830Z,1761546060.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069525 target range: 12.121955 and range: 12.20 m. 2025-10-27T06:21:00.964Z,1761546060.964 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.657539 2025-10-27T06:21:01.095Z,1761546061.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961254,0.264540,0.077513],[-0.273178,0.951825,0.139296],[-0.036930,-0.155074,0.987212]] 2025-10-27T06:21:01.113Z,1761546061.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:01.115Z,1761546061.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m. 2025-10-27T06:21:01.118Z,1761546061.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.121955 m, nav range: 11.710739 m, bearing: 351.156736 deg, approach rate: -0.520480 m/s, LOS rate: -0.020550 deg/s, cmd heading: 347.758180 deg, new cmd heading: 347.739424 deg. 2025-10-27T06:21:01.119Z,1761546061.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.069198 target range: 12.121955 and range: 12.20 m. 2025-10-27T06:21:01.219Z,1761546061.219 [DAT](INFO): DAT read: Rx Time:06:21:00.0283 2025-10-27T06:21:01.219Z,1761546061.219 [DAT](INFO): Rx dataTimestamp_ set to:1761546061.219216 2025-10-27T06:21:01.222Z,1761546061.222 [DAT](INFO): DAT read: Bearing 161.0, 0.5 (Local) 2025-10-27T06:21:01.222Z,1761546061.222 [DAT](INFO): Local bearing/azimuth received: Bearing 161.0, 0.5 (Local) 2025-10-27T06:21:01.226Z,1761546061.226 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 2025-10-27T06:21:01.242Z,1761546061.242 [DAT](INFO): DAT read: 06:21:00.0283 LVL= 30320, 32753, 32226, 32755, AGC= 58, IDX= 510, 0.00,-2.932, 1.375,-2.978,-3.137, PHS= 0.307,-1.726, 0.115, RAW= 145.1, 13.3, CAL= 144.7, 14.6, ROT= 5.3, -14.6 2025-10-27T06:21:01.248Z,1761546061.248 [DAT](INFO): got valid direction response: 06:21:00.0283 LVL= 30320, 32753, 32226, 32755, AGC= 58, IDX= 510, 0.00,-2.932, 1.375,-2.978,-3.137, PHS= 0.307,-1.726, 0.115, RAW= 145.1, 13.3, CAL= 144.7, 14.6, ROT= 5.3, -14.6 2025-10-27T06:21:01.248Z,1761546061.248 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T06:21:01.249Z,1761546061.249 [DAT](INFO): direction in FSK: [0.963572,0.089388,0.252069] 2025-10-27T06:21:01.249Z,1761546061.249 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:01.257Z,1761546061.257 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=49.950729 2025-10-27T06:21:01.471Z,1761546061.471 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.164108 2025-10-27T06:21:01.496Z,1761546061.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962392,0.260818,0.075991],[-0.268913,0.954321,0.130222],[-0.038556,-0.145760,0.988568]] 2025-10-27T06:21:01.588Z,1761546061.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.500453 s, deltaX: -0.300000 m, approachRate: -0.599457 m/s, rangeRepo size: 4 2025-10-27T06:21:01.590Z,1761546061.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.823833 m, bearing: 351.728438 deg, lat: 36.779452 deg, lon: -121.859832 deg, deltaT: 0.500453 s, deltaX: -0.298122 m, approachRate: -0.595705 m/s, posRepo size: 4 2025-10-27T06:21:01.596Z,1761546061.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m. 2025-10-27T06:21:01.598Z,1761546061.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.823833 m, nav range: 11.577666 m, bearing: 351.071413 deg, approach rate: 0.000000 m/s, LOS rate: -0.020550 deg/s, cmd heading: 347.739411 deg, new cmd heading: 347.710256 deg. 2025-10-27T06:21:01.604Z,1761546061.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068689 target range: 11.823833 and range: 11.90 m. 2025-10-27T06:21:01.722Z,1761546061.722 [DAT](INFO): DAT read: Rx Time:06:21:00.5281 2025-10-27T06:21:01.724Z,1761546061.724 [DAT](INFO): Rx dataTimestamp_ set to:1761546061.722917 2025-10-27T06:21:01.726Z,1761546061.726 [DAT](INFO): DAT read: Bearing 161.9, 0.6 (Local) 2025-10-27T06:21:01.726Z,1761546061.726 [DAT](INFO): Local bearing/azimuth received: Bearing 161.9, 0.6 (Local) 2025-10-27T06:21:01.731Z,1761546061.731 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 2025-10-27T06:21:01.740Z,1761546061.740 [DAT](INFO): DAT read: 06:21:00.5281 LVL= 31696, 32753, 32754, 32755, AGC= 59, IDX= 508,-0.30, 0.400,-1.587, 0.350, 0.212, PHS= 0.290,-1.754, 0.093, RAW= 145.0, 13.9, CAL= 144.6, 15.2, ROT= 5.4, -15.2 2025-10-27T06:21:01.742Z,1761546061.742 [DAT](INFO): got valid direction response: 06:21:00.5281 LVL= 31696, 32753, 32754, 32755, AGC= 59, IDX= 508,-0.30, 0.400,-1.587, 0.350, 0.212, PHS= 0.290,-1.754, 0.093, RAW= 145.0, 13.9, CAL= 144.6, 15.2, ROT= 5.4, -15.2 2025-10-27T06:21:01.742Z,1761546061.742 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T06:21:01.743Z,1761546061.743 [DAT](INFO): direction in FSK: [0.960734,0.090816,0.262189] 2025-10-27T06:21:01.743Z,1761546061.743 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:01.751Z,1761546061.751 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.444859 2025-10-27T06:21:01.903Z,1761546061.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963672,0.256290,0.075177],[-0.264043,0.956548,0.123678],[-0.040213,-0.139035,0.989471]] 2025-10-27T06:21:01.950Z,1761546061.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503701 s, deltaX: -0.299999 m, approachRate: -0.595590 m/s, rangeRepo size: 4 2025-10-27T06:21:01.964Z,1761546061.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.525753 m, bearing: 352.103277 deg, lat: 36.779452 deg, lon: -121.859832 deg, deltaT: 0.503701 s, deltaX: -0.298079 m, approachRate: -0.591779 m/s, posRepo size: 4 2025-10-27T06:21:01.964Z,1761546061.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-27T06:21:01.972Z,1761546061.972 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.665615 2025-10-27T06:21:01.973Z,1761546061.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.525753 m, nav range: 11.413145 m, bearing: 350.951624 deg, approach rate: 0.000000 m/s, LOS rate: -0.020550 deg/s, cmd heading: 347.710259 deg, new cmd heading: 347.688335 deg. 2025-10-27T06:21:01.974Z,1761546061.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.068306 target range: 11.525753 and range: 11.60 m. 2025-10-27T06:21:02.226Z,1761546062.226 [DAT](INFO): DAT read: Rx Time:06:21:01.0280 2025-10-27T06:21:02.227Z,1761546062.227 [DAT](INFO): Rx dataTimestamp_ set to:1761546062.226296 2025-10-27T06:21:02.229Z,1761546062.229 [DAT](INFO): DAT read: Bearing 160.8, 1.0 (Local) 2025-10-27T06:21:02.229Z,1761546062.229 [DAT](INFO): Local bearing/azimuth received: Bearing 160.8, 1.0 (Local) 2025-10-27T06:21:02.233Z,1761546062.233 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4 2025-10-27T06:21:02.241Z,1761546062.241 [DAT](INFO): DAT read: 06:21:01.0280 LVL= 29152, 32753, 29458, 32755, AGC= 58, IDX= 507, 0.22,-2.536, 1.758,-2.591,-2.772, PHS= 0.338,-1.708, 0.137, RAW= 144.9, 12.6, CAL= 144.5, 13.7, ROT= 5.5, -13.7 2025-10-27T06:21:02.242Z,1761546062.242 [DAT](INFO): got valid direction response: 06:21:01.0280 LVL= 29152, 32753, 29458, 32755, AGC= 58, IDX= 507, 0.22,-2.536, 1.758,-2.591,-2.772, PHS= 0.338,-1.708, 0.137, RAW= 144.9, 12.6, CAL= 144.5, 13.7, ROT= 5.5, -13.7 2025-10-27T06:21:02.242Z,1761546062.242 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T06:21:02.244Z,1761546062.244 [DAT](INFO): direction in FSK: [0.967076,0.093119,0.236838] 2025-10-27T06:21:02.244Z,1761546062.244 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:02.248Z,1761546062.248 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=50.941204 2025-10-27T06:21:02.302Z,1761546062.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965147,0.251022,0.074019],[-0.258391,0.958893,0.117299],[-0.041531,-0.132336,0.990334]] 2025-10-27T06:21:02.376Z,1761546062.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503379 s, deltaX: -0.200001 m, approachRate: -0.397316 m/s, rangeRepo size: 4 2025-10-27T06:21:02.378Z,1761546062.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.327032 m, bearing: 352.237383 deg, lat: 36.779452 deg, lon: -121.859831 deg, deltaT: 0.503379 s, deltaX: -0.198721 m, approachRate: -0.394774 m/s, posRepo size: 4 2025-10-27T06:21:02.383Z,1761546062.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T06:21:02.386Z,1761546062.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.327032 m, nav range: 11.202464 m, bearing: 351.458469 deg, approach rate: 0.000000 m/s, LOS rate: -0.020550 deg/s, cmd heading: 347.688348 deg, new cmd heading: 347.661668 deg. 2025-10-27T06:21:02.392Z,1761546062.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067841 target range: 11.327032 and range: 11.40 m. 2025-10-27T06:21:02.479Z,1761546062.479 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.171535 2025-10-27T06:21:02.730Z,1761546062.730 [DAT](INFO): DAT read: Rx Time:06:21:01.5278 2025-10-27T06:21:02.731Z,1761546062.731 [DAT](INFO): Rx dataTimestamp_ set to:1761546062.730376 2025-10-27T06:21:02.733Z,1761546062.733 [DAT](INFO): DAT read: Bearing 161.9, 1.3 (Local) 2025-10-27T06:21:02.734Z,1761546062.734 [DAT](INFO): Local bearing/azimuth received: Bearing 161.9, 1.3 (Local) 2025-10-27T06:21:02.738Z,1761546062.738 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 2025-10-27T06:21:02.747Z,1761546062.747 [DAT](INFO): DAT read: 06:21:01.5278 LVL= 29520, 32753, 31154, 32755, AGC= 58, IDX= 505,-0.11, 1.014,-0.983, 0.943, 0.791, PHS= 0.324,-1.730, 0.108, RAW= 144.5, 13.2, CAL= 144.1, 14.4, ROT= 5.9, -14.4 2025-10-27T06:21:02.750Z,1761546062.750 [DAT](INFO): got valid direction response: 06:21:01.5278 LVL= 29520, 32753, 31154, 32755, AGC= 58, IDX= 505,-0.11, 1.014,-0.983, 0.943, 0.791, PHS= 0.324,-1.730, 0.108, RAW= 144.5, 13.2, CAL= 144.1, 14.4, ROT= 5.9, -14.4 2025-10-27T06:21:02.759Z,1761546062.759 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T06:21:02.760Z,1761546062.760 [DAT](INFO): direction in FSK: [0.963452,0.099563,0.248690] 2025-10-27T06:21:02.760Z,1761546062.760 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:02.780Z,1761546062.780 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.473869 2025-10-27T06:21:02.805Z,1761546062.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968495,0.237915,0.073571],[-0.245008,0.963207,0.110466],[-0.044583,-0.125011,0.991153]] 2025-10-27T06:21:02.910Z,1761546062.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504080 s, deltaX: -0.299999 m, approachRate: -0.595142 m/s, rangeRepo size: 4 2025-10-27T06:21:02.916Z,1761546062.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.028938 m, bearing: 353.408078 deg, lat: 36.779451 deg, lon: -121.859829 deg, deltaT: 0.504080 s, deltaX: -0.298094 m, approachRate: -0.591362 m/s, posRepo size: 4 2025-10-27T06:21:02.917Z,1761546062.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:02.923Z,1761546062.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.028938 m, nav range: 10.907560 m, bearing: 351.706796 deg, approach rate: 0.000000 m/s, LOS rate: -0.020550 deg/s, cmd heading: 347.661656 deg, new cmd heading: 347.628788 deg. 2025-10-27T06:21:02.924Z,1761546062.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067267 target range: 11.028938 and range: 11.10 m. 2025-10-27T06:21:02.980Z,1761546062.980 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.673717 2025-10-27T06:21:03.142Z,1761546063.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:03.144Z,1761546063.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:03.147Z,1761546063.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.028938 m, nav range: 10.792872 m, bearing: 351.551049 deg, approach rate: -0.487109 m/s, LOS rate: -0.668525 deg/s, cmd heading: 347.628789 deg, new cmd heading: 347.156595 deg. 2025-10-27T06:21:03.148Z,1761546063.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059026 target range: 11.028938 and range: 11.10 m. 2025-10-27T06:21:03.234Z,1761546063.234 [DAT](INFO): DAT read: Rx Time:06:21:02.0277 2025-10-27T06:21:03.235Z,1761546063.235 [DAT](INFO): Rx dataTimestamp_ set to:1761546063.234301 2025-10-27T06:21:03.237Z,1761546063.237 [DAT](INFO): DAT read: Bearing 161.9, 1.2 (Local) 2025-10-27T06:21:03.238Z,1761546063.238 [DAT](INFO): Local bearing/azimuth received: Bearing 161.9, 1.2 (Local) 2025-10-27T06:21:03.241Z,1761546063.241 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 2025-10-27T06:21:03.245Z,1761546063.245 [DAT](INFO): DAT read: 06:21:02.0277 LVL= 29328, 32753, 31634, 32755, AGC= 57, IDX= 504, 0.31,-1.065,-3.043,-1.130,-1.290, PHS= 0.327,-1.708, 0.116, RAW= 144.6, 13.0, CAL= 144.2, 14.2, ROT= 5.8, -14.2 2025-10-27T06:21:03.246Z,1761546063.246 [DAT](INFO): got valid direction response: 06:21:02.0277 LVL= 29328, 32753, 31634, 32755, AGC= 57, IDX= 504, 0.31,-1.065,-3.043,-1.130,-1.290, PHS= 0.327,-1.708, 0.116, RAW= 144.6, 13.0, CAL= 144.2, 14.2, ROT= 5.8, -14.2 2025-10-27T06:21:03.246Z,1761546063.246 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T06:21:03.248Z,1761546063.248 [DAT](INFO): direction in FSK: [0.964482,0.097969,0.245307] 2025-10-27T06:21:03.249Z,1761546063.249 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:03.252Z,1761546063.252 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=51.945927 2025-10-27T06:21:03.488Z,1761546063.488 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.180237 2025-10-27T06:21:03.532Z,1761546063.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970122,0.231288,0.073271],[-0.238270,0.965167,0.108079],[-0.045721,-0.122308,0.991439]] 2025-10-27T06:21:03.586Z,1761546063.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503925 s, deltaX: -0.100000 m, approachRate: -0.198443 m/s, rangeRepo size: 4 2025-10-27T06:21:03.588Z,1761546063.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.929597 m, bearing: 353.644688 deg, lat: 36.779451 deg, lon: -121.859829 deg, deltaT: 0.503925 s, deltaX: -0.099341 m, approachRate: -0.197135 m/s, posRepo size: 4 2025-10-27T06:21:03.589Z,1761546063.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.93 m. 2025-10-27T06:21:03.591Z,1761546063.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.929597 m, nav range: 10.599505 m, bearing: 351.447240 deg, approach rate: 0.000000 m/s, LOS rate: -0.668525 deg/s, cmd heading: 347.156604 deg, new cmd heading: 346.273003 deg. 2025-10-27T06:21:03.592Z,1761546063.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043604 target range: 10.929597 and range: 11.00 m. 2025-10-27T06:21:03.739Z,1761546063.739 [DAT](INFO): DAT read: Rx Time:06:21:02.5278 2025-10-27T06:21:03.739Z,1761546063.739 [DAT](INFO): Rx dataTimestamp_ set to:1761546063.738829 2025-10-27T06:21:03.740Z,1761546063.740 [DAT](INFO): DAT read: Bearing 161.7, 1.6 (Local) 2025-10-27T06:21:03.741Z,1761546063.741 [DAT](INFO): Local bearing/azimuth received: Bearing 161.7, 1.6 (Local) 2025-10-27T06:21:03.743Z,1761546063.743 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 2025-10-27T06:21:03.748Z,1761546063.748 [DAT](INFO): DAT read: 06:21:02.5278 LVL= 28368, 32753, 30306, 32755, AGC= 56, IDX= 502,-0.07, 2.766, 0.782, 2.689, 2.517, PHS= 0.351,-1.691, 0.128, RAW= 144.3, 12.5, CAL= 143.8, 13.6, ROT= 6.2, -13.6 2025-10-27T06:21:03.749Z,1761546063.749 [DAT](INFO): got valid direction response: 06:21:02.5278 LVL= 28368, 32753, 30306, 32755, AGC= 56, IDX= 502,-0.07, 2.766, 0.782, 2.689, 2.517, PHS= 0.351,-1.691, 0.128, RAW= 144.3, 12.5, CAL= 143.8, 13.6, ROT= 6.2, -13.6 2025-10-27T06:21:03.749Z,1761546063.749 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T06:21:03.750Z,1761546063.750 [DAT](INFO): direction in FSK: [0.966276,0.104971,0.235142] 2025-10-27T06:21:03.751Z,1761546063.751 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:03.761Z,1761546063.761 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.454384 2025-10-27T06:21:03.918Z,1761546063.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971659,0.224719,0.073345],[-0.231698,0.966872,0.107123],[-0.046842,-0.121081,0.991537]] 2025-10-27T06:21:03.966Z,1761546063.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504528 s, deltaX: 0.100000 m, approachRate: 0.198206 m/s, rangeRepo size: 4 2025-10-27T06:21:03.970Z,1761546063.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.028957 m, bearing: 354.334068 deg, lat: 36.779451 deg, lon: -121.859826 deg, deltaT: 0.504528 s, deltaX: 0.099360 m, approachRate: 0.196937 m/s, posRepo size: 4 2025-10-27T06:21:03.980Z,1761546063.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:03.988Z,1761546063.988 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=52.681614 2025-10-27T06:21:03.989Z,1761546063.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.028957 m, nav range: 10.406734 m, bearing: 352.724696 deg, approach rate: 0.000000 m/s, LOS rate: -0.668525 deg/s, cmd heading: 346.272996 deg, new cmd heading: 345.511071 deg. 2025-10-27T06:21:03.990Z,1761546063.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030306 target range: 11.028957 and range: 11.10 m. 2025-10-27T06:21:04.241Z,1761546064.241 [DAT](INFO): DAT read: Rx Time:06:21:03.0278 2025-10-27T06:21:04.241Z,1761546064.241 [DAT](INFO): Rx dataTimestamp_ set to:1761546064.241147 2025-10-27T06:21:04.243Z,1761546064.243 [DAT](INFO): DAT read: Bearing 162.3, 1.2 (Local) 2025-10-27T06:21:04.243Z,1761546064.243 [DAT](INFO): Local bearing/azimuth received: Bearing 162.3, 1.2 (Local) 2025-10-27T06:21:04.245Z,1761546064.245 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 2025-10-27T06:21:04.250Z,1761546064.250 [DAT](INFO): DAT read: 06:21:03.0278 LVL= 29104, 32753, 32130, 32755, AGC= 56, IDX= 501, 0.45,-1.423, 2.910,-1.487,-1.656, PHS= 0.334,-1.672, 0.125, RAW= 144.6, 12.7, CAL= 144.1, 13.8, ROT= 5.9, -13.8 2025-10-27T06:21:04.251Z,1761546064.251 [DAT](INFO): got valid direction response: 06:21:03.0278 LVL= 29104, 32753, 32130, 32755, AGC= 56, IDX= 501, 0.45,-1.423, 2.910,-1.487,-1.656, PHS= 0.334,-1.672, 0.125, RAW= 144.6, 12.7, CAL= 144.1, 13.8, ROT= 5.9, -13.8 2025-10-27T06:21:04.251Z,1761546064.251 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T06:21:04.252Z,1761546064.252 [DAT](INFO): direction in FSK: [0.965990,0.099825,0.238533] 2025-10-27T06:21:04.252Z,1761546064.252 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:04.258Z,1761546064.258 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=52.951767 2025-10-27T06:21:04.322Z,1761546064.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973107,0.218475,0.073021],[-0.225302,0.968707,0.104144],[-0.047983,-0.117795,0.991878]] 2025-10-27T06:21:04.412Z,1761546064.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.502318 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:04.414Z,1761546064.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.028957 m, bearing: 354.395294 deg, lat: 36.779453 deg, lon: -121.859824 deg, deltaT: 0.502318 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:21:04.414Z,1761546064.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 11.10 m. 2025-10-27T06:21:04.415Z,1761546064.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:04.418Z,1761546064.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.028957 m, nav range: 10.389170 m, bearing: 353.063389 deg, approach rate: 0.000000 m/s, LOS rate: -0.668525 deg/s, cmd heading: 345.511075 deg, new cmd heading: 344.624398 deg. 2025-10-27T06:21:04.423Z,1761546064.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014831 target range: 11.028957 and range: 11.10 m. 2025-10-27T06:21:04.497Z,1761546064.497 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.188320 2025-10-27T06:21:04.748Z,1761546064.748 [DAT](INFO): DAT read: Rx Time:06:21:03.5275 2025-10-27T06:21:04.748Z,1761546064.748 [DAT](INFO): Rx dataTimestamp_ set to:1761546064.747705 2025-10-27T06:21:04.749Z,1761546064.749 [DAT](INFO): DAT read: Bearing 164.2, 0.1 (Local) 2025-10-27T06:21:04.750Z,1761546064.750 [DAT](INFO): Local bearing/azimuth received: Bearing 164.2, 0.1 (Local) 2025-10-27T06:21:04.756Z,1761546064.756 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 2025-10-27T06:21:04.761Z,1761546064.761 [DAT](INFO): DAT read: 06:21:03.5275 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.03,-2.159, 2.204,-2.189,-2.320, PHS= 0.263,-1.714, 0.087, RAW= 145.4, 14.3, CAL= 145.1, 15.6, ROT= 4.9, -15.6 2025-10-27T06:21:04.762Z,1761546064.762 [DAT](INFO): got valid direction response: 06:21:03.5275 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 499, 0.03,-2.159, 2.204,-2.189,-2.320, PHS= 0.263,-1.714, 0.087, RAW= 145.4, 14.3, CAL= 145.1, 15.6, ROT= 4.9, -15.6 2025-10-27T06:21:04.762Z,1761546064.762 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T06:21:04.767Z,1761546064.767 [DAT](INFO): direction in FSK: [0.959642,0.082270,0.268920] 2025-10-27T06:21:04.768Z,1761546064.768 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:04.771Z,1761546064.771 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.464870 2025-10-27T06:21:04.864Z,1761546064.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.506558 s, deltaX: -0.400001 m, approachRate: -0.789644 m/s, rangeRepo size: 4 2025-10-27T06:21:04.866Z,1761546064.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.631564 m, bearing: 353.626661 deg, lat: 36.779455 deg, lon: -121.859823 deg, deltaT: 0.506558 s, deltaX: -0.397393 m, approachRate: -0.784497 m/s, posRepo size: 4 2025-10-27T06:21:04.866Z,1761546064.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.70 m. 2025-10-27T06:21:04.866Z,1761546064.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m. 2025-10-27T06:21:04.877Z,1761546064.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.631564 m, nav range: 10.392211 m, bearing: 353.626669 deg, approach rate: 0.000000 m/s, LOS rate: -0.668525 deg/s, cmd heading: 344.624407 deg, new cmd heading: 343.718889 deg. 2025-10-27T06:21:04.878Z,1761546064.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999026 target range: 10.631564 and range: 10.70 m. 2025-10-27T06:21:05.000Z,1761546065.000 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.693657 2025-10-27T06:21:05.148Z,1761546065.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975480,0.207542,0.073251],[-0.214592,0.970812,0.107115],[-0.048882,-0.120208,0.991545]] 2025-10-27T06:21:05.253Z,1761546065.253 [DAT](INFO): DAT read: Rx Time:06:21:04.0274 2025-10-27T06:21:05.253Z,1761546065.253 [DAT](INFO): Rx dataTimestamp_ set to:1761546065.252809 2025-10-27T06:21:05.254Z,1761546065.254 [DAT](INFO): DAT read: Bearing 164.4, -0.5 (Local) 2025-10-27T06:21:05.255Z,1761546065.255 [DAT](INFO): Local bearing/azimuth received: Bearing 164.4, -0.5 (Local) 2025-10-27T06:21:05.257Z,1761546065.257 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 2025-10-27T06:21:05.262Z,1761546065.262 [DAT](INFO): DAT read: 06:21:04.0274 LVL= 31936, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.29, 2.657, 0.755, 2.645, 2.507, PHS= 0.251,-1.707, 0.094, RAW= 145.9, 14.3, CAL= 145.6, 15.7, ROT= 4.4, -15.7 2025-10-27T06:21:05.263Z,1761546065.263 [DAT](INFO): got valid direction response: 06:21:04.0274 LVL= 31936, 32753, 32754, 32755, AGC= 57, IDX= 498,-0.29, 2.657, 0.755, 2.645, 2.507, PHS= 0.251,-1.707, 0.094, RAW= 145.9, 14.3, CAL= 145.6, 15.7, ROT= 4.4, -15.7 2025-10-27T06:21:05.263Z,1761546065.263 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T06:21:05.264Z,1761546065.264 [DAT](INFO): direction in FSK: [0.959854,0.073857,0.270600] 2025-10-27T06:21:05.264Z,1761546065.264 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:05.268Z,1761546065.268 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=53.961754 2025-10-27T06:21:05.418Z,1761546065.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.505104 s, deltaX: -0.200000 m, approachRate: -0.395958 m/s, rangeRepo size: 4 2025-10-27T06:21:05.425Z,1761546065.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.432844 m, bearing: 353.814252 deg, lat: 36.779455 deg, lon: -121.859823 deg, deltaT: 0.505104 s, deltaX: -0.198720 m, approachRate: -0.393424 m/s, posRepo size: 4 2025-10-27T06:21:05.425Z,1761546065.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m. 2025-10-27T06:21:05.433Z,1761546065.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.432844 m, nav range: 10.204115 m, bearing: 353.336351 deg, approach rate: 0.000000 m/s, LOS rate: -0.668525 deg/s, cmd heading: 343.718888 deg, new cmd heading: 342.597836 deg. 2025-10-27T06:21:05.434Z,1761546065.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979460 target range: 10.432844 and range: 10.50 m. 2025-10-27T06:21:05.508Z,1761546065.508 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.200184 2025-10-27T06:21:05.629Z,1761546065.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976684,0.201449,0.074209],[-0.209427,0.970060,0.122978],[-0.047213,-0.135651,0.989631]] 2025-10-27T06:21:05.756Z,1761546065.756 [DAT](INFO): DAT read: Rx Time:06:21:04.5272 2025-10-27T06:21:05.757Z,1761546065.757 [DAT](INFO): Rx dataTimestamp_ set to:1761546065.756542 2025-10-27T06:21:05.758Z,1761546065.758 [DAT](INFO): DAT read: Bearing 162.5, -2.2 (Local) 2025-10-27T06:21:05.758Z,1761546065.758 [DAT](INFO): Local bearing/azimuth received: Bearing 162.5, -2.2 (Local) 2025-10-27T06:21:05.760Z,1761546065.760 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 2025-10-27T06:21:05.765Z,1761546065.765 [DAT](INFO): DAT read: 06:21:04.5272 LVL= 29168, 32753, 32754, 32755, AGC= 56, IDX= 495, 0.27, 2.970, 1.124, 3.033, 2.806, PHS= 0.266,-1.637, 0.183, RAW= 147.8, 12.7, CAL= 147.6, 14.0, ROT= 2.4, -14.0 2025-10-27T06:21:05.766Z,1761546065.766 [DAT](INFO): got valid direction response: 06:21:04.5272 LVL= 29168, 32753, 32754, 32755, AGC= 56, IDX= 495, 0.27, 2.970, 1.124, 3.033, 2.806, PHS= 0.266,-1.637, 0.183, RAW= 147.8, 12.7, CAL= 147.6, 14.0, ROT= 2.4, -14.0 2025-10-27T06:21:05.766Z,1761546065.766 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T06:21:05.767Z,1761546065.767 [DAT](INFO): direction in FSK: [0.969445,0.040632,0.241922] 2025-10-27T06:21:05.768Z,1761546065.768 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:05.771Z,1761546065.771 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.465004 2025-10-27T06:21:05.824Z,1761546065.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503733 s, deltaX: -0.300000 m, approachRate: -0.595554 m/s, rangeRepo size: 4 2025-10-27T06:21:05.826Z,1761546065.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.134703 m, bearing: 352.166488 deg, lat: 36.779455 deg, lon: -121.859823 deg, deltaT: 0.503733 s, deltaX: -0.298141 m, approachRate: -0.591864 m/s, posRepo size: 4 2025-10-27T06:21:05.831Z,1761546065.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m. 2025-10-27T06:21:05.834Z,1761546065.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.134703 m, nav range: 10.035099 m, bearing: 353.136299 deg, approach rate: 0.000000 m/s, LOS rate: -0.668525 deg/s, cmd heading: 342.597835 deg, new cmd heading: 341.800614 deg. 2025-10-27T06:21:05.839Z,1761546065.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.965546 target range: 10.134703 and range: 10.20 m. 2025-10-27T06:21:06.008Z,1761546066.008 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.701626 2025-10-27T06:21:06.115Z,1761546066.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976699,0.201092,0.074973],[-0.209613,0.968813,0.132152],[-0.046060,-0.144788,0.988390]] 2025-10-27T06:21:06.149Z,1761546066.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:06.152Z,1761546066.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m. 2025-10-27T06:21:06.154Z,1761546066.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.134703 m, nav range: 9.883213 m, bearing: 352.951575 deg, approach rate: -0.451489 m/s, LOS rate: -0.557542 deg/s, cmd heading: 341.800616 deg, new cmd heading: 341.237944 deg. 2025-10-27T06:21:06.156Z,1761546066.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955726 target range: 10.134703 and range: 10.20 m. 2025-10-27T06:21:06.262Z,1761546066.262 [DAT](INFO): DAT read: Rx Time:06:21:05.0269 2025-10-27T06:21:06.263Z,1761546066.263 [DAT](INFO): Rx dataTimestamp_ set to:1761546066.262194 2025-10-27T06:21:06.266Z,1761546066.266 [DAT](INFO): DAT read: Bearing 162.4, -3.6 (Local) 2025-10-27T06:21:06.266Z,1761546066.266 [DAT](INFO): Local bearing/azimuth received: Bearing 162.4, -3.6 (Local) 2025-10-27T06:21:06.268Z,1761546066.268 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 2025-10-27T06:21:06.281Z,1761546066.281 [DAT](INFO): DAT read: 06:21:05.0269 LVL= 30112, 32753, 32754, 32755, AGC= 56, IDX= 495,-0.00,-3.108, 1.366,-2.997, 3.039, PHS= 0.238,-1.628, 0.203, RAW= 149.1, 12.8, CAL= 149.0, 14.1, ROT= 1.0, -14.1 2025-10-27T06:21:06.295Z,1761546066.295 [DAT](INFO): got valid direction response: 06:21:05.0269 LVL= 30112, 32753, 32754, 32755, AGC= 56, IDX= 495,-0.00,-3.108, 1.366,-2.997, 3.039, PHS= 0.238,-1.628, 0.203, RAW= 149.1, 12.8, CAL= 149.0, 14.1, ROT= 1.0, -14.1 2025-10-27T06:21:06.296Z,1761546066.296 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T06:21:06.297Z,1761546066.297 [DAT](INFO): direction in FSK: [0.969724,0.016927,0.243615] 2025-10-27T06:21:06.297Z,1761546066.297 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:06.324Z,1761546066.324 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.018024 2025-10-27T06:21:06.515Z,1761546066.515 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.207615 2025-10-27T06:21:06.572Z,1761546066.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976446,0.201699,0.076614],[-0.210996,0.966866,0.143705],[-0.045091,-0.156485,0.986651]] 2025-10-27T06:21:06.642Z,1761546066.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.505652 s, deltaX: -0.400000 m, approachRate: -0.791057 m/s, rangeRepo size: 4 2025-10-27T06:21:06.672Z,1761546066.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.737179 m, bearing: 351.013578 deg, lat: 36.779455 deg, lon: -121.859823 deg, deltaT: 0.505652 s, deltaX: -0.397524 m, approachRate: -0.786161 m/s, posRepo size: 4 2025-10-27T06:21:06.682Z,1761546066.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m. 2025-10-27T06:21:06.685Z,1761546066.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m. 2025-10-27T06:21:06.686Z,1761546066.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T06:21:06.714Z,1761546066.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 9.621343 m, bearing: 352.761813 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 341.237945 deg, new cmd heading: 340.419298 deg. 2025-10-27T06:21:06.720Z,1761546066.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941438 target range: 9.737179 and range: 9.80 m. 2025-10-27T06:21:06.765Z,1761546066.765 [DAT](INFO): DAT read: Rx Time:06:21:05.5267 2025-10-27T06:21:06.765Z,1761546066.765 [DAT](INFO): Rx dataTimestamp_ set to:1761546066.764814 2025-10-27T06:21:06.766Z,1761546066.766 [DAT](INFO): DAT read: Bearing 162.2, -4.9 (Local) 2025-10-27T06:21:06.767Z,1761546066.767 [DAT](INFO): Local bearing/azimuth received: Bearing 162.2, -4.9 (Local) 2025-10-27T06:21:06.769Z,1761546066.769 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-27T06:21:06.773Z,1761546066.773 [DAT](INFO): DAT read: 06:21:05.5267 LVL= 30848, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.26, 1.235,-0.549, 1.389, 1.124, PHS= 0.212,-1.628, 0.221, RAW= 150.2, 12.9, CAL= 150.2, 14.3, ROT= 359.8, -14.3 2025-10-27T06:21:06.774Z,1761546066.774 [DAT](INFO): got valid direction response: 06:21:05.5267 LVL= 30848, 32753, 32754, 32755, AGC= 56, IDX= 509,-0.26, 1.235,-0.549, 1.389, 1.124, PHS= 0.212,-1.628, 0.221, RAW= 150.2, 12.9, CAL= 150.2, 14.3, ROT= 359.8, -14.3 2025-10-27T06:21:06.775Z,1761546066.775 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T06:21:06.776Z,1761546066.776 [DAT](INFO): direction in FSK: [0.969010,-0.003383,0.246999] 2025-10-27T06:21:06.776Z,1761546066.776 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:06.780Z,1761546066.780 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.473198 2025-10-27T06:21:07.016Z,1761546067.016 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.709560 2025-10-27T06:21:07.191Z,1761546067.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974714,0.208509,0.080355],[-0.219455,0.960971,0.168445],[-0.042097,-0.181820,0.982430]] 2025-10-27T06:21:07.251Z,1761546067.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.502620 s, deltaX: -0.300000 m, approachRate: -0.596873 m/s, rangeRepo size: 4 2025-10-27T06:21:07.256Z,1761546067.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.439102 m, bearing: 349.747523 deg, lat: 36.779455 deg, lon: -121.859825 deg, deltaT: 0.502620 s, deltaX: -0.298077 m, approachRate: -0.593046 m/s, posRepo size: 4 2025-10-27T06:21:07.257Z,1761546067.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.74 m. 2025-10-27T06:21:07.260Z,1761546067.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 9.354451 m, bearing: 352.664285 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 340.419306 deg, new cmd heading: 339.401000 deg. 2025-10-27T06:21:07.261Z,1761546067.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923665 target range: 9.737179 and range: 9.50 m. 2025-10-27T06:21:07.269Z,1761546067.269 [DAT](INFO): DAT read: Rx Time:06:21:06.0266 2025-10-27T06:21:07.269Z,1761546067.269 [DAT](INFO): Rx dataTimestamp_ set to:1761546067.268694 2025-10-27T06:21:07.270Z,1761546067.270 [DAT](INFO): DAT read: Bearing 163.9, -8.2 (Local) 2025-10-27T06:21:07.271Z,1761546067.271 [DAT](INFO): Local bearing/azimuth received: Bearing 163.9, -8.2 (Local) 2025-10-27T06:21:07.273Z,1761546067.273 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.3 2025-10-27T06:21:07.277Z,1761546067.277 [DAT](INFO): DAT read: 06:21:06.0266 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 508, 0.30,-1.644, 2.898,-1.398,-1.646, PHS= 0.103,-1.694, 0.203, RAW= 152.7, 14.9, CAL= 153.1, 16.7, ROT= 356.9, -16.7 2025-10-27T06:21:07.278Z,1761546067.278 [DAT](INFO): got valid direction response: 06:21:06.0266 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 508, 0.30,-1.644, 2.898,-1.398,-1.646, PHS= 0.103,-1.694, 0.203, RAW= 152.7, 14.9, CAL= 153.1, 16.7, ROT= 356.9, -16.7 2025-10-27T06:21:07.279Z,1761546067.279 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T06:21:07.280Z,1761546067.280 [DAT](INFO): direction in FSK: [0.956421,-0.051798,0.287361] 2025-10-27T06:21:07.280Z,1761546067.280 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:07.284Z,1761546067.284 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.977516 2025-10-27T06:21:07.523Z,1761546067.523 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.215878 2025-10-27T06:21:07.714Z,1761546067.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503880 s, deltaX: -0.200000 m, approachRate: -0.396920 m/s, rangeRepo size: 4 2025-10-27T06:21:07.736Z,1761546067.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.240346 m, bearing: 347.392107 deg, lat: 36.779454 deg, lon: -121.859826 deg, deltaT: 1.006500 s, deltaX: -0.496833 m, approachRate: -0.493624 m/s, posRepo size: 4 2025-10-27T06:21:07.737Z,1761546067.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.24 m. 9.74 m. 2025-10-27T06:21:07.748Z,1761546067.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 9.159276 m, bearing: 352.768584 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 339.401006 deg, new cmd heading: 338.672165 deg. 2025-10-27T06:21:07.749Z,1761546067.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910944 target range: 9.737179 and range: 9.30 m. 2025-10-27T06:21:07.773Z,1761546067.773 [DAT](INFO): DAT read: Rx Time:06:21:06.5264 2025-10-27T06:21:07.773Z,1761546067.773 [DAT](INFO): Rx dataTimestamp_ set to:1761546067.772787 2025-10-27T06:21:07.774Z,1761546067.774 [DAT](INFO): DAT read: Bearing 159.5, -7.5 (Local) 2025-10-27T06:21:07.775Z,1761546067.775 [DAT](INFO): Local bearing/azimuth received: Bearing 159.5, -7.5 (Local) 2025-10-27T06:21:07.777Z,1761546067.777 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 2025-10-27T06:21:07.781Z,1761546067.781 [DAT](INFO): DAT read: 06:21:06.5264 LVL= 28400, 32753, 32754, 32755, AGC= 55, IDX= 506, 0.09, 2.335, 0.608, 2.592, 2.236, PHS= 0.201,-1.583, 0.312, RAW= 153.0, 11.6, CAL= 153.0, 12.8, ROT= 357.0, -12.8 2025-10-27T06:21:07.783Z,1761546067.783 [DAT](INFO): got valid direction response: 06:21:06.5264 LVL= 28400, 32753, 32754, 32755, AGC= 55, IDX= 506, 0.09, 2.335, 0.608, 2.592, 2.236, PHS= 0.201,-1.583, 0.312, RAW= 153.0, 11.6, CAL= 153.0, 12.8, ROT= 357.0, -12.8 2025-10-27T06:21:07.783Z,1761546067.783 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T06:21:07.784Z,1761546067.784 [DAT](INFO): direction in FSK: [0.973813,-0.051035,0.221548] 2025-10-27T06:21:07.784Z,1761546067.784 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:07.792Z,1761546067.792 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:21:07.792Z,1761546067.792 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:21:07.792Z,1761546067.792 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:08.024Z,1761546068.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:08.099Z,1761546068.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971776,0.220163,0.084736],[-0.232631,0.953976,0.189241],[-0.039173,-0.203612,0.978268]] 2025-10-27T06:21:08.123Z,1761546068.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504093 s, deltaX: -0.300000 m, approachRate: -0.595129 m/s, rangeRepo size: 4 2025-10-27T06:21:08.125Z,1761546068.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.942269 m, bearing: 346.256195 deg, lat: 36.779453 deg, lon: -121.859828 deg, deltaT: 1.510593 s, deltaX: -0.794909 m, approachRate: -0.526223 m/s, posRepo size: 4 2025-10-27T06:21:08.126Z,1761546068.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 9.74 m. 2025-10-27T06:21:08.145Z,1761546068.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 8.926379 m, bearing: 352.920926 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 338.672171 deg, new cmd heading: 337.942227 deg. 2025-10-27T06:21:08.145Z,1761546068.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898204 target range: 9.737179 and range: 9.00 m. 2025-10-27T06:21:08.277Z,1761546068.277 [DAT](INFO): DAT read: Rx Time:06:21:07.0264 2025-10-27T06:21:08.277Z,1761546068.277 [DAT](INFO): Rx dataTimestamp_ set to:1761546068.277038 2025-10-27T06:21:08.279Z,1761546068.279 [DAT](INFO): DAT read: Bearing 159.4, -7.3 (Local) 2025-10-27T06:21:08.279Z,1761546068.279 [DAT](INFO): Local bearing/azimuth received: Bearing 159.4, -7.3 (Local) 2025-10-27T06:21:08.281Z,1761546068.281 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 2025-10-27T06:21:08.286Z,1761546068.286 [DAT](INFO): DAT read: 06:21:07.0264 LVL= 32752, 32753, 32690, 32755, AGC= 55, IDX= 506,-0.12, 1.551,-0.171, 1.795, 1.454, PHS= 0.199,-1.579, 0.298, RAW= 152.7, 11.8, CAL= 152.7, 13.1, ROT= 357.3, -13.1 2025-10-27T06:21:08.287Z,1761546068.287 [DAT](INFO): got valid direction response: 06:21:07.0264 LVL= 32752, 32753, 32690, 32755, AGC= 55, IDX= 506,-0.12, 1.551,-0.171, 1.795, 1.454, PHS= 0.199,-1.579, 0.298, RAW= 152.7, 11.8, CAL= 152.7, 13.1, ROT= 357.3, -13.1 2025-10-27T06:21:08.287Z,1761546068.287 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:08.288Z,1761546068.288 [DAT](INFO): direction in FSK: [0.972895,-0.045881,0.226651] 2025-10-27T06:21:08.289Z,1761546068.289 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:08.292Z,1761546068.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:08.292Z,1761546068.292 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:08.530Z,1761546068.530 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:08.588Z,1761546068.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969732,0.228324,0.086530],[-0.241382,0.949849,0.198799],[-0.036800,-0.213668,0.976213]] 2025-10-27T06:21:08.646Z,1761546068.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504251 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:08.648Z,1761546068.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.942228 m, bearing: 346.234939 deg, lat: 36.779453 deg, lon: -121.859832 deg, deltaT: 2.014844 s, deltaX: -0.794950 m, approachRate: -0.394547 m/s, posRepo size: 4 2025-10-27T06:21:08.649Z,1761546068.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 9.74 m. 2025-10-27T06:21:08.683Z,1761546068.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 8.657204 m, bearing: 353.323690 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 337.942215 deg, new cmd heading: 337.066718 deg. 2025-10-27T06:21:08.691Z,1761546068.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882924 target range: 9.737179 and range: 9.00 m. 2025-10-27T06:21:08.781Z,1761546068.781 [DAT](INFO): DAT read: Rx Time:06:21:07.5262 2025-10-27T06:21:08.781Z,1761546068.781 [DAT](INFO): Rx dataTimestamp_ set to:1761546068.780914 2025-10-27T06:21:08.782Z,1761546068.782 [DAT](INFO): DAT read: Bearing 161.0, -8.4 (Local) 2025-10-27T06:21:08.783Z,1761546068.783 [DAT](INFO): Local bearing/azimuth received: Bearing 161.0, -8.4 (Local) 2025-10-27T06:21:08.785Z,1761546068.785 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 2025-10-27T06:21:08.790Z,1761546068.790 [DAT](INFO): DAT read: 06:21:07.5262 LVL= 32528, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.41, 3.111, 1.395,-2.914, 3.081, PHS= 0.133,-1.641, 0.245, RAW= 153.0, 13.7, CAL= 153.3, 15.4, ROT= 356.7, -15.4 2025-10-27T06:21:08.791Z,1761546068.791 [DAT](INFO): got valid direction response: 06:21:07.5262 LVL= 32528, 32753, 32754, 32755, AGC= 56, IDX= 503, 0.41, 3.111, 1.395,-2.914, 3.081, PHS= 0.133,-1.641, 0.245, RAW= 153.0, 13.7, CAL= 153.3, 15.4, ROT= 356.7, -15.4 2025-10-27T06:21:08.791Z,1761546068.791 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:08.792Z,1761546068.792 [DAT](INFO): direction in FSK: [0.962497,-0.055497,0.265556] 2025-10-27T06:21:08.792Z,1761546068.792 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:08.805Z,1761546068.805 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:08.805Z,1761546068.805 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:09.007Z,1761546069.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967479,0.237064,0.088233],[-0.250578,0.945879,0.206214],[-0.034572,-0.221617,0.974521]] 2025-10-27T06:21:09.032Z,1761546069.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:09.059Z,1761546069.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503876 s, deltaX: -0.300000 m, approachRate: -0.595385 m/s, rangeRepo size: 4 2025-10-27T06:21:09.061Z,1761546069.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.644155 m, bearing: 345.760918 deg, lat: 36.779453 deg, lon: -121.859834 deg, deltaT: 2.518720 s, deltaX: -1.093024 m, approachRate: -0.433960 m/s, posRepo size: 4 2025-10-27T06:21:09.062Z,1761546069.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.64 m. 9.74 m. 2025-10-27T06:21:09.069Z,1761546069.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 8.454055 m, bearing: 353.658740 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 337.066721 deg, new cmd heading: 336.382988 deg. 2025-10-27T06:21:09.070Z,1761546069.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870991 target range: 9.737179 and range: 8.70 m. 2025-10-27T06:21:09.222Z,1761546069.222 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-27T06:21:09.222Z,1761546069.222 [DockingStepper] No Fault, FailCount= 1 2025-10-27T06:21:09.284Z,1761546069.284 [DAT](INFO): DAT read: Rx Time:06:21:08.0260 2025-10-27T06:21:09.285Z,1761546069.285 [DAT](INFO): Rx dataTimestamp_ set to:1761546069.284608 2025-10-27T06:21:09.286Z,1761546069.286 [DAT](INFO): DAT read: Bearing 162.7, -7.9 (Local) 2025-10-27T06:21:09.286Z,1761546069.286 [DAT](INFO): Local bearing/azimuth received: Bearing 162.7, -7.9 (Local) 2025-10-27T06:21:09.289Z,1761546069.289 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-27T06:21:09.294Z,1761546069.294 [DAT](INFO): DAT read: 06:21:08.0260 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.00,-3.069, 1.476,-2.852,-3.063, PHS= 0.096,-1.700, 0.167, RAW= 151.9, 15.5, CAL= 152.3, 17.5, ROT= 357.7, -17.5 2025-10-27T06:21:09.295Z,1761546069.295 [DAT](INFO): got valid direction response: 06:21:08.0260 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.00,-3.069, 1.476,-2.852,-3.063, PHS= 0.096,-1.700, 0.167, RAW= 151.9, 15.5, CAL= 152.3, 17.5, ROT= 357.7, -17.5 2025-10-27T06:21:09.295Z,1761546069.295 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:09.296Z,1761546069.296 [DAT](INFO): direction in FSK: [0.952949,-0.038274,0.300706] 2025-10-27T06:21:09.296Z,1761546069.296 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:09.300Z,1761546069.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:09.300Z,1761546069.300 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:09.457Z,1761546069.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503694 s, deltaX: -0.300000 m, approachRate: -0.595600 m/s, rangeRepo size: 4 2025-10-27T06:21:09.463Z,1761546069.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.346080 m, bearing: 347.226090 deg, lat: 36.779452 deg, lon: -121.859834 deg, deltaT: 3.022414 s, deltaX: -1.391099 m, approachRate: -0.460261 m/s, posRepo size: 4 2025-10-27T06:21:09.468Z,1761546069.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.74 m. 2025-10-27T06:21:09.470Z,1761546069.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 8.248173 m, bearing: 354.015674 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 336.382992 deg, new cmd heading: 335.710647 deg. 2025-10-27T06:21:09.471Z,1761546069.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859256 target range: 9.737179 and range: 8.40 m. 2025-10-27T06:21:09.501Z,1761546069.501 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-27T06:21:09.501Z,1761546069.501 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-27T06:21:09.537Z,1761546069.537 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:09.789Z,1761546069.789 [DAT](INFO): DAT read: Rx Time:06:21:08.5259 2025-10-27T06:21:09.789Z,1761546069.789 [DAT](INFO): Rx dataTimestamp_ set to:1761546069.788737 2025-10-27T06:21:09.790Z,1761546069.790 [DAT](INFO): DAT read: Bearing 162.6, -5.9 (Local) 2025-10-27T06:21:09.791Z,1761546069.791 [DAT](INFO): Local bearing/azimuth received: Bearing 162.6, -5.9 (Local) 2025-10-27T06:21:09.793Z,1761546069.793 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 2025-10-27T06:21:09.813Z,1761546069.813 [DAT](INFO): DAT read: 06:21:08.5259 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.43, 1.548,-0.236, 1.689, 1.524, PHS= 0.126,-1.715, 0.121, RAW= 149.9, 15.8, CAL= 150.2, 17.6, ROT= 359.8, -17.6 2025-10-27T06:21:09.817Z,1761546069.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962163,0.256903,0.090794],[-0.270884,0.937832,0.217007],[-0.029400,-0.233391,0.971938]] 2025-10-27T06:21:09.815Z,1761546069.815 [DAT](INFO): got valid direction response: 06:21:08.5259 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.43, 1.548,-0.236, 1.689, 1.524, PHS= 0.126,-1.715, 0.121, RAW= 149.9, 15.8, CAL= 150.2, 17.6, ROT= 359.8, -17.6 2025-10-27T06:21:09.820Z,1761546069.820 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:09.821Z,1761546069.821 [DAT](INFO): direction in FSK: [0.953185,-0.003327,0.302370] 2025-10-27T06:21:09.821Z,1761546069.821 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:09.824Z,1761546069.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:09.825Z,1761546069.825 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:09.933Z,1761546069.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504129 s, deltaX: -0.099999 m, approachRate: -0.198361 m/s, rangeRepo size: 4 2025-10-27T06:21:09.940Z,1761546069.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.246622 m, bearing: 348.284132 deg, lat: 36.779453 deg, lon: -121.859834 deg, deltaT: 3.526543 s, deltaX: -1.490557 m, approachRate: -0.422668 m/s, posRepo size: 4 2025-10-27T06:21:09.941Z,1761546069.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.74 m. 2025-10-27T06:21:09.948Z,1761546069.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 7.994799 m, bearing: 354.579413 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 335.710655 deg, new cmd heading: 334.914116 deg. 2025-10-27T06:21:09.948Z,1761546069.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845354 target range: 9.737179 and range: 8.30 m. 2025-10-27T06:21:10.040Z,1761546070.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:10.236Z,1761546070.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959170,0.267435,0.092042],[-0.281566,0.933642,0.221433],[-0.026715,-0.238307,0.970822]] 2025-10-27T06:21:10.252Z,1761546070.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:10.255Z,1761546070.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:10.257Z,1761546070.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 7.815092 m, bearing: 355.018316 deg, approach rate: -0.558383 m/s, LOS rate: 1.395102 deg/s, cmd heading: 334.914119 deg, new cmd heading: 336.260844 deg. 2025-10-27T06:21:10.258Z,1761546070.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868859 target range: 9.737179 and range: 8.30 m. 2025-10-27T06:21:10.293Z,1761546070.293 [DAT](INFO): DAT read: Rx Time:06:21:09.0259 2025-10-27T06:21:10.293Z,1761546070.293 [DAT](INFO): Rx dataTimestamp_ set to:1761546070.292831 2025-10-27T06:21:10.294Z,1761546070.294 [DAT](INFO): DAT read: Bearing 164.3, -4.9 (Local) 2025-10-27T06:21:10.295Z,1761546070.295 [DAT](INFO): Local bearing/azimuth received: Bearing 164.3, -4.9 (Local) 2025-10-27T06:21:10.297Z,1761546070.297 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 2025-10-27T06:21:10.301Z,1761546070.301 [DAT](INFO): DAT read: 06:21:09.0259 LVL= 32752, 32753, 32210, 32755, AGC= 55, IDX= 499,-0.02,-2.169, 2.351,-2.083,-2.156, PHS= 0.089,-1.731, 0.029, RAW= 148.3, 17.7, CAL= 148.6, 19.6, ROT= 1.4, -19.6 2025-10-27T06:21:10.303Z,1761546070.303 [DAT](INFO): got valid direction response: 06:21:09.0259 LVL= 32752, 32753, 32210, 32755, AGC= 55, IDX= 499,-0.02,-2.169, 2.351,-2.083,-2.156, PHS= 0.089,-1.731, 0.029, RAW= 148.3, 17.7, CAL= 148.6, 19.6, ROT= 1.4, -19.6 2025-10-27T06:21:10.303Z,1761546070.303 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:10.304Z,1761546070.304 [DAT](INFO): direction in FSK: [0.941776,0.023017,0.335452] 2025-10-27T06:21:10.304Z,1761546070.304 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:10.312Z,1761546070.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:10.312Z,1761546070.312 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:10.550Z,1761546070.550 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:10.618Z,1761546070.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955737,0.278852,0.093849],[-0.293226,0.928969,0.225909],[-0.024188,-0.243429,0.969617]] 2025-10-27T06:21:10.733Z,1761546070.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504094 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:10.740Z,1761546070.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.246663 m, bearing: 349.196563 deg, lat: 36.779453 deg, lon: -121.859833 deg, deltaT: 4.030637 s, deltaX: -1.490516 m, approachRate: -0.369797 m/s, posRepo size: 4 2025-10-27T06:21:10.741Z,1761546070.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.74 m. 2025-10-27T06:21:10.747Z,1761546070.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 7.601209 m, bearing: 355.576928 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 336.260841 deg, new cmd heading: 335.472255 deg. 2025-10-27T06:21:10.748Z,1761546070.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855095 target range: 9.737179 and range: 8.30 m. 2025-10-27T06:21:10.797Z,1761546070.797 [DAT](INFO): DAT read: Rx Time:06:21:09.5256 2025-10-27T06:21:10.797Z,1761546070.797 [DAT](INFO): Rx dataTimestamp_ set to:1761546070.796797 2025-10-27T06:21:10.798Z,1761546070.798 [DAT](INFO): DAT read: Bearing 165.9, -4.9 (Local) 2025-10-27T06:21:10.799Z,1761546070.799 [DAT](INFO): Local bearing/azimuth received: Bearing 165.9, -4.9 (Local) 2025-10-27T06:21:10.801Z,1761546070.801 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-27T06:21:10.806Z,1761546070.806 [DAT](INFO): DAT read: 06:21:09.5256 LVL= 32752, 32753, 30306, 32755, AGC= 54, IDX= 496, 0.29,-1.515, 3.018,-1.462,-1.480, PHS= 0.066,-1.740,-0.026, RAW= 147.4, 18.8, CAL= 148.1, 21.8, ROT= 1.9, -21.8 2025-10-27T06:21:10.808Z,1761546070.808 [DAT](INFO): got valid direction response: 06:21:09.5256 LVL= 32752, 32753, 30306, 32755, AGC= 54, IDX= 496, 0.29,-1.515, 3.018,-1.462,-1.480, PHS= 0.066,-1.740,-0.026, RAW= 147.4, 18.8, CAL= 148.1, 21.8, ROT= 1.9, -21.8 2025-10-27T06:21:10.809Z,1761546070.809 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:10.810Z,1761546070.810 [DAT](INFO): direction in FSK: [0.927975,0.030784,0.371368] 2025-10-27T06:21:10.811Z,1761546070.811 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:10.816Z,1761546070.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:10.817Z,1761546070.817 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:11.022Z,1761546071.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952087,0.290637,0.095185],[-0.305068,0.924465,0.228688],[-0.021530,-0.246769,0.968835]] 2025-10-27T06:21:11.048Z,1761546071.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:11.077Z,1761546071.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503966 s, deltaX: -0.500000 m, approachRate: -0.992130 m/s, rangeRepo size: 4 2025-10-27T06:21:11.084Z,1761546071.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.749876 m, bearing: 349.634381 deg, lat: 36.779453 deg, lon: -121.859833 deg, deltaT: 4.534603 s, deltaX: -1.987302 m, approachRate: -0.438253 m/s, posRepo size: 4 2025-10-27T06:21:11.085Z,1761546071.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.75 m. 9.74 m. 2025-10-27T06:21:11.091Z,1761546071.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 7.396801 m, bearing: 356.164729 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 335.472254 deg, new cmd heading: 334.885480 deg. 2025-10-27T06:21:11.092Z,1761546071.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844854 target range: 9.737179 and range: 7.80 m. 2025-10-27T06:21:11.301Z,1761546071.301 [DAT](INFO): DAT read: Rx Time:06:21:10.0256 2025-10-27T06:21:11.302Z,1761546071.302 [DAT](INFO): Rx dataTimestamp_ set to:1761546071.301535 2025-10-27T06:21:11.304Z,1761546071.304 [DAT](INFO): DAT read: Bearing 164.2, -2.2 (Local) 2025-10-27T06:21:11.304Z,1761546071.304 [DAT](INFO): Local bearing/azimuth received: Bearing 164.2, -2.2 (Local) 2025-10-27T06:21:11.307Z,1761546071.307 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-27T06:21:11.311Z,1761546071.311 [DAT](INFO): DAT read: 06:21:10.0256 LVL= 32752, 32753, 31474, 32755, AGC= 55, IDX= 496,-0.18,-3.064, 1.351,-3.077,-3.079, PHS= 0.117,-1.808,-0.042, RAW= 145.8, 18.3, CAL= 145.7, 20.2, ROT= 4.3, -20.2 2025-10-27T06:21:11.312Z,1761546071.312 [DAT](INFO): got valid direction response: 06:21:10.0256 LVL= 32752, 32753, 31474, 32755, AGC= 55, IDX= 496,-0.18,-3.064, 1.351,-3.077,-3.079, PHS= 0.117,-1.808,-0.042, RAW= 145.8, 18.3, CAL= 145.7, 20.2, ROT= 4.3, -20.2 2025-10-27T06:21:11.313Z,1761546071.313 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:11.314Z,1761546071.314 [DAT](INFO): direction in FSK: [0.935851,0.070367,0.345298] 2025-10-27T06:21:11.314Z,1761546071.314 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:11.317Z,1761546071.317 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:11.318Z,1761546071.318 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:11.426Z,1761546071.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948259,0.302374,0.096826],[-0.316930,0.919709,0.231712],[-0.018988,-0.250410,0.967954]] 2025-10-27T06:21:11.470Z,1761546071.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.504738 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:11.480Z,1761546071.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.749876 m, bearing: 350.842742 deg, lat: 36.779453 deg, lon: -121.859833 deg, deltaT: 5.039341 s, deltaX: -1.987302 m, approachRate: -0.394358 m/s, posRepo size: 4 2025-10-27T06:21:11.481Z,1761546071.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.75 m. 9.74 m. 2025-10-27T06:21:11.486Z,1761546071.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 7.193416 m, bearing: 356.807982 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 334.885486 deg, new cmd heading: 334.228972 deg. 2025-10-27T06:21:11.516Z,1761546071.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833396 target range: 9.737179 and range: 7.80 m. 2025-10-27T06:21:11.554Z,1761546071.554 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:11.805Z,1761546071.805 [DAT](INFO): DAT read: Rx Time:06:21:10.5253 2025-10-27T06:21:11.805Z,1761546071.805 [DAT](INFO): Rx dataTimestamp_ set to:1761546071.804943 2025-10-27T06:21:11.806Z,1761546071.806 [DAT](INFO): DAT read: Bearing 163.9, -3.1 (Local) 2025-10-27T06:21:11.807Z,1761546071.807 [DAT](INFO): Local bearing/azimuth received: Bearing 163.9, -3.1 (Local) 2025-10-27T06:21:11.809Z,1761546071.809 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T06:21:11.814Z,1761546071.814 [DAT](INFO): DAT read: 06:21:10.5253 LVL= 32752, 32081, 31986, 32755, AGC= 51, IDX= 493, 0.18, 2.907, 1.012, 2.912, 2.908, PHS= 0.101,-1.852,-0.040, RAW= 146.3, 18.6, CAL= 146.6, 20.9, ROT= 3.4, -20.9 2025-10-27T06:21:11.815Z,1761546071.815 [DAT](INFO): got valid direction response: 06:21:10.5253 LVL= 32752, 32081, 31986, 32755, AGC= 51, IDX= 493, 0.18, 2.907, 1.012, 2.912, 2.908, PHS= 0.101,-1.852,-0.040, RAW= 146.3, 18.6, CAL= 146.6, 20.9, ROT= 3.4, -20.9 2025-10-27T06:21:11.820Z,1761546071.820 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:11.821Z,1761546071.821 [DAT](INFO): direction in FSK: [0.932560,0.055404,0.356738] 2025-10-27T06:21:11.821Z,1761546071.821 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:11.833Z,1761546071.833 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:11.834Z,1761546071.834 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:11.839Z,1761546071.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944436,0.313844,0.097687],[-0.328289,0.915434,0.232824],[-0.016356,-0.251957,0.967600]] 2025-10-27T06:21:11.942Z,1761546071.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503408 s, deltaX: -0.400000 m, approachRate: -0.794584 m/s, rangeRepo size: 4 2025-10-27T06:21:11.949Z,1761546071.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.352487 m, bearing: 349.532344 deg, lat: 36.779454 deg, lon: -121.859833 deg, deltaT: 5.542749 s, deltaX: -2.384692 m, approachRate: -0.430236 m/s, posRepo size: 4 2025-10-27T06:21:11.950Z,1761546071.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.35 m. 9.74 m. 2025-10-27T06:21:11.957Z,1761546071.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 6.947246 m, bearing: 357.553271 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 334.228969 deg, new cmd heading: 333.438751 deg. 2025-10-27T06:21:11.963Z,1761546071.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819604 target range: 9.737179 and range: 7.40 m. 2025-10-27T06:21:12.056Z,1761546072.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:12.240Z,1761546072.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940763,0.324540,0.098175],[-0.338769,0.911766,0.232202],[-0.014153,-0.251706,0.967700]] 2025-10-27T06:21:12.257Z,1761546072.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:12.259Z,1761546072.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:12.262Z,1761546072.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 6.773630 m, bearing: 358.132828 deg, approach rate: -0.547327 m/s, LOS rate: 1.873856 deg/s, cmd heading: 333.438743 deg, new cmd heading: 335.221374 deg. 2025-10-27T06:21:12.263Z,1761546072.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850717 target range: 9.737179 and range: 7.40 m. 2025-10-27T06:21:12.309Z,1761546072.309 [DAT](INFO): DAT read: Rx Time:06:21:11.0253 2025-10-27T06:21:12.309Z,1761546072.309 [DAT](INFO): Rx dataTimestamp_ set to:1761546072.308833 2025-10-27T06:21:12.310Z,1761546072.310 [DAT](INFO): DAT read: Bearing 166.8, -7.0 (Local) 2025-10-27T06:21:12.311Z,1761546072.311 [DAT](INFO): Local bearing/azimuth received: Bearing 166.8, -7.0 (Local) 2025-10-27T06:21:12.313Z,1761546072.313 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T06:21:12.320Z,1761546072.320 [DAT](INFO): DAT read: 06:21:11.0253 LVL= 32752, 31553, 31474, 32755, AGC= 50, IDX= 509,-0.28, 0.519,-1.204, 0.594, 0.611, PHS= 0.009,-1.770,-0.061, RAW= 148.0, 20.3, CAL= 149.9, 25.3, ROT= 0.1, -25.3 2025-10-27T06:21:12.321Z,1761546072.321 [DAT](INFO): got valid direction response: 06:21:11.0253 LVL= 32752, 31553, 31474, 32755, AGC= 50, IDX= 509,-0.28, 0.519,-1.204, 0.594, 0.611, PHS= 0.009,-1.770,-0.061, RAW= 148.0, 20.3, CAL= 149.9, 25.3, ROT= 0.1, -25.3 2025-10-27T06:21:12.322Z,1761546072.322 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:12.351Z,1761546072.351 [DAT](INFO): direction in FSK: [0.904081,0.001578,0.427358] 2025-10-27T06:21:12.351Z,1761546072.351 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:12.355Z,1761546072.355 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:12.364Z,1761546072.364 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:12.560Z,1761546072.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:12.647Z,1761546072.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937418,0.334071,0.098206],[-0.347996,0.908625,0.230867],[-0.012106,-0.250594,0.968017]] 2025-10-27T06:21:12.749Z,1761546072.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503890 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:12.750Z,1761546072.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.352507 m, bearing: 346.448240 deg, lat: 36.779455 deg, lon: -121.859833 deg, deltaT: 6.046639 s, deltaX: -2.384672 m, approachRate: -0.394380 m/s, posRepo size: 4 2025-10-27T06:21:12.752Z,1761546072.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.35 m. 9.74 m. 2025-10-27T06:21:12.754Z,1761546072.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 6.544121 m, bearing: 358.780028 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 335.221368 deg, new cmd heading: 334.403547 deg. 2025-10-27T06:21:12.772Z,1761546072.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836443 target range: 9.737179 and range: 7.40 m. 2025-10-27T06:21:12.813Z,1761546072.813 [DAT](INFO): DAT read: Rx Time:06:21:11.5250 2025-10-27T06:21:12.813Z,1761546072.813 [DAT](INFO): Rx dataTimestamp_ set to:1761546072.812808 2025-10-27T06:21:12.814Z,1761546072.814 [DAT](INFO): DAT read: Bearing 167.8, -9.0 (Local) 2025-10-27T06:21:12.815Z,1761546072.815 [DAT](INFO): Local bearing/azimuth received: Bearing 167.8, -9.0 (Local) 2025-10-27T06:21:12.817Z,1761546072.817 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 2025-10-27T06:21:12.821Z,1761546072.821 [DAT](INFO): DAT read: 06:21:11.5250 LVL= 26608, 27729, 30258, 32755, AGC= 48, IDX= 506, 0.26,-2.620, 2.344,-2.493,-2.488, PHS=-0.030,-1.407,-0.050, RAW= 149.3, 21.0, CAL= 151.8, 27.3, ROT= 358.2, -27.3 2025-10-27T06:21:12.822Z,1761546072.822 [DAT](INFO): got valid direction response: 06:21:11.5250 LVL= 26608, 27729, 30258, 32755, AGC= 48, IDX= 506, 0.26,-2.620, 2.344,-2.493,-2.488, PHS=-0.030,-1.407,-0.050, RAW= 149.3, 21.0, CAL= 151.8, 27.3, ROT= 358.2, -27.3 2025-10-27T06:21:12.823Z,1761546072.823 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:21:12.824Z,1761546072.824 [DAT](INFO): direction in FSK: [0.888179,-0.027912,0.458650] 2025-10-27T06:21:12.824Z,1761546072.824 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:12.828Z,1761546072.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:12.828Z,1761546072.828 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:21:13.042Z,1761546073.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934006,0.343474,0.098276],[-0.357113,0.905439,0.229457],[-0.010171,-0.249410,0.968345]] 2025-10-27T06:21:13.064Z,1761546073.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:13.082Z,1761546073.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503975 s, deltaX: -0.500000 m, approachRate: -0.992113 m/s, rangeRepo size: 4 2025-10-27T06:21:13.084Z,1761546073.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.855716 m, bearing: 344.665453 deg, lat: 36.779454 deg, lon: -121.859834 deg, deltaT: 6.550614 s, deltaX: -2.881463 m, approachRate: -0.439877 m/s, posRepo size: 4 2025-10-27T06:21:13.085Z,1761546073.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.74 m. 2025-10-27T06:21:13.087Z,1761546073.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 6.386308 m, bearing: 359.269167 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 334.403548 deg, new cmd heading: 333.846544 deg. 2025-10-27T06:21:13.088Z,1761546073.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826721 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:13.102Z,1761546073.102 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T06:21:13.317Z,1761546073.317 [DAT](INFO): DAT read: Rx Time:06:21:12.0249 2025-10-27T06:21:13.317Z,1761546073.317 [DAT](INFO): Rx dataTimestamp_ set to:1761546073.316828 2025-10-27T06:21:13.318Z,1761546073.318 [DAT](INFO): DAT read: Range 11 to 56.6 m (trip time 4.4 ms) speed 0.4 2025-10-27T06:21:13.319Z,1761546073.319 [DAT](INFO): unknown deviceResponse_: Range 11 to 56.6 m (trip time 4.4 ms) speed 0.4 2025-10-27T06:21:13.319Z,1761546073.319 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:13.445Z,1761546073.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930940,0.351800,0.097914],[-0.365070,0.902945,0.226747],[-0.008641,-0.246834,0.969019]] 2025-10-27T06:21:13.474Z,1761546073.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:13.477Z,1761546073.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 6.200377 m, bearing: 359.896530 deg, approach rate: -0.472957 m/s, LOS rate: 1.643654 deg/s, cmd heading: 333.846533 deg, new cmd heading: 335.784283 deg. 2025-10-27T06:21:13.478Z,1761546073.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860541 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:13.573Z,1761546073.573 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:21:13.649Z,1761546073.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:21:13.824Z,1761546073.824 [DAT](INFO): DAT read: user:753> 2025-10-27T06:21:13.824Z,1761546073.824 [DAT](INFO): DAT read: 0 2025-10-27T06:21:13.825Z,1761546073.825 [DAT](INFO): unknown deviceResponse_: 0 2025-10-27T06:21:13.825Z,1761546073.825 [DAT](INFO): DAT read: Ok 2025-10-27T06:21:13.825Z,1761546073.825 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-27T06:21:13.826Z,1761546073.826 [DAT](INFO): DAT read: user:754> 2025-10-27T06:21:13.826Z,1761546073.826 [DAT](INFO): DAT read: Tx time:06:21:12.9678 2025-10-27T06:21:13.827Z,1761546073.827 [DAT](INFO): Ping request sent. 2025-10-27T06:21:13.827Z,1761546073.827 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:21:13.827Z,1761546073.827 [DAT](INFO): publishing transmit ping time 2025-10-27T06:21:13.828Z,1761546073.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000860 2025-10-27T06:21:13.850Z,1761546073.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927675,0.360198,0.098364],[-0.373321,0.899724,0.226117],[-0.007053,-0.246484,0.969121]] 2025-10-27T06:21:13.959Z,1761546073.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:13.971Z,1761546073.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 5.982897 m, bearing: 0.437186 deg, approach rate: -0.449217 m/s, LOS rate: 1.157336 deg/s, cmd heading: 335.784285 deg, new cmd heading: 337.464706 deg. 2025-10-27T06:21:13.972Z,1761546073.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889870 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:14.077Z,1761546074.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249887 2025-10-27T06:21:14.283Z,1761546074.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924703,0.367888,0.097892],[-0.380650,0.897194,0.223936],[-0.005445,-0.244337,0.969675]] 2025-10-27T06:21:14.301Z,1761546074.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:14.304Z,1761546074.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:14.306Z,1761546074.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 5.822183 m, bearing: 0.877195 deg, approach rate: -0.465553 m/s, LOS rate: 1.309778 deg/s, cmd heading: 337.464702 deg, new cmd heading: 338.820898 deg. 2025-10-27T06:21:14.310Z,1761546074.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913540 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:14.328Z,1761546074.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501145 2025-10-27T06:21:14.581Z,1761546074.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753322 2025-10-27T06:21:14.652Z,1761546074.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:21:14.690Z,1761546074.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921874,0.375203,0.096799],[-0.387473,0.894861,0.221561],[-0.003491,-0.241759,0.970330]] 2025-10-27T06:21:14.777Z,1761546074.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:14.779Z,1761546074.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 5.618796 m, bearing: 1.324376 deg, approach rate: -0.430036 m/s, LOS rate: 0.979722 deg/s, cmd heading: 338.820905 deg, new cmd heading: 340.210722 deg. 2025-10-27T06:21:14.780Z,1761546074.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937797 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:14.832Z,1761546074.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005264 2025-10-27T06:21:15.084Z,1761546075.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257328 2025-10-27T06:21:15.092Z,1761546075.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919399,0.381410,0.096087],[-0.393320,0.892957,0.218922],[-0.002303,-0.239070,0.971000]] 2025-10-27T06:21:15.110Z,1761546075.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:15.129Z,1761546075.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 5.475831 m, bearing: 1.668972 deg, approach rate: -0.428296 m/s, LOS rate: 1.059290 deg/s, cmd heading: 340.210712 deg, new cmd heading: 341.271364 deg. 2025-10-27T06:21:15.130Z,1761546075.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956309 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:15.339Z,1761546075.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512065 2025-10-27T06:21:15.494Z,1761546075.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917374,0.386565,0.094828],[-0.398024,0.891654,0.215707],[-0.001169,-0.235628,0.971843]] 2025-10-27T06:21:15.520Z,1761546075.520 [CTD_Seabird](ERROR): Failed to parse device response: .45 2025-10-27T06:21:15.525Z,1761546075.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:15.528Z,1761546075.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 5.299322 m, bearing: 2.130946 deg, approach rate: -0.425595 m/s, LOS rate: 1.150993 deg/s, cmd heading: 341.271358 deg, new cmd heading: 342.703128 deg. 2025-10-27T06:21:15.529Z,1761546075.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981298 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:15.588Z,1761546075.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761359 2025-10-27T06:21:15.840Z,1761546075.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013262 2025-10-27T06:21:15.903Z,1761546075.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916050,0.390233,0.092573],[-0.401063,0.891707,0.209778],[-0.000686,-0.229295,0.973357]] 2025-10-27T06:21:15.946Z,1761546075.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:15.972Z,1761546075.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 5.113801 m, bearing: 2.542262 deg, approach rate: -0.441071 m/s, LOS rate: 1.013363 deg/s, cmd heading: 342.703130 deg, new cmd heading: 343.981621 deg. 2025-10-27T06:21:15.973Z,1761546075.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003612 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:16.093Z,1761546076.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265878 2025-10-27T06:21:16.303Z,1761546076.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915641,0.391855,0.089728],[-0.401996,0.892836,0.203084],[-0.000533,-0.222022,0.975042]] 2025-10-27T06:21:16.320Z,1761546076.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:16.322Z,1761546076.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:16.328Z,1761546076.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 4.948688 m, bearing: 2.935343 deg, approach rate: -0.438688 m/s, LOS rate: 1.079212 deg/s, cmd heading: 343.981632 deg, new cmd heading: 345.200026 deg. 2025-10-27T06:21:16.329Z,1761546076.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024877 target range: 9.737179 and range: 6.90 m. 2025-10-27T06:21:16.344Z,1761546076.344 [DAT](INFO): DAT read: Rx Time:06:21:15.1040 2025-10-27T06:21:16.345Z,1761546076.345 [DAT](INFO): Rx dataTimestamp_ set to:1761546076.344406 2025-10-27T06:21:16.346Z,1761546076.346 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 2025-10-27T06:21:16.346Z,1761546076.346 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T06:21:16.348Z,1761546076.348 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.520846 2025-10-27T06:21:16.596Z,1761546076.596 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769223 2025-10-27T06:21:16.718Z,1761546076.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915639,0.392726,0.085854],[-0.402000,0.894738,0.194525],[-0.000422,-0.212628,0.977133]] 2025-10-27T06:21:16.803Z,1761546076.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 3.531598 s, deltaX: -1.600000 m, approachRate: -0.453053 m/s, rangeRepo size: 4 2025-10-27T06:21:16.804Z,1761546076.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:16.806Z,1761546076.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 4.757146 m, bearing: 3.323332 deg, approach rate: -0.412554 m/s, LOS rate: 0.869314 deg/s, cmd heading: 345.200028 deg, new cmd heading: 346.410673 deg. 2025-10-27T06:21:16.816Z,1761546076.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046007 target range: 9.737179 and range: 5.30 m. 2025-10-27T06:21:16.848Z,1761546076.848 [DAT](INFO): DAT read: Rx Time:06:21:15.6036 2025-10-27T06:21:16.849Z,1761546076.849 [DAT](INFO): Rx dataTimestamp_ set to:1761546076.848346 2025-10-27T06:21:16.850Z,1761546076.850 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 2025-10-27T06:21:16.850Z,1761546076.850 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T06:21:16.852Z,1761546076.852 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.025231 2025-10-27T06:21:17.100Z,1761546077.100 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273174 2025-10-27T06:21:17.112Z,1761546077.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917135,0.390526,0.079705],[-0.398577,0.898991,0.181527],[-0.000763,-0.198253,0.980150]] 2025-10-27T06:21:17.142Z,1761546077.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503940 s, deltaX: -0.600000 m, approachRate: -1.190619 m/s, rangeRepo size: 4 2025-10-27T06:21:17.143Z,1761546077.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:17.146Z,1761546077.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 4.610377 m, bearing: 3.632300 deg, approach rate: -0.412895 m/s, LOS rate: 0.896864 deg/s, cmd heading: 346.410666 deg, new cmd heading: 347.366983 deg. 2025-10-27T06:21:17.147Z,1761546077.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.062697 target range: 9.737179 and range: 4.70 m. 2025-10-27T06:21:17.352Z,1761546077.352 [DAT](INFO): DAT read: Rx Time:06:21:16.1036 2025-10-27T06:21:17.353Z,1761546077.353 [DAT](INFO): Rx dataTimestamp_ set to:1761546077.352295 2025-10-27T06:21:17.354Z,1761546077.354 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 2025-10-27T06:21:17.354Z,1761546077.354 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-27T06:21:17.355Z,1761546077.355 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.528604 2025-10-27T06:21:17.514Z,1761546077.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919343,0.386708,0.072570],[-0.393456,0.904240,0.165959],[-0.001443,-0.181126,0.983459]] 2025-10-27T06:21:17.574Z,1761546077.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503949 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:17.583Z,1761546077.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:17.586Z,1761546077.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 4.443536 m, bearing: 3.991651 deg, approach rate: -0.386670 m/s, LOS rate: 0.864093 deg/s, cmd heading: 347.366974 deg, new cmd heading: 348.485354 deg. 2025-10-27T06:21:17.586Z,1761546077.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.082217 target range: 9.737179 and range: 4.70 m. 2025-10-27T06:21:17.604Z,1761546077.604 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777292 2025-10-27T06:21:17.857Z,1761546077.857 [DAT](INFO): DAT read: Rx Time:06:21:16.6034 2025-10-27T06:21:17.857Z,1761546077.857 [DAT](INFO): Rx dataTimestamp_ set to:1761546077.856839 2025-10-27T06:21:17.858Z,1761546077.858 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-27T06:21:17.859Z,1761546077.859 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T06:21:17.860Z,1761546077.860 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.033171 2025-10-27T06:21:17.935Z,1761546077.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922474,0.380518,0.065183],[-0.386054,0.910164,0.150212],[-0.002169,-0.163731,0.986503]] 2025-10-27T06:21:18.001Z,1761546078.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.504544 s, deltaX: -0.300000 m, approachRate: -0.594596 m/s, rangeRepo size: 4 2025-10-27T06:21:18.002Z,1761546078.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:18.005Z,1761546078.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 4.245899 m, bearing: 4.605215 deg, approach rate: -0.462625 m/s, LOS rate: 1.503043 deg/s, cmd heading: 348.485349 deg, new cmd heading: 350.410960 deg. 2025-10-27T06:21:18.006Z,1761546078.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.115825 target range: 9.737179 and range: 4.40 m. 2025-10-27T06:21:18.113Z,1761546078.113 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.286145 2025-10-27T06:21:18.325Z,1761546078.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926271,0.372472,0.057324],[-0.376847,0.916620,0.133394],[-0.002859,-0.145162,0.989404]] 2025-10-27T06:21:18.361Z,1761546078.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:18.368Z,1761546078.368 [DAT](INFO): DAT read: Rx Time:06:21:17.1033 2025-10-27T06:21:18.370Z,1761546078.370 [DAT](INFO): Rx dataTimestamp_ set to:1761546078.369195 2025-10-27T06:21:18.371Z,1761546078.371 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 2025-10-27T06:21:18.372Z,1761546078.372 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-27T06:21:18.372Z,1761546078.372 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.545772 2025-10-27T06:21:18.373Z,1761546078.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:18.376Z,1761546078.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 4.081763 m, bearing: 5.131543 deg, approach rate: -0.452974 m/s, LOS rate: 1.510923 deg/s, cmd heading: 350.410971 deg, new cmd heading: 352.052975 deg. 2025-10-27T06:21:18.377Z,1761546078.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144484 target range: 9.737179 and range: 4.40 m. 2025-10-27T06:21:18.616Z,1761546078.616 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.789137 2025-10-27T06:21:18.753Z,1761546078.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930804,0.362270,0.048633],[-0.365500,0.923850,0.113627],[-0.003766,-0.123540,0.992332]] 2025-10-27T06:21:18.804Z,1761546078.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.512356 s, deltaX: -0.200000 m, approachRate: -0.390354 m/s, rangeRepo size: 4 2025-10-27T06:21:18.805Z,1761546078.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:18.807Z,1761546078.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 3.887123 m, bearing: 5.914229 deg, approach rate: -0.442219 m/s, LOS rate: 1.867231 deg/s, cmd heading: 352.052976 deg, new cmd heading: 354.517013 deg. 2025-10-27T06:21:18.808Z,1761546078.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187489 target range: 9.737179 and range: 4.20 m. 2025-10-27T06:21:18.868Z,1761546078.868 [DAT](INFO): DAT read: Rx Time:06:21:17.6031 2025-10-27T06:21:18.869Z,1761546078.869 [DAT](INFO): Rx dataTimestamp_ set to:1761546078.868437 2025-10-27T06:21:18.870Z,1761546078.870 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 2025-10-27T06:21:18.870Z,1761546078.870 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-27T06:21:18.871Z,1761546078.871 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.044764 2025-10-27T06:21:19.120Z,1761546079.120 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293140 2025-10-27T06:21:19.135Z,1761546079.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935756,0.350339,0.040282],[-0.352615,0.931094,0.093421],[-0.004778,-0.101624,0.994811]] 2025-10-27T06:21:19.179Z,1761546079.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.499242 s, deltaX: -0.300000 m, approachRate: -0.600910 m/s, rangeRepo size: 4 2025-10-27T06:21:19.185Z,1761546079.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:19.194Z,1761546079.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 3.727683 m, bearing: 6.576762 deg, approach rate: -0.425127 m/s, LOS rate: 1.842083 deg/s, cmd heading: 354.517007 deg, new cmd heading: 356.588669 deg. 2025-10-27T06:21:19.200Z,1761546079.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223646 target range: 9.737179 and range: 3.90 m. 2025-10-27T06:21:19.373Z,1761546079.373 [DAT](INFO): DAT read: Rx Time:06:21:18.1030 2025-10-27T06:21:19.374Z,1761546079.374 [DAT](INFO): Rx dataTimestamp_ set to:1761546079.373007 2025-10-27T06:21:19.376Z,1761546079.376 [DAT](INFO): DAT read: Bearing 288.9, -9.9 (Local) 2025-10-27T06:21:19.376Z,1761546079.376 [DAT](INFO): Local bearing/azimuth received: Bearing 288.9, -9.9 (Local) 2025-10-27T06:21:19.379Z,1761546079.379 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-27T06:21:19.385Z,1761546079.385 [DAT](INFO): DAT read: 06:21:18.1030 LVL= 20448, 15089, 17602, 27779, AGC= 43, IDX= 508,-0.47,-2.440,-0.575,-2.018,-0.805, PHS=-1.533, 0.275,-1.257, RAW= 321.9, 27.8, CAL= 321.6, 33.0, ROT= 188.4, -33.0 2025-10-27T06:21:19.386Z,1761546079.386 [DAT](INFO): got valid direction response: 06:21:18.1030 LVL= 20448, 15089, 17602, 27779, AGC= 43, IDX= 508,-0.47,-2.440,-0.575,-2.018,-0.805, PHS=-1.533, 0.275,-1.257, RAW= 321.9, 27.8, CAL= 321.6, 33.0, ROT= 188.4, -33.0 2025-10-27T06:21:19.387Z,1761546079.387 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T06:21:19.388Z,1761546079.388 [DAT](INFO): direction in FSK: [-0.829674,-0.122515,0.544639] 2025-10-27T06:21:19.388Z,1761546079.388 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:19.400Z,1761546079.400 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.573668 2025-10-27T06:21:19.541Z,1761546079.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941331,0.335813,0.033543],[-0.337436,0.938223,0.076652],[-0.005730,-0.083473,0.996494]] 2025-10-27T06:21:19.624Z,1761546079.624 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.797342 2025-10-27T06:21:19.640Z,1761546079.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504570 s, deltaX: -0.100000 m, approachRate: -0.198189 m/s, rangeRepo size: 4 2025-10-27T06:21:19.642Z,1761546079.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.775582 m, bearing: 165.575693 deg, lat: 36.779454 deg, lon: -121.859834 deg, deltaT: 13.110813 s, deltaX: -5.961596 m, approachRate: -0.454708 m/s, posRepo size: 4 2025-10-27T06:21:19.643Z,1761546079.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.74 m. 2025-10-27T06:21:19.645Z,1761546079.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 3.518622 m, bearing: 7.474774 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 356.588658 deg, new cmd heading: 355.817273 deg. 2025-10-27T06:21:19.646Z,1761546079.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210183 target range: 9.737179 and range: 3.80 m. 2025-10-27T06:21:19.876Z,1761546079.876 [DAT](INFO): DAT read: Rx Time:06:21:18.6027 2025-10-27T06:21:19.877Z,1761546079.877 [DAT](INFO): Rx dataTimestamp_ set to:1761546079.876655 2025-10-27T06:21:19.878Z,1761546079.878 [DAT](INFO): DAT read: Bearing 289.1, -10.9 (Local) 2025-10-27T06:21:19.879Z,1761546079.879 [DAT](INFO): Local bearing/azimuth received: Bearing 289.1, -10.9 (Local) 2025-10-27T06:21:19.881Z,1761546079.881 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4 2025-10-27T06:21:19.885Z,1761546079.885 [DAT](INFO): DAT read: 06:21:18.6027 LVL= 17040, 11361, 11970, 23779, AGC= 41, IDX= 505, 0.05,-0.725, 1.359,-0.194, 1.138, PHS=-1.762, 0.265,-1.376, RAW= 319.7, 28.6, CAL= 319.6, 33.8, ROT= 190.4, -33.8 2025-10-27T06:21:19.886Z,1761546079.886 [DAT](INFO): got valid direction response: 06:21:18.6027 LVL= 17040, 11361, 11970, 23779, AGC= 41, IDX= 505, 0.05,-0.725, 1.359,-0.194, 1.138, PHS=-1.762, 0.265,-1.376, RAW= 319.7, 28.6, CAL= 319.6, 33.8, ROT= 190.4, -33.8 2025-10-27T06:21:19.887Z,1761546079.887 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T06:21:19.888Z,1761546079.888 [DAT](INFO): direction in FSK: [-0.817333,-0.150008,0.556296] 2025-10-27T06:21:19.888Z,1761546079.888 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:19.892Z,1761546079.892 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.064991 2025-10-27T06:21:19.942Z,1761546079.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946861,0.320428,0.027938],[-0.321577,0.944854,0.061966],[-0.006542,-0.067657,0.997687]] 2025-10-27T06:21:20.071Z,1761546080.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503648 s, deltaX: -0.500000 m, approachRate: -0.992757 m/s, rangeRepo size: 4 2025-10-27T06:21:20.077Z,1761546080.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.278795 m, bearing: 169.080984 deg, lat: 36.779451 deg, lon: -121.859834 deg, deltaT: 13.614461 s, deltaX: -6.458384 m, approachRate: -0.474377 m/s, posRepo size: 4 2025-10-27T06:21:20.078Z,1761546080.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.28 m. 9.74 m. 2025-10-27T06:21:20.084Z,1761546080.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 3.333287 m, bearing: 8.508507 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 355.817284 deg, new cmd heading: 355.096748 deg. 2025-10-27T06:21:20.085Z,1761546080.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197608 target range: 9.737179 and range: 3.30 m. 2025-10-27T06:21:20.128Z,1761546080.128 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.301395 2025-10-27T06:21:20.346Z,1761546080.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952569,0.303514,0.022173],[-0.304239,0.951487,0.045948],[-0.007151,-0.050514,0.998698]] 2025-10-27T06:21:20.380Z,1761546080.380 [DAT](INFO): DAT read: Rx Time:06:21:19.1027 2025-10-27T06:21:20.381Z,1761546080.381 [DAT](INFO): Rx dataTimestamp_ set to:1761546080.380580 2025-10-27T06:21:20.382Z,1761546080.382 [DAT](INFO): DAT read: Bearing 290.3, -10.1 (Local) 2025-10-27T06:21:20.382Z,1761546080.382 [DAT](INFO): Local bearing/azimuth received: Bearing 290.3, -10.1 (Local) 2025-10-27T06:21:20.385Z,1761546080.385 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.3 2025-10-27T06:21:20.389Z,1761546080.389 [DAT](INFO): DAT read: 06:21:19.1027 LVL= 13168, 16209, 12306, 25075, AGC= 40, IDX= 504,-0.09,-2.890,-0.731,-2.349,-0.963, PHS=-1.826, 0.277,-1.430, RAW= 319.8, 28.6, CAL= 319.7, 33.8, ROT= 190.3, -33.8 2025-10-27T06:21:20.390Z,1761546080.390 [DAT](INFO): got valid direction response: 06:21:19.1027 LVL= 13168, 16209, 12306, 25075, AGC= 40, IDX= 504,-0.09,-2.890,-0.731,-2.349,-0.963, PHS=-1.826, 0.277,-1.430, RAW= 319.8, 28.6, CAL= 319.7, 33.8, ROT= 190.3, -33.8 2025-10-27T06:21:20.390Z,1761546080.390 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T06:21:20.392Z,1761546080.392 [DAT](INFO): direction in FSK: [-0.817593,-0.148582,0.556296] 2025-10-27T06:21:20.392Z,1761546080.392 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:20.396Z,1761546080.396 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.569055 2025-10-27T06:21:20.456Z,1761546080.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503925 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:20.458Z,1761546080.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.278795 m, bearing: 170.697960 deg, lat: 36.779403 deg, lon: -121.859824 deg, deltaT: 14.118386 s, deltaX: -6.458384 m, approachRate: -0.457445 m/s, posRepo size: 4 2025-10-27T06:21:20.463Z,1761546080.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.28 m. 9.74 m. 2025-10-27T06:21:20.466Z,1761546080.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 3.173911 m, bearing: 9.438196 deg, approach rate: 0.000000 m/s, LOS rate: -0.557542 deg/s, cmd heading: 355.096754 deg, new cmd heading: 354.451630 deg. 2025-10-27T06:21:20.471Z,1761546080.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186348 target range: 9.737179 and range: 3.30 m. 2025-10-27T06:21:20.632Z,1761546080.632 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805375 2025-10-27T06:21:20.799Z,1761546080.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964612,0.263461,0.010598],[-0.263553,0.964608,0.008457],[-0.007995,-0.010951,0.999908]] 2025-10-27T06:21:20.853Z,1761546080.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:20.855Z,1761546080.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.74 m. 2025-10-27T06:21:20.858Z,1761546080.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.737179 m, nav range: 2.970414 m, bearing: 10.919314 deg, approach rate: -0.510024 m/s, LOS rate: 3.965999 deg/s, cmd heading: 354.451629 deg, new cmd heading: 359.188040 deg. 2025-10-27T06:21:20.859Z,1761546080.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269014 target range: 9.737179 and range: 3.30 m. 2025-10-27T06:21:20.885Z,1761546080.885 [DAT](INFO): DAT read: Rx Time:06:21:19.6025 2025-10-27T06:21:20.885Z,1761546080.885 [DAT](INFO): Rx dataTimestamp_ set to:1761546080.884797 2025-10-27T06:21:20.886Z,1761546080.886 [DAT](INFO): DAT read: Bearing 289.9, -13.3 (Local) 2025-10-27T06:21:20.887Z,1761546080.887 [DAT](INFO): Local bearing/azimuth received: Bearing 289.9, -13.3 (Local) 2025-10-27T06:21:20.889Z,1761546080.889 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.3 2025-10-27T06:21:20.893Z,1761546080.893 [DAT](INFO): DAT read: 06:21:19.6025 LVL= 20448, 26865, 20706, 25011, AGC= 45, IDX= 502,-0.00,-0.590, 1.509, 0.128, 1.370, PHS=-1.858, 0.184,-1.286, RAW= 314.2, 29.8, CAL= 314.5, 35.1, ROT= 195.5, -35.1 2025-10-27T06:21:20.894Z,1761546080.894 [DAT](INFO): got valid direction response: 06:21:19.6025 LVL= 20448, 26865, 20706, 25011, AGC= 45, IDX= 502,-0.00,-0.590, 1.509, 0.128, 1.370, PHS=-1.858, 0.184,-1.286, RAW= 314.2, 29.8, CAL= 314.5, 35.1, ROT= 195.5, -35.1 2025-10-27T06:21:20.895Z,1761546080.895 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T06:21:20.896Z,1761546080.896 [DAT](INFO): direction in FSK: [-0.788394,-0.218641,0.575005] 2025-10-27T06:21:20.896Z,1761546080.896 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:20.908Z,1761546080.908 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.081256 2025-10-27T06:21:21.136Z,1761546081.136 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.309563 2025-10-27T06:21:21.224Z,1761546081.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504217 s, deltaX: -0.300000 m, approachRate: -0.594982 m/s, rangeRepo size: 4 2025-10-27T06:21:21.226Z,1761546081.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.980722 m, bearing: 179.876986 deg, lat: 36.779403 deg, lon: -121.859824 deg, deltaT: 14.622603 s, deltaX: -6.756456 m, approachRate: -0.462056 m/s, posRepo size: 4 2025-10-27T06:21:21.226Z,1761546081.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m. 2025-10-27T06:21:21.226Z,1761546081.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T06:21:21.389Z,1761546081.389 [DAT](INFO): DAT read: Rx Time:06:21:20.1024 2025-10-27T06:21:21.389Z,1761546081.389 [DAT](INFO): Rx dataTimestamp_ set to:1761546081.388798 2025-10-27T06:21:21.390Z,1761546081.390 [DAT](INFO): DAT read: Bearing 296.0, -16.2 (Local) 2025-10-27T06:21:21.391Z,1761546081.391 [DAT](INFO): Local bearing/azimuth received: Bearing 296.0, -16.2 (Local) 2025-10-27T06:21:21.393Z,1761546081.393 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 2025-10-27T06:21:21.398Z,1761546081.398 [DAT](INFO): DAT read: 06:21:20.1024 LVL= 18576, 14177, 19954, 19411, AGC= 44, IDX= 502,-0.13, 0.806, 2.983, 1.655, 2.662, PHS=-1.755, 0.365,-1.051, RAW= 311.0, 24.8, CAL= 310.9, 30.0, ROT= 199.1, -30.0 2025-10-27T06:21:21.399Z,1761546081.399 [DAT](INFO): got valid direction response: 06:21:20.1024 LVL= 18576, 14177, 19954, 19411, AGC= 44, IDX= 502,-0.13, 0.806, 2.983, 1.655, 2.662, PHS=-1.755, 0.365,-1.051, RAW= 311.0, 24.8, CAL= 310.9, 30.0, ROT= 199.1, -30.0 2025-10-27T06:21:21.400Z,1761546081.400 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T06:21:21.401Z,1761546081.401 [DAT](INFO): direction in FSK: [-0.818350,-0.283379,0.500000] 2025-10-27T06:21:21.401Z,1761546081.401 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:21.409Z,1761546081.409 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.581999 2025-10-27T06:21:21.599Z,1761546081.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975497,0.219996,0.002578],[-0.219891,0.975286,-0.021561],[-0.007257,0.020466,0.999764]] 2025-10-27T06:21:21.640Z,1761546081.640 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813284 2025-10-27T06:21:21.649Z,1761546081.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504001 s, deltaX: -0.100000 m, approachRate: -0.198412 m/s, rangeRepo size: 4 2025-10-27T06:21:21.655Z,1761546081.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.881366 m, bearing: 187.111207 deg, lat: 36.779403 deg, lon: -121.859824 deg, deltaT: 0.504001 s, deltaX: -0.099356 m, approachRate: -0.197135 m/s, posRepo size: 4 2025-10-27T06:21:21.893Z,1761546081.893 [DAT](INFO): DAT read: Rx Time:06:21:20.6021 2025-10-27T06:21:21.893Z,1761546081.893 [DAT](INFO): Rx dataTimestamp_ set to:1761546081.892760 2025-10-27T06:21:21.894Z,1761546081.894 [DAT](INFO): DAT read: Bearing 288.7, -20.6 (Local) 2025-10-27T06:21:21.895Z,1761546081.895 [DAT](INFO): Local bearing/azimuth received: Bearing 288.7, -20.6 (Local) 2025-10-27T06:21:21.897Z,1761546081.897 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.2 2025-10-27T06:21:21.902Z,1761546081.902 [DAT](INFO): DAT read: 06:21:20.6021 LVL= 25888, 16497, 32754, 32755, AGC= 48, IDX= 499, 0.26, 0.271, 2.050, 1.247, 2.075, PHS=-1.702, 0.020,-0.872, RAW= 301.2, 31.2, CAL= 302.8, 36.8, ROT= 207.2, -36.8 2025-10-27T06:21:21.907Z,1761546081.907 [DAT](INFO): got valid direction response: 06:21:20.6021 LVL= 25888, 16497, 32754, 32755, AGC= 48, IDX= 499, 0.26, 0.271, 2.050, 1.247, 2.075, PHS=-1.702, 0.020,-0.872, RAW= 301.2, 31.2, CAL= 302.8, 36.8, ROT= 207.2, -36.8 2025-10-27T06:21:21.908Z,1761546081.908 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T06:21:21.909Z,1761546081.909 [DAT](INFO): direction in FSK: [-0.712184,-0.366013,0.599024] 2025-10-27T06:21:21.909Z,1761546081.909 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:21.912Z,1761546081.912 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.085688 2025-10-27T06:21:22.055Z,1761546082.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503962 s, deltaX: -0.500000 m, approachRate: -0.992138 m/s, rangeRepo size: 4 2025-10-27T06:21:22.057Z,1761546082.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.384579 m, bearing: 195.411328 deg, lat: 36.779409 deg, lon: -121.859830 deg, deltaT: 0.503962 s, deltaX: -0.496787 m, approachRate: -0.985763 m/s, posRepo size: 4 2025-10-27T06:21:22.145Z,1761546082.145 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317849 2025-10-27T06:21:22.380Z,1761546082.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983708,0.179770,0.001461],[-0.179656,0.983317,-0.028496],[-0.006559,0.027769,0.999593]] 2025-10-27T06:21:22.396Z,1761546082.396 [DAT](INFO): DAT read: Rx Time:06:21:21.1021 2025-10-27T06:21:22.397Z,1761546082.397 [DAT](INFO): Rx dataTimestamp_ set to:1761546082.396347 2025-10-27T06:21:22.398Z,1761546082.398 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.3 2025-10-27T06:21:22.398Z,1761546082.398 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-27T06:21:22.399Z,1761546082.399 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.572683 2025-10-27T06:21:22.444Z,1761546082.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503587 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:22.648Z,1761546082.648 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821137 2025-10-27T06:21:22.855Z,1761546082.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:22.902Z,1761546082.902 [DAT](INFO): DAT read: Rx Time:06:21:21.6020 2025-10-27T06:21:22.902Z,1761546082.902 [DAT](INFO): Rx dataTimestamp_ set to:1761546082.901701 2025-10-27T06:21:22.904Z,1761546082.904 [DAT](INFO): DAT read: Bearing 230.7, 23.9 (Local) 2025-10-27T06:21:22.905Z,1761546082.905 [DAT](INFO): Local bearing/azimuth received: Bearing 230.7, 23.9 (Local) 2025-10-27T06:21:22.908Z,1761546082.908 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2 2025-10-27T06:21:22.914Z,1761546082.914 [DAT](INFO): DAT read: 06:21:21.6020 LVL= 27760, 18865, 32754, 32691, AGC= 51, IDX= 497, 0.21,-1.611,-2.146,-2.119,-0.877, PHS=-0.631,-1.224,-1.286, RAW= 85.1, 60.6, CAL= 83.9, 64.9, ROT= 66.1, -64.9 2025-10-27T06:21:22.923Z,1761546082.923 [DAT](INFO): got valid direction response: 06:21:21.6020 LVL= 27760, 18865, 32754, 32691, AGC= 51, IDX= 497, 0.21,-1.611,-2.146,-2.119,-0.877, PHS=-0.631,-1.224,-1.286, RAW= 85.1, 60.6, CAL= 83.9, 64.9, ROT= 66.1, -64.9 2025-10-27T06:21:22.924Z,1761546082.924 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T06:21:22.925Z,1761546082.925 [DAT](INFO): direction in FSK: [0.171861,0.387826,0.905569] 2025-10-27T06:21:22.925Z,1761546082.925 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:22.934Z,1761546082.934 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.107185 2025-10-27T06:21:23.152Z,1761546083.152 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.325231 2025-10-27T06:21:23.191Z,1761546083.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989908,0.141708,0.001204],[-0.141624,0.989550,-0.027098],[-0.005031,0.026654,0.999632]] 2025-10-27T06:21:23.233Z,1761546083.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.505354 s, deltaX: -0.100000 m, approachRate: -0.197881 m/s, rangeRepo size: 4 2025-10-27T06:21:23.236Z,1761546083.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.285217 m, bearing: 55.966409 deg, lat: 36.779410 deg, lon: -121.859830 deg, deltaT: 1.008941 s, deltaX: -0.099362 m, approachRate: -0.098481 m/s, posRepo size: 4 2025-10-27T06:21:23.406Z,1761546083.406 [DAT](INFO): DAT read: Rx Time:06:21:22.1025 2025-10-27T06:21:23.406Z,1761546083.406 [DAT](INFO): Rx dataTimestamp_ set to:1761546083.405768 2025-10-27T06:21:23.407Z,1761546083.407 [DAT](INFO): DAT read: Bearing 222.6, 28.9 (Local) 2025-10-27T06:21:23.408Z,1761546083.408 [DAT](INFO): Local bearing/azimuth received: Bearing 222.6, 28.9 (Local) 2025-10-27T06:21:23.410Z,1761546083.410 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.1 2025-10-27T06:21:23.415Z,1761546083.415 [DAT](INFO): DAT read: 06:21:22.1025 LVL= 26000, 20705, 17906, 16115, AGC= 60, IDX= 3,-0.01,-2.452, 2.635, 2.830,-1.775, PHS=-0.575,-1.828,-1.723, RAW= 94.4, 50.5, CAL= 93.2, 56.0, ROT= 56.8, -56.0 2025-10-27T06:21:23.416Z,1761546083.416 [DAT](INFO): got valid direction response: 06:21:22.1025 LVL= 26000, 20705, 17906, 16115, AGC= 60, IDX= 3,-0.01,-2.452, 2.635, 2.830,-1.775, PHS=-0.575,-1.828,-1.723, RAW= 94.4, 50.5, CAL= 93.2, 56.0, ROT= 56.8, -56.0 2025-10-27T06:21:23.416Z,1761546083.416 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T06:21:23.417Z,1761546083.417 [DAT](INFO): direction in FSK: [0.306193,0.467913,0.829038] 2025-10-27T06:21:23.417Z,1761546083.417 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:23.434Z,1761546083.434 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.606810 2025-10-27T06:21:23.588Z,1761546083.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992273,0.124068,0.001205],[-0.124011,0.992028,-0.022388],[-0.003973,0.022065,0.999749]] 2025-10-27T06:21:23.621Z,1761546083.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504067 s, deltaX: 0.700000 m, approachRate: 1.388704 m/s, rangeRepo size: 4 2025-10-27T06:21:23.624Z,1761546083.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.980708 m, bearing: 48.325394 deg, lat: 36.779417 deg, lon: -121.859830 deg, deltaT: 0.504067 s, deltaX: 0.695492 m, approachRate: 1.379760 m/s, posRepo size: 4 2025-10-27T06:21:23.624Z,1761546083.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m. 2025-10-27T06:21:23.656Z,1761546083.656 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.829452 2025-10-27T06:21:23.908Z,1761546083.908 [DAT](INFO): DAT read: Rx Time:06:21:22.6019 2025-10-27T06:21:23.909Z,1761546083.909 [DAT](INFO): Rx dataTimestamp_ set to:1761546083.908253 2025-10-27T06:21:23.910Z,1761546083.910 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.1 2025-10-27T06:21:23.910Z,1761546083.910 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-27T06:21:23.911Z,1761546083.911 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.084597 2025-10-27T06:21:24.055Z,1761546084.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.502485 s, deltaX: -0.900000 m, approachRate: -1.791098 m/s, rangeRepo size: 4 2025-10-27T06:21:24.060Z,1761546084.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m. 2025-10-27T06:21:24.161Z,1761546084.161 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333571 2025-10-27T06:21:24.412Z,1761546084.412 [DAT](INFO): DAT read: Rx Time:06:21:23.1019 2025-10-27T06:21:24.413Z,1761546084.413 [DAT](INFO): Rx dataTimestamp_ set to:1761546084.412330 2025-10-27T06:21:24.414Z,1761546084.414 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:21:24.414Z,1761546084.414 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-27T06:21:24.416Z,1761546084.416 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.588829 2025-10-27T06:21:24.471Z,1761546084.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:24.471Z,1761546084.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m. 2025-10-27T06:21:24.664Z,1761546084.664 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.837265 2025-10-27T06:21:24.868Z,1761546084.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:24.870Z,1761546084.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m. 2025-10-27T06:21:24.919Z,1761546084.919 [DAT](INFO): DAT read: Rx Time:06:21:23.6017 2025-10-27T06:21:24.919Z,1761546084.919 [DAT](INFO): Rx dataTimestamp_ set to:1761546084.919143 2025-10-27T06:21:24.921Z,1761546084.921 [DAT](INFO): DAT read: Bearing 249.4, -7.1 (Local) 2025-10-27T06:21:24.921Z,1761546084.921 [DAT](INFO): Local bearing/azimuth received: Bearing 249.4, -7.1 (Local) 2025-10-27T06:21:24.923Z,1761546084.923 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:21:24.928Z,1761546084.928 [DAT](INFO): DAT read: 06:21:23.6017 LVL= 15280, 15953, 12418, 20259, AGC= 42, IDX= 511, 0.05,-0.172, 0.142, 0.318, 1.899, PHS=-1.969,-1.712,-1.625, RAW= 255.9, 80.6, CAL= 256.4, 82.1, ROT= 253.6, -82.1 2025-10-27T06:21:24.930Z,1761546084.930 [DAT](INFO): got valid direction response: 06:21:23.6017 LVL= 15280, 15953, 12418, 20259, AGC= 42, IDX= 511, 0.05,-0.172, 0.142, 0.318, 1.899, PHS=-1.969,-1.712,-1.625, RAW= 255.9, 80.6, CAL= 256.4, 82.1, ROT= 253.6, -82.1 2025-10-27T06:21:24.930Z,1761546084.930 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T06:21:24.934Z,1761546084.934 [DAT](INFO): direction in FSK: [-0.038806,-0.131852,0.990509] 2025-10-27T06:21:24.934Z,1761546084.934 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:24.949Z,1761546084.949 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.122295 2025-10-27T06:21:25.176Z,1761546085.176 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.348895 2025-10-27T06:21:25.206Z,1761546085.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998233,0.059399,0.001351],[-0.059399,0.998234,-0.000530],[-0.001380,0.000448,0.999999]] 2025-10-27T06:21:25.279Z,1761546085.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.506813 s, deltaX: -0.300000 m, approachRate: -0.591934 m/s, rangeRepo size: 4 2025-10-27T06:21:25.299Z,1761546085.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.788410 m, bearing: 250.793549 deg, lat: 36.779444 deg, lon: -121.859833 deg, deltaT: 1.513375 s, deltaX: -1.192298 m, approachRate: -0.787841 m/s, posRepo size: 4 2025-10-27T06:21:25.425Z,1761546085.425 [DAT](INFO): DAT read: Rx Time:06:21:24.1022 2025-10-27T06:21:25.425Z,1761546085.425 [DAT](INFO): Rx dataTimestamp_ set to:1761546085.424949 2025-10-27T06:21:25.427Z,1761546085.427 [DAT](INFO): DAT read: Bearing 307.7, -31.4 (Local) 2025-10-27T06:21:25.427Z,1761546085.427 [DAT](INFO): Local bearing/azimuth received: Bearing 307.7, -31.4 (Local) 2025-10-27T06:21:25.429Z,1761546085.429 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 2025-10-27T06:21:25.434Z,1761546085.434 [DAT](INFO): DAT read: 06:21:24.1022 LVL= 17392, 21233, 11346, 17203, AGC= 50, IDX= 2,-0.19, 2.908,-1.341,-2.102,-1.672, PHS=-1.600, 0.376,-0.473, RAW= 295.4, 19.3, CAL= 294.4, 25.8, ROT= 215.6, -25.8 2025-10-27T06:21:25.435Z,1761546085.435 [DAT](INFO): got valid direction response: 06:21:24.1022 LVL= 17392, 21233, 11346, 17203, AGC= 50, IDX= 2,-0.19, 2.908,-1.341,-2.102,-1.672, PHS=-1.600, 0.376,-0.473, RAW= 295.4, 19.3, CAL= 294.4, 25.8, ROT= 215.6, -25.8 2025-10-27T06:21:25.436Z,1761546085.436 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T06:21:25.437Z,1761546085.437 [DAT](INFO): direction in FSK: [-0.732050,-0.524096,0.435231] 2025-10-27T06:21:25.437Z,1761546085.437 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:25.441Z,1761546085.441 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.613849 2025-10-27T06:21:25.601Z,1761546085.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998922,0.046395,0.001474],[-0.046407,0.998884,0.008770],[-0.001065,-0.008829,0.999960]] 2025-10-27T06:21:25.640Z,1761546085.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505806 s, deltaX: 0.800000 m, approachRate: 1.581634 m/s, rangeRepo size: 4 2025-10-27T06:21:25.642Z,1761546085.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.583271 m, bearing: 212.757079 deg, lat: 36.779444 deg, lon: -121.859835 deg, deltaT: 0.505806 s, deltaX: 0.794861 m, approachRate: 1.571474 m/s, posRepo size: 4 2025-10-27T06:21:25.678Z,1761546085.678 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.850755 2025-10-27T06:21:25.928Z,1761546085.928 [DAT](INFO): DAT read: Rx Time:06:21:24.6018 2025-10-27T06:21:25.929Z,1761546085.929 [DAT](INFO): Rx dataTimestamp_ set to:1761546085.928238 2025-10-27T06:21:25.930Z,1761546085.930 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.4 2025-10-27T06:21:25.930Z,1761546085.930 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-27T06:21:25.932Z,1761546085.932 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.104814 2025-10-27T06:21:26.006Z,1761546086.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999403,0.034525,0.001478],[-0.034548,0.999193,0.020486],[-0.000769,-0.020524,0.999789]] 2025-10-27T06:21:26.059Z,1761546086.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503289 s, deltaX: -0.600000 m, approachRate: -1.192158 m/s, rangeRepo size: 4 2025-10-27T06:21:26.181Z,1761546086.181 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.354305 2025-10-27T06:21:26.413Z,1761546086.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999700,0.024440,0.001474],[-0.024472,0.999265,0.029487],[-0.000752,-0.029514,0.999564]] 2025-10-27T06:21:26.433Z,1761546086.433 [DAT](INFO): DAT read: Rx Time:06:21:25.1021 2025-10-27T06:21:26.433Z,1761546086.433 [DAT](INFO): Rx dataTimestamp_ set to:1761546086.432846 2025-10-27T06:21:26.434Z,1761546086.434 [DAT](INFO): DAT read: Bearing 231.8, -15.5 (Local) 2025-10-27T06:21:26.435Z,1761546086.435 [DAT](INFO): Local bearing/azimuth received: Bearing 231.8, -15.5 (Local) 2025-10-27T06:21:26.437Z,1761546086.437 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.1 2025-10-27T06:21:26.446Z,1761546086.446 [DAT](INFO): DAT read: 06:21:25.1021 LVL= 13776, 13681, 26546, 32755, AGC= 56, IDX= 3,-0.01, 1.218, 0.883, 2.071, 3.059, PHS=-1.739,-2.131,-1.031, RAW= 189.4, 60.9, CAL= 188.4, 67.0, ROT= 321.6, -67.0 2025-10-27T06:21:26.447Z,1761546086.447 [DAT](INFO): got valid direction response: 06:21:25.1021 LVL= 13776, 13681, 26546, 32755, AGC= 56, IDX= 3,-0.01, 1.218, 0.883, 2.071, 3.059, PHS=-1.739,-2.131,-1.031, RAW= 189.4, 60.9, CAL= 188.4, 67.0, ROT= 321.6, -67.0 2025-10-27T06:21:26.451Z,1761546086.451 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T06:21:26.452Z,1761546086.452 [DAT](INFO): direction in FSK: [0.306213,-0.242702,0.920505] 2025-10-27T06:21:26.452Z,1761546086.452 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:26.457Z,1761546086.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504608 s, deltaX: 0.400000 m, approachRate: 0.792695 m/s, rangeRepo size: 4 2025-10-27T06:21:26.463Z,1761546086.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m. 2025-10-27T06:21:26.471Z,1761546086.471 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.644499 2025-10-27T06:21:26.685Z,1761546086.685 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.857796 2025-10-27T06:21:26.846Z,1761546086.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999870,0.016076,0.001136],[-0.016107,0.999230,0.035772],[-0.000560,-0.035785,0.999359]] 2025-10-27T06:21:26.894Z,1761546086.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m. 2025-10-27T06:21:26.937Z,1761546086.937 [DAT](INFO): DAT read: Rx Time:06:21:25.6025 2025-10-27T06:21:26.938Z,1761546086.938 [DAT](INFO): Rx dataTimestamp_ set to:1761546086.937516 2025-10-27T06:21:26.940Z,1761546086.940 [DAT](INFO): DAT read: Bearing 256.8, -54.4 (Local) 2025-10-27T06:21:26.940Z,1761546086.940 [DAT](INFO): Local bearing/azimuth received: Bearing 256.8, -54.4 (Local) 2025-10-27T06:21:26.943Z,1761546086.943 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.2 2025-10-27T06:21:26.952Z,1761546086.952 [DAT](INFO): DAT read: 06:21:25.6025 LVL= 32752, 31329, 31602, 32755, AGC= 54, IDX= 497, 0.38, 2.752,-2.412,-1.275,-1.437, PHS=-1.993,-0.930, 0.118, RAW= 240.2, 28.5, CAL= 244.1, 37.5, ROT= 265.9, -37.5 2025-10-27T06:21:26.953Z,1761546086.953 [DAT](INFO): got valid direction response: 06:21:25.6025 LVL= 32752, 31329, 31602, 32755, AGC= 54, IDX= 497, 0.38, 2.752,-2.412,-1.275,-1.437, PHS=-1.993,-0.930, 0.118, RAW= 240.2, 28.5, CAL= 244.1, 37.5, ROT= 265.9, -37.5 2025-10-27T06:21:26.953Z,1761546086.953 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T06:21:26.954Z,1761546086.954 [DAT](INFO): direction in FSK: [-0.056723,-0.791323,0.608761] 2025-10-27T06:21:26.954Z,1761546086.954 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:26.958Z,1761546086.958 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.131143 2025-10-27T06:21:27.190Z,1761546087.190 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.362762 2025-10-27T06:21:27.218Z,1761546087.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999953,0.009682,0.000816],[-0.009709,0.998921,0.045414],[-0.000375,-0.045420,0.998968]] 2025-10-27T06:21:27.323Z,1761546087.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504670 s, deltaX: 0.600000 m, approachRate: 1.188896 m/s, rangeRepo size: 4 2025-10-27T06:21:27.325Z,1761546087.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.980693 m, bearing: 265.209324 deg, lat: 36.779451 deg, lon: -121.859838 deg, deltaT: 1.512567 s, deltaX: 0.397422 m, approachRate: 0.262747 m/s, posRepo size: 4 2025-10-27T06:21:27.441Z,1761546087.441 [DAT](INFO): DAT read: Rx Time:06:21:26.1023 2025-10-27T06:21:27.441Z,1761546087.441 [DAT](INFO): Rx dataTimestamp_ set to:1761546087.441058 2025-10-27T06:21:27.443Z,1761546087.443 [DAT](INFO): DAT read: Bearing 269.1, -33.2 (Local) 2025-10-27T06:21:27.443Z,1761546087.443 [DAT](INFO): Local bearing/azimuth received: Bearing 269.1, -33.2 (Local) 2025-10-27T06:21:27.445Z,1761546087.445 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.2 2025-10-27T06:21:27.454Z,1761546087.454 [DAT](INFO): DAT read: 06:21:26.1023 LVL= 32752, 27777, 27922, 32755, AGC= 55, IDX= 499,-0.32,-1.741,-0.739,-0.539, 0.111, PHS=-1.751,-0.805,-0.694, RAW= 264.5, 48.8, CAL= 266.2, 55.3, ROT= 243.8, -55.3 2025-10-27T06:21:27.455Z,1761546087.455 [DAT](INFO): got valid direction response: 06:21:26.1023 LVL= 32752, 27777, 27922, 32755, AGC= 55, IDX= 499,-0.32,-1.741,-0.739,-0.539, 0.111, PHS=-1.751,-0.805,-0.694, RAW= 264.5, 48.8, CAL= 266.2, 55.3, ROT= 243.8, -55.3 2025-10-27T06:21:27.455Z,1761546087.455 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T06:21:27.456Z,1761546087.456 [DAT](INFO): direction in FSK: [-0.251340,-0.510791,0.822144] 2025-10-27T06:21:27.457Z,1761546087.457 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:27.464Z,1761546087.464 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.637742 2025-10-27T06:21:27.631Z,1761546087.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999989,0.004634,0.000669],[-0.004665,0.998222,0.059428],[-0.000392,-0.059431,0.998232]] 2025-10-27T06:21:27.654Z,1761546087.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503542 s, deltaX: -0.300000 m, approachRate: -0.595779 m/s, rangeRepo size: 4 2025-10-27T06:21:27.680Z,1761546087.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.682612 m, bearing: 241.166595 deg, lat: 36.779453 deg, lon: -121.859846 deg, deltaT: 0.503542 s, deltaX: -0.298081 m, approachRate: -0.591969 m/s, posRepo size: 4 2025-10-27T06:21:27.681Z,1761546087.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m. 2025-10-27T06:21:27.693Z,1761546087.693 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.866208 2025-10-27T06:21:27.944Z,1761546087.944 [DAT](INFO): DAT read: Rx Time:06:21:26.6023 2025-10-27T06:21:27.945Z,1761546087.945 [DAT](INFO): Rx dataTimestamp_ set to:1761546087.944619 2025-10-27T06:21:27.946Z,1761546087.946 [DAT](INFO): DAT read: Bearing 272.0, -47.1 (Local) 2025-10-27T06:21:27.946Z,1761546087.946 [DAT](INFO): Local bearing/azimuth received: Bearing 272.0, -47.1 (Local) 2025-10-27T06:21:27.949Z,1761546087.949 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 2025-10-27T06:21:27.953Z,1761546087.953 [DAT](INFO): DAT read: 06:21:26.6023 LVL= 28912, 21793, 26482, 32755, AGC= 54, IDX= 499,-0.21, 2.726,-2.371,-1.900,-1.704, PHS=-1.751,-0.621,-0.240, RAW= 255.9, 34.2, CAL= 258.5, 43.0, ROT= 251.5, -43.0 2025-10-27T06:21:27.954Z,1761546087.954 [DAT](INFO): got valid direction response: 06:21:26.6023 LVL= 28912, 21793, 26482, 32755, AGC= 54, IDX= 499,-0.21, 2.726,-2.371,-1.900,-1.704, PHS=-1.751,-0.621,-0.240, RAW= 255.9, 34.2, CAL= 258.5, 43.0, ROT= 251.5, -43.0 2025-10-27T06:21:27.955Z,1761546087.955 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T06:21:27.956Z,1761546087.956 [DAT](INFO): direction in FSK: [-0.232062,-0.693560,0.681998] 2025-10-27T06:21:27.956Z,1761546087.956 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:27.959Z,1761546087.959 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.132750 2025-10-27T06:21:28.034Z,1761546088.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999998,0.002044,0.000519],[-0.002078,0.997018,0.077140],[-0.000360,-0.077141,0.997020]] 2025-10-27T06:21:28.114Z,1761546088.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503561 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:28.121Z,1761546088.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.682612 m, bearing: 249.939258 deg, lat: 36.779455 deg, lon: -121.859847 deg, deltaT: 0.503561 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:21:28.121Z,1761546088.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m. 2025-10-27T06:21:28.198Z,1761546088.198 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.370636 2025-10-27T06:21:28.441Z,1761546088.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[1.000000,-0.000397,0.000239],[0.000373,0.995642,0.093261],[-0.000275,-0.093260,0.995642]] 2025-10-27T06:21:28.449Z,1761546088.449 [DAT](INFO): DAT read: Rx Time:06:21:27.1023 2025-10-27T06:21:28.449Z,1761546088.449 [DAT](INFO): Rx dataTimestamp_ set to:1761546088.448776 2025-10-27T06:21:28.450Z,1761546088.450 [DAT](INFO): DAT read: Bearing 290.7, -48.4 (Local) 2025-10-27T06:21:28.451Z,1761546088.451 [DAT](INFO): Local bearing/azimuth received: Bearing 290.7, -48.4 (Local) 2025-10-27T06:21:28.453Z,1761546088.453 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.4 2025-10-27T06:21:28.457Z,1761546088.457 [DAT](INFO): DAT read: 06:21:27.1023 LVL= 29744, 28401, 26354, 32755, AGC= 51, IDX= 500,-0.42,-0.096, 1.555, 1.699, 1.861, PHS=-1.856,-0.262,-0.207, RAW= 268.3, 26.9, CAL= 270.4, 35.3, ROT= 239.6, -35.3 2025-10-27T06:21:28.459Z,1761546088.459 [DAT](INFO): got valid direction response: 06:21:27.1023 LVL= 29744, 28401, 26354, 32755, AGC= 51, IDX= 500,-0.42,-0.096, 1.555, 1.699, 1.861, PHS=-1.856,-0.262,-0.207, RAW= 268.3, 26.9, CAL= 270.4, 35.3, ROT= 239.6, -35.3 2025-10-27T06:21:28.459Z,1761546088.459 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T06:21:28.460Z,1761546088.460 [DAT](INFO): direction in FSK: [-0.412993,-0.703930,0.577858] 2025-10-27T06:21:28.460Z,1761546088.460 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:28.464Z,1761546088.464 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.637310 2025-10-27T06:21:28.518Z,1761546088.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504157 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:28.524Z,1761546088.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.682612 m, bearing: 237.480408 deg, lat: 36.779455 deg, lon: -121.859851 deg, deltaT: 0.504157 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:21:28.525Z,1761546088.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m. 2025-10-27T06:21:28.701Z,1761546088.701 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.873656 2025-10-27T06:21:28.876Z,1761546088.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999998,-0.001837,-0.000050],[0.001832,0.993921,0.110078],[-0.000153,-0.110078,0.993923]] 2025-10-27T06:21:28.918Z,1761546088.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:28.921Z,1761546088.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m. 2025-10-27T06:21:28.952Z,1761546088.952 [DAT](INFO): DAT read: Rx Time:06:21:27.6024 2025-10-27T06:21:28.953Z,1761546088.953 [DAT](INFO): Rx dataTimestamp_ set to:1761546088.952548 2025-10-27T06:21:28.955Z,1761546088.955 [DAT](INFO): DAT read: Bearing 296.6, -39.4 (Local) 2025-10-27T06:21:28.955Z,1761546088.955 [DAT](INFO): Local bearing/azimuth received: Bearing 296.6, -39.4 (Local) 2025-10-27T06:21:28.958Z,1761546088.958 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.4 2025-10-27T06:21:28.965Z,1761546088.965 [DAT](INFO): DAT read: 06:21:27.6024 LVL= 32304, 32753, 28450, 32755, AGC= 53, IDX= 500, 0.16, 2.789,-1.627,-1.877,-1.373, PHS=-2.019,-0.209,-0.548, RAW= 280.2, 30.5, CAL= 283.2, 38.0, ROT= 226.8, -38.0 2025-10-27T06:21:28.966Z,1761546088.966 [DAT](INFO): got valid direction response: 06:21:27.6024 LVL= 32304, 32753, 28450, 32755, AGC= 53, IDX= 500, 0.16, 2.789,-1.627,-1.877,-1.373, PHS=-2.019,-0.209,-0.548, RAW= 280.2, 30.5, CAL= 283.2, 38.0, ROT= 226.8, -38.0 2025-10-27T06:21:28.967Z,1761546088.967 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T06:21:28.968Z,1761546088.968 [DAT](INFO): direction in FSK: [-0.539431,-0.574435,0.615661] 2025-10-27T06:21:28.969Z,1761546088.969 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:28.974Z,1761546088.974 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.147329 2025-10-27T06:21:29.204Z,1761546089.204 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.377226 2025-10-27T06:21:29.278Z,1761546089.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999999,-0.001670,-0.000423],[0.001709,0.992361,0.123352],[0.000213,-0.123353,0.992363]] 2025-10-27T06:21:29.334Z,1761546089.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503772 s, deltaX: 0.200000 m, approachRate: 0.397005 m/s, rangeRepo size: 4 2025-10-27T06:21:29.336Z,1761546089.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.881318 m, bearing: 222.579135 deg, lat: 36.779453 deg, lon: -121.859851 deg, deltaT: 0.503772 s, deltaX: 0.198705 m, approachRate: 0.394435 m/s, posRepo size: 4 2025-10-27T06:21:29.337Z,1761546089.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m. 2025-10-27T06:21:29.458Z,1761546089.458 [DAT](INFO): DAT read: Rx Time:06:21:28.1026 2025-10-27T06:21:29.458Z,1761546089.458 [DAT](INFO): Rx dataTimestamp_ set to:1761546089.457862 2025-10-27T06:21:29.460Z,1761546089.460 [DAT](INFO): DAT read: Bearing 306.2, -32.8 (Local) 2025-10-27T06:21:29.461Z,1761546089.461 [DAT](INFO): Local bearing/azimuth received: Bearing 306.2, -32.8 (Local) 2025-10-27T06:21:29.464Z,1761546089.464 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed -0.4 2025-10-27T06:21:29.469Z,1761546089.469 [DAT](INFO): DAT read: 06:21:28.1026 LVL= 23456, 27777, 23714, 32755, AGC= 50, IDX= 504,-0.33, 3.134,-0.872,-1.663,-0.907, PHS=-2.140, 0.080,-0.800, RAW= 293.2, 27.6, CAL= 294.7, 33.9, ROT= 215.3, -33.9 2025-10-27T06:21:29.470Z,1761546089.470 [DAT](INFO): got valid direction response: 06:21:28.1026 LVL= 23456, 27777, 23714, 32755, AGC= 50, IDX= 504,-0.33, 3.134,-0.872,-1.663,-0.907, PHS=-2.140, 0.080,-0.800, RAW= 293.2, 27.6, CAL= 294.7, 33.9, ROT= 215.3, -33.9 2025-10-27T06:21:29.470Z,1761546089.470 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-27T06:21:29.472Z,1761546089.472 [DAT](INFO): direction in FSK: [-0.677404,-0.479629,0.557745] 2025-10-27T06:21:29.472Z,1761546089.472 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:29.476Z,1761546089.476 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.648826 2025-10-27T06:21:29.666Z,1761546089.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999999,-0.001504,-0.000787],[0.001595,0.991116,0.132994],[0.000580,-0.132995,0.991116]] 2025-10-27T06:21:29.708Z,1761546089.708 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.881545 2025-10-27T06:21:29.767Z,1761546089.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.505314 s, deltaX: 0.300000 m, approachRate: 0.593690 m/s, rangeRepo size: 4 2025-10-27T06:21:29.784Z,1761546089.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.179381 m, bearing: 210.714146 deg, lat: 36.779453 deg, lon: -121.859847 deg, deltaT: 0.505314 s, deltaX: 0.298064 m, approachRate: 0.589858 m/s, posRepo size: 4 2025-10-27T06:21:29.791Z,1761546089.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.20 m. 2025-10-27T06:21:29.961Z,1761546089.961 [DAT](INFO): DAT read: Rx Time:06:21:28.6027 2025-10-27T06:21:29.962Z,1761546089.962 [DAT](INFO): Rx dataTimestamp_ set to:1761546089.961582 2025-10-27T06:21:29.965Z,1761546089.965 [DAT](INFO): DAT read: Bearing 310.6, -31.9 (Local) 2025-10-27T06:21:29.966Z,1761546089.966 [DAT](INFO): Local bearing/azimuth received: Bearing 310.6, -31.9 (Local) 2025-10-27T06:21:29.968Z,1761546089.968 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed -0.4 2025-10-27T06:21:29.973Z,1761546089.973 [DAT](INFO): DAT read: 06:21:28.6027 LVL= 27168, 25233, 22306, 28899, AGC= 49, IDX= 504, 0.02,-2.408,-0.098,-1.023,-0.289, PHS=-2.017, 0.236,-0.778, RAW= 296.7, 24.8, CAL= 297.2, 31.0, ROT= 212.8, -31.0 2025-10-27T06:21:29.974Z,1761546089.974 [DAT](INFO): got valid direction response: 06:21:28.6027 LVL= 27168, 25233, 22306, 28899, AGC= 49, IDX= 504, 0.02,-2.408,-0.098,-1.023,-0.289, PHS=-2.017, 0.236,-0.778, RAW= 296.7, 24.8, CAL= 297.2, 31.0, ROT= 212.8, -31.0 2025-10-27T06:21:29.974Z,1761546089.974 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-27T06:21:29.981Z,1761546089.981 [DAT](INFO): direction in FSK: [-0.720506,-0.464335,0.515038] 2025-10-27T06:21:29.981Z,1761546089.981 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:29.985Z,1761546089.985 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.158691 2025-10-27T06:21:30.122Z,1761546090.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999998,-0.001370,-0.001655],[0.001588,0.990190,0.139718],[0.001447,-0.139720,0.990190]] 2025-10-27T06:21:30.201Z,1761546090.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503720 s, deltaX: 0.100000 m, approachRate: 0.198523 m/s, rangeRepo size: 4 2025-10-27T06:21:30.207Z,1761546090.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.278737 m, bearing: 208.355163 deg, lat: 36.779453 deg, lon: -121.859847 deg, deltaT: 0.503720 s, deltaX: 0.099355 m, approachRate: 0.197243 m/s, posRepo size: 4 2025-10-27T06:21:30.212Z,1761546090.212 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.385378 2025-10-27T06:21:30.465Z,1761546090.465 [DAT](INFO): DAT read: Rx Time:06:21:29.1030 2025-10-27T06:21:30.465Z,1761546090.465 [DAT](INFO): Rx dataTimestamp_ set to:1761546090.464695 2025-10-27T06:21:30.466Z,1761546090.466 [DAT](INFO): DAT read: Bearing 313.4, -33.7 (Local) 2025-10-27T06:21:30.467Z,1761546090.467 [DAT](INFO): Local bearing/azimuth received: Bearing 313.4, -33.7 (Local) 2025-10-27T06:21:30.469Z,1761546090.469 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.4 2025-10-27T06:21:30.473Z,1761546090.473 [DAT](INFO): DAT read: 06:21:29.1030 LVL= 20352, 18225, 14290, 22035, AGC= 46, IDX= 507,-0.11, 0.465, 2.755, 1.859, 2.478, PHS=-1.912, 0.322,-0.664, RAW= 296.1, 22.3, CAL= 296.0, 28.7, ROT= 214.0, -28.7 2025-10-27T06:21:30.474Z,1761546090.474 [DAT](INFO): got valid direction response: 06:21:29.1030 LVL= 20352, 18225, 14290, 22035, AGC= 46, IDX= 507,-0.11, 0.465, 2.755, 1.859, 2.478, PHS=-1.912, 0.322,-0.664, RAW= 296.1, 22.3, CAL= 296.0, 28.7, ROT= 214.0, -28.7 2025-10-27T06:21:30.475Z,1761546090.475 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-27T06:21:30.476Z,1761546090.476 [DAT](INFO): direction in FSK: [-0.727187,-0.490494,0.480224] 2025-10-27T06:21:30.476Z,1761546090.476 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:30.480Z,1761546090.480 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.653193 2025-10-27T06:21:30.546Z,1761546090.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999995,-0.001901,-0.002725],[0.002276,0.989403,0.145179],[0.002420,-0.145185,0.989402]] 2025-10-27T06:21:30.616Z,1761546090.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503113 s, deltaX: 0.500000 m, approachRate: 0.993813 m/s, rangeRepo size: 4 2025-10-27T06:21:30.617Z,1761546090.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.775501 m, bearing: 209.832954 deg, lat: 36.779449 deg, lon: -121.859847 deg, deltaT: 0.503113 s, deltaX: 0.496764 m, approachRate: 0.987381 m/s, posRepo size: 4 2025-10-27T06:21:30.717Z,1761546090.717 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.890158 2025-10-27T06:21:30.930Z,1761546090.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999990,-0.002473,-0.003692],[0.002997,0.988787,0.149304],[0.003281,-0.149313,0.988785]] 2025-10-27T06:21:30.969Z,1761546090.969 [DAT](INFO): DAT read: Rx Time:06:21:29.6030 2025-10-27T06:21:30.969Z,1761546090.969 [DAT](INFO): Rx dataTimestamp_ set to:1761546090.968843 2025-10-27T06:21:30.970Z,1761546090.970 [DAT](INFO): DAT read: Bearing 319.2, -46.7 (Local) 2025-10-27T06:21:30.971Z,1761546090.971 [DAT](INFO): Local bearing/azimuth received: Bearing 319.2, -46.7 (Local) 2025-10-27T06:21:30.973Z,1761546090.973 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed -0.4 2025-10-27T06:21:30.978Z,1761546090.978 [DAT](INFO): DAT read: 06:21:29.6030 LVL= 22512, 14161, 13378, 21923, AGC= 46, IDX= 508,-0.16, 1.574,-2.432,-2.914,-2.809, PHS=-1.798, 0.422,-0.148, RAW= 284.3, 15.1, CAL= 282.9, 22.3, ROT= 227.1, -22.3 2025-10-27T06:21:30.979Z,1761546090.979 [DAT](INFO): got valid direction response: 06:21:29.6030 LVL= 22512, 14161, 13378, 21923, AGC= 46, IDX= 508,-0.16, 1.574,-2.432,-2.914,-2.809, PHS=-1.798, 0.422,-0.148, RAW= 284.3, 15.1, CAL= 282.9, 22.3, ROT= 227.1, -22.3 2025-10-27T06:21:30.979Z,1761546090.979 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-27T06:21:30.980Z,1761546090.980 [DAT](INFO): direction in FSK: [-0.629809,-0.677756,0.379456] 2025-10-27T06:21:30.981Z,1761546090.981 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:30.990Z,1761546090.990 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.163708 2025-10-27T06:21:31.072Z,1761546091.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504148 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:31.074Z,1761546091.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.775501 m, bearing: 224.349331 deg, lat: 36.779449 deg, lon: -121.859847 deg, deltaT: 0.504148 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:21:31.220Z,1761546091.220 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.393400 2025-10-27T06:21:31.392Z,1761546091.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999981,-0.003525,-0.004989],[0.004249,0.988155,0.153400],[0.004389,-0.153419,0.988151]] 2025-10-27T06:21:31.419Z,1761546091.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:21:31.473Z,1761546091.473 [DAT](INFO): DAT read: Rx Time:06:21:30.1033 2025-10-27T06:21:31.474Z,1761546091.474 [DAT](INFO): Rx dataTimestamp_ set to:1761546091.473929 2025-10-27T06:21:31.476Z,1761546091.476 [DAT](INFO): DAT read: Bearing 322.8, -45.4 (Local) 2025-10-27T06:21:31.477Z,1761546091.477 [DAT](INFO): Local bearing/azimuth received: Bearing 322.8, -45.4 (Local) 2025-10-27T06:21:31.480Z,1761546091.480 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4 2025-10-27T06:21:31.485Z,1761546091.485 [DAT](INFO): DAT read: 06:21:30.1033 LVL= 20672, 13665, 12354, 19827, AGC= 45, IDX= 511,-0.15,-0.957, 1.235, 0.677, 0.770, PHS=-1.625, 0.510,-0.137, RAW= 287.2, 13.1, CAL= 285.0, 20.3, ROT= 225.0, -20.3 2025-10-27T06:21:31.486Z,1761546091.486 [DAT](INFO): got valid direction response: 06:21:30.1033 LVL= 20672, 13665, 12354, 19827, AGC= 45, IDX= 511,-0.15,-0.957, 1.235, 0.677, 0.770, PHS=-1.625, 0.510,-0.137, RAW= 287.2, 13.1, CAL= 285.0, 20.3, ROT= 225.0, -20.3 2025-10-27T06:21:31.486Z,1761546091.486 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T06:21:31.495Z,1761546091.495 [DAT](INFO): direction in FSK: [-0.663188,-0.663188,0.346936] 2025-10-27T06:21:31.496Z,1761546091.496 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:31.504Z,1761546091.504 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.677124 2025-10-27T06:21:31.725Z,1761546091.725 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.897730 2025-10-27T06:21:31.842Z,1761546091.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.505086 s, deltaX: 0.400000 m, approachRate: 0.791944 m/s, rangeRepo size: 4 2025-10-27T06:21:31.844Z,1761546091.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.172922 m, bearing: 222.396308 deg, lat: 36.779449 deg, lon: -121.859848 deg, deltaT: 0.505086 s, deltaX: 0.397421 m, approachRate: 0.786838 m/s, posRepo size: 4 2025-10-27T06:21:31.983Z,1761546091.983 [DAT](INFO): DAT read: Rx Time:06:21:30.6034 2025-10-27T06:21:31.984Z,1761546091.984 [DAT](INFO): Rx dataTimestamp_ set to:1761546091.983490 2025-10-27T06:21:31.985Z,1761546091.985 [DAT](INFO): DAT read: Bearing 326.2, -31.7 (Local) 2025-10-27T06:21:31.985Z,1761546091.985 [DAT](INFO): Local bearing/azimuth received: Bearing 326.2, -31.7 (Local) 2025-10-27T06:21:31.989Z,1761546091.989 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 2025-10-27T06:21:31.996Z,1761546091.996 [DAT](INFO): DAT read: 06:21:30.6034 LVL= 23952, 13585, 11890, 20547, AGC= 44, IDX= 511, 0.16,-2.934,-0.952,-1.893,-1.525, PHS=-1.307, 0.618,-0.412, RAW= 302.3, 13.1, CAL= 299.8, 18.9, ROT= 210.2, -18.9 2025-10-27T06:21:31.997Z,1761546091.997 [DAT](INFO): got valid direction response: 06:21:30.6034 LVL= 23952, 13585, 11890, 20547, AGC= 44, IDX= 511, 0.16,-2.934,-0.952,-1.893,-1.525, PHS=-1.307, 0.618,-0.412, RAW= 302.3, 13.1, CAL= 299.8, 18.9, ROT= 210.2, -18.9 2025-10-27T06:21:31.998Z,1761546091.998 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-27T06:21:31.999Z,1761546091.999 [DAT](INFO): direction in FSK: [-0.817678,-0.475900,0.323917] 2025-10-27T06:21:31.999Z,1761546091.999 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:32.003Z,1761546092.003 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.175880 2025-10-27T06:21:32.228Z,1761546092.228 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.401417 2025-10-27T06:21:32.318Z,1761546092.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.509561 s, deltaX: 0.200000 m, approachRate: 0.392495 m/s, rangeRepo size: 4 2025-10-27T06:21:32.320Z,1761546092.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.371633 m, bearing: 207.413460 deg, lat: 36.779449 deg, lon: -121.859848 deg, deltaT: 0.509561 s, deltaX: 0.198711 m, approachRate: 0.389965 m/s, posRepo size: 4 2025-10-27T06:21:32.481Z,1761546092.481 [DAT](INFO): DAT read: Rx Time:06:21:31.1035 2025-10-27T06:21:32.481Z,1761546092.481 [DAT](INFO): Rx dataTimestamp_ set to:1761546092.480727 2025-10-27T06:21:32.482Z,1761546092.482 [DAT](INFO): DAT read: Bearing 305.4, -11.7 (Local) 2025-10-27T06:21:32.483Z,1761546092.483 [DAT](INFO): Local bearing/azimuth received: Bearing 305.4, -11.7 (Local) 2025-10-27T06:21:32.485Z,1761546092.485 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed -0.5 2025-10-27T06:21:32.489Z,1761546092.489 [DAT](INFO): DAT read: 06:21:31.1035 LVL= 31024, 12449, 12514, 28723, AGC= 44, IDX= 513,-0.15, 0.445, 1.959, 0.785, 1.930, PHS=-1.383, 0.074,-1.188, RAW= 322.9, 32.8, CAL= 322.8, 38.2, ROT= 187.2, -38.2 2025-10-27T06:21:32.491Z,1761546092.491 [DAT](INFO): got valid direction response: 06:21:31.1035 LVL= 31024, 12449, 12514, 28723, AGC= 44, IDX= 513,-0.15, 0.445, 1.959, 0.785, 1.930, PHS=-1.383, 0.074,-1.188, RAW= 322.9, 32.8, CAL= 322.8, 38.2, ROT= 187.2, -38.2 2025-10-27T06:21:32.491Z,1761546092.491 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-27T06:21:32.492Z,1761546092.492 [DAT](INFO): direction in FSK: [-0.779660,-0.098494,0.618408] 2025-10-27T06:21:32.492Z,1761546092.492 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:32.496Z,1761546092.496 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.669203 2025-10-27T06:21:32.632Z,1761546092.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999949,-0.006660,-0.007530],[0.007758,0.987616,0.156696],[0.006393,-0.156747,0.987618]] 2025-10-27T06:21:32.698Z,1761546092.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.497237 s, deltaX: 0.100000 m, approachRate: 0.201111 m/s, rangeRepo size: 4 2025-10-27T06:21:32.704Z,1761546092.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.470980 m, bearing: 180.469437 deg, lat: 36.779450 deg, lon: -121.859848 deg, deltaT: 0.497237 s, deltaX: 0.099348 m, approachRate: 0.199799 m/s, posRepo size: 4 2025-10-27T06:21:32.736Z,1761546092.736 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.908655 2025-10-27T06:21:32.986Z,1761546092.986 [DAT](INFO): DAT read: Rx Time:06:21:31.6036 2025-10-27T06:21:32.987Z,1761546092.987 [DAT](INFO): Rx dataTimestamp_ set to:1761546092.986601 2025-10-27T06:21:32.989Z,1761546092.989 [DAT](INFO): DAT read: Bearing 318.3, 7.7 (Local) 2025-10-27T06:21:32.989Z,1761546092.989 [DAT](INFO): Local bearing/azimuth received: Bearing 318.3, 7.7 (Local) 2025-10-27T06:21:32.993Z,1761546092.993 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.5 2025-10-27T06:21:32.999Z,1761546092.999 [DAT](INFO): DAT read: 06:21:31.6036 LVL= 32752, 14177, 14882, 32755, AGC= 47, IDX= 513, 0.37,-3.026,-1.213, 2.889,-1.881, PHS=-1.044, 0.712,-1.557, RAW= 342.5, 18.0, CAL= 342.7, 22.5, ROT= 167.3, -22.5 2025-10-27T06:21:33.000Z,1761546093.000 [DAT](INFO): got valid direction response: 06:21:31.6036 LVL= 32752, 14177, 14882, 32755, AGC= 47, IDX= 513, 0.37,-3.026,-1.213, 2.889,-1.881, PHS=-1.044, 0.712,-1.557, RAW= 342.5, 18.0, CAL= 342.7, 22.5, ROT= 167.3, -22.5 2025-10-27T06:21:33.001Z,1761546093.001 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T06:21:33.002Z,1761546093.002 [DAT](INFO): direction in FSK: [-0.901276,0.203111,0.382683] 2025-10-27T06:21:33.002Z,1761546093.002 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:33.006Z,1761546093.006 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.179020 2025-10-27T06:21:33.202Z,1761546093.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.505874 s, deltaX: 0.200000 m, approachRate: 0.395355 m/s, rangeRepo size: 4 2025-10-27T06:21:33.208Z,1761546093.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.669691 m, bearing: 164.355475 deg, lat: 36.779450 deg, lon: -121.859848 deg, deltaT: 0.505874 s, deltaX: 0.198710 m, approachRate: 0.392806 m/s, posRepo size: 4 2025-10-27T06:21:33.209Z,1761546093.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 4.70 m. Rolling out. 2025-10-27T06:21:33.209Z,1761546093.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-27T06:21:33.236Z,1761546093.236 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.409422 2025-10-27T06:21:33.241Z,1761546093.241 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T06:21:33.488Z,1761546093.488 [DAT](INFO): DAT read: Rx Time:06:21:32.1039 2025-10-27T06:21:33.489Z,1761546093.489 [DAT](INFO): Rx dataTimestamp_ set to:1761546093.488673 2025-10-27T06:21:33.490Z,1761546093.490 [DAT](INFO): DAT read: Bearing 323.9, 4.5 (Local) 2025-10-27T06:21:33.491Z,1761546093.491 [DAT](INFO): Local bearing/azimuth received: Bearing 323.9, 4.5 (Local) 2025-10-27T06:21:33.493Z,1761546093.493 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.5 2025-10-27T06:21:33.497Z,1761546093.497 [DAT](INFO): DAT read: 06:21:32.1039 LVL= 9344, 5425, 11250, 13011, AGC= 50, IDX= 4, 0.05, 3.115,-1.236, 2.934,-2.058, PHS=-1.008, 0.866,-1.336, RAW= 337.9, 14.2, CAL= 338.2, 17.9, ROT= 171.8, -17.9 2025-10-27T06:21:33.498Z,1761546093.498 [DAT](INFO): got valid direction response: 06:21:32.1039 LVL= 9344, 5425, 11250, 13011, AGC= 50, IDX= 4, 0.05, 3.115,-1.236, 2.934,-2.058, PHS=-1.008, 0.866,-1.336, RAW= 337.9, 14.2, CAL= 338.2, 17.9, ROT= 171.8, -17.9 2025-10-27T06:21:33.499Z,1761546093.499 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T06:21:33.500Z,1761546093.500 [DAT](INFO): direction in FSK: [-0.941866,0.135725,0.307357] 2025-10-27T06:21:33.500Z,1761546093.500 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:33.509Z,1761546093.509 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.681871 2025-10-27T06:21:33.609Z,1761546093.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999865,-0.014062,-0.008552],[0.015227,0.987564,0.156481],[0.006245,-0.156590,0.987644]] 2025-10-27T06:21:33.645Z,1761546093.645 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-27T06:21:33.645Z,1761546093.645 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T06:21:33.646Z,1761546093.646 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-27T06:21:33.651Z,1761546093.651 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 4.700000 m (mode 5.000000 count ). 2025-10-27T06:21:33.651Z,1761546093.651 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-27T06:21:33.651Z,1761546093.651 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-27T06:21:33.652Z,1761546093.652 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-27T06:21:33.652Z,1761546093.652 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T06:21:33.652Z,1761546093.652 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-27T06:21:33.653Z,1761546093.653 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 4.700000 m (mode 5.000000 count ). 2025-10-27T06:21:33.653Z,1761546093.653 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-27T06:21:33.653Z,1761546093.653 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-27T06:21:33.681Z,1761546093.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.502072 s, deltaX: 0.400000 m, approachRate: 0.796699 m/s, rangeRepo size: 4 2025-10-27T06:21:33.689Z,1761546093.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.067099 m, bearing: 169.944994 deg, lat: 36.779448 deg, lon: -121.859827 deg, deltaT: 0.502072 s, deltaX: 0.397408 m, approachRate: 0.791537 m/s, posRepo size: 4 2025-10-27T06:21:33.690Z,1761546093.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-27T06:21:33.696Z,1761546093.696 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T06:21:33.696Z,1761546093.696 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T06:21:33.696Z,1761546093.696 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T06:21:33.696Z,1761546093.696 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T06:21:33.744Z,1761546093.744 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.916803 2025-10-27T06:21:33.993Z,1761546093.993 [DAT](INFO): DAT read: Rx Time:06:21:32.6040 2025-10-27T06:21:33.993Z,1761546093.993 [DAT](INFO): Rx dataTimestamp_ set to:1761546093.992797 2025-10-27T06:21:33.994Z,1761546093.994 [DAT](INFO): DAT read: Bearing 324.2, 3.0 (Local) 2025-10-27T06:21:33.995Z,1761546093.995 [DAT](INFO): Local bearing/azimuth received: Bearing 324.2, 3.0 (Local) 2025-10-27T06:21:33.997Z,1761546093.997 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.5 2025-10-27T06:21:34.001Z,1761546094.001 [DAT](INFO): DAT read: 06:21:32.6040 LVL= 32752, 15409, 21298, 32755, AGC= 48, IDX= 501,-0.00, 0.586, 2.579, 0.462, 1.744, PHS=-1.056, 0.880,-1.326, RAW= 336.5, 14.3, CAL= 336.6, 18.0, ROT= 173.4, -18.0 2025-10-27T06:21:34.002Z,1761546094.002 [DAT](INFO): got valid direction response: 06:21:32.6040 LVL= 32752, 15409, 21298, 32755, AGC= 48, IDX= 501,-0.00, 0.586, 2.579, 0.462, 1.744, PHS=-1.056, 0.880,-1.326, RAW= 336.5, 14.3, CAL= 336.6, 18.0, ROT= 173.4, -18.0 2025-10-27T06:21:34.007Z,1761546094.007 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T06:21:34.008Z,1761546094.008 [DAT](INFO): direction in FSK: [-0.944754,0.109312,0.309017] 2025-10-27T06:21:34.008Z,1761546094.008 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:34.012Z,1761546094.012 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.185160 2025-10-27T06:21:34.092Z,1761546094.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999797,-0.018064,-0.008874],[0.019244,0.987128,0.158769],[0.005891,-0.158907,0.987276]] 2025-10-27T06:21:34.247Z,1761546094.247 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.419689 2025-10-27T06:21:34.257Z,1761546094.257 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-27T06:21:34.257Z,1761546094.257 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-27T06:21:34.260Z,1761546094.260 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-27T06:21:34.260Z,1761546094.260 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-27T06:21:34.305Z,1761546094.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504124 s, deltaX: 0.200000 m, approachRate: 0.396728 m/s, rangeRepo size: 4 2025-10-27T06:21:34.316Z,1761546094.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.265809 m, bearing: 171.682198 deg, lat: 36.779446 deg, lon: -121.859816 deg, deltaT: 0.504124 s, deltaX: 0.198710 m, approachRate: 0.394169 m/s, posRepo size: 4 2025-10-27T06:21:34.316Z,1761546094.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-27T06:21:34.496Z,1761546094.496 [DAT](INFO): DAT read: Rx Time:06:21:33.1043 2025-10-27T06:21:34.497Z,1761546094.497 [DAT](INFO): Rx dataTimestamp_ set to:1761546094.496645 2025-10-27T06:21:34.498Z,1761546094.498 [DAT](INFO): DAT read: Bearing 325.6, -0.3 (Local) 2025-10-27T06:21:34.499Z,1761546094.499 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, -0.3 (Local) 2025-10-27T06:21:34.505Z,1761546094.505 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 2025-10-27T06:21:34.510Z,1761546094.510 [DAT](INFO): DAT read: 06:21:33.1043 LVL= 26256, 15249, 16418, 26547, AGC= 50, IDX= 504,-0.09, 1.099,-3.136, 1.120, 2.302, PHS=-1.101, 0.891,-1.226, RAW= 333.0, 13.9, CAL= 333.0, 17.3, ROT= 177.0, -17.3 2025-10-27T06:21:34.511Z,1761546094.511 [DAT](INFO): got valid direction response: 06:21:33.1043 LVL= 26256, 15249, 16418, 26547, AGC= 50, IDX= 504,-0.09, 1.099,-3.136, 1.120, 2.302, PHS=-1.101, 0.891,-1.226, RAW= 333.0, 13.9, CAL= 333.0, 17.3, ROT= 177.0, -17.3 2025-10-27T06:21:34.511Z,1761546094.511 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-27T06:21:34.512Z,1761546094.512 [DAT](INFO): direction in FSK: [-0.953452,0.049968,0.297375] 2025-10-27T06:21:34.512Z,1761546094.512 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:34.516Z,1761546094.516 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.689293 2025-10-27T06:21:34.599Z,1761546094.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999749,-0.019757,-0.010528],[0.021154,0.987627,0.155387],[0.007328,-0.155571,0.987797]] 2025-10-27T06:21:34.648Z,1761546094.648 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-27T06:21:34.648Z,1761546094.648 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-27T06:21:34.649Z,1761546094.649 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-27T06:21:34.649Z,1761546094.649 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-27T06:21:34.674Z,1761546094.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503848 s, deltaX: 0.600000 m, approachRate: 1.190835 m/s, rangeRepo size: 4 2025-10-27T06:21:34.682Z,1761546094.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.861920 m, bearing: 175.497303 deg, lat: 36.779444 deg, lon: -121.859816 deg, deltaT: 0.503848 s, deltaX: 0.596111 m, approachRate: 1.183117 m/s, posRepo size: 4 2025-10-27T06:21:34.688Z,1761546094.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.86 m. 2025-10-27T06:21:34.754Z,1761546094.754 [DAT](INFO): DAT read: Rx Time:06:21:33.6044 2025-10-27T06:21:34.756Z,1761546094.756 [DAT](INFO): Rx dataTimestamp_ set to:1761546094.754460 2025-10-27T06:21:34.759Z,1761546094.759 [DAT](INFO): DAT read: Bearing 336.1, -11.4 (Local) 2025-10-27T06:21:34.760Z,1761546094.760 [DAT](INFO): Local bearing/azimuth received: Bearing 336.1, -11.4 (Local) 2025-10-27T06:21:34.763Z,1761546094.763 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.935213 2025-10-27T06:21:35.001Z,1761546095.001 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.6 2025-10-27T06:21:35.006Z,1761546095.006 [DAT](INFO): DAT read: 06:21:33.6044 LVL= 30608, 15345, 20050, 27091, AGC= 51, IDX= 505,-0.10,-1.657, 0.563,-1.164,-0.441, PHS=-1.114, 1.049,-0.767, RAW= 321.4, 8.3, CAL= 320.0, 8.7, ROT= 190.0, -8.7 2025-10-27T06:21:35.007Z,1761546095.007 [DAT](INFO): got valid direction response: 06:21:33.6044 LVL= 30608, 15345, 20050, 27091, AGC= 51, IDX= 505,-0.10,-1.657, 0.563,-1.164,-0.441, PHS=-1.114, 1.049,-0.767, RAW= 321.4, 8.3, CAL= 320.0, 8.7, ROT= 190.0, -8.7 2025-10-27T06:21:35.007Z,1761546095.007 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-27T06:21:35.008Z,1761546095.008 [DAT](INFO): direction in FSK: [-0.973476,-0.171650,0.151261] 2025-10-27T06:21:35.009Z,1761546095.009 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:35.012Z,1761546095.012 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.185547 2025-10-27T06:21:35.081Z,1761546095.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999680,-0.022417,-0.011754],[0.023895,0.988973,0.146156],[0.008348,-0.146390,0.989192]] 2025-10-27T06:21:35.142Z,1761546095.142 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-27T06:21:35.143Z,1761546095.143 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T06:21:35.143Z,1761546095.143 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-27T06:21:35.143Z,1761546095.143 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-27T06:21:35.144Z,1761546095.144 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-27T06:21:35.144Z,1761546095.144 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T06:21:35.144Z,1761546095.144 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-27T06:21:35.144Z,1761546095.144 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-27T06:21:35.151Z,1761546095.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.502651 s, deltaX: 0.100000 m, approachRate: 0.198945 m/s, rangeRepo size: 4 2025-10-27T06:21:35.154Z,1761546095.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.961275 m, bearing: 189.981766 deg, lat: 36.779443 deg, lon: -121.859816 deg, deltaT: 0.502651 s, deltaX: 0.099355 m, approachRate: 0.197661 m/s, posRepo size: 4 2025-10-27T06:21:35.156Z,1761546095.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.96 m. 2025-10-27T06:21:35.256Z,1761546095.256 [DAT](INFO): DAT read: Rx Time:06:21:34.1047 2025-10-27T06:21:35.258Z,1761546095.258 [DAT](INFO): Rx dataTimestamp_ set to:1761546095.256913 2025-10-27T06:21:35.262Z,1761546095.262 [DAT](INFO): DAT read: Bearing 348.4, -24.7 (Local) 2025-10-27T06:21:35.263Z,1761546095.263 [DAT](INFO): Local bearing/azimuth received: Bearing 348.4, -24.7 (Local) 2025-10-27T06:21:35.265Z,1761546095.265 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.437943 2025-10-27T06:21:35.474Z,1761546095.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999636,-0.023973,-0.012412],[0.025474,0.989853,0.139791],[0.008935,-0.140056,0.990103]] 2025-10-27T06:21:35.506Z,1761546095.506 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-27T06:21:35.518Z,1761546095.518 [DAT](INFO): DAT read: 06:21:34.1047 LVL= 29488, 14449, 20594, 24771, AGC= 51, IDX= 508,-0.09,-2.691,-0.343,-1.655,-1.444, PHS=-1.145, 1.146,-0.255, RAW= 307.4, 2.6, CAL= 305.1, -0.9, ROT= 204.9, 0.9 2025-10-27T06:21:35.526Z,1761546095.526 [DAT](INFO): got valid direction response: 06:21:34.1047 LVL= 29488, 14449, 20594, 24771, AGC= 51, IDX= 508,-0.09,-2.691,-0.343,-1.655,-1.444, PHS=-1.145, 1.146,-0.255, RAW= 307.4, 2.6, CAL= 305.1, -0.9, ROT= 204.9, 0.9 2025-10-27T06:21:35.526Z,1761546095.526 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-27T06:21:35.536Z,1761546095.536 [DAT](INFO): direction in FSK: [-0.906932,-0.420984,-0.015707] 2025-10-27T06:21:35.536Z,1761546095.536 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:35.544Z,1761546095.544 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.717102 2025-10-27T06:21:35.609Z,1761546095.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504176 s, deltaX: 0.300000 m, approachRate: 0.595031 m/s, rangeRepo size: 4 2025-10-27T06:21:35.615Z,1761546095.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.259339 m, bearing: 206.249889 deg, lat: 36.779443 deg, lon: -121.859819 deg, deltaT: 0.504176 s, deltaX: 0.298064 m, approachRate: 0.591190 m/s, posRepo size: 4 2025-10-27T06:21:35.616Z,1761546095.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m. 2025-10-27T06:21:35.759Z,1761546095.759 [DAT](INFO): DAT read: Rx Time:06:21:34.6047 2025-10-27T06:21:35.761Z,1761546095.761 [DAT](INFO): Rx dataTimestamp_ set to:1761546095.759652 2025-10-27T06:21:35.767Z,1761546095.767 [DAT](INFO): DAT read: Bearing 351.1, -31.5 (Local) 2025-10-27T06:21:35.769Z,1761546095.769 [DAT](INFO): Local bearing/azimuth received: Bearing 351.1, -31.5 (Local) 2025-10-27T06:21:35.774Z,1761546095.774 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-27T06:21:35.777Z,1761546095.777 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T06:21:35.781Z,1761546095.781 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.953352 2025-10-27T06:21:36.011Z,1761546096.011 [DAT](INFO): DAT read: 06:21:34.6047 LVL= 26080, 14273, 17906, 24659, AGC= 53, IDX= 509,-0.40, 2.826,-1.096,-2.152,-2.137, PHS=-1.218, 1.086,-0.059, RAW= 299.8, 1.9, CAL= 297.9, -2.2, ROT= 212.1, 2.2 2025-10-27T06:21:36.013Z,1761546096.013 [DAT](INFO): got valid direction response: 06:21:34.6047 LVL= 26080, 14273, 17906, 24659, AGC= 53, IDX= 509,-0.40, 2.826,-1.096,-2.152,-2.137, PHS=-1.218, 1.086,-0.059, RAW= 299.8, 1.9, CAL= 297.9, -2.2, ROT= 212.1, 2.2 2025-10-27T06:21:36.013Z,1761546096.013 [DAT](INFO): #Rx 41: Read direction message, but no range. 2025-10-27T06:21:36.014Z,1761546096.014 [DAT](INFO): direction in FSK: [-0.846497,-0.531007,-0.038388] 2025-10-27T06:21:36.022Z,1761546096.022 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.195154 2025-10-27T06:21:36.089Z,1761546096.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999574,-0.026049,-0.013191],[0.027516,0.991499,0.127168],[0.009766,-0.127477,0.991793]] 2025-10-27T06:21:36.178Z,1761546096.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.256180 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:36.182Z,1761546096.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.259359 m, bearing: 213.696518 deg, lat: 36.779444 deg, lon: -121.859834 deg, deltaT: 0.256180 s, deltaX: 0.000021 m, approachRate: 0.000080 m/s, posRepo size: 4 2025-10-27T06:21:36.183Z,1761546096.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m. 2025-10-27T06:21:36.264Z,1761546096.264 [DAT](INFO): DAT read: Rx Time:06:21:35.1049 2025-10-27T06:21:36.265Z,1761546096.265 [DAT](INFO): Rx dataTimestamp_ set to:1761546096.264522 2025-10-27T06:21:36.272Z,1761546096.272 [DAT](INFO): DAT read: Bearing 353.3, -32.4 (Local) 2025-10-27T06:21:36.273Z,1761546096.273 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, -32.4 (Local) 2025-10-27T06:21:36.308Z,1761546096.308 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-27T06:21:36.321Z,1761546096.321 [DAT](INFO): DAT read: 06:21:35.1049 LVL= 26416, 15729, 20578, 24739, AGC= 54, IDX= 510, 0.09,-1.162, 1.284, 0.243, 0.164, PHS=-1.225, 1.164, 0.034, RAW= 298.2, 0.3, CAL= 296.8, -4.0, ROT= 213.2, 4.0 2025-10-27T06:21:36.322Z,1761546096.322 [DAT](INFO): got valid direction response: 06:21:35.1049 LVL= 26416, 15729, 20578, 24739, AGC= 54, IDX= 510, 0.09,-1.162, 1.284, 0.243, 0.164, PHS=-1.225, 1.164, 0.034, RAW= 298.2, 0.3, CAL= 296.8, -4.0, ROT= 213.2, 4.0 2025-10-27T06:21:36.322Z,1761546096.322 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-27T06:21:36.328Z,1761546096.328 [DAT](INFO): direction in FSK: [-0.834726,-0.546229,-0.069756] 2025-10-27T06:21:36.328Z,1761546096.328 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:36.336Z,1761546096.336 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.509537 2025-10-27T06:21:36.442Z,1761546096.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999577,-0.025673,-0.013661],[0.027205,0.991492,0.127291],[0.010277,-0.127609,0.991771]] 2025-10-27T06:21:36.499Z,1761546096.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504870 s, deltaX: 0.300000 m, approachRate: 0.594212 m/s, rangeRepo size: 4 2025-10-27T06:21:36.501Z,1761546096.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.557424 m, bearing: 214.972894 deg, lat: 36.779444 deg, lon: -121.859853 deg, deltaT: 0.504870 s, deltaX: 0.298064 m, approachRate: 0.590378 m/s, posRepo size: 4 2025-10-27T06:21:36.502Z,1761546096.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m. 2025-10-27T06:21:36.512Z,1761546096.512 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.685291 2025-10-27T06:21:36.767Z,1761546096.767 [DAT](INFO): DAT read: Rx Time:06:21:35.6049 2025-10-27T06:21:36.769Z,1761546096.769 [DAT](INFO): Rx dataTimestamp_ set to:1761546096.767959 2025-10-27T06:21:36.772Z,1761546096.772 [DAT](INFO): DAT read: Bearing 352.1, -32.5 (Local) 2025-10-27T06:21:36.773Z,1761546096.773 [DAT](INFO): Local bearing/azimuth received: Bearing 352.1, -32.5 (Local) 2025-10-27T06:21:36.777Z,1761546096.777 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-27T06:21:36.779Z,1761546096.779 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-27T06:21:36.815Z,1761546096.815 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.955347 2025-10-27T06:21:36.858Z,1761546096.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999605,-0.024290,-0.014158],[0.025907,0.991396,0.128309],[0.010919,-0.128625,0.991633]] 2025-10-27T06:21:36.890Z,1761546096.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.503437 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:36.891Z,1761546096.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.56 m. 2025-10-27T06:21:37.020Z,1761546097.020 [DAT](INFO): DAT read: 06:21:35.6049 LVL= 26816, 17393, 18994, 30531, AGC= 55, IDX= 511,-0.32,-2.748,-0.343,-1.376,-1.416, PHS=-1.230, 1.118,-0.004, RAW= 298.5, 1.2, CAL= 296.9, -3.1, ROT= 213.1, 3.1 2025-10-27T06:21:37.021Z,1761546097.021 [DAT](INFO): got valid direction response: 06:21:35.6049 LVL= 26816, 17393, 18994, 30531, AGC= 55, IDX= 511,-0.32,-2.748,-0.343,-1.376,-1.416, PHS=-1.230, 1.118,-0.004, RAW= 298.5, 1.2, CAL= 296.9, -3.1, ROT= 213.1, 3.1 2025-10-27T06:21:37.021Z,1761546097.021 [DAT](INFO): #Rx 44: Read direction message, but no range. 2025-10-27T06:21:37.022Z,1761546097.022 [DAT](INFO): direction in FSK: [-0.836493,-0.545303,-0.054079] 2025-10-27T06:21:37.026Z,1761546097.026 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.198984 2025-10-27T06:21:37.271Z,1761546097.271 [DAT](INFO): DAT read: Rx Time:06:21:36.1052 2025-10-27T06:21:37.273Z,1761546097.273 [DAT](INFO): Rx dataTimestamp_ set to:1761546097.272079 2025-10-27T06:21:37.276Z,1761546097.276 [DAT](INFO): DAT read: Bearing 352.8, -34.2 (Local) 2025-10-27T06:21:37.277Z,1761546097.277 [DAT](INFO): Local bearing/azimuth received: Bearing 352.8, -34.2 (Local) 2025-10-27T06:21:37.282Z,1761546097.282 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-27T06:21:37.285Z,1761546097.285 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T06:21:37.293Z,1761546097.293 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.465815 2025-10-27T06:21:37.306Z,1761546097.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999618,-0.023450,-0.014658],[0.025143,0.991375,0.128622],[0.011515,-0.128941,0.991585]] 2025-10-27T06:21:37.483Z,1761546097.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.504120 s, deltaX: 0.500000 m, approachRate: 0.991827 m/s, rangeRepo size: 4 2025-10-27T06:21:37.485Z,1761546097.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.054162 m, bearing: 214.652734 deg, lat: 36.779450 deg, lon: -121.859860 deg, deltaT: 1.007557 s, deltaX: 0.496738 m, approachRate: 0.493013 m/s, posRepo size: 4 2025-10-27T06:21:37.486Z,1761546097.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.05 m. 2025-10-27T06:21:37.524Z,1761546097.524 [DAT](INFO): DAT read: 06:21:36.1052 LVL= 24304, 18225, 19490, 25811, AGC= 59, IDX= 1, 0.05, 0.542, 2.940, 1.978, 1.887, PHS=-1.243, 1.098, 0.047, RAW= 296.6, 1.0, CAL= 295.1, -3.4, ROT= 214.9, 3.4 2025-10-27T06:21:37.525Z,1761546097.525 [DAT](INFO): got valid direction response: 06:21:36.1052 LVL= 24304, 18225, 19490, 25811, AGC= 59, IDX= 1, 0.05, 0.542, 2.940, 1.978, 1.887, PHS=-1.243, 1.098, 0.047, RAW= 296.6, 1.0, CAL= 295.1, -3.4, ROT= 214.9, 3.4 2025-10-27T06:21:37.525Z,1761546097.525 [DAT](INFO): #Rx 46: Read direction message, but no range. 2025-10-27T06:21:37.526Z,1761546097.526 [DAT](INFO): direction in FSK: [-0.818708,-0.571139,-0.059306] 2025-10-27T06:21:37.529Z,1761546097.529 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.702755 2025-10-27T06:21:37.775Z,1761546097.775 [DAT](INFO): DAT read: Rx Time:06:21:36.6052 2025-10-27T06:21:37.776Z,1761546097.776 [DAT](INFO): Rx dataTimestamp_ set to:1761546097.775525 2025-10-27T06:21:37.779Z,1761546097.779 [DAT](INFO): DAT read: Bearing 351.5, -33.3 (Local) 2025-10-27T06:21:37.780Z,1761546097.780 [DAT](INFO): Local bearing/azimuth received: Bearing 351.5, -33.3 (Local) 2025-10-27T06:21:37.794Z,1761546097.794 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-27T06:21:37.797Z,1761546097.797 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-27T06:21:37.803Z,1761546097.803 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.976404 2025-10-27T06:21:37.809Z,1761546097.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999647,-0.021805,-0.015167],[0.023568,0.991505,0.127913],[0.012249,-0.128225,0.991669]] 2025-10-27T06:21:37.854Z,1761546097.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503446 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:37.865Z,1761546097.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.054113 m, bearing: 216.382608 deg, lat: 36.779450 deg, lon: -121.859863 deg, deltaT: 0.503446 s, deltaX: -0.000049 m, approachRate: -0.000097 m/s, posRepo size: 4 2025-10-27T06:21:37.865Z,1761546097.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.05 m. 2025-10-27T06:21:38.029Z,1761546098.029 [DAT](INFO): DAT read: 06:21:36.6052 LVL= 32752, 29585, 25570, 32755, AGC= 56, IDX= 497, 0.44,-0.561, 1.806, 0.811, 0.777, PHS=-1.236, 1.073,-0.010, RAW= 298.0, 1.8, CAL= 296.2, -2.5, ROT= 213.8, 2.5 2025-10-27T06:21:38.030Z,1761546098.030 [DAT](INFO): got valid direction response: 06:21:36.6052 LVL= 32752, 29585, 25570, 32755, AGC= 56, IDX= 497, 0.44,-0.561, 1.806, 0.811, 0.777, PHS=-1.236, 1.073,-0.010, RAW= 298.0, 1.8, CAL= 296.2, -2.5, ROT= 213.8, 2.5 2025-10-27T06:21:38.030Z,1761546098.030 [DAT](INFO): #Rx 48: Read direction message, but no range. 2025-10-27T06:21:38.031Z,1761546098.031 [DAT](INFO): direction in FSK: [-0.830194,-0.555766,-0.043619] 2025-10-27T06:21:38.034Z,1761546098.034 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.207632 2025-10-27T06:21:38.182Z,1761546098.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999667,-0.020379,-0.015799],[0.022244,0.991449,0.128584],[0.013043,-0.128893,0.991573]] 2025-10-27T06:21:38.232Z,1761546098.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.05 m. 2025-10-27T06:21:38.279Z,1761546098.279 [DAT](INFO): DAT read: Rx Time:06:21:37.1054 2025-10-27T06:21:38.280Z,1761546098.280 [DAT](INFO): Rx dataTimestamp_ set to:1761546098.279735 2025-10-27T06:21:38.283Z,1761546098.283 [DAT](INFO): DAT read: Bearing 354.0, -33.4 (Local) 2025-10-27T06:21:38.284Z,1761546098.284 [DAT](INFO): Local bearing/azimuth received: Bearing 354.0, -33.4 (Local) 2025-10-27T06:21:38.288Z,1761546098.288 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 2025-10-27T06:21:38.290Z,1761546098.290 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T06:21:38.297Z,1761546098.297 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.470144 2025-10-27T06:21:38.532Z,1761546098.532 [DAT](INFO): DAT read: 06:21:37.1054 LVL= 25056, 22465, 23538, 29155, AGC= 58, IDX= 500,-0.08,-0.761, 1.681, 0.682, 0.560, PHS=-1.219, 1.166, 0.078, RAW= 297.1, -0.3, CAL= 295.8, -4.6, ROT= 214.2, 4.6 2025-10-27T06:21:38.533Z,1761546098.533 [DAT](INFO): got valid direction response: 06:21:37.1054 LVL= 25056, 22465, 23538, 29155, AGC= 58, IDX= 500,-0.08,-0.761, 1.681, 0.682, 0.560, PHS=-1.219, 1.166, 0.078, RAW= 297.1, -0.3, CAL= 295.8, -4.6, ROT= 214.2, 4.6 2025-10-27T06:21:38.534Z,1761546098.534 [DAT](INFO): #Rx 50: Read direction message, but no range. 2025-10-27T06:21:38.535Z,1761546098.535 [DAT](INFO): direction in FSK: [-0.824417,-0.560273,-0.080199] 2025-10-27T06:21:38.538Z,1761546098.538 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.711203 2025-10-27T06:21:38.581Z,1761546098.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999702,-0.018325,-0.016117],[0.020201,0.991925,0.125208],[0.013693,-0.125496,0.992000]] 2025-10-27T06:21:38.667Z,1761546098.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504210 s, deltaX: 0.300000 m, approachRate: 0.594991 m/s, rangeRepo size: 4 2025-10-27T06:21:38.674Z,1761546098.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.352180 m, bearing: 215.631272 deg, lat: 36.779450 deg, lon: -121.859865 deg, deltaT: 0.504210 s, deltaX: 0.298066 m, approachRate: 0.591155 m/s, posRepo size: 4 2025-10-27T06:21:38.680Z,1761546098.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m. 2025-10-27T06:21:38.784Z,1761546098.784 [DAT](INFO): DAT read: Rx Time:06:21:37.6054 2025-10-27T06:21:38.786Z,1761546098.786 [DAT](INFO): Rx dataTimestamp_ set to:1761546098.785034 2025-10-27T06:21:38.791Z,1761546098.791 [DAT](INFO): DAT read: Bearing 353.3, -33.3 (Local) 2025-10-27T06:21:38.792Z,1761546098.792 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, -33.3 (Local) 2025-10-27T06:21:38.817Z,1761546098.817 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 2025-10-27T06:21:38.821Z,1761546098.821 [DAT](INFO): DAT read: 06:21:37.6054 LVL= 30576, 26929, 26354, 32755, AGC= 59, IDX= 500, 0.14,-0.324, 2.115, 1.104, 1.002, PHS=-1.223, 1.159, 0.058, RAW= 297.5, 0.1, CAL= 296.1, -4.3, ROT= 213.9, 4.3 2025-10-27T06:21:38.822Z,1761546098.822 [DAT](INFO): got valid direction response: 06:21:37.6054 LVL= 30576, 26929, 26354, 32755, AGC= 59, IDX= 500, 0.14,-0.324, 2.115, 1.104, 1.002, PHS=-1.223, 1.159, 0.058, RAW= 297.5, 0.1, CAL= 296.1, -4.3, ROT= 213.9, 4.3 2025-10-27T06:21:38.836Z,1761546098.836 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T06:21:38.838Z,1761546098.838 [DAT](INFO): direction in FSK: [-0.827676,-0.556175,-0.074979] 2025-10-27T06:21:38.838Z,1761546098.838 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:38.841Z,1761546098.841 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.014681 2025-10-27T06:21:39.027Z,1761546099.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999727,-0.016069,-0.016937],[0.018033,0.992243,0.123002],[0.014829,-0.123274,0.992262]] 2025-10-27T06:21:39.032Z,1761546099.032 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.205521 2025-10-27T06:21:39.099Z,1761546099.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.505299 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:39.101Z,1761546099.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.352180 m, bearing: 215.176915 deg, lat: 36.779453 deg, lon: -121.859866 deg, deltaT: 0.505299 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:21:39.102Z,1761546099.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.35 m. 2025-10-27T06:21:39.288Z,1761546099.288 [DAT](INFO): DAT read: Rx Time:06:21:38.1056 2025-10-27T06:21:39.289Z,1761546099.289 [DAT](INFO): Rx dataTimestamp_ set to:1761546099.288536 2025-10-27T06:21:39.293Z,1761546099.293 [DAT](INFO): DAT read: Bearing 353.7, -34.0 (Local) 2025-10-27T06:21:39.294Z,1761546099.294 [DAT](INFO): Local bearing/azimuth received: Bearing 353.7, -34.0 (Local) 2025-10-27T06:21:39.338Z,1761546099.338 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.3 2025-10-27T06:21:39.342Z,1761546099.342 [DAT](INFO): DAT read: 06:21:38.1056 LVL= 29808, 18529, 23154, 28659, AGC= 62, IDX= 501, 0.44,-0.643, 1.790, 0.808, 0.680, PHS=-1.221, 1.156, 0.084, RAW= 296.8, -0.2, CAL= 295.4, -4.6, ROT= 214.6, 4.6 2025-10-27T06:21:39.392Z,1761546099.392 [DAT](INFO): got valid direction response: 06:21:38.1056 LVL= 29808, 18529, 23154, 28659, AGC= 62, IDX= 501, 0.44,-0.643, 1.790, 0.808, 0.680, PHS=-1.221, 1.156, 0.084, RAW= 296.8, -0.2, CAL= 295.4, -4.6, ROT= 214.6, 4.6 2025-10-27T06:21:39.392Z,1761546099.392 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T06:21:39.393Z,1761546099.393 [DAT](INFO): direction in FSK: [-0.820485,-0.566015,-0.080199] 2025-10-27T06:21:39.393Z,1761546099.393 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:39.398Z,1761546099.398 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.571587 2025-10-27T06:21:39.433Z,1761546099.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999785,-0.011624,-0.017172],[0.013580,0.992848,0.118608],[0.015670,-0.118816,0.992793]] 2025-10-27T06:21:39.492Z,1761546099.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.503502 s, deltaX: 0.300000 m, approachRate: 0.595826 m/s, rangeRepo size: 4 2025-10-27T06:21:39.494Z,1761546099.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.650240 m, bearing: 215.648201 deg, lat: 36.779453 deg, lon: -121.859866 deg, deltaT: 0.503502 s, deltaX: 0.298061 m, approachRate: 0.591976 m/s, posRepo size: 4 2025-10-27T06:21:39.499Z,1761546099.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m. 2025-10-27T06:21:39.537Z,1761546099.537 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.710287 2025-10-27T06:21:39.792Z,1761546099.792 [DAT](INFO): DAT read: Rx Time:06:21:38.6056 2025-10-27T06:21:39.793Z,1761546099.793 [DAT](INFO): Rx dataTimestamp_ set to:1761546099.792589 2025-10-27T06:21:39.797Z,1761546099.797 [DAT](INFO): DAT read: Bearing 352.6, -33.9 (Local) 2025-10-27T06:21:39.798Z,1761546099.798 [DAT](INFO): Local bearing/azimuth received: Bearing 352.6, -33.9 (Local) 2025-10-27T06:21:39.802Z,1761546099.802 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 2025-10-27T06:21:39.803Z,1761546099.803 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-27T06:21:39.818Z,1761546099.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999813,-0.008215,-0.017510],[0.010174,0.993327,0.114885],[0.016449,-0.115042,0.993224]] 2025-10-27T06:21:39.824Z,1761546099.824 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.996983 2025-10-27T06:21:39.883Z,1761546099.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504053 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:39.883Z,1761546099.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.65 m. 2025-10-27T06:21:40.054Z,1761546100.054 [DAT](INFO): DAT read: 06:21:38.6056 LVL= 29248, 20721, 26610, 29027, AGC= 63, IDX= 502,-0.25,-2.465,-0.043,-1.036,-1.134, PHS=-1.229, 1.137, 0.054, RAW= 297.2, 0.4, CAL= 295.8, -4.0, ROT= 214.2, 4.0 2025-10-27T06:21:40.055Z,1761546100.055 [DAT](INFO): got valid direction response: 06:21:38.6056 LVL= 29248, 20721, 26610, 29027, AGC= 63, IDX= 502,-0.25,-2.465,-0.043,-1.036,-1.134, PHS=-1.229, 1.137, 0.054, RAW= 297.2, 0.4, CAL= 295.8, -4.0, ROT= 214.2, 4.0 2025-10-27T06:21:40.055Z,1761546100.055 [DAT](INFO): #Rx 54: Read direction message, but no range. 2025-10-27T06:21:40.056Z,1761546100.056 [DAT](INFO): direction in FSK: [-0.825066,-0.560714,-0.069756] 2025-10-27T06:21:40.060Z,1761546100.060 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.233171 2025-10-27T06:21:40.223Z,1761546100.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999830,-0.005303,-0.017677],[0.007201,0.994003,0.109116],[0.016992,-0.109225,0.993872]] 2025-10-27T06:21:40.296Z,1761546100.296 [DAT](INFO): DAT read: Rx Time:06:21:39.1058 2025-10-27T06:21:40.297Z,1761546100.297 [DAT](INFO): Rx dataTimestamp_ set to:1761546100.296276 2025-10-27T06:21:40.301Z,1761546100.301 [DAT](INFO): DAT read: Bearing 351.7, -34.6 (Local) 2025-10-27T06:21:40.301Z,1761546100.301 [DAT](INFO): Local bearing/azimuth received: Bearing 351.7, -34.6 (Local) 2025-10-27T06:21:40.303Z,1761546100.303 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.3 2025-10-27T06:21:40.304Z,1761546100.304 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-27T06:21:40.305Z,1761546100.305 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.478174 2025-10-27T06:21:40.338Z,1761546100.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503687 s, deltaX: 0.300000 m, approachRate: 0.595608 m/s, rangeRepo size: 4 2025-10-27T06:21:40.345Z,1761546100.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.948274 m, bearing: 214.823047 deg, lat: 36.779454 deg, lon: -121.859867 deg, deltaT: 1.007740 s, deltaX: 0.298034 m, approachRate: 0.295745 m/s, posRepo size: 4 2025-10-27T06:21:40.345Z,1761546100.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-27T06:21:40.548Z,1761546100.548 [DAT](INFO): DAT read: 06:21:39.1058 LVL= 29008, 19297, 25714, 27795, AGC= 63, IDX= 504,-0.08,-0.702, 1.732, 0.751, 0.656, PHS=-1.256, 1.121, 0.051, RAW= 296.7, 0.8, CAL= 295.2, -3.6, ROT= 214.8, 3.6 2025-10-27T06:21:40.549Z,1761546100.549 [DAT](INFO): got valid direction response: 06:21:39.1058 LVL= 29008, 19297, 25714, 27795, AGC= 63, IDX= 504,-0.08,-0.702, 1.732, 0.751, 0.656, PHS=-1.256, 1.121, 0.051, RAW= 296.7, 0.8, CAL= 295.2, -3.6, ROT= 214.8, 3.6 2025-10-27T06:21:40.549Z,1761546100.549 [DAT](INFO): #Rx 56: Read direction message, but no range. 2025-10-27T06:21:40.550Z,1761546100.550 [DAT](INFO): direction in FSK: [-0.819529,-0.569587,-0.062791] 2025-10-27T06:21:40.553Z,1761546100.553 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.726610 2025-10-27T06:21:40.630Z,1761546100.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999834,-0.003050,-0.017960],[0.004893,0.994617,0.103503],[0.017547,-0.103574,0.994467]] 2025-10-27T06:21:40.682Z,1761546100.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-27T06:21:40.800Z,1761546100.800 [DAT](INFO): DAT read: Rx Time:06:21:39.6058 2025-10-27T06:21:40.801Z,1761546100.801 [DAT](INFO): Rx dataTimestamp_ set to:1761546100.800781 2025-10-27T06:21:40.802Z,1761546100.802 [DAT](INFO): DAT read: Bearing 350.5, -35.0 (Local) 2025-10-27T06:21:40.803Z,1761546100.803 [DAT](INFO): Local bearing/azimuth received: Bearing 350.5, -35.0 (Local) 2025-10-27T06:21:40.805Z,1761546100.805 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 2025-10-27T06:21:40.810Z,1761546100.810 [DAT](INFO): DAT read: 06:21:39.6058 LVL= 27120, 17041, 25074, 27091, AGC= 63, IDX= 504, 0.04,-0.157, 2.288, 1.303, 1.228, PHS=-1.283, 1.105, 0.031, RAW= 296.7, 1.4, CAL= 295.1, -2.9, ROT= 214.9, 2.9 2025-10-27T06:21:40.811Z,1761546100.811 [DAT](INFO): got valid direction response: 06:21:39.6058 LVL= 27120, 17041, 25074, 27091, AGC= 63, IDX= 504, 0.04,-0.157, 2.288, 1.303, 1.228, PHS=-1.283, 1.105, 0.031, RAW= 296.7, 1.4, CAL= 295.1, -2.9, ROT= 214.9, 2.9 2025-10-27T06:21:40.811Z,1761546100.811 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T06:21:40.812Z,1761546100.812 [DAT](INFO): direction in FSK: [-0.819102,-0.571413,-0.050593] 2025-10-27T06:21:40.813Z,1761546100.813 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:40.816Z,1761546100.816 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=26.989525 2025-10-27T06:21:41.050Z,1761546101.050 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.222868 2025-10-27T06:21:41.062Z,1761546101.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999835,-0.000763,-0.018138],[0.002552,0.995107,0.098771],[0.017974,-0.098801,0.994945]] 2025-10-27T06:21:41.120Z,1761546101.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504505 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:41.122Z,1761546101.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.948253 m, bearing: 215.150455 deg, lat: 36.779454 deg, lon: -121.859869 deg, deltaT: 0.504505 s, deltaX: -0.000021 m, approachRate: -0.000043 m/s, posRepo size: 4 2025-10-27T06:21:41.123Z,1761546101.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-27T06:21:41.302Z,1761546101.302 [DAT](INFO): DAT read: Rx Time:06:21:40.1060 2025-10-27T06:21:41.303Z,1761546101.303 [DAT](INFO): Rx dataTimestamp_ set to:1761546101.302598 2025-10-27T06:21:41.305Z,1761546101.305 [DAT](INFO): DAT read: Bearing 348.9, -35.2 (Local) 2025-10-27T06:21:41.305Z,1761546101.305 [DAT](INFO): Local bearing/azimuth received: Bearing 348.9, -35.2 (Local) 2025-10-27T06:21:41.307Z,1761546101.307 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.3 2025-10-27T06:21:41.312Z,1761546101.312 [DAT](INFO): DAT read: 06:21:40.1060 LVL= 31984, 20673, 24146, 30867, AGC= 63, IDX= 506, 0.17, 2.150,-1.709,-2.695,-2.731, PHS=-1.301, 1.067,-0.008, RAW= 297.0, 2.4, CAL= 295.1, -2.0, ROT= 214.9, 2.0 2025-10-27T06:21:41.313Z,1761546101.313 [DAT](INFO): got valid direction response: 06:21:40.1060 LVL= 31984, 20673, 24146, 30867, AGC= 63, IDX= 506, 0.17, 2.150,-1.709,-2.695,-2.731, PHS=-1.301, 1.067,-0.008, RAW= 297.0, 2.4, CAL= 295.1, -2.0, ROT= 214.9, 2.0 2025-10-27T06:21:41.313Z,1761546101.313 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T06:21:41.314Z,1761546101.314 [DAT](INFO): direction in FSK: [-0.819652,-0.571797,-0.034899] 2025-10-27T06:21:41.314Z,1761546101.314 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:41.322Z,1761546101.322 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.495195 2025-10-27T06:21:41.435Z,1761546101.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999832,0.001527,-0.018285],[0.000263,0.995239,0.097461],[0.018347,-0.097450,0.995071]] 2025-10-27T06:21:41.460Z,1761546101.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.501817 s, deltaX: 0.300000 m, approachRate: 0.597828 m/s, rangeRepo size: 4 2025-10-27T06:21:41.461Z,1761546101.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.246312 m, bearing: 214.938850 deg, lat: 36.779455 deg, lon: -121.859870 deg, deltaT: 0.501817 s, deltaX: 0.298059 m, approachRate: 0.593960 m/s, posRepo size: 4 2025-10-27T06:21:41.462Z,1761546101.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.25 m. 2025-10-27T06:21:41.553Z,1761546101.553 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.725735 2025-10-27T06:21:41.804Z,1761546101.804 [DAT](INFO): DAT read: Rx Time:06:21:40.6061 2025-10-27T06:21:41.805Z,1761546101.805 [DAT](INFO): Rx dataTimestamp_ set to:1761546101.804615 2025-10-27T06:21:41.806Z,1761546101.806 [DAT](INFO): DAT read: Bearing 347.8, -34.4 (Local) 2025-10-27T06:21:41.806Z,1761546101.806 [DAT](INFO): Local bearing/azimuth received: Bearing 347.8, -34.4 (Local) 2025-10-27T06:21:41.809Z,1761546101.809 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-27T06:21:41.813Z,1761546101.813 [DAT](INFO): DAT read: 06:21:40.6061 LVL= 29584, 18161, 24754, 31299, AGC= 60, IDX= 506, 0.32, 1.587,-2.295, 2.978, 2.980, PHS=-1.290, 1.054,-0.045, RAW= 297.9, 2.8, CAL= 296.0, -1.4, ROT= 214.0, 1.4 2025-10-27T06:21:41.814Z,1761546101.814 [DAT](INFO): got valid direction response: 06:21:40.6061 LVL= 29584, 18161, 24754, 31299, AGC= 60, IDX= 506, 0.32, 1.587,-2.295, 2.978, 2.980, PHS=-1.290, 1.054,-0.045, RAW= 297.9, 2.8, CAL= 296.0, -1.4, ROT= 214.0, 1.4 2025-10-27T06:21:41.815Z,1761546101.815 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T06:21:41.816Z,1761546101.816 [DAT](INFO): direction in FSK: [-0.828790,-0.559026,-0.024432] 2025-10-27T06:21:41.816Z,1761546101.816 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:41.820Z,1761546101.820 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.993017 2025-10-27T06:21:41.838Z,1761546101.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999822,0.003971,-0.018451],[-0.002140,0.995167,0.098173],[0.018752,-0.098116,0.994998]] 2025-10-27T06:21:41.913Z,1761546101.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.502017 s, deltaX: 0.099999 m, approachRate: 0.199195 m/s, rangeRepo size: 4 2025-10-27T06:21:41.919Z,1761546101.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.345633 m, bearing: 213.849378 deg, lat: 36.779456 deg, lon: -121.859870 deg, deltaT: 0.502017 s, deltaX: 0.099320 m, approachRate: 0.197843 m/s, posRepo size: 4 2025-10-27T06:21:41.920Z,1761546101.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m. 2025-10-27T06:21:42.058Z,1761546102.058 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.231131 2025-10-27T06:21:42.246Z,1761546102.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999809,0.006943,-0.018246],[-0.005105,0.995087,0.098873],[0.018843,-0.098761,0.994933]] 2025-10-27T06:21:42.309Z,1761546102.309 [DAT](INFO): DAT read: Rx Time:06:21:41.1063 2025-10-27T06:21:42.309Z,1761546102.309 [DAT](INFO): Rx dataTimestamp_ set to:1761546102.308800 2025-10-27T06:21:42.310Z,1761546102.310 [DAT](INFO): DAT read: Bearing 347.3, -33.9 (Local) 2025-10-27T06:21:42.311Z,1761546102.311 [DAT](INFO): Local bearing/azimuth received: Bearing 347.3, -33.9 (Local) 2025-10-27T06:21:42.313Z,1761546102.313 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.3 2025-10-27T06:21:42.317Z,1761546102.317 [DAT](INFO): DAT read: 06:21:41.1063 LVL= 27232, 17777, 23586, 32755, AGC= 60, IDX= 509,-0.35, 1.514,-2.371, 2.879, 2.902, PHS=-1.286, 1.055,-0.067, RAW= 298.6, 3.0, CAL= 296.6, -1.2, ROT= 213.4, 1.2 2025-10-27T06:21:42.319Z,1761546102.319 [DAT](INFO): got valid direction response: 06:21:41.1063 LVL= 27232, 17777, 23586, 32755, AGC= 60, IDX= 509,-0.35, 1.514,-2.371, 2.879, 2.902, PHS=-1.286, 1.055,-0.067, RAW= 298.6, 3.0, CAL= 296.6, -1.2, ROT= 213.4, 1.2 2025-10-27T06:21:42.319Z,1761546102.319 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T06:21:42.320Z,1761546102.320 [DAT](INFO): direction in FSK: [-0.834665,-0.550360,-0.020942] 2025-10-27T06:21:42.320Z,1761546102.320 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:42.332Z,1761546102.332 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.505316 2025-10-27T06:21:42.411Z,1761546102.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504185 s, deltaX: 0.300000 m, approachRate: 0.595020 m/s, rangeRepo size: 4 2025-10-27T06:21:42.413Z,1761546102.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.643691 m, bearing: 213.062379 deg, lat: 36.779456 deg, lon: -121.859871 deg, deltaT: 0.504185 s, deltaX: 0.298059 m, approachRate: 0.591169 m/s, posRepo size: 4 2025-10-27T06:21:42.414Z,1761546102.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.64 m. 2025-10-27T06:21:42.560Z,1761546102.560 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.733707 2025-10-27T06:21:42.680Z,1761546102.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999791,0.009545,-0.018082],[-0.007729,0.995163,0.097935],[0.018929,-0.097775,0.995028]] 2025-10-27T06:21:42.698Z,1761546102.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.64 m. 2025-10-27T06:21:42.813Z,1761546102.813 [DAT](INFO): DAT read: Rx Time:06:21:41.6063 2025-10-27T06:21:42.813Z,1761546102.813 [DAT](INFO): Rx dataTimestamp_ set to:1761546102.812738 2025-10-27T06:21:42.815Z,1761546102.815 [DAT](INFO): DAT read: Bearing 345.8, -32.8 (Local) 2025-10-27T06:21:42.815Z,1761546102.815 [DAT](INFO): Local bearing/azimuth received: Bearing 345.8, -32.8 (Local) 2025-10-27T06:21:42.818Z,1761546102.818 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4 2025-10-27T06:21:42.825Z,1761546102.825 [DAT](INFO): DAT read: 06:21:41.6063 LVL= 25936, 16353, 24482, 29219, AGC= 58, IDX= 509,-0.11, 0.514, 2.866, 1.805, 1.883, PHS=-1.267, 1.028,-0.121, RAW= 300.1, 3.7, CAL= 297.8, -0.4, ROT= 212.2, 0.4 2025-10-27T06:21:42.826Z,1761546102.826 [DAT](INFO): got valid direction response: 06:21:41.6063 LVL= 25936, 16353, 24482, 29219, AGC= 58, IDX= 509,-0.11, 0.514, 2.866, 1.805, 1.883, PHS=-1.267, 1.028,-0.121, RAW= 300.1, 3.7, CAL= 297.8, -0.4, ROT= 212.2, 0.4 2025-10-27T06:21:42.839Z,1761546102.839 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T06:21:42.840Z,1761546102.840 [DAT](INFO): direction in FSK: [-0.846173,-0.532863,-0.006981] 2025-10-27T06:21:42.840Z,1761546102.840 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:42.852Z,1761546102.852 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.025269 2025-10-27T06:21:43.066Z,1761546103.066 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.239300 2025-10-27T06:21:43.102Z,1761546103.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999768,0.012066,-0.017820],[-0.010283,0.995235,0.096959],[0.018905,-0.096753,0.995129]] 2025-10-27T06:21:43.184Z,1761546103.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:43.186Z,1761546103.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.643688 m, bearing: 211.501054 deg, lat: 36.779456 deg, lon: -121.859871 deg, deltaT: 0.503938 s, deltaX: -0.000003 m, approachRate: -0.000006 m/s, posRepo size: 4 2025-10-27T06:21:43.186Z,1761546103.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.64 m. 2025-10-27T06:21:43.317Z,1761546103.317 [DAT](INFO): DAT read: Rx Time:06:21:42.1064 2025-10-27T06:21:43.317Z,1761546103.317 [DAT](INFO): Rx dataTimestamp_ set to:1761546103.316815 2025-10-27T06:21:43.318Z,1761546103.318 [DAT](INFO): DAT read: Bearing 345.0, -31.8 (Local) 2025-10-27T06:21:43.319Z,1761546103.319 [DAT](INFO): Local bearing/azimuth received: Bearing 345.0, -31.8 (Local) 2025-10-27T06:21:43.321Z,1761546103.321 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 2025-10-27T06:21:43.325Z,1761546103.325 [DAT](INFO): DAT read: 06:21:42.1064 LVL= 27440, 16881, 24322, 30579, AGC= 58, IDX= 510, 0.09, 2.148,-1.805,-2.894,-2.783, PHS=-1.250, 1.024,-0.154, RAW= 301.2, 3.9, CAL= 298.9, -0.0, ROT= 211.1, 0.0 2025-10-27T06:21:43.326Z,1761546103.326 [DAT](INFO): got valid direction response: 06:21:42.1064 LVL= 27440, 16881, 24322, 30579, AGC= 58, IDX= 510, 0.09, 2.148,-1.805,-2.894,-2.783, PHS=-1.250, 1.024,-0.154, RAW= 301.2, 3.9, CAL= 298.9, -0.0, ROT= 211.1, 0.0 2025-10-27T06:21:43.327Z,1761546103.327 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T06:21:43.328Z,1761546103.328 [DAT](INFO): direction in FSK: [-0.856267,-0.516533,-0.000000] 2025-10-27T06:21:43.329Z,1761546103.329 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:43.332Z,1761546103.332 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.505638 2025-10-27T06:21:43.461Z,1761546103.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999743,0.014523,-0.017406],[-0.012776,0.995240,0.096611],[0.018727,-0.096364,0.995170]] 2025-10-27T06:21:43.505Z,1761546103.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504077 s, deltaX: 0.200000 m, approachRate: 0.396764 m/s, rangeRepo size: 4 2025-10-27T06:21:43.511Z,1761546103.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.842394 m, bearing: 210.226639 deg, lat: 36.779456 deg, lon: -121.859871 deg, deltaT: 0.504077 s, deltaX: 0.198706 m, approachRate: 0.394197 m/s, posRepo size: 4 2025-10-27T06:21:43.512Z,1761546103.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.84 m. 2025-10-27T06:21:43.569Z,1761546103.569 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.741652 2025-10-27T06:21:43.821Z,1761546103.821 [DAT](INFO): DAT read: Rx Time:06:21:42.6065 2025-10-27T06:21:43.821Z,1761546103.821 [DAT](INFO): Rx dataTimestamp_ set to:1761546103.820697 2025-10-27T06:21:43.822Z,1761546103.822 [DAT](INFO): DAT read: Bearing 343.6, -31.2 (Local) 2025-10-27T06:21:43.823Z,1761546103.823 [DAT](INFO): Local bearing/azimuth received: Bearing 343.6, -31.2 (Local) 2025-10-27T06:21:43.825Z,1761546103.825 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 2025-10-27T06:21:43.829Z,1761546103.829 [DAT](INFO): DAT read: 06:21:42.6065 LVL= 24992, 15473, 24770, 27683, AGC= 57, IDX= 510, 0.34, 1.291,-2.675, 2.498, 2.638, PHS=-1.245, 1.015,-0.183, RAW= 302.0, 4.3, CAL= 299.6, 0.9, ROT= 210.4, -0.9 2025-10-27T06:21:43.830Z,1761546103.830 [DAT](INFO): got valid direction response: 06:21:42.6065 LVL= 24992, 15473, 24770, 27683, AGC= 57, IDX= 510, 0.34, 1.291,-2.675, 2.498, 2.638, PHS=-1.245, 1.015,-0.183, RAW= 302.0, 4.3, CAL= 299.6, 0.9, ROT= 210.4, -0.9 2025-10-27T06:21:43.831Z,1761546103.831 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T06:21:43.832Z,1761546103.832 [DAT](INFO): direction in FSK: [-0.862407,-0.505971,0.015707] 2025-10-27T06:21:43.832Z,1761546103.832 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:43.836Z,1761546103.836 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.009089 2025-10-27T06:21:43.884Z,1761546103.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999714,0.016679,-0.017118],[-0.014966,0.995292,0.095758],[0.018635,-0.095474,0.995257]] 2025-10-27T06:21:43.933Z,1761546103.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503882 s, deltaX: 0.100000 m, approachRate: 0.198460 m/s, rangeRepo size: 4 2025-10-27T06:21:43.939Z,1761546103.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.941786 m, bearing: 209.323473 deg, lat: 36.779455 deg, lon: -121.859869 deg, deltaT: 0.503882 s, deltaX: 0.099392 m, approachRate: 0.197252 m/s, posRepo size: 4 2025-10-27T06:21:43.940Z,1761546103.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.94 m. 2025-10-27T06:21:44.074Z,1761546104.074 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.247126 2025-10-27T06:21:44.302Z,1761546104.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999685,0.018402,-0.017092],[-0.016733,0.995509,0.093172],[0.018730,-0.092857,0.995503]] 2025-10-27T06:21:44.325Z,1761546104.325 [DAT](INFO): DAT read: Rx Time:06:21:43.1067 2025-10-27T06:21:44.325Z,1761546104.325 [DAT](INFO): Rx dataTimestamp_ set to:1761546104.324758 2025-10-27T06:21:44.326Z,1761546104.326 [DAT](INFO): DAT read: Bearing 297.9, -44.0 (Local) 2025-10-27T06:21:44.327Z,1761546104.327 [DAT](INFO): Local bearing/azimuth received: Bearing 297.9, -44.0 (Local) 2025-10-27T06:21:44.329Z,1761546104.329 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-27T06:21:44.333Z,1761546104.333 [DAT](INFO): DAT read: 06:21:43.1067 LVL= 28368, 15089, 24242, 31987, AGC= 58, IDX= 513,-0.30,-2.075,-0.760,-0.868,-0.655, PHS=-1.317,-0.060,-0.257, RAW= 278.4, 26.3, CAL= 280.3, 33.9, ROT= 229.7, -33.9 2025-10-27T06:21:44.334Z,1761546104.334 [DAT](INFO): got valid direction response: 06:21:43.1067 LVL= 28368, 15089, 24242, 31987, AGC= 58, IDX= 513,-0.30,-2.075,-0.760,-0.868,-0.655, PHS=-1.317,-0.060,-0.257, RAW= 278.4, 26.3, CAL= 280.3, 33.9, ROT= 229.7, -33.9 2025-10-27T06:21:44.335Z,1761546104.335 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T06:21:44.336Z,1761546104.336 [DAT](INFO): direction in FSK: [-0.536843,-0.633024,0.557745] 2025-10-27T06:21:44.336Z,1761546104.336 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:44.388Z,1761546104.388 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.561205 2025-10-27T06:21:44.434Z,1761546104.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504061 s, deltaX: 0.300000 m, approachRate: 0.595166 m/s, rangeRepo size: 4 2025-10-27T06:21:44.440Z,1761546104.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.239845 m, bearing: 225.578280 deg, lat: 36.779455 deg, lon: -121.859869 deg, deltaT: 0.504061 s, deltaX: 0.298059 m, approachRate: 0.591316 m/s, posRepo size: 4 2025-10-27T06:21:44.440Z,1761546104.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m. 2025-10-27T06:21:44.576Z,1761546104.576 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.749502 2025-10-27T06:21:44.699Z,1761546104.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999649,0.020203,-0.017132],[-0.018587,0.995789,0.089766],[0.018874,-0.089416,0.995816]] 2025-10-27T06:21:44.728Z,1761546104.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m. 2025-10-27T06:21:44.773Z,1761546104.773 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:21:44.829Z,1761546104.829 [DAT](INFO): DAT read: Rx Time:06:21:43.6067 2025-10-27T06:21:44.830Z,1761546104.830 [DAT](INFO): Rx dataTimestamp_ set to:1761546104.829675 2025-10-27T06:21:44.832Z,1761546104.832 [DAT](INFO): DAT read: Bearing 338.2, -25.5 (Local) 2025-10-27T06:21:44.833Z,1761546104.833 [DAT](INFO): Local bearing/azimuth received: Bearing 338.2, -25.5 (Local) 2025-10-27T06:21:44.836Z,1761546104.836 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-27T06:21:44.842Z,1761546104.842 [DAT](INFO): DAT read: 06:21:43.6067 LVL= 25072, 15345, 24146, 27619, AGC= 57, IDX= 513,-0.10,-2.822,-0.979,-1.999,-1.748, PHS=-0.971, 0.814,-0.295, RAW= 307.9, 5.8, CAL= 305.6, 4.6, ROT= 204.4, -4.6 2025-10-27T06:21:44.856Z,1761546104.856 [DAT](INFO): got valid direction response: 06:21:43.6067 LVL= 25072, 15345, 24146, 27619, AGC= 57, IDX= 513,-0.10,-2.822,-0.979,-1.999,-1.748, PHS=-0.971, 0.814,-0.295, RAW= 307.9, 5.8, CAL= 305.6, 4.6, ROT= 204.4, -4.6 2025-10-27T06:21:44.856Z,1761546104.856 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T06:21:44.857Z,1761546104.857 [DAT](INFO): direction in FSK: [-0.907750,-0.411774,0.080199] 2025-10-27T06:21:44.857Z,1761546104.857 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:44.878Z,1761546104.878 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.050970 2025-10-27T06:21:45.082Z,1761546105.082 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.255064 2025-10-27T06:21:45.132Z,1761546105.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999613,0.021795,-0.017260],[-0.020222,0.996038,0.086601],[0.019079,-0.086219,0.996094]] 2025-10-27T06:21:45.199Z,1761546105.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504917 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:45.201Z,1761546105.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.239850 m, bearing: 202.749610 deg, lat: 36.779455 deg, lon: -121.859868 deg, deltaT: 0.504917 s, deltaX: 0.000005 m, approachRate: 0.000009 m/s, posRepo size: 4 2025-10-27T06:21:45.202Z,1761546105.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.24 m. 2025-10-27T06:21:45.333Z,1761546105.333 [DAT](INFO): DAT read: Rx Time:06:21:44.1069 2025-10-27T06:21:45.333Z,1761546105.333 [DAT](INFO): Rx dataTimestamp_ set to:1761546105.332884 2025-10-27T06:21:45.334Z,1761546105.334 [DAT](INFO): DAT read: Bearing 341.9, -29.4 (Local) 2025-10-27T06:21:45.335Z,1761546105.335 [DAT](INFO): Local bearing/azimuth received: Bearing 341.9, -29.4 (Local) 2025-10-27T06:21:45.337Z,1761546105.337 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.3 2025-10-27T06:21:45.342Z,1761546105.342 [DAT](INFO): DAT read: 06:21:44.1069 LVL= 25648, 14993, 21442, 27235, AGC= 62, IDX= 3, 0.02, 2.261,-1.752,-2.897,-2.717, PHS=-1.202, 1.011,-0.223, RAW= 303.8, 4.4, CAL= 301.4, 1.3, ROT= 208.6, -1.3 2025-10-27T06:21:45.343Z,1761546105.343 [DAT](INFO): got valid direction response: 06:21:44.1069 LVL= 25648, 14993, 21442, 27235, AGC= 62, IDX= 3, 0.02, 2.261,-1.752,-2.897,-2.717, PHS=-1.202, 1.011,-0.223, RAW= 303.8, 4.4, CAL= 301.4, 1.3, ROT= 208.6, -1.3 2025-10-27T06:21:45.343Z,1761546105.343 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T06:21:45.344Z,1761546105.344 [DAT](INFO): direction in FSK: [-0.877757,-0.478569,0.022687] 2025-10-27T06:21:45.344Z,1761546105.344 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:45.349Z,1761546105.349 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.522612 2025-10-27T06:21:45.501Z,1761546105.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999583,0.023020,-0.017455],[-0.021479,0.996249,0.083824],[0.019319,-0.083414,0.996328]] 2025-10-27T06:21:45.552Z,1761546105.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503209 s, deltaX: 0.300000 m, approachRate: 0.596174 m/s, rangeRepo size: 4 2025-10-27T06:21:45.554Z,1761546105.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.537910 m, bearing: 207.161013 deg, lat: 36.779455 deg, lon: -121.859867 deg, deltaT: 0.503209 s, deltaX: 0.298059 m, approachRate: 0.592317 m/s, posRepo size: 4 2025-10-27T06:21:45.559Z,1761546105.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-27T06:21:45.584Z,1761546105.584 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.757309 2025-10-27T06:21:45.778Z,1761546105.778 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:21:45.837Z,1761546105.837 [DAT](INFO): DAT read: Rx Time:06:21:44.6069 2025-10-27T06:21:45.837Z,1761546105.837 [DAT](INFO): Rx dataTimestamp_ set to:1761546105.836707 2025-10-27T06:21:45.838Z,1761546105.838 [DAT](INFO): DAT read: Bearing 341.6, -29.7 (Local) 2025-10-27T06:21:45.839Z,1761546105.839 [DAT](INFO): Local bearing/azimuth received: Bearing 341.6, -29.7 (Local) 2025-10-27T06:21:45.841Z,1761546105.841 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed -0.3 2025-10-27T06:21:45.845Z,1761546105.845 [DAT](INFO): DAT read: 06:21:44.6069 LVL= 25584, 15425, 27202, 32691, AGC= 58, IDX= 499, 0.12, 2.125,-1.880,-3.019,-2.845, PHS=-1.212, 1.009,-0.218, RAW= 303.5, 4.4, CAL= 301.1, 1.4, ROT= 208.9, -1.4 2025-10-27T06:21:45.846Z,1761546105.846 [DAT](INFO): got valid direction response: 06:21:44.6069 LVL= 25584, 15425, 27202, 32691, AGC= 58, IDX= 499, 0.12, 2.125,-1.880,-3.019,-2.845, PHS=-1.212, 1.009,-0.218, RAW= 303.5, 4.4, CAL= 301.1, 1.4, ROT= 208.9, -1.4 2025-10-27T06:21:45.847Z,1761546105.847 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T06:21:45.848Z,1761546105.848 [DAT](INFO): direction in FSK: [-0.875203,-0.483138,0.024432] 2025-10-27T06:21:45.848Z,1761546105.848 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:45.852Z,1761546105.852 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.025116 2025-10-27T06:21:45.906Z,1761546105.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999544,0.024467,-0.017708],[-0.022947,0.996413,0.081450],[0.019637,-0.081007,0.996520]] 2025-10-27T06:21:45.975Z,1761546105.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503823 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:45.977Z,1761546105.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.537902 m, bearing: 207.375817 deg, lat: 36.779455 deg, lon: -121.859866 deg, deltaT: 0.503823 s, deltaX: -0.000008 m, approachRate: -0.000015 m/s, posRepo size: 4 2025-10-27T06:21:45.978Z,1761546105.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-27T06:21:46.096Z,1761546106.096 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.268795 2025-10-27T06:21:46.316Z,1761546106.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999496,0.026020,-0.018172],[-0.024494,0.996520,0.079672],[0.020182,-0.079187,0.996656]] 2025-10-27T06:21:46.341Z,1761546106.341 [DAT](INFO): DAT read: Rx Time:06:21:45.1071 2025-10-27T06:21:46.341Z,1761546106.341 [DAT](INFO): Rx dataTimestamp_ set to:1761546106.340768 2025-10-27T06:21:46.342Z,1761546106.342 [DAT](INFO): DAT read: Bearing 342.4, -30.2 (Local) 2025-10-27T06:21:46.343Z,1761546106.343 [DAT](INFO): Local bearing/azimuth received: Bearing 342.4, -30.2 (Local) 2025-10-27T06:21:46.345Z,1761546106.345 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.3 2025-10-27T06:21:46.350Z,1761546106.350 [DAT](INFO): DAT read: 06:21:45.1071 LVL= 24688, 16369, 27618, 28131, AGC= 58, IDX= 501, 0.22,-3.037,-0.751,-1.879,-1.728, PHS=-1.208, 1.022,-0.195, RAW= 303.0, 4.0, CAL= 300.6, 0.5, ROT= 209.4, -0.5 2025-10-27T06:21:46.352Z,1761546106.352 [DAT](INFO): got valid direction response: 06:21:45.1071 LVL= 24688, 16369, 27618, 28131, AGC= 58, IDX= 501, 0.22,-3.037,-0.751,-1.879,-1.728, PHS=-1.208, 1.022,-0.195, RAW= 303.0, 4.0, CAL= 300.6, 0.5, ROT= 209.4, -0.5 2025-10-27T06:21:46.352Z,1761546106.352 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T06:21:46.353Z,1761546106.353 [DAT](INFO): direction in FSK: [-0.871181,-0.490885,0.008727] 2025-10-27T06:21:46.353Z,1761546106.353 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:46.357Z,1761546106.357 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.530247 2025-10-27T06:21:46.438Z,1761546106.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504061 s, deltaX: 0.299999 m, approachRate: 0.595165 m/s, rangeRepo size: 4 2025-10-27T06:21:46.453Z,1761546106.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.835960 m, bearing: 207.862627 deg, lat: 36.779454 deg, lon: -121.859866 deg, deltaT: 0.504061 s, deltaX: 0.298059 m, approachRate: 0.591314 m/s, posRepo size: 4 2025-10-27T06:21:46.453Z,1761546106.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m. 2025-10-27T06:21:46.592Z,1761546106.592 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.765476 2025-10-27T06:21:46.804Z,1761546106.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m. 2025-10-27T06:21:46.845Z,1761546106.845 [DAT](INFO): DAT read: Rx Time:06:21:45.6072 2025-10-27T06:21:46.845Z,1761546106.845 [DAT](INFO): Rx dataTimestamp_ set to:1761546106.844802 2025-10-27T06:21:46.846Z,1761546106.846 [DAT](INFO): DAT read: Bearing 343.1, -30.8 (Local) 2025-10-27T06:21:46.847Z,1761546106.847 [DAT](INFO): Local bearing/azimuth received: Bearing 343.1, -30.8 (Local) 2025-10-27T06:21:46.849Z,1761546106.849 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.2 2025-10-27T06:21:46.856Z,1761546106.856 [DAT](INFO): DAT read: 06:21:45.6072 LVL= 24976, 17313, 25794, 30067, AGC= 59, IDX= 501, 0.29, 2.393,-1.590,-2.702,-2.577, PHS=-1.211, 1.032,-0.169, RAW= 302.3, 3.6, CAL= 300.0, -0.2, ROT= 210.0, 0.2 2025-10-27T06:21:46.857Z,1761546106.857 [DAT](INFO): got valid direction response: 06:21:45.6072 LVL= 24976, 17313, 25794, 30067, AGC= 59, IDX= 501, 0.29, 2.393,-1.590,-2.702,-2.577, PHS=-1.211, 1.032,-0.169, RAW= 302.3, 3.6, CAL= 300.0, -0.2, ROT= 210.0, 0.2 2025-10-27T06:21:46.858Z,1761546106.858 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T06:21:46.868Z,1761546106.868 [DAT](INFO): direction in FSK: [-0.866020,-0.499997,-0.003491] 2025-10-27T06:21:46.869Z,1761546106.869 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:46.931Z,1761546106.931 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.104584 2025-10-27T06:21:47.098Z,1761546107.098 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.271252 2025-10-27T06:21:47.168Z,1761546107.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999417,0.028393,-0.018980],[-0.026823,0.996561,0.078401],[0.021141,-0.077846,0.996741]] 2025-10-27T06:21:47.246Z,1761546107.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504034 s, deltaX: 0.200001 m, approachRate: 0.396800 m/s, rangeRepo size: 4 2025-10-27T06:21:47.258Z,1761546107.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.034664 m, bearing: 208.384844 deg, lat: 36.779454 deg, lon: -121.859866 deg, deltaT: 0.504034 s, deltaX: 0.198704 m, approachRate: 0.394227 m/s, posRepo size: 4 2025-10-27T06:21:47.268Z,1761546107.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.03 m. 2025-10-27T06:21:47.349Z,1761546107.349 [DAT](INFO): DAT read: Rx Time:06:21:46.1073 2025-10-27T06:21:47.349Z,1761546107.349 [DAT](INFO): Rx dataTimestamp_ set to:1761546107.348696 2025-10-27T06:21:47.350Z,1761546107.350 [DAT](INFO): DAT read: Bearing 343.4, -31.6 (Local) 2025-10-27T06:21:47.351Z,1761546107.351 [DAT](INFO): Local bearing/azimuth received: Bearing 343.4, -31.6 (Local) 2025-10-27T06:21:47.353Z,1761546107.353 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0 2025-10-27T06:21:47.357Z,1761546107.357 [DAT](INFO): DAT read: 06:21:46.1073 LVL= 26320, 16945, 24994, 28403, AGC= 62, IDX= 502, 0.38, 1.745,-2.220, 2.972, 3.069, PHS=-1.222, 1.040,-0.141, RAW= 301.4, 3.3, CAL= 299.2, -0.6, ROT= 210.8, 0.6 2025-10-27T06:21:47.358Z,1761546107.358 [DAT](INFO): got valid direction response: 06:21:46.1073 LVL= 26320, 16945, 24994, 28403, AGC= 62, IDX= 502, 0.38, 1.745,-2.220, 2.972, 3.069, PHS=-1.222, 1.040,-0.141, RAW= 301.4, 3.3, CAL= 299.2, -0.6, ROT= 210.8, 0.6 2025-10-27T06:21:47.359Z,1761546107.359 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T06:21:47.360Z,1761546107.360 [DAT](INFO): direction in FSK: [-0.858913,-0.512015,-0.010472] 2025-10-27T06:21:47.360Z,1761546107.360 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:47.364Z,1761546107.364 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.537334 2025-10-27T06:21:47.580Z,1761546107.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999379,0.029456,-0.019324],[-0.027874,0.996596,0.077584],[0.021543,-0.076997,0.996799]] 2025-10-27T06:21:47.600Z,1761546107.600 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.773293 2025-10-27T06:21:47.617Z,1761546107.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503894 s, deltaX: 0.099999 m, approachRate: 0.198453 m/s, rangeRepo size: 4 2025-10-27T06:21:47.619Z,1761546107.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.134017 m, bearing: 209.154750 deg, lat: 36.779455 deg, lon: -121.859868 deg, deltaT: 0.503894 s, deltaX: 0.099353 m, approachRate: 0.197170 m/s, posRepo size: 4 2025-10-27T06:21:47.620Z,1761546107.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m. 2025-10-27T06:21:47.854Z,1761546107.854 [DAT](INFO): DAT read: Rx Time:06:21:46.6073 2025-10-27T06:21:47.854Z,1761546107.854 [DAT](INFO): Rx dataTimestamp_ set to:1761546107.853800 2025-10-27T06:21:47.855Z,1761546107.855 [DAT](INFO): DAT read: Bearing 344.1, -32.3 (Local) 2025-10-27T06:21:47.856Z,1761546107.856 [DAT](INFO): Local bearing/azimuth received: Bearing 344.1, -32.3 (Local) 2025-10-27T06:21:47.858Z,1761546107.858 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 2025-10-27T06:21:47.862Z,1761546107.862 [DAT](INFO): DAT read: 06:21:46.6073 LVL= 26032, 16113, 25522, 30435, AGC= 62, IDX= 502, 0.48, 0.409, 2.736, 1.673, 1.731, PHS=-1.220, 1.050,-0.102, RAW= 300.5, 2.8, CAL= 298.4, -1.2, ROT= 211.6, 1.2 2025-10-27T06:21:47.864Z,1761546107.864 [DAT](INFO): got valid direction response: 06:21:46.6073 LVL= 26032, 16113, 25522, 30435, AGC= 62, IDX= 502, 0.48, 0.409, 2.736, 1.673, 1.731, PHS=-1.220, 1.050,-0.102, RAW= 300.5, 2.8, CAL= 298.4, -1.2, ROT= 211.6, 1.2 2025-10-27T06:21:47.864Z,1761546107.864 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T06:21:47.865Z,1761546107.865 [DAT](INFO): direction in FSK: [-0.851540,-0.523871,-0.020942] 2025-10-27T06:21:47.865Z,1761546107.865 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:47.873Z,1761546107.873 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.046253 2025-10-27T06:21:47.984Z,1761546107.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999355,0.029961,-0.019792],[-0.028352,0.996623,0.077067],[0.022034,-0.076456,0.996830]] 2025-10-27T06:21:48.037Z,1761546108.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.505104 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:48.043Z,1761546108.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.134012 m, bearing: 209.971736 deg, lat: 36.779455 deg, lon: -121.859869 deg, deltaT: 0.505104 s, deltaX: -0.000005 m, approachRate: -0.000009 m/s, posRepo size: 4 2025-10-27T06:21:48.044Z,1761546108.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m. 2025-10-27T06:21:48.105Z,1761546108.105 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.278034 2025-10-27T06:21:48.357Z,1761546108.357 [DAT](INFO): DAT read: Rx Time:06:21:47.1075 2025-10-27T06:21:48.357Z,1761546108.357 [DAT](INFO): Rx dataTimestamp_ set to:1761546108.356729 2025-10-27T06:21:48.358Z,1761546108.358 [DAT](INFO): DAT read: Bearing 344.9, -33.2 (Local) 2025-10-27T06:21:48.359Z,1761546108.359 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, -33.2 (Local) 2025-10-27T06:21:48.361Z,1761546108.361 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.2 2025-10-27T06:21:48.365Z,1761546108.365 [DAT](INFO): DAT read: 06:21:47.1075 LVL= 25424, 15841, 25586, 31795, AGC= 64, IDX= 505,-0.48, 0.387, 2.734, 1.699, 1.717, PHS=-1.228, 1.062,-0.062, RAW= 299.4, 2.3, CAL= 297.5, -1.8, ROT= 212.5, 1.8 2025-10-27T06:21:48.366Z,1761546108.366 [DAT](INFO): got valid direction response: 06:21:47.1075 LVL= 25424, 15841, 25586, 31795, AGC= 64, IDX= 505,-0.48, 0.387, 2.734, 1.699, 1.717, PHS=-1.228, 1.062,-0.062, RAW= 299.4, 2.3, CAL= 297.5, -1.8, ROT= 212.5, 1.8 2025-10-27T06:21:48.372Z,1761546108.372 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T06:21:48.373Z,1761546108.373 [DAT](INFO): direction in FSK: [-0.842975,-0.537034,-0.031411] 2025-10-27T06:21:48.373Z,1761546108.373 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:48.385Z,1761546108.385 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.558357 2025-10-27T06:21:48.387Z,1761546108.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999340,0.030350,-0.019951],[-0.028716,0.996569,0.077632],[0.022238,-0.077008,0.996782]] 2025-10-27T06:21:48.510Z,1761546108.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.502929 s, deltaX: 0.300000 m, approachRate: 0.596506 m/s, rangeRepo size: 4 2025-10-27T06:21:48.524Z,1761546108.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.432072 m, bearing: 210.893426 deg, lat: 36.779455 deg, lon: -121.859871 deg, deltaT: 0.502929 s, deltaX: 0.298059 m, approachRate: 0.592647 m/s, posRepo size: 4 2025-10-27T06:21:48.525Z,1761546108.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m. 2025-10-27T06:21:48.608Z,1761546108.608 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.781231 2025-10-27T06:21:48.814Z,1761546108.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999333,0.030321,-0.020359],[-0.028647,0.996541,0.078013],[0.022654,-0.077378,0.996744]] 2025-10-27T06:21:48.860Z,1761546108.860 [DAT](INFO): DAT read: Rx Time:06:21:47.6075 2025-10-27T06:21:48.861Z,1761546108.861 [DAT](INFO): Rx dataTimestamp_ set to:1761546108.860684 2025-10-27T06:21:48.862Z,1761546108.862 [DAT](INFO): DAT read: Bearing 345.9, -33.6 (Local) 2025-10-27T06:21:48.863Z,1761546108.863 [DAT](INFO): Local bearing/azimuth received: Bearing 345.9, -33.6 (Local) 2025-10-27T06:21:48.865Z,1761546108.865 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.1 2025-10-27T06:21:48.869Z,1761546108.869 [DAT](INFO): DAT read: 06:21:47.6075 LVL= 29456, 18737, 26898, 31123, AGC= 66, IDX= 505,-0.44,-0.946, 1.412, 0.397, 0.373, PHS=-1.217, 1.084,-0.020, RAW= 298.6, 1.6, CAL= 296.9, -2.7, ROT= 213.1, 2.7 2025-10-27T06:21:48.870Z,1761546108.870 [DAT](INFO): got valid direction response: 06:21:47.6075 LVL= 29456, 18737, 26898, 31123, AGC= 66, IDX= 505,-0.44,-0.946, 1.412, 0.397, 0.373, PHS=-1.217, 1.084,-0.020, RAW= 298.6, 1.6, CAL= 296.9, -2.7, ROT= 213.1, 2.7 2025-10-27T06:21:48.871Z,1761546108.871 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T06:21:48.872Z,1761546108.872 [DAT](INFO): direction in FSK: [-0.836789,-0.545496,-0.047106] 2025-10-27T06:21:48.872Z,1761546108.872 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:48.900Z,1761546108.900 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.073109 2025-10-27T06:21:49.019Z,1761546109.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503955 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:49.021Z,1761546109.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.432068 m, bearing: 211.564551 deg, lat: 36.779456 deg, lon: -121.859872 deg, deltaT: 0.503955 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 2025-10-27T06:21:49.022Z,1761546109.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.43 m. 2025-10-27T06:21:49.114Z,1761546109.114 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.287102 2025-10-27T06:21:49.365Z,1761546109.365 [DAT](INFO): DAT read: Rx Time:06:21:48.1077 2025-10-27T06:21:49.365Z,1761546109.365 [DAT](INFO): Rx dataTimestamp_ set to:1761546109.364719 2025-10-27T06:21:49.366Z,1761546109.366 [DAT](INFO): DAT read: Bearing 346.6, -34.4 (Local) 2025-10-27T06:21:49.367Z,1761546109.367 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, -34.4 (Local) 2025-10-27T06:21:49.369Z,1761546109.369 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.3 2025-10-27T06:21:49.373Z,1761546109.373 [DAT](INFO): DAT read: 06:21:48.1077 LVL= 30608, 18273, 25394, 32755, AGC= 65, IDX= 507,-0.50,-0.163, 2.188, 1.210, 1.149, PHS=-1.209, 1.085, 0.018, RAW= 297.7, 1.1, CAL= 296.1, -3.2, ROT= 213.9, 3.2 2025-10-27T06:21:49.374Z,1761546109.374 [DAT](INFO): got valid direction response: 06:21:48.1077 LVL= 30608, 18273, 25394, 32755, AGC= 65, IDX= 507,-0.50,-0.163, 2.188, 1.210, 1.149, PHS=-1.209, 1.085, 0.018, RAW= 297.7, 1.1, CAL= 296.1, -3.2, ROT= 213.9, 3.2 2025-10-27T06:21:49.375Z,1761546109.375 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T06:21:49.376Z,1761546109.376 [DAT](INFO): direction in FSK: [-0.828718,-0.556875,-0.055822] 2025-10-27T06:21:49.376Z,1761546109.376 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:49.380Z,1761546109.380 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.553493 2025-10-27T06:21:49.434Z,1761546109.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504035 s, deltaX: 0.300000 m, approachRate: 0.595197 m/s, rangeRepo size: 4 2025-10-27T06:21:49.440Z,1761546109.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.730127 m, bearing: 212.399952 deg, lat: 36.779457 deg, lon: -121.859874 deg, deltaT: 0.504035 s, deltaX: 0.298059 m, approachRate: 0.591347 m/s, posRepo size: 4 2025-10-27T06:21:49.441Z,1761546109.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m. 2025-10-27T06:21:49.617Z,1761546109.617 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.789791 2025-10-27T06:21:49.694Z,1761546109.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999355,0.029422,-0.020567],[-0.027807,0.996810,0.074816],[0.022702,-0.074196,0.996985]] 2025-10-27T06:21:49.770Z,1761546109.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m. 2025-10-27T06:21:49.870Z,1761546109.870 [DAT](INFO): DAT read: Rx Time:06:21:48.6077 2025-10-27T06:21:49.871Z,1761546109.871 [DAT](INFO): Rx dataTimestamp_ set to:1761546109.870242 2025-10-27T06:21:49.872Z,1761546109.872 [DAT](INFO): DAT read: Bearing 347.3, -34.4 (Local) 2025-10-27T06:21:49.872Z,1761546109.872 [DAT](INFO): Local bearing/azimuth received: Bearing 347.3, -34.4 (Local) 2025-10-27T06:21:49.874Z,1761546109.874 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.2 2025-10-27T06:21:49.879Z,1761546109.879 [DAT](INFO): DAT read: 06:21:48.6077 LVL= 32080, 19505, 24530, 32755, AGC= 66, IDX= 506, 0.44,-0.517, 1.829, 0.863, 0.774, PHS=-1.190, 1.100, 0.044, RAW= 297.4, 0.5, CAL= 296.0, -3.9, ROT= 214.0, 3.9 2025-10-27T06:21:49.880Z,1761546109.880 [DAT](INFO): got valid direction response: 06:21:48.6077 LVL= 32080, 19505, 24530, 32755, AGC= 66, IDX= 506, 0.44,-0.517, 1.829, 0.863, 0.774, PHS=-1.190, 1.100, 0.044, RAW= 297.4, 0.5, CAL= 296.0, -3.9, ROT= 214.0, 3.9 2025-10-27T06:21:49.880Z,1761546109.880 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T06:21:49.881Z,1761546109.881 [DAT](INFO): direction in FSK: [-0.827118,-0.557898,-0.068015] 2025-10-27T06:21:49.882Z,1761546109.882 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:49.923Z,1761546109.923 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.096676 2025-10-27T06:21:50.124Z,1761546110.124 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.297096 2025-10-27T06:21:50.226Z,1761546110.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.505523 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:50.237Z,1761546110.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.730178 m, bearing: 212.599084 deg, lat: 36.779457 deg, lon: -121.859874 deg, deltaT: 0.505523 s, deltaX: 0.000051 m, approachRate: 0.000100 m/s, posRepo size: 4 2025-10-27T06:21:50.237Z,1761546110.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.73 m. 2025-10-27T06:21:50.373Z,1761546110.373 [DAT](INFO): DAT read: Rx Time:06:21:49.1079 2025-10-27T06:21:50.373Z,1761546110.373 [DAT](INFO): Rx dataTimestamp_ set to:1761546110.372752 2025-10-27T06:21:50.376Z,1761546110.376 [DAT](INFO): DAT read: Bearing 347.3, -33.9 (Local) 2025-10-27T06:21:50.377Z,1761546110.377 [DAT](INFO): Local bearing/azimuth received: Bearing 347.3, -33.9 (Local) 2025-10-27T06:21:50.379Z,1761546110.379 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4 2025-10-27T06:21:50.386Z,1761546110.386 [DAT](INFO): DAT read: 06:21:49.1079 LVL= 28656, 17649, 21410, 30451, AGC= 64, IDX= 508, 0.35, 1.338,-2.639, 2.681, 2.596, PHS=-1.156, 1.093, 0.041, RAW= 297.9, 0.2, CAL= 296.4, -4.1, ROT= 213.6, 4.1 2025-10-27T06:21:50.387Z,1761546110.387 [DAT](INFO): got valid direction response: 06:21:49.1079 LVL= 28656, 17649, 21410, 30451, AGC= 64, IDX= 508, 0.35, 1.338,-2.639, 2.681, 2.596, PHS=-1.156, 1.093, 0.041, RAW= 297.9, 0.2, CAL= 296.4, -4.1, ROT= 213.6, 4.1 2025-10-27T06:21:50.388Z,1761546110.388 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T06:21:50.389Z,1761546110.389 [DAT](INFO): direction in FSK: [-0.830790,-0.551975,-0.071497] 2025-10-27T06:21:50.389Z,1761546110.389 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:50.404Z,1761546110.404 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.577141 2025-10-27T06:21:50.518Z,1761546110.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999421,0.027059,-0.020618],[-0.025489,0.997008,0.072972],[0.022531,-0.072404,0.997121]] 2025-10-27T06:21:50.561Z,1761546110.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.502510 s, deltaX: 0.300000 m, approachRate: 0.597003 m/s, rangeRepo size: 4 2025-10-27T06:21:50.579Z,1761546110.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.028239 m, bearing: 212.346357 deg, lat: 36.779457 deg, lon: -121.859876 deg, deltaT: 0.502510 s, deltaX: 0.298061 m, approachRate: 0.593145 m/s, posRepo size: 4 2025-10-27T06:21:50.580Z,1761546110.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:50.625Z,1761546110.625 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.798019 2025-10-27T06:21:50.876Z,1761546110.876 [DAT](INFO): DAT read: Rx Time:06:21:49.6079 2025-10-27T06:21:50.877Z,1761546110.877 [DAT](INFO): Rx dataTimestamp_ set to:1761546110.876660 2025-10-27T06:21:50.878Z,1761546110.878 [DAT](INFO): DAT read: Bearing 346.8, -32.8 (Local) 2025-10-27T06:21:50.879Z,1761546110.879 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, -32.8 (Local) 2025-10-27T06:21:50.881Z,1761546110.881 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.2 2025-10-27T06:21:50.885Z,1761546110.885 [DAT](INFO): DAT read: 06:21:49.6079 LVL= 30048, 16337, 20770, 32579, AGC= 62, IDX= 508, 0.29, 0.087, 2.360, 1.370, 1.317, PHS=-1.127, 1.088, 0.009, RAW= 299.2, 0.3, CAL= 297.6, -3.9, ROT= 212.4, 3.9 2025-10-27T06:21:50.886Z,1761546110.886 [DAT](INFO): got valid direction response: 06:21:49.6079 LVL= 30048, 16337, 20770, 32579, AGC= 62, IDX= 508, 0.29, 0.087, 2.360, 1.370, 1.317, PHS=-1.127, 1.088, 0.009, RAW= 299.2, 0.3, CAL= 297.6, -3.9, ROT= 212.4, 3.9 2025-10-27T06:21:50.887Z,1761546110.887 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T06:21:50.888Z,1761546110.888 [DAT](INFO): direction in FSK: [-0.842373,-0.534586,-0.068015] 2025-10-27T06:21:50.888Z,1761546110.888 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:50.892Z,1761546110.892 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.065022 2025-10-27T06:21:50.935Z,1761546110.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999439,0.026324,-0.020720],[-0.024757,0.997058,0.072541],[0.022569,-0.071988,0.997150]] 2025-10-27T06:21:51.036Z,1761546111.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503908 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:51.038Z,1761546111.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.028183 m, bearing: 211.177932 deg, lat: 36.779457 deg, lon: -121.859876 deg, deltaT: 0.503908 s, deltaX: -0.000056 m, approachRate: -0.000112 m/s, posRepo size: 4 2025-10-27T06:21:51.038Z,1761546111.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:51.129Z,1761546111.129 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.302502 2025-10-27T06:21:51.321Z,1761546111.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999473,0.025011,-0.020697],[-0.023470,0.997156,0.071614],[0.022429,-0.071090,0.997218]] 2025-10-27T06:21:51.381Z,1761546111.381 [DAT](INFO): DAT read: Rx Time:06:21:50.1079 2025-10-27T06:21:51.381Z,1761546111.381 [DAT](INFO): Rx dataTimestamp_ set to:1761546111.380824 2025-10-27T06:21:51.382Z,1761546111.382 [DAT](INFO): DAT read: Bearing 345.7, -31.2 (Local) 2025-10-27T06:21:51.383Z,1761546111.383 [DAT](INFO): Local bearing/azimuth received: Bearing 345.7, -31.2 (Local) 2025-10-27T06:21:51.385Z,1761546111.385 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 2025-10-27T06:21:51.398Z,1761546111.398 [DAT](INFO): DAT read: 06:21:50.1079 LVL= 31920, 18817, 21714, 32755, AGC= 64, IDX= 509, 0.21, 0.020, 2.274, 1.231, 1.232, PHS=-1.110, 1.087,-0.045, RAW= 301.0, 0.7, CAL= 299.3, -3.3, ROT= 210.7, 3.3 2025-10-27T06:21:51.399Z,1761546111.399 [DAT](INFO): got valid direction response: 06:21:50.1079 LVL= 31920, 18817, 21714, 32755, AGC= 64, IDX= 509, 0.21, 0.020, 2.274, 1.231, 1.232, PHS=-1.110, 1.087,-0.045, RAW= 301.0, 0.7, CAL= 299.3, -3.3, ROT= 210.7, 3.3 2025-10-27T06:21:51.400Z,1761546111.400 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T06:21:51.400Z,1761546111.400 [DAT](INFO): direction in FSK: [-0.858426,-0.509696,-0.057564] 2025-10-27T06:21:51.401Z,1761546111.401 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:51.441Z,1761546111.441 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.614693 2025-10-27T06:21:51.480Z,1761546111.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504164 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:51.482Z,1761546111.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.028183 m, bearing: 209.513221 deg, lat: 36.779457 deg, lon: -121.859876 deg, deltaT: 0.504164 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:21:51.482Z,1761546111.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:51.633Z,1761546111.633 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.806370 2025-10-27T06:21:51.731Z,1761546111.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999498,0.024083,-0.020602],[-0.022590,0.997301,0.069862],[0.022229,-0.069361,0.997344]] 2025-10-27T06:21:51.814Z,1761546111.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:51.885Z,1761546111.885 [DAT](INFO): DAT read: Rx Time:06:21:50.6079 2025-10-27T06:21:51.886Z,1761546111.886 [DAT](INFO): Rx dataTimestamp_ set to:1761546111.885332 2025-10-27T06:21:51.888Z,1761546111.888 [DAT](INFO): DAT read: Bearing 344.5, -29.4 (Local) 2025-10-27T06:21:51.888Z,1761546111.888 [DAT](INFO): Local bearing/azimuth received: Bearing 344.5, -29.4 (Local) 2025-10-27T06:21:51.891Z,1761546111.891 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 2025-10-27T06:21:51.895Z,1761546111.895 [DAT](INFO): DAT read: 06:21:50.6079 LVL= 31072, 18033, 21570, 32755, AGC= 63, IDX= 509, 0.14,-1.210, 1.025,-0.077,-0.015, PHS=-1.092, 1.085,-0.106, RAW= 303.1, 1.2, CAL= 301.2, -2.6, ROT= 208.8, 2.6 2025-10-27T06:21:51.896Z,1761546111.896 [DAT](INFO): got valid direction response: 06:21:50.6079 LVL= 31072, 18033, 21570, 32755, AGC= 63, IDX= 509, 0.14,-1.210, 1.025,-0.077,-0.015, PHS=-1.092, 1.085,-0.106, RAW= 303.1, 1.2, CAL= 301.2, -2.6, ROT= 208.8, 2.6 2025-10-27T06:21:51.897Z,1761546111.897 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T06:21:51.898Z,1761546111.898 [DAT](INFO): direction in FSK: [-0.875405,-0.481258,-0.045363] 2025-10-27T06:21:51.898Z,1761546111.898 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:51.902Z,1761546111.902 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.074753 2025-10-27T06:21:52.137Z,1761546112.137 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.309601 2025-10-27T06:21:52.144Z,1761546112.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999517,0.023407,-0.020449],[-0.021947,0.997381,0.068910],[0.022009,-0.068428,0.997413]] 2025-10-27T06:21:52.304Z,1761546112.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504508 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:52.306Z,1761546112.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.028138 m, bearing: 207.654754 deg, lat: 36.779457 deg, lon: -121.859873 deg, deltaT: 0.504508 s, deltaX: -0.000045 m, approachRate: -0.000089 m/s, posRepo size: 4 2025-10-27T06:21:52.306Z,1761546112.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-27T06:21:52.390Z,1761546112.390 [DAT](INFO): DAT read: Rx Time:06:21:51.1081 2025-10-27T06:21:52.391Z,1761546112.391 [DAT](INFO): Rx dataTimestamp_ set to:1761546112.390310 2025-10-27T06:21:52.393Z,1761546112.393 [DAT](INFO): DAT read: Bearing 343.3, -27.5 (Local) 2025-10-27T06:21:52.393Z,1761546112.393 [DAT](INFO): Local bearing/azimuth received: Bearing 343.3, -27.5 (Local) 2025-10-27T06:21:52.397Z,1761546112.397 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.2 2025-10-27T06:21:52.412Z,1761546112.412 [DAT](INFO): DAT read: 06:21:51.1081 LVL= 32752, 18209, 22050, 32755, AGC= 61, IDX= 511, 0.09,-0.172, 2.026, 0.874, 0.998, PHS=-1.068, 1.073,-0.168, RAW= 305.2, 1.8, CAL= 303.2, -1.9, ROT= 206.8, 1.9 2025-10-27T06:21:52.413Z,1761546112.413 [DAT](INFO): got valid direction response: 06:21:51.1081 LVL= 32752, 18209, 22050, 32755, AGC= 61, IDX= 511, 0.09,-0.172, 2.026, 0.874, 0.998, PHS=-1.068, 1.073,-0.168, RAW= 305.2, 1.8, CAL= 303.2, -1.9, ROT= 206.8, 1.9 2025-10-27T06:21:52.413Z,1761546112.413 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T06:21:52.414Z,1761546112.414 [DAT](INFO): direction in FSK: [-0.892095,-0.450630,-0.033155] 2025-10-27T06:21:52.414Z,1761546112.414 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:52.427Z,1761546112.427 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.591991 2025-10-27T06:21:52.540Z,1761546112.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999533,0.022876,-0.020277],[-0.021449,0.997455,0.067997],[0.021781,-0.067530,0.997479]] 2025-10-27T06:21:52.607Z,1761546112.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504978 s, deltaX: 0.299999 m, approachRate: 0.594084 m/s, rangeRepo size: 4 2025-10-27T06:21:52.609Z,1761546112.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.326196 m, bearing: 205.639554 deg, lat: 36.779456 deg, lon: -121.859870 deg, deltaT: 0.504978 s, deltaX: 0.298058 m, approachRate: 0.590239 m/s, posRepo size: 4 2025-10-27T06:21:52.609Z,1761546112.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T06:21:52.641Z,1761546112.641 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.814354 2025-10-27T06:21:52.893Z,1761546112.893 [DAT](INFO): DAT read: Rx Time:06:21:51.6081 2025-10-27T06:21:52.893Z,1761546112.893 [DAT](INFO): Rx dataTimestamp_ set to:1761546112.892740 2025-10-27T06:21:52.894Z,1761546112.894 [DAT](INFO): DAT read: Bearing 342.4, -26.0 (Local) 2025-10-27T06:21:52.895Z,1761546112.895 [DAT](INFO): Local bearing/azimuth received: Bearing 342.4, -26.0 (Local) 2025-10-27T06:21:52.897Z,1761546112.897 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.2 2025-10-27T06:21:52.901Z,1761546112.901 [DAT](INFO): DAT read: 06:21:51.6081 LVL= 31648, 17201, 20722, 32755, AGC= 61, IDX= 511, 0.01,-1.745, 0.442,-0.759,-0.587, PHS=-1.055, 1.074,-0.215, RAW= 306.9, 2.1, CAL= 304.8, -1.3, ROT= 205.2, 1.3 2025-10-27T06:21:52.902Z,1761546112.902 [DAT](INFO): got valid direction response: 06:21:51.6081 LVL= 31648, 17201, 20722, 32755, AGC= 61, IDX= 511, 0.01,-1.745, 0.442,-0.759,-0.587, PHS=-1.055, 1.074,-0.215, RAW= 306.9, 2.1, CAL= 304.8, -1.3, ROT= 205.2, 1.3 2025-10-27T06:21:52.903Z,1761546112.903 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-27T06:21:52.904Z,1761546112.904 [DAT](INFO): direction in FSK: [-0.904594,-0.425670,-0.022687] 2025-10-27T06:21:52.904Z,1761546112.904 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:52.908Z,1761546112.908 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.081097 2025-10-27T06:21:53.002Z,1761546113.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999543,0.022557,-0.020115],[-0.021161,0.997521,0.067112],[0.021579,-0.066656,0.997543]] 2025-10-27T06:21:53.074Z,1761546113.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.502430 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:53.080Z,1761546113.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.326172 m, bearing: 204.018623 deg, lat: 36.779456 deg, lon: -121.859865 deg, deltaT: 0.502430 s, deltaX: -0.000024 m, approachRate: -0.000047 m/s, posRepo size: 4 2025-10-27T06:21:53.081Z,1761546113.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T06:21:53.146Z,1761546113.146 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.318790 2025-10-27T06:21:53.396Z,1761546113.396 [DAT](INFO): DAT read: Rx Time:06:21:52.1083 2025-10-27T06:21:53.397Z,1761546113.397 [DAT](INFO): Rx dataTimestamp_ set to:1761546113.396453 2025-10-27T06:21:53.398Z,1761546113.398 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.3 2025-10-27T06:21:53.399Z,1761546113.399 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-27T06:21:53.400Z,1761546113.400 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.573082 2025-10-27T06:21:53.441Z,1761546113.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.503713 s, deltaX: 0.300000 m, approachRate: 0.595578 m/s, rangeRepo size: 4 2025-10-27T06:21:53.441Z,1761546113.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T06:21:53.649Z,1761546113.649 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.822533 2025-10-27T06:21:53.760Z,1761546113.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999546,0.023161,-0.019284],[-0.021800,0.997447,0.067995],[0.020810,-0.067543,0.997499]] 2025-10-27T06:21:53.798Z,1761546113.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T06:21:53.900Z,1761546113.900 [DAT](INFO): DAT read: Rx Time:06:21:52.6083 2025-10-27T06:21:53.901Z,1761546113.901 [DAT](INFO): Rx dataTimestamp_ set to:1761546113.900333 2025-10-27T06:21:53.902Z,1761546113.902 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.2 2025-10-27T06:21:53.902Z,1761546113.902 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-27T06:21:53.903Z,1761546113.903 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.076710 2025-10-27T06:21:54.153Z,1761546114.153 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.325699 2025-10-27T06:21:54.164Z,1761546114.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999554,0.023233,-0.018773],[-0.021911,0.997457,0.067816],[0.020300,-0.067374,0.997521]] 2025-10-27T06:21:54.265Z,1761546114.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.503880 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:54.271Z,1761546114.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-27T06:21:54.405Z,1761546114.405 [DAT](INFO): DAT read: Rx Time:06:21:53.1083 2025-10-27T06:21:54.406Z,1761546114.406 [DAT](INFO): Rx dataTimestamp_ set to:1761546114.405667 2025-10-27T06:21:54.408Z,1761546114.408 [DAT](INFO): DAT read: Bearing 340.6, -23.7 (Local) 2025-10-27T06:21:54.408Z,1761546114.408 [DAT](INFO): Local bearing/azimuth received: Bearing 340.6, -23.7 (Local) 2025-10-27T06:21:54.410Z,1761546114.410 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.2 2025-10-27T06:21:54.415Z,1761546114.415 [DAT](INFO): DAT read: 06:21:53.1083 LVL= 28608, 18065, 19138, 32435, AGC= 66, IDX= 3,-0.43,-1.401, 0.765,-0.505,-0.250, PHS=-1.049, 1.060,-0.299, RAW= 309.5, 3.1, CAL= 307.0, -0.1, ROT= 203.0, 0.1 2025-10-27T06:21:54.416Z,1761546114.416 [DAT](INFO): got valid direction response: 06:21:53.1083 LVL= 28608, 18065, 19138, 32435, AGC= 66, IDX= 3,-0.43,-1.401, 0.765,-0.505,-0.250, PHS=-1.049, 1.060,-0.299, RAW= 309.5, 3.1, CAL= 307.0, -0.1, ROT= 203.0, 0.1 2025-10-27T06:21:54.416Z,1761546114.416 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T06:21:54.417Z,1761546114.417 [DAT](INFO): direction in FSK: [-0.920503,-0.390730,-0.001745] 2025-10-27T06:21:54.418Z,1761546114.418 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:54.425Z,1761546114.425 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.598553 2025-10-27T06:21:54.623Z,1761546114.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.505334 s, deltaX: 0.200000 m, approachRate: 0.395777 m/s, rangeRepo size: 4 2025-10-27T06:21:54.628Z,1761546114.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.822933 m, bearing: 201.696666 deg, lat: 36.779453 deg, lon: -121.859862 deg, deltaT: 1.512927 s, deltaX: 0.496761 m, approachRate: 0.328345 m/s, posRepo size: 4 2025-10-27T06:21:54.629Z,1761546114.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m. 2025-10-27T06:21:54.656Z,1761546114.656 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.829304 2025-10-27T06:21:54.908Z,1761546114.908 [DAT](INFO): DAT read: Rx Time:06:21:53.6083 2025-10-27T06:21:54.909Z,1761546114.909 [DAT](INFO): Rx dataTimestamp_ set to:1761546114.908628 2025-10-27T06:21:54.910Z,1761546114.910 [DAT](INFO): DAT read: Bearing 339.8, -23.4 (Local) 2025-10-27T06:21:54.910Z,1761546114.910 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, -23.4 (Local) 2025-10-27T06:21:54.913Z,1761546114.913 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.1 2025-10-27T06:21:54.917Z,1761546114.917 [DAT](INFO): DAT read: 06:21:53.6083 LVL= 32752, 17809, 20210, 32755, AGC= 62, IDX= 498, 0.28,-0.857, 1.288, 0.022, 0.291, PHS=-1.046, 1.042,-0.313, RAW= 309.8, 3.5, CAL= 307.3, 0.6, ROT= 202.7, -0.6 2025-10-27T06:21:54.918Z,1761546114.918 [DAT](INFO): got valid direction response: 06:21:53.6083 LVL= 32752, 17809, 20210, 32755, AGC= 62, IDX= 498, 0.28,-0.857, 1.288, 0.022, 0.291, PHS=-1.046, 1.042,-0.313, RAW= 309.8, 3.5, CAL= 307.3, 0.6, ROT= 202.7, -0.6 2025-10-27T06:21:54.919Z,1761546114.919 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T06:21:54.920Z,1761546114.920 [DAT](INFO): direction in FSK: [-0.922487,-0.385885,0.010472] 2025-10-27T06:21:54.920Z,1761546114.920 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:54.924Z,1761546114.924 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.097054 2025-10-27T06:21:54.974Z,1761546114.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999546,0.024216,-0.017925],[-0.022953,0.997450,0.067582],[0.019516,-0.067140,0.997553]] 2025-10-27T06:21:55.034Z,1761546115.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.502961 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:55.040Z,1761546115.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.822902 m, bearing: 201.289483 deg, lat: 36.779452 deg, lon: -121.859858 deg, deltaT: 0.502961 s, deltaX: -0.000031 m, approachRate: -0.000063 m/s, posRepo size: 4 2025-10-27T06:21:55.041Z,1761546115.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.82 m. 2025-10-27T06:21:55.160Z,1761546115.160 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.333477 2025-10-27T06:21:55.365Z,1761546115.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999552,0.024328,-0.017431],[-0.023113,0.997495,0.066853],[0.019014,-0.066420,0.997611]] 2025-10-27T06:21:55.413Z,1761546115.413 [DAT](INFO): DAT read: Rx Time:06:21:54.1084 2025-10-27T06:21:55.413Z,1761546115.413 [DAT](INFO): Rx dataTimestamp_ set to:1761546115.412777 2025-10-27T06:21:55.414Z,1761546115.414 [DAT](INFO): DAT read: Bearing 340.4, -23.3 (Local) 2025-10-27T06:21:55.415Z,1761546115.415 [DAT](INFO): Local bearing/azimuth received: Bearing 340.4, -23.3 (Local) 2025-10-27T06:21:55.417Z,1761546115.417 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0 2025-10-27T06:21:55.421Z,1761546115.421 [DAT](INFO): DAT read: 06:21:54.1084 LVL= 32720, 21297, 22770, 32755, AGC= 64, IDX= 499, 0.08,-1.712, 0.446,-0.828,-0.568, PHS=-1.041, 1.059,-0.304, RAW= 309.8, 3.1, CAL= 307.3, -0.1, ROT= 202.7, 0.1 2025-10-27T06:21:55.422Z,1761546115.422 [DAT](INFO): got valid direction response: 06:21:54.1084 LVL= 32720, 21297, 22770, 32755, AGC= 64, IDX= 499, 0.08,-1.712, 0.446,-0.828,-0.568, PHS=-1.041, 1.059,-0.304, RAW= 309.8, 3.1, CAL= 307.3, -0.1, ROT= 202.7, 0.1 2025-10-27T06:21:55.439Z,1761546115.439 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T06:21:55.440Z,1761546115.440 [DAT](INFO): direction in FSK: [-0.922537,-0.385905,-0.001745] 2025-10-27T06:21:55.440Z,1761546115.440 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:55.444Z,1761546115.444 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.617233 2025-10-27T06:21:55.460Z,1761546115.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504149 s, deltaX: 0.100000 m, approachRate: 0.198355 m/s, rangeRepo size: 4 2025-10-27T06:21:55.462Z,1761546115.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.922254 m, bearing: 201.330101 deg, lat: 36.779449 deg, lon: -121.859854 deg, deltaT: 0.504149 s, deltaX: 0.099352 m, approachRate: 0.197068 m/s, posRepo size: 4 2025-10-27T06:21:55.462Z,1761546115.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m. 2025-10-27T06:21:55.671Z,1761546115.671 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.843178 2025-10-27T06:21:55.809Z,1761546115.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999566,0.024138,-0.016890],[-0.022974,0.997555,0.066002],[0.018442,-0.065586,0.997676]] 2025-10-27T06:21:55.829Z,1761546115.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m. 2025-10-27T06:21:55.917Z,1761546115.917 [DAT](INFO): DAT read: Rx Time:06:21:54.6084 2025-10-27T06:21:55.917Z,1761546115.917 [DAT](INFO): Rx dataTimestamp_ set to:1761546115.917124 2025-10-27T06:21:55.919Z,1761546115.919 [DAT](INFO): DAT read: Bearing 340.2, -23.5 (Local) 2025-10-27T06:21:55.919Z,1761546115.919 [DAT](INFO): Local bearing/azimuth received: Bearing 340.2, -23.5 (Local) 2025-10-27T06:21:55.921Z,1761546115.921 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 2025-10-27T06:21:55.926Z,1761546115.926 [DAT](INFO): DAT read: 06:21:54.6084 LVL= 31056, 19185, 21554, 32755, AGC= 64, IDX= 499,-0.12, 1.437,-2.702, 2.320, 2.578, PHS=-1.038, 1.049,-0.301, RAW= 309.6, 3.2, CAL= 307.2, 0.0, ROT= 202.8, -0.0 2025-10-27T06:21:55.927Z,1761546115.927 [DAT](INFO): got valid direction response: 06:21:54.6084 LVL= 31056, 19185, 21554, 32755, AGC= 64, IDX= 499,-0.12, 1.437,-2.702, 2.320, 2.578, PHS=-1.038, 1.049,-0.301, RAW= 309.6, 3.2, CAL= 307.2, 0.0, ROT= 202.8, -0.0 2025-10-27T06:21:55.927Z,1761546115.927 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T06:21:55.928Z,1761546115.928 [DAT](INFO): direction in FSK: [-0.921863,-0.387516,0.000000] 2025-10-27T06:21:55.928Z,1761546115.928 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:55.933Z,1761546115.933 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.106125 2025-10-27T06:21:56.168Z,1761546116.168 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.341049 2025-10-27T06:21:56.194Z,1761546116.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999567,0.024532,-0.016274],[-0.023417,0.997578,0.065496],[0.017841,-0.065087,0.997720]] 2025-10-27T06:21:56.222Z,1761546116.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504347 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:56.250Z,1761546116.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.922222 m, bearing: 201.407846 deg, lat: 36.779449 deg, lon: -121.859853 deg, deltaT: 0.504347 s, deltaX: -0.000031 m, approachRate: -0.000062 m/s, posRepo size: 4 2025-10-27T06:21:56.257Z,1761546116.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m. 2025-10-27T06:21:56.420Z,1761546116.420 [DAT](INFO): DAT read: Rx Time:06:21:55.1085 2025-10-27T06:21:56.421Z,1761546116.421 [DAT](INFO): Rx dataTimestamp_ set to:1761546116.420676 2025-10-27T06:21:56.422Z,1761546116.422 [DAT](INFO): DAT read: Bearing 340.1, -23.7 (Local) 2025-10-27T06:21:56.423Z,1761546116.423 [DAT](INFO): Local bearing/azimuth received: Bearing 340.1, -23.7 (Local) 2025-10-27T06:21:56.425Z,1761546116.425 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.1 2025-10-27T06:21:56.429Z,1761546116.429 [DAT](INFO): DAT read: 06:21:55.1085 LVL= 30032, 18993, 22114, 32755, AGC= 64, IDX= 501,-0.49, 3.116,-1.022,-2.274,-2.022, PHS=-1.043, 1.045,-0.296, RAW= 309.3, 3.2, CAL= 306.9, 0.1, ROT= 203.1, -0.1 2025-10-27T06:21:56.430Z,1761546116.430 [DAT](INFO): got valid direction response: 06:21:55.1085 LVL= 30032, 18993, 22114, 32755, AGC= 64, IDX= 501,-0.49, 3.116,-1.022,-2.274,-2.022, PHS=-1.043, 1.045,-0.296, RAW= 309.3, 3.2, CAL= 306.9, 0.1, ROT= 203.1, -0.1 2025-10-27T06:21:56.431Z,1761546116.431 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T06:21:56.432Z,1761546116.432 [DAT](INFO): direction in FSK: [-0.919820,-0.392337,0.001745] 2025-10-27T06:21:56.432Z,1761546116.432 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:56.458Z,1761546116.458 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.631046 2025-10-27T06:21:56.577Z,1761546116.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999565,0.024965,-0.015679],[-0.023895,0.997593,0.065099],[0.017266,-0.064696,0.997756]] 2025-10-27T06:21:56.644Z,1761546116.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503552 s, deltaX: 0.200000 m, approachRate: 0.397178 m/s, rangeRepo size: 4 2025-10-27T06:21:56.648Z,1761546116.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.120925 m, bearing: 201.673856 deg, lat: 36.779449 deg, lon: -121.859853 deg, deltaT: 0.503552 s, deltaX: 0.198703 m, approachRate: 0.394602 m/s, posRepo size: 4 2025-10-27T06:21:56.649Z,1761546116.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m. 2025-10-27T06:21:56.672Z,1761546116.672 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.845245 2025-10-27T06:21:56.924Z,1761546116.924 [DAT](INFO): DAT read: Rx Time:06:21:55.6085 2025-10-27T06:21:56.925Z,1761546116.925 [DAT](INFO): Rx dataTimestamp_ set to:1761546116.924642 2025-10-27T06:21:56.926Z,1761546116.926 [DAT](INFO): DAT read: Bearing 340.1, -24.1 (Local) 2025-10-27T06:21:56.927Z,1761546116.927 [DAT](INFO): Local bearing/azimuth received: Bearing 340.1, -24.1 (Local) 2025-10-27T06:21:56.929Z,1761546116.929 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.1 2025-10-27T06:21:56.933Z,1761546116.933 [DAT](INFO): DAT read: 06:21:55.6085 LVL= 28768, 18161, 20274, 32611, AGC= 64, IDX= 500, 0.11,-2.972,-0.823,-2.066,-1.821, PHS=-1.049, 1.044,-0.289, RAW= 309.0, 3.2, CAL= 306.5, -0.0, ROT= 203.5, 0.0 2025-10-27T06:21:56.934Z,1761546116.934 [DAT](INFO): got valid direction response: 06:21:55.6085 LVL= 28768, 18161, 20274, 32611, AGC= 64, IDX= 500, 0.11,-2.972,-0.823,-2.066,-1.821, PHS=-1.049, 1.044,-0.289, RAW= 309.0, 3.2, CAL= 306.5, -0.0, ROT= 203.5, 0.0 2025-10-27T06:21:56.935Z,1761546116.935 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T06:21:56.936Z,1761546116.936 [DAT](INFO): direction in FSK: [-0.917060,-0.398749,-0.000000] 2025-10-27T06:21:56.936Z,1761546116.936 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:56.940Z,1761546116.940 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.113140 2025-10-27T06:21:56.982Z,1761546116.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999551,0.025931,-0.015022],[-0.024900,0.997563,0.065181],[0.016675,-0.064778,0.997760]] 2025-10-27T06:21:57.068Z,1761546117.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503966 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:57.070Z,1761546117.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.120823 m, bearing: 202.022039 deg, lat: 36.779450 deg, lon: -121.859853 deg, deltaT: 0.503966 s, deltaX: -0.000102 m, approachRate: -0.000202 m/s, posRepo size: 4 2025-10-27T06:21:57.070Z,1761546117.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m. 2025-10-27T06:21:57.177Z,1761546117.177 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.349873 2025-10-27T06:21:57.385Z,1761546117.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999545,0.026498,-0.014397],[-0.025509,0.997558,0.065011],[0.016085,-0.064614,0.997781]] 2025-10-27T06:21:57.429Z,1761546117.429 [DAT](INFO): DAT read: Rx Time:06:21:56.1087 2025-10-27T06:21:57.429Z,1761546117.429 [DAT](INFO): Rx dataTimestamp_ set to:1761546117.428835 2025-10-27T06:21:57.430Z,1761546117.430 [DAT](INFO): DAT read: Bearing 340.4, -24.3 (Local) 2025-10-27T06:21:57.431Z,1761546117.431 [DAT](INFO): Local bearing/azimuth received: Bearing 340.4, -24.3 (Local) 2025-10-27T06:21:57.433Z,1761546117.433 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-27T06:21:57.438Z,1761546117.438 [DAT](INFO): DAT read: 06:21:56.1087 LVL= 31472, 23601, 23026, 32755, AGC= 65, IDX= 502,-0.24, 2.724,-1.406,-2.642,-2.409, PHS=-1.048, 1.049,-0.277, RAW= 308.7, 3.0, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T06:21:57.439Z,1761546117.439 [DAT](INFO): got valid direction response: 06:21:56.1087 LVL= 31472, 23601, 23026, 32755, AGC= 65, IDX= 502,-0.24, 2.724,-1.406,-2.642,-2.409, PHS=-1.048, 1.049,-0.277, RAW= 308.7, 3.0, CAL= 306.3, -0.2, ROT= 203.7, 0.2 2025-10-27T06:21:57.439Z,1761546117.439 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T06:21:57.440Z,1761546117.440 [DAT](INFO): direction in FSK: [-0.915657,-0.401945,-0.003491] 2025-10-27T06:21:57.440Z,1761546117.440 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:57.453Z,1761546117.453 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.625904 2025-10-27T06:21:57.475Z,1761546117.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504193 s, deltaX: 0.300000 m, approachRate: 0.595011 m/s, rangeRepo size: 4 2025-10-27T06:21:57.477Z,1761546117.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.418876 m, bearing: 202.200224 deg, lat: 36.779450 deg, lon: -121.859855 deg, deltaT: 0.504193 s, deltaX: 0.298053 m, approachRate: 0.591148 m/s, posRepo size: 4 2025-10-27T06:21:57.478Z,1761546117.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:21:57.680Z,1761546117.680 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.853306 2025-10-27T06:21:57.813Z,1761546117.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999533,0.027208,-0.013899],[-0.026254,0.997558,0.064721],[0.015626,-0.064326,0.997807]] 2025-10-27T06:21:57.833Z,1761546117.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:21:57.933Z,1761546117.933 [DAT](INFO): DAT read: Rx Time:06:21:56.6086 2025-10-27T06:21:57.934Z,1761546117.934 [DAT](INFO): Rx dataTimestamp_ set to:1761546117.933507 2025-10-27T06:21:57.936Z,1761546117.936 [DAT](INFO): DAT read: Bearing 340.5, -24.6 (Local) 2025-10-27T06:21:57.936Z,1761546117.936 [DAT](INFO): Local bearing/azimuth received: Bearing 340.5, -24.6 (Local) 2025-10-27T06:21:57.939Z,1761546117.939 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.1 2025-10-27T06:21:57.944Z,1761546117.944 [DAT](INFO): DAT read: 06:21:56.6086 LVL= 31376, 19297, 22498, 32755, AGC= 65, IDX= 501, 0.21,-2.660,-0.504,-1.729,-1.507, PHS=-1.051, 1.047,-0.267, RAW= 308.3, 3.0, CAL= 305.9, -0.3, ROT= 204.1, 0.3 2025-10-27T06:21:57.945Z,1761546117.945 [DAT](INFO): got valid direction response: 06:21:56.6086 LVL= 31376, 19297, 22498, 32755, AGC= 65, IDX= 501, 0.21,-2.660,-0.504,-1.729,-1.507, PHS=-1.051, 1.047,-0.267, RAW= 308.3, 3.0, CAL= 305.9, -0.3, ROT= 204.1, 0.3 2025-10-27T06:21:57.945Z,1761546117.945 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-27T06:21:57.946Z,1761546117.946 [DAT](INFO): direction in FSK: [-0.912822,-0.408325,-0.005236] 2025-10-27T06:21:57.947Z,1761546117.947 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:57.972Z,1761546117.972 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.127953 2025-10-27T06:21:58.184Z,1761546118.184 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.357136 2025-10-27T06:21:58.196Z,1761546118.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999522,0.027862,-0.013367],[-0.026949,0.997573,0.064196],[0.015124,-0.063805,0.997848]] 2025-10-27T06:21:58.250Z,1761546118.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504672 s, deltaX: -0.200000 m, approachRate: -0.396297 m/s, rangeRepo size: 4 2025-10-27T06:21:58.273Z,1761546118.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.220218 m, bearing: 202.524588 deg, lat: 36.779451 deg, lon: -121.859855 deg, deltaT: 0.504672 s, deltaX: -0.198658 m, approachRate: -0.393638 m/s, posRepo size: 4 2025-10-27T06:21:58.280Z,1761546118.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.22 m. 2025-10-27T06:21:58.436Z,1761546118.436 [DAT](INFO): DAT read: Rx Time:06:21:57.1088 2025-10-27T06:21:58.437Z,1761546118.437 [DAT](INFO): Rx dataTimestamp_ set to:1761546118.436646 2025-10-27T06:21:58.438Z,1761546118.438 [DAT](INFO): DAT read: Bearing 340.9, -24.8 (Local) 2025-10-27T06:21:58.439Z,1761546118.439 [DAT](INFO): Local bearing/azimuth received: Bearing 340.9, -24.8 (Local) 2025-10-27T06:21:58.441Z,1761546118.441 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-27T06:21:58.445Z,1761546118.445 [DAT](INFO): DAT read: 06:21:57.1088 LVL= 32752, 18337, 18226, 32755, AGC= 63, IDX= 503,-0.16,-2.970,-0.830,-2.031,-1.832, PHS=-1.037, 1.047,-0.244, RAW= 307.9, 2.6, CAL= 305.6, -0.8, ROT= 204.4, 0.8 2025-10-27T06:21:58.446Z,1761546118.446 [DAT](INFO): got valid direction response: 06:21:57.1088 LVL= 32752, 18337, 18226, 32755, AGC= 63, IDX= 503,-0.16,-2.970,-0.830,-2.031,-1.832, PHS=-1.037, 1.047,-0.244, RAW= 307.9, 2.6, CAL= 305.6, -0.8, ROT= 204.4, 0.8 2025-10-27T06:21:58.447Z,1761546118.447 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-27T06:21:58.448Z,1761546118.448 [DAT](INFO): direction in FSK: [-0.910595,-0.413064,-0.013962] 2025-10-27T06:21:58.448Z,1761546118.448 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:58.452Z,1761546118.452 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.625172 2025-10-27T06:21:58.598Z,1761546118.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999519,0.028241,-0.012778],[-0.027391,0.997672,0.062451],[0.014512,-0.062071,0.997966]] 2025-10-27T06:21:58.666Z,1761546118.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503139 s, deltaX: 0.200000 m, approachRate: 0.397504 m/s, rangeRepo size: 4 2025-10-27T06:21:58.669Z,1761546118.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.418920 m, bearing: 202.832168 deg, lat: 36.779451 deg, lon: -121.859857 deg, deltaT: 0.503139 s, deltaX: 0.198702 m, approachRate: 0.394924 m/s, posRepo size: 4 2025-10-27T06:21:58.669Z,1761546118.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:21:58.688Z,1761546118.688 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.861317 2025-10-27T06:21:58.941Z,1761546118.941 [DAT](INFO): DAT read: Rx Time:06:21:57.6087 2025-10-27T06:21:58.941Z,1761546118.941 [DAT](INFO): Rx dataTimestamp_ set to:1761546118.940707 2025-10-27T06:21:58.942Z,1761546118.942 [DAT](INFO): DAT read: Bearing 341.1, -25.6 (Local) 2025-10-27T06:21:58.943Z,1761546118.943 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, -25.6 (Local) 2025-10-27T06:21:58.945Z,1761546118.945 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.2 2025-10-27T06:21:58.950Z,1761546118.950 [DAT](INFO): DAT read: 06:21:57.6087 LVL= 31552, 19441, 25234, 32755, AGC= 65, IDX= 502, 0.22,-1.571, 0.595,-0.593,-0.416, PHS=-1.054, 1.056,-0.222, RAW= 306.9, 2.4, CAL= 304.7, -1.0, ROT= 205.3, 1.0 2025-10-27T06:21:58.951Z,1761546118.951 [DAT](INFO): got valid direction response: 06:21:57.6087 LVL= 31552, 19441, 25234, 32755, AGC= 65, IDX= 502, 0.22,-1.571, 0.595,-0.593,-0.416, PHS=-1.054, 1.056,-0.222, RAW= 306.9, 2.4, CAL= 304.7, -1.0, ROT= 205.3, 1.0 2025-10-27T06:21:58.951Z,1761546118.951 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-27T06:21:58.952Z,1761546118.952 [DAT](INFO): direction in FSK: [-0.903945,-0.427293,-0.017452] 2025-10-27T06:21:58.953Z,1761546118.953 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:58.956Z,1761546118.956 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.129635 2025-10-27T06:21:59.006Z,1761546119.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999508,0.028847,-0.012306],[-0.028036,0.997703,0.061668],[0.014056,-0.061293,0.998021]] 2025-10-27T06:21:59.061Z,1761546119.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:59.067Z,1761546119.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.418923 m, bearing: 203.706272 deg, lat: 36.779451 deg, lon: -121.859857 deg, deltaT: 0.504061 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 2025-10-27T06:21:59.068Z,1761546119.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:21:59.192Z,1761546119.192 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.365330 2025-10-27T06:21:59.434Z,1761546119.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999494,0.029510,-0.011854],[-0.028734,0.997720,0.061067],[0.013629,-0.060695,0.998063]] 2025-10-27T06:21:59.443Z,1761546119.443 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050310101793,35.0, 0.0,1490.9, 0 2025-10-27T06:21:59.453Z,1761546119.453 [DAT](INFO): DAT read: Rx Time:06:21:58.1088 2025-10-27T06:21:59.453Z,1761546119.453 [DAT](INFO): Rx dataTimestamp_ set to:1761546119.452775 2025-10-27T06:21:59.454Z,1761546119.454 [DAT](INFO): DAT read: Bearing 341.5, -26.1 (Local) 2025-10-27T06:21:59.455Z,1761546119.455 [DAT](INFO): Local bearing/azimuth received: Bearing 341.5, -26.1 (Local) 2025-10-27T06:21:59.457Z,1761546119.457 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-27T06:21:59.461Z,1761546119.461 [DAT](INFO): DAT read: 06:21:58.1088 LVL= 29024, 17585, 19090, 31731, AGC= 63, IDX= 503,-0.19,-2.479,-0.304,-1.480,-1.321, PHS=-1.056, 1.062,-0.203, RAW= 306.4, 2.2, CAL= 304.3, -1.4, ROT= 205.7, 1.4 2025-10-27T06:21:59.462Z,1761546119.462 [DAT](INFO): got valid direction response: 06:21:58.1088 LVL= 29024, 17585, 19090, 31731, AGC= 63, IDX= 503,-0.19,-2.479,-0.304,-1.480,-1.321, PHS=-1.056, 1.062,-0.203, RAW= 306.4, 2.2, CAL= 304.3, -1.4, ROT= 205.7, 1.4 2025-10-27T06:21:59.463Z,1761546119.463 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-27T06:21:59.464Z,1761546119.464 [DAT](INFO): direction in FSK: [-0.900808,-0.433530,-0.024432] 2025-10-27T06:21:59.464Z,1761546119.464 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:59.472Z,1761546119.472 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.645737 2025-10-27T06:21:59.582Z,1761546119.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.512068 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:21:59.596Z,1761546119.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.418923 m, bearing: 204.090026 deg, lat: 36.779452 deg, lon: -121.859858 deg, deltaT: 0.512068 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:21:59.597Z,1761546119.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:21:59.705Z,1761546119.705 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.877876 2025-10-27T06:21:59.887Z,1761546119.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999474,0.030273,-0.011621],[-0.029514,0.997721,0.060674],[0.013431,-0.060299,0.998090]] 2025-10-27T06:21:59.927Z,1761546119.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:21:59.957Z,1761546119.957 [DAT](INFO): DAT read: Rx Time:06:21:58.6087 2025-10-27T06:21:59.957Z,1761546119.957 [DAT](INFO): Rx dataTimestamp_ set to:1761546119.956754 2025-10-27T06:21:59.958Z,1761546119.958 [DAT](INFO): DAT read: Bearing 341.3, -27.0 (Local) 2025-10-27T06:21:59.959Z,1761546119.959 [DAT](INFO): Local bearing/azimuth received: Bearing 341.3, -27.0 (Local) 2025-10-27T06:21:59.961Z,1761546119.961 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0 2025-10-27T06:21:59.966Z,1761546119.966 [DAT](INFO): DAT read: 06:21:58.6087 LVL= 31344, 18929, 20850, 32643, AGC= 63, IDX= 502, 0.20,-1.643, 0.540,-0.613,-0.464, PHS=-1.077, 1.049,-0.193, RAW= 305.6, 2.4, CAL= 303.4, -1.2, ROT= 206.6, 1.2 2025-10-27T06:21:59.967Z,1761546119.967 [DAT](INFO): got valid direction response: 06:21:58.6087 LVL= 31344, 18929, 20850, 32643, AGC= 63, IDX= 502, 0.20,-1.643, 0.540,-0.613,-0.464, PHS=-1.077, 1.049,-0.193, RAW= 305.6, 2.4, CAL= 303.4, -1.2, ROT= 206.6, 1.2 2025-10-27T06:21:59.967Z,1761546119.967 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T06:21:59.968Z,1761546119.968 [DAT](INFO): direction in FSK: [-0.893958,-0.447661,-0.020942] 2025-10-27T06:21:59.969Z,1761546119.969 [DAT](INFO): publishing direction and range info 2025-10-27T06:21:59.980Z,1761546119.980 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.153374 2025-10-27T06:22:00.208Z,1761546120.208 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.381138 2025-10-27T06:22:00.327Z,1761546120.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999438,0.031385,-0.011796],[-0.030598,0.997618,0.061826],[0.013708,-0.061430,0.998017]] 2025-10-27T06:22:00.385Z,1761546120.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503979 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:00.387Z,1761546120.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.419005 m, bearing: 204.868867 deg, lat: 36.779453 deg, lon: -121.859860 deg, deltaT: 0.503979 s, deltaX: 0.000082 m, approachRate: 0.000163 m/s, posRepo size: 4 2025-10-27T06:22:00.388Z,1761546120.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:22:00.461Z,1761546120.461 [DAT](INFO): DAT read: Rx Time:06:21:59.1089 2025-10-27T06:22:00.462Z,1761546120.462 [DAT](INFO): Rx dataTimestamp_ set to:1761546120.460950 2025-10-27T06:22:00.464Z,1761546120.464 [DAT](INFO): DAT read: Bearing 341.7, -27.2 (Local) 2025-10-27T06:22:00.464Z,1761546120.464 [DAT](INFO): Local bearing/azimuth received: Bearing 341.7, -27.2 (Local) 2025-10-27T06:22:00.467Z,1761546120.467 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.1 2025-10-27T06:22:00.473Z,1761546120.473 [DAT](INFO): DAT read: 06:21:59.1089 LVL= 32752, 18321, 22114, 32755, AGC= 62, IDX= 504,-0.12,-2.521,-0.337,-1.483,-1.350, PHS=-1.069, 1.057,-0.178, RAW= 305.3, 2.1, CAL= 303.2, -1.5, ROT= 206.8, 1.5 2025-10-27T06:22:00.474Z,1761546120.474 [DAT](INFO): got valid direction response: 06:21:59.1089 LVL= 32752, 18321, 22114, 32755, AGC= 62, IDX= 504,-0.12,-2.521,-0.337,-1.483,-1.350, PHS=-1.069, 1.057,-0.178, RAW= 305.3, 2.1, CAL= 303.2, -1.5, ROT= 206.8, 1.5 2025-10-27T06:22:00.475Z,1761546120.475 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-27T06:22:00.489Z,1761546120.489 [DAT](INFO): direction in FSK: [-0.892280,-0.450723,-0.026177] 2025-10-27T06:22:00.489Z,1761546120.489 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:00.497Z,1761546120.497 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.670506 2025-10-27T06:22:00.682Z,1761546120.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999407,0.032324,-0.011836],[-0.031526,0.997558,0.062330],[0.013821,-0.061920,0.997985]] 2025-10-27T06:22:00.712Z,1761546120.712 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.885674 2025-10-27T06:22:00.839Z,1761546120.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504196 s, deltaX: 0.100000 m, approachRate: 0.198336 m/s, rangeRepo size: 4 2025-10-27T06:22:00.841Z,1761546120.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.518338 m, bearing: 205.033436 deg, lat: 36.779453 deg, lon: -121.859861 deg, deltaT: 0.504196 s, deltaX: 0.099333 m, approachRate: 0.197012 m/s, posRepo size: 4 2025-10-27T06:22:00.842Z,1761546120.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T06:22:00.964Z,1761546120.964 [DAT](INFO): DAT read: Rx Time:06:21:59.6088 2025-10-27T06:22:00.965Z,1761546120.965 [DAT](INFO): Rx dataTimestamp_ set to:1761546120.964677 2025-10-27T06:22:00.966Z,1761546120.966 [DAT](INFO): DAT read: Bearing 341.5, -27.5 (Local) 2025-10-27T06:22:00.967Z,1761546120.967 [DAT](INFO): Local bearing/azimuth received: Bearing 341.5, -27.5 (Local) 2025-10-27T06:22:00.969Z,1761546120.969 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0 2025-10-27T06:22:00.973Z,1761546120.973 [DAT](INFO): DAT read: 06:21:59.6088 LVL= 32752, 21073, 24226, 32755, AGC= 61, IDX= 503, 0.37,-1.507, 0.693,-0.452,-0.319, PHS=-1.086, 1.057,-0.177, RAW= 305.0, 2.2, CAL= 302.9, -1.4, ROT= 207.1, 1.4 2025-10-27T06:22:00.974Z,1761546120.974 [DAT](INFO): got valid direction response: 06:21:59.6088 LVL= 32752, 21073, 24226, 32755, AGC= 61, IDX= 503, 0.37,-1.507, 0.693,-0.452,-0.319, PHS=-1.086, 1.057,-0.177, RAW= 305.0, 2.2, CAL= 302.9, -1.4, ROT= 207.1, 1.4 2025-10-27T06:22:00.975Z,1761546120.975 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-27T06:22:00.976Z,1761546120.976 [DAT](INFO): direction in FSK: [-0.889947,-0.455409,-0.024432] 2025-10-27T06:22:00.976Z,1761546120.976 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:00.980Z,1761546120.980 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.153191 2025-10-27T06:22:01.090Z,1761546121.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999389,0.032882,-0.011843],[-0.032089,0.997565,0.061924],[0.013850,-0.061506,0.998011]] 2025-10-27T06:22:01.150Z,1761546121.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503727 s, deltaX: -0.100000 m, approachRate: -0.198521 m/s, rangeRepo size: 4 2025-10-27T06:22:01.153Z,1761546121.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.418986 m, bearing: 205.294563 deg, lat: 36.779455 deg, lon: -121.859863 deg, deltaT: 0.503727 s, deltaX: -0.099352 m, approachRate: -0.197234 m/s, posRepo size: 4 2025-10-27T06:22:01.153Z,1761546121.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:22:01.217Z,1761546121.217 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.390221 2025-10-27T06:22:01.468Z,1761546121.468 [DAT](INFO): DAT read: Rx Time:06:22:00.1090 2025-10-27T06:22:01.469Z,1761546121.469 [DAT](INFO): Rx dataTimestamp_ set to:1761546121.468658 2025-10-27T06:22:01.470Z,1761546121.470 [DAT](INFO): DAT read: Bearing 341.0, -27.8 (Local) 2025-10-27T06:22:01.471Z,1761546121.471 [DAT](INFO): Local bearing/azimuth received: Bearing 341.0, -27.8 (Local) 2025-10-27T06:22:01.473Z,1761546121.473 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.1 2025-10-27T06:22:01.481Z,1761546121.481 [DAT](INFO): DAT read: 06:22:00.1090 LVL= 32752, 22161, 24882, 32755, AGC= 61, IDX= 505, 0.00,-1.638, 0.560,-0.581,-0.439, PHS=-1.097, 1.044,-0.186, RAW= 304.9, 2.6, CAL= 302.7, -1.0, ROT= 207.3, 1.0 2025-10-27T06:22:01.482Z,1761546121.482 [DAT](INFO): got valid direction response: 06:22:00.1090 LVL= 32752, 22161, 24882, 32755, AGC= 61, IDX= 505, 0.00,-1.638, 0.560,-0.581,-0.439, PHS=-1.097, 1.044,-0.186, RAW= 304.9, 2.6, CAL= 302.7, -1.0, ROT= 207.3, 1.0 2025-10-27T06:22:01.483Z,1761546121.483 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T06:22:01.484Z,1761546121.484 [DAT](INFO): direction in FSK: [-0.888482,-0.458580,-0.017452] 2025-10-27T06:22:01.484Z,1761546121.484 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:01.501Z,1761546121.501 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.674267 2025-10-27T06:22:01.529Z,1761546121.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999386,0.032832,-0.012255],[-0.032030,0.997641,0.060721],[0.014219,-0.060291,0.998080]] 2025-10-27T06:22:01.634Z,1761546121.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503981 s, deltaX: 0.300000 m, approachRate: 0.595261 m/s, rangeRepo size: 4 2025-10-27T06:22:01.642Z,1761546121.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.717042 m, bearing: 205.473933 deg, lat: 36.779455 deg, lon: -121.859863 deg, deltaT: 0.503981 s, deltaX: 0.298056 m, approachRate: 0.591403 m/s, posRepo size: 4 2025-10-27T06:22:01.647Z,1761546121.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-27T06:22:01.721Z,1761546121.721 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.894333 2025-10-27T06:22:01.898Z,1761546121.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999392,0.032395,-0.012919],[-0.031573,0.997729,0.059496],[0.014817,-0.059052,0.998145]] 2025-10-27T06:22:01.938Z,1761546121.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-27T06:22:01.973Z,1761546121.973 [DAT](INFO): DAT read: Rx Time:06:22:00.6089 2025-10-27T06:22:01.974Z,1761546121.974 [DAT](INFO): Rx dataTimestamp_ set to:1761546121.973474 2025-10-27T06:22:01.976Z,1761546121.976 [DAT](INFO): DAT read: Bearing 341.2, -27.8 (Local) 2025-10-27T06:22:01.976Z,1761546121.976 [DAT](INFO): Local bearing/azimuth received: Bearing 341.2, -27.8 (Local) 2025-10-27T06:22:01.979Z,1761546121.979 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.0 2025-10-27T06:22:01.985Z,1761546121.985 [DAT](INFO): DAT read: 06:22:00.6089 LVL= 32752, 20865, 24194, 32755, AGC= 60, IDX= 505,-0.38, 2.964,-1.110,-2.255,-2.120, PHS=-1.097, 1.055,-0.178, RAW= 304.8, 2.4, CAL= 302.7, -1.3, ROT= 207.3, 1.3 2025-10-27T06:22:01.987Z,1761546121.987 [DAT](INFO): got valid direction response: 06:22:00.6089 LVL= 32752, 20865, 24194, 32755, AGC= 60, IDX= 505,-0.38, 2.964,-1.110,-2.255,-2.120, PHS=-1.097, 1.055,-0.178, RAW= 304.8, 2.4, CAL= 302.7, -1.3, ROT= 207.3, 1.3 2025-10-27T06:22:01.987Z,1761546121.987 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T06:22:01.989Z,1761546121.989 [DAT](INFO): direction in FSK: [-0.888389,-0.458531,-0.022687] 2025-10-27T06:22:01.989Z,1761546121.989 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:01.994Z,1761546121.994 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.167274 2025-10-27T06:22:02.224Z,1761546122.224 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.397175 2025-10-27T06:22:02.413Z,1761546122.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504816 s, deltaX: -0.200000 m, approachRate: -0.396184 m/s, rangeRepo size: 4 2025-10-27T06:22:02.419Z,1761546122.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.518362 m, bearing: 205.518835 deg, lat: 36.779455 deg, lon: -121.859863 deg, deltaT: 0.504816 s, deltaX: -0.198680 m, approachRate: -0.393569 m/s, posRepo size: 4 2025-10-27T06:22:02.420Z,1761546122.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m. 2025-10-27T06:22:02.477Z,1761546122.477 [DAT](INFO): DAT read: Rx Time:06:22:01.1091 2025-10-27T06:22:02.478Z,1761546122.478 [DAT](INFO): Rx dataTimestamp_ set to:1761546122.477730 2025-10-27T06:22:02.480Z,1761546122.480 [DAT](INFO): DAT read: Bearing 340.4, -27.3 (Local) 2025-10-27T06:22:02.480Z,1761546122.480 [DAT](INFO): Local bearing/azimuth received: Bearing 340.4, -27.3 (Local) 2025-10-27T06:22:02.484Z,1761546122.484 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.2 2025-10-27T06:22:02.490Z,1761546122.490 [DAT](INFO): DAT read: 06:22:01.1091 LVL= 32752, 22129, 25458, 32755, AGC= 61, IDX= 506, 0.15,-1.207, 0.985,-0.174,-0.007, PHS=-1.098, 1.037,-0.211, RAW= 305.6, 3.0, CAL= 303.3, -0.6, ROT= 206.7, 0.6 2025-10-27T06:22:02.496Z,1761546122.496 [DAT](INFO): got valid direction response: 06:22:01.1091 LVL= 32752, 22129, 25458, 32755, AGC= 61, IDX= 506, 0.15,-1.207, 0.985,-0.174,-0.007, PHS=-1.098, 1.037,-0.211, RAW= 305.6, 3.0, CAL= 303.3, -0.6, ROT= 206.7, 0.6 2025-10-27T06:22:02.496Z,1761546122.496 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T06:22:02.498Z,1761546122.498 [DAT](INFO): direction in FSK: [-0.893322,-0.449294,-0.010472] 2025-10-27T06:22:02.498Z,1761546122.498 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:02.521Z,1761546122.521 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.694012 2025-10-27T06:22:02.702Z,1761546122.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999339,0.033425,-0.014325],[-0.032468,0.997516,0.062517],[0.016379,-0.062011,0.997941]] 2025-10-27T06:22:02.728Z,1761546122.728 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.901577 2025-10-27T06:22:02.850Z,1761546122.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504256 s, deltaX: 0.299999 m, approachRate: 0.594934 m/s, rangeRepo size: 4 2025-10-27T06:22:02.856Z,1761546122.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.816422 m, bearing: 204.823873 deg, lat: 36.779455 deg, lon: -121.859863 deg, deltaT: 0.504256 s, deltaX: 0.298060 m, approachRate: 0.591089 m/s, posRepo size: 4 2025-10-27T06:22:02.857Z,1761546122.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:22:02.981Z,1761546122.981 [DAT](INFO): DAT read: Rx Time:06:22:01.6091 2025-10-27T06:22:02.981Z,1761546122.981 [DAT](INFO): Rx dataTimestamp_ set to:1761546122.980706 2025-10-27T06:22:02.982Z,1761546122.982 [DAT](INFO): DAT read: Bearing 339.4, -26.3 (Local) 2025-10-27T06:22:02.983Z,1761546122.983 [DAT](INFO): Local bearing/azimuth received: Bearing 339.4, -26.3 (Local) 2025-10-27T06:22:02.985Z,1761546122.985 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.2 2025-10-27T06:22:02.989Z,1761546122.989 [DAT](INFO): DAT read: 06:22:01.6091 LVL= 32752, 23281, 25218, 32755, AGC= 61, IDX= 506,-0.14, 2.317,-1.795,-2.983,-2.772, PHS=-1.092, 1.022,-0.255, RAW= 306.9, 3.6, CAL= 304.4, 0.2, ROT= 205.6, -0.2 2025-10-27T06:22:02.990Z,1761546122.990 [DAT](INFO): got valid direction response: 06:22:01.6091 LVL= 32752, 23281, 25218, 32755, AGC= 61, IDX= 506,-0.14, 2.317,-1.795,-2.983,-2.772, PHS=-1.092, 1.022,-0.255, RAW= 306.9, 3.6, CAL= 304.4, 0.2, ROT= 205.6, -0.2 2025-10-27T06:22:02.991Z,1761546122.991 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T06:22:02.992Z,1761546122.992 [DAT](INFO): direction in FSK: [-0.901827,-0.432083,0.003491] 2025-10-27T06:22:02.992Z,1761546122.992 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:03.011Z,1761546123.011 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.183846 2025-10-27T06:22:03.106Z,1761546123.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999332,0.033347,-0.014970],[-0.032340,0.997483,0.063100],[0.017036,-0.062574,0.997895]] 2025-10-27T06:22:03.232Z,1761546123.232 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.405411 2025-10-27T06:22:03.223Z,1761546123.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.502976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:03.250Z,1761546123.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.816422 m, bearing: 203.681772 deg, lat: 36.779455 deg, lon: -121.859863 deg, deltaT: 0.502976 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:22:03.256Z,1761546123.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:22:03.484Z,1761546123.484 [DAT](INFO): DAT read: Rx Time:06:22:02.1091 2025-10-27T06:22:03.485Z,1761546123.485 [DAT](INFO): Rx dataTimestamp_ set to:1761546123.484680 2025-10-27T06:22:03.486Z,1761546123.486 [DAT](INFO): DAT read: Bearing 339.5, -25.8 (Local) 2025-10-27T06:22:03.487Z,1761546123.487 [DAT](INFO): Local bearing/azimuth received: Bearing 339.5, -25.8 (Local) 2025-10-27T06:22:03.489Z,1761546123.489 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.1 2025-10-27T06:22:03.493Z,1761546123.493 [DAT](INFO): DAT read: 06:22:02.1091 LVL= 32752, 22353, 23490, 32755, AGC= 60, IDX= 506, 0.44,-2.384,-0.209,-1.415,-1.197, PHS=-1.085, 1.033,-0.262, RAW= 307.3, 3.4, CAL= 304.9, 0.1, ROT= 205.1, -0.1 2025-10-27T06:22:03.494Z,1761546123.494 [DAT](INFO): got valid direction response: 06:22:02.1091 LVL= 32752, 22353, 23490, 32755, AGC= 60, IDX= 506, 0.44,-2.384,-0.209,-1.415,-1.197, PHS=-1.085, 1.033,-0.262, RAW= 307.3, 3.4, CAL= 304.9, 0.1, ROT= 205.1, -0.1 2025-10-27T06:22:03.496Z,1761546123.496 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T06:22:03.497Z,1761546123.497 [DAT](INFO): direction in FSK: [-0.905567,-0.424199,0.001745] 2025-10-27T06:22:03.497Z,1761546123.497 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:03.508Z,1761546123.508 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.680908 2025-10-27T06:22:03.701Z,1761546123.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:03.709Z,1761546123.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.816422 m, bearing: 203.189133 deg, lat: 36.779455 deg, lon: -121.859862 deg, deltaT: 0.503974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:22:03.709Z,1761546123.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:22:03.737Z,1761546123.737 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.909981 2025-10-27T06:22:03.988Z,1761546123.988 [DAT](INFO): DAT read: Rx Time:06:22:02.6091 2025-10-27T06:22:03.989Z,1761546123.989 [DAT](INFO): Rx dataTimestamp_ set to:1761546123.988645 2025-10-27T06:22:03.990Z,1761546123.990 [DAT](INFO): DAT read: Bearing 338.4, -25.1 (Local) 2025-10-27T06:22:03.991Z,1761546123.991 [DAT](INFO): Local bearing/azimuth received: Bearing 338.4, -25.1 (Local) 2025-10-27T06:22:03.993Z,1761546123.993 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.2 2025-10-27T06:22:03.997Z,1761546123.997 [DAT](INFO): DAT read: 06:22:02.6091 LVL= 32752, 20673, 27602, 32755, AGC= 60, IDX= 506, 0.11, 2.615,-1.500,-2.730,-2.481, PHS=-1.085, 1.026,-0.293, RAW= 308.2, 3.9, CAL= 305.8, 1.0, ROT= 204.2, -1.0 2025-10-27T06:22:03.998Z,1761546123.998 [DAT](INFO): got valid direction response: 06:22:02.6091 LVL= 32752, 20673, 27602, 32755, AGC= 60, IDX= 506, 0.11, 2.615,-1.500,-2.730,-2.481, PHS=-1.085, 1.026,-0.293, RAW= 308.2, 3.9, CAL= 305.8, 1.0, ROT= 204.2, -1.0 2025-10-27T06:22:03.999Z,1761546123.999 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T06:22:03.000Z,1761546124.000 [DAT](INFO): direction in FSK: [-0.911981,-0.409860,0.017452] 2025-10-27T06:22:03.000Z,1761546124.000 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:04.004Z,1761546124.004 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.176781 2025-10-27T06:22:04.078Z,1761546124.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999342,0.032387,-0.016357],[-0.031314,0.997581,0.062066],[0.018328,-0.061513,0.997938]] 2025-10-27T06:22:04.153Z,1761546124.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503965 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:04.159Z,1761546124.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.816441 m, bearing: 202.293767 deg, lat: 36.779455 deg, lon: -121.859859 deg, deltaT: 0.503965 s, deltaX: 0.000018 m, approachRate: 0.000036 m/s, posRepo size: 4 2025-10-27T06:22:04.160Z,1761546124.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:22:04.243Z,1761546124.243 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.415920 2025-10-27T06:22:04.493Z,1761546124.493 [DAT](INFO): DAT read: Rx Time:06:22:03.1093 2025-10-27T06:22:04.493Z,1761546124.493 [DAT](INFO): Rx dataTimestamp_ set to:1761546124.492795 2025-10-27T06:22:04.494Z,1761546124.494 [DAT](INFO): DAT read: Bearing 338.7, -24.4 (Local) 2025-10-27T06:22:04.495Z,1761546124.495 [DAT](INFO): Local bearing/azimuth received: Bearing 338.7, -24.4 (Local) 2025-10-27T06:22:04.497Z,1761546124.497 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.2 2025-10-27T06:22:04.501Z,1761546124.501 [DAT](INFO): DAT read: 06:22:03.1093 LVL= 32752, 20721, 22242, 32755, AGC= 60, IDX= 508,-0.10, 2.019,-2.100, 2.932,-3.095, PHS=-1.067, 1.040,-0.300, RAW= 308.9, 3.6, CAL= 306.5, 0.6, ROT= 203.5, -0.6 2025-10-27T06:22:04.503Z,1761546124.503 [DAT](INFO): got valid direction response: 06:22:03.1093 LVL= 32752, 20721, 22242, 32755, AGC= 60, IDX= 508,-0.10, 2.019,-2.100, 2.932,-3.095, PHS=-1.067, 1.040,-0.300, RAW= 308.9, 3.6, CAL= 306.5, 0.6, ROT= 203.5, -0.6 2025-10-27T06:22:04.519Z,1761546124.519 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T06:22:04.520Z,1761546124.520 [DAT](INFO): direction in FSK: [-0.917010,-0.398727,0.010472] 2025-10-27T06:22:04.521Z,1761546124.521 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:04.532Z,1761546124.532 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.705635 2025-10-27T06:22:04.589Z,1761546124.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504150 s, deltaX: 0.300000 m, approachRate: 0.595061 m/s, rangeRepo size: 4 2025-10-27T06:22:04.596Z,1761546124.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.114497 m, bearing: 201.620568 deg, lat: 36.779454 deg, lon: -121.859857 deg, deltaT: 0.504150 s, deltaX: 0.298057 m, approachRate: 0.591206 m/s, posRepo size: 4 2025-10-27T06:22:04.596Z,1761546124.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.11 m. 2025-10-27T06:22:04.747Z,1761546124.747 [DAT](INFO): DAT read: Rx Time:06:22:03.6092 2025-10-27T06:22:04.748Z,1761546124.748 [DAT](INFO): Rx dataTimestamp_ set to:1761546124.747427 2025-10-27T06:22:04.750Z,1761546124.750 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.923103 2025-10-27T06:22:04.867Z,1761546124.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999349,0.031893,-0.016890],[-0.030810,0.997668,0.060910],[0.018793,-0.060350,0.998000]] 2025-10-27T06:22:04.908Z,1761546124.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.11 m. 2025-10-27T06:22:04.997Z,1761546124.997 [DAT](INFO): DAT read: Bearing 338.0, -23.8 (Local) 2025-10-27T06:22:04.997Z,1761546124.997 [DAT](INFO): Local bearing/azimuth received: Bearing 338.0, -23.8 (Local) 2025-10-27T06:22:04.999Z,1761546124.999 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-27T06:22:05.004Z,1761546125.004 [DAT](INFO): DAT read: 06:22:03.6092 LVL= 32752, 23457, 26274, 32755, AGC= 60, IDX= 508,-0.33, 0.809, 2.972, 1.702, 1.979, PHS=-1.069, 1.038,-0.321, RAW= 309.5, 3.9, CAL= 307.1, 1.2, ROT= 202.9, -1.2 2025-10-27T06:22:05.005Z,1761546125.005 [DAT](INFO): got valid direction response: 06:22:03.6092 LVL= 32752, 23457, 26274, 32755, AGC= 60, IDX= 508,-0.33, 0.809, 2.972, 1.702, 1.979, PHS=-1.069, 1.038,-0.321, RAW= 309.5, 3.9, CAL= 307.1, 1.2, ROT= 202.9, -1.2 2025-10-27T06:22:05.005Z,1761546125.005 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T06:22:05.006Z,1761546125.006 [DAT](INFO): direction in FSK: [-0.920983,-0.389038,0.020942] 2025-10-27T06:22:05.006Z,1761546125.006 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:05.010Z,1761546125.010 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.183258 2025-10-27T06:22:05.250Z,1761546125.250 [DAT](INFO): DAT read: Rx Time:06:22:04.1094 2025-10-27T06:22:05.252Z,1761546125.252 [DAT](INFO): Rx dataTimestamp_ set to:1761546125.250591 2025-10-27T06:22:05.253Z,1761546125.253 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.425991 2025-10-27T06:22:05.306Z,1761546125.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999350,0.031636,-0.017289],[-0.030536,0.997696,0.060590],[0.019166,-0.060022,0.998013]] 2025-10-27T06:22:05.421Z,1761546125.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.502554 s, deltaX: -0.099999 m, approachRate: -0.198982 m/s, rangeRepo size: 4 2025-10-27T06:22:05.425Z,1761546125.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.015126 m, bearing: 201.031258 deg, lat: 36.779454 deg, lon: -121.859854 deg, deltaT: 0.502554 s, deltaX: -0.099371 m, approachRate: -0.197732 m/s, posRepo size: 4 2025-10-27T06:22:05.425Z,1761546125.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-27T06:22:05.502Z,1761546125.502 [DAT](INFO): DAT read: Bearing 338.2, -23.7 (Local) 2025-10-27T06:22:05.502Z,1761546125.502 [DAT](INFO): Local bearing/azimuth received: Bearing 338.2, -23.7 (Local) 2025-10-27T06:22:05.505Z,1761546125.505 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 2025-10-27T06:22:05.510Z,1761546125.510 [DAT](INFO): DAT read: 06:22:04.1094 LVL= 31088, 18241, 21442, 32755, AGC= 60, IDX= 509, 0.37,-2.625,-0.468,-1.739,-1.463, PHS=-1.060, 1.040,-0.320, RAW= 309.7, 3.7, CAL= 307.3, 0.9, ROT= 202.7, -0.9 2025-10-27T06:22:05.511Z,1761546125.511 [DAT](INFO): got valid direction response: 06:22:04.1094 LVL= 31088, 18241, 21442, 32755, AGC= 60, IDX= 509, 0.37,-2.625,-0.468,-1.739,-1.463, PHS=-1.060, 1.040,-0.320, RAW= 309.7, 3.7, CAL= 307.3, 0.9, ROT= 202.7, -0.9 2025-10-27T06:22:05.512Z,1761546125.512 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T06:22:05.513Z,1761546125.513 [DAT](INFO): direction in FSK: [-0.922424,-0.385858,0.015707] 2025-10-27T06:22:05.513Z,1761546125.513 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:05.516Z,1761546125.516 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.689728 2025-10-27T06:22:05.754Z,1761546125.754 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.926670 2025-10-27T06:22:05.788Z,1761546125.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504459 s, deltaX: 0.299999 m, approachRate: 0.594695 m/s, rangeRepo size: 4 2025-10-27T06:22:05.798Z,1761546125.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.313182 m, bearing: 200.850479 deg, lat: 36.779453 deg, lon: -121.859853 deg, deltaT: 0.504459 s, deltaX: 0.298056 m, approachRate: 0.590842 m/s, posRepo size: 4 2025-10-27T06:22:05.803Z,1761546125.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m. 2025-10-27T06:22:06.004Z,1761546126.004 [DAT](INFO): DAT read: Rx Time:06:22:04.6094 2025-10-27T06:22:06.005Z,1761546126.005 [DAT](INFO): Rx dataTimestamp_ set to:1761546126.004677 2025-10-27T06:22:06.006Z,1761546126.006 [DAT](INFO): DAT read: Bearing 336.9, -24.0 (Local) 2025-10-27T06:22:06.007Z,1761546126.007 [DAT](INFO): Local bearing/azimuth received: Bearing 336.9, -24.0 (Local) 2025-10-27T06:22:06.009Z,1761546126.009 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 2025-10-27T06:22:06.019Z,1761546126.019 [DAT](INFO): DAT read: 06:22:04.6094 LVL= 32752, 20385, 23026, 32755, AGC= 60, IDX= 509, 0.15, 2.136,-2.008, 3.025,-2.971, PHS=-1.074, 1.007,-0.332, RAW= 309.4, 4.4, CAL= 307.0, 2.1, ROT= 203.0, -2.1 2025-10-27T06:22:06.020Z,1761546126.020 [DAT](INFO): got valid direction response: 06:22:04.6094 LVL= 32752, 20385, 23026, 32755, AGC= 60, IDX= 509, 0.15, 2.136,-2.008, 3.025,-2.971, PHS=-1.074, 1.007,-0.332, RAW= 309.4, 4.4, CAL= 307.0, 2.1, ROT= 203.0, -2.1 2025-10-27T06:22:06.020Z,1761546126.020 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T06:22:06.021Z,1761546126.021 [DAT](INFO): direction in FSK: [-0.919887,-0.390469,0.036644] 2025-10-27T06:22:06.021Z,1761546126.021 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:06.025Z,1761546126.025 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.198387 2025-10-27T06:22:06.079Z,1761546126.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999355,0.031226,-0.017737],[-0.030105,0.997725,0.060312],[0.019580,-0.059739,0.998022]] 2025-10-27T06:22:06.145Z,1761546126.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504869 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:06.151Z,1761546126.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.313213 m, bearing: 201.099774 deg, lat: 36.779452 deg, lon: -121.859850 deg, deltaT: 0.504869 s, deltaX: 0.000031 m, approachRate: 0.000062 m/s, posRepo size: 4 2025-10-27T06:22:06.152Z,1761546126.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m. 2025-10-27T06:22:06.259Z,1761546126.259 [DAT](INFO): DAT read: Rx Time:06:22:05.1096 2025-10-27T06:22:06.261Z,1761546126.261 [DAT](INFO): Rx dataTimestamp_ set to:1761546126.259876 2025-10-27T06:22:06.264Z,1761546126.264 [DAT](INFO): DAT read: Bearing 337.4, -24.0 (Local) 2025-10-27T06:22:06.264Z,1761546126.264 [DAT](INFO): Local bearing/azimuth received: Bearing 337.4, -24.0 (Local) 2025-10-27T06:22:06.268Z,1761546126.268 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.2 2025-10-27T06:22:06.271Z,1761546126.271 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-27T06:22:06.278Z,1761546126.278 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.450722 2025-10-27T06:22:06.478Z,1761546126.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999355,0.031185,-0.017797],[-0.030058,0.997720,0.060428],[0.019641,-0.059854,0.998014]] 2025-10-27T06:22:06.512Z,1761546126.512 [DAT](INFO): DAT read: 06:22:05.1096 LVL= 32528, 18929, 22690, 32755, AGC= 61, IDX= 511,-0.01, 2.237,-1.892, 3.129,-2.871, PHS=-1.074, 1.023,-0.328, RAW= 309.5, 4.2, CAL= 307.1, 1.7, ROT= 202.9, -1.7 2025-10-27T06:22:06.513Z,1761546126.513 [DAT](INFO): got valid direction response: 06:22:05.1096 LVL= 32528, 18929, 22690, 32755, AGC= 61, IDX= 511,-0.01, 2.237,-1.892, 3.129,-2.871, PHS=-1.074, 1.023,-0.328, RAW= 309.5, 4.2, CAL= 307.1, 1.7, ROT= 202.9, -1.7 2025-10-27T06:22:06.513Z,1761546126.513 [DAT](INFO): #Rx 109: Read direction message, but no range. 2025-10-27T06:22:06.514Z,1761546126.514 [DAT](INFO): direction in FSK: [-0.920780,-0.388953,0.029666] 2025-10-27T06:22:06.518Z,1761546126.518 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.690922 2025-10-27T06:22:06.558Z,1761546126.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.255199 s, deltaX: 0.300000 m, approachRate: 1.175554 m/s, rangeRepo size: 4 2025-10-27T06:22:06.564Z,1761546126.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.611271 m, bearing: 201.027357 deg, lat: 36.779451 deg, lon: -121.859850 deg, deltaT: 0.255199 s, deltaX: 0.298058 m, approachRate: 1.167942 m/s, posRepo size: 4 2025-10-27T06:22:06.565Z,1761546126.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m. 2025-10-27T06:22:06.764Z,1761546126.764 [DAT](INFO): DAT read: Rx Time:06:22:05.6096 2025-10-27T06:22:06.765Z,1761546126.765 [DAT](INFO): Rx dataTimestamp_ set to:1761546126.764626 2025-10-27T06:22:06.768Z,1761546126.768 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.940044 2025-10-27T06:22:06.919Z,1761546126.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m. 2025-10-27T06:22:07.013Z,1761546127.013 [DAT](INFO): DAT read: Bearing 336.5, -24.8 (Local) 2025-10-27T06:22:07.013Z,1761546127.013 [DAT](INFO): Local bearing/azimuth received: Bearing 336.5, -24.8 (Local) 2025-10-27T06:22:07.015Z,1761546127.015 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.2 2025-10-27T06:22:07.020Z,1761546127.020 [DAT](INFO): DAT read: 06:22:05.6096 LVL= 32752, 22321, 32162, 32755, AGC= 63, IDX= 511,-0.25, 0.965, 3.141, 1.889, 2.174, PHS=-1.107, 1.012,-0.329, RAW= 308.7, 4.6, CAL= 306.4, 2.4, ROT= 203.6, -2.4 2025-10-27T06:22:07.021Z,1761546127.021 [DAT](INFO): got valid direction response: 06:22:05.6096 LVL= 32752, 22321, 32162, 32755, AGC= 63, IDX= 511,-0.25, 0.965, 3.141, 1.889, 2.174, PHS=-1.107, 1.012,-0.329, RAW= 308.7, 4.6, CAL= 306.4, 2.4, ROT= 203.6, -2.4 2025-10-27T06:22:07.021Z,1761546127.021 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T06:22:07.022Z,1761546127.022 [DAT](INFO): direction in FSK: [-0.915559,-0.399998,0.041876] 2025-10-27T06:22:07.022Z,1761546127.022 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:07.026Z,1761546127.026 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.199123 2025-10-27T06:22:07.267Z,1761546127.267 [DAT](INFO): DAT read: Rx Time:06:22:06.1096 2025-10-27T06:22:07.269Z,1761546127.269 [DAT](INFO): Rx dataTimestamp_ set to:1761546127.267881 2025-10-27T06:22:07.280Z,1761546127.280 [DAT](INFO): DAT read: Bearing 337.8, -26.0 (Local) 2025-10-27T06:22:07.281Z,1761546127.281 [DAT](INFO): Local bearing/azimuth received: Bearing 337.8, -26.0 (Local) 2025-10-27T06:22:07.306Z,1761546127.306 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.1 2025-10-27T06:22:07.315Z,1761546127.315 [DAT](INFO): DAT read: 06:22:06.1096 LVL= 32752, 18033, 22130, 32755, AGC= 60, IDX= 511, 0.34, 2.512,-1.598,-2.808,-2.566, PHS=-1.103, 1.013,-0.286, RAW= 307.5, 4.1, CAL= 305.1, 1.3, ROT= 204.9, -1.3 2025-10-27T06:22:07.316Z,1761546127.316 [DAT](INFO): got valid direction response: 06:22:06.1096 LVL= 32752, 18033, 22130, 32755, AGC= 60, IDX= 511, 0.34, 2.512,-1.598,-2.808,-2.566, PHS=-1.103, 1.013,-0.286, RAW= 307.5, 4.1, CAL= 305.1, 1.3, ROT= 204.9, -1.3 2025-10-27T06:22:07.317Z,1761546127.317 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T06:22:07.318Z,1761546127.318 [DAT](INFO): direction in FSK: [-0.906811,-0.420927,0.022687] 2025-10-27T06:22:07.318Z,1761546127.318 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:07.334Z,1761546127.334 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.506973 2025-10-27T06:22:07.450Z,1761546127.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 1.008005 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:07.457Z,1761546127.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.611243 m, bearing: 203.048883 deg, lat: 36.779451 deg, lon: -121.859850 deg, deltaT: 1.008005 s, deltaX: -0.000028 m, approachRate: -0.000027 m/s, posRepo size: 4 2025-10-27T06:22:07.457Z,1761546127.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m. 2025-10-27T06:22:07.517Z,1761546127.517 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.689747 2025-10-27T06:22:07.696Z,1761546127.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999348,0.031356,-0.017888],[-0.030194,0.997626,0.061894],[0.019786,-0.061313,0.997922]] 2025-10-27T06:22:07.771Z,1761546127.771 [DAT](INFO): DAT read: Rx Time:06:22:06.6096 2025-10-27T06:22:07.773Z,1761546127.773 [DAT](INFO): Rx dataTimestamp_ set to:1761546127.771946 2025-10-27T06:22:07.776Z,1761546127.776 [DAT](INFO): DAT read: Bearing 336.7, -26.2 (Local) 2025-10-27T06:22:07.777Z,1761546127.777 [DAT](INFO): Local bearing/azimuth received: Bearing 336.7, -26.2 (Local) 2025-10-27T06:22:07.784Z,1761546127.784 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.1 2025-10-27T06:22:07.787Z,1761546127.787 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-27T06:22:07.800Z,1761546127.800 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.973030 2025-10-27T06:22:07.829Z,1761546127.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504065 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:07.830Z,1761546127.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m. 2025-10-27T06:22:08.027Z,1761546128.027 [DAT](INFO): DAT read: 06:22:06.6096 LVL= 32752, 24161, 29394, 32755, AGC= 63, IDX= 511, 0.02, 1.182,-2.910, 2.160, 2.416, PHS=-1.132, 1.003,-0.300, RAW= 307.3, 4.6, CAL= 304.9, 2.3, ROT= 205.1, -2.3 2025-10-27T06:22:08.029Z,1761546128.029 [DAT](INFO): got valid direction response: 06:22:06.6096 LVL= 32752, 24161, 29394, 32755, AGC= 63, IDX= 511, 0.02, 1.182,-2.910, 2.160, 2.416, PHS=-1.132, 1.003,-0.300, RAW= 307.3, 4.6, CAL= 304.9, 2.3, ROT= 205.1, -2.3 2025-10-27T06:22:08.029Z,1761546128.029 [DAT](INFO): #Rx 113: Read direction message, but no range. 2025-10-27T06:22:08.030Z,1761546128.030 [DAT](INFO): direction in FSK: [-0.904839,-0.423858,0.040132] 2025-10-27T06:22:08.036Z,1761546128.036 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.208977 2025-10-27T06:22:08.098Z,1761546128.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999345,0.031476,-0.017881],[-0.030307,0.997599,0.062277],[0.019798,-0.061694,0.997899]] 2025-10-27T06:22:08.163Z,1761546128.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.61 m. 2025-10-27T06:22:08.276Z,1761546128.276 [DAT](INFO): DAT read: Rx Time:06:22:07.1098 2025-10-27T06:22:08.277Z,1761546128.277 [DAT](INFO): Rx dataTimestamp_ set to:1761546128.276270 2025-10-27T06:22:08.281Z,1761546128.281 [DAT](INFO): DAT read: Bearing 295.8, -39.5 (Local) 2025-10-27T06:22:08.281Z,1761546128.281 [DAT](INFO): Local bearing/azimuth received: Bearing 295.8, -39.5 (Local) 2025-10-27T06:22:08.286Z,1761546128.286 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0 2025-10-27T06:22:08.289Z,1761546128.289 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-27T06:22:08.292Z,1761546128.292 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.464535 2025-10-27T06:22:08.493Z,1761546128.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999342,0.031584,-0.017846],[-0.030412,0.997581,0.062516],[0.019777,-0.061932,0.997884]] 2025-10-27T06:22:08.528Z,1761546128.528 [DAT](INFO): DAT read: 06:22:07.1098 LVL= 32752, 19633, 23730, 32755, AGC= 60, IDX= 513,-0.29,-1.060, 0.433, 0.175, 0.495, PHS=-1.452,-0.016,-0.363, RAW= 283.4, 26.5, CAL= 285.2, 33.7, ROT= 224.8, -33.7 2025-10-27T06:22:08.529Z,1761546128.529 [DAT](INFO): got valid direction response: 06:22:07.1098 LVL= 32752, 19633, 23730, 32755, AGC= 60, IDX= 513,-0.29,-1.060, 0.433, 0.175, 0.495, PHS=-1.452,-0.016,-0.363, RAW= 283.4, 26.5, CAL= 285.2, 33.7, ROT= 224.8, -33.7 2025-10-27T06:22:08.529Z,1761546128.529 [DAT](INFO): #Rx 115: Read direction message, but no range. 2025-10-27T06:22:08.530Z,1761546128.530 [DAT](INFO): direction in FSK: [-0.590330,-0.586223,0.554844] 2025-10-27T06:22:08.534Z,1761546128.534 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.706860 2025-10-27T06:22:08.585Z,1761546128.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504324 s, deltaX: 0.300000 m, approachRate: 0.594856 m/s, rangeRepo size: 4 2025-10-27T06:22:08.587Z,1761546128.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.909284 m, bearing: 220.715618 deg, lat: 36.779451 deg, lon: -121.859850 deg, deltaT: 1.008389 s, deltaX: 0.298040 m, approachRate: 0.295561 m/s, posRepo size: 4 2025-10-27T06:22:08.591Z,1761546128.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T06:22:08.779Z,1761546128.779 [DAT](INFO): DAT read: Rx Time:06:22:07.6097 2025-10-27T06:22:08.780Z,1761546128.780 [DAT](INFO): Rx dataTimestamp_ set to:1761546128.779606 2025-10-27T06:22:08.783Z,1761546128.783 [DAT](INFO): DAT read: Bearing 310.0, -29.4 (Local) 2025-10-27T06:22:08.784Z,1761546128.784 [DAT](INFO): Local bearing/azimuth received: Bearing 310.0, -29.4 (Local) 2025-10-27T06:22:08.788Z,1761546128.788 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.1 2025-10-27T06:22:08.790Z,1761546128.790 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-27T06:22:08.797Z,1761546128.797 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.969944 2025-10-27T06:22:08.898Z,1761546128.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999345,0.031532,-0.017735],[-0.030379,0.997617,0.061946],[0.019646,-0.061367,0.997922]] 2025-10-27T06:22:08.936Z,1761546128.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503336 s, deltaX: -0.200000 m, approachRate: -0.397349 m/s, rangeRepo size: 4 2025-10-27T06:22:08.937Z,1761546128.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T06:22:09.032Z,1761546129.032 [DAT](INFO): DAT read: 06:22:07.6097 LVL= 32112, 19905, 26914, 32755, AGC= 63, IDX= 512, 0.16, 0.113, 1.930, 1.101, 1.590, PHS=-1.375, 0.385,-0.533, RAW= 301.4, 19.5, CAL= 300.3, 25.6, ROT= 209.7, -25.6 2025-10-27T06:22:09.033Z,1761546129.033 [DAT](INFO): got valid direction response: 06:22:07.6097 LVL= 32112, 19905, 26914, 32755, AGC= 63, IDX= 512, 0.16, 0.113, 1.930, 1.101, 1.590, PHS=-1.375, 0.385,-0.533, RAW= 301.4, 19.5, CAL= 300.3, 25.6, ROT= 209.7, -25.6 2025-10-27T06:22:09.034Z,1761546129.034 [DAT](INFO): #Rx 117: Read direction message, but no range. 2025-10-27T06:22:09.035Z,1761546129.035 [DAT](INFO): direction in FSK: [-0.783360,-0.446821,0.432086] 2025-10-27T06:22:09.038Z,1761546129.038 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.211395 2025-10-27T06:22:09.285Z,1761546129.285 [DAT](INFO): DAT read: Rx Time:06:22:08.1099 2025-10-27T06:22:09.286Z,1761546129.286 [DAT](INFO): Rx dataTimestamp_ set to:1761546129.285241 2025-10-27T06:22:09.300Z,1761546129.300 [DAT](INFO): DAT read: Bearing 337.3, -27.0 (Local) 2025-10-27T06:22:09.301Z,1761546129.301 [DAT](INFO): Local bearing/azimuth received: Bearing 337.3, -27.0 (Local) 2025-10-27T06:22:09.303Z,1761546129.303 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.1 2025-10-27T06:22:09.303Z,1761546129.303 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-27T06:22:09.304Z,1761546129.304 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.477596 2025-10-27T06:22:09.327Z,1761546129.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999336,0.031978,-0.017492],[-0.030877,0.997722,0.059983],[0.019370,-0.059403,0.998046]] 2025-10-27T06:22:09.397Z,1761546129.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.505635 s, deltaX: 0.300000 m, approachRate: 0.593314 m/s, rangeRepo size: 4 2025-10-27T06:22:09.399Z,1761546129.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.008634 m, bearing: 206.185240 deg, lat: 36.779452 deg, lon: -121.859854 deg, deltaT: 1.008971 s, deltaX: 0.099350 m, approachRate: 0.098467 m/s, posRepo size: 4 2025-10-27T06:22:09.403Z,1761546129.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:22:09.538Z,1761546129.538 [DAT](INFO): DAT read: 06:22:08.1099 LVL= 20160, 13249, 16962, 23955, AGC= 63, IDX= 2,-0.20, 1.183,-2.912, 2.187, 2.414, PHS=-1.129, 1.002,-0.271, RAW= 306.4, 4.3, CAL= 304.0, 1.6, ROT= 206.0, -1.6 2025-10-27T06:22:09.539Z,1761546129.539 [DAT](INFO): got valid direction response: 06:22:08.1099 LVL= 20160, 13249, 16962, 23955, AGC= 63, IDX= 2,-0.20, 1.183,-2.912, 2.187, 2.414, PHS=-1.129, 1.002,-0.271, RAW= 306.4, 4.3, CAL= 304.0, 1.6, ROT= 206.0, -1.6 2025-10-27T06:22:09.539Z,1761546129.539 [DAT](INFO): #Rx 119: Read direction message, but no range. 2025-10-27T06:22:09.541Z,1761546129.541 [DAT](INFO): direction in FSK: [-0.898444,-0.438200,0.027922] 2025-10-27T06:22:09.544Z,1761546129.544 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.717281 2025-10-27T06:22:09.708Z,1761546129.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999311,0.032955,-0.017050],[-0.031907,0.997780,0.058460],[0.018938,-0.057876,0.998144]] 2025-10-27T06:22:09.719Z,1761546129.719 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050310102808,35.0, +10.2, 0.0,149 2025-10-27T06:22:09.788Z,1761546129.788 [DAT](INFO): DAT read: Rx Time:06:22:08.6098 2025-10-27T06:22:09.790Z,1761546129.790 [DAT](INFO): Rx dataTimestamp_ set to:1761546129.789028 2025-10-27T06:22:09.795Z,1761546129.795 [DAT](INFO): DAT read: Bearing 336.7, -27.9 (Local) 2025-10-27T06:22:09.796Z,1761546129.796 [DAT](INFO): Local bearing/azimuth received: Bearing 336.7, -27.9 (Local) 2025-10-27T06:22:09.804Z,1761546129.804 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.1 2025-10-27T06:22:09.817Z,1761546129.817 [DAT](INFO): DAT read: 06:22:08.6098 LVL= 32752, 20913, 29842, 32755, AGC= 65, IDX= 497, 0.18, 1.668,-2.418, 2.704, 2.924, PHS=-1.154, 0.986,-0.264, RAW= 305.6, 4.7, CAL= 303.2, 2.2, ROT= 206.8, -2.2 2025-10-27T06:22:09.818Z,1761546129.818 [DAT](INFO): got valid direction response: 06:22:08.6098 LVL= 32752, 20913, 29842, 32755, AGC= 65, IDX= 497, 0.18, 1.668,-2.418, 2.704, 2.924, PHS=-1.154, 0.986,-0.264, RAW= 305.6, 4.7, CAL= 303.2, 2.2, ROT= 206.8, -2.2 2025-10-27T06:22:09.818Z,1761546129.818 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T06:22:09.827Z,1761546129.827 [DAT](INFO): direction in FSK: [-0.891928,-0.450545,0.038388] 2025-10-27T06:22:09.828Z,1761546129.828 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:09.833Z,1761546129.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503787 s, deltaX: -0.100000 m, approachRate: -0.198497 m/s, rangeRepo size: 4 2025-10-27T06:22:09.834Z,1761546129.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:22:09.839Z,1761546129.839 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:22:09.839Z,1761546129.839 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:22:09.840Z,1761546129.840 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:22:10.036Z,1761546130.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:22:10.124Z,1761546130.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999276,0.034134,-0.016821],[-0.033099,0.997744,0.058401],[0.018777,-0.057802,0.998151]] 2025-10-27T06:22:10.149Z,1761546130.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:22:10.292Z,1761546130.292 [DAT](INFO): DAT read: Rx Time:06:22:09.1100 2025-10-27T06:22:10.293Z,1761546130.293 [DAT](INFO): Rx dataTimestamp_ set to:1761546130.292521 2025-10-27T06:22:10.297Z,1761546130.297 [DAT](INFO): DAT read: Bearing 338.3, -26.9 (Local) 2025-10-27T06:22:10.299Z,1761546130.299 [DAT](INFO): Local bearing/azimuth received: Bearing 338.3, -26.9 (Local) 2025-10-27T06:22:10.301Z,1761546130.301 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.1 2025-10-27T06:22:10.302Z,1761546130.302 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T06:22:10.302Z,1761546130.302 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:22:10.304Z,1761546130.304 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:22:10.516Z,1761546130.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999221,0.035736,-0.016738],[-0.034691,0.997654,0.059022],[0.018808,-0.058395,0.998116]] 2025-10-27T06:22:10.544Z,1761546130.544 [DAT](INFO): DAT read: 06:22:09.1100 LVL= 19696, 14513, 16706, 21491, AGC= 65, IDX= 3,-0.22,-0.186, 2.018, 0.823, 1.036, PHS=-1.120, 1.027,-0.257, RAW= 306.5, 3.8, CAL= 304.0, 0.6, ROT= 206.0, -0.6 2025-10-27T06:22:10.545Z,1761546130.545 [DAT](INFO): got valid direction response: 06:22:09.1100 LVL= 19696, 14513, 16706, 21491, AGC= 65, IDX= 3,-0.22,-0.186, 2.018, 0.823, 1.036, PHS=-1.120, 1.027,-0.257, RAW= 306.5, 3.8, CAL= 304.0, 0.6, ROT= 206.0, -0.6 2025-10-27T06:22:10.545Z,1761546130.545 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:22:10.546Z,1761546130.546 [DAT](INFO): direction in FSK: [-0.898745,-0.438347,0.010472] 2025-10-27T06:22:10.549Z,1761546130.549 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:22:10.578Z,1761546130.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503493 s, deltaX: 0.300000 m, approachRate: 0.595838 m/s, rangeRepo size: 4 2025-10-27T06:22:10.580Z,1761546130.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.207312 m, bearing: 203.928487 deg, lat: 36.779453 deg, lon: -121.859857 deg, deltaT: 1.007280 s, deltaX: 0.198678 m, approachRate: 0.197242 m/s, posRepo size: 4 2025-10-27T06:22:10.581Z,1761546130.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:22:10.797Z,1761546130.797 [DAT](INFO): DAT read: Rx Time:06:22:09.6099 2025-10-27T06:22:10.798Z,1761546130.798 [DAT](INFO): Rx dataTimestamp_ set to:1761546130.797136 2025-10-27T06:22:10.801Z,1761546130.801 [DAT](INFO): DAT read: Bearing 338.7, -27.2 (Local) 2025-10-27T06:22:10.801Z,1761546130.801 [DAT](INFO): Local bearing/azimuth received: Bearing 338.7, -27.2 (Local) 2025-10-27T06:22:10.805Z,1761546130.805 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.0 2025-10-27T06:22:10.837Z,1761546130.837 [DAT](INFO): DAT read: 06:22:09.6099 LVL= 32752, 19185, 22802, 32755, AGC= 63, IDX= 498, 0.09, 0.000, 2.220, 1.026, 1.229, PHS=-1.127, 1.036,-0.247, RAW= 306.1, 3.6, CAL= 303.7, 0.3, ROT= 206.3, -0.3 2025-10-27T06:22:10.838Z,1761546130.838 [DAT](INFO): got valid direction response: 06:22:09.6099 LVL= 32752, 19185, 22802, 32755, AGC= 63, IDX= 498, 0.09, 0.000, 2.220, 1.026, 1.229, PHS=-1.127, 1.036,-0.247, RAW= 306.1, 3.6, CAL= 303.7, 0.3, ROT= 206.3, -0.3 2025-10-27T06:22:10.838Z,1761546130.838 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:22:10.843Z,1761546130.843 [DAT](INFO): direction in FSK: [-0.896474,-0.443065,0.005236] 2025-10-27T06:22:10.844Z,1761546130.844 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:10.851Z,1761546130.851 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=57.024555 2025-10-27T06:22:10.918Z,1761546130.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999153,0.037679,-0.016518],[-0.036630,0.997539,0.059788],[0.018730,-0.059132,0.998074]] 2025-10-27T06:22:10.981Z,1761546130.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504615 s, deltaX: -0.200000 m, approachRate: -0.396341 m/s, rangeRepo size: 4 2025-10-27T06:22:10.987Z,1761546130.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.008612 m, bearing: 204.133711 deg, lat: 36.779453 deg, lon: -121.859857 deg, deltaT: 0.504615 s, deltaX: -0.198700 m, approachRate: -0.393765 m/s, posRepo size: 4 2025-10-27T06:22:10.988Z,1761546130.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:22:11.045Z,1761546131.045 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=57.218605 2025-10-27T06:22:11.300Z,1761546131.300 [DAT](INFO): DAT read: Rx Time:06:22:10.1099 2025-10-27T06:22:11.300Z,1761546131.300 [DAT](INFO): Rx dataTimestamp_ set to:1761546131.299807 2025-10-27T06:22:11.301Z,1761546131.301 [DAT](INFO): DAT read: Bearing 337.7, -27.5 (Local) 2025-10-27T06:22:11.302Z,1761546131.302 [DAT](INFO): Local bearing/azimuth received: Bearing 337.7, -27.5 (Local) 2025-10-27T06:22:11.303Z,1761546131.303 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.0 2025-10-27T06:22:11.304Z,1761546131.304 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-27T06:22:11.305Z,1761546131.305 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=57.478214 2025-10-27T06:22:11.321Z,1761546131.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999083,0.039620,-0.016228],[-0.038572,0.997424,0.060485],[0.018583,-0.059804,0.998037]] 2025-10-27T06:22:11.373Z,1761546131.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.502671 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:11.373Z,1761546131.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:22:11.552Z,1761546131.552 [DAT](INFO): DAT read: 06:22:10.1099 LVL= 32752, 20849, 25250, 32755, AGC= 64, IDX= 498, 0.39, 0.327, 2.528, 1.355, 1.563, PHS=-1.134, 1.009,-0.252, RAW= 305.8, 4.1, CAL= 303.4, 1.1, ROT= 206.6, -1.1 2025-10-27T06:22:11.553Z,1761546131.553 [DAT](INFO): got valid direction response: 06:22:10.1099 LVL= 32752, 20849, 25250, 32755, AGC= 64, IDX= 498, 0.39, 0.327, 2.528, 1.355, 1.563, PHS=-1.134, 1.009,-0.252, RAW= 305.8, 4.1, CAL= 303.4, 1.1, ROT= 206.6, -1.1 2025-10-27T06:22:11.553Z,1761546131.553 [DAT](INFO): #Rx 4: Read direction message, but no range. 2025-10-27T06:22:11.554Z,1761546131.554 [DAT](INFO): direction in FSK: [-0.893989,-0.447677,0.019197] 2025-10-27T06:22:11.558Z,1761546131.558 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=57.730804 2025-10-27T06:22:11.736Z,1761546131.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999027,0.041203,-0.015751],[-0.040175,0.997343,0.060771],[0.018213,-0.060079,0.998027]] 2025-10-27T06:22:11.801Z,1761546131.801 [DAT](INFO): DAT read: Rx Time:06:22:10.6099 2025-10-27T06:22:11.801Z,1761546131.801 [DAT](INFO): Rx dataTimestamp_ set to:1761546131.801200 2025-10-27T06:22:11.803Z,1761546131.803 [DAT](INFO): DAT read: Bearing 338.7, -27.1 (Local) 2025-10-27T06:22:11.803Z,1761546131.803 [DAT](INFO): Local bearing/azimuth received: Bearing 338.7, -27.1 (Local) 2025-10-27T06:22:11.805Z,1761546131.805 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.1 2025-10-27T06:22:11.806Z,1761546131.806 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-27T06:22:11.806Z,1761546131.806 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=57.979679 2025-10-27T06:22:11.906Z,1761546131.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.501393 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:11.916Z,1761546131.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.008598 m, bearing: 204.178844 deg, lat: 36.779453 deg, lon: -121.859857 deg, deltaT: 1.004064 s, deltaX: -0.000013 m, approachRate: -0.000013 m/s, posRepo size: 4 2025-10-27T06:22:11.917Z,1761546131.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:22:12.056Z,1761546132.056 [DAT](INFO): DAT read: 06:22:10.6099 LVL= 32096, 21969, 24562, 32755, AGC= 65, IDX= 498,-0.19,-1.928, 0.282,-0.905,-0.705, PHS=-1.121, 1.032,-0.244, RAW= 306.1, 3.6, CAL= 303.7, 0.2, ROT= 206.3, -0.2 2025-10-27T06:22:12.057Z,1761546132.057 [DAT](INFO): got valid direction response: 06:22:10.6099 LVL= 32096, 21969, 24562, 32755, AGC= 65, IDX= 498,-0.19,-1.928, 0.282,-0.905,-0.705, PHS=-1.121, 1.032,-0.244, RAW= 306.1, 3.6, CAL= 303.7, 0.2, ROT= 206.3, -0.2 2025-10-27T06:22:12.057Z,1761546132.057 [DAT](INFO): #Rx 6: Read direction message, but no range. 2025-10-27T06:22:12.058Z,1761546132.058 [DAT](INFO): direction in FSK: [-0.896481,-0.443069,0.003491] 2025-10-27T06:22:12.061Z,1761546132.061 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=58.234589 2025-10-27T06:22:12.145Z,1761546132.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998962,0.042800,-0.015584],[-0.041792,0.997315,0.060128],[0.018116,-0.059414,0.998069]] 2025-10-27T06:22:12.180Z,1761546132.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:22:12.305Z,1761546132.305 [DAT](INFO): DAT read: Rx Time:06:22:11.1100 2025-10-27T06:22:12.305Z,1761546132.305 [DAT](INFO): Rx dataTimestamp_ set to:1761546132.304714 2025-10-27T06:22:12.307Z,1761546132.307 [DAT](INFO): DAT read: Bearing 337.8, -26.8 (Local) 2025-10-27T06:22:12.308Z,1761546132.308 [DAT](INFO): Local bearing/azimuth received: Bearing 337.8, -26.8 (Local) 2025-10-27T06:22:12.310Z,1761546132.310 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 2025-10-27T06:22:12.316Z,1761546132.316 [DAT](INFO): DAT read: 06:22:11.1100 LVL= 32752, 20305, 25634, 32755, AGC= 65, IDX= 499, 0.07, 0.351, 2.558, 1.362, 1.580, PHS=-1.127, 1.023,-0.262, RAW= 306.4, 4.0, CAL= 304.0, 0.9, ROT= 206.0, -0.9 2025-10-27T06:22:12.318Z,1761546132.318 [DAT](INFO): got valid direction response: 06:22:11.1100 LVL= 32752, 20305, 25634, 32755, AGC= 65, IDX= 499, 0.07, 0.351, 2.558, 1.362, 1.580, PHS=-1.127, 1.023,-0.262, RAW= 306.4, 4.0, CAL= 304.0, 0.9, ROT= 206.0, -0.9 2025-10-27T06:22:12.318Z,1761546132.318 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T06:22:12.327Z,1761546132.327 [DAT](INFO): direction in FSK: [-0.898683,-0.438317,0.015707] 2025-10-27T06:22:12.327Z,1761546132.327 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:12.335Z,1761546132.335 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=58.508553 2025-10-27T06:22:12.556Z,1761546132.556 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=58.729237 2025-10-27T06:22:12.629Z,1761546132.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503514 s, deltaX: 0.200000 m, approachRate: 0.397208 m/s, rangeRepo size: 4 2025-10-27T06:22:12.648Z,1761546132.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.207301 m, bearing: 203.501141 deg, lat: 36.779453 deg, lon: -121.859857 deg, deltaT: 0.503514 s, deltaX: 0.198703 m, approachRate: 0.394632 m/s, posRepo size: 4 2025-10-27T06:22:12.648Z,1761546132.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:22:12.809Z,1761546132.809 [DAT](INFO): DAT read: Rx Time:06:22:11.6099 2025-10-27T06:22:12.809Z,1761546132.809 [DAT](INFO): Rx dataTimestamp_ set to:1761546132.808742 2025-10-27T06:22:12.810Z,1761546132.810 [DAT](INFO): DAT read: Bearing 337.6, -26.1 (Local) 2025-10-27T06:22:12.811Z,1761546132.811 [DAT](INFO): Local bearing/azimuth received: Bearing 337.6, -26.1 (Local) 2025-10-27T06:22:12.813Z,1761546132.813 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.0 2025-10-27T06:22:12.822Z,1761546132.822 [DAT](INFO): DAT read: 06:22:11.6099 LVL= 32752, 20625, 23474, 32755, AGC= 65, IDX= 498, 0.44,-0.388, 1.807, 0.598, 0.827, PHS=-1.113, 1.025,-0.273, RAW= 307.0, 3.9, CAL= 304.6, 0.9, ROT= 205.4, -0.9 2025-10-27T06:22:12.828Z,1761546132.828 [DAT](INFO): got valid direction response: 06:22:11.6099 LVL= 32752, 20625, 23474, 32755, AGC= 65, IDX= 498, 0.44,-0.388, 1.807, 0.598, 0.827, PHS=-1.113, 1.025,-0.273, RAW= 307.0, 3.9, CAL= 304.6, 0.9, ROT= 205.4, -0.9 2025-10-27T06:22:12.828Z,1761546132.828 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T06:22:12.829Z,1761546132.829 [DAT](INFO): direction in FSK: [-0.903224,-0.428882,0.015707] 2025-10-27T06:22:12.829Z,1761546132.829 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:12.837Z,1761546132.837 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=59.010220 2025-10-27T06:22:12.949Z,1761546132.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998840,0.045618,-0.015436],[-0.044632,0.997251,0.059148],[0.018091,-0.058391,0.998130]] 2025-10-27T06:22:12.989Z,1761546132.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504028 s, deltaX: -0.200000 m, approachRate: -0.396803 m/s, rangeRepo size: 4 2025-10-27T06:22:12.991Z,1761546132.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.008598 m, bearing: 202.741653 deg, lat: 36.779453 deg, lon: -121.859857 deg, deltaT: 0.504028 s, deltaX: -0.198703 m, approachRate: -0.394230 m/s, posRepo size: 4 2025-10-27T06:22:12.991Z,1761546132.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-27T06:22:13.061Z,1761546133.061 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=59.234360 2025-10-27T06:22:13.312Z,1761546133.312 [DAT](INFO): DAT read: Rx Time:06:22:12.1101 2025-10-27T06:22:13.313Z,1761546133.313 [DAT](INFO): Rx dataTimestamp_ set to:1761546133.312668 2025-10-27T06:22:13.314Z,1761546133.314 [DAT](INFO): DAT read: Bearing 337.6, -24.6 (Local) 2025-10-27T06:22:13.315Z,1761546133.315 [DAT](INFO): Local bearing/azimuth received: Bearing 337.6, -24.6 (Local) 2025-10-27T06:22:13.317Z,1761546133.317 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 2025-10-27T06:22:13.321Z,1761546133.321 [DAT](INFO): DAT read: 06:22:12.1101 LVL= 32240, 16305, 24050, 32755, AGC= 64, IDX= 500,-0.09,-1.292, 0.888,-0.363,-0.106, PHS=-1.084, 1.039,-0.301, RAW= 308.6, 3.8, CAL= 306.2, 0.9, ROT= 203.8, -0.9 2025-10-27T06:22:13.322Z,1761546133.322 [DAT](INFO): got valid direction response: 06:22:12.1101 LVL= 32240, 16305, 24050, 32755, AGC= 64, IDX= 500,-0.09,-1.292, 0.888,-0.363,-0.106, PHS=-1.084, 1.039,-0.301, RAW= 308.6, 3.8, CAL= 306.2, 0.9, ROT= 203.8, -0.9 2025-10-27T06:22:13.323Z,1761546133.323 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T06:22:13.324Z,1761546133.324 [DAT](INFO): direction in FSK: [-0.914847,-0.403496,0.015707] 2025-10-27T06:22:13.324Z,1761546133.324 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:13.328Z,1761546133.328 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=59.500801 2025-10-27T06:22:13.353Z,1761546133.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998793,0.046644,-0.015394],[-0.045664,0.997221,0.058857],[0.018097,-0.058083,0.998148]] 2025-10-27T06:22:13.447Z,1761546133.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503926 s, deltaX: 0.299999 m, approachRate: 0.595324 m/s, rangeRepo size: 4 2025-10-27T06:22:13.449Z,1761546133.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.306653 m, bearing: 201.085843 deg, lat: 36.779453 deg, lon: -121.859857 deg, deltaT: 0.503926 s, deltaX: 0.298055 m, approachRate: 0.591465 m/s, posRepo size: 4 2025-10-27T06:22:13.450Z,1761546133.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:13.569Z,1761546133.569 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=59.741512 2025-10-27T06:22:13.817Z,1761546133.817 [DAT](INFO): DAT read: Rx Time:06:22:12.6100 2025-10-27T06:22:13.817Z,1761546133.817 [DAT](INFO): Rx dataTimestamp_ set to:1761546133.816757 2025-10-27T06:22:13.818Z,1761546133.818 [DAT](INFO): DAT read: Bearing 337.2, -24.3 (Local) 2025-10-27T06:22:13.819Z,1761546133.819 [DAT](INFO): Local bearing/azimuth received: Bearing 337.2, -24.3 (Local) 2025-10-27T06:22:13.821Z,1761546133.821 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 2025-10-27T06:22:13.825Z,1761546133.825 [DAT](INFO): DAT read: 06:22:12.6100 LVL= 31712, 17233, 22626, 32755, AGC= 64, IDX= 499, 0.20,-0.884, 1.286, 0.033, 0.298, PHS=-1.080, 1.033,-0.309, RAW= 308.9, 3.9, CAL= 306.5, 1.1, ROT= 203.5, -1.1 2025-10-27T06:22:13.827Z,1761546133.827 [DAT](INFO): got valid direction response: 06:22:12.6100 LVL= 31712, 17233, 22626, 32755, AGC= 64, IDX= 499, 0.20,-0.884, 1.286, 0.033, 0.298, PHS=-1.080, 1.033,-0.309, RAW= 308.9, 3.9, CAL= 306.5, 1.1, ROT= 203.5, -1.1 2025-10-27T06:22:13.827Z,1761546133.827 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T06:22:13.828Z,1761546133.828 [DAT](INFO): direction in FSK: [-0.916891,-0.398676,0.019197] 2025-10-27T06:22:13.828Z,1761546133.828 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:13.838Z,1761546133.838 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=60.011520 2025-10-27T06:22:13.891Z,1761546133.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998747,0.047573,-0.015537],[-0.046589,0.997200,0.058498],[0.018276,-0.057701,0.998167]] 2025-10-27T06:22:14.001Z,1761546134.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504089 s, deltaX: -0.099999 m, approachRate: -0.198377 m/s, rangeRepo size: 4 2025-10-27T06:22:14.007Z,1761546134.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.207213 m, bearing: 200.721964 deg, lat: 36.779452 deg, lon: -121.859854 deg, deltaT: 0.504089 s, deltaX: -0.099440 m, approachRate: -0.197266 m/s, posRepo size: 4 2025-10-27T06:22:14.007Z,1761546134.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:22:14.070Z,1761546134.070 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=60.243114 2025-10-27T06:22:14.305Z,1761546134.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998721,0.048103,-0.015584],[-0.047123,0.997199,0.058083],[0.018334,-0.057274,0.998190]] 2025-10-27T06:22:14.321Z,1761546134.321 [DAT](INFO): DAT read: Rx Time:06:22:13.1101 2025-10-27T06:22:14.321Z,1761546134.321 [DAT](INFO): Rx dataTimestamp_ set to:1761546134.320723 2025-10-27T06:22:14.322Z,1761546134.322 [DAT](INFO): DAT read: Bearing 337.3, -24.0 (Local) 2025-10-27T06:22:14.323Z,1761546134.323 [DAT](INFO): Local bearing/azimuth received: Bearing 337.3, -24.0 (Local) 2025-10-27T06:22:14.325Z,1761546134.325 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 2025-10-27T06:22:14.329Z,1761546134.329 [DAT](INFO): DAT read: 06:22:13.1101 LVL= 31520, 17745, 22274, 32755, AGC= 64, IDX= 500,-0.33,-1.666, 0.487,-0.769,-0.500, PHS=-1.064, 1.032,-0.313, RAW= 309.3, 3.8, CAL= 306.9, 1.0, ROT= 203.1, -1.0 2025-10-27T06:22:14.331Z,1761546134.331 [DAT](INFO): got valid direction response: 06:22:13.1101 LVL= 31520, 17745, 22274, 32755, AGC= 64, IDX= 500,-0.33,-1.666, 0.487,-0.769,-0.500, PHS=-1.064, 1.032,-0.313, RAW= 309.3, 3.8, CAL= 306.9, 1.0, ROT= 203.1, -1.0 2025-10-27T06:22:14.331Z,1761546134.331 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T06:22:14.332Z,1761546134.332 [DAT](INFO): direction in FSK: [-0.919681,-0.392277,0.017452] 2025-10-27T06:22:14.332Z,1761546134.332 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:14.336Z,1761546134.336 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=60.509239 2025-10-27T06:22:14.448Z,1761546134.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503966 s, deltaX: 0.099999 m, approachRate: 0.198425 m/s, rangeRepo size: 4 2025-10-27T06:22:14.450Z,1761546134.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.306563 m, bearing: 200.298966 deg, lat: 36.779451 deg, lon: -121.859851 deg, deltaT: 0.503966 s, deltaX: 0.099350 m, approachRate: 0.197136 m/s, posRepo size: 4 2025-10-27T06:22:14.455Z,1761546134.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:14.572Z,1761546134.572 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=60.745487 2025-10-27T06:22:14.810Z,1761546134.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:14.825Z,1761546134.825 [DAT](INFO): DAT read: Rx Time:06:22:13.6100 2025-10-27T06:22:14.825Z,1761546134.825 [DAT](INFO): Rx dataTimestamp_ set to:1761546134.825079 2025-10-27T06:22:14.827Z,1761546134.827 [DAT](INFO): DAT read: Bearing 336.5, -23.7 (Local) 2025-10-27T06:22:14.827Z,1761546134.827 [DAT](INFO): Local bearing/azimuth received: Bearing 336.5, -23.7 (Local) 2025-10-27T06:22:14.829Z,1761546134.829 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.1 2025-10-27T06:22:14.834Z,1761546134.834 [DAT](INFO): DAT read: 06:22:13.6100 LVL= 32752, 18513, 22034, 32755, AGC= 62, IDX= 499,-0.00,-1.381, 0.777,-0.493,-0.205, PHS=-1.075, 1.026,-0.333, RAW= 309.6, 4.2, CAL= 307.2, 1.7, ROT= 202.8, -1.7 2025-10-27T06:22:14.835Z,1761546134.835 [DAT](INFO): got valid direction response: 06:22:13.6100 LVL= 32752, 18513, 22034, 32755, AGC= 62, IDX= 499,-0.00,-1.381, 0.777,-0.493,-0.205, PHS=-1.075, 1.026,-0.333, RAW= 309.6, 4.2, CAL= 307.2, 1.7, ROT= 202.8, -1.7 2025-10-27T06:22:14.835Z,1761546134.835 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T06:22:14.836Z,1761546134.836 [DAT](INFO): direction in FSK: [-0.921457,-0.387345,0.029666] 2025-10-27T06:22:14.836Z,1761546134.836 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:14.840Z,1761546134.840 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=61.013203 2025-10-27T06:22:15.076Z,1761546135.076 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=61.249275 2025-10-27T06:22:15.096Z,1761546135.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998702,0.048303,-0.016148],[-0.047313,0.997256,0.056933],[0.018853,-0.056095,0.998247]] 2025-10-27T06:22:15.159Z,1761546135.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504356 s, deltaX: -0.099999 m, approachRate: -0.198272 m/s, rangeRepo size: 4 2025-10-27T06:22:15.161Z,1761546135.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.207243 m, bearing: 199.949621 deg, lat: 36.779451 deg, lon: -121.859850 deg, deltaT: 0.504356 s, deltaX: -0.099320 m, approachRate: -0.196925 m/s, posRepo size: 4 2025-10-27T06:22:15.161Z,1761546135.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-27T06:22:15.329Z,1761546135.329 [DAT](INFO): DAT read: Rx Time:06:22:14.1101 2025-10-27T06:22:15.329Z,1761546135.329 [DAT](INFO): Rx dataTimestamp_ set to:1761546135.328745 2025-10-27T06:22:15.330Z,1761546135.330 [DAT](INFO): DAT read: Bearing 336.3, -24.5 (Local) 2025-10-27T06:22:15.331Z,1761546135.331 [DAT](INFO): Local bearing/azimuth received: Bearing 336.3, -24.5 (Local) 2025-10-27T06:22:15.333Z,1761546135.333 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 2025-10-27T06:22:15.337Z,1761546135.337 [DAT](INFO): DAT read: 06:22:14.1101 LVL= 32416, 20161, 24306, 32755, AGC= 60, IDX= 500, 0.37, 1.528,-2.589, 2.444, 2.721, PHS=-1.091, 1.019,-0.321, RAW= 308.9, 4.3, CAL= 306.5, 1.9, ROT= 203.5, -1.9 2025-10-27T06:22:15.338Z,1761546135.338 [DAT](INFO): got valid direction response: 06:22:14.1101 LVL= 32416, 20161, 24306, 32755, AGC= 60, IDX= 500, 0.37, 1.528,-2.589, 2.444, 2.721, PHS=-1.091, 1.019,-0.321, RAW= 308.9, 4.3, CAL= 306.5, 1.9, ROT= 203.5, -1.9 2025-10-27T06:22:15.339Z,1761546135.339 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T06:22:15.340Z,1761546135.340 [DAT](INFO): direction in FSK: [-0.916556,-0.398530,0.033155] 2025-10-27T06:22:15.340Z,1761546135.340 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:15.344Z,1761546135.344 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=61.517147 2025-10-27T06:22:15.533Z,1761546135.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998726,0.047672,-0.016552],[-0.046657,0.997279,0.057078],[0.019228,-0.056233,0.998232]] 2025-10-27T06:22:15.580Z,1761546135.580 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=61.753307 2025-10-27T06:22:15.668Z,1761546135.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503666 s, deltaX: 0.099999 m, approachRate: 0.198543 m/s, rangeRepo size: 4 2025-10-27T06:22:15.670Z,1761546135.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.306594 m, bearing: 200.673550 deg, lat: 36.779451 deg, lon: -121.859849 deg, deltaT: 0.503666 s, deltaX: 0.099351 m, approachRate: 0.197256 m/s, posRepo size: 4 2025-10-27T06:22:15.670Z,1761546135.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:15.833Z,1761546135.833 [DAT](INFO): DAT read: Rx Time:06:22:14.6101 2025-10-27T06:22:15.833Z,1761546135.833 [DAT](INFO): Rx dataTimestamp_ set to:1761546135.832757 2025-10-27T06:22:15.834Z,1761546135.834 [DAT](INFO): DAT read: Bearing 335.7, -24.6 (Local) 2025-10-27T06:22:15.835Z,1761546135.835 [DAT](INFO): Local bearing/azimuth received: Bearing 335.7, -24.6 (Local) 2025-10-27T06:22:15.837Z,1761546135.837 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 2025-10-27T06:22:15.841Z,1761546135.841 [DAT](INFO): DAT read: 06:22:14.6101 LVL= 32752, 21665, 26722, 32755, AGC= 60, IDX= 500,-0.06,-1.512, 0.674,-0.587,-0.298, PHS=-1.112, 1.017,-0.333, RAW= 308.8, 4.6, CAL= 306.5, 2.5, ROT= 203.5, -2.5 2025-10-27T06:22:15.843Z,1761546135.843 [DAT](INFO): got valid direction response: 06:22:14.6101 LVL= 32752, 21665, 26722, 32755, AGC= 60, IDX= 500,-0.06,-1.512, 0.674,-0.587,-0.298, PHS=-1.112, 1.017,-0.333, RAW= 308.8, 4.6, CAL= 306.5, 2.5, ROT= 203.5, -2.5 2025-10-27T06:22:15.843Z,1761546135.843 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T06:22:15.844Z,1761546135.844 [DAT](INFO): direction in FSK: [-0.916187,-0.398369,0.043619] 2025-10-27T06:22:15.844Z,1761546135.844 [DAT](INFO): publishing direction and range info 2025-10-27T06:22:15.852Z,1761546135.852 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=62.025188 2025-10-27T06:22:15.895Z,1761546135.895 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:22:15.909Z,1761546135.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998784,0.046239,-0.017096],[-0.045181,0.997307,0.057775],[0.019722,-0.056932,0.998183]] 2025-10-27T06:22:15.953Z,1761546135.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504012 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:22:15.964Z,1761546135.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.306619 m, bearing: 200.719451 deg, lat: 36.779451 deg, lon: -121.859849 deg, deltaT: 0.504012 s, deltaX: 0.000025 m, approachRate: 0.000049 m/s, posRepo size: 4 2025-10-27T06:22:15.964Z,1761546135.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:16.084Z,1761546136.084 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=62.257442 2025-10-27T06:22:16.302Z,1761546136.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998855,0.044462,-0.017632],[-0.043362,0.997344,0.058528],[0.020187,-0.057696,0.998130]] 2025-10-27T06:22:16.321Z,1761546136.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:16.336Z,1761546136.336 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=62.509377 2025-10-27T06:22:16.592Z,1761546136.592 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=62.764240 2025-10-27T06:22:16.710Z,1761546136.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998930,0.042550,-0.018132],[-0.041408,0.997381,0.059307],[0.020608,-0.058493,0.998075]] 2025-10-27T06:22:16.780Z,1761546136.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:16.840Z,1761546136.840 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=63.013496 2025-10-27T06:22:16.900Z,1761546136.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:22:17.093Z,1761546137.093 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=63.266426 2025-10-27T06:22:17.118Z,1761546137.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999012,0.040322,-0.018705],[-0.039144,0.997456,0.059573],[0.021060,-0.058782,0.998049]] 2025-10-27T06:22:17.146Z,1761546137.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:17.345Z,1761546137.345 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=63.517441 2025-10-27T06:22:17.576Z,1761546137.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999097,0.037935,-0.019127],[-0.036734,0.997542,0.059680],[0.021344,-0.058923,0.998034]] 2025-10-27T06:22:17.597Z,1761546137.597 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=63.770370 2025-10-27T06:22:17.658Z,1761546137.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:17.849Z,1761546137.849 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=64.022232 2025-10-27T06:22:17.938Z,1761546137.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999178,0.035533,-0.019495],[-0.034300,0.997590,0.060315],[0.021592,-0.059597,0.997989]] 2025-10-27T06:22:18.036Z,1761546138.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:18.107Z,1761546138.107 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=64.279747 2025-10-27T06:22:18.342Z,1761546138.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999255,0.033097,-0.019856],[-0.031836,0.997643,0.060787],[0.021821,-0.060109,0.997953]] 2025-10-27T06:22:18.356Z,1761546138.356 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=64.529312 2025-10-27T06:22:18.389Z,1761546138.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:18.613Z,1761546138.613 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=64.786064 2025-10-27T06:22:18.749Z,1761546138.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999312,0.031095,-0.020211],[-0.029811,0.997694,0.060982],[0.022061,-0.060337,0.997934]] 2025-10-27T06:22:18.823Z,1761546138.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:18.861Z,1761546138.861 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=65.033478 2025-10-27T06:22:19.113Z,1761546139.113 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=65.285500 2025-10-27T06:22:19.149Z,1761546139.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999368,0.029061,-0.020461],[-0.027779,0.997790,0.060366],[0.022170,-0.059759,0.997967]] 2025-10-27T06:22:19.186Z,1761546139.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:19.364Z,1761546139.364 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=65.537178 2025-10-27T06:22:19.563Z,1761546139.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999414,0.027377,-0.020555],[-0.026119,0.997906,0.059178],[0.022132,-0.058606,0.998036]] 2025-10-27T06:22:19.619Z,1761546139.619 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=65.791451 2025-10-27T06:22:19.660Z,1761546139.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:19.868Z,1761546139.868 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=66.041550 2025-10-27T06:22:19.957Z,1761546139.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999436,0.026516,-0.020606],[-0.025270,0.997963,0.058584],[0.022118,-0.058030,0.998070]] 2025-10-27T06:22:20.015Z,1761546140.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:20.121Z,1761546140.121 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=66.294174 2025-10-27T06:22:20.364Z,1761546140.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999427,0.026774,-0.020720],[-0.025517,0.997949,0.058701],[0.022249,-0.058139,0.998061]] 2025-10-27T06:22:20.372Z,1761546140.372 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=66.545265 2025-10-27T06:22:20.385Z,1761546140.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:20.627Z,1761546140.627 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=66.799576 2025-10-27T06:22:20.767Z,1761546140.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999420,0.026937,-0.020832],[-0.025673,0.997941,0.058770],[0.022372,-0.058201,0.998054]] 2025-10-27T06:22:20.825Z,1761546140.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:20.876Z,1761546140.876 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=67.049309 2025-10-27T06:22:21.128Z,1761546141.128 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=67.301308 2025-10-27T06:22:21.169Z,1761546141.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999394,0.027879,-0.020843],[-0.026603,0.997893,0.059176],[0.022449,-0.058586,0.998030]] 2025-10-27T06:22:21.201Z,1761546141.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:21.380Z,1761546141.380 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=67.553276 2025-10-27T06:22:21.580Z,1761546141.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999374,0.028687,-0.020691],[-0.027415,0.997862,0.059330],[0.022349,-0.058726,0.998024]] 2025-10-27T06:22:21.635Z,1761546141.635 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=67.807419 2025-10-27T06:22:21.705Z,1761546141.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:21.884Z,1761546141.884 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=68.057167 2025-10-27T06:22:21.981Z,1761546141.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999332,0.030155,-0.020660],[-0.028875,0.997800,0.059677],[0.022414,-0.059040,0.998004]] 2025-10-27T06:22:22.017Z,1761546142.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:22.136Z,1761546142.136 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=68.309341 2025-10-27T06:22:22.384Z,1761546142.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999283,0.031946,-0.020297],[-0.030694,0.997772,0.059243],[0.022145,-0.058578,0.998037]] 2025-10-27T06:22:22.388Z,1761546142.388 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=68.561340 2025-10-27T06:22:22.421Z,1761546142.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:22.643Z,1761546142.643 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=68.815460 2025-10-27T06:22:22.785Z,1761546142.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999230,0.033855,-0.019809],[-0.032660,0.997793,0.057817],[0.021722,-0.057125,0.998131]] 2025-10-27T06:22:22.852Z,1761546142.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:22.892Z,1761546142.892 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=69.065613 2025-10-27T06:22:23.144Z,1761546143.144 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=69.317230 2025-10-27T06:22:23.189Z,1761546143.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999164,0.036068,-0.019220],[-0.034928,0.997780,0.056695],[0.021222,-0.055976,0.998207]] 2025-10-27T06:22:23.208Z,1761546143.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:23.396Z,1761546143.396 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=69.569366 2025-10-27T06:22:23.608Z,1761546143.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999097,0.038206,-0.018573],[-0.037111,0.997737,0.056066],[0.020673,-0.055326,0.998254]] 2025-10-27T06:22:23.650Z,1761546143.650 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=69.822929 2025-10-27T06:22:23.690Z,1761546143.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:23.900Z,1761546143.900 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=70.073257 2025-10-27T06:22:23.997Z,1761546143.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999021,0.040455,-0.017914],[-0.039395,0.997652,0.056032],[0.020139,-0.055271,0.998268]] 2025-10-27T06:22:24.046Z,1761546144.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:24.152Z,1761546144.152 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=70.325249 2025-10-27T06:22:24.404Z,1761546144.404 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=70.577179 2025-10-27T06:22:24.406Z,1761546144.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998956,0.042416,-0.016991],[-0.041402,0.997563,0.056157],[0.019332,-0.055395,0.998277]] 2025-10-27T06:22:24.474Z,1761546144.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:24.659Z,1761546144.659 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=70.831238 2025-10-27T06:22:24.810Z,1761546144.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998917,0.043728,-0.015871],[-0.042778,0.997516,0.055957],[0.018279,-0.055218,0.998307]] 2025-10-27T06:22:24.870Z,1761546144.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:24.909Z,1761546144.909 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=71.081841 2025-10-27T06:22:25.160Z,1761546145.160 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=71.333191 2025-10-27T06:22:25.215Z,1761546145.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998893,0.044643,-0.014786],[-0.043768,0.997526,0.055020],[0.017206,-0.054312,0.998376]] 2025-10-27T06:22:25.244Z,1761546145.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:25.416Z,1761546145.416 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=71.589310 2025-10-27T06:22:25.616Z,1761546145.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998896,0.044931,-0.013686],[-0.044133,0.997572,0.053875],[0.016073,-0.053211,0.998454]] 2025-10-27T06:22:25.654Z,1761546145.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:25.667Z,1761546145.667 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=71.839394 2025-10-27T06:22:25.916Z,1761546145.916 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=72.089127 2025-10-27T06:22:26.018Z,1761546146.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998936,0.044474,-0.012216],[-0.043762,0.997617,0.053345],[0.014559,-0.052753,0.998501]] 2025-10-27T06:22:26.083Z,1761546146.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:26.169Z,1761546146.169 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=72.341568 2025-10-27T06:22:26.420Z,1761546146.420 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=72.593323 2025-10-27T06:22:26.426Z,1761546146.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998998,0.043500,-0.010564],[-0.042872,0.997631,0.053794],[0.012879,-0.053287,0.998496]] 2025-10-27T06:22:26.450Z,1761546146.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:26.673Z,1761546146.673 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=72.845779 2025-10-27T06:22:26.841Z,1761546146.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999177,0.039937,-0.007061],[-0.039483,0.997664,0.055747],[0.009271,-0.055422,0.998420]] 2025-10-27T06:22:26.893Z,1761546146.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:26.924Z,1761546146.924 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=73.097252 2025-10-27T06:22:27.176Z,1761546147.176 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=73.349205 2025-10-27T06:22:27.264Z,1761546147.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:27.428Z,1761546147.428 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=73.601166 2025-10-27T06:22:27.683Z,1761546147.683 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=73.856033 2025-10-27T06:22:27.689Z,1761546147.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:27.935Z,1761546147.935 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=74.108444 2025-10-27T06:22:28.044Z,1761546148.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999499,0.031610,-0.001535],[-0.031476,0.997956,0.055622],[0.003290,-0.055546,0.998451]] 2025-10-27T06:22:28.110Z,1761546148.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:28.184Z,1761546148.184 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=74.357559 2025-10-27T06:22:28.438Z,1761546148.438 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=74.610825 2025-10-27T06:22:28.496Z,1761546148.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:28.688Z,1761546148.688 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=74.861229 2025-10-27T06:22:28.850Z,1761546148.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999691,0.024772,0.002118],[-0.024851,0.998133,0.055784],[-0.000732,-0.055819,0.998441]] 2025-10-27T06:22:28.899Z,1761546148.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:28.941Z,1761546148.941 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=75.113892 2025-10-27T06:22:29.192Z,1761546149.192 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=75.365479 2025-10-27T06:22:29.252Z,1761546149.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999764,0.021401,0.003846],[-0.021583,0.998197,0.056001],[-0.002641,-0.056071,0.998423]] 2025-10-27T06:22:29.270Z,1761546149.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:29.444Z,1761546149.444 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=75.617355 2025-10-27T06:22:29.656Z,1761546149.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999823,0.018016,0.005493],[-0.018297,0.998244,0.056344],[-0.004468,-0.056434,0.998396]] 2025-10-27T06:22:29.675Z,1761546149.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:29.696Z,1761546149.696 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=75.869392 2025-10-27T06:22:29.948Z,1761546149.948 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=76.121193 2025-10-27T06:22:30.057Z,1761546150.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999865,0.014827,0.007038],[-0.015204,0.998263,0.056917],[-0.006181,-0.057017,0.998354]] 2025-10-27T06:22:30.115Z,1761546150.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:30.201Z,1761546150.201 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=76.373642 2025-10-27T06:22:30.452Z,1761546150.452 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=76.625252 2025-10-27T06:22:30.463Z,1761546150.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999896,0.011749,0.008378],[-0.012209,0.998294,0.057093],[-0.007693,-0.057190,0.998334]] 2025-10-27T06:22:30.482Z,1761546150.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:30.705Z,1761546150.705 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=76.877968 2025-10-27T06:22:30.871Z,1761546150.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999917,0.008628,0.009589],[-0.009155,0.998374,0.056258],[-0.009088,-0.056342,0.998370]] 2025-10-27T06:22:30.909Z,1761546150.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:30.956Z,1761546150.956 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=77.129379 2025-10-27T06:22:31.208Z,1761546151.208 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=77.381157 2025-10-27T06:22:31.269Z,1761546151.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999927,0.005679,0.010707],[-0.006260,0.998463,0.055063],[-0.010378,-0.055126,0.998425]] 2025-10-27T06:22:31.297Z,1761546151.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:31.460Z,1761546151.460 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=77.633133 2025-10-27T06:22:31.674Z,1761546151.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999927,0.003526,0.011582],[-0.004154,0.998498,0.054628],[-0.011371,-0.054672,0.998440]] 2025-10-27T06:22:31.713Z,1761546151.713 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=77.885910 2025-10-27T06:22:31.714Z,1761546151.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:22:31.717Z,1761546151.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:31.964Z,1761546151.964 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=78.137329 2025-10-27T06:22:32.089Z,1761546152.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999921,0.001913,0.012432],[-0.002597,0.998469,0.055253],[-0.012307,-0.055281,0.998395]] 2025-10-27T06:22:32.204Z,1761546152.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:32.216Z,1761546152.216 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=78.389290 2025-10-27T06:22:32.468Z,1761546152.468 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=78.641235 2025-10-27T06:22:32.599Z,1761546152.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999914,0.000771,0.013084],[-0.001496,0.998456,0.055522],[-0.013021,-0.055537,0.998372]] 2025-10-27T06:22:32.626Z,1761546152.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:32.721Z,1761546152.721 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=78.893715 2025-10-27T06:22:32.977Z,1761546152.977 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=79.150291 2025-10-27T06:22:32.995Z,1761546152.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999910,0.000766,0.013403],[-0.001508,0.998458,0.055485],[-0.013340,-0.055500,0.998370]] 2025-10-27T06:22:33.085Z,1761546153.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:33.228Z,1761546153.228 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=79.401237 2025-10-27T06:22:33.398Z,1761546153.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999904,0.000588,0.013841],[-0.001353,0.998467,0.055340],[-0.013787,-0.055353,0.998372]] 2025-10-27T06:22:33.442Z,1761546153.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:33.480Z,1761546153.480 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=79.653374 2025-10-27T06:22:33.733Z,1761546153.733 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=79.905937 2025-10-27T06:22:33.841Z,1761546153.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999901,0.000041,0.014104],[-0.000798,0.998556,0.053716],[-0.014081,-0.053722,0.998457]] 2025-10-27T06:22:33.883Z,1761546153.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:33.984Z,1761546153.984 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=80.157227 2025-10-27T06:22:34.229Z,1761546154.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999899,0.000151,0.014203],[-0.000902,0.998601,0.052863],[-0.014176,-0.052871,0.998501]] 2025-10-27T06:22:34.236Z,1761546154.236 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=80.409035 2025-10-27T06:22:34.269Z,1761546154.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:34.488Z,1761546154.488 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=80.661270 2025-10-27T06:22:34.652Z,1761546154.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:34.741Z,1761546154.741 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=80.914093 2025-10-27T06:22:34.992Z,1761546154.992 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=81.165115 2025-10-27T06:22:35.034Z,1761546155.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999897,0.001218,0.014331],[-0.001974,0.998599,0.052871],[-0.014247,-0.052894,0.998498]] 2025-10-27T06:22:35.090Z,1761546155.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:35.245Z,1761546155.245 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=81.417763 2025-10-27T06:22:35.426Z,1761546155.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999898,0.002357,0.014094],[-0.003108,0.998562,0.053514],[-0.013948,-0.053553,0.998468]] 2025-10-27T06:22:35.446Z,1761546155.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:35.497Z,1761546155.497 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=81.669952 2025-10-27T06:22:35.748Z,1761546155.748 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=81.921165 2025-10-27T06:22:35.878Z,1761546155.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999897,0.003555,0.013886],[-0.004305,0.998512,0.054363],[-0.013672,-0.054417,0.998425]] 2025-10-27T06:22:35.967Z,1761546155.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:36.001Z,1761546156.001 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=82.173782 2025-10-27T06:22:36.230Z,1761546156.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999900,0.004600,0.013402],[-0.005330,0.998475,0.054957],[-0.013128,-0.055022,0.998399]] 2025-10-27T06:22:36.249Z,1761546156.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:36.252Z,1761546156.252 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=82.425362 2025-10-27T06:22:36.504Z,1761546156.504 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=82.677170 2025-10-27T06:22:36.634Z,1761546156.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999905,0.005172,0.012814],[-0.005870,0.998465,0.055076],[-0.012510,-0.055145,0.998400]] 2025-10-27T06:22:36.653Z,1761546156.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:36.756Z,1761546156.756 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=82.929146 2025-10-27T06:22:37.008Z,1761546157.008 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=83.181198 2025-10-27T06:22:37.036Z,1761546157.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999910,0.005602,0.012159],[-0.006261,0.998473,0.054892],[-0.011833,-0.054963,0.998418]] 2025-10-27T06:22:37.112Z,1761546157.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:37.260Z,1761546157.260 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=83.433128 2025-10-27T06:22:37.434Z,1761546157.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999918,0.005851,0.011377],[-0.006463,0.998493,0.054503],[-0.011041,-0.054572,0.998449]] 2025-10-27T06:22:37.453Z,1761546157.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:37.513Z,1761546157.513 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=83.685699 2025-10-27T06:22:37.764Z,1761546157.764 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=83.937248 2025-10-27T06:22:37.897Z,1761546157.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999924,0.006284,0.010635],[-0.006853,0.998501,0.054311],[-0.010278,-0.054379,0.998467]] 2025-10-27T06:22:37.949Z,1761546157.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:38.016Z,1761546158.016 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=84.189255 2025-10-27T06:22:38.241Z,1761546158.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999928,0.007034,0.009724],[-0.007553,0.998490,0.054417],[-0.009327,-0.054486,0.998471]] 2025-10-27T06:22:38.268Z,1761546158.268 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=84.441299 2025-10-27T06:22:38.272Z,1761546158.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:38.520Z,1761546158.520 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=84.693230 2025-10-27T06:22:38.645Z,1761546158.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999935,0.007362,0.008724],[-0.007828,0.998475,0.054652],[-0.008308,-0.054717,0.998467]] 2025-10-27T06:22:38.682Z,1761546158.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:38.773Z,1761546158.773 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=84.945778 2025-10-27T06:22:39.024Z,1761546159.024 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=85.197128 2025-10-27T06:22:39.069Z,1761546159.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999941,0.007586,0.007803],[-0.008004,0.998453,0.055031],[-0.007374,-0.055090,0.998454]] 2025-10-27T06:22:39.124Z,1761546159.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:39.276Z,1761546159.276 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=85.449257 2025-10-27T06:22:39.528Z,1761546159.528 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=85.701248 2025-10-27T06:22:39.529Z,1761546159.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:39.780Z,1761546159.780 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=85.953186 2025-10-27T06:22:39.903Z,1761546159.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999964,0.006052,0.005914],[-0.006367,0.998480,0.054748],[-0.005574,-0.054783,0.998483]] 2025-10-27T06:22:39.959Z,1761546159.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:40.033Z,1761546160.033 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=86.205803 2025-10-27T06:22:40.260Z,1761546160.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999976,0.004822,0.005015],[-0.005088,0.998498,0.054557],[-0.004744,-0.054581,0.998498]] 2025-10-27T06:22:40.278Z,1761546160.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:40.284Z,1761546160.284 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=86.457291 2025-10-27T06:22:40.536Z,1761546160.536 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=86.709190 2025-10-27T06:22:40.665Z,1761546160.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999987,0.003094,0.004146],[-0.003319,0.998454,0.055488],[-0.003968,-0.055501,0.998451]] 2025-10-27T06:22:40.683Z,1761546160.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:40.788Z,1761546160.788 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=86.961220 2025-10-27T06:22:41.040Z,1761546161.040 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=87.213112 2025-10-27T06:22:41.088Z,1761546161.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999995,0.000656,0.003230],[-0.000837,0.998412,0.056333],[-0.003188,-0.056335,0.998407]] 2025-10-27T06:22:41.142Z,1761546161.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:41.292Z,1761546161.292 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=87.465446 2025-10-27T06:22:41.471Z,1761546161.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999995,-0.001400,0.002753],[0.001244,0.998433,0.055948],[-0.002827,-0.055945,0.998430]] 2025-10-27T06:22:41.506Z,1761546161.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:41.544Z,1761546161.544 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=87.717285 2025-10-27T06:22:41.796Z,1761546161.796 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=87.969116 2025-10-27T06:22:41.883Z,1761546161.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999991,-0.003791,0.002049],[0.003672,0.998446,0.055611],[-0.002256,-0.055603,0.998450]] 2025-10-27T06:22:41.962Z,1761546161.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:42.051Z,1761546162.051 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=88.223877 2025-10-27T06:22:42.300Z,1761546162.300 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=88.473091 2025-10-27T06:22:42.343Z,1761546162.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:42.553Z,1761546162.553 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=88.726524 2025-10-27T06:22:42.687Z,1761546162.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999961,-0.008778,0.001303],[0.008692,0.998434,0.055257],[-0.001786,-0.055243,0.998471]] 2025-10-27T06:22:42.717Z,1761546162.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:42.804Z,1761546162.804 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=88.977615 2025-10-27T06:22:43.057Z,1761546163.057 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=89.229683 2025-10-27T06:22:43.092Z,1761546163.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999930,-0.011819,0.000956],[0.011749,0.998430,0.054776],[-0.001602,-0.054761,0.998498]] 2025-10-27T06:22:43.136Z,1761546163.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:43.308Z,1761546163.308 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=89.481102 2025-10-27T06:22:43.493Z,1761546163.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999895,-0.014489,0.000648],[0.014432,0.998400,0.054682],[-0.001439,-0.054667,0.998504]] 2025-10-27T06:22:43.511Z,1761546163.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:43.561Z,1761546163.561 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=89.734215 2025-10-27T06:22:43.812Z,1761546163.812 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=89.985229 2025-10-27T06:22:43.905Z,1761546163.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999849,-0.017377,0.000534],[0.017322,0.998357,0.054614],[-0.001482,-0.054596,0.998507]] 2025-10-27T06:22:43.981Z,1761546163.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:44.065Z,1761546164.065 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=90.237961 2025-10-27T06:22:44.316Z,1761546164.316 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=90.489151 2025-10-27T06:22:44.368Z,1761546164.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999806,-0.019711,0.000563],[0.019651,0.998296,0.054939],[-0.001645,-0.054917,0.998489]] 2025-10-27T06:22:44.406Z,1761546164.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:44.569Z,1761546164.569 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=90.742004 2025-10-27T06:22:44.762Z,1761546164.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999751,-0.022314,0.000692],[0.022242,0.998234,0.055088],[-0.001920,-0.055059,0.998481]] 2025-10-27T06:22:44.797Z,1761546164.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:44.820Z,1761546164.820 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=90.993263 2025-10-27T06:22:45.073Z,1761546165.073 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=91.246292 2025-10-27T06:22:45.216Z,1761546165.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:45.324Z,1761546165.324 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=91.497353 2025-10-27T06:22:45.576Z,1761546165.576 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=91.749290 2025-10-27T06:22:45.582Z,1761546165.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999596,-0.028412,0.000890],[0.028322,0.998126,0.054249],[-0.002430,-0.054202,0.998527]] 2025-10-27T06:22:45.603Z,1761546165.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:45.828Z,1761546165.828 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=92.001549 2025-10-27T06:22:46.013Z,1761546166.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999537,-0.030409,0.001157],[0.030302,0.998070,0.054199],[-0.002803,-0.054139,0.998529]] 2025-10-27T06:22:46.076Z,1761546166.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:46.080Z,1761546166.080 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=92.253532 2025-10-27T06:22:46.332Z,1761546166.332 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=92.505280 2025-10-27T06:22:46.470Z,1761546166.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:46.584Z,1761546166.584 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=92.757141 2025-10-27T06:22:46.806Z,1761546166.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999438,-0.033505,0.001486],[0.033375,0.997967,0.054289],[-0.003302,-0.054209,0.998524]] 2025-10-27T06:22:46.836Z,1761546166.836 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=93.009407 2025-10-27T06:22:46.849Z,1761546166.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:47.029Z,1761546167.029 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:22:47.088Z,1761546167.088 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=93.261314 2025-10-27T06:22:47.187Z,1761546167.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999398,-0.034662,0.001643],[0.034521,0.997920,0.054438],[-0.003527,-0.054349,0.998516]] 2025-10-27T06:22:47.259Z,1761546167.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:47.340Z,1761546167.340 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=93.513504 2025-10-27T06:22:47.598Z,1761546167.598 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=93.770844 2025-10-27T06:22:47.600Z,1761546167.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999382,-0.035104,0.001789],[0.034953,0.997887,0.054775],[-0.003708,-0.054678,0.998497]] 2025-10-27T06:22:47.639Z,1761546167.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:47.848Z,1761546167.848 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=94.021156 2025-10-27T06:22:48.032Z,1761546168.032 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:22:48.036Z,1761546168.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999362,-0.035651,0.002132],[0.035480,0.997867,0.054803],[-0.004081,-0.054692,0.998495]] 2025-10-27T06:22:48.100Z,1761546168.100 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=94.273285 2025-10-27T06:22:48.105Z,1761546168.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:48.352Z,1761546168.352 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=94.525124 2025-10-27T06:22:48.402Z,1761546168.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999334,-0.036410,0.002389],[0.036226,0.997854,0.054541],[-0.004370,-0.054418,0.998509]] 2025-10-27T06:22:48.440Z,1761546168.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:48.604Z,1761546168.604 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=94.777184 2025-10-27T06:22:48.803Z,1761546168.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999328,-0.036571,0.002638],[0.036374,0.997858,0.054364],[-0.004621,-0.054232,0.998518]] 2025-10-27T06:22:48.822Z,1761546168.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:48.857Z,1761546168.857 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=95.030579 2025-10-27T06:22:49.108Z,1761546169.108 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=95.281204 2025-10-27T06:22:49.207Z,1761546169.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999321,-0.036719,0.002994],[0.036504,0.997871,0.054054],[-0.004973,-0.053908,0.998534]] 2025-10-27T06:22:49.246Z,1761546169.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:49.361Z,1761546169.361 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=95.533630 2025-10-27T06:22:49.612Z,1761546169.612 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=95.785103 2025-10-27T06:22:49.614Z,1761546169.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999330,-0.036427,0.003468],[0.036187,0.997885,0.053999],[-0.005428,-0.053837,0.998535]] 2025-10-27T06:22:49.653Z,1761546169.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:49.864Z,1761546169.864 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=96.037277 2025-10-27T06:22:50.060Z,1761546170.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999330,-0.036382,0.003962],[0.036116,0.997898,0.053811],[-0.005912,-0.053631,0.998543]] 2025-10-27T06:22:50.116Z,1761546170.116 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=96.289261 2025-10-27T06:22:50.121Z,1761546170.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:50.368Z,1761546170.368 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=96.541191 2025-10-27T06:22:50.474Z,1761546170.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:50.620Z,1761546170.620 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=96.793243 2025-10-27T06:22:50.823Z,1761546170.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999309,-0.036861,0.004838],[0.036550,0.997899,0.053492],[-0.006800,-0.053278,0.998557]] 2025-10-27T06:22:50.842Z,1761546170.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:50.885Z,1761546170.885 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=97.058136 2025-10-27T06:22:51.136Z,1761546171.136 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=97.309158 2025-10-27T06:22:51.225Z,1761546171.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999293,-0.037217,0.005360],[0.036878,0.997889,0.053460],[-0.007338,-0.053225,0.998556]] 2025-10-27T06:22:51.274Z,1761546171.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:51.388Z,1761546171.388 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=97.561630 2025-10-27T06:22:51.632Z,1761546171.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999256,-0.038130,0.005850],[0.037765,0.997866,0.053270],[-0.007869,-0.053010,0.998563]] 2025-10-27T06:22:51.640Z,1761546171.640 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=97.813271 2025-10-27T06:22:51.673Z,1761546171.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:51.893Z,1761546171.893 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=98.065979 2025-10-27T06:22:52.114Z,1761546172.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:52.144Z,1761546172.144 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=98.317398 2025-10-27T06:22:52.396Z,1761546172.396 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=98.569244 2025-10-27T06:22:52.492Z,1761546172.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:52.648Z,1761546172.648 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=98.821175 2025-10-27T06:22:52.841Z,1761546172.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999095,-0.041976,0.006925],[0.041553,0.997743,0.052747],[-0.009123,-0.052412,0.998584]] 2025-10-27T06:22:52.883Z,1761546172.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:52.902Z,1761546172.902 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=99.075623 2025-10-27T06:22:53.152Z,1761546173.152 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=99.325188 2025-10-27T06:22:53.245Z,1761546173.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999008,-0.043951,0.007222],[0.043511,0.997663,0.052682],[-0.009520,-0.052316,0.998585]] 2025-10-27T06:22:53.301Z,1761546173.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:53.404Z,1761546173.404 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=99.577217 2025-10-27T06:22:53.660Z,1761546173.660 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=99.832672 2025-10-27T06:22:53.669Z,1761546173.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998916,-0.045931,0.007509],[0.045473,0.997574,0.052707],[-0.009912,-0.052308,0.998582]] 2025-10-27T06:22:53.688Z,1761546173.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:53.911Z,1761546173.911 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=100.084473 2025-10-27T06:22:54.082Z,1761546174.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998687,-0.050598,0.007955],[0.050110,0.997349,0.052763],[-0.010603,-0.052295,0.998575]] 2025-10-27T06:22:54.158Z,1761546174.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:54.160Z,1761546174.160 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=100.333313 2025-10-27T06:22:54.412Z,1761546174.412 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=100.585236 2025-10-27T06:22:54.563Z,1761546174.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:54.664Z,1761546174.664 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=100.837585 2025-10-27T06:22:54.867Z,1761546174.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998416,-0.055677,0.008045],[0.055177,0.997080,0.052795],[-0.010961,-0.052267,0.998573]] 2025-10-27T06:22:54.885Z,1761546174.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:54.916Z,1761546174.916 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=101.089310 2025-10-27T06:22:55.168Z,1761546175.168 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=101.341331 2025-10-27T06:22:55.292Z,1761546175.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998276,-0.058148,0.007984],[0.057649,0.996946,0.052671],[-0.011022,-0.052120,0.998580]] 2025-10-27T06:22:55.339Z,1761546175.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:55.420Z,1761546175.420 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=101.593704 2025-10-27T06:22:55.672Z,1761546175.672 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=101.845192 2025-10-27T06:22:55.701Z,1761546175.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998169,-0.059966,0.007918],[0.059467,0.996835,0.052767],[-0.011057,-0.052199,0.998575]] 2025-10-27T06:22:55.741Z,1761546175.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:55.924Z,1761546175.924 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=102.097298 2025-10-27T06:22:56.117Z,1761546176.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998109,-0.060996,0.007668],[0.060506,0.996755,0.053096],[-0.010882,-0.052531,0.998560]] 2025-10-27T06:22:56.176Z,1761546176.176 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=102.349281 2025-10-27T06:22:56.188Z,1761546176.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:56.428Z,1761546176.428 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=102.601128 2025-10-27T06:22:56.502Z,1761546176.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998059,-0.061830,0.007481],[0.061344,0.996686,0.053422],[-0.010760,-0.052860,0.998544]] 2025-10-27T06:22:56.583Z,1761546176.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:56.681Z,1761546176.681 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=102.853905 2025-10-27T06:22:56.906Z,1761546176.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998015,-0.062535,0.007447],[0.062047,0.996628,0.053700],[-0.010780,-0.053132,0.998529]] 2025-10-27T06:22:56.932Z,1761546176.932 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=103.105179 2025-10-27T06:22:56.953Z,1761546176.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:57.187Z,1761546177.187 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=103.359535 2025-10-27T06:22:57.364Z,1761546177.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:57.437Z,1761546177.437 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=103.610512 2025-10-27T06:22:57.688Z,1761546177.688 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=103.861183 2025-10-27T06:22:57.734Z,1761546177.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997966,-0.063341,0.007234],[0.062859,0.996557,0.054061],[-0.010634,-0.053496,0.998511]] 2025-10-27T06:22:57.755Z,1761546177.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:57.940Z,1761546177.940 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=104.113220 2025-10-27T06:22:58.122Z,1761546178.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997989,-0.062981,0.007169],[0.062502,0.996572,0.054204],[-0.010558,-0.053646,0.998504]] 2025-10-27T06:22:58.193Z,1761546178.193 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=104.366226 2025-10-27T06:22:58.224Z,1761546178.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:58.444Z,1761546178.444 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=104.617256 2025-10-27T06:22:58.526Z,1761546178.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998006,-0.062717,0.007093],[0.062244,0.996597,0.054044],[-0.010458,-0.053494,0.998513]] 2025-10-27T06:22:58.579Z,1761546178.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:58.696Z,1761546178.696 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=104.869263 2025-10-27T06:22:58.927Z,1761546178.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998053,-0.061972,0.007051],[0.061507,0.996666,0.053616],[-0.010350,-0.053078,0.998537]] 2025-10-27T06:22:58.948Z,1761546178.948 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=105.121361 2025-10-27T06:22:58.958Z,1761546178.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:59.202Z,1761546179.202 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=105.375381 2025-10-27T06:22:59.330Z,1761546179.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998141,-0.060539,0.007055],[0.060085,0.996799,0.052749],[-0.010226,-0.052227,0.998583]] 2025-10-27T06:22:59.373Z,1761546179.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:59.453Z,1761546179.453 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=105.625473 2025-10-27T06:22:59.705Z,1761546179.705 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=105.877701 2025-10-27T06:22:59.739Z,1761546179.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998223,-0.059196,0.006874],[0.058760,0.996911,0.052106],[-0.009938,-0.051610,0.998618]] 2025-10-27T06:22:59.774Z,1761546179.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:22:59.956Z,1761546179.956 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=106.129181 2025-10-27T06:23:00.211Z,1761546180.211 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=106.383583 2025-10-27T06:23:00.252Z,1761546180.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:00.461Z,1761546180.461 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=106.633720 2025-10-27T06:23:00.627Z,1761546180.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998376,-0.056570,0.006652],[0.056145,0.997044,0.052456],[-0.009600,-0.051998,0.998601]] 2025-10-27T06:23:00.713Z,1761546180.713 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=106.885841 2025-10-27T06:23:00.770Z,1761546180.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:00.965Z,1761546180.965 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=107.137939 2025-10-27T06:23:01.040Z,1761546181.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998454,-0.055216,0.006447],[0.054801,0.997106,0.052681],[-0.009338,-0.052246,0.998591]] 2025-10-27T06:23:01.080Z,1761546181.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:01.218Z,1761546181.218 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=107.391190 2025-10-27T06:23:01.433Z,1761546181.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998549,-0.053494,0.006205],[0.053092,0.997183,0.052979],[-0.009022,-0.052573,0.998576]] 2025-10-27T06:23:01.468Z,1761546181.468 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=107.641266 2025-10-27T06:23:01.503Z,1761546181.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:01.721Z,1761546181.721 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=107.893906 2025-10-27T06:23:01.839Z,1761546181.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998636,-0.051871,0.005940],[0.051484,0.997260,0.053117],[-0.008679,-0.052739,0.998571]] 2025-10-27T06:23:01.875Z,1761546181.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:01.972Z,1761546181.972 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=108.145287 2025-10-27T06:23:02.235Z,1761546182.235 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=108.399338 2025-10-27T06:23:02.272Z,1761546182.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998711,-0.050446,0.005580],[0.050080,0.997337,0.053023],[-0.008240,-0.052675,0.998578]] 2025-10-27T06:23:02.324Z,1761546182.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:02.476Z,1761546182.476 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=108.649147 2025-10-27T06:23:02.646Z,1761546182.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998763,-0.049432,0.005370],[0.049081,0.997403,0.052719],[-0.007962,-0.052390,0.998595]] 2025-10-27T06:23:02.684Z,1761546182.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:02.728Z,1761546182.728 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=108.901611 2025-10-27T06:23:02.980Z,1761546182.980 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=109.153069 2025-10-27T06:23:03.053Z,1761546183.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998829,-0.048110,0.005153],[0.047773,0.997471,0.052624],[-0.007671,-0.052316,0.998601]] 2025-10-27T06:23:03.072Z,1761546183.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:03.235Z,1761546183.235 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=109.407776 2025-10-27T06:23:03.453Z,1761546183.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998889,-0.046877,0.004823],[0.046559,0.997530,0.052591],[-0.007276,-0.052308,0.998604]] 2025-10-27T06:23:03.484Z,1761546183.484 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=109.657288 2025-10-27T06:23:03.505Z,1761546183.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:03.737Z,1761546183.737 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=109.909775 2025-10-27T06:23:03.858Z,1761546183.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998954,-0.045500,0.004503],[0.045200,0.997585,0.052739],[-0.006892,-0.052480,0.998598]] 2025-10-27T06:23:03.902Z,1761546183.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:03.989Z,1761546183.989 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=110.161644 2025-10-27T06:23:04.243Z,1761546184.243 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=110.415581 2025-10-27T06:23:04.366Z,1761546184.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:04.492Z,1761546184.492 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=110.665184 2025-10-27T06:23:04.668Z,1761546184.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999041,-0.043600,0.003886],[0.043333,0.997656,0.052966],[-0.006187,-0.052747,0.998589]] 2025-10-27T06:23:04.686Z,1761546184.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:04.745Z,1761546184.745 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=110.918213 2025-10-27T06:23:04.996Z,1761546184.996 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=111.169266 2025-10-27T06:23:05.069Z,1761546185.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999085,-0.042618,0.003547],[0.042369,0.997683,0.053230],[-0.005807,-0.053031,0.998576]] 2025-10-27T06:23:05.101Z,1761546185.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:05.251Z,1761546185.251 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=111.423653 2025-10-27T06:23:05.473Z,1761546185.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999117,-0.041880,0.003373],[0.041640,0.997709,0.053324],[-0.005599,-0.053137,0.998572]] 2025-10-27T06:23:05.483Z,1761546185.483 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-10-27T06:23:05.500Z,1761546185.500 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=111.673576 2025-10-27T06:23:05.568Z,1761546185.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:05.752Z,1761546185.752 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=111.925385 2025-10-27T06:23:05.878Z,1761546185.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999158,-0.040911,0.003212],[0.040681,0.997739,0.053496],[-0.005393,-0.053320,0.998563]] 2025-10-27T06:23:05.933Z,1761546185.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:06.004Z,1761546186.004 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=112.177177 2025-10-27T06:23:06.259Z,1761546186.259 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=112.431541 2025-10-27T06:23:06.327Z,1761546186.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999182,-0.040337,0.002944],[0.040122,0.997766,0.053409],[-0.005092,-0.053247,0.998568]] 2025-10-27T06:23:06.368Z,1761546186.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:06.510Z,1761546186.510 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=112.682541 2025-10-27T06:23:06.686Z,1761546186.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999207,-0.039720,0.002826],[0.039513,0.997794,0.053338],[-0.004938,-0.053184,0.998572]] 2025-10-27T06:23:06.717Z,1761546186.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:06.761Z,1761546186.761 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=112.933525 2025-10-27T06:23:07.013Z,1761546187.013 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=113.186401 2025-10-27T06:23:07.089Z,1761546187.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999239,-0.038910,0.002709],[0.038710,0.997824,0.053367],[-0.004780,-0.053221,0.998571]] 2025-10-27T06:23:07.133Z,1761546187.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:07.266Z,1761546187.266 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=113.438797 2025-10-27T06:23:07.494Z,1761546187.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999272,-0.038048,0.002624],[0.037854,0.997851,0.053479],[-0.004653,-0.053341,0.998565]] 2025-10-27T06:23:07.517Z,1761546187.517 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=113.689728 2025-10-27T06:23:07.560Z,1761546187.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:07.768Z,1761546187.768 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=113.941292 2025-10-27T06:23:07.900Z,1761546187.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999319,-0.036808,0.002567],[0.036617,0.997878,0.053832],[-0.004543,-0.053701,0.998547]] 2025-10-27T06:23:07.940Z,1761546187.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:08.021Z,1761546188.021 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=114.194511 2025-10-27T06:23:08.272Z,1761546188.272 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=114.445183 2025-10-27T06:23:08.347Z,1761546188.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999363,-0.035601,0.002661],[0.035405,0.997907,0.054115],[-0.004582,-0.053986,0.998531]] 2025-10-27T06:23:08.389Z,1761546188.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:08.525Z,1761546188.525 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=114.697838 2025-10-27T06:23:08.709Z,1761546188.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999415,-0.034086,0.002822],[0.033882,0.997939,0.054496],[-0.004674,-0.054368,0.998510]] 2025-10-27T06:23:08.749Z,1761546188.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:08.780Z,1761546188.780 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=114.953415 2025-10-27T06:23:09.033Z,1761546189.033 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=115.206139 2025-10-27T06:23:09.110Z,1761546189.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999466,-0.032557,0.002810],[0.032355,0.997976,0.054740],[-0.004586,-0.054619,0.998497]] 2025-10-27T06:23:09.136Z,1761546189.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:09.284Z,1761546189.284 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=115.457207 2025-10-27T06:23:09.530Z,1761546189.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999530,-0.030502,0.002971],[0.030292,0.998018,0.055166],[-0.004648,-0.055050,0.998473]] 2025-10-27T06:23:09.536Z,1761546189.536 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=115.709358 2025-10-27T06:23:09.589Z,1761546189.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:09.789Z,1761546189.789 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=115.961861 2025-10-27T06:23:09.952Z,1761546189.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:10.040Z,1761546190.040 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=116.213326 2025-10-27T06:23:10.295Z,1761546190.295 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=116.467300 2025-10-27T06:23:10.369Z,1761546190.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999645,-0.026446,0.003234],[0.026227,0.998124,0.055323],[-0.004691,-0.055218,0.998463]] 2025-10-27T06:23:10.424Z,1761546190.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:10.544Z,1761546190.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:23:10.544Z,1761546190.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:23:10.734Z,1761546190.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999693,-0.024544,0.003389],[0.024320,0.998191,0.054978],[-0.004732,-0.054879,0.998482]] 2025-10-27T06:23:10.754Z,1761546190.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:10.796Z,1761546190.796 [DAT](INFO): DAT read: user:755> 2025-10-27T06:23:10.797Z,1761546190.797 [DAT](INFO): DAT read: Tx time:06:23:09.8676 2025-10-27T06:23:10.797Z,1761546190.797 [DAT](INFO): Ping request sent. 2025-10-27T06:23:10.797Z,1761546190.797 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:23:10.797Z,1761546190.797 [DAT](INFO): publishing transmit ping time 2025-10-27T06:23:10.798Z,1761546190.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-27T06:23:11.048Z,1761546191.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250814 2025-10-27T06:23:11.129Z,1761546191.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999743,-0.022344,0.003756],[0.022106,0.998257,0.054721],[-0.004972,-0.054624,0.998495]] 2025-10-27T06:23:11.158Z,1761546191.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:11.300Z,1761546191.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502804 2025-10-27T06:23:11.538Z,1761546191.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999788,-0.020140,0.004176],[0.019883,0.998322,0.054385],[-0.005265,-0.054290,0.998511]] 2025-10-27T06:23:11.552Z,1761546191.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754805 2025-10-27T06:23:11.584Z,1761546191.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:11.804Z,1761546191.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006782 2025-10-27T06:23:11.938Z,1761546191.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999837,-0.017423,0.004649],[0.017145,0.998375,0.054353],[-0.005588,-0.054264,0.998511]] 2025-10-27T06:23:11.980Z,1761546191.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:12.056Z,1761546192.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258719 2025-10-27T06:23:12.308Z,1761546192.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510711 2025-10-27T06:23:12.415Z,1761546192.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999878,-0.014708,0.005187],[0.014404,0.998414,0.054427],[-0.005979,-0.054345,0.998504]] 2025-10-27T06:23:12.462Z,1761546192.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:12.560Z,1761546192.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763217 2025-10-27T06:23:12.812Z,1761546192.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014775 2025-10-27T06:23:12.817Z,1761546192.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999910,-0.012160,0.005716],[0.011831,0.998447,0.054440],[-0.006369,-0.054367,0.998501]] 2025-10-27T06:23:12.836Z,1761546192.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:13.066Z,1761546193.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268593 2025-10-27T06:23:13.213Z,1761546193.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999933,-0.009742,0.006308],[0.009384,0.998475,0.054407],[-0.006828,-0.054344,0.998499]] 2025-10-27T06:23:13.241Z,1761546193.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:13.316Z,1761546193.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518866 2025-10-27T06:23:13.568Z,1761546193.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770682 2025-10-27T06:23:13.618Z,1761546193.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999948,-0.007516,0.006937],[0.007129,0.998503,0.054223],[-0.007334,-0.054171,0.998505]] 2025-10-27T06:23:13.666Z,1761546193.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:13.820Z,1761546193.820 [DAT](INFO): DAT read: Rx Time:06:23:12.2943 2025-10-27T06:23:13.820Z,1761546193.820 [DAT](INFO): Rx dataTimestamp_ set to:1761546193.820076 2025-10-27T06:23:13.821Z,1761546193.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023756 2025-10-27T06:23:14.033Z,1761546194.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999957,-0.005312,0.007627],[0.004892,0.998524,0.054083],[-0.007903,-0.054043,0.998507]] 2025-10-27T06:23:14.052Z,1761546194.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:23:14.072Z,1761546194.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274766 2025-10-27T06:23:14.329Z,1761546194.329 [DAT](INFO): DAT read: 06:23:12.2943 LVL= 30688, 18353, 16546, 32755, AGC= 58, IDX= 52, 0.30,-1.196, 0.965,-0.108, 0.173, PHS=-1.267, 0.837,-0.325, RAW= 303.5, 8.3, CAL= 301.0, 9.1, ROT= 209.0, -9.1 2025-10-27T06:23:14.330Z,1761546194.330 [DAT](INFO): got valid direction response: 06:23:12.2943 LVL= 30688, 18353, 16546, 32755, AGC= 58, IDX= 52, 0.30,-1.196, 0.965,-0.108, 0.173, PHS=-1.267, 0.837,-0.325, RAW= 303.5, 8.3, CAL= 301.0, 9.1, ROT= 209.0, -9.1 2025-10-27T06:23:14.331Z,1761546194.331 [DAT](INFO): DAT read: Bearing 328.6, -28.5 (Local) 2025-10-27T06:23:14.331Z,1761546194.331 [DAT](INFO): Local bearing/azimuth received: Bearing 328.6, -28.5 (Local) 2025-10-27T06:23:14.333Z,1761546194.333 [DAT](INFO): DAT read: Range 11 to 50 : 16.9 m (Round-trip 22.6 ms) speed 0.0 m/s 2025-10-27T06:23:14.333Z,1761546194.333 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:23:14.334Z,1761546194.334 [DAT](INFO): direction in FSK: [-0.863612,-0.478708,0.158158] 2025-10-27T06:23:14.335Z,1761546194.335 [DAT](INFO): publishing direction and range info 2025-10-27T06:23:14.458Z,1761546194.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999959,-0.003221,0.008430],[0.002762,0.998538,0.053983],[-0.008592,-0.053957,0.998506]] 2025-10-27T06:23:14.580Z,1761546194.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.900000 m, deltaT: 58.490464 s, deltaX: 2.500000 m, approachRate: 0.042742 m/s, rangeRepo size: 4 2025-10-27T06:23:14.582Z,1761546194.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.790258 m, bearing: 208.732524 deg, lat: 36.779451 deg, lon: -121.859848 deg, deltaT: 58.490464 s, deltaX: 2.483640 m, approachRate: 0.042462 m/s, posRepo size: 4 2025-10-27T06:23:14.587Z,1761546194.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:14.850Z,1761546194.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999957,-0.001379,0.009216],[0.000881,0.998552,0.053787],[-0.009276,-0.053776,0.998510]] 2025-10-27T06:23:14.947Z,1761546194.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:15.255Z,1761546195.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999950,0.000566,0.009938],[-0.001099,0.998556,0.053713],[-0.009893,-0.053721,0.998507]] 2025-10-27T06:23:15.287Z,1761546195.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:15.658Z,1761546195.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999939,0.002213,0.010822],[-0.002790,0.998556,0.053651],[-0.010688,-0.053678,0.998501]] 2025-10-27T06:23:15.741Z,1761546195.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:16.062Z,1761546196.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999925,0.003884,0.011623],[-0.004502,0.998552,0.053610],[-0.011398,-0.053658,0.998494]] 2025-10-27T06:23:16.108Z,1761546196.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:16.474Z,1761546196.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999907,0.005369,0.012538],[-0.006033,0.998547,0.053541],[-0.012232,-0.053611,0.998487]] 2025-10-27T06:23:16.537Z,1761546196.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:16.875Z,1761546196.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999887,0.006928,0.013348],[-0.007633,0.998539,0.053491],[-0.012958,-0.053587,0.998479]] 2025-10-27T06:23:16.901Z,1761546196.901 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-10-27T06:23:16.932Z,1761546196.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:17.275Z,1761546197.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999863,0.008657,0.014094],[-0.009401,0.998521,0.053552],[-0.013610,-0.053677,0.998466]] 2025-10-27T06:23:17.312Z,1761546197.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:17.739Z,1761546197.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:18.088Z,1761546198.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999763,0.014429,0.016315],[-0.015288,0.998437,0.053766],[-0.015513,-0.054002,0.998420]] 2025-10-27T06:23:18.124Z,1761546198.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:18.164Z,1761546198.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:23:18.522Z,1761546198.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999724,0.016216,0.016972],[-0.017106,0.998411,0.053693],[-0.016074,-0.053968,0.998413]] 2025-10-27T06:23:18.567Z,1761546198.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:18.917Z,1761546198.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999675,0.018373,0.017671],[-0.019299,0.998366,0.053787],[-0.016653,-0.054110,0.998396]] 2025-10-27T06:23:18.936Z,1761546198.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:19.167Z,1761546199.167 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:23:19.323Z,1761546199.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999624,0.020483,0.018245],[-0.021437,0.998325,0.053732],[-0.017114,-0.054103,0.998389]] 2025-10-27T06:23:19.346Z,1761546199.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:19.734Z,1761546199.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999572,0.022344,0.018895],[-0.023327,0.998297,0.053468],[-0.017668,-0.053886,0.998391]] 2025-10-27T06:23:19.763Z,1761546199.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:20.130Z,1761546200.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999515,0.024164,0.019649],[-0.025180,0.998266,0.053209],[-0.018329,-0.053678,0.998390]] 2025-10-27T06:23:20.173Z,1761546200.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:20.588Z,1761546200.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:20.939Z,1761546200.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999378,0.028109,0.021296],[-0.029209,0.998155,0.053236],[-0.019760,-0.053825,0.998355]] 2025-10-27T06:23:20.958Z,1761546200.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:21.342Z,1761546201.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999309,0.029819,0.022210],[-0.030968,0.998097,0.053316],[-0.020578,-0.053967,0.998331]] 2025-10-27T06:23:21.370Z,1761546201.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:21.839Z,1761546201.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999244,0.031179,0.023213],[-0.032380,0.998053,0.053302],[-0.021506,-0.054013,0.998309]] 2025-10-27T06:23:21.913Z,1761546201.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:22.157Z,1761546202.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999200,0.031820,0.024220],[-0.033066,0.998052,0.052913],[-0.022489,-0.053671,0.998305]] 2025-10-27T06:23:22.196Z,1761546202.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:22.564Z,1761546202.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999148,0.032642,0.025269],[-0.033936,0.998039,0.052602],[-0.023503,-0.053415,0.998296]] 2025-10-27T06:23:22.617Z,1761546202.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:22.996Z,1761546202.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999102,0.033127,0.026400],[-0.034468,0.998047,0.052107],[-0.024622,-0.052970,0.998293]] 2025-10-27T06:23:23.030Z,1761546203.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:23.390Z,1761546203.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999055,0.033702,0.027442],[-0.035090,0.998044,0.051746],[-0.025644,-0.052660,0.998283]] 2025-10-27T06:23:23.409Z,1761546203.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:23.795Z,1761546203.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999011,0.034042,0.028601],[-0.035484,0.998040,0.051540],[-0.026790,-0.052504,0.998261]] 2025-10-27T06:23:23.832Z,1761546203.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:24.198Z,1761546204.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998961,0.034512,0.029759],[-0.036020,0.998012,0.051716],[-0.027915,-0.052734,0.998218]] 2025-10-27T06:23:24.223Z,1761546204.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:24.654Z,1761546204.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:25.013Z,1761546205.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998869,0.035313,0.031849],[-0.036944,0.997955,0.052158],[-0.029942,-0.053276,0.998131]] 2025-10-27T06:23:25.032Z,1761546205.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:25.420Z,1761546205.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998823,0.035724,0.032794],[-0.037407,0.997933,0.052249],[-0.030860,-0.053414,0.998095]] 2025-10-27T06:23:25.439Z,1761546205.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:25.814Z,1761546205.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998784,0.036075,0.033607],[-0.037799,0.997924,0.052151],[-0.031656,-0.053358,0.998074]] 2025-10-27T06:23:25.858Z,1761546205.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:26.218Z,1761546206.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998738,0.036708,0.034290],[-0.038467,0.997899,0.052125],[-0.032305,-0.053379,0.998052]] 2025-10-27T06:23:26.253Z,1761546206.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:26.625Z,1761546206.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998685,0.037476,0.034981],[-0.039273,0.997865,0.052177],[-0.032951,-0.053482,0.998025]] 2025-10-27T06:23:26.674Z,1761546206.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:27.028Z,1761546207.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998612,0.038785,0.035646],[-0.040627,0.997795,0.052494],[-0.033531,-0.053869,0.997985]] 2025-10-27T06:23:27.047Z,1761546207.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:27.430Z,1761546207.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998541,0.040166,0.036083],[-0.042040,0.997721,0.052775],[-0.033881,-0.054215,0.997954]] 2025-10-27T06:23:27.461Z,1761546207.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:27.834Z,1761546207.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998476,0.041565,0.036318],[-0.043455,0.997654,0.052895],[-0.034034,-0.054393,0.997939]] 2025-10-27T06:23:27.891Z,1761546207.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:28.238Z,1761546208.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998407,0.043010,0.036530],[-0.044909,0.997592,0.052861],[-0.034168,-0.054417,0.997934]] 2025-10-27T06:23:28.263Z,1761546208.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:28.653Z,1761546208.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998332,0.044559,0.036719],[-0.046461,0.997529,0.052696],[-0.034281,-0.054314,0.997935]] 2025-10-27T06:23:28.696Z,1761546208.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:29.045Z,1761546209.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998257,0.046097,0.036848],[-0.047996,0.997471,0.052428],[-0.034338,-0.054105,0.997945]] 2025-10-27T06:23:29.096Z,1761546209.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:29.457Z,1761546209.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998183,0.047674,0.036858],[-0.049562,0.997410,0.052123],[-0.034277,-0.053855,0.997960]] 2025-10-27T06:23:29.583Z,1761546209.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:29.862Z,1761546209.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998097,0.049536,0.036711],[-0.051409,0.997325,0.051958],[-0.034039,-0.053747,0.997974]] 2025-10-27T06:23:29.932Z,1761546209.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:30.262Z,1761546210.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998018,0.051211,0.036560],[-0.053069,0.997246,0.051809],[-0.033807,-0.053647,0.997988]] 2025-10-27T06:23:30.300Z,1761546210.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:30.680Z,1761546210.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997941,0.052835,0.036350],[-0.054679,0.997162,0.051743],[-0.033513,-0.053624,0.997999]] 2025-10-27T06:23:30.776Z,1761546210.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:31.071Z,1761546211.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997871,0.054156,0.036337],[-0.055997,0.997091,0.051718],[-0.033431,-0.053643,0.998000]] 2025-10-27T06:23:31.094Z,1761546211.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:31.498Z,1761546211.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997839,0.054901,0.036107],[-0.056718,0.997066,0.051398],[-0.033179,-0.053335,0.998025]] 2025-10-27T06:23:31.517Z,1761546211.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:31.879Z,1761546211.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997807,0.055643,0.035837],[-0.057438,0.997037,0.051175],[-0.032884,-0.053121,0.998047]] 2025-10-27T06:23:31.922Z,1761546211.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:23:31.924Z,1761546211.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:31.000Z,1761546212.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:23:32.000Z,1761546212.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:23:32.252Z,1761546212.252 [DAT](INFO): DAT read: user:756> 2025-10-27T06:23:32.253Z,1761546212.253 [DAT](INFO): DAT read: Tx time:06:23:31.3175 2025-10-27T06:23:32.253Z,1761546212.253 [DAT](INFO): Ping request sent. 2025-10-27T06:23:32.253Z,1761546212.253 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:23:32.253Z,1761546212.253 [DAT](INFO): publishing transmit ping time 2025-10-27T06:23:32.254Z,1761546212.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T06:23:32.304Z,1761546212.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997797,0.055929,0.035683],[-0.057706,0.997036,0.050887],[-0.032731,-0.052834,0.998067]] 2025-10-27T06:23:32.398Z,1761546212.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:32.504Z,1761546212.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250887 2025-10-27T06:23:32.712Z,1761546212.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997796,0.056093,0.035461],[-0.057854,0.997034,0.050746],[-0.032509,-0.052685,0.998082]] 2025-10-27T06:23:32.756Z,1761546212.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502967 2025-10-27T06:23:32.821Z,1761546212.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:33.008Z,1761546213.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919 2025-10-27T06:23:33.140Z,1761546213.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:33.260Z,1761546213.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006858 2025-10-27T06:23:33.500Z,1761546213.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997888,0.054760,0.034931],[-0.056498,0.997104,0.050903],[-0.032042,-0.052769,0.998093]] 2025-10-27T06:23:33.512Z,1761546213.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258825 2025-10-27T06:23:33.547Z,1761546213.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:33.764Z,1761546213.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887 2025-10-27T06:23:33.897Z,1761546213.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997942,0.053998,0.034582],[-0.055719,0.997147,0.050915],[-0.031734,-0.052737,0.998104]] 2025-10-27T06:23:33.950Z,1761546213.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:34.021Z,1761546214.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768287 2025-10-27T06:23:34.272Z,1761546214.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018859 2025-10-27T06:23:34.308Z,1761546214.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997996,0.053078,0.034447],[-0.054794,0.997197,0.050945],[-0.031647,-0.052731,0.998107]] 2025-10-27T06:23:34.332Z,1761546214.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:34.525Z,1761546214.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271613 2025-10-27T06:23:34.776Z,1761546214.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522970 2025-10-27T06:23:34.794Z,1761546214.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:35.028Z,1761546215.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774853 2025-10-27T06:23:35.109Z,1761546215.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998150,0.050495,0.033861],[-0.052183,0.997335,0.050994],[-0.031196,-0.052667,0.998125]] 2025-10-27T06:23:35.128Z,1761546215.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:35.281Z,1761546215.281 [DAT](INFO): DAT read: Rx Time:06:23:33.7447 2025-10-27T06:23:35.282Z,1761546215.282 [DAT](INFO): Rx dataTimestamp_ set to:1761546215.281594 2025-10-27T06:23:35.282Z,1761546215.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029420 2025-10-27T06:23:35.532Z,1761546215.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278902 2025-10-27T06:23:35.534Z,1761546215.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998234,0.049102,0.033448],[-0.050772,0.997403,0.051074],[-0.030854,-0.052682,0.998135]] 2025-10-27T06:23:35.552Z,1761546215.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.79 m. 2025-10-27T06:23:35.790Z,1761546215.790 [DAT](INFO): DAT read: 06:23:33.7447 LVL= 30704, 18465, 19490, 32755, AGC= 51, IDX= 440, 0.12,-1.746, 0.333,-0.587,-0.311, PHS=-1.333, 0.689,-0.320, RAW= 299.9, 11.0, CAL= 297.4, 14.8, ROT= 212.6, -14.8 2025-10-27T06:23:35.791Z,1761546215.791 [DAT](INFO): got valid direction response: 06:23:33.7447 LVL= 30704, 18465, 19490, 32755, AGC= 51, IDX= 440, 0.12,-1.746, 0.333,-0.587,-0.311, PHS=-1.333, 0.689,-0.320, RAW= 299.9, 11.0, CAL= 297.4, 14.8, ROT= 212.6, -14.8 2025-10-27T06:23:35.792Z,1761546215.792 [DAT](INFO): DAT read: Bearing 319.6, -30.6 (Local) 2025-10-27T06:23:35.792Z,1761546215.792 [DAT](INFO): Local bearing/azimuth received: Bearing 319.6, -30.6 (Local) 2025-10-27T06:23:35.793Z,1761546215.793 [DAT](INFO): DAT read: Range 11 to 50 : 17.2 m (Round-trip 23.0 ms) speed 0.0 m/s 2025-10-27T06:23:35.794Z,1761546215.794 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:23:35.795Z,1761546215.795 [DAT](INFO): direction in FSK: [-0.814503,-0.520896,0.255446] 2025-10-27T06:23:35.795Z,1761546215.795 [DAT](INFO): publishing direction and range info 2025-10-27T06:23:35.926Z,1761546215.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998305,0.047883,0.033074],[-0.049543,0.997452,0.051334],[-0.030532,-0.052885,0.998134]] 2025-10-27T06:23:36.026Z,1761546216.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.200001 m, deltaT: 21.460238 s, deltaX: 0.300001 m, approachRate: 0.013979 m/s, rangeRepo size: 4 2025-10-27T06:23:36.032Z,1761546216.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.088207 m, bearing: 209.328575 deg, lat: 36.779451 deg, lon: -121.859847 deg, deltaT: 21.460238 s, deltaX: 0.297949 m, approachRate: 0.013884 m/s, posRepo size: 4 2025-10-27T06:23:36.032Z,1761546216.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:36.329Z,1761546216.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998384,0.046516,0.032640],[-0.048160,0.997509,0.051539],[-0.030162,-0.053027,0.998137]] 2025-10-27T06:23:36.348Z,1761546216.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:36.764Z,1761546216.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998467,0.045048,0.032149],[-0.046670,0.997574,0.051650],[-0.029744,-0.053071,0.998148]] 2025-10-27T06:23:36.810Z,1761546216.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:37.141Z,1761546217.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998541,0.043890,0.031465],[-0.045483,0.997619,0.051840],[-0.029114,-0.053196,0.998160]] 2025-10-27T06:23:37.168Z,1761546217.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:37.541Z,1761546217.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998609,0.042767,0.030843],[-0.044330,0.997667,0.051921],[-0.028550,-0.053216,0.998175]] 2025-10-27T06:23:37.574Z,1761546217.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:37.946Z,1761546217.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998659,0.042039,0.030201],[-0.043571,0.997695,0.052014],[-0.027945,-0.053261,0.998190]] 2025-10-27T06:23:38.005Z,1761546218.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:38.349Z,1761546218.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998690,0.041700,0.029660],[-0.043208,0.997704,0.052154],[-0.027417,-0.053368,0.998198]] 2025-10-27T06:23:38.368Z,1761546218.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:38.790Z,1761546218.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998704,0.041817,0.029012],[-0.043295,0.997690,0.052347],[-0.026756,-0.053535,0.998207]] 2025-10-27T06:23:38.834Z,1761546218.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:39.191Z,1761546219.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:39.562Z,1761546219.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998698,0.042782,0.027771],[-0.044201,0.997634,0.052667],[-0.025452,-0.053826,0.998226]] 2025-10-27T06:23:39.598Z,1761546219.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:40.024Z,1761546220.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:40.372Z,1761546220.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998656,0.044589,0.026413],[-0.045934,0.997552,0.052730],[-0.023997,-0.053873,0.998259]] 2025-10-27T06:23:40.392Z,1761546220.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:40.810Z,1761546220.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998608,0.045953,0.025888],[-0.047271,0.997483,0.052850],[-0.023394,-0.054000,0.998267]] 2025-10-27T06:23:40.863Z,1761546220.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:41.177Z,1761546221.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998572,0.047032,0.025325],[-0.048314,0.997443,0.052668],[-0.022783,-0.053816,0.998291]] 2025-10-27T06:23:41.213Z,1761546221.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:41.581Z,1761546221.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998544,0.047947,0.024733],[-0.049190,0.997414,0.052404],[-0.022156,-0.053545,0.998320]] 2025-10-27T06:23:41.602Z,1761546221.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:41.991Z,1761546221.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998522,0.048579,0.024389],[-0.049796,0.997403,0.052030],[-0.021798,-0.053167,0.998348]] 2025-10-27T06:23:42.029Z,1761546222.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:42.390Z,1761546222.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998479,0.049673,0.023936],[-0.050862,0.997355,0.051918],[-0.021293,-0.053057,0.998364]] 2025-10-27T06:23:42.416Z,1761546222.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:42.854Z,1761546222.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998442,0.050531,0.023665],[-0.051705,0.997312,0.051918],[-0.020978,-0.053061,0.998371]] 2025-10-27T06:23:42.909Z,1761546222.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:43.214Z,1761546223.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998440,0.050632,0.023529],[-0.051792,0.997322,0.051630],[-0.020852,-0.052768,0.998389]] 2025-10-27T06:23:43.249Z,1761546223.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:43.619Z,1761546223.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998428,0.050866,0.023519],[-0.052025,0.997312,0.051597],[-0.020831,-0.052740,0.998391]] 2025-10-27T06:23:43.729Z,1761546223.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:44.091Z,1761546224.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998430,0.050848,0.023502],[-0.052005,0.997315,0.051552],[-0.020818,-0.052693,0.998394]] 2025-10-27T06:23:44.182Z,1761546224.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:44.611Z,1761546224.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:44.974Z,1761546224.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998535,0.048658,0.023668],[-0.049817,0.997448,0.051136],[-0.021119,-0.052241,0.998411]] 2025-10-27T06:23:45.036Z,1761546225.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:45.402Z,1761546225.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998600,0.047162,0.023941],[-0.048332,0.997533,0.050913],[-0.021481,-0.051998,0.998416]] 2025-10-27T06:23:45.492Z,1761546225.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:45.920Z,1761546225.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998639,0.046207,0.024208],[-0.047397,0.997566,0.051137],[-0.021786,-0.052214,0.998398]] 2025-10-27T06:23:46.004Z,1761546226.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:46.393Z,1761546226.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998686,0.045013,0.024480],[-0.046222,0.997612,0.051319],[-0.022112,-0.052383,0.998382]] 2025-10-27T06:23:46.432Z,1761546226.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:46.799Z,1761546226.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998744,0.043730,0.024450],[-0.044941,0.997666,0.051417],[-0.022145,-0.052451,0.998378]] 2025-10-27T06:23:46.858Z,1761546226.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:47.202Z,1761546227.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998785,0.042614,0.024731],[-0.043845,0.997706,0.051582],[-0.022476,-0.052604,0.998363]] 2025-10-27T06:23:47.261Z,1761546227.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:47.625Z,1761546227.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998830,0.041486,0.024831],[-0.042724,0.997754,0.051599],[-0.022635,-0.052599,0.998359]] 2025-10-27T06:23:47.644Z,1761546227.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:48.018Z,1761546228.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998878,0.040314,0.024842],[-0.041552,0.997808,0.051509],[-0.022711,-0.052484,0.998363]] 2025-10-27T06:23:48.062Z,1761546228.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:48.422Z,1761546228.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998908,0.039531,0.024917],[-0.040773,0.997842,0.051466],[-0.022828,-0.052426,0.998364]] 2025-10-27T06:23:48.465Z,1761546228.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:48.825Z,1761546228.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998934,0.038834,0.024945],[-0.040077,0.997872,0.051442],[-0.022894,-0.052387,0.998364]] 2025-10-27T06:23:48.845Z,1761546228.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:49.281Z,1761546229.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:49.287Z,1761546229.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:23:49.640Z,1761546229.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998930,0.038908,0.025011],[-0.040167,0.997839,0.052000],[-0.022934,-0.052949,0.998334]] 2025-10-27T06:23:49.658Z,1761546229.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:50.039Z,1761546230.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998921,0.039301,0.024757],[-0.040551,0.997813,0.052206],[-0.022651,-0.053154,0.998329]] 2025-10-27T06:23:50.075Z,1761546230.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:50.292Z,1761546230.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:23:50.449Z,1761546230.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998915,0.039540,0.024614],[-0.040781,0.997805,0.052165],[-0.022497,-0.053112,0.998335]] 2025-10-27T06:23:50.480Z,1761546230.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:50.846Z,1761546230.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998897,0.040073,0.024452],[-0.041304,0.997787,0.052111],[-0.022310,-0.053064,0.998342]] 2025-10-27T06:23:50.864Z,1761546230.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:51.249Z,1761546231.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998888,0.040461,0.024208],[-0.041671,0.997789,0.051776],[-0.022060,-0.052727,0.998365]] 2025-10-27T06:23:51.306Z,1761546231.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:51.661Z,1761546231.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998870,0.041032,0.023974],[-0.042224,0.997778,0.051532],[-0.021807,-0.052486,0.998384]] 2025-10-27T06:23:51.741Z,1761546231.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:52.139Z,1761546232.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998773,0.043525,0.023620],[-0.044700,0.997660,0.051726],[-0.021313,-0.052719,0.998382]] 2025-10-27T06:23:52.205Z,1761546232.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:52.533Z,1761546232.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998729,0.044501,0.023671],[-0.045677,0.997616,0.051726],[-0.021313,-0.052741,0.998381]] 2025-10-27T06:23:52.569Z,1761546232.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:52.973Z,1761546232.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998690,0.045437,0.023524],[-0.046601,0.997580,0.051590],[-0.021123,-0.052619,0.998391]] 2025-10-27T06:23:53.031Z,1761546233.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:53.342Z,1761546233.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998656,0.046256,0.023396],[-0.047409,0.997552,0.051405],[-0.020961,-0.052445,0.998404]] 2025-10-27T06:23:53.401Z,1761546233.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:53.749Z,1761546233.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998622,0.047011,0.023304],[-0.048154,0.997528,0.051174],[-0.020840,-0.052226,0.998418]] 2025-10-27T06:23:53.767Z,1761546233.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:54.153Z,1761546234.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998576,0.047981,0.023312],[-0.049123,0.997483,0.051143],[-0.020799,-0.052215,0.998419]] 2025-10-27T06:23:54.229Z,1761546234.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:54.554Z,1761546234.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998522,0.049019,0.023466],[-0.050171,0.997421,0.051332],[-0.020889,-0.052434,0.998406]] 2025-10-27T06:23:54.573Z,1761546234.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:54.974Z,1761546234.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998485,0.049747,0.023518],[-0.050904,0.997377,0.051465],[-0.020897,-0.052584,0.998398]] 2025-10-27T06:23:55.052Z,1761546235.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:55.363Z,1761546235.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998453,0.050344,0.023581],[-0.051505,0.997342,0.051536],[-0.020924,-0.052671,0.998393]] 2025-10-27T06:23:55.401Z,1761546235.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:55.796Z,1761546235.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:56.172Z,1761546236.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998405,0.051166,0.023844],[-0.052337,0.997306,0.051400],[-0.021150,-0.052566,0.998393]] 2025-10-27T06:23:56.257Z,1761546236.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:56.575Z,1761546236.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998396,0.051337,0.023857],[-0.052501,0.997314,0.051072],[-0.021171,-0.052243,0.998410]] 2025-10-27T06:23:56.594Z,1761546236.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:56.986Z,1761546236.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998371,0.051824,0.023861],[-0.052986,0.997294,0.050956],[-0.021156,-0.052137,0.998416]] 2025-10-27T06:23:57.064Z,1761546237.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:57.475Z,1761546237.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:57.786Z,1761546237.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998333,0.052471,0.024054],[-0.053642,0.997259,0.050961],[-0.021314,-0.052166,0.998411]] 2025-10-27T06:23:57.827Z,1761546237.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:58.198Z,1761546238.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998298,0.053084,0.024147],[-0.054267,0.997208,0.051302],[-0.021356,-0.052525,0.998391]] 2025-10-27T06:23:58.316Z,1761546238.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:58.593Z,1761546238.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998285,0.053317,0.024192],[-0.054507,0.997184,0.051501],[-0.021377,-0.052731,0.998380]] 2025-10-27T06:23:58.627Z,1761546238.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:59.197Z,1761546239.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:59.416Z,1761546239.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998274,0.053496,0.024216],[-0.054689,0.997170,0.051592],[-0.021387,-0.052827,0.998375]] 2025-10-27T06:23:59.538Z,1761546239.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:23:59.820Z,1761546239.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998275,0.053558,0.024041],[-0.054739,0.997173,0.051481],[-0.021216,-0.052708,0.998385]] 2025-10-27T06:23:59.880Z,1761546239.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:00.222Z,1761546240.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998271,0.053654,0.023987],[-0.054830,0.997172,0.051394],[-0.021161,-0.052620,0.998390]] 2025-10-27T06:24:00.306Z,1761546240.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:00.626Z,1761546240.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998264,0.053813,0.023962],[-0.054987,0.997164,0.051386],[-0.021129,-0.052614,0.998391]] 2025-10-27T06:24:00.660Z,1761546240.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:01.029Z,1761546241.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998262,0.053878,0.023871],[-0.055047,0.997161,0.051369],[-0.021036,-0.052594,0.998394]] 2025-10-27T06:24:01.052Z,1761546241.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:01.511Z,1761546241.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:01.837Z,1761546241.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998239,0.054353,0.023775],[-0.055520,0.997128,0.051513],[-0.020906,-0.052742,0.998389]] 2025-10-27T06:24:01.856Z,1761546241.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:02.252Z,1761546242.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998235,0.054479,0.023635],[-0.055636,0.997126,0.051415],[-0.020766,-0.052639,0.998398]] 2025-10-27T06:24:02.323Z,1761546242.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:02.646Z,1761546242.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998215,0.054898,0.023501],[-0.056047,0.997104,0.051404],[-0.020611,-0.052629,0.998401]] 2025-10-27T06:24:02.670Z,1761546242.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:03.049Z,1761546243.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998222,0.054810,0.023436],[-0.055951,0.997121,0.051174],[-0.020564,-0.052394,0.998415]] 2025-10-27T06:24:03.085Z,1761546243.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:03.456Z,1761546243.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998215,0.054988,0.023319],[-0.056121,0.997116,0.051096],[-0.020442,-0.052314,0.998421]] 2025-10-27T06:24:03.509Z,1761546243.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:03.859Z,1761546243.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998201,0.055330,0.023097],[-0.056452,0.997095,0.051141],[-0.020200,-0.052353,0.998424]] 2025-10-27T06:24:03.878Z,1761546243.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:04.262Z,1761546244.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998185,0.055656,0.022999],[-0.056773,0.997073,0.051208],[-0.020082,-0.052421,0.998423]] 2025-10-27T06:24:04.314Z,1761546244.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:04.701Z,1761546244.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:05.071Z,1761546245.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998146,0.056416,0.022847],[-0.057529,0.997021,0.051386],[-0.019880,-0.052605,0.998417]] 2025-10-27T06:24:05.090Z,1761546245.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:05.475Z,1761546245.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998109,0.057077,0.022809],[-0.058190,0.996976,0.051509],[-0.019800,-0.052739,0.998412]] 2025-10-27T06:24:05.512Z,1761546245.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:05.877Z,1761546245.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998055,0.058037,0.022738],[-0.059148,0.996909,0.051718],[-0.019666,-0.052963,0.998403]] 2025-10-27T06:24:05.901Z,1761546245.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:06.365Z,1761546246.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:06.686Z,1761546246.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997944,0.060031,0.022434],[-0.061128,0.996780,0.051899],[-0.019246,-0.053164,0.998400]] 2025-10-27T06:24:06.707Z,1761546246.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:07.090Z,1761546247.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997867,0.061336,0.022338],[-0.062427,0.996696,0.051969],[-0.019076,-0.053253,0.998399]] 2025-10-27T06:24:07.109Z,1761546247.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:07.496Z,1761546247.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997769,0.062990,0.022118],[-0.064068,0.996592,0.051958],[-0.018769,-0.053259,0.998404]] 2025-10-27T06:24:07.533Z,1761546247.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:07.894Z,1761546247.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997653,0.064848,0.021973],[-0.065914,0.996475,0.051901],[-0.018530,-0.053227,0.998411]] 2025-10-27T06:24:07.946Z,1761546247.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:08.301Z,1761546248.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997531,0.066728,0.021904],[-0.067787,0.996353,0.051825],[-0.018366,-0.053182,0.998416]] 2025-10-27T06:24:08.352Z,1761546248.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:08.704Z,1761546248.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997378,0.068986,0.021869],[-0.070043,0.996192,0.051923],[-0.018204,-0.053318,0.998412]] 2025-10-27T06:24:08.734Z,1761546248.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:09.108Z,1761546249.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997248,0.070864,0.021804],[-0.071912,0.996068,0.051749],[-0.018052,-0.053174,0.998422]] 2025-10-27T06:24:09.127Z,1761546249.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:09.514Z,1761546249.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997093,0.073033,0.021696],[-0.074071,0.995914,0.051657],[-0.017835,-0.053113,0.998429]] 2025-10-27T06:24:09.588Z,1761546249.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:09.926Z,1761546249.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996966,0.074779,0.021623],[-0.075805,0.995802,0.051297],[-0.017696,-0.052781,0.998449]] 2025-10-27T06:24:09.950Z,1761546249.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:10.322Z,1761546250.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996815,0.076744,0.021671],[-0.077766,0.995661,0.051102],[-0.017655,-0.052625,0.998458]] 2025-10-27T06:24:10.401Z,1761546250.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:10.730Z,1761546250.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996695,0.078270,0.021751],[-0.079290,0.995554,0.050855],[-0.017674,-0.052411,0.998469]] 2025-10-27T06:24:10.752Z,1761546250.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:11.126Z,1761546251.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996585,0.079616,0.021906],[-0.080640,0.995453,0.050699],[-0.017770,-0.052292,0.998474]] 2025-10-27T06:24:11.157Z,1761546251.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:11.529Z,1761546251.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996513,0.080464,0.022079],[-0.081493,0.995391,0.050554],[-0.017910,-0.052177,0.998477]] 2025-10-27T06:24:11.591Z,1761546251.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:11.972Z,1761546251.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:12.337Z,1761546252.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996444,0.081086,0.022924],[-0.082159,0.995336,0.050551],[-0.018718,-0.052254,0.998458]] 2025-10-27T06:24:12.390Z,1761546252.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:12.742Z,1761546252.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996494,0.080362,0.023296],[-0.081451,0.995405,0.050339],[-0.019143,-0.052060,0.998460]] 2025-10-27T06:24:12.911Z,1761546252.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:13.208Z,1761546253.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996551,0.079546,0.023646],[-0.080651,0.995478,0.050191],[-0.019547,-0.051925,0.998460]] 2025-10-27T06:24:13.389Z,1761546253.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:13.785Z,1761546253.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996749,0.076744,0.024550],[-0.077901,0.995692,0.050284],[-0.020585,-0.052033,0.998433]] 2025-10-27T06:24:13.836Z,1761546253.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:14.192Z,1761546254.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996897,0.074634,0.025031],[-0.075833,0.995816,0.050990],[-0.021120,-0.052730,0.998385]] 2025-10-27T06:24:14.260Z,1761546254.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:14.598Z,1761546254.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997081,0.072067,0.025230],[-0.073295,0.995968,0.051724],[-0.021400,-0.053423,0.998343]] 2025-10-27T06:24:14.651Z,1761546254.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:15.020Z,1761546255.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997235,0.069792,0.025528],[-0.071046,0.996114,0.052054],[-0.021796,-0.053723,0.998318]] 2025-10-27T06:24:15.039Z,1761546255.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:15.427Z,1761546255.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997360,0.067882,0.025775],[-0.069145,0.996262,0.051772],[-0.022164,-0.053418,0.998326]] 2025-10-27T06:24:15.472Z,1761546255.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:15.822Z,1761546255.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997476,0.066152,0.025820],[-0.067415,0.996390,0.051591],[-0.022314,-0.053202,0.998334]] 2025-10-27T06:24:15.841Z,1761546255.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:16.226Z,1761546256.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997573,0.064719,0.025692],[-0.065976,0.996489,0.051543],[-0.022266,-0.053113,0.998340]] 2025-10-27T06:24:16.245Z,1761546256.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:16.630Z,1761546256.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997644,0.063728,0.025385],[-0.064972,0.996552,0.051605],[-0.022009,-0.053133,0.998345]] 2025-10-27T06:24:16.680Z,1761546256.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:17.033Z,1761546257.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997695,0.063041,0.025101],[-0.064273,0.996590,0.051752],[-0.021753,-0.053246,0.998344]] 2025-10-27T06:24:17.068Z,1761546257.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:17.438Z,1761546257.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997722,0.062844,0.024536],[-0.064050,0.996593,0.051956],[-0.021187,-0.053409,0.998348]] 2025-10-27T06:24:17.487Z,1761546257.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:17.842Z,1761546257.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997727,0.063000,0.023932],[-0.064179,0.996573,0.052188],[-0.020563,-0.053606,0.998350]] 2025-10-27T06:24:17.861Z,1761546257.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:18.248Z,1761546258.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997716,0.063402,0.023299],[-0.064550,0.996540,0.052356],[-0.019899,-0.053741,0.998357]] 2025-10-27T06:24:18.266Z,1761546258.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:18.650Z,1761546258.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997702,0.063937,0.022417],[-0.065034,0.996516,0.052212],[-0.019001,-0.053550,0.998384]] 2025-10-27T06:24:18.696Z,1761546258.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:19.054Z,1761546259.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997661,0.064957,0.021265],[-0.065972,0.996510,0.051147],[-0.017868,-0.052431,0.998465]] 2025-10-27T06:24:19.073Z,1761546259.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:19.467Z,1761546259.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997577,0.066565,0.020249],[-0.067511,0.996447,0.050354],[-0.016825,-0.051599,0.998526]] 2025-10-27T06:24:19.546Z,1761546259.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:19.870Z,1761546259.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997488,0.068171,0.019220],[-0.069052,0.996375,0.049695],[-0.015763,-0.050897,0.998580]] 2025-10-27T06:24:19.897Z,1761546259.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:20.273Z,1761546260.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997380,0.070003,0.018253],[-0.070828,0.996266,0.049363],[-0.014729,-0.050526,0.998614]] 2025-10-27T06:24:20.305Z,1761546260.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:20.414Z,1761546260.414 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:24:20.677Z,1761546260.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997275,0.071724,0.017251],[-0.072495,0.996151,0.049268],[-0.013651,-0.050384,0.998637]] 2025-10-27T06:24:20.736Z,1761546260.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:21.122Z,1761546261.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997163,0.073445,0.016467],[-0.074177,0.996021,0.049393],[-0.012774,-0.050474,0.998644]] 2025-10-27T06:24:21.141Z,1761546261.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:21.417Z,1761546261.417 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:24:21.521Z,1761546261.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997075,0.074834,0.015561],[-0.075521,0.995909,0.049615],[-0.011784,-0.050645,0.998647]] 2025-10-27T06:24:21.568Z,1761546261.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:21.959Z,1761546261.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996995,0.076043,0.014793],[-0.076692,0.995812,0.049772],[-0.010946,-0.050756,0.998651]] 2025-10-27T06:24:21.978Z,1761546261.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:22.463Z,1761546262.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:22.758Z,1761546262.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996933,0.077054,0.013654],[-0.077643,0.995737,0.049783],[-0.009759,-0.050690,0.998667]] 2025-10-27T06:24:22.802Z,1761546262.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:23.167Z,1761546263.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996945,0.076998,0.013114],[-0.077561,0.995738,0.049897],[-0.009216,-0.050762,0.998668]] 2025-10-27T06:24:23.186Z,1761546263.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:23.595Z,1761546263.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996998,0.076367,0.012736],[-0.076915,0.995771,0.050232],[-0.008846,-0.051061,0.998656]] 2025-10-27T06:24:23.643Z,1761546263.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:23.999Z,1761546263.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997081,0.075335,0.012421],[-0.075872,0.995827,0.050723],[-0.008548,-0.051517,0.998636]] 2025-10-27T06:24:24.018Z,1761546264.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:24.516Z,1761546264.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:24.962Z,1761546264.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997458,0.070305,0.011607],[-0.070817,0.996131,0.052045],[-0.007903,-0.052735,0.998577]] 2025-10-27T06:24:25.002Z,1761546265.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:25.505Z,1761546265.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:25.793Z,1761546265.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997679,0.067146,0.011291],[-0.067644,0.996362,0.051831],[-0.007770,-0.052474,0.998592]] 2025-10-27T06:24:25.838Z,1761546265.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:26.198Z,1761546266.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997842,0.064733,0.011011],[-0.065218,0.996532,0.051673],[-0.007628,-0.052279,0.998603]] 2025-10-27T06:24:26.275Z,1761546266.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:26.602Z,1761546266.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997981,0.062609,0.010669],[-0.063080,0.996659,0.051886],[-0.007385,-0.052454,0.998596]] 2025-10-27T06:24:26.671Z,1761546266.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:27.008Z,1761546267.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998131,0.060262,0.010164],[-0.060711,0.996794,0.052115],[-0.006990,-0.052635,0.998589]] 2025-10-27T06:24:27.047Z,1761546267.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:27.414Z,1761546267.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998292,0.057619,0.009659],[-0.058048,0.996941,0.052333],[-0.006615,-0.052804,0.998583]] 2025-10-27T06:24:27.596Z,1761546267.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:27.832Z,1761546267.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998449,0.054953,0.008950],[-0.055349,0.997086,0.052492],[-0.006039,-0.052906,0.998581]] 2025-10-27T06:24:27.908Z,1761546267.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:28.222Z,1761546268.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998611,0.052041,0.008219],[-0.052402,0.997248,0.052454],[-0.005466,-0.052812,0.998589]] 2025-10-27T06:24:28.277Z,1761546268.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:28.628Z,1761546268.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998756,0.049305,0.007413],[-0.049627,0.997390,0.052446],[-0.004808,-0.052749,0.998596]] 2025-10-27T06:24:28.702Z,1761546268.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:29.029Z,1761546269.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998873,0.047002,0.006558],[-0.047282,0.997496,0.052594],[-0.004069,-0.052845,0.998594]] 2025-10-27T06:24:29.073Z,1761546269.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:29.433Z,1761546269.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998983,0.044754,0.005518],[-0.044983,0.997597,0.052697],[-0.003146,-0.052891,0.998595]] 2025-10-27T06:24:29.542Z,1761546269.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:29.838Z,1761546269.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999062,0.043051,0.004608],[-0.043235,0.997652,0.053113],[-0.002310,-0.053263,0.998578]] 2025-10-27T06:24:29.863Z,1761546269.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:30.241Z,1761546270.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999134,0.041454,0.003543],[-0.041584,0.997703,0.053466],[-0.001318,-0.053567,0.998563]] 2025-10-27T06:24:30.260Z,1761546270.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:30.647Z,1761546270.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999183,0.040341,0.002583],[-0.040422,0.997728,0.053902],[-0.000403,-0.053963,0.998543]] 2025-10-27T06:24:30.712Z,1761546270.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:31.087Z,1761546271.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:31.454Z,1761546271.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999269,0.038221,0.001087],[-0.038226,0.997917,0.051962],[0.000901,-0.051965,0.998648]] 2025-10-27T06:24:31.495Z,1761546271.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:31.858Z,1761546271.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999281,0.037912,0.000508],[-0.037888,0.997965,0.051278],[0.001437,-0.051260,0.998684]] 2025-10-27T06:24:31.917Z,1761546271.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:32.262Z,1761546272.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999275,0.038060,-0.000063],[-0.038006,0.997967,0.051167],[0.002011,-0.051128,0.998690]] 2025-10-27T06:24:32.280Z,1761546272.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:24:32.282Z,1761546272.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:32.308Z,1761546272.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:24:32.308Z,1761546272.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:24:32.562Z,1761546272.562 [DAT](INFO): DAT read: user:757> 2025-10-27T06:24:32.566Z,1761546272.566 [DAT](INFO): DAT read: Tx time:06:24:31.6174 2025-10-27T06:24:32.568Z,1761546272.568 [DAT](INFO): Ping request sent. 2025-10-27T06:24:32.568Z,1761546272.568 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:24:32.569Z,1761546272.569 [DAT](INFO): publishing transmit ping time 2025-10-27T06:24:32.570Z,1761546272.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002400 2025-10-27T06:24:32.666Z,1761546272.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999275,0.038077,-0.000550],[-0.037999,0.997966,0.051189],[0.002498,-0.051131,0.998689]] 2025-10-27T06:24:32.720Z,1761546272.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:32.813Z,1761546272.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245758 2025-10-27T06:24:33.064Z,1761546273.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496288 2025-10-27T06:24:33.071Z,1761546273.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999266,0.038308,-0.000729],[-0.038220,0.997945,0.051425],[0.002697,-0.051359,0.998677]] 2025-10-27T06:24:33.090Z,1761546273.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:33.316Z,1761546273.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748329 2025-10-27T06:24:33.475Z,1761546273.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999264,0.038350,-0.000806],[-0.038258,0.997940,0.051506],[0.002780,-0.051437,0.998672]] 2025-10-27T06:24:33.503Z,1761546273.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:33.571Z,1761546273.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002570 2025-10-27T06:24:33.820Z,1761546273.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252122 2025-10-27T06:24:33.892Z,1761546273.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999268,0.038245,-0.000860],[-0.038150,0.997949,0.051404],[0.002824,-0.051334,0.998678]] 2025-10-27T06:24:33.946Z,1761546273.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:34.072Z,1761546274.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504244 2025-10-27T06:24:34.315Z,1761546274.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:34.324Z,1761546274.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756370 2025-10-27T06:24:34.578Z,1761546274.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010129 2025-10-27T06:24:34.760Z,1761546274.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:34.828Z,1761546274.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260670 2025-10-27T06:24:35.080Z,1761546275.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512271 2025-10-27T06:24:35.110Z,1761546275.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999345,0.036194,-0.000312],[-0.036130,0.998023,0.051427],[0.002173,-0.051382,0.998677]] 2025-10-27T06:24:35.145Z,1761546275.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:35.342Z,1761546275.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774816 2025-10-27T06:24:35.517Z,1761546275.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999379,0.035236,-0.000312],[-0.035173,0.998028,0.051985],[0.002143,-0.051942,0.998648]] 2025-10-27T06:24:35.536Z,1761546275.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:35.587Z,1761546275.587 [DAT](INFO): DAT read: Rx Time:06:24:34.0462 2025-10-27T06:24:35.588Z,1761546275.588 [DAT](INFO): Rx dataTimestamp_ set to:1761546275.587196 2025-10-27T06:24:35.590Z,1761546275.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021612 2025-10-27T06:24:35.836Z,1761546275.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268250 2025-10-27T06:24:35.931Z,1761546275.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999424,0.033945,0.000138],[-0.033906,0.998048,0.052449],[0.001643,-0.052423,0.998624]] 2025-10-27T06:24:35.988Z,1761546275.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.09 m. 2025-10-27T06:24:36.094Z,1761546276.094 [DAT](INFO): DAT read: 06:24:34.0462 LVL= 32752, 18593, 23506, 32755, AGC= 48, IDX= 457, 0.03, 1.092, 3.007, 2.942, 2.756, PHS=-1.562, 0.297, 0.143, RAW= 274.3, 12.5, CAL= 273.7, 17.8, ROT= 236.3, -17.8 2025-10-27T06:24:36.096Z,1761546276.096 [DAT](INFO): got valid direction response: 06:24:34.0462 LVL= 32752, 18593, 23506, 32755, AGC= 48, IDX= 457, 0.03, 1.092, 3.007, 2.942, 2.756, PHS=-1.562, 0.297, 0.143, RAW= 274.3, 12.5, CAL= 273.7, 17.8, ROT= 236.3, -17.8 2025-10-27T06:24:36.096Z,1761546276.096 [DAT](INFO): DAT read: Bearing 310.2, -54.0 (Local) 2025-10-27T06:24:36.097Z,1761546276.097 [DAT](INFO): Local bearing/azimuth received: Bearing 310.2, -54.0 (Local) 2025-10-27T06:24:36.098Z,1761546276.098 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (Round-trip 24.7 ms) speed 0.0 m/s 2025-10-27T06:24:36.099Z,1761546276.099 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:24:36.100Z,1761546276.100 [DAT](INFO): direction in FSK: [-0.528284,-0.792128,0.305695] 2025-10-27T06:24:36.100Z,1761546276.100 [DAT](INFO): publishing direction and range info 2025-10-27T06:24:36.372Z,1761546276.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 60.305052 s, deltaX: 1.299999 m, approachRate: 0.021557 m/s, rangeRepo size: 4 2025-10-27T06:24:36.376Z,1761546276.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.379198 m, bearing: 233.748163 deg, lat: 36.779448 deg, lon: -121.859827 deg, deltaT: 60.305052 s, deltaX: 1.290991 m, approachRate: 0.021408 m/s, posRepo size: 4 2025-10-27T06:24:36.377Z,1761546276.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:36.731Z,1761546276.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999538,0.030369,0.001133],[-0.030386,0.998133,0.052986],[0.000479,-0.052996,0.998595]] 2025-10-27T06:24:36.785Z,1761546276.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:37.132Z,1761546277.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999595,0.028394,0.001763],[-0.028448,0.998178,0.053204],[-0.000249,-0.053233,0.998582]] 2025-10-27T06:24:37.151Z,1761546277.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:37.537Z,1761546277.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999660,0.025954,0.002300],[-0.026039,0.998250,0.053099],[-0.000918,-0.053141,0.998587]] 2025-10-27T06:24:37.577Z,1761546277.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:37.937Z,1761546277.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999726,0.023206,0.002938],[-0.023328,0.998332,0.052818],[-0.001707,-0.052872,0.998600]] 2025-10-27T06:24:37.984Z,1761546277.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:38.343Z,1761546278.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999777,0.020806,0.003570],[-0.020965,0.998386,0.052780],[-0.002466,-0.052843,0.998600]] 2025-10-27T06:24:38.409Z,1761546278.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:38.749Z,1761546278.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999818,0.018624,0.004117],[-0.018816,0.998427,0.052819],[-0.003127,-0.052887,0.998596]] 2025-10-27T06:24:38.788Z,1761546278.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:39.150Z,1761546279.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999856,0.016344,0.004583],[-0.016563,0.998462,0.052901],[-0.003712,-0.052969,0.998589]] 2025-10-27T06:24:39.186Z,1761546279.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:39.587Z,1761546279.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999879,0.014733,0.005051],[-0.014981,0.998463,0.053366],[-0.004257,-0.053435,0.998562]] 2025-10-27T06:24:39.756Z,1761546279.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:39.984Z,1761546279.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999903,0.012822,0.005424],[-0.013094,0.998480,0.053535],[-0.004730,-0.053601,0.998551]] 2025-10-27T06:24:40.031Z,1761546280.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:40.393Z,1761546280.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999924,0.010982,0.005629],[-0.011268,0.998500,0.053574],[-0.005032,-0.053634,0.998548]] 2025-10-27T06:24:40.439Z,1761546280.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:40.790Z,1761546280.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999941,0.009143,0.005896],[-0.009446,0.998523,0.053510],[-0.005398,-0.053562,0.998550]] 2025-10-27T06:24:40.847Z,1761546280.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:41.196Z,1761546281.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999956,0.007200,0.006049],[-0.007512,0.998554,0.053224],[-0.005657,-0.053267,0.998564]] 2025-10-27T06:24:41.235Z,1761546281.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:41.598Z,1761546281.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999963,0.005949,0.006282],[-0.006275,0.998561,0.053268],[-0.005956,-0.053305,0.998560]] 2025-10-27T06:24:41.831Z,1761546281.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:42.056Z,1761546282.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999967,0.005067,0.006396],[-0.005401,0.998558,0.053403],[-0.006117,-0.053436,0.998553]] 2025-10-27T06:24:42.121Z,1761546282.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:42.457Z,1761546282.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999970,0.004450,0.006338],[-0.004783,0.998550,0.053610],[-0.006090,-0.053639,0.998542]] 2025-10-27T06:24:42.508Z,1761546282.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:42.873Z,1761546282.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999974,0.003538,0.006323],[-0.003872,0.998554,0.053615],[-0.006124,-0.053638,0.998542]] 2025-10-27T06:24:42.933Z,1761546282.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:43.266Z,1761546283.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999976,0.002979,0.006224],[-0.003309,0.998554,0.053651],[-0.006055,-0.053670,0.998540]] 2025-10-27T06:24:43.294Z,1761546283.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:43.675Z,1761546283.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999979,0.002126,0.006140],[-0.002452,0.998567,0.053457],[-0.006018,-0.053471,0.998551]] 2025-10-27T06:24:43.756Z,1761546283.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:44.075Z,1761546284.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999980,0.001515,0.006210],[-0.001844,0.998577,0.053288],[-0.006120,-0.053298,0.998560]] 2025-10-27T06:24:44.131Z,1761546284.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:44.478Z,1761546284.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999981,0.000797,0.006100],[-0.001118,0.998596,0.052960],[-0.006049,-0.052966,0.998578]] 2025-10-27T06:24:44.503Z,1761546284.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:44.941Z,1761546284.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:45.287Z,1761546285.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999983,0.000007,0.005881],[-0.000317,0.998603,0.052845],[-0.005873,-0.052846,0.998585]] 2025-10-27T06:24:45.306Z,1761546285.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:45.690Z,1761546285.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999983,-0.000575,0.005768],[0.000270,0.998603,0.052843],[-0.005791,-0.052841,0.998586]] 2025-10-27T06:24:45.762Z,1761546285.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:46.094Z,1761546286.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999983,-0.001214,0.005659],[0.000914,0.998602,0.052854],[-0.005716,-0.052848,0.998586]] 2025-10-27T06:24:46.146Z,1761546286.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:46.499Z,1761546286.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999983,-0.002044,0.005371],[0.001757,0.998603,0.052816],[-0.005472,-0.052806,0.998590]] 2025-10-27T06:24:46.518Z,1761546286.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:46.904Z,1761546286.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999982,-0.002941,0.005239],[0.002661,0.998605,0.052726],[-0.005387,-0.052711,0.998595]] 2025-10-27T06:24:46.942Z,1761546286.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:47.306Z,1761546287.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999979,-0.003944,0.005124],[0.003669,0.998609,0.052605],[-0.005324,-0.052585,0.998602]] 2025-10-27T06:24:47.349Z,1761546287.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:47.714Z,1761546287.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999976,-0.004890,0.004912],[0.004626,0.998610,0.052507],[-0.005162,-0.052483,0.998608]] 2025-10-27T06:24:47.802Z,1761546287.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:48.117Z,1761546288.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999972,-0.005780,0.004678],[0.005526,0.998603,0.052556],[-0.004975,-0.052529,0.998607]] 2025-10-27T06:24:48.186Z,1761546288.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:48.519Z,1761546288.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999967,-0.006829,0.004483],[0.006584,0.998592,0.052631],[-0.004836,-0.052600,0.998604]] 2025-10-27T06:24:48.539Z,1761546288.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:48.921Z,1761546288.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,-0.007800,0.004001],[0.007578,0.998580,0.052731],[-0.004406,-0.052699,0.998601]] 2025-10-27T06:24:48.969Z,1761546288.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:49.376Z,1761546289.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:49.736Z,1761546289.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999941,-0.010284,0.003383],[0.010092,0.998567,0.052565],[-0.003919,-0.052528,0.998612]] 2025-10-27T06:24:49.756Z,1761546289.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:50.138Z,1761546290.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999934,-0.011089,0.003021],[0.010915,0.998559,0.052536],[-0.003599,-0.052499,0.998614]] 2025-10-27T06:24:50.202Z,1761546290.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:50.538Z,1761546290.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999926,-0.011865,0.002542],[0.011715,0.998555,0.052440],[-0.003161,-0.052406,0.998621]] 2025-10-27T06:24:50.564Z,1761546290.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:50.942Z,1761546290.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999919,-0.012536,0.002187],[0.012404,0.998549,0.052400],[-0.002841,-0.052369,0.998624]] 2025-10-27T06:24:50.992Z,1761546290.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:51.354Z,1761546291.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999913,-0.013057,0.001763],[0.012947,0.998540,0.052434],[-0.002445,-0.052407,0.998623]] 2025-10-27T06:24:51.396Z,1761546291.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:51.543Z,1761546291.543 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:24:51.752Z,1761546291.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999911,-0.013306,0.001244],[0.013222,0.998531,0.052547],[-0.001942,-0.052526,0.998618]] 2025-10-27T06:24:51.776Z,1761546291.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:52.156Z,1761546292.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999906,-0.013708,0.000758],[0.013649,0.998526,0.052522],[-0.001477,-0.052506,0.998619]] 2025-10-27T06:24:52.210Z,1761546292.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:52.547Z,1761546292.547 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:24:52.559Z,1761546292.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999907,-0.013604,0.000288],[0.013570,0.998519,0.052675],[-0.001004,-0.052666,0.998612]] 2025-10-27T06:24:52.602Z,1761546292.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:52.961Z,1761546292.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999908,-0.013536,-0.000160],[0.013526,0.998519,0.052690],[-0.000553,-0.052688,0.998611]] 2025-10-27T06:24:53.018Z,1761546293.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:53.379Z,1761546293.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999914,-0.013044,-0.001077],[0.013083,0.998530,0.052599],[0.000390,-0.052609,0.998615]] 2025-10-27T06:24:53.479Z,1761546293.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:53.812Z,1761546293.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:54.183Z,1761546294.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999925,-0.012099,-0.002002],[0.012188,0.998541,0.052607],[0.001362,-0.052628,0.998613]] 2025-10-27T06:24:54.238Z,1761546294.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:54.592Z,1761546294.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999934,-0.011268,-0.002416],[0.011379,0.998542,0.052765],[0.001818,-0.052789,0.998604]] 2025-10-27T06:24:54.639Z,1761546294.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:54.989Z,1761546294.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999938,-0.010803,-0.002666],[0.010928,0.998550,0.052719],[0.002092,-0.052745,0.998606]] 2025-10-27T06:24:55.043Z,1761546295.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:55.391Z,1761546295.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999946,-0.009980,-0.003068],[0.010128,0.998555,0.052772],[0.002537,-0.052801,0.998602]] 2025-10-27T06:24:55.419Z,1761546295.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:55.793Z,1761546295.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999951,-0.009313,-0.003367],[0.009477,0.998567,0.052666],[0.002872,-0.052695,0.998607]] 2025-10-27T06:24:55.827Z,1761546295.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:56.204Z,1761546296.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999956,-0.008656,-0.003508],[0.008828,0.998577,0.052592],[0.003047,-0.052621,0.998610]] 2025-10-27T06:24:56.314Z,1761546296.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:56.598Z,1761546296.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,-0.007895,-0.003687],[0.008077,0.998584,0.052575],[0.003267,-0.052602,0.998610]] 2025-10-27T06:24:56.649Z,1761546296.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:57.002Z,1761546297.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999963,-0.007672,-0.003800],[0.007861,0.998597,0.052371],[0.003393,-0.052399,0.998620]] 2025-10-27T06:24:57.064Z,1761546297.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:57.407Z,1761546297.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999969,-0.006932,-0.003754],[0.007120,0.998594,0.052521],[0.003384,-0.052546,0.998613]] 2025-10-27T06:24:57.443Z,1761546297.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:57.809Z,1761546297.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999971,-0.006487,-0.003971],[0.006686,0.998600,0.052474],[0.003625,-0.052499,0.998614]] 2025-10-27T06:24:57.860Z,1761546297.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:58.213Z,1761546298.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999975,-0.005969,-0.003873],[0.006164,0.998598,0.052570],[0.003554,-0.052592,0.998610]] 2025-10-27T06:24:58.270Z,1761546298.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:58.619Z,1761546298.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999978,-0.005437,-0.003683],[0.005623,0.998594,0.052716],[0.003392,-0.052736,0.998603]] 2025-10-27T06:24:58.638Z,1761546298.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:59.022Z,1761546299.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999981,-0.005008,-0.003507],[0.005186,0.998596,0.052726],[0.003238,-0.052743,0.998603]] 2025-10-27T06:24:59.071Z,1761546299.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:59.426Z,1761546299.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999982,-0.004955,-0.003298],[0.005121,0.998604,0.052572],[0.003033,-0.052588,0.998612]] 2025-10-27T06:24:59.464Z,1761546299.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:24:59.838Z,1761546299.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999984,-0.004851,-0.002984],[0.005001,0.998612,0.052430],[0.002725,-0.052444,0.998620]] 2025-10-27T06:24:59.880Z,1761546299.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:00.302Z,1761546300.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:00.672Z,1761546300.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:01.041Z,1761546301.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999989,-0.004178,-0.002225],[0.004289,0.998619,0.052365],[0.002003,-0.052374,0.998626]] 2025-10-27T06:25:01.087Z,1761546301.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:01.449Z,1761546301.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999989,-0.004174,-0.001938],[0.004270,0.998621,0.052315],[0.001717,-0.052323,0.998629]] 2025-10-27T06:25:01.492Z,1761546301.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:01.857Z,1761546301.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999991,-0.003793,-0.001707],[0.003878,0.998615,0.052478],[0.001506,-0.052484,0.998621]] 2025-10-27T06:25:01.876Z,1761546301.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:02.254Z,1761546302.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999992,-0.003753,-0.001390],[0.003821,0.998615,0.052473],[0.001191,-0.052478,0.998621]] 2025-10-27T06:25:02.302Z,1761546302.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:02.658Z,1761546302.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999993,-0.003650,-0.001204],[0.003708,0.998617,0.052442],[0.001011,-0.052446,0.998623]] 2025-10-27T06:25:02.693Z,1761546302.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:03.068Z,1761546303.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999993,-0.003493,-0.000983],[0.003540,0.998617,0.052448],[0.000799,-0.052451,0.998623]] 2025-10-27T06:25:03.124Z,1761546303.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:03.474Z,1761546303.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999994,-0.003296,-0.000725],[0.003329,0.998616,0.052489],[0.000551,-0.052491,0.998621]] 2025-10-27T06:25:03.493Z,1761546303.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:03.869Z,1761546303.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999996,-0.002708,-0.000683],[0.002740,0.998611,0.052623],[0.000539,-0.052625,0.998614]] 2025-10-27T06:25:03.900Z,1761546303.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:04.273Z,1761546304.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999997,-0.002269,-0.000605],[0.002297,0.998607,0.052711],[0.000485,-0.052712,0.998610]] 2025-10-27T06:25:04.336Z,1761546304.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:04.729Z,1761546304.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:05.094Z,1761546305.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999999,-0.001377,-0.000328],[0.001393,0.998606,0.052772],[0.000255,-0.052772,0.998607]] 2025-10-27T06:25:05.151Z,1761546305.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:05.528Z,1761546305.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:05.924Z,1761546305.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:06.302Z,1761546306.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[1.000000,0.000528,-0.000232],[-0.000515,0.998607,0.052765],[0.000259,-0.052765,0.998607]] 2025-10-27T06:25:06.368Z,1761546306.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:06.698Z,1761546306.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[1.000000,0.000935,0.000014],[-0.000934,0.998611,0.052682],[0.000035,-0.052682,0.998611]] 2025-10-27T06:25:06.789Z,1761546306.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:07.120Z,1761546307.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999999,0.001407,0.000067],[-0.001409,0.998611,0.052668],[0.000007,-0.052668,0.998612]] 2025-10-27T06:25:07.196Z,1761546307.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:07.512Z,1761546307.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999997,0.002270,0.000082],[-0.002271,0.998600,0.052853],[0.000038,-0.052853,0.998602]] 2025-10-27T06:25:07.564Z,1761546307.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:07.911Z,1761546307.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999996,0.002783,0.000247],[-0.002792,0.998599,0.052851],[-0.000100,-0.052852,0.998602]] 2025-10-27T06:25:07.948Z,1761546307.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:08.320Z,1761546308.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999994,0.003384,0.000356],[-0.003398,0.998598,0.052823],[-0.000177,-0.052824,0.998604]] 2025-10-27T06:25:08.394Z,1761546308.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:08.724Z,1761546308.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999991,0.004235,0.000300],[-0.004245,0.998594,0.052845],[-0.000076,-0.052846,0.998603]] 2025-10-27T06:25:08.763Z,1761546308.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:09.148Z,1761546309.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999988,0.004889,0.000463],[-0.004906,0.998590,0.052850],[-0.000204,-0.052852,0.998602]] 2025-10-27T06:25:09.191Z,1761546309.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:09.526Z,1761546309.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999984,0.005702,0.000429],[-0.005717,0.998587,0.052842],[-0.000127,-0.052844,0.998603]] 2025-10-27T06:25:09.565Z,1761546309.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:09.929Z,1761546309.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999977,0.006799,0.000445],[-0.006813,0.998574,0.052958],[-0.000085,-0.052960,0.998597]] 2025-10-27T06:25:09.949Z,1761546309.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:10.342Z,1761546310.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999970,0.007714,0.000404],[-0.007725,0.998570,0.052894],[0.000005,-0.052895,0.998600]] 2025-10-27T06:25:10.454Z,1761546310.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:10.743Z,1761546310.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999960,0.008976,0.000292],[-0.008979,0.998553,0.053025],[0.000184,-0.053026,0.998593]] 2025-10-27T06:25:10.770Z,1761546310.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:11.174Z,1761546311.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999946,0.010433,0.000183],[-0.010428,0.998533,0.053128],[0.000371,-0.053127,0.998588]] 2025-10-27T06:25:11.236Z,1761546311.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:11.545Z,1761546311.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999933,0.011570,0.000182],[-0.011563,0.998526,0.053038],[0.000432,-0.053037,0.998592]] 2025-10-27T06:25:11.590Z,1761546311.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:11.950Z,1761546311.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999915,0.013004,0.000090],[-0.012991,0.998512,0.052954],[0.000599,-0.052951,0.998597]] 2025-10-27T06:25:11.969Z,1761546311.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:12.362Z,1761546312.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999895,0.014470,-0.000083],[-0.014445,0.998500,0.052809],[0.000847,-0.052802,0.998605]] 2025-10-27T06:25:12.399Z,1761546312.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:12.757Z,1761546312.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999870,0.016104,-0.000304],[-0.016065,0.998480,0.052716],[0.001152,-0.052704,0.998610]] 2025-10-27T06:25:12.787Z,1761546312.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:13.202Z,1761546313.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999842,0.017784,-0.000570],[-0.017729,0.998453,0.052701],[0.001506,-0.052683,0.998610]] 2025-10-27T06:25:13.260Z,1761546313.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:13.576Z,1761546313.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999807,0.019624,-0.000686],[-0.019561,0.998412,0.052820],[0.001722,-0.052796,0.998604]] 2025-10-27T06:25:13.594Z,1761546313.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:13.971Z,1761546313.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999779,0.021000,-0.000904],[-0.020923,0.998390,0.052713],[0.002010,-0.052682,0.998609]] 2025-10-27T06:25:13.990Z,1761546313.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:14.429Z,1761546314.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:14.778Z,1761546314.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999723,0.023496,-0.001295],[-0.023395,0.998338,0.052660],[0.002530,-0.052615,0.998612]] 2025-10-27T06:25:14.797Z,1761546314.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:15.229Z,1761546315.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999698,0.024511,-0.001580],[-0.024394,0.998315,0.052643],[0.002868,-0.052589,0.998612]] 2025-10-27T06:25:15.284Z,1761546315.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:15.585Z,1761546315.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999676,0.025397,-0.001656],[-0.025275,0.998288,0.052740],[0.002992,-0.052681,0.998607]] 2025-10-27T06:25:15.610Z,1761546315.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:15.989Z,1761546315.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999663,0.025889,-0.001884],[-0.025754,0.998278,0.052695],[0.003245,-0.052629,0.998609]] 2025-10-27T06:25:16.025Z,1761546316.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:16.395Z,1761546316.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999655,0.026189,-0.002124],[-0.026041,0.998272,0.052677],[0.003500,-0.052603,0.998609]] 2025-10-27T06:25:16.447Z,1761546316.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:16.804Z,1761546316.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999653,0.026265,-0.002239],[-0.026110,0.998268,0.052714],[0.003620,-0.052638,0.998607]] 2025-10-27T06:25:16.833Z,1761546316.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:17.230Z,1761546317.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999651,0.026298,-0.002301],[-0.026140,0.998262,0.052814],[0.003686,-0.052736,0.998602]] 2025-10-27T06:25:17.278Z,1761546317.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:17.605Z,1761546317.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999661,0.025920,-0.002398],[-0.025757,0.998271,0.052828],[0.003763,-0.052748,0.998601]] 2025-10-27T06:25:17.650Z,1761546317.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:18.009Z,1761546318.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999662,0.025891,-0.002431],[-0.025725,0.998258,0.053096],[0.003802,-0.053015,0.998586]] 2025-10-27T06:25:18.029Z,1761546318.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:18.417Z,1761546318.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999674,0.025401,-0.002420],[-0.025236,0.998272,0.053065],[0.003764,-0.052987,0.998588]] 2025-10-27T06:25:18.474Z,1761546318.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:18.826Z,1761546318.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999686,0.024952,-0.002378],[-0.024791,0.998286,0.053016],[0.003696,-0.052940,0.998591]] 2025-10-27T06:25:18.845Z,1761546318.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:19.241Z,1761546319.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999689,0.024830,-0.002277],[-0.024674,0.998283,0.053127],[0.003592,-0.053055,0.998585]] 2025-10-27T06:25:19.314Z,1761546319.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:19.626Z,1761546319.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999693,0.024683,-0.002311],[-0.024525,0.998287,0.053112],[0.003618,-0.053039,0.998586]] 2025-10-27T06:25:19.679Z,1761546319.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:20.030Z,1761546320.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999681,0.025142,-0.002261],[-0.024986,0.998264,0.053328],[0.003598,-0.053254,0.998574]] 2025-10-27T06:25:20.105Z,1761546320.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:20.440Z,1761546320.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999672,0.025533,-0.002211],[-0.025379,0.998251,0.053397],[0.003570,-0.053323,0.998571]] 2025-10-27T06:25:20.506Z,1761546320.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:20.838Z,1761546320.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999660,0.025996,-0.002035],[-0.025850,0.998236,0.053451],[0.003421,-0.053380,0.998568]] 2025-10-27T06:25:20.876Z,1761546320.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:21.249Z,1761546321.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999629,0.027170,-0.002018],[-0.027023,0.998195,0.053629],[0.003471,-0.053554,0.998559]] 2025-10-27T06:25:21.341Z,1761546321.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:21.648Z,1761546321.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999600,0.028218,-0.001879],[-0.028077,0.998170,0.053562],[0.003387,-0.053488,0.998563]] 2025-10-27T06:25:21.685Z,1761546321.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:22.050Z,1761546322.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999556,0.029742,-0.001735],[-0.029606,0.998124,0.053586],[0.003325,-0.053511,0.998562]] 2025-10-27T06:25:22.075Z,1761546322.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:22.454Z,1761546322.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999503,0.031477,-0.001660],[-0.031343,0.998072,0.053578],[0.003343,-0.053499,0.998562]] 2025-10-27T06:25:22.499Z,1761546322.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:22.684Z,1761546322.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:25:22.858Z,1761546322.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999445,0.033291,-0.001438],[-0.033166,0.998014,0.053558],[0.003218,-0.053480,0.998564]] 2025-10-27T06:25:22.878Z,1761546322.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:23.263Z,1761546323.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999371,0.035424,-0.001331],[-0.035302,0.997936,0.053648],[0.003228,-0.053568,0.998559]] 2025-10-27T06:25:23.308Z,1761546323.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:23.666Z,1761546323.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999303,0.037306,-0.001166],[-0.037190,0.997874,0.053518],[0.003160,-0.053437,0.998566]] 2025-10-27T06:25:23.687Z,1761546323.687 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:25:23.718Z,1761546323.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:24.070Z,1761546324.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999226,0.039327,-0.001006],[-0.039217,0.997799,0.053464],[0.003107,-0.053384,0.998569]] 2025-10-27T06:25:24.089Z,1761546324.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:24.480Z,1761546324.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999150,0.041224,-0.000683],[-0.041129,0.997729,0.053350],[0.002881,-0.053277,0.998576]] 2025-10-27T06:25:24.535Z,1761546324.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:24.877Z,1761546324.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999059,0.043379,-0.000391],[-0.043296,0.997635,0.053388],[0.002706,-0.053321,0.998574]] 2025-10-27T06:25:24.971Z,1761546324.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:25.285Z,1761546325.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998977,0.045210,-0.000106],[-0.045140,0.997557,0.053322],[0.002516,-0.053263,0.998577]] 2025-10-27T06:25:25.397Z,1761546325.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:25.686Z,1761546325.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998904,0.046801,0.000128],[-0.046741,0.997490,0.053188],[0.002362,-0.053136,0.998585]] 2025-10-27T06:25:25.758Z,1761546325.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:26.091Z,1761546326.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998842,0.048112,0.000539],[-0.048073,0.997430,0.053122],[0.002018,-0.053087,0.998588]] 2025-10-27T06:25:26.128Z,1761546326.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:26.493Z,1761546326.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998790,0.049164,0.000990],[-0.049148,0.997380,0.053082],[0.001623,-0.053067,0.998590]] 2025-10-27T06:25:26.541Z,1761546326.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:26.898Z,1761546326.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998742,0.050122,0.001279],[-0.050119,0.997329,0.053141],[0.001388,-0.053138,0.998586]] 2025-10-27T06:25:26.935Z,1761546326.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:27.311Z,1761546327.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998723,0.050497,0.001678],[-0.050514,0.997310,0.053122],[0.001009,-0.053139,0.998587]] 2025-10-27T06:25:27.352Z,1761546327.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:27.712Z,1761546327.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998708,0.050768,0.002144],[-0.050810,0.997291,0.053191],[0.000562,-0.053232,0.998582]] 2025-10-27T06:25:27.773Z,1761546327.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:28.109Z,1761546328.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998717,0.050573,0.002462],[-0.050632,0.997305,0.053098],[0.000230,-0.053154,0.998586]] 2025-10-27T06:25:28.134Z,1761546328.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:28.564Z,1761546328.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:28.918Z,1761546328.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998765,0.049584,0.003166],[-0.049682,0.997361,0.052940],[-0.000533,-0.053032,0.998593]] 2025-10-27T06:25:28.937Z,1761546328.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:29.323Z,1761546329.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998793,0.048976,0.003620],[-0.049100,0.997391,0.052919],[-0.001019,-0.053033,0.998592]] 2025-10-27T06:25:29.341Z,1761546329.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:29.737Z,1761546329.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998821,0.048382,0.003942],[-0.048523,0.997417,0.052968],[-0.001369,-0.053097,0.998588]] 2025-10-27T06:25:29.778Z,1761546329.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:30.130Z,1761546330.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998849,0.047785,0.004256],[-0.047944,0.997444,0.052979],[-0.001714,-0.053122,0.998587]] 2025-10-27T06:25:30.165Z,1761546330.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:30.534Z,1761546330.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998861,0.047493,0.004525],[-0.047666,0.997450,0.053127],[-0.001991,-0.053282,0.998578]] 2025-10-27T06:25:30.596Z,1761546330.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:31.001Z,1761546331.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998874,0.047196,0.004832],[-0.047387,0.997459,0.053207],[-0.002309,-0.053376,0.998572]] 2025-10-27T06:25:31.024Z,1761546331.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:31.400Z,1761546331.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998871,0.047238,0.005032],[-0.047440,0.997447,0.053367],[-0.002498,-0.053546,0.998562]] 2025-10-27T06:25:31.485Z,1761546331.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:31.822Z,1761546331.822 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: -88 Device respsone is::TS,00050310135008,35.0, +10.3, 0.0,1491.6, -88, -17,A 2025-10-27T06:25:31.838Z,1761546331.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:32.202Z,1761546332.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998850,0.047655,0.005317],[-0.047871,0.997427,0.053364],[-0.002761,-0.053557,0.998561]] 2025-10-27T06:25:32.226Z,1761546332.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:32.615Z,1761546332.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998829,0.048079,0.005453],[-0.048302,0.997411,0.053265],[-0.002878,-0.053466,0.998565]] 2025-10-27T06:25:32.672Z,1761546332.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:25:32.674Z,1761546332.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:32.816Z,1761546332.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:25:32.816Z,1761546332.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:25:33.025Z,1761546333.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998706,0.050526,0.005729],[-0.050760,0.997279,0.053467],[-0.003012,-0.053689,0.998553]] 2025-10-27T06:25:33.044Z,1761546333.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:33.068Z,1761546333.068 [DAT](INFO): DAT read: user:758> 2025-10-27T06:25:33.069Z,1761546333.069 [DAT](INFO): DAT read: Tx time:06:25:32.1173 2025-10-27T06:25:33.069Z,1761546333.069 [DAT](INFO): Ping request sent. 2025-10-27T06:25:33.069Z,1761546333.069 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:25:33.069Z,1761546333.069 [DAT](INFO): publishing transmit ping time 2025-10-27T06:25:33.070Z,1761546333.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-27T06:25:33.320Z,1761546333.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250858 2025-10-27T06:25:33.421Z,1761546333.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998640,0.051823,0.005694],[-0.052054,0.997216,0.053396],[-0.002911,-0.053620,0.998557]] 2025-10-27T06:25:33.570Z,1761546333.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:33.572Z,1761546333.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503100 2025-10-27T06:25:33.824Z,1761546333.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962 2025-10-27T06:25:33.829Z,1761546333.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998553,0.053474,0.005734],[-0.053704,0.997126,0.053433],[-0.002860,-0.053664,0.998555]] 2025-10-27T06:25:33.855Z,1761546333.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:34.076Z,1761546334.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006923 2025-10-27T06:25:34.230Z,1761546334.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998471,0.054975,0.005738],[-0.055204,0.997051,0.053302],[-0.002791,-0.053537,0.998562]] 2025-10-27T06:25:34.270Z,1761546334.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:34.328Z,1761546334.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258958 2025-10-27T06:25:34.580Z,1761546334.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510818 2025-10-27T06:25:34.642Z,1761546334.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998369,0.056809,0.005748],[-0.057035,0.996948,0.053301],[-0.002703,-0.053542,0.998562]] 2025-10-27T06:25:34.691Z,1761546334.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:34.832Z,1761546334.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762896 2025-10-27T06:25:35.038Z,1761546335.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998271,0.058504,0.005743],[-0.058727,0.996852,0.053269],[-0.002609,-0.053514,0.998564]] 2025-10-27T06:25:35.057Z,1761546335.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:35.084Z,1761546335.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014927 2025-10-27T06:25:35.336Z,1761546335.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898 2025-10-27T06:25:35.436Z,1761546335.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998178,0.060076,0.005647],[-0.060292,0.996765,0.053138],[-0.002436,-0.053381,0.998571]] 2025-10-27T06:25:35.459Z,1761546335.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:35.591Z,1761546335.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522012 2025-10-27T06:25:35.841Z,1761546335.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998077,0.061721,0.005702],[-0.061937,0.996663,0.053170],[-0.002401,-0.053420,0.998569]] 2025-10-27T06:25:35.844Z,1761546335.844 [DAT](INFO): DAT read: Rx Time:06:25:34.5497 2025-10-27T06:25:35.844Z,1761546335.844 [DAT](INFO): Rx dataTimestamp_ set to:1761546335.844186 2025-10-27T06:25:35.845Z,1761546335.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776006 2025-10-27T06:25:35.910Z,1761546335.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:36.096Z,1761546336.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027122 2025-10-27T06:25:36.314Z,1761546336.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997995,0.063042,0.005698],[-0.063256,0.996586,0.053059],[-0.002334,-0.053313,0.998575]] 2025-10-27T06:25:36.340Z,1761546336.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:25:36.348Z,1761546336.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279054 2025-10-27T06:25:36.605Z,1761546336.605 [DAT](INFO): DAT read: 06:25:34.5497 LVL= 27232, 16609, 11442, 24563, AGC= 48, IDX= 476, 0.32, 2.440,-2.387,-1.174,-2.308, PHS=-1.433,-0.033, 1.090, RAW= 243.6, 3.5, CAL= 240.9, 3.8, ROT= 269.1, -3.8 2025-10-27T06:25:36.606Z,1761546336.606 [DAT](INFO): got valid direction response: 06:25:34.5497 LVL= 27232, 16609, 11442, 24563, AGC= 48, IDX= 476, 0.32, 2.440,-2.387,-1.174,-2.308, PHS=-1.433,-0.033, 1.090, RAW= 243.6, 3.5, CAL= 240.9, 3.8, ROT= 269.1, -3.8 2025-10-27T06:25:36.608Z,1761546336.608 [DAT](INFO): DAT read: Bearing 308.8, -88.9 (Local) 2025-10-27T06:25:36.608Z,1761546336.608 [DAT](INFO): Local bearing/azimuth received: Bearing 308.8, -88.9 (Local) 2025-10-27T06:25:36.609Z,1761546336.609 [DAT](INFO): DAT read: Range 11 to 50 : 21.1 m (Round-trip 28.2 ms) speed 0.0 m/s 2025-10-27T06:25:36.610Z,1761546336.610 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:25:36.611Z,1761546336.611 [DAT](INFO): direction in FSK: [-0.015673,-0.997678,0.066274] 2025-10-27T06:25:36.612Z,1761546336.612 [DAT](INFO): publishing direction and range info 2025-10-27T06:25:36.725Z,1761546336.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997926,0.064113,0.005683],[-0.064324,0.996522,0.052978],[-0.002266,-0.053234,0.998580]] 2025-10-27T06:25:36.816Z,1761546336.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.100000 m, deltaT: 60.510761 s, deltaX: 2.600000 m, approachRate: 0.042968 m/s, rangeRepo size: 4 2025-10-27T06:25:36.818Z,1761546336.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.962305 m, bearing: 265.423048 deg, lat: 36.779448 deg, lon: -121.859827 deg, deltaT: 60.510761 s, deltaX: 2.583107 m, approachRate: 0.042688 m/s, posRepo size: 4 2025-10-27T06:25:36.818Z,1761546336.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:37.122Z,1761546337.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997886,0.064759,0.005522],[-0.064961,0.996490,0.052795],[-0.002083,-0.053042,0.998590]] 2025-10-27T06:25:37.157Z,1761546337.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:37.571Z,1761546337.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997829,0.065618,0.005533],[-0.065820,0.996427,0.052921],[-0.002040,-0.053170,0.998583]] 2025-10-27T06:25:37.629Z,1761546337.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:37.930Z,1761546337.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997804,0.066002,0.005585],[-0.066206,0.996399,0.052977],[-0.002068,-0.053230,0.998580]] 2025-10-27T06:25:37.949Z,1761546337.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:38.335Z,1761546338.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997805,0.065985,0.005604],[-0.066190,0.996403,0.052915],[-0.002092,-0.053170,0.998583]] 2025-10-27T06:25:38.354Z,1761546338.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:38.742Z,1761546338.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997843,0.065407,0.005648],[-0.065615,0.996447,0.052797],[-0.002175,-0.053054,0.998589]] 2025-10-27T06:25:38.819Z,1761546338.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:39.142Z,1761546339.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997873,0.064935,0.005684],[-0.065145,0.996475,0.052865],[-0.002231,-0.053123,0.998585]] 2025-10-27T06:25:39.228Z,1761546339.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:39.617Z,1761546339.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997916,0.064278,0.005669],[-0.064489,0.996513,0.052950],[-0.002246,-0.053205,0.998581]] 2025-10-27T06:25:39.677Z,1761546339.677 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -78.718 +15.15, 9.01, 0.00 2025-10-27T06:25:39.730Z,1761546339.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:39.952Z,1761546339.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997959,0.063594,0.005742],[-0.063810,0.996548,0.053106],[-0.002345,-0.053364,0.998572]] 2025-10-27T06:25:40.015Z,1761546340.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:40.354Z,1761546340.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998031,0.062456,0.005813],[-0.062677,0.996621,0.053080],[-0.002478,-0.053340,0.998573]] 2025-10-27T06:25:40.392Z,1761546340.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:40.762Z,1761546340.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998079,0.061680,0.005823],[-0.061903,0.996661,0.053240],[-0.002520,-0.053498,0.998565]] 2025-10-27T06:25:40.819Z,1761546340.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:41.162Z,1761546341.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998137,0.060744,0.005754],[-0.060965,0.996716,0.053296],[-0.002497,-0.053547,0.998562]] 2025-10-27T06:25:41.180Z,1761546341.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:41.627Z,1761546341.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998202,0.059663,0.005676],[-0.059881,0.996785,0.053238],[-0.002482,-0.053482,0.998566]] 2025-10-27T06:25:41.687Z,1761546341.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:42.049Z,1761546342.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:42.409Z,1761546342.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998280,0.058364,0.005580],[-0.058579,0.996851,0.053450],[-0.002443,-0.053685,0.998555]] 2025-10-27T06:25:42.428Z,1761546342.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:42.810Z,1761546342.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998289,0.058220,0.005385],[-0.058425,0.996853,0.053571],[-0.002250,-0.053794,0.998550]] 2025-10-27T06:25:42.854Z,1761546342.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:43.214Z,1761546343.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998286,0.058293,0.005226],[-0.058490,0.996843,0.053696],[-0.002079,-0.053909,0.998544]] 2025-10-27T06:25:43.249Z,1761546343.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:43.661Z,1761546343.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998264,0.058673,0.005098],[-0.058863,0.996815,0.053803],[-0.001925,-0.054009,0.998539]] 2025-10-27T06:25:43.718Z,1761546343.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:44.024Z,1761546344.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998230,0.059271,0.004925],[-0.059451,0.996781,0.053783],[-0.001721,-0.053980,0.998541]] 2025-10-27T06:25:44.044Z,1761546344.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:44.427Z,1761546344.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998177,0.060174,0.004756],[-0.060343,0.996728,0.053769],[-0.001505,-0.053958,0.998542]] 2025-10-27T06:25:44.467Z,1761546344.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:44.829Z,1761546344.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998107,0.061343,0.004424],[-0.061492,0.996657,0.053784],[-0.001110,-0.053955,0.998543]] 2025-10-27T06:25:44.848Z,1761546344.848 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768- 2025-10-27T06:25:44.892Z,1761546344.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:45.234Z,1761546345.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998000,0.063075,0.004232],[-0.063211,0.996542,0.053935],[-0.000815,-0.054095,0.998535]] 2025-10-27T06:25:45.296Z,1761546345.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:45.690Z,1761546345.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997893,0.064768,0.003905],[-0.064884,0.996434,0.053945],[-0.000397,-0.054085,0.998536]] 2025-10-27T06:25:45.773Z,1761546345.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:46.041Z,1761546346.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997775,0.066577,0.003630],[-0.066676,0.996320,0.053854],[-0.000031,-0.053976,0.998542]] 2025-10-27T06:25:46.068Z,1761546346.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:46.447Z,1761546346.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997649,0.068442,0.003515],[-0.068531,0.996203,0.053684],[0.000173,-0.053799,0.998552]] 2025-10-27T06:25:46.530Z,1761546346.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:46.850Z,1761546346.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997517,0.070342,0.003294],[-0.070418,0.996088,0.053392],[0.000475,-0.053492,0.998568]] 2025-10-27T06:25:46.922Z,1761546346.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:47.264Z,1761546347.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997411,0.071831,0.003333],[-0.071906,0.996004,0.052973],[0.000485,-0.053076,0.998590]] 2025-10-27T06:25:47.314Z,1761546347.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:47.721Z,1761546347.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997284,0.073558,0.003624],[-0.073647,0.995886,0.052786],[0.000273,-0.052910,0.998599]] 2025-10-27T06:25:47.841Z,1761546347.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:48.063Z,1761546348.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997166,0.075136,0.003936],[-0.075239,0.995770,0.052746],[0.000044,-0.052893,0.998600]] 2025-10-27T06:25:48.097Z,1761546348.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:48.465Z,1761546348.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997053,0.076576,0.004535],[-0.076709,0.995653,0.052826],[-0.000470,-0.053018,0.998593]] 2025-10-27T06:25:48.508Z,1761546348.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:48.870Z,1761546348.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996973,0.077559,0.005361],[-0.077734,0.995568,0.052939],[-0.001231,-0.053195,0.998583]] 2025-10-27T06:25:48.934Z,1761546348.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:49.282Z,1761546349.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996945,0.077858,0.006171],[-0.078076,0.995550,0.052773],[-0.002035,-0.053093,0.998587]] 2025-10-27T06:25:49.301Z,1761546349.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:49.724Z,1761546349.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996953,0.077685,0.007081],[-0.077951,0.995574,0.052494],[-0.002971,-0.052885,0.998596]] 2025-10-27T06:25:49.814Z,1761546349.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:50.123Z,1761546350.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:50.487Z,1761546350.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997068,0.075899,0.009710],[-0.076304,0.995723,0.052100],[-0.005714,-0.052689,0.998595]] 2025-10-27T06:25:50.506Z,1761546350.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:50.889Z,1761546350.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997159,0.074427,0.011602],[-0.074940,0.995785,0.052887],[-0.007617,-0.053606,0.998533]] 2025-10-27T06:25:50.936Z,1761546350.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:51.294Z,1761546351.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997286,0.072390,0.013399],[-0.073008,0.995895,0.053498],[-0.009472,-0.054331,0.998478]] 2025-10-27T06:25:51.328Z,1761546351.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:51.725Z,1761546351.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997444,0.069842,0.015102],[-0.070560,0.996052,0.053871],[-0.011280,-0.054798,0.998434]] 2025-10-27T06:25:51.808Z,1761546351.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:52.103Z,1761546352.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997587,0.067404,0.016611],[-0.068209,0.996212,0.053940],[-0.012913,-0.054943,0.998406]] 2025-10-27T06:25:52.122Z,1761546352.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:52.507Z,1761546352.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997723,0.064943,0.018184],[-0.065836,0.996380,0.053787],[-0.014625,-0.054862,0.998387]] 2025-10-27T06:25:52.529Z,1761546352.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:52.910Z,1761546352.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997835,0.062868,0.019309],[-0.063814,0.996551,0.053041],[-0.015908,-0.054159,0.998406]] 2025-10-27T06:25:52.955Z,1761546352.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:53.314Z,1761546353.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997923,0.061068,0.020523],[-0.062068,0.996704,0.052237],[-0.017265,-0.053402,0.998424]] 2025-10-27T06:25:53.333Z,1761546353.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:53.745Z,1761546353.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997977,0.059715,0.021817],[-0.060779,0.996804,0.051851],[-0.018651,-0.053073,0.998416]] 2025-10-27T06:25:53.807Z,1761546353.807 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:25:53.823Z,1761546353.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:54.270Z,1761546354.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998041,0.057591,0.024431],[-0.058790,0.996937,0.051581],[-0.021385,-0.052916,0.998370]] 2025-10-27T06:25:54.332Z,1761546354.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:54.650Z,1761546354.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998037,0.057128,0.025659],[-0.058395,0.996955,0.051686],[-0.022628,-0.053083,0.998334]] 2025-10-27T06:25:54.702Z,1761546354.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:54.812Z,1761546354.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:25:55.051Z,1761546355.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998016,0.056966,0.026812],[-0.058297,0.996955,0.051783],[-0.023780,-0.053243,0.998298]] 2025-10-27T06:25:55.088Z,1761546355.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:55.453Z,1761546355.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997992,0.056936,0.027756],[-0.058314,0.996961,0.051656],[-0.024731,-0.053171,0.998279]] 2025-10-27T06:25:55.479Z,1761546355.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:55.909Z,1761546355.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:56.269Z,1761546356.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997881,0.058156,0.029178],[-0.059596,0.996908,0.051216],[-0.026110,-0.052846,0.998261]] 2025-10-27T06:25:56.289Z,1761546356.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:56.662Z,1761546356.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997791,0.059415,0.029730],[-0.060877,0.996844,0.050960],[-0.026608,-0.052657,0.998258]] 2025-10-27T06:25:56.685Z,1761546356.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:57.064Z,1761546357.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997649,0.061495,0.030261],[-0.062986,0.996708,0.051048],[-0.027022,-0.052834,0.998238]] 2025-10-27T06:25:57.117Z,1761546357.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:57.551Z,1761546357.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:57.877Z,1761546357.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997356,0.065876,0.030697],[-0.067383,0.996425,0.050954],[-0.027230,-0.052888,0.998229]] 2025-10-27T06:25:57.922Z,1761546357.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:58.278Z,1761546358.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997189,0.068266,0.030871],[-0.069779,0.996262,0.050929],[-0.027279,-0.052940,0.998225]] 2025-10-27T06:25:58.321Z,1761546358.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:58.680Z,1761546358.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997031,0.070601,0.030734],[-0.072102,0.996103,0.050799],[-0.027028,-0.052864,0.998236]] 2025-10-27T06:25:58.774Z,1761546358.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:59.086Z,1761546359.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996910,0.072372,0.030552],[-0.073851,0.995995,0.050400],[-0.026782,-0.052501,0.998262]] 2025-10-27T06:25:59.141Z,1761546359.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:59.490Z,1761546359.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996776,0.074271,0.030353],[-0.075730,0.995867,0.050130],[-0.026504,-0.052267,0.998281]] 2025-10-27T06:25:59.510Z,1761546359.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:25:59.902Z,1761546359.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996637,0.076242,0.030033],[-0.077681,0.995719,0.050086],[-0.026085,-0.052250,0.998293]] 2025-10-27T06:25:59.997Z,1761546359.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:00.350Z,1761546360.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:00.700Z,1761546360.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996456,0.078864,0.029261],[-0.080258,0.995519,0.050012],[-0.025185,-0.052183,0.998320]] 2025-10-27T06:26:00.777Z,1761546360.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:01.105Z,1761546361.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996406,0.079666,0.028786],[-0.081038,0.995450,0.050115],[-0.024663,-0.052268,0.998329]] 2025-10-27T06:26:01.176Z,1761546361.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:01.512Z,1761546361.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996378,0.080224,0.028205],[-0.081567,0.995401,0.050244],[-0.024044,-0.052363,0.998339]] 2025-10-27T06:26:01.537Z,1761546361.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:01.947Z,1761546361.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996389,0.080280,0.027636],[-0.081595,0.995395,0.050309],[-0.023470,-0.052382,0.998351]] 2025-10-27T06:26:02.017Z,1761546362.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:02.334Z,1761546362.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996428,0.080031,0.026947],[-0.081313,0.995414,0.050381],[-0.022791,-0.052392,0.998366]] 2025-10-27T06:26:02.369Z,1761546362.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:02.743Z,1761546362.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996508,0.079279,0.026204],[-0.080523,0.995478,0.050401],[-0.022089,-0.052335,0.998385]] 2025-10-27T06:26:02.796Z,1761546362.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:03.126Z,1761546363.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996608,0.078251,0.025474],[-0.079457,0.995564,0.050388],[-0.021418,-0.052241,0.998405]] 2025-10-27T06:26:03.174Z,1761546363.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:03.533Z,1761546363.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996687,0.077513,0.024645],[-0.078682,0.995612,0.050649],[-0.020611,-0.052420,0.998412]] 2025-10-27T06:26:03.564Z,1761546363.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:03.956Z,1761546363.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996802,0.076295,0.023762],[-0.077420,0.995706,0.050744],[-0.019788,-0.052421,0.998429]] 2025-10-27T06:26:04.000Z,1761546364.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:04.341Z,1761546364.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996888,0.075412,0.022981],[-0.076505,0.995759,0.051100],[-0.019030,-0.052699,0.998429]] 2025-10-27T06:26:04.360Z,1761546364.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:04.768Z,1761546364.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997018,0.073937,0.022119],[-0.074987,0.995871,0.051172],[-0.018244,-0.052678,0.998445]] 2025-10-27T06:26:04.788Z,1761546364.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:05.152Z,1761546365.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997134,0.072597,0.021308],[-0.073608,0.995967,0.051290],[-0.017499,-0.052712,0.998456]] 2025-10-27T06:26:05.198Z,1761546365.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:05.578Z,1761546365.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997239,0.071400,0.020402],[-0.072367,0.996053,0.051397],[-0.016651,-0.052731,0.998470]] 2025-10-27T06:26:05.619Z,1761546365.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:05.984Z,1761546365.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997330,0.070360,0.019537],[-0.071286,0.996120,0.051616],[-0.015829,-0.052871,0.998476]] 2025-10-27T06:26:06.026Z,1761546366.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:06.369Z,1761546366.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997461,0.068722,0.018671],[-0.069602,0.996244,0.051514],[-0.015060,-0.052683,0.998498]] 2025-10-27T06:26:06.388Z,1761546366.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:06.798Z,1761546366.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997552,0.067596,0.017899],[-0.068439,0.996317,0.051657],[-0.014341,-0.052755,0.998505]] 2025-10-27T06:26:06.817Z,1761546366.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:07.190Z,1761546367.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997622,0.066771,0.017076],[-0.067575,0.996364,0.051892],[-0.013549,-0.052923,0.998507]] 2025-10-27T06:26:07.324Z,1761546367.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:07.583Z,1761546367.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997704,0.065734,0.016302],[-0.066499,0.996432,0.051965],[-0.012828,-0.052930,0.998516]] 2025-10-27T06:26:07.604Z,1761546367.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:08.022Z,1761546368.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997796,0.064513,0.015519],[-0.065238,0.996521,0.051863],[-0.012119,-0.052761,0.998534]] 2025-10-27T06:26:08.065Z,1761546368.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:08.388Z,1761546368.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997853,0.063831,0.014686],[-0.064513,0.996565,0.051929],[-0.011321,-0.052765,0.998543]] 2025-10-27T06:26:08.419Z,1761546368.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:08.799Z,1761546368.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997894,0.063313,0.014078],[-0.063965,0.996592,0.052082],[-0.010732,-0.052873,0.998544]] 2025-10-27T06:26:08.842Z,1761546368.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:09.190Z,1761546369.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997927,0.062943,0.013420],[-0.063561,0.996614,0.052168],[-0.010091,-0.052913,0.998548]] 2025-10-27T06:26:09.254Z,1761546369.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:09.594Z,1761546369.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997958,0.062557,0.012883],[-0.063148,0.996640,0.052160],[-0.009577,-0.052867,0.998556]] 2025-10-27T06:26:09.657Z,1761546369.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:10.060Z,1761546370.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997966,0.062551,0.012278],[-0.063110,0.996639,0.052223],[-0.008970,-0.052892,0.998560]] 2025-10-27T06:26:10.108Z,1761546370.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:10.461Z,1761546370.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997959,0.062754,0.011786],[-0.063288,0.996623,0.052314],[-0.008463,-0.052953,0.998561]] 2025-10-27T06:26:10.536Z,1761546370.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:10.869Z,1761546370.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997925,0.063361,0.011442],[-0.063878,0.996573,0.052552],[-0.008073,-0.053174,0.998553]] 2025-10-27T06:26:10.895Z,1761546370.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:11.270Z,1761546371.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997887,0.064004,0.011156],[-0.064505,0.996529,0.052621],[-0.007749,-0.053230,0.998552]] 2025-10-27T06:26:11.330Z,1761546371.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:11.743Z,1761546371.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:12.084Z,1761546372.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997791,0.065545,0.010771],[-0.066023,0.996437,0.052480],[-0.007292,-0.053075,0.998564]] 2025-10-27T06:26:12.141Z,1761546372.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:12.483Z,1761546372.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997731,0.066466,0.010726],[-0.066939,0.996383,0.052339],[-0.007208,-0.052939,0.998572]] 2025-10-27T06:26:12.503Z,1761546372.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:12.886Z,1761546372.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997655,0.067602,0.010659],[-0.068069,0.996310,0.052269],[-0.007086,-0.052872,0.998576]] 2025-10-27T06:26:12.917Z,1761546372.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:13.290Z,1761546373.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997554,0.069056,0.010790],[-0.069529,0.996206,0.052338],[-0.007135,-0.052961,0.998571]] 2025-10-27T06:26:13.394Z,1761546373.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:13.694Z,1761546373.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997452,0.070482,0.011051],[-0.070967,0.996105,0.052331],[-0.007319,-0.052982,0.998569]] 2025-10-27T06:26:13.754Z,1761546373.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:14.111Z,1761546374.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997360,0.071695,0.011494],[-0.072200,0.996022,0.052223],[-0.007704,-0.052915,0.998569]] 2025-10-27T06:26:14.168Z,1761546374.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:14.502Z,1761546374.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997269,0.072890,0.011919],[-0.073415,0.995940,0.052089],[-0.008074,-0.052821,0.998571]] 2025-10-27T06:26:14.533Z,1761546374.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:14.906Z,1761546374.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997198,0.073754,0.012494],[-0.074306,0.995888,0.051822],[-0.008621,-0.052605,0.998578]] 2025-10-27T06:26:14.941Z,1761546374.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:15.310Z,1761546375.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997147,0.074302,0.013274],[-0.074892,0.995859,0.051542],[-0.009389,-0.052389,0.998583]] 2025-10-27T06:26:15.369Z,1761546375.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:15.729Z,1761546375.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997095,0.074852,0.014085],[-0.075482,0.995822,0.051381],[-0.010181,-0.052295,0.998580]] 2025-10-27T06:26:15.752Z,1761546375.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:16.146Z,1761546376.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997054,0.075226,0.015015],[-0.075903,0.995794,0.051305],[-0.011093,-0.052294,0.998570]] 2025-10-27T06:26:16.202Z,1761546376.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:16.557Z,1761546376.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:16.926Z,1761546376.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997016,0.075333,0.016850],[-0.076106,0.995783,0.051231],[-0.012919,-0.052360,0.998545]] 2025-10-27T06:26:16.952Z,1761546376.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:17.396Z,1761546377.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:17.742Z,1761546377.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997104,0.073668,0.018877],[-0.074546,0.995910,0.051045],[-0.015039,-0.052304,0.998518]] 2025-10-27T06:26:17.761Z,1761546377.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:18.166Z,1761546378.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997163,0.072563,0.019991],[-0.073500,0.995991,0.050991],[-0.016211,-0.052316,0.998499]] 2025-10-27T06:26:18.231Z,1761546378.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:18.580Z,1761546378.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:18.945Z,1761546378.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997365,0.069173,0.021872],[-0.070207,0.996244,0.050684],[-0.018284,-0.052086,0.998475]] 2025-10-27T06:26:18.971Z,1761546378.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:19.349Z,1761546379.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997452,0.067548,0.022938],[-0.068641,0.996348,0.050785],[-0.019424,-0.052230,0.998446]] 2025-10-27T06:26:19.402Z,1761546379.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:19.753Z,1761546379.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997560,0.065621,0.023844],[-0.066763,0.996476,0.050782],[-0.020427,-0.052250,0.998425]] 2025-10-27T06:26:19.801Z,1761546379.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:20.190Z,1761546380.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997656,0.063825,0.024689],[-0.065017,0.996583,0.050935],[-0.021354,-0.052420,0.998397]] 2025-10-27T06:26:20.270Z,1761546380.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:20.563Z,1761546380.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997739,0.062203,0.025453],[-0.063440,0.996677,0.051095],[-0.022190,-0.052594,0.998369]] 2025-10-27T06:26:20.582Z,1761546380.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:20.965Z,1761546380.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997819,0.060571,0.026256],[-0.061856,0.996769,0.051233],[-0.023068,-0.052746,0.998342]] 2025-10-27T06:26:20.996Z,1761546380.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:21.369Z,1761546381.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997901,0.058914,0.026867],[-0.060233,0.996867,0.051274],[-0.023762,-0.052784,0.998323]] 2025-10-27T06:26:21.421Z,1761546381.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:21.774Z,1761546381.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997971,0.057470,0.027409],[-0.058819,0.996952,0.051258],[-0.024380,-0.052766,0.998309]] 2025-10-27T06:26:21.793Z,1761546381.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:22.221Z,1761546382.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998008,0.056577,0.027916],[-0.057956,0.996997,0.051355],[-0.024927,-0.052871,0.998290]] 2025-10-27T06:26:22.272Z,1761546382.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:22.582Z,1761546382.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998046,0.055710,0.028299],[-0.057109,0.997049,0.051305],[-0.025358,-0.052821,0.998282]] 2025-10-27T06:26:22.607Z,1761546382.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:23.001Z,1761546383.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998057,0.055318,0.028683],[-0.056738,0.997069,0.051331],[-0.025759,-0.052859,0.998270]] 2025-10-27T06:26:23.028Z,1761546383.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:23.405Z,1761546383.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998052,0.055382,0.028739],[-0.056805,0.997065,0.051328],[-0.025812,-0.052860,0.998268]] 2025-10-27T06:26:23.509Z,1761546383.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:23.805Z,1761546383.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998024,0.055854,0.028794],[-0.057280,0.997037,0.051339],[-0.025841,-0.052886,0.998266]] 2025-10-27T06:26:23.852Z,1761546383.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:24.250Z,1761546384.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997967,0.056845,0.028831],[-0.058275,0.996974,0.051456],[-0.025819,-0.053032,0.998259]] 2025-10-27T06:26:24.302Z,1761546384.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:24.613Z,1761546384.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997919,0.057728,0.028728],[-0.059147,0.996931,0.051282],[-0.025679,-0.052874,0.998271]] 2025-10-27T06:26:24.704Z,1761546384.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:24.932Z,1761546384.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:26:25.017Z,1761546385.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997846,0.059019,0.028626],[-0.060429,0.996858,0.051209],[-0.025514,-0.052828,0.998278]] 2025-10-27T06:26:25.056Z,1761546385.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:25.425Z,1761546385.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997793,0.060015,0.028430],[-0.061405,0.996817,0.050851],[-0.025288,-0.052485,0.998302]] 2025-10-27T06:26:25.482Z,1761546385.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:25.826Z,1761546385.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997710,0.061414,0.028339],[-0.062794,0.996737,0.050714],[-0.025132,-0.052378,0.998311]] 2025-10-27T06:26:25.857Z,1761546385.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:25.935Z,1761546385.935 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:26:26.278Z,1761546386.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997550,0.064055,0.028132],[-0.065419,0.996574,0.050600],[-0.024795,-0.052316,0.998323]] 2025-10-27T06:26:26.376Z,1761546386.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:26.720Z,1761546386.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:27.038Z,1761546387.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997477,0.065259,0.027933],[-0.066611,0.996496,0.050575],[-0.024535,-0.052309,0.998330]] 2025-10-27T06:26:27.092Z,1761546387.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:27.450Z,1761546387.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997412,0.066299,0.027815],[-0.067643,0.996427,0.050564],[-0.024363,-0.052315,0.998333]] 2025-10-27T06:26:27.512Z,1761546387.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:27.850Z,1761546387.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997357,0.067185,0.027659],[-0.068519,0.996371,0.050491],[-0.024167,-0.052253,0.998341]] 2025-10-27T06:26:27.883Z,1761546387.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:28.279Z,1761546388.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997327,0.067706,0.027481],[-0.069026,0.996343,0.050360],[-0.023970,-0.052122,0.998353]] 2025-10-27T06:26:28.336Z,1761546388.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:28.653Z,1761546388.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997312,0.067937,0.027467],[-0.069255,0.996331,0.050278],[-0.023950,-0.052045,0.998358]] 2025-10-27T06:26:28.734Z,1761546388.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:29.062Z,1761546389.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997317,0.067913,0.027308],[-0.069221,0.996338,0.050200],[-0.023799,-0.051955,0.998366]] 2025-10-27T06:26:29.085Z,1761546389.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:29.477Z,1761546389.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997382,0.067020,0.027148],[-0.068325,0.996391,0.050372],[-0.023674,-0.052095,0.998361]] 2025-10-27T06:26:29.513Z,1761546389.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:29.908Z,1761546389.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:30.297Z,1761546390.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997510,0.065201,0.026872],[-0.066496,0.996508,0.050500],[-0.023486,-0.052161,0.998362]] 2025-10-27T06:26:30.363Z,1761546390.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:30.682Z,1761546390.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997587,0.063983,0.026935],[-0.065283,0.996588,0.050507],[-0.023611,-0.052143,0.998360]] 2025-10-27T06:26:30.747Z,1761546390.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:31.085Z,1761546391.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997678,0.062609,0.026818],[-0.063900,0.996685,0.050348],[-0.023577,-0.051944,0.998372]] 2025-10-27T06:26:31.104Z,1761546391.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:31.488Z,1761546391.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997751,0.061408,0.026883],[-0.062705,0.996760,0.050374],[-0.023702,-0.051946,0.998369]] 2025-10-27T06:26:31.537Z,1761546391.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:31.886Z,1761546391.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997834,0.060051,0.026843],[-0.061345,0.996848,0.050311],[-0.023737,-0.051849,0.998373]] 2025-10-27T06:26:31.928Z,1761546391.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:32.294Z,1761546392.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997911,0.058794,0.026777],[-0.060088,0.996920,0.050401],[-0.023731,-0.051905,0.998370]] 2025-10-27T06:26:32.372Z,1761546392.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:32.762Z,1761546392.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:26:32.764Z,1761546392.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:32.837Z,1761546392.837 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:26:32.838Z,1761546392.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:26:33.088Z,1761546393.088 [DAT](INFO): DAT read: user:759> 2025-10-27T06:26:33.089Z,1761546393.089 [DAT](INFO): DAT read: Tx time:06:26:32.1172 2025-10-27T06:26:33.089Z,1761546393.089 [DAT](INFO): Ping request sent. 2025-10-27T06:26:33.089Z,1761546393.089 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:26:33.089Z,1761546393.089 [DAT](INFO): publishing transmit ping time 2025-10-27T06:26:33.090Z,1761546393.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T06:26:33.101Z,1761546393.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998032,0.056776,0.026626],[-0.058072,0.997024,0.050707],[-0.023668,-0.052154,0.998359]] 2025-10-27T06:26:33.157Z,1761546393.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:33.344Z,1761546393.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254251 2025-10-27T06:26:33.504Z,1761546393.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998076,0.056018,0.026585],[-0.057317,0.997057,0.050916],[-0.023655,-0.052341,0.998349]] 2025-10-27T06:26:33.559Z,1761546393.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:33.560Z,1761546393.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 21.10 m and bearing: 269.429084 deg. Not drifting fast enough. 2025-10-27T06:26:33.593Z,1761546393.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503560 2025-10-27T06:26:33.844Z,1761546393.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754981 2025-10-27T06:26:33.916Z,1761546393.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998125,0.055083,0.026672],[-0.056388,0.997108,0.050945],[-0.023789,-0.052353,0.998345]] 2025-10-27T06:26:33.935Z,1761546393.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:33.937Z,1761546393.937 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-27T06:26:33.937Z,1761546393.937 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T06:26:33.937Z,1761546393.937 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-27T06:26:33.938Z,1761546393.938 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T06:26:34.096Z,1761546394.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006835 2025-10-27T06:26:34.309Z,1761546394.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998178,0.054155,0.026599],[-0.055456,0.997165,0.050858],[-0.023770,-0.052241,0.998352]] 2025-10-27T06:26:34.350Z,1761546394.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261019 2025-10-27T06:26:34.383Z,1761546394.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:34.600Z,1761546394.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511331 2025-10-27T06:26:34.771Z,1761546394.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:34.852Z,1761546394.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763090 2025-10-27T06:26:35.104Z,1761546395.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015342 2025-10-27T06:26:35.120Z,1761546395.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998247,0.052975,0.026402],[-0.054265,0.997233,0.050816],[-0.023637,-0.052160,0.998359]] 2025-10-27T06:26:35.166Z,1761546395.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:35.369Z,1761546395.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279252 2025-10-27T06:26:35.527Z,1761546395.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998277,0.052454,0.026313],[-0.053740,0.997261,0.050823],[-0.023575,-0.052149,0.998361]] 2025-10-27T06:26:35.584Z,1761546395.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:35.608Z,1761546395.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518937 2025-10-27T06:26:35.860Z,1761546395.860 [DAT](INFO): DAT read: Rx Time:06:26:34.5552 2025-10-27T06:26:35.860Z,1761546395.860 [DAT](INFO): Rx dataTimestamp_ set to:1761546395.860077 2025-10-27T06:26:35.861Z,1761546395.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771875 2025-10-27T06:26:35.927Z,1761546395.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998288,0.052288,0.026229],[-0.053573,0.997263,0.050951],[-0.023493,-0.052269,0.998357]] 2025-10-27T06:26:35.952Z,1761546395.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:36.112Z,1761546396.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022756 2025-10-27T06:26:36.330Z,1761546396.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998297,0.052068,0.026313],[-0.053359,0.997271,0.051033],[-0.023584,-0.052350,0.998350]] 2025-10-27T06:26:36.367Z,1761546396.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276981 2025-10-27T06:26:36.439Z,1761546396.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.96 m. 2025-10-27T06:26:36.621Z,1761546396.621 [DAT](INFO): DAT read: 06:26:34.5552 LVL= 20816, 19505, 9506, 22067, AGC= 46, IDX= 502, 0.35, 0.166, 1.169, 2.815, 1.515, PHS=-1.247,-0.301, 1.256, RAW= 232.0, 2.7, CAL= 229.8, 3.5, ROT= 280.2, -3.5 2025-10-27T06:26:36.622Z,1761546396.622 [DAT](INFO): got valid direction response: 06:26:34.5552 LVL= 20816, 19505, 9506, 22067, AGC= 46, IDX= 502, 0.35, 0.166, 1.169, 2.815, 1.515, PHS=-1.247,-0.301, 1.256, RAW= 232.0, 2.7, CAL= 229.8, 3.5, ROT= 280.2, -3.5 2025-10-27T06:26:36.623Z,1761546396.623 [DAT](INFO): DAT read: Bearing 157.9, -81.4 (Local) 2025-10-27T06:26:36.624Z,1761546396.624 [DAT](INFO): Local bearing/azimuth received: Bearing 157.9, -81.4 (Local) 2025-10-27T06:26:36.625Z,1761546396.625 [DAT](INFO): DAT read: Range 11 to 50 : 25.3 m (Round-trip 33.8 ms) speed -0.1 m/s 2025-10-27T06:26:36.625Z,1761546396.625 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:26:36.626Z,1761546396.626 [DAT](INFO): direction in FSK: [0.176755,-0.982360,0.061049] 2025-10-27T06:26:36.630Z,1761546396.630 [DAT](INFO): publishing direction and range info 2025-10-27T06:26:36.742Z,1761546396.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998326,0.051539,0.026259],[-0.052823,0.997309,0.050832],[-0.023568,-0.052134,0.998362]] 2025-10-27T06:26:36.863Z,1761546396.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.299999 m, deltaT: 60.016043 s, deltaX: 4.199999 m, approachRate: 0.069981 m/s, rangeRepo size: 4 2025-10-27T06:26:36.865Z,1761546396.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.134439 m, bearing: 277.364551 deg, lat: 36.779448 deg, lon: -121.859827 deg, deltaT: 60.016043 s, deltaX: 4.172134 m, approachRate: 0.069517 m/s, posRepo size: 4 2025-10-27T06:26:36.865Z,1761546396.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:37.216Z,1761546397.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:37.618Z,1761546397.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:37.946Z,1761546397.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998365,0.050803,0.026204],[-0.052075,0.997371,0.050394],[-0.023575,-0.051676,0.998386]] 2025-10-27T06:26:37.990Z,1761546397.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:38.350Z,1761546398.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998374,0.050308,0.026805],[-0.051642,0.997329,0.051654],[-0.024135,-0.052954,0.998305]] 2025-10-27T06:26:38.388Z,1761546398.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:38.923Z,1761546398.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998398,0.048523,0.029087],[-0.050248,0.996820,0.061848],[-0.025993,-0.063211,0.997662]] 2025-10-27T06:26:38.960Z,1761546398.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:39.455Z,1761546399.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998360,0.047994,0.031197],[-0.050319,0.995638,0.078574],[-0.027290,-0.080015,0.996420]] 2025-10-27T06:26:39.572Z,1761546399.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:40.132Z,1761546400.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998271,0.048879,0.032663],[-0.051729,0.994320,0.093018],[-0.027931,-0.094547,0.995129]] 2025-10-27T06:26:40.159Z,1761546400.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:40.535Z,1761546400.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998288,0.048905,0.032081],[-0.051478,0.995051,0.084993],[-0.027765,-0.086499,0.995865]] 2025-10-27T06:26:40.606Z,1761546400.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:40.936Z,1761546400.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998357,0.048143,0.031062],[-0.050345,0.995951,0.074480],[-0.027351,-0.075922,0.996739]] 2025-10-27T06:26:40.968Z,1761546400.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:41.338Z,1761546401.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998469,0.046394,0.030108],[-0.048376,0.996454,0.068845],[-0.026807,-0.070196,0.997173]] 2025-10-27T06:26:41.373Z,1761546401.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:41.746Z,1761546401.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998569,0.044517,0.029627],[-0.046514,0.996423,0.070554],[-0.026380,-0.071831,0.997068]] 2025-10-27T06:26:41.796Z,1761546401.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:42.149Z,1761546402.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998691,0.042094,0.029044],[-0.044197,0.996127,0.076011],[-0.025732,-0.077195,0.996684]] 2025-10-27T06:26:42.168Z,1761546402.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:42.549Z,1761546402.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998820,0.039382,0.028437],[-0.041565,0.995866,0.080772],[-0.025139,-0.081859,0.996327]] 2025-10-27T06:26:42.597Z,1761546402.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:42.954Z,1761546402.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998976,0.035900,0.027552],[-0.038035,0.995961,0.081335],[-0.024521,-0.082300,0.996306]] 2025-10-27T06:26:42.991Z,1761546402.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:43.358Z,1761546403.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999136,0.032093,0.026416],[-0.034082,0.996320,0.078641],[-0.023795,-0.079473,0.996553]] 2025-10-27T06:26:43.376Z,1761546403.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:43.820Z,1761546403.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:44.177Z,1761546404.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999486,0.021499,0.023771],[-0.023167,0.997118,0.072248],[-0.022149,-0.072762,0.997103]] 2025-10-27T06:26:44.207Z,1761546404.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:44.569Z,1761546404.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999633,0.014984,0.022591],[-0.016526,0.997430,0.069713],[-0.021488,-0.070060,0.997311]] 2025-10-27T06:26:44.623Z,1761546404.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:44.992Z,1761546404.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999748,0.007206,0.021243],[-0.008612,0.997722,0.066901],[-0.020712,-0.067067,0.997533]] 2025-10-27T06:26:45.030Z,1761546405.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:45.394Z,1761546405.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999797,-0.001323,0.020103],[0.000023,0.997917,0.064514],[-0.020147,-0.064500,0.997714]] 2025-10-27T06:26:45.414Z,1761546405.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:45.800Z,1761546405.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999770,-0.010106,0.018935],[0.008915,0.998036,0.062002],[-0.019525,-0.061819,0.997896]] 2025-10-27T06:26:45.838Z,1761546405.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:46.210Z,1761546406.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999632,-0.020267,0.018052],[0.019171,0.998076,0.058961],[-0.019213,-0.058593,0.998097]] 2025-10-27T06:26:46.229Z,1761546406.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:46.695Z,1761546406.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:47.056Z,1761546407.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998931,-0.043418,0.015854],[0.042546,0.997754,0.051730],[-0.018065,-0.051000,0.998535]] 2025-10-27T06:26:47.075Z,1761546407.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:47.460Z,1761546407.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998312,-0.056074,0.015097],[0.055300,0.997336,0.047567],[-0.017724,-0.046652,0.998754]] 2025-10-27T06:26:47.479Z,1761546407.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:47.862Z,1761546407.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997484,-0.069435,0.014309],[0.068765,0.996708,0.042954],[-0.017245,-0.041862,0.998975]] 2025-10-27T06:26:47.912Z,1761546407.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:48.266Z,1761546408.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996394,-0.083736,0.013692],[0.083166,0.995815,0.037893],[-0.016808,-0.036618,0.999188]] 2025-10-27T06:26:48.302Z,1761546408.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:48.745Z,1761546408.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:49.075Z,1761546409.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993475,-0.113347,0.012633],[0.112936,0.993165,0.029488],[-0.015889,-0.027869,0.999485]] 2025-10-27T06:26:49.139Z,1761546409.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:49.512Z,1761546409.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:49.882Z,1761546409.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989401,-0.144636,0.012910],[0.144370,0.989330,0.019608],[-0.015608,-0.017536,0.999724]] 2025-10-27T06:26:49.990Z,1761546409.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:50.292Z,1761546410.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984120,-0.176954,0.013962],[0.176823,0.984191,0.010090],[-0.015526,-0.007461,0.999852]] 2025-10-27T06:26:50.338Z,1761546410.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:50.701Z,1761546410.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981110,-0.192898,0.014589],[0.192813,0.981210,0.007060],[-0.015677,-0.004113,0.999869]] 2025-10-27T06:26:50.766Z,1761546410.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:51.100Z,1761546411.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977963,-0.208225,0.015167],[0.208177,0.978080,0.004650],[-0.015803,-0.001390,0.999874]] 2025-10-27T06:26:51.173Z,1761546411.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:51.507Z,1761546411.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974445,-0.224096,0.015422],[0.224084,0.974567,0.002526],[-0.015595,0.000994,0.999878]] 2025-10-27T06:26:51.526Z,1761546411.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:51.904Z,1761546411.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970664,-0.239922,0.015756],[0.239944,0.970787,0.000518],[-0.015420,0.003277,0.999876]] 2025-10-27T06:26:51.965Z,1761546411.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:52.307Z,1761546412.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966472,-0.256280,0.015899],[0.256326,0.966590,-0.000884],[-0.015141,0.004930,0.999873]] 2025-10-27T06:26:52.326Z,1761546412.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:52.717Z,1761546412.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961737,-0.273510,0.015943],[0.273566,0.961852,-0.001413],[-0.014949,0.005721,0.999872]] 2025-10-27T06:26:52.836Z,1761546412.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:53.114Z,1761546413.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956676,-0.290690,0.016477],[0.290765,0.956792,-0.002325],[-0.015089,0.007015,0.999862]] 2025-10-27T06:26:53.187Z,1761546413.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:53.519Z,1761546413.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951065,-0.308509,0.017259],[0.308622,0.951175,-0.004250],[-0.015105,0.009368,0.999842]] 2025-10-27T06:26:53.560Z,1761546413.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:53.921Z,1761546413.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944980,-0.326606,0.018473],[0.326790,0.945064,-0.007957],[-0.014859,0.013556,0.999798]] 2025-10-27T06:26:54.004Z,1761546414.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:54.325Z,1761546414.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938391,-0.344969,0.020453],[0.345264,0.938414,-0.013126],[-0.014665,0.019379,0.999705]] 2025-10-27T06:26:54.344Z,1761546414.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:54.781Z,1761546414.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:55.133Z,1761546415.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923577,-0.382636,0.024390],[0.383170,0.923385,-0.023253],[-0.013624,0.030822,0.999432]] 2025-10-27T06:26:55.182Z,1761546415.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:55.538Z,1761546415.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915718,-0.401017,0.025418],[0.401610,0.915454,-0.025541],[-0.013027,0.033597,0.999351]] 2025-10-27T06:26:55.557Z,1761546415.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:55.942Z,1761546415.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907428,-0.419399,0.026048],[0.420031,0.907097,-0.027373],[-0.012148,0.035780,0.999286]] 2025-10-27T06:26:56.003Z,1761546416.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:56.068Z,1761546416.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:26:56.346Z,1761546416.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898654,-0.437864,0.026390],[0.438513,0.898279,-0.028319],[-0.011305,0.037021,0.999251]] 2025-10-27T06:26:56.370Z,1761546416.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:56.750Z,1761546416.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889394,-0.456372,0.026524],[0.457027,0.888976,-0.029132],[-0.010285,0.038032,0.999224]] 2025-10-27T06:26:56.797Z,1761546416.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:57.071Z,1761546417.071 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:26:57.162Z,1761546417.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879520,-0.475104,0.026845],[0.475776,0.879033,-0.030625],[-0.009047,0.039707,0.999170]] 2025-10-27T06:26:57.212Z,1761546417.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:57.560Z,1761546417.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869182,-0.493718,0.027683],[0.494429,0.868608,-0.032564],[-0.007968,0.041992,0.999086]] 2025-10-27T06:26:57.579Z,1761546417.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:57.961Z,1761546417.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858368,-0.512265,0.028090],[0.512990,0.857732,-0.033721],[-0.006820,0.043355,0.999036]] 2025-10-27T06:26:58.011Z,1761546418.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:58.366Z,1761546418.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846687,-0.531263,0.029655],[0.532057,0.845945,-0.035951],[-0.005987,0.046218,0.998913]] 2025-10-27T06:26:58.400Z,1761546418.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:58.778Z,1761546418.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834562,-0.550015,0.031446],[0.550889,0.833701,-0.038259],[-0.005174,0.049253,0.998773]] 2025-10-27T06:26:58.828Z,1761546418.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:59.181Z,1761546419.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821870,-0.568709,0.033166],[0.569658,0.820896,-0.040242],[-0.004340,0.051967,0.998639]] 2025-10-27T06:26:59.199Z,1761546419.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:59.578Z,1761546419.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808569,-0.587389,0.034501],[0.588390,0.807534,-0.041058],[-0.003744,0.053498,0.998561]] 2025-10-27T06:26:59.609Z,1761546419.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:26:59.986Z,1761546419.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795033,-0.605542,0.035233],[0.606558,0.793985,-0.040928],[-0.003191,0.053910,0.998541]] 2025-10-27T06:27:00.049Z,1761546420.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:00.385Z,1761546420.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781051,-0.623396,0.036551],[0.624460,0.779977,-0.041060],[-0.002912,0.054894,0.998488]] 2025-10-27T06:27:00.417Z,1761546420.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:00.801Z,1761546420.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766781,-0.640821,0.037357],[0.641904,0.765702,-0.040731],[-0.002503,0.055212,0.998471]] 2025-10-27T06:27:00.846Z,1761546420.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:01.194Z,1761546421.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751620,-0.658428,0.039251],[0.659595,0.750439,-0.042145],[-0.001706,0.057567,0.998340]] 2025-10-27T06:27:01.212Z,1761546421.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:01.598Z,1761546421.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736066,-0.675648,0.041309],[0.676909,0.734809,-0.043013],[-0.001293,0.059623,0.998220]] 2025-10-27T06:27:01.617Z,1761546421.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:02.008Z,1761546422.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720546,-0.692127,0.042100],[0.693406,0.719265,-0.042959],[-0.000548,0.060147,0.998189]] 2025-10-27T06:27:02.044Z,1761546422.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:02.406Z,1761546422.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704887,-0.708035,0.042670],[0.709319,0.703651,-0.041734],[-0.000476,0.059684,0.998217]] 2025-10-27T06:27:02.437Z,1761546422.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:02.830Z,1761546422.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688811,-0.723596,0.044130],[0.724940,0.687569,-0.041363],[-0.000413,0.060483,0.998169]] 2025-10-27T06:27:02.956Z,1761546422.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:03.215Z,1761546423.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672671,-0.738633,0.043988],[0.739942,0.671513,-0.039459],[-0.000392,0.059091,0.998253]] 2025-10-27T06:27:03.244Z,1761546423.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:03.620Z,1761546423.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655942,-0.753459,0.045160],[0.754811,0.654767,-0.039243],[-0.000001,0.059829,0.998209]] 2025-10-27T06:27:03.686Z,1761546423.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:04.022Z,1761546424.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639031,-0.767740,0.047073],[0.769181,0.637868,-0.038533],[-0.000443,0.060831,0.998148]] 2025-10-27T06:27:04.081Z,1761546424.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:04.426Z,1761546424.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621213,-0.782119,0.048818],[0.783641,0.620057,-0.037886],[-0.000638,0.061791,0.998089]] 2025-10-27T06:27:04.445Z,1761546424.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:04.857Z,1761546424.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602941,-0.796174,0.050689],[0.797785,0.601797,-0.037138],[-0.000936,0.062831,0.998024]] 2025-10-27T06:27:04.901Z,1761546424.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:05.233Z,1761546425.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584559,-0.809653,0.052469],[0.811350,0.583454,-0.035964],[-0.001495,0.063594,0.997975]] 2025-10-27T06:27:05.263Z,1761546425.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:05.645Z,1761546425.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566110,-0.822570,0.053834],[0.824327,0.565062,-0.034488],[-0.002050,0.063901,0.997954]] 2025-10-27T06:27:05.743Z,1761546425.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:06.075Z,1761546426.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546992,-0.835319,0.055163],[0.837135,0.545989,-0.033192],[-0.002392,0.064335,0.997926]] 2025-10-27T06:27:06.120Z,1761546426.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:06.474Z,1761546426.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527590,-0.847550,0.057504],[0.849495,0.526595,-0.032500],[-0.002736,0.065996,0.997816]] 2025-10-27T06:27:06.516Z,1761546426.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:06.891Z,1761546426.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507619,-0.859547,0.059172],[0.861577,0.506642,-0.031601],[-0.002817,0.067023,0.997747]] 2025-10-27T06:27:06.946Z,1761546426.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:07.284Z,1761546427.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487333,-0.871073,0.061146],[0.873214,0.486315,-0.031562],[-0.002244,0.068775,0.997630]] 2025-10-27T06:27:07.306Z,1761546427.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:07.686Z,1761546427.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466469,-0.882221,0.063971],[0.884537,0.465344,-0.032400],[-0.001185,0.071698,0.997426]] 2025-10-27T06:27:07.716Z,1761546427.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:08.089Z,1761546428.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445792,-0.892730,0.065588],[0.895137,0.444606,-0.032494],[-0.000153,0.073196,0.997318]] 2025-10-27T06:27:08.151Z,1761546428.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:08.493Z,1761546428.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424429,-0.903036,0.066222],[0.905460,0.423174,-0.032649],[0.001460,0.073818,0.997271]] 2025-10-27T06:27:08.513Z,1761546428.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:08.918Z,1761546428.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403010,-0.912845,0.065549],[0.915190,0.401710,-0.032520],[0.003354,0.073095,0.997319]] 2025-10-27T06:27:08.962Z,1761546428.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:09.306Z,1761546429.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381234,-0.922182,0.065121],[0.924462,0.379860,-0.032816],[0.005525,0.072712,0.997338]] 2025-10-27T06:27:09.326Z,1761546429.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:09.708Z,1761546429.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359406,-0.930964,0.064290],[0.933151,0.357984,-0.032807],[0.007527,0.071783,0.997392]] 2025-10-27T06:27:09.745Z,1761546429.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:10.178Z,1761546430.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:10.514Z,1761546430.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315004,-0.946845,0.065250],[0.949016,0.313373,-0.034152],[0.011889,0.072682,0.997284]] 2025-10-27T06:27:10.533Z,1761546430.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:10.945Z,1761546430.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292218,-0.954098,0.065617],[0.956250,0.290498,-0.034596],[0.013947,0.072856,0.997245]] 2025-10-27T06:27:10.988Z,1761546430.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:11.326Z,1761546431.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268928,-0.960877,0.066279],[0.963024,0.267093,-0.035307],[0.016223,0.073323,0.997176]] 2025-10-27T06:27:11.356Z,1761546431.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:11.750Z,1761546431.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245784,-0.967002,0.067062],[0.969154,0.243855,-0.035704],[0.018172,0.073769,0.997110]] 2025-10-27T06:27:11.769Z,1761546431.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:12.195Z,1761546432.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:12.535Z,1761546432.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199263,-0.977537,0.068670],[0.979709,0.197183,-0.035916],[0.021568,0.074433,0.996993]] 2025-10-27T06:27:12.553Z,1761546432.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:12.974Z,1761546432.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176374,-0.981958,0.068196],[0.984054,0.174282,-0.035532],[0.023005,0.073375,0.997039]] 2025-10-27T06:27:13.012Z,1761546433.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:13.347Z,1761546433.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154885,-0.985929,0.062892],[0.987637,0.152968,-0.034260],[0.024158,0.067421,0.997432]] 2025-10-27T06:27:13.366Z,1761546433.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:13.748Z,1761546433.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134950,-0.989477,0.052194],[0.990522,0.133359,-0.032879],[0.025573,0.056137,0.998096]] 2025-10-27T06:27:13.774Z,1761546433.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:14.208Z,1761546434.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:14.554Z,1761546434.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099156,-0.994560,0.031903],[0.994652,0.098132,-0.032207],[0.028901,0.034926,0.998972]] 2025-10-27T06:27:14.573Z,1761546434.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:14.999Z,1761546434.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083628,-0.996238,0.022741],[0.996023,0.082863,-0.032725],[0.030718,0.025387,0.999206]] 2025-10-27T06:27:15.043Z,1761546435.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:15.420Z,1761546435.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:15.778Z,1761546435.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057760,-0.998328,-0.002044],[0.997721,0.057796,-0.034821],[0.034881,-0.000028,0.999391]] 2025-10-27T06:27:15.855Z,1761546435.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:16.182Z,1761546436.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.046498,-0.998837,-0.012739],[0.998231,0.046935,-0.036488],[0.037044,-0.011020,0.999253]] 2025-10-27T06:27:16.258Z,1761546436.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:16.600Z,1761546436.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036701,-0.999060,-0.023089],[0.998557,0.037569,-0.038364],[0.039196,-0.021648,0.998997]] 2025-10-27T06:27:16.660Z,1761546436.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:17.033Z,1761546437.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028538,-0.999069,-0.032359],[0.998729,0.029843,-0.040611],[0.041539,-0.031159,0.998651]] 2025-10-27T06:27:17.145Z,1761546437.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:17.468Z,1761546437.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022231,-0.998888,-0.041565],[0.998794,0.024011,-0.042821],[0.043771,-0.040563,0.998218]] 2025-10-27T06:27:17.504Z,1761546437.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:17.866Z,1761546437.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017087,-0.998573,-0.050599],[0.998777,0.019395,-0.045471],[0.046387,-0.049761,0.997683]] 2025-10-27T06:27:17.931Z,1761546437.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:18.273Z,1761546438.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013297,-0.998098,-0.060193],[0.998711,0.016206,-0.048104],[0.048988,-0.059475,0.997027]] 2025-10-27T06:27:18.342Z,1761546438.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:18.674Z,1761546438.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010789,-0.997364,-0.071749],[0.998625,0.014428,-0.050391],[0.051293,-0.071107,0.996149]] 2025-10-27T06:27:18.777Z,1761546438.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:19.082Z,1761546439.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009397,-0.996355,-0.084784],[0.998535,0.013868,-0.052306],[0.053291,-0.084168,0.995026]] 2025-10-27T06:27:19.182Z,1761546439.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:19.486Z,1761546439.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008655,-0.995105,-0.098447],[0.998431,0.014046,-0.054200],[0.055318,-0.097824,0.993665]] 2025-10-27T06:27:19.537Z,1761546439.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:19.892Z,1761546439.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008566,-0.993633,-0.112341],[0.998313,0.014950,-0.056108],[0.057430,-0.111671,0.992084]] 2025-10-27T06:27:19.954Z,1761546439.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:20.293Z,1761546440.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008846,-0.992262,-0.123849],[0.998171,0.016168,-0.058244],[0.059796,-0.123107,0.990590]] 2025-10-27T06:27:20.350Z,1761546440.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:20.697Z,1761546440.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008875,-0.991053,-0.133170],[0.998015,0.017083,-0.060617],[0.062350,-0.132368,0.989238]] 2025-10-27T06:27:20.754Z,1761546440.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:21.122Z,1761546441.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009383,-0.990132,-0.139822],[0.997851,0.018340,-0.062905],[0.064848,-0.138931,0.988177]] 2025-10-27T06:27:21.174Z,1761546441.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:21.510Z,1761546441.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009705,-0.989539,-0.143940],[0.997663,0.019318,-0.065538],[0.067633,-0.142967,0.987414]] 2025-10-27T06:27:21.535Z,1761546441.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:21.946Z,1761546441.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:22.314Z,1761546442.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010692,-0.987886,-0.154813],[0.997256,0.021877,-0.070727],[0.073257,-0.153632,0.985409]] 2025-10-27T06:27:22.364Z,1761546442.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:22.733Z,1761546442.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010039,-0.985944,-0.166776],[0.996810,0.023073,-0.076399],[0.079173,-0.165478,0.983030]] 2025-10-27T06:27:22.767Z,1761546442.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:23.195Z,1761546443.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:23.530Z,1761546443.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009170,-0.985366,-0.170208],[0.996430,0.023291,-0.081151],[0.083927,-0.168856,0.982061]] 2025-10-27T06:27:23.558Z,1761546443.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:23.934Z,1761546443.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008436,-0.985492,-0.169511],[0.996246,0.022888,-0.083484],[0.086152,-0.168171,0.981986]] 2025-10-27T06:27:23.981Z,1761546443.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:24.337Z,1761546444.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007583,-0.985753,-0.168026],[0.996053,0.022306,-0.085910],[0.088434,-0.166712,0.982032]] 2025-10-27T06:27:24.396Z,1761546444.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:24.796Z,1761546444.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:25.220Z,1761546445.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:25.546Z,1761546445.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005775,-0.986195,-0.165486],[0.995433,0.021439,-0.093023],[0.095287,-0.164194,0.981815]] 2025-10-27T06:27:25.582Z,1761546445.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:25.950Z,1761546445.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005344,-0.986165,-0.165682],[0.995251,0.021348,-0.094971],[0.097194,-0.164388,0.981596]] 2025-10-27T06:27:25.973Z,1761546445.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:26.418Z,1761546446.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:26.758Z,1761546446.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005402,-0.986447,-0.163994],[0.994965,0.021715,-0.097847],[0.100082,-0.162639,0.981597]] 2025-10-27T06:27:26.844Z,1761546446.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:27.219Z,1761546447.219 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:27:27.252Z,1761546447.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:27.567Z,1761546447.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006093,-0.986507,-0.163604],[0.994815,0.022588,-0.099159],[0.101516,-0.162151,0.981530]] 2025-10-27T06:27:27.591Z,1761546447.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:27.972Z,1761546447.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005888,-0.986598,-0.163065],[0.994791,0.022374,-0.099448],[0.101763,-0.161630,0.981591]] 2025-10-27T06:27:28.004Z,1761546448.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:28.224Z,1761546448.224 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:27:28.375Z,1761546448.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006011,-0.986611,-0.162983],[0.994766,0.022524,-0.099663],[0.101999,-0.161531,0.981582]] 2025-10-27T06:27:28.421Z,1761546448.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:28.778Z,1761546448.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006302,-0.986815,-0.161729],[0.994733,0.022732,-0.099943],[0.102302,-0.160247,0.981761]] 2025-10-27T06:27:28.859Z,1761546448.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:29.220Z,1761546449.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006638,-0.986851,-0.161495],[0.994705,0.023080,-0.100149],[0.102560,-0.159975,0.981779]] 2025-10-27T06:27:29.289Z,1761546449.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:29.589Z,1761546449.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006786,-0.986940,-0.160948],[0.994661,0.023236,-0.100551],[0.102978,-0.159406,0.981828]] 2025-10-27T06:27:29.645Z,1761546449.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:29.996Z,1761546449.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006715,-0.986763,-0.162028],[0.994546,0.023455,-0.101626],[0.104081,-0.160462,0.981539]] 2025-10-27T06:27:30.030Z,1761546450.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:30.395Z,1761546450.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006435,-0.986563,-0.163254],[0.994434,0.023483,-0.102712],[0.105165,-0.161684,0.981223]] 2025-10-27T06:27:30.484Z,1761546450.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:30.798Z,1761546450.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.006026,-0.986713,-0.162363],[0.994321,0.023165,-0.103873],[0.106254,-0.160815,0.981248]] 2025-10-27T06:27:30.834Z,1761546450.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:31.316Z,1761546451.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:31.739Z,1761546451.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:32.064Z,1761546452.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004724,-0.986780,-0.161999],[0.993875,0.022520,-0.108193],[0.110411,-0.160496,0.980842]] 2025-10-27T06:27:32.137Z,1761546452.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:32.460Z,1761546452.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004826,-0.986411,-0.164226],[0.993733,0.023070,-0.109371],[0.111674,-0.162669,0.980341]] 2025-10-27T06:27:32.541Z,1761546452.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:32.862Z,1761546452.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004543,-0.986423,-0.164159],[0.993580,0.023009,-0.110766],[0.113040,-0.162601,0.980195]] 2025-10-27T06:27:32.904Z,1761546452.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:27:32.905Z,1761546452.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:33.096Z,1761546453.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:27:33.097Z,1761546453.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:27:33.288Z,1761546453.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004239,-0.986318,-0.164799],[0.993464,0.022952,-0.111814],[0.114067,-0.163248,0.979969]] 2025-10-27T06:27:33.336Z,1761546453.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:33.348Z,1761546453.348 [DAT](INFO): DAT read: user:760> 2025-10-27T06:27:33.349Z,1761546453.349 [DAT](INFO): DAT read: Tx time:06:27:32.4171 2025-10-27T06:27:33.349Z,1761546453.349 [DAT](INFO): Ping request sent. 2025-10-27T06:27:33.349Z,1761546453.349 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:27:33.349Z,1761546453.349 [DAT](INFO): publishing transmit ping time 2025-10-27T06:27:33.350Z,1761546453.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T06:27:33.601Z,1761546453.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251945 2025-10-27T06:27:33.775Z,1761546453.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003910,-0.986012,-0.166629],[0.993399,0.022934,-0.112397],[0.114646,-0.165090,0.979593]] 2025-10-27T06:27:33.803Z,1761546453.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:33.852Z,1761546453.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502908 2025-10-27T06:27:34.105Z,1761546454.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755866 2025-10-27T06:27:34.178Z,1761546454.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003366,-0.985957,-0.166964],[0.993284,0.022606,-0.113468],[0.115649,-0.165461,0.979412]] 2025-10-27T06:27:34.200Z,1761546454.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:34.356Z,1761546454.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006968 2025-10-27T06:27:34.609Z,1761546454.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259922 2025-10-27T06:27:34.724Z,1761546454.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002549,-0.985921,-0.167194],[0.993183,0.021980,-0.114471],[0.116534,-0.165763,0.979256]] 2025-10-27T06:27:34.772Z,1761546454.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:34.861Z,1761546454.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512013 2025-10-27T06:27:35.101Z,1761546455.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001390,-0.986178,-0.165683],[0.993121,0.020760,-0.115238],[0.117085,-0.164383,0.979423]] 2025-10-27T06:27:35.113Z,1761546455.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763423 2025-10-27T06:27:35.133Z,1761546455.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:35.365Z,1761546455.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016281 2025-10-27T06:27:35.549Z,1761546455.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:35.617Z,1761546455.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267456 2025-10-27T06:27:35.868Z,1761546455.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518721 2025-10-27T06:27:35.894Z,1761546455.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001087,-0.986943,-0.161067],[0.992968,0.018001,-0.117005],[0.118376,-0.160062,0.979983]] 2025-10-27T06:27:35.913Z,1761546455.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:36.120Z,1761546456.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771287 2025-10-27T06:27:36.311Z,1761546456.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001843,-0.987498,-0.157623],[0.992885,0.016961,-0.117866],[0.119065,-0.156718,0.980440]] 2025-10-27T06:27:36.367Z,1761546456.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:36.372Z,1761546456.372 [DAT](INFO): DAT read: Rx Time:06:27:34.8921 2025-10-27T06:27:36.373Z,1761546456.373 [DAT](INFO): Rx dataTimestamp_ set to:1761546456.372285 2025-10-27T06:27:36.373Z,1761546456.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023991 2025-10-27T06:27:36.625Z,1761546456.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275714 2025-10-27T06:27:36.703Z,1761546456.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002432,-0.987690,-0.156406],[0.992785,0.016365,-0.118783],[0.119881,-0.155566,0.980524]] 2025-10-27T06:27:36.785Z,1761546456.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.13 m. 2025-10-27T06:27:36.884Z,1761546456.884 [DAT](INFO): DAT read: 06:27:34.8921 LVL= 32752, 29505, 32754, 32755, AGC= 71, IDX= 290,-0.13, 3.018,-1.530, 2.755,-2.773, PHS=-0.390, 1.288,-0.799, RAW= 340.7, -1.1, CAL= 340.2, -4.0, ROT= 169.8, 4.0 2025-10-27T06:27:36.885Z,1761546456.885 [DAT](INFO): got valid direction response: 06:27:34.8921 LVL= 32752, 29505, 32754, 32755, AGC= 71, IDX= 290,-0.13, 3.018,-1.530, 2.755,-2.773, PHS=-0.390, 1.288,-0.799, RAW= 340.7, -1.1, CAL= 340.2, -4.0, ROT= 169.8, 4.0 2025-10-27T06:27:36.886Z,1761546456.886 [DAT](INFO): DAT read: Bearing 68.1, 3.7 (Local) 2025-10-27T06:27:36.886Z,1761546456.886 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, 3.7 (Local) 2025-10-27T06:27:36.888Z,1761546456.888 [DAT](INFO): DAT read: Range 11 to 50 : 53.1 m (Round-trip 70.8 ms) speed -0.6 m/s 2025-10-27T06:27:36.888Z,1761546456.888 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:27:36.889Z,1761546456.889 [DAT](INFO): direction in FSK: [-0.981798,0.176653,-0.069756] 2025-10-27T06:27:36.889Z,1761546456.889 [DAT](INFO): publishing direction and range info 2025-10-27T06:27:37.114Z,1761546457.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002276,-0.987733,-0.156136],[0.992722,0.016568,-0.119286],[0.120410,-0.155272,0.980506]] 2025-10-27T06:27:37.160Z,1761546457.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 60.260369 s, deltaX: 27.799999 m, approachRate: 0.461331 m/s, rangeRepo size: 4 2025-10-27T06:27:37.162Z,1761546457.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.752377 m, bearing: 260.491838 deg, lat: 36.779446 deg, lon: -121.859822 deg, deltaT: 60.260369 s, deltaX: 27.617937 m, approachRate: 0.458310 m/s, posRepo size: 4 2025-10-27T06:27:37.162Z,1761546457.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:37.510Z,1761546457.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002115,-0.987767,-0.155921],[0.992665,0.016773,-0.119724],[0.120875,-0.155031,0.980487]] 2025-10-27T06:27:37.563Z,1761546457.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:37.914Z,1761546457.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.001565,-0.987655,-0.156639],[0.992636,0.017438,-0.119875],[0.121126,-0.155674,0.980354]] 2025-10-27T06:27:37.937Z,1761546457.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:38.344Z,1761546458.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001292,-0.987014,-0.160627],[0.992635,0.020724,-0.119357],[0.121136,-0.159290,0.979772]] 2025-10-27T06:27:38.389Z,1761546458.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:38.763Z,1761546458.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:39.162Z,1761546459.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:39.531Z,1761546459.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005037,-0.986169,-0.165667],[0.992673,0.024932,-0.118230],[0.120725,-0.163857,0.979069]] 2025-10-27T06:27:39.617Z,1761546459.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:39.946Z,1761546459.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008495,-0.985211,-0.171136],[0.992741,0.028842,-0.116764],[0.119973,-0.168902,0.978304]] 2025-10-27T06:27:39.965Z,1761546459.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:40.414Z,1761546460.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010525,-0.984888,-0.172870],[0.992807,0.030911,-0.115663],[0.119258,-0.170409,0.978130]] 2025-10-27T06:27:40.471Z,1761546460.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:40.817Z,1761546460.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011988,-0.984486,-0.175053],[0.992885,0.032462,-0.114569],[0.118474,-0.172434,0.977870]] 2025-10-27T06:27:40.836Z,1761546460.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:41.242Z,1761546461.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013506,-0.984474,-0.175010],[0.992992,0.033757,-0.113261],[0.117410,-0.172254,0.978030]] 2025-10-27T06:27:41.261Z,1761546461.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:41.639Z,1761546461.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014614,-0.984092,-0.177056],[0.993159,0.034802,-0.111461],[0.115849,-0.174216,0.977869]] 2025-10-27T06:27:41.694Z,1761546461.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:42.039Z,1761546462.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015893,-0.983678,-0.179233],[0.993343,0.035987,-0.109427],[0.114091,-0.176300,0.977702]] 2025-10-27T06:27:42.142Z,1761546462.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:42.443Z,1761546462.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017109,-0.983368,-0.180816],[0.993551,0.036995,-0.107182],[0.112088,-0.177816,0.977659]] 2025-10-27T06:27:42.512Z,1761546462.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:42.845Z,1761546462.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017528,-0.983149,-0.181966],[0.993699,0.037280,-0.105702],[0.110705,-0.178966,0.977607]] 2025-10-27T06:27:42.892Z,1761546462.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:43.250Z,1761546463.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018118,-0.983359,-0.180765],[0.993829,0.037501,-0.104393],[0.109435,-0.177758,0.977970]] 2025-10-27T06:27:43.289Z,1761546463.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:43.654Z,1761546463.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018428,-0.983814,-0.178242],[0.993913,0.037392,-0.103624],[0.108612,-0.175248,0.978515]] 2025-10-27T06:27:43.705Z,1761546463.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:44.060Z,1761546464.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018392,-0.984276,-0.175680],[0.993987,0.036969,-0.103065],[0.107939,-0.172728,0.979037]] 2025-10-27T06:27:44.091Z,1761546464.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:44.462Z,1761546464.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018007,-0.984742,-0.173085],[0.994069,0.036202,-0.102547],[0.107248,-0.170212,0.979554]] 2025-10-27T06:27:44.506Z,1761546464.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:44.866Z,1761546464.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017497,-0.984805,-0.172780],[0.994077,0.035672,-0.102656],[0.107260,-0.169960,0.979596]] 2025-10-27T06:27:44.941Z,1761546464.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:45.270Z,1761546465.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016884,-0.985005,-0.171696],[0.994101,0.034939,-0.102682],[0.107141,-0.168949,0.979784]] 2025-10-27T06:27:45.297Z,1761546465.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:45.674Z,1761546465.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016138,-0.985661,-0.167963],[0.994186,0.033705,-0.102267],[0.106462,-0.165336,0.980474]] 2025-10-27T06:27:45.753Z,1761546465.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:46.117Z,1761546466.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015258,-0.986311,-0.164186],[0.994276,0.032332,-0.101829],[0.105743,-0.161693,0.981159]] 2025-10-27T06:27:46.155Z,1761546466.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:46.491Z,1761546466.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013937,-0.986840,-0.161099],[0.994386,0.030580,-0.101294],[0.104888,-0.158783,0.981726]] 2025-10-27T06:27:46.528Z,1761546466.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:46.890Z,1761546466.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013058,-0.987770,-0.155369],[0.994525,0.028941,-0.100413],[0.103681,-0.153208,0.982740]] 2025-10-27T06:27:46.925Z,1761546466.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:47.294Z,1761546467.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012880,-0.988143,-0.152995],[0.994708,0.028260,-0.098782],[0.101935,-0.150913,0.983277]] 2025-10-27T06:27:47.313Z,1761546467.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:47.699Z,1761546467.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012734,-0.988209,-0.152580],[0.994876,0.027827,-0.097197],[0.100297,-0.150560,0.983500]] 2025-10-27T06:27:47.764Z,1761546467.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:48.106Z,1761546468.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012577,-0.988121,-0.153164],[0.995022,0.027511,-0.095778],[0.098854,-0.151197,0.983548]] 2025-10-27T06:27:48.125Z,1761546468.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:48.505Z,1761546468.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012881,-0.987687,-0.155909],[0.995132,0.027899,-0.094523],[0.097709,-0.153932,0.983238]] 2025-10-27T06:27:48.553Z,1761546468.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:48.992Z,1761546468.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013478,-0.987255,-0.158575],[0.995215,0.028595,-0.093435],[0.096778,-0.156557,0.982916]] 2025-10-27T06:27:49.022Z,1761546469.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:49.436Z,1761546469.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:49.911Z,1761546469.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014713,-0.986482,-0.163206],[0.995362,0.029970,-0.091415],[0.095071,-0.161104,0.982348]] 2025-10-27T06:27:49.968Z,1761546469.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:50.384Z,1761546470.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017061,-0.986024,-0.165728],[0.995595,0.032037,-0.088114],[0.092192,-0.163495,0.982227]] 2025-10-27T06:27:50.403Z,1761546470.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:50.789Z,1761546470.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018714,-0.986070,-0.165276],[0.995726,0.033333,-0.086129],[0.090438,-0.162958,0.982479]] 2025-10-27T06:27:50.826Z,1761546470.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:51.190Z,1761546471.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020259,-0.985805,-0.166669],[0.995874,0.034647,-0.083878],[0.088462,-0.164282,0.982439]] 2025-10-27T06:27:51.223Z,1761546471.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:51.598Z,1761546471.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021862,-0.985453,-0.168538],[0.996060,0.035961,-0.081061],[0.085943,-0.166102,0.982356]] 2025-10-27T06:27:51.641Z,1761546471.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:51.998Z,1761546471.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023230,-0.985233,-0.169634],[0.996270,0.036919,-0.077996],[0.083107,-0.167189,0.982416]] 2025-10-27T06:27:52.018Z,1761546472.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:52.404Z,1761546472.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024750,-0.984839,-0.171698],[0.996528,0.037964,-0.074104],[0.079498,-0.169267,0.982359]] 2025-10-27T06:27:52.422Z,1761546472.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:52.857Z,1761546472.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:53.210Z,1761546473.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027269,-0.984706,-0.172076],[0.997050,0.039148,-0.066017],[0.071744,-0.169768,0.982869]] 2025-10-27T06:27:53.248Z,1761546473.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:53.668Z,1761546473.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:54.019Z,1761546474.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029566,-0.985585,-0.166578],[0.997472,0.039865,-0.058827],[0.064620,-0.164417,0.984272]] 2025-10-27T06:27:54.039Z,1761546474.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:54.422Z,1761546474.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029828,-0.985980,-0.164174],[0.997663,0.039469,-0.055781],[0.061479,-0.162126,0.984853]] 2025-10-27T06:27:54.447Z,1761546474.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:54.825Z,1761546474.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030033,-0.986210,-0.162749],[0.997834,0.039116,-0.052894],[0.058530,-0.160808,0.985249]] 2025-10-27T06:27:54.875Z,1761546474.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:55.229Z,1761546475.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029941,-0.986489,-0.161070],[0.997973,0.038556,-0.050631],[0.056157,-0.159227,0.985644]] 2025-10-27T06:27:55.319Z,1761546475.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:55.634Z,1761546475.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029735,-0.986637,-0.160198],[0.998092,0.037983,-0.048669],[0.054104,-0.158445,0.985884]] 2025-10-27T06:27:55.713Z,1761546475.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:56.042Z,1761546476.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029045,-0.986629,-0.160370],[0.998212,0.037016,-0.046939],[0.052247,-0.158720,0.985940]] 2025-10-27T06:27:56.104Z,1761546476.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:56.442Z,1761546476.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028423,-0.986781,-0.159549],[0.998320,0.036086,-0.045340],[0.050498,-0.157993,0.986148]] 2025-10-27T06:27:56.473Z,1761546476.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:56.846Z,1761546476.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027727,-0.987252,-0.156730],[0.998414,0.035036,-0.044065],[0.048995,-0.155260,0.986658]] 2025-10-27T06:27:56.897Z,1761546476.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:57.258Z,1761546477.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026581,-0.987447,-0.155700],[0.998508,0.033660,-0.043005],[0.047706,-0.154325,0.986868]] 2025-10-27T06:27:57.277Z,1761546477.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:57.737Z,1761546477.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:58.077Z,1761546478.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024450,-0.987581,-0.155196],[0.998687,0.031121,-0.040700],[0.045024,-0.153997,0.987045]] 2025-10-27T06:27:58.096Z,1761546478.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:58.346Z,1761546478.346 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:27:58.462Z,1761546478.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023995,-0.987620,-0.155016],[0.998760,0.030447,-0.039378],[0.043611,-0.153879,0.987127]] 2025-10-27T06:27:58.496Z,1761546478.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:58.865Z,1761546478.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024030,-0.987625,-0.154985],[0.998824,0.030248,-0.037886],[0.042105,-0.153892,0.987190]] 2025-10-27T06:27:58.922Z,1761546478.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:59.281Z,1761546479.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023978,-0.987640,-0.154894],[0.998883,0.029979,-0.036527],[0.040719,-0.153846,0.987256]] 2025-10-27T06:27:59.307Z,1761546479.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:27:59.347Z,1761546479.347 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:27:59.674Z,1761546479.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023884,-0.987822,-0.153744],[0.998926,0.029689,-0.035572],[0.039703,-0.152729,0.987470]] 2025-10-27T06:27:59.761Z,1761546479.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:00.084Z,1761546480.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024369,-0.987921,-0.153028],[0.998964,0.029950,-0.034268],[0.038437,-0.152035,0.987627]] 2025-10-27T06:28:00.110Z,1761546480.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:00.482Z,1761546480.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025548,-0.987793,-0.153663],[0.998991,0.030906,-0.032576],[0.036927,-0.152675,0.987586]] 2025-10-27T06:28:00.500Z,1761546480.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:00.887Z,1761546480.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027640,-0.987706,-0.153859],[0.998998,0.032715,-0.030551],[0.035208,-0.152861,0.987620]] 2025-10-27T06:28:00.924Z,1761546480.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:01.289Z,1761546481.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030193,-0.987931,-0.151927],[0.998994,0.034868,-0.028205],[0.033162,-0.150922,0.987989]] 2025-10-27T06:28:01.322Z,1761546481.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:01.702Z,1761546481.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032935,-0.987812,-0.152125],[0.998977,0.037253,-0.025619],[0.030974,-0.151126,0.988029]] 2025-10-27T06:28:01.762Z,1761546481.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:02.097Z,1761546482.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036074,-0.987615,-0.152692],[0.998944,0.039986,-0.022624],[0.028449,-0.151715,0.988015]] 2025-10-27T06:28:02.115Z,1761546482.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:02.499Z,1761546482.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038759,-0.986651,-0.158166],[0.998909,0.042382,-0.019592],[0.026034,-0.157234,0.987218]] 2025-10-27T06:28:02.518Z,1761546482.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:02.950Z,1761546482.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:03.305Z,1761546483.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042631,-0.984736,-0.168753],[0.998844,0.045760,-0.014694],[0.022192,-0.167932,0.985549]] 2025-10-27T06:28:03.343Z,1761546483.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:03.782Z,1761546483.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042606,-0.983982,-0.173101],[0.998863,0.045664,-0.013720],[0.021405,-0.172319,0.984809]] 2025-10-27T06:28:03.830Z,1761546483.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:04.182Z,1761546484.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041667,-0.984147,-0.172391],[0.998918,0.044604,-0.013196],[0.020676,-0.171655,0.984940]] 2025-10-27T06:28:04.200Z,1761546484.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:04.663Z,1761546484.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039174,-0.985038,-0.167827],[0.999033,0.041963,-0.013104],[0.019950,-0.167152,0.985729]] 2025-10-27T06:28:04.771Z,1761546484.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:05.080Z,1761546485.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.035783,-0.986045,-0.162589],[0.999174,0.038436,-0.013197],[0.019262,-0.161982,0.986606]] 2025-10-27T06:28:05.133Z,1761546485.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:05.483Z,1761546485.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031890,-0.987448,-0.154693],[0.999326,0.034318,-0.013049],[0.018194,-0.154172,0.987876]] 2025-10-27T06:28:05.501Z,1761546485.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:05.888Z,1761546485.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027518,-0.989022,-0.145184],[0.999474,0.029718,-0.013001],[0.017173,-0.144750,0.989319]] 2025-10-27T06:28:05.925Z,1761546485.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:06.297Z,1761546486.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023167,-0.990527,-0.135352],[0.999608,0.025077,-0.012423],[0.015699,-0.135011,0.990720]] 2025-10-27T06:28:06.331Z,1761546486.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:06.737Z,1761546486.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019639,-0.991715,-0.126949],[0.999718,0.021170,-0.010723],[0.013322,-0.126702,0.991851]] 2025-10-27T06:28:06.800Z,1761546486.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:07.097Z,1761546487.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016645,-0.992352,-0.122311],[0.999803,0.017846,-0.008725],[0.010841,-0.122142,0.992453]] 2025-10-27T06:28:07.116Z,1761546487.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:07.499Z,1761546487.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013977,-0.992263,-0.123367],[0.999869,0.014872,-0.006338],[0.008123,-0.123262,0.992341]] 2025-10-27T06:28:07.520Z,1761546487.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:07.902Z,1761546487.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012314,-0.992096,-0.124877],[0.999911,0.012861,-0.003578],[0.005156,-0.124822,0.992166]] 2025-10-27T06:28:07.954Z,1761546487.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:08.305Z,1761546488.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011491,-0.991720,-0.127904],[0.999932,0.011650,-0.000493],[0.001979,-0.127890,0.991786]] 2025-10-27T06:28:08.344Z,1761546488.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:08.730Z,1761546488.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011232,-0.990974,-0.133582],[0.999936,0.010979,0.002625],[-0.001135,-0.133603,0.991034]] 2025-10-27T06:28:08.811Z,1761546488.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:09.186Z,1761546489.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:09.574Z,1761546489.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:09.922Z,1761546489.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011819,-0.988760,-0.149044],[0.999892,0.010388,0.010380],[-0.008715,-0.149151,0.988776]] 2025-10-27T06:28:09.972Z,1761546489.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:10.336Z,1761546490.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012517,-0.988044,-0.153667],[0.999866,0.010744,0.012363],[-0.010564,-0.153801,0.988045]] 2025-10-27T06:28:10.354Z,1761546490.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:10.750Z,1761546490.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014179,-0.987546,-0.156693],[0.999823,0.012069,0.014411],[-0.012340,-0.156870,0.987542]] 2025-10-27T06:28:10.830Z,1761546490.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:11.241Z,1761546491.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:11.583Z,1761546491.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022525,-0.986503,-0.162188],[0.999570,0.019174,0.022200],[-0.018790,-0.162619,0.986510]] 2025-10-27T06:28:11.602Z,1761546491.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:11.981Z,1761546491.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025932,-0.986109,-0.164064],[0.999428,0.022011,0.025674],[-0.021706,-0.164636,0.986116]] 2025-10-27T06:28:12.030Z,1761546492.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:12.382Z,1761546492.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029842,-0.985613,-0.166360],[0.999234,0.025202,0.029935],[-0.025312,-0.167126,0.985611]] 2025-10-27T06:28:12.402Z,1761546492.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:12.833Z,1761546492.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033195,-0.984850,-0.170201],[0.999027,0.027748,0.034285],[-0.029043,-0.171173,0.984813]] 2025-10-27T06:28:12.946Z,1761546492.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:13.251Z,1761546493.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036115,-0.983993,-0.174512],[0.998804,0.029779,0.038789],[-0.032971,-0.175704,0.983891]] 2025-10-27T06:28:13.270Z,1761546493.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:13.663Z,1761546493.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037978,-0.983520,-0.176765],[0.998593,0.030802,0.043169],[-0.037013,-0.178156,0.983306]] 2025-10-27T06:28:13.682Z,1761546493.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:14.075Z,1761546494.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038789,-0.983785,-0.175106],[0.998415,0.031004,0.046977],[-0.040786,-0.176650,0.983428]] 2025-10-27T06:28:14.118Z,1761546494.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:14.490Z,1761546494.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038797,-0.984902,-0.168710],[0.998284,0.030792,0.049810],[-0.043863,-0.170353,0.984406]] 2025-10-27T06:28:14.526Z,1761546494.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:14.900Z,1761546494.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038097,-0.986417,-0.159779],[0.998200,0.030156,0.051836],[-0.046313,-0.161466,0.985791]] 2025-10-27T06:28:14.944Z,1761546494.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:15.282Z,1761546495.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.036577,-0.987765,-0.151599],[0.998181,0.028837,0.052941],[-0.047922,-0.153260,0.987023]] 2025-10-27T06:28:15.306Z,1761546495.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:15.728Z,1761546495.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:16.083Z,1761546496.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033076,-0.989049,-0.143835],[0.998178,0.025423,0.054727],[-0.050471,-0.145383,0.988087]] 2025-10-27T06:28:16.126Z,1761546496.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:16.486Z,1761546496.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031419,-0.989668,-0.139895],[0.998190,0.023887,0.055201],[-0.051289,-0.141376,0.988626]] 2025-10-27T06:28:16.506Z,1761546496.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:16.918Z,1761546496.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030156,-0.990238,-0.136089],[0.998194,0.022757,0.055605],[-0.051965,-0.137520,0.989135]] 2025-10-27T06:28:16.975Z,1761546496.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:17.293Z,1761546497.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028822,-0.990368,-0.135424],[0.998214,0.021425,0.055763],[-0.052325,-0.136789,0.989217]] 2025-10-27T06:28:17.312Z,1761546497.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:17.697Z,1761546497.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027152,-0.990190,-0.137064],[0.998243,0.019634,0.055910],[-0.052670,-0.138341,0.988983]] 2025-10-27T06:28:17.726Z,1761546497.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:18.101Z,1761546498.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026157,-0.990146,-0.137573],[0.998212,0.018472,0.056838],[-0.053737,-0.138813,0.988860]] 2025-10-27T06:28:18.138Z,1761546498.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:18.505Z,1761546498.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024803,-0.990011,-0.138792],[0.998183,0.016900,0.057830],[-0.054907,-0.139974,0.988632]] 2025-10-27T06:28:18.554Z,1761546498.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:18.943Z,1761546498.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023846,-0.989805,-0.140420],[0.998113,0.015622,0.059378],[-0.056579,-0.141571,0.988310]] 2025-10-27T06:28:19.001Z,1761546499.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:19.313Z,1761546499.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022320,-0.989427,-0.143303],[0.998064,0.013729,0.060658],[-0.058049,-0.144379,0.987818]] 2025-10-27T06:28:19.337Z,1761546499.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:19.751Z,1761546499.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020475,-0.989116,-0.145706],[0.998007,0.011520,0.062039],[-0.059685,-0.146685,0.987381]] 2025-10-27T06:28:19.789Z,1761546499.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:20.120Z,1761546500.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019458,-0.988514,-0.149873],[0.997909,0.009960,0.063860],[-0.061634,-0.150802,0.986641]] 2025-10-27T06:28:20.165Z,1761546500.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:20.539Z,1761546500.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019219,-0.987962,-0.153500],[0.997786,0.009176,0.065869],[-0.063668,-0.154426,0.985951]] 2025-10-27T06:28:20.567Z,1761546500.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:20.972Z,1761546500.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019299,-0.988008,-0.153192],[0.997663,0.008987,0.067726],[-0.065537,-0.154141,0.985873]] 2025-10-27T06:28:21.012Z,1761546501.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:21.355Z,1761546501.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019735,-0.988196,-0.151919],[0.997546,0.009252,0.069403],[-0.067178,-0.152916,0.985953]] 2025-10-27T06:28:21.375Z,1761546501.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:21.748Z,1761546501.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020564,-0.988126,-0.152265],[0.997480,0.009934,0.070245],[-0.067898,-0.153326,0.985840]] 2025-10-27T06:28:21.773Z,1761546501.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:22.203Z,1761546502.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:22.556Z,1761546502.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021482,-0.988225,-0.151494],[0.997436,0.010838,0.070739],[-0.068264,-0.152625,0.985924]] 2025-10-27T06:28:22.575Z,1761546502.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:22.999Z,1761546502.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021697,-0.988200,-0.151626],[0.997418,0.011011,0.070967],[-0.068460,-0.152774,0.985887]] 2025-10-27T06:28:23.064Z,1761546503.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:23.410Z,1761546503.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022083,-0.988192,-0.151621],[0.997398,0.011366,0.071186],[-0.068622,-0.152798,0.985872]] 2025-10-27T06:28:23.428Z,1761546503.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:23.844Z,1761546503.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:24.210Z,1761546504.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022690,-0.988385,-0.150269],[0.997401,0.012098,0.071029],[-0.068386,-0.151490,0.986090]] 2025-10-27T06:28:24.253Z,1761546504.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:24.614Z,1761546504.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023592,-0.988340,-0.150425],[0.997371,0.012957,0.071291],[-0.068511,-0.151712,0.986048]] 2025-10-27T06:28:24.650Z,1761546504.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:25.046Z,1761546505.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024019,-0.988253,-0.150929],[0.997371,0.013363,0.071223],[-0.068370,-0.152243,0.985975]] 2025-10-27T06:28:25.085Z,1761546505.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:25.428Z,1761546505.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024076,-0.988349,-0.150291],[0.997378,0.013485,0.071099],[-0.068244,-0.151609,0.986082]] 2025-10-27T06:28:25.448Z,1761546505.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:25.832Z,1761546505.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024435,-0.988390,-0.149959],[0.997362,0.013847,0.071249],[-0.068345,-0.151304,0.986122]] 2025-10-27T06:28:25.851Z,1761546505.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:26.234Z,1761546506.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025085,-0.988435,-0.149557],[0.997322,0.014463,0.071696],[-0.068704,-0.150955,0.986150]] 2025-10-27T06:28:26.279Z,1761546506.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:26.638Z,1761546506.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025833,-0.988560,-0.148602],[0.997261,0.015178,0.072395],[-0.069312,-0.150066,0.986243]] 2025-10-27T06:28:26.673Z,1761546506.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:27.064Z,1761546507.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026070,-0.988702,-0.147610],[0.997230,0.015431,0.072766],[-0.069666,-0.149098,0.986365]] 2025-10-27T06:28:27.108Z,1761546507.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:27.446Z,1761546507.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026087,-0.988881,-0.146401],[0.997208,0.015492,0.073048],[-0.069968,-0.147898,0.986525]] 2025-10-27T06:28:27.472Z,1761546507.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:27.850Z,1761546507.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026866,-0.989058,-0.145062],[0.997137,0.016254,0.073850],[-0.070684,-0.146631,0.986663]] 2025-10-27T06:28:27.884Z,1761546507.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:28.253Z,1761546508.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026933,-0.989216,-0.143963],[0.997113,0.016357,0.074149],[-0.070995,-0.145545,0.986801]] 2025-10-27T06:28:28.306Z,1761546508.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:28.659Z,1761546508.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027060,-0.989003,-0.145402],[0.997088,0.016329,0.074497],[-0.071304,-0.146994,0.986564]] 2025-10-27T06:28:28.680Z,1761546508.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:29.094Z,1761546509.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027630,-0.988715,-0.147236],[0.997046,0.016699,0.074969],[-0.071664,-0.148872,0.986256]] 2025-10-27T06:28:29.138Z,1761546509.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:29.465Z,1761546509.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027850,-0.988664,-0.147539],[0.997020,0.016852,0.075277],[-0.071937,-0.149196,0.986187]] 2025-10-27T06:28:29.486Z,1761546509.486 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:28:29.505Z,1761546509.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:29.870Z,1761546509.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027947,-0.988718,-0.147156],[0.996997,0.016935,0.075561],[-0.072216,-0.148826,0.986223]] 2025-10-27T06:28:29.888Z,1761546509.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:30.274Z,1761546510.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028387,-0.988568,-0.148082],[0.996936,0.017196,0.076314],[-0.072895,-0.149794,0.986026]] 2025-10-27T06:28:30.332Z,1761546510.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:30.487Z,1761546510.487 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:28:30.681Z,1761546510.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028626,-0.988265,-0.150041],[0.996878,0.017174,0.077071],[-0.073589,-0.151778,0.985671]] 2025-10-27T06:28:30.699Z,1761546510.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:31.114Z,1761546511.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028045,-0.987978,-0.152032],[0.996845,0.016345,0.077670],[-0.074251,-0.153730,0.985319]] 2025-10-27T06:28:31.169Z,1761546511.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:31.486Z,1761546511.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027308,-0.987422,-0.155731],[0.996779,0.015147,0.078748],[-0.075399,-0.157380,0.984656]] 2025-10-27T06:28:31.541Z,1761546511.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:31.889Z,1761546511.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026224,-0.987395,-0.156087],[0.996752,0.013934,0.079316],[-0.076141,-0.157660,0.984554]] 2025-10-27T06:28:31.908Z,1761546511.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:32.293Z,1761546512.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024417,-0.987651,-0.154753],[0.996749,0.012162,0.079648],[-0.076782,-0.156195,0.984737]] 2025-10-27T06:28:32.337Z,1761546512.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:32.697Z,1761546512.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022148,-0.987930,-0.153310],[0.996749,0.009939,0.079953],[-0.077464,-0.154582,0.984938]] 2025-10-27T06:28:32.742Z,1761546512.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:33.146Z,1761546513.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019255,-0.988690,-0.148731],[0.996791,0.007422,0.079704],[-0.077699,-0.149789,0.985660]] 2025-10-27T06:28:33.197Z,1761546513.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:28:33.203Z,1761546513.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:33.376Z,1761546513.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:28:33.376Z,1761546513.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:28:33.529Z,1761546513.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017055,-0.989133,-0.146032],[0.996780,0.005376,0.080000],[-0.078346,-0.146926,0.986040]] 2025-10-27T06:28:33.568Z,1761546513.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:33.628Z,1761546513.628 [DAT](INFO): DAT read: user:761> 2025-10-27T06:28:33.629Z,1761546513.629 [DAT](INFO): DAT read: Tx time:06:28:32.6670 2025-10-27T06:28:33.630Z,1761546513.630 [DAT](INFO): Ping request sent. 2025-10-27T06:28:33.630Z,1761546513.630 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:28:33.630Z,1761546513.630 [DAT](INFO): publishing transmit ping time 2025-10-27T06:28:33.631Z,1761546513.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001187 2025-10-27T06:28:33.880Z,1761546513.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249648 2025-10-27T06:28:33.931Z,1761546513.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015103,-0.989596,-0.143081],[0.996770,0.003613,0.080230],[-0.078878,-0.143831,0.986454]] 2025-10-27T06:28:33.950Z,1761546513.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:34.135Z,1761546514.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503951 2025-10-27T06:28:34.329Z,1761546514.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.013263,-0.990026,-0.140257],[0.996794,0.002023,0.079980],[-0.078898,-0.140869,0.986880]] 2025-10-27T06:28:34.373Z,1761546514.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:34.390Z,1761546514.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759653 2025-10-27T06:28:34.637Z,1761546514.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006514 2025-10-27T06:28:34.767Z,1761546514.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012713,-0.990163,-0.139341],[0.996792,0.001537,0.080025],[-0.079023,-0.139911,0.987006]] 2025-10-27T06:28:34.791Z,1761546514.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:34.888Z,1761546514.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257696 2025-10-27T06:28:35.143Z,1761546515.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512085 2025-10-27T06:28:35.181Z,1761546515.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012294,-0.990166,-0.139356],[0.996782,0.001095,0.080155],[-0.079214,-0.139893,0.986993]] 2025-10-27T06:28:35.223Z,1761546515.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:35.392Z,1761546515.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762153 2025-10-27T06:28:35.550Z,1761546515.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012067,-0.989916,-0.141138],[0.996749,0.000664,0.080563],[-0.079657,-0.141652,0.986706]] 2025-10-27T06:28:35.573Z,1761546515.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:35.644Z,1761546515.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013920 2025-10-27T06:28:35.896Z,1761546515.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265627 2025-10-27T06:28:35.950Z,1761546515.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012214,-0.989719,-0.142504],[0.996720,0.000648,0.080922],[-0.079998,-0.143025,0.986481]] 2025-10-27T06:28:35.982Z,1761546515.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:36.151Z,1761546516.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520020 2025-10-27T06:28:36.354Z,1761546516.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012711,-0.989383,-0.144773],[0.996678,0.000888,0.081441],[-0.080448,-0.145328,0.986108]] 2025-10-27T06:28:36.400Z,1761546516.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769845 2025-10-27T06:28:36.419Z,1761546516.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:36.652Z,1761546516.652 [DAT](INFO): DAT read: Rx Time:06:28:35.2025 2025-10-27T06:28:36.652Z,1761546516.652 [DAT](INFO): Rx dataTimestamp_ set to:1761546516.652134 2025-10-27T06:28:36.653Z,1761546516.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022749 2025-10-27T06:28:36.758Z,1761546516.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012427,-0.989069,-0.146932],[0.996681,0.000429,0.081408],[-0.080455,-0.147456,0.985791]] 2025-10-27T06:28:36.776Z,1761546516.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.75 m. 2025-10-27T06:28:36.904Z,1761546516.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273690 2025-10-27T06:28:37.199Z,1761546517.199 [DAT](INFO): DAT read: 06:28:35.2025 LVL= 32752, 31617, 32754, 32755, AGC= 71, IDX= 13, 0.03, 0.545, 2.394, 0.794, 1.157, PHS=-0.509, 1.282,-0.407, RAW= 327.1, -4.2, CAL= 326.3, -7.3, ROT= 183.7, 7.3 2025-10-27T06:28:37.201Z,1761546517.201 [DAT](INFO): got valid direction response: 06:28:35.2025 LVL= 32752, 31617, 32754, 32755, AGC= 71, IDX= 13, 0.03, 0.545, 2.394, 0.794, 1.157, PHS=-0.509, 1.282,-0.407, RAW= 327.1, -4.2, CAL= 326.3, -7.3, ROT= 183.7, 7.3 2025-10-27T06:28:37.202Z,1761546517.202 [DAT](INFO): DAT read: Bearing 65.4, 1.8 (Local) 2025-10-27T06:28:37.202Z,1761546517.202 [DAT](INFO): Local bearing/azimuth received: Bearing 65.4, 1.8 (Local) 2025-10-27T06:28:37.207Z,1761546517.207 [DAT](INFO): DAT read: Range 11 to 50 : 98.4 m (Round-trip 131.3 ms) speed -0.5 m/s 2025-10-27T06:28:37.208Z,1761546517.208 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:28:37.209Z,1761546517.209 [DAT](INFO): direction in FSK: [-0.989827,-0.064009,-0.127065] 2025-10-27T06:28:37.209Z,1761546517.209 [DAT](INFO): publishing direction and range info 2025-10-27T06:28:37.321Z,1761546517.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 98.400002 m, deltaT: 60.281068 s, deltaX: 45.300003 m, approachRate: 0.751480 m/s, rangeRepo size: 4 2025-10-27T06:28:37.323Z,1761546517.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.755981 m, bearing: 273.998134 deg, lat: 36.779476 deg, lon: -121.859822 deg, deltaT: 60.281068 s, deltaX: 45.003605 m, approachRate: 0.746563 m/s, posRepo size: 4 2025-10-27T06:28:37.325Z,1761546517.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:37.631Z,1761546517.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014860,-0.987563,-0.156517],[0.996475,0.001701,0.083875],[-0.082566,-0.157212,0.984107]] 2025-10-27T06:28:37.650Z,1761546517.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:38.068Z,1761546518.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:38.443Z,1761546518.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016778,-0.987173,-0.158770],[0.996309,0.003136,0.085784],[-0.084185,-0.159623,0.983582]] 2025-10-27T06:28:38.480Z,1761546518.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:38.841Z,1761546518.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017717,-0.987019,-0.159621],[0.996229,0.003865,0.086676],[-0.084934,-0.160555,0.983366]] 2025-10-27T06:28:38.876Z,1761546518.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:39.245Z,1761546519.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019398,-0.987337,-0.157449],[0.996120,0.005564,0.087831],[-0.085843,-0.158542,0.983613]] 2025-10-27T06:28:39.298Z,1761546519.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:39.652Z,1761546519.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020287,-0.987420,-0.156809],[0.996030,0.006363,0.088793],[-0.086678,-0.157988,0.983629]] 2025-10-27T06:28:39.670Z,1761546519.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:40.054Z,1761546520.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021512,-0.987593,-0.155552],[0.995931,0.007550,0.089801],[-0.087512,-0.156850,0.983738]] 2025-10-27T06:28:40.088Z,1761546520.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:40.458Z,1761546520.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023034,-0.987673,-0.154830],[0.995804,0.008947,0.091074],[-0.088566,-0.156278,0.983734]] 2025-10-27T06:28:40.535Z,1761546520.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:40.865Z,1761546520.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024352,-0.987709,-0.154397],[0.995700,0.010156,0.092076],[-0.089376,-0.155975,0.983709]] 2025-10-27T06:28:40.884Z,1761546520.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:41.272Z,1761546521.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025784,-0.987703,-0.154201],[0.995597,0.011466,0.093030],[-0.090118,-0.155921,0.983650]] 2025-10-27T06:28:41.321Z,1761546521.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:41.672Z,1761546521.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027220,-0.987589,-0.154684],[0.995498,0.012727,0.093921],[-0.090787,-0.156545,0.983489]] 2025-10-27T06:28:41.713Z,1761546521.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:42.073Z,1761546522.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028057,-0.987618,-0.154351],[0.995432,0.013509,0.094511],[-0.091256,-0.156298,0.983485]] 2025-10-27T06:28:42.092Z,1761546522.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:42.492Z,1761546522.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029303,-0.987533,-0.154664],[0.995328,0.014586,0.095445],[-0.091999,-0.156738,0.983346]] 2025-10-27T06:28:42.549Z,1761546522.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:42.881Z,1761546522.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030811,-0.987494,-0.154618],[0.995201,0.015934,0.096551],[-0.092880,-0.156851,0.983245]] 2025-10-27T06:28:42.907Z,1761546522.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:43.298Z,1761546523.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031238,-0.987515,-0.154394],[0.995149,0.016312,0.097014],[-0.093284,-0.156676,0.983235]] 2025-10-27T06:28:43.343Z,1761546523.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:43.690Z,1761546523.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031333,-0.987588,-0.153912],[0.995119,0.016406,0.097313],[-0.093580,-0.156209,0.983281]] 2025-10-27T06:28:43.717Z,1761546523.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:44.126Z,1761546524.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:44.510Z,1761546524.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031978,-0.987731,-0.152857],[0.995059,0.017080,0.097801],[-0.093990,-0.155229,0.983397]] 2025-10-27T06:28:44.548Z,1761546524.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:44.901Z,1761546524.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031946,-0.987838,-0.152171],[0.995077,0.017144,0.097608],[-0.093812,-0.154541,0.983522]] 2025-10-27T06:28:44.939Z,1761546524.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:45.325Z,1761546525.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032578,-0.987621,-0.153441],[0.995058,0.017641,0.097720],[-0.093803,-0.155866,0.983314]] 2025-10-27T06:28:45.369Z,1761546525.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:45.752Z,1761546525.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:46.114Z,1761546526.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033405,-0.987503,-0.154021],[0.995039,0.018410,0.097773],[-0.093716,-0.156523,0.983218]] 2025-10-27T06:28:46.139Z,1761546526.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:46.517Z,1761546526.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033600,-0.986967,-0.157379],[0.994998,0.018211,0.098222],[-0.094076,-0.159892,0.982642]] 2025-10-27T06:28:46.568Z,1761546526.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:46.946Z,1761546526.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033611,-0.986192,-0.162162],[0.994935,0.017636,0.098964],[-0.094737,-0.164667,0.981789]] 2025-10-27T06:28:46.998Z,1761546526.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:47.360Z,1761546527.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032761,-0.986062,-0.163118],[0.994901,0.016599,0.099477],[-0.095383,-0.165546,0.981579]] 2025-10-27T06:28:47.404Z,1761546527.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:47.803Z,1761546527.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:48.170Z,1761546528.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030932,-0.986229,-0.162466],[0.994732,0.014481,0.101486],[-0.097736,-0.164749,0.981481]] 2025-10-27T06:28:48.189Z,1761546528.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:48.570Z,1761546528.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029370,-0.986669,-0.160069],[0.994726,0.013106,0.101731],[-0.098277,-0.162212,0.981850]] 2025-10-27T06:28:48.612Z,1761546528.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:48.982Z,1761546528.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027502,-0.987129,-0.157541],[0.994772,0.011521,0.101469],[-0.098348,-0.159508,0.982286]] 2025-10-27T06:28:49.017Z,1761546529.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:49.389Z,1761546529.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025670,-0.987427,-0.155977],[0.994858,0.009942,0.100794],[-0.097976,-0.157762,0.982605]] 2025-10-27T06:28:49.434Z,1761546529.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:49.785Z,1761546529.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024061,-0.987940,-0.152956],[0.994977,0.008795,0.099712],[-0.097164,-0.154586,0.983190]] 2025-10-27T06:28:49.804Z,1761546529.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:50.189Z,1761546530.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022396,-0.988396,-0.150240],[0.995095,0.007555,0.098634],[-0.096355,-0.151712,0.983717]] 2025-10-27T06:28:50.217Z,1761546530.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:50.643Z,1761546530.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:51.001Z,1761546531.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017865,-0.989004,-0.146806],[0.995495,0.003920,0.094736],[-0.093119,-0.147837,0.984618]] 2025-10-27T06:28:51.021Z,1761546531.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:51.418Z,1761546531.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015907,-0.989321,-0.144883],[0.995681,0.002418,0.092805],[-0.091463,-0.145734,0.985087]] 2025-10-27T06:28:51.482Z,1761546531.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:51.812Z,1761546531.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014489,-0.989701,-0.142417],[0.995769,0.001355,0.091886],[-0.090747,-0.143146,0.985532]] 2025-10-27T06:28:51.831Z,1761546531.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:52.252Z,1761546532.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:52.614Z,1761546532.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011898,-0.990761,-0.135094],[0.995940,-0.000315,0.090020],[-0.089231,-0.135616,0.986735]] 2025-10-27T06:28:52.665Z,1761546532.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:53.019Z,1761546533.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011748,-0.991156,-0.132178],[0.995982,-0.000137,0.089556],[-0.088782,-0.132699,0.987172]] 2025-10-27T06:28:53.039Z,1761546533.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:53.509Z,1761546533.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.011734,-0.991431,-0.130105],[0.996031,0.000108,0.089005],[-0.088229,-0.130633,0.987497]] 2025-10-27T06:28:53.552Z,1761546533.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:53.906Z,1761546533.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012527,-0.991440,-0.129961],[0.996031,0.000918,0.089008],[-0.088127,-0.130560,0.987516]] 2025-10-27T06:28:53.925Z,1761546533.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:54.372Z,1761546534.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:54.832Z,1761546534.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:55.151Z,1761546535.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017272,-0.989499,-0.143503],[0.996163,0.004715,0.087385],[-0.085791,-0.144462,0.985784]] 2025-10-27T06:28:55.170Z,1761546535.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:55.621Z,1761546535.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:55.968Z,1761546535.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020543,-0.988380,-0.150610],[0.996280,0.007627,0.085841],[-0.083694,-0.151813,0.984859]] 2025-10-27T06:28:55.997Z,1761546535.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:56.361Z,1761546536.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021799,-0.987771,-0.154382],[0.996349,0.008715,0.084924],[-0.082540,-0.155669,0.984355]] 2025-10-27T06:28:56.398Z,1761546536.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:56.765Z,1761546536.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023083,-0.987243,-0.157539],[0.996404,0.009868,0.084157],[-0.081529,-0.158915,0.983920]] 2025-10-27T06:28:56.824Z,1761546536.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:57.170Z,1761546537.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024359,-0.986667,-0.160920],[0.996456,0.011000,0.083391],[-0.080509,-0.162381,0.983438]] 2025-10-27T06:28:57.188Z,1761546537.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:57.576Z,1761546537.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025363,-0.986424,-0.162246],[0.996513,0.012041,0.082567],[-0.079492,-0.163774,0.983290]] 2025-10-27T06:28:57.638Z,1761546537.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:58.038Z,1761546538.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025880,-0.986794,-0.159898],[0.996689,0.013137,0.080245],[-0.077085,-0.161445,0.983867]] 2025-10-27T06:28:58.056Z,1761546538.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:58.422Z,1761546538.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:58.841Z,1761546538.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:59.189Z,1761546539.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025724,-0.986979,-0.158782],[0.996896,0.013504,0.077562],[-0.074408,-0.160284,0.984262]] 2025-10-27T06:28:59.225Z,1761546539.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:59.595Z,1761546539.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025053,-0.987197,-0.157529],[0.997016,0.013164,0.076068],[-0.073020,-0.158964,0.984580]] 2025-10-27T06:28:59.650Z,1761546539.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:28:59.999Z,1761546539.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024001,-0.987311,-0.156974],[0.997139,0.012385,0.074568],[-0.071678,-0.158315,0.984784]] 2025-10-27T06:29:00.022Z,1761546540.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:00.402Z,1761546540.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023115,-0.987535,-0.155695],[0.997238,0.011781,0.073330],[-0.070582,-0.156961,0.985080]] 2025-10-27T06:29:00.434Z,1761546540.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:00.607Z,1761546540.607 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:29:00.806Z,1761546540.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021790,-0.988136,-0.152030],[0.997386,0.011007,0.071411],[-0.068891,-0.153189,0.985793]] 2025-10-27T06:29:00.855Z,1761546540.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:01.216Z,1761546541.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020810,-0.988383,-0.150551],[0.997481,0.010312,0.070179],[-0.067812,-0.151633,0.986108]] 2025-10-27T06:29:01.234Z,1761546541.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:01.613Z,1761546541.613 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:29:01.689Z,1761546541.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018716,-0.988762,-0.148323],[0.997664,0.008721,0.067753],[-0.065698,-0.149244,0.986615]] 2025-10-27T06:29:01.767Z,1761546541.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:02.097Z,1761546542.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018158,-0.989178,-0.145592],[0.997724,0.008470,0.066893],[-0.064936,-0.146475,0.987081]] 2025-10-27T06:29:02.125Z,1761546542.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:02.577Z,1761546542.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017378,-0.989057,-0.146505],[0.997850,0.007896,0.065060],[-0.063191,-0.147320,0.987068]] 2025-10-27T06:29:02.634Z,1761546542.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:02.936Z,1761546542.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016726,-0.989097,-0.146310],[0.997983,0.007554,0.063024],[-0.061232,-0.147069,0.987229]] 2025-10-27T06:29:02.969Z,1761546542.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:03.344Z,1761546543.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016220,-0.989033,-0.146801],[0.998125,0.007350,0.060760],[-0.059015,-0.147511,0.987298]] 2025-10-27T06:29:03.364Z,1761546543.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:03.745Z,1761546543.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015768,-0.989226,-0.145544],[0.998278,0.007350,0.058193],[-0.056496,-0.146211,0.987639]] 2025-10-27T06:29:03.790Z,1761546543.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:04.146Z,1761546544.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015662,-0.989212,-0.145651],[0.998415,0.007597,0.055762],[-0.054054,-0.146294,0.987763]] 2025-10-27T06:29:04.164Z,1761546544.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:04.570Z,1761546544.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015967,-0.989182,-0.145823],[0.998544,0.008260,0.053310],[-0.051529,-0.146462,0.987873]] 2025-10-27T06:29:04.645Z,1761546544.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:04.970Z,1761546544.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016767,-0.989144,-0.145990],[0.998652,0.009392,0.051059],[-0.049133,-0.146649,0.987968]] 2025-10-27T06:29:05.022Z,1761546545.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:05.358Z,1761546545.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017499,-0.989165,-0.145760],[0.998762,0.010504,0.048624],[-0.046566,-0.146430,0.988124]] 2025-10-27T06:29:05.385Z,1761546545.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:05.870Z,1761546545.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:06.165Z,1761546546.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018695,-0.989250,-0.145038],[0.998963,0.012458,0.043795],[-0.041517,-0.145706,0.988456]] 2025-10-27T06:29:06.185Z,1761546546.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:06.579Z,1761546546.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019107,-0.989392,-0.144009],[0.999052,0.013257,0.041474],[-0.039125,-0.144665,0.988707]] 2025-10-27T06:29:06.670Z,1761546546.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:06.977Z,1761546546.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019945,-0.989541,-0.142870],[0.999126,0.014475,0.039223],[-0.036744,-0.143527,0.988964]] 2025-10-27T06:29:07.025Z,1761546547.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:07.373Z,1761546547.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020511,-0.989624,-0.142208],[0.999204,0.015424,0.036782],[-0.034207,-0.142850,0.989153]] 2025-10-27T06:29:07.392Z,1761546547.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:07.778Z,1761546547.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021526,-0.989681,-0.141660],[0.999256,0.016761,0.034745],[-0.032012,-0.142302,0.989305]] 2025-10-27T06:29:07.839Z,1761546547.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:07.847Z,1761546547.847 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T06:19:07.5Z 2025-10-27T06:29:07.847Z,1761546547.847 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T06:29:07.848Z,1761546547.848 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:29:07.848Z,1761546547.848 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T06:29:07.848Z,1761546547.848 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:29:07.848Z,1761546547.848 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T06:29:08.184Z,1761546548.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021736,-0.989659,-0.141781],[0.999324,0.017303,0.032429],[-0.029641,-0.142390,0.989367]] 2025-10-27T06:29:08.203Z,1761546548.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:08.207Z,1761546548.207 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T06:29:08.207Z,1761546548.207 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T06:29:08.207Z,1761546548.207 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T06:29:08.207Z,1761546548.207 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:29:08.207Z,1761546548.207 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T06:29:08.729Z,1761546548.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021785,-0.989310,-0.144188],[0.999388,0.017601,0.030236],[-0.027375,-0.144759,0.989088]] 2025-10-27T06:29:08.776Z,1761546548.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:09.122Z,1761546549.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021681,-0.989310,-0.144204],[0.999445,0.017800,0.028149],[-0.025281,-0.144735,0.989147]] 2025-10-27T06:29:09.147Z,1761546549.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:09.527Z,1761546549.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020874,-0.989330,-0.144191],[0.999515,0.017315,0.025891],[-0.023118,-0.144662,0.989211]] 2025-10-27T06:29:09.562Z,1761546549.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:10.008Z,1761546550.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:10.333Z,1761546550.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017940,-0.989549,-0.143079],[0.999667,0.015099,0.020913],[-0.018534,-0.143407,0.989490]] 2025-10-27T06:29:10.376Z,1761546550.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:10.805Z,1761546550.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:11.142Z,1761546551.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014607,-0.989622,-0.142952],[0.999797,0.012470,0.015834],[-0.013887,-0.143154,0.989603]] 2025-10-27T06:29:11.167Z,1761546551.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:11.549Z,1761546551.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012632,-0.989765,-0.142146],[0.999857,0.010907,0.012910],[-0.011228,-0.142289,0.989761]] 2025-10-27T06:29:11.589Z,1761546551.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:11.966Z,1761546551.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010442,-0.990010,-0.140609],[0.999911,0.009169,0.009698],[-0.008312,-0.140698,0.990018]] 2025-10-27T06:29:12.016Z,1761546552.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:12.353Z,1761546552.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.008511,-0.990118,-0.139980],[0.999948,0.007642,0.006742],[-0.005606,-0.140030,0.990131]] 2025-10-27T06:29:12.388Z,1761546552.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:12.811Z,1761546552.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:13.162Z,1761546553.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005236,-0.989583,-0.143865],[0.999986,0.005239,0.000355],[0.000403,-0.143865,0.989597]] 2025-10-27T06:29:13.180Z,1761546553.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:13.572Z,1761546553.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004409,-0.989308,-0.145772],[0.999985,0.004836,-0.002578],[0.003255,-0.145758,0.989315]] 2025-10-27T06:29:13.591Z,1761546553.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:13.973Z,1761546553.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004320,-0.988886,-0.148616],[0.999974,0.005125,-0.005031],[0.005737,-0.148590,0.988882]] 2025-10-27T06:29:14.017Z,1761546554.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:14.374Z,1761546554.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004830,-0.988367,-0.152009],[0.999956,0.005999,-0.007231],[0.008059,-0.151967,0.988353]] 2025-10-27T06:29:14.411Z,1761546554.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:14.809Z,1761546554.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005969,-0.987989,-0.154408],[0.999930,0.007477,-0.009188],[0.010232,-0.154342,0.987965]] 2025-10-27T06:29:14.840Z,1761546554.840 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, , +14.25, 9.19, 0.00 2025-10-27T06:29:14.856Z,1761546554.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:15.182Z,1761546555.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007890,-0.987700,-0.156160],[0.999894,0.009703,-0.010851],[0.012232,-0.156058,0.987672]] 2025-10-27T06:29:15.214Z,1761546555.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:15.586Z,1761546555.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010128,-0.987338,-0.158306],[0.999848,0.012248,-0.012419],[0.014201,-0.158156,0.987312]] 2025-10-27T06:29:15.604Z,1761546555.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:15.992Z,1761546555.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012720,-0.987252,-0.158658],[0.999790,0.015108,-0.013853],[0.016074,-0.158448,0.987236]] 2025-10-27T06:29:16.052Z,1761546556.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:16.403Z,1761546556.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015318,-0.986908,-0.160556],[0.999724,0.017975,-0.015107],[0.017795,-0.160281,0.986911]] 2025-10-27T06:29:16.422Z,1761546556.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:16.810Z,1761546556.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018299,-0.986692,-0.161566],[0.999644,0.021192,-0.016205],[0.019413,-0.161212,0.986729]] 2025-10-27T06:29:16.857Z,1761546556.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:17.202Z,1761546557.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021170,-0.986513,-0.162309],[0.999555,0.024298,-0.017311],[0.021022,-0.161871,0.986588]] 2025-10-27T06:29:17.222Z,1761546557.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:17.609Z,1761546557.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024167,-0.985957,-0.165241],[0.999457,0.027529,-0.018089],[0.022384,-0.164714,0.986087]] 2025-10-27T06:29:17.634Z,1761546557.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:18.011Z,1761546558.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025646,-0.985788,-0.166026],[0.999392,0.029204,-0.019028],[0.023606,-0.165437,0.985938]] 2025-10-27T06:29:18.053Z,1761546558.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:18.417Z,1761546558.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026649,-0.985806,-0.165762],[0.999338,0.030378,-0.020002],[0.024754,-0.165119,0.985963]] 2025-10-27T06:29:18.470Z,1761546558.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:18.843Z,1761546558.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028638,-0.986291,-0.162509],[0.999212,0.032714,-0.022460],[0.027468,-0.161738,0.986451]] 2025-10-27T06:29:18.880Z,1761546558.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:19.268Z,1761546559.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:19.638Z,1761546559.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029128,-0.987047,-0.157765],[0.999114,0.033546,-0.025410],[0.030374,-0.156885,0.987150]] 2025-10-27T06:29:19.657Z,1761546559.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:20.056Z,1761546560.056 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050310173844,35.0, +10.2, 0.0,1490.9R, 101.33, 83.00, 93.18, 89.62 2025-10-27T06:29:20.071Z,1761546560.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:20.453Z,1761546560.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028065,-0.987692,-0.153872],[0.999035,0.032918,-0.029085],[0.033792,-0.152908,0.987663]] 2025-10-27T06:29:20.486Z,1761546560.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:20.925Z,1761546560.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:21.252Z,1761546561.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026109,-0.988112,-0.151502],[0.998945,0.031515,-0.033393],[0.037771,-0.150471,0.987893]] 2025-10-27T06:29:21.272Z,1761546561.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:21.649Z,1761546561.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024757,-0.988354,-0.150146],[0.998902,0.030430,-0.035606],[0.039761,-0.149099,0.988023]] 2025-10-27T06:29:21.682Z,1761546561.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:22.054Z,1761546562.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023113,-0.988509,-0.149386],[0.998863,0.029067,-0.037795],[0.041703,-0.148343,0.988056]] 2025-10-27T06:29:22.105Z,1761546562.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:22.462Z,1761546562.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.021256,-0.988684,-0.148499],[0.998815,0.027503,-0.040143],[0.043773,-0.147469,0.988097]] 2025-10-27T06:29:22.481Z,1761546562.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:22.892Z,1761546562.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019302,-0.988673,-0.148836],[0.998785,0.025819,-0.041980],[0.045347,-0.147845,0.987970]] 2025-10-27T06:29:22.953Z,1761546562.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:23.272Z,1761546563.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017916,-0.988978,-0.146975],[0.998745,0.024577,-0.043630],[0.046761,-0.146009,0.988177]] 2025-10-27T06:29:23.300Z,1761546563.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:23.674Z,1761546563.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016543,-0.989160,-0.145907],[0.998697,0.023393,-0.045358],[0.048280,-0.144967,0.988258]] 2025-10-27T06:29:23.716Z,1761546563.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:24.077Z,1761546564.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015174,-0.989390,-0.144486],[0.998652,0.022170,-0.046938],[0.049643,-0.143579,0.988393]] 2025-10-27T06:29:24.132Z,1761546564.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:24.536Z,1761546564.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:24.924Z,1761546564.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014173,-0.989639,-0.142878],[0.998568,0.021381,-0.049042],[0.051589,-0.141978,0.988525]] 2025-10-27T06:29:24.979Z,1761546564.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:25.287Z,1761546565.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014052,-0.989793,-0.141819],[0.998531,0.021315,-0.049822],[0.052336,-0.140910,0.988638]] 2025-10-27T06:29:25.325Z,1761546565.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:25.689Z,1761546565.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014781,-0.989708,-0.142339],[0.998494,0.022132,-0.050199],[0.052833,-0.141382,0.988544]] 2025-10-27T06:29:25.713Z,1761546565.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:26.095Z,1761546566.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015957,-0.989678,-0.142416],[0.998453,0.023359,-0.050455],[0.053261,-0.141390,0.988520]] 2025-10-27T06:29:26.132Z,1761546566.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:26.498Z,1761546566.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017593,-0.989435,-0.143903],[0.998406,0.025105,-0.050552],[0.053630,-0.142784,0.988300]] 2025-10-27T06:29:26.527Z,1761546566.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:26.949Z,1761546566.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.019088,-0.989450,-0.143611],[0.998369,0.026593,-0.050523],[0.053810,-0.142412,0.988344]] 2025-10-27T06:29:27.005Z,1761546567.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:27.306Z,1761546567.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.020542,-0.989518,-0.142939],[0.998331,0.028021,-0.050508],[0.053984,-0.141662,0.988442]] 2025-10-27T06:29:27.326Z,1761546567.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:27.716Z,1761546567.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022546,-0.989217,-0.144709],[0.998289,0.030086,-0.050129],[0.053943,-0.143332,0.988204]] 2025-10-27T06:29:27.744Z,1761546567.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:28.114Z,1761546568.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.024187,-0.989183,-0.144680],[0.998244,0.031724,-0.050020],[0.054069,-0.143216,0.988213]] 2025-10-27T06:29:28.156Z,1761546568.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:28.518Z,1761546568.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.025708,-0.989146,-0.144670],[0.998198,0.033249,-0.049949],[0.054217,-0.143126,0.988218]] 2025-10-27T06:29:28.552Z,1761546568.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:28.962Z,1761546568.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026966,-0.989167,-0.144294],[0.998146,0.034522,-0.050122],[0.054560,-0.142675,0.988265]] 2025-10-27T06:29:29.029Z,1761546569.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:29.328Z,1761546569.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028082,-0.989119,-0.144410],[0.998108,0.035652,-0.050101],[0.054704,-0.142730,0.988249]] 2025-10-27T06:29:29.348Z,1761546569.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:29.739Z,1761546569.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028808,-0.989354,-0.142652],[0.998079,0.036300,-0.050200],[0.054844,-0.140932,0.988499]] 2025-10-27T06:29:29.758Z,1761546569.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:30.134Z,1761546570.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029390,-0.989458,-0.141804],[0.998042,0.036884,-0.050515],[0.055212,-0.140042,0.988605]] 2025-10-27T06:29:30.177Z,1761546570.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:30.538Z,1761546570.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029785,-0.989477,-0.141591],[0.998022,0.037284,-0.050606],[0.055352,-0.139804,0.988631]] 2025-10-27T06:29:30.557Z,1761546570.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:30.961Z,1761546570.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029840,-0.989662,-0.140278],[0.998015,0.037285,-0.050752],[0.055458,-0.138485,0.988811]] 2025-10-27T06:29:31.034Z,1761546571.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:31.354Z,1761546571.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029825,-0.989759,-0.139599],[0.997998,0.037279,-0.051088],[0.055769,-0.137796,0.988889]] 2025-10-27T06:29:31.392Z,1761546571.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:31.751Z,1761546571.751 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:29:31.781Z,1761546571.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029510,-0.989791,-0.139435],[0.998020,0.036930,-0.050923],[0.055553,-0.137656,0.988921]] 2025-10-27T06:29:31.832Z,1761546571.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:32.158Z,1761546572.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028909,-0.989759,-0.139787],[0.998047,0.036328,-0.050811],[0.055369,-0.138045,0.988877]] 2025-10-27T06:29:32.204Z,1761546572.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:32.616Z,1761546572.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028414,-0.989746,-0.139984],[0.998080,0.035801,-0.050542],[0.055035,-0.138279,0.988863]] 2025-10-27T06:29:32.639Z,1761546572.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:32.755Z,1761546572.755 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:29:33.049Z,1761546573.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028224,-0.989706,-0.140302],[0.998103,0.035586,-0.050245],[0.054720,-0.138618,0.988833]] 2025-10-27T06:29:33.097Z,1761546573.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:33.446Z,1761546573.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028170,-0.989872,-0.139137],[0.998134,0.035399,-0.049756],[0.054177,-0.137476,0.989022]] 2025-10-27T06:29:33.464Z,1761546573.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:33.466Z,1761546573.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:33.620Z,1761546573.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:33.620Z,1761546573.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:29:33.846Z,1761546573.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028262,-0.989867,-0.139156],[0.998163,0.035411,-0.049170],[0.053599,-0.137510,0.989049]] 2025-10-27T06:29:33.872Z,1761546573.872 [DAT](INFO): DAT read: user:762> 2025-10-27T06:29:33.873Z,1761546573.873 [DAT](INFO): DAT read: Tx time:06:29:32.9170 2025-10-27T06:29:33.873Z,1761546573.873 [DAT](INFO): Ping request sent. 2025-10-27T06:29:33.873Z,1761546573.873 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:29:33.873Z,1761546573.873 [DAT](INFO): publishing transmit ping time 2025-10-27T06:29:33.874Z,1761546573.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T06:29:33.881Z,1761546573.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:34.124Z,1761546574.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250709 2025-10-27T06:29:34.250Z,1761546574.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028196,-0.989837,-0.139387],[0.998185,0.035304,-0.048792],[0.053217,-0.137758,0.989035]] 2025-10-27T06:29:34.308Z,1761546574.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:34.381Z,1761546574.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507786 2025-10-27T06:29:34.632Z,1761546574.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758711 2025-10-27T06:29:34.654Z,1761546574.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028398,-0.989949,-0.138541],[0.998216,0.035366,-0.048100],[0.052516,-0.136928,0.989188]] 2025-10-27T06:29:34.697Z,1761546574.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:34.884Z,1761546574.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010706 2025-10-27T06:29:35.086Z,1761546575.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028619,-0.989858,-0.139150],[0.998258,0.035488,-0.047133],[0.051594,-0.137559,0.989149]] 2025-10-27T06:29:35.136Z,1761546575.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262795 2025-10-27T06:29:35.139Z,1761546575.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:35.393Z,1761546575.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519809 2025-10-27T06:29:35.461Z,1761546575.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029152,-0.989855,-0.139055],[0.998282,0.035905,-0.046305],[0.050828,-0.137466,0.989201]] 2025-10-27T06:29:35.481Z,1761546575.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:35.640Z,1761546575.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766678 2025-10-27T06:29:35.866Z,1761546575.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.029708,-0.989614,-0.140646],[0.998305,0.036421,-0.045400],[0.050051,-0.139059,0.989018]] 2025-10-27T06:29:35.885Z,1761546575.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:35.893Z,1761546575.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020021 2025-10-27T06:29:36.144Z,1761546576.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270729 2025-10-27T06:29:36.321Z,1761546576.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:36.398Z,1761546576.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524317 2025-10-27T06:29:36.648Z,1761546576.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774740 2025-10-27T06:29:36.723Z,1761546576.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:36.900Z,1761546576.900 [DAT](INFO): DAT read: Rx Time:06:29:35.5809 2025-10-27T06:29:36.902Z,1761546576.902 [DAT](INFO): Rx dataTimestamp_ set to:1761546576.901018 2025-10-27T06:29:36.903Z,1761546576.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029570 2025-10-27T06:29:37.114Z,1761546577.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032260,-0.989249,-0.142641],[0.998335,0.038720,-0.042744],[0.047807,-0.141024,0.988851]] 2025-10-27T06:29:37.152Z,1761546577.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278802 2025-10-27T06:29:37.153Z,1761546577.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:37.406Z,1761546577.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532190 2025-10-27T06:29:37.498Z,1761546577.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032678,-0.989235,-0.142639],[0.998345,0.039065,-0.042206],[0.047324,-0.141024,0.988874]] 2025-10-27T06:29:37.517Z,1761546577.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.76 m. 2025-10-27T06:29:37.661Z,1761546577.661 [DAT](INFO): DAT read: 06:29:35.5808 LVL= 27120, 23137, 24098, 17907, AGC= 71, IDX= 207, 0.30, 2.486,-2.641, 2.571, 2.174, PHS= 0.414, 1.513, 0.354, RAW= 332.7, -35.5, CAL= 332.4, -38.7, ROT= 177.6, 38.7 2025-10-27T06:29:37.662Z,1761546577.662 [DAT](INFO): got valid direction response: 06:29:35.5808 LVL= 27120, 23137, 24098, 17907, AGC= 71, IDX= 207, 0.30, 2.486,-2.641, 2.571, 2.174, PHS= 0.414, 1.513, 0.354, RAW= 332.7, -35.5, CAL= 332.4, -38.7, ROT= 177.6, 38.7 2025-10-27T06:29:37.664Z,1761546577.664 [DAT](INFO): DAT read: Bearing 93.3, 5.0 (Local) 2025-10-27T06:29:37.664Z,1761546577.664 [DAT](INFO): Local bearing/azimuth received: Bearing 93.3, 5.0 (Local) 2025-10-27T06:29:37.665Z,1761546577.665 [DAT](INFO): DAT read: Range 11 to 50 : 194.7 m (Round-trip 259.7 ms) speed -0.8 m/s 2025-10-27T06:29:37.666Z,1761546577.666 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:29:37.667Z,1761546577.667 [DAT](INFO): direction in FSK: [-0.779746,0.032681,-0.625243] 2025-10-27T06:29:37.667Z,1761546577.667 [DAT](INFO): publishing direction and range info 2025-10-27T06:29:37.915Z,1761546577.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033226,-0.989246,-0.142437],[0.998355,0.039515,-0.041554],[0.046735,-0.140822,0.988931]] 2025-10-27T06:29:37.957Z,1761546577.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 194.699997 m, deltaT: 60.498811 s, deltaX: 96.299995 m, approachRate: 1.591767 m/s, rangeRepo size: 4 2025-10-27T06:29:37.959Z,1761546577.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 193.453751 m, bearing: 272.349458 deg, lat: 36.779476 deg, lon: -121.859833 deg, deltaT: 60.498811 s, deltaX: 95.697769 m, approachRate: 1.581812 m/s, posRepo size: 4 2025-10-27T06:29:37.960Z,1761546577.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 193.45 m. 2025-10-27T06:29:37.960Z,1761546577.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 194.70 m. Resuming terminal guidance. 2025-10-27T06:29:37.960Z,1761546577.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-27T06:29:38.356Z,1761546578.356 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-27T06:29:38.356Z,1761546578.356 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:29:38.356Z,1761546578.356 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-27T06:29:38.357Z,1761546578.357 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 194.699997 m (mode 1.000000 count ). 2025-10-27T06:29:38.357Z,1761546578.357 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-27T06:29:38.357Z,1761546578.357 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-27T06:29:38.714Z,1761546578.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033694,-0.989412,-0.141168],[0.998373,0.039822,-0.040812],[0.046002,-0.139564,0.989144]] 2025-10-27T06:29:38.753Z,1761546578.753 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-27T06:29:38.753Z,1761546578.753 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-27T06:29:38.754Z,1761546578.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:38.917Z,1761546578.917 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:38.917Z,1761546578.917 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:38.917Z,1761546578.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:29:39.146Z,1761546579.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.032708,-0.989765,-0.138910],[0.998405,0.038756,-0.041060],[0.046023,-0.137346,0.989453]] 2025-10-27T06:29:39.168Z,1761546579.168 [DAT](INFO): DAT read: user:763> 2025-10-27T06:29:39.169Z,1761546579.169 [DAT](INFO): DAT read: Tx time:06:29:38.2169 2025-10-27T06:29:39.169Z,1761546579.169 [DAT](INFO): Ping request sent. 2025-10-27T06:29:39.169Z,1761546579.169 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:29:39.169Z,1761546579.169 [DAT](INFO): publishing transmit ping time 2025-10-27T06:29:39.170Z,1761546579.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-27T06:29:39.191Z,1761546579.191 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-27T06:29:39.191Z,1761546579.191 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-27T06:29:39.420Z,1761546579.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251112 2025-10-27T06:29:39.525Z,1761546579.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031157,-0.990245,-0.135810],[0.998456,0.037087,-0.041356],[0.045990,-0.134312,0.989871]] 2025-10-27T06:29:39.563Z,1761546579.563 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-27T06:29:39.563Z,1761546579.563 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:29:39.563Z,1761546579.563 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-27T06:29:39.563Z,1761546579.563 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-27T06:29:39.672Z,1761546579.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502807 2025-10-27T06:29:39.924Z,1761546579.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754915 2025-10-27T06:29:39.933Z,1761546579.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027766,-0.990678,-0.133363],[0.998556,0.033626,-0.041894],[0.045988,-0.132007,0.990181]] 2025-10-27T06:29:40.176Z,1761546580.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772 2025-10-27T06:29:40.334Z,1761546580.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.022882,-0.991683,-0.126654],[0.998701,0.028445,-0.042287],[0.045538,-0.125522,0.991045]] 2025-10-27T06:29:40.428Z,1761546580.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258779 2025-10-27T06:29:40.680Z,1761546580.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510835 2025-10-27T06:29:40.749Z,1761546580.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014328,-0.993405,-0.113758],[0.998893,0.019318,-0.042885],[0.044800,-0.113018,0.992582]] 2025-10-27T06:29:40.766Z,1761546580.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:40.934Z,1761546580.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764698 2025-10-27T06:29:41.172Z,1761546581.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002925,-0.995110,-0.098729],[0.999035,0.007236,-0.043331],[0.043834,-0.098507,0.994170]] 2025-10-27T06:29:41.184Z,1761546581.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014869 2025-10-27T06:29:41.436Z,1761546581.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266829 2025-10-27T06:29:41.545Z,1761546581.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011326,-0.996634,-0.081193],[0.999004,-0.007774,-0.043937],[0.043158,-0.081610,0.995729]] 2025-10-27T06:29:41.688Z,1761546581.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518962 2025-10-27T06:29:41.940Z,1761546581.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770858 2025-10-27T06:29:41.951Z,1761546581.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028225,-0.997963,-0.057206],[0.998703,-0.025727,-0.043936],[0.042375,-0.058372,0.997395]] 2025-10-27T06:29:42.192Z,1761546582.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022856 2025-10-27T06:29:42.353Z,1761546582.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049038,-0.998364,-0.029419],[0.997940,-0.047755,-0.042835],[0.041360,-0.031459,0.998649]] 2025-10-27T06:29:42.453Z,1761546582.453 [DAT](INFO): DAT read: 06:29:40.8860 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 142, 0.18,-1.495, 0.306,-1.329,-0.795, PHS=-0.597, 1.146,-0.577, RAW= 329.4, 0.3, CAL= 328.4, -2.6, ROT= 181.6, 2.6 2025-10-27T06:29:42.455Z,1761546582.455 [DAT](INFO): got valid direction response: 06:29:40.8860 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 142, 0.18,-1.495, 0.306,-1.329,-0.795, PHS=-0.597, 1.146,-0.577, RAW= 329.4, 0.3, CAL= 328.4, -2.6, ROT= 181.6, 2.6 2025-10-27T06:29:42.456Z,1761546582.456 [DAT](INFO): DAT read: Rx Time:06:29:40.8860 2025-10-27T06:29:42.456Z,1761546582.456 [DAT](INFO): Rx dataTimestamp_ set to:1761546582.456206 2025-10-27T06:29:42.457Z,1761546582.457 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-27T06:29:42.457Z,1761546582.457 [DAT](INFO): Received low SNR in chirp 2025-10-27T06:29:42.471Z,1761546582.471 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:29:42.472Z,1761546582.472 [DAT](INFO): direction in FSK: [-0.998581,-0.027893,-0.045363] 2025-10-27T06:29:42.476Z,1761546582.476 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:42.476Z,1761546582.476 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:42.476Z,1761546582.476 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:42.696Z,1761546582.696 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:42.696Z,1761546582.696 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:42.696Z,1761546582.696 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:42.758Z,1761546582.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.074095,-0.997244,0.003791],[0.996426,-0.074188,-0.040389],[0.040559,0.000785,0.999177]] 2025-10-27T06:29:42.784Z,1761546582.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:42.948Z,1761546582.948 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:42.948Z,1761546582.948 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:42.948Z,1761546582.948 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:43.200Z,1761546583.200 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:43.200Z,1761546583.200 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:43.200Z,1761546583.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:43.200Z,1761546583.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101342,-0.994033,0.040362],[0.994056,-0.102800,-0.035841],[0.039776,0.036490,0.998542]] 2025-10-27T06:29:43.455Z,1761546583.455 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:43.455Z,1761546583.455 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:43.455Z,1761546583.455 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:43.566Z,1761546583.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.130124,-0.988952,0.071006],[0.990712,-0.132537,-0.030380],[0.039455,0.066393,0.997013]] 2025-10-27T06:29:43.704Z,1761546583.704 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:43.705Z,1761546583.705 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:43.705Z,1761546583.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:43.956Z,1761546583.956 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:43.956Z,1761546583.956 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:43.956Z,1761546583.956 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:44.208Z,1761546584.208 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:44.208Z,1761546584.208 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:44.208Z,1761546584.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:44.374Z,1761546584.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186293,-0.976958,0.104156],[0.981724,-0.189295,-0.019633],[0.038897,0.098595,0.994367]] 2025-10-27T06:29:44.460Z,1761546584.460 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:44.460Z,1761546584.460 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:44.460Z,1761546584.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:44.712Z,1761546584.712 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:44.712Z,1761546584.712 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:44.713Z,1761546584.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:44.825Z,1761546584.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:44.964Z,1761546584.964 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:44.964Z,1761546584.964 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:44.964Z,1761546584.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:45.218Z,1761546585.218 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:45.219Z,1761546585.219 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:45.219Z,1761546585.219 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:45.221Z,1761546585.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240297,-0.963934,0.114402],[0.969904,-0.243198,-0.011904],[0.039297,0.108099,0.993363]] 2025-10-27T06:29:45.468Z,1761546585.468 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:45.468Z,1761546585.468 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:45.468Z,1761546585.468 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:45.618Z,1761546585.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265721,-0.957303,0.113858],[0.963244,-0.268470,-0.009246],[0.039419,0.107216,0.993454]] 2025-10-27T06:29:45.721Z,1761546585.721 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:45.721Z,1761546585.721 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:45.721Z,1761546585.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:45.972Z,1761546585.972 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:45.972Z,1761546585.972 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:45.972Z,1761546585.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:46.017Z,1761546586.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290531,-0.950482,0.110343],[0.956043,-0.293126,-0.007713],[0.039675,0.103252,0.993864]] 2025-10-27T06:29:46.225Z,1761546586.225 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:46.225Z,1761546586.225 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:46.225Z,1761546586.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:46.423Z,1761546586.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315146,-0.943009,0.106849],[0.948196,-0.317619,-0.006534],[0.040099,0.099255,0.994254]] 2025-10-27T06:29:46.476Z,1761546586.476 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:46.476Z,1761546586.476 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:46.476Z,1761546586.476 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:46.728Z,1761546586.728 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:46.728Z,1761546586.728 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:46.729Z,1761546586.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:46.826Z,1761546586.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338942,-0.935197,0.102589],[0.939941,-0.341289,-0.005727],[0.040368,0.094486,0.994707]] 2025-10-27T06:29:46.843Z,1761546586.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:46.980Z,1761546586.980 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:46.980Z,1761546586.980 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:46.980Z,1761546586.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:47.234Z,1761546587.234 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:47.234Z,1761546587.234 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:47.235Z,1761546587.235 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:47.277Z,1761546587.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384969,-0.918255,0.092773],[0.922054,-0.387032,-0.004654],[0.040180,0.083750,0.995676]] 2025-10-27T06:29:47.484Z,1761546587.484 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:47.484Z,1761546587.484 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:47.484Z,1761546587.484 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:47.736Z,1761546587.736 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:47.737Z,1761546587.737 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:47.737Z,1761546587.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:47.988Z,1761546587.988 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:47.988Z,1761546587.988 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:47.988Z,1761546587.988 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:48.242Z,1761546588.242 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:48.242Z,1761546588.242 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:48.243Z,1761546588.243 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:48.441Z,1761546588.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428692,-0.899672,0.082545],[0.902625,-0.430414,-0.003443],[0.038626,0.073031,0.996581]] 2025-10-27T06:29:48.492Z,1761546588.492 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:48.492Z,1761546588.492 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:48.492Z,1761546588.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:48.744Z,1761546588.744 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:48.744Z,1761546588.744 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:48.744Z,1761546588.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:48.847Z,1761546588.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450496,-0.889515,0.076263],[0.891983,-0.452055,-0.003612],[0.037688,0.066398,0.997081]] 2025-10-27T06:29:48.869Z,1761546588.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:49.000Z,1761546589.000 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:29:49.000Z,1761546589.000 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:29:49.000Z,1761546589.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:29:49.250Z,1761546589.250 [DAT](INFO): Reached modem response timeout 2025-10-27T06:29:49.251Z,1761546589.251 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:49.251Z,1761546589.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:29:49.298Z,1761546589.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492583,-0.867792,0.065567],[0.869582,-0.493782,-0.002420],[0.034476,0.055824,0.997845]] 2025-10-27T06:29:49.500Z,1761546589.500 [DAT](INFO): DAT read: 2025-10-27T06:29:49.500Z,1761546589.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:49.752Z,1761546589.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:50.004Z,1761546590.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:50.063Z,1761546590.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513074,-0.856186,0.060828],[0.857728,-0.514102,-0.001473],[0.032533,0.051418,0.998147]] 2025-10-27T06:29:50.258Z,1761546590.258 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:50.469Z,1761546590.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553766,-0.830622,0.058393],[0.832177,-0.554492,0.004419],[0.028708,0.051040,0.998284]] 2025-10-27T06:29:50.508Z,1761546590.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:50.760Z,1761546590.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:50.880Z,1761546590.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573643,-0.816883,0.060297],[0.818666,-0.574190,0.009542],[0.026827,0.054837,0.998135]] 2025-10-27T06:29:50.906Z,1761546590.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:51.012Z,1761546591.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:51.266Z,1761546591.266 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:51.516Z,1761546591.516 [DAT](INFO): DAT read: Response Not Received 2025-10-27T06:29:51.516Z,1761546591.516 [DAT](INFO): response not received 2025-10-27T06:29:51.517Z,1761546591.517 [DAT](INFO): DAT read: user:765>Tx time:06:29:50.6669 2025-10-27T06:29:51.517Z,1761546591.517 [DAT](ERROR): No response from remote modem. 2025-10-27T06:29:51.518Z,1761546591.518 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:51.518Z,1761546591.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:29:51.699Z,1761546591.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613440,-0.787194,0.063388],[0.789373,-0.613627,0.018772],[0.024119,0.061553,0.997812]] 2025-10-27T06:29:51.768Z,1761546591.768 [DAT](INFO): DAT read: 2025-10-27T06:29:51.768Z,1761546591.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:52.021Z,1761546592.021 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:52.102Z,1761546592.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633308,-0.771235,0.064163],[0.773552,-0.633330,0.022603],[0.023205,0.063948,0.997683]] 2025-10-27T06:29:52.274Z,1761546592.274 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:52.506Z,1761546592.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652855,-0.754813,0.063542],[0.757155,-0.652739,0.025444],[0.022271,0.064723,0.997655]] 2025-10-27T06:29:52.524Z,1761546592.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:52.776Z,1761546592.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:52.914Z,1761546592.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672203,-0.737733,0.062395],[0.740052,-0.671983,0.027596],[0.021570,0.064725,0.997670]] 2025-10-27T06:29:52.932Z,1761546592.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:53.028Z,1761546593.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:53.282Z,1761546593.282 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:53.345Z,1761546593.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.690818,-0.720565,0.059635],[0.722732,-0.690543,0.028419],[0.020703,0.062733,0.997816]] 2025-10-27T06:29:53.532Z,1761546593.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:53.749Z,1761546593.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.709326,-0.702596,0.056705],[0.704597,-0.709023,0.028794],[0.019975,0.060379,0.997976]] 2025-10-27T06:29:53.786Z,1761546593.786 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:54.036Z,1761546594.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:54.134Z,1761546594.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727739,-0.683826,0.052709],[0.685582,-0.727463,0.027820],[0.019319,0.056382,0.998222]] 2025-10-27T06:29:54.290Z,1761546594.290 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:54.537Z,1761546594.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745654,-0.664397,0.050760],[0.666077,-0.745315,0.029121],[0.018484,0.055524,0.998286]] 2025-10-27T06:29:54.540Z,1761546594.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:54.792Z,1761546594.792 [DAT](INFO): DAT read: Rx Time:06:29:53.2795 2025-10-27T06:29:54.792Z,1761546594.792 [DAT](INFO): Rx dataTimestamp_ set to:1761546594.792019 2025-10-27T06:29:54.793Z,1761546594.793 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:54.941Z,1761546594.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763492,-0.644107,0.046972],[0.645574,-0.763180,0.028118],[0.017737,0.051792,0.998500]] 2025-10-27T06:29:54.966Z,1761546594.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:55.045Z,1761546595.045 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:55.304Z,1761546595.304 [DAT](INFO): DAT read: 06:29:53.2795 LVL= 32752, 30785, 32754, 32755, AGC= 64, IDX= 355, 0.18, 2.066, 3.066, 1.200, 2.457, PHS=-0.290, 0.653,-1.301, RAW= 1.2, 11.1, CAL= 1.4, 12.7, ROT= 148.6, -12.7 2025-10-27T06:29:55.309Z,1761546595.309 [DAT](INFO): got valid direction response: 06:29:53.2795 LVL= 32752, 30785, 32754, 32755, AGC= 64, IDX= 355, 0.18, 2.066, 3.066, 1.200, 2.457, PHS=-0.290, 0.653,-1.301, RAW= 1.2, 11.1, CAL= 1.4, 12.7, ROT= 148.6, -12.7 2025-10-27T06:29:55.312Z,1761546595.312 [DAT](INFO): DAT read: Bearing 91.0, 30.1 (Local) 2025-10-27T06:29:55.313Z,1761546595.313 [DAT](INFO): Local bearing/azimuth received: Bearing 91.0, 30.1 (Local) 2025-10-27T06:29:55.353Z,1761546595.353 [DAT](INFO): DAT read: Range 11 to 50 : 156.3 m (Round-trip 208.4 ms) speed -0.6 m/s 2025-10-27T06:29:55.366Z,1761546595.366 [DAT](INFO): DAT read: user:766>Tx time:06:29:54.3669 2025-10-27T06:29:55.388Z,1761546595.388 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:29:55.390Z,1761546595.390 [DAT](INFO): direction in FSK: [-0.832668,0.508263,0.219846] 2025-10-27T06:29:55.390Z,1761546595.390 [DAT](INFO): publishing direction and range info 2025-10-27T06:29:55.402Z,1761546595.402 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:55.402Z,1761546595.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:29:55.410Z,1761546595.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780466,-0.623456,0.046632],[0.624971,-0.780018,0.031349],[0.016829,0.053611,0.998420]] 2025-10-27T06:29:55.521Z,1761546595.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.300003 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-27T06:29:55.528Z,1761546595.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.316025 m, bearing: 290.666815 deg, lat: 36.779476 deg, lon: -121.859820 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-27T06:29:55.529Z,1761546595.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:55.536Z,1761546595.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 154.684402 m, bearing: 275.119968 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 269.429084 deg, new cmd heading: 275.119968 deg. 2025-10-27T06:29:55.536Z,1761546595.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.801749 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:55.548Z,1761546595.548 [DAT](INFO): DAT read: 2025-10-27T06:29:55.548Z,1761546595.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:55.792Z,1761546595.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796743,-0.602503,0.046814],[0.604109,-0.796113,0.035443],[0.015914,0.056520,0.998275]] 2025-10-27T06:29:55.800Z,1761546595.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:55.812Z,1761546595.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:55.815Z,1761546595.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 154.874573 m, bearing: 275.187970 deg, approach rate: 0.652390 m/s, LOS rate: 0.232999 deg/s, cmd heading: 275.119965 deg, new cmd heading: 275.187970 deg. 2025-10-27T06:29:55.816Z,1761546595.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802936 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:56.052Z,1761546596.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:56.194Z,1761546596.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812431,-0.581140,0.047232],[0.582861,-0.811589,0.039950],[0.015117,0.059987,0.998085]] 2025-10-27T06:29:56.239Z,1761546596.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:56.242Z,1761546596.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 155.120102 m, bearing: 275.280129 deg, approach rate: 0.574821 m/s, LOS rate: 0.215416 deg/s, cmd heading: 275.187966 deg, new cmd heading: 275.280129 deg. 2025-10-27T06:29:56.247Z,1761546596.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.804544 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:56.309Z,1761546596.309 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:56.560Z,1761546596.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:56.597Z,1761546596.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827524,-0.559496,0.046574],[0.561257,-0.826481,0.043824],[0.013973,0.062405,0.997953]] 2025-10-27T06:29:56.645Z,1761546596.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:56.647Z,1761546596.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 155.374756 m, bearing: 275.376618 deg, approach rate: 0.628335 m/s, LOS rate: 0.237686 deg/s, cmd heading: 275.280119 deg, new cmd heading: 275.376618 deg. 2025-10-27T06:29:56.648Z,1761546596.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.806229 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:56.812Z,1761546596.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:57.001Z,1761546597.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841929,-0.537641,0.045798],[0.539435,-0.840674,0.047712],[0.012849,0.064875,0.997811]] 2025-10-27T06:29:57.024Z,1761546597.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:57.026Z,1761546597.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:57.029Z,1761546597.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 155.597092 m, bearing: 275.464964 deg, approach rate: 0.582835 m/s, LOS rate: 0.231261 deg/s, cmd heading: 275.376616 deg, new cmd heading: 275.464964 deg. 2025-10-27T06:29:57.030Z,1761546597.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.807771 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:57.064Z,1761546597.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:57.321Z,1761546597.321 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:57.463Z,1761546597.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855716,-0.515524,0.044559],[0.517312,-0.854280,0.050927],[0.011812,0.066630,0.997708]] 2025-10-27T06:29:57.508Z,1761546597.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:57.511Z,1761546597.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 155.875214 m, bearing: 275.576234 deg, approach rate: 0.576929 m/s, LOS rate: 0.230405 deg/s, cmd heading: 275.464972 deg, new cmd heading: 275.576234 deg. 2025-10-27T06:29:57.512Z,1761546597.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809712 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:57.569Z,1761546597.569 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:57.821Z,1761546597.821 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:57.876Z,1761546597.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868500,-0.493831,0.042896],[0.495574,-0.866912,0.053580],[0.010727,0.067792,0.997642]] 2025-10-27T06:29:57.917Z,1761546597.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:57.920Z,1761546597.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 156.096191 m, bearing: 275.668769 deg, approach rate: 0.540334 m/s, LOS rate: 0.225946 deg/s, cmd heading: 275.576222 deg, new cmd heading: 275.668769 deg. 2025-10-27T06:29:57.921Z,1761546597.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.811327 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:58.072Z,1761546598.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:58.324Z,1761546598.324 [DAT](INFO): DAT read: Rx Time:06:29:56.9826 2025-10-27T06:29:58.325Z,1761546598.325 [DAT](INFO): Rx dataTimestamp_ set to:1761546598.324217 2025-10-27T06:29:58.325Z,1761546598.325 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:58.402Z,1761546598.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880615,-0.472094,0.040545],[0.473736,-0.878928,0.055308],[0.009526,0.067913,0.997646]] 2025-10-27T06:29:58.458Z,1761546598.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:58.460Z,1761546598.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 156.382401 m, bearing: 275.797176 deg, approach rate: 0.529514 m/s, LOS rate: 0.237129 deg/s, cmd heading: 275.668757 deg, new cmd heading: 275.797176 deg. 2025-10-27T06:29:58.461Z,1761546598.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.813569 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:58.576Z,1761546598.576 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:58.783Z,1761546598.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892099,-0.450309,0.037155],[0.451774,-0.890347,0.056409],[0.007680,0.067108,0.997716]] 2025-10-27T06:29:58.830Z,1761546598.830 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:58.889Z,1761546598.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.32 m. 2025-10-27T06:29:58.896Z,1761546598.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 155.316025 m, nav range: 156.573898 m, bearing: 275.887076 deg, approach rate: 0.444367 m/s, LOS rate: 0.208357 deg/s, cmd heading: 275.797165 deg, new cmd heading: 275.887076 deg. 2025-10-27T06:29:58.897Z,1761546598.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.815138 target range: 155.316025 and range: 156.30 m. 2025-10-27T06:29:59.086Z,1761546599.086 [DAT](INFO): DAT read: 06:29:56.9826 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 450,-0.15, 1.207, 1.752, 0.020, 1.367, PHS=-0.058, 0.431,-1.391, RAW= 15.0, 12.4, CAL= 14.5, 14.4, ROT= 135.5, -14.4 2025-10-27T06:29:59.087Z,1761546599.087 [DAT](INFO): got valid direction response: 06:29:56.9826 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 450,-0.15, 1.207, 1.752, 0.020, 1.367, PHS=-0.058, 0.431,-1.391, RAW= 15.0, 12.4, CAL= 14.5, 14.4, ROT= 135.5, -14.4 2025-10-27T06:29:59.088Z,1761546599.088 [DAT](INFO): DAT read: Bearing 99.6, 43.8 (Local) 2025-10-27T06:29:59.088Z,1761546599.088 [DAT](INFO): Local bearing/azimuth received: Bearing 99.6, 43.8 (Local) 2025-10-27T06:29:59.090Z,1761546599.090 [DAT](INFO): DAT read: Range 11 to 50 : 158.6 m (Round-trip 211.5 ms) speed -0.5 m/s 2025-10-27T06:29:59.091Z,1761546599.091 [DAT](INFO): DAT read: user:767>Tx time:06:29:58.0669 2025-10-27T06:29:59.091Z,1761546599.091 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:29:59.092Z,1761546599.092 [DAT](INFO): direction in FSK: [-0.690842,0.678889,0.248690] 2025-10-27T06:29:59.092Z,1761546599.092 [DAT](INFO): publishing direction and range info 2025-10-27T06:29:59.096Z,1761546599.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:59.096Z,1761546599.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:29:59.228Z,1761546599.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903039,-0.428171,0.034507],[0.429518,-0.901152,0.058649],[0.005984,0.067784,0.997682]] 2025-10-27T06:29:59.256Z,1761546599.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.600006 m, deltaT: 3.783997 s, deltaX: 2.300003 m, approachRate: 0.607824 m/s, rangeRepo size: 2 2025-10-27T06:29:59.258Z,1761546599.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.603439 m, bearing: 290.922448 deg, lat: 36.779508 deg, lon: -121.859806 deg, deltaT: 3.783997 s, deltaX: 2.287415 m, approachRate: 0.604497 m/s, posRepo size: 2 2025-10-27T06:29:59.258Z,1761546599.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:29:59.261Z,1761546599.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 155.965775 m, bearing: 277.316791 deg, approach rate: 0.000000 m/s, LOS rate: 0.208357 deg/s, cmd heading: 275.887077 deg, new cmd heading: 276.115878 deg. 2025-10-27T06:29:59.262Z,1761546599.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.819131 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:29:59.333Z,1761546599.333 [DAT](INFO): DAT read: 2025-10-27T06:29:59.333Z,1761546599.333 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:59.584Z,1761546599.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:29:59.631Z,1761546599.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913188,-0.406314,0.031560],[0.407520,-0.911142,0.061215],[0.003883,0.068762,0.997626]] 2025-10-27T06:29:59.683Z,1761546599.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:29:59.685Z,1761546599.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:29:59.688Z,1761546599.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 156.151505 m, bearing: 277.415012 deg, approach rate: 0.431274 m/s, LOS rate: 0.227803 deg/s, cmd heading: 276.115889 deg, new cmd heading: 276.410199 deg. 2025-10-27T06:29:59.689Z,1761546599.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.824268 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:29:59.836Z,1761546599.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:00.073Z,1761546600.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922668,-0.384546,0.028425],[0.385591,-0.920493,0.063342],[0.001808,0.069404,0.997587]] 2025-10-27T06:30:00.088Z,1761546600.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:00.112Z,1761546600.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:30:00.119Z,1761546600.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 156.334000 m, bearing: 277.516125 deg, approach rate: 0.427744 m/s, LOS rate: 0.236718 deg/s, cmd heading: 276.410188 deg, new cmd heading: 276.713170 deg. 2025-10-27T06:30:00.120Z,1761546600.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.829556 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:30:00.340Z,1761546600.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:00.504Z,1761546600.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:30:00.506Z,1761546600.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 156.488785 m, bearing: 277.612066 deg, approach rate: 0.395343 m/s, LOS rate: 0.244805 deg/s, cmd heading: 276.713175 deg, new cmd heading: 277.000711 deg. 2025-10-27T06:30:00.507Z,1761546600.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.834574 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:30:00.593Z,1761546600.593 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:00.838Z,1761546600.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939719,-0.341217,0.022328],[0.341939,-0.937232,0.068362],[-0.002400,0.071876,0.997411]] 2025-10-27T06:30:00.844Z,1761546600.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:00.893Z,1761546600.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:30:00.900Z,1761546600.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 156.613663 m, bearing: 277.698087 deg, approach rate: 0.320293 m/s, LOS rate: 0.220455 deg/s, cmd heading: 277.000699 deg, new cmd heading: 277.258554 deg. 2025-10-27T06:30:00.901Z,1761546600.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.839075 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:30:01.096Z,1761546601.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:01.295Z,1761546601.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:30:01.298Z,1761546601.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 156.765335 m, bearing: 277.802047 deg, approach rate: 0.377567 m/s, LOS rate: 0.258543 deg/s, cmd heading: 277.258552 deg, new cmd heading: 277.570127 deg. 2025-10-27T06:30:01.299Z,1761546601.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.844512 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:30:01.348Z,1761546601.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:01.600Z,1761546601.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:01.650Z,1761546601.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955022,-0.296137,0.015373],[0.296477,-0.952523,0.069295],[-0.005878,0.070736,0.997478]] 2025-10-27T06:30:01.711Z,1761546601.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:01.714Z,1761546601.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:30:01.719Z,1761546601.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 156.879669 m, bearing: 277.904536 deg, approach rate: 0.272897 m/s, LOS rate: 0.244447 deg/s, cmd heading: 277.570118 deg, new cmd heading: 277.877358 deg. 2025-10-27T06:30:01.720Z,1761546601.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.849875 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:30:01.853Z,1761546601.853 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:02.079Z,1761546602.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968207,-0.250008,0.008405],[0.249981,-0.965779,0.069144],[-0.009169,0.069046,0.997571]] 2025-10-27T06:30:02.099Z,1761546602.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:30:02.102Z,1761546602.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 156.974945 m, bearing: 278.002741 deg, approach rate: 0.247737 m/s, LOS rate: 0.255197 deg/s, cmd heading: 277.877367 deg, new cmd heading: 278.171800 deg. 2025-10-27T06:30:02.104Z,1761546602.104 [DAT](INFO): DAT read: Rx Time:06:30:00.6846 2025-10-27T06:30:02.105Z,1761546602.105 [DAT](INFO): Rx dataTimestamp_ set to:1761546602.104299 2025-10-27T06:30:02.105Z,1761546602.105 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:02.103Z,1761546602.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.855014 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:30:02.357Z,1761546602.357 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:02.496Z,1761546602.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974190,-0.225678,0.004933],[0.225477,-0.971819,0.068765],[-0.010725,0.068102,0.997621]] 2025-10-27T06:30:02.605Z,1761546602.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m. 2025-10-27T06:30:02.614Z,1761546602.614 [DAT](INFO): DAT read: 06:30:00.6846 LVL= 26848, 20209, 32754, 30627, AGC= 62, IDX= 439, 0.19,-1.049,-1.359,-2.631,-1.282, PHS= 0.334,-0.032,-1.393, RAW= 41.6, 13.8, CAL= 38.5, 15.4, ROT= 111.5, -15.4 2025-10-27T06:30:02.616Z,1761546602.616 [DAT](INFO): got valid direction response: 06:30:00.6846 LVL= 26848, 20209, 32754, 30627, AGC= 62, IDX= 439, 0.19,-1.049,-1.359,-2.631,-1.282, PHS= 0.334,-0.032,-1.393, RAW= 41.6, 13.8, CAL= 38.5, 15.4, ROT= 111.5, -15.4 2025-10-27T06:30:02.616Z,1761546602.616 [DAT](INFO): DAT read: Bearing 96.3, 66.6 (Local) 2025-10-27T06:30:02.617Z,1761546602.617 [DAT](INFO): Local bearing/azimuth received: Bearing 96.3, 66.6 (Local) 2025-10-27T06:30:02.618Z,1761546602.618 [DAT](INFO): DAT read: Range 11 to 50 : 160.1 m (Round-trip 213.5 ms) speed -0.3 m/s 2025-10-27T06:30:02.619Z,1761546602.619 [DAT](INFO): DAT read: user:768>Tx time:06:30:01.7669 2025-10-27T06:30:02.620Z,1761546602.620 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:02.621Z,1761546602.621 [DAT](INFO): direction in FSK: [-0.353342,0.897011,0.265556] 2025-10-27T06:30:02.621Z,1761546602.621 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:02.625Z,1761546602.625 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:02.625Z,1761546602.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:02.636Z,1761546602.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.603439 m, nav range: 157.102844 m, bearing: 278.130143 deg, approach rate: 0.252409 m/s, LOS rate: 0.251222 deg/s, cmd heading: 278.171803 deg, new cmd heading: 278.553691 deg. 2025-10-27T06:30:02.637Z,1761546602.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.861679 target range: 157.603439 and range: 158.60 m. 2025-10-27T06:30:02.862Z,1761546602.862 [DAT](INFO): DAT read: 2025-10-27T06:30:02.864Z,1761546602.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:02.880Z,1761546602.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:30:02.951Z,1761546602.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979477,-0.201547,0.001716],[0.201175,-0.977075,0.069660],[-0.012363,0.068576,0.997569]] 2025-10-27T06:30:02.990Z,1761546602.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.100006 m, deltaT: 3.528146 s, deltaX: 1.500000 m, approachRate: 0.425152 m/s, rangeRepo size: 3 2025-10-27T06:30:02.996Z,1761546602.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.085114 m, bearing: 280.116137 deg, lat: 36.779543 deg, lon: -121.859719 deg, deltaT: 3.528146 s, deltaX: 1.481674 m, approachRate: 0.419958 m/s, posRepo size: 3 2025-10-27T06:30:02.997Z,1761546602.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:03.004Z,1761546603.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.128967 m, bearing: 280.116649 deg, approach rate: 0.000000 m/s, LOS rate: 0.251222 deg/s, cmd heading: 278.553692 deg, new cmd heading: 278.843024 deg. 2025-10-27T06:30:03.005Z,1761546603.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.866729 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:03.112Z,1761546603.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:03.361Z,1761546603.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984275,-0.176636,-0.001436],[0.176101,-0.981867,0.070177],[-0.013806,0.068821,0.997534]] 2025-10-27T06:30:03.365Z,1761546603.365 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:03.403Z,1761546603.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:03.409Z,1761546603.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.236023 m, bearing: 280.233043 deg, approach rate: 0.258691 m/s, LOS rate: 0.281054 deg/s, cmd heading: 278.843019 deg, new cmd heading: 279.191946 deg. 2025-10-27T06:30:03.412Z,1761546603.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872818 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:03.616Z,1761546603.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:03.827Z,1761546603.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:03.829Z,1761546603.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:03.832Z,1761546603.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.343033 m, bearing: 280.344542 deg, approach rate: 0.251096 m/s, LOS rate: 0.261443 deg/s, cmd heading: 279.191933 deg, new cmd heading: 279.526187 deg. 2025-10-27T06:30:03.833Z,1761546603.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.878652 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:03.868Z,1761546603.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:03.883Z,1761546603.883 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:30:04.120Z,1761546604.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:04.198Z,1761546604.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991855,-0.127141,-0.007615],[0.126299,-0.989498,0.070309],[-0.016474,0.068775,0.997496]] 2025-10-27T06:30:04.217Z,1761546604.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:04.219Z,1761546604.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.427505 m, bearing: 280.447780 deg, approach rate: 0.218174 m/s, LOS rate: 0.266492 deg/s, cmd heading: 279.526175 deg, new cmd heading: 279.835713 deg. 2025-10-27T06:30:04.220Z,1761546604.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884055 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:04.373Z,1761546604.373 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:04.602Z,1761546604.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994761,-0.101668,-0.010643],[0.100708,-0.992549,0.068584],[-0.017537,0.067153,0.997589]] 2025-10-27T06:30:04.624Z,1761546604.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:04.648Z,1761546604.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:04.650Z,1761546604.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.526199 m, bearing: 280.567720 deg, approach rate: 0.228820 m/s, LOS rate: 0.277895 deg/s, cmd heading: 279.835719 deg, new cmd heading: 280.195297 deg. 2025-10-27T06:30:04.652Z,1761546604.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.890330 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:04.880Z,1761546604.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:05.046Z,1761546605.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996996,-0.076285,-0.013404],[0.075216,-0.994880,0.067497],[-0.018485,0.066286,0.997629]] 2025-10-27T06:30:05.072Z,1761546605.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:05.074Z,1761546605.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.615906 m, bearing: 280.686393 deg, approach rate: 0.211596 m/s, LOS rate: 0.279755 deg/s, cmd heading: 280.195287 deg, new cmd heading: 280.551091 deg. 2025-10-27T06:30:05.076Z,1761546605.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.896540 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:05.128Z,1761546605.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:05.380Z,1761546605.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:05.529Z,1761546605.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998606,-0.050332,-0.015894],[0.049192,-0.996646,0.065402],[-0.019132,0.064529,0.997732]] 2025-10-27T06:30:05.566Z,1761546605.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:05.568Z,1761546605.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.730331 m, bearing: 280.824946 deg, approach rate: 0.231708 m/s, LOS rate: 0.280351 deg/s, cmd heading: 280.551086 deg, new cmd heading: 280.966420 deg. 2025-10-27T06:30:05.569Z,1761546605.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.903789 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:05.632Z,1761546605.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:05.884Z,1761546605.884 [DAT](INFO): DAT read: Rx Time:06:30:04.3861 2025-10-27T06:30:05.884Z,1761546605.884 [DAT](INFO): Rx dataTimestamp_ set to:1761546605.884185 2025-10-27T06:30:05.885Z,1761546605.885 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:05.908Z,1761546605.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999525,-0.024966,-0.018078],[0.023769,-0.997689,0.063654],[-0.019626,0.063195,0.997808]] 2025-10-27T06:30:05.960Z,1761546605.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:05.962Z,1761546605.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:05.972Z,1761546605.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.813553 m, bearing: 280.934490 deg, approach rate: 0.210057 m/s, LOS rate: 0.276346 deg/s, cmd heading: 280.966416 deg, new cmd heading: 281.294865 deg. 2025-10-27T06:30:05.972Z,1761546605.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.909522 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:06.136Z,1761546606.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:06.333Z,1761546606.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999801,0.000500,-0.019953],[-0.001743,-0.998054,0.062337],[-0.019883,0.062359,0.997856]] 2025-10-27T06:30:06.363Z,1761546606.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.09 m. 2025-10-27T06:30:06.384Z,1761546606.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.085114 m, nav range: 150.892273 m, bearing: 281.048047 deg, approach rate: 0.196343 m/s, LOS rate: 0.283083 deg/s, cmd heading: 281.294866 deg, new cmd heading: 281.635353 deg. 2025-10-27T06:30:06.385Z,1761546606.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.915464 target range: 159.085114 and range: 160.10 m. 2025-10-27T06:30:06.394Z,1761546606.394 [DAT](INFO): DAT read: 06:30:04.3861 LVL= 19360, 20513, 29122, 27219, AGC= 62, IDX= 438, 0.24,-3.076, 2.350, 1.462, 2.617, PHS= 0.692,-0.222,-1.199, RAW= 58.9, 8.9, CAL= 56.8, 10.4, ROT= 93.2, -10.4 2025-10-27T06:30:06.395Z,1761546606.395 [DAT](INFO): got valid direction response: 06:30:04.3861 LVL= 19360, 20513, 29122, 27219, AGC= 62, IDX= 438, 0.24,-3.076, 2.350, 1.462, 2.617, PHS= 0.692,-0.222,-1.199, RAW= 58.9, 8.9, CAL= 56.8, 10.4, ROT= 93.2, -10.4 2025-10-27T06:30:06.396Z,1761546606.396 [DAT](INFO): DAT read: Bearing 62.1, 82.3 (Local) 2025-10-27T06:30:06.397Z,1761546606.397 [DAT](INFO): Local bearing/azimuth received: Bearing 62.1, 82.3 (Local) 2025-10-27T06:30:06.398Z,1761546606.398 [DAT](INFO): DAT read: Range 11 to 50 : 161.2 m (Round-trip 215.0 ms) speed 0.0 m/s 2025-10-27T06:30:06.399Z,1761546606.399 [DAT](INFO): DAT read: user:769>Tx time:06:30:05.4669 2025-10-27T06:30:06.400Z,1761546606.400 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:06.401Z,1761546606.401 [DAT](INFO): direction in FSK: [-0.054904,0.982038,0.180519] 2025-10-27T06:30:06.401Z,1761546606.401 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:06.405Z,1761546606.405 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:06.405Z,1761546606.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:06.640Z,1761546606.640 [DAT](INFO): DAT read: 2025-10-27T06:30:06.640Z,1761546606.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:06.742Z,1761546606.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999421,0.026222,-0.021686],[-0.027487,-0.997802,0.060291],[-0.020057,0.060852,0.997945]] 2025-10-27T06:30:06.836Z,1761546606.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.199997 m, deltaT: 3.779983 s, deltaX: 1.099991 m, approachRate: 0.291004 m/s, rangeRepo size: 4 2025-10-27T06:30:06.838Z,1761546606.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.164719 m, bearing: 274.533295 deg, lat: 36.779543 deg, lon: -121.859719 deg, deltaT: 3.779983 s, deltaX: 1.079605 m, approachRate: 0.285611 m/s, posRepo size: 4 2025-10-27T06:30:06.844Z,1761546606.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:06.854Z,1761546606.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 150.987930 m, bearing: 281.173739 deg, approach rate: 0.000000 m/s, LOS rate: 0.283083 deg/s, cmd heading: 281.635365 deg, new cmd heading: 282.037126 deg. 2025-10-27T06:30:06.860Z,1761546606.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.922476 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:06.903Z,1761546606.903 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:07.144Z,1761546607.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:07.191Z,1761546607.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998377,0.051948,-0.023340],[-0.053263,-0.996788,0.059809],[-0.020158,0.060955,0.997937]] 2025-10-27T06:30:07.210Z,1761546607.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:07.213Z,1761546607.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 151.067139 m, bearing: 281.287826 deg, approach rate: 0.211499 m/s, LOS rate: 0.304470 deg/s, cmd heading: 282.037116 deg, new cmd heading: 282.379194 deg. 2025-10-27T06:30:07.214Z,1761546607.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.928447 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:07.396Z,1761546607.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:07.596Z,1761546607.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996659,0.077752,-0.025029],[-0.079097,-0.995166,0.058208],[-0.020382,0.059994,0.997991]] 2025-10-27T06:30:07.648Z,1761546607.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:07.680Z,1761546607.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:07.682Z,1761546607.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 151.148010 m, bearing: 281.404547 deg, approach rate: 0.174095 m/s, LOS rate: 0.251134 deg/s, cmd heading: 282.379199 deg, new cmd heading: 282.729170 deg. 2025-10-27T06:30:07.704Z,1761546607.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.934555 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:07.900Z,1761546607.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:08.042Z,1761546608.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994301,0.103246,-0.026567],[-0.104645,-0.992807,0.058175],[-0.020369,0.060623,0.997953]] 2025-10-27T06:30:08.070Z,1761546608.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:08.073Z,1761546608.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:08.080Z,1761546608.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 151.224442 m, bearing: 281.526423 deg, approach rate: 0.192119 m/s, LOS rate: 0.306196 deg/s, cmd heading: 282.729178 deg, new cmd heading: 283.094617 deg. 2025-10-27T06:30:08.081Z,1761546608.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.940933 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:08.152Z,1761546608.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:08.404Z,1761546608.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:08.448Z,1761546608.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991329,0.128386,-0.027996],[-0.129843,-0.989801,0.058605],[-0.020187,0.061732,0.997889]] 2025-10-27T06:30:08.471Z,1761546608.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:08.477Z,1761546608.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 151.286362 m, bearing: 281.636474 deg, approach rate: 0.155394 m/s, LOS rate: 0.276070 deg/s, cmd heading: 283.094621 deg, new cmd heading: 283.424636 deg. 2025-10-27T06:30:08.497Z,1761546608.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.946693 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:08.657Z,1761546608.657 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:08.893Z,1761546608.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983979,0.175639,-0.030609],[-0.177203,-0.982376,0.059473],[-0.019623,0.063944,0.997761]] 2025-10-27T06:30:08.908Z,1761546608.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:08.939Z,1761546608.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:08.942Z,1761546608.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 151.350586 m, bearing: 281.765585 deg, approach rate: 0.137269 m/s, LOS rate: 0.275836 deg/s, cmd heading: 283.424628 deg, new cmd heading: 283.811788 deg. 2025-10-27T06:30:08.943Z,1761546608.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953450 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:09.160Z,1761546609.160 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:09.296Z,1761546609.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:09.298Z,1761546609.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 151.399658 m, bearing: 281.863127 deg, approach rate: 0.137557 m/s, LOS rate: 0.273338 deg/s, cmd heading: 283.811791 deg, new cmd heading: 284.104320 deg. 2025-10-27T06:30:09.336Z,1761546609.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958556 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:09.413Z,1761546609.413 [DAT](INFO): DAT read: Rx Time:06:30:08.0869 2025-10-27T06:30:09.413Z,1761546609.413 [DAT](INFO): Rx dataTimestamp_ set to:1761546609.413104 2025-10-27T06:30:09.414Z,1761546609.414 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:09.664Z,1761546609.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:09.681Z,1761546609.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979415,0.199295,-0.032068],[-0.200947,-0.977691,0.061157],[-0.019164,0.066342,0.997613]] 2025-10-27T06:30:09.759Z,1761546609.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:09.762Z,1761546609.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 151.448196 m, bearing: 281.987055 deg, approach rate: 0.104884 m/s, LOS rate: 0.267704 deg/s, cmd heading: 284.104314 deg, new cmd heading: 284.475974 deg. 2025-10-27T06:30:09.764Z,1761546609.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.965043 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:09.918Z,1761546609.918 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:10.123Z,1761546610.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:10.125Z,1761546610.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.16 m. 2025-10-27T06:30:10.128Z,1761546610.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.164719 m, nav range: 151.490662 m, bearing: 282.093942 deg, approach rate: 0.115948 m/s, LOS rate: 0.291762 deg/s, cmd heading: 284.475986 deg, new cmd heading: 284.796551 deg. 2025-10-27T06:30:10.129Z,1761546610.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970637 target range: 160.164719 and range: 161.20 m. 2025-10-27T06:30:10.174Z,1761546610.174 [DAT](INFO): DAT read: 06:30:08.0869 LVL= 18880, 25185, 30450, 30963, AGC= 60, IDX= 445, 0.47,-0.813,-1.592,-2.612,-1.437, PHS= 0.727,-0.109,-1.219, RAW= 55.4, 7.2, CAL= 53.8, 7.2, ROT= 96.2, -7.2 2025-10-27T06:30:10.175Z,1761546610.175 [DAT](INFO): got valid direction response: 06:30:08.0869 LVL= 18880, 25185, 30450, 30963, AGC= 60, IDX= 445, 0.47,-0.813,-1.592,-2.612,-1.437, PHS= 0.727,-0.109,-1.219, RAW= 55.4, 7.2, CAL= 53.8, 7.2, ROT= 96.2, -7.2 2025-10-27T06:30:10.176Z,1761546610.176 [DAT](INFO): DAT read: Bearing 111.5, 84.1 (Local) 2025-10-27T06:30:10.176Z,1761546610.176 [DAT](INFO): Local bearing/azimuth received: Bearing 111.5, 84.1 (Local) 2025-10-27T06:30:10.178Z,1761546610.178 [DAT](INFO): DAT read: Range 11 to 50 : 161.8 m (Round-trip 215.8 ms) speed -0.1 m/s 2025-10-27T06:30:10.179Z,1761546610.179 [DAT](INFO): DAT read: user:770>Tx time:06:30:09.1669 2025-10-27T06:30:10.180Z,1761546610.180 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:10.181Z,1761546610.181 [DAT](INFO): direction in FSK: [-0.107148,0.986312,0.125333] 2025-10-27T06:30:10.181Z,1761546610.181 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:10.184Z,1761546610.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:10.185Z,1761546610.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:10.420Z,1761546610.420 [DAT](INFO): DAT read: 2025-10-27T06:30:10.421Z,1761546610.421 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:10.506Z,1761546610.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963075,0.267095,-0.033859],[-0.268646,-0.961643,0.055432],[-0.017754,0.062481,0.997888]] 2025-10-27T06:30:10.596Z,1761546610.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.800003 m, deltaT: 3.779997 s, deltaX: 0.600006 m, approachRate: 0.158732 m/s, rangeRepo size: 4 2025-10-27T06:30:10.598Z,1761546610.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.752014 m, bearing: 291.654474 deg, lat: 36.779778 deg, lon: -121.859704 deg, deltaT: 3.779997 s, deltaX: 0.587296 m, approachRate: 0.155369 m/s, posRepo size: 4 2025-10-27T06:30:10.599Z,1761546610.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m. 2025-10-27T06:30:10.605Z,1761546610.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.752014 m, nav range: 157.866776 m, bearing: 291.655033 deg, approach rate: 0.000000 m/s, LOS rate: 0.291762 deg/s, cmd heading: 284.796540 deg, new cmd heading: 285.208107 deg. 2025-10-27T06:30:10.606Z,1761546610.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.977820 target range: 160.752014 and range: 161.80 m. 2025-10-27T06:30:10.673Z,1761546610.673 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:10.920Z,1761546610.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956649,0.289375,-0.032933],[-0.290727,-0.955558,0.048849],[-0.017334,0.056306,0.998263]] 2025-10-27T06:30:10.924Z,1761546610.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:10.970Z,1761546610.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m. 2025-10-27T06:30:10.973Z,1761546610.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.752014 m, nav range: 157.931976 m, bearing: 291.761907 deg, approach rate: 0.174030 m/s, LOS rate: 0.285143 deg/s, cmd heading: 285.208100 deg, new cmd heading: 285.528586 deg. 2025-10-27T06:30:10.973Z,1761546610.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.983414 target range: 160.752014 and range: 161.80 m. 2025-10-27T06:30:11.176Z,1761546611.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:11.324Z,1761546611.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949502,0.312138,-0.031888],[-0.313278,-0.948771,0.041122],[-0.017419,0.049036,0.998645]] 2025-10-27T06:30:11.353Z,1761546611.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m. 2025-10-27T06:30:11.361Z,1761546611.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.752014 m, nav range: 157.985352 m, bearing: 291.859326 deg, approach rate: 0.139303 m/s, LOS rate: 0.254167 deg/s, cmd heading: 285.528572 deg, new cmd heading: 285.820728 deg. 2025-10-27T06:30:11.362Z,1761546611.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.988513 target range: 160.752014 and range: 161.80 m. 2025-10-27T06:30:11.428Z,1761546611.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:11.683Z,1761546611.683 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:11.809Z,1761546611.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941795,0.334686,-0.031748],[-0.335714,-0.941278,0.035941],[-0.017855,0.044507,0.998850]] 2025-10-27T06:30:11.880Z,1761546611.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m. 2025-10-27T06:30:11.882Z,1761546611.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.752014 m, nav range: 158.047729 m, bearing: 291.995072 deg, approach rate: 0.118378 m/s, LOS rate: 0.257510 deg/s, cmd heading: 285.820741 deg, new cmd heading: 286.227811 deg. 2025-10-27T06:30:11.884Z,1761546611.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995618 target range: 160.752014 and range: 161.80 m. 2025-10-27T06:30:11.933Z,1761546611.933 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:12.133Z,1761546612.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933487,0.357093,-0.032958],[-0.358128,-0.933054,0.033984],[-0.018616,0.043526,0.998879]] 2025-10-27T06:30:12.151Z,1761546612.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:12.153Z,1761546612.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m. 2025-10-27T06:30:12.156Z,1761546612.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.752014 m, nav range: 158.079330 m, bearing: 292.074556 deg, approach rate: 0.115636 m/s, LOS rate: 0.290791 deg/s, cmd heading: 286.227820 deg, new cmd heading: 286.466221 deg. 2025-10-27T06:30:12.157Z,1761546612.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999779 target range: 160.752014 and range: 161.80 m. 2025-10-27T06:30:12.184Z,1761546612.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:12.436Z,1761546612.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:12.625Z,1761546612.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m. 2025-10-27T06:30:12.628Z,1761546612.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.752014 m, nav range: 158.127518 m, bearing: 292.194294 deg, approach rate: 0.102049 m/s, LOS rate: 0.253501 deg/s, cmd heading: 286.466221 deg, new cmd heading: 286.825322 deg. 2025-10-27T06:30:12.629Z,1761546612.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.006046 target range: 160.752014 and range: 161.80 m. 2025-10-27T06:30:12.688Z,1761546612.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:12.940Z,1761546612.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:12.942Z,1761546612.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915141,0.401204,-0.039403],[-0.402620,-0.914532,0.039084],[-0.020355,0.051632,0.998459]] 2025-10-27T06:30:12.995Z,1761546612.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m. 2025-10-27T06:30:12.998Z,1761546612.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.752014 m, nav range: 158.157242 m, bearing: 292.292459 deg, approach rate: 0.083984 m/s, LOS rate: 0.277307 deg/s, cmd heading: 286.825325 deg, new cmd heading: 287.119760 deg. 2025-10-27T06:30:13.003Z,1761546613.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.011185 target range: 160.752014 and range: 161.80 m. 2025-10-27T06:30:13.192Z,1761546613.192 [DAT](INFO): DAT read: Rx Time:06:30:11.7872 2025-10-27T06:30:13.193Z,1761546613.193 [DAT](INFO): Rx dataTimestamp_ set to:1761546613.192314 2025-10-27T06:30:13.193Z,1761546613.193 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:13.352Z,1761546613.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904870,0.423440,-0.043683],[-0.425145,-0.904126,0.042528],[-0.021486,0.057054,0.998140]] 2025-10-27T06:30:13.397Z,1761546613.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m. 2025-10-27T06:30:13.400Z,1761546613.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.752014 m, nav range: 158.183334 m, bearing: 292.401757 deg, approach rate: 0.062400 m/s, LOS rate: 0.261340 deg/s, cmd heading: 287.119761 deg, new cmd heading: 287.447596 deg. 2025-10-27T06:30:13.401Z,1761546613.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.016907 target range: 160.752014 and range: 161.80 m. 2025-10-27T06:30:13.445Z,1761546613.445 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:13.702Z,1761546613.702 [DAT](INFO): DAT read: 06:30:11.7872 LVL= 16736, 28305, 28642, 30499, AGC= 62, IDX= 433, 0.15,-1.601,-2.732, 2.972,-2.213, PHS= 0.715,-0.474,-1.142, RAW= 69.2, 11.1, CAL= 67.5, 14.9, ROT= 82.5, -14.9 2025-10-27T06:30:13.705Z,1761546613.705 [DAT](INFO): got valid direction response: 06:30:11.7872 LVL= 16736, 28305, 28642, 30499, AGC= 62, IDX= 433, 0.15,-1.601,-2.732, 2.972,-2.213, PHS= 0.715,-0.474,-1.142, RAW= 69.2, 11.1, CAL= 67.5, 14.9, ROT= 82.5, -14.9 2025-10-27T06:30:13.706Z,1761546613.706 [DAT](INFO): DAT read: Bearing 39.0, 74.7 (Local) 2025-10-27T06:30:13.707Z,1761546613.707 [DAT](INFO): Local bearing/azimuth received: Bearing 39.0, 74.7 (Local) 2025-10-27T06:30:13.709Z,1761546613.709 [DAT](INFO): DAT read: Range 11 to 50 : 162.0 m (Round-trip 216.1 ms) speed -0.1 m/s 2025-10-27T06:30:13.710Z,1761546613.710 [DAT](INFO): DAT read: user:771>Tx time:06:30:12.8669 2025-10-27T06:30:13.711Z,1761546613.711 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:13.713Z,1761546613.713 [DAT](INFO): direction in FSK: [0.126137,0.958109,0.257133] 2025-10-27T06:30:13.713Z,1761546613.713 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:13.718Z,1761546613.718 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:13.720Z,1761546613.720 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:13.764Z,1761546613.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893953,0.445607,-0.047768],[-0.447600,-0.893077,0.045468],[-0.022400,0.062027,0.997823]] 2025-10-27T06:30:13.899Z,1761546613.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.000000 m, deltaT: 3.527827 s, deltaX: 0.199997 m, approachRate: 0.056691 m/s, rangeRepo size: 4 2025-10-27T06:30:13.901Z,1761546613.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.971802 m, bearing: 288.535201 deg, lat: 36.779670 deg, lon: -121.859704 deg, deltaT: 3.527827 s, deltaX: 0.219788 m, approachRate: 0.062301 m/s, posRepo size: 4 2025-10-27T06:30:13.902Z,1761546613.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:13.909Z,1761546613.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 154.011749 m, bearing: 288.393854 deg, approach rate: 0.000000 m/s, LOS rate: 0.261340 deg/s, cmd heading: 287.447610 deg, new cmd heading: 287.836997 deg. 2025-10-27T06:30:13.910Z,1761546613.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.023703 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:13.948Z,1761546613.948 [DAT](INFO): DAT read: 2025-10-27T06:30:13.948Z,1761546613.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:14.200Z,1761546614.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:14.224Z,1761546614.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882310,0.467927,-0.050729],[-0.470111,-0.881377,0.046596],[-0.022908,0.064960,0.997625]] 2025-10-27T06:30:14.242Z,1761546614.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:14.244Z,1761546614.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:14.246Z,1761546614.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 154.010376 m, bearing: 288.493637 deg, approach rate: -0.003926 m/s, LOS rate: 0.285276 deg/s, cmd heading: 287.836985 deg, new cmd heading: 288.136335 deg. 2025-10-27T06:30:14.248Z,1761546614.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.028928 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:14.454Z,1761546614.454 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:14.645Z,1761546614.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870322,0.489609,-0.053128],[-0.491937,-0.869363,0.046978],[-0.023187,0.067021,0.997482]] 2025-10-27T06:30:14.689Z,1761546614.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:14.692Z,1761546614.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 154.009781 m, bearing: 288.615228 deg, approach rate: -0.001336 m/s, LOS rate: 0.272915 deg/s, cmd heading: 288.136339 deg, new cmd heading: 288.501108 deg. 2025-10-27T06:30:14.693Z,1761546614.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.035294 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:14.704Z,1761546614.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:14.956Z,1761546614.956 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:15.025Z,1761546615.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857846,0.510913,-0.055392],[-0.513385,-0.856839,0.047571],[-0.023157,0.069246,0.997331]] 2025-10-27T06:30:15.044Z,1761546615.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:15.063Z,1761546615.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 154.003311 m, bearing: 288.712306 deg, approach rate: -0.018220 m/s, LOS rate: 0.273401 deg/s, cmd heading: 288.501098 deg, new cmd heading: 288.792340 deg. 2025-10-27T06:30:15.064Z,1761546615.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.040377 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:15.208Z,1761546615.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:15.437Z,1761546615.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845126,0.531456,-0.057581],[-0.534077,-0.844049,0.048401],[-0.022878,0.071658,0.997167]] 2025-10-27T06:30:15.455Z,1761546615.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:15.458Z,1761546615.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 153.989075 m, bearing: 288.824287 deg, approach rate: -0.034665 m/s, LOS rate: 0.272694 deg/s, cmd heading: 288.792337 deg, new cmd heading: 289.128307 deg. 2025-10-27T06:30:15.460Z,1761546615.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:15.460Z,1761546615.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.046241 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:15.712Z,1761546615.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:15.840Z,1761546615.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832078,0.551493,-0.059175],[-0.554201,-0.830980,0.048301],[-0.022536,0.072985,0.997078]] 2025-10-27T06:30:15.920Z,1761546615.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:15.927Z,1761546615.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 153.967255 m, bearing: 288.940324 deg, approach rate: -0.046931 m/s, LOS rate: 0.249610 deg/s, cmd heading: 289.128301 deg, new cmd heading: 289.476459 deg. 2025-10-27T06:30:15.928Z,1761546615.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.052317 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:15.964Z,1761546615.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:16.216Z,1761546616.216 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:16.238Z,1761546616.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818798,0.571018,-0.059232],[-0.573641,-0.817845,0.045442],[-0.022495,0.071186,0.997209]] 2025-10-27T06:30:16.255Z,1761546616.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:16.257Z,1761546616.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:16.284Z,1761546616.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 153.943848 m, bearing: 289.035222 deg, approach rate: -0.069367 m/s, LOS rate: 0.281276 deg/s, cmd heading: 289.476449 deg, new cmd heading: 289.761184 deg. 2025-10-27T06:30:16.285Z,1761546616.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057287 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:16.468Z,1761546616.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:16.672Z,1761546616.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804793,0.590854,-0.056562],[-0.593138,-0.804140,0.039327],[-0.022247,0.065199,0.997624]] 2025-10-27T06:30:16.720Z,1761546616.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:16.733Z,1761546616.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:16.737Z,1761546616.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 153.909714 m, bearing: 289.158541 deg, approach rate: -0.071813 m/s, LOS rate: 0.259501 deg/s, cmd heading: 289.761186 deg, new cmd heading: 290.131218 deg. 2025-10-27T06:30:16.738Z,1761546616.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063745 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:16.972Z,1761546616.972 [DAT](INFO): DAT read: Rx Time:06:30:15.4869 2025-10-27T06:30:16.972Z,1761546616.972 [DAT](INFO): Rx dataTimestamp_ set to:1761546616.972082 2025-10-27T06:30:16.973Z,1761546616.973 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:17.046Z,1761546617.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790494,0.609905,-0.055993],[-0.612082,-0.789936,0.036825],[-0.021771,0.063382,0.997752]] 2025-10-27T06:30:17.083Z,1761546617.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:17.086Z,1761546617.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 153.878357 m, bearing: 289.251837 deg, approach rate: -0.089545 m/s, LOS rate: 0.266481 deg/s, cmd heading: 290.131218 deg, new cmd heading: 290.411163 deg. 2025-10-27T06:30:17.087Z,1761546617.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.068631 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:17.224Z,1761546617.224 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:17.456Z,1761546617.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776057,0.628185,-0.055851],[-0.630304,-0.775553,0.035126],[-0.021249,0.062463,0.997821]] 2025-10-27T06:30:17.482Z,1761546617.482 [DAT](INFO): DAT read: 06:30:15.4869 LVL= 20176, 32753, 30018, 32755, AGC= 60, IDX= 430, 0.15, 0.352,-1.419,-1.358,-0.493, PHS= 0.947,-0.882,-0.909, RAW= 89.3, 9.2, CAL= 88.8, 9.4, ROT= 61.2, -9.4 2025-10-27T06:30:17.483Z,1761546617.483 [DAT](INFO): got valid direction response: 06:30:15.4869 LVL= 20176, 32753, 30018, 32755, AGC= 60, IDX= 430, 0.15, 0.352,-1.419,-1.358,-0.493, PHS= 0.947,-0.882,-0.909, RAW= 89.3, 9.2, CAL= 88.8, 9.4, ROT= 61.2, -9.4 2025-10-27T06:30:17.484Z,1761546617.484 [DAT](INFO): DAT read: Bearing 10.1, 59.1 (Local) 2025-10-27T06:30:17.484Z,1761546617.484 [DAT](INFO): Local bearing/azimuth received: Bearing 10.1, 59.1 (Local) 2025-10-27T06:30:17.486Z,1761546617.486 [DAT](INFO): DAT read: Range 11 to 50 : 161.8 m (Round-trip 215.8 ms) speed 0.1 m/s 2025-10-27T06:30:17.487Z,1761546617.487 [DAT](INFO): DAT read: user:772>Tx time:06:30:16.5669 2025-10-27T06:30:17.487Z,1761546617.487 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:17.488Z,1761546617.488 [DAT](INFO): direction in FSK: [0.475285,0.864540,0.163326] 2025-10-27T06:30:17.488Z,1761546617.488 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:17.492Z,1761546617.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.97 m. 2025-10-27T06:30:17.494Z,1761546617.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.971802 m, nav range: 153.837814 m, bearing: 289.354472 deg, approach rate: -0.103430 m/s, LOS rate: 0.261905 deg/s, cmd heading: 290.411174 deg, new cmd heading: 290.719156 deg. 2025-10-27T06:30:17.508Z,1761546617.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:17.508Z,1761546617.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:17.515Z,1761546617.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074007 target range: 160.971802 and range: 162.00 m. 2025-10-27T06:30:17.728Z,1761546617.728 [DAT](INFO): DAT read: 2025-10-27T06:30:17.729Z,1761546617.729 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:17.862Z,1761546617.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761556,0.645694,-0.055790],[-0.647780,-0.761059,0.034224],[-0.020361,0.062203,0.997856]] 2025-10-27T06:30:17.920Z,1761546617.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.800003 m, deltaT: 3.780124 s, deltaX: -0.199997 m, approachRate: -0.052908 m/s, rangeRepo size: 4 2025-10-27T06:30:17.922Z,1761546617.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.761307 m, bearing: 281.029063 deg, lat: 36.779543 deg, lon: -121.859719 deg, deltaT: 3.780124 s, deltaX: -0.210495 m, approachRate: -0.055685 m/s, posRepo size: 4 2025-10-27T06:30:17.923Z,1761546617.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:17.926Z,1761546617.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.977921 m, bearing: 284.215298 deg, approach rate: 0.000000 m/s, LOS rate: 0.261905 deg/s, cmd heading: 290.719161 deg, new cmd heading: 291.068663 deg. 2025-10-27T06:30:17.947Z,1761546617.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.080107 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:17.980Z,1761546617.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:18.232Z,1761546618.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:18.258Z,1761546618.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745976,0.663673,-0.055300],[-0.665681,-0.745533,0.032403],[-0.019723,0.060984,0.997944]] 2025-10-27T06:30:18.282Z,1761546618.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:18.285Z,1761546618.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:18.287Z,1761546618.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.904602 m, bearing: 284.311772 deg, approach rate: -0.200967 m/s, LOS rate: 0.264564 deg/s, cmd heading: 291.068675 deg, new cmd heading: 291.358234 deg. 2025-10-27T06:30:18.288Z,1761546618.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085160 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:18.487Z,1761546618.487 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:18.694Z,1761546618.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730324,0.680922,-0.054515],[-0.682831,-0.729950,0.030236],[-0.019205,0.059307,0.998055]] 2025-10-27T06:30:18.736Z,1761546618.736 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:18.771Z,1761546618.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:18.774Z,1761546618.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.811020 m, bearing: 284.426650 deg, approach rate: -0.193969 m/s, LOS rate: 0.238257 deg/s, cmd heading: 291.358221 deg, new cmd heading: 291.703065 deg. 2025-10-27T06:30:18.783Z,1761546618.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091179 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:18.988Z,1761546618.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:19.066Z,1761546619.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713942,0.698047,-0.054918],[-0.699955,-0.713583,0.029369],[-0.018687,0.059408,0.998059]] 2025-10-27T06:30:19.095Z,1761546619.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:19.098Z,1761546619.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.737122 m, bearing: 284.510824 deg, approach rate: -0.225215 m/s, LOS rate: 0.256658 deg/s, cmd heading: 291.703063 deg, new cmd heading: 291.955708 deg. 2025-10-27T06:30:19.099Z,1761546619.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.095588 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:19.240Z,1761546619.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:19.470Z,1761546619.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697219,0.714792,-0.054383],[-0.716620,-0.696934,0.027186],[-0.018469,0.057926,0.998150]] 2025-10-27T06:30:19.490Z,1761546619.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:19.492Z,1761546619.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:19.494Z,1761546619.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.646896 m, bearing: 284.606576 deg, approach rate: -0.228710 m/s, LOS rate: 0.242865 deg/s, cmd heading: 291.955698 deg, new cmd heading: 292.243124 deg. 2025-10-27T06:30:19.495Z,1761546619.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100605 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:19.744Z,1761546619.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:19.878Z,1761546619.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679751,0.731242,-0.056775],[-0.733205,-0.679463,0.027215],[-0.018676,0.060127,0.998016]] 2025-10-27T06:30:19.927Z,1761546619.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:19.930Z,1761546619.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.537735 m, bearing: 284.713037 deg, approach rate: -0.249632 m/s, LOS rate: 0.243633 deg/s, cmd heading: 292.243113 deg, new cmd heading: 292.562724 deg. 2025-10-27T06:30:19.931Z,1761546619.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106183 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:19.996Z,1761546619.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:20.248Z,1761546620.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:20.280Z,1761546620.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662188,0.746992,-0.059241],[-0.749109,-0.661866,0.027722],[-0.018502,0.062735,0.997859]] 2025-10-27T06:30:20.302Z,1761546620.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:20.305Z,1761546620.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:20.308Z,1761546620.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.436417 m, bearing: 284.805841 deg, approach rate: -0.267891 m/s, LOS rate: 0.245544 deg/s, cmd heading: 292.562711 deg, new cmd heading: 292.841309 deg. 2025-10-27T06:30:20.309Z,1761546620.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111045 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:20.500Z,1761546620.500 [DAT](INFO): DAT read: Rx Time:06:30:19.1858 2025-10-27T06:30:20.500Z,1761546620.500 [DAT](INFO): Rx dataTimestamp_ set to:1761546620.500116 2025-10-27T06:30:20.501Z,1761546620.501 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:20.729Z,1761546620.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644266,0.762252,-0.062401],[-0.764576,-0.643910,0.028341],[-0.018578,0.065970,0.997649]] 2025-10-27T06:30:20.752Z,1761546620.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:20.791Z,1761546620.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:20.794Z,1761546620.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.314682 m, bearing: 284.913609 deg, approach rate: -0.252773 m/s, LOS rate: 0.223954 deg/s, cmd heading: 292.841301 deg, new cmd heading: 293.164863 deg. 2025-10-27T06:30:20.795Z,1761546620.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116692 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:21.004Z,1761546621.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:21.088Z,1761546621.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626085,0.777135,-0.063864],[-0.779525,-0.625786,0.027068],[-0.018930,0.066731,0.997591]] 2025-10-27T06:30:21.111Z,1761546621.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.76 m. 2025-10-27T06:30:21.114Z,1761546621.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.761307 m, nav range: 150.221252 m, bearing: 284.991617 deg, approach rate: -0.288153 m/s, LOS rate: 0.240739 deg/s, cmd heading: 293.164860 deg, new cmd heading: 293.399028 deg. 2025-10-27T06:30:21.115Z,1761546621.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.120779 target range: 160.761307 and range: 161.80 m. 2025-10-27T06:30:21.262Z,1761546621.262 [DAT](INFO): DAT read: 06:30:19.1858 LVL= 26480, 32753, 32754, 32755, AGC= 64, IDX= 435,-0.00, 2.275, 0.287, 0.921, 1.493, PHS= 0.884,-1.161,-0.616, RAW= 104.9, 9.8, CAL= 106.2, 11.0, ROT= 43.8, -11.0 2025-10-27T06:30:21.263Z,1761546621.263 [DAT](INFO): got valid direction response: 06:30:19.1858 LVL= 26480, 32753, 32754, 32755, AGC= 64, IDX= 435,-0.00, 2.275, 0.287, 0.921, 1.493, PHS= 0.884,-1.161,-0.616, RAW= 104.9, 9.8, CAL= 106.2, 11.0, ROT= 43.8, -11.0 2025-10-27T06:30:21.264Z,1761546621.264 [DAT](INFO): DAT read: Bearing 21.7, 42.5 (Local) 2025-10-27T06:30:21.265Z,1761546621.265 [DAT](INFO): Local bearing/azimuth received: Bearing 21.7, 42.5 (Local) 2025-10-27T06:30:21.266Z,1761546621.266 [DAT](INFO): DAT read: Range 11 to 50 : 161.0 m (Round-trip 214.7 ms) speed 0.2 m/s 2025-10-27T06:30:21.267Z,1761546621.267 [DAT](INFO): DAT read: user:773>Tx time:06:30:20.2669 2025-10-27T06:30:21.268Z,1761546621.268 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:21.268Z,1761546621.268 [DAT](INFO): direction in FSK: [0.708499,0.679427,0.190809] 2025-10-27T06:30:21.269Z,1761546621.269 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:21.278Z,1761546621.278 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:21.278Z,1761546621.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:21.507Z,1761546621.507 [DAT](INFO): DAT read: 2025-10-27T06:30:21.508Z,1761546621.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:21.540Z,1761546621.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.000000 m, deltaT: 3.780337 s, deltaX: -0.800003 m, approachRate: -0.211622 m/s, rangeRepo size: 4 2025-10-27T06:30:21.542Z,1761546621.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.970718 m, bearing: 274.249075 deg, lat: 36.779480 deg, lon: -121.859796 deg, deltaT: 3.780337 s, deltaX: -0.790588 m, approachRate: -0.209132 m/s, posRepo size: 4 2025-10-27T06:30:21.543Z,1761546621.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.97 m. 2025-10-27T06:30:21.546Z,1761546621.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.970718 m, nav range: 155.116516 m, bearing: 281.939273 deg, approach rate: 0.000000 m/s, LOS rate: 0.240739 deg/s, cmd heading: 293.399027 deg, new cmd heading: 293.708489 deg. 2025-10-27T06:30:21.546Z,1761546621.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126180 target range: 159.970718 and range: 161.00 m. 2025-10-27T06:30:21.760Z,1761546621.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:21.894Z,1761546621.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588162,0.806027,-0.066224],[-0.808505,-0.588001,0.023971],[-0.019618,0.067642,0.997517]] 2025-10-27T06:30:21.949Z,1761546621.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.97 m. 2025-10-27T06:30:21.952Z,1761546621.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.970718 m, nav range: 154.980255 m, bearing: 282.024224 deg, approach rate: -0.332493 m/s, LOS rate: 0.207472 deg/s, cmd heading: 293.708489 deg, new cmd heading: 293.963563 deg. 2025-10-27T06:30:21.953Z,1761546621.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130632 target range: 159.970718 and range: 161.00 m. 2025-10-27T06:30:22.012Z,1761546622.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:22.264Z,1761546622.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:22.298Z,1761546622.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568897,0.819702,-0.066676],[-0.822169,-0.568818,0.022019],[-0.019878,0.067346,0.997532]] 2025-10-27T06:30:22.356Z,1761546622.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:22.358Z,1761546622.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.97 m. 2025-10-27T06:30:22.361Z,1761546622.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.970718 m, nav range: 154.843933 m, bearing: 282.105140 deg, approach rate: -0.333625 m/s, LOS rate: 0.198203 deg/s, cmd heading: 293.963555 deg, new cmd heading: 294.206516 deg. 2025-10-27T06:30:22.362Z,1761546622.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134872 target range: 159.970718 and range: 161.00 m. 2025-10-27T06:30:22.516Z,1761546622.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:22.745Z,1761546622.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549750,0.832638,-0.067005],[-0.835082,-0.549769,0.019806],[-0.020346,0.066843,0.997556]] 2025-10-27T06:30:22.768Z,1761546622.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:22.809Z,1761546622.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.97 m. 2025-10-27T06:30:22.812Z,1761546622.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.970718 m, nav range: 154.678925 m, bearing: 282.199476 deg, approach rate: -0.365907 m/s, LOS rate: 0.209413 deg/s, cmd heading: 294.206519 deg, new cmd heading: 294.489826 deg. 2025-10-27T06:30:22.813Z,1761546622.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.139817 target range: 159.970718 and range: 161.00 m. 2025-10-27T06:30:23.020Z,1761546623.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:23.105Z,1761546623.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530186,0.845151,-0.067992],[-0.847634,-0.530262,0.018415],[-0.020490,0.067396,0.997516]] 2025-10-27T06:30:23.135Z,1761546623.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.97 m. 2025-10-27T06:30:23.138Z,1761546623.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.970718 m, nav range: 154.559891 m, bearing: 282.264433 deg, approach rate: -0.364813 m/s, LOS rate: 0.199233 deg/s, cmd heading: 294.489835 deg, new cmd heading: 294.684856 deg. 2025-10-27T06:30:23.139Z,1761546623.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143221 target range: 159.970718 and range: 161.00 m. 2025-10-27T06:30:23.272Z,1761546623.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:23.510Z,1761546623.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510438,0.857136,-0.069074],[-0.859669,-0.510562,0.017178],[-0.020542,0.068149,0.997464]] 2025-10-27T06:30:23.524Z,1761546623.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:23.553Z,1761546623.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.97 m. 2025-10-27T06:30:23.560Z,1761546623.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.970718 m, nav range: 154.408768 m, bearing: 282.343206 deg, approach rate: -0.361520 m/s, LOS rate: 0.188628 deg/s, cmd heading: 294.684851 deg, new cmd heading: 294.921401 deg. 2025-10-27T06:30:23.561Z,1761546623.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147349 target range: 159.970718 and range: 161.00 m. 2025-10-27T06:30:23.779Z,1761546623.779 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:23.914Z,1761546623.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490998,0.868327,-0.070204],[-0.870919,-0.491165,0.016066],[-0.020531,0.069031,0.997403]] 2025-10-27T06:30:23.961Z,1761546623.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.97 m. 2025-10-27T06:30:23.963Z,1761546623.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.970718 m, nav range: 154.245163 m, bearing: 282.424503 deg, approach rate: -0.401657 m/s, LOS rate: 0.199800 deg/s, cmd heading: 294.921394 deg, new cmd heading: 295.165542 deg. 2025-10-27T06:30:23.964Z,1761546623.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151610 target range: 159.970718 and range: 161.00 m. 2025-10-27T06:30:24.028Z,1761546624.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:24.280Z,1761546624.280 [DAT](INFO): DAT read: Rx Time:06:30:22.8841 2025-10-27T06:30:24.280Z,1761546624.280 [DAT](INFO): Rx dataTimestamp_ set to:1761546624.280080 2025-10-27T06:30:24.281Z,1761546624.281 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:24.338Z,1761546624.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471409,0.879084,-0.070610],[-0.881673,-0.471641,0.014400],[-0.020643,0.069043,0.997400]] 2025-10-27T06:30:24.374Z,1761546624.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:24.377Z,1761546624.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.97 m. 2025-10-27T06:30:24.379Z,1761546624.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.970718 m, nav range: 154.082855 m, bearing: 282.501807 deg, approach rate: -0.390104 m/s, LOS rate: 0.185993 deg/s, cmd heading: 295.165532 deg, new cmd heading: 295.397686 deg. 2025-10-27T06:30:24.380Z,1761546624.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155662 target range: 159.970718 and range: 161.00 m. 2025-10-27T06:30:24.532Z,1761546624.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:24.795Z,1761546624.795 [DAT](INFO): DAT read: 06:30:22.8841 LVL= 25184, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.23,-2.982, 1.270, 2.274, 2.629, PHS= 0.774,-1.314,-0.399, RAW= 115.9, 10.4, CAL= 117.1, 11.6, ROT= 32.9, -11.6 2025-10-27T06:30:24.796Z,1761546624.796 [DAT](INFO): got valid direction response: 06:30:22.8841 LVL= 25184, 32753, 32754, 32755, AGC= 67, IDX= 418, 0.23,-2.982, 1.270, 2.274, 2.629, PHS= 0.774,-1.314,-0.399, RAW= 115.9, 10.4, CAL= 117.1, 11.6, ROT= 32.9, -11.6 2025-10-27T06:30:24.797Z,1761546624.797 [DAT](INFO): DAT read: Bearing 33.5, 31.8 (Local) 2025-10-27T06:30:24.797Z,1761546624.797 [DAT](INFO): Local bearing/azimuth received: Bearing 33.5, 31.8 (Local) 2025-10-27T06:30:24.803Z,1761546624.803 [DAT](INFO): DAT read: Range 11 to 50 : 159.7 m (Round-trip 213.0 ms) speed 0.3 m/s 2025-10-27T06:30:24.804Z,1761546624.804 [DAT](INFO): DAT read: user:774>Tx time:06:30:23.9669 2025-10-27T06:30:24.805Z,1761546624.805 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:24.805Z,1761546624.805 [DAT](INFO): direction in FSK: [0.822471,0.532080,0.201078] 2025-10-27T06:30:24.806Z,1761546624.806 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:24.809Z,1761546624.809 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:24.810Z,1761546624.810 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:24.997Z,1761546624.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.699997 m, deltaT: 3.531682 s, deltaX: -1.300003 m, approachRate: -0.368097 m/s, rangeRepo size: 4 2025-10-27T06:30:25.005Z,1761546625.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.678146 m, bearing: 273.869432 deg, lat: 36.779480 deg, lon: -121.859809 deg, deltaT: 3.531682 s, deltaX: -1.292572 m, approachRate: -0.365993 m/s, posRepo size: 4 2025-10-27T06:30:25.006Z,1761546625.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:25.013Z,1761546625.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 155.001328 m, bearing: 282.524362 deg, approach rate: 0.000000 m/s, LOS rate: 0.185993 deg/s, cmd heading: 295.397677 deg, new cmd heading: 295.743750 deg. 2025-10-27T06:30:25.014Z,1761546625.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161702 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:25.040Z,1761546625.040 [DAT](INFO): DAT read: 2025-10-27T06:30:25.040Z,1761546625.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:25.195Z,1761546625.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431694,0.899421,-0.068432],[-0.901782,-0.432081,0.009801],[-0.020753,0.065941,0.997608]] 2025-10-27T06:30:25.218Z,1761546625.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:25.220Z,1761546625.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 154.904358 m, bearing: 282.567941 deg, approach rate: -0.439230 m/s, LOS rate: 0.197518 deg/s, cmd heading: 295.743749 deg, new cmd heading: 295.874568 deg. 2025-10-27T06:30:25.221Z,1761546625.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163985 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:25.297Z,1761546625.297 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:25.544Z,1761546625.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:25.590Z,1761546625.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411862,0.908807,-0.066637],[-0.911016,-0.412300,0.007679],[-0.020496,0.063870,0.997748]] 2025-10-27T06:30:25.610Z,1761546625.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:25.612Z,1761546625.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 154.740616 m, bearing: 282.638544 deg, approach rate: -0.417760 m/s, LOS rate: 0.180324 deg/s, cmd heading: 295.874560 deg, new cmd heading: 296.086594 deg. 2025-10-27T06:30:25.613Z,1761546625.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167686 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:25.798Z,1761546625.798 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:25.994Z,1761546625.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391997,0.917637,-0.065423],[-0.919743,-0.392476,0.005897],[-0.020266,0.062484,0.997840]] 2025-10-27T06:30:26.042Z,1761546626.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:26.045Z,1761546626.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 154.556427 m, bearing: 282.717220 deg, approach rate: -0.425797 m/s, LOS rate: 0.182095 deg/s, cmd heading: 296.086597 deg, new cmd heading: 296.322904 deg. 2025-10-27T06:30:26.046Z,1761546626.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.171810 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:26.048Z,1761546626.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:26.300Z,1761546626.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:26.436Z,1761546626.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:26.438Z,1761546626.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:26.442Z,1761546626.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 154.391296 m, bearing: 282.788028 deg, approach rate: -0.416960 m/s, LOS rate: 0.178983 deg/s, cmd heading: 296.322894 deg, new cmd heading: 296.535543 deg. 2025-10-27T06:30:26.443Z,1761546626.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175521 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:26.552Z,1761546626.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:26.805Z,1761546626.805 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:26.834Z,1761546626.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349741,0.934624,-0.064487],[-0.936626,-0.350322,0.002424],[-0.020326,0.061248,0.997916]] 2025-10-27T06:30:26.890Z,1761546626.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:26.898Z,1761546626.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 154.194061 m, bearing: 282.866031 deg, approach rate: -0.436610 m/s, LOS rate: 0.172892 deg/s, cmd heading: 296.535531 deg, new cmd heading: 296.769838 deg. 2025-10-27T06:30:26.899Z,1761546626.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179611 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:27.056Z,1761546627.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:27.205Z,1761546627.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329408,0.941797,-0.067144],[-0.943974,-0.330011,0.002216],[-0.020071,0.064112,0.997741]] 2025-10-27T06:30:27.240Z,1761546627.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:27.247Z,1761546627.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 154.047043 m, bearing: 282.921895 deg, approach rate: -0.419347 m/s, LOS rate: 0.159495 deg/s, cmd heading: 296.769834 deg, new cmd heading: 296.937586 deg. 2025-10-27T06:30:27.248Z,1761546627.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.182539 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:27.308Z,1761546627.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:27.560Z,1761546627.560 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:27.610Z,1761546627.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308567,0.948627,-0.069956],[-0.950998,-0.309191,0.001997],[-0.019735,0.067145,0.997548]] 2025-10-27T06:30:27.628Z,1761546627.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:27.631Z,1761546627.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 153.865952 m, bearing: 282.987946 deg, approach rate: -0.466966 m/s, LOS rate: 0.170520 deg/s, cmd heading: 296.937584 deg, new cmd heading: 297.135968 deg. 2025-10-27T06:30:27.632Z,1761546627.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186001 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:27.823Z,1761546627.823 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:28.063Z,1761546628.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:28.066Z,1761546628.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 153.680557 m, bearing: 283.060101 deg, approach rate: -0.426702 m/s, LOS rate: 0.166273 deg/s, cmd heading: 297.135960 deg, new cmd heading: 297.352687 deg. 2025-10-27T06:30:28.067Z,1761546628.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189784 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:28.072Z,1761546628.072 [DAT](INFO): DAT read: Rx Time:06:30:26.5820 2025-10-27T06:30:28.073Z,1761546628.073 [DAT](INFO): Rx dataTimestamp_ set to:1761546628.072229 2025-10-27T06:30:28.073Z,1761546628.073 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:28.325Z,1761546628.325 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:28.452Z,1761546628.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265139,0.961477,-0.072552],[-0.964029,-0.265797,0.000611],[-0.018697,0.070104,0.997364]] 2025-10-27T06:30:28.484Z,1761546628.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:28.486Z,1761546628.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.68 m. 2025-10-27T06:30:28.488Z,1761546628.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.678146 m, nav range: 153.491989 m, bearing: 283.127365 deg, approach rate: -0.445951 m/s, LOS rate: 0.159270 deg/s, cmd heading: 297.352695 deg, new cmd heading: 297.554733 deg. 2025-10-27T06:30:28.489Z,1761546628.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193310 target range: 158.678146 and range: 159.70 m. 2025-10-27T06:30:28.582Z,1761546628.582 [DAT](INFO): DAT read: 06:30:26.5820 LVL= 26224, 32753, 32754, 32755, AGC= 64, IDX= 412, 0.39, 2.380, 0.357, 1.429, 1.788, PHS= 0.694,-1.385,-0.403, RAW= 118.2, 12.1, CAL= 119.1, 13.4, ROT= 30.9, -13.4 2025-10-27T06:30:28.584Z,1761546628.584 [DAT](INFO): got valid direction response: 06:30:26.5820 LVL= 26224, 32753, 32754, 32755, AGC= 64, IDX= 412, 0.39, 2.380, 0.357, 1.429, 1.788, PHS= 0.694,-1.385,-0.403, RAW= 118.2, 12.1, CAL= 119.1, 13.4, ROT= 30.9, -13.4 2025-10-27T06:30:28.585Z,1761546628.585 [DAT](INFO): DAT read: Bearing 47.2, 30.0 (Local) 2025-10-27T06:30:28.585Z,1761546628.585 [DAT](INFO): Local bearing/azimuth received: Bearing 47.2, 30.0 (Local) 2025-10-27T06:30:28.587Z,1761546628.587 [DAT](INFO): DAT read: Range 11 to 50 : 158.1 m (Round-trip 210.9 ms) speed 0.2 m/s 2025-10-27T06:30:28.588Z,1761546628.588 [DAT](INFO): DAT read: user:775>Tx time:06:30:27.6669 2025-10-27T06:30:28.588Z,1761546628.588 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:28.589Z,1761546628.589 [DAT](INFO): direction in FSK: [0.834705,0.499561,0.231748] 2025-10-27T06:30:28.590Z,1761546628.590 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:28.606Z,1761546628.606 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:28.606Z,1761546628.606 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:28.830Z,1761546628.830 [DAT](INFO): DAT read: 2025-10-27T06:30:28.832Z,1761546628.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:28.868Z,1761546628.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242968,0.967311,-0.072633],[-0.969867,-0.243634,-0.000315],[-0.018001,0.070368,0.997359]] 2025-10-27T06:30:28.924Z,1761546628.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 158.100006 m, deltaT: 3.788422 s, deltaX: -1.599991 m, approachRate: -0.422337 m/s, rangeRepo size: 4 2025-10-27T06:30:28.926Z,1761546628.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 157.104141 m, bearing: 285.802849 deg, lat: 36.779480 deg, lon: -121.859809 deg, deltaT: 3.788422 s, deltaX: -1.574005 m, approachRate: -0.415478 m/s, posRepo size: 4 2025-10-27T06:30:28.927Z,1761546628.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:28.929Z,1761546628.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 153.305496 m, bearing: 283.194381 deg, approach rate: 0.000000 m/s, LOS rate: 0.159270 deg/s, cmd heading: 297.554732 deg, new cmd heading: 297.763726 deg. 2025-10-27T06:30:28.930Z,1761546628.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196958 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:29.080Z,1761546629.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:29.226Z,1761546629.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220360,0.972756,-0.072023],[-0.975262,-0.221047,-0.001619],[-0.017496,0.069884,0.997402]] 2025-10-27T06:30:29.246Z,1761546629.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:29.248Z,1761546629.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 153.162140 m, bearing: 283.243707 deg, approach rate: -0.444452 m/s, LOS rate: 0.153072 deg/s, cmd heading: 297.763736 deg, new cmd heading: 297.911854 deg. 2025-10-27T06:30:29.249Z,1761546629.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.199543 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:29.335Z,1761546629.335 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:29.584Z,1761546629.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:29.670Z,1761546629.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:29.674Z,1761546629.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 152.978958 m, bearing: 283.306929 deg, approach rate: -0.431473 m/s, LOS rate: 0.149092 deg/s, cmd heading: 297.911842 deg, new cmd heading: 298.101732 deg. 2025-10-27T06:30:29.674Z,1761546629.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.202857 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:29.838Z,1761546629.838 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:30.037Z,1761546630.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175331,0.982039,-0.069698],[-0.984361,-0.176093,-0.004892],[-0.017078,0.067750,0.997556]] 2025-10-27T06:30:30.063Z,1761546630.063 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 80.79, 84.87, 81.13, :WI,-32768,-32768,-32768,-32768,V 2025-10-27T06:30:30.079Z,1761546630.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:30.081Z,1761546630.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 152.789383 m, bearing: 283.366772 deg, approach rate: -0.464015 m/s, LOS rate: 0.146658 deg/s, cmd heading: 298.101721 deg, new cmd heading: 298.281474 deg. 2025-10-27T06:30:30.082Z,1761546630.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205994 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:30.088Z,1761546630.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:30.340Z,1761546630.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:30.438Z,1761546630.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.152630,0.985813,-0.069830],[-0.988138,-0.153437,-0.006322],[-0.016946,0.068036,0.997539]] 2025-10-27T06:30:30.466Z,1761546630.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:30.468Z,1761546630.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 152.609604 m, bearing: 283.421097 deg, approach rate: -0.464682 m/s, LOS rate: 0.140583 deg/s, cmd heading: 298.281464 deg, new cmd heading: 298.444633 deg. 2025-10-27T06:30:30.469Z,1761546630.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208841 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:30.592Z,1761546630.592 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:30.846Z,1761546630.846 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:30.888Z,1761546630.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.129939,0.988967,-0.071131],[-0.991376,-0.130814,-0.007768],[-0.016987,0.069508,0.997437]] 2025-10-27T06:30:30.929Z,1761546630.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:30.948Z,1761546630.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:30.950Z,1761546630.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 152.403885 m, bearing: 283.483637 deg, approach rate: -0.426852 m/s, LOS rate: 0.129941 deg/s, cmd heading: 298.444624 deg, new cmd heading: 298.632496 deg. 2025-10-27T06:30:30.955Z,1761546630.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212121 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:31.096Z,1761546631.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:31.248Z,1761546631.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107384,0.991663,-0.071222],[-0.994075,-0.108307,-0.009218],[-0.016855,0.069810,0.997418]] 2025-10-27T06:30:31.267Z,1761546631.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:31.270Z,1761546631.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 152.252731 m, bearing: 283.527628 deg, approach rate: -0.473306 m/s, LOS rate: 0.137883 deg/s, cmd heading: 298.632509 deg, new cmd heading: 298.764610 deg. 2025-10-27T06:30:31.271Z,1761546631.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214426 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:31.348Z,1761546631.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:31.600Z,1761546631.600 [DAT](INFO): DAT read: Rx Time:06:30:30.2803 2025-10-27T06:30:31.600Z,1761546631.600 [DAT](INFO): Rx dataTimestamp_ set to:1761546631.600164 2025-10-27T06:30:31.601Z,1761546631.601 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:31.649Z,1761546631.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.084206,0.993813,-0.072428],[-0.996306,-0.085199,-0.010725],[-0.016830,0.071257,0.997316]] 2025-10-27T06:30:31.681Z,1761546631.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:31.684Z,1761546631.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 152.063171 m, bearing: 283.580331 deg, approach rate: -0.457595 m/s, LOS rate: 0.127383 deg/s, cmd heading: 298.764605 deg, new cmd heading: 298.922911 deg. 2025-10-27T06:30:31.685Z,1761546631.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.217189 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:31.854Z,1761546631.854 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:32.061Z,1761546632.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060682,0.995329,-0.075084],[-0.998013,-0.061778,-0.012362],[-0.016942,0.074184,0.997101]] 2025-10-27T06:30:32.106Z,1761546632.106 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:32.176Z,1761546632.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.10 m. 2025-10-27T06:30:32.183Z,1761546632.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 157.104141 m, nav range: 151.848068 m, bearing: 283.634219 deg, approach rate: -0.434246 m/s, LOS rate: 0.108943 deg/s, cmd heading: 298.922901 deg, new cmd heading: 299.084795 deg. 2025-10-27T06:30:32.184Z,1761546632.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220015 target range: 157.104141 and range: 158.10 m. 2025-10-27T06:30:32.362Z,1761546632.362 [DAT](INFO): DAT read: 06:30:30.2803 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 427,-0.12,-1.651, 2.903,-2.184,-2.003, PHS= 0.454,-1.331,-0.224, RAW= 127.9, 14.0, CAL= 127.5, 15.2, ROT= 22.5, -15.2 2025-10-27T06:30:32.363Z,1761546632.363 [DAT](INFO): got valid direction response: 06:30:30.2803 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 427,-0.12,-1.651, 2.903,-2.184,-2.003, PHS= 0.454,-1.331,-0.224, RAW= 127.9, 14.0, CAL= 127.5, 15.2, ROT= 22.5, -15.2 2025-10-27T06:30:32.364Z,1761546632.364 [DAT](INFO): DAT read: Bearing 61.0, 22.0 (Local) 2025-10-27T06:30:32.364Z,1761546632.364 [DAT](INFO): Local bearing/azimuth received: Bearing 61.0, 22.0 (Local) 2025-10-27T06:30:32.366Z,1761546632.366 [DAT](INFO): DAT read: Range 11 to 50 : 156.9 m (Round-trip 209.2 ms) speed 0.1 m/s 2025-10-27T06:30:32.367Z,1761546632.367 [DAT](INFO): DAT read: user:776>Tx time:06:30:31.3669 2025-10-27T06:30:32.367Z,1761546632.367 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:32.368Z,1761546632.368 [DAT](INFO): direction in FSK: [0.891559,0.369296,0.262189] 2025-10-27T06:30:32.368Z,1761546632.368 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:32.372Z,1761546632.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:32.372Z,1761546632.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:32.462Z,1761546632.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037132,0.996418,-0.075982],[-0.999166,-0.038309,-0.014098],[-0.016959,0.075395,0.997010]] 2025-10-27T06:30:32.521Z,1761546632.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.899994 m, deltaT: 3.779486 s, deltaX: -1.200012 m, approachRate: -0.317507 m/s, rangeRepo size: 4 2025-10-27T06:30:32.523Z,1761546632.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.915314 m, bearing: 289.116575 deg, lat: 36.779480 deg, lon: -121.859809 deg, deltaT: 3.779486 s, deltaX: -1.188828 m, approachRate: -0.314547 m/s, posRepo size: 4 2025-10-27T06:30:32.524Z,1761546632.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:32.526Z,1761546632.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 151.677612 m, bearing: 283.674891 deg, approach rate: 0.000000 m/s, LOS rate: 0.108943 deg/s, cmd heading: 299.084804 deg, new cmd heading: 299.197195 deg. 2025-10-27T06:30:32.528Z,1761546632.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221976 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:32.608Z,1761546632.608 [DAT](INFO): DAT read: 2025-10-27T06:30:32.609Z,1761546632.609 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:32.862Z,1761546632.862 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:32.919Z,1761546632.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010203,0.997009,-0.076607],[-0.999806,0.008878,-0.017612],[-0.016880,0.076772,0.996906]] 2025-10-27T06:30:32.969Z,1761546632.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:32.971Z,1761546632.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:32.974Z,1761546632.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 151.447571 m, bearing: 283.724307 deg, approach rate: -0.510416 m/s, LOS rate: 0.109811 deg/s, cmd heading: 299.197202 deg, new cmd heading: 299.345675 deg. 2025-10-27T06:30:32.975Z,1761546632.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.224567 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:33.112Z,1761546633.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:33.307Z,1761546633.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:33.312Z,1761546633.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 151.286453 m, bearing: 283.759023 deg, approach rate: -0.480660 m/s, LOS rate: 0.103677 deg/s, cmd heading: 299.345663 deg, new cmd heading: 299.449921 deg. 2025-10-27T06:30:33.313Z,1761546633.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.226387 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:33.364Z,1761546633.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:33.616Z,1761546633.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:33.672Z,1761546633.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.034665,0.996421,-0.077097],[-0.999255,0.033247,-0.019590],[-0.016957,0.077718,0.996831]] 2025-10-27T06:30:33.691Z,1761546633.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:33.693Z,1761546633.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 151.092194 m, bearing: 283.798632 deg, approach rate: -0.505516 m/s, LOS rate: 0.103207 deg/s, cmd heading: 299.449919 deg, new cmd heading: 299.568900 deg. 2025-10-27T06:30:33.694Z,1761546633.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228464 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:33.868Z,1761546633.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:34.027Z,1761546634.027 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:30:34.077Z,1761546634.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.058618,0.995256,-0.077652],[-0.998138,0.057117,-0.021421],[-0.016884,0.078763,0.996750]] 2025-10-27T06:30:34.120Z,1761546634.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:34.157Z,1761546634.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:34.159Z,1761546634.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 150.878769 m, bearing: 283.840997 deg, approach rate: -0.457967 m/s, LOS rate: 0.091036 deg/s, cmd heading: 299.568900 deg, new cmd heading: 299.696175 deg. 2025-10-27T06:30:34.160Z,1761546634.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230685 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:34.372Z,1761546634.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:34.478Z,1761546634.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082503,0.993609,-0.077030],[-0.996451,0.080953,-0.023043],[-0.016660,0.078658,0.996762]] 2025-10-27T06:30:34.497Z,1761546634.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:34.516Z,1761546634.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 150.709106 m, bearing: 283.872831 deg, approach rate: -0.498630 m/s, LOS rate: 0.093663 deg/s, cmd heading: 299.696188 deg, new cmd heading: 299.791796 deg. 2025-10-27T06:30:34.517Z,1761546634.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232354 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:34.624Z,1761546634.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:34.878Z,1761546634.878 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:34.949Z,1761546634.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131074,0.988549,-0.074768],[-0.991233,0.129415,-0.026630],[-0.016649,0.077603,0.996845]] 2025-10-27T06:30:35.007Z,1761546635.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:35.020Z,1761546635.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:35.023Z,1761546635.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 150.476501 m, bearing: 283.910387 deg, approach rate: -0.445652 m/s, LOS rate: 0.072066 deg/s, cmd heading: 299.791783 deg, new cmd heading: 299.904626 deg. 2025-10-27T06:30:35.024Z,1761546635.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234323 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:35.031Z,1761546635.031 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:30:35.128Z,1761546635.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:35.380Z,1761546635.380 [DAT](INFO): DAT read: Rx Time:06:30:34.0087 2025-10-27T06:30:35.381Z,1761546635.381 [DAT](INFO): Rx dataTimestamp_ set to:1761546635.380293 2025-10-27T06:30:35.381Z,1761546635.381 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:35.384Z,1761546635.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:35.386Z,1761546635.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 150.297318 m, bearing: 283.939405 deg, approach rate: -0.491224 m/s, LOS rate: 0.079645 deg/s, cmd heading: 299.904618 deg, new cmd heading: 299.991775 deg. 2025-10-27T06:30:35.387Z,1761546635.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.235844 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:35.632Z,1761546635.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:35.690Z,1761546635.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155316,0.985174,-0.072868],[-0.987721,0.153612,-0.028474],[-0.016859,0.076396,0.996935]] 2025-10-27T06:30:35.736Z,1761546635.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:35.740Z,1761546635.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 150.132202 m, bearing: 283.964407 deg, approach rate: -0.468229 m/s, LOS rate: 0.070979 deg/s, cmd heading: 299.991771 deg, new cmd heading: 300.066861 deg. 2025-10-27T06:30:35.741Z,1761546635.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237154 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:35.899Z,1761546635.899 [DAT](INFO): DAT read: 06:30:34.0087 LVL= 20448, 25201, 20978, 20659, AGC= 70, IDX= 222,-0.47, 1.058,-0.079, 1.167,-0.073, PHS= 1.232, 0.038, 1.196, RAW= 148.5, -36.6, CAL= 149.5, -36.3, ROT= 0.5, 36.3 2025-10-27T06:30:35.901Z,1761546635.901 [DAT](INFO): got valid direction response: 06:30:34.0087 LVL= 20448, 25201, 20978, 20659, AGC= 70, IDX= 222,-0.47, 1.058,-0.079, 1.167,-0.073, PHS= 1.232, 0.038, 1.196, RAW= 148.5, -36.6, CAL= 149.5, -36.3, ROT= 0.5, 36.3 2025-10-27T06:30:35.904Z,1761546635.904 [DAT](INFO): DAT read: $Error in header 2025-10-27T06:30:35.905Z,1761546635.905 [DAT](INFO): Received a bad header 2025-10-27T06:30:35.920Z,1761546635.920 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:30:35.932Z,1761546635.932 [DAT](INFO): direction in FSK: [0.805898,0.007033,-0.592013] 2025-10-27T06:30:35.969Z,1761546635.969 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:36.094Z,1761546636.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178859,0.981232,-0.072064],[-0.983730,0.177096,-0.030200],[-0.016871,0.076293,0.996943]] 2025-10-27T06:30:36.136Z,1761546636.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:36.165Z,1761546636.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:36.169Z,1761546636.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 149.917786 m, bearing: 283.992274 deg, approach rate: -0.499506 m/s, LOS rate: 0.065011 deg/s, cmd heading: 300.066849 deg, new cmd heading: 300.150568 deg. 2025-10-27T06:30:36.170Z,1761546636.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238616 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:36.388Z,1761546636.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:36.497Z,1761546636.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202288,0.976749,-0.070995],[-0.979178,0.200466,-0.031983],[-0.017007,0.075987,0.996964]] 2025-10-27T06:30:36.528Z,1761546636.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:36.531Z,1761546636.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 149.736801 m, bearing: 284.014029 deg, approach rate: -0.498649 m/s, LOS rate: 0.060013 deg/s, cmd heading: 300.150559 deg, new cmd heading: 300.215904 deg. 2025-10-27T06:30:36.532Z,1761546636.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239756 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:36.644Z,1761546636.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:36.892Z,1761546636.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:36.954Z,1761546636.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248332,0.966368,-0.066812],[-0.968520,0.246466,-0.034983],[-0.017340,0.073396,0.997152]] 2025-10-27T06:30:37.010Z,1761546637.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:37.012Z,1761546637.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:37.015Z,1761546637.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 149.491989 m, bearing: 284.035610 deg, approach rate: -0.506112 m/s, LOS rate: 0.044689 deg/s, cmd heading: 300.215911 deg, new cmd heading: 300.280760 deg. 2025-10-27T06:30:37.016Z,1761546637.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240888 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:37.144Z,1761546637.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:37.322Z,1761546637.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.270987,0.960331,-0.065806],[-0.962426,0.269073,-0.036557],[-0.017400,0.073240,0.997163]] 2025-10-27T06:30:37.348Z,1761546637.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:37.351Z,1761546637.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 149.319916 m, bearing: 284.049199 deg, approach rate: -0.511826 m/s, LOS rate: 0.040467 deg/s, cmd heading: 300.280770 deg, new cmd heading: 300.321584 deg. 2025-10-27T06:30:37.352Z,1761546637.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241601 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:37.397Z,1761546637.397 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:37.648Z,1761546637.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:37.721Z,1761546637.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293135,0.953880,-0.064686],[-0.955915,0.291194,-0.037852],[-0.017270,0.072931,0.997187]] 2025-10-27T06:30:37.746Z,1761546637.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:37.765Z,1761546637.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 149.116028 m, bearing: 284.063465 deg, approach rate: -0.512120 m/s, LOS rate: 0.035882 deg/s, cmd heading: 300.321587 deg, new cmd heading: 300.364444 deg. 2025-10-27T06:30:37.766Z,1761546637.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242349 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:37.900Z,1761546637.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:38.118Z,1761546638.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314889,0.946911,-0.064838],[-0.948973,0.312864,-0.039581],[-0.017194,0.073993,0.997111]] 2025-10-27T06:30:38.152Z,1761546638.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:38.169Z,1761546638.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:38.172Z,1761546638.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 148.878525 m, bearing: 284.075694 deg, approach rate: -0.561468 m/s, LOS rate: 0.028956 deg/s, cmd heading: 300.364454 deg, new cmd heading: 300.401199 deg. 2025-10-27T06:30:38.173Z,1761546638.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242990 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:38.404Z,1761546638.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:38.524Z,1761546638.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336079,0.939620,-0.064532],[-0.941682,0.334007,-0.040911],[-0.016887,0.074518,0.997077]] 2025-10-27T06:30:38.542Z,1761546638.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:38.545Z,1761546638.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 148.668640 m, bearing: 284.084690 deg, approach rate: -0.563282 m/s, LOS rate: 0.024177 deg/s, cmd heading: 300.401200 deg, new cmd heading: 300.428226 deg. 2025-10-27T06:30:38.546Z,1761546638.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243462 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:38.657Z,1761546638.657 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:38.914Z,1761546638.914 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:38.935Z,1761546638.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356881,0.932003,-0.063296],[-0.934001,0.354794,-0.041990],[-0.016678,0.074103,0.997111]] 2025-10-27T06:30:39.016Z,1761546639.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:39.019Z,1761546639.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:39.025Z,1761546639.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 148.404510 m, bearing: 284.093765 deg, approach rate: -0.554289 m/s, LOS rate: 0.019079 deg/s, cmd heading: 300.428220 deg, new cmd heading: 300.455494 deg. 2025-10-27T06:30:39.026Z,1761546639.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243937 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:39.168Z,1761546639.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:39.332Z,1761546639.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375451,0.925192,-0.055292],[-0.926701,0.373684,-0.039812],[-0.016172,0.066187,0.997676]] 2025-10-27T06:30:39.382Z,1761546639.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:39.385Z,1761546639.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 148.193375 m, bearing: 284.100719 deg, approach rate: -0.580723 m/s, LOS rate: 0.019154 deg/s, cmd heading: 300.455486 deg, new cmd heading: 300.476378 deg. 2025-10-27T06:30:39.386Z,1761546639.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244302 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:39.420Z,1761546639.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:39.672Z,1761546639.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:39.738Z,1761546639.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392249,0.918810,-0.043925],[-0.919731,0.390951,-0.035377],[-0.015332,0.054275,0.998408]] 2025-10-27T06:30:39.808Z,1761546639.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:39.814Z,1761546639.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 147.956680 m, bearing: 284.106908 deg, approach rate: -0.556904 m/s, LOS rate: 0.014586 deg/s, cmd heading: 300.476387 deg, new cmd heading: 300.494984 deg. 2025-10-27T06:30:39.816Z,1761546639.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244627 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:39.925Z,1761546639.925 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:40.176Z,1761546640.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:40.194Z,1761546640.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:40.197Z,1761546640.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 147.720810 m, bearing: 284.112341 deg, approach rate: -0.610104 m/s, LOS rate: 0.014073 deg/s, cmd heading: 300.494992 deg, new cmd heading: 300.511315 deg. 2025-10-27T06:30:40.197Z,1761546640.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244912 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:40.428Z,1761546640.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:40.539Z,1761546640.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421067,0.906697,-0.024562],[-0.906933,0.420472,-0.026008],[-0.013254,0.033227,0.999360]] 2025-10-27T06:30:40.558Z,1761546640.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:40.561Z,1761546640.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 147.502914 m, bearing: 284.114745 deg, approach rate: -0.597396 m/s, LOS rate: 0.006603 deg/s, cmd heading: 300.511303 deg, new cmd heading: 300.518528 deg. 2025-10-27T06:30:40.562Z,1761546640.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245038 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:40.683Z,1761546640.683 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:40.932Z,1761546640.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:41.029Z,1761546641.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433396,0.901086,-0.014543],[-0.901121,0.433081,-0.020530],[-0.012201,0.022003,0.999683]] 2025-10-27T06:30:41.076Z,1761546641.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:41.078Z,1761546641.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:41.081Z,1761546641.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 147.203568 m, bearing: 284.116319 deg, approach rate: -0.575894 m/s, LOS rate: 0.003033 deg/s, cmd heading: 300.518515 deg, new cmd heading: 300.523245 deg. 2025-10-27T06:30:41.082Z,1761546641.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245120 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:41.184Z,1761546641.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:41.392Z,1761546641.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444488,0.895773,-0.004623],[-0.895717,0.444386,-0.014544],[-0.010974,0.010606,0.999884]] 2025-10-27T06:30:41.436Z,1761546641.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:41.439Z,1761546641.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:41.442Z,1761546641.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 146.996201 m, bearing: 284.116399 deg, approach rate: -0.575208 m/s, LOS rate: 0.000223 deg/s, cmd heading: 300.523242 deg, new cmd heading: 300.523483 deg. 2025-10-27T06:30:41.443Z,1761546641.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245124 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:41.689Z,1761546641.689 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:41.803Z,1761546641.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454551,0.890712,0.003818],[-0.890668,0.454567,-0.008965],[-0.009721,0.000675,0.999952]] 2025-10-27T06:30:41.858Z,1761546641.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:41.865Z,1761546641.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 146.765488 m, bearing: 284.115457 deg, approach rate: -0.550492 m/s, LOS rate: -0.002251 deg/s, cmd heading: 300.523488 deg, new cmd heading: 300.520657 deg. 2025-10-27T06:30:41.866Z,1761546641.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.245075 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:41.940Z,1761546641.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:42.192Z,1761546642.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:42.202Z,1761546642.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463494,0.886018,0.012042],[-0.886061,0.463558,-0.003036],[-0.008272,-0.009263,0.999923]] 2025-10-27T06:30:42.272Z,1761546642.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:42.275Z,1761546642.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 146.524887 m, bearing: 284.111677 deg, approach rate: -0.580583 m/s, LOS rate: -0.009135 deg/s, cmd heading: 300.520646 deg, new cmd heading: 300.509289 deg. 2025-10-27T06:30:42.276Z,1761546642.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244876 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:42.444Z,1761546642.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:42.601Z,1761546642.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471695,0.881512,0.020962],[-0.881732,0.471740,0.003070],[-0.007182,-0.019931,0.999776]] 2025-10-27T06:30:42.647Z,1761546642.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:42.650Z,1761546642.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 146.327957 m, bearing: 284.107817 deg, approach rate: -0.525389 m/s, LOS rate: -0.010313 deg/s, cmd heading: 300.509281 deg, new cmd heading: 300.497684 deg. 2025-10-27T06:30:42.651Z,1761546642.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244674 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:42.697Z,1761546642.697 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:42.948Z,1761546642.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:43.050Z,1761546643.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478726,0.877477,0.029231],[-0.877944,0.478677,0.009106],[-0.006001,-0.030022,0.999531]] 2025-10-27T06:30:43.109Z,1761546643.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:43.127Z,1761546643.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:43.130Z,1761546643.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 146.087662 m, bearing: 284.100438 deg, approach rate: -0.518035 m/s, LOS rate: -0.015933 deg/s, cmd heading: 300.497697 deg, new cmd heading: 300.475524 deg. 2025-10-27T06:30:43.135Z,1761546643.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244287 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:43.201Z,1761546643.201 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:43.413Z,1761546643.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485547,0.873420,0.037172],[-0.874196,0.485349,0.014792],[-0.005122,-0.039678,0.999199]] 2025-10-27T06:30:43.432Z,1761546643.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:43.435Z,1761546643.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 145.927917 m, bearing: 284.094978 deg, approach rate: -0.497703 m/s, LOS rate: -0.017030 deg/s, cmd heading: 300.475512 deg, new cmd heading: 300.459114 deg. 2025-10-27T06:30:43.436Z,1761546643.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.244001 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:43.454Z,1761546643.454 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:43.704Z,1761546643.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:43.821Z,1761546643.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491921,0.869474,0.045044],[-0.870629,0.491517,0.020420],[-0.004385,-0.049262,0.998776]] 2025-10-27T06:30:43.848Z,1761546643.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:43.851Z,1761546643.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 145.721405 m, bearing: 284.087238 deg, approach rate: -0.496304 m/s, LOS rate: -0.018628 deg/s, cmd heading: 300.459120 deg, new cmd heading: 300.435866 deg. 2025-10-27T06:30:43.852Z,1761546643.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243595 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:43.957Z,1761546643.957 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:44.208Z,1761546644.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:44.221Z,1761546644.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497705,0.865765,0.052357],[-0.867338,0.497048,0.025825],[-0.003665,-0.058264,0.998294]] 2025-10-27T06:30:44.258Z,1761546644.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:44.277Z,1761546644.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 145.538544 m, bearing: 284.076421 deg, approach rate: -0.445625 m/s, LOS rate: -0.026392 deg/s, cmd heading: 300.435870 deg, new cmd heading: 300.403380 deg. 2025-10-27T06:30:44.278Z,1761546644.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.243028 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:44.460Z,1761546644.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:30:44.621Z,1761546644.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503072,0.862143,0.060230],[-0.864238,0.502108,0.031296],[-0.003261,-0.067797,0.997694]] 2025-10-27T06:30:44.652Z,1761546644.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:44.655Z,1761546644.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 145.364761 m, bearing: 284.065620 deg, approach rate: -0.441296 m/s, LOS rate: -0.027461 deg/s, cmd heading: 300.403386 deg, new cmd heading: 300.370943 deg. 2025-10-27T06:30:44.656Z,1761546644.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.242462 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:44.713Z,1761546644.713 [DAT](INFO): DAT read: Response Not Received 2025-10-27T06:30:44.713Z,1761546644.713 [DAT](INFO): response not received 2025-10-27T06:30:44.714Z,1761546644.714 [DAT](INFO): DAT read: Tx time:06:30:43.8169 2025-10-27T06:30:44.715Z,1761546644.715 [DAT](INFO): Ping request sent. 2025-10-27T06:30:44.716Z,1761546644.716 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:30:44.716Z,1761546644.716 [DAT](INFO): publishing transmit ping time 2025-10-27T06:30:45.052Z,1761546645.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507989,0.858723,0.067396],[-0.861360,0.506666,0.036729],[-0.002608,-0.076710,0.997050]] 2025-10-27T06:30:45.106Z,1761546645.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:45.113Z,1761546645.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 145.163132 m, bearing: 284.052520 deg, approach rate: -0.444105 m/s, LOS rate: -0.028894 deg/s, cmd heading: 300.370956 deg, new cmd heading: 300.331602 deg. 2025-10-27T06:30:45.114Z,1761546645.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241776 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:45.443Z,1761546645.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512391,0.855409,0.075708],[-0.858750,0.510601,0.042830],[-0.002019,-0.086960,0.996210]] 2025-10-27T06:30:45.488Z,1761546645.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:45.490Z,1761546645.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:45.493Z,1761546645.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 145.005920 m, bearing: 284.039591 deg, approach rate: -0.409682 m/s, LOS rate: -0.033730 deg/s, cmd heading: 300.331614 deg, new cmd heading: 300.292784 deg. 2025-10-27T06:30:45.494Z,1761546645.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.241098 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:45.720Z,1761546645.720 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:45.720Z,1761546645.720 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:45.720Z,1761546645.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:45.845Z,1761546645.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516387,0.852131,0.084950],[-0.856354,0.514008,0.049538],[-0.001452,-0.098328,0.995153]] 2025-10-27T06:30:45.878Z,1761546645.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:45.881Z,1761546645.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 144.848587 m, bearing: 284.026260 deg, approach rate: -0.405738 m/s, LOS rate: -0.034416 deg/s, cmd heading: 300.292791 deg, new cmd heading: 300.252755 deg. 2025-10-27T06:30:45.881Z,1761546645.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.240399 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:45.972Z,1761546645.972 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:45.973Z,1761546645.973 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:45.973Z,1761546645.973 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:46.224Z,1761546646.224 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:46.224Z,1761546646.224 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:46.224Z,1761546646.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:46.255Z,1761546646.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519812,0.849104,0.093907],[-0.854280,0.516778,0.056089],[-0.000903,-0.109378,0.994000]] 2025-10-27T06:30:46.330Z,1761546646.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:46.337Z,1761546646.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 144.655487 m, bearing: 284.009282 deg, approach rate: -0.427265 m/s, LOS rate: -0.037617 deg/s, cmd heading: 300.252766 deg, new cmd heading: 300.201764 deg. 2025-10-27T06:30:46.337Z,1761546646.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.239509 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:46.477Z,1761546646.477 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:46.477Z,1761546646.477 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:46.477Z,1761546646.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:46.656Z,1761546646.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522895,0.846225,0.102385],[-0.852397,0.519149,0.062479],[-0.000282,-0.119943,0.992781]] 2025-10-27T06:30:46.679Z,1761546646.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:46.682Z,1761546646.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 144.500061 m, bearing: 283.995332 deg, approach rate: -0.444797 m/s, LOS rate: -0.039965 deg/s, cmd heading: 300.201758 deg, new cmd heading: 300.159863 deg. 2025-10-27T06:30:46.684Z,1761546646.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.238778 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:46.729Z,1761546646.728 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:46.729Z,1761546646.729 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:46.729Z,1761546646.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:46.980Z,1761546646.980 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:46.980Z,1761546646.980 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:46.980Z,1761546646.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:47.074Z,1761546647.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525110,0.843920,0.109811],[-0.851034,0.520658,0.068233],[0.000410,-0.129283,0.991608]] 2025-10-27T06:30:47.144Z,1761546647.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:47.147Z,1761546647.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 144.301758 m, bearing: 283.977256 deg, approach rate: -0.426338 m/s, LOS rate: -0.038916 deg/s, cmd heading: 300.159876 deg, new cmd heading: 300.105573 deg. 2025-10-27T06:30:47.148Z,1761546647.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237830 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:47.232Z,1761546647.232 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:47.232Z,1761546647.232 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:47.233Z,1761546647.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:47.463Z,1761546647.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526570,0.842291,0.115192],[-0.850131,0.521492,0.072966],[0.001387,-0.136350,0.990660]] 2025-10-27T06:30:47.484Z,1761546647.484 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:47.484Z,1761546647.484 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:47.484Z,1761546647.484 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:47.500Z,1761546647.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:47.502Z,1761546647.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:47.505Z,1761546647.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 144.134491 m, bearing: 283.963747 deg, approach rate: -0.467465 m/s, LOS rate: -0.037797 deg/s, cmd heading: 300.105562 deg, new cmd heading: 300.064989 deg. 2025-10-27T06:30:47.506Z,1761546647.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.237122 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:47.742Z,1761546647.742 [DAT](INFO): DAT read: Rx Time:06:30:46.4193 2025-10-27T06:30:47.742Z,1761546647.742 [DAT](INFO): Rx dataTimestamp_ set to:1761546647.742015 2025-10-27T06:30:47.743Z,1761546647.743 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:47.743Z,1761546647.743 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:47.743Z,1761546647.743 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:47.866Z,1761546647.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527388,0.841307,0.118595],[-0.849621,0.521806,0.076565],[0.002531,-0.141140,0.989986]] 2025-10-27T06:30:47.909Z,1761546647.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:47.916Z,1761546647.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 143.950119 m, bearing: 283.948746 deg, approach rate: -0.453416 m/s, LOS rate: -0.036938 deg/s, cmd heading: 300.064991 deg, new cmd heading: 300.019930 deg. 2025-10-27T06:30:47.917Z,1761546647.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.236336 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:47.989Z,1761546647.989 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:47.989Z,1761546647.989 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:47.990Z,1761546647.990 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:48.242Z,1761546648.242 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:48.242Z,1761546648.242 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:48.243Z,1761546648.243 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:30:48.318Z,1761546648.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527397,0.841076,0.120182],[-0.849610,0.521430,0.079205],[0.003951,-0.143881,0.989587]] 2025-10-27T06:30:48.362Z,1761546648.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.92 m. 2025-10-27T06:30:48.365Z,1761546648.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.915314 m, nav range: 143.714493 m, bearing: 283.933398 deg, approach rate: -0.519536 m/s, LOS rate: -0.033896 deg/s, cmd heading: 300.019939 deg, new cmd heading: 299.973820 deg. 2025-10-27T06:30:48.366Z,1761546648.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.235531 target range: 155.915314 and range: 156.90 m. 2025-10-27T06:30:48.497Z,1761546648.497 [DAT](INFO): DAT read: 06:30:46.4192 LVL= 29088, 32753, 25394, 32755, AGC= 69, IDX= 41, 0.09, 0.431,-0.919, 1.087, 0.401, PHS= 0.131,-1.275, 0.642, RAW= 164.9, 5.9, CAL= 164.2, 5.3, ROT= 345.8, -5.3 2025-10-27T06:30:48.498Z,1761546648.498 [DAT](INFO): got valid direction response: 06:30:46.4192 LVL= 29088, 32753, 25394, 32755, AGC= 69, IDX= 41, 0.09, 0.431,-0.919, 1.087, 0.401, PHS= 0.131,-1.275, 0.642, RAW= 164.9, 5.9, CAL= 164.2, 5.3, ROT= 345.8, -5.3 2025-10-27T06:30:48.499Z,1761546648.499 [DAT](INFO): DAT read: Bearing 85.1, -14.0 (Local) 2025-10-27T06:30:48.499Z,1761546648.499 [DAT](INFO): Local bearing/azimuth received: Bearing 85.1, -14.0 (Local) 2025-10-27T06:30:48.501Z,1761546648.501 [DAT](INFO): DAT read: Range 11 to 50 : 148.5 m (Round-trip 198.1 ms) speed 0.6 m/s 2025-10-27T06:30:48.501Z,1761546648.501 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:30:48.502Z,1761546648.502 [DAT](INFO): direction in FSK: [0.965301,-0.244259,0.092371] 2025-10-27T06:30:48.502Z,1761546648.502 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:48.506Z,1761546648.506 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:48.506Z,1761546648.506 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:48.512Z,1761546648.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:48.679Z,1761546648.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526735,0.841120,0.122748],[-0.850011,0.520248,0.082609],[0.005624,-0.147850,0.988994]] 2025-10-27T06:30:48.705Z,1761546648.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 148.500000 m, deltaT: 16.135897 s, deltaX: -8.399994 m, approachRate: -0.520578 m/s, rangeRepo size: 4 2025-10-27T06:30:48.709Z,1761546648.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 147.566330 m, bearing: 288.491179 deg, lat: 36.779537 deg, lon: -121.859802 deg, deltaT: 16.135897 s, deltaX: -8.348984 m, approachRate: -0.517417 m/s, posRepo size: 4 2025-10-27T06:30:48.710Z,1761546648.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:48.714Z,1761546648.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 144.626144 m, bearing: 286.450518 deg, approach rate: 0.000000 m/s, LOS rate: -0.033896 deg/s, cmd heading: 299.973821 deg, new cmd heading: 299.939056 deg. 2025-10-27T06:30:48.716Z,1761546648.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234924 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:48.744Z,1761546648.744 [DAT](INFO): DAT read: 2025-10-27T06:30:48.744Z,1761546648.744 [DAT](INFO): DAT read: Tx time:06:30:47.8169 2025-10-27T06:30:48.745Z,1761546648.745 [DAT](INFO): Ping request sent. 2025-10-27T06:30:48.745Z,1761546648.745 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:30:48.745Z,1761546648.745 [DAT](INFO): publishing transmit ping time 2025-10-27T06:30:48.746Z,1761546648.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-27T06:30:48.997Z,1761546648.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251921 2025-10-27T06:30:49.092Z,1761546649.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525395,0.841570,0.125384],[-0.850823,0.518280,0.086524],[0.007832,-0.152138,0.988328]] 2025-10-27T06:30:49.166Z,1761546649.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:49.184Z,1761546649.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 144.385696 m, bearing: 286.439408 deg, approach rate: -0.520263 m/s, LOS rate: -0.024080 deg/s, cmd heading: 299.939069 deg, new cmd heading: 299.905683 deg. 2025-10-27T06:30:49.185Z,1761546649.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.234342 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:49.248Z,1761546649.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503101 2025-10-27T06:30:49.490Z,1761546649.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523286,0.842683,0.126719],[-0.852096,0.515649,0.089656],[0.010209,-0.154892,0.987879]] 2025-10-27T06:30:49.500Z,1761546649.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755063 2025-10-27T06:30:49.527Z,1761546649.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:49.529Z,1761546649.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:49.532Z,1761546649.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 144.173035 m, bearing: 286.432564 deg, approach rate: -0.586532 m/s, LOS rate: -0.018905 deg/s, cmd heading: 299.905683 deg, new cmd heading: 299.885120 deg. 2025-10-27T06:30:49.533Z,1761546649.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233983 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:49.755Z,1761546649.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009816 2025-10-27T06:30:49.896Z,1761546649.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521510,0.843640,0.127670],[-0.853151,0.513352,0.092759],[0.012716,-0.157297,0.987469]] 2025-10-27T06:30:49.925Z,1761546649.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:49.928Z,1761546649.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 143.941391 m, bearing: 286.425272 deg, approach rate: -0.584700 m/s, LOS rate: -0.018435 deg/s, cmd heading: 299.885111 deg, new cmd heading: 299.863200 deg. 2025-10-27T06:30:49.929Z,1761546649.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233600 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:50.005Z,1761546650.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259713 2025-10-27T06:30:50.256Z,1761546650.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510985 2025-10-27T06:30:50.310Z,1761546650.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519271,0.845068,0.127346],[-0.854469,0.510687,0.095300],[0.015501,-0.158300,0.987269]] 2025-10-27T06:30:50.353Z,1761546650.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:50.356Z,1761546650.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 143.677139 m, bearing: 286.416798 deg, approach rate: -0.617438 m/s, LOS rate: -0.019837 deg/s, cmd heading: 299.863200 deg, new cmd heading: 299.837730 deg. 2025-10-27T06:30:50.357Z,1761546650.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.233156 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:50.508Z,1761546650.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763039 2025-10-27T06:30:50.701Z,1761546650.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516928,0.846432,0.127821],[-0.855830,0.507794,0.098493],[0.018461,-0.160307,0.986894]] 2025-10-27T06:30:50.744Z,1761546650.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:50.746Z,1761546650.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 143.436462 m, bearing: 286.409307 deg, approach rate: -0.616147 m/s, LOS rate: -0.019209 deg/s, cmd heading: 299.837737 deg, new cmd heading: 299.815226 deg. 2025-10-27T06:30:50.747Z,1761546650.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232763 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:50.760Z,1761546650.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015062 2025-10-27T06:30:51.012Z,1761546651.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267321 2025-10-27T06:30:51.109Z,1761546651.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513634,0.848413,0.127967],[-0.857724,0.503872,0.102090],[0.022135,-0.162197,0.986510]] 2025-10-27T06:30:51.189Z,1761546651.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:51.204Z,1761546651.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 143.174484 m, bearing: 286.401519 deg, approach rate: -0.587785 m/s, LOS rate: -0.017506 deg/s, cmd heading: 299.815224 deg, new cmd heading: 299.791817 deg. 2025-10-27T06:30:51.205Z,1761546651.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.232354 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:51.265Z,1761546651.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520091 2025-10-27T06:30:51.516Z,1761546651.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770876 2025-10-27T06:30:51.527Z,1761546651.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510662,0.850351,0.126991],[-0.859397,0.500418,0.104968],[0.025711,-0.162739,0.986334]] 2025-10-27T06:30:51.562Z,1761546651.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:51.565Z,1761546651.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:51.584Z,1761546651.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 142.912399 m, bearing: 286.393218 deg, approach rate: -0.698115 m/s, LOS rate: -0.022152 deg/s, cmd heading: 299.791811 deg, new cmd heading: 299.766862 deg. 2025-10-27T06:30:51.585Z,1761546651.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231919 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:51.768Z,1761546651.768 [DAT](INFO): DAT read: Rx Time:06:30:50.4159 2025-10-27T06:30:51.768Z,1761546651.768 [DAT](INFO): Rx dataTimestamp_ set to:1761546651.768147 2025-10-27T06:30:51.769Z,1761546651.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024107 2025-10-27T06:30:51.922Z,1761546651.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507395,0.852464,0.125916],[-0.861207,0.496644,0.108018],[0.029547,-0.163247,0.986143]] 2025-10-27T06:30:51.948Z,1761546651.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:51.967Z,1761546651.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 142.660095 m, bearing: 286.385581 deg, approach rate: -0.657787 m/s, LOS rate: -0.019944 deg/s, cmd heading: 299.766867 deg, new cmd heading: 299.743917 deg. 2025-10-27T06:30:51.968Z,1761546651.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.231518 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:52.021Z,1761546652.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275822 2025-10-27T06:30:52.276Z,1761546652.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530439 2025-10-27T06:30:52.326Z,1761546652.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504113,0.854359,0.126257],[-0.862990,0.492664,0.111941],[0.033435,-0.165390,0.985661]] 2025-10-27T06:30:52.370Z,1761546652.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.57 m. 2025-10-27T06:30:52.373Z,1761546652.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 147.566330 m, nav range: 142.379349 m, bearing: 286.372066 deg, approach rate: -0.665202 m/s, LOS rate: -0.032087 deg/s, cmd heading: 299.743917 deg, new cmd heading: 299.703290 deg. 2025-10-27T06:30:52.374Z,1761546652.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230809 target range: 147.566330 and range: 148.50 m. 2025-10-27T06:30:52.530Z,1761546652.530 [DAT](INFO): DAT read: 06:30:50.4159 LVL= 28784, 32209, 24162, 32755, AGC= 65, IDX= 406, 0.09,-1.145,-2.501,-0.491,-1.182, PHS= 0.138,-1.274, 0.646, RAW= 164.8, 5.7, CAL= 164.0, 5.0, ROT= 346.0, -5.0 2025-10-27T06:30:52.531Z,1761546652.531 [DAT](INFO): got valid direction response: 06:30:50.4159 LVL= 28784, 32209, 24162, 32755, AGC= 65, IDX= 406, 0.09,-1.145,-2.501,-0.491,-1.182, PHS= 0.138,-1.274, 0.646, RAW= 164.8, 5.7, CAL= 164.0, 5.0, ROT= 346.0, -5.0 2025-10-27T06:30:52.532Z,1761546652.532 [DAT](INFO): DAT read: Bearing 83.8, -12.8 (Local) 2025-10-27T06:30:52.532Z,1761546652.532 [DAT](INFO): Local bearing/azimuth received: Bearing 83.8, -12.8 (Local) 2025-10-27T06:30:52.534Z,1761546652.534 [DAT](INFO): DAT read: Range 11 to 50 : 146.0 m (Round-trip 194.7 ms) speed 0.5 m/s 2025-10-27T06:30:52.534Z,1761546652.534 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:52.536Z,1761546652.536 [DAT](INFO): direction in FSK: [0.966603,-0.241001,0.087156] 2025-10-27T06:30:52.537Z,1761546652.537 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:52.540Z,1761546652.540 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:52.540Z,1761546652.540 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:52.540Z,1761546652.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:52.739Z,1761546652.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501070,0.856150,0.126237],[-0.864608,0.488987,0.115520],[0.037174,-0.167030,0.985251]] 2025-10-27T06:30:52.778Z,1761546652.778 [DAT](INFO): DAT read: user:778> 2025-10-27T06:30:52.779Z,1761546652.779 [DAT](INFO): DAT read: Tx time:06:30:51.8170 2025-10-27T06:30:52.779Z,1761546652.779 [DAT](INFO): Ping request sent. 2025-10-27T06:30:52.779Z,1761546652.779 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:30:52.780Z,1761546652.780 [DAT](INFO): publishing transmit ping time 2025-10-27T06:30:52.781Z,1761546652.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001490 2025-10-27T06:30:52.799Z,1761546652.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.000000 m, deltaT: 4.032409 s, deltaX: -2.500000 m, approachRate: -0.619977 m/s, rangeRepo size: 4 2025-10-27T06:30:52.805Z,1761546652.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.084930 m, bearing: 287.030272 deg, lat: 36.779555 deg, lon: -121.859802 deg, deltaT: 4.032409 s, deltaX: -2.481400 m, approachRate: -0.615364 m/s, posRepo size: 4 2025-10-27T06:30:52.806Z,1761546652.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.08 m. 2025-10-27T06:30:52.812Z,1761546652.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.084930 m, nav range: 142.661728 m, bearing: 287.092913 deg, approach rate: 0.000000 m/s, LOS rate: -0.032087 deg/s, cmd heading: 299.703291 deg, new cmd heading: 299.662249 deg. 2025-10-27T06:30:52.813Z,1761546652.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.230093 target range: 145.084930 and range: 146.00 m. 2025-10-27T06:30:53.028Z,1761546653.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248722 2025-10-27T06:30:53.149Z,1761546653.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498302,0.857735,0.126437],[-0.866037,0.485541,0.119292],[0.040931,-0.168942,0.984776]] 2025-10-27T06:30:53.243Z,1761546653.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.08 m. 2025-10-27T06:30:53.246Z,1761546653.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.084930 m, nav range: 142.353867 m, bearing: 287.080439 deg, approach rate: -0.695716 m/s, LOS rate: -0.028251 deg/s, cmd heading: 299.662255 deg, new cmd heading: 299.624751 deg. 2025-10-27T06:30:53.251Z,1761546653.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.229438 target range: 145.084930 and range: 146.00 m. 2025-10-27T06:30:53.281Z,1761546653.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501955 2025-10-27T06:30:53.532Z,1761546653.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753254 2025-10-27T06:30:53.580Z,1761546653.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495496,0.859446,0.125845],[-0.867462,0.482170,0.122564],[0.044658,-0.169896,0.984450]] 2025-10-27T06:30:53.624Z,1761546653.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:53.626Z,1761546653.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.08 m. 2025-10-27T06:30:53.629Z,1761546653.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.084930 m, nav range: 142.108795 m, bearing: 287.068878 deg, approach rate: -0.633721 m/s, LOS rate: -0.029947 deg/s, cmd heading: 299.624744 deg, new cmd heading: 299.590002 deg. 2025-10-27T06:30:53.630Z,1761546653.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228832 target range: 145.084930 and range: 146.00 m. 2025-10-27T06:30:53.784Z,1761546653.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005018 2025-10-27T06:30:53.985Z,1761546653.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493947,0.860541,0.124439],[-0.868183,0.480274,0.124880],[0.047700,-0.169720,0.984337]] 2025-10-27T06:30:54.020Z,1761546654.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.08 m. 2025-10-27T06:30:54.023Z,1761546654.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.084930 m, nav range: 141.863297 m, bearing: 287.057433 deg, approach rate: -0.622259 m/s, LOS rate: -0.029060 deg/s, cmd heading: 299.589992 deg, new cmd heading: 299.555598 deg. 2025-10-27T06:30:54.024Z,1761546654.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.228231 target range: 145.084930 and range: 146.00 m. 2025-10-27T06:30:54.036Z,1761546654.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256815 2025-10-27T06:30:54.290Z,1761546654.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510596 2025-10-27T06:30:54.386Z,1761546654.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492846,0.861331,0.123338],[-0.868660,0.478856,0.126988],[0.050317,-0.169724,0.984206]] 2025-10-27T06:30:54.437Z,1761546654.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.08 m. 2025-10-27T06:30:54.440Z,1761546654.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.084930 m, nav range: 141.622116 m, bearing: 287.041882 deg, approach rate: -0.579194 m/s, LOS rate: -0.037408 deg/s, cmd heading: 299.555595 deg, new cmd heading: 299.508864 deg. 2025-10-27T06:30:54.441Z,1761546654.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.227416 target range: 145.084930 and range: 146.00 m. 2025-10-27T06:30:54.540Z,1761546654.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760844 2025-10-27T06:30:54.793Z,1761546654.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013169 2025-10-27T06:30:54.808Z,1761546654.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492209,0.861750,0.122948],[-0.868904,0.477908,0.128879],[0.052303,-0.170265,0.984009]] 2025-10-27T06:30:54.831Z,1761546654.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.08 m. 2025-10-27T06:30:54.834Z,1761546654.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.084930 m, nav range: 141.393814 m, bearing: 287.027172 deg, approach rate: -0.579488 m/s, LOS rate: -0.037397 deg/s, cmd heading: 299.508877 deg, new cmd heading: 299.464676 deg. 2025-10-27T06:30:54.835Z,1761546654.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.226645 target range: 145.084930 and range: 146.00 m. 2025-10-27T06:30:55.044Z,1761546655.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264795 2025-10-27T06:30:55.252Z,1761546655.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492678,0.861747,0.121081],[-0.868582,0.478461,0.128999],[0.053232,-0.168724,0.984225]] 2025-10-27T06:30:55.298Z,1761546655.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518188 2025-10-27T06:30:55.316Z,1761546655.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.08 m. 2025-10-27T06:30:55.322Z,1761546655.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.084930 m, nav range: 141.143372 m, bearing: 287.009636 deg, approach rate: -0.515791 m/s, LOS rate: -0.036180 deg/s, cmd heading: 299.464672 deg, new cmd heading: 299.411970 deg. 2025-10-27T06:30:55.325Z,1761546655.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.225725 target range: 145.084930 and range: 146.00 m. 2025-10-27T06:30:55.548Z,1761546655.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768885 2025-10-27T06:30:55.666Z,1761546655.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493587,0.861311,0.120480],[-0.868085,0.479492,0.128515],[0.052923,-0.168020,0.984362]] 2025-10-27T06:30:55.684Z,1761546655.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:55.686Z,1761546655.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.08 m. 2025-10-27T06:30:55.688Z,1761546655.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.084930 m, nav range: 140.953064 m, bearing: 286.996190 deg, approach rate: -0.515434 m/s, LOS rate: -0.036467 deg/s, cmd heading: 299.411970 deg, new cmd heading: 299.371577 deg. 2025-10-27T06:30:55.689Z,1761546655.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.225020 target range: 145.084930 and range: 146.00 m. 2025-10-27T06:30:55.800Z,1761546655.800 [DAT](INFO): DAT read: Rx Time:06:30:54.4131 2025-10-27T06:30:55.801Z,1761546655.801 [DAT](INFO): Rx dataTimestamp_ set to:1761546655.800371 2025-10-27T06:30:55.801Z,1761546655.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022050 2025-10-27T06:30:56.052Z,1761546656.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273210 2025-10-27T06:30:56.140Z,1761546656.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495836,0.860181,0.119316],[-0.866826,0.481922,0.127924],[0.052537,-0.166856,0.984581]] 2025-10-27T06:30:56.309Z,1761546656.309 [DAT](INFO): DAT read: 06:30:54.4131 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.11,-0.808,-2.058,-0.223,-0.778, PHS= 0.072,-1.234, 0.511, RAW= 164.0, 8.3, CAL= 163.7, 8.6, ROT= 346.3, -8.6 2025-10-27T06:30:56.310Z,1761546656.310 [DAT](INFO): got valid direction response: 06:30:54.4131 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.11,-0.808,-2.058,-0.223,-0.778, PHS= 0.072,-1.234, 0.511, RAW= 164.0, 8.3, CAL= 163.7, 8.6, ROT= 346.3, -8.6 2025-10-27T06:30:56.311Z,1761546656.311 [DAT](INFO): DAT read: Bearing 87.2, -12.0 (Local) 2025-10-27T06:30:56.312Z,1761546656.312 [DAT](INFO): Local bearing/azimuth received: Bearing 87.2, -12.0 (Local) 2025-10-27T06:30:56.313Z,1761546656.313 [DAT](INFO): DAT read: Range 11 to 50 : 143.9 m (Round-trip 191.9 ms) speed 0.4 m/s 2025-10-27T06:30:56.314Z,1761546656.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:30:56.315Z,1761546656.315 [DAT](INFO): direction in FSK: [0.960625,-0.234175,0.149535] 2025-10-27T06:30:56.315Z,1761546656.315 [DAT](INFO): publishing direction and range info 2025-10-27T06:30:56.318Z,1761546656.318 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:30:56.318Z,1761546656.318 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:30:56.327Z,1761546656.327 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:30:56.428Z,1761546656.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 143.899994 m, deltaT: 3.779773 s, deltaX: -2.100006 m, approachRate: -0.555591 m/s, rangeRepo size: 4 2025-10-27T06:30:56.430Z,1761546656.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 142.991608 m, bearing: 287.534984 deg, lat: 36.779562 deg, lon: -121.859779 deg, deltaT: 3.779773 s, deltaX: -2.093323 m, approachRate: -0.553822 m/s, posRepo size: 4 2025-10-27T06:30:56.435Z,1761546656.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:56.438Z,1761546656.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 138.925385 m, bearing: 287.535470 deg, approach rate: 0.000000 m/s, LOS rate: -0.036467 deg/s, cmd heading: 299.371590 deg, new cmd heading: 299.291418 deg. 2025-10-27T06:30:56.439Z,1761546656.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.223621 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:56.556Z,1761546656.556 [DAT](INFO): DAT read: user:779> 2025-10-27T06:30:56.557Z,1761546656.557 [DAT](INFO): DAT read: Tx time:06:30:55.6170 2025-10-27T06:30:56.557Z,1761546656.557 [DAT](INFO): Ping request sent. 2025-10-27T06:30:56.557Z,1761546656.557 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:30:56.557Z,1761546656.557 [DAT](INFO): publishing transmit ping time 2025-10-27T06:30:56.558Z,1761546656.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-27T06:30:56.809Z,1761546656.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251271 2025-10-27T06:30:56.885Z,1761546656.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497545,0.859200,0.119266],[-0.865882,0.483704,0.127589],[0.051935,-0.166751,0.984630]] 2025-10-27T06:30:56.912Z,1761546656.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:56.914Z,1761546656.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 138.688751 m, bearing: 287.522208 deg, approach rate: -0.479838 m/s, LOS rate: -0.026938 deg/s, cmd heading: 299.291431 deg, new cmd heading: 299.251578 deg. 2025-10-27T06:30:56.915Z,1761546656.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222925 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:57.060Z,1761546657.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502594 2025-10-27T06:30:57.312Z,1761546657.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755037 2025-10-27T06:30:57.411Z,1761546657.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:57.414Z,1761546657.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 138.471741 m, bearing: 287.508846 deg, approach rate: -0.434809 m/s, LOS rate: -0.026814 deg/s, cmd heading: 299.251570 deg, new cmd heading: 299.211422 deg. 2025-10-27T06:30:57.414Z,1761546657.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.222225 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:57.564Z,1761546657.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006952 2025-10-27T06:30:57.814Z,1761546657.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:30:57.816Z,1761546657.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258683 2025-10-27T06:30:57.817Z,1761546657.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:57.820Z,1761546657.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 138.301117 m, bearing: 287.498311 deg, approach rate: -0.419438 m/s, LOS rate: -0.025930 deg/s, cmd heading: 299.211436 deg, new cmd heading: 299.179791 deg. 2025-10-27T06:30:57.821Z,1761546657.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221673 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:58.068Z,1761546658.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510558 2025-10-27T06:30:58.188Z,1761546658.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:58.190Z,1761546658.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 138.133881 m, bearing: 287.487959 deg, approach rate: -0.451660 m/s, LOS rate: -0.027991 deg/s, cmd heading: 299.179798 deg, new cmd heading: 299.148706 deg. 2025-10-27T06:30:58.191Z,1761546658.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.221130 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:58.320Z,1761546658.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762792 2025-10-27T06:30:58.570Z,1761546658.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508910,0.852216,0.121403],[-0.859761,0.496212,0.120769],[0.042680,-0.165838,0.985229]] 2025-10-27T06:30:58.572Z,1761546658.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014627 2025-10-27T06:30:58.637Z,1761546658.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:58.640Z,1761546658.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 137.933487 m, bearing: 287.478111 deg, approach rate: -0.446095 m/s, LOS rate: -0.021956 deg/s, cmd heading: 299.148707 deg, new cmd heading: 299.119118 deg. 2025-10-27T06:30:58.641Z,1761546658.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220613 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:58.827Z,1761546658.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269375 2025-10-27T06:30:58.974Z,1761546658.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510850,0.850978,0.121934],[-0.858699,0.498373,0.119417],[0.040853,-0.165709,0.985328]] 2025-10-27T06:30:58.998Z,1761546658.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:59.001Z,1761546659.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 137.774094 m, bearing: 287.470106 deg, approach rate: -0.440850 m/s, LOS rate: -0.022163 deg/s, cmd heading: 299.119119 deg, new cmd heading: 299.095079 deg. 2025-10-27T06:30:59.002Z,1761546659.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.220194 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:59.077Z,1761546659.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519538 2025-10-27T06:30:59.329Z,1761546659.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771851 2025-10-27T06:30:59.370Z,1761546659.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512390,0.850037,0.122038],[-0.857851,0.500145,0.118093],[0.039346,-0.165200,0.985475]] 2025-10-27T06:30:59.416Z,1761546659.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:59.418Z,1761546659.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 137.570908 m, bearing: 287.464541 deg, approach rate: -0.486821 m/s, LOS rate: -0.013354 deg/s, cmd heading: 299.095077 deg, new cmd heading: 299.078356 deg. 2025-10-27T06:30:59.421Z,1761546659.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.219902 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:59.580Z,1761546659.580 [DAT](INFO): DAT read: Rx Time:06:30:58.2110 2025-10-27T06:30:59.580Z,1761546659.580 [DAT](INFO): Rx dataTimestamp_ set to:1761546659.580150 2025-10-27T06:30:59.581Z,1761546659.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023676 2025-10-27T06:30:59.775Z,1761546659.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513421,0.849345,0.122526],[-0.857282,0.501282,0.117405],[0.038297,-0.165317,0.985497]] 2025-10-27T06:30:59.807Z,1761546659.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.99 m. 2025-10-27T06:30:59.810Z,1761546659.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.991608 m, nav range: 137.382248 m, bearing: 287.459265 deg, approach rate: -0.482212 m/s, LOS rate: -0.013504 deg/s, cmd heading: 299.078356 deg, new cmd heading: 299.062507 deg. 2025-10-27T06:30:59.811Z,1761546659.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.219625 target range: 142.991608 and range: 143.90 m. 2025-10-27T06:30:59.832Z,1761546659.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274664 2025-10-27T06:31:00.100Z,1761546660.100 [DAT](INFO): DAT read: 06:30:58.2110 LVL= 32752, 32753, 30066, 32755, AGC= 64, IDX= 420, 0.25, 1.462, 0.093, 2.140, 1.500, PHS= 0.063,-1.363, 0.596, RAW= 165.2, 8.1, CAL= 164.9, 8.3, ROT= 345.1, -8.3 2025-10-27T06:31:00.101Z,1761546660.101 [DAT](INFO): got valid direction response: 06:30:58.2110 LVL= 32752, 32753, 30066, 32755, AGC= 64, IDX= 420, 0.25, 1.462, 0.093, 2.140, 1.500, PHS= 0.063,-1.363, 0.596, RAW= 165.2, 8.1, CAL= 164.9, 8.3, ROT= 345.1, -8.3 2025-10-27T06:31:00.102Z,1761546660.102 [DAT](INFO): DAT read: Bearing 87.3, -13.4 (Local) 2025-10-27T06:31:00.103Z,1761546660.103 [DAT](INFO): Local bearing/azimuth received: Bearing 87.3, -13.4 (Local) 2025-10-27T06:31:00.104Z,1761546660.104 [DAT](INFO): DAT read: Range 11 to 50 : 142.3 m (Round-trip 189.8 ms) speed 0.4 m/s 2025-10-27T06:31:00.105Z,1761546660.105 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:00.106Z,1761546660.106 [DAT](INFO): direction in FSK: [0.956254,-0.254439,0.144356] 2025-10-27T06:31:00.106Z,1761546660.106 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:00.110Z,1761546660.110 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:00.110Z,1761546660.110 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:00.110Z,1761546660.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:00.172Z,1761546660.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513663,0.849381,0.121253],[-0.857156,0.501777,0.116204],[0.037859,-0.163623,0.985796]] 2025-10-27T06:31:00.236Z,1761546660.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.300003 m, deltaT: 3.781729 s, deltaX: -1.599991 m, approachRate: -0.423084 m/s, rangeRepo size: 4 2025-10-27T06:31:00.238Z,1761546660.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 141.374466 m, bearing: 287.453893 deg, lat: 36.779564 deg, lon: -121.859787 deg, deltaT: 3.781729 s, deltaX: -1.617142 m, approachRate: -0.427620 m/s, posRepo size: 4 2025-10-27T06:31:00.243Z,1761546660.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:00.252Z,1761546660.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 137.905975 m, bearing: 287.454375 deg, approach rate: 0.000000 m/s, LOS rate: -0.013504 deg/s, cmd heading: 299.062510 deg, new cmd heading: 299.045149 deg. 2025-10-27T06:31:00.253Z,1761546660.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.219323 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:00.336Z,1761546660.336 [DAT](INFO): DAT read: user:780> 2025-10-27T06:31:00.337Z,1761546660.337 [DAT](INFO): DAT read: Tx time:06:30:59.4170 2025-10-27T06:31:00.337Z,1761546660.337 [DAT](INFO): Ping request sent. 2025-10-27T06:31:00.337Z,1761546660.337 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:00.337Z,1761546660.337 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:00.338Z,1761546660.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-27T06:31:00.574Z,1761546660.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513333,0.849693,0.120461],[-0.857360,0.501586,0.115525],[0.037739,-0.162581,0.985973]] 2025-10-27T06:31:00.588Z,1761546660.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250784 2025-10-27T06:31:00.632Z,1761546660.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:00.634Z,1761546660.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:00.641Z,1761546660.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 137.684341 m, bearing: 287.448905 deg, approach rate: -0.556690 m/s, LOS rate: -0.013761 deg/s, cmd heading: 299.045162 deg, new cmd heading: 299.028725 deg. 2025-10-27T06:31:00.642Z,1761546660.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.219036 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:00.840Z,1761546660.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502736 2025-10-27T06:31:00.978Z,1761546660.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512594,0.850123,0.120574],[-0.857795,0.500827,0.115581],[0.037871,-0.162674,0.985953]] 2025-10-27T06:31:00.997Z,1761546660.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:01.004Z,1761546661.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 137.487305 m, bearing: 287.444097 deg, approach rate: -0.541981 m/s, LOS rate: -0.013243 deg/s, cmd heading: 299.028714 deg, new cmd heading: 299.014271 deg. 2025-10-27T06:31:01.005Z,1761546661.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218783 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:01.094Z,1761546661.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756494 2025-10-27T06:31:01.344Z,1761546661.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006719 2025-10-27T06:31:01.392Z,1761546661.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511261,0.850691,0.122219],[-0.858560,0.499175,0.117040],[0.038556,-0.164770,0.985578]] 2025-10-27T06:31:01.430Z,1761546661.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:01.433Z,1761546661.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 137.221909 m, bearing: 287.436595 deg, approach rate: -0.612817 m/s, LOS rate: -0.017357 deg/s, cmd heading: 299.014262 deg, new cmd heading: 298.991711 deg. 2025-10-27T06:31:01.434Z,1761546661.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218390 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:01.596Z,1761546661.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258734 2025-10-27T06:31:01.807Z,1761546661.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509788,0.851427,0.123237],[-0.859406,0.497477,0.118063],[0.039215,-0.166098,0.985329]] 2025-10-27T06:31:01.826Z,1761546661.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:01.829Z,1761546661.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 136.979279 m, bearing: 287.429881 deg, approach rate: -0.612823 m/s, LOS rate: -0.016988 deg/s, cmd heading: 298.991722 deg, new cmd heading: 298.971544 deg. 2025-10-27T06:31:01.830Z,1761546661.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.218038 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:01.848Z,1761546661.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510883 2025-10-27T06:31:02.101Z,1761546662.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763829 2025-10-27T06:31:02.246Z,1761546662.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:02.253Z,1761546662.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 136.726471 m, bearing: 287.422860 deg, approach rate: -0.601724 m/s, LOS rate: -0.016743 deg/s, cmd heading: 298.971532 deg, new cmd heading: 298.950429 deg. 2025-10-27T06:31:02.260Z,1761546662.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.217669 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:02.356Z,1761546662.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017460 2025-10-27T06:31:02.604Z,1761546662.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266858 2025-10-27T06:31:02.644Z,1761546662.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506242,0.853525,0.123347],[-0.861412,0.493654,0.119479],[0.041087,-0.166738,0.985145]] 2025-10-27T06:31:02.688Z,1761546662.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:02.690Z,1761546662.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:02.693Z,1761546662.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 136.428284 m, bearing: 287.414220 deg, approach rate: -0.671838 m/s, LOS rate: -0.019507 deg/s, cmd heading: 298.950440 deg, new cmd heading: 298.924466 deg. 2025-10-27T06:31:02.694Z,1761546662.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.217216 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:02.856Z,1761546662.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518750 2025-10-27T06:31:03.046Z,1761546663.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504212,0.854544,0.124599],[-0.862559,0.491332,0.120765],[0.041979,-0.168365,0.984830]] 2025-10-27T06:31:03.066Z,1761546663.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:03.076Z,1761546663.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 136.180313 m, bearing: 287.407245 deg, approach rate: -0.660860 m/s, LOS rate: -0.018623 deg/s, cmd heading: 298.924458 deg, new cmd heading: 298.903496 deg. 2025-10-27T06:31:03.077Z,1761546663.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216850 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:03.108Z,1761546663.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770845 2025-10-27T06:31:03.360Z,1761546663.360 [DAT](INFO): DAT read: Rx Time:06:31:02.0076 2025-10-27T06:31:03.361Z,1761546663.361 [DAT](INFO): Rx dataTimestamp_ set to:1761546663.360268 2025-10-27T06:31:03.361Z,1761546663.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023959 2025-10-27T06:31:03.451Z,1761546663.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501992,0.855686,0.125720],[-0.863806,0.488834,0.121984],[0.042924,-0.169833,0.984538]] 2025-10-27T06:31:03.491Z,1761546663.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:03.493Z,1761546663.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 135.899384 m, bearing: 287.397922 deg, approach rate: -0.660891 m/s, LOS rate: -0.021979 deg/s, cmd heading: 298.903503 deg, new cmd heading: 298.875476 deg. 2025-10-27T06:31:03.494Z,1761546663.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.216361 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:03.612Z,1761546663.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274748 2025-10-27T06:31:03.868Z,1761546663.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530318 2025-10-27T06:31:03.900Z,1761546663.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499074,0.857811,0.122819],[-0.865440,0.486197,0.120941],[0.044030,-0.166651,0.985032]] 2025-10-27T06:31:03.918Z,1761546663.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.37 m. 2025-10-27T06:31:03.921Z,1761546663.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.374466 m, nav range: 135.616821 m, bearing: 287.388938 deg, approach rate: -0.660436 m/s, LOS rate: -0.021043 deg/s, cmd heading: 298.875472 deg, new cmd heading: 298.848463 deg. 2025-10-27T06:31:03.922Z,1761546663.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215889 target range: 141.374466 and range: 142.30 m. 2025-10-27T06:31:04.121Z,1761546664.121 [DAT](INFO): DAT read: 06:31:02.0076 LVL= 32752, 32753, 28818, 32755, AGC= 63, IDX= 401,-0.03,-2.677, 2.256,-2.049,-2.709, PHS= 0.134,-1.274, 0.616, RAW= 164.2, 6.2, CAL= 163.5, 5.7, ROT= 346.5, -5.7 2025-10-27T06:31:04.122Z,1761546664.122 [DAT](INFO): got valid direction response: 06:31:02.0076 LVL= 32752, 32753, 28818, 32755, AGC= 63, IDX= 401,-0.03,-2.677, 2.256,-2.049,-2.709, PHS= 0.134,-1.274, 0.616, RAW= 164.2, 6.2, CAL= 163.5, 5.7, ROT= 346.5, -5.7 2025-10-27T06:31:04.123Z,1761546664.123 [DAT](INFO): DAT read: Bearing 86.6, -11.7 (Local) 2025-10-27T06:31:04.124Z,1761546664.124 [DAT](INFO): Local bearing/azimuth received: Bearing 86.6, -11.7 (Local) 2025-10-27T06:31:04.125Z,1761546664.125 [DAT](INFO): DAT read: Range 11 to 50 : 139.8 m (Round-trip 186.4 ms) speed 0.4 m/s 2025-10-27T06:31:04.126Z,1761546664.126 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:04.127Z,1761546664.127 [DAT](INFO): direction in FSK: [0.967562,-0.232291,0.099320] 2025-10-27T06:31:04.128Z,1761546664.128 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:04.156Z,1761546664.156 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:04.156Z,1761546664.156 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:04.156Z,1761546664.156 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:04.279Z,1761546664.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496282,0.859694,0.120957],[-0.866989,0.483542,0.120488],[0.045095,-0.164665,0.985318]] 2025-10-27T06:31:04.370Z,1761546664.370 [DAT](INFO): DAT read: user:781> 2025-10-27T06:31:04.373Z,1761546664.373 [DAT](INFO): DAT read: Tx time:06:31:03.4670 2025-10-27T06:31:04.374Z,1761546664.374 [DAT](INFO): Ping request sent. 2025-10-27T06:31:04.374Z,1761546664.374 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:04.375Z,1761546664.375 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:04.378Z,1761546664.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003120 2025-10-27T06:31:04.393Z,1761546664.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.800003 m, deltaT: 4.030167 s, deltaX: -2.500000 m, approachRate: -0.620322 m/s, rangeRepo size: 4 2025-10-27T06:31:04.399Z,1761546664.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 138.886551 m, bearing: 287.297971 deg, lat: 36.779564 deg, lon: -121.859801 deg, deltaT: 4.030167 s, deltaX: -2.487915 m, approachRate: -0.617323 m/s, posRepo size: 4 2025-10-27T06:31:04.400Z,1761546664.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:04.402Z,1761546664.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 136.567230 m, bearing: 287.221430 deg, approach rate: 0.000000 m/s, LOS rate: -0.021043 deg/s, cmd heading: 298.848452 deg, new cmd heading: 298.818535 deg. 2025-10-27T06:31:04.408Z,1761546664.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215367 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:04.620Z,1761546664.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245945 2025-10-27T06:31:04.687Z,1761546664.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493557,0.861093,0.122148],[-0.868483,0.480504,0.121877],[0.046255,-0.166236,0.985000]] 2025-10-27T06:31:04.763Z,1761546664.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:04.770Z,1761546664.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:04.787Z,1761546664.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 136.275970 m, bearing: 287.209235 deg, approach rate: -0.777667 m/s, LOS rate: -0.032630 deg/s, cmd heading: 298.818536 deg, new cmd heading: 298.781873 deg. 2025-10-27T06:31:04.788Z,1761546664.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214727 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:04.873Z,1761546664.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498675 2025-10-27T06:31:05.118Z,1761546665.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491008,0.861818,0.127206],[-0.869863,0.477074,0.125456],[0.047433,-0.172251,0.983910]] 2025-10-27T06:31:05.124Z,1761546665.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750085 2025-10-27T06:31:05.140Z,1761546665.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:05.142Z,1761546665.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 136.012939 m, bearing: 287.198451 deg, approach rate: -0.707345 m/s, LOS rate: -0.029057 deg/s, cmd heading: 298.781871 deg, new cmd heading: 298.749457 deg. 2025-10-27T06:31:05.159Z,1761546665.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.214162 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:05.167Z,1761546665.167 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:31:05.379Z,1761546665.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004589 2025-10-27T06:31:05.577Z,1761546665.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:05.580Z,1761546665.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 135.727203 m, bearing: 287.185290 deg, approach rate: -0.652498 m/s, LOS rate: -0.030118 deg/s, cmd heading: 298.749469 deg, new cmd heading: 298.709902 deg. 2025-10-27T06:31:05.581Z,1761546665.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.213471 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:05.629Z,1761546665.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255060 2025-10-27T06:31:05.880Z,1761546665.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505962 2025-10-27T06:31:05.963Z,1761546665.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:05.966Z,1761546665.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 135.474442 m, bearing: 287.173601 deg, approach rate: -0.654254 m/s, LOS rate: -0.030312 deg/s, cmd heading: 298.709909 deg, new cmd heading: 298.674777 deg. 2025-10-27T06:31:05.967Z,1761546665.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212858 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:06.135Z,1761546666.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761373 2025-10-27T06:31:06.173Z,1761546666.173 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:31:06.333Z,1761546666.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484835,0.863576,0.138464],[-0.873253,0.469179,0.131530],[0.048622,-0.184685,0.981594]] 2025-10-27T06:31:06.387Z,1761546666.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012278 2025-10-27T06:31:06.433Z,1761546666.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:06.440Z,1761546666.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 135.177673 m, bearing: 287.160577 deg, approach rate: -0.630988 m/s, LOS rate: -0.027752 deg/s, cmd heading: 298.674774 deg, new cmd heading: 298.635617 deg. 2025-10-27T06:31:06.441Z,1761546666.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.212175 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:06.636Z,1761546666.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261961 2025-10-27T06:31:06.740Z,1761546666.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483297,0.863755,0.142657],[-0.874106,0.467055,0.133409],[0.048604,-0.189174,0.980740]] 2025-10-27T06:31:06.797Z,1761546666.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:06.800Z,1761546666.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:06.804Z,1761546666.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 134.943970 m, bearing: 287.150149 deg, approach rate: -0.636907 m/s, LOS rate: -0.028469 deg/s, cmd heading: 298.635623 deg, new cmd heading: 298.604285 deg. 2025-10-27T06:31:06.805Z,1761546666.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211628 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:06.888Z,1761546666.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514145 2025-10-27T06:31:07.140Z,1761546667.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766042 2025-10-27T06:31:07.177Z,1761546667.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:07.180Z,1761546667.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 134.713074 m, bearing: 287.139810 deg, approach rate: -0.612915 m/s, LOS rate: -0.027491 deg/s, cmd heading: 298.604287 deg, new cmd heading: 298.573218 deg. 2025-10-27T06:31:07.181Z,1761546667.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.211086 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:07.397Z,1761546667.397 [DAT](INFO): DAT read: Rx Time:06:31:06.0540 2025-10-27T06:31:07.401Z,1761546667.401 [DAT](INFO): Rx dataTimestamp_ set to:1761546667.397965 2025-10-27T06:31:07.402Z,1761546667.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028094 2025-10-27T06:31:07.544Z,1761546667.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481943,0.864042,0.145470],[-0.874909,0.465535,0.133461],[0.047595,-0.191594,0.980320]] 2025-10-27T06:31:07.581Z,1761546667.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:07.584Z,1761546667.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 134.472275 m, bearing: 287.130298 deg, approach rate: -0.595795 m/s, LOS rate: -0.023578 deg/s, cmd heading: 298.573223 deg, new cmd heading: 298.544635 deg. 2025-10-27T06:31:07.585Z,1761546667.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.210587 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:07.649Z,1761546667.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275445 2025-10-27T06:31:07.905Z,1761546667.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528883 2025-10-27T06:31:07.956Z,1761546667.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482035,0.864035,0.145206],[-0.874891,0.465797,0.132662],[0.046988,-0.190988,0.980467]] 2025-10-27T06:31:07.974Z,1761546667.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.89 m. 2025-10-27T06:31:07.977Z,1761546667.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.886551 m, nav range: 134.238220 m, bearing: 287.121015 deg, approach rate: -0.595124 m/s, LOS rate: -0.023645 deg/s, cmd heading: 298.544645 deg, new cmd heading: 298.516747 deg. 2025-10-27T06:31:07.978Z,1761546667.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.210100 target range: 138.886551 and range: 139.80 m. 2025-10-27T06:31:08.158Z,1761546668.158 [DAT](INFO): DAT read: 06:31:06.0540 LVL= 32752, 32753, 29426, 32755, AGC= 61, IDX= 413,-0.40, 2.690, 1.370,-2.925, 2.694, PHS= 0.098,-1.280, 0.620, RAW= 165.4, 6.7, CAL= 164.8, 6.3, ROT= 345.2, -6.3 2025-10-27T06:31:08.159Z,1761546668.159 [DAT](INFO): got valid direction response: 06:31:06.0540 LVL= 32752, 32753, 29426, 32755, AGC= 61, IDX= 413,-0.40, 2.690, 1.370,-2.925, 2.694, PHS= 0.098,-1.280, 0.620, RAW= 165.4, 6.7, CAL= 164.8, 6.3, ROT= 345.2, -6.3 2025-10-27T06:31:08.160Z,1761546668.160 [DAT](INFO): DAT read: Bearing 87.5, -13.2 (Local) 2025-10-27T06:31:08.160Z,1761546668.160 [DAT](INFO): Local bearing/azimuth received: Bearing 87.5, -13.2 (Local) 2025-10-27T06:31:08.162Z,1761546668.162 [DAT](INFO): DAT read: Range 11 to 50 : 137.1 m (Round-trip 182.8 ms) speed 0.0 m/s 2025-10-27T06:31:08.162Z,1761546668.162 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:08.174Z,1761546668.174 [DAT](INFO): direction in FSK: [0.960985,-0.253903,0.109734] 2025-10-27T06:31:08.174Z,1761546668.174 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:08.178Z,1761546668.178 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:08.178Z,1761546668.178 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:08.178Z,1761546668.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:08.390Z,1761546668.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482487,0.863757,0.145363],[-0.874676,0.466347,0.132143],[0.046349,-0.190902,0.980514]] 2025-10-27T06:31:08.406Z,1761546668.406 [DAT](INFO): DAT read: user:782> 2025-10-27T06:31:08.409Z,1761546668.409 [DAT](INFO): DAT read: Tx time:06:31:07.5670 2025-10-27T06:31:08.410Z,1761546668.410 [DAT](INFO): Ping request sent. 2025-10-27T06:31:08.410Z,1761546668.410 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:08.411Z,1761546668.411 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:08.413Z,1761546668.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003195 2025-10-27T06:31:08.489Z,1761546668.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 4.035990 s, deltaX: -2.699997 m, approachRate: -0.668980 m/s, rangeRepo size: 4 2025-10-27T06:31:08.496Z,1761546668.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.213531 m, bearing: 285.408800 deg, lat: 36.779562 deg, lon: -121.859801 deg, deltaT: 4.035990 s, deltaX: -2.673019 m, approachRate: -0.662296 m/s, posRepo size: 4 2025-10-27T06:31:08.496Z,1761546668.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:08.503Z,1761546668.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 133.880646 m, bearing: 287.020347 deg, approach rate: 0.000000 m/s, LOS rate: -0.023645 deg/s, cmd heading: 298.516751 deg, new cmd heading: 298.480270 deg. 2025-10-27T06:31:08.504Z,1761546668.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.209464 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:08.656Z,1761546668.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246207 2025-10-27T06:31:08.804Z,1761546668.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483415,0.863408,0.144350],[-0.874202,0.467556,0.131008],[0.045622,-0.189522,0.980816]] 2025-10-27T06:31:08.855Z,1761546668.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:08.857Z,1761546668.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:08.864Z,1761546668.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 133.675827 m, bearing: 287.013196 deg, approach rate: -0.555397 m/s, LOS rate: -0.019421 deg/s, cmd heading: 298.480278 deg, new cmd heading: 298.458791 deg. 2025-10-27T06:31:08.865Z,1761546668.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.209089 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:08.908Z,1761546668.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498335 2025-10-27T06:31:09.160Z,1761546669.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750258 2025-10-27T06:31:09.206Z,1761546669.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484724,0.863253,0.140842],[-0.873515,0.469505,0.128597],[0.044886,-0.185362,0.981645]] 2025-10-27T06:31:09.236Z,1761546669.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:09.239Z,1761546669.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 133.458374 m, bearing: 287.005475 deg, approach rate: -0.574042 m/s, LOS rate: -0.020415 deg/s, cmd heading: 298.458803 deg, new cmd heading: 298.435603 deg. 2025-10-27T06:31:09.240Z,1761546669.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208684 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:09.415Z,1761546669.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004807 2025-10-27T06:31:09.664Z,1761546669.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254301 2025-10-27T06:31:09.678Z,1761546669.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:09.681Z,1761546669.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 133.228058 m, bearing: 286.997506 deg, approach rate: -0.521591 m/s, LOS rate: -0.018078 deg/s, cmd heading: 298.435608 deg, new cmd heading: 298.411660 deg. 2025-10-27T06:31:09.682Z,1761546669.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.208266 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:09.916Z,1761546669.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506265 2025-10-27T06:31:10.013Z,1761546670.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488342,0.862627,0.131897],[-0.871569,0.474604,0.122961],[0.043470,-0.175005,0.983608]] 2025-10-27T06:31:10.064Z,1761546670.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:10.071Z,1761546670.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 133.038803 m, bearing: 286.990680 deg, approach rate: -0.489720 m/s, LOS rate: -0.017687 deg/s, cmd heading: 298.411648 deg, new cmd heading: 298.391143 deg. 2025-10-27T06:31:10.072Z,1761546670.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207908 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:10.169Z,1761546670.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758741 2025-10-27T06:31:10.423Z,1761546670.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012507 2025-10-27T06:31:10.466Z,1761546670.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490443,0.862048,0.127821],[-0.870424,0.477360,0.120375],[0.042753,-0.170296,0.984465]] 2025-10-27T06:31:10.518Z,1761546670.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:10.521Z,1761546670.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 132.804749 m, bearing: 286.982500 deg, approach rate: -0.515337 m/s, LOS rate: -0.018042 deg/s, cmd heading: 298.391130 deg, new cmd heading: 298.366547 deg. 2025-10-27T06:31:10.522Z,1761546670.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207479 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:10.672Z,1761546670.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262167 2025-10-27T06:31:10.843Z,1761546670.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491817,0.861583,0.125663],[-0.869669,0.479075,0.119005],[0.042331,-0.167814,0.984909]] 2025-10-27T06:31:10.924Z,1761546670.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514369 2025-10-27T06:31:10.942Z,1761546670.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:10.944Z,1761546670.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:10.947Z,1761546670.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 132.598999 m, bearing: 286.975164 deg, approach rate: -0.483511 m/s, LOS rate: -0.017266 deg/s, cmd heading: 298.366541 deg, new cmd heading: 298.344499 deg. 2025-10-27T06:31:10.948Z,1761546670.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.207094 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:11.176Z,1761546671.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766241 2025-10-27T06:31:11.257Z,1761546671.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493059,0.861219,0.123269],[-0.868972,0.480640,0.117781],[0.042187,-0.165191,0.985359]] 2025-10-27T06:31:11.292Z,1761546671.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:11.295Z,1761546671.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 132.426102 m, bearing: 286.968892 deg, approach rate: -0.496262 m/s, LOS rate: -0.018026 deg/s, cmd heading: 298.344493 deg, new cmd heading: 298.325653 deg. 2025-10-27T06:31:11.296Z,1761546671.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206765 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:11.431Z,1761546671.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020668 2025-10-27T06:31:11.650Z,1761546671.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494108,0.860734,0.122452],[-0.868393,0.481838,0.117153],[0.041835,-0.164223,0.985536]] 2025-10-27T06:31:11.680Z,1761546671.680 [DAT](INFO): DAT read: Rx Time:06:31:10.1516 2025-10-27T06:31:11.681Z,1761546671.681 [DAT](INFO): Rx dataTimestamp_ set to:1761546671.680260 2025-10-27T06:31:11.681Z,1761546671.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271434 2025-10-27T06:31:11.770Z,1761546671.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:11.781Z,1761546671.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 132.205612 m, bearing: 286.960297 deg, approach rate: -0.461326 m/s, LOS rate: -0.018014 deg/s, cmd heading: 298.325642 deg, new cmd heading: 298.299813 deg. 2025-10-27T06:31:11.782Z,1761546671.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.206314 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:11.932Z,1761546671.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522191 2025-10-27T06:31:12.107Z,1761546672.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494911,0.860309,0.122197],[-0.867940,0.482670,0.117088],[0.041751,-0.164008,0.985575]] 2025-10-27T06:31:12.152Z,1761546672.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.21 m. 2025-10-27T06:31:12.154Z,1761546672.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.213531 m, nav range: 132.004868 m, bearing: 286.952366 deg, approach rate: -0.526189 m/s, LOS rate: -0.020819 deg/s, cmd heading: 298.299824 deg, new cmd heading: 298.275996 deg. 2025-10-27T06:31:12.172Z,1761546672.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205898 target range: 136.213531 and range: 137.10 m. 2025-10-27T06:31:12.189Z,1761546672.189 [DAT](INFO): DAT read: 06:31:10.1516 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 420, 0.12, 2.211, 0.840, 2.867, 2.169, PHS= 0.144,-1.283, 0.654, RAW= 164.7, 5.6, CAL= 164.0, 4.9, ROT= 346.0, -4.9 2025-10-27T06:31:12.190Z,1761546672.190 [DAT](INFO): got valid direction response: 06:31:10.1516 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 420, 0.12, 2.211, 0.840, 2.867, 2.169, PHS= 0.144,-1.283, 0.654, RAW= 164.7, 5.6, CAL= 164.0, 4.9, ROT= 346.0, -4.9 2025-10-27T06:31:12.191Z,1761546672.191 [DAT](INFO): DAT read: Bearing 88.9, -12.3 (Local) 2025-10-27T06:31:12.192Z,1761546672.192 [DAT](INFO): Local bearing/azimuth received: Bearing 88.9, -12.3 (Local) 2025-10-27T06:31:12.193Z,1761546672.193 [DAT](INFO): DAT read: Range 11 to 50 : 135.3 m (Round-trip 180.4 ms) speed 0.8 m/s 2025-10-27T06:31:12.194Z,1761546672.194 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:12.196Z,1761546672.196 [DAT](INFO): direction in FSK: [0.966750,-0.241038,0.085417] 2025-10-27T06:31:12.196Z,1761546672.196 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:12.199Z,1761546672.199 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:12.200Z,1761546672.200 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:12.200Z,1761546672.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:12.436Z,1761546672.436 [DAT](INFO): DAT read: user:783> 2025-10-27T06:31:12.437Z,1761546672.437 [DAT](INFO): DAT read: Tx time:06:31:11.5170 2025-10-27T06:31:12.437Z,1761546672.437 [DAT](INFO): Ping request sent. 2025-10-27T06:31:12.437Z,1761546672.437 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:12.437Z,1761546672.437 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:12.438Z,1761546672.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T06:31:12.538Z,1761546672.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495770,0.859762,0.122559],[-0.867478,0.483568,0.116807],[0.041160,-0.164227,0.985563]] 2025-10-27T06:31:12.599Z,1761546672.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.300003 m, deltaT: 4.032117 s, deltaX: -1.800003 m, approachRate: -0.446416 m/s, rangeRepo size: 4 2025-10-27T06:31:12.601Z,1761546672.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 134.417175 m, bearing: 286.641090 deg, lat: 36.779562 deg, lon: -121.859801 deg, deltaT: 4.032117 s, deltaX: -1.796356 m, approachRate: -0.445512 m/s, posRepo size: 4 2025-10-27T06:31:12.602Z,1761546672.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:12.605Z,1761546672.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 131.782364 m, bearing: 286.943743 deg, approach rate: 0.000000 m/s, LOS rate: -0.020819 deg/s, cmd heading: 298.276000 deg, new cmd heading: 298.248118 deg. 2025-10-27T06:31:12.606Z,1761546672.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205411 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:12.689Z,1761546672.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251205 2025-10-27T06:31:12.910Z,1761546672.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495833,0.859632,0.123214],[-0.867426,0.483479,0.117555],[0.041483,-0.165167,0.985393]] 2025-10-27T06:31:12.942Z,1761546672.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504745 2025-10-27T06:31:12.952Z,1761546672.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:12.954Z,1761546672.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:12.956Z,1761546672.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 131.609116 m, bearing: 286.936999 deg, approach rate: -0.487518 m/s, LOS rate: -0.019001 deg/s, cmd heading: 298.248106 deg, new cmd heading: 298.227849 deg. 2025-10-27T06:31:12.957Z,1761546672.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.205058 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:13.192Z,1761546673.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754813 2025-10-27T06:31:13.352Z,1761546673.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:13.356Z,1761546673.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 131.400650 m, bearing: 286.928862 deg, approach rate: -0.522781 m/s, LOS rate: -0.020439 deg/s, cmd heading: 298.227861 deg, new cmd heading: 298.203410 deg. 2025-10-27T06:31:13.357Z,1761546673.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204631 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:13.447Z,1761546673.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009252 2025-10-27T06:31:13.696Z,1761546673.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258773 2025-10-27T06:31:13.733Z,1761546673.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496440,0.859060,0.124750],[-0.867065,0.483800,0.118895],[0.041784,-0.167191,0.985039]] 2025-10-27T06:31:13.797Z,1761546673.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:13.799Z,1761546673.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 131.168289 m, bearing: 286.918656 deg, approach rate: -0.523220 m/s, LOS rate: -0.023023 deg/s, cmd heading: 298.203409 deg, new cmd heading: 298.172736 deg. 2025-10-27T06:31:13.800Z,1761546673.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.204096 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:13.948Z,1761546673.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510834 2025-10-27T06:31:14.122Z,1761546674.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495977,0.859645,0.122546],[-0.867273,0.483431,0.118881],[0.042953,-0.165243,0.985317]] 2025-10-27T06:31:14.146Z,1761546674.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:14.149Z,1761546674.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 130.988220 m, bearing: 286.910767 deg, approach rate: -0.515899 m/s, LOS rate: -0.022632 deg/s, cmd heading: 298.172728 deg, new cmd heading: 298.149030 deg. 2025-10-27T06:31:14.150Z,1761546674.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203682 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:14.200Z,1761546674.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846 2025-10-27T06:31:14.452Z,1761546674.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014843 2025-10-27T06:31:14.551Z,1761546674.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493996,0.861084,0.120424],[-0.868282,0.481350,0.119954],[0.045324,-0.163819,0.985449]] 2025-10-27T06:31:14.604Z,1761546674.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:14.611Z,1761546674.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 130.735214 m, bearing: 286.900600 deg, approach rate: -0.551621 m/s, LOS rate: -0.022209 deg/s, cmd heading: 298.149041 deg, new cmd heading: 298.118481 deg. 2025-10-27T06:31:14.612Z,1761546674.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.203149 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:14.705Z,1761546674.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267600 2025-10-27T06:31:14.956Z,1761546674.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518764 2025-10-27T06:31:14.989Z,1761546674.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:14.991Z,1761546674.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:14.994Z,1761546674.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 130.507599 m, bearing: 286.891420 deg, approach rate: -0.588257 m/s, LOS rate: -0.023768 deg/s, cmd heading: 298.118469 deg, new cmd heading: 298.090879 deg. 2025-10-27T06:31:14.995Z,1761546674.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.202667 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:15.208Z,1761546675.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771009 2025-10-27T06:31:15.354Z,1761546675.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489881,0.863069,0.122997],[-0.870519,0.476663,0.122430],[0.047038,-0.167048,0.984826]] 2025-10-27T06:31:15.372Z,1761546675.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:15.376Z,1761546675.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 130.291748 m, bearing: 286.883127 deg, approach rate: -0.566127 m/s, LOS rate: -0.021785 deg/s, cmd heading: 298.090875 deg, new cmd heading: 298.065957 deg. 2025-10-27T06:31:15.377Z,1761546675.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.202232 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:15.461Z,1761546675.461 [DAT](INFO): DAT read: Rx Time:06:31:14.0984 2025-10-27T06:31:15.462Z,1761546675.462 [DAT](INFO): Rx dataTimestamp_ set to:1761546675.461565 2025-10-27T06:31:15.463Z,1761546675.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025650 2025-10-27T06:31:15.713Z,1761546675.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275140 2025-10-27T06:31:15.765Z,1761546675.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487426,0.863823,0.127380],[-0.871883,0.473604,0.124576],[0.047284,-0.171782,0.984000]] 2025-10-27T06:31:15.811Z,1761546675.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:15.814Z,1761546675.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 130.019119 m, bearing: 286.873111 deg, approach rate: -0.621876 m/s, LOS rate: -0.022895 deg/s, cmd heading: 298.065958 deg, new cmd heading: 298.035846 deg. 2025-10-27T06:31:15.815Z,1761546675.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.201707 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:15.978Z,1761546675.978 [DAT](INFO): DAT read: 06:31:14.0984 LVL= 32752, 32753, 30034, 32755, AGC= 69, IDX= 404, 0.07, 2.242, 0.925, 2.880, 2.259, PHS= 0.086,-1.289, 0.578, RAW= 164.7, 7.5, CAL= 164.3, 7.5, ROT= 345.7, -7.5 2025-10-27T06:31:15.982Z,1761546675.982 [DAT](INFO): got valid direction response: 06:31:14.0984 LVL= 32752, 32753, 30034, 32755, AGC= 69, IDX= 404, 0.07, 2.242, 0.925, 2.880, 2.259, PHS= 0.086,-1.289, 0.578, RAW= 164.7, 7.5, CAL= 164.3, 7.5, ROT= 345.7, -7.5 2025-10-27T06:31:15.983Z,1761546675.983 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-27T06:31:15.992Z,1761546675.992 [DAT](INFO): direction in FSK: [0.960726,-0.244885,0.130526] 2025-10-27T06:31:15.996Z,1761546675.996 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:15.996Z,1761546675.996 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:15.996Z,1761546675.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-27T06:31:16.158Z,1761546676.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484765,0.864623,0.132024],[-0.873354,0.470304,0.126757],[0.047506,-0.176751,0.983109]] 2025-10-27T06:31:16.177Z,1761546676.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:16.180Z,1761546676.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 129.791367 m, bearing: 286.865010 deg, approach rate: -0.622246 m/s, LOS rate: -0.022174 deg/s, cmd heading: 298.035851 deg, new cmd heading: 298.011503 deg. 2025-10-27T06:31:16.181Z,1761546676.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.201282 target range: 134.417175 and range: 135.30 m. 2025-10-27T06:31:16.216Z,1761546676.216 [DAT](INFO): DAT read: Bearing 91.3, -12.6 (Local) 2025-10-27T06:31:16.217Z,1761546676.217 [DAT](INFO): Local bearing/azimuth received: Bearing 91.3, -12.6 (Local) 2025-10-27T06:31:16.218Z,1761546676.218 [DAT](INFO): DAT read: Range 11 to 50 : 132.9 m (Round-trip 177.3 ms) speed 0.2 m/s 2025-10-27T06:31:16.219Z,1761546676.219 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-27T06:31:16.221Z,1761546676.221 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:16.221Z,1761546676.221 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:16.221Z,1761546676.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:16.468Z,1761546676.468 [DAT](INFO): DAT read: user:784> 2025-10-27T06:31:16.469Z,1761546676.469 [DAT](INFO): DAT read: Tx time:06:31:15.5169 2025-10-27T06:31:16.469Z,1761546676.469 [DAT](INFO): Ping request sent. 2025-10-27T06:31:16.469Z,1761546676.469 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:16.469Z,1761546676.469 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:16.470Z,1761546676.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-27T06:31:16.600Z,1761546676.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481658,0.865523,0.137390],[-0.875040,0.466386,0.129574],[0.048073,-0.182632,0.982005]] 2025-10-27T06:31:16.650Z,1761546676.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.899994 m, deltaT: 4.032052 s, deltaX: -2.400009 m, approachRate: -0.595233 m/s, rangeRepo size: 4 2025-10-27T06:31:16.651Z,1761546676.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:16.654Z,1761546676.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 129.473999 m, bearing: 286.855744 deg, approach rate: -0.671123 m/s, LOS rate: -0.019641 deg/s, cmd heading: 298.011508 deg, new cmd heading: 297.983644 deg. 2025-10-27T06:31:16.655Z,1761546676.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200796 target range: 134.417175 and range: 132.90 m. 2025-10-27T06:31:16.721Z,1761546676.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251579 2025-10-27T06:31:16.968Z,1761546676.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478431,0.866559,0.142053],[-0.876790,0.462495,0.131675],[0.048405,-0.187548,0.981062]] 2025-10-27T06:31:16.972Z,1761546676.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503047 2025-10-27T06:31:16.988Z,1761546676.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:16.990Z,1761546676.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 129.246857 m, bearing: 286.849438 deg, approach rate: -0.671788 m/s, LOS rate: -0.018684 deg/s, cmd heading: 297.983641 deg, new cmd heading: 297.964688 deg. 2025-10-27T06:31:17.008Z,1761546677.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200465 target range: 134.417175 and range: 132.90 m. 2025-10-27T06:31:17.225Z,1761546677.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755629 2025-10-27T06:31:17.362Z,1761546677.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475665,0.867890,0.143214],[-0.878283,0.459607,0.131833],[0.048594,-0.188490,0.980872]] 2025-10-27T06:31:17.395Z,1761546677.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:17.397Z,1761546677.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:17.409Z,1761546677.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 128.983276 m, bearing: 286.842457 deg, approach rate: -0.643771 m/s, LOS rate: -0.017083 deg/s, cmd heading: 297.964680 deg, new cmd heading: 297.943697 deg. 2025-10-27T06:31:17.410Z,1761546677.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.200099 target range: 134.417175 and range: 132.90 m. 2025-10-27T06:31:17.476Z,1761546677.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007007 2025-10-27T06:31:17.729Z,1761546677.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259623 2025-10-27T06:31:17.864Z,1761546677.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473122,0.869569,0.141438],[-0.879634,0.457338,0.130713],[0.048979,-0.186256,0.981280]] 2025-10-27T06:31:17.921Z,1761546677.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:17.948Z,1761546677.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 128.620926 m, bearing: 286.831395 deg, approach rate: -0.692018 m/s, LOS rate: -0.021186 deg/s, cmd heading: 297.943698 deg, new cmd heading: 297.910418 deg. 2025-10-27T06:31:17.949Z,1761546677.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.199518 target range: 134.417175 and range: 132.90 m. 2025-10-27T06:31:17.980Z,1761546677.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511162 2025-10-27T06:31:18.232Z,1761546678.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762835 2025-10-27T06:31:18.352Z,1761546678.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470881,0.871235,0.138641],[-0.880816,0.455512,0.129122],[0.049343,-0.182918,0.981889]] 2025-10-27T06:31:18.370Z,1761546678.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:18.373Z,1761546678.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 128.293961 m, bearing: 286.821763 deg, approach rate: -0.727756 m/s, LOS rate: -0.021494 deg/s, cmd heading: 297.910421 deg, new cmd heading: 297.881451 deg. 2025-10-27T06:31:18.374Z,1761546678.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.199012 target range: 134.417175 and range: 132.90 m. 2025-10-27T06:31:18.484Z,1761546678.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015012 2025-10-27T06:31:18.752Z,1761546678.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283214 2025-10-27T06:31:18.777Z,1761546678.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468835,0.873038,0.134159],[-0.881858,0.454013,0.127274],[0.050205,-0.177980,0.982753]] 2025-10-27T06:31:18.833Z,1761546678.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:18.836Z,1761546678.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 127.982643 m, bearing: 286.811834 deg, approach rate: -0.672944 m/s, LOS rate: -0.021514 deg/s, cmd heading: 297.881461 deg, new cmd heading: 297.851602 deg. 2025-10-27T06:31:18.837Z,1761546678.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198491 target range: 134.417175 and range: 132.90 m. 2025-10-27T06:31:19.004Z,1761546679.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534853 2025-10-27T06:31:19.156Z,1761546679.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466948,0.874368,0.132064],[-0.882787,0.452238,0.127158],[0.051458,-0.175961,0.983051]] 2025-10-27T06:31:19.190Z,1761546679.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:19.199Z,1761546679.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 127.730179 m, bearing: 286.804006 deg, approach rate: -0.706026 m/s, LOS rate: -0.021936 deg/s, cmd heading: 297.851600 deg, new cmd heading: 297.828068 deg. 2025-10-27T06:31:19.200Z,1761546679.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.198081 target range: 134.417175 and range: 132.90 m. 2025-10-27T06:31:19.257Z,1761546679.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787817 2025-10-27T06:31:19.508Z,1761546679.508 [DAT](INFO): DAT read: Rx Time:06:31:18.0946 2025-10-27T06:31:19.508Z,1761546679.508 [DAT](INFO): Rx dataTimestamp_ set to:1761546679.508098 2025-10-27T06:31:19.509Z,1761546679.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039950 2025-10-27T06:31:19.613Z,1761546679.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465196,0.875329,0.131880],[-0.883642,0.450331,0.127984],[0.052638,-0.176072,0.982969]] 2025-10-27T06:31:19.649Z,1761546679.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:19.652Z,1761546679.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.42 m. 2025-10-27T06:31:19.654Z,1761546679.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.417175 m, nav range: 127.407585 m, bearing: 286.793377 deg, approach rate: -0.699272 m/s, LOS rate: -0.023099 deg/s, cmd heading: 297.828076 deg, new cmd heading: 297.796108 deg. 2025-10-27T06:31:19.675Z,1761546679.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197523 target range: 134.417175 and range: 132.90 m. 2025-10-27T06:31:19.761Z,1761546679.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292266 2025-10-27T06:31:19.994Z,1761546679.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463909,0.875857,0.132905],[-0.884238,0.448669,0.129688],[0.053958,-0.177683,0.982607]] 2025-10-27T06:31:20.017Z,1761546680.017 [DAT](INFO): DAT read: 06:31:18.0946 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 397, 0.12, 0.490,-0.840, 1.111, 0.499, PHS= 0.092,-1.294, 0.567, RAW= 164.2, 7.6, CAL= 163.8, 7.7, ROT= 346.2, -7.7 2025-10-27T06:31:20.018Z,1761546680.018 [DAT](INFO): got valid direction response: 06:31:18.0946 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 397, 0.12, 0.490,-0.840, 1.111, 0.499, PHS= 0.092,-1.294, 0.567, RAW= 164.2, 7.6, CAL= 163.8, 7.7, ROT= 346.2, -7.7 2025-10-27T06:31:20.024Z,1761546680.024 [DAT](INFO): DAT read: Bearing 92.3, -12.5 (Local) 2025-10-27T06:31:20.024Z,1761546680.024 [DAT](INFO): Local bearing/azimuth received: Bearing 92.3, -12.5 (Local) 2025-10-27T06:31:20.026Z,1761546680.026 [DAT](INFO): DAT read: Range 11 to 50 : 130.1 m (Round-trip 173.5 ms) speed 0.8 m/s 2025-10-27T06:31:20.026Z,1761546680.026 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:20.027Z,1761546680.027 [DAT](INFO): direction in FSK: [0.962378,-0.236382,0.133986] 2025-10-27T06:31:20.028Z,1761546680.028 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:20.043Z,1761546680.043 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:20.043Z,1761546680.043 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:20.044Z,1761546680.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:20.047Z,1761546680.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.100006 m, deltaT: 3.795971 s, deltaX: -2.799988 m, approachRate: -0.737621 m/s, rangeRepo size: 4 2025-10-27T06:31:20.049Z,1761546680.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.249207 m, bearing: 285.309430 deg, lat: 36.779558 deg, lon: -121.859801 deg, deltaT: 7.828023 s, deltaX: -5.167969 m, approachRate: -0.660188 m/s, posRepo size: 4 2025-10-27T06:31:20.050Z,1761546680.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:20.057Z,1761546680.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 127.038826 m, bearing: 286.600013 deg, approach rate: 0.000000 m/s, LOS rate: -0.023099 deg/s, cmd heading: 297.796111 deg, new cmd heading: 297.769041 deg. 2025-10-27T06:31:20.058Z,1761546680.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.197050 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:20.269Z,1761546680.269 [DAT](INFO): DAT read: user:785> 2025-10-27T06:31:20.270Z,1761546680.270 [DAT](INFO): DAT read: Tx time:06:31:19.3669 2025-10-27T06:31:20.270Z,1761546680.270 [DAT](INFO): Ping request sent. 2025-10-27T06:31:20.270Z,1761546680.270 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:20.270Z,1761546680.270 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:20.272Z,1761546680.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001470 2025-10-27T06:31:20.389Z,1761546680.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463078,0.876044,0.134555],[-0.884605,0.447395,0.131572],[0.055064,-0.179957,0.982132]] 2025-10-27T06:31:20.421Z,1761546680.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:20.424Z,1761546680.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 126.762970 m, bearing: 286.590686 deg, approach rate: -0.727864 m/s, LOS rate: -0.024664 deg/s, cmd heading: 297.769036 deg, new cmd heading: 297.740994 deg. 2025-10-27T06:31:20.425Z,1761546680.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196561 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:20.520Z,1761546680.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249680 2025-10-27T06:31:20.772Z,1761546680.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501664 2025-10-27T06:31:20.794Z,1761546680.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462081,0.876663,0.133949],[-0.885059,0.446303,0.132226],[0.056136,-0.179652,0.982127]] 2025-10-27T06:31:20.850Z,1761546680.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:20.857Z,1761546680.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 126.512924 m, bearing: 286.582163 deg, approach rate: -0.583024 m/s, LOS rate: -0.019913 deg/s, cmd heading: 297.741005 deg, new cmd heading: 297.715385 deg. 2025-10-27T06:31:20.858Z,1761546680.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.196114 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:21.024Z,1761546681.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753608 2025-10-27T06:31:21.198Z,1761546681.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461917,0.877048,0.131984],[-0.885097,0.446289,0.132024],[0.056888,-0.177803,0.982420]] 2025-10-27T06:31:21.217Z,1761546681.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:21.239Z,1761546681.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 126.276070 m, bearing: 286.574098 deg, approach rate: -0.645299 m/s, LOS rate: -0.022012 deg/s, cmd heading: 297.715378 deg, new cmd heading: 297.691141 deg. 2025-10-27T06:31:21.246Z,1761546681.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195691 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:21.276Z,1761546681.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006035 2025-10-27T06:31:21.528Z,1761546681.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258108 2025-10-27T06:31:21.634Z,1761546681.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461910,0.877262,0.130577],[-0.885071,0.446402,0.131810],[0.057342,-0.176454,0.982637]] 2025-10-27T06:31:21.708Z,1761546681.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:21.715Z,1761546681.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:21.724Z,1761546681.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 126.029922 m, bearing: 286.563483 deg, approach rate: -0.498733 m/s, LOS rate: -0.021551 deg/s, cmd heading: 297.691145 deg, new cmd heading: 297.659236 deg. 2025-10-27T06:31:21.726Z,1761546681.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.195134 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:21.780Z,1761546681.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509763 2025-10-27T06:31:22.032Z,1761546682.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762055 2025-10-27T06:31:22.089Z,1761546682.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462344,0.877125,0.129957],[-0.884838,0.446897,0.131697],[0.057437,-0.175880,0.982735]] 2025-10-27T06:31:22.108Z,1761546682.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:22.111Z,1761546682.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 125.794601 m, bearing: 286.553249 deg, approach rate: -0.592630 m/s, LOS rate: -0.025821 deg/s, cmd heading: 297.659234 deg, new cmd heading: 297.628475 deg. 2025-10-27T06:31:22.112Z,1761546682.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.194597 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:22.284Z,1761546682.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013703 2025-10-27T06:31:22.485Z,1761546682.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462930,0.876889,0.129464],[-0.884526,0.447522,0.131671],[0.057523,-0.175469,0.982803]] 2025-10-27T06:31:22.505Z,1761546682.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:22.520Z,1761546682.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 125.579651 m, bearing: 286.543805 deg, approach rate: -0.541721 m/s, LOS rate: -0.023840 deg/s, cmd heading: 297.628471 deg, new cmd heading: 297.600092 deg. 2025-10-27T06:31:22.521Z,1761546682.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.194101 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:22.536Z,1761546682.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265783 2025-10-27T06:31:22.792Z,1761546682.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521489 2025-10-27T06:31:22.890Z,1761546682.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464066,0.876386,0.128801],[-0.883942,0.448755,0.131401],[0.057358,-0.174832,0.982926]] 2025-10-27T06:31:22.934Z,1761546682.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:22.937Z,1761546682.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 125.359947 m, bearing: 286.531295 deg, approach rate: -0.511311 m/s, LOS rate: -0.029165 deg/s, cmd heading: 297.600085 deg, new cmd heading: 297.562489 deg. 2025-10-27T06:31:22.938Z,1761546682.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.193445 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:23.040Z,1761546683.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769850 2025-10-27T06:31:23.292Z,1761546683.292 [DAT](INFO): DAT read: Rx Time:06:31:21.9417 2025-10-27T06:31:23.292Z,1761546683.292 [DAT](INFO): Rx dataTimestamp_ set to:1761546683.292014 2025-10-27T06:31:23.293Z,1761546683.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022602 2025-10-27T06:31:23.298Z,1761546683.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465477,0.875670,0.128580],[-0.883216,0.450209,0.131305],[0.057092,-0.174683,0.982968]] 2025-10-27T06:31:23.317Z,1761546683.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:23.320Z,1761546683.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 125.164330 m, bearing: 286.519976 deg, approach rate: -0.511523 m/s, LOS rate: -0.029646 deg/s, cmd heading: 297.562491 deg, new cmd heading: 297.528480 deg. 2025-10-27T06:31:23.321Z,1761546683.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.192852 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:23.545Z,1761546683.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273954 2025-10-27T06:31:23.698Z,1761546683.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467466,0.874369,0.130212],[-0.882177,0.451924,0.132397],[0.056918,-0.176761,0.982607]] 2025-10-27T06:31:23.798Z,1761546683.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527651 2025-10-27T06:31:23.823Z,1761546683.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:23.825Z,1761546683.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.25 m. 2025-10-27T06:31:23.832Z,1761546683.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.249207 m, nav range: 124.935059 m, bearing: 286.507742 deg, approach rate: -0.450958 m/s, LOS rate: -0.024106 deg/s, cmd heading: 297.528477 deg, new cmd heading: 297.491709 deg. 2025-10-27T06:31:23.833Z,1761546683.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.192210 target range: 129.249207 and range: 130.10 m. 2025-10-27T06:31:24.053Z,1761546684.053 [DAT](INFO): DAT read: 06:31:21.9417 LVL= 32752, 32753, 32354, 32755, AGC= 66, IDX= 417,-0.18, 1.178,-0.143, 1.821, 1.188, PHS= 0.091,-1.286, 0.588, RAW= 164.8, 7.3, CAL= 164.3, 7.2, ROT= 345.7, -7.2 2025-10-27T06:31:24.054Z,1761546684.054 [DAT](INFO): got valid direction response: 06:31:21.9417 LVL= 32752, 32753, 32354, 32755, AGC= 66, IDX= 417,-0.18, 1.178,-0.143, 1.821, 1.188, PHS= 0.091,-1.286, 0.588, RAW= 164.8, 7.3, CAL= 164.3, 7.2, ROT= 345.7, -7.2 2025-10-27T06:31:24.055Z,1761546684.055 [DAT](INFO): DAT read: Bearing 93.8, -12.4 (Local) 2025-10-27T06:31:24.056Z,1761546684.056 [DAT](INFO): Local bearing/azimuth received: Bearing 93.8, -12.4 (Local) 2025-10-27T06:31:24.057Z,1761546684.057 [DAT](INFO): DAT read: Range 11 to 50 : 128.0 m (Round-trip 170.7 ms) speed 0.3 m/s 2025-10-27T06:31:24.057Z,1761546684.057 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:24.058Z,1761546684.058 [DAT](INFO): direction in FSK: [0.961375,-0.245051,0.125333] 2025-10-27T06:31:24.059Z,1761546684.059 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:24.062Z,1761546684.062 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:24.062Z,1761546684.062 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:24.062Z,1761546684.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:24.118Z,1761546684.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469088,0.873548,0.129884],[-0.881334,0.453603,0.132263],[0.056623,-0.176514,0.982668]] 2025-10-27T06:31:24.193Z,1761546684.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.000000 m, deltaT: 4.035811 s, deltaX: -2.100006 m, approachRate: -0.520343 m/s, rangeRepo size: 4 2025-10-27T06:31:24.194Z,1761546684.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.161789 m, bearing: 285.045989 deg, lat: 36.779530 deg, lon: -121.859803 deg, deltaT: 4.035811 s, deltaX: -2.087418 m, approachRate: -0.517224 m/s, posRepo size: 4 2025-10-27T06:31:24.199Z,1761546684.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:24.202Z,1761546684.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 124.067253 m, bearing: 285.124622 deg, approach rate: 0.000000 m/s, LOS rate: -0.024106 deg/s, cmd heading: 297.491703 deg, new cmd heading: 297.465179 deg. 2025-10-27T06:31:24.207Z,1761546684.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191747 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:24.302Z,1761546684.302 [DAT](INFO): DAT read: user:786> 2025-10-27T06:31:24.303Z,1761546684.303 [DAT](INFO): DAT read: Tx time:06:31:23.3669 2025-10-27T06:31:24.303Z,1761546684.303 [DAT](INFO): Ping request sent. 2025-10-27T06:31:24.303Z,1761546684.303 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:24.304Z,1761546684.304 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:24.304Z,1761546684.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000822 2025-10-27T06:31:24.541Z,1761546684.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:24.544Z,1761546684.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 123.882774 m, bearing: 285.112423 deg, approach rate: -0.529017 m/s, LOS rate: -0.035032 deg/s, cmd heading: 297.465175 deg, new cmd heading: 297.428526 deg. 2025-10-27T06:31:24.545Z,1761546684.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.191107 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:24.556Z,1761546684.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252701 2025-10-27T06:31:24.808Z,1761546684.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504483 2025-10-27T06:31:24.926Z,1761546684.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471845,0.872599,0.126228],[-0.879893,0.456921,0.130429],[0.056137,-0.172609,0.983389]] 2025-10-27T06:31:24.993Z,1761546684.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:24.996Z,1761546684.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 123.659576 m, bearing: 285.095961 deg, approach rate: -0.493570 m/s, LOS rate: -0.036470 deg/s, cmd heading: 297.428538 deg, new cmd heading: 297.379061 deg. 2025-10-27T06:31:24.997Z,1761546684.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.190244 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:25.061Z,1761546685.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757407 2025-10-27T06:31:25.312Z,1761546685.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008460 2025-10-27T06:31:25.315Z,1761546685.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472949,0.872250,0.124498],[-0.879314,0.458293,0.129518],[0.055916,-0.170728,0.983730]] 2025-10-27T06:31:25.410Z,1761546685.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:25.413Z,1761546685.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 123.453545 m, bearing: 285.080592 deg, approach rate: -0.493947 m/s, LOS rate: -0.036909 deg/s, cmd heading: 297.379060 deg, new cmd heading: 297.332874 deg. 2025-10-27T06:31:25.414Z,1761546685.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.189438 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:25.564Z,1761546685.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260413 2025-10-27T06:31:25.732Z,1761546685.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473975,0.871771,0.123944],[-0.878764,0.459380,0.129395],[0.055866,-0.170248,0.983816]] 2025-10-27T06:31:25.816Z,1761546685.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512633 2025-10-27T06:31:25.825Z,1761546685.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:25.831Z,1761546685.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:25.834Z,1761546685.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 123.247337 m, bearing: 285.067163 deg, approach rate: -0.494814 m/s, LOS rate: -0.032277 deg/s, cmd heading: 297.332888 deg, new cmd heading: 297.292535 deg. 2025-10-27T06:31:25.834Z,1761546685.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188734 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:26.068Z,1761546686.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764566 2025-10-27T06:31:26.165Z,1761546686.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474902,0.871227,0.124224],[-0.878280,0.460289,0.129455],[0.055605,-0.170582,0.983773]] 2025-10-27T06:31:26.205Z,1761546686.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:26.208Z,1761546686.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 123.046432 m, bearing: 285.053936 deg, approach rate: -0.531645 m/s, LOS rate: -0.035059 deg/s, cmd heading: 297.292535 deg, new cmd heading: 297.252789 deg. 2025-10-27T06:31:26.208Z,1761546686.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.188040 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:26.320Z,1761546686.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016992 2025-10-27T06:31:26.568Z,1761546686.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474521,0.871240,0.125581],[-0.878487,0.459720,0.130069],[0.055589,-0.172042,0.983520]] 2025-10-27T06:31:26.572Z,1761546686.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268615 2025-10-27T06:31:26.588Z,1761546686.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:26.591Z,1761546686.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 122.850037 m, bearing: 285.041005 deg, approach rate: -0.512309 m/s, LOS rate: -0.033786 deg/s, cmd heading: 297.252783 deg, new cmd heading: 297.213927 deg. 2025-10-27T06:31:26.592Z,1761546686.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.187362 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:26.824Z,1761546686.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520453 2025-10-27T06:31:26.970Z,1761546686.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473746,0.871582,0.126133],[-0.878884,0.458820,0.130566],[0.055927,-0.172711,0.983384]] 2025-10-27T06:31:27.042Z,1761546687.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:27.045Z,1761546687.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 122.601776 m, bearing: 285.026468 deg, approach rate: -0.546483 m/s, LOS rate: -0.032064 deg/s, cmd heading: 297.213933 deg, new cmd heading: 297.170235 deg. 2025-10-27T06:31:27.046Z,1761546687.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186599 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:27.077Z,1761546687.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773604 2025-10-27T06:31:27.328Z,1761546687.328 [DAT](INFO): DAT read: Rx Time:06:31:25.9392 2025-10-27T06:31:27.329Z,1761546687.329 [DAT](INFO): Rx dataTimestamp_ set to:1761546687.328262 2025-10-27T06:31:27.329Z,1761546687.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025696 2025-10-27T06:31:27.376Z,1761546687.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473094,0.871861,0.126653],[-0.879227,0.458084,0.130839],[0.056056,-0.173256,0.983280]] 2025-10-27T06:31:27.407Z,1761546687.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.16 m. 2025-10-27T06:31:27.413Z,1761546687.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.161789 m, nav range: 122.408981 m, bearing: 285.015205 deg, approach rate: -0.534901 m/s, LOS rate: -0.031297 deg/s, cmd heading: 297.170247 deg, new cmd heading: 297.136406 deg. 2025-10-27T06:31:27.414Z,1761546687.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.186008 target range: 127.161789 and range: 128.00 m. 2025-10-27T06:31:27.580Z,1761546687.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276635 2025-10-27T06:31:27.819Z,1761546687.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471334,0.872474,0.128974],[-0.880139,0.455927,0.132232],[0.056566,-0.175841,0.982792]] 2025-10-27T06:31:27.837Z,1761546687.837 [DAT](INFO): DAT read: 06:31:25.9392 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 422, 0.11,-2.772, 2.187,-2.168,-2.760, PHS= 0.090,-1.291, 0.547, RAW= 163.8, 7.9, CAL= 163.4, 8.1, ROT= 346.6, -8.1 2025-10-27T06:31:27.839Z,1761546687.839 [DAT](INFO): got valid direction response: 06:31:25.9392 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 422, 0.11,-2.772, 2.187,-2.168,-2.760, PHS= 0.090,-1.291, 0.547, RAW= 163.8, 7.9, CAL= 163.4, 8.1, ROT= 346.6, -8.1 2025-10-27T06:31:27.840Z,1761546687.840 [DAT](INFO): DAT read: Bearing 95.5, -11.2 (Local) 2025-10-27T06:31:27.840Z,1761546687.840 [DAT](INFO): Local bearing/azimuth received: Bearing 95.5, -11.2 (Local) 2025-10-27T06:31:27.841Z,1761546687.841 [DAT](INFO): DAT read: Range 11 to 50 : 126.0 m (Round-trip 168.1 ms) speed 0.5 m/s 2025-10-27T06:31:27.842Z,1761546687.842 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:27.844Z,1761546687.844 [DAT](INFO): direction in FSK: [0.963071,-0.229436,0.140901] 2025-10-27T06:31:27.844Z,1761546687.844 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:27.848Z,1761546687.848 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:27.848Z,1761546687.848 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:27.848Z,1761546687.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:27.966Z,1761546687.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.000000 m, deltaT: 3.784186 s, deltaX: -2.000000 m, approachRate: -0.528515 m/s, rangeRepo size: 4 2025-10-27T06:31:27.972Z,1761546687.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.177681 m, bearing: 286.238739 deg, lat: 36.779530 deg, lon: -121.859803 deg, deltaT: 3.784186 s, deltaX: -1.984108 m, approachRate: -0.524316 m/s, posRepo size: 4 2025-10-27T06:31:27.973Z,1761546687.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:27.979Z,1761546687.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 122.088638 m, bearing: 284.998655 deg, approach rate: 0.000000 m/s, LOS rate: -0.031297 deg/s, cmd heading: 297.136397 deg, new cmd heading: 297.083604 deg. 2025-10-27T06:31:27.980Z,1761546687.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.185087 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:28.085Z,1761546688.085 [DAT](INFO): DAT read: user:787> 2025-10-27T06:31:28.086Z,1761546688.086 [DAT](INFO): DAT read: Tx time:06:31:27.1669 2025-10-27T06:31:28.086Z,1761546688.086 [DAT](INFO): Ping request sent. 2025-10-27T06:31:28.086Z,1761546688.086 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:28.086Z,1761546688.086 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:28.087Z,1761546688.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000913 2025-10-27T06:31:28.291Z,1761546688.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469843,0.872959,0.131115],[-0.880895,0.454032,0.133709],[0.057192,-0.178321,0.982309]] 2025-10-27T06:31:28.308Z,1761546688.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:28.310Z,1761546688.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:28.312Z,1761546688.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 121.875931 m, bearing: 284.987780 deg, approach rate: -0.617086 m/s, LOS rate: -0.031604 deg/s, cmd heading: 297.083613 deg, new cmd heading: 297.050932 deg. 2025-10-27T06:31:28.313Z,1761546688.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.184517 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:28.336Z,1761546688.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249958 2025-10-27T06:31:28.588Z,1761546688.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501804 2025-10-27T06:31:28.733Z,1761546688.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468358,0.873801,0.130817],[-0.881625,0.452454,0.134249],[0.058119,-0.178208,0.982275]] 2025-10-27T06:31:28.787Z,1761546688.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:28.789Z,1761546688.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 121.575195 m, bearing: 284.972196 deg, approach rate: -0.630617 m/s, LOS rate: -0.032759 deg/s, cmd heading: 297.050938 deg, new cmd heading: 297.004069 deg. 2025-10-27T06:31:28.790Z,1761546688.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.183699 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:28.841Z,1761546688.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754458 2025-10-27T06:31:29.092Z,1761546689.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005737 2025-10-27T06:31:29.105Z,1761546689.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466869,0.874836,0.129214],[-0.882364,0.451104,0.133937],[0.058884,-0.176544,0.982530]] 2025-10-27T06:31:29.128Z,1761546689.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:29.131Z,1761546689.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 121.359886 m, bearing: 284.961169 deg, approach rate: -0.630335 m/s, LOS rate: -0.032341 deg/s, cmd heading: 297.004082 deg, new cmd heading: 296.970942 deg. 2025-10-27T06:31:29.132Z,1761546689.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.183121 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:29.345Z,1761546689.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258979 2025-10-27T06:31:29.497Z,1761546689.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465752,0.875507,0.128698],[-0.882896,0.449929,0.134383],[0.059748,-0.176216,0.982537]] 2025-10-27T06:31:29.535Z,1761546689.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:29.538Z,1761546689.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 121.113426 m, bearing: 284.948646 deg, approach rate: -0.630344 m/s, LOS rate: -0.032092 deg/s, cmd heading: 296.970942 deg, new cmd heading: 296.933299 deg. 2025-10-27T06:31:29.539Z,1761546689.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.182464 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:29.597Z,1761546689.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510985 2025-10-27T06:31:29.848Z,1761546689.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761838 2025-10-27T06:31:29.925Z,1761546689.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464838,0.875950,0.128983],[-0.883354,0.448931,0.134708],[0.060093,-0.176555,0.982455]] 2025-10-27T06:31:29.964Z,1761546689.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:29.966Z,1761546689.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 120.829391 m, bearing: 284.934578 deg, approach rate: -0.638982 m/s, LOS rate: -0.031723 deg/s, cmd heading: 296.933294 deg, new cmd heading: 296.890991 deg. 2025-10-27T06:31:29.983Z,1761546689.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181726 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:30.100Z,1761546690.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013884 2025-10-27T06:31:30.306Z,1761546690.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463730,0.876660,0.128147],[-0.883926,0.447955,0.134207],[0.060250,-0.175508,0.982633]] 2025-10-27T06:31:30.323Z,1761546690.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:30.325Z,1761546690.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:30.328Z,1761546690.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 120.598000 m, bearing: 284.923214 deg, approach rate: -0.639724 m/s, LOS rate: -0.031479 deg/s, cmd heading: 296.891002 deg, new cmd heading: 296.856843 deg. 2025-10-27T06:31:30.329Z,1761546690.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.181129 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:30.352Z,1761546690.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265916 2025-10-27T06:31:30.608Z,1761546690.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521459 2025-10-27T06:31:30.791Z,1761546690.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:30.794Z,1761546690.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 120.300377 m, bearing: 284.908532 deg, approach rate: -0.639489 m/s, LOS rate: -0.031625 deg/s, cmd heading: 296.856851 deg, new cmd heading: 296.812696 deg. 2025-10-27T06:31:30.795Z,1761546690.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.180359 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:30.856Z,1761546690.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769872 2025-10-27T06:31:31.108Z,1761546691.108 [DAT](INFO): DAT read: Rx Time:06:31:29.7357 2025-10-27T06:31:31.108Z,1761546691.108 [DAT](INFO): Rx dataTimestamp_ set to:1761546691.108126 2025-10-27T06:31:31.109Z,1761546691.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022856 2025-10-27T06:31:31.124Z,1761546691.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460178,0.879413,0.121933],[-0.885751,0.445366,0.130748],[0.060677,-0.168170,0.983889]] 2025-10-27T06:31:31.182Z,1761546691.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:31.185Z,1761546691.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 120.053497 m, bearing: 284.896088 deg, approach rate: -0.631004 m/s, LOS rate: -0.031869 deg/s, cmd heading: 296.812701 deg, new cmd heading: 296.775294 deg. 2025-10-27T06:31:31.186Z,1761546691.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179706 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:31.360Z,1761546691.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274199 2025-10-27T06:31:31.522Z,1761546691.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458131,0.880470,0.122018],[-0.886757,0.443215,0.131236],[0.061469,-0.168324,0.983813]] 2025-10-27T06:31:31.541Z,1761546691.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.18 m. 2025-10-27T06:31:31.543Z,1761546691.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.177681 m, nav range: 119.817268 m, bearing: 284.884395 deg, approach rate: -0.658807 m/s, LOS rate: -0.032676 deg/s, cmd heading: 296.775298 deg, new cmd heading: 296.740148 deg. 2025-10-27T06:31:31.544Z,1761546691.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.179092 target range: 125.177681 and range: 126.00 m. 2025-10-27T06:31:31.620Z,1761546691.620 [DAT](INFO): DAT read: 06:31:29.7357 LVL= 32752, 32753, 30098, 32755, AGC= 64, IDX= 403,-0.21, 0.947,-0.385, 1.552, 0.940, PHS= 0.110,-1.279, 0.569, RAW= 163.8, 7.3, CAL= 163.3, 7.2, ROT= 346.7, -7.2 2025-10-27T06:31:31.621Z,1761546691.621 [DAT](INFO): got valid direction response: 06:31:29.7357 LVL= 32752, 32753, 30098, 32755, AGC= 64, IDX= 403,-0.21, 0.947,-0.385, 1.552, 0.940, PHS= 0.110,-1.279, 0.569, RAW= 163.8, 7.3, CAL= 163.3, 7.2, ROT= 346.7, -7.2 2025-10-27T06:31:31.622Z,1761546691.622 [DAT](INFO): DAT read: Bearing 95.0, -10.8 (Local) 2025-10-27T06:31:31.623Z,1761546691.623 [DAT](INFO): Local bearing/azimuth received: Bearing 95.0, -10.8 (Local) 2025-10-27T06:31:31.624Z,1761546691.624 [DAT](INFO): DAT read: Range 11 to 50 : 123.4 m (Round-trip 164.6 ms) speed 0.7 m/s 2025-10-27T06:31:31.625Z,1761546691.625 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:31.626Z,1761546691.626 [DAT](INFO): direction in FSK: [0.965505,-0.228235,0.125333] 2025-10-27T06:31:31.626Z,1761546691.626 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:31.633Z,1761546691.633 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:31.634Z,1761546691.634 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:31.634Z,1761546691.634 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:31.864Z,1761546691.864 [DAT](INFO): DAT read: user:788> 2025-10-27T06:31:31.865Z,1761546691.865 [DAT](INFO): DAT read: Tx time:06:31:30.9169 2025-10-27T06:31:31.865Z,1761546691.865 [DAT](INFO): Ping request sent. 2025-10-27T06:31:31.865Z,1761546691.865 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:31.865Z,1761546691.865 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:31.866Z,1761546691.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T06:31:31.932Z,1761546691.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455774,0.881517,0.123280],[-0.887927,0.440617,0.132072],[0.062105,-0.169658,0.983544]] 2025-10-27T06:31:32.036Z,1761546692.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.400002 m, deltaT: 3.781386 s, deltaX: -2.599998 m, approachRate: -0.687578 m/s, rangeRepo size: 4 2025-10-27T06:31:32.038Z,1761546692.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.591263 m, bearing: 285.118419 deg, lat: 36.779535 deg, lon: -121.859802 deg, deltaT: 3.781386 s, deltaX: -2.586418 m, approachRate: -0.683987 m/s, posRepo size: 4 2025-10-27T06:31:32.043Z,1761546692.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:32.046Z,1761546692.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 119.533249 m, bearing: 285.118834 deg, approach rate: 0.000000 m/s, LOS rate: -0.032676 deg/s, cmd heading: 296.740137 deg, new cmd heading: 296.692139 deg. 2025-10-27T06:31:32.051Z,1761546692.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.178255 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:32.117Z,1761546692.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251695 2025-10-27T06:31:32.368Z,1761546692.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502629 2025-10-27T06:31:32.398Z,1761546692.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:32.400Z,1761546692.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:32.403Z,1761546692.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 119.287804 m, bearing: 285.110903 deg, approach rate: -0.663301 m/s, LOS rate: -0.021476 deg/s, cmd heading: 296.692134 deg, new cmd heading: 296.668293 deg. 2025-10-27T06:31:32.404Z,1761546692.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177838 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:32.620Z,1761546692.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754680 2025-10-27T06:31:32.810Z,1761546692.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450086,0.884270,0.124459],[-0.890665,0.434494,0.133906],[0.064332,-0.171120,0.983148]] 2025-10-27T06:31:32.847Z,1761546692.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:32.850Z,1761546692.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 119.005157 m, bearing: 285.104216 deg, approach rate: -0.632594 m/s, LOS rate: -0.015003 deg/s, cmd heading: 296.668283 deg, new cmd heading: 296.648173 deg. 2025-10-27T06:31:32.851Z,1761546692.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177487 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:32.872Z,1761546692.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772 2025-10-27T06:31:33.124Z,1761546693.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258623 2025-10-27T06:31:33.234Z,1761546693.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:33.239Z,1761546693.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 118.765862 m, bearing: 285.098529 deg, approach rate: -0.620065 m/s, LOS rate: -0.014765 deg/s, cmd heading: 296.648175 deg, new cmd heading: 296.631081 deg. 2025-10-27T06:31:33.241Z,1761546693.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.177189 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:33.377Z,1761546693.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511636 2025-10-27T06:31:33.592Z,1761546693.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445854,0.885686,0.129520],[-0.892612,0.429138,0.138150],[0.066776,-0.177206,0.981906]] 2025-10-27T06:31:33.612Z,1761546693.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:33.615Z,1761546693.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 118.522316 m, bearing: 285.093216 deg, approach rate: -0.642250 m/s, LOS rate: -0.014039 deg/s, cmd heading: 296.631072 deg, new cmd heading: 296.615101 deg. 2025-10-27T06:31:33.616Z,1761546693.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176910 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:33.628Z,1761546693.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762813 2025-10-27T06:31:33.880Z,1761546693.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014634 2025-10-27T06:31:33.994Z,1761546693.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444373,0.886028,0.132238],[-0.893255,0.427028,0.140506],[0.068023,-0.180560,0.981209]] 2025-10-27T06:31:34.041Z,1761546694.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:34.044Z,1761546694.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 118.268578 m, bearing: 285.086391 deg, approach rate: -0.591985 m/s, LOS rate: -0.015958 deg/s, cmd heading: 296.615090 deg, new cmd heading: 296.594569 deg. 2025-10-27T06:31:34.045Z,1761546694.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176552 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:34.132Z,1761546694.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267037 2025-10-27T06:31:34.384Z,1761546694.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518618 2025-10-27T06:31:34.405Z,1761546694.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443476,0.886391,0.132815],[-0.893644,0.425918,0.141400],[0.068768,-0.181397,0.981003]] 2025-10-27T06:31:34.422Z,1761546694.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:34.424Z,1761546694.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:34.428Z,1761546694.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 118.038368 m, bearing: 285.080276 deg, approach rate: -0.600183 m/s, LOS rate: -0.015973 deg/s, cmd heading: 296.594572 deg, new cmd heading: 296.576192 deg. 2025-10-27T06:31:34.429Z,1761546694.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.176231 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:34.636Z,1761546694.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770571 2025-10-27T06:31:34.848Z,1761546694.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443082,0.886474,0.133575],[-0.893788,0.425280,0.142407],[0.069433,-0.182486,0.980754]] 2025-10-27T06:31:34.888Z,1761546694.888 [DAT](INFO): DAT read: Rx Time:06:31:33.4827 2025-10-27T06:31:34.888Z,1761546694.888 [DAT](INFO): Rx dataTimestamp_ set to:1761546694.888214 2025-10-27T06:31:34.889Z,1761546694.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023792 2025-10-27T06:31:34.894Z,1761546694.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:34.905Z,1761546694.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 117.771019 m, bearing: 285.070424 deg, approach rate: -0.569112 m/s, LOS rate: -0.021019 deg/s, cmd heading: 296.576185 deg, new cmd heading: 296.546562 deg. 2025-10-27T06:31:34.931Z,1761546694.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175714 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:35.140Z,1761546695.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274829 2025-10-27T06:31:35.242Z,1761546695.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442930,0.886397,0.134586],[-0.893842,0.424914,0.143159],[0.069708,-0.183708,0.980506]] 2025-10-27T06:31:35.261Z,1761546695.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.59 m. 2025-10-27T06:31:35.264Z,1761546695.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.591263 m, nav range: 117.559814 m, bearing: 285.062616 deg, approach rate: -0.575408 m/s, LOS rate: -0.021310 deg/s, cmd heading: 296.546569 deg, new cmd heading: 296.523103 deg. 2025-10-27T06:31:35.265Z,1761546695.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.175304 target range: 122.591263 and range: 123.40 m. 2025-10-27T06:31:35.399Z,1761546695.399 [DAT](INFO): DAT read: 06:31:33.4827 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 404,-0.41,-0.664,-2.001,-0.069,-0.637, PHS= 0.076,-1.319, 0.525, RAW= 163.5, 8.7, CAL= 163.2, 9.1, ROT= 346.8, -9.1 2025-10-27T06:31:35.400Z,1761546695.400 [DAT](INFO): got valid direction response: 06:31:33.4827 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 404,-0.41,-0.664,-2.001,-0.069,-0.637, PHS= 0.076,-1.319, 0.525, RAW= 163.5, 8.7, CAL= 163.2, 9.1, ROT= 346.8, -9.1 2025-10-27T06:31:35.401Z,1761546695.401 [DAT](INFO): DAT read: Bearing 97.7, -10.6 (Local) 2025-10-27T06:31:35.401Z,1761546695.401 [DAT](INFO): Local bearing/azimuth received: Bearing 97.7, -10.6 (Local) 2025-10-27T06:31:35.405Z,1761546695.405 [DAT](INFO): DAT read: Range 11 to 50 : 121.2 m (Round-trip 161.6 ms) speed 0.5 m/s 2025-10-27T06:31:35.409Z,1761546695.409 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:35.410Z,1761546695.410 [DAT](INFO): direction in FSK: [0.961325,-0.225477,0.158158] 2025-10-27T06:31:35.410Z,1761546695.410 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:35.414Z,1761546695.414 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:35.414Z,1761546695.414 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:35.414Z,1761546695.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:35.644Z,1761546695.644 [DAT](INFO): DAT read: user:789> 2025-10-27T06:31:35.645Z,1761546695.645 [DAT](INFO): DAT read: Tx time:06:31:34.7169 2025-10-27T06:31:35.646Z,1761546695.646 [DAT](INFO): Ping request sent. 2025-10-27T06:31:35.646Z,1761546695.646 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:35.646Z,1761546695.646 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:35.647Z,1761546695.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001522 2025-10-27T06:31:35.688Z,1761546695.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443843,0.886393,0.131569],[-0.893424,0.426371,0.141427],[0.069262,-0.180318,0.981167]] 2025-10-27T06:31:35.767Z,1761546695.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.199997 m, deltaT: 3.779799 s, deltaX: -2.200005 m, approachRate: -0.582043 m/s, rangeRepo size: 4 2025-10-27T06:31:35.769Z,1761546695.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.405846 m, bearing: 284.869496 deg, lat: 36.779530 deg, lon: -121.859798 deg, deltaT: 3.779799 s, deltaX: -2.185417 m, approachRate: -0.578183 m/s, posRepo size: 4 2025-10-27T06:31:35.776Z,1761546695.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:35.793Z,1761546695.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 116.818153 m, bearing: 284.861884 deg, approach rate: 0.000000 m/s, LOS rate: -0.021310 deg/s, cmd heading: 296.523101 deg, new cmd heading: 296.491779 deg. 2025-10-27T06:31:35.801Z,1761546695.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.174758 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:35.897Z,1761546695.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251275 2025-10-27T06:31:36.148Z,1761546696.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501974 2025-10-27T06:31:36.203Z,1761546696.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:36.206Z,1761546696.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 116.558311 m, bearing: 284.852402 deg, approach rate: -0.574772 m/s, LOS rate: -0.021021 deg/s, cmd heading: 296.491791 deg, new cmd heading: 296.463282 deg. 2025-10-27T06:31:36.220Z,1761546696.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.174260 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:36.304Z,1761546696.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:31:36.400Z,1761546696.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754159 2025-10-27T06:31:36.540Z,1761546696.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445702,0.886309,0.125726],[-0.892622,0.429409,0.137241],[0.067650,-0.173394,0.982526]] 2025-10-27T06:31:36.566Z,1761546696.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:36.568Z,1761546696.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:36.571Z,1761546696.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 116.364258 m, bearing: 284.845146 deg, approach rate: -0.532037 m/s, LOS rate: -0.019926 deg/s, cmd heading: 296.463268 deg, new cmd heading: 296.441465 deg. 2025-10-27T06:31:36.592Z,1761546696.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173880 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:36.653Z,1761546696.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007059 2025-10-27T06:31:36.904Z,1761546696.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258093 2025-10-27T06:31:36.942Z,1761546696.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447113,0.886153,0.121746],[-0.892013,0.431636,0.134172],[0.066347,-0.168589,0.983451]] 2025-10-27T06:31:36.997Z,1761546696.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:36.000Z,1761546697.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 116.133270 m, bearing: 284.834836 deg, approach rate: -0.538351 m/s, LOS rate: -0.024077 deg/s, cmd heading: 296.441466 deg, new cmd heading: 296.410474 deg. 2025-10-27T06:31:37.001Z,1761546697.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.173339 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:37.156Z,1761546697.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510134 2025-10-27T06:31:37.307Z,1761546697.307 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:31:37.349Z,1761546697.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448868,0.885460,0.120324],[-0.891257,0.433876,0.131954],[0.064634,-0.166469,0.983926]] 2025-10-27T06:31:37.373Z,1761546697.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:37.376Z,1761546697.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 115.937111 m, bearing: 284.825873 deg, approach rate: -0.522038 m/s, LOS rate: -0.023895 deg/s, cmd heading: 296.410484 deg, new cmd heading: 296.383548 deg. 2025-10-27T06:31:37.377Z,1761546697.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.172869 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:37.408Z,1761546697.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762300 2025-10-27T06:31:37.660Z,1761546697.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014481 2025-10-27T06:31:37.752Z,1761546697.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450878,0.884667,0.118629],[-0.890372,0.436414,0.129542],[0.062830,-0.164032,0.984452]] 2025-10-27T06:31:37.792Z,1761546697.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:37.794Z,1761546697.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 115.715485 m, bearing: 284.815480 deg, approach rate: -0.528793 m/s, LOS rate: -0.024843 deg/s, cmd heading: 296.383546 deg, new cmd heading: 296.352309 deg. 2025-10-27T06:31:37.796Z,1761546697.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.172324 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:37.913Z,1761546697.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266993 2025-10-27T06:31:38.166Z,1761546698.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520575 2025-10-27T06:31:38.238Z,1761546698.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:38.261Z,1761546698.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 115.479523 m, bearing: 284.802342 deg, approach rate: -0.528821 m/s, LOS rate: -0.029505 deg/s, cmd heading: 296.352319 deg, new cmd heading: 296.312823 deg. 2025-10-27T06:31:38.262Z,1761546698.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.171634 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:38.416Z,1761546698.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770093 2025-10-27T06:31:38.600Z,1761546698.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454310,0.884874,0.102954],[-0.888803,0.442416,0.119569],[0.060255,-0.145827,0.987473]] 2025-10-27T06:31:38.638Z,1761546698.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:38.644Z,1761546698.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:38.646Z,1761546698.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 115.273239 m, bearing: 284.790481 deg, approach rate: -0.508369 m/s, LOS rate: -0.029282 deg/s, cmd heading: 296.312813 deg, new cmd heading: 296.277166 deg. 2025-10-27T06:31:38.660Z,1761546698.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.171012 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:38.668Z,1761546698.668 [DAT](INFO): DAT read: Rx Time:06:31:37.2801 2025-10-27T06:31:38.669Z,1761546698.669 [DAT](INFO): Rx dataTimestamp_ set to:1761546698.668379 2025-10-27T06:31:38.669Z,1761546698.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023437 2025-10-27T06:31:38.920Z,1761546698.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274157 2025-10-27T06:31:38.998Z,1761546698.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454630,0.884673,0.103274],[-0.888642,0.442691,0.119748],[0.060219,-0.146215,0.987418]] 2025-10-27T06:31:39.043Z,1761546699.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.41 m. 2025-10-27T06:31:39.046Z,1761546699.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.405846 m, nav range: 115.040756 m, bearing: 284.777901 deg, approach rate: -0.582182 m/s, LOS rate: -0.031566 deg/s, cmd heading: 296.277159 deg, new cmd heading: 296.239343 deg. 2025-10-27T06:31:39.047Z,1761546699.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.170352 target range: 120.405846 and range: 121.20 m. 2025-10-27T06:31:39.177Z,1761546699.177 [DAT](INFO): DAT read: 06:31:37.2801 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.22,-2.946, 1.975,-2.333,-2.926, PHS= 0.082,-1.337, 0.550, RAW= 163.8, 8.3, CAL= 163.4, 8.6, ROT= 346.6, -8.6 2025-10-27T06:31:39.178Z,1761546699.178 [DAT](INFO): got valid direction response: 06:31:37.2801 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 409, 0.22,-2.946, 1.975,-2.333,-2.926, PHS= 0.082,-1.337, 0.550, RAW= 163.8, 8.3, CAL= 163.4, 8.6, ROT= 346.6, -8.6 2025-10-27T06:31:39.180Z,1761546699.180 [DAT](INFO): DAT read: Bearing 98.9, -10.7 (Local) 2025-10-27T06:31:39.180Z,1761546699.180 [DAT](INFO): Local bearing/azimuth received: Bearing 98.9, -10.7 (Local) 2025-10-27T06:31:39.182Z,1761546699.182 [DAT](INFO): DAT read: Range 11 to 50 : 119.2 m (Round-trip 159.0 ms) speed 0.5 m/s 2025-10-27T06:31:39.182Z,1761546699.182 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:39.183Z,1761546699.183 [DAT](INFO): direction in FSK: [0.961838,-0.229142,0.149535] 2025-10-27T06:31:39.184Z,1761546699.184 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:39.195Z,1761546699.195 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:39.195Z,1761546699.195 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:39.195Z,1761546699.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:39.402Z,1761546699.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454241,0.884562,0.105904],[-0.888809,0.441874,0.121514],[0.060690,-0.149325,0.986924]] 2025-10-27T06:31:39.424Z,1761546699.424 [DAT](INFO): DAT read: user:790> 2025-10-27T06:31:39.425Z,1761546699.425 [DAT](INFO): DAT read: Tx time:06:31:38.4669 2025-10-27T06:31:39.425Z,1761546699.425 [DAT](INFO): Ping request sent. 2025-10-27T06:31:39.425Z,1761546699.425 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:39.425Z,1761546699.425 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:39.426Z,1761546699.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T06:31:39.430Z,1761546699.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.199997 m, deltaT: 3.778798 s, deltaX: -2.000000 m, approachRate: -0.529269 m/s, rangeRepo size: 4 2025-10-27T06:31:39.432Z,1761546699.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.419098 m, bearing: 284.927208 deg, lat: 36.779534 deg, lon: -121.859798 deg, deltaT: 3.778798 s, deltaX: -1.986748 m, approachRate: -0.525762 m/s, posRepo size: 4 2025-10-27T06:31:39.433Z,1761546699.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:39.452Z,1761546699.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 114.952843 m, bearing: 284.927607 deg, approach rate: 0.000000 m/s, LOS rate: -0.031566 deg/s, cmd heading: 296.239347 deg, new cmd heading: 296.202784 deg. 2025-10-27T06:31:39.453Z,1761546699.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.169714 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:39.678Z,1761546699.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252135 2025-10-27T06:31:39.805Z,1761546699.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453163,0.884788,0.108601],[-0.889300,0.440303,0.123605],[0.061547,-0.152592,0.986371]] 2025-10-27T06:31:39.928Z,1761546699.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502771 2025-10-27T06:31:39.992Z,1761546699.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:39.995Z,1761546699.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 114.629257 m, bearing: 284.911570 deg, approach rate: -0.574794 m/s, LOS rate: -0.028567 deg/s, cmd heading: 296.202792 deg, new cmd heading: 296.154546 deg. 2025-10-27T06:31:39.996Z,1761546699.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168872 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:40.180Z,1761546700.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754776 2025-10-27T06:31:40.241Z,1761546700.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451274,0.885339,0.111922],[-0.890161,0.437746,0.126458],[0.062965,-0.156696,0.985638]] 2025-10-27T06:31:40.276Z,1761546700.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:40.279Z,1761546700.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 114.468384 m, bearing: 284.903729 deg, approach rate: -0.566516 m/s, LOS rate: -0.027651 deg/s, cmd heading: 296.154544 deg, new cmd heading: 296.130987 deg. 2025-10-27T06:31:40.280Z,1761546700.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.168461 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:40.432Z,1761546700.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006781 2025-10-27T06:31:40.644Z,1761546700.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449073,0.886016,0.115365],[-0.891178,0.434864,0.129211],[0.064315,-0.160836,0.984883]] 2025-10-27T06:31:40.684Z,1761546700.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258830 2025-10-27T06:31:40.699Z,1761546700.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:40.704Z,1761546700.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:40.709Z,1761546700.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 114.238007 m, bearing: 284.892739 deg, approach rate: -0.540407 m/s, LOS rate: -0.025831 deg/s, cmd heading: 296.130993 deg, new cmd heading: 296.097957 deg. 2025-10-27T06:31:40.711Z,1761546700.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167884 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:40.936Z,1761546700.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510667 2025-10-27T06:31:41.047Z,1761546701.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446739,0.886422,0.121163],[-0.892266,0.431527,0.132837],[0.065465,-0.167453,0.983704]] 2025-10-27T06:31:41.127Z,1761546701.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:41.130Z,1761546701.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 113.974792 m, bearing: 284.879859 deg, approach rate: -0.619958 m/s, LOS rate: -0.030406 deg/s, cmd heading: 296.097962 deg, new cmd heading: 296.059234 deg. 2025-10-27T06:31:41.131Z,1761546701.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.167208 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:41.189Z,1761546701.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763589 2025-10-27T06:31:41.440Z,1761546701.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014791 2025-10-27T06:31:41.452Z,1761546701.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444407,0.886692,0.127592],[-0.893397,0.428203,0.135959],[0.065919,-0.174411,0.982464]] 2025-10-27T06:31:41.491Z,1761546701.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:41.494Z,1761546701.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 113.768387 m, bearing: 284.869982 deg, approach rate: -0.573274 m/s, LOS rate: -0.027482 deg/s, cmd heading: 296.059221 deg, new cmd heading: 296.029537 deg. 2025-10-27T06:31:41.499Z,1761546701.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166690 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:41.692Z,1761546701.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266753 2025-10-27T06:31:41.860Z,1761546701.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442235,0.887218,0.131426],[-0.894488,0.425547,0.137115],[0.065723,-0.178195,0.981798]] 2025-10-27T06:31:41.938Z,1761546701.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:41.944Z,1761546701.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518890 2025-10-27T06:31:41.946Z,1761546701.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 113.514755 m, bearing: 284.858105 deg, approach rate: -0.562978 m/s, LOS rate: -0.026423 deg/s, cmd heading: 296.029524 deg, new cmd heading: 295.993811 deg. 2025-10-27T06:31:41.951Z,1761546701.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.166067 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:42.196Z,1761546702.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771163 2025-10-27T06:31:42.279Z,1761546702.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439604,0.887864,0.135816],[-0.895801,0.422366,0.138375],[0.065494,-0.182495,0.981023]] 2025-10-27T06:31:42.324Z,1761546702.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:42.328Z,1761546702.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 113.254318 m, bearing: 284.846452 deg, approach rate: -0.673385 m/s, LOS rate: -0.030199 deg/s, cmd heading: 295.993816 deg, new cmd heading: 295.958777 deg. 2025-10-27T06:31:42.329Z,1761546702.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.165455 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:42.448Z,1761546702.448 [DAT](INFO): DAT read: Rx Time:06:31:41.0270 2025-10-27T06:31:42.449Z,1761546702.449 [DAT](INFO): Rx dataTimestamp_ set to:1761546702.448360 2025-10-27T06:31:42.449Z,1761546702.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024042 2025-10-27T06:31:42.683Z,1761546702.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437318,0.888777,0.137215],[-0.896947,0.420017,0.138104],[0.065111,-0.183470,0.980867]] 2025-10-27T06:31:42.702Z,1761546702.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276336 2025-10-27T06:31:42.709Z,1761546702.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:42.713Z,1761546702.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.42 m. 2025-10-27T06:31:42.718Z,1761546702.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.419098 m, nav range: 113.021004 m, bearing: 284.836269 deg, approach rate: -0.600831 m/s, LOS rate: -0.026278 deg/s, cmd heading: 295.958763 deg, new cmd heading: 295.928150 deg. 2025-10-27T06:31:42.720Z,1761546702.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.164921 target range: 118.419098 and range: 119.20 m. 2025-10-27T06:31:42.962Z,1761546702.962 [DAT](INFO): DAT read: 06:31:41.0270 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.02, 1.040,-0.305, 1.651, 1.081, PHS= 0.061,-1.341, 0.526, RAW= 163.8, 9.0, CAL= 163.6, 9.5, ROT= 346.4, -9.5 2025-10-27T06:31:42.963Z,1761546702.963 [DAT](INFO): got valid direction response: 06:31:41.0270 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.02, 1.040,-0.305, 1.651, 1.081, PHS= 0.061,-1.341, 0.526, RAW= 163.8, 9.0, CAL= 163.6, 9.5, ROT= 346.4, -9.5 2025-10-27T06:31:42.964Z,1761546702.964 [DAT](INFO): DAT read: Bearing 100.0, -11.1 (Local) 2025-10-27T06:31:42.964Z,1761546702.964 [DAT](INFO): Local bearing/azimuth received: Bearing 100.0, -11.1 (Local) 2025-10-27T06:31:42.971Z,1761546702.971 [DAT](INFO): DAT read: Range 11 to 50 : 116.9 m (Round-trip 155.9 ms) speed 0.6 m/s 2025-10-27T06:31:42.972Z,1761546702.972 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:42.973Z,1761546702.973 [DAT](INFO): direction in FSK: [0.958631,-0.231918,0.165048] 2025-10-27T06:31:42.973Z,1761546702.973 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:42.986Z,1761546702.986 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:42.986Z,1761546702.986 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:42.986Z,1761546702.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:43.086Z,1761546703.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435106,0.889576,0.139061],[-0.898052,0.417676,0.138021],[0.064698,-0.184938,0.980618]] 2025-10-27T06:31:43.162Z,1761546703.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.900002 m, deltaT: 3.781533 s, deltaX: -2.299995 m, approachRate: -0.608218 m/s, rangeRepo size: 4 2025-10-27T06:31:43.164Z,1761546703.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 116.133766 m, bearing: 284.036393 deg, lat: 36.779534 deg, lon: -121.859794 deg, deltaT: 3.781533 s, deltaX: -2.285332 m, approachRate: -0.604340 m/s, posRepo size: 4 2025-10-27T06:31:43.165Z,1761546703.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:43.172Z,1761546703.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 112.348785 m, bearing: 284.876219 deg, approach rate: 0.000000 m/s, LOS rate: -0.026278 deg/s, cmd heading: 295.928164 deg, new cmd heading: 295.892794 deg. 2025-10-27T06:31:43.173Z,1761546703.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.164303 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:43.205Z,1761546703.205 [DAT](INFO): DAT read: user:791> 2025-10-27T06:31:43.206Z,1761546703.206 [DAT](INFO): DAT read: Tx time:06:31:42.2669 2025-10-27T06:31:43.207Z,1761546703.207 [DAT](INFO): Ping request sent. 2025-10-27T06:31:43.208Z,1761546703.208 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:43.208Z,1761546703.208 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:43.209Z,1761546703.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001923 2025-10-27T06:31:43.456Z,1761546703.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249194 2025-10-27T06:31:43.489Z,1761546703.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433389,0.890416,0.139042],[-0.898895,0.416057,0.137418],[0.064510,-0.184540,0.980706]] 2025-10-27T06:31:43.525Z,1761546703.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:43.532Z,1761546703.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 112.122993 m, bearing: 284.867765 deg, approach rate: -0.621229 m/s, LOS rate: -0.023307 deg/s, cmd heading: 295.892783 deg, new cmd heading: 295.867370 deg. 2025-10-27T06:31:43.533Z,1761546703.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163860 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:43.708Z,1761546703.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501533 2025-10-27T06:31:43.917Z,1761546703.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431702,0.891487,0.137417],[-0.899722,0.414718,0.136052],[0.064300,-0.182371,0.981125]] 2025-10-27T06:31:43.960Z,1761546703.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753139 2025-10-27T06:31:43.981Z,1761546703.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:43.983Z,1761546703.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 111.819931 m, bearing: 284.856673 deg, approach rate: -0.664991 m/s, LOS rate: -0.024405 deg/s, cmd heading: 295.867375 deg, new cmd heading: 295.834008 deg. 2025-10-27T06:31:43.984Z,1761546703.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.163278 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:44.213Z,1761546704.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006216 2025-10-27T06:31:44.298Z,1761546704.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431066,0.891876,0.136889],[-0.900033,0.414201,0.135568],[0.064211,-0.181644,0.981266]] 2025-10-27T06:31:44.345Z,1761546704.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:44.348Z,1761546704.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 111.582932 m, bearing: 284.846481 deg, approach rate: -0.650865 m/s, LOS rate: -0.028048 deg/s, cmd heading: 295.834016 deg, new cmd heading: 295.803377 deg. 2025-10-27T06:31:44.349Z,1761546704.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162743 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:44.464Z,1761546704.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257084 2025-10-27T06:31:44.713Z,1761546704.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430449,0.892379,0.135549],[-0.900345,0.413855,0.134546],[0.063968,-0.179956,0.981593]] 2025-10-27T06:31:44.717Z,1761546704.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510168 2025-10-27T06:31:44.743Z,1761546704.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:44.745Z,1761546704.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:44.764Z,1761546704.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 111.323761 m, bearing: 284.835389 deg, approach rate: -0.646846 m/s, LOS rate: -0.027747 deg/s, cmd heading: 295.803390 deg, new cmd heading: 295.770037 deg. 2025-10-27T06:31:44.765Z,1761546704.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.162161 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:44.973Z,1761546704.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765343 2025-10-27T06:31:45.127Z,1761546705.127 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000503105.0, +10.2,490.9, 0 2025-10-27T06:31:45.170Z,1761546705.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:45.173Z,1761546705.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 111.063477 m, bearing: 284.824198 deg, approach rate: -0.623009 m/s, LOS rate: -0.026851 deg/s, cmd heading: 295.770031 deg, new cmd heading: 295.736378 deg. 2025-10-27T06:31:45.174Z,1761546705.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.161573 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:45.221Z,1761546705.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014220 2025-10-27T06:31:45.472Z,1761546705.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265432 2025-10-27T06:31:45.525Z,1761546705.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431064,0.893181,0.128107],[-0.900112,0.415722,0.130284],[0.063111,-0.171472,0.983166]] 2025-10-27T06:31:45.543Z,1761546705.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:45.546Z,1761546705.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 110.802689 m, bearing: 284.812893 deg, approach rate: -0.686472 m/s, LOS rate: -0.029828 deg/s, cmd heading: 295.736372 deg, new cmd heading: 295.702377 deg. 2025-10-27T06:31:45.547Z,1761546705.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160980 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:45.726Z,1761546705.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518928 2025-10-27T06:31:45.979Z,1761546705.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771563 2025-10-27T06:31:46.007Z,1761546706.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431810,0.893591,0.122614],[-0.899768,0.417279,0.127653],[0.062906,-0.165446,0.984211]] 2025-10-27T06:31:46.061Z,1761546706.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:46.063Z,1761546706.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 110.494781 m, bearing: 284.799052 deg, approach rate: -0.594994 m/s, LOS rate: -0.026820 deg/s, cmd heading: 295.702385 deg, new cmd heading: 295.660748 deg. 2025-10-27T06:31:46.064Z,1761546706.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.160254 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:46.228Z,1761546706.228 [DAT](INFO): DAT read: Rx Time:06:31:44.8239 2025-10-27T06:31:46.229Z,1761546706.229 [DAT](INFO): Rx dataTimestamp_ set to:1761546706.228236 2025-10-27T06:31:46.229Z,1761546706.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022286 2025-10-27T06:31:46.390Z,1761546706.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432326,0.893792,0.119288],[-0.899546,0.418319,0.125804],[0.062542,-0.161693,0.984857]] 2025-10-27T06:31:46.425Z,1761546706.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.13 m. 2025-10-27T06:31:46.432Z,1761546706.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 116.133766 m, nav range: 110.287346 m, bearing: 284.789650 deg, approach rate: -0.569137 m/s, LOS rate: -0.025845 deg/s, cmd heading: 295.660748 deg, new cmd heading: 295.632489 deg. 2025-10-27T06:31:46.433Z,1761546706.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159760 target range: 116.133766 and range: 116.90 m. 2025-10-27T06:31:46.480Z,1761546706.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273290 2025-10-27T06:31:46.740Z,1761546706.740 [DAT](INFO): DAT read: 06:31:44.8239 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409, 0.05, 0.048,-1.323, 0.647, 0.012, PHS= 0.138,-1.291, 0.591, RAW= 163.3, 6.7, CAL= 162.7, 6.3, ROT= 347.3, -6.3 2025-10-27T06:31:46.741Z,1761546706.741 [DAT](INFO): got valid direction response: 06:31:44.8239 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409, 0.05, 0.048,-1.323, 0.647, 0.012, PHS= 0.138,-1.291, 0.591, RAW= 163.3, 6.7, CAL= 162.7, 6.3, ROT= 347.3, -6.3 2025-10-27T06:31:46.742Z,1761546706.742 [DAT](INFO): DAT read: Bearing 98.1, -9.9 (Local) 2025-10-27T06:31:46.742Z,1761546706.742 [DAT](INFO): Local bearing/azimuth received: Bearing 98.1, -9.9 (Local) 2025-10-27T06:31:46.744Z,1761546706.744 [DAT](INFO): DAT read: Range 11 to 50 : 114.6 m (Round-trip 152.8 ms) speed 0.4 m/s 2025-10-27T06:31:46.745Z,1761546706.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:46.746Z,1761546706.746 [DAT](INFO): direction in FSK: [0.969643,-0.218519,0.109734] 2025-10-27T06:31:46.746Z,1761546706.746 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:46.750Z,1761546706.750 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:46.750Z,1761546706.750 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:46.750Z,1761546706.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:46.843Z,1761546706.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432811,0.893881,0.116843],[-0.899368,0.419275,0.123880],[0.061744,-0.158701,0.985394]] 2025-10-27T06:31:46.896Z,1761546706.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.599998 m, deltaT: 3.778720 s, deltaX: -2.300003 m, approachRate: -0.608672 m/s, rangeRepo size: 4 2025-10-27T06:31:46.901Z,1761546706.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.848610 m, bearing: 284.015865 deg, lat: 36.779529 deg, lon: -121.859798 deg, deltaT: 3.778720 s, deltaX: -2.285156 m, approachRate: -0.604743 m/s, posRepo size: 4 2025-10-27T06:31:46.901Z,1761546706.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:46.904Z,1761546706.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 110.271759 m, bearing: 284.479580 deg, approach rate: 0.000000 m/s, LOS rate: -0.025845 deg/s, cmd heading: 295.632499 deg, new cmd heading: 295.596398 deg. 2025-10-27T06:31:46.905Z,1761546706.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.159131 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:46.987Z,1761546706.987 [DAT](INFO): DAT read: user:792> 2025-10-27T06:31:46.990Z,1761546706.990 [DAT](INFO): DAT read: Tx time:06:31:46.0669 2025-10-27T06:31:46.992Z,1761546706.992 [DAT](INFO): Ping request sent. 2025-10-27T06:31:46.992Z,1761546706.992 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:46.993Z,1761546706.993 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:46.995Z,1761546706.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003793 2025-10-27T06:31:47.236Z,1761546707.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245336 2025-10-27T06:31:47.276Z,1761546707.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:47.278Z,1761546707.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:47.281Z,1761546707.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 110.044449 m, bearing: 284.469782 deg, approach rate: -0.586345 m/s, LOS rate: -0.025325 deg/s, cmd heading: 295.596408 deg, new cmd heading: 295.566955 deg. 2025-10-27T06:31:47.282Z,1761546707.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.158617 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:47.488Z,1761546707.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497290 2025-10-27T06:31:47.627Z,1761546707.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433852,0.893755,0.113900],[-0.898978,0.420983,0.120879],[0.060086,-0.154838,0.986111]] 2025-10-27T06:31:47.649Z,1761546707.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:47.653Z,1761546707.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 109.840965 m, bearing: 284.460880 deg, approach rate: -0.548271 m/s, LOS rate: -0.024031 deg/s, cmd heading: 295.566956 deg, new cmd heading: 295.540200 deg. 2025-10-27T06:31:47.654Z,1761546707.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.158150 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:47.741Z,1761546707.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750249 2025-10-27T06:31:47.995Z,1761546707.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003679 2025-10-27T06:31:48.032Z,1761546708.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434735,0.893377,0.113504],[-0.898619,0.422071,0.119749],[0.059074,-0.154056,0.986295]] 2025-10-27T06:31:48.079Z,1761546708.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:48.082Z,1761546708.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 109.604050 m, bearing: 284.450523 deg, approach rate: -0.552136 m/s, LOS rate: -0.024190 deg/s, cmd heading: 295.540209 deg, new cmd heading: 295.509070 deg. 2025-10-27T06:31:48.083Z,1761546708.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157606 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:48.244Z,1761546708.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253204 2025-10-27T06:31:48.434Z,1761546708.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435712,0.892663,0.115362],[-0.898236,0.423016,0.119288],[0.057684,-0.155598,0.986135]] 2025-10-27T06:31:48.452Z,1761546708.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:48.455Z,1761546708.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 109.399452 m, bearing: 284.441420 deg, approach rate: -0.547397 m/s, LOS rate: -0.024400 deg/s, cmd heading: 295.509063 deg, new cmd heading: 295.481704 deg. 2025-10-27T06:31:48.456Z,1761546708.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.157129 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:48.499Z,1761546708.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508584 2025-10-27T06:31:48.748Z,1761546708.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757294 2025-10-27T06:31:48.871Z,1761546708.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:48.874Z,1761546708.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 109.170288 m, bearing: 284.431183 deg, approach rate: -0.547404 m/s, LOS rate: -0.024504 deg/s, cmd heading: 295.481715 deg, new cmd heading: 295.450940 deg. 2025-10-27T06:31:48.875Z,1761546708.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156592 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:49.003Z,1761546709.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011470 2025-10-27T06:31:49.242Z,1761546709.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436843,0.891747,0.118134],[-0.897829,0.424145,0.118341],[0.055424,-0.157760,0.985921]] 2025-10-27T06:31:49.252Z,1761546709.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261282 2025-10-27T06:31:49.289Z,1761546709.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:49.292Z,1761546709.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:49.294Z,1761546709.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 108.957314 m, bearing: 284.422350 deg, approach rate: -0.506415 m/s, LOS rate: -0.021044 deg/s, cmd heading: 295.450952 deg, new cmd heading: 295.424402 deg. 2025-10-27T06:31:49.296Z,1761546709.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.156128 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:49.505Z,1761546709.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514431 2025-10-27T06:31:49.684Z,1761546709.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:49.691Z,1761546709.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 108.757607 m, bearing: 284.414037 deg, approach rate: -0.508555 m/s, LOS rate: -0.021210 deg/s, cmd heading: 295.424396 deg, new cmd heading: 295.399409 deg. 2025-10-27T06:31:49.694Z,1761546709.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155692 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:49.756Z,1761546709.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765316 2025-10-27T06:31:50.011Z,1761546710.011 [DAT](INFO): DAT read: Rx Time:06:31:48.6213 2025-10-27T06:31:50.012Z,1761546710.012 [DAT](INFO): Rx dataTimestamp_ set to:1761546710.011491 2025-10-27T06:31:50.014Z,1761546710.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023259 2025-10-27T06:31:50.075Z,1761546710.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437532,0.890717,0.123245],[-0.897686,0.424712,0.117387],[0.052215,-0.161996,0.985409]] 2025-10-27T06:31:50.112Z,1761546710.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.85 m. 2025-10-27T06:31:50.114Z,1761546710.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.848610 m, nav range: 108.537041 m, bearing: 284.406267 deg, approach rate: -0.515742 m/s, LOS rate: -0.018205 deg/s, cmd heading: 295.399398 deg, new cmd heading: 295.376041 deg. 2025-10-27T06:31:50.116Z,1761546710.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.155284 target range: 113.848610 and range: 114.60 m. 2025-10-27T06:31:50.260Z,1761546710.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269311 2025-10-27T06:31:50.502Z,1761546710.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437491,0.890444,0.125345],[-0.897787,0.424654,0.116823],[0.050796,-0.163643,0.985211]] 2025-10-27T06:31:50.517Z,1761546710.517 [DAT](INFO): DAT read: 06:31:48.6213 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 415, 0.40,-2.501, 2.405,-1.888,-2.519, PHS= 0.120,-1.314, 0.587, RAW= 163.6, 7.1, CAL= 163.1, 7.0, ROT= 346.9, -7.0 2025-10-27T06:31:50.518Z,1761546710.518 [DAT](INFO): got valid direction response: 06:31:48.6213 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 415, 0.40,-2.501, 2.405,-1.888,-2.519, PHS= 0.120,-1.314, 0.587, RAW= 163.6, 7.1, CAL= 163.1, 7.0, ROT= 346.9, -7.0 2025-10-27T06:31:50.520Z,1761546710.520 [DAT](INFO): DAT read: Bearing 98.9, -10.7 (Local) 2025-10-27T06:31:50.520Z,1761546710.520 [DAT](INFO): Local bearing/azimuth received: Bearing 98.9, -10.7 (Local) 2025-10-27T06:31:50.521Z,1761546710.521 [DAT](INFO): DAT read: Range 11 to 50 : 112.6 m (Round-trip 150.2 ms) speed 0.2 m/s 2025-10-27T06:31:50.522Z,1761546710.522 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:50.523Z,1761546710.523 [DAT](INFO): direction in FSK: [0.966716,-0.224962,0.121869] 2025-10-27T06:31:50.523Z,1761546710.523 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:50.526Z,1761546710.526 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:50.526Z,1761546710.526 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:50.527Z,1761546710.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:50.560Z,1761546710.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 112.599998 m, deltaT: 3.779750 s, deltaX: -2.000000 m, approachRate: -0.529136 m/s, rangeRepo size: 4 2025-10-27T06:31:50.562Z,1761546710.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.862206 m, bearing: 284.069737 deg, lat: 36.779526 deg, lon: -121.859798 deg, deltaT: 3.779750 s, deltaX: -1.986404 m, approachRate: -0.525539 m/s, posRepo size: 4 2025-10-27T06:31:50.571Z,1761546710.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:50.589Z,1761546710.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 108.236641 m, bearing: 284.232889 deg, approach rate: 0.000000 m/s, LOS rate: -0.018205 deg/s, cmd heading: 295.376039 deg, new cmd heading: 295.351574 deg. 2025-10-27T06:31:50.590Z,1761546710.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154858 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:50.764Z,1761546710.764 [DAT](INFO): DAT read: user:793> 2025-10-27T06:31:50.765Z,1761546710.765 [DAT](INFO): DAT read: Tx time:06:31:49.8169 2025-10-27T06:31:50.765Z,1761546710.765 [DAT](INFO): Ping request sent. 2025-10-27T06:31:50.765Z,1761546710.765 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:50.765Z,1761546710.765 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:50.766Z,1761546710.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767 2025-10-27T06:31:50.858Z,1761546710.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437638,0.890088,0.127341],[-0.897794,0.424794,0.116258],[0.049386,-0.165205,0.985022]] 2025-10-27T06:31:50.900Z,1761546710.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:50.903Z,1761546710.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 108.050758 m, bearing: 284.225978 deg, approach rate: -0.545914 m/s, LOS rate: -0.020331 deg/s, cmd heading: 295.351587 deg, new cmd heading: 295.330819 deg. 2025-10-27T06:31:50.904Z,1761546710.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154495 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:51.018Z,1761546711.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252954 2025-10-27T06:31:51.262Z,1761546711.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437225,0.890017,0.129245],[-0.898067,0.424390,0.115622],[0.048055,-0.166623,0.984849]] 2025-10-27T06:31:51.268Z,1761546711.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502746 2025-10-27T06:31:51.310Z,1761546711.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:51.312Z,1761546711.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:51.316Z,1761546711.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 107.829674 m, bearing: 284.218828 deg, approach rate: -0.536855 m/s, LOS rate: -0.017398 deg/s, cmd heading: 295.330823 deg, new cmd heading: 295.309328 deg. 2025-10-27T06:31:51.317Z,1761546711.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.154120 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:51.520Z,1761546711.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754666 2025-10-27T06:31:51.717Z,1761546711.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:51.722Z,1761546711.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 107.615417 m, bearing: 284.211871 deg, approach rate: -0.528790 m/s, LOS rate: -0.017205 deg/s, cmd heading: 295.309321 deg, new cmd heading: 295.288408 deg. 2025-10-27T06:31:51.739Z,1761546711.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153755 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:51.772Z,1761546711.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007076 2025-10-27T06:31:52.027Z,1761546712.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261241 2025-10-27T06:31:52.091Z,1761546712.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436874,0.889753,0.132211],[-0.898364,0.424117,0.114309],[0.045634,-0.168712,0.984608]] 2025-10-27T06:31:52.149Z,1761546712.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:52.156Z,1761546712.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 107.375931 m, bearing: 284.202084 deg, approach rate: -0.554489 m/s, LOS rate: -0.022710 deg/s, cmd heading: 295.288421 deg, new cmd heading: 295.258995 deg. 2025-10-27T06:31:52.157Z,1761546712.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.153242 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:52.277Z,1761546712.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511817 2025-10-27T06:31:52.507Z,1761546712.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436348,0.889916,0.132856],[-0.898669,0.423702,0.113451],[0.044670,-0.168897,0.984621]] 2025-10-27T06:31:52.526Z,1761546712.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:52.528Z,1761546712.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762889 2025-10-27T06:31:52.531Z,1761546712.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 107.148125 m, bearing: 284.192807 deg, approach rate: -0.604525 m/s, LOS rate: -0.024670 deg/s, cmd heading: 295.258996 deg, new cmd heading: 295.231106 deg. 2025-10-27T06:31:52.532Z,1761546712.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152755 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:52.782Z,1761546712.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016819 2025-10-27T06:31:52.905Z,1761546712.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435845,0.890182,0.132721],[-0.898957,0.423399,0.112295],[0.043769,-0.168254,0.984771]] 2025-10-27T06:31:52.924Z,1761546712.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:52.927Z,1761546712.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 106.920120 m, bearing: 284.183554 deg, approach rate: -0.572896 m/s, LOS rate: -0.023298 deg/s, cmd heading: 295.231102 deg, new cmd heading: 295.203285 deg. 2025-10-27T06:31:52.928Z,1761546712.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.152269 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:53.033Z,1761546713.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267105 2025-10-27T06:31:53.284Z,1761546713.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518737 2025-10-27T06:31:53.310Z,1761546713.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435032,0.890690,0.131976],[-0.899379,0.422811,0.111119],[0.043171,-0.167037,0.985005]] 2025-10-27T06:31:53.358Z,1761546713.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:53.360Z,1761546713.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:53.363Z,1761546713.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 106.657715 m, bearing: 284.173616 deg, approach rate: -0.601592 m/s, LOS rate: -0.022841 deg/s, cmd heading: 295.203289 deg, new cmd heading: 295.173401 deg. 2025-10-27T06:31:53.364Z,1761546713.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151748 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:53.536Z,1761546713.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770761 2025-10-27T06:31:53.740Z,1761546713.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433469,0.891546,0.131342],[-0.900136,0.421374,0.110449],[0.043126,-0.166102,0.985165]] 2025-10-27T06:31:53.759Z,1761546713.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.86 m. 2025-10-27T06:31:53.762Z,1761546713.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.862206 m, nav range: 106.417107 m, bearing: 284.164690 deg, approach rate: -0.603376 m/s, LOS rate: -0.022434 deg/s, cmd heading: 295.173401 deg, new cmd heading: 295.146562 deg. 2025-10-27T06:31:53.763Z,1761546713.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.151279 target range: 111.862206 and range: 112.60 m. 2025-10-27T06:31:53.788Z,1761546713.788 [DAT](INFO): DAT read: Rx Time:06:31:52.3683 2025-10-27T06:31:53.789Z,1761546713.789 [DAT](INFO): Rx dataTimestamp_ set to:1761546713.788247 2025-10-27T06:31:53.789Z,1761546713.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023893 2025-10-27T06:31:54.041Z,1761546714.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275897 2025-10-27T06:31:54.122Z,1761546714.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432195,0.892263,0.130668],[-0.900757,0.420247,0.109678],[0.042948,-0.165103,0.985341]] 2025-10-27T06:31:54.297Z,1761546714.297 [DAT](INFO): DAT read: 06:31:52.3683 LVL= 32752, 32753, 30706, 32755, AGC= 67, IDX= 416,-0.04,-2.316, 2.567,-1.688,-2.349, PHS= 0.134,-1.323, 0.617, RAW= 163.8, 6.6, CAL= 163.2, 6.2, ROT= 346.8, -6.2 2025-10-27T06:31:54.298Z,1761546714.298 [DAT](INFO): got valid direction response: 06:31:52.3683 LVL= 32752, 32753, 30706, 32755, AGC= 67, IDX= 416,-0.04,-2.316, 2.567,-1.688,-2.349, PHS= 0.134,-1.323, 0.617, RAW= 163.8, 6.6, CAL= 163.2, 6.2, ROT= 346.8, -6.2 2025-10-27T06:31:54.299Z,1761546714.299 [DAT](INFO): DAT read: Bearing 98.8, -11.3 (Local) 2025-10-27T06:31:54.300Z,1761546714.300 [DAT](INFO): Local bearing/azimuth received: Bearing 98.8, -11.3 (Local) 2025-10-27T06:31:54.301Z,1761546714.301 [DAT](INFO): DAT read: Range 11 to 50 : 110.4 m (Round-trip 147.2 ms) speed 0.8 m/s 2025-10-27T06:31:54.302Z,1761546714.302 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:54.303Z,1761546714.303 [DAT](INFO): direction in FSK: [0.967884,-0.227015,0.107999] 2025-10-27T06:31:54.303Z,1761546714.303 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:54.306Z,1761546714.306 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:54.306Z,1761546714.306 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:54.307Z,1761546714.307 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:54.356Z,1761546714.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 110.400002 m, deltaT: 3.779863 s, deltaX: -2.199997 m, approachRate: -0.582031 m/s, rangeRepo size: 4 2025-10-27T06:31:54.358Z,1761546714.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.675743 m, bearing: 283.528433 deg, lat: 36.779524 deg, lon: -121.859812 deg, deltaT: 3.779863 s, deltaX: -2.186462 m, approachRate: -0.578450 m/s, posRepo size: 4 2025-10-27T06:31:54.359Z,1761546714.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:54.374Z,1761546714.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 107.253143 m, bearing: 283.854528 deg, approach rate: 0.000000 m/s, LOS rate: -0.022434 deg/s, cmd heading: 295.146572 deg, new cmd heading: 295.107269 deg. 2025-10-27T06:31:54.374Z,1761546714.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.150593 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:54.544Z,1761546714.544 [DAT](INFO): DAT read: user:794> 2025-10-27T06:31:54.545Z,1761546714.545 [DAT](INFO): DAT read: Tx time:06:31:53.6169 2025-10-27T06:31:54.545Z,1761546714.545 [DAT](INFO): Ping request sent. 2025-10-27T06:31:54.545Z,1761546714.545 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:54.546Z,1761546714.546 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:54.546Z,1761546714.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-27T06:31:54.753Z,1761546714.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428733,0.893973,0.130381],[-0.902405,0.416886,0.108956],[0.043050,-0.164370,0.985459]] 2025-10-27T06:31:54.787Z,1761546714.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:54.790Z,1761546714.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 106.943329 m, bearing: 283.838650 deg, approach rate: -0.698161 m/s, LOS rate: -0.035883 deg/s, cmd heading: 295.107257 deg, new cmd heading: 295.059486 deg. 2025-10-27T06:31:54.790Z,1761546714.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.149759 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:54.796Z,1761546714.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250651 2025-10-27T06:31:55.048Z,1761546715.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503055 2025-10-27T06:31:55.149Z,1761546715.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426714,0.895065,0.129509],[-0.903349,0.414975,0.108429],[0.043309,-0.163260,0.985632]] 2025-10-27T06:31:55.237Z,1761546715.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:55.240Z,1761546715.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 106.663002 m, bearing: 283.823672 deg, approach rate: -0.623106 m/s, LOS rate: -0.033380 deg/s, cmd heading: 295.059473 deg, new cmd heading: 295.014421 deg. 2025-10-27T06:31:55.241Z,1761546715.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.148973 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:55.305Z,1761546715.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759872 2025-10-27T06:31:55.523Z,1761546715.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424912,0.895890,0.129736],[-0.904196,0.413178,0.108229],[0.043357,-0.163295,0.985624]] 2025-10-27T06:31:55.556Z,1761546715.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010643 2025-10-27T06:31:55.557Z,1761546715.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:55.559Z,1761546715.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:55.562Z,1761546715.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 106.467247 m, bearing: 283.813378 deg, approach rate: -0.606926 m/s, LOS rate: -0.031976 deg/s, cmd heading: 295.014421 deg, new cmd heading: 294.983481 deg. 2025-10-27T06:31:55.563Z,1761546715.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.148433 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:55.812Z,1761546715.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266260 2025-10-27T06:31:55.926Z,1761546715.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422771,0.896828,0.130249],[-0.905192,0.411001,0.108192],[0.043497,-0.163640,0.985561]] 2025-10-27T06:31:55.980Z,1761546715.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:55.983Z,1761546715.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 106.201302 m, bearing: 283.799671 deg, approach rate: -0.633347 m/s, LOS rate: -0.032723 deg/s, cmd heading: 294.983494 deg, new cmd heading: 294.942272 deg. 2025-10-27T06:31:55.984Z,1761546715.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147714 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:56.062Z,1761546716.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516565 2025-10-27T06:31:56.312Z,1761546716.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766604 2025-10-27T06:31:56.337Z,1761546716.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421075,0.897642,0.130130],[-0.905984,0.409369,0.107746],[0.043447,-0.163265,0.985625]] 2025-10-27T06:31:56.373Z,1761546716.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:56.392Z,1761546716.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 105.953476 m, bearing: 283.788908 deg, approach rate: -0.629221 m/s, LOS rate: -0.027391 deg/s, cmd heading: 294.942267 deg, new cmd heading: 294.909902 deg. 2025-10-27T06:31:56.393Z,1761546716.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.147149 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:56.564Z,1761546716.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018448 2025-10-27T06:31:56.741Z,1761546716.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419694,0.898266,0.130287],[-0.906646,0.408079,0.107073],[0.043012,-0.163062,0.985678]] 2025-10-27T06:31:56.779Z,1761546716.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:56.782Z,1761546716.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 105.719696 m, bearing: 283.778905 deg, approach rate: -0.581107 m/s, LOS rate: -0.024919 deg/s, cmd heading: 294.909892 deg, new cmd heading: 294.879817 deg. 2025-10-27T06:31:56.787Z,1761546716.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.146624 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:56.816Z,1761546716.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270626 2025-10-27T06:31:57.068Z,1761546717.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522583 2025-10-27T06:31:57.255Z,1761546717.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:57.258Z,1761546717.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 105.437668 m, bearing: 283.768646 deg, approach rate: -0.608198 m/s, LOS rate: -0.022183 deg/s, cmd heading: 294.879812 deg, new cmd heading: 294.848952 deg. 2025-10-27T06:31:57.263Z,1761546717.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.146085 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:57.320Z,1761546717.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774573 2025-10-27T06:31:57.572Z,1761546717.572 [DAT](INFO): DAT read: Rx Time:06:31:56.1648 2025-10-27T06:31:57.573Z,1761546717.573 [DAT](INFO): Rx dataTimestamp_ set to:1761546717.572231 2025-10-27T06:31:57.573Z,1761546717.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027654 2025-10-27T06:31:57.607Z,1761546717.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:57.609Z,1761546717.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:57.612Z,1761546717.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 105.229164 m, bearing: 283.761026 deg, approach rate: -0.562751 m/s, LOS rate: -0.020607 deg/s, cmd heading: 294.848939 deg, new cmd heading: 294.826034 deg. 2025-10-27T06:31:57.613Z,1761546717.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.145685 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:57.824Z,1761546717.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278784 2025-10-27T06:31:57.981Z,1761546717.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.68 m. 2025-10-27T06:31:57.984Z,1761546717.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.675743 m, nav range: 104.995323 m, bearing: 283.752444 deg, approach rate: -0.629546 m/s, LOS rate: -0.023156 deg/s, cmd heading: 294.826044 deg, new cmd heading: 294.800241 deg. 2025-10-27T06:31:57.985Z,1761546717.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.145235 target range: 109.675743 and range: 110.40 m. 2025-10-27T06:31:58.082Z,1761546718.082 [DAT](INFO): DAT read: 06:31:56.1648 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.50,-1.071,-2.409,-0.482,-1.036, PHS= 0.068,-1.327, 0.510, RAW= 163.3, 9.1, CAL= 163.1, 9.6, ROT= 346.9, -9.6 2025-10-27T06:31:58.083Z,1761546718.083 [DAT](INFO): got valid direction response: 06:31:56.1648 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413,-0.50,-1.071,-2.409,-0.482,-1.036, PHS= 0.068,-1.327, 0.510, RAW= 163.3, 9.1, CAL= 163.1, 9.6, ROT= 346.9, -9.6 2025-10-27T06:31:58.085Z,1761546718.085 [DAT](INFO): DAT read: Bearing 102.1, -12.1 (Local) 2025-10-27T06:31:58.086Z,1761546718.086 [DAT](INFO): Local bearing/azimuth received: Bearing 102.1, -12.1 (Local) 2025-10-27T06:31:58.090Z,1761546718.090 [DAT](INFO): DAT read: Range 11 to 50 : 107.7 m (Round-trip 143.7 ms) speed 0.2 m/s 2025-10-27T06:31:58.091Z,1761546718.091 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:31:58.092Z,1761546718.092 [DAT](INFO): direction in FSK: [0.960336,-0.223478,0.166769] 2025-10-27T06:31:58.092Z,1761546718.092 [DAT](INFO): publishing direction and range info 2025-10-27T06:31:58.096Z,1761546718.096 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:31:58.096Z,1761546718.096 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:31:58.096Z,1761546718.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:31:58.328Z,1761546718.328 [DAT](INFO): DAT read: user:795> 2025-10-27T06:31:58.329Z,1761546718.329 [DAT](INFO): DAT read: Tx time:06:31:57.4169 2025-10-27T06:31:58.329Z,1761546718.329 [DAT](INFO): Ping request sent. 2025-10-27T06:31:58.329Z,1761546718.329 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:31:58.329Z,1761546718.329 [DAT](INFO): publishing transmit ping time 2025-10-27T06:31:58.330Z,1761546718.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T06:31:58.487Z,1761546718.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.699997 m, deltaT: 3.784232 s, deltaX: -2.700005 m, approachRate: -0.713488 m/s, rangeRepo size: 4 2025-10-27T06:31:58.489Z,1761546718.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.993942 m, bearing: 283.350269 deg, lat: 36.779520 deg, lon: -121.859812 deg, deltaT: 3.784232 s, deltaX: -2.681801 m, approachRate: -0.708678 m/s, posRepo size: 4 2025-10-27T06:31:58.490Z,1761546718.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.99 m. 2025-10-27T06:31:58.493Z,1761546718.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.993942 m, nav range: 104.598984 m, bearing: 283.488278 deg, approach rate: 0.000000 m/s, LOS rate: -0.023156 deg/s, cmd heading: 294.800254 deg, new cmd heading: 294.765128 deg. 2025-10-27T06:31:58.494Z,1761546718.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144622 target range: 106.993942 and range: 107.70 m. 2025-10-27T06:31:58.585Z,1761546718.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255435 2025-10-27T06:31:58.832Z,1761546718.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502957 2025-10-27T06:31:58.874Z,1761546718.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415064,0.899976,0.133288],[-0.909026,0.404227,0.101353],[0.037336,-0.163230,0.985881]] 2025-10-27T06:31:58.892Z,1761546718.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.99 m. 2025-10-27T06:31:58.896Z,1761546718.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.993942 m, nav range: 104.365570 m, bearing: 283.477166 deg, approach rate: -0.575212 m/s, LOS rate: -0.027445 deg/s, cmd heading: 294.765119 deg, new cmd heading: 294.731709 deg. 2025-10-27T06:31:58.896Z,1761546718.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.144039 target range: 106.993942 and range: 107.70 m. 2025-10-27T06:31:59.084Z,1761546719.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754964 2025-10-27T06:31:59.308Z,1761546719.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414940,0.899968,0.133720],[-0.909148,0.404352,0.099747],[0.035699,-0.162960,0.985987]] 2025-10-27T06:31:59.336Z,1761546719.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007501 2025-10-27T06:31:59.362Z,1761546719.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.99 m. 2025-10-27T06:31:59.365Z,1761546719.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.993942 m, nav range: 104.120949 m, bearing: 283.470536 deg, approach rate: -0.520783 m/s, LOS rate: -0.014148 deg/s, cmd heading: 294.731706 deg, new cmd heading: 294.711769 deg. 2025-10-27T06:31:59.366Z,1761546719.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143691 target range: 106.993942 and range: 107.70 m. 2025-10-27T06:31:59.588Z,1761546719.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258892 2025-10-27T06:31:59.717Z,1761546719.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415102,0.899790,0.134422],[-0.909144,0.404760,0.098114],[0.033874,-0.162937,0.986055]] 2025-10-27T06:31:59.745Z,1761546719.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:31:59.747Z,1761546719.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.99 m. 2025-10-27T06:31:59.750Z,1761546719.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.993942 m, nav range: 103.923767 m, bearing: 283.465150 deg, approach rate: -0.512612 m/s, LOS rate: -0.014030 deg/s, cmd heading: 294.711762 deg, new cmd heading: 294.695572 deg. 2025-10-27T06:31:59.751Z,1761546719.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143408 target range: 106.993942 and range: 107.70 m. 2025-10-27T06:31:59.842Z,1761546719.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512790 2025-10-27T06:32:00.092Z,1761546720.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762945 2025-10-27T06:32:00.119Z,1761546720.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415589,0.899531,0.134650],[-0.909004,0.405618,0.095848],[0.031602,-0.162230,0.986247]] 2025-10-27T06:32:00.182Z,1761546720.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.99 m. 2025-10-27T06:32:00.203Z,1761546720.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.993942 m, nav range: 103.716606 m, bearing: 283.459414 deg, approach rate: -0.502964 m/s, LOS rate: -0.013954 deg/s, cmd heading: 294.695560 deg, new cmd heading: 294.678318 deg. 2025-10-27T06:32:00.204Z,1761546720.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.143107 target range: 106.993942 and range: 107.70 m. 2025-10-27T06:32:00.344Z,1761546720.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982 2025-10-27T06:32:00.567Z,1761546720.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.99 m. 2025-10-27T06:32:00.570Z,1761546720.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.993942 m, nav range: 103.514359 m, bearing: 283.455761 deg, approach rate: -0.494925 m/s, LOS rate: -0.008956 deg/s, cmd heading: 294.678321 deg, new cmd heading: 294.667342 deg. 2025-10-27T06:32:00.572Z,1761546720.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142915 target range: 106.993942 and range: 107.70 m. 2025-10-27T06:32:00.597Z,1761546720.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267735 2025-10-27T06:32:00.848Z,1761546720.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518922 2025-10-27T06:32:00.951Z,1761546720.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.99 m. 2025-10-27T06:32:00.954Z,1761546720.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.993942 m, nav range: 103.333466 m, bearing: 283.452482 deg, approach rate: -0.471339 m/s, LOS rate: -0.008560 deg/s, cmd heading: 294.667338 deg, new cmd heading: 294.657483 deg. 2025-10-27T06:32:00.955Z,1761546720.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142743 target range: 106.993942 and range: 107.70 m. 2025-10-27T06:32:01.100Z,1761546721.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770872 2025-10-27T06:32:01.322Z,1761546721.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418492,0.898456,0.132822],[-0.907928,0.410144,0.086309],[0.023069,-0.156712,0.987375]] 2025-10-27T06:32:01.352Z,1761546721.352 [DAT](INFO): DAT read: Rx Time:06:31:59.9626 2025-10-27T06:32:01.353Z,1761546721.353 [DAT](INFO): Rx dataTimestamp_ set to:1761546721.352236 2025-10-27T06:32:01.353Z,1761546721.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024086 2025-10-27T06:32:01.381Z,1761546721.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.99 m. 2025-10-27T06:32:01.394Z,1761546721.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.993942 m, nav range: 103.141533 m, bearing: 283.447902 deg, approach rate: -0.445997 m/s, LOS rate: -0.010662 deg/s, cmd heading: 294.657475 deg, new cmd heading: 294.643710 deg. 2025-10-27T06:32:01.399Z,1761546721.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142503 target range: 106.993942 and range: 107.70 m. 2025-10-27T06:32:01.605Z,1761546721.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276140 2025-10-27T06:32:01.818Z,1761546721.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420331,0.897395,0.134181],[-0.907186,0.412639,0.082112],[0.018319,-0.156241,0.987549]] 2025-10-27T06:32:01.861Z,1761546721.861 [DAT](INFO): DAT read: 06:31:59.9626 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 422,-0.21,-0.481,-1.884, 0.107,-0.488, PHS= 0.110,-1.351, 0.551, RAW= 162.8, 8.1, CAL= 162.4, 8.2, ROT= 347.6, -8.2 2025-10-27T06:32:01.862Z,1761546721.862 [DAT](INFO): got valid direction response: 06:31:59.9626 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 422,-0.21,-0.481,-1.884, 0.107,-0.488, PHS= 0.110,-1.351, 0.551, RAW= 162.8, 8.1, CAL= 162.4, 8.2, ROT= 347.6, -8.2 2025-10-27T06:32:01.864Z,1761546721.864 [DAT](INFO): DAT read: Bearing 101.6, -12.3 (Local) 2025-10-27T06:32:01.864Z,1761546721.864 [DAT](INFO): Local bearing/azimuth received: Bearing 101.6, -12.3 (Local) 2025-10-27T06:32:01.865Z,1761546721.865 [DAT](INFO): DAT read: Range 11 to 50 : 106.2 m (Round-trip 141.6 ms) speed 0.3 m/s 2025-10-27T06:32:01.866Z,1761546721.866 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:01.867Z,1761546721.867 [DAT](INFO): direction in FSK: [0.966687,-0.212540,0.142629] 2025-10-27T06:32:01.867Z,1761546721.867 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:01.871Z,1761546721.871 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:01.871Z,1761546721.871 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:01.871Z,1761546721.871 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:01.908Z,1761546721.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.199997 m, deltaT: 3.779894 s, deltaX: -1.500000 m, approachRate: -0.396837 m/s, rangeRepo size: 4 2025-10-27T06:32:01.910Z,1761546721.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.502907 m, bearing: 283.837726 deg, lat: 36.779524 deg, lon: -121.859814 deg, deltaT: 3.779894 s, deltaX: -1.491035 m, approachRate: -0.394465 m/s, posRepo size: 4 2025-10-27T06:32:01.919Z,1761546721.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:01.921Z,1761546721.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 103.133179 m, bearing: 283.679047 deg, approach rate: 0.000000 m/s, LOS rate: -0.010662 deg/s, cmd heading: 294.643706 deg, new cmd heading: 294.627144 deg. 2025-10-27T06:32:01.922Z,1761546721.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142214 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:02.108Z,1761546722.108 [DAT](INFO): DAT read: user:796> 2025-10-27T06:32:02.109Z,1761546722.109 [DAT](INFO): DAT read: Tx time:06:32:01.1669 2025-10-27T06:32:02.109Z,1761546722.109 [DAT](INFO): Ping request sent. 2025-10-27T06:32:02.109Z,1761546722.109 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:02.109Z,1761546722.109 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:02.110Z,1761546722.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-27T06:32:02.250Z,1761546722.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421427,0.896603,0.136025],[-0.906726,0.413995,0.080349],[0.015728,-0.157199,0.987442]] 2025-10-27T06:32:02.309Z,1761546722.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:02.311Z,1761546722.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:02.314Z,1761546722.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 102.933998 m, bearing: 283.675474 deg, approach rate: -0.483538 m/s, LOS rate: -0.008689 deg/s, cmd heading: 294.627149 deg, new cmd heading: 294.616411 deg. 2025-10-27T06:32:02.316Z,1761546722.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.142026 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:02.360Z,1761546722.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250789 2025-10-27T06:32:02.612Z,1761546722.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503007 2025-10-27T06:32:02.650Z,1761546722.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422221,0.895995,0.137558],[-0.906396,0.415066,0.078527],[0.013264,-0.157838,0.987376]] 2025-10-27T06:32:02.688Z,1761546722.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:02.698Z,1761546722.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 102.753342 m, bearing: 283.672130 deg, approach rate: -0.479270 m/s, LOS rate: -0.008889 deg/s, cmd heading: 294.616412 deg, new cmd heading: 294.606361 deg. 2025-10-27T06:32:02.699Z,1761546722.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141851 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:02.864Z,1761546722.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754544 2025-10-27T06:32:03.056Z,1761546723.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423084,0.895518,0.138012],[-0.906025,0.416289,0.076304],[0.010879,-0.157325,0.987487]] 2025-10-27T06:32:03.075Z,1761546723.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:03.078Z,1761546723.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 102.556320 m, bearing: 283.668366 deg, approach rate: -0.509065 m/s, LOS rate: -0.009745 deg/s, cmd heading: 294.606358 deg, new cmd heading: 294.595044 deg. 2025-10-27T06:32:03.079Z,1761546723.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141654 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:03.117Z,1761546723.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007371 2025-10-27T06:32:03.368Z,1761546723.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258483 2025-10-27T06:32:03.458Z,1761546723.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423603,0.895128,0.138948],[-0.905807,0.417112,0.074372],[0.008616,-0.157364,0.987503]] 2025-10-27T06:32:03.509Z,1761546723.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:03.512Z,1761546723.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 102.336861 m, bearing: 283.665678 deg, approach rate: -0.505738 m/s, LOS rate: -0.006206 deg/s, cmd heading: 294.595047 deg, new cmd heading: 294.586968 deg. 2025-10-27T06:32:03.513Z,1761546723.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141512 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:03.620Z,1761546723.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510960 2025-10-27T06:32:03.862Z,1761546723.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423823,0.894796,0.140405],[-0.905722,0.417596,0.072666],[0.006389,-0.157966,0.987424]] 2025-10-27T06:32:03.872Z,1761546723.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762720 2025-10-27T06:32:03.882Z,1761546723.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:03.885Z,1761546723.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 102.147408 m, bearing: 283.663320 deg, approach rate: -0.507615 m/s, LOS rate: -0.006331 deg/s, cmd heading: 294.586960 deg, new cmd heading: 294.579872 deg. 2025-10-27T06:32:03.886Z,1761546723.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141389 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:04.124Z,1761546724.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014970 2025-10-27T06:32:04.273Z,1761546724.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423494,0.894630,0.142442],[-0.905887,0.417429,0.071564],[0.004564,-0.159343,0.987213]] 2025-10-27T06:32:04.327Z,1761546724.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:04.330Z,1761546724.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:04.349Z,1761546724.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 101.896477 m, bearing: 283.658879 deg, approach rate: -0.560912 m/s, LOS rate: -0.009952 deg/s, cmd heading: 294.579884 deg, new cmd heading: 294.566528 deg. 2025-10-27T06:32:04.349Z,1761546724.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.141156 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:04.376Z,1761546724.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266623 2025-10-27T06:32:04.628Z,1761546724.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518602 2025-10-27T06:32:04.680Z,1761546724.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423075,0.894446,0.144821],[-0.906090,0.417148,0.070620],[0.002754,-0.161098,0.986935]] 2025-10-27T06:32:04.743Z,1761546724.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:04.746Z,1761546724.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 101.669670 m, bearing: 283.654900 deg, approach rate: -0.548398 m/s, LOS rate: -0.009641 deg/s, cmd heading: 294.566525 deg, new cmd heading: 294.554563 deg. 2025-10-27T06:32:04.775Z,1761546724.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140947 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:04.880Z,1761546724.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770562 2025-10-27T06:32:05.075Z,1761546725.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422404,0.894593,0.145873],[-0.906407,0.416694,0.069225],[0.001144,-0.161461,0.986878]] 2025-10-27T06:32:05.094Z,1761546725.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:05.097Z,1761546725.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 101.467117 m, bearing: 283.651416 deg, approach rate: -0.577847 m/s, LOS rate: -0.009960 deg/s, cmd heading: 294.554558 deg, new cmd heading: 294.544084 deg. 2025-10-27T06:32:05.098Z,1761546725.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140764 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:05.133Z,1761546725.133 [DAT](INFO): DAT read: Rx Time:06:32:03.7102 2025-10-27T06:32:05.133Z,1761546725.133 [DAT](INFO): Rx dataTimestamp_ set to:1761546725.132957 2025-10-27T06:32:05.134Z,1761546725.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024464 2025-10-27T06:32:05.384Z,1761546725.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274630 2025-10-27T06:32:05.478Z,1761546725.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421443,0.894921,0.146636],[-0.906855,0.415960,0.067760],[-0.000355,-0.161535,0.986867]] 2025-10-27T06:32:05.561Z,1761546725.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.50 m. 2025-10-27T06:32:05.586Z,1761546725.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.502907 m, nav range: 101.204300 m, bearing: 283.646541 deg, approach rate: -0.569495 m/s, LOS rate: -0.010591 deg/s, cmd heading: 294.544094 deg, new cmd heading: 294.529431 deg. 2025-10-27T06:32:05.592Z,1761546725.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140508 target range: 105.502907 and range: 106.20 m. 2025-10-27T06:32:05.641Z,1761546725.641 [DAT](INFO): DAT read: 06:32:03.7102 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413,-0.05, 0.531,-0.894, 1.113, 0.544, PHS= 0.089,-1.393, 0.524, RAW= 162.5, 9.0, CAL= 162.3, 9.5, ROT= 347.7, -9.5 2025-10-27T06:32:05.643Z,1761546725.643 [DAT](INFO): got valid direction response: 06:32:03.7102 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 413,-0.05, 0.531,-0.894, 1.113, 0.544, PHS= 0.089,-1.393, 0.524, RAW= 162.5, 9.0, CAL= 162.3, 9.5, ROT= 347.7, -9.5 2025-10-27T06:32:05.644Z,1761546725.644 [DAT](INFO): DAT read: Bearing 102.4, -13.2 (Local) 2025-10-27T06:32:05.644Z,1761546725.644 [DAT](INFO): Local bearing/azimuth received: Bearing 102.4, -13.2 (Local) 2025-10-27T06:32:05.646Z,1761546725.646 [DAT](INFO): DAT read: Range 11 to 50 : 104.3 m (Round-trip 139.1 ms) speed 0.3 m/s 2025-10-27T06:32:05.647Z,1761546725.647 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:05.649Z,1761546725.649 [DAT](INFO): direction in FSK: [0.963646,-0.210109,0.165048] 2025-10-27T06:32:05.649Z,1761546725.649 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:05.655Z,1761546725.655 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:05.655Z,1761546725.655 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:05.656Z,1761546725.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:05.888Z,1761546725.888 [DAT](INFO): DAT read: user:797> 2025-10-27T06:32:05.889Z,1761546725.889 [DAT](INFO): DAT read: Tx time:06:32:04.9669 2025-10-27T06:32:05.889Z,1761546725.889 [DAT](INFO): Ping request sent. 2025-10-27T06:32:05.889Z,1761546725.889 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:05.889Z,1761546725.889 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:05.890Z,1761546725.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769 2025-10-27T06:32:05.935Z,1761546725.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419818,0.895374,0.148523],[-0.907607,0.414488,0.066705],[-0.001836,-0.162805,0.986657]] 2025-10-27T06:32:05.992Z,1761546725.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.300003 m, deltaT: 3.780160 s, deltaX: -1.899994 m, approachRate: -0.502623 m/s, rangeRepo size: 4 2025-10-27T06:32:05.994Z,1761546725.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.615440 m, bearing: 284.221626 deg, lat: 36.779526 deg, lon: -121.859818 deg, deltaT: 3.780160 s, deltaX: -1.887466 m, approachRate: -0.499309 m/s, posRepo size: 4 2025-10-27T06:32:05.995Z,1761546725.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:06.001Z,1761546726.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 101.302559 m, bearing: 283.733342 deg, approach rate: 0.000000 m/s, LOS rate: -0.010591 deg/s, cmd heading: 294.529423 deg, new cmd heading: 294.515825 deg. 2025-10-27T06:32:06.002Z,1761546726.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140271 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:06.140Z,1761546726.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251050 2025-10-27T06:32:06.325Z,1761546726.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417613,0.896121,0.150223],[-0.908621,0.412380,0.065960],[-0.002841,-0.164041,0.986449]] 2025-10-27T06:32:06.368Z,1761546726.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:06.370Z,1761546726.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:06.373Z,1761546726.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 101.036575 m, bearing: 283.728867 deg, approach rate: -0.687055 m/s, LOS rate: -0.011590 deg/s, cmd heading: 294.515817 deg, new cmd heading: 294.502357 deg. 2025-10-27T06:32:06.374Z,1761546726.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.140036 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:06.393Z,1761546726.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504425 2025-10-27T06:32:06.644Z,1761546726.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755175 2025-10-27T06:32:06.725Z,1761546726.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415572,0.896924,0.151084],[-0.909553,0.410472,0.065016],[-0.003701,-0.164438,0.986381]] 2025-10-27T06:32:06.756Z,1761546726.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:06.758Z,1761546726.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 100.779663 m, bearing: 283.724848 deg, approach rate: -0.666491 m/s, LOS rate: -0.010454 deg/s, cmd heading: 294.502348 deg, new cmd heading: 294.490259 deg. 2025-10-27T06:32:06.760Z,1761546726.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.139825 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:06.896Z,1761546726.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006900 2025-10-27T06:32:07.122Z,1761546727.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412899,0.898101,0.151425],[-0.910767,0.407907,0.064147],[-0.004157,-0.164399,0.986385]] 2025-10-27T06:32:07.148Z,1761546727.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259008 2025-10-27T06:32:07.149Z,1761546727.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:07.152Z,1761546727.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 100.519165 m, bearing: 283.721187 deg, approach rate: -0.665566 m/s, LOS rate: -0.009376 deg/s, cmd heading: 294.490272 deg, new cmd heading: 294.479263 deg. 2025-10-27T06:32:07.153Z,1761546727.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.139633 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:07.403Z,1761546727.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513926 2025-10-27T06:32:07.429Z,1761546727.429 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:32:07.594Z,1761546727.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:07.597Z,1761546727.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 100.210938 m, bearing: 283.713173 deg, approach rate: -0.688992 m/s, LOS rate: -0.017971 deg/s, cmd heading: 294.479262 deg, new cmd heading: 294.455144 deg. 2025-10-27T06:32:07.598Z,1761546727.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.139212 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:07.653Z,1761546727.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763815 2025-10-27T06:32:07.904Z,1761546727.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884 2025-10-27T06:32:07.930Z,1761546727.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407756,0.900360,0.151943],[-0.913076,0.403026,0.062151],[-0.005279,-0.164078,0.986433]] 2025-10-27T06:32:07.965Z,1761546727.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:07.972Z,1761546727.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 99.950943 m, bearing: 283.707217 deg, approach rate: -0.701247 m/s, LOS rate: -0.016106 deg/s, cmd heading: 294.455138 deg, new cmd heading: 294.437223 deg. 2025-10-27T06:32:07.973Z,1761546727.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138899 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:08.158Z,1761546728.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268456 2025-10-27T06:32:08.347Z,1761546728.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404646,0.901761,0.151948],[-0.914455,0.400062,0.061012],[-0.005771,-0.163638,0.986504]] 2025-10-27T06:32:08.382Z,1761546728.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:08.384Z,1761546728.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:08.408Z,1761546728.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519050 2025-10-27T06:32:08.412Z,1761546728.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 99.641060 m, bearing: 283.703548 deg, approach rate: -0.739289 m/s, LOS rate: -0.008780 deg/s, cmd heading: 294.437215 deg, new cmd heading: 294.426175 deg. 2025-10-27T06:32:08.412Z,1761546728.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138706 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:08.431Z,1761546728.431 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:32:08.662Z,1761546728.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772345 2025-10-27T06:32:08.745Z,1761546728.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401551,0.903124,0.152068],[-0.915816,0.397080,0.060069],[-0.006134,-0.163387,0.986543]] 2025-10-27T06:32:08.771Z,1761546728.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:08.774Z,1761546728.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 99.365005 m, bearing: 283.700801 deg, approach rate: -0.714007 m/s, LOS rate: -0.007124 deg/s, cmd heading: 294.426178 deg, new cmd heading: 294.417915 deg. 2025-10-27T06:32:08.775Z,1761546728.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138562 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:08.912Z,1761546728.912 [DAT](INFO): DAT read: Rx Time:06:32:07.5062 2025-10-27T06:32:08.913Z,1761546728.913 [DAT](INFO): Rx dataTimestamp_ set to:1761546728.912217 2025-10-27T06:32:08.913Z,1761546728.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024076 2025-10-27T06:32:09.146Z,1761546729.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399320,0.904408,0.150296],[-0.916785,0.395158,0.057933],[-0.006996,-0.160923,0.986942]] 2025-10-27T06:32:09.165Z,1761546729.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275356 2025-10-27T06:32:09.277Z,1761546729.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.62 m. 2025-10-27T06:32:09.344Z,1761546729.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.615440 m, nav range: 99.006996 m, bearing: 283.697754 deg, approach rate: -0.707400 m/s, LOS rate: -0.006043 deg/s, cmd heading: 294.417927 deg, new cmd heading: 294.408752 deg. 2025-10-27T06:32:09.353Z,1761546729.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138402 target range: 103.615440 and range: 104.30 m. 2025-10-27T06:32:09.421Z,1761546729.421 [DAT](INFO): DAT read: 06:32:07.5062 LVL= 32752, 32753, 28098, 32755, AGC= 64, IDX= 404, 0.15,-1.420,-2.883,-0.843,-1.472, PHS= 0.154,-1.367, 0.584, RAW= 162.1, 7.1, CAL= 161.6, 7.0, ROT= 348.4, -7.0 2025-10-27T06:32:09.422Z,1761546729.422 [DAT](INFO): got valid direction response: 06:32:07.5062 LVL= 32752, 32753, 28098, 32755, AGC= 64, IDX= 404, 0.15,-1.420,-2.883,-0.843,-1.472, PHS= 0.154,-1.367, 0.584, RAW= 162.1, 7.1, CAL= 161.6, 7.0, ROT= 348.4, -7.0 2025-10-27T06:32:09.424Z,1761546729.424 [DAT](INFO): DAT read: Bearing 99.7, -13.3 (Local) 2025-10-27T06:32:09.424Z,1761546729.424 [DAT](INFO): Local bearing/azimuth received: Bearing 99.7, -13.3 (Local) 2025-10-27T06:32:09.425Z,1761546729.425 [DAT](INFO): DAT read: Range 11 to 50 : 101.3 m (Round-trip 135.1 ms) speed 0.3 m/s 2025-10-27T06:32:09.426Z,1761546729.426 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:09.427Z,1761546729.427 [DAT](INFO): direction in FSK: [0.972274,-0.199579,0.121869] 2025-10-27T06:32:09.427Z,1761546729.427 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:09.430Z,1761546729.430 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:09.431Z,1761546729.431 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:09.439Z,1761546729.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:09.669Z,1761546729.669 [DAT](INFO): DAT read: user:798> 2025-10-27T06:32:09.670Z,1761546729.670 [DAT](INFO): DAT read: Tx time:06:32:08.7169 2025-10-27T06:32:09.671Z,1761546729.671 [DAT](INFO): Ping request sent. 2025-10-27T06:32:09.671Z,1761546729.671 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:09.671Z,1761546729.671 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:09.673Z,1761546729.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001896 2025-10-27T06:32:09.736Z,1761546729.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396880,0.905506,0.150151],[-0.917838,0.392896,0.056622],[-0.007722,-0.160287,0.987040]] 2025-10-27T06:32:09.892Z,1761546729.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.300003 m, deltaT: 3.779789 s, deltaX: -3.000000 m, approachRate: -0.793695 m/s, rangeRepo size: 4 2025-10-27T06:32:09.894Z,1761546729.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 100.634659 m, bearing: 283.051899 deg, lat: 36.779520 deg, lon: -121.859819 deg, deltaT: 3.779789 s, deltaX: -2.980782 m, approachRate: -0.788611 m/s, posRepo size: 4 2025-10-27T06:32:09.899Z,1761546729.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:09.902Z,1761546729.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 98.538040 m, bearing: 283.274265 deg, approach rate: 0.000000 m/s, LOS rate: -0.006043 deg/s, cmd heading: 294.408747 deg, new cmd heading: 294.397604 deg. 2025-10-27T06:32:09.907Z,1761546729.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138207 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:09.920Z,1761546729.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249398 2025-10-27T06:32:10.178Z,1761546730.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507502 2025-10-27T06:32:10.224Z,1761546730.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393539,0.907081,0.149433],[-0.919256,0.390016,0.053451],[-0.009797,-0.158403,0.987326]] 2025-10-27T06:32:10.263Z,1761546730.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:10.291Z,1761546730.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 98.254028 m, bearing: 283.270780 deg, approach rate: -0.765013 m/s, LOS rate: -0.009416 deg/s, cmd heading: 294.397600 deg, new cmd heading: 294.387113 deg. 2025-10-27T06:32:10.299Z,1761546730.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.138024 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:10.425Z,1761546730.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754032 2025-10-27T06:32:10.620Z,1761546730.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393141,0.907100,0.150363],[-0.919409,0.389820,0.052216],[-0.011250,-0.158774,0.987251]] 2025-10-27T06:32:10.677Z,1761546730.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006355 2025-10-27T06:32:10.703Z,1761546730.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:10.706Z,1761546730.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:10.727Z,1761546730.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 97.974808 m, bearing: 283.266743 deg, approach rate: -0.630172 m/s, LOS rate: -0.009137 deg/s, cmd heading: 294.387109 deg, new cmd heading: 294.374964 deg. 2025-10-27T06:32:10.729Z,1761546730.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.137812 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:10.928Z,1761546730.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257248 2025-10-27T06:32:11.022Z,1761546731.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393772,0.907042,0.149059],[-0.919119,0.390780,0.050114],[-0.012794,-0.156737,0.987558]] 2025-10-27T06:32:11.047Z,1761546731.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:11.050Z,1761546731.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 97.757492 m, bearing: 283.263522 deg, approach rate: -0.638148 m/s, LOS rate: -0.009479 deg/s, cmd heading: 294.374951 deg, new cmd heading: 294.365267 deg. 2025-10-27T06:32:11.051Z,1761546731.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.137643 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:11.181Z,1761546731.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510080 2025-10-27T06:32:11.426Z,1761546731.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394830,0.906943,0.146844],[-0.918646,0.392159,0.047962],[-0.014087,-0.153835,0.987996]] 2025-10-27T06:32:11.432Z,1761546731.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761398 2025-10-27T06:32:11.480Z,1761546731.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:11.482Z,1761546731.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 97.513695 m, bearing: 283.256688 deg, approach rate: -0.563210 m/s, LOS rate: -0.015825 deg/s, cmd heading: 294.365280 deg, new cmd heading: 294.344729 deg. 2025-10-27T06:32:11.484Z,1761546731.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.137285 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:11.684Z,1761546731.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013421 2025-10-27T06:32:11.831Z,1761546731.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396552,0.906374,0.145716],[-0.917880,0.394160,0.046187],[-0.015572,-0.152065,0.988248]] 2025-10-27T06:32:11.853Z,1761546731.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:11.856Z,1761546731.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 97.302849 m, bearing: 283.250539 deg, approach rate: -0.564222 m/s, LOS rate: -0.016492 deg/s, cmd heading: 294.344735 deg, new cmd heading: 294.326245 deg. 2025-10-27T06:32:11.857Z,1761546731.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.136962 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:11.937Z,1761546731.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266152 2025-10-27T06:32:12.188Z,1761546732.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517322 2025-10-27T06:32:12.234Z,1761546732.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398712,0.905555,0.144910],[-0.916912,0.396623,0.044301],[-0.017358,-0.150533,0.988453]] 2025-10-27T06:32:12.253Z,1761546732.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:12.256Z,1761546732.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 97.077774 m, bearing: 283.243649 deg, approach rate: -0.562950 m/s, LOS rate: -0.017273 deg/s, cmd heading: 294.326239 deg, new cmd heading: 294.305520 deg. 2025-10-27T06:32:12.257Z,1761546732.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.136600 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:12.440Z,1761546732.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769318 2025-10-27T06:32:12.655Z,1761546732.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401386,0.904371,0.144920],[-0.915706,0.399575,0.042694],[-0.019295,-0.149841,0.988522]] 2025-10-27T06:32:12.692Z,1761546732.692 [DAT](INFO): DAT read: Rx Time:06:32:11.2531 2025-10-27T06:32:12.692Z,1761546732.692 [DAT](INFO): Rx dataTimestamp_ set to:1761546732.692184 2025-10-27T06:32:12.693Z,1761546732.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022406 2025-10-27T06:32:12.744Z,1761546732.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:12.746Z,1761546732.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:12.749Z,1761546732.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 96.835381 m, bearing: 283.233656 deg, approach rate: -0.491698 m/s, LOS rate: -0.020320 deg/s, cmd heading: 294.305529 deg, new cmd heading: 294.275477 deg. 2025-10-27T06:32:12.750Z,1761546732.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.136076 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:12.944Z,1761546732.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273411 2025-10-27T06:32:13.054Z,1761546733.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404712,0.902629,0.146524],[-0.914185,0.403188,0.041302],[-0.021796,-0.150665,0.988345]] 2025-10-27T06:32:13.074Z,1761546733.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.63 m. 2025-10-27T06:32:13.090Z,1761546733.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.634659 m, nav range: 96.650642 m, bearing: 283.225594 deg, approach rate: -0.565763 m/s, LOS rate: -0.024739 deg/s, cmd heading: 294.275477 deg, new cmd heading: 294.251242 deg. 2025-10-27T06:32:13.110Z,1761546733.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.135653 target range: 100.634659 and range: 101.30 m. 2025-10-27T06:32:13.204Z,1761546733.204 [DAT](INFO): DAT read: 06:32:11.2531 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 404, 0.38,-3.126, 1.744,-2.601, 3.122, PHS= 0.137,-1.333, 0.516, RAW= 161.2, 8.1, CAL= 160.8, 8.3, ROT= 349.2, -8.3 2025-10-27T06:32:13.205Z,1761546733.205 [DAT](INFO): got valid direction response: 06:32:11.2531 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 404, 0.38,-3.126, 1.744,-2.601, 3.122, PHS= 0.137,-1.333, 0.516, RAW= 161.2, 8.1, CAL= 160.8, 8.3, ROT= 349.2, -8.3 2025-10-27T06:32:13.206Z,1761546733.206 [DAT](INFO): DAT read: Bearing 102.1, -13.4 (Local) 2025-10-27T06:32:13.207Z,1761546733.207 [DAT](INFO): Local bearing/azimuth received: Bearing 102.1, -13.4 (Local) 2025-10-27T06:32:13.208Z,1761546733.208 [DAT](INFO): DAT read: Range 11 to 50 : 99.0 m (Round-trip 132.0 ms) speed 0.0 m/s 2025-10-27T06:32:13.209Z,1761546733.209 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:13.210Z,1761546733.210 [DAT](INFO): direction in FSK: [0.971999,-0.185419,0.144356] 2025-10-27T06:32:13.210Z,1761546733.210 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:13.214Z,1761546733.214 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:13.214Z,1761546733.214 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:13.214Z,1761546733.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:13.448Z,1761546733.448 [DAT](INFO): DAT read: user:799> 2025-10-27T06:32:13.449Z,1761546733.449 [DAT](INFO): DAT read: Tx time:06:32:12.5169 2025-10-27T06:32:13.449Z,1761546733.449 [DAT](INFO): Ping request sent. 2025-10-27T06:32:13.449Z,1761546733.449 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:13.449Z,1761546733.449 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:13.450Z,1761546733.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-27T06:32:13.467Z,1761546733.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408359,0.901110,0.145755],[-0.912485,0.407305,0.038386],[-0.024776,-0.148674,0.988576]] 2025-10-27T06:32:13.542Z,1761546733.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.000000 m, deltaT: 3.780946 s, deltaX: -2.300003 m, approachRate: -0.608314 m/s, rangeRepo size: 4 2025-10-27T06:32:13.545Z,1761546733.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 98.349762 m, bearing: 284.691043 deg, lat: 36.779527 deg, lon: -121.859819 deg, deltaT: 3.780946 s, deltaX: -2.284897 m, approachRate: -0.604319 m/s, posRepo size: 4 2025-10-27T06:32:13.545Z,1761546733.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:13.548Z,1761546733.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 96.633553 m, bearing: 283.700837 deg, approach rate: 0.000000 m/s, LOS rate: -0.024739 deg/s, cmd heading: 294.251243 deg, new cmd heading: 294.216414 deg. 2025-10-27T06:32:13.549Z,1761546733.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.135045 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:13.700Z,1761546733.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251026 2025-10-27T06:32:13.870Z,1761546733.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412272,0.899478,0.144814],[-0.910627,0.411741,0.035039],[-0.028109,-0.146317,0.988838]] 2025-10-27T06:32:13.889Z,1761546733.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:13.892Z,1761546733.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 96.471642 m, bearing: 283.690777 deg, approach rate: -0.466437 m/s, LOS rate: -0.029030 deg/s, cmd heading: 294.216409 deg, new cmd heading: 294.186178 deg. 2025-10-27T06:32:13.893Z,1761546733.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.134517 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:13.952Z,1761546733.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503199 2025-10-27T06:32:14.204Z,1761546734.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755296 2025-10-27T06:32:14.324Z,1761546734.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:14.333Z,1761546734.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 96.280449 m, bearing: 283.678853 deg, approach rate: -0.439781 m/s, LOS rate: -0.027481 deg/s, cmd heading: 294.186165 deg, new cmd heading: 294.150323 deg. 2025-10-27T06:32:14.334Z,1761546734.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.133892 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:14.457Z,1761546734.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007429 2025-10-27T06:32:14.709Z,1761546734.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259656 2025-10-27T06:32:14.767Z,1761546734.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:14.769Z,1761546734.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:14.772Z,1761546734.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 96.079681 m, bearing: 283.666721 deg, approach rate: -0.450861 m/s, LOS rate: -0.027301 deg/s, cmd heading: 294.150320 deg, new cmd heading: 294.113849 deg. 2025-10-27T06:32:14.773Z,1761546734.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.133255 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:14.960Z,1761546734.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510850 2025-10-27T06:32:15.158Z,1761546735.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:15.188Z,1761546735.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 95.914474 m, bearing: 283.656701 deg, approach rate: -0.424985 m/s, LOS rate: -0.025822 deg/s, cmd heading: 294.113847 deg, new cmd heading: 294.083733 deg. 2025-10-27T06:32:15.189Z,1761546735.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132730 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:15.229Z,1761546735.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780368 2025-10-27T06:32:15.480Z,1761546735.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030766 2025-10-27T06:32:15.573Z,1761546735.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:15.576Z,1761546735.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 95.718788 m, bearing: 283.645643 deg, approach rate: -0.470761 m/s, LOS rate: -0.026655 deg/s, cmd heading: 294.083739 deg, new cmd heading: 294.050500 deg. 2025-10-27T06:32:15.577Z,1761546735.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132149 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:15.733Z,1761546735.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283572 2025-10-27T06:32:15.924Z,1761546735.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425359,0.895419,0.131512],[-0.904066,0.427086,0.016204],[-0.041658,-0.125788,0.991182]] 2025-10-27T06:32:15.947Z,1761546735.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:15.950Z,1761546735.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 95.545898 m, bearing: 283.634377 deg, approach rate: -0.462627 m/s, LOS rate: -0.030201 deg/s, cmd heading: 294.050490 deg, new cmd heading: 294.016630 deg. 2025-10-27T06:32:15.967Z,1761546735.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.131558 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:15.984Z,1761546735.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535021 2025-10-27T06:32:16.237Z,1761546736.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787495 2025-10-27T06:32:16.330Z,1761546736.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425465,0.894951,0.134318],[-0.903961,0.427305,0.016281],[-0.042824,-0.128345,0.990804]] 2025-10-27T06:32:16.366Z,1761546736.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:16.369Z,1761546736.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 95.354134 m, bearing: 283.621807 deg, approach rate: -0.457753 m/s, LOS rate: -0.030067 deg/s, cmd heading: 294.016640 deg, new cmd heading: 293.978852 deg. 2025-10-27T06:32:16.385Z,1761546736.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130899 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:16.489Z,1761546736.489 [DAT](INFO): DAT read: Rx Time:06:32:15.0515 2025-10-27T06:32:16.490Z,1761546736.490 [DAT](INFO): Rx dataTimestamp_ set to:1761546736.489319 2025-10-27T06:32:16.491Z,1761546736.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041450 2025-10-27T06:32:16.738Z,1761546736.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424510,0.894433,0.140640],[-0.904375,0.426345,0.018337],[-0.043560,-0.134975,0.989891]] 2025-10-27T06:32:16.740Z,1761546736.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291027 2025-10-27T06:32:16.788Z,1761546736.788 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:16.790Z,1761546736.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.35 m. 2025-10-27T06:32:16.792Z,1761546736.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.349762 m, nav range: 95.140396 m, bearing: 283.611770 deg, approach rate: -0.504558 m/s, LOS rate: -0.023745 deg/s, cmd heading: 293.978855 deg, new cmd heading: 293.948679 deg. 2025-10-27T06:32:16.793Z,1761546736.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130372 target range: 98.349762 and range: 99.00 m. 2025-10-27T06:32:16.998Z,1761546736.998 [DAT](INFO): DAT read: 06:32:15.0515 LVL= 32752, 32753, 29234, 32755, AGC= 65, IDX= 420, 0.24, 2.807, 1.365,-2.869, 2.802, PHS= 0.107,-1.392, 0.569, RAW= 163.0, 8.1, CAL= 162.6, 8.3, ROT= 347.4, -8.3 2025-10-27T06:32:17.003Z,1761546737.003 [DAT](INFO): got valid direction response: 06:32:15.0515 LVL= 32752, 32753, 29234, 32755, AGC= 65, IDX= 420, 0.24, 2.807, 1.365,-2.869, 2.802, PHS= 0.107,-1.392, 0.569, RAW= 163.0, 8.1, CAL= 162.6, 8.3, ROT= 347.4, -8.3 2025-10-27T06:32:17.004Z,1761546737.004 [DAT](INFO): DAT read: Bearing 102.1, -15.9 (Local) 2025-10-27T06:32:17.005Z,1761546737.005 [DAT](INFO): Local bearing/azimuth received: Bearing 102.1, -15.9 (Local) 2025-10-27T06:32:17.006Z,1761546737.006 [DAT](INFO): DAT read: Range 11 to 50 : 97.8 m (Round-trip 130.4 ms) speed 0.4 m/s 2025-10-27T06:32:17.010Z,1761546737.010 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:17.013Z,1761546737.013 [DAT](INFO): direction in FSK: [0.965695,-0.215858,0.144356] 2025-10-27T06:32:17.014Z,1761546737.014 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:17.021Z,1761546737.021 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:17.021Z,1761546737.021 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:17.021Z,1761546737.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:17.134Z,1761546737.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422404,0.893654,0.151519],[-0.905344,0.424069,0.022772],[-0.043904,-0.146795,0.988192]] 2025-10-27T06:32:17.196Z,1761546737.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.800003 m, deltaT: 3.795036 s, deltaX: -1.199997 m, approachRate: -0.316202 m/s, rangeRepo size: 4 2025-10-27T06:32:17.198Z,1761546737.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.157494 m, bearing: 283.825918 deg, lat: 36.779534 deg, lon: -121.859821 deg, deltaT: 3.795036 s, deltaX: -1.192268 m, approachRate: -0.314165 m/s, posRepo size: 4 2025-10-27T06:32:17.198Z,1761546737.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.16 m. 2025-10-27T06:32:17.205Z,1761546737.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.157494 m, nav range: 95.336769 m, bearing: 283.969938 deg, approach rate: 0.000000 m/s, LOS rate: -0.023745 deg/s, cmd heading: 293.948666 deg, new cmd heading: 293.920091 deg. 2025-10-27T06:32:17.206Z,1761546737.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129873 target range: 97.157494 and range: 97.80 m. 2025-10-27T06:32:17.244Z,1761546737.244 [DAT](INFO): DAT read: user:800> 2025-10-27T06:32:17.245Z,1761546737.245 [DAT](INFO): DAT read: Tx time:06:32:16.3169 2025-10-27T06:32:17.245Z,1761546737.245 [DAT](INFO): Ping request sent. 2025-10-27T06:32:17.245Z,1761546737.245 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:17.245Z,1761546737.245 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:17.246Z,1761546737.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000777 2025-10-27T06:32:17.496Z,1761546737.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250655 2025-10-27T06:32:17.748Z,1761546737.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502766 2025-10-27T06:32:17.774Z,1761546737.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.16 m. 2025-10-27T06:32:17.781Z,1761546737.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.157494 m, nav range: 95.006805 m, bearing: 283.959606 deg, approach rate: -0.565307 m/s, LOS rate: -0.017762 deg/s, cmd heading: 293.920088 deg, new cmd heading: 293.888986 deg. 2025-10-27T06:32:17.782Z,1761546737.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129331 target range: 97.157494 and range: 97.80 m. 2025-10-27T06:32:18.001Z,1761546738.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754980 2025-10-27T06:32:18.252Z,1761546738.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006676 2025-10-27T06:32:18.264Z,1761546738.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411622,0.893320,0.180409],[-0.910340,0.412368,0.035139],[-0.043004,-0.178698,0.982964]] 2025-10-27T06:32:18.282Z,1761546738.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.16 m. 2025-10-27T06:32:18.285Z,1761546738.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.157494 m, nav range: 94.710556 m, bearing: 283.952381 deg, approach rate: -0.583319 m/s, LOS rate: -0.014272 deg/s, cmd heading: 293.888997 deg, new cmd heading: 293.867252 deg. 2025-10-27T06:32:18.286Z,1761546738.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128951 target range: 97.157494 and range: 97.80 m. 2025-10-27T06:32:18.505Z,1761546738.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259617 2025-10-27T06:32:18.742Z,1761546738.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407653,0.893721,0.187303],[-0.912187,0.407922,0.038908],[-0.041632,-0.186717,0.981531]] 2025-10-27T06:32:18.756Z,1761546738.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730 2025-10-27T06:32:18.800Z,1761546738.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:18.802Z,1761546738.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.16 m. 2025-10-27T06:32:18.805Z,1761546738.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.157494 m, nav range: 94.387367 m, bearing: 283.947856 deg, approach rate: -0.621995 m/s, LOS rate: -0.008738 deg/s, cmd heading: 293.867250 deg, new cmd heading: 293.853629 deg. 2025-10-27T06:32:18.806Z,1761546738.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128713 target range: 97.157494 and range: 97.80 m. 2025-10-27T06:32:19.008Z,1761546739.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762753 2025-10-27T06:32:19.137Z,1761546739.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403717,0.894328,0.192848],[-0.913990,0.403576,0.041816],[-0.040432,-0.193143,0.980337]] 2025-10-27T06:32:19.181Z,1761546739.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.16 m. 2025-10-27T06:32:19.184Z,1761546739.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.157494 m, nav range: 94.150734 m, bearing: 283.945127 deg, approach rate: -0.624664 m/s, LOS rate: -0.007221 deg/s, cmd heading: 293.853617 deg, new cmd heading: 293.845411 deg. 2025-10-27T06:32:19.185Z,1761546739.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128570 target range: 97.157494 and range: 97.80 m. 2025-10-27T06:32:19.261Z,1761546739.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015201 2025-10-27T06:32:19.512Z,1761546739.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266666 2025-10-27T06:32:19.542Z,1761546739.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399925,0.895237,0.196499],[-0.915709,0.399438,0.043884],[-0.039203,-0.197486,0.979522]] 2025-10-27T06:32:19.599Z,1761546739.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.16 m. 2025-10-27T06:32:19.602Z,1761546739.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.157494 m, nav range: 93.867058 m, bearing: 283.945436 deg, approach rate: -0.678307 m/s, LOS rate: 0.000740 deg/s, cmd heading: 293.845421 deg, new cmd heading: 293.846349 deg. 2025-10-27T06:32:19.603Z,1761546739.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128586 target range: 97.157494 and range: 97.80 m. 2025-10-27T06:32:19.764Z,1761546739.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518723 2025-10-27T06:32:19.983Z,1761546739.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396477,0.896889,0.195948],[-0.917256,0.395853,0.044068],[-0.038042,-0.197206,0.979624]] 2025-10-27T06:32:20.010Z,1761546740.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.16 m. 2025-10-27T06:32:20.013Z,1761546740.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.157494 m, nav range: 93.587944 m, bearing: 283.946389 deg, approach rate: -0.678404 m/s, LOS rate: 0.002325 deg/s, cmd heading: 293.846349 deg, new cmd heading: 293.849219 deg. 2025-10-27T06:32:20.014Z,1761546740.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128636 target range: 97.157494 and range: 97.80 m. 2025-10-27T06:32:20.016Z,1761546740.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770768 2025-10-27T06:32:20.268Z,1761546740.268 [DAT](INFO): DAT read: Rx Time:06:32:18.8482 2025-10-27T06:32:20.268Z,1761546740.268 [DAT](INFO): Rx dataTimestamp_ set to:1761546740.268144 2025-10-27T06:32:20.269Z,1761546740.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023745 2025-10-27T06:32:20.355Z,1761546740.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393189,0.898893,0.193375],[-0.918718,0.392518,0.043432],[-0.036862,-0.194734,0.980163]] 2025-10-27T06:32:20.394Z,1761546740.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.16 m. 2025-10-27T06:32:20.401Z,1761546740.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.157494 m, nav range: 93.332237 m, bearing: 283.947849 deg, approach rate: -0.665709 m/s, LOS rate: 0.003812 deg/s, cmd heading: 293.849218 deg, new cmd heading: 293.853610 deg. 2025-10-27T06:32:20.402Z,1761546740.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128713 target range: 97.157494 and range: 97.80 m. 2025-10-27T06:32:20.520Z,1761546740.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274808 2025-10-27T06:32:20.777Z,1761546740.777 [DAT](INFO): DAT read: 06:32:18.8482 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 402,-0.22,-2.572, 2.268,-2.031,-2.567, PHS= 0.098,-1.403, 0.492, RAW= 161.4, 9.4, CAL= 161.2, 10.0, ROT= 348.8, -10.0 2025-10-27T06:32:20.778Z,1761546740.778 [DAT](INFO): got valid direction response: 06:32:18.8482 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 402,-0.22,-2.572, 2.268,-2.031,-2.567, PHS= 0.098,-1.403, 0.492, RAW= 161.4, 9.4, CAL= 161.2, 10.0, ROT= 348.8, -10.0 2025-10-27T06:32:20.779Z,1761546740.779 [DAT](INFO): DAT read: Bearing 101.8, -15.2 (Local) 2025-10-27T06:32:20.780Z,1761546740.780 [DAT](INFO): Local bearing/azimuth received: Bearing 101.8, -15.2 (Local) 2025-10-27T06:32:20.781Z,1761546740.781 [DAT](INFO): DAT read: Range 11 to 50 : 95.3 m (Round-trip 127.1 ms) speed 0.7 m/s 2025-10-27T06:32:20.782Z,1761546740.782 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:20.783Z,1761546740.783 [DAT](INFO): direction in FSK: [0.966052,-0.191284,0.173648] 2025-10-27T06:32:20.783Z,1761546740.783 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:20.786Z,1761546740.786 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:20.786Z,1761546740.786 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:20.803Z,1761546740.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:20.809Z,1761546740.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390672,0.900807,0.189533],[-0.919828,0.390049,0.042168],[-0.035942,-0.190811,0.980969]] 2025-10-27T06:32:20.956Z,1761546740.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.300003 m, deltaT: 3.779962 s, deltaX: -2.500000 m, approachRate: -0.661382 m/s, rangeRepo size: 4 2025-10-27T06:32:20.958Z,1761546740.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.674500 m, bearing: 283.982043 deg, lat: 36.779534 deg, lon: -121.859825 deg, deltaT: 3.779962 s, deltaX: -2.482994 m, approachRate: -0.656883 m/s, posRepo size: 4 2025-10-27T06:32:20.963Z,1761546740.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:20.966Z,1761546740.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 93.255638 m, bearing: 283.968013 deg, approach rate: 0.000000 m/s, LOS rate: 0.003812 deg/s, cmd heading: 293.853617 deg, new cmd heading: 293.860035 deg. 2025-10-27T06:32:20.971Z,1761546740.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128825 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:21.025Z,1761546741.025 [DAT](INFO): DAT read: user:801> 2025-10-27T06:32:21.026Z,1761546741.026 [DAT](INFO): DAT read: Tx time:06:32:20.1169 2025-10-27T06:32:21.026Z,1761546741.026 [DAT](INFO): Ping request sent. 2025-10-27T06:32:21.027Z,1761546741.027 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:21.028Z,1761546741.028 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:21.029Z,1761546741.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002279 2025-10-27T06:32:21.266Z,1761546741.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388954,0.902694,0.184003],[-0.920586,0.388459,0.040251],[-0.035144,-0.185047,0.982101]] 2025-10-27T06:32:21.276Z,1761546741.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249431 2025-10-27T06:32:21.284Z,1761546741.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:21.286Z,1761546741.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:21.289Z,1761546741.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 92.998169 m, bearing: 283.971580 deg, approach rate: -0.778662 m/s, LOS rate: 0.010819 deg/s, cmd heading: 293.860037 deg, new cmd heading: 293.870769 deg. 2025-10-27T06:32:21.290Z,1761546741.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129013 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:21.528Z,1761546741.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501737 2025-10-27T06:32:21.673Z,1761546741.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387506,0.904325,0.178982],[-0.921228,0.387098,0.038660],[-0.034322,-0.179864,0.983092]] 2025-10-27T06:32:21.728Z,1761546741.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:21.748Z,1761546741.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 92.680351 m, bearing: 283.977837 deg, approach rate: -0.719973 m/s, LOS rate: 0.014222 deg/s, cmd heading: 293.870774 deg, new cmd heading: 293.889608 deg. 2025-10-27T06:32:21.749Z,1761546741.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129341 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:21.780Z,1761546741.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753398 2025-10-27T06:32:22.032Z,1761546742.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005407 2025-10-27T06:32:22.078Z,1761546742.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386687,0.905578,0.174361],[-0.921594,0.386372,0.037156],[-0.033720,-0.175058,0.983981]] 2025-10-27T06:32:22.097Z,1761546742.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:22.100Z,1761546742.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 92.408150 m, bearing: 283.983454 deg, approach rate: -0.738186 m/s, LOS rate: 0.015277 deg/s, cmd heading: 293.889598 deg, new cmd heading: 293.906498 deg. 2025-10-27T06:32:22.101Z,1761546742.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129636 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:22.284Z,1761546742.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257199 2025-10-27T06:32:22.530Z,1761546742.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386051,0.906891,0.168858],[-0.921893,0.385804,0.035625],[-0.032838,-0.169422,0.984996]] 2025-10-27T06:32:22.536Z,1761546742.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509391 2025-10-27T06:32:22.657Z,1761546742.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:22.663Z,1761546742.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 92.030441 m, bearing: 283.987837 deg, approach rate: -0.673959 m/s, LOS rate: 0.007854 deg/s, cmd heading: 293.906510 deg, new cmd heading: 293.919715 deg. 2025-10-27T06:32:22.665Z,1761546742.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129867 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:22.788Z,1761546742.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761259 2025-10-27T06:32:22.911Z,1761546742.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386140,0.907849,0.163417],[-0.921877,0.385989,0.033987],[-0.032222,-0.163774,0.985971]] 2025-10-27T06:32:22.933Z,1761546742.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:22.936Z,1761546742.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 91.810265 m, bearing: 283.990466 deg, approach rate: -0.796800 m/s, LOS rate: 0.009536 deg/s, cmd heading: 293.919706 deg, new cmd heading: 293.927611 deg. 2025-10-27T06:32:22.937Z,1761546742.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130004 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:23.040Z,1761546743.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013447 2025-10-27T06:32:23.292Z,1761546743.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265272 2025-10-27T06:32:23.310Z,1761546743.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386551,0.908431,0.159158],[-0.921722,0.386465,0.032774],[-0.031736,-0.159368,0.986709]] 2025-10-27T06:32:23.338Z,1761546743.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:23.340Z,1761546743.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:23.342Z,1761546743.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 91.517052 m, bearing: 283.993977 deg, approach rate: -0.721385 m/s, LOS rate: 0.008666 deg/s, cmd heading: 293.927601 deg, new cmd heading: 293.938168 deg. 2025-10-27T06:32:23.344Z,1761546743.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130189 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:23.547Z,1761546743.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519474 2025-10-27T06:32:23.722Z,1761546743.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387350,0.908908,0.154423],[-0.921393,0.387384,0.031117],[-0.031539,-0.154338,0.987515]] 2025-10-27T06:32:23.796Z,1761546743.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769265 2025-10-27T06:32:23.842Z,1761546743.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:23.845Z,1761546743.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 91.186584 m, bearing: 283.996685 deg, approach rate: -0.657696 m/s, LOS rate: 0.005410 deg/s, cmd heading: 293.938174 deg, new cmd heading: 293.946329 deg. 2025-10-27T06:32:23.846Z,1761546743.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130331 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:24.048Z,1761546744.048 [DAT](INFO): DAT read: Rx Time:06:32:22.6441 2025-10-27T06:32:24.049Z,1761546744.049 [DAT](INFO): Rx dataTimestamp_ set to:1761546744.048976 2025-10-27T06:32:24.050Z,1761546744.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023201 2025-10-27T06:32:24.165Z,1761546744.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388048,0.909335,0.150095],[-0.921108,0.388174,0.029675],[-0.031278,-0.149769,0.988226]] 2025-10-27T06:32:24.223Z,1761546744.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.67 m. 2025-10-27T06:32:24.226Z,1761546744.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.674500 m, nav range: 90.946121 m, bearing: 283.998632 deg, approach rate: -0.638898 m/s, LOS rate: 0.005185 deg/s, cmd heading: 293.946316 deg, new cmd heading: 293.952170 deg. 2025-10-27T06:32:24.227Z,1761546744.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130433 target range: 94.674500 and range: 95.30 m. 2025-10-27T06:32:24.301Z,1761546744.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274428 2025-10-27T06:32:24.564Z,1761546744.564 [DAT](INFO): DAT read: 06:32:22.6441 LVL= 32752, 32753, 24306, 32755, AGC= 67, IDX= 392, 0.40, 1.186,-0.264, 1.780, 1.192, PHS= 0.095,-1.411, 0.544, RAW= 162.7, 8.7, CAL= 162.4, 9.2, ROT= 347.6, -9.2 2025-10-27T06:32:24.565Z,1761546744.565 [DAT](INFO): got valid direction response: 06:32:22.6441 LVL= 32752, 32753, 24306, 32755, AGC= 67, IDX= 392, 0.40, 1.186,-0.264, 1.780, 1.192, PHS= 0.095,-1.411, 0.544, RAW= 162.7, 8.7, CAL= 162.4, 9.2, ROT= 347.6, -9.2 2025-10-27T06:32:24.566Z,1761546744.566 [DAT](INFO): DAT read: Bearing 101.5, -15.9 (Local) 2025-10-27T06:32:24.566Z,1761546744.566 [DAT](INFO): Local bearing/azimuth received: Bearing 101.5, -15.9 (Local) 2025-10-27T06:32:24.577Z,1761546744.577 [DAT](INFO): DAT read: Range 11 to 50 : 92.2 m (Round-trip 123.0 ms) speed 0.0 m/s 2025-10-27T06:32:24.577Z,1761546744.577 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:24.578Z,1761546744.578 [DAT](INFO): direction in FSK: [0.964109,-0.211973,0.159881] 2025-10-27T06:32:24.578Z,1761546744.578 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:24.582Z,1761546744.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389267,0.909073,0.148519],[-0.920594,0.389429,0.029206],[-0.031288,-0.148095,0.988478]] 2025-10-27T06:32:24.586Z,1761546744.586 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:24.586Z,1761546744.586 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:24.586Z,1761546744.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:24.756Z,1761546744.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.199997 m, deltaT: 3.781640 s, deltaX: -3.100006 m, approachRate: -0.819752 m/s, rangeRepo size: 4 2025-10-27T06:32:24.758Z,1761546744.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.593788 m, bearing: 282.064325 deg, lat: 36.779534 deg, lon: -121.859830 deg, deltaT: 3.781640 s, deltaX: -3.080711 m, approachRate: -0.814650 m/s, posRepo size: 4 2025-10-27T06:32:24.758Z,1761546744.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:24.765Z,1761546744.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 91.080666 m, bearing: 283.863901 deg, approach rate: 0.000000 m/s, LOS rate: 0.005185 deg/s, cmd heading: 293.952163 deg, new cmd heading: 293.960501 deg. 2025-10-27T06:32:24.766Z,1761546744.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130579 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:24.804Z,1761546744.804 [DAT](INFO): DAT read: user:802> 2025-10-27T06:32:24.805Z,1761546744.805 [DAT](INFO): DAT read: Tx time:06:32:23.8669 2025-10-27T06:32:24.805Z,1761546744.805 [DAT](INFO): Ping request sent. 2025-10-27T06:32:24.805Z,1761546744.805 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:24.805Z,1761546744.805 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:24.806Z,1761546744.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000775 2025-10-27T06:32:25.056Z,1761546745.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250794 2025-10-27T06:32:25.088Z,1761546745.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392715,0.908030,0.145798],[-0.919101,0.393040,0.027795],[-0.032066,-0.144919,0.988924]] 2025-10-27T06:32:25.146Z,1761546745.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:25.159Z,1761546745.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 90.852791 m, bearing: 283.864143 deg, approach rate: -0.582900 m/s, LOS rate: 0.000621 deg/s, cmd heading: 293.960496 deg, new cmd heading: 293.961224 deg. 2025-10-27T06:32:25.161Z,1761546745.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130591 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:25.308Z,1761546745.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502902 2025-10-27T06:32:25.505Z,1761546745.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394617,0.907425,0.144421],[-0.918259,0.395081,0.026687],[-0.032842,-0.143147,0.989156]] 2025-10-27T06:32:25.563Z,1761546745.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757181 2025-10-27T06:32:25.572Z,1761546745.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:25.588Z,1761546745.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:25.590Z,1761546745.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 90.621948 m, bearing: 283.864118 deg, approach rate: -0.528715 m/s, LOS rate: -0.000057 deg/s, cmd heading: 293.961233 deg, new cmd heading: 293.961159 deg. 2025-10-27T06:32:25.596Z,1761546745.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130590 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:25.812Z,1761546745.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007313 2025-10-27T06:32:25.936Z,1761546745.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396739,0.906586,0.143874],[-0.917316,0.397310,0.025989],[-0.033601,-0.142289,0.989255]] 2025-10-27T06:32:26.012Z,1761546746.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:26.014Z,1761546746.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 90.381790 m, bearing: 283.862328 deg, approach rate: -0.559450 m/s, LOS rate: -0.004182 deg/s, cmd heading: 293.961151 deg, new cmd heading: 293.955766 deg. 2025-10-27T06:32:26.020Z,1761546746.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130496 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:26.064Z,1761546746.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258862 2025-10-27T06:32:26.316Z,1761546746.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510898 2025-10-27T06:32:26.349Z,1761546746.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398811,0.905803,0.143078],[-0.916385,0.399515,0.025044],[-0.034477,-0.141102,0.989395]] 2025-10-27T06:32:26.371Z,1761546746.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:26.374Z,1761546746.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 90.188446 m, bearing: 283.860617 deg, approach rate: -0.538182 m/s, LOS rate: -0.004772 deg/s, cmd heading: 293.955769 deg, new cmd heading: 293.950626 deg. 2025-10-27T06:32:26.375Z,1761546746.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130406 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:26.571Z,1761546746.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765203 2025-10-27T06:32:26.750Z,1761546746.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400995,0.904891,0.142743],[-0.915398,0.401814,0.024325],[-0.035344,-0.140421,0.989461]] 2025-10-27T06:32:26.793Z,1761546746.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:26.796Z,1761546746.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 89.984474 m, bearing: 283.858318 deg, approach rate: -0.483608 m/s, LOS rate: -0.005464 deg/s, cmd heading: 293.950633 deg, new cmd heading: 293.943720 deg. 2025-10-27T06:32:26.797Z,1761546746.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130286 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:26.820Z,1761546746.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014628 2025-10-27T06:32:27.076Z,1761546747.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270529 2025-10-27T06:32:27.198Z,1761546747.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:27.201Z,1761546747.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 89.790054 m, bearing: 283.856117 deg, approach rate: -0.479365 m/s, LOS rate: -0.005439 deg/s, cmd heading: 293.943721 deg, new cmd heading: 293.937103 deg. 2025-10-27T06:32:27.202Z,1761546747.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130170 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:27.324Z,1761546747.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518795 2025-10-27T06:32:27.579Z,1761546747.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772856 2025-10-27T06:32:27.589Z,1761546747.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405241,0.902527,0.145685],[-0.913444,0.406250,0.024115],[-0.037420,-0.142847,0.989037]] 2025-10-27T06:32:27.649Z,1761546747.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:27.654Z,1761546747.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:27.679Z,1761546747.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 89.575539 m, bearing: 283.852994 deg, approach rate: -0.471555 m/s, LOS rate: -0.006882 deg/s, cmd heading: 293.937109 deg, new cmd heading: 293.927717 deg. 2025-10-27T06:32:27.680Z,1761546747.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130006 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:27.828Z,1761546747.828 [DAT](INFO): DAT read: Rx Time:06:32:26.3919 2025-10-27T06:32:27.828Z,1761546747.828 [DAT](INFO): Rx dataTimestamp_ set to:1761546747.828200 2025-10-27T06:32:27.829Z,1761546747.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023887 2025-10-27T06:32:28.074Z,1761546748.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.59 m. 2025-10-27T06:32:28.077Z,1761546748.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.593788 m, nav range: 89.385612 m, bearing: 283.849546 deg, approach rate: -0.451476 m/s, LOS rate: -0.008213 deg/s, cmd heading: 293.927711 deg, new cmd heading: 293.917345 deg. 2025-10-27T06:32:28.078Z,1761546748.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129826 target range: 91.593788 and range: 92.20 m. 2025-10-27T06:32:28.080Z,1761546748.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274909 2025-10-27T06:32:28.338Z,1761546748.338 [DAT](INFO): DAT read: 06:32:26.3919 LVL= 32752, 32753, 32738, 32755, AGC= 67, IDX= 418,-0.15,-2.951, 1.916,-2.400,-2.943, PHS= 0.094,-1.379, 0.499, RAW= 161.8, 9.2, CAL= 161.6, 9.8, ROT= 348.4, -9.8 2025-10-27T06:32:28.339Z,1761546748.339 [DAT](INFO): got valid direction response: 06:32:26.3919 LVL= 32752, 32753, 32738, 32755, AGC= 67, IDX= 418,-0.15,-2.951, 1.916,-2.400,-2.943, PHS= 0.094,-1.379, 0.499, RAW= 161.8, 9.2, CAL= 161.6, 9.8, ROT= 348.4, -9.8 2025-10-27T06:32:28.340Z,1761546748.340 [DAT](INFO): DAT read: Bearing 102.7, -15.0 (Local) 2025-10-27T06:32:28.340Z,1761546748.340 [DAT](INFO): Local bearing/azimuth received: Bearing 102.7, -15.0 (Local) 2025-10-27T06:32:28.342Z,1761546748.342 [DAT](INFO): DAT read: Range 11 to 50 : 90.6 m (Round-trip 120.8 ms) speed 0.3 m/s 2025-10-27T06:32:28.342Z,1761546748.342 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:28.352Z,1761546748.352 [DAT](INFO): direction in FSK: [0.965281,-0.198144,0.170209] 2025-10-27T06:32:28.352Z,1761546748.352 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:28.355Z,1761546748.355 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:28.355Z,1761546748.355 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:28.356Z,1761546748.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:28.426Z,1761546748.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409287,0.900319,0.148019],[-0.911539,0.410552,0.023329],[-0.039766,-0.144473,0.988709]] 2025-10-27T06:32:28.491Z,1761546748.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.599998 m, deltaT: 3.778515 s, deltaX: -1.599998 m, approachRate: -0.423446 m/s, rangeRepo size: 4 2025-10-27T06:32:28.493Z,1761546748.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.005157 m, bearing: 284.180446 deg, lat: 36.779535 deg, lon: -121.859825 deg, deltaT: 3.778515 s, deltaX: -1.588631 m, approachRate: -0.420438 m/s, posRepo size: 4 2025-10-27T06:32:28.494Z,1761546748.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:28.501Z,1761546748.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 88.795731 m, bearing: 283.997921 deg, approach rate: 0.000000 m/s, LOS rate: -0.008213 deg/s, cmd heading: 293.917356 deg, new cmd heading: 293.907190 deg. 2025-10-27T06:32:28.502Z,1761546748.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129648 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:28.587Z,1761546748.587 [DAT](INFO): DAT read: user:803> 2025-10-27T06:32:28.590Z,1761546748.590 [DAT](INFO): DAT read: Tx time:06:32:27.6669 2025-10-27T06:32:28.591Z,1761546748.591 [DAT](INFO): Ping request sent. 2025-10-27T06:32:28.592Z,1761546748.592 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:28.593Z,1761546748.593 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:28.594Z,1761546748.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002502 2025-10-27T06:32:28.821Z,1761546748.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411257,0.899290,0.148811],[-0.910602,0.412655,0.022811],[-0.040893,-0.144888,0.988603]] 2025-10-27T06:32:28.836Z,1761546748.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244579 2025-10-27T06:32:28.877Z,1761546748.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:28.880Z,1761546748.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 88.609337 m, bearing: 283.997665 deg, approach rate: -0.476874 m/s, LOS rate: -0.000656 deg/s, cmd heading: 293.907193 deg, new cmd heading: 293.906424 deg. 2025-10-27T06:32:28.881Z,1761546748.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129635 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:29.088Z,1761546749.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496423 2025-10-27T06:32:29.226Z,1761546749.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412733,0.898475,0.149645],[-0.909909,0.414178,0.022859],[-0.041442,-0.145598,0.988476]] 2025-10-27T06:32:29.245Z,1761546749.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:29.247Z,1761546749.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 88.445892 m, bearing: 283.997262 deg, approach rate: -0.444979 m/s, LOS rate: -0.001100 deg/s, cmd heading: 293.906428 deg, new cmd heading: 293.905216 deg. 2025-10-27T06:32:29.248Z,1761546749.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129614 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:29.341Z,1761546749.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749227 2025-10-27T06:32:29.595Z,1761546749.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002828 2025-10-27T06:32:29.716Z,1761546749.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:29.720Z,1761546749.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:29.724Z,1761546749.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 88.203125 m, bearing: 283.998112 deg, approach rate: -0.511720 m/s, LOS rate: 0.001797 deg/s, cmd heading: 293.905226 deg, new cmd heading: 293.907783 deg. 2025-10-27T06:32:29.726Z,1761546749.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129659 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:29.844Z,1761546749.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252503 2025-10-27T06:32:30.033Z,1761546750.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414168,0.896869,0.155210],[-0.909215,0.415593,0.024713],[-0.042340,-0.151354,0.987572]] 2025-10-27T06:32:30.052Z,1761546750.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:30.055Z,1761546750.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 88.028343 m, bearing: 283.998528 deg, approach rate: -0.524875 m/s, LOS rate: 0.001251 deg/s, cmd heading: 293.907794 deg, new cmd heading: 293.909044 deg. 2025-10-27T06:32:30.056Z,1761546750.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129681 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:30.096Z,1761546750.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504521 2025-10-27T06:32:30.348Z,1761546750.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756459 2025-10-27T06:32:30.437Z,1761546750.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413855,0.896635,0.157383],[-0.909355,0.415233,0.025598],[-0.042399,-0.153711,0.987206]] 2025-10-27T06:32:30.465Z,1761546750.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:30.468Z,1761546750.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 87.814629 m, bearing: 283.999077 deg, approach rate: -0.516913 m/s, LOS rate: 0.001332 deg/s, cmd heading: 293.909051 deg, new cmd heading: 293.910703 deg. 2025-10-27T06:32:30.469Z,1761546750.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129709 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:30.603Z,1761546750.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011140 2025-10-27T06:32:30.852Z,1761546750.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260400 2025-10-27T06:32:30.900Z,1761546750.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:30.903Z,1761546750.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 87.560814 m, bearing: 284.000302 deg, approach rate: -0.583584 m/s, LOS rate: 0.002823 deg/s, cmd heading: 293.910690 deg, new cmd heading: 293.914373 deg. 2025-10-27T06:32:30.904Z,1761546750.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129774 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:31.105Z,1761546751.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512975 2025-10-27T06:32:31.339Z,1761546751.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411318,0.896666,0.163728],[-0.910548,0.412382,0.029046],[-0.041474,-0.161029,0.986078]] 2025-10-27T06:32:31.356Z,1761546751.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764553 2025-10-27T06:32:31.364Z,1761546751.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:31.367Z,1761546751.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 87.291496 m, bearing: 284.002072 deg, approach rate: -0.580671 m/s, LOS rate: 0.003829 deg/s, cmd heading: 293.914378 deg, new cmd heading: 293.919706 deg. 2025-10-27T06:32:31.368Z,1761546751.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129867 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:31.609Z,1761546751.609 [DAT](INFO): DAT read: Rx Time:06:32:30.1895 2025-10-27T06:32:31.610Z,1761546751.610 [DAT](INFO): Rx dataTimestamp_ set to:1761546751.608927 2025-10-27T06:32:31.612Z,1761546751.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019844 2025-10-27T06:32:31.795Z,1761546751.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:31.797Z,1761546751.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.01 m. 2025-10-27T06:32:31.800Z,1761546751.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.005157 m, nav range: 87.003426 m, bearing: 284.002487 deg, approach rate: -0.664836 m/s, LOS rate: 0.000962 deg/s, cmd heading: 293.919706 deg, new cmd heading: 293.920956 deg. 2025-10-27T06:32:31.801Z,1761546751.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129889 target range: 90.005157 and range: 90.60 m. 2025-10-27T06:32:31.860Z,1761546751.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268658 2025-10-27T06:32:32.117Z,1761546752.117 [DAT](INFO): DAT read: 06:32:30.1895 LVL= 32752, 32753, 31570, 32755, AGC= 63, IDX= 409, 0.01,-1.264,-2.727,-0.650,-1.274, PHS= 0.112,-1.408, 0.580, RAW= 163.0, 8.0, CAL= 162.6, 8.2, ROT= 347.4, -8.2 2025-10-27T06:32:32.120Z,1761546752.120 [DAT](INFO): got valid direction response: 06:32:30.1895 LVL= 32752, 32753, 31570, 32755, AGC= 63, IDX= 409, 0.01,-1.264,-2.727,-0.650,-1.274, PHS= 0.112,-1.408, 0.580, RAW= 163.0, 8.0, CAL= 162.6, 8.2, ROT= 347.4, -8.2 2025-10-27T06:32:32.122Z,1761546752.122 [DAT](INFO): DAT read: Bearing 100.9, -15.7 (Local) 2025-10-27T06:32:32.122Z,1761546752.122 [DAT](INFO): Local bearing/azimuth received: Bearing 100.9, -15.7 (Local) 2025-10-27T06:32:32.129Z,1761546752.129 [DAT](INFO): DAT read: Range 11 to 50 : 88.8 m (Round-trip 118.4 ms) speed 0.7 m/s 2025-10-27T06:32:32.155Z,1761546752.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:32.158Z,1761546752.158 [DAT](INFO): direction in FSK: [0.965939,-0.215913,0.142629] 2025-10-27T06:32:32.169Z,1761546752.169 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:32.177Z,1761546752.177 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:32.177Z,1761546752.177 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:32.177Z,1761546752.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:32.242Z,1761546752.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404061,0.898515,0.171479],[-0.913945,0.404330,0.034950],[-0.037931,-0.170844,0.984568]] 2025-10-27T06:32:32.280Z,1761546752.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.800003 m, deltaT: 3.779846 s, deltaX: -1.799995 m, approachRate: -0.476209 m/s, rangeRepo size: 4 2025-10-27T06:32:32.282Z,1761546752.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.216743 m, bearing: 282.883711 deg, lat: 36.779534 deg, lon: -121.859830 deg, deltaT: 3.779846 s, deltaX: -1.788414 m, approachRate: -0.473145 m/s, posRepo size: 4 2025-10-27T06:32:32.282Z,1761546752.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:32.302Z,1761546752.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 87.110092 m, bearing: 283.848839 deg, approach rate: 0.000000 m/s, LOS rate: 0.000962 deg/s, cmd heading: 293.920962 deg, new cmd heading: 293.922352 deg. 2025-10-27T06:32:32.307Z,1761546752.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129913 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:32.365Z,1761546752.365 [DAT](INFO): DAT read: user:804> 2025-10-27T06:32:32.366Z,1761546752.366 [DAT](INFO): DAT read: Tx time:06:32:31.4669 2025-10-27T06:32:32.366Z,1761546752.366 [DAT](INFO): Ping request sent. 2025-10-27T06:32:32.367Z,1761546752.367 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:32.368Z,1761546752.368 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:32.369Z,1761546752.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002590 2025-10-27T06:32:32.620Z,1761546752.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253002 2025-10-27T06:32:32.685Z,1761546752.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401152,0.899767,0.171745],[-0.915296,0.401139,0.036343],[-0.036193,-0.171777,0.984471]] 2025-10-27T06:32:32.741Z,1761546752.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:32.744Z,1761546752.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 86.776672 m, bearing: 283.845157 deg, approach rate: -0.721590 m/s, LOS rate: -0.007999 deg/s, cmd heading: 293.922356 deg, new cmd heading: 293.911267 deg. 2025-10-27T06:32:32.745Z,1761546752.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129719 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:32.869Z,1761546752.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502077 2025-10-27T06:32:33.044Z,1761546753.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398115,0.901550,0.169446],[-0.916695,0.397890,0.036779],[-0.034262,-0.169973,0.984853]] 2025-10-27T06:32:33.073Z,1761546753.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:33.080Z,1761546753.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 86.544731 m, bearing: 283.843102 deg, approach rate: -0.719968 m/s, LOS rate: -0.006397 deg/s, cmd heading: 293.911264 deg, new cmd heading: 293.905082 deg. 2025-10-27T06:32:33.081Z,1761546753.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129611 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:33.122Z,1761546753.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754924 2025-10-27T06:32:33.372Z,1761546753.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005291 2025-10-27T06:32:33.442Z,1761546753.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394995,0.903183,0.168042],[-0.918117,0.394514,0.037689],[-0.032255,-0.169169,0.985059]] 2025-10-27T06:32:33.462Z,1761546753.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:33.473Z,1761546753.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 86.261436 m, bearing: 283.841227 deg, approach rate: -0.710708 m/s, LOS rate: -0.004719 deg/s, cmd heading: 293.905089 deg, new cmd heading: 293.899446 deg. 2025-10-27T06:32:33.474Z,1761546753.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129513 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:33.628Z,1761546753.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259922 2025-10-27T06:32:33.846Z,1761546753.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392066,0.904867,0.165828],[-0.919440,0.391358,0.038320],[-0.030223,-0.167493,0.985410]] 2025-10-27T06:32:33.876Z,1761546753.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509335 2025-10-27T06:32:33.892Z,1761546753.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:33.894Z,1761546753.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:33.897Z,1761546753.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 85.947342 m, bearing: 283.843815 deg, approach rate: -0.727258 m/s, LOS rate: 0.006013 deg/s, cmd heading: 293.899434 deg, new cmd heading: 293.907225 deg. 2025-10-27T06:32:33.898Z,1761546753.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129649 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:34.129Z,1761546754.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762134 2025-10-27T06:32:34.253Z,1761546754.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389309,0.906389,0.164001],[-0.920674,0.388370,0.039102],[-0.028252,-0.166214,0.985685]] 2025-10-27T06:32:34.272Z,1761546754.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:34.274Z,1761546754.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 85.672218 m, bearing: 283.846671 deg, approach rate: -0.727981 m/s, LOS rate: 0.007582 deg/s, cmd heading: 293.907220 deg, new cmd heading: 293.915816 deg. 2025-10-27T06:32:34.275Z,1761546754.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129799 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:34.380Z,1761546754.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013318 2025-10-27T06:32:34.633Z,1761546754.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266539 2025-10-27T06:32:34.713Z,1761546754.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387327,0.907674,0.161576],[-0.921566,0.386187,0.039702],[-0.026362,-0.164280,0.986061]] 2025-10-27T06:32:34.765Z,1761546754.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:34.768Z,1761546754.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 85.318626 m, bearing: 283.849056 deg, approach rate: -0.716988 m/s, LOS rate: 0.004857 deg/s, cmd heading: 293.915826 deg, new cmd heading: 293.923012 deg. 2025-10-27T06:32:34.769Z,1761546754.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129924 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:34.884Z,1761546754.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517319 2025-10-27T06:32:35.137Z,1761546755.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769970 2025-10-27T06:32:35.164Z,1761546755.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:35.167Z,1761546755.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 85.043083 m, bearing: 283.850929 deg, approach rate: -0.690327 m/s, LOS rate: 0.004707 deg/s, cmd heading: 293.923011 deg, new cmd heading: 293.928647 deg. 2025-10-27T06:32:35.168Z,1761546755.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130023 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:35.388Z,1761546755.388 [DAT](INFO): DAT read: Rx Time:06:32:33.9854 2025-10-27T06:32:35.388Z,1761546755.388 [DAT](INFO): Rx dataTimestamp_ set to:1761546755.388092 2025-10-27T06:32:35.389Z,1761546755.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022300 2025-10-27T06:32:35.503Z,1761546755.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385115,0.909583,0.156030],[-0.922582,0.383666,0.040531],[-0.022997,-0.159560,0.986920]] 2025-10-27T06:32:35.532Z,1761546755.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.22 m. 2025-10-27T06:32:35.535Z,1761546755.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.216743 m, nav range: 84.770790 m, bearing: 283.853319 deg, approach rate: -0.739246 m/s, LOS rate: 0.006510 deg/s, cmd heading: 293.928640 deg, new cmd heading: 293.935833 deg. 2025-10-27T06:32:35.536Z,1761546755.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130148 target range: 88.216743 and range: 88.80 m. 2025-10-27T06:32:35.642Z,1761546755.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275081 2025-10-27T06:32:35.897Z,1761546755.897 [DAT](INFO): DAT read: 06:32:33.9854 LVL= 32752, 32753, 30866, 32755, AGC= 71, IDX= 399, 0.02, 1.189,-0.234, 1.775, 1.207, PHS= 0.084,-1.396, 0.524, RAW= 162.6, 9.1, CAL= 162.4, 9.6, ROT= 347.6, -9.6 2025-10-27T06:32:35.898Z,1761546755.898 [DAT](INFO): got valid direction response: 06:32:33.9854 LVL= 32752, 32753, 30866, 32755, AGC= 71, IDX= 399, 0.02, 1.189,-0.234, 1.775, 1.207, PHS= 0.084,-1.396, 0.524, RAW= 162.6, 9.1, CAL= 162.4, 9.6, ROT= 347.6, -9.6 2025-10-27T06:32:35.901Z,1761546755.901 [DAT](INFO): DAT read: Bearing 103.3, -15.3 (Local) 2025-10-27T06:32:35.901Z,1761546755.901 [DAT](INFO): Local bearing/azimuth received: Bearing 103.3, -15.3 (Local) 2025-10-27T06:32:35.903Z,1761546755.903 [DAT](INFO): DAT read: Range 11 to 50 : 85.7 m (Round-trip 114.3 ms) speed 0.7 m/s 2025-10-27T06:32:35.903Z,1761546755.903 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:35.904Z,1761546755.904 [DAT](INFO): direction in FSK: [0.962995,-0.211728,0.166769] 2025-10-27T06:32:35.905Z,1761546755.905 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:35.913Z,1761546755.913 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:35.914Z,1761546755.914 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:35.914Z,1761546755.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:35.960Z,1761546755.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384980,0.910105,0.153297],[-0.922669,0.383441,0.040686],[-0.021752,-0.157105,0.987342]] 2025-10-27T06:32:36.057Z,1761546756.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.699997 m, deltaT: 3.779935 s, deltaX: -3.100006 m, approachRate: -0.820122 m/s, rangeRepo size: 4 2025-10-27T06:32:36.059Z,1761546756.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.136864 m, bearing: 281.938935 deg, lat: 36.779521 deg, lon: -121.859830 deg, deltaT: 3.779935 s, deltaX: -3.079880 m, approachRate: -0.814797 m/s, posRepo size: 4 2025-10-27T06:32:36.060Z,1761546756.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:36.062Z,1761546756.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 84.100746 m, bearing: 282.940075 deg, approach rate: 0.000000 m/s, LOS rate: 0.006510 deg/s, cmd heading: 293.935825 deg, new cmd heading: 293.946060 deg. 2025-10-27T06:32:36.064Z,1761546756.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130327 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:36.145Z,1761546756.145 [DAT](INFO): DAT read: user:805> 2025-10-27T06:32:36.146Z,1761546756.146 [DAT](INFO): DAT read: Tx time:06:32:35.2169 2025-10-27T06:32:36.146Z,1761546756.146 [DAT](INFO): Ping request sent. 2025-10-27T06:32:36.146Z,1761546756.146 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:36.146Z,1761546756.146 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:36.147Z,1761546756.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000887 2025-10-27T06:32:36.384Z,1761546756.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385385,0.910445,0.150229],[-0.922523,0.383803,0.040568],[-0.020723,-0.154224,0.987819]] 2025-10-27T06:32:36.396Z,1761546756.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249847 2025-10-27T06:32:36.407Z,1761546756.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:36.409Z,1761546756.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:36.412Z,1761546756.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 83.865509 m, bearing: 282.935454 deg, approach rate: -0.666621 m/s, LOS rate: -0.013131 deg/s, cmd heading: 293.946070 deg, new cmd heading: 293.932169 deg. 2025-10-27T06:32:36.413Z,1761546756.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.130084 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:36.648Z,1761546756.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502087 2025-10-27T06:32:36.782Z,1761546756.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386466,0.910394,0.147738],[-0.922089,0.384845,0.040583],[-0.019910,-0.151911,0.988194]] 2025-10-27T06:32:36.844Z,1761546756.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:36.847Z,1761546756.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 83.613472 m, bearing: 282.933454 deg, approach rate: -0.579559 m/s, LOS rate: -0.004614 deg/s, cmd heading: 293.932164 deg, new cmd heading: 293.926144 deg. 2025-10-27T06:32:36.848Z,1761546756.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129979 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:36.901Z,1761546756.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754252 2025-10-27T06:32:37.152Z,1761546757.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005791 2025-10-27T06:32:37.185Z,1761546757.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387913,0.910254,0.144783],[-0.921492,0.386321,0.040119],[-0.019414,-0.148979,0.988650]] 2025-10-27T06:32:37.220Z,1761546757.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:37.223Z,1761546757.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 83.371948 m, bearing: 282.931326 deg, approach rate: -0.642214 m/s, LOS rate: -0.005674 deg/s, cmd heading: 293.926153 deg, new cmd heading: 293.919752 deg. 2025-10-27T06:32:37.224Z,1761546757.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129868 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:37.404Z,1761546757.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257665 2025-10-27T06:32:37.590Z,1761546757.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389578,0.910015,0.141781],[-0.920796,0.388043,0.039472],[-0.019097,-0.145928,0.989111]] 2025-10-27T06:32:37.608Z,1761546757.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:37.634Z,1761546757.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 83.137604 m, bearing: 282.929019 deg, approach rate: -0.603909 m/s, LOS rate: -0.005962 deg/s, cmd heading: 293.919760 deg, new cmd heading: 293.912819 deg. 2025-10-27T06:32:37.636Z,1761546757.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129746 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:37.656Z,1761546757.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509818 2025-10-27T06:32:37.908Z,1761546757.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761754 2025-10-27T06:32:37.993Z,1761546757.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391422,0.909579,0.139483],[-0.920016,0.389939,0.038957],[-0.018956,-0.143575,0.989458]] 2025-10-27T06:32:38.118Z,1761546758.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:38.126Z,1761546758.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 82.864243 m, bearing: 282.925368 deg, approach rate: -0.537352 m/s, LOS rate: -0.007199 deg/s, cmd heading: 293.912821 deg, new cmd heading: 293.901834 deg. 2025-10-27T06:32:38.132Z,1761546758.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129555 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:38.160Z,1761546758.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013755 2025-10-27T06:32:38.413Z,1761546758.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266595 2025-10-27T06:32:38.455Z,1761546758.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393710,0.908453,0.140379],[-0.919039,0.392159,0.039726],[-0.018961,-0.144654,0.989301]] 2025-10-27T06:32:38.497Z,1761546758.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:38.503Z,1761546758.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:38.505Z,1761546758.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 82.647301 m, bearing: 282.922060 deg, approach rate: -0.568327 m/s, LOS rate: -0.008690 deg/s, cmd heading: 293.901838 deg, new cmd heading: 293.891887 deg. 2025-10-27T06:32:38.506Z,1761546758.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129381 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:38.556Z,1761546758.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:32:38.664Z,1761546758.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517676 2025-10-27T06:32:38.860Z,1761546758.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396113,0.907405,0.140398],[-0.918006,0.394527,0.040160],[-0.018949,-0.144794,0.989280]] 2025-10-27T06:32:38.916Z,1761546758.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769708 2025-10-27T06:32:38.930Z,1761546758.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:38.933Z,1761546758.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 82.425423 m, bearing: 282.916864 deg, approach rate: -0.514104 m/s, LOS rate: -0.012073 deg/s, cmd heading: 293.891893 deg, new cmd heading: 293.876261 deg. 2025-10-27T06:32:38.934Z,1761546758.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.129108 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:39.168Z,1761546759.168 [DAT](INFO): DAT read: Rx Time:06:32:37.7327 2025-10-27T06:32:39.169Z,1761546759.169 [DAT](INFO): Rx dataTimestamp_ set to:1761546759.168347 2025-10-27T06:32:39.169Z,1761546759.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022978 2025-10-27T06:32:39.261Z,1761546759.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398580,0.906345,0.140261],[-0.916936,0.396983,0.040416],[-0.019050,-0.144719,0.989289]] 2025-10-27T06:32:39.305Z,1761546759.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.14 m. 2025-10-27T06:32:39.308Z,1761546759.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.136864 m, nav range: 82.236885 m, bearing: 282.912073 deg, approach rate: -0.503547 m/s, LOS rate: -0.012824 deg/s, cmd heading: 293.876266 deg, new cmd heading: 293.861861 deg. 2025-10-27T06:32:39.308Z,1761546759.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128857 target range: 85.136864 and range: 85.70 m. 2025-10-27T06:32:39.425Z,1761546759.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277674 2025-10-27T06:32:39.560Z,1761546759.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:32:39.666Z,1761546759.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401198,0.905061,0.141083],[-0.915789,0.399560,0.041012],[-0.019253,-0.145656,0.989148]] 2025-10-27T06:32:39.677Z,1761546759.677 [DAT](INFO): DAT read: 06:32:37.7327 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 419, 0.10, 2.420, 1.001, 2.994, 2.435, PHS= 0.087,-1.388, 0.515, RAW= 162.4, 9.1, CAL= 162.2, 9.7, ROT= 347.8, -9.7 2025-10-27T06:32:39.678Z,1761546759.678 [DAT](INFO): got valid direction response: 06:32:37.7327 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 419, 0.10, 2.420, 1.001, 2.994, 2.435, PHS= 0.087,-1.388, 0.515, RAW= 162.4, 9.1, CAL= 162.2, 9.7, ROT= 347.8, -9.7 2025-10-27T06:32:39.679Z,1761546759.679 [DAT](INFO): DAT read: Bearing 105.0, -14.5 (Local) 2025-10-27T06:32:39.680Z,1761546759.680 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -14.5 (Local) 2025-10-27T06:32:39.681Z,1761546759.681 [DAT](INFO): DAT read: Range 11 to 50 : 83.7 m (Round-trip 111.6 ms) speed 0.6 m/s 2025-10-27T06:32:39.682Z,1761546759.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:39.683Z,1761546759.683 [DAT](INFO): direction in FSK: [0.963442,-0.208304,0.168489] 2025-10-27T06:32:39.683Z,1761546759.683 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:39.686Z,1761546759.686 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:39.686Z,1761546759.686 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:39.686Z,1761546759.686 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:39.806Z,1761546759.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 3.779930 s, deltaX: -2.000000 m, approachRate: -0.529110 m/s, rangeRepo size: 4 2025-10-27T06:32:39.813Z,1761546759.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.150833 m, bearing: 283.025916 deg, lat: 36.779521 deg, lon: -121.859830 deg, deltaT: 3.779930 s, deltaX: -1.986031 m, approachRate: -0.525415 m/s, posRepo size: 4 2025-10-27T06:32:39.814Z,1761546759.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:39.832Z,1761546759.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 82.028961 m, bearing: 282.906332 deg, approach rate: 0.000000 m/s, LOS rate: -0.012824 deg/s, cmd heading: 293.861868 deg, new cmd heading: 293.842595 deg. 2025-10-27T06:32:39.833Z,1761546759.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128521 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:39.924Z,1761546759.924 [DAT](INFO): DAT read: user:806> 2025-10-27T06:32:39.925Z,1761546759.925 [DAT](INFO): DAT read: Tx time:06:32:38.9669 2025-10-27T06:32:39.926Z,1761546759.926 [DAT](INFO): Ping request sent. 2025-10-27T06:32:39.926Z,1761546759.926 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:39.926Z,1761546759.926 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:39.927Z,1761546759.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001131 2025-10-27T06:32:40.090Z,1761546760.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403506,0.903572,0.144018],[-0.914770,0.401730,0.042521],[-0.019435,-0.148901,0.988661]] 2025-10-27T06:32:40.176Z,1761546760.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250301 2025-10-27T06:32:40.188Z,1761546760.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:40.195Z,1761546760.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 81.811584 m, bearing: 282.899722 deg, approach rate: -0.568351 m/s, LOS rate: -0.017329 deg/s, cmd heading: 293.842606 deg, new cmd heading: 293.822723 deg. 2025-10-27T06:32:40.196Z,1761546760.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.128174 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:40.428Z,1761546760.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502289 2025-10-27T06:32:40.484Z,1761546760.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405409,0.902496,0.145411],[-0.913929,0.403533,0.043523],[-0.019399,-0.150539,0.988414]] 2025-10-27T06:32:40.501Z,1761546760.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:40.503Z,1761546760.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:40.506Z,1761546760.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 81.660149 m, bearing: 282.894860 deg, approach rate: -0.481141 m/s, LOS rate: -0.015477 deg/s, cmd heading: 293.822717 deg, new cmd heading: 293.808103 deg. 2025-10-27T06:32:40.507Z,1761546760.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127919 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:40.680Z,1761546760.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754211 2025-10-27T06:32:40.887Z,1761546760.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407294,0.901472,0.146495],[-0.913095,0.405310,0.044521],[-0.019241,-0.151897,0.988209]] 2025-10-27T06:32:40.930Z,1761546760.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:40.932Z,1761546760.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006418 2025-10-27T06:32:40.935Z,1761546760.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 81.455002 m, bearing: 282.889110 deg, approach rate: -0.480030 m/s, LOS rate: -0.013489 deg/s, cmd heading: 293.808100 deg, new cmd heading: 293.790806 deg. 2025-10-27T06:32:40.952Z,1761546760.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127617 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:41.184Z,1761546761.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258546 2025-10-27T06:32:41.289Z,1761546761.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408826,0.900394,0.148833],[-0.912413,0.406677,0.046010],[-0.019100,-0.154607,0.987791]] 2025-10-27T06:32:41.320Z,1761546761.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:41.322Z,1761546761.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 81.268555 m, bearing: 282.883618 deg, approach rate: -0.479923 m/s, LOS rate: -0.014167 deg/s, cmd heading: 293.790806 deg, new cmd heading: 293.774295 deg. 2025-10-27T06:32:41.324Z,1761546761.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127329 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:41.436Z,1761546761.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510355 2025-10-27T06:32:41.688Z,1761546761.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762218 2025-10-27T06:32:41.696Z,1761546761.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409950,0.899785,0.149426],[-0.911916,0.407682,0.046942],[-0.018681,-0.155508,0.987658]] 2025-10-27T06:32:41.742Z,1761546761.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:41.755Z,1761546761.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 81.074501 m, bearing: 282.877701 deg, approach rate: -0.458249 m/s, LOS rate: -0.014007 deg/s, cmd heading: 293.774305 deg, new cmd heading: 293.756510 deg. 2025-10-27T06:32:41.756Z,1761546761.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.127018 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:41.940Z,1761546761.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014230 2025-10-27T06:32:42.189Z,1761546762.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:42.192Z,1761546762.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266373 2025-10-27T06:32:42.194Z,1761546762.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 80.832214 m, bearing: 282.867132 deg, approach rate: -0.541723 m/s, LOS rate: -0.023701 deg/s, cmd heading: 293.756519 deg, new cmd heading: 293.724717 deg. 2025-10-27T06:32:42.215Z,1761546762.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126463 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:42.444Z,1761546762.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518296 2025-10-27T06:32:42.530Z,1761546762.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411044,0.899462,0.148361],[-0.911454,0.408558,0.048301],[-0.017169,-0.155078,0.987753]] 2025-10-27T06:32:42.557Z,1761546762.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:42.560Z,1761546762.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:42.563Z,1761546762.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 80.639992 m, bearing: 282.858540 deg, approach rate: -0.518990 m/s, LOS rate: -0.023254 deg/s, cmd heading: 293.724717 deg, new cmd heading: 293.698879 deg. 2025-10-27T06:32:42.564Z,1761546762.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.126012 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:42.697Z,1761546762.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770993 2025-10-27T06:32:42.934Z,1761546762.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411036,0.899419,0.148645],[-0.911473,0.408385,0.049377],[-0.016294,-0.155781,0.987657]] 2025-10-27T06:32:42.948Z,1761546762.948 [DAT](INFO): DAT read: Rx Time:06:32:41.4805 2025-10-27T06:32:42.948Z,1761546762.948 [DAT](INFO): Rx dataTimestamp_ set to:1761546762.948176 2025-10-27T06:32:42.949Z,1761546762.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023354 2025-10-27T06:32:42.974Z,1761546762.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:43.005Z,1761546763.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 80.396362 m, bearing: 282.850460 deg, approach rate: -0.587781 m/s, LOS rate: -0.019552 deg/s, cmd heading: 293.698872 deg, new cmd heading: 293.674560 deg. 2025-10-27T06:32:43.006Z,1761546763.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.125588 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:43.200Z,1761546763.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274267 2025-10-27T06:32:43.366Z,1761546763.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410183,0.899808,0.148645],[-0.911881,0.407310,0.050703],[-0.014921,-0.156344,0.987590]] 2025-10-27T06:32:43.385Z,1761546763.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.15 m. 2025-10-27T06:32:43.388Z,1761546763.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.150833 m, nav range: 80.155258 m, bearing: 282.842579 deg, approach rate: -0.587542 m/s, LOS rate: -0.019263 deg/s, cmd heading: 293.674556 deg, new cmd heading: 293.650842 deg. 2025-10-27T06:32:43.389Z,1761546763.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.125174 target range: 83.150833 and range: 83.70 m. 2025-10-27T06:32:43.457Z,1761546763.457 [DAT](INFO): DAT read: 06:32:41.4805 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.31,-0.775,-2.207,-0.214,-0.763, PHS= 0.090,-1.400, 0.504, RAW= 162.0, 9.3, CAL= 161.8, 9.9, ROT= 348.2, -9.9 2025-10-27T06:32:43.459Z,1761546763.459 [DAT](INFO): got valid direction response: 06:32:41.4805 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.31,-0.775,-2.207,-0.214,-0.763, PHS= 0.090,-1.400, 0.504, RAW= 162.0, 9.3, CAL= 161.8, 9.9, ROT= 348.2, -9.9 2025-10-27T06:32:43.460Z,1761546763.460 [DAT](INFO): DAT read: Bearing 105.2, -13.6 (Local) 2025-10-27T06:32:43.460Z,1761546763.460 [DAT](INFO): Local bearing/azimuth received: Bearing 105.2, -13.6 (Local) 2025-10-27T06:32:43.461Z,1761546763.461 [DAT](INFO): DAT read: Range 11 to 50 : 82.0 m (Round-trip 109.4 ms) speed 0.6 m/s 2025-10-27T06:32:43.462Z,1761546763.462 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:43.464Z,1761546763.464 [DAT](INFO): direction in FSK: [0.964291,-0.201451,0.171929] 2025-10-27T06:32:43.464Z,1761546763.464 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:43.468Z,1761546763.468 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:43.468Z,1761546763.468 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:43.468Z,1761546763.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:43.704Z,1761546763.704 [DAT](INFO): DAT read: user:807> 2025-10-27T06:32:43.706Z,1761546763.706 [DAT](INFO): DAT read: Tx time:06:32:42.7669 2025-10-27T06:32:43.706Z,1761546763.706 [DAT](INFO): Ping request sent. 2025-10-27T06:32:43.706Z,1761546763.706 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:43.707Z,1761546763.707 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:43.708Z,1761546763.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001525 2025-10-27T06:32:43.875Z,1761546763.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407933,0.900636,0.149821],[-0.912934,0.404516,0.054021],[-0.011952,-0.158814,0.987236]] 2025-10-27T06:32:43.932Z,1761546763.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.000000 m, deltaT: 3.780341 s, deltaX: -1.699997 m, approachRate: -0.449694 m/s, rangeRepo size: 4 2025-10-27T06:32:43.934Z,1761546763.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.461838 m, bearing: 284.011135 deg, lat: 36.779522 deg, lon: -121.859828 deg, deltaT: 3.780341 s, deltaX: -1.688995 m, approachRate: -0.446784 m/s, posRepo size: 4 2025-10-27T06:32:43.934Z,1761546763.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:43.937Z,1761546763.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 79.617935 m, bearing: 282.942635 deg, approach rate: 0.000000 m/s, LOS rate: -0.019263 deg/s, cmd heading: 293.650842 deg, new cmd heading: 293.619285 deg. 2025-10-27T06:32:43.938Z,1761546763.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124623 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:43.956Z,1761546763.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249866 2025-10-27T06:32:44.208Z,1761546764.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501873 2025-10-27T06:32:44.279Z,1761546764.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405650,0.901901,0.148398],[-0.913977,0.401971,0.055369],[-0.009715,-0.158093,0.987376]] 2025-10-27T06:32:44.297Z,1761546764.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:44.301Z,1761546764.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 79.369217 m, bearing: 282.932062 deg, approach rate: -0.678246 m/s, LOS rate: -0.028922 deg/s, cmd heading: 293.619287 deg, new cmd heading: 293.587469 deg. 2025-10-27T06:32:44.302Z,1761546764.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.124068 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:44.460Z,1761546764.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753859 2025-10-27T06:32:44.682Z,1761546764.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402999,0.903410,0.146430],[-0.915171,0.399070,0.056607],[-0.007296,-0.156821,0.987600]] 2025-10-27T06:32:44.713Z,1761546764.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006695 2025-10-27T06:32:44.729Z,1761546764.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:44.736Z,1761546764.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:44.743Z,1761546764.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 79.094559 m, bearing: 282.920889 deg, approach rate: -0.633180 m/s, LOS rate: -0.025847 deg/s, cmd heading: 293.587458 deg, new cmd heading: 293.553822 deg. 2025-10-27T06:32:44.744Z,1761546764.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.123481 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:44.965Z,1761546764.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258512 2025-10-27T06:32:45.086Z,1761546765.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400056,0.904738,0.146301],[-0.916478,0.395766,0.058636],[-0.004851,-0.157539,0.987501]] 2025-10-27T06:32:45.150Z,1761546765.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:45.153Z,1761546765.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 78.782944 m, bearing: 282.905322 deg, approach rate: -0.743869 m/s, LOS rate: -0.037308 deg/s, cmd heading: 293.553826 deg, new cmd heading: 293.506939 deg. 2025-10-27T06:32:45.154Z,1761546765.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.122663 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:45.217Z,1761546765.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510758 2025-10-27T06:32:45.468Z,1761546765.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761874 2025-10-27T06:32:45.490Z,1761546765.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397052,0.906071,0.146236],[-0.917793,0.392376,0.060802],[-0.002289,-0.158356,0.987379]] 2025-10-27T06:32:45.523Z,1761546765.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:45.526Z,1761546765.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 78.520477 m, bearing: 282.892742 deg, approach rate: -0.703748 m/s, LOS rate: -0.033842 deg/s, cmd heading: 293.506944 deg, new cmd heading: 293.469079 deg. 2025-10-27T06:32:45.527Z,1761546765.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.122002 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:45.720Z,1761546765.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014371 2025-10-27T06:32:45.900Z,1761546765.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394236,0.907423,0.145470],[-0.919009,0.389245,0.062532],[0.000119,-0.158341,0.987384]] 2025-10-27T06:32:45.949Z,1761546765.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:45.951Z,1761546765.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 78.221390 m, bearing: 282.875171 deg, approach rate: -0.703016 m/s, LOS rate: -0.041459 deg/s, cmd heading: 293.469077 deg, new cmd heading: 293.416163 deg. 2025-10-27T06:32:45.952Z,1761546765.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.121078 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:45.972Z,1761546765.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266264 2025-10-27T06:32:46.224Z,1761546766.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517880 2025-10-27T06:32:46.298Z,1761546766.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391792,0.908405,0.145944],[-0.920050,0.386403,0.064806],[0.002477,-0.159666,0.987168]] 2025-10-27T06:32:46.323Z,1761546766.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:46.326Z,1761546766.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 77.958008 m, bearing: 282.860093 deg, approach rate: -0.703449 m/s, LOS rate: -0.040408 deg/s, cmd heading: 293.416157 deg, new cmd heading: 293.370769 deg. 2025-10-27T06:32:46.327Z,1761546766.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.120286 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:46.476Z,1761546766.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769818 2025-10-27T06:32:46.704Z,1761546766.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390288,0.908799,0.147510],[-0.920682,0.384456,0.067373],[0.004518,-0.162104,0.986763]] 2025-10-27T06:32:46.729Z,1761546766.729 [DAT](INFO): DAT read: Rx Time:06:32:45.2766 2025-10-27T06:32:46.730Z,1761546766.730 [DAT](INFO): Rx dataTimestamp_ set to:1761546766.729218 2025-10-27T06:32:46.730Z,1761546766.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024007 2025-10-27T06:32:46.749Z,1761546766.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:46.755Z,1761546766.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:46.758Z,1761546766.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 77.672760 m, bearing: 282.843970 deg, approach rate: -0.666185 m/s, LOS rate: -0.037793 deg/s, cmd heading: 293.370777 deg, new cmd heading: 293.322230 deg. 2025-10-27T06:32:46.771Z,1761546766.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.119439 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:46.981Z,1761546766.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274525 2025-10-27T06:32:47.158Z,1761546767.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389194,0.908942,0.149510],[-0.921131,0.382823,0.070462],[0.006810,-0.165141,0.986246]] 2025-10-27T06:32:47.212Z,1761546767.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.46 m. 2025-10-27T06:32:47.214Z,1761546767.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.461838 m, nav range: 77.341377 m, bearing: 282.822809 deg, approach rate: -0.719375 m/s, LOS rate: -0.046135 deg/s, cmd heading: 293.322228 deg, new cmd heading: 293.258471 deg. 2025-10-27T06:32:47.218Z,1761546767.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.118326 target range: 81.461838 and range: 82.00 m. 2025-10-27T06:32:47.237Z,1761546767.237 [DAT](INFO): DAT read: 06:32:45.2766 LVL= 32752, 32753, 32594, 32755, AGC= 67, IDX= 405, 0.28, 0.960,-0.479, 1.557, 0.970, PHS= 0.092,-1.404, 0.543, RAW= 162.8, 8.8, CAL= 162.5, 9.2, ROT= 347.5, -9.2 2025-10-27T06:32:47.238Z,1761546767.238 [DAT](INFO): got valid direction response: 06:32:45.2766 LVL= 32752, 32753, 32594, 32755, AGC= 67, IDX= 405, 0.28, 0.960,-0.479, 1.557, 0.970, PHS= 0.092,-1.404, 0.543, RAW= 162.8, 8.8, CAL= 162.5, 9.2, ROT= 347.5, -9.2 2025-10-27T06:32:47.240Z,1761546767.240 [DAT](INFO): DAT read: Bearing 104.5, -14.0 (Local) 2025-10-27T06:32:47.240Z,1761546767.240 [DAT](INFO): Local bearing/azimuth received: Bearing 104.5, -14.0 (Local) 2025-10-27T06:32:47.241Z,1761546767.241 [DAT](INFO): DAT read: Range 11 to 50 : 79.1 m (Round-trip 105.5 ms) speed 0.6 m/s 2025-10-27T06:32:47.242Z,1761546767.242 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:47.247Z,1761546767.247 [DAT](INFO): direction in FSK: [0.963737,-0.213655,0.159881] 2025-10-27T06:32:47.247Z,1761546767.247 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:47.251Z,1761546767.251 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:47.251Z,1761546767.251 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:47.251Z,1761546767.251 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:47.485Z,1761546767.485 [DAT](INFO): DAT read: user:808> 2025-10-27T06:32:47.486Z,1761546767.486 [DAT](INFO): DAT read: Tx time:06:32:46.5669 2025-10-27T06:32:47.486Z,1761546767.486 [DAT](INFO): Ping request sent. 2025-10-27T06:32:47.486Z,1761546767.486 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:47.487Z,1761546767.487 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:47.488Z,1761546767.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001184 2025-10-27T06:32:47.538Z,1761546767.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388554,0.909160,0.149845],[-0.921381,0.381752,0.072956],[0.009126,-0.166412,0.986014]] 2025-10-27T06:32:47.671Z,1761546767.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.099998 m, deltaT: 3.779999 s, deltaX: -2.900002 m, approachRate: -0.767196 m/s, rangeRepo size: 4 2025-10-27T06:32:47.673Z,1761546767.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.581650 m, bearing: 282.032797 deg, lat: 36.779521 deg, lon: -121.859830 deg, deltaT: 3.779999 s, deltaX: -2.880188 m, approachRate: -0.761955 m/s, posRepo size: 4 2025-10-27T06:32:47.674Z,1761546767.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:47.677Z,1761546767.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 77.155624 m, bearing: 282.690785 deg, approach rate: 0.000000 m/s, LOS rate: -0.046135 deg/s, cmd heading: 293.258461 deg, new cmd heading: 293.194954 deg. 2025-10-27T06:32:47.678Z,1761546767.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.117217 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:47.737Z,1761546767.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250258 2025-10-27T06:32:47.988Z,1761546767.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501590 2025-10-27T06:32:48.084Z,1761546768.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:48.086Z,1761546768.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 76.901611 m, bearing: 282.673070 deg, approach rate: -0.614881 m/s, LOS rate: -0.043025 deg/s, cmd heading: 293.194941 deg, new cmd heading: 293.141619 deg. 2025-10-27T06:32:48.088Z,1761546768.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.116286 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:48.240Z,1761546768.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753576 2025-10-27T06:32:48.404Z,1761546768.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388171,0.910353,0.143458],[-0.921494,0.381182,0.074494],[0.013132,-0.161112,0.986849]] 2025-10-27T06:32:48.460Z,1761546768.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:48.464Z,1761546768.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 76.665283 m, bearing: 282.656652 deg, approach rate: -0.627379 m/s, LOS rate: -0.043718 deg/s, cmd heading: 293.141610 deg, new cmd heading: 293.092206 deg. 2025-10-27T06:32:48.465Z,1761546768.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.115424 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:48.492Z,1761546768.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005601 2025-10-27T06:32:48.744Z,1761546768.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257510 2025-10-27T06:32:48.808Z,1761546768.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388620,0.910205,0.143183],[-0.921289,0.381458,0.075609],[0.014201,-0.161296,0.986804]] 2025-10-27T06:32:48.884Z,1761546768.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:48.900Z,1761546768.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:48.917Z,1761546768.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 76.418915 m, bearing: 282.639335 deg, approach rate: -0.568029 m/s, LOS rate: -0.040054 deg/s, cmd heading: 293.092215 deg, new cmd heading: 293.040097 deg. 2025-10-27T06:32:48.918Z,1761546768.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.114514 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:48.996Z,1761546768.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509877 2025-10-27T06:32:49.224Z,1761546769.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389504,0.909585,0.144715],[-0.920904,0.382066,0.077218],[0.014945,-0.163345,0.986456]] 2025-10-27T06:32:49.248Z,1761546769.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761860 2025-10-27T06:32:49.292Z,1761546769.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:49.295Z,1761546769.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 76.176071 m, bearing: 282.622707 deg, approach rate: -0.610480 m/s, LOS rate: -0.041935 deg/s, cmd heading: 293.040087 deg, new cmd heading: 292.990043 deg. 2025-10-27T06:32:49.297Z,1761546769.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.113641 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:49.500Z,1761546769.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013482 2025-10-27T06:32:49.632Z,1761546769.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390953,0.908702,0.146346],[-0.920282,0.383269,0.078648],[0.015378,-0.165427,0.986102]] 2025-10-27T06:32:49.657Z,1761546769.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:49.659Z,1761546769.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 75.968201 m, bearing: 282.608107 deg, approach rate: -0.570114 m/s, LOS rate: -0.040154 deg/s, cmd heading: 292.990035 deg, new cmd heading: 292.946113 deg. 2025-10-27T06:32:49.660Z,1761546769.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112874 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:49.752Z,1761546769.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265767 2025-10-27T06:32:50.004Z,1761546770.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517652 2025-10-27T06:32:50.034Z,1761546770.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392795,0.907784,0.147110],[-0.919497,0.384995,0.079401],[0.015442,-0.166456,0.985928]] 2025-10-27T06:32:50.106Z,1761546770.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:50.112Z,1761546770.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 75.748802 m, bearing: 282.594344 deg, approach rate: -0.488379 m/s, LOS rate: -0.030723 deg/s, cmd heading: 292.946103 deg, new cmd heading: 292.904697 deg. 2025-10-27T06:32:50.112Z,1761546770.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.112151 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:50.256Z,1761546770.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769610 2025-10-27T06:32:50.435Z,1761546770.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394703,0.906909,0.147394],[-0.918679,0.386838,0.079908],[0.015452,-0.166947,0.985845]] 2025-10-27T06:32:50.466Z,1761546770.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:50.469Z,1761546770.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 75.564926 m, bearing: 282.582451 deg, approach rate: -0.510509 m/s, LOS rate: -0.033101 deg/s, cmd heading: 292.904685 deg, new cmd heading: 292.868918 deg. 2025-10-27T06:32:50.470Z,1761546770.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111527 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:50.508Z,1761546770.508 [DAT](INFO): DAT read: Rx Time:06:32:49.0737 2025-10-27T06:32:50.509Z,1761546770.509 [DAT](INFO): Rx dataTimestamp_ set to:1761546770.508253 2025-10-27T06:32:50.509Z,1761546770.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022765 2025-10-27T06:32:50.760Z,1761546770.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273615 2025-10-27T06:32:50.838Z,1761546770.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396771,0.905663,0.149489],[-0.917785,0.388655,0.081347],[0.015573,-0.169475,0.985411]] 2025-10-27T06:32:50.917Z,1761546770.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:50.954Z,1761546770.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.58 m. 2025-10-27T06:32:50.966Z,1761546770.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.581650 m, nav range: 75.362846 m, bearing: 282.568927 deg, approach rate: -0.416040 m/s, LOS rate: -0.027918 deg/s, cmd heading: 292.868922 deg, new cmd heading: 292.828241 deg. 2025-10-27T06:32:50.975Z,1761546770.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110817 target range: 78.581650 and range: 79.10 m. 2025-10-27T06:32:51.018Z,1761546771.018 [DAT](INFO): DAT read: 06:32:49.0737 LVL= 32752, 32753, 31890, 32755, AGC= 66, IDX= 407, 0.06, 2.615, 1.195,-3.080, 2.597, PHS= 0.120,-1.357, 0.562, RAW= 162.7, 7.8, CAL= 162.3, 7.9, ROT= 347.7, -7.9 2025-10-27T06:32:51.020Z,1761546771.020 [DAT](INFO): got valid direction response: 06:32:49.0737 LVL= 32752, 32753, 31890, 32755, AGC= 66, IDX= 407, 0.06, 2.615, 1.195,-3.080, 2.597, PHS= 0.120,-1.357, 0.562, RAW= 162.7, 7.8, CAL= 162.3, 7.9, ROT= 347.7, -7.9 2025-10-27T06:32:51.021Z,1761546771.021 [DAT](INFO): DAT read: Bearing 103.6, -12.9 (Local) 2025-10-27T06:32:51.022Z,1761546771.022 [DAT](INFO): Local bearing/azimuth received: Bearing 103.6, -12.9 (Local) 2025-10-27T06:32:51.024Z,1761546771.024 [DAT](INFO): DAT read: Range 11 to 50 : 76.9 m (Round-trip 102.6 ms) speed 0.4 m/s 2025-10-27T06:32:51.025Z,1761546771.025 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:51.026Z,1761546771.026 [DAT](INFO): direction in FSK: [0.967773,-0.211008,0.137445] 2025-10-27T06:32:51.035Z,1761546771.035 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:51.070Z,1761546771.070 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:51.070Z,1761546771.070 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:51.070Z,1761546771.070 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:51.264Z,1761546771.264 [DAT](INFO): DAT read: user:809> 2025-10-27T06:32:51.264Z,1761546771.264 [DAT](INFO): DAT read: Tx time:06:32:50.3669 2025-10-27T06:32:51.265Z,1761546771.265 [DAT](INFO): Ping request sent. 2025-10-27T06:32:51.265Z,1761546771.265 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:51.265Z,1761546771.265 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:51.266Z,1761546771.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-27T06:32:51.330Z,1761546771.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398989,0.904668,0.149614],[-0.916826,0.390837,0.081715],[0.015451,-0.169773,0.985362]] 2025-10-27T06:32:51.377Z,1761546771.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.779944 s, deltaX: -2.199997 m, approachRate: -0.582018 m/s, rangeRepo size: 4 2025-10-27T06:32:51.380Z,1761546771.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.397270 m, bearing: 282.688075 deg, lat: 36.779522 deg, lon: -121.859829 deg, deltaT: 3.779944 s, deltaX: -2.184380 m, approachRate: -0.577887 m/s, posRepo size: 4 2025-10-27T06:32:51.381Z,1761546771.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:51.404Z,1761546771.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 75.053253 m, bearing: 282.661976 deg, approach rate: 0.000000 m/s, LOS rate: -0.027918 deg/s, cmd heading: 292.828241 deg, new cmd heading: 292.792654 deg. 2025-10-27T06:32:51.405Z,1761546771.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.110196 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:51.516Z,1761546771.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251152 2025-10-27T06:32:51.717Z,1761546771.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401104,0.903638,0.150176],[-0.915903,0.392870,0.082309],[0.015378,-0.170561,0.985227]] 2025-10-27T06:32:51.760Z,1761546771.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:51.763Z,1761546771.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 74.875977 m, bearing: 282.653181 deg, approach rate: -0.463519 m/s, LOS rate: -0.023052 deg/s, cmd heading: 292.792642 deg, new cmd heading: 292.766193 deg. 2025-10-27T06:32:51.768Z,1761546771.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503303 2025-10-27T06:32:51.773Z,1761546771.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.109734 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:52.021Z,1761546772.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755422 2025-10-27T06:32:52.126Z,1761546772.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402810,0.902884,0.150148],[-0.915152,0.394516,0.082783],[0.015508,-0.170755,0.985192]] 2025-10-27T06:32:52.162Z,1761546772.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:52.165Z,1761546772.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 74.677979 m, bearing: 282.646309 deg, approach rate: -0.490845 m/s, LOS rate: -0.017081 deg/s, cmd heading: 292.766196 deg, new cmd heading: 292.745526 deg. 2025-10-27T06:32:52.166Z,1761546772.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.109373 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:52.272Z,1761546772.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007180 2025-10-27T06:32:52.513Z,1761546772.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403885,0.902482,0.149676],[-0.914674,0.395569,0.083046],[0.015740,-0.170446,0.985241]] 2025-10-27T06:32:52.524Z,1761546772.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258920 2025-10-27T06:32:52.642Z,1761546772.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:52.645Z,1761546772.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 74.456306 m, bearing: 282.638374 deg, approach rate: -0.462537 m/s, LOS rate: -0.016606 deg/s, cmd heading: 292.745514 deg, new cmd heading: 292.721639 deg. 2025-10-27T06:32:52.645Z,1761546772.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108956 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:52.776Z,1761546772.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510965 2025-10-27T06:32:52.988Z,1761546772.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404855,0.902137,0.149132],[-0.914242,0.396536,0.083190],[0.015913,-0.170023,0.985312]] 2025-10-27T06:32:53.028Z,1761546773.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763155 2025-10-27T06:32:53.061Z,1761546773.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:53.068Z,1761546773.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:53.070Z,1761546773.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 74.242523 m, bearing: 282.632697 deg, approach rate: -0.501888 m/s, LOS rate: -0.013367 deg/s, cmd heading: 292.721636 deg, new cmd heading: 292.704555 deg. 2025-10-27T06:32:53.075Z,1761546773.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108658 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:53.280Z,1761546773.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015030 2025-10-27T06:32:53.404Z,1761546773.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405062,0.902162,0.148421],[-0.914141,0.396702,0.083510],[0.016461,-0.169505,0.985392]] 2025-10-27T06:32:53.457Z,1761546773.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:53.460Z,1761546773.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 74.023697 m, bearing: 282.626817 deg, approach rate: -0.562150 m/s, LOS rate: -0.015150 deg/s, cmd heading: 292.704560 deg, new cmd heading: 292.686868 deg. 2025-10-27T06:32:53.461Z,1761546773.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108349 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:53.532Z,1761546773.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267111 2025-10-27T06:32:53.784Z,1761546773.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518947 2025-10-27T06:32:53.815Z,1761546773.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404798,0.902172,0.149080],[-0.914244,0.396239,0.084573],[0.017228,-0.170530,0.985202]] 2025-10-27T06:32:53.863Z,1761546773.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:53.866Z,1761546773.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 73.812874 m, bearing: 282.621160 deg, approach rate: -0.519165 m/s, LOS rate: -0.013971 deg/s, cmd heading: 292.686857 deg, new cmd heading: 292.669837 deg. 2025-10-27T06:32:53.867Z,1761546773.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.108052 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:54.036Z,1761546774.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770971 2025-10-27T06:32:54.217Z,1761546774.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404143,0.902456,0.149133],[-0.914518,0.395441,0.085347],[0.018049,-0.170877,0.985127]] 2025-10-27T06:32:54.274Z,1761546774.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:54.277Z,1761546774.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 73.574692 m, bearing: 282.616131 deg, approach rate: -0.580100 m/s, LOS rate: -0.012288 deg/s, cmd heading: 292.669836 deg, new cmd heading: 292.654700 deg. 2025-10-27T06:32:54.278Z,1761546774.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107788 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:54.289Z,1761546774.289 [DAT](INFO): DAT read: Rx Time:06:32:52.8713 2025-10-27T06:32:54.289Z,1761546774.289 [DAT](INFO): Rx dataTimestamp_ set to:1761546774.288877 2025-10-27T06:32:54.290Z,1761546774.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024838 2025-10-27T06:32:54.540Z,1761546774.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275486 2025-10-27T06:32:54.629Z,1761546774.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403122,0.902862,0.149440],[-0.914940,0.394157,0.086744],[0.019415,-0.171697,0.984958]] 2025-10-27T06:32:54.652Z,1761546774.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.40 m. 2025-10-27T06:32:54.655Z,1761546774.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.397270 m, nav range: 73.355133 m, bearing: 282.611654 deg, approach rate: -0.579943 m/s, LOS rate: -0.011861 deg/s, cmd heading: 292.654700 deg, new cmd heading: 292.641228 deg. 2025-10-27T06:32:54.656Z,1761546774.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107553 target range: 76.397270 and range: 76.90 m. 2025-10-27T06:32:54.800Z,1761546774.800 [DAT](INFO): DAT read: 06:32:52.8713 LVL= 32752, 32753, 29074, 32755, AGC= 66, IDX= 415, 0.22, 0.214,-1.215, 0.816, 0.212, PHS= 0.104,-1.382, 0.561, RAW= 163.0, 8.2, CAL= 162.6, 8.4, ROT= 347.4, -8.4 2025-10-27T06:32:54.802Z,1761546774.802 [DAT](INFO): got valid direction response: 06:32:52.8713 LVL= 32752, 32753, 29074, 32755, AGC= 66, IDX= 415, 0.22, 0.214,-1.215, 0.816, 0.212, PHS= 0.104,-1.382, 0.561, RAW= 163.0, 8.2, CAL= 162.6, 8.4, ROT= 347.4, -8.4 2025-10-27T06:32:54.830Z,1761546774.830 [DAT](INFO): DAT read: Bearing 104.4, -12.6 (Local) 2025-10-27T06:32:54.832Z,1761546774.832 [DAT](INFO): Local bearing/azimuth received: Bearing 104.4, -12.6 (Local) 2025-10-27T06:32:54.834Z,1761546774.834 [DAT](INFO): DAT read: Range 11 to 50 : 75.1 m (Round-trip 100.2 ms) speed 0.9 m/s 2025-10-27T06:32:54.835Z,1761546774.835 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:54.837Z,1761546774.837 [DAT](INFO): direction in FSK: [0.965447,-0.215803,0.146083] 2025-10-27T06:32:54.837Z,1761546774.837 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:54.840Z,1761546774.840 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:54.840Z,1761546774.840 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:54.841Z,1761546774.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:55.044Z,1761546775.044 [DAT](INFO): DAT read: user:810> 2025-10-27T06:32:55.045Z,1761546775.045 [DAT](INFO): DAT read: Tx time:06:32:54.1169 2025-10-27T06:32:55.045Z,1761546775.045 [DAT](INFO): Ping request sent. 2025-10-27T06:32:55.045Z,1761546775.045 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:55.045Z,1761546775.045 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:55.046Z,1761546775.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-27T06:32:55.107Z,1761546775.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399825,0.904316,0.149509],[-0.916307,0.390280,0.089798],[0.022855,-0.172900,0.984674]] 2025-10-27T06:32:55.181Z,1761546775.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.099998 m, deltaT: 3.780469 s, deltaX: -1.800003 m, approachRate: -0.476132 m/s, rangeRepo size: 4 2025-10-27T06:32:55.187Z,1761546775.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.607475 m, bearing: 282.546375 deg, lat: 36.779522 deg, lon: -121.859829 deg, deltaT: 3.780469 s, deltaX: -1.789795 m, approachRate: -0.473432 m/s, posRepo size: 4 2025-10-27T06:32:55.188Z,1761546775.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:55.190Z,1761546775.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 73.058479 m, bearing: 282.606391 deg, approach rate: 0.000000 m/s, LOS rate: -0.011861 deg/s, cmd heading: 292.641231 deg, new cmd heading: 292.622441 deg. 2025-10-27T06:32:55.198Z,1761546775.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107225 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:55.296Z,1761546775.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251136 2025-10-27T06:32:55.485Z,1761546775.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397760,0.905475,0.147994],[-0.917153,0.388038,0.090866],[0.024849,-0.171876,0.984805]] 2025-10-27T06:32:55.502Z,1761546775.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:55.505Z,1761546775.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:55.508Z,1761546775.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 72.861633 m, bearing: 282.603228 deg, approach rate: -0.606677 m/s, LOS rate: -0.009774 deg/s, cmd heading: 292.622434 deg, new cmd heading: 292.612921 deg. 2025-10-27T06:32:55.509Z,1761546775.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.107059 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:55.548Z,1761546775.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502921 2025-10-27T06:32:55.800Z,1761546775.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754787 2025-10-27T06:32:55.900Z,1761546775.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395675,0.906464,0.147529],[-0.917992,0.385632,0.092625],[0.027069,-0.172079,0.984711]] 2025-10-27T06:32:55.919Z,1761546775.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:55.921Z,1761546775.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 72.621368 m, bearing: 282.599773 deg, approach rate: -0.580363 m/s, LOS rate: -0.008372 deg/s, cmd heading: 292.612927 deg, new cmd heading: 292.602528 deg. 2025-10-27T06:32:55.922Z,1761546775.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106877 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:56.054Z,1761546776.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009081 2025-10-27T06:32:56.302Z,1761546776.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393167,0.907423,0.148336],[-0.918984,0.382585,0.095378],[0.029797,-0.173818,0.984327]] 2025-10-27T06:32:56.308Z,1761546776.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262832 2025-10-27T06:32:56.351Z,1761546776.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:56.354Z,1761546776.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 72.339905 m, bearing: 282.588506 deg, approach rate: -0.650757 m/s, LOS rate: -0.026151 deg/s, cmd heading: 292.602517 deg, new cmd heading: 292.568585 deg. 2025-10-27T06:32:56.371Z,1761546776.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.106285 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:56.560Z,1761546776.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515177 2025-10-27T06:32:56.812Z,1761546776.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766936 2025-10-27T06:32:56.829Z,1761546776.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390825,0.908558,0.147571],[-0.919873,0.379772,0.098015],[0.033009,-0.174054,0.984183]] 2025-10-27T06:32:56.867Z,1761546776.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:56.870Z,1761546776.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 72.017303 m, bearing: 282.576134 deg, approach rate: -0.625503 m/s, LOS rate: -0.024096 deg/s, cmd heading: 292.568585 deg, new cmd heading: 292.531303 deg. 2025-10-27T06:32:56.875Z,1761546776.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.105634 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:57.064Z,1761546777.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019290 2025-10-27T06:32:57.316Z,1761546777.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270930 2025-10-27T06:32:57.337Z,1761546777.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388943,0.909635,0.145901],[-0.920541,0.377471,0.100592],[0.036429,-0.173433,0.984172]] 2025-10-27T06:32:57.386Z,1761546777.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:57.389Z,1761546777.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 71.668884 m, bearing: 282.559959 deg, approach rate: -0.671490 m/s, LOS rate: -0.031325 deg/s, cmd heading: 292.531292 deg, new cmd heading: 292.482532 deg. 2025-10-27T06:32:57.390Z,1761546777.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104783 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:57.568Z,1761546777.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523192 2025-10-27T06:32:57.757Z,1761546777.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387384,0.910302,0.145894],[-0.921048,0.375266,0.104143],[0.040053,-0.174719,0.983803]] 2025-10-27T06:32:57.774Z,1761546777.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:57.776Z,1761546777.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:57.779Z,1761546777.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 71.416458 m, bearing: 282.548466 deg, approach rate: -0.646251 m/s, LOS rate: -0.029528 deg/s, cmd heading: 292.482525 deg, new cmd heading: 292.447924 deg. 2025-10-27T06:32:57.780Z,1761546777.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.104179 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:57.820Z,1761546777.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774953 2025-10-27T06:32:58.072Z,1761546778.072 [DAT](INFO): DAT read: Rx Time:06:32:56.6179 2025-10-27T06:32:58.072Z,1761546778.072 [DAT](INFO): Rx dataTimestamp_ set to:1761546778.072099 2025-10-27T06:32:58.073Z,1761546778.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027861 2025-10-27T06:32:58.199Z,1761546778.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:58.202Z,1761546778.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 71.163071 m, bearing: 282.537027 deg, approach rate: -0.599387 m/s, LOS rate: -0.027156 deg/s, cmd heading: 292.447936 deg, new cmd heading: 292.413497 deg. 2025-10-27T06:32:58.203Z,1761546778.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.103578 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:58.324Z,1761546778.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278969 2025-10-27T06:32:58.537Z,1761546778.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384626,0.911678,0.144591],[-0.921824,0.371219,0.111521],[0.047996,-0.176181,0.983187]] 2025-10-27T06:32:58.556Z,1761546778.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-27T06:32:58.588Z,1761546778.588 [DAT](INFO): DAT read: 06:32:56.6179 LVL= 32752, 32753, 31666, 32755, AGC= 66, IDX= 413,-0.27,-0.881,-2.269,-0.291,-0.884, PHS= 0.104,-1.340, 0.549, RAW= 163.0, 8.1, CAL= 162.6, 8.3, ROT= 347.4, -8.3 2025-10-27T06:32:58.589Z,1761546778.589 [DAT](INFO): got valid direction response: 06:32:56.6179 LVL= 32752, 32753, 31666, 32755, AGC= 66, IDX= 413,-0.27,-0.881,-2.269,-0.291,-0.884, PHS= 0.104,-1.340, 0.549, RAW= 163.0, 8.1, CAL= 162.6, 8.3, ROT= 347.4, -8.3 2025-10-27T06:32:58.591Z,1761546778.591 [DAT](INFO): DAT read: Bearing 104.6, -11.8 (Local) 2025-10-27T06:32:58.592Z,1761546778.592 [DAT](INFO): Local bearing/azimuth received: Bearing 104.6, -11.8 (Local) 2025-10-27T06:32:58.594Z,1761546778.594 [DAT](INFO): DAT read: Range 11 to 50 : 72.6 m (Round-trip 96.8 ms) speed 0.5 m/s 2025-10-27T06:32:58.595Z,1761546778.595 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:32:58.597Z,1761546778.597 [DAT](INFO): direction in FSK: [0.965695,-0.215858,0.144356] 2025-10-27T06:32:58.597Z,1761546778.597 [DAT](INFO): publishing direction and range info 2025-10-27T06:32:58.599Z,1761546778.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.607475 m, nav range: 70.934700 m, bearing: 282.527172 deg, approach rate: -0.639584 m/s, LOS rate: -0.027690 deg/s, cmd heading: 292.413485 deg, new cmd heading: 292.383824 deg. 2025-10-27T06:32:58.601Z,1761546778.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.103060 target range: 74.607475 and range: 75.10 m. 2025-10-27T06:32:58.617Z,1761546778.617 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:32:58.617Z,1761546778.617 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:32:58.618Z,1761546778.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:32:58.828Z,1761546778.828 [DAT](INFO): DAT read: user:811> 2025-10-27T06:32:58.829Z,1761546778.829 [DAT](INFO): DAT read: Tx time:06:32:57.9169 2025-10-27T06:32:58.829Z,1761546778.829 [DAT](INFO): Ping request sent. 2025-10-27T06:32:58.829Z,1761546778.829 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:32:58.829Z,1761546778.829 [DAT](INFO): publishing transmit ping time 2025-10-27T06:32:58.830Z,1761546778.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T06:32:58.938Z,1761546778.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383711,0.912058,0.144625],[-0.922008,0.369626,0.115227],[0.051637,-0.177559,0.982755]] 2025-10-27T06:32:58.979Z,1761546778.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.599998 m, deltaT: 3.783937 s, deltaX: -2.500000 m, approachRate: -0.660688 m/s, rangeRepo size: 4 2025-10-27T06:32:58.993Z,1761546778.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.123451 m, bearing: 281.531831 deg, lat: 36.779522 deg, lon: -121.859829 deg, deltaT: 3.783937 s, deltaX: -2.484024 m, approachRate: -0.656465 m/s, posRepo size: 4 2025-10-27T06:32:58.993Z,1761546778.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.12 m. 2025-10-27T06:32:59.010Z,1761546779.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.123451 m, nav range: 70.670784 m, bearing: 282.456361 deg, approach rate: 0.000000 m/s, LOS rate: -0.027690 deg/s, cmd heading: 292.383815 deg, new cmd heading: 292.348784 deg. 2025-10-27T06:32:59.049Z,1761546779.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.102449 target range: 72.123451 and range: 72.60 m. 2025-10-27T06:32:59.082Z,1761546779.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252422 2025-10-27T06:32:59.332Z,1761546779.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502729 2025-10-27T06:32:59.396Z,1761546779.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383002,0.912457,0.143987],[-0.922105,0.368358,0.118464],[0.055055,-0.178143,0.982463]] 2025-10-27T06:32:59.433Z,1761546779.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.12 m. 2025-10-27T06:32:59.452Z,1761546779.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.123451 m, nav range: 70.379478 m, bearing: 282.436894 deg, approach rate: -0.639973 m/s, LOS rate: -0.042944 deg/s, cmd heading: 292.348789 deg, new cmd heading: 292.290147 deg. 2025-10-27T06:32:59.453Z,1761546779.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.101426 target range: 72.123451 and range: 72.60 m. 2025-10-27T06:32:59.585Z,1761546779.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755218 2025-10-27T06:32:59.790Z,1761546779.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382292,0.913334,0.140265],[-0.922202,0.367535,0.120258],[0.058284,-0.175326,0.982784]] 2025-10-27T06:32:59.825Z,1761546779.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:32:59.827Z,1761546779.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.12 m. 2025-10-27T06:32:59.830Z,1761546779.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.123451 m, nav range: 70.138435 m, bearing: 282.420850 deg, approach rate: -0.611682 m/s, LOS rate: -0.040856 deg/s, cmd heading: 292.290159 deg, new cmd heading: 292.241860 deg. 2025-10-27T06:32:59.832Z,1761546779.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.100583 target range: 72.123451 and range: 72.60 m. 2025-10-27T06:32:59.836Z,1761546779.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006957 2025-10-27T06:33:00.091Z,1761546780.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261502 2025-10-27T06:33:00.194Z,1761546780.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382574,0.913657,0.137360],[-0.921905,0.367670,0.122106],[0.061060,-0.173347,0.982966]] 2025-10-27T06:33:00.250Z,1761546780.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.12 m. 2025-10-27T06:33:00.256Z,1761546780.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.123451 m, nav range: 69.900757 m, bearing: 282.408330 deg, approach rate: -0.562642 m/s, LOS rate: -0.029739 deg/s, cmd heading: 292.241856 deg, new cmd heading: 292.204168 deg. 2025-10-27T06:33:00.257Z,1761546780.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.099925 target range: 72.123451 and range: 72.60 m. 2025-10-27T06:33:00.341Z,1761546780.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511656 2025-10-27T06:33:00.592Z,1761546780.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762982 2025-10-27T06:33:00.616Z,1761546780.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382791,0.913847,0.135483],[-0.921631,0.367623,0.124297],[0.063782,-0.172445,0.982952]] 2025-10-27T06:33:00.634Z,1761546780.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.12 m. 2025-10-27T06:33:00.637Z,1761546780.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.123451 m, nav range: 69.678627 m, bearing: 282.396516 deg, approach rate: -0.577478 m/s, LOS rate: -0.030811 deg/s, cmd heading: 292.204181 deg, new cmd heading: 292.168626 deg. 2025-10-27T06:33:00.638Z,1761546780.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.099305 target range: 72.123451 and range: 72.60 m. 2025-10-27T06:33:00.844Z,1761546780.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014747 2025-10-27T06:33:00.999Z,1761546780.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383062,0.913875,0.134518],[-0.921335,0.367534,0.126732],[0.066378,-0.172483,0.982773]] 2025-10-27T06:33:01.097Z,1761546781.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268329 2025-10-27T06:33:01.159Z,1761546781.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.12 m. 2025-10-27T06:33:01.161Z,1761546781.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.123451 m, nav range: 69.397766 m, bearing: 282.385363 deg, approach rate: -0.535650 m/s, LOS rate: -0.021356 deg/s, cmd heading: 292.168636 deg, new cmd heading: 292.135043 deg. 2025-10-27T06:33:01.162Z,1761546781.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.098718 target range: 72.123451 and range: 72.60 m. 2025-10-27T06:33:01.348Z,1761546781.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518828 2025-10-27T06:33:01.480Z,1761546781.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384245,0.913992,0.130288],[-0.920560,0.368572,0.129323],[0.070179,-0.169629,0.983006]] 2025-10-27T06:33:01.485Z,1761546781.485 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-31 in onboard configuration file). 2025-10-27T06:33:01.542Z,1761546781.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.12 m. 2025-10-27T06:33:01.549Z,1761546781.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.123451 m, nav range: 69.196663 m, bearing: 282.377140 deg, approach rate: -0.524306 m/s, LOS rate: -0.021500 deg/s, cmd heading: 292.135032 deg, new cmd heading: 292.110292 deg. 2025-10-27T06:33:01.550Z,1761546781.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.098286 target range: 72.123451 and range: 72.60 m. 2025-10-27T06:33:01.601Z,1761546781.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771391 2025-10-27T06:33:01.852Z,1761546781.852 [DAT](INFO): DAT read: Rx Time:06:33:00.4149 2025-10-27T06:33:01.852Z,1761546781.852 [DAT](INFO): Rx dataTimestamp_ set to:1761546781.852137 2025-10-27T06:33:01.853Z,1761546781.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023877 2025-10-27T06:33:01.911Z,1761546781.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384591,0.913947,0.129579],[-0.920294,0.368718,0.130793],[0.071760,-0.169552,0.982905]] 2025-10-27T06:33:01.955Z,1761546781.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:01.957Z,1761546781.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.12 m. 2025-10-27T06:33:01.960Z,1761546781.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.123451 m, nav range: 68.970428 m, bearing: 282.367760 deg, approach rate: -0.545141 m/s, LOS rate: -0.022678 deg/s, cmd heading: 292.110279 deg, new cmd heading: 292.082045 deg. 2025-10-27T06:33:01.961Z,1761546781.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097794 target range: 72.123451 and range: 72.60 m. 2025-10-27T06:33:02.107Z,1761546782.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277114 2025-10-27T06:33:02.320Z,1761546782.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385012,0.913872,0.128858],[-0.920005,0.368969,0.132105],[0.073183,-0.169412,0.982825]] 2025-10-27T06:33:02.361Z,1761546782.361 [DAT](INFO): DAT read: 06:33:00.4149 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.24,-2.100, 2.801,-1.509,-2.071, PHS= 0.073,-1.366, 0.518, RAW= 163.1, 9.1, CAL= 162.9, 9.7, ROT= 347.1, -9.7 2025-10-27T06:33:02.362Z,1761546782.362 [DAT](INFO): got valid direction response: 06:33:00.4149 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.24,-2.100, 2.801,-1.509,-2.071, PHS= 0.073,-1.366, 0.518, RAW= 163.1, 9.1, CAL= 162.9, 9.7, ROT= 347.1, -9.7 2025-10-27T06:33:02.363Z,1761546782.363 [DAT](INFO): DAT read: Bearing 106.8, -10.5 (Local) 2025-10-27T06:33:02.364Z,1761546782.364 [DAT](INFO): Local bearing/azimuth received: Bearing 106.8, -10.5 (Local) 2025-10-27T06:33:02.365Z,1761546782.365 [DAT](INFO): DAT read: Range 11 to 50 : 70.3 m (Round-trip 93.8 ms) speed 0.3 m/s 2025-10-27T06:33:02.366Z,1761546782.366 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:02.367Z,1761546782.367 [DAT](INFO): direction in FSK: [0.960825,-0.220058,0.168489] 2025-10-27T06:33:02.367Z,1761546782.367 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:02.370Z,1761546782.370 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:02.370Z,1761546782.370 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:02.371Z,1761546782.371 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:02.470Z,1761546782.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.300003 m, deltaT: 3.779526 s, deltaX: -2.299995 m, approachRate: -0.608541 m/s, rangeRepo size: 4 2025-10-27T06:33:02.480Z,1761546782.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.839409 m, bearing: 281.424115 deg, lat: 36.779513 deg, lon: -121.859829 deg, deltaT: 3.779526 s, deltaX: -2.284042 m, approachRate: -0.604320 m/s, posRepo size: 4 2025-10-27T06:33:02.481Z,1761546782.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:02.496Z,1761546782.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 68.524132 m, bearing: 281.584498 deg, approach rate: 0.000000 m/s, LOS rate: -0.022678 deg/s, cmd heading: 292.082057 deg, new cmd heading: 292.047190 deg. 2025-10-27T06:33:02.497Z,1761546782.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.097185 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:02.608Z,1761546782.608 [DAT](INFO): DAT read: user:812> 2025-10-27T06:33:02.609Z,1761546782.609 [DAT](INFO): DAT read: Tx time:06:33:01.6669 2025-10-27T06:33:02.609Z,1761546782.609 [DAT](INFO): Ping request sent. 2025-10-27T06:33:02.609Z,1761546782.609 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:02.609Z,1761546782.609 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:02.610Z,1761546782.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T06:33:02.860Z,1761546782.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250721 2025-10-27T06:33:02.931Z,1761546782.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385798,0.913696,0.127744],[-0.919574,0.369662,0.133170],[0.074455,-0.168847,0.982826]] 2025-10-27T06:33:02.950Z,1761546782.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:02.953Z,1761546782.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 68.278351 m, bearing: 281.573221 deg, approach rate: -0.511825 m/s, LOS rate: -0.023570 deg/s, cmd heading: 292.047196 deg, new cmd heading: 292.013240 deg. 2025-10-27T06:33:02.954Z,1761546782.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.096592 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:03.115Z,1761546783.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505033 2025-10-27T06:33:03.343Z,1761546783.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386493,0.913425,0.127586],[-0.919176,0.370120,0.134638],[0.075760,-0.169310,0.982647]] 2025-10-27T06:33:03.364Z,1761546783.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754704 2025-10-27T06:33:03.405Z,1761546783.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:03.412Z,1761546783.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 68.050514 m, bearing: 281.569669 deg, approach rate: -0.500510 m/s, LOS rate: -0.007829 deg/s, cmd heading: 292.013236 deg, new cmd heading: 292.002544 deg. 2025-10-27T06:33:03.413Z,1761546783.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.096406 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:03.617Z,1761546783.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007440 2025-10-27T06:33:03.868Z,1761546783.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258711 2025-10-27T06:33:03.878Z,1761546783.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387191,0.913501,0.124898],[-0.918594,0.370573,0.137337],[0.079174,-0.167907,0.982618]] 2025-10-27T06:33:03.921Z,1761546783.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:03.924Z,1761546783.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 67.796280 m, bearing: 281.565525 deg, approach rate: -0.492576 m/s, LOS rate: -0.008059 deg/s, cmd heading: 292.002554 deg, new cmd heading: 291.990076 deg. 2025-10-27T06:33:03.925Z,1761546783.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.096188 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:04.124Z,1761546784.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514189 2025-10-27T06:33:04.327Z,1761546784.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387657,0.913121,0.126225],[-0.918277,0.370568,0.139454],[0.080563,-0.169970,0.982151]] 2025-10-27T06:33:04.362Z,1761546784.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:04.372Z,1761546784.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762796 2025-10-27T06:33:04.385Z,1761546784.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:04.392Z,1761546784.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 67.545280 m, bearing: 281.562567 deg, approach rate: -0.541423 m/s, LOS rate: -0.006404 deg/s, cmd heading: 291.990068 deg, new cmd heading: 291.981162 deg. 2025-10-27T06:33:04.393Z,1761546784.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.096033 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:04.625Z,1761546784.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016123 2025-10-27T06:33:04.734Z,1761546784.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387683,0.913186,0.125673],[-0.918122,0.370378,0.140971],[0.082186,-0.170035,0.982005]] 2025-10-27T06:33:04.754Z,1761546784.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:04.757Z,1761546784.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 67.336044 m, bearing: 281.560075 deg, approach rate: -0.566916 m/s, LOS rate: -0.006772 deg/s, cmd heading: 291.981161 deg, new cmd heading: 291.973663 deg. 2025-10-27T06:33:04.758Z,1761546784.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.095902 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:04.876Z,1761546784.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266632 2025-10-27T06:33:05.131Z,1761546785.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521142 2025-10-27T06:33:05.168Z,1761546785.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387279,0.913483,0.124753],[-0.918118,0.369773,0.142571],[0.084106,-0.169753,0.981891]] 2025-10-27T06:33:05.205Z,1761546785.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:05.208Z,1761546785.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 67.084480 m, bearing: 281.552728 deg, approach rate: -0.557201 m/s, LOS rate: -0.016336 deg/s, cmd heading: 291.973675 deg, new cmd heading: 291.951549 deg. 2025-10-27T06:33:05.209Z,1761546785.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.095516 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:05.380Z,1761546785.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770618 2025-10-27T06:33:05.535Z,1761546785.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386649,0.913779,0.124543],[-0.918207,0.368842,0.144403],[0.086015,-0.170189,0.981650]] 2025-10-27T06:33:05.575Z,1761546785.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:05.580Z,1761546785.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 66.881943 m, bearing: 281.546882 deg, approach rate: -0.548677 m/s, LOS rate: -0.015882 deg/s, cmd heading: 291.951546 deg, new cmd heading: 291.933957 deg. 2025-10-27T06:33:05.582Z,1761546785.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.095209 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:05.632Z,1761546785.632 [DAT](INFO): DAT read: Rx Time:06:33:04.1625 2025-10-27T06:33:05.633Z,1761546785.633 [DAT](INFO): Rx dataTimestamp_ set to:1761546785.632511 2025-10-27T06:33:05.633Z,1761546785.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024108 2025-10-27T06:33:05.884Z,1761546785.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274669 2025-10-27T06:33:05.935Z,1761546785.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385544,0.914060,0.125898],[-0.918500,0.367217,0.146659],[0.087823,-0.172181,0.981143]] 2025-10-27T06:33:05.954Z,1761546785.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.84 m. 2025-10-27T06:33:05.957Z,1761546785.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.839409 m, nav range: 66.667389 m, bearing: 281.540855 deg, approach rate: -0.565419 m/s, LOS rate: -0.015936 deg/s, cmd heading: 291.933951 deg, new cmd heading: 291.915810 deg. 2025-10-27T06:33:05.958Z,1761546785.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094892 target range: 69.839409 and range: 70.30 m. 2025-10-27T06:33:06.161Z,1761546786.161 [DAT](INFO): DAT read: 06:33:04.1625 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 421, 0.36,-2.586, 2.259,-1.983,-2.601, PHS= 0.117,-1.378, 0.574, RAW= 162.9, 7.8, CAL= 162.5, 7.9, ROT= 347.5, -7.9 2025-10-27T06:33:06.165Z,1761546786.165 [DAT](INFO): got valid direction response: 06:33:04.1625 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 421, 0.36,-2.586, 2.259,-1.983,-2.601, PHS= 0.117,-1.378, 0.574, RAW= 162.9, 7.8, CAL= 162.5, 7.9, ROT= 347.5, -7.9 2025-10-27T06:33:06.168Z,1761546786.168 [DAT](INFO): DAT read: Bearing 104.7, -8.5 (Local) 2025-10-27T06:33:06.170Z,1761546786.170 [DAT](INFO): Local bearing/azimuth received: Bearing 104.7, -8.5 (Local) 2025-10-27T06:33:06.175Z,1761546786.175 [DAT](INFO): DAT read: Range 11 to 50 : 68.6 m (Round-trip 91.5 ms) speed 0.5 m/s 2025-10-27T06:33:06.177Z,1761546786.177 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:06.188Z,1761546786.188 [DAT](INFO): direction in FSK: [0.967030,-0.214386,0.137445] 2025-10-27T06:33:06.188Z,1761546786.188 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:06.193Z,1761546786.193 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:06.193Z,1761546786.193 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:06.194Z,1761546786.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:06.388Z,1761546786.388 [DAT](INFO): DAT read: user:813> 2025-10-27T06:33:06.389Z,1761546786.389 [DAT](INFO): DAT read: Tx time:06:33:05.4669 2025-10-27T06:33:06.389Z,1761546786.389 [DAT](INFO): Ping request sent. 2025-10-27T06:33:06.389Z,1761546786.389 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:06.389Z,1761546786.389 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:06.390Z,1761546786.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-27T06:33:06.402Z,1761546786.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.599998 m, deltaT: 3.782253 s, deltaX: -1.700005 m, approachRate: -0.449469 m/s, rangeRepo size: 4 2025-10-27T06:33:06.404Z,1761546786.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.150131 m, bearing: 281.590016 deg, lat: 36.779513 deg, lon: -121.859826 deg, deltaT: 3.782253 s, deltaX: -1.689278 m, approachRate: -0.446633 m/s, posRepo size: 4 2025-10-27T06:33:06.405Z,1761546786.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:06.408Z,1761546786.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 66.177071 m, bearing: 281.535115 deg, approach rate: 0.000000 m/s, LOS rate: -0.015936 deg/s, cmd heading: 291.915810 deg, new cmd heading: 291.894419 deg. 2025-10-27T06:33:06.409Z,1761546786.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094519 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:06.641Z,1761546786.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251306 2025-10-27T06:33:06.749Z,1761546786.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382142,0.915515,0.125696],[-0.919549,0.363237,0.149961],[0.091634,-0.172890,0.980669]] 2025-10-27T06:33:06.834Z,1761546786.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:06.836Z,1761546786.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:06.859Z,1761546786.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 65.924736 m, bearing: 281.533405 deg, approach rate: -0.580134 m/s, LOS rate: -0.003945 deg/s, cmd heading: 291.894418 deg, new cmd heading: 291.889270 deg. 2025-10-27T06:33:06.860Z,1761546786.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094429 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:06.892Z,1761546786.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503028 2025-10-27T06:33:07.147Z,1761546787.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757079 2025-10-27T06:33:07.197Z,1761546787.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380494,0.916196,0.125732],[-0.920055,0.361302,0.151527],[0.093401,-0.173336,0.980424]] 2025-10-27T06:33:07.271Z,1761546787.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:07.277Z,1761546787.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 65.675224 m, bearing: 281.526534 deg, approach rate: -0.574628 m/s, LOS rate: -0.015883 deg/s, cmd heading: 291.889282 deg, new cmd heading: 291.868591 deg. 2025-10-27T06:33:07.278Z,1761546787.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.094068 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:07.396Z,1761546787.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007016 2025-10-27T06:33:07.648Z,1761546787.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258823 2025-10-27T06:33:07.664Z,1761546787.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:07.667Z,1761546787.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 65.440140 m, bearing: 281.520013 deg, approach rate: -0.597195 m/s, LOS rate: -0.016626 deg/s, cmd heading: 291.868600 deg, new cmd heading: 291.848966 deg. 2025-10-27T06:33:07.668Z,1761546787.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093725 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:07.901Z,1761546787.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511168 2025-10-27T06:33:08.019Z,1761546788.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376346,0.917908,0.125731],[-0.921424,0.356673,0.154153],[0.096653,-0.173867,0.980015]] 2025-10-27T06:33:08.056Z,1761546788.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:08.059Z,1761546788.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 65.211571 m, bearing: 281.514516 deg, approach rate: -0.584541 m/s, LOS rate: -0.014107 deg/s, cmd heading: 291.848956 deg, new cmd heading: 291.832408 deg. 2025-10-27T06:33:08.061Z,1761546788.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093436 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:08.154Z,1761546788.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765014 2025-10-27T06:33:08.404Z,1761546788.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897 2025-10-27T06:33:08.427Z,1761546788.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374709,0.918358,0.127327],[-0.921959,0.354582,0.155765],[0.097900,-0.175757,0.979554]] 2025-10-27T06:33:08.487Z,1761546788.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:08.490Z,1761546788.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 64.974983 m, bearing: 281.510709 deg, approach rate: -0.548321 m/s, LOS rate: -0.008857 deg/s, cmd heading: 291.832400 deg, new cmd heading: 291.820935 deg. 2025-10-27T06:33:08.490Z,1761546788.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093236 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:08.656Z,1761546788.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266847 2025-10-27T06:33:08.837Z,1761546788.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373527,0.918885,0.126992],[-0.922371,0.353374,0.156072],[0.098537,-0.175431,0.979548]] 2025-10-27T06:33:08.854Z,1761546788.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:08.856Z,1761546788.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:08.859Z,1761546788.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 64.747391 m, bearing: 281.507281 deg, approach rate: -0.615552 m/s, LOS rate: -0.009303 deg/s, cmd heading: 291.820925 deg, new cmd heading: 291.810607 deg. 2025-10-27T06:33:08.860Z,1761546788.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.093056 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:08.909Z,1761546788.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520210 2025-10-27T06:33:09.163Z,1761546789.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772902 2025-10-27T06:33:09.235Z,1761546789.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372114,0.919472,0.126897],[-0.922872,0.351899,0.156441],[0.099188,-0.175324,0.979501]] 2025-10-27T06:33:09.283Z,1761546789.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:09.286Z,1761546789.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 64.501221 m, bearing: 281.499884 deg, approach rate: -0.577168 m/s, LOS rate: -0.017410 deg/s, cmd heading: 291.810598 deg, new cmd heading: 291.788321 deg. 2025-10-27T06:33:09.287Z,1761546789.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.092667 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:09.412Z,1761546789.412 [DAT](INFO): DAT read: Rx Time:06:33:07.9593 2025-10-27T06:33:09.412Z,1761546789.412 [DAT](INFO): Rx dataTimestamp_ set to:1761546789.412145 2025-10-27T06:33:09.413Z,1761546789.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023885 2025-10-27T06:33:09.664Z,1761546789.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274913 2025-10-27T06:33:09.679Z,1761546789.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.15 m. 2025-10-27T06:33:09.679Z,1761546789.679 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:33:09.682Z,1761546789.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.150131 m, nav range: 64.272919 m, bearing: 281.492972 deg, approach rate: -0.577016 m/s, LOS rate: -0.017530 deg/s, cmd heading: 291.788331 deg, new cmd heading: 291.767524 deg. 2025-10-27T06:33:09.684Z,1761546789.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.092304 target range: 68.150131 and range: 68.60 m. 2025-10-27T06:33:09.922Z,1761546789.922 [DAT](INFO): DAT read: 06:33:07.9593 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 405,-0.23,-2.598, 2.328,-2.029,-2.610, PHS= 0.114,-1.301, 0.537, RAW= 162.7, 7.8, CAL= 162.3, 8.0, ROT= 347.7, -8.0 2025-10-27T06:33:09.924Z,1761546789.924 [DAT](INFO): got valid direction response: 06:33:07.9593 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 405,-0.23,-2.598, 2.328,-2.029,-2.610, PHS= 0.114,-1.301, 0.537, RAW= 162.7, 7.8, CAL= 162.3, 8.0, ROT= 347.7, -8.0 2025-10-27T06:33:09.926Z,1761546789.926 [DAT](INFO): DAT read: Bearing 104.2, -7.7 (Local) 2025-10-27T06:33:09.926Z,1761546789.926 [DAT](INFO): Local bearing/azimuth received: Bearing 104.2, -7.7 (Local) 2025-10-27T06:33:09.928Z,1761546789.928 [DAT](INFO): DAT read: Range 11 to 50 : 66.1 m (Round-trip 88.2 ms) speed 0.4 m/s 2025-10-27T06:33:09.929Z,1761546789.929 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:09.930Z,1761546789.930 [DAT](INFO): direction in FSK: [0.967537,-0.210957,0.139173] 2025-10-27T06:33:09.930Z,1761546789.930 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:09.933Z,1761546789.933 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:09.933Z,1761546789.933 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:09.934Z,1761546789.934 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:10.048Z,1761546790.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370187,0.920444,0.125474],[-0.923525,0.350065,0.156702],[0.100311,-0.173888,0.979643]] 2025-10-27T06:33:10.116Z,1761546790.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.099998 m, deltaT: 3.777757 s, deltaX: -2.500000 m, approachRate: -0.661768 m/s, rangeRepo size: 4 2025-10-27T06:33:10.118Z,1761546790.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.665924 m, bearing: 280.863021 deg, lat: 36.779511 deg, lon: -121.859822 deg, deltaT: 3.777757 s, deltaX: -2.484207 m, approachRate: -0.657588 m/s, posRepo size: 4 2025-10-27T06:33:10.118Z,1761546790.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:10.125Z,1761546790.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 63.687630 m, bearing: 281.357226 deg, approach rate: 0.000000 m/s, LOS rate: -0.017530 deg/s, cmd heading: 291.767513 deg, new cmd heading: 291.745214 deg. 2025-10-27T06:33:10.126Z,1761546790.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091915 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:10.170Z,1761546790.170 [DAT](INFO): DAT read: user:814> 2025-10-27T06:33:10.172Z,1761546790.172 [DAT](INFO): DAT read: Tx time:06:33:09.2169 2025-10-27T06:33:10.172Z,1761546790.172 [DAT](INFO): Ping request sent. 2025-10-27T06:33:10.172Z,1761546790.172 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:10.172Z,1761546790.172 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:10.173Z,1761546790.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001096 2025-10-27T06:33:10.420Z,1761546790.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247755 2025-10-27T06:33:10.444Z,1761546790.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369464,0.920770,0.125216],[-0.923755,0.349306,0.157039],[0.100858,-0.173690,0.979622]] 2025-10-27T06:33:10.482Z,1761546790.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:10.485Z,1761546790.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 63.466362 m, bearing: 281.353475 deg, approach rate: -0.583343 m/s, LOS rate: -0.009922 deg/s, cmd heading: 291.745219 deg, new cmd heading: 291.733929 deg. 2025-10-27T06:33:10.486Z,1761546790.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091718 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:10.672Z,1761546790.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499647 2025-10-27T06:33:10.683Z,1761546790.683 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:33:10.841Z,1761546790.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368744,0.921062,0.125188],[-0.923979,0.348504,0.157503],[0.101442,-0.173749,0.979551]] 2025-10-27T06:33:10.871Z,1761546790.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:10.873Z,1761546790.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:10.876Z,1761546790.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 63.249531 m, bearing: 281.349926 deg, approach rate: -0.553733 m/s, LOS rate: -0.009096 deg/s, cmd heading: 291.733936 deg, new cmd heading: 291.723250 deg. 2025-10-27T06:33:10.877Z,1761546790.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091531 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:10.925Z,1761546790.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752356 2025-10-27T06:33:11.176Z,1761546791.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003655 2025-10-27T06:33:11.314Z,1761546791.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:11.317Z,1761546791.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 63.015053 m, bearing: 281.342596 deg, approach rate: -0.532314 m/s, LOS rate: -0.016703 deg/s, cmd heading: 291.723253 deg, new cmd heading: 291.701181 deg. 2025-10-27T06:33:11.318Z,1761546791.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.091146 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:11.428Z,1761546791.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255615 2025-10-27T06:33:11.680Z,1761546791.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507975 2025-10-27T06:33:11.732Z,1761546791.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:11.737Z,1761546791.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 62.795155 m, bearing: 281.335672 deg, approach rate: -0.526003 m/s, LOS rate: -0.016620 deg/s, cmd heading: 291.701178 deg, new cmd heading: 291.680333 deg. 2025-10-27T06:33:11.738Z,1761546791.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090782 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:11.932Z,1761546791.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759607 2025-10-27T06:33:12.088Z,1761546792.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368615,0.921279,0.123964],[-0.923854,0.348290,0.158709],[0.103040,-0.173027,0.979512]] 2025-10-27T06:33:12.107Z,1761546792.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:12.110Z,1761546792.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 62.593372 m, bearing: 281.329308 deg, approach rate: -0.538341 m/s, LOS rate: -0.017032 deg/s, cmd heading: 291.680333 deg, new cmd heading: 291.661180 deg. 2025-10-27T06:33:12.112Z,1761546792.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090448 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:12.185Z,1761546792.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012419 2025-10-27T06:33:12.436Z,1761546792.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263621 2025-10-27T06:33:12.483Z,1761546792.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368951,0.921182,0.123691],[-0.923642,0.348531,0.159412],[0.103737,-0.173062,0.979433]] 2025-10-27T06:33:12.520Z,1761546792.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:12.543Z,1761546792.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 62.373966 m, bearing: 281.324869 deg, approach rate: -0.530598 m/s, LOS rate: -0.010773 deg/s, cmd heading: 291.661181 deg, new cmd heading: 291.647817 deg. 2025-10-27T06:33:12.544Z,1761546792.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.090215 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:12.688Z,1761546792.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515826 2025-10-27T06:33:12.882Z,1761546792.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369213,0.920992,0.124321],[-0.923446,0.348524,0.160559],[0.104544,-0.174084,0.979166]] 2025-10-27T06:33:12.916Z,1761546792.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:12.918Z,1761546792.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:12.921Z,1761546792.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 62.163071 m, bearing: 281.320504 deg, approach rate: -0.529962 m/s, LOS rate: -0.011008 deg/s, cmd heading: 291.647821 deg, new cmd heading: 291.634679 deg. 2025-10-27T06:33:12.922Z,1761546792.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089985 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:12.941Z,1761546792.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768548 2025-10-27T06:33:13.192Z,1761546793.192 [DAT](INFO): DAT read: Rx Time:06:33:11.7067 2025-10-27T06:33:13.192Z,1761546793.192 [DAT](INFO): Rx dataTimestamp_ set to:1761546793.192205 2025-10-27T06:33:13.193Z,1761546793.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020789 2025-10-27T06:33:13.295Z,1761546793.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369711,0.920950,0.123145],[-0.923173,0.349090,0.160895],[0.105188,-0.173169,0.979259]] 2025-10-27T06:33:13.331Z,1761546793.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.67 m. 2025-10-27T06:33:13.334Z,1761546793.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.665924 m, nav range: 61.939938 m, bearing: 281.316500 deg, approach rate: -0.540470 m/s, LOS rate: -0.009733 deg/s, cmd heading: 291.634680 deg, new cmd heading: 291.622625 deg. 2025-10-27T06:33:13.335Z,1761546793.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089775 target range: 65.665924 and range: 66.10 m. 2025-10-27T06:33:13.445Z,1761546793.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272990 2025-10-27T06:33:13.691Z,1761546793.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370237,0.920982,0.121309],[-0.922904,0.349824,0.160845],[0.105699,-0.171508,0.979496]] 2025-10-27T06:33:13.702Z,1761546793.702 [DAT](INFO): DAT read: 06:33:11.7067 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 409,-0.07,-0.581,-1.957, 0.023,-0.559, PHS= 0.079,-1.354, 0.537, RAW= 163.4, 8.7, CAL= 163.1, 9.1, ROT= 346.9, -9.1 2025-10-27T06:33:13.704Z,1761546793.704 [DAT](INFO): got valid direction response: 06:33:11.7067 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 409,-0.07,-0.581,-1.957, 0.023,-0.559, PHS= 0.079,-1.354, 0.537, RAW= 163.4, 8.7, CAL= 163.1, 9.1, ROT= 346.9, -9.1 2025-10-27T06:33:13.705Z,1761546793.705 [DAT](INFO): DAT read: Bearing 105.4, -8.3 (Local) 2025-10-27T06:33:13.706Z,1761546793.706 [DAT](INFO): Local bearing/azimuth received: Bearing 105.4, -8.3 (Local) 2025-10-27T06:33:13.708Z,1761546793.708 [DAT](INFO): DAT read: Range 11 to 50 : 64.2 m (Round-trip 85.6 ms) speed 0.5 m/s 2025-10-27T06:33:13.709Z,1761546793.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:13.710Z,1761546793.710 [DAT](INFO): direction in FSK: [0.961717,-0.223799,0.158158] 2025-10-27T06:33:13.711Z,1761546793.711 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:13.717Z,1761546793.717 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:13.717Z,1761546793.717 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:13.717Z,1761546793.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:13.797Z,1761546793.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.199997 m, deltaT: 3.779935 s, deltaX: -1.900002 m, approachRate: -0.502655 m/s, rangeRepo size: 4 2025-10-27T06:33:13.803Z,1761546793.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.778732 m, bearing: 280.195620 deg, lat: 36.779509 deg, lon: -121.859818 deg, deltaT: 3.779935 s, deltaX: -1.887192 m, approachRate: -0.499266 m/s, posRepo size: 4 2025-10-27T06:33:13.804Z,1761546793.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.78 m. 2025-10-27T06:33:13.806Z,1761546793.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.778732 m, nav range: 61.325775 m, bearing: 281.201257 deg, approach rate: 0.000000 m/s, LOS rate: -0.009733 deg/s, cmd heading: 291.622631 deg, new cmd heading: 291.609054 deg. 2025-10-27T06:33:13.811Z,1761546793.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089538 target range: 63.778732 and range: 64.20 m. 2025-10-27T06:33:13.948Z,1761546793.948 [DAT](INFO): DAT read: user:815> 2025-10-27T06:33:13.949Z,1761546793.949 [DAT](INFO): DAT read: Tx time:06:33:13.0169 2025-10-27T06:33:13.949Z,1761546793.949 [DAT](INFO): Ping request sent. 2025-10-27T06:33:13.949Z,1761546793.949 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:13.949Z,1761546793.949 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:13.950Z,1761546793.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-27T06:33:14.123Z,1761546794.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370918,0.920913,0.119750],[-0.922604,0.350711,0.160633],[0.105931,-0.170064,0.979723]] 2025-10-27T06:33:14.152Z,1761546794.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.78 m. 2025-10-27T06:33:14.155Z,1761546794.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.778732 m, nav range: 61.118118 m, bearing: 281.196850 deg, approach rate: -0.583175 m/s, LOS rate: -0.012418 deg/s, cmd heading: 291.609053 deg, new cmd heading: 291.595787 deg. 2025-10-27T06:33:14.156Z,1761546794.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.089306 target range: 63.778732 and range: 64.20 m. 2025-10-27T06:33:14.201Z,1761546794.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251035 2025-10-27T06:33:14.452Z,1761546794.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502597 2025-10-27T06:33:14.651Z,1761546794.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.78 m. 2025-10-27T06:33:14.659Z,1761546794.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.778732 m, nav range: 60.841702 m, bearing: 281.190540 deg, approach rate: -0.554180 m/s, LOS rate: -0.012707 deg/s, cmd heading: 291.595775 deg, new cmd heading: 291.576760 deg. 2025-10-27T06:33:14.660Z,1761546794.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088974 target range: 63.778732 and range: 64.20 m. 2025-10-27T06:33:14.705Z,1761546794.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755646 2025-10-27T06:33:14.956Z,1761546794.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006675 2025-10-27T06:33:15.125Z,1761546795.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371184,0.921506,0.114234],[-0.922478,0.351896,0.158754],[0.106094,-0.164306,0.980687]] 2025-10-27T06:33:15.150Z,1761546795.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:15.152Z,1761546795.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.78 m. 2025-10-27T06:33:15.171Z,1761546795.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.778732 m, nav range: 60.564049 m, bearing: 281.184136 deg, approach rate: -0.553873 m/s, LOS rate: -0.012834 deg/s, cmd heading: 291.576760 deg, new cmd heading: 291.557459 deg. 2025-10-27T06:33:15.172Z,1761546795.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088638 target range: 63.778732 and range: 64.20 m. 2025-10-27T06:33:15.208Z,1761546795.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258859 2025-10-27T06:33:15.461Z,1761546795.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511301 2025-10-27T06:33:15.525Z,1761546795.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370527,0.921880,0.113341],[-0.922709,0.351362,0.158597],[0.106384,-0.163345,0.980816]] 2025-10-27T06:33:15.635Z,1761546795.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.78 m. 2025-10-27T06:33:15.638Z,1761546795.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.778732 m, nav range: 60.302143 m, bearing: 281.180250 deg, approach rate: -0.547318 m/s, LOS rate: -0.008156 deg/s, cmd heading: 291.557471 deg, new cmd heading: 291.545762 deg. 2025-10-27T06:33:15.648Z,1761546795.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088433 target range: 63.778732 and range: 64.20 m. 2025-10-27T06:33:15.713Z,1761546795.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763825 2025-10-27T06:33:15.964Z,1761546795.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014557 2025-10-27T06:33:16.103Z,1761546796.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369864,0.922364,0.111558],[-0.923095,0.351206,0.156687],[0.105343,-0.160932,0.981328]] 2025-10-27T06:33:16.140Z,1761546796.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.78 m. 2025-10-27T06:33:16.142Z,1761546796.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.778732 m, nav range: 60.014786 m, bearing: 281.176187 deg, approach rate: -0.565416 m/s, LOS rate: -0.008032 deg/s, cmd heading: 291.545750 deg, new cmd heading: 291.533504 deg. 2025-10-27T06:33:16.160Z,1761546796.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.088220 target range: 63.778732 and range: 64.20 m. 2025-10-27T06:33:16.216Z,1761546796.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267000 2025-10-27T06:33:16.468Z,1761546796.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518747 2025-10-27T06:33:16.652Z,1761546796.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.78 m. 2025-10-27T06:33:16.656Z,1761546796.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.778732 m, nav range: 59.723682 m, bearing: 281.167380 deg, approach rate: -0.567413 m/s, LOS rate: -0.017252 deg/s, cmd heading: 291.533511 deg, new cmd heading: 291.506958 deg. 2025-10-27T06:33:16.661Z,1761546796.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087756 target range: 63.778732 and range: 64.20 m. 2025-10-27T06:33:16.720Z,1761546796.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771153 2025-10-27T06:33:16.973Z,1761546796.973 [DAT](INFO): DAT read: Rx Time:06:33:15.5039 2025-10-27T06:33:16.973Z,1761546796.973 [DAT](INFO): Rx dataTimestamp_ set to:1761546796.972782 2025-10-27T06:33:16.974Z,1761546796.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024725 2025-10-27T06:33:17.046Z,1761546797.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367101,0.923577,0.110640],[-0.924429,0.349035,0.153640],[0.103281,-0.158680,0.981913]] 2025-10-27T06:33:17.098Z,1761546797.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.78 m. 2025-10-27T06:33:17.108Z,1761546797.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.778732 m, nav range: 59.482540 m, bearing: 281.160753 deg, approach rate: -0.541276 m/s, LOS rate: -0.014934 deg/s, cmd heading: 291.506955 deg, new cmd heading: 291.486995 deg. 2025-10-27T06:33:17.109Z,1761546797.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087408 target range: 63.778732 and range: 64.20 m. 2025-10-27T06:33:17.224Z,1761546797.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274697 2025-10-27T06:33:17.448Z,1761546797.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365720,0.923991,0.111754],[-0.925093,0.347689,0.152691],[0.102230,-0.159225,0.981935]] 2025-10-27T06:33:17.481Z,1761546797.481 [DAT](INFO): DAT read: 06:33:15.5039 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 412, 0.20,-1.285,-2.654,-0.714,-1.264, PHS= 0.081,-1.345, 0.506, RAW= 162.6, 9.1, CAL= 162.4, 9.6, ROT= 347.6, -9.6 2025-10-27T06:33:17.482Z,1761546797.482 [DAT](INFO): got valid direction response: 06:33:15.5039 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 412, 0.20,-1.285,-2.654,-0.714,-1.264, PHS= 0.081,-1.345, 0.506, RAW= 162.6, 9.1, CAL= 162.4, 9.6, ROT= 347.6, -9.6 2025-10-27T06:33:17.483Z,1761546797.483 [DAT](INFO): DAT read: Bearing 107.1, -7.7 (Local) 2025-10-27T06:33:17.484Z,1761546797.484 [DAT](INFO): Local bearing/azimuth received: Bearing 107.1, -7.7 (Local) 2025-10-27T06:33:17.485Z,1761546797.485 [DAT](INFO): DAT read: Range 11 to 50 : 62.1 m (Round-trip 82.8 ms) speed 0.1 m/s 2025-10-27T06:33:17.486Z,1761546797.486 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:17.487Z,1761546797.487 [DAT](INFO): direction in FSK: [0.962995,-0.211728,0.166769] 2025-10-27T06:33:17.487Z,1761546797.487 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:17.490Z,1761546797.490 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:17.490Z,1761546797.490 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:17.519Z,1761546797.519 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:17.598Z,1761546797.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 3.780061 s, deltaX: -2.099998 m, approachRate: -0.555546 m/s, rangeRepo size: 4 2025-10-27T06:33:17.605Z,1761546797.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.692509 m, bearing: 280.568027 deg, lat: 36.779505 deg, lon: -121.859817 deg, deltaT: 3.780061 s, deltaX: -2.086224 m, approachRate: -0.551902 m/s, posRepo size: 4 2025-10-27T06:33:17.606Z,1761546797.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:17.612Z,1761546797.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 58.967842 m, bearing: 280.765970 deg, approach rate: 0.000000 m/s, LOS rate: -0.014934 deg/s, cmd heading: 291.486984 deg, new cmd heading: 291.464569 deg. 2025-10-27T06:33:17.613Z,1761546797.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.087017 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:17.729Z,1761546797.729 [DAT](INFO): DAT read: user:816> 2025-10-27T06:33:17.730Z,1761546797.730 [DAT](INFO): DAT read: Tx time:06:33:16.8169 2025-10-27T06:33:17.730Z,1761546797.730 [DAT](INFO): Ping request sent. 2025-10-27T06:33:17.731Z,1761546797.731 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:17.731Z,1761546797.731 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:17.732Z,1761546797.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001371 2025-10-27T06:33:17.851Z,1761546797.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364201,0.924360,0.113653],[-0.925771,0.346022,0.152370],[0.101519,-0.160710,0.981767]] 2025-10-27T06:33:17.874Z,1761546797.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:17.876Z,1761546797.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:17.878Z,1761546797.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 58.766651 m, bearing: 280.757622 deg, approach rate: -0.723826 m/s, LOS rate: -0.030136 deg/s, cmd heading: 291.464580 deg, new cmd heading: 291.439451 deg. 2025-10-27T06:33:17.900Z,1761546797.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086578 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:17.981Z,1761546797.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250146 2025-10-27T06:33:18.232Z,1761546798.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501249 2025-10-27T06:33:18.254Z,1761546798.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362250,0.924838,0.115975],[-0.926553,0.343772,0.152708],[0.101361,-0.162775,0.981443]] 2025-10-27T06:33:18.292Z,1761546798.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:18.294Z,1761546798.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 58.520809 m, bearing: 280.747821 deg, approach rate: -0.590951 m/s, LOS rate: -0.023659 deg/s, cmd heading: 291.439445 deg, new cmd heading: 291.409918 deg. 2025-10-27T06:33:18.296Z,1761546798.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.086062 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:18.484Z,1761546798.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753278 2025-10-27T06:33:18.663Z,1761546798.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360886,0.925462,0.115248],[-0.927045,0.342502,0.152582],[0.101736,-0.161905,0.981548]] 2025-10-27T06:33:18.721Z,1761546798.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:18.725Z,1761546798.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 58.270386 m, bearing: 280.736889 deg, approach rate: -0.583996 m/s, LOS rate: -0.025603 deg/s, cmd heading: 291.409912 deg, new cmd heading: 291.376975 deg. 2025-10-27T06:33:18.727Z,1761546798.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.085487 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:18.738Z,1761546798.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007057 2025-10-27T06:33:18.990Z,1761546798.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259018 2025-10-27T06:33:19.085Z,1761546799.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359210,0.925774,0.117948],[-0.927699,0.340434,0.153229],[0.101702,-0.164461,0.981127]] 2025-10-27T06:33:19.103Z,1761546799.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:19.106Z,1761546799.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 58.044235 m, bearing: 280.727299 deg, approach rate: -0.591464 m/s, LOS rate: -0.025180 deg/s, cmd heading: 291.376963 deg, new cmd heading: 291.348080 deg. 2025-10-27T06:33:19.107Z,1761546799.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084983 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:19.240Z,1761546799.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509685 2025-10-27T06:33:19.477Z,1761546799.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358968,0.925904,0.117657],[-0.927752,0.340182,0.153469],[0.102073,-0.164247,0.981124]] 2025-10-27T06:33:19.492Z,1761546799.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761400 2025-10-27T06:33:19.522Z,1761546799.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:19.525Z,1761546799.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 57.810452 m, bearing: 280.720262 deg, approach rate: -0.557700 m/s, LOS rate: -0.016855 deg/s, cmd heading: 291.348085 deg, new cmd heading: 291.326888 deg. 2025-10-27T06:33:19.526Z,1761546799.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084613 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:19.744Z,1761546799.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013292 2025-10-27T06:33:19.880Z,1761546799.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358848,0.925847,0.118470],[-0.927765,0.339878,0.154061],[0.102372,-0.165197,0.980933]] 2025-10-27T06:33:19.897Z,1761546799.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:19.900Z,1761546799.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:19.902Z,1761546799.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 57.600155 m, bearing: 280.713894 deg, approach rate: -0.557229 m/s, LOS rate: -0.016932 deg/s, cmd heading: 291.326884 deg, new cmd heading: 291.307713 deg. 2025-10-27T06:33:19.903Z,1761546799.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.084279 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:19.996Z,1761546799.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265460 2025-10-27T06:33:20.248Z,1761546800.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517327 2025-10-27T06:33:20.285Z,1761546800.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358799,0.925799,0.118998],[-0.927753,0.339691,0.154546],[0.102656,-0.165852,0.980793]] 2025-10-27T06:33:20.304Z,1761546800.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:20.306Z,1761546800.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 57.374329 m, bearing: 280.707005 deg, approach rate: -0.558933 m/s, LOS rate: -0.017118 deg/s, cmd heading: 291.307705 deg, new cmd heading: 291.286956 deg. 2025-10-27T06:33:20.307Z,1761546800.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.083917 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:20.500Z,1761546800.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769283 2025-10-27T06:33:20.685Z,1761546800.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359425,0.925537,0.119143],[-0.927530,0.340306,0.154531],[0.102479,-0.166051,0.980778]] 2025-10-27T06:33:20.746Z,1761546800.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:20.749Z,1761546800.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 57.125324 m, bearing: 280.700437 deg, approach rate: -0.562353 m/s, LOS rate: -0.014900 deg/s, cmd heading: 291.286968 deg, new cmd heading: 291.267176 deg. 2025-10-27T06:33:20.750Z,1761546800.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.083571 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:20.752Z,1761546800.752 [DAT](INFO): DAT read: Rx Time:06:33:19.3006 2025-10-27T06:33:20.753Z,1761546800.753 [DAT](INFO): Rx dataTimestamp_ set to:1761546800.752263 2025-10-27T06:33:20.753Z,1761546800.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022526 2025-10-27T06:33:21.004Z,1761546801.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273295 2025-10-27T06:33:21.090Z,1761546801.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360088,0.925360,0.118511],[-0.927347,0.341175,0.153708],[0.101802,-0.165250,0.980984]] 2025-10-27T06:33:21.225Z,1761546801.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.69 m. 2025-10-27T06:33:21.228Z,1761546801.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.692509 m, nav range: 56.853958 m, bearing: 280.693031 deg, approach rate: -0.566580 m/s, LOS rate: -0.015535 deg/s, cmd heading: 291.267188 deg, new cmd heading: 291.244866 deg. 2025-10-27T06:33:21.229Z,1761546801.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.083182 target range: 61.692509 and range: 62.10 m. 2025-10-27T06:33:21.261Z,1761546801.261 [DAT](INFO): DAT read: 06:33:19.3006 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.09, 2.770, 1.392,-2.917, 2.757, PHS= 0.116,-1.320, 0.565, RAW= 163.2, 7.5, CAL= 162.7, 7.5, ROT= 347.3, -7.5 2025-10-27T06:33:21.262Z,1761546801.262 [DAT](INFO): got valid direction response: 06:33:19.3006 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 412,-0.09, 2.770, 1.392,-2.917, 2.757, PHS= 0.116,-1.320, 0.565, RAW= 163.2, 7.5, CAL= 162.7, 7.5, ROT= 347.3, -7.5 2025-10-27T06:33:21.264Z,1761546801.264 [DAT](INFO): DAT read: Bearing 105.1, -8.0 (Local) 2025-10-27T06:33:21.264Z,1761546801.264 [DAT](INFO): Local bearing/azimuth received: Bearing 105.1, -8.0 (Local) 2025-10-27T06:33:21.265Z,1761546801.265 [DAT](INFO): DAT read: Range 11 to 50 : 59.6 m (Round-trip 79.5 ms) speed 0.4 m/s 2025-10-27T06:33:21.266Z,1761546801.266 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:21.267Z,1761546801.267 [DAT](INFO): direction in FSK: [0.967189,-0.217966,0.130526] 2025-10-27T06:33:21.267Z,1761546801.267 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:21.271Z,1761546801.271 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:21.271Z,1761546801.271 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:21.271Z,1761546801.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:21.509Z,1761546801.509 [DAT](INFO): DAT read: user:817> 2025-10-27T06:33:21.510Z,1761546801.510 [DAT](INFO): DAT read: Tx time:06:33:20.5668 2025-10-27T06:33:21.510Z,1761546801.510 [DAT](INFO): Ping request sent. 2025-10-27T06:33:21.510Z,1761546801.510 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:21.511Z,1761546801.511 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:21.512Z,1761546801.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001178 2025-10-27T06:33:21.617Z,1761546801.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360326,0.925463,0.116973],[-0.927343,0.341806,0.152325],[0.100990,-0.163361,0.981384]] 2025-10-27T06:33:21.689Z,1761546801.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 3.780032 s, deltaX: -2.500000 m, approachRate: -0.661370 m/s, rangeRepo size: 4 2025-10-27T06:33:21.699Z,1761546801.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.208462 m, bearing: 279.665092 deg, lat: 36.779503 deg, lon: -121.859818 deg, deltaT: 3.780032 s, deltaX: -2.484047 m, approachRate: -0.657150 m/s, posRepo size: 4 2025-10-27T06:33:21.700Z,1761546801.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.21 m. 2025-10-27T06:33:21.701Z,1761546801.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-10-27T06:33:21.709Z,1761546801.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.208462 m, nav range: 56.721500 m, bearing: 280.447546 deg, approach rate: 0.000000 m/s, LOS rate: -0.015535 deg/s, cmd heading: 291.244867 deg, new cmd heading: 291.223284 deg. 2025-10-27T06:33:21.711Z,1761546801.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.082805 target range: 59.208462 and range: 59.60 m. 2025-10-27T06:33:21.746Z,1761546801.746 [DockingStepper](INFO): Changing to mode: 2 2025-10-27T06:33:21.760Z,1761546801.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249780 2025-10-27T06:33:22.013Z,1761546802.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502812 2025-10-27T06:33:22.084Z,1761546802.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360762,0.925393,0.116185],[-0.927225,0.342441,0.151616],[0.100518,-0.162426,0.981587]] 2025-10-27T06:33:22.128Z,1761546802.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:22.130Z,1761546802.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.21 m. 2025-10-27T06:33:22.130Z,1761546802.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-10-27T06:33:22.133Z,1761546802.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.208462 m, nav range: 56.477455 m, bearing: 280.436623 deg, approach rate: -0.552913 m/s, LOS rate: -0.024853 deg/s, cmd heading: 291.223284 deg, new cmd heading: 291.190375 deg. 2025-10-27T06:33:22.134Z,1761546802.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.082231 target range: 59.208462 and range: 59.60 m. 2025-10-27T06:33:22.266Z,1761546802.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755839 2025-10-27T06:33:22.471Z,1761546802.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362093,0.924988,0.115266],[-0.926772,0.343990,0.150878],[0.099910,-0.161457,0.981809]] 2025-10-27T06:33:22.516Z,1761546802.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005530 2025-10-27T06:33:22.540Z,1761546802.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.21 m. 2025-10-27T06:33:22.541Z,1761546802.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-10-27T06:33:22.547Z,1761546802.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.208462 m, nav range: 56.261539 m, bearing: 280.429768 deg, approach rate: -0.528133 m/s, LOS rate: -0.016832 deg/s, cmd heading: 291.190362 deg, new cmd heading: 291.169717 deg. 2025-10-27T06:33:22.549Z,1761546802.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.081870 target range: 59.208462 and range: 59.60 m. 2025-10-27T06:33:22.768Z,1761546802.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257648 2025-10-27T06:33:22.903Z,1761546802.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363108,0.924625,0.114980],[-0.926455,0.345152,0.150171],[0.099166,-0.161052,0.981951]] 2025-10-27T06:33:22.946Z,1761546802.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.21 m. 2025-10-27T06:33:22.946Z,1761546802.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-10-27T06:33:22.949Z,1761546802.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.208462 m, nav range: 56.031879 m, bearing: 280.422167 deg, approach rate: -0.563886 m/s, LOS rate: -0.018738 deg/s, cmd heading: 291.169708 deg, new cmd heading: 291.146812 deg. 2025-10-27T06:33:22.950Z,1761546802.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.081470 target range: 59.208462 and range: 59.60 m. 2025-10-27T06:33:23.022Z,1761546803.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511455 2025-10-27T06:33:23.272Z,1761546803.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761616 2025-10-27T06:33:23.306Z,1761546803.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363661,0.924160,0.116953],[-0.926422,0.345673,0.149171],[0.097430,-0.162596,0.981871]] 2025-10-27T06:33:23.339Z,1761546803.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.21 m. 2025-10-27T06:33:23.340Z,1761546803.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-10-27T06:33:23.342Z,1761546803.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.208462 m, nav range: 55.817425 m, bearing: 280.414876 deg, approach rate: -0.545842 m/s, LOS rate: -0.018631 deg/s, cmd heading: 291.146813 deg, new cmd heading: 291.124853 deg. 2025-10-27T06:33:23.344Z,1761546803.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.081087 target range: 59.208462 and range: 59.60 m. 2025-10-27T06:33:23.524Z,1761546803.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013576 2025-10-27T06:33:23.717Z,1761546803.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364149,0.923865,0.117765],[-0.926357,0.346230,0.148283],[0.096220,-0.163090,0.981908]] 2025-10-27T06:33:23.776Z,1761546803.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265956 2025-10-27T06:33:23.777Z,1761546803.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.21 m. 2025-10-27T06:33:23.777Z,1761546803.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-10-27T06:33:23.780Z,1761546803.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.208462 m, nav range: 55.582382 m, bearing: 280.403296 deg, approach rate: -0.539014 m/s, LOS rate: -0.026667 deg/s, cmd heading: 291.124847 deg, new cmd heading: 291.089961 deg. 2025-10-27T06:33:23.781Z,1761546803.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.080478 target range: 59.208462 and range: 59.60 m. 2025-10-27T06:33:24.028Z,1761546804.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517630 2025-10-27T06:33:24.221Z,1761546804.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364498,0.923713,0.117881],[-0.926331,0.346738,0.147255],[0.095148,-0.162871,0.982049]] 2025-10-27T06:33:24.238Z,1761546804.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:24.241Z,1761546804.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.21 m. 2025-10-27T06:33:24.242Z,1761546804.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-10-27T06:33:24.245Z,1761546804.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.208462 m, nav range: 55.330910 m, bearing: 280.390707 deg, approach rate: -0.539437 m/s, LOS rate: -0.027127 deg/s, cmd heading: 291.089958 deg, new cmd heading: 291.052021 deg. 2025-10-27T06:33:24.245Z,1761546804.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079816 target range: 59.208462 and range: 59.60 m. 2025-10-27T06:33:24.281Z,1761546804.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769848 2025-10-27T06:33:24.533Z,1761546804.533 [DAT](INFO): DAT read: Rx Time:06:33:23.0481 2025-10-27T06:33:24.534Z,1761546804.534 [DAT](INFO): Rx dataTimestamp_ set to:1761546804.533247 2025-10-27T06:33:24.535Z,1761546804.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024802 2025-10-27T06:33:24.625Z,1761546804.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364216,0.923820,0.117913],[-0.926502,0.346563,0.146589],[0.094557,-0.162636,0.982145]] 2025-10-27T06:33:24.672Z,1761546804.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.21 m. 2025-10-27T06:33:24.673Z,1761546804.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.60 m. 2025-10-27T06:33:24.676Z,1761546804.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.208462 m, nav range: 55.100769 m, bearing: 280.378201 deg, approach rate: -0.533548 m/s, LOS rate: -0.029115 deg/s, cmd heading: 291.052010 deg, new cmd heading: 291.014334 deg. 2025-10-27T06:33:24.677Z,1761546804.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.079158 target range: 59.208462 and range: 59.60 m. 2025-10-27T06:33:24.784Z,1761546804.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273631 2025-10-27T06:33:25.053Z,1761546805.053 [DAT](INFO): DAT read: 06:33:23.0481 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 418, 0.25,-2.375, 2.499,-1.776,-2.423, PHS= 0.151,-1.316, 0.603, RAW= 163.0, 6.5, CAL= 162.4, 6.2, ROT= 347.6, -6.2 2025-10-27T06:33:25.055Z,1761546805.055 [DAT](INFO): got valid direction response: 06:33:23.0481 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 418, 0.25,-2.375, 2.499,-1.776,-2.423, PHS= 0.151,-1.316, 0.603, RAW= 163.0, 6.5, CAL= 162.4, 6.2, ROT= 347.6, -6.2 2025-10-27T06:33:25.057Z,1761546805.057 [DAT](INFO): DAT read: Bearing 102.9, -7.6 (Local) 2025-10-27T06:33:25.058Z,1761546805.058 [DAT](INFO): Local bearing/azimuth received: Bearing 102.9, -7.6 (Local) 2025-10-27T06:33:25.072Z,1761546805.072 [DAT](INFO): DAT read: Range 11 to 50 : 57.8 m (Round-trip 77.1 ms) speed 0.5 m/s 2025-10-27T06:33:25.073Z,1761546805.073 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:25.074Z,1761546805.074 [DAT](INFO): direction in FSK: [0.970960,-0.213479,0.107999] 2025-10-27T06:33:25.074Z,1761546805.074 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:25.078Z,1761546805.078 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:25.078Z,1761546805.078 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:25.078Z,1761546805.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:25.236Z,1761546805.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.799999 m, deltaT: 3.781119 s, deltaX: -1.799999 m, approachRate: -0.476049 m/s, rangeRepo size: 4 2025-10-27T06:33:25.238Z,1761546805.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.419926 m, bearing: 280.016255 deg, lat: 36.779502 deg, lon: -121.859818 deg, deltaT: 3.781119 s, deltaX: -1.788536 m, approachRate: -0.473018 m/s, posRepo size: 4 2025-10-27T06:33:25.238Z,1761546805.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:25.247Z,1761546805.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.80 m. 2025-10-27T06:33:25.250Z,1761546805.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 54.790245 m, bearing: 280.211307 deg, approach rate: 0.000000 m/s, LOS rate: -0.029115 deg/s, cmd heading: 291.014334 deg, new cmd heading: 290.967295 deg. 2025-10-27T06:33:25.259Z,1761546805.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.078337 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:25.288Z,1761546805.288 [DAT](INFO): DAT read: user:818> 2025-10-27T06:33:25.289Z,1761546805.289 [DAT](INFO): DAT read: Tx time:06:33:24.3668 2025-10-27T06:33:25.289Z,1761546805.289 [DAT](INFO): Ping request sent. 2025-10-27T06:33:25.289Z,1761546805.289 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:25.289Z,1761546805.289 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:25.290Z,1761546805.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-27T06:33:25.541Z,1761546805.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251721 2025-10-27T06:33:25.655Z,1761546805.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362178,0.924143,0.121600],[-0.927836,0.344959,0.141860],[0.089152,-0.164203,0.982390]] 2025-10-27T06:33:25.698Z,1761546805.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:25.699Z,1761546805.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.80 m. 2025-10-27T06:33:25.703Z,1761546805.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 54.511292 m, bearing: 280.198389 deg, approach rate: -0.572491 m/s, LOS rate: -0.026646 deg/s, cmd heading: 290.967288 deg, new cmd heading: 290.928337 deg. 2025-10-27T06:33:25.705Z,1761546805.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077657 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:25.793Z,1761546805.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503659 2025-10-27T06:33:26.044Z,1761546806.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754988 2025-10-27T06:33:26.070Z,1761546806.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361621,0.924223,0.122645],[-0.928302,0.344726,0.139351],[0.086513,-0.164244,0.982619]] 2025-10-27T06:33:26.088Z,1761546806.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:26.089Z,1761546806.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.80 m. 2025-10-27T06:33:26.092Z,1761546806.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 54.294041 m, bearing: 280.188383 deg, approach rate: -0.556891 m/s, LOS rate: -0.025751 deg/s, cmd heading: 290.928329 deg, new cmd heading: 290.898191 deg. 2025-10-27T06:33:26.093Z,1761546806.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.077131 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:26.296Z,1761546806.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006872 2025-10-27T06:33:26.502Z,1761546806.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361162,0.924353,0.123022],[-0.928721,0.344682,0.136647],[0.083907,-0.163605,0.982951]] 2025-10-27T06:33:26.549Z,1761546806.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259832 2025-10-27T06:33:26.572Z,1761546806.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:26.574Z,1761546806.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:26.574Z,1761546806.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.80 m. 2025-10-27T06:33:26.577Z,1761546806.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 54.032303 m, bearing: 280.172968 deg, approach rate: -0.539068 m/s, LOS rate: -0.031902 deg/s, cmd heading: 290.898194 deg, new cmd heading: 290.851724 deg. 2025-10-27T06:33:26.578Z,1761546806.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.076320 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:26.800Z,1761546806.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511270 2025-10-27T06:33:26.904Z,1761546806.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361207,0.924133,0.124532],[-0.928921,0.344937,0.134625],[0.081456,-0.164308,0.983040]] 2025-10-27T06:33:26.923Z,1761546806.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:26.923Z,1761546806.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.80 m. 2025-10-27T06:33:26.926Z,1761546806.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 53.815639 m, bearing: 280.160084 deg, approach rate: -0.621148 m/s, LOS rate: -0.037085 deg/s, cmd heading: 290.851721 deg, new cmd heading: 290.812914 deg. 2025-10-27T06:33:26.927Z,1761546806.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.075643 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:27.053Z,1761546807.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763255 2025-10-27T06:33:27.304Z,1761546807.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014820 2025-10-27T06:33:27.307Z,1761546807.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361548,0.923915,0.125157],[-0.928982,0.345573,0.132561],[0.079224,-0.164196,0.983241]] 2025-10-27T06:33:27.331Z,1761546807.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:27.332Z,1761546807.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.80 m. 2025-10-27T06:33:27.334Z,1761546807.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 53.581516 m, bearing: 280.145962 deg, approach rate: -0.573632 m/s, LOS rate: -0.034752 deg/s, cmd heading: 290.812926 deg, new cmd heading: 290.770374 deg. 2025-10-27T06:33:27.356Z,1761546807.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074901 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:27.557Z,1761546807.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268003 2025-10-27T06:33:27.770Z,1761546807.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:27.772Z,1761546807.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.80 m. 2025-10-27T06:33:27.772Z,1761546807.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.80 m. 2025-10-27T06:33:27.772Z,1761546807.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-27T06:33:27.775Z,1761546807.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 53.323639 m, bearing: 280.134505 deg, approach rate: -0.586955 m/s, LOS rate: -0.026203 deg/s, cmd heading: 290.770387 deg, new cmd heading: 290.735851 deg. 2025-10-27T06:33:27.776Z,1761546807.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.074298 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:27.809Z,1761546807.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520251 2025-10-27T06:33:28.061Z,1761546808.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771457 2025-10-27T06:33:28.120Z,1761546808.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361166,0.923751,0.127446],[-0.929425,0.345504,0.129601],[0.075686,-0.165259,0.983342]] 2025-10-27T06:33:28.198Z,1761546808.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:28.201Z,1761546808.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 53.072681 m, bearing: 280.123357 deg, approach rate: -0.586825 m/s, LOS rate: -0.026190 deg/s, cmd heading: 290.735854 deg, new cmd heading: 290.702254 deg. 2025-10-27T06:33:28.202Z,1761546808.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.073711 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:28.313Z,1761546808.313 [DAT](INFO): DAT read: Rx Time:06:33:26.8453 2025-10-27T06:33:28.314Z,1761546808.314 [DAT](INFO): Rx dataTimestamp_ set to:1761546808.313027 2025-10-27T06:33:28.314Z,1761546808.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024994 2025-10-27T06:33:28.559Z,1761546808.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361719,0.923559,0.127271],[-0.929358,0.346394,0.127690],[0.073843,-0.164469,0.983614]] 2025-10-27T06:33:28.564Z,1761546808.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274904 2025-10-27T06:33:28.630Z,1761546808.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:28.641Z,1761546808.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.42 m. 2025-10-27T06:33:28.645Z,1761546808.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.419926 m, nav range: 52.819569 m, bearing: 280.104890 deg, approach rate: -0.571704 m/s, LOS rate: -0.041912 deg/s, cmd heading: 290.702249 deg, new cmd heading: 290.646582 deg. 2025-10-27T06:33:28.646Z,1761546808.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.072740 target range: 57.419926 and range: 57.80 m. 2025-10-27T06:33:28.822Z,1761546808.822 [DAT](INFO): DAT read: 06:33:26.8453 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 406,-0.42,-1.798, 3.111,-1.188,-1.770, PHS= 0.075,-1.357, 0.538, RAW= 163.6, 8.7, CAL= 163.3, 9.2, ROT= 346.7, -9.2 2025-10-27T06:33:28.823Z,1761546808.823 [DAT](INFO): got valid direction response: 06:33:26.8453 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 406,-0.42,-1.798, 3.111,-1.188,-1.770, PHS= 0.075,-1.357, 0.538, RAW= 163.6, 8.7, CAL= 163.3, 9.2, ROT= 346.7, -9.2 2025-10-27T06:33:28.824Z,1761546808.824 [DAT](INFO): DAT read: Bearing 105.4, -10.0 (Local) 2025-10-27T06:33:28.824Z,1761546808.824 [DAT](INFO): Local bearing/azimuth received: Bearing 105.4, -10.0 (Local) 2025-10-27T06:33:28.826Z,1761546808.826 [DAT](INFO): DAT read: Range 11 to 50 : 55.7 m (Round-trip 74.3 ms) speed 0.7 m/s 2025-10-27T06:33:28.826Z,1761546808.826 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:28.828Z,1761546808.828 [DAT](INFO): direction in FSK: [0.960660,-0.227090,0.159881] 2025-10-27T06:33:28.828Z,1761546808.828 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:28.842Z,1761546808.842 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:28.842Z,1761546808.842 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:28.842Z,1761546808.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:28.983Z,1761546808.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362311,0.923454,0.126346],[-0.929242,0.347355,0.125908],[0.072384,-0.163024,0.983963]] 2025-10-27T06:33:29.071Z,1761546809.071 [DAT](INFO): DAT read: user:819> 2025-10-27T06:33:29.073Z,1761546809.073 [DAT](INFO): DAT read: Tx time:06:33:28.1668 2025-10-27T06:33:29.073Z,1761546809.073 [DAT](INFO): Ping request sent. 2025-10-27T06:33:29.073Z,1761546809.073 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:29.074Z,1761546809.074 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:29.074Z,1761546809.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-27T06:33:29.076Z,1761546809.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.700001 m, deltaT: 3.778768 s, deltaX: -2.099998 m, approachRate: -0.555736 m/s, rangeRepo size: 4 2025-10-27T06:33:29.078Z,1761546809.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.334316 m, bearing: 279.461013 deg, lat: 36.779499 deg, lon: -121.859825 deg, deltaT: 3.778768 s, deltaX: -2.085609 m, approachRate: -0.551928 m/s, posRepo size: 4 2025-10-27T06:33:29.078Z,1761546809.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:29.089Z,1761546809.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 53.077141 m, bearing: 279.624809 deg, approach rate: 0.000000 m/s, LOS rate: -0.041912 deg/s, cmd heading: 290.646570 deg, new cmd heading: 290.595003 deg. 2025-10-27T06:33:29.090Z,1761546809.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.071840 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:29.320Z,1761546809.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246504 2025-10-27T06:33:29.408Z,1761546809.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363046,0.923309,0.125292],[-0.929068,0.348470,0.124104],[0.070926,-0.161460,0.984327]] 2025-10-27T06:33:29.522Z,1761546809.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:29.535Z,1761546809.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 52.818333 m, bearing: 279.603119 deg, approach rate: -0.549406 m/s, LOS rate: -0.046270 deg/s, cmd heading: 290.595015 deg, new cmd heading: 290.529626 deg. 2025-10-27T06:33:29.537Z,1761546809.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.070699 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:29.572Z,1761546809.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498531 2025-10-27T06:33:29.824Z,1761546809.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750495 2025-10-27T06:33:29.914Z,1761546809.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:29.917Z,1761546809.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 52.555634 m, bearing: 279.586138 deg, approach rate: -0.669468 m/s, LOS rate: -0.043490 deg/s, cmd heading: 290.529637 deg, new cmd heading: 290.478440 deg. 2025-10-27T06:33:29.918Z,1761546809.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.069805 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:30.076Z,1761546810.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002651 2025-10-27T06:33:30.260Z,1761546810.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365246,0.922219,0.126918],[-0.928470,0.351019,0.121366],[0.067375,-0.162168,0.984460]] 2025-10-27T06:33:30.285Z,1761546810.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:30.288Z,1761546810.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 52.333000 m, bearing: 279.571034 deg, approach rate: -0.600001 m/s, LOS rate: -0.040877 deg/s, cmd heading: 290.478438 deg, new cmd heading: 290.432934 deg. 2025-10-27T06:33:30.289Z,1761546810.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.069011 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:30.329Z,1761546810.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254916 2025-10-27T06:33:30.581Z,1761546810.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507384 2025-10-27T06:33:30.715Z,1761546810.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:30.718Z,1761546810.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:30.723Z,1761546810.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 52.078812 m, bearing: 279.550391 deg, approach rate: -0.587093 m/s, LOS rate: -0.047912 deg/s, cmd heading: 290.432921 deg, new cmd heading: 290.370690 deg. 2025-10-27T06:33:30.725Z,1761546810.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.067924 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:30.833Z,1761546810.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759020 2025-10-27T06:33:31.066Z,1761546811.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367148,0.922181,0.121593],[-0.927926,0.354064,0.116583],[0.064459,-0.155632,0.985710]] 2025-10-27T06:33:31.084Z,1761546811.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010580 2025-10-27T06:33:31.109Z,1761546811.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:31.116Z,1761546811.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 51.848423 m, bearing: 279.531081 deg, approach rate: -0.588735 m/s, LOS rate: -0.049565 deg/s, cmd heading: 290.370685 deg, new cmd heading: 290.312496 deg. 2025-10-27T06:33:31.117Z,1761546811.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.066909 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:31.336Z,1761546811.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262571 2025-10-27T06:33:31.475Z,1761546811.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367899,0.921847,0.121854],[-0.927740,0.355036,0.115103],[0.062845,-0.155395,0.985851]] 2025-10-27T06:33:31.566Z,1761546811.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:31.573Z,1761546811.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 51.577229 m, bearing: 279.507892 deg, approach rate: -0.593575 m/s, LOS rate: -0.051021 deg/s, cmd heading: 290.312492 deg, new cmd heading: 290.242559 deg. 2025-10-27T06:33:31.574Z,1761546811.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.065688 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:31.588Z,1761546811.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514691 2025-10-27T06:33:31.841Z,1761546811.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767159 2025-10-27T06:33:31.923Z,1761546811.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369124,0.921374,0.121728],[-0.927509,0.356900,0.111126],[0.058944,-0.153924,0.986323]] 2025-10-27T06:33:31.984Z,1761546811.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:31.991Z,1761546811.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 51.338146 m, bearing: 279.489759 deg, approach rate: -0.572310 m/s, LOS rate: -0.043610 deg/s, cmd heading: 290.242550 deg, new cmd heading: 290.187896 deg. 2025-10-27T06:33:31.992Z,1761546811.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.064734 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:32.093Z,1761546812.093 [DAT](INFO): DAT read: Rx Time:06:33:30.6420 2025-10-27T06:33:32.093Z,1761546812.093 [DAT](INFO): Rx dataTimestamp_ set to:1761546812.093051 2025-10-27T06:33:32.094Z,1761546812.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020811 2025-10-27T06:33:32.344Z,1761546812.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270617 2025-10-27T06:33:32.345Z,1761546812.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369777,0.921157,0.121387],[-0.927375,0.357914,0.108966],[0.056929,-0.152864,0.986606]] 2025-10-27T06:33:32.364Z,1761546812.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.33 m. 2025-10-27T06:33:32.367Z,1761546812.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.334316 m, nav range: 51.103691 m, bearing: 279.471646 deg, approach rate: -0.617252 m/s, LOS rate: -0.047904 deg/s, cmd heading: 290.187909 deg, new cmd heading: 290.133321 deg. 2025-10-27T06:33:32.368Z,1761546812.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.063782 target range: 55.334316 and range: 55.70 m. 2025-10-27T06:33:32.605Z,1761546812.605 [DAT](INFO): DAT read: 06:33:30.6420 LVL= 32752, 32753, 32210, 32755, AGC= 64, IDX= 404, 0.49, 1.845, 0.480, 2.490, 1.892, PHS= 0.056,-1.366, 0.555, RAW= 164.5, 8.8, CAL= 164.2, 9.3, ROT= 345.8, -9.3 2025-10-27T06:33:32.606Z,1761546812.606 [DAT](INFO): got valid direction response: 06:33:30.6420 LVL= 32752, 32753, 32210, 32755, AGC= 64, IDX= 404, 0.49, 1.845, 0.480, 2.490, 1.892, PHS= 0.056,-1.366, 0.555, RAW= 164.5, 8.8, CAL= 164.2, 9.3, ROT= 345.8, -9.3 2025-10-27T06:33:32.607Z,1761546812.607 [DAT](INFO): DAT read: Bearing 106.8, -12.0 (Local) 2025-10-27T06:33:32.607Z,1761546812.607 [DAT](INFO): Local bearing/azimuth received: Bearing 106.8, -12.0 (Local) 2025-10-27T06:33:32.608Z,1761546812.608 [DAT](INFO): DAT read: Range 11 to 50 : 53.2 m (Round-trip 71.0 ms) speed 0.5 m/s 2025-10-27T06:33:32.609Z,1761546812.609 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:32.610Z,1761546812.610 [DAT](INFO): direction in FSK: [0.956703,-0.242083,0.161604] 2025-10-27T06:33:32.610Z,1761546812.610 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:32.614Z,1761546812.614 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:32.614Z,1761546812.614 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:32.614Z,1761546812.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:32.756Z,1761546812.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370460,0.920704,0.122731],[-0.927223,0.358755,0.107485],[0.054931,-0.153618,0.986602]] 2025-10-27T06:33:32.839Z,1761546812.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.200001 m, deltaT: 3.782321 s, deltaX: -2.500000 m, approachRate: -0.660970 m/s, rangeRepo size: 4 2025-10-27T06:33:32.841Z,1761546812.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.850460 m, bearing: 278.992052 deg, lat: 36.779498 deg, lon: -121.859828 deg, deltaT: 3.782321 s, deltaX: -2.483856 m, approachRate: -0.656702 m/s, posRepo size: 4 2025-10-27T06:33:32.842Z,1761546812.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:32.845Z,1761546812.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 51.143047 m, bearing: 279.283046 deg, approach rate: 0.000000 m/s, LOS rate: -0.047904 deg/s, cmd heading: 290.133322 deg, new cmd heading: 290.065129 deg. 2025-10-27T06:33:32.846Z,1761546812.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.062592 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:32.848Z,1761546812.848 [DAT](INFO): DAT read: user:820> 2025-10-27T06:33:32.849Z,1761546812.849 [DAT](INFO): DAT read: Tx time:06:33:31.9168 2025-10-27T06:33:32.849Z,1761546812.849 [DAT](INFO): Ping request sent. 2025-10-27T06:33:32.849Z,1761546812.849 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:32.849Z,1761546812.849 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:32.850Z,1761546812.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-27T06:33:33.101Z,1761546813.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251229 2025-10-27T06:33:33.188Z,1761546813.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371072,0.920376,0.123346],[-0.927082,0.359580,0.105930],[0.053143,-0.153659,0.986694]] 2025-10-27T06:33:33.205Z,1761546813.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:33.207Z,1761546813.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:33.210Z,1761546813.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 50.925198 m, bearing: 279.266126 deg, approach rate: -0.591854 m/s, LOS rate: -0.046167 deg/s, cmd heading: 290.065129 deg, new cmd heading: 290.014150 deg. 2025-10-27T06:33:33.210Z,1761546813.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.061702 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:33.352Z,1761546813.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502823 2025-10-27T06:33:33.590Z,1761546813.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371928,0.919909,0.124248],[-0.926849,0.360639,0.104362],[0.051195,-0.153974,0.986748]] 2025-10-27T06:33:33.604Z,1761546813.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754856 2025-10-27T06:33:33.652Z,1761546813.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:33.654Z,1761546813.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 50.685616 m, bearing: 279.239641 deg, approach rate: -0.538266 m/s, LOS rate: -0.059784 deg/s, cmd heading: 290.014149 deg, new cmd heading: 289.934319 deg. 2025-10-27T06:33:33.656Z,1761546813.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.060308 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:33.856Z,1761546813.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812 2025-10-27T06:33:33.990Z,1761546813.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373359,0.919135,0.125672],[-0.926387,0.362228,0.102948],[0.049102,-0.154858,0.986716]] 2025-10-27T06:33:34.008Z,1761546814.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:34.036Z,1761546814.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 50.493793 m, bearing: 279.217904 deg, approach rate: -0.537921 m/s, LOS rate: -0.061187 deg/s, cmd heading: 289.934318 deg, new cmd heading: 289.868859 deg. 2025-10-27T06:33:34.037Z,1761546814.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.059166 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:34.109Z,1761546814.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259274 2025-10-27T06:33:34.360Z,1761546814.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511019 2025-10-27T06:33:34.401Z,1761546814.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374478,0.918558,0.126562],[-0.926034,0.363544,0.101474],[0.047199,-0.155200,0.986755]] 2025-10-27T06:33:34.420Z,1761546814.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:34.423Z,1761546814.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 50.272301 m, bearing: 279.192286 deg, approach rate: -0.537950 m/s, LOS rate: -0.062494 deg/s, cmd heading: 289.868857 deg, new cmd heading: 289.791664 deg. 2025-10-27T06:33:34.424Z,1761546814.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.057819 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:34.612Z,1761546814.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762892 2025-10-27T06:33:34.802Z,1761546814.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376041,0.917709,0.128079],[-0.925502,0.365253,0.100181],[0.045156,-0.156210,0.986691]] 2025-10-27T06:33:34.846Z,1761546814.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:34.849Z,1761546814.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 50.045334 m, bearing: 279.156595 deg, approach rate: -0.533284 m/s, LOS rate: -0.084240 deg/s, cmd heading: 289.791676 deg, new cmd heading: 289.684118 deg. 2025-10-27T06:33:34.850Z,1761546814.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.055942 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:34.864Z,1761546814.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014816 2025-10-27T06:33:35.116Z,1761546815.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266784 2025-10-27T06:33:35.205Z,1761546815.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377872,0.916503,0.131279],[-0.924847,0.367021,0.099770],[0.043257,-0.159113,0.986312]] 2025-10-27T06:33:35.236Z,1761546815.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:35.238Z,1761546815.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:35.241Z,1761546815.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 49.836327 m, bearing: 279.122927 deg, approach rate: -0.533021 m/s, LOS rate: -0.086223 deg/s, cmd heading: 289.684114 deg, new cmd heading: 289.582685 deg. 2025-10-27T06:33:35.242Z,1761546815.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.054171 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:35.368Z,1761546815.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518796 2025-10-27T06:33:35.620Z,1761546815.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770829 2025-10-27T06:33:35.624Z,1761546815.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379626,0.915188,0.135330],[-0.924212,0.368618,0.099762],[0.041416,-0.162946,0.985765]] 2025-10-27T06:33:35.688Z,1761546815.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:35.691Z,1761546815.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 49.623112 m, bearing: 279.091926 deg, approach rate: -0.475897 m/s, LOS rate: -0.069492 deg/s, cmd heading: 289.582672 deg, new cmd heading: 289.489270 deg. 2025-10-27T06:33:35.692Z,1761546815.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.052541 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:35.872Z,1761546815.872 [DAT](INFO): DAT read: Rx Time:06:33:34.3893 2025-10-27T06:33:35.872Z,1761546815.872 [DAT](INFO): Rx dataTimestamp_ set to:1761546815.872116 2025-10-27T06:33:35.873Z,1761546815.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023838 2025-10-27T06:33:36.016Z,1761546816.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381656,0.914048,0.137315],[-0.923459,0.370723,0.098931],[0.039522,-0.164562,0.985575]] 2025-10-27T06:33:36.122Z,1761546816.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.85 m. 2025-10-27T06:33:36.124Z,1761546816.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274930 2025-10-27T06:33:36.134Z,1761546816.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.850460 m, nav range: 49.413002 m, bearing: 279.060552 deg, approach rate: -0.481296 m/s, LOS rate: -0.072173 deg/s, cmd heading: 289.489262 deg, new cmd heading: 289.394741 deg. 2025-10-27T06:33:36.135Z,1761546816.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.050891 target range: 52.850460 and range: 53.20 m. 2025-10-27T06:33:36.382Z,1761546816.382 [DAT](INFO): DAT read: 06:33:34.3893 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 408,-0.12, 0.176,-1.154, 0.813, 0.188, PHS= 0.091,-1.297, 0.581, RAW= 164.6, 7.5, CAL= 164.1, 7.4, ROT= 345.9, -7.4 2025-10-27T06:33:36.384Z,1761546816.384 [DAT](INFO): got valid direction response: 06:33:34.3893 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 408,-0.12, 0.176,-1.154, 0.813, 0.188, PHS= 0.091,-1.297, 0.581, RAW= 164.6, 7.5, CAL= 164.1, 7.4, ROT= 345.9, -7.4 2025-10-27T06:33:36.385Z,1761546816.385 [DAT](INFO): DAT read: Bearing 105.0, -12.6 (Local) 2025-10-27T06:33:36.386Z,1761546816.386 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -12.6 (Local) 2025-10-27T06:33:36.394Z,1761546816.394 [DAT](INFO): DAT read: Range 11 to 50 : 51.2 m (Round-trip 68.3 ms) speed 0.4 m/s 2025-10-27T06:33:36.395Z,1761546816.395 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:36.396Z,1761546816.396 [DAT](INFO): direction in FSK: [0.961794,-0.241586,0.128796] 2025-10-27T06:33:36.397Z,1761546816.397 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:36.403Z,1761546816.403 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:36.403Z,1761546816.403 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:36.404Z,1761546816.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:36.494Z,1761546816.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383404,0.913375,0.136918],[-0.922794,0.372730,0.097587],[0.038100,-0.163762,0.985764]] 2025-10-27T06:33:36.630Z,1761546816.630 [DAT](INFO): DAT read: user:821> 2025-10-27T06:33:36.633Z,1761546816.633 [DAT](INFO): DAT read: Tx time:06:33:35.7168 2025-10-27T06:33:36.634Z,1761546816.634 [DAT](INFO): Ping request sent. 2025-10-27T06:33:36.635Z,1761546816.635 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:36.636Z,1761546816.636 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:36.637Z,1761546816.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002798 2025-10-27T06:33:36.649Z,1761546816.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.200001 m, deltaT: 3.777758 s, deltaX: -2.000000 m, approachRate: -0.529415 m/s, rangeRepo size: 4 2025-10-27T06:33:36.656Z,1761546816.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.863705 m, bearing: 279.744897 deg, lat: 36.779498 deg, lon: -121.859829 deg, deltaT: 3.777758 s, deltaX: -1.986755 m, approachRate: -0.525909 m/s, posRepo size: 4 2025-10-27T06:33:36.656Z,1761546816.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:36.663Z,1761546816.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 49.268543 m, bearing: 279.011445 deg, approach rate: 0.000000 m/s, LOS rate: -0.072173 deg/s, cmd heading: 289.394733 deg, new cmd heading: 289.280732 deg. 2025-10-27T06:33:36.664Z,1761546816.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048901 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:36.880Z,1761546816.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245500 2025-10-27T06:33:36.968Z,1761546816.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385111,0.912667,0.136854],[-0.922147,0.374687,0.096200],[0.036522,-0.163247,0.985909]] 2025-10-27T06:33:37.047Z,1761546817.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:37.050Z,1761546817.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 49.051479 m, bearing: 278.976269 deg, approach rate: -0.545616 m/s, LOS rate: -0.088810 deg/s, cmd heading: 289.280723 deg, new cmd heading: 289.174729 deg. 2025-10-27T06:33:37.051Z,1761546817.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.047051 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:37.132Z,1761546817.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497546 2025-10-27T06:33:37.384Z,1761546817.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749890 2025-10-27T06:33:37.405Z,1761546817.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386466,0.912179,0.136284],[-0.921650,0.376391,0.094289],[0.034713,-0.162045,0.986173]] 2025-10-27T06:33:37.452Z,1761546817.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:37.454Z,1761546817.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:37.457Z,1761546817.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 48.851444 m, bearing: 278.943235 deg, approach rate: -0.490876 m/s, LOS rate: -0.081396 deg/s, cmd heading: 289.174719 deg, new cmd heading: 289.075210 deg. 2025-10-27T06:33:37.458Z,1761546817.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.045314 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:37.638Z,1761546817.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003476 2025-10-27T06:33:37.806Z,1761546817.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387101,0.911670,0.137880],[-0.921441,0.377122,0.093414],[0.033165,-0.163208,0.986034]] 2025-10-27T06:33:37.852Z,1761546817.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:37.855Z,1761546817.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 48.656601 m, bearing: 278.909550 deg, approach rate: -0.489933 m/s, LOS rate: -0.085041 deg/s, cmd heading: 289.075216 deg, new cmd heading: 288.973755 deg. 2025-10-27T06:33:37.856Z,1761546817.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.043543 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:37.888Z,1761546817.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253906 2025-10-27T06:33:38.140Z,1761546818.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505444 2025-10-27T06:33:38.216Z,1761546818.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387909,0.911018,0.139900],[-0.921172,0.378070,0.092226],[0.031127,-0.164648,0.985861]] 2025-10-27T06:33:38.238Z,1761546818.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:38.241Z,1761546818.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 48.467682 m, bearing: 278.876426 deg, approach rate: -0.489471 m/s, LOS rate: -0.086154 deg/s, cmd heading: 288.973747 deg, new cmd heading: 288.873989 deg. 2025-10-27T06:33:38.242Z,1761546818.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.041802 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:38.393Z,1761546818.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758138 2025-10-27T06:33:38.647Z,1761546818.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011625 2025-10-27T06:33:38.679Z,1761546818.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387641,0.910477,0.144105],[-0.921345,0.377715,0.091950],[0.029288,-0.168414,0.985281]] 2025-10-27T06:33:38.738Z,1761546818.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:38.741Z,1761546818.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 48.217850 m, bearing: 278.834163 deg, approach rate: -0.499366 m/s, LOS rate: -0.084913 deg/s, cmd heading: 288.873999 deg, new cmd heading: 288.746554 deg. 2025-10-27T06:33:38.742Z,1761546818.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.039578 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:38.896Z,1761546818.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261458 2025-10-27T06:33:39.061Z,1761546819.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386689,0.910175,0.148502],[-0.921806,0.376708,0.091458],[0.027301,-0.172256,0.984674]] 2025-10-27T06:33:39.104Z,1761546819.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:39.111Z,1761546819.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 48.042374 m, bearing: 278.804420 deg, approach rate: -0.479481 m/s, LOS rate: -0.081570 deg/s, cmd heading: 288.746548 deg, new cmd heading: 288.656991 deg. 2025-10-27T06:33:39.112Z,1761546819.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.038015 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:39.148Z,1761546819.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513777 2025-10-27T06:33:39.400Z,1761546819.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765382 2025-10-27T06:33:39.464Z,1761546819.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385276,0.910020,0.153053],[-0.922451,0.375225,0.091054],[0.025432,-0.176265,0.984014]] 2025-10-27T06:33:39.489Z,1761546819.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:39.492Z,1761546819.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:39.494Z,1761546819.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 47.839104 m, bearing: 278.770051 deg, approach rate: -0.524354 m/s, LOS rate: -0.089034 deg/s, cmd heading: 288.656990 deg, new cmd heading: 288.553446 deg. 2025-10-27T06:33:39.496Z,1761546819.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.036208 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:39.677Z,1761546819.677 [DAT](INFO): DAT read: Rx Time:06:33:38.1873 2025-10-27T06:33:39.677Z,1761546819.677 [DAT](INFO): Rx dataTimestamp_ set to:1761546819.676935 2025-10-27T06:33:39.678Z,1761546819.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.043374 2025-10-27T06:33:39.865Z,1761546819.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382964,0.910209,0.157668],[-0.923449,0.372763,0.091047],[0.024099,-0.180466,0.983286]] 2025-10-27T06:33:39.904Z,1761546819.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269594 2025-10-27T06:33:39.920Z,1761546819.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:39.923Z,1761546819.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 47.607456 m, bearing: 278.727916 deg, approach rate: -0.541165 m/s, LOS rate: -0.098913 deg/s, cmd heading: 288.553445 deg, new cmd heading: 288.426425 deg. 2025-10-27T06:33:39.924Z,1761546819.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.033991 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:40.163Z,1761546820.163 [DAT](INFO): DAT read: 06:33:38.1873 LVL= 32752, 32753, 30930, 32755, AGC= 62, IDX= 419,-0.10, 0.763,-0.588, 1.396, 0.790, 75,-1.333, 0.562, RAW= 164.3, 8.2, CAL= 164.0, 8.5, ROT= 346.0, -8.5 2025-10-27T06:33:40.164Z,1761546820.164 [DAT](INFO): unknown deviceResponse_: 06:33:38.1873 LVL= 32752, 32753, 30930, 32755, AGC= 62, IDX= 419,-0.10, 0.763,-0.588, 1.396, 0.790, 75,-1.333, 0.562, RAW= 164.3, 8.2, CAL= 164.0, 8.5, ROT= 346.0, -8.5 2025-10-27T06:33:40.165Z,1761546820.165 [DAT](INFO): DAT read: Bearing 106.1, -13.4 (Local) 2025-10-27T06:33:40.165Z,1761546820.165 [DAT](INFO): Local bearing/azimuth received: Bearing 106.1, -13.4 (Local) 2025-10-27T06:33:40.166Z,1761546820.166 [DAT](INFO): DAT read: Range 11 t9.7 m (Round-trip 66.3 ms) speed 0.4 m/s 2025-10-27T06:33:40.172Z,1761546820.172 [DAT](INFO): unknown deviceResponse_: Range 11 t9.7 m (Round-trip 66.3 ms) speed 0.4 m/s 2025-10-27T06:33:40.172Z,1761546820.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537699 2025-10-27T06:33:40.269Z,1761546820.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379836,0.910878,0.161323],[-0.924761,0.369513,0.090975],[0.023257,-0.183741,0.982700]] 2025-10-27T06:33:40.309Z,1761546820.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:40.312Z,1761546820.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 47.401123 m, bearing: 278.690885 deg, approach rate: -0.530270 m/s, LOS rate: -0.095582 deg/s, cmd heading: 288.426430 deg, new cmd heading: 288.314855 deg. 2025-10-27T06:33:40.313Z,1761546820.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.032043 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:40.408Z,1761546820.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773966 2025-10-27T06:33:40.663Z,1761546820.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027717 2025-10-27T06:33:40.780Z,1761546820.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:40.782Z,1761546820.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 47.140568 m, bearing: 278.650540 deg, approach rate: -0.553345 m/s, LOS rate: -0.086155 deg/s, cmd heading: 288.314852 deg, new cmd heading: 288.193148 deg. 2025-10-27T06:33:40.784Z,1761546820.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.029919 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:40.824Z,1761546820.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:33:40.912Z,1761546820.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277457 2025-10-27T06:33:41.105Z,1761546821.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369008,0.912598,0.176062],[-0.929163,0.357713,0.093264],[0.022133,-0.198005,0.979951]] 2025-10-27T06:33:41.123Z,1761546821.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:41.126Z,1761546821.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 46.950409 m, bearing: 278.623460 deg, approach rate: -0.554247 m/s, LOS rate: -0.079249 deg/s, cmd heading: 288.193138 deg, new cmd heading: 288.111568 deg. 2025-10-27T06:33:41.127Z,1761546821.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.028495 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:41.164Z,1761546821.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.529576 2025-10-27T06:33:41.416Z,1761546821.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781525 2025-10-27T06:33:41.501Z,1761546821.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365850,0.913588,0.177513],[-0.930413,0.354520,0.092987],[0.022019,-0.199180,0.979716]] 2025-10-27T06:33:41.592Z,1761546821.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:41.594Z,1761546821.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:41.600Z,1761546821.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 46.689529 m, bearing: 278.587036 deg, approach rate: -0.553806 m/s, LOS rate: -0.077753 deg/s, cmd heading: 288.111559 deg, new cmd heading: 288.001678 deg. 2025-10-27T06:33:41.601Z,1761546821.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.026577 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:41.671Z,1761546821.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036170 2025-10-27T06:33:41.827Z,1761546821.827 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:33:41.920Z,1761546821.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.285636 2025-10-27T06:33:41.994Z,1761546821.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:42.001Z,1761546822.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 46.461369 m, bearing: 278.550523 deg, approach rate: -0.569831 m/s, LOS rate: -0.091641 deg/s, cmd heading: 288.001675 deg, new cmd heading: 287.891595 deg. 2025-10-27T06:33:42.002Z,1761546822.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.024656 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:42.172Z,1761546822.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537443 2025-10-27T06:33:42.309Z,1761546822.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360727,0.915089,0.180243],[-0.932443,0.349564,0.091407],[0.020639,-0.201039,0.979366]] 2025-10-27T06:33:42.353Z,1761546822.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:42.356Z,1761546822.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 46.248260 m, bearing: 278.517544 deg, approach rate: -0.594651 m/s, LOS rate: -0.092446 deg/s, cmd heading: 287.891599 deg, new cmd heading: 287.792209 deg. 2025-10-27T06:33:42.357Z,1761546822.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.022922 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:42.424Z,1761546822.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.789698 2025-10-27T06:33:42.678Z,1761546822.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043273 2025-10-27T06:33:42.750Z,1761546822.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357982,0.915875,0.181719],[-0.933521,0.346951,0.090356],[0.019707,-0.201984,0.979190]] 2025-10-27T06:33:42.824Z,1761546822.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:42.826Z,1761546822.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 45.987160 m, bearing: 278.479643 deg, approach rate: -0.554458 m/s, LOS rate: -0.080941 deg/s, cmd heading: 287.792206 deg, new cmd heading: 287.677858 deg. 2025-10-27T06:33:42.828Z,1761546822.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.020926 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:42.928Z,1761546822.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.293951 2025-10-27T06:33:43.140Z,1761546823.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354933,0.917426,0.179868],[-0.934701,0.344339,0.088120],[0.018908,-0.199399,0.979736]] 2025-10-27T06:33:43.159Z,1761546823.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:43.162Z,1761546823.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 45.783627 m, bearing: 278.450682 deg, approach rate: -0.606051 m/s, LOS rate: -0.086620 deg/s, cmd heading: 287.677869 deg, new cmd heading: 287.590599 deg. 2025-10-27T06:33:43.163Z,1761546823.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.019403 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:43.183Z,1761546823.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548917 2025-10-27T06:33:43.432Z,1761546823.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797417 2025-10-27T06:33:43.579Z,1761546823.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:43.582Z,1761546823.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 45.541142 m, bearing: 278.415839 deg, approach rate: -0.577704 m/s, LOS rate: -0.083454 deg/s, cmd heading: 287.590606 deg, new cmd heading: 287.485520 deg. 2025-10-27T06:33:43.583Z,1761546823.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.017569 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:43.687Z,1761546823.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051676 2025-10-27T06:33:43.936Z,1761546823.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301310 2025-10-27T06:33:43.941Z,1761546823.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349643,0.920805,0.172825],[-0.936745,0.340426,0.081361],[0.016083,-0.190340,0.981587]] 2025-10-27T06:33:43.993Z,1761546823.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:43.999Z,1761546823.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:44.010Z,1761546824.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 45.313614 m, bearing: 278.382226 deg, approach rate: -0.547584 m/s, LOS rate: -0.081301 deg/s, cmd heading: 287.485531 deg, new cmd heading: 287.384186 deg. 2025-10-27T06:33:44.016Z,1761546824.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.015800 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:44.188Z,1761546824.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.553457 2025-10-27T06:33:44.342Z,1761546824.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346608,0.922330,0.170791],[-0.937898,0.337960,0.078293],[0.014491,-0.187322,0.982192]] 2025-10-27T06:33:44.369Z,1761546824.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:44.372Z,1761546824.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 45.090889 m, bearing: 278.349984 deg, approach rate: -0.595645 m/s, LOS rate: -0.086652 deg/s, cmd heading: 287.384198 deg, new cmd heading: 287.286995 deg. 2025-10-27T06:33:44.373Z,1761546824.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.014104 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:44.442Z,1761546824.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807450 2025-10-27T06:33:44.713Z,1761546824.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.077810 2025-10-27T06:33:44.770Z,1761546824.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344479,0.923016,0.171392],[-0.938712,0.336244,0.075894],[0.012422,-0.187032,0.982275]] 2025-10-27T06:33:44.813Z,1761546824.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:44.816Z,1761546824.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 44.852432 m, bearing: 278.316637 deg, approach rate: -0.536470 m/s, LOS rate: -0.075421 deg/s, cmd heading: 287.286991 deg, new cmd heading: 287.186419 deg. 2025-10-27T06:33:44.817Z,1761546824.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.012349 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:44.960Z,1761546824.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.325437 2025-10-27T06:33:45.150Z,1761546825.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342445,0.923459,0.173075],[-0.939477,0.334464,0.074274],[0.010702,-0.188035,0.982104]] 2025-10-27T06:33:45.181Z,1761546825.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:45.184Z,1761546825.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 44.654770 m, bearing: 278.289252 deg, approach rate: -0.537794 m/s, LOS rate: -0.074839 deg/s, cmd heading: 287.186423 deg, new cmd heading: 287.103904 deg. 2025-10-27T06:33:45.185Z,1761546825.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.010909 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:45.212Z,1761546825.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577597 2025-10-27T06:33:45.464Z,1761546825.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829494 2025-10-27T06:33:45.554Z,1761546825.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340284,0.923374,0.177727],[-0.940280,0.332336,0.073664],[0.008954,-0.192180,0.981319]] 2025-10-27T06:33:45.589Z,1761546825.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:45.592Z,1761546825.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 44.444450 m, bearing: 278.260361 deg, approach rate: -0.515651 m/s, LOS rate: -0.071169 deg/s, cmd heading: 287.103915 deg, new cmd heading: 287.016831 deg. 2025-10-27T06:33:45.592Z,1761546825.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.009389 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:45.718Z,1761546825.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083555 2025-10-27T06:33:45.959Z,1761546825.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338151,0.923082,0.183230],[-0.941063,0.330145,0.073519],[0.007372,-0.197291,0.980317]] 2025-10-27T06:33:45.968Z,1761546825.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333528 2025-10-27T06:33:45.995Z,1761546825.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:45.998Z,1761546825.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:46.032Z,1761546826.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 44.223301 m, bearing: 278.224133 deg, approach rate: -0.541034 m/s, LOS rate: -0.089073 deg/s, cmd heading: 287.016843 deg, new cmd heading: 286.907617 deg. 2025-10-27T06:33:46.033Z,1761546826.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.007483 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:46.220Z,1761546826.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585418 2025-10-27T06:33:46.396Z,1761546826.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:46.399Z,1761546826.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 44.015511 m, bearing: 278.189760 deg, approach rate: -0.520984 m/s, LOS rate: -0.086590 deg/s, cmd heading: 286.907615 deg, new cmd heading: 286.804008 deg. 2025-10-27T06:33:46.400Z,1761546826.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.005674 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:46.472Z,1761546826.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837550 2025-10-27T06:33:46.726Z,1761546826.726 [DAT](INFO): Reached modem response timeout 2025-10-27T06:33:46.727Z,1761546826.727 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:33:46.728Z,1761546826.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:46.809Z,1761546826.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333884,0.923648,0.188137],[-0.942601,0.326087,0.071915],[0.005075,-0.201349,0.979506]] 2025-10-27T06:33:46.846Z,1761546826.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:46.850Z,1761546826.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 43.793255 m, bearing: 278.159379 deg, approach rate: -0.493602 m/s, LOS rate: -0.067815 deg/s, cmd heading: 286.804015 deg, new cmd heading: 286.712409 deg. 2025-10-27T06:33:46.851Z,1761546826.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.004076 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:46.976Z,1761546826.976 [DAT](INFO): DAT read: user:822> 2025-10-27T06:33:46.977Z,1761546826.977 [DAT](INFO): DAT read: Tx time:06:33:46.0168 2025-10-27T06:33:46.977Z,1761546826.977 [DAT](INFO): Ping request sent. 2025-10-27T06:33:46.977Z,1761546826.977 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:46.977Z,1761546826.977 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:46.978Z,1761546826.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000772 2025-10-27T06:33:47.170Z,1761546827.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331166,0.924440,0.189051],[-0.943561,0.323455,0.071201],[0.004672,-0.201960,0.979383]] 2025-10-27T06:33:47.208Z,1761546827.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:47.211Z,1761546827.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 43.622761 m, bearing: 278.136502 deg, approach rate: -0.471750 m/s, LOS rate: -0.063547 deg/s, cmd heading: 286.712408 deg, new cmd heading: 286.643509 deg. 2025-10-27T06:33:47.212Z,1761546827.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.002873 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:47.228Z,1761546827.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250660 2025-10-27T06:33:47.480Z,1761546827.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502580 2025-10-27T06:33:47.574Z,1761546827.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328377,0.925069,0.190829],[-0.944536,0.320634,0.071036],[0.004527,-0.203571,0.979050]] 2025-10-27T06:33:47.599Z,1761546827.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:47.602Z,1761546827.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 43.422108 m, bearing: 278.110098 deg, approach rate: -0.512992 m/s, LOS rate: -0.067816 deg/s, cmd heading: 286.643505 deg, new cmd heading: 286.563928 deg. 2025-10-27T06:33:47.603Z,1761546827.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.001484 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:47.736Z,1761546827.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757446 2025-10-27T06:33:47.977Z,1761546827.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326575,0.925520,0.191735],[-0.945161,0.318843,0.070777],[0.004373,-0.204334,0.978891]] 2025-10-27T06:33:47.984Z,1761546827.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006874 2025-10-27T06:33:48.055Z,1761546828.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:48.057Z,1761546828.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:48.064Z,1761546828.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 43.200184 m, bearing: 278.088727 deg, approach rate: -0.484102 m/s, LOS rate: -0.046857 deg/s, cmd heading: 286.563920 deg, new cmd heading: 286.499478 deg. 2025-10-27T06:33:48.065Z,1761546828.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000359 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:48.236Z,1761546828.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258529 2025-10-27T06:33:48.400Z,1761546828.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325059,0.925726,0.193306],[-0.945684,0.317265,0.070885],[0.004291,-0.205848,0.978575]] 2025-10-27T06:33:48.418Z,1761546828.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:48.421Z,1761546828.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 43.018875 m, bearing: 278.071471 deg, approach rate: -0.502771 m/s, LOS rate: -0.048055 deg/s, cmd heading: 286.499470 deg, new cmd heading: 286.447482 deg. 2025-10-27T06:33:48.422Z,1761546828.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999452 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:48.489Z,1761546828.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511063 2025-10-27T06:33:48.740Z,1761546828.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763145 2025-10-27T06:33:48.830Z,1761546828.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323639,0.926209,0.193378],[-0.946172,0.315914,0.070411],[0.004125,-0.205757,0.978594]] 2025-10-27T06:33:48.869Z,1761546828.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:48.872Z,1761546828.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 42.797455 m, bearing: 278.062799 deg, approach rate: -0.490820 m/s, LOS rate: -0.019322 deg/s, cmd heading: 286.447479 deg, new cmd heading: 286.421329 deg. 2025-10-27T06:33:48.873Z,1761546828.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998995 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:48.992Z,1761546828.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014586 2025-10-27T06:33:49.206Z,1761546829.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322358,0.926816,0.192609],[-0.946611,0.314816,0.069417],[0.003701,-0.204703,0.978817]] 2025-10-27T06:33:49.225Z,1761546829.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:49.244Z,1761546829.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266517 2025-10-27T06:33:49.246Z,1761546829.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 42.622585 m, bearing: 278.056218 deg, approach rate: -0.491041 m/s, LOS rate: -0.018554 deg/s, cmd heading: 286.421333 deg, new cmd heading: 286.401510 deg. 2025-10-27T06:33:49.255Z,1761546829.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998649 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:49.497Z,1761546829.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519909 2025-10-27T06:33:49.609Z,1761546829.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320196,0.927515,0.192849],[-0.947344,0.312698,0.068987],[0.003683,-0.204783,0.978800]] 2025-10-27T06:33:49.634Z,1761546829.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:49.637Z,1761546829.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 42.421879 m, bearing: 278.049216 deg, approach rate: -0.490961 m/s, LOS rate: -0.017209 deg/s, cmd heading: 286.401498 deg, new cmd heading: 286.380393 deg. 2025-10-27T06:33:49.638Z,1761546829.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998281 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:49.748Z,1761546829.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770741 2025-10-27T06:33:50.001Z,1761546830.001 [DAT](INFO): DAT read: Rx Time:06:33:48.4798 2025-10-27T06:33:50.001Z,1761546830.001 [DAT](INFO): Rx dataTimestamp_ set to:1761546830.001013 2025-10-27T06:33:50.002Z,1761546830.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024838 2025-10-27T06:33:50.068Z,1761546830.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317581,0.928362,0.193096],[-0.948224,0.310115,0.068562],[0.003769,-0.204872,0.978782]] 2025-10-27T06:33:50.105Z,1761546830.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:50.123Z,1761546830.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:50.126Z,1761546830.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 42.171890 m, bearing: 278.036831 deg, approach rate: -0.528995 m/s, LOS rate: -0.026363 deg/s, cmd heading: 286.380406 deg, new cmd heading: 286.343031 deg. 2025-10-27T06:33:50.127Z,1761546830.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997629 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:50.252Z,1761546830.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274548 2025-10-27T06:33:50.443Z,1761546830.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314587,0.929614,0.191971],[-0.949221,0.307294,0.067449],[0.003710,-0.203442,0.979080]] 2025-10-27T06:33:50.478Z,1761546830.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.86 m. 2025-10-27T06:33:50.481Z,1761546830.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.863705 m, nav range: 41.983051 m, bearing: 278.028204 deg, approach rate: -0.508824 m/s, LOS rate: -0.023352 deg/s, cmd heading: 286.343031 deg, new cmd heading: 286.317032 deg. 2025-10-27T06:33:50.482Z,1761546830.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997175 target range: 50.863705 and range: 51.20 m. 2025-10-27T06:33:50.530Z,1761546830.530 [DAT](INFO): DAT read: 06:33:48.4798 LVL= 32752, 32753, 31410, 32755, AGC= 62, IDX= 359, 0.16,-1.416,-2.870,-0.843,-1.446, PHS= 0.132,-1.379, 0.559, RAW= 162.1, 7.9, CAL= 161.7, 8.0, ROT= 348.3, -8.0 2025-10-27T06:33:50.537Z,1761546830.537 [DAT](INFO): got valid direction response: 06:33:48.4798 LVL= 32752, 32753, 31410, 32755, AGC= 62, IDX= 359, 0.16,-1.416,-2.870,-0.843,-1.446, PHS= 0.132,-1.379, 0.559, RAW= 162.1, 7.9, CAL= 161.7, 8.0, ROT= 348.3, -8.0 2025-10-27T06:33:50.538Z,1761546830.538 [DAT](INFO): DAT read: Bearing 100.7, -12.6 (Local) 2025-10-27T06:33:50.538Z,1761546830.538 [DAT](INFO): Local bearing/azimuth received: Bearing 100.7, -12.6 (Local) 2025-10-27T06:33:50.560Z,1761546830.560 [DAT](INFO): DAT read: Range 11 to 50 : 44.1 m (Round-trip 58.8 ms) speed 0.4 m/s 2025-10-27T06:33:50.561Z,1761546830.561 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:50.562Z,1761546830.562 [DAT](INFO): direction in FSK: [0.969693,-0.200814,0.139173] 2025-10-27T06:33:50.575Z,1761546830.575 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:50.583Z,1761546830.583 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:50.583Z,1761546830.583 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:50.583Z,1761546830.583 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:50.756Z,1761546830.756 [DAT](INFO): DAT read: user:823> 2025-10-27T06:33:50.756Z,1761546830.756 [DAT](INFO): DAT read: Tx time:06:33:49.8668 2025-10-27T06:33:50.757Z,1761546830.757 [DAT](INFO): Ping request sent. 2025-10-27T06:33:50.757Z,1761546830.757 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:50.757Z,1761546830.757 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:50.758Z,1761546830.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000775 2025-10-27T06:33:50.876Z,1761546830.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311533,0.931006,0.190198],[-0.950230,0.304548,0.065678],[0.003222,-0.201193,0.979546]] 2025-10-27T06:33:51.009Z,1761546831.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252042 2025-10-27T06:33:51.017Z,1761546831.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.099998 m, deltaT: 14.130283 s, deltaX: -7.100002 m, approachRate: -0.502467 m/s, rangeRepo size: 4 2025-10-27T06:33:51.024Z,1761546831.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.809639 m, bearing: 278.276462 deg, lat: 36.779501 deg, lon: -121.859830 deg, deltaT: 14.130283 s, deltaX: -7.054066 m, approachRate: -0.499216 m/s, posRepo size: 4 2025-10-27T06:33:51.025Z,1761546831.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.81 m. 2025-10-27T06:33:51.032Z,1761546831.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.809639 m, nav range: 41.859192 m, bearing: 278.522788 deg, approach rate: 0.000000 m/s, LOS rate: -0.023352 deg/s, cmd heading: 286.317022 deg, new cmd heading: 286.279324 deg. 2025-10-27T06:33:51.033Z,1761546831.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996517 target range: 43.809639 and range: 44.10 m. 2025-10-27T06:33:51.261Z,1761546831.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504114 2025-10-27T06:33:51.408Z,1761546831.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.81 m. 2025-10-27T06:33:51.415Z,1761546831.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.809639 m, nav range: 41.617210 m, bearing: 278.519346 deg, approach rate: -0.616847 m/s, LOS rate: -0.008827 deg/s, cmd heading: 286.279319 deg, new cmd heading: 286.268931 deg. 2025-10-27T06:33:51.420Z,1761546831.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996336 target range: 43.809639 and range: 44.10 m. 2025-10-27T06:33:51.513Z,1761546831.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755683 2025-10-27T06:33:51.766Z,1761546831.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008552 2025-10-27T06:33:51.852Z,1761546831.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304208,0.934382,0.185438],[-0.952604,0.297974,0.061304],[0.002026,-0.195298,0.980742]] 2025-10-27T06:33:51.928Z,1761546831.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.81 m. 2025-10-27T06:33:51.931Z,1761546831.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.809639 m, nav range: 41.313313 m, bearing: 278.512390 deg, approach rate: -0.584608 m/s, LOS rate: -0.013479 deg/s, cmd heading: 286.268938 deg, new cmd heading: 286.247918 deg. 2025-10-27T06:33:51.932Z,1761546831.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995969 target range: 43.809639 and range: 44.10 m. 2025-10-27T06:33:52.018Z,1761546832.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260681 2025-10-27T06:33:52.259Z,1761546832.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300730,0.935376,0.186098],[-0.953708,0.294692,0.059976],[0.001259,-0.195520,0.980699]] 2025-10-27T06:33:52.268Z,1761546832.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510961 2025-10-27T06:33:52.346Z,1761546832.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:52.353Z,1761546832.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.81 m. 2025-10-27T06:33:52.360Z,1761546832.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.809639 m, nav range: 41.073475 m, bearing: 278.508042 deg, approach rate: -0.564712 m/s, LOS rate: -0.010297 deg/s, cmd heading: 286.247928 deg, new cmd heading: 286.234808 deg. 2025-10-27T06:33:52.361Z,1761546832.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995740 target range: 43.809639 and range: 44.10 m. 2025-10-27T06:33:52.521Z,1761546832.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764389 2025-10-27T06:33:52.662Z,1761546832.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297688,0.936457,0.185554],[-0.954663,0.291901,0.058418],[0.000542,-0.194532,0.980896]] 2025-10-27T06:33:52.681Z,1761546832.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.81 m. 2025-10-27T06:33:52.684Z,1761546832.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.809639 m, nav range: 40.879833 m, bearing: 278.505375 deg, approach rate: -0.590285 m/s, LOS rate: -0.008169 deg/s, cmd heading: 286.234814 deg, new cmd heading: 286.226774 deg. 2025-10-27T06:33:52.685Z,1761546832.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995600 target range: 43.809639 and range: 44.10 m. 2025-10-27T06:33:52.773Z,1761546832.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015930 2025-10-27T06:33:53.024Z,1761546833.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267087 2025-10-27T06:33:53.071Z,1761546833.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294436,0.937586,0.185041],[-0.955671,0.288850,0.057085],[0.000073,-0.193646,0.981071]] 2025-10-27T06:33:53.138Z,1761546833.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.81 m. 2025-10-27T06:33:53.145Z,1761546833.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.809639 m, nav range: 40.614231 m, bearing: 278.508388 deg, approach rate: -0.581390 m/s, LOS rate: 0.006637 deg/s, cmd heading: 286.226782 deg, new cmd heading: 286.235878 deg. 2025-10-27T06:33:53.145Z,1761546833.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995759 target range: 43.809639 and range: 44.10 m. 2025-10-27T06:33:53.276Z,1761546833.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519374 2025-10-27T06:33:53.528Z,1761546833.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771104 2025-10-27T06:33:53.556Z,1761546833.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.81 m. 2025-10-27T06:33:53.559Z,1761546833.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.809639 m, nav range: 40.376205 m, bearing: 278.511121 deg, approach rate: -0.592918 m/s, LOS rate: 0.006849 deg/s, cmd heading: 286.235879 deg, new cmd heading: 286.244127 deg. 2025-10-27T06:33:53.560Z,1761546833.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995903 target range: 43.809639 and range: 44.10 m. 2025-10-27T06:33:53.781Z,1761546833.781 [DAT](INFO): DAT read: Rx Time:06:33:52.3268 2025-10-27T06:33:53.782Z,1761546833.782 [DAT](INFO): Rx dataTimestamp_ set to:1761546833.781108 2025-10-27T06:33:53.782Z,1761546833.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025427 2025-10-27T06:33:53.901Z,1761546833.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284956,0.941931,0.177671],[-0.958540,0.280211,0.051795],[-0.000998,-0.185064,0.982726]] 2025-10-27T06:33:54.004Z,1761546834.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.81 m. 2025-10-27T06:33:54.010Z,1761546834.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.809639 m, nav range: 40.125435 m, bearing: 278.523977 deg, approach rate: -0.538818 m/s, LOS rate: 0.027797 deg/s, cmd heading: 286.244130 deg, new cmd heading: 286.282942 deg. 2025-10-27T06:33:54.012Z,1761546834.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996580 target range: 43.809639 and range: 44.10 m. 2025-10-27T06:33:54.032Z,1761546834.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275158 2025-10-27T06:33:54.297Z,1761546834.297 [DAT](INFO): DAT read: 06:33:52.3268 LVL= 31408, 32753, 32098, 32755, AGC= 62, IDX= 408, 0.37, 1.750, 0.251, 2.312, 1.685, PHS= 0.167,-1.389, 0.583, RAW= 161.5, 7.2, CAL= 161.0, 7.0, ROT= 349.0, -7.0 2025-10-27T06:33:54.298Z,1761546834.298 [DAT](INFO): got valid direction response: 06:33:52.3268 LVL= 31408, 32753, 32098, 32755, AGC= 62, IDX= 408, 0.37, 1.750, 0.251, 2.312, 1.685, PHS= 0.167,-1.389, 0.583, RAW= 161.5, 7.2, CAL= 161.0, 7.0, ROT= 349.0, -7.0 2025-10-27T06:33:54.299Z,1761546834.299 [DAT](INFO): DAT read: Bearing 98.2, -12.1 (Local) 2025-10-27T06:33:54.300Z,1761546834.300 [DAT](INFO): Local bearing/azimuth received: Bearing 98.2, -12.1 (Local) 2025-10-27T06:33:54.301Z,1761546834.301 [DAT](INFO): DAT read: Range 11 to 50 : 41.8 m (Round-trip 55.8 ms) speed 0.5 m/s 2025-10-27T06:33:54.301Z,1761546834.301 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:54.303Z,1761546834.303 [DAT](INFO): direction in FSK: [0.974310,-0.189387,0.121869] 2025-10-27T06:33:54.304Z,1761546834.304 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:54.307Z,1761546834.307 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:54.307Z,1761546834.307 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:54.308Z,1761546834.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:54.378Z,1761546834.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282622,0.942781,0.176887],[-0.959230,0.278048,0.050661],[-0.001421,-0.183993,0.982926]] 2025-10-27T06:33:54.434Z,1761546834.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.799999 m, deltaT: 3.778124 s, deltaX: -2.299999 m, approachRate: -0.608768 m/s, rangeRepo size: 4 2025-10-27T06:33:54.445Z,1761546834.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.524815 m, bearing: 276.879609 deg, lat: 36.779498 deg, lon: -121.859834 deg, deltaT: 3.778124 s, deltaX: -2.284824 m, approachRate: -0.604751 m/s, posRepo size: 4 2025-10-27T06:33:54.446Z,1761546834.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:54.457Z,1761546834.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 40.127125 m, bearing: 277.926188 deg, approach rate: 0.000000 m/s, LOS rate: 0.027797 deg/s, cmd heading: 286.282953 deg, new cmd heading: 286.318452 deg. 2025-10-27T06:33:54.458Z,1761546834.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997200 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:54.538Z,1761546834.538 [DAT](INFO): DAT read: user:824> 2025-10-27T06:33:54.539Z,1761546834.539 [DAT](INFO): DAT read: Tx time:06:33:53.6168 2025-10-27T06:33:54.540Z,1761546834.540 [DAT](INFO): Ping request sent. 2025-10-27T06:33:54.540Z,1761546834.540 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:54.540Z,1761546834.540 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:54.540Z,1761546834.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000783 2025-10-27T06:33:54.762Z,1761546834.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280710,0.943258,0.177386],[-0.959790,0.276277,0.049739],[-0.002091,-0.184216,0.982884]] 2025-10-27T06:33:54.792Z,1761546834.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252224 2025-10-27T06:33:54.902Z,1761546834.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:54.924Z,1761546834.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:54.927Z,1761546834.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 39.860428 m, bearing: 277.937760 deg, approach rate: -0.540010 m/s, LOS rate: 0.023589 deg/s, cmd heading: 286.318443 deg, new cmd heading: 286.353393 deg. 2025-10-27T06:33:54.928Z,1761546834.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997809 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:55.044Z,1761546835.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504483 2025-10-27T06:33:55.214Z,1761546835.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279285,0.943167,0.180099],[-0.960204,0.274893,0.049418],[-0.002898,-0.186734,0.982406]] 2025-10-27T06:33:55.296Z,1761546835.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756290 2025-10-27T06:33:55.296Z,1761546835.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:55.304Z,1761546835.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 39.644337 m, bearing: 277.938510 deg, approach rate: -0.589034 m/s, LOS rate: 0.002056 deg/s, cmd heading: 286.353386 deg, new cmd heading: 286.355649 deg. 2025-10-27T06:33:55.304Z,1761546835.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997849 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:55.548Z,1761546835.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008382 2025-10-27T06:33:55.618Z,1761546835.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279106,0.943197,0.180220],[-0.960250,0.274994,0.047932],[-0.004350,-0.186435,0.982458]] 2025-10-27T06:33:55.667Z,1761546835.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:55.670Z,1761546835.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 39.428677 m, bearing: 277.939328 deg, approach rate: -0.573581 m/s, LOS rate: 0.002187 deg/s, cmd heading: 286.355654 deg, new cmd heading: 286.358120 deg. 2025-10-27T06:33:55.671Z,1761546835.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997892 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:55.800Z,1761546835.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260361 2025-10-27T06:33:56.032Z,1761546836.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279406,0.943606,0.177597],[-0.960154,0.275747,0.045476],[-0.006060,-0.183227,0.983052]] 2025-10-27T06:33:56.052Z,1761546836.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512156 2025-10-27T06:33:56.111Z,1761546836.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:56.114Z,1761546836.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 39.207924 m, bearing: 277.941335 deg, approach rate: -0.501321 m/s, LOS rate: 0.004584 deg/s, cmd heading: 286.358113 deg, new cmd heading: 286.364167 deg. 2025-10-27T06:33:56.124Z,1761546836.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997998 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:56.304Z,1761546836.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764164 2025-10-27T06:33:56.428Z,1761546836.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280314,0.943784,0.175203],[-0.959877,0.277064,0.043254],[-0.007720,-0.180298,0.983582]] 2025-10-27T06:33:56.447Z,1761546836.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:56.450Z,1761546836.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 39.019142 m, bearing: 277.942880 deg, approach rate: -0.555778 m/s, LOS rate: 0.004570 deg/s, cmd heading: 286.364178 deg, new cmd heading: 286.368834 deg. 2025-10-27T06:33:56.451Z,1761546836.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998079 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:56.556Z,1761546836.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016399 2025-10-27T06:33:56.808Z,1761546836.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268088 2025-10-27T06:33:56.830Z,1761546836.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281510,0.944061,0.171760],[-0.959514,0.278676,0.040905],[-0.009249,-0.176321,0.984289]] 2025-10-27T06:33:56.848Z,1761546836.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:56.852Z,1761546836.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 38.808010 m, bearing: 277.944350 deg, approach rate: -0.526009 m/s, LOS rate: 0.003683 deg/s, cmd heading: 286.368822 deg, new cmd heading: 286.373257 deg. 2025-10-27T06:33:56.853Z,1761546836.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998156 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:57.060Z,1761546837.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520163 2025-10-27T06:33:57.233Z,1761546837.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282965,0.944113,0.169062],[-0.959067,0.280542,0.038559],[-0.011025,-0.173052,0.984851]] 2025-10-27T06:33:57.279Z,1761546837.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:57.281Z,1761546837.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:57.284Z,1761546837.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 38.592213 m, bearing: 277.948833 deg, approach rate: -0.498434 m/s, LOS rate: 0.010410 deg/s, cmd heading: 286.373248 deg, new cmd heading: 286.386770 deg. 2025-10-27T06:33:57.285Z,1761546837.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998392 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:57.312Z,1761546837.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772379 2025-10-27T06:33:57.565Z,1761546837.565 [DAT](INFO): DAT read: Rx Time:06:33:56.0738 2025-10-27T06:33:57.566Z,1761546837.566 [DAT](INFO): Rx dataTimestamp_ set to:1761546837.565252 2025-10-27T06:33:57.566Z,1761546837.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026755 2025-10-27T06:33:57.637Z,1761546837.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283493,0.943861,0.169584],[-0.958897,0.281246,0.037645],[-0.012163,-0.173285,0.984797]] 2025-10-27T06:33:57.668Z,1761546837.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.52 m. 2025-10-27T06:33:57.671Z,1761546837.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.524815 m, nav range: 38.399078 m, bearing: 277.952715 deg, approach rate: -0.498988 m/s, LOS rate: 0.010082 deg/s, cmd heading: 286.386772 deg, new cmd heading: 286.398479 deg. 2025-10-27T06:33:57.672Z,1761546837.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998596 target range: 41.524815 and range: 41.80 m. 2025-10-27T06:33:57.816Z,1761546837.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276164 2025-10-27T06:33:58.073Z,1761546838.073 [DAT](INFO): DAT read: 06:33:56.0738 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 409, 0.20, 0.071,-1.399, 0.562, 0.018, PHS= 0.154,-1.372, 0.500, RAW= 160.0, 8.4, CAL= 159.6, 8.7, ROT= 350.4, -8.7 2025-10-27T06:33:58.074Z,1761546838.074 [DAT](INFO): got valid direction response: 06:33:56.0738 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 409, 0.20, 0.071,-1.399, 0.562, 0.018, PHS= 0.154,-1.372, 0.500, RAW= 160.0, 8.4, CAL= 159.6, 8.7, ROT= 350.4, -8.7 2025-10-27T06:33:58.094Z,1761546838.094 [DAT](INFO): DAT read: Bearing 99.4, -11.4 (Local) 2025-10-27T06:33:58.094Z,1761546838.094 [DAT](INFO): Local bearing/azimuth received: Bearing 99.4, -11.4 (Local) 2025-10-27T06:33:58.096Z,1761546838.096 [DAT](INFO): DAT read: Range 11 to 50 : 39.6 m (Round-trip 52.8 ms) speed 0.4 m/s 2025-10-27T06:33:58.096Z,1761546838.096 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:33:58.097Z,1761546838.097 [DAT](INFO): direction in FSK: [0.974651,-0.164850,0.151261] 2025-10-27T06:33:58.097Z,1761546838.097 [DAT](INFO): publishing direction and range info 2025-10-27T06:33:58.105Z,1761546838.105 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:33:58.105Z,1761546838.105 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:33:58.105Z,1761546838.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:33:58.160Z,1761546838.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 3.783604 s, deltaX: -2.200001 m, approachRate: -0.581456 m/s, rangeRepo size: 4 2025-10-27T06:33:58.162Z,1761546838.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.339672 m, bearing: 278.535025 deg, lat: 36.779501 deg, lon: -121.859840 deg, deltaT: 3.783604 s, deltaX: -2.185143 m, approachRate: -0.577529 m/s, posRepo size: 4 2025-10-27T06:33:58.162Z,1761546838.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:33:58.169Z,1761546838.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 38.782772 m, bearing: 278.403795 deg, approach rate: 0.000000 m/s, LOS rate: 0.010082 deg/s, cmd heading: 286.398465 deg, new cmd heading: 286.413179 deg. 2025-10-27T06:33:58.170Z,1761546838.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998853 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:33:58.320Z,1761546838.320 [DAT](INFO): DAT read: user:825> 2025-10-27T06:33:58.321Z,1761546838.321 [DAT](INFO): DAT read: Tx time:06:33:57.4168 2025-10-27T06:33:58.321Z,1761546838.321 [DAT](INFO): Ping request sent. 2025-10-27T06:33:58.321Z,1761546838.321 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:33:58.321Z,1761546838.321 [DAT](INFO): publishing transmit ping time 2025-10-27T06:33:58.322Z,1761546838.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000785 2025-10-27T06:33:58.509Z,1761546838.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.286132,0.943903,0.164849],[-0.958081,0.284433,0.034340],[-0.014475,-0.167764,0.985721]] 2025-10-27T06:33:58.526Z,1761546838.526 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-27T06:33:58.526Z,1761546838.526 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:33:58.527Z,1761546838.527 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-27T06:33:58.528Z,1761546838.528 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.599998 m (mode 2.000000 count ). 2025-10-27T06:33:58.528Z,1761546838.528 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-27T06:33:58.528Z,1761546838.528 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-27T06:33:58.530Z,1761546838.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:33:58.533Z,1761546838.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 38.584694 m, bearing: 278.405740 deg, approach rate: -0.527118 m/s, LOS rate: 0.005204 deg/s, cmd heading: 286.413191 deg, new cmd heading: 286.419058 deg. 2025-10-27T06:33:58.534Z,1761546838.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998956 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:33:58.572Z,1761546838.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250928 2025-10-27T06:33:58.824Z,1761546838.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502781 2025-10-27T06:33:58.907Z,1761546838.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287042,0.943977,0.162831],[-0.957797,0.285531,0.033122],[-0.015227,-0.165467,0.986098]] 2025-10-27T06:33:58.985Z,1761546838.985 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-27T06:33:58.985Z,1761546838.985 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-27T06:33:58.996Z,1761546838.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:33:59.001Z,1761546839.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 38.363434 m, bearing: 278.407672 deg, approach rate: -0.478714 m/s, LOS rate: 0.004205 deg/s, cmd heading: 286.419065 deg, new cmd heading: 286.424895 deg. 2025-10-27T06:33:59.007Z,1761546839.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999057 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:33:59.077Z,1761546839.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755344 2025-10-27T06:33:59.319Z,1761546839.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287771,0.943800,0.162573],[-0.957565,0.286401,0.032317],[-0.016060,-0.164974,0.986167]] 2025-10-27T06:33:59.336Z,1761546839.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014761 2025-10-27T06:33:59.373Z,1761546839.373 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-27T06:33:59.373Z,1761546839.373 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-27T06:33:59.373Z,1761546839.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:33:59.376Z,1761546839.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:33:59.378Z,1761546839.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 38.162205 m, bearing: 278.412685 deg, approach rate: -0.525542 m/s, LOS rate: 0.013160 deg/s, cmd heading: 286.424884 deg, new cmd heading: 286.440001 deg. 2025-10-27T06:33:59.396Z,1761546839.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999321 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:33:59.589Z,1761546839.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268078 2025-10-27T06:33:59.733Z,1761546839.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288420,0.943315,0.164231],[-0.957366,0.287018,0.032727],[-0.016265,-0.166668,0.985879]] 2025-10-27T06:33:59.751Z,1761546839.751 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-27T06:33:59.752Z,1761546839.752 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:33:59.752Z,1761546839.752 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-27T06:33:59.752Z,1761546839.752 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-27T06:33:59.754Z,1761546839.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:33:59.761Z,1761546839.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 37.972027 m, bearing: 278.417245 deg, approach rate: -0.502550 m/s, LOS rate: 0.012110 deg/s, cmd heading: 286.439993 deg, new cmd heading: 286.453741 deg. 2025-10-27T06:33:59.762Z,1761546839.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999561 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:33:59.841Z,1761546839.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519358 2025-10-27T06:34:00.092Z,1761546840.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770985 2025-10-27T06:34:00.132Z,1761546840.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289219,0.943114,0.163979],[-0.957114,0.287926,0.032124],[-0.016917,-0.166237,0.985941]] 2025-10-27T06:34:00.189Z,1761546840.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:34:00.196Z,1761546840.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 37.757313 m, bearing: 278.415455 deg, approach rate: -0.493264 m/s, LOS rate: -0.004135 deg/s, cmd heading: 286.453735 deg, new cmd heading: 286.448335 deg. 2025-10-27T06:34:00.197Z,1761546840.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999466 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:34:00.344Z,1761546840.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022762 2025-10-27T06:34:00.535Z,1761546840.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290019,0.943097,0.162655],[-0.956863,0.288837,0.031405],[-0.017363,-0.164746,0.986183]] 2025-10-27T06:34:00.567Z,1761546840.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:34:00.570Z,1761546840.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 37.552029 m, bearing: 278.413485 deg, approach rate: -0.544171 m/s, LOS rate: -0.005250 deg/s, cmd heading: 286.448326 deg, new cmd heading: 286.442384 deg. 2025-10-27T06:34:00.571Z,1761546840.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999363 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:34:00.596Z,1761546840.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274719 2025-10-27T06:34:00.848Z,1761546840.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526746 2025-10-27T06:34:00.962Z,1761546840.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291140,0.943082,0.160731],[-0.956517,0.290053,0.030714],[-0.017655,-0.162684,0.986520]] 2025-10-27T06:34:01.038Z,1761546841.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:34:01.041Z,1761546841.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 37.302784 m, bearing: 278.406621 deg, approach rate: -0.528580 m/s, LOS rate: -0.014654 deg/s, cmd heading: 286.442397 deg, new cmd heading: 286.421667 deg. 2025-10-27T06:34:01.042Z,1761546841.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999001 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:34:01.104Z,1761546841.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783069 2025-10-27T06:34:01.341Z,1761546841.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291046,0.943178,0.160335],[-0.956546,0.289973,0.030577],[-0.017653,-0.162267,0.986589]] 2025-10-27T06:34:01.356Z,1761546841.356 [DAT](INFO): DAT read: Rx Time:06:33:59.8715 2025-10-27T06:34:01.356Z,1761546841.356 [DAT](INFO): Rx dataTimestamp_ set to:1761546841.356137 2025-10-27T06:34:01.357Z,1761546841.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035806 2025-10-27T06:34:01.390Z,1761546841.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:01.397Z,1761546841.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:34:01.400Z,1761546841.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 37.118271 m, bearing: 278.401514 deg, approach rate: -0.514833 m/s, LOS rate: -0.014321 deg/s, cmd heading: 286.421661 deg, new cmd heading: 286.406262 deg. 2025-10-27T06:34:01.401Z,1761546841.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998732 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:34:01.608Z,1761546841.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287255 2025-10-27T06:34:01.758Z,1761546841.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.292529,0.942992,0.158722],[-0.956095,0.291477,0.030402],[-0.017595,-0.160647,0.986855]] 2025-10-27T06:34:01.782Z,1761546841.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.34 m. 2025-10-27T06:34:01.817Z,1761546841.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.339672 m, nav range: 36.909794 m, bearing: 278.395204 deg, approach rate: -0.541065 m/s, LOS rate: -0.016467 deg/s, cmd heading: 286.406252 deg, new cmd heading: 286.387217 deg. 2025-10-27T06:34:01.818Z,1761546841.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998400 target range: 39.339672 and range: 39.60 m. 2025-10-27T06:34:01.865Z,1761546841.865 [DAT](INFO): DAT read: 06:33:59.8715 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 418,-0.34,-0.857,-2.309,-0.362,-0.864, PHS= 0.110,-1.400, 0.459, RAW= 160.2, 9.8, CAL= 160.1, 10.5, ROT= 349.9, -10.5 2025-10-27T06:34:01.866Z,1761546841.866 [DAT](INFO): got valid direction response: 06:33:59.8715 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 418,-0.34,-0.857,-2.309,-0.362,-0.864, PHS= 0.110,-1.400, 0.459, RAW= 160.2, 9.8, CAL= 160.1, 10.5, ROT= 349.9, -10.5 2025-10-27T06:34:01.868Z,1761546841.868 [DAT](INFO): DAT read: Bearing 102.1, -12.3 (Local) 2025-10-27T06:34:01.868Z,1761546841.868 [DAT](INFO): Local bearing/azimuth received: Bearing 102.1, -12.3 (Local) 2025-10-27T06:34:01.869Z,1761546841.869 [DAT](INFO): DAT read: Range 11 to 50 : 37.8 m (Round-trip 50.5 ms) speed 0.1 m/s 2025-10-27T06:34:01.870Z,1761546841.870 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:34:01.871Z,1761546841.871 [DAT](INFO): direction in FSK: [0.968018,-0.172430,0.182236] 2025-10-27T06:34:01.871Z,1761546841.871 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:01.874Z,1761546841.874 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:34:01.874Z,1761546841.874 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:34:01.875Z,1761546841.875 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:34:02.113Z,1761546842.113 [DAT](INFO): DAT read: user:826> 2025-10-27T06:34:02.114Z,1761546842.114 [DAT](INFO): DAT read: Tx time:06:34:01.1668 2025-10-27T06:34:02.115Z,1761546842.115 [DAT](INFO): Ping request sent. 2025-10-27T06:34:02.115Z,1761546842.115 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:34:02.115Z,1761546842.115 [DAT](INFO): publishing transmit ping time 2025-10-27T06:34:02.116Z,1761546842.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000915 2025-10-27T06:34:02.193Z,1761546842.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294466,0.942721,0.156738],[-0.955505,0.293406,0.030393],[-0.017336,-0.158714,0.987172]] 2025-10-27T06:34:02.253Z,1761546842.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.799999 m, deltaT: 3.792095 s, deltaX: -1.799999 m, approachRate: -0.474671 m/s, rangeRepo size: 4 2025-10-27T06:34:02.255Z,1761546842.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 37.552357 m, bearing: 278.851539 deg, lat: 36.779502 deg, lon: -121.859842 deg, deltaT: 3.792095 s, deltaX: -1.787315 m, approachRate: -0.471327 m/s, posRepo size: 4 2025-10-27T06:34:02.256Z,1761546842.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m. 2025-10-27T06:34:02.259Z,1761546842.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.552357 m, nav range: 36.829170 m, bearing: 278.488568 deg, approach rate: 0.000000 m/s, LOS rate: -0.016467 deg/s, cmd heading: 286.387209 deg, new cmd heading: 286.363951 deg. 2025-10-27T06:34:02.260Z,1761546842.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997994 target range: 37.552357 and range: 37.80 m. 2025-10-27T06:34:02.364Z,1761546842.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249387 2025-10-27T06:34:02.575Z,1761546842.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296128,0.942462,0.155159],[-0.955001,0.295001,0.030774],[-0.016769,-0.157290,0.987410]] 2025-10-27T06:34:02.594Z,1761546842.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m. 2025-10-27T06:34:02.598Z,1761546842.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.552357 m, nav range: 36.642963 m, bearing: 278.482022 deg, approach rate: -0.545562 m/s, LOS rate: -0.019275 deg/s, cmd heading: 286.363959 deg, new cmd heading: 286.344223 deg. 2025-10-27T06:34:02.598Z,1761546842.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997650 target range: 37.552357 and range: 37.80 m. 2025-10-27T06:34:02.616Z,1761546842.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501282 2025-10-27T06:34:02.868Z,1761546842.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753781 2025-10-27T06:34:03.028Z,1761546843.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297598,0.942297,0.153334],[-0.954556,0.296392,0.031204],[-0.016044,-0.155653,0.987682]] 2025-10-27T06:34:03.071Z,1761546843.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m. 2025-10-27T06:34:03.074Z,1761546843.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.552357 m, nav range: 36.380985 m, bearing: 278.475419 deg, approach rate: -0.549446 m/s, LOS rate: -0.013948 deg/s, cmd heading: 286.344234 deg, new cmd heading: 286.324282 deg. 2025-10-27T06:34:03.075Z,1761546843.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997302 target range: 37.552357 and range: 37.80 m. 2025-10-27T06:34:03.120Z,1761546843.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005345 2025-10-27T06:34:03.372Z,1761546843.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257320 2025-10-27T06:34:03.391Z,1761546843.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299164,0.942143,0.151220],[-0.954077,0.297905,0.031452],[-0.015417,-0.153685,0.988000]] 2025-10-27T06:34:03.409Z,1761546843.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:03.411Z,1761546843.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m. 2025-10-27T06:34:03.414Z,1761546843.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.552357 m, nav range: 36.194565 m, bearing: 278.470209 deg, approach rate: -0.548066 m/s, LOS rate: -0.015398 deg/s, cmd heading: 286.324289 deg, new cmd heading: 286.308577 deg. 2025-10-27T06:34:03.415Z,1761546843.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997027 target range: 37.552357 and range: 37.80 m. 2025-10-27T06:34:03.624Z,1761546843.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509804 2025-10-27T06:34:03.795Z,1761546843.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301468,0.941862,0.148366],[-0.953351,0.300279,0.030895],[-0.015452,-0.150759,0.988450]] 2025-10-27T06:34:03.814Z,1761546843.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m. 2025-10-27T06:34:03.817Z,1761546843.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.552357 m, nav range: 35.972496 m, bearing: 278.463127 deg, approach rate: -0.550118 m/s, LOS rate: -0.017651 deg/s, cmd heading: 286.308580 deg, new cmd heading: 286.287204 deg. 2025-10-27T06:34:03.818Z,1761546843.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996655 target range: 37.552357 and range: 37.80 m. 2025-10-27T06:34:03.877Z,1761546843.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762212 2025-10-27T06:34:04.128Z,1761546844.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013253 2025-10-27T06:34:04.190Z,1761546844.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303764,0.941371,0.146791],[-0.952611,0.302699,0.030093],[-0.016105,-0.148976,0.988710]] 2025-10-27T06:34:04.235Z,1761546844.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m. 2025-10-27T06:34:04.238Z,1761546844.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.552357 m, nav range: 35.742561 m, bearing: 278.457152 deg, approach rate: -0.546586 m/s, LOS rate: -0.014294 deg/s, cmd heading: 286.287215 deg, new cmd heading: 286.269175 deg. 2025-10-27T06:34:04.239Z,1761546844.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996340 target range: 37.552357 and range: 37.80 m. 2025-10-27T06:34:04.380Z,1761546844.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265128 2025-10-27T06:34:04.629Z,1761546844.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.55 m. 2025-10-27T06:34:04.633Z,1761546844.633 [DAT](INFO): DAT read: Rx Time:06:34:03.3440 2025-10-27T06:34:04.634Z,1761546844.634 [DAT](INFO): Rx dataTimestamp_ set to:1761546844.633255 2025-10-27T06:34:04.635Z,1761546844.635 [DAT](INFO): DAT read: Bearing 100.0, -13.3 (Local) 2025-10-27T06:34:04.635Z,1761546844.635 [DAT](INFO): Local bearing/azimuth received: Bearing 100.0, -13.3 (Local) 2025-10-27T06:34:04.637Z,1761546844.637 [DAT](INFO): DAT read: Range 11 to 50 : 36.0 m (trip time 24.0 ms) speed 0.4 2025-10-27T06:34:04.642Z,1761546844.642 [DAT](INFO): DAT read: 06:34:03.3440 LVL= 30896, 32753, 27458, 32755, AGC= 61, IDX= 151, 0.48,-2.668, 2.170,-2.100,-2.710, PHS= 0.144,-1.358, 0.565, RAW= 162.0, 7.5, CAL= 161.5, 7.4, ROT= 348.5, -7.4 2025-10-27T06:34:04.659Z,1761546844.659 [DAT](INFO): got valid direction response: 06:34:03.3440 LVL= 30896, 32753, 27458, 32755, AGC= 61, IDX= 151, 0.48,-2.668, 2.170,-2.100,-2.710, PHS= 0.144,-1.358, 0.565, RAW= 162.0, 7.5, CAL= 161.5, 7.4, ROT= 348.5, -7.4 2025-10-27T06:34:04.660Z,1761546844.660 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:34:04.661Z,1761546844.661 [DAT](INFO): direction in FSK: [0.971763,-0.197708,0.128796] 2025-10-27T06:34:04.661Z,1761546844.661 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:04.684Z,1761546844.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 37.552357 m, nav range: 35.527481 m, bearing: 278.451494 deg, approach rate: -0.546487 m/s, LOS rate: -0.014465 deg/s, cmd heading: 286.269183 deg, new cmd heading: 286.252104 deg. 2025-10-27T06:34:04.685Z,1761546844.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996042 target range: 37.552357 and range: 37.80 m. 2025-10-27T06:34:04.688Z,1761546844.688 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.573633 2025-10-27T06:34:04.884Z,1761546844.884 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769196 2025-10-27T06:34:05.082Z,1761546845.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305725,0.940898,0.145751],[-0.951969,0.304802,0.029182],[-0.016967,-0.147672,0.988891]] 2025-10-27T06:34:05.100Z,1761546845.100 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -89, +549, :9, +549, +27,A 2025-10-27T06:34:05.126Z,1761546845.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.000000 m, deltaT: 2.773714 s, deltaX: -1.799999 m, approachRate: -0.648949 m/s, rangeRepo size: 4 2025-10-27T06:34:05.128Z,1761546845.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.762955 m, bearing: 277.535162 deg, lat: 36.779501 deg, lon: -121.859845 deg, deltaT: 2.773714 s, deltaX: -1.789402 m, approachRate: -0.645129 m/s, posRepo size: 4 2025-10-27T06:34:05.128Z,1761546845.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.76 m. 2025-10-27T06:34:05.137Z,1761546845.137 [DAT](INFO): DAT read: Rx Time:06:34:03.8437 2025-10-27T06:34:05.137Z,1761546845.137 [DAT](INFO): Rx dataTimestamp_ set to:1761546845.136928 2025-10-27T06:34:05.139Z,1761546845.139 [DAT](INFO): DAT read: Bearing 100.7, -13.3 (Local) 2025-10-27T06:34:05.139Z,1761546845.139 [DAT](INFO): Local bearing/azimuth received: Bearing 100.7, -13.3 (Local) 2025-10-27T06:34:05.141Z,1761546845.141 [DAT](INFO): DAT read: Range 11 to 50 : 35.6 m (trip time 23.7 ms) speed 0.4 2025-10-27T06:34:05.146Z,1761546845.146 [DAT](INFO): DAT read: 06:34:03.8437 LVL= 32752, 32753, 28402, 32755, AGC= 58, IDX= 501,-0.34, 0.946,-0.491, 1.501, 0.914, PHS= 0.134,-1.360, 0.544, RAW= 161.8, 7.9, CAL= 161.4, 8.0, ROT= 348.6, -8.0 2025-10-27T06:34:05.147Z,1761546845.147 [DAT](INFO): got valid direction response: 06:34:03.8437 LVL= 32752, 32753, 28402, 32755, AGC= 58, IDX= 501,-0.34, 0.946,-0.491, 1.501, 0.914, PHS= 0.134,-1.360, 0.544, RAW= 161.8, 7.9, CAL= 161.4, 8.0, ROT= 348.6, -8.0 2025-10-27T06:34:05.147Z,1761546845.147 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:34:05.148Z,1761546845.148 [DAT](INFO): direction in FSK: [0.970731,-0.195734,0.139173] 2025-10-27T06:34:05.149Z,1761546845.149 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:05.157Z,1761546845.157 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042493 2025-10-27T06:34:05.171Z,1761546845.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.762955 m, nav range: 35.461304 m, bearing: 278.248159 deg, approach rate: 0.000000 m/s, LOS rate: -0.014465 deg/s, cmd heading: 286.252108 deg, new cmd heading: 286.230574 deg. 2025-10-27T06:34:05.172Z,1761546845.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995666 target range: 35.762955 and range: 36.00 m. 2025-10-27T06:34:05.389Z,1761546845.389 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274315 2025-10-27T06:34:05.463Z,1761546845.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306504,0.940639,0.145787],[-0.951709,0.305647,0.028805],[-0.017464,-0.147576,0.988897]] 2025-10-27T06:34:05.601Z,1761546845.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.599998 m, deltaT: 0.503673 s, deltaX: -0.400002 m, approachRate: -0.794169 m/s, rangeRepo size: 4 2025-10-27T06:34:05.604Z,1761546845.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.365585 m, bearing: 277.771871 deg, lat: 36.779499 deg, lon: -121.859842 deg, deltaT: 0.503673 s, deltaX: -0.397369 m, approachRate: -0.788943 m/s, posRepo size: 4 2025-10-27T06:34:05.604Z,1761546845.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.37 m. 2025-10-27T06:34:05.607Z,1761546845.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.365585 m, nav range: 34.967804 m, bearing: 277.771990 deg, approach rate: 0.000000 m/s, LOS rate: -0.014465 deg/s, cmd heading: 286.230579 deg, new cmd heading: 286.209935 deg. 2025-10-27T06:34:05.608Z,1761546845.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995306 target range: 35.365585 and range: 35.60 m. 2025-10-27T06:34:05.645Z,1761546845.645 [DAT](INFO): DAT read: Rx Time:06:34:04.3435 2025-10-27T06:34:05.645Z,1761546845.645 [DAT](INFO): Rx dataTimestamp_ set to:1761546845.644871 2025-10-27T06:34:05.646Z,1761546845.646 [DAT](INFO): DAT read: Bearing 101.8, -14.0 (Local) 2025-10-27T06:34:05.647Z,1761546845.647 [DAT](INFO): Local bearing/azimuth received: Bearing 101.8, -14.0 (Local) 2025-10-27T06:34:05.649Z,1761546845.649 [DAT](INFO): DAT read: Range 11 to 50 : 35.3 m (trip time 23.5 ms) speed 0.4 2025-10-27T06:34:05.653Z,1761546845.653 [DAT](INFO): DAT read: 06:34:04.3435 LVL= 32752, 32753, 29618, 32755, AGC= 59, IDX= 499,-0.19, 1.191,-0.226, 1.755, 1.188, PHS= 0.104,-1.369, 0.523, RAW= 162.1, 8.7, CAL= 161.9, 9.1, ROT= 348.1, -9.1 2025-10-27T06:34:05.654Z,1761546845.654 [DAT](INFO): got valid direction response: 06:34:04.3435 LVL= 32752, 32753, 29618, 32755, AGC= 59, IDX= 499,-0.19, 1.191,-0.226, 1.755, 1.188, PHS= 0.104,-1.369, 0.523, RAW= 162.1, 8.7, CAL= 161.9, 9.1, ROT= 348.1, -9.1 2025-10-27T06:34:05.655Z,1761546845.655 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T06:34:05.656Z,1761546845.656 [DAT](INFO): direction in FSK: [0.966193,-0.203609,0.158158] 2025-10-27T06:34:05.656Z,1761546845.656 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:05.660Z,1761546845.660 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.545680 2025-10-27T06:34:05.892Z,1761546845.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306771,0.940647,0.145175],[-0.951613,0.306017,0.028052],[-0.018039,-0.146755,0.989008]] 2025-10-27T06:34:05.896Z,1761546845.896 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.781304 2025-10-27T06:34:05.962Z,1761546845.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.299999 m, deltaT: 0.507943 s, deltaX: -0.299999 m, approachRate: -0.590616 m/s, rangeRepo size: 4 2025-10-27T06:34:05.975Z,1761546845.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.067448 m, bearing: 277.452207 deg, lat: 36.779499 deg, lon: -121.859842 deg, deltaT: 0.507943 s, deltaX: -0.298138 m, approachRate: -0.586951 m/s, posRepo size: 4 2025-10-27T06:34:05.983Z,1761546845.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.07 m. 2025-10-27T06:34:06.008Z,1761546846.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.067448 m, nav range: 34.753513 m, bearing: 277.768104 deg, approach rate: 0.000000 m/s, LOS rate: -0.014465 deg/s, cmd heading: 286.209925 deg, new cmd heading: 286.194253 deg. 2025-10-27T06:34:06.018Z,1761546846.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995032 target range: 35.067448 and range: 35.30 m. 2025-10-27T06:34:06.149Z,1761546846.149 [DAT](INFO): DAT read: Rx Time:06:34:04.8432 2025-10-27T06:34:06.150Z,1761546846.150 [DAT](INFO): Rx dataTimestamp_ set to:1761546846.149640 2025-10-27T06:34:06.152Z,1761546846.152 [DAT](INFO): DAT read: Bearing 102.2, -13.8 (Local) 2025-10-27T06:34:06.153Z,1761546846.153 [DAT](INFO): Local bearing/azimuth received: Bearing 102.2, -13.8 (Local) 2025-10-27T06:34:06.156Z,1761546846.156 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.4 2025-10-27T06:34:06.161Z,1761546846.161 [DAT](INFO): DAT read: 06:34:04.8432 LVL= 32752, 32753, 29570, 32755, AGC= 59, IDX= 496,-0.04, 0.057,-1.363, 0.610, 0.054, PHS= 0.104,-1.372, 0.512, RAW= 161.9, 8.8, CAL= 161.6, 9.3, ROT= 348.4, -9.3 2025-10-27T06:34:06.163Z,1761546846.163 [DAT](INFO): got valid direction response: 06:34:04.8432 LVL= 32752, 32753, 29570, 32755, AGC= 59, IDX= 496,-0.04, 0.057,-1.363, 0.610, 0.054, PHS= 0.104,-1.372, 0.512, RAW= 161.9, 8.8, CAL= 161.6, 9.3, ROT= 348.4, -9.3 2025-10-27T06:34:06.163Z,1761546846.163 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-27T06:34:06.164Z,1761546846.164 [DAT](INFO): direction in FSK: [0.966699,-0.198435,0.161604] 2025-10-27T06:34:06.165Z,1761546846.165 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:06.169Z,1761546846.169 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.053875 2025-10-27T06:34:06.311Z,1761546846.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306081,0.941402,0.141690],[-0.951804,0.305670,0.025199],[-0.019588,-0.142574,0.989590]] 2025-10-27T06:34:06.382Z,1761546846.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 0.504769 s, deltaX: -0.500000 m, approachRate: -0.990552 m/s, rangeRepo size: 4 2025-10-27T06:34:06.384Z,1761546846.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.570740 m, bearing: 277.695667 deg, lat: 36.779498 deg, lon: -121.859842 deg, deltaT: 0.504769 s, deltaX: -0.496708 m, approachRate: -0.984030 m/s, posRepo size: 4 2025-10-27T06:34:06.385Z,1761546846.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.57 m. 2025-10-27T06:34:06.388Z,1761546846.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.570740 m, nav range: 34.507820 m, bearing: 277.597974 deg, approach rate: 0.000000 m/s, LOS rate: -0.014465 deg/s, cmd heading: 286.194243 deg, new cmd heading: 286.176029 deg. 2025-10-27T06:34:06.389Z,1761546846.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994714 target range: 34.570740 and range: 34.80 m. 2025-10-27T06:34:06.400Z,1761546846.400 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.285182 2025-10-27T06:34:06.653Z,1761546846.653 [DAT](INFO): DAT read: Rx Time:06:34:05.3431 2025-10-27T06:34:06.653Z,1761546846.653 [DAT](INFO): Rx dataTimestamp_ set to:1761546846.652788 2025-10-27T06:34:06.654Z,1761546846.654 [DAT](INFO): DAT read: Bearing 101.5, -14.0 (Local) 2025-10-27T06:34:06.655Z,1761546846.655 [DAT](INFO): Local bearing/azimuth received: Bearing 101.5, -14.0 (Local) 2025-10-27T06:34:06.657Z,1761546846.657 [DAT](INFO): DAT read: Range 11 to 50 : 34.7 m (trip time 23.1 ms) speed 0.4 2025-10-27T06:34:06.662Z,1761546846.662 [DAT](INFO): DAT read: 06:34:05.3431 LVL= 32752, 32753, 29938, 32755, AGC= 59, IDX= 511, 0.16, 2.477, 1.034, 3.049, 2.465, PHS= 0.113,-1.386, 0.540, RAW= 162.2, 8.4, CAL= 161.9, 8.7, ROT= 348.1, -8.7 2025-10-27T06:34:06.663Z,1761546846.663 [DAT](INFO): got valid direction response: 06:34:05.3431 LVL= 32752, 32753, 29938, 32755, AGC= 59, IDX= 511, 0.16, 2.477, 1.034, 3.049, 2.465, PHS= 0.113,-1.386, 0.540, RAW= 162.2, 8.4, CAL= 161.9, 8.7, ROT= 348.1, -8.7 2025-10-27T06:34:06.663Z,1761546846.663 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-27T06:34:06.664Z,1761546846.664 [DAT](INFO): direction in FSK: [0.967250,-0.203831,0.151261] 2025-10-27T06:34:06.664Z,1761546846.664 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:06.669Z,1761546846.669 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.554080 2025-10-27T06:34:06.725Z,1761546846.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305209,0.941286,0.144320],[-0.952083,0.304744,0.025865],[-0.019634,-0.145299,0.989193]] 2025-10-27T06:34:06.830Z,1761546846.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 0.503148 s, deltaX: -0.099998 m, approachRate: -0.198746 m/s, rangeRepo size: 4 2025-10-27T06:34:06.836Z,1761546846.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.471504 m, bearing: 277.285784 deg, lat: 36.779497 deg, lon: -121.859840 deg, deltaT: 0.503148 s, deltaX: -0.099236 m, approachRate: -0.197229 m/s, posRepo size: 4 2025-10-27T06:34:06.837Z,1761546846.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.47 m. 2025-10-27T06:34:06.844Z,1761546846.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.471504 m, nav range: 34.113018 m, bearing: 277.583062 deg, approach rate: 0.000000 m/s, LOS rate: -0.014465 deg/s, cmd heading: 286.176020 deg, new cmd heading: 286.156592 deg. 2025-10-27T06:34:06.845Z,1761546846.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994375 target range: 34.471504 and range: 34.70 m. 2025-10-27T06:34:06.905Z,1761546846.905 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.790306 2025-10-27T06:34:07.157Z,1761546847.157 [DAT](INFO): DAT read: Rx Time:06:34:05.8428 2025-10-27T06:34:07.157Z,1761546847.157 [DAT](INFO): Rx dataTimestamp_ set to:1761546847.156844 2025-10-27T06:34:07.158Z,1761546847.158 [DAT](INFO): DAT read: Bearing 102.0, -13.8 (Local) 2025-10-27T06:34:07.159Z,1761546847.159 [DAT](INFO): Local bearing/azimuth received: Bearing 102.0, -13.8 (Local) 2025-10-27T06:34:07.161Z,1761546847.161 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.5 2025-10-27T06:34:07.166Z,1761546847.166 [DAT](INFO): DAT read: 06:34:05.8428 LVL= 32752, 32753, 30066, 32755, AGC= 58, IDX= 508, 0.47, 1.026,-0.406, 1.579, 1.020, PHS= 0.108,-1.381, 0.515, RAW= 161.8, 8.8, CAL= 161.5, 9.2, ROT= 348.5, -9.2 2025-10-27T06:34:07.167Z,1761546847.167 [DAT](INFO): got valid direction response: 06:34:05.8428 LVL= 32752, 32753, 30066, 32755, AGC= 58, IDX= 508, 0.47, 1.026,-0.406, 1.579, 1.020, PHS= 0.108,-1.381, 0.515, RAW= 161.8, 8.8, CAL= 161.5, 9.2, ROT= 348.5, -9.2 2025-10-27T06:34:07.167Z,1761546847.167 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-27T06:34:07.168Z,1761546847.168 [DAT](INFO): direction in FSK: [0.967319,-0.196803,0.159881] 2025-10-27T06:34:07.168Z,1761546847.168 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:07.172Z,1761546847.172 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057552 2025-10-27T06:34:07.174Z,1761546847.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304455,0.940638,0.150023],[-0.952327,0.303814,0.027742],[-0.019484,-0.151318,0.988293]] 2025-10-27T06:34:07.294Z,1761546847.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 0.504056 s, deltaX: -0.500000 m, approachRate: -0.991953 m/s, rangeRepo size: 4 2025-10-27T06:34:07.300Z,1761546847.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.974796 m, bearing: 277.776842 deg, lat: 36.779498 deg, lon: -121.859840 deg, deltaT: 0.504056 s, deltaX: -0.496708 m, approachRate: -0.985422 m/s, posRepo size: 4 2025-10-27T06:34:07.301Z,1761546847.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.97 m. 2025-10-27T06:34:07.308Z,1761546847.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.974796 m, nav range: 33.804947 m, bearing: 277.647686 deg, approach rate: 0.000000 m/s, LOS rate: -0.014465 deg/s, cmd heading: 286.156595 deg, new cmd heading: 286.136438 deg. 2025-10-27T06:34:07.309Z,1761546847.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994023 target range: 33.974796 and range: 34.20 m. 2025-10-27T06:34:07.408Z,1761546847.408 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.293280 2025-10-27T06:34:07.615Z,1761546847.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303385,0.939422,0.159512],[-0.952680,0.302369,0.031201],[-0.018921,-0.161430,0.986703]] 2025-10-27T06:34:07.641Z,1761546847.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:07.643Z,1761546847.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.97 m. 2025-10-27T06:34:07.646Z,1761546847.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.974796 m, nav range: 33.610886 m, bearing: 277.651444 deg, approach rate: -0.555313 m/s, LOS rate: 0.010814 deg/s, cmd heading: 286.136432 deg, new cmd heading: 286.147769 deg. 2025-10-27T06:34:07.648Z,1761546847.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994221 target range: 33.974796 and range: 34.20 m. 2025-10-27T06:34:07.661Z,1761546847.661 [DAT](INFO): DAT read: Rx Time:06:34:06.3428 2025-10-27T06:34:07.661Z,1761546847.661 [DAT](INFO): Rx dataTimestamp_ set to:1761546847.660959 2025-10-27T06:34:07.663Z,1761546847.663 [DAT](INFO): DAT read: Bearing 99.9, -13.4 (Local) 2025-10-27T06:34:07.663Z,1761546847.663 [DAT](INFO): Local bearing/azimuth received: Bearing 99.9, -13.4 (Local) 2025-10-27T06:34:07.665Z,1761546847.665 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.4 2025-10-27T06:34:07.670Z,1761546847.670 [DAT](INFO): DAT read: 06:34:06.3428 LVL= 32752, 32753, 28882, 32755, AGC= 59, IDX= 508,-0.12, 0.312,-1.123, 0.868, 0.264, PHS= 0.150,-1.342, 0.559, RAW= 161.8, 7.4, CAL= 161.3, 7.3, ROT= 348.7, -7.3 2025-10-27T06:34:07.671Z,1761546847.671 [DAT](INFO): got valid direction response: 06:34:06.3428 LVL= 32752, 32753, 28882, 32755, AGC= 59, IDX= 508,-0.12, 0.312,-1.123, 0.868, 0.264, PHS= 0.150,-1.342, 0.559, RAW= 161.8, 7.4, CAL= 161.3, 7.3, ROT= 348.7, -7.3 2025-10-27T06:34:07.671Z,1761546847.671 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T06:34:07.672Z,1761546847.672 [DAT](INFO): direction in FSK: [0.972666,-0.194358,0.127065] 2025-10-27T06:34:07.672Z,1761546847.672 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:07.680Z,1761546847.680 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.565561 2025-10-27T06:34:07.913Z,1761546847.913 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.798669 2025-10-27T06:34:08.090Z,1761546848.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.302368,0.938864,0.164647],[-0.953013,0.301111,0.033153],[-0.018451,-0.166935,0.985795]] 2025-10-27T06:34:08.165Z,1761546848.165 [DAT](INFO): DAT read: Rx Time:06:34:06.8425 2025-10-27T06:34:08.165Z,1761546848.165 [DAT](INFO): Rx dataTimestamp_ set to:1761546848.164716 2025-10-27T06:34:08.166Z,1761546848.166 [DAT](INFO): DAT read: Bearing 102.3, -13.9 (Local) 2025-10-27T06:34:08.167Z,1761546848.167 [DAT](INFO): Local bearing/azimuth received: Bearing 102.3, -13.9 (Local) 2025-10-27T06:34:08.169Z,1761546848.169 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4 2025-10-27T06:34:08.174Z,1761546848.174 [DAT](INFO): DAT read: 06:34:06.8425 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.17, 1.342,-0.082, 1.884, 1.349, PHS= 0.095,-1.386, 0.491, RAW= 161.6, 9.4, CAL= 161.4, 10.0, ROT= 348.6, -10.0 2025-10-27T06:34:08.175Z,1761546848.175 [DAT](INFO): got valid direction response: 06:34:06.8425 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505, 0.17, 1.342,-0.082, 1.884, 1.349, PHS= 0.095,-1.386, 0.491, RAW= 161.6, 9.4, CAL= 161.4, 10.0, ROT= 348.6, -10.0 2025-10-27T06:34:08.176Z,1761546848.176 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-27T06:34:08.177Z,1761546848.177 [DAT](INFO): direction in FSK: [0.965379,-0.194654,0.173648] 2025-10-27T06:34:08.177Z,1761546848.177 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:08.181Z,1761546848.181 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.066181 2025-10-27T06:34:08.317Z,1761546848.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 1.007872 s, deltaX: -0.400002 m, approachRate: -0.396877 m/s, rangeRepo size: 4 2025-10-27T06:34:08.323Z,1761546848.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.577595 m, bearing: 278.058206 deg, lat: 36.779498 deg, lon: -121.859837 deg, deltaT: 1.007872 s, deltaX: -0.397202 m, approachRate: -0.394099 m/s, posRepo size: 4 2025-10-27T06:34:08.324Z,1761546848.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.58 m. 2025-10-27T06:34:08.327Z,1761546848.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.577595 m, nav range: 33.057365 m, bearing: 277.714980 deg, approach rate: 0.000000 m/s, LOS rate: 0.010814 deg/s, cmd heading: 286.147770 deg, new cmd heading: 286.169610 deg. 2025-10-27T06:34:08.329Z,1761546848.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994602 target range: 33.577595 and range: 33.80 m. 2025-10-27T06:34:08.416Z,1761546848.416 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.301435 2025-10-27T06:34:08.669Z,1761546848.669 [DAT](INFO): DAT read: Rx Time:06:34:07.3425 2025-10-27T06:34:08.669Z,1761546848.669 [DAT](INFO): Rx dataTimestamp_ set to:1761546848.668823 2025-10-27T06:34:08.670Z,1761546848.670 [DAT](INFO): DAT read: Bearing 102.1, -13.8 (Local) 2025-10-27T06:34:08.671Z,1761546848.671 [DAT](INFO): Local bearing/azimuth received: Bearing 102.1, -13.8 (Local) 2025-10-27T06:34:08.674Z,1761546848.674 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4 2025-10-27T06:34:08.680Z,1761546848.680 [DAT](INFO): DAT read: 06:34:07.3425 LVL= 32752, 32753, 31186, 32755, AGC= 60, IDX= 505,-0.31, 0.998,-0.422, 1.535, 1.002, PHS= 0.098,-1.378, 0.490, RAW= 161.5, 9.3, CAL= 161.3, 9.9, ROT= 348.7, -9.9 2025-10-27T06:34:08.681Z,1761546848.681 [DAT](INFO): got valid direction response: 06:34:07.3425 LVL= 32752, 32753, 31186, 32755, AGC= 60, IDX= 505,-0.31, 0.998,-0.422, 1.535, 1.002, PHS= 0.098,-1.378, 0.490, RAW= 161.5, 9.3, CAL= 161.3, 9.9, ROT= 348.7, -9.9 2025-10-27T06:34:08.681Z,1761546848.681 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-27T06:34:08.682Z,1761546848.682 [DAT](INFO): direction in FSK: [0.966013,-0.193028,0.171929] 2025-10-27T06:34:08.683Z,1761546848.683 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:08.721Z,1761546848.721 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.606696 2025-10-27T06:34:08.768Z,1761546848.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301327,0.937181,0.175765],[-0.953347,0.299631,0.036755],[-0.018219,-0.178640,0.983746]] 2025-10-27T06:34:08.844Z,1761546848.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.504107 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:08.846Z,1761546848.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.577572 m, bearing: 278.215488 deg, lat: 36.779498 deg, lon: -121.859837 deg, deltaT: 0.504107 s, deltaX: -0.000023 m, approachRate: -0.000045 m/s, posRepo size: 4 2025-10-27T06:34:08.847Z,1761546848.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.58 m. 2025-10-27T06:34:08.854Z,1761546848.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.577572 m, nav range: 32.782864 m, bearing: 277.783532 deg, approach rate: 0.000000 m/s, LOS rate: 0.010814 deg/s, cmd heading: 286.169599 deg, new cmd heading: 286.186431 deg. 2025-10-27T06:34:08.854Z,1761546848.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994895 target range: 33.577572 and range: 33.80 m. 2025-10-27T06:34:08.920Z,1761546848.920 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.805254 2025-10-27T06:34:09.173Z,1761546849.173 [DAT](INFO): DAT read: Rx Time:06:34:07.8422 2025-10-27T06:34:09.173Z,1761546849.173 [DAT](INFO): Rx dataTimestamp_ set to:1761546849.172940 2025-10-27T06:34:09.174Z,1761546849.174 [DAT](INFO): DAT read: Bearing 101.2, -14.1 (Local) 2025-10-27T06:34:09.175Z,1761546849.175 [DAT](INFO): Local bearing/azimuth received: Bearing 101.2, -14.1 (Local) 2025-10-27T06:34:09.177Z,1761546849.177 [DAT](INFO): DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.4 2025-10-27T06:34:09.182Z,1761546849.182 [DAT](INFO): DAT read: 06:34:07.8422 LVL= 32752, 32753, 31426, 32755, AGC= 59, IDX= 502, 0.14,-0.001,-1.433, 0.556,-0.005, PHS= 0.106,-1.383, 0.517, RAW= 161.9, 8.8, CAL= 161.6, 9.2, ROT= 348.4, -9.2 2025-10-27T06:34:09.183Z,1761546849.183 [DAT](INFO): got valid direction response: 06:34:07.8422 LVL= 32752, 32753, 31426, 32755, AGC= 59, IDX= 502, 0.14,-0.001,-1.433, 0.556,-0.005, PHS= 0.106,-1.383, 0.517, RAW= 161.9, 8.8, CAL= 161.6, 9.2, ROT= 348.4, -9.2 2025-10-27T06:34:09.183Z,1761546849.183 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-27T06:34:09.184Z,1761546849.184 [DAT](INFO): direction in FSK: [0.966974,-0.198491,0.159881] 2025-10-27T06:34:09.184Z,1761546849.184 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:09.188Z,1761546849.188 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.073371 2025-10-27T06:34:09.395Z,1761546849.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.504117 s, deltaX: -0.500000 m, approachRate: -0.991833 m/s, rangeRepo size: 4 2025-10-27T06:34:09.397Z,1761546849.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.080860 m, bearing: 277.790390 deg, lat: 36.779498 deg, lon: -121.859838 deg, deltaT: 0.504117 s, deltaX: -0.496712 m, approachRate: -0.985310 m/s, posRepo size: 4 2025-10-27T06:34:09.398Z,1761546849.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.08 m. 2025-10-27T06:34:09.401Z,1761546849.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.080860 m, nav range: 32.569633 m, bearing: 277.790501 deg, approach rate: 0.000000 m/s, LOS rate: 0.010814 deg/s, cmd heading: 286.186429 deg, new cmd heading: 286.204572 deg. 2025-10-27T06:34:09.402Z,1761546849.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995212 target range: 33.080860 and range: 33.30 m. 2025-10-27T06:34:09.424Z,1761546849.424 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.309161 2025-10-27T06:34:09.676Z,1761546849.676 [DAT](INFO): DAT read: Rx Time:06:34:08.3421 2025-10-27T06:34:09.677Z,1761546849.677 [DAT](INFO): Rx dataTimestamp_ set to:1761546849.676613 2025-10-27T06:34:09.678Z,1761546849.678 [DAT](INFO): DAT read: Bearing 101.7, -14.2 (Local) 2025-10-27T06:34:09.678Z,1761546849.678 [DAT](INFO): Local bearing/azimuth received: Bearing 101.7, -14.2 (Local) 2025-10-27T06:34:09.690Z,1761546849.690 [DAT](INFO): DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4 2025-10-27T06:34:09.695Z,1761546849.695 [DAT](INFO): DAT read: 06:34:08.3421 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33,-1.134,-2.542,-0.586,-1.123, PHS= 0.092,-1.374, 0.494, RAW= 161.8, 9.3, CAL= 161.6, 9.9, ROT= 348.4, -9.9 2025-10-27T06:34:09.696Z,1761546849.696 [DAT](INFO): got valid direction response: 06:34:08.3421 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501,-0.33,-1.134,-2.542,-0.586,-1.123, PHS= 0.092,-1.374, 0.494, RAW= 161.8, 9.3, CAL= 161.6, 9.9, ROT= 348.4, -9.9 2025-10-27T06:34:09.697Z,1761546849.697 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T06:34:09.698Z,1761546849.698 [DAT](INFO): direction in FSK: [0.964989,-0.198084,0.171929] 2025-10-27T06:34:09.698Z,1761546849.698 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:09.702Z,1761546849.702 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.587731 2025-10-27T06:34:09.784Z,1761546849.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300859,0.935489,0.185321],[-0.953517,0.298538,0.040987],[-0.016982,-0.189038,0.981823]] 2025-10-27T06:34:09.870Z,1761546849.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.503673 s, deltaX: -0.099998 m, approachRate: -0.198538 m/s, rangeRepo size: 4 2025-10-27T06:34:09.876Z,1761546849.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.981606 m, bearing: 278.014217 deg, lat: 36.779499 deg, lon: -121.859838 deg, deltaT: 0.503673 s, deltaX: -0.099255 m, approachRate: -0.197062 m/s, posRepo size: 4 2025-10-27T06:34:09.877Z,1761546849.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.98 m. 2025-10-27T06:34:09.884Z,1761546849.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.981606 m, nav range: 32.345905 m, bearing: 278.023252 deg, approach rate: 0.000000 m/s, LOS rate: 0.010814 deg/s, cmd heading: 286.204570 deg, new cmd heading: 286.219974 deg. 2025-10-27T06:34:09.885Z,1761546849.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995481 target range: 32.981606 and range: 33.20 m. 2025-10-27T06:34:09.928Z,1761546849.928 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813491 2025-10-27T06:34:10.178Z,1761546850.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300714,0.935634,0.184824],[-0.953581,0.298211,0.041869],[-0.015943,-0.188835,0.981879]] 2025-10-27T06:34:10.181Z,1761546850.181 [DAT](INFO): DAT read: Rx Time:06:34:08.8418 2025-10-27T06:34:10.181Z,1761546850.181 [DAT](INFO): Rx dataTimestamp_ set to:1761546850.180781 2025-10-27T06:34:10.182Z,1761546850.182 [DAT](INFO): DAT read: Bearing 101.4, -14.4 (Local) 2025-10-27T06:34:10.183Z,1761546850.183 [DAT](INFO): Local bearing/azimuth received: Bearing 101.4, -14.4 (Local) 2025-10-27T06:34:10.185Z,1761546850.185 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 2025-10-27T06:34:10.189Z,1761546850.189 [DAT](INFO): DAT read: 06:34:08.8418 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498, 0.05,-0.782,-2.209,-0.213,-0.771, PHS= 0.090,-1.394, 0.514, RAW= 162.2, 9.1, CAL= 162.0, 9.7, ROT= 348.0, -9.7 2025-10-27T06:34:10.191Z,1761546850.191 [DAT](INFO): got valid direction response: 06:34:08.8418 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 498, 0.05,-0.782,-2.209,-0.213,-0.771, PHS= 0.090,-1.394, 0.514, RAW= 162.2, 9.1, CAL= 162.0, 9.7, ROT= 348.0, -9.7 2025-10-27T06:34:10.191Z,1761546850.191 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-27T06:34:10.192Z,1761546850.192 [DAT](INFO): direction in FSK: [0.964163,-0.204939,0.168489] 2025-10-27T06:34:10.192Z,1761546850.192 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:10.204Z,1761546850.204 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.089216 2025-10-27T06:34:10.244Z,1761546850.244 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V 2025-10-27T06:34:10.316Z,1761546850.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.504168 s, deltaX: -0.500000 m, approachRate: -0.991733 m/s, rangeRepo size: 4 2025-10-27T06:34:10.318Z,1761546850.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.484894 m, bearing: 277.567687 deg, lat: 36.779499 deg, lon: -121.859838 deg, deltaT: 0.504168 s, deltaX: -0.496712 m, approachRate: -0.985211 m/s, posRepo size: 4 2025-10-27T06:34:10.323Z,1761546850.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.48 m. 2025-10-27T06:34:10.326Z,1761546850.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.484894 m, nav range: 32.122112 m, bearing: 278.031436 deg, approach rate: 0.000000 m/s, LOS rate: 0.010814 deg/s, cmd heading: 286.219979 deg, new cmd heading: 286.234461 deg. 2025-10-27T06:34:10.331Z,1761546850.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995734 target range: 32.484894 and range: 32.70 m. 2025-10-27T06:34:10.433Z,1761546850.433 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317915 2025-10-27T06:34:10.579Z,1761546850.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300867,0.936033,0.182543],[-0.953547,0.298286,0.042104],[-0.015040,-0.186731,0.982296]] 2025-10-27T06:34:10.604Z,1761546850.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:10.606Z,1761546850.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.48 m. 2025-10-27T06:34:10.609Z,1761546850.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.484894 m, nav range: 31.948622 m, bearing: 278.037864 deg, approach rate: -0.598190 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.234459 deg, new cmd heading: 286.253848 deg. 2025-10-27T06:34:10.610Z,1761546850.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996072 target range: 32.484894 and range: 32.70 m. 2025-10-27T06:34:10.685Z,1761546850.685 [DAT](INFO): DAT read: Rx Time:06:34:09.3417 2025-10-27T06:34:10.685Z,1761546850.685 [DAT](INFO): Rx dataTimestamp_ set to:1761546850.684876 2025-10-27T06:34:10.686Z,1761546850.686 [DAT](INFO): DAT read: Bearing 100.8, -14.1 (Local) 2025-10-27T06:34:10.687Z,1761546850.687 [DAT](INFO): Local bearing/azimuth received: Bearing 100.8, -14.1 (Local) 2025-10-27T06:34:10.689Z,1761546850.689 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 2025-10-27T06:34:10.696Z,1761546850.696 [DAT](INFO): DAT read: 06:34:09.3417 LVL= 32752, 32753, 29426, 32755, AGC= 59, IDX= 497, 0.47, 0.116,-1.325, 0.687, 0.114, PHS= 0.105,-1.394, 0.529, RAW= 162.1, 8.7, CAL= 161.9, 9.1, ROT= 348.1, -9.1 2025-10-27T06:34:10.697Z,1761546850.697 [DAT](INFO): got valid direction response: 06:34:09.3417 LVL= 32752, 32753, 29426, 32755, AGC= 59, IDX= 497, 0.47, 0.116,-1.325, 0.687, 0.114, PHS= 0.105,-1.394, 0.529, RAW= 162.1, 8.7, CAL= 161.9, 9.1, ROT= 348.1, -9.1 2025-10-27T06:34:10.698Z,1761546850.698 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-27T06:34:10.700Z,1761546850.700 [DAT](INFO): direction in FSK: [0.966193,-0.203609,0.158158] 2025-10-27T06:34:10.701Z,1761546850.701 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:10.706Z,1761546850.706 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.591260 2025-10-27T06:34:10.936Z,1761546850.936 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821178 2025-10-27T06:34:11.025Z,1761546851.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300499,0.936691,0.179750],[-0.953677,0.297875,0.042069],[-0.014138,-0.184066,0.982812]] 2025-10-27T06:34:11.070Z,1761546851.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.504095 s, deltaX: -0.100002 m, approachRate: -0.198380 m/s, rangeRepo size: 4 2025-10-27T06:34:11.073Z,1761546851.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.385811 m, bearing: 277.478783 deg, lat: 36.779498 deg, lon: -121.859838 deg, deltaT: 0.504095 s, deltaX: -0.099083 m, approachRate: -0.196556 m/s, posRepo size: 4 2025-10-27T06:34:11.073Z,1761546851.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m. 2025-10-27T06:34:11.076Z,1761546851.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.385811 m, nav range: 31.732695 m, bearing: 277.807745 deg, approach rate: 0.000000 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.253856 deg, new cmd heading: 286.284877 deg. 2025-10-27T06:34:11.077Z,1761546851.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996614 target range: 32.385811 and range: 32.60 m. 2025-10-27T06:34:11.189Z,1761546851.189 [DAT](INFO): DAT read: Rx Time:06:34:09.8416 2025-10-27T06:34:11.190Z,1761546851.190 [DAT](INFO): Rx dataTimestamp_ set to:1761546851.189797 2025-10-27T06:34:11.192Z,1761546851.192 [DAT](INFO): DAT read: Bearing 101.1, -13.8 (Local) 2025-10-27T06:34:11.193Z,1761546851.193 [DAT](INFO): Local bearing/azimuth received: Bearing 101.1, -13.8 (Local) 2025-10-27T06:34:11.197Z,1761546851.197 [DAT](INFO): DAT read: Range 11 to 50 : 32.3 m (trip time 21.5 ms) speed 0.4 2025-10-27T06:34:11.202Z,1761546851.202 [DAT](INFO): DAT read: 06:34:09.8416 LVL= 32752, 32753, 27746, 32755, AGC= 59, IDX= 511,-0.12,-2.446, 2.417,-1.891,-2.446, PHS= 0.102,-1.375, 0.512, RAW= 161.9, 8.9, CAL= 161.7, 9.4, ROT= 348.3, -9.4 2025-10-27T06:34:11.224Z,1761546851.224 [DAT](INFO): got valid direction response: 06:34:09.8416 LVL= 32752, 32753, 27746, 32755, AGC= 59, IDX= 511,-0.12,-2.446, 2.417,-1.891,-2.446, PHS= 0.102,-1.375, 0.512, RAW= 161.9, 8.9, CAL= 161.7, 9.4, ROT= 348.3, -9.4 2025-10-27T06:34:11.225Z,1761546851.225 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-27T06:34:11.226Z,1761546851.226 [DAT](INFO): direction in FSK: [0.966074,-0.200065,0.163326] 2025-10-27T06:34:11.226Z,1761546851.226 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:11.239Z,1761546851.239 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.124582 2025-10-27T06:34:11.440Z,1761546851.440 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.325290 2025-10-27T06:34:11.435Z,1761546851.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300172,0.937179,0.177744],[-0.953791,0.297496,0.042163],[-0.013364,-0.182187,0.983173]] 2025-10-27T06:34:11.567Z,1761546851.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.504921 s, deltaX: -0.299999 m, approachRate: -0.594151 m/s, rangeRepo size: 4 2025-10-27T06:34:11.577Z,1761546851.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.087784 m, bearing: 277.689799 deg, lat: 36.779498 deg, lon: -121.859838 deg, deltaT: 0.504921 s, deltaX: -0.298027 m, approachRate: -0.590245 m/s, posRepo size: 4 2025-10-27T06:34:11.577Z,1761546851.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.09 m. 2025-10-27T06:34:11.584Z,1761546851.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.087784 m, nav range: 31.455259 m, bearing: 277.710555 deg, approach rate: 0.000000 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.284866 deg, new cmd heading: 286.318041 deg. 2025-10-27T06:34:11.585Z,1761546851.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997192 target range: 32.087784 and range: 32.30 m. 2025-10-27T06:34:11.693Z,1761546851.693 [DAT](INFO): DAT read: Rx Time:06:34:10.3415 2025-10-27T06:34:11.693Z,1761546851.693 [DAT](INFO): Rx dataTimestamp_ set to:1761546851.693167 2025-10-27T06:34:11.695Z,1761546851.695 [DAT](INFO): DAT read: Bearing 102.6, -13.9 (Local) 2025-10-27T06:34:11.695Z,1761546851.695 [DAT](INFO): Local bearing/azimuth received: Bearing 102.6, -13.9 (Local) 2025-10-27T06:34:11.697Z,1761546851.697 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 2025-10-27T06:34:11.703Z,1761546851.703 [DAT](INFO): DAT read: 06:34:10.3415 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.10, 1.092,-0.346, 1.639, 1.117, PHS= 0.077,-1.418, 0.478, RAW= 161.6, 10.0, CAL= 161.5, 10.8, ROT= 348.5, -10.8 2025-10-27T06:34:11.705Z,1761546851.705 [DAT](INFO): got valid direction response: 06:34:10.3415 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.10, 1.092,-0.346, 1.639, 1.117, PHS= 0.077,-1.418, 0.478, RAW= 161.6, 10.0, CAL= 161.5, 10.8, ROT= 348.5, -10.8 2025-10-27T06:34:11.705Z,1761546851.705 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-27T06:34:11.707Z,1761546851.707 [DAT](INFO): direction in FSK: [0.962568,-0.195837,0.187381] 2025-10-27T06:34:11.707Z,1761546851.707 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:11.719Z,1761546851.719 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.604034 2025-10-27T06:34:11.944Z,1761546851.944 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.829272 2025-10-27T06:34:11.947Z,1761546851.947 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:34:11.966Z,1761546851.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298570,0.937767,0.177339],[-0.954315,0.295644,0.043335],[-0.011791,-0.182175,0.983195]] 2025-10-27T06:34:12.054Z,1761546852.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.503370 s, deltaX: -0.200001 m, approachRate: -0.397324 m/s, rangeRepo size: 4 2025-10-27T06:34:12.071Z,1761546852.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.889297 m, bearing: 278.051006 deg, lat: 36.779498 deg, lon: -121.859838 deg, deltaT: 0.503370 s, deltaX: -0.198486 m, approachRate: -0.394315 m/s, posRepo size: 4 2025-10-27T06:34:12.072Z,1761546852.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.89 m. 2025-10-27T06:34:12.079Z,1761546852.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.889297 m, nav range: 31.200907 m, bearing: 277.712626 deg, approach rate: 0.000000 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.318033 deg, new cmd heading: 286.350614 deg. 2025-10-27T06:34:12.091Z,1761546852.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997761 target range: 31.889297 and range: 32.10 m. 2025-10-27T06:34:12.198Z,1761546852.198 [DAT](INFO): DAT read: Rx Time:06:34:10.8412 2025-10-27T06:34:12.198Z,1761546852.198 [DAT](INFO): Rx dataTimestamp_ set to:1761546852.197998 2025-10-27T06:34:12.201Z,1761546852.201 [DAT](INFO): DAT read: Bearing 101.2, -14.1 (Local) 2025-10-27T06:34:12.201Z,1761546852.201 [DAT](INFO): Local bearing/azimuth received: Bearing 101.2, -14.1 (Local) 2025-10-27T06:34:12.204Z,1761546852.204 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.5 2025-10-27T06:34:12.211Z,1761546852.211 [DAT](INFO): DAT read: 06:34:10.8412 LVL= 32752, 32753, 30002, 32755, AGC= 59, IDX= 507, 0.40,-0.408,-1.840, 0.160,-0.401, PHS= 0.094,-1.395, 0.517, RAW= 162.1, 9.0, CAL= 161.9, 9.6, ROT= 348.1, -9.6 2025-10-27T06:34:12.213Z,1761546852.213 [DAT](INFO): got valid direction response: 06:34:10.8412 LVL= 32752, 32753, 30002, 32755, AGC= 59, IDX= 507, 0.40,-0.408,-1.840, 0.160,-0.401, PHS= 0.094,-1.395, 0.517, RAW= 162.1, 9.0, CAL= 161.9, 9.6, ROT= 348.1, -9.6 2025-10-27T06:34:12.213Z,1761546852.213 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T06:34:12.214Z,1761546852.214 [DAT](INFO): direction in FSK: [0.964806,-0.203316,0.166769] 2025-10-27T06:34:12.215Z,1761546852.215 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:12.248Z,1761546852.248 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.133582 2025-10-27T06:34:12.448Z,1761546852.448 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333320 2025-10-27T06:34:12.581Z,1761546852.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504831 s, deltaX: -0.399998 m, approachRate: -0.792340 m/s, rangeRepo size: 4 2025-10-27T06:34:12.588Z,1761546852.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.491926 m, bearing: 277.430305 deg, lat: 36.779497 deg, lon: -121.859839 deg, deltaT: 0.504831 s, deltaX: -0.397371 m, approachRate: -0.787137 m/s, posRepo size: 4 2025-10-27T06:34:12.588Z,1761546852.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.49 m. 2025-10-27T06:34:12.595Z,1761546852.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.491926 m, nav range: 30.925888 m, bearing: 277.506283 deg, approach rate: 0.000000 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.350627 deg, new cmd heading: 286.385884 deg. 2025-10-27T06:34:12.596Z,1761546852.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998377 target range: 31.491926 and range: 31.70 m. 2025-10-27T06:34:12.706Z,1761546852.706 [DAT](INFO): DAT read: Rx Time:06:34:11.3412 2025-10-27T06:34:12.707Z,1761546852.707 [DAT](INFO): Rx dataTimestamp_ set to:1761546852.705934 2025-10-27T06:34:12.712Z,1761546852.712 [DAT](INFO): DAT read: Bearing 101.3, -13.7 (Local) 2025-10-27T06:34:12.713Z,1761546852.713 [DAT](INFO): Local bearing/azimuth received: Bearing 101.3, -13.7 (Local) 2025-10-27T06:34:12.718Z,1761546852.718 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 2025-10-27T06:34:12.724Z,1761546852.724 [DAT](INFO): DAT read: 06:34:11.3412 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.33, 0.043,-1.371, 0.589, 0.046, PHS= 0.099,-1.372, 0.499, RAW= 161.7, 9.1, CAL= 161.5, 9.6, ROT= 348.5, -9.6 2025-10-27T06:34:12.726Z,1761546852.726 [DAT](INFO): got valid direction response: 06:34:11.3412 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.33, 0.043,-1.371, 0.589, 0.046, PHS= 0.099,-1.372, 0.499, RAW= 161.7, 9.1, CAL= 161.5, 9.6, ROT= 348.5, -9.6 2025-10-27T06:34:12.727Z,1761546852.727 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T06:34:12.752Z,1761546852.752 [DAT](INFO): direction in FSK: [0.966202,-0.196576,0.166769] 2025-10-27T06:34:12.752Z,1761546852.752 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:12.772Z,1761546852.772 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.657320 2025-10-27T06:34:12.927Z,1761546852.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296364,0.938692,0.176140],[-0.955018,0.293285,0.043877],[-0.010472,-0.181220,0.983387]] 2025-10-27T06:34:12.951Z,1761546852.951 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:34:12.958Z,1761546852.958 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.843133 2025-10-27T06:34:13.030Z,1761546853.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.507936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:13.037Z,1761546853.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.492058 m, bearing: 277.678761 deg, lat: 36.779498 deg, lon: -121.859839 deg, deltaT: 0.507936 s, deltaX: 0.000132 m, approachRate: 0.000259 m/s, posRepo size: 4 2025-10-27T06:34:13.038Z,1761546853.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.49 m. 2025-10-27T06:34:13.044Z,1761546853.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.492058 m, nav range: 30.775782 m, bearing: 277.674214 deg, approach rate: 0.000000 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.385898 deg, new cmd heading: 286.415348 deg. 2025-10-27T06:34:13.045Z,1761546853.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998891 target range: 31.492058 and range: 31.70 m. 2025-10-27T06:34:13.209Z,1761546853.209 [DAT](INFO): DAT read: Rx Time:06:34:11.8409 2025-10-27T06:34:13.209Z,1761546853.209 [DAT](INFO): Rx dataTimestamp_ set to:1761546853.208878 2025-10-27T06:34:13.210Z,1761546853.210 [DAT](INFO): DAT read: Bearing 100.6, -13.8 (Local) 2025-10-27T06:34:13.211Z,1761546853.211 [DAT](INFO): Local bearing/azimuth received: Bearing 100.6, -13.8 (Local) 2025-10-27T06:34:13.213Z,1761546853.213 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-27T06:34:13.218Z,1761546853.218 [DAT](INFO): DAT read: 06:34:11.8409 LVL= 32752, 32753, 28546, 32755, AGC= 59, IDX= 504,-0.13,-0.871,-2.288,-0.312,-0.876, PHS= 0.107,-1.367, 0.520, RAW= 162.0, 8.7, CAL= 161.7, 9.0, ROT= 348.3, -9.0 2025-10-27T06:34:13.219Z,1761546853.219 [DAT](INFO): got valid direction response: 06:34:11.8409 LVL= 32752, 32753, 28546, 32755, AGC= 59, IDX= 504,-0.13,-0.871,-2.288,-0.312,-0.876, PHS= 0.107,-1.367, 0.520, RAW= 162.0, 8.7, CAL= 161.7, 9.0, ROT= 348.3, -9.0 2025-10-27T06:34:13.219Z,1761546853.219 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T06:34:13.220Z,1761546853.220 [DAT](INFO): direction in FSK: [0.967167,-0.200291,0.156434] 2025-10-27T06:34:13.220Z,1761546853.220 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:13.232Z,1761546853.232 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.117449 2025-10-27T06:34:13.433Z,1761546853.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.502944 s, deltaX: -0.500000 m, approachRate: -0.994146 m/s, rangeRepo size: 4 2025-10-27T06:34:13.435Z,1761546853.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.995337 m, bearing: 277.369716 deg, lat: 36.779498 deg, lon: -121.859839 deg, deltaT: 0.502944 s, deltaX: -0.496721 m, approachRate: -0.987627 m/s, posRepo size: 4 2025-10-27T06:34:13.436Z,1761546853.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.00 m. 2025-10-27T06:34:13.439Z,1761546853.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.995337 m, nav range: 30.509270 m, bearing: 277.657838 deg, approach rate: 0.000000 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.415349 deg, new cmd heading: 286.442840 deg. 2025-10-27T06:34:13.440Z,1761546853.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999371 target range: 30.995337 and range: 31.20 m. 2025-10-27T06:34:13.461Z,1761546853.461 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.346408 2025-10-27T06:34:13.713Z,1761546853.713 [DAT](INFO): DAT read: Rx Time:06:34:12.3407 2025-10-27T06:34:13.714Z,1761546853.714 [DAT](INFO): Rx dataTimestamp_ set to:1761546853.713666 2025-10-27T06:34:13.716Z,1761546853.716 [DAT](INFO): DAT read: Bearing 105.0, -11.6 (Local) 2025-10-27T06:34:13.716Z,1761546853.716 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -11.6 (Local) 2025-10-27T06:34:13.720Z,1761546853.720 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 2025-10-27T06:34:13.726Z,1761546853.726 [DAT](INFO): DAT read: 06:34:12.3407 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.13, 1.433, 0.020, 1.860, 1.452, PHS= 0.082,-1.387, 0.363, RAW= 158.6, 11.6, CAL= 158.8, 12.9, ROT= 351.2, -12.9 2025-10-27T06:34:13.733Z,1761546853.733 [DAT](INFO): got valid direction response: 06:34:12.3407 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 502,-0.13, 1.433, 0.020, 1.860, 1.452, PHS= 0.082,-1.387, 0.363, RAW= 158.6, 11.6, CAL= 158.8, 12.9, ROT= 351.2, -12.9 2025-10-27T06:34:13.733Z,1761546853.733 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-27T06:34:13.735Z,1761546853.735 [DAT](INFO): direction in FSK: [0.963287,-0.149124,0.223250] 2025-10-27T06:34:13.735Z,1761546853.735 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:13.760Z,1761546853.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294390,0.939710,0.174013],[-0.955639,0.291253,0.043887],[-0.009441,-0.179214,0.983765]] 2025-10-27T06:34:13.768Z,1761546853.768 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.653245 2025-10-27T06:34:13.835Z,1761546853.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.504788 s, deltaX: -0.100000 m, approachRate: -0.198104 m/s, rangeRepo size: 4 2025-10-27T06:34:13.837Z,1761546853.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.895992 m, bearing: 280.815944 deg, lat: 36.779498 deg, lon: -121.859839 deg, deltaT: 0.504788 s, deltaX: -0.099344 m, approachRate: -0.196804 m/s, posRepo size: 4 2025-10-27T06:34:13.838Z,1761546853.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m. 2025-10-27T06:34:13.845Z,1761546853.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.895992 m, nav range: 30.263363 m, bearing: 277.697489 deg, approach rate: 0.000000 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.442834 deg, new cmd heading: 286.468640 deg. 2025-10-27T06:34:13.846Z,1761546853.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999821 target range: 30.895992 and range: 31.10 m. 2025-10-27T06:34:13.965Z,1761546853.965 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.850599 2025-10-27T06:34:14.217Z,1761546854.217 [DAT](INFO): DAT read: Rx Time:06:34:12.8404 2025-10-27T06:34:14.217Z,1761546854.217 [DAT](INFO): Rx dataTimestamp_ set to:1761546854.216762 2025-10-27T06:34:14.218Z,1761546854.218 [DAT](INFO): DAT read: Bearing 98.8, -13.9 (Local) 2025-10-27T06:34:14.219Z,1761546854.219 [DAT](INFO): Local bearing/azimuth received: Bearing 98.8, -13.9 (Local) 2025-10-27T06:34:14.221Z,1761546854.221 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 2025-10-27T06:34:14.225Z,1761546854.225 [DAT](INFO): DAT read: 06:34:12.8404 LVL= 31392, 32753, 26802, 32755, AGC= 62, IDX= 499, 0.03, 0.756,-0.686, 1.344, 0.719, PHS= 0.138,-1.361, 0.580, RAW= 162.6, 7.3, CAL= 162.0, 7.3, ROT= 348.0, -7.3 2025-10-27T06:34:14.227Z,1761546854.227 [DAT](INFO): got valid direction response: 06:34:12.8404 LVL= 31392, 32753, 26802, 32755, AGC= 62, IDX= 499, 0.03, 0.756,-0.686, 1.344, 0.719, PHS= 0.138,-1.361, 0.580, RAW= 162.6, 7.3, CAL= 162.0, 7.3, ROT= 348.0, -7.3 2025-10-27T06:34:14.227Z,1761546854.227 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-27T06:34:14.228Z,1761546854.228 [DAT](INFO): direction in FSK: [0.970219,-0.206227,0.127065] 2025-10-27T06:34:14.228Z,1761546854.228 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:14.232Z,1761546854.232 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.117656 2025-10-27T06:34:14.341Z,1761546854.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.503096 s, deltaX: -0.500000 m, approachRate: -0.993846 m/s, rangeRepo size: 4 2025-10-27T06:34:14.343Z,1761546854.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.399342 m, bearing: 276.620595 deg, lat: 36.779496 deg, lon: -121.859839 deg, deltaT: 0.503096 s, deltaX: -0.496651 m, approachRate: -0.987189 m/s, posRepo size: 4 2025-10-27T06:34:14.348Z,1761546854.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.40 m. 2025-10-27T06:34:14.355Z,1761546854.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.399342 m, nav range: 30.018476 m, bearing: 277.357765 deg, approach rate: 0.000000 m/s, LOS rate: 0.022284 deg/s, cmd heading: 286.468652 deg, new cmd heading: 286.503525 deg. 2025-10-27T06:34:14.356Z,1761546854.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.000430 target range: 30.399342 and range: 30.60 m. 2025-10-27T06:34:14.468Z,1761546854.468 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.353669 2025-10-27T06:34:14.652Z,1761546854.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294110,0.940064,0.172566],[-0.955722,0.291107,0.043045],[-0.009770,-0.177585,0.984057]] 2025-10-27T06:34:14.669Z,1761546854.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:14.671Z,1761546854.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.40 m. 2025-10-27T06:34:14.674Z,1761546854.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.399342 m, nav range: 29.811405 m, bearing: 277.345518 deg, approach rate: -0.625312 m/s, LOS rate: -0.037239 deg/s, cmd heading: 286.503514 deg, new cmd heading: 286.466518 deg. 2025-10-27T06:34:14.675Z,1761546854.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.999784 target range: 30.399342 and range: 30.60 m. 2025-10-27T06:34:14.722Z,1761546854.722 [DAT](INFO): DAT read: Rx Time:06:34:13.3403 2025-10-27T06:34:14.723Z,1761546854.723 [DAT](INFO): Rx dataTimestamp_ set to:1761546854.722276 2025-10-27T06:34:14.725Z,1761546854.725 [DAT](INFO): DAT read: Bearing 104.3, -13.1 (Local) 2025-10-27T06:34:14.725Z,1761546854.725 [DAT](INFO): Local bearing/azimuth received: Bearing 104.3, -13.1 (Local) 2025-10-27T06:34:14.730Z,1761546854.730 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-27T06:34:14.737Z,1761546854.737 [DAT](INFO): DAT read: 06:34:13.3403 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.03,-2.094, 2.781,-1.603,-2.054, PHS= 0.062,-1.403, 0.407, RAW= 160.3, 11.2, CAL= 160.5, 12.5, ROT= 349.5, -12.5 2025-10-27T06:34:14.747Z,1761546854.747 [DAT](INFO): got valid direction response: 06:34:13.3403 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 498, 0.03,-2.094, 2.781,-1.603,-2.054, PHS= 0.062,-1.403, 0.407, RAW= 160.3, 11.2, CAL= 160.5, 12.5, ROT= 349.5, -12.5 2025-10-27T06:34:14.747Z,1761546854.747 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-27T06:34:14.748Z,1761546854.748 [DAT](INFO): direction in FSK: [0.959948,-0.177916,0.216440] 2025-10-27T06:34:14.749Z,1761546854.749 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:14.752Z,1761546854.752 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.637633 2025-10-27T06:34:14.974Z,1761546854.974 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.858481 2025-10-27T06:34:15.079Z,1761546855.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294193,0.940159,0.171907],[-0.955693,0.291263,0.042610],[-0.010011,-0.176826,0.984191]] 2025-10-27T06:34:15.102Z,1761546855.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.505514 s, deltaX: -0.100000 m, approachRate: -0.197819 m/s, rangeRepo size: 4 2025-10-27T06:34:15.104Z,1761546855.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.299608 m, bearing: 279.017310 deg, lat: 36.779498 deg, lon: -121.859839 deg, deltaT: 0.505514 s, deltaX: -0.099733 m, approachRate: -0.197291 m/s, posRepo size: 4 2025-10-27T06:34:15.105Z,1761546855.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m. 2025-10-27T06:34:15.108Z,1761546855.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.299608 m, nav range: 29.599495 m, bearing: 277.650518 deg, approach rate: 0.000000 m/s, LOS rate: -0.037239 deg/s, cmd heading: 286.466521 deg, new cmd heading: 286.418443 deg. 2025-10-27T06:34:15.109Z,1761546855.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.998945 target range: 30.299608 and range: 30.50 m. 2025-10-27T06:34:15.226Z,1761546855.226 [DAT](INFO): DAT read: Rx Time:06:34:13.8400 2025-10-27T06:34:15.226Z,1761546855.226 [DAT](INFO): Rx dataTimestamp_ set to:1761546855.225860 2025-10-27T06:34:15.228Z,1761546855.228 [DAT](INFO): DAT read: Bearing 100.0, -14.2 (Local) 2025-10-27T06:34:15.229Z,1761546855.229 [DAT](INFO): Local bearing/azimuth received: Bearing 100.0, -14.2 (Local) 2025-10-27T06:34:15.232Z,1761546855.232 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T06:34:15.238Z,1761546855.238 [DAT](INFO): DAT read: 06:34:13.8400 LVL= 32752, 32753, 28002, 32755, AGC= 62, IDX= 495, 0.28, 2.513, 1.087, 3.098, 2.505, PHS= 0.110,-1.373, 0.549, RAW= 162.6, 8.2, CAL= 162.2, 8.5, ROT= 347.8, -8.5 2025-10-27T06:34:15.240Z,1761546855.240 [DAT](INFO): got valid direction response: 06:34:13.8400 LVL= 32752, 32753, 28002, 32755, AGC= 62, IDX= 495, 0.28, 2.513, 1.087, 3.098, 2.505, PHS= 0.110,-1.373, 0.549, RAW= 162.6, 8.2, CAL= 162.2, 8.5, ROT= 347.8, -8.5 2025-10-27T06:34:15.241Z,1761546855.241 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T06:34:15.242Z,1761546855.242 [DAT](INFO): direction in FSK: [0.966680,-0.209004,0.147809] 2025-10-27T06:34:15.243Z,1761546855.243 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:15.268Z,1761546855.268 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.153180 2025-10-27T06:34:15.480Z,1761546855.480 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.364152 2025-10-27T06:34:15.546Z,1761546855.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294318,0.940242,0.171239],[-0.955650,0.291498,0.041969],[-0.010454,-0.175997,0.984335]] 2025-10-27T06:34:15.612Z,1761546855.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.503584 s, deltaX: -0.500000 m, approachRate: -0.992883 m/s, rangeRepo size: 4 2025-10-27T06:34:15.614Z,1761546855.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.802893 m, bearing: 276.605108 deg, lat: 36.779496 deg, lon: -121.859839 deg, deltaT: 0.503584 s, deltaX: -0.496716 m, approachRate: -0.986361 m/s, posRepo size: 4 2025-10-27T06:34:15.619Z,1761546855.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m. 2025-10-27T06:34:15.622Z,1761546855.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.802893 m, nav range: 29.309158 m, bearing: 277.288084 deg, approach rate: 0.000000 m/s, LOS rate: -0.037239 deg/s, cmd heading: 286.418437 deg, new cmd heading: 286.361426 deg. 2025-10-27T06:34:15.627Z,1761546855.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997950 target range: 29.802893 and range: 30.00 m. 2025-10-27T06:34:15.730Z,1761546855.730 [DAT](INFO): DAT read: Rx Time:06:34:14.3400 2025-10-27T06:34:15.731Z,1761546855.731 [DAT](INFO): Rx dataTimestamp_ set to:1761546855.730270 2025-10-27T06:34:15.733Z,1761546855.733 [DAT](INFO): DAT read: Bearing 103.5, -14.6 (Local) 2025-10-27T06:34:15.734Z,1761546855.734 [DAT](INFO): Local bearing/azimuth received: Bearing 103.5, -14.6 (Local) 2025-10-27T06:34:15.737Z,1761546855.737 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-27T06:34:15.744Z,1761546855.744 [DAT](INFO): DAT read: 06:34:14.3400 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511,-0.47, 3.009, 1.610,-2.716, 3.065, PHS= 0.045,-1.411, 0.457, RAW= 162.1, 10.7, CAL= 162.2, 11.8, ROT= 347.8, -11.8 2025-10-27T06:34:15.745Z,1761546855.745 [DAT](INFO): got valid direction response: 06:34:14.3400 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511,-0.47, 3.009, 1.610,-2.716, 3.065, PHS= 0.045,-1.411, 0.457, RAW= 162.1, 10.7, CAL= 162.2, 11.8, ROT= 347.8, -11.8 2025-10-27T06:34:15.745Z,1761546855.745 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-27T06:34:15.746Z,1761546855.746 [DAT](INFO): direction in FSK: [0.956760,-0.206859,0.204496] 2025-10-27T06:34:15.747Z,1761546855.747 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:15.765Z,1761546855.765 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.649965 2025-10-27T06:34:15.944Z,1761546855.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294629,0.940309,0.170332],[-0.955552,0.291891,0.041479],[-0.010715,-0.174982,0.984513]] 2025-10-27T06:34:15.982Z,1761546855.982 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.867052 2025-10-27T06:34:16.048Z,1761546856.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.504410 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:16.050Z,1761546856.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.802485 m, bearing: 277.209299 deg, lat: 36.779496 deg, lon: -121.859839 deg, deltaT: 0.504410 s, deltaX: -0.000408 m, approachRate: -0.000809 m/s, posRepo size: 4 2025-10-27T06:34:16.050Z,1761546856.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.80 m. 2025-10-27T06:34:16.065Z,1761546856.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.802485 m, nav range: 29.022575 m, bearing: 277.209398 deg, approach rate: 0.000000 m/s, LOS rate: -0.037239 deg/s, cmd heading: 286.361418 deg, new cmd heading: 286.312802 deg. 2025-10-27T06:34:16.066Z,1761546856.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.997101 target range: 29.802485 and range: 30.00 m. 2025-10-27T06:34:16.233Z,1761546856.233 [DAT](INFO): DAT read: Rx Time:06:34:14.8397 2025-10-27T06:34:16.233Z,1761546856.233 [DAT](INFO): Rx dataTimestamp_ set to:1761546856.232860 2025-10-27T06:34:16.234Z,1761546856.234 [DAT](INFO): DAT read: Bearing 101.0, -14.5 (Local) 2025-10-27T06:34:16.235Z,1761546856.235 [DAT](INFO): Local bearing/azimuth received: Bearing 101.0, -14.5 (Local) 2025-10-27T06:34:16.237Z,1761546856.237 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 2025-10-27T06:34:16.242Z,1761546856.242 [DAT](INFO): DAT read: 06:34:14.8397 LVL= 32752, 32753, 30930, 32755, AGC= 63, IDX= 508,-0.08, 0.884,-0.521, 1.465, 0.898, PHS= 0.088,-1.375, 0.523, RAW= 162.6, 8.9, CAL= 162.4, 9.4, ROT= 347.6, -9.4 2025-10-27T06:34:16.243Z,1761546856.243 [DAT](INFO): got valid direction response: 06:34:14.8397 LVL= 32752, 32753, 30930, 32755, AGC= 63, IDX= 508,-0.08, 0.884,-0.521, 1.465, 0.898, PHS= 0.088,-1.375, 0.523, RAW= 162.6, 8.9, CAL= 162.4, 9.4, ROT= 347.6, -9.4 2025-10-27T06:34:16.243Z,1761546856.243 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-27T06:34:16.244Z,1761546856.244 [DAT](INFO): direction in FSK: [0.963558,-0.211852,0.163326] 2025-10-27T06:34:16.244Z,1761546856.244 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:16.252Z,1761546856.252 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.137651 2025-10-27T06:34:16.387Z,1761546856.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295140,0.940200,0.170048],[-0.955391,0.292460,0.041183],[-0.011012,-0.174617,0.984575]] 2025-10-27T06:34:16.487Z,1761546856.487 [DAT](INFO): DAT read: Rx Time:06:34:15.3396 2025-10-27T06:34:16.489Z,1761546856.489 [DAT](INFO): Rx dataTimestamp_ set to:1761546856.487883 2025-10-27T06:34:16.491Z,1761546856.491 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.375807 2025-10-27T06:34:16.532Z,1761546856.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.502590 s, deltaX: -0.400000 m, approachRate: -0.795877 m/s, rangeRepo size: 4 2025-10-27T06:34:16.540Z,1761546856.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.405119 m, bearing: 276.604041 deg, lat: 36.779493 deg, lon: -121.859840 deg, deltaT: 0.502590 s, deltaX: -0.397366 m, approachRate: -0.790636 m/s, posRepo size: 4 2025-10-27T06:34:16.541Z,1761546856.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.41 m. 2025-10-27T06:34:16.548Z,1761546856.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.405119 m, nav range: 28.881620 m, bearing: 276.604995 deg, approach rate: 0.000000 m/s, LOS rate: -0.037239 deg/s, cmd heading: 286.312815 deg, new cmd heading: 286.259536 deg. 2025-10-27T06:34:16.549Z,1761546856.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.996171 target range: 29.405119 and range: 29.60 m. 2025-10-27T06:34:16.740Z,1761546856.740 [DAT](INFO): DAT read: Bearing 104.0, -14.5 (Local) 2025-10-27T06:34:16.741Z,1761546856.741 [DAT](INFO): Local bearing/azimuth received: Bearing 104.0, -14.5 (Local) 2025-10-27T06:34:16.743Z,1761546856.743 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.4 2025-10-27T06:34:16.753Z,1761546856.753 [DAT](INFO): DAT read: 06:34:15.3396 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507, 0.23,-3.108, 1.765,-2.555,-3.047, PHS= 0.041,-1.427, 0.447, RAW= 161.9, 11.0, CAL= 162.0, 12.2, ROT= 348.0, -12.2 2025-10-27T06:34:16.754Z,1761546856.754 [DAT](INFO): got valid direction response: 06:34:15.3396 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 507, 0.23,-3.108, 1.765,-2.555,-3.047, PHS= 0.041,-1.427, 0.447, RAW= 161.9, 11.0, CAL= 162.0, 12.2, ROT= 348.0, -12.2 2025-10-27T06:34:16.754Z,1761546856.754 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-27T06:34:16.761Z,1761546856.761 [DAT](INFO): direction in FSK: [0.956057,-0.203216,0.211325] 2025-10-27T06:34:16.761Z,1761546856.761 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:16.768Z,1761546856.768 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.653739 2025-10-27T06:34:16.859Z,1761546856.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295622,0.939967,0.170498],[-0.955240,0.292937,0.041282],[-0.011142,-0.175070,0.984493]] 2025-10-27T06:34:16.904Z,1761546856.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.506191 s, deltaX: -0.200001 m, approachRate: -0.395109 m/s, rangeRepo size: 4 2025-10-27T06:34:16.906Z,1761546856.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.206846 m, bearing: 277.542224 deg, lat: 36.779496 deg, lon: -121.859839 deg, deltaT: 0.506191 s, deltaX: -0.198273 m, approachRate: -0.391695 m/s, posRepo size: 4 2025-10-27T06:34:16.906Z,1761546856.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.21 m. 2025-10-27T06:34:16.913Z,1761546856.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.206846 m, nav range: 28.581108 m, bearing: 277.177867 deg, approach rate: 0.000000 m/s, LOS rate: -0.037239 deg/s, cmd heading: 286.259539 deg, new cmd heading: 286.217647 deg. 2025-10-27T06:34:16.914Z,1761546856.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995440 target range: 29.206846 and range: 29.40 m. 2025-10-27T06:34:16.992Z,1761546856.992 [DAT](INFO): DAT read: Rx Time:06:34:15.8394 2025-10-27T06:34:16.993Z,1761546856.993 [DAT](INFO): Rx dataTimestamp_ set to:1761546856.992399 2025-10-27T06:34:16.996Z,1761546856.996 [DAT](INFO): DAT read: Bearing 99.4, -14.3 (Local) 2025-10-27T06:34:16.998Z,1761546856.998 [DAT](INFO): Local bearing/azimuth received: Bearing 99.4, -14.3 (Local) 2025-10-27T06:34:16.000Z,1761546857.000 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.884809 2025-10-27T06:34:17.242Z,1761546857.242 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 2025-10-27T06:34:17.246Z,1761546857.246 [DAT](INFO): DAT read: 06:34:15.8394 LVL= 32752, 32753, 27410, 32755, AGC= 60, IDX= 505,-0.10,-1.916, 2.956,-1.322,-1.932, PHS= 0.118,-1.350, 0.566, RAW= 162.9, 7.7, CAL= 162.5, 7.8, ROT= 347.5, -7.8 2025-10-27T06:34:17.248Z,1761546857.248 [DAT](INFO): got valid direction response: 06:34:15.8394 LVL= 32752, 32753, 27410, 32755, AGC= 60, IDX= 505,-0.10,-1.916, 2.956,-1.322,-1.932, PHS= 0.118,-1.350, 0.566, RAW= 162.9, 7.7, CAL= 162.5, 7.8, ROT= 347.5, -7.8 2025-10-27T06:34:17.248Z,1761546857.248 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-27T06:34:17.249Z,1761546857.249 [DAT](INFO): direction in FSK: [0.967263,-0.214437,0.135716] 2025-10-27T06:34:17.249Z,1761546857.249 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:17.253Z,1761546857.253 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.138182 2025-10-27T06:34:17.310Z,1761546857.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296220,0.939879,0.169944],[-0.955052,0.293594,0.040972],[-0.011386,-0.174442,0.984602]] 2025-10-27T06:34:17.378Z,1761546857.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.500541 s, deltaX: -0.299999 m, approachRate: -0.599350 m/s, rangeRepo size: 4 2025-10-27T06:34:17.381Z,1761546857.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.908819 m, bearing: 276.283760 deg, lat: 36.779493 deg, lon: -121.859840 deg, deltaT: 0.500541 s, deltaX: -0.298027 m, approachRate: -0.595410 m/s, posRepo size: 4 2025-10-27T06:34:17.381Z,1761546857.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m. 2025-10-27T06:34:17.384Z,1761546857.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.908819 m, nav range: 28.423359 m, bearing: 276.572243 deg, approach rate: 0.000000 m/s, LOS rate: -0.037239 deg/s, cmd heading: 286.217656 deg, new cmd heading: 286.164162 deg. 2025-10-27T06:34:17.385Z,1761546857.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994507 target range: 28.908819 and range: 29.10 m. 2025-10-27T06:34:17.496Z,1761546857.496 [DAT](INFO): DAT read: Rx Time:06:34:16.3392 2025-10-27T06:34:17.497Z,1761546857.497 [DAT](INFO): Rx dataTimestamp_ set to:1761546857.496237 2025-10-27T06:34:17.502Z,1761546857.502 [DAT](INFO): DAT read: Bearing 101.0, -14.5 (Local) 2025-10-27T06:34:17.503Z,1761546857.503 [DAT](INFO): Local bearing/azimuth received: Bearing 101.0, -14.5 (Local) 2025-10-27T06:34:17.508Z,1761546857.508 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 2025-10-27T06:34:17.510Z,1761546857.510 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-27T06:34:17.514Z,1761546857.514 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.398601 2025-10-27T06:34:17.690Z,1761546857.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297249,0.939656,0.169378],[-0.954727,0.294709,0.040539],[-0.011825,-0.173760,0.984717]] 2025-10-27T06:34:17.716Z,1761546857.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:17.729Z,1761546857.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.256645 s, deltaX: -0.300001 m, approachRate: -1.168934 m/s, rangeRepo size: 4 2025-10-27T06:34:17.729Z,1761546857.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.91 m. 2025-10-27T06:34:17.738Z,1761546857.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.908819 m, nav range: 28.253679 m, bearing: 276.563649 deg, approach rate: -0.497483 m/s, LOS rate: -0.025347 deg/s, cmd heading: 286.164162 deg, new cmd heading: 286.138226 deg. 2025-10-27T06:34:17.748Z,1761546857.748 [DAT](INFO): DAT read: 06:34:16.3392 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503, 0.39,-1.756, 3.106,-1.168,-1.745, PHS= 0.090,-1.387, 0.532, RAW= 162.7, 8.8, CAL= 162.4, 9.3, ROT= 347.6, -9.3 2025-10-27T06:34:17.749Z,1761546857.749 [DAT](INFO): got valid direction response: 06:34:16.3392 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503, 0.39,-1.756, 3.106,-1.168,-1.745, PHS= 0.090,-1.387, 0.532, RAW= 162.7, 8.8, CAL= 162.4, 9.3, ROT= 347.6, -9.3 2025-10-27T06:34:17.749Z,1761546857.749 [DAT](INFO): #Rx 28: Read direction message, but no range. 2025-10-27T06:34:17.750Z,1761546857.750 [DAT](INFO): direction in FSK: [0.963835,-0.211913,0.161604] 2025-10-27T06:34:17.754Z,1761546857.754 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.639223 2025-10-27T06:34:17.759Z,1761546857.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994054 target range: 28.908819 and range: 28.80 m. 2025-10-27T06:34:17.999Z,1761546857.999 [DAT](INFO): DAT read: Rx Time:06:34:16.8390 2025-10-27T06:34:18.001Z,1761546858.001 [DAT](INFO): Rx dataTimestamp_ set to:1761546858.000057 2025-10-27T06:34:18.006Z,1761546858.006 [DAT](INFO): DAT read: Bearing 100.7, -14.9 (Local) 2025-10-27T06:34:18.007Z,1761546858.007 [DAT](INFO): Local bearing/azimuth received: Bearing 100.7, -14.9 (Local) 2025-10-27T06:34:18.021Z,1761546858.021 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T06:34:18.028Z,1761546858.028 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T06:34:18.036Z,1761546858.036 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.916025 2025-10-27T06:34:18.098Z,1761546858.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298713,0.939017,0.170346],[-0.954264,0.296190,0.040643],[-0.012290,-0.174696,0.984546]] 2025-10-27T06:34:18.151Z,1761546858.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.503820 s, deltaX: -0.299999 m, approachRate: -0.595449 m/s, rangeRepo size: 4 2025-10-27T06:34:18.159Z,1761546858.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.313154 m, bearing: 276.804240 deg, lat: 36.779494 deg, lon: -121.859839 deg, deltaT: 0.760465 s, deltaX: -0.595665 m, approachRate: -0.783290 m/s, posRepo size: 4 2025-10-27T06:34:18.160Z,1761546858.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.31 m. 2025-10-27T06:34:18.163Z,1761546858.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.313154 m, nav range: 27.936121 m, bearing: 276.777937 deg, approach rate: 0.000000 m/s, LOS rate: -0.025347 deg/s, cmd heading: 286.138235 deg, new cmd heading: 286.105717 deg. 2025-10-27T06:34:18.168Z,1761546858.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993487 target range: 28.313154 and range: 28.50 m. 2025-10-27T06:34:18.252Z,1761546858.252 [DAT](INFO): DAT read: 06:34:16.8390 LVL= 32752, 32753, 28194, 32755, AGC= 58, IDX= 501,-0.02, 1.948, 0.533, 2.553, 1.962, PHS= 0.088,-1.383, 0.548, RAW= 163.2, 8.6, CAL= 162.9, 9.0, ROT= 347.1, -9.0 2025-10-27T06:34:18.253Z,1761546858.253 [DAT](INFO): got valid direction response: 06:34:16.8390 LVL= 32752, 32753, 28194, 32755, AGC= 58, IDX= 501,-0.02, 1.948, 0.533, 2.553, 1.962, PHS= 0.088,-1.383, 0.548, RAW= 163.2, 8.6, CAL= 162.9, 9.0, ROT= 347.1, -9.0 2025-10-27T06:34:18.253Z,1761546858.253 [DAT](INFO): #Rx 30: Read direction message, but no range. 2025-10-27T06:34:18.254Z,1761546858.254 [DAT](INFO): direction in FSK: [0.962760,-0.220502,0.156434] 2025-10-27T06:34:18.258Z,1761546858.258 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.142908 2025-10-27T06:34:18.506Z,1761546858.506 [DAT](INFO): DAT read: Rx Time:06:34:17.3390 2025-10-27T06:34:18.512Z,1761546858.512 [DAT](INFO): Rx dataTimestamp_ set to:1761546858.510838 2025-10-27T06:34:18.517Z,1761546858.517 [DAT](INFO): DAT read: Bearing 99.4, -14.5 (Local) 2025-10-27T06:34:18.523Z,1761546858.523 [DAT](INFO): Local bearing/azimuth received: Bearing 99.4, -14.5 (Local) 2025-10-27T06:34:18.560Z,1761546858.560 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4 2025-10-27T06:34:18.573Z,1761546858.573 [DAT](INFO): DAT read: 06:34:17.3390 LVL= 32752, 32753, 30226, 32755, AGC= 62, IDX= 502,-0.39,-3.042, 1.810,-2.432,-3.061, PHS= 0.120,-1.368, 0.584, RAW= 163.2, 7.6, CAL= 162.7, 7.6, ROT= 347.3, -7.6 2025-10-27T06:34:18.574Z,1761546858.574 [DAT](INFO): got valid direction response: 06:34:17.3390 LVL= 32752, 32753, 30226, 32755, AGC= 62, IDX= 502,-0.39,-3.042, 1.810,-2.432,-3.061, PHS= 0.120,-1.368, 0.584, RAW= 163.2, 7.6, CAL= 162.7, 7.6, ROT= 347.3, -7.6 2025-10-27T06:34:18.574Z,1761546858.574 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-27T06:34:18.584Z,1761546858.584 [DAT](INFO): direction in FSK: [0.966965,-0.217915,0.132256] 2025-10-27T06:34:18.584Z,1761546858.584 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:18.592Z,1761546858.592 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.476879 2025-10-27T06:34:18.609Z,1761546858.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300114,0.938568,0.170359],[-0.953816,0.297686,0.040234],[-0.012951,-0.174566,0.984560]] 2025-10-27T06:34:18.725Z,1761546858.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.510781 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:18.733Z,1761546858.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.313154 m, bearing: 276.288715 deg, lat: 36.779493 deg, lon: -121.859840 deg, deltaT: 0.510781 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:34:18.734Z,1761546858.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.31 m. 2025-10-27T06:34:18.741Z,1761546858.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.313154 m, nav range: 27.771936 m, bearing: 276.557085 deg, approach rate: 0.000000 m/s, LOS rate: -0.025347 deg/s, cmd heading: 286.105723 deg, new cmd heading: 286.062192 deg. 2025-10-27T06:34:18.742Z,1761546858.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.992727 target range: 28.313154 and range: 28.50 m. 2025-10-27T06:34:18.752Z,1761546858.752 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.637300 2025-10-27T06:34:19.011Z,1761546859.011 [DAT](INFO): DAT read: Rx Time:06:34:17.8388 2025-10-27T06:34:19.013Z,1761546859.013 [DAT](INFO): Rx dataTimestamp_ set to:1761546859.012027 2025-10-27T06:34:19.016Z,1761546859.016 [DAT](INFO): DAT read: Bearing 100.3, -15.2 (Local) 2025-10-27T06:34:19.017Z,1761546859.017 [DAT](INFO): Local bearing/azimuth received: Bearing 100.3, -15.2 (Local) 2025-10-27T06:34:19.035Z,1761546859.035 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 2025-10-27T06:34:19.036Z,1761546859.036 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-27T06:34:19.037Z,1761546859.037 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.921961 2025-10-27T06:34:19.112Z,1761546859.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301807,0.938145,0.169698],[-0.953271,0.299511,0.039593],[-0.013682,-0.173717,0.984701]] 2025-10-27T06:34:19.158Z,1761546859.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.501189 s, deltaX: -0.299999 m, approachRate: -0.598575 m/s, rangeRepo size: 4 2025-10-27T06:34:19.158Z,1761546859.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.31 m. 2025-10-27T06:34:19.181Z,1761546859.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.313154 m, nav range: 27.549465 m, bearing: 276.560247 deg, approach rate: -0.507662 m/s, LOS rate: 0.007273 deg/s, cmd heading: 286.062201 deg, new cmd heading: 286.071763 deg. 2025-10-27T06:34:19.182Z,1761546859.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.992894 target range: 28.313154 and range: 28.20 m. 2025-10-27T06:34:19.269Z,1761546859.269 [DAT](INFO): DAT read: 06:34:17.8388 LVL= 32752, 32753, 27634, 32755, AGC= 59, IDX= 499, 0.00,-2.234, 2.630,-1.607,-2.224, PHS= 0.092,-1.385, 0.573, RAW= 163.6, 8.2, CAL= 163.3, 8.4, ROT= 346.7, -8.4 2025-10-27T06:34:19.270Z,1761546859.270 [DAT](INFO): got valid direction response: 06:34:17.8388 LVL= 32752, 32753, 27634, 32755, AGC= 59, IDX= 499, 0.00,-2.234, 2.630,-1.607,-2.224, PHS= 0.092,-1.385, 0.573, RAW= 163.6, 8.2, CAL= 163.3, 8.4, ROT= 346.7, -8.4 2025-10-27T06:34:19.270Z,1761546859.270 [DAT](INFO): #Rx 33: Read direction message, but no range. 2025-10-27T06:34:19.283Z,1761546859.283 [DAT](INFO): direction in FSK: [0.962739,-0.227582,0.146083] 2025-10-27T06:34:19.286Z,1761546859.286 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.171606 2025-10-27T06:34:19.512Z,1761546859.512 [DAT](INFO): DAT read: Rx Time:06:34:18.3386 2025-10-27T06:34:19.513Z,1761546859.513 [DAT](INFO): Rx dataTimestamp_ set to:1761546859.512244 2025-10-27T06:34:19.518Z,1761546859.518 [DAT](INFO): DAT read: Bearing 100.7, -15.4 (Local) 2025-10-27T06:34:19.519Z,1761546859.519 [DAT](INFO): Local bearing/azimuth received: Bearing 100.7, -15.4 (Local) 2025-10-27T06:34:19.540Z,1761546859.540 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4 2025-10-27T06:34:19.569Z,1761546859.569 [DAT](INFO): DAT read: 06:34:18.3386 LVL= 32752, 32753, 27442, 32755, AGC= 59, IDX= 497, 0.40,-0.203,-1.620, 0.426,-0.185, PHS= 0.084,-1.390, 0.568, RAW= 163.7, 8.4, CAL= 163.4, 8.7, ROT= 346.6, -8.7 2025-10-27T06:34:19.570Z,1761546859.570 [DAT](INFO): got valid direction response: 06:34:18.3386 LVL= 32752, 32753, 27442, 32755, AGC= 59, IDX= 497, 0.40,-0.203,-1.620, 0.426,-0.185, PHS= 0.084,-1.390, 0.568, RAW= 163.7, 8.4, CAL= 163.4, 8.7, ROT= 346.6, -8.7 2025-10-27T06:34:19.577Z,1761546859.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304928,0.937305,0.168756],[-0.952254,0.302890,0.038331],[-0.015187,-0.172387,0.984912]] 2025-10-27T06:34:19.579Z,1761546859.579 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-27T06:34:19.580Z,1761546859.580 [DAT](INFO): direction in FSK: [0.961583,-0.229081,0.151261] 2025-10-27T06:34:19.581Z,1761546859.581 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:19.592Z,1761546859.592 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.477739 2025-10-27T06:34:19.692Z,1761546859.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.500217 s, deltaX: -0.300001 m, approachRate: -0.599742 m/s, rangeRepo size: 4 2025-10-27T06:34:19.694Z,1761546859.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.717115 m, bearing: 276.063406 deg, lat: 36.779492 deg, lon: -121.859840 deg, deltaT: 1.001406 s, deltaX: -0.596039 m, approachRate: -0.595202 m/s, posRepo size: 4 2025-10-27T06:34:19.699Z,1761546859.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.72 m. 2025-10-27T06:34:19.705Z,1761546859.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.717115 m, nav range: 27.308681 m, bearing: 276.328765 deg, approach rate: 0.000000 m/s, LOS rate: 0.007273 deg/s, cmd heading: 286.071764 deg, new cmd heading: 286.083425 deg. 2025-10-27T06:34:19.706Z,1761546859.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993098 target range: 27.717115 and range: 27.90 m. 2025-10-27T06:34:19.761Z,1761546859.761 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.645655 2025-10-27T06:34:20.017Z,1761546860.017 [DAT](INFO): DAT read: Rx Time:06:34:18.8384 2025-10-27T06:34:20.019Z,1761546860.019 [DAT](INFO): Rx dataTimestamp_ set to:1761546860.017561 2025-10-27T06:34:20.022Z,1761546860.022 [DAT](INFO): DAT read: Bearing 99.4, -15.1 (Local) 2025-10-27T06:34:20.024Z,1761546860.024 [DAT](INFO): Local bearing/azimuth received: Bearing 99.4, -15.1 (Local) 2025-10-27T06:34:20.036Z,1761546860.036 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-27T06:34:20.084Z,1761546860.084 [DAT](INFO): DAT read: 06:34:18.8384 LVL= 32752, 32753, 25234, 32755, AGC= 58, IDX= 511,-0.08,-1.752, 3.122,-1.126,-1.762, PHS= 0.112,-1.353, 0.593, RAW= 163.7, 7.4, CAL= 163.2, 7.4, ROT= 346.8, -7.4 2025-10-27T06:34:20.085Z,1761546860.085 [DAT](INFO): got valid direction response: 06:34:18.8384 LVL= 32752, 32753, 25234, 32755, AGC= 58, IDX= 511,-0.08,-1.752, 3.122,-1.126,-1.762, PHS= 0.112,-1.353, 0.593, RAW= 163.7, 7.4, CAL= 163.2, 7.4, ROT= 346.8, -7.4 2025-10-27T06:34:20.086Z,1761546860.086 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-27T06:34:20.087Z,1761546860.087 [DAT](INFO): direction in FSK: [0.965470,-0.226449,0.128796] 2025-10-27T06:34:20.096Z,1761546860.096 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:20.116Z,1761546860.116 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.000893 2025-10-27T06:34:20.124Z,1761546860.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306203,0.937129,0.167419],[-0.951833,0.304330,0.037379],[-0.015922,-0.170801,0.985177]] 2025-10-27T06:34:20.266Z,1761546860.266 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.151587 2025-10-27T06:34:20.344Z,1761546860.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.505317 s, deltaX: -0.299999 m, approachRate: -0.593685 m/s, rangeRepo size: 4 2025-10-27T06:34:20.346Z,1761546860.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.418940 m, bearing: 276.095445 deg, lat: 36.779492 deg, lon: -121.859842 deg, deltaT: 0.505317 s, deltaX: -0.298176 m, approachRate: -0.590077 m/s, posRepo size: 4 2025-10-27T06:34:20.363Z,1761546860.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.42 m. 2025-10-27T06:34:20.366Z,1761546860.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.418940 m, nav range: 27.061047 m, bearing: 276.267309 deg, approach rate: 0.000000 m/s, LOS rate: 0.007273 deg/s, cmd heading: 286.083430 deg, new cmd heading: 286.097659 deg. 2025-10-27T06:34:20.371Z,1761546860.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993346 target range: 27.418940 and range: 27.60 m. 2025-10-27T06:34:20.521Z,1761546860.521 [DAT](INFO): DAT read: Rx Time:06:34:19.3383 2025-10-27T06:34:20.524Z,1761546860.524 [DAT](INFO): Rx dataTimestamp_ set to:1761546860.522212 2025-10-27T06:34:20.528Z,1761546860.528 [DAT](INFO): DAT read: Bearing 100.2, -15.4 (Local) 2025-10-27T06:34:20.528Z,1761546860.528 [DAT](INFO): Local bearing/azimuth received: Bearing 100.2, -15.4 (Local) 2025-10-27T06:34:20.530Z,1761546860.530 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 2025-10-27T06:34:20.541Z,1761546860.541 [DAT](INFO): DAT read: 06:34:19.3383 LVL= 32752, 32753, 26658, 32755, AGC= 58, IDX= 510, 0.31, 1.329,-0.108, 1.967, 1.333, PHS= 0.098,-1.396, 0.590, RAW= 163.7, 8.0, CAL= 163.4, 8.1, ROT= 346.6, -8.1 2025-10-27T06:34:20.542Z,1761546860.542 [DAT](INFO): got valid direction response: 06:34:19.3383 LVL= 32752, 32753, 26658, 32755, AGC= 58, IDX= 510, 0.31, 1.329,-0.108, 1.967, 1.333, PHS= 0.098,-1.396, 0.590, RAW= 163.7, 8.0, CAL= 163.4, 8.1, ROT= 346.6, -8.1 2025-10-27T06:34:20.542Z,1761546860.542 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-27T06:34:20.548Z,1761546860.548 [DAT](INFO): direction in FSK: [0.963071,-0.229436,0.140901] 2025-10-27T06:34:20.548Z,1761546860.548 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:20.556Z,1761546860.556 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.441130 2025-10-27T06:34:20.768Z,1761546860.768 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.653379 2025-10-27T06:34:20.776Z,1761546860.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.504651 s, deltaX: -0.100000 m, approachRate: -0.198158 m/s, rangeRepo size: 4 2025-10-27T06:34:20.778Z,1761546860.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.319595 m, bearing: 276.019706 deg, lat: 36.779491 deg, lon: -121.859842 deg, deltaT: 0.504651 s, deltaX: -0.099344 m, approachRate: -0.196857 m/s, posRepo size: 4 2025-10-27T06:34:20.783Z,1761546860.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.32 m. 2025-10-27T06:34:20.786Z,1761546860.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.319595 m, nav range: 26.895283 m, bearing: 276.098844 deg, approach rate: 0.000000 m/s, LOS rate: 0.007273 deg/s, cmd heading: 286.097664 deg, new cmd heading: 286.107087 deg. 2025-10-27T06:34:20.791Z,1761546860.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993511 target range: 27.319595 and range: 27.50 m. 2025-10-27T06:34:21.026Z,1761546861.026 [DAT](INFO): DAT read: Rx Time:06:34:19.8381 2025-10-27T06:34:21.028Z,1761546861.028 [DAT](INFO): Rx dataTimestamp_ set to:1761546861.025919 2025-10-27T06:34:21.030Z,1761546861.030 [DAT](INFO): DAT read: Bearing 100.5, -15.4 (Local) 2025-10-27T06:34:21.030Z,1761546861.030 [DAT](INFO): Local bearing/azimuth received: Bearing 100.5, -15.4 (Local) 2025-10-27T06:34:21.033Z,1761546861.033 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 2025-10-27T06:34:21.034Z,1761546861.034 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-27T06:34:21.055Z,1761546861.055 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.940664 2025-10-27T06:34:21.132Z,1761546861.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308063,0.937052,0.164408],[-0.951210,0.306502,0.035427],[-0.017195,-0.167301,0.985756]] 2025-10-27T06:34:21.169Z,1761546861.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:21.173Z,1761546861.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503707 s, deltaX: -0.299999 m, approachRate: -0.595583 m/s, rangeRepo size: 4 2025-10-27T06:34:21.173Z,1761546861.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.32 m. 2025-10-27T06:34:21.197Z,1761546861.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.319595 m, nav range: 26.681080 m, bearing: 276.101456 deg, approach rate: -0.540103 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.107089 deg, new cmd heading: 286.114988 deg. 2025-10-27T06:34:21.198Z,1761546861.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993649 target range: 27.319595 and range: 27.20 m. 2025-10-27T06:34:21.286Z,1761546861.286 [DAT](INFO): DAT read: 06:34:19.8381 LVL= 32752, 32753, 25234, 32755, AGC= 58, IDX= 508,-0.16,-2.120, 2.761,-1.497,-2.108, PHS= 0.090,-1.369, 0.568, RAW= 163.7, 8.2, CAL= 163.3, 8.4, ROT= 346.7, -8.4 2025-10-27T06:34:21.297Z,1761546861.297 [DAT](INFO): got valid direction response: 06:34:19.8381 LVL= 32752, 32753, 25234, 32755, AGC= 58, IDX= 508,-0.16,-2.120, 2.761,-1.497,-2.108, PHS= 0.090,-1.369, 0.568, RAW= 163.7, 8.2, CAL= 163.3, 8.4, ROT= 346.7, -8.4 2025-10-27T06:34:21.297Z,1761546861.297 [DAT](INFO): #Rx 38: Read direction message, but no range. 2025-10-27T06:34:21.298Z,1761546861.298 [DAT](INFO): direction in FSK: [0.962739,-0.227582,0.146083] 2025-10-27T06:34:21.310Z,1761546861.310 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.194811 2025-10-27T06:34:21.529Z,1761546861.529 [DAT](INFO): DAT read: Rx Time:06:34:20.3380 2025-10-27T06:34:21.530Z,1761546861.530 [DAT](INFO): Rx dataTimestamp_ set to:1761546861.529350 2025-10-27T06:34:21.532Z,1761546861.532 [DAT](INFO): DAT read: Bearing 100.2, -15.4 (Local) 2025-10-27T06:34:21.532Z,1761546861.532 [DAT](INFO): Local bearing/azimuth received: Bearing 100.2, -15.4 (Local) 2025-10-27T06:34:21.534Z,1761546861.534 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.6 2025-10-27T06:34:21.535Z,1761546861.535 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-27T06:34:21.544Z,1761546861.544 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.429228 2025-10-27T06:34:21.612Z,1761546861.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307008,0.937161,0.165757],[-0.951553,0.305396,0.035773],[-0.017096,-0.168709,0.985518]] 2025-10-27T06:34:21.764Z,1761546861.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503431 s, deltaX: -0.200001 m, approachRate: -0.397275 m/s, rangeRepo size: 4 2025-10-27T06:34:21.766Z,1761546861.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.822817 m, bearing: 276.199996 deg, lat: 36.779491 deg, lon: -121.859843 deg, deltaT: 1.007138 s, deltaX: -0.496778 m, approachRate: -0.493258 m/s, posRepo size: 4 2025-10-27T06:34:21.771Z,1761546861.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.82 m. 2025-10-27T06:34:21.774Z,1761546861.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.822817 m, nav range: 26.398529 m, bearing: 276.095202 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.114985 deg, new cmd heading: 286.126761 deg. 2025-10-27T06:34:21.775Z,1761546861.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993854 target range: 26.822817 and range: 27.00 m. 2025-10-27T06:34:21.780Z,1761546861.780 [DAT](INFO): DAT read: 06:34:20.3380 LVL= 32752, 32753, 26306, 32755, AGC= 59, IDX= 507, 0.11, 0.949,-0.485, 1.589, 0.954, PHS= 0.097,-1.395, 0.591, RAW= 163.8, 7.9, CAL= 163.4, 8.1, ROT= 346.6, -8.1 2025-10-27T06:34:21.781Z,1761546861.781 [DAT](INFO): got valid direction response: 06:34:20.3380 LVL= 32752, 32753, 26306, 32755, AGC= 59, IDX= 507, 0.11, 0.949,-0.485, 1.589, 0.954, PHS= 0.097,-1.395, 0.591, RAW= 163.8, 7.9, CAL= 163.4, 8.1, ROT= 346.6, -8.1 2025-10-27T06:34:21.781Z,1761546861.781 [DAT](INFO): #Rx 40: Read direction message, but no range. 2025-10-27T06:34:21.782Z,1761546861.782 [DAT](INFO): direction in FSK: [0.963071,-0.229436,0.140901] 2025-10-27T06:34:21.786Z,1761546861.786 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.671494 2025-10-27T06:34:22.030Z,1761546862.030 [DAT](INFO): DAT read: Rx Time:06:34:20.8377 2025-10-27T06:34:22.030Z,1761546862.030 [DAT](INFO): Rx dataTimestamp_ set to:1761546862.030057 2025-10-27T06:34:22.032Z,1761546862.032 [DAT](INFO): DAT read: Bearing 100.0, -15.6 (Local) 2025-10-27T06:34:22.032Z,1761546862.032 [DAT](INFO): Local bearing/azimuth received: Bearing 100.0, -15.6 (Local) 2025-10-27T06:34:22.034Z,1761546862.034 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 2025-10-27T06:34:22.037Z,1761546862.037 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-27T06:34:22.041Z,1761546862.041 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.925972 2025-10-27T06:34:22.168Z,1761546862.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305855,0.937136,0.168011],[-0.951922,0.304200,0.036149],[-0.017233,-0.170990,0.985122]] 2025-10-27T06:34:22.250Z,1761546862.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.500707 s, deltaX: -0.400000 m, approachRate: -0.798870 m/s, rangeRepo size: 4 2025-10-27T06:34:22.266Z,1761546862.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.425644 m, bearing: 276.003700 deg, lat: 36.779491 deg, lon: -121.859842 deg, deltaT: 0.500707 s, deltaX: -0.397173 m, approachRate: -0.793224 m/s, posRepo size: 4 2025-10-27T06:34:22.273Z,1761546862.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T06:34:22.297Z,1761546862.297 [DAT](INFO): DAT read: 06:34:20.8377 LVL= 32752, 31873, 25426, 32755, AGC= 59, IDX= 504, 0.46,-1.237,-2.654,-0.595,-1.230, PHS= 0.095,-1.379, 0.591, RAW= 164.0, 7.9, CAL= 163.6, 8.0, ROT= 346.4, -8.0 2025-10-27T06:34:22.298Z,1761546862.298 [DAT](INFO): got valid direction response: 06:34:20.8377 LVL= 32752, 31873, 25426, 32755, AGC= 59, IDX= 504, 0.46,-1.237,-2.654,-0.595,-1.230, PHS= 0.095,-1.379, 0.591, RAW= 164.0, 7.9, CAL= 163.6, 8.0, ROT= 346.4, -8.0 2025-10-27T06:34:22.298Z,1761546862.298 [DAT](INFO): #Rx 42: Read direction message, but no range. 2025-10-27T06:34:22.301Z,1761546862.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.425644 m, nav range: 26.115761 m, bearing: 276.037158 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.126760 deg, new cmd heading: 286.136274 deg. 2025-10-27T06:34:22.302Z,1761546862.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994020 target range: 26.425644 and range: 26.60 m. 2025-10-27T06:34:22.315Z,1761546862.315 [DAT](INFO): direction in FSK: [0.962502,-0.232854,0.139173] 2025-10-27T06:34:22.328Z,1761546862.328 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.213257 2025-10-27T06:34:22.538Z,1761546862.538 [DAT](INFO): DAT read: Rx Time:06:34:21.3377 2025-10-27T06:34:22.538Z,1761546862.538 [DAT](INFO): Rx dataTimestamp_ set to:1761546862.537796 2025-10-27T06:34:22.540Z,1761546862.540 [DAT](INFO): DAT read: Bearing 99.0, -15.2 (Local) 2025-10-27T06:34:22.541Z,1761546862.541 [DAT](INFO): Local bearing/azimuth received: Bearing 99.0, -15.2 (Local) 2025-10-27T06:34:22.544Z,1761546862.544 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.5 2025-10-27T06:34:22.550Z,1761546862.550 [DAT](INFO): DAT read: 06:34:21.3377 LVL= 32752, 32753, 23538, 32755, AGC= 58, IDX= 504,-0.26,-1.166,-2.574,-0.534,-1.180, PHS= 0.116,-1.349, 0.602, RAW= 163.8, 7.2, CAL= 163.3, 7.1, ROT= 346.7, -7.1 2025-10-27T06:34:22.551Z,1761546862.551 [DAT](INFO): got valid direction response: 06:34:21.3377 LVL= 32752, 32753, 23538, 32755, AGC= 58, IDX= 504,-0.26,-1.166,-2.574,-0.534,-1.180, PHS= 0.116,-1.349, 0.602, RAW= 163.8, 7.2, CAL= 163.3, 7.1, ROT= 346.7, -7.1 2025-10-27T06:34:22.552Z,1761546862.552 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-27T06:34:22.553Z,1761546862.553 [DAT](INFO): direction in FSK: [0.965717,-0.228285,0.123601] 2025-10-27T06:34:22.553Z,1761546862.553 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:22.566Z,1761546862.566 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.451450 2025-10-27T06:34:22.620Z,1761546862.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304263,0.937402,0.169417],[-0.952436,0.302547,0.036498],[-0.017043,-0.172464,0.984868]] 2025-10-27T06:34:22.780Z,1761546862.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.507739 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:22.782Z,1761546862.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.425644 m, bearing: 275.845607 deg, lat: 36.779491 deg, lon: -121.859843 deg, deltaT: 0.507739 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:34:22.782Z,1761546862.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.43 m. 2025-10-27T06:34:22.788Z,1761546862.788 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.673353 2025-10-27T06:34:22.797Z,1761546862.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.425644 m, nav range: 25.865005 m, bearing: 276.003569 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.136268 deg, new cmd heading: 286.146929 deg. 2025-10-27T06:34:22.798Z,1761546862.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994206 target range: 26.425644 and range: 26.60 m. 2025-10-27T06:34:23.041Z,1761546863.041 [DAT](INFO): DAT read: Rx Time:06:34:21.8375 2025-10-27T06:34:23.041Z,1761546863.041 [DAT](INFO): Rx dataTimestamp_ set to:1761546863.040835 2025-10-27T06:34:23.042Z,1761546863.042 [DAT](INFO): DAT read: Bearing 100.1, -15.5 (Local) 2025-10-27T06:34:23.043Z,1761546863.043 [DAT](INFO): Local bearing/azimuth received: Bearing 100.1, -15.5 (Local) 2025-10-27T06:34:23.045Z,1761546863.045 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 2025-10-27T06:34:23.052Z,1761546863.052 [DAT](INFO): DAT read: 06:34:21.8375 LVL= 32752, 32753, 26610, 32755, AGC= 57, IDX= 501,-0.17,-2.195, 2.685,-1.570,-2.188, PHS= 0.095,-1.365, 0.573, RAW= 163.7, 8.0, CAL= 163.3, 8.2, ROT= 346.7, -8.2 2025-10-27T06:34:23.054Z,1761546863.054 [DAT](INFO): got valid direction response: 06:34:21.8375 LVL= 32752, 32753, 26610, 32755, AGC= 57, IDX= 501,-0.17,-2.195, 2.685,-1.570,-2.188, PHS= 0.095,-1.365, 0.573, RAW= 163.7, 8.0, CAL= 163.3, 8.2, ROT= 346.7, -8.2 2025-10-27T06:34:23.054Z,1761546863.054 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-27T06:34:23.080Z,1761546863.080 [DAT](INFO): direction in FSK: [0.963229,-0.227697,0.142629] 2025-10-27T06:34:23.080Z,1761546863.080 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:23.088Z,1761546863.088 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.973265 2025-10-27T06:34:23.295Z,1761546863.295 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.179821 2025-10-27T06:34:23.335Z,1761546863.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301348,0.937769,0.172567],[-0.953371,0.299459,0.037513],[-0.016498,-0.175825,0.984283]] 2025-10-27T06:34:23.457Z,1761546863.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503039 s, deltaX: -0.500000 m, approachRate: -0.993959 m/s, rangeRepo size: 4 2025-10-27T06:34:23.500Z,1761546863.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.929049 m, bearing: 275.897750 deg, lat: 36.779491 deg, lon: -121.859843 deg, deltaT: 0.503039 s, deltaX: -0.496595 m, approachRate: -0.987191 m/s, posRepo size: 4 2025-10-27T06:34:23.502Z,1761546863.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.93 m. 2025-10-27T06:34:23.536Z,1761546863.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.929049 m, nav range: 25.465439 m, bearing: 275.923459 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.146923 deg, new cmd heading: 286.160347 deg. 2025-10-27T06:34:23.537Z,1761546863.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994440 target range: 25.929049 and range: 26.10 m. 2025-10-27T06:34:23.544Z,1761546863.544 [DAT](INFO): DAT read: Rx Time:06:34:22.3373 2025-10-27T06:34:23.545Z,1761546863.545 [DAT](INFO): Rx dataTimestamp_ set to:1761546863.544658 2025-10-27T06:34:23.546Z,1761546863.546 [DAT](INFO): DAT read: Bearing 99.2, -15.3 (Local) 2025-10-27T06:34:23.547Z,1761546863.547 [DAT](INFO): Local bearing/azimuth received: Bearing 99.2, -15.3 (Local) 2025-10-27T06:34:23.549Z,1761546863.549 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.5 2025-10-27T06:34:23.553Z,1761546863.553 [DAT](INFO): DAT read: 06:34:22.3373 LVL= 32752, 32753, 24786, 32755, AGC= 57, IDX= 499,-0.08,-2.040, 2.831,-1.411,-2.049, PHS= 0.111,-1.358, 0.594, RAW= 163.7, 7.5, CAL= 163.3, 7.4, ROT= 346.7, -7.4 2025-10-27T06:34:23.554Z,1761546863.554 [DAT](INFO): got valid direction response: 06:34:22.3373 LVL= 32752, 32753, 24786, 32755, AGC= 57, IDX= 499,-0.08,-2.040, 2.831,-1.411,-2.049, PHS= 0.111,-1.358, 0.594, RAW= 163.7, 7.5, CAL= 163.3, 7.4, ROT= 346.7, -7.4 2025-10-27T06:34:23.555Z,1761546863.555 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-27T06:34:23.556Z,1761546863.556 [DAT](INFO): direction in FSK: [0.965074,-0.228133,0.128796] 2025-10-27T06:34:23.556Z,1761546863.556 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:23.560Z,1761546863.560 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.445194 2025-10-27T06:34:23.796Z,1761546863.796 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.681744 2025-10-27T06:34:24.046Z,1761546864.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299013,0.938334,0.173549],[-0.954132,0.296843,0.038953],[-0.014966,-0.177236,0.984055]] 2025-10-27T06:34:24.049Z,1761546864.049 [DAT](INFO): DAT read: Rx Time:06:34:22.8370 2025-10-27T06:34:24.049Z,1761546864.049 [DAT](INFO): Rx dataTimestamp_ set to:1761546864.048775 2025-10-27T06:34:24.050Z,1761546864.050 [DAT](INFO): DAT read: Bearing 101.8, -15.8 (Local) 2025-10-27T06:34:24.051Z,1761546864.051 [DAT](INFO): Local bearing/azimuth received: Bearing 101.8, -15.8 (Local) 2025-10-27T06:34:24.053Z,1761546864.053 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.5 2025-10-27T06:34:24.057Z,1761546864.057 [DAT](INFO): DAT read: 06:34:22.8370 LVL= 32752, 32753, 22706, 32755, AGC= 56, IDX= 496,-0.09,-2.977, 1.913,-2.362,-2.931, PHS= 0.056,-1.394, 0.526, RAW= 163.6, 9.4, CAL= 163.4, 10.1, ROT= 346.6, -10.1 2025-10-27T06:34:24.059Z,1761546864.059 [DAT](INFO): got valid direction response: 06:34:22.8370 LVL= 32752, 32753, 22706, 32755, AGC= 56, IDX= 496,-0.09,-2.977, 1.913,-2.362,-2.931, PHS= 0.056,-1.394, 0.526, RAW= 163.6, 9.4, CAL= 163.4, 10.1, ROT= 346.6, -10.1 2025-10-27T06:34:24.060Z,1761546864.060 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-27T06:34:24.061Z,1761546864.061 [DAT](INFO): direction in FSK: [0.957701,-0.228157,0.175367] 2025-10-27T06:34:24.061Z,1761546864.061 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:24.065Z,1761546864.065 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.950064 2025-10-27T06:34:24.158Z,1761546864.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 1.007940 s, deltaX: -0.700001 m, approachRate: -0.694487 m/s, rangeRepo size: 4 2025-10-27T06:34:24.165Z,1761546864.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.233559 m, bearing: 276.015773 deg, lat: 36.779491 deg, lon: -121.859843 deg, deltaT: 1.007940 s, deltaX: -0.695490 m, approachRate: -0.690011 m/s, posRepo size: 4 2025-10-27T06:34:24.165Z,1761546864.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.23 m. 2025-10-27T06:34:24.172Z,1761546864.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.233559 m, nav range: 25.045738 m, bearing: 275.867842 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.160338 deg, new cmd heading: 286.174404 deg. 2025-10-27T06:34:24.173Z,1761546864.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994686 target range: 25.233559 and range: 25.40 m. 2025-10-27T06:34:24.303Z,1761546864.303 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.187553 2025-10-27T06:34:24.553Z,1761546864.553 [DAT](INFO): DAT read: Rx Time:06:34:23.3369 2025-10-27T06:34:24.553Z,1761546864.553 [DAT](INFO): Rx dataTimestamp_ set to:1761546864.552994 2025-10-27T06:34:24.555Z,1761546864.555 [DAT](INFO): DAT read: Bearing 99.8, -15.3 (Local) 2025-10-27T06:34:24.555Z,1761546864.555 [DAT](INFO): Local bearing/azimuth received: Bearing 99.8, -15.3 (Local) 2025-10-27T06:34:24.557Z,1761546864.557 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 2025-10-27T06:34:24.562Z,1761546864.562 [DAT](INFO): DAT read: 06:34:23.3369 LVL= 32752, 32753, 24866, 32755, AGC= 56, IDX= 511,-0.02,-2.619, 2.264,-1.997,-2.612, PHS= 0.096,-1.362, 0.572, RAW= 163.7, 8.0, CAL= 163.3, 8.2, ROT= 346.7, -8.2 2025-10-27T06:34:24.566Z,1761546864.566 [DAT](INFO): got valid direction response: 06:34:23.3369 LVL= 32752, 32753, 24866, 32755, AGC= 56, IDX= 511,-0.02,-2.619, 2.264,-1.997,-2.612, PHS= 0.096,-1.362, 0.572, RAW= 163.7, 8.0, CAL= 163.3, 8.2, ROT= 346.7, -8.2 2025-10-27T06:34:24.566Z,1761546864.566 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-27T06:34:24.567Z,1761546864.567 [DAT](INFO): direction in FSK: [0.963229,-0.227697,0.142629] 2025-10-27T06:34:24.567Z,1761546864.567 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:24.627Z,1761546864.627 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.512579 2025-10-27T06:34:24.754Z,1761546864.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504219 s, deltaX: -0.199999 m, approachRate: -0.396651 m/s, rangeRepo size: 4 2025-10-27T06:34:24.760Z,1761546864.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.034870 m, bearing: 275.768822 deg, lat: 36.779491 deg, lon: -121.859843 deg, deltaT: 0.504219 s, deltaX: -0.198689 m, approachRate: -0.394052 m/s, posRepo size: 4 2025-10-27T06:34:24.761Z,1761546864.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.03 m. 2025-10-27T06:34:24.765Z,1761546864.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.034870 m, nav range: 24.687853 m, bearing: 275.804860 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.174408 deg, new cmd heading: 286.186280 deg. 2025-10-27T06:34:24.766Z,1761546864.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.994893 target range: 25.034870 and range: 25.20 m. 2025-10-27T06:34:24.806Z,1761546864.806 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.690977 2025-10-27T06:34:25.057Z,1761546865.057 [DAT](INFO): DAT read: Rx Time:06:34:23.8366 2025-10-27T06:34:25.057Z,1761546865.057 [DAT](INFO): Rx dataTimestamp_ set to:1761546865.056895 2025-10-27T06:34:25.058Z,1761546865.058 [DAT](INFO): DAT read: Bearing 102.7, -15.5 (Local) 2025-10-27T06:34:25.059Z,1761546865.059 [DAT](INFO): Local bearing/azimuth received: Bearing 102.7, -15.5 (Local) 2025-10-27T06:34:25.061Z,1761546865.061 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 2025-10-27T06:34:25.069Z,1761546865.069 [DAT](INFO): DAT read: 06:34:23.8366 LVL= 32752, 32753, 26450, 32755, AGC= 57, IDX= 508,-0.07, 3.089, 1.696,-2.594,-3.136, PHS= 0.044,-1.407, 0.497, RAW= 163.2, 10.1, CAL= 163.1, 11.0, ROT= 346.9, -11.0 2025-10-27T06:34:25.070Z,1761546865.070 [DAT](INFO): got valid direction response: 06:34:23.8366 LVL= 32752, 32753, 26450, 32755, AGC= 57, IDX= 508,-0.07, 3.089, 1.696,-2.594,-3.136, PHS= 0.044,-1.407, 0.497, RAW= 163.2, 10.1, CAL= 163.1, 11.0, ROT= 346.9, -11.0 2025-10-27T06:34:25.071Z,1761546865.071 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-27T06:34:25.098Z,1761546865.098 [DAT](INFO): direction in FSK: [0.956081,-0.222487,0.190809] 2025-10-27T06:34:25.098Z,1761546865.098 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:25.132Z,1761546865.132 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.017574 2025-10-27T06:34:25.189Z,1761546865.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295664,0.939484,0.173069],[-0.955238,0.292680,0.043110],[-0.010153,-0.178068,0.983966]] 2025-10-27T06:34:25.242Z,1761546865.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503901 s, deltaX: -0.300001 m, approachRate: -0.595357 m/s, rangeRepo size: 4 2025-10-27T06:34:25.248Z,1761546865.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.736576 m, bearing: 276.274890 deg, lat: 36.779491 deg, lon: -121.859843 deg, deltaT: 0.503901 s, deltaX: -0.298294 m, approachRate: -0.591970 m/s, posRepo size: 4 2025-10-27T06:34:25.249Z,1761546865.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.74 m. 2025-10-27T06:34:25.256Z,1761546865.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.736576 m, nav range: 24.401381 m, bearing: 275.782976 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.186292 deg, new cmd heading: 286.196014 deg. 2025-10-27T06:34:25.257Z,1761546865.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995063 target range: 24.736576 and range: 24.90 m. 2025-10-27T06:34:25.311Z,1761546865.311 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.195261 2025-10-27T06:34:25.561Z,1761546865.561 [DAT](INFO): DAT read: Rx Time:06:34:24.3364 2025-10-27T06:34:25.561Z,1761546865.561 [DAT](INFO): Rx dataTimestamp_ set to:1761546865.560924 2025-10-27T06:34:25.562Z,1761546865.562 [DAT](INFO): DAT read: Bearing 102.7, -15.5 (Local) 2025-10-27T06:34:25.563Z,1761546865.563 [DAT](INFO): Local bearing/azimuth received: Bearing 102.7, -15.5 (Local) 2025-10-27T06:34:25.565Z,1761546865.565 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.5 2025-10-27T06:34:25.573Z,1761546865.573 [DAT](INFO): DAT read: 06:34:24.3364 LVL= 32752, 32753, 25666, 32755, AGC= 56, IDX= 507,-0.10,-2.023, 2.883,-1.426,-1.963, PHS= 0.042,-1.393, 0.493, RAW= 163.2, 10.1, CAL= 163.2, 11.0, ROT= 346.8, -11.0 2025-10-27T06:34:25.574Z,1761546865.574 [DAT](INFO): got valid direction response: 06:34:24.3364 LVL= 32752, 32753, 25666, 32755, AGC= 56, IDX= 507,-0.10,-2.023, 2.883,-1.426,-1.963, PHS= 0.042,-1.393, 0.493, RAW= 163.2, 10.1, CAL= 163.2, 11.0, ROT= 346.8, -11.0 2025-10-27T06:34:25.574Z,1761546865.574 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-27T06:34:25.604Z,1761546865.604 [DAT](INFO): direction in FSK: [0.955691,-0.224156,0.190809] 2025-10-27T06:34:25.604Z,1761546865.604 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:25.620Z,1761546865.620 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.504908 2025-10-27T06:34:25.653Z,1761546865.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294733,0.939885,0.172478],[-0.955543,0.291464,0.044571],[-0.008380,-0.177946,0.984004]] 2025-10-27T06:34:25.760Z,1761546865.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.504029 s, deltaX: -0.299999 m, approachRate: -0.595202 m/s, rangeRepo size: 4 2025-10-27T06:34:25.762Z,1761546865.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.438545 m, bearing: 276.113823 deg, lat: 36.779491 deg, lon: -121.859840 deg, deltaT: 0.504029 s, deltaX: -0.298031 m, approachRate: -0.591297 m/s, posRepo size: 4 2025-10-27T06:34:25.767Z,1761546865.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.44 m. 2025-10-27T06:34:25.769Z,1761546865.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.438545 m, nav range: 23.831360 m, bearing: 275.874977 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.196018 deg, new cmd heading: 286.206254 deg. 2025-10-27T06:34:25.770Z,1761546865.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995242 target range: 24.438545 and range: 24.60 m. 2025-10-27T06:34:25.812Z,1761546865.812 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.697353 2025-10-27T06:34:26.054Z,1761546866.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293673,0.940038,0.173451],[-0.955885,0.290005,0.046706],[-0.006396,-0.179516,0.983734]] 2025-10-27T06:34:26.065Z,1761546866.065 [DAT](INFO): DAT read: Rx Time:06:34:24.8361 2025-10-27T06:34:26.065Z,1761546866.065 [DAT](INFO): Rx dataTimestamp_ set to:1761546866.064843 2025-10-27T06:34:26.066Z,1761546866.066 [DAT](INFO): DAT read: Bearing 98.6, -15.0 (Local) 2025-10-27T06:34:26.067Z,1761546866.067 [DAT](INFO): Local bearing/azimuth received: Bearing 98.6, -15.0 (Local) 2025-10-27T06:34:26.069Z,1761546866.069 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.5 2025-10-27T06:34:26.074Z,1761546866.074 [DAT](INFO): DAT read: 06:34:24.8361 LVL= 32752, 32753, 29634, 32755, AGC= 58, IDX= 504,-0.16,-2.162, 2.721,-1.526,-2.174, PHS= 0.115,-1.343, 0.605, RAW= 164.0, 7.2, CAL= 163.5, 7.0, ROT= 346.5, -7.0 2025-10-27T06:34:26.075Z,1761546866.075 [DAT](INFO): got valid direction response: 06:34:24.8361 LVL= 32752, 32753, 29634, 32755, AGC= 58, IDX= 504,-0.16,-2.162, 2.721,-1.526,-2.174, PHS= 0.115,-1.343, 0.605, RAW= 164.0, 7.2, CAL= 163.5, 7.0, ROT= 346.5, -7.0 2025-10-27T06:34:26.076Z,1761546866.076 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-27T06:34:26.077Z,1761546866.077 [DAT](INFO): direction in FSK: [0.965122,-0.231705,0.121869] 2025-10-27T06:34:26.077Z,1761546866.077 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:26.081Z,1761546866.081 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.965866 2025-10-27T06:34:26.124Z,1761546866.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503919 s, deltaX: -0.400000 m, approachRate: -0.793778 m/s, rangeRepo size: 4 2025-10-27T06:34:26.126Z,1761546866.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.041075 m, bearing: 275.038329 deg, lat: 36.779491 deg, lon: -121.859840 deg, deltaT: 0.503919 s, deltaX: -0.397470 m, approachRate: -0.788759 m/s, posRepo size: 4 2025-10-27T06:34:26.127Z,1761546866.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.04 m. 2025-10-27T06:34:26.138Z,1761546866.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.041075 m, nav range: 23.629118 m, bearing: 275.842810 deg, approach rate: 0.000000 m/s, LOS rate: 0.006638 deg/s, cmd heading: 286.206264 deg, new cmd heading: 286.213431 deg. 2025-10-27T06:34:26.138Z,1761546866.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.995367 target range: 24.041075 and range: 24.20 m. 2025-10-27T06:34:26.320Z,1761546866.320 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.205067 2025-10-27T06:34:26.557Z,1761546866.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:26.559Z,1761546866.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.04 m. 2025-10-27T06:34:26.562Z,1761546866.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.041075 m, nav range: 23.370943 m, bearing: 275.807546 deg, approach rate: -0.582062 m/s, LOS rate: -0.080381 deg/s, cmd heading: 286.213422 deg, new cmd heading: 286.106462 deg. 2025-10-27T06:34:26.563Z,1761546866.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.993500 target range: 24.041075 and range: 24.20 m. 2025-10-27T06:34:26.569Z,1761546866.569 [DAT](INFO): DAT read: Rx Time:06:34:25.3360 2025-10-27T06:34:26.569Z,1761546866.569 [DAT](INFO): Rx dataTimestamp_ set to:1761546866.568819 2025-10-27T06:34:26.570Z,1761546866.570 [DAT](INFO): DAT read: Bearing 100.2, -15.3 (Local) 2025-10-27T06:34:26.571Z,1761546866.571 [DAT](INFO): Local bearing/azimuth received: Bearing 100.2, -15.3 (Local) 2025-10-27T06:34:26.573Z,1761546866.573 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.5 2025-10-27T06:34:26.581Z,1761546866.581 [DAT](INFO): DAT read: 06:34:25.3360 LVL= 32752, 32753, 29906, 32755, AGC= 61, IDX= 503,-0.24, 0.548,-0.849, 1.180, 0.569, PHS= 0.081,-1.373, 0.567, RAW= 164.0, 8.3, CAL= 163.6, 8.6, ROT= 346.4, -8.6 2025-10-27T06:34:26.583Z,1761546866.583 [DAT](INFO): got valid direction response: 06:34:25.3360 LVL= 32752, 32753, 29906, 32755, AGC= 61, IDX= 503,-0.24, 0.548,-0.849, 1.180, 0.569, PHS= 0.081,-1.373, 0.567, RAW= 164.0, 8.3, CAL= 163.6, 8.6, ROT= 346.4, -8.6 2025-10-27T06:34:26.583Z,1761546866.583 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-27T06:34:26.584Z,1761546866.584 [DAT](INFO): direction in FSK: [0.961033,-0.232499,0.149535] 2025-10-27T06:34:26.584Z,1761546866.584 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:26.596Z,1761546866.596 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.481234 2025-10-27T06:34:26.820Z,1761546866.820 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.705732 2025-10-27T06:34:26.904Z,1761546866.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293990,0.940085,0.172655],[-0.955803,0.289747,0.049866],[-0.003148,-0.179684,0.983719]] 2025-10-27T06:34:26.956Z,1761546866.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.503976 s, deltaX: -0.200001 m, approachRate: -0.396846 m/s, rangeRepo size: 4 2025-10-27T06:34:26.964Z,1761546866.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.842291 m, bearing: 275.242751 deg, lat: 36.779491 deg, lon: -121.859842 deg, deltaT: 0.503976 s, deltaX: -0.198784 m, approachRate: -0.394431 m/s, posRepo size: 4 2025-10-27T06:34:26.965Z,1761546866.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.84 m. 2025-10-27T06:34:26.980Z,1761546866.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.842291 m, nav range: 23.314583 m, bearing: 275.609994 deg, approach rate: 0.000000 m/s, LOS rate: -0.080381 deg/s, cmd heading: 286.106461 deg, new cmd heading: 286.012131 deg. 2025-10-27T06:34:26.989Z,1761546866.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.991853 target range: 23.842291 and range: 24.00 m. 2025-10-27T06:34:27.074Z,1761546867.074 [DAT](INFO): DAT read: Rx Time:06:34:25.8357 2025-10-27T06:34:27.074Z,1761546867.074 [DAT](INFO): Rx dataTimestamp_ set to:1761546867.073715 2025-10-27T06:34:27.076Z,1761546867.076 [DAT](INFO): DAT read: Bearing 99.5, -15.5 (Local) 2025-10-27T06:34:27.077Z,1761546867.077 [DAT](INFO): Local bearing/azimuth received: Bearing 99.5, -15.5 (Local) 2025-10-27T06:34:27.081Z,1761546867.081 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.5 2025-10-27T06:34:27.088Z,1761546867.088 [DAT](INFO): DAT read: 06:34:25.8357 LVL= 32752, 32753, 25442, 32755, AGC= 61, IDX= 500,-0.08,-0.474,-1.885, 0.184,-0.458, PHS= 0.086,-1.382, 0.598, RAW= 164.4, 7.9, CAL= 164.0, 8.0, ROT= 346.0, -8.0 2025-10-27T06:34:27.090Z,1761546867.090 [DAT](INFO): got valid direction response: 06:34:25.8357 LVL= 32752, 32753, 25442, 32755, AGC= 61, IDX= 500,-0.08,-0.474,-1.885, 0.184,-0.458, PHS= 0.086,-1.382, 0.598, RAW= 164.4, 7.9, CAL= 164.0, 8.0, ROT= 346.0, -8.0 2025-10-27T06:34:27.090Z,1761546867.090 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-27T06:34:27.096Z,1761546867.096 [DAT](INFO): direction in FSK: [0.960853,-0.239567,0.139173] 2025-10-27T06:34:27.096Z,1761546867.096 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:27.109Z,1761546867.109 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.994757 2025-10-27T06:34:27.328Z,1761546867.328 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.212107 2025-10-27T06:34:27.392Z,1761546867.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294804,0.939968,0.171904],[-0.955557,0.290222,0.051787],[-0.001212,-0.179531,0.983751]] 2025-10-27T06:34:27.460Z,1761546867.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.504896 s, deltaX: -0.400000 m, approachRate: -0.792242 m/s, rangeRepo size: 4 2025-10-27T06:34:27.464Z,1761546867.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.444920 m, bearing: 274.780803 deg, lat: 36.779490 deg, lon: -121.859842 deg, deltaT: 0.504896 s, deltaX: -0.397371 m, approachRate: -0.787036 m/s, posRepo size: 4 2025-10-27T06:34:27.464Z,1761546867.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.44 m. 2025-10-27T06:34:27.485Z,1761546867.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.444920 m, nav range: 23.022923 m, bearing: 275.220582 deg, approach rate: 0.000000 m/s, LOS rate: -0.080381 deg/s, cmd heading: 286.012122 deg, new cmd heading: 285.889694 deg. 2025-10-27T06:34:27.494Z,1761546867.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.989717 target range: 23.444920 and range: 23.60 m. 2025-10-27T06:34:27.577Z,1761546867.577 [DAT](INFO): DAT read: Rx Time:06:34:26.3355 2025-10-27T06:34:27.578Z,1761546867.578 [DAT](INFO): Rx dataTimestamp_ set to:1761546867.577265 2025-10-27T06:34:27.580Z,1761546867.580 [DAT](INFO): DAT read: Bearing 99.4, -15.2 (Local) 2025-10-27T06:34:27.580Z,1761546867.580 [DAT](INFO): Local bearing/azimuth received: Bearing 99.4, -15.2 (Local) 2025-10-27T06:34:27.583Z,1761546867.583 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 2025-10-27T06:34:27.590Z,1761546867.590 [DAT](INFO): DAT read: 06:34:26.3355 LVL= 32752, 32753, 28658, 32755, AGC= 59, IDX= 498, 0.09, 0.516,-0.902, 1.170, 0.525, PHS= 0.093,-1.382, 0.601, RAW= 164.3, 7.8, CAL= 163.9, 7.9, ROT= 346.1, -7.9 2025-10-27T06:34:27.592Z,1761546867.592 [DAT](INFO): got valid direction response: 06:34:26.3355 LVL= 32752, 32753, 28658, 32755, AGC= 59, IDX= 498, 0.09, 0.516,-0.902, 1.170, 0.525, PHS= 0.093,-1.382, 0.601, RAW= 164.3, 7.8, CAL= 163.9, 7.9, ROT= 346.1, -7.9 2025-10-27T06:34:27.592Z,1761546867.592 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-27T06:34:27.594Z,1761546867.594 [DAT](INFO): direction in FSK: [0.961504,-0.237948,0.137445] 2025-10-27T06:34:27.594Z,1761546867.594 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:27.602Z,1761546867.602 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.487097 2025-10-27T06:34:27.828Z,1761546867.828 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.713293 2025-10-27T06:34:27.880Z,1761546867.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503550 s, deltaX: -0.300001 m, approachRate: -0.595772 m/s, rangeRepo size: 4 2025-10-27T06:34:27.882Z,1761546867.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.146896 m, bearing: 274.861821 deg, lat: 36.779488 deg, lon: -121.859842 deg, deltaT: 0.503550 s, deltaX: -0.298023 m, approachRate: -0.591844 m/s, posRepo size: 4 2025-10-27T06:34:27.882Z,1761546867.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.15 m. 2025-10-27T06:34:27.885Z,1761546867.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.146896 m, nav range: 22.782516 m, bearing: 274.861873 deg, approach rate: 0.000000 m/s, LOS rate: -0.080381 deg/s, cmd heading: 285.889698 deg, new cmd heading: 285.788048 deg. 2025-10-27T06:34:27.886Z,1761546867.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.987942 target range: 23.146896 and range: 23.30 m. 2025-10-27T06:34:28.081Z,1761546868.081 [DAT](INFO): DAT read: Rx Time:06:34:26.8352 2025-10-27T06:34:28.081Z,1761546868.081 [DAT](INFO): Rx dataTimestamp_ set to:1761546868.080901 2025-10-27T06:34:28.082Z,1761546868.082 [DAT](INFO): DAT read: Bearing 99.3, -15.4 (Local) 2025-10-27T06:34:28.083Z,1761546868.083 [DAT](INFO): Local bearing/azimuth received: Bearing 99.3, -15.4 (Local) 2025-10-27T06:34:28.085Z,1761546868.085 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 2025-10-27T06:34:28.090Z,1761546868.090 [DAT](INFO): DAT read: 06:34:26.8352 LVL= 31104, 32753, 22866, 32755, AGC= 59, IDX= 495, 0.42,-1.010,-2.414,-0.344,-0.998, PHS= 0.090,-1.371, 0.610, RAW= 164.7, 7.6, CAL= 164.2, 7.6, ROT= 345.8, -7.6 2025-10-27T06:34:28.091Z,1761546868.091 [DAT](INFO): got valid direction response: 06:34:26.8352 LVL= 31104, 32753, 22866, 32755, AGC= 59, IDX= 495, 0.42,-1.010,-2.414,-0.344,-0.998, PHS= 0.090,-1.371, 0.610, RAW= 164.7, 7.6, CAL= 164.2, 7.6, ROT= 345.8, -7.6 2025-10-27T06:34:28.091Z,1761546868.091 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-27T06:34:28.092Z,1761546868.092 [DAT](INFO): direction in FSK: [0.960929,-0.243153,0.132256] 2025-10-27T06:34:28.093Z,1761546868.093 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:28.096Z,1761546868.096 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.981659 2025-10-27T06:34:28.246Z,1761546868.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298530,0.939515,0.167904],[-0.954396,0.293323,0.055591],[0.002979,-0.176843,0.984235]] 2025-10-27T06:34:28.290Z,1761546868.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503636 s, deltaX: -0.500000 m, approachRate: -0.992781 m/s, rangeRepo size: 4 2025-10-27T06:34:28.296Z,1761546868.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.650181 m, bearing: 274.698146 deg, lat: 36.779488 deg, lon: -121.859842 deg, deltaT: 0.503636 s, deltaX: -0.496716 m, approachRate: -0.986259 m/s, posRepo size: 4 2025-10-27T06:34:28.297Z,1761546868.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m. 2025-10-27T06:34:28.306Z,1761546868.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.650181 m, nav range: 22.565317 m, bearing: 274.813076 deg, approach rate: 0.000000 m/s, LOS rate: -0.080381 deg/s, cmd heading: 285.788038 deg, new cmd heading: 285.689149 deg. 2025-10-27T06:34:28.314Z,1761546868.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.986216 target range: 22.650181 and range: 22.80 m. 2025-10-27T06:34:28.336Z,1761546868.336 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.219843 2025-10-27T06:34:28.585Z,1761546868.585 [DAT](INFO): DAT read: Rx Time:06:34:27.3352 2025-10-27T06:34:28.585Z,1761546868.585 [DAT](INFO): Rx dataTimestamp_ set to:1761546868.584719 2025-10-27T06:34:28.586Z,1761546868.586 [DAT](INFO): DAT read: Bearing 98.8, -15.4 (Local) 2025-10-27T06:34:28.587Z,1761546868.587 [DAT](INFO): Local bearing/azimuth received: Bearing 98.8, -15.4 (Local) 2025-10-27T06:34:28.589Z,1761546868.589 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 2025-10-27T06:34:28.595Z,1761546868.595 [DAT](INFO): DAT read: 06:34:27.3352 LVL= 32400, 32753, 24898, 32755, AGC= 60, IDX= 511,-0.16,-1.548,-2.939,-0.869,-1.542, PHS= 0.096,-1.352, 0.629, RAW= 165.1, 7.1, CAL= 164.6, 7.0, ROT= 345.4, -7.0 2025-10-27T06:34:28.596Z,1761546868.596 [DAT](INFO): got valid direction response: 06:34:27.3352 LVL= 32400, 32753, 24898, 32755, AGC= 60, IDX= 511,-0.16,-1.548,-2.939,-0.869,-1.542, PHS= 0.096,-1.352, 0.629, RAW= 165.1, 7.1, CAL= 164.6, 7.0, ROT= 345.4, -7.0 2025-10-27T06:34:28.597Z,1761546868.597 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-27T06:34:28.598Z,1761546868.598 [DAT](INFO): direction in FSK: [0.960496,-0.250191,0.121869] 2025-10-27T06:34:28.598Z,1761546868.598 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:28.624Z,1761546868.624 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.508934 2025-10-27T06:34:28.701Z,1761546868.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300589,0.939192,0.166027],[-0.953739,0.295036,0.057750],[0.005254,-0.175706,0.984429]] 2025-10-27T06:34:28.816Z,1761546868.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503818 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:28.818Z,1761546868.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.650181 m, bearing: 274.304118 deg, lat: 36.779488 deg, lon: -121.859842 deg, deltaT: 0.503818 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:34:28.823Z,1761546868.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.65 m. 2025-10-27T06:34:28.826Z,1761546868.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.650181 m, nav range: 22.334782 m, bearing: 274.642632 deg, approach rate: 0.000000 m/s, LOS rate: -0.080381 deg/s, cmd heading: 285.689136 deg, new cmd heading: 285.562167 deg. 2025-10-27T06:34:28.831Z,1761546868.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.984000 target range: 22.650181 and range: 22.80 m. 2025-10-27T06:34:28.836Z,1761546868.836 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.721371 2025-10-27T06:34:29.090Z,1761546869.090 [DAT](INFO): DAT read: Rx Time:06:34:27.8349 2025-10-27T06:34:29.091Z,1761546869.091 [DAT](INFO): Rx dataTimestamp_ set to:1761546869.090019 2025-10-27T06:34:29.092Z,1761546869.092 [DAT](INFO): DAT read: Bearing 100.1, -15.8 (Local) 2025-10-27T06:34:29.093Z,1761546869.093 [DAT](INFO): Local bearing/azimuth received: Bearing 100.1, -15.8 (Local) 2025-10-27T06:34:29.096Z,1761546869.096 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T06:34:29.102Z,1761546869.102 [DAT](INFO): DAT read: 06:34:27.8349 LVL= 32752, 32753, 27954, 32755, AGC= 58, IDX= 508, 0.15,-1.111,-2.481,-0.429,-1.073, PHS= 0.064,-1.364, 0.600, RAW= 165.3, 8.0, CAL= 164.9, 8.2, ROT= 345.1, -8.2 2025-10-27T06:34:29.103Z,1761546869.103 [DAT](INFO): got valid direction response: 06:34:27.8349 LVL= 32752, 32753, 27954, 32755, AGC= 58, IDX= 508, 0.15,-1.111,-2.481,-0.429,-1.073, PHS= 0.064,-1.364, 0.600, RAW= 165.3, 8.0, CAL= 164.9, 8.2, ROT= 345.1, -8.2 2025-10-27T06:34:29.104Z,1761546869.104 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-27T06:34:29.105Z,1761546869.105 [DAT](INFO): direction in FSK: [0.956496,-0.254504,0.142629] 2025-10-27T06:34:29.105Z,1761546869.105 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:29.113Z,1761546869.113 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.998652 2025-10-27T06:34:29.190Z,1761546869.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304382,0.938968,0.160286],[-0.952500,0.298301,0.061321],[0.009765,-0.171337,0.985164]] 2025-10-27T06:34:29.242Z,1761546869.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.505300 s, deltaX: -0.400000 m, approachRate: -0.791608 m/s, rangeRepo size: 4 2025-10-27T06:34:29.248Z,1761546869.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.252888 m, bearing: 274.386000 deg, lat: 36.779488 deg, lon: -121.859842 deg, deltaT: 0.505300 s, deltaX: -0.397293 m, approachRate: -0.786252 m/s, posRepo size: 4 2025-10-27T06:34:29.249Z,1761546869.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.25 m. 2025-10-27T06:34:29.256Z,1761546869.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.252888 m, nav range: 22.070072 m, bearing: 274.550698 deg, approach rate: 0.000000 m/s, LOS rate: -0.080381 deg/s, cmd heading: 285.562177 deg, new cmd heading: 285.459519 deg. 2025-10-27T06:34:29.260Z,1761546869.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.982208 target range: 22.252888 and range: 22.40 m. 2025-10-27T06:34:29.340Z,1761546869.340 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.225481 2025-10-27T06:34:29.560Z,1761546869.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306394,0.938871,0.156986],[-0.951833,0.300149,0.062645],[0.011696,-0.168618,0.985612]] 2025-10-27T06:34:29.592Z,1761546869.592 [DAT](INFO): DAT read: Rx Time:06:34:28.3349 2025-10-27T06:34:29.593Z,1761546869.593 [DAT](INFO): Rx dataTimestamp_ set to:1761546869.592623 2025-10-27T06:34:29.594Z,1761546869.594 [DAT](INFO): DAT read: Bearing 98.6, -15.3 (Local) 2025-10-27T06:34:29.594Z,1761546869.594 [DAT](INFO): Local bearing/azimuth received: Bearing 98.6, -15.3 (Local) 2025-10-27T06:34:29.597Z,1761546869.597 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-27T06:34:29.601Z,1761546869.601 [DAT](INFO): DAT read: 06:34:28.3349 LVL= 32752, 32753, 25202, 32755, AGC= 58, IDX= 508,-0.09, 2.264, 0.895, 2.953, 2.271, PHS= 0.095,-1.331, 0.638, RAW= 165.5, 6.8, CAL= 164.9, 6.6, ROT= 345.1, -6.6 2025-10-27T06:34:29.602Z,1761546869.602 [DAT](INFO): got valid direction response: 06:34:28.3349 LVL= 32752, 32753, 25202, 32755, AGC= 58, IDX= 508,-0.09, 2.264, 0.895, 2.953, 2.271, PHS= 0.095,-1.331, 0.638, RAW= 165.5, 6.8, CAL= 164.9, 6.6, ROT= 345.1, -6.6 2025-10-27T06:34:29.603Z,1761546869.603 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-27T06:34:29.604Z,1761546869.604 [DAT](INFO): direction in FSK: [0.959972,-0.255429,0.114937] 2025-10-27T06:34:29.604Z,1761546869.604 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:29.608Z,1761546869.608 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.492884 2025-10-27T06:34:29.646Z,1761546869.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.502604 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:29.656Z,1761546869.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.252888 m, bearing: 274.209080 deg, lat: 36.779487 deg, lon: -121.859842 deg, deltaT: 0.502604 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:34:29.657Z,1761546869.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.25 m. 2025-10-27T06:34:29.668Z,1761546869.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.252888 m, nav range: 21.863974 m, bearing: 274.293425 deg, approach rate: 0.000000 m/s, LOS rate: -0.080381 deg/s, cmd heading: 285.459505 deg, new cmd heading: 285.362123 deg. 2025-10-27T06:34:29.669Z,1761546869.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.980509 target range: 22.252888 and range: 22.40 m. 2025-10-27T06:34:29.844Z,1761546869.844 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.729412 2025-10-27T06:34:30.048Z,1761546870.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307199,0.939237,0.153176],[-0.951540,0.300769,0.064107],[0.014141,-0.165447,0.986117]] 2025-10-27T06:34:30.097Z,1761546870.097 [DAT](INFO): DAT read: Rx Time:06:34:28.8347 2025-10-27T06:34:30.097Z,1761546870.097 [DAT](INFO): Rx dataTimestamp_ set to:1761546870.096781 2025-10-27T06:34:30.098Z,1761546870.098 [DAT](INFO): DAT read: Bearing 103.4, -15.3 (Local) 2025-10-27T06:34:30.099Z,1761546870.099 [DAT](INFO): Local bearing/azimuth received: Bearing 103.4, -15.3 (Local) 2025-10-27T06:34:30.101Z,1761546870.101 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 2025-10-27T06:34:30.106Z,1761546870.106 [DAT](INFO): DAT read: 06:34:28.8347 LVL= 32752, 32753, 26802, 32755, AGC= 55, IDX= 505, 0.41, 1.831, 0.477, 2.474, 1.915, PHS= 0.018,-1.393, 0.515, RAW= 164.5, 10.1, CAL= 164.5, 11.0, ROT= 345.5, -11.0 2025-10-27T06:34:30.107Z,1761546870.107 [DAT](INFO): got valid direction response: 06:34:28.8347 LVL= 32752, 32753, 26802, 32755, AGC= 55, IDX= 505, 0.41, 1.831, 0.477, 2.474, 1.915, PHS= 0.018,-1.393, 0.515, RAW= 164.5, 10.1, CAL= 164.5, 11.0, ROT= 345.5, -11.0 2025-10-27T06:34:30.107Z,1761546870.107 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-27T06:34:30.108Z,1761546870.108 [DAT](INFO): direction in FSK: [0.950360,-0.245780,0.190809] 2025-10-27T06:34:30.108Z,1761546870.108 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:30.116Z,1761546870.116 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.001352 2025-10-27T06:34:30.140Z,1761546870.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504158 s, deltaX: -0.299999 m, approachRate: -0.595050 m/s, rangeRepo size: 4 2025-10-27T06:34:30.142Z,1761546870.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.954947 m, bearing: 275.342308 deg, lat: 36.779487 deg, lon: -121.859839 deg, deltaT: 0.504158 s, deltaX: -0.297941 m, approachRate: -0.590968 m/s, posRepo size: 4 2025-10-27T06:34:30.148Z,1761546870.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.95 m. 2025-10-27T06:34:30.150Z,1761546870.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.954947 m, nav range: 21.398363 m, bearing: 274.283212 deg, approach rate: 0.000000 m/s, LOS rate: -0.080381 deg/s, cmd heading: 285.362134 deg, new cmd heading: 285.242921 deg. 2025-10-27T06:34:30.159Z,1761546870.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.978428 target range: 21.954947 and range: 22.10 m. 2025-10-27T06:34:30.355Z,1761546870.355 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.239349 2025-10-27T06:34:30.445Z,1761546870.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307478,0.939128,0.153286],[-0.951413,0.300635,0.066567],[0.016432,-0.166306,0.985937]] 2025-10-27T06:34:30.561Z,1761546870.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:30.563Z,1761546870.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.95 m. 2025-10-27T06:34:30.566Z,1761546870.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.954947 m, nav range: 21.176208 m, bearing: 274.244286 deg, approach rate: -0.524830 m/s, LOS rate: -0.092925 deg/s, cmd heading: 285.242934 deg, new cmd heading: 285.124931 deg. 2025-10-27T06:34:30.567Z,1761546870.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.976369 target range: 21.954947 and range: 22.10 m. 2025-10-27T06:34:30.602Z,1761546870.602 [DAT](INFO): DAT read: Rx Time:06:34:29.3346 2025-10-27T06:34:30.602Z,1761546870.602 [DAT](INFO): Rx dataTimestamp_ set to:1761546870.601859 2025-10-27T06:34:30.604Z,1761546870.604 [DAT](INFO): DAT read: Bearing 104.2, -15.7 (Local) 2025-10-27T06:34:30.605Z,1761546870.605 [DAT](INFO): Local bearing/azimuth received: Bearing 104.2, -15.7 (Local) 2025-10-27T06:34:30.608Z,1761546870.608 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-27T06:34:30.623Z,1761546870.623 [DAT](INFO): DAT read: 06:34:29.3346 LVL= 32752, 32753, 25394, 32755, AGC= 56, IDX= 505, 0.03, 2.085, 0.721, 2.749, 2.193, PHS=-0.006,-1.426, 0.513, RAW= 165.0, 10.6, CAL= 165.0, 11.8, ROT= 345.0, -11.8 2025-10-27T06:34:30.625Z,1761546870.625 [DAT](INFO): got valid direction response: 06:34:29.3346 LVL= 32752, 32753, 25394, 32755, AGC= 56, IDX= 505, 0.03, 2.085, 0.721, 2.749, 2.193, PHS=-0.006,-1.426, 0.513, RAW= 165.0, 10.6, CAL= 165.0, 11.8, ROT= 345.0, -11.8 2025-10-27T06:34:30.625Z,1761546870.625 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-27T06:34:30.626Z,1761546870.626 [DAT](INFO): direction in FSK: [0.945513,-0.253349,0.204496] 2025-10-27T06:34:30.626Z,1761546870.626 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:30.654Z,1761546870.654 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.539675 2025-10-27T06:34:30.852Z,1761546870.852 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.737295 2025-10-27T06:34:30.884Z,1761546870.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.505078 s, deltaX: -0.200001 m, approachRate: -0.395980 m/s, rangeRepo size: 4 2025-10-27T06:34:30.887Z,1761546870.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.756258 m, bearing: 274.998108 deg, lat: 36.779487 deg, lon: -121.859839 deg, deltaT: 0.505078 s, deltaX: -0.198689 m, approachRate: -0.393382 m/s, posRepo size: 4 2025-10-27T06:34:30.887Z,1761546870.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.76 m. 2025-10-27T06:34:30.890Z,1761546870.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.756258 m, nav range: 21.035843 m, bearing: 274.219267 deg, approach rate: 0.000000 m/s, LOS rate: -0.092925 deg/s, cmd heading: 285.124936 deg, new cmd heading: 285.036964 deg. 2025-10-27T06:34:30.892Z,1761546870.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.974833 target range: 21.756258 and range: 21.90 m. 2025-10-27T06:34:31.105Z,1761546871.105 [DAT](INFO): DAT read: Rx Time:06:34:29.8344 2025-10-27T06:34:31.106Z,1761546871.106 [DAT](INFO): Rx dataTimestamp_ set to:1761546871.105650 2025-10-27T06:34:31.108Z,1761546871.108 [DAT](INFO): DAT read: Bearing 103.2, -15.9 (Local) 2025-10-27T06:34:31.109Z,1761546871.109 [DAT](INFO): Local bearing/azimuth received: Bearing 103.2, -15.9 (Local) 2025-10-27T06:34:31.112Z,1761546871.112 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 2025-10-27T06:34:31.117Z,1761546871.117 [DAT](INFO): DAT read: 06:34:29.8344 LVL= 32752, 32753, 26546, 32755, AGC= 56, IDX= 503,-0.39, 0.219,-1.130, 0.901, 0.319, PHS= 0.003,-1.403, 0.539, RAW= 165.5, 9.9, CAL= 165.4, 10.9, ROT= 344.6, -10.9 2025-10-27T06:34:31.118Z,1761546871.118 [DAT](INFO): got valid direction response: 06:34:29.8344 LVL= 32752, 32753, 26546, 32755, AGC= 56, IDX= 503,-0.39, 0.219,-1.130, 0.901, 0.319, PHS= 0.003,-1.403, 0.539, RAW= 165.5, 9.9, CAL= 165.4, 10.9, ROT= 344.6, -10.9 2025-10-27T06:34:31.118Z,1761546871.118 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-27T06:34:31.120Z,1761546871.120 [DAT](INFO): direction in FSK: [0.946702,-0.260765,0.189095] 2025-10-27T06:34:31.120Z,1761546871.120 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:31.134Z,1761546871.134 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.018959 2025-10-27T06:34:31.226Z,1761546871.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307223,0.938251,0.159058],[-0.951430,0.299343,0.071939],[0.019884,-0.173434,0.984645]] 2025-10-27T06:34:31.277Z,1761546871.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503791 s, deltaX: -0.299999 m, approachRate: -0.595484 m/s, rangeRepo size: 4 2025-10-27T06:34:31.278Z,1761546871.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.458227 m, bearing: 274.517835 deg, lat: 36.779488 deg, lon: -121.859838 deg, deltaT: 0.503791 s, deltaX: -0.298031 m, approachRate: -0.591576 m/s, posRepo size: 4 2025-10-27T06:34:31.283Z,1761546871.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.46 m. 2025-10-27T06:34:31.286Z,1761546871.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.458227 m, nav range: 20.808676 m, bearing: 274.510686 deg, approach rate: 0.000000 m/s, LOS rate: -0.092925 deg/s, cmd heading: 285.036963 deg, new cmd heading: 284.926170 deg. 2025-10-27T06:34:31.291Z,1761546871.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.972900 target range: 21.458227 and range: 21.60 m. 2025-10-27T06:34:31.357Z,1761546871.357 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.242367 2025-10-27T06:34:31.608Z,1761546871.608 [DAT](INFO): DAT read: Rx Time:06:34:30.3342 2025-10-27T06:34:31.609Z,1761546871.609 [DAT](INFO): Rx dataTimestamp_ set to:1761546871.608673 2025-10-27T06:34:31.610Z,1761546871.610 [DAT](INFO): DAT read: Bearing 103.1, -15.8 (Local) 2025-10-27T06:34:31.611Z,1761546871.611 [DAT](INFO): Local bearing/azimuth received: Bearing 103.1, -15.8 (Local) 2025-10-27T06:34:31.613Z,1761546871.613 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 2025-10-27T06:34:31.621Z,1761546871.621 [DAT](INFO): DAT read: 06:34:30.3342 LVL= 32752, 32753, 24210, 32755, AGC= 56, IDX= 501, 0.05, 2.531, 1.159,-3.063, 2.630, PHS= 0.003,-1.426, 0.546, RAW= 165.5, 10.0, CAL= 165.4, 10.9, ROT= 344.6, -10.9 2025-10-27T06:34:31.622Z,1761546871.622 [DAT](INFO): got valid direction response: 06:34:30.3342 LVL= 32752, 32753, 24210, 32755, AGC= 56, IDX= 501, 0.05, 2.531, 1.159,-3.063, 2.630, PHS= 0.003,-1.426, 0.546, RAW= 165.5, 10.0, CAL= 165.4, 10.9, ROT= 344.6, -10.9 2025-10-27T06:34:31.634Z,1761546871.634 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-27T06:34:31.635Z,1761546871.635 [DAT](INFO): direction in FSK: [0.946702,-0.260765,0.189095] 2025-10-27T06:34:31.635Z,1761546871.635 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:31.638Z,1761546871.638 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.523680 2025-10-27T06:34:31.661Z,1761546871.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307260,0.937766,0.161823],[-0.951389,0.298919,0.074205],[0.021214,-0.176757,0.984026]] 2025-10-27T06:34:31.778Z,1761546871.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503023 s, deltaX: -0.300001 m, approachRate: -0.596396 m/s, rangeRepo size: 4 2025-10-27T06:34:31.784Z,1761546871.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.160196 m, bearing: 274.560925 deg, lat: 36.779488 deg, lon: -121.859838 deg, deltaT: 0.503023 s, deltaX: -0.298031 m, approachRate: -0.592480 m/s, posRepo size: 4 2025-10-27T06:34:31.785Z,1761546871.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.16 m. 2025-10-27T06:34:31.793Z,1761546871.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.160196 m, nav range: 20.532715 m, bearing: 274.548350 deg, approach rate: 0.000000 m/s, LOS rate: -0.092925 deg/s, cmd heading: 284.926177 deg, new cmd heading: 284.786347 deg. 2025-10-27T06:34:31.794Z,1761546871.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.970459 target range: 21.160196 and range: 21.30 m. 2025-10-27T06:34:31.861Z,1761546871.861 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.746389 2025-10-27T06:34:32.112Z,1761546872.112 [DAT](INFO): DAT read: Rx Time:06:34:30.8340 2025-10-27T06:34:32.113Z,1761546872.113 [DAT](INFO): Rx dataTimestamp_ set to:1761546872.112671 2025-10-27T06:34:32.114Z,1761546872.114 [DAT](INFO): DAT read: Bearing 102.7, -15.6 (Local) 2025-10-27T06:34:32.115Z,1761546872.115 [DAT](INFO): Local bearing/azimuth received: Bearing 102.7, -15.6 (Local) 2025-10-27T06:34:32.117Z,1761546872.117 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-27T06:34:32.121Z,1761546872.121 [DAT](INFO): DAT read: 06:34:30.8340 LVL= 32752, 32753, 31266, 32755, AGC= 58, IDX= 499,-0.36, 0.041,-1.326, 0.723, 0.132, PHS= 0.011,-1.413, 0.548, RAW= 165.3, 9.8, CAL= 165.3, 10.6, ROT= 344.7, -10.6 2025-10-27T06:34:32.122Z,1761546872.122 [DAT](INFO): got valid direction response: 06:34:30.8340 LVL= 32752, 32753, 31266, 32755, AGC= 58, IDX= 499,-0.36, 0.041,-1.326, 0.723, 0.132, PHS= 0.011,-1.413, 0.548, RAW= 165.3, 9.8, CAL= 165.3, 10.6, ROT= 344.7, -10.6 2025-10-27T06:34:32.123Z,1761546872.123 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-27T06:34:32.124Z,1761546872.124 [DAT](INFO): direction in FSK: [0.948098,-0.259370,0.183951] 2025-10-27T06:34:32.124Z,1761546872.124 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:32.128Z,1761546872.128 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.012903 2025-10-27T06:34:32.130Z,1761546872.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307163,0.937272,0.164838],[-0.951390,0.298331,0.076526],[0.022550,-0.180331,0.983347]] 2025-10-27T06:34:32.173Z,1761546872.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503998 s, deltaX: -0.299999 m, approachRate: -0.595239 m/s, rangeRepo size: 4 2025-10-27T06:34:32.184Z,1761546872.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.862123 m, bearing: 274.645734 deg, lat: 36.779489 deg, lon: -121.859838 deg, deltaT: 0.503998 s, deltaX: -0.298073 m, approachRate: -0.591417 m/s, posRepo size: 4 2025-10-27T06:34:32.184Z,1761546872.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.86 m. 2025-10-27T06:34:32.191Z,1761546872.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.862123 m, nav range: 20.296009 m, bearing: 274.624884 deg, approach rate: 0.000000 m/s, LOS rate: -0.092925 deg/s, cmd heading: 284.786349 deg, new cmd heading: 284.676149 deg. 2025-10-27T06:34:32.192Z,1761546872.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.968536 target range: 20.862123 and range: 21.00 m. 2025-10-27T06:34:32.367Z,1761546872.367 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.251419 2025-10-27T06:34:32.541Z,1761546872.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306957,0.937134,0.166004],[-0.951426,0.297792,0.078162],[0.023813,-0.181932,0.983023]] 2025-10-27T06:34:32.596Z,1761546872.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:32.598Z,1761546872.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.86 m. 2025-10-27T06:34:32.613Z,1761546872.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.862123 m, nav range: 20.072645 m, bearing: 274.597956 deg, approach rate: -0.524870 m/s, LOS rate: -0.063982 deg/s, cmd heading: 284.676137 deg, new cmd heading: 284.594453 deg. 2025-10-27T06:34:32.614Z,1761546872.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967110 target range: 20.862123 and range: 21.00 m. 2025-10-27T06:34:32.617Z,1761546872.617 [DAT](INFO): DAT read: Rx Time:06:34:31.3339 2025-10-27T06:34:32.617Z,1761546872.617 [DAT](INFO): Rx dataTimestamp_ set to:1761546872.616803 2025-10-27T06:34:32.618Z,1761546872.618 [DAT](INFO): DAT read: Bearing 102.2, -15.5 (Local) 2025-10-27T06:34:32.619Z,1761546872.619 [DAT](INFO): Local bearing/azimuth received: Bearing 102.2, -15.5 (Local) 2025-10-27T06:34:32.621Z,1761546872.621 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 2025-10-27T06:34:32.626Z,1761546872.626 [DAT](INFO): DAT read: 06:34:31.3339 LVL= 32752, 32753, 24338, 32755, AGC= 57, IDX= 498, 0.08, 3.107, 1.740,-2.486,-3.091, PHS= 0.017,-1.408, 0.561, RAW= 165.5, 9.5, CAL= 165.4, 10.2, ROT= 344.6, -10.2 2025-10-27T06:34:32.627Z,1761546872.627 [DAT](INFO): got valid direction response: 06:34:31.3339 LVL= 32752, 32753, 24338, 32755, AGC= 57, IDX= 498, 0.08, 3.107, 1.740,-2.486,-3.091, PHS= 0.017,-1.408, 0.561, RAW= 165.5, 9.5, CAL= 165.4, 10.2, ROT= 344.6, -10.2 2025-10-27T06:34:32.628Z,1761546872.628 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-27T06:34:32.629Z,1761546872.629 [DAT](INFO): direction in FSK: [0.948859,-0.261359,0.177085] 2025-10-27T06:34:32.629Z,1761546872.629 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:32.637Z,1761546872.637 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.522009 2025-10-27T06:34:32.872Z,1761546872.872 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.757421 2025-10-27T06:34:32.980Z,1761546872.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.307350,0.936920,0.166486],[-0.951283,0.298016,0.079046],[0.024444,-0.182671,0.982870]] 2025-10-27T06:34:33.050Z,1761546873.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.504132 s, deltaX: -0.100000 m, approachRate: -0.198362 m/s, rangeRepo size: 4 2025-10-27T06:34:33.060Z,1761546873.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.762829 m, bearing: 274.510292 deg, lat: 36.779489 deg, lon: -121.859838 deg, deltaT: 0.504132 s, deltaX: -0.099295 m, approachRate: -0.196962 m/s, posRepo size: 4 2025-10-27T06:34:33.061Z,1761546873.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.76 m. 2025-10-27T06:34:33.068Z,1761546873.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.762829 m, nav range: 19.904881 m, bearing: 274.559250 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 284.594448 deg, new cmd heading: 284.507905 deg. 2025-10-27T06:34:33.069Z,1761546873.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.965600 target range: 20.762829 and range: 20.90 m. 2025-10-27T06:34:33.125Z,1761546873.125 [DAT](INFO): DAT read: Rx Time:06:34:31.8337 2025-10-27T06:34:33.125Z,1761546873.125 [DAT](INFO): Rx dataTimestamp_ set to:1761546873.125076 2025-10-27T06:34:33.127Z,1761546873.127 [DAT](INFO): DAT read: Bearing 102.4, -15.6 (Local) 2025-10-27T06:34:33.128Z,1761546873.128 [DAT](INFO): Local bearing/azimuth received: Bearing 102.4, -15.6 (Local) 2025-10-27T06:34:33.135Z,1761546873.135 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 2025-10-27T06:34:33.142Z,1761546873.142 [DAT](INFO): DAT read: 06:34:31.8337 LVL= 32752, 32753, 29058, 32755, AGC= 57, IDX= 496,-0.31,-0.034,-1.385, 0.654, 0.058, PHS= 0.010,-1.398, 0.552, RAW= 165.6, 9.6, CAL= 165.5, 10.5, ROT= 344.5, -10.5 2025-10-27T06:34:33.149Z,1761546873.149 [DAT](INFO): got valid direction response: 06:34:31.8337 LVL= 32752, 32753, 29058, 32755, AGC= 57, IDX= 496,-0.31,-0.034,-1.385, 0.654, 0.058, PHS= 0.010,-1.398, 0.552, RAW= 165.6, 9.6, CAL= 165.5, 10.5, ROT= 344.5, -10.5 2025-10-27T06:34:33.150Z,1761546873.150 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-27T06:34:33.196Z,1761546873.196 [DAT](INFO): direction in FSK: [0.947494,-0.262764,0.182236] 2025-10-27T06:34:33.196Z,1761546873.196 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:33.208Z,1761546873.208 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.093550 2025-10-27T06:34:33.376Z,1761546873.376 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.261486 2025-10-27T06:34:33.422Z,1761546873.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306913,0.936877,0.167526],[-0.951399,0.297317,0.080270],[0.025395,-0.184019,0.982594]] 2025-10-27T06:34:33.585Z,1761546873.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.508273 s, deltaX: -0.299999 m, approachRate: -0.590232 m/s, rangeRepo size: 4 2025-10-27T06:34:33.595Z,1761546873.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.464798 m, bearing: 274.453258 deg, lat: 36.779489 deg, lon: -121.859838 deg, deltaT: 0.508273 s, deltaX: -0.298031 m, approachRate: -0.586360 m/s, posRepo size: 4 2025-10-27T06:34:33.596Z,1761546873.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.46 m. 2025-10-27T06:34:33.598Z,1761546873.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.464798 m, nav range: 19.674559 m, bearing: 274.483389 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 284.507896 deg, new cmd heading: 284.405239 deg. 2025-10-27T06:34:33.608Z,1761546873.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.963808 target range: 20.464798 and range: 20.60 m. 2025-10-27T06:34:33.629Z,1761546873.629 [DAT](INFO): DAT read: Rx Time:06:34:32.3336 2025-10-27T06:34:33.629Z,1761546873.629 [DAT](INFO): Rx dataTimestamp_ set to:1761546873.628905 2025-10-27T06:34:33.630Z,1761546873.630 [DAT](INFO): DAT read: Bearing 102.8, -15.5 (Local) 2025-10-27T06:34:33.631Z,1761546873.631 [DAT](INFO): Local bearing/azimuth received: Bearing 102.8, -15.5 (Local) 2025-10-27T06:34:33.633Z,1761546873.633 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-27T06:34:33.638Z,1761546873.638 [DAT](INFO): DAT read: 06:34:32.3336 LVL= 32752, 32753, 29090, 32755, AGC= 57, IDX= 511, 0.10,-3.130, 1.787,-2.444,-3.032, PHS= 0.005,-1.419, 0.544, RAW= 165.4, 9.9, CAL= 165.3, 10.9, ROT= 344.7, -10.9 2025-10-27T06:34:33.639Z,1761546873.639 [DAT](INFO): got valid direction response: 06:34:32.3336 LVL= 32752, 32753, 29090, 32755, AGC= 57, IDX= 511, 0.10,-3.130, 1.787,-2.444,-3.032, PHS= 0.005,-1.419, 0.544, RAW= 165.4, 9.9, CAL= 165.3, 10.9, ROT= 344.7, -10.9 2025-10-27T06:34:33.639Z,1761546873.639 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-27T06:34:33.641Z,1761546873.641 [DAT](INFO): direction in FSK: [0.947156,-0.259112,0.189095] 2025-10-27T06:34:33.641Z,1761546873.641 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:33.645Z,1761546873.645 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.529922 2025-10-27T06:34:33.880Z,1761546873.880 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.765715 2025-10-27T06:34:34.026Z,1761546874.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306867,0.936866,0.167674],[-0.951404,0.297192,0.080668],[0.025744,-0.184280,0.982537]] 2025-10-27T06:34:34.097Z,1761546874.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503829 s, deltaX: -0.200001 m, approachRate: -0.396962 m/s, rangeRepo size: 4 2025-10-27T06:34:34.103Z,1761546874.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.266138 m, bearing: 274.726033 deg, lat: 36.779489 deg, lon: -121.859840 deg, deltaT: 0.503829 s, deltaX: -0.198660 m, approachRate: -0.394300 m/s, posRepo size: 4 2025-10-27T06:34:34.104Z,1761546874.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m. 2025-10-27T06:34:34.111Z,1761546874.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.266138 m, nav range: 19.510571 m, bearing: 274.448943 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 284.405252 deg, new cmd heading: 284.306882 deg. 2025-10-27T06:34:34.112Z,1761546874.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.962091 target range: 20.266138 and range: 20.40 m. 2025-10-27T06:34:34.133Z,1761546874.133 [DAT](INFO): DAT read: Rx Time:06:34:32.8334 2025-10-27T06:34:34.133Z,1761546874.133 [DAT](INFO): Rx dataTimestamp_ set to:1761546874.132702 2025-10-27T06:34:34.134Z,1761546874.134 [DAT](INFO): DAT read: Bearing 102.2, -15.8 (Local) 2025-10-27T06:34:34.135Z,1761546874.135 [DAT](INFO): Local bearing/azimuth received: Bearing 102.2, -15.8 (Local) 2025-10-27T06:34:34.137Z,1761546874.137 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 2025-10-27T06:34:34.141Z,1761546874.141 [DAT](INFO): DAT read: 06:34:32.8334 LVL= 32752, 32753, 26978, 32755, AGC= 56, IDX= 509,-0.33, 0.072,-1.277, 0.770, 0.167, PHS= 0.007,-1.399, 0.559, RAW= 165.9, 9.6, CAL= 165.7, 10.4, ROT= 344.3, -10.4 2025-10-27T06:34:34.143Z,1761546874.143 [DAT](INFO): got valid direction response: 06:34:32.8334 LVL= 32752, 32753, 26978, 32755, AGC= 56, IDX= 509,-0.33, 0.072,-1.277, 0.770, 0.167, PHS= 0.007,-1.399, 0.559, RAW= 165.9, 9.6, CAL= 165.7, 10.4, ROT= 344.3, -10.4 2025-10-27T06:34:34.143Z,1761546874.143 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-27T06:34:34.144Z,1761546874.144 [DAT](INFO): direction in FSK: [0.946876,-0.266155,0.180519] 2025-10-27T06:34:34.144Z,1761546874.144 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:34.148Z,1761546874.148 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.033390 2025-10-27T06:34:34.385Z,1761546874.385 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.269794 2025-10-27T06:34:34.479Z,1761546874.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306880,0.937053,0.166601],[-0.951402,0.297313,0.080240],[0.025657,-0.183129,0.982754]] 2025-10-27T06:34:34.633Z,1761546874.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503797 s, deltaX: -0.299999 m, approachRate: -0.595476 m/s, rangeRepo size: 4 2025-10-27T06:34:34.637Z,1761546874.637 [DAT](INFO): DAT read: Rx Time:06:34:33.3333 2025-10-27T06:34:34.637Z,1761546874.637 [DAT](INFO): Rx dataTimestamp_ set to:1761546874.636822 2025-10-27T06:34:34.638Z,1761546874.638 [DAT](INFO): DAT read: Bearing 102.7, -15.4 (Local) 2025-10-27T06:34:34.639Z,1761546874.639 [DAT](INFO): Local bearing/azimuth received: Bearing 102.7, -15.4 (Local) 2025-10-27T06:34:34.641Z,1761546874.641 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 2025-10-27T06:34:34.646Z,1761546874.646 [DAT](INFO): DAT read: 06:34:33.3333 LVL= 32752, 32753, 28882, 32755, AGC= 56, IDX= 508,-0.01, 2.406, 1.047, 3.089, 2.501, PHS= 0.007,-1.409, 0.545, RAW= 165.5, 9.8, CAL= 165.4, 10.8, ROT= 344.6, -10.8 2025-10-27T06:34:34.647Z,1761546874.647 [DAT](INFO): got valid direction response: 06:34:33.3333 LVL= 32752, 32753, 28882, 32755, AGC= 56, IDX= 508,-0.01, 2.406, 1.047, 3.089, 2.501, PHS= 0.007,-1.409, 0.545, RAW= 165.5, 9.8, CAL= 165.4, 10.8, ROT= 344.6, -10.8 2025-10-27T06:34:34.647Z,1761546874.647 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-27T06:34:34.648Z,1761546874.648 [DAT](INFO): direction in FSK: [0.947019,-0.260852,0.187381] 2025-10-27T06:34:34.648Z,1761546874.648 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:34.653Z,1761546874.653 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.537823 2025-10-27T06:34:34.654Z,1761546874.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.968107 m, bearing: 274.220565 deg, lat: 36.779489 deg, lon: -121.859840 deg, deltaT: 0.503797 s, deltaX: -0.298031 m, approachRate: -0.591569 m/s, posRepo size: 4 2025-10-27T06:34:34.654Z,1761546874.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.97 m. 2025-10-27T06:34:34.673Z,1761546874.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.968107 m, nav range: 19.276873 m, bearing: 274.382092 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 284.306870 deg, new cmd heading: 284.203996 deg. 2025-10-27T06:34:34.674Z,1761546874.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.960296 target range: 19.968107 and range: 20.10 m. 2025-10-27T06:34:34.888Z,1761546874.888 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.773380 2025-10-27T06:34:35.021Z,1761546875.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306164,0.937418,0.165868],[-0.951625,0.296620,0.080162],[0.025946,-0.182387,0.982884]] 2025-10-27T06:34:35.093Z,1761546875.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504120 s, deltaX: -0.100000 m, approachRate: -0.198366 m/s, rangeRepo size: 4 2025-10-27T06:34:35.099Z,1761546875.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.868727 m, bearing: 274.539115 deg, lat: 36.779489 deg, lon: -121.859841 deg, deltaT: 0.504120 s, deltaX: -0.099380 m, approachRate: -0.197137 m/s, posRepo size: 4 2025-10-27T06:34:35.100Z,1761546875.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.87 m. 2025-10-27T06:34:35.102Z,1761546875.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.868727 m, nav range: 19.080221 m, bearing: 274.336251 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 284.204007 deg, new cmd heading: 284.115783 deg. 2025-10-27T06:34:35.107Z,1761546875.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.958756 target range: 19.868727 and range: 20.00 m. 2025-10-27T06:34:35.141Z,1761546875.141 [DAT](INFO): DAT read: Rx Time:06:34:33.8331 2025-10-27T06:34:35.141Z,1761546875.141 [DAT](INFO): Rx dataTimestamp_ set to:1761546875.140872 2025-10-27T06:34:35.142Z,1761546875.142 [DAT](INFO): DAT read: Bearing 102.7, -15.4 (Local) 2025-10-27T06:34:35.143Z,1761546875.143 [DAT](INFO): Local bearing/azimuth received: Bearing 102.7, -15.4 (Local) 2025-10-27T06:34:35.145Z,1761546875.145 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 2025-10-27T06:34:35.150Z,1761546875.150 [DAT](INFO): DAT read: 06:34:33.8331 LVL= 32752, 32753, 29058, 32755, AGC= 56, IDX= 505, 0.31, 2.332, 0.957, 3.018, 2.427, PHS= 0.007,-1.424, 0.548, RAW= 165.4, 9.9, CAL= 165.3, 10.8, ROT= 344.7, -10.8 2025-10-27T06:34:35.151Z,1761546875.151 [DAT](INFO): got valid direction response: 06:34:33.8331 LVL= 32752, 32753, 29058, 32755, AGC= 56, IDX= 505, 0.31, 2.332, 0.957, 3.018, 2.427, PHS= 0.007,-1.424, 0.548, RAW= 165.4, 9.9, CAL= 165.3, 10.8, ROT= 344.7, -10.8 2025-10-27T06:34:35.151Z,1761546875.151 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-27T06:34:35.152Z,1761546875.152 [DAT](INFO): direction in FSK: [0.947472,-0.259199,0.187381] 2025-10-27T06:34:35.152Z,1761546875.152 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:35.168Z,1761546875.168 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.052944 2025-10-27T06:34:35.378Z,1761546875.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305038,0.937951,0.164922],[-0.951977,0.295536,0.079983],[0.026280,-0.181400,0.983058]] 2025-10-27T06:34:35.392Z,1761546875.392 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.277740 2025-10-27T06:34:35.479Z,1761546875.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.504050 s, deltaX: -0.500000 m, approachRate: -0.991965 m/s, rangeRepo size: 4 2025-10-27T06:34:35.498Z,1761546875.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.372009 m, bearing: 274.557109 deg, lat: 36.779489 deg, lon: -121.859840 deg, deltaT: 0.504050 s, deltaX: -0.496717 m, approachRate: -0.985453 m/s, posRepo size: 4 2025-10-27T06:34:35.506Z,1761546875.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.37 m. 2025-10-27T06:34:35.528Z,1761546875.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.372009 m, nav range: 18.854734 m, bearing: 274.525951 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 284.115789 deg, new cmd heading: 284.044115 deg. 2025-10-27T06:34:35.536Z,1761546875.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.957505 target range: 19.372009 and range: 19.50 m. 2025-10-27T06:34:35.645Z,1761546875.645 [DAT](INFO): DAT read: Rx Time:06:34:34.3330 2025-10-27T06:34:35.645Z,1761546875.645 [DAT](INFO): Rx dataTimestamp_ set to:1761546875.644919 2025-10-27T06:34:35.646Z,1761546875.646 [DAT](INFO): DAT read: Bearing 102.2, -15.7 (Local) 2025-10-27T06:34:35.647Z,1761546875.647 [DAT](INFO): Local bearing/azimuth received: Bearing 102.2, -15.7 (Local) 2025-10-27T06:34:35.649Z,1761546875.649 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 2025-10-27T06:34:35.654Z,1761546875.654 [DAT](INFO): DAT read: 06:34:34.3330 LVL= 32752, 32753, 24802, 32755, AGC= 55, IDX= 504,-0.26,-0.077,-1.420, 0.622, 0.021, PHS= 0.004,-1.396, 0.557, RAW= 165.9, 9.6, CAL= 165.8, 10.5, ROT= 344.2, -10.5 2025-10-27T06:34:35.656Z,1761546875.656 [DAT](INFO): got valid direction response: 06:34:34.3330 LVL= 32752, 32753, 24802, 32755, AGC= 55, IDX= 504,-0.26,-0.077,-1.420, 0.622, 0.021, PHS= 0.004,-1.396, 0.557, RAW= 165.9, 9.6, CAL= 165.8, 10.5, ROT= 344.2, -10.5 2025-10-27T06:34:35.656Z,1761546875.656 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-27T06:34:35.657Z,1761546875.657 [DAT](INFO): direction in FSK: [0.946106,-0.267721,0.182236] 2025-10-27T06:34:35.657Z,1761546875.657 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:35.661Z,1761546875.661 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.546459 2025-10-27T06:34:35.790Z,1761546875.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303142,0.938627,0.164575],[-0.952562,0.293569,0.080266],[0.027025,-0.181100,0.983093]] 2025-10-27T06:34:35.896Z,1761546875.896 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.781330 2025-10-27T06:34:36.037Z,1761546876.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504047 s, deltaX: -0.100000 m, approachRate: -0.198395 m/s, rangeRepo size: 4 2025-10-27T06:34:36.048Z,1761546876.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.272596 m, bearing: 273.882618 deg, lat: 36.779489 deg, lon: -121.859841 deg, deltaT: 0.504047 s, deltaX: -0.099413 m, approachRate: -0.197229 m/s, posRepo size: 4 2025-10-27T06:34:36.049Z,1761546876.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.27 m. 2025-10-27T06:34:36.055Z,1761546876.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.272596 m, nav range: 18.612392 m, bearing: 274.434759 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 284.044126 deg, new cmd heading: 283.934466 deg. 2025-10-27T06:34:36.056Z,1761546876.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.955591 target range: 19.272596 and range: 19.40 m. 2025-10-27T06:34:36.149Z,1761546876.149 [DAT](INFO): DAT read: Rx Time:06:34:34.8327 2025-10-27T06:34:36.149Z,1761546876.149 [DAT](INFO): Rx dataTimestamp_ set to:1761546876.148842 2025-10-27T06:34:36.150Z,1761546876.150 [DAT](INFO): DAT read: Bearing 102.1, -15.5 (Local) 2025-10-27T06:34:36.151Z,1761546876.151 [DAT](INFO): Local bearing/azimuth received: Bearing 102.1, -15.5 (Local) 2025-10-27T06:34:36.153Z,1761546876.153 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4 2025-10-27T06:34:36.158Z,1761546876.158 [DAT](INFO): DAT read: 06:34:34.8327 LVL= 32752, 32753, 25810, 32755, AGC= 55, IDX= 501,-0.09,-0.746,-2.097,-0.053,-0.654, PHS= 0.009,-1.399, 0.556, RAW= 165.7, 9.6, CAL= 165.6, 10.4, ROT= 344.4, -10.4 2025-10-27T06:34:36.159Z,1761546876.159 [DAT](INFO): got valid direction response: 06:34:34.8327 LVL= 32752, 32753, 25810, 32755, AGC= 55, IDX= 501,-0.09,-0.746,-2.097,-0.053,-0.654, PHS= 0.009,-1.399, 0.556, RAW= 165.7, 9.6, CAL= 165.6, 10.4, ROT= 344.4, -10.4 2025-10-27T06:34:36.159Z,1761546876.159 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-27T06:34:36.160Z,1761546876.160 [DAT](INFO): direction in FSK: [0.947339,-0.264502,0.180519] 2025-10-27T06:34:36.161Z,1761546876.161 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:36.164Z,1761546876.164 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.049625 2025-10-27T06:34:36.394Z,1761546876.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297978,0.939956,0.166407],[-0.954144,0.288060,0.081429],[0.028604,-0.183040,0.982689]] 2025-10-27T06:34:36.400Z,1761546876.400 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.285324 2025-10-27T06:34:36.568Z,1761546876.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503923 s, deltaX: -0.500000 m, approachRate: -0.992215 m/s, rangeRepo size: 4 2025-10-27T06:34:36.570Z,1761546876.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.775879 m, bearing: 273.775467 deg, lat: 36.779488 deg, lon: -121.859841 deg, deltaT: 0.503923 s, deltaX: -0.496717 m, approachRate: -0.985701 m/s, posRepo size: 4 2025-10-27T06:34:36.579Z,1761546876.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m. 2025-10-27T06:34:36.582Z,1761546876.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.775879 m, nav range: 18.278122 m, bearing: 273.968968 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.934461 deg, new cmd heading: 283.833466 deg. 2025-10-27T06:34:36.591Z,1761546876.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.953828 target range: 18.775879 and range: 18.90 m. 2025-10-27T06:34:36.653Z,1761546876.653 [DAT](INFO): DAT read: Rx Time:06:34:35.3326 2025-10-27T06:34:36.653Z,1761546876.653 [DAT](INFO): Rx dataTimestamp_ set to:1761546876.652902 2025-10-27T06:34:36.654Z,1761546876.654 [DAT](INFO): DAT read: Bearing 102.5, -15.4 (Local) 2025-10-27T06:34:36.655Z,1761546876.655 [DAT](INFO): Local bearing/azimuth received: Bearing 102.5, -15.4 (Local) 2025-10-27T06:34:36.658Z,1761546876.658 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-27T06:34:36.665Z,1761546876.665 [DAT](INFO): DAT read: 06:34:35.3326 LVL= 32752, 32753, 26002, 32755, AGC= 55, IDX= 500,-0.00, 1.791, 0.431, 2.475, 1.890, PHS= 0.003,-1.414, 0.541, RAW= 165.4, 10.0, CAL= 165.4, 10.9, ROT= 344.6, -10.9 2025-10-27T06:34:36.666Z,1761546876.666 [DAT](INFO): got valid direction response: 06:34:35.3326 LVL= 32752, 32753, 26002, 32755, AGC= 55, IDX= 500,-0.00, 1.791, 0.431, 2.475, 1.890, PHS= 0.003,-1.414, 0.541, RAW= 165.4, 10.0, CAL= 165.4, 10.9, ROT= 344.6, -10.9 2025-10-27T06:34:36.667Z,1761546876.667 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-27T06:34:36.669Z,1761546876.669 [DAT](INFO): direction in FSK: [0.946702,-0.260765,0.189095] 2025-10-27T06:34:36.669Z,1761546876.669 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:36.688Z,1761546876.688 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.573135 2025-10-27T06:34:36.904Z,1761546876.904 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.789230 2025-10-27T06:34:36.936Z,1761546876.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295149,0.940461,0.168581],[-0.954998,0.284946,0.082368],[0.029428,-0.185306,0.982240]] 2025-10-27T06:34:37.053Z,1761546877.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504060 s, deltaX: -0.100000 m, approachRate: -0.198390 m/s, rangeRepo size: 4 2025-10-27T06:34:37.071Z,1761546877.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.676538 m, bearing: 273.924756 deg, lat: 36.779488 deg, lon: -121.859841 deg, deltaT: 0.504060 s, deltaX: -0.099340 m, approachRate: -0.197081 m/s, posRepo size: 4 2025-10-27T06:34:37.072Z,1761546877.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.68 m. 2025-10-27T06:34:37.079Z,1761546877.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.676538 m, nav range: 18.024546 m, bearing: 273.924817 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.833456 deg, new cmd heading: 283.739502 deg. 2025-10-27T06:34:37.080Z,1761546877.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.952188 target range: 18.676538 and range: 18.80 m. 2025-10-27T06:34:37.157Z,1761546877.157 [DAT](INFO): DAT read: Rx Time:06:34:35.8323 2025-10-27T06:34:37.157Z,1761546877.157 [DAT](INFO): Rx dataTimestamp_ set to:1761546877.156832 2025-10-27T06:34:37.158Z,1761546877.158 [DAT](INFO): DAT read: Bearing 101.8, -15.5 (Local) 2025-10-27T06:34:37.159Z,1761546877.159 [DAT](INFO): Local bearing/azimuth received: Bearing 101.8, -15.5 (Local) 2025-10-27T06:34:37.161Z,1761546877.161 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.5 2025-10-27T06:34:37.166Z,1761546877.166 [DAT](INFO): DAT read: 06:34:35.8323 LVL= 32752, 32753, 25490, 32755, AGC= 55, IDX= 497, 0.08, 1.250,-0.113, 1.944, 1.343, PHS= 0.010,-1.411, 0.558, RAW= 165.6, 9.6, CAL= 165.5, 10.4, ROT= 344.5, -10.4 2025-10-27T06:34:37.168Z,1761546877.168 [DAT](INFO): got valid direction response: 06:34:35.8323 LVL= 32752, 32753, 25490, 32755, AGC= 55, IDX= 497, 0.08, 1.250,-0.113, 1.944, 1.343, PHS= 0.010,-1.411, 0.558, RAW= 165.6, 9.6, CAL= 165.5, 10.4, ROT= 344.5, -10.4 2025-10-27T06:34:37.168Z,1761546877.168 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-27T06:34:37.170Z,1761546877.170 [DAT](INFO): direction in FSK: [0.947799,-0.262848,0.180519] 2025-10-27T06:34:37.170Z,1761546877.170 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:37.226Z,1761546877.226 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.111248 2025-10-27T06:34:37.408Z,1761546877.408 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.293526 2025-10-27T06:34:37.437Z,1761546877.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291873,0.941192,0.170197],[-0.955971,0.281394,0.083294],[0.030504,-0.187014,0.981883]] 2025-10-27T06:34:37.561Z,1761546877.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503930 s, deltaX: -0.299999 m, approachRate: -0.595319 m/s, rangeRepo size: 4 2025-10-27T06:34:37.568Z,1761546877.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.378510 m, bearing: 273.556095 deg, lat: 36.779488 deg, lon: -121.859841 deg, deltaT: 0.503930 s, deltaX: -0.298029 m, approachRate: -0.591409 m/s, posRepo size: 4 2025-10-27T06:34:37.569Z,1761546877.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.38 m. 2025-10-27T06:34:37.576Z,1761546877.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.378510 m, nav range: 17.734055 m, bearing: 273.632591 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.739500 deg, new cmd heading: 283.641923 deg. 2025-10-27T06:34:37.577Z,1761546877.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.950485 target range: 18.378510 and range: 18.50 m. 2025-10-27T06:34:37.662Z,1761546877.662 [DAT](INFO): DAT read: Rx Time:06:34:36.3322 2025-10-27T06:34:37.662Z,1761546877.662 [DAT](INFO): Rx dataTimestamp_ set to:1761546877.661813 2025-10-27T06:34:37.664Z,1761546877.664 [DAT](INFO): DAT read: Bearing 94.2, -6.0 (Local) 2025-10-27T06:34:37.665Z,1761546877.665 [DAT](INFO): Local bearing/azimuth received: Bearing 94.2, -6.0 (Local) 2025-10-27T06:34:37.668Z,1761546877.668 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 2025-10-27T06:34:37.674Z,1761546877.674 [DAT](INFO): DAT read: 06:34:36.3322 LVL= 32752, 32753, 26354, 32755, AGC= 55, IDX= 512, 0.13,-2.701, 2.217,-2.279,-2.910, PHS= 0.311,-1.111, 0.587, RAW= 158.7, 2.7, CAL= 157.4, 1.5, ROT= 352.6, -1.5 2025-10-27T06:34:37.676Z,1761546877.676 [DAT](INFO): got valid direction response: 06:34:36.3322 LVL= 32752, 32753, 26354, 32755, AGC= 55, IDX= 512, 0.13,-2.701, 2.217,-2.279,-2.910, PHS= 0.311,-1.111, 0.587, RAW= 158.7, 2.7, CAL= 157.4, 1.5, ROT= 352.6, -1.5 2025-10-27T06:34:37.677Z,1761546877.677 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-27T06:34:37.678Z,1761546877.678 [DAT](INFO): direction in FSK: [0.991331,-0.128751,0.026177] 2025-10-27T06:34:37.679Z,1761546877.679 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:37.701Z,1761546877.701 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.586094 2025-10-27T06:34:37.912Z,1761546877.912 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.797131 2025-10-27T06:34:38.090Z,1761546878.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504981 s, deltaX: -0.200001 m, approachRate: -0.396056 m/s, rangeRepo size: 4 2025-10-27T06:34:38.104Z,1761546878.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.179937 m, bearing: 279.972404 deg, lat: 36.779488 deg, lon: -121.859841 deg, deltaT: 0.504981 s, deltaX: -0.198572 m, approachRate: -0.393227 m/s, posRepo size: 4 2025-10-27T06:34:38.105Z,1761546878.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.18 m. 2025-10-27T06:34:38.116Z,1761546878.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.179937 m, nav range: 17.469069 m, bearing: 273.546267 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.641910 deg, new cmd heading: 283.540425 deg. 2025-10-27T06:34:38.117Z,1761546878.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.948714 target range: 18.179937 and range: 18.30 m. 2025-10-27T06:34:38.165Z,1761546878.165 [DAT](INFO): DAT read: Rx Time:06:34:36.8319 2025-10-27T06:34:38.165Z,1761546878.165 [DAT](INFO): Rx dataTimestamp_ set to:1761546878.164901 2025-10-27T06:34:38.166Z,1761546878.166 [DAT](INFO): DAT read: Bearing 102.4, -15.0 (Local) 2025-10-27T06:34:38.167Z,1761546878.167 [DAT](INFO): Local bearing/azimuth received: Bearing 102.4, -15.0 (Local) 2025-10-27T06:34:38.170Z,1761546878.170 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.5 2025-10-27T06:34:38.177Z,1761546878.177 [DAT](INFO): DAT read: 06:34:36.8319 LVL= 32752, 32753, 27026, 32755, AGC= 54, IDX= 509, 0.17, 1.916, 0.547, 2.581, 2.013, PHS= 0.006,-1.421, 0.524, RAW= 164.9, 10.2, CAL= 164.9, 11.3, ROT= 345.1, -11.3 2025-10-27T06:34:38.179Z,1761546878.179 [DAT](INFO): got valid direction response: 06:34:36.8319 LVL= 32752, 32753, 27026, 32755, AGC= 54, IDX= 509, 0.17, 1.916, 0.547, 2.581, 2.013, PHS= 0.006,-1.421, 0.524, RAW= 164.9, 10.2, CAL= 164.9, 11.3, ROT= 345.1, -11.3 2025-10-27T06:34:38.179Z,1761546878.179 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-27T06:34:38.181Z,1761546878.181 [DAT](INFO): direction in FSK: [0.947643,-0.252148,0.195946] 2025-10-27T06:34:38.181Z,1761546878.181 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:38.188Z,1761546878.188 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.073048 2025-10-27T06:34:38.418Z,1761546878.418 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.302513 2025-10-27T06:34:38.505Z,1761546878.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282874,0.942529,0.177823],[-0.958584,0.271393,0.086391],[0.033166,-0.194896,0.980263]] 2025-10-27T06:34:38.559Z,1761546878.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503088 s, deltaX: -0.400000 m, approachRate: -0.795089 m/s, rangeRepo size: 4 2025-10-27T06:34:38.561Z,1761546878.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.782562 m, bearing: 273.888739 deg, lat: 36.779488 deg, lon: -121.859841 deg, deltaT: 0.503088 s, deltaX: -0.397375 m, approachRate: -0.789872 m/s, posRepo size: 4 2025-10-27T06:34:38.562Z,1761546878.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.78 m. 2025-10-27T06:34:38.565Z,1761546878.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.782562 m, nav range: 17.152483 m, bearing: 273.682070 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.540414 deg, new cmd heading: 283.450432 deg. 2025-10-27T06:34:38.566Z,1761546878.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.947143 target range: 17.782562 and range: 17.90 m. 2025-10-27T06:34:38.669Z,1761546878.669 [DAT](INFO): DAT read: Rx Time:06:34:37.3318 2025-10-27T06:34:38.669Z,1761546878.669 [DAT](INFO): Rx dataTimestamp_ set to:1761546878.669208 2025-10-27T06:34:38.672Z,1761546878.672 [DAT](INFO): DAT read: Bearing 101.0, -15.4 (Local) 2025-10-27T06:34:38.672Z,1761546878.672 [DAT](INFO): Local bearing/azimuth received: Bearing 101.0, -15.4 (Local) 2025-10-27T06:34:38.674Z,1761546878.674 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.5 2025-10-27T06:34:38.678Z,1761546878.678 [DAT](INFO): DAT read: 06:34:37.3318 LVL= 32752, 32753, 22882, 32755, AGC= 53, IDX= 508, 0.27, 2.036, 0.683, 2.728, 2.126, PHS= 0.012,-1.398, 0.558, RAW= 165.7, 9.5, CAL= 165.6, 10.3, ROT= 344.4, -10.3 2025-10-27T06:34:38.680Z,1761546878.680 [DAT](INFO): got valid direction response: 06:34:37.3318 LVL= 32752, 32753, 22882, 32755, AGC= 53, IDX= 508, 0.27, 2.036, 0.683, 2.728, 2.126, PHS= 0.012,-1.398, 0.558, RAW= 165.7, 9.5, CAL= 165.6, 10.3, ROT= 344.4, -10.3 2025-10-27T06:34:38.680Z,1761546878.680 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-27T06:34:38.681Z,1761546878.681 [DAT](INFO): direction in FSK: [0.947641,-0.264586,0.178802] 2025-10-27T06:34:38.682Z,1761546878.682 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:38.685Z,1761546878.685 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.570644 2025-10-27T06:34:38.883Z,1761546878.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279602,0.943250,0.179172],[-0.959515,0.267916,0.086903],[0.033968,-0.196216,0.979972]] 2025-10-27T06:34:38.921Z,1761546878.921 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.806332 2025-10-27T06:34:39.032Z,1761546879.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504307 s, deltaX: -0.199999 m, approachRate: -0.396582 m/s, rangeRepo size: 4 2025-10-27T06:34:39.034Z,1761546879.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.583727 m, bearing: 272.814776 deg, lat: 36.779488 deg, lon: -121.859842 deg, deltaT: 0.504307 s, deltaX: -0.198835 m, approachRate: -0.394274 m/s, posRepo size: 4 2025-10-27T06:34:39.039Z,1761546879.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.58 m. 2025-10-27T06:34:39.042Z,1761546879.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.583727 m, nav range: 16.945887 m, bearing: 273.609586 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.450419 deg, new cmd heading: 283.360426 deg. 2025-10-27T06:34:39.043Z,1761546879.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.945572 target range: 17.583727 and range: 17.70 m. 2025-10-27T06:34:39.173Z,1761546879.173 [DAT](INFO): DAT read: Rx Time:06:34:37.8315 2025-10-27T06:34:39.173Z,1761546879.173 [DAT](INFO): Rx dataTimestamp_ set to:1761546879.172880 2025-10-27T06:34:39.174Z,1761546879.174 [DAT](INFO): DAT read: Bearing 102.9, -14.9 (Local) 2025-10-27T06:34:39.175Z,1761546879.175 [DAT](INFO): Local bearing/azimuth received: Bearing 102.9, -14.9 (Local) 2025-10-27T06:34:39.177Z,1761546879.177 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.5 2025-10-27T06:34:39.182Z,1761546879.182 [DAT](INFO): DAT read: 06:34:37.8315 LVL= 32752, 32753, 27506, 32755, AGC= 54, IDX= 505, 0.23, 1.930, 0.581, 2.577, 2.038, PHS=-0.006,-1.413, 0.495, RAW= 164.7, 10.8, CAL= 164.7, 12.1, ROT= 345.3, -12.1 2025-10-27T06:34:39.183Z,1761546879.183 [DAT](INFO): got valid direction response: 06:34:37.8315 LVL= 32752, 32753, 27506, 32755, AGC= 54, IDX= 505, 0.23, 1.930, 0.581, 2.577, 2.038, PHS=-0.006,-1.413, 0.495, RAW= 164.7, 10.8, CAL= 164.7, 12.1, ROT= 345.3, -12.1 2025-10-27T06:34:39.183Z,1761546879.183 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-27T06:34:39.184Z,1761546879.184 [DAT](INFO): direction in FSK: [0.945778,-0.248120,0.209619] 2025-10-27T06:34:39.185Z,1761546879.185 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:39.189Z,1761546879.189 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.073895 2025-10-27T06:34:39.352Z,1761546879.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276723,0.944182,0.178733],[-0.960330,0.265043,0.086704],[0.034493,-0.195636,0.980070]] 2025-10-27T06:34:39.386Z,1761546879.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503672 s, deltaX: -0.400002 m, approachRate: -0.794171 m/s, rangeRepo size: 4 2025-10-27T06:34:39.388Z,1761546879.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.186354 m, bearing: 273.885122 deg, lat: 36.779489 deg, lon: -121.859842 deg, deltaT: 0.503672 s, deltaX: -0.397373 m, approachRate: -0.788952 m/s, posRepo size: 4 2025-10-27T06:34:39.389Z,1761546879.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.19 m. 2025-10-27T06:34:39.392Z,1761546879.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.186354 m, nav range: 16.700462 m, bearing: 273.745386 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.360424 deg, new cmd heading: 283.291662 deg. 2025-10-27T06:34:39.393Z,1761546879.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.944372 target range: 17.186354 and range: 17.30 m. 2025-10-27T06:34:39.425Z,1761546879.425 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.310162 2025-10-27T06:34:39.677Z,1761546879.677 [DAT](INFO): DAT read: Rx Time:06:34:38.3313 2025-10-27T06:34:39.677Z,1761546879.677 [DAT](INFO): Rx dataTimestamp_ set to:1761546879.676723 2025-10-27T06:34:39.678Z,1761546879.678 [DAT](INFO): DAT read: Bearing 101.0, -14.9 (Local) 2025-10-27T06:34:39.679Z,1761546879.679 [DAT](INFO): Local bearing/azimuth received: Bearing 101.0, -14.9 (Local) 2025-10-27T06:34:39.681Z,1761546879.681 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.5 2025-10-27T06:34:39.685Z,1761546879.685 [DAT](INFO): DAT read: 06:34:38.3313 LVL= 32752, 32753, 26866, 32755, AGC= 54, IDX= 503, 0.21, 2.533, 1.182,-3.082, 2.615, PHS= 0.020,-1.389, 0.542, RAW= 165.2, 9.6, CAL= 165.0, 10.4, ROT= 345.0, -10.4 2025-10-27T06:34:39.686Z,1761546879.686 [DAT](INFO): got valid direction response: 06:34:38.3313 LVL= 32752, 32753, 26866, 32755, AGC= 54, IDX= 503, 0.21, 2.533, 1.182,-3.082, 2.615, PHS= 0.020,-1.389, 0.542, RAW= 165.2, 9.6, CAL= 165.0, 10.4, ROT= 345.0, -10.4 2025-10-27T06:34:39.687Z,1761546879.687 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-27T06:34:39.688Z,1761546879.688 [DAT](INFO): direction in FSK: [0.950057,-0.254567,0.180519] 2025-10-27T06:34:39.688Z,1761546879.688 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:39.704Z,1761546879.704 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.589237 2025-10-27T06:34:39.754Z,1761546879.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273950,0.945151,0.177882],[-0.961110,0.262329,0.086322],[0.034923,-0.194612,0.980258]] 2025-10-27T06:34:39.884Z,1761546879.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503843 s, deltaX: -0.299999 m, approachRate: -0.595422 m/s, rangeRepo size: 4 2025-10-27T06:34:39.886Z,1761546879.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.888325 m, bearing: 273.073337 deg, lat: 36.779489 deg, lon: -121.859841 deg, deltaT: 0.503843 s, deltaX: -0.298029 m, approachRate: -0.591512 m/s, posRepo size: 4 2025-10-27T06:34:39.886Z,1761546879.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.89 m. 2025-10-27T06:34:39.893Z,1761546879.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.888325 m, nav range: 16.344755 m, bearing: 273.682205 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.291658 deg, new cmd heading: 283.196942 deg. 2025-10-27T06:34:39.894Z,1761546879.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.942719 target range: 16.888325 and range: 17.00 m. 2025-10-27T06:34:39.929Z,1761546879.929 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.814583 2025-10-27T06:34:40.181Z,1761546880.181 [DAT](INFO): DAT read: Rx Time:06:34:38.8310 2025-10-27T06:34:40.182Z,1761546880.182 [DAT](INFO): Rx dataTimestamp_ set to:1761546880.181393 2025-10-27T06:34:40.184Z,1761546880.184 [DAT](INFO): DAT read: Bearing 101.1, -15.4 (Local) 2025-10-27T06:34:40.184Z,1761546880.184 [DAT](INFO): Local bearing/azimuth received: Bearing 101.1, -15.4 (Local) 2025-10-27T06:34:40.188Z,1761546880.188 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-27T06:34:40.192Z,1761546880.192 [DAT](INFO): DAT read: 06:34:38.8310 LVL= 32752, 32753, 25714, 32755, AGC= 56, IDX= 500, 0.19, 2.153, 0.803, 2.840, 2.251, PHS= 0.004,-1.403, 0.545, RAW= 165.6, 9.8, CAL= 165.5, 10.8, ROT= 344.5, -10.8 2025-10-27T06:34:40.193Z,1761546880.193 [DAT](INFO): got valid direction response: 06:34:38.8310 LVL= 32752, 32753, 25714, 32755, AGC= 56, IDX= 500, 0.19, 2.153, 0.803, 2.840, 2.251, PHS= 0.004,-1.403, 0.545, RAW= 165.6, 9.8, CAL= 165.5, 10.8, ROT= 344.5, -10.8 2025-10-27T06:34:40.194Z,1761546880.194 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-27T06:34:40.227Z,1761546880.227 [DAT](INFO): direction in FSK: [0.946562,-0.262505,0.187381] 2025-10-27T06:34:40.228Z,1761546880.228 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:40.244Z,1761546880.244 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.128868 2025-10-27T06:34:40.314Z,1761546880.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504670 s, deltaX: -0.500000 m, approachRate: -0.990746 m/s, rangeRepo size: 4 2025-10-27T06:34:40.321Z,1761546880.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.391438 m, bearing: 272.649380 deg, lat: 36.779487 deg, lon: -121.859841 deg, deltaT: 0.504670 s, deltaX: -0.496887 m, approachRate: -0.984578 m/s, posRepo size: 4 2025-10-27T06:34:40.321Z,1761546880.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.39 m. 2025-10-27T06:34:40.327Z,1761546880.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.391438 m, nav range: 16.064159 m, bearing: 272.987359 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.196937 deg, new cmd heading: 283.113490 deg. 2025-10-27T06:34:40.341Z,1761546880.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.941263 target range: 16.391438 and range: 16.50 m. 2025-10-27T06:34:40.434Z,1761546880.434 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.318447 2025-10-27T06:34:40.656Z,1761546880.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.269072,0.946653,0.177338],[-0.962470,0.257529,0.085621],[0.035384,-0.193721,0.980418]] 2025-10-27T06:34:40.685Z,1761546880.685 [DAT](INFO): DAT read: Rx Time:06:34:39.3309 2025-10-27T06:34:40.685Z,1761546880.685 [DAT](INFO): Rx dataTimestamp_ set to:1761546880.684724 2025-10-27T06:34:40.686Z,1761546880.686 [DAT](INFO): DAT read: Bearing 100.9, -15.2 (Local) 2025-10-27T06:34:40.687Z,1761546880.687 [DAT](INFO): Local bearing/azimuth received: Bearing 100.9, -15.2 (Local) 2025-10-27T06:34:40.689Z,1761546880.689 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 2025-10-27T06:34:40.693Z,1761546880.693 [DAT](INFO): DAT read: 06:34:39.3309 LVL= 32752, 32753, 31522, 32755, AGC= 56, IDX= 499, 0.26,-2.356, 2.577,-1.678,-2.265, PHS= 0.011,-1.396, 0.542, RAW= 165.4, 9.7, CAL= 165.3, 10.6, ROT= 344.7, -10.6 2025-10-27T06:34:40.695Z,1761546880.695 [DAT](INFO): got valid direction response: 06:34:39.3309 LVL= 32752, 32753, 31522, 32755, AGC= 56, IDX= 499, 0.26,-2.356, 2.577,-1.678,-2.265, PHS= 0.011,-1.396, 0.542, RAW= 165.4, 9.7, CAL= 165.3, 10.6, ROT= 344.7, -10.6 2025-10-27T06:34:40.695Z,1761546880.695 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-27T06:34:40.696Z,1761546880.696 [DAT](INFO): direction in FSK: [0.948098,-0.259370,0.183951] 2025-10-27T06:34:40.696Z,1761546880.696 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:40.705Z,1761546880.705 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.590137 2025-10-27T06:34:40.790Z,1761546880.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503331 s, deltaX: -0.100000 m, approachRate: -0.198677 m/s, rangeRepo size: 4 2025-10-27T06:34:40.792Z,1761546880.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.292095 m, bearing: 272.507436 deg, lat: 36.779486 deg, lon: -121.859840 deg, deltaT: 0.503331 s, deltaX: -0.099342 m, approachRate: -0.197370 m/s, posRepo size: 4 2025-10-27T06:34:40.793Z,1761546880.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.29 m. 2025-10-27T06:34:40.800Z,1761546880.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.292095 m, nav range: 15.713619 m, bearing: 272.520668 deg, approach rate: 0.000000 m/s, LOS rate: -0.063982 deg/s, cmd heading: 283.113499 deg, new cmd heading: 283.022154 deg. 2025-10-27T06:34:40.801Z,1761546880.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.939669 target range: 16.292095 and range: 16.40 m. 2025-10-27T06:34:40.938Z,1761546880.938 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.823158 2025-10-27T06:34:41.126Z,1761546881.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266931,0.946806,0.179740],[-0.963061,0.255197,0.085953],[0.035512,-0.196045,0.979952]] 2025-10-27T06:34:41.164Z,1761546881.164 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:41.166Z,1761546881.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.29 m. 2025-10-27T06:34:41.173Z,1761546881.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.292095 m, nav range: 15.496484 m, bearing: 272.437677 deg, approach rate: -0.577169 m/s, LOS rate: -0.223688 deg/s, cmd heading: 283.022166 deg, new cmd heading: 282.769708 deg. 2025-10-27T06:34:41.174Z,1761546881.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.935262 target range: 16.292095 and range: 16.40 m. 2025-10-27T06:34:41.189Z,1761546881.189 [DAT](INFO): DAT read: Rx Time:06:34:39.8306 2025-10-27T06:34:41.189Z,1761546881.189 [DAT](INFO): Rx dataTimestamp_ set to:1761546881.188903 2025-10-27T06:34:41.190Z,1761546881.190 [DAT](INFO): DAT read: Bearing 99.4, -15.6 (Local) 2025-10-27T06:34:41.191Z,1761546881.191 [DAT](INFO): Local bearing/azimuth received: Bearing 99.4, -15.6 (Local) 2025-10-27T06:34:41.193Z,1761546881.193 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-27T06:34:41.198Z,1761546881.198 [DAT](INFO): DAT read: 06:34:39.8306 LVL= 32752, 32753, 22962, 32755, AGC= 56, IDX= 497,-0.44, 1.217,-0.136, 1.927, 1.299, PHS= 0.019,-1.391, 0.584, RAW= 166.1, 9.0, CAL= 165.9, 9.6, ROT= 344.1, -9.6 2025-10-27T06:34:41.199Z,1761546881.199 [DAT](INFO): got valid direction response: 06:34:39.8306 LVL= 32752, 32753, 22962, 32755, AGC= 56, IDX= 497,-0.44, 1.217,-0.136, 1.927, 1.299, PHS= 0.019,-1.391, 0.584, RAW= 166.1, 9.0, CAL= 165.9, 9.6, ROT= 344.1, -9.6 2025-10-27T06:34:41.199Z,1761546881.199 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-27T06:34:41.200Z,1761546881.200 [DAT](INFO): direction in FSK: [0.948273,-0.270122,0.166769] 2025-10-27T06:34:41.201Z,1761546881.201 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:41.204Z,1761546881.204 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.089779 2025-10-27T06:34:41.441Z,1761546881.441 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.326157 2025-10-27T06:34:41.546Z,1761546881.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264756,0.947089,0.181457],[-0.963652,0.252868,0.086214],[0.035768,-0.197687,0.979612]] 2025-10-27T06:34:41.629Z,1761546881.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504179 s, deltaX: -0.500000 m, approachRate: -0.991711 m/s, rangeRepo size: 4 2025-10-27T06:34:41.639Z,1761546881.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.795418 m, bearing: 271.508946 deg, lat: 36.779486 deg, lon: -121.859840 deg, deltaT: 0.504179 s, deltaX: -0.496677 m, approachRate: -0.985121 m/s, posRepo size: 4 2025-10-27T06:34:41.640Z,1761546881.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:34:41.647Z,1761546881.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.795418 m, nav range: 15.249441 m, bearing: 272.342346 deg, approach rate: 0.000000 m/s, LOS rate: -0.223688 deg/s, cmd heading: 282.769695 deg, new cmd heading: 282.460233 deg. 2025-10-27T06:34:41.648Z,1761546881.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.929861 target range: 15.795418 and range: 15.90 m. 2025-10-27T06:34:41.692Z,1761546881.692 [DAT](INFO): DAT read: Rx Time:06:34:40.3306 2025-10-27T06:34:41.693Z,1761546881.693 [DAT](INFO): Rx dataTimestamp_ set to:1761546881.692511 2025-10-27T06:34:41.694Z,1761546881.694 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-27T06:34:41.695Z,1761546881.695 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-27T06:34:41.696Z,1761546881.696 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.581120 2025-10-27T06:34:41.944Z,1761546881.944 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.829391 2025-10-27T06:34:42.075Z,1761546882.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503608 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:42.076Z,1761546882.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-27T06:34:42.079Z,1761546882.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.795418 m, nav range: 15.012016 m, bearing: 272.283104 deg, approach rate: -0.530510 m/s, LOS rate: -0.134466 deg/s, cmd heading: 282.460233 deg, new cmd heading: 282.279697 deg. 2025-10-27T06:34:42.080Z,1761546882.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.926710 target range: 15.795418 and range: 15.90 m. 2025-10-27T06:34:42.197Z,1761546882.197 [DAT](INFO): DAT read: Rx Time:06:34:40.8303 2025-10-27T06:34:42.198Z,1761546882.198 [DAT](INFO): Rx dataTimestamp_ set to:1761546882.197647 2025-10-27T06:34:42.199Z,1761546882.199 [DAT](INFO): DAT read: Bearing 100.5, -14.9 (Local) 2025-10-27T06:34:42.200Z,1761546882.200 [DAT](INFO): Local bearing/azimuth received: Bearing 100.5, -14.9 (Local) 2025-10-27T06:34:42.202Z,1761546882.202 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 2025-10-27T06:34:42.230Z,1761546882.230 [DAT](INFO): DAT read: 06:34:40.8303 LVL= 32752, 32753, 30322, 32755, AGC= 56, IDX= 509, 0.06, 2.404, 1.045, 3.073, 2.494, PHS= 0.012,-1.405, 0.535, RAW= 165.1, 9.9, CAL= 165.0, 10.8, ROT= 345.0, -10.8 2025-10-27T06:34:42.236Z,1761546882.236 [DAT](INFO): got valid direction response: 06:34:40.8303 LVL= 32752, 32753, 30322, 32755, AGC= 56, IDX= 509, 0.06, 2.404, 1.045, 3.073, 2.494, PHS= 0.012,-1.405, 0.535, RAW= 165.1, 9.9, CAL= 165.0, 10.8, ROT= 345.0, -10.8 2025-10-27T06:34:42.236Z,1761546882.236 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-27T06:34:42.238Z,1761546882.238 [DAT](INFO): direction in FSK: [0.948817,-0.254234,0.187381] 2025-10-27T06:34:42.238Z,1761546882.238 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:42.254Z,1761546882.254 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.139576 2025-10-27T06:34:42.448Z,1761546882.448 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.333324 2025-10-27T06:34:42.450Z,1761546882.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258009,0.948895,0.181739],[-0.965438,0.246034,0.086008],[0.036899,-0.197649,0.979578]] 2025-10-27T06:34:42.561Z,1761546882.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505136 s, deltaX: -0.400000 m, approachRate: -0.791865 m/s, rangeRepo size: 4 2025-10-27T06:34:42.579Z,1761546882.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.398067 m, bearing: 272.238159 deg, lat: 36.779486 deg, lon: -121.859840 deg, deltaT: 1.008744 s, deltaX: -0.397351 m, approachRate: -0.393907 m/s, posRepo size: 4 2025-10-27T06:34:42.585Z,1761546882.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m. 2025-10-27T06:34:42.600Z,1761546882.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.398067 m, nav range: 14.831253 m, bearing: 272.234009 deg, approach rate: 0.000000 m/s, LOS rate: -0.134466 deg/s, cmd heading: 282.279697 deg, new cmd heading: 282.086851 deg. 2025-10-27T06:34:42.601Z,1761546882.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.923344 target range: 15.398067 and range: 15.50 m. 2025-10-27T06:34:42.701Z,1761546882.701 [DAT](INFO): DAT read: Rx Time:06:34:41.3303 2025-10-27T06:34:42.702Z,1761546882.702 [DAT](INFO): Rx dataTimestamp_ set to:1761546882.701594 2025-10-27T06:34:42.704Z,1761546882.704 [DAT](INFO): DAT read: Bearing 99.7, -15.4 (Local) 2025-10-27T06:34:42.705Z,1761546882.705 [DAT](INFO): Local bearing/azimuth received: Bearing 99.7, -15.4 (Local) 2025-10-27T06:34:42.708Z,1761546882.708 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 2025-10-27T06:34:42.715Z,1761546882.715 [DAT](INFO): DAT read: 06:34:41.3303 LVL= 32752, 32753, 26914, 32755, AGC= 56, IDX= 509,-0.43, 0.603,-0.751, 1.297, 0.694, PHS= 0.011,-1.401, 0.559, RAW= 165.7, 9.5, CAL= 165.6, 10.3, ROT= 344.4, -10.3 2025-10-27T06:34:42.717Z,1761546882.717 [DAT](INFO): got valid direction response: 06:34:41.3303 LVL= 32752, 32753, 26914, 32755, AGC= 56, IDX= 509,-0.43, 0.603,-0.751, 1.297, 0.694, PHS= 0.011,-1.401, 0.559, RAW= 165.7, 9.5, CAL= 165.6, 10.3, ROT= 344.4, -10.3 2025-10-27T06:34:42.717Z,1761546882.717 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-27T06:34:42.719Z,1761546882.719 [DAT](INFO): direction in FSK: [0.947641,-0.264586,0.178802] 2025-10-27T06:34:42.720Z,1761546882.720 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:42.725Z,1761546882.725 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.610641 2025-10-27T06:34:42.858Z,1761546882.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255737,0.949705,0.180717],[-0.966049,0.243946,0.085092],[0.036727,-0.196342,0.979847]] 2025-10-27T06:34:42.952Z,1761546882.952 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.837086 2025-10-27T06:34:42.987Z,1761546882.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:43.008Z,1761546883.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.398150 m, bearing: 271.388208 deg, lat: 36.779486 deg, lon: -121.859840 deg, deltaT: 0.503947 s, deltaX: 0.000084 m, approachRate: 0.000167 m/s, posRepo size: 4 2025-10-27T06:34:43.016Z,1761546883.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.40 m. 2025-10-27T06:34:43.032Z,1761546883.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.398150 m, nav range: 14.593298 m, bearing: 272.149186 deg, approach rate: 0.000000 m/s, LOS rate: -0.134466 deg/s, cmd heading: 282.086840 deg, new cmd heading: 281.916815 deg. 2025-10-27T06:34:43.033Z,1761546883.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.920377 target range: 15.398150 and range: 15.50 m. 2025-10-27T06:34:43.087Z,1761546883.087 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:34:43.204Z,1761546883.204 [DAT](INFO): DAT read: Rx Time:06:34:41.8300 2025-10-27T06:34:43.205Z,1761546883.205 [DAT](INFO): Rx dataTimestamp_ set to:1761546883.204678 2025-10-27T06:34:43.206Z,1761546883.206 [DAT](INFO): DAT read: Bearing 98.8, -15.3 (Local) 2025-10-27T06:34:43.207Z,1761546883.207 [DAT](INFO): Local bearing/azimuth received: Bearing 98.8, -15.3 (Local) 2025-10-27T06:34:43.209Z,1761546883.209 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-27T06:34:43.232Z,1761546883.232 [DAT](INFO): DAT read: 06:34:41.8300 LVL= 32752, 32753, 21714, 32755, AGC= 54, IDX= 506, 0.09,-0.761,-2.128,-0.052,-0.681, PHS= 0.022,-1.402, 0.585, RAW= 166.0, 9.0, CAL= 165.8, 9.6, ROT= 344.2, -9.6 2025-10-27T06:34:43.233Z,1761546883.233 [DAT](INFO): got valid direction response: 06:34:41.8300 LVL= 32752, 32753, 21714, 32755, AGC= 54, IDX= 506, 0.09,-0.761,-2.128,-0.052,-0.681, PHS= 0.022,-1.402, 0.585, RAW= 166.0, 9.0, CAL= 165.8, 9.6, ROT= 344.2, -9.6 2025-10-27T06:34:43.234Z,1761546883.234 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-27T06:34:43.240Z,1761546883.240 [DAT](INFO): direction in FSK: [0.948743,-0.268467,0.166769] 2025-10-27T06:34:43.241Z,1761546883.241 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:43.254Z,1761546883.254 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.139488 2025-10-27T06:34:43.305Z,1761546883.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253628,0.950218,0.180996],[-0.966611,0.241898,0.084552],[0.036560,-0.196397,0.979843]] 2025-10-27T06:34:43.357Z,1761546883.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503084 s, deltaX: -0.500000 m, approachRate: -0.993870 m/s, rangeRepo size: 4 2025-10-27T06:34:43.363Z,1761546883.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.901436 m, bearing: 270.929868 deg, lat: 36.779485 deg, lon: -121.859840 deg, deltaT: 0.503084 s, deltaX: -0.496715 m, approachRate: -0.987339 m/s, posRepo size: 4 2025-10-27T06:34:43.364Z,1761546883.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m. 2025-10-27T06:34:43.366Z,1761546883.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.901436 m, nav range: 14.410415 m, bearing: 271.339366 deg, approach rate: 0.000000 m/s, LOS rate: -0.134466 deg/s, cmd heading: 281.916823 deg, new cmd heading: 281.762658 deg. 2025-10-27T06:34:43.372Z,1761546883.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.917686 target range: 14.901436 and range: 15.00 m. 2025-10-27T06:34:43.456Z,1761546883.456 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.341412 2025-10-27T06:34:43.704Z,1761546883.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251036,0.950867,0.181197],[-0.967283,0.239328,0.084183],[0.036681,-0.196402,0.979837]] 2025-10-27T06:34:43.710Z,1761546883.710 [DAT](INFO): DAT read: Rx Time:06:34:42.3299 2025-10-27T06:34:43.710Z,1761546883.710 [DAT](INFO): Rx dataTimestamp_ set to:1761546883.709718 2025-10-27T06:34:43.712Z,1761546883.712 [DAT](INFO): DAT read: Bearing 98.8, -15.3 (Local) 2025-10-27T06:34:43.713Z,1761546883.713 [DAT](INFO): Local bearing/azimuth received: Bearing 98.8, -15.3 (Local) 2025-10-27T06:34:43.716Z,1761546883.716 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4 2025-10-27T06:34:43.722Z,1761546883.722 [DAT](INFO): DAT read: 06:34:42.3299 LVL= 32752, 32753, 22706, 32755, AGC= 53, IDX= 505,-0.25, 2.381, 1.033, 3.081, 2.464, PHS= 0.019,-1.387, 0.572, RAW= 165.9, 9.1, CAL= 165.7, 9.8, ROT= 344.3, -9.8 2025-10-27T06:34:43.728Z,1761546883.728 [DAT](INFO): got valid direction response: 06:34:42.3299 LVL= 32752, 32753, 22706, 32755, AGC= 53, IDX= 505,-0.25, 2.381, 1.033, 3.081, 2.464, PHS= 0.019,-1.387, 0.572, RAW= 165.9, 9.1, CAL= 165.7, 9.8, ROT= 344.3, -9.8 2025-10-27T06:34:43.728Z,1761546883.728 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-27T06:34:43.730Z,1761546883.730 [DAT](INFO): direction in FSK: [0.948644,-0.266652,0.170209] 2025-10-27T06:34:43.730Z,1761546883.730 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:43.750Z,1761546883.750 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.635456 2025-10-27T06:34:43.866Z,1761546883.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.505040 s, deltaX: -0.100000 m, approachRate: -0.198005 m/s, rangeRepo size: 4 2025-10-27T06:34:43.870Z,1761546883.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.802093 m, bearing: 270.914346 deg, lat: 36.779484 deg, lon: -121.859840 deg, deltaT: 0.505040 s, deltaX: -0.099343 m, approachRate: -0.196704 m/s, posRepo size: 4 2025-10-27T06:34:43.879Z,1761546883.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.80 m. 2025-10-27T06:34:43.882Z,1761546883.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.802093 m, nav range: 14.175922 m, bearing: 271.145110 deg, approach rate: 0.000000 m/s, LOS rate: -0.134466 deg/s, cmd heading: 281.762652 deg, new cmd heading: 281.557252 deg. 2025-10-27T06:34:43.887Z,1761546883.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.914101 target range: 14.802093 and range: 14.90 m. 2025-10-27T06:34:43.961Z,1761546883.961 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.846104 2025-10-27T06:34:44.092Z,1761546884.092 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:34:44.208Z,1761546884.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248168,0.951610,0.181249],[-0.968005,0.236431,0.084067],[0.037146,-0.196312,0.979838]] 2025-10-27T06:34:44.213Z,1761546884.213 [DAT](INFO): DAT read: Rx Time:06:34:42.8296 2025-10-27T06:34:44.213Z,1761546884.213 [DAT](INFO): Rx dataTimestamp_ set to:1761546884.212849 2025-10-27T06:34:44.214Z,1761546884.214 [DAT](INFO): DAT read: Bearing 99.4, -15.1 (Local) 2025-10-27T06:34:44.215Z,1761546884.215 [DAT](INFO): Local bearing/azimuth received: Bearing 99.4, -15.1 (Local) 2025-10-27T06:34:44.217Z,1761546884.217 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 2025-10-27T06:34:44.222Z,1761546884.222 [DAT](INFO): DAT read: 06:34:42.8296 LVL= 32752, 32753, 24338, 32755, AGC= 52, IDX= 502, 0.20, 2.850, 1.480,-2.742, 2.942, PHS= 0.011,-1.416, 0.555, RAW= 165.5, 9.7, CAL= 165.4, 10.5, ROT= 344.6, -10.5 2025-10-27T06:34:44.223Z,1761546884.223 [DAT](INFO): got valid direction response: 06:34:42.8296 LVL= 32752, 32753, 24338, 32755, AGC= 52, IDX= 502, 0.20, 2.850, 1.480,-2.742, 2.942, PHS= 0.011,-1.416, 0.555, RAW= 165.5, 9.7, CAL= 165.4, 10.5, ROT= 344.6, -10.5 2025-10-27T06:34:44.223Z,1761546884.223 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-27T06:34:44.224Z,1761546884.224 [DAT](INFO): direction in FSK: [0.947952,-0.261109,0.182236] 2025-10-27T06:34:44.224Z,1761546884.224 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:44.232Z,1761546884.232 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.117458 2025-10-27T06:34:44.274Z,1761546884.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503131 s, deltaX: -0.500000 m, approachRate: -0.993777 m/s, rangeRepo size: 4 2025-10-27T06:34:44.280Z,1761546884.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.305515 m, bearing: 271.177006 deg, lat: 36.779485 deg, lon: -121.859840 deg, deltaT: 0.503131 s, deltaX: -0.496577 m, approachRate: -0.986974 m/s, posRepo size: 4 2025-10-27T06:34:44.281Z,1761546884.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:34:44.289Z,1761546884.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.305515 m, nav range: 13.973748 m, bearing: 271.161906 deg, approach rate: 0.000000 m/s, LOS rate: -0.134466 deg/s, cmd heading: 281.557254 deg, new cmd heading: 281.392585 deg. 2025-10-27T06:34:44.290Z,1761546884.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.911227 target range: 14.305515 and range: 14.40 m. 2025-10-27T06:34:44.465Z,1761546884.465 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.349430 2025-10-27T06:34:44.658Z,1761546884.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245915,0.951767,0.183482],[-0.968576,0.234018,0.084242],[0.037241,-0.198432,0.979407]] 2025-10-27T06:34:44.717Z,1761546884.717 [DAT](INFO): DAT read: Rx Time:06:34:43.3296 2025-10-27T06:34:44.718Z,1761546884.718 [DAT](INFO): Rx dataTimestamp_ set to:1761546884.717787 2025-10-27T06:34:44.720Z,1761546884.720 [DAT](INFO): DAT read: Bearing 98.5, -15.1 (Local) 2025-10-27T06:34:44.721Z,1761546884.721 [DAT](INFO): Local bearing/azimuth received: Bearing 98.5, -15.1 (Local) 2025-10-27T06:34:44.724Z,1761546884.724 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 2025-10-27T06:34:44.730Z,1761546884.730 [DAT](INFO): DAT read: 06:34:43.3296 LVL= 32752, 32753, 22818, 32755, AGC= 52, IDX= 502,-0.18, 2.618, 1.269,-2.970, 2.701, PHS= 0.018,-1.387, 0.567, RAW= 165.8, 9.2, CAL= 165.6, 9.9, ROT= 344.4, -9.9 2025-10-27T06:34:44.732Z,1761546884.732 [DAT](INFO): got valid direction response: 06:34:43.3296 LVL= 32752, 32753, 22818, 32755, AGC= 52, IDX= 502,-0.18, 2.618, 1.269,-2.970, 2.701, PHS= 0.018,-1.387, 0.567, RAW= 165.8, 9.2, CAL= 165.6, 9.9, ROT= 344.4, -9.9 2025-10-27T06:34:44.733Z,1761546884.733 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-27T06:34:44.734Z,1761546884.734 [DAT](INFO): direction in FSK: [0.948820,-0.264916,0.171929] 2025-10-27T06:34:44.735Z,1761546884.735 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:44.742Z,1761546884.742 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.626156 2025-10-27T06:34:44.782Z,1761546884.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:44.792Z,1761546884.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.305515 m, bearing: 270.755016 deg, lat: 36.779484 deg, lon: -121.859842 deg, deltaT: 0.504938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:34:44.793Z,1761546884.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:34:44.800Z,1761546884.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.305515 m, nav range: 13.827825 m, bearing: 270.791398 deg, approach rate: 0.000000 m/s, LOS rate: -0.134466 deg/s, cmd heading: 281.392592 deg, new cmd heading: 281.187870 deg. 2025-10-27T06:34:44.801Z,1761546884.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.907654 target range: 14.305515 and range: 14.40 m. 2025-10-27T06:34:44.971Z,1761546884.971 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.855827 2025-10-27T06:34:45.117Z,1761546885.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243960,0.952181,0.183942],[-0.969061,0.232022,0.084185],[0.037481,-0.198789,0.979325]] 2025-10-27T06:34:45.149Z,1761546885.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:45.155Z,1761546885.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.31 m. 2025-10-27T06:34:45.158Z,1761546885.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.305515 m, nav range: 13.634669 m, bearing: 270.743786 deg, approach rate: -0.522084 m/s, LOS rate: -0.130515 deg/s, cmd heading: 281.187878 deg, new cmd heading: 281.043018 deg. 2025-10-27T06:34:45.159Z,1761546885.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.905126 target range: 14.305515 and range: 14.40 m. 2025-10-27T06:34:45.221Z,1761546885.221 [DAT](INFO): DAT read: Rx Time:06:34:43.8293 2025-10-27T06:34:45.222Z,1761546885.222 [DAT](INFO): Rx dataTimestamp_ set to:1761546885.221717 2025-10-27T06:34:45.224Z,1761546885.224 [DAT](INFO): DAT read: Bearing 99.0, -14.9 (Local) 2025-10-27T06:34:45.224Z,1761546885.224 [DAT](INFO): Local bearing/azimuth received: Bearing 99.0, -14.9 (Local) 2025-10-27T06:34:45.228Z,1761546885.228 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-27T06:34:45.234Z,1761546885.234 [DAT](INFO): DAT read: 06:34:43.8293 LVL= 32752, 32753, 22898, 32755, AGC= 53, IDX= 499, 0.24,-1.716,-3.086,-1.027,-1.626, PHS= 0.012,-1.416, 0.554, RAW= 165.5, 9.7, CAL= 165.3, 10.5, ROT= 344.7, -10.5 2025-10-27T06:34:45.235Z,1761546885.235 [DAT](INFO): got valid direction response: 06:34:43.8293 LVL= 32752, 32753, 22898, 32755, AGC= 53, IDX= 499, 0.24,-1.716,-3.086,-1.027,-1.626, PHS= 0.012,-1.416, 0.554, RAW= 165.5, 9.7, CAL= 165.3, 10.5, ROT= 344.7, -10.5 2025-10-27T06:34:45.235Z,1761546885.235 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-27T06:34:45.236Z,1761546885.236 [DAT](INFO): direction in FSK: [0.948406,-0.259454,0.182236] 2025-10-27T06:34:45.237Z,1761546885.237 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:45.246Z,1761546885.246 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.131485 2025-10-27T06:34:45.476Z,1761546885.476 [DAT](INFO): DAT read: Rx Time:06:34:44.3293 2025-10-27T06:34:45.478Z,1761546885.478 [DAT](INFO): Rx dataTimestamp_ set to:1761546885.477207 2025-10-27T06:34:45.481Z,1761546885.481 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.365513 2025-10-27T06:34:45.556Z,1761546885.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239953,0.953433,0.182723],[-0.970010,0.227957,0.084360],[0.038779,-0.197486,0.979539]] 2025-10-27T06:34:45.584Z,1761546885.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503930 s, deltaX: -0.400000 m, approachRate: -0.793760 m/s, rangeRepo size: 4 2025-10-27T06:34:45.586Z,1761546885.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.908045 m, bearing: 270.802467 deg, lat: 36.779484 deg, lon: -121.859841 deg, deltaT: 0.503930 s, deltaX: -0.397470 m, approachRate: -0.788741 m/s, posRepo size: 4 2025-10-27T06:34:45.600Z,1761546885.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T06:34:45.618Z,1761546885.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.908045 m, nav range: 13.404638 m, bearing: 270.693697 deg, approach rate: 0.000000 m/s, LOS rate: -0.130515 deg/s, cmd heading: 281.043023 deg, new cmd heading: 280.873690 deg. 2025-10-27T06:34:45.625Z,1761546885.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.902171 target range: 13.908045 and range: 14.00 m. 2025-10-27T06:34:45.726Z,1761546885.726 [DAT](INFO): DAT read: Bearing 97.6, -14.9 (Local) 2025-10-27T06:34:45.726Z,1761546885.726 [DAT](INFO): Local bearing/azimuth received: Bearing 97.6, -14.9 (Local) 2025-10-27T06:34:45.729Z,1761546885.729 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-27T06:34:45.736Z,1761546885.736 [DAT](INFO): DAT read: 06:34:44.3293 LVL= 32752, 32753, 21106, 32755, AGC= 52, IDX= 499,-0.12,-2.348, 2.566,-1.646,-2.276, PHS= 0.030,-1.396, 0.587, RAW= 165.8, 8.8, CAL= 165.6, 9.4, ROT= 344.4, -9.4 2025-10-27T06:34:45.738Z,1761546885.738 [DAT](INFO): got valid direction response: 06:34:44.3293 LVL= 32752, 32753, 21106, 32755, AGC= 52, IDX= 499,-0.12,-2.348, 2.566,-1.646,-2.276, PHS= 0.030,-1.396, 0.587, RAW= 165.8, 8.8, CAL= 165.6, 9.4, ROT= 344.4, -9.4 2025-10-27T06:34:45.738Z,1761546885.738 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-27T06:34:45.739Z,1761546885.739 [DAT](INFO): direction in FSK: [0.950229,-0.265309,0.163326] 2025-10-27T06:34:45.740Z,1761546885.740 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:45.743Z,1761546885.743 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.628765 2025-10-27T06:34:45.980Z,1761546885.980 [DAT](INFO): DAT read: Rx Time:06:34:44.8291 2025-10-27T06:34:45.982Z,1761546885.982 [DAT](INFO): Rx dataTimestamp_ set to:1761546885.980493 2025-10-27T06:34:45.985Z,1761546885.985 [DAT](INFO): DAT read: Bearing 98.2, -14.8 (Local) 2025-10-27T06:34:45.986Z,1761546885.986 [DAT](INFO): Local bearing/azimuth received: Bearing 98.2, -14.8 (Local) 2025-10-27T06:34:46.008Z,1761546886.008 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.893028 2025-10-27T06:34:46.106Z,1761546886.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.502108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:46.115Z,1761546886.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.907966 m, bearing: 270.289846 deg, lat: 36.779484 deg, lon: -121.859842 deg, deltaT: 0.502108 s, deltaX: -0.000079 m, approachRate: -0.000158 m/s, posRepo size: 4 2025-10-27T06:34:46.132Z,1761546886.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.91 m. 2025-10-27T06:34:46.135Z,1761546886.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.907966 m, nav range: 13.155679 m, bearing: 270.625664 deg, approach rate: 0.000000 m/s, LOS rate: -0.130515 deg/s, cmd heading: 280.873689 deg, new cmd heading: 280.669226 deg. 2025-10-27T06:34:46.152Z,1761546886.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.898602 target range: 13.907966 and range: 14.00 m. 2025-10-27T06:34:46.230Z,1761546886.230 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4 2025-10-27T06:34:46.234Z,1761546886.234 [DAT](INFO): DAT read: 06:34:44.8291 LVL= 32752, 32753, 21970, 32755, AGC= 53, IDX= 496, 0.31,-0.706,-2.085,-0.008,-0.621, PHS= 0.017,-1.419, 0.569, RAW= 165.6, 9.4, CAL= 165.5, 10.1, ROT= 344.5, -10.1 2025-10-27T06:34:46.240Z,1761546886.240 [DAT](INFO): got valid direction response: 06:34:44.8291 LVL= 32752, 32753, 21970, 32755, AGC= 53, IDX= 496, 0.31,-0.706,-2.085,-0.008,-0.621, PHS= 0.017,-1.419, 0.569, RAW= 165.6, 9.4, CAL= 165.5, 10.1, ROT= 344.5, -10.1 2025-10-27T06:34:46.241Z,1761546886.241 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-27T06:34:46.242Z,1761546886.242 [DAT](INFO): direction in FSK: [0.948697,-0.263097,0.175367] 2025-10-27T06:34:46.242Z,1761546886.242 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:46.250Z,1761546886.250 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.135769 2025-10-27T06:34:46.414Z,1761546886.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235572,0.954361,0.183578],[-0.970991,0.223155,0.085894],[0.041008,-0.198487,0.979245]] 2025-10-27T06:34:46.484Z,1761546886.484 [DAT](INFO): DAT read: Rx Time:06:34:45.3290 2025-10-27T06:34:46.486Z,1761546886.486 [DAT](INFO): Rx dataTimestamp_ set to:1761546886.484485 2025-10-27T06:34:46.489Z,1761546886.489 [DAT](INFO): DAT read: Bearing 97.4, -14.7 (Local) 2025-10-27T06:34:46.499Z,1761546886.499 [DAT](INFO): Local bearing/azimuth received: Bearing 97.4, -14.7 (Local) 2025-10-27T06:34:46.505Z,1761546886.505 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 2025-10-27T06:34:46.512Z,1761546886.512 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-27T06:34:46.525Z,1761546886.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.760660 s, deltaX: -0.600000 m, approachRate: -0.788789 m/s, rangeRepo size: 4 2025-10-27T06:34:46.531Z,1761546886.531 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.399986 2025-10-27T06:34:46.532Z,1761546886.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.411252 m, bearing: 270.272598 deg, lat: 36.779484 deg, lon: -121.859841 deg, deltaT: 0.503676 s, deltaX: -0.496714 m, approachRate: -0.986177 m/s, posRepo size: 4 2025-10-27T06:34:46.532Z,1761546886.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.41 m. 2025-10-27T06:34:46.539Z,1761546886.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.411252 m, nav range: 12.957411 m, bearing: 270.542631 deg, approach rate: 0.000000 m/s, LOS rate: -0.130515 deg/s, cmd heading: 280.669221 deg, new cmd heading: 280.505298 deg. 2025-10-27T06:34:46.540Z,1761546886.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.895741 target range: 13.411252 and range: 13.40 m. 2025-10-27T06:34:46.738Z,1761546886.738 [DAT](INFO): DAT read: 06:34:45.3290 LVL= 32752, 32753, 20018, 32755, AGC= 51, IDX= 511,-0.09,-2.608, 2.308,-1.913,-2.537, PHS= 0.031,-1.394, 0.580, RAW= 165.6, 8.9, CAL= 165.4, 9.5, ROT= 344.6, -9.5 2025-10-27T06:34:46.739Z,1761546886.739 [DAT](INFO): got valid direction response: 06:34:45.3290 LVL= 32752, 32753, 20018, 32755, AGC= 51, IDX= 511,-0.09,-2.608, 2.308,-1.913,-2.537, PHS= 0.031,-1.394, 0.580, RAW= 165.6, 8.9, CAL= 165.4, 9.5, ROT= 344.6, -9.5 2025-10-27T06:34:46.740Z,1761546886.740 [DAT](INFO): #Rx 92: Read direction message, but no range. 2025-10-27T06:34:46.741Z,1761546886.741 [DAT](INFO): direction in FSK: [0.950873,-0.261914,0.165048] 2025-10-27T06:34:46.749Z,1761546886.749 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.634583 2025-10-27T06:34:46.952Z,1761546886.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233403,0.954763,0.184257],[-0.971463,0.220733,0.086809],[0.042211,-0.199261,0.979037]] 2025-10-27T06:34:46.987Z,1761546886.987 [DAT](INFO): DAT read: Rx Time:06:34:45.8287 2025-10-27T06:34:46.989Z,1761546886.989 [DAT](INFO): Rx dataTimestamp_ set to:1761546886.988010 2025-10-27T06:34:46.993Z,1761546886.993 [DAT](INFO): DAT read: Bearing 98.0, -14.7 (Local) 2025-10-27T06:34:46.994Z,1761546886.994 [DAT](INFO): Local bearing/azimuth received: Bearing 98.0, -14.7 (Local) 2025-10-27T06:34:47.003Z,1761546887.003 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-27T06:34:47.005Z,1761546887.005 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T06:34:47.027Z,1761546887.027 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.912693 2025-10-27T06:34:47.148Z,1761546887.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503525 s, deltaX: -0.500000 m, approachRate: -0.992999 m/s, rangeRepo size: 4 2025-10-27T06:34:47.150Z,1761546887.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.815401 m, bearing: 270.135200 deg, lat: 36.779483 deg, lon: -121.859841 deg, deltaT: 0.760509 s, deltaX: -0.595851 m, approachRate: -0.783490 m/s, posRepo size: 4 2025-10-27T06:34:47.151Z,1761546887.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:34:47.154Z,1761546887.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.815401 m, nav range: 12.606655 m, bearing: 270.179856 deg, approach rate: 0.000000 m/s, LOS rate: -0.130515 deg/s, cmd heading: 280.505296 deg, new cmd heading: 280.263616 deg. 2025-10-27T06:34:47.155Z,1761546887.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.891523 target range: 12.815401 and range: 12.90 m. 2025-10-27T06:34:47.241Z,1761546887.241 [DAT](INFO): DAT read: 06:34:45.8287 LVL= 32752, 32753, 22578, 32755, AGC= 51, IDX= 508, 0.32,-2.595, 2.314,-1.902,-2.511, PHS= 0.017,-1.414, 0.565, RAW= 165.5, 9.4, CAL= 165.4, 10.2, ROT= 344.6, -10.2 2025-10-27T06:34:47.242Z,1761546887.242 [DAT](INFO): got valid direction response: 06:34:45.8287 LVL= 32752, 32753, 22578, 32755, AGC= 51, IDX= 508, 0.32,-2.595, 2.314,-1.902,-2.511, PHS= 0.017,-1.414, 0.565, RAW= 165.5, 9.4, CAL= 165.4, 10.2, ROT= 344.6, -10.2 2025-10-27T06:34:47.243Z,1761546887.243 [DAT](INFO): #Rx 94: Read direction message, but no range. 2025-10-27T06:34:47.244Z,1761546887.244 [DAT](INFO): direction in FSK: [0.948859,-0.261359,0.177085] 2025-10-27T06:34:47.249Z,1761546887.249 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.134148 2025-10-27T06:34:47.491Z,1761546887.491 [DAT](INFO): DAT read: Rx Time:06:34:46.3287 2025-10-27T06:34:47.493Z,1761546887.493 [DAT](INFO): Rx dataTimestamp_ set to:1761546887.492137 2025-10-27T06:34:47.496Z,1761546887.496 [DAT](INFO): DAT read: Bearing 97.6, -14.5 (Local) 2025-10-27T06:34:47.497Z,1761546887.497 [DAT](INFO): Local bearing/azimuth received: Bearing 97.6, -14.5 (Local) 2025-10-27T06:34:47.499Z,1761546887.499 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.384121 2025-10-27T06:34:47.558Z,1761546887.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228296,0.956093,0.183757],[-0.972533,0.215151,0.088819],[0.045383,-0.198987,0.978951]] 2025-10-27T06:34:47.585Z,1761546887.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:47.587Z,1761546887.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m. 2025-10-27T06:34:47.590Z,1761546887.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.815401 m, nav range: 12.362822 m, bearing: 270.118440 deg, approach rate: -0.547419 m/s, LOS rate: -0.140600 deg/s, cmd heading: 280.263617 deg, new cmd heading: 280.075737 deg. 2025-10-27T06:34:47.591Z,1761546887.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.888244 target range: 12.815401 and range: 12.90 m. 2025-10-27T06:34:47.742Z,1761546887.742 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-27T06:34:47.747Z,1761546887.747 [DAT](INFO): DAT read: 06:34:46.3287 LVL= 32752, 32753, 22050, 32755, AGC= 52, IDX= 508,-0.16,-2.886, 2.041,-2.197,-2.805, PHS= 0.021,-1.393, 0.564, RAW= 165.6, 9.3, CAL= 165.4, 9.9, ROT= 344.6, -9.9 2025-10-27T06:34:47.748Z,1761546887.748 [DAT](INFO): got valid direction response: 06:34:46.3287 LVL= 32752, 32753, 22050, 32755, AGC= 52, IDX= 508,-0.16,-2.886, 2.041,-2.197,-2.805, PHS= 0.021,-1.393, 0.564, RAW= 165.6, 9.3, CAL= 165.4, 9.9, ROT= 344.6, -9.9 2025-10-27T06:34:47.748Z,1761546887.748 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-27T06:34:47.749Z,1761546887.749 [DAT](INFO): direction in FSK: [0.949739,-0.261602,0.171929] 2025-10-27T06:34:47.750Z,1761546887.750 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:47.754Z,1761546887.754 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.639172 2025-10-27T06:34:47.997Z,1761546887.997 [DAT](INFO): DAT read: Rx Time:06:34:46.8284 2025-10-27T06:34:47.999Z,1761546887.999 [DAT](INFO): Rx dataTimestamp_ set to:1761546887.997429 2025-10-27T06:34:48.003Z,1761546888.003 [DAT](INFO): DAT read: Bearing 97.8, -14.4 (Local) 2025-10-27T06:34:48.005Z,1761546888.005 [DAT](INFO): Local bearing/azimuth received: Bearing 97.8, -14.4 (Local) 2025-10-27T06:34:48.011Z,1761546888.011 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T06:34:48.014Z,1761546888.014 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T06:34:48.018Z,1761546888.018 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.902714 2025-10-27T06:34:48.040Z,1761546888.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 1.009419 s, deltaX: -0.400000 m, approachRate: -0.396267 m/s, rangeRepo size: 4 2025-10-27T06:34:48.042Z,1761546888.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.418117 m, bearing: 269.899017 deg, lat: 36.779483 deg, lon: -121.859841 deg, deltaT: 1.009419 s, deltaX: -0.397285 m, approachRate: -0.393577 m/s, posRepo size: 4 2025-10-27T06:34:48.047Z,1761546888.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:34:48.050Z,1761546888.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.418117 m, nav range: 12.141769 m, bearing: 270.015498 deg, approach rate: 0.000000 m/s, LOS rate: -0.140600 deg/s, cmd heading: 280.075732 deg, new cmd heading: 279.886696 deg. 2025-10-27T06:34:48.051Z,1761546888.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.884944 target range: 12.418117 and range: 12.50 m. 2025-10-27T06:34:48.248Z,1761546888.248 [DAT](INFO): DAT read: 06:34:46.8284 LVL= 32752, 32753, 22930, 32755, AGC= 52, IDX= 505, 0.08,-2.128, 2.786,-1.441,-2.042, PHS= 0.016,-1.411, 0.557, RAW= 165.4, 9.6, CAL= 165.3, 10.3, ROT= 344.7, -10.3 2025-10-27T06:34:48.249Z,1761546888.249 [DAT](INFO): got valid direction response: 06:34:46.8284 LVL= 32752, 32753, 22930, 32755, AGC= 52, IDX= 505, 0.08,-2.128, 2.786,-1.441,-2.042, PHS= 0.016,-1.411, 0.557, RAW= 165.4, 9.6, CAL= 165.3, 10.3, ROT= 344.7, -10.3 2025-10-27T06:34:48.249Z,1761546888.249 [DAT](INFO): #Rx 97: Read direction message, but no range. 2025-10-27T06:34:48.250Z,1761546888.250 [DAT](INFO): direction in FSK: [0.949014,-0.259621,0.178802] 2025-10-27T06:34:48.253Z,1761546888.253 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.138733 2025-10-27T06:34:48.427Z,1761546888.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:34:48.431Z,1761546888.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.418117 m, nav range: 11.883194 m, bearing: 269.913784 deg, approach rate: -0.661217 m/s, LOS rate: -0.265757 deg/s, cmd heading: 279.886700 deg, new cmd heading: 279.574922 deg. 2025-10-27T06:34:48.432Z,1761546888.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.879503 target range: 12.418117 and range: 12.50 m. 2025-10-27T06:34:48.502Z,1761546888.502 [DAT](INFO): DAT read: Rx Time:06:34:47.3283 2025-10-27T06:34:48.504Z,1761546888.504 [DAT](INFO): Rx dataTimestamp_ set to:1761546888.502328 2025-10-27T06:34:48.508Z,1761546888.508 [DAT](INFO): DAT read: Bearing 97.8, -14.2 (Local) 2025-10-27T06:34:48.509Z,1761546888.509 [DAT](INFO): Local bearing/azimuth received: Bearing 97.8, -14.2 (Local) 2025-10-27T06:34:48.565Z,1761546888.565 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-27T06:34:48.579Z,1761546888.579 [DAT](INFO): DAT read: 06:34:47.3283 LVL= 32752, 32753, 22834, 32755, AGC= 52, IDX= 504, 0.31, 0.126,-1.254, 0.811, 0.213, PHS= 0.015,-1.422, 0.554, RAW= 165.3, 9.7, CAL= 165.2, 10.5, ROT= 344.8, -10.5 2025-10-27T06:34:48.580Z,1761546888.580 [DAT](INFO): got valid direction response: 06:34:47.3283 LVL= 32752, 32753, 22834, 32755, AGC= 52, IDX= 504, 0.31, 0.126,-1.254, 0.811, 0.213, PHS= 0.015,-1.422, 0.554, RAW= 165.3, 9.7, CAL= 165.2, 10.5, ROT= 344.8, -10.5 2025-10-27T06:34:48.580Z,1761546888.580 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-27T06:34:48.581Z,1761546888.581 [DAT](INFO): direction in FSK: [0.948857,-0.257799,0.182236] 2025-10-27T06:34:48.582Z,1761546888.582 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:48.589Z,1761546888.589 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.474773 2025-10-27T06:34:48.750Z,1761546888.750 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.635040 2025-10-27T06:34:48.779Z,1761546888.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217732,0.958449,0.184306],[-0.974688,0.203705,0.092129],[0.050757,-0.199700,0.978542]] 2025-10-27T06:34:48.932Z,1761546888.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:48.934Z,1761546888.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.418117 m, bearing: 269.588207 deg, lat: 36.779483 deg, lon: -121.859841 deg, deltaT: 0.504899 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-27T06:34:48.934Z,1761546888.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m. 2025-10-27T06:34:48.947Z,1761546888.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.418117 m, nav range: 11.618262 m, bearing: 269.797976 deg, approach rate: 0.000000 m/s, LOS rate: -0.265757 deg/s, cmd heading: 279.574915 deg, new cmd heading: 279.176340 deg. 2025-10-27T06:34:48.948Z,1761546888.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.872546 target range: 12.418117 and range: 12.50 m. 2025-10-27T06:34:49.004Z,1761546889.004 [DAT](INFO): DAT read: Rx Time:06:34:47.8281 2025-10-27T06:34:49.006Z,1761546889.006 [DAT](INFO): Rx dataTimestamp_ set to:1761546889.004981 2025-10-27T06:34:49.011Z,1761546889.011 [DAT](INFO): DAT read: Bearing 97.3, -14.1 (Local) 2025-10-27T06:34:49.012Z,1761546889.012 [DAT](INFO): Local bearing/azimuth received: Bearing 97.3, -14.1 (Local) 2025-10-27T06:34:49.020Z,1761546889.020 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 2025-10-27T06:34:49.033Z,1761546889.033 [DAT](INFO): DAT read: 06:34:47.8281 LVL= 32752, 32753, 23362, 32755, AGC= 52, IDX= 502,-0.41,-2.898, 2.016,-2.215,-2.815, PHS= 0.019,-1.408, 0.556, RAW= 165.3, 9.5, CAL= 165.2, 10.3, ROT= 344.8, -10.3 2025-10-27T06:34:49.034Z,1761546889.034 [DAT](INFO): got valid direction response: 06:34:47.8281 LVL= 32752, 32753, 23362, 32755, AGC= 52, IDX= 502,-0.41,-2.898, 2.016,-2.215,-2.815, PHS= 0.019,-1.408, 0.556, RAW= 165.3, 9.5, CAL= 165.2, 10.3, ROT= 344.8, -10.3 2025-10-27T06:34:49.034Z,1761546889.034 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-27T06:34:49.051Z,1761546889.051 [DAT](INFO): direction in FSK: [0.949465,-0.257964,0.178802] 2025-10-27T06:34:49.051Z,1761546889.051 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:49.065Z,1761546889.065 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.950218 2025-10-27T06:34:49.252Z,1761546889.252 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.137329 2025-10-27T06:34:49.315Z,1761546889.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.213511,0.959678,0.182842],[-0.975536,0.199403,0.092566],[0.052375,-0.198133,0.978775]] 2025-10-27T06:34:49.421Z,1761546889.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.502653 s, deltaX: -0.300000 m, approachRate: -0.596834 m/s, rangeRepo size: 4 2025-10-27T06:34:49.440Z,1761546889.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.120131 m, bearing: 269.275826 deg, lat: 36.779483 deg, lon: -121.859841 deg, deltaT: 0.502653 s, deltaX: -0.297985 m, approachRate: -0.592825 m/s, posRepo size: 4 2025-10-27T06:34:49.440Z,1761546889.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.12 m. 2025-10-27T06:34:49.447Z,1761546889.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.120131 m, nav range: 11.339073 m, bearing: 269.602038 deg, approach rate: 0.000000 m/s, LOS rate: -0.265757 deg/s, cmd heading: 279.176333 deg, new cmd heading: 278.783415 deg. 2025-10-27T06:34:49.448Z,1761546889.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.865688 target range: 12.120131 and range: 12.20 m. 2025-10-27T06:34:49.509Z,1761546889.509 [DAT](INFO): DAT read: Rx Time:06:34:48.3280 2025-10-27T06:34:49.510Z,1761546889.510 [DAT](INFO): Rx dataTimestamp_ set to:1761546889.509316 2025-10-27T06:34:49.514Z,1761546889.514 [DAT](INFO): DAT read: Bearing 96.6, -13.9 (Local) 2025-10-27T06:34:49.516Z,1761546889.516 [DAT](INFO): Local bearing/azimuth received: Bearing 96.6, -13.9 (Local) 2025-10-27T06:34:49.519Z,1761546889.519 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 2025-10-27T06:34:49.524Z,1761546889.524 [DAT](INFO): DAT read: 06:34:48.3280 LVL= 32752, 32753, 20978, 32755, AGC= 51, IDX= 501,-0.26,-1.458,-2.827,-0.773,-1.386, PHS= 0.030,-1.396, 0.569, RAW= 165.4, 9.1, CAL= 165.2, 9.7, ROT= 344.8, -9.7 2025-10-27T06:34:49.525Z,1761546889.525 [DAT](INFO): got valid direction response: 06:34:48.3280 LVL= 32752, 32753, 20978, 32755, AGC= 51, IDX= 501,-0.26,-1.458,-2.827,-0.773,-1.386, PHS= 0.030,-1.396, 0.569, RAW= 165.4, 9.1, CAL= 165.2, 9.7, ROT= 344.8, -9.7 2025-10-27T06:34:49.525Z,1761546889.525 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-27T06:34:49.526Z,1761546889.526 [DAT](INFO): direction in FSK: [0.951220,-0.258441,0.168489] 2025-10-27T06:34:49.527Z,1761546889.527 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:49.534Z,1761546889.534 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.419559 2025-10-27T06:34:49.756Z,1761546889.756 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.641106 2025-10-27T06:34:49.849Z,1761546889.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209079,0.960861,0.181746],[-0.976411,0.194876,0.092982],[0.053925,-0.196899,0.978940]] 2025-10-27T06:34:50.012Z,1761546890.012 [DAT](INFO): DAT read: Rx Time:06:34:48.8277 2025-10-27T06:34:50.014Z,1761546890.014 [DAT](INFO): Rx dataTimestamp_ set to:1761546890.013044 2025-10-27T06:34:50.018Z,1761546890.018 [DAT](INFO): DAT read: Bearing 96.3, -13.7 (Local) 2025-10-27T06:34:50.020Z,1761546890.020 [DAT](INFO): Local bearing/azimuth received: Bearing 96.3, -13.7 (Local) 2025-10-27T06:34:50.022Z,1761546890.022 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.5 2025-10-27T06:34:50.026Z,1761546890.026 [DAT](INFO): DAT read: 06:34:48.8277 LVL= 32752, 32753, 20498, 32755, AGC= 51, IDX= 498,-0.18,-2.865, 2.048,-2.185,-2.796, PHS= 0.033,-1.394, 0.567, RAW= 165.3, 9.1, CAL= 165.1, 9.7, ROT= 344.9, -9.7 2025-10-27T06:34:50.030Z,1761546890.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504335 s, deltaX: -0.200000 m, approachRate: -0.396561 m/s, rangeRepo size: 4 2025-10-27T06:34:50.036Z,1761546890.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.921493 m, bearing: 268.880791 deg, lat: 36.779483 deg, lon: -121.859845 deg, deltaT: 0.504335 s, deltaX: -0.198639 m, approachRate: -0.393863 m/s, posRepo size: 4 2025-10-27T06:34:50.037Z,1761546890.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.92 m. 2025-10-27T06:34:50.038Z,1761546890.038 [DAT](INFO): got valid direction response: 06:34:48.8277 LVL= 32752, 32753, 20498, 32755, AGC= 51, IDX= 498,-0.18,-2.865, 2.048,-2.185,-2.796, PHS= 0.033,-1.394, 0.567, RAW= 165.3, 9.1, CAL= 165.1, 9.7, ROT= 344.9, -9.7 2025-10-27T06:34:50.038Z,1761546890.038 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-27T06:34:50.045Z,1761546890.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.921493 m, nav range: 11.331877 m, bearing: 269.368453 deg, approach rate: 0.000000 m/s, LOS rate: -0.265757 deg/s, cmd heading: 278.783405 deg, new cmd heading: 278.297006 deg. 2025-10-27T06:34:50.046Z,1761546890.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.857199 target range: 11.921493 and range: 12.00 m. 2025-10-27T06:34:50.048Z,1761546890.048 [DAT](INFO): direction in FSK: [0.951670,-0.256780,0.168489] 2025-10-27T06:34:50.048Z,1761546890.048 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:50.060Z,1761546890.060 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.945129 2025-10-27T06:34:50.260Z,1761546890.260 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.145477 2025-10-27T06:34:50.390Z,1761546890.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201068,0.962166,0.183868],[-0.978016,0.186585,0.093119],[0.055289,-0.198549,0.978530]] 2025-10-27T06:34:50.457Z,1761546890.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503728 s, deltaX: -0.400000 m, approachRate: -0.794079 m/s, rangeRepo size: 4 2025-10-27T06:34:50.466Z,1761546890.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.524110 m, bearing: 268.528603 deg, lat: 36.779482 deg, lon: -121.859845 deg, deltaT: 0.503728 s, deltaX: -0.397383 m, approachRate: -0.788884 m/s, posRepo size: 4 2025-10-27T06:34:50.469Z,1761546890.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.52 m. 2025-10-27T06:34:50.496Z,1761546890.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.524110 m, nav range: 11.031518 m, bearing: 269.034860 deg, approach rate: 0.000000 m/s, LOS rate: -0.265757 deg/s, cmd heading: 278.297014 deg, new cmd heading: 277.956436 deg. 2025-10-27T06:34:50.505Z,1761546890.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.851255 target range: 11.524110 and range: 11.60 m. 2025-10-27T06:34:50.516Z,1761546890.516 [DAT](INFO): DAT read: Rx Time:06:34:49.3275 2025-10-27T06:34:50.518Z,1761546890.518 [DAT](INFO): Rx dataTimestamp_ set to:1761546890.516836 2025-10-27T06:34:50.520Z,1761546890.520 [DAT](INFO): DAT read: Bearing 96.2, -13.7 (Local) 2025-10-27T06:34:50.520Z,1761546890.520 [DAT](INFO): Local bearing/azimuth received: Bearing 96.2, -13.7 (Local) 2025-10-27T06:34:50.522Z,1761546890.522 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4 2025-10-27T06:34:50.531Z,1761546890.531 [DAT](INFO): DAT read: 06:34:49.3275 LVL= 32752, 32753, 20722, 32755, AGC= 51, IDX= 496,-0.15,-2.081, 2.828,-1.401,-2.009, PHS= 0.030,-1.401, 0.565, RAW= 165.3, 9.2, CAL= 165.1, 9.8, ROT= 344.9, -9.8 2025-10-27T06:34:50.532Z,1761546890.532 [DAT](INFO): got valid direction response: 06:34:49.3275 LVL= 32752, 32753, 20722, 32755, AGC= 51, IDX= 496,-0.15,-2.081, 2.828,-1.401,-2.009, PHS= 0.030,-1.401, 0.565, RAW= 165.3, 9.2, CAL= 165.1, 9.8, ROT= 344.9, -9.8 2025-10-27T06:34:50.532Z,1761546890.532 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-27T06:34:50.533Z,1761546890.533 [DAT](INFO): direction in FSK: [0.951384,-0.256703,0.170209] 2025-10-27T06:34:50.534Z,1761546890.534 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:50.545Z,1761546890.545 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.430779 2025-10-27T06:34:50.765Z,1761546890.765 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.650497 2025-10-27T06:34:50.856Z,1761546890.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.196780,0.962992,0.184182],[-0.978854,0.182257,0.092884],[0.055878,-0.198565,0.978493]] 2025-10-27T06:34:51.019Z,1761546891.019 [DAT](INFO): DAT read: Rx Time:06:34:49.8272 2025-10-27T06:34:51.020Z,1761546891.020 [DAT](INFO): Rx dataTimestamp_ set to:1761546891.019316 2025-10-27T06:34:51.021Z,1761546891.021 [DAT](INFO): DAT read: Bearing 96.0, -13.6 (Local) 2025-10-27T06:34:51.021Z,1761546891.021 [DAT](INFO): Local bearing/azimuth received: Bearing 96.0, -13.6 (Local) 2025-10-27T06:34:51.023Z,1761546891.023 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.5 2025-10-27T06:34:51.028Z,1761546891.028 [DAT](INFO): DAT read: 06:34:49.8272 LVL= 32752, 32753, 21810, 32755, AGC= 51, IDX= 509,-0.10, 3.000, 1.622,-2.605, 3.072, PHS= 0.031,-1.404, 0.563, RAW= 165.1, 9.2, CAL= 165.0, 9.9, ROT= 345.0, -9.9 2025-10-27T06:34:51.029Z,1761546891.029 [DAT](INFO): got valid direction response: 06:34:49.8272 LVL= 32752, 32753, 21810, 32755, AGC= 51, IDX= 509,-0.10, 3.000, 1.622,-2.605, 3.072, PHS= 0.031,-1.404, 0.563, RAW= 165.1, 9.2, CAL= 165.0, 9.9, ROT= 345.0, -9.9 2025-10-27T06:34:51.029Z,1761546891.029 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-27T06:34:51.030Z,1761546891.030 [DAT](INFO): direction in FSK: [0.951543,-0.254965,0.171929] 2025-10-27T06:34:51.031Z,1761546891.031 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:51.042Z,1761546891.042 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.927731 2025-10-27T06:34:51.061Z,1761546891.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 1.006272 s, deltaX: -0.800000 m, approachRate: -0.795014 m/s, rangeRepo size: 4 2025-10-27T06:34:51.067Z,1761546891.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.226009 m, bearing: 268.295163 deg, lat: 36.779482 deg, lon: -121.859845 deg, deltaT: 0.503792 s, deltaX: -0.298100 m, approachRate: -0.591713 m/s, posRepo size: 4 2025-10-27T06:34:51.068Z,1761546891.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m. 2025-10-27T06:34:51.070Z,1761546891.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.226009 m, nav range: 10.770004 m, bearing: 268.597732 deg, approach rate: 0.000000 m/s, LOS rate: -0.265757 deg/s, cmd heading: 277.956433 deg, new cmd heading: 277.474938 deg. 2025-10-27T06:34:51.076Z,1761546891.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.842851 target range: 11.226009 and range: 10.80 m. 2025-10-27T06:34:51.273Z,1761546891.273 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.158649 2025-10-27T06:34:51.402Z,1761546891.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192899,0.963795,0.184092],[-0.979605,0.178409,0.092430],[0.056240,-0.198167,0.978553]] 2025-10-27T06:34:51.449Z,1761546891.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m. 2025-10-27T06:34:51.452Z,1761546891.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.226009 m, nav range: 10.530900 m, bearing: 268.485734 deg, approach rate: -0.614419 m/s, LOS rate: -0.294332 deg/s, cmd heading: 277.474932 deg, new cmd heading: 277.131314 deg. 2025-10-27T06:34:51.453Z,1761546891.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.836854 target range: 11.226009 and range: 10.80 m. 2025-10-27T06:34:51.525Z,1761546891.525 [DAT](INFO): DAT read: Rx Time:06:34:50.3271 2025-10-27T06:34:51.525Z,1761546891.525 [DAT](INFO): Rx dataTimestamp_ set to:1761546891.524797 2025-10-27T06:34:51.526Z,1761546891.526 [DAT](INFO): DAT read: Bearing 96.4, -13.7 (Local) 2025-10-27T06:34:51.527Z,1761546891.527 [DAT](INFO): Local bearing/azimuth received: Bearing 96.4, -13.7 (Local) 2025-10-27T06:34:51.529Z,1761546891.529 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.5 2025-10-27T06:34:51.533Z,1761546891.533 [DAT](INFO): DAT read: 06:34:50.3271 LVL= 32752, 32753, 20914, 32755, AGC= 51, IDX= 508,-0.02,-2.364, 2.535,-1.683,-2.280, PHS= 0.018,-1.424, 0.553, RAW= 165.2, 9.7, CAL= 165.1, 10.5, ROT= 344.9, -10.5 2025-10-27T06:34:51.535Z,1761546891.535 [DAT](INFO): got valid direction response: 06:34:50.3271 LVL= 32752, 32753, 20914, 32755, AGC= 51, IDX= 508,-0.02,-2.364, 2.535,-1.683,-2.280, PHS= 0.018,-1.424, 0.553, RAW= 165.2, 9.7, CAL= 165.1, 10.5, ROT= 344.9, -10.5 2025-10-27T06:34:51.536Z,1761546891.536 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-27T06:34:51.537Z,1761546891.537 [DAT](INFO): direction in FSK: [0.949306,-0.256142,0.182236] 2025-10-27T06:34:51.537Z,1761546891.537 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:51.541Z,1761546891.541 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.425957 2025-10-27T06:34:51.776Z,1761546891.776 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.661598 2025-10-27T06:34:51.824Z,1761546891.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189132,0.964310,0.185299],[-0.980312,0.174525,0.092353],[0.056718,-0.199118,0.978333]] 2025-10-27T06:34:51.874Z,1761546891.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.505481 s, deltaX: -0.100000 m, approachRate: -0.197832 m/s, rangeRepo size: 4 2025-10-27T06:34:51.876Z,1761546891.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.629938 m, bearing: 267.987037 deg, lat: 36.779481 deg, lon: -121.859845 deg, deltaT: 1.007961 s, deltaX: -0.596071 m, approachRate: -0.591363 m/s, posRepo size: 4 2025-10-27T06:34:51.877Z,1761546891.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m. 2025-10-27T06:34:51.880Z,1761546891.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.629938 m, nav range: 10.278416 m, bearing: 268.107659 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 277.131319 deg, new cmd heading: 276.757078 deg. 2025-10-27T06:34:51.881Z,1761546891.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.830322 target range: 10.629938 and range: 10.70 m. 2025-10-27T06:34:52.029Z,1761546892.029 [DAT](INFO): DAT read: Rx Time:06:34:50.8268 2025-10-27T06:34:52.029Z,1761546892.029 [DAT](INFO): Rx dataTimestamp_ set to:1761546892.028790 2025-10-27T06:34:52.030Z,1761546892.030 [DAT](INFO): DAT read: Bearing 96.2, -13.7 (Local) 2025-10-27T06:34:52.031Z,1761546892.031 [DAT](INFO): Local bearing/azimuth received: Bearing 96.2, -13.7 (Local) 2025-10-27T06:34:52.033Z,1761546892.033 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.5 2025-10-27T06:34:52.038Z,1761546892.038 [DAT](INFO): DAT read: 06:34:50.8268 LVL= 32752, 32753, 21906, 32755, AGC= 48, IDX= 505, 0.09, 2.665, 1.272,-2.935, 2.750, PHS= 0.017,-1.433, 0.555, RAW= 165.2, 9.7, CAL= 165.1, 10.6, ROT= 344.9, -10.6 2025-10-27T06:34:52.039Z,1761546892.039 [DAT](INFO): got valid direction response: 06:34:50.8268 LVL= 32752, 32753, 21906, 32755, AGC= 48, IDX= 505, 0.09, 2.665, 1.272,-2.935, 2.750, PHS= 0.017,-1.433, 0.555, RAW= 165.2, 9.7, CAL= 165.1, 10.6, ROT= 344.9, -10.6 2025-10-27T06:34:52.040Z,1761546892.040 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-27T06:34:52.041Z,1761546892.041 [DAT](INFO): direction in FSK: [0.948997,-0.256059,0.183951] 2025-10-27T06:34:52.041Z,1761546892.041 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:52.058Z,1761546892.058 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.942993 2025-10-27T06:34:52.280Z,1761546892.280 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.165234 2025-10-27T06:34:52.310Z,1761546892.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503993 s, deltaX: -0.500000 m, approachRate: -0.992077 m/s, rangeRepo size: 4 2025-10-27T06:34:52.316Z,1761546892.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.133182 m, bearing: 268.006340 deg, lat: 36.779481 deg, lon: -121.859844 deg, deltaT: 0.503993 s, deltaX: -0.496757 m, approachRate: -0.985642 m/s, posRepo size: 4 2025-10-27T06:34:52.316Z,1761546892.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.13 m. 2025-10-27T06:34:52.323Z,1761546892.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.133182 m, nav range: 9.962031 m, bearing: 267.985179 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 276.757080 deg, new cmd heading: 276.372373 deg. 2025-10-27T06:34:52.324Z,1761546892.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.823608 target range: 10.133182 and range: 10.20 m. 2025-10-27T06:34:52.533Z,1761546892.533 [DAT](INFO): DAT read: Rx Time:06:34:51.3267 2025-10-27T06:34:52.533Z,1761546892.533 [DAT](INFO): Rx dataTimestamp_ set to:1761546892.532943 2025-10-27T06:34:52.535Z,1761546892.535 [DAT](INFO): DAT read: Bearing 97.5, -13.4 (Local) 2025-10-27T06:34:52.535Z,1761546892.535 [DAT](INFO): Local bearing/azimuth received: Bearing 97.5, -13.4 (Local) 2025-10-27T06:34:52.538Z,1761546892.538 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.5 2025-10-27T06:34:52.544Z,1761546892.544 [DAT](INFO): DAT read: 06:34:51.3267 LVL= 32752, 32753, 24114, 32755, AGC= 50, IDX= 504, 0.16,-2.186, 2.706,-1.537,-2.085, PHS= 0.001,-1.447, 0.504, RAW= 164.4, 10.8, CAL= 164.4, 12.0, ROT= 345.6, -12.0 2025-10-27T06:34:52.545Z,1761546892.545 [DAT](INFO): got valid direction response: 06:34:51.3267 LVL= 32752, 32753, 24114, 32755, AGC= 50, IDX= 504, 0.16,-2.186, 2.706,-1.537,-2.085, PHS= 0.001,-1.447, 0.504, RAW= 164.4, 10.8, CAL= 164.4, 12.0, ROT= 345.6, -12.0 2025-10-27T06:34:52.545Z,1761546892.545 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-27T06:34:52.546Z,1761546892.546 [DAT](INFO): direction in FSK: [0.947417,-0.243255,0.207912] 2025-10-27T06:34:52.547Z,1761546892.547 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:52.557Z,1761546892.557 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.441936 2025-10-27T06:34:52.684Z,1761546892.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183574,0.963949,0.192622],[-0.981367,0.168404,0.092514],[0.056741,-0.206016,0.976902]] 2025-10-27T06:34:52.784Z,1761546892.784 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.669327 2025-10-27T06:34:52.785Z,1761546892.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504153 s, deltaX: -0.099999 m, approachRate: -0.198351 m/s, rangeRepo size: 4 2025-10-27T06:34:52.791Z,1761546892.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.033837 m, bearing: 268.764767 deg, lat: 36.779481 deg, lon: -121.859843 deg, deltaT: 0.504153 s, deltaX: -0.099344 m, approachRate: -0.197052 m/s, posRepo size: 4 2025-10-27T06:34:52.792Z,1761546892.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.03 m. 2025-10-27T06:34:52.799Z,1761546892.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.033837 m, nav range: 9.554006 m, bearing: 267.827849 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 276.372376 deg, new cmd heading: 275.953926 deg. 2025-10-27T06:34:52.800Z,1761546892.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.816305 target range: 10.033837 and range: 10.10 m. 2025-10-27T06:34:53.037Z,1761546893.037 [DAT](INFO): DAT read: Rx Time:06:34:51.8264 2025-10-27T06:34:53.037Z,1761546893.037 [DAT](INFO): Rx dataTimestamp_ set to:1761546893.036947 2025-10-27T06:34:53.039Z,1761546893.039 [DAT](INFO): DAT read: Bearing 96.9, -13.9 (Local) 2025-10-27T06:34:53.039Z,1761546893.039 [DAT](INFO): Local bearing/azimuth received: Bearing 96.9, -13.9 (Local) 2025-10-27T06:34:53.041Z,1761546893.041 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 2025-10-27T06:34:53.046Z,1761546893.046 [DAT](INFO): DAT read: 06:34:51.8264 LVL= 32752, 32753, 24258, 32755, AGC= 50, IDX= 501, 0.23,-2.680, 2.211,-2.005,-2.574, PHS=-0.004,-1.453, 0.526, RAW= 165.0, 10.5, CAL= 165.0, 11.7, ROT= 345.0, -11.7 2025-10-27T06:34:53.048Z,1761546893.048 [DAT](INFO): got valid direction response: 06:34:51.8264 LVL= 32752, 32753, 24258, 32755, AGC= 50, IDX= 501, 0.23,-2.680, 2.211,-2.005,-2.574, PHS=-0.004,-1.453, 0.526, RAW= 165.0, 10.5, CAL= 165.0, 11.7, ROT= 345.0, -11.7 2025-10-27T06:34:53.048Z,1761546893.048 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-27T06:34:53.049Z,1761546893.049 [DAT](INFO): direction in FSK: [0.945857,-0.253441,0.202787] 2025-10-27T06:34:53.049Z,1761546893.049 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:53.054Z,1761546893.054 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.939014 2025-10-27T06:34:53.135Z,1761546893.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181437,0.964245,0.193164],[-0.981772,0.166301,0.092020],[0.056606,-0.206338,0.976842]] 2025-10-27T06:34:53.241Z,1761546893.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504004 s, deltaX: -0.500000 m, approachRate: -0.992056 m/s, rangeRepo size: 4 2025-10-27T06:34:53.247Z,1761546893.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.537072 m, bearing: 267.979165 deg, lat: 36.779481 deg, lon: -121.859843 deg, deltaT: 0.504004 s, deltaX: -0.496765 m, approachRate: -0.985637 m/s, posRepo size: 4 2025-10-27T06:34:53.248Z,1761546893.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-27T06:34:53.248Z,1761546893.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m. 2025-10-27T06:34:53.249Z,1761546893.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-27T06:34:53.256Z,1761546893.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 9.299586 m, bearing: 267.778019 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 275.953931 deg, new cmd heading: 275.549841 deg. 2025-10-27T06:34:53.257Z,1761546893.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.809252 target range: 9.537072 and range: 9.60 m. 2025-10-27T06:34:53.288Z,1761546893.288 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.173504 2025-10-27T06:34:53.541Z,1761546893.541 [DAT](INFO): DAT read: Rx Time:06:34:52.3263 2025-10-27T06:34:53.542Z,1761546893.542 [DAT](INFO): Rx dataTimestamp_ set to:1761546893.541410 2025-10-27T06:34:53.544Z,1761546893.544 [DAT](INFO): DAT read: Bearing 96.8, -14.1 (Local) 2025-10-27T06:34:53.544Z,1761546893.544 [DAT](INFO): Local bearing/azimuth received: Bearing 96.8, -14.1 (Local) 2025-10-27T06:34:53.547Z,1761546893.547 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-27T06:34:53.589Z,1761546893.589 [DAT](INFO): DAT read: 06:34:52.3263 LVL= 32752, 32753, 25314, 32755, AGC= 52, IDX= 500, 0.33,-0.892,-2.276,-0.211,-0.781, PHS=-0.009,-1.449, 0.527, RAW= 165.2, 10.5, CAL= 165.2, 11.8, ROT= 344.8, -11.8 2025-10-27T06:34:53.590Z,1761546893.590 [DAT](INFO): got valid direction response: 06:34:52.3263 LVL= 32752, 32753, 25314, 32755, AGC= 52, IDX= 500, 0.33,-0.892,-2.276,-0.211,-0.781, PHS=-0.009,-1.449, 0.527, RAW= 165.2, 10.5, CAL= 165.2, 11.8, ROT= 344.8, -11.8 2025-10-27T06:34:53.595Z,1761546893.595 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-27T06:34:53.596Z,1761546893.596 [DAT](INFO): direction in FSK: [0.944623,-0.256648,0.204496] 2025-10-27T06:34:53.596Z,1761546893.596 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:53.612Z,1761546893.612 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.497284 2025-10-27T06:34:53.614Z,1761546893.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179082,0.964837,0.192405],[-0.982209,0.164097,0.091312],[0.056528,-0.205335,0.977058]] 2025-10-27T06:34:53.662Z,1761546893.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.504463 s, deltaX: -0.100000 m, approachRate: -0.198231 m/s, rangeRepo size: 4 2025-10-27T06:34:53.673Z,1761546893.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.437727 m, bearing: 267.645495 deg, lat: 36.779482 deg, lon: -121.859842 deg, deltaT: 0.504463 s, deltaX: -0.099345 m, approachRate: -0.196933 m/s, posRepo size: 4 2025-10-27T06:34:53.673Z,1761546893.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.44 m. 9.54 m. 2025-10-27T06:34:53.680Z,1761546893.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 9.057454 m, bearing: 267.656866 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 275.549830 deg, new cmd heading: 275.177914 deg. 2025-10-27T06:34:53.681Z,1761546893.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.802761 target range: 9.537072 and range: 9.50 m. 2025-10-27T06:34:53.792Z,1761546893.792 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.677364 2025-10-27T06:34:54.038Z,1761546894.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177447,0.965459,0.190791],[-0.982505,0.162658,0.090695],[0.056529,-0.203547,0.977432]] 2025-10-27T06:34:54.045Z,1761546894.045 [DAT](INFO): DAT read: Rx Time:06:34:52.8261 2025-10-27T06:34:54.045Z,1761546894.045 [DAT](INFO): Rx dataTimestamp_ set to:1761546894.044858 2025-10-27T06:34:54.046Z,1761546894.046 [DAT](INFO): DAT read: Bearing 95.7, -14.2 (Local) 2025-10-27T06:34:54.047Z,1761546894.047 [DAT](INFO): Local bearing/azimuth received: Bearing 95.7, -14.2 (Local) 2025-10-27T06:34:54.049Z,1761546894.049 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 2025-10-27T06:34:54.054Z,1761546894.054 [DAT](INFO): DAT read: 06:34:52.8261 LVL= 32752, 32753, 26674, 32755, AGC= 51, IDX= 498,-0.39,-3.075, 1.831,-2.377,-2.976, PHS= 0.003,-1.432, 0.555, RAW= 165.6, 9.9, CAL= 165.5, 10.8, ROT= 344.5, -10.8 2025-10-27T06:34:54.055Z,1761546894.055 [DAT](INFO): got valid direction response: 06:34:52.8261 LVL= 32752, 32753, 26674, 32755, AGC= 51, IDX= 498,-0.39,-3.075, 1.831,-2.377,-2.976, PHS= 0.003,-1.432, 0.555, RAW= 165.6, 9.9, CAL= 165.5, 10.8, ROT= 344.5, -10.8 2025-10-27T06:34:54.055Z,1761546894.055 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-27T06:34:54.056Z,1761546894.056 [DAT](INFO): direction in FSK: [0.946562,-0.262505,0.187381] 2025-10-27T06:34:54.056Z,1761546894.056 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:54.064Z,1761546894.064 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.949390 2025-10-27T06:34:54.171Z,1761546894.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503448 s, deltaX: -0.300000 m, approachRate: -0.595891 m/s, rangeRepo size: 4 2025-10-27T06:34:54.180Z,1761546894.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.139726 m, bearing: 267.021773 deg, lat: 36.779482 deg, lon: -121.859842 deg, deltaT: 1.007911 s, deltaX: -0.397346 m, approachRate: -0.394228 m/s, posRepo size: 4 2025-10-27T06:34:54.181Z,1761546894.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.14 m. 9.54 m. 2025-10-27T06:34:54.188Z,1761546894.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 8.782588 m, bearing: 267.548414 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 275.177912 deg, new cmd heading: 274.732056 deg. 2025-10-27T06:34:54.189Z,1761546894.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.794979 target range: 9.537072 and range: 9.20 m. 2025-10-27T06:34:54.297Z,1761546894.297 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.182076 2025-10-27T06:34:54.548Z,1761546894.548 [DAT](INFO): DAT read: Rx Time:06:34:53.3259 2025-10-27T06:34:54.549Z,1761546894.549 [DAT](INFO): Rx dataTimestamp_ set to:1761546894.548557 2025-10-27T06:34:54.550Z,1761546894.550 [DAT](INFO): DAT read: Bearing 95.3, -14.4 (Local) 2025-10-27T06:34:54.550Z,1761546894.550 [DAT](INFO): Local bearing/azimuth received: Bearing 95.3, -14.4 (Local) 2025-10-27T06:34:54.553Z,1761546894.553 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-27T06:34:54.557Z,1761546894.557 [DAT](INFO): DAT read: 06:34:53.3259 LVL= 32752, 32753, 24850, 32755, AGC= 52, IDX= 496,-0.12, 2.652, 1.278,-2.922, 2.753, PHS= 0.001,-1.430, 0.565, RAW= 165.9, 9.7, CAL= 165.8, 10.6, ROT= 344.2, -10.6 2025-10-27T06:34:54.558Z,1761546894.558 [DAT](INFO): got valid direction response: 06:34:53.3259 LVL= 32752, 32753, 24850, 32755, AGC= 52, IDX= 496,-0.12, 2.652, 1.278,-2.922, 2.753, PHS= 0.001,-1.430, 0.565, RAW= 165.9, 9.7, CAL= 165.8, 10.6, ROT= 344.2, -10.6 2025-10-27T06:34:54.559Z,1761546894.559 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-27T06:34:54.560Z,1761546894.560 [DAT](INFO): direction in FSK: [0.945798,-0.267634,0.183951] 2025-10-27T06:34:54.560Z,1761546894.560 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:54.564Z,1761546894.564 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.448929 2025-10-27T06:34:54.646Z,1761546894.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503699 s, deltaX: -0.300000 m, approachRate: -0.595594 m/s, rangeRepo size: 4 2025-10-27T06:34:54.656Z,1761546894.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.841691 m, bearing: 266.679971 deg, lat: 36.779482 deg, lon: -121.859842 deg, deltaT: 1.511610 s, deltaX: -0.695381 m, approachRate: -0.460027 m/s, posRepo size: 4 2025-10-27T06:34:54.657Z,1761546894.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.84 m. 9.54 m. 2025-10-27T06:34:54.668Z,1761546894.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 8.513372 m, bearing: 267.435390 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 274.732065 deg, new cmd heading: 274.309442 deg. 2025-10-27T06:34:54.669Z,1761546894.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.787603 target range: 9.537072 and range: 8.90 m. 2025-10-27T06:34:54.800Z,1761546894.800 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.685455 2025-10-27T06:34:55.042Z,1761546895.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172231,0.966428,0.190664],[-0.983427,0.157565,0.089694],[0.056641,-0.202952,0.977549]] 2025-10-27T06:34:55.053Z,1761546895.053 [DAT](INFO): DAT read: Rx Time:06:34:53.8256 2025-10-27T06:34:55.053Z,1761546895.053 [DAT](INFO): Rx dataTimestamp_ set to:1761546895.052790 2025-10-27T06:34:55.054Z,1761546895.054 [DAT](INFO): DAT read: Bearing 96.8, -14.7 (Local) 2025-10-27T06:34:55.055Z,1761546895.055 [DAT](INFO): Local bearing/azimuth received: Bearing 96.8, -14.7 (Local) 2025-10-27T06:34:55.057Z,1761546895.057 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-27T06:34:55.061Z,1761546895.061 [DAT](INFO): DAT read: 06:34:53.8256 LVL= 32752, 32753, 26258, 32755, AGC= 51, IDX= 509, 0.12,-2.864, 2.037,-2.159,-2.730, PHS=-0.031,-1.471, 0.527, RAW= 165.7, 10.9, CAL= 165.8, 12.3, ROT= 344.2, -12.3 2025-10-27T06:34:55.063Z,1761546895.063 [DAT](INFO): got valid direction response: 06:34:53.8256 LVL= 32752, 32753, 26258, 32755, AGC= 51, IDX= 509, 0.12,-2.864, 2.037,-2.159,-2.730, PHS=-0.031,-1.471, 0.527, RAW= 165.7, 10.9, CAL= 165.8, 12.3, ROT= 344.2, -12.3 2025-10-27T06:34:55.063Z,1761546895.063 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-27T06:34:55.064Z,1761546895.064 [DAT](INFO): direction in FSK: [0.940131,-0.266030,0.213030] 2025-10-27T06:34:55.064Z,1761546895.064 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:55.083Z,1761546895.083 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.965622 2025-10-27T06:34:55.227Z,1761546895.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504233 s, deltaX: -0.500000 m, approachRate: -0.991605 m/s, rangeRepo size: 4 2025-10-27T06:34:55.229Z,1761546895.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.345017 m, bearing: 266.703746 deg, lat: 36.779481 deg, lon: -121.859842 deg, deltaT: 2.015843 s, deltaX: -1.192055 m, approachRate: -0.591343 m/s, posRepo size: 4 2025-10-27T06:34:55.230Z,1761546895.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.54 m. 2025-10-27T06:34:55.241Z,1761546895.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 8.211280 m, bearing: 267.336233 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 274.309440 deg, new cmd heading: 273.799665 deg. 2025-10-27T06:34:55.242Z,1761546895.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.778706 target range: 9.537072 and range: 8.40 m. 2025-10-27T06:34:55.305Z,1761546895.305 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.190044 2025-10-27T06:34:55.557Z,1761546895.557 [DAT](INFO): DAT read: Rx Time:06:34:54.3256 2025-10-27T06:34:55.558Z,1761546895.558 [DAT](INFO): Rx dataTimestamp_ set to:1761546895.557456 2025-10-27T06:34:55.559Z,1761546895.559 [DAT](INFO): DAT read: Bearing 94.5, -15.4 (Local) 2025-10-27T06:34:55.560Z,1761546895.560 [DAT](INFO): Local bearing/azimuth received: Bearing 94.5, -15.4 (Local) 2025-10-27T06:34:55.562Z,1761546895.562 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-27T06:34:55.566Z,1761546895.566 [DAT](INFO): DAT read: 06:34:54.3256 LVL= 32752, 32753, 23154, 32755, AGC= 50, IDX= 509,-0.35, 1.281,-0.091, 2.038, 1.398, PHS=-0.015,-1.444, 0.595, RAW= 167.0, 9.6, CAL= 166.8, 10.4, ROT= 343.2, -10.4 2025-10-27T06:34:55.567Z,1761546895.567 [DAT](INFO): got valid direction response: 06:34:54.3256 LVL= 32752, 32753, 23154, 32755, AGC= 50, IDX= 509,-0.35, 1.281,-0.091, 2.038, 1.398, PHS=-0.015,-1.444, 0.595, RAW= 167.0, 9.6, CAL= 166.8, 10.4, ROT= 343.2, -10.4 2025-10-27T06:34:55.568Z,1761546895.568 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-27T06:34:55.569Z,1761546895.569 [DAT](INFO): direction in FSK: [0.941592,-0.284283,0.180519] 2025-10-27T06:34:55.569Z,1761546895.569 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:55.573Z,1761546895.573 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.458149 2025-10-27T06:34:55.629Z,1761546895.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164632,0.967662,0.191121],[-0.984714,0.150071,0.088410],[0.056870,-0.202755,0.977577]] 2025-10-27T06:34:55.687Z,1761546895.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504666 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:55.700Z,1761546895.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.345017 m, bearing: 264.873808 deg, lat: 36.779481 deg, lon: -121.859842 deg, deltaT: 2.520509 s, deltaX: -1.192055 m, approachRate: -0.472942 m/s, posRepo size: 4 2025-10-27T06:34:55.701Z,1761546895.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.54 m. 2025-10-27T06:34:55.709Z,1761546895.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 7.967924 m, bearing: 267.264462 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 273.799662 deg, new cmd heading: 273.390497 deg. 2025-10-27T06:34:55.715Z,1761546895.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.771564 target range: 9.537072 and range: 8.40 m. 2025-10-27T06:34:55.809Z,1761546895.809 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.693928 2025-10-27T06:34:56.061Z,1761546896.061 [DAT](INFO): DAT read: Rx Time:06:34:54.8253 2025-10-27T06:34:56.061Z,1761546896.061 [DAT](INFO): Rx dataTimestamp_ set to:1761546896.060735 2025-10-27T06:34:56.062Z,1761546896.062 [DAT](INFO): DAT read: Bearing 96.0, -15.5 (Local) 2025-10-27T06:34:56.063Z,1761546896.063 [DAT](INFO): Local bearing/azimuth received: Bearing 96.0, -15.5 (Local) 2025-10-27T06:34:56.065Z,1761546896.065 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-27T06:34:56.070Z,1761546896.070 [DAT](INFO): DAT read: 06:34:54.8253 LVL= 32752, 32753, 25954, 32755, AGC= 48, IDX= 506, 0.05, 0.647,-0.736, 1.392, 0.796, PHS=-0.047,-1.487, 0.551, RAW= 166.6, 10.8, CAL= 166.7, 12.3, ROT= 343.3, -12.3 2025-10-27T06:34:56.071Z,1761546896.071 [DAT](INFO): got valid direction response: 06:34:54.8253 LVL= 32752, 32753, 25954, 32755, AGC= 48, IDX= 506, 0.05, 0.647,-0.736, 1.392, 0.796, PHS=-0.047,-1.487, 0.551, RAW= 166.6, 10.8, CAL= 166.7, 12.3, ROT= 343.3, -12.3 2025-10-27T06:34:56.072Z,1761546896.072 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-27T06:34:56.073Z,1761546896.073 [DAT](INFO): direction in FSK: [0.935836,-0.280765,0.213030] 2025-10-27T06:34:56.073Z,1761546896.073 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:56.077Z,1761546896.077 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.962269 2025-10-27T06:34:56.133Z,1761546896.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158880,0.968054,0.193983],[-0.985617,0.144059,0.088349],[0.057582,-0.205230,0.977019]] 2025-10-27T06:34:56.228Z,1761546896.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503279 s, deltaX: -0.400000 m, approachRate: -0.794787 m/s, rangeRepo size: 4 2025-10-27T06:34:56.230Z,1761546896.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.947626 m, bearing: 265.048449 deg, lat: 36.779481 deg, lon: -121.859842 deg, deltaT: 3.023788 s, deltaX: -1.589446 m, approachRate: -0.525647 m/s, posRepo size: 4 2025-10-27T06:34:56.235Z,1761546896.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.54 m. 2025-10-27T06:34:56.237Z,1761546896.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 7.680490 m, bearing: 267.204297 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 273.390507 deg, new cmd heading: 272.916274 deg. 2025-10-27T06:34:56.238Z,1761546896.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.763288 target range: 9.537072 and range: 8.00 m. 2025-10-27T06:34:56.312Z,1761546896.312 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.197479 2025-10-27T06:34:56.565Z,1761546896.565 [DAT](INFO): DAT read: Rx Time:06:34:55.3253 2025-10-27T06:34:56.565Z,1761546896.565 [DAT](INFO): Rx dataTimestamp_ set to:1761546896.564755 2025-10-27T06:34:56.566Z,1761546896.566 [DAT](INFO): DAT read: Bearing 94.1, -15.9 (Local) 2025-10-27T06:34:56.567Z,1761546896.567 [DAT](INFO): Local bearing/azimuth received: Bearing 94.1, -15.9 (Local) 2025-10-27T06:34:56.569Z,1761546896.569 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-27T06:34:56.573Z,1761546896.573 [DAT](INFO): DAT read: 06:34:55.3253 LVL= 32752, 32753, 23202, 32755, AGC= 46, IDX= 506,-0.44,-0.844,-2.216,-0.069,-0.707, PHS=-0.035,-1.464, 0.594, RAW= 167.3, 9.9, CAL= 167.3, 11.0, ROT= 342.7, -11.0 2025-10-27T06:34:56.574Z,1761546896.574 [DAT](INFO): got valid direction response: 06:34:55.3253 LVL= 32752, 32753, 23202, 32755, AGC= 46, IDX= 506,-0.44,-0.844,-2.216,-0.069,-0.707, PHS=-0.035,-1.464, 0.594, RAW= 167.3, 9.9, CAL= 167.3, 11.0, ROT= 342.7, -11.0 2025-10-27T06:34:56.575Z,1761546896.575 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-27T06:34:56.576Z,1761546896.576 [DAT](INFO): direction in FSK: [0.937219,-0.291911,0.190809] 2025-10-27T06:34:56.576Z,1761546896.576 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:56.580Z,1761546896.580 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.465282 2025-10-27T06:34:56.644Z,1761546896.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504020 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:34:56.646Z,1761546896.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.947626 m, bearing: 264.183444 deg, lat: 36.779479 deg, lon: -121.859842 deg, deltaT: 3.527808 s, deltaX: -1.589446 m, approachRate: -0.450548 m/s, posRepo size: 4 2025-10-27T06:34:56.651Z,1761546896.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.54 m. 2025-10-27T06:34:56.654Z,1761546896.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 7.464440 m, bearing: 267.156023 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 272.916273 deg, new cmd heading: 272.548953 deg. 2025-10-27T06:34:56.654Z,1761546896.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.756876 target range: 9.537072 and range: 8.00 m. 2025-10-27T06:34:56.816Z,1761546896.816 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.701488 2025-10-27T06:34:57.026Z,1761546897.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147553,0.968762,0.199321],[-0.987342,0.132421,0.087299],[0.058178,-0.209679,0.976038]] 2025-10-27T06:34:57.069Z,1761546897.069 [DAT](INFO): DAT read: Rx Time:06:34:55.8250 2025-10-27T06:34:57.069Z,1761546897.069 [DAT](INFO): Rx dataTimestamp_ set to:1761546897.068836 2025-10-27T06:34:57.070Z,1761546897.070 [DAT](INFO): DAT read: Bearing 91.9, -15.7 (Local) 2025-10-27T06:34:57.071Z,1761546897.071 [DAT](INFO): Local bearing/azimuth received: Bearing 91.9, -15.7 (Local) 2025-10-27T06:34:57.073Z,1761546897.073 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-10-27T06:34:57.077Z,1761546897.077 [DAT](INFO): DAT read: 06:34:55.8250 LVL= 32752, 32753, 18978, 32755, AGC= 46, IDX= 503,-0.05,-1.489,-2.869,-0.697,-1.380, PHS=-0.007,-1.444, 0.638, RAW= 167.6, 8.8, CAL= 167.4, 9.4, ROT= 342.6, -9.4 2025-10-27T06:34:57.079Z,1761546897.079 [DAT](INFO): got valid direction response: 06:34:55.8250 LVL= 32752, 32753, 18978, 32755, AGC= 46, IDX= 503,-0.05,-1.489,-2.869,-0.697,-1.380, PHS=-0.007,-1.444, 0.638, RAW= 167.6, 8.8, CAL= 167.4, 9.4, ROT= 342.6, -9.4 2025-10-27T06:34:57.079Z,1761546897.079 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-27T06:34:57.080Z,1761546897.080 [DAT](INFO): direction in FSK: [0.941427,-0.295025,0.163326] 2025-10-27T06:34:57.080Z,1761546897.080 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:57.096Z,1761546897.096 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.981350 2025-10-27T06:34:57.111Z,1761546897.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504081 s, deltaX: -0.500000 m, approachRate: -0.991904 m/s, rangeRepo size: 4 2025-10-27T06:34:57.113Z,1761546897.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.450832 m, bearing: 263.167472 deg, lat: 36.779478 deg, lon: -121.859842 deg, deltaT: 4.031889 s, deltaX: -2.086240 m, approachRate: -0.517435 m/s, posRepo size: 4 2025-10-27T06:34:57.114Z,1761546897.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.45 m. 9.54 m. 2025-10-27T06:34:57.125Z,1761546897.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 7.237488 m, bearing: 267.192676 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 272.548945 deg, new cmd heading: 272.136324 deg. 2025-10-27T06:34:57.126Z,1761546897.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.749675 target range: 9.537072 and range: 7.50 m. 2025-10-27T06:34:57.325Z,1761546897.325 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.209343 2025-10-27T06:34:57.428Z,1761546897.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141206,0.969093,0.202288],[-0.988238,0.125868,0.086844],[0.058698,-0.212171,0.975468]] 2025-10-27T06:34:57.469Z,1761546897.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:34:57.480Z,1761546897.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-27T06:34:57.507Z,1761546897.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 7.050791 m, bearing: 267.233934 deg, approach rate: -0.504047 m/s, LOS rate: 0.114338 deg/s, cmd heading: 272.136320 deg, new cmd heading: 272.263371 deg. 2025-10-27T06:34:57.516Z,1761546897.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.751892 target range: 9.537072 and range: 7.50 m. 2025-10-27T06:34:57.575Z,1761546897.575 [DAT](INFO): DAT read: Rx Time:06:34:56.3250 2025-10-27T06:34:57.576Z,1761546897.576 [DAT](INFO): Rx dataTimestamp_ set to:1761546897.575556 2025-10-27T06:34:57.577Z,1761546897.577 [DAT](INFO): DAT read: Bearing 92.6, -15.6 (Local) 2025-10-27T06:34:57.577Z,1761546897.577 [DAT](INFO): Local bearing/azimuth received: Bearing 92.6, -15.6 (Local) 2025-10-27T06:34:57.580Z,1761546897.580 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-27T06:34:57.584Z,1761546897.584 [DAT](INFO): DAT read: 06:34:56.3250 LVL= 32752, 32753, 22642, 32755, AGC= 48, IDX= 502, 0.24, 2.689, 1.289,-2.810, 2.816, PHS=-0.026,-1.483, 0.613, RAW= 167.3, 9.7, CAL= 167.2, 10.6, ROT= 342.8, -10.6 2025-10-27T06:34:57.586Z,1761546897.586 [DAT](INFO): got valid direction response: 06:34:56.3250 LVL= 32752, 32753, 22642, 32755, AGC= 48, IDX= 502, 0.24, 2.689, 1.289,-2.810, 2.816, PHS=-0.026,-1.483, 0.613, RAW= 167.3, 9.7, CAL= 167.2, 10.6, ROT= 342.8, -10.6 2025-10-27T06:34:57.586Z,1761546897.586 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-27T06:34:57.592Z,1761546897.592 [DAT](INFO): direction in FSK: [0.938977,-0.290662,0.183951] 2025-10-27T06:34:57.593Z,1761546897.593 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:57.601Z,1761546897.601 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.485840 2025-10-27T06:34:57.827Z,1761546897.827 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.711449 2025-10-27T06:34:57.855Z,1761546897.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.134562,0.969568,0.204528],[-0.989136,0.119102,0.086163],[0.059181,-0.213900,0.975061]] 2025-10-27T06:34:57.936Z,1761546897.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.506720 s, deltaX: -0.100000 m, approachRate: -0.197347 m/s, rangeRepo size: 4 2025-10-27T06:34:57.938Z,1761546897.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.351488 m, bearing: 262.910698 deg, lat: 36.779478 deg, lon: -121.859843 deg, deltaT: 4.538609 s, deltaX: -2.185584 m, approachRate: -0.481554 m/s, posRepo size: 4 2025-10-27T06:34:57.943Z,1761546897.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.35 m. 9.54 m. 2025-10-27T06:34:57.945Z,1761546897.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 6.832680 m, bearing: 267.307214 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 272.263361 deg, new cmd heading: 271.862342 deg. 2025-10-27T06:34:57.946Z,1761546897.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.744893 target range: 9.537072 and range: 7.40 m. 2025-10-27T06:34:58.078Z,1761546898.078 [DAT](INFO): DAT read: Rx Time:06:34:56.8248 2025-10-27T06:34:58.079Z,1761546898.079 [DAT](INFO): Rx dataTimestamp_ set to:1761546898.078357 2025-10-27T06:34:58.081Z,1761546898.081 [DAT](INFO): DAT read: Bearing 91.4, -15.6 (Local) 2025-10-27T06:34:58.081Z,1761546898.081 [DAT](INFO): Local bearing/azimuth received: Bearing 91.4, -15.6 (Local) 2025-10-27T06:34:58.085Z,1761546898.085 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 2025-10-27T06:34:58.090Z,1761546898.090 [DAT](INFO): DAT read: 06:34:56.8248 LVL= 32752, 32753, 24242, 32755, AGC= 48, IDX= 500,-0.24,-0.037,-1.428, 0.752, 0.081, PHS=-0.016,-1.464, 0.627, RAW= 167.5, 9.2, CAL= 167.3, 10.0, ROT= 342.7, -10.0 2025-10-27T06:34:58.104Z,1761546898.104 [DAT](INFO): got valid direction response: 06:34:56.8248 LVL= 32752, 32753, 24242, 32755, AGC= 48, IDX= 500,-0.24,-0.037,-1.428, 0.752, 0.081, PHS=-0.016,-1.464, 0.627, RAW= 167.5, 9.2, CAL= 167.3, 10.0, ROT= 342.7, -10.0 2025-10-27T06:34:58.104Z,1761546898.104 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-27T06:34:58.105Z,1761546898.105 [DAT](INFO): direction in FSK: [0.940256,-0.292857,0.173648] 2025-10-27T06:34:58.105Z,1761546898.105 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:58.110Z,1761546898.110 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.995205 2025-10-27T06:34:58.278Z,1761546898.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128207,0.969814,0.207420],[-0.989971,0.112637,0.085261],[0.059325,-0.216271,0.974529]] 2025-10-27T06:34:58.301Z,1761546898.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.502801 s, deltaX: -0.300000 m, approachRate: -0.596658 m/s, rangeRepo size: 4 2025-10-27T06:34:58.303Z,1761546898.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.053417 m, bearing: 262.350997 deg, lat: 36.779477 deg, lon: -121.859844 deg, deltaT: 5.041410 s, deltaX: -2.483655 m, approachRate: -0.492651 m/s, posRepo size: 4 2025-10-27T06:34:58.304Z,1761546898.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.05 m. 9.54 m. 2025-10-27T06:34:58.307Z,1761546898.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 6.652362 m, bearing: 267.380984 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 271.862347 deg, new cmd heading: 271.535930 deg. 2025-10-27T06:34:58.308Z,1761546898.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.739196 target range: 9.537072 and range: 7.10 m. 2025-10-27T06:34:58.328Z,1761546898.328 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.213352 2025-10-27T06:34:58.581Z,1761546898.581 [DAT](INFO): DAT read: Rx Time:06:34:57.3246 2025-10-27T06:34:58.581Z,1761546898.581 [DAT](INFO): Rx dataTimestamp_ set to:1761546898.580700 2025-10-27T06:34:58.582Z,1761546898.582 [DAT](INFO): DAT read: Bearing 91.1, -15.7 (Local) 2025-10-27T06:34:58.583Z,1761546898.583 [DAT](INFO): Local bearing/azimuth received: Bearing 91.1, -15.7 (Local) 2025-10-27T06:34:58.585Z,1761546898.585 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 2025-10-27T06:34:58.589Z,1761546898.589 [DAT](INFO): DAT read: 06:34:57.3246 LVL= 32752, 32753, 22770, 32755, AGC= 49, IDX= 498, 0.15, 2.043, 0.636, 2.838, 2.168, PHS=-0.023,-1.487, 0.627, RAW= 167.5, 9.5, CAL= 167.3, 10.3, ROT= 342.7, -10.3 2025-10-27T06:34:58.590Z,1761546898.590 [DAT](INFO): got valid direction response: 06:34:57.3246 LVL= 32752, 32753, 22770, 32755, AGC= 49, IDX= 498, 0.15, 2.043, 0.636, 2.838, 2.168, PHS=-0.023,-1.487, 0.627, RAW= 167.5, 9.5, CAL= 167.3, 10.3, ROT= 342.7, -10.3 2025-10-27T06:34:58.591Z,1761546898.591 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-27T06:34:58.592Z,1761546898.592 [DAT](INFO): direction in FSK: [0.939375,-0.292582,0.178802] 2025-10-27T06:34:58.592Z,1761546898.592 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:58.596Z,1761546898.596 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.481117 2025-10-27T06:34:58.672Z,1761546898.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121855,0.969656,0.211938],[-0.990778,0.106087,0.084286],[0.059245,-0.220255,0.973642]] 2025-10-27T06:34:58.752Z,1761546898.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.502343 s, deltaX: -0.300000 m, approachRate: -0.597201 m/s, rangeRepo size: 4 2025-10-27T06:34:58.775Z,1761546898.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.755386 m, bearing: 262.101237 deg, lat: 36.779477 deg, lon: -121.859844 deg, deltaT: 5.543753 s, deltaX: -2.781686 m, approachRate: -0.501770 m/s, posRepo size: 4 2025-10-27T06:34:58.779Z,1761546898.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.54 m. 2025-10-27T06:34:58.801Z,1761546898.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 6.452710 m, bearing: 267.478022 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 271.535919 deg, new cmd heading: 271.137592 deg. 2025-10-27T06:34:58.809Z,1761546898.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732244 target range: 9.537072 and range: 6.80 m. 2025-10-27T06:34:58.837Z,1761546898.837 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.722145 2025-10-27T06:34:59.089Z,1761546899.089 [DAT](INFO): DAT read: Rx Time:06:34:57.8244 2025-10-27T06:34:59.090Z,1761546899.090 [DAT](INFO): Rx dataTimestamp_ set to:1761546899.089225 2025-10-27T06:34:59.092Z,1761546899.092 [DAT](INFO): DAT read: Bearing 90.5, -15.7 (Local) 2025-10-27T06:34:59.092Z,1761546899.092 [DAT](INFO): Local bearing/azimuth received: Bearing 90.5, -15.7 (Local) 2025-10-27T06:34:59.095Z,1761546899.095 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 2025-10-27T06:34:59.100Z,1761546899.100 [DAT](INFO): DAT read: 06:34:57.8244 LVL= 32752, 32753, 25474, 32755, AGC= 49, IDX= 496,-0.25,-1.160,-2.556,-0.369,-1.036, PHS=-0.022,-1.475, 0.622, RAW= 167.5, 9.4, CAL= 167.3, 10.2, ROT= 342.7, -10.2 2025-10-27T06:34:59.101Z,1761546899.101 [DAT](INFO): got valid direction response: 06:34:57.8244 LVL= 32752, 32753, 25474, 32755, AGC= 49, IDX= 496,-0.25,-1.160,-2.556,-0.369,-1.036, PHS=-0.022,-1.475, 0.622, RAW= 167.5, 9.4, CAL= 167.3, 10.2, ROT= 342.7, -10.2 2025-10-27T06:34:59.102Z,1761546899.102 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-27T06:34:59.103Z,1761546899.103 [DAT](INFO): direction in FSK: [0.939671,-0.292675,0.177085] 2025-10-27T06:34:59.103Z,1761546899.103 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:59.106Z,1761546899.106 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.991737 2025-10-27T06:34:59.180Z,1761546899.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108549,0.969527,0.219623],[-0.992310,0.092456,0.082302],[0.059489,-0.226868,0.972107]] 2025-10-27T06:34:59.263Z,1761546899.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.508525 s, deltaX: -0.300000 m, approachRate: -0.589942 m/s, rangeRepo size: 4 2025-10-27T06:34:59.269Z,1761546899.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.457291 m, bearing: 261.402587 deg, lat: 36.779476 deg, lon: -121.859842 deg, deltaT: 6.052278 s, deltaX: -3.079782 m, approachRate: -0.508863 m/s, posRepo size: 4 2025-10-27T06:34:59.270Z,1761546899.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.54 m. 2025-10-27T06:34:59.276Z,1761546899.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 6.193612 m, bearing: 267.597823 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 271.137582 deg, new cmd heading: 270.687065 deg. 2025-10-27T06:34:59.280Z,1761546899.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724380 target range: 9.537072 and range: 6.50 m. 2025-10-27T06:34:59.340Z,1761546899.340 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.225525 2025-10-27T06:34:59.596Z,1761546899.596 [DAT](INFO): DAT read: Rx Time:06:34:58.3243 2025-10-27T06:34:59.597Z,1761546899.597 [DAT](INFO): Rx dataTimestamp_ set to:1761546899.596234 2025-10-27T06:34:59.598Z,1761546899.598 [DAT](INFO): DAT read: Bearing 90.7, -15.8 (Local) 2025-10-27T06:34:59.598Z,1761546899.598 [DAT](INFO): Local bearing/azimuth received: Bearing 90.7, -15.8 (Local) 2025-10-27T06:34:59.600Z,1761546899.600 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 2025-10-27T06:34:59.606Z,1761546899.606 [DAT](INFO): DAT read: 06:34:58.3243 LVL= 32752, 32753, 22514, 32755, AGC= 48, IDX= 511, 0.19, 2.085, 0.665, 2.882, 2.225, PHS=-0.038,-1.516, 0.613, RAW= 167.4, 10.0, CAL= 167.3, 11.0, ROT= 342.7, -11.0 2025-10-27T06:34:59.608Z,1761546899.608 [DAT](INFO): got valid direction response: 06:34:58.3243 LVL= 32752, 32753, 22514, 32755, AGC= 48, IDX= 511, 0.19, 2.085, 0.665, 2.882, 2.225, PHS=-0.038,-1.516, 0.613, RAW= 167.4, 10.0, CAL= 167.3, 11.0, ROT= 342.7, -11.0 2025-10-27T06:34:59.609Z,1761546899.609 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-27T06:34:59.611Z,1761546899.611 [DAT](INFO): direction in FSK: [0.937219,-0.291911,0.190809] 2025-10-27T06:34:59.618Z,1761546899.618 [DAT](INFO): publishing direction and range info 2025-10-27T06:34:59.634Z,1761546899.634 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:34:59.634Z,1761546899.634 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:34:59.634Z,1761546899.634 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:34:59.834Z,1761546899.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.507009 s, deltaX: -0.200000 m, approachRate: -0.394470 m/s, rangeRepo size: 4 2025-10-27T06:34:59.846Z,1761546899.846 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:34:59.854Z,1761546899.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.258605 m, bearing: 261.577572 deg, lat: 36.779476 deg, lon: -121.859843 deg, deltaT: 6.559287 s, deltaX: -3.278467 m, approachRate: -0.499821 m/s, posRepo size: 4 2025-10-27T06:34:59.869Z,1761546899.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.26 m. 9.54 m. 2025-10-27T06:34:59.876Z,1761546899.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 5.929334 m, bearing: 267.730821 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 270.687063 deg, new cmd heading: 270.189525 deg. 2025-10-27T06:34:59.877Z,1761546899.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715697 target range: 9.537072 and range: 6.30 m. 2025-10-27T06:35:00.098Z,1761546900.098 [DAT](INFO): DAT read: Rx Time:06:34:58.8241 2025-10-27T06:35:00.098Z,1761546900.098 [DAT](INFO): Rx dataTimestamp_ set to:1761546900.097897 2025-10-27T06:35:00.101Z,1761546900.101 [DAT](INFO): DAT read: Bearing 90.6, -15.9 (Local) 2025-10-27T06:35:00.101Z,1761546900.101 [DAT](INFO): Local bearing/azimuth received: Bearing 90.6, -15.9 (Local) 2025-10-27T06:35:00.104Z,1761546900.104 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-27T06:35:00.109Z,1761546900.109 [DAT](INFO): DAT read: 06:34:58.8241 LVL= 32752, 32753, 21922, 32755, AGC= 48, IDX= 509,-0.15,-1.975, 2.893,-1.179,-1.825, PHS=-0.048,-1.520, 0.602, RAW= 167.4, 10.3, CAL= 167.3, 11.5, ROT= 342.7, -11.5 2025-10-27T06:35:00.110Z,1761546900.110 [DAT](INFO): got valid direction response: 06:34:58.8241 LVL= 32752, 32753, 21922, 32755, AGC= 48, IDX= 509,-0.15,-1.975, 2.893,-1.179,-1.825, PHS=-0.048,-1.520, 0.602, RAW= 167.4, 10.3, CAL= 167.3, 11.5, ROT= 342.7, -11.5 2025-10-27T06:35:00.110Z,1761546900.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:00.111Z,1761546900.111 [DAT](INFO): direction in FSK: [0.935594,-0.291405,0.199368] 2025-10-27T06:35:00.112Z,1761546900.112 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:00.116Z,1761546900.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:00.116Z,1761546900.116 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:00.348Z,1761546900.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:00.363Z,1761546900.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089598,0.970274,0.224814],[-0.994061,0.073118,0.080602],[0.061768,-0.230700,0.971062]] 2025-10-27T06:35:00.433Z,1761546900.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.501663 s, deltaX: -0.100000 m, approachRate: -0.199338 m/s, rangeRepo size: 4 2025-10-27T06:35:00.452Z,1761546900.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.159221 m, bearing: 260.644061 deg, lat: 36.779476 deg, lon: -121.859843 deg, deltaT: 7.060950 s, deltaX: -3.377851 m, approachRate: -0.478385 m/s, posRepo size: 4 2025-10-27T06:35:00.453Z,1761546900.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.54 m. 2025-10-27T06:35:00.456Z,1761546900.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 5.608001 m, bearing: 267.921915 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 270.189525 deg, new cmd heading: 269.653590 deg. 2025-10-27T06:35:00.457Z,1761546900.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706343 target range: 9.537072 and range: 6.20 m. 2025-10-27T06:35:00.601Z,1761546900.601 [DAT](INFO): DAT read: Rx Time:06:34:59.3240 2025-10-27T06:35:00.601Z,1761546900.601 [DAT](INFO): Rx dataTimestamp_ set to:1761546900.601120 2025-10-27T06:35:00.603Z,1761546900.603 [DAT](INFO): DAT read: Bearing 91.1, -15.6 (Local) 2025-10-27T06:35:00.603Z,1761546900.603 [DAT](INFO): Local bearing/azimuth received: Bearing 91.1, -15.6 (Local) 2025-10-27T06:35:00.605Z,1761546900.605 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 2025-10-27T06:35:00.610Z,1761546900.610 [DAT](INFO): DAT read: 06:34:59.3240 LVL= 32752, 32753, 26914, 32755, AGC= 48, IDX= 508, 0.33,-0.096,-1.530, 0.684, 0.065, PHS=-0.058,-1.550, 0.575, RAW= 166.9, 10.9, CAL= 166.9, 12.4, ROT= 343.1, -12.4 2025-10-27T06:35:00.611Z,1761546900.611 [DAT](INFO): got valid direction response: 06:34:59.3240 LVL= 32752, 32753, 26914, 32755, AGC= 48, IDX= 508, 0.33,-0.096,-1.530, 0.684, 0.065, PHS=-0.058,-1.550, 0.575, RAW= 166.9, 10.9, CAL= 166.9, 12.4, ROT= 343.1, -12.4 2025-10-27T06:35:00.612Z,1761546900.612 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:00.612Z,1761546900.612 [DAT](INFO): direction in FSK: [0.934493,-0.283920,0.214735] 2025-10-27T06:35:00.613Z,1761546900.613 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:00.616Z,1761546900.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:00.617Z,1761546900.617 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:00.854Z,1761546900.854 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:01.048Z,1761546901.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503223 s, deltaX: -0.200000 m, approachRate: -0.397438 m/s, rangeRepo size: 4 2025-10-27T06:35:01.050Z,1761546901.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.960567 m, bearing: 261.251947 deg, lat: 36.779476 deg, lon: -121.859843 deg, deltaT: 7.564173 s, deltaX: -3.576505 m, approachRate: -0.472822 m/s, posRepo size: 4 2025-10-27T06:35:01.052Z,1761546901.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.96 m. 9.54 m. 2025-10-27T06:35:01.054Z,1761546901.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 5.285465 m, bearing: 268.106805 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 269.653601 deg, new cmd heading: 269.110176 deg. 2025-10-27T06:35:01.055Z,1761546901.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696858 target range: 9.537072 and range: 6.00 m. 2025-10-27T06:35:01.104Z,1761546901.104 [DAT](INFO): DAT read: Rx Time:06:34:59.8238 2025-10-27T06:35:01.105Z,1761546901.105 [DAT](INFO): Rx dataTimestamp_ set to:1761546901.104692 2025-10-27T06:35:01.106Z,1761546901.106 [DAT](INFO): DAT read: Bearing 89.8, -16.2 (Local) 2025-10-27T06:35:01.107Z,1761546901.107 [DAT](INFO): Local bearing/azimuth received: Bearing 89.8, -16.2 (Local) 2025-10-27T06:35:01.109Z,1761546901.109 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.4 2025-10-27T06:35:01.113Z,1761546901.113 [DAT](INFO): DAT read: 06:34:59.8238 LVL= 32752, 32753, 24658, 32755, AGC= 49, IDX= 506,-0.05, 2.674, 1.251,-2.787, 2.840, PHS=-0.064,-1.544, 0.612, RAW= 167.9, 10.4, CAL= 167.8, 11.7, ROT= 342.2, -11.7 2025-10-27T06:35:01.114Z,1761546901.114 [DAT](INFO): got valid direction response: 06:34:59.8238 LVL= 32752, 32753, 24658, 32755, AGC= 49, IDX= 506,-0.05, 2.674, 1.251,-2.787, 2.840, PHS=-0.064,-1.544, 0.612, RAW= 167.9, 10.4, CAL= 167.8, 11.7, ROT= 342.2, -11.7 2025-10-27T06:35:01.115Z,1761546901.115 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:01.116Z,1761546901.116 [DAT](INFO): direction in FSK: [0.932347,-0.299344,0.202787] 2025-10-27T06:35:01.116Z,1761546901.116 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:01.120Z,1761546901.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:01.120Z,1761546901.120 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:01.342Z,1761546901.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075762,0.971972,0.222556],[-0.995051,0.059305,0.079731],[0.064297,-0.227495,0.971654]] 2025-10-27T06:35:01.356Z,1761546901.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:01.417Z,1761546901.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503572 s, deltaX: -0.300000 m, approachRate: -0.595744 m/s, rangeRepo size: 4 2025-10-27T06:35:01.423Z,1761546901.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.662539 m, bearing: 259.324448 deg, lat: 36.779475 deg, lon: -121.859845 deg, deltaT: 8.067745 s, deltaX: -3.874533 m, approachRate: -0.480250 m/s, posRepo size: 4 2025-10-27T06:35:01.424Z,1761546901.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.66 m. 9.54 m. 2025-10-27T06:35:01.431Z,1761546901.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 5.108950 m, bearing: 268.246166 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 269.110164 deg, new cmd heading: 268.784629 deg. 2025-10-27T06:35:01.432Z,1761546901.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691177 target range: 9.537072 and range: 5.70 m. 2025-10-27T06:35:01.609Z,1761546901.609 [DAT](INFO): DAT read: Rx Time:06:35:00.3237 2025-10-27T06:35:01.609Z,1761546901.609 [DAT](INFO): Rx dataTimestamp_ set to:1761546901.608899 2025-10-27T06:35:01.610Z,1761546901.610 [DAT](INFO): DAT read: Bearing 90.1, -16.9 (Local) 2025-10-27T06:35:01.611Z,1761546901.611 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, -16.9 (Local) 2025-10-27T06:35:01.613Z,1761546901.613 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.4 2025-10-27T06:35:01.617Z,1761546901.617 [DAT](INFO): DAT read: 06:35:00.3237 LVL= 32752, 32753, 24082, 32755, AGC= 50, IDX= 505, 0.33,-0.810,-2.227, 0.039,-0.611, PHS=-0.096,-1.571, 0.606, RAW= 168.4, 11.0, CAL= 168.5, 12.6, ROT= 341.5, -12.6 2025-10-27T06:35:01.619Z,1761546901.619 [DAT](INFO): got valid direction response: 06:35:00.3237 LVL= 32752, 32753, 24082, 32755, AGC= 50, IDX= 505, 0.33,-0.810,-2.227, 0.039,-0.611, PHS=-0.096,-1.571, 0.606, RAW= 168.4, 11.0, CAL= 168.5, 12.6, ROT= 341.5, -12.6 2025-10-27T06:35:01.619Z,1761546901.619 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:01.620Z,1761546901.620 [DAT](INFO): direction in FSK: [0.925485,-0.309663,0.218143] 2025-10-27T06:35:01.620Z,1761546901.620 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:01.624Z,1761546901.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:01.624Z,1761546901.624 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:01.751Z,1761546901.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069093,0.972454,0.222618],[-0.995472,0.052602,0.079179],[0.065287,-0.227081,0.971685]] 2025-10-27T06:35:01.863Z,1761546901.863 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:01.873Z,1761546901.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.504207 s, deltaX: -0.100000 m, approachRate: -0.198331 m/s, rangeRepo size: 4 2025-10-27T06:35:01.906Z,1761546901.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.563196 m, bearing: 258.417124 deg, lat: 36.779475 deg, lon: -121.859845 deg, deltaT: 8.571952 s, deltaX: -3.973876 m, approachRate: -0.463591 m/s, posRepo size: 4 2025-10-27T06:35:01.916Z,1761546901.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.56 m. 9.54 m. 2025-10-27T06:35:01.918Z,1761546901.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 4.891784 m, bearing: 268.448747 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 268.784637 deg, new cmd heading: 268.404916 deg. 2025-10-27T06:35:01.923Z,1761546901.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684549 target range: 9.537072 and range: 5.60 m. 2025-10-27T06:35:02.113Z,1761546902.113 [DAT](INFO): DAT read: Rx Time:06:35:00.8234 2025-10-27T06:35:02.113Z,1761546902.113 [DAT](INFO): Rx dataTimestamp_ set to:1761546902.113157 2025-10-27T06:35:02.115Z,1761546902.115 [DAT](INFO): DAT read: Bearing 89.0, -18.3 (Local) 2025-10-27T06:35:02.115Z,1761546902.115 [DAT](INFO): Local bearing/azimuth received: Bearing 89.0, -18.3 (Local) 2025-10-27T06:35:02.117Z,1761546902.117 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4 2025-10-27T06:35:02.122Z,1761546902.122 [DAT](INFO): DAT read: 06:35:00.8234 LVL= 32752, 32753, 25634, 32755, AGC= 49, IDX= 503,-0.14, 2.843, 1.457,-2.523, 3.069, PHS=-0.123,-1.566, 0.648, RAW= 170.1, 10.7, CAL= 170.1, 12.2, ROT= 339.9, -12.2 2025-10-27T06:35:02.123Z,1761546902.123 [DAT](INFO): got valid direction response: 06:35:00.8234 LVL= 32752, 32753, 25634, 32755, AGC= 49, IDX= 503,-0.14, 2.843, 1.457,-2.523, 3.069, PHS=-0.123,-1.566, 0.648, RAW= 170.1, 10.7, CAL= 170.1, 12.2, ROT= 339.9, -12.2 2025-10-27T06:35:02.124Z,1761546902.124 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:02.125Z,1761546902.125 [DAT](INFO): direction in FSK: [0.917886,-0.335899,0.211325] 2025-10-27T06:35:02.125Z,1761546902.125 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:02.128Z,1761546902.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:02.129Z,1761546902.129 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:02.277Z,1761546902.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062894,0.972713,0.223326],[-0.995839,0.046377,0.078452],[0.065954,-0.227330,0.971582]] 2025-10-27T06:35:02.364Z,1761546902.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:02.389Z,1761546902.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504258 s, deltaX: -0.500000 m, approachRate: -0.991556 m/s, rangeRepo size: 4 2025-10-27T06:35:02.396Z,1761546902.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.066566 m, bearing: 256.345750 deg, lat: 36.779474 deg, lon: -121.859845 deg, deltaT: 9.076210 s, deltaX: -4.470507 m, approachRate: -0.492552 m/s, posRepo size: 4 2025-10-27T06:35:02.398Z,1761546902.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.54 m. 2025-10-27T06:35:02.411Z,1761546902.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 4.583591 m, bearing: 268.759149 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 268.404906 deg, new cmd heading: 267.931574 deg. 2025-10-27T06:35:02.412Z,1761546902.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676288 target range: 9.537072 and range: 5.10 m. 2025-10-27T06:35:02.616Z,1761546902.616 [DAT](INFO): DAT read: Rx Time:06:35:01.3233 2025-10-27T06:35:02.617Z,1761546902.617 [DAT](INFO): Rx dataTimestamp_ set to:1761546902.616686 2025-10-27T06:35:02.618Z,1761546902.618 [DAT](INFO): DAT read: Bearing 89.1, -19.2 (Local) 2025-10-27T06:35:02.619Z,1761546902.619 [DAT](INFO): Local bearing/azimuth received: Bearing 89.1, -19.2 (Local) 2025-10-27T06:35:02.621Z,1761546902.621 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 2025-10-27T06:35:02.625Z,1761546902.625 [DAT](INFO): DAT read: 06:35:01.3233 LVL= 32752, 32753, 25746, 32755, AGC= 49, IDX= 501, 0.14,-1.865, 3.053,-0.912,-1.604, PHS=-0.158,-1.581, 0.648, RAW= 170.9, 11.2, CAL= 171.0, 13.0, ROT= 339.0, -13.0 2025-10-27T06:35:02.626Z,1761546902.626 [DAT](INFO): got valid direction response: 06:35:01.3233 LVL= 32752, 32753, 25746, 32755, AGC= 49, IDX= 501, 0.14,-1.865, 3.053,-0.912,-1.604, PHS=-0.158,-1.581, 0.648, RAW= 170.9, 11.2, CAL= 171.0, 13.0, ROT= 339.0, -13.0 2025-10-27T06:35:02.627Z,1761546902.627 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:02.641Z,1761546902.641 [DAT](INFO): direction in FSK: [0.909653,-0.349183,0.224951] 2025-10-27T06:35:02.641Z,1761546902.641 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:02.645Z,1761546902.645 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:02.645Z,1761546902.645 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:02.808Z,1761546902.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048379,0.973683,0.222711],[-0.996508,0.031859,0.077181],[0.068054,-0.225667,0.971825]] 2025-10-27T06:35:02.870Z,1761546902.870 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:02.900Z,1761546902.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.503529 s, deltaX: -0.100000 m, approachRate: -0.198598 m/s, rangeRepo size: 4 2025-10-27T06:35:02.907Z,1761546902.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.967221 m, bearing: 254.723128 deg, lat: 36.779473 deg, lon: -121.859845 deg, deltaT: 9.579739 s, deltaX: -4.569851 m, approachRate: -0.477033 m/s, posRepo size: 4 2025-10-27T06:35:02.908Z,1761546902.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.54 m. 2025-10-27T06:35:02.915Z,1761546902.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 4.323137 m, bearing: 269.107416 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 267.931574 deg, new cmd heading: 267.481632 deg. 2025-10-27T06:35:02.916Z,1761546902.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668435 target range: 9.537072 and range: 5.00 m. 2025-10-27T06:35:03.121Z,1761546903.121 [DAT](INFO): DAT read: Rx Time:06:35:01.8230 2025-10-27T06:35:03.122Z,1761546903.122 [DAT](INFO): Rx dataTimestamp_ set to:1761546903.121562 2025-10-27T06:35:03.123Z,1761546903.123 [DAT](INFO): DAT read: Bearing 92.2, -19.7 (Local) 2025-10-27T06:35:03.124Z,1761546903.124 [DAT](INFO): Local bearing/azimuth received: Bearing 92.2, -19.7 (Local) 2025-10-27T06:35:03.126Z,1761546903.126 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 2025-10-27T06:35:03.141Z,1761546903.141 [DAT](INFO): DAT read: 06:35:01.8230 LVL= 32752, 32753, 30066, 32755, AGC= 50, IDX= 498, 0.41,-1.934, 3.002,-1.008,-1.609, PHS=-0.223,-1.627, 0.557, RAW= 170.6, 13.4, CAL= 170.9, 16.3, ROT= 339.1, -16.3 2025-10-27T06:35:03.143Z,1761546903.143 [DAT](INFO): got valid direction response: 06:35:01.8230 LVL= 32752, 32753, 30066, 32755, AGC= 50, IDX= 498, 0.41,-1.934, 3.002,-1.008,-1.609, PHS=-0.223,-1.627, 0.557, RAW= 170.6, 13.4, CAL= 170.9, 16.3, ROT= 339.1, -16.3 2025-10-27T06:35:03.144Z,1761546903.144 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:03.145Z,1761546903.145 [DAT](INFO): direction in FSK: [0.896654,-0.342399,0.280667] 2025-10-27T06:35:03.146Z,1761546903.146 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:03.164Z,1761546903.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:03.164Z,1761546903.164 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:03.253Z,1761546903.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040683,0.974181,0.222074],[-0.996780,0.024199,0.076450],[0.069103,-0.224469,0.972028]] 2025-10-27T06:35:03.373Z,1761546903.373 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:03.390Z,1761546903.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.504876 s, deltaX: -0.500000 m, approachRate: -0.990342 m/s, rangeRepo size: 4 2025-10-27T06:35:03.408Z,1761546903.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.470580 m, bearing: 255.073118 deg, lat: 36.779472 deg, lon: -121.859845 deg, deltaT: 10.084615 s, deltaX: -5.066492 m, approachRate: -0.502398 m/s, posRepo size: 4 2025-10-27T06:35:03.409Z,1761546903.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.47 m. 9.54 m. 2025-10-27T06:35:03.416Z,1761546903.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 4.006699 m, bearing: 269.477488 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 267.481628 deg, new cmd heading: 267.043817 deg. 2025-10-27T06:35:03.417Z,1761546903.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660794 target range: 9.537072 and range: 4.50 m. 2025-10-27T06:35:03.624Z,1761546903.624 [DAT](INFO): DAT read: Rx Time:06:35:02.3229 2025-10-27T06:35:03.625Z,1761546903.625 [DAT](INFO): Rx dataTimestamp_ set to:1761546903.624611 2025-10-27T06:35:03.626Z,1761546903.626 [DAT](INFO): DAT read: Bearing 90.1, -22.1 (Local) 2025-10-27T06:35:03.626Z,1761546903.626 [DAT](INFO): Local bearing/azimuth received: Bearing 90.1, -22.1 (Local) 2025-10-27T06:35:03.629Z,1761546903.629 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-27T06:35:03.633Z,1761546903.633 [DAT](INFO): DAT read: 06:35:02.3229 LVL= 32752, 32753, 29522, 32755, AGC= 50, IDX= 498,-0.21,-2.238, 2.750,-1.182,-1.872, PHS=-0.265,-1.616, 0.646, RAW= 173.6, 12.5, CAL= 173.7, 15.1, ROT= 336.3, -15.1 2025-10-27T06:35:03.634Z,1761546903.634 [DAT](INFO): got valid direction response: 06:35:02.3229 LVL= 32752, 32753, 29522, 32755, AGC= 50, IDX= 498,-0.21,-2.238, 2.750,-1.182,-1.872, PHS=-0.265,-1.616, 0.646, RAW= 173.6, 12.5, CAL= 173.7, 15.1, ROT= 336.3, -15.1 2025-10-27T06:35:03.635Z,1761546903.635 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:03.638Z,1761546903.638 [DAT](INFO): direction in FSK: [0.884047,-0.388070,0.260505] 2025-10-27T06:35:03.639Z,1761546903.639 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:03.642Z,1761546903.642 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:03.642Z,1761546903.642 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:03.767Z,1761546903.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033131,0.974574,0.221603],[-0.997011,0.016744,0.075421],[0.069793,-0.223440,0.972216]] 2025-10-27T06:35:03.879Z,1761546903.879 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:04.043Z,1761546904.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503049 s, deltaX: -0.100000 m, approachRate: -0.198788 m/s, rangeRepo size: 4 2025-10-27T06:35:04.045Z,1761546904.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.371234 m, bearing: 251.460211 deg, lat: 36.779472 deg, lon: -121.859845 deg, deltaT: 10.587664 s, deltaX: -5.165838 m, approachRate: -0.487911 m/s, posRepo size: 4 2025-10-27T06:35:04.048Z,1761546904.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.54 m. 2025-10-27T06:35:04.050Z,1761546904.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 3.610267 m, bearing: 270.106655 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 267.043813 deg, new cmd heading: 266.469382 deg. 2025-10-27T06:35:04.051Z,1761546904.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650768 target range: 9.537072 and range: 4.40 m. 2025-10-27T06:35:04.129Z,1761546904.129 [DAT](INFO): DAT read: Rx Time:06:35:02.8227 2025-10-27T06:35:04.129Z,1761546904.129 [DAT](INFO): Rx dataTimestamp_ set to:1761546904.128817 2025-10-27T06:35:04.130Z,1761546904.130 [DAT](INFO): DAT read: Bearing 89.8, -22.8 (Local) 2025-10-27T06:35:04.131Z,1761546904.131 [DAT](INFO): Local bearing/azimuth received: Bearing 89.8, -22.8 (Local) 2025-10-27T06:35:04.133Z,1761546904.133 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.5 2025-10-27T06:35:04.137Z,1761546904.137 [DAT](INFO): DAT read: 06:35:02.8227 LVL= 32752, 32753, 29490, 32755, AGC= 50, IDX= 511,-0.03,-2.482, 2.536,-1.403,-2.094, PHS=-0.286,-1.609, 0.647, RAW= 174.3, 12.7, CAL= 174.4, 15.4, ROT= 335.6, -15.4 2025-10-27T06:35:04.138Z,1761546904.138 [DAT](INFO): got valid direction response: 06:35:02.8227 LVL= 32752, 32753, 29490, 32755, AGC= 50, IDX= 511,-0.03,-2.482, 2.536,-1.403,-2.094, PHS=-0.286,-1.609, 0.647, RAW= 174.3, 12.7, CAL= 174.4, 15.4, ROT= 335.6, -15.4 2025-10-27T06:35:04.139Z,1761546904.139 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-27T06:35:04.140Z,1761546904.140 [DAT](INFO): direction in FSK: [0.877986,-0.398272,0.265556] 2025-10-27T06:35:04.140Z,1761546904.140 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:04.149Z,1761546904.149 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:04.149Z,1761546904.149 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-27T06:35:04.380Z,1761546904.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:35:04.396Z,1761546904.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.015899,0.974901,0.222070],[-0.997350,-0.000308,0.072756],[0.070998,-0.222638,0.972313]] 2025-10-27T06:35:04.474Z,1761546904.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504206 s, deltaX: -0.300000 m, approachRate: -0.594995 m/s, rangeRepo size: 4 2025-10-27T06:35:04.480Z,1761546904.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.073170 m, bearing: 249.781200 deg, lat: 36.779471 deg, lon: -121.859845 deg, deltaT: 11.091870 s, deltaX: -5.463902 m, approachRate: -0.492604 m/s, posRepo size: 4 2025-10-27T06:35:04.481Z,1761546904.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.07 m. 9.54 m. 2025-10-27T06:35:04.496Z,1761546904.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 3.350804 m, bearing: 270.677822 deg, approach rate: 0.000000 m/s, LOS rate: -0.294332 deg/s, cmd heading: 266.469394 deg, new cmd heading: 266.085406 deg. 2025-10-27T06:35:04.497Z,1761546904.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644066 target range: 9.537072 and range: 4.10 m. 2025-10-27T06:35:04.632Z,1761546904.632 [DAT](INFO): DAT read: user:827> 2025-10-27T06:35:04.632Z,1761546904.632 [DAT](INFO): DAT read: user:827> 2025-10-27T06:35:04.633Z,1761546904.633 [DAT](INFO): DAT read: Tx time:06:35:03.7167 2025-10-27T06:35:04.633Z,1761546904.633 [DAT](INFO): Ping request sent. 2025-10-27T06:35:04.634Z,1761546904.634 [DAT](INFO): transmitted an acoustic signal 2025-10-27T06:35:04.634Z,1761546904.634 [DAT](INFO): publishing transmit ping time 2025-10-27T06:35:04.634Z,1761546904.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-27T06:35:04.888Z,1761546904.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253219 2025-10-27T06:35:04.902Z,1761546904.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:04.927Z,1761546904.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-27T06:35:04.930Z,1761546904.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 3.099538 m, bearing: 271.323041 deg, approach rate: -0.569870 m/s, LOS rate: 1.581943 deg/s, cmd heading: 266.085401 deg, new cmd heading: 268.176998 deg. 2025-10-27T06:35:04.930Z,1761546904.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680572 target range: 9.537072 and range: 4.10 m. 2025-10-27T06:35:05.136Z,1761546905.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502162 2025-10-27T06:35:05.202Z,1761546905.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002373,0.975492,0.220021],[-0.997467,-0.017951,0.068832],[0.071095,-0.219301,0.973064]] 2025-10-27T06:35:05.255Z,1761546905.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-27T06:35:05.257Z,1761546905.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 2.872393 m, bearing: 272.097474 deg, approach rate: -0.668007 m/s, LOS rate: 2.457545 deg/s, cmd heading: 268.176996 deg, new cmd heading: 270.682344 deg. 2025-10-27T06:35:05.258Z,1761546905.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724298 target range: 9.537072 and range: 4.10 m. 2025-10-27T06:35:05.389Z,1761546905.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754684 2025-10-27T06:35:05.608Z,1761546905.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.010892,0.975296,0.220631],[-0.997466,-0.026110,0.066175],[0.070301,-0.219352,0.973110]] 2025-10-27T06:35:05.627Z,1761546905.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-27T06:35:05.630Z,1761546905.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 2.655375 m, bearing: 273.004932 deg, approach rate: -0.583177 m/s, LOS rate: 2.637731 deg/s, cmd heading: 270.682337 deg, new cmd heading: 273.624492 deg. 2025-10-27T06:35:05.630Z,1761546905.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.775648 target range: 9.537072 and range: 4.10 m. 2025-10-27T06:35:05.640Z,1761546905.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006364 2025-10-27T06:35:05.896Z,1761546905.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261807 2025-10-27T06:35:06.009Z,1761546906.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.019658,0.974826,0.222100],[-0.997386,-0.034569,0.063449],[0.069529,-0.220272,0.972957]] 2025-10-27T06:35:06.069Z,1761546906.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-27T06:35:06.071Z,1761546906.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 2.393651 m, bearing: 274.621695 deg, approach rate: -0.592602 m/s, LOS rate: 4.060454 deg/s, cmd heading: 273.624482 deg, new cmd heading: 278.988665 deg. 2025-10-27T06:35:06.072Z,1761546906.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.869271 target range: 9.537072 and range: 4.10 m. 2025-10-27T06:35:06.145Z,1761546906.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511235 2025-10-27T06:35:06.397Z,1761546906.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762774 2025-10-27T06:35:06.420Z,1761546906.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.026870,0.974368,0.223350],[-0.997292,-0.041429,0.060757],[0.068452,-0.221113,0.972843]] 2025-10-27T06:35:06.439Z,1761546906.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-27T06:35:06.441Z,1761546906.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 2.175254 m, bearing: 276.327142 deg, approach rate: -0.589897 m/s, LOS rate: 5.068196 deg/s, cmd heading: 278.988666 deg, new cmd heading: 284.599853 deg. 2025-10-27T06:35:06.442Z,1761546906.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.967205 target range: 9.537072 and range: 4.10 m. 2025-10-27T06:35:06.648Z,1761546906.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014547 2025-10-27T06:35:06.818Z,1761546906.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.032151,0.974291,0.222988],[-0.997256,-0.046156,0.057879],[0.066683,-0.220515,0.973101]] 2025-10-27T06:35:06.864Z,1761546906.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-27T06:35:06.869Z,1761546906.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.537072 m, nav range: 1.928954 m, bearing: 278.786531 deg, approach rate: -0.579972 m/s, LOS rate: 6.528662 deg/s, cmd heading: 284.599858 deg, new cmd heading: 292.859853 deg. 2025-10-27T06:35:06.872Z,1761546906.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.111369 target range: 9.537072 and range: 4.10 m. 2025-10-27T06:35:06.903Z,1761546906.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268696 2025-10-27T06:35:07.153Z,1761546907.153 [DAT](INFO): DAT read: Rx Time:06:35:05.8498 2025-10-27T06:35:07.154Z,1761546907.154 [DAT](INFO): Rx dataTimestamp_ set to:1761546907.152972 2025-10-27T06:35:07.155Z,1761546907.155 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4 2025-10-27T06:35:07.156Z,1761546907.156 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-27T06:35:07.158Z,1761546907.158 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.523786 2025-10-27T06:35:07.239Z,1761546907.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035774,0.974731,0.220500],[-0.997254,-0.049136,0.055417],[0.064851,-0.217912,0.973811]] 2025-10-27T06:35:07.292Z,1761546907.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:07.295Z,1761546907.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 3.024155 s, deltaX: -1.200000 m, approachRate: -0.396805 m/s, rangeRepo size: 4 2025-10-27T06:35:07.296Z,1761546907.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-27T06:35:07.296Z,1761546907.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-27T06:35:07.404Z,1761546907.404 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770404 2025-10-27T06:35:07.643Z,1761546907.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.037980,0.975594,0.216272],[-0.997314,-0.050571,0.052982],[0.062626,-0.213679,0.974895]] 2025-10-27T06:35:07.657Z,1761546907.657 [DAT](INFO): DAT read: Rx Time:06:35:06.3496 2025-10-27T06:35:07.657Z,1761546907.657 [DAT](INFO): Rx dataTimestamp_ set to:1761546907.656849 2025-10-27T06:35:07.658Z,1761546907.658 [DAT](INFO): DAT read: Bearing 160.4, -33.4 (Local) 2025-10-27T06:35:07.659Z,1761546907.659 [DAT](INFO): Local bearing/azimuth received: Bearing 160.4, -33.4 (Local) 2025-10-27T06:35:07.661Z,1761546907.661 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.4 2025-10-27T06:35:07.665Z,1761546907.665 [DAT](INFO): DAT read: 06:35:06.3496 LVL= 17120, 12273, 24466, 24867, AGC= 49, IDX= 496, 0.28,-2.610,-2.276,-1.699,-0.845, PHS=-1.663,-1.386,-0.898, RAW= 230.9, 64.3, CAL= 232.2, 69.0, ROT= 277.8, -69.0 2025-10-27T06:35:07.667Z,1761546907.667 [DAT](INFO): got valid direction response: 06:35:06.3496 LVL= 17120, 12273, 24466, 24867, AGC= 49, IDX= 496, 0.28,-2.610,-2.276,-1.699,-0.845, PHS=-1.663,-1.386,-0.898, RAW= 230.9, 64.3, CAL= 232.2, 69.0, ROT= 277.8, -69.0 2025-10-27T06:35:07.667Z,1761546907.667 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-27T06:35:07.668Z,1761546907.668 [DAT](INFO): direction in FSK: [0.048636,-0.355052,0.933580] 2025-10-27T06:35:07.668Z,1761546907.668 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:07.676Z,1761546907.676 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042354 2025-10-27T06:35:07.685Z,1761546907.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503877 s, deltaX: -0.300000 m, approachRate: -0.595384 m/s, rangeRepo size: 4 2025-10-27T06:35:07.687Z,1761546907.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.582946 m, bearing: 172.635467 deg, lat: 36.779471 deg, lon: -121.859845 deg, deltaT: 14.619902 s, deltaX: -6.954126 m, approachRate: -0.475662 m/s, posRepo size: 4 2025-10-27T06:35:07.908Z,1761546907.908 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274847 2025-10-27T06:35:08.056Z,1761546908.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038570,0.976813,0.210592],[-0.997448,-0.050309,0.050668],[0.060088,-0.208100,0.976260]] 2025-10-27T06:35:08.161Z,1761546908.161 [DAT](INFO): DAT read: Rx Time:06:35:06.8494 2025-10-27T06:35:08.162Z,1761546908.162 [DAT](INFO): Rx dataTimestamp_ set to:1761546908.161688 2025-10-27T06:35:08.164Z,1761546908.164 [DAT](INFO): DAT read: Bearing 143.1, 15.1 (Local) 2025-10-27T06:35:08.165Z,1761546908.165 [DAT](INFO): Local bearing/azimuth received: Bearing 143.1, 15.1 (Local) 2025-10-27T06:35:08.169Z,1761546908.169 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.2 2025-10-27T06:35:08.186Z,1761546908.186 [DAT](INFO): DAT read: 06:35:06.8494 LVL= 32752, 22513, 32754, 32755, AGC= 53, IDX= 497,-0.14,-0.346,-1.632,-1.211, 0.311, PHS=-0.556,-1.898,-1.566, RAW= 103.8, 49.6, CAL= 102.0, 55.0, ROT= 48.0, -55.0 2025-10-27T06:35:08.199Z,1761546908.199 [DAT](INFO): got valid direction response: 06:35:06.8494 LVL= 32752, 22513, 32754, 32755, AGC= 53, IDX= 497,-0.14,-0.346,-1.632,-1.211, 0.311, PHS=-0.556,-1.898,-1.566, RAW= 103.8, 49.6, CAL= 102.0, 55.0, ROT= 48.0, -55.0 2025-10-27T06:35:08.200Z,1761546908.200 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-27T06:35:08.201Z,1761546908.201 [DAT](INFO): direction in FSK: [0.383798,0.426250,0.819152] 2025-10-27T06:35:08.201Z,1761546908.201 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:08.214Z,1761546908.214 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.579906 2025-10-27T06:35:08.412Z,1761546908.412 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778337 2025-10-27T06:35:08.452Z,1761546908.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.043245,0.978616,0.201099],[-0.997338,-0.054114,0.048865],[0.058702,-0.198451,0.978351]] 2025-10-27T06:35:08.516Z,1761546908.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504839 s, deltaX: -0.300000 m, approachRate: -0.594249 m/s, rangeRepo size: 4 2025-10-27T06:35:08.518Z,1761546908.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.284897 m, bearing: 327.091043 deg, lat: 36.779472 deg, lon: -121.859842 deg, deltaT: 0.504839 s, deltaX: -0.298049 m, approachRate: -0.590385 m/s, posRepo size: 4 2025-10-27T06:35:08.665Z,1761546908.665 [DAT](INFO): DAT read: Rx Time:06:35:07.3495 2025-10-27T06:35:08.666Z,1761546908.666 [DAT](INFO): Rx dataTimestamp_ set to:1761546908.665265 2025-10-27T06:35:08.669Z,1761546908.669 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.2 2025-10-27T06:35:08.669Z,1761546908.669 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-27T06:35:08.670Z,1761546908.670 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.036509 2025-10-27T06:35:08.913Z,1761546908.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503577 s, deltaX: 0.100000 m, approachRate: 0.198580 m/s, rangeRepo size: 4 2025-10-27T06:35:08.916Z,1761546908.916 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282424 2025-10-27T06:35:09.170Z,1761546909.170 [DAT](INFO): DAT read: Rx Time:06:35:07.8494 2025-10-27T06:35:09.170Z,1761546909.170 [DAT](INFO): Rx dataTimestamp_ set to:1761546909.169749 2025-10-27T06:35:09.171Z,1761546909.171 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.1 2025-10-27T06:35:09.172Z,1761546909.172 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-27T06:35:09.173Z,1761546909.173 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.539196 2025-10-27T06:35:09.259Z,1761546909.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.070462,0.981151,0.179939],[-0.996160,-0.078609,0.038543],[0.051962,-0.176532,0.982922]] 2025-10-27T06:35:09.294Z,1761546909.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:09.297Z,1761546909.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504484 s, deltaX: -0.100000 m, approachRate: -0.198223 m/s, rangeRepo size: 4 2025-10-27T06:35:09.421Z,1761546909.421 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786945 2025-10-27T06:35:09.662Z,1761546909.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071883,0.986338,0.148224],[-0.996232,-0.078231,0.037448],[0.048532,-0.144974,0.988244]] 2025-10-27T06:35:09.672Z,1761546909.672 [DAT](INFO): DAT read: Rx Time:06:35:08.3494 2025-10-27T06:35:09.673Z,1761546909.673 [DAT](INFO): Rx dataTimestamp_ set to:1761546909.672341 2025-10-27T06:35:09.674Z,1761546909.674 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.1 2025-10-27T06:35:09.674Z,1761546909.674 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-27T06:35:09.675Z,1761546909.675 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.041763 2025-10-27T06:35:09.745Z,1761546909.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.502592 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:35:09.746Z,1761546909.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m. 2025-10-27T06:35:09.924Z,1761546909.924 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290394 2025-10-27T06:35:10.073Z,1761546910.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.046631,0.993024,0.108298],[-0.998003,-0.050939,0.037357],[0.042613,-0.106340,0.993416]] 2025-10-27T06:35:10.147Z,1761546910.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m. 2025-10-27T06:35:10.177Z,1761546910.177 [DAT](INFO): DAT read: Rx Time:06:35:08.8492 2025-10-27T06:35:10.178Z,1761546910.178 [DAT](INFO): Rx dataTimestamp_ set to:1761546910.177812 2025-10-27T06:35:10.180Z,1761546910.180 [DAT](INFO): DAT read: Bearing 148.7, 17.7 (Local) 2025-10-27T06:35:10.180Z,1761546910.180 [DAT](INFO): Local bearing/azimuth received: Bearing 148.7, 17.7 (Local) 2025-10-27T06:35:10.183Z,1761546910.183 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:10.190Z,1761546910.190 [DAT](INFO): DAT read: 06:35:08.8492 LVL= 31344, 21105, 30594, 32755, AGC= 49, IDX= 511,-0.05, 0.033,-1.041,-0.870, 0.980, PHS=-0.845,-1.975,-1.893, RAW= 93.7, 56.8, CAL= 92.8, 61.4, ROT= 57.2, -61.4 2025-10-27T06:35:10.205Z,1761546910.205 [DAT](INFO): got valid direction response: 06:35:08.8492 LVL= 31344, 21105, 30594, 32755, AGC= 49, IDX= 511,-0.05, 0.033,-1.041,-0.870, 0.980, PHS=-0.845,-1.975,-1.893, RAW= 93.7, 56.8, CAL= 92.8, 61.4, ROT= 57.2, -61.4 2025-10-27T06:35:10.205Z,1761546910.205 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-27T06:35:10.206Z,1761546910.206 [DAT](INFO): direction in FSK: [0.259311,0.402372,0.877983] 2025-10-27T06:35:10.206Z,1761546910.206 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:10.210Z,1761546910.210 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.576753 2025-10-27T06:35:10.428Z,1761546910.428 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794732 2025-10-27T06:35:10.469Z,1761546910.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007697,0.996715,0.080617],[-0.999492,0.005173,0.031463],[0.030943,-0.080818,0.996248]] 2025-10-27T06:35:10.523Z,1761546910.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.505471 s, deltaX: -0.300000 m, approachRate: -0.593506 m/s, rangeRepo size: 4 2025-10-27T06:35:10.525Z,1761546910.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.986859 m, bearing: 334.159172 deg, lat: 36.779474 deg, lon: -121.859845 deg, deltaT: 2.016124 s, deltaX: -0.298038 m, approachRate: -0.147827 m/s, posRepo size: 4 2025-10-27T06:35:10.526Z,1761546910.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m. 2025-10-27T06:35:10.680Z,1761546910.680 [DAT](INFO): DAT read: Rx Time:06:35:09.3492 2025-10-27T06:35:10.681Z,1761546910.681 [DAT](INFO): Rx dataTimestamp_ set to:1761546910.680276 2025-10-27T06:35:10.682Z,1761546910.682 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:10.682Z,1761546910.682 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-27T06:35:10.683Z,1761546910.683 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.049670 2025-10-27T06:35:10.896Z,1761546910.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076947,0.996316,0.037853],[-0.996826,0.076098,0.023387],[0.020420,-0.039532,0.999010]] 2025-10-27T06:35:10.915Z,1761546910.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.502464 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-27T06:35:10.943Z,1761546910.943 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.301086 2025-10-27T06:35:11.184Z,1761546911.184 [DAT](INFO): DAT read: Rx Time:06:35:09.8491 2025-10-27T06:35:11.185Z,1761546911.185 [DAT](INFO): Rx dataTimestamp_ set to:1761546911.184631 2025-10-27T06:35:11.186Z,1761546911.186 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:11.187Z,1761546911.187 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-27T06:35:11.188Z,1761546911.188 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.554099 2025-10-27T06:35:11.278Z,1761546911.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147312,0.989088,-0.002193],[-0.989052,0.147325,0.008443],[0.008674,0.000925,0.999962]] 2025-10-27T06:35:11.333Z,1761546911.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:11.340Z,1761546911.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504355 s, deltaX: -0.200000 m, approachRate: -0.396546 m/s, rangeRepo size: 4 2025-10-27T06:35:11.341Z,1761546911.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.80 m. 2025-10-27T06:35:11.437Z,1761546911.437 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802858 2025-10-27T06:35:11.688Z,1761546911.688 [DAT](INFO): DAT read: Rx Time:06:35:10.3492 2025-10-27T06:35:11.689Z,1761546911.689 [DAT](INFO): Rx dataTimestamp_ set to:1761546911.688275 2025-10-27T06:35:11.690Z,1761546911.690 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:11.690Z,1761546911.690 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-27T06:35:11.691Z,1761546911.691 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.057848 2025-10-27T06:35:11.801Z,1761546911.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503644 s, deltaX: 0.200000 m, approachRate: 0.397106 m/s, rangeRepo size: 4 2025-10-27T06:35:11.801Z,1761546911.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m. 2025-10-27T06:35:11.801Z,1761546911.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.00 m. 2025-10-27T06:35:11.802Z,1761546911.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present. 2025-10-27T06:35:11.941Z,1761546911.941 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306933 2025-10-27T06:35:12.085Z,1761546912.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242254,0.969040,-0.047689],[-0.970201,0.241711,-0.016924],[-0.004873,0.050367,0.998719]] 2025-10-27T06:35:12.169Z,1761546912.169 [DockingStepper](INFO): Changing to mode: 1 2025-10-27T06:35:12.194Z,1761546912.194 [DAT](INFO): DAT read: Rx Time:06:35:10.8491 2025-10-27T06:35:12.196Z,1761546912.196 [DAT](INFO): Rx dataTimestamp_ set to:1761546912.194462 2025-10-27T06:35:12.198Z,1761546912.198 [DAT](INFO): DAT read: Bearing 138.2, 61.0 (Local) 2025-10-27T06:35:12.198Z,1761546912.198 [DAT](INFO): Local bearing/azimuth received: Bearing 138.2, 61.0 (Local) 2025-10-27T06:35:12.201Z,1761546912.201 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:12.219Z,1761546912.219 [DAT](INFO): DAT read: 06:35:10.8491 LVL= 21088, 32753, 28658, 28627, AGC= 47, IDX= 505, 0.11, 1.371,-0.370,-0.656, 0.754, PHS= 0.719,-1.079,-1.455, RAW= 80.7, 17.7, CAL= 80.1, 23.5, ROT= 69.9, -23.5 2025-10-27T06:35:12.228Z,1761546912.228 [DAT](INFO): got valid direction response: 06:35:10.8491 LVL= 21088, 32753, 28658, 28627, AGC= 47, IDX= 505, 0.11, 1.371,-0.370,-0.656, 0.754, PHS= 0.719,-1.079,-1.455, RAW= 80.7, 17.7, CAL= 80.1, 23.5, ROT= 69.9, -23.5 2025-10-27T06:35:12.228Z,1761546912.228 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-27T06:35:12.229Z,1761546912.229 [DAT](INFO): direction in FSK: [0.315157,0.861206,0.398749] 2025-10-27T06:35:12.230Z,1761546912.230 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:12.262Z,1761546912.262 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.628831 2025-10-27T06:35:12.444Z,1761546912.444 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810292 2025-10-27T06:35:12.507Z,1761546912.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.277557,0.959705,-0.043903],[-0.960680,0.276900,-0.020513],[-0.007529,0.047870,0.998825]] 2025-10-27T06:35:12.531Z,1761546912.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.506187 s, deltaX: -0.200000 m, approachRate: -0.395111 m/s, rangeRepo size: 4 2025-10-27T06:35:12.533Z,1761546912.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.788197 m, bearing: 355.377949 deg, lat: 36.779482 deg, lon: -121.859845 deg, deltaT: 2.016650 s, deltaX: -0.198662 m, approachRate: -0.098511 m/s, posRepo size: 4 2025-10-27T06:35:12.699Z,1761546912.699 [DAT](INFO): DAT read: Rx Time:06:35:11.3492 2025-10-27T06:35:12.699Z,1761546912.699 [DAT](INFO): Rx dataTimestamp_ set to:1761546912.699127 2025-10-27T06:35:12.701Z,1761546912.701 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:12.702Z,1761546912.702 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-27T06:35:12.704Z,1761546912.704 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.070020 2025-10-27T06:35:12.898Z,1761546912.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308945,0.950891,-0.018951],[-0.951056,0.308733,-0.013305],[-0.006801,0.022134,0.999732]] 2025-10-27T06:35:12.932Z,1761546912.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504665 s, deltaX: 0.200000 m, approachRate: 0.396303 m/s, rangeRepo size: 4 2025-10-27T06:35:12.951Z,1761546912.951 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.317818 2025-10-27T06:35:13.200Z,1761546913.200 [DAT](INFO): DAT read: Rx Time:06:35:11.8491 2025-10-27T06:35:13.201Z,1761546913.201 [DAT](INFO): Rx dataTimestamp_ set to:1761546913.200226 2025-10-27T06:35:13.202Z,1761546913.202 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:13.202Z,1761546913.202 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-27T06:35:13.205Z,1761546913.205 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.571490 2025-10-27T06:35:13.298Z,1761546913.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347861,0.937531,0.005367],[-0.937537,0.347878,-0.002449],[-0.004163,-0.004180,0.999983]] 2025-10-27T06:35:13.346Z,1761546913.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:13.349Z,1761546913.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.501099 s, deltaX: -0.200000 m, approachRate: -0.399123 m/s, rangeRepo size: 4 2025-10-27T06:35:13.452Z,1761546913.452 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818431 2025-10-27T06:35:13.705Z,1761546913.705 [DAT](INFO): DAT read: Rx Time:06:35:12.3492 2025-10-27T06:35:13.706Z,1761546913.706 [DAT](INFO): Rx dataTimestamp_ set to:1761546913.704993 2025-10-27T06:35:13.707Z,1761546913.707 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:13.708Z,1761546913.708 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-27T06:35:13.710Z,1761546913.710 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.075809 2025-10-27T06:35:13.758Z,1761546913.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395317,0.918074,0.029403],[-0.918544,0.395149,0.011574],[-0.000993,-0.031584,0.999501]] 2025-10-27T06:35:13.802Z,1761546913.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504767 s, deltaX: 0.200000 m, approachRate: 0.396223 m/s, rangeRepo size: 4 2025-10-27T06:35:13.957Z,1761546913.957 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323044 2025-10-27T06:35:14.150Z,1761546914.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448946,0.892539,0.042688],[-0.893556,0.448317,0.023852],[0.002151,-0.048852,0.998804]] 2025-10-27T06:35:14.208Z,1761546914.208 [DAT](INFO): DAT read: Rx Time:06:35:12.8491 2025-10-27T06:35:14.209Z,1761546914.209 [DAT](INFO): Rx dataTimestamp_ set to:1761546914.208372 2025-10-27T06:35:14.210Z,1761546914.210 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:14.210Z,1761546914.210 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-10-27T06:35:14.211Z,1761546914.211 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:35:14.213Z,1761546914.213 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.578920 2025-10-27T06:35:14.460Z,1761546914.460 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826515 2025-10-27T06:35:14.655Z,1761546914.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507109,0.860841,0.042348],[-0.861869,0.506221,0.030361],[0.004699,-0.051895,0.998641]] 2025-10-27T06:35:14.675Z,1761546914.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503379 s, deltaX: -0.200000 m, approachRate: -0.397315 m/s, rangeRepo size: 4 2025-10-27T06:35:14.713Z,1761546914.713 [DAT](INFO): DAT read: Rx Time:06:35:13.3492 2025-10-27T06:35:14.714Z,1761546914.714 [DAT](INFO): Rx dataTimestamp_ set to:1761546914.713822 2025-10-27T06:35:14.716Z,1761546914.716 [DAT](INFO): DAT read: Bearing 183.3, 27.9 (Local) 2025-10-27T06:35:14.717Z,1761546914.717 [DAT](INFO): Local bearing/azimuth received: Bearing 183.3, 27.9 (Local) 2025-10-27T06:35:14.720Z,1761546914.720 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:14.726Z,1761546914.726 [DAT](INFO): DAT read: 06:35:13.3492 LVL= 30448, 32753, 32754, 32755, AGC= 50, IDX= 511,-0.16, 2.760, 1.531, 1.468,-2.738, PHS=-0.684,-1.970,-2.122, RAW= 84.5, 51.0, CAL= 82.7, 56.8, ROT= 67.3, -56.8 2025-10-27T06:35:14.752Z,1761546914.752 [DAT](INFO): got valid direction response: 06:35:13.3492 LVL= 30448, 32753, 32754, 32755, AGC= 50, IDX= 511,-0.16, 2.760, 1.531, 1.468,-2.738, PHS=-0.684,-1.970,-2.122, RAW= 84.5, 51.0, CAL= 82.7, 56.8, ROT= 67.3, -56.8 2025-10-27T06:35:14.752Z,1761546914.752 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-27T06:35:14.753Z,1761546914.753 [DAT](INFO): direction in FSK: [0.211308,0.505148,0.836764] 2025-10-27T06:35:14.753Z,1761546914.753 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:14.784Z,1761546914.784 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.150478 2025-10-27T06:35:14.964Z,1761546914.964 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330634 2025-10-27T06:35:15.091Z,1761546915.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563416,0.825167,0.040777],[-0.826147,0.562312,0.035875],[0.006674,-0.053900,0.998524]] 2025-10-27T06:35:15.166Z,1761546915.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.505450 s, deltaX: 0.200000 m, approachRate: 0.395687 m/s, rangeRepo size: 4 2025-10-27T06:35:15.168Z,1761546915.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.986840 m, bearing: 13.751781 deg, lat: 36.779485 deg, lon: -121.859848 deg, deltaT: 2.519360 s, deltaX: 0.198643 m, approachRate: 0.078847 m/s, posRepo size: 4 2025-10-27T06:35:15.217Z,1761546915.217 [DAT](INFO): DAT read: Rx Time:06:35:13.8491 2025-10-27T06:35:15.217Z,1761546915.217 [DAT](INFO): Rx dataTimestamp_ set to:1761546915.216736 2025-10-27T06:35:15.218Z,1761546915.218 [DAT](INFO): DAT read: Bearing 187.3, 27.2 (Local) 2025-10-27T06:35:15.219Z,1761546915.219 [DAT](INFO): Local bearing/azimuth received: Bearing 187.3, 27.2 (Local) 2025-10-27T06:35:15.221Z,1761546915.221 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:15.231Z,1761546915.231 [DAT](INFO): DAT read: 06:35:13.8491 LVL= 30528, 32753, 32754, 32755, AGC= 50, IDX= 510,-0.03, 1.512, 0.266, 0.248, 2.292, PHS=-0.678,-1.981,-2.088, RAW= 86.1, 51.0, CAL= 84.5, 56.7, ROT= 65.5, -56.7 2025-10-27T06:35:15.232Z,1761546915.232 [DAT](INFO): got valid direction response: 06:35:13.8491 LVL= 30528, 32753, 32754, 32755, AGC= 50, IDX= 510,-0.03, 1.512, 0.266, 0.248, 2.292, PHS=-0.678,-1.981,-2.088, RAW= 86.1, 51.0, CAL= 84.5, 56.7, ROT= 65.5, -56.7 2025-10-27T06:35:15.233Z,1761546915.233 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-27T06:35:15.234Z,1761546915.234 [DAT](INFO): direction in FSK: [0.227676,0.499590,0.835807] 2025-10-27T06:35:15.234Z,1761546915.234 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:15.236Z,1761546915.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:35:15.239Z,1761546915.239 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.605843 2025-10-27T06:35:15.468Z,1761546915.468 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834280 2025-10-27T06:35:15.569Z,1761546915.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.502914 s, deltaX: -0.200000 m, approachRate: -0.397682 m/s, rangeRepo size: 4 2025-10-27T06:35:15.576Z,1761546915.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.788156 m, bearing: 12.064900 deg, lat: 36.779485 deg, lon: -121.859849 deg, deltaT: 0.502914 s, deltaX: -0.198684 m, approachRate: -0.395066 m/s, posRepo size: 4 2025-10-27T06:35:15.721Z,1761546915.721 [DAT](INFO): DAT read: Rx Time:06:35:14.3492 2025-10-27T06:35:15.722Z,1761546915.722 [DAT](INFO): Rx dataTimestamp_ set to:1761546915.721407 2025-10-27T06:35:15.724Z,1761546915.724 [DAT](INFO): DAT read: Bearing 191.3, 26.4 (Local) 2025-10-27T06:35:15.724Z,1761546915.724 [DAT](INFO): Local bearing/azimuth received: Bearing 191.3, 26.4 (Local) 2025-10-27T06:35:15.727Z,1761546915.727 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:15.733Z,1761546915.733 [DAT](INFO): DAT read: 06:35:14.3492 LVL= 29936, 32753, 32754, 32755, AGC= 50, IDX= 511, 0.03,-2.100, 2.931, 2.945,-1.298, PHS=-0.700,-2.010,-2.085, RAW= 87.2, 51.5, CAL= 85.8, 57.1, ROT= 64.2, -57.1 2025-10-27T06:35:15.735Z,1761546915.735 [DAT](INFO): got valid direction response: 06:35:14.3492 LVL= 29936, 32753, 32754, 32755, AGC= 50, IDX= 511, 0.03,-2.100, 2.931, 2.945,-1.298, PHS=-0.700,-2.010,-2.085, RAW= 87.2, 51.5, CAL= 85.8, 57.1, ROT= 64.2, -57.1 2025-10-27T06:35:15.736Z,1761546915.736 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-27T06:35:15.737Z,1761546915.737 [DAT](INFO): direction in FSK: [0.236406,0.489030,0.839620] 2025-10-27T06:35:15.737Z,1761546915.737 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:15.741Z,1761546915.741 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.107531 2025-10-27T06:35:15.881Z,1761546915.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656999,0.753347,0.028651],[-0.753806,0.655880,0.039980],[0.011327,-0.047864,0.998790]] 2025-10-27T06:35:15.909Z,1761546915.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504671 s, deltaX: 0.200000 m, approachRate: 0.396298 m/s, rangeRepo size: 4 2025-10-27T06:35:15.928Z,1761546915.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.986840 m, bearing: 17.822145 deg, lat: 36.779485 deg, lon: -121.859849 deg, deltaT: 0.504671 s, deltaX: 0.198684 m, approachRate: 0.393690 m/s, posRepo size: 4 2025-10-27T06:35:15.977Z,1761546915.977 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.343096 2025-10-27T06:35:16.228Z,1761546916.228 [DAT](INFO): DAT read: Rx Time:06:35:14.8491 2025-10-27T06:35:16.229Z,1761546916.229 [DAT](INFO): Rx dataTimestamp_ set to:1761546916.228245 2025-10-27T06:35:16.230Z,1761546916.230 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:16.230Z,1761546916.230 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-27T06:35:16.231Z,1761546916.231 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.597791 2025-10-27T06:35:16.270Z,1761546916.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694962,0.718716,0.021794],[-0.718929,0.693984,0.039070],[0.012955,-0.042821,0.998999]] 2025-10-27T06:35:16.318Z,1761546916.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:16.321Z,1761546916.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.506838 s, deltaX: -0.200000 m, approachRate: -0.394603 m/s, rangeRepo size: 4 2025-10-27T06:35:16.482Z,1761546916.482 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.847279 2025-10-27T06:35:16.678Z,1761546916.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730380,0.682819,0.017429],[-0.682892,0.729448,0.039552],[0.014293,-0.040790,0.999065]] 2025-10-27T06:35:16.733Z,1761546916.733 [DAT](INFO): DAT read: Rx Time:06:35:15.3492 2025-10-27T06:35:16.734Z,1761546916.734 [DAT](INFO): Rx dataTimestamp_ set to:1761546916.733113 2025-10-27T06:35:16.736Z,1761546916.736 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.1 2025-10-27T06:35:16.736Z,1761546916.736 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-27T06:35:16.738Z,1761546916.738 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.103867 2025-10-27T06:35:16.796Z,1761546916.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504868 s, deltaX: 0.200000 m, approachRate: 0.396143 m/s, rangeRepo size: 4 2025-10-27T06:35:16.987Z,1761546916.987 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.352731 2025-10-27T06:35:17.236Z,1761546917.236 [DAT](INFO): DAT read: Rx Time:06:35:15.8491 2025-10-27T06:35:17.237Z,1761546917.237 [DAT](INFO): Rx dataTimestamp_ set to:1761546917.236372 2025-10-27T06:35:17.238Z,1761546917.238 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:17.238Z,1761546917.238 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-27T06:35:17.240Z,1761546917.240 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.606003 2025-10-27T06:35:17.492Z,1761546917.492 [DAT](INFO): DAT read: Rx Time:06:35:16.3492 2025-10-27T06:35:17.494Z,1761546917.494 [DAT](INFO): Rx dataTimestamp_ set to:1761546917.492490 2025-10-27T06:35:17.496Z,1761546917.496 [DAT](INFO): DAT read: Bearing 173.8, -12.9 (Local) 2025-10-27T06:35:17.497Z,1761546917.497 [DAT](INFO): Local bearing/azimuth received: Bearing 173.8, -12.9 (Local) 2025-10-27T06:35:17.500Z,1761546917.500 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.865217 2025-10-27T06:35:17.588Z,1761546917.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838229,0.545314,0.002178],[-0.545025,0.837641,0.036133],[0.017879,-0.031475,0.999345]] 2025-10-27T06:35:17.629Z,1761546917.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503259 s, deltaX: -0.200000 m, approachRate: -0.397410 m/s, rangeRepo size: 4 2025-10-27T06:35:17.743Z,1761546917.743 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.1 2025-10-27T06:35:17.748Z,1761546917.748 [DAT](INFO): DAT read: 06:35:16.3492 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 512,-0.32, 1.978, 0.371, 2.667, 2.678, PHS=-0.598,-2.262,-0.055, RAW= 163.7, 27.4, CAL= 166.0, 40.8, ROT= 344.0, -40.8 2025-10-27T06:35:17.749Z,1761546917.749 [DAT](INFO): got valid direction response: 06:35:16.3492 LVL= 32752, 32753, 32754, 32755, AGC= 50, IDX= 512,-0.32, 1.978, 0.371, 2.667, 2.678, PHS=-0.598,-2.262,-0.055, RAW= 163.7, 27.4, CAL= 166.0, 40.8, ROT= 344.0, -40.8 2025-10-27T06:35:17.749Z,1761546917.749 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-27T06:35:17.751Z,1761546917.751 [DAT](INFO): direction in FSK: [0.727670,-0.208656,0.653421] 2025-10-27T06:35:17.751Z,1761546917.751 [DAT](INFO): publishing direction and range info 2025-10-27T06:35:17.757Z,1761546917.757 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.123329 2025-10-27T06:35:17.996Z,1761546917.996 [DAT](INFO): DAT read: Rx Time:06:35:16.8491 2025-10-27T06:35:17.997Z,1761546917.997 [DAT](INFO): Rx dataTimestamp_ set to:1761546917.996824 2025-10-27T06:35:17.998Z,1761546917.998 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.364119 2025-10-27T06:35:18.012Z,1761546918.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504734 s, deltaX: 0.200000 m, approachRate: 0.396248 m/s, rangeRepo size: 4 2025-10-27T06:35:18.014Z,1761546918.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.986863 m, bearing: 312.252198 deg, lat: 36.779485 deg, lon: -121.859850 deg, deltaT: 2.019699 s, deltaX: 0.000023 m, approachRate: 0.000011 m/s, posRepo size: 4 2025-10-27T06:35:18.016Z,1761546918.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.00 m. Lat: 36.779485 Lon: -121.859850 Cable present. 2025-10-27T06:35:18.016Z,1761546918.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-10-27T06:35:18.016Z,1761546918.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-27T06:35:18.017Z,1761546918.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2025-10-27T06:35:18.245Z,1761546918.245 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:18.245Z,1761546918.245 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-10-27T06:35:18.246Z,1761546918.246 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.612502 2025-10-27T06:35:18.337Z,1761546918.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869663,0.493579,-0.008075],[-0.493328,0.869574,0.021665],[0.017715,-0.014857,0.999733]] 2025-10-27T06:35:18.498Z,1761546918.498 [DAT](INFO): DAT read: Rx Time:06:35:17.3491 2025-10-27T06:35:18.498Z,1761546918.498 [DAT](INFO): Rx dataTimestamp_ set to:1761546918.497732 2025-10-27T06:35:18.499Z,1761546918.499 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.864988 2025-10-27T06:35:18.499Z,1761546918.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:18.501Z,1761546918.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete. 2025-10-27T06:35:18.501Z,1761546918.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2025-10-27T06:35:18.501Z,1761546918.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1 2025-10-27T06:35:18.749Z,1761546918.749 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:18.750Z,1761546918.750 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-27T06:35:18.750Z,1761546918.750 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.116827 2025-10-27T06:35:18.780Z,1761546918.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895547,0.444791,-0.012484],[-0.444582,0.895588,0.016413],[0.018481,-0.009148,0.999787]] 2025-10-27T06:35:18.835Z,1761546918.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped 2025-10-27T06:35:18.836Z,1761546918.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T06:35:18.836Z,1761546918.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-27T06:35:18.836Z,1761546918.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-27T06:35:18.836Z,1761546918.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-27T06:35:18.836Z,1761546918.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-27T06:35:18.837Z,1761546918.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-27T06:35:18.837Z,1761546918.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-27T06:35:18.837Z,1761546918.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-27T06:35:18.837Z,1761546918.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-27T06:35:18.837Z,1761546918.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T06:35:19.000Z,1761546919.000 [DAT](INFO): DAT read: Rx Time:06:35:17.8491 2025-10-27T06:35:19.001Z,1761546919.001 [DAT](INFO): Rx dataTimestamp_ set to:1761546919.000360 2025-10-27T06:35:19.002Z,1761546919.002 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:19.002Z,1761546919.002 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-27T06:35:19.004Z,1761546919.004 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.370467 2025-10-27T06:35:19.169Z,1761546919.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915714,0.401617,-0.013122],[-0.401316,0.915705,0.020717],[0.020336,-0.013705,0.999699]] 2025-10-27T06:35:19.230Z,1761546919.230 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-10-27T06:35:19.230Z,1761546919.230 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-27T06:35:19.230Z,1761546919.230 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-27T06:35:19.230Z,1761546919.230 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-27T06:35:19.230Z,1761546919.230 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2025-10-27T06:35:19.230Z,1761546919.230 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-27T06:35:19.231Z,1761546919.231 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings. 2025-10-27T06:35:19.231Z,1761546919.231 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2025-10-27T06:35:19.231Z,1761546919.231 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1 2025-10-27T06:35:19.232Z,1761546919.232 [lineCaptureHoming:LineCapture:HomingSequence] Stopped 2025-10-27T06:35:19.232Z,1761546919.232 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-27T06:35:19.233Z,1761546919.233 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped 2025-10-27T06:35:19.233Z,1761546919.233 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-27T06:35:19.233Z,1761546919.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-27T06:35:19.233Z,1761546919.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-27T06:35:19.234Z,1761546919.234 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1 2025-10-27T06:35:19.234Z,1761546919.234 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component. 2025-10-27T06:35:19.252Z,1761546919.252 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.618168 2025-10-27T06:35:19.504Z,1761546919.504 [DAT](INFO): DAT read: Rx Time:06:35:18.3492 2025-10-27T06:35:19.505Z,1761546919.505 [DAT](INFO): Rx dataTimestamp_ set to:1761546919.504227 2025-10-27T06:35:19.506Z,1761546919.506 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:19.506Z,1761546919.506 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-27T06:35:19.507Z,1761546919.507 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.873674 2025-10-27T06:35:19.621Z,1761546919.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942041,0.334995,-0.018365],[-0.334813,0.942204,0.012321],[0.021431,-0.005458,0.999755]] 2025-10-27T06:35:19.657Z,1761546919.657 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped 2025-10-27T06:35:19.657Z,1761546919.657 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1 2025-10-27T06:35:19.756Z,1761546919.756 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.122375 2025-10-27T06:35:20.008Z,1761546920.008 [DAT](INFO): DAT read: Rx Time:06:35:18.8491 2025-10-27T06:35:20.009Z,1761546920.009 [DAT](INFO): Rx dataTimestamp_ set to:1761546920.008294 2025-10-27T06:35:20.010Z,1761546920.010 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:20.010Z,1761546920.010 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-27T06:35:20.011Z,1761546920.011 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.377754 2025-10-27T06:35:20.023Z,1761546920.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951035,0.308486,-0.019184],[-0.308399,0.951228,0.007456],[0.020548,-0.001174,0.999788]] 2025-10-27T06:35:20.082Z,1761546920.082 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2025-10-27T06:35:20.082Z,1761546920.082 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-27T06:35:20.082Z,1761546920.082 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped 2025-10-27T06:35:20.260Z,1761546920.260 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.626337 2025-10-27T06:35:20.424Z,1761546920.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958084,0.285742,-0.020654],[-0.285796,0.958290,0.000324],[0.019885,0.005592,0.999787]] 2025-10-27T06:35:20.512Z,1761546920.512 [DAT](INFO): DAT read: Rx Time:06:35:19.3492 2025-10-27T06:35:20.513Z,1761546920.513 [DAT](INFO): Rx dataTimestamp_ set to:1761546920.512548 2025-10-27T06:35:20.514Z,1761546920.514 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:20.515Z,1761546920.515 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-27T06:35:20.516Z,1761546920.516 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.881974 2025-10-27T06:35:20.764Z,1761546920.764 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.130297 2025-10-27T06:35:20.828Z,1761546920.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963662,0.266187,-0.022374],[-0.266383,0.963847,-0.006273],[0.019896,0.012005,0.999730]] 2025-10-27T06:35:20.849Z,1761546920.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:21.016Z,1761546921.016 [DAT](INFO): DAT read: Rx Time:06:35:19.8491 2025-10-27T06:35:21.017Z,1761546921.017 [DAT](INFO): Rx dataTimestamp_ set to:1761546921.016410 2025-10-27T06:35:21.018Z,1761546921.018 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:21.018Z,1761546921.018 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-27T06:35:21.019Z,1761546921.019 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.385853 2025-10-27T06:35:21.230Z,1761546921.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967402,0.252106,-0.023999],[-0.252362,0.967598,-0.008252],[0.021141,0.014040,0.999678]] 2025-10-27T06:35:21.268Z,1761546921.268 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.634483 2025-10-27T06:35:21.520Z,1761546921.520 [DAT](INFO): DAT read: Rx Time:06:35:20.3492 2025-10-27T06:35:21.521Z,1761546921.521 [DAT](INFO): Rx dataTimestamp_ set to:1761546921.520276 2025-10-27T06:35:21.522Z,1761546921.522 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:21.522Z,1761546921.522 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-27T06:35:21.523Z,1761546921.523 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.889700 2025-10-27T06:35:21.633Z,1761546921.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969643,0.243205,-0.025386],[-0.243508,0.969851,-0.009575],[0.022292,0.015466,0.999632]] 2025-10-27T06:35:21.773Z,1761546921.773 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.138674 2025-10-27T06:35:22.024Z,1761546922.024 [DAT](INFO): DAT read: Rx Time:06:35:20.8491 2025-10-27T06:35:22.025Z,1761546922.025 [DAT](INFO): Rx dataTimestamp_ set to:1761546922.024270 2025-10-27T06:35:22.026Z,1761546922.026 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:22.026Z,1761546922.026 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-27T06:35:22.027Z,1761546922.027 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.393702 2025-10-27T06:35:22.043Z,1761546922.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970489,0.239711,-0.026256],[-0.240037,0.970712,-0.010005],[0.023089,0.016012,0.999605]] 2025-10-27T06:35:22.276Z,1761546922.276 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.642210 2025-10-27T06:35:22.451Z,1761546922.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970042,0.241475,-0.026630],[-0.241877,0.970219,-0.013033],[0.022690,0.019084,0.999560]] 2025-10-27T06:35:22.528Z,1761546922.528 [DAT](INFO): DAT read: Rx Time:06:35:21.3493 2025-10-27T06:35:22.529Z,1761546922.529 [DAT](INFO): Rx dataTimestamp_ set to:1761546922.528386 2025-10-27T06:35:22.530Z,1761546922.530 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:22.530Z,1761546922.530 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-27T06:35:22.531Z,1761546922.531 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.897867 2025-10-27T06:35:22.782Z,1761546922.782 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.148575 2025-10-27T06:35:22.859Z,1761546922.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968054,0.249333,-0.026525],[-0.249763,0.968201,-0.014314],[0.022113,0.020481,0.999546]] 2025-10-27T06:35:22.886Z,1761546922.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:22.887Z,1761546922.887 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting. 2025-10-27T06:35:22.887Z,1761546922.887 [lineCaptureHoming:LineCapture:L.Wait] Stopped 2025-10-27T06:35:22.887Z,1761546922.887 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component. 2025-10-27T06:35:22.889Z,1761546922.889 [lineCaptureHoming:LineCapture:M] Running Loop=1 2025-10-27T06:35:23.032Z,1761546923.032 [DAT](INFO): DAT read: Rx Time:06:35:21.8492 2025-10-27T06:35:23.033Z,1761546923.033 [DAT](INFO): Rx dataTimestamp_ set to:1761546923.032270 2025-10-27T06:35:23.034Z,1761546923.034 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:23.034Z,1761546923.034 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-27T06:35:23.035Z,1761546923.035 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.401714 2025-10-27T06:35:23.254Z,1761546923.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964322,0.263446,-0.026070],[-0.263882,0.964439,-0.014928],[0.021210,0.021275,0.999549]] 2025-10-27T06:35:23.284Z,1761546923.284 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.650419 2025-10-27T06:35:23.305Z,1761546923.305 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 2025-10-27T06:35:23.305Z,1761546923.305 [lineCaptureHoming:LineCapture:M] Stopped 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture] Stopped 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-27T06:35:23.308Z,1761546923.308 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:G] Stopped 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:H] Stopped 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldMass] Stopped 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize. 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-27T06:35:23.309Z,1761546923.309 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T06:35:23.537Z,1761546923.537 [DAT](INFO): DAT read: Rx Time:06:35:22.3493 2025-10-27T06:35:23.537Z,1761546923.537 [DAT](INFO): Rx dataTimestamp_ set to:1761546923.536760 2025-10-27T06:35:23.538Z,1761546923.538 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:23.539Z,1761546923.539 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-27T06:35:23.540Z,1761546923.540 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.906204 2025-10-27T06:35:23.657Z,1761546923.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958727,0.283199,-0.025310],[-0.283582,0.958859,-0.013046],[0.020574,0.019685,0.999595]] 2025-10-27T06:35:23.678Z,1761546923.678 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B 2025-10-27T06:35:23.678Z,1761546923.678 [lineCaptureHoming:Lap:B] Stopped 2025-10-27T06:35:23.679Z,1761546923.679 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B 2025-10-27T06:35:23.679Z,1761546923.679 [lineCaptureHoming:Lap:C] Running Loop=1 2025-10-27T06:35:23.788Z,1761546923.788 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.154268 2025-10-27T06:35:24.040Z,1761546924.040 [DAT](INFO): DAT read: Rx Time:06:35:22.8492 2025-10-27T06:35:24.041Z,1761546924.041 [DAT](INFO): Rx dataTimestamp_ set to:1761546924.040270 2025-10-27T06:35:24.042Z,1761546924.042 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:24.042Z,1761546924.042 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-27T06:35:24.043Z,1761546924.043 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.409695 2025-10-27T06:35:24.085Z,1761546924.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951434,0.306882,-0.024406],[-0.307173,0.951610,-0.009141],[0.020420,0.016194,0.999660]] 2025-10-27T06:35:24.122Z,1761546924.122 [lineCaptureHoming:Lap:C] Stopped 2025-10-27T06:35:24.122Z,1761546924.122 [lineCaptureHoming:Lap:D] Running Loop=1 2025-10-27T06:35:24.292Z,1761546924.292 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.658295 2025-10-27T06:35:24.476Z,1761546924.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942918,0.332211,-0.023282],[-0.332424,0.943112,-0.005891],[0.020000,0.013294,0.999712]] 2025-10-27T06:35:24.540Z,1761546924.540 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 2025-10-27T06:35:24.540Z,1761546924.540 [lineCaptureHoming:Lap:D] Stopped 2025-10-27T06:35:24.541Z,1761546924.541 [lineCaptureHoming:Lap:E] Running Loop=1 2025-10-27T06:35:24.541Z,1761546924.541 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E 2025-10-27T06:35:24.544Z,1761546924.544 [DAT](INFO): DAT read: Rx Time:06:35:23.3492 2025-10-27T06:35:24.545Z,1761546924.545 [DAT](INFO): Rx dataTimestamp_ set to:1761546924.544384 2025-10-27T06:35:24.546Z,1761546924.546 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:24.546Z,1761546924.546 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-27T06:35:24.547Z,1761546924.547 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.913797 2025-10-27T06:35:24.796Z,1761546924.796 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.162313 2025-10-27T06:35:24.874Z,1761546924.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933375,0.358215,-0.022193],[-0.358365,0.933577,-0.003040],[0.019630,0.010790,0.999749]] 2025-10-27T06:35:24.898Z,1761546924.898 [lineCaptureHoming:restartDHCP] Running Loop=1 2025-10-27T06:35:24.898Z,1761546924.898 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP 2025-10-27T06:35:24.899Z,1761546924.899 [lineCaptureHoming:restartDHCP:A] Running Loop=1 2025-10-27T06:35:24.903Z,1761546924.903 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP... 2025-10-27T06:35:24.903Z,1761546924.903 [lineCaptureHoming:restartDHCP:A] Stopped 2025-10-27T06:35:24.903Z,1761546924.903 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1 2025-10-27T06:35:24.904Z,1761546924.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:35:25.048Z,1761546925.048 [DAT](INFO): DAT read: Rx Time:06:35:23.8491 2025-10-27T06:35:25.049Z,1761546925.049 [DAT](INFO): Rx dataTimestamp_ set to:1761546925.048328 2025-10-27T06:35:25.050Z,1761546925.050 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:25.050Z,1761546925.050 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-27T06:35:25.051Z,1761546925.051 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.417768 2025-10-27T06:35:25.273Z,1761546925.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923181,0.383814,-0.020562],[-0.383920,0.923365,-0.001330],[0.018476,0.009123,0.999788]] 2025-10-27T06:35:25.300Z,1761546925.300 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.666367 2025-10-27T06:35:25.352Z,1761546925.352 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-27T06:35:25.352Z,1761546925.352 [lineCaptureHoming:restartDHCP:B.Execute] Stopped 2025-10-27T06:35:25.353Z,1761546925.353 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP 2025-10-27T06:35:25.353Z,1761546925.353 [lineCaptureHoming:restartDHCP] Stopped 2025-10-27T06:35:25.353Z,1761546925.353 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP 2025-10-27T06:35:25.437Z,1761546925.437 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-27T06:35:25.553Z,1761546925.553 [DAT](INFO): DAT read: Rx Time:06:35:24.3492 2025-10-27T06:35:25.553Z,1761546925.553 [DAT](INFO): Rx dataTimestamp_ set to:1761546925.553126 2025-10-27T06:35:25.555Z,1761546925.555 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:25.555Z,1761546925.555 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-27T06:35:25.557Z,1761546925.557 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.922895 2025-10-27T06:35:25.681Z,1761546925.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911883,0.410056,-0.018008],[-0.410111,0.912035,0.000688],[0.016707,0.006758,0.999838]] 2025-10-27T06:35:25.759Z,1761546925.759 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E 2025-10-27T06:35:25.763Z,1761546925.763 [lineCaptureHoming:Lap:E] Stopped 2025-10-27T06:35:25.763Z,1761546925.763 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E 2025-10-27T06:35:25.763Z,1761546925.763 [lineCaptureHoming:Lap:Docked] Running Loop=1 2025-10-27T06:35:25.764Z,1761546925.764 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked 2025-10-27T06:35:25.764Z,1761546925.764 [lineCaptureHoming:Lap:Docked:A] Running Loop=1 2025-10-27T06:35:25.804Z,1761546925.804 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.170612 2025-10-27T06:35:25.853Z,1761546925.853 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-10-27UTC063525_sh 2025-10-27T06:35:26.056Z,1761546926.056 [DAT](INFO): DAT read: Rx Time:06:35:24.8491 2025-10-27T06:35:26.057Z,1761546926.057 [DAT](INFO): Rx dataTimestamp_ set to:1761546926.056570 2025-10-27T06:35:26.058Z,1761546926.058 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:26.059Z,1761546926.059 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-27T06:35:26.061Z,1761546926.061 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.426868 2025-10-27T06:35:26.082Z,1761546926.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899025,0.437652,-0.014669],[-0.437655,0.899138,0.003166],[0.014575,0.003574,0.999887]] 2025-10-27T06:35:26.172Z,1761546926.172 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 2025-10-27T06:35:26.172Z,1761546926.172 [lineCaptureHoming:Lap:Docked:A] Stopped 2025-10-27T06:35:26.172Z,1761546926.172 [lineCaptureHoming:Lap:Docked:C] Running Loop=1 2025-10-27T06:35:26.308Z,1761546926.308 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.674435 2025-10-27T06:35:26.501Z,1761546926.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884498,0.466426,-0.010459],[-0.466389,0.884560,0.005883],[0.011996,-0.000325,0.999928]] 2025-10-27T06:35:26.552Z,1761546926.552 [lineCaptureHoming:Lap:Docked:C] Stopped 2025-10-27T06:35:26.552Z,1761546926.552 [lineCaptureHoming:Lap:Docked:D] Running Loop=1 2025-10-27T06:35:26.560Z,1761546926.560 [DAT](INFO): DAT read: Rx Time:06:35:25.3493 2025-10-27T06:35:26.561Z,1761546926.561 [DAT](INFO): Rx dataTimestamp_ set to:1761546926.560542 2025-10-27T06:35:26.562Z,1761546926.562 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:26.571Z,1761546926.571 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-27T06:35:26.572Z,1761546926.572 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.938231 2025-10-27T06:35:26.812Z,1761546926.812 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.178305 2025-10-27T06:35:26.890Z,1761546926.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868727,0.495255,-0.005978],[-0.495205,0.868738,0.008075],[0.009193,-0.004054,0.999950]] 2025-10-27T06:35:26.909Z,1761546926.909 [lineCaptureHoming:Lap:Docked:D] Stopped 2025-10-27T06:35:26.909Z,1761546926.909 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1 2025-10-27T06:35:26.909Z,1761546926.909 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize. 2025-10-27T06:35:26.910Z,1761546926.910 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2025-10-27T06:35:27.064Z,1761546927.064 [DAT](INFO): DAT read: Rx Time:06:35:25.8492 2025-10-27T06:35:27.065Z,1761546927.065 [DAT](INFO): Rx dataTimestamp_ set to:1761546927.064308 2025-10-27T06:35:27.066Z,1761546927.066 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:27.066Z,1761546927.066 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-27T06:35:27.067Z,1761546927.067 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.433807 2025-10-27T06:35:27.296Z,1761546927.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853043,0.521835,-0.002284],[-0.521801,0.853024,0.008542],[0.006406,-0.006094,0.999961]] 2025-10-27T06:35:27.316Z,1761546927.316 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.682426 2025-10-27T06:35:27.568Z,1761546927.568 [DAT](INFO): DAT read: Rx Time:06:35:26.3493 2025-10-27T06:35:27.569Z,1761546927.569 [DAT](INFO): Rx dataTimestamp_ set to:1761546927.568350 2025-10-27T06:35:27.570Z,1761546927.570 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:27.570Z,1761546927.570 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-27T06:35:27.572Z,1761546927.572 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.938456 2025-10-27T06:35:27.572Z,1761546927.572 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T06:35:27.697Z,1761546927.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837839,0.545916,0.000716],[-0.545904,0.837810,0.007986],[0.003760,-0.007082,0.999968]] 2025-10-27T06:35:27.823Z,1761546927.823 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.189783 2025-10-27T06:35:27.824Z,1761546927.824 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T06:35:28.076Z,1761546928.076 [DAT](INFO): DAT read: Rx Time:06:35:26.8492 2025-10-27T06:35:28.077Z,1761546928.077 [DAT](INFO): Rx dataTimestamp_ set to:1761546928.076230 2025-10-27T06:35:28.078Z,1761546928.078 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:28.078Z,1761546928.078 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-27T06:35:28.079Z,1761546928.079 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.445740 2025-10-27T06:35:28.080Z,1761546928.080 [DAT](INFO): Requesting device enable set for address 50. 2025-10-27T06:35:28.102Z,1761546928.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823929,0.566682,0.003550],[-0.566691,0.823894,0.007808],[0.001500,-0.008445,0.999963]] 2025-10-27T06:35:28.328Z,1761546928.328 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.694294 2025-10-27T06:35:28.514Z,1761546928.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811380,0.584488,0.006017],[-0.584519,0.811339,0.008171],[-0.000106,-0.010147,0.999949]] 2025-10-27T06:35:28.580Z,1761546928.580 [DAT](INFO): DAT read: Rx Time:06:35:27.3492 2025-10-27T06:35:28.581Z,1761546928.581 [DAT](INFO): Rx dataTimestamp_ set to:1761546928.580443 2025-10-27T06:35:28.582Z,1761546928.582 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:28.583Z,1761546928.583 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-27T06:35:28.585Z,1761546928.585 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.951792 2025-10-27T06:35:28.833Z,1761546928.833 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.199150 2025-10-27T06:35:28.910Z,1761546928.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800656,0.599077,0.007490],[-0.599123,0.800617,0.008049],[-0.001175,-0.010932,0.999940]] 2025-10-27T06:35:29.084Z,1761546929.084 [DAT](INFO): DAT read: Rx Time:06:35:27.8491 2025-10-27T06:35:29.085Z,1761546929.085 [DAT](INFO): Rx dataTimestamp_ set to:1761546929.084267 2025-10-27T06:35:29.086Z,1761546929.086 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:29.086Z,1761546929.086 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-27T06:35:29.087Z,1761546929.087 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.453772 2025-10-27T06:35:29.314Z,1761546929.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791291,0.611379,0.008677],[-0.611438,0.791247,0.008464],[-0.001691,-0.012002,0.999927]] 2025-10-27T06:35:29.337Z,1761546929.337 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.703449 2025-10-27T06:35:29.589Z,1761546929.589 [DAT](INFO): DAT read: Rx Time:06:35:28.3492 2025-10-27T06:35:29.590Z,1761546929.590 [DAT](INFO): Rx dataTimestamp_ set to:1761546929.589507 2025-10-27T06:35:29.591Z,1761546929.591 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:29.592Z,1761546929.592 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-27T06:35:29.593Z,1761546929.593 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.958946 2025-10-27T06:35:29.722Z,1761546929.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783465,0.621360,0.009752],[-0.621435,0.783401,0.010078],[-0.001378,-0.013956,0.999902]] 2025-10-27T06:35:29.858Z,1761546929.858 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.224064 2025-10-27T06:35:30.112Z,1761546930.112 [DAT](INFO): DAT read: Rx Time:06:35:28.8491 2025-10-27T06:35:30.113Z,1761546930.113 [DAT](INFO): Rx dataTimestamp_ set to:1761546930.112291 2025-10-27T06:35:30.114Z,1761546930.114 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:30.114Z,1761546930.114 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-27T06:35:30.115Z,1761546930.115 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.481743 2025-10-27T06:35:30.147Z,1761546930.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776938,0.629504,0.009617],[-0.629577,0.776857,0.011226],[-0.000405,-0.014777,0.999891]] 2025-10-27T06:35:30.364Z,1761546930.364 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.730568 2025-10-27T06:35:30.525Z,1761546930.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771937,0.635633,0.009101],[-0.635697,0.771832,0.012790],[0.001105,-0.015659,0.999877]] 2025-10-27T06:35:30.616Z,1761546930.616 [DAT](INFO): DAT read: Rx Time:06:35:29.3493 2025-10-27T06:35:30.617Z,1761546930.617 [DAT](INFO): Rx dataTimestamp_ set to:1761546930.616238 2025-10-27T06:35:30.618Z,1761546930.618 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:30.618Z,1761546930.618 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-27T06:35:30.619Z,1761546930.619 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.985687 2025-10-27T06:35:30.868Z,1761546930.868 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.234295 2025-10-27T06:35:30.930Z,1761546930.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768925,0.639288,0.008131],[-0.639331,0.768786,0.014997],[0.003337,-0.016730,0.999855]] 2025-10-27T06:35:31.120Z,1761546931.120 [DAT](INFO): DAT read: Rx Time:06:35:29.8492 2025-10-27T06:35:31.121Z,1761546931.121 [DAT](INFO): Rx dataTimestamp_ set to:1761546931.120389 2025-10-27T06:35:31.122Z,1761546931.122 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:31.122Z,1761546931.122 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-27T06:35:31.124Z,1761546931.124 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.489883 2025-10-27T06:35:31.342Z,1761546931.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767753,0.640711,0.006684],[-0.640718,0.767580,0.017355],[0.005989,-0.017607,0.999827]] 2025-10-27T06:35:31.372Z,1761546931.372 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.738354 2025-10-27T06:35:31.624Z,1761546931.624 [DAT](INFO): DAT read: Rx Time:06:35:30.3493 2025-10-27T06:35:31.625Z,1761546931.625 [DAT](INFO): Rx dataTimestamp_ set to:1761546931.624337 2025-10-27T06:35:31.626Z,1761546931.626 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:31.626Z,1761546931.626 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-27T06:35:31.628Z,1761546931.628 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.993891 2025-10-27T06:35:31.742Z,1761546931.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768883,0.639372,0.004731],[-0.639329,0.768687,0.019439],[0.008792,-0.017971,0.999800]] 2025-10-27T06:35:31.876Z,1761546931.876 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.242334 2025-10-27T06:35:32.128Z,1761546932.128 [DAT](INFO): DAT read: Rx Time:06:35:30.8492 2025-10-27T06:35:32.128Z,1761546932.128 [DAT](INFO): Rx dataTimestamp_ set to:1761546932.128181 2025-10-27T06:35:32.130Z,1761546932.130 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:32.130Z,1761546932.130 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-27T06:35:32.131Z,1761546932.131 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.497599 2025-10-27T06:35:32.151Z,1761546932.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771901,0.635736,0.002958],[-0.635632,0.771671,0.022276],[0.011879,-0.019075,0.999747]] 2025-10-27T06:35:32.241Z,1761546932.241 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-27T06:35:32.380Z,1761546932.380 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.746330 2025-10-27T06:35:32.553Z,1761546932.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776664,0.629915,0.000700],[-0.629737,0.776417,0.024661],[0.014991,-0.019594,0.999696]] 2025-10-27T06:35:32.632Z,1761546932.632 [DAT](INFO): DAT read: Rx Time:06:35:31.3492 2025-10-27T06:35:32.633Z,1761546932.633 [DAT](INFO): Rx dataTimestamp_ set to:1761546932.632406 2025-10-27T06:35:32.634Z,1761546932.634 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:32.634Z,1761546932.634 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-27T06:35:32.644Z,1761546932.644 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.009935 2025-10-27T06:35:32.884Z,1761546932.884 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.250284 2025-10-27T06:35:32.955Z,1761546932.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782785,0.622285,-0.002921],[-0.622036,0.782590,0.024987],[0.017836,-0.017743,0.999683]] 2025-10-27T06:35:33.136Z,1761546933.136 [DAT](INFO): DAT read: Rx Time:06:35:31.8491 2025-10-27T06:35:33.137Z,1761546933.137 [DAT](INFO): Rx dataTimestamp_ set to:1761546933.136316 2025-10-27T06:35:33.138Z,1761546933.138 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:33.138Z,1761546933.138 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-27T06:35:33.140Z,1761546933.140 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.506018 2025-10-27T06:35:33.388Z,1761546933.388 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.754427 2025-10-27T06:35:33.640Z,1761546933.640 [DAT](INFO): DAT read: Rx Time:06:35:32.3492 2025-10-27T06:35:33.641Z,1761546933.641 [DAT](INFO): Rx dataTimestamp_ set to:1761546933.640236 2025-10-27T06:35:33.642Z,1761546933.642 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:33.642Z,1761546933.642 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-27T06:35:33.643Z,1761546933.643 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.009653 2025-10-27T06:35:33.762Z,1761546933.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797009,0.603882,-0.010182],[-0.603527,0.796958,0.024757],[0.023065,-0.013586,0.999642]] 2025-10-27T06:35:33.892Z,1761546933.892 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.258364 2025-10-27T06:35:34.144Z,1761546934.144 [DAT](INFO): DAT read: Rx Time:06:35:32.8491 2025-10-27T06:35:34.145Z,1761546934.145 [DAT](INFO): Rx dataTimestamp_ set to:1761546934.144294 2025-10-27T06:35:34.146Z,1761546934.146 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:34.146Z,1761546934.146 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-27T06:35:34.147Z,1761546934.147 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.513828 2025-10-27T06:35:34.175Z,1761546934.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804848,0.593328,-0.013431],[-0.592957,0.804883,0.023782],[0.024921,-0.011177,0.999627]] 2025-10-27T06:35:34.396Z,1761546934.396 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.762472 2025-10-27T06:35:34.582Z,1761546934.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812601,0.582587,-0.016470],[-0.582239,0.812728,0.021691],[0.026023,-0.008037,0.999629]] 2025-10-27T06:35:34.650Z,1761546934.650 [DAT](INFO): DAT read: Rx Time:06:35:33.3493 2025-10-27T06:35:34.650Z,1761546934.650 [DAT](INFO): Rx dataTimestamp_ set to:1761546934.649794 2025-10-27T06:35:34.651Z,1761546934.651 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:34.652Z,1761546934.652 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-27T06:35:34.653Z,1761546934.653 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.019272 2025-10-27T06:35:34.900Z,1761546934.900 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.266356 2025-10-27T06:35:34.983Z,1761546934.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820604,0.571180,-0.019037],[-0.570911,0.820816,0.017953],[0.025880,-0.003864,0.999658]] 2025-10-27T06:35:35.152Z,1761546935.152 [DAT](INFO): DAT read: Rx Time:06:35:33.8492 2025-10-27T06:35:35.153Z,1761546935.153 [DAT](INFO): Rx dataTimestamp_ set to:1761546935.152253 2025-10-27T06:35:35.154Z,1761546935.154 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:35.154Z,1761546935.154 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-27T06:35:35.160Z,1761546935.160 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.525974 2025-10-27T06:35:35.404Z,1761546935.404 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.770306 2025-10-27T06:35:35.657Z,1761546935.657 [DAT](INFO): DAT read: Rx Time:06:35:34.3492 2025-10-27T06:35:35.657Z,1761546935.657 [DAT](INFO): Rx dataTimestamp_ set to:1761546935.656858 2025-10-27T06:35:35.658Z,1761546935.658 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:35.659Z,1761546935.659 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-27T06:35:35.660Z,1761546935.660 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.026348 2025-10-27T06:35:35.786Z,1761546935.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835326,0.549430,-0.018922],[-0.549300,0.835540,0.011929],[0.022364,0.000429,0.999750]] 2025-10-27T06:35:35.908Z,1761546935.908 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.274307 2025-10-27T06:35:36.160Z,1761546936.160 [DAT](INFO): DAT read: Rx Time:06:35:34.8491 2025-10-27T06:35:36.161Z,1761546936.161 [DAT](INFO): Rx dataTimestamp_ set to:1761546936.160225 2025-10-27T06:35:36.162Z,1761546936.162 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:36.162Z,1761546936.162 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-27T06:35:36.163Z,1761546936.163 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.529671 2025-10-27T06:35:36.201Z,1761546936.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841389,0.540174,-0.016624],[-0.540092,0.841553,0.009458],[0.019099,0.001020,0.999817]] 2025-10-27T06:35:36.412Z,1761546936.412 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.778433 2025-10-27T06:35:36.601Z,1761546936.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846386,0.532417,-0.012750],[-0.532364,0.846482,0.007508],[0.014789,0.000433,0.999891]] 2025-10-27T06:35:36.664Z,1761546936.664 [DAT](INFO): DAT read: Rx Time:06:35:35.3492 2025-10-27T06:35:36.665Z,1761546936.665 [DAT](INFO): Rx dataTimestamp_ set to:1761546936.664423 2025-10-27T06:35:36.666Z,1761546936.666 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:36.666Z,1761546936.666 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-27T06:35:36.668Z,1761546936.668 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.034046 2025-10-27T06:35:36.916Z,1761546936.916 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.282299 2025-10-27T06:35:37.004Z,1761546937.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849785,0.527068,-0.008067],[-0.527044,0.849823,0.005030],[0.009506,-0.000023,0.999955]] 2025-10-27T06:35:37.168Z,1761546937.168 [DAT](INFO): DAT read: Rx Time:06:35:35.8491 2025-10-27T06:35:37.169Z,1761546937.169 [DAT](INFO): Rx dataTimestamp_ set to:1761546937.168274 2025-10-27T06:35:37.170Z,1761546937.170 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:37.170Z,1761546937.170 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-10-27T06:35:37.171Z,1761546937.171 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.537781 2025-10-27T06:35:37.415Z,1761546937.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851297,0.524677,-0.002773],[-0.524671,0.851301,0.002667],[0.003760,-0.000816,0.999993]] 2025-10-27T06:35:37.420Z,1761546937.420 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.786354 2025-10-27T06:35:37.672Z,1761546937.672 [DAT](INFO): DAT read: Rx Time:06:35:36.3492 2025-10-27T06:35:37.673Z,1761546937.673 [DAT](INFO): Rx dataTimestamp_ set to:1761546937.672258 2025-10-27T06:35:37.674Z,1761546937.674 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:37.674Z,1761546937.674 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-27T06:35:37.675Z,1761546937.675 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.041691 2025-10-27T06:35:37.805Z,1761546937.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851522,0.524314,0.002202],[-0.524312,0.851525,-0.001286],[-0.002550,-0.000059,0.999997]] 2025-10-27T06:35:37.924Z,1761546937.924 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.290436 2025-10-27T06:35:38.180Z,1761546938.180 [DAT](INFO): DAT read: Rx Time:06:35:36.8492 2025-10-27T06:35:38.180Z,1761546938.180 [DAT](INFO): Rx dataTimestamp_ set to:1761546938.180158 2025-10-27T06:35:38.182Z,1761546938.182 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:38.182Z,1761546938.182 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-27T06:35:38.183Z,1761546938.183 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.549629 2025-10-27T06:35:38.210Z,1761546938.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850368,0.526145,0.006695],[-0.526113,0.850393,-0.006052],[-0.008878,0.001624,0.999959]] 2025-10-27T06:35:38.435Z,1761546938.435 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.801762 2025-10-27T06:35:38.614Z,1761546938.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847894,0.530075,0.009840],[-0.529967,0.847938,-0.011660],[-0.014524,0.004671,0.999884]] 2025-10-27T06:35:38.684Z,1761546938.684 [DAT](INFO): DAT read: Rx Time:06:35:37.3493 2025-10-27T06:35:38.685Z,1761546938.685 [DAT](INFO): Rx dataTimestamp_ set to:1761546938.684470 2025-10-27T06:35:38.686Z,1761546938.686 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:38.687Z,1761546938.687 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-27T06:35:38.688Z,1761546938.688 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.053986 2025-10-27T06:35:38.936Z,1761546938.936 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.302284 2025-10-27T06:35:39.020Z,1761546939.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844531,0.535385,0.011388],[-0.535165,0.844562,-0.017707],[-0.019098,0.008860,0.999778]] 2025-10-27T06:35:39.188Z,1761546939.188 [DAT](INFO): DAT read: Rx Time:06:35:37.8492 2025-10-27T06:35:39.189Z,1761546939.189 [DAT](INFO): Rx dataTimestamp_ set to:1761546939.188350 2025-10-27T06:35:39.190Z,1761546939.190 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:39.190Z,1761546939.190 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-10-27T06:35:39.191Z,1761546939.191 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.557793 2025-10-27T06:35:39.440Z,1761546939.440 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.806480 2025-10-27T06:35:39.445Z,1761546939.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840584,0.541553,0.011785],[-0.541233,0.840574,-0.022388],[-0.022031,0.012441,0.999680]] 2025-10-27T06:35:39.692Z,1761546939.692 [DAT](INFO): DAT read: Rx Time:06:35:38.3492 2025-10-27T06:35:39.692Z,1761546939.692 [DAT](INFO): Rx dataTimestamp_ set to:1761546939.692214 2025-10-27T06:35:39.694Z,1761546939.694 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:39.694Z,1761546939.694 [DAT](ERROR): #Rx 66: Read range message, but no direction. 2025-10-27T06:35:39.695Z,1761546939.695 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.061687 2025-10-27T06:35:39.835Z,1761546939.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836076,0.548486,0.011807],[-0.548154,0.836064,-0.022919],[-0.022442,0.012690,0.999668]] 2025-10-27T06:35:39.944Z,1761546939.944 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.310375 2025-10-27T06:35:40.196Z,1761546940.196 [DAT](INFO): DAT read: Rx Time:06:35:38.8491 2025-10-27T06:35:40.197Z,1761546940.197 [DAT](INFO): Rx dataTimestamp_ set to:1761546940.196343 2025-10-27T06:35:40.198Z,1761546940.198 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:40.198Z,1761546940.198 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-27T06:35:40.199Z,1761546940.199 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.565857 2025-10-27T06:35:40.234Z,1761546940.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830797,0.556476,0.010530],[-0.556223,0.830795,-0.019902],[-0.019824,0.010677,0.999746]] 2025-10-27T06:35:40.451Z,1761546940.451 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.816391 2025-10-27T06:35:40.641Z,1761546940.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825249,0.564730,0.006635],[-0.564574,0.825215,-0.016601],[-0.014850,0.009954,0.999840]] 2025-10-27T06:35:40.700Z,1761546940.700 [DAT](INFO): DAT read: Rx Time:06:35:39.3492 2025-10-27T06:35:40.701Z,1761546940.701 [DAT](INFO): Rx dataTimestamp_ set to:1761546940.700586 2025-10-27T06:35:40.703Z,1761546940.703 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:40.704Z,1761546940.704 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-10-27T06:35:40.705Z,1761546940.705 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.071320 2025-10-27T06:35:40.952Z,1761546940.952 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.318336 2025-10-27T06:35:41.038Z,1761546941.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819767,0.572694,0.001802],[-0.572643,0.819729,-0.011110],[-0.007840,0.008076,0.999937]] 2025-10-27T06:35:41.204Z,1761546941.204 [DAT](INFO): DAT read: Rx Time:06:35:39.8491 2025-10-27T06:35:41.204Z,1761546941.204 [DAT](INFO): Rx dataTimestamp_ set to:1761546941.204155 2025-10-27T06:35:41.206Z,1761546941.206 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:41.206Z,1761546941.206 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-27T06:35:41.207Z,1761546941.207 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.573654 2025-10-27T06:35:41.458Z,1761546941.458 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.824329 2025-10-27T06:35:41.477Z,1761546941.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814851,0.579664,-0.002737],[-0.579669,0.814848,-0.002332],[0.000878,0.003487,0.999994]] 2025-10-27T06:35:41.709Z,1761546941.709 [DAT](INFO): DAT read: Rx Time:06:35:40.3492 2025-10-27T06:35:41.710Z,1761546941.710 [DAT](INFO): Rx dataTimestamp_ set to:1761546941.708950 2025-10-27T06:35:41.711Z,1761546941.711 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:41.712Z,1761546941.712 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-27T06:35:41.713Z,1761546941.713 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.079487 2025-10-27T06:35:41.850Z,1761546941.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810434,0.585785,-0.007224],[-0.585729,0.810462,0.008578],[0.010879,-0.002721,0.999937]] 2025-10-27T06:35:41.960Z,1761546941.960 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.326298 2025-10-27T06:35:42.212Z,1761546942.212 [DAT](INFO): DAT read: Rx Time:06:35:40.8492 2025-10-27T06:35:42.213Z,1761546942.213 [DAT](INFO): Rx dataTimestamp_ set to:1761546942.212282 2025-10-27T06:35:42.214Z,1761546942.214 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:42.214Z,1761546942.214 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-27T06:35:42.215Z,1761546942.215 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.581696 2025-10-27T06:35:42.253Z,1761546942.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807173,0.590166,-0.013264],[-0.589926,0.807253,0.018194],[0.021445,-0.006861,0.999747]] 2025-10-27T06:35:42.466Z,1761546942.466 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.832180 2025-10-27T06:35:42.654Z,1761546942.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805325,0.592425,-0.022017],[-0.591965,0.805600,0.024220],[0.032086,-0.006472,0.999464]] 2025-10-27T06:35:42.716Z,1761546942.716 [DAT](INFO): DAT read: Rx Time:06:35:41.3493 2025-10-27T06:35:42.717Z,1761546942.717 [DAT](INFO): Rx dataTimestamp_ set to:1761546942.716890 2025-10-27T06:35:42.719Z,1761546942.719 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:42.720Z,1761546942.720 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-27T06:35:42.721Z,1761546942.721 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.087139 2025-10-27T06:35:42.968Z,1761546942.968 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.334305 2025-10-27T06:35:43.058Z,1761546943.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805198,0.592125,-0.032315],[-0.591474,0.805839,0.027982],[0.042610,-0.003417,0.999086]] 2025-10-27T06:35:43.220Z,1761546943.220 [DAT](INFO): DAT read: Rx Time:06:35:41.8492 2025-10-27T06:35:43.221Z,1761546943.221 [DAT](INFO): Rx dataTimestamp_ set to:1761546943.220327 2025-10-27T06:35:43.222Z,1761546943.222 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:43.222Z,1761546943.222 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-27T06:35:43.223Z,1761546943.223 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.589813 2025-10-27T06:35:43.474Z,1761546943.474 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.839962 2025-10-27T06:35:43.505Z,1761546943.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806824,0.589208,-0.043239],[-0.588434,0.807981,0.030212],[0.052738,0.001067,0.998608]] 2025-10-27T06:35:43.725Z,1761546943.725 [DAT](INFO): DAT read: Rx Time:06:35:42.3492 2025-10-27T06:35:43.725Z,1761546943.725 [DAT](INFO): Rx dataTimestamp_ set to:1761546943.725105 2025-10-27T06:35:43.727Z,1761546943.727 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:43.728Z,1761546943.728 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-10-27T06:35:43.729Z,1761546943.729 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.095352 2025-10-27T06:35:43.865Z,1761546943.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810254,0.583783,-0.051819],[-0.582853,0.811902,0.033115],[0.061404,0.003372,0.998107]] 2025-10-27T06:35:43.976Z,1761546943.976 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.342350 2025-10-27T06:35:44.228Z,1761546944.228 [DAT](INFO): DAT read: Rx Time:06:35:42.8491 2025-10-27T06:35:44.229Z,1761546944.229 [DAT](INFO): Rx dataTimestamp_ set to:1761546944.228251 2025-10-27T06:35:44.230Z,1761546944.230 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:44.230Z,1761546944.230 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-27T06:35:44.231Z,1761546944.231 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.597694 2025-10-27T06:35:44.271Z,1761546944.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814374,0.577651,-0.055807],[-0.576430,0.816282,0.037577],[0.067261,0.001568,0.997734]] 2025-10-27T06:35:44.486Z,1761546944.486 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.851490 2025-10-27T06:35:44.673Z,1761546944.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820078,0.569332,-0.057731],[-0.568177,0.822102,0.036368],[0.068166,0.002977,0.997670]] 2025-10-27T06:35:44.733Z,1761546944.733 [DAT](INFO): DAT read: Rx Time:06:35:43.3492 2025-10-27T06:35:44.734Z,1761546944.734 [DAT](INFO): Rx dataTimestamp_ set to:1761546944.733069 2025-10-27T06:35:44.735Z,1761546944.735 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:44.736Z,1761546944.736 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-27T06:35:44.737Z,1761546944.737 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.103603 2025-10-27T06:35:44.986Z,1761546944.986 [DAT](INFO): DAT read: Rx Time:06:35:43.8492 2025-10-27T06:35:44.988Z,1761546944.988 [DAT](INFO): Rx dataTimestamp_ set to:1761546944.987031 2025-10-27T06:35:44.989Z,1761546944.989 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.355461 2025-10-27T06:35:45.081Z,1761546945.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827845,0.558181,-0.055736],[-0.557323,0.829703,0.031357],[0.063747,0.005105,0.997953]] 2025-10-27T06:35:45.237Z,1761546945.237 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:45.237Z,1761546945.237 [DAT](ERROR): #Rx 77: Read range message, but no direction. 2025-10-27T06:35:45.238Z,1761546945.238 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.604469 2025-10-27T06:35:45.379Z,1761546945.379 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-27T06:35:45.493Z,1761546945.493 [DAT](INFO): DAT read: Rx Time:06:35:44.3493 2025-10-27T06:35:45.495Z,1761546945.495 [DAT](INFO): Rx dataTimestamp_ set to:1761546945.493540 2025-10-27T06:35:45.499Z,1761546945.499 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:45.501Z,1761546945.501 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-27T06:35:45.520Z,1761546945.520 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.886223 2025-10-27T06:35:45.540Z,1761546945.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836457,0.545825,-0.049136],[-0.545253,0.837882,0.025566],[0.055125,0.005406,0.998465]] 2025-10-27T06:35:45.740Z,1761546945.740 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.106350 2025-10-27T06:35:45.885Z,1761546945.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845470,0.532441,-0.041060],[-0.532254,0.846428,0.016282],[0.043423,0.008089,0.999024]] 2025-10-27T06:35:45.995Z,1761546945.995 [DAT](INFO): DAT read: Rx Time:06:35:44.8492 2025-10-27T06:35:45.995Z,1761546945.995 [DAT](INFO): Rx dataTimestamp_ set to:1761546945.994876 2025-10-27T06:35:45.996Z,1761546945.996 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.362137 2025-10-27T06:35:46.245Z,1761546946.245 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:46.245Z,1761546946.245 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-10-27T06:35:46.246Z,1761546946.246 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.612537 2025-10-27T06:35:46.293Z,1761546946.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854351,0.518799,-0.030520],[-0.518827,0.854845,0.007613],[0.030040,0.009330,0.999505]] 2025-10-27T06:35:46.386Z,1761546946.386 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-27T06:35:46.499Z,1761546946.499 [DAT](INFO): DAT read: Rx Time:06:35:45.3493 2025-10-27T06:35:46.500Z,1761546946.500 [DAT](INFO): Rx dataTimestamp_ set to:1761546946.499611 2025-10-27T06:35:46.502Z,1761546946.502 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.868248 2025-10-27T06:35:46.707Z,1761546946.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862006,0.506614,-0.016978],[-0.506622,0.862158,0.004149],[0.016740,0.005025,0.999847]] 2025-10-27T06:35:46.749Z,1761546946.749 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:46.749Z,1761546946.749 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-27T06:35:46.750Z,1761546946.750 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.116524 2025-10-27T06:35:47.000Z,1761546947.000 [DAT](INFO): DAT read: Rx Time:06:35:45.8492 2025-10-27T06:35:47.001Z,1761546947.001 [DAT](INFO): Rx dataTimestamp_ set to:1761546947.000304 2025-10-27T06:35:47.002Z,1761546947.002 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:47.002Z,1761546947.002 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-27T06:35:47.003Z,1761546947.003 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.369717 2025-10-27T06:35:47.098Z,1761546947.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867427,0.497559,-0.002478],[-0.497552,0.867429,0.002785],[0.003535,-0.001183,0.999993]] 2025-10-27T06:35:47.252Z,1761546947.252 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.618290 2025-10-27T06:35:47.507Z,1761546947.507 [DAT](INFO): DAT read: Rx Time:06:35:46.3492 2025-10-27T06:35:47.508Z,1761546947.508 [DAT](INFO): Rx dataTimestamp_ set to:1761546947.507627 2025-10-27T06:35:47.513Z,1761546947.513 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:47.515Z,1761546947.515 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-27T06:35:47.517Z,1761546947.517 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.883144 2025-10-27T06:35:47.579Z,1761546947.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870830,0.491515,0.008241],[-0.491459,0.870865,-0.007971],[-0.011095,0.002891,0.999934]] 2025-10-27T06:35:47.756Z,1761546947.756 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.122360 2025-10-27T06:35:47.906Z,1761546947.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872465,0.488371,0.017314],[-0.487999,0.872572,-0.021780],[-0.025744,0.010553,0.999613]] 2025-10-27T06:35:48.008Z,1761546948.008 [DAT](INFO): DAT read: Rx Time:06:35:46.8491 2025-10-27T06:35:48.008Z,1761546948.008 [DAT](INFO): Rx dataTimestamp_ set to:1761546948.008148 2025-10-27T06:35:48.010Z,1761546948.010 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:48.010Z,1761546948.010 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-27T06:35:48.011Z,1761546948.011 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.377625 2025-10-27T06:35:48.260Z,1761546948.260 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.626293 2025-10-27T06:35:48.317Z,1761546948.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871810,0.489206,0.024991],[-0.488186,0.871921,-0.037787],[-0.040275,0.020743,0.998973]] 2025-10-27T06:35:48.512Z,1761546948.512 [DAT](INFO): DAT read: Rx Time:06:35:47.3492 2025-10-27T06:35:48.513Z,1761546948.513 [DAT](INFO): Rx dataTimestamp_ set to:1761546948.512376 2025-10-27T06:35:48.514Z,1761546948.514 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:48.514Z,1761546948.514 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-27T06:35:48.515Z,1761546948.515 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.881798 2025-10-27T06:35:48.718Z,1761546948.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868717,0.494138,0.034041],[-0.492542,0.869075,-0.045936],[-0.052283,0.023138,0.998364]] 2025-10-27T06:35:48.764Z,1761546948.764 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.130390 2025-10-27T06:35:49.016Z,1761546949.016 [DAT](INFO): DAT read: Rx Time:06:35:47.8491 2025-10-27T06:35:49.017Z,1761546949.017 [DAT](INFO): Rx dataTimestamp_ set to:1761546949.016277 2025-10-27T06:35:49.018Z,1761546949.018 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:49.018Z,1761546949.018 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-27T06:35:49.019Z,1761546949.019 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.385715 2025-10-27T06:35:49.117Z,1761546949.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863100,0.503275,0.042101],[-0.501359,0.863876,-0.048555],[-0.060807,0.020800,0.997933]] 2025-10-27T06:35:49.268Z,1761546949.268 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.634342 2025-10-27T06:35:49.524Z,1761546949.524 [DAT](INFO): DAT read: Rx Time:06:35:48.3492 2025-10-27T06:35:49.525Z,1761546949.525 [DAT](INFO): Rx dataTimestamp_ set to:1761546949.524321 2025-10-27T06:35:49.529Z,1761546949.529 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:49.531Z,1761546949.531 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-27T06:35:49.534Z,1761546949.534 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.899830 2025-10-27T06:35:49.549Z,1761546949.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855408,0.515978,0.045208],[-0.513831,0.856351,-0.051376],[-0.065223,0.020719,0.997656]] 2025-10-27T06:35:49.772Z,1761546949.772 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.138306 2025-10-27T06:35:49.927Z,1761546949.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845944,0.531427,0.044324],[-0.529396,0.846892,-0.050140],[-0.064184,0.018951,0.997758]] 2025-10-27T06:35:50.024Z,1761546950.024 [DAT](INFO): DAT read: Rx Time:06:35:48.8492 2025-10-27T06:35:50.025Z,1761546950.025 [DAT](INFO): Rx dataTimestamp_ set to:1761546950.024401 2025-10-27T06:35:50.026Z,1761546950.026 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:50.026Z,1761546950.026 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-27T06:35:50.028Z,1761546950.028 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.394001 2025-10-27T06:35:50.276Z,1761546950.276 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.642277 2025-10-27T06:35:50.335Z,1761546950.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834756,0.549229,0.039113],[-0.547566,0.835500,-0.045949],[-0.057916,0.016939,0.998178]] 2025-10-27T06:35:50.528Z,1761546950.528 [DAT](INFO): DAT read: Rx Time:06:35:49.3493 2025-10-27T06:35:50.529Z,1761546950.529 [DAT](INFO): Rx dataTimestamp_ set to:1761546950.528263 2025-10-27T06:35:50.530Z,1761546950.530 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:50.530Z,1761546950.530 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-27T06:35:50.532Z,1761546950.532 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.897964 2025-10-27T06:35:50.739Z,1761546950.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822529,0.567952,0.029615],[-0.566709,0.822882,-0.041300],[-0.047827,0.017188,0.998708]] 2025-10-27T06:35:50.780Z,1761546950.780 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.146351 2025-10-27T06:35:51.032Z,1761546951.032 [DAT](INFO): DAT read: Rx Time:06:35:49.8492 2025-10-27T06:35:51.032Z,1761546951.032 [DAT](INFO): Rx dataTimestamp_ set to:1761546951.032177 2025-10-27T06:35:51.034Z,1761546951.034 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:51.034Z,1761546951.034 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-27T06:35:51.035Z,1761546951.035 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.401611 2025-10-27T06:35:51.138Z,1761546951.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808942,0.587530,0.020500],[-0.586859,0.809098,-0.030930],[-0.034759,0.012990,0.999311]] 2025-10-27T06:35:51.284Z,1761546951.284 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.650162 2025-10-27T06:35:51.538Z,1761546951.538 [DAT](INFO): DAT read: Rx Time:06:35:50.3492 2025-10-27T06:35:51.538Z,1761546951.538 [DAT](INFO): Rx dataTimestamp_ set to:1761546951.538132 2025-10-27T06:35:51.540Z,1761546951.540 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:51.540Z,1761546951.540 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-27T06:35:51.541Z,1761546951.541 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.907558 2025-10-27T06:35:51.590Z,1761546951.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794655,0.606951,0.011588],[-0.606710,0.794699,-0.018867],[-0.020660,0.007962,0.999755]] 2025-10-27T06:35:51.790Z,1761546951.790 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.155792 2025-10-27T06:35:51.947Z,1761546951.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780969,0.624552,0.004765],[-0.624542,0.780984,-0.003557],[-0.005943,-0.000198,0.999982]] 2025-10-27T06:35:52.040Z,1761546952.040 [DAT](INFO): DAT read: Rx Time:06:35:50.8491 2025-10-27T06:35:52.041Z,1761546952.041 [DAT](INFO): Rx dataTimestamp_ set to:1761546952.040233 2025-10-27T06:35:52.042Z,1761546952.042 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:52.043Z,1761546952.043 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-27T06:35:52.045Z,1761546952.045 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.410954 2025-10-27T06:35:52.293Z,1761546952.293 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.659023 2025-10-27T06:35:52.350Z,1761546952.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768738,0.639563,-0.001098],[-0.639494,0.768679,0.013415],[0.009424,-0.009611,0.999909]] 2025-10-27T06:35:52.544Z,1761546952.544 [DAT](INFO): DAT read: Rx Time:06:35:51.3492 2025-10-27T06:35:52.545Z,1761546952.545 [DAT](INFO): Rx dataTimestamp_ set to:1761546952.544239 2025-10-27T06:35:52.546Z,1761546952.546 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:52.546Z,1761546952.546 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-27T06:35:52.547Z,1761546952.547 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.913677 2025-10-27T06:35:52.753Z,1761546952.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758659,0.651418,-0.009569],[-0.651020,0.758588,0.026783],[0.024706,-0.014089,0.999596]] 2025-10-27T06:35:52.797Z,1761546952.797 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.163445 2025-10-27T06:35:53.048Z,1761546953.048 [DAT](INFO): DAT read: Rx Time:06:35:51.8491 2025-10-27T06:35:53.049Z,1761546953.049 [DAT](INFO): Rx dataTimestamp_ set to:1761546953.048401 2025-10-27T06:35:53.050Z,1761546953.050 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:53.050Z,1761546953.050 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-27T06:35:53.052Z,1761546953.052 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.417896 2025-10-27T06:35:53.159Z,1761546953.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751355,0.659532,-0.021974],[-0.658671,0.751572,0.035950],[0.040226,-0.012538,0.999112]] 2025-10-27T06:35:53.300Z,1761546953.300 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.666599 2025-10-27T06:35:53.560Z,1761546953.560 [DAT](INFO): DAT read: Rx Time:06:35:52.3493 2025-10-27T06:35:53.561Z,1761546953.561 [DAT](INFO): Rx dataTimestamp_ set to:1761546953.560545 2025-10-27T06:35:53.562Z,1761546953.562 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:53.565Z,1761546953.565 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-27T06:35:53.568Z,1761546953.568 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.933723 2025-10-27T06:35:53.574Z,1761546953.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748073,0.662679,-0.035247],[-0.661298,0.748844,0.043789],[0.055412,-0.009448,0.998419]] 2025-10-27T06:35:53.813Z,1761546953.813 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.179123 2025-10-27T06:35:53.966Z,1761546953.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747919,0.662269,-0.044906],[-0.660147,0.749189,0.054058],[0.069444,-0.010787,0.997527]] 2025-10-27T06:35:54.065Z,1761546954.065 [DAT](INFO): DAT read: Rx Time:06:35:52.8492 2025-10-27T06:35:54.066Z,1761546954.066 [DAT](INFO): Rx dataTimestamp_ set to:1761546954.065123 2025-10-27T06:35:54.068Z,1761546954.068 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:54.069Z,1761546954.069 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-27T06:35:54.070Z,1761546954.070 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.435814 2025-10-27T06:35:54.317Z,1761546954.317 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.682835 2025-10-27T06:35:54.369Z,1761546954.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751210,0.658109,-0.050754],[-0.655214,0.752787,0.063291],[0.079859,-0.014290,0.996704]] 2025-10-27T06:35:54.568Z,1761546954.568 [DAT](INFO): DAT read: Rx Time:06:35:53.3493 2025-10-27T06:35:54.569Z,1761546954.569 [DAT](INFO): Rx dataTimestamp_ set to:1761546954.568455 2025-10-27T06:35:54.570Z,1761546954.570 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-27T06:35:54.571Z,1761546954.571 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-27T06:35:54.572Z,1761546954.572 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.937901 2025-10-27T06:35:54.774Z,1761546954.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758676,0.649095,-0.055556],[-0.645903,0.760578,0.065805],[0.084968,-0.014041,0.996285]] 2025-10-27T06:35:54.821Z,1761546954.821 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.187321 2025-10-27T06:35:55.072Z,1761546955.072 [DAT](INFO): DAT read: Rx Time:06:35:53.8492 2025-10-27T06:35:55.073Z,1761546955.073 [DAT](INFO): Rx dataTimestamp_ set to:1761546955.072421 2025-10-27T06:35:55.074Z,1761546955.074 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:55.074Z,1761546955.074 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-27T06:35:55.075Z,1761546955.075 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.441856 2025-10-27T06:35:55.178Z,1761546955.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770823,0.634485,-0.057101],[-0.631421,0.772826,0.063618],[0.084494,-0.012984,0.996339]] 2025-10-27T06:35:55.324Z,1761546955.324 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.690414 2025-10-27T06:35:55.576Z,1761546955.576 [DAT](INFO): DAT read: Rx Time:06:35:54.3492 2025-10-27T06:35:55.576Z,1761546955.576 [DAT](INFO): Rx dataTimestamp_ set to:1761546955.576164 2025-10-27T06:35:55.578Z,1761546955.578 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:55.578Z,1761546955.578 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-27T06:35:55.579Z,1761546955.579 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.945572 2025-10-27T06:35:55.587Z,1761546955.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786508,0.615246,-0.053642],[-0.612493,0.788207,0.059854],[0.079106,-0.014221,0.996765]] 2025-10-27T06:35:55.828Z,1761546955.828 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.194313 2025-10-27T06:35:55.999Z,1761546955.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805211,0.590915,-0.049547],[-0.588878,0.806654,0.050321],[0.069703,-0.011342,0.997503]] 2025-10-27T06:35:56.081Z,1761546956.081 [DAT](INFO): DAT read: Rx Time:06:35:54.8491 2025-10-27T06:35:56.081Z,1761546956.081 [DAT](INFO): Rx dataTimestamp_ set to:1761546956.081187 2025-10-27T06:35:56.083Z,1761546956.083 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:56.083Z,1761546956.083 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-27T06:35:56.084Z,1761546956.084 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.450634 2025-10-27T06:35:56.332Z,1761546956.332 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.698296 2025-10-27T06:35:56.389Z,1761546956.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825786,0.562364,-0.042714],[-0.561000,0.826838,0.040228],[0.057941,-0.009257,0.998277]] 2025-10-27T06:35:56.584Z,1761546956.584 [DAT](INFO): DAT read: Rx Time:06:35:55.3492 2025-10-27T06:35:56.585Z,1761546956.585 [DAT](INFO): Rx dataTimestamp_ set to:1761546956.584267 2025-10-27T06:35:56.586Z,1761546956.586 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:56.586Z,1761546956.586 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-27T06:35:56.587Z,1761546956.587 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.953693 2025-10-27T06:35:56.815Z,1761546956.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846749,0.530907,-0.033982],[-0.530032,0.847384,0.031720],[0.045636,-0.008848,0.998919]] 2025-10-27T06:35:56.836Z,1761546956.836 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.202221 2025-10-27T06:35:57.088Z,1761546957.088 [DAT](INFO): DAT read: Rx Time:06:35:55.8491 2025-10-27T06:35:57.089Z,1761546957.089 [DAT](INFO): Rx dataTimestamp_ set to:1761546957.088276 2025-10-27T06:35:57.090Z,1761546957.090 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:57.090Z,1761546957.090 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-27T06:35:57.091Z,1761546957.091 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.457726 2025-10-27T06:35:57.198Z,1761546957.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866746,0.498175,-0.023922],[-0.497576,0.867000,0.027005],[0.034194,-0.011504,0.999349]] 2025-10-27T06:35:57.340Z,1761546957.340 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.706364 2025-10-27T06:35:57.600Z,1761546957.600 [DAT](INFO): DAT read: Rx Time:06:35:56.3492 2025-10-27T06:35:57.601Z,1761546957.601 [DAT](INFO): Rx dataTimestamp_ set to:1761546957.600611 2025-10-27T06:35:57.602Z,1761546957.602 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:57.603Z,1761546957.603 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-27T06:35:57.604Z,1761546957.604 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.970043 2025-10-27T06:35:57.607Z,1761546957.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885309,0.464763,-0.014921],[-0.464414,0.885348,0.021883],[0.023381,-0.012444,0.999649]] 2025-10-27T06:35:57.852Z,1761546957.852 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.218380 2025-10-27T06:35:58.013Z,1761546958.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902048,0.431551,-0.008594],[-0.431468,0.902073,0.009993],[0.012065,-0.005306,0.999913]] 2025-10-27T06:35:58.104Z,1761546958.104 [DAT](INFO): DAT read: Rx Time:06:35:56.8491 2025-10-27T06:35:58.105Z,1761546958.105 [DAT](INFO): Rx dataTimestamp_ set to:1761546958.104710 2025-10-27T06:35:58.107Z,1761546958.107 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:58.108Z,1761546958.108 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-27T06:35:58.109Z,1761546958.109 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.474949 2025-10-27T06:35:58.357Z,1761546958.357 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.723217 2025-10-27T06:35:58.423Z,1761546958.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928212,0.372043,0.002611],[-0.371941,0.928084,-0.017885],[-0.009078,0.015630,0.999837]] 2025-10-27T06:35:58.608Z,1761546958.608 [DAT](INFO): DAT read: Rx Time:06:35:57.3492 2025-10-27T06:35:58.609Z,1761546958.609 [DAT](INFO): Rx dataTimestamp_ set to:1761546958.608246 2025-10-27T06:35:58.610Z,1761546958.610 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:35:58.610Z,1761546958.610 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-27T06:35:58.611Z,1761546958.611 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.977661 2025-10-27T06:35:58.826Z,1761546958.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936857,0.349602,0.008763],[-0.349230,0.936587,-0.029026],[-0.018355,0.024133,0.999540]] 2025-10-27T06:35:58.860Z,1761546958.860 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.226387 2025-10-27T06:35:59.112Z,1761546959.112 [DAT](INFO): DAT read: Rx Time:06:35:57.8491 2025-10-27T06:35:59.113Z,1761546959.113 [DAT](INFO): Rx dataTimestamp_ set to:1761546959.112297 2025-10-27T06:35:59.114Z,1761546959.114 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:59.114Z,1761546959.114 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-27T06:35:59.115Z,1761546959.115 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.481750 2025-10-27T06:35:59.222Z,1761546959.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942629,0.333527,0.014498],[-0.332783,0.942210,-0.038677],[-0.026560,0.031634,0.999147]] 2025-10-27T06:35:59.364Z,1761546959.364 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.730278 2025-10-27T06:35:59.618Z,1761546959.618 [DAT](INFO): DAT read: Rx Time:06:35:58.3491 2025-10-27T06:35:59.618Z,1761546959.618 [DAT](INFO): Rx dataTimestamp_ set to:1761546959.618127 2025-10-27T06:35:59.620Z,1761546959.620 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:35:59.620Z,1761546959.620 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-27T06:35:59.621Z,1761546959.621 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.987553 2025-10-27T06:35:59.632Z,1761546959.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945549,0.324848,0.020252],[-0.323847,0.945208,-0.041289],[-0.032555,0.032483,0.998942]] 2025-10-27T06:35:59.868Z,1761546959.868 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.234318 2025-10-27T06:36:00.030Z,1761546960.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945751,0.324005,0.023975],[-0.322767,0.945431,-0.044506],[-0.037087,0.034353,0.998721]] 2025-10-27T06:36:00.121Z,1761546960.121 [DAT](INFO): DAT read: Rx Time:06:35:58.8490 2025-10-27T06:36:00.121Z,1761546960.121 [DAT](INFO): Rx dataTimestamp_ set to:1761546960.121130 2025-10-27T06:36:00.125Z,1761546960.125 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T06:36:00.137Z,1761546960.137 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-27T06:36:00.146Z,1761546960.146 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.510620 2025-10-27T06:36:00.372Z,1761546960.372 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.738255 2025-10-27T06:36:00.436Z,1761546960.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943627,0.330012,0.025697],[-0.328657,0.943331,-0.045944],[-0.039402,0.034908,0.998613]] 2025-10-27T06:36:00.624Z,1761546960.624 [DAT](INFO): DAT read: Rx Time:06:35:59.3491 2025-10-27T06:36:00.625Z,1761546960.625 [DAT](INFO): Rx dataTimestamp_ set to:1761546960.624385 2025-10-27T06:36:00.626Z,1761546960.626 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:36:00.626Z,1761546960.626 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-27T06:36:00.627Z,1761546960.627 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.993816 2025-10-27T06:36:00.838Z,1761546960.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939045,0.342880,0.025062],[-0.341459,0.938667,-0.048065],[-0.040005,0.036577,0.998530]] 2025-10-27T06:36:00.876Z,1761546960.876 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.242401 2025-10-27T06:36:01.128Z,1761546961.128 [DAT](INFO): DAT read: Rx Time:06:35:59.8491 2025-10-27T06:36:01.129Z,1761546961.129 [DAT](INFO): Rx dataTimestamp_ set to:1761546961.128273 2025-10-27T06:36:01.130Z,1761546961.130 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:36:01.130Z,1761546961.130 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-27T06:36:01.132Z,1761546961.132 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.497936 2025-10-27T06:36:01.242Z,1761546961.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931985,0.361740,0.023403],[-0.360397,0.931594,-0.047400],[-0.038949,0.035742,0.998602]] 2025-10-27T06:36:01.380Z,1761546961.380 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.746471 2025-10-27T06:36:01.632Z,1761546961.632 [DAT](INFO): DAT read: Rx Time:06:36:00.3492 2025-10-27T06:36:01.632Z,1761546961.632 [DAT](INFO): Rx dataTimestamp_ set to:1761546961.632196 2025-10-27T06:36:01.634Z,1761546961.634 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:36:01.634Z,1761546961.634 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-27T06:36:01.635Z,1761546961.635 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.001663 2025-10-27T06:36:01.651Z,1761546961.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921943,0.386767,0.020784],[-0.385577,0.921552,-0.045529],[-0.036762,0.033961,0.998747]] 2025-10-27T06:36:01.884Z,1761546961.884 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.250305 2025-10-27T06:36:02.053Z,1761546962.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909037,0.416321,0.018107],[-0.415323,0.908694,-0.042221],[-0.034031,0.030861,0.998944]] 2025-10-27T06:36:02.137Z,1761546962.137 [DAT](INFO): DAT read: Rx Time:06:36:00.8491 2025-10-27T06:36:02.137Z,1761546962.137 [DAT](INFO): Rx dataTimestamp_ set to:1761546962.136793 2025-10-27T06:36:02.139Z,1761546962.139 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:36:02.140Z,1761546962.140 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-27T06:36:02.141Z,1761546962.141 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.507336 2025-10-27T06:36:02.388Z,1761546962.388 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.754276 2025-10-27T06:36:02.458Z,1761546962.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893883,0.448043,0.015194],[-0.447228,0.893575,-0.038867],[-0.030991,0.027947,0.999129]] 2025-10-27T06:36:02.640Z,1761546962.640 [DAT](INFO): DAT read: Rx Time:06:36:01.3491 2025-10-27T06:36:02.641Z,1761546962.641 [DAT](INFO): Rx dataTimestamp_ set to:1761546962.640691 2025-10-27T06:36:02.642Z,1761546962.642 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:36:02.643Z,1761546962.643 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-27T06:36:02.644Z,1761546962.644 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=58.010109 2025-10-27T06:36:02.861Z,1761546962.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877207,0.479955,0.012275],[-0.479335,0.876954,-0.034483],[-0.027315,0.024365,0.999330]] 2025-10-27T06:36:02.892Z,1761546962.892 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=58.258427 2025-10-27T06:36:03.144Z,1761546963.144 [DAT](INFO): DAT read: Rx Time:06:36:01.8490 2025-10-27T06:36:03.145Z,1761546963.145 [DAT](INFO): Rx dataTimestamp_ set to:1761546963.144257 2025-10-27T06:36:03.146Z,1761546963.146 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T06:36:03.146Z,1761546963.146 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-27T06:36:03.147Z,1761546963.147 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.513714 2025-10-27T06:36:03.266Z,1761546963.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859717,0.510676,0.009842],[-0.510251,0.859553,-0.028510],[-0.023019,0.019489,0.999545]] 2025-10-27T06:36:03.397Z,1761546963.397 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.763161 2025-10-27T06:36:03.648Z,1761546963.648 [DAT](INFO): DAT read: Rx Time:06:36:02.3491 2025-10-27T06:36:03.649Z,1761546963.649 [DAT](INFO): Rx dataTimestamp_ set to:1761546963.648286 2025-10-27T06:36:03.650Z,1761546963.650 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:36:03.650Z,1761546963.650 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-27T06:36:03.651Z,1761546963.651 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=59.017727 2025-10-27T06:36:03.670Z,1761546963.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842131,0.539218,0.007648],[-0.538970,0.842049,-0.021549],[-0.018060,0.014025,0.999739]] 2025-10-27T06:36:03.900Z,1761546963.900 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=59.266411 2025-10-27T06:36:04.074Z,1761546964.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825210,0.564794,0.005989],[-0.564697,0.825201,-0.012669],[-0.012097,0.007073,0.999902]] 2025-10-27T06:36:04.153Z,1761546964.153 [DAT](INFO): DAT read: Rx Time:06:36:02.8490 2025-10-27T06:36:04.153Z,1761546964.153 [DAT](INFO): Rx dataTimestamp_ set to:1761546964.153142 2025-10-27T06:36:04.155Z,1761546964.155 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T06:36:04.156Z,1761546964.156 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-27T06:36:04.157Z,1761546964.157 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.523685 2025-10-27T06:36:04.404Z,1761546964.404 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.770508 2025-10-27T06:36:04.478Z,1761546964.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809290,0.587382,0.005659],[-0.587386,0.809306,-0.001115],[-0.005235,-0.002421,0.999983]] 2025-10-27T06:36:04.656Z,1761546964.656 [DAT](INFO): DAT read: Rx Time:06:36:03.3491 2025-10-27T06:36:04.657Z,1761546964.657 [DAT](INFO): Rx dataTimestamp_ set to:1761546964.656249 2025-10-27T06:36:04.658Z,1761546964.658 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:36:04.658Z,1761546964.658 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-27T06:36:04.659Z,1761546964.659 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.025703 2025-10-27T06:36:04.882Z,1761546964.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794853,0.606786,0.004389],[-0.606799,0.794804,0.008983],[0.001962,-0.009803,0.999950]] 2025-10-27T06:36:04.908Z,1761546964.908 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.274197 2025-10-27T06:36:05.160Z,1761546965.160 [DAT](INFO): DAT read: Rx Time:06:36:03.8490 2025-10-27T06:36:05.161Z,1761546965.161 [DAT](INFO): Rx dataTimestamp_ set to:1761546965.160257 2025-10-27T06:36:05.162Z,1761546965.162 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-27T06:36:05.162Z,1761546965.162 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-27T06:36:05.163Z,1761546965.163 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.529697 2025-10-27T06:36:05.302Z,1761546965.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782539,0.622597,0.002415],[-0.622532,0.782388,0.017963],[0.009295,-0.015560,0.999836]] 2025-10-27T06:36:05.412Z,1761546965.412 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.778278 2025-10-27T06:36:05.664Z,1761546965.664 [DAT](INFO): DAT read: Rx Time:06:36:04.3492 2025-10-27T06:36:05.665Z,1761546965.665 [DAT](INFO): Rx dataTimestamp_ set to:1761546965.664324 2025-10-27T06:36:05.666Z,1761546965.666 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-27T06:36:05.666Z,1761546965.666 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-27T06:36:05.667Z,1761546965.667 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.033749 2025-10-27T06:36:05.690Z,1761546965.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772557,0.634946,-0.000668],[-0.634729,0.772320,0.025315],[0.016590,-0.019134,0.999679]] 2025-10-27T06:36:05.916Z,1761546965.916 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.282375 2025-10-27T06:36:06.096Z,1761546966.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765745,0.643120,-0.005571],[-0.642717,0.765524,0.029790],[0.023423,-0.019231,0.999541]] 2025-10-27T06:36:06.168Z,1761546966.168 [DAT](INFO): DAT read: Rx Time:06:36:04.8491 2025-10-27T06:36:06.169Z,1761546966.169 [DAT](INFO): Rx dataTimestamp_ set to:1761546966.168353 2025-10-27T06:36:06.170Z,1761546966.170 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:36:06.170Z,1761546966.170 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-27T06:36:06.171Z,1761546966.171 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.537815 2025-10-27T06:36:06.424Z,1761546966.424 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.789940 2025-10-27T06:36:06.672Z,1761546966.672 [DAT](INFO): DAT read: Rx Time:06:36:05.3491 2025-10-27T06:36:06.673Z,1761546966.673 [DAT](INFO): Rx dataTimestamp_ set to:1761546966.672275 2025-10-27T06:36:06.674Z,1761546966.674 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-27T06:36:06.674Z,1761546966.674 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-27T06:36:06.675Z,1761546966.675 [DAT](INFO): ****** received valid address query ****** 2025-10-27T06:36:06.675Z,1761546966.675 [DAT](INFO): ****** received valid ping request ****** 2025-10-27T06:36:06.675Z,1761546966.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-27T06:36:06.902Z,1761546966.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761942,0.647441,-0.016300],[-0.646606,0.761903,0.037492],[0.036693,-0.018027,0.999164]] 2025-10-27T06:36:06.924Z,1761546966.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:07.176Z,1761546967.176 [DAT](INFO): DAT read: user:828> 2025-10-27T06:36:07.177Z,1761546967.177 [DAT](INFO): DAT read: Command 'r50' not found 2025-10-27T06:36:07.177Z,1761546967.177 [DAT](INFO): unknown deviceResponse_: Command 'r50' not found 2025-10-27T06:36:07.177Z,1761546967.177 [DAT](INFO): DAT read: Error 2025-10-27T06:36:07.178Z,1761546967.178 [DAT](INFO): unknown deviceResponse_: Error 2025-10-27T06:36:07.178Z,1761546967.178 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:07.314Z,1761546967.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764556,0.644188,-0.021826],[-0.643100,0.764666,0.041340],[0.043320,-0.017571,0.998907]] 2025-10-27T06:36:07.428Z,1761546967.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:07.680Z,1761546967.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:07.717Z,1761546967.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770329,0.637039,-0.027826],[-0.635739,0.770666,0.043695],[0.049280,-0.015969,0.998657]] 2025-10-27T06:36:07.932Z,1761546967.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:08.114Z,1761546968.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778717,0.626494,-0.033260],[-0.625011,0.779289,0.045493],[0.054420,-0.014638,0.998411]] 2025-10-27T06:36:08.184Z,1761546968.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:08.436Z,1761546968.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:08.520Z,1761546968.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789426,0.612659,-0.038148],[-0.611088,0.790245,0.045663],[0.058122,-0.012736,0.998228]] 2025-10-27T06:36:08.688Z,1761546968.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:08.921Z,1761546968.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801971,0.595926,-0.041410],[-0.594360,0.802962,0.044597],[0.059827,-0.011153,0.998146]] 2025-10-27T06:36:08.940Z,1761546968.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:09.192Z,1761546969.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:09.444Z,1761546969.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:09.696Z,1761546969.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:09.742Z,1761546969.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830893,0.554725,-0.043557],[-0.553553,0.832010,0.036593],[0.056539,-0.006294,0.998381]] 2025-10-27T06:36:09.948Z,1761546969.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:10.158Z,1761546970.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845971,0.531540,-0.042414],[-0.530685,0.847028,0.030302],[0.052032,-0.003126,0.998641]] 2025-10-27T06:36:10.200Z,1761546970.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:10.452Z,1761546970.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:10.538Z,1761546970.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860824,0.507296,-0.040394],[-0.506750,0.861772,0.023538],[0.046751,0.000208,0.998907]] 2025-10-27T06:36:10.704Z,1761546970.704 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:10.941Z,1761546970.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874960,0.482691,-0.038147],[-0.482421,0.875782,0.016581],[0.041413,0.003895,0.999135]] 2025-10-27T06:36:10.956Z,1761546970.956 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:11.208Z,1761546971.208 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:11.353Z,1761546971.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888183,0.458148,-0.035084],[-0.458056,0.888854,0.011099],[0.036270,0.006212,0.999323]] 2025-10-27T06:36:11.460Z,1761546971.460 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:11.712Z,1761546971.712 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:11.751Z,1761546971.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899952,0.434781,-0.032448],[-0.434834,0.900492,0.005755],[0.031721,0.008930,0.999457]] 2025-10-27T06:36:11.964Z,1761546971.964 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:12.153Z,1761546972.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909791,0.413978,-0.030052],[-0.414179,0.910195,-0.000510],[0.027142,0.012911,0.999548]] 2025-10-27T06:36:12.216Z,1761546972.216 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:12.468Z,1761546972.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:12.557Z,1761546972.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917569,0.396641,-0.027259],[-0.396923,0.917835,-0.005629],[0.022787,0.015985,0.999613]] 2025-10-27T06:36:12.720Z,1761546972.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:12.963Z,1761546972.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923227,0.383461,-0.024702],[-0.383787,0.923368,-0.010003],[0.018973,0.018715,0.999645]] 2025-10-27T06:36:12.972Z,1761546972.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:13.224Z,1761546973.224 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:13.370Z,1761546973.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926538,0.375559,-0.021958],[-0.375894,0.926561,-0.013737],[0.015187,0.020982,0.999664]] 2025-10-27T06:36:13.476Z,1761546973.476 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:13.728Z,1761546973.728 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:13.778Z,1761546973.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927587,0.373120,-0.019080],[-0.373434,0.927503,-0.016874],[0.011401,0.022777,0.999676]] 2025-10-27T06:36:13.980Z,1761546973.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:14.174Z,1761546974.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926292,0.376478,-0.015702],[-0.376737,0.926115,-0.019506],[0.007198,0.023984,0.999686]] 2025-10-27T06:36:14.232Z,1761546974.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:14.484Z,1761546974.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:14.578Z,1761546974.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922287,0.386343,-0.011245],[-0.386499,0.922061,-0.020543],[0.002432,0.023293,0.999726]] 2025-10-27T06:36:14.736Z,1761546974.736 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:14.988Z,1761546974.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:14.990Z,1761546974.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915392,0.402514,-0.006245],[-0.402552,0.915144,-0.021505],[-0.002941,0.022200,0.999749]] 2025-10-27T06:36:15.240Z,1761546975.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:15.386Z,1761546975.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905768,0.423774,-0.000746],[-0.423670,0.905503,-0.023815],[-0.009417,0.021887,0.999716]] 2025-10-27T06:36:15.492Z,1761546975.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:15.744Z,1761546975.744 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:15.794Z,1761546975.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893377,0.449282,0.004910],[-0.449007,0.893123,-0.026898],[-0.016470,0.021826,0.999626]] 2025-10-27T06:36:15.996Z,1761546975.996 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:16.193Z,1761546976.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877696,0.479092,0.010969],[-0.478615,0.877511,-0.030038],[-0.024017,0.021114,0.999489]] 2025-10-27T06:36:16.248Z,1761546976.248 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:16.500Z,1761546976.500 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:16.600Z,1761546976.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859114,0.511544,0.015681],[-0.510797,0.858957,-0.035776],[-0.031770,0.022726,0.999237]] 2025-10-27T06:36:16.752Z,1761546976.752 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:17.005Z,1761546977.005 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:17.015Z,1761546977.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838234,0.544957,0.019636],[-0.543909,0.838117,-0.041505],[-0.039075,0.024111,0.998945]] 2025-10-27T06:36:17.257Z,1761546977.257 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:17.406Z,1761546977.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815736,0.577963,0.023114],[-0.576721,0.815748,-0.044127],[-0.044359,0.022666,0.998758]] 2025-10-27T06:36:17.508Z,1761546977.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:17.760Z,1761546977.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:17.813Z,1761546977.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792201,0.609667,0.026888],[-0.608489,0.792489,-0.041254],[-0.046460,0.016321,0.998787]] 2025-10-27T06:36:18.012Z,1761546978.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:18.214Z,1761546978.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768736,0.638987,0.027223],[-0.637952,0.769123,-0.038303],[-0.045412,0.012078,0.998895]] 2025-10-27T06:36:18.265Z,1761546978.265 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:18.516Z,1761546978.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:18.618Z,1761546978.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746461,0.664934,0.025660],[-0.664182,0.746868,-0.032395],[-0.040705,0.007139,0.999146]] 2025-10-27T06:36:18.768Z,1761546978.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:19.021Z,1761546979.021 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:19.042Z,1761546979.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725453,0.687907,0.022414],[-0.687479,0.725796,-0.024369],[-0.033031,0.002270,0.999452]] 2025-10-27T06:36:19.272Z,1761546979.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:19.430Z,1761546979.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707540,0.706441,0.018103],[-0.706285,0.707769,-0.015016],[-0.023421,-0.002161,0.999723]] 2025-10-27T06:36:19.524Z,1761546979.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:19.776Z,1761546979.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:19.830Z,1761546979.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692295,0.721460,0.014942],[-0.721506,0.692402,-0.003052],[-0.012548,-0.008668,0.999884]] 2025-10-27T06:36:20.030Z,1761546980.030 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:20.234Z,1761546980.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679874,0.733227,0.012208],[-0.733328,0.679802,0.009935],[-0.001014,-0.015707,0.999876]] 2025-10-27T06:36:20.280Z,1761546980.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:20.532Z,1761546980.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:20.639Z,1761546980.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670473,0.741903,0.006754],[-0.741856,0.670242,0.020641],[0.010787,-0.018850,0.999764]] 2025-10-27T06:36:20.784Z,1761546980.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:21.038Z,1761546981.038 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:21.073Z,1761546981.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665425,0.746463,-0.001834],[-0.746119,0.665189,0.028820],[0.022733,-0.017809,0.999583]] 2025-10-27T06:36:21.288Z,1761546981.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:21.449Z,1761546981.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664439,0.747241,-0.012316],[-0.746518,0.664389,0.036015],[0.035094,-0.014736,0.999275]] 2025-10-27T06:36:21.540Z,1761546981.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:21.792Z,1761546981.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:21.850Z,1761546981.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668274,0.743541,-0.023590],[-0.742361,0.668591,0.043421],[0.048057,-0.011505,0.998778]] 2025-10-27T06:36:22.046Z,1761546982.046 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:22.261Z,1761546982.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676873,0.735438,-0.031207],[-0.733529,0.677443,0.054831],[0.061466,-0.014222,0.998008]] 2025-10-27T06:36:22.296Z,1761546982.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:22.549Z,1761546982.549 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:22.660Z,1761546982.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689143,0.723567,-0.039148],[-0.720938,0.690078,0.063574],[0.073016,-0.015588,0.997209]] 2025-10-27T06:36:22.800Z,1761546982.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:23.054Z,1761546983.054 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:23.099Z,1761546983.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705583,0.707079,-0.046825],[-0.703991,0.706981,0.067635],[0.080928,-0.014757,0.996611]] 2025-10-27T06:36:23.304Z,1761546983.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:23.470Z,1761546983.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726159,0.685561,-0.051953],[-0.682386,0.727892,0.067248],[0.083919,-0.013381,0.996383]] 2025-10-27T06:36:23.556Z,1761546983.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:23.808Z,1761546983.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:23.870Z,1761546983.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750310,0.658921,-0.053454],[-0.656019,0.752113,0.062967],[0.081694,-0.012178,0.996583]] 2025-10-27T06:36:24.062Z,1761546984.062 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:24.280Z,1761546984.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777098,0.627270,-0.051485],[-0.624933,0.778729,0.055141],[0.074681,-0.010676,0.997150]] 2025-10-27T06:36:24.312Z,1761546984.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:24.564Z,1761546984.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:24.677Z,1761546984.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805540,0.590608,-0.047833],[-0.589161,0.806941,0.041665],[0.063206,-0.005382,0.997986]] 2025-10-27T06:36:24.816Z,1761546984.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:25.077Z,1761546985.077 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:25.127Z,1761546985.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833534,0.550958,-0.040829],[-0.550233,0.834532,0.028272],[0.049649,-0.001100,0.998766]] 2025-10-27T06:36:25.320Z,1761546985.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:25.489Z,1761546985.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859476,0.510189,-0.031750],[-0.509905,0.860061,0.017082],[0.036022,0.001508,0.999350]] 2025-10-27T06:36:25.581Z,1761546985.581 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:25.832Z,1761546985.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:25.893Z,1761546985.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882529,0.469776,-0.021267],[-0.469674,0.882785,0.009873],[0.023412,0.001275,0.999725]] 2025-10-27T06:36:26.085Z,1761546986.085 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:26.294Z,1761546986.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902168,0.431243,-0.011061],[-0.431217,0.902236,0.004769],[0.012036,0.000468,0.999927]] 2025-10-27T06:36:26.336Z,1761546986.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:26.588Z,1761546986.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:26.697Z,1761546986.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917908,0.396778,-0.003368],[-0.396790,0.917899,-0.004427],[0.001335,0.005400,0.999985]] 2025-10-27T06:36:26.843Z,1761546986.843 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:27.094Z,1761546987.094 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:27.150Z,1761546987.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930282,0.366840,0.002267],[-0.366737,0.930137,-0.018713],[-0.008973,0.016577,0.999822]] 2025-10-27T06:36:27.344Z,1761546987.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:27.517Z,1761546987.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939073,0.343631,0.007782],[-0.343230,0.938703,-0.032100],[-0.018335,0.027473,0.999454]] 2025-10-27T06:36:27.596Z,1761546987.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:27.848Z,1761546987.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:27.909Z,1761546987.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944288,0.328829,0.013873],[-0.328078,0.943811,-0.039812],[-0.026185,0.033042,0.999111]] 2025-10-27T06:36:28.102Z,1761546988.102 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:28.313Z,1761546988.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945956,0.323740,0.018968],[-0.322577,0.945347,-0.047579],[-0.033334,0.038889,0.998687]] 2025-10-27T06:36:28.352Z,1761546988.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:28.604Z,1761546988.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:28.723Z,1761546988.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944593,0.327424,0.023207],[-0.325902,0.943935,-0.052672],[-0.039152,0.042190,0.998342]] 2025-10-27T06:36:28.860Z,1761546988.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:29.113Z,1761546989.113 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:29.148Z,1761546989.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940215,0.339588,0.025983],[-0.337817,0.939567,-0.055610],[-0.043298,0.043508,0.998114]] 2025-10-27T06:36:29.364Z,1761546989.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:29.526Z,1761546989.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932826,0.359307,0.027090],[-0.357399,0.932192,-0.057298],[-0.045840,0.043767,0.997990]] 2025-10-27T06:36:29.616Z,1761546989.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:29.868Z,1761546989.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:29.930Z,1761546989.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922518,0.385072,0.026093],[-0.383089,0.921796,-0.059455],[-0.046947,0.044853,0.997890]] 2025-10-27T06:36:30.122Z,1761546990.122 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:30.333Z,1761546990.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908824,0.416496,0.023867],[-0.414598,0.908077,-0.059205],[-0.046332,0.043912,0.997960]] 2025-10-27T06:36:30.372Z,1761546990.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:30.412Z,1761546990.412 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, 0 +0.00, +0.00, 20.00,2933.01 2025-10-27T06:36:30.624Z,1761546990.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:30.749Z,1761546990.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891201,0.453128,0.020878],[-0.451429,0.890486,-0.056984],[-0.044413,0.041359,0.998157]] 2025-10-27T06:36:30.876Z,1761546990.876 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:31.128Z,1761546991.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:31.146Z,1761546991.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870139,0.492475,0.018096],[-0.491065,0.869563,-0.052110],[-0.041398,0.036457,0.998477]] 2025-10-27T06:36:31.380Z,1761546991.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:31.545Z,1761546991.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846828,0.531663,0.014734],[-0.530540,0.846347,-0.047160],[-0.037543,0.032120,0.998779]] 2025-10-27T06:36:31.632Z,1761546991.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:31.884Z,1761546991.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:31.950Z,1761546991.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822412,0.568777,0.011437],[-0.567951,0.822042,-0.040979],[-0.032710,0.027206,0.999094]] 2025-10-27T06:36:32.137Z,1761546992.137 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:32.353Z,1761546992.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798001,0.602591,0.008871],[-0.602035,0.797760,-0.033665],[-0.027363,0.021524,0.999394]] 2025-10-27T06:36:32.388Z,1761546992.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:32.640Z,1761546992.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:32.763Z,1761546992.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774128,0.632971,0.008574],[-0.632674,0.774076,-0.023018],[-0.021206,0.012394,0.999698]] 2025-10-27T06:36:32.892Z,1761546992.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:33.144Z,1761546993.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:33.164Z,1761546993.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751417,0.659761,0.009420],[-0.659674,0.751473,-0.010874],[-0.014253,0.001957,0.999897]] 2025-10-27T06:36:33.396Z,1761546993.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:33.574Z,1761546993.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730612,0.682724,0.009679],[-0.682759,0.730643,0.000452],[-0.006764,-0.006938,0.999953]] 2025-10-27T06:36:33.650Z,1761546993.650 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:33.900Z,1761546993.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:33.970Z,1761546993.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712157,0.701973,0.008140],[-0.702019,0.712091,0.009766],[0.001059,-0.012669,0.999919]] 2025-10-27T06:36:34.152Z,1761546994.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:34.373Z,1761546994.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696902,0.717153,0.004394],[-0.717110,0.696757,0.016841],[0.009016,-0.014888,0.999848]] 2025-10-27T06:36:34.404Z,1761546994.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:34.656Z,1761546994.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:34.779Z,1761546994.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685366,0.728198,-0.001296],[-0.727996,0.685215,0.022409],[0.017206,-0.014414,0.999748]] 2025-10-27T06:36:34.908Z,1761546994.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:35.163Z,1761546995.163 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:35.201Z,1761546995.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678131,0.734894,-0.008281],[-0.734490,0.678066,0.027404],[0.025754,-0.012501,0.999590]] 2025-10-27T06:36:35.412Z,1761546995.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:35.664Z,1761546995.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:35.916Z,1761546995.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:35.990Z,1761546995.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677421,0.735320,-0.020155],[-0.734218,0.677574,0.042620],[0.044996,-0.014074,0.998888]] 2025-10-27T06:36:36.168Z,1761546996.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:36.396Z,1761546996.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683928,0.729172,-0.023451],[-0.727467,0.684050,0.053550],[0.055088,-0.019564,0.998290]] 2025-10-27T06:36:36.420Z,1761546996.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:36.672Z,1761546996.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:36.798Z,1761546996.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694905,0.718480,-0.029884],[-0.716279,0.695258,0.059678],[0.063655,-0.020065,0.997770]] 2025-10-27T06:36:36.924Z,1761546996.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:37.176Z,1761546997.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:37.202Z,1761546997.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710447,0.702846,-0.035664],[-0.700260,0.711056,0.063515],[0.070001,-0.020150,0.997343]] 2025-10-27T06:36:37.428Z,1761546997.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:37.681Z,1761546997.681 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:37.932Z,1761546997.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:38.011Z,1761546998.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752284,0.657548,-0.041216],[-0.654825,0.753132,0.063219],[0.072611,-0.020569,0.997148]] 2025-10-27T06:36:38.184Z,1761546998.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:38.414Z,1761546998.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777878,0.627076,-0.041002],[-0.624685,0.778712,0.058113],[0.068370,-0.019591,0.997468]] 2025-10-27T06:36:38.436Z,1761546998.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:38.688Z,1761546998.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:38.817Z,1761546998.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805744,0.591015,-0.038451],[-0.589117,0.806455,0.050702],[0.060975,-0.018201,0.997973]] 2025-10-27T06:36:38.940Z,1761546998.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:39.192Z,1761546999.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:39.228Z,1761546999.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834565,0.549788,-0.035139],[-0.548489,0.835179,0.040458],[0.051591,-0.014492,0.998563]] 2025-10-27T06:36:39.444Z,1761546999.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:39.634Z,1761546999.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863170,0.503975,-0.030772],[-0.503202,0.863658,0.029695],[0.041543,-0.010147,0.999085]] 2025-10-27T06:36:39.696Z,1761546999.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:39.948Z,1761546999.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:40.031Z,1761547000.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889833,0.455555,-0.025834],[-0.455165,0.890189,0.019725],[0.031983,-0.005793,0.999472]] 2025-10-27T06:36:40.200Z,1761547000.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:40.437Z,1761547000.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913438,0.406457,-0.020573],[-0.406302,0.913668,0.011417],[0.023438,-0.002070,0.999723]] 2025-10-27T06:36:40.457Z,1761547000.457 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:40.708Z,1761547000.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:40.838Z,1761547000.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933453,0.358376,-0.015259],[-0.358346,0.933577,0.004754],[0.015950,0.001031,0.999872]] 2025-10-27T06:36:40.960Z,1761547000.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:41.212Z,1761547001.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:41.250Z,1761547001.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949451,0.313730,-0.010762],[-0.313774,0.949494,-0.002700],[0.009371,0.005941,0.999938]] 2025-10-27T06:36:41.468Z,1761547001.468 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:41.645Z,1761547001.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961683,0.274084,-0.006595],[-0.274143,0.961629,-0.010770],[0.003390,0.012165,0.999920]] 2025-10-27T06:36:41.720Z,1761547001.720 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:41.972Z,1761547001.972 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:42.051Z,1761547002.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970435,0.241353,-0.002113],[-0.241353,0.970285,-0.017195],[-0.002100,0.017197,0.999850]] 2025-10-27T06:36:42.224Z,1761547002.224 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:42.469Z,1761547002.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979541,0.201152,0.006150],[-0.200885,0.979156,-0.029961],[-0.012049,0.028113,0.999532]] 2025-10-27T06:36:42.476Z,1761547002.476 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:42.729Z,1761547002.729 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:42.863Z,1761547002.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980773,0.194886,0.010161],[-0.194435,0.980306,-0.034558],[-0.016696,0.031918,0.999351]] 2025-10-27T06:36:42.980Z,1761547002.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:43.232Z,1761547003.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:43.266Z,1761547003.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980232,0.197364,0.013888],[-0.196714,0.979708,-0.038423],[-0.021189,0.034931,0.999165]] 2025-10-27T06:36:43.484Z,1761547003.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:43.675Z,1761547003.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977850,0.208587,0.017359],[-0.207731,0.977300,-0.041620],[-0.025646,0.037092,0.998983]] 2025-10-27T06:36:43.737Z,1761547003.737 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:43.988Z,1761547003.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:44.075Z,1761547004.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973547,0.227527,0.020909],[-0.226402,0.972953,-0.045885],[-0.030783,0.039937,0.998728]] 2025-10-27T06:36:44.240Z,1761547004.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:44.475Z,1761547004.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967003,0.253628,0.024055],[-0.252170,0.966318,-0.051372],[-0.036274,0.043611,0.998390]] 2025-10-27T06:36:44.496Z,1761547004.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:44.748Z,1761547004.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:44.877Z,1761547004.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957877,0.285948,0.026575],[-0.284112,0.957068,-0.057452],[-0.041862,0.047482,0.997995]] 2025-10-27T06:36:44.000Z,1761547005.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:45.252Z,1761547005.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:45.281Z,1761547005.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945621,0.324000,0.028729],[-0.322002,0.944948,-0.058203],[-0.046005,0.045787,0.997891]] 2025-10-27T06:36:45.504Z,1761547005.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:45.694Z,1761547005.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929761,0.366982,0.029480],[-0.365007,0.929291,-0.056455],[-0.048114,0.041729,0.997970]] 2025-10-27T06:36:45.756Z,1761547005.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:46.008Z,1761547006.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:46.090Z,1761547006.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911004,0.411429,0.028251],[-0.409637,0.910692,-0.053264],[-0.047642,0.036951,0.998181]] 2025-10-27T06:36:46.260Z,1761547006.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:46.493Z,1761547006.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890033,0.455207,0.025049],[-0.453771,0.889846,-0.047605],[-0.043960,0.031004,0.998552]] 2025-10-27T06:36:46.512Z,1761547006.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:46.764Z,1761547006.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:46.898Z,1761547006.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868102,0.495979,0.020096],[-0.494963,0.867967,-0.040552],[-0.037556,0.025257,0.998975]] 2025-10-27T06:36:47.016Z,1761547007.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:47.268Z,1761547007.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:47.304Z,1761547007.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846030,0.532945,0.014264],[-0.532359,0.845939,-0.031328],[-0.028762,0.018911,0.999407]] 2025-10-27T06:36:47.520Z,1761547007.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:47.710Z,1761547007.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824334,0.566034,0.008889],[-0.565793,0.824300,-0.020190],[-0.018756,0.011614,0.999757]] 2025-10-27T06:36:47.772Z,1761547007.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:48.024Z,1761547008.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:48.110Z,1761547008.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803643,0.595092,0.004894],[-0.595060,0.803654,-0.006572],[-0.007844,0.002369,0.999966]] 2025-10-27T06:36:48.276Z,1761547008.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:48.518Z,1761547008.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784203,0.620504,-0.000707],[-0.620493,0.784195,0.005258],[0.003817,-0.003685,0.999986]] 2025-10-27T06:36:48.528Z,1761547008.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:48.780Z,1761547008.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:48.917Z,1761547008.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767159,0.641388,-0.009359],[-0.641259,0.767203,0.013626],[0.015920,-0.004452,0.999863]] 2025-10-27T06:36:49.035Z,1761547009.035 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:49.288Z,1761547009.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:49.322Z,1761547009.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753318,0.657285,-0.022084],[-0.657032,0.753641,0.018283],[0.028661,0.000737,0.999589]] 2025-10-27T06:36:49.540Z,1761547009.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:49.742Z,1761547009.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744039,0.667278,-0.033841],[-0.666792,0.744801,0.025705],[0.042357,0.003439,0.999097]] 2025-10-27T06:36:49.792Z,1761547009.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:50.044Z,1761547010.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:50.131Z,1761547010.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738810,0.672921,-0.036571],[-0.671416,0.739655,0.045953],[0.057973,-0.009396,0.998274]] 2025-10-27T06:36:50.296Z,1761547010.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:50.548Z,1761547010.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:50.800Z,1761547010.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:50.937Z,1761547010.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741230,0.669320,-0.050876],[-0.666428,0.742857,0.063543],[0.080324,-0.013195,0.996681]] 2025-10-27T06:36:51.052Z,1761547011.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:51.304Z,1761547011.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:51.341Z,1761547011.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750535,0.658596,-0.054295],[-0.655292,0.752344,0.067608],[0.085375,-0.015162,0.996234]] 2025-10-27T06:36:51.556Z,1761547011.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:51.752Z,1761547011.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764205,0.642617,-0.055084],[-0.639269,0.766013,0.067530],[0.085591,-0.016393,0.996195]] 2025-10-27T06:36:51.808Z,1761547011.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:52.060Z,1761547012.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:52.150Z,1761547012.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782401,0.620519,-0.052960],[-0.617574,0.784024,0.062522],[0.080318,-0.016210,0.996637]] 2025-10-27T06:36:52.312Z,1761547012.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:52.553Z,1761547012.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803467,0.593373,-0.048482],[-0.591173,0.804809,0.052883],[0.070398,-0.013828,0.997423]] 2025-10-27T06:36:52.564Z,1761547012.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:52.816Z,1761547012.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:52.958Z,1761547012.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826397,0.561540,-0.041731],[-0.560176,0.827390,0.040359],[0.057191,-0.009976,0.998313]] 2025-10-27T06:36:53.068Z,1761547013.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:53.320Z,1761547013.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:53.364Z,1761547013.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849533,0.526604,-0.031344],[-0.525763,0.850049,0.031460],[0.043211,-0.010247,0.999013]] 2025-10-27T06:36:53.572Z,1761547013.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:53.766Z,1761547013.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872097,0.488925,-0.020002],[-0.488440,0.872245,0.024793],[0.029568,-0.011852,0.999493]] 2025-10-27T06:36:53.824Z,1761547013.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:54.076Z,1761547014.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:54.170Z,1761547014.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892753,0.450447,-0.009473],[-0.450238,0.892722,0.018236],[0.016671,-0.012015,0.999789]] 2025-10-27T06:36:54.328Z,1761547014.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:54.574Z,1761547014.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910790,0.412867,-0.001715],[-0.412849,0.910776,0.006560],[0.004270,-0.005267,0.999977]] 2025-10-27T06:36:54.580Z,1761547014.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:54.832Z,1761547014.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:54.977Z,1761547014.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925959,0.377600,0.004352],[-0.377553,0.925945,-0.008908],[-0.007394,0.006606,0.999951]] 2025-10-27T06:36:55.087Z,1761547015.087 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:55.340Z,1761547015.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:55.382Z,1761547015.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937757,0.347131,0.010615],[-0.346833,0.937650,-0.022776],[-0.017859,0.017676,0.999684]] 2025-10-27T06:36:55.592Z,1761547015.592 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:55.786Z,1761547015.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946234,0.323019,0.017350],[-0.322388,0.946081,-0.031580],[-0.026615,0.024288,0.999351]] 2025-10-27T06:36:55.844Z,1761547015.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:56.096Z,1761547016.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:56.194Z,1761547016.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951472,0.306848,0.023334],[-0.305770,0.951231,-0.040792],[-0.034713,0.031678,0.998895]] 2025-10-27T06:36:56.348Z,1761547016.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:56.594Z,1761547016.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953796,0.299078,0.028725],[-0.297623,0.953574,-0.046022],[-0.041155,0.035346,0.998527]] 2025-10-27T06:36:56.600Z,1761547016.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:56.852Z,1761547016.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:56.998Z,1761547016.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953378,0.299994,0.032759],[-0.298262,0.953226,-0.048995],[-0.045925,0.036940,0.998262]] 2025-10-27T06:36:57.104Z,1761547017.104 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:57.356Z,1761547017.356 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:57.402Z,1761547017.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950279,0.309458,0.034727],[-0.307601,0.950197,-0.050077],[-0.048494,0.036905,0.998141]] 2025-10-27T06:36:57.608Z,1761547017.608 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:57.817Z,1761547017.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944936,0.325477,0.034054],[-0.323581,0.944806,-0.051357],[-0.048890,0.037510,0.998100]] 2025-10-27T06:36:57.860Z,1761547017.860 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:58.112Z,1761547018.112 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:58.220Z,1761547018.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937281,0.347148,0.031505],[-0.345350,0.937075,-0.051219],[-0.047303,0.037126,0.998190]] 2025-10-27T06:36:58.364Z,1761547018.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:58.616Z,1761547018.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:58.619Z,1761547018.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927098,0.373797,0.027656],[-0.372241,0.926852,-0.048812],[-0.043878,0.034959,0.998425]] 2025-10-27T06:36:58.868Z,1761547018.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:59.019Z,1761547019.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914463,0.404021,0.022913],[-0.402746,0.914170,-0.045708],[-0.039413,0.032570,0.998692]] 2025-10-27T06:36:59.120Z,1761547019.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:59.372Z,1761547019.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:59.424Z,1761547019.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899471,0.436610,0.017983],[-0.435604,0.899142,-0.042334],[-0.034653,0.030245,0.998942]] 2025-10-27T06:36:59.626Z,1761547019.626 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:36:59.825Z,1761547019.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882711,0.469727,0.013317],[-0.468990,0.882397,-0.037742],[-0.029479,0.027069,0.999199]] 2025-10-27T06:36:59.876Z,1761547019.876 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:00.128Z,1761547020.128 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:00.230Z,1761547020.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864464,0.502614,0.009045],[-0.502136,0.864211,-0.031599],[-0.023699,0.022775,0.999460]] 2025-10-27T06:37:00.380Z,1761547020.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:00.634Z,1761547020.634 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:00.649Z,1761547020.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845697,0.533629,0.006121],[-0.533383,0.845568,-0.022737],[-0.017309,0.015964,0.999723]] 2025-10-27T06:37:00.884Z,1761547020.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:01.037Z,1761547021.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827598,0.561302,0.004621],[-0.561213,0.827572,-0.012848],[-0.011036,0.008039,0.999907]] 2025-10-27T06:37:01.137Z,1761547021.137 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:01.388Z,1761547021.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:01.442Z,1761547021.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810935,0.585123,0.003976],[-0.585119,0.810944,-0.002289],[-0.004563,-0.000471,0.999989]] 2025-10-27T06:37:01.642Z,1761547021.642 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:01.846Z,1761547021.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796656,0.604425,0.002882],[-0.604430,0.796632,0.006400],[0.001572,-0.006841,0.999975]] 2025-10-27T06:37:01.892Z,1761547021.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:02.144Z,1761547022.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:02.251Z,1761547022.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784760,0.619797,0.001497],[-0.619750,0.784666,0.014484],[0.007803,-0.012295,0.999894]] 2025-10-27T06:37:02.397Z,1761547022.397 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:02.650Z,1761547022.650 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:02.676Z,1761547022.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775313,0.631576,-0.000877],[-0.631435,0.775169,0.020079],[0.013361,-0.015014,0.999798]] 2025-10-27T06:37:02.900Z,1761547022.900 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:03.058Z,1761547023.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768414,0.639940,-0.003993],[-0.639688,0.768260,0.023989],[0.018419,-0.015879,0.999704]] 2025-10-27T06:37:03.159Z,1761547023.159 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:03.412Z,1761547023.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:03.461Z,1761547023.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763795,0.645425,-0.006638],[-0.645044,0.763632,0.027995],[0.023137,-0.017101,0.999586]] 2025-10-27T06:37:03.666Z,1761547023.666 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:03.867Z,1761547023.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761546,0.648047,-0.009132],[-0.647528,0.761383,0.031693],[0.027491,-0.018222,0.999456]] 2025-10-27T06:37:03.916Z,1761547023.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:04.168Z,1761547024.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:04.271Z,1761547024.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761806,0.647687,-0.012419],[-0.647050,0.761703,0.033690],[0.031280,-0.017630,0.999355]] 2025-10-27T06:37:04.420Z,1761547024.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:04.674Z,1761547024.674 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:04.709Z,1761547024.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764988,0.643851,-0.015808],[-0.643114,0.764971,0.034981],[0.034615,-0.016593,0.999263]] 2025-10-27T06:37:04.924Z,1761547024.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:05.078Z,1761547025.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770026,0.637732,-0.018900],[-0.636880,0.770087,0.036741],[0.037986,-0.016254,0.999146]] 2025-10-27T06:37:05.177Z,1761547025.177 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:05.428Z,1761547025.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:05.482Z,1761547025.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777548,0.628429,-0.022267],[-0.627494,0.777719,0.037480],[0.040871,-0.015170,0.999049]] 2025-10-27T06:37:05.683Z,1761547025.683 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:05.932Z,1761547025.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:06.184Z,1761547026.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:06.290Z,1761547026.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797427,0.602699,-0.029402],[-0.601704,0.797888,0.036442],[0.045423,-0.011369,0.998903]] 2025-10-27T06:37:06.436Z,1761547026.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:06.690Z,1761547026.690 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:06.733Z,1761547026.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809344,0.586390,-0.033295],[-0.585419,0.809982,0.034826],[0.047390,-0.008695,0.998839]] 2025-10-27T06:37:06.940Z,1761547026.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:07.098Z,1761547027.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822050,0.568200,-0.037187],[-0.567316,0.822873,0.032125],[0.048854,-0.005312,0.998792]] 2025-10-27T06:37:07.193Z,1761547027.193 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:07.444Z,1761547027.444 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:07.504Z,1761547027.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835327,0.548256,-0.040545],[-0.547504,0.836309,0.028757],[0.049675,-0.001823,0.998764]] 2025-10-27T06:37:07.698Z,1761547027.698 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:07.906Z,1761547027.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848929,0.526823,-0.042148],[-0.526167,0.849975,0.026286],[0.049673,-0.000138,0.998766]] 2025-10-27T06:37:07.948Z,1761547027.948 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:08.200Z,1761547028.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:08.310Z,1761547028.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862656,0.503928,-0.043373],[-0.503491,0.863739,0.021268],[0.048180,0.003490,0.998833]] 2025-10-27T06:37:08.452Z,1761547028.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:08.710Z,1761547028.710 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:08.760Z,1761547028.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876118,0.480216,-0.042541],[-0.479961,0.877131,0.016697],[0.045333,0.005789,0.998955]] 2025-10-27T06:37:08.960Z,1761547028.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:09.118Z,1761547029.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888453,0.457176,-0.040519],[-0.457116,0.889336,0.011293],[0.041198,0.008489,0.999115]] 2025-10-27T06:37:09.212Z,1761547029.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:09.464Z,1761547029.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:09.521Z,1761547029.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899754,0.434822,-0.037057],[-0.434926,0.900449,0.005631],[0.035816,0.011051,0.999297]] 2025-10-27T06:37:09.716Z,1761547029.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:09.926Z,1761547029.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909494,0.414449,-0.032448],[-0.414672,0.909971,-0.000176],[0.029454,0.013616,0.999473]] 2025-10-27T06:37:09.968Z,1761547029.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:10.220Z,1761547030.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:10.331Z,1761547030.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917453,0.396936,-0.026868],[-0.397213,0.917709,-0.005683],[0.022401,0.015887,0.999623]] 2025-10-27T06:37:10.472Z,1761547030.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:10.726Z,1761547030.726 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:10.787Z,1761547030.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923771,0.382388,-0.020638],[-0.382641,0.923843,-0.009978],[0.015251,0.017114,0.999737]] 2025-10-27T06:37:10.976Z,1761547030.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:11.138Z,1761547031.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928173,0.371924,-0.012934],[-0.372063,0.928145,-0.010801],[0.007988,0.014838,0.999858]] 2025-10-27T06:37:11.229Z,1761547031.229 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:11.480Z,1761547031.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:11.543Z,1761547031.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930131,0.367197,-0.004761],[-0.367227,0.930070,-0.010674],[0.000509,0.011677,0.999932]] 2025-10-27T06:37:11.733Z,1761547031.733 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:11.946Z,1761547031.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930126,0.367232,0.002589],[-0.367150,0.930028,-0.015765],[-0.008198,0.013713,0.999872]] 2025-10-27T06:37:11.992Z,1761547031.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:12.244Z,1761547032.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:12.352Z,1761547032.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928067,0.372261,0.010682],[-0.372010,0.928014,-0.019964],[-0.017345,0.014554,0.999744]] 2025-10-27T06:37:12.496Z,1761547032.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:12.750Z,1761547032.750 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:12.798Z,1761547032.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923695,0.382681,0.018507],[-0.382174,0.923726,-0.025967],[-0.027032,0.016913,0.999492]] 2025-10-27T06:37:12.000Z,1761547033.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:13.157Z,1761547033.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917023,0.398051,0.024987],[-0.397145,0.917105,-0.034544],[-0.036666,0.021754,0.999091]] 2025-10-27T06:37:13.252Z,1761547033.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:13.504Z,1761547033.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:13.565Z,1761547033.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908340,0.417160,0.029923],[-0.415734,0.908409,-0.044251],[-0.045642,0.027755,0.998572]] 2025-10-27T06:37:13.756Z,1761547033.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:13.966Z,1761547033.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897552,0.439493,0.035293],[-0.437903,0.897904,-0.044829],[-0.051392,0.024781,0.998371]] 2025-10-27T06:37:14.008Z,1761547034.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:14.260Z,1761547034.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:14.370Z,1761547034.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884747,0.464580,0.037263],[-0.462969,0.885253,-0.044569],[-0.053693,0.022181,0.998311]] 2025-10-27T06:37:14.512Z,1761547034.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:14.768Z,1761547034.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:14.796Z,1761547034.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870458,0.490966,0.035440],[-0.489511,0.870955,-0.042627],[-0.051795,0.019757,0.998462]] 2025-10-27T06:37:15.020Z,1761547035.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:15.202Z,1761547035.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855343,0.517158,0.030598],[-0.516020,0.855723,-0.038219],[-0.045949,0.016902,0.998801]] 2025-10-27T06:37:15.274Z,1761547035.274 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:15.524Z,1761547035.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:15.585Z,1761547035.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839879,0.542285,0.023035],[-0.541529,0.840070,-0.032055],[-0.036734,0.014448,0.999221]] 2025-10-27T06:37:15.776Z,1761547035.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:15.986Z,1761547035.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824616,0.565496,0.014934],[-0.565116,0.824679,-0.023419],[-0.025559,0.010872,0.999614]] 2025-10-27T06:37:16.028Z,1761547036.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:16.280Z,1761547036.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:16.392Z,1761547036.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809982,0.586401,0.007943],[-0.586302,0.810006,-0.011838],[-0.013376,0.004932,0.999898]] 2025-10-27T06:37:16.532Z,1761547036.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:16.788Z,1761547036.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:16.804Z,1761547036.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796567,0.604545,0.002784],[-0.604551,0.796562,0.002685],[-0.000595,-0.003822,0.999992]] 2025-10-27T06:37:17.040Z,1761547037.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:17.199Z,1761547037.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784876,0.619645,-0.003131],[-0.619524,0.784805,0.016460],[0.012656,-0.010980,0.999860]] 2025-10-27T06:37:17.206Z,1761547037.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050310253549,35.0, +1,2979.69 2025-10-27T06:37:17.293Z,1761547037.293 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:17.544Z,1761547037.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:17.606Z,1761547037.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775378,0.631382,-0.012058],[-0.630968,0.775369,0.026139],[0.025853,-0.012659,0.999586]] 2025-10-27T06:37:17.796Z,1761547037.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:18.008Z,1761547038.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768369,0.639564,-0.023817],[-0.638802,0.768673,0.032769],[0.039265,-0.009965,0.999179]] 2025-10-27T06:37:18.048Z,1761547038.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:18.300Z,1761547038.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:18.552Z,1761547038.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:18.808Z,1761547038.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:18.816Z,1761547038.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763726,0.643768,-0.047803],[-0.642229,0.765213,0.044617],[0.065303,-0.003375,0.997860]] 2025-10-27T06:37:19.060Z,1761547039.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:19.219Z,1761547039.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765367,0.641339,-0.053829],[-0.639188,0.767234,0.052828],[0.075180,-0.006026,0.997152]] 2025-10-27T06:37:19.313Z,1761547039.313 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:19.564Z,1761547039.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:19.622Z,1761547039.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770220,0.635144,-0.057905],[-0.632738,0.772369,0.055577],[0.080023,-0.006167,0.996774]] 2025-10-27T06:37:19.816Z,1761547039.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:20.026Z,1761547040.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779421,0.623713,-0.059027],[-0.621486,0.781640,0.052856],[0.079105,-0.004512,0.996856]] 2025-10-27T06:37:20.068Z,1761547040.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:20.320Z,1761547040.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:20.429Z,1761547040.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791143,0.609189,-0.054604],[-0.607182,0.793001,0.049795],[0.073636,-0.006240,0.997266]] 2025-10-27T06:37:20.572Z,1761547040.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:20.826Z,1761547040.826 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:20.836Z,1761547040.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805241,0.590945,-0.048696],[-0.589499,0.806698,0.041588],[0.063859,-0.004782,0.997947]] 2025-10-27T06:37:21.080Z,1761547041.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:21.238Z,1761547041.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821082,0.569346,-0.040847],[-0.568493,0.822094,0.031242],[0.051368,-0.002431,0.998677]] 2025-10-27T06:37:21.259Z,1761547041.259 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V 2025-10-27T06:37:21.332Z,1761547041.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:21.584Z,1761547041.584 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:21.642Z,1761547041.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837199,0.546062,-0.030239],[-0.545575,0.837739,0.023245],[0.038025,-0.002963,0.999272]] 2025-10-27T06:37:21.836Z,1761547041.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:22.046Z,1761547042.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852610,0.522277,-0.016811],[-0.521948,0.852732,0.020464],[0.025023,-0.008673,0.999649]] 2025-10-27T06:37:22.096Z,1761547042.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:22.344Z,1761547042.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:22.459Z,1761547042.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866328,0.499456,-0.004566],[-0.499333,0.866262,0.016007],[0.011950,-0.011587,0.999861]] 2025-10-27T06:37:22.596Z,1761547042.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:22.848Z,1761547042.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:22.855Z,1761547042.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879078,0.476657,0.004520],[-0.476673,0.879073,0.003640],[-0.002238,-0.005355,0.999983]] 2025-10-27T06:37:23.100Z,1761547043.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:23.258Z,1761547043.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890271,0.455259,0.012512],[-0.455142,0.890349,-0.011137],[-0.016210,0.004220,0.999860]] 2025-10-27T06:37:23.352Z,1761547043.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:23.604Z,1761547043.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:23.680Z,1761547043.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899223,0.437037,0.019916],[-0.436486,0.899312,-0.026796],[-0.029621,0.015403,0.999443]] 2025-10-27T06:37:23.857Z,1761547043.857 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:24.068Z,1761547044.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905787,0.422816,0.027879],[-0.421749,0.905951,-0.037153],[-0.040966,0.021895,0.998921]] 2025-10-27T06:37:24.108Z,1761547044.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:24.360Z,1761547044.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:24.473Z,1761547044.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909759,0.413600,0.035696],[-0.412217,0.910194,-0.040294],[-0.049156,0.021943,0.998550]] 2025-10-27T06:37:24.612Z,1761547044.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:24.864Z,1761547044.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:24.875Z,1761547044.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911332,0.409775,0.039474],[-0.408170,0.911897,-0.042913],[-0.053581,0.022996,0.998299]] 2025-10-27T06:37:24.907Z,1761547044.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:37:25.116Z,1761547045.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:25.281Z,1761547045.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910738,0.411064,0.039784],[-0.409500,0.911341,-0.042042],[-0.053538,0.021997,0.998324]] 2025-10-27T06:37:25.377Z,1761547045.377 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:25.628Z,1761547045.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:25.686Z,1761547045.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908164,0.417126,0.035265],[-0.415662,0.908541,-0.042165],[-0.049627,0.023634,0.998488]] 2025-10-27T06:37:25.880Z,1761547045.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:26.086Z,1761547046.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904171,0.426256,0.027952],[-0.425024,0.904250,-0.041063],[-0.042779,0.025248,0.998766]] 2025-10-27T06:37:26.132Z,1761547046.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:26.384Z,1761547046.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:26.636Z,1761547046.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:26.888Z,1761547046.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:26.903Z,1761547046.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890522,0.454752,0.013092],[-0.454311,0.890435,-0.026973],[-0.023924,0.018072,0.999550]] 2025-10-27T06:37:27.141Z,1761547047.141 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:27.302Z,1761547047.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881563,0.472020,0.006627],[-0.471867,0.881512,-0.016688],[-0.013719,0.011584,0.999839]] 2025-10-27T06:37:27.393Z,1761547047.393 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:27.645Z,1761547047.645 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:27.709Z,1761547047.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862121,0.506664,-0.006262],[-0.506673,0.862138,0.000220],[0.005511,0.002983,0.999980]] 2025-10-27T06:37:27.896Z,1761547047.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:28.115Z,1761547048.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852370,0.522778,-0.012999],[-0.522721,0.852469,0.007696],[0.015105,0.000235,0.999886]] 2025-10-27T06:37:28.148Z,1761547048.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:28.400Z,1761547048.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:28.523Z,1761547048.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843012,0.537508,-0.020378],[-0.537332,0.843259,0.013756],[0.024578,-0.000647,0.999698]] 2025-10-27T06:37:28.652Z,1761547048.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:28.909Z,1761547048.909 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:28.919Z,1761547048.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834504,0.550292,-0.027973],[-0.549972,0.834972,0.018778],[0.033690,-0.000286,0.999432]] 2025-10-27T06:37:29.157Z,1761547049.157 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:29.322Z,1761547049.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827445,0.560394,-0.035962],[-0.560018,0.828221,0.020719],[0.041395,0.002996,0.999138]] 2025-10-27T06:37:29.408Z,1761547049.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:29.661Z,1761547049.661 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:29.733Z,1761547049.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821942,0.568177,-0.039834],[-0.567605,0.822905,0.025536],[0.047289,0.001621,0.998880]] 2025-10-27T06:37:29.912Z,1761547049.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:30.129Z,1761547050.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817883,0.573921,-0.041012],[-0.573235,0.818911,0.028050],[0.049684,0.000568,0.998765]] 2025-10-27T06:37:30.165Z,1761547050.165 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:30.416Z,1761547050.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:30.534Z,1761547050.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815273,0.577695,-0.039989],[-0.577055,0.816252,0.027199],[0.048354,0.000902,0.998830]] 2025-10-27T06:37:30.668Z,1761547050.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:30.920Z,1761547050.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:30.938Z,1761547050.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814247,0.579410,-0.035852],[-0.578875,0.815036,0.024898],[0.043647,0.000481,0.999047]] 2025-10-27T06:37:31.172Z,1761547051.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:31.342Z,1761547051.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814306,0.579680,-0.029608],[-0.579256,0.814844,0.022178],[0.036982,-0.000910,0.999316]] 2025-10-27T06:37:31.424Z,1761547051.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:31.676Z,1761547051.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:31.748Z,1761547051.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815190,0.578836,-0.020353],[-0.578424,0.815415,0.022894],[0.029848,-0.006890,0.999531]] 2025-10-27T06:37:31.928Z,1761547051.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:32.164Z,1761547052.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815843,0.578131,-0.012813],[-0.577852,0.815894,0.020108],[0.022079,-0.009001,0.999716]] 2025-10-27T06:37:32.180Z,1761547052.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:32.432Z,1761547052.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:32.560Z,1761547052.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817218,0.576293,-0.006448],[-0.576163,0.817200,0.014838],[0.013820,-0.008411,0.999869]] 2025-10-27T06:37:32.684Z,1761547052.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:32.936Z,1761547052.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:32.958Z,1761547052.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818357,0.574710,-0.000457],[-0.574682,0.818324,0.009274],[0.005704,-0.007326,0.999957]] 2025-10-27T06:37:33.188Z,1761547053.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:33.362Z,1761547053.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819655,0.572845,0.003846],[-0.572853,0.819658,0.001108],[-0.002518,-0.003112,0.999992]] 2025-10-27T06:37:33.441Z,1761547053.441 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:33.692Z,1761547053.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:33.766Z,1761547053.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820343,0.571835,0.006476],[-0.571788,0.820365,-0.007777],[-0.009760,0.002677,0.999949]] 2025-10-27T06:37:33.944Z,1761547053.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:34.173Z,1761547054.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821038,0.570810,0.008503],[-0.570644,0.821039,-0.016147],[-0.016198,0.008406,0.999833]] 2025-10-27T06:37:34.196Z,1761547054.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:34.448Z,1761547054.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:34.580Z,1761547054.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821242,0.570476,0.010922],[-0.570215,0.821250,-0.020063],[-0.020415,0.010249,0.999739]] 2025-10-27T06:37:34.700Z,1761547054.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:34.952Z,1761547054.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:34.978Z,1761547054.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820813,0.571051,0.012929],[-0.570787,0.820871,-0.019327],[-0.021650,0.008484,0.999730]] 2025-10-27T06:37:35.204Z,1761547055.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:35.382Z,1761547055.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820023,0.572207,0.011929],[-0.571972,0.820068,-0.018314],[-0.020262,0.008195,0.999761]] 2025-10-27T06:37:35.457Z,1761547055.457 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:35.710Z,1761547055.710 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:35.785Z,1761547055.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819146,0.573520,0.008637],[-0.573363,0.819154,-0.015535],[-0.015984,0.007773,0.999842]] 2025-10-27T06:37:35.960Z,1761547055.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:36.190Z,1761547056.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818534,0.574438,0.004841],[-0.574375,0.818529,-0.010124],[-0.009778,0.005507,0.999937]] 2025-10-27T06:37:36.211Z,1761547056.211 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:36.464Z,1761547056.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:36.594Z,1761547056.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818385,0.574669,0.001264],[-0.574667,0.818386,-0.001424],[-0.001853,0.000439,0.999998]] 2025-10-27T06:37:36.716Z,1761547056.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:36.968Z,1761547056.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:36.998Z,1761547056.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818873,0.573970,-0.002436],[-0.573934,0.818857,0.008477],[0.006860,-0.005544,0.999961]] 2025-10-27T06:37:37.220Z,1761547057.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:37.403Z,1761547057.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820147,0.572106,-0.007309],[-0.571945,0.820126,0.016487],[0.015427,-0.009341,0.999837]] 2025-10-27T06:37:37.472Z,1761547057.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:37.724Z,1761547057.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:37.809Z,1761547057.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822028,0.569266,-0.014396],[-0.568966,0.822109,0.020332],[0.023409,-0.008523,0.999690]] 2025-10-27T06:37:37.976Z,1761547057.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:38.217Z,1761547058.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824727,0.565082,-0.022533],[-0.564698,0.825020,0.021429],[0.030699,-0.004949,0.999516]] 2025-10-27T06:37:38.228Z,1761547058.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:38.480Z,1761547058.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:38.614Z,1761547058.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828252,0.559439,-0.032046],[-0.559165,0.828865,0.017807],[0.036524,0.003171,0.999328]] 2025-10-27T06:37:38.732Z,1761547058.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:38.984Z,1761547058.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:39.029Z,1761547059.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832106,0.553435,-0.036177],[-0.553080,0.832886,0.020094],[0.041252,0.003288,0.999143]] 2025-10-27T06:37:39.236Z,1761547059.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:39.423Z,1761547059.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835571,0.548032,-0.038486],[-0.547713,0.836443,0.019342],[0.042791,0.004917,0.999072]] 2025-10-27T06:37:39.488Z,1761547059.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:39.740Z,1761547059.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:39.825Z,1761547059.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839239,0.542470,-0.037472],[-0.542228,0.840055,0.017225],[0.040823,0.005862,0.999149]] 2025-10-27T06:37:39.992Z,1761547059.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:40.244Z,1761547060.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:40.267Z,1761547060.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842946,0.536928,-0.033914],[-0.536844,0.843592,0.012306],[0.035218,0.007833,0.999349]] 2025-10-27T06:37:40.496Z,1761547060.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:40.650Z,1761547060.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846197,0.532224,-0.026248],[-0.532162,0.846585,0.009874],[0.027477,0.005613,0.999607]] 2025-10-27T06:37:40.748Z,1761547060.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:40.000Z,1761547061.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:41.037Z,1761547061.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848776,0.528485,-0.016805],[-0.528419,0.848941,0.008499],[0.018758,0.001666,0.999823]] 2025-10-27T06:37:41.252Z,1761547061.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:41.442Z,1761547061.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850145,0.526498,-0.007261],[-0.526473,0.850176,0.005199],[0.008911,-0.000597,0.999960]] 2025-10-27T06:37:41.504Z,1761547061.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:41.756Z,1761547061.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:41.847Z,1761547061.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850035,0.526724,0.001712],[-0.526723,0.850037,-0.000660],[-0.001802,-0.000341,0.999998]] 2025-10-27T06:37:42.008Z,1761547062.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:42.265Z,1761547062.265 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:42.272Z,1761547062.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848255,0.529503,0.009455],[-0.529447,0.848306,-0.007891],[-0.012199,0.001687,0.999924]] 2025-10-27T06:37:42.517Z,1761547062.517 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:42.656Z,1761547062.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845018,0.534542,0.014485],[-0.534281,0.845105,-0.018462],[-0.022110,0.007862,0.999725]] 2025-10-27T06:37:42.768Z,1761547062.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:43.020Z,1761547063.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:43.058Z,1761547063.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841015,0.540743,0.017048],[-0.540150,0.841036,-0.029920],[-0.030517,0.015955,0.999407]] 2025-10-27T06:37:43.272Z,1761547063.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:43.463Z,1761547063.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836243,0.547951,0.021178],[-0.547233,0.836377,-0.031778],[-0.035126,0.014985,0.999271]] 2025-10-27T06:37:43.524Z,1761547063.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:43.776Z,1761547063.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:43.866Z,1761547063.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830348,0.556794,0.022410],[-0.556089,0.830545,-0.030994],[-0.035869,0.013274,0.999268]] 2025-10-27T06:37:44.028Z,1761547064.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:44.282Z,1761547064.282 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:44.300Z,1761547064.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824599,0.565367,0.019939],[-0.564779,0.824748,-0.028538],[-0.032579,0.012272,0.999394]] 2025-10-27T06:37:44.532Z,1761547064.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:44.676Z,1761547064.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818550,0.574247,0.014686],[-0.573878,0.818615,-0.023090],[-0.025282,0.010472,0.999625]] 2025-10-27T06:37:44.784Z,1761547064.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:45.036Z,1761547065.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:45.081Z,1761547065.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812816,0.582478,0.007114],[-0.582310,0.812789,-0.017003],[-0.015686,0.009678,0.999830]] 2025-10-27T06:37:45.290Z,1761547065.290 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:45.482Z,1761547065.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807603,0.589726,0.000071],[-0.589711,0.807584,-0.006999],[-0.004185,0.005611,0.999976]] 2025-10-27T06:37:45.542Z,1761547065.542 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:45.792Z,1761547065.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:45.885Z,1761547065.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803016,0.595928,-0.005934],[-0.595894,0.803036,0.006588],[0.008691,-0.001755,0.999961]] 2025-10-27T06:37:46.044Z,1761547066.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:46.298Z,1761547066.298 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:46.548Z,1761547066.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:46.700Z,1761547066.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797568,0.602873,-0.020730],[-0.602258,0.797763,0.029322],[0.034215,-0.010901,0.999355]] 2025-10-27T06:37:46.800Z,1761547066.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:47.052Z,1761547067.052 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:47.098Z,1761547067.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797545,0.602412,-0.031962],[-0.601530,0.798151,0.033429],[0.045649,-0.007436,0.998930]] 2025-10-27T06:37:47.306Z,1761547067.306 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:47.502Z,1761547067.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800107,0.598235,-0.044079],[-0.597353,0.801320,0.032490],[0.054758,0.000335,0.998500]] 2025-10-27T06:37:47.556Z,1761547067.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:47.808Z,1761547067.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:47.906Z,1761547067.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804163,0.592366,-0.049237],[-0.591174,0.805669,0.037567],[0.061922,-0.001102,0.998080]] 2025-10-27T06:37:48.060Z,1761547068.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:48.314Z,1761547068.314 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:48.352Z,1761547068.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808962,0.585619,-0.051288],[-0.584273,0.810584,0.039742],[0.064847,-0.002184,0.997893]] 2025-10-27T06:37:48.564Z,1761547068.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:48.719Z,1761547068.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815709,0.576182,-0.051303],[-0.575069,0.817321,0.035810],[0.062564,0.000293,0.998041]] 2025-10-27T06:37:48.816Z,1761547068.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:49.068Z,1761547069.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:49.126Z,1761547069.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823941,0.564699,-0.047288],[-0.563910,0.825295,0.029897],[0.055909,0.002033,0.998434]] 2025-10-27T06:37:49.323Z,1761547069.323 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:49.521Z,1761547069.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832508,0.552549,-0.040248],[-0.552065,0.833475,0.023304],[0.046422,0.002819,0.998918]] 2025-10-27T06:37:49.572Z,1761547069.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:49.824Z,1761547069.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:49.928Z,1761547069.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841148,0.539918,-0.030951],[-0.539639,0.841715,0.017471],[0.035485,0.002007,0.999368]] 2025-10-27T06:37:50.076Z,1761547070.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:50.330Z,1761547070.330 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:50.374Z,1761547070.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849078,0.527903,-0.019614],[-0.527712,0.849303,0.014295],[0.024204,-0.001787,0.999705]] 2025-10-27T06:37:50.580Z,1761547070.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:50.832Z,1761547070.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:51.084Z,1761547071.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:51.142Z,1761547071.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860642,0.509210,-0.000429],[-0.509210,0.860642,0.000118],[0.000429,0.000117,1.000000]] 2025-10-27T06:37:51.337Z,1761547071.337 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:51.544Z,1761547071.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864193,0.503116,0.006724],[-0.503042,0.864202,-0.010192],[-0.010938,0.005426,0.999925]] 2025-10-27T06:37:51.588Z,1761547071.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:51.840Z,1761547071.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:51.946Z,1761547071.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865928,0.500036,0.011514],[-0.499693,0.865880,-0.023640],[-0.021790,0.014718,0.999654]] 2025-10-27T06:37:52.092Z,1761547072.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:52.344Z,1761547072.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:52.368Z,1761547072.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865695,0.500336,0.015355],[-0.499634,0.865543,-0.034648],[-0.030626,0.022323,0.999282]] 2025-10-27T06:37:52.596Z,1761547072.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:52.765Z,1761547072.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863508,0.503914,0.020598],[-0.503035,0.863494,-0.036522],[-0.036191,0.021175,0.999120]] 2025-10-27T06:37:52.849Z,1761547072.849 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:53.100Z,1761547073.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:53.159Z,1761547073.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859582,0.510491,0.022739],[-0.509500,0.859619,-0.038274],[-0.039086,0.021314,0.999009]] 2025-10-27T06:37:53.354Z,1761547073.354 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:53.562Z,1761547073.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853842,0.520027,0.022929],[-0.519119,0.853941,-0.036059],[-0.038332,0.018885,0.999087]] 2025-10-27T06:37:53.604Z,1761547073.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:53.856Z,1761547073.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:53.966Z,1761547073.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846632,0.531825,0.019374],[-0.531050,0.846647,-0.034275],[-0.034631,0.018730,0.999225]] 2025-10-27T06:37:54.109Z,1761547074.109 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:54.366Z,1761547074.366 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:54.374Z,1761547074.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838616,0.544547,0.013869],[-0.543966,0.838520,-0.031377],[-0.028715,0.018769,0.999411]] 2025-10-27T06:37:54.616Z,1761547074.616 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:54.780Z,1761547074.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829239,0.558814,0.009422],[-0.558505,0.829174,-0.023279],[-0.020821,0.014041,0.999685]] 2025-10-27T06:37:54.868Z,1761547074.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:55.120Z,1761547075.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:55.178Z,1761547075.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818603,0.574326,0.006289],[-0.574235,0.818604,-0.011940],[-0.012005,0.006163,0.999909]] 2025-10-27T06:37:55.372Z,1761547075.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:55.582Z,1761547075.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807630,0.589684,0.002479],[-0.589679,0.807634,-0.002507],[-0.003480,0.000563,0.999994]] 2025-10-27T06:37:55.624Z,1761547075.624 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:55.876Z,1761547075.876 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:55.987Z,1761547075.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797272,0.603619,-0.000686],[-0.603602,0.797258,0.006629],[0.004549,-0.004871,0.999978]] 2025-10-27T06:37:56.136Z,1761547076.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:56.384Z,1761547076.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:56.398Z,1761547076.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787755,0.615979,-0.003378],[-0.615877,0.787705,0.014689],[0.011708,-0.009491,0.999886]] 2025-10-27T06:37:56.636Z,1761547076.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:56.793Z,1761547076.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779497,0.626373,-0.006415],[-0.626148,0.779429,0.020736],[0.017989,-0.012147,0.999764]] 2025-10-27T06:37:56.888Z,1761547076.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:57.140Z,1761547077.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:57.198Z,1761547077.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772585,0.634834,-0.009907],[-0.634476,0.772539,0.024959],[0.023498,-0.012997,0.999639]] 2025-10-27T06:37:57.396Z,1761547077.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:57.611Z,1761547077.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767479,0.640933,-0.013475],[-0.640441,0.767485,0.028310],[0.028486,-0.013097,0.999508]] 2025-10-27T06:37:57.644Z,1761547077.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:57.896Z,1761547077.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:58.148Z,1761547078.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:58.401Z,1761547078.401 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:58.411Z,1761547078.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762424,0.646763,-0.020161],[-0.646018,0.762588,0.033466],[0.037019,-0.012491,0.999236]] 2025-10-27T06:37:58.652Z,1761547078.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:58.813Z,1761547078.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763823,0.645028,-0.022658],[-0.644192,0.764062,0.035015],[0.039898,-0.012149,0.999130]] 2025-10-27T06:37:58.904Z,1761547078.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:59.156Z,1761547079.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:59.218Z,1761547079.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767203,0.640942,-0.024369],[-0.640031,0.767492,0.036284],[0.041959,-0.012240,0.999044]] 2025-10-27T06:37:59.408Z,1761547079.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:59.628Z,1761547079.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772712,0.634268,-0.024919],[-0.633322,0.773008,0.036895],[0.042664,-0.012727,0.999008]] 2025-10-27T06:37:59.660Z,1761547079.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:37:59.912Z,1761547079.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:00.025Z,1761547080.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780386,0.624793,-0.025149],[-0.623877,0.780692,0.036031],[0.042145,-0.012428,0.999034]] 2025-10-27T06:38:00.164Z,1761547080.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:00.420Z,1761547080.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:00.432Z,1761547080.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789736,0.612946,-0.024798],[-0.612090,0.790032,0.034583],[0.040789,-0.012133,0.999094]] 2025-10-27T06:38:00.672Z,1761547080.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:00.937Z,1761547080.937 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:01.188Z,1761547081.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:01.240Z,1761547081.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812204,0.582871,-0.024199],[-0.582183,0.812498,0.030150],[0.037235,-0.010400,0.999252]] 2025-10-27T06:38:01.440Z,1761547081.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:01.642Z,1761547081.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824624,0.565157,-0.024355],[-0.564569,0.824938,0.027208],[0.035468,-0.008687,0.999333]] 2025-10-27T06:38:01.692Z,1761547081.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:01.944Z,1761547081.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:02.045Z,1761547082.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837488,0.545911,-0.024411],[-0.545417,0.837814,0.024256],[0.033693,-0.007000,0.999408]] 2025-10-27T06:38:02.196Z,1761547082.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:02.448Z,1761547082.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:02.451Z,1761547082.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850163,0.525951,-0.024463],[-0.525551,0.850500,0.021133],[0.031920,-0.005110,0.999477]] 2025-10-27T06:38:02.700Z,1761547082.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:02.854Z,1761547082.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862642,0.505229,-0.024321],[-0.504935,0.862981,0.017456],[0.029808,-0.002778,0.999552]] 2025-10-27T06:38:02.952Z,1761547082.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:03.204Z,1761547083.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:03.258Z,1761547083.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874353,0.484710,-0.023725],[-0.484509,0.874675,0.013972],[0.027524,-0.000721,0.999621]] 2025-10-27T06:38:03.456Z,1761547083.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:03.662Z,1761547083.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884930,0.465166,-0.022797],[-0.465053,0.885222,0.010346],[0.024993,0.001446,0.999687]] 2025-10-27T06:38:03.708Z,1761547083.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:03.960Z,1761547083.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:04.067Z,1761547084.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894090,0.447362,-0.021673],[-0.447330,0.894345,0.006603],[0.022337,0.003791,0.999743]] 2025-10-27T06:38:04.212Z,1761547084.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:04.464Z,1761547084.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:04.471Z,1761547084.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901589,0.432129,-0.020038],[-0.432160,0.901792,0.002980],[0.019358,0.005973,0.999795]] 2025-10-27T06:38:04.716Z,1761547084.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:04.874Z,1761547084.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907510,0.419648,-0.017908],[-0.419721,0.907653,-0.000385],[0.016093,0.007865,0.999840]] 2025-10-27T06:38:04.968Z,1761547084.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:05.220Z,1761547085.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:05.279Z,1761547085.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911588,0.410815,-0.015460],[-0.410907,0.911671,-0.003238],[0.012764,0.009304,0.999875]] 2025-10-27T06:38:05.472Z,1761547085.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:05.684Z,1761547085.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914129,0.405213,-0.013070],[-0.405322,0.914146,-0.007105],[0.009068,0.011793,0.999889]] 2025-10-27T06:38:05.724Z,1761547085.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:05.976Z,1761547085.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:06.098Z,1761547086.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914849,0.403674,-0.009964],[-0.403764,0.914811,-0.009762],[0.005175,0.012954,0.999903]] 2025-10-27T06:38:06.228Z,1761547086.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:06.480Z,1761547086.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:06.491Z,1761547086.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913789,0.406133,-0.006775],[-0.406189,0.913701,-0.012671],[0.001044,0.014331,0.999897]] 2025-10-27T06:38:06.732Z,1761547086.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:06.894Z,1761547086.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910816,0.412797,-0.003646],[-0.412802,0.910694,-0.015177],[-0.002944,0.015328,0.999878]] 2025-10-27T06:38:06.985Z,1761547086.985 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:07.236Z,1761547087.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:07.488Z,1761547087.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:07.702Z,1761547087.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898851,0.438251,0.001903],[-0.438129,0.898688,-0.020075],[-0.010508,0.017211,0.999797]] 2025-10-27T06:38:07.741Z,1761547087.741 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:07.992Z,1761547087.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:08.110Z,1761547088.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889917,0.456109,0.003471],[-0.455932,0.889740,-0.022107],[-0.013172,0.018091,0.999750]] 2025-10-27T06:38:08.244Z,1761547088.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:08.496Z,1761547088.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:08.511Z,1761547088.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879410,0.476043,0.004564],[-0.475833,0.879241,-0.022771],[-0.014853,0.017854,0.999730]] 2025-10-27T06:38:08.748Z,1761547088.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:08.915Z,1761547088.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867511,0.497395,0.004736],[-0.497188,0.867361,-0.022138],[-0.015119,0.016850,0.999744]] 2025-10-27T06:38:08.000Z,1761547089.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:09.252Z,1761547089.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:09.318Z,1761547089.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854696,0.519111,0.004242],[-0.518940,0.854577,-0.019978],[-0.013996,0.014874,0.999791]] 2025-10-27T06:38:09.504Z,1761547089.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:09.729Z,1761547089.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841132,0.540819,0.003420],[-0.540706,0.841058,-0.016062],[-0.011563,0.011661,0.999865]] 2025-10-27T06:38:09.759Z,1761547089.759 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:10.012Z,1761547090.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:10.125Z,1761547090.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827263,0.561811,0.002120],[-0.561759,0.827227,-0.011048],[-0.007961,0.007949,0.999937]] 2025-10-27T06:38:10.264Z,1761547090.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:10.516Z,1761547090.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:10.531Z,1761547090.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813362,0.581756,0.001524],[-0.581750,0.813361,-0.003325],[-0.003174,0.001818,0.999993]] 2025-10-27T06:38:10.768Z,1761547090.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:10.933Z,1761547090.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799911,0.600118,0.000479],[-0.600114,0.799903,0.004330],[0.002215,-0.003751,0.999991]] 2025-10-27T06:38:11.020Z,1761547091.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:11.272Z,1761547091.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:11.524Z,1761547091.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:11.753Z,1761547091.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768685,0.639599,-0.006006],[-0.639335,0.768583,0.023027],[0.019344,-0.013860,0.999717]] 2025-10-27T06:38:11.776Z,1761547091.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:12.028Z,1761547092.028 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:12.150Z,1761547092.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762565,0.646838,-0.009795],[-0.646440,0.762500,0.026635],[0.024697,-0.013979,0.999597]] 2025-10-27T06:38:12.280Z,1761547092.280 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:12.532Z,1761547092.532 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:12.554Z,1761547092.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758681,0.651323,-0.013454],[-0.650789,0.758674,0.029805],[0.029620,-0.013857,0.999465]] 2025-10-27T06:38:12.784Z,1761547092.784 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:12.959Z,1761547092.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757336,0.652796,-0.017283],[-0.652154,0.757428,0.031612],[0.033727,-0.012670,0.999351]] 2025-10-27T06:38:13.036Z,1761547093.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:13.288Z,1761547093.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:13.361Z,1761547093.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758243,0.651643,-0.020708],[-0.650915,0.758440,0.032849],[0.037111,-0.011428,0.999246]] 2025-10-27T06:38:13.540Z,1761547093.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:13.761Z,1761547093.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760799,0.648557,-0.023631],[-0.647794,0.761104,0.032919],[0.039336,-0.009736,0.999179]] 2025-10-27T06:38:13.792Z,1761547093.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:14.044Z,1761547094.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:14.166Z,1761547094.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765158,0.643367,-0.024749],[-0.642620,0.765508,0.032215],[0.039672,-0.008745,0.999174]] 2025-10-27T06:38:14.296Z,1761547094.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:14.548Z,1761547094.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:14.577Z,1761547094.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770986,0.636370,-0.024786],[-0.635713,0.771350,0.029792],[0.038077,-0.007213,0.999249]] 2025-10-27T06:38:14.800Z,1761547094.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:14.976Z,1761547094.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777584,0.628331,-0.023742],[-0.627803,0.777926,0.026335],[0.035016,-0.005572,0.999371]] 2025-10-27T06:38:15.055Z,1761547095.055 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:15.304Z,1761547095.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:15.378Z,1761547095.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784848,0.619317,-0.021466],[-0.618921,0.785129,0.022591],[0.030845,-0.004444,0.999514]] 2025-10-27T06:38:15.556Z,1761547095.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:15.782Z,1761547095.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792272,0.609894,-0.018280],[-0.609614,0.792474,0.018870],[0.025995,-0.003806,0.999655]] 2025-10-27T06:38:15.808Z,1761547095.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:16.061Z,1761547096.061 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:16.186Z,1761547096.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798967,0.601214,-0.013879],[-0.601008,0.799073,0.016466],[0.020990,-0.004814,0.999768]] 2025-10-27T06:38:16.312Z,1761547096.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:16.564Z,1761547096.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:16.600Z,1761547096.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804812,0.593445,-0.010034],[-0.593326,0.804863,0.012628],[0.015570,-0.004210,0.999870]] 2025-10-27T06:38:16.816Z,1761547096.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:16.994Z,1761547096.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809457,0.587141,-0.006690],[-0.587092,0.809481,0.007962],[0.010090,-0.002517,0.999946]] 2025-10-27T06:38:17.068Z,1761547097.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:17.320Z,1761547097.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:17.401Z,1761547097.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813070,0.582157,-0.003097],[-0.582147,0.813075,0.003731],[0.004690,-0.001231,0.999988]] 2025-10-27T06:38:17.572Z,1761547097.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:17.802Z,1761547097.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815289,0.579054,-0.000083],[-0.579054,0.815289,-0.000885],[-0.000445,0.000769,1.000000]] 2025-10-27T06:38:17.824Z,1761547097.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:18.077Z,1761547098.077 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:18.207Z,1761547098.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815971,0.578089,0.002127],[-0.578069,0.815965,-0.006132],[-0.005281,0.003774,0.999979]] 2025-10-27T06:38:18.328Z,1761547098.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:18.580Z,1761547098.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:18.609Z,1761547098.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815198,0.579170,0.003880],[-0.579101,0.815177,-0.011285],[-0.009698,0.006952,0.999929]] 2025-10-27T06:38:18.832Z,1761547098.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:19.013Z,1761547099.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812470,0.582981,0.005048],[-0.582859,0.812431,-0.015227],[-0.012978,0.009429,0.999871]] 2025-10-27T06:38:19.092Z,1761547099.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:19.344Z,1761547099.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:19.422Z,1761547099.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807992,0.589169,0.005413],[-0.588996,0.807925,-0.018454],[-0.015246,0.011723,0.999815]] 2025-10-27T06:38:19.596Z,1761547099.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:19.823Z,1761547099.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802330,0.596856,0.005385],[-0.596651,0.802239,-0.020502],[-0.016557,0.013236,0.999775]] 2025-10-27T06:38:19.848Z,1761547099.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:20.100Z,1761547100.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:20.226Z,1761547100.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795191,0.606340,0.004817],[-0.606135,0.795087,-0.020894],[-0.016499,0.013695,0.999770]] 2025-10-27T06:38:20.352Z,1761547100.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:20.604Z,1761547100.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:20.630Z,1761547100.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786834,0.617153,0.003822],[-0.616977,0.786732,-0.019806],[-0.015230,0.013226,0.999797]] 2025-10-27T06:38:20.856Z,1761547100.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:21.033Z,1761547101.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777250,0.629188,0.002357],[-0.629063,0.777160,-0.017372],[-0.012762,0.012020,0.999846]] 2025-10-27T06:38:21.108Z,1761547101.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:21.360Z,1761547101.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:21.442Z,1761547101.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767108,0.641518,0.000766],[-0.641446,0.767039,-0.014075],[-0.009617,0.010306,0.999901]] 2025-10-27T06:38:21.612Z,1761547101.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:21.848Z,1761547101.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756466,0.654033,-0.000187],[-0.654009,0.756436,-0.008810],[-0.005621,0.006786,0.999961]] 2025-10-27T06:38:21.865Z,1761547101.865 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:22.116Z,1761547102.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:22.245Z,1761547102.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745947,0.666005,-0.000735],[-0.666004,0.745942,-0.002918],[-0.001395,0.002666,0.999995]] 2025-10-27T06:38:22.368Z,1761547102.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:22.620Z,1761547102.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:22.650Z,1761547102.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735486,0.677538,-0.001838],[-0.677532,0.735487,0.002838],[0.003275,-0.000842,0.999994]] 2025-10-27T06:38:22.872Z,1761547102.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:23.059Z,1761547103.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725861,0.687836,-0.002850],[-0.687793,0.725852,0.008911],[0.008198,-0.004508,0.999956]] 2025-10-27T06:38:23.126Z,1761547103.126 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:23.376Z,1761547103.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:23.465Z,1761547103.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717358,0.696696,-0.003358],[-0.696574,0.717309,0.015858],[0.013456,-0.009037,0.999869]] 2025-10-27T06:38:23.628Z,1761547103.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:23.880Z,1761547103.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:23.884Z,1761547103.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710359,0.703820,-0.005130],[-0.703584,0.710279,0.021765],[0.018962,-0.011852,0.999750]] 2025-10-27T06:38:24.132Z,1761547104.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:24.266Z,1761547104.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705316,0.708844,-0.008324],[-0.708472,0.705254,0.026177],[0.024426,-0.012566,0.999623]] 2025-10-27T06:38:24.384Z,1761547104.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:24.636Z,1761547104.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:24.890Z,1761547104.890 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:25.083Z,1761547105.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702087,0.711884,-0.017159],[-0.711206,0.702212,0.032930],[0.035492,-0.010916,0.999310]] 2025-10-27T06:38:25.140Z,1761547105.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:25.392Z,1761547105.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:25.481Z,1761547105.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703891,0.709975,-0.021759],[-0.709116,0.704153,0.036369],[0.041143,-0.010171,0.999102]] 2025-10-27T06:38:25.644Z,1761547105.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:25.896Z,1761547105.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:25.911Z,1761547105.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708135,0.705558,-0.027083],[-0.704570,0.708608,0.038160],[0.046115,-0.007941,0.998905]] 2025-10-27T06:38:26.148Z,1761547106.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:26.286Z,1761547106.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714687,0.698757,-0.030988],[-0.697678,0.715329,0.039377],[0.049682,-0.006523,0.998744]] 2025-10-27T06:38:26.400Z,1761547106.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:26.652Z,1761547106.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:26.693Z,1761547106.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722919,0.690149,-0.032909],[-0.689029,0.723642,0.039764],[0.051257,-0.006071,0.998667]] 2025-10-27T06:38:26.906Z,1761547106.906 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:27.094Z,1761547107.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733255,0.679089,-0.034284],[-0.678119,0.734047,0.036454],[0.049922,-0.003481,0.998747]] 2025-10-27T06:38:27.156Z,1761547107.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:27.408Z,1761547107.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:27.501Z,1761547107.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744412,0.666887,-0.033350],[-0.666110,0.745157,0.032223],[0.046340,-0.001772,0.998924]] 2025-10-27T06:38:27.660Z,1761547107.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:27.914Z,1761547107.914 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:27.932Z,1761547107.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756242,0.653535,-0.031468],[-0.653026,0.756895,0.025806],[0.040683,0.001034,0.999172]] 2025-10-27T06:38:28.164Z,1761547108.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:28.307Z,1761547108.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767906,0.639937,-0.028303],[-0.639673,0.768418,0.018766],[0.033758,0.003695,0.999423]] 2025-10-27T06:38:28.416Z,1761547108.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:28.668Z,1761547108.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:28.713Z,1761547108.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778992,0.626606,-0.023170],[-0.626476,0.779326,0.013380],[0.026441,0.004092,0.999642]] 2025-10-27T06:38:28.922Z,1761547108.922 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:29.114Z,1761547109.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788509,0.614788,-0.016995],[-0.614722,0.788687,0.009495],[0.019241,0.002961,0.999810]] 2025-10-27T06:38:29.172Z,1761547109.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:29.424Z,1761547109.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:29.521Z,1761547109.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795894,0.605321,-0.011795],[-0.605323,0.795971,0.003813],[0.011697,0.004105,0.999923]] 2025-10-27T06:38:29.676Z,1761547109.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:29.930Z,1761547109.930 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:29.964Z,1761547109.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801443,0.598027,-0.007221],[-0.598059,0.801444,-0.003472],[0.003711,0.007101,0.999968]] 2025-10-27T06:38:30.180Z,1761547110.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:30.326Z,1761547110.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804596,0.593817,-0.002519],[-0.593806,0.804537,-0.010727],[-0.004343,0.010127,0.999939]] 2025-10-27T06:38:30.432Z,1761547110.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:30.684Z,1761547110.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:30.735Z,1761547110.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804665,0.593724,0.002264],[-0.593600,0.804564,-0.017763],[-0.012368,0.012949,0.999840]] 2025-10-27T06:38:30.938Z,1761547110.938 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:31.188Z,1761547111.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:31.440Z,1761547111.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:31.548Z,1761547111.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795599,0.605756,0.009062],[-0.605199,0.795369,-0.033486],[-0.027492,0.021158,0.999398]] 2025-10-27T06:38:31.692Z,1761547111.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:31.954Z,1761547111.954 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:31.992Z,1761547111.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786560,0.617409,0.011345],[-0.616595,0.786260,-0.040085],[-0.033669,0.024534,0.999132]] 2025-10-27T06:38:32.204Z,1761547112.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:32.346Z,1761547112.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774983,0.631842,0.013306],[-0.630828,0.774669,-0.044092],[-0.038167,0.025777,0.998939]] 2025-10-27T06:38:32.456Z,1761547112.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:32.708Z,1761547112.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:32.750Z,1761547112.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760734,0.648887,0.015144],[-0.647837,0.760524,-0.043713],[-0.039882,0.023443,0.998929]] 2025-10-27T06:38:32.963Z,1761547112.963 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:33.154Z,1761547113.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744426,0.667556,0.014096],[-0.666559,0.744220,-0.042857],[-0.039100,0.022508,0.998982]] 2025-10-27T06:38:33.212Z,1761547113.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:33.464Z,1761547113.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:33.569Z,1761547113.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726882,0.686654,0.012172],[-0.685838,0.726709,-0.038991],[-0.035619,0.019994,0.999165]] 2025-10-27T06:38:33.716Z,1761547113.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:33.971Z,1761547113.971 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:34.012Z,1761547114.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708355,0.705790,0.009661],[-0.705209,0.708225,-0.033110],[-0.030211,0.016640,0.999405]] 2025-10-27T06:38:34.220Z,1761547114.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:34.365Z,1761547114.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689490,0.724265,0.006671],[-0.723905,0.689391,-0.026489],[-0.023784,0.013435,0.999627]] 2025-10-27T06:38:34.472Z,1761547114.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:34.724Z,1761547114.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:34.770Z,1761547114.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671306,0.741154,0.006200],[-0.740992,0.671301,-0.016919],[-0.016702,0.006763,0.999838]] 2025-10-27T06:38:34.976Z,1761547114.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:35.174Z,1761547115.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654384,0.756124,0.007635],[-0.756109,0.654424,-0.005234],[-0.008954,-0.002347,0.999957]] 2025-10-27T06:38:35.228Z,1761547115.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:35.480Z,1761547115.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:35.581Z,1761547115.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639488,0.768758,0.008165],[-0.768799,0.639472,0.004765],[-0.001559,-0.009324,0.999955]] 2025-10-27T06:38:35.732Z,1761547115.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:35.986Z,1761547115.986 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:36.032Z,1761547116.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627674,0.778436,0.007928],[-0.778456,0.627551,0.013662],[0.005659,-0.014747,0.999875]] 2025-10-27T06:38:36.236Z,1761547116.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:36.386Z,1761547116.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618805,0.785506,0.007788],[-0.785441,0.618532,0.022394],[0.012773,-0.019974,0.999719]] 2025-10-27T06:38:36.488Z,1761547116.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:36.740Z,1761547116.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:36.789Z,1761547116.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613697,0.789521,0.005701],[-0.789301,0.613315,0.029127],[0.019500,-0.022375,0.999559]] 2025-10-27T06:38:36.994Z,1761547116.994 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:37.194Z,1761547117.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611748,0.791051,0.001577],[-0.790625,0.611350,0.034109],[0.026018,-0.022113,0.999417]] 2025-10-27T06:38:37.244Z,1761547117.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:37.496Z,1761547117.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:37.600Z,1761547117.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613910,0.789370,-0.003046],[-0.788719,0.613553,0.038404],[0.032184,-0.021174,0.999258]] 2025-10-27T06:38:37.748Z,1761547117.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:37.000Z,1761547118.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:38.020Z,1761547118.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619737,0.784773,-0.007597],[-0.783882,0.619446,0.042620],[0.038153,-0.020459,0.999062]] 2025-10-27T06:38:38.252Z,1761547118.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:38.406Z,1761547118.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628437,0.777765,-0.012166],[-0.776615,0.628239,0.046742],[0.043997,-0.019926,0.998833]] 2025-10-27T06:38:38.504Z,1761547118.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:38.756Z,1761547118.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:38.810Z,1761547118.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640661,0.767628,-0.017340],[-0.766250,0.640630,0.049535],[0.049133,-0.018448,0.998622]] 2025-10-27T06:38:39.008Z,1761547119.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:39.214Z,1761547119.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656266,0.754185,-0.022792],[-0.752645,0.656462,0.050821],[0.053290,-0.016198,0.998448]] 2025-10-27T06:38:39.260Z,1761547119.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:39.512Z,1761547119.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:39.626Z,1761547119.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674483,0.737809,-0.026654],[-0.736119,0.674828,0.052297],[0.056572,-0.015653,0.998276]] 2025-10-27T06:38:39.764Z,1761547119.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:40.016Z,1761547120.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:40.034Z,1761547120.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694725,0.718635,-0.030365],[-0.716921,0.695246,0.051551],[0.058157,-0.014044,0.998209]] 2025-10-27T06:38:40.268Z,1761547120.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:40.426Z,1761547120.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716849,0.696415,-0.033681],[-0.694803,0.717547,0.048743],[0.058114,-0.011540,0.998243]] 2025-10-27T06:38:40.521Z,1761547120.521 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:40.772Z,1761547120.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:40.830Z,1761547120.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739778,0.671919,-0.035401],[-0.670489,0.740564,0.044825],[0.056336,-0.009425,0.998367]] 2025-10-27T06:38:41.025Z,1761547121.025 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:41.233Z,1761547121.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763019,0.645355,-0.036318],[-0.644203,0.763856,0.039072],[0.052957,-0.006416,0.998576]] 2025-10-27T06:38:41.276Z,1761547121.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:41.528Z,1761547121.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:41.641Z,1761547121.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785944,0.617250,-0.035986],[-0.616405,0.786760,0.032469],[0.048354,-0.003337,0.998825]] 2025-10-27T06:38:41.780Z,1761547121.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:42.036Z,1761547122.036 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:42.060Z,1761547122.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807582,0.588720,-0.034931],[-0.588174,0.808337,0.025341],[0.043155,0.000081,0.999068]] 2025-10-27T06:38:42.288Z,1761547122.288 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:42.446Z,1761547122.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827849,0.559964,-0.033262],[-0.559673,0.828510,0.018343],[0.037829,0.003431,0.999278]] 2025-10-27T06:38:42.541Z,1761547122.541 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:42.792Z,1761547122.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:42.849Z,1761547122.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846354,0.531729,-0.030800],[-0.531609,0.846896,0.012643],[0.032807,0.005673,0.999446]] 2025-10-27T06:38:43.044Z,1761547123.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:43.254Z,1761547123.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862135,0.505875,-0.028518],[-0.505882,0.862570,0.007506],[0.028396,0.007955,0.999565]] 2025-10-27T06:38:43.296Z,1761547123.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:43.548Z,1761547123.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:43.658Z,1761547123.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875546,0.482395,-0.026732],[-0.482527,0.875880,0.001730],[0.024249,0.011384,0.999641]] 2025-10-27T06:38:43.800Z,1761547123.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:44.053Z,1761547124.053 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:44.063Z,1761547124.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886399,0.462259,-0.024749],[-0.462471,0.886628,-0.003314],[0.020411,0.014383,0.999688]] 2025-10-27T06:38:44.304Z,1761547124.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:44.468Z,1761547124.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894624,0.446237,-0.022827],[-0.446505,0.894744,-0.008164],[0.016782,0.017496,0.999706]] 2025-10-27T06:38:44.556Z,1761547124.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:44.808Z,1761547124.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:44.870Z,1761547124.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900039,0.435318,-0.020690],[-0.435608,0.900052,-0.012339],[0.013251,0.020119,0.999710]] 2025-10-27T06:38:45.060Z,1761547125.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:45.302Z,1761547125.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902531,0.430237,-0.018293],[-0.430517,0.902442,-0.015915],[0.009661,0.022239,0.999706]] 2025-10-27T06:38:45.312Z,1761547125.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:45.564Z,1761547125.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:45.680Z,1761547125.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902309,0.430816,-0.015372],[-0.431055,0.902120,-0.019279],[0.005562,0.024022,0.999696]] 2025-10-27T06:38:45.816Z,1761547125.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:46.068Z,1761547126.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:46.087Z,1761547126.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899153,0.437480,-0.011662],[-0.437634,0.898887,-0.021894],[0.000905,0.024789,0.999692]] 2025-10-27T06:38:46.320Z,1761547126.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:46.572Z,1761547126.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:46.824Z,1761547126.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:46.890Z,1761547126.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883099,0.469182,-0.002032],[-0.469066,0.882768,-0.026426],[-0.010605,0.024290,0.999649]] 2025-10-27T06:38:47.076Z,1761547127.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:47.294Z,1761547127.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870474,0.492204,0.003153],[-0.491900,0.870129,-0.030154],[-0.017585,0.024697,0.999540]] 2025-10-27T06:38:47.328Z,1761547127.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:47.580Z,1761547127.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:47.697Z,1761547127.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854361,0.519613,0.008406],[-0.519082,0.854041,-0.034182],[-0.024940,0.024840,0.999380]] 2025-10-27T06:38:47.832Z,1761547127.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:48.084Z,1761547128.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:48.104Z,1761547128.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834921,0.550233,0.012277],[-0.549404,0.834569,-0.040623],[-0.032598,0.027172,0.999099]] 2025-10-27T06:38:48.336Z,1761547128.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:48.511Z,1761547128.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812982,0.582072,0.015872],[-0.580913,0.812633,-0.046565],[-0.040002,0.028636,0.998789]] 2025-10-27T06:38:48.588Z,1761547128.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:48.840Z,1761547128.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:48.909Z,1761547128.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789259,0.613731,0.020105],[-0.612343,0.789077,-0.048921],[-0.045889,0.026300,0.998600]] 2025-10-27T06:38:49.092Z,1761547129.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:49.313Z,1761547129.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764175,0.644532,0.024805],[-0.643151,0.764327,-0.046494],[-0.048926,0.019576,0.998610]] 2025-10-27T06:38:49.344Z,1761547129.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:49.596Z,1761547129.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:49.728Z,1761547129.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739532,0.672621,0.025944],[-0.671341,0.739829,-0.044201],[-0.048925,0.015271,0.998686]] 2025-10-27T06:38:49.848Z,1761547129.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:50.100Z,1761547130.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:50.124Z,1761547130.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715523,0.698141,0.025032],[-0.697137,0.715886,-0.038821],[-0.045023,0.010327,0.998933]] 2025-10-27T06:38:50.352Z,1761547130.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:50.535Z,1761547130.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693051,0.720555,0.021910],[-0.719881,0.693369,-0.031783],[-0.038093,0.006255,0.999255]] 2025-10-27T06:38:50.604Z,1761547130.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:50.856Z,1761547130.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:51.108Z,1761547131.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:51.335Z,1761547131.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653738,0.756620,0.012367],[-0.756492,0.653855,-0.013902],[-0.018605,-0.000267,0.999827]] 2025-10-27T06:38:51.360Z,1761547131.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:51.612Z,1761547131.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:51.742Z,1761547131.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637894,0.770071,0.009027],[-0.770086,0.637935,-0.002533],[-0.007709,-0.005336,0.999956]] 2025-10-27T06:38:51.864Z,1761547131.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:52.116Z,1761547132.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:52.142Z,1761547132.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625008,0.780601,0.005271],[-0.780611,0.624957,0.008737],[0.003526,-0.009575,0.999948]] 2025-10-27T06:38:52.368Z,1761547132.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:52.546Z,1761547132.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615753,0.787939,-0.001066],[-0.787794,0.615664,0.018391],[0.015147,-0.010484,0.999830]] 2025-10-27T06:38:52.620Z,1761547132.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:52.872Z,1761547132.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:53.124Z,1761547133.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:53.353Z,1761547133.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608562,0.793272,-0.019301],[-0.792491,0.608834,0.035760],[0.040118,-0.006466,0.999174]] 2025-10-27T06:38:53.376Z,1761547133.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:53.628Z,1761547133.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:53.757Z,1761547133.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610658,0.791340,-0.029647],[-0.790083,0.611364,0.044748],[0.053536,-0.003902,0.998558]] 2025-10-27T06:38:53.880Z,1761547133.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:54.132Z,1761547134.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:54.162Z,1761547134.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617199,0.785995,-0.035741],[-0.783904,0.618186,0.057799],[0.067524,-0.007656,0.997688]] 2025-10-27T06:38:54.384Z,1761547134.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:54.567Z,1761547134.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627379,0.777637,-0.040940],[-0.774583,0.628596,0.069917],[0.080105,-0.012153,0.996712]] 2025-10-27T06:38:54.636Z,1761547134.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:54.888Z,1761547134.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:54.970Z,1761547134.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641663,0.765420,-0.048998],[-0.761855,0.643445,0.074532],[0.088576,-0.010495,0.996014]] 2025-10-27T06:38:55.140Z,1761547135.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:55.374Z,1761547135.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660323,0.749065,-0.053617],[-0.745266,0.662417,0.076038],[0.092474,-0.010251,0.995662]] 2025-10-27T06:38:55.399Z,1761547135.399 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:55.400Z,1761547135.400 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050310271396,0.2, 0.0,1490.7, 0 2025-10-27T06:38:55.652Z,1761547135.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:55.777Z,1761547135.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683881,0.727496,-0.055274],[-0.723933,0.686044,0.072559],[0.090706,-0.009607,0.995831]] 2025-10-27T06:38:55.904Z,1761547135.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:56.156Z,1761547136.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:56.190Z,1761547136.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740490,0.670215,-0.049855],[-0.668091,0.742138,0.053709],[0.072996,-0.006463,0.997311]] 2025-10-27T06:38:56.408Z,1761547136.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:56.595Z,1761547136.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771187,0.635102,-0.043779],[-0.633865,0.772423,0.039728],[0.059047,-0.002888,0.998251]] 2025-10-27T06:38:56.660Z,1761547136.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:56.912Z,1761547136.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:56.998Z,1761547136.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800914,0.597693,-0.036050],[-0.597131,0.801724,0.025945],[0.044409,0.000747,0.999013]] 2025-10-27T06:38:57.167Z,1761547137.167 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:57.399Z,1761547137.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828264,0.559722,-0.026270],[-0.559490,0.828680,0.016155],[0.030812,0.001318,0.999524]] 2025-10-27T06:38:57.420Z,1761547137.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:57.672Z,1761547137.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:57.808Z,1761547137.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852601,0.522324,-0.015779],[-0.522242,0.852747,0.009280],[0.018303,0.000329,0.999832]] 2025-10-27T06:38:57.924Z,1761547137.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:58.176Z,1761547138.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:58.203Z,1761547138.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873421,0.486921,-0.006574],[-0.486919,0.873445,0.002082],[0.006756,0.001383,0.999976]] 2025-10-27T06:38:58.428Z,1761547138.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:58.606Z,1761547138.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890441,0.455097,0.001180],[-0.455081,0.890426,-0.006535],[-0.004025,0.005282,0.999978]] 2025-10-27T06:38:58.693Z,1761547138.693 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:58.944Z,1761547138.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:59.024Z,1761547139.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903807,0.427890,0.006587],[-0.427708,0.903716,-0.019065],[-0.014110,0.014413,0.999797]] 2025-10-27T06:38:59.196Z,1761547139.196 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:59.418Z,1761547139.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913390,0.406902,0.012201],[-0.406435,0.913214,-0.029161],[-0.023008,0.021677,0.999500]] 2025-10-27T06:38:59.448Z,1761547139.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:59.700Z,1761547139.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:38:59.817Z,1761547139.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919092,0.393603,0.018622],[-0.392821,0.918937,-0.035314],[-0.031012,0.025142,0.999203]] 2025-10-27T06:38:59.952Z,1761547139.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:00.204Z,1761547140.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:00.223Z,1761547140.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921024,0.388734,0.024507],[-0.387592,0.920913,-0.041137],[-0.038560,0.028389,0.998853]] 2025-10-27T06:39:00.456Z,1761547140.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:00.626Z,1761547140.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919373,0.392323,0.028916],[-0.390768,0.919249,-0.047763],[-0.045319,0.032613,0.998440]] 2025-10-27T06:39:00.708Z,1761547140.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:00.960Z,1761547140.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:01.212Z,1761547141.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:01.446Z,1761547141.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905002,0.424053,0.033931],[-0.421736,0.904788,-0.059138],[-0.055779,0.039210,0.997673]] 2025-10-27T06:39:01.464Z,1761547141.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:01.716Z,1761547141.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:01.838Z,1761547141.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892294,0.450168,0.034065],[-0.447738,0.892088,-0.060903],[-0.057806,0.039091,0.997562]] 2025-10-27T06:39:01.968Z,1761547141.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:02.220Z,1761547142.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:02.242Z,1761547142.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876395,0.480560,0.031523],[-0.478125,0.876059,-0.062588],[-0.057694,0.039780,0.997541]] 2025-10-27T06:39:02.472Z,1761547142.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:02.648Z,1761547142.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857273,0.514118,0.027666],[-0.511902,0.856867,-0.061121],[-0.055130,0.038235,0.997747]] 2025-10-27T06:39:02.724Z,1761547142.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:02.976Z,1761547142.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:03.049Z,1761547143.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834945,0.549848,0.023123],[-0.548052,0.834571,-0.055959],[-0.050067,0.034050,0.998165]] 2025-10-27T06:39:03.228Z,1761547143.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:03.469Z,1761547143.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810235,0.585845,0.017457],[-0.584527,0.809880,-0.049229],[-0.042979,0.029683,0.998635]] 2025-10-27T06:39:03.489Z,1761547143.489 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:03.740Z,1761547143.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:03.863Z,1761547143.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784470,0.620064,0.011329],[-0.619215,0.784146,-0.041073],[-0.034351,0.025206,0.999092]] 2025-10-27T06:39:03.993Z,1761547143.993 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:04.244Z,1761547144.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:04.265Z,1761547144.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758768,0.651339,0.005376],[-0.650891,0.758508,-0.031725],[-0.024742,0.020573,0.999482]] 2025-10-27T06:39:04.496Z,1761547144.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:04.665Z,1761547144.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733701,0.679471,0.001444],[-0.679319,0.733579,-0.019674],[-0.014427,0.013454,0.999805]] 2025-10-27T06:39:04.748Z,1761547144.748 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:05.001Z,1761547145.001 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:05.070Z,1761547145.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709805,0.704398,-0.000129],[-0.704389,0.709795,-0.005224],[-0.003588,0.003799,0.999986]] 2025-10-27T06:39:05.252Z,1761547145.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:05.504Z,1761547145.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:05.507Z,1761547145.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687629,0.726058,-0.002449],[-0.726026,0.687624,0.007717],[0.007287,-0.003529,0.999967]] 2025-10-27T06:39:05.756Z,1761547145.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:05.879Z,1761547145.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667748,0.744352,-0.007303],[-0.744175,0.667759,0.017354],[0.017794,-0.006154,0.999823]] 2025-10-27T06:39:06.009Z,1761547146.009 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:06.260Z,1761547146.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:06.282Z,1761547146.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650506,0.759352,-0.015034],[-0.758978,0.650666,0.024215],[0.028170,-0.004341,0.999594]] 2025-10-27T06:39:06.512Z,1761547146.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:06.686Z,1761547146.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637192,0.770326,-0.024163],[-0.769754,0.637650,0.029701],[0.038287,-0.000326,0.999267]] 2025-10-27T06:39:06.764Z,1761547146.764 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:07.016Z,1761547147.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:07.090Z,1761547147.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627960,0.777590,-0.031934],[-0.776724,0.628769,0.036726],[0.048637,0.001741,0.998815]] 2025-10-27T06:39:07.268Z,1761547147.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:07.522Z,1761547147.522 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:07.529Z,1761547147.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622261,0.782032,-0.034899],[-0.780596,0.623234,0.047429],[0.058841,-0.002271,0.998265]] 2025-10-27T06:39:07.772Z,1761547147.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:07.898Z,1761547147.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620199,0.783466,-0.039162],[-0.781614,0.621428,0.053924],[0.066584,-0.002834,0.997777]] 2025-10-27T06:39:08.024Z,1761547148.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:08.276Z,1761547148.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:08.302Z,1761547148.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622382,0.781646,-0.040871],[-0.779434,0.623703,0.058967],[0.071582,-0.004844,0.997423]] 2025-10-27T06:39:08.329Z,1761547148.329 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-27T06:29:08.2Z 2025-10-27T06:39:08.329Z,1761547148.329 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T06:39:08.329Z,1761547148.329 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:39:08.329Z,1761547148.329 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T06:39:08.329Z,1761547148.329 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:39:08.330Z,1761547148.330 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-27T06:39:08.529Z,1761547148.529 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:08.709Z,1761547148.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629292,0.776020,-0.042237],[-0.773771,0.630691,0.059228],[0.072601,-0.004590,0.997350]] 2025-10-27T06:39:08.761Z,1761547148.761 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-27T06:39:08.761Z,1761547148.761 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-27T06:39:08.761Z,1761547148.761 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-27T06:39:08.761Z,1761547148.761 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:39:08.761Z,1761547148.761 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-27T06:39:08.780Z,1761547148.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:09.032Z,1761547149.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:09.116Z,1761547149.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640050,0.767277,-0.040276],[-0.765101,0.641284,0.058098],[0.070406,-0.006370,0.997498]] 2025-10-27T06:39:09.284Z,1761547149.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:09.538Z,1761547149.538 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:09.555Z,1761547149.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654467,0.755148,-0.037746],[-0.753345,0.655528,0.052479],[0.064373,-0.005910,0.997908]] 2025-10-27T06:39:09.788Z,1761547149.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:09.918Z,1761547149.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671307,0.740429,-0.033353],[-0.739080,0.672112,0.045012],[0.055745,-0.005566,0.998429]] 2025-10-27T06:39:10.040Z,1761547150.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:10.293Z,1761547150.293 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:10.322Z,1761547150.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690105,0.723175,-0.027799],[-0.722279,0.690646,0.036337],[0.045477,-0.004997,0.998953]] 2025-10-27T06:39:10.546Z,1761547150.546 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:10.733Z,1761547150.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710143,0.703769,-0.020159],[-0.703188,0.710398,0.029360],[0.034984,-0.006675,0.999366]] 2025-10-27T06:39:10.796Z,1761547150.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:11.048Z,1761547151.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:11.130Z,1761547151.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730542,0.682776,-0.011194],[-0.682420,0.730558,0.024239],[0.024727,-0.010069,0.999644]] 2025-10-27T06:39:11.300Z,1761547151.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:11.554Z,1761547151.554 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:11.580Z,1761547151.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750319,0.661067,-0.003294],[-0.660910,0.750234,0.018651],[0.014801,-0.011817,0.999821]] 2025-10-27T06:39:11.804Z,1761547151.804 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:11.938Z,1761547151.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769076,0.639157,0.001088],[-0.639142,0.769045,0.008181],[0.004392,-0.006987,0.999966]] 2025-10-27T06:39:12.056Z,1761547152.056 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:12.308Z,1761547152.308 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:12.346Z,1761547152.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786054,0.618145,0.004026],[-0.618129,0.786063,-0.004632],[-0.006028,0.001152,0.999981]] 2025-10-27T06:39:12.562Z,1761547152.562 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:12.747Z,1761547152.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800494,0.599267,0.009342],[-0.599134,0.800530,-0.013786],[-0.015740,0.005438,0.999861]] 2025-10-27T06:39:12.812Z,1761547152.812 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:13.064Z,1761547153.064 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:13.149Z,1761547153.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811559,0.584085,0.014701],[-0.583755,0.811643,-0.021590],[-0.024542,0.008940,0.999659]] 2025-10-27T06:39:13.316Z,1761547153.316 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:13.569Z,1761547153.569 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:13.577Z,1761547153.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819468,0.572832,0.018319],[-0.572179,0.819534,-0.031233],[-0.032905,0.015113,0.999344]] 2025-10-27T06:39:13.820Z,1761547153.820 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:13.959Z,1761547153.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824561,0.565364,0.021497],[-0.564352,0.824588,-0.039513],[-0.040066,0.020449,0.998988]] 2025-10-27T06:39:14.072Z,1761547154.072 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:14.324Z,1761547154.324 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:14.361Z,1761547154.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826464,0.562422,0.025275],[-0.561209,0.826587,-0.042413],[-0.044746,0.020868,0.998780]] 2025-10-27T06:39:14.577Z,1761547154.577 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:14.766Z,1761547154.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825315,0.564043,0.026654],[-0.562701,0.825458,-0.044579],[-0.047146,0.021793,0.998650]] 2025-10-27T06:39:14.828Z,1761547154.828 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:15.080Z,1761547155.080 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:15.169Z,1761547155.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821718,0.569317,0.025646],[-0.567958,0.821802,-0.045444],[-0.046948,0.022776,0.998638]] 2025-10-27T06:39:15.332Z,1761547155.332 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:15.586Z,1761547155.586 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:15.589Z,1761547155.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815676,0.578050,0.023045],[-0.576816,0.815688,-0.044006],[-0.044235,0.022602,0.998765]] 2025-10-27T06:39:15.836Z,1761547155.836 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:15.991Z,1761547155.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807389,0.589711,0.019086],[-0.588694,0.807320,-0.040924],[-0.039541,0.021806,0.998980]] 2025-10-27T06:39:16.088Z,1761547156.088 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:16.340Z,1761547156.340 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:16.382Z,1761547156.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797264,0.603477,0.013630],[-0.602704,0.797088,-0.037382],[-0.033424,0.021589,0.999208]] 2025-10-27T06:39:16.594Z,1761547156.594 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:16.785Z,1761547156.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785651,0.618614,0.008300],[-0.618113,0.785443,-0.031879],[-0.026240,0.019916,0.999457]] 2025-10-27T06:39:16.844Z,1761547156.844 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:17.096Z,1761547157.096 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:17.190Z,1761547157.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773016,0.634375,0.003858],[-0.634121,0.772854,-0.024237],[-0.018357,0.016289,0.999699]] 2025-10-27T06:39:17.348Z,1761547157.348 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:17.600Z,1761547157.600 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:17.600Z,1761547157.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759293,0.650748,0.000581],[-0.650676,0.759221,-0.014280],[-0.009734,0.010465,0.999898]] 2025-10-27T06:39:17.852Z,1761547157.852 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:17.000Z,1761547158.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745649,0.666335,-0.002101],[-0.666338,0.745642,-0.003447],[-0.000731,0.003970,0.999992]] 2025-10-27T06:39:18.111Z,1761547158.111 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:18.364Z,1761547158.364 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:18.402Z,1761547158.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732871,0.680347,-0.005242],[-0.680315,0.732889,0.006779],[0.008454,-0.001401,0.999963]] 2025-10-27T06:39:18.618Z,1761547158.618 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:18.808Z,1761547158.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721518,0.692334,-0.009184],[-0.692172,0.721559,0.015845],[0.017597,-0.005076,0.999832]] 2025-10-27T06:39:18.868Z,1761547158.868 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:19.120Z,1761547159.120 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:19.211Z,1761547159.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712003,0.702029,-0.014371],[-0.701680,0.712121,0.022998],[0.026379,-0.006291,0.999632]] 2025-10-27T06:39:19.372Z,1761547159.372 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:19.614Z,1761547159.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704536,0.709382,-0.020138],[-0.708797,0.704793,0.029549],[0.035155,-0.006544,0.999360]] 2025-10-27T06:39:19.626Z,1761547159.626 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:19.876Z,1761547159.876 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:20.018Z,1761547160.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699058,0.714592,-0.025999],[-0.713754,0.699516,0.035112],[0.043278,-0.005988,0.999045]] 2025-10-27T06:39:20.129Z,1761547160.129 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:20.380Z,1761547160.380 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:20.424Z,1761547160.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695433,0.717820,-0.033293],[-0.716858,0.696226,0.037200],[0.049882,-0.002004,0.998753]] 2025-10-27T06:39:20.632Z,1761547160.632 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:20.826Z,1761547160.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694151,0.718812,-0.038256],[-0.717746,0.695204,0.039139],[0.054729,0.000290,0.998501]] 2025-10-27T06:39:20.884Z,1761547160.884 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:21.136Z,1761547161.136 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:21.230Z,1761547161.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694419,0.718488,-0.039465],[-0.717260,0.695539,0.041994],[0.057621,-0.000855,0.998338]] 2025-10-27T06:39:21.388Z,1761547161.388 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:21.634Z,1761547161.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697179,0.715755,-0.040452],[-0.714605,0.698352,0.040558],[0.057279,0.000631,0.998358]] 2025-10-27T06:39:21.640Z,1761547161.640 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:21.892Z,1761547161.892 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:22.038Z,1761547162.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701701,0.711395,-0.039166],[-0.710368,0.702792,0.038221],[0.054716,0.001002,0.998501]] 2025-10-27T06:39:22.144Z,1761547162.144 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:22.396Z,1761547162.396 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:22.446Z,1761547162.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708269,0.704994,-0.036584],[-0.704196,0.709210,0.033585],[0.049623,0.001975,0.998766]] 2025-10-27T06:39:22.648Z,1761547162.648 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:22.846Z,1761547162.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715747,0.697600,-0.032564],[-0.697021,0.716483,0.028520],[0.043227,0.002285,0.999063]] 2025-10-27T06:39:22.902Z,1761547162.902 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:23.152Z,1761547163.152 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:23.250Z,1761547163.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723862,0.689426,-0.026771],[-0.689009,0.724356,0.024001],[0.035939,0.001073,0.999353]] 2025-10-27T06:39:23.404Z,1761547163.404 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:23.654Z,1761547163.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731662,0.681408,-0.018816],[-0.681074,0.731898,0.021515],[0.028432,-0.002926,0.999591]] 2025-10-27T06:39:23.656Z,1761547163.656 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:23.908Z,1761547163.908 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:24.059Z,1761547164.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738341,0.674323,-0.011845],[-0.674110,0.738419,0.017683],[0.020671,-0.005071,0.999773]] 2025-10-27T06:39:24.161Z,1761547164.161 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:24.412Z,1761547164.412 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:24.477Z,1761547164.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744447,0.667649,-0.006646],[-0.667567,0.744466,0.011159],[0.012398,-0.003871,0.999916]] 2025-10-27T06:39:24.664Z,1761547164.664 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:24.865Z,1761547164.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749273,0.662259,-0.001888],[-0.662249,0.749273,0.003982],[0.004051,-0.001733,0.999990]] 2025-10-27T06:39:24.916Z,1761547164.916 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:24.919Z,1761547164.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-27T06:39:25.168Z,1761547165.168 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:25.269Z,1761547165.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752947,0.658074,0.003072],[-0.658067,0.752953,-0.002979],[-0.004274,0.000221,0.999991]] 2025-10-27T06:39:25.420Z,1761547165.420 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:25.672Z,1761547165.672 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:25.678Z,1761547165.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754987,0.655695,0.007661],[-0.655630,0.755023,-0.009416],[-0.011958,0.002086,0.999926]] 2025-10-27T06:39:25.924Z,1761547165.924 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:26.078Z,1761547166.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755764,0.654756,0.010734],[-0.654557,0.755816,-0.017208],[-0.019380,0.005980,0.999794]] 2025-10-27T06:39:26.176Z,1761547166.176 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:26.428Z,1761547166.428 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:26.489Z,1761547166.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754914,0.655682,0.013665],[-0.655310,0.754983,-0.023867],[-0.025966,0.009063,0.999622]] 2025-10-27T06:39:26.680Z,1761547166.680 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:26.888Z,1761547166.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752365,0.658565,0.015452],[-0.658017,0.752429,-0.029404],[-0.030991,0.011955,0.999448]] 2025-10-27T06:39:26.932Z,1761547166.932 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:27.184Z,1761547167.184 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:27.290Z,1761547167.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748579,0.662844,0.016329],[-0.662168,0.748629,-0.032992],[-0.034093,0.013884,0.999322]] 2025-10-27T06:39:27.436Z,1761547167.436 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:27.688Z,1761547167.688 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:27.695Z,1761547167.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742844,0.669255,0.016779],[-0.668575,0.742915,-0.032924],[-0.034499,0.013239,0.999317]] 2025-10-27T06:39:27.940Z,1761547167.940 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:28.099Z,1761547168.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735734,0.677091,0.015572],[-0.676474,0.735790,-0.031567],[-0.032832,0.012691,0.999380]] 2025-10-27T06:39:28.192Z,1761547168.192 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:28.446Z,1761547168.446 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:28.509Z,1761547168.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727441,0.686053,0.012665],[-0.685561,0.727449,-0.028709],[-0.028909,0.012201,0.999508]] 2025-10-27T06:39:28.696Z,1761547168.696 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:28.905Z,1761547168.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718636,0.695326,0.009113],[-0.694993,0.718609,-0.024214],[-0.023385,0.011067,0.999665]] 2025-10-27T06:39:28.949Z,1761547168.949 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:29.200Z,1761547169.200 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:29.310Z,1761547169.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709345,0.704843,0.005158],[-0.704662,0.709299,-0.018603],[-0.016771,0.009561,0.999814]] 2025-10-27T06:39:29.452Z,1761547169.452 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:29.706Z,1761547169.706 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:29.720Z,1761547169.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700257,0.713883,0.003340],[-0.713830,0.700250,-0.009850],[-0.009370,0.004513,0.999946]] 2025-10-27T06:39:29.961Z,1761547169.961 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:30.119Z,1761547170.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691502,0.722373,0.001518],[-0.722373,0.691503,-0.000462],[-0.001384,-0.000777,0.999999]] 2025-10-27T06:39:30.213Z,1761547170.213 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:30.464Z,1761547170.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:30.533Z,1761547170.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683380,0.730062,-0.001341],[-0.730032,0.683367,0.007876],[0.006667,-0.004403,0.999968]] 2025-10-27T06:39:30.716Z,1761547170.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:30.926Z,1761547170.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676259,0.736653,-0.004162],[-0.736515,0.676224,0.016337],[0.014849,-0.007982,0.999858]] 2025-10-27T06:39:30.969Z,1761547170.969 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:31.220Z,1761547171.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:31.330Z,1761547171.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670363,0.741995,-0.007550],[-0.741679,0.670323,0.024065],[0.022917,-0.010532,0.999682]] 2025-10-27T06:39:31.472Z,1761547171.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:31.728Z,1761547171.728 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:31.741Z,1761547171.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665644,0.746160,-0.012776],[-0.745641,0.665689,0.029625],[0.030610,-0.010193,0.999479]] 2025-10-27T06:39:31.980Z,1761547171.980 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:32.139Z,1761547172.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662888,0.748490,-0.018478],[-0.747760,0.663086,0.034230],[0.037873,-0.008874,0.999243]] 2025-10-27T06:39:32.232Z,1761547172.232 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:32.484Z,1761547172.484 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:32.545Z,1761547172.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661680,0.749350,-0.025592],[-0.748472,0.662155,0.036615],[0.044383,-0.005072,0.999002]] 2025-10-27T06:39:32.736Z,1761547172.736 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:32.954Z,1761547172.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662736,0.748180,-0.031740],[-0.747205,0.663494,0.038225],[0.049658,-0.001617,0.998765]] 2025-10-27T06:39:32.988Z,1761547172.988 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:33.240Z,1761547173.240 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:33.350Z,1761547173.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665482,0.745677,-0.033171],[-0.744498,0.666300,0.042044],[0.053453,-0.003283,0.998565]] 2025-10-27T06:39:33.492Z,1761547173.492 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:33.753Z,1761547173.753 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:33.756Z,1761547173.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670210,0.741368,-0.034536],[-0.740195,0.671095,0.041759],[0.054136,-0.002424,0.998531]] 2025-10-27T06:39:34.004Z,1761547174.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:34.162Z,1761547174.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676626,0.735546,-0.033908],[-0.734468,0.677472,0.039860],[0.052291,-0.002066,0.998630]] 2025-10-27T06:39:34.256Z,1761547174.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:34.508Z,1761547174.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:34.566Z,1761547174.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684335,0.728494,-0.031330],[-0.727599,0.685049,0.036154],[0.047801,-0.001946,0.998855]] 2025-10-27T06:39:34.760Z,1761547174.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:34.972Z,1761547174.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693152,0.720243,-0.028100],[-0.719574,0.693721,0.031066],[0.041869,-0.001313,0.999122]] 2025-10-27T06:39:35.012Z,1761547175.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:35.264Z,1761547175.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:35.375Z,1761547175.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702976,0.710859,-0.022459],[-0.710363,0.703329,0.026691],[0.034770,-0.002809,0.999391]] 2025-10-27T06:39:35.516Z,1761547175.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:35.772Z,1761547175.772 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:35.775Z,1761547175.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712826,0.701175,-0.015227],[-0.700803,0.712962,0.023692],[0.027468,-0.006218,0.999603]] 2025-10-27T06:39:36.024Z,1761547176.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:36.177Z,1761547176.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722255,0.691566,-0.009172],[-0.691346,0.722276,0.018900],[0.019695,-0.007310,0.999779]] 2025-10-27T06:39:36.276Z,1761547176.276 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:36.528Z,1761547176.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:36.591Z,1761547176.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731104,0.682258,-0.003229],[-0.682165,0.731070,0.013733],[0.011730,-0.007837,0.999901]] 2025-10-27T06:39:36.780Z,1761547176.780 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:36.988Z,1761547176.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739530,0.673123,0.001171],[-0.673115,0.739510,0.006351],[0.003409,-0.005485,0.999979]] 2025-10-27T06:39:37.032Z,1761547177.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:37.284Z,1761547177.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:37.390Z,1761547177.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746932,0.664873,0.005997],[-0.664884,0.746946,-0.000183],[-0.004601,-0.003851,0.999982]] 2025-10-27T06:39:37.536Z,1761547177.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:37.788Z,1761547177.788 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:37.796Z,1761547177.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752626,0.658368,0.010283],[-0.658335,0.752694,-0.006782],[-0.012205,-0.001665,0.999924]] 2025-10-27T06:39:38.040Z,1761547178.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:38.197Z,1761547178.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757137,0.653141,0.012278],[-0.652963,0.757227,-0.015712],[-0.019560,0.003879,0.999801]] 2025-10-27T06:39:38.292Z,1761547178.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:38.544Z,1761547178.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:38.608Z,1761547178.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760209,0.649536,0.013605],[-0.649159,0.760272,-0.024054],[-0.025967,0.009454,0.999618]] 2025-10-27T06:39:38.796Z,1761547178.796 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:39.006Z,1761547179.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761603,0.647856,0.015637],[-0.647319,0.761670,-0.028932],[-0.030654,0.011912,0.999459]] 2025-10-27T06:39:39.048Z,1761547179.048 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:39.300Z,1761547179.300 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:39.410Z,1761547179.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761580,0.647825,0.017862],[-0.647250,0.761713,-0.029329],[-0.032606,0.010775,0.999410]] 2025-10-27T06:39:39.552Z,1761547179.552 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:39.808Z,1761547179.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:39.815Z,1761547179.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761054,0.648453,0.017465],[-0.647880,0.761174,-0.029425],[-0.032374,0.011078,0.999414]] 2025-10-27T06:39:40.060Z,1761547180.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:40.222Z,1761547180.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759193,0.650679,0.015543],[-0.650190,0.759277,-0.027419],[-0.029643,0.010710,0.999503]] 2025-10-27T06:39:40.313Z,1761547180.313 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:40.564Z,1761547180.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:40.622Z,1761547180.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756508,0.653878,0.011801],[-0.653511,0.756524,-0.024377],[-0.024867,0.010729,0.999633]] 2025-10-27T06:39:40.816Z,1761547180.816 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:41.031Z,1761547181.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753292,0.657642,0.007684],[-0.657421,0.753268,-0.019623],[-0.018693,0.009730,0.999778]] 2025-10-27T06:39:41.068Z,1761547181.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:41.320Z,1761547181.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:41.444Z,1761547181.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745701,0.666277,0.002230],[-0.666272,0.745704,-0.002811],[-0.003536,0.000610,0.999994]] 2025-10-27T06:39:41.572Z,1761547181.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:41.825Z,1761547181.825 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:41.842Z,1761547181.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741862,0.670551,-0.001542],[-0.670538,0.741859,0.004921],[0.004443,-0.002617,0.999987]] 2025-10-27T06:39:42.076Z,1761547182.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:42.242Z,1761547182.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738761,0.673944,-0.005545],[-0.673852,0.738762,0.012371],[0.012434,-0.005403,0.999908]] 2025-10-27T06:39:42.328Z,1761547182.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:42.580Z,1761547182.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:42.649Z,1761547182.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736296,0.676588,-0.009860],[-0.676351,0.736322,0.019475],[0.020437,-0.007671,0.999762]] 2025-10-27T06:39:42.832Z,1761547182.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:43.048Z,1761547183.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734577,0.678343,-0.015721],[-0.677946,0.734710,0.024305],[0.028037,-0.007196,0.999581]] 2025-10-27T06:39:43.084Z,1761547183.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:43.336Z,1761547183.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:43.456Z,1761547183.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734297,0.678477,-0.021847],[-0.677916,0.734598,0.028202],[0.035184,-0.005898,0.999363]] 2025-10-27T06:39:43.588Z,1761547183.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:43.845Z,1761547183.845 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:43.855Z,1761547183.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735148,0.677334,-0.027851],[-0.676618,0.735663,0.031440],[0.041784,-0.004268,0.999118]] 2025-10-27T06:39:44.092Z,1761547184.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:44.258Z,1761547184.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737416,0.674549,-0.034659],[-0.673830,0.738230,0.031142],[0.046593,0.000389,0.998914]] 2025-10-27T06:39:44.344Z,1761547184.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:44.596Z,1761547184.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:44.665Z,1761547184.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740819,0.670724,-0.036285],[-0.669863,0.741707,0.033982],[0.049705,-0.000868,0.998764]] 2025-10-27T06:39:44.848Z,1761547184.848 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:45.076Z,1761547185.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745008,0.666051,-0.036586],[-0.665199,0.745905,0.033696],[0.049732,-0.000767,0.998762]] 2025-10-27T06:39:45.100Z,1761547185.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:45.352Z,1761547185.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:45.604Z,1761547185.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:45.856Z,1761547185.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:45.874Z,1761547185.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756931,0.652764,-0.030911],[-0.652174,0.757561,0.027749],[0.041530,-0.000845,0.999137]] 2025-10-27T06:39:46.108Z,1761547186.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:46.360Z,1761547186.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:46.612Z,1761547186.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:46.692Z,1761547186.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771760,0.635676,-0.017379],[-0.635325,0.771933,0.021951],[0.027369,-0.005900,0.999608]] 2025-10-27T06:39:46.864Z,1761547186.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:47.102Z,1761547187.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778562,0.627492,-0.009749],[-0.627265,0.778575,0.018970],[0.019494,-0.008654,0.999773]] 2025-10-27T06:39:47.116Z,1761547187.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:47.368Z,1761547187.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:47.490Z,1761547187.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785200,0.619233,-0.003368],[-0.619141,0.785158,0.013821],[0.011203,-0.008767,0.999899]] 2025-10-27T06:39:47.620Z,1761547187.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:47.872Z,1761547187.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:47.894Z,1761547187.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791380,0.611317,0.003204],[-0.611319,0.791339,0.008475],[0.002646,-0.008666,0.999959]] 2025-10-27T06:39:48.124Z,1761547188.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:48.299Z,1761547188.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796936,0.603999,0.008821],[-0.604035,0.796955,0.001973],[-0.005838,-0.006900,0.999959]] 2025-10-27T06:39:48.376Z,1761547188.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:48.628Z,1761547188.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:48.703Z,1761547188.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801391,0.597987,0.013589],[-0.597977,0.801496,-0.005171],[-0.013983,-0.003982,0.999894]] 2025-10-27T06:39:48.880Z,1761547188.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:49.130Z,1761547189.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804754,0.593381,0.016421],[-0.593211,0.804919,-0.014323],[-0.021716,0.001785,0.999763]] 2025-10-27T06:39:49.132Z,1761547189.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:49.384Z,1761547189.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:49.509Z,1761547189.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807496,0.589600,0.017944],[-0.589190,0.807651,-0.023547],[-0.028376,0.008442,0.999562]] 2025-10-27T06:39:49.636Z,1761547189.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:49.888Z,1761547189.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:49.928Z,1761547189.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809354,0.586956,0.020707],[-0.586421,0.809562,-0.026846],[-0.032521,0.009585,0.999425]] 2025-10-27T06:39:50.142Z,1761547190.142 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:50.342Z,1761547190.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809632,0.586499,0.022710],[-0.585978,0.809914,-0.025860],[-0.033560,0.007629,0.999408]] 2025-10-27T06:39:50.392Z,1761547190.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:50.644Z,1761547190.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:50.727Z,1761547190.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809799,0.586335,0.020905],[-0.585839,0.810024,-0.025545],[-0.031911,0.008440,0.999455]] 2025-10-27T06:39:50.896Z,1761547190.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:51.150Z,1761547191.150 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:51.160Z,1761547191.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809374,0.587046,0.017033],[-0.586673,0.809512,-0.022465],[-0.026976,0.008190,0.999602]] 2025-10-27T06:39:51.400Z,1761547191.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:51.530Z,1761547191.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808591,0.588255,0.011729],[-0.588029,0.808639,-0.017990],[-0.020068,0.007650,0.999769]] 2025-10-27T06:39:51.652Z,1761547191.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:51.905Z,1761547191.905 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:51.942Z,1761547191.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807560,0.589756,0.005915],[-0.589669,0.807559,-0.011827],[-0.011751,0.006063,0.999913]] 2025-10-27T06:39:52.157Z,1761547192.157 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:52.338Z,1761547192.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806300,0.591503,0.001819],[-0.591501,0.806302,-0.001632],[-0.002432,0.000240,0.999997]] 2025-10-27T06:39:52.408Z,1761547192.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:52.660Z,1761547192.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:52.744Z,1761547192.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804678,0.593704,-0.003071],[-0.593670,0.804671,0.007730],[0.007060,-0.004397,0.999965]] 2025-10-27T06:39:52.913Z,1761547192.913 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:53.166Z,1761547193.166 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:53.187Z,1761547193.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803644,0.595029,-0.009806],[-0.594886,0.803685,0.014200],[0.016331,-0.005578,0.999851]] 2025-10-27T06:39:53.416Z,1761547193.416 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:53.552Z,1761547193.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803000,0.595739,-0.016898],[-0.595433,0.803156,0.020000],[0.025486,-0.005999,0.999657]] 2025-10-27T06:39:53.668Z,1761547193.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:53.921Z,1761547193.921 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:53.954Z,1761547193.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802824,0.595700,-0.024798],[-0.595219,0.803192,0.024428],[0.034470,-0.004851,0.999394]] 2025-10-27T06:39:54.174Z,1761547194.174 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:54.358Z,1761547194.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803067,0.594959,-0.033272],[-0.594289,0.803750,0.028387],[0.043632,-0.003024,0.999043]] 2025-10-27T06:39:54.426Z,1761547194.426 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:54.676Z,1761547194.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:54.762Z,1761547194.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804097,0.592970,-0.042602],[-0.592226,0.805224,0.029722],[0.051929,0.001330,0.998650]] 2025-10-27T06:39:54.929Z,1761547194.929 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:55.182Z,1761547195.182 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:55.207Z,1761547195.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806507,0.589012,-0.051106],[-0.588318,0.808099,0.029296],[0.058555,0.006439,0.998263]] 2025-10-27T06:39:55.432Z,1761547195.432 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:55.570Z,1761547195.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809095,0.585189,-0.054037],[-0.584251,0.810885,0.033429],[0.063381,0.004524,0.997979]] 2025-10-27T06:39:55.684Z,1761547195.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:55.936Z,1761547195.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:55.974Z,1761547195.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812494,0.580264,-0.056099],[-0.579404,0.814404,0.032219],[0.064383,0.006327,0.997905]] 2025-10-27T06:39:56.190Z,1761547196.190 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:56.379Z,1761547196.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816947,0.574165,-0.054144],[-0.573423,0.818713,0.029924],[0.061510,0.006601,0.998085]] 2025-10-27T06:39:56.440Z,1761547196.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:56.692Z,1761547196.692 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:56.813Z,1761547196.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821947,0.567411,-0.049470],[-0.566873,0.823405,0.025663],[0.055296,0.006950,0.998446]] 2025-10-27T06:39:56.944Z,1761547196.944 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:57.198Z,1761547197.198 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:57.231Z,1761547197.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827442,0.559908,-0.042932],[-0.559606,0.828520,0.019890],[0.046707,0.007567,0.998880]] 2025-10-27T06:39:57.448Z,1761547197.448 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:57.591Z,1761547197.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832917,0.552298,-0.034874],[-0.552179,0.833611,0.013823],[0.036706,0.007743,0.999296]] 2025-10-27T06:39:57.700Z,1761547197.700 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:57.952Z,1761547197.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:57.997Z,1761547197.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837920,0.545172,-0.026035],[-0.545155,0.838293,0.008386],[0.026397,0.007167,0.999626]] 2025-10-27T06:39:58.204Z,1761547198.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:58.404Z,1761547198.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842037,0.539184,-0.015959],[-0.539165,0.842180,0.005870],[0.016606,0.003661,0.999855]] 2025-10-27T06:39:58.456Z,1761547198.456 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:58.708Z,1761547198.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:58.801Z,1761547198.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844364,0.535737,-0.005912],[-0.535725,0.844385,0.003581],[0.006911,0.000143,0.999976]] 2025-10-27T06:39:58.960Z,1761547198.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:59.214Z,1761547199.214 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:59.230Z,1761547199.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845374,0.534173,0.001270],[-0.534162,0.845368,-0.004803],[-0.003639,0.003382,0.999988]] 2025-10-27T06:39:59.464Z,1761547199.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:59.610Z,1761547199.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844949,0.534771,0.008988],[-0.534664,0.844980,-0.011984],[-0.014004,0.005321,0.999888]] 2025-10-27T06:39:59.716Z,1761547199.716 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:39:59.968Z,1761547199.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:00.014Z,1761547200.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842464,0.538491,0.016789],[-0.538187,0.842599,-0.019538],[-0.024667,0.007425,0.999668]] 2025-10-27T06:40:00.220Z,1761547200.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:00.427Z,1761547200.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837645,0.545741,0.022769],[-0.545072,0.837861,-0.029766],[-0.035322,0.012523,0.999298]] 2025-10-27T06:40:00.472Z,1761547200.472 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:00.724Z,1761547200.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:00.822Z,1761547200.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830928,0.555732,0.026820],[-0.554521,0.831127,-0.041641],[-0.045432,0.019728,0.998773]] 2025-10-27T06:40:00.976Z,1761547200.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:01.228Z,1761547201.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:01.231Z,1761547201.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822209,0.568233,0.032936],[-0.566767,0.822671,-0.044583],[-0.052429,0.017990,0.998463]] 2025-10-27T06:40:01.480Z,1761547201.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:01.630Z,1761547201.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810872,0.584107,0.036113],[-0.582554,0.811523,-0.045408],[-0.055830,0.015782,0.998316]] 2025-10-27T06:40:01.732Z,1761547201.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:01.984Z,1761547201.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:02.034Z,1761547202.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798367,0.601141,0.035207],[-0.599641,0.799007,-0.044935],[-0.055143,0.014763,0.998369]] 2025-10-27T06:40:02.236Z,1761547202.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:02.438Z,1761547202.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784705,0.619075,0.031366],[-0.617832,0.785223,-0.041338],[-0.050221,0.013059,0.998653]] 2025-10-27T06:40:02.488Z,1761547202.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:02.740Z,1761547202.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:02.848Z,1761547202.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770159,0.637359,0.025074],[-0.636485,0.770486,-0.035176],[-0.041738,0.011132,0.999067]] 2025-10-27T06:40:02.992Z,1761547202.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:03.244Z,1761547203.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:03.256Z,1761547203.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755276,0.655173,0.017538],[-0.654683,0.755428,-0.026790],[-0.030801,0.008752,0.999487]] 2025-10-27T06:40:03.496Z,1761547203.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:03.650Z,1761547203.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740984,0.671434,0.010868],[-0.671257,0.741049,-0.016115],[-0.018874,0.004645,0.999811]] 2025-10-27T06:40:03.753Z,1761547203.753 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:04.004Z,1761547204.004 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:04.054Z,1761547204.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727787,0.685780,0.005712],[-0.685773,0.727808,-0.003384],[-0.006477,-0.001454,0.999978]] 2025-10-27T06:40:04.256Z,1761547204.256 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:04.459Z,1761547204.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716474,0.697612,0.001330],[-0.697585,0.716426,0.010385],[0.006292,-0.008369,0.999945]] 2025-10-27T06:40:04.508Z,1761547204.508 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:04.760Z,1761547204.760 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:04.868Z,1761547204.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707155,0.707046,-0.004248],[-0.706794,0.707042,0.023111],[0.019344,-0.013341,0.999724]] 2025-10-27T06:40:05.012Z,1761547205.012 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:05.264Z,1761547205.264 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:05.267Z,1761547205.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700222,0.713794,-0.013711],[-0.713177,0.700238,0.032335],[0.032681,-0.012863,0.999383]] 2025-10-27T06:40:05.516Z,1761547205.516 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:05.670Z,1761547205.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695694,0.717865,-0.026074],[-0.716837,0.696128,0.039374],[0.046416,-0.008702,0.998884]] 2025-10-27T06:40:05.696Z,1761547205.696 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +1121.31, +18.04, 0.00 2025-10-27T06:40:05.768Z,1761547205.768 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:06.020Z,1761547206.020 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:06.074Z,1761547206.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694323,0.718600,-0.039098],[-0.717133,0.695412,0.046061],[0.060288,-0.003943,0.998173]] 2025-10-27T06:40:06.272Z,1761547206.272 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:06.477Z,1761547206.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695904,0.716505,-0.048361],[-0.714402,0.697572,0.054982],[0.073130,-0.003713,0.997316]] 2025-10-27T06:40:06.524Z,1761547206.524 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:06.776Z,1761547206.776 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:06.897Z,1761547206.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699930,0.712157,-0.054131],[-0.709361,0.701995,0.063319],[0.083093,-0.005921,0.996524]] 2025-10-27T06:40:07.031Z,1761547207.031 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:07.296Z,1761547207.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:07.299Z,1761547207.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707874,0.703946,-0.058088],[-0.700847,0.710226,0.066272],[0.087908,-0.006201,0.996109]] 2025-10-27T06:40:07.540Z,1761547207.540 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:07.689Z,1761547207.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719805,0.691671,-0.058927],[-0.688705,0.722191,0.064233],[0.086984,-0.005652,0.996194]] 2025-10-27T06:40:07.792Z,1761547207.792 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:08.044Z,1761547208.044 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:08.096Z,1761547208.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735210,0.675630,-0.054678],[-0.672951,0.737200,0.060610],[0.081258,-0.007766,0.996663]] 2025-10-27T06:40:08.296Z,1761547208.296 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:08.497Z,1761547208.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753520,0.655502,-0.050247],[-0.653509,0.755170,0.051420],[0.071651,-0.005909,0.997412]] 2025-10-27T06:40:08.548Z,1761547208.548 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:08.800Z,1761547208.800 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:08.909Z,1761547208.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773884,0.631860,-0.043091],[-0.630527,0.775068,0.041289],[0.059488,-0.004783,0.998218]] 2025-10-27T06:40:09.059Z,1761547209.059 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:09.304Z,1761547209.304 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:09.312Z,1761547209.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794670,0.606092,-0.033938],[-0.605277,0.795381,0.031763],[0.046245,-0.004699,0.998919]] 2025-10-27T06:40:09.556Z,1761547209.556 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:09.713Z,1761547209.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814640,0.579495,-0.023390],[-0.578981,0.814944,0.025434],[0.033800,-0.007177,0.999403]] 2025-10-27T06:40:09.808Z,1761547209.808 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:10.060Z,1761547210.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:10.113Z,1761547210.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833269,0.552714,-0.013028],[-0.552422,0.833312,0.020521],[0.022198,-0.009903,0.999705]] 2025-10-27T06:40:10.312Z,1761547210.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:10.521Z,1761547210.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850341,0.526204,-0.005548],[-0.526127,0.850334,0.011105],[0.010561,-0.006524,0.999923]] 2025-10-27T06:40:10.572Z,1761547210.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:10.824Z,1761547210.824 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:10.922Z,1761547210.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865608,0.500722,0.000585],[-0.500721,0.865608,-0.000854],[-0.000934,0.000446,0.999999]] 2025-10-27T06:40:11.076Z,1761547211.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:11.325Z,1761547211.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878467,0.477747,0.007281],[-0.477662,0.878476,-0.010868],[-0.011588,0.006069,0.999914]] 2025-10-27T06:40:11.328Z,1761547211.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:11.580Z,1761547211.580 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:11.735Z,1761547211.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888262,0.459126,0.013927],[-0.458839,0.888302,-0.019673],[-0.021403,0.011085,0.999709]] 2025-10-27T06:40:11.832Z,1761547211.832 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:12.084Z,1761547212.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:12.136Z,1761547212.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894804,0.446026,0.019666],[-0.445438,0.894868,-0.028216],[-0.030183,0.016488,0.999408]] 2025-10-27T06:40:12.336Z,1761547212.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:12.538Z,1761547212.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898427,0.438411,0.024990],[-0.437466,0.898526,-0.035695],[-0.038103,0.021137,0.999050]] 2025-10-27T06:40:12.588Z,1761547212.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:12.840Z,1761547212.840 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:12.942Z,1761547212.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899019,0.436976,0.028584],[-0.435650,0.899095,-0.042874],[-0.044434,0.026092,0.998672]] 2025-10-27T06:40:13.092Z,1761547213.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:13.344Z,1761547213.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:13.347Z,1761547213.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896624,0.441702,0.031067],[-0.440070,0.896683,-0.047936],[-0.049031,0.029309,0.998367]] 2025-10-27T06:40:13.596Z,1761547213.596 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:13.752Z,1761547213.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891167,0.452506,0.032540],[-0.450771,0.891285,-0.049149],[-0.051243,0.029132,0.998261]] 2025-10-27T06:40:13.849Z,1761547213.849 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:14.100Z,1761547214.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:14.154Z,1761547214.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882915,0.468507,0.031017],[-0.466732,0.882936,-0.050846],[-0.051207,0.030416,0.998225]] 2025-10-27T06:40:14.352Z,1761547214.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:14.558Z,1761547214.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871868,0.488926,0.028255],[-0.487294,0.871826,-0.049631],[-0.048899,0.029504,0.998368]] 2025-10-27T06:40:14.604Z,1761547214.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:14.856Z,1761547214.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:14.961Z,1761547214.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857985,0.513114,0.023998],[-0.511708,0.857852,-0.047384],[-0.044900,0.028374,0.998588]] 2025-10-27T06:40:15.108Z,1761547215.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:15.360Z,1761547215.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:15.403Z,1761547215.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841855,0.539371,0.018949],[-0.538247,0.841643,-0.043894],[-0.039624,0.026753,0.998856]] 2025-10-27T06:40:15.612Z,1761547215.612 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:15.769Z,1761547215.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823686,0.566875,0.013930],[-0.566077,0.823466,-0.038229],[-0.033141,0.023603,0.999172]] 2025-10-27T06:40:15.865Z,1761547215.865 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:16.116Z,1761547216.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:16.173Z,1761547216.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804298,0.594159,0.008981],[-0.593666,0.804103,-0.031293],[-0.025815,0.019837,0.999470]] 2025-10-27T06:40:16.369Z,1761547216.369 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:16.579Z,1761547216.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784515,0.620093,0.004575],[-0.619843,0.784373,-0.023523],[-0.018175,0.015619,0.999713]] 2025-10-27T06:40:16.620Z,1761547216.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:16.872Z,1761547216.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:16.983Z,1761547216.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765317,0.643651,0.001890],[-0.643572,0.765263,-0.013716],[-0.010274,0.009281,0.999904]] 2025-10-27T06:40:17.124Z,1761547217.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:17.384Z,1761547217.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:17.400Z,1761547217.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747026,0.664795,-0.000604],[-0.664790,0.747015,-0.004744],[-0.002703,0.003945,0.999989]] 2025-10-27T06:40:17.636Z,1761547217.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:17.888Z,1761547217.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:18.140Z,1761547218.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:18.195Z,1761547218.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714665,0.699455,-0.004015],[-0.699378,0.714654,0.011776],[0.011106,-0.005608,0.999923]] 2025-10-27T06:40:18.393Z,1761547218.393 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:18.599Z,1761547218.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700469,0.713656,-0.006238],[-0.713473,0.700448,0.018153],[0.017325,-0.008265,0.999816]] 2025-10-27T06:40:18.644Z,1761547218.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:18.896Z,1761547218.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:19.148Z,1761547219.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:19.400Z,1761547219.400 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:19.408Z,1761547219.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676661,0.736194,-0.012227],[-0.735754,0.676707,0.027086],[0.028214,-0.009332,0.999558]] 2025-10-27T06:40:19.652Z,1761547219.652 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:19.811Z,1761547219.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667597,0.744374,-0.014916],[-0.743776,0.667690,0.031422],[0.033349,-0.009883,0.999395]] 2025-10-27T06:40:19.904Z,1761547219.904 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:20.156Z,1761547220.156 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:20.214Z,1761547220.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661123,0.750069,-0.017689],[-0.749301,0.661281,0.035435],[0.038277,-0.010172,0.999215]] 2025-10-27T06:40:20.408Z,1761547220.408 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:20.619Z,1761547220.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657154,0.753496,-0.019824],[-0.752524,0.657355,0.039902],[0.043097,-0.011304,0.999007]] 2025-10-27T06:40:20.660Z,1761547220.660 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:20.912Z,1761547220.912 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:21.023Z,1761547221.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656139,0.754323,-0.021879],[-0.753128,0.656384,0.044255],[0.047744,-0.012560,0.998781]] 2025-10-27T06:40:21.164Z,1761547221.164 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:21.418Z,1761547221.418 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:21.430Z,1761547221.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658038,0.752573,-0.024911],[-0.751199,0.658395,0.047076],[0.051829,-0.012265,0.998581]] 2025-10-27T06:40:21.668Z,1761547221.668 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:21.830Z,1761547221.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662642,0.748364,-0.029277],[-0.746923,0.663220,0.047387],[0.054880,-0.009533,0.998447]] 2025-10-27T06:40:21.920Z,1761547221.920 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:22.172Z,1761547222.172 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:22.234Z,1761547222.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669975,0.741759,-0.030460],[-0.740186,0.670583,0.049422],[0.057085,-0.010566,0.998313]] 2025-10-27T06:40:22.424Z,1761547222.424 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:22.646Z,1761547222.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679371,0.733221,-0.029028],[-0.731494,0.679840,0.052289],[0.058074,-0.014289,0.998210]] 2025-10-27T06:40:22.676Z,1761547222.676 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:22.928Z,1761547222.928 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:23.043Z,1761547223.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692257,0.721097,-0.028268],[-0.719440,0.692670,0.051132],[0.056452,-0.015059,0.998292]] 2025-10-27T06:40:23.180Z,1761547223.180 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:23.437Z,1761547223.437 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:23.450Z,1761547223.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708281,0.705428,-0.026645],[-0.703941,0.708613,0.048329],[0.052974,-0.015475,0.998476]] 2025-10-27T06:40:23.684Z,1761547223.684 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:23.850Z,1761547223.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727503,0.685667,-0.024497],[-0.684449,0.727764,0.043457],[0.047625,-0.014848,0.998755]] 2025-10-27T06:40:23.936Z,1761547223.936 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:24.188Z,1761547224.188 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:24.254Z,1761547224.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748637,0.662601,-0.022401],[-0.661690,0.748861,0.037051],[0.041325,-0.012915,0.999062]] 2025-10-27T06:40:24.440Z,1761547224.440 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:24.678Z,1761547224.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793166,0.608769,-0.016955],[-0.608373,0.793304,0.023477],[0.027742,-0.008306,0.999581]] 2025-10-27T06:40:24.698Z,1761547224.698 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:24.952Z,1761547224.952 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:25.204Z,1761547225.204 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:25.457Z,1761547225.457 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:25.467Z,1761547225.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.814366,0.580183,-0.014034],[-0.579957,0.814465,0.017217],[0.021420,-0.005882,0.999753]] 2025-10-27T06:40:25.708Z,1761547225.708 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:25.882Z,1761547225.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852240,0.523072,-0.009105],[-0.523043,0.852288,0.005526],[0.010651,0.000053,0.999943]] 2025-10-27T06:40:25.960Z,1761547225.960 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:26.212Z,1761547226.212 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:26.281Z,1761547226.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867967,0.496579,-0.006539],[-0.496587,0.867987,0.000364],[0.005856,0.002931,0.999979]] 2025-10-27T06:40:26.464Z,1761547226.464 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:26.700Z,1761547226.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881092,0.472930,-0.003717],[-0.472941,0.881088,-0.003260],[0.001733,0.004630,0.999988]] 2025-10-27T06:40:26.717Z,1761547226.717 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:26.968Z,1761547226.968 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:27.087Z,1761547227.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891153,0.453702,-0.001126],[-0.453699,0.891129,-0.006830],[-0.002095,0.006597,0.999976]] 2025-10-27T06:40:27.129Z,1761547227.129 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-10-27T06:35:26.9Z 2025-10-27T06:40:27.129Z,1761547227.129 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped 2025-10-27T06:40:27.129Z,1761547227.129 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1 2025-10-27T06:40:27.129Z,1761547227.129 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion 2025-10-27T06:40:27.129Z,1761547227.129 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1 2025-10-27T06:40:27.220Z,1761547227.220 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:27.480Z,1761547227.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:27.490Z,1761547227.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898772,0.438417,0.000653],[-0.438372,0.898699,-0.013055],[-0.006310,0.011447,0.999915]] 2025-10-27T06:40:27.510Z,1761547227.510 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped 2025-10-27T06:40:27.511Z,1761547227.511 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion 2025-10-27T06:40:27.511Z,1761547227.511 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped 2025-10-27T06:40:27.511Z,1761547227.511 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1 2025-10-27T06:40:27.511Z,1761547227.511 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach 2025-10-27T06:40:27.511Z,1761547227.511 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1 2025-10-27T06:40:27.724Z,1761547227.724 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:27.893Z,1761547227.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903735,0.428081,0.003143],[-0.427966,0.903621,-0.017728],[-0.010429,0.014676,0.999838]] 2025-10-27T06:40:27.932Z,1761547227.932 [lineCaptureHoming:Lap:Docked:Detach] Stopped 2025-10-27T06:40:27.932Z,1761547227.932 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach 2025-10-27T06:40:27.932Z,1761547227.932 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped 2025-10-27T06:40:27.932Z,1761547227.932 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1 2025-10-27T06:40:27.932Z,1761547227.932 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1 2025-10-27T06:40:27.932Z,1761547227.932 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1 2025-10-27T06:40:27.933Z,1761547227.933 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize. 2025-10-27T06:40:27.933Z,1761547227.933 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1 2025-10-27T06:40:27.933Z,1761547227.933 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize. 2025-10-27T06:40:27.933Z,1761547227.933 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1 2025-10-27T06:40:27.976Z,1761547227.976 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:28.228Z,1761547228.228 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:28.293Z,1761547228.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905729,0.423821,0.005549],[-0.423608,0.905568,-0.022441],[-0.014536,0.017975,0.999733]] 2025-10-27T06:40:28.326Z,1761547228.326 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped 2025-10-27T06:40:28.326Z,1761547228.326 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1 2025-10-27T06:40:28.326Z,1761547228.326 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped 2025-10-27T06:40:28.326Z,1761547228.326 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped 2025-10-27T06:40:28.326Z,1761547228.326 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped 2025-10-27T06:40:28.326Z,1761547228.326 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize. 2025-10-27T06:40:28.326Z,1761547228.326 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1 2025-10-27T06:40:28.327Z,1761547228.327 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift 2025-10-27T06:40:28.327Z,1761547228.327 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1 2025-10-27T06:40:28.327Z,1761547228.327 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-27T06:40:28.327Z,1761547228.327 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1 2025-10-27T06:40:28.327Z,1761547228.327 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize. 2025-10-27T06:40:28.327Z,1761547228.327 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1 2025-10-27T06:40:28.328Z,1761547228.328 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize. 2025-10-27T06:40:28.328Z,1761547228.328 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1 2025-10-27T06:40:28.328Z,1761547228.328 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize. 2025-10-27T06:40:28.328Z,1761547228.328 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1 2025-10-27T06:40:28.480Z,1761547228.480 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:28.732Z,1761547228.732 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:28.731Z,1761547228.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905003,0.425336,0.007686],[-0.424995,0.904775,-0.027603],[-0.018695,0.021714,0.999589]] 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift] Stopped 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped 2025-10-27T06:40:28.770Z,1761547228.770 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize. 2025-10-27T06:40:28.771Z,1761547228.771 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked 2025-10-27T06:40:28.771Z,1761547228.771 [lineCaptureHoming:Lap:Docked] Stopped 2025-10-27T06:40:28.771Z,1761547228.771 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked 2025-10-27T06:40:28.771Z,1761547228.771 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap 2025-10-27T06:40:28.771Z,1761547228.771 [lineCaptureHoming:Lap] Stopped 2025-10-27T06:40:28.771Z,1761547228.771 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap 2025-10-27T06:40:28.792Z,1761547228.792 [lineCaptureHoming](INFO): Completed lineCaptureHoming 2025-10-27T06:40:28.792Z,1761547228.792 [MissionManager](INFO): lineCaptureHoming is completed. 2025-10-27T06:40:28.792Z,1761547228.792 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming] Stopped 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:Science] Stopped 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:Science:B] Stopped 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:Science:C] Stopped 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:Science:E] Stopped 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:Science:OceanCurrent] Stopped 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:StandardEnvelopes] Stopped 2025-10-27T06:40:28.793Z,1761547228.793 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:MicromodemComms] Stopped 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-27T06:40:28.794Z,1761547228.794 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-27T06:40:28.795Z,1761547228.795 [lineCaptureHoming:TrackAC.] Stopped 2025-10-27T06:40:28.799Z,1761547228.799 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-27T06:40:28.900Z,1761547228.900 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl 2025-10-27T06:40:28.984Z,1761547228.984 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:29.007Z,1761547229.007 [WetLabsBB2FL](INFO): Powering down 2025-10-27T06:40:29.097Z,1761547229.097 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl 2025-10-27T06:40:29.097Z,1761547229.097 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl 2025-10-27T06:40:29.105Z,1761547229.105 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl 2025-10-27T06:40:29.236Z,1761547229.236 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:29.357Z,1761547229.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901456,0.432777,0.009062],[-0.432266,0.901105,-0.034000],[-0.022880,0.026732,0.999381]] 2025-10-27T06:40:29.488Z,1761547229.488 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:29.740Z,1761547229.740 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:29.746Z,1761547229.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895093,0.445768,0.009961],[-0.445071,0.894592,-0.040225],[-0.026842,0.031571,0.999141]] 2025-10-27T06:40:29.992Z,1761547229.992 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:30.146Z,1761547230.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885937,0.463691,0.010262],[-0.462809,0.885268,-0.045907],[-0.030372,0.035921,0.998893]] 2025-10-27T06:40:30.244Z,1761547230.244 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:30.496Z,1761547230.496 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:30.550Z,1761547230.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873994,0.485816,0.010790],[-0.484858,0.873319,-0.047191],[-0.032350,0.036013,0.998828]] 2025-10-27T06:40:30.750Z,1761547230.750 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:30.955Z,1761547230.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859015,0.511839,0.010642],[-0.510923,0.858423,-0.045468],[-0.032407,0.033620,0.998909]] 2025-10-27T06:40:30.000Z,1761547231.000 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:31.252Z,1761547231.252 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:31.358Z,1761547231.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841872,0.539612,0.008347],[-0.538821,0.841307,-0.043291],[-0.030382,0.031948,0.999028]] 2025-10-27T06:40:31.504Z,1761547231.504 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:31.756Z,1761547231.756 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:31.768Z,1761547231.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822447,0.568818,0.005310],[-0.568237,0.821966,-0.038462],[-0.026243,0.028615,0.999246]] 2025-10-27T06:40:32.008Z,1761547232.008 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:32.166Z,1761547232.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801409,0.598116,0.001095],[-0.597777,0.801014,-0.032221],[-0.020149,0.025168,0.999480]] 2025-10-27T06:40:32.260Z,1761547232.260 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:32.512Z,1761547232.512 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:32.573Z,1761547232.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779797,0.626023,-0.003330],[-0.625896,0.779507,-0.024958],[-0.013029,0.021546,0.999683]] 2025-10-27T06:40:32.766Z,1761547232.766 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:32.974Z,1761547232.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757775,0.652493,-0.005500],[-0.652498,0.757664,-0.013820],[-0.004850,0.014061,0.999889]] 2025-10-27T06:40:33.016Z,1761547233.016 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:33.268Z,1761547233.268 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:33.378Z,1761547233.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735901,0.677066,-0.005556],[-0.677077,0.735912,-0.000143],[0.003992,0.003867,0.999985]] 2025-10-27T06:40:33.520Z,1761547233.520 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:33.774Z,1761547233.774 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:33.795Z,1761547233.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715183,0.698900,-0.007171],[-0.698817,0.715213,0.011189],[0.012949,-0.002991,0.999912]] 2025-10-27T06:40:34.024Z,1761547234.024 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:34.126Z,1761547234.126 [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: . 2025-10-27T06:40:34.131Z,1761547234.131 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h 2025-10-27T06:40:34.134Z,1761547234.134 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s 2025-10-27T06:40:34.136Z,1761547234.136 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s 2025-10-27T06:40:34.138Z,1761547234.138 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min 2025-10-27T06:40:34.141Z,1761547234.141 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count 2025-10-27T06:40:34.143Z,1761547234.143 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count 2025-10-27T06:40:34.146Z,1761547234.146 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m 2025-10-27T06:40:34.148Z,1761547234.148 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m 2025-10-27T06:40:34.150Z,1761547234.150 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km 2025-10-27T06:40:34.152Z,1761547234.152 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool 2025-10-27T06:40:34.154Z,1761547234.154 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h 2025-10-27T06:40:34.157Z,1761547234.157 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool 2025-10-27T06:40:34.159Z,1761547234.159 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h 2025-10-27T06:40:34.159Z,1761547234.159 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-10-27T06:40:34.160Z,1761547234.160 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-10-27T06:40:34.161Z,1761547234.161 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-10-27T06:40:34.198Z,1761547234.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696803,0.717168,-0.011625],[-0.716930,0.696882,0.019141],[0.021828,-0.005003,0.999749]] 2025-10-27T06:40:34.278Z,1761547234.278 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:34.404Z,1761547234.404 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-10-27T06:40:34.408Z,1761547234.408 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m 2025-10-27T06:40:34.410Z,1761547234.410 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-10-27T06:40:34.413Z,1761547234.413 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m 2025-10-27T06:40:34.415Z,1761547234.415 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-10-27T06:40:34.416Z,1761547234.416 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-10-27T06:40:34.422Z,1761547234.422 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-10-27T06:40:34.429Z,1761547234.429 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-10-27T06:40:34.439Z,1761547234.439 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-27T06:40:34.439Z,1761547234.439 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-27T06:40:34.440Z,1761547234.440 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-27T06:40:34.493Z,1761547234.493 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-27T06:40:34.497Z,1761547234.497 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2025-10-27T06:40:34.506Z,1761547234.506 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-27T06:40:34.508Z,1761547234.508 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-27T06:40:34.508Z,1761547234.508 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-27T06:40:34.509Z,1761547234.509 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-27T06:40:34.528Z,1761547234.528 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:34.602Z,1761547234.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681290,0.731790,-0.018061],[-0.731352,0.681516,0.025686],[0.031106,-0.004291,0.999507]] 2025-10-27T06:40:34.704Z,1761547234.704 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-27T06:40:34.713Z,1761547234.713 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool 2025-10-27T06:40:34.716Z,1761547234.716 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool 2025-10-27T06:40:34.717Z,1761547234.717 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool 2025-10-27T06:40:34.726Z,1761547234.726 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool 2025-10-27T06:40:34.729Z,1761547234.729 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-27T06:40:34.740Z,1761547234.740 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-27T06:40:34.743Z,1761547234.743 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait. 2025-10-27T06:40:34.745Z,1761547234.745 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-10-27T06:40:34.745Z,1761547234.745 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-10-27T06:40:34.782Z,1761547234.782 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:34.793Z,1761547234.793 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-10-27T06:40:35.006Z,1761547235.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669305,0.742538,-0.025844],[-0.741854,0.669800,0.031939],[0.041026,-0.002204,0.999156]] 2025-10-27T06:40:35.032Z,1761547235.032 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:35.284Z,1761547235.284 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:35.411Z,1761547235.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661817,0.749004,-0.031491],[-0.747908,0.662557,0.040639],[0.051304,-0.003343,0.998677]] 2025-10-27T06:40:35.536Z,1761547235.536 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:35.790Z,1761547235.790 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:35.825Z,1761547235.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658073,0.752193,-0.033837],[-0.750485,0.658889,0.051349],[0.060920,-0.008397,0.998107]] 2025-10-27T06:40:36.040Z,1761547236.040 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:36.218Z,1761547236.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658799,0.751447,-0.036217],[-0.749267,0.659697,0.058298],[0.067700,-0.011271,0.997642]] 2025-10-27T06:40:36.292Z,1761547236.292 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:36.544Z,1761547236.544 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:36.622Z,1761547236.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664426,0.746447,-0.036816],[-0.744002,0.665303,0.061909],[0.070705,-0.013743,0.997403]] 2025-10-27T06:40:36.810Z,1761547236.810 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:37.026Z,1761547237.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674979,0.736974,-0.035684],[-0.734557,0.675747,0.061573],[0.069491,-0.015348,0.997464]] 2025-10-27T06:40:37.060Z,1761547237.060 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:37.312Z,1761547237.312 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:37.431Z,1761547237.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689702,0.723384,-0.032048],[-0.721193,0.690224,0.058927],[0.064747,-0.017530,0.997748]] 2025-10-27T06:40:37.564Z,1761547237.564 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:37.818Z,1761547237.818 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:37.858Z,1761547237.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709167,0.704475,-0.028245],[-0.702801,0.709538,0.051251],[0.056146,-0.016495,0.998286]] 2025-10-27T06:40:38.068Z,1761547238.068 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:38.238Z,1761547238.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731300,0.681684,-0.022526],[-0.680542,0.731478,0.042464],[0.045425,-0.015724,0.998844]] 2025-10-27T06:40:38.320Z,1761547238.320 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:38.572Z,1761547238.572 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:38.644Z,1761547238.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755084,0.655451,-0.015244],[-0.654738,0.755066,0.034536],[0.034147,-0.016097,0.999287]] 2025-10-27T06:40:38.826Z,1761547238.826 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:39.046Z,1761547239.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779349,0.626560,-0.006078],[-0.626157,0.779135,0.029607],[0.023286,-0.019268,0.999543]] 2025-10-27T06:40:39.076Z,1761547239.076 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:39.307Z,1761547239.307 [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). 2025-10-27T06:40:39.328Z,1761547239.328 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:39.350Z,1761547239.350 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool 2025-10-27T06:40:39.352Z,1761547239.352 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 bool 2025-10-27T06:40:39.354Z,1761547239.354 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool 2025-10-27T06:40:39.356Z,1761547239.356 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min 2025-10-27T06:40:39.358Z,1761547239.358 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool 2025-10-27T06:40:39.362Z,1761547239.362 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool 2025-10-27T06:40:39.364Z,1761547239.364 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool 2025-10-27T06:40:39.366Z,1761547239.366 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool 2025-10-27T06:40:39.400Z,1761547239.400 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count 2025-10-27T06:40:39.403Z,1761547239.403 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count 2025-10-27T06:40:39.405Z,1761547239.405 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 % 2025-10-27T06:40:39.415Z,1761547239.415 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool 2025-10-27T06:40:39.417Z,1761547239.417 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool 2025-10-27T06:40:39.422Z,1761547239.422 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool 2025-10-27T06:40:39.450Z,1761547239.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803165,0.595752,0.002091],[-0.595614,0.802892,0.024676],[0.013022,-0.021064,0.999693]] 2025-10-27T06:40:39.468Z,1761547239.468 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool 2025-10-27T06:40:39.470Z,1761547239.470 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-27T06:40:39.476Z,1761547239.476 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-27T06:40:39.478Z,1761547239.478 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-27T06:40:39.493Z,1761547239.493 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-27T06:40:39.495Z,1761547239.495 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-10-27T06:40:39.509Z,1761547239.509 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-10-27T06:40:39.511Z,1761547239.511 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-27T06:40:39.540Z,1761547239.540 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-27T06:40:39.542Z,1761547239.542 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-10-27T06:40:39.550Z,1761547239.550 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool 2025-10-27T06:40:39.557Z,1761547239.557 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool 2025-10-27T06:40:39.565Z,1761547239.565 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool 2025-10-27T06:40:39.568Z,1761547239.568 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool 2025-10-27T06:40:39.581Z,1761547239.581 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:39.583Z,1761547239.583 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool 2025-10-27T06:40:39.591Z,1761547239.591 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-10-27T06:40:39.594Z,1761547239.594 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool 2025-10-27T06:40:39.607Z,1761547239.607 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count 2025-10-27T06:40:39.609Z,1761547239.609 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count 2025-10-27T06:40:39.620Z,1761547239.620 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m 2025-10-27T06:40:39.622Z,1761547239.622 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m 2025-10-27T06:40:39.624Z,1761547239.624 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-10-27T06:40:39.626Z,1761547239.626 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan % 2025-10-27T06:40:39.641Z,1761547239.641 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan % 2025-10-27T06:40:39.647Z,1761547239.647 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l 2025-10-27T06:40:39.649Z,1761547239.649 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count 2025-10-27T06:40:39.663Z,1761547239.663 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool 2025-10-27T06:40:39.666Z,1761547239.666 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l 2025-10-27T06:40:39.672Z,1761547239.672 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l 2025-10-27T06:40:39.674Z,1761547239.674 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count 2025-10-27T06:40:39.685Z,1761547239.685 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-10-27T06:40:39.692Z,1761547239.692 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-10-27T06:40:39.694Z,1761547239.694 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-10-27T06:40:39.700Z,1761547239.700 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-10-27T06:40:39.702Z,1761547239.702 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool 2025-10-27T06:40:39.713Z,1761547239.713 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l 2025-10-27T06:40:39.719Z,1761547239.719 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m 2025-10-27T06:40:39.721Z,1761547239.721 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC 2025-10-27T06:40:39.728Z,1761547239.728 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg 2025-10-27T06:40:39.730Z,1761547239.730 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg 2025-10-27T06:40:39.737Z,1761547239.737 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l 2025-10-27T06:40:39.747Z,1761547239.747 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m 2025-10-27T06:40:39.749Z,1761547239.749 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l 2025-10-27T06:40:39.756Z,1761547239.756 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m 2025-10-27T06:40:39.758Z,1761547239.758 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC 2025-10-27T06:40:39.781Z,1761547239.781 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg 2025-10-27T06:40:39.788Z,1761547239.788 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg 2025-10-27T06:40:39.796Z,1761547239.796 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l 2025-10-27T06:40:39.798Z,1761547239.798 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m 2025-10-27T06:40:39.804Z,1761547239.804 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg 2025-10-27T06:40:39.819Z,1761547239.819 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg 2025-10-27T06:40:39.834Z,1761547239.834 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:39.879Z,1761547239.879 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3 2025-10-27T06:40:39.888Z,1761547239.888 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m 2025-10-27T06:40:39.890Z,1761547239.890 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg 2025-10-27T06:40:39.893Z,1761547239.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825995,0.563633,0.007075],[-0.563672,0.825864,0.014896],[0.002553,-0.016292,0.999864]] 2025-10-27T06:40:39.920Z,1761547239.920 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg 2025-10-27T06:40:39.923Z,1761547239.923 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb 2025-10-27T06:40:39.933Z,1761547239.933 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m 2025-10-27T06:40:39.942Z,1761547239.942 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC 2025-10-27T06:40:39.961Z,1761547239.961 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg 2025-10-27T06:40:39.972Z,1761547239.972 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg 2025-10-27T06:40:39.974Z,1761547239.974 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu 2025-10-27T06:40:39.989Z,1761547239.989 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m 2025-10-27T06:40:39.000Z,1761547240.000 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC 2025-10-27T06:40:40.002Z,1761547240.002 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg 2025-10-27T06:40:40.013Z,1761547240.013 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg 2025-10-27T06:40:40.025Z,1761547240.025 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-10-27T06:40:40.044Z,1761547240.044 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-10-27T06:40:40.053Z,1761547240.053 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-10-27T06:40:40.061Z,1761547240.061 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-10-27T06:40:40.077Z,1761547240.077 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-10-27T06:40:40.084Z,1761547240.084 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:40.086Z,1761547240.086 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-10-27T06:40:40.094Z,1761547240.094 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-10-27T06:40:40.102Z,1761547240.102 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-10-27T06:40:40.112Z,1761547240.112 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-10-27T06:40:40.114Z,1761547240.114 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-10-27T06:40:40.125Z,1761547240.125 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-10-27T06:40:40.132Z,1761547240.132 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-10-27T06:40:40.134Z,1761547240.134 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-10-27T06:40:40.140Z,1761547240.140 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-10-27T06:40:40.147Z,1761547240.147 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-10-27T06:40:40.149Z,1761547240.149 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-10-27T06:40:40.164Z,1761547240.164 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-10-27T06:40:40.166Z,1761547240.166 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-10-27T06:40:40.181Z,1761547240.181 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-10-27T06:40:40.189Z,1761547240.189 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-10-27T06:40:40.195Z,1761547240.195 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-10-27T06:40:40.197Z,1761547240.197 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-10-27T06:40:40.204Z,1761547240.204 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-10-27T06:40:40.206Z,1761547240.206 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-10-27T06:40:40.212Z,1761547240.212 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-10-27T06:40:40.215Z,1761547240.215 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-10-27T06:40:40.217Z,1761547240.217 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-10-27T06:40:40.239Z,1761547240.239 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-10-27T06:40:40.242Z,1761547240.242 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-10-27T06:40:40.258Z,1761547240.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847342,0.530949,0.010230],[-0.530994,0.847373,0.002156],[-0.007524,-0.007259,0.999945]] 2025-10-27T06:40:40.280Z,1761547240.280 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-10-27T06:40:40.292Z,1761547240.292 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-10-27T06:40:40.295Z,1761547240.295 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-10-27T06:40:40.298Z,1761547240.298 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-10-27T06:40:40.308Z,1761547240.308 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-27T06:40:40.310Z,1761547240.310 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-27T06:40:40.330Z,1761547240.330 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-10-27T06:40:40.336Z,1761547240.336 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:40.342Z,1761547240.342 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-10-27T06:40:40.385Z,1761547240.385 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-10-27T06:40:40.399Z,1761547240.399 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-27T06:40:40.414Z,1761547240.414 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-27T06:40:40.425Z,1761547240.425 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l 2025-10-27T06:40:40.435Z,1761547240.435 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m 2025-10-27T06:40:40.438Z,1761547240.438 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg 2025-10-27T06:40:40.440Z,1761547240.440 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg 2025-10-27T06:40:40.443Z,1761547240.443 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m 2025-10-27T06:40:40.453Z,1761547240.453 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu 2025-10-27T06:40:40.460Z,1761547240.460 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m 2025-10-27T06:40:40.462Z,1761547240.462 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg 2025-10-27T06:40:40.469Z,1761547240.469 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg 2025-10-27T06:40:40.480Z,1761547240.480 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m 2025-10-27T06:40:40.482Z,1761547240.482 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu 2025-10-27T06:40:40.489Z,1761547240.489 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m 2025-10-27T06:40:40.495Z,1761547240.495 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg 2025-10-27T06:40:40.497Z,1761547240.497 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg 2025-10-27T06:40:40.504Z,1761547240.504 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m 2025-10-27T06:40:40.506Z,1761547240.506 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool 2025-10-27T06:40:40.523Z,1761547240.523 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l 2025-10-27T06:40:40.563Z,1761547240.563 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:40.588Z,1761547240.588 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:40.625Z,1761547240.625 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T06:40:40.662Z,1761547240.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866086,0.499701,0.013941],[-0.499624,0.866198,-0.008832],[-0.016489,0.000684,0.999864]] 2025-10-27T06:40:40.755Z,1761547240.755 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-27T06:40:40.793Z,1761547240.793 [OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-27T06:40:40.814Z,1761547240.814 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:40.842Z,1761547240.842 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:40.903Z,1761547240.903 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:40.921Z,1761547240.921 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-27T06:40:40.950Z,1761547240.950 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:40.981Z,1761547240.981 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:41.015Z,1761547241.015 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-27T06:40:41.040Z,1761547241.040 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:41.067Z,1761547241.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881638,0.471611,0.017265],[-0.471313,0.881767,-0.018751],[-0.024066,0.008394,0.999675]] 2025-10-27T06:40:41.092Z,1761547241.092 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:41.121Z,1761547241.121 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T06:40:41.202Z,1761547241.202 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:41.258Z,1761547241.258 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T06:40:41.313Z,1761547241.313 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:41.337Z,1761547241.337 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T06:40:41.344Z,1761547241.344 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:41.397Z,1761547241.397 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-27T06:40:41.422Z,1761547241.422 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-27T06:40:41.471Z,1761547241.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894137,0.447388,0.019060],[-0.446773,0.894163,-0.029427],[-0.030208,0.017796,0.999385]] 2025-10-27T06:40:41.496Z,1761547241.496 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-10-27T06:40:41.546Z,1761547241.546 [OnDock:L.Execute](DEBUG): Construct Execute. 2025-10-27T06:40:41.553Z,1761547241.553 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute. 2025-10-27T06:40:41.555Z,1761547241.555 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait. 2025-10-27T06:40:41.562Z,1761547241.562 [OnDock:N.Docked](DEBUG): Construct. 2025-10-27T06:40:41.562Z,1761547241.562 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values. 2025-10-27T06:40:41.597Z,1761547241.597 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:41.598Z,1761547241.598 [OnDock:Detach:B.Undock](DEBUG): Construct. 2025-10-27T06:40:41.598Z,1761547241.598 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-27T06:40:41.666Z,1761547241.666 [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 } } } 2025-10-27T06:40:41.666Z,1761547241.666 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock 2025-10-27T06:40:41.850Z,1761547241.850 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:41.914Z,1761547241.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909394,0.415368,0.021729],[-0.414445,0.909317,-0.037122],[-0.035178,0.024754,0.999074]] 2025-10-27T06:40:41.989Z,1761547241.989 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-27T06:40:41.989Z,1761547241.989 [DefaultWithUndock] Running Loop=1 2025-10-27T06:40:41.989Z,1761547241.989 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-27T06:40:41.990Z,1761547241.990 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-27T06:40:41.990Z,1761547241.990 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-27T06:40:42.100Z,1761547242.100 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:42.352Z,1761547242.352 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:42.604Z,1761547242.604 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:42.686Z,1761547242.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912655,0.408249,0.019835],[-0.407304,0.912450,-0.039233],[-0.034115,0.027727,0.999033]] 2025-10-27T06:40:42.856Z,1761547242.856 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:43.095Z,1761547243.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911664,0.410756,0.012180],[-0.410055,0.911248,-0.038510],[-0.026917,0.030113,0.999184]] 2025-10-27T06:40:43.108Z,1761547243.108 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:43.360Z,1761547243.360 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:43.496Z,1761547243.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907415,0.420158,0.008046],[-0.419681,0.907035,-0.033994],[-0.021581,0.027470,0.999390]] 2025-10-27T06:40:43.613Z,1761547243.613 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:43.864Z,1761547243.864 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:43.938Z,1761547243.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900877,0.434061,0.003348],[-0.433780,0.900525,-0.029814],[-0.015956,0.025407,0.999550]] 2025-10-27T06:40:44.116Z,1761547244.116 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:44.304Z,1761547244.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892313,0.451415,-0.001244],[-0.451297,0.892008,-0.025568],[-0.010432,0.023376,0.999672]] 2025-10-27T06:40:44.368Z,1761547244.368 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:44.620Z,1761547244.620 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:44.706Z,1761547244.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881639,0.471900,-0.004679],[-0.471897,0.881442,-0.019315],[-0.004990,0.019237,0.999802]] 2025-10-27T06:40:44.872Z,1761547244.872 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:45.124Z,1761547245.124 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:45.376Z,1761547245.376 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:45.510Z,1761547245.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855238,0.518115,-0.011171],[-0.518199,0.855234,-0.006693],[0.006086,0.011514,0.999915]] 2025-10-27T06:40:45.628Z,1761547245.628 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:45.712Z,1761547245.712 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour 2025-10-27T06:40:45.712Z,1761547245.712 [CommandExec](IMPORTANT): got command run 2025-10-27T06:40:45.714Z,1761547245.714 [CommandExec](IMPORTANT): Running 2025-10-27T06:40:45.880Z,1761547245.880 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:45.959Z,1761547245.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840232,0.542063,-0.013318],[-0.542103,0.840312,0.000694],[0.011567,0.006637,0.999911]] 2025-10-27T06:40:46.000Z,1761547246.000 [DefaultWithUndock] Stopped 2025-10-27T06:40:46.001Z,1761547246.001 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-27T06:40:46.001Z,1761547246.001 [DefaultWithUndock:A.Wait] Stopped 2025-10-27T06:40:46.001Z,1761547246.001 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-27T06:40:46.001Z,1761547246.001 [MissionManager](IMPORTANT): Started mission OnDock 2025-10-27T06:40:46.001Z,1761547246.001 [OnDock] Running Loop=1 2025-10-27T06:40:46.001Z,1761547246.001 [OnDock](DEBUG): Aggregate::initialize OnDock 2025-10-27T06:40:46.001Z,1761547246.001 [OnDock:StandardEnvelopes] Running Loop=1 2025-10-27T06:40:46.001Z,1761547246.001 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes 2025-10-27T06:40:46.002Z,1761547246.002 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T06:40:46.002Z,1761547246.002 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-27T06:40:46.002Z,1761547246.002 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T06:40:46.002Z,1761547246.002 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-27T06:40:46.002Z,1761547246.002 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T06:40:46.002Z,1761547246.002 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-27T06:40:46.002Z,1761547246.002 [OnDock:BackseatDriver] Running Loop=1 2025-10-27T06:40:46.002Z,1761547246.002 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:PowerOnly] Running Loop=1 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:PowerOnly:A] Running Loop=1 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:PowerOnly:B] Running Loop=1 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:PowerOnly:C] Running Loop=1 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:PowerOnly:D] Running Loop=1 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:PowerOnly:E.Wait] Running Loop=1 2025-10-27T06:40:46.003Z,1761547246.003 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:dataRead] Running Loop=1 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:dataRead:A] Running Loop=1 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science] Running Loop=1 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science:Science] Running Loop=1 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science:Science:A] Running Loop=1 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science:Science:B] Running Loop=1 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science:Science:C] Running Loop=1 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science:Science:D] Running Loop=1 2025-10-27T06:40:46.004Z,1761547246.004 [OnDock:science:Science:E] Running Loop=1 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:F] Running Loop=1 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:Read_Oil] Running Loop=1 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:PeakDetectChl] Running Loop=1 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:EdgeDetectChl] Running Loop=1 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1 2025-10-27T06:40:46.005Z,1761547246.005 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport 2025-10-27T06:40:46.006Z,1761547246.006 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-27T06:40:46.006Z,1761547246.006 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-27T06:40:46.006Z,1761547246.006 [OnDock:science:Science:PeakDepthAvgProfilesChl] Running Loop=1 2025-10-27T06:40:46.006Z,1761547246.006 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChl 2025-10-27T06:40:46.006Z,1761547246.006 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Running Loop=1 2025-10-27T06:40:46.006Z,1761547246.006 [OnDock:science:Science:PeakDetectNO3] Running Loop=1 2025-10-27T06:40:46.006Z,1761547246.006 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3 2025-10-27T06:40:46.007Z,1761547246.007 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1 2025-10-27T06:40:46.007Z,1761547246.007 [OnDock:science:Science:PeakDetectOil] Running Loop=1 2025-10-27T06:40:46.007Z,1761547246.007 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil 2025-10-27T06:40:46.007Z,1761547246.007 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1 2025-10-27T06:40:46.007Z,1761547246.007 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1 2025-10-27T06:40:46.007Z,1761547246.007 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport 2025-10-27T06:40:46.007Z,1761547246.007 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-27T06:40:46.008Z,1761547246.008 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-27T06:40:46.008Z,1761547246.008 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1 2025-10-27T06:40:46.008Z,1761547246.008 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM 2025-10-27T06:40:46.008Z,1761547246.008 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1 2025-10-27T06:40:46.008Z,1761547246.008 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1 2025-10-27T06:40:46.008Z,1761547246.008 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity 2025-10-27T06:40:46.009Z,1761547246.009 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1 2025-10-27T06:40:46.009Z,1761547246.009 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1 2025-10-27T06:40:46.009Z,1761547246.009 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport 2025-10-27T06:40:46.009Z,1761547246.009 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-27T06:40:46.009Z,1761547246.009 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-27T06:40:46.009Z,1761547246.009 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-27T06:40:46.009Z,1761547246.009 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-27T06:40:46.010Z,1761547246.010 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-27T06:40:46.011Z,1761547246.011 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-10-27T06:40:46.011Z,1761547246.011 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-10-27T06:40:46.011Z,1761547246.011 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-27T06:40:46.011Z,1761547246.011 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-27T06:40:46.012Z,1761547246.012 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1 2025-10-27T06:40:46.013Z,1761547246.013 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger 2025-10-27T06:40:46.013Z,1761547246.013 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-10-27T06:40:46.013Z,1761547246.013 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-10-27T06:40:46.013Z,1761547246.013 [OnDock:science:Science:OceanCurrent] Running Loop=1 2025-10-27T06:40:46.013Z,1761547246.013 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent 2025-10-27T06:40:46.013Z,1761547246.013 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1 2025-10-27T06:40:46.013Z,1761547246.013 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-10-27T06:40:46.014Z,1761547246.014 [OnDock:J.] Running Loop=1 2025-10-27T06:40:46.014Z,1761547246.014 [OnDock:J.](INFO): Initializing TrackAcousticContact. 2025-10-27T06:40:46.014Z,1761547246.014 [OnDock:PeriodicCheck] Running Loop=1 2025-10-27T06:40:46.014Z,1761547246.014 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck 2025-10-27T06:40:46.014Z,1761547246.014 [OnDock:PeriodicCheck:CheckIP] Running Loop=1 2025-10-27T06:40:46.014Z,1761547246.014 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP 2025-10-27T06:40:46.014Z,1761547246.014 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1 2025-10-27T06:40:46.014Z,1761547246.014 [OnDock:B] Running Loop=1 2025-10-27T06:40:46.015Z,1761547246.015 [OnDock:PeriodicCheck] Running Loop=1 2025-10-27T06:40:46.015Z,1761547246.015 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig 2025-10-27T06:40:46.015Z,1761547246.015 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped 2025-10-27T06:40:46.016Z,1761547246.016 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1 2025-10-27T06:40:46.016Z,1761547246.016 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component. 2025-10-27T06:40:46.016Z,1761547246.016 [OnDock:J.] Running Loop=1 2025-10-27T06:40:46.028Z,1761547246.028 [CommandExec](IMPORTANT): got command ! ifconfig 2025-10-27T06:40:46.053Z,1761547246.053 [OnDock:science] Stopped 2025-10-27T06:40:46.053Z,1761547246.053 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science 2025-10-27T06:40:46.053Z,1761547246.053 [OnDock:science:Science] Stopped 2025-10-27T06:40:46.054Z,1761547246.054 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science 2025-10-27T06:40:46.054Z,1761547246.054 [OnDock:science:Science:A] Stopped 2025-10-27T06:40:46.054Z,1761547246.054 [OnDock:science:Science:B] Stopped 2025-10-27T06:40:46.054Z,1761547246.054 [OnDock:science:Science:C] Stopped 2025-10-27T06:40:46.055Z,1761547246.055 [OnDock:science:Science:D] Stopped 2025-10-27T06:40:46.055Z,1761547246.055 [OnDock:science:Science:E] Stopped 2025-10-27T06:40:46.063Z,1761547246.063 [OnDock:science:Science:F] Stopped 2025-10-27T06:40:46.063Z,1761547246.063 [OnDock:science:Science:Read_Oil] Stopped 2025-10-27T06:40:46.063Z,1761547246.063 [OnDock:science:Science:OceanCurrent] Stopped 2025-10-27T06:40:46.063Z,1761547246.063 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent 2025-10-27T06:40:46.064Z,1761547246.064 [OnDock:science:Science:OceanCurrent:A.] Stopped 2025-10-27T06:40:46.064Z,1761547246.064 [OnDock:science:Science:PeakDetectChl] Stopped 2025-10-27T06:40:46.064Z,1761547246.064 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl 2025-10-27T06:40:46.064Z,1761547246.064 [OnDock:science:Science:PeakDetectChl:A] Stopped 2025-10-27T06:40:46.064Z,1761547246.064 [OnDock:science:Science:EdgeDetectChl] Stopped 2025-10-27T06:40:46.064Z,1761547246.064 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl 2025-10-27T06:40:46.064Z,1761547246.064 [OnDock:science:Science:EdgeDetectChl:A] Stopped 2025-10-27T06:40:46.064Z,1761547246.064 [OnDock:science:Science:HighestChlPeakReport] Stopped 2025-10-27T06:40:46.065Z,1761547246.065 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport 2025-10-27T06:40:46.065Z,1761547246.065 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-27T06:40:46.065Z,1761547246.065 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-27T06:40:46.065Z,1761547246.065 [OnDock:science:Science:PeakDepthAvgProfilesChl] Stopped 2025-10-27T06:40:46.065Z,1761547246.065 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChl 2025-10-27T06:40:46.065Z,1761547246.065 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Stopped 2025-10-27T06:40:46.065Z,1761547246.065 [OnDock:science:Science:PeakDetectNO3] Stopped 2025-10-27T06:40:46.065Z,1761547246.065 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3 2025-10-27T06:40:46.066Z,1761547246.066 [OnDock:science:Science:PeakDetectNO3:A] Stopped 2025-10-27T06:40:46.066Z,1761547246.066 [OnDock:science:Science:PeakDetectOil] Stopped 2025-10-27T06:40:46.066Z,1761547246.066 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil 2025-10-27T06:40:46.066Z,1761547246.066 [OnDock:science:Science:PeakDetectOil:A] Stopped 2025-10-27T06:40:46.066Z,1761547246.066 [OnDock:science:Science:HighestOilPeakReport] Stopped 2025-10-27T06:40:46.066Z,1761547246.066 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport 2025-10-27T06:40:46.066Z,1761547246.066 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-27T06:40:46.066Z,1761547246.066 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-27T06:40:46.075Z,1761547246.075 [OnDock:science:Science:PeakDetectFDOM] Stopped 2025-10-27T06:40:46.075Z,1761547246.075 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM 2025-10-27T06:40:46.075Z,1761547246.075 [OnDock:science:Science:PeakDetectFDOM:A] Stopped 2025-10-27T06:40:46.076Z,1761547246.076 [OnDock:science:Science:PeakDetectSalinity] Stopped 2025-10-27T06:40:46.076Z,1761547246.076 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity 2025-10-27T06:40:46.076Z,1761547246.076 [OnDock:science:Science:PeakDetectSalinity:A] Stopped 2025-10-27T06:40:46.076Z,1761547246.076 [OnDock:science:Science:HighestSaltPeakReport] Stopped 2025-10-27T06:40:46.076Z,1761547246.076 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport 2025-10-27T06:40:46.076Z,1761547246.076 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-27T06:40:46.076Z,1761547246.076 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-27T06:40:46.076Z,1761547246.076 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-10-27T06:40:46.077Z,1761547246.077 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-10-27T06:40:46.078Z,1761547246.078 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-10-27T06:40:46.079Z,1761547246.079 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-27T06:40:46.087Z,1761547246.087 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-27T06:40:46.087Z,1761547246.087 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-10-27T06:40:46.088Z,1761547246.088 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-27T06:40:46.088Z,1761547246.088 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-27T06:40:46.088Z,1761547246.088 [OnDock:science:Science:ChlThreshTrigger] Stopped 2025-10-27T06:40:46.088Z,1761547246.088 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger 2025-10-27T06:40:46.088Z,1761547246.088 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-10-27T06:40:46.088Z,1761547246.088 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-10-27T06:40:46.088Z,1761547246.088 [OnDock:dataRead] Running Loop=1 2025-10-27T06:40:46.089Z,1761547246.089 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-27T06:40:46.089Z,1761547246.089 [OnDock:PowerOnly] Running Loop=1 2025-10-27T06:40:46.090Z,1761547246.090 [OnDock:PowerOnly:D] Stopped 2025-10-27T06:40:46.090Z,1761547246.090 [OnDock:PowerOnly:C] Stopped 2025-10-27T06:40:46.090Z,1761547246.090 [OnDock:PowerOnly:B] Stopped 2025-10-27T06:40:46.090Z,1761547246.090 [OnDock:PowerOnly:A] Stopped 2025-10-27T06:40:46.090Z,1761547246.090 [OnDock:BackseatDriver] Running Loop=1 2025-10-27T06:40:46.090Z,1761547246.090 [OnDock:B] Stopped 2025-10-27T06:40:46.103Z,1761547246.103 [OnDock:C] Running Loop=1 2025-10-27T06:40:46.103Z,1761547246.103 [OnDock:StandardEnvelopes] Running Loop=1 2025-10-27T06:40:46.103Z,1761547246.103 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-27T06:40:46.104Z,1761547246.104 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-27T06:40:46.105Z,1761547246.105 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-27T06:40:46.132Z,1761547246.132 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:46.191Z,1761547246.191 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:37 UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:3972 errors:0 dropped:0 overruns:0 frame:0 TX packets:6892 errors:0 dropped:0 overruns:0 carrier:0 collisions:13 txqueuelen:1000 RX bytes:1784127 (1.7 Mb) TX bytes:1358001 (1.2 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:1137 errors:0 dropped:0 overruns:0 frame:0 TX packets:1137 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:100014 (97.6 Kb) TX bytes:100014 (97.6 Kb) 2025-10-27T06:40:46.384Z,1761547246.384 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:46.610Z,1761547246.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825088,0.564785,-0.015757],[-0.564744,0.825234,0.007379],[0.017171,0.002811,0.999849]] 2025-10-27T06:40:46.636Z,1761547246.636 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:46.650Z,1761547246.650 [OnDock:C] Stopped 2025-10-27T06:40:46.651Z,1761547246.651 [OnDock:D] Running Loop=1 2025-10-27T06:40:46.888Z,1761547246.888 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:47.006Z,1761547247.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810426,0.585541,-0.018740],[-0.585400,0.810643,0.012847],[0.022713,0.000559,0.999742]] 2025-10-27T06:40:47.064Z,1761547247.064 [OnDock:D] Stopped 2025-10-27T06:40:47.064Z,1761547247.064 [OnDock:E] Running Loop=1 2025-10-27T06:40:47.140Z,1761547247.140 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:47.392Z,1761547247.392 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:47.411Z,1761547247.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796591,0.604135,-0.021530],[-0.603850,0.796880,0.018628],[0.028411,-0.001838,0.999595]] 2025-10-27T06:40:47.427Z,1761547247.427 [OnDock:E] Stopped 2025-10-27T06:40:47.428Z,1761547247.428 [OnDock:K] Running Loop=1 2025-10-27T06:40:47.644Z,1761547247.644 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:47.810Z,1761547247.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784289,0.619886,-0.025140],[-0.619483,0.784689,0.022451],[0.033644,-0.002034,0.999432]] 2025-10-27T06:40:47.836Z,1761547247.836 [OnDock:K](IMPORTANT): Restarting logs 2025-10-27T06:40:47.836Z,1761547247.836 [OnDock:K] Stopped 2025-10-27T06:40:47.836Z,1761547247.836 [OnDock:L.Execute] Running Loop=1 2025-10-27T06:40:47.896Z,1761547247.896 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:48.148Z,1761547248.148 [DAT](DEBUG): Acoustic response timeout 2025-10-27T06:40:48.214Z,1761547248.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773924,0.632615,-0.028961],[-0.632135,0.774466,0.024656],[0.038027,-0.000774,0.999276]]